+ python -m lidar_slam --no-model /working/19263b82-d54e-4276-9d33-1c75c134a9bd Lidar SLAM 0.0.13 ===================================================== The recording path: /working/19263b82-d54e-4276-9d33-1c75c134a9bd 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 0.019254154 Adjusted end_distance from 9.223372036854776e+18 to 1110.039254154 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [0, True] SLAMing on 0.049254153999999994 meters Centerline goodness [0,1] 0.9999108972645461 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 9.99999982e-01 -7.51190697e-05 -1.71767664e-04 3.03258335e-02] [ 7.51173891e-05 9.99999997e-01 -9.79036466e-06 8.68254225e-04] [ 1.71768399e-04 9.77746175e-06 9.99999985e-01 -2.87440785e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079254154 meters Centerline goodness [0,1] 0.9999555940407203 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99997824e-01 -2.06816312e-03 -2.72655804e-04 6.18625202e-02] [ 2.06815893e-03 9.99997861e-01 -1.56264250e-05 -5.14804750e-03] [ 2.72687539e-04 1.50624954e-05 9.99999963e-01 -8.82526822e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10925415399999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.09, Y:0.00, Z:-0.00 [[ 9.99992146e-01 -3.87314069e-03 -8.40941848e-04 9.25609887e-02] [ 3.87310164e-03 9.99992498e-01 -4.80670086e-05 1.00110900e-04] [ 8.41121710e-04 4.48095778e-05 9.99999645e-01 -2.13537016e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139254154 meters Centerline goodness [0,1] 0.9999113514471877 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 9.99979129e-01 -6.41197462e-03 -7.92930510e-04 1.24344245e-01] [ 6.41194071e-03 9.99979442e-01 -4.53003493e-05 -2.92255172e-03] [ 7.93204674e-04 4.02151804e-05 9.99999685e-01 -2.85303902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16925415399999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.01, Z:-0.00 [[ 9.99955152e-01 -9.43570738e-03 -8.13687218e-04 1.55985763e-01] [ 9.43567270e-03 9.99955482e-01 -4.64555117e-05 -5.67190114e-03] [ 8.14089335e-04 3.87757420e-05 9.99999668e-01 -2.43659233e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19925415399999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.01, Z:-0.00 [[ 9.99856778e-01 -1.69037845e-02 -8.28305286e-04 1.86994178e-01] [ 1.69037513e-02 9.99857120e-01 -4.71061360e-05 -1.20700608e-02] [ 8.28983210e-04 3.30979228e-05 9.99999656e-01 -1.71490519e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22925415399999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.01, Z:-0.00 [[ 9.99773005e-01 -2.12877859e-02 -8.77015458e-04 2.17749608e-01] [ 2.12877503e-02 9.99773389e-01 -4.98777768e-05 -1.49180146e-02] [ 8.77878504e-04 3.11967687e-05 9.99999614e-01 -2.19312271e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25925415399999996 meters Centerline goodness [0,1] 0.9998686629892304 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.02, Z:-0.00 [[ 9.99552799e-01 -2.98959854e-02 -6.56695722e-04 2.48906462e-01] [ 2.98959673e-02 9.99553015e-01 -3.73671851e-05 -2.28415012e-02] [ 6.57519317e-04 1.77179206e-05 9.99999784e-01 -2.49027028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.289254154 meters Centerline goodness [0,1] 0.9998035835097444 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.02, Z:-0.00 [[ 9.99395151e-01 -3.47666936e-02 -7.80500231e-04 2.79096303e-01] [ 3.47666695e-02 9.99395456e-01 -4.44615181e-05 -2.36245281e-02] [ 7.81574163e-04 1.72992320e-05 9.99999694e-01 -4.90073119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31925415399999996 meters Centerline goodness [0,1] 0.9999128445364419 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.03, Z:-0.00 [[ 9.99241172e-01 -3.89414019e-02 -8.04252719e-04 3.11231702e-01] [ 3.89413776e-02 9.99241496e-01 -4.59390116e-05 -2.63856193e-02] [ 8.05431620e-04 1.45854430e-05 9.99999676e-01 -3.34518601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.349254154 meters Centerline goodness [0,1] 0.9996537096355294 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.03, Z:-0.00 [[ 9.98911528e-01 -4.66418771e-02 -5.42590144e-04 3.43360571e-01] [ 4.66418671e-02 9.98911675e-01 -3.10534507e-05 -3.25359704e-02] [ 5.43448021e-04 5.71223248e-06 9.99999852e-01 -5.95228061e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37925415399999995 meters Centerline goodness [0,1] 0.9995425932782993 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.03, Z:-0.00 [[ 9.98741786e-01 -5.01437874e-02 -6.68115122e-04 3.76243700e-01] [ 5.01437730e-02 9.98742009e-01 -3.82944870e-05 -3.40520402e-02] [ 6.69194870e-04 4.74449130e-06 9.99999776e-01 -2.56966382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.409254154 meters Centerline goodness [0,1] 0.9998259886022535 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.04, Z:-0.00 [[ 9.98576126e-01 -5.33406368e-02 -7.04696029e-04 4.08981028e-01] [ 5.33406217e-02 9.98576375e-01 -4.02355906e-05 -3.54123844e-02] [ 7.05838998e-04 2.58937586e-06 9.99999751e-01 -9.40599261e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43925415399999995 meters Centerline goodness [0,1] 0.99980458572173 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.04, Z:-0.00 [[ 9.98277485e-01 -5.86625333e-02 -8.77393369e-04 4.42254548e-01] [ 5.86625113e-02 9.98277871e-01 -5.08315502e-05 -3.87910748e-02] [ 8.78864292e-04 -7.26106274e-07 9.99999614e-01 -6.93551176e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.469254154 meters Centerline goodness [0,1] 0.9998047510575985 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.04, Z:-0.00 [[ 9.98147495e-01 -6.08283469e-02 -1.22056458e-03 4.75753589e-01] [ 6.08283070e-02 9.98148242e-01 -6.98073884e-05 -3.88596627e-02] [ 1.22255065e-03 -4.56680685e-06 9.99999253e-01 -2.55470773e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49925415399999995 meters Centerline goodness [0,1] 0.9995238507488529 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.04, Z:-0.00 [[ 9.98067013e-01 -6.21315848e-02 -1.37969541e-03 5.08252194e-01] [ 6.21315364e-02 9.98067967e-01 -7.79208438e-05 -3.87290665e-02] [ 1.38187113e-03 -7.95237144e-06 9.99999045e-01 -1.76702912e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5292541539999999 meters Centerline goodness [0,1] 0.9992636867636867 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.04, Z:-0.00 [[ 9.97995984e-01 -6.32554017e-02 -1.66440789e-03 5.41027378e-01] [ 6.32553331e-02 9.97997372e-01 -9.38715677e-05 -3.68228090e-02] [ 1.66701258e-03 -1.15992280e-05 9.99998610e-01 -5.75349788e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5592541539999999 meters Centerline goodness [0,1] 0.9993708645189283 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.03, Z:0.00 [[ 9.98043657e-01 -6.25037510e-02 -1.46292453e-03 5.73106233e-01] [ 6.25036977e-02 9.98044729e-01 -8.21881353e-05 -3.42361759e-02] [ 1.46520118e-03 -9.41084534e-06 9.99998927e-01 2.33721016e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5892541539999999 meters Centerline goodness [0,1] 0.9997397922674935 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.03, Z:0.00 [[ 9.98243360e-01 -5.92226509e-02 -1.69448420e-03 6.05345378e-01] [ 5.92225759e-02 9.98244798e-01 -9.44982667e-05 -2.79907746e-02] [ 1.69710648e-03 -6.01945194e-06 9.99998560e-01 6.42168584e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6192541539999998 meters Centerline goodness [0,1] 0.9998481956974323 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.02, Z:0.00 [[ 9.98388067e-01 -5.67244149e-02 -1.89969497e-03 6.36988641e-01] [ 5.67243172e-02 9.98389874e-01 -1.05349004e-04 -2.37856190e-02] [ 1.90261208e-03 -2.57971152e-06 9.99998190e-01 1.33374498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6492541539999999 meters Centerline goodness [0,1] 0.9994581120624255 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.02, Z:0.00 [[ 9.98499307e-01 -5.47566139e-02 -9.20350297e-04 6.69605592e-01] [ 5.47565903e-02 9.98499731e-01 -5.08171113e-05 -1.91909346e-02] [ 9.21752097e-04 3.45606229e-07 9.99999575e-01 1.47815017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6792541539999999 meters Centerline goodness [0,1] 0.9991744155731294 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.01, Z:0.00 [[ 9.98725553e-01 -5.04691374e-02 3.69776124e-04 7.01014697e-01] [ 5.04691338e-02 9.98725621e-01 1.89594355e-05 -1.23041519e-02] [-3.70261755e-04 -2.72992030e-07 9.99999931e-01 2.37966568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7092541539999999 meters Centerline goodness [0,1] 0.9992608052874163 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.01, Z:0.00 [[ 9.98801306e-01 -4.89456989e-02 5.19060136e-04 7.32956578e-01] [ 4.89456911e-02 9.98801441e-01 2.78342394e-05 -8.54722162e-03] [-5.19800379e-04 -2.39511760e-06 9.99999865e-01 2.45164170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7392541539999998 meters Centerline goodness [0,1] 0.9989986721522018 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.00, Z:0.00 [[ 9.98873646e-01 -4.74444228e-02 6.83082169e-04 7.64578071e-01] [ 4.74444088e-02 9.98873879e-01 3.66964163e-05 -4.75320152e-03] [-6.84053976e-04 -4.24665347e-06 9.99999766e-01 2.07091600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7692541539999999 meters Centerline goodness [0,1] 0.9988435522583461 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.00, Z:0.00 [[ 9.98937520e-01 -4.60837006e-02 3.50366331e-04 7.97054523e-01] [ 4.60836972e-02 9.98937582e-01 1.75581502e-05 -1.10594234e-03] [-3.50803240e-04 -1.39331912e-06 9.99999938e-01 1.65906100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7992541539999999 meters Centerline goodness [0,1] 0.9988435522583461 Centerline is valid? [True, True] Translation: X:0.83, Y:0.00, Z:0.00 [[ 9.98942545e-01 -4.59746652e-02 3.50324862e-04 8.29561021e-01] [ 4.59746616e-02 9.98942606e-01 1.83258025e-05 5.58947420e-04] [-3.50796953e-04 -2.20035680e-06 9.99999938e-01 1.82116792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8292541539999998 meters Centerline goodness [0,1] 0.998685536520177 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:0.00 [[ 9.99051462e-01 -4.35442551e-02 -2.71949817e-04 8.60556737e-01] [ 4.35442526e-02 9.99051499e-01 -1.49919578e-05 7.04925612e-03] [ 2.72344686e-04 3.13588579e-06 9.99999963e-01 1.04225973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8592541539999998 meters Centerline goodness [0,1] 0.9985777116474476 Centerline is valid? [True, True] Translation: X:0.89, Y:0.01, Z:0.00 [[ 9.99120266e-01 -4.19276106e-02 -8.77301907e-04 8.92855691e-01] [ 4.19275843e-02 9.99120651e-01 -4.83055449e-05 1.14082985e-02] [ 8.78555788e-04 1.14798992e-05 9.99999614e-01 6.70903074e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8892541539999999 meters Centerline goodness [0,1] 0.9980622715462192 Centerline is valid? [True, True] Translation: X:0.93, Y:0.02, Z:-0.00 [[ 9.99222318e-01 -3.94149525e-02 -1.10445137e-03 9.25077309e-01] [ 3.94149109e-02 9.99222929e-01 -5.93978286e-05 1.70101751e-02] [ 1.10593430e-03 1.58197836e-05 9.99999388e-01 -5.86651102e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9192541539999999 meters Centerline goodness [0,1] 0.9977161930695243 Centerline is valid? [True, True] Translation: X:0.96, Y:0.02, Z:-0.00 [[ 9.99275480e-01 -3.80400342e-02 -1.21254890e-03 9.56966719e-01] [ 3.80399832e-02 9.99276216e-01 -6.50831457e-05 2.10918343e-02] [ 1.21414704e-03 1.89106520e-05 9.99999263e-01 -1.20698736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9492541539999998 meters Centerline goodness [0,1] 0.9971611540238992 Centerline is valid? [True, True] Translation: X:0.99, Y:0.02, Z:-0.00 [[ 9.99305840e-01 -3.72433698e-02 -8.76678356e-04 9.88603165e-01] [ 3.72433428e-02 9.99306225e-01 -4.71007515e-05 2.40013090e-02] [ 8.77824330e-04 1.44176235e-05 9.99999615e-01 -2.06345322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9792541539999998 meters Centerline goodness [0,1] 0.9965077470547931 Centerline is valid? [True, True] Translation: X:1.02, Y:0.03, Z:-0.00 [[ 9.99365289e-01 -3.55975761e-02 -1.35304542e-03 1.01958197e+00] [ 3.55975107e-02 9.99366205e-01 -7.23968371e-05 3.17187520e-02] [ 1.35476502e-03 2.41858372e-05 9.99999082e-01 -2.48631530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.009254154 meters Centerline goodness [0,1] 0.9958666725608948 Centerline is valid? [True, True] Translation: X:1.05, Y:0.04, Z:-0.00 [[ 9.99411384e-01 -3.42723949e-02 -1.51296688e-03 1.05046968e+00] [ 3.42723119e-02 9.99412528e-01 -8.07316822e-05 3.64464871e-02] [ 1.51484493e-03 2.88312893e-05 9.99998852e-01 -2.39760875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0392541539999998 meters Centerline goodness [0,1] 0.9949978973462296 Centerline is valid? [True, True] Translation: X:1.08, Y:0.04, Z:-0.00 [[ 9.99468856e-01 -3.25546580e-02 -1.48323706e-03 1.08254631e+00] [ 3.25545763e-02 9.99469956e-01 -7.92100261e-05 3.92294586e-02] [ 1.48502954e-03 3.08818002e-05 9.99998897e-01 -3.15009315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0692541539999998 meters Centerline goodness [0,1] 0.9945257488466548 Centerline is valid? [True, True] Translation: X:1.11, Y:0.05, Z:-0.00 [[ 9.99538317e-01 -3.03539577e-02 -1.33757908e-03 1.11288567e+00] [ 3.03538896e-02 9.99539212e-01 -7.11549371e-05 4.53935320e-02] [ 1.33912258e-03 3.05213583e-05 9.99999103e-01 -2.85538489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0992541539999998 meters Centerline goodness [0,1] 0.9931215052809088 Centerline is valid? [True, True] Translation: X:1.14, Y:0.05, Z:-0.00 [[ 9.99655319e-01 -2.62524926e-02 -2.21702580e-04 1.14492723e+00] [ 2.62524905e-02 9.99655344e-01 -1.22066860e-05 5.03550583e-02] [ 2.21946625e-04 6.38223370e-06 9.99999975e-01 -2.82321471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1292541539999998 meters Centerline goodness [0,1] 0.9922668385146997 Centerline is valid? [True, True] Translation: X:1.18, Y:0.05, Z:-0.00 [[ 9.99702720e-01 -2.43775976e-02 4.51276980e-04 1.17691198e+00] [ 2.43775895e-02 9.99702822e-01 2.34952594e-05 5.44429979e-02] [-4.51715628e-04 -1.24872298e-05 9.99999898e-01 -2.69143065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1592541539999999 meters Centerline goodness [0,1] 0.990197168070776 Centerline is valid? [True, True] Translation: X:1.21, Y:0.06, Z:-0.00 [[ 9.99762029e-01 -2.17884497e-02 1.07170507e-03 1.20799897e+00] [ 2.17884020e-02 9.99762603e-01 5.62282690e-05 6.09798787e-02] [-1.07267578e-03 -3.28641475e-05 9.99999424e-01 -2.71212132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.189254154 meters Centerline goodness [0,1] 0.9890498764772652 Centerline is valid? [True, True] Translation: X:1.24, Y:0.07, Z:-0.00 [[ 9.99776976e-01 -2.10598991e-02 1.57460472e-03 1.24017993e+00] [ 2.10597952e-02 9.99778215e-01 8.25420326e-05 6.54221114e-02] [-1.57599382e-03 -4.93627710e-05 9.99998757e-01 -2.34393592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2192541539999997 meters Centerline goodness [0,1] 0.9878812181157968 Centerline is valid? [True, True] Translation: X:1.27, Y:0.07, Z:-0.00 [[ 9.99780027e-01 -2.08283708e-02 2.46489791e-03 1.27235327e+00] [ 2.08281151e-02 9.99783063e-01 1.29363651e-04 6.65083619e-02] [-2.46705761e-03 -7.79960173e-05 9.99996954e-01 -2.74469049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2492541539999997 meters Centerline goodness [0,1] 0.9851950947603122 Centerline is valid? [True, True] Translation: X:1.30, Y:0.07, Z:-0.00 [[ 9.99745982e-01 -2.22988495e-02 3.27618459e-03 1.30423180e+00] [ 2.22984078e-02 9.99751345e-01 1.71279322e-04 6.94639024e-02] [-3.27918928e-03 -9.81821140e-05 9.99994619e-01 -2.21917514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2792541539999998 meters Centerline goodness [0,1] 0.9841029523088569 Centerline is valid? [True, True] Translation: X:1.34, Y:0.07, Z:-0.00 [[ 9.99713923e-01 -2.36709949e-02 3.42873227e-03 1.33582608e+00] [ 2.36705213e-02 9.99719798e-01 1.78656945e-04 7.08581102e-02] [-3.43200052e-03 -9.74459551e-05 9.99994106e-01 -1.94176914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3092541539999998 meters Centerline goodness [0,1] 0.9814405853353856 Centerline is valid? [True, True] Translation: X:1.37, Y:0.06, Z:-0.00 [[ 9.99554235e-01 -2.96654878e-02 3.36010079e-03 1.36817207e+00] [ 2.96650666e-02 9.99559880e-01 1.75133676e-04 6.13171659e-02] [-3.36381737e-03 -7.53779935e-05 9.99994340e-01 -4.87506286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3392541539999998 meters Centerline goodness [0,1] 0.9798375431178369 Centerline is valid? [True, True] Translation: X:1.40, Y:0.06, Z:-0.01 [[ 9.99444358e-01 -3.31213291e-02 3.73532311e-03 1.39945879e+00] [ 3.31208384e-02 9.99451336e-01 1.93176857e-04 6.07947148e-02] [-3.73967194e-03 -6.93524867e-05 9.99993005e-01 -5.09775840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3692541539999998 meters Centerline goodness [0,1] 0.978005409959647 Centerline is valid? [True, True] Translation: X:1.43, Y:0.06, Z:-0.01 [[ 9.99324972e-01 -3.65204222e-02 3.98234776e-03 1.43162018e+00] [ 3.65198890e-02 9.99332905e-01 2.06542046e-04 5.84902253e-02] [-3.98723416e-03 -6.09677256e-05 9.99992049e-01 -5.59960753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3992541539999999 meters Centerline goodness [0,1] 0.9764250138350857 Centerline is valid? [True, True] Translation: X:1.46, Y:0.06, Z:-0.00 [[ 9.99193698e-01 -3.98954469e-02 4.50636285e-03 1.46341866e+00] [ 3.98948071e-02 9.99203858e-01 2.31810420e-04 5.79369785e-02] [-4.51202333e-03 -5.18430346e-05 9.99989819e-01 -4.77141284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4292541539999997 meters Centerline goodness [0,1] 0.9735210768685796 Centerline is valid? [True, True] Translation: X:1.50, Y:0.05, Z:-0.01 [[ 9.98945804e-01 -4.55623921e-02 5.59906659e-03 1.49651242e+00] [ 4.55614902e-02 9.98961494e-01 2.88590206e-04 5.24457927e-02] [-5.60640078e-03 -3.31841584e-05 9.99984283e-01 -5.36369001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4592541539999997 meters Centerline goodness [0,1] 0.9715605250364608 Centerline is valid? [True, True] Translation: X:1.53, Y:0.05, Z:-0.01 [[ 9.98871184e-01 -4.71394770e-02 5.85034353e-03 1.52924202e+00] [ 4.71385346e-02 9.98888317e-01 2.98949125e-04 5.18007678e-02] [-5.85793211e-03 -2.28350452e-05 9.99982842e-01 -5.16360013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4892541539999997 meters Centerline goodness [0,1] 0.9677697460043769 Centerline is valid? [True, True] Translation: X:1.56, Y:0.05, Z:-0.01 [[ 9.98790953e-01 -4.86425347e-02 7.10892427e-03 1.56186866e+00] [ 4.86411800e-02 9.98816251e-01 3.63430764e-04 4.94501348e-02] [-7.11818728e-03 -1.72048934e-05 9.99974665e-01 -5.13196430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5192541539999997 meters Centerline goodness [0,1] 0.9656776938246439 Centerline is valid? [True, True] Translation: X:1.59, Y:0.05, Z:-0.00 [[ 9.98745014e-01 -4.94840292e-02 7.72835406e-03 1.59388580e+00] [ 4.94824656e-02 9.98774915e-01 3.93516048e-04 4.90109363e-02] [-7.73835893e-03 -1.06041762e-05 9.99970058e-01 -3.35354809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5492541539999998 meters Centerline goodness [0,1] 0.9623699843208268 Centerline is valid? [True, True] Translation: X:1.63, Y:0.05, Z:-0.01 [[ 9.98762785e-01 -4.91662790e-02 7.45499960e-03 1.62716494e+00] [ 4.91648353e-02 9.98790607e-01 3.76908930e-04 4.79763456e-02] [-7.46451479e-03 -9.91878548e-06 9.99972140e-01 -6.34751510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5792541539999998 meters Centerline goodness [0,1] 0.9526364395971678 Centerline is valid? [True, True] Translation: X:1.66, Y:0.04, Z:-0.01 [[ 9.98720909e-01 -5.00904794e-02 6.89124092e-03 1.65981685e+00] [ 5.00892805e-02 9.98744684e-01 3.46566071e-04 4.44554352e-02] [-6.89994989e-03 -9.45482178e-07 9.99976195e-01 -8.99807162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6092541539999998 meters Centerline goodness [0,1] 0.9488623812679479 Centerline is valid? [True, False] Translation: X:1.66, Y:0.04, Z:-0.01 [[ 9.98756859e-01 -4.94249841e-02 6.47360972e-03 1.66192531e+00] [ 4.94141487e-02 9.98776711e-01 1.82327074e-03 4.09252839e-02] [-6.55580575e-03 -1.50111624e-03 9.99977384e-01 -1.07168033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6392541539999996 meters Centerline goodness [0,1] 0.9416224078277542 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.01 [[ 0.99878919 -0.0488423 0.00588069 1.66434171] [ 0.04882373 0.99880209 0.00326089 0.03739804] [-0.00603291 -0.00296982 0.99997739 -0.01237745] [ 0. 0. 0. 1. ]] SLAMing on 1.6692541539999997 meters Centerline goodness [0,1] 0.9315128923395902 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:-0.01 [[ 9.98626418e-01 -5.21456490e-02 5.10974515e-03 1.66768615e+00] [ 5.21425757e-02 9.98639382e-01 7.32936057e-04 3.42700827e-02] [-5.14101217e-03 -4.65494036e-04 9.99986677e-01 -1.39947768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6992541539999997 meters Centerline goodness [0,1] 0.9260965395635883 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:-0.02 [[ 0.99865754 -0.05160119 0.00452081 1.67008279] [ 0.05159117 0.99866563 0.00230506 0.03005989] [-0.00463372 -0.00206873 0.99998712 -0.01561097] [ 0. 0. 0. 1. ]] SLAMing on 1.7292541539999997 meters Centerline goodness [0,1] 0.9150710858752586 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:-0.02 [[ 9.98492949e-01 -5.47574191e-02 3.66810200e-03 1.67385888e+00] [ 5.47570694e-02 9.98499687e-01 1.95755697e-04 2.51584675e-02] [-3.67331778e-03 5.39383307e-06 9.99993253e-01 -1.73476769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7592541539999997 meters Centerline goodness [0,1] 0.9103009005051614 Centerline is valid? [False, False] Translation: X:1.68, Y:0.02, Z:-0.02 [[ 9.98527388e-01 -5.41631591e-02 3.06717686e-03 1.67625365e+00] [ 5.41577863e-02 9.98530752e-01 1.80853385e-03 2.07386984e-02] [-3.16062633e-03 -1.63975907e-03 9.99993661e-01 -1.88018448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7892541539999998 meters Centerline goodness [0,1] 0.9041983224276492 Centerline is valid? [False, False] Translation: X:1.68, Y:0.02, Z:-0.02 [[ 0.99856703 -0.05345962 0.00244011 1.67870508] [ 0.05345117 0.99856466 0.00340544 0.0165794 ] [-0.00261866 -0.00327014 0.99999122 -0.02025289] [ 0. 0. 0. 1. ]] SLAMing on 1.8192541539999998 meters Centerline goodness [0,1] 0.8972286881285959 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:-0.02 [[ 9.98419273e-01 -5.61878997e-02 1.36929428e-03 1.68273838e+00] [ 5.61864342e-02 9.98419704e-01 1.08623526e-03 1.34560626e-02] [-1.42816366e-03 -1.00758245e-03 9.99998473e-01 -2.15548383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8492541539999996 meters Centerline goodness [0,1] 0.8923799284726945 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.02 [[ 9.98478159e-01 -5.51479368e-02 2.67210393e-04 1.68671864e+00] [ 5.51467984e-02 9.98473099e-01 3.20949641e-03 7.12702037e-03] [-4.43799494e-04 -3.18987627e-03 9.99994814e-01 -2.31632906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8792541539999996 meters Centerline goodness [0,1] 0.8901368363437329 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.02 [[ 9.98517935e-01 -5.44236100e-02 -6.20395894e-05 1.68815739e+00] [ 5.44233414e-02 9.98507900e-01 4.48031370e-03 3.64488140e-03] [-1.81887825e-04 -4.47704999e-03 9.99989961e-01 -2.37265191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9092541539999996 meters Centerline goodness [0,1] 0.886676574725707 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.02 [[ 9.98546793e-01 -5.38902670e-02 -3.75798955e-04 1.68947256e+00] [ 5.38915262e-02 9.98531168e-01 5.58653359e-03 2.90015424e-04] [ 7.41871830e-05 -5.59866758e-03 9.99984325e-01 -2.40748366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9392541539999997 meters Centerline goodness [0,1] 0.8839530929857448 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.00, Z:-0.02 [[ 9.98573887e-01 -5.33816720e-02 -7.67445714e-04 1.69104252e+00] [ 5.33856286e-02 9.98551419e-01 6.71103513e-03 -3.00577560e-03] [ 4.08087731e-04 -6.74243501e-03 9.99977186e-01 -2.45900908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9692541539999997 meters Centerline goodness [0,1] 0.8787231724588735 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.02 [[ 9.98598895e-01 -5.28774956e-02 -2.05338787e-03 1.69455109e+00] [ 5.28926786e-02 9.98566357e-01 8.22163590e-03 -8.29768501e-03] [ 1.61570453e-03 -8.31872572e-03 9.99964094e-01 -2.46724940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9992541539999997 meters Centerline goodness [0,1] 0.8778402895896027 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.01, Z:-0.03 [[ 0.99862444 -0.052358 -0.00280655 1.69683631] [ 0.05238184 0.99858448 0.00922958 -0.01104537] [ 0.00231934 -0.00936389 0.99995347 -0.02509513] [ 0. 0. 0. 1. ]] SLAMing on 2.0292541539999998 meters Centerline goodness [0,1] 0.8750108799721472 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.01, Z:-0.03 [[ 0.99865354 -0.05176081 -0.00345341 1.69925529] [ 0.05179394 0.99860451 0.01031609 -0.01410884] [ 0.00291462 -0.01048107 0.99994082 -0.02580125] [ 0. 0. 0. 1. ]] SLAMing on 2.0592541539999996 meters Centerline goodness [0,1] 0.8710521723957425 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.02 [[ 0.99876173 -0.04926613 -0.00691734 1.7147348 ] [ 0.04931371 0.99875961 0.00688537 -0.01782825] [ 0.00656955 -0.00721797 0.99995237 -0.02434829] [ 0. 0. 0. 1. ]] SLAMing on 2.089254154 meters Centerline goodness [0,1] 0.8694729007967779 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.02, Z:-0.03 [[ 0.99880292 -0.0483001 -0.00773476 1.71777983] [ 0.04836102 0.99879874 0.00789255 -0.01999928] [ 0.00734426 -0.00825716 0.99993894 -0.02504282] [ 0. 0. 0. 1. ]] SLAMing on 2.1192541539999996 meters Centerline goodness [0,1] 0.8647310178590993 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.02, Z:-0.02 [[ 9.99049534e-01 -4.31057323e-02 -6.47491905e-03 1.73942713e+00] [ 4.31145811e-02 9.99069373e-01 1.23324836e-03 -1.91423063e-02] [ 6.41573325e-03 -1.51123962e-03 9.99978277e-01 -2.36754367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.149254154 meters Centerline goodness [0,1] 0.8627175559115949 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.02, Z:-0.02 [[ 0.99909862 -0.04174651 -0.0076932 1.74348921] [ 0.04176407 0.99912522 0.00213637 -0.01982562] [ 0.00759728 -0.00245574 0.99996812 -0.02417634] [ 0. 0. 0. 1. ]] SLAMing on 2.1792541539999997 meters Centerline goodness [0,1] 0.8599766627771295 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.02, Z:-0.02 [[ 0.99914985 -0.04018865 -0.00918921 1.7479609 ] [ 0.04021919 0.99918587 0.00316348 -0.02050548] [ 0.0090546 -0.00353037 0.99995277 -0.0244771 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2092541539999995 meters Centerline goodness [0,1] 0.8577940237376962 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.02, Z:-0.02 [[ 0.99919293 -0.03864719 -0.01094878 1.75282095] [ 0.03869142 0.99924376 0.00385689 -0.0209046 ] [ 0.01079144 -0.0042774 0.99993262 -0.02424923] [ 0. 0. 0. 1. ]] SLAMing on 2.2392541539999997 meters Centerline goodness [0,1] 0.8541378477482818 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:-0.02 [[ 9.99456905e-01 -3.11240044e-02 -1.08255160e-02 1.79638743e+00] [ 3.11333597e-02 9.99514997e-01 6.96706012e-04 -1.99475393e-02] [ 1.07985813e-02 -1.03336232e-03 9.99941160e-01 -2.06042661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2692541539999995 meters Centerline goodness [0,1] 0.8539825919186161 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:-0.02 [[ 9.99487206e-01 -2.95206664e-02 -1.24038075e-02 1.80161538e+00] [ 2.95416158e-02 9.99562412e-01 1.50909461e-03 -2.01055566e-02] [ 1.23538302e-02 -1.87474927e-03 9.99921931e-01 -2.11667836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2992541539999998 meters Centerline goodness [0,1] 0.8514233120767866 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.02, Z:-0.02 [[ 0.99951427 -0.02792521 -0.01383525 1.80681565] [ 0.02796224 0.99960588 0.00249069 -0.02051655] [ 0.01376024 -0.00287634 0.99990119 -0.0220553 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3292541539999996 meters Centerline goodness [0,1] 0.8514361969766577 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.02, Z:-0.02 [[ 9.99655344e-01 -2.19129249e-02 -1.44573981e-02 1.85243052e+00] [ 2.18945726e-02 9.99759267e-01 -1.42648431e-03 -1.93780155e-02] [ 1.44851762e-02 1.10945411e-03 9.99894469e-01 -1.95379690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.359254154 meters Centerline goodness [0,1] 0.8533920203214646 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.02, Z:-0.02 [[ 9.99654033e-01 -2.08756632e-02 -1.60006504e-02 1.85791160e+00] [ 2.08717814e-02 9.99782077e-01 -4.09573071e-04 -2.03432064e-02] [ 1.60057136e-02 7.54692931e-05 9.99871898e-01 -2.06810753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3892541539999996 meters Centerline goodness [0,1] 0.8527961776522966 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.02 [[ 0.99968712 -0.01891226 -0.01637013 1.90087803] [ 0.01884891 0.99981428 -0.00401564 -0.01930606] [ 0.01644304 0.00370583 0.99985794 -0.01950234] [ 0. 0. 0. 1. ]] SLAMing on 2.4192541539999994 meters Centerline goodness [0,1] 0.8547907118187545 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.02 [[ 0.99967227 -0.01869813 -0.01748525 1.90562903] [ 0.01864928 0.99982173 -0.00295256 -0.02116835] [ 0.01753734 0.0026255 0.99984276 -0.02102919] [ 0. 0. 0. 1. ]] SLAMing on 2.4492541539999997 meters Centerline goodness [0,1] 0.8545853595558808 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.02 [[ 0.99959706 -0.02084382 -0.01926801 1.9123151 ] [ 0.02076055 0.9997743 -0.00451183 -0.02079191] [ 0.0193577 0.00411 0.99980417 -0.02287807] [ 0. 0. 0. 1. ]] SLAMing on 2.4792541539999995 meters Centerline goodness [0,1] 0.8576405315900392 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.02, Z:-0.02 [[ 0.99955006 -0.0246758 -0.01705231 1.94922423] [ 0.02453002 0.99966119 -0.0087057 -0.02100883] [ 0.01726135 0.00828349 0.9998167 -0.02353913] [ 0. 0. 0. 1. ]] SLAMing on 2.5092541539999997 meters Centerline goodness [0,1] 0.858964467875359 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.02, Z:-0.03 [[ 0.99944177 -0.02803095 -0.01817721 1.95420509] [ 0.02782878 0.99954904 -0.01128122 -0.02101867] [ 0.01848524 0.01076907 0.99977114 -0.02500651] [ 0. 0. 0. 1. ]] SLAMing on 2.5392541539999995 meters Centerline goodness [0,1] 0.8626553442707108 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.03 [[ 0.99932416 -0.03134226 -0.01920621 1.95913328] [ 0.03108217 0.99942302 -0.01369381 -0.02089759] [ 0.01962432 0.01308759 0.99972176 -0.02665884] [ 0. 0. 0. 1. ]] SLAMing on 2.569254154 meters Centerline goodness [0,1] 0.8674230352476258 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.03 [[ 0.99899972 -0.04026671 -0.01944615 2.0020385 ] [ 0.04002017 0.99911553 -0.01290515 -0.02052097] [ 0.0199486 0.012114 0.99972762 -0.02641397] [ 0. 0. 0. 1. ]] SLAMing on 2.5992541539999996 meters Centerline goodness [0,1] 0.8696149447197865 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.03 [[ 0.99892353 -0.04355026 -0.01597368 2.02085387] [ 0.04343077 0.99902636 -0.00775263 -0.02324797] [ 0.01629576 0.00705054 0.99984236 -0.03034927] [ 0. 0. 0. 1. ]] SLAMing on 2.6292541539999994 meters Centerline goodness [0,1] 0.8738752185594268 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.03 [[ 0.99875986 -0.04678657 -0.01702205 2.02567009] [ 0.0466181 0.99886109 -0.01016288 -0.0225911 ] [ 0.01747815 0.00935674 0.99980346 -0.03210707] [ 0. 0. 0. 1. ]] SLAMing on 2.6592541539999996 meters Centerline goodness [0,1] 0.8794174341400728 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.02, Z:-0.03 [[ 0.99817218 -0.05580499 -0.02319691 2.04384232] [ 0.05559103 0.99840583 -0.00976894 -0.02078884] [ 0.02370508 0.00846154 0.99968319 -0.03201904] [ 0. 0. 0. 1. ]] SLAMing on 2.6892541539999995 meters Centerline goodness [0,1] 0.8794174341400728 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.02, Z:-0.03 [[ 0.99817218 -0.05580499 -0.02319691 2.04384232] [ 0.05559103 0.99840583 -0.00976894 -0.02078884] [ 0.02370508 0.00846154 0.99968319 -0.03201904] [ 0. 0. 0. 1. ]] SLAMing on 2.7192541539999997 meters Centerline goodness [0,1] 0.8822049258982834 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.02, Z:-0.03 [[ 0.99806081 -0.05728048 -0.02436335 2.04963693] [ 0.05703708 0.99831609 -0.01057102 -0.0200391 ] [ 0.02492783 0.00916091 0.99964728 -0.03468174] [ 0. 0. 0. 1. ]] SLAMing on 2.7492541539999995 meters Centerline goodness [0,1] 0.8899592045964245 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.02, Z:-0.04 [[ 0.99779371 -0.06040583 -0.02754722 2.07752127] [ 0.06014253 0.99813677 -0.01028919 -0.01706143] [ 0.02811743 0.00860973 0.99956755 -0.03670747] [ 0. 0. 0. 1. ]] SLAMing on 2.7792541539999998 meters Centerline goodness [0,1] 0.8934968222379149 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.02, Z:-0.04 [[ 0.9977819 -0.06004149 -0.02874559 2.08234577] [ 0.05979072 0.99816567 -0.00950601 -0.01597418] [ 0.02926361 0.0077662 0.99954156 -0.03876223] [ 0. 0. 0. 1. ]] SLAMing on 2.8092541539999996 meters Centerline goodness [0,1] 0.8961423695339501 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.01, Z:-0.04 [[ 0.99779292 -0.05931537 -0.02984917 2.08698554] [ 0.05908369 0.99821611 -0.00858561 -0.01461813] [ 0.03030518 0.00680306 0.99951754 -0.04085781] [ 0. 0. 0. 1. ]] SLAMing on 2.8392541539999994 meters Centerline goodness [0,1] 0.8978610654073805 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.01, Z:-0.04 [[ 0.99780256 -0.05848619 -0.03113549 2.09202585] [ 0.05827588 0.99827143 -0.00762058 -0.01268722] [ 0.03152737 0.00578939 0.99948612 -0.04295233] [ 0. 0. 0. 1. ]] SLAMing on 2.8692541539999996 meters Centerline goodness [0,1] 0.9041848094206474 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.01, Z:-0.05 [[ 0.99802766 -0.05547815 -0.02937627 2.11124226] [ 0.05519979 0.99842319 -0.01020417 -0.00513947] [ 0.02989605 0.00856248 0.99951634 -0.04735406] [ 0. 0. 0. 1. ]] SLAMing on 2.8992541539999994 meters Centerline goodness [0,1] 0.9096933304739439 Centerline is valid? [False, False] Translation: X:2.13, Y:0.00, Z:-0.05 [[ 0.99827836 -0.0520227 -0.02709175 2.12935241] [ 0.05166621 0.99857048 -0.01369702 0.00256026] [ 0.02776558 0.01227371 0.99953911 -0.05167514] [ 0. 0. 0. 1. ]] SLAMing on 2.9292541539999997 meters Centerline goodness [0,1] 0.9120401122801003 Centerline is valid? [False, False] Translation: X:2.13, Y:0.00, Z:-0.05 [[ 0.99831077 -0.05075264 -0.02828042 2.13390808] [ 0.05041264 0.99864888 -0.01260894 0.00472608] [ 0.02888214 0.01116195 0.9995205 -0.05371258] [ 0. 0. 0. 1. ]] SLAMing on 2.9592541539999995 meters Centerline goodness [0,1] 0.91391811355666 Centerline is valid? [False, False] Translation: X:2.14, Y:0.01, Z:-0.06 [[ 0.99833986 -0.04948697 -0.02947145 2.1384274 ] [ 0.04916372 0.99872344 -0.01159402 0.00680346] [ 0.03000758 0.01012584 0.99949838 -0.05582842] [ 0. 0. 0. 1. ]] SLAMing on 2.9892541539999997 meters Centerline goodness [0,1] 0.9168908304461039 Centerline is valid? [False, False] Translation: X:2.14, Y:0.01, Z:-0.06 [[ 0.99837727 -0.04794275 -0.03072975 2.14312906] [ 0.04764556 0.99881087 -0.0103319 0.0088741 ] [ 0.03118855 0.008851 0.99947433 -0.05810112] [ 0. 0. 0. 1. ]] SLAMing on 3.0192541539999995 meters Centerline goodness [0,1] 0.9212333203782873 Centerline is valid? [False, False] Translation: X:2.16, Y:0.02, Z:-0.06 [[ 0.99869435 -0.04244053 -0.02843239 2.15927454] [ 0.04208751 0.99903062 -0.01290193 0.01550051] [ 0.0289524 0.01168843 0.99951245 -0.06124424] [ 0. 0. 0. 1. ]] SLAMing on 3.0492541539999993 meters Centerline goodness [0,1] 0.9236805795101759 Centerline is valid? [False, False] Translation: X:2.16, Y:0.02, Z:-0.06 [[ 0.99874197 -0.04032777 -0.02980194 2.16403444] [ 0.04001354 0.99913785 -0.01106641 0.01777371] [ 0.03022253 0.00986001 0.99949456 -0.06339513] [ 0. 0. 0. 1. ]] SLAMing on 3.0792541539999996 meters Centerline goodness [0,1] 0.9260299423189094 Centerline is valid? [False, False] Translation: X:2.17, Y:0.02, Z:-0.06 [[ 0.99886225 -0.03615882 -0.03109237 2.1675049 ] [ 0.03596801 0.99933065 -0.0066746 0.01791156] [ 0.03131291 0.00554867 0.99949423 -0.06474111] [ 0. 0. 0. 1. ]] SLAMing on 3.1092541539999994 meters Centerline goodness [0,1] 0.9298952108772841 Centerline is valid? [False, False] Translation: X:2.18, Y:0.02, Z:-0.07 [[ 0.99917054 -0.02916337 -0.02842043 2.18273411] [ 0.02894783 0.99954918 -0.00796642 0.02297989] [ 0.02863994 0.0071371 0.99956431 -0.06786471] [ 0. 0. 0. 1. ]] SLAMing on 3.1392541539999996 meters Centerline goodness [0,1] 0.9314657980456026 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.07 [[ 0.99925133 -0.02482048 -0.02967682 2.18603187] [ 0.02473219 0.99968854 -0.00333844 0.02244057] [ 0.02975044 0.00260197 0.99955397 -0.06919494] [ 0. 0. 0. 1. ]] SLAMing on 3.1692541539999994 meters Centerline goodness [0,1] 0.9355681892439391 Centerline is valid? [False, False] Translation: X:2.20, Y:0.03, Z:-0.07 [[ 0.99949592 -0.01837649 -0.02588853 2.19947119] [ 0.01824672 0.99981978 -0.00523997 0.0270208 ] [ 0.02598015 0.00476495 0.9996511 -0.07170962] [ 0. 0. 0. 1. ]] SLAMing on 3.1992541539999997 meters Centerline goodness [0,1] 0.9364506307090039 Centerline is valid? [False, False] Translation: X:2.20, Y:0.03, Z:-0.07 [[ 0.99947274 -0.01782128 -0.02714107 2.20252339] [ 0.01768096 0.99982909 -0.005401 0.02886907] [ 0.02723269 0.00491827 0.99961702 -0.0720649 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2292541539999995 meters Centerline goodness [0,1] 0.9371990108030717 Centerline is valid? [False, False] Translation: X:2.22, Y:0.03, Z:-0.07 [[ 9.99579409e-01 -1.90443901e-02 -2.18704445e-02 2.21719925e+00] [ 1.90125733e-02 9.99817864e-01 -1.66181507e-03 2.93779804e-02] [ 2.18981093e-02 1.24530269e-03 9.99759432e-01 -7.22699053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2592541539999993 meters Centerline goodness [0,1] 0.940468705963969 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.07 [[ 0.99974079 -0.01539678 -0.01677189 2.22958035] [ 0.01530923 0.99986857 -0.00533632 0.03260888] [ 0.01685185 0.00507817 0.9998451 -0.07488147] [ 0. 0. 0. 1. ]] SLAMing on 3.2892541539999995 meters Centerline goodness [0,1] 0.943525062520387 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.08 [[ 9.99765664e-01 -1.21666235e-02 -1.79050181e-02 2.23203631e+00] [ 1.21505493e-02 9.99925673e-01 -1.00626777e-03 3.05873258e-02] [ 1.79159302e-02 7.88476164e-04 9.99839186e-01 -7.56268384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3192541539999993 meters Centerline goodness [0,1] 0.9457335735527144 Centerline is valid? [False, False] Translation: X:2.24, Y:0.03, Z:-0.08 [[ 0.9998124 -0.00930945 -0.01698509 2.24481869] [ 0.00923536 0.99994752 -0.00443558 0.03056901] [ 0.01702549 0.00427788 0.9998459 -0.07724281] [ 0. 0. 0. 1. ]] SLAMing on 3.3492541539999996 meters Centerline goodness [0,1] 0.9480330362964573 Centerline is valid? [False, False] Translation: X:2.25, Y:0.03, Z:-0.08 [[ 0.99979566 -0.00920287 -0.01799839 2.24740912] [ 0.00913685 0.99995124 -0.00374648 0.02914666] [ 0.01803199 0.00358127 0.999831 -0.07807051] [ 0. 0. 0. 1. ]] SLAMing on 3.3792541539999994 meters Centerline goodness [0,1] 0.9484412990621743 Centerline is valid? [False, False] Translation: X:2.25, Y:0.03, Z:-0.08 [[ 0.99977711 -0.00897564 -0.01910942 2.2503303 ] [ 0.00892154 0.99995595 -0.00291447 0.02758279] [ 0.01913474 0.00274334 0.99981315 -0.07902684] [ 0. 0. 0. 1. ]] SLAMing on 3.4092541539999996 meters Centerline goodness [0,1] 0.9522621243354671 Centerline is valid? [False, True] Translation: X:2.25, Y:0.03, Z:-0.08 [[ 9.99756114e-01 -9.55903698e-03 -1.99082447e-02 2.25309241e+00] [ 9.52197456e-03 9.99952753e-01 -1.95562502e-03 2.50177006e-02] [ 1.99259980e-02 1.76558227e-03 9.99799899e-01 -7.93717416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4392541539999995 meters Centerline goodness [0,1] 0.9540419259034447 Centerline is valid? [True, True] Translation: X:2.28, Y:0.02, Z:-0.08 [[ 9.99728524e-01 -1.16389600e-02 -2.01844509e-02 2.28233778e+00] [ 1.16291058e-02 9.99932196e-01 -6.05520551e-04 2.37291777e-02] [ 2.01901300e-02 3.70629052e-04 9.99796090e-01 -7.88836179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4692541539999993 meters Centerline goodness [0,1] 0.9559017634967002 Centerline is valid? [True, True] Translation: X:2.31, Y:0.02, Z:-0.08 [[ 9.99708795e-01 -1.41165860e-02 -1.95716035e-02 2.31113881e+00] [ 1.41077105e-02 9.99900306e-01 -5.91491934e-04 2.25544179e-02] [ 1.95780022e-02 3.15209172e-04 9.99808283e-01 -7.80027697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4992541539999995 meters Centerline goodness [0,1] 0.9584781060491616 Centerline is valid? [True, True] Translation: X:2.34, Y:0.02, Z:-0.08 [[ 9.99665272e-01 -1.69164542e-02 -1.95749330e-02 2.33879012e+00] [ 1.69080527e-02 9.99856872e-01 -5.94629851e-04 1.94761308e-02] [ 1.95821903e-02 2.63456812e-04 9.99808216e-01 -7.70937788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5292541539999993 meters Centerline goodness [0,1] 0.9600965787828486 Centerline is valid? [True, True] Translation: X:2.37, Y:0.02, Z:-0.08 [[ 9.99623609e-01 -1.82222969e-02 -2.05082360e-02 2.36687646e+00] [ 1.82132728e-02 9.99833928e-01 -6.26732230e-04 1.83145855e-02] [ 2.05162507e-02 2.52974235e-04 9.99789488e-01 -7.67005988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5592541539999996 meters Centerline goodness [0,1] 0.9611807260043922 Centerline is valid? [True, True] Translation: X:2.39, Y:0.02, Z:-0.08 [[ 9.99600245e-01 -1.87755328e-02 -2.11383416e-02 2.39345856e+00] [ 1.87659869e-02 9.99823692e-01 -6.49878174e-04 1.77871794e-02] [ 2.11468165e-02 2.52936540e-04 9.99776349e-01 -7.69032775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5892541539999994 meters Centerline goodness [0,1] 0.962222460581358 Centerline is valid? [True, True] Translation: X:2.42, Y:0.02, Z:-0.08 [[ 9.99574910e-01 -1.93129125e-02 -2.18405908e-02 2.42154771e+00] [ 1.93027551e-02 9.99813456e-01 -6.75808852e-04 1.72901450e-02] [ 2.18495684e-02 2.53937998e-04 9.99761237e-01 -7.67255911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6192541539999996 meters Centerline goodness [0,1] 0.9637592794643048 Centerline is valid? [True, True] Translation: X:2.45, Y:0.01, Z:-0.07 [[ 9.99549531e-01 -1.94867974e-02 -2.28254307e-02 2.45074089e+00] [ 1.94756149e-02 9.99810079e-01 -7.12135094e-04 1.34900051e-02] [ 2.28349729e-02 2.67275002e-04 9.99739212e-01 -7.40760065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6492541539999994 meters Centerline goodness [0,1] 0.9655496666096769 Centerline is valid? [True, True] Translation: X:2.48, Y:0.01, Z:-0.07 [[ 9.99517112e-01 -1.92240454e-02 -2.44126743e-02 2.47884540e+00] [ 1.92110641e-02 9.99815157e-01 -7.66186126e-04 1.38164065e-02] [ 2.44228909e-02 2.96822695e-04 9.99701673e-01 -7.47036782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.679254153999999 meters Centerline goodness [0,1] 0.9678844266143144 Centerline is valid? [True, True] Translation: X:2.51, Y:0.01, Z:-0.07 [[ 9.99511088e-01 -1.83010182e-02 -2.53506764e-02 2.50792167e+00] [ 1.82865888e-02 9.99832466e-01 -8.00921703e-04 1.07891165e-02] [ 2.53610870e-02 3.36952728e-04 9.99678299e-01 -7.41013497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7092541539999995 meters Centerline goodness [0,1] 0.9687074540503744 Centerline is valid? [True, True] Translation: X:2.54, Y:0.01, Z:-0.07 [[ 9.99501161e-01 -1.78001673e-02 -2.60879724e-02 2.53672881e+00] [ 1.77845448e-02 9.99841497e-01 -8.30758206e-04 1.00386332e-02] [ 2.60986250e-02 3.66381078e-04 9.99659306e-01 -7.36767554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7392541539999993 meters Centerline goodness [0,1] 0.9701168507758126 Centerline is valid? [True, True] Translation: X:2.57, Y:0.01, Z:-0.07 [[ 9.99490293e-01 -1.73151126e-02 -2.68205532e-02 2.56531071e+00] [ 1.72982436e-02 9.99850004e-01 -8.60866538e-04 9.16824806e-03] [ 2.68314362e-02 3.96479287e-04 9.99639894e-01 -7.32390531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7692541539999995 meters Centerline goodness [0,1] 0.9725020187853287 Centerline is valid? [True, True] Translation: X:2.59, Y:0.01, Z:-0.07 [[ 9.99547254e-01 -1.45209489e-02 -2.63520332e-02 2.59319089e+00] [ 1.45035928e-02 9.99894456e-01 -8.49650972e-04 7.87458972e-03] [ 2.63615897e-02 4.67067137e-04 9.99652364e-01 -7.27141357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7992541539999993 meters Centerline goodness [0,1] 0.9740714786264891 Centerline is valid? [True, True] Translation: X:2.62, Y:0.01, Z:-0.07 [[ 9.99584161e-01 -1.25476579e-02 -2.59626991e-02 2.62114807e+00] [ 1.25300866e-02 9.99921143e-01 -8.39371688e-04 8.25796738e-03] [ 2.59711839e-02 5.13707776e-04 9.99662560e-01 -7.21279305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8292541539999996 meters Centerline goodness [0,1] 0.9748844898478233 Centerline is valid? [True, True] Translation: X:2.65, Y:0.01, Z:-0.07 [[ 9.99603296e-01 -1.08994828e-02 -2.59702286e-02 2.64873303e+00] [ 1.08812866e-02 9.99940443e-01 -8.41877089e-04 9.30627099e-03] [ 2.59778579e-02 5.58953613e-04 9.99662362e-01 -7.18136218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8592541539999994 meters Centerline goodness [0,1] 0.9760523418311171 Centerline is valid? [True, True] Translation: X:2.68, Y:0.01, Z:-0.07 [[ 9.99625836e-01 -9.00468670e-03 -2.58283493e-02 2.67742628e+00] [ 8.98593231e-03 9.99959271e-01 -8.42092158e-04 8.90034845e-03] [ 2.58348801e-02 6.09685279e-04 9.99666038e-01 -7.09462184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.889254153999999 meters Centerline goodness [0,1] 0.9774224888062854 Centerline is valid? [True, True] Translation: X:2.71, Y:0.01, Z:-0.07 [[ 9.99634918e-01 -6.20835964e-03 -2.62961308e-02 2.70548799e+00] [ 6.18783379e-03 9.99980484e-01 -8.61866521e-04 6.79674942e-03] [ 2.63009683e-02 6.98835783e-04 9.99653825e-01 -7.18410837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9192541539999994 meters Centerline goodness [0,1] 0.9787562031464471 Centerline is valid? [True, True] Translation: X:2.73, Y:0.01, Z:-0.07 [[ 9.99634579e-01 -6.01499684e-03 -2.63539186e-02 2.73450120e+00] [ 5.99417419e-03 9.99981657e-01 -8.69043985e-04 5.05869164e-03] [ 2.63586625e-02 7.10756439e-04 9.99652297e-01 -7.20827890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9492541539999992 meters Centerline goodness [0,1] 0.9790622049722019 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.00, Z:-0.07 [[ 9.99590819e-01 -5.43870496e-03 -2.80822897e-02 2.76199228e+00] [ 5.41471279e-03 9.99984908e-01 -9.30325999e-04 -7.95582143e-06] [ 2.80869256e-02 7.77887794e-04 9.99605182e-01 -7.37720590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9792541539999995 meters Centerline goodness [0,1] 0.9812567053032375 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.00, Z:-0.07 [[ 9.99596101e-01 -6.15781272e-03 -2.77437776e-02 2.79092168e+00] [ 6.13452604e-03 9.99980756e-01 -9.24384056e-04 -2.73947910e-03] [ 2.77489359e-02 7.53815771e-04 9.99614640e-01 -7.38642635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.009254154 meters Centerline goodness [0,1] 0.9819944889674176 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.01, Z:-0.07 [[ 9.99568831e-01 -7.28491753e-03 -2.84443602e-02 2.81888584e+00] [ 7.26067979e-03 9.99973185e-01 -9.55302669e-04 -7.35458561e-03] [ 2.84505568e-02 7.48365381e-04 9.99594921e-01 -7.32343912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039254154 meters Centerline goodness [0,1] 0.9825100943534384 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.01, Z:-0.07 [[ 9.99492182e-01 -9.35050742e-03 -3.04621929e-02 2.84729853e+00] [ 9.32349679e-03 9.99956006e-01 -1.02861612e-03 -1.37055682e-02] [ 3.04704708e-02 7.44079613e-04 9.99535390e-01 -7.40116811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.069254154 meters Centerline goodness [0,1] 0.983848667672197 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.02, Z:-0.07 [[ 9.99492491e-01 -1.12247615e-02 -2.98121797e-02 2.87549236e+00] [ 1.11996371e-02 9.99936772e-01 -1.00961010e-03 -1.66420520e-02] [ 2.98216273e-02 6.75212121e-04 9.99555008e-01 -7.41074166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.099254154 meters Centerline goodness [0,1] 0.9847770780331151 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.03, Z:-0.07 [[ 9.99457938e-01 -1.56925606e-02 -2.89408508e-02 2.90335540e+00] [ 1.56706852e-02 9.99876725e-01 -9.82532902e-04 -2.54447706e-02] [ 2.89527015e-02 5.28477345e-04 9.99580643e-01 -7.38869667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.129254154 meters Centerline goodness [0,1] 0.9854057209573847 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.03, Z:-0.07 [[ 9.99397751e-01 -1.86507670e-02 -2.92623510e-02 2.93259597e+00] [ 1.86295082e-02 9.99825957e-01 -9.98974764e-04 -2.99144562e-02] [ 2.92758897e-02 4.53229924e-04 9.99571267e-01 -7.31849011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159254154 meters Centerline goodness [0,1] 0.9863813635320862 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.03, Z:-0.07 [[ 9.99363570e-01 -2.17090040e-02 -2.83050017e-02 2.96195158e+00] [ 2.16902146e-02 9.99764268e-01 -9.70720201e-04 -3.41225690e-02] [ 2.83194026e-02 3.56160846e-04 9.99598862e-01 -7.28703036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1892541539999995 meters Centerline goodness [0,1] 0.9869551648808904 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.04, Z:-0.07 [[ 9.99307442e-01 -2.41019945e-02 -2.83501346e-02 2.99116971e+00] [ 2.40839490e-02 9.99709461e-01 -9.77859548e-04 -3.85652048e-02] [ 2.83654662e-02 2.94399125e-04 9.99597576e-01 -7.29555723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.219254154 meters Centerline goodness [0,1] 0.9883184369154022 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.05, Z:-0.07 [[ 9.99183012e-01 -2.88349215e-02 -2.83170567e-02 3.01902529e+00] [ 2.88186894e-02 9.99584174e-01 -9.81259442e-04 -4.88641143e-02] [ 2.83335762e-02 1.64397305e-04 9.99598510e-01 -7.35727705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.249254154 meters Centerline goodness [0,1] 0.9893442452693019 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.05, Z:-0.07 [[ 9.99099594e-01 -3.13477003e-02 -2.85888673e-02 3.04688563e+00] [ 3.13320037e-02 9.99508535e-01 -9.96956771e-04 -5.30752602e-02] [ 2.86060691e-02 1.00312611e-04 9.99590758e-01 -7.34224475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279254154 meters Centerline goodness [0,1] 0.9896290138210537 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.06, Z:-0.07 [[ 9.99025839e-01 -3.33134524e-02 -2.89410810e-02 3.07501487e+00] [ 3.32979683e-02 9.99444952e-01 -1.01693228e-03 -5.66756443e-02] [ 2.89588948e-02 5.22624254e-05 9.99580602e-01 -7.36190093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.309254154 meters Centerline goodness [0,1] 0.9904506860974445 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.06, Z:-0.07 [[ 9.98848371e-01 -3.63004113e-02 -3.13721643e-02 3.10264898e+00] [ 3.62835365e-02 9.99340922e-01 -1.10719914e-03 -6.41436753e-02] [ 3.13916794e-02 -3.23690047e-05 9.99507159e-01 -7.48418329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.339254154 meters Centerline goodness [0,1] 0.9915488853271164 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.07, Z:-0.07 [[ 9.98782717e-01 -3.84434030e-02 -3.09061444e-02 3.13051619e+00] [ 3.84278502e-02 9.99260775e-01 -1.09725689e-03 -6.72752731e-02] [ 3.09254801e-02 -9.17354743e-05 9.99521689e-01 -7.42605288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.369254154 meters Centerline goodness [0,1] 0.9918152282572475 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.07, Z:-0.07 [[ 9.98736835e-01 -3.96199445e-02 -3.09029823e-02 3.15876256e+00] [ 3.96047106e-02 9.99214815e-01 -1.10514378e-03 -7.00895026e-02] [ 3.09225034e-02 -1.20155867e-04 9.99521778e-01 -7.40398029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399254153999999 meters Centerline goodness [0,1] 0.9928440672324846 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.08, Z:-0.07 [[ 9.98635870e-01 -4.21814259e-02 -3.07754238e-02 3.18793565e+00] [ 4.21673109e-02 9.99109949e-01 -1.10780234e-03 -7.65692174e-02] [ 3.07947608e-02 -1.91425708e-04 9.99525711e-01 -7.30874763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.429254154 meters Centerline goodness [0,1] 0.9924511084842075 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.08, Z:-0.07 [[ 9.98606363e-01 -4.27479828e-02 -3.09506286e-02 3.21641208e+00] [ 4.27337424e-02 9.99085867e-01 -1.12173383e-03 -7.89070679e-02] [ 3.09702875e-02 -2.02465649e-04 9.99520285e-01 -7.26129030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459254154 meters Centerline goodness [0,1] 0.9934503264440471 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.08, Z:-0.07 [[ 9.98589692e-01 -4.38786477e-02 -2.98879690e-02 3.24580131e+00] [ 4.38656792e-02 9.99036843e-01 -1.08975652e-03 -8.10944290e-02] [ 2.99069992e-02 -2.22836433e-04 9.99552661e-01 -7.16965657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.489254154 meters Centerline goodness [0,1] 0.9939630313465967 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.08, Z:-0.07 [[ 9.98559590e-01 -4.46440689e-02 -2.97599237e-02 3.27276779e+00] [ 4.46314270e-02 9.99002928e-01 -1.08925498e-03 -8.45049450e-02] [ 2.97788797e-02 -2.40541852e-04 9.99556482e-01 -7.13508093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5192541539999995 meters Centerline goodness [0,1] 0.9944674390066349 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.09, Z:-0.07 [[ 9.98517902e-01 -4.52286813e-02 -3.02715470e-02 3.30144584e+00] [ 4.52156986e-02 9.98976627e-01 -1.11361963e-03 -8.53067219e-02] [ 3.02909354e-02 -2.56780007e-04 9.99541091e-01 -7.12497147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.549254154 meters Centerline goodness [0,1] 0.9948422519393548 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.09, Z:-0.07 [[ 9.98503946e-01 -4.55493029e-02 -3.02511391e-02 3.32982473e+00] [ 4.55362647e-02 9.98962058e-01 -1.12013701e-03 -8.56305968e-02] [ 3.02707617e-02 -2.59062656e-04 9.99541702e-01 -7.14777153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579254154 meters Centerline goodness [0,1] 0.995078392690271 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.09, Z:-0.07 [[ 9.98517500e-01 -4.47678162e-02 -3.09619750e-02 3.35727313e+00] [ 4.47536565e-02 9.98997391e-01 -1.15051802e-03 -8.58695738e-02] [ 3.09824384e-02 -2.36849222e-04 9.99519901e-01 -7.16971172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.609254153999999 meters Centerline goodness [0,1] 0.995078392690271 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.08, Z:-0.07 [[ 9.98506422e-01 -4.50143839e-02 -3.09617492e-02 3.38469229e+00] [ 4.50001551e-02 9.98986310e-01 -1.15657216e-03 -8.47229507e-02] [ 3.09824260e-02 -2.38438788e-04 9.99519901e-01 -7.14398762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.639254154 meters Centerline goodness [0,1] 0.9953774076002082 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.08, Z:-0.07 [[ 9.98513289e-01 -4.51869511e-02 -3.04852707e-02 3.41310784e+00] [ 4.51730283e-02 9.98978521e-01 -1.14562095e-03 -8.42380872e-02] [ 3.05058978e-02 -2.33194255e-04 9.99534560e-01 -7.04274198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.669254154 meters Centerline goodness [0,1] 0.9956022071941252 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.08, Z:-0.07 [[ 9.98514323e-01 -4.52603525e-02 -3.03421751e-02 3.44108431e+00] [ 4.52463696e-02 9.98975199e-01 -1.14763108e-03 -8.29697683e-02] [ 3.03630226e-02 -2.26947200e-04 9.99538911e-01 -6.78454952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.699254154 meters Centerline goodness [0,1] 0.9958692267773741 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.08, Z:-0.07 [[ 9.98516709e-01 -4.64621961e-02 -2.83839190e-02 3.46918421e+00] [ 4.64503388e-02 9.98920020e-01 -1.07731412e-03 -8.42458091e-02] [ 2.84033193e-02 -2.42726500e-04 9.99596515e-01 -6.56418600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7292541539999995 meters Centerline goodness [0,1] 0.9960976419794089 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.08, Z:-0.06 [[ 9.98485166e-01 -4.73793461e-02 -2.79744498e-02 3.49725831e+00] [ 4.73680364e-02 9.98876934e-01 -1.06719945e-03 -8.46664669e-02] [ 2.79935958e-02 -2.59511937e-04 9.99608069e-01 -6.47257804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759254154 meters Centerline goodness [0,1] 0.9965630728211965 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.09, Z:-0.06 [[ 9.98435625e-01 -4.89015487e-02 -2.71097839e-02 3.52490816e+00] [ 4.88913051e-02 9.98803563e-01 -1.04096251e-03 -8.55077080e-02] [ 2.71282534e-02 -2.86098656e-04 9.99631920e-01 -6.36494386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.789254154 meters Centerline goodness [0,1] 0.9969465331726974 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.09, Z:-0.06 [[ 9.98366890e-01 -5.09880953e-02 -2.57636663e-02 3.55237507e+00] [ 5.09794344e-02 9.98699209e-01 -9.93299064e-04 -8.71078002e-02] [ 2.57807996e-02 -3.21740239e-04 9.99667568e-01 -6.24761890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819254153999999 meters Centerline goodness [0,1] 0.9972119925930549 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.09, Z:-0.06 [[ 9.98310066e-01 -5.20521264e-02 -2.58377183e-02 3.58158555e+00] [ 5.20436530e-02 9.98644309e-01 -1.00075023e-03 -8.63848168e-02] [ 2.58547815e-02 -3.45630212e-04 9.99665650e-01 -6.22028048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.849254154 meters Centerline goodness [0,1] 0.997196378135903 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.08, Z:-0.06 [[ 9.98310996e-01 -5.20950765e-02 -2.57149589e-02 3.60849527e+00] [ 5.20866005e-02 9.98642071e-01 -9.99774495e-04 -8.46340601e-02] [ 2.57321232e-02 -3.41318921e-04 9.99668816e-01 -6.27286701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879254154 meters Centerline goodness [0,1] 0.9971374639590118 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.08, Z:-0.06 [[ 9.98323015e-01 -5.18974502e-02 -2.56478616e-02 3.63587990e+00] [ 5.18888257e-02 9.98652365e-01 -1.00212746e-03 -8.22489014e-02] [ 2.56653055e-02 -3.30390513e-04 9.99670537e-01 -6.25225537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.909254154 meters Centerline goodness [0,1] 0.9973559844273728 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.08, Z:-0.06 [[ 9.98361170e-01 -5.13352568e-02 -2.52916311e-02 3.66430994e+00] [ 5.13265480e-02 9.98681430e-01 -9.93812675e-04 -7.93124290e-02] [ 2.53093000e-02 -3.05948135e-04 9.99679622e-01 -6.18836156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9392541539999995 meters Centerline goodness [0,1] 0.9976101413133832 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.08, Z:-0.06 [[ 9.98403435e-01 -5.03673119e-02 -2.55678391e-02 3.69185879e+00] [ 5.03579437e-02 9.98730723e-01 -1.01055972e-03 -7.55343215e-02] [ 2.55862856e-02 -2.78597504e-04 9.99672579e-01 -6.11429133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.969254154 meters Centerline goodness [0,1] 0.9978088480801336 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.07, Z:-0.06 [[ 9.98545099e-01 -4.83113711e-02 -2.39519455e-02 3.71977852e+00] [ 4.83024346e-02 9.98832303e-01 -9.51849567e-04 -6.89489935e-02] [ 2.39699620e-02 -2.06472558e-04 9.99712658e-01 -5.90842436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999254154 meters Centerline goodness [0,1] 0.9976057129770357 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.07, Z:-0.06 [[ 9.98590366e-01 -4.75341915e-02 -2.36173843e-02 3.74863315e+00] [ 4.75251702e-02 9.98869595e-01 -9.43433921e-04 -6.50894924e-02] [ 2.36355325e-02 -1.80316185e-04 9.99720626e-01 -5.84537225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.029254153999999 meters Centerline goodness [0,1] 0.9977901473929993 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.06, Z:-0.06 [[ 9.98618099e-01 -4.71539287e-02 -2.32034471e-02 3.77758514e+00] [ 4.71450077e-02 9.98887621e-01 -9.31660740e-04 -6.10092961e-02] [ 2.32215676e-02 -1.63553417e-04 9.99730330e-01 -5.73628973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.059254154 meters Centerline goodness [0,1] 0.9981450217803622 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.05, Z:-0.06 [[ 9.98654044e-01 -4.70256904e-02 -2.18788899e-02 3.80487414e+00] [ 4.70176682e-02 9.98893669e-01 -8.81215670e-04 -5.49195911e-02] [ 2.18961244e-02 -1.48664792e-04 9.99760240e-01 -5.57372970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.089254154 meters Centerline goodness [0,1] 0.998078730291323 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.05, Z:-0.06 [[ 9.98639400e-01 -4.74861529e-02 -2.15502618e-02 3.83303841e+00] [ 4.74784012e-02 9.98871885e-01 -8.71492962e-04 -5.16609541e-02] [ 2.15673345e-02 -1.52864770e-04 9.99767386e-01 -5.55186027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119254154 meters Centerline goodness [0,1] 0.9984468464686745 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.05, Z:-0.06 [[ 9.98616222e-01 -4.81965592e-02 -2.10412207e-02 3.86147426e+00] [ 4.81892324e-02 9.98837858e-01 -8.55405716e-04 -4.87185105e-02] [ 2.10579954e-02 -1.59738250e-04 9.99778243e-01 -5.50011502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.149254153999999 meters Centerline goodness [0,1] 0.9984520123839009 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.05, Z:-0.06 [[ 9.98510269e-01 -4.98932934e-02 -2.20885246e-02 3.88875344e+00] [ 4.98855697e-02 9.98754534e-01 -9.00891796e-04 -4.52659697e-02] [ 2.21059626e-02 -2.02348926e-04 9.99755613e-01 -5.63093209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.179254154 meters Centerline goodness [0,1] 0.9982724169511281 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.04, Z:-0.05 [[ 9.98436265e-01 -5.11128740e-02 -2.26384411e-02 3.91765012e+00] [ 5.11049924e-02 9.98692856e-01 -9.26935265e-04 -4.12977778e-02] [ 2.26562278e-02 -2.31451579e-04 9.99743288e-01 -5.44278908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.209254154 meters Centerline goodness [0,1] 0.9985795157819974 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.04, Z:-0.06 [[ 9.98385356e-01 -5.22369680e-02 -2.23154828e-02 3.94585176e+00] [ 5.22295269e-02 9.98634686e-01 -9.16553384e-04 -4.10186465e-02] [ 2.23328931e-02 -2.50453634e-04 9.99750558e-01 -5.67715486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239254153999999 meters Centerline goodness [0,1] 0.9987459242538249 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.03, Z:-0.05 [[ 9.98331504e-01 -5.35676225e-02 -2.15573241e-02 3.97494218e+00] [ 5.35609683e-02 9.98564188e-01 -8.86356751e-04 -3.38602921e-02] [ 2.15738519e-02 -2.69753284e-04 9.99767221e-01 -5.29692505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2692541539999995 meters Centerline goodness [0,1] 0.9987063659315208 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.03, Z:-0.05 [[ 9.98294773e-01 -5.43237657e-02 -2.13652674e-02 4.00398570e+00] [ 5.43173845e-02 9.98523334e-01 -8.79304123e-04 -3.07212374e-02] [ 2.13814852e-02 -2.82700736e-04 9.99771350e-01 -5.22486806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299254154 meters Centerline goodness [0,1] 0.9987207985572285 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.03, Z:-0.05 [[ 9.98311569e-01 -5.44266363e-02 -2.02916978e-02 4.03387360e+00] [ 5.44208864e-02 9.98517736e-01 -8.35869120e-04 -2.72573322e-02] [ 2.03071137e-02 -2.69834369e-04 9.99793753e-01 -5.10129988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.329254154 meters Centerline goodness [0,1] 0.9988448290346972 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.02, Z:-0.05 [[ 9.98366025e-01 -5.41758571e-02 -1.81729501e-02 4.06276333e+00] [ 5.41711965e-02 9.98531382e-01 -7.48984955e-04 -2.07627561e-02] [ 1.81868378e-02 -2.36689317e-04 9.99834578e-01 -4.84359816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359254153999999 meters Centerline goodness [0,1] 0.9989717763088868 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.02, Z:-0.05 [[ 9.98415234e-01 -5.35441041e-02 -1.73219072e-02 4.09433345e+00] [ 5.35397766e-02 9.98565462e-01 -7.13804393e-04 -1.59498577e-02] [ 1.73352783e-02 -2.14737864e-04 9.99849710e-01 -4.70843876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.389254154 meters Centerline goodness [0,1] 0.998887582906557 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.01, Z:-0.05 [[ 9.98499177e-01 -5.22272804e-02 -1.64834519e-02 4.12413232e+00] [ 5.22231885e-02 9.98635208e-01 -6.78875172e-04 -1.03645088e-02] [ 1.64964112e-02 -1.82962116e-04 9.99863908e-01 -4.61898978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419254154 meters Centerline goodness [0,1] 0.9987002096436058 Centerline is valid? [True, True] Translation: X:4.15, Y:0.00, Z:-0.05 [[ 9.98725401e-01 -4.77286806e-02 -1.64178458e-02 4.15387797e+00] [ 4.77240174e-02 9.98860331e-01 -6.75926916e-04 2.26274362e-03] [ 1.64313960e-02 -1.08460177e-04 9.99864990e-01 -4.57614259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.449254153999999 meters Centerline goodness [0,1] 0.9988850555368562 Centerline is valid? [True, True] Translation: X:4.18, Y:0.01, Z:-0.05 [[ 9.98883961e-01 -4.43088665e-02 -1.63571616e-02 4.18478855e+00] [ 4.43037848e-02 9.99017879e-01 -6.73080385e-04 1.04035914e-02] [ 1.63709203e-02 -5.23549660e-05 9.99865986e-01 -4.52325064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4792541539999995 meters Centerline goodness [0,1] 0.9986751067275136 Centerline is valid? [True, True] Translation: X:4.22, Y:0.02, Z:-0.05 [[ 9.99011486e-01 -4.12779616e-02 -1.64979140e-02 4.21590030e+00] [ 4.12723870e-02 9.99147702e-01 -6.78379200e-04 1.82380473e-02] [ 1.65118549e-02 -3.19967716e-06 9.99863670e-01 -4.52026331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.509254154 meters Centerline goodness [0,1] 0.9991602813057626 Centerline is valid? [True, True] Translation: X:4.25, Y:0.03, Z:-0.05 [[ 9.99250907e-01 -3.46733695e-02 -1.71866976e-02 4.24580891e+00] [ 3.46663533e-02 9.99398692e-01 -7.06079173e-04 3.30458305e-02] [ 1.72008453e-02 1.09750122e-04 9.99852048e-01 -4.52089615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539254154 meters Centerline goodness [0,1] 0.9994730407655664 Centerline is valid? [True, True] Translation: X:4.28, Y:0.04, Z:-0.04 [[ 9.99357127e-01 -3.15304543e-02 -1.70635278e-02 4.27569457e+00] [ 3.15230869e-02 9.99502778e-01 -7.00623412e-04 4.07671484e-02] [ 1.70771344e-02 1.62277930e-04 9.99854162e-01 -4.44783814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.569254153999999 meters Centerline goodness [0,1] 0.9990937256307038 Centerline is valid? [True, True] Translation: X:4.30, Y:0.05, Z:-0.04 [[ 9.99492632e-01 -2.71580025e-02 -1.66409829e-02 4.30421585e+00] [ 2.71503924e-02 9.99631127e-01 -6.83100619e-04 5.32357257e-02] [ 1.66533961e-02 2.30944819e-04 9.99861296e-01 -4.36029696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.599254154 meters Centerline goodness [0,1] 0.9989850721021694 Centerline is valid? [True, True] Translation: X:4.34, Y:0.05, Z:-0.04 [[ 9.99539278e-01 -2.54983353e-02 -1.64641134e-02 4.33500870e+00] [ 2.54906647e-02 9.99674832e-01 -6.75619921e-04 5.19662717e-02] [ 1.64759870e-02 2.55627453e-04 9.99864229e-01 -3.92126555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.629254154 meters Centerline goodness [0,1] 0.99934629496858 Centerline is valid? [True, True] Translation: X:4.36, Y:0.06, Z:-0.04 [[ 9.99570662e-01 -2.43062154e-02 -1.63615473e-02 4.36371100e+00] [ 2.42984783e-02 9.99704523e-01 -6.71537173e-04 6.45073621e-02] [ 1.63730353e-02 2.73688154e-04 9.99865915e-01 -4.18241776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659254153999999 meters Centerline goodness [0,1] 0.9993020599805422 Centerline is valid? [True, True] Translation: X:4.39, Y:0.06, Z:-0.04 [[ 9.99579534e-01 -2.37126075e-02 -1.66873262e-02 4.39393284e+00] [ 2.37044692e-02 9.99718775e-01 -6.85344117e-04 6.11600633e-02] [ 1.66988846e-02 2.89491742e-04 9.99860522e-01 -3.83413030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6892541539999995 meters Centerline goodness [0,1] 0.9993027825315333 Centerline is valid? [True, True] Translation: X:4.42, Y:0.07, Z:-0.04 [[ 9.99567879e-01 -2.36066673e-02 -1.75151729e-02 4.42344054e+00] [ 2.35976738e-02 9.99721277e-01 -7.19998298e-04 6.60728757e-02] [ 1.75272878e-02 3.06369835e-04 9.99846338e-01 -3.85111335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719254154 meters Centerline goodness [0,1] 0.999072708113804 Centerline is valid? [True, True] Translation: X:4.45, Y:0.07, Z:-0.04 [[ 9.99542030e-01 -2.39789919e-02 -1.84590992e-02 4.45204249e+00] [ 2.39690502e-02 9.99712412e-01 -7.59664341e-04 7.09510854e-02] [ 1.84720065e-02 3.16869362e-04 9.99829328e-01 -3.95908548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.749254154 meters Centerline goodness [0,1] 0.9993448858833475 Centerline is valid? [True, True] Translation: X:4.48, Y:0.08, Z:-0.04 [[ 9.99519241e-01 -2.44803543e-02 -1.90262985e-02 4.48055925e+00] [ 2.44698633e-02 9.99700261e-01 -7.84040985e-04 8.15177609e-02] [ 1.90397892e-02 3.18093127e-04 9.99818676e-01 -4.43922580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779254153999999 meters Centerline goodness [0,1] 0.9991750745605685 Centerline is valid? [True, True] Translation: X:4.51, Y:0.08, Z:-0.04 [[ 9.99471346e-01 -2.56048340e-02 -2.00354788e-02 4.50987512e+00] [ 2.55933620e-02 9.99672093e-01 -8.28831611e-04 7.80494808e-02] [ 2.00501311e-02 3.15618187e-04 9.99798926e-01 -3.95893133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809254154 meters Centerline goodness [0,1] 0.999258553119373 Centerline is valid? [True, True] Translation: X:4.54, Y:0.08, Z:-0.04 [[ 9.99443214e-01 -2.65239927e-02 -2.02420288e-02 4.53790691e+00] [ 2.65124034e-02 9.99648131e-01 -8.40728680e-04 8.21381431e-02] [ 2.02572057e-02 3.03595740e-04 9.99794756e-01 -4.02321485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839254154 meters Centerline goodness [0,1] 0.9990471148755955 Centerline is valid? [True, True] Translation: X:4.57, Y:0.08, Z:-0.04 [[ 9.99394674e-01 -2.80768328e-02 -2.05420589e-02 4.56686394e+00] [ 2.80651487e-02 9.99605729e-01 -8.56916141e-04 8.29893492e-02] [ 2.05580192e-02 2.79881491e-04 9.99788622e-01 -3.82500010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.869254153999999 meters Centerline goodness [0,1] 0.9989191709405332 Centerline is valid? [True, True] Translation: X:4.60, Y:0.09, Z:-0.04 [[ 9.99309416e-01 -3.12784113e-02 -2.00587015e-02 4.59635988e+00] [ 3.12678603e-02 9.99510688e-01 -8.39497052e-04 8.66313582e-02] [ 2.00751447e-02 2.11724632e-04 9.99798452e-01 -3.75467424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899254153999999 meters Centerline goodness [0,1] 0.9989410369366316 Centerline is valid? [True, True] Translation: X:4.63, Y:0.09, Z:-0.04 [[ 9.99263717e-01 -3.31080671e-02 -1.93876074e-02 4.62676823e+00] [ 3.30985482e-02 9.99451763e-01 -8.11740796e-04 8.84365220e-02] [ 1.94038536e-02 1.69441467e-04 9.99811713e-01 -3.67929661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.929254154 meters Centerline goodness [0,1] 0.9989598811292719 Centerline is valid? [True, True] Translation: X:4.66, Y:0.09, Z:-0.04 [[ 9.99150759e-01 -3.68626729e-02 -1.84093603e-02 4.65840227e+00] [ 3.68547338e-02 9.99320337e-01 -7.70446702e-04 9.02089120e-02] [ 1.84252488e-02 9.13203348e-05 9.99830237e-01 -3.60157624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959254154 meters Centerline goodness [0,1] 0.9988761424118408 Centerline is valid? [True, True] Translation: X:4.69, Y:0.09, Z:-0.04 [[ 9.99096045e-01 -3.83022133e-02 -1.84399969e-02 4.68922950e+00] [ 3.82945190e-02 9.99266199e-01 -7.70316175e-04 9.21676787e-02] [ 1.84559705e-02 6.34690305e-05 9.99829672e-01 -3.62011196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.989254153999999 meters Centerline goodness [0,1] 0.9989605430632159 Centerline is valid? [True, True] Translation: X:4.72, Y:0.09, Z:-0.04 [[ 9.99065591e-01 -3.92433004e-02 -1.81082389e-02 4.72088919e+00] [ 3.92360663e-02 9.99229684e-01 -7.54738465e-04 9.42822166e-02] [ 1.81239083e-02 4.35371691e-05 9.99835748e-01 -3.59420813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0192541539999995 meters Centerline goodness [0,1] 0.9988966687884575 Centerline is valid? [True, True] Translation: X:4.75, Y:0.10, Z:-0.04 [[ 9.99072596e-01 -3.93264976e-02 -1.75321039e-02 4.75320003e+00] [ 3.93197514e-02 9.99226413e-01 -7.29462140e-04 9.68783112e-02] [ 1.75472285e-02 3.94276681e-05 9.99846035e-01 -3.53996372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.049254154 meters Centerline goodness [0,1] 0.9990440379835575 Centerline is valid? [True, True] Translation: X:4.78, Y:0.10, Z:-0.03 [[ 9.99160365e-01 -3.75142809e-02 -1.64694501e-02 4.78376647e+00] [ 3.75081066e-02 9.99296089e-01 -6.83731824e-04 1.02164900e-01] [ 1.64835068e-02 6.54198484e-05 9.99864136e-01 -3.41866237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079254153999999 meters Centerline goodness [0,1] 0.9988730357864296 Centerline is valid? [True, True] Translation: X:4.82, Y:0.11, Z:-0.03 [[ 9.99235155e-01 -3.57262558e-02 -1.58977670e-02 4.81567457e+00] [ 3.57203016e-02 9.99361609e-01 -6.58415643e-04 1.05679230e-01] [ 1.59111407e-02 9.00390263e-05 9.99873406e-01 -3.34607841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.109254153999999 meters Centerline goodness [0,1] 0.9990622935447435 Centerline is valid? [True, True] Translation: X:4.85, Y:0.11, Z:-0.03 [[ 9.99309476e-01 -3.37788776e-02 -1.54776924e-02 4.84760216e+00] [ 3.37730175e-02 9.99429324e-01 -6.39909638e-04 1.09325532e-01] [ 1.54904751e-02 1.16739387e-04 9.99880009e-01 -3.28605185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139254154 meters Centerline goodness [0,1] 0.9990162111296462 Centerline is valid? [True, True] Translation: X:4.88, Y:0.11, Z:-0.03 [[ 9.99445305e-01 -2.98191505e-02 -1.48290174e-02 4.87898150e+00] [ 2.98133497e-02 9.99555296e-01 -6.12140752e-04 1.14983966e-01] [ 1.48406764e-02 1.69698519e-04 9.99889857e-01 -3.31521116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169254154 meters Centerline goodness [0,1] 0.9991237631168387 Centerline is valid? [True, True] Translation: X:4.91, Y:0.12, Z:-0.03 [[ 9.99502240e-01 -2.77026825e-02 -1.50941763e-02 4.90970607e+00] [ 2.76964487e-02 9.99616186e-01 -6.21921023e-04 1.18844202e-01] [ 1.51056118e-02 2.03556377e-04 9.99885883e-01 -3.32878393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199254153999999 meters Centerline goodness [0,1] 0.9991660251475494 Centerline is valid? [True, True] Translation: X:4.94, Y:0.12, Z:-0.03 [[ 9.99570800e-01 -2.49282514e-02 -1.53882347e-02 4.94115552e+00] [ 2.49214636e-02 9.99689212e-01 -6.32735793e-04 1.21924328e-01] [ 1.53992252e-02 2.48966892e-04 9.99881394e-01 -3.30659627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2292541539999995 meters Centerline goodness [0,1] 0.9992316393827503 Centerline is valid? [True, True] Translation: X:4.97, Y:0.12, Z:-0.03 [[ 9.99585934e-01 -2.40579196e-02 -1.57853164e-02 4.97134276e+00] [ 2.40506758e-02 9.99710530e-01 -6.48591838e-04 1.24706160e-01] [ 1.57963508e-02 2.68675751e-04 9.99875194e-01 -3.34451897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259254154 meters Centerline goodness [0,1] 0.9990368975258967 Centerline is valid? [True, True] Translation: X:5.00, Y:0.13, Z:-0.03 [[ 9.99588207e-01 -2.35206041e-02 -1.64376654e-02 5.00201009e+00] [ 2.35126816e-02 9.99723311e-01 -6.75089671e-04 1.28514185e-01] [ 1.64489958e-02 2.88318081e-04 9.99864665e-01 -3.46702171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.289254153999999 meters Centerline goodness [0,1] 0.9992307363562546 Centerline is valid? [True, True] Translation: X:5.03, Y:0.13, Z:-0.04 [[ 9.99578338e-01 -2.31341627e-02 -1.75487062e-02 5.03248567e+00] [ 2.31250766e-02 9.99732320e-01 -7.20539076e-04 1.29125443e-01] [ 1.75606778e-02 3.14420078e-04 9.99845750e-01 -3.52884540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319254153999999 meters Centerline goodness [0,1] 0.9991414098051 Centerline is valid? [True, True] Translation: X:5.06, Y:0.13, Z:-0.04 [[ 9.99557049e-01 -2.34616669e-02 -1.83100223e-02 5.06215783e+00] [ 2.34518271e-02 9.99724685e-01 -7.51959881e-04 1.31024384e-01] [ 1.83226235e-02 3.22223321e-04 9.99832075e-01 -3.61112687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349254154 meters Centerline goodness [0,1] 0.9990775699330702 Centerline is valid? [True, True] Translation: X:5.09, Y:0.13, Z:-0.04 [[ 9.99544190e-01 -2.38329086e-02 -1.85312028e-02 5.09079613e+00] [ 2.38228812e-02 9.99715905e-01 -7.61705458e-04 1.33079802e-01] [ 1.85440919e-02 3.19891622e-04 9.99827992e-01 -3.69471188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379254154 meters Centerline goodness [0,1] 0.9992716678805535 Centerline is valid? [True, True] Translation: X:5.12, Y:0.13, Z:-0.04 [[ 9.99501356e-01 -2.51101124e-02 -1.91447532e-02 5.12001105e+00] [ 2.50996276e-02 9.99684644e-01 -7.87786886e-04 1.34973508e-01] [ 1.91584972e-02 3.06867884e-04 9.99816412e-01 -3.70692521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.409254153999999 meters Centerline goodness [0,1] 0.9992290064891954 Centerline is valid? [True, True] Translation: X:5.15, Y:0.14, Z:-0.04 [[ 9.99474631e-01 -2.64158250e-02 -1.87794343e-02 5.14991284e+00] [ 2.64059544e-02 9.99651003e-01 -7.73421040e-04 1.35386975e-01] [ 1.87933109e-02 2.77125820e-04 9.99823352e-01 -3.61096531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4392541539999995 meters Centerline goodness [0,1] 0.9992269701524586 Centerline is valid? [True, True] Translation: X:5.18, Y:0.14, Z:-0.04 [[ 9.99438649e-01 -2.79499918e-02 -1.84712054e-02 5.17963805e+00] [ 2.79406953e-02 9.99609293e-01 -7.61227305e-04 1.36951972e-01] [ 1.84852648e-02 2.44701668e-04 9.99829103e-01 -3.59095800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469254154 meters Centerline goodness [0,1] 0.9993345211772535 Centerline is valid? [True, True] Translation: X:5.21, Y:0.14, Z:-0.03 [[ 9.99354036e-01 -3.16603593e-02 -1.70039147e-02 5.20998891e+00] [ 3.16530155e-02 9.99498672e-01 -7.00913786e-04 1.36975125e-01] [ 1.70175813e-02 1.62235844e-04 9.99855177e-01 -3.48851770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499254153999999 meters Centerline goodness [0,1] 0.9993345211772535 Centerline is valid? [True, True] Translation: X:5.24, Y:0.14, Z:-0.03 [[ 9.99355168e-01 -3.16246032e-02 -1.70039260e-02 5.24081219e+00] [ 3.16172589e-02 9.99499804e-01 -7.00640312e-04 1.38215615e-01] [ 1.70175781e-02 1.62570987e-04 9.99855177e-01 -3.45961680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529254153999999 meters Centerline goodness [0,1] 0.9991013351591921 Centerline is valid? [True, True] Translation: X:5.27, Y:0.14, Z:-0.03 [[ 9.99288861e-01 -3.41163128e-02 -1.60577035e-02 5.27222388e+00] [ 3.41100938e-02 9.99417863e-01 -6.61092092e-04 1.38225066e-01] [ 1.60709097e-02 1.12892191e-04 9.99870848e-01 -3.35964298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559254154 meters Centerline goodness [0,1] 0.9991878085793062 Centerline is valid? [True, True] Translation: X:5.30, Y:0.14, Z:-0.03 [[ 9.99118547e-01 -3.94364323e-02 -1.43839091e-02 5.30408197e+00] [ 3.94320032e-02 9.99222081e-01 -5.91504040e-04 1.36797619e-01] [ 1.43960464e-02 2.37963056e-05 9.99896371e-01 -3.18911902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.589254154 meters Centerline goodness [0,1] 0.9992721823825323 Centerline is valid? [True, True] Translation: X:5.34, Y:0.14, Z:-0.03 [[ 9.99025424e-01 -4.20196888e-02 -1.35110606e-02 5.33617609e+00] [ 4.20160303e-02 9.99116783e-01 -5.54644263e-04 1.36874311e-01] [ 1.35224334e-02 -1.35774111e-05 9.99908568e-01 -3.09646259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619254153999999 meters Centerline goodness [0,1] 0.999082881883718 Centerline is valid? [True, True] Translation: X:5.37, Y:0.14, Z:-0.03 [[ 9.98924014e-01 -4.44295953e-02 -1.32975716e-02 5.36902254e+00] [ 4.44262800e-02 9.99012517e-01 -5.44750907e-04 1.36967793e-01] [ 1.33086435e-02 -4.65968774e-05 9.99911435e-01 -3.05414708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.649254153999999 meters Centerline goodness [0,1] 0.9990412272291467 Centerline is valid? [True, True] Translation: X:5.40, Y:0.14, Z:-0.03 [[ 9.98827773e-01 -4.66774496e-02 -1.28178086e-02 5.40054093e+00] [ 4.66745697e-02 9.98910011e-01 -5.23896953e-04 1.37034813e-01] [ 1.28282915e-02 -7.49828737e-05 9.99917711e-01 -3.01168692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.679254154 meters Centerline goodness [0,1] 0.9989529019574322 Centerline is valid? [True, True] Translation: X:5.43, Y:0.14, Z:-0.03 [[ 9.98615521e-01 -5.11347027e-02 -1.23403328e-02 5.43272382e+00] [ 5.11323824e-02 9.98691757e-01 -5.03661302e-04 1.36531276e-01] [ 1.23499432e-02 -1.28026623e-04 9.99923728e-01 -2.98983964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.709254153999999 meters Centerline goodness [0,1] 0.9989753004717887 Centerline is valid? [True, True] Translation: X:5.46, Y:0.14, Z:-0.03 [[ 9.98505136e-01 -5.31472933e-02 -1.27615723e-02 5.46359485e+00] [ 5.31449878e-02 9.98586671e-01 -5.19946558e-04 1.36587167e-01] [ 1.27711697e-02 -1.59044295e-04 9.99918433e-01 -3.02453286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739254153999999 meters Centerline goodness [0,1] 0.9990617936799011 Centerline is valid? [True, True] Translation: X:5.50, Y:0.14, Z:-0.03 [[ 9.98400276e-01 -5.49487419e-02 -1.33238409e-02 5.49606939e+00] [ 5.49464003e-02 9.98489158e-01 -5.42023202e-04 1.37082210e-01] [ 1.33334941e-02 -1.90940979e-04 9.99911087e-01 -3.03279096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7692541539999995 meters Centerline goodness [0,1] 0.999081863603365 Centerline is valid? [True, True] Translation: X:5.53, Y:0.14, Z:-0.03 [[ 9.98242760e-01 -5.74064862e-02 -1.46931395e-02 5.52696931e+00] [ 5.74039201e-02 9.98350857e-01 -5.96677106e-04 1.37577380e-01] [ 1.47031615e-02 -2.47815202e-04 9.99891872e-01 -3.10550618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799254154 meters Centerline goodness [0,1] 0.9989100700974526 Centerline is valid? [True, True] Translation: X:5.56, Y:0.14, Z:-0.03 [[ 9.98199324e-01 -5.81099640e-02 -1.48775696e-02 5.55800518e+00] [ 5.81074234e-02 9.98310154e-01 -6.03348666e-04 1.38587855e-01] [ 1.48874893e-02 -2.62235003e-04 9.99889141e-01 -3.14731030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829254153999999 meters Centerline goodness [0,1] 0.9991439089119082 Centerline is valid? [True, True] Translation: X:5.59, Y:0.14, Z:-0.03 [[ 9.98183872e-01 -5.80849325e-02 -1.59717670e-02 5.58969450e+00] [ 5.80820176e-02 9.98311605e-01 -6.46700767e-04 1.42752039e-01] [ 1.59823639e-02 -2.82146175e-04 9.99872234e-01 -3.12710127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859254153999999 meters Centerline goodness [0,1] 0.998971612212105 Centerline is valid? [True, True] Translation: X:5.62, Y:0.15, Z:-0.03 [[ 9.98203873e-01 -5.76758374e-02 -1.62026486e-02 5.62159213e+00] [ 5.76728029e-02 9.98335324e-01 -6.54866423e-04 1.45766306e-01] [ 1.62134464e-02 -2.80761957e-04 9.99868514e-01 -3.12866868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889254154 meters Centerline goodness [0,1] 0.9991634850499764 Centerline is valid? [True, True] Translation: X:5.65, Y:0.15, Z:-0.03 [[ 9.98261064e-01 -5.66412242e-02 -1.63284833e-02 5.65254979e+00] [ 5.66380215e-02 9.98394561e-01 -6.58888511e-04 1.48155539e-01] [ 1.63395891e-02 -2.67070239e-04 9.99866464e-01 -3.13422805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919254153999999 meters Centerline goodness [0,1] 0.999377468658767 Centerline is valid? [True, True] Translation: X:5.68, Y:0.16, Z:-0.03 [[ 9.98442251e-01 -5.34750177e-02 -1.59214632e-02 5.68440119e+00] [ 5.34715857e-02 9.98569165e-01 -6.41485218e-04 1.55899620e-01] [ 1.59329856e-02 -2.10859937e-04 9.99873040e-01 -2.98598781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949254153999999 meters Centerline goodness [0,1] 0.9992676832945636 Centerline is valid? [True, True] Translation: X:5.72, Y:0.16, Z:-0.03 [[ 9.98547956e-01 -5.14188610e-02 -1.60649057e-02 5.71558570e+00] [ 5.14151179e-02 9.98677159e-01 -6.46198403e-04 1.59767511e-01] [ 1.60768812e-02 -1.80718928e-04 9.99870742e-01 -2.96421037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9792541539999995 meters Centerline goodness [0,1] 0.9994188549289712 Centerline is valid? [True, True] Translation: X:5.75, Y:0.16, Z:-0.03 [[ 9.98665191e-01 -4.92003221e-02 -1.57214503e-02 5.74800531e+00] [ 4.91964778e-02 9.98788921e-01 -6.31414365e-04 1.64670452e-01] [ 1.57334762e-02 -1.42868435e-04 9.99876211e-01 -2.87573203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.009254154 meters Centerline goodness [0,1] 0.9992670044195322 Centerline is valid? [True, True] Translation: X:5.78, Y:0.17, Z:-0.03 [[ 9.98764749e-01 -4.72770904e-02 -1.52922542e-02 5.77858819e+00] [ 4.72732428e-02 9.98881807e-01 -6.13187706e-04 1.68911367e-01] [ 1.53041442e-02 -1.10484180e-04 9.99882879e-01 -2.82996199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039254153999999 meters Centerline goodness [0,1] 0.999394646949453 Centerline is valid? [True, True] Translation: X:5.81, Y:0.18, Z:-0.03 [[ 9.98902747e-01 -4.44086324e-02 -1.48719668e-02 5.81058400e+00] [ 4.44046888e-02 9.99013448e-01 -5.95435734e-04 1.76101426e-01] [ 1.48837374e-02 -6.56026692e-05 9.99889229e-01 -2.69226410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.069254153999999 meters Centerline goodness [0,1] 0.9991997058378215 Centerline is valid? [True, True] Translation: X:5.84, Y:0.18, Z:-0.03 [[ 9.98940358e-01 -4.34798781e-02 -1.50884746e-02 5.84369429e+00] [ 4.34757329e-02 9.99054301e-01 -6.02780483e-04 1.79645416e-01] [ 1.51004143e-02 -5.38407421e-05 9.99885981e-01 -2.65703067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099254154 meters Centerline goodness [0,1] 0.9995668933258262 Centerline is valid? [True, True] Translation: X:5.88, Y:0.18, Z:-0.03 [[ 9.98940907e-01 -4.34005114e-02 -1.52793997e-02 5.87529975e+00] [ 4.33962755e-02 9.99057752e-01 -6.08829965e-04 1.84751169e-01] [ 1.52914262e-02 -5.48838795e-05 9.99883078e-01 -2.61643077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.129254153999999 meters Centerline goodness [0,1] 0.9995218638616014 Centerline is valid? [True, True] Translation: X:5.91, Y:0.19, Z:-0.03 [[ 9.98925328e-01 -4.36859614e-02 -1.54830704e-02 5.90689314e+00] [ 4.36816680e-02 9.99045311e-01 -6.15533745e-04 1.87614677e-01] [ 1.54951791e-02 -6.14540927e-05 9.99879941e-01 -2.59121120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159254153999999 meters Centerline goodness [0,1] 0.9994351509884858 Centerline is valid? [True, True] Translation: X:5.94, Y:0.19, Z:-0.03 [[ 9.98916280e-01 -4.39383091e-02 -1.53521968e-02 5.94010279e+00] [ 4.39341404e-02 9.99034244e-01 -6.08860731e-04 1.90627167e-01] [ 1.53641226e-02 -6.62846716e-05 9.99881963e-01 -2.54810814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1892541539999995 meters Centerline goodness [0,1] 0.9994338472258514 Centerline is valid? [True, True] Translation: X:5.97, Y:0.20, Z:-0.02 [[ 9.98937660e-01 -4.35226770e-02 -1.51436085e-02 5.97333488e+00] [ 4.35185974e-02 9.99052438e-01 -5.98976946e-04 1.96600812e-01] [ 1.51553280e-02 -6.06879713e-05 9.99885150e-01 -2.48230364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219254154 meters Centerline goodness [0,1] 0.9993884192822663 Centerline is valid? [True, True] Translation: X:6.01, Y:0.20, Z:-0.02 [[ 9.98972079e-01 -4.27471773e-02 -1.50818848e-02 6.00658584e+00] [ 4.27430674e-02 9.99085920e-01 -5.94887815e-04 2.00437000e-01] [ 1.50935285e-02 -5.03697004e-05 9.99886085e-01 -2.45128410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.249254153999999 meters Centerline goodness [0,1] 0.9994110846947456 Centerline is valid? [True, True] Translation: X:6.04, Y:0.20, Z:-0.02 [[ 9.99018332e-01 -4.17675896e-02 -1.47594032e-02 6.03859188e+00] [ 4.17635762e-02 9.99127353e-01 -5.80175271e-04 2.03806941e-01] [ 1.47707560e-02 -3.67997299e-05 9.99890906e-01 -2.45278856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279254153999999 meters Centerline goodness [0,1] 0.9994292112138043 Centerline is valid? [True, True] Translation: X:6.07, Y:0.21, Z:-0.02 [[ 9.99086526e-01 -4.03700781e-02 -1.40132269e-02 6.07107857e+00] [ 4.03663513e-02 9.99184796e-01 -5.48806409e-04 2.10013519e-01] [ 1.40239586e-02 -1.73577515e-05 9.99901659e-01 -2.37701946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.309254154 meters Centerline goodness [0,1] 0.9994948718511849 Centerline is valid? [True, True] Translation: X:6.10, Y:0.21, Z:-0.02 [[ 9.99122964e-01 -3.96607153e-02 -1.34286987e-02 6.10403840e+00] [ 3.96572460e-02 9.99213204e-01 -5.24639373e-04 2.13565352e-01] [ 1.34389406e-02 -8.36596121e-06 9.99909693e-01 -2.29723990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339254153999999 meters Centerline goodness [0,1] 0.9994948496628671 Centerline is valid? [True, True] Translation: X:6.14, Y:0.22, Z:-0.02 [[ 9.99144277e-01 -3.91363087e-02 -1.33814406e-02 6.13742609e+00] [ 3.91328366e-02 9.99233881e-01 -5.21314571e-04 2.16908513e-01] [ 1.33915911e-02 -2.78525826e-06 9.99910329e-01 -2.28660703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.369254153999999 meters Centerline goodness [0,1] 0.9994929006085193 Centerline is valid? [True, True] Translation: X:6.17, Y:0.22, Z:-0.02 [[ 9.99122833e-01 -3.96585423e-02 -1.34448874e-02 6.16948538e+00] [ 3.96551035e-02 9.99213290e-01 -5.22370319e-04 2.20825886e-01] [ 1.34550266e-02 -1.12462864e-05 9.99909477e-01 -2.33458850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399254153999999 meters Centerline goodness [0,1] 0.9997131572560182 Centerline is valid? [True, True] Translation: X:6.20, Y:0.22, Z:-0.02 [[ 9.99104880e-01 -4.00884337e-02 -1.35039392e-02 6.20211606e+00] [ 4.00850216e-02 9.99196135e-01 -5.23353386e-04 2.23033066e-01] [ 1.35140643e-02 -1.84207726e-05 9.99908681e-01 -2.32692342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.429254154 meters Centerline goodness [0,1] 0.9996908058923563 Centerline is valid? [True, True] Translation: X:6.23, Y:0.23, Z:-0.02 [[ 9.99050986e-01 -4.13997754e-02 -1.35346241e-02 6.23396869e+00] [ 4.13964870e-02 9.99142661e-01 -5.23149235e-04 2.26312124e-01] [ 1.35446786e-02 -3.76331334e-05 9.99908266e-01 -2.39224089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459254153999999 meters Centerline goodness [0,1] 0.9997788295660636 Centerline is valid? [True, True] Translation: X:6.27, Y:0.23, Z:-0.02 [[ 9.99031129e-01 -4.19978167e-02 -1.31524713e-02 6.26718328e+00] [ 4.19947794e-02 9.99117701e-01 -5.07148220e-04 2.28577974e-01] [ 1.31621660e-02 -4.56782727e-05 9.99913374e-01 -2.35683107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.489254153999999 meters Centerline goodness [0,1] 0.9997119049729634 Centerline is valid? [True, True] Translation: X:6.30, Y:0.23, Z:-0.02 [[ 9.99007607e-01 -4.25805361e-02 -1.30651817e-02 6.30018119e+00] [ 4.25776072e-02 9.99093036e-01 -5.02370876e-04 2.30504373e-01] [ 1.30747233e-02 -5.44118493e-05 9.99914521e-01 -2.36468515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5192541539999995 meters Centerline goodness [0,1] 0.9996462915883718 Centerline is valid? [True, True] Translation: X:6.33, Y:0.23, Z:-0.02 [[ 9.98904720e-01 -4.52401049e-02 -1.19454113e-02 6.33098657e+00] [ 4.52378595e-02 9.98976139e-01 -4.58250481e-04 2.29464448e-01] [ 1.19539121e-02 -8.26362685e-05 9.99928546e-01 -2.34032636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.549254153999999 meters Centerline goodness [0,1] 0.9996014436596329 Centerline is valid? [True, True] Translation: X:6.36, Y:0.23, Z:-0.02 [[ 9.98688184e-01 -4.98893601e-02 -1.15309439e-02 6.36290111e+00] [ 4.98875849e-02 9.98754742e-01 -4.41712770e-04 2.28372880e-01] [ 1.15386217e-02 -1.34117619e-04 9.99933419e-01 -2.24152029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579254153999999 meters Centerline goodness [0,1] 0.9996236356793377 Centerline is valid? [True, True] Translation: X:6.39, Y:0.23, Z:-0.02 [[ 9.98588446e-01 -5.17220679e-02 -1.20807175e-02 6.39479505e+00] [ 5.17202643e-02 9.98661505e-01 -4.61879880e-04 2.28851708e-01] [ 1.20884369e-02 -1.63589989e-04 9.99926919e-01 -2.24369263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.609254153999999 meters Centerline goodness [0,1] 0.999690361392489 Centerline is valid? [True, True] Translation: X:6.43, Y:0.23, Z:-0.02 [[ 9.98503913e-01 -5.32160451e-02 -1.25693547e-02 6.42684312e+00] [ 5.32142225e-02 9.98583004e-01 -4.79641019e-04 2.29203669e-01] [ 1.25770685e-02 -1.89945001e-04 9.99920888e-01 -2.27469044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.639254154 meters Centerline goodness [0,1] 0.9996239769962397 Centerline is valid? [True, True] Translation: X:6.46, Y:0.23, Z:-0.02 [[ 9.98272574e-01 -5.73102426e-02 -1.29384848e-02 6.45931014e+00] [ 5.73086673e-02 9.98356386e-01 -4.92784248e-04 2.25992416e-01] [ 1.29454605e-02 -2.49554322e-04 9.99916173e-01 -2.44857905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.669254153999999 meters Centerline goodness [0,1] 0.9996469394059756 Centerline is valid? [True, True] Translation: X:6.49, Y:0.22, Z:-0.03 [[ 9.98161477e-01 -5.91305836e-02 -1.33131728e-02 6.49129771e+00] [ 5.91290906e-02 9.98250216e-01 -5.06078319e-04 2.24961382e-01] [ 1.33198023e-02 -2.82047916e-04 9.99911248e-01 -2.50569681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699254153999999 meters Centerline goodness [0,1] 0.9996469160322189 Centerline is valid? [True, True] Translation: X:6.52, Y:0.22, Z:-0.03 [[ 9.97976870e-01 -6.19395522e-02 -1.43408114e-02 6.52312638e+00] [ 6.19381290e-02 9.98079843e-01 -5.43789533e-04 2.23443633e-01] [ 1.43469568e-02 -3.45553648e-04 9.99897017e-01 -2.62703484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7292541539999995 meters Centerline goodness [0,1] 0.9995366999801443 Centerline is valid? [True, True] Translation: X:6.56, Y:0.22, Z:-0.03 [[ 9.97941936e-01 -6.24174324e-02 -1.46954397e-02 6.55502651e+00] [ 6.24160133e-02 9.98050065e-01 -5.55637045e-04 2.24423730e-01] [ 1.47014659e-02 -3.62737249e-04 9.99891862e-01 -2.59871992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759254153999999 meters Centerline goodness [0,1] 0.999449327077689 Centerline is valid? [True, True] Translation: X:6.59, Y:0.23, Z:-0.03 [[ 9.97948121e-01 -6.23030433e-02 -1.47606975e-02 6.58853262e+00] [ 6.23016177e-02 9.98057212e-01 -5.56846231e-04 2.25413457e-01] [ 1.47667138e-02 -3.63911681e-04 9.99890900e-01 -2.55054747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.789254153999999 meters Centerline goodness [0,1] 0.9996036202682169 Centerline is valid? [True, True] Translation: X:6.62, Y:0.23, Z:-0.03 [[ 9.98013068e-01 -6.13069698e-02 -1.45386419e-02 6.61933933e+00] [ 6.13055128e-02 9.98118899e-01 -5.46287994e-04 2.26707593e-01] [ 1.45447845e-02 -3.46096343e-04 9.99894159e-01 -2.52466491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819254153999999 meters Centerline goodness [0,1] 0.9996698507725492 Centerline is valid? [True, True] Translation: X:6.65, Y:0.23, Z:-0.02 [[ 9.98031625e-01 -6.10768747e-02 -1.42299384e-02 6.65182325e+00] [ 6.10754903e-02 9.98133008e-01 -5.32240289e-04 2.27765956e-01] [ 1.42358788e-02 -3.37907826e-04 9.99898608e-01 -2.47723596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.849254154 meters Centerline goodness [0,1] 0.9995381163946685 Centerline is valid? [True, True] Translation: X:6.68, Y:0.23, Z:-0.02 [[ 9.98045669e-01 -6.08898017e-02 -1.40454389e-02 6.68466933e+00] [ 6.08884506e-02 9.98144439e-01 -5.24194724e-04 2.28571809e-01] [ 1.40512948e-02 -3.32034737e-04 9.99901221e-01 -2.43223158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879254153999999 meters Centerline goodness [0,1] 0.9996920234062211 Centerline is valid? [True, True] Translation: X:6.72, Y:0.23, Z:-0.02 [[ 9.98071119e-01 -6.06104299e-02 -1.34319189e-02 6.71644749e+00] [ 6.06091857e-02 9.98161448e-01 -5.00053998e-04 2.30258713e-01] [ 1.34375321e-02 -3.15008211e-04 9.99909663e-01 -2.34005571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.909254153999999 meters Centerline goodness [0,1] 0.9995385021097046 Centerline is valid? [True, True] Translation: X:6.75, Y:0.23, Z:-0.02 [[ 9.98059659e-01 -6.07953851e-02 -1.34476253e-02 6.74904233e+00] [ 6.07941679e-02 9.98150199e-01 -4.99662211e-04 2.31292840e-01] [ 1.34531270e-02 -3.18844493e-04 9.99909452e-01 -2.30604477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9392541539999995 meters Centerline goodness [0,1] 0.9994733839469874 Centerline is valid? [True, True] Translation: X:6.78, Y:0.23, Z:-0.02 [[ 9.98054567e-01 -6.08676714e-02 -1.34984074e-02 6.78137239e+00] [ 6.08664759e-02 9.98145792e-01 -4.99749312e-04 2.31434114e-01] [ 1.35037972e-02 -3.22823407e-04 9.99908767e-01 -2.33215845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.969254153999999 meters Centerline goodness [0,1] 0.9996045694200352 Centerline is valid? [True, True] Translation: X:6.81, Y:0.23, Z:-0.02 [[ 9.98027117e-01 -6.12632679e-02 -1.37363084e-02 6.81343884e+00] [ 6.12621069e-02 9.98121585e-01 -5.05671821e-04 2.32405205e-01] [ 1.37414850e-02 -3.36841006e-04 9.99905525e-01 -2.32185356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999254153999999 meters Centerline goodness [0,1] 0.9995826377295493 Centerline is valid? [True, True] Translation: X:6.85, Y:0.23, Z:-0.02 [[ 9.97988612e-01 -6.18112671e-02 -1.40747100e-02 6.84533247e+00] [ 6.18101171e-02 9.98087793e-01 -5.17104905e-04 2.33092125e-01] [ 1.40797591e-02 -3.53894665e-04 9.99900813e-01 -2.35872432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.029254153999998 meters Centerline goodness [0,1] 0.999604916593503 Centerline is valid? [True, True] Translation: X:6.88, Y:0.23, Z:-0.02 [[ 9.97885230e-01 -6.30713050e-02 -1.57187185e-02 6.87766292e+00] [ 6.30700459e-02 9.98008936e-01 -5.76305374e-04 2.33309593e-01] [ 1.57237698e-02 -4.16293675e-04 9.99876287e-01 -2.45300904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059254154 meters Centerline goodness [0,1] 0.999494416600721 Centerline is valid? [True, True] Translation: X:6.91, Y:0.24, Z:-0.02 [[ 9.97855510e-01 -6.33883483e-02 -1.63186290e-02 6.90968841e+00] [ 6.33870533e-02 9.97988840e-01 -5.97097490e-04 2.35885422e-01] [ 1.63236587e-02 -4.38572789e-04 9.99866664e-01 -2.45953515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.089254153999999 meters Centerline goodness [0,1] 0.9996485833516363 Centerline is valid? [True, True] Translation: X:6.94, Y:0.24, Z:-0.02 [[ 9.97852093e-01 -6.32558989e-02 -1.70261855e-02 6.94171062e+00] [ 6.32545177e-02 9.97997235e-01 -6.20181283e-04 2.36579404e-01] [ 1.70313162e-02 -4.58133963e-04 9.99854852e-01 -2.49318183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119254154 meters Centerline goodness [0,1] 0.9996483052710248 Centerline is valid? [True, True] Translation: X:6.97, Y:0.24, Z:-0.03 [[ 9.97851463e-01 -6.31319592e-02 -1.75161167e-02 6.97386659e+00] [ 6.31305373e-02 9.98005076e-01 -6.34663863e-04 2.36707076e-01] [ 1.75212409e-02 -4.72501592e-04 9.99846380e-01 -2.54030796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.149254154 meters Centerline goodness [0,1] 0.9996040823508711 Centerline is valid? [True, True] Translation: X:7.01, Y:0.24, Z:-0.03 [[ 9.97897268e-01 -6.24164615e-02 -1.74707995e-02 7.00624743e+00] [ 6.24149622e-02 9.98050086e-01 -6.31598644e-04 2.38947205e-01] [ 1.74761550e-02 -4.60168727e-04 9.99847174e-01 -2.50527784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179254153999999 meters Centerline goodness [0,1] 0.9996916774946594 Centerline is valid? [True, True] Translation: X:7.04, Y:0.24, Z:-0.02 [[ 9.97925089e-01 -6.19745370e-02 -1.74549236e-02 7.03880626e+00] [ 6.19729946e-02 9.98077628e-01 -6.29782042e-04 2.40830407e-01] [ 1.74603992e-02 -4.53258586e-04 9.99847453e-01 -2.44213139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.209254154 meters Centerline goodness [0,1] 0.9995585865942749 Centerline is valid? [True, True] Translation: X:7.07, Y:0.24, Z:-0.02 [[ 9.98022736e-01 -6.07251306e-02 -1.62196572e-02 7.07109700e+00] [ 6.07236517e-02 9.98154445e-01 -5.84107285e-04 2.43443557e-01] [ 1.62251930e-02 -4.01964466e-04 9.99868282e-01 -2.31961404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239254154 meters Centerline goodness [0,1] 0.9995812949006126 Centerline is valid? [True, True] Translation: X:7.10, Y:0.24, Z:-0.02 [[ 9.98088452e-01 -5.97811052e-02 -1.56735864e-02 7.10188903e+00] [ 5.97796232e-02 9.98211440e-01 -5.63466348e-04 2.44371964e-01] [ 1.56792379e-02 -3.74571834e-04 9.99877003e-01 -2.24239702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.269254153999999 meters Centerline goodness [0,1] 0.9995814055959462 Centerline is valid? [True, True] Translation: X:7.13, Y:0.25, Z:-0.02 [[ 9.98132864e-01 -5.91898180e-02 -1.50782040e-02 7.13362894e+00] [ 5.91883923e-02 9.98246684e-01 -5.41180678e-04 2.46252342e-01] [ 1.50837995e-02 -3.52284434e-04 9.99886171e-01 -2.16265855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299254154 meters Centerline goodness [0,1] 0.9995159302939624 Centerline is valid? [True, True] Translation: X:7.17, Y:0.25, Z:-0.02 [[ 9.98270807e-01 -5.70290230e-02 -1.42508072e-02 7.16610596e+00] [ 5.70275433e-02 9.98372475e-01 -5.10506432e-04 2.48854551e-01] [ 1.42567273e-02 -3.03064854e-04 9.99898322e-01 -2.08131615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.329254154 meters Centerline goodness [0,1] 0.99962478204251 Centerline is valid? [True, True] Translation: X:7.20, Y:0.25, Z:-0.02 [[ 9.98339227e-01 -5.59679651e-02 -1.36519220e-02 7.19788767e+00] [ 5.59665209e-02 9.98432527e-01 -4.88102451e-04 2.50682679e-01] [ 1.36578411e-02 -2.76758754e-04 9.99906689e-01 -2.05042350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359254153999998 meters Centerline goodness [0,1] 0.9996688156848892 Centerline is valid? [True, True] Translation: X:7.23, Y:0.25, Z:-0.02 [[ 9.98485539e-01 -5.32201678e-02 -1.39370968e-02 7.23048653e+00] [ 5.32184103e-02 9.98582773e-01 -4.97203461e-04 2.53670124e-01] [ 1.39438060e-02 -2.45259671e-04 9.99902750e-01 -2.02155511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.389254154 meters Centerline goodness [0,1] 0.9997792640663974 Centerline is valid? [True, True] Translation: X:7.26, Y:0.26, Z:-0.02 [[ 9.98584102e-01 -5.14010373e-02 -1.37012925e-02 7.26238343e+00] [ 5.13991833e-02 9.98678069e-01 -4.87654351e-04 2.56052456e-01] [ 1.37082463e-02 -2.17271364e-04 9.99906014e-01 -1.99344007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419254153999999 meters Centerline goodness [0,1] 0.9997792640663974 Centerline is valid? [True, True] Translation: X:7.29, Y:0.26, Z:-0.02 [[ 9.98589676e-01 -5.12926241e-02 -1.37013333e-02 7.29491707e+00] [ 5.12907755e-02 9.98683643e-01 -4.86508365e-04 2.57117762e-01] [ 1.37082517e-02 -2.16929778e-04 9.99906014e-01 -1.96296945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.449254153999998 meters Centerline goodness [0,1] 0.9997349881848899 Centerline is valid? [True, True] Translation: X:7.33, Y:0.26, Z:-0.02 [[ 9.98653757e-01 -4.99813132e-02 -1.38759802e-02 7.32572629e+00] [ 4.99793084e-02 9.98750133e-01 -4.91436193e-04 2.59126284e-01] [ 1.38831997e-02 -2.02737291e-04 9.99903603e-01 -1.92150226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479254154 meters Centerline goodness [0,1] 0.9998011225527025 Centerline is valid? [True, True] Translation: X:7.36, Y:0.26, Z:-0.02 [[ 9.98804208e-01 -4.68303927e-02 -1.40381069e-02 7.35646908e+00] [ 4.68280460e-02 9.98902842e-01 -4.96003904e-04 2.61308922e-01] [ 1.40459329e-02 -1.61966329e-04 9.99901338e-01 -1.94341121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.509254153999999 meters Centerline goodness [0,1] 0.9997569920028277 Centerline is valid? [True, True] Translation: X:7.39, Y:0.26, Z:-0.02 [[ 9.98858493e-01 -4.56312458e-02 -1.41244751e-02 7.38831852e+00] [ 4.56287739e-02 9.98958341e-01 -4.97381771e-04 2.62871414e-01] [ 1.41324584e-02 -1.47668477e-04 9.99900121e-01 -1.94746004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539254154 meters Centerline goodness [0,1] 0.9996692319566033 Centerline is valid? [True, True] Translation: X:7.42, Y:0.26, Z:-0.02 [[ 9.98895620e-01 -4.48472279e-02 -1.40094926e-02 7.42064547e+00] [ 4.48447328e-02 9.98993848e-01 -4.92353952e-04 2.63793311e-01] [ 1.40174776e-02 -1.36441744e-04 9.99901741e-01 -1.92256319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569254154 meters Centerline goodness [0,1] 0.9996465416307686 Centerline is valid? [True, True] Translation: X:7.45, Y:0.26, Z:-0.02 [[ 9.98939947e-01 -4.38713330e-02 -1.39387299e-02 7.45295556e+00] [ 4.38687816e-02 9.99037182e-01 -4.88889794e-04 2.64836123e-01] [ 1.39467577e-02 -1.23103555e-04 9.99902732e-01 -1.86869160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599254153999999 meters Centerline goodness [0,1] 0.9998455428067079 Centerline is valid? [True, True] Translation: X:7.49, Y:0.27, Z:-0.02 [[ 9.98945045e-01 -4.36147169e-02 -1.43719953e-02 7.48593824e+00] [ 4.36119955e-02 9.99048418e-01 -5.02861864e-04 2.65475662e-01] [ 1.43802514e-02 -1.24460028e-04 9.99896591e-01 -1.83202254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.629254154 meters Centerline goodness [0,1] 0.9998236253803078 Centerline is valid? [True, True] Translation: X:7.52, Y:0.27, Z:-0.02 [[ 9.98965854e-01 -4.31752795e-02 -1.42519323e-02 7.51948698e+00] [ 4.31725817e-02 9.99067506e-01 -4.97046232e-04 2.66243685e-01] [ 1.42601026e-02 -1.18760498e-04 9.99898313e-01 -1.84052316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659254154 meters Centerline goodness [0,1] 0.99969139884495 Centerline is valid? [True, True] Translation: X:7.55, Y:0.27, Z:-0.02 [[ 9.98967650e-01 -4.28719082e-02 -1.50210840e-02 7.55246825e+00] [ 4.28689049e-02 9.99080570e-01 -5.22015440e-04 2.67174089e-01] [ 1.50296529e-02 -1.22460882e-04 9.99887041e-01 -1.90236776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.689254153999999 meters Centerline goodness [0,1] 0.9998235436839668 Centerline is valid? [True, True] Translation: X:7.58, Y:0.27, Z:-0.02 [[ 9.99027481e-01 -4.10322580e-02 -1.61383457e-02 7.58319822e+00] [ 4.10285746e-02 9.99157817e-01 -5.59397328e-04 2.68768420e-01] [ 1.61477076e-02 -1.03280019e-04 9.99869612e-01 -1.95040601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719254154 meters Centerline goodness [0,1] 0.9998237147704987 Centerline is valid? [True, True] Translation: X:7.62, Y:0.27, Z:-0.02 [[ 9.99065645e-01 -3.99643488e-02 -1.64525851e-02 7.61570793e+00] [ 3.99603927e-02 9.99201102e-01 -5.69262427e-04 2.70912398e-01] [ 1.64621914e-02 -8.87212276e-05 9.99864485e-01 -1.87780773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.749254153999999 meters Centerline goodness [0,1] 0.9997347714614092 Centerline is valid? [True, True] Translation: X:7.65, Y:0.27, Z:-0.02 [[ 9.99129041e-01 -3.85077702e-02 -1.60720700e-02 7.64681084e+00] [ 3.85038301e-02 9.99258299e-01 -5.54630255e-04 2.72620918e-01] [ 1.60815069e-02 -6.46890571e-05 9.99870682e-01 -1.86655497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779254153999998 meters Centerline goodness [0,1] 0.9996685009613472 Centerline is valid? [True, True] Translation: X:7.68, Y:0.28, Z:-0.02 [[ 9.99208917e-01 -3.67224103e-02 -1.52644687e-02 7.67920901e+00] [ 3.67186705e-02 9.99325504e-01 -5.25284593e-04 2.75169043e-01] [ 1.52734626e-02 -3.56219487e-05 9.99883353e-01 -1.67632011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.809254154 meters Centerline goodness [0,1] 0.999647118502018 Centerline is valid? [True, True] Translation: X:7.71, Y:0.28, Z:-0.02 [[ 9.99240446e-01 -3.60444768e-02 -1.48096574e-02 7.71110905e+00] [ 3.60408974e-02 9.99350186e-01 -5.08599504e-04 2.76298706e-01] [ 1.48183661e-02 -2.55401490e-05 9.99890202e-01 -1.62627441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839254153999999 meters Centerline goodness [0,1] 0.9998014165618587 Centerline is valid? [True, True] Translation: X:7.74, Y:0.28, Z:-0.02 [[ 9.99241712e-01 -3.61521775e-02 -1.44575583e-02 7.74331068e+00] [ 3.61487923e-02 9.99346296e-01 -4.95490572e-04 2.76817186e-01] [ 1.44660204e-02 -2.75084234e-05 9.99895361e-01 -1.54693990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.869254153999998 meters Centerline goodness [0,1] 0.9997133470044762 Centerline is valid? [True, True] Translation: X:7.78, Y:0.28, Z:-0.01 [[ 9.99208969e-01 -3.71921358e-02 -1.40777062e-02 7.77513836e+00] [ 3.71890434e-02 9.99308132e-01 -4.81479074e-04 2.76008736e-01] [ 1.40858735e-02 -4.24382175e-05 9.99900788e-01 -1.45810923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899254154 meters Centerline goodness [0,1] 0.9995383702270779 Centerline is valid? [True, True] Translation: X:7.81, Y:0.28, Z:-0.01 [[ 9.99188524e-01 -3.78435536e-02 -1.37898298e-02 7.80723072e+00] [ 3.78406683e-02 9.99283675e-01 -4.70192103e-04 2.76055351e-01] [ 1.37977456e-02 -5.20058225e-05 9.99904805e-01 -1.42481715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.929254153999999 meters Centerline goodness [0,1] 0.9995812579891568 Centerline is valid? [True, True] Translation: X:7.84, Y:0.28, Z:-0.01 [[ 9.99144281e-01 -3.89081580e-02 -1.40307155e-02 7.83946168e+00] [ 3.89053042e-02 9.99242788e-01 -4.76390323e-04 2.75901088e-01] [ 1.40386267e-02 -6.98865857e-05 9.99901451e-01 -1.37969828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959254154 meters Centerline goodness [0,1] 0.9995160367812046 Centerline is valid? [True, True] Translation: X:7.87, Y:0.27, Z:-0.01 [[ 9.99025032e-01 -4.17766869e-02 -1.42721684e-02 7.87162532e+00] [ 4.17740417e-02 9.99126967e-01 -4.83534440e-04 2.73992905e-01] [ 1.42799088e-02 -1.13143151e-04 9.99898031e-01 -1.39304559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.989254154 meters Centerline goodness [0,1] 0.9996268820508318 Centerline is valid? [True, True] Translation: X:7.90, Y:0.27, Z:-0.02 [[ 9.98951453e-01 -4.33608984e-02 -1.46910341e-02 7.90336727e+00] [ 4.33582818e-02 9.99059464e-01 -4.96722405e-04 2.70896137e-01] [ 1.46987550e-02 -1.40776427e-04 9.99891958e-01 -1.52501425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019254153999999 meters Centerline goodness [0,1] 0.9994951601220395 Centerline is valid? [True, True] Translation: X:7.94, Y:0.27, Z:-0.01 [[ 9.98771278e-01 -4.71449321e-02 -1.52738443e-02 7.93576462e+00] [ 4.71425607e-02 9.98888038e-01 -5.15462346e-04 2.69504690e-01] [ 1.52811618e-02 -2.05219145e-04 9.99883215e-01 -1.42328125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.049254154 meters Centerline goodness [0,1] 0.9996277562460312 Centerline is valid? [True, True] Translation: X:7.97, Y:0.27, Z:-0.01 [[ 9.98684542e-01 -4.88552677e-02 -1.55675409e-02 7.96715158e+00] [ 4.88530281e-02 9.98805840e-01 -5.24341449e-04 2.67398672e-01] [ 1.55745676e-02 -2.36869812e-04 9.99878681e-01 -1.42252176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079254154 meters Centerline goodness [0,1] 0.9993435448577681 Centerline is valid? [True, True] Translation: X:8.00, Y:0.27, Z:-0.01 [[ 9.98590689e-01 -5.07135473e-02 -1.56451981e-02 7.99946465e+00] [ 5.07115285e-02 9.98713204e-01 -5.25987090e-04 2.67154428e-01] [ 1.56517406e-02 -2.68146098e-04 9.99877468e-01 -1.39873909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.109254153999998 meters Centerline goodness [0,1] 0.9996067121132669 Centerline is valid? [True, True] Translation: X:8.03, Y:0.27, Z:-0.01 [[ 9.98499224e-01 -5.22668638e-02 -1.63546427e-02 8.03170711e+00] [ 5.22648861e-02 9.98633106e-01 -5.48612606e-04 2.66206656e-01] [ 1.63609619e-02 -3.06984276e-04 9.99866103e-01 -1.35902875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139254154 meters Centerline goodness [0,1] 0.9995638235229974 Centerline is valid? [True, True] Translation: X:8.06, Y:0.26, Z:-0.01 [[ 9.98327042e-01 -5.50712210e-02 -1.76147000e-02 8.06240004e+00] [ 5.50693813e-02 9.98482356e-01 -5.89843305e-04 2.63673394e-01] [ 1.76204505e-02 -3.81174107e-04 9.99844675e-01 -1.44529628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.169254153999999 meters Centerline goodness [0,1] 0.9995863360257778 Centerline is valid? [True, True] Translation: X:8.09, Y:0.26, Z:-0.01 [[ 9.98263031e-01 -5.59963342e-02 -1.83120841e-02 8.09497653e+00] [ 5.59945198e-02 9.98430888e-01 -6.12196776e-04 2.63551360e-01] [ 1.83176312e-02 -4.14242947e-04 9.99832132e-01 -1.44170384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199254153999998 meters Centerline goodness [0,1] 0.9996514692748383 Centerline is valid? [True, True] Translation: X:8.13, Y:0.26, Z:-0.02 [[ 9.98105409e-01 -5.81542310e-02 -2.00917356e-02 8.12637831e+00] [ 5.81525103e-02 9.98307486e-01 -6.70377214e-04 2.61514190e-01] [ 2.00967154e-02 -4.99277741e-04 9.99797916e-01 -1.57778889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.229254154 meters Centerline goodness [0,1] 0.9995000978069508 Centerline is valid? [True, True] Translation: X:8.16, Y:0.26, Z:-0.02 [[ 9.98035542e-01 -5.90987686e-02 -2.07940286e-02 8.15712874e+00] [ 5.90971497e-02 9.98251996e-01 -6.92883649e-04 2.60843783e-01] [ 2.07986291e-02 -5.37345310e-04 9.99783541e-01 -1.61819892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259254153999999 meters Centerline goodness [0,1] 0.9994130817555377 Centerline is valid? [True, True] Translation: X:8.19, Y:0.26, Z:-0.02 [[ 9.97969987e-01 -5.99116985e-02 -2.15984716e-02 8.18940143e+00] [ 5.99101688e-02 9.98203514e-01 -7.18459115e-04 2.61607494e-01] [ 2.16027143e-02 -5.76967445e-04 9.99766468e-01 -1.61285485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.289254153999998 meters Centerline goodness [0,1] 0.9994345244568172 Centerline is valid? [True, True] Translation: X:8.22, Y:0.26, Z:-0.02 [[ 9.97867488e-01 -6.13242479e-02 -2.23564936e-02 8.22098133e+00] [ 6.13229945e-02 9.98117698e-01 -7.42274591e-04 2.59416754e-01] [ 2.23599313e-02 -6.30275451e-04 9.99749787e-01 -1.58663668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319254154 meters Centerline goodness [0,1] 0.9993907613307513 Centerline is valid? [True, True] Translation: X:8.25, Y:0.26, Z:-0.01 [[ 9.97866652e-01 -6.15049927e-02 -2.18925011e-02 8.25375302e+00] [ 6.15038745e-02 9.98106581e-01 -7.25030797e-04 2.60810867e-01] [ 2.18956425e-02 -6.22989587e-04 9.99760068e-01 -1.45643167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.349254153999999 meters Centerline goodness [0,1] 0.9995436865778666 Centerline is valid? [True, True] Translation: X:8.28, Y:0.26, Z:-0.01 [[ 9.97884119e-01 -6.14071314e-02 -2.13646656e-02 8.28480911e+00] [ 6.14060786e-02 9.98112616e-01 -7.05931737e-04 2.60381787e-01] [ 2.13676915e-02 -6.07482265e-04 9.99771500e-01 -1.40253301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379254154 meters Centerline goodness [0,1] 0.9994565571810534 Centerline is valid? [True, True] Translation: X:8.32, Y:0.26, Z:-0.01 [[ 9.97886176e-01 -6.15060472e-02 -2.09806116e-02 8.31778299e+00] [ 6.15050903e-02 9.98106530e-01 -6.91492597e-04 2.63392372e-01] [ 2.09834164e-02 -6.00383506e-04 9.99779644e-01 -1.09194075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.409254154 meters Centerline goodness [0,1] 0.9995656894679696 Centerline is valid? [True, True] Translation: X:8.35, Y:0.26, Z:-0.01 [[ 9.97895886e-01 -6.15882562e-02 -2.02654314e-02 8.34985707e+00] [ 6.15874162e-02 9.98101471e-01 -6.66154111e-04 2.64356549e-01] [ 2.02679841e-02 -5.83343108e-04 9.99794413e-01 -9.45309050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439254153999999 meters Centerline goodness [0,1] 0.9996086871453728 Centerline is valid? [True, True] Translation: X:8.38, Y:0.27, Z:-0.01 [[ 9.97856668e-01 -6.22967890e-02 -2.00294651e-02 8.38249026e+00] [ 6.22961400e-02 9.98057493e-01 -6.56947899e-04 2.65373912e-01] [ 2.00314835e-02 -5.92218520e-04 9.99799174e-01 -7.69329833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469254154 meters Centerline goodness [0,1] 0.9993926510780443 Centerline is valid? [True, True] Translation: X:8.41, Y:0.26, Z:-0.01 [[ 9.97812086e-01 -6.29137292e-02 -2.03200265e-02 8.41402293e+00] [ 6.29132154e-02 9.98018780e-01 -6.65182124e-04 2.64833600e-01] [ 2.03216171e-02 -6.14671440e-04 9.99793306e-01 -7.94123281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499254153999999 meters Centerline goodness [0,1] 0.9992849868914263 Centerline is valid? [True, True] Translation: X:8.45, Y:0.27, Z:-0.01 [[ 9.97768977e-01 -6.35173146e-02 -2.05577137e-02 8.44615039e+00] [ 6.35169443e-02 9.97980534e-01 -6.71621351e-04 2.65248489e-01] [ 2.05588577e-02 -6.35640210e-04 9.99788442e-01 -7.72274453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529254153999998 meters Centerline goodness [0,1] 0.9993714644877436 Centerline is valid? [True, True] Translation: X:8.48, Y:0.26, Z:-0.01 [[ 9.97684445e-01 -6.43264688e-02 -2.20874201e-02 8.47800024e+00] [ 6.43262932e-02 9.97928660e-01 -7.19172532e-04 2.58140765e-01] [ 2.20879314e-02 -7.03294613e-04 9.99755785e-01 -1.07973690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559254154 meters Centerline goodness [0,1] 0.9994792909678679 Centerline is valid? [True, True] Translation: X:8.51, Y:0.26, Z:-0.01 [[ 9.97640733e-01 -6.46300085e-02 -2.31501797e-02 8.51036778e+00] [ 6.46299508e-02 9.97909016e-01 -7.51475158e-04 2.64172021e-01] [ 2.31503408e-02 -7.46492745e-04 9.99731716e-01 -8.62020644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.589254153999999 meters Centerline goodness [0,1] 0.9996099167822469 Centerline is valid? [True, True] Translation: X:8.54, Y:0.26, Z:-0.01 [[ 9.97637233e-01 -6.44505995e-02 -2.37922453e-02 8.54144185e+00] [ 6.44505492e-02 9.97920605e-01 -7.69732679e-04 2.64166018e-01] [ 2.37923816e-02 -7.65509298e-04 9.99716628e-01 -8.74356190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619254153999998 meters Centerline goodness [0,1] 0.9994582881906826 Centerline is valid? [True, True] Translation: X:8.57, Y:0.26, Z:-0.01 [[ 9.97606654e-01 -6.47238984e-02 -2.43265456e-02 8.57341825e+00] [ 6.47239836e-02 9.97902896e-01 -7.84699864e-04 2.64524943e-01] [ 2.43263192e-02 -7.91689134e-04 9.99703758e-01 -8.46882981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649254154 meters Centerline goodness [0,1] 0.9994795958194197 Centerline is valid? [True, True] Translation: X:8.61, Y:0.26, Z:-0.01 [[ 9.97606103e-01 -6.47929698e-02 -2.41647248e-02 8.60515120e+00] [ 6.47931219e-02 9.97898415e-01 -7.77499104e-04 2.64221040e-01] [ 2.41643171e-02 -7.90070107e-04 9.99707688e-01 -7.80546856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679254153999999 meters Centerline goodness [0,1] 0.9995222999088027 Centerline is valid? [True, True] Translation: X:8.64, Y:0.26, Z:-0.01 [[ 9.97608784e-01 -6.47764239e-02 -2.40983101e-02 8.63673758e+00] [ 6.47766217e-02 9.97899490e-01 -7.73231440e-04 2.64100351e-01] [ 2.40977785e-02 -7.89624638e-04 9.99709295e-01 -7.51156126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709254153999998 meters Centerline goodness [0,1] 0.999523871358698 Centerline is valid? [True, True] Translation: X:8.67, Y:0.27, Z:-0.01 [[ 9.97642053e-01 -6.43777466e-02 -2.37874085e-02 8.66893412e+00] [ 6.43778695e-02 9.97925303e-01 -7.61425401e-04 2.65110584e-01] [ 2.37870757e-02 -7.71752681e-04 9.99716750e-01 -6.56708226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739254154 meters Centerline goodness [0,1] 0.9993495088792038 Centerline is valid? [True, True] Translation: X:8.70, Y:0.27, Z:-0.01 [[ 9.97738218e-01 -6.29315186e-02 -2.36235632e-02 8.70006147e+00] [ 6.29312680e-02 9.98017578e-01 -7.54779934e-04 2.65664545e-01] [ 2.36242308e-02 -7.33588004e-04 9.99720640e-01 -6.41036116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769254153999999 meters Centerline goodness [0,1] 0.999544567338972 Centerline is valid? [True, True] Translation: X:8.73, Y:0.27, Z:-0.01 [[ 9.97837564e-01 -6.12983446e-02 -2.37214867e-02 8.73140856e+00] [ 6.12976601e-02 9.98119244e-01 -7.56675915e-04 2.66765786e-01] [ 2.37232554e-02 -6.99031981e-04 9.99718320e-01 -6.55128300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799254154 meters Centerline goodness [0,1] 0.9994572768322334 Centerline is valid? [True, True] Translation: X:8.76, Y:0.27, Z:-0.01 [[ 9.98007298e-01 -5.83996078e-02 -2.38938947e-02 8.76276541e+00] [ 5.83981412e-02 9.98293083e-01 -7.59747885e-04 2.68769662e-01] [ 2.38974788e-02 -6.37125105e-04 9.99714211e-01 -6.76391435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829254154 meters Centerline goodness [0,1] 0.9994798326795119 Centerline is valid? [True, True] Translation: X:8.80, Y:0.27, Z:-0.01 [[ 9.98098718e-01 -5.69119225e-02 -2.36639604e-02 8.79546590e+00] [ 5.69101244e-02 9.98379024e-01 -7.49981213e-04 2.70710689e-01] [ 2.36682845e-02 -5.98163641e-04 9.99719688e-01 -6.21899197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859254153999998 meters Centerline goodness [0,1] 0.9995874766598637 Centerline is valid? [True, True] Translation: X:8.83, Y:0.27, Z:-0.01 [[ 9.98293386e-01 -5.37236485e-02 -2.28929084e-02 8.82565073e+00] [ 5.37211505e-02 9.98555714e-01 -7.24545710e-04 2.72613110e-01] [ 2.28987697e-02 -5.06524187e-04 9.99737660e-01 -5.78871685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.889254154 meters Centerline goodness [0,1] 0.9995233245942843 Centerline is valid? [True, True] Translation: X:8.86, Y:0.27, Z:-0.01 [[ 9.98391203e-01 -5.18355869e-02 -2.29799480e-02 8.85829928e+00] [ 5.18325998e-02 9.98655523e-01 -7.26005119e-04 2.74321242e-01] [ 2.29866849e-02 -4.66273322e-04 9.99735663e-01 -5.23086566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919254153999999 meters Centerline goodness [0,1] 0.9995452379921175 Centerline is valid? [True, True] Translation: X:8.89, Y:0.28, Z:-0.00 [[ 9.98492678e-01 -5.00203306e-02 -2.25906839e-02 8.88977597e+00] [ 5.00170116e-02 9.98748112e-01 -7.12279485e-04 2.76002372e-01] [ 2.25980314e-02 -4.18712648e-04 9.99744544e-01 -4.95181163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.949254153999998 meters Centerline goodness [0,1] 0.9995226626743908 Centerline is valid? [True, True] Translation: X:8.92, Y:0.28, Z:-0.00 [[ 9.98592770e-01 -4.82141188e-02 -2.20879694e-02 8.92207820e+00] [ 4.82105337e-02 9.98836954e-01 -6.95088234e-04 2.79368449e-01] [ 2.20957932e-02 -3.70762709e-04 9.99755789e-01 -3.35747789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979254154 meters Centerline goodness [0,1] 0.9993700855814762 Centerline is valid? [True, True] Translation: X:8.95, Y:0.28, Z:-0.00 [[ 9.98672623e-01 -4.66552449e-02 -2.18238233e-02 8.95427578e+00] [ 4.66514072e-02 9.98910995e-01 -6.85211407e-04 2.82700678e-01] [ 2.18320257e-02 -3.33810193e-04 9.99761597e-01 -1.55635584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.009254153999999 meters Centerline goodness [0,1] 0.9996527325606632 Centerline is valid? [True, True] Translation: X:8.99, Y:0.28, Z:-0.00 [[ 9.98845011e-01 -4.29938482e-02 -2.14516496e-02 8.98578216e+00] [ 4.29893249e-02 9.99075306e-01 -6.72180036e-04 2.83712187e-01] [ 2.14607130e-02 -2.50788258e-04 9.99769661e-01 -1.56802662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039254153999998 meters Centerline goodness [0,1] 0.9996524610104696 Centerline is valid? [True, True] Translation: X:9.02, Y:0.28, Z:-0.00 [[ 9.98930181e-01 -4.10101923e-02 -2.13695673e-02 9.01769870e+00] [ 4.10052792e-02 9.99158706e-01 -6.68229552e-04 2.84495542e-01] [ 2.13789934e-02 -2.08750405e-04 9.99771421e-01 -1.81717089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.069254154 meters Centerline goodness [0,1] 0.9994134132829303 Centerline is valid? [True, True] Translation: X:9.05, Y:0.29, Z:-0.00 [[ 9.99012273e-01 -3.89415341e-02 -2.14017399e-02 9.04903161e+00] [ 3.89361598e-02 9.99241477e-01 -6.67913877e-04 2.85312173e-01] [ 2.14115158e-02 -1.66047405e-04 9.99770733e-01 -2.53673581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099254153999999 meters Centerline goodness [0,1] 0.9994365342522159 Centerline is valid? [True, True] Translation: X:9.08, Y:0.29, Z:-0.00 [[ 9.99196307e-01 -3.38038470e-02 -2.15415802e-02 9.07992762e+00] [ 3.37972286e-02 9.99428485e-01 -6.71335194e-04 2.88422948e-01] [ 2.15519626e-02 -5.72500631e-05 9.99767728e-01 -2.03622586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.129254153999998 meters Centerline goodness [0,1] 0.99967436609934 Centerline is valid? [True, True] Translation: X:9.11, Y:0.29, Z:-0.00 [[ 9.99292810e-01 -3.08549545e-02 -2.14907342e-02 9.11154690e+00] [ 3.08477019e-02 9.99523873e-01 -6.68977729e-04 2.90556090e-01] [ 2.15011432e-02 5.56487081e-06 9.99768824e-01 -1.41167089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159254154 meters Centerline goodness [0,1] 0.9996307879419686 Centerline is valid? [True, True] Translation: X:9.14, Y:0.29, Z:-0.00 [[ 9.99404567e-01 -2.74615228e-02 -2.08896407e-02 9.14198486e+00] [ 2.74539360e-02 9.99622858e-01 -6.49938009e-04 2.92874172e-01] [ 2.08996107e-02 7.60481544e-05 9.99781576e-01 -7.13163208e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.189254153999999 meters Centerline goodness [0,1] 0.9996302820730302 Centerline is valid? [True, True] Translation: X:9.17, Y:0.30, Z:-0.00 [[ 9.99571549e-01 -2.08791212e-02 -2.05129237e-02 9.17268286e+00] [ 2.08704195e-02 9.99781985e-01 -6.38217237e-04 2.96096510e-01] [ 2.05217770e-02 2.09830469e-04 9.99789384e-01 -3.10503610e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219254154 meters Centerline goodness [0,1] 0.9995870642441103 Centerline is valid? [True, True] Translation: X:9.20, Y:0.30, Z:0.00 [[ 9.99632348e-01 -1.80594283e-02 -2.02244005e-02 9.20056738e+00] [ 1.80503727e-02 9.99836880e-01 -6.30229099e-04 2.98001336e-01] [ 2.02324831e-02 2.64939427e-04 9.99795267e-01 3.33899787e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.249254153999999 meters Centerline goodness [0,1] 0.9996097814776275 Centerline is valid? [True, True] Translation: X:9.23, Y:0.30, Z:0.00 [[ 9.99712451e-01 -1.38223537e-02 -1.95948217e-02 9.22927435e+00] [ 1.38129723e-02 9.99904408e-01 -6.14040799e-04 2.99253367e-01] [ 1.96014360e-02 3.43201504e-04 9.99807814e-01 6.39260710e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279254153999998 meters Centerline goodness [0,1] 0.9996110126636988 Centerline is valid? [True, True] Translation: X:9.26, Y:0.30, Z:0.00 [[ 9.99723212e-01 -1.29690173e-02 -1.96291764e-02 9.25674639e+00] [ 1.29593735e-02 9.99915833e-01 -6.18429483e-04 3.00397341e-01] [ 1.96355447e-02 3.63876480e-04 9.99807138e-01 4.82545120e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.309254154 meters Centerline goodness [0,1] 0.9996110126636988 Centerline is valid? [True, True] Translation: X:9.28, Y:0.30, Z:0.00 [[ 9.99719449e-01 -1.32560717e-02 -1.96290564e-02 9.28411555e+00] [ 1.32464088e-02 9.99912069e-01 -6.22218914e-04 3.01331984e-01] [ 1.96355786e-02 3.62029843e-04 9.99807138e-01 7.39411524e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339254153999999 meters Centerline goodness [0,1] 0.9995890381329353 Centerline is valid? [True, True] Translation: X:9.31, Y:0.30, Z:0.00 [[ 9.99722943e-01 -1.30117234e-02 -1.96146156e-02 9.31298311e+00] [ 1.30019239e-02 9.99915275e-01 -6.27048525e-04 3.00859445e-01] [ 1.96211127e-02 3.71847057e-04 9.99807418e-01 1.06126141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.369254153999998 meters Centerline goodness [0,1] 0.9995243654602846 Centerline is valid? [True, True] Translation: X:9.34, Y:0.30, Z:-0.00 [[ 9.99714305e-01 -1.41440512e-02 -1.92679598e-02 9.34054392e+00] [ 1.41347433e-02 9.99899908e-01 -6.19185497e-04 2.99771741e-01] [ 1.92747891e-02 3.46660933e-04 9.99814164e-01 -3.05361982e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399254154 meters Centerline goodness [0,1] 0.9994154958543502 Centerline is valid? [True, True] Translation: X:9.37, Y:0.30, Z:0.00 [[ 9.99696384e-01 -1.55116739e-02 -1.91449062e-02 9.36934181e+00] [ 1.55026727e-02 9.99879635e-01 -6.18493458e-04 2.97643154e-01] [ 1.91521957e-02 3.21508458e-04 9.99816528e-01 2.64621247e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.429254153999999 meters Centerline goodness [0,1] 0.9995252481657315 Centerline is valid? [True, True] Translation: X:9.40, Y:0.30, Z:0.00 [[ 9.99672087e-01 -1.70754301e-02 -1.90826563e-02 9.39828024e+00] [ 1.70666817e-02 9.99854161e-01 -6.21219284e-04 2.96157845e-01] [ 1.90904808e-02 2.95337959e-04 9.99817717e-01 4.42244480e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459254153999998 meters Centerline goodness [0,1] 0.9995678945662742 Centerline is valid? [True, True] Translation: X:9.43, Y:0.29, Z:0.00 [[ 9.99645923e-01 -1.90072567e-02 -1.86212825e-02 9.42695364e+00] [ 1.89991748e-02 9.99819313e-01 -6.10844098e-04 2.94042293e-01] [ 1.86295283e-02 2.56838813e-04 9.99826422e-01 1.37529087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.489254154 meters Centerline goodness [0,1] 0.9993312335505027 Centerline is valid? [True, True] Translation: X:9.46, Y:0.29, Z:0.00 [[ 9.99563511e-01 -2.30034294e-02 -1.85372776e-02 9.45500198e+00] [ 2.29960476e-02 9.99735369e-01 -6.11304470e-04 2.90613828e-01] [ 1.85464342e-02 1.84753523e-04 9.99827983e-01 8.47877693e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519254153999999 meters Centerline goodness [0,1] 0.9995481247175779 Centerline is valid? [True, True] Translation: X:9.49, Y:0.29, Z:0.00 [[ 9.99519058e-01 -2.51426726e-02 -1.81520782e-02 9.48519262e+00] [ 2.51359262e-02 9.99683863e-01 -5.99754742e-04 2.87855138e-01] [ 1.81614191e-02 1.43196996e-04 9.99835058e-01 1.81911829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.549254153999998 meters Centerline goodness [0,1] 0.9996132193046543 Centerline is valid? [True, True] Translation: X:9.51, Y:0.29, Z:0.00 [[ 9.99459112e-01 -2.75002114e-02 -1.80338836e-02 9.51494426e+00] [ 2.74939312e-02 9.99621793e-01 -5.96130324e-04 2.85990387e-01] [ 1.80434568e-02 9.99855282e-05 9.99837199e-01 1.89928407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579254154 meters Centerline goodness [0,1] 0.9994649087134265 Centerline is valid? [True, True] Translation: X:9.54, Y:0.28, Z:0.00 [[ 9.99302823e-01 -3.32276646e-02 -1.70232300e-02 9.54488366e+00] [ 3.32228982e-02 9.99447809e-01 -5.62797610e-04 2.80451510e-01] [ 1.70325304e-02 -3.15579715e-06 9.99854936e-01 2.26568419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.609254153999998 meters Centerline goodness [0,1] 0.999272960547418 Centerline is valid? [True, True] Translation: X:9.58, Y:0.28, Z:0.00 [[ 9.99212718e-01 -3.61869496e-02 -1.62618613e-02 9.57749632e+00] [ 3.61829975e-02 9.99345037e-01 -5.37277502e-04 2.78123199e-01] [ 1.62706528e-02 -5.15483721e-05 9.99867623e-01 3.39291082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639254154 meters Centerline goodness [0,1] 0.9993164145945485 Centerline is valid? [True, True] Translation: X:9.61, Y:0.28, Z:0.00 [[ 9.99109247e-01 -3.92905908e-02 -1.53935546e-02 9.60979911e+00] [ 3.92874348e-02 9.99227822e-01 -5.07489007e-04 2.75488986e-01] [ 1.54016076e-02 -9.77363130e-05 9.99881383e-01 3.94626367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669254153999999 meters Centerline goodness [0,1] 0.9991692229038854 Centerline is valid? [True, True] Translation: X:9.64, Y:0.27, Z:0.00 [[ 9.98829522e-01 -4.61735530e-02 -1.44079587e-02 9.64066989e+00] [ 4.61715159e-02 9.98933414e-01 -4.74163851e-04 2.68756349e-01] [ 1.44144852e-02 -1.91628441e-04 9.99896088e-01 3.98118747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699254153999998 meters Centerline goodness [0,1] 0.9992360580595875 Centerline is valid? [True, True] Translation: X:9.67, Y:0.27, Z:0.00 [[ 9.98658354e-01 -4.97408949e-02 -1.43991266e-02 9.67331542e+00] [ 4.97392412e-02 9.98762126e-01 -4.73163922e-04 2.66164154e-01] [ 1.44048379e-02 -2.43672528e-04 9.99896215e-01 3.92918534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.729254154 meters Centerline goodness [0,1] 0.9993851894252581 Centerline is valid? [True, True] Translation: X:9.71, Y:0.26, Z:0.00 [[ 9.98468956e-01 -5.33279293e-02 -1.46926837e-02 9.70549777e+00] [ 5.33266115e-02 9.98577008e-01 -4.81732041e-04 2.63725367e-01] [ 1.46974659e-02 -3.02516546e-04 9.99891941e-01 3.79268104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759254153999999 meters Centerline goodness [0,1] 0.999321343739396 Centerline is valid? [True, True] Translation: X:9.74, Y:0.26, Z:0.00 [[ 9.98100682e-01 -5.97654984e-02 -1.49369774e-02 9.73724872e+00] [ 5.97648699e-02 9.98212363e-01 -4.88848318e-04 2.59617905e-01] [ 1.49394917e-02 -4.04786670e-04 9.99888318e-01 3.73453241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.789254153999998 meters Centerline goodness [0,1] 0.999131797391157 Centerline is valid? [True, True] Translation: X:9.77, Y:0.26, Z:0.00 [[ 9.97938350e-01 -6.24475797e-02 -1.48104279e-02 9.76805825e+00] [ 6.24472723e-02 9.98048147e-01 -4.83671520e-04 2.57633555e-01] [ 1.48117242e-02 -4.42196465e-04 9.99890203e-01 3.40823348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819254154 meters Centerline goodness [0,1] 0.9989844064067029 Centerline is valid? [True, True] Translation: X:9.80, Y:0.26, Z:0.00 [[ 9.97787079e-01 -6.47265676e-02 -1.52123700e-02 9.79933020e+00] [ 6.47265313e-02 9.97902917e-01 -4.95252893e-04 2.55242484e-01] [ 1.52125244e-02 -4.90487005e-04 9.99884163e-01 3.24799259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.849254153999999 meters Centerline goodness [0,1] 0.9991537436266317 Centerline is valid? [True, True] Translation: X:9.83, Y:0.25, Z:0.00 [[ 9.97566560e-01 -6.78733409e-02 -1.59426302e-02 9.83103640e+00] [ 6.78737166e-02 9.97693786e-01 -5.18138511e-04 2.53998064e-01] [ 1.59410309e-02 -5.65207915e-04 9.99872774e-01 3.18399406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879254153999998 meters Centerline goodness [0,1] 0.9990491484596205 Centerline is valid? [True, True] Translation: X:9.86, Y:0.25, Z:0.00 [[ 9.97508918e-01 -6.86258673e-02 -1.63232630e-02 9.86194011e+00] [ 6.86263763e-02 9.97642291e-01 -5.29617048e-04 2.52117205e-01] [ 1.63211229e-02 -5.91908660e-04 9.99866626e-01 3.03615441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.909254154 meters Centerline goodness [0,1] 0.9991957671957672 Centerline is valid? [True, True] Translation: X:9.89, Y:0.26, Z:0.00 [[ 9.97459792e-01 -6.93280804e-02 -1.63578701e-02 9.89432567e+00] [ 6.93287024e-02 9.97593730e-01 -5.29722871e-04 2.55327837e-01] [ 1.63552333e-02 -6.05692646e-04 9.99866061e-01 3.24575397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939254153999999 meters Centerline goodness [0,1] 0.9990452954280259 Centerline is valid? [True, True] Translation: X:9.93, Y:0.26, Z:0.00 [[ 9.97466787e-01 -6.91364122e-02 -1.67381244e-02 9.92707928e+00] [ 6.91370621e-02 9.97607024e-01 -5.40516605e-04 2.57101258e-01] [ 1.67354399e-02 -6.18077388e-04 9.99859762e-01 3.69952954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.969254153999998 meters Centerline goodness [0,1] 0.998944858294469 Centerline is valid? [True, True] Translation: X:9.96, Y:0.26, Z:0.00 [[ 9.97494568e-01 -6.86540586e-02 -1.70647758e-02 9.95963989e+00] [ 6.86546914e-02 9.97640332e-01 -5.49441564e-04 2.58542596e-01] [ 1.70622300e-02 -6.23511942e-04 9.99854235e-01 3.60897696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999254153999999 meters Centerline goodness [0,1] 0.9990888479223614 Centerline is valid? [True, True] Translation: X:9.99, Y:0.26, Z:0.00 [[ 9.97616093e-01 -6.70194715e-02 -1.64475426e-02 9.99085407e+00] [ 6.70198652e-02 9.97751502e-01 -5.27877032e-04 2.60184136e-01] [ 1.64459384e-02 -5.75693465e-04 9.99864591e-01 3.64468868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.029254153999998 meters Centerline goodness [0,1] 0.9989198119201932 Centerline is valid? [True, True] Translation: X:10.02, Y:0.26, Z:0.00 [[ 9.97675846e-01 -6.61187019e-02 -1.64688477e-02 1.00229970e+01] [ 6.61190051e-02 9.97811605e-01 -5.26676692e-04 2.63690276e-01] [ 1.64676305e-02 -5.63451210e-04 9.99864241e-01 4.15362675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059254154 meters Centerline goodness [0,1] 0.9990249072602013 Centerline is valid? [True, True] Translation: X:10.06, Y:0.27, Z:0.00 [[ 9.97713748e-01 -6.56444765e-02 -1.60648576e-02 1.00552204e+01] [ 6.56447221e-02 9.97842927e-01 -5.12598411e-04 2.65803111e-01] [ 1.60638538e-02 -5.43146632e-04 9.99870820e-01 4.52626673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.089254153999999 meters Centerline goodness [0,1] 0.998939352156297 Centerline is valid? [True, True] Translation: X:10.09, Y:0.27, Z:0.00 [[ 9.97769740e-01 -6.47325459e-02 -1.62863172e-02 1.00878335e+01] [ 6.47326985e-02 9.97902505e-01 -5.18345796e-04 2.68636286e-01] [ 1.62857106e-02 -5.37067510e-04 9.99867235e-01 4.71277656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119254153999998 meters Centerline goodness [0,1] 0.9988969496415087 Centerline is valid? [True, True] Translation: X:10.12, Y:0.27, Z:0.00 [[ 9.97778598e-01 -6.46047257e-02 -1.62511141e-02 1.01197913e+01] [ 6.46048846e-02 9.97910789e-01 -5.15758505e-04 2.68329061e-01] [ 1.62504825e-02 -5.35288551e-04 9.99867809e-01 4.44247075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.149254154 meters Centerline goodness [0,1] 0.9988533571155561 Centerline is valid? [True, True] Translation: X:10.15, Y:0.27, Z:0.01 [[ 9.97771745e-01 -6.47093863e-02 -1.62554806e-02 1.01516865e+01] [ 6.47095811e-02 9.97904006e-01 -5.14543491e-04 2.73592910e-01] [ 1.62547050e-02 -5.38488384e-04 9.99867739e-01 5.76727095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179254153999999 meters Centerline goodness [0,1] 0.9991079772321808 Centerline is valid? [True, True] Translation: X:10.18, Y:0.28, Z:0.01 [[ 9.97722830e-01 -6.53809720e-02 -1.65675257e-02 1.01824698e+01] [ 6.53812851e-02 9.97860218e-01 -5.23322385e-04 2.75620102e-01] [ 1.65662902e-02 -5.61075432e-04 9.99862612e-01 5.88765568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.209254153999998 meters Centerline goodness [0,1] 0.9991289938817132 Centerline is valid? [True, True] Translation: X:10.22, Y:0.28, Z:0.01 [[ 9.97727513e-01 -6.53650000e-02 -1.63470889e-02 1.02153748e+01] [ 6.53653234e-02 9.97861268e-01 -5.15086562e-04 2.77244264e-01] [ 1.63457955e-02 -5.54616718e-04 9.99866245e-01 6.56147729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239254154 meters Centerline goodness [0,1] 0.9989351960304108 Centerline is valid? [True, True] Translation: X:10.25, Y:0.28, Z:0.01 [[ 9.97714709e-01 -6.57966791e-02 -1.53674012e-02 1.02466057e+01] [ 6.57970358e-02 9.97832910e-01 -4.82926697e-04 2.78957593e-01] [ 1.53658736e-02 -5.29306380e-04 9.99881798e-01 7.50182473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.269254153999999 meters Centerline goodness [0,1] 0.9990840930391071 Centerline is valid? [True, True] Translation: X:10.28, Y:0.28, Z:0.01 [[ 9.97708760e-01 -6.59209874e-02 -1.52201922e-02 1.02776554e+01] [ 6.59213642e-02 9.97824707e-01 -4.77484006e-04 2.80315312e-01] [ 1.52185600e-02 -5.26945858e-04 9.99884052e-01 8.19401635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299254153999998 meters Centerline goodness [0,1] 0.9989369844374522 Centerline is valid? [True, True] Translation: X:10.31, Y:0.28, Z:0.01 [[ 9.97707341e-01 -6.59760664e-02 -1.50738422e-02 1.03105805e+01] [ 6.59764590e-02 9.97821068e-01 -4.71785110e-04 2.82090404e-01] [ 1.50721238e-02 -5.23815263e-04 9.99886272e-01 8.53825587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.329254154 meters Centerline goodness [0,1] 0.99908654458937 Centerline is valid? [True, True] Translation: X:10.34, Y:0.29, Z:0.01 [[ 9.97726791e-01 -6.57147757e-02 -1.49270982e-02 1.03423657e+01] [ 6.57151523e-02 9.97838314e-01 -4.65793675e-04 2.85725187e-01] [ 1.49254400e-02 -5.16201703e-04 9.99888476e-01 9.09373766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359254153999998 meters Centerline goodness [0,1] 0.9991071238759327 Centerline is valid? [True, True] Translation: X:10.37, Y:0.29, Z:0.01 [[ 9.97748116e-01 -6.53076961e-02 -1.52840716e-02 1.03742342e+01] [ 6.53080605e-02 9.97865036e-01 -4.75800954e-04 2.88372882e-01] [ 1.52825141e-02 -5.23443568e-04 9.99883079e-01 9.36195114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389254153999998 meters Centerline goodness [0,1] 0.9991061928069802 Centerline is valid? [True, True] Translation: X:10.41, Y:0.29, Z:0.01 [[ 9.97798841e-01 -6.46945534e-02 -1.45632089e-02 1.04065504e+01] [ 6.46948341e-02 9.97904992e-01 -4.52325258e-04 2.91640012e-01] [ 1.45619619e-02 -4.90834767e-04 9.99893849e-01 1.00031210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419254153999999 meters Centerline goodness [0,1] 0.9989377748507574 Centerline is valid? [True, True] Translation: X:10.44, Y:0.29, Z:0.01 [[ 9.97824789e-01 -6.43357768e-02 -1.43735419e-02 1.04386489e+01] [ 6.43360282e-02 9.97928192e-01 -4.45378473e-04 2.93974778e-01] [ 1.43724165e-02 -4.80326917e-04 9.99896596e-01 1.07675005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449254153999998 meters Centerline goodness [0,1] 0.9991911796006981 Centerline is valid? [True, True] Translation: X:10.47, Y:0.30, Z:0.01 [[ 9.97828905e-01 -6.43248610e-02 -1.41346375e-02 1.04707054e+01] [ 6.43251190e-02 9.97928899e-01 -4.36850964e-04 2.95064762e-01] [ 1.41334637e-02 -4.73309722e-04 9.99900006e-01 1.15637614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479254154 meters Centerline goodness [0,1] 0.9990198794025525 Centerline is valid? [True, True] Translation: X:10.50, Y:0.30, Z:0.01 [[ 9.97842117e-01 -6.39752855e-02 -1.47740557e-02 1.05026100e+01] [ 6.39755484e-02 9.97951362e-01 -4.55307948e-04 2.99201404e-01] [ 1.47729175e-02 -4.90852867e-04 9.99890754e-01 1.20703766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509254153999999 meters Centerline goodness [0,1] 0.9991673783091375 Centerline is valid? [True, True] Translation: X:10.53, Y:0.30, Z:0.01 [[ 9.97833869e-01 -6.40809931e-02 -1.48726584e-02 1.05341846e+01] [ 6.40812932e-02 9.97944577e-01 -4.56868761e-04 2.99865549e-01] [ 1.48713654e-02 -4.97180062e-04 9.99889292e-01 1.19412577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539254153999998 meters Centerline goodness [0,1] 0.9990838198321047 Centerline is valid? [True, True] Translation: X:10.57, Y:0.30, Z:0.01 [[ 9.97731338e-01 -6.56051388e-02 -1.51043987e-02 1.05660052e+01] [ 6.56056494e-02 9.97845522e-01 -4.62217134e-04 3.01818428e-01] [ 1.51021804e-02 -5.29765364e-04 9.99885815e-01 1.23679941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569254154 meters Centerline goodness [0,1] 0.9993590428373037 Centerline is valid? [True, True] Translation: X:10.60, Y:0.30, Z:0.01 [[ 9.97663178e-01 -6.66736561e-02 -1.49267445e-02 1.05981745e+01] [ 6.66742906e-02 9.97774690e-01 -4.55687671e-04 3.03088440e-01] [ 1.49239102e-02 -5.40607288e-04 9.99888486e-01 1.31601496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599254153999999 meters Centerline goodness [0,1] 0.9994461368042094 Centerline is valid? [True, True] Translation: X:10.63, Y:0.30, Z:0.01 [[ 9.97587135e-01 -6.79082420e-02 -1.44353440e-02 1.06290203e+01] [ 6.79089781e-02 9.97691424e-01 -4.39733853e-04 3.02807199e-01] [ 1.44318805e-02 -5.41616628e-04 9.99895708e-01 1.35905425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629254153999998 meters Centerline goodness [0,1] 0.9991050119331742 Centerline is valid? [True, True] Translation: X:10.66, Y:0.30, Z:0.01 [[ 9.97361093e-01 -7.11488831e-02 -1.44459897e-02 1.06601899e+01] [ 7.11499699e-02 9.97465533e-01 -4.39354716e-04 3.02684306e-01] [ 1.44406364e-02 -5.89636433e-04 9.99895555e-01 1.41179028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659254154 meters Centerline goodness [0,1] 0.9994025137101765 Centerline is valid? [True, True] Translation: X:10.69, Y:0.30, Z:0.01 [[ 9.97260341e-01 -7.25418058e-02 -1.44740839e-02 1.06923948e+01] [ 7.25430536e-02 9.97365185e-01 -4.39490241e-04 3.03726338e-01] [ 1.44678288e-02 -6.11708055e-04 9.99895148e-01 1.49325552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689254153999999 meters Centerline goodness [0,1] 0.9995082633143053 Centerline is valid? [True, True] Translation: X:10.72, Y:0.30, Z:0.02 [[ 9.97027227e-01 -7.55630751e-02 -1.50642314e-02 1.07225623e+01] [ 7.55647894e-02 9.97140790e-01 -4.56181308e-04 3.03723865e-01] [ 1.50556300e-02 -6.83500285e-04 9.99886424e-01 1.52867989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719254153999998 meters Centerline goodness [0,1] 0.9993169836289514 Centerline is valid? [True, True] Translation: X:10.75, Y:0.31, Z:0.02 [[ 9.96956501e-01 -7.65654634e-02 -1.46787155e-02 1.07543683e+01] [ 7.65672302e-02 9.97064323e-01 -4.42412733e-04 3.06217717e-01] [ 1.46694971e-02 -6.82842342e-04 9.99892164e-01 1.57183386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749254153999999 meters Centerline goodness [0,1] 0.9992753623188406 Centerline is valid? [True, True] Translation: X:10.79, Y:0.30, Z:0.02 [[ 9.96909755e-01 -7.71848514e-02 -1.46095287e-02 1.07857758e+01] [ 7.71867188e-02 9.97016559e-01 -4.36836838e-04 3.03744144e-01] [ 1.45996592e-02 -6.92174675e-04 9.99893180e-01 1.60925969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779254153999998 meters Centerline goodness [0,1] 0.9990829796762705 Centerline is valid? [True, True] Translation: X:10.82, Y:0.31, Z:0.02 [[ 9.96838786e-01 -7.83263881e-02 -1.33196225e-02 1.08173697e+01] [ 7.83280813e-02 9.96927558e-01 -3.95311116e-04 3.06273142e-01] [ 1.33096621e-02 -6.49239024e-04 9.99911212e-01 1.74827634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809254153999998 meters Centerline goodness [0,1] 0.9993371961258044 Centerline is valid? [True, True] Translation: X:10.85, Y:0.31, Z:0.02 [[ 9.96804731e-01 -7.88429903e-02 -1.28106211e-02 1.08490782e+01] [ 7.88446363e-02 9.96886845e-01 -3.77296020e-04 3.08467343e-01] [ 1.28004868e-02 -6.33958304e-04 9.99917869e-01 1.85125137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839254153999999 meters Centerline goodness [0,1] 0.99927071491388 Centerline is valid? [True, True] Translation: X:10.88, Y:0.31, Z:0.02 [[ 9.96811842e-01 -7.87458222e-02 -1.28548396e-02 1.08808653e+01] [ 7.87475080e-02 9.96894522e-01 -3.75753818e-04 3.08672200e-01] [ 1.28445082e-02 -6.37730726e-04 9.99917303e-01 1.84844064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869254153999998 meters Centerline goodness [0,1] 0.9990781236600634 Centerline is valid? [True, True] Translation: X:10.91, Y:0.31, Z:0.02 [[ 9.96841440e-01 -7.83370189e-02 -1.30558681e-02 1.09134115e+01] [ 7.83387487e-02 9.96926726e-01 -3.79651257e-04 3.10717654e-01] [ 1.30454846e-02 -6.44328266e-04 9.99914696e-01 1.86843781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899254154 meters Centerline goodness [0,1] 0.9992496516239683 Centerline is valid? [True, True] Translation: X:10.94, Y:0.31, Z:0.02 [[ 9.96889370e-01 -7.76413562e-02 -1.35426324e-02 1.09447629e+01] [ 7.76431658e-02 9.96981135e-01 -3.92896413e-04 3.12348933e-01] [ 1.35322540e-02 -6.59818591e-04 9.99908217e-01 1.86868024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929254153999999 meters Centerline goodness [0,1] 0.9992506957824877 Centerline is valid? [True, True] Translation: X:10.98, Y:0.31, Z:0.02 [[ 9.96991698e-01 -7.62707676e-02 -1.37957650e-02 1.09757966e+01] [ 7.62725247e-02 9.97086928e-01 -3.99504853e-04 3.14411960e-01] [ 1.37860475e-02 -6.53934804e-04 9.99904754e-01 1.88873287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959254153999998 meters Centerline goodness [0,1] 0.9994420960024033 Centerline is valid? [True, True] Translation: X:11.01, Y:0.32, Z:0.02 [[ 9.97198746e-01 -7.34791013e-02 -1.39815215e-02 1.10067502e+01] [ 7.34806415e-02 9.97296562e-01 -4.04216584e-04 3.24226959e-01] [ 1.39734248e-02 -6.24286900e-04 9.99902172e-01 1.94367865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989254154 meters Centerline goodness [0,1] 0.9992273351648352 Centerline is valid? [True, True] Translation: X:11.04, Y:0.33, Z:0.02 [[ 9.97335068e-01 -7.15693745e-02 -1.41628645e-02 1.10376283e+01] [ 7.15707838e-02 9.97435440e-01 -4.07970246e-04 3.25250094e-01] [ 1.41557412e-02 -6.06764282e-04 9.99899618e-01 1.92665287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019254153999999 meters Centerline goodness [0,1] 0.9992043181867056 Centerline is valid? [True, True] Translation: X:11.07, Y:0.33, Z:0.02 [[ 9.97482069e-01 -6.94308333e-02 -1.44527501e-02 1.10684934e+01] [ 6.94321122e-02 9.97586593e-01 -4.13871650e-04 3.27631607e-01] [ 1.44466052e-02 -5.90655418e-04 9.99895468e-01 1.93702829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.049254153999998 meters Centerline goodness [0,1] 0.9993545472148713 Centerline is valid? [True, True] Translation: X:11.10, Y:0.33, Z:0.02 [[ 9.97762536e-01 -6.50719851e-02 -1.53479117e-02 1.11004099e+01] [ 6.50729226e-02 9.97880415e-01 -4.38832589e-04 3.33501215e-01] [ 1.53439362e-02 -5.60882756e-04 9.99882118e-01 1.92178149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079254154 meters Centerline goodness [0,1] 0.9992889769887098 Centerline is valid? [True, True] Translation: X:11.13, Y:0.34, Z:0.02 [[ 9.97890406e-01 -6.29725913e-02 -1.57857351e-02 1.11326070e+01] [ 6.29733363e-02 9.98015108e-01 -4.50370156e-04 3.39220731e-01] [ 1.57827631e-02 -5.44660348e-04 9.99875296e-01 1.96055494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.109254153999998 meters Centerline goodness [0,1] 0.9993962524527245 Centerline is valid? [True, True] Translation: X:11.16, Y:0.34, Z:0.02 [[ 9.98097069e-01 -5.90909646e-02 -1.76209615e-02 1.11632695e+01] [ 5.90913076e-02 9.98252456e-01 -5.01656366e-04 3.44047000e-01] [ 1.76198115e-02 -5.40543909e-04 9.99844613e-01 1.92428092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139254153999998 meters Centerline goodness [0,1] 0.9994596580716277 Centerline is valid? [True, True] Translation: X:11.20, Y:0.35, Z:0.02 [[ 9.98155193e-01 -5.77631277e-02 -1.86984298e-02 1.11956336e+01] [ 5.77633006e-02 9.98330165e-01 -5.31292962e-04 3.46738538e-01] [ 1.86978956e-02 -5.49770192e-04 9.99825028e-01 1.90643827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169254153999999 meters Centerline goodness [0,1] 0.9994809015010598 Centerline is valid? [True, True] Translation: X:11.23, Y:0.35, Z:0.02 [[ 9.98208015e-01 -5.66479057e-02 -1.92814392e-02 1.12277470e+01] [ 5.66479090e-02 9.98394068e-01 -5.46447759e-04 3.48853130e-01] [ 1.92814297e-02 -5.46784683e-04 9.99813946e-01 1.87317854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199254153999998 meters Centerline goodness [0,1] 0.9995229318009324 Centerline is valid? [True, True] Translation: X:11.26, Y:0.35, Z:0.02 [[ 9.98221652e-01 -5.59891556e-02 -2.04633327e-02 1.12595201e+01] [ 5.59890520e-02 9.98431215e-01 -5.78432113e-04 3.50639686e-01] [ 2.04636160e-02 -5.68319137e-04 9.99790437e-01 1.84772219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.229254153999998 meters Centerline goodness [0,1] 0.9995229318009324 Centerline is valid? [True, True] Translation: X:11.29, Y:0.35, Z:0.02 [[ 9.98227669e-01 -5.58817628e-02 -2.04633853e-02 1.12920675e+01] [ 5.58816749e-02 9.98437232e-01 -5.76567130e-04 3.51465984e-01] [ 2.04636253e-02 -5.67982980e-04 9.99790437e-01 1.87820107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259254153999999 meters Centerline goodness [0,1] 0.9996101617828601 Centerline is valid? [True, True] Translation: X:11.32, Y:0.35, Z:0.02 [[ 9.98231025e-01 -5.54260681e-02 -2.15121228e-02 1.13244134e+01] [ 5.54259115e-02 9.98462620e-01 -6.03973050e-04 3.52936554e-01] [ 2.15125263e-02 -5.89424377e-04 9.99768405e-01 1.80869052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.289254153999998 meters Centerline goodness [0,1] 0.9995448437296806 Centerline is valid? [True, True] Translation: X:11.36, Y:0.35, Z:0.02 [[ 9.98192431e-01 -5.57777514e-02 -2.23766098e-02 1.13561376e+01] [ 5.57777266e-02 9.98443015e-01 -6.25731845e-04 3.54969684e-01] [ 2.23766717e-02 -6.23515634e-04 9.99749416e-01 1.85576835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319254154 meters Centerline goodness [0,1] 0.9994582294939863 Centerline is valid? [True, True] Translation: X:11.39, Y:0.36, Z:0.02 [[ 9.98153940e-01 -5.64399492e-02 -2.24331043e-02 1.13879400e+01] [ 5.64401391e-02 9.98405789e-01 -6.25182592e-04 3.56903684e-01] [ 2.24326265e-02 -6.42099059e-04 9.99748151e-01 1.93488050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.349254153999999 meters Centerline goodness [0,1] 0.9996527250233326 Centerline is valid? [True, True] Translation: X:11.42, Y:0.36, Z:0.02 [[ 9.98064269e-01 -5.81791658e-02 -2.19749774e-02 1.14187821e+01] [ 5.81797986e-02 9.98305934e-01 -6.11073392e-04 3.57333329e-01] [ 2.19733021e-02 -6.68609239e-04 9.99758334e-01 2.00630948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379254153999998 meters Centerline goodness [0,1] 0.9995010304805293 Centerline is valid? [True, True] Translation: X:11.45, Y:0.36, Z:0.02 [[ 9.98010321e-01 -5.90102361e-02 -2.22079040e-02 1.14510009e+01] [ 5.90111195e-02 9.98257135e-01 -6.16125888e-04 3.58379319e-01] [ 2.22055564e-02 -6.95613283e-04 9.99753184e-01 2.09505333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.409254154 meters Centerline goodness [0,1] 0.9993916746328322 Centerline is valid? [True, True] Translation: X:11.48, Y:0.36, Z:0.02 [[ 9.97874544e-01 -6.13308712e-02 -2.20208853e-02 1.14827524e+01] [ 6.13323337e-02 9.98117214e-01 -6.09595738e-04 3.59053581e-01] [ 2.20168117e-02 -7.42292218e-04 9.99757325e-01 2.17358965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439254153999999 meters Centerline goodness [0,1] 0.9995436469130974 Centerline is valid? [True, True] Translation: X:11.51, Y:0.36, Z:0.02 [[ 9.97814308e-01 -6.23839294e-02 -2.17910993e-02 1.15146537e+01] [ 6.23856424e-02 9.98051937e-01 -6.01849639e-04 3.59402282e-01] [ 2.17861946e-02 -7.58917548e-04 9.99762365e-01 2.21202867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.469254153999998 meters Centerline goodness [0,1] 0.999588281182283 Centerline is valid? [True, True] Translation: X:11.55, Y:0.36, Z:0.02 [[ 9.97766318e-01 -6.32180915e-02 -2.15835087e-02 1.15466779e+01] [ 6.32200000e-02 9.97999438e-01 -5.94582704e-04 3.60039063e-01] [ 2.15779180e-02 -7.71254825e-04 9.99766872e-01 2.28038593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499254153999999 meters Centerline goodness [0,1] 0.999630274032188 Centerline is valid? [True, True] Translation: X:11.58, Y:0.36, Z:0.02 [[ 9.97654454e-01 -6.51655788e-02 -2.09532506e-02 1.15791658e+01] [ 6.51678374e-02 9.97874151e-01 -5.75729552e-04 3.62255311e-01] [ 2.09462249e-02 -7.91098875e-04 9.99780291e-01 2.47077235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.529254153999998 meters Centerline goodness [0,1] 0.9996743519604012 Centerline is valid? [True, True] Translation: X:11.61, Y:0.36, Z:0.03 [[ 9.97628836e-01 -6.57405056e-02 -2.03688621e-02 1.16111803e+01] [ 6.57427893e-02 9.97836447e-01 -5.58211295e-04 3.63047809e-01] [ 2.03614900e-02 -7.82218121e-04 9.99792377e-01 2.55253901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559254153999998 meters Centerline goodness [0,1] 0.9996750222068159 Centerline is valid? [True, True] Translation: X:11.64, Y:0.36, Z:0.03 [[ 9.97606163e-01 -6.63354650e-02 -1.95333122e-02 1.16429463e+01] [ 6.63377062e-02 9.97797085e-01 -5.33912425e-04 3.64910648e-01] [ 1.95256993e-02 -7.63160802e-04 9.99809064e-01 2.68145389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.589254153999999 meters Centerline goodness [0,1] 0.9997612950826787 Centerline is valid? [True, True] Translation: X:11.67, Y:0.36, Z:0.03 [[ 9.97515884e-01 -6.77889916e-02 -1.91497964e-02 1.16744823e+01] [ 6.77914362e-02 9.97699378e-01 -5.22217518e-04 3.63843189e-01] [ 1.91411405e-02 -7.77271931e-04 9.99816489e-01 2.69396945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619254153999998 meters Centerline goodness [0,1] 0.999630932221788 Centerline is valid? [True, True] Translation: X:11.71, Y:0.37, Z:0.03 [[ 9.97500788e-01 -6.79165645e-02 -1.94812430e-02 1.17061649e+01] [ 6.79191396e-02 9.97690688e-01 -5.30184901e-04 3.65187289e-01] [ 1.94722630e-02 -7.94289405e-04 9.99810082e-01 2.72275084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649254153999998 meters Centerline goodness [0,1] 0.9996958108812793 Centerline is valid? [True, True] Translation: X:11.74, Y:0.36, Z:0.03 [[ 9.97480606e-01 -6.82555007e-02 -1.93294321e-02 1.17377957e+01] [ 6.82581195e-02 9.97667557e-01 -5.25013334e-04 3.64951044e-01] [ 1.93201824e-02 -7.95700071e-04 9.99813031e-01 2.69653536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679254153999999 meters Centerline goodness [0,1] 0.9996306997154215 Centerline is valid? [True, True] Translation: X:11.77, Y:0.37, Z:0.03 [[ 9.97465127e-01 -6.82808060e-02 -2.00263057e-02 1.17703824e+01] [ 6.82836482e-02 9.97665800e-01 -5.42644499e-04 3.68373413e-01] [ 2.00166125e-02 -8.26200250e-04 9.99799306e-01 2.69264075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709254153999998 meters Centerline goodness [0,1] 0.9996736718444067 Centerline is valid? [True, True] Translation: X:11.80, Y:0.37, Z:0.03 [[ 9.97474431e-01 -6.79251215e-02 -2.07590350e-02 1.18036664e+01] [ 6.79281394e-02 9.97690059e-01 -5.60542883e-04 3.70415377e-01] [ 2.07491578e-02 -8.50995429e-04 9.99784351e-01 2.68825531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739254154 meters Centerline goodness [0,1] 0.9995219677545522 Centerline is valid? [True, True] Translation: X:11.84, Y:0.37, Z:0.03 [[ 9.97552102e-01 -6.67580551e-02 -2.08126356e-02 1.18353856e+01] [ 6.67608736e-02 9.97768847e-01 -5.60132712e-04 3.68807418e-01] [ 2.08035928e-02 -8.30708169e-04 9.99783237e-01 2.55146896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769254153999999 meters Centerline goodness [0,1] 0.9995639946807351 Centerline is valid? [True, True] Translation: X:11.87, Y:0.37, Z:0.03 [[ 9.97593130e-01 -6.60613721e-02 -2.10675672e-02 1.18675792e+01] [ 6.60641369e-02 9.97815218e-01 -5.65478252e-04 3.73331777e-01] [ 2.10588955e-02 -8.27693427e-04 9.99777894e-01 2.64206368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799254153999998 meters Centerline goodness [0,1] 0.9996724890829695 Centerline is valid? [True, True] Translation: X:11.90, Y:0.38, Z:0.03 [[ 9.97638790e-01 -6.52466061e-02 -2.14412108e-02 1.18999264e+01] [ 6.52493154e-02 9.97868828e-01 -5.73956760e-04 3.76813308e-01] [ 2.14329646e-02 -8.26422799e-04 9.99769946e-01 2.72101339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829254154 meters Centerline goodness [0,1] 0.9997381970503534 Centerline is valid? [True, True] Translation: X:11.93, Y:0.38, Z:0.03 [[ 9.97714671e-01 -6.41102957e-02 -2.13378666e-02 1.19315672e+01] [ 6.41127521e-02 9.97942499e-01 -5.69656744e-04 3.77805449e-01] [ 2.13304848e-02 -7.99674460e-04 9.99772160e-01 2.68970795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859254153999998 meters Centerline goodness [0,1] 0.9997149685369116 Centerline is valid? [True, True] Translation: X:11.96, Y:0.38, Z:0.03 [[ 9.97864619e-01 -6.12777300e-02 -2.26106618e-02 1.19641047e+01] [ 6.12798048e-02 9.98120445e-01 -6.01755877e-04 3.82347590e-01] [ 2.26050381e-02 -7.85106043e-04 9.99744165e-01 2.64939569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889254153999998 meters Centerline goodness [0,1] 0.999583734992551 Centerline is valid? [True, True] Translation: X:12.00, Y:0.38, Z:0.03 [[ 9.97980071e-01 -5.91871972e-02 -2.30792807e-02 1.19956553e+01] [ 5.91888424e-02 9.98246616e-01 -6.12415783e-04 3.84014595e-01] [ 2.30750610e-02 -7.54857160e-04 9.99733450e-01 2.59139684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919254153999999 meters Centerline goodness [0,1] 0.9996042912416462 Centerline is valid? [True, True] Translation: X:12.03, Y:0.39, Z:0.03 [[ 9.98202532e-01 -5.48920145e-02 -2.40535216e-02 1.20268582e+01] [ 5.48925848e-02 9.98492062e-01 -6.37063406e-04 3.91449050e-01] [ 2.40522200e-02 -6.84441667e-04 9.99710469e-01 2.64250045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949254153999998 meters Centerline goodness [0,1] 0.9995584404115335 Centerline is valid? [True, True] Translation: X:12.06, Y:0.40, Z:0.03 [[ 9.98340907e-01 -5.23614994e-02 -2.39521784e-02 1.20590686e+01] [ 5.23613702e-02 9.98628002e-01 -6.33000993e-04 3.96960213e-01] [ 2.39524609e-02 -6.22218093e-04 9.99712905e-01 2.77225240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979254153999998 meters Centerline goodness [0,1] 0.9997791665746527 Centerline is valid? [True, True] Translation: X:12.09, Y:0.40, Z:0.03 [[ 9.98593416e-01 -4.77691753e-02 -2.30064320e-02 1.20890176e+01] [ 4.77678583e-02 9.98858280e-01 -6.07112703e-04 4.02749505e-01] [ 2.30091663e-02 -4.92709233e-04 9.99735133e-01 2.88070939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009254153999999 meters Centerline goodness [0,1] 0.9997343369493026 Centerline is valid? [True, True] Translation: X:12.12, Y:0.41, Z:0.03 [[ 9.98711358e-01 -4.56364250e-02 -2.22022594e-02 1.21214356e+01] [ 4.56346954e-02 9.98958023e-01 -5.84819752e-04 4.06104338e-01] [ 2.22058142e-02 -4.29127215e-04 9.99753328e-01 2.98638982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039254153999998 meters Centerline goodness [0,1] 0.9996456256921373 Centerline is valid? [True, True] Translation: X:12.15, Y:0.41, Z:0.03 [[ 9.98830969e-01 -4.34332392e-02 -2.12190948e-02 1.21536613e+01] [ 4.34311935e-02 9.99056265e-01 -5.57453849e-04 4.09037700e-01] [ 2.12232817e-02 -3.64768447e-04 9.99774694e-01 3.08753693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069254153999998 meters Centerline goodness [0,1] 0.9997337534112845 Centerline is valid? [True, True] Translation: X:12.19, Y:0.41, Z:0.03 [[ 9.98943471e-01 -4.11016661e-02 -2.05571215e-02 1.21856519e+01] [ 4.10992818e-02 9.99154922e-01 -5.38635668e-04 4.12044973e-01] [ 2.05618879e-02 -3.06816344e-04 9.99788535e-01 3.17384772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099254153999999 meters Centerline goodness [0,1] 0.9996668961382159 Centerline is valid? [True, True] Translation: X:12.22, Y:0.42, Z:0.03 [[ 9.99104752e-01 -3.72477704e-02 -2.00573835e-02 1.22165860e+01] [ 3.72447483e-02 9.99306036e-01 -5.24336969e-04 4.16420652e-01] [ 2.00629948e-02 -2.23164643e-04 9.99798693e-01 3.20897701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129254153999998 meters Centerline goodness [0,1] 0.9997998621272433 Centerline is valid? [True, True] Translation: X:12.25, Y:0.42, Z:0.03 [[ 9.99159613e-01 -3.55892584e-02 -2.03340066e-02 1.22486367e+01] [ 3.55858354e-02 9.99366483e-01 -5.30266498e-04 4.19831110e-01] [ 2.03399964e-02 -1.93781742e-04 9.99793102e-01 3.38573050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159254154 meters Centerline goodness [0,1] 0.9996885012459951 Centerline is valid? [True, True] Translation: X:12.28, Y:0.42, Z:0.03 [[ 9.99213856e-01 -3.39834780e-02 -2.04155099e-02 1.22803457e+01] [ 3.39797228e-02 9.99422381e-01 -5.30901158e-04 4.22799212e-01] [ 2.04217594e-02 -1.63229574e-04 9.99791441e-01 3.40259308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.189254153999999 meters Centerline goodness [0,1] 0.9997775652289966 Centerline is valid? [True, True] Translation: X:12.31, Y:0.42, Z:0.03 [[ 9.99207122e-01 -3.41515312e-02 -2.04646235e-02 1.23124458e+01] [ 3.41478237e-02 9.99416652e-01 -5.30689270e-04 4.23928591e-01] [ 2.04708094e-02 -1.68553859e-04 9.99790437e-01 3.44226197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219254153999998 meters Centerline goodness [0,1] 0.999844267948119 Centerline is valid? [True, True] Translation: X:12.34, Y:0.42, Z:0.03 [[ 9.99163334e-01 -3.53443625e-02 -2.05768934e-02 1.23440089e+01] [ 3.53409067e-02 9.99375174e-01 -5.31677388e-04 4.22713837e-01] [ 2.05828282e-02 -1.95973520e-04 9.99788132e-01 3.38734094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249254153999999 meters Centerline goodness [0,1] 0.9997777185027118 Centerline is valid? [True, True] Translation: X:12.38, Y:0.42, Z:0.03 [[ 9.99100533e-01 -3.72944762e-02 -2.01803844e-02 1.23763037e+01] [ 3.72915862e-02 9.99304292e-01 -5.19639222e-04 4.21433542e-01] [ 2.01857244e-02 -2.33386720e-04 9.99796220e-01 3.44508442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279254153999998 meters Centerline goodness [0,1] 0.9997567179033506 Centerline is valid? [True, True] Translation: X:12.41, Y:0.42, Z:0.03 [[ 9.98924148e-01 -4.15362592e-02 -2.06224402e-02 1.24081794e+01] [ 4.15341715e-02 9.99136944e-01 -5.29724029e-04 4.17786538e-01] [ 2.06266446e-02 -3.27381842e-04 9.99787195e-01 3.41804255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309254153999998 meters Centerline goodness [0,1] 0.9998006909380813 Centerline is valid? [True, True] Translation: X:12.44, Y:0.42, Z:0.03 [[ 9.98847803e-01 -4.32741385e-02 -2.07464466e-02 1.24391966e+01] [ 4.32724235e-02 9.99063168e-01 -5.31788435e-04 4.15907789e-01] [ 2.07500234e-02 -3.66573314e-04 9.99784628e-01 3.38665229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339254153999999 meters Centerline goodness [0,1] 0.9997353038491232 Centerline is valid? [True, True] Translation: X:12.47, Y:0.41, Z:0.03 [[ 9.98681255e-01 -4.69655751e-02 -2.07360741e-02 1.24706237e+01] [ 4.69646907e-02 9.98896410e-01 -5.29900056e-04 4.12304538e-01] [ 2.07380771e-02 -4.44662055e-04 9.99784844e-01 3.38449140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369254153999998 meters Centerline goodness [0,1] 0.9997130179474161 Centerline is valid? [True, True] Translation: X:12.50, Y:0.41, Z:0.03 [[ 9.98610904e-01 -4.86282424e-02 -2.02868784e-02 1.25031277e+01] [ 4.86277728e-02 9.98816836e-01 -5.16742698e-04 4.12414357e-01] [ 2.02880040e-02 -4.70480821e-04 9.99794067e-01 3.48227630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399254153999998 meters Centerline goodness [0,1] 0.9996910719802286 Centerline is valid? [True, True] Translation: X:12.54, Y:0.41, Z:0.04 [[ 9.98469634e-01 -5.16651022e-02 -1.97257851e-02 1.25351376e+01] [ 5.16652778e-02 9.98664332e-01 -5.01058461e-04 4.10024254e-01] [ 1.97253253e-02 -5.18846510e-04 9.99805302e-01 3.54776862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.429254153999999 meters Centerline goodness [0,1] 0.9996035940803383 Centerline is valid? [True, True] Translation: X:12.57, Y:0.41, Z:0.04 [[ 9.98406669e-01 -5.29444322e-02 -1.95194756e-02 1.25669803e+01] [ 5.29448756e-02 9.98597314e-01 -4.94423742e-04 4.08937411e-01] [ 1.95182728e-02 -5.39820243e-04 9.99809355e-01 3.57583844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459254153999998 meters Centerline goodness [0,1] 0.9997140594756291 Centerline is valid? [True, True] Translation: X:12.60, Y:0.41, Z:0.04 [[ 9.98365076e-01 -5.38059929e-02 -1.92896220e-02 1.25993007e+01] [ 5.38066133e-02 9.98551256e-01 -4.87215678e-04 4.09123879e-01] [ 1.92878914e-02 -5.51490114e-04 9.99813819e-01 3.67404487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.489254153999997 meters Centerline goodness [0,1] 0.9996480732007742 Centerline is valid? [True, True] Translation: X:12.63, Y:0.41, Z:0.04 [[ 9.98348635e-01 -5.42977398e-02 -1.87552082e-02 1.26312191e+01] [ 5.42984383e-02 9.98524640e-01 -4.72366367e-04 4.08689490e-01] [ 1.87531860e-02 -5.46792199e-04 9.99823994e-01 3.75572781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519254153999999 meters Centerline goodness [0,1] 0.9995828118481435 Centerline is valid? [True, True] Translation: X:12.66, Y:0.41, Z:0.04 [[ 9.98376961e-01 -5.40204287e-02 -1.80343146e-02 1.26624235e+01] [ 5.40210497e-02 9.98539694e-01 -4.53075593e-04 4.08446798e-01] [ 1.80324544e-02 -5.21892374e-04 9.99837266e-01 3.83999969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.549254153999998 meters Centerline goodness [0,1] 0.9997373662209188 Centerline is valid? [True, True] Translation: X:12.69, Y:0.41, Z:0.04 [[ 9.98417925e-01 -5.34189407e-02 -1.75517418e-02 1.26949377e+01] [ 5.34194554e-02 9.98572065e-01 -4.39851161e-04 4.10947369e-01] [ 1.75501754e-02 -4.98449205e-04 9.99845860e-01 3.95916564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579254154 meters Centerline goodness [0,1] 0.9996477943118781 Centerline is valid? [True, True] Translation: X:12.73, Y:0.41, Z:0.04 [[ 9.98561420e-01 -5.06821201e-02 -1.75046844e-02 1.27270213e+01] [ 5.06822341e-02 9.98714734e-01 -4.37392243e-04 4.13093689e-01] [ 1.75043542e-02 -4.50413493e-04 9.99846686e-01 4.09135375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.609254153999998 meters Centerline goodness [0,1] 0.9997143924248083 Centerline is valid? [True, True] Translation: X:12.76, Y:0.42, Z:0.04 [[ 9.98666206e-01 -4.85871936e-02 -1.74669483e-02 1.27591444e+01] [ 4.85870093e-02 9.98818859e-01 -4.35169290e-04 4.15782297e-01] [ 1.74674610e-02 -4.14077916e-04 9.99847347e-01 4.12333354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639254153999998 meters Centerline goodness [0,1] 0.9996256990620459 Centerline is valid? [True, True] Translation: X:12.79, Y:0.42, Z:0.04 [[ 9.98933033e-01 -4.24689494e-02 -1.81434312e-02 1.27897512e+01] [ 4.24677605e-02 9.99097736e-01 -4.50980652e-04 4.19212390e-01] [ 1.81462137e-02 -3.20011420e-04 9.99835293e-01 4.10070628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.669254153999999 meters Centerline goodness [0,1] 0.9996698071673857 Centerline is valid? [True, True] Translation: X:12.82, Y:0.42, Z:0.04 [[ 9.99080958e-01 -3.87144674e-02 -1.83964599e-02 1.28205054e+01] [ 3.87126242e-02 9.99250281e-01 -4.56430093e-04 4.21927313e-01] [ 1.84003382e-02 -2.56164624e-04 9.99830667e-01 4.10526611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699254153999998 meters Centerline goodness [0,1] 0.9995806942819941 Centerline is valid? [True, True] Translation: X:12.85, Y:0.43, Z:0.04 [[ 9.99233613e-01 -3.45272312e-02 -1.84406394e-02 1.28525550e+01] [ 3.45246880e-02 9.99403741e-01 -4.56348574e-04 4.25861971e-01] [ 1.84454004e-02 -1.80658486e-04 9.99829853e-01 4.18104827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.729254153999998 meters Centerline goodness [0,1] 0.9997352396081546 Centerline is valid? [True, True] Translation: X:12.88, Y:0.43, Z:0.04 [[ 9.99384146e-01 -2.97843597e-02 -1.85531679e-02 1.28837297e+01] [ 2.97809903e-02 9.99556343e-01 -4.57936123e-04 4.29365233e-01] [ 1.85585760e-02 -9.48776125e-05 9.99827770e-01 4.20367525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759254153999999 meters Centerline goodness [0,1] 0.999867197875166 Centerline is valid? [True, True] Translation: X:12.91, Y:0.44, Z:0.04 [[ 9.99626331e-01 -2.02008450e-02 -1.84153011e-02 1.29141312e+01] [ 2.01959114e-02 9.99795939e-01 -4.53862042e-04 4.36573100e-01] [ 1.84207116e-02 8.17786600e-05 9.99830321e-01 4.32740292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.789254153999998 meters Centerline goodness [0,1] 0.9997127516185341 Centerline is valid? [True, True] Translation: X:12.94, Y:0.44, Z:0.04 [[ 9.99714100e-01 -1.55181313e-02 -1.81907934e-02 1.29435207e+01] [ 1.55125394e-02 9.99879573e-01 -4.48473326e-04 4.40369379e-01] [ 1.81955622e-02 1.66159709e-04 9.99834433e-01 4.38985038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819254153999998 meters Centerline goodness [0,1] 0.9997127960410039 Centerline is valid? [True, True] Translation: X:12.97, Y:0.44, Z:0.04 [[ 9.99774240e-01 -1.14953054e-02 -1.78697452e-02 1.29718169e+01] [ 1.14892237e-02 9.99933899e-01 -4.42964006e-04 4.43643396e-01] [ 1.78736560e-02 2.37554502e-04 9.99840225e-01 4.44930437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.849254153999999 meters Centerline goodness [0,1] 0.9998456143446329 Centerline is valid? [True, True] Translation: X:13.00, Y:0.45, Z:0.05 [[ 9.99834507e-01 -4.75836133e-03 -1.75589300e-02 1.30012340e+01] [ 4.75140613e-03 9.99988616e-01 -4.37803094e-04 4.47305759e-01] [ 1.75608134e-02 3.54301033e-04 9.99845734e-01 4.51485699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879254153999998 meters Centerline goodness [0,1] 0.9997345074006062 Centerline is valid? [True, True] Translation: X:13.03, Y:0.45, Z:0.05 [[ 9.99844629e-01 -3.04460219e-03 -1.73622603e-02 1.30299569e+01] [ 3.03750350e-03 9.99995292e-01 -4.35214004e-04 4.48328269e-01] [ 1.73635036e-02 3.82408458e-04 9.99849170e-01 4.53265032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.909254153999997 meters Centerline goodness [0,1] 0.9997791324321936 Centerline is valid? [True, True] Translation: X:13.06, Y:0.45, Z:0.04 [[ 9.99840378e-01 -2.22194802e-03 -1.77279637e-02 1.30590675e+01] [ 2.21433910e-03 9.99997448e-01 -4.48822588e-04 4.48079101e-01] [ 1.77289157e-02 4.09495223e-04 9.99842747e-01 4.46351000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939254153999999 meters Centerline goodness [0,1] 0.9998459540943201 Centerline is valid? [True, True] Translation: X:13.09, Y:0.45, Z:0.04 [[ 9.99829355e-01 -2.79001307e-03 -1.82613606e-02 1.30874699e+01] [ 2.78197895e-03 9.99996022e-01 -4.65340484e-04 4.46888416e-01] [ 1.82625863e-02 4.14458355e-04 9.99833139e-01 4.46702621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.969254153999998 meters Centerline goodness [0,1] 0.9998679867986798 Centerline is valid? [True, True] Translation: X:13.12, Y:0.44, Z:0.04 [[ 9.99812450e-01 -6.99665337e-03 -1.80585833e-02 1.31155817e+01] [ 6.98945684e-03 9.99975467e-01 -4.61595476e-04 4.43973347e-01] [ 1.80613699e-02 3.35289215e-04 9.99836824e-01 4.41513460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999254153999999 meters Centerline goodness [0,1] 0.9997138013781565 Centerline is valid? [True, True] Translation: X:13.14, Y:0.44, Z:0.05 [[ 9.99790751e-01 -1.01279629e-02 -1.77729918e-02 1.31445247e+01] [ 1.01214614e-02 9.99948673e-01 -4.55723835e-04 4.40090920e-01] [ 1.77766951e-02 2.75739825e-04 9.99841944e-01 4.56452152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.029254153999998 meters Centerline goodness [0,1] 0.9998463126001712 Centerline is valid? [True, True] Translation: X:13.17, Y:0.44, Z:0.05 [[ 9.99759742e-01 -1.37554439e-02 -1.70659447e-02 1.31726817e+01] [ 1.37499546e-02 9.99905369e-01 -4.38955039e-04 4.38959188e-01] [ 1.70703678e-02 2.04193612e-04 9.99854270e-01 4.53527729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059254153999998 meters Centerline goodness [0,1] 0.9998022456109512 Centerline is valid? [True, True] Translation: X:13.20, Y:0.44, Z:0.05 [[ 9.99695887e-01 -1.79745820e-02 -1.68833712e-02 1.32017768e+01] [ 1.79697875e-02 9.99838435e-01 -4.35649072e-04 4.35285902e-01] [ 1.68884741e-02 1.32125991e-04 9.99857371e-01 4.65417737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.089254153999999 meters Centerline goodness [0,1] 0.999605617755965 Centerline is valid? [True, True] Translation: X:13.23, Y:0.43, Z:0.05 [[ 9.99506345e-01 -2.71762871e-02 -1.57643986e-02 1.32307963e+01] [ 2.71732384e-02 9.99630656e-01 -4.07599786e-04 4.28078679e-01] [ 1.57696532e-02 -2.09711885e-05 9.99875651e-01 4.66509560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119254153999998 meters Centerline goodness [0,1] 0.999605617755965 Centerline is valid? [True, True] Translation: X:13.26, Y:0.43, Z:0.05 [[ 9.99508291e-01 -2.71046255e-02 -1.57644033e-02 1.32624846e+01] [ 2.71015708e-02 9.99632602e-01 -4.07415216e-04 4.28838605e-01] [ 1.57696544e-02 -2.00252077e-05 9.99875651e-01 4.69480241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.149254153999998 meters Centerline goodness [0,1] 0.9997814207650273 Centerline is valid? [True, True] Translation: X:13.29, Y:0.42, Z:0.05 [[ 9.99378568e-01 -3.16667723e-02 -1.54820383e-02 1.32949635e+01] [ 3.16643905e-02 9.99498478e-01 -3.99012107e-04 4.24995230e-01] [ 1.54869091e-02 -9.14651577e-05 9.99880066e-01 4.73418732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179254153999999 meters Centerline goodness [0,1] 0.9995861287792978 Centerline is valid? [True, True] Translation: X:13.33, Y:0.42, Z:0.05 [[ 9.99224096e-01 -3.64263046e-02 -1.49776593e-02 1.33265858e+01] [ 3.64246285e-02 9.99336329e-01 -3.84773802e-04 4.20570314e-01] [ 1.49817349e-02 -1.61080422e-04 9.99887755e-01 4.70163426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.209254153999998 meters Centerline goodness [0,1] 0.9996083465697687 Centerline is valid? [True, True] Translation: X:13.36, Y:0.41, Z:0.05 [[ 9.98859363e-01 -4.56940909e-02 -1.38572437e-02 1.33581086e+01] [ 4.56935621e-02 9.98955441e-01 -3.54932841e-04 4.13542442e-01] [ 1.38589873e-02 -2.78658833e-04 9.99903921e-01 4.75546268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239254153999997 meters Centerline goodness [0,1] 0.9995434087795969 Centerline is valid? [True, True] Translation: X:13.39, Y:0.41, Z:0.05 [[ 9.98653750e-01 -5.00644041e-02 -1.35735828e-02 1.33899743e+01] [ 5.00643078e-02 9.98745936e-01 -3.47099911e-04 4.10371547e-01] [ 1.35739380e-02 -3.32919401e-04 9.99907814e-01 4.76636739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.269254153999999 meters Centerline goodness [0,1] 0.999610499210179 Centerline is valid? [True, True] Translation: X:13.42, Y:0.40, Z:0.05 [[ 9.98268712e-01 -5.72252792e-02 -1.35958129e-02 1.34204515e+01] [ 5.72258539e-02 9.98361198e-01 -3.47073491e-04 4.03777475e-01] [ 1.35933935e-02 -4.31559398e-04 9.99907512e-01 4.74435390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299254153999998 meters Centerline goodness [0,1] 0.9995024983236357 Centerline is valid? [True, True] Translation: X:13.45, Y:0.40, Z:0.05 [[ 9.98119804e-01 -5.96575118e-02 -1.40655242e-02 1.34524925e+01] [ 5.96583754e-02 9.98218788e-01 -3.58546245e-04 4.02289895e-01] [ 1.40618606e-02 -4.81254218e-04 9.99901011e-01 4.77380653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.329254153999997 meters Centerline goodness [0,1] 0.9994816526640893 Centerline is valid? [True, True] Translation: X:13.48, Y:0.40, Z:0.05 [[ 9.98008972e-01 -6.14620357e-02 -1.41601579e-02 1.34837871e+01] [ 6.14631059e-02 9.98109291e-01 -3.60012423e-04 4.00074256e-01] [ 1.41555123e-02 -5.11031659e-04 9.99899675e-01 4.77530413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359254153999998 meters Centerline goodness [0,1] 0.9995251149437693 Centerline is valid? [True, True] Translation: X:13.52, Y:0.40, Z:0.05 [[ 9.97938675e-01 -6.25381219e-02 -1.44008589e-02 1.35159182e+01] [ 6.25393533e-02 9.98042432e-01 -3.65253574e-04 4.00187362e-01] [ 1.43955105e-02 -5.36119733e-04 9.99896236e-01 4.78517215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.389254153999998 meters Centerline goodness [0,1] 0.999459377635534 Centerline is valid? [True, True] Translation: X:13.55, Y:0.40, Z:0.05 [[ 9.97886956e-01 -6.34144100e-02 -1.41504924e-02 1.35481233e+01] [ 6.34157011e-02 9.97987135e-01 -3.57895835e-04 4.00283410e-01] [ 1.41447051e-02 -5.40223809e-04 9.99899813e-01 4.83650261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419254153999999 meters Centerline goodness [0,1] 0.9993941885371816 Centerline is valid? [True, True] Translation: X:13.58, Y:0.40, Z:0.05 [[ 9.97897195e-01 -6.32730604e-02 -1.40608836e-02 1.35815461e+01] [ 6.32743378e-02 9.97996108e-01 -3.54448362e-04 4.00976883e-01] [ 1.40551341e-02 -5.35990071e-04 9.99901078e-01 4.89775864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.449254153999998 meters Centerline goodness [0,1] 0.9996754230319816 Centerline is valid? [True, True] Translation: X:13.61, Y:0.40, Z:0.05 [[ 9.97913346e-01 -6.29385398e-02 -1.44116229e-02 1.36138795e+01] [ 6.29398671e-02 9.98017255e-01 -3.61889822e-04 4.01958066e-01] [ 1.44058251e-02 -5.45930943e-04 9.99896082e-01 4.89151187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479254153999998 meters Centerline goodness [0,1] 0.9996322097702393 Centerline is valid? [True, True] Translation: X:13.65, Y:0.40, Z:0.05 [[ 9.97937655e-01 -6.23620095e-02 -1.52124109e-02 1.36459471e+01] [ 6.23634386e-02 9.98053434e-01 -3.80872346e-04 4.02670425e-01] [ 1.52065509e-02 -5.68611400e-04 9.99884212e-01 4.81707540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.509254153999999 meters Centerline goodness [0,1] 0.9996105497739025 Centerline is valid? [True, True] Translation: X:13.68, Y:0.41, Z:0.05 [[ 9.97979255e-01 -6.11474705e-02 -1.72740500e-02 1.36780853e+01] [ 6.11491548e-02 9.98128546e-01 -4.31157979e-04 4.05935633e-01] [ 1.72680867e-02 -6.26006840e-04 9.99850700e-01 4.68586473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539254153999998 meters Centerline goodness [0,1] 0.9996752684447523 Centerline is valid? [True, True] Translation: X:13.71, Y:0.41, Z:0.05 [[ 9.98012487e-01 -6.02799973e-02 -1.83684118e-02 1.37102607e+01] [ 6.02817804e-02 9.98181295e-01 -4.57100284e-04 4.07865904e-01] [ 1.83625591e-02 -6.51088778e-04 9.99831182e-01 4.64224839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569254153999998 meters Centerline goodness [0,1] 0.9995667432086998 Centerline is valid? [True, True] Translation: X:13.74, Y:0.41, Z:0.05 [[ 9.98057597e-01 -5.92446354e-02 -1.92641027e-02 1.37421019e+01] [ 5.92464318e-02 9.98243273e-01 -4.77958499e-04 4.10291893e-01] [ 1.92585774e-02 -6.64299235e-04 9.99814316e-01 4.58400451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599254153999999 meters Centerline goodness [0,1] 0.9996744438415627 Centerline is valid? [True, True] Translation: X:13.77, Y:0.41, Z:0.05 [[ 9.98163013e-01 -5.69042634e-02 -2.07967437e-02 1.37734059e+01] [ 5.69058779e-02 9.98379415e-01 -5.14630420e-04 4.13867043e-01] [ 2.07923255e-02 -6.69771908e-04 9.99783592e-01 4.53086749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.629254153999998 meters Centerline goodness [0,1] 0.9996736860424643 Centerline is valid? [True, True] Translation: X:13.81, Y:0.42, Z:0.05 [[ 9.98216982e-01 -5.58038673e-02 -2.11845289e-02 1.38056812e+01] [ 5.58053240e-02 9.98441532e-01 -5.22864173e-04 4.15964826e-01] [ 2.11806913e-02 -6.60277601e-04 9.99775446e-01 4.56983192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659254153999997 meters Centerline goodness [0,1] 0.9997606510292005 Centerline is valid? [True, True] Translation: X:13.84, Y:0.42, Z:0.05 [[ 9.98280785e-01 -5.47687387e-02 -2.08772483e-02 1.38383431e+01] [ 5.47699625e-02 9.98498867e-01 -5.13592503e-04 4.18499347e-01] [ 2.08740376e-02 -6.30736581e-04 9.99781915e-01 4.65483474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689254153999999 meters Centerline goodness [0,1] 0.9996076636369581 Centerline is valid? [True, True] Translation: X:13.87, Y:0.42, Z:0.05 [[ 9.98436637e-01 -5.21375830e-02 -2.01483053e-02 1.38710301e+01] [ 5.21382229e-02 9.98639756e-01 -4.93898798e-04 4.22851598e-01] [ 2.01466494e-02 -5.57370178e-04 9.99796880e-01 4.82296815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719254153999998 meters Centerline goodness [0,1] 0.9995428720694834 Centerline is valid? [True, True] Translation: X:13.90, Y:0.42, Z:0.05 [[ 9.98503006e-01 -5.09979017e-02 -1.97727134e-02 1.39018751e+01] [ 5.09983393e-02 9.98698622e-01 -4.82433819e-04 4.24759441e-01] [ 1.97715847e-02 -5.26663926e-04 9.99804384e-01 4.89202929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.749254153999997 meters Centerline goodness [0,1] 0.9994324383322418 Centerline is valid? [True, True] Translation: X:13.93, Y:0.43, Z:0.05 [[ 9.98573976e-01 -4.96943406e-02 -1.95060638e-02 1.39344017e+01] [ 4.96945569e-02 9.98764350e-01 -4.73930057e-04 4.27607680e-01] [ 1.95055128e-02 -4.96090979e-04 9.99809626e-01 4.97653006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779254153999998 meters Centerline goodness [0,1] 0.9996942497106291 Centerline is valid? [True, True] Translation: X:13.97, Y:0.43, Z:0.05 [[ 9.98690316e-01 -4.72111060e-02 -1.97170967e-02 1.39662844e+01] [ 4.72108714e-02 9.98884831e-01 -4.77633191e-04 4.33013232e-01] [ 1.97176584e-02 -4.53853673e-04 9.99805485e-01 5.10232072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809254153999998 meters Centerline goodness [0,1] 0.9995406824146982 Centerline is valid? [True, True] Translation: X:14.00, Y:0.43, Z:0.05 [[ 9.98761345e-01 -4.60256911e-02 -1.89053267e-02 1.39971599e+01] [ 4.60252854e-02 9.98940171e-01 -4.56793960e-04 4.34177347e-01] [ 1.89063145e-02 -4.13894904e-04 9.99821174e-01 5.07885113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839254153999999 meters Centerline goodness [0,1] 0.9996281389447895 Centerline is valid? [True, True] Translation: X:14.03, Y:0.44, Z:0.05 [[ 9.98899219e-01 -4.29563566e-02 -1.88441414e-02 1.40295658e+01] [ 4.29554301e-02 9.99076886e-01 -4.54117472e-04 4.38476477e-01] [ 1.88462533e-02 -3.55840609e-04 9.99822330e-01 5.14304393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.869254153999998 meters Centerline goodness [0,1] 0.9997150684931507 Centerline is valid? [True, True] Translation: X:14.06, Y:0.44, Z:0.05 [[ 9.98964624e-01 -4.14070988e-02 -1.88449486e-02 1.40612898e+01] [ 4.14059226e-02 9.99142304e-01 -4.52760678e-04 4.40787194e-01] [ 1.88475329e-02 -3.28000582e-04 9.99822316e-01 5.19945593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899254153999998 meters Centerline goodness [0,1] 0.9997811576758945 Centerline is valid? [True, True] Translation: X:14.09, Y:0.44, Z:0.05 [[ 9.99025446e-01 -3.99391976e-02 -1.87888068e-02 1.40934316e+01] [ 3.99377946e-02 9.99202067e-01 -4.50043414e-04 4.42539106e-01] [ 1.87917890e-02 -3.00778686e-04 9.99823374e-01 5.23190637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.929254153999999 meters Centerline goodness [0,1] 0.9995836437743788 Centerline is valid? [True, True] Translation: X:14.12, Y:0.45, Z:0.05 [[ 9.99138698e-01 -3.72779224e-02 -1.82268610e-02 1.41246786e+01] [ 3.72761801e-02 9.99304907e-01 -4.35442935e-04 4.45117971e-01] [ 1.82304241e-02 -2.44359867e-04 9.99833782e-01 5.26724155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959254153999998 meters Centerline goodness [0,1] 0.9997368363341301 Centerline is valid? [True, True] Translation: X:14.16, Y:0.45, Z:0.05 [[ 9.99184203e-01 -3.61123939e-02 -1.80782437e-02 1.41568118e+01] [ 3.61105096e-02 9.99347710e-01 -4.30759563e-04 4.47070517e-01] [ 1.80820072e-02 -2.22406441e-04 9.99836482e-01 5.35200381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989254153999997 meters Centerline goodness [0,1] 0.9996490920256162 Centerline is valid? [True, True] Translation: X:14.19, Y:0.45, Z:0.05 [[ 9.99256942e-01 -3.43448502e-02 -1.74927026e-02 1.41888599e+01] [ 3.43428370e-02 9.99410024e-01 -4.15563179e-04 4.48762636e-01] [ 1.74966548e-02 -1.85494643e-04 9.99846905e-01 5.41176795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019254153999999 meters Centerline goodness [0,1] 0.9998462856013527 Centerline is valid? [True, True] Translation: X:14.22, Y:0.45, Z:0.05 [[ 9.99285530e-01 -3.37460229e-02 -1.70186860e-02 1.42198935e+01] [ 3.37440487e-02 9.99430426e-01 -4.03227641e-04 4.49654955e-01] [ 1.70226000e-02 -1.71339823e-04 9.99855090e-01 5.43149136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.049254153999998 meters Centerline goodness [0,1] 0.9997806825160102 Centerline is valid? [True, True] Translation: X:14.25, Y:0.45, Z:0.05 [[ 9.99318146e-01 -3.29875318e-02 -1.65851123e-02 1.42515946e+01] [ 3.29855692e-02 9.99455751e-01 -3.91946684e-04 4.50226962e-01] [ 1.65890152e-02 -1.55389938e-04 9.99862381e-01 5.44225890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079254153999997 meters Centerline goodness [0,1] 0.9996710814840803 Centerline is valid? [True, True] Translation: X:14.28, Y:0.45, Z:0.05 [[ 9.99338648e-01 -3.23338143e-02 -1.66370270e-02 1.42841400e+01] [ 3.23317686e-02 9.99477115e-01 -3.91984485e-04 4.50620637e-01] [ 1.66410021e-02 -1.46179261e-04 9.99861518e-01 5.38161729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.109254153999998 meters Centerline goodness [0,1] 0.9997583639039607 Centerline is valid? [True, True] Translation: X:14.32, Y:0.45, Z:0.05 [[ 9.99356663e-01 -3.20239937e-02 -1.61469242e-02 1.43163350e+01] [ 3.20220447e-02 9.99487091e-01 -3.79304924e-04 4.50848549e-01] [ 1.61507891e-02 -1.37996625e-04 9.99869558e-01 5.35201508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139254153999998 meters Centerline goodness [0,1] 0.9997151059586684 Centerline is valid? [True, True] Translation: X:14.35, Y:0.45, Z:0.05 [[ 9.99350706e-01 -3.20890359e-02 -1.63847290e-02 1.43475828e+01] [ 3.20870550e-02 9.99485004e-01 -3.83840465e-04 4.50889435e-01] [ 1.63886080e-02 -1.42146460e-04 9.99865688e-01 5.32595642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169254153999997 meters Centerline goodness [0,1] 0.9996051072791892 Centerline is valid? [True, True] Translation: X:14.38, Y:0.45, Z:0.05 [[ 9.99310228e-01 -3.30213010e-02 -1.69900725e-02 1.43802856e+01] [ 3.30193236e-02 9.99454635e-01 -3.96968118e-04 4.50157831e-01] [ 1.69939151e-02 -1.64306401e-04 9.99855579e-01 5.25921978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199254153999998 meters Centerline goodness [0,1] 0.9996271929824562 Centerline is valid? [True, True] Translation: X:14.41, Y:0.45, Z:0.05 [[ 9.99281715e-01 -3.38236898e-02 -1.70883557e-02 1.44122882e+01] [ 3.38218278e-02 9.99427799e-01 -3.98040160e-04 4.50534393e-01] [ 1.70920409e-02 -1.80205168e-04 9.99853904e-01 5.26506125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229254153999998 meters Centerline goodness [0,1] 0.9997148497477517 Centerline is valid? [True, True] Translation: X:14.44, Y:0.45, Z:0.05 [[ 9.99249726e-01 -3.47841412e-02 -1.70308102e-02 1.44448087e+01] [ 3.47824521e-02 9.99394829e-01 -3.95462506e-04 4.50332574e-01] [ 1.70342595e-02 -1.97207541e-04 9.99854887e-01 5.28385847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259254153999999 meters Centerline goodness [0,1] 0.999540300337113 Centerline is valid? [True, True] Translation: X:14.48, Y:0.45, Z:0.05 [[ 9.99172574e-01 -3.68839190e-02 -1.71389490e-02 1.44762112e+01] [ 3.68825438e-02 9.99319529e-01 -3.96424775e-04 4.48141410e-01] [ 1.71419081e-02 -2.36031273e-04 9.99853039e-01 5.27174910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289254153999998 meters Centerline goodness [0,1] 0.9996495224743713 Centerline is valid? [True, True] Translation: X:14.51, Y:0.45, Z:0.05 [[ 9.99137427e-01 -3.79985284e-02 -1.67485624e-02 1.45085236e+01] [ 3.79973977e-02 9.99277764e-01 -3.85846049e-04 4.47743697e-01] [ 1.67511275e-02 -2.50888557e-04 9.99859659e-01 5.33275568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319254153999998 meters Centerline goodness [0,1] 0.9994977836976221 Centerline is valid? [True, True] Translation: X:14.54, Y:0.45, Z:0.05 [[ 9.99068403e-01 -4.00414540e-02 -1.60937419e-02 1.45408169e+01] [ 4.00406932e-02 9.99197982e-01 -3.69622952e-04 4.45436973e-01] [ 1.60956346e-02 -2.75125969e-04 9.99870419e-01 5.38510336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349254153999999 meters Centerline goodness [0,1] 0.9994988451649454 Centerline is valid? [True, True] Translation: X:14.57, Y:0.44, Z:0.05 [[ 9.99044052e-01 -4.08157151e-02 -1.56544063e-02 1.45728664e+01] [ 4.08151076e-02 9.99166652e-01 -3.58426516e-04 4.44701023e-01] [ 1.56559902e-02 -2.80852399e-04 9.99877398e-01 5.40994587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379254153999998 meters Centerline goodness [0,1] 0.999563833035286 Centerline is valid? [True, True] Translation: X:14.61, Y:0.44, Z:0.05 [[ 9.99038936e-01 -4.11515183e-02 -1.50915968e-02 1.46059404e+01] [ 4.11510111e-02 9.99152879e-01 -3.44275747e-04 4.44381272e-01] [ 1.50929798e-02 -2.77089589e-04 9.99886056e-01 5.46076948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409254153999997 meters Centerline goodness [0,1] 0.9994767593965291 Centerline is valid? [True, True] Translation: X:14.64, Y:0.44, Z:0.06 [[ 9.99030542e-01 -4.16204019e-02 -1.43428640e-02 1.46377584e+01] [ 4.16200111e-02 9.99133459e-01 -3.25866979e-04 4.44033037e-01] [ 1.43439980e-02 -2.71399092e-04 9.99897083e-01 5.55399569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439254153999999 meters Centerline goodness [0,1] 0.9995199127114021 Centerline is valid? [True, True] Translation: X:14.67, Y:0.44, Z:0.06 [[ 9.99045489e-01 -4.15194919e-02 -1.35736374e-02 1.46708105e+01] [ 4.15191478e-02 9.99137661e-01 -3.07270342e-04 4.43524645e-01] [ 1.35746901e-02 -2.56588809e-04 9.99907827e-01 5.57077004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469254153999998 meters Centerline goodness [0,1] 0.9995213853717966 Centerline is valid? [True, True] Translation: X:14.70, Y:0.44, Z:0.06 [[ 9.99087519e-01 -4.08222845e-02 -1.25567075e-02 1.47028628e+01] [ 4.08219499e-02 9.99166397e-01 -2.83055979e-04 4.42177913e-01] [ 1.25577952e-02 -2.29791591e-04 9.99921121e-01 5.56906173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499254153999997 meters Centerline goodness [0,1] 0.9993261016064868 Centerline is valid? [True, True] Translation: X:14.74, Y:0.44, Z:0.06 [[ 9.99108579e-01 -4.03517777e-02 -1.24008628e-02 1.47350965e+01] [ 4.03514263e-02 9.99185511e-01 -2.78642191e-04 4.42380722e-01] [ 1.24020061e-02 -2.21998698e-04 9.99923068e-01 5.62413433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529254153999998 meters Centerline goodness [0,1] 0.9996738634139978 Centerline is valid? [True, True] Translation: X:14.77, Y:0.44, Z:0.06 [[ 9.99136000e-01 -3.96729472e-02 -1.23819085e-02 1.47669945e+01] [ 3.96725561e-02 9.99212696e-01 -2.77307382e-04 4.42841142e-01] [ 1.23831618e-02 -2.14154170e-04 9.99923303e-01 5.67951904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559254153999998 meters Centerline goodness [0,1] 0.9995225694444444 Centerline is valid? [True, True] Translation: X:14.80, Y:0.44, Z:0.06 [[ 9.99163790e-01 -3.87609147e-02 -1.30120007e-02 1.47980397e+01] [ 3.87604207e-02 9.99248490e-01 -2.90244631e-04 4.42166765e-01] [ 1.30134722e-02 -2.14348697e-04 9.99915298e-01 5.60296187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589254153999999 meters Centerline goodness [0,1] 0.9995443993664982 Centerline is valid? [True, True] Translation: X:14.83, Y:0.44, Z:0.06 [[ 9.99155765e-01 -3.86342487e-02 -1.39697146e-02 1.48309998e+01] [ 3.86336913e-02 9.99253392e-01 -3.09865481e-04 4.42540288e-01] [ 1.39712561e-02 -2.30097759e-04 9.99902371e-01 5.55007648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619254153999998 meters Centerline goodness [0,1] 0.9995666587220766 Centerline is valid? [True, True] Translation: X:14.86, Y:0.44, Z:0.05 [[ 9.99129278e-01 -3.88700642e-02 -1.51592850e-02 1.48627075e+01] [ 3.88694564e-02 9.99244241e-01 -3.34837985e-04 4.41523354e-01] [ 1.51608434e-02 -2.54686734e-04 9.99885035e-01 5.42718877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649254153999998 meters Centerline goodness [0,1] 0.9996099590456998 Centerline is valid? [True, True] Translation: X:14.90, Y:0.44, Z:0.05 [[ 9.99070735e-01 -3.95309913e-02 -1.71746032e-02 1.48951962e+01] [ 3.95303282e-02 9.99218300e-01 -3.78226537e-04 4.40537599e-01] [ 1.71761295e-02 -3.01042637e-04 9.99852434e-01 5.25984876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679254153999999 meters Centerline goodness [0,1] 0.999393309065696 Centerline is valid? [True, True] Translation: X:14.93, Y:0.44, Z:0.05 [[ 9.99044310e-01 -3.99128864e-02 -1.78165186e-02 1.49278009e+01] [ 3.99122569e-02 9.99203112e-01 -3.91049906e-04 4.41608828e-01] [ 1.78179287e-02 -3.20421283e-04 9.99841197e-01 5.26748649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709254153999998 meters Centerline goodness [0,1] 0.9995229628344681 Centerline is valid? [True, True] Translation: X:14.96, Y:0.44, Z:0.05 [[ 9.99034056e-01 -4.00631521e-02 -1.80526743e-02 1.49594167e+01] [ 4.00625516e-02 9.99197096e-01 -3.95058816e-04 4.39799608e-01] [ 1.80540071e-02 -3.28558985e-04 9.99836959e-01 5.14815443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739254153999997 meters Centerline goodness [0,1] 0.999524272894367 Centerline is valid? [True, True] Translation: X:14.99, Y:0.44, Z:0.05 [[ 9.99053134e-01 -3.95819782e-02 -1.80583049e-02 1.49919960e+01] [ 3.95813194e-02 9.99216275e-01 -3.94035434e-04 4.42195847e-01] [ 1.80597489e-02 -3.21109198e-04 9.99836858e-01 5.26860222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769254153999999 meters Centerline goodness [0,1] 0.9994145072102353 Centerline is valid? [True, True] Translation: X:15.02, Y:0.44, Z:0.05 [[ 9.99072111e-01 -3.91604867e-02 -1.79268813e-02 1.50238233e+01] [ 3.91597929e-02 9.99232885e-01 -3.89871037e-04 4.43459796e-01] [ 1.79283968e-02 -3.12503679e-04 9.99839225e-01 5.32802035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799254153999998 meters Centerline goodness [0,1] 0.9994568641508614 Centerline is valid? [True, True] Translation: X:15.06, Y:0.45, Z:0.05 [[ 9.99106064e-01 -3.85474814e-02 -1.73540793e-02 1.50559230e+01] [ 3.85467603e-02 9.99256727e-01 -3.76170515e-04 4.45519590e-01] [ 1.73556809e-02 -2.93109295e-04 9.99849336e-01 5.44553269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829254153999997 meters Centerline goodness [0,1] 0.999609129009142 Centerline is valid? [True, True] Translation: X:15.09, Y:0.45, Z:0.06 [[ 9.99178516e-01 -3.73647349e-02 -1.56897788e-02 1.50866732e+01] [ 3.73640149e-02 9.99301664e-01 -3.39126231e-04 4.47627300e-01] [ 1.56914934e-02 -2.47385484e-04 9.99876850e-01 5.56446281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859254153999998 meters Centerline goodness [0,1] 0.9995224036123654 Centerline is valid? [True, True] Translation: X:15.12, Y:0.45, Z:0.06 [[ 9.99189815e-01 -3.73900290e-02 -1.48895865e-02 1.51179154e+01] [ 3.73893950e-02 9.99300721e-01 -3.21044945e-04 4.48638488e-01] [ 1.48911784e-02 -2.35927793e-04 9.99889092e-01 5.67371078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889254153999998 meters Centerline goodness [0,1] 0.9996518333151997 Centerline is valid? [True, True] Translation: X:15.15, Y:0.45, Z:0.06 [[ 9.99176880e-01 -3.83739474e-02 -1.31530118e-02 1.51496353e+01] [ 3.83735474e-02 9.99263424e-01 -2.82875811e-04 4.49744220e-01] [ 1.31541787e-02 -2.22084753e-04 9.99913455e-01 5.85840351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919254153999997 meters Centerline goodness [0,1] 0.9996096122148 Centerline is valid? [True, True] Translation: X:15.18, Y:0.45, Z:0.06 [[ 9.99138426e-01 -3.95470092e-02 -1.25873183e-02 1.51807263e+01] [ 3.95467464e-02 9.99217685e-01 -2.69876520e-04 4.48758840e-01] [ 1.25881439e-02 -2.28143484e-04 9.99920740e-01 5.86475042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949254153999998 meters Centerline goodness [0,1] 0.999521458247232 Centerline is valid? [True, True] Translation: X:15.21, Y:0.45, Z:0.06 [[ 9.99065703e-01 -4.13522799e-02 -1.25582620e-02 1.52130031e+01] [ 4.13521702e-02 9.99144597e-01 -2.68514270e-04 4.48307684e-01] [ 1.25586233e-02 -2.51047988e-04 9.99921106e-01 5.86324737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979254153999998 meters Centerline goodness [0,1] 0.9995000543419194 Centerline is valid? [True, True] Translation: X:15.24, Y:0.45, Z:0.06 [[ 9.98885716e-01 -4.52573076e-02 -1.33829032e-02 1.52442890e+01] [ 4.52575456e-02 9.98975312e-01 -2.85217988e-04 4.45283089e-01] [ 1.33820981e-02 -3.20777177e-04 9.99910404e-01 5.75484774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009254153999997 meters Centerline goodness [0,1] 0.999523252286222 Centerline is valid? [True, True] Translation: X:15.28, Y:0.45, Z:0.06 [[ 9.98785947e-01 -4.72769232e-02 -1.38392304e-02 1.52768752e+01] [ 4.72773831e-02 9.98881756e-01 -2.94109333e-04 4.45290259e-01] [ 1.38376594e-02 -3.60530328e-04 9.99904190e-01 5.72025118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039254153999995 meters Centerline goodness [0,1] 0.999523252286222 Centerline is valid? [True, True] Translation: X:15.31, Y:0.45, Z:0.06 [[ 9.98790985e-01 -4.71703577e-02 -1.38392546e-02 1.53094243e+01] [ 4.71708231e-02 9.98886794e-01 -2.92968413e-04 4.45886789e-01] [ 1.38376681e-02 -3.60194820e-04 9.99904190e-01 5.75072709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069254153999996 meters Centerline goodness [0,1] 0.9993274029073552 Centerline is valid? [True, True] Translation: X:15.34, Y:0.44, Z:0.06 [[ 9.98595885e-01 -5.10161273e-02 -1.42692754e-02 1.53416544e+01] [ 5.10170340e-02 9.98697738e-01 -3.00692515e-04 4.44630024e-01] [ 1.42660332e-02 -4.27705799e-04 9.99898143e-01 5.68301280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099254153999997 meters Centerline goodness [0,1] 0.999306413507597 Centerline is valid? [True, True] Translation: X:15.37, Y:0.45, Z:0.06 [[ 9.98507968e-01 -5.26239868e-02 -1.45791969e-02 1.53738713e+01] [ 5.26251200e-02 9.98614291e-01 -3.06166863e-04 4.45654769e-01] [ 1.45751061e-02 -4.61521935e-04 9.99893671e-01 5.73939255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129254153999995 meters Centerline goodness [0,1] 0.9993478969677209 Centerline is valid? [True, True] Translation: X:15.41, Y:0.45, Z:0.06 [[ 9.98437151e-01 -5.38179836e-02 -1.50625468e-02 1.54060113e+01] [ 5.38193456e-02 9.98550639e-01 -3.15205788e-04 4.46277963e-01] [ 1.50576795e-02 -4.95943243e-04 9.99886504e-01 5.75749085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159254153999996 meters Centerline goodness [0,1] 0.9993927301119112 Centerline is valid? [True, True] Translation: X:15.44, Y:0.45, Z:0.06 [[ 9.98371581e-01 -5.51282694e-02 -1.46649299e-02 1.54376195e+01] [ 5.51297156e-02 9.98479154e-01 -3.05931363e-04 4.48102521e-01] [ 1.46594923e-02 -5.03040235e-04 9.99892417e-01 5.82097216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189254153999997 meters Centerline goodness [0,1] 0.9993481520109511 Centerline is valid? [True, True] Translation: X:15.47, Y:0.45, Z:0.06 [[ 9.98354066e-01 -5.54616360e-02 -1.46002067e-02 1.54694017e+01] [ 5.54631182e-02 9.98460690e-01 -3.03681987e-04 4.48742003e-01] [ 1.45945752e-02 -5.06590844e-04 9.99893365e-01 5.86944530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219254153999998 meters Centerline goodness [0,1] 0.9995219469795741 Centerline is valid? [True, True] Translation: X:15.50, Y:0.45, Z:0.06 [[ 9.98342412e-01 -5.58245950e-02 -1.40015083e-02 1.55011103e+01] [ 5.58260077e-02 9.98440470e-01 -2.90233117e-04 4.50576939e-01] [ 1.39958746e-02 -4.91896277e-04 9.99901932e-01 5.94938287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249254153999996 meters Centerline goodness [0,1] 0.9995209267889029 Centerline is valid? [True, True] Translation: X:15.53, Y:0.45, Z:0.06 [[ 9.98342796e-01 -5.59055493e-02 -1.36466810e-02 1.55328028e+01] [ 5.59069133e-02 9.98435946e-01 -2.81821274e-04 4.48708047e-01] [ 1.36410922e-02 -4.81589572e-04 9.99906840e-01 5.99098405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279254153999997 meters Centerline goodness [0,1] 0.99947703303408 Centerline is valid? [True, True] Translation: X:15.56, Y:0.45, Z:0.06 [[ 9.98354699e-01 -5.57751767e-02 -1.33050366e-02 1.55635624e+01] [ 5.57764754e-02 9.98443243e-01 -2.73729954e-04 4.49207573e-01] [ 1.32995912e-02 -4.68828461e-04 9.99911447e-01 6.03443914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309254153999998 meters Centerline goodness [0,1] 0.999542901919812 Centerline is valid? [True, True] Translation: X:15.60, Y:0.46, Z:0.06 [[ 9.98412949e-01 -5.48402042e-02 -1.28115528e-02 1.55952227e+01] [ 5.48413406e-02 9.98495047e-01 -2.62862468e-04 4.55658451e-01] [ 1.28066874e-02 -4.40157437e-04 9.99917894e-01 6.15112364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339254153999995 meters Centerline goodness [0,1] 0.999694756350158 Centerline is valid? [True, True] Translation: X:15.63, Y:0.46, Z:0.06 [[ 9.98448116e-01 -5.42004578e-02 -1.27933809e-02 1.56272894e+01] [ 5.42015503e-02 9.98529981e-01 -2.61568713e-04 4.57710184e-01] [ 1.27887515e-02 -4.32258291e-04 9.99918127e-01 6.22146833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369254153999997 meters Centerline goodness [0,1] 0.9996291286705353 Centerline is valid? [True, True] Translation: X:15.66, Y:0.46, Z:0.06 [[ 9.98512813e-01 -5.30520445e-02 -1.25556294e-02 1.56590999e+01] [ 5.30530173e-02 9.98591664e-01 -2.55814089e-04 4.55197390e-01] [ 1.25515184e-02 -4.10680379e-04 9.99921142e-01 6.23571109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399254153999998 meters Centerline goodness [0,1] 0.9997371245810422 Centerline is valid? [True, True] Translation: X:15.69, Y:0.46, Z:0.06 [[ 9.98539047e-01 -5.25796060e-02 -1.24562045e-02 1.56908643e+01] [ 5.25805378e-02 9.98616655e-01 -2.52904624e-04 4.60042054e-01] [ 1.24522709e-02 -4.02418790e-04 9.99922386e-01 6.33947762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429254153999995 meters Centerline goodness [0,1] 0.9996499671844236 Centerline is valid? [True, True] Translation: X:15.72, Y:0.46, Z:0.06 [[ 9.98549706e-01 -5.23122491e-02 -1.27244754e-02 1.57230658e+01] [ 5.23132113e-02 9.98630693e-01 -2.57439284e-04 4.62204801e-01] [ 1.27205189e-02 -4.08592250e-04 9.99919007e-01 6.42736411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459254153999996 meters Centerline goodness [0,1] 0.9995624589805294 Centerline is valid? [True, True] Translation: X:15.76, Y:0.47, Z:0.06 [[ 9.98582014e-01 -5.17703507e-02 -1.24012944e-02 1.57551493e+01] [ 5.17712337e-02 9.98658939e-01 -2.50025786e-04 4.65274731e-01] [ 1.23976074e-02 -3.92359058e-04 9.99923070e-01 6.49744370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489254153999997 meters Centerline goodness [0,1] 0.9995405618272513 Centerline is valid? [True, True] Translation: X:15.79, Y:0.47, Z:0.07 [[ 9.98607234e-01 -5.12451709e-02 -1.25509103e-02 1.57861925e+01] [ 5.12460448e-02 9.98686026e-01 -2.52176937e-04 4.65339506e-01] [ 1.25473416e-02 -3.91358800e-04 9.99921202e-01 6.50066547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519254153999995 meters Centerline goodness [0,1] 0.9995621332866276 Centerline is valid? [True, True] Translation: X:15.82, Y:0.47, Z:0.06 [[ 9.98677932e-01 -4.97481582e-02 -1.29425035e-02 1.58189342e+01] [ 4.97489728e-02 9.98761720e-01 -2.59200870e-04 4.66425571e-01] [ 1.29393718e-02 -3.85018067e-04 9.99916209e-01 6.44047063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549254153999996 meters Centerline goodness [0,1] 0.9996278540312165 Centerline is valid? [True, True] Translation: X:15.85, Y:0.47, Z:0.06 [[ 9.98738483e-01 -4.84947041e-02 -1.30271505e-02 1.58512506e+01] [ 4.84954372e-02 9.98823370e-01 -2.59793301e-04 4.67499162e-01] [ 1.30244209e-02 -3.72291791e-04 9.99915109e-01 6.44593757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579254153999997 meters Centerline goodness [0,1] 0.9996059199579648 Centerline is valid? [True, True] Translation: X:15.88, Y:0.47, Z:0.06 [[ 9.98829120e-01 -4.65608306e-02 -1.31330957e-02 1.58832880e+01] [ 4.65614210e-02 9.98915395e-01 -2.60967786e-04 4.69071334e-01] [ 1.31310024e-02 -3.50833374e-04 9.99913723e-01 6.46216393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609254153999995 meters Centerline goodness [0,1] 0.999583534259787 Centerline is valid? [True, True] Translation: X:15.92, Y:0.47, Z:0.06 [[ 9.98933826e-01 -4.41903049e-02 -1.33577338e-02 1.59155501e+01] [ 4.41907166e-02 9.99023078e-01 -2.64478684e-04 4.71403281e-01] [ 1.33563717e-02 -3.26091123e-04 9.99910747e-01 6.49403968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639254153999996 meters Centerline goodness [0,1] 0.9997148810176555 Centerline is valid? [True, True] Translation: X:15.95, Y:0.48, Z:0.07 [[ 9.99202085e-01 -3.76361234e-02 -1.33684566e-02 1.59467798e+01] [ 3.76359601e-02 9.99291481e-01 -2.63885221e-04 4.78986270e-01] [ 1.33689164e-02 -2.39460035e-04 9.99910603e-01 6.62517829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669254153999997 meters Centerline goodness [0,1] 0.9997358166567598 Centerline is valid? [True, True] Translation: X:15.98, Y:0.48, Z:0.07 [[ 9.99343926e-01 -3.37111351e-02 -1.32392107e-02 1.59777254e+01] [ 3.37106379e-02 9.99431601e-01 -2.60780283e-04 4.81663096e-01] [ 1.32404767e-02 -1.85693045e-04 9.99912324e-01 6.62005109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699254153999995 meters Centerline goodness [0,1] 0.9996918403733134 Centerline is valid? [True, True] Translation: X:16.01, Y:0.49, Z:0.07 [[ 9.99595085e-01 -2.52694246e-02 -1.30813763e-02 1.60100894e+01] [ 2.52682264e-02 9.99680674e-01 -2.56890787e-04 4.89039498e-01] [ 1.30836905e-02 -7.37564098e-05 9.99914402e-01 6.70158399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729254153999996 meters Centerline goodness [0,1] 0.9997135554380399 Centerline is valid? [True, True] Translation: X:16.04, Y:0.49, Z:0.07 [[ 9.99702820e-01 -2.08095390e-02 -1.26978554e-02 1.60413194e+01] [ 2.08080642e-02 9.99783458e-01 -2.48265867e-04 4.91880104e-01] [ 1.27002721e-02 -1.60257042e-05 9.99919348e-01 6.74398535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759254153999997 meters Centerline goodness [0,1] 0.9996702137015214 Centerline is valid? [True, True] Translation: X:16.07, Y:0.49, Z:0.07 [[ 9.99777998e-01 -1.70431064e-02 -1.23890193e-02 1.60723574e+01] [ 1.70414290e-02 9.99854755e-01 -2.40961777e-04 4.94748856e-01] [ 1.23913266e-02 2.97816899e-05 9.99923224e-01 6.75872950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789254153999995 meters Centerline goodness [0,1] 0.9996921926873777 Centerline is valid? [True, True] Translation: X:16.10, Y:0.50, Z:0.07 [[ 9.99874911e-01 -1.06078468e-02 -1.17318007e-02 1.61024914e+01] [ 1.06059038e-02 9.99943730e-01 -2.27819320e-04 4.98702814e-01] [ 1.17335572e-02 1.03364472e-04 9.99931154e-01 6.81674963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819254153999996 meters Centerline goodness [0,1] 0.999758644900825 Centerline is valid? [True, True] Translation: X:16.13, Y:0.50, Z:0.07 [[ 9.99894994e-01 -8.95013696e-03 -1.13972344e-02 1.61313904e+01] [ 8.94819172e-03 9.99959940e-01 -2.21659623e-04 5.00133753e-01] [ 1.13987617e-02 1.19651709e-04 9.99935025e-01 6.82942849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.849254153999997 meters Centerline goodness [0,1] 0.9996925239392076 Centerline is valid? [True, True] Translation: X:16.16, Y:0.50, Z:0.07 [[ 9.99908070e-01 -7.50597358e-03 -1.12921180e-02 1.61598062e+01] [ 7.50394065e-03 9.99971820e-01 -2.22390085e-04 4.99955356e-01] [ 1.12934691e-02 1.37634258e-04 9.99936217e-01 6.89487822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879254153999995 meters Centerline goodness [0,1] 0.999692490170668 Centerline is valid? [True, True] Translation: X:16.19, Y:0.50, Z:0.07 [[ 9.99923197e-01 -7.28824355e-03 -1.00240872e-02 1.61879958e+01] [ 7.28660832e-03 9.99973432e-01 -1.99642362e-04 4.99860127e-01] [ 1.00252759e-02 1.26585432e-04 9.99949738e-01 6.97082025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909254153999996 meters Centerline goodness [0,1] 0.9996464713420832 Centerline is valid? [True, True] Translation: X:16.22, Y:0.50, Z:0.07 [[ 9.99918087e-01 -8.39682672e-03 -9.65981295e-03 1.62170945e+01] [ 8.39534719e-03 9.99964740e-01 -1.93703361e-04 4.98823326e-01] [ 9.66109884e-03 1.12590010e-04 9.99953324e-01 6.95717660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939254153999997 meters Centerline goodness [0,1] 0.9997361651606095 Centerline is valid? [True, True] Translation: X:16.25, Y:0.50, Z:0.07 [[ 9.99907258e-01 -9.64206911e-03 -9.61797116e-03 1.62457929e+01] [ 9.64063707e-03 9.99953509e-01 -1.95244696e-04 4.97509955e-01] [ 9.61940658e-03 1.02503219e-04 9.99953727e-01 6.97106463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969254153999994 meters Centerline goodness [0,1] 0.9997582630098453 Centerline is valid? [True, True] Translation: X:16.27, Y:0.49, Z:0.07 [[ 9.99855294e-01 -1.39457279e-02 -9.74206725e-03 1.62743761e+01] [ 1.39444579e-02 9.99902752e-01 -1.98287624e-04 4.92971396e-01] [ 9.74388511e-03 6.24110842e-05 9.99952525e-01 6.92970668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999254153999996 meters Centerline goodness [0,1] 0.9998242685177049 Centerline is valid? [True, True] Translation: X:16.31, Y:0.49, Z:0.07 [[ 9.99811426e-01 -1.64643616e-02 -1.02974170e-02 1.63052361e+01] [ 1.64630730e-02 9.99864452e-01 -2.09897240e-04 4.90698774e-01] [ 1.02994770e-02 4.03305311e-05 9.99946958e-01 6.91908005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029254153999997 meters Centerline goodness [0,1] 0.9995410538278297 Centerline is valid? [True, True] Translation: X:16.34, Y:0.48, Z:0.07 [[ 9.99698240e-01 -2.17840715e-02 -1.13526795e-02 1.63366879e+01] [ 2.17828490e-02 9.99762699e-01 -2.31336717e-04 4.84210503e-01] [ 1.13550250e-02 -1.60267951e-05 9.99935529e-01 6.77316332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059254153999998 meters Centerline goodness [0,1] 0.9996067550739519 Centerline is valid? [True, True] Translation: X:16.37, Y:0.48, Z:0.07 [[ 9.99632932e-01 -2.44007337e-02 -1.17730415e-02 1.63686602e+01] [ 2.43996065e-02 9.99702257e-01 -2.39385424e-04 4.81111373e-01] [ 1.17753774e-02 -4.79600276e-05 9.99930667e-01 6.74379223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089254153999995 meters Centerline goodness [0,1] 0.9995203627801518 Centerline is valid? [True, True] Translation: X:16.40, Y:0.48, Z:0.07 [[ 9.99561572e-01 -2.70571625e-02 -1.20238568e-02 1.63997456e+01] [ 2.70561889e-02 9.99633885e-01 -2.43657155e-04 4.77828167e-01] [ 1.20260473e-02 -8.17694111e-05 9.99927681e-01 6.70220413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119254153999997 meters Centerline goodness [0,1] 0.9993689753465196 Centerline is valid? [True, True] Translation: X:16.43, Y:0.47, Z:0.07 [[ 9.99398376e-01 -3.22083279e-02 -1.28650871e-02 1.64323540e+01] [ 3.22076502e-02 9.99481165e-01 -2.59918483e-04 4.71248294e-01] [ 1.28667837e-02 -1.54592114e-04 9.99917208e-01 6.62227819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149254153999998 meters Centerline goodness [0,1] 0.999370687036153 Centerline is valid? [True, True] Translation: X:16.46, Y:0.47, Z:0.07 [[ 9.99324768e-01 -3.43968273e-02 -1.29176880e-02 1.64646737e+01] [ 3.43963388e-02 9.99408237e-01 -2.60050180e-04 4.69026120e-01] [ 1.29189886e-02 -1.84446585e-04 9.99916529e-01 6.64387548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179254153999995 meters Centerline goodness [0,1] 0.9994164811653087 Centerline is valid? [True, True] Translation: X:16.50, Y:0.46, Z:0.07 [[ 9.99202008e-01 -3.79482672e-02 -1.24609814e-02 1.64959689e+01] [ 3.79480990e-02 9.99279680e-01 -2.50029515e-04 4.63205673e-01] [ 1.24614937e-02 -2.23040561e-04 9.99922328e-01 6.65083609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209254153999996 meters Centerline goodness [0,1] 0.9993295412764669 Centerline is valid? [True, True] Translation: X:16.53, Y:0.46, Z:0.07 [[ 9.99150483e-01 -3.93110325e-02 -1.23674881e-02 1.65278450e+01] [ 3.93109801e-02 9.99226994e-01 -2.47433770e-04 4.61227937e-01] [ 1.23676549e-02 -2.38954509e-04 9.99923489e-01 6.68746396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239254153999997 meters Centerline goodness [0,1] 0.9994393893656475 Centerline is valid? [True, True] Translation: X:16.56, Y:0.46, Z:0.07 [[ 9.99126384e-01 -4.00371088e-02 -1.19790885e-02 1.65596185e+01] [ 4.00371218e-02 9.99198164e-01 -2.38823831e-04 4.59757749e-01] [ 1.19790451e-02 -2.40993035e-04 9.99928220e-01 6.75551396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269254153999995 meters Centerline goodness [0,1] 0.9991848991848992 Centerline is valid? [True, True] Translation: X:16.59, Y:0.46, Z:0.07 [[ 9.99099829e-01 -4.07854931e-02 -1.16651145e-02 1.65904133e+01] [ 4.07855655e-02 9.99167896e-01 -2.31782452e-04 4.58135944e-01] [ 1.16648613e-02 -2.44194485e-04 9.99931933e-01 6.78721636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299254153999996 meters Centerline goodness [0,1] 0.9993973958893791 Centerline is valid? [True, True] Translation: X:16.62, Y:0.45, Z:0.07 [[ 9.99034371e-01 -4.23222364e-02 -1.17963170e-02 1.66213899e+01] [ 4.23224251e-02 9.99103977e-01 -2.33750580e-04 4.54589259e-01] [ 1.17956401e-02 -2.65723878e-04 9.99930394e-01 6.84503969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329254153999997 meters Centerline goodness [0,1] 0.9994194671998968 Centerline is valid? [True, True] Translation: X:16.65, Y:0.45, Z:0.07 [[ 9.99006089e-01 -4.30031441e-02 -1.17287713e-02 1.66535353e+01] [ 4.30033853e-02 9.99074900e-01 -2.31748413e-04 4.53383495e-01] [ 1.17278869e-02 -2.72858794e-04 9.99931189e-01 6.87163596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359254153999995 meters Centerline goodness [0,1] 0.9991420175457412 Centerline is valid? [True, True] Translation: X:16.69, Y:0.45, Z:0.07 [[ 9.98884303e-01 -4.53544248e-02 -1.31577347e-02 1.66853531e+01] [ 4.53549475e-02 9.98970901e-01 -2.58821599e-04 4.50072469e-01] [ 1.31559328e-02 -3.38235532e-04 9.99913400e-01 6.78366620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.389254153999996 meters Centerline goodness [0,1] 0.999293301353435 Centerline is valid? [True, True] Translation: X:16.72, Y:0.45, Z:0.07 [[ 9.98830327e-01 -4.63193652e-02 -1.38742055e-02 1.67175789e+01] [ 4.63200589e-02 9.98926613e-01 -2.71506321e-04 4.48338322e-01] [ 1.38718891e-02 -3.71465270e-04 9.99903712e-01 6.73980717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419254153999997 meters Centerline goodness [0,1] 0.9992928621938415 Centerline is valid? [True, True] Translation: X:16.75, Y:0.45, Z:0.07 [[ 9.98773009e-01 -4.72206688e-02 -1.49226596e-02 1.67502255e+01] [ 4.72215888e-02 9.98884396e-01 -2.90893551e-04 4.48468493e-01] [ 1.49197480e-02 -4.14135070e-04 9.99888609e-01 6.71667202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.449254153999995 meters Centerline goodness [0,1] 0.9992295674877479 Centerline is valid? [True, True] Translation: X:16.78, Y:0.44, Z:0.07 [[ 9.98664166e-01 -4.89195565e-02 -1.66361264e-02 1.67818258e+01] [ 4.89209549e-02 9.98802601e-01 -3.23130038e-04 4.44459263e-01] [ 1.66320137e-02 -4.91156798e-04 9.99861558e-01 6.57886678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479254153999996 meters Centerline goodness [0,1] 0.9990405321848148 Centerline is valid? [True, True] Translation: X:16.81, Y:0.45, Z:0.07 [[ 9.98619951e-01 -4.95742767e-02 -1.73373641e-02 1.68140979e+01] [ 4.95759135e-02 9.98770302e-01 -3.35635233e-04 4.45102603e-01] [ 1.73326833e-02 -5.24343623e-04 9.99849640e-01 6.61547801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509254153999997 meters Centerline goodness [0,1] 0.9993591797500802 Centerline is valid? [True, True] Translation: X:16.85, Y:0.44, Z:0.07 [[ 9.98536603e-01 -5.09272811e-02 -1.81951962e-02 1.68463544e+01] [ 5.09293333e-02 9.98702198e-01 -3.50871272e-04 4.44118171e-01] [ 1.81894513e-02 -5.76311401e-04 9.99834392e-01 6.62979810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539254153999995 meters Centerline goodness [0,1] 0.9992306048300919 Centerline is valid? [True, True] Translation: X:16.88, Y:0.44, Z:0.07 [[ 9.98506389e-01 -5.14266218e-02 -1.84470464e-02 1.68784248e+01] [ 5.14288418e-02 9.98676599e-01 -3.54346935e-04 4.44193735e-01] [ 1.84408565e-02 -5.94892554e-04 9.99829776e-01 6.64200551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.569254153999996 meters Centerline goodness [0,1] 0.9992310157000961 Centerline is valid? [True, True] Translation: X:16.91, Y:0.44, Z:0.07 [[ 9.98484883e-01 -5.16895047e-02 -1.88714842e-02 1.69105446e+01] [ 5.16919018e-02 9.98663015e-01 -3.61075640e-04 4.44076300e-01] [ 1.88649171e-02 -6.14974340e-04 9.99821852e-01 6.66085298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599254153999997 meters Centerline goodness [0,1] 0.9992331288343558 Centerline is valid? [True, True] Translation: X:16.94, Y:0.44, Z:0.07 [[ 9.98485807e-01 -5.16907289e-02 -1.88192023e-02 1.69419483e+01] [ 5.16931360e-02 9.98662952e-01 -3.58851595e-04 4.39462763e-01] [ 1.88125894e-02 -6.14515358e-04 9.99822839e-01 6.61305296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.629254153999995 meters Centerline goodness [0,1] 0.9991045157988998 Centerline is valid? [True, True] Translation: X:16.97, Y:0.45, Z:0.07 [[ 9.98504304e-01 -5.15683217e-02 -1.81621200e-02 1.69742972e+01] [ 5.15705645e-02 9.98669293e-01 -3.45160488e-04 4.45160019e-01] [ 1.81557509e-02 -5.91986549e-04 9.99834996e-01 6.81118008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659254153999996 meters Centerline goodness [0,1] 0.9991473396998636 Centerline is valid? [True, True] Translation: X:17.01, Y:0.44, Z:0.07 [[ 9.98508242e-01 -5.18958684e-02 -1.69737752e-02 1.70059160e+01] [ 5.18978926e-02 9.98652345e-01 -3.21498820e-04 4.44478923e-01] [ 1.69675849e-02 -5.59883942e-04 9.99855883e-01 6.91297918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689254153999997 meters Centerline goodness [0,1] 0.9990833706380167 Centerline is valid? [True, True] Translation: X:17.04, Y:0.45, Z:0.07 [[ 9.98498967e-01 -5.21354614e-02 -1.67841285e-02 1.70376451e+01] [ 5.21374922e-02 9.98639866e-01 -3.16846634e-04 4.45470613e-01] [ 1.67778188e-02 -5.58711335e-04 9.99859086e-01 6.99227693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719254153999994 meters Centerline goodness [0,1] 0.9992532218144576 Centerline is valid? [True, True] Translation: X:17.07, Y:0.45, Z:0.07 [[ 9.98470758e-01 -5.29846362e-02 -1.57725808e-02 1.70696434e+01] [ 5.29865530e-02 9.98595182e-01 -2.96635626e-04 4.45431927e-01] [ 1.57661403e-02 -5.39552688e-04 9.99875561e-01 7.07900331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749254153999996 meters Centerline goodness [0,1] 0.9993178863001727 Centerline is valid? [True, True] Translation: X:17.10, Y:0.45, Z:0.07 [[ 9.98447033e-01 -5.35218291e-02 -1.54575902e-02 1.71017111e+01] [ 5.35237515e-02 9.98566535e-01 -2.89597558e-04 4.45467925e-01] [ 1.54509321e-02 -5.38200397e-04 9.99880482e-01 7.13336743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779254153999997 meters Centerline goodness [0,1] 0.9992317213709505 Centerline is valid? [True, True] Translation: X:17.13, Y:0.45, Z:0.07 [[ 9.98426267e-01 -5.40318662e-02 -1.50182280e-02 1.71338289e+01] [ 5.40337546e-02 9.98539070e-01 -2.80291555e-04 4.46253419e-01] [ 1.50114321e-02 -5.31640799e-04 9.99887181e-01 7.18895698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809254153999994 meters Centerline goodness [0,1] 0.9995732969213373 Centerline is valid? [True, True] Translation: X:17.17, Y:0.44, Z:0.07 [[ 9.98357339e-01 -5.53240476e-02 -1.48954346e-02 1.71650850e+01] [ 5.53260635e-02 9.98468302e-01 -2.77019320e-04 4.44734852e-01] [ 1.48879451e-02 -5.47541489e-04 9.99889018e-01 7.22045191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839254153999995 meters Centerline goodness [0,1] 0.9994459007309848 Centerline is valid? [True, True] Translation: X:17.20, Y:0.45, Z:0.07 [[ 9.98321723e-01 -5.59142209e-02 -1.50777283e-02 1.71976289e+01] [ 5.59163677e-02 9.98435417e-01 -2.79476898e-04 4.45439246e-01] [ 1.50697647e-02 -5.64083943e-04 9.99886286e-01 7.22284169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869254153999997 meters Centerline goodness [0,1] 0.9990182896899076 Centerline is valid? [True, True] Translation: X:17.23, Y:0.44, Z:0.07 [[ 9.98238708e-01 -5.70733361e-02 -1.61900262e-02 1.72284866e+01] [ 5.70759815e-02 9.98369793e-01 -2.98989599e-04 4.43926047e-01] [ 1.61806974e-02 -6.25598646e-04 9.99868888e-01 7.08013029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899254153999998 meters Centerline goodness [0,1] 0.9994034175650914 Centerline is valid? [True, True] Translation: X:17.26, Y:0.44, Z:0.07 [[ 9.98222141e-01 -5.71339285e-02 -1.69785476e-02 1.72609485e+01] [ 5.71368651e-02 9.98366306e-01 -3.12476156e-04 4.43976003e-01] [ 1.69686628e-02 -6.58180363e-04 9.99855805e-01 7.05686147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929254153999995 meters Centerline goodness [0,1] 0.9994034175650914 Centerline is valid? [True, True] Translation: X:17.29, Y:0.44, Z:0.07 [[ 9.98228251e-01 -5.70270711e-02 -1.69785747e-02 1.72935094e+01] [ 5.70300174e-02 9.98372416e-01 -3.10995043e-04 4.44479421e-01] [ 1.69686758e-02 -6.57844373e-04 9.99855805e-01 7.08734950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959254153999996 meters Centerline goodness [0,1] 0.9991034261927634 Centerline is valid? [True, True] Translation: X:17.33, Y:0.45, Z:0.07 [[ 9.98222775e-01 -5.70654749e-02 -1.71704327e-02 1.73254121e+01] [ 5.70685207e-02 9.98370215e-01 -3.12941150e-04 4.45108021e-01] [ 1.71603068e-02 -6.67506213e-04 9.99852528e-01 7.09283840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989254153999997 meters Centerline goodness [0,1] 0.9990822163408178 Centerline is valid? [True, True] Translation: X:17.36, Y:0.45, Z:0.07 [[ 9.98254975e-01 -5.64709530e-02 -1.72637108e-02 1.73565629e+01] [ 5.64739620e-02 9.98404023e-01 -3.13555181e-04 4.45746243e-01] [ 1.72538651e-02 -6.61942129e-04 9.99850922e-01 7.13048684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019254153999995 meters Centerline goodness [0,1] 0.9993382713941128 Centerline is valid? [True, True] Translation: X:17.39, Y:0.45, Z:0.07 [[ 9.98301856e-01 -5.56795584e-02 -1.71228293e-02 1.73891659e+01] [ 5.56824224e-02 9.98448482e-01 -3.09816156e-04 4.48169310e-01] [ 1.71135133e-02 -6.44150568e-04 9.99853346e-01 7.22546053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049254153999996 meters Centerline goodness [0,1] 0.9989331284940042 Centerline is valid? [True, True] Translation: X:17.42, Y:0.45, Z:0.07 [[ 9.98391119e-01 -5.43112978e-02 -1.62928422e-02 1.74216924e+01] [ 5.43137297e-02 9.98523877e-01 -2.93517211e-04 4.50016907e-01] [ 1.62847333e-02 -5.91880052e-04 9.99867220e-01 7.27787546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079254153999997 meters Centerline goodness [0,1] 0.9992496998799519 Centerline is valid? [True, True] Translation: X:17.45, Y:0.45, Z:0.07 [[ 9.98414301e-01 -5.38737978e-02 -1.63247386e-02 1.74539998e+01] [ 5.38761999e-02 9.98547580e-01 -2.92927709e-04 4.52659673e-01] [ 1.63168093e-02 -5.87051666e-04 9.99866700e-01 7.36413335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109254153999995 meters Centerline goodness [0,1] 0.9993798250678985 Centerline is valid? [True, True] Translation: X:17.49, Y:0.45, Z:0.07 [[ 9.98449539e-01 -5.31812074e-02 -1.64400927e-02 1.74859377e+01] [ 5.31835694e-02 9.98584709e-01 -2.93803740e-04 4.54682965e-01] [ 1.64324501e-02 -5.80994605e-04 9.99864809e-01 7.38202246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139254153999996 meters Centerline goodness [0,1] 0.9995071674987679 Centerline is valid? [True, True] Translation: X:17.52, Y:0.46, Z:0.07 [[ 9.98471119e-01 -5.29059515e-02 -1.60120250e-02 1.75171598e+01] [ 5.29081731e-02 9.98599341e-01 -2.85128677e-04 4.55368333e-01] [ 1.60046826e-02 -5.62474242e-04 9.99871759e-01 7.38069484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.169254153999997 meters Centerline goodness [0,1] 0.9994435646107093 Centerline is valid? [True, True] Translation: X:17.55, Y:0.45, Z:0.07 [[ 9.98459650e-01 -5.30736480e-02 -1.61714556e-02 1.75486426e+01] [ 5.30759502e-02 9.98590437e-01 -2.87091239e-04 4.54391430e-01] [ 1.61638979e-02 -5.71666353e-04 9.99869192e-01 7.35455735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199254153999995 meters Centerline goodness [0,1] 0.9991871657754011 Centerline is valid? [True, True] Translation: X:17.58, Y:0.46, Z:0.07 [[ 9.98445835e-01 -5.32332615e-02 -1.64965226e-02 1.75809691e+01] [ 5.32356956e-02 9.98581932e-01 -2.91853287e-04 4.56401135e-01] [ 1.64886657e-02 -5.86804156e-04 9.99863881e-01 7.40815758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.229254153999996 meters Centerline goodness [0,1] 0.999441916373315 Centerline is valid? [True, True] Translation: X:17.61, Y:0.46, Z:0.08 [[ 9.98403060e-01 -5.42331817e-02 -1.58142915e-02 1.76130166e+01] [ 5.42355612e-02 9.98528130e-01 -2.78685351e-04 4.60468222e-01] [ 1.58061289e-02 -5.79456665e-04 9.99874907e-01 7.54643376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259254153999997 meters Centerline goodness [0,1] 0.9992495068187666 Centerline is valid? [True, True] Translation: X:17.65, Y:0.46, Z:0.08 [[ 9.98367538e-01 -5.50950915e-02 -1.50595227e-02 1.76454345e+01] [ 5.50973632e-02 9.98480952e-01 -2.64321198e-04 4.61134237e-01] [ 1.50512093e-02 -5.65850285e-04 9.99886564e-01 7.63094837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289254153999995 meters Centerline goodness [0,1] 0.9993987029162908 Centerline is valid? [True, True] Translation: X:17.68, Y:0.46, Z:0.08 [[ 9.98249094e-01 -5.73699708e-02 -1.44025542e-02 1.76779111e+01] [ 5.73722996e-02 9.98352821e-01 -2.51770874e-04 4.62343527e-01] [ 1.43932747e-02 -5.74977607e-04 9.99896246e-01 7.78142735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319254153999996 meters Centerline goodness [0,1] 0.9993560020607934 Centerline is valid? [True, True] Translation: X:17.71, Y:0.46, Z:0.08 [[ 9.98190938e-01 -5.85564551e-02 -1.36379482e-02 1.77097880e+01] [ 5.85586668e-02 9.98283941e-01 -2.37445187e-04 4.62358827e-01] [ 1.36284486e-02 -5.61604427e-04 9.99906971e-01 7.82548628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.349254153999997 meters Centerline goodness [0,1] 0.9992485561543251 Centerline is valid? [True, True] Translation: X:17.74, Y:0.46, Z:0.08 [[ 9.98125799e-01 -5.96602325e-02 -1.36215310e-02 1.77412424e+01] [ 5.96625538e-02 9.98218575e-01 -2.36247139e-04 4.61644951e-01] [ 1.36113599e-02 -5.76890963e-04 9.99907195e-01 7.88708215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379254153999995 meters Centerline goodness [0,1] 0.9993358328869845 Centerline is valid? [True, True] Translation: X:17.77, Y:0.46, Z:0.08 [[ 9.98026638e-01 -6.11496525e-02 -1.42670958e-02 1.77738088e+01] [ 6.11523636e-02 9.98128412e-01 -2.46560815e-04 4.62155399e-01] [ 1.42554708e-02 -6.26392367e-04 9.99898189e-01 7.90564183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.409254153999996 meters Centerline goodness [0,1] 0.9993339778708776 Centerline is valid? [True, True] Translation: X:17.81, Y:0.46, Z:0.08 [[ 9.97997663e-01 -6.15814614e-02 -1.44356687e-02 1.78057161e+01] [ 6.15842970e-02 9.98101855e-01 -2.48434460e-04 4.63247316e-01] [ 1.44235667e-02 -6.41073498e-04 9.99895769e-01 7.91490226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439254153999997 meters Centerline goodness [0,1] 0.9993763977292276 Centerline is valid? [True, True] Translation: X:17.84, Y:0.47, Z:0.08 [[ 9.97963929e-01 -6.19684353e-02 -1.50966376e-02 1.78378516e+01] [ 6.19715977e-02 9.98077880e-01 -2.58692047e-04 4.65940586e-01] [ 1.50836508e-02 -6.77397421e-04 9.99886006e-01 7.93656141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.469254153999994 meters Centerline goodness [0,1] 0.9993540886190415 Centerline is valid? [True, True] Translation: X:17.87, Y:0.47, Z:0.08 [[ 9.97963944e-01 -6.18530594e-02 -1.55616961e-02 1.78712714e+01] [ 6.18564273e-02 9.98085022e-01 -2.65274058e-04 4.67658763e-01] [ 1.55483038e-02 -6.97856977e-04 9.99878874e-01 7.95739091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499254153999996 meters Centerline goodness [0,1] 0.9993972402212989 Centerline is valid? [True, True] Translation: X:17.90, Y:0.47, Z:0.08 [[ 9.97968092e-01 -6.15422185e-02 -1.64997954e-02 1.79044807e+01] [ 6.15459937e-02 9.98104209e-01 -2.79367649e-04 4.71223828e-01] [ 1.64857082e-02 -7.36696306e-04 9.99863830e-01 7.99812328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529254153999997 meters Centerline goodness [0,1] 0.9994186922729132 Centerline is valid? [True, True] Translation: X:17.94, Y:0.47, Z:0.08 [[ 9.97989076e-01 -6.12540042e-02 -1.63018604e-02 1.79361741e+01] [ 6.12576741e-02 9.98121947e-01 -2.74591695e-04 4.69529780e-01] [ 1.62880645e-02 -7.24574543e-04 9.99867078e-01 8.00809728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559254153999994 meters Centerline goodness [0,1] 0.9992676832945636 Centerline is valid? [True, True] Translation: X:17.97, Y:0.47, Z:0.08 [[ 9.98000633e-01 -6.09528335e-02 -1.67178960e-02 1.79687179e+01] [ 6.09566689e-02 9.98140374e-01 -2.80528974e-04 4.72001519e-01] [ 1.67039060e-02 -7.39099157e-04 9.99860207e-01 8.02847850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589254153999995 meters Centerline goodness [0,1] 0.9995256576110393 Centerline is valid? [True, True] Translation: X:18.00, Y:0.47, Z:0.08 [[ 9.98030851e-01 -6.03652544e-02 -1.70427901e-02 1.80007729e+01] [ 6.03691763e-02 9.98176077e-01 -2.84725322e-04 4.73027740e-01] [ 1.70288929e-02 -7.44694546e-04 9.99854721e-01 8.06754861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619254153999997 meters Centerline goodness [0,1] 0.9992030327833542 Centerline is valid? [True, True] Translation: X:18.03, Y:0.48, Z:0.08 [[ 9.98063387e-01 -5.97293077e-02 -1.73748544e-02 1.80334104e+01] [ 5.97333126e-02 9.98214330e-01 -2.88836305e-04 4.76444110e-01] [ 1.73610806e-02 -7.49580670e-04 9.99849004e-01 8.12459112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649254153999994 meters Centerline goodness [0,1] 0.9995043103448276 Centerline is valid? [True, True] Translation: X:18.06, Y:0.48, Z:0.08 [[ 9.98172682e-01 -5.75496038e-02 -1.84211625e-02 1.80646605e+01] [ 5.75537614e-02 9.98342362e-01 -3.04807578e-04 4.78347361e-01] [ 1.84081685e-02 -7.55956597e-04 9.99830270e-01 8.11980457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679254153999995 meters Centerline goodness [0,1] 0.9994164054901113 Centerline is valid? [True, True] Translation: X:18.10, Y:0.48, Z:0.08 [[ 9.98238685e-01 -5.64032566e-02 -1.83902225e-02 1.80961841e+01] [ 5.64072247e-02 9.98407799e-01 -3.03288119e-04 4.78694784e-01] [ 1.83780480e-02 -7.34587477e-04 9.99830840e-01 8.07703861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.709254153999996 meters Centerline goodness [0,1] 0.9991559355048155 Centerline is valid? [True, True] Translation: X:18.13, Y:0.48, Z:0.08 [[ 9.98424702e-01 -5.26445623e-02 -1.94078256e-02 1.81277445e+01] [ 5.26482937e-02 9.98613066e-01 -3.18984869e-04 4.84328755e-01] [ 1.93977011e-02 -7.03306530e-04 9.99811600e-01 8.04398635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739254153999997 meters Centerline goodness [0,1] 0.9993295702761738 Centerline is valid? [True, True] Translation: X:18.16, Y:0.49, Z:0.08 [[ 9.98533074e-01 -5.06656011e-02 -1.90970252e-02 1.81592950e+01] [ 5.06688754e-02 9.98715459e-01 -3.12671583e-04 4.86408077e-01] [ 1.90883360e-02 -6.55411876e-04 9.99817586e-01 8.12242115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.769254153999995 meters Centerline goodness [0,1] 0.9995667619790313 Centerline is valid? [True, True] Translation: X:18.19, Y:0.49, Z:0.08 [[ 9.98633688e-01 -4.84040619e-02 -1.96927231e-02 1.81910247e+01] [ 4.84071327e-02 9.98827636e-01 -3.20993309e-04 4.88855006e-01] [ 1.96851735e-02 -6.32713529e-04 9.99806028e-01 8.13764863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799254153999996 meters Centerline goodness [0,1] 0.9994773405344193 Centerline is valid? [True, True] Translation: X:18.22, Y:0.50, Z:0.08 [[ 9.98818238e-01 -4.40901679e-02 -2.04495566e-02 1.82221143e+01] [ 4.40925984e-02 9.99027393e-01 -3.32232050e-04 4.95604686e-01] [ 2.04443154e-02 -5.69834657e-04 9.99790831e-01 8.18775441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829254153999997 meters Centerline goodness [0,1] 0.9992810770772516 Centerline is valid? [True, True] Translation: X:18.25, Y:0.50, Z:0.08 [[ 9.98916187e-01 -4.19067699e-02 -2.02552063e-02 1.82532941e+01] [ 4.19087426e-02 9.99121389e-01 -3.27261648e-04 4.96729292e-01] [ 2.02511244e-02 -5.21963271e-04 9.99794789e-01 8.11966931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859254153999995 meters Centerline goodness [0,1] 0.9995844723892837 Centerline is valid? [True, True] Translation: X:18.29, Y:0.50, Z:0.08 [[ 9.99045800e-01 -3.80242126e-02 -2.14860354e-02 1.82850599e+01] [ 3.80255778e-02 9.99276707e-01 -3.45161881e-04 5.02688857e-01] [ 2.14836192e-02 -4.72186386e-04 9.99769089e-01 8.15345900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.889254153999996 meters Centerline goodness [0,1] 0.9996724819319199 Centerline is valid? [True, True] Translation: X:18.32, Y:0.51, Z:0.08 [[ 9.99113865e-01 -3.60230647e-02 -2.17674838e-02 1.83167703e+01] [ 3.60240170e-02 9.99350864e-01 -3.48500168e-04 5.07202972e-01] [ 2.17659078e-02 -4.35960858e-04 9.99763000e-01 8.26800256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919254153999997 meters Centerline goodness [0,1] 0.9996931237807151 Centerline is valid? [True, True] Translation: X:18.35, Y:0.51, Z:0.08 [[ 9.99166966e-01 -3.43511990e-02 -2.20310896e-02 1.83478060e+01] [ 3.43518156e-02 9.99409741e-01 -3.50571725e-04 5.09333363e-01] [ 2.20301281e-02 -4.06528241e-04 9.99757225e-01 8.28784831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.949254153999995 meters Centerline goodness [0,1] 0.9997591205711033 Centerline is valid? [True, True] Translation: X:18.38, Y:0.51, Z:0.08 [[ 9.99237423e-01 -3.19646927e-02 -2.24239015e-02 1.83784917e+01] [ 3.19647780e-02 9.99488933e-01 -3.54723199e-04 5.12138779e-01] [ 2.24237800e-02 -3.62322338e-04 9.99748490e-01 8.24503711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979254153999996 meters Centerline goodness [0,1] 0.9996269557393956 Centerline is valid? [True, True] Translation: X:18.41, Y:0.51, Z:0.08 [[ 9.99245384e-01 -3.14430370e-02 -2.28034471e-02 1.84086238e+01] [ 3.14430039e-02 9.99505482e-01 -3.60090004e-04 5.13947574e-01] [ 2.28034927e-02 -3.57190602e-04 9.99739903e-01 8.29697723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.009254153999997 meters Centerline goodness [0,1] 0.9995614419787738 Centerline is valid? [True, True] Translation: X:18.44, Y:0.52, Z:0.08 [[ 9.99246229e-01 -3.14017570e-02 -2.28233121e-02 1.84389796e+01] [ 3.14017131e-02 9.99506780e-01 -3.60403693e-04 5.16258691e-01] [ 2.28233725e-02 -3.56559068e-04 9.99739449e-01 8.40851022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039254153999995 meters Centerline goodness [0,1] 0.9996921723834653 Centerline is valid? [True, True] Translation: X:18.47, Y:0.52, Z:0.08 [[ 9.99251621e-01 -3.13234015e-02 -2.26945476e-02 1.84697992e+01] [ 3.13233379e-02 9.99509240e-01 -3.58370368e-04 5.17780367e-01] [ 2.26946354e-02 -3.52766812e-04 9.99742381e-01 8.48801144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069254153999996 meters Centerline goodness [0,1] 0.9996034718244702 Centerline is valid? [True, True] Translation: X:18.50, Y:0.52, Z:0.09 [[ 9.99229678e-01 -3.24769684e-02 -2.20294743e-02 1.85002616e+01] [ 3.24771937e-02 9.99472416e-01 -3.47636563e-04 5.18600550e-01] [ 2.20291421e-02 -3.68086734e-04 9.99757261e-01 8.52952225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099254153999997 meters Centerline goodness [0,1] 0.999560023758717 Centerline is valid? [True, True] Translation: X:18.53, Y:0.52, Z:0.09 [[ 9.99206073e-01 -3.33579848e-02 -2.17823196e-02 1.85313674e+01] [ 3.33584279e-02 9.99443394e-01 -3.43113913e-04 5.19317586e-01] [ 2.17816410e-02 -3.83782430e-04 9.99762678e-01 8.60598276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.129254153999995 meters Centerline goodness [0,1] 0.9998897220996912 Centerline is valid? [True, True] Translation: X:18.56, Y:0.52, Z:0.09 [[ 9.99132265e-01 -3.62636030e-02 -2.04858138e-02 1.85616146e+01] [ 3.62646159e-02 9.99342171e-01 -3.22168431e-04 5.17967967e-01] [ 2.04840206e-02 -4.21021296e-04 9.99790092e-01 8.65454701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159254153999996 meters Centerline goodness [0,1] 0.9996705396560434 Centerline is valid? [True, True] Translation: X:18.59, Y:0.52, Z:0.09 [[ 9.99075648e-01 -3.80002760e-02 -2.00954716e-02 1.85940429e+01] [ 3.80016208e-02 9.99277628e-01 -3.15079399e-04 5.18510955e-01] [ 2.00929283e-02 -4.48872335e-04 9.99798016e-01 8.73949058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189254153999997 meters Centerline goodness [0,1] 0.9998020063357973 Centerline is valid? [True, True] Translation: X:18.63, Y:0.52, Z:0.09 [[ 9.99003918e-01 -3.98327611e-02 -2.01127641e-02 1.86251675e+01] [ 3.98345050e-02 9.99206242e-01 -3.14079871e-04 5.17191013e-01] [ 2.01093101e-02 -4.87414981e-04 9.99797669e-01 8.74387673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219254153999994 meters Centerline goodness [0,1] 0.9995603042694455 Centerline is valid? [True, True] Translation: X:18.66, Y:0.52, Z:0.09 [[ 9.98807196e-01 -4.45105912e-02 -2.00746565e-02 1.86564410e+01] [ 4.45132903e-02 9.99008743e-01 -3.12589845e-04 5.16353721e-01] [ 2.00686709e-02 -5.81372025e-04 9.99798435e-01 8.78056911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249254153999996 meters Centerline goodness [0,1] 0.9998245306194069 Centerline is valid? [True, True] Translation: X:18.69, Y:0.52, Z:0.09 [[ 9.98695741e-01 -4.69046367e-02 -2.01685882e-02 1.86882896e+01] [ 4.69078673e-02 9.98899171e-01 -3.13130449e-04 5.15304936e-01] [ 2.01610733e-02 -6.33343412e-04 9.99796544e-01 8.80806493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279254153999997 meters Centerline goodness [0,1] 0.9996932380910645 Centerline is valid? [True, True] Translation: X:18.72, Y:0.51, Z:0.09 [[ 9.98474377e-01 -5.13020560e-02 -2.04210173e-02 1.87191183e+01] [ 5.13063010e-02 9.98682914e-01 -3.16334216e-04 5.14511257e-01] [ 2.04103497e-02 -7.31875254e-04 9.99791419e-01 8.79509312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309254153999994 meters Centerline goodness [0,1] 0.9998027310786226 Centerline is valid? [True, True] Translation: X:18.75, Y:0.51, Z:0.09 [[ 9.98397763e-01 -5.27124557e-02 -2.05743448e-02 1.87512679e+01] [ 5.27170843e-02 9.98609437e-01 -3.17712243e-04 5.13787510e-01] [ 2.05624823e-02 -7.67416278e-04 9.99788275e-01 8.79134709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339254153999995 meters Centerline goodness [0,1] 0.99989031720265 Centerline is valid? [True, True] Translation: X:18.78, Y:0.51, Z:0.09 [[ 9.98431706e-01 -5.16661518e-02 -2.15577764e-02 1.87827572e+01] [ 5.16710200e-02 9.98664106e-01 -3.31510817e-04 5.12638179e-01] [ 2.15461054e-02 -7.82921385e-04 9.99767549e-01 8.58750551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369254153999997 meters Centerline goodness [0,1] 0.9998902907295667 Centerline is valid? [True, True] Translation: X:18.81, Y:0.51, Z:0.09 [[ 9.98515742e-01 -5.01449468e-02 -2.12555357e-02 1.88143028e+01] [ 5.01493594e-02 9.98741676e-01 -3.25722174e-04 5.12871615e-01] [ 2.12451227e-02 -7.40712781e-04 9.99774023e-01 8.58592679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399254153999994 meters Centerline goodness [0,1] 0.9996705034706967 Centerline is valid? [True, True] Translation: X:18.85, Y:0.52, Z:0.09 [[ 9.98624400e-01 -4.80647332e-02 -2.09544689e-02 1.88461490e+01] [ 4.80685920e-02 9.98843986e-01 -3.19784396e-04 5.17354074e-01] [ 2.09456156e-02 -6.87907315e-04 9.99780380e-01 8.73179055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429254153999995 meters Centerline goodness [0,1] 0.99966982170372 Centerline is valid? [True, True] Translation: X:18.88, Y:0.53, Z:0.09 [[ 9.98875717e-01 -4.27921939e-02 -2.03992571e-02 1.88775253e+01] [ 4.27947776e-02 9.99083836e-01 -3.10062329e-04 5.25417249e-01] [ 2.03938363e-02 -5.63267940e-04 9.99791865e-01 8.97377741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459254153999996 meters Centerline goodness [0,1] 0.9997354788934201 Centerline is valid? [True, True] Translation: X:18.91, Y:0.53, Z:0.09 [[ 9.99017243e-01 -3.97818391e-02 -1.95436438e-02 1.89080712e+01] [ 3.97836479e-02 9.99208273e-01 -2.96389899e-04 5.27786522e-01] [ 1.95399615e-02 -4.81418823e-04 9.99808961e-01 9.02104296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489254153999994 meters Centerline goodness [0,1] 0.9997790494708235 Centerline is valid? [True, True] Translation: X:18.94, Y:0.53, Z:0.09 [[ 9.99223121e-01 -3.47343219e-02 -1.86193952e-02 1.89391118e+01] [ 3.47350967e-02 9.99396515e-01 -2.81884076e-04 5.33198522e-01] [ 1.86179497e-02 -3.65081407e-04 9.99826604e-01 9.06388843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519254153999995 meters Centerline goodness [0,1] 0.9998232669111474 Centerline is valid? [True, True] Translation: X:18.97, Y:0.53, Z:0.09 [[ 9.99296376e-01 -3.26422518e-02 -1.84726065e-02 1.89704455e+01] [ 3.26426845e-02 9.99467047e-01 -2.78175932e-04 5.34755348e-01] [ 1.84718418e-02 -3.25015266e-04 9.99829328e-01 9.03268564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.549254153999996 meters Centerline goodness [0,1] 0.9998007659442587 Centerline is valid? [True, True] Translation: X:19.00, Y:0.54, Z:0.09 [[ 9.99344449e-01 -3.09009178e-02 -1.88628244e-02 1.90028283e+01] [ 3.09010949e-02 9.99522407e-01 -2.82144643e-04 5.38024615e-01] [ 1.88625342e-02 -3.00922244e-04 9.99822041e-01 9.10875242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579254153999997 meters Centerline goodness [0,1] 0.9998007703546288 Centerline is valid? [True, True] Translation: X:19.03, Y:0.54, Z:0.09 [[ 9.99404490e-01 -2.88640473e-02 -1.89085088e-02 1.90339410e+01] [ 2.88638804e-02 9.99583312e-01 -2.81793199e-04 5.40131780e-01] [ 1.89087636e-02 -2.64147550e-04 9.99821178e-01 9.06288113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609254153999995 meters Centerline goodness [0,1] 0.9997786582261671 Centerline is valid? [True, True] Translation: X:19.06, Y:0.54, Z:0.09 [[ 9.99425037e-01 -2.80562413e-02 -1.90379070e-02 1.90641886e+01] [ 2.80559355e-02 9.99606315e-01 -2.83201399e-04 5.40446622e-01] [ 1.90383576e-02 -2.51087723e-04 9.99818723e-01 9.03193251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639254153999996 meters Centerline goodness [0,1] 0.9999115904871364 Centerline is valid? [True, True] Translation: X:19.10, Y:0.54, Z:0.09 [[ 9.99430976e-01 -2.74273057e-02 -1.96332955e-02 1.90954085e+01] [ 2.74268700e-02 9.99623770e-01 -2.91508832e-04 5.41649684e-01] [ 1.96339042e-02 -2.47136887e-04 9.99807206e-01 9.03259260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669254153999997 meters Centerline goodness [0,1] 0.9998010873889405 Centerline is valid? [True, True] Translation: X:19.13, Y:0.54, Z:0.09 [[ 9.99393230e-01 -2.81638117e-02 -2.04931953e-02 1.91253972e+01] [ 2.81635032e-02 9.99603284e-01 -3.03718793e-04 5.41630402e-01] [ 2.04936192e-02 -2.73625667e-04 9.99789946e-01 9.01906121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699254153999995 meters Centerline goodness [0,1] 0.9997357061051889 Centerline is valid? [True, True] Translation: X:19.16, Y:0.54, Z:0.09 [[ 9.99381367e-01 -2.84430845e-02 -2.06851310e-02 1.91561330e+01] [ 2.84428378e-02 9.99595374e-01 -3.06189760e-04 5.41006821e-01] [ 2.06854702e-02 -2.82343485e-04 9.99785993e-01 8.96324098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729254153999996 meters Centerline goodness [0,1] 0.9998008893608549 Centerline is valid? [True, True] Translation: X:19.19, Y:0.54, Z:0.09 [[ 9.99308879e-01 -3.00710877e-02 -2.18516460e-02 1.91867672e+01] [ 3.00712054e-02 9.99547707e-01 -3.23279807e-04 5.39284316e-01] [ 2.18514840e-02 -3.34048953e-04 9.99761172e-01 8.86552717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759254153999997 meters Centerline goodness [0,1] 0.9998228795359444 Centerline is valid? [True, True] Translation: X:19.22, Y:0.54, Z:0.09 [[ 9.99261015e-01 -3.12990366e-02 -2.23113025e-02 1.92173502e+01] [ 3.12994653e-02 9.99509997e-01 -3.30080103e-04 5.38052518e-01] [ 2.23107011e-02 -3.68495659e-04 9.99751017e-01 8.85243228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789254153999995 meters Centerline goodness [0,1] 0.9998235047543407 Centerline is valid? [True, True] Translation: X:19.25, Y:0.54, Z:0.09 [[ 9.99216964e-01 -3.30737847e-02 -2.17159975e-02 1.92482042e+01] [ 3.30746097e-02 9.99452834e-01 -3.21272982e-04 5.36583424e-01] [ 2.17147410e-02 -3.97226727e-04 9.99764128e-01 8.90086431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819254153999996 meters Centerline goodness [0,1] 0.9995793947712129 Centerline is valid? [True, True] Translation: X:19.28, Y:0.54, Z:0.09 [[ 9.99197803e-01 -3.39862479e-02 -2.11821748e-02 1.92783142e+01] [ 3.39872421e-02 9.99422218e-01 -3.13164360e-04 5.36246269e-01] [ 2.11805794e-02 -4.07010562e-04 9.99775584e-01 8.95886831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849254153999997 meters Centerline goodness [0,1] 0.9995793947712129 Centerline is valid? [True, True] Translation: X:19.31, Y:0.54, Z:0.09 [[ 9.99199016e-01 -3.39505754e-02 -2.11821835e-02 1.93091665e+01] [ 3.39515741e-02 9.99423430e-01 -3.12575307e-04 5.36671601e-01] [ 2.11805826e-02 -4.06843533e-04 9.99775584e-01 8.98776944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879254153999995 meters Centerline goodness [0,1] 0.9997130052762876 Centerline is valid? [True, True] Translation: X:19.34, Y:0.54, Z:0.09 [[ 9.99208373e-01 -3.41537532e-02 -2.03996933e-02 1.93404617e+01] [ 3.41547365e-02 9.99416512e-01 -3.00311229e-04 5.36942952e-01] [ 2.03980470e-02 -3.96672652e-04 9.99791860e-01 9.11599783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909254153999996 meters Centerline goodness [0,1] 0.9997123766538343 Centerline is valid? [True, True] Translation: X:19.37, Y:0.54, Z:0.09 [[ 9.99251992e-01 -3.41131485e-02 -1.82140141e-02 1.93714211e+01] [ 3.41139509e-02 9.99417914e-01 -2.66735452e-04 5.36936696e-01] [ 1.82125112e-02 -3.54816050e-04 9.99834076e-01 9.32169038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939254153999997 meters Centerline goodness [0,1] 0.9999337280197932 Centerline is valid? [True, True] Translation: X:19.40, Y:0.54, Z:0.09 [[ 9.99271164e-01 -3.40679141e-02 -1.72196789e-02 1.94031466e+01] [ 3.40686530e-02 9.99419464e-01 -2.50517034e-04 5.36949237e-01] [ 1.72182168e-02 -3.36316818e-04 9.99851699e-01 9.42733129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969254153999994 meters Centerline goodness [0,1] 0.9996910447102441 Centerline is valid? [True, True] Translation: X:19.43, Y:0.54, Z:0.09 [[ 9.99277523e-01 -3.42955209e-02 -1.63783309e-02 1.94348811e+01] [ 3.42962383e-02 9.99411683e-01 -2.37152725e-04 5.36930050e-01] [ 1.63768285e-02 -3.24733752e-04 9.99865838e-01 9.49770484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999254153999996 meters Centerline goodness [0,1] 0.9996689983891255 Centerline is valid? [True, True] Translation: X:19.47, Y:0.53, Z:0.10 [[ 9.99265059e-01 -3.54523846e-02 -1.45763466e-02 1.94665493e+01] [ 3.54530883e-02 9.99371320e-01 -2.10200378e-04 5.34826860e-01] [ 1.45746348e-02 -3.06730610e-04 9.99893737e-01 9.59399263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029254153999997 meters Centerline goodness [0,1] 0.9998232395766588 Centerline is valid? [True, True] Translation: X:19.50, Y:0.54, Z:0.10 [[ 9.99250308e-01 -3.61868090e-02 -1.37599684e-02 1.94982635e+01] [ 3.61875153e-02 9.99344998e-01 -1.97730068e-04 5.35007596e-01] [ 1.37581108e-02 -3.00357236e-04 9.99905308e-01 9.66321674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059254153999994 meters Centerline goodness [0,1] 0.9994711093481423 Centerline is valid? [True, True] Translation: X:19.53, Y:0.53, Z:0.10 [[ 9.99198859e-01 -3.75775668e-02 -1.37683415e-02 1.95296113e+01] [ 3.75784159e-02 9.99293662e-01 -1.97119328e-04 5.32643707e-01] [ 1.37660236e-02 -3.20431055e-04 9.99905192e-01 9.66637042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089254153999995 meters Centerline goodness [0,1] 0.9998237807832944 Centerline is valid? [True, True] Translation: X:19.56, Y:0.53, Z:0.10 [[ 9.99178339e-01 -3.82002626e-02 -1.35420282e-02 1.95613077e+01] [ 3.82011519e-02 9.99270051e-01 -1.93091188e-04 5.34893271e-01] [ 1.35395193e-02 -3.24388543e-04 9.99908284e-01 9.75847093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119254153999997 meters Centerline goodness [0,1] 0.9998896393413675 Centerline is valid? [True, True] Translation: X:19.59, Y:0.53, Z:0.10 [[ 9.99162432e-01 -3.86904550e-02 -1.33222862e-02 1.95930786e+01] [ 3.86913718e-02 9.99251191e-01 -1.89009464e-04 5.34427421e-01] [ 1.33196232e-02 -3.26606372e-04 9.99911237e-01 9.76514737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149254153999994 meters Centerline goodness [0,1] 0.999735455567558 Centerline is valid? [True, True] Translation: X:19.62, Y:0.53, Z:0.10 [[ 9.99084720e-01 -4.04236137e-02 -1.39876133e-02 1.96249283e+01] [ 4.04248087e-02 9.99182564e-01 -1.97406177e-04 5.33356220e-01] [ 1.39841592e-02 -3.68221098e-04 9.99902149e-01 9.71995904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179254153999995 meters Centerline goodness [0,1] 0.9998238738937079 Centerline is valid? [True, True] Translation: X:19.66, Y:0.53, Z:0.10 [[ 9.99053294e-01 -4.10862074e-02 -1.42982285e-02 1.96575875e+01] [ 4.10875391e-02 9.99155530e-01 -2.00731390e-04 5.32324010e-01] [ 1.42944014e-02 -3.86937666e-04 9.99897755e-01 9.67964536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209254153999996 meters Centerline goodness [0,1] 0.9996702137015214 Centerline is valid? [True, True] Translation: X:19.69, Y:0.53, Z:0.10 [[ 9.99000822e-01 -4.20680832e-02 -1.50875181e-02 1.96899250e+01] [ 4.20696950e-02 9.99114656e-01 -2.10672943e-04 5.31392255e-01] [ 1.50830231e-02 -4.24264843e-04 9.99886155e-01 9.63188123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239254153999994 meters Centerline goodness [0,1] 0.999604916593503 Centerline is valid? [True, True] Translation: X:19.72, Y:0.53, Z:0.09 [[ 9.98944762e-01 -4.28170349e-02 -1.66151548e-02 1.97215335e+01] [ 4.28191124e-02 9.99082815e-01 -2.30857315e-04 5.29478961e-01] [ 1.66098002e-02 -4.80832474e-04 9.99861932e-01 9.49954809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269254153999995 meters Centerline goodness [0,1] 0.9996265952072396 Centerline is valid? [True, True] Translation: X:19.75, Y:0.53, Z:0.09 [[ 9.98935002e-01 -4.28117952e-02 -1.72049715e-02 1.97538414e+01] [ 4.28140407e-02 9.99083030e-01 -2.37965414e-04 5.29310202e-01] [ 1.71993828e-02 -4.98902369e-04 9.99851955e-01 9.48675686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299254153999996 meters Centerline goodness [0,1] 0.9995830315798714 Centerline is valid? [True, True] Translation: X:19.79, Y:0.53, Z:0.10 [[ 9.98994403e-01 -4.13190254e-02 -1.74046396e-02 1.97862805e+01] [ 4.13211189e-02 9.99145889e-01 -2.39469378e-04 5.31509692e-01] [ 1.73996688e-02 -4.79950617e-04 9.99848499e-01 9.58919448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329254153999994 meters Centerline goodness [0,1] 0.9996929285839621 Centerline is valid? [True, True] Translation: X:19.82, Y:0.53, Z:0.10 [[ 9.99048978e-01 -4.00053735e-02 -1.73409954e-02 1.98173597e+01] [ 4.00072731e-02 9.99199360e-01 -2.37489835e-04 5.32331479e-01] [ 1.73366124e-02 -4.56501963e-04 9.99849605e-01 9.66357687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359254153999995 meters Centerline goodness [0,1] 0.9997580822520343 Centerline is valid? [True, True] Translation: X:19.85, Y:0.54, Z:0.10 [[ 9.99202320e-01 -3.63841554e-02 -1.64595316e-02 1.98490113e+01] [ 3.63853909e-02 9.99337807e-01 -2.24496447e-04 5.35232587e-01] [ 1.64568004e-02 -3.74569121e-04 9.99864508e-01 9.80640063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389254153999996 meters Centerline goodness [0,1] 0.9996042651423547 Centerline is valid? [True, True] Translation: X:19.88, Y:0.54, Z:0.10 [[ 9.99284326e-01 -3.41280897e-02 -1.63128596e-02 1.98808039e+01] [ 3.41290204e-02 9.99417411e-01 -2.21411638e-04 5.37524026e-01] [ 1.63109123e-02 -3.35488740e-04 9.99866912e-01 9.84942568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419254153999997 meters Centerline goodness [0,1] 0.9996479493046999 Centerline is valid? [True, True] Translation: X:19.91, Y:0.54, Z:0.10 [[ 9.99441179e-01 -2.89357843e-02 -1.67347007e-02 1.99112917e+01] [ 2.89360501e-02 9.99581239e-01 -2.26305963e-04 5.40159478e-01] [ 1.67342412e-02 -2.58056639e-04 9.99859939e-01 9.80975311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449254153999995 meters Centerline goodness [0,1] 0.9999339046905638 Centerline is valid? [True, True] Translation: X:19.94, Y:0.54, Z:0.10 [[ 9.99518315e-01 -2.59834815e-02 -1.69704703e-02 1.99424234e+01] [ 2.59833369e-02 9.99662350e-01 -2.29049259e-04 5.43441350e-01] [ 1.69706918e-02 -2.12010519e-04 9.99855965e-01 9.89637254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479254153999996 meters Centerline goodness [0,1] 0.9997355138745013 Centerline is valid? [True, True] Translation: X:19.97, Y:0.55, Z:0.10 [[ 9.99599171e-01 -2.24046061e-02 -1.73069640e-02 1.99738712e+01] [ 2.24039303e-02 9.99748973e-01 -2.32958886e-04 5.46560698e-01] [ 1.73078389e-02 -1.54878506e-04 9.99850196e-01 9.93956088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509254153999997 meters Centerline goodness [0,1] 0.9998234619119075 Centerline is valid? [True, True] Translation: X:20.00, Y:0.55, Z:0.10 [[ 9.99676188e-01 -1.86267392e-02 -1.73367738e-02 2.00045928e+01] [ 1.86254989e-02 9.99826503e-01 -2.33020947e-04 5.50173420e-01] [ 1.73381063e-02 -8.99605685e-05 9.99849680e-01 1.00193807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539254153999995 meters Centerline goodness [0,1] 0.9997345954792763 Centerline is valid? [True, True] Translation: X:20.03, Y:0.56, Z:0.10 [[ 9.99790337e-01 -9.92415894e-03 -1.79106852e-02 2.00327088e+01] [ 9.92142831e-03 9.99950752e-01 -2.41310904e-04 5.57101114e-01] [ 1.79121979e-02 6.35607313e-05 9.99839562e-01 1.01367935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569254153999996 meters Centerline goodness [0,1] 0.9998232356710416 Centerline is valid? [True, True] Translation: X:20.06, Y:0.56, Z:0.10 [[ 9.99821455e-01 -5.96081344e-03 -1.79311885e-02 2.00609337e+01] [ 5.95738930e-03 9.99982225e-01 -2.44370157e-04 5.60629576e-01] [ 1.79323264e-02 1.37503455e-04 9.99839193e-01 1.02312263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599254153999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.09, Y:0.56, Z:0.10 [[ 9.99829768e-01 -1.49955313e-03 -1.83898591e-02 2.00897634e+01] [ 1.49511116e-03 9.99998850e-01 -2.55290613e-04 5.63993482e-01] [ 1.83902208e-02 2.27752271e-04 9.99830860e-01 1.02838149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629254153999995 meters Centerline goodness [0,1] 0.9999336532719995 Centerline is valid? [True, True] Translation: X:20.12, Y:0.57, Z:0.10 [[ 9.99802611e-01 6.62161896e-03 -1.87321599e-02 2.01190971e+01] [-6.62770672e-03 9.99978002e-01 -2.62926991e-04 5.69101484e-01] [ 1.87300068e-02 3.87026354e-04 9.99824503e-01 1.03450713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659254153999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.15, Y:0.57, Z:0.10 [[ 9.99773216e-01 1.00130084e-02 -1.87951064e-02 2.01468891e+01] [-1.00197689e-02 9.99949766e-01 -2.65558736e-04 5.71943022e-01] [ 1.87915032e-02 4.53821135e-04 9.99823321e-01 1.03716138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689254153999997 meters Centerline goodness [0,1] 0.9999556698288855 Centerline is valid? [True, True] Translation: X:20.18, Y:0.58, Z:0.10 [[ 9.99723417e-01 1.41865668e-02 -1.87571459e-02 2.01756966e+01] [-1.41940664e-02 9.99899224e-01 -2.66749686e-04 5.75425719e-01] [ 1.87514714e-02 5.32916083e-04 9.99824034e-01 1.04817931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719254153999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.20, Y:0.57, Z:0.11 [[ 9.99708088e-01 1.47736590e-02 -1.91174707e-02 2.02048582e+01] [-1.47816128e-02 9.99890708e-01 -2.74800482e-04 5.74496320e-01] [ 1.91113216e-02 5.57307315e-04 9.99817207e-01 1.05944134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749254153999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.23, Y:0.57, Z:0.11 [[ 9.99711217e-01 1.41110476e-02 -1.94514978e-02 2.02340826e+01] [-1.41192168e-02 9.99900279e-01 -2.82702031e-04 5.73261132e-01] [ 1.94455689e-02 5.57260308e-04 9.99810762e-01 1.06840185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779254153999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.26, Y:0.57, Z:0.11 [[ 9.99730466e-01 1.25510052e-02 -1.95311769e-02 2.02616585e+01] [-1.25589749e-02 9.99921092e-01 -2.85444149e-04 5.73439553e-01] [ 1.95260531e-02 5.30658772e-04 9.99809208e-01 1.07082939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809254153999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.29, Y:0.57, Z:0.11 [[ 9.99784028e-01 6.66072948e-03 -1.96858385e-02 2.02920217e+01] [-6.66770507e-03 9.99977729e-01 -2.88729707e-04 5.67148774e-01] [ 1.96834770e-02 4.19926715e-04 9.99806173e-01 1.07402769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839254153999995 meters Centerline goodness [0,1] 0.9998682650507179 Centerline is valid? [True, True] Translation: X:20.32, Y:0.56, Z:0.11 [[ 9.99786177e-01 -2.53429228e-03 -2.05225922e-02 2.03219714e+01] [ 2.52863578e-03 9.99996758e-01 -3.01568444e-04 5.58636773e-01] [ 2.05232899e-02 2.49609801e-04 9.99789344e-01 1.07524460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869254153999997 meters Centerline goodness [0,1] 0.9999121901960354 Centerline is valid? [True, True] Translation: X:20.35, Y:0.55, Z:0.11 [[ 9.99743981e-01 -8.32393244e-03 -2.10400552e-02 2.03511398e+01] [ 8.31924450e-03 9.99965346e-01 -3.10329989e-04 5.53930519e-01] [ 2.10419092e-02 1.35213175e-04 9.99778585e-01 1.07682501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899254153999994 meters Centerline goodness [0,1] 0.9999780668085013 Centerline is valid? [True, True] Translation: X:20.38, Y:0.55, Z:0.11 [[ 9.99666169e-01 -1.43055064e-02 -2.15151723e-02 2.03799595e+01] [ 1.43019566e-02 9.99897671e-01 -3.18862419e-04 5.49055407e-01] [ 2.15175322e-02 1.10469127e-05 9.99768471e-01 1.07812409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929254153999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.41, Y:0.54, Z:0.11 [[ 9.99550525e-01 -2.04859705e-02 -2.18877203e-02 2.04083466e+01] [ 2.04837339e-02 9.99790133e-01 -3.26402704e-04 5.44243719e-01] [ 2.18898134e-02 -1.22086244e-04 9.99760382e-01 1.09203338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959254153999996 meters Centerline goodness [0,1] 0.9999782476289916 Centerline is valid? [True, True] Translation: X:20.44, Y:0.53, Z:0.11 [[ 9.99243738e-01 -3.20323272e-02 -2.20427194e-02 2.04373538e+01] [ 3.20328280e-02 9.99486763e-01 -3.30459245e-04 5.32975746e-01] [ 2.20419916e-02 -3.75881308e-04 9.99756975e-01 1.08501448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989254153999994 meters Centerline goodness [0,1] 0.9998265093684942 Centerline is valid? [True, True] Translation: X:20.47, Y:0.53, Z:0.11 [[ 9.99045530e-01 -3.73749955e-02 -2.26083571e-02 2.04682928e+01] [ 3.73768895e-02 9.99301182e-01 -3.38937752e-04 5.28767181e-01] [ 2.26052258e-02 -5.06415819e-04 9.99744341e-01 1.09026594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019254153999995 meters Centerline goodness [0,1] 0.9998056407377014 Centerline is valid? [True, True] Translation: X:20.50, Y:0.52, Z:0.11 [[ 9.98685952e-01 -4.60646120e-02 -2.24593115e-02 2.04996952e+01] [ 4.60686941e-02 9.98938218e-01 -3.35889394e-04 5.19598369e-01] [ 2.24509372e-02 -6.99223131e-04 9.99747701e-01 1.09722346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049254153999996 meters Centerline goodness [0,1] 0.9997412064094546 Centerline is valid? [True, True] Translation: X:20.53, Y:0.52, Z:0.11 [[ 9.98531423e-01 -4.92385777e-02 -2.25955852e-02 2.05313546e+01] [ 4.92435563e-02 9.98786744e-01 -3.36366281e-04 5.16483871e-01] [ 2.25847331e-02 -7.76814668e-04 9.99744631e-01 1.10075232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079254153999994 meters Centerline goodness [0,1] 0.9997848027717403 Centerline is valid? [True, True] Translation: X:20.56, Y:0.51, Z:0.11 [[ 9.98384205e-01 -5.20531980e-02 -2.27912875e-02 2.05621982e+01] [ 5.20590272e-02 9.98643952e-01 -3.37889776e-04 5.08147174e-01] [ 2.27779697e-02 -8.49148438e-04 9.99740188e-01 1.08787265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109254153999995 meters Centerline goodness [0,1] 0.9996989441541406 Centerline is valid? [True, True] Translation: X:20.59, Y:0.51, Z:0.11 [[ 9.98147843e-01 -5.64260125e-02 -2.27373780e-02 2.05927921e+01] [ 5.64329598e-02 9.98406334e-01 -3.36502842e-04 5.08058323e-01] [ 2.27201297e-02 -9.47257950e-04 9.99741416e-01 1.11315833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139254153999996 meters Centerline goodness [0,1] 0.9996783669618543 Centerline is valid? [True, True] Translation: X:20.62, Y:0.50, Z:0.11 [[ 9.98072156e-01 -5.79306347e-02 -2.22713625e-02 2.06237063e+01] [ 5.79376933e-02 9.98320147e-01 -3.28734317e-04 5.04418349e-01] [ 2.22529937e-02 -9.62250802e-04 9.99751908e-01 1.11679864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169254153999994 meters Centerline goodness [0,1] 0.9996350835014811 Centerline is valid? [True, True] Translation: X:20.66, Y:0.50, Z:0.11 [[ 9.98012573e-01 -5.90260580e-02 -2.20641980e-02 2.06557708e+01] [ 5.90332840e-02 9.98255962e-01 -3.24268131e-04 5.02784775e-01] [ 2.20448575e-02 -9.78898393e-04 9.99756503e-01 1.12236773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199254153999995 meters Centerline goodness [0,1] 0.9993556701030928 Centerline is valid? [True, True] Translation: X:20.69, Y:0.50, Z:0.11 [[ 9.97886893e-01 -6.10240386e-02 -2.23117678e-02 2.06873656e+01] [ 6.10319726e-02 9.98135758e-01 -3.25815674e-04 5.04327981e-01] [ 2.22900558e-02 -1.03660401e-03 9.99751008e-01 1.14010214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229254153999996 meters Centerline goodness [0,1] 0.999570668040529 Centerline is valid? [True, True] Translation: X:20.72, Y:0.50, Z:0.11 [[ 9.97843004e-01 -6.16410976e-02 -2.25768555e-02 2.07188217e+01] [ 6.16494188e-02 9.98097812e-01 -3.27915481e-04 5.01458278e-01] [ 2.25541231e-02 -1.06464185e-03 9.99745057e-01 1.13557381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259254153999997 meters Centerline goodness [0,1] 0.9996365890677441 Centerline is valid? [True, True] Translation: X:20.75, Y:0.50, Z:0.11 [[ 9.97749028e-01 -6.29912606e-02 -2.29995411e-02 2.07510053e+01] [ 6.30002893e-02 9.98013453e-01 -3.32530325e-04 4.99417181e-01] [ 2.29747979e-02 -1.11719593e-03 9.99735420e-01 1.13386305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289254153999995 meters Centerline goodness [0,1] 0.9992289404356487 Centerline is valid? [True, True] Translation: X:20.78, Y:0.50, Z:0.11 [[ 9.97687946e-01 -6.37628004e-02 -2.35173893e-02 2.07822478e+01] [ 6.37724889e-02 9.97964406e-01 -3.38547509e-04 4.97314785e-01] [ 2.34911042e-02 -1.16199768e-03 9.99723371e-01 1.12610126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319254153999996 meters Centerline goodness [0,1] 0.9992926954732511 Centerline is valid? [True, True] Translation: X:20.81, Y:0.50, Z:0.11 [[ 9.97641732e-01 -6.42255964e-02 -2.42084172e-02 2.08139785e+01] [ 6.42360310e-02 9.97934673e-01 -3.47165829e-04 4.97335364e-01] [ 2.41807158e-02 -1.20870552e-03 9.99706873e-01 1.12702725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349254153999997 meters Centerline goodness [0,1] 0.9992938306477499 Centerline is valid? [True, True] Translation: X:20.85, Y:0.50, Z:0.11 [[ 9.97571941e-01 -6.49802730e-02 -2.50556765e-02 2.08457843e+01] [ 6.49917229e-02 9.97885739e-01 -3.57946188e-04 4.96156642e-01] [ 2.50259617e-02 -1.27133451e-03 9.99685993e-01 1.11475934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379254153999995 meters Centerline goodness [0,1] 0.9992306377158489 Centerline is valid? [True, True] Translation: X:20.88, Y:0.50, Z:0.11 [[ 9.97540066e-01 -6.52692061e-02 -2.55684940e-02 2.08779396e+01] [ 6.52812674e-02 9.97866837e-01 -3.63587828e-04 4.96759760e-01] [ 2.55376834e-02 -1.30645027e-03 9.99673006e-01 1.11516547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409254153999996 meters Centerline goodness [0,1] 0.9993580828073179 Centerline is valid? [True, True] Translation: X:20.91, Y:0.50, Z:0.11 [[ 9.97510934e-01 -6.52638907e-02 -2.66938316e-02 2.09099405e+01] [ 6.52770888e-02 9.97867105e-01 -3.77610240e-04 4.98083670e-01] [ 2.66615408e-02 -1.36582527e-03 9.99643585e-01 1.11492578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439254153999997 meters Centerline goodness [0,1] 0.9992508561643836 Centerline is valid? [True, True] Translation: X:20.94, Y:0.50, Z:0.11 [[ 9.97503963e-01 -6.52932677e-02 -2.68818519e-02 2.09424453e+01] [ 6.53067165e-02 9.97865166e-01 -3.78281258e-04 4.99134879e-01] [ 2.68491628e-02 -1.37822843e-03 9.99638546e-01 1.11910514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469254153999994 meters Centerline goodness [0,1] 0.9993789351951 Centerline is valid? [True, True] Translation: X:20.97, Y:0.50, Z:0.11 [[ 9.97546959e-01 -6.47648679e-02 -2.65626747e-02 2.09738969e+01] [ 6.47778555e-02 9.97899640e-01 -3.72160572e-04 4.95167524e-01] [ 2.65309864e-02 -1.34942546e-03 9.99647081e-01 1.10736597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499254153999996 meters Centerline goodness [0,1] 0.9992291220556745 Centerline is valid? [True, True] Translation: X:21.01, Y:0.50, Z:0.11 [[ 9.97542860e-01 -6.48171411e-02 -2.65891182e-02 2.10056453e+01] [ 6.48302207e-02 9.97896240e-01 -3.70736374e-04 5.02484865e-01] [ 2.65572112e-02 -1.35395298e-03 9.99646378e-01 1.13933162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529254153999997 meters Centerline goodness [0,1] 0.9994229536225689 Centerline is valid? [True, True] Translation: X:21.04, Y:0.50, Z:0.11 [[ 9.97587924e-01 -6.45752835e-02 -2.54630587e-02 2.10366641e+01] [ 6.45872392e-02 9.97912002e-01 -3.53478514e-04 5.00525416e-01] [ 2.54327178e-02 -1.29196276e-03 9.99675701e-01 1.14252601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559254153999994 meters Centerline goodness [0,1] 0.9991673960846267 Centerline is valid? [True, True] Translation: X:21.07, Y:0.50, Z:0.11 [[ 9.97594610e-01 -6.46163118e-02 -2.50943417e-02 2.10686829e+01] [ 6.46279774e-02 9.97909367e-01 -3.46728450e-04 5.00396434e-01] [ 2.50642830e-02 -1.27590212e-03 9.99685027e-01 1.14211457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589254153999995 meters Centerline goodness [0,1] 0.9991878780107286 Centerline is valid? [True, True] Translation: X:21.10, Y:0.50, Z:0.11 [[ 9.97600365e-01 -6.46156141e-02 -2.48663331e-02 2.11008006e+01] [ 6.46271121e-02 9.97909425e-01 -3.41812261e-04 5.00659616e-01] [ 2.48364346e-02 -1.26604726e-03 9.99690726e-01 1.14314580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619254153999997 meters Centerline goodness [0,1] 0.9991044203253939 Centerline is valid? [True, True] Translation: X:21.13, Y:0.50, Z:0.12 [[ 9.97600207e-01 -6.47568594e-02 -2.45025867e-02 2.11330726e+01] [ 6.47681085e-02 9.97900286e-01 -3.35071114e-04 5.01329215e-01] [ 2.44728365e-02 -1.25271918e-03 9.99699710e-01 1.15061345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649254153999994 meters Centerline goodness [0,1] 0.9991690458942345 Centerline is valid? [True, True] Translation: X:21.17, Y:0.50, Z:0.12 [[ 9.97628619e-01 -6.47769997e-02 -2.32611066e-02 2.11652778e+01] [ 6.47871805e-02 9.97899054e-01 -3.16462342e-04 5.02001576e-01] [ 2.32327357e-02 -1.19130962e-03 9.99729374e-01 1.16375944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679254153999995 meters Centerline goodness [0,1] 0.9994670759523353 Centerline is valid? [True, True] Translation: X:21.20, Y:0.50, Z:0.12 [[ 9.97664182e-01 -6.48631167e-02 -2.14232424e-02 2.11960547e+01] [ 6.48717985e-02 9.97893564e-01 -2.90195559e-04 5.00839344e-01] [ 2.13969387e-02 -1.10024655e-03 9.99770454e-01 1.17415988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709254153999996 meters Centerline goodness [0,1] 0.999465811965812 Centerline is valid? [True, True] Translation: X:21.23, Y:0.50, Z:0.12 [[ 9.97655263e-01 -6.52272039e-02 -2.07216847e-02 2.12286255e+01] [ 6.52354312e-02 9.97869861e-01 -2.79402429e-04 5.01397089e-01] [ 2.06957693e-02 -1.07304073e-03 9.99785244e-01 1.18411083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739254153999994 meters Centerline goodness [0,1] 0.999465811965812 Centerline is valid? [True, True] Translation: X:21.26, Y:0.50, Z:0.12 [[ 9.97662221e-01 -6.51206899e-02 -2.07217098e-02 2.12612090e+01] [ 6.51289332e-02 9.97876819e-01 -2.77526344e-04 5.01738962e-01] [ 2.06957866e-02 -1.07270531e-03 9.99785244e-01 1.18716155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769254153999995 meters Centerline goodness [0,1] 0.9994030996184101 Centerline is valid? [True, True] Translation: X:21.29, Y:0.50, Z:0.12 [[ 9.97661574e-01 -6.52902086e-02 -2.02131921e-02 2.12936477e+01] [ 6.52981219e-02 9.97865764e-01 -2.68974735e-04 5.00949446e-01] [ 2.01876138e-02 -1.05153773e-03 9.99795656e-01 1.19543855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799254153999996 meters Centerline goodness [0,1] 0.9993398777709163 Centerline is valid? [True, True] Translation: X:21.33, Y:0.50, Z:0.12 [[ 9.97648230e-01 -6.56922931e-02 -1.95584253e-02 2.13262430e+01] [ 6.56998053e-02 9.97839400e-01 -2.58908593e-04 4.99895364e-01] [ 1.95331756e-02 -1.02668503e-03 9.99808682e-01 1.19556493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829254153999994 meters Centerline goodness [0,1] 0.9993173042049794 Centerline is valid? [True, True] Translation: X:21.36, Y:0.50, Z:0.12 [[ 9.97597147e-01 -6.65165021e-02 -1.93774782e-02 2.13576805e+01] [ 6.65240654e-02 9.97784788e-01 -2.54736400e-04 4.97915179e-01] [ 1.93514972e-02 -1.03494432e-03 9.99812207e-01 1.19659778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859254153999995 meters Centerline goodness [0,1] 0.9992099925269563 Centerline is valid? [True, True] Translation: X:21.39, Y:0.50, Z:0.12 [[ 9.97582642e-01 -6.67569753e-02 -1.92971264e-02 2.13894302e+01] [ 6.67645543e-02 9.97768726e-01 -2.51943936e-04 4.96864101e-01] [ 1.92708882e-02 -1.03702914e-03 9.99813761e-01 1.19726609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889254153999996 meters Centerline goodness [0,1] 0.9991908696022486 Centerline is valid? [True, True] Translation: X:21.42, Y:0.49, Z:0.12 [[ 9.97530595e-01 -6.75798537e-02 -1.91226605e-02 2.14201273e+01] [ 6.75874815e-02 9.97713321e-01 -2.47854851e-04 4.93604752e-01] [ 1.90956831e-02 -1.04520967e-03 9.99817114e-01 1.19066260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919254153999994 meters Centerline goodness [0,1] 0.9991899381794926 Centerline is valid? [True, True] Translation: X:21.45, Y:0.49, Z:0.12 [[ 9.97523415e-01 -6.77672966e-02 -1.88316004e-02 2.14525597e+01] [ 6.77747601e-02 9.97700618e-01 -2.42330777e-04 4.92666077e-01] [ 1.88047214e-02 -1.03457657e-03 9.99822640e-01 1.19373021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949254153999995 meters Centerline goodness [0,1] 0.9992315737795897 Centerline is valid? [True, True] Translation: X:21.48, Y:0.49, Z:0.12 [[ 9.97555273e-01 -6.73840890e-02 -1.85165481e-02 2.14847430e+01] [ 6.73912621e-02 9.97726597e-01 -2.37028380e-04 4.92055310e-01] [ 1.84904244e-02 -1.01140464e-03 9.99828526e-01 1.19455668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979254153999996 meters Centerline goodness [0,1] 0.9992744809337857 Centerline is valid? [True, True] Translation: X:21.52, Y:0.50, Z:0.12 [[ 9.97642348e-01 -6.61018229e-02 -1.84470665e-02 2.15171461e+01] [ 6.61087477e-02 9.97812396e-01 -2.34832930e-04 5.00453070e-01] [ 1.84222345e-02 -9.85233188e-04 9.99829811e-01 1.21234608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009254153999994 meters Centerline goodness [0,1] 0.9991456277500107 Centerline is valid? [True, True] Translation: X:21.55, Y:0.50, Z:0.12 [[ 9.97811092e-01 -6.35660810e-02 -1.82312282e-02 2.15476007e+01] [ 6.35724529e-02 9.97977199e-01 -2.30420810e-04 4.99318632e-01] [ 1.82089970e-02 -9.29087452e-04 9.99833771e-01 1.21299893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039254153999995 meters Centerline goodness [0,1] 0.9992939213043199 Centerline is valid? [True, True] Translation: X:21.58, Y:0.50, Z:0.12 [[ 9.97905471e-01 -6.20725752e-02 -1.82117347e-02 2.15797015e+01] [ 6.20787159e-02 9.98071230e-01 -2.28494424e-04 5.02106744e-01] [ 1.81907917e-02 -9.02545268e-04 9.99834126e-01 1.22280864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069254153999996 meters Centerline goodness [0,1] 0.9994240982872257 Centerline is valid? [True, True] Translation: X:21.61, Y:0.50, Z:0.12 [[ 9.97991389e-01 -6.06324956e-02 -1.83545006e-02 2.16121809e+01] [ 6.06385147e-02 9.98159766e-01 -2.28940996e-04 5.02599420e-01] [ 1.83346053e-02 -8.84508509e-04 9.99831516e-01 1.22607154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099254153999997 meters Centerline goodness [0,1] 0.9992963902688642 Centerline is valid? [True, True] Translation: X:21.64, Y:0.50, Z:0.12 [[ 9.98076575e-01 -5.92384750e-02 -1.82744059e-02 2.16440614e+01] [ 5.92442326e-02 9.98243492e-01 -2.26622130e-04 5.02013683e-01] [ 1.82557315e-02 -8.56466917e-04 9.99832983e-01 1.22378511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129254153999995 meters Centerline goodness [0,1] 0.999187982135607 Centerline is valid? [True, True] Translation: X:21.68, Y:0.50, Z:0.12 [[ 9.98246692e-01 -5.62945571e-02 -1.82883603e-02 2.16759946e+01] [ 5.62998517e-02 9.98413880e-01 -2.25635949e-04 5.02809528e-01] [ 1.82720548e-02 -8.04391630e-04 9.99832728e-01 1.22353181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159254153999996 meters Centerline goodness [0,1] 0.9992950977250881 Centerline is valid? [True, True] Translation: X:21.71, Y:0.50, Z:0.12 [[ 9.98338809e-01 -5.46553795e-02 -1.82321801e-02 2.17077530e+01] [ 5.46603895e-02 9.98504978e-01 -2.23801750e-04 5.02138263e-01] [ 1.82171545e-02 -7.73148090e-04 9.99833755e-01 1.21735496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189254153999997 meters Centerline goodness [0,1] 0.999208928418712 Centerline is valid? [True, True] Translation: X:21.74, Y:0.50, Z:0.12 [[ 9.98517938e-01 -5.14032300e-02 -1.78783501e-02 2.17397060e+01] [ 5.14075467e-02 9.98677734e-01 -2.18349118e-04 5.03207938e-01] [ 1.78659340e-02 -7.01056606e-04 9.99840146e-01 1.21164271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219254153999994 meters Centerline goodness [0,1] 0.9993799444088091 Centerline is valid? [True, True] Translation: X:21.77, Y:0.51, Z:0.12 [[ 9.98641079e-01 -4.91839677e-02 -1.72317228e-02 2.17707362e+01] [ 4.91876611e-02 9.98789532e-01 -2.09680389e-04 5.07983940e-01] [ 1.72211772e-02 -6.38192689e-04 9.99851501e-01 1.22261708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249254153999996 meters Centerline goodness [0,1] 0.9991026024528866 Centerline is valid? [True, True] Translation: X:21.80, Y:0.51, Z:0.12 [[ 9.98754729e-01 -4.70358077e-02 -1.66320194e-02 2.18029665e+01] [ 4.70389654e-02 9.98893035e-01 -2.01509787e-04 5.09408793e-01] [ 1.66230865e-02 -5.81094132e-04 9.99861658e-01 1.22458414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279254153999997 meters Centerline goodness [0,1] 0.9992510966085375 Centerline is valid? [True, True] Translation: X:21.83, Y:0.51, Z:0.12 [[ 9.98990369e-01 -4.23823742e-02 -1.48988751e-02 2.18339496e+01] [ 4.23844032e-02 9.99101361e-01 -1.79688367e-04 5.11433807e-01] [ 1.48931020e-02 -4.51972980e-04 9.99888989e-01 1.23203519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309254153999994 meters Centerline goodness [0,1] 0.9991662925671776 Centerline is valid? [True, True] Translation: X:21.86, Y:0.51, Z:0.12 [[ 9.99094371e-01 -4.00970538e-02 -1.42360253e-02 2.18649558e+01] [ 4.00986828e-02 9.99195710e-01 -1.71102907e-04 5.12111375e-01] [ 1.42314362e-02 -3.99897914e-04 9.99898648e-01 1.23456470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339254153999995 meters Centerline goodness [0,1] 0.999209722548538 Centerline is valid? [True, True] Translation: X:21.90, Y:0.51, Z:0.12 [[ 9.99231250e-01 -3.67190346e-02 -1.37339512e-02 2.18960093e+01] [ 3.67202407e-02 9.99325571e-01 -1.64421805e-04 5.14161703e-01] [ 1.37307260e-02 -3.40018588e-04 9.99905671e-01 1.23224851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369254153999997 meters Centerline goodness [0,1] 0.999122731941116 Centerline is valid? [True, True] Translation: X:21.93, Y:0.51, Z:0.12 [[ 9.99274415e-01 -3.54616290e-02 -1.38966049e-02 2.19277790e+01] [ 3.54627516e-02 9.99370985e-01 -1.65704833e-04 5.14818097e-01] [ 1.38937399e-02 -3.27227247e-04 9.99903424e-01 1.22933097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399254153999994 meters Centerline goodness [0,1] 0.9991873048462295 Centerline is valid? [True, True] Translation: X:21.96, Y:0.52, Z:0.12 [[ 9.99303523e-01 -3.45726932e-02 -1.40426913e-02 2.19602572e+01] [ 3.45737659e-02 9.99402135e-01 -1.66440036e-04 5.15004272e-01] [ 1.40400500e-02 -3.19184609e-04 9.99901383e-01 1.22564724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429254153999995 meters Centerline goodness [0,1] 0.9993791612254073 Centerline is valid? [True, True] Translation: X:21.99, Y:0.51, Z:0.12 [[ 9.99327381e-01 -3.38180710e-02 -1.41817762e-02 2.19929760e+01] [ 3.38191046e-02 9.99427957e-01 -1.66996605e-04 5.14920896e-01] [ 1.41793111e-02 -3.12730693e-04 9.99899420e-01 1.21626799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459254153999996 meters Centerline goodness [0,1] 0.9992090298858438 Centerline is valid? [True, True] Translation: X:22.03, Y:0.52, Z:0.12 [[ 9.99339268e-01 -3.35755115e-02 -1.39180444e-02 2.20253804e+01] [ 3.35764995e-02 9.99436137e-01 -1.62747481e-04 5.16918377e-01] [ 1.39156609e-02 -3.04679261e-04 9.99903126e-01 1.21950360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489254153999994 meters Centerline goodness [0,1] 0.9991666310526091 Centerline is valid? [True, True] Translation: X:22.06, Y:0.52, Z:0.12 [[ 9.99331143e-01 -3.38773057e-02 -1.37693642e-02 2.20561210e+01] [ 3.38783140e-02 9.99425952e-01 -1.60081042e-04 5.15259208e-01] [ 1.37668831e-02 -3.06508874e-04 9.99905185e-01 1.21115354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519254153999995 meters Centerline goodness [0,1] 0.9989723827874117 Centerline is valid? [True, True] Translation: X:22.09, Y:0.52, Z:0.12 [[ 9.99327717e-01 -3.39754629e-02 -1.37761543e-02 2.20886013e+01] [ 3.39764931e-02 9.99422620e-01 -1.59323019e-04 5.15673785e-01] [ 1.37736133e-02 -3.08849504e-04 9.99905092e-01 1.21206976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549254153999996 meters Centerline goodness [0,1] 0.9992942987896155 Centerline is valid? [True, True] Translation: X:22.12, Y:0.52, Z:0.12 [[ 9.99320002e-01 -3.42023460e-02 -1.37743436e-02 2.21211887e+01] [ 3.42034113e-02 9.99414880e-01 -1.58299110e-04 5.15831800e-01] [ 1.37716982e-02 -3.12938073e-04 9.99905117e-01 1.21124349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579254153999994 meters Centerline goodness [0,1] 0.99886543648585 Centerline is valid? [True, True] Translation: X:22.15, Y:0.52, Z:0.12 [[ 9.99301407e-01 -3.46957054e-02 -1.38890660e-02 2.21529668e+01] [ 3.46968503e-02 9.99397870e-01 -1.58596138e-04 5.15819065e-01] [ 1.38862056e-02 -3.23421501e-04 9.99903530e-01 1.20932051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609254153999995 meters Centerline goodness [0,1] 0.9989940929714922 Centerline is valid? [True, True] Translation: X:22.18, Y:0.51, Z:0.12 [[ 9.99261885e-01 -3.57758565e-02 -1.39919315e-02 2.21843706e+01] [ 3.57771375e-02 9.99359781e-01 -1.58828869e-04 5.14701222e-01] [ 1.39886559e-02 -3.41879623e-04 9.99902096e-01 1.20565545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639254153999996 meters Centerline goodness [0,1] 0.9990796626856727 Centerline is valid? [True, True] Translation: X:22.22, Y:0.52, Z:0.12 [[ 9.99253278e-01 -3.61302639e-02 -1.36927066e-02 2.22167855e+01] [ 3.61315350e-02 9.99347031e-01 -1.54617411e-04 5.15822739e-01] [ 1.36893521e-02 -3.40236553e-04 9.99906239e-01 1.21385607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669254153999994 meters Centerline goodness [0,1] 0.999061613598072 Centerline is valid? [True, True] Translation: X:22.25, Y:0.52, Z:0.12 [[ 9.99219210e-01 -3.72320900e-02 -1.32189694e-02 2.22480756e+01] [ 3.72333825e-02 9.99306586e-01 -1.48399092e-04 5.15438979e-01] [ 1.32153284e-02 -3.43903721e-04 9.99912615e-01 1.21495943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699254153999995 meters Centerline goodness [0,1] 0.9989315097766855 Centerline is valid? [True, True] Translation: X:22.28, Y:0.52, Z:0.12 [[ 9.99190164e-01 -3.80240337e-02 -1.31601498e-02 2.22800199e+01] [ 3.80253937e-02 9.99276762e-01 -1.46953772e-04 5.16029574e-01] [ 1.31562197e-02 -3.53585115e-04 9.99913391e-01 1.21979025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729254153999996 meters Centerline goodness [0,1] 0.999252536038441 Centerline is valid? [True, True] Translation: X:22.31, Y:0.52, Z:0.12 [[ 9.99168920e-01 -3.87377664e-02 -1.26828524e-02 2.23114036e+01] [ 3.87390976e-02 9.99249350e-01 -1.40782194e-04 5.15237384e-01] [ 1.26787856e-02 -3.50657065e-04 9.99919559e-01 1.22087308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759254153999994 meters Centerline goodness [0,1] 0.9990612732548216 Centerline is valid? [True, True] Translation: X:22.34, Y:0.52, Z:0.12 [[ 9.99094891e-01 -4.07459506e-02 -1.22133876e-02 2.23436031e+01] [ 4.07473436e-02 9.99169473e-01 -1.34868978e-04 5.15881176e-01] [ 1.22087394e-02 -3.62916192e-04 9.99925405e-01 1.22673458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789254153999995 meters Centerline goodness [0,1] 0.9991888314904154 Centerline is valid? [True, True] Translation: X:22.37, Y:0.52, Z:0.12 [[ 9.99058734e-01 -4.18196181e-02 -1.15224176e-02 2.23747000e+01] [ 4.18209381e-02 9.99125114e-01 -1.26468421e-04 5.15345311e-01] [ 1.15176257e-02 -3.55528933e-04 9.99933607e-01 1.23179929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819254153999996 meters Centerline goodness [0,1] 0.9990197123068727 Centerline is valid? [True, True] Translation: X:22.41, Y:0.52, Z:0.12 [[ 9.98972996e-01 -4.38942030e-02 -1.12361769e-02 2.24068307e+01] [ 4.38955965e-02 9.99036116e-01 -1.22687881e-04 5.15082014e-01] [ 1.12307318e-02 -3.70656807e-04 9.99936865e-01 1.23372285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849254153999993 meters Centerline goodness [0,1] 0.9993378756487751 Centerline is valid? [True, True] Translation: X:22.44, Y:0.51, Z:0.12 [[ 9.98923421e-01 -4.49477184e-02 -1.14761528e-02 2.24375840e+01] [ 4.49492503e-02 9.98989264e-01 -1.24533719e-04 5.13922570e-01] [ 1.14701509e-02 -3.91444816e-04 9.99934139e-01 1.23278381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879254153999995 meters Centerline goodness [0,1] 0.9990373301957428 Centerline is valid? [True, True] Translation: X:22.47, Y:0.51, Z:0.12 [[ 9.98784490e-01 -4.77400856e-02 -1.22648954e-02 2.24698869e+01] [ 4.77420527e-02 9.98859689e-01 -1.32518832e-04 5.13639132e-01] [ 1.22572361e-02 -4.53193529e-04 9.99924775e-01 1.22938738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909254153999996 meters Centerline goodness [0,1] 0.9991877217733316 Centerline is valid? [True, True] Translation: X:22.50, Y:0.51, Z:0.12 [[ 9.98694119e-01 -4.94033352e-02 -1.30141091e-02 2.25024766e+01] [ 4.94057038e-02 9.98778783e-01 -1.39629102e-04 5.13499059e-01] [ 1.30051142e-02 -5.03524455e-04 9.99915303e-01 1.23015085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939254153999997 meters Centerline goodness [0,1] 0.9992297488125295 Centerline is valid? [True, True] Translation: X:22.53, Y:0.51, Z:0.12 [[ 9.98496499e-01 -5.29806995e-02 -1.40636478e-02 2.25322243e+01] [ 5.29838301e-02 9.98595359e-01 -1.50156362e-04 5.10424023e-01] [ 1.40518489e-02 -5.95215326e-04 9.99901091e-01 1.22279952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969254153999994 meters Centerline goodness [0,1] 0.9992733490061979 Centerline is valid? [True, True] Translation: X:22.56, Y:0.51, Z:0.12 [[ 9.98425304e-01 -5.42034947e-02 -1.44531181e-02 2.25640558e+01] [ 5.42069343e-02 9.98529711e-01 -1.53947886e-04 5.12019400e-01] [ 1.44402123e-02 -6.29753756e-04 9.99895536e-01 1.22541908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999254153999996 meters Centerline goodness [0,1] 0.9991868700917981 Centerline is valid? [True, True] Translation: X:22.60, Y:0.51, Z:0.12 [[ 9.98361783e-01 -5.53785648e-02 -1.43862965e-02 2.25965565e+01] [ 5.53821092e-02 9.98465222e-01 -1.52204159e-04 5.11824365e-01] [ 1.43726456e-02 -6.44788629e-04 9.99896500e-01 1.22638151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029254153999997 meters Centerline goodness [0,1] 0.9990586020240056 Centerline is valid? [True, True] Translation: X:22.63, Y:0.51, Z:0.12 [[ 9.98288559e-01 -5.66793919e-02 -1.44013974e-02 2.26290690e+01] [ 5.66830936e-02 9.98392210e-01 -1.51334656e-04 5.12714576e-01] [ 1.43868206e-02 -6.65240104e-04 9.99896283e-01 1.23337252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059254153999994 meters Centerline goodness [0,1] 0.9993353772270223 Centerline is valid? [True, True] Translation: X:22.66, Y:0.51, Z:0.12 [[ 9.98298099e-01 -5.67165045e-02 -1.35699788e-02 2.26608952e+01] [ 5.67198081e-02 9.98390126e-01 -1.41598038e-04 5.12839909e-01] [ 1.35561638e-02 -6.28329541e-04 9.99907914e-01 1.24192328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089254153999995 meters Centerline goodness [0,1] 0.999293301353435 Centerline is valid? [True, True] Translation: X:22.69, Y:0.52, Z:0.12 [[ 9.98308000e-01 -5.65785396e-02 -1.34166180e-02 2.26928001e+01] [ 5.65817713e-02 9.98397959e-01 -1.38889881e-04 5.15607930e-01] [ 1.34029823e-02 -6.20481134e-04 9.99909983e-01 1.24982179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119254153999997 meters Centerline goodness [0,1] 0.9991214160202289 Centerline is valid? [True, True] Translation: X:22.72, Y:0.52, Z:0.13 [[ 9.98366228e-01 -5.57597943e-02 -1.24787741e-02 2.27243371e+01] [ 5.57625359e-02 9.98444051e-01 -1.28399861e-04 5.18325463e-01] [ 1.24665173e-02 -5.67658003e-04 9.99922129e-01 1.25850424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149254153999994 meters Centerline goodness [0,1] 0.9991196805084381 Centerline is valid? [True, True] Translation: X:22.76, Y:0.52, Z:0.13 [[ 9.98392409e-01 -5.53367344e-02 -1.22655716e-02 2.27562489e+01] [ 5.53393597e-02 9.98467596e-01 -1.25517760e-04 5.20071186e-01] [ 1.22537215e-02 -5.53452901e-04 9.99924767e-01 1.26491822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179254153999995 meters Centerline goodness [0,1] 0.9994411126158079 Centerline is valid? [True, True] Translation: X:22.79, Y:0.52, Z:0.13 [[ 9.98386007e-01 -5.54123513e-02 -1.24439575e-02 2.27888960e+01] [ 5.54150702e-02 9.98463396e-01 -1.26466500e-04 5.22585858e-01] [ 1.24318439e-02 -5.63320395e-04 9.99922563e-01 1.27264111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209254153999996 meters Centerline goodness [0,1] 0.9992047286405159 Centerline is valid? [True, True] Translation: X:22.82, Y:0.53, Z:0.13 [[ 9.98329823e-01 -5.62976794e-02 -1.29667321e-02 2.28209035e+01] [ 5.63007183e-02 9.98413848e-01 -1.30842989e-04 5.27114060e-01] [ 1.29535310e-02 -5.99411871e-04 9.99915920e-01 1.27787811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239254153999994 meters Centerline goodness [0,1] 0.9993770808720868 Centerline is valid? [True, True] Translation: X:22.85, Y:0.53, Z:0.13 [[ 9.98285794e-01 -5.70137870e-02 -1.32250047e-02 2.28524327e+01] [ 5.70170227e-02 9.98373198e-01 -1.32553311e-04 5.26204266e-01] [ 1.32110476e-02 -6.21724305e-04 9.99912537e-01 1.27973582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269254153999995 meters Centerline goodness [0,1] 0.9993125523641754 Centerline is valid? [True, True] Translation: X:22.88, Y:0.53, Z:0.13 [[ 9.98134562e-01 -5.92072924e-02 -1.48960612e-02 2.28846386e+01] [ 5.92116555e-02 9.98245440e-01 -1.48343489e-04 5.28397089e-01] [ 1.48787082e-02 -7.33953682e-04 9.99889037e-01 1.27849502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299254153999996 meters Centerline goodness [0,1] 0.9993551022162988 Centerline is valid? [True, True] Translation: X:22.92, Y:0.53, Z:0.13 [[ 9.98061428e-01 -6.02687238e-02 -1.55263249e-02 2.29169934e+01] [ 6.02736097e-02 9.98181881e-01 -1.53484475e-04 5.29366200e-01] [ 1.55073466e-02 -7.82640716e-04 9.99879448e-01 1.27897610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329254153999994 meters Centerline goodness [0,1] 0.9992675886433157 Centerline is valid? [True, True] Translation: X:22.95, Y:0.53, Z:0.13 [[ 9.97921998e-01 -6.22848716e-02 -1.65009242e-02 2.29476817e+01] [ 6.22906813e-02 9.98058037e-01 -1.62147596e-04 5.29439175e-01] [ 1.64789794e-02 -8.66043157e-04 9.99863837e-01 1.27389689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359254153999995 meters Centerline goodness [0,1] 0.999353406470246 Centerline is valid? [True, True] Translation: X:22.98, Y:0.52, Z:0.13 [[ 9.97889028e-01 -6.27240604e-02 -1.68279387e-02 2.29791163e+01] [ 6.27301773e-02 9.98030509e-01 -1.64623670e-04 5.23582974e-01] [ 1.68051221e-02 -8.91343425e-04 9.99858387e-01 1.26710990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389254153999996 meters Centerline goodness [0,1] 0.9991819864812502 Centerline is valid? [True, True] Translation: X:23.01, Y:0.52, Z:0.13 [[ 9.97864691e-01 -6.31481323e-02 -1.66845077e-02 2.30114379e+01] [ 6.31542208e-02 9.98003767e-01 -1.62239933e-04 5.24587068e-01] [ 1.66614467e-02 -8.91803584e-04 9.99860791e-01 1.27216456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419254153999994 meters Centerline goodness [0,1] 0.9992430468445868 Centerline is valid? [True, True] Translation: X:23.04, Y:0.53, Z:0.13 [[ 9.97881623e-01 -6.28002172e-02 -1.69823148e-02 2.30428260e+01] [ 6.28064919e-02 9.98025710e-01 -1.64124966e-04 5.26076071e-01] [ 1.69590939e-02 -9.02822332e-04 9.99855777e-01 1.28329438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449254153999995 meters Centerline goodness [0,1] 0.9993084221218473 Centerline is valid? [True, True] Translation: X:23.08, Y:0.54, Z:0.13 [[ 9.97919926e-01 -6.22628024e-02 -1.67082303e-02 2.30750268e+01] [ 6.22688174e-02 9.98059401e-01 -1.60494418e-04 5.36778848e-01] [ 1.66857992e-02 -8.80241168e-04 9.99860395e-01 1.30502779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479254153999996 meters Centerline goodness [0,1] 0.9996094258560083 Centerline is valid? [True, True] Translation: X:23.11, Y:0.54, Z:0.13 [[ 9.97978865e-01 -6.14255670e-02 -1.62814120e-02 2.31074130e+01] [ 6.14311862e-02 9.98111309e-01 -1.55242013e-04 5.40451131e-01] [ 1.62601973e-02 -8.45258208e-04 9.99867437e-01 1.31614447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509254153999994 meters Centerline goodness [0,1] 0.9995229938639665 Centerline is valid? [True, True] Translation: X:23.14, Y:0.54, Z:0.13 [[ 9.97981387e-01 -6.13820786e-02 -1.62908185e-02 2.31400647e+01] [ 6.13877218e-02 9.98113983e-01 -1.53906177e-04 5.40669090e-01] [ 1.62695408e-02 -8.46460733e-04 9.99867284e-01 1.32102477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539254153999995 meters Centerline goodness [0,1] 0.9995887712919075 Centerline is valid? [True, True] Translation: X:23.17, Y:0.54, Z:0.13 [[ 9.97981932e-01 -6.14479156e-02 -1.60068012e-02 2.31720068e+01] [ 6.14533956e-02 9.98109943e-01 -1.49753782e-04 5.40776027e-01] [ 1.59857495e-02 -8.34220718e-04 9.99871872e-01 1.32746814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569254153999996 meters Centerline goodness [0,1] 0.9992852966019102 Centerline is valid? [True, True] Translation: X:23.20, Y:0.54, Z:0.13 [[ 9.97928064e-01 -6.23473456e-02 -1.58867087e-02 2.32043850e+01] [ 6.23528751e-02 9.98054155e-01 -1.47503077e-04 5.41486137e-01] [ 1.58649921e-02 -8.43384503e-04 9.99873787e-01 1.33590813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599254153999993 meters Centerline goodness [0,1] 0.999567127675692 Centerline is valid? [True, True] Translation: X:23.24, Y:0.54, Z:0.13 [[ 9.97919798e-01 -6.23847136e-02 -1.62549976e-02 2.32362482e+01] [ 6.23905265e-02 9.98051802e-01 -1.49753142e-04 5.41766335e-01] [ 1.62326719e-02 -8.64716232e-04 9.99867868e-01 1.34010616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629254153999995 meters Centerline goodness [0,1] 0.999543746062094 Centerline is valid? [True, True] Translation: X:23.27, Y:0.54, Z:0.13 [[ 9.97921294e-01 -6.22018689e-02 -1.68528674e-02 2.32694253e+01] [ 6.22081163e-02 9.98063188e-01 -1.53780735e-04 5.41455930e-01] [ 1.68297920e-02 -8.94924062e-04 9.99857969e-01 1.33969855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659254153999996 meters Centerline goodness [0,1] 0.999543746062094 Centerline is valid? [True, True] Translation: X:23.30, Y:0.54, Z:0.13 [[ 9.97927874e-01 -6.20962048e-02 -1.68528835e-02 2.33020127e+01] [ 6.21024672e-02 9.98069767e-01 -1.51997357e-04 5.41653962e-01] [ 1.68297920e-02 -8.94923245e-04 9.99857969e-01 1.34274828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689254153999997 meters Centerline goodness [0,1] 0.9994362654755968 Centerline is valid? [True, True] Translation: X:23.33, Y:0.54, Z:0.13 [[ 9.97995406e-01 -6.08255977e-02 -1.74761901e-02 2.33337170e+01] [ 6.08321656e-02 9.98147997e-01 -1.56024592e-04 5.41260631e-01] [ 1.74533144e-02 -9.07402666e-04 9.99847268e-01 1.33813130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719254153999994 meters Centerline goodness [0,1] 0.9995662357942222 Centerline is valid? [True, True] Translation: X:23.37, Y:0.54, Z:0.13 [[ 9.98013829e-01 -6.04422832e-02 -1.77518044e-02 2.33657914e+01] [ 6.04490216e-02 9.98171273e-01 -1.57239340e-04 5.41315618e-01] [ 1.77288451e-02 -9.16152172e-04 9.99842412e-01 1.33813994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749254153999996 meters Centerline goodness [0,1] 0.9993486332153636 Centerline is valid? [True, True] Translation: X:23.40, Y:0.54, Z:0.13 [[ 9.98051041e-01 -5.96783585e-02 -1.82376965e-02 2.33979298e+01] [ 5.96853671e-02 9.98217226e-01 -1.60263338e-04 5.41431220e-01] [ 1.82147471e-02 -9.28572619e-04 9.99833667e-01 1.33525882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779254153999997 meters Centerline goodness [0,1] 0.9994355924108888 Centerline is valid? [True, True] Translation: X:23.43, Y:0.54, Z:0.13 [[ 9.98089292e-01 -5.90425360e-02 -1.82138256e-02 2.34298674e+01] [ 5.90494434e-02 9.98255047e-01 -1.58799845e-04 5.42089309e-01] [ 1.81914193e-02 -9.17019842e-04 9.99834102e-01 1.33875849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809254153999994 meters Centerline goodness [0,1] 0.9992412582106701 Centerline is valid? [True, True] Translation: X:23.46, Y:0.54, Z:0.13 [[ 9.98146940e-01 -5.79259660e-02 -1.86351447e-02 2.34626386e+01] [ 5.79330296e-02 9.98320459e-01 -1.61024680e-04 5.42705534e-01] [ 1.86131737e-02 -9.18864099e-04 9.99826338e-01 1.33603210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839254153999995 meters Centerline goodness [0,1] 0.9994129796717034 Centerline is valid? [True, True] Translation: X:23.49, Y:0.54, Z:0.13 [[ 9.98204937e-01 -5.69025827e-02 -1.86815174e-02 2.34947256e+01] [ 5.69095295e-02 9.98379327e-01 -1.59988828e-04 5.43269778e-01] [ 1.86603446e-02 -9.03454730e-04 9.99825472e-01 1.33484863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869254153999997 meters Centerline goodness [0,1] 0.9995012360671379 Centerline is valid? [True, True] Translation: X:23.53, Y:0.54, Z:0.13 [[ 9.98284027e-01 -5.55490127e-02 -1.85285851e-02 2.35270088e+01] [ 5.55556371e-02 9.98455581e-01 -1.57414054e-04 5.44291254e-01] [ 1.85087134e-02 -8.72223413e-04 9.99828319e-01 1.33764477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899254153999994 meters Centerline goodness [0,1] 0.9994579945799458 Centerline is valid? [True, True] Translation: X:23.56, Y:0.55, Z:0.13 [[ 9.98385374e-01 -5.36204864e-02 -1.87480186e-02 2.35587604e+01] [ 5.36269508e-02 9.98561027e-01 -1.58131935e-04 5.47085932e-01] [ 1.87295198e-02 -8.47522460e-04 9.99824228e-01 1.33994559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929254153999995 meters Centerline goodness [0,1] 0.999543934326543 Centerline is valid? [True, True] Translation: X:23.59, Y:0.55, Z:0.13 [[ 9.98436829e-01 -5.26944453e-02 -1.86331546e-02 2.35911700e+01] [ 5.27006910e-02 9.98610341e-01 -1.56021673e-04 5.48287432e-01] [ 1.86154824e-02 -8.26202341e-04 9.99826376e-01 1.34280896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959254153999996 meters Centerline goodness [0,1] 0.9994784989461333 Centerline is valid? [True, True] Translation: X:23.62, Y:0.55, Z:0.13 [[ 9.98473335e-01 -5.19604959e-02 -1.87378228e-02 2.36238231e+01] [ 5.19667108e-02 9.98648806e-01 -1.55414372e-04 5.49295105e-01] [ 1.87205797e-02 -8.18565909e-04 9.99824420e-01 1.34773295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989254153999994 meters Centerline goodness [0,1] 0.999283216403484 Centerline is valid? [True, True] Translation: X:23.65, Y:0.55, Z:0.13 [[ 9.98514504e-01 -5.11420012e-02 -1.87957914e-02 2.36547013e+01] [ 5.11481476e-02 9.98691065e-01 -1.53890917e-04 5.49339195e-01] [ 1.87790593e-02 -8.07707602e-04 9.99823332e-01 1.34859453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019254153999995 meters Centerline goodness [0,1] 0.9994795055302538 Centerline is valid? [True, True] Translation: X:23.69, Y:0.55, Z:0.13 [[ 9.98567437e-01 -5.00687947e-02 -1.88729891e-02 2.36855460e+01] [ 5.00748318e-02 9.98745457e-01 -1.52852117e-04 5.47925853e-01] [ 1.88569653e-02 -7.92428609e-04 9.99821878e-01 1.34636392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049254153999996 meters Centerline goodness [0,1] 0.9995878882526462 Centerline is valid? [True, True] Translation: X:23.72, Y:0.55, Z:0.13 [[ 9.98569042e-01 -5.00245154e-02 -1.89054413e-02 2.37172883e+01] [ 5.00305871e-02 9.98747674e-01 -1.51970217e-04 5.47887618e-01] [ 1.88893677e-02 -7.94097571e-04 9.99821265e-01 1.34876950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079254153999994 meters Centerline goodness [0,1] 0.9994147737125022 Centerline is valid? [True, True] Translation: X:23.75, Y:0.55, Z:0.14 [[ 9.98519421e-01 -5.09603471e-02 -1.90265277e-02 2.37494383e+01] [ 5.09666920e-02 9.98700342e-01 -1.51593704e-04 5.49353239e-01] [ 1.90095250e-02 -8.18349921e-04 9.99818968e-01 1.35591207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109254153999995 meters Centerline goodness [0,1] 0.9994372172557847 Centerline is valid? [True, True] Translation: X:23.78, Y:0.54, Z:0.13 [[ 9.98468651e-01 -5.17673984e-02 -1.95061472e-02 2.37806592e+01] [ 5.17742558e-02 9.98658802e-01 -1.53628428e-04 5.44238558e-01] [ 1.94879385e-02 -8.56523086e-04 9.99809725e-01 1.34630875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139254153999996 meters Centerline goodness [0,1] 0.9993079734434809 Centerline is valid? [True, True] Translation: X:23.81, Y:0.54, Z:0.13 [[ 9.98382997e-01 -5.29884923e-02 -2.05818073e-02 2.38113198e+01] [ 5.29964356e-02 9.98594689e-01 -1.59693970e-04 5.39716137e-01] [ 2.05613454e-02 -9.31326680e-04 9.99788159e-01 1.33777933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169254153999994 meters Centerline goodness [0,1] 0.9995890559100249 Centerline is valid? [True, True] Translation: X:23.84, Y:0.55, Z:0.14 [[ 9.98371099e-01 -5.33406298e-02 -2.02466242e-02 2.38431107e+01] [ 5.33484267e-02 9.98575947e-01 -1.55211573e-04 5.45661807e-01] [ 2.02260710e-02 -9.25166800e-04 9.99795004e-01 1.35555517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199254153999995 meters Centerline goodness [0,1] 0.9994161783467036 Centerline is valid? [True, True] Translation: X:23.87, Y:0.54, Z:0.13 [[ 9.98339617e-01 -5.37966219e-02 -2.05896113e-02 2.38741752e+01] [ 5.38048084e-02 9.98551460e-01 -1.56562138e-04 5.37344709e-01] [ 2.05682089e-02 -9.51517905e-04 9.99787999e-01 1.33699539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229254153999996 meters Centerline goodness [0,1] 0.99943892965041 Centerline is valid? [True, True] Translation: X:23.91, Y:0.54, Z:0.13 [[ 9.98284160e-01 -5.45397883e-02 -2.13107217e-02 2.39054238e+01] [ 5.45487508e-02 9.98511096e-01 -1.60946176e-04 5.35771496e-01] [ 2.12877700e-02 -1.00180323e-03 9.99772888e-01 1.34088512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259254153999994 meters Centerline goodness [0,1] 0.9995020135971939 Centerline is valid? [True, True] Translation: X:23.94, Y:0.54, Z:0.14 [[ 9.98300003e-01 -5.42975684e-02 -2.11867577e-02 2.39378247e+01] [ 5.43063997e-02 9.98524306e-01 -1.58721955e-04 5.43294183e-01] [ 2.11641108e-02 -9.92124406e-04 9.99775523e-01 1.36245525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289254153999995 meters Centerline goodness [0,1] 0.9993085416711683 Centerline is valid? [True, True] Translation: X:23.97, Y:0.54, Z:0.14 [[ 9.98334969e-01 -5.36817355e-02 -2.11083344e-02 2.39692380e+01] [ 5.36904073e-02 9.98557618e-01 -1.56093420e-04 5.41406794e-01] [ 2.10862675e-02 -9.77481554e-04 9.99777182e-01 1.36523716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319254153999996 meters Centerline goodness [0,1] 0.9994139861961193 Centerline is valid? [True, True] Translation: X:24.00, Y:0.54, Z:0.14 [[ 9.98346754e-01 -5.34639924e-02 -2.11035533e-02 2.40018686e+01] [ 5.34726522e-02 9.98569302e-01 -1.54134365e-04 5.43614822e-01] [ 2.10816011e-02 -9.74583420e-04 9.99777283e-01 1.37422947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349254153999993 meters Centerline goodness [0,1] 0.9995891891891892 Centerline is valid? [True, True] Translation: X:24.03, Y:0.54, Z:0.14 [[ 9.98399095e-01 -5.25564659e-02 -2.09061029e-02 2.40341384e+01] [ 5.25647964e-02 9.98617504e-01 -1.51232738e-04 5.44732255e-01] [ 2.08851486e-02 -9.47934414e-04 9.99781432e-01 1.38242294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379254153999995 meters Centerline goodness [0,1] 0.9995894909688013 Centerline is valid? [True, True] Translation: X:24.07, Y:0.54, Z:0.14 [[ 9.98486897e-01 -5.12432875e-02 -1.99510005e-02 2.40658528e+01] [ 5.12506395e-02 9.98685812e-01 -1.42956639e-04 5.43943933e-01] [ 1.99321067e-02 -8.79761206e-04 9.99800949e-01 1.38303089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409254153999996 meters Centerline goodness [0,1] 0.9995232316227461 Centerline is valid? [True, True] Translation: X:24.10, Y:0.54, Z:0.14 [[ 9.98526706e-01 -5.06056726e-02 -1.95827430e-02 2.40985281e+01] [ 5.06126630e-02 9.98718348e-01 -1.38797390e-04 5.44308381e-01] [ 1.95646687e-02 -8.52541874e-04 9.99808230e-01 1.38864850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439254153999993 meters Centerline goodness [0,1] 0.999524118537746 Centerline is valid? [True, True] Translation: X:24.13, Y:0.55, Z:0.14 [[ 9.98565481e-01 -4.98818892e-02 -1.94622235e-02 2.41312294e+01] [ 4.98886890e-02 9.98754775e-01 -1.36277193e-04 5.45262373e-01] [ 1.94447864e-02 -8.34863114e-04 9.99810584e-01 1.39506849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469254153999994 meters Centerline goodness [0,1] 0.9995024875621891 Centerline is valid? [True, True] Translation: X:24.16, Y:0.55, Z:0.14 [[ 9.98595243e-01 -4.91199413e-02 -1.98688571e-02 2.41628702e+01] [ 4.91269083e-02 9.98792535e-01 -1.37590013e-04 5.45249565e-01] [ 1.98516245e-02 -8.38698787e-04 9.99802585e-01 1.39794532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499254153999996 meters Centerline goodness [0,1] 0.9995888157894737 Centerline is valid? [True, True] Translation: X:24.20, Y:0.54, Z:0.14 [[ 9.98579719e-01 -4.95648384e-02 -1.95415525e-02 2.41951118e+01] [ 4.95716883e-02 9.98770559e-01 -1.34013018e-04 5.44296167e-01] [ 1.95241697e-02 -8.34885067e-04 9.99809037e-01 1.40077120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529254153999997 meters Centerline goodness [0,1] 0.9994375216337833 Centerline is valid? [True, True] Translation: X:24.23, Y:0.54, Z:0.14 [[ 9.98464159e-01 -5.16890731e-02 -1.99389786e-02 2.42276438e+01] [ 5.16966540e-02 9.98662825e-01 -1.35390748e-04 5.41954791e-01] [ 1.99193149e-02 -8.95595669e-04 9.99801190e-01 1.40419317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559254153999994 meters Centerline goodness [0,1] 0.999458393812691 Centerline is valid? [True, True] Translation: X:24.26, Y:0.54, Z:0.14 [[ 9.98389204e-01 -5.30757370e-02 -2.00490339e-02 2.42597664e+01] [ 5.30837077e-02 9.98590057e-01 -1.34798149e-04 5.40152692e-01] [ 2.00279204e-02 -9.29696037e-04 9.99798989e-01 1.40736867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589254153999995 meters Centerline goodness [0,1] 0.9993291640518491 Centerline is valid? [True, True] Translation: X:24.29, Y:0.54, Z:0.14 [[ 9.98288164e-01 -5.45975190e-02 -2.09726451e-02 2.42919892e+01] [ 5.46066061e-02 9.98507936e-01 -1.39585784e-04 5.37753806e-01] [ 2.09489736e-02 -1.00589813e-03 9.99780040e-01 1.40235605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619254153999997 meters Centerline goodness [0,1] 0.9992860542598763 Centerline is valid? [True, True] Translation: X:24.32, Y:0.53, Z:0.14 [[ 9.98092115e-01 -5.75700939e-02 -2.23117726e-02 2.43231716e+01] [ 5.75811391e-02 9.98340819e-01 -1.47624380e-04 5.34432698e-01] [ 2.22832521e-02 -1.13739456e-03 9.99751051e-01 1.39266695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649254153999994 meters Centerline goodness [0,1] 0.9994806768511706 Centerline is valid? [True, True] Translation: X:24.36, Y:0.53, Z:0.14 [[ 9.98022411e-01 -5.85628018e-02 -2.28399786e-02 2.43551791e+01] [ 5.85746594e-02 9.98283019e-01 -1.50080699e-04 5.32505337e-01] [ 2.28095519e-02 -1.18806006e-03 9.99739122e-01 1.39181803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679254153999995 meters Centerline goodness [0,1] 0.999221470123916 Centerline is valid? [True, True] Translation: X:24.39, Y:0.53, Z:0.14 [[ 9.97919011e-01 -5.99457787e-02 -2.37518685e-02 2.43875021e+01] [ 5.99590313e-02 9.98200827e-01 -1.54458068e-04 5.34953548e-01] [ 2.37183939e-02 -1.27000239e-03 9.99717873e-01 1.39980593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709254153999996 meters Centerline goodness [0,1] 0.9995903848226797 Centerline is valid? [True, True] Translation: X:24.42, Y:0.54, Z:0.14 [[ 9.97944738e-01 -5.98022145e-02 -2.30216200e-02 2.44200454e+01] [ 5.98146629e-02 9.98209489e-01 -1.48118825e-04 5.39422354e-01] [ 2.29892573e-02 -1.22921603e-03 9.99734956e-01 1.42087644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739254153999994 meters Centerline goodness [0,1] 0.9994604627071824 Centerline is valid? [True, True] Translation: X:24.45, Y:0.53, Z:0.14 [[ 9.97950455e-01 -5.97196503e-02 -2.29880949e-02 2.44516955e+01] [ 5.97320725e-02 9.98214435e-01 -1.46512816e-04 5.27517125e-01] [ 2.29557979e-02 -1.22691402e-03 9.99735728e-01 1.39744552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769254153999995 meters Centerline goodness [0,1] 0.9993732846368293 Centerline is valid? [True, True] Translation: X:24.48, Y:0.53, Z:0.14 [[ 9.98014303e-01 -5.87031966e-02 -2.28338868e-02 2.44834589e+01] [ 5.87152191e-02 9.98274763e-01 -1.44138470e-04 5.33367491e-01] [ 2.28029543e-02 -1.19684441e-03 9.99739262e-01 1.42732011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799254153999996 meters Centerline goodness [0,1] 0.9993947254647644 Centerline is valid? [True, True] Translation: X:24.52, Y:0.54, Z:0.15 [[ 9.98100345e-01 -5.73335600e-02 -2.25513570e-02 2.45161603e+01] [ 5.73449853e-02 9.98354413e-01 -1.40257754e-04 5.44817583e-01] [ 2.25222882e-02 -1.15321592e-03 9.99745676e-01 1.46233028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829254153999994 meters Centerline goodness [0,1] 0.9996114996114996 Centerline is valid? [True, True] Translation: X:24.55, Y:0.53, Z:0.14 [[ 9.98329711e-01 -5.36955369e-02 -2.13208000e-02 2.45462350e+01] [ 5.37049424e-02 9.98556840e-01 -1.31609576e-04 5.30501175e-01] [ 2.12970975e-02 -1.01364259e-03 9.99772677e-01 1.44265235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859254153999995 meters Centerline goodness [0,1] 0.9994803620144632 Centerline is valid? [True, True] Translation: X:24.58, Y:0.54, Z:0.15 [[ 9.98454871e-01 -5.16254606e-02 -2.05592376e-02 2.45777523e+01] [ 5.16337801e-02 9.98666079e-01 -1.26319272e-04 5.43523451e-01] [ 2.05383345e-02 -9.35427061e-04 9.99788629e-01 1.48425496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889254153999996 meters Centerline goodness [0,1] 0.999546181440982 Centerline is valid? [True, True] Translation: X:24.61, Y:0.55, Z:0.15 [[ 9.98577056e-01 -4.94544540e-02 -1.99529300e-02 2.46091468e+01] [ 4.94618746e-02 9.98776005e-01 -1.21730022e-04 5.47489947e-01] [ 1.99345278e-02 -8.65352516e-04 9.99800913e-01 1.50047521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919254153999994 meters Centerline goodness [0,1] 0.9995892158346485 Centerline is valid? [True, True] Translation: X:24.64, Y:0.55, Z:0.15 [[ 9.98673168e-01 -4.75507542e-02 -1.97694275e-02 2.46413046e+01] [ 4.75576883e-02 9.98868486e-01 -1.19511227e-04 5.48892967e-01] [ 1.97527410e-02 -8.20835617e-04 9.99804559e-01 1.50804421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949254153999995 meters Centerline goodness [0,1] 0.9993077039569046 Centerline is valid? [True, True] Translation: X:24.67, Y:0.55, Z:0.15 [[ 9.98821676e-01 -4.41588367e-02 -2.01309987e-02 2.46733282e+01] [ 4.41653670e-02 9.99024227e-01 -1.20304340e-04 5.49347345e-01] [ 2.01166679e-02 -7.68930363e-04 9.99797344e-01 1.50488042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979254153999996 meters Centerline goodness [0,1] 0.9995677171140794 Centerline is valid? [True, True] Translation: X:24.71, Y:0.55, Z:0.15 [[ 9.98927725e-01 -4.08072078e-02 -2.18671463e-02 2.47051253e+01] [ 4.08141409e-02 9.99166747e-01 -1.29334266e-04 5.50130438e-01] [ 2.18542032e-02 -7.63293204e-04 9.99760877e-01 1.50178281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009254153999994 meters Centerline goodness [0,1] 0.9994606722181473 Centerline is valid? [True, True] Translation: X:24.74, Y:0.55, Z:0.15 [[ 9.98985480e-01 -3.90070778e-02 -2.25046388e-02 2.47368342e+01] [ 3.90139878e-02 9.99238656e-01 -1.32089415e-04 5.51263695e-01] [ 2.24926575e-02 -7.46040296e-04 9.99746730e-01 1.50382739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039254153999995 meters Centerline goodness [0,1] 0.9993082726270509 Centerline is valid? [True, True] Translation: X:24.77, Y:0.55, Z:0.15 [[ 9.99048977e-01 -3.71001107e-02 -2.29068510e-02 2.47670760e+01] [ 3.71067830e-02 9.99311297e-01 -1.33851462e-04 5.50832818e-01] [ 2.28960409e-02 -7.16275383e-04 9.99737595e-01 1.50123539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069254153999996 meters Centerline goodness [0,1] 0.9994811147385034 Centerline is valid? [True, True] Translation: X:24.80, Y:0.55, Z:0.15 [[ 9.99174920e-01 -3.34589395e-02 -2.30212619e-02 2.47969132e+01] [ 3.34647170e-02 9.99439890e-01 -1.34347943e-04 5.51606709e-01] [ 2.30128626e-02 -6.36162919e-04 9.99734967e-01 1.50311799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099254153999993 meters Centerline goodness [0,1] 0.9993290043290043 Centerline is valid? [True, True] Translation: X:24.83, Y:0.55, Z:0.15 [[ 9.99220468e-01 -3.17851462e-02 -2.34128234e-02 2.48271729e+01] [ 3.17906630e-02 9.99494540e-01 -1.36633025e-04 5.53408474e-01] [ 2.34053321e-02 -6.07782664e-04 9.99725873e-01 1.51194077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129254153999995 meters Centerline goodness [0,1] 0.9993287864025117 Centerline is valid? [True, True] Translation: X:24.86, Y:0.55, Z:0.15 [[ 9.99264657e-01 -3.04369565e-02 -2.33181475e-02 2.48564562e+01] [ 3.04420502e-02 9.99536524e-01 -1.36580990e-04 5.53487656e-01] [ 2.33114972e-02 -5.73371661e-04 9.99728086e-01 1.51193377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159254153999996 meters Centerline goodness [0,1] 0.9992854358841107 Centerline is valid? [True, True] Translation: X:24.89, Y:0.55, Z:0.15 [[ 9.99328928e-01 -2.83446016e-02 -2.32008006e-02 2.48859064e+01] [ 2.83490614e-02 9.99598075e-01 -1.36722917e-04 5.53474591e-01] [ 2.31953510e-02 -5.21089755e-04 9.99730816e-01 1.51385128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189254153999993 meters Centerline goodness [0,1] 0.9994587924577317 Centerline is valid? [True, True] Translation: X:24.91, Y:0.55, Z:0.15 [[ 9.99342543e-01 -2.81231765e-02 -2.28816416e-02 2.49143456e+01] [ 2.81273700e-02 9.99604338e-01 -1.38617827e-04 5.54012372e-01] [ 2.28764866e-02 -5.05073709e-04 9.99738171e-01 1.52499628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219254153999994 meters Centerline goodness [0,1] 0.9993964996982498 Centerline is valid? [True, True] Translation: X:24.94, Y:0.55, Z:0.15 [[ 9.99364300e-01 -2.81499309e-02 -2.18764105e-02 2.49434250e+01] [ 2.81537020e-02 9.99603597e-01 -1.35650292e-04 5.52473131e-01] [ 2.18715572e-02 -4.80337883e-04 9.99760673e-01 1.52596918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249254153999996 meters Centerline goodness [0,1] 0.9994597981806003 Centerline is valid? [True, True] Translation: X:24.97, Y:0.55, Z:0.15 [[ 9.99355831e-01 -2.85055819e-02 -2.18026415e-02 2.49733804e+01] [ 2.85093888e-02 9.99593515e-01 -1.36261395e-04 5.51448982e-01] [ 2.17976633e-02 -4.85406365e-04 9.99762285e-01 1.52778883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279254153999993 meters Centerline goodness [0,1] 0.9994811596082755 Centerline is valid? [True, True] Translation: X:25.00, Y:0.55, Z:0.15 [[ 9.99310009e-01 -3.01008424e-02 -2.17587992e-02 2.50026882e+01] [ 3.01049948e-02 9.99546733e-01 -1.36774584e-04 5.50214226e-01] [ 2.17530537e-02 -5.18368327e-04 9.99763240e-01 1.52985760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309254153999994 meters Centerline goodness [0,1] 0.9991396739364219 Centerline is valid? [True, True] Translation: X:25.03, Y:0.55, Z:0.15 [[ 9.99200156e-01 -3.31698493e-02 -2.23340572e-02 2.50325068e+01] [ 3.31749718e-02 9.99449549e-01 -1.41217917e-04 5.46688695e-01] [ 2.23264476e-02 -5.99826754e-04 9.99750554e-01 1.52886749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339254153999995 meters Centerline goodness [0,1] 0.9993778693096494 Centerline is valid? [True, True] Translation: X:25.06, Y:0.54, Z:0.15 [[ 9.99059293e-01 -3.69493636e-02 -2.26996378e-02 2.50618494e+01] [ 3.69556164e-02 9.99316898e-01 -1.44120009e-04 5.41794770e-01] [ 2.26894568e-02 -6.94894674e-04 9.99742320e-01 1.52728281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369254153999997 meters Centerline goodness [0,1] 0.9993778693096494 Centerline is valid? [True, True] Translation: X:25.09, Y:0.54, Z:0.15 [[ 9.99060628e-01 -3.69132549e-02 -2.26996398e-02 2.50927119e+01] [ 3.69195054e-02 9.99318232e-01 -1.43808332e-04 5.41960693e-01] [ 2.26894724e-02 -6.94386233e-04 9.99742320e-01 1.53017484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399254153999994 meters Centerline goodness [0,1] 0.9994436955731005 Centerline is valid? [True, True] Translation: X:25.12, Y:0.54, Z:0.15 [[ 9.98886511e-01 -4.10427185e-02 -2.32644238e-02 2.51232104e+01] [ 4.10504211e-02 9.99157065e-01 -1.46591146e-04 5.35980803e-01] [ 2.32508299e-02 -8.08586473e-04 9.99729336e-01 1.52679930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429254153999995 meters Centerline goodness [0,1] 0.9991009504238376 Centerline is valid? [True, True] Translation: X:25.15, Y:0.54, Z:0.15 [[ 9.98801448e-01 -4.31783868e-02 -2.30498061e-02 2.51548712e+01] [ 4.31865341e-02 9.99067016e-01 -1.44437773e-04 5.37067234e-01] [ 2.30345376e-02 -8.51176580e-04 9.99734307e-01 1.54116115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459254153999996 meters Centerline goodness [0,1] 0.9991237256620146 Centerline is valid? [True, True] Translation: X:25.19, Y:0.53, Z:0.15 [[ 9.98721946e-01 -4.51998525e-02 -2.26151981e-02 2.51854421e+01] [ 4.52082258e-02 9.98977576e-01 -1.41136490e-04 5.33356468e-01] [ 2.25984551e-02 -8.81436872e-04 9.99744234e-01 1.53868764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489254153999994 meters Centerline goodness [0,1] 0.9993590017520618 Centerline is valid? [True, True] Translation: X:25.22, Y:0.53, Z:0.15 [[ 9.98596710e-01 -4.81397186e-02 -2.20721011e-02 2.52165560e+01] [ 4.81484249e-02 9.98840183e-01 -1.37123788e-04 5.30265200e-01] [ 2.20531026e-02 -9.25805537e-04 9.99756372e-01 1.54763838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519254153999995 meters Centerline goodness [0,1] 0.9992745118958711 Centerline is valid? [True, True] Translation: X:25.25, Y:0.53, Z:0.15 [[ 9.98558919e-01 -4.91792149e-02 -2.14823339e-02 2.52485773e+01] [ 4.91877280e-02 9.98789542e-01 -1.32254680e-04 5.28903317e-01] [ 2.14628347e-02 -9.24603107e-04 9.99769219e-01 1.54817611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549254153999996 meters Centerline goodness [0,1] 0.9992745118958711 Centerline is valid? [True, True] Translation: X:25.28, Y:0.53, Z:0.16 [[ 9.98562479e-01 -4.91068731e-02 -2.14823434e-02 2.52803012e+01] [ 4.91154028e-02 9.98793102e-01 -1.30699014e-04 5.29036063e-01] [ 2.14628346e-02 -9.24602819e-04 9.99769219e-01 1.55114613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579254153999994 meters Centerline goodness [0,1] 0.9991909729614648 Centerline is valid? [True, True] Translation: X:25.31, Y:0.53, Z:0.16 [[ 9.98498654e-01 -5.03754797e-02 -2.15115929e-02 2.53125248e+01] [ 5.03843601e-02 9.98729893e-01 -1.29311790e-04 5.28225537e-01] [ 2.14907850e-02 -9.54730194e-04 9.99768591e-01 1.55700267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609254153999995 meters Centerline goodness [0,1] 0.9992323439099283 Centerline is valid? [True, True] Translation: X:25.34, Y:0.53, Z:0.16 [[ 9.98472592e-01 -5.07987634e-02 -2.17248413e-02 2.53446727e+01] [ 5.08079552e-02 9.98708433e-01 -1.29008608e-04 5.27632877e-01] [ 2.17033357e-02 -9.74983204e-04 9.99763979e-01 1.55769853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639254153999996 meters Centerline goodness [0,1] 0.9994022075620743 Centerline is valid? [True, True] Translation: X:25.38, Y:0.53, Z:0.16 [[ 9.98460345e-01 -5.08682334e-02 -2.21215343e-02 2.53764902e+01] [ 5.08778175e-02 9.98704877e-01 -1.29719234e-04 5.30286653e-01] [ 2.20994828e-02 -9.95975875e-04 9.99755281e-01 1.56664513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669254153999994 meters Centerline goodness [0,1] 0.9992331124981361 Centerline is valid? [True, True] Translation: X:25.41, Y:0.53, Z:0.16 [[ 9.98462024e-01 -5.06396734e-02 -2.25656811e-02 2.54080297e+01] [ 5.06496411e-02 9.98716475e-01 -1.29971310e-04 5.29502540e-01] [ 2.25432992e-02 -1.01317223e-03 9.99745354e-01 1.56360655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699254153999995 meters Centerline goodness [0,1] 0.9990608123972764 Centerline is valid? [True, True] Translation: X:25.44, Y:0.53, Z:0.16 [[ 9.98471224e-01 -5.01718352e-02 -2.31948685e-02 2.54388103e+01] [ 5.01822861e-02 9.98740067e-01 -1.31643120e-04 5.29417162e-01] [ 2.31722492e-02 -1.03252966e-03 9.99730954e-01 1.55849183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729254153999996 meters Centerline goodness [0,1] 0.9992961051149695 Centerline is valid? [True, True] Translation: X:25.47, Y:0.53, Z:0.16 [[ 9.98491303e-01 -4.96807811e-02 -2.33866817e-02 2.54703960e+01] [ 4.96913225e-02 9.98764615e-01 -1.30532733e-04 5.27379631e-01] [ 2.33642751e-02 -1.03177935e-03 9.99726486e-01 1.55302862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759254153999994 meters Centerline goodness [0,1] 0.9992334227673438 Centerline is valid? [True, True] Translation: X:25.50, Y:0.53, Z:0.16 [[ 9.98481538e-01 -4.98027249e-02 -2.35437413e-02 2.55022856e+01] [ 4.98134927e-02 9.98758529e-01 -1.29269954e-04 5.28239772e-01] [ 2.35209504e-02 -1.04372232e-03 9.99722799e-01 1.55820045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789254153999995 meters Centerline goodness [0,1] 0.9992118100675287 Centerline is valid? [True, True] Translation: X:25.53, Y:0.53, Z:0.16 [[ 9.98464879e-01 -5.02084632e-02 -2.33879276e-02 2.55348343e+01] [ 5.02192392e-02 9.98738210e-01 -1.26735682e-04 5.29914630e-01] [ 2.33647802e-02 -1.04798280e-03 9.99726457e-01 1.56914289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819254153999996 meters Centerline goodness [0,1] 0.9990610128257111 Centerline is valid? [True, True] Translation: X:25.57, Y:0.53, Z:0.16 [[ 9.98377166e-01 -5.19744236e-02 -2.32743141e-02 2.55657319e+01] [ 5.19856070e-02 9.98647826e-01 -1.24691574e-04 5.27048406e-01] [ 2.32493240e-02 -1.08544013e-03 9.99729109e-01 1.56747760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849254153999993 meters Centerline goodness [0,1] 0.99895598073891 Centerline is valid? [True, True] Translation: X:25.60, Y:0.53, Z:0.16 [[ 9.98334449e-01 -5.27348953e-02 -2.33956811e-02 2.55976707e+01] [ 5.27464391e-02 9.98607930e-01 -1.23840070e-04 5.25864910e-01] [ 2.33696434e-02 -1.11040506e-03 9.99726276e-01 1.56511510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879254153999995 meters Centerline goodness [0,1] 0.9991057170233152 Centerline is valid? [True, True] Translation: X:25.63, Y:0.52, Z:0.16 [[ 9.98232511e-01 -5.43254196e-02 -2.40957150e-02 2.56295879e+01] [ 5.43381685e-02 9.98522582e-01 -1.25827912e-04 5.24215110e-01] [ 2.40669512e-02 -1.18371151e-03 9.99709648e-01 1.56177469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909254153999996 meters Centerline goodness [0,1] 0.9991680887372013 Centerline is valid? [True, True] Translation: X:25.66, Y:0.53, Z:0.16 [[ 9.98198159e-01 -5.48162003e-02 -2.44053340e-02 2.56618760e+01] [ 5.48294680e-02 9.98495725e-01 -1.25695703e-04 5.26202152e-01] [ 2.43755118e-02 -1.21266226e-03 9.99702138e-01 1.57254363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939254153999993 meters Centerline goodness [0,1] 0.9992321801817173 Centerline is valid? [True, True] Translation: X:25.69, Y:0.52, Z:0.16 [[ 9.98202866e-01 -5.49740843e-02 -2.38513807e-02 2.56932409e+01] [ 5.49868354e-02 9.98487072e-01 -1.21406649e-04 5.24974001e-01] [ 2.38219695e-02 -1.19032348e-03 9.99715508e-01 1.57470471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969254153999994 meters Centerline goodness [0,1] 0.9990415131312701 Centerline is valid? [True, True] Translation: X:25.72, Y:0.52, Z:0.16 [[ 9.98235576e-01 -5.48350409e-02 -2.27783681e-02 2.57247905e+01] [ 5.48466611e-02 9.98494782e-01 -1.14756247e-04 5.24819096e-01] [ 2.27503744e-02 -1.13476367e-03 9.99740533e-01 1.59108527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999254153999996 meters Centerline goodness [0,1] 0.9992949320570892 Centerline is valid? [True, True] Translation: X:25.76, Y:0.53, Z:0.16 [[ 9.98274757e-01 -5.45045833e-02 -2.18348392e-02 2.57572837e+01] [ 5.45152116e-02 9.98512934e-01 -1.08623307e-04 5.28322088e-01] [ 2.18082898e-02 -1.08189497e-03 9.99761586e-01 1.61069584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029254153999993 meters Centerline goodness [0,1] 0.999168 Centerline is valid? [True, True] Translation: X:25.79, Y:0.53, Z:0.16 [[ 9.98300145e-01 -5.43477334e-02 -2.10509782e-02 2.57888420e+01] [ 5.43576043e-02 9.98521527e-01 -1.03438407e-04 5.25776634e-01] [ 2.10254766e-02 -1.04101817e-03 9.99778398e-01 1.61249073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059254153999994 meters Centerline goodness [0,1] 0.9991026024528866 Centerline is valid? [True, True] Translation: X:25.82, Y:0.53, Z:0.16 [[ 9.98338361e-01 -5.39248678e-02 -2.03132094e-02 2.58212278e+01] [ 5.39339974e-02 9.98544498e-01 -9.85328467e-05 5.29066739e-01] [ 2.02889569e-02 -9.97203462e-04 9.99793661e-01 1.63043784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089254153999995 meters Centerline goodness [0,1] 0.9992516410442814 Centerline is valid? [True, True] Translation: X:25.85, Y:0.53, Z:0.16 [[ 9.98393767e-01 -5.33211168e-02 -1.91505829e-02 2.58526933e+01] [ 5.33291425e-02 9.98576985e-01 -9.17253279e-05 5.28944072e-01] [ 1.91282223e-02 -9.29706171e-04 9.99816607e-01 1.63639710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119254153999993 meters Centerline goodness [0,1] 0.9989535951480983 Centerline is valid? [True, True] Translation: X:25.88, Y:0.53, Z:0.16 [[ 9.98396630e-01 -5.31583629e-02 -1.94514087e-02 2.58847153e+01] [ 5.31666359e-02 9.98585650e-01 -9.19344600e-05 5.28756752e-01] [ 1.94287847e-02 -9.42378910e-04 9.99810799e-01 1.63875714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149254153999994 meters Centerline goodness [0,1] 0.9990387080235837 Centerline is valid? [True, True] Translation: X:25.92, Y:0.53, Z:0.16 [[ 9.98391183e-01 -5.31810266e-02 -1.96678530e-02 2.59170494e+01] [ 5.31895173e-02 9.98584432e-01 -9.15285606e-05 5.31074374e-01] [ 1.96448794e-02 -9.54742297e-04 9.99806565e-01 1.64143967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179254153999995 meters Centerline goodness [0,1] 0.9989737010904426 Centerline is valid? [True, True] Translation: X:25.95, Y:0.53, Z:0.16 [[ 9.98375025e-01 -5.33209961e-02 -2.01042711e-02 2.59492963e+01] [ 5.33299259e-02 9.98576943e-01 -9.20785406e-05 5.30055628e-01] [ 2.00805713e-02 -9.80230372e-04 9.99797884e-01 1.63919546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209254153999996 meters Centerline goodness [0,1] 0.9989741836211318 Centerline is valid? [True, True] Translation: X:25.98, Y:0.53, Z:0.16 [[ 9.98368158e-01 -5.34393301e-02 -2.01310450e-02 2.59810517e+01] [ 5.34483371e-02 9.98570612e-01 -9.07375142e-05 5.29690952e-01] [ 2.01071189e-02 -9.85381436e-04 9.99797346e-01 1.63470169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239254153999994 meters Centerline goodness [0,1] 0.9993373094764745 Centerline is valid? [True, True] Translation: X:26.01, Y:0.53, Z:0.16 [[ 9.98313111e-01 -5.42295187e-02 -2.07386547e-02 2.60129856e+01] [ 5.42392796e-02 9.98527963e-01 -9.19449896e-05 5.29296781e-01] [ 2.07131128e-02 -1.03305980e-03 9.99784927e-01 1.63474252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269254153999995 meters Centerline goodness [0,1] 0.9990387696251202 Centerline is valid? [True, True] Translation: X:26.04, Y:0.53, Z:0.16 [[ 9.98277073e-01 -5.48191523e-02 -2.09223797e-02 2.60438049e+01] [ 5.48292578e-02 9.98495741e-01 -9.07683434e-05 5.26899055e-01] [ 2.08958829e-02 -1.05654660e-03 9.99781099e-01 1.62867253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299254153999996 meters Centerline goodness [0,1] 0.9993812409319792 Centerline is valid? [True, True] Translation: X:26.08, Y:0.53, Z:0.16 [[ 9.98244823e-01 -5.53134488e-02 -2.11588210e-02 2.60761579e+01] [ 5.53239359e-02 9.98468454e-01 -8.98482129e-05 5.30537744e-01] [ 2.11313851e-02 -1.08089874e-03 9.99776123e-01 1.63959250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329254153999994 meters Centerline goodness [0,1] 0.9990186666666667 Centerline is valid? [True, True] Translation: X:26.11, Y:0.52, Z:0.16 [[ 9.98229210e-01 -5.58022731e-02 -2.06046331e-02 2.61077963e+01] [ 5.58123486e-02 9.98441272e-01 -8.61911508e-05 5.24584018e-01] [ 2.05773257e-02 -1.06395444e-03 9.99787698e-01 1.63146064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359254153999995 meters Centerline goodness [0,1] 0.9992733179447721 Centerline is valid? [True, True] Translation: X:26.14, Y:0.52, Z:0.16 [[ 9.98218899e-01 -5.61859648e-02 -2.00540986e-02 2.61389509e+01] [ 5.61956075e-02 9.98419775e-01 -8.28210978e-05 5.22919712e-01] [ 2.00270619e-02 -1.04427867e-03 9.99798893e-01 1.63721124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389254153999996 meters Centerline goodness [0,1] 0.9993604911428023 Centerline is valid? [True, True] Translation: X:26.17, Y:0.53, Z:0.17 [[ 9.98171014e-01 -5.73613926e-02 -1.90865916e-02 2.61710790e+01] [ 5.73703641e-02 9.98352961e-01 -7.76296823e-05 5.29827052e-01] [ 1.90596082e-02 -1.01751701e-03 9.99817831e-01 1.66158685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419254153999994 meters Centerline goodness [0,1] 0.999360709186609 Centerline is valid? [True, True] Translation: X:26.20, Y:0.53, Z:0.17 [[ 9.98149868e-01 -5.78913432e-02 -1.85858629e-02 2.62032883e+01] [ 5.78999670e-02 9.98322387e-01 -7.42237103e-05 5.28612830e-01] [ 1.85589799e-02 -1.00203446e-03 9.99827265e-01 1.66555311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449254153999995 meters Centerline goodness [0,1] 0.9991687625218466 Centerline is valid? [True, True] Translation: X:26.23, Y:0.52, Z:0.17 [[ 9.98103286e-01 -5.88947399e-02 -1.79231775e-02 2.62340238e+01] [ 5.89029386e-02 9.98263712e-01 -7.05871164e-05 5.17964967e-01] [ 1.78962149e-02 -9.85274591e-04 9.99839364e-01 1.65810430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479254153999996 meters Centerline goodness [0,1] 0.9993804742576372 Centerline is valid? [True, True] Translation: X:26.27, Y:0.53, Z:0.17 [[ 9.98074621e-01 -5.93386110e-02 -1.80549208e-02 2.62662102e+01] [ 5.93470209e-02 9.98237410e-01 -7.01122486e-05 5.27539946e-01] [ 1.80272577e-02 -1.00152851e-03 9.99836994e-01 1.68003854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509254153999994 meters Centerline goodness [0,1] 0.9990850674496787 Centerline is valid? [True, True] Translation: X:26.30, Y:0.53, Z:0.17 [[ 9.98071199e-01 -5.94948533e-02 -1.77269156e-02 2.62983703e+01] [ 5.95030079e-02 9.98228124e-01 -6.75401743e-05 5.27266441e-01] [ 1.76995240e-02 -9.87394898e-04 9.99842864e-01 1.68198806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539254153999995 meters Centerline goodness [0,1] 0.9990849506298944 Centerline is valid? [True, True] Translation: X:26.33, Y:0.51, Z:0.17 [[ 9.97987925e-01 -6.09358723e-02 -1.75191534e-02 2.63296030e+01] [ 6.09440780e-02 9.98141180e-01 -6.56161615e-05 5.14528718e-01] [ 1.74905868e-02 -1.00220451e-03 9.99846526e-01 1.67385633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569254153999996 meters Centerline goodness [0,1] 0.9990837026934879 Centerline is valid? [True, True] Translation: X:26.36, Y:0.53, Z:0.17 [[ 9.97974102e-01 -6.13327581e-02 -1.69110508e-02 2.63618073e+01] [ 6.13404784e-02 9.98116898e-01 -6.22859268e-05 5.25511893e-01] [ 1.68830257e-02 -9.75172203e-04 9.99856996e-01 1.69084980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599254153999993 meters Centerline goodness [0,1] 0.999084151562267 Centerline is valid? [True, True] Translation: X:26.39, Y:0.53, Z:0.17 [[ 9.97920361e-01 -6.21489391e-02 -1.71015567e-02 2.63936876e+01] [ 6.21569755e-02 9.98066384e-01 -6.17199077e-05 5.25306354e-01] [ 1.70723247e-02 -1.00138949e-03 9.99853756e-01 1.69797148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629254153999995 meters Centerline goodness [0,1] 0.9991911451681567 Centerline is valid? [True, True] Translation: X:26.43, Y:0.52, Z:0.17 [[ 9.97930044e-01 -6.21181215e-02 -1.66422979e-02 2.64258456e+01] [ 6.21257500e-02 9.98068328e-01 -5.87188378e-05 5.23238117e-01] [ 1.66137979e-02 -9.75317943e-04 9.99861506e-01 1.69667935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659254153999996 meters Centerline goodness [0,1] 0.9990221504187747 Centerline is valid? [True, True] Translation: X:26.46, Y:0.52, Z:0.17 [[ 9.97937101e-01 -6.19556374e-02 -1.68238496e-02 2.64568118e+01] [ 6.19634318e-02 9.98078419e-01 -5.80836620e-05 5.22484979e-01] [ 1.67951198e-02 -9.84499614e-04 9.99858467e-01 1.69771219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689254153999993 meters Centerline goodness [0,1] 0.9989375717139093 Centerline is valid? [True, True] Translation: X:26.49, Y:0.52, Z:0.17 [[ 9.97965260e-01 -6.14550217e-02 -1.69888243e-02 2.64886859e+01] [ 6.14629155e-02 9.98109366e-01 -5.75894911e-05 5.24142869e-01] [ 1.69602438e-02 -9.86710361e-04 9.99855678e-01 1.70290036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719254153999994 meters Centerline goodness [0,1] 0.9990824121889804 Centerline is valid? [True, True] Translation: X:26.52, Y:0.53, Z:0.17 [[ 9.98087004e-01 -5.94969333e-02 -1.68061817e-02 2.65204210e+01] [ 5.95043997e-02 9.98228042e-01 -5.58829973e-05 5.29486416e-01] [ 1.67797268e-02 -9.44265664e-04 9.99858765e-01 1.71304222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749254153999996 meters Centerline goodness [0,1] 0.9992339936591698 Centerline is valid? [True, True] Translation: X:26.55, Y:0.53, Z:0.17 [[ 9.98253688e-01 -5.66857089e-02 -1.66224385e-02 2.65510302e+01] [ 5.66926374e-02 9.98391678e-01 -5.44852273e-05 5.30045147e-01] [ 1.65987928e-02 -8.87979797e-04 9.99861836e-01 1.71780879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779254153999993 meters Centerline goodness [0,1] 0.9991029282983405 Centerline is valid? [True, True] Translation: X:26.58, Y:0.53, Z:0.17 [[ 9.98338890e-01 -5.53542874e-02 -1.59801293e-02 2.65835875e+01] [ 5.53605356e-02 9.98466428e-01 -5.14360585e-05 5.32744674e-01] [ 1.59584698e-02 -8.33317900e-04 9.99872308e-01 1.72462274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809254153999994 meters Centerline goodness [0,1] 0.9991661321359846 Centerline is valid? [True, True] Translation: X:26.62, Y:0.53, Z:0.17 [[ 9.98419282e-01 -5.38411677e-02 -1.61265517e-02 2.66159066e+01] [ 5.38473563e-02 9.98549177e-01 -5.05325585e-05 5.34686134e-01] [ 1.61058757e-02 -8.17919494e-04 9.99869957e-01 1.72712243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839254153999995 meters Centerline goodness [0,1] 0.9991878432965013 Centerline is valid? [True, True] Translation: X:26.65, Y:0.54, Z:0.17 [[ 9.98493138e-01 -5.22976635e-02 -1.66254926e-02 2.66480105e+01] [ 5.23040484e-02 9.98631205e-01 -5.08388981e-05 5.36044196e-01] [ 1.66053945e-02 -8.18818282e-04 9.99861786e-01 1.72730371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869254153999993 meters Centerline goodness [0,1] 0.9991878606539859 Centerline is valid? [True, True] Translation: X:26.68, Y:0.54, Z:0.17 [[ 9.98607421e-01 -4.99272225e-02 -1.70437948e-02 2.66798481e+01] [ 4.99336078e-02 9.98752538e-01 -5.09769804e-05 5.38431573e-01] [ 1.70250785e-02 -8.00152176e-04 9.99854743e-01 1.72208076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899254153999994 meters Centerline goodness [0,1] 0.9991896445098416 Centerline is valid? [True, True] Translation: X:26.71, Y:0.54, Z:0.17 [[ 9.98631907e-01 -4.88939750e-02 -1.85389575e-02 2.67113195e+01] [ 4.89013723e-02 9.98803611e-01 -5.43743090e-05 5.36155431e-01] [ 1.85194362e-02 -8.52280542e-04 9.99828137e-01 1.71290601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929254153999995 meters Centerline goodness [0,1] 0.9993378190750828 Centerline is valid? [True, True] Translation: X:26.74, Y:0.54, Z:0.17 [[ 9.98641696e-01 -4.86152578e-02 -1.87435106e-02 2.67435647e+01] [ 4.86227929e-02 9.98817211e-01 -5.37680259e-05 5.37993850e-01] [ 1.87239549e-02 -8.57666842e-04 9.99824324e-01 1.71418968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959254153999993 meters Centerline goodness [0,1] 0.9993159177391081 Centerline is valid? [True, True] Translation: X:26.78, Y:0.54, Z:0.17 [[ 9.98645730e-01 -4.83911317e-02 -1.91050922e-02 2.67757533e+01] [ 4.83989463e-02 9.98828083e-01 -5.33981099e-05 5.38367092e-01] [ 1.90852866e-02 -8.71340536e-04 9.99817480e-01 1.71639945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989254153999994 meters Centerline goodness [0,1] 0.9993366287903105 Centerline is valid? [True, True] Translation: X:26.81, Y:0.54, Z:0.17 [[ 9.98640672e-01 -4.85116968e-02 -1.90636565e-02 2.68075890e+01] [ 4.85195260e-02 9.98822233e-01 -5.18928317e-05 5.37864124e-01] [ 1.90437213e-02 -8.73137282e-04 9.99818271e-01 1.71450987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019254153999995 meters Centerline goodness [0,1] 0.9993795995207941 Centerline is valid? [True, True] Translation: X:26.84, Y:0.54, Z:0.17 [[ 9.98626961e-01 -4.85207396e-02 -1.97466749e-02 2.68398847e+01] [ 4.85291707e-02 9.98821764e-01 -5.22833719e-05 5.38765469e-01] [ 1.97259455e-02 -9.06078175e-04 9.99805014e-01 1.72033648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049254153999996 meters Centerline goodness [0,1] 0.9994010951403148 Centerline is valid? [True, True] Translation: X:26.87, Y:0.54, Z:0.17 [[ 9.98636986e-01 -4.82766957e-02 -1.98375985e-02 2.68712790e+01] [ 4.82851817e-02 9.98833589e-01 -5.12610183e-05 5.38193115e-01] [ 1.98169344e-02 -9.06670899e-04 9.99803214e-01 1.72113896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079254153999994 meters Centerline goodness [0,1] 0.9994024244493768 Centerline is valid? [True, True] Translation: X:26.90, Y:0.54, Z:0.17 [[ 9.98649725e-01 -4.76209250e-02 -2.07599187e-02 2.69030307e+01] [ 4.76301054e-02 9.98865041e-01 -5.22927896e-05 5.39201199e-01] [ 2.07388473e-02 -9.36574938e-04 9.99784488e-01 1.72149440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109254153999995 meters Centerline goodness [0,1] 0.9992522645701589 Centerline is valid? [True, True] Translation: X:26.94, Y:0.54, Z:0.17 [[ 9.98672392e-01 -4.71906561e-02 -2.06517455e-02 2.69353042e+01] [ 4.71996798e-02 9.98885473e-01 -5.05358000e-05 5.40660733e-01] [ 2.06311134e-02 -9.24287067e-04 9.99786729e-01 1.72857219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139254153999996 meters Centerline goodness [0,1] 0.9991879127219884 Centerline is valid? [True, True] Translation: X:26.97, Y:0.54, Z:0.17 [[ 9.98727196e-01 -4.64324948e-02 -1.96980295e-02 2.69678568e+01] [ 4.64405844e-02 9.98921053e-01 -4.68049425e-05 5.42473402e-01] [ 1.96789497e-02 -8.68042635e-04 9.99805974e-01 1.74388500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169254153999994 meters Centerline goodness [0,1] 0.9992097900604404 Centerline is valid? [True, True] Translation: X:27.00, Y:0.54, Z:0.18 [[ 9.98738245e-01 -4.62745953e-02 -1.95084738e-02 2.69998341e+01] [ 4.62825273e-02 9.98928389e-01 -4.49451628e-05 5.42946203e-01] [ 1.94896481e-02 -8.58013017e-04 9.99809691e-01 1.75336494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199254153999995 meters Centerline goodness [0,1] 0.9995277551195638 Centerline is valid? [True, True] Translation: X:27.03, Y:0.54, Z:0.18 [[ 9.98736741e-01 -4.65077118e-02 -1.90251188e-02 2.70319179e+01] [ 4.65153236e-02 9.98917576e-01 -4.24701687e-05 5.43162895e-01] [ 1.90065008e-02 -8.42543042e-04 9.99819005e-01 1.75919725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229254153999996 meters Centerline goodness [0,1] 0.999379001691685 Centerline is valid? [True, True] Translation: X:27.06, Y:0.55, Z:0.18 [[ 9.98732436e-01 -4.67394152e-02 -1.86801714e-02 2.70640991e+01] [ 4.67468192e-02 9.98906769e-01 -4.03451710e-05 5.45565283e-01] [ 1.86616353e-02 -8.32944561e-04 9.99825510e-01 1.77233018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259254153999994 meters Centerline goodness [0,1] 0.9993774285652949 Centerline is valid? [True, True] Translation: X:27.10, Y:0.55, Z:0.18 [[ 9.98688675e-01 -4.77531900e-02 -1.84543495e-02 2.70952766e+01] [ 4.77606106e-02 9.98858810e-01 -3.86708349e-05 5.45919957e-01] [ 1.84351363e-02 -8.42770877e-04 9.99829703e-01 1.78313081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289254153999995 meters Centerline goodness [0,1] 0.999721071941983 Centerline is valid? [True, True] Translation: X:27.13, Y:0.55, Z:0.18 [[ 9.98648623e-01 -4.88956238e-02 -1.76109652e-02 2.71268976e+01] [ 4.89025753e-02 9.98803553e-01 -3.59582309e-05 5.45921367e-01] [ 1.75916528e-02 -8.25311913e-04 9.99844914e-01 1.79271400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319254153999996 meters Centerline goodness [0,1] 0.9994012104103848 Centerline is valid? [True, True] Translation: X:27.16, Y:0.54, Z:0.18 [[ 9.98611666e-01 -4.96799604e-02 -1.75112078e-02 2.71581038e+01] [ 4.96869704e-02 9.98764839e-01 -3.48003606e-05 5.44805321e-01] [ 1.74913075e-02 -8.35326817e-04 9.99846666e-01 1.79384152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349254153999993 meters Centerline goodness [0,1] 0.9993360320418085 Centerline is valid? [True, True] Translation: X:27.19, Y:0.54, Z:0.18 [[ 9.98573119e-01 -5.03271160e-02 -1.78579897e-02 2.71897736e+01] [ 5.03345272e-02 9.98732414e-01 -3.45092329e-05 5.44883206e-01] [ 1.78370899e-02 -8.64413474e-04 9.99840533e-01 1.79462996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379254153999995 meters Centerline goodness [0,1] 0.9994866090527937 Centerline is valid? [True, True] Translation: X:27.22, Y:0.54, Z:0.18 [[ 9.98501483e-01 -5.15310373e-02 -1.84212009e-02 2.72216915e+01] [ 5.15391495e-02 9.98670974e-01 -3.44200560e-05 5.44782875e-01] [ 1.83984923e-02 -9.15044548e-04 9.99830315e-01 1.79181894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409254153999996 meters Centerline goodness [0,1] 0.9995071991772368 Centerline is valid? [True, True] Translation: X:27.25, Y:0.55, Z:0.18 [[ 9.98470444e-01 -5.20851934e-02 -1.85446722e-02 2.72535310e+01] [ 5.20935353e-02 9.98642209e-01 -3.32876335e-05 5.47424121e-01] [ 1.85212262e-02 -9.32820815e-04 9.99828032e-01 1.79514595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439254153999993 meters Centerline goodness [0,1] 0.9994855967078189 Centerline is valid? [True, True] Translation: X:27.29, Y:0.55, Z:0.18 [[ 9.98451241e-01 -5.22946387e-02 -1.89839569e-02 2.72851397e+01] [ 5.23034419e-02 9.98631238e-01 -3.28299401e-05 5.46088723e-01] [ 1.89596892e-02 -9.60147193e-04 9.99819788e-01 1.78735061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469254153999994 meters Centerline goodness [0,1] 0.9994855967078189 Centerline is valid? [True, True] Translation: X:27.32, Y:0.55, Z:0.18 [[ 9.98455005e-01 -5.22227156e-02 -1.89839589e-02 2.73168748e+01] [ 5.22315289e-02 9.98635002e-01 -3.16179411e-05 5.46080195e-01] [ 1.89596970e-02 -9.59992108e-04 9.99819788e-01 1.79032208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499254153999996 meters Centerline goodness [0,1] 0.9994200283541693 Centerline is valid? [True, True] Translation: X:27.35, Y:0.55, Z:0.18 [[ 9.98468009e-01 -5.19178329e-02 -1.91356893e-02 2.73494911e+01] [ 5.19267586e-02 9.98650895e-01 -3.04664310e-05 5.49823070e-01] [ 1.91114550e-02 -9.63234563e-04 9.99816895e-01 1.79764718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529254153999993 meters Centerline goodness [0,1] 0.999248136452493 Centerline is valid? [True, True] Translation: X:27.38, Y:0.55, Z:0.18 [[ 9.98487499e-01 -5.15025493e-02 -1.92406522e-02 2.73821826e+01] [ 5.15115274e-02 9.98672400e-01 -2.90225958e-05 5.50998059e-01] [ 1.92166031e-02 -9.62136684e-04 9.99814881e-01 1.79665241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559254153999994 meters Centerline goodness [0,1] 0.9994626775850581 Centerline is valid? [True, True] Translation: X:27.41, Y:0.55, Z:0.18 [[ 9.98526495e-01 -5.08013720e-02 -1.90803422e-02 2.74139250e+01] [ 5.08101033e-02 9.98708332e-01 -2.72097499e-05 5.48315521e-01] [ 1.90570790e-02 -9.42304502e-04 9.99817953e-01 1.79414530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589254153999995 meters Centerline goodness [0,1] 0.999527166437414 Centerline is valid? [True, True] Translation: X:27.45, Y:0.55, Z:0.18 [[ 9.98613624e-01 -4.89705787e-02 -1.93057744e-02 2.74452221e+01] [ 4.89791966e-02 9.98799799e-01 -2.64738702e-05 5.53608894e-01] [ 1.92839000e-02 -9.19144152e-04 9.99813626e-01 1.79802306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619254153999993 meters Centerline goodness [0,1] 0.9995482122111785 Centerline is valid? [True, True] Translation: X:27.48, Y:0.56, Z:0.18 [[ 9.98651163e-01 -4.80332436e-02 -1.97144988e-02 2.74771466e+01] [ 4.80420701e-02 9.98845313e-01 -2.59236753e-05 5.55984933e-01] [ 1.96929800e-02 -9.21236627e-04 9.99805650e-01 1.80072205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649254153999994 meters Centerline goodness [0,1] 0.9994837155272556 Centerline is valid? [True, True] Translation: X:27.51, Y:0.56, Z:0.18 [[ 9.98730054e-01 -4.64161455e-02 -1.95913310e-02 2.75083958e+01] [ 4.64245760e-02 9.98921798e-01 -2.45153084e-05 5.57061626e-01] [ 1.95713455e-02 -8.85035060e-04 9.99808071e-01 1.79491086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679254153999995 meters Centerline goodness [0,1] 0.9995475405597569 Centerline is valid? [True, True] Translation: X:27.54, Y:0.56, Z:0.18 [[ 9.98753150e-01 -4.57181481e-02 -2.00498314e-02 2.75405069e+01] [ 4.57268636e-02 9.98953980e-01 -2.37869519e-05 5.58658489e-01] [ 2.00299464e-02 -8.93058614e-04 9.99798982e-01 1.79934980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709254153999993 meters Centerline goodness [0,1] 0.9994609396899325 Centerline is valid? [True, True] Translation: X:27.57, Y:0.56, Z:0.18 [[ 9.98778274e-01 -4.50899264e-02 -2.02202294e-02 2.75728863e+01] [ 4.50986920e-02 9.98982536e-01 -2.25199453e-05 5.59257833e-01] [ 2.02006714e-02 -8.89413463e-04 9.99795550e-01 1.79900856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739254153999994 meters Centerline goodness [0,1] 0.9994600431965442 Centerline is valid? [True, True] Translation: X:27.60, Y:0.56, Z:0.18 [[ 9.98845655e-01 -4.34356622e-02 -2.05109991e-02 2.76048801e+01] [ 4.34443645e-02 9.99055848e-01 -2.13377205e-05 5.63527154e-01] [ 2.04925605e-02 -8.69774233e-04 9.99789627e-01 1.80459641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769254153999995 meters Centerline goodness [0,1] 0.9996548004314995 Centerline is valid? [True, True] Translation: X:27.64, Y:0.56, Z:0.18 [[ 9.98871628e-01 -4.28115509e-02 -2.05582331e-02 2.76358512e+01] [ 4.28201882e-02 9.99082795e-01 -2.00814352e-05 5.62058162e-01] [ 2.05402367e-02 -8.60248635e-04 9.99788657e-01 1.80054546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799254153999993 meters Centerline goodness [0,1] 0.9994384570527635 Centerline is valid? [True, True] Translation: X:27.67, Y:0.56, Z:0.18 [[ 9.98870634e-01 -4.28158070e-02 -2.05976560e-02 2.76681231e+01] [ 4.28245054e-02 9.99082610e-01 -1.88096348e-05 5.62688124e-01] [ 2.05795653e-02 -8.63296039e-04 9.99787846e-01 1.80199187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829254153999994 meters Centerline goodness [0,1] 0.9996970614965162 Centerline is valid? [True, True] Translation: X:27.70, Y:0.56, Z:0.18 [[ 9.98857002e-01 -4.31591736e-02 -2.05420332e-02 2.77006774e+01] [ 4.31679275e-02 9.99067830e-01 -1.72955142e-05 5.64310156e-01] [ 2.05236310e-02 -8.69481254e-04 9.99788990e-01 1.81321163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859254153999995 meters Centerline goodness [0,1] 0.9996537545985718 Centerline is valid? [True, True] Translation: X:27.73, Y:0.57, Z:0.18 [[ 9.98838751e-01 -4.39141490e-02 -1.98165602e-02 2.77326744e+01] [ 4.39224716e-02 9.99034942e-01 -1.52746939e-05 5.65121338e-01] [ 1.97981069e-02 -8.55135346e-04 9.99803633e-01 1.81959960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889254153999996 meters Centerline goodness [0,1] 0.9995884327954078 Centerline is valid? [True, True] Translation: X:27.76, Y:0.56, Z:0.18 [[ 9.98790245e-01 -4.52341483e-02 -1.92851846e-02 2.77635438e+01] [ 4.52423075e-02 9.98976042e-01 -1.32233881e-05 5.62687037e-01] [ 1.92660355e-02 -8.59298860e-04 9.99814023e-01 1.82142255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919254153999994 meters Centerline goodness [0,1] 0.9996329562138354 Centerline is valid? [True, True] Translation: X:27.79, Y:0.56, Z:0.18 [[ 9.98758826e-01 -4.60082139e-02 -1.90801611e-02 2.77949229e+01] [ 4.60163776e-02 9.98940685e-01 -1.11872027e-05 5.61152476e-01] [ 1.90604639e-02 -8.66826581e-04 9.99817957e-01 1.82339220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949254153999995 meters Centerline goodness [0,1] 0.9995669027046926 Centerline is valid? [True, True] Translation: X:27.83, Y:0.56, Z:0.18 [[ 9.98716321e-01 -4.68990520e-02 -1.91360488e-02 2.78269158e+01] [ 4.69074584e-02 9.98899239e-01 -9.56432141e-06 5.62726845e-01] [ 1.91154332e-02 -8.88071370e-04 9.99816889e-01 1.83233231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979254153999996 meters Centerline goodness [0,1] 0.9997619923404808 Centerline is valid? [True, True] Translation: X:27.86, Y:0.56, Z:0.18 [[ 9.98638213e-01 -4.84481447e-02 -1.93519182e-02 2.78586527e+01] [ 4.84570650e-02 9.98825266e-01 -7.96994926e-06 5.61902862e-01] [ 1.93295710e-02 -9.29778064e-04 9.99812734e-01 1.83470568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009254153999994 meters Centerline goodness [0,1] 0.9995446957049628 Centerline is valid? [True, True] Translation: X:27.89, Y:0.56, Z:0.18 [[ 9.98616889e-01 -4.89643316e-02 -1.91520958e-02 2.78894740e+01] [ 4.89732007e-02 9.98800093e-01 -5.93183047e-06 5.60541984e-01] [ 1.91294055e-02 -9.32015806e-04 9.99816582e-01 1.83606474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039254153999995 meters Centerline goodness [0,1] 0.9996539268487876 Centerline is valid? [True, True] Translation: X:27.92, Y:0.56, Z:0.18 [[ 9.98583812e-01 -5.00405094e-02 -1.80642930e-02 2.79220610e+01] [ 5.00486027e-02 9.98746783e-01 -4.06358832e-06 5.60526160e-01] [ 1.80418578e-02 -9.00034787e-04 9.99836827e-01 1.84947634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069254153999996 meters Centerline goodness [0,1] 0.9994372659783997 Centerline is valid? [True, True] Translation: X:27.95, Y:0.56, Z:0.19 [[ 9.98577627e-01 -5.03852084e-02 -1.74371151e-02 2.79539942e+01] [ 5.03928230e-02 9.98729475e-01 -2.69688558e-06 5.61155461e-01] [ 1.74150967e-02 -8.76012404e-04 9.99847962e-01 1.85881584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099254153999993 meters Centerline goodness [0,1] 0.9995246018540528 Centerline is valid? [True, True] Translation: X:27.99, Y:0.56, Z:0.19 [[ 9.98592586e-01 -5.04096884e-02 -1.64836604e-02 2.79867186e+01] [ 5.04165197e-02 9.98728279e-01 -1.12267610e-06 5.62834401e-01] [ 1.64627544e-02 -8.29927695e-04 9.99864135e-01 1.86947432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129254153999995 meters Centerline goodness [0,1] 0.9995887712919075 Centerline is valid? [True, True] Translation: X:28.02, Y:0.56, Z:0.19 [[ 9.98605934e-01 -5.03056288e-02 -1.59854040e-02 2.80180221e+01] [ 5.03120619e-02 9.98733546e-01 2.79207710e-07 5.61151665e-01] [ 1.59651452e-02 -8.04537456e-04 9.99872225e-01 1.87782767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159254153999996 meters Centerline goodness [0,1] 0.9996749376963918 Centerline is valid? [True, True] Translation: X:28.05, Y:0.56, Z:0.19 [[ 9.98614085e-01 -5.01760716e-02 -1.58830198e-02 2.80508791e+01] [ 5.01824256e-02 9.98740068e-01 1.49920713e-06 5.62907066e-01] [ 1.58629330e-02 -7.98545586e-04 9.99873857e-01 1.88404904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189254153999993 meters Centerline goodness [0,1] 0.99958812052894 Centerline is valid? [True, True] Translation: X:28.08, Y:0.56, Z:0.19 [[ 9.98574735e-01 -5.08605705e-02 -1.61772004e-02 2.80823485e+01] [ 5.08672745e-02 9.98705422e-01 2.94089912e-06 5.60861887e-01] [ 1.61561081e-02 -8.25826799e-04 9.99869141e-01 1.88232699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219254153999994 meters Centerline goodness [0,1] 0.999675148890092 Centerline is valid? [True, True] Translation: X:28.11, Y:0.56, Z:0.19 [[ 9.98542139e-01 -5.13972753e-02 -1.64898774e-02 2.81147575e+01] [ 5.14043310e-02 9.98677923e-01 4.03222322e-06 5.62472844e-01] [ 1.64678692e-02 -8.51677460e-04 9.99864033e-01 1.88256085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249254153999996 meters Centerline goodness [0,1] 0.9995237270523034 Centerline is valid? [True, True] Translation: X:28.15, Y:0.56, Z:0.19 [[ 9.98506480e-01 -5.20465615e-02 -1.66121666e-02 2.81472213e+01] [ 5.20538320e-02 9.98644280e-01 5.27811158e-06 5.63076244e-01] [ 1.65893704e-02 -8.69997158e-04 9.99862008e-01 1.88404610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279254153999993 meters Centerline goodness [0,1] 0.9995251456939348 Centerline is valid? [True, True] Translation: X:28.18, Y:0.56, Z:0.19 [[ 9.98444426e-01 -5.31997547e-02 -1.66887417e-02 2.81797977e+01] [ 5.32072735e-02 9.98583490e-01 6.52863246e-06 5.60513316e-01] [ 1.66647546e-02 -8.94480921e-04 9.99860733e-01 1.88391030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309254153999994 meters Centerline goodness [0,1] 0.9995244477108642 Centerline is valid? [True, True] Translation: X:28.21, Y:0.56, Z:0.19 [[ 9.98428806e-01 -5.35665748e-02 -1.64481589e-02 2.82124424e+01] [ 5.35739476e-02 9.98563885e-01 7.62553290e-06 5.59571781e-01] [ 1.64241289e-02 -8.88806352e-04 9.99864720e-01 1.88659484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339254153999995 meters Centerline goodness [0,1] 0.999611315050745 Centerline is valid? [True, True] Translation: X:28.24, Y:0.55, Z:0.19 [[ 9.98407536e-01 -5.39520550e-02 -1.64793410e-02 2.82440543e+01] [ 5.39595257e-02 9.98543124e-01 8.71116381e-06 5.51883369e-01] [ 1.64548626e-02 -8.97914714e-04 9.99864206e-01 1.88373996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369254153999993 meters Centerline goodness [0,1] 0.999611222704594 Centerline is valid? [True, True] Translation: X:28.28, Y:0.56, Z:0.19 [[ 9.98422568e-01 -5.37426304e-02 -1.62513008e-02 2.82761434e+01] [ 5.37498843e-02 9.98554430e-01 9.58777108e-06 5.57359090e-01] [ 1.62272931e-02 -8.83078184e-04 9.99867939e-01 1.89290047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399254153999994 meters Centerline goodness [0,1] 0.9994374972956601 Centerline is valid? [True, True] Translation: X:28.31, Y:0.56, Z:0.19 [[ 9.98441097e-01 -5.33662707e-02 -1.63528821e-02 2.83078762e+01] [ 5.33735849e-02 9.98574614e-01 1.08502154e-05 5.60704937e-01] [ 1.63289939e-02 -8.83645239e-04 9.99866283e-01 1.89814708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429254153999995 meters Centerline goodness [0,1] 0.999481518287282 Centerline is valid? [True, True] Translation: X:28.34, Y:0.56, Z:0.19 [[ 9.98480503e-01 -5.25179641e-02 -1.66897458e-02 2.83393412e+01] [ 5.25254833e-02 9.98619584e-01 1.21986008e-05 5.56589656e-01] [ 1.66660664e-02 -8.88817031e-04 9.99860716e-01 1.89229047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459254153999993 meters Centerline goodness [0,1] 0.9995044598612488 Centerline is valid? [True, True] Translation: X:28.37, Y:0.56, Z:0.19 [[ 9.98525628e-01 -5.16521618e-02 -1.66920692e-02 2.83712518e+01] [ 5.16595802e-02 9.98664752e-01 1.32624632e-05 5.57353277e-01] [ 1.66690962e-02 -8.75548199e-04 9.99860678e-01 1.89268757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489254153999994 meters Centerline goodness [0,1] 0.9995690583925878 Centerline is valid? [True, True] Translation: X:28.40, Y:0.56, Z:0.19 [[ 9.98641859e-01 -4.92850120e-02 -1.68945256e-02 2.84029433e+01] [ 4.92922925e-02 9.98784396e-01 1.45403088e-05 5.58536115e-01] [ 1.68732720e-02 -8.47290461e-04 9.99857277e-01 1.89815554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519254153999995 meters Centerline goodness [0,1] 0.9995263724434876 Centerline is valid? [True, True] Translation: X:28.43, Y:0.56, Z:0.19 [[ 9.98714821e-01 -4.77613226e-02 -1.69576698e-02 2.84338569e+01] [ 4.77684545e-02 9.98858436e-01 1.55372788e-05 5.55591352e-01] [ 1.69375695e-02 -8.25558990e-04 9.99856208e-01 1.89926048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549254153999993 meters Centerline goodness [0,1] 0.9994392442738214 Centerline is valid? [True, True] Translation: X:28.47, Y:0.56, Z:0.19 [[ 9.98793363e-01 -4.60929907e-02 -1.69485640e-02 2.84661137e+01] [ 4.60998933e-02 9.98936835e-01 1.65911711e-05 5.57362819e-01] [ 1.69297801e-02 -7.97898142e-04 9.99856363e-01 1.90564924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579254153999994 meters Centerline goodness [0,1] 0.9994401378122308 Centerline is valid? [True, True] Translation: X:28.50, Y:0.56, Z:0.19 [[ 9.98957967e-01 -4.22728597e-02 -1.72042164e-02 2.84968775e+01] [ 4.22794208e-02 9.99105825e-01 1.76663145e-05 5.59278910e-01] [ 1.71880860e-02 -7.45032210e-04 9.99851996e-01 1.90748048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609254153999995 meters Centerline goodness [0,1] 0.9995685377745178 Centerline is valid? [True, True] Translation: X:28.53, Y:0.56, Z:0.19 [[ 9.99055369e-01 -4.00409732e-02 -1.68846238e-02 2.85286114e+01] [ 4.00469855e-02 9.99197798e-01 1.79813333e-05 5.59618547e-01] [ 1.68703589e-02 -6.94142630e-04 9.99857444e-01 1.91009535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639254153999993 meters Centerline goodness [0,1] 0.9995901462530739 Centerline is valid? [True, True] Translation: X:28.56, Y:0.56, Z:0.19 [[ 9.99135498e-01 -3.80112030e-02 -1.68346136e-02 2.85598625e+01] [ 3.80169066e-02 9.99277096e-01 1.87951227e-05 5.61252443e-01] [ 1.68217293e-02 -6.58778806e-04 9.99858288e-01 1.91564552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669254153999994 meters Centerline goodness [0,1] 0.9997840032831501 Centerline is valid? [True, True] Translation: X:28.59, Y:0.56, Z:0.19 [[ 9.99298107e-01 -3.35557387e-02 -1.66524778e-02 2.85900505e+01] [ 3.35607073e-02 9.99436681e-01 1.89313104e-05 5.62561493e-01] [ 1.66424619e-02 -5.77786957e-04 9.99861338e-01 1.92229715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699254153999995 meters Centerline goodness [0,1] 0.9994812268983854 Centerline is valid? [True, True] Translation: X:28.62, Y:0.56, Z:0.19 [[ 9.99367113e-01 -3.12830929e-02 -1.69334276e-02 2.86216929e+01] [ 3.12879094e-02 9.99510413e-01 1.95211477e-05 5.64046966e-01] [ 1.69245265e-02 -5.49320341e-04 9.99856619e-01 1.92433420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729254153999996 meters Centerline goodness [0,1] 0.9997620180866255 Centerline is valid? [True, True] Translation: X:28.65, Y:0.57, Z:0.19 [[ 9.99482979e-01 -2.70746340e-02 -1.73418032e-02 2.86531129e+01] [ 2.70790638e-02 9.99633295e-01 2.06300664e-05 5.67773782e-01] [ 1.73348853e-02 -4.90219196e-04 9.99849619e-01 1.93325173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759254153999994 meters Centerline goodness [0,1] 0.9996105919003115 Centerline is valid? [True, True] Translation: X:28.68, Y:0.57, Z:0.19 [[ 9.99532534e-01 -2.53189045e-02 -1.71367201e-02 2.86845469e+01] [ 2.53229830e-02 9.99679322e-01 2.10126986e-05 5.67987747e-01] [ 1.71306927e-02 -4.54955747e-04 9.99853155e-01 1.93445780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789254153999995 meters Centerline goodness [0,1] 0.9996116253479189 Centerline is valid? [True, True] Translation: X:28.72, Y:0.57, Z:0.19 [[ 9.99566674e-01 -2.41094981e-02 -1.68877526e-02 2.87157332e+01] [ 2.41132968e-02 9.99709232e-01 2.13176836e-05 5.67972309e-01] [ 1.68823282e-02 -4.28527837e-04 9.99857392e-01 1.93814606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819254153999996 meters Centerline goodness [0,1] 0.9994602763385146 Centerline is valid? [True, True] Translation: X:28.75, Y:0.57, Z:0.19 [[ 9.99591054e-01 -2.32798816e-02 -1.66064056e-02 2.87463970e+01] [ 2.32834459e-02 9.99728904e-01 2.12968227e-05 5.67586291e-01] [ 1.66014079e-02 -4.07942459e-04 9.99862104e-01 1.94014534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849254153999993 meters Centerline goodness [0,1] 0.9994601597927013 Centerline is valid? [True, True] Translation: X:28.78, Y:0.56, Z:0.19 [[ 9.99598054e-01 -2.31273828e-02 -1.63968093e-02 2.87765659e+01] [ 2.31308392e-02 9.99732446e-01 2.11550770e-05 5.64536018e-01] [ 1.63919330e-02 -4.00418532e-04 9.99865563e-01 1.93716742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879254153999995 meters Centerline goodness [0,1] 0.9993962264150943 Centerline is valid? [True, True] Translation: X:28.81, Y:0.56, Z:0.19 [[ 9.99582986e-01 -2.42532023e-02 -1.56728030e-02 2.88073854e+01] [ 2.42565010e-02 9.99705768e-01 2.03828265e-05 5.64043018e-01] [ 1.56676972e-02 -4.00541688e-04 9.99877174e-01 1.94140064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909254153999996 meters Centerline goodness [0,1] 0.9996117761242317 Centerline is valid? [True, True] Translation: X:28.84, Y:0.56, Z:0.19 [[ 9.99545353e-01 -2.56567936e-02 -1.58371608e-02 2.88389392e+01] [ 2.56603416e-02 9.99670719e-01 2.08306806e-05 5.62027679e-01] [ 1.58314115e-02 -4.27208166e-04 9.99874584e-01 1.94220892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939254153999993 meters Centerline goodness [0,1] 0.9995483676717278 Centerline is valid? [True, True] Translation: X:28.87, Y:0.56, Z:0.19 [[ 9.99513164e-01 -2.68501848e-02 -1.58903014e-02 2.88704117e+01] [ 2.68539165e-02 9.99639368e-01 2.14775347e-05 5.60193245e-01] [ 1.58839941e-02 -4.48183904e-04 9.99873741e-01 1.94028313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969254153999994 meters Centerline goodness [0,1] 0.999290429397725 Centerline is valid? [True, True] Translation: X:28.90, Y:0.56, Z:0.19 [[ 9.99414048e-01 -2.99179892e-02 -1.66275343e-02 2.89011533e+01] [ 2.99225107e-02 9.99552221e-01 2.31539337e-05 5.56355455e-01] [ 1.66193961e-02 -5.20677941e-04 9.99861753e-01 1.93376589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999254153999996 meters Centerline goodness [0,1] 0.9994634732595072 Centerline is valid? [True, True] Translation: X:28.93, Y:0.55, Z:0.19 [[ 9.99371688e-01 -3.12705326e-02 -1.66847979e-02 2.89311352e+01] [ 3.12752828e-02 9.99510808e-01 2.37861245e-05 5.52863845e-01] [ 1.66758920e-02 -5.45592951e-04 9.99860799e-01 1.93020296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029254153999993 meters Centerline goodness [0,1] 0.9995501670807986 Centerline is valid? [True, True] Translation: X:28.96, Y:0.55, Z:0.19 [[ 9.99322382e-01 -3.24860107e-02 -1.73042442e-02 2.89627650e+01] [ 3.24913127e-02 9.99472018e-01 2.52674549e-05 5.50622250e-01] [ 1.72942871e-02 -5.87487943e-04 9.99850270e-01 1.92888777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059254153999994 meters Centerline goodness [0,1] 0.9993142906122099 Centerline is valid? [True, True] Translation: X:28.99, Y:0.55, Z:0.19 [[ 9.99254417e-01 -3.41494000e-02 -1.80118871e-02 2.89942566e+01] [ 3.41554294e-02 9.99416533e-01 2.71369618e-05 5.50482998e-01] [ 1.80004510e-02 -6.42320468e-04 9.99837772e-01 1.93030539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089254153999995 meters Centerline goodness [0,1] 0.9993573953089857 Centerline is valid? [True, True] Translation: X:29.03, Y:0.55, Z:0.19 [[ 9.99241781e-01 -3.45261857e-02 -1.79945735e-02 2.90256215e+01] [ 3.45322793e-02 9.99403583e-01 2.79296294e-05 5.47872197e-01] [ 1.79828769e-02 -6.49302090e-04 9.99838084e-01 1.92920447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119254153999993 meters Centerline goodness [0,1] 0.9991642916836309 Centerline is valid? [True, True] Translation: X:29.06, Y:0.55, Z:0.19 [[ 9.99269958e-01 -3.40960132e-02 -1.72340836e-02 2.90570182e+01] [ 3.41015520e-02 9.99418373e-01 2.75235742e-05 5.46461927e-01] [ 1.72231214e-02 -6.15212480e-04 9.99851482e-01 1.93704993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149254153999994 meters Centerline goodness [0,1] 0.9992945100051308 Centerline is valid? [True, True] Translation: X:29.09, Y:0.55, Z:0.19 [[ 9.99305796e-01 -3.31219123e-02 -1.70547901e-02 2.90885095e+01] [ 3.31272050e-02 9.99451143e-01 2.78431896e-05 5.46690974e-01] [ 1.70445072e-02 -5.92801389e-04 9.99854556e-01 1.94121517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179254153999995 meters Centerline goodness [0,1] 0.999101315930245 Centerline is valid? [True, True] Translation: X:29.12, Y:0.54, Z:0.19 [[ 9.99342663e-01 -3.19080677e-02 -1.72080341e-02 2.91189797e+01] [ 3.19132911e-02 9.99490641e-01 2.89546893e-05 5.44777335e-01] [ 1.71983451e-02 -5.78100657e-04 9.99851930e-01 1.94203570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209254153999993 meters Centerline goodness [0,1] 0.9993778159193306 Centerline is valid? [True, True] Translation: X:29.15, Y:0.55, Z:0.20 [[ 9.99429936e-01 -2.89761685e-02 -1.73258448e-02 2.91505075e+01] [ 2.89810395e-02 9.99579961e-01 3.00755224e-05 5.49899704e-01] [ 1.73176958e-02 -5.32179370e-04 9.99849896e-01 1.95582596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239254153999994 meters Centerline goodness [0,1] 0.9995707970299155 Centerline is valid? [True, True] Translation: X:29.18, Y:0.55, Z:0.20 [[ 9.99480940e-01 -2.71758120e-02 -1.73010308e-02 2.91821567e+01] [ 2.71804106e-02 9.99630544e-01 3.06693419e-05 5.50901246e-01] [ 1.72938054e-02 -5.00902544e-04 9.99850325e-01 1.96047769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269254153999995 meters Centerline goodness [0,1] 0.9995283322256288 Centerline is valid? [True, True] Translation: X:29.21, Y:0.55, Z:0.20 [[ 9.99582248e-01 -2.33606734e-02 -1.70178705e-02 2.92128065e+01] [ 2.33645760e-02 9.99727011e-01 3.05068037e-05 5.52831642e-01] [ 1.70125121e-02 -4.28109386e-04 9.99855185e-01 1.96366902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299254153999993 meters Centerline goodness [0,1] 0.9994213211024905 Centerline is valid? [True, True] Translation: X:29.24, Y:0.55, Z:0.20 [[ 9.99618904e-01 -2.14856355e-02 -1.73324725e-02 2.92429029e+01] [ 2.14894020e-02 9.99769076e-01 3.10707698e-05 5.53556912e-01] [ 1.73278024e-02 -4.03523398e-04 9.99849781e-01 1.96500366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329254153999994 meters Centerline goodness [0,1] 0.9995278564683664 Centerline is valid? [True, True] Translation: X:29.27, Y:0.56, Z:0.20 [[ 9.99695875e-01 -1.72936750e-02 -1.75808773e-02 2.92726052e+01] [ 1.72968971e-02 9.99850397e-01 3.12158451e-05 5.55920790e-01] [ 1.75777073e-02 -3.35300977e-04 9.99845444e-01 1.96467012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359254153999995 meters Centerline goodness [0,1] 0.9995278564683664 Centerline is valid? [True, True] Translation: X:29.30, Y:0.56, Z:0.20 [[ 9.99690769e-01 -1.75863220e-02 -1.75808818e-02 2.92999939e+01] [ 1.75895410e-02 9.99845292e-01 2.84693673e-05 5.55941702e-01] [ 1.75776612e-02 -3.37700204e-04 9.99845444e-01 1.96723724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389254153999993 meters Centerline goodness [0,1] 0.9994195046439629 Centerline is valid? [True, True] Translation: X:29.33, Y:0.56, Z:0.20 [[ 9.99725708e-01 -1.56747161e-02 -1.74014793e-02 2.93281182e+01] [ 1.56775204e-02 9.99877100e-01 2.47374738e-05 5.56708515e-01] [ 1.73989529e-02 -2.97542735e-04 9.99848582e-01 1.96432700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419254153999994 meters Centerline goodness [0,1] 0.9993535875888817 Centerline is valid? [True, True] Translation: X:29.36, Y:0.56, Z:0.20 [[ 9.99742795e-01 -1.40643889e-02 -1.77914931e-02 2.93564361e+01] [ 1.40670118e-02 9.99901054e-01 2.22770523e-05 5.58495923e-01] [ 1.77894194e-02 -2.72544465e-04 9.99841719e-01 1.96916689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449254153999995 meters Centerline goodness [0,1] 0.9994831039607159 Centerline is valid? [True, True] Translation: X:29.39, Y:0.56, Z:0.20 [[ 9.99785509e-01 -1.10386631e-02 -1.75237883e-02 2.93856634e+01] [ 1.10406682e-02 9.99939050e-01 1.76778173e-05 5.60238212e-01] [ 1.75225251e-02 -2.11148357e-04 9.99846446e-01 1.96293800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479254153999992 meters Centerline goodness [0,1] 0.9993539912573484 Centerline is valid? [True, True] Translation: X:29.41, Y:0.56, Z:0.20 [[ 9.99788574e-01 -1.01414462e-02 -1.78873702e-02 2.94135608e+01] [ 1.01433079e-02 9.99948555e-01 1.33571171e-05 5.60813485e-01] [ 1.78863145e-02 -1.94791397e-04 9.99840008e-01 1.96341818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509254153999994 meters Centerline goodness [0,1] 0.9992656904669345 Centerline is valid? [True, True] Translation: X:29.44, Y:0.56, Z:0.20 [[ 9.99807019e-01 -8.57500058e-03 -1.76746977e-02 2.94417370e+01] [ 8.57650787e-03 9.99963221e-01 9.48014871e-06 5.62047252e-01] [ 1.76739664e-02 -1.61065503e-04 9.99843790e-01 1.96329441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539254153999995 meters Centerline goodness [0,1] 0.9994175385611045 Centerline is valid? [True, True] Translation: X:29.47, Y:0.56, Z:0.20 [[ 9.99812725e-01 -8.30384268e-03 -1.74803217e-02 2.94693556e+01] [ 8.30521477e-03 9.99965511e-01 5.89923778e-06 5.62547689e-01] [ 1.74796698e-02 -1.51075959e-04 9.99847207e-01 1.96856825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569254153999996 meters Centerline goodness [0,1] 0.9994610326614207 Centerline is valid? [True, True] Translation: X:29.50, Y:0.56, Z:0.20 [[ 9.99818428e-01 -8.48268569e-03 -1.70632632e-02 2.94964101e+01] [ 8.48395890e-03 9.99964011e-01 2.22955603e-06 5.62411969e-01] [ 1.70626302e-02 -1.46993175e-04 9.99854412e-01 1.97048069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599254153999993 meters Centerline goodness [0,1] 0.9995895973734232 Centerline is valid? [True, True] Translation: X:29.52, Y:0.56, Z:0.20 [[ 9.99819133e-01 -9.54216150e-03 -1.64513999e-02 2.95242941e+01] [ 9.54346011e-03 9.99954460e-01 4.29304600e-07 5.61154709e-01] [ 1.64506466e-02 -1.57432505e-04 9.99864667e-01 1.97623546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629254153999995 meters Centerline goodness [0,1] 0.9994392926461074 Centerline is valid? [True, True] Translation: X:29.55, Y:0.56, Z:0.20 [[ 9.99815681e-01 -1.07217530e-02 -1.59263517e-02 2.95524459e+01] [ 1.07230768e-02 9.99942506e-01 -2.27733948e-06 5.61008859e-01] [ 1.59254604e-02 -1.68502572e-04 9.99873168e-01 1.98355540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659254153999996 meters Centerline goodness [0,1] 0.9993975125876834 Centerline is valid? [True, True] Translation: X:29.58, Y:0.56, Z:0.20 [[ 9.99787435e-01 -1.36388718e-02 -1.54617639e-02 2.95809120e+01] [ 1.36404205e-02 9.99906965e-01 -5.29631221e-06 5.58133933e-01] [ 1.54603976e-02 -2.05609775e-04 9.99880460e-01 1.98577382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689254153999993 meters Centerline goodness [0,1] 0.9995489012523361 Centerline is valid? [True, True] Translation: X:29.61, Y:0.56, Z:0.20 [[ 9.99758199e-01 -1.55280742e-02 -1.55699415e-02 2.96090811e+01] [ 1.55298544e-02 9.99879405e-01 -6.57291293e-06 5.56034898e-01] [ 1.55681659e-02 -2.35227600e-04 9.99878781e-01 1.98751510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719254153999994 meters Centerline goodness [0,1] 0.9992916630892075 Centerline is valid? [True, True] Translation: X:29.64, Y:0.55, Z:0.20 [[ 9.99677325e-01 -1.98850350e-02 -1.58060756e-02 2.96377117e+01] [ 1.98873753e-02 9.99802227e-01 -9.12099249e-06 5.52408521e-01] [ 1.58031310e-02 -3.05223308e-04 9.99875076e-01 1.98626987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749254153999996 meters Centerline goodness [0,1] 0.9995059182402096 Centerline is valid? [True, True] Translation: X:29.67, Y:0.55, Z:0.20 [[ 9.99632380e-01 -2.22355164e-02 -1.55140675e-02 2.96671807e+01] [ 2.22380153e-02 9.99752705e-01 -1.14461933e-05 5.50245505e-01] [ 1.55104855e-02 -3.33560085e-04 9.99879650e-01 1.98494559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779254153999993 meters Centerline goodness [0,1] 0.9995281400137268 Centerline is valid? [True, True] Translation: X:29.70, Y:0.55, Z:0.20 [[ 9.99576391e-01 -2.43417960e-02 -1.59535468e-02 2.96969549e+01] [ 2.43447011e-02 9.99703624e-01 -1.21093750e-05 5.45226725e-01] [ 1.59491133e-02 -3.76280082e-04 9.99872734e-01 1.97939243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809254153999994 meters Centerline goodness [0,1] 0.9992721823825323 Centerline is valid? [True, True] Translation: X:29.73, Y:0.54, Z:0.20 [[ 9.99457599e-01 -2.89535945e-02 -1.56906587e-02 2.97278129e+01] [ 2.89569743e-02 9.99580659e-01 -1.17963907e-05 5.44845644e-01] [ 1.56844205e-02 -4.42564009e-04 9.99876894e-01 1.98518860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839254153999995 meters Centerline goodness [0,1] 0.9993571336733382 Centerline is valid? [True, True] Translation: X:29.76, Y:0.54, Z:0.20 [[ 9.99388115e-01 -3.13636111e-02 -1.54828757e-02 2.97593496e+01] [ 3.13671969e-02 9.99507928e-01 -1.12484484e-05 5.44246461e-01] [ 1.54756099e-02 -4.74412847e-04 9.99880133e-01 1.98966951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869254153999993 meters Centerline goodness [0,1] 0.999336344758194 Centerline is valid? [True, True] Translation: X:29.79, Y:0.54, Z:0.20 [[ 9.99303752e-01 -3.38619784e-02 -1.56645153e-02 2.97917471e+01] [ 3.38659682e-02 9.99426384e-01 -1.05661142e-05 5.41584883e-01] [ 1.56558877e-02 -5.19935221e-04 9.99877304e-01 1.99249173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899254153999994 meters Centerline goodness [0,1] 0.9992295345104334 Centerline is valid? [True, True] Translation: X:29.82, Y:0.54, Z:0.20 [[ 9.99217733e-01 -3.64646085e-02 -1.53053691e-02 2.98226835e+01] [ 3.64687418e-02 9.99334794e-01 -9.05414945e-06 5.36102426e-01] [ 1.52955180e-02 -5.49120487e-04 9.99882866e-01 1.98858719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929254153999995 meters Centerline goodness [0,1] 0.9994022075620743 Centerline is valid? [True, True] Translation: X:29.85, Y:0.54, Z:0.20 [[ 9.99031234e-01 -4.16011263e-02 -1.43505946e-02 2.98537338e+01] [ 4.16053028e-02 9.99134124e-01 -7.51863325e-06 5.35211866e-01] [ 1.43384815e-02 -5.89549484e-04 9.99897025e-01 2.00801348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959254153999993 meters Centerline goodness [0,1] 0.9993597678091254 Centerline is valid? [True, True] Translation: X:29.89, Y:0.53, Z:0.20 [[ 9.98935996e-01 -4.39034744e-02 -1.41195289e-02 2.98858320e+01] [ 4.39077543e-02 9.99035589e-01 -6.88582783e-06 5.33041415e-01] [ 1.41062142e-02 -6.13078303e-04 9.99900314e-01 2.01324444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989254153999994 meters Centerline goodness [0,1] 0.9992538745230126 Centerline is valid? [True, True] Translation: X:29.92, Y:0.53, Z:0.20 [[ 9.98751724e-01 -4.80375262e-02 -1.36890373e-02 2.99165940e+01] [ 4.80419465e-02 9.98845319e-01 -5.93968779e-06 5.30554948e-01] [ 1.36735161e-02 -6.51715721e-04 9.99906301e-01 2.01878843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019254153999995 meters Centerline goodness [0,1] 0.999125631784351 Centerline is valid? [True, True] Translation: X:29.95, Y:0.53, Z:0.20 [[ 9.98674149e-01 -4.95094930e-02 -1.40979985e-02 2.99486766e+01] [ 4.95143350e-02 9.98773413e-01 -5.59927639e-06 5.29206994e-01] [ 1.40809833e-02 -6.92461168e-04 9.99900618e-01 2.02175131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049254153999993 meters Centerline goodness [0,1] 0.99914693964598 Centerline is valid? [True, True] Translation: X:29.98, Y:0.53, Z:0.20 [[ 9.98586009e-01 -5.12132245e-02 -1.42543984e-02 2.99807827e+01] [ 5.12183625e-02 9.98687478e-01 -4.61883957e-06 5.28626537e-01] [ 1.42359257e-02 -7.25474636e-04 9.99898401e-01 2.02171876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079254153999994 meters Centerline goodness [0,1] 0.9992542083954826 Centerline is valid? [True, True] Translation: X:30.01, Y:0.53, Z:0.20 [[ 9.98422951e-01 -5.39996675e-02 -1.53507642e-02 3.00120873e+01] [ 5.40059694e-02 9.98540613e-01 -4.02135880e-06 5.27130430e-01] [ 1.53285786e-02 -8.25017884e-04 9.99882170e-01 2.01479278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109254153999995 meters Centerline goodness [0,1] 0.9992751460367544 Centerline is valid? [True, True] Translation: X:30.04, Y:0.53, Z:0.20 [[ 9.98354432e-01 -5.51192770e-02 -1.58206833e-02 3.00441843e+01] [ 5.51261240e-02 9.98479399e-01 -3.31221020e-06 5.27769943e-01] [ 1.57968089e-02 -8.68826189e-04 9.99874845e-01 2.01564268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139254153999993 meters Centerline goodness [0,1] 0.9994243929477477 Centerline is valid? [True, True] Translation: X:30.07, Y:0.53, Z:0.20 [[ 9.98216801e-01 -5.71885908e-02 -1.71080150e-02 3.00746152e+01] [ 5.71969159e-02 9.98362916e-01 -2.68519814e-06 5.25670816e-01] [ 1.70801613e-02 -9.75845284e-04 9.99853647e-01 2.00777446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169254153999994 meters Centerline goodness [0,1] 0.9996365579903794 Centerline is valid? [True, True] Translation: X:30.11, Y:0.53, Z:0.20 [[ 9.98168625e-01 -5.78367315e-02 -1.77287401e-02 3.01069133e+01] [ 5.78457878e-02 9.98325530e-01 -1.98457125e-06 5.25676312e-01] [ 1.76991686e-02 -1.02355200e-03 9.99842834e-01 2.00623070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199254153999995 meters Centerline goodness [0,1] 0.9996156392133416 Centerline is valid? [True, True] Translation: X:30.14, Y:0.52, Z:0.20 [[ 9.98140103e-01 -5.81623807e-02 -1.82612405e-02 3.01379181e+01] [ 5.81720776e-02 9.98306571e-01 -1.84099934e-07 5.20649825e-01] [ 1.82303271e-02 -1.06211054e-03 9.99833250e-01 1.99879299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229254153999992 meters Centerline goodness [0,1] 0.9993163123597906 Centerline is valid? [True, True] Translation: X:30.17, Y:0.53, Z:0.20 [[ 9.98151198e-01 -5.78982566e-02 -1.84926340e-02 3.01700806e+01] [ 5.79081908e-02 9.98321913e-01 1.71598411e-06 5.27353903e-01] [ 1.84615024e-02 -1.07258779e-03 9.99828997e-01 2.01070202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259254153999994 meters Centerline goodness [0,1] 0.9994656178526388 Centerline is valid? [True, True] Translation: X:30.20, Y:0.53, Z:0.20 [[ 9.98217402e-01 -5.68730882e-02 -1.80961437e-02 3.02025650e+01] [ 5.68824572e-02 9.98380882e-01 3.01814550e-06 5.28876747e-01] [ 1.80666722e-02 -1.03236588e-03 9.99836251e-01 2.01584553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289254153999995 meters Centerline goodness [0,1] 0.9991675915649278 Centerline is valid? [True, True] Translation: X:30.23, Y:0.53, Z:0.20 [[ 9.98302671e-01 -5.53392410e-02 -1.81478815e-02 3.02339878e+01] [ 5.53484475e-02 9.98467100e-01 5.04162954e-06 5.28523783e-01] [ 1.81197836e-02 -1.00949014e-03 9.99835314e-01 2.02030008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319254153999992 meters Centerline goodness [0,1] 0.999400132827731 Centerline is valid? [True, True] Translation: X:30.26, Y:0.53, Z:0.20 [[ 9.98557313e-01 -5.07622961e-02 -1.75066361e-02 3.02643955e+01] [ 5.07701875e-02 9.98710362e-01 6.33448680e-06 5.33297475e-01] [ 1.74837374e-02 -8.95140547e-04 9.99846747e-01 2.03303770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349254153999993 meters Centerline goodness [0,1] 0.9994222621645911 Centerline is valid? [True, True] Translation: X:30.30, Y:0.54, Z:0.20 [[ 9.98717082e-01 -4.75548707e-02 -1.73989534e-02 3.02956621e+01] [ 4.75621873e-02 9.98868279e-01 6.72961925e-06 5.36068198e-01] [ 1.73789426e-02 -8.34253264e-04 9.99848627e-01 2.03981850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379254153999995 meters Centerline goodness [0,1] 0.9993367423350948 Centerline is valid? [True, True] Translation: X:30.33, Y:0.54, Z:0.20 [[ 9.99076085e-01 -3.94342391e-02 -1.70855781e-02 3.03254684e+01] [ 3.94401146e-02 9.99221936e-01 6.93778941e-06 5.43707910e-01] [ 1.70720108e-02 -6.80788536e-04 9.99854031e-01 2.04971196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409254153999996 meters Centerline goodness [0,1] 0.9994423114047317 Centerline is valid? [True, True] Translation: X:30.36, Y:0.55, Z:0.21 [[ 9.99249960e-01 -3.47942339e-02 -1.69964610e-02 3.03558595e+01] [ 3.47993777e-02 9.99394318e-01 6.89293876e-06 5.50246813e-01] [ 1.69859267e-02 -5.98354036e-04 9.99855550e-01 2.06089885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439254153999993 meters Centerline goodness [0,1] 0.9994635423372388 Centerline is valid? [True, True] Translation: X:30.39, Y:0.55, Z:0.21 [[ 9.99417530e-01 -2.98342354e-02 -1.65686123e-02 3.03858475e+01] [ 2.98384426e-02 9.99554735e-01 6.71942411e-06 5.54220082e-01] [ 1.65610344e-02 -5.01097097e-04 9.99862731e-01 2.06816593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469254153999994 meters Centerline goodness [0,1] 0.9996128033040784 Centerline is valid? [True, True] Translation: X:30.42, Y:0.56, Z:0.21 [[ 9.99674997e-01 -1.92756376e-02 -1.66838023e-02 3.04168721e+01] [ 1.92784346e-02 9.99814154e-01 6.81506144e-06 5.63637948e-01] [ 1.66805703e-02 -3.28450437e-04 9.99860816e-01 2.07153070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499254153999996 meters Centerline goodness [0,1] 0.9995688075372442 Centerline is valid? [True, True] Translation: X:30.45, Y:0.57, Z:0.21 [[ 9.99751483e-01 -1.40743173e-02 -1.72882982e-02 3.04466862e+01] [ 1.40765393e-02 9.99900921e-01 6.84027339e-06 5.68115328e-01] [ 1.72864890e-02 -2.50197983e-04 9.99850546e-01 2.06926110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529254153999993 meters Centerline goodness [0,1] 0.9995452478399273 Centerline is valid? [True, True] Translation: X:30.47, Y:0.58, Z:0.21 [[ 9.99837644e-01 -4.41934968e-03 -1.74686881e-02 3.04748776e+01] [ 4.42012876e-03 9.99990231e-01 5.98891096e-06 5.76821802e-01] [ 1.74684910e-02 -8.32017892e-05 9.99847411e-01 2.06591948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559254153999994 meters Centerline goodness [0,1] 0.999609992849869 Centerline is valid? [True, True] Translation: X:30.50, Y:0.58, Z:0.21 [[ 9.99848746e-01 -3.07555650e-04 -1.73893551e-02 3.05035661e+01] [ 3.07659521e-04 9.99999953e-01 3.29806645e-06 5.80829218e-01] [ 1.73893533e-02 -8.64756828e-06 9.99848794e-01 2.07174010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589254153999995 meters Centerline goodness [0,1] 0.9996524610104696 Centerline is valid? [True, True] Translation: X:30.53, Y:0.59, Z:0.21 [[ 9.99849752e-01 6.97588792e-03 -1.58685524e-02 3.05316722e+01] [-6.97676604e-03 9.99975662e-01 2.18161487e-08 5.87226996e-01] [ 1.58681663e-02 1.10689365e-04 9.99874087e-01 2.07986840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619254153999993 meters Centerline goodness [0,1] 0.9997165409271292 Centerline is valid? [True, True] Translation: X:30.56, Y:0.59, Z:0.21 [[ 9.99839367e-01 9.38782992e-03 -1.52679014e-02 3.05602590e+01] [-9.38896448e-03 9.99955923e-01 -2.63164674e-06 5.89193382e-01] [ 1.52672037e-02 1.45981008e-04 9.99883439e-01 2.08608394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649254153999994 meters Centerline goodness [0,1] 0.9996525138451515 Centerline is valid? [True, True] Translation: X:30.59, Y:0.59, Z:0.21 [[ 9.99822724e-01 1.26235358e-02 -1.39701958e-02 3.05886611e+01] [-1.26248469e-02 9.99920303e-01 -5.65868114e-06 5.91739898e-01] [ 1.39690109e-02 1.82029260e-04 9.99902412e-01 2.09441180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679254153999995 meters Centerline goodness [0,1] 0.9997394985346792 Centerline is valid? [True, True] Translation: X:30.62, Y:0.59, Z:0.21 [[ 9.99823258e-01 1.27687164e-02 -1.37989731e-02 3.06153263e+01] [-1.27700482e-02 9.99918460e-01 -8.40221473e-06 5.92663099e-01] [ 1.37977407e-02 1.84614281e-04 9.99904790e-01 2.10094712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709254153999993 meters Centerline goodness [0,1] 0.9997825992434454 Centerline is valid? [True, True] Translation: X:30.64, Y:0.59, Z:0.21 [[ 9.99842404e-01 1.18557771e-02 -1.32138962e-02 3.06442355e+01] [-1.18569365e-02 9.99929704e-01 -9.40209472e-06 5.92303431e-01] [ 1.32128558e-02 1.66076941e-04 9.99912693e-01 2.10738275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739254153999994 meters Centerline goodness [0,1] 0.999629782878547 Centerline is valid? [True, True] Translation: X:30.67, Y:0.59, Z:0.21 [[ 9.99893814e-01 7.37865196e-03 -1.25664471e-02 3.06727865e+01] [-7.37935764e-03 9.99972772e-01 -9.78857895e-06 5.87285487e-01] [ 1.25660328e-02 1.02519847e-04 9.99921039e-01 2.11107881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769254153999995 meters Centerline goodness [0,1] 0.999717642970396 Centerline is valid? [True, True] Translation: X:30.70, Y:0.58, Z:0.21 [[ 9.99914128e-01 3.61550206e-03 -1.25962312e-02 3.07008827e+01] [-3.61592482e-03 9.99993462e-01 -1.07884861e-05 5.84739929e-01] [ 1.25961098e-02 5.63345846e-05 9.99920664e-01 2.10770864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799254153999993 meters Centerline goodness [0,1] 0.9995436568299361 Centerline is valid? [True, True] Translation: X:30.73, Y:0.58, Z:0.21 [[ 9.99921617e-01 -1.14643629e-03 -1.24677452e-02 3.07296129e+01] [ 1.14637898e-03 9.99999343e-01 -1.17432981e-05 5.80381043e-01] [ 1.24677504e-02 -2.55038324e-06 9.99922275e-01 2.10971128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829254153999994 meters Centerline goodness [0,1] 0.9997192345902984 Centerline is valid? [True, True] Translation: X:30.76, Y:0.57, Z:0.21 [[ 9.99844174e-01 -1.22540209e-02 -1.27069228e-02 3.07570725e+01] [ 1.22548455e-02 9.99924906e-01 -1.29658838e-05 5.70350135e-01] [ 1.27061274e-02 -1.42757512e-04 9.99919264e-01 2.10281638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859254153999995 meters Centerline goodness [0,1] 0.9993093177354255 Centerline is valid? [True, True] Translation: X:30.79, Y:0.57, Z:0.21 [[ 9.99755442e-01 -1.83543933e-02 -1.23358422e-02 3.07867367e+01] [ 1.83556233e-02 9.99831521e-01 -1.35147491e-05 5.65221661e-01] [ 1.23340119e-02 -2.12920629e-04 9.99923911e-01 2.09992356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889254153999993 meters Centerline goodness [0,1] 0.9993768801031371 Centerline is valid? [True, True] Translation: X:30.82, Y:0.55, Z:0.21 [[ 9.99454360e-01 -3.08634566e-02 -1.17656250e-02 3.08161500e+01] [ 3.08654373e-02 9.99523549e-01 -1.32462615e-05 5.52722339e-01] [ 1.17604280e-02 -3.49912125e-04 9.99930783e-01 2.09850213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919254153999994 meters Centerline goodness [0,1] 0.9994205884246443 Centerline is valid? [True, True] Translation: X:30.85, Y:0.55, Z:0.21 [[ 9.99259064e-01 -3.65863155e-02 -1.19484018e-02 3.08472163e+01] [ 3.65887663e-02 9.99330407e-01 -1.34877041e-05 5.48699610e-01] [ 1.19408947e-02 -4.23699570e-04 9.99928615e-01 2.10383189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949254153999995 meters Centerline goodness [0,1] 0.9991645244215939 Centerline is valid? [True, True] Translation: X:30.88, Y:0.55, Z:0.21 [[ 9.99049494e-01 -4.19783152e-02 -1.17443687e-02 3.08787320e+01] [ 4.19810604e-02 9.99118407e-01 -1.27930613e-05 5.45688901e-01] [ 1.17345520e-02 -4.80260152e-04 9.99931032e-01 2.10697211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979254153999992 meters Centerline goodness [0,1] 0.9991643633091213 Centerline is valid? [True, True] Translation: X:30.91, Y:0.54, Z:0.21 [[ 9.98649459e-01 -5.07756210e-02 -1.10043325e-02 3.09096835e+01] [ 5.07785680e-02 9.98709936e-01 -1.16132619e-05 5.38439955e-01] [ 1.09907259e-02 -5.47186668e-04 9.99939450e-01 2.11362794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009254153999994 meters Centerline goodness [0,1] 0.9990384615384615 Centerline is valid? [True, True] Translation: X:30.94, Y:0.53, Z:0.21 [[ 9.98493077e-01 -5.38136447e-02 -1.07548237e-02 3.09393921e+01] [ 5.38166395e-02 9.98550835e-01 -1.09565289e-05 5.33198638e-01] [ 1.07398278e-02 -5.67848451e-04 9.99942165e-01 2.11597452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039254153999995 meters Centerline goodness [0,1] 0.9990405526416783 Centerline is valid? [True, True] Translation: X:30.97, Y:0.53, Z:0.21 [[ 9.98276243e-01 -5.78938989e-02 -9.63529086e-03 3.09700674e+01] [ 5.78964992e-02 9.98322591e-01 -9.07222542e-06 5.28476210e-01] [ 9.61965376e-03 -5.48793023e-04 9.99953579e-01 2.12679445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069254153999992 meters Centerline goodness [0,1] 0.9990838979078784 Centerline is valid? [True, True] Translation: X:31.00, Y:0.53, Z:0.21 [[ 9.98230473e-01 -5.87762529e-02 -9.01521218e-03 3.10016026e+01] [ 5.87785664e-02 9.98271045e-01 -8.34622542e-06 5.25067833e-01] [ 9.00011585e-03 -5.21569792e-04 9.99959362e-01 2.13514189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099254153999993 meters Centerline goodness [0,1] 0.9990193988488595 Centerline is valid? [True, True] Translation: X:31.03, Y:0.53, Z:0.21 [[ 9.98231892e-01 -5.88583410e-02 -8.29365411e-03 3.10334911e+01] [ 5.88603051e-02 9.98266229e-01 -7.28331193e-06 5.26466556e-01] [ 8.27970350e-03 -4.80896577e-04 9.99965607e-01 2.14261782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129254153999995 meters Centerline goodness [0,1] 0.9992343032159265 Centerline is valid? [True, True] Translation: X:31.07, Y:0.52, Z:0.21 [[ 9.98283802e-01 -5.80292791e-02 -7.87745408e-03 3.10650626e+01] [ 5.80310298e-02 9.98314780e-01 -6.33411394e-06 5.24993341e-01] [ 7.86454640e-03 -4.50813529e-04 9.99968972e-01 2.14856640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159254153999996 meters Centerline goodness [0,1] 0.9991899727148704 Centerline is valid? [True, True] Translation: X:31.10, Y:0.52, Z:0.21 [[ 9.98347627e-01 -5.69079257e-02 -7.96887153e-03 3.10973116e+01] [ 5.69096851e-02 9.98379331e-01 -5.98181480e-06 5.24121420e-01] [ 7.95629704e-03 -4.47534039e-04 9.99968248e-01 2.14563970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189254153999993 meters Centerline goodness [0,1] 0.9990830383417921 Centerline is valid? [True, True] Translation: X:31.13, Y:0.53, Z:0.21 [[ 9.98506412e-01 -5.38158690e-02 -9.42326622e-03 3.11289789e+01] [ 5.38181997e-02 9.98550751e-01 -6.25236116e-06 5.25757186e-01] [ 9.40994603e-03 -5.00900201e-04 9.99955600e-01 2.12862109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219254153999994 meters Centerline goodness [0,1] 0.9992537472548559 Centerline is valid? [True, True] Translation: X:31.16, Y:0.53, Z:0.21 [[ 9.98586724e-01 -5.20648973e-02 -1.06677706e-02 3.11609874e+01] [ 5.20677949e-02 9.98643552e-01 -6.11896644e-06 5.27282546e-01] [ 1.06536189e-02 -5.49336971e-04 9.99943098e-01 2.12132600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249254153999996 meters Centerline goodness [0,1] 0.9991031581644637 Centerline is valid? [True, True] Translation: X:31.19, Y:0.53, Z:0.21 [[ 9.98782854e-01 -4.75134943e-02 -1.32393005e-02 3.11905872e+01] [ 4.75175698e-02 9.98870402e-01 -6.73124317e-06 5.29362806e-01] [ 1.32246653e-02 -6.22376338e-04 9.99912357e-01 2.10299283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279254153999993 meters Centerline goodness [0,1] 0.9991031581644637 Centerline is valid? [True, True] Translation: X:31.22, Y:0.53, Z:0.21 [[ 9.98788142e-01 -4.74021904e-02 -1.32393007e-02 3.12231640e+01] [ 4.74062619e-02 9.98875691e-01 -6.29985420e-06 5.29289972e-01] [ 1.32247143e-02 -6.21333539e-04 9.99912357e-01 2.10604485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309254153999994 meters Centerline goodness [0,1] 0.9991468122773713 Centerline is valid? [True, True] Translation: X:31.25, Y:0.53, Z:0.21 [[ 9.98889747e-01 -4.48349695e-02 -1.44602838e-02 3.12548943e+01] [ 4.48395803e-02 9.98994200e-01 -5.35629271e-06 5.30956163e-01] [ 1.44459798e-02 -6.43042713e-04 9.99895445e-01 2.10052668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339254153999995 meters Centerline goodness [0,1] 0.999315742205876 Centerline is valid? [True, True] Translation: X:31.29, Y:0.54, Z:0.21 [[ 9.99136691e-01 -3.84452803e-02 -1.57427114e-02 3.12858451e+01] [ 3.84499665e-02 9.99260527e-01 -5.00018690e-06 5.35807832e-01] [ 1.57312623e-02 -6.00310855e-04 9.99876076e-01 2.09447255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369254153999993 meters Centerline goodness [0,1] 0.9990834292535278 Centerline is valid? [True, True] Translation: X:31.32, Y:0.54, Z:0.21 [[ 9.99265948e-01 -3.47771475e-02 -1.60659793e-02 3.13176785e+01] [ 3.47815621e-02 9.99394938e-01 -4.64515444e-06 5.38799412e-01] [ 1.60564199e-02 -5.54158111e-04 9.99870934e-01 2.09859489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399254153999994 meters Centerline goodness [0,1] 0.9991018924409281 Centerline is valid? [True, True] Translation: X:31.35, Y:0.54, Z:0.21 [[ 9.99398058e-01 -3.08446026e-02 -1.58786970e-02 3.13487510e+01] [ 3.08484308e-02 9.99524074e-01 -3.84396392e-06 5.43300429e-01] [ 1.58712585e-02 -4.85991236e-04 9.99873926e-01 2.10790548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429254153999995 meters Centerline goodness [0,1] 0.9992929682478467 Centerline is valid? [True, True] Translation: X:31.38, Y:0.54, Z:0.21 [[ 9.99525151e-01 -2.64841662e-02 -1.57499455e-02 3.13791785e+01] [ 2.64874071e-02 9.99649147e-01 -2.82850128e-06 5.44923835e-01] [ 1.57444945e-02 -4.14348060e-04 9.99875962e-01 2.11245636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459254153999993 meters Centerline goodness [0,1] 0.9993809371330985 Centerline is valid? [True, True] Translation: X:31.41, Y:0.55, Z:0.21 [[ 9.99633780e-01 -2.18942103e-02 -1.59043810e-02 3.14103420e+01] [ 2.18969514e-02 9.99760233e-01 -1.79277354e-06 5.49366918e-01] [ 1.59006069e-02 -3.46465342e-04 9.99873517e-01 2.11896495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489254153999994 meters Centerline goodness [0,1] 0.9993336629194162 Centerline is valid? [True, True] Translation: X:31.44, Y:0.56, Z:0.21 [[ 9.99812912e-01 -1.20684487e-02 -1.51160294e-02 3.14398203e+01] [ 1.20698011e-02 9.99927157e-01 -1.75792775e-06 5.59292780e-01] [ 1.51149495e-02 -1.80689869e-04 9.99885746e-01 2.13919701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519254153999995 meters Centerline goodness [0,1] 0.9996548674475291 Centerline is valid? [True, True] Translation: X:31.47, Y:0.57, Z:0.22 [[ 9.99904009e-01 -2.02744874e-03 -1.37062559e-02 3.14686451e+01] [ 2.02759791e-03 9.99997944e-01 -3.01250289e-06 5.67607998e-01] [ 1.37062338e-02 -2.47785622e-05 9.99906065e-01 2.15612963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549254153999993 meters Centerline goodness [0,1] 0.9992879951669975 Centerline is valid? [True, True] Translation: X:31.50, Y:0.57, Z:0.22 [[ 9.99912755e-01 2.56076625e-03 -1.29586143e-02 3.14967318e+01] [-2.56106115e-03 9.99996720e-01 -6.16252196e-06 5.71322221e-01] [ 1.29585561e-02 3.93497880e-05 9.99916034e-01 2.16511578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579254153999994 meters Centerline goodness [0,1] 0.9995462892945879 Centerline is valid? [True, True] Translation: X:31.53, Y:0.57, Z:0.22 [[ 9.99899354e-01 6.88860074e-03 -1.24027876e-02 3.15250226e+01] [-6.88923996e-03 9.99976269e-01 -8.81362403e-06 5.74647013e-01] [ 1.24024326e-02 9.42585170e-05 9.99923082e-01 2.16927004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609254153999995 meters Centerline goodness [0,1] 0.9996319310628532 Centerline is valid? [True, True] Translation: X:31.55, Y:0.58, Z:0.22 [[ 9.99841270e-01 1.25184532e-02 -1.26776288e-02 3.15533143e+01] [-1.25195884e-02 9.99921627e-01 -1.01798297e-05 5.79216125e-01] [ 1.26765078e-02 1.68896909e-04 9.99919636e-01 2.17471551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639254153999993 meters Centerline goodness [0,1] 0.9997407143320153 Centerline is valid? [True, True] Translation: X:31.58, Y:0.58, Z:0.22 [[ 9.99820408e-01 1.37956159e-02 -1.29935993e-02 3.15817316e+01] [-1.37969309e-02 9.99904818e-01 -1.15654816e-05 5.80221431e-01] [ 1.29922030e-02 1.90835197e-04 9.99915580e-01 2.17848622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669254153999994 meters Centerline goodness [0,1] 0.9994807105610489 Centerline is valid? [True, True] Translation: X:31.61, Y:0.58, Z:0.22 [[ 9.99817937e-01 1.39445810e-02 -1.30246628e-02 3.16107525e+01] [-1.39459272e-02 9.99902751e-01 -1.25367896e-05 5.80234965e-01] [ 1.30232213e-02 1.94175506e-04 9.99915175e-01 2.17782912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699254153999995 meters Centerline goodness [0,1] 0.9995670901967575 Centerline is valid? [True, True] Translation: X:31.64, Y:0.58, Z:0.22 [[ 9.99838164e-01 1.16571590e-02 -1.37023906e-02 3.16388001e+01] [-1.16584517e-02 9.99932038e-01 -1.44635279e-05 5.77703524e-01] [ 1.37012908e-02 1.74209846e-04 9.99906118e-01 2.16957189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729254153999992 meters Centerline goodness [0,1] 0.9994603229427511 Centerline is valid? [True, True] Translation: X:31.67, Y:0.58, Z:0.22 [[ 9.99858893e-01 9.13934620e-03 -1.40949351e-02 3.16663386e+01] [-9.14049009e-03 9.99958225e-01 -1.67369299e-05 5.75774477e-01] [ 1.40941934e-02 1.45569183e-04 9.99900661e-01 2.16499342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759254153999994 meters Centerline goodness [0,1] 0.9995675862665399 Centerline is valid? [True, True] Translation: X:31.70, Y:0.57, Z:0.22 [[ 9.99871663e-01 6.46926302e-03 -1.46562369e-02 3.16951106e+01] [-6.47023712e-03 9.99979068e-01 -1.90465369e-05 5.72503359e-01] [ 1.46558069e-02 1.13873421e-04 9.99892591e-01 2.17095407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789254153999995 meters Centerline goodness [0,1] 0.9993966037410568 Centerline is valid? [True, True] Translation: X:31.72, Y:0.57, Z:0.22 [[ 9.99887619e-01 7.74590002e-04 -1.49716432e-02 3.17226052e+01] [-7.74989256e-04 9.99999699e-01 -2.08656533e-05 5.68082204e-01] [ 1.49716226e-02 3.24661710e-05 9.99887918e-01 2.16721770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819254153999992 meters Centerline goodness [0,1] 0.9993972142687993 Centerline is valid? [True, True] Translation: X:31.75, Y:0.57, Z:0.22 [[ 9.99880187e-01 -2.37386513e-03 -1.52963009e-02 3.17491186e+01] [ 2.37378413e-03 9.99997182e-01 -2.34512354e-05 5.65474932e-01] [ 1.52963135e-02 -1.28616908e-05 9.99883004e-01 2.16699867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849254153999993 meters Centerline goodness [0,1] 0.9993774820221101 Centerline is valid? [True, True] Translation: X:31.78, Y:0.56, Z:0.22 [[ 9.99854149e-01 -7.70724638e-03 -1.52407229e-02 3.17774929e+01] [ 7.70775667e-03 9.99970294e-01 -2.52576442e-05 5.59829170e-01] [ 1.52404649e-02 -9.22178235e-05 9.99883853e-01 2.17229593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879254153999995 meters Centerline goodness [0,1] 0.9996144041472976 Centerline is valid? [True, True] Translation: X:31.81, Y:0.56, Z:0.22 [[ 9.99835737e-01 -1.00877118e-02 -1.50578160e-02 3.18059917e+01] [ 1.00884636e-02 9.99949110e-01 -2.60384595e-05 5.57538368e-01] [ 1.50573124e-02 -1.25876046e-04 9.99886624e-01 2.17767860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909254153999992 meters Centerline goodness [0,1] 0.9993792675356921 Centerline is valid? [True, True] Translation: X:31.83, Y:0.55, Z:0.22 [[ 9.99817273e-01 -1.21491806e-02 -1.47586777e-02 3.18340054e+01] [ 1.21501101e-02 9.99926184e-01 -2.66859666e-05 5.54755353e-01] [ 1.47579125e-02 -1.52638468e-04 9.99891084e-01 2.18242660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939254153999993 meters Centerline goodness [0,1] 0.9993156983084918 Centerline is valid? [True, True] Translation: X:31.86, Y:0.55, Z:0.22 [[ 9.99768899e-01 -1.59385855e-02 -1.44259959e-02 3.18623109e+01] [ 1.59398493e-02 9.99872952e-01 -2.73808004e-05 5.50344923e-01] [ 1.44245995e-02 -2.02573728e-04 9.99895940e-01 2.19601140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969254153999994 meters Centerline goodness [0,1] 0.9993162539261982 Centerline is valid? [True, True] Translation: X:31.89, Y:0.55, Z:0.22 [[ 9.99740295e-01 -1.77946813e-02 -1.42370230e-02 3.18910909e+01] [ 1.77960705e-02 9.99841637e-01 -2.91155742e-05 5.47989477e-01] [ 1.42352865e-02 -2.24255053e-04 9.99898648e-01 2.20173684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999254153999996 meters Centerline goodness [0,1] 0.9992763031863945 Centerline is valid? [True, True] Translation: X:31.92, Y:0.54, Z:0.22 [[ 9.99695797e-01 -2.01567123e-02 -1.42133653e-02 3.19196948e+01] [ 2.01582978e-02 9.99796800e-01 -3.17265178e-05 5.41624525e-01] [ 1.42111167e-02 -2.54800384e-04 9.99898985e-01 2.20014356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029254154 meters Centerline goodness [0,1] 0.9992343520704396 Centerline is valid? [True, True] Translation: X:31.95, Y:0.54, Z:0.22 [[ 9.99676258e-01 -2.10772003e-02 -1.42523977e-02 3.19505594e+01] [ 2.10788807e-02 9.99777815e-01 -3.23245025e-05 5.40284245e-01] [ 1.42499123e-02 -2.68110552e-04 9.99898429e-01 2.20033463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059254153999994 meters Centerline goodness [0,1] 0.9990456801119736 Centerline is valid? [True, True] Translation: X:31.98, Y:0.54, Z:0.22 [[ 9.99663984e-01 -2.15767471e-02 -1.43653758e-02 3.19802190e+01] [ 2.15785058e-02 9.99767156e-01 -3.25787913e-05 5.36773690e-01] [ 1.43627338e-02 -2.77415499e-04 9.99896812e-01 2.19252127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089254153999995 meters Centerline goodness [0,1] 0.9990884422962775 Centerline is valid? [True, True] Translation: X:32.01, Y:0.53, Z:0.22 [[ 9.99658110e-01 -2.10907100e-02 -1.54545985e-02 3.20111648e+01] [ 2.10926876e-02 9.99777524e-01 -3.50450813e-05 5.33900878e-01] [ 1.54518994e-02 -2.90945919e-04 9.99880570e-01 2.18149606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119254154 meters Centerline goodness [0,1] 0.9990677176031867 Centerline is valid? [True, True] Translation: X:32.04, Y:0.53, Z:0.22 [[ 9.99653565e-01 -2.07496930e-02 -1.61926287e-02 3.20403980e+01] [ 2.07518153e-02 9.99784657e-01 -3.69651569e-05 5.34403528e-01] [ 1.61899087e-02 -2.99074089e-04 9.99868890e-01 2.18304928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.149254154 meters Centerline goodness [0,1] 0.9990039207375225 Centerline is valid? [True, True] Translation: X:32.07, Y:0.53, Z:0.22 [[ 9.99660037e-01 -1.91928264e-02 -1.76478077e-02 3.20691217e+01] [ 1.91950905e-02 9.99815756e-01 -4.11016472e-05 5.33753675e-01] [ 1.76453450e-02 -2.97663590e-04 9.99844264e-01 2.17626066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179254154 meters Centerline goodness [0,1] 0.9990883649932157 Centerline is valid? [True, True] Translation: X:32.10, Y:0.53, Z:0.22 [[ 9.99676121e-01 -1.82376157e-02 -1.77494442e-02 3.20980312e+01] [ 1.82397092e-02 9.99833642e-01 -4.39428394e-05 5.34274370e-01] [ 1.77472929e-02 -2.79816093e-04 9.99842465e-01 2.17631412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209254154 meters Centerline goodness [0,1] 0.9992578298946119 Centerline is valid? [True, True] Translation: X:32.13, Y:0.53, Z:0.22 [[ 9.99673658e-01 -1.69444839e-02 -1.91170597e-02 3.21254365e+01] [ 1.69465751e-02 9.99856395e-01 -5.26164123e-05 5.34904595e-01] [ 1.91152059e-02 -2.71369447e-04 9.99817251e-01 2.17247715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239254153999994 meters Centerline goodness [0,1] 0.9992152537699633 Centerline is valid? [True, True] Translation: X:32.15, Y:0.53, Z:0.22 [[ 9.99673814e-01 -1.68262989e-02 -1.92130238e-02 3.21521044e+01] [ 1.68283149e-02 9.99858392e-01 -5.67547592e-05 5.34970236e-01] [ 1.92112581e-02 -2.66586568e-04 9.99815411e-01 2.17306841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269254153999995 meters Centerline goodness [0,1] 0.9991075602396838 Centerline is valid? [True, True] Translation: X:32.18, Y:0.54, Z:0.22 [[ 9.99655536e-01 -1.73190774e-02 -1.97194859e-02 3.21805971e+01] [ 1.73212207e-02 9.99849974e-01 -6.21211179e-05 5.36273298e-01] [ 1.97176033e-02 -2.79465847e-04 9.99805550e-01 2.18267604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299254153999996 meters Centerline goodness [0,1] 0.9991503462339096 Centerline is valid? [True, True] Translation: X:32.21, Y:0.53, Z:0.22 [[ 9.99601214e-01 -1.99279269e-02 -2.00072493e-02 3.22096915e+01] [ 1.99305510e-02 9.99801365e-01 -6.82503553e-05 5.34757970e-01] [ 2.00046352e-02 -3.30532365e-04 9.99799833e-01 2.18284916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329254154 meters Centerline goodness [0,1] 0.999342161106867 Centerline is valid? [True, True] Translation: X:32.24, Y:0.53, Z:0.22 [[ 9.99552463e-01 -2.18566499e-02 -2.04245177e-02 3.22386034e+01] [ 2.18596787e-02 9.99761046e-01 -7.49817590e-05 5.33401874e-01] [ 2.04212761e-02 -3.71525194e-04 9.99791395e-01 2.18257013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359254154 meters Centerline goodness [0,1] 0.9990656785509524 Centerline is valid? [True, True] Translation: X:32.27, Y:0.53, Z:0.22 [[ 9.99495771e-01 -2.39614479e-02 -2.08339143e-02 3.22664053e+01] [ 2.39649836e-02 9.99712795e-01 -7.99766998e-05 5.32034873e-01] [ 2.08298471e-02 -4.19348043e-04 9.99782947e-01 2.17596601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389254154 meters Centerline goodness [0,1] 0.998918139199423 Centerline is valid? [True, True] Translation: X:32.30, Y:0.53, Z:0.22 [[ 9.99370151e-01 -2.76682340e-02 -2.22209489e-02 3.22960519e+01] [ 2.76731415e-02 9.99617022e-01 -8.66790883e-05 5.30770824e-01] [ 2.22148370e-02 -5.28298970e-04 9.99753080e-01 2.16947512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419254154 meters Centerline goodness [0,1] 0.9989822530373386 Centerline is valid? [True, True] Translation: X:32.32, Y:0.53, Z:0.22 [[ 9.99310306e-01 -2.94546829e-02 -2.26126784e-02 3.23241765e+01] [ 2.94601869e-02 9.99565950e-01 -8.97599905e-05 5.30239611e-01] [ 2.26055072e-02 -5.76475648e-04 9.99744297e-01 2.16784988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449254153999995 meters Centerline goodness [0,1] 0.9990461251483805 Centerline is valid? [True, True] Translation: X:32.35, Y:0.53, Z:0.22 [[ 9.99226012e-01 -3.22005467e-02 -2.25942816e-02 3.23522280e+01] [ 3.22066969e-02 9.99481226e-01 -9.17278414e-05 5.26961439e-01] [ 2.25855139e-02 -6.36030332e-04 9.99744712e-01 2.15725480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479254153999996 meters Centerline goodness [0,1] 0.999214870771973 Centerline is valid? [True, True] Translation: X:32.38, Y:0.53, Z:0.22 [[ 9.99187731e-01 -3.36929933e-02 -2.21056695e-02 3.23820890e+01] [ 3.36992170e-02 9.99432016e-01 -9.10181670e-05 5.28452865e-01] [ 2.20961805e-02 -6.53999518e-04 9.99755636e-01 2.17492143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509254154 meters Centerline goodness [0,1] 0.9991942836545598 Centerline is valid? [True, True] Translation: X:32.41, Y:0.53, Z:0.22 [[ 9.99158530e-01 -3.50672722e-02 -2.12724994e-02 3.24120674e+01] [ 3.50733306e-02 9.99384738e-01 -8.83382791e-05 5.29816153e-01] [ 2.12625091e-02 -6.57833460e-04 9.99773711e-01 2.18935362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539254154 meters Centerline goodness [0,1] 0.9992791264709 Centerline is valid? [True, True] Translation: X:32.44, Y:0.53, Z:0.22 [[ 9.99081736e-01 -3.80743009e-02 -1.96477282e-02 3.24418536e+01] [ 3.80800412e-02 9.99274689e-01 -8.20219293e-05 5.27827533e-01] [ 1.96366004e-02 -6.66239690e-04 9.99806961e-01 2.20163038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569254154 meters Centerline goodness [0,1] 0.9991297703442713 Centerline is valid? [True, True] Translation: X:32.47, Y:0.53, Z:0.22 [[ 9.99035414e-01 -3.94454536e-02 -1.92950296e-02 3.24736223e+01] [ 3.94512500e-02 9.99221493e-01 -8.02915806e-05 5.28613196e-01] [ 1.92831754e-02 -6.80998905e-04 9.99813830e-01 2.20972835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599254154 meters Centerline goodness [0,1] 0.9991308587539482 Centerline is valid? [True, True] Translation: X:32.51, Y:0.53, Z:0.22 [[ 9.99006051e-01 -4.03705918e-02 -1.88977861e-02 3.25054138e+01] [ 4.03763300e-02 9.99184540e-01 -7.79575035e-05 5.28394548e-01] [ 1.88855229e-02 -6.85143230e-04 9.99821418e-01 2.21368603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629254153999995 meters Centerline goodness [0,1] 0.999277886330813 Centerline is valid? [True, True] Translation: X:32.54, Y:0.53, Z:0.22 [[ 9.98980926e-01 -4.12662165e-02 -1.82813943e-02 3.25372121e+01] [ 4.12717542e-02 9.99147955e-01 -7.44261826e-05 5.30132721e-01] [ 1.82688890e-02 -6.80154876e-04 9.99832879e-01 2.21969175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659254153999996 meters Centerline goodness [0,1] 0.9992143706471888 Centerline is valid? [True, True] Translation: X:32.57, Y:0.53, Z:0.22 [[ 9.98983750e-01 -4.12183736e-02 -1.82349276e-02 3.25694782e+01] [ 4.12238997e-02 9.99149931e-01 -7.28941349e-05 5.30437047e-01] [ 1.82224312e-02 -6.78894768e-04 9.99833727e-01 2.22097991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689254154 meters Centerline goodness [0,1] 0.999275238744884 Centerline is valid? [True, True] Translation: X:32.60, Y:0.53, Z:0.22 [[ 9.99047070e-01 -3.98657067e-02 -1.77673316e-02 3.26017052e+01] [ 3.98707621e-02 9.99204843e-01 -6.97393609e-05 5.33004236e-01] [ 1.77559840e-02 -6.38724147e-04 9.99842146e-01 2.22190055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719254154 meters Centerline goodness [0,1] 0.9995532105016808 Centerline is valid? [True, True] Translation: X:32.63, Y:0.53, Z:0.22 [[ 9.99097886e-01 -3.86483203e-02 -1.75989030e-02 3.26335232e+01] [ 3.86531116e-02 9.99252687e-01 -6.79523842e-05 5.34831328e-01] [ 1.75883773e-02 -6.12361276e-04 9.99845125e-01 2.22826721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.749254154 meters Centerline goodness [0,1] 0.9996588631614857 Centerline is valid? [True, True] Translation: X:32.66, Y:0.54, Z:0.22 [[ 9.99153721e-01 -3.72273703e-02 -1.74918614e-02 3.26645611e+01] [ 3.72318999e-02 9.99306650e-01 -6.67393733e-05 5.37388245e-01] [ 1.74822179e-02 -5.84572339e-04 9.99847003e-01 2.23277353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779254154 meters Centerline goodness [0,1] 0.9998717811732023 Centerline is valid? [True, True] Translation: X:32.69, Y:0.54, Z:0.22 [[ 9.99271454e-01 -3.34855403e-02 -1.83106251e-02 3.26947786e+01] [ 3.34898859e-02 9.99439054e-01 -6.93453617e-05 5.42443704e-01] [ 1.83026759e-02 -5.43925903e-04 9.99832344e-01 2.23077349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809254153999994 meters Centerline goodness [0,1] 0.9996795693411946 Centerline is valid? [True, True] Translation: X:32.73, Y:0.55, Z:0.22 [[ 9.99335455e-01 -3.12854159e-02 -1.87048558e-02 3.27259338e+01] [ 3.12895751e-02 9.99510359e-01 -7.03328622e-05 5.45630002e-01] [ 1.86978975e-02 -5.14980867e-04 9.99825046e-01 2.22985288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839254153999995 meters Centerline goodness [0,1] 0.9997640649464856 Centerline is valid? [True, True] Translation: X:32.76, Y:0.55, Z:0.22 [[ 9.99466175e-01 -2.64749898e-02 -1.91426176e-02 3.27561256e+01] [ 2.64784707e-02 9.99649381e-01 -7.16388363e-05 5.52149893e-01] [ 1.91378024e-02 -4.35266644e-04 9.99816761e-01 2.22727477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869254154 meters Centerline goodness [0,1] 0.9996989247311828 Centerline is valid? [True, True] Translation: X:32.79, Y:0.56, Z:0.22 [[ 9.99532727e-01 -2.39986670e-02 -1.89312523e-02 3.27857226e+01] [ 2.40016208e-02 9.99711917e-01 -7.12017571e-05 5.57860129e-01] [ 1.89275073e-02 -3.83212253e-04 9.99820785e-01 2.23642929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899254154 meters Centerline goodness [0,1] 0.9998924152770307 Centerline is valid? [True, True] Translation: X:32.81, Y:0.56, Z:0.22 [[ 9.99585175e-01 -2.14997404e-02 -1.91634691e-02 3.28146946e+01] [ 2.15022905e-02 9.99768796e-01 -7.29934519e-05 5.60273083e-01] [ 1.91606078e-02 -3.39095308e-04 9.99816361e-01 2.23648493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.929254154 meters Centerline goodness [0,1] 0.9996548153261995 Centerline is valid? [True, True] Translation: X:32.84, Y:0.56, Z:0.22 [[ 9.99640322e-01 -1.90814283e-02 -1.88447553e-02 3.28423943e+01] [ 1.90834389e-02 9.99817892e-01 -7.31474091e-05 5.63486224e-01] [ 1.88427192e-02 -2.86501635e-04 9.99822419e-01 2.23518745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959254154 meters Centerline goodness [0,1] 0.9994587104317325 Centerline is valid? [True, True] Translation: X:32.87, Y:0.57, Z:0.23 [[ 9.99714504e-01 -1.47870417e-02 -1.87684045e-02 3.28708874e+01] [ 1.47882189e-02 9.99890645e-01 -7.60716959e-05 5.72416581e-01] [ 1.87674769e-02 -2.01501295e-04 9.99823855e-01 2.25303825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989254153999994 meters Centerline goodness [0,1] 0.9995252174288366 Centerline is valid? [True, True] Translation: X:32.90, Y:0.58, Z:0.23 [[ 9.99745967e-01 -1.30380894e-02 -1.83850456e-02 3.28998494e+01] [ 1.30388383e-02 9.99914988e-01 -7.91422109e-05 5.75423572e-01] [ 1.83845145e-02 -1.60597530e-04 9.99830978e-01 2.25399997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019254153999995 meters Centerline goodness [0,1] 0.999544330165343 Centerline is valid? [True, True] Translation: X:32.93, Y:0.58, Z:0.23 [[ 9.99772058e-01 -1.15589730e-02 -1.79505731e-02 3.29281518e+01] [ 1.15593680e-02 9.99933185e-01 -8.17543080e-05 5.78334503e-01] [ 1.79503187e-02 -1.25761607e-04 9.99838872e-01 2.26172534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049254153999996 meters Centerline goodness [0,1] 0.9994134005388025 Centerline is valid? [True, True] Translation: X:32.96, Y:0.58, Z:0.23 [[ 9.99832570e-01 -9.03610460e-03 -1.59116794e-02 3.29559866e+01] [ 9.03605281e-03 9.99959171e-01 -7.51503526e-05 5.83286583e-01] [ 1.59117088e-02 -6.86410053e-05 9.99873398e-01 2.27813731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079254154 meters Centerline goodness [0,1] 0.9994770786125152 Centerline is valid? [True, True] Translation: X:32.98, Y:0.59, Z:0.23 [[ 9.99847519e-01 -8.65248681e-03 -1.51681841e-02 3.29834350e+01] [ 8.65235848e-03 9.99962565e-01 -7.40857292e-05 5.85356612e-01] [ 1.51682573e-02 -5.71661336e-05 9.99884954e-01 2.29060064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.109254154 meters Centerline goodness [0,1] 0.9993033786137234 Centerline is valid? [True, True] Translation: X:33.01, Y:0.59, Z:0.23 [[ 9.99867853e-01 -8.48543405e-03 -1.38662955e-02 3.30117898e+01] [ 8.48526016e-03 9.99963997e-01 -7.13740456e-05 5.88462902e-01] [ 1.38664019e-02 -4.62945106e-05 9.99903856e-01 2.30968393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139254154 meters Centerline goodness [0,1] 0.9995649525798312 Centerline is valid? [True, True] Translation: X:33.04, Y:0.59, Z:0.23 [[ 9.99860195e-01 -9.21098127e-03 -1.39552155e-02 3.30398599e+01] [ 9.21082203e-03 9.99957577e-01 -7.56844446e-05 5.89664943e-01] [ 1.39553206e-02 -5.28651430e-05 9.99902618e-01 2.31759257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169254153999994 meters Centerline goodness [0,1] 0.9995649525798312 Centerline is valid? [True, True] Translation: X:33.07, Y:0.59, Z:0.23 [[ 9.99857524e-01 -9.49657088e-03 -1.39551930e-02 3.30672370e+01] [ 9.49638384e-03 9.99954905e-01 -7.96694097e-05 5.89895233e-01] [ 1.39553202e-02 -5.28658101e-05 9.99902618e-01 2.32016734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199254153999995 meters Centerline goodness [0,1] 0.9995424936275898 Centerline is valid? [True, True] Translation: X:33.10, Y:0.59, Z:0.23 [[ 9.99834929e-01 -1.15886299e-02 -1.39935257e-02 3.30958530e+01] [ 1.15885931e-02 9.99932846e-01 -8.37184793e-05 5.90422294e-01] [ 1.39935562e-02 -7.84606167e-05 9.99902082e-01 2.32011116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229254153999996 meters Centerline goodness [0,1] 0.9994556223325495 Centerline is valid? [True, True] Translation: X:33.12, Y:0.59, Z:0.23 [[ 9.99812075e-01 -1.32121370e-02 -1.41863866e-02 3.31237811e+01] [ 1.32122232e-02 9.99912711e-01 -8.76511357e-05 5.89846389e-01] [ 1.41863063e-02 -9.97990415e-05 9.99899364e-01 2.31700337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259254154 meters Centerline goodness [0,1] 0.9994984626790815 Centerline is valid? [True, True] Translation: X:33.15, Y:0.59, Z:0.23 [[ 9.99761996e-01 -1.63384130e-02 -1.44571239e-02 3.31521077e+01] [ 1.63388107e-02 9.99866509e-01 -9.06118097e-05 5.88219666e-01] [ 1.44566745e-02 -1.45621968e-04 9.99895486e-01 2.31159477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.289254154 meters Centerline goodness [0,1] 0.9992802931169851 Centerline is valid? [True, True] Translation: X:33.18, Y:0.59, Z:0.23 [[ 9.99724220e-01 -1.81642224e-02 -1.48843920e-02 3.31818811e+01] [ 1.81648306e-02 9.99835001e-01 -9.43377843e-05 5.87470364e-01] [ 1.48836497e-02 -1.76060692e-04 9.99889217e-01 2.31176709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319254154 meters Centerline goodness [0,1] 0.9993252508543194 Centerline is valid? [True, True] Translation: X:33.21, Y:0.59, Z:0.23 [[ 9.99689791e-01 -1.98199010e-02 -1.50828671e-02 3.32112330e+01] [ 1.98207074e-02 9.99803546e-01 -9.60350404e-05 5.86005343e-01] [ 1.50818074e-02 -2.02947846e-04 9.99886242e-01 2.31069750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349254154 meters Centerline goodness [0,1] 0.9992598397770811 Centerline is valid? [True, True] Translation: X:33.24, Y:0.59, Z:0.23 [[ 9.99641653e-01 -2.22498706e-02 -1.48831656e-02 3.32421131e+01] [ 2.22509226e-02 9.99752413e-01 -9.49270069e-05 5.85068538e-01] [ 1.48815928e-02 -2.36271175e-04 9.99889235e-01 2.31783914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379254153999995 meters Centerline goodness [0,1] 0.9994779544515259 Centerline is valid? [True, True] Translation: X:33.27, Y:0.58, Z:0.23 [[ 9.99630844e-01 -2.28497643e-02 -1.46991159e-02 3.32722658e+01] [ 2.28508596e-02 9.99738881e-01 -9.34557085e-05 5.84235286e-01] [ 1.46974131e-02 -2.42466226e-04 9.99891958e-01 2.32384071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409254153999996 meters Centerline goodness [0,1] 0.9995648768601514 Centerline is valid? [True, True] Translation: X:33.30, Y:0.58, Z:0.23 [[ 9.99624412e-01 -2.31900682e-02 -1.46033075e-02 3.33026022e+01] [ 2.31911946e-02 9.99731044e-01 -9.22342875e-05 5.83662696e-01] [ 1.46015188e-02 -2.46468500e-04 9.99893362e-01 2.32797548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439254154 meters Centerline goodness [0,1] 0.999391198469299 Centerline is valid? [True, True] Translation: X:33.33, Y:0.59, Z:0.23 [[ 9.99640876e-01 -2.22275965e-02 -1.49683871e-02 3.33336659e+01] [ 2.22286776e-02 9.99752908e-01 -9.41635707e-05 5.85223259e-01] [ 1.49667816e-02 -2.38597698e-04 9.99887963e-01 2.33945683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.469254154 meters Centerline goodness [0,1] 0.9994133113143999 Centerline is valid? [True, True] Translation: X:33.36, Y:0.58, Z:0.23 [[ 9.99665050e-01 -2.10666209e-02 -1.50327934e-02 3.33638972e+01] [ 2.10675909e-02 9.99778049e-01 -9.38506724e-05 5.84753193e-01] [ 1.50314340e-02 -2.22885505e-04 9.99886997e-01 2.34039205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499254154 meters Centerline goodness [0,1] 0.9994558474631609 Centerline is valid? [True, True] Translation: X:33.39, Y:0.59, Z:0.24 [[ 9.99745170e-01 -1.75213181e-02 -1.42336866e-02 3.33943267e+01] [ 1.75218367e-02 9.99846477e-01 -8.82788615e-05 5.87122193e-01] [ 1.42330482e-02 -1.61143968e-04 9.99898692e-01 2.35828906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529254154 meters Centerline goodness [0,1] 0.9996521512272539 Centerline is valid? [True, True] Translation: X:33.42, Y:0.59, Z:0.24 [[ 9.99792516e-01 -1.51459886e-02 -1.36207522e-02 3.34241139e+01] [ 1.51462409e-02 9.99885286e-01 -8.46324232e-05 5.88013395e-01] [ 1.36204715e-02 -1.21688331e-04 9.99907230e-01 2.36617473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559254153999994 meters Centerline goodness [0,1] 0.9993917803458163 Centerline is valid? [True, True] Translation: X:33.45, Y:0.59, Z:0.24 [[ 9.99835630e-01 -1.26793286e-02 -1.29594796e-02 3.34522878e+01] [ 1.26793432e-02 9.99919611e-01 -8.10432665e-05 5.88543908e-01] [ 1.29594654e-02 -8.32877441e-05 9.99916019e-01 2.36901940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589254153999995 meters Centerline goodness [0,1] 0.9994351387168958 Centerline is valid? [True, True] Translation: X:33.48, Y:0.59, Z:0.24 [[ 9.99872368e-01 -1.01808281e-02 -1.23125117e-02 3.34810498e+01] [ 1.01806368e-02 9.99948173e-01 -7.82190365e-05 5.89428063e-01] [ 1.23126699e-02 -4.71401558e-05 9.99924195e-01 2.37766298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619254154 meters Centerline goodness [0,1] 0.9993474856446842 Centerline is valid? [True, True] Translation: X:33.51, Y:0.59, Z:0.24 [[ 9.99906767e-01 -6.11444136e-03 -1.22094880e-02 3.35098838e+01] [ 6.11391260e-03 9.99981307e-01 -8.06326961e-05 5.91146675e-01] [ 1.22097528e-02 5.97743586e-06 9.99925458e-01 2.38472069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.649254154 meters Centerline goodness [0,1] 0.9993687967960996 Centerline is valid? [True, True] Translation: X:33.54, Y:0.59, Z:0.24 [[ 9.99910095e-01 -4.55502709e-03 -1.26116260e-02 3.35373971e+01] [ 4.55430352e-03 9.99989625e-01 -8.60923436e-05 5.91752823e-01] [ 1.26118873e-02 2.86474308e-05 9.99920467e-01 2.38674277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679254154 meters Centerline goodness [0,1] 0.9995434584112353 Centerline is valid? [True, True] Translation: X:33.57, Y:0.59, Z:0.24 [[ 9.99895715e-01 -3.06411571e-03 -1.41127516e-02 3.35660539e+01] [ 3.06303026e-03 9.99995304e-01 -9.85274026e-05 5.91077142e-01] [ 1.41129873e-02 5.52893424e-05 9.99900405e-01 2.38106951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709254154 meters Centerline goodness [0,1] 0.999435175530066 Centerline is valid? [True, True] Translation: X:33.59, Y:0.59, Z:0.24 [[ 9.99883644e-01 -3.65707857e-03 -1.48095830e-02 3.35934751e+01] [ 3.65590029e-03 9.99993311e-01 -1.06634179e-04 5.90504539e-01] [ 1.48098739e-02 5.24794133e-05 9.99890326e-01 2.37236652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739254153999994 meters Centerline goodness [0,1] 0.9994136043784206 Centerline is valid? [True, True] Translation: X:33.62, Y:0.59, Z:0.24 [[ 9.99865699e-01 -4.80262945e-03 -1.56690532e-02 3.36200573e+01] [ 4.80141890e-03 9.99988467e-01 -1.14875689e-04 5.89247843e-01] [ 1.56694242e-02 3.96265730e-05 9.99877226e-01 2.36569410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769254153999995 meters Centerline goodness [0,1] 0.9993068942363924 Centerline is valid? [True, True] Translation: X:33.65, Y:0.59, Z:0.24 [[ 9.99818033e-01 -8.80575539e-03 -1.69221564e-02 3.36487142e+01] [ 8.80488610e-03 9.99961228e-01 -1.25874854e-04 5.85278011e-01] [ 1.69226088e-02 -2.31457113e-05 9.99856802e-01 2.36738813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799254153999996 meters Centerline goodness [0,1] 0.9993506212390146 Centerline is valid? [True, True] Translation: X:33.68, Y:0.58, Z:0.24 [[ 9.99786356e-01 -1.15616630e-02 -1.71338649e-02 3.36766176e+01] [ 1.15611524e-02 9.99933159e-01 -1.28855607e-04 5.82988431e-01] [ 1.71342094e-02 -6.92591447e-05 9.99853196e-01 2.36718108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829254154 meters Centerline goodness [0,1] 0.9993513092741151 Centerline is valid? [True, True] Translation: X:33.71, Y:0.58, Z:0.24 [[ 9.99741812e-01 -1.47776021e-02 -1.72606939e-02 3.37055752e+01] [ 1.47775136e-02 9.99890798e-01 -1.32677514e-04 5.80723060e-01] [ 1.72607696e-02 -1.22426880e-04 9.99851014e-01 2.37491596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859254154 meters Centerline goodness [0,1] 0.9992653572740433 Centerline is valid? [True, True] Translation: X:33.73, Y:0.58, Z:0.24 [[ 9.99699162e-01 -1.78693916e-02 -1.68009264e-02 3.37345410e+01] [ 1.78696729e-02 9.99840316e-01 -1.33394689e-04 5.78475990e-01] [ 1.68006272e-02 -1.66872500e-04 9.99858846e-01 2.38109020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889254154 meters Centerline goodness [0,1] 0.9992256232657187 Centerline is valid? [True, True] Translation: X:33.76, Y:0.57, Z:0.24 [[ 9.99562077e-01 -2.45071600e-02 -1.65847283e-02 3.37634383e+01] [ 2.45083013e-02 9.99699617e-01 -1.34456598e-04 5.72470263e-01] [ 1.65830417e-02 -2.72065802e-04 9.99862455e-01 2.38145942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919254153999994 meters Centerline goodness [0,1] 0.9990531933207093 Centerline is valid? [True, True] Translation: X:33.79, Y:0.57, Z:0.24 [[ 9.99475737e-01 -2.78905630e-02 -1.64428308e-02 3.37936771e+01] [ 2.78921345e-02 9.99610930e-01 -1.33787746e-04 5.69866088e-01] [ 1.64401648e-02 -3.24908043e-04 9.99864799e-01 2.38444710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949254153999995 meters Centerline goodness [0,1] 0.9992277164003003 Centerline is valid? [True, True] Translation: X:33.82, Y:0.56, Z:0.24 [[ 9.99248771e-01 -3.54649331e-02 -1.56247553e-02 3.38237115e+01] [ 3.54672773e-02 9.99370830e-01 -1.27131443e-04 5.62901920e-01] [ 1.56194334e-02 -4.27131592e-04 9.99877918e-01 2.39012539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979254153999996 meters Centerline goodness [0,1] 0.999208403756873 Centerline is valid? [True, True] Translation: X:33.85, Y:0.56, Z:0.24 [[ 9.99096413e-01 -3.96168634e-02 -1.53903432e-02 3.38541235e+01] [ 3.96196315e-02 9.99214826e-01 -1.25115523e-04 5.58882418e-01] [ 1.53832158e-02 -4.84757256e-04 9.99881554e-01 2.39720673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009254154 meters Centerline goodness [0,1] 0.9990594472114748 Centerline is valid? [True, True] Translation: X:33.88, Y:0.55, Z:0.24 [[ 9.98728491e-01 -4.82023644e-02 -1.47625761e-02 3.38841323e+01] [ 4.82058487e-02 9.98837415e-01 -1.19929559e-04 5.50438358e-01] [ 1.47511943e-02 -5.91865445e-04 9.99891020e-01 2.40319298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039254154 meters Centerline goodness [0,1] 0.9990612932818467 Centerline is valid? [True, True] Translation: X:33.92, Y:0.55, Z:0.24 [[ 9.98528465e-01 -5.22116754e-02 -1.46576117e-02 3.39155875e+01] [ 5.22155422e-02 9.98635831e-01 -1.19026284e-04 5.45993020e-01] [ 1.46438308e-02 -6.46504012e-04 9.99892564e-01 2.40716980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069254154 meters Centerline goodness [0,1] 0.9991244741506331 Centerline is valid? [True, True] Translation: X:33.95, Y:0.54, Z:0.24 [[ 9.98311207e-01 -5.62044879e-02 -1.46898051e-02 3.39467326e+01] [ 5.62088092e-02 9.98419028e-01 -1.18860296e-04 5.42300017e-01] [ 1.46732615e-02 -7.07036889e-04 9.99892092e-01 2.41422613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099254154 meters Centerline goodness [0,1] 0.9991900590404331 Centerline is valid? [True, True] Translation: X:33.98, Y:0.54, Z:0.24 [[ 9.98113607e-01 -5.95615173e-02 -1.48879895e-02 3.39781073e+01] [ 5.95663339e-02 9.98224342e-01 -1.20101098e-04 5.38074896e-01] [ 1.48687069e-02 -7.66948413e-04 9.99889161e-01 2.41523331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129254153999995 meters Centerline goodness [0,1] 0.9987221263817009 Centerline is valid? [True, True] Translation: X:34.01, Y:0.53, Z:0.24 [[ 9.97733297e-01 -6.55742562e-02 -1.51091103e-02 3.40071631e+01] [ 6.55799063e-02 9.97847314e-01 -1.21736148e-04 5.30875763e-01] [ 1.50845678e-02 -8.69393826e-04 9.99885843e-01 2.40929690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159254153999996 meters Centerline goodness [0,1] 0.9990021655131417 Centerline is valid? [True, True] Translation: X:34.04, Y:0.53, Z:0.24 [[ 9.97594538e-01 -6.75261337e-02 -1.56639503e-02 3.40374559e+01] [ 6.75324430e-02 9.97717071e-01 -1.26411961e-04 5.27412128e-01] [ 1.56367267e-02 -9.31716947e-04 9.99877305e-01 2.40989575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189254154 meters Centerline goodness [0,1] 0.9988731555895735 Centerline is valid? [True, True] Translation: X:34.07, Y:0.52, Z:0.24 [[ 9.97478036e-01 -6.90331129e-02 -1.64923342e-02 3.40698513e+01] [ 6.90403234e-02 9.97613861e-01 -1.32432312e-04 5.24805072e-01] [ 1.64621234e-02 -1.00653776e-03 9.99863983e-01 2.40567934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219254154 meters Centerline goodness [0,1] 0.9990219425072291 Centerline is valid? [True, True] Translation: X:34.10, Y:0.53, Z:0.24 [[ 9.97369230e-01 -7.01479449e-02 -1.82724999e-02 3.41015842e+01] [ 7.01570151e-02 9.97535950e-01 -1.44960979e-04 5.26522340e-01] [ 1.82376443e-02 -1.13736443e-03 9.99833033e-01 2.39464335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.249254154 meters Centerline goodness [0,1] 0.9988976511489867 Centerline is valid? [True, True] Translation: X:34.13, Y:0.52, Z:0.24 [[ 9.97372009e-01 -6.97741989e-02 -1.95099298e-02 3.41338723e+01] [ 6.97845251e-02 9.97562077e-01 -1.51860099e-04 5.22850814e-01] [ 1.94729620e-02 -1.21003017e-03 9.99809652e-01 2.38223860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279254154 meters Centerline goodness [0,1] 0.9989156088537348 Centerline is valid? [True, True] Translation: X:34.17, Y:0.53, Z:0.24 [[ 9.97516049e-01 -6.74064095e-02 -2.04476963e-02 3.41656966e+01] [ 6.74173038e-02 9.97724853e-01 -1.56862396e-04 5.32223418e-01] [ 2.04117483e-02 -1.22205580e-03 9.99790912e-01 2.39117419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309254153999994 meters Centerline goodness [0,1] 0.9990859232175503 Centerline is valid? [True, True] Translation: X:34.20, Y:0.53, Z:0.24 [[ 9.97667274e-01 -6.51109317e-02 -2.05079569e-02 3.41967664e+01] [ 6.51214259e-02 9.97877335e-01 -1.56400093e-04 5.25934126e-01] [ 2.04746088e-02 -1.17947214e-03 9.99789678e-01 2.37902683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339254153999995 meters Centerline goodness [0,1] 0.998977570451786 Centerline is valid? [True, True] Translation: X:34.23, Y:0.54, Z:0.24 [[ 9.97835543e-01 -6.25113409e-02 -2.04098251e-02 3.42279903e+01] [ 6.25212079e-02 9.98043624e-01 -1.54911989e-04 5.35879787e-01] [ 2.03795796e-02 -1.12147023e-03 9.99791686e-01 2.40105387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369254154 meters Centerline goodness [0,1] 0.9991899381794926 Centerline is valid? [True, True] Translation: X:34.26, Y:0.54, Z:0.24 [[ 9.98201719e-01 -5.66805127e-02 -1.95101909e-02 3.42573085e+01] [ 5.66884206e-02 9.98391908e-01 -1.47937413e-04 5.35970645e-01] [ 1.94872019e-02 -9.58330529e-04 9.99809647e-01 2.40604517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399254154 meters Centerline goodness [0,1] 0.9991257622926351 Centerline is valid? [True, True] Translation: X:34.29, Y:0.55, Z:0.24 [[ 9.98391274e-01 -5.35736792e-02 -1.85667653e-02 3.42890552e+01] [ 5.35803137e-02 9.98563533e-01 -1.40292018e-04 5.46820284e-01] [ 1.85476107e-02 -8.54746780e-04 9.99827613e-01 2.43661812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.429254154 meters Centerline goodness [0,1] 0.9990615335395115 Centerline is valid? [True, True] Translation: X:34.32, Y:0.55, Z:0.25 [[ 9.98563746e-01 -5.06064742e-02 -1.75906352e-02 3.43209391e+01] [ 5.06119884e-02 9.98718383e-01 -1.31853769e-04 5.50433164e-01] [ 1.75747634e-02 -7.58632628e-04 9.99845264e-01 2.45206235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459254154 meters Centerline goodness [0,1] 0.9991883810337463 Centerline is valid? [True, True] Translation: X:34.35, Y:0.56, Z:0.25 [[ 9.98816996e-01 -4.59322390e-02 -1.59636623e-02 3.43519947e+01] [ 4.59361932e-02 9.98944369e-01 -1.19084898e-04 5.59262229e-01] [ 1.59522804e-02 -6.14365853e-04 9.99872566e-01 2.47580390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489254153999994 meters Centerline goodness [0,1] 0.9991249786580161 Centerline is valid? [True, True] Translation: X:34.38, Y:0.56, Z:0.25 [[ 9.98913935e-01 -4.38948202e-02 -1.56267675e-02 3.43844364e+01] [ 4.38983701e-02 9.99035995e-01 -1.15943152e-04 5.60946708e-01] [ 1.56167925e-02 -5.70172392e-04 9.99877888e-01 2.47896260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519254153999995 meters Centerline goodness [0,1] 0.9991882423310262 Centerline is valid? [True, True] Translation: X:34.42, Y:0.56, Z:0.25 [[ 9.99068585e-01 -4.01609052e-02 -1.57817512e-02 3.44163670e+01] [ 4.01640770e-02 9.99193091e-01 -1.16044605e-04 5.63799589e-01] [ 1.57736772e-02 -5.17922950e-04 9.99875454e-01 2.47474945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549254153999996 meters Centerline goodness [0,1] 0.9992723381487426 Centerline is valid? [True, True] Translation: X:34.45, Y:0.57, Z:0.25 [[ 9.99130606e-01 -3.83739351e-02 -1.62933525e-02 3.44484850e+01] [ 3.83770957e-02 9.99263321e-01 -1.18759651e-04 5.65784477e-01] [ 1.62859068e-02 -5.06635146e-04 9.99867247e-01 2.47300380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579254154 meters Centerline goodness [0,1] 0.9992077935981158 Centerline is valid? [True, True] Translation: X:34.48, Y:0.57, Z:0.25 [[ 9.99180757e-01 -3.66344016e-02 -1.71969510e-02 3.44802564e+01] [ 3.66376876e-02 9.99328607e-01 -1.24034457e-04 5.67075513e-01] [ 1.71899490e-02 -5.06123674e-04 9.99852114e-01 2.47009760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.609254154 meters Centerline goodness [0,1] 0.9992499732133291 Centerline is valid? [True, True] Translation: X:34.51, Y:0.57, Z:0.25 [[ 9.99245586e-01 -3.44664984e-02 -1.78974949e-02 3.45117676e+01] [ 3.44697316e-02 9.99405734e-01 -1.27898122e-04 5.68192303e-01] [ 1.78912673e-02 -4.89120213e-04 9.99839819e-01 2.46659308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639254154 meters Centerline goodness [0,1] 0.9993128180900638 Centerline is valid? [True, True] Translation: X:34.54, Y:0.57, Z:0.25 [[ 9.99408118e-01 -2.86869179e-02 -1.89861657e-02 3.45423267e+01] [ 2.86895421e-02 9.99588361e-01 -1.34197668e-04 5.71925143e-01] [ 1.89822000e-02 -4.10586163e-04 9.99819738e-01 2.46433493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669254153999994 meters Centerline goodness [0,1] 0.9992906886768119 Centerline is valid? [True, True] Translation: X:34.57, Y:0.57, Z:0.25 [[ 9.99501342e-01 -2.50911313e-02 -1.91703504e-02 3.45731386e+01] [ 2.50931632e-02 9.99685108e-01 -1.34581498e-04 5.74568335e-01] [ 1.91676906e-02 -3.46530343e-04 9.99816223e-01 2.46917082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699254153999995 meters Centerline goodness [0,1] 0.9994404510825119 Centerline is valid? [True, True] Translation: X:34.60, Y:0.58, Z:0.25 [[ 9.99671260e-01 -1.71412595e-02 -1.90669630e-02 3.46025818e+01] [ 1.71418171e-02 9.99853059e-01 -1.34205418e-04 5.79646948e-01] [ 1.90664617e-02 -1.92681092e-04 9.99818200e-01 2.47852971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729254153999996 meters Centerline goodness [0,1] 0.9994397155478936 Centerline is valid? [True, True] Translation: X:34.63, Y:0.58, Z:0.25 [[ 9.99743113e-01 -1.27194766e-02 -1.87596182e-02 3.46304140e+01] [ 1.27192160e-02 9.99919099e-01 -1.33213088e-04 5.82029702e-01] [ 1.87597949e-02 -1.05428768e-04 9.99824014e-01 2.48283032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759254154 meters Centerline goodness [0,1] 0.9993967727341276 Centerline is valid? [True, True] Translation: X:34.66, Y:0.59, Z:0.25 [[ 9.99823293e-01 -4.45770606e-03 -1.82623138e-02 3.46589831e+01] [ 4.45602413e-03 9.99990063e-01 -1.32789584e-04 5.86581704e-01] [ 1.82627243e-02 5.13888086e-05 9.99833221e-01 2.49597981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.789254154 meters Centerline goodness [0,1] 0.999439316829121 Centerline is valid? [True, True] Translation: X:34.69, Y:0.59, Z:0.25 [[ 9.99838151e-01 -8.85017929e-04 -1.79691043e-02 3.46876129e+01] [ 8.82730433e-04 9.99999601e-01 -1.35232793e-04 5.88707038e-01] [ 1.79692168e-02 1.19349030e-04 9.99838533e-01 2.50121494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819254154 meters Centerline goodness [0,1] 0.9993961092179614 Centerline is valid? [True, True] Translation: X:34.72, Y:0.59, Z:0.25 [[ 9.99846556e-01 2.72673018e-03 -1.73040126e-02 3.47160463e+01] [-2.72946711e-03 9.99996266e-01 -1.34552075e-04 5.90749862e-01] [ 1.73035811e-02 1.81762162e-04 9.99850265e-01 2.50463882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84925415399999 meters Centerline goodness [0,1] 0.9992875340040589 Centerline is valid? [True, True] Translation: X:34.74, Y:0.59, Z:0.25 [[ 9.99833597e-01 5.84363230e-03 -1.72809498e-02 3.47436801e+01] [-5.84688083e-03 9.99982897e-01 -1.37465115e-04 5.92477513e-01] [ 1.72798509e-02 2.38481894e-04 9.99850664e-01 2.50564737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879254153999995 meters Centerline goodness [0,1] 0.9995065648330902 Centerline is valid? [True, True] Translation: X:34.77, Y:0.59, Z:0.25 [[ 9.99785223e-01 1.08692190e-02 -1.76456344e-02 3.47726986e+01] [-1.08734117e-02 9.99940873e-01 -1.41678040e-04 5.93054883e-01] [ 1.76430511e-02 3.33515857e-04 9.99844294e-01 2.51093646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909254153999996 meters Centerline goodness [0,1] 0.9995062364483374 Centerline is valid? [True, True] Translation: X:34.80, Y:0.59, Z:0.25 [[ 9.99763291e-01 1.28154127e-02 -1.75819945e-02 3.48000311e+01] [-1.28199006e-02 9.99917812e-01 -1.42562858e-04 5.92826316e-01] [ 1.75787225e-02 3.67928534e-04 9.99845415e-01 2.50708786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939254154 meters Centerline goodness [0,1] 0.9993137906632642 Centerline is valid? [True, True] Translation: X:34.83, Y:0.59, Z:0.25 [[ 9.99760141e-01 1.26479543e-02 -1.78798878e-02 3.48281907e+01] [-1.26526040e-02 9.99919942e-01 -1.46947261e-04 5.89956542e-01] [ 1.78765978e-02 3.73139155e-04 9.99840131e-01 2.51470029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.969254154 meters Centerline goodness [0,1] 0.9996775095134693 Centerline is valid? [True, True] Translation: X:34.86, Y:0.59, Z:0.25 [[ 9.99764735e-01 1.17414102e-02 -1.82377087e-02 3.48564419e+01] [-1.17461311e-02 9.99931000e-01 -1.51751572e-04 5.88581098e-01] [ 1.82346685e-02 3.65938388e-04 9.99833668e-01 2.51528090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999254154 meters Centerline goodness [0,1] 0.9993569545366857 Centerline is valid? [True, True] Translation: X:34.89, Y:0.59, Z:0.25 [[ 9.99774094e-01 1.01876313e-02 -1.86540120e-02 3.48855128e+01] [-1.01923288e-02 9.99948045e-01 -1.56765801e-04 5.86296036e-01] [ 1.86514458e-02 3.46858212e-04 9.99825986e-01 2.51760046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029254154 meters Centerline goodness [0,1] 0.9994221014105006 Centerline is valid? [True, True] Translation: X:34.91, Y:0.58, Z:0.25 [[ 9.99817214e-01 5.90384950e-03 -1.81846780e-02 3.49130910e+01] [-5.90763183e-03 9.99982538e-01 -1.54283488e-04 5.80953679e-01] [ 1.81834496e-02 2.61683670e-04 9.99834633e-01 2.51973690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059254153999994 meters Centerline goodness [0,1] 0.9992727739396402 Centerline is valid? [True, True] Translation: X:34.94, Y:0.58, Z:0.25 [[ 9.99834389e-01 3.10165163e-03 -1.79325188e-02 3.49423410e+01] [-3.10490517e-03 9.99995168e-01 -1.53593588e-04 5.77619521e-01] [ 1.79319557e-02 2.09246922e-04 9.99839188e-01 2.52164739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089254153999995 meters Centerline goodness [0,1] 0.9992727739396402 Centerline is valid? [True, True] Translation: X:34.97, Y:0.58, Z:0.25 [[ 9.99834717e-01 2.99383399e-03 -1.79325050e-02 3.49697989e+01] [-2.99709882e-03 9.99995497e-01 -1.55189820e-04 5.77944514e-01] [ 1.79319596e-02 2.08909659e-04 9.99839188e-01 2.52422229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119254154 meters Centerline goodness [0,1] 0.9990421863692478 Centerline is valid? [True, True] Translation: X:35.00, Y:0.57, Z:0.25 [[ 9.99838801e-01 -3.22278972e-03 -1.76631069e-02 3.49985564e+01] [ 3.22056413e-03 9.99994802e-01 -1.54445590e-04 5.70035319e-01] [ 1.76635128e-02 9.75355248e-05 9.99843983e-01 2.52299190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.149254154 meters Centerline goodness [0,1] 0.999127937892162 Centerline is valid? [True, True] Translation: X:35.03, Y:0.57, Z:0.25 [[ 9.99824067e-01 -6.67767513e-03 -1.75283492e-02 3.50264646e+01] [ 6.67598993e-03 9.99977703e-01 -1.54654356e-04 5.65875091e-01] [ 1.75289911e-02 3.76080648e-05 9.99846355e-01 2.51931350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179254154 meters Centerline goodness [0,1] 0.9991301211465428 Centerline is valid? [True, True] Translation: X:35.06, Y:0.56, Z:0.25 [[ 9.99801193e-01 -1.01037568e-02 -1.71897841e-02 3.50553050e+01] [ 1.01026188e-02 9.99948956e-01 -1.53040778e-04 5.61521534e-01] [ 1.71904530e-02 -2.06514840e-05 9.99852233e-01 2.52509331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209254154 meters Centerline goodness [0,1] 0.9991116375481196 Centerline is valid? [True, True] Translation: X:35.08, Y:0.55, Z:0.25 [[ 9.99709351e-01 -1.64672149e-02 -1.76080586e-02 3.50833302e+01] [ 1.64669819e-02 9.99864398e-01 -1.58227749e-04 5.52999296e-01] [ 1.76082765e-02 -1.31769823e-04 9.99844954e-01 2.51892770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239254153999994 meters Centerline goodness [0,1] 0.9988792319566918 Centerline is valid? [True, True] Translation: X:35.11, Y:0.55, Z:0.25 [[ 9.99650421e-01 -1.97598439e-02 -1.75665526e-02 3.51118163e+01] [ 1.97600696e-02 9.99804738e-01 -1.60740704e-04 5.49278034e-01] [ 1.75662987e-02 -1.86431790e-04 9.99845683e-01 2.51932176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269254153999995 meters Centerline goodness [0,1] 0.9990295563384739 Centerline is valid? [True, True] Translation: X:35.14, Y:0.54, Z:0.25 [[ 9.99493036e-01 -2.64024107e-02 -1.77928271e-02 3.51410925e+01] [ 2.64036452e-02 9.99651349e-01 -1.65576080e-04 5.41703811e-01] [ 1.77909952e-02 -3.04303353e-04 9.99841681e-01 2.52079845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299254153999996 meters Centerline goodness [0,1] 0.998989920245786 Centerline is valid? [True, True] Translation: X:35.17, Y:0.54, Z:0.25 [[ 9.99373957e-01 -3.01993433e-02 -1.84307901e-02 3.51710210e+01] [ 3.02012978e-02 9.99543822e-01 -1.72346981e-04 5.37831476e-01] [ 1.84275872e-02 -3.84394697e-04 9.99830124e-01 2.51758099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.329254154 meters Centerline goodness [0,1] 0.9989271514820035 Centerline is valid? [True, True] Translation: X:35.20, Y:0.53, Z:0.25 [[ 9.99231713e-01 -3.42935762e-02 -1.89719228e-02 3.52016693e+01] [ 3.42963782e-02 9.99411690e-01 -1.77749460e-04 5.34620491e-01] [ 1.89668571e-02 -4.73055341e-04 9.99820001e-01 2.51764623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359254154 meters Centerline goodness [0,1] 0.9987149508100023 Centerline is valid? [True, True] Translation: X:35.23, Y:0.52, Z:0.25 [[ 9.98879698e-01 -4.31990016e-02 -1.93182733e-02 3.52311742e+01] [ 4.32035736e-02 9.99066273e-01 -1.80809552e-04 5.22587924e-01] [ 1.93080461e-02 -6.54011452e-04 9.99813368e-01 2.50138771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389254154 meters Centerline goodness [0,1] 0.9989082511022465 Centerline is valid? [True, True] Translation: X:35.26, Y:0.52, Z:0.25 [[ 9.98675837e-01 -4.75050305e-02 -1.97445031e-02 3.52619603e+01] [ 4.75106561e-02 9.98870714e-01 -1.84325862e-04 5.19460433e-01] [ 1.97309624e-02 -7.53992515e-04 9.99805041e-01 2.50513339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419254153999994 meters Centerline goodness [0,1] 0.9988209781670422 Centerline is valid? [True, True] Translation: X:35.29, Y:0.52, Z:0.25 [[ 9.98471088e-01 -5.16503518e-02 -1.96907903e-02 3.52928352e+01] [ 5.16567603e-02 9.98664881e-01 -1.83374859e-04 5.15541655e-01] [ 1.96739722e-02 -8.34067940e-04 9.99806101e-01 2.50189916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449254153999995 meters Centerline goodness [0,1] 0.9987198321091291 Centerline is valid? [True, True] Translation: X:35.32, Y:0.51, Z:0.25 [[ 9.98272858e-01 -5.52180084e-02 -2.00567083e-02 3.53229438e+01] [ 5.52253945e-02 9.98473896e-01 -1.85851294e-04 5.11671839e-01] [ 2.00363620e-02 -9.22109327e-04 9.99798827e-01 2.50148178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479254153999996 meters Centerline goodness [0,1] 0.9986792729712165 Centerline is valid? [True, True] Translation: X:35.35, Y:0.51, Z:0.25 [[ 9.97937421e-01 -6.09460630e-02 -2.01613677e-02 3.53537446e+01] [ 6.09547062e-02 9.98140516e-01 -1.86117162e-04 5.08670743e-01] [ 2.01352211e-02 -1.04319696e-03 9.99796722e-01 2.50676832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509254154 meters Centerline goodness [0,1] 0.998762090598183 Centerline is valid? [True, True] Translation: X:35.39, Y:0.50, Z:0.25 [[ 9.97827191e-01 -6.26901695e-02 -2.02691669e-02 3.53850664e+01] [ 6.26992767e-02 9.98032447e-01 -1.86496910e-04 5.04484023e-01] [ 2.02409777e-02 -1.08477041e-03 9.99794542e-01 2.50427966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539254154 meters Centerline goodness [0,1] 0.9986172798122852 Centerline is valid? [True, True] Translation: X:35.42, Y:0.50, Z:0.25 [[ 9.97658525e-01 -6.50800374e-02 -2.10251462e-02 3.54166396e+01] [ 6.50903855e-02 9.97879354e-01 -1.92517888e-04 5.04316083e-01] [ 2.09930884e-02 -1.17646776e-03 9.99778929e-01 2.50768715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569254154 meters Centerline goodness [0,1] 0.9988886325987125 Centerline is valid? [True, True] Translation: X:35.45, Y:0.50, Z:0.25 [[ 9.97621254e-01 -6.56697513e-02 -2.09598747e-02 3.54487062e+01] [ 6.56801890e-02 9.97840707e-01 -1.90768153e-04 5.04123768e-01] [ 2.09271439e-02 -1.18633417e-03 9.99780299e-01 2.51248372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59925415399999 meters Centerline goodness [0,1] 0.9988472743277513 Centerline is valid? [True, True] Translation: X:35.48, Y:0.50, Z:0.25 [[ 9.97620511e-01 -6.57684207e-02 -2.06840687e-02 3.54809636e+01] [ 6.57786366e-02 9.97834223e-01 -1.86802365e-04 5.03985083e-01] [ 2.06515574e-02 -1.17421197e-03 9.99786044e-01 2.51735123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629254153999995 meters Centerline goodness [0,1] 0.9987421383647799 Centerline is valid? [True, True] Translation: X:35.51, Y:0.51, Z:0.25 [[ 9.97642897e-01 -6.56473153e-02 -1.99770061e-02 3.55127175e+01] [ 6.56568488e-02 9.97842245e-01 -1.78991490e-04 5.09011695e-01] [ 1.99456509e-02 -1.13305768e-03 9.99800424e-01 2.53363142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659254153999996 meters Centerline goodness [0,1] 0.9985924961136087 Centerline is valid? [True, True] Translation: X:35.54, Y:0.51, Z:0.26 [[ 9.97736245e-01 -6.47447721e-02 -1.81796361e-02 3.55446385e+01] [ 6.47525408e-02 9.97901339e-01 -1.61602493e-04 5.10689798e-01] [ 1.81519461e-02 -1.01594096e-03 9.99834724e-01 2.55285398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689254154 meters Centerline goodness [0,1] 0.9985520931696569 Centerline is valid? [True, True] Translation: X:35.58, Y:0.51, Z:0.26 [[ 9.97814998e-01 -6.37917415e-02 -1.72000856e-02 3.55757203e+01] [ 6.37985729e-02 9.97962784e-01 -1.51803573e-04 5.11335007e-01] [ 1.71747292e-02 -9.45869035e-04 9.99852056e-01 2.56185616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719254154 meters Centerline goodness [0,1] 0.9986752460257381 Centerline is valid? [True, True] Translation: X:35.61, Y:0.51, Z:0.26 [[ 9.97979600e-01 -6.11207364e-02 -1.73485822e-02 3.56058034e+01] [ 6.11273079e-02 9.98129966e-01 -1.51725693e-04 5.12177037e-01] [ 1.73254134e-02 -9.09052981e-04 9.99849491e-01 2.56804999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.749254154 meters Centerline goodness [0,1] 0.9988632296907564 Centerline is valid? [True, True] Translation: X:35.64, Y:0.52, Z:0.26 [[ 9.98093675e-01 -5.91560293e-02 -1.75949155e-02 3.56367352e+01] [ 5.91625077e-02 9.98248353e-01 -1.52547877e-04 5.19215713e-01] [ 1.75731196e-02 -8.88702254e-04 9.99845186e-01 2.57825655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779254154 meters Centerline goodness [0,1] 0.9988578197047252 Centerline is valid? [True, True] Translation: X:35.67, Y:0.52, Z:0.26 [[ 9.98198483e-01 -5.72054889e-02 -1.80919980e-02 3.56686644e+01] [ 5.72120341e-02 9.98362038e-01 -1.56024472e-04 5.21862718e-01] [ 1.80712895e-02 -8.79336617e-04 9.99836314e-01 2.57640075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809254153999994 meters Centerline goodness [0,1] 0.9987967067764408 Centerline is valid? [True, True] Translation: X:35.70, Y:0.53, Z:0.26 [[ 9.98434206e-01 -5.25554281e-02 -1.91589160e-02 3.56995832e+01] [ 5.25619287e-02 9.98617653e-01 -1.64454093e-04 5.28248928e-01] [ 1.91410746e-02 -8.42832983e-04 9.99816438e-01 2.57404298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839254153999995 meters Centerline goodness [0,1] 0.9988591468954007 Centerline is valid? [True, True] Translation: X:35.73, Y:0.53, Z:0.26 [[ 9.98570044e-01 -4.97629835e-02 -1.95323370e-02 3.57313416e+01] [ 4.97692236e-02 9.98760730e-01 -1.66800419e-04 5.32467294e-01] [ 1.95164317e-02 -8.05547345e-04 9.99809212e-01 2.57919635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869254154 meters Centerline goodness [0,1] 0.9988178920482131 Centerline is valid? [True, True] Translation: X:35.76, Y:0.54, Z:0.26 [[ 9.98709936e-01 -4.67750628e-02 -1.97625368e-02 3.57620925e+01] [ 4.67808860e-02 9.98905161e-01 -1.67793117e-04 5.35389032e-01] [ 1.97487485e-02 -7.56932329e-04 9.99804688e-01 2.58088080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899254154 meters Centerline goodness [0,1] 0.9988996572008972 Centerline is valid? [True, True] Translation: X:35.79, Y:0.55, Z:0.26 [[ 9.98999968e-01 -4.04209867e-02 -1.91103989e-02 3.57925393e+01] [ 4.04252801e-02 9.99182551e-01 -1.61746149e-04 5.45596110e-01] [ 1.91013151e-02 -6.10958833e-04 9.99817367e-01 2.59584776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.929254154 meters Centerline goodness [0,1] 0.9988141874007411 Centerline is valid? [True, True] Translation: X:35.82, Y:0.55, Z:0.26 [[ 9.99125585e-01 -3.72117782e-02 -1.90617271e-02 3.58227336e+01] [ 3.72154729e-02 9.99307251e-01 -1.60984358e-04 5.48251967e-01] [ 1.90545126e-02 -5.48547597e-04 9.99818296e-01 2.59411168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959254154 meters Centerline goodness [0,1] 0.9987682898341439 Centerline is valid? [True, True] Translation: X:35.85, Y:0.56, Z:0.26 [[ 9.99315640e-01 -3.13625489e-02 -1.96122823e-02 3.58536991e+01] [ 3.13653415e-02 9.99507973e-01 -1.65271024e-04 5.56186064e-01] [ 1.96078158e-02 -4.49988013e-04 9.99807647e-01 2.59439793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989254153999994 meters Centerline goodness [0,1] 0.9988532110091743 Centerline is valid? [True, True] Translation: X:35.88, Y:0.56, Z:0.26 [[ 9.99393024e-01 -2.85406416e-02 -1.99753819e-02 3.58845616e+01] [ 2.85429826e-02 9.99592552e-01 -1.67959322e-04 5.60244482e-01] [ 1.99720367e-02 -4.02299605e-04 9.99800458e-01 2.60077736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019254153999995 meters Centerline goodness [0,1] 0.9988960597826086 Centerline is valid? [True, True] Translation: X:35.91, Y:0.56, Z:0.26 [[ 9.99471843e-01 -2.55835224e-02 -2.00379389e-02 3.59137311e+01] [ 2.55852796e-02 9.99672629e-01 -1.68704787e-04 5.61653684e-01] [ 2.00356951e-02 -3.44060584e-04 9.99799206e-01 2.59131720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049254153999996 meters Centerline goodness [0,1] 0.9989980173534867 Centerline is valid? [True, True] Translation: X:35.94, Y:0.57, Z:0.26 [[ 9.99596329e-01 -2.01920604e-02 -1.99864649e-02 3.59428641e+01] [ 2.01926736e-02 9.99796093e-01 -1.71148549e-04 5.68930889e-01] [ 1.99858454e-02 -2.32500700e-04 9.99800236e-01 2.60464203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079254154 meters Centerline goodness [0,1] 0.9989350372736954 Centerline is valid? [True, True] Translation: X:35.97, Y:0.57, Z:0.26 [[ 9.99665031e-01 -1.76423629e-02 -1.89360315e-02 3.59713234e+01] [ 1.76423697e-02 9.99844347e-01 -1.66704836e-04 5.71533000e-01] [ 1.89360251e-02 -1.67427474e-04 9.99820683e-01 2.61230647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.109254154 meters Centerline goodness [0,1] 0.9989564032117224 Centerline is valid? [True, True] Translation: X:36.00, Y:0.57, Z:0.26 [[ 9.99719546e-01 -1.51679727e-02 -1.81868786e-02 3.59998631e+01] [ 1.51674873e-02 9.99884953e-01 -1.64633471e-04 5.74052205e-01] [ 1.81872834e-02 -1.11261952e-04 9.99834591e-01 2.62313155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139254154 meters Centerline goodness [0,1] 0.9988046703238063 Centerline is valid? [True, True] Translation: X:36.03, Y:0.58, Z:0.26 [[ 9.99818706e-01 -9.70223326e-03 -1.63835659e-02 3.60284299e+01] [ 9.70104129e-03 9.99952932e-01 -1.52228426e-04 5.78441400e-01] [ 1.63842717e-02 -6.73682190e-06 9.99865769e-01 2.63827464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169254153999994 meters Centerline goodness [0,1] 0.9991677159136986 Centerline is valid? [True, True] Translation: X:36.06, Y:0.58, Z:0.27 [[ 9.99847282e-01 -7.41366003e-03 -1.58256297e-02 3.60560181e+01] [ 7.41219528e-03 9.99972518e-01 -1.51209191e-04 5.80512813e-01] [ 1.58263158e-02 3.38834403e-05 9.99874755e-01 2.65315343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199254153999995 meters Centerline goodness [0,1] 0.9991035218783351 Centerline is valid? [True, True] Translation: X:36.08, Y:0.58, Z:0.27 [[ 9.99890621e-01 -3.94936635e-03 -1.42530056e-02 3.60837380e+01] [ 3.94778533e-03 9.99992198e-01 -1.39059138e-04 5.82550270e-01] [ 1.42534436e-02 8.27761212e-05 9.99898411e-01 2.66109785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229254153999996 meters Centerline goodness [0,1] 0.9993384408544783 Centerline is valid? [True, True] Translation: X:36.11, Y:0.58, Z:0.27 [[ 9.99898523e-01 -3.34971124e-03 -1.38464040e-02 3.61120766e+01] [ 3.34813249e-03 9.99994386e-01 -1.37198032e-04 5.82575640e-01] [ 1.38467858e-02 9.08245146e-05 9.99904125e-01 2.66415208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259254154 meters Centerline goodness [0,1] 0.999210565619066 Centerline is valid? [True, True] Translation: X:36.14, Y:0.58, Z:0.27 [[ 9.99895070e-01 -3.54255151e-03 -1.40463139e-02 3.61401923e+01] [ 3.54088837e-03 9.99993721e-01 -1.43271499e-04 5.82063427e-01] [ 1.40467332e-02 9.35200361e-05 9.99901335e-01 2.66254879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.289254154 meters Centerline goodness [0,1] 0.9991469578383911 Centerline is valid? [True, True] Translation: X:36.17, Y:0.58, Z:0.26 [[ 9.99875893e-01 -5.34918620e-03 -1.48184046e-02 3.61693402e+01] [ 5.34748543e-03 9.99985690e-01 -1.54394902e-04 5.79303491e-01] [ 1.48190185e-02 7.51345375e-05 9.99890189e-01 2.64797676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319254154 meters Centerline goodness [0,1] 0.9991025641025642 Centerline is valid? [True, True] Translation: X:36.20, Y:0.58, Z:0.26 [[ 9.99849302e-01 -7.20653695e-03 -1.57936122e-02 3.61978086e+01] [ 7.20481409e-03 9.99974031e-01 -1.65982721e-04 5.77781773e-01] [ 1.57943982e-02 5.21676685e-05 9.99875259e-01 2.64356053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34925415399999 meters Centerline goodness [0,1] 0.9989349011588275 Centerline is valid? [True, True] Translation: X:36.23, Y:0.57, Z:0.26 [[ 9.99778200e-01 -1.18853152e-02 -1.73864823e-02 3.62266024e+01] [ 1.18839049e-02 9.99929367e-01 -1.84432644e-04 5.74379926e-01] [ 1.73874463e-02 -2.22275661e-05 9.99848827e-01 2.63241084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379254153999995 meters Centerline goodness [0,1] 0.9991255758403003 Centerline is valid? [True, True] Translation: X:36.25, Y:0.57, Z:0.26 [[ 9.99726722e-01 -1.47668388e-02 -1.81223921e-02 3.62539956e+01] [ 1.47657529e-02 9.99890962e-01 -1.93733364e-04 5.72321843e-01] [ 1.81232769e-02 -7.39103412e-05 9.99835757e-01 2.62661407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409254153999996 meters Centerline goodness [0,1] 0.9989534834052368 Centerline is valid? [True, True] Translation: X:36.28, Y:0.57, Z:0.26 [[ 9.99675099e-01 -1.78231876e-02 -1.82216920e-02 3.62830471e+01] [ 1.78225407e-02 9.99841146e-01 -1.97906875e-04 5.70308670e-01] [ 1.82223247e-02 -1.26914272e-04 9.99833952e-01 2.62671308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439254154 meters Centerline goodness [0,1] 0.999043611323642 Centerline is valid? [True, True] Translation: X:36.31, Y:0.56, Z:0.26 [[ 9.99571981e-01 -2.34594602e-02 -1.74787955e-02 3.63108851e+01] [ 2.34596734e-02 9.99724765e-01 -1.92870191e-04 5.64518591e-01] [ 1.74785093e-02 -2.17259194e-04 9.99847216e-01 2.62795001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.469254154 meters Centerline goodness [0,1] 0.9987903225806452 Centerline is valid? [True, True] Translation: X:36.34, Y:0.56, Z:0.26 [[ 9.99508591e-01 -2.62839790e-02 -1.70800767e-02 3.63409222e+01] [ 2.62845759e-02 9.99654483e-01 -1.89580029e-04 5.64516619e-01] [ 1.70791582e-02 -2.59455704e-04 9.99854107e-01 2.64791963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499254154 meters Centerline goodness [0,1] 0.998916783484134 Centerline is valid? [True, True] Translation: X:36.37, Y:0.56, Z:0.27 [[ 9.99455336e-01 -2.89163987e-02 -1.59019758e-02 3.63702171e+01] [ 2.89172421e-02 9.99581793e-01 -1.76940373e-04 5.61513901e-01] [ 1.59004420e-02 -2.82997285e-04 9.99873540e-01 2.65353081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52925415399999 meters Centerline goodness [0,1] 0.998939397153342 Centerline is valid? [True, True] Translation: X:36.40, Y:0.56, Z:0.27 [[ 9.99377833e-01 -3.16690118e-02 -1.55248645e-02 3.64015080e+01] [ 3.16701486e-02 9.99498360e-01 -1.72682408e-04 5.61233105e-01] [ 1.55225453e-02 -3.19099796e-04 9.99879467e-01 2.66680396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559254153999994 meters Centerline goodness [0,1] 0.9988966921983408 Centerline is valid? [True, True] Translation: X:36.43, Y:0.55, Z:0.27 [[ 9.99188653e-01 -3.74479947e-02 -1.48217357e-02 3.64320028e+01] [ 3.74496725e-02 9.99298501e-01 -1.64431267e-04 5.54843361e-01] [ 1.48174959e-02 -3.90771293e-04 9.99890139e-01 2.66941969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589254153999995 meters Centerline goodness [0,1] 0.9987725127510529 Centerline is valid? [True, True] Translation: X:36.46, Y:0.55, Z:0.27 [[ 9.98967130e-01 -4.30835227e-02 -1.44389452e-02 3.64624800e+01] [ 4.30857067e-02 9.99071367e-01 -1.59928007e-04 5.48971177e-01] [ 1.44324269e-02 -4.62349334e-04 9.99895740e-01 2.66983914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619254154 meters Centerline goodness [0,1] 0.9990236447764995 Centerline is valid? [True, True] Translation: X:36.49, Y:0.55, Z:0.27 [[ 9.98838528e-01 -4.58902989e-02 -1.46859142e-02 3.64943792e+01] [ 4.58928694e-02 9.98946354e-01 -1.62103101e-04 5.50112163e-01] [ 1.46778794e-02 -5.12063919e-04 9.99892143e-01 2.67649326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.649254154 meters Centerline goodness [0,1] 0.998876928292931 Centerline is valid? [True, True] Translation: X:36.53, Y:0.55, Z:0.27 [[ 9.98704246e-01 -4.86684886e-02 -1.48730662e-02 3.65267294e+01] [ 4.86714491e-02 9.98814829e-01 -1.63060964e-04 5.48348829e-01] [ 1.48633750e-02 -5.61044009e-04 9.99889377e-01 2.67513576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679254154 meters Centerline goodness [0,1] 0.9988152160115094 Centerline is valid? [True, True] Translation: X:36.56, Y:0.54, Z:0.27 [[ 9.98374214e-01 -5.46476902e-02 -1.62036616e-02 3.65568195e+01] [ 5.46520054e-02 9.98505447e-01 -1.76709643e-04 5.44121160e-01] [ 1.61891011e-02 -7.09140249e-04 9.99868696e-01 2.66866748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709254154 meters Centerline goodness [0,1] 0.9989230736744303 Centerline is valid? [True, True] Translation: X:36.59, Y:0.54, Z:0.27 [[ 9.98191906e-01 -5.77072698e-02 -1.68163486e-02 3.65869516e+01] [ 5.77123552e-02 9.98333236e-01 -1.83129596e-04 5.41830639e-01] [ 1.67988877e-02 -7.87712604e-04 9.99858578e-01 2.66510975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739254153999994 meters Centerline goodness [0,1] 0.998880013524365 Centerline is valid? [True, True] Translation: X:36.62, Y:0.54, Z:0.27 [[ 9.98004440e-01 -6.07094266e-02 -1.73638564e-02 3.66183453e+01] [ 6.07153069e-02 9.98155106e-01 -1.88798886e-04 5.41309186e-01] [ 1.73432838e-02 -8.65829742e-04 9.99849219e-01 2.66273278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769254153999995 meters Centerline goodness [0,1] 0.9986921762608898 Centerline is valid? [True, True] Translation: X:36.65, Y:0.53, Z:0.26 [[ 9.97796089e-01 -6.37412977e-02 -1.84394193e-02 3.66482459e+01] [ 6.37484522e-02 9.97965979e-01 -2.00129020e-04 5.34277581e-01] [ 1.84146696e-02 -9.75796483e-04 9.99829959e-01 2.64852995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799254153999996 meters Centerline goodness [0,1] 0.9987755963690099 Centerline is valid? [True, True] Translation: X:36.68, Y:0.54, Z:0.26 [[ 9.97386041e-01 -6.96062843e-02 -1.93919980e-02 3.66788820e+01] [ 6.96153025e-02 9.97573890e-01 -2.10436891e-04 5.36049241e-01] [ 1.93595986e-02 -1.14009299e-03 9.99811935e-01 2.64915034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.829254154 meters Centerline goodness [0,1] 0.9990904091043703 Centerline is valid? [True, True] Translation: X:36.71, Y:0.53, Z:0.26 [[ 9.97201866e-01 -7.20465503e-02 -1.99432537e-02 3.67090032e+01] [ 7.20565754e-02 9.97400523e-01 -2.16389399e-04 5.32556947e-01] [ 1.99070018e-02 -1.22125865e-03 9.99801090e-01 2.64359856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859254154 meters Centerline goodness [0,1] 0.9988185155491793 Centerline is valid? [True, True] Translation: X:36.74, Y:0.53, Z:0.26 [[ 9.96997477e-01 -7.47230539e-02 -2.03099913e-02 3.67396476e+01] [ 7.47340138e-02 9.97203479e-01 -2.19897738e-04 5.32340021e-01] [ 2.02696254e-02 -1.29860968e-03 9.99793707e-01 2.64265443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889254154 meters Centerline goodness [0,1] 0.998984707151469 Centerline is valid? [True, True] Translation: X:36.77, Y:0.53, Z:0.26 [[ 9.96991378e-01 -7.49195780e-02 -1.98808874e-02 3.67715659e+01] [ 7.49301412e-02 9.97188763e-01 -2.14101301e-04 5.34863275e-01] [ 1.98410379e-02 -1.27622055e-03 9.99802333e-01 2.64973788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919254153999994 meters Centerline goodness [0,1] 0.9991539405220187 Centerline is valid? [True, True] Translation: X:36.80, Y:0.54, Z:0.27 [[ 9.97013962e-01 -7.45599556e-02 -2.00990639e-02 3.68035560e+01] [ 7.45707089e-02 9.97215705e-01 -2.14978435e-04 5.39677132e-01] [ 2.00591309e-02 -1.28446494e-03 9.99797970e-01 2.66301705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949254153999995 meters Centerline goodness [0,1] 0.9989453034362014 Centerline is valid? [True, True] Translation: X:36.84, Y:0.54, Z:0.27 [[ 9.97073894e-01 -7.37268509e-02 -2.01990633e-02 3.68362829e+01] [ 7.37375753e-02 9.97277656e-01 -2.14353674e-04 5.42878207e-01] [ 2.01598781e-02 -1.27570350e-03 9.99795955e-01 2.67251374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979254153999996 meters Centerline goodness [0,1] 0.9989453034362014 Centerline is valid? [True, True] Translation: X:36.87, Y:0.54, Z:0.27 [[ 9.97082070e-01 -7.36161873e-02 -2.01990851e-02 3.68688866e+01] [ 7.36269308e-02 9.97285832e-01 -2.12286987e-04 5.43131459e-01] [ 2.01598891e-02 -1.27552909e-03 9.99795955e-01 2.67556587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009254154 meters Centerline goodness [0,1] 0.9986453019494952 Centerline is valid? [True, True] Translation: X:36.90, Y:0.55, Z:0.27 [[ 9.97270917e-01 -7.10494359e-02 -2.00672875e-02 3.69002871e+01] [ 7.10595507e-02 9.97472053e-01 -2.09467796e-04 5.51018857e-01] [ 2.00314411e-02 -1.21707629e-03 9.99798610e-01 2.69233984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039254154 meters Centerline goodness [0,1] 0.9989624579160226 Centerline is valid? [True, True] Translation: X:36.93, Y:0.55, Z:0.27 [[ 9.97403405e-01 -6.92419921e-02 -1.97988559e-02 3.69304170e+01] [ 6.92515128e-02 9.97599211e-01 -2.05164488e-04 5.49707757e-01] [ 1.97655290e-02 -1.16646896e-03 9.99803962e-01 2.69087615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069254154 meters Centerline goodness [0,1] 0.9987489132509171 Centerline is valid? [True, True] Translation: X:36.96, Y:0.56, Z:0.27 [[ 9.97606540e-01 -6.62092151e-02 -1.99382088e-02 3.69612694e+01] [ 6.62182912e-02 9.97805139e-01 -2.05371482e-04 5.58244957e-01] [ 1.99080447e-02 -1.11539419e-03 9.99801193e-01 2.69768010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09925415399999 meters Centerline goodness [0,1] 0.9991479935247508 Centerline is valid? [True, True] Translation: X:36.99, Y:0.56, Z:0.27 [[ 9.97695368e-01 -6.48262114e-02 -2.00378371e-02 3.69936382e+01] [ 6.48351196e-02 9.97895969e-01 -2.05441539e-04 5.61543795e-01] [ 2.00089949e-02 -1.09418750e-03 9.99799201e-01 2.70243535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129254153999995 meters Centerline goodness [0,1] 0.9992332431684097 Centerline is valid? [True, True] Translation: X:37.02, Y:0.56, Z:0.27 [[ 9.97841819e-01 -6.26262956e-02 -1.97395939e-02 3.70239314e+01] [ 6.26345283e-02 9.98036510e-01 -2.01514536e-04 5.64511351e-01] [ 1.97134556e-02 -1.03530052e-03 9.99805135e-01 2.70967019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159254153999996 meters Centerline goodness [0,1] 0.9989360117464303 Centerline is valid? [True, True] Translation: X:37.06, Y:0.57, Z:0.27 [[ 9.97941985e-01 -6.13062897e-02 -1.87971802e-02 3.70564857e+01] [ 6.13135406e-02 9.98118537e-01 -1.90869915e-04 5.69840442e-01] [ 1.87735155e-02 -9.62044567e-04 9.99823299e-01 2.72524831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189254154 meters Centerline goodness [0,1] 0.9991470124109694 Centerline is valid? [True, True] Translation: X:37.09, Y:0.57, Z:0.27 [[ 9.98070295e-01 -5.93186807e-02 -1.83570064e-02 3.70877684e+01] [ 5.93252818e-02 9.98238687e-01 -1.85238527e-04 5.72591326e-01] [ 1.83356621e-02 -9.04153506e-04 9.99831479e-01 2.73511229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219254154 meters Centerline goodness [0,1] 0.9992101274470038 Centerline is valid? [True, True] Translation: X:37.12, Y:0.58, Z:0.27 [[ 9.98339107e-01 -5.48335247e-02 -1.76723664e-02 3.71181488e+01] [ 5.48389470e-02 9.98495197e-01 -1.78001142e-04 5.79370215e-01] [ 1.76555334e-02 -7.91428465e-04 9.99843816e-01 2.74699079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.249254154 meters Centerline goodness [0,1] 0.9991440920956906 Centerline is valid? [True, True] Translation: X:37.15, Y:0.58, Z:0.27 [[ 9.98507472e-01 -5.19021617e-02 -1.69998358e-02 3.71485055e+01] [ 5.19067573e-02 9.98651921e-01 -1.71089333e-04 5.82855784e-01] [ 1.69857986e-02 -7.11572374e-04 9.99855478e-01 2.74707941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27925415399999 meters Centerline goodness [0,1] 0.9992503748125937 Centerline is valid? [True, True] Translation: X:37.18, Y:0.59, Z:0.27 [[ 9.98665827e-01 -4.86084797e-02 -1.74293213e-02 3.71790398e+01] [ 4.86128176e-02 9.98817683e-01 -1.74951645e-04 5.86769977e-01] [ 1.74172184e-02 -6.72570188e-04 9.99848083e-01 2.74806603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309254153999994 meters Centerline goodness [0,1] 0.9992692886309907 Centerline is valid? [True, True] Translation: X:37.21, Y:0.60, Z:0.28 [[ 9.98972956e-01 -4.16657462e-02 -1.78044394e-02 3.72087011e+01] [ 4.16691767e-02 9.99131447e-01 -1.78421727e-04 5.95616201e-01] [ 1.77964094e-02 -5.63657851e-04 9.99841472e-01 2.75017813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339254153999995 meters Centerline goodness [0,1] 0.9992033931147329 Centerline is valid? [True, True] Translation: X:37.24, Y:0.60, Z:0.28 [[ 9.99122432e-01 -3.79257573e-02 -1.77764635e-02 3.72400290e+01] [ 3.79285901e-02 9.99280436e-01 -1.77885029e-04 6.02695546e-01] [ 1.77704186e-02 -4.96507273e-04 9.99841970e-01 2.76267333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369254154 meters Centerline goodness [0,1] 0.9994381779679329 Centerline is valid? [True, True] Translation: X:37.27, Y:0.61, Z:0.28 [[ 9.99372682e-01 -3.08570624e-02 -1.73805461e-02 3.72695266e+01] [ 3.08587051e-02 9.99523742e-01 -1.73733168e-04 6.10709977e-01] [ 1.73776293e-02 -3.62716964e-04 9.99848932e-01 2.77474084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399254154 meters Centerline goodness [0,1] 0.9993292801661654 Centerline is valid? [True, True] Translation: X:37.30, Y:0.62, Z:0.28 [[ 9.99465733e-01 -2.77716507e-02 -1.72332027e-02 3.73012019e+01] [ 2.77728118e-02 9.99614246e-01 -1.71990149e-04 6.15907424e-01] [ 1.72313313e-02 -3.06716234e-04 9.99851483e-01 2.78520443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.429254154 meters Centerline goodness [0,1] 0.9995224554472639 Centerline is valid? [True, True] Translation: X:37.33, Y:0.62, Z:0.28 [[ 9.99546518e-01 -2.47816229e-02 -1.71064420e-02 3.73318130e+01] [ 2.47823475e-02 9.99692856e-01 -1.69658871e-04 6.18613852e-01] [ 1.71053923e-02 -2.54355856e-04 9.99853660e-01 2.78756543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459254154 meters Centerline goodness [0,1] 0.9994588393185705 Centerline is valid? [True, True] Translation: X:37.36, Y:0.62, Z:0.28 [[ 9.99614917e-01 -2.17465180e-02 -1.72368105e-02 3.73619021e+01] [ 2.17468165e-02 9.99763496e-01 -1.70141306e-04 6.21753502e-01] [ 1.72364339e-02 -2.04769968e-04 9.99851421e-01 2.78749429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489254153999994 meters Centerline goodness [0,1] 0.9995210415169922 Centerline is valid? [True, True] Translation: X:37.39, Y:0.63, Z:0.28 [[ 9.99729257e-01 -1.49939769e-02 -1.77930794e-02 3.73923116e+01] [ 1.49932286e-02 9.99887580e-01 -1.75460799e-04 6.28957779e-01] [ 1.77937099e-02 -9.13624127e-05 9.99841675e-01 2.78737312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519254153999995 meters Centerline goodness [0,1] 0.9995856865609803 Centerline is valid? [True, True] Translation: X:37.42, Y:0.63, Z:0.28 [[ 9.99773444e-01 -1.14184556e-02 -1.79632567e-02 3.74201753e+01] [ 1.14170707e-02 9.99934807e-01 -1.79649571e-04 6.32709715e-01] [ 1.79641369e-02 -2.54789014e-05 9.99838632e-01 2.79390092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549254153999996 meters Centerline goodness [0,1] 0.9996063853050514 Centerline is valid? [True, True] Translation: X:37.45, Y:0.64, Z:0.28 [[ 9.99847408e-01 -3.33441775e-03 -1.71476476e-02 3.74474053e+01] [ 3.33190765e-03 9.99994434e-01 -1.74948517e-04 6.39500453e-01] [ 1.71481355e-02 1.17787443e-04 9.99852953e-01 2.79784469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579254154 meters Centerline goodness [0,1] 0.9995422842197036 Centerline is valid? [True, True] Translation: X:37.47, Y:0.64, Z:0.28 [[ 9.99858725e-01 5.86146243e-04 -1.67984239e-02 3.74746150e+01] [-5.89143252e-04 9.99999811e-01 -1.73461962e-04 6.43288231e-01] [ 1.67983190e-02 1.83334135e-04 9.99858881e-01 2.80406156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.609254154 meters Centerline goodness [0,1] 0.9996937681825142 Centerline is valid? [True, True] Translation: X:37.50, Y:0.65, Z:0.28 [[ 9.99859751e-01 7.76754006e-03 -1.48372156e-02 3.75036315e+01] [-7.77069065e-03 9.99969796e-01 -1.54703845e-04 6.47644281e-01] [ 1.48355658e-02 2.69977561e-04 9.99889910e-01 2.81969196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639254154 meters Centerline goodness [0,1] 0.9995847357608078 Centerline is valid? [True, True] Translation: X:37.53, Y:0.65, Z:0.28 [[ 9.99850900e-01 9.82891877e-03 -1.41975508e-02 3.75320915e+01] [-9.83203556e-03 9.99951653e-01 -1.49746023e-04 6.47982559e-01] [ 1.41953925e-02 2.89314520e-04 9.99899198e-01 2.83040662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669254153999994 meters Centerline goodness [0,1] 0.9996281877433183 Centerline is valid? [True, True] Translation: X:37.56, Y:0.65, Z:0.28 [[ 9.99834349e-01 1.12997927e-02 -1.42684694e-02 3.75595121e+01] [-1.13031343e-02 9.99936106e-01 -1.53568320e-04 6.49291304e-01] [ 1.42658224e-02 3.14821307e-04 9.99898188e-01 2.83040633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699254153999995 meters Centerline goodness [0,1] 0.9995192097556711 Centerline is valid? [True, True] Translation: X:37.59, Y:0.65, Z:0.28 [[ 9.99835471e-01 1.15787971e-02 -1.39629243e-02 3.75869468e+01] [-1.15820474e-02 9.99932914e-01 -1.51932581e-04 6.49707480e-01] [ 1.39602283e-02 3.13626834e-04 9.99902502e-01 2.83089976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729254153999996 meters Centerline goodness [0,1] 0.9995853882075677 Centerline is valid? [True, True] Translation: X:37.62, Y:0.65, Z:0.28 [[ 9.99852889e-01 9.36945294e-03 -1.43671241e-02 3.76150443e+01] [-9.37268485e-03 9.99956063e-01 -1.57633828e-04 6.47046598e-01] [ 1.43650159e-02 2.92269165e-04 9.99896775e-01 2.82541036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759254154 meters Centerline goodness [0,1] 0.9997378939781142 Centerline is valid? [True, True] Translation: X:37.64, Y:0.64, Z:0.28 [[ 9.99861004e-01 6.85634310e-03 -1.51974790e-02 3.76439533e+01] [-6.85968879e-03 9.99976458e-01 -1.68029789e-04 6.44601899e-01] [ 1.51959692e-02 2.72256410e-04 9.99884498e-01 2.82055534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.789254154 meters Centerline goodness [0,1] 0.9996510892557298 Centerline is valid? [True, True] Translation: X:37.67, Y:0.64, Z:0.28 [[ 9.99871331e-01 3.47653866e-03 -1.56600072e-02 3.76728106e+01] [-3.47969431e-03 9.99993931e-01 -1.74266977e-04 6.41396045e-01] [ 1.56593063e-02 2.28736592e-04 9.99877359e-01 2.82004790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819254154 meters Centerline goodness [0,1] 0.9996521512272539 Centerline is valid? [True, True] Translation: X:37.70, Y:0.63, Z:0.28 [[ 9.99852622e-01 -5.22851693e-03 -1.63522465e-02 3.77015369e+01] [ 5.22622061e-03 9.99986326e-01 -1.83158885e-04 6.33015154e-01] [ 1.63529806e-02 9.76714435e-05 9.99866276e-01 2.81236143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84925415399999 meters Centerline goodness [0,1] 0.9995435973224376 Centerline is valid? [True, True] Translation: X:37.73, Y:0.63, Z:0.28 [[ 9.99815692e-01 -1.01949214e-02 -1.62679623e-02 3.77301205e+01] [ 1.01932870e-02 9.99948030e-01 -1.83380634e-04 6.28456062e-01] [ 1.62689865e-02 1.75228260e-05 9.99867651e-01 2.81372432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879254153999995 meters Centerline goodness [0,1] 0.9994168214609702 Centerline is valid? [True, True] Translation: X:37.76, Y:0.62, Z:0.28 [[ 9.99673469e-01 -2.08231535e-02 -1.48105247e-02 3.77593278e+01] [ 2.08229500e-02 9.99783165e-01 -1.67965807e-04 6.18489237e-01] [ 1.48108109e-02 -1.40487856e-04 9.99890304e-01 2.81949430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909254153999996 meters Centerline goodness [0,1] 0.9996125949680391 Centerline is valid? [True, True] Translation: X:37.79, Y:0.61, Z:0.28 [[ 9.99569348e-01 -2.57334522e-02 -1.41034957e-02 3.77898695e+01] [ 2.57337483e-02 9.99668819e-01 -1.60508727e-04 6.13524991e-01] [ 1.41029553e-02 -2.02496205e-04 9.99900528e-01 2.82708272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939254154 meters Centerline goodness [0,1] 0.9994417486151072 Centerline is valid? [True, True] Translation: X:37.82, Y:0.61, Z:0.28 [[ 9.99452987e-01 -3.03730049e-02 -1.30846263e-02 3.78219597e+01] [ 3.03736628e-02 9.99538603e-01 -1.48486360e-04 6.09229195e-01] [ 1.30830991e-02 -2.49022892e-04 9.99914382e-01 2.83771991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.969254154 meters Centerline goodness [0,1] 0.9993565545641729 Centerline is valid? [True, True] Translation: X:37.85, Y:0.60, Z:0.28 [[ 9.99327507e-01 -3.44746236e-02 -1.24913832e-02 3.78529268e+01] [ 3.44755552e-02 9.99405531e-01 -1.40810537e-04 6.04234565e-01] [ 1.24888118e-02 -2.89931527e-04 9.99921970e-01 2.84376881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999254154 meters Centerline goodness [0,1] 0.9994027940705983 Centerline is valid? [True, True] Translation: X:37.88, Y:0.60, Z:0.28 [[ 9.99065775e-01 -4.15069302e-02 -1.20312924e-02 3.78844418e+01] [ 4.15083151e-02 9.99138149e-01 -1.34680313e-04 5.97063010e-01] [ 1.20265134e-02 -3.64844183e-04 9.99927612e-01 2.84891901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02925415399999 meters Centerline goodness [0,1] 0.9992312455956779 Centerline is valid? [True, True] Translation: X:37.92, Y:0.59, Z:0.28 [[ 9.98950342e-01 -4.42372135e-02 -1.18862290e-02 3.79169427e+01] [ 4.42387646e-02 9.99020978e-01 -1.32532010e-04 5.93948929e-01] [ 1.18804550e-02 -3.93439188e-04 9.99929348e-01 2.84892672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059254153999994 meters Centerline goodness [0,1] 0.9990395287287629 Centerline is valid? [True, True] Translation: X:37.95, Y:0.59, Z:0.28 [[ 9.98863785e-01 -4.60529875e-02 -1.22581083e-02 3.79480072e+01] [ 4.60547844e-02 9.98938906e-01 -1.35802620e-04 5.90358862e-01] [ 1.22513555e-02 -4.28896218e-04 9.99924857e-01 2.82948243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089254153999995 meters Centerline goodness [0,1] 0.9992570264074042 Centerline is valid? [True, True] Translation: X:37.98, Y:0.58, Z:0.28 [[ 9.98700870e-01 -4.95192124e-02 -1.20174889e-02 3.79781374e+01] [ 4.95211961e-02 9.98773064e-01 -1.32628835e-04 5.82822417e-01] [ 1.20093119e-02 -4.62663893e-04 9.99927779e-01 2.84711377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119254154 meters Centerline goodness [0,1] 0.9991710417242332 Centerline is valid? [True, True] Translation: X:38.01, Y:0.58, Z:0.28 [[ 9.98648356e-01 -5.04823927e-02 -1.23688839e-02 3.80100612e+01] [ 5.04845706e-02 9.98724832e-01 -1.36284400e-04 5.83420560e-01] [ 1.23599914e-02 -4.88337599e-04 9.99923493e-01 2.84689271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.149254154 meters Centerline goodness [0,1] 0.9990426550366982 Centerline is valid? [True, True] Translation: X:38.04, Y:0.58, Z:0.28 [[ 9.98572376e-01 -5.15255614e-02 -1.40828316e-02 3.80410458e+01] [ 5.15285033e-02 9.98671512e-01 -1.54117994e-04 5.79054913e-01] [ 1.40720638e-02 -5.71769264e-04 9.99900820e-01 2.83179569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179254154 meters Centerline goodness [0,1] 0.9991500934897162 Centerline is valid? [True, True] Translation: X:38.07, Y:0.58, Z:0.28 [[ 9.98551453e-01 -5.15718027e-02 -1.53409552e-02 3.80736218e+01] [ 5.15753145e-02 9.98669094e-01 -1.66884425e-04 5.79205511e-01] [ 1.53291443e-02 -6.24571904e-04 9.99882307e-01 2.82486866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20925415399999 meters Centerline goodness [0,1] 0.9990012961900512 Centerline is valid? [True, True] Translation: X:38.11, Y:0.58, Z:0.28 [[ 9.98533423e-01 -5.15044776e-02 -1.66820573e-02 3.81053170e+01] [ 5.15086404e-02 9.98672533e-01 -1.80316595e-04 5.80018005e-01] [ 1.66691995e-02 -6.79217944e-04 9.99860829e-01 2.82154338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239254153999994 meters Centerline goodness [0,1] 0.9989144778851475 Centerline is valid? [True, True] Translation: X:38.14, Y:0.58, Z:0.28 [[ 9.98516235e-01 -5.12721250e-02 -1.83438474e-02 3.81361255e+01] [ 5.12771393e-02 9.98684443e-01 -1.97205025e-04 5.76864651e-01] [ 1.83298261e-02 -7.43707599e-04 9.99831718e-01 2.80506972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269254153999995 meters Centerline goodness [0,1] 0.998852845580269 Centerline is valid? [True, True] Translation: X:38.17, Y:0.58, Z:0.28 [[ 9.98508010e-01 -5.12847190e-02 -1.87518259e-02 3.81682866e+01] [ 5.12899836e-02 9.98683783e-01 -2.00389249e-04 5.76907122e-01] [ 1.87374214e-02 -7.61690574e-04 9.99824149e-01 2.80434033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299254153999996 meters Centerline goodness [0,1] 0.9989582668962731 Centerline is valid? [True, True] Translation: X:38.20, Y:0.58, Z:0.28 [[ 9.98508961e-01 -5.12764543e-02 -1.87237878e-02 3.82006305e+01] [ 5.12817266e-02 9.98684207e-01 -1.98757702e-04 5.76798309e-01] [ 1.87093427e-02 -7.61726821e-04 9.99824675e-01 2.80923700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.329254154 meters Centerline goodness [0,1] 0.999000871580111 Centerline is valid? [True, True] Translation: X:38.23, Y:0.58, Z:0.28 [[ 9.98508866e-01 -5.12446186e-02 -1.88157585e-02 3.82331505e+01] [ 5.12499625e-02 9.98685837e-01 -1.98389682e-04 5.77951718e-01] [ 1.88011979e-02 -7.66213061e-04 9.99822948e-01 2.81799693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359254154 meters Centerline goodness [0,1] 0.9988518211392485 Centerline is valid? [True, True] Translation: X:38.27, Y:0.58, Z:0.28 [[ 9.98518714e-01 -5.12637259e-02 -1.82320507e-02 3.82651308e+01] [ 5.12687701e-02 9.98684874e-01 -1.90940142e-04 5.79988347e-01] [ 1.82178616e-02 -7.44077511e-04 9.99833764e-01 2.82668039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389254154 meters Centerline goodness [0,1] 0.9990005316321106 Centerline is valid? [True, True] Translation: X:38.30, Y:0.58, Z:0.28 [[ 9.98540301e-01 -5.09871286e-02 -1.78208023e-02 3.82964194e+01] [ 5.09919238e-02 9.98699048e-01 -1.85508918e-04 5.79685063e-01] [ 1.78070769e-02 -7.23478862e-04 9.99841180e-01 2.83254739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419254153999994 meters Centerline goodness [0,1] 0.9990648047779974 Centerline is valid? [True, True] Translation: X:38.33, Y:0.58, Z:0.28 [[ 9.98604341e-01 -5.01412466e-02 -1.65899320e-02 3.83287084e+01] [ 5.01453020e-02 9.98741918e-01 -1.71703880e-04 5.82733159e-01] [ 1.65776699e-02 -6.60442911e-04 9.99862363e-01 2.84690120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449254153999995 meters Centerline goodness [0,1] 0.9990415743738286 Centerline is valid? [True, True] Translation: X:38.36, Y:0.58, Z:0.29 [[ 9.98652403e-01 -4.92923417e-02 -1.62371028e-02 3.83612166e+01] [ 4.92961331e-02 9.98784193e-01 -1.66901754e-04 5.83988035e-01] [ 1.62255885e-02 -6.33749540e-04 9.99868156e-01 2.85381335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479254153999996 meters Centerline goodness [0,1] 0.9992538427100432 Centerline is valid? [True, True] Translation: X:38.39, Y:0.59, Z:0.29 [[ 9.98724119e-01 -4.82126932e-02 -1.50223051e-02 3.83921556e+01] [ 4.82158302e-02 9.98836929e-01 -1.53494474e-04 5.85731082e-01] [ 1.50122335e-02 -5.71014281e-04 9.99887147e-01 2.86621812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509254154 meters Centerline goodness [0,1] 0.9990842685861533 Centerline is valid? [True, True] Translation: X:38.42, Y:0.59, Z:0.29 [[ 9.98723698e-01 -4.83127861e-02 -1.47258518e-02 3.84243016e+01] [ 4.83158241e-02 9.98832097e-01 -1.49599893e-04 5.87223070e-01] [ 1.47158810e-02 -5.62082706e-04 9.99891558e-01 2.87413053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539254154 meters Centerline goodness [0,1] 0.9989971193854689 Centerline is valid? [True, True] Translation: X:38.46, Y:0.59, Z:0.29 [[ 9.98713926e-01 -4.86248992e-02 -1.43566177e-02 3.84568090e+01] [ 4.86278332e-02 9.98816957e-01 -1.44856099e-04 5.88070538e-01] [ 1.43466768e-02 -5.53461405e-04 9.99896928e-01 2.87999818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569254154 meters Centerline goodness [0,1] 0.9989972263708129 Centerline is valid? [True, True] Translation: X:38.49, Y:0.59, Z:0.29 [[ 9.98684624e-01 -4.92225052e-02 -1.43585254e-02 3.84885317e+01] [ 4.92255163e-02 9.98787679e-01 -1.43850157e-04 5.91393497e-01] [ 1.43481989e-02 -5.63144886e-04 9.99896901e-01 2.88520209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59925415399999 meters Centerline goodness [0,1] 0.9992105150855631 Centerline is valid? [True, True] Translation: X:38.52, Y:0.59, Z:0.29 [[ 9.98552619e-01 -5.17440277e-02 -1.46704390e-02 3.85191179e+01] [ 5.17474558e-02 9.98660192e-01 -1.46079532e-04 5.89359098e-01] [ 1.46583421e-02 -6.13289793e-04 9.99892373e-01 2.87951496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629254153999995 meters Centerline goodness [0,1] 0.9992315409738084 Centerline is valid? [True, True] Translation: X:38.55, Y:0.59, Z:0.29 [[ 9.98485510e-01 -5.28793563e-02 -1.51809383e-02 3.85511580e+01] [ 5.28831699e-02 9.98600695e-01 -1.50387112e-04 5.90528113e-01] [ 1.51676479e-02 -6.52656785e-04 9.99884752e-01 2.88187372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659254153999996 meters Centerline goodness [0,1] 0.99921036344623 Centerline is valid? [True, True] Translation: X:38.58, Y:0.59, Z:0.29 [[ 9.98370615e-01 -5.46981455e-02 -1.62551146e-02 3.85834966e+01] [ 5.47027786e-02 9.98502669e-01 -1.59800963e-04 5.91640737e-01] [ 1.62395161e-02 -7.29659349e-04 9.99867864e-01 2.87996396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689254154 meters Centerline goodness [0,1] 0.9991453174077477 Centerline is valid? [True, True] Translation: X:38.62, Y:0.59, Z:0.29 [[ 9.98354289e-01 -5.49491724e-02 -1.64104435e-02 3.86155106e+01] [ 5.49539480e-02 9.98488877e-01 -1.60131411e-04 5.93039596e-01] [ 1.63944444e-02 -7.41950778e-04 9.99865327e-01 2.88053618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719254154 meters Centerline goodness [0,1] 0.9991864871229474 Centerline is valid? [True, True] Translation: X:38.65, Y:0.60, Z:0.29 [[ 9.98361400e-01 -5.47308954e-02 -1.67046069e-02 3.86487160e+01] [ 5.47358385e-02 9.98500857e-01 -1.61491026e-04 5.96563069e-01] [ 1.66884028e-02 -7.53114257e-04 9.99860455e-01 2.88720585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.749254154 meters Centerline goodness [0,1] 0.9991216795201371 Centerline is valid? [True, True] Translation: X:38.68, Y:0.60, Z:0.29 [[ 9.98437895e-01 -5.33499186e-02 -1.65998710e-02 3.86799869e+01] [ 5.33546333e-02 9.98575614e-01 -1.59039705e-04 5.97573476e-01] [ 1.65847112e-02 -7.26888763e-04 9.99862200e-01 2.88848095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77925415399999 meters Centerline goodness [0,1] 0.9992276004119465 Centerline is valid? [True, True] Translation: X:38.71, Y:0.60, Z:0.29 [[ 9.98525961e-01 -5.18145587e-02 -1.61603239e-02 3.87124210e+01] [ 5.18188423e-02 9.98656489e-01 -1.53829524e-04 6.01222669e-01] [ 1.61465829e-02 -6.83806502e-04 9.99869402e-01 2.89621782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809254153999994 meters Centerline goodness [0,1] 0.999357917941913 Centerline is valid? [True, True] Translation: X:38.74, Y:0.60, Z:0.29 [[ 9.98638742e-01 -4.96387902e-02 -1.60203935e-02 3.87429050e+01] [ 4.96427332e-02 9.98767028e-01 -1.51700764e-04 6.02738954e-01] [ 1.60081711e-02 -6.43801861e-04 9.99871654e-01 2.90030569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839254153999995 meters Centerline goodness [0,1] 0.9993765988090888 Centerline is valid? [True, True] Translation: X:38.77, Y:0.61, Z:0.29 [[ 9.98908475e-01 -4.40770036e-02 -1.54621032e-02 3.87734109e+01] [ 4.40800152e-02 9.99027993e-01 -1.46143183e-04 6.09877503e-01] [ 1.54535155e-02 -5.35586082e-04 9.99880444e-01 2.90978376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869254154 meters Centerline goodness [0,1] 0.9994613345974015 Centerline is valid? [True, True] Translation: X:38.81, Y:0.62, Z:0.29 [[ 9.99058254e-01 -4.06773230e-02 -1.50983874e-02 3.88051341e+01] [ 4.06798140e-02 9.99172224e-01 -1.42228272e-04 6.15470761e-01] [ 1.50916748e-02 -4.72105262e-04 9.99886003e-01 2.91467839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899254154 meters Centerline goodness [0,1] 0.9994613345974015 Centerline is valid? [True, True] Translation: X:38.84, Y:0.62, Z:0.29 [[ 9.99061229e-01 -4.06041848e-02 -1.50983962e-02 3.88368438e+01] [ 4.06066814e-02 9.99175199e-01 -1.41294364e-04 6.15708195e-01] [ 1.50916801e-02 -4.71934042e-04 9.99886003e-01 2.91764750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.929254154 meters Centerline goodness [0,1] 0.9994164937759336 Centerline is valid? [True, True] Translation: X:38.87, Y:0.62, Z:0.29 [[ 9.99319246e-01 -3.38742016e-02 -1.46144731e-02 3.88661718e+01] [ 3.38758299e-02 9.99426040e-01 -1.36196883e-04 6.22708789e-01] [ 1.46106985e-02 -3.58973239e-04 9.99893194e-01 2.92338317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95925415399999 meters Centerline goodness [0,1] 0.9995881294574147 Centerline is valid? [True, True] Translation: X:38.90, Y:0.63, Z:0.29 [[ 9.99432741e-01 -3.03695545e-02 -1.45563036e-02 3.88963896e+01] [ 3.03707972e-02 9.99538692e-01 -1.35731142e-04 6.26106278e-01] [ 1.45537107e-02 -3.06432395e-04 9.99894042e-01 2.92822712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989254153999994 meters Centerline goodness [0,1] 0.9993078387264233 Centerline is valid? [True, True] Translation: X:38.93, Y:0.63, Z:0.29 [[ 9.99531893e-01 -2.70006109e-02 -1.43861360e-02 3.89283003e+01] [ 2.70014821e-02 9.99635385e-01 -1.33710413e-04 6.29933754e-01] [ 1.43845008e-02 -2.54799170e-04 9.99896505e-01 2.93247958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019254153999995 meters Centerline goodness [0,1] 0.9993906552632151 Centerline is valid? [True, True] Translation: X:38.96, Y:0.64, Z:0.29 [[ 9.99670048e-01 -2.12632441e-02 -1.44107487e-02 3.89597406e+01] [ 2.12635320e-02 9.99773897e-01 -1.33255830e-04 6.35861132e-01] [ 1.44103238e-02 -1.73211553e-04 9.99896151e-01 2.93636998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049254153999996 meters Centerline goodness [0,1] 0.9993893928820656 Centerline is valid? [True, True] Translation: X:38.99, Y:0.64, Z:0.29 [[ 9.99740222e-01 -1.73993052e-02 -1.47224909e-02 3.89911342e+01] [ 1.73991946e-02 9.99848613e-01 -1.35606644e-04 6.40341919e-01] [ 1.47226215e-02 -1.20588068e-04 9.99891609e-01 2.93035190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079254154 meters Centerline goodness [0,1] 0.99962950047947 Centerline is valid? [True, True] Translation: X:39.02, Y:0.64, Z:0.29 [[ 9.99754402e-01 -1.62581473e-02 -1.50601517e-02 3.90203619e+01] [ 1.62579042e-02 9.99867822e-01 -1.38578245e-04 6.41958102e-01] [ 1.50604141e-02 -1.06302293e-04 9.99886580e-01 2.92582277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.109254154 meters Centerline goodness [0,1] 0.9994548150732728 Centerline is valid? [True, True] Translation: X:39.05, Y:0.64, Z:0.29 [[ 9.99763527e-01 -1.54122141e-02 -1.53412550e-02 3.90496405e+01] [ 1.54118539e-02 9.99881220e-01 -1.41709682e-04 6.43308357e-01] [ 1.53416168e-02 -9.47610092e-05 9.99882306e-01 2.91932437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139254154 meters Centerline goodness [0,1] 0.9995210206614269 Centerline is valid? [True, True] Translation: X:39.08, Y:0.64, Z:0.29 [[ 9.99759791e-01 -1.53946819e-02 -1.56001388e-02 3.90786827e+01] [ 1.53942970e-02 9.99881490e-01 -1.44761937e-04 6.44066908e-01] [ 1.56005186e-02 -9.54260056e-05 9.99878300e-01 2.92048590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169254153999994 meters Centerline goodness [0,1] 0.9994762569832403 Centerline is valid? [True, True] Translation: X:39.11, Y:0.65, Z:0.29 [[ 9.99758836e-01 -1.58313999e-02 -1.52196351e-02 3.91074344e+01] [ 1.58310548e-02 9.99874671e-01 -1.43164277e-04 6.45124492e-01] [ 1.52199941e-02 -9.78131254e-05 9.99884164e-01 2.92662044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199254153999995 meters Centerline goodness [0,1] 0.9995416548442718 Centerline is valid? [True, True] Translation: X:39.14, Y:0.65, Z:0.29 [[ 9.99749182e-01 -1.66820691e-02 -1.49425987e-02 3.91373144e+01] [ 1.66817941e-02 9.99860839e-01 -1.43050554e-04 6.46165338e-01] [ 1.49429056e-02 -1.06254680e-04 9.99888343e-01 2.93520839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229254153999996 meters Centerline goodness [0,1] 0.9994328221461137 Centerline is valid? [True, True] Translation: X:39.17, Y:0.65, Z:0.29 [[ 9.99709219e-01 -1.91120102e-02 -1.47040407e-02 3.91660343e+01] [ 1.91119964e-02 9.99817339e-01 -1.41467558e-04 6.45228090e-01] [ 1.47040586e-02 -1.39597152e-04 9.99891880e-01 2.93795951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259254154 meters Centerline goodness [0,1] 0.9995425733516304 Centerline is valid? [True, True] Translation: X:39.20, Y:0.64, Z:0.29 [[ 9.99679423e-01 -2.07095064e-02 -1.45659493e-02 3.91968810e+01] [ 2.07096533e-02 9.99785522e-01 -1.40767437e-04 6.44944274e-01] [ 1.45657404e-02 -1.60933449e-04 9.99893901e-01 2.94035112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.289254154 meters Centerline goodness [0,1] 0.9994543390955125 Centerline is valid? [True, True] Translation: X:39.23, Y:0.65, Z:0.29 [[ 9.99637172e-01 -2.26775021e-02 -1.45346541e-02 3.92278272e+01] [ 2.26778590e-02 9.99742814e-01 -1.40276495e-04 6.45002012e-01] [ 1.45340971e-02 -1.89389237e-04 9.99894356e-01 2.94399231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319254154 meters Centerline goodness [0,1] 0.9994545771882363 Centerline is valid? [True, True] Translation: X:39.26, Y:0.64, Z:0.29 [[ 9.99524250e-01 -2.70921013e-02 -1.47408204e-02 3.92594612e+01] [ 2.70929578e-02 9.99632908e-01 -1.41625838e-04 6.42648749e-01] [ 1.47392461e-02 -2.57813966e-04 9.99891338e-01 2.94096821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34925415399999 meters Centerline goodness [0,1] 0.9994123664221821 Centerline is valid? [True, True] Translation: X:39.29, Y:0.64, Z:0.29 [[ 9.99458779e-01 -2.94013043e-02 -1.47551021e-02 3.92907209e+01] [ 2.94024259e-02 9.99567645e-01 -1.40956817e-04 6.41030680e-01] [ 1.47528670e-02 -2.92955269e-04 9.99891128e-01 2.94022925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379254153999995 meters Centerline goodness [0,1] 0.9994561552350497 Centerline is valid? [True, True] Translation: X:39.32, Y:0.64, Z:0.29 [[ 9.99323561e-01 -3.39978048e-02 -1.40203470e-02 3.93214494e+01] [ 3.39992844e-02 9.99421848e-01 -1.32873311e-04 6.37267501e-01] [ 1.40167585e-02 -3.43898336e-04 9.99901701e-01 2.94296974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409254153999996 meters Centerline goodness [0,1] 0.9993901642200635 Centerline is valid? [True, True] Translation: X:39.35, Y:0.64, Z:0.30 [[ 9.99246399e-01 -3.62589560e-02 -1.38535857e-02 3.93532754e+01] [ 3.62606403e-02 9.99342358e-01 -1.29673245e-04 6.37422064e-01] [ 1.38491768e-02 -3.72764365e-04 9.99904026e-01 2.95065389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439254154 meters Centerline goodness [0,1] 0.9994121873163085 Centerline is valid? [True, True] Translation: X:39.38, Y:0.64, Z:0.30 [[ 9.99178185e-01 -3.81478571e-02 -1.37001716e-02 3.93849763e+01] [ 3.81496981e-02 9.99272027e-01 -1.27033511e-04 6.36369357e-01] [ 1.36950443e-02 -3.95728297e-04 9.99906140e-01 2.95100990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.469254154 meters Centerline goodness [0,1] 0.9994998804061841 Centerline is valid? [True, True] Translation: X:39.42, Y:0.64, Z:0.30 [[ 9.99115806e-01 -3.97505875e-02 -1.36929808e-02 3.94172850e+01] [ 3.97525884e-02 9.99209545e-01 -1.26134136e-04 6.35043039e-01] [ 1.36871710e-02 -4.18308820e-04 9.99906239e-01 2.95065693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499254154 meters Centerline goodness [0,1] 0.9993912117061292 Centerline is valid? [True, True] Translation: X:39.45, Y:0.63, Z:0.30 [[ 9.98989968e-01 -4.28368449e-02 -1.35664161e-02 3.94489641e+01] [ 4.28391088e-02 9.99081976e-01 -1.23818416e-04 6.32661489e-01] [ 1.35592658e-02 -4.57479818e-04 9.99907964e-01 2.95009951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52925415399999 meters Centerline goodness [0,1] 0.9994128137097125 Centerline is valid? [True, True] Translation: X:39.48, Y:0.63, Z:0.30 [[ 9.98932433e-01 -4.42020296e-02 -1.34229318e-02 3.94798914e+01] [ 4.42043859e-02 9.99022501e-01 -1.21245825e-04 6.31000824e-01] [ 1.34151702e-02 -4.72236070e-04 9.99909901e-01 2.95365430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559254153999994 meters Centerline goodness [0,1] 0.999761263998611 Centerline is valid? [True, True] Translation: X:39.51, Y:0.63, Z:0.30 [[ 9.98881527e-01 -4.53562651e-02 -1.33605313e-02 3.95115396e+01] [ 4.53587122e-02 9.98970757e-01 -1.19961172e-04 6.31261423e-01] [ 1.33522210e-02 -4.86189496e-04 9.99910737e-01 2.96045656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589254153999995 meters Centerline goodness [0,1] 0.9996310843948699 Centerline is valid? [True, True] Translation: X:39.54, Y:0.63, Z:0.30 [[ 9.98759896e-01 -4.79597943e-02 -1.33614625e-02 3.95432598e+01] [ 4.79624841e-02 9.98849131e-01 -1.19244225e-04 6.29803283e-01] [ 1.33518041e-02 -5.21752581e-04 9.99910725e-01 2.96462690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619254154 meters Centerline goodness [0,1] 0.9993273883139144 Centerline is valid? [True, True] Translation: X:39.57, Y:0.63, Z:0.30 [[ 9.98713592e-01 -4.89579261e-02 -1.32015986e-02 3.95747786e+01] [ 4.89606522e-02 9.98800701e-01 -1.16814257e-04 6.28388763e-01] [ 1.31914849e-02 -5.29694890e-04 9.99912848e-01 2.96230637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.649254154 meters Centerline goodness [0,1] 0.9998480243161094 Centerline is valid? [True, True] Translation: X:39.61, Y:0.63, Z:0.30 [[ 9.98610971e-01 -5.08888063e-02 -1.36549535e-02 3.96060966e+01] [ 5.08919273e-02 9.98704159e-01 -1.19049584e-04 6.25532584e-01] [ 1.36433172e-02 -5.76042681e-04 9.99906760e-01 2.96369887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679254154 meters Centerline goodness [0,1] 0.9995216039315459 Centerline is valid? [True, True] Translation: X:39.64, Y:0.63, Z:0.30 [[ 9.98554799e-01 -5.18798664e-02 -1.40283065e-02 3.96377894e+01] [ 5.18832773e-02 9.98653148e-01 -1.20921651e-04 6.28575785e-01] [ 1.40156858e-02 -6.07087620e-04 9.99901591e-01 2.96238623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70925415399999 meters Centerline goodness [0,1] 0.9995443894819057 Centerline is valid? [True, True] Translation: X:39.67, Y:0.63, Z:0.30 [[ 9.98478223e-01 -5.29737644e-02 -1.53303359e-02 3.96689823e+01] [ 5.29779801e-02 9.98595672e-01 -1.31271534e-04 6.25524316e-01] [ 1.53157611e-02 -6.81098464e-04 9.99882475e-01 2.95696702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739254153999994 meters Centerline goodness [0,1] 0.9995427426729957 Centerline is valid? [True, True] Translation: X:39.70, Y:0.63, Z:0.30 [[ 9.98366637e-01 -5.47038842e-02 -1.64785479e-02 3.97008795e+01] [ 5.47090076e-02 9.98502331e-01 -1.40057273e-04 6.28198052e-01] [ 1.64615302e-02 -7.61696497e-04 9.99864210e-01 2.95081586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769254153999995 meters Centerline goodness [0,1] 0.9995643555729813 Centerline is valid? [True, True] Translation: X:39.73, Y:0.63, Z:0.30 [[ 9.98312192e-01 -5.54823848e-02 -1.71601915e-02 3.97333108e+01] [ 5.54880773e-02 9.98459339e-01 -1.44585137e-04 6.30721997e-01] [ 1.71417754e-02 -8.07844927e-04 9.99852743e-01 2.95536386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799254153999996 meters Centerline goodness [0,1] 0.9994118031501209 Centerline is valid? [True, True] Translation: X:39.76, Y:0.62, Z:0.29 [[ 9.98269384e-01 -5.61770253e-02 -1.73890380e-02 3.97648199e+01] [ 5.61829956e-02 9.98420477e-01 -1.45379013e-04 6.24153030e-01] [ 1.73697386e-02 -8.31840827e-04 9.99848789e-01 2.94286318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.829254154 meters Centerline goodness [0,1] 0.9994774429541892 Centerline is valid? [True, True] Translation: X:39.80, Y:0.62, Z:0.29 [[ 9.98227357e-01 -5.68455726e-02 -1.76273673e-02 3.97959548e+01] [ 5.68518282e-02 9.98382616e-01 -1.46433727e-04 6.24229073e-01] [ 1.76071812e-02 -8.55973905e-04 9.99844615e-01 2.94353852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859254154 meters Centerline goodness [0,1] 0.9996519393504318 Centerline is valid? [True, True] Translation: X:39.83, Y:0.62, Z:0.29 [[ 9.98235396e-01 -5.67170928e-02 -1.75859559e-02 3.98279978e+01] [ 5.67233172e-02 9.98389926e-01 -1.45065271e-04 6.24787994e-01] [ 1.75658689e-02 -8.52724469e-04 9.99845345e-01 2.94845685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889254154 meters Centerline goodness [0,1] 0.9995430411698146 Centerline is valid? [True, True] Translation: X:39.86, Y:0.63, Z:0.30 [[ 9.98300369e-01 -5.55984426e-02 -1.74695831e-02 3.98603326e+01] [ 5.56044350e-02 9.98452866e-01 -1.42903039e-04 6.33814401e-01] [ 1.74505005e-02 -8.28726143e-04 9.99847385e-01 2.96524221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919254153999994 meters Centerline goodness [0,1] 0.999584154081856 Centerline is valid? [True, True] Translation: X:39.89, Y:0.64, Z:0.30 [[ 9.98371462e-01 -5.44897159e-02 -1.68906458e-02 3.98923395e+01] [ 5.44951796e-02 9.98514024e-01 -1.36962191e-04 6.39103155e-01] [ 1.68730097e-02 -7.83719632e-04 9.99857333e-01 2.97718010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949254153999995 meters Centerline goodness [0,1] 0.9997590519790595 Centerline is valid? [True, True] Translation: X:39.92, Y:0.64, Z:0.30 [[ 9.98443534e-01 -5.31784647e-02 -1.68095032e-02 3.99237812e+01] [ 5.31837091e-02 9.98584736e-01 -1.35202202e-04 6.37371838e-01] [ 1.67929032e-02 -7.58999965e-04 9.99858701e-01 2.97862071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979254153999996 meters Centerline goodness [0,1] 0.9995618551054833 Centerline is valid? [True, True] Translation: X:39.95, Y:0.65, Z:0.30 [[ 9.98672930e-01 -4.91046999e-02 -1.55276416e-02 3.99543573e+01] [ 4.91086926e-02 9.98793433e-01 -1.24283899e-04 6.45636765e-01] [ 1.55150094e-02 -6.38423213e-04 9.99879431e-01 3.00196271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009254154 meters Centerline goodness [0,1] 0.9996044390726294 Centerline is valid? [True, True] Translation: X:39.99, Y:0.65, Z:0.30 [[ 9.98803458e-01 -4.66626194e-02 -1.46373804e-02 3.99850202e+01] [ 4.66659110e-02 9.98910546e-01 -1.16777514e-04 6.47934854e-01] [ 1.46268828e-02 -5.66428906e-04 9.99892861e-01 3.01272462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039254154 meters Centerline goodness [0,1] 0.9996698144357129 Centerline is valid? [True, True] Translation: X:40.02, Y:0.65, Z:0.30 [[ 9.98939673e-01 -4.38649594e-02 -1.39783830e-02 4.00164623e+01] [ 4.38676947e-02 9.99037343e-01 -1.11023965e-04 6.50603044e-01] [ 1.39697966e-02 -5.02293192e-04 9.99902291e-01 3.02868875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069254154 meters Centerline goodness [0,1] 0.9995816728681829 Centerline is valid? [True, True] Translation: X:40.05, Y:0.66, Z:0.30 [[ 9.99164138e-01 -3.86775893e-02 -1.32314109e-02 4.00470702e+01] [ 3.86795908e-02 9.99251659e-01 -1.04693553e-04 6.57090838e-01] [ 1.32255586e-02 -4.07179516e-04 9.99912456e-01 3.04554812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09925415399999 meters Centerline goodness [0,1] 0.9996910719802286 Centerline is valid? [True, True] Translation: X:40.08, Y:0.66, Z:0.30 [[ 9.99244116e-01 -3.64613446e-02 -1.34821304e-02 4.00794262e+01] [ 3.64632277e-02 9.99334990e-01 -1.06191120e-04 6.60314214e-01] [ 1.34770365e-02 -3.85491139e-04 9.99909106e-01 3.04769969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129254153999995 meters Centerline goodness [0,1] 0.9998011357359082 Centerline is valid? [True, True] Translation: X:40.11, Y:0.66, Z:0.30 [[ 9.99392260e-01 -3.14164963e-02 -1.51034399e-02 4.01100618e+01] [ 3.14182987e-02 9.99506316e-01 -1.17985583e-04 6.64718656e-01] [ 1.50996902e-02 -3.56610506e-04 9.99885930e-01 3.03557443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159254153999996 meters Centerline goodness [0,1] 0.99975683621814 Centerline is valid? [True, True] Translation: X:40.14, Y:0.67, Z:0.30 [[ 9.99452866e-01 -2.91699785e-02 -1.55910468e-02 4.01410854e+01] [ 2.91716366e-02 9.99574410e-01 -1.21110121e-04 6.66567975e-01] [ 1.55879442e-02 -3.33772493e-04 9.99878445e-01 3.02780702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189254154 meters Centerline goodness [0,1] 0.9996018491893207 Centerline is valid? [True, True] Translation: X:40.17, Y:0.67, Z:0.30 [[ 9.99513881e-01 -2.66425056e-02 -1.61919063e-02 4.01731121e+01] [ 2.66439789e-02 9.99644978e-01 -1.24764914e-04 6.69501220e-01] [ 1.61894818e-02 -3.06712545e-04 9.99868895e-01 3.02550033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219254154 meters Centerline goodness [0,1] 0.9998225770680861 Centerline is valid? [True, True] Translation: X:40.20, Y:0.67, Z:0.30 [[ 9.99562276e-01 -2.42072742e-02 -1.70077712e-02 4.02042159e+01] [ 2.42085664e-02 9.99706921e-01 -1.29932214e-04 6.71145670e-01] [ 1.70059318e-02 -2.81858418e-04 9.99855349e-01 3.02469137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.249254154 meters Centerline goodness [0,1] 0.9997560651084402 Centerline is valid? [True, True] Translation: X:40.24, Y:0.68, Z:0.30 [[ 9.99683915e-01 -1.86381779e-02 -1.68726987e-02 4.02352926e+01] [ 1.86386672e-02 9.99826277e-01 -1.28269675e-04 6.76183714e-01] [ 1.68721582e-02 -1.86255483e-04 9.99857638e-01 3.02793035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27925415399999 meters Centerline goodness [0,1] 0.9998442714126807 Centerline is valid? [True, True] Translation: X:40.26, Y:0.68, Z:0.30 [[ 9.99739958e-01 -1.57584957e-02 -1.64829026e-02 4.02649796e+01] [ 1.57585696e-02 9.99875818e-01 -1.25404029e-04 6.79344552e-01] [ 1.64828319e-02 -1.34375549e-04 9.99864140e-01 3.04074745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309254153999994 meters Centerline goodness [0,1] 0.9996884943150213 Centerline is valid? [True, True] Translation: X:40.29, Y:0.68, Z:0.30 [[ 9.99776349e-01 -1.32057695e-02 -1.65184828e-02 4.02934440e+01] [ 1.32054818e-02 9.99912796e-01 -1.26493554e-04 6.81340791e-01] [ 1.65187128e-02 -9.16692611e-05 9.99863553e-01 3.04396841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339254153999995 meters Centerline goodness [0,1] 0.9997328822010506 Centerline is valid? [True, True] Translation: X:40.32, Y:0.68, Z:0.31 [[ 9.99839484e-01 -8.92312509e-03 -1.55365699e-02 4.03220510e+01] [ 8.92232008e-03 9.99960188e-01 -1.21129806e-04 6.84217026e-01] [ 1.55370322e-02 -1.75118872e-05 9.99879293e-01 3.05409715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369254154 meters Centerline goodness [0,1] 0.9997337356882933 Centerline is valid? [True, True] Translation: X:40.35, Y:0.68, Z:0.31 [[ 9.99852652e-01 -7.60309453e-03 -1.53904808e-02 4.03494475e+01] [ 7.60208501e-03 9.99971096e-01 -1.24096986e-04 6.84901622e-01] [ 1.53909795e-02 7.07895686e-06 9.99881552e-01 3.05751040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399254154 meters Centerline goodness [0,1] 0.9997118091733357 Centerline is valid? [True, True] Translation: X:40.38, Y:0.69, Z:0.31 [[ 9.99877215e-01 -5.54681463e-03 -1.46556558e-02 4.03766098e+01] [ 5.54563060e-03 9.99984616e-01 -1.21428780e-04 6.85436472e-01] [ 1.46561039e-02 4.01390166e-05 9.99892593e-01 3.05896414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.429254154 meters Centerline goodness [0,1] 0.9997556207233627 Centerline is valid? [True, True] Translation: X:40.40, Y:0.69, Z:0.31 [[ 9.99886873e-01 -5.28922602e-03 -1.40806831e-02 4.04044097e+01] [ 5.28807261e-03 9.99986011e-01 -1.19145123e-04 6.85595711e-01] [ 1.40811163e-02 4.46719701e-05 9.99900855e-01 3.06297808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45925415399999 meters Centerline goodness [0,1] 0.9995789846883378 Centerline is valid? [True, True] Translation: X:40.43, Y:0.68, Z:0.31 [[ 9.99884593e-01 -5.66204994e-03 -1.40975678e-02 4.04314051e+01] [ 5.66088473e-03 9.99983970e-01 -1.22556242e-04 6.84988620e-01] [ 1.40980358e-02 4.27373915e-05 9.99900617e-01 3.06443767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489254153999994 meters Centerline goodness [0,1] 0.9996236523433176 Centerline is valid? [True, True] Translation: X:40.46, Y:0.68, Z:0.31 [[ 9.99857098e-01 -7.85357140e-03 -1.49701300e-02 4.04592619e+01] [ 7.85247583e-03 9.99969160e-01 -1.31962412e-04 6.81808486e-01] [ 1.49707047e-02 1.43909704e-05 9.99887933e-01 3.06030219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519254153999995 meters Centerline goodness [0,1] 0.9997565563793295 Centerline is valid? [True, True] Translation: X:40.49, Y:0.68, Z:0.31 [[ 9.99835928e-01 -9.44613585e-03 -1.54560211e-02 4.04873861e+01] [ 9.44511627e-03 9.99955384e-01 -1.38963383e-04 6.79844208e-01] [ 1.54566442e-02 -7.04333394e-06 9.99880539e-01 3.06050312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549254153999996 meters Centerline goodness [0,1] 0.999779288425885 Centerline is valid? [True, True] Translation: X:40.52, Y:0.68, Z:0.31 [[ 9.99811642e-01 -1.18025496e-02 -1.54071288e-02 4.05157296e+01] [ 1.18017502e-02 9.99930347e-01 -1.42809399e-04 6.77259102e-01] [ 1.54077411e-02 -3.90485853e-05 9.99881293e-01 3.05541329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579254154 meters Centerline goodness [0,1] 0.9996257073031111 Centerline is valid? [True, True] Translation: X:40.54, Y:0.67, Z:0.31 [[ 9.99735171e-01 -1.67436825e-02 -1.57872665e-02 4.05447955e+01] [ 1.67434099e-02 9.99859808e-01 -1.49453567e-04 6.71389595e-01] [ 1.57875556e-02 -1.14918687e-04 9.99875362e-01 3.05521370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.609254154 meters Centerline goodness [0,1] 0.999868282402529 Centerline is valid? [True, True] Translation: X:40.57, Y:0.67, Z:0.31 [[ 9.99616676e-01 -2.24637617e-02 -1.61827164e-02 4.05744966e+01] [ 2.24642097e-02 9.99747636e-01 -1.54121646e-04 6.65043759e-01] [ 1.61820946e-02 -2.09469366e-04 9.99869039e-01 3.05653018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63925415399999 meters Centerline goodness [0,1] 0.9997369286418941 Centerline is valid? [True, True] Translation: X:40.61, Y:0.66, Z:0.31 [[ 9.99546037e-01 -2.54788898e-02 -1.60793396e-02 4.06051610e+01] [ 2.54797167e-02 9.99675328e-01 -1.53466346e-04 6.62147240e-01] [ 1.60780293e-02 -2.56300340e-04 9.99870707e-01 3.06005600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669254153999994 meters Centerline goodness [0,1] 0.9995189258927205 Centerline is valid? [True, True] Translation: X:40.64, Y:0.66, Z:0.31 [[ 9.99455935e-01 -2.89118387e-02 -1.58725790e-02 4.06367222e+01] [ 2.89130810e-02 9.99581918e-01 -1.51255107e-04 6.59880507e-01] [ 1.58703160e-02 -3.07752346e-04 9.99874011e-01 3.06737410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699254153999995 meters Centerline goodness [0,1] 0.9995850441163624 Centerline is valid? [True, True] Translation: X:40.67, Y:0.66, Z:0.31 [[ 9.99387855e-01 -3.16729408e-02 -1.48573565e-02 4.06674341e+01] [ 3.16743492e-02 9.99498232e-01 -1.40562269e-04 6.55855283e-01] [ 1.48543535e-02 -3.30120872e-04 9.99889614e-01 3.07471710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729254153999996 meters Centerline goodness [0,1] 0.9995009980039921 Centerline is valid? [True, True] Translation: X:40.70, Y:0.65, Z:0.31 [[ 9.99199216e-01 -3.75721415e-02 -1.37572336e-02 4.06973891e+01] [ 3.75739229e-02 9.99293843e-01 -1.29051617e-04 6.48462207e-01] [ 1.37523676e-02 -3.87964960e-04 9.99905356e-01 3.08096055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759254154 meters Centerline goodness [0,1] 0.9996089251960806 Centerline is valid? [True, True] Translation: X:40.73, Y:0.65, Z:0.31 [[ 9.99094221e-01 -4.04273476e-02 -1.32803359e-02 4.07291758e+01] [ 4.04292624e-02 9.99182395e-01 -1.24365171e-04 6.46870821e-01] [ 1.32745056e-02 -4.12661662e-04 9.99911805e-01 3.09148433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.789254154 meters Centerline goodness [0,1] 0.9996089251960806 Centerline is valid? [True, True] Translation: X:40.76, Y:0.65, Z:0.31 [[ 9.99098628e-01 -4.03182782e-02 -1.32803446e-02 4.07617357e+01] [ 4.03201958e-02 9.99186803e-01 -1.23428502e-04 6.47083159e-01] [ 1.32745215e-02 -4.12148849e-04 9.99911805e-01 3.09453300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819254154 meters Centerline goodness [0,1] 0.9994585580317502 Centerline is valid? [True, True] Translation: X:40.79, Y:0.64, Z:0.31 [[ 9.98993138e-01 -4.29843996e-02 -1.28472201e-02 4.07939137e+01] [ 4.29864303e-02 9.99075649e-01 -1.18160819e-04 6.44775749e-01] [ 1.28404238e-02 -4.34214283e-04 9.99917464e-01 3.10281642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84925415399999 meters Centerline goodness [0,1] 0.9994809464077166 Centerline is valid? [True, True] Translation: X:40.83, Y:0.64, Z:0.31 [[ 9.98768314e-01 -4.81567722e-02 -1.19490832e-02 4.08253592e+01] [ 4.81589071e-02 9.98839681e-01 -1.09173647e-04 6.39874476e-01] [ 1.19404759e-02 -4.66415610e-04 9.99928601e-01 3.11040376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879254153999995 meters Centerline goodness [0,1] 0.9994166198522103 Centerline is valid? [True, True] Translation: X:40.86, Y:0.64, Z:0.31 [[ 9.98640882e-01 -5.07225513e-02 -1.19837851e-02 4.08560941e+01] [ 5.07248910e-02 9.98712658e-01 -1.08820089e-04 6.36925143e-01] [ 1.19738775e-02 -4.99204002e-04 9.99928186e-01 3.11410468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909254153999996 meters Centerline goodness [0,1] 0.9993959919753219 Centerline is valid? [True, True] Translation: X:40.89, Y:0.63, Z:0.31 [[ 9.98404301e-01 -5.49818960e-02 -1.28780051e-02 4.08867231e+01] [ 5.49849688e-02 9.98487176e-01 -1.15606316e-04 6.31689789e-01] [ 1.28648792e-02 -5.92674864e-04 9.99917068e-01 3.10799498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939254154 meters Centerline goodness [0,1] 0.9993095710710279 Centerline is valid? [True, True] Translation: X:40.92, Y:0.63, Z:0.31 [[ 9.98289271e-01 -5.68620979e-02 -1.36100575e-02 4.09188000e+01] [ 5.68657108e-02 9.98381829e-01 -1.21696851e-04 6.28643621e-01] [ 1.35949541e-02 -6.52456936e-04 9.99907371e-01 3.10442830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.969254154 meters Centerline goodness [0,1] 0.9992896962913537 Centerline is valid? [True, True] Translation: X:40.95, Y:0.63, Z:0.31 [[ 9.98189192e-01 -5.83769335e-02 -1.45075747e-02 4.09506543e+01] [ 5.83812128e-02 9.98294354e-01 -1.28725854e-04 6.28376641e-01] [ 1.44903446e-02 -7.18477050e-04 9.99894751e-01 3.10367520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999254154 meters Centerline goodness [0,1] 0.9992680301399354 Centerline is valid? [True, True] Translation: X:40.98, Y:0.62, Z:0.31 [[ 9.98055284e-01 -6.03563560e-02 -1.55807744e-02 4.09818392e+01] [ 6.03615463e-02 9.98176570e-01 -1.37358105e-04 6.24108712e-01] [ 1.55606544e-02 -8.03388654e-04 9.99878603e-01 3.09829442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02925415399999 meters Centerline goodness [0,1] 0.9992471175357082 Centerline is valid? [True, True] Translation: X:41.01, Y:0.62, Z:0.31 [[ 9.98018198e-01 -6.08302919e-02 -1.61044268e-02 4.10133718e+01] [ 6.08359217e-02 9.98147770e-01 -1.40541579e-04 6.21786819e-01] [ 1.60831469e-02 -8.39464596e-04 9.99870305e-01 3.09680051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059254153999994 meters Centerline goodness [0,1] 0.9995916437414031 Centerline is valid? [True, True] Translation: X:41.05, Y:0.63, Z:0.31 [[ 9.98027946e-01 -6.06486950e-02 -1.61850421e-02 4.10466729e+01] [ 6.06543903e-02 9.98158818e-01 -1.39215205e-04 6.26163929e-01] [ 1.61636857e-02 -8.42753192e-04 9.99869004e-01 3.11128430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089254153999995 meters Centerline goodness [0,1] 0.9996127533238673 Centerline is valid? [True, True] Translation: X:41.08, Y:0.63, Z:0.31 [[ 9.98106735e-01 -5.93432687e-02 -1.61654439e-02 4.10780033e+01] [ 5.93488024e-02 9.98237297e-01 -1.37620996e-04 6.25006417e-01] [ 1.61451159e-02 -8.22039291e-04 9.99869321e-01 3.11277498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119254154 meters Centerline goodness [0,1] 0.9996782427765504 Centerline is valid? [True, True] Translation: X:41.11, Y:0.62, Z:0.31 [[ 9.98186436e-01 -5.79277673e-02 -1.63772060e-02 4.11095772e+01] [ 5.79332719e-02 9.98320448e-01 -1.38512655e-04 6.21770844e-01] [ 1.63577233e-02 -8.10523673e-04 9.99865875e-01 3.11001590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.149254154 meters Centerline goodness [0,1] 0.999247651598203 Centerline is valid? [True, True] Translation: X:41.14, Y:0.63, Z:0.31 [[ 9.98300855e-01 -5.58884350e-02 -1.64889827e-02 4.11412974e+01] [ 5.58937524e-02 9.98436713e-01 -1.38551986e-04 6.26092096e-01] [ 1.64709491e-02 -7.83314547e-04 9.99864038e-01 3.11112729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179254154 meters Centerline goodness [0,1] 0.9993969546208352 Centerline is valid? [True, True] Translation: X:41.17, Y:0.63, Z:0.31 [[ 9.98593829e-01 -5.02935263e-02 -1.67608493e-02 4.11708433e+01] [ 5.02982417e-02 9.98734233e-01 -1.40366843e-04 6.29382367e-01] [ 1.67466935e-02 -7.02871783e-04 9.99859517e-01 3.11419976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20925415399999 meters Centerline goodness [0,1] 0.9993746495881313 Centerline is valid? [True, True] Translation: X:41.20, Y:0.63, Z:0.31 [[ 9.98770774e-01 -4.66980061e-02 -1.66203588e-02 4.12010677e+01] [ 4.67021468e-02 9.98908850e-01 -1.39122206e-04 6.30363260e-01] [ 1.66087202e-02 -6.37255242e-04 9.99861863e-01 3.11191307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239254153999994 meters Centerline goodness [0,1] 0.9995467886740331 Centerline is valid? [True, True] Translation: X:41.23, Y:0.64, Z:0.31 [[ 9.98932726e-01 -4.31423657e-02 -1.64968212e-02 4.12323457e+01] [ 4.31459678e-02 9.99068770e-01 -1.37662961e-04 6.36929268e-01] [ 1.64873980e-02 -5.74255281e-04 9.99863909e-01 3.12669607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269254153999995 meters Centerline goodness [0,1] 0.999459108610991 Centerline is valid? [True, True] Translation: X:41.26, Y:0.64, Z:0.31 [[ 9.99227515e-01 -3.57237257e-02 -1.63764912e-02 4.12628504e+01] [ 3.57262875e-02 9.99361603e-01 -1.36194085e-04 6.43990289e-01] [ 1.63709019e-02 -4.48982357e-04 9.99865887e-01 3.13845632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299254153999996 meters Centerline goodness [0,1] 0.9993507477222066 Centerline is valid? [True, True] Translation: X:41.29, Y:0.65, Z:0.31 [[ 9.99359325e-01 -3.18986328e-02 -1.62301342e-02 4.12936619e+01] [ 3.19006516e-02 9.99491036e-01 -1.34558211e-04 6.45860960e-01] [ 1.62261659e-02 -3.83279856e-04 9.99868274e-01 3.13956762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.329254154 meters Centerline goodness [0,1] 0.9995014739032426 Centerline is valid? [True, True] Translation: X:41.32, Y:0.65, Z:0.31 [[ 9.99594501e-01 -2.35862545e-02 -1.59537214e-02 4.13242869e+01] [ 2.35871539e-02 9.99721776e-01 -1.31811573e-04 6.51907745e-01] [ 1.59523916e-02 -2.44544758e-04 9.99872723e-01 3.14493493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359254154 meters Centerline goodness [0,1] 0.999543716321919 Centerline is valid? [True, True] Translation: X:41.35, Y:0.66, Z:0.31 [[ 9.99673460e-01 -1.95292063e-02 -1.64797919e-02 4.13543568e+01] [ 1.95296178e-02 9.99809270e-01 -1.35980874e-04 6.55182654e-01] [ 1.64793043e-02 -1.85907565e-04 9.99864190e-01 3.14921384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38925415399999 meters Centerline goodness [0,1] 0.9995658214657868 Centerline is valid? [True, True] Translation: X:41.38, Y:0.66, Z:0.31 [[ 9.99744844e-01 -1.54655154e-02 -1.64640628e-02 4.13840807e+01] [ 1.54653708e-02 9.99880395e-01 -1.36111153e-04 6.58066523e-01] [ 1.64641987e-02 -1.18546413e-04 9.99864449e-01 3.14939661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419254153999994 meters Centerline goodness [0,1] 0.9995004669548031 Centerline is valid? [True, True] Translation: X:41.41, Y:0.66, Z:0.31 [[ 9.99787707e-01 -1.15662199e-02 -1.70517600e-02 4.14125995e+01] [ 1.15654581e-02 9.99933108e-01 -1.43290645e-04 6.60778612e-01] [ 1.70522767e-02 -5.39511906e-05 9.99854598e-01 3.14626284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449254153999995 meters Centerline goodness [0,1] 0.9996298634849442 Centerline is valid? [True, True] Translation: X:41.44, Y:0.67, Z:0.31 [[ 9.99836647e-01 -3.98649949e-03 -1.76291402e-02 4.14408456e+01] [ 3.98442630e-03 9.99992050e-01 -1.52722871e-04 6.65554706e-01] [ 1.76296089e-02 8.24559137e-05 9.99844583e-01 3.14548716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479254153999996 meters Centerline goodness [0,1] 0.9995209163563511 Centerline is valid? [True, True] Translation: X:41.47, Y:0.67, Z:0.31 [[ 9.99850739e-01 -7.67693239e-04 -1.72601010e-02 4.14688147e+01] [ 7.65173836e-04 9.99999696e-01 -1.52570386e-04 6.67804256e-01] [ 1.72602129e-02 1.39340635e-04 9.99851022e-01 3.14450466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509254154 meters Centerline goodness [0,1] 0.9997174834293165 Centerline is valid? [True, True] Translation: X:41.50, Y:0.67, Z:0.31 [[ 9.99845972e-01 3.75259248e-03 -1.71449526e-02 4.14976031e+01] [-3.75579055e-03 9.99992935e-01 -1.54336242e-04 6.69843027e-01] [ 1.71442523e-02 2.18705321e-04 9.99853003e-01 3.14912215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539254154 meters Centerline goodness [0,1] 0.9996102715108475 Centerline is valid? [True, True] Translation: X:41.53, Y:0.67, Z:0.32 [[ 9.99842522e-01 5.00408619e-03 -1.70261406e-02 4.15264915e+01] [-5.00749360e-03 9.99987450e-01 -1.57501776e-04 6.70438705e-01] [ 1.70251388e-02 2.42735263e-04 9.99855032e-01 3.15393738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569254154 meters Centerline goodness [0,1] 0.9996528305161976 Centerline is valid? [True, True] Translation: X:41.55, Y:0.67, Z:0.32 [[ 9.99845956e-01 5.53624688e-03 -1.66557518e-02 4.15549354e+01] [-5.53962804e-03 9.99984644e-01 -1.56872769e-04 6.70561274e-01] [ 1.66546275e-02 2.49115274e-04 9.99861271e-01 3.16044720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59925415399999 meters Centerline goodness [0,1] 0.9995891003460208 Centerline is valid? [True, True] Translation: X:41.58, Y:0.67, Z:0.32 [[ 9.99862741e-01 4.66125919e-03 -1.58987690e-02 4.15832537e+01] [-4.66424675e-03 9.99989111e-01 -1.50836303e-04 6.69301802e-01] [ 1.58978928e-02 2.24971382e-04 9.99873595e-01 3.16452081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629254153999995 meters Centerline goodness [0,1] 0.9995664426620421 Centerline is valid? [True, True] Translation: X:41.61, Y:0.67, Z:0.32 [[ 9.99871416e-01 3.34995757e-03 -1.56821004e-02 4.16119133e+01] [-3.35272025e-03 9.99994368e-01 -1.49880462e-04 6.67327778e-01] [ 1.56815100e-02 2.02438886e-04 9.99877017e-01 3.16898842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659254153999996 meters Centerline goodness [0,1] 0.9994578888021511 Centerline is valid? [True, True] Translation: X:41.64, Y:0.66, Z:0.32 [[ 9.99878535e-01 -6.00386835e-04 -1.55741617e-02 4.16408472e+01] [ 5.98123997e-04 9.99999810e-01 -1.49951872e-04 6.62752845e-01] [ 1.55742487e-02 1.40618378e-04 9.99878704e-01 3.16507443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689254154 meters Centerline goodness [0,1] 0.999631835408771 Centerline is valid? [True, True] Translation: X:41.67, Y:0.66, Z:0.32 [[ 9.99878019e-01 -2.81652415e-03 -1.53627860e-02 4.16685692e+01] [ 2.81456570e-03 9.99996028e-01 -1.49099871e-04 6.60149327e-01] [ 1.53631450e-02 1.05842112e-04 9.99881974e-01 3.16689113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719254154 meters Centerline goodness [0,1] 0.9993942540671512 Centerline is valid? [True, True] Translation: X:41.70, Y:0.66, Z:0.32 [[ 9.99871940e-01 -5.06825178e-03 -1.51794792e-02 4.16969989e+01] [ 5.06658046e-03 9.99987154e-01 -1.48558517e-04 6.57252318e-01] [ 1.51800371e-02 7.16314397e-05 9.99884774e-01 3.17131572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.749254154 meters Centerline goodness [0,1] 0.9995459753961905 Centerline is valid? [True, True] Translation: X:41.73, Y:0.65, Z:0.32 [[ 9.99833759e-01 -9.47065814e-03 -1.55807857e-02 4.17256026e+01] [ 9.46941384e-03 9.99955152e-01 -1.53635891e-04 6.52335183e-01] [ 1.55815420e-02 6.06944333e-06 9.99878600e-01 3.17649270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77925415399999 meters Centerline goodness [0,1] 0.9995035506917913 Centerline is valid? [True, True] Translation: X:41.75, Y:0.65, Z:0.32 [[ 9.99805540e-01 -1.18727348e-02 -1.57455108e-02 4.17526581e+01] [ 1.18717385e-02 9.99929516e-01 -1.56747498e-04 6.49887869e-01] [ 1.57462620e-02 -3.02095687e-05 9.99876019e-01 3.17215810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809254153999994 meters Centerline goodness [0,1] 0.9994625505202511 Centerline is valid? [True, True] Translation: X:41.78, Y:0.65, Z:0.32 [[ 9.99774446e-01 -1.42599204e-02 -1.57388390e-02 4.17803136e+01] [ 1.42591732e-02 9.99898320e-01 -1.59698514e-04 6.47597716e-01] [ 1.57395160e-02 -6.47603381e-05 9.99876124e-01 3.17884971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839254153999995 meters Centerline goodness [0,1] 0.9993335912979922 Centerline is valid? [True, True] Translation: X:41.81, Y:0.64, Z:0.32 [[ 9.99741034e-01 -1.64542070e-02 -1.57201772e-02 4.18081919e+01] [ 1.64536770e-02 9.99864616e-01 -1.63058527e-04 6.44683565e-01] [ 1.57207319e-02 -9.56384177e-05 9.99876417e-01 3.17622702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869254154 meters Centerline goodness [0,1] 0.9992726961581244 Centerline is valid? [True, True] Translation: X:41.84, Y:0.64, Z:0.32 [[ 9.99655424e-01 -2.07644571e-02 -1.60583580e-02 4.18368329e+01] [ 2.07644127e-02 9.99784382e-01 -1.69514957e-04 6.38658319e-01] [ 1.60584154e-02 -1.63985826e-04 9.99871042e-01 3.16967654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899254154 meters Centerline goodness [0,1] 0.9990804499379838 Centerline is valid? [True, True] Translation: X:41.87, Y:0.64, Z:0.32 [[ 9.99604198e-01 -2.27085220e-02 -1.66063206e-02 4.18663410e+01] [ 2.27086982e-02 9.99742108e-01 -1.77983913e-04 6.36109982e-01] [ 1.66060797e-02 -1.99194456e-04 9.99862090e-01 3.16692628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.929254154 meters Centerline goodness [0,1] 0.999316779469223 Centerline is valid? [True, True] Translation: X:41.90, Y:0.63, Z:0.32 [[ 9.99533026e-01 -2.51278283e-02 -1.73874403e-02 4.18959647e+01] [ 2.51283787e-02 9.99684215e-01 -1.86854762e-04 6.30367521e-01] [ 1.73866449e-02 -2.50150679e-04 9.99848810e-01 3.15789401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95925415399999 meters Centerline goodness [0,1] 0.9991036749327756 Centerline is valid? [True, True] Translation: X:41.93, Y:0.63, Z:0.32 [[ 9.99520576e-01 -2.55140119e-02 -1.75400311e-02 4.19260488e+01] [ 2.55146285e-02 9.99674431e-01 -1.88664184e-04 6.30984546e-01] [ 1.75391342e-02 -2.58953643e-04 9.99846144e-01 3.16765560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989254153999994 meters Centerline goodness [0,1] 0.9991253893084175 Centerline is valid? [True, True] Translation: X:41.96, Y:0.63, Z:0.32 [[ 9.99524501e-01 -2.50030141e-02 -1.80449680e-02 4.19554111e+01] [ 2.50035842e-02 9.99687343e-01 -1.94054738e-04 6.29652132e-01] [ 1.80441781e-02 -2.57226412e-04 9.99837157e-01 3.16803864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019254153999995 meters Centerline goodness [0,1] 0.9991060786650775 Centerline is valid? [True, True] Translation: X:41.98, Y:0.63, Z:0.32 [[ 9.99598669e-01 -2.17228020e-02 -1.81829790e-02 4.19849269e+01] [ 2.17228362e-02 9.99764012e-01 -1.95651252e-04 6.29500869e-01] [ 1.81829382e-02 -1.99413143e-04 9.99834657e-01 3.17275644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049254153999996 meters Centerline goodness [0,1] 0.9991071048939155 Centerline is valid? [True, True] Translation: X:42.01, Y:0.63, Z:0.32 [[ 9.99641727e-01 -1.95485898e-02 -1.82830485e-02 4.20138559e+01] [ 1.95482165e-02 9.99808896e-01 -1.99147977e-04 6.30910778e-01] [ 1.82834475e-02 -1.58324362e-04 9.99832831e-01 3.18253273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079254154 meters Centerline goodness [0,1] 0.999147866470676 Centerline is valid? [True, True] Translation: X:42.04, Y:0.63, Z:0.32 [[ 9.99690986e-01 -1.69488650e-02 -1.81842725e-02 4.20422379e+01] [ 1.69479822e-02 9.99856352e-01 -2.02658955e-04 6.32235397e-01] [ 1.81850952e-02 -1.05590397e-04 9.99834632e-01 3.18931833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.109254154 meters Centerline goodness [0,1] 0.999381597185201 Centerline is valid? [True, True] Translation: X:42.07, Y:0.63, Z:0.32 [[ 9.99765087e-01 -1.15489601e-02 -1.83410226e-02 4.20710213e+01] [ 1.15470682e-02 9.99933309e-01 -2.09052012e-04 6.34410846e-01] [ 1.83422138e-02 -2.78213651e-06 9.99831767e-01 3.19223658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13925415399999 meters Centerline goodness [0,1] 0.9990610128257111 Centerline is valid? [True, True] Translation: X:42.10, Y:0.64, Z:0.32 [[ 9.99782849e-01 -9.48835671e-03 -1.85533076e-02 4.20987171e+01] [ 9.48597236e-03 9.99954984e-01 -2.16517008e-04 6.35220699e-01] [ 1.85545268e-02 4.04738275e-05 9.99827849e-01 3.18952783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169254153999994 meters Centerline goodness [0,1] 0.9991253706508523 Centerline is valid? [True, True] Translation: X:42.13, Y:0.64, Z:0.32 [[ 9.99788510e-01 -7.53430233e-03 -1.91355573e-02 4.21261649e+01] [ 7.53133762e-03 9.99971613e-01 -2.26992772e-04 6.35836844e-01] [ 1.91367243e-02 8.28284230e-05 9.99816873e-01 3.18488770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199254153999995 meters Centerline goodness [0,1] 0.9993191199625516 Centerline is valid? [True, True] Translation: X:42.15, Y:0.64, Z:0.32 [[ 9.99791471e-01 -5.02532017e-03 -1.97929672e-02 4.21547653e+01] [ 5.02158770e-03 9.99987363e-01 -2.38272115e-04 6.35175408e-01] [ 1.97939145e-02 1.38830308e-04 9.99804072e-01 3.18237193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229254153999996 meters Centerline goodness [0,1] 0.9992122966873882 Centerline is valid? [True, True] Translation: X:42.18, Y:0.63, Z:0.32 [[ 9.99785114e-01 -4.51677437e-03 -2.02317626e-02 4.21824755e+01] [ 4.51269245e-03 9.99989787e-01 -2.47408174e-04 6.34508629e-01] [ 2.02326735e-02 1.56055287e-04 9.99795286e-01 3.17683453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259254154 meters Centerline goodness [0,1] 0.9991918676364255 Centerline is valid? [True, True] Translation: X:42.21, Y:0.63, Z:0.32 [[ 9.99777353e-01 -4.93823253e-03 -2.05148500e-02 4.22091322e+01] [ 4.93405408e-03 9.99987795e-01 -2.54290676e-04 6.32565554e-01] [ 2.05158554e-02 1.53012680e-04 9.99789516e-01 3.17233765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.289254154 meters Centerline goodness [0,1] 0.9992562211785707 Centerline is valid? [True, True] Translation: X:42.24, Y:0.63, Z:0.32 [[ 9.99771536e-01 -5.99786184e-03 -2.05158880e-02 4.22374380e+01] [ 5.99380497e-03 9.99982003e-01 -2.59228470e-04 6.31382366e-01] [ 2.05170736e-02 1.36201014e-04 9.99789493e-01 3.18118787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31925415399999 meters Centerline goodness [0,1] 0.9990873975975211 Centerline is valid? [True, True] Translation: X:42.27, Y:0.63, Z:0.32 [[ 9.99771109e-01 -7.38949166e-03 -2.00779567e-02 4.22661499e+01] [ 7.38578303e-03 9.99972691e-01 -2.58859341e-04 6.29968625e-01] [ 2.00793213e-02 1.10508658e-04 9.99798384e-01 3.18475688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34925415399999 meters Centerline goodness [0,1] 0.9990666100975817 Centerline is valid? [True, True] Translation: X:42.29, Y:0.63, Z:0.32 [[ 9.99756691e-01 -9.10852184e-03 -2.00896628e-02 4.22937292e+01] [ 9.10505062e-03 9.99958513e-01 -2.64249581e-04 6.28060481e-01] [ 2.00912363e-02 8.12678901e-05 9.99798147e-01 3.18935811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379254153999995 meters Centerline goodness [0,1] 0.9990466909583934 Centerline is valid? [True, True] Translation: X:42.32, Y:0.62, Z:0.32 [[ 9.99735785e-01 -1.31417234e-02 -1.88588462e-02 4.23228455e+01] [ 1.31393231e-02 9.99913644e-01 -2.51182791e-04 6.22838197e-01] [ 1.88605186e-02 3.32395217e-06 9.99822125e-01 3.20828183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409254153999996 meters Centerline goodness [0,1] 0.9990691967591123 Centerline is valid? [True, True] Translation: X:42.35, Y:0.62, Z:0.32 [[ 9.99709799e-01 -1.57411785e-02 -1.82354707e-02 4.23509512e+01] [ 1.57393078e-02 9.99876099e-01 -2.46112090e-04 6.20635752e-01] [ 1.82370854e-02 -4.09730179e-05 9.99833690e-01 3.21688347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439254154 meters Centerline goodness [0,1] 0.9991556193532044 Centerline is valid? [True, True] Translation: X:42.38, Y:0.62, Z:0.32 [[ 9.99646943e-01 -2.03168403e-02 -1.71235497e-02 4.23799729e+01] [ 2.03158086e-02 9.99793585e-01 -2.34218257e-04 6.15660111e-01] [ 1.71247737e-02 -1.13743193e-04 9.99853354e-01 3.22389763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.469254154 meters Centerline goodness [0,1] 0.9990280389629599 Centerline is valid? [True, True] Translation: X:42.41, Y:0.61, Z:0.32 [[ 9.99598679e-01 -2.29951902e-02 -1.65439267e-02 4.24087735e+01] [ 2.29945528e-02 9.99735564e-01 -2.28776398e-04 6.13354220e-01] [ 1.65448126e-02 -1.51735610e-04 9.99863114e-01 3.23044732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499254154 meters Centerline goodness [0,1] 0.9991570429065161 Centerline is valid? [True, True] Translation: X:42.44, Y:0.61, Z:0.32 [[ 9.99544961e-01 -2.56539410e-02 -1.58664942e-02 4.24384564e+01] [ 2.56536494e-02 9.99670866e-01 -2.21936029e-04 6.10844961e-01] [ 1.58669655e-02 -1.85198440e-04 9.99874095e-01 3.23707210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52925415399999 meters Centerline goodness [0,1] 0.998821201532438 Centerline is valid? [True, True] Translation: X:42.47, Y:0.60, Z:0.32 [[ 9.99408010e-01 -3.13833025e-02 -1.40967635e-02 4.24683517e+01] [ 3.13836378e-02 9.99507393e-01 -1.97482876e-04 6.04136236e-01] [ 1.40960170e-02 -2.45041753e-04 9.99900616e-01 3.24002682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559254153999994 meters Centerline goodness [0,1] 0.9987619866966028 Centerline is valid? [True, True] Translation: X:42.50, Y:0.60, Z:0.32 [[ 9.99315273e-01 -3.44579582e-02 -1.34771855e-02 4.25000743e+01] [ 3.44585499e-02 9.99406110e-01 -1.88372400e-04 6.01138264e-01] [ 1.34756725e-02 -2.76160854e-04 9.99909161e-01 3.24407455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589254153999995 meters Centerline goodness [0,1] 0.9989476342818656 Centerline is valid? [True, True] Translation: X:42.53, Y:0.60, Z:0.33 [[ 9.99200151e-01 -3.78361685e-02 -1.29414936e-02 4.25325558e+01] [ 3.78370128e-02 9.99283908e-01 -1.79686510e-04 5.97779710e-01] [ 1.29390249e-02 -3.10124671e-04 9.99916239e-01 3.25085886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619254154 meters Centerline goodness [0,1] 0.9989486300649747 Centerline is valid? [True, True] Translation: X:42.56, Y:0.59, Z:0.33 [[ 9.98914524e-01 -4.48419099e-02 -1.26085694e-02 4.25632510e+01] [ 4.48432777e-02 9.98994019e-01 -1.74352343e-04 5.91564856e-01] [ 1.26037037e-02 -3.91246491e-04 9.99920494e-01 3.25077024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.649254154 meters Centerline goodness [0,1] 0.9986988184431992 Centerline is valid? [True, True] Translation: X:42.59, Y:0.59, Z:0.32 [[ 9.98730228e-01 -4.86901395e-02 -1.29306428e-02 4.25940987e+01] [ 4.86919034e-02 9.98813830e-01 -1.78567152e-04 5.88594527e-01] [ 1.29239993e-02 -4.51277196e-04 9.99916380e-01 3.24771954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679254154 meters Centerline goodness [0,1] 0.9987403690718619 Centerline is valid? [True, True] Translation: X:42.62, Y:0.58, Z:0.32 [[ 9.98339461e-01 -5.59572546e-02 -1.36786549e-02 4.26249453e+01] [ 5.59599119e-02 9.98432999e-01 -1.88701636e-04 5.83559586e-01] [ 1.36677796e-02 -5.77068032e-04 9.99906425e-01 3.23838138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70925415399999 meters Centerline goodness [0,1] 0.9987403690718619 Centerline is valid? [True, True] Translation: X:42.66, Y:0.58, Z:0.32 [[ 9.98343620e-01 -5.58830011e-02 -1.36786598e-02 4.26566613e+01] [ 5.58856563e-02 9.98437158e-01 -1.88348117e-04 5.83937984e-01] [ 1.36678076e-02 -5.76404737e-04 9.99906425e-01 3.24135287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739254153999994 meters Centerline goodness [0,1] 0.998803049074988 Centerline is valid? [True, True] Translation: X:42.69, Y:0.58, Z:0.32 [[ 9.98161117e-01 -5.89823857e-02 -1.39808270e-02 4.26868090e+01] [ 5.89854787e-02 9.98258822e-01 -1.91379751e-04 5.79855309e-01] [ 1.39677719e-02 -6.33637948e-04 9.99902245e-01 3.23742724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769254153999995 meters Centerline goodness [0,1] 0.9986362015064728 Centerline is valid? [True, True] Translation: X:42.72, Y:0.58, Z:0.32 [[ 9.98017931e-01 -6.13171873e-02 -1.41566721e-02 4.27190184e+01] [ 6.13206100e-02 9.98118102e-01 -1.92584361e-04 5.77343140e-01] [ 1.41418395e-02 -6.75893126e-04 9.99899771e-01 3.23593287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799254153999996 meters Centerline goodness [0,1] 0.998801287039179 Centerline is valid? [True, True] Translation: X:42.75, Y:0.57, Z:0.32 [[ 9.97813784e-01 -6.46746060e-02 -1.35958462e-02 4.27497308e+01] [ 6.46780835e-02 9.97906164e-01 -1.84229856e-04 5.74798501e-01] [ 1.35792937e-02 -6.95526184e-04 9.99907555e-01 3.24182864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.829254154 meters Centerline goodness [0,1] 0.9987456883035434 Centerline is valid? [True, True] Translation: X:42.78, Y:0.58, Z:0.32 [[ 9.97777578e-01 -6.52191793e-02 -1.36514923e-02 4.27820513e+01] [ 6.52227427e-02 9.97870713e-01 -1.84501286e-04 5.75051306e-01] [ 1.36344574e-02 -7.06296524e-04 9.99906797e-01 3.24427682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859254154 meters Centerline goodness [0,1] 0.9988881896370884 Centerline is valid? [True, True] Translation: X:42.82, Y:0.58, Z:0.32 [[ 9.97788961e-01 -6.51167232e-02 -1.33041818e-02 4.28150315e+01] [ 6.51201132e-02 9.97877417e-01 -1.78698976e-04 5.76500925e-01] [ 1.32875789e-02 -6.88065959e-04 9.99911479e-01 3.24614042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88925415399999 meters Centerline goodness [0,1] 0.9989299876214254 Centerline is valid? [True, True] Translation: X:42.85, Y:0.58, Z:0.32 [[ 9.97838558e-01 -6.42443496e-02 -1.38158055e-02 4.28473931e+01] [ 6.42479415e-02 9.97933950e-01 -1.84151643e-04 5.77463924e-01] [ 1.37990921e-02 -7.03883454e-04 9.99904540e-01 3.24896237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919254153999994 meters Centerline goodness [0,1] 0.9988076311605724 Centerline is valid? [True, True] Translation: X:42.88, Y:0.58, Z:0.32 [[ 9.98009018e-01 -6.13185668e-02 -1.47659627e-02 4.28777333e+01] [ 6.13223629e-02 9.98117994e-01 -1.95973206e-04 5.76517615e-01] [ 1.47501899e-02 -7.09900698e-04 9.99890958e-01 3.24227656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949254153999995 meters Centerline goodness [0,1] 0.9987401839331458 Centerline is valid? [True, True] Translation: X:42.91, Y:0.58, Z:0.32 [[ 9.98118681e-01 -5.94935957e-02 -1.48192645e-02 4.29103965e+01] [ 5.94972285e-02 9.98228452e-01 -1.96008715e-04 5.81611743e-01] [ 1.48046727e-02 -6.86065205e-04 9.99890169e-01 3.24692834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979254153999996 meters Centerline goodness [0,1] 0.9990983245612196 Centerline is valid? [True, True] Translation: X:42.94, Y:0.59, Z:0.33 [[ 9.98245319e-01 -5.73987237e-02 -1.45488730e-02 4.29422869e+01] [ 5.74020208e-02 9.98351126e-01 -1.91210799e-04 5.85639623e-01] [ 1.45358590e-02 -6.44259426e-04 9.99894141e-01 3.25645539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.009254154 meters Centerline goodness [0,1] 0.9986982993911401 Centerline is valid? [True, True] Translation: X:42.97, Y:0.59, Z:0.33 [[ 9.98500804e-01 -5.31228345e-02 -1.31950569e-02 4.29733399e+01] [ 5.31251831e-02 9.98587845e-01 -1.72708475e-04 5.89998018e-01] [ 1.31855982e-02 -5.28540260e-04 9.99912927e-01 3.26659811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039254154 meters Centerline goodness [0,1] 0.9986761646599004 Centerline is valid? [True, True] Translation: X:43.00, Y:0.59, Z:0.33 [[ 9.98610246e-01 -5.11917367e-02 -1.25293032e-02 4.30048174e+01] [ 5.11937070e-02 9.98688729e-01 -1.63631132e-04 5.92102194e-01] [ 1.25212504e-02 -4.78017752e-04 9.99921492e-01 3.27570668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06925415399999 meters Centerline goodness [0,1] 0.9986737121323762 Centerline is valid? [True, True] Translation: X:43.04, Y:0.59, Z:0.33 [[ 9.98734037e-01 -4.88451932e-02 -1.20195458e-02 4.30373222e+01] [ 4.88468454e-02 9.98806268e-01 -1.56239671e-04 5.94690964e-01] [ 1.20128292e-02 -4.31075019e-04 9.99927750e-01 3.28263703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09925415399999 meters Centerline goodness [0,1] 0.9991605808780324 Centerline is valid? [True, True] Translation: X:43.07, Y:0.60, Z:0.33 [[ 9.98966561e-01 -4.39495471e-02 -1.15865029e-02 4.30691682e+01] [ 4.39507643e-02 9.99033687e-01 -1.49673485e-04 6.00703640e-01] [ 1.15818847e-02 -3.59716850e-04 9.99932863e-01 3.28720893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129254153999995 meters Centerline goodness [0,1] 0.9988890752075124 Centerline is valid? [True, True] Translation: X:43.10, Y:0.60, Z:0.33 [[ 9.99090673e-01 -4.10244979e-02 -1.16110900e-02 4.31018560e+01] [ 4.10255313e-02 9.99158087e-01 -1.49265123e-04 6.04482982e-01] [ 1.16074380e-02 -3.27221745e-04 9.99932578e-01 3.28781578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159254153999996 meters Centerline goodness [0,1] 0.9987218438973284 Centerline is valid? [True, True] Translation: X:43.13, Y:0.61, Z:0.33 [[ 9.99211669e-01 -3.78308780e-02 -1.20359758e-02 4.31332199e+01] [ 3.78317724e-02 9.99284110e-01 -1.53438641e-04 6.07704992e-01] [ 1.20331641e-02 -3.02024615e-04 9.99927553e-01 3.28854221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189254154 meters Centerline goodness [0,1] 0.9988597732215629 Centerline is valid? [True, True] Translation: X:43.17, Y:0.61, Z:0.33 [[ 9.99420190e-01 -3.14620672e-02 -1.30161921e-02 4.31650083e+01] [ 3.14625953e-02 9.99504917e-01 -1.64251250e-04 6.14933710e-01] [ 1.30149157e-02 -2.45367168e-04 9.99915272e-01 3.28393151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219254154 meters Centerline goodness [0,1] 0.998648819828569 Centerline is valid? [True, True] Translation: X:43.20, Y:0.62, Z:0.33 [[ 9.99504429e-01 -2.83316696e-02 -1.37191003e-02 4.31959668e+01] [ 2.83319710e-02 9.99598554e-01 -1.72423708e-04 6.18225266e-01] [ 1.37184779e-02 -2.16350893e-04 9.99905874e-01 3.27927306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.249254154 meters Centerline goodness [0,1] 0.9990274841437632 Centerline is valid? [True, True] Translation: X:43.23, Y:0.62, Z:0.33 [[ 9.99623056e-01 -2.30564290e-02 -1.49046093e-02 4.32262477e+01] [ 2.30562054e-02 9.99734153e-01 -1.86857026e-04 6.24079782e-01] [ 1.49049552e-02 -1.56857142e-04 9.99888903e-01 3.27878131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27925415399999 meters Centerline goodness [0,1] 0.9990255063130243 Centerline is valid? [True, True] Translation: X:43.26, Y:0.63, Z:0.33 [[ 9.99671890e-01 -2.06926022e-02 -1.50972960e-02 4.32563623e+01] [ 2.06921058e-02 9.99785878e-01 -1.89103047e-04 6.27289417e-01] [ 1.50979763e-02 -1.23353845e-04 9.99886011e-01 3.28011688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309254153999994 meters Centerline goodness [0,1] 0.9991135874382677 Centerline is valid? [True, True] Translation: X:43.29, Y:0.63, Z:0.33 [[ 9.99709616e-01 -1.85830066e-02 -1.53412732e-02 4.32861727e+01] [ 1.85822424e-02 9.99827317e-01 -1.92369488e-04 6.30247034e-01] [ 1.53421988e-02 -9.27616292e-05 9.99882297e-01 3.28357285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339254153999995 meters Centerline goodness [0,1] 0.9990667090889808 Centerline is valid? [True, True] Translation: X:43.31, Y:0.64, Z:0.33 [[ 9.99771296e-01 -1.47834747e-02 -1.54533080e-02 4.33146856e+01] [ 1.47822354e-02 9.99890718e-01 -1.94425863e-04 6.35597425e-01] [ 1.54544935e-02 -3.40530402e-05 9.99880572e-01 3.29213026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369254154 meters Centerline goodness [0,1] 0.9990026313555725 Centerline is valid? [True, True] Translation: X:43.34, Y:0.64, Z:0.33 [[ 9.99796421e-01 -1.35722434e-02 -1.49301757e-02 4.33425781e+01] [ 1.35709203e-02 9.99907893e-01 -1.89929138e-04 6.38262145e-01] [ 1.49313783e-02 -1.27257523e-05 9.99888521e-01 3.30673907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399254154 meters Centerline goodness [0,1] 0.9991938905388206 Centerline is valid? [True, True] Translation: X:43.37, Y:0.64, Z:0.33 [[ 9.99818277e-01 -1.21299560e-02 -1.47063610e-02 4.33703712e+01] [ 1.21284700e-02 9.99926429e-01 -1.90231029e-04 6.40321636e-01] [ 1.47075865e-02 1.18308014e-05 9.99891838e-01 3.31192206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.429254154 meters Centerline goodness [0,1] 0.9992134019303541 Centerline is valid? [True, True] Translation: X:43.40, Y:0.64, Z:0.33 [[ 9.99830846e-01 -1.10358367e-02 -1.47136185e-02 4.33985353e+01] [ 1.10341960e-02 9.99939103e-01 -1.92691283e-04 6.42117541e-01] [ 1.47148490e-02 3.03057386e-05 9.99891730e-01 3.31458601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45925415399999 meters Centerline goodness [0,1] 0.9994903160040775 Centerline is valid? [True, True] Translation: X:43.43, Y:0.64, Z:0.33 [[ 9.99841600e-01 -9.74583902e-03 -1.48927290e-02 4.34262415e+01] [ 9.74395068e-03 9.99952507e-01 -1.99353911e-04 6.44297387e-01] [ 1.48939645e-02 5.42083164e-05 9.99889077e-01 3.32659956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489254153999994 meters Centerline goodness [0,1] 0.9989582668962731 Centerline is valid? [True, True] Translation: X:43.45, Y:0.64, Z:0.33 [[ 9.99845931e-01 -9.98744209e-03 -1.44348403e-02 4.34532940e+01] [ 9.98564032e-03 9.99950123e-01 -1.96891391e-04 6.44996955e-01] [ 1.44360867e-02 5.27199332e-05 9.99895793e-01 3.33112286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519254153999995 meters Centerline goodness [0,1] 0.9994061253923814 Centerline is valid? [True, True] Translation: X:43.48, Y:0.65, Z:0.33 [[ 9.99840811e-01 -1.10453992e-02 -1.40125293e-02 4.34815278e+01] [ 1.10437608e-02 9.99938997e-01 -1.94299638e-04 6.45104981e-01] [ 1.40138206e-02 3.95176850e-05 9.99901801e-01 3.33930730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549254153999996 meters Centerline goodness [0,1] 0.9991082613218965 Centerline is valid? [True, True] Translation: X:43.51, Y:0.64, Z:0.33 [[ 9.99788641e-01 -1.54057746e-02 -1.36137881e-02 4.35092389e+01] [ 1.54045918e-02 9.99881324e-01 -1.91747931e-04 6.42360569e-01] [ 1.36151265e-02 -1.80074448e-05 9.99907310e-01 3.34647631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579254154 meters Centerline goodness [0,1] 0.9991504003738239 Centerline is valid? [True, True] Translation: X:43.54, Y:0.64, Z:0.33 [[ 9.99721755e-01 -1.89834524e-02 -1.40014958e-02 4.35382028e+01] [ 1.89825240e-02 9.99819796e-01 -1.99217368e-04 6.40191310e-01] [ 1.40027545e-02 -6.66217917e-05 9.99901954e-01 3.34839478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.609254154 meters Centerline goodness [0,1] 0.9990663922425683 Centerline is valid? [True, True] Translation: X:43.57, Y:0.63, Z:0.33 [[ 9.99520835e-01 -2.72873210e-02 -1.46117433e-02 4.35681582e+01] [ 2.72871584e-02 9.99627614e-01 -2.10530683e-04 6.34072523e-01] [ 1.46120469e-02 -1.88283149e-04 9.99893221e-01 3.34087795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63925415399999 meters Centerline goodness [0,1] 0.9989402513723745 Centerline is valid? [True, True] Translation: X:43.60, Y:0.63, Z:0.33 [[ 9.99373128e-01 -3.19798379e-02 -1.51868505e-02 4.35999188e+01] [ 3.19802033e-02 9.99488479e-01 -2.18854615e-04 6.29825788e-01] [ 1.51860811e-02 -2.66961146e-04 9.99884649e-01 3.33323685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669254153999994 meters Centerline goodness [0,1] 0.9989868287740629 Centerline is valid? [True, True] Translation: X:43.63, Y:0.62, Z:0.33 [[ 9.99201624e-01 -3.66424971e-02 -1.59198366e-02 4.36309089e+01] [ 3.66435118e-02 9.99328375e-01 -2.28056044e-04 6.23873435e-01] [ 1.59175010e-02 -3.55484749e-04 9.99873245e-01 3.31988395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699254153999995 meters Centerline goodness [0,1] 0.9989231191536984 Centerline is valid? [True, True] Translation: X:43.66, Y:0.62, Z:0.33 [[ 9.98781965e-01 -4.63942215e-02 -1.67976842e-02 4.36613504e+01] [ 4.63967500e-02 9.98923062e-01 -2.39357410e-04 6.17514476e-01] [ 1.67906990e-02 -5.40292092e-04 9.99858880e-01 3.31287931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729254153999996 meters Centerline goodness [0,1] 0.9991354770690564 Centerline is valid? [True, True] Translation: X:43.69, Y:0.61, Z:0.33 [[ 9.98587004e-01 -5.03739321e-02 -1.69252075e-02 4.36920583e+01] [ 5.03770729e-02 9.98730240e-01 -2.41001935e-04 6.10629069e-01] [ 1.69158567e-02 -6.11981009e-04 9.99856729e-01 3.31060461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759254154 meters Centerline goodness [0,1] 0.998989218328841 Centerline is valid? [True, True] Translation: X:43.72, Y:0.61, Z:0.33 [[ 9.98278266e-01 -5.63214593e-02 -1.63828298e-02 4.37232384e+01] [ 5.63252056e-02 9.98412448e-01 -2.33016179e-04 6.07177124e-01] [ 1.63699451e-02 -6.90151271e-04 9.99865765e-01 3.32193309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.789254154 meters Centerline goodness [0,1] 0.9988214248132169 Centerline is valid? [True, True] Translation: X:43.75, Y:0.60, Z:0.33 [[ 9.98167777e-01 -5.83383808e-02 -1.60537555e-02 4.37540048e+01] [ 5.83422538e-02 9.98296614e-01 -2.27379581e-04 6.04877704e-01] [ 1.60396747e-02 -7.09649309e-04 9.99871104e-01 3.32539066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81925415399999 meters Centerline goodness [0,1] 0.9985913123922459 Centerline is valid? [True, True] Translation: X:43.79, Y:0.61, Z:0.33 [[ 9.98094727e-01 -5.96246071e-02 -1.58689098e-02 4.37862945e+01] [ 5.96285792e-02 9.98220608e-01 -2.23147260e-04 6.05239199e-01] [ 1.58539779e-02 -7.23518443e-04 9.99874056e-01 3.33119542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84925415399999 meters Centerline goodness [0,1] 0.9987807954258807 Centerline is valid? [True, True] Translation: X:43.82, Y:0.60, Z:0.33 [[ 9.98067633e-01 -6.01930723e-02 -1.54205699e-02 4.38178629e+01] [ 6.01969059e-02 9.98186499e-01 -2.15860595e-04 6.02332342e-01] [ 1.54055980e-02 -7.12827121e-04 9.99881073e-01 3.33335778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879254153999995 meters Centerline goodness [0,1] 0.9988647830474269 Centerline is valid? [True, True] Translation: X:43.85, Y:0.61, Z:0.33 [[ 9.98068654e-01 -6.02954655e-02 -1.49472140e-02 4.38495601e+01] [ 6.02990923e-02 9.98180332e-01 -2.08328180e-04 6.08122483e-01] [ 1.49325763e-02 -6.93377610e-04 9.99888262e-01 3.34856311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909254153999996 meters Centerline goodness [0,1] 0.9989482319779549 Centerline is valid? [True, True] Translation: X:43.88, Y:0.61, Z:0.34 [[ 9.98108677e-01 -5.97460960e-02 -1.44731821e-02 4.38819229e+01] [ 5.97494541e-02 9.98213385e-01 -2.00656062e-04 6.10015050e-01] [ 1.44593126e-02 -6.64488176e-04 9.99895238e-01 3.35304009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939254154 meters Centerline goodness [0,1] 0.9985251669721678 Centerline is valid? [True, True] Translation: X:43.91, Y:0.61, Z:0.34 [[ 9.98171147e-01 -5.87732531e-02 -1.41444407e-02 4.39140065e+01] [ 5.87763778e-02 9.98271155e-01 -1.95045312e-04 6.11614412e-01] [ 1.41314506e-02 -6.36670389e-04 9.99899943e-01 3.35891198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.969254154 meters Centerline goodness [0,1] 0.9986126584407121 Centerline is valid? [True, True] Translation: X:43.95, Y:0.61, Z:0.34 [[ 9.98199933e-01 -5.83484669e-02 -1.38690562e-02 4.39459886e+01] [ 5.83514444e-02 9.98296085e-01 -1.90216525e-04 6.12064459e-01] [ 1.38565233e-02 -6.19405338e-04 9.99903802e-01 3.35813034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99925415399999 meters Centerline goodness [0,1] 0.9988234305403816 Centerline is valid? [True, True] Translation: X:43.98, Y:0.61, Z:0.34 [[ 9.98193948e-01 -5.83621960e-02 -1.42371158e-02 4.39786591e+01] [ 5.83653506e-02 9.98295271e-01 -1.94178159e-04 6.12930750e-01] [ 1.42241780e-02 -6.37126790e-04 9.99898628e-01 3.35317394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02925415399999 meters Centerline goodness [0,1] 0.9988444892642548 Centerline is valid? [True, True] Translation: X:44.01, Y:0.61, Z:0.33 [[ 9.98152715e-01 -5.88819290e-02 -1.49691600e-02 4.40102195e+01] [ 5.88854903e-02 9.98264723e-01 -2.03114855e-04 6.12154926e-01] [ 1.49551442e-02 -6.78726684e-04 9.99887935e-01 3.34875733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059254153999994 meters Centerline goodness [0,1] 0.9987380641904682 Centerline is valid? [True, True] Translation: X:44.04, Y:0.61, Z:0.33 [[ 9.98114596e-01 -5.93115318e-02 -1.57922604e-02 4.40423547e+01] [ 5.93155656e-02 9.98239259e-01 -2.13255357e-04 6.14282075e-01] [ 1.57771028e-02 -7.23873573e-04 9.99875272e-01 3.34784892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089254153999995 meters Centerline goodness [0,1] 0.9987183258393916 Centerline is valid? [True, True] Translation: X:44.07, Y:0.61, Z:0.33 [[ 9.98048308e-01 -5.99713627e-02 -1.74072212e-02 4.40737717e+01] [ 5.99763852e-02 9.98199769e-01 -2.33849255e-04 6.14810425e-01] [ 1.73899084e-02 -8.10629348e-04 9.99848455e-01 3.33699524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119254154 meters Centerline goodness [0,1] 0.9988021938764788 Centerline is valid? [True, True] Translation: X:44.11, Y:0.62, Z:0.33 [[ 9.98034776e-01 -5.99311434e-02 -1.82987650e-02 4.41051932e+01] [ 5.99367152e-02 9.98202149e-01 -2.44284849e-04 6.15633796e-01] [ 1.82805068e-02 -8.52963090e-04 9.99832534e-01 3.33663490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.149254154 meters Centerline goodness [0,1] 0.9986500738240878 Centerline is valid? [True, True] Translation: X:44.14, Y:0.62, Z:0.33 [[ 9.98073376e-01 -5.90107856e-02 -1.91641358e-02 4.41376725e+01] [ 5.90167621e-02 9.98256960e-01 -2.54036781e-04 6.18358003e-01] [ 1.91457228e-02 -8.77457894e-04 9.99816319e-01 3.33008175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179254154 meters Centerline goodness [0,1] 0.9989256372445755 Centerline is valid? [True, True] Translation: X:44.17, Y:0.62, Z:0.33 [[ 9.98171592e-01 -5.74876285e-02 -1.86720673e-02 4.41694625e+01] [ 5.74930612e-02 9.98345876e-01 -2.46164101e-04 6.23099123e-01] [ 1.86553328e-02 -8.27800297e-04 9.99825631e-01 3.33973291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20925415399999 meters Centerline goodness [0,1] 0.9989653060793547 Centerline is valid? [True, True] Translation: X:44.20, Y:0.63, Z:0.34 [[ 9.98285387e-01 -5.56249822e-02 -1.82249142e-02 4.42021941e+01] [ 5.56298753e-02 9.98451431e-01 -2.38762632e-04 6.26598066e-01] [ 1.82099728e-02 -7.75496458e-04 9.99833884e-01 3.35248270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239254153999994 meters Centerline goodness [0,1] 0.999049911325057 Centerline is valid? [True, True] Translation: X:44.23, Y:0.63, Z:0.34 [[ 9.98654704e-01 -4.92535076e-02 -1.62133831e-02 4.42315917e+01] [ 4.92565526e-02 9.98786137e-01 -2.11716551e-04 6.32757974e-01] [ 1.62041301e-02 -5.87183630e-04 9.99868532e-01 3.37140863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269254153999995 meters Centerline goodness [0,1] 0.9989204292881184 Centerline is valid? [True, True] Translation: X:44.26, Y:0.64, Z:0.34 [[ 9.98873365e-01 -4.47426316e-02 -1.58144881e-02 4.42629906e+01] [ 4.47449657e-02 9.98998421e-01 -2.06384503e-04 6.37793062e-01] [ 1.58078828e-02 -5.01466743e-04 9.99874922e-01 3.38235562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299254153999996 meters Centerline goodness [0,1] 0.9991934970392852 Centerline is valid? [True, True] Translation: X:44.29, Y:0.65, Z:0.34 [[ 9.99317430e-01 -3.40206046e-02 -1.43969897e-02 4.42931457e+01] [ 3.40214316e-02 9.99421086e-01 -1.87544336e-04 6.48226839e-01] [ 1.43950355e-02 -3.02389876e-04 9.99896340e-01 3.39852853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.329254154 meters Centerline goodness [0,1] 0.9991302134159277 Centerline is valid? [True, True] Translation: X:44.32, Y:0.65, Z:0.34 [[ 9.99498574e-01 -2.84599385e-02 -1.38792277e-02 4.43248711e+01] [ 2.84601751e-02 9.99594911e-01 -1.80501120e-04 6.53382568e-01] [ 1.38787424e-02 -2.14594639e-04 9.99903663e-01 3.40608695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359254154 meters Centerline goodness [0,1] 0.9992570106353621 Centerline is valid? [True, True] Translation: X:44.36, Y:0.66, Z:0.34 [[ 9.99644577e-01 -2.29518581e-02 -1.35621200e-02 4.43553910e+01] [ 2.29515851e-02 9.99736562e-01 -1.75798533e-04 6.58229110e-01] [ 1.35625822e-02 -1.35536102e-04 9.99908015e-01 3.41570688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38925415399999 meters Centerline goodness [0,1] 0.9991053741453128 Centerline is valid? [True, True] Translation: X:44.39, Y:0.66, Z:0.34 [[ 9.99750502e-01 -1.80095671e-02 -1.32132396e-02 4.43865077e+01] [ 1.80088803e-02 9.99837812e-01 -1.70970843e-04 6.62725821e-01] [ 1.32141757e-02 -6.70274642e-05 9.99912687e-01 3.42185472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419254153999994 meters Centerline goodness [0,1] 0.9994044453897692 Centerline is valid? [True, True] Translation: X:44.42, Y:0.67, Z:0.34 [[ 9.99871283e-01 -9.47358810e-03 -1.29487171e-02 4.44166436e+01] [ 9.47221700e-03 9.99955124e-01 -1.67213055e-04 6.69207676e-01] [ 1.29497201e-02 4.45384731e-05 9.99916148e-01 3.42527960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449254153999995 meters Centerline goodness [0,1] 0.9993386102280728 Centerline is valid? [True, True] Translation: X:44.45, Y:0.67, Z:0.34 [[ 9.99888112e-01 -6.65545003e-03 -1.33965626e-02 4.44452887e+01] [ 6.65371587e-03 9.99977849e-01 -1.74014850e-04 6.71328747e-01] [ 1.33974240e-02 8.48584588e-05 9.99910247e-01 3.42039000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479254153999996 meters Centerline goodness [0,1] 0.9993161224140878 Centerline is valid? [True, True] Translation: X:44.47, Y:0.67, Z:0.34 [[ 9.99885840e-01 -3.09993697e-03 -1.47883915e-02 4.44735598e+01] [ 3.09738903e-03 9.99995184e-01 -1.95194161e-04 6.73632416e-01] [ 1.47889253e-02 1.49366476e-04 9.99890627e-01 3.40733615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.509254154 meters Centerline goodness [0,1] 0.9991675382612222 Centerline is valid? [True, True] Translation: X:44.50, Y:0.67, Z:0.34 [[ 9.99874257e-01 -2.90958072e-03 -1.55886150e-02 4.45010956e+01] [ 2.90670399e-03 9.99995754e-01 -2.07194805e-04 6.74837756e-01] [ 1.55891516e-02 1.61857262e-04 9.99878469e-01 3.40329519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539254154 meters Centerline goodness [0,1] 0.9993578492229975 Centerline is valid? [True, True] Translation: X:44.53, Y:0.68, Z:0.34 [[ 9.99868757e-01 -3.07686904e-03 -1.59060087e-02 4.45281688e+01] [ 3.07386877e-03 9.99995253e-01 -2.13069605e-04 6.75218346e-01] [ 1.59065887e-02 1.64148658e-04 9.99873469e-01 3.39992967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56925415399999 meters Centerline goodness [0,1] 0.9992737370500908 Centerline is valid? [True, True] Translation: X:44.56, Y:0.68, Z:0.34 [[ 9.99863597e-01 -4.04578548e-03 -1.60130942e-02 4.45552998e+01] [ 4.04282995e-03 9.99991804e-01 -2.16936996e-04 6.75056926e-01] [ 1.60138407e-02 1.52169189e-04 9.99871759e-01 3.39483065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59925415399999 meters Centerline goodness [0,1] 0.9992737370500908 Centerline is valid? [True, True] Translation: X:44.58, Y:0.68, Z:0.34 [[ 9.99862440e-01 -4.32252755e-03 -1.60130444e-02 4.45826866e+01] [ 4.31954940e-03 9.99990646e-01 -2.20565553e-04 6.75516012e-01] [ 1.60138480e-02 1.51366075e-04 9.99871759e-01 3.39740285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629254153999995 meters Centerline goodness [0,1] 0.9992101443087695 Centerline is valid? [True, True] Translation: X:44.61, Y:0.67, Z:0.34 [[ 9.99839586e-01 -7.63742307e-03 -1.62010170e-02 4.46116093e+01] [ 7.63475950e-03 9.99970829e-01 -2.26251575e-04 6.71958835e-01] [ 1.62022723e-02 1.02524413e-04 9.99868729e-01 3.39730649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659254153999996 meters Centerline goodness [0,1] 0.9991884676988788 Centerline is valid? [True, True] Translation: X:44.64, Y:0.67, Z:0.34 [[ 9.99823337e-01 -9.98466372e-03 -1.59248635e-02 4.46402562e+01] [ 9.98237045e-03 9.99950150e-01 -2.23490290e-04 6.70066148e-01] [ 1.59263011e-02 6.44829206e-05 9.99873166e-01 3.40071674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689254154 meters Centerline goodness [0,1] 0.9991916785433197 Centerline is valid? [True, True] Translation: X:44.67, Y:0.67, Z:0.34 [[ 9.99777659e-01 -1.50954883e-02 -1.47227526e-02 4.46692575e+01] [ 1.50940677e-02 9.99886057e-01 -2.07612612e-04 6.66042732e-01] [ 1.47242091e-02 -1.46597733e-05 9.99891593e-01 3.41611229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719254154 meters Centerline goodness [0,1] 0.9990831947464927 Centerline is valid? [True, True] Translation: X:44.70, Y:0.66, Z:0.34 [[ 9.99731182e-01 -1.81186455e-02 -1.44664607e-02 4.46978883e+01] [ 1.81175617e-02 9.99835842e-01 -2.05978106e-04 6.64512738e-01] [ 1.44678180e-02 -5.61742590e-05 9.99895334e-01 3.42320275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74925415399999 meters Centerline goodness [0,1] 0.9989382034402209 Centerline is valid? [True, True] Translation: X:44.73, Y:0.66, Z:0.34 [[ 9.99680080e-01 -2.10686729e-02 -1.39946162e-02 4.47264735e+01] [ 2.10679116e-02 9.99778027e-01 -2.01842157e-04 6.62295999e-01] [ 1.39957624e-02 -9.30597542e-05 9.99902050e-01 3.42665499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77925415399999 meters Centerline goodness [0,1] 0.9990059011400411 Centerline is valid? [True, True] Translation: X:44.76, Y:0.66, Z:0.34 [[ 9.99536593e-01 -2.74023760e-02 -1.32555043e-02 4.47567288e+01] [ 2.74022433e-02 9.99624470e-01 -1.91666002e-04 6.57399822e-01] [ 1.32557785e-02 -1.71653371e-04 9.99912124e-01 3.43521593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809254153999994 meters Centerline goodness [0,1] 0.999196158483701 Centerline is valid? [True, True] Translation: X:44.79, Y:0.65, Z:0.34 [[ 9.99444510e-01 -3.05010167e-02 -1.34298111e-02 4.47880913e+01] [ 3.05011632e-02 9.99534712e-01 -1.93961476e-04 6.52829168e-01] [ 1.34294784e-02 -2.15771128e-04 9.99909797e-01 3.43143917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839254153999995 meters Centerline goodness [0,1] 0.9990507530692317 Centerline is valid? [True, True] Translation: X:44.82, Y:0.65, Z:0.34 [[ 9.99212780e-01 -3.73520431e-02 -1.33658466e-02 4.48193019e+01] [ 3.73528086e-02 9.99302122e-01 -1.92450577e-04 6.47126993e-01] [ 1.33637073e-02 -3.06952832e-04 9.99910655e-01 3.43304170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869254154 meters Centerline goodness [0,1] 0.9988594360544936 Centerline is valid? [True, True] Translation: X:44.85, Y:0.65, Z:0.34 [[ 9.99081433e-01 -4.06529619e-02 -1.35509297e-02 4.48514322e+01] [ 4.06540586e-02 9.99173263e-01 -1.94639123e-04 6.45723596e-01] [ 1.35476393e-02 -3.56439955e-04 9.99908163e-01 3.43380564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899254154 meters Centerline goodness [0,1] 0.9988409828465461 Centerline is valid? [True, True] Translation: X:44.88, Y:0.64, Z:0.34 [[ 9.98941697e-01 -4.37726982e-02 -1.41222204e-02 4.48828016e+01] [ 4.37742172e-02 9.99041429e-01 -2.01681033e-04 6.42806779e-01] [ 1.41175114e-02 -4.16721550e-04 9.99900256e-01 3.43235088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.929254154 meters Centerline goodness [0,1] 0.9989059080962801 Centerline is valid? [True, True] Translation: X:44.91, Y:0.64, Z:0.34 [[ 9.98669814e-01 -4.96124092e-02 -1.40431761e-02 4.49141246e+01] [ 4.96145025e-02 9.98768422e-01 -1.99508035e-04 6.38631348e-01] [ 1.40357789e-02 -4.97502542e-04 9.99901370e-01 3.43516061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95925415399999 meters Centerline goodness [0,1] 0.9989268805891636 Centerline is valid? [True, True] Translation: X:44.95, Y:0.64, Z:0.34 [[ 9.98558306e-01 -5.18245628e-02 -1.39830059e-02 4.49459407e+01] [ 5.18268630e-02 9.98656065e-01 -1.98058484e-04 6.36604598e-01] [ 1.39744780e-02 -5.26922387e-04 9.99902213e-01 3.43659423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989254153999994 meters Centerline goodness [0,1] 0.999010505484326 Centerline is valid? [True, True] Translation: X:44.98, Y:0.63, Z:0.34 [[ 9.98474945e-01 -5.34243895e-02 -1.39146964e-02 4.49775345e+01] [ 5.34268330e-02 9.98571748e-01 -1.96330440e-04 6.32599544e-01] [ 1.39053116e-02 -5.47387136e-04 9.99903167e-01 3.43539716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019254153999995 meters Centerline goodness [0,1] 0.9988422758751342 Centerline is valid? [True, True] Translation: X:45.01, Y:0.63, Z:0.34 [[ 9.98360722e-01 -5.54113772e-02 -1.43334711e-02 4.50081820e+01] [ 5.54141845e-02 9.98463433e-01 -2.01536824e-04 6.28170356e-01] [ 1.43226142e-02 -5.93071164e-04 9.99897250e-01 3.42605092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049254153999996 meters Centerline goodness [0,1] 0.9988001768160482 Centerline is valid? [True, True] Translation: X:45.04, Y:0.63, Z:0.34 [[ 9.98342266e-01 -5.56645317e-02 -1.46349136e-02 4.50401659e+01] [ 5.56674960e-02 9.98449342e-01 -2.05054905e-04 6.31295901e-01] [ 1.46236341e-02 -6.09974016e-04 9.99892883e-01 3.43030542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079254154 meters Centerline goodness [0,1] 0.999113643558088 Centerline is valid? [True, True] Translation: X:45.07, Y:0.63, Z:0.34 [[ 9.98373843e-01 -5.50158188e-02 -1.49308213e-02 4.50711476e+01] [ 5.50188466e-02 9.98485294e-01 -2.08210613e-04 6.32498087e-01] [ 1.49196604e-02 -6.13604536e-04 9.99888507e-01 3.43205756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.109254154 meters Centerline goodness [0,1] 0.9988401518346689 Centerline is valid? [True, True] Translation: X:45.10, Y:0.63, Z:0.34 [[ 9.98420244e-01 -5.41312899e-02 -1.50605081e-02 4.51028443e+01] [ 5.41342838e-02 9.98533643e-01 -2.09106135e-04 6.33475300e-01] [ 1.50497432e-02 -6.06514022e-04 9.99886562e-01 3.43154802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13925415399999 meters Centerline goodness [0,1] 0.9986929757989712 Centerline is valid? [True, True] Translation: X:45.13, Y:0.63, Z:0.34 [[ 9.98464734e-01 -5.32296407e-02 -1.53225701e-02 4.51346269e+01] [ 5.32326505e-02 9.98582115e-01 -2.11648012e-04 6.34908805e-01] [ 1.53121104e-02 -6.04337946e-04 9.99882580e-01 3.43023490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169254153999994 meters Centerline goodness [0,1] 0.9989011685649684 Centerline is valid? [True, True] Translation: X:45.17, Y:0.64, Z:0.34 [[ 9.98533913e-01 -5.16744767e-02 -1.61175018e-02 4.51658182e+01] [ 5.16776216e-02 9.98663794e-01 -2.21578151e-04 6.36942964e-01] [ 1.61074154e-02 -6.11660859e-04 9.99870080e-01 3.42314775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199254153999995 meters Centerline goodness [0,1] 0.9991520752957137 Centerline is valid? [True, True] Translation: X:45.20, Y:0.64, Z:0.34 [[ 9.98540279e-01 -5.14007806e-02 -1.65912981e-02 4.51979807e+01] [ 5.14040922e-02 9.98677910e-01 -2.27082683e-04 6.37929054e-01] [ 1.65810352e-02 -6.26109413e-04 9.99862329e-01 3.42199689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229254153999996 meters Centerline goodness [0,1] 0.9988337821505057 Centerline is valid? [True, True] Translation: X:45.23, Y:0.64, Z:0.34 [[ 9.98516511e-01 -5.16119600e-02 -1.73488299e-02 4.52292884e+01] [ 5.16156318e-02 9.98666997e-01 -2.36355307e-04 6.38710126e-01] [ 1.73379026e-02 -6.59466139e-04 9.99849470e-01 3.41476558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259254154 meters Centerline goodness [0,1] 0.9987710041743479 Centerline is valid? [True, True] Translation: X:45.26, Y:0.64, Z:0.34 [[ 9.98503078e-01 -5.17832327e-02 -1.76096711e-02 4.52602832e+01] [ 5.17870585e-02 9.98658121e-01 -2.38992805e-04 6.39440060e-01] [ 1.75984169e-02 -6.73318019e-04 9.99844909e-01 3.41498104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.289254154 meters Centerline goodness [0,1] 0.9988344741359215 Centerline is valid? [True, True] Translation: X:45.29, Y:0.64, Z:0.34 [[ 9.98509730e-01 -5.17373060e-02 -1.73657627e-02 4.52919625e+01] [ 5.17410372e-02 9.98660508e-01 -2.34665693e-04 6.40798639e-01] [ 1.73546424e-02 -6.64206597e-04 9.99849176e-01 3.41596136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31925415399999 meters Centerline goodness [0,1] 0.998958997238156 Centerline is valid? [True, True] Translation: X:45.32, Y:0.65, Z:0.34 [[ 9.98479648e-01 -5.20334085e-02 -1.81911472e-02 4.53238946e+01] [ 5.20375754e-02 9.98645098e-01 -2.44533372e-04 6.46288052e-01] [ 1.81792239e-02 -7.02461599e-04 9.99834497e-01 3.42438631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34925415399999 meters Centerline goodness [0,1] 0.9990237691001698 Centerline is valid? [True, True] Translation: X:45.36, Y:0.65, Z:0.34 [[ 9.98488330e-01 -5.17430309e-02 -1.85395044e-02 4.53564522e+01] [ 5.17473334e-02 9.98660178e-01 -2.47901394e-04 6.48151984e-01] [ 1.85274920e-02 -7.11843268e-04 9.99828098e-01 3.42694718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379254153999995 meters Centerline goodness [0,1] 0.999000829099258 Centerline is valid? [True, True] Translation: X:45.39, Y:0.65, Z:0.34 [[ 9.98497860e-01 -5.17060470e-02 -1.81247714e-02 4.53878823e+01] [ 5.17101729e-02 9.98662105e-01 -2.41253144e-04 6.49433398e-01] [ 1.81129966e-02 -6.96344317e-04 9.99835704e-01 3.42925874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409254153999996 meters Centerline goodness [0,1] 0.9990434690190243 Centerline is valid? [True, True] Translation: X:45.42, Y:0.65, Z:0.34 [[ 9.98496176e-01 -5.20152460e-02 -1.73147325e-02 4.54204701e+01] [ 5.20190754e-02 9.98646065e-01 -2.29450732e-04 6.52818798e-01] [ 1.73032244e-02 -6.71590696e-04 9.99850062e-01 3.44432643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439254154 meters Centerline goodness [0,1] 0.9992333411418958 Centerline is valid? [True, True] Translation: X:45.45, Y:0.66, Z:0.35 [[ 9.98512864e-01 -5.20323298e-02 -1.62695097e-02 4.54526909e+01] [ 5.20357312e-02 9.98645201e-01 -2.14472941e-04 6.60126753e-01] [ 1.62586273e-02 -6.32441843e-04 9.99867620e-01 3.46781824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.469254154 meters Centerline goodness [0,1] 0.9991282716390619 Centerline is valid? [True, True] Translation: X:45.48, Y:0.66, Z:0.35 [[ 9.98528246e-01 -5.20168444e-02 -1.53489561e-02 4.54845583e+01] [ 5.20198971e-02 9.98646028e-01 -2.00567188e-04 6.59795694e-01] [ 1.53386069e-02 -5.98179112e-04 9.99882178e-01 3.47543823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49925415399999 meters Centerline goodness [0,1] 0.9990411455114956 Centerline is valid? [True, True] Translation: X:45.52, Y:0.66, Z:0.35 [[ 9.98454633e-01 -5.38346921e-02 -1.37902766e-02 4.55152721e+01] [ 5.38373530e-02 9.98549702e-01 -1.78479000e-04 6.60547396e-01] [ 1.37798849e-02 -5.64228802e-04 9.99904894e-01 3.48327931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52925415399999 meters Centerline goodness [0,1] 0.9989987431030443 Centerline is valid? [True, True] Translation: X:45.55, Y:0.66, Z:0.35 [[ 9.98382142e-01 -5.52482640e-02 -1.34434922e-02 4.55474531e+01] [ 5.52509291e-02 9.98472486e-01 -1.73359632e-04 6.64381222e-01] [ 1.34325349e-02 -5.69686271e-04 9.99909617e-01 3.49025531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559254153999994 meters Centerline goodness [0,1] 0.9990832924723388 Centerline is valid? [True, True] Translation: X:45.58, Y:0.66, Z:0.35 [[ 9.98132801e-01 -5.96648232e-02 -1.30774567e-02 4.55773792e+01] [ 5.96677321e-02 9.98218280e-01 -1.67964100e-04 6.60512880e-01] [ 1.30641778e-02 -6.12651703e-04 9.99914472e-01 3.48715638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589254153999995 meters Centerline goodness [0,1] 0.9991470487888093 Centerline is valid? [True, True] Translation: X:45.61, Y:0.67, Z:0.35 [[ 9.97982405e-01 -6.21512433e-02 -1.29747009e-02 4.56096039e+01] [ 6.21543197e-02 9.98066537e-01 -1.66379133e-04 6.65116482e-01] [ 1.29599555e-02 -6.40390260e-04 9.99915811e-01 3.49187306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619254154 meters Centerline goodness [0,1] 0.9993185544836986 Centerline is valid? [True, True] Translation: X:45.64, Y:0.66, Z:0.35 [[ 9.97799549e-01 -6.49695195e-02 -1.32296056e-02 4.56394262e+01] [ 6.49729743e-02 9.97887010e-01 -1.68945674e-04 6.63890825e-01] [ 1.32126279e-02 -6.90992906e-04 9.99912471e-01 3.49088555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.649254154 meters Centerline goodness [0,1] 0.9991908868306185 Centerline is valid? [True, True] Translation: X:45.67, Y:0.66, Z:0.35 [[ 9.97610566e-01 -6.77371006e-02 -1.35957258e-02 4.56702203e+01] [ 6.77410066e-02 9.97702925e-01 -1.73543399e-04 6.63737781e-01] [ 1.35762507e-02 -7.47859423e-04 9.99907559e-01 3.48590895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67925415399999 meters Centerline goodness [0,1] 0.9992945250871155 Centerline is valid? [True, True] Translation: X:45.70, Y:0.66, Z:0.35 [[ 9.97324416e-01 -7.17408773e-02 -1.40448019e-02 4.57001384e+01] [ 7.17454477e-02 9.97422959e-01 -1.78816182e-04 6.60107168e-01] [ 1.40214363e-02 -8.29312855e-04 9.99901351e-01 3.48170663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70925415399999 meters Centerline goodness [0,1] 0.9994673257622568 Centerline is valid? [True, True] Translation: X:45.73, Y:0.66, Z:0.35 [[ 9.97235843e-01 -7.29261427e-02 -1.42284984e-02 4.57319524e+01] [ 7.29309700e-02 9.97336975e-01 -1.80003590e-04 6.59745045e-01] [ 1.42037345e-02 -8.58192155e-04 9.99898754e-01 3.48317041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739254153999994 meters Centerline goodness [0,1] 0.9992742641251681 Centerline is valid? [True, True] Translation: X:45.76, Y:0.66, Z:0.35 [[ 9.97152596e-01 -7.39254400e-02 -1.48905853e-02 4.57644849e+01] [ 7.39308615e-02 9.97263352e-01 -1.86806850e-04 6.63979450e-01] [ 1.48636448e-02 -9.14598867e-04 9.99889112e-01 3.48598929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769254153999995 meters Centerline goodness [0,1] 0.9995301956094644 Centerline is valid? [True, True] Translation: X:45.80, Y:0.66, Z:0.35 [[ 9.97150533e-01 -7.39880990e-02 -1.47165372e-02 4.57961590e+01] [ 7.39934154e-02 9.97258713e-01 -1.83657155e-04 6.64236484e-01] [ 1.46897834e-02 -9.05793020e-04 9.99891689e-01 3.48625781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799254153999996 meters Centerline goodness [0,1] 0.9993364584002226 Centerline is valid? [True, True] Translation: X:45.83, Y:0.67, Z:0.35 [[ 9.97227334e-01 -7.28050471e-02 -1.53970463e-02 4.58270606e+01] [ 7.28107394e-02 9.97345757e-01 -1.91293423e-04 6.67180633e-01] [ 1.53701060e-02 -9.30307298e-04 9.99881440e-01 3.48047826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.829254154 meters Centerline goodness [0,1] 0.999208149638317 Centerline is valid? [True, True] Translation: X:45.86, Y:0.67, Z:0.35 [[ 9.97327265e-01 -7.13525318e-02 -1.57207488e-02 4.58596989e+01] [ 7.13583032e-02 9.97450728e-01 -1.94224386e-04 6.72352263e-01] [ 1.56945307e-02 -9.28100680e-04 9.99876403e-01 3.48100273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859254154 meters Centerline goodness [0,1] 0.9994639334419761 Centerline is valid? [True, True] Translation: X:45.89, Y:0.68, Z:0.35 [[ 9.97609477e-01 -6.72135633e-02 -1.60520393e-02 4.58901506e+01] [ 6.72190624e-02 9.97738222e-01 -1.97326172e-04 6.78739067e-01] [ 1.60289961e-02 -8.82148570e-04 9.99871138e-01 3.48074059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88925415399999 meters Centerline goodness [0,1] 0.9994205386844082 Centerline is valid? [True, True] Translation: X:45.92, Y:0.68, Z:0.35 [[ 9.97786031e-01 -6.46469218e-02 -1.56144729e-02 4.59211230e+01] [ 6.46518178e-02 9.97907864e-01 -1.91556217e-04 6.80998007e-01] [ 1.55941888e-02 -8.18371936e-04 9.99878068e-01 3.48571285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919254153999994 meters Centerline goodness [0,1] 0.999397901255806 Centerline is valid? [True, True] Translation: X:45.95, Y:0.69, Z:0.35 [[ 9.97959481e-01 -6.19128481e-02 -1.56100751e-02 4.59524677e+01] [ 6.19174164e-02 9.98081258e-01 -1.90937160e-04 6.85037681e-01] [ 1.55919449e-02 -7.75987973e-04 9.99878137e-01 3.49301274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949254153999995 meters Centerline goodness [0,1] 0.9994608350586611 Centerline is valid? [True, True] Translation: X:45.98, Y:0.69, Z:0.35 [[ 9.98250125e-01 -5.73205130e-02 -1.45274731e-02 4.59832191e+01] [ 5.73239902e-02 9.98355612e-01 -1.77286233e-04 6.91696360e-01] [ 1.45137464e-02 -6.55796721e-04 9.99894455e-01 3.50655047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979254153999996 meters Centerline goodness [0,1] 0.9995468082351417 Centerline is valid? [True, True] Translation: X:46.02, Y:0.69, Z:0.35 [[ 9.98374000e-01 -5.52649736e-02 -1.39692107e-02 4.60151328e+01] [ 5.52679947e-02 9.98471542e-01 -1.69977696e-04 6.94551224e-01] [ 1.39572532e-02 -6.02348952e-04 9.99902411e-01 3.51295195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.009254154 meters Centerline goodness [0,1] 0.9993717776526148 Centerline is valid? [True, True] Translation: X:46.05, Y:0.70, Z:0.35 [[ 9.98540534e-01 -5.24007704e-02 -1.30751981e-02 4.60468890e+01] [ 5.24031829e-02 9.98625997e-01 -1.58262162e-04 7.00668650e-01] [ 1.30655258e-02 -5.27150814e-04 9.99914503e-01 3.51728217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039254154 meters Centerline goodness [0,1] 0.9996742105034534 Centerline is valid? [True, True] Translation: X:46.08, Y:0.70, Z:0.35 [[ 9.98595482e-01 -5.12680352e-02 -1.33660470e-02 4.60785372e+01] [ 5.12704656e-02 9.98684792e-01 -1.60980106e-04 7.01012694e-01] [ 1.33567210e-02 -5.24529448e-04 9.99910657e-01 3.51756352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06925415399999 meters Centerline goodness [0,1] 0.9995656517395648 Centerline is valid? [True, True] Translation: X:46.11, Y:0.70, Z:0.35 [[ 9.98637830e-01 -5.05392345e-02 -1.29719013e-02 4.61105223e+01] [ 5.05414740e-02 9.98721951e-01 -1.55328676e-04 7.03818544e-01] [ 1.29631727e-02 -5.00501919e-04 9.99915849e-01 3.51874879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09925415399999 meters Centerline goodness [0,1] 0.9995864350703061 Centerline is valid? [True, True] Translation: X:46.14, Y:0.71, Z:0.35 [[ 9.98659895e-01 -5.01035721e-02 -1.29632808e-02 4.61425011e+01] [ 5.01057840e-02 9.98743904e-01 -1.54298242e-04 7.07821674e-01] [ 1.29547286e-02 -4.95443881e-04 9.99915961e-01 3.51635126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129254153999995 meters Centerline goodness [0,1] 0.99960815900037 Centerline is valid? [True, True] Translation: X:46.17, Y:0.71, Z:0.35 [[ 9.98635633e-01 -5.04269981e-02 -1.35643189e-02 4.61736918e+01] [ 5.04294624e-02 9.98727612e-01 -1.60517358e-04 7.07896701e-01] [ 1.35551542e-02 -5.23742956e-04 9.99907988e-01 3.51256627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159254153999996 meters Centerline goodness [0,1] 0.9995416348357525 Centerline is valid? [True, True] Translation: X:46.20, Y:0.71, Z:0.35 [[ 9.98569837e-01 -5.11343426e-02 -1.56064016e-02 4.62045271e+01] [ 5.11377129e-02 9.98691594e-01 -1.83294058e-04 7.07863185e-01] [ 1.55953547e-02 -6.15043766e-04 9.99878196e-01 3.49752199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189254154 meters Centerline goodness [0,1] 0.9995856233097793 Centerline is valid? [True, True] Translation: X:46.24, Y:0.71, Z:0.35 [[ 9.98532189e-01 -5.13597150e-02 -1.71943801e-02 4.62371213e+01] [ 5.13638721e-02 9.98679985e-01 -2.00054046e-04 7.09256726e-01] [ 1.71819580e-02 -6.83409536e-04 9.99852146e-01 3.48252954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219254154 meters Centerline goodness [0,1] 0.9996727034693432 Centerline is valid? [True, True] Translation: X:46.27, Y:0.71, Z:0.35 [[ 9.98511636e-01 -5.13197515e-02 -1.84606604e-02 4.62695515e+01] [ 5.13245618e-02 9.98682003e-01 -2.13429328e-04 7.11166973e-01] [ 1.84472824e-02 -7.34373638e-04 9.99829565e-01 3.47441733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24925415399999 meters Centerline goodness [0,1] 0.9996497756375178 Centerline is valid? [True, True] Translation: X:46.30, Y:0.71, Z:0.35 [[ 9.98499436e-01 -5.12156867e-02 -1.93863475e-02 4.63021606e+01] [ 5.12209997e-02 9.98687318e-01 -2.22708133e-04 7.12659208e-01] [ 1.93723056e-02 -7.70614157e-04 9.99812042e-01 3.47015836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27925415399999 meters Centerline goodness [0,1] 0.9997810570565311 Centerline is valid? [True, True] Translation: X:46.33, Y:0.71, Z:0.35 [[ 9.98542751e-01 -5.03018960e-02 -1.95472342e-02 4.63331092e+01] [ 5.03071468e-02 9.98733769e-01 -2.23330934e-04 7.11188230e-01] [ 1.95337168e-02 -7.60360094e-04 9.99808910e-01 3.46614499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309254153999994 meters Centerline goodness [0,1] 0.9997806777058889 Centerline is valid? [True, True] Translation: X:46.37, Y:0.72, Z:0.35 [[ 9.98601257e-01 -4.93805198e-02 -1.88969412e-02 4.63654250e+01] [ 4.93852841e-02 9.98779779e-01 -2.14741470e-04 7.15715281e-01] [ 1.88844868e-02 -7.18789705e-04 9.99821414e-01 3.48695563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339254153999995 meters Centerline goodness [0,1] 0.999539604937189 Centerline is valid? [True, True] Translation: X:46.40, Y:0.72, Z:0.35 [[ 9.98721753e-01 -4.76286220e-02 -1.69226244e-02 4.63973054e+01] [ 4.76322106e-02 9.98864924e-01 -1.91167519e-04 7.19850941e-01] [ 1.69125210e-02 -6.15138851e-04 9.99856784e-01 3.51157765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369254154 meters Centerline goodness [0,1] 0.9997145993413831 Centerline is valid? [True, True] Translation: X:46.43, Y:0.72, Z:0.35 [[ 9.98788459e-01 -4.64646083e-02 -1.62066099e-02 4.64283456e+01] [ 4.64677729e-02 9.98919773e-01 -1.81449081e-04 7.18672727e-01] [ 1.61975340e-02 -5.71855819e-04 9.99868648e-01 3.51957016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399254154 meters Centerline goodness [0,1] 0.9998245614035087 Centerline is valid? [True, True] Translation: X:46.46, Y:0.72, Z:0.35 [[ 9.98853592e-01 -4.52347426e-02 -1.56627115e-02 4.64606846e+01] [ 4.52375746e-02 9.98976242e-01 -1.73618105e-04 7.20711354e-01] [ 1.56545302e-02 -5.35124011e-04 9.99877317e-01 3.53059186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42925415399999 meters Centerline goodness [0,1] 0.9995619606640677 Centerline is valid? [True, True] Translation: X:46.49, Y:0.72, Z:0.35 [[ 9.98947677e-01 -4.34194840e-02 -1.47745284e-02 4.64934335e+01] [ 4.34218216e-02 9.99056815e-01 -1.62678823e-04 7.24118498e-01] [ 1.47676567e-02 -4.79029304e-04 9.99890837e-01 3.54387038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45925415399999 meters Centerline goodness [0,1] 0.9997585707387735 Centerline is valid? [True, True] Translation: X:46.53, Y:0.73, Z:0.36 [[ 9.98967338e-01 -4.29564893e-02 -1.47985793e-02 4.65257971e+01] [ 4.29588018e-02 9.99076831e-01 -1.61724022e-04 7.26967161e-01] [ 1.47918649e-02 -4.74172221e-04 9.99890482e-01 3.55364728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489254153999994 meters Centerline goodness [0,1] 0.9997583479789104 Centerline is valid? [True, True] Translation: X:46.56, Y:0.73, Z:0.36 [[ 9.98979980e-01 -4.26143944e-02 -1.49336446e-02 4.65583292e+01] [ 4.26167275e-02 9.99091481e-01 -1.62106558e-04 7.27781237e-01] [ 1.49269851e-02 -4.74481854e-04 9.99888474e-01 3.55694344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519254153999995 meters Centerline goodness [0,1] 0.9997583479789104 Centerline is valid? [True, True] Translation: X:46.59, Y:0.73, Z:0.36 [[ 9.98984669e-01 -4.25043220e-02 -1.49336585e-02 4.65908912e+01] [ 4.25066622e-02 9.99096170e-01 -1.60808560e-04 7.28042874e-01] [ 1.49269961e-02 -4.74134693e-04 9.99888474e-01 3.55999163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549254153999996 meters Centerline goodness [0,1] 0.9998464912280701 Centerline is valid? [True, True] Translation: X:46.62, Y:0.73, Z:0.36 [[ 9.98990031e-01 -4.24471696e-02 -1.47362121e-02 4.66239618e+01] [ 4.24494658e-02 9.99098603e-01 -1.57073646e-04 7.28031045e-01] [ 1.47295962e-02 -4.68629325e-04 9.99891404e-01 3.56045370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579254154 meters Centerline goodness [0,1] 0.9996050292936607 Centerline is valid? [True, True] Translation: X:46.66, Y:0.73, Z:0.36 [[ 9.98971913e-01 -4.27196949e-02 -1.51705522e-02 4.66550598e+01] [ 4.27221862e-02 9.99086978e-01 -1.59967039e-04 7.26763189e-01] [ 1.51635349e-02 -4.88316578e-04 9.99884908e-01 3.55902367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.609254154 meters Centerline goodness [0,1] 0.9996924293686015 Centerline is valid? [True, True] Translation: X:46.69, Y:0.73, Z:0.36 [[ 9.98973366e-01 -4.25912959e-02 -1.54336086e-02 4.66877585e+01] [ 4.25938864e-02 9.99092456e-01 -1.60971135e-04 7.26382545e-01] [ 1.54264579e-02 -4.96571496e-04 9.99880882e-01 3.55932117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63925415399999 meters Centerline goodness [0,1] 0.9996053843118341 Centerline is valid? [True, True] Translation: X:46.72, Y:0.73, Z:0.36 [[ 9.98969594e-01 -4.23399703e-02 -1.63424982e-02 4.67205441e+01] [ 4.23428713e-02 9.99103124e-01 -1.68616505e-04 7.26103287e-01] [ 1.63349802e-02 -5.23545536e-04 9.99866438e-01 3.55769505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669254153999994 meters Centerline goodness [0,1] 0.9996928342621441 Centerline is valid? [True, True] Translation: X:46.75, Y:0.73, Z:0.36 [[ 9.98989113e-01 -4.15705739e-02 -1.71066895e-02 4.67529606e+01] [ 4.15736680e-02 9.99135426e-01 -1.74865075e-04 7.27527531e-01] [ 1.70991687e-02 -5.36499522e-04 9.99853655e-01 3.55972589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699254153999995 meters Centerline goodness [0,1] 0.9995833424705599 Centerline is valid? [True, True] Translation: X:46.78, Y:0.73, Z:0.36 [[ 9.99007407e-01 -4.10159557e-02 -1.73750492e-02 4.67839958e+01] [ 4.10190838e-02 9.99158348e-01 -1.76460744e-04 7.25739681e-01] [ 1.73676632e-02 -5.36423010e-04 9.99849027e-01 3.55717696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729254153999996 meters Centerline goodness [0,1] 0.9995400788436268 Centerline is valid? [True, True] Translation: X:46.82, Y:0.73, Z:0.36 [[ 9.99054790e-01 -3.98762735e-02 -1.73034495e-02 4.68166377e+01] [ 3.98792263e-02 9.99204492e-01 -1.74505232e-04 7.27403110e-01] [ 1.72966430e-02 -5.15707889e-04 9.99850269e-01 3.56173320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759254154 meters Centerline goodness [0,1] 0.9995609124239829 Centerline is valid? [True, True] Translation: X:46.85, Y:0.73, Z:0.36 [[ 9.99125737e-01 -3.76599565e-02 -1.81518393e-02 4.68487111e+01] [ 3.76628681e-02 9.99290486e-01 -1.81543952e-04 7.29135743e-01] [ 1.81457973e-02 -5.02265096e-04 9.99835225e-01 3.56136476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.789254154 meters Centerline goodness [0,1] 0.9997149435368928 Centerline is valid? [True, True] Translation: X:46.88, Y:0.73, Z:0.36 [[ 9.99172547e-01 -3.63826637e-02 -1.81802925e-02 4.68795998e+01] [ 3.63853941e-02 9.99337816e-01 -1.80676893e-04 7.29522703e-01] [ 1.81748273e-02 -4.80969717e-04 9.99834708e-01 3.55836976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81925415399999 meters Centerline goodness [0,1] 0.999736847876143 Centerline is valid? [True, True] Translation: X:46.91, Y:0.73, Z:0.36 [[ 9.99299513e-01 -3.27874485e-02 -1.80406728e-02 4.69110611e+01] [ 3.27895662e-02 9.99462262e-01 -1.78479146e-04 7.31909613e-01] [ 1.80368236e-02 -4.13191712e-04 9.99837238e-01 3.56560592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84925415399999 meters Centerline goodness [0,1] 0.9996479957759493 Centerline is valid? [True, True] Translation: X:46.94, Y:0.73, Z:0.36 [[ 9.99364269e-01 -3.07597453e-02 -1.80248936e-02 4.69428647e+01] [ 3.07615440e-02 9.99526736e-01 -1.77531148e-04 7.33461234e-01] [ 1.80218239e-02 -3.77055272e-04 9.99837523e-01 3.56973635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879254153999995 meters Centerline goodness [0,1] 0.9996487607841416 Centerline is valid? [True, True] Translation: X:46.97, Y:0.73, Z:0.36 [[ 9.99437375e-01 -2.83161311e-02 -1.79758010e-02 4.69744983e+01] [ 2.83175391e-02 9.99598963e-01 -1.76252953e-04 7.34903433e-01] [ 1.79735828e-02 -3.32876659e-04 9.99838407e-01 3.57305520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909254153999996 meters Centerline goodness [0,1] 0.9997363506536306 Centerline is valid? [True, True] Translation: X:47.01, Y:0.74, Z:0.36 [[ 9.99574441e-01 -2.35895490e-02 -1.71601505e-02 4.70055603e+01] [ 2.35901435e-02 9.99721700e-01 -1.67806760e-04 7.38199159e-01] [ 1.71593333e-02 -2.37075064e-04 9.99852740e-01 3.58214393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939254154 meters Centerline goodness [0,1] 0.9997362637362638 Centerline is valid? [True, True] Translation: X:47.04, Y:0.74, Z:0.36 [[ 9.99626465e-01 -2.14215645e-02 -1.69719446e-02 4.70357989e+01] [ 2.14218363e-02 9.99770512e-01 -1.65805127e-04 7.39868697e-01] [ 1.69716015e-02 -1.97827026e-04 9.99855952e-01 3.58579132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.969254154 meters Centerline goodness [0,1] 0.9996490535412691 Centerline is valid? [True, True] Translation: X:47.07, Y:0.74, Z:0.36 [[ 9.99665765e-01 -1.97196928e-02 -1.67180309e-02 4.70655531e+01] [ 1.97197164e-02 9.99805534e-01 -1.63450877e-04 7.41105383e-01] [ 1.67180030e-02 -1.66278583e-04 9.99860231e-01 3.58603402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99925415399999 meters Centerline goodness [0,1] 0.9996696835568475 Centerline is valid? [True, True] Translation: X:47.10, Y:0.74, Z:0.36 [[ 9.99679878e-01 -1.82611723e-02 -1.75120331e-02 4.70956479e+01] [ 1.82609665e-02 9.99833240e-01 -1.71671590e-04 7.42715026e-01] [ 1.75122478e-02 -1.48170016e-04 9.99846638e-01 3.58423112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02925415399999 meters Centerline goodness [0,1] 0.9996039865355422 Centerline is valid? [True, True] Translation: X:47.12, Y:0.74, Z:0.36 [[ 9.99652529e-01 -1.87455648e-02 -1.85317267e-02 4.71247168e+01] [ 1.87453690e-02 9.99824273e-01 -1.84287205e-04 7.42720451e-01] [ 1.85319248e-02 -1.63160885e-04 9.99828256e-01 3.57792346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059254153999994 meters Centerline goodness [0,1] 0.9996707710541911 Centerline is valid? [True, True] Translation: X:47.15, Y:0.74, Z:0.36 [[ 9.99598239e-01 -1.99734170e-02 -2.01102663e-02 4.71535073e+01] [ 1.99733287e-02 9.99800492e-01 -2.05262665e-04 7.42404751e-01] [ 2.01103539e-02 -1.96488761e-04 9.99797747e-01 3.56887175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089254153999995 meters Centerline goodness [0,1] 0.9996702644479127 Centerline is valid? [True, True] Translation: X:47.18, Y:0.74, Z:0.36 [[ 9.99557204e-01 -2.10937416e-02 -2.09868782e-02 4.71810018e+01] [ 2.10938174e-02 9.99777477e-01 -2.17780736e-04 7.41474325e-01] [ 2.09868019e-02 -2.25009072e-04 9.99779727e-01 3.56032676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119254154 meters Centerline goodness [0,1] 0.9996267509770342 Centerline is valid? [True, True] Translation: X:47.21, Y:0.74, Z:0.35 [[ 9.99516689e-01 -2.23115811e-02 -2.16467337e-02 4.72089776e+01] [ 2.23119045e-02 9.99751033e-01 -2.26611791e-04 7.40052499e-01] [ 2.16464005e-02 -2.56477588e-04 9.99765656e-01 3.54727718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.149254154 meters Centerline goodness [0,1] 0.9996482202141459 Centerline is valid? [True, True] Translation: X:47.24, Y:0.74, Z:0.36 [[ 9.99478986e-01 -2.38373984e-02 -2.17608470e-02 4.72373012e+01] [ 2.38380010e-02 9.99715808e-01 -2.31742643e-04 7.39977158e-01] [ 2.17601868e-02 -2.87113190e-04 9.99763178e-01 3.55524364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17925415399999 meters Centerline goodness [0,1] 0.9996485910698205 Centerline is valid? [True, True] Translation: X:47.27, Y:0.74, Z:0.36 [[ 9.99440433e-01 -2.54850246e-02 -2.16641170e-02 4.72664531e+01] [ 2.54858916e-02 9.99675154e-01 -2.36119638e-04 7.39671411e-01] [ 2.16630970e-02 -3.16141823e-04 9.99765278e-01 3.56315823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20925415399999 meters Centerline goodness [0,1] 0.999715018523796 Centerline is valid? [True, True] Translation: X:47.29, Y:0.74, Z:0.36 [[ 9.99423074e-01 -2.67714522e-02 -2.08999741e-02 4.72947634e+01] [ 2.67724801e-02 9.99641526e-01 -2.30671200e-04 7.38988971e-01] [ 2.08986574e-02 -3.29006020e-04 9.99781545e-01 3.56966176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239254153999994 meters Centerline goodness [0,1] 0.9996272011578693 Centerline is valid? [True, True] Translation: X:47.33, Y:0.74, Z:0.36 [[ 9.99389341e-01 -2.93449095e-02 -1.89689468e-02 4.73255723e+01] [ 2.93462108e-02 9.99569285e-01 -2.09811598e-04 7.37155424e-01] [ 1.89669335e-02 -3.46983236e-04 9.99820051e-01 3.58996450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269254153999995 meters Centerline goodness [0,1] 0.9996487607841416 Centerline is valid? [True, True] Translation: X:47.36, Y:0.74, Z:0.36 [[ 9.99354298e-01 -3.09315041e-02 -1.82819586e-02 4.73571666e+01] [ 3.09329840e-02 9.99521440e-01 -2.01896415e-04 7.36435416e-01] [ 1.82794545e-02 -3.63749482e-04 9.99832851e-01 3.60222903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299254153999996 meters Centerline goodness [0,1] 0.9994300995133927 Centerline is valid? [True, True] Translation: X:47.39, Y:0.73, Z:0.36 [[ 9.99301514e-01 -3.39264598e-02 -1.56678110e-02 4.73886594e+01] [ 3.39279242e-02 9.99424267e-01 -1.72407033e-04 7.33596601e-01] [ 1.56646397e-02 -3.59289696e-04 9.99877237e-01 3.62010627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.329254154 meters Centerline goodness [0,1] 0.9996062475390471 Centerline is valid? [True, True] Translation: X:47.42, Y:0.73, Z:0.36 [[ 9.99251918e-01 -3.56595014e-02 -1.49667503e-02 4.74209630e+01] [ 3.56610448e-02 9.99363929e-01 -1.63827540e-04 7.32399687e-01] [ 1.49630723e-02 -3.70024968e-04 9.99887978e-01 3.63112518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359254154 meters Centerline goodness [0,1] 0.9995852162333267 Centerline is valid? [True, True] Translation: X:47.45, Y:0.73, Z:0.36 [[ 9.99128420e-01 -3.95485221e-02 -1.33534527e-02 4.74527555e+01] [ 3.95501084e-02 9.99217578e-01 -1.45368545e-04 7.31689534e-01] [ 1.33487538e-02 -3.82888658e-04 9.99910828e-01 3.64338455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38925415399999 meters Centerline goodness [0,1] 0.9995851166040702 Centerline is valid? [True, True] Translation: X:47.48, Y:0.73, Z:0.36 [[ 9.99040849e-01 -4.18712119e-02 -1.28133887e-02 4.74841073e+01] [ 4.18728720e-02 9.99122937e-01 -1.38808139e-04 7.29478485e-01] [ 1.28079626e-02 -3.97858382e-04 9.99917896e-01 3.64664262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419254153999994 meters Centerline goodness [0,1] 0.9994976410973265 Centerline is valid? [True, True] Translation: X:47.52, Y:0.73, Z:0.36 [[ 9.98940733e-01 -4.42493947e-02 -1.26255061e-02 4.75162803e+01] [ 4.42512055e-02 9.99020426e-01 -1.36033112e-04 7.27514934e-01] [ 1.26191579e-02 -4.22804849e-04 9.99920286e-01 3.64724040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449254153999995 meters Centerline goodness [0,1] 0.9995858942504686 Centerline is valid? [True, True] Translation: X:47.55, Y:0.73, Z:0.36 [[ 9.98824757e-01 -4.67808757e-02 -1.26749397e-02 4.75480253e+01] [ 4.67829152e-02 9.98905071e-01 -1.35701923e-04 7.26025177e-01] [ 1.26674098e-02 -4.57428190e-04 9.99919661e-01 3.64290766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479254153999996 meters Centerline goodness [0,1] 0.9994989434241771 Centerline is valid? [True, True] Translation: X:47.58, Y:0.72, Z:0.36 [[ 9.98521207e-01 -5.25404181e-02 -1.39607536e-02 4.75777174e+01] [ 5.25434623e-02 9.98618627e-01 -1.48902263e-04 7.20224102e-01] [ 1.39492919e-02 -5.84864261e-04 9.99902533e-01 3.62639294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.509254154 meters Centerline goodness [0,1] 0.9995863090053998 Centerline is valid? [True, True] Translation: X:47.61, Y:0.72, Z:0.36 [[ 9.98372196e-01 -5.50034402e-02 -1.50857244e-02 4.76088147e+01] [ 5.50072800e-02 9.98485940e-01 -1.60598550e-04 7.17452047e-01] [ 1.50717171e-02 -6.69487536e-04 9.99886191e-01 3.61954274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539254154 meters Centerline goodness [0,1] 0.9995432399512789 Centerline is valid? [True, True] Translation: X:47.64, Y:0.71, Z:0.36 [[ 9.98196482e-01 -5.78072331e-02 -1.61896956e-02 4.76394185e+01] [ 5.78120343e-02 9.98327471e-01 -1.71687582e-04 7.14813489e-01] [ 1.61725427e-02 -7.64581298e-04 9.99868924e-01 3.61145022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56925415399999 meters Centerline goodness [0,1] 0.9994996737002393 Centerline is valid? [True, True] Translation: X:47.67, Y:0.71, Z:0.36 [[ 9.98053579e-01 -5.99669081e-02 -1.71179354e-02 4.76710362e+01] [ 5.99726027e-02 9.98200007e-01 -1.80940843e-04 7.13219842e-01] [ 1.70979737e-02 -8.46018485e-04 9.99853461e-01 3.60496462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59925415399999 meters Centerline goodness [0,1] 0.9996305231357718 Centerline is valid? [True, True] Translation: X:47.70, Y:0.71, Z:0.36 [[ 9.97829786e-01 -6.31526117e-02 -1.86404605e-02 4.77024570e+01] [ 6.31599352e-02 9.98003399e-01 -1.96158173e-04 7.10207619e-01] [ 1.86156308e-02 -9.81597809e-04 9.99826232e-01 3.59429174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629254153999995 meters Centerline goodness [0,1] 0.9995210832226745 Centerline is valid? [True, True] Translation: X:47.73, Y:0.71, Z:0.36 [[ 9.97806333e-01 -6.34674815e-02 -1.88255133e-02 4.77336016e+01] [ 6.34750229e-02 9.97983408e-01 -1.97262248e-04 7.08201467e-01] [ 1.88000696e-02 -9.98120365e-04 9.99822765e-01 3.58820175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659254153999996 meters Centerline goodness [0,1] 0.9994138589788121 Centerline is valid? [True, True] Translation: X:47.77, Y:0.71, Z:0.36 [[ 9.97910849e-01 -6.17864610e-02 -1.88777883e-02 4.77651958e+01] [ 6.17937603e-02 9.98088920e-01 -1.96967409e-04 7.10984810e-01] [ 1.88538812e-02 -9.69973608e-04 9.99821779e-01 3.59057609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689254154 meters Centerline goodness [0,1] 0.9995417248603352 Centerline is valid? [True, True] Translation: X:47.80, Y:0.71, Z:0.36 [[ 9.98056944e-01 -5.95687476e-02 -1.82729658e-02 4.77952502e+01] [ 5.95752246e-02 9.98223801e-01 -1.90173229e-04 7.11487847e-01] [ 1.82518378e-02 -8.98812331e-04 9.99833017e-01 3.59277710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719254154 meters Centerline goodness [0,1] 0.9994771241830065 Centerline is valid? [True, True] Translation: X:47.83, Y:0.71, Z:0.36 [[ 9.98237554e-01 -5.65627222e-02 -1.79567394e-02 4.78258346e+01] [ 5.65684999e-02 9.98398703e-01 -1.86418506e-04 7.14213325e-01] [ 1.79385296e-02 -8.29695856e-04 9.99838747e-01 3.59621293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74925415399999 meters Centerline goodness [0,1] 0.9996944899072558 Centerline is valid? [True, True] Translation: X:47.86, Y:0.72, Z:0.36 [[ 9.98697250e-01 -4.82284592e-02 -1.66678913e-02 4.78565415e+01] [ 4.82322851e-02 9.98836131e-01 -1.72616744e-04 7.23939408e-01] [ 1.66568171e-02 -6.31538617e-04 9.99861066e-01 3.61454289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77925415399999 meters Centerline goodness [0,1] 0.9995837988214935 Centerline is valid? [True, True] Translation: X:47.89, Y:0.73, Z:0.36 [[ 9.98915256e-01 -4.37886931e-02 -1.58386166e-02 4.78881161e+01] [ 4.37915980e-02 9.99040674e-01 -1.63539881e-04 7.30748228e-01] [ 1.58305834e-02 -5.30235849e-04 9.99874548e-01 3.63071230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809254153999994 meters Centerline goodness [0,1] 0.9996488918147904 Centerline is valid? [True, True] Translation: X:47.92, Y:0.74, Z:0.36 [[ 9.99127379e-01 -3.90844936e-02 -1.47269572e-02 4.79198878e+01] [ 3.90865055e-02 9.99235819e-01 -1.51300146e-04 7.37493109e-01] [ 1.47216167e-02 -4.24457177e-04 9.99891541e-01 3.64707564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839254153999995 meters Centerline goodness [0,1] 0.999801679116811 Centerline is valid? [True, True] Translation: X:47.95, Y:0.75, Z:0.37 [[ 9.99479375e-01 -2.96455430e-02 -1.27326486e-02 4.79496596e+01] [ 2.96462869e-02 9.99560444e-01 -1.30360381e-04 7.45178422e-01] [ 1.27309165e-02 -2.47183240e-04 9.99918928e-01 3.66800758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869254154 meters Centerline goodness [0,1] 0.9996245500121469 Centerline is valid? [True, True] Translation: X:47.98, Y:0.75, Z:0.37 [[ 9.99606191e-01 -2.53083428e-02 -1.21223356e-02 4.79815601e+01] [ 2.53087006e-02 9.99679676e-01 -1.23911932e-04 7.48894697e-01] [ 1.21215886e-02 -1.82937428e-04 9.99926514e-01 3.67638430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899254154 meters Centerline goodness [0,1] 0.9996678108736574 Centerline is valid? [True, True] Translation: X:48.01, Y:0.75, Z:0.37 [[ 9.99770647e-01 -1.79612016e-02 -1.16639723e-02 4.80119212e+01] [ 1.79610426e-02 9.99838680e-01 -1.18390388e-04 7.54446028e-01] [ 1.16642171e-02 -9.11338681e-05 9.99931967e-01 3.67674816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92925415399999 meters Centerline goodness [0,1] 0.9996899087445734 Centerline is valid? [True, True] Translation: X:48.04, Y:0.76, Z:0.37 [[ 9.99822289e-01 -1.48855119e-02 -1.15676924e-02 4.80426679e+01] [ 1.48851587e-02 9.99889203e-01 -1.16637125e-04 7.56867984e-01] [ 1.15681470e-02 -5.55705403e-05 9.99933085e-01 3.67666120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95925415399999 meters Centerline goodness [0,1] 0.9996675826611116 Centerline is valid? [True, True] Translation: X:48.07, Y:0.76, Z:0.37 [[ 9.99849172e-01 -1.25012122e-02 -1.20562188e-02 4.80734681e+01] [ 1.25006573e-02 9.99921856e-01 -1.21389805e-04 7.59265012e-01] [ 1.20567942e-02 -2.93391626e-05 9.99927314e-01 3.67479001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989254153999994 meters Centerline goodness [0,1] 0.9995783119160175 Centerline is valid? [True, True] Translation: X:48.10, Y:0.76, Z:0.37 [[ 9.99881801e-01 -8.51998077e-03 -1.27982021e-02 4.81019864e+01] [ 8.51902695e-03 9.99963704e-01 -1.29043197e-04 7.62161765e-01] [ 1.27988370e-02 1.99997154e-05 9.99918091e-01 3.65510339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019254153999995 meters Centerline goodness [0,1] 0.9996230347916712 Centerline is valid? [True, True] Translation: X:48.13, Y:0.76, Z:0.36 [[ 9.99884724e-01 -6.92402885e-03 -1.35127973e-02 4.81297288e+01] [ 6.92279695e-03 9.99976028e-01 -1.37938864e-04 7.63268724e-01] [ 1.35134285e-02 4.43766109e-05 9.99908688e-01 3.64959782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049254153999996 meters Centerline goodness [0,1] 0.9997113868969651 Centerline is valid? [True, True] Translation: X:48.16, Y:0.76, Z:0.36 [[ 9.99883988e-01 -5.62669943e-03 -1.41545478e-02 4.81580168e+01] [ 5.62516205e-03 9.99984168e-01 -1.48424586e-04 7.64277854e-01] [ 1.41551589e-02 6.87857415e-05 9.99899808e-01 3.64565339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079254154 meters Centerline goodness [0,1] 0.9996457982821216 Centerline is valid? [True, True] Translation: X:48.19, Y:0.77, Z:0.36 [[ 9.99884847e-01 -4.33873718e-03 -1.45419371e-02 4.81869969e+01] [ 4.33692480e-03 9.99990583e-01 -1.56164394e-04 7.65005399e-01] [ 1.45424777e-02 9.30791231e-05 9.99894248e-01 3.64640352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10925415399999 meters Centerline goodness [0,1] 0.999579711106687 Centerline is valid? [True, True] Translation: X:48.21, Y:0.77, Z:0.36 [[ 9.99891169e-01 -1.84460431e-03 -1.46371918e-02 4.82149062e+01] [ 1.84245916e-03 9.99998290e-01 -1.60037939e-04 7.66947018e-01] [ 1.46374620e-02 1.33052094e-04 9.99892858e-01 3.64248096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13925415399999 meters Centerline goodness [0,1] 0.9996465182043125 Centerline is valid? [True, True] Translation: X:48.24, Y:0.77, Z:0.36 [[ 9.99892265e-01 -1.45761009e-03 -1.46059201e-02 4.82427097e+01] [ 1.45539939e-03 9.99998928e-01 -1.61984496e-04 7.67041903e-01] [ 1.46061405e-02 1.40709598e-04 9.99893315e-01 3.64840147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169254153999994 meters Centerline goodness [0,1] 0.999713055954089 Centerline is valid? [True, True] Translation: X:48.27, Y:0.77, Z:0.37 [[ 9.99896778e-01 -1.36852957e-03 -1.43024508e-02 4.82709685e+01] [ 1.36634351e-03 9.99999053e-01 -1.62615481e-04 7.66105582e-01] [ 1.43026598e-02 1.43056635e-04 9.99897701e-01 3.65957426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199254153999995 meters Centerline goodness [0,1] 0.9998895198532823 Centerline is valid? [True, True] Translation: X:48.30, Y:0.76, Z:0.37 [[ 9.99901041e-01 -2.27386201e-03 -1.38829835e-02 4.82990365e+01] [ 2.27184421e-03 9.99997406e-01 -1.61112083e-04 7.64465328e-01] [ 1.38833138e-02 1.29556164e-04 9.99903614e-01 3.66319159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229254153999996 meters Centerline goodness [0,1] 0.9996479725418582 Centerline is valid? [True, True] Translation: X:48.33, Y:0.76, Z:0.37 [[ 9.99895443e-01 -3.49173075e-03 -1.40325091e-02 4.83283337e+01] [ 3.48976685e-03 9.99993897e-01 -1.64437557e-04 7.63196316e-01] [ 1.40329976e-02 1.15450178e-04 9.99901526e-01 3.66357307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259254154 meters Centerline goodness [0,1] 0.9997577732757862 Centerline is valid? [True, True] Translation: X:48.36, Y:0.76, Z:0.37 [[ 9.99873084e-01 -6.90596694e-03 -1.43570332e-02 4.83571767e+01] [ 6.90424783e-03 9.99976151e-01 -1.69301874e-04 7.59187567e-01] [ 1.43578600e-02 7.01558718e-05 9.99896918e-01 3.66241675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.289254154 meters Centerline goodness [0,1] 0.9994722839112558 Centerline is valid? [True, True] Translation: X:48.38, Y:0.76, Z:0.37 [[ 9.99856389e-01 -9.20344825e-03 -1.42302059e-02 4.83848646e+01] [ 9.20197615e-03 9.99957647e-01 -1.68923164e-04 7.56807978e-01] [ 1.42311578e-02 3.79528893e-05 9.99898731e-01 3.66328142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31925415399999 meters Centerline goodness [0,1] 0.9996932582546395 Centerline is valid? [True, True] Translation: X:48.41, Y:0.75, Z:0.37 [[ 9.99788959e-01 -1.51465784e-02 -1.38786927e-02 4.84137950e+01] [ 1.51457347e-02 9.99885283e-01 -1.65902576e-04 7.50431438e-01] [ 1.38796135e-02 -4.43354346e-05 9.99903673e-01 3.66964170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34925415399999 meters Centerline goodness [0,1] 0.9996062130824764 Centerline is valid? [True, True] Translation: X:48.44, Y:0.75, Z:0.37 [[ 9.99723161e-01 -1.89036970e-02 -1.40090032e-02 4.84420915e+01] [ 1.89031931e-02 9.99821305e-01 -1.68392926e-04 7.46855472e-01] [ 1.40096831e-02 -9.64685838e-05 9.99901855e-01 3.67339324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379254153999995 meters Centerline goodness [0,1] 0.9994970808825138 Centerline is valid? [True, True] Translation: X:48.47, Y:0.74, Z:0.37 [[ 9.99644514e-01 -2.29938286e-02 -1.34955682e-02 4.84728116e+01] [ 2.29937271e-02 9.99735596e-01 -1.62706963e-04 7.42947452e-01] [ 1.34957412e-02 -1.47664290e-04 9.99908917e-01 3.67705706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409254153999996 meters Centerline goodness [0,1] 0.9994970808825138 Centerline is valid? [True, True] Translation: X:48.50, Y:0.74, Z:0.37 [[ 9.99646157e-01 -2.29222850e-02 -1.34955718e-02 4.85045079e+01] [ 2.29221809e-02 9.99737239e-01 -1.62411522e-04 7.43269047e-01] [ 1.34957485e-02 -1.46993884e-04 9.99908917e-01 3.68002673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439254154 meters Centerline goodness [0,1] 0.9996077234886458 Centerline is valid? [True, True] Translation: X:48.54, Y:0.74, Z:0.37 [[ 9.99530001e-01 -2.73884211e-02 -1.37714373e-02 4.85358783e+01] [ 2.73887481e-02 9.99624844e-01 -1.64889085e-04 7.39142227e-01] [ 1.37707869e-02 -2.12370839e-04 9.99905156e-01 3.68393631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.469254154 meters Centerline goodness [0,1] 0.9995206240603142 Centerline is valid? [True, True] Translation: X:48.57, Y:0.74, Z:0.37 [[ 9.99389275e-01 -3.20241049e-02 -1.39833384e-02 4.85678086e+01] [ 3.20249051e-02 9.99487057e-01 -1.66745751e-04 7.35165328e-01] [ 1.39815056e-02 -2.81171170e-04 9.99902214e-01 3.68515429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49925415399999 meters Centerline goodness [0,1] 0.9994581942698626 Centerline is valid? [True, True] Translation: X:48.60, Y:0.73, Z:0.37 [[ 9.99037405e-01 -4.12642194e-02 -1.48838210e-02 4.85990555e+01] [ 4.12661628e-02 9.99148173e-01 -1.76654544e-04 7.25158076e-01] [ 1.48784321e-02 -4.37713684e-04 9.99889214e-01 3.67341928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52925415399999 meters Centerline goodness [0,1] 0.9995452576873105 Centerline is valid? [True, True] Translation: X:48.63, Y:0.72, Z:0.37 [[ 9.98847578e-01 -4.55407530e-02 -1.51510859e-02 4.86293651e+01] [ 4.55432623e-02 9.98962351e-01 -1.79554557e-04 7.18656097e-01] [ 1.51435415e-02 -5.10682247e-04 9.99885200e-01 3.67063639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559254153999994 meters Centerline goodness [0,1] 0.9994609280662412 Centerline is valid? [True, True] Translation: X:48.66, Y:0.71, Z:0.37 [[ 9.98485614e-01 -5.27060135e-02 -1.57656191e-02 4.86605450e+01] [ 5.27096252e-02 9.98609864e-01 -1.86637854e-04 7.10415722e-01] [ 1.57535397e-02 -6.44644661e-04 9.99875697e-01 3.67004829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589254153999995 meters Centerline goodness [0,1] 0.9992466800111922 Centerline is valid? [True, True] Translation: X:48.69, Y:0.71, Z:0.37 [[ 9.98350200e-01 -5.52555367e-02 -1.56110371e-02 4.86926654e+01] [ 5.52593965e-02 9.98472015e-01 -1.84324388e-04 7.08976268e-01] [ 1.55973686e-02 -6.78636201e-04 9.99878123e-01 3.67799025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619254154 meters Centerline goodness [0,1] 0.9993761562621004 Centerline is valid? [True, True] Translation: X:48.72, Y:0.70, Z:0.37 [[ 9.98264417e-01 -5.68073928e-02 -1.55265295e-02 4.87236843e+01] [ 5.68114205e-02 9.98384910e-01 -1.81893512e-04 7.02717452e-01] [ 1.55117856e-02 -7.00506374e-04 9.99879440e-01 3.67710230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.649254154 meters Centerline goodness [0,1] 0.9993549219455554 Centerline is valid? [True, True] Translation: X:48.76, Y:0.70, Z:0.37 [[ 9.98203043e-01 -5.78644384e-02 -1.55689077e-02 4.87559960e+01] [ 5.78686413e-02 9.98324190e-01 -1.80788170e-04 7.03087905e-01] [ 1.55532784e-02 -7.20488236e-04 9.99878781e-01 3.68739924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67925415399999 meters Centerline goodness [0,1] 0.9992484593416504 Centerline is valid? [True, True] Translation: X:48.79, Y:0.71, Z:0.37 [[ 9.98245137e-01 -5.71840638e-02 -1.53827585e-02 4.87880454e+01] [ 5.71881031e-02 9.98363405e-01 -1.77528628e-04 7.05090660e-01] [ 1.53677350e-02 -7.02493690e-04 9.99881663e-01 3.69274585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70925415399999 meters Centerline goodness [0,1] 0.9991187154740666 Centerline is valid? [True, True] Translation: X:48.82, Y:0.70, Z:0.37 [[ 9.98299360e-01 -5.61605398e-02 -1.56326926e-02 4.88195412e+01] [ 5.61646024e-02 9.98421507e-01 -1.79376594e-04 7.03670665e-01] [ 1.56180904e-02 -6.98932424e-04 9.99877786e-01 3.69353152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739254153999994 meters Centerline goodness [0,1] 0.9991847243080884 Centerline is valid? [True, True] Translation: X:48.85, Y:0.70, Z:0.37 [[ 9.98395105e-01 -5.44625178e-02 -1.55257273e-02 4.88505010e+01] [ 5.44663330e-02 9.98515592e-01 -1.77315434e-04 7.04303117e-01] [ 1.55123379e-02 -6.68598573e-04 9.99879453e-01 3.69648858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769254153999995 meters Centerline goodness [0,1] 0.9992253066494513 Centerline is valid? [True, True] Translation: X:48.88, Y:0.71, Z:0.37 [[ 9.98613079e-01 -4.99805698e-02 -1.65487430e-02 4.88813709e+01] [ 4.99843009e-02 9.98749986e-01 -1.88337953e-04 7.10217963e-01] [ 1.65374700e-02 -6.39100604e-04 9.99863042e-01 3.70385982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799254153999996 meters Centerline goodness [0,1] 0.9991405427472551 Centerline is valid? [True, True] Translation: X:48.91, Y:0.71, Z:0.37 [[ 9.98732073e-01 -4.73618469e-02 -1.70617211e-02 4.89118701e+01] [ 4.73654367e-02 9.98877609e-01 -1.93861570e-04 7.11156548e-01] [ 1.70517528e-02 -6.14520102e-04 9.99854419e-01 3.70312084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.829254154 meters Centerline goodness [0,1] 0.9992895433701479 Centerline is valid? [True, True] Translation: X:48.94, Y:0.72, Z:0.37 [[ 9.98953984e-01 -4.18814504e-02 -1.83543371e-02 4.89428349e+01] [ 4.18846871e-02 9.99122430e-01 -2.08201400e-04 7.16742303e-01] [ 1.83469496e-02 -5.60782047e-04 9.99831523e-01 3.70609543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85925415399999 meters Centerline goodness [0,1] 0.9993568718245547 Centerline is valid? [True, True] Translation: X:48.97, Y:0.72, Z:0.37 [[ 9.99072011e-01 -3.88188229e-02 -1.86605601e-02 4.89733075e+01] [ 3.88216412e-02 9.99246134e-01 -2.11329902e-04 7.16674499e-01] [ 1.86546961e-02 -5.13299778e-04 9.99825854e-01 3.70359026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88925415399999 meters Centerline goodness [0,1] 0.9994613462035681 Centerline is valid? [True, True] Translation: X:49.00, Y:0.72, Z:0.37 [[ 9.99187529e-01 -3.58121085e-02 -1.84871601e-02 4.90044966e+01] [ 3.58143696e-02 9.99358438e-01 -2.08868939e-04 7.19662456e-01] [ 1.84827794e-02 -4.53406744e-04 9.99829076e-01 3.71162897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919254153999994 meters Centerline goodness [0,1] 0.9992036845730028 Centerline is valid? [True, True] Translation: X:49.03, Y:0.72, Z:0.37 [[ 9.99286107e-01 -3.29371273e-02 -1.85046384e-02 4.90347296e+01] [ 3.29389092e-02 9.99457345e-01 -2.08568000e-04 7.21085528e-01] [ 1.85014664e-02 -4.01103501e-04 9.99828753e-01 3.71202115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949254153999995 meters Centerline goodness [0,1] 0.9992878722485973 Centerline is valid? [True, True] Translation: X:49.07, Y:0.73, Z:0.37 [[ 9.99497758e-01 -2.62020855e-02 -1.78236642e-02 4.90651696e+01] [ 2.62026708e-02 9.99656631e-01 -2.00733222e-04 7.26132646e-01] [ 1.78228037e-02 -2.66395200e-04 9.99841126e-01 3.72727053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979254153999996 meters Centerline goodness [0,1] 0.9993318245500593 Centerline is valid? [True, True] Translation: X:49.10, Y:0.73, Z:0.37 [[ 9.99678519e-01 -1.87411070e-02 -1.70771845e-02 4.90952768e+01] [ 1.87405556e-02 9.99824362e-01 -1.92326237e-04 7.31756482e-01] [ 1.70777895e-02 -1.27771518e-04 9.99854156e-01 3.74042744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.009254154 meters Centerline goodness [0,1] 0.9993510988060218 Centerline is valid? [True, True] Translation: X:49.12, Y:0.73, Z:0.37 [[ 9.99749822e-01 -1.48138221e-02 -1.67583859e-02 4.91241649e+01] [ 1.48127085e-02 9.99890268e-01 -1.90579197e-04 7.34830582e-01] [ 1.67593702e-02 -5.77055675e-05 9.99859550e-01 3.74642482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039254154 meters Centerline goodness [0,1] 0.9993296717553951 Centerline is valid? [True, True] Translation: X:49.15, Y:0.74, Z:0.38 [[ 9.99800760e-01 -1.08994467e-02 -1.67224933e-02 4.91522599e+01] [ 1.08977151e-02 9.99940599e-01 -1.94673716e-04 7.37915117e-01] [ 1.67236218e-02 1.23979601e-05 9.99860150e-01 3.75540946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06925415399999 meters Centerline goodness [0,1] 0.9994153946086392 Centerline is valid? [True, True] Translation: X:49.18, Y:0.74, Z:0.38 [[ 9.99840104e-01 -6.94318754e-03 -1.64790367e-02 4.91800620e+01] [ 6.94091304e-03 9.99975893e-01 -1.95214048e-04 7.40551484e-01] [ 1.64799948e-02 8.08032742e-05 9.99864192e-01 3.76224718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09925415399999 meters Centerline goodness [0,1] 0.9996531842025405 Centerline is valid? [True, True] Translation: X:49.21, Y:0.74, Z:0.38 [[ 9.99865097e-01 -3.34947946e-03 -1.60800481e-02 4.92073968e+01] [ 3.34682591e-03 9.99994381e-01 -1.91928600e-04 7.43263122e-01] [ 1.60806006e-02 1.38085586e-04 9.99870689e-01 3.76325905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129254153999995 meters Centerline goodness [0,1] 0.9993932696266441 Centerline is valid? [True, True] Translation: X:49.24, Y:0.75, Z:0.38 [[ 9.99872909e-01 2.67524555e-03 -1.57164871e-02 4.92358601e+01] [-2.67856281e-03 9.99996395e-01 -1.90021878e-04 7.45382715e-01] [ 1.57159220e-02 2.32095326e-04 9.99876470e-01 3.77095489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159254153999996 meters Centerline goodness [0,1] 0.9995678665571929 Centerline is valid? [True, True] Translation: X:49.26, Y:0.75, Z:0.38 [[ 9.99861973e-01 4.95192913e-03 -1.58591766e-02 4.92631397e+01] [-4.95564213e-03 9.99987702e-01 -1.94832747e-04 7.46380691e-01] [ 1.58580167e-02 2.73398259e-04 9.99874216e-01 3.76981126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189254154 meters Centerline goodness [0,1] 0.9994594594594595 Centerline is valid? [True, True] Translation: X:49.29, Y:0.75, Z:0.38 [[ 9.99837171e-01 8.35249831e-03 -1.59958294e-02 4.92921070e+01] [-8.35675382e-03 9.99965062e-01 -1.99215141e-04 7.45709302e-01] [ 1.59936065e-02 3.32855911e-04 9.99872039e-01 3.76882872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219254154 meters Centerline goodness [0,1] 0.9992239037640668 Centerline is valid? [True, True] Translation: X:49.32, Y:0.75, Z:0.38 [[ 9.99830006e-01 9.12860446e-03 -1.60196239e-02 4.93206092e+01] [-9.13303762e-03 9.99958272e-01 -2.03594411e-04 7.45767325e-01] [ 1.60170969e-02 3.49867628e-04 9.99871657e-01 3.77325123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24925415399999 meters Centerline goodness [0,1] 0.9992444521198515 Centerline is valid? [True, True] Translation: X:49.35, Y:0.75, Z:0.38 [[ 9.99821059e-01 9.69437606e-03 -1.62440536e-02 4.93495693e+01] [-9.69905628e-03 9.99952941e-01 -2.09360258e-04 7.45273428e-01] [ 1.62412595e-02 3.66874785e-04 9.99868035e-01 3.77739696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27925415399999 meters Centerline goodness [0,1] 0.9994824239810222 Centerline is valid? [True, True] Translation: X:49.38, Y:0.74, Z:0.38 [[ 9.99820332e-01 9.78176879e-03 -1.62363912e-02 4.93781974e+01] [-9.78647532e-03 9.99952089e-01 -2.10445210e-04 7.44601123e-01] [ 1.62335547e-02 3.69304442e-04 9.99868159e-01 3.78203984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309254153999994 meters Centerline goodness [0,1] 0.9993773617313638 Centerline is valid? [True, True] Translation: X:49.41, Y:0.74, Z:0.38 [[ 9.99824071e-01 9.22760014e-03 -1.63303216e-02 4.94061848e+01] [-9.23230893e-03 9.99957359e-01 -2.12980162e-04 7.42438713e-01] [ 1.63276599e-02 3.63709266e-04 9.99866629e-01 3.78000703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339254153999995 meters Centerline goodness [0,1] 0.9993783360843748 Centerline is valid? [True, True] Translation: X:49.44, Y:0.74, Z:0.38 [[ 9.99850414e-01 6.89216410e-03 -1.58633796e-02 4.94351305e+01] [-6.89633393e-03 9.99976198e-01 -2.08170493e-04 7.37460308e-01] [ 1.58615673e-02 3.17538517e-04 9.99874147e-01 3.78180222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369254154 meters Centerline goodness [0,1] 0.9990131720084094 Centerline is valid? [True, True] Translation: X:49.46, Y:0.73, Z:0.38 [[ 9.99863571e-01 4.94593221e-03 -1.57599937e-02 4.94640664e+01] [-4.94982373e-03 9.99987728e-01 -2.07925856e-04 7.34098209e-01] [ 1.57587719e-02 2.85906679e-04 9.99875782e-01 3.78571900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399254154 meters Centerline goodness [0,1] 0.9992086069343143 Centerline is valid? [True, True] Translation: X:49.49, Y:0.73, Z:0.38 [[ 9.99875232e-01 2.97350577e-03 -1.55137932e-02 4.94929895e+01] [-2.97705658e-03 9.99995547e-01 -2.05791552e-04 7.30279057e-01] [ 1.55131122e-02 2.51951316e-04 9.99879633e-01 3.79238411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42925415399999 meters Centerline goodness [0,1] 0.9992513849378649 Centerline is valid? [True, True] Translation: X:49.52, Y:0.73, Z:0.38 [[ 9.99886326e-01 6.03593747e-04 -1.50655557e-02 4.95204746e+01] [-6.06691360e-04 9.99999796e-01 -2.01039492e-04 7.28136445e-01] [ 1.50654313e-02 2.10156781e-04 9.99886488e-01 3.79135131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45925415399999 meters Centerline goodness [0,1] 0.9991666310526091 Centerline is valid? [True, True] Translation: X:49.55, Y:0.72, Z:0.38 [[ 9.99880956e-01 -4.51793764e-03 -1.47533709e-02 4.95494370e+01] [ 4.51550648e-03 9.99989785e-01 -1.98093948e-04 7.20227423e-01] [ 1.47541151e-02 1.31451424e-04 9.99891143e-01 3.79604107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489254153999994 meters Centerline goodness [0,1] 0.9990206723297353 Centerline is valid? [True, True] Translation: X:49.58, Y:0.72, Z:0.38 [[ 9.99865183e-01 -6.99001622e-03 -1.48578367e-02 4.95786031e+01] [ 6.98780769e-03 9.99975565e-01 -2.00554495e-04 7.16262318e-01] [ 1.48588756e-02 9.67037508e-05 9.99889596e-01 3.79851362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519254153999995 meters Centerline goodness [0,1] 0.9988727002020632 Centerline is valid? [True, True] Translation: X:49.61, Y:0.71, Z:0.38 [[ 9.99840150e-01 -9.61510391e-03 -1.50739790e-02 4.96069947e+01] [ 9.61311238e-03 9.99953772e-01 -2.04571107e-04 7.12163071e-01] [ 1.50752492e-02 5.96305516e-05 9.99886360e-01 3.80126336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549254153999996 meters Centerline goodness [0,1] 0.9991511936339522 Centerline is valid? [True, True] Translation: X:49.64, Y:0.70, Z:0.38 [[ 9.99780407e-01 -1.40969151e-02 -1.55052936e-02 4.96357274e+01] [ 1.40953290e-02 9.99900634e-01 -2.11576785e-04 7.03749033e-01] [ 1.55067355e-02 -7.02189046e-06 9.99879763e-01 3.79794370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579254154 meters Centerline goodness [0,1] 0.9989640153917714 Centerline is valid? [True, True] Translation: X:49.66, Y:0.70, Z:0.38 [[ 9.99746638e-01 -1.64523374e-02 -1.53616797e-02 4.96638811e+01] [ 1.64510213e-02 9.99864650e-01 -2.12048208e-04 6.99853329e-01] [ 1.53630892e-02 -4.07208359e-05 9.99881980e-01 3.79868713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60925415399999 meters Centerline goodness [0,1] 0.9989253202966959 Centerline is valid? [True, True] Translation: X:49.69, Y:0.70, Z:0.38 [[ 9.99720056e-01 -1.79624998e-02 -1.53999294e-02 4.96920115e+01] [ 1.79613054e-02 9.99838659e-01 -2.15876773e-04 6.96123640e-01] [ 1.54013225e-02 -6.07864958e-05 9.99881391e-01 3.79526457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63925415399999 meters Centerline goodness [0,1] 0.9989051248578767 Centerline is valid? [True, True] Translation: X:49.72, Y:0.69, Z:0.38 [[ 9.99670363e-01 -2.04060272e-02 -1.55807598e-02 4.97206375e+01] [ 2.04050636e-02 9.99791771e-01 -2.20835508e-04 6.88925559e-01] [ 1.55820218e-02 -9.71636818e-05 9.99878588e-01 3.80113571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669254153999994 meters Centerline goodness [0,1] 0.9990308648477826 Centerline is valid? [True, True] Translation: X:49.75, Y:0.69, Z:0.38 [[ 9.99648140e-01 -2.14566301e-02 -1.55951975e-02 4.97489795e+01] [ 2.14557313e-02 9.99769774e-01 -2.24963944e-04 6.86293295e-01] [ 1.55964340e-02 -1.09721578e-04 9.99878362e-01 3.80627755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699254153999995 meters Centerline goodness [0,1] 0.9992441103598875 Centerline is valid? [True, True] Translation: X:49.78, Y:0.68, Z:0.38 [[ 9.99628083e-01 -2.15360827e-02 -1.67299739e-02 4.97780819e+01] [ 2.15350106e-02 9.99768065e-01 -2.44254360e-04 6.83886302e-01] [ 1.67313539e-02 -1.16116648e-04 9.99860014e-01 3.80362189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729254153999996 meters Centerline goodness [0,1] 0.9990987781107874 Centerline is valid? [True, True] Translation: X:49.81, Y:0.68, Z:0.38 [[ 9.99620233e-01 -2.12320894e-02 -1.75666887e-02 4.98073394e+01] [ 2.12308157e-02 9.99774567e-01 -2.59014914e-04 6.82102583e-01] [ 1.75682281e-02 -1.14038582e-04 9.99845660e-01 3.79442933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759254154 meters Centerline goodness [0,1] 0.9990143651043305 Centerline is valid? [True, True] Translation: X:49.83, Y:0.68, Z:0.38 [[ 9.99631448e-01 -1.92212269e-02 -1.91706197e-02 4.98347979e+01] [ 1.92192393e-02 9.99815252e-01 -2.87928940e-04 6.79813099e-01] [ 1.91726123e-02 -8.06219042e-05 9.99816185e-01 3.78999032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78925415399999 meters Centerline goodness [0,1] 0.9992644895557516 Centerline is valid? [True, True] Translation: X:49.86, Y:0.68, Z:0.38 [[ 9.99660922e-01 -1.75349644e-02 -1.92500715e-02 4.98630603e+01] [ 1.75325439e-02 9.99846250e-01 -2.94515871e-04 6.79279640e-01] [ 1.92522761e-02 -4.30867153e-05 9.99814657e-01 3.79148742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81925415399999 meters Centerline goodness [0,1] 0.9992645822827366 Centerline is valid? [True, True] Translation: X:49.89, Y:0.68, Z:0.38 [[ 9.99692244e-01 -1.55875960e-02 -1.92988032e-02 4.98912954e+01] [ 1.55846961e-02 9.99878506e-01 -3.00658384e-04 6.79231799e-01] [ 1.93011451e-02 -2.00129125e-07 9.99813716e-01 3.79662700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84925415399999 meters Centerline goodness [0,1] 0.9993287182714495 Centerline is valid? [True, True] Translation: X:49.92, Y:0.68, Z:0.38 [[ 9.99750823e-01 -1.07674610e-02 -1.95538750e-02 4.99198107e+01] [ 1.07634603e-02 9.99942024e-01 -3.09833414e-04 6.79375555e-01] [ 1.95560774e-02 9.92888529e-05 9.99808757e-01 3.81276398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879254153999995 meters Centerline goodness [0,1] 0.9992244487297728 Centerline is valid? [True, True] Translation: X:49.95, Y:0.68, Z:0.38 [[ 9.99772784e-01 -8.53695573e-03 -1.95320271e-02 4.99482025e+01] [ 8.53244327e-03 9.99963549e-01 -3.14354336e-04 6.79943364e-01] [ 1.95339987e-02 1.47626997e-04 9.99809182e-01 3.81628587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909254153999996 meters Centerline goodness [0,1] 0.9991408214585079 Centerline is valid? [True, True] Translation: X:49.98, Y:0.68, Z:0.38 [[ 9.99791803e-01 -3.73256429e-03 -2.00603928e-02 4.99756119e+01] [ 3.72676679e-03 9.99993002e-01 -3.26378525e-04 6.80377465e-01] [ 2.00614706e-02 2.51550169e-04 9.99798717e-01 3.81550262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939254154 meters Centerline goodness [0,1] 0.999328055771371 Centerline is valid? [True, True] Translation: X:50.00, Y:0.68, Z:0.38 [[ 9.99791065e-01 -1.98732288e-03 -2.03439595e-02 5.00039404e+01] [ 1.98094914e-03 9.99997982e-01 -3.33446577e-04 6.80121741e-01] [ 2.03445811e-02 2.93076559e-04 9.99792985e-01 3.81937070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.969254154 meters Centerline goodness [0,1] 0.9995813359569613 Centerline is valid? [True, True] Translation: X:50.03, Y:0.68, Z:0.38 [[ 9.99795392e-01 -6.35936817e-04 -2.02180772e-02 5.00315569e+01] [ 6.29321461e-04 9.99999746e-01 -3.33560896e-04 6.80220403e-01] [ 2.02182842e-02 3.20768976e-04 9.99795538e-01 3.81920386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99925415399999 meters Centerline goodness [0,1] 0.9992442055760833 Centerline is valid? [True, True] Translation: X:50.06, Y:0.68, Z:0.38 [[ 9.99794498e-01 4.20531063e-05 -2.02721431e-02 5.00595982e+01] [-4.88787205e-05 9.99999942e-01 -3.36203822e-04 6.77333027e-01] [ 2.02721278e-02 3.37125608e-04 9.99794442e-01 3.81895505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02925415399999 meters Centerline goodness [0,1] 0.9993706865809402 Centerline is valid? [True, True] Translation: X:50.09, Y:0.68, Z:0.38 [[ 9.99797051e-01 -6.43054114e-04 -2.01356371e-02 5.00888489e+01] [ 6.36428241e-04 9.99999741e-01 -3.35468332e-04 6.75108816e-01] [ 2.01358476e-02 3.22585361e-04 9.99797201e-01 3.82329633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059254153999994 meters Centerline goodness [0,1] 0.9992464047225305 Centerline is valid? [True, True] Translation: X:50.12, Y:0.67, Z:0.38 [[ 9.99789131e-01 -3.77960637e-03 -2.01843382e-02 5.01169287e+01] [ 3.77355600e-03 9.99992823e-01 -3.37834285e-04 6.69656124e-01] [ 2.01854702e-02 2.61596316e-04 9.99796218e-01 3.82445678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089254153999995 meters Centerline goodness [0,1] 0.9993912167268453 Centerline is valid? [True, True] Translation: X:50.15, Y:0.66, Z:0.38 [[ 9.99777013e-01 -6.34186191e-03 -2.01421226e-02 5.01456691e+01] [ 6.33632496e-03 9.99979868e-01 -3.38702648e-04 6.64822151e-01] [ 2.01438651e-02 2.11000087e-04 9.99797069e-01 3.84777143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119254154 meters Centerline goodness [0,1] 0.9993917402521132 Centerline is valid? [True, True] Translation: X:50.17, Y:0.66, Z:0.38 [[ 9.99768599e-01 -8.99847752e-03 -1.95390693e-02 5.01739042e+01] [ 8.99374358e-03 9.99959501e-01 -3.30141937e-04 6.61994942e-01] [ 1.95412488e-02 1.54336163e-04 9.99809040e-01 3.84985690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.149254154 meters Centerline goodness [0,1] 0.9991622861211753 Centerline is valid? [True, True] Translation: X:50.20, Y:0.66, Z:0.39 [[ 9.99703112e-01 -1.44087347e-02 -1.96488313e-02 5.02028751e+01] [ 1.44049609e-02 9.99896188e-01 -3.33592175e-04 6.55077322e-01] [ 1.96515981e-02 5.04524896e-05 9.99806887e-01 3.85864771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17925415399999 meters Centerline goodness [0,1] 0.9994139684798761 Centerline is valid? [True, True] Translation: X:50.23, Y:0.65, Z:0.39 [[ 9.99664531e-01 -1.71166417e-02 -1.94382431e-02 5.02306254e+01] [ 1.71133904e-02 9.99853500e-01 -3.33606968e-04 6.51940456e-01] [ 1.94411056e-02 8.40810473e-07 9.99811004e-01 3.85952209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20925415399999 meters Centerline goodness [0,1] 0.9993529804641843 Centerline is valid? [True, True] Translation: X:50.26, Y:0.65, Z:0.39 [[ 9.99620019e-01 -1.94668351e-02 -1.95156388e-02 5.02585617e+01] [ 1.94638951e-02 9.99810502e-01 -3.40597348e-04 6.49073697e-01] [ 1.95185709e-02 -3.93824189e-05 9.99809494e-01 3.86153819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239254153999994 meters Centerline goodness [0,1] 0.999267828378972 Centerline is valid? [True, True] Translation: X:50.29, Y:0.65, Z:0.39 [[ 9.99586024e-01 -2.14862602e-02 -1.91342828e-02 5.02854483e+01] [ 2.14837296e-02 9.99769141e-01 -3.37824040e-04 6.46498373e-01] [ 1.91371241e-02 -7.33915700e-05 9.99816866e-01 3.86416893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269254153999995 meters Centerline goodness [0,1] 0.9989766295607861 Centerline is valid? [True, True] Translation: X:50.31, Y:0.64, Z:0.39 [[ 9.99543792e-01 -2.46191390e-02 -1.74958997e-02 5.03136229e+01] [ 2.46174433e-02 9.99696896e-01 -3.12314418e-04 6.42209154e-01] [ 1.74982855e-02 -1.18532382e-04 9.99846886e-01 3.87686049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299254153999996 meters Centerline goodness [0,1] 0.9992891193443172 Centerline is valid? [True, True] Translation: X:50.34, Y:0.64, Z:0.39 [[ 9.99491505e-01 -2.70680311e-02 -1.68539029e-02 5.03424543e+01] [ 2.70667299e-02 9.99633582e-01 -3.05349023e-04 6.39203584e-01] [ 1.68559926e-02 -1.50986284e-04 9.99857916e-01 3.88593127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.329254154 meters Centerline goodness [0,1] 0.9992891193443172 Centerline is valid? [True, True] Translation: X:50.37, Y:0.64, Z:0.39 [[ 9.99484627e-01 -2.73208634e-02 -1.68538249e-02 5.03707089e+01] [ 2.73195262e-02 9.99626704e-01 -3.09611795e-04 6.39762222e-01] [ 1.68559923e-02 -1.50986281e-04 9.99857916e-01 3.88858441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35925415399999 meters Centerline goodness [0,1] 0.9990215875262818 Centerline is valid? [True, True] Translation: X:50.40, Y:0.64, Z:0.39 [[ 9.99459867e-01 -2.82612598e-02 -1.67712889e-02 5.03988234e+01] [ 2.82600174e-02 9.99600558e-01 -3.11116923e-04 6.38674934e-01] [ 1.67733823e-02 -1.63008038e-04 9.99859304e-01 3.88751429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38925415399999 meters Centerline goodness [0,1] 0.9991459578811424 Centerline is valid? [True, True] Translation: X:50.43, Y:0.64, Z:0.39 [[ 9.99425515e-01 -2.94970429e-02 -1.66902211e-02 5.04273333e+01] [ 2.94959625e-02 9.99564851e-01 -3.10947313e-04 6.37607093e-01] [ 1.66921304e-02 -1.81525459e-04 9.99860660e-01 3.88898207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419254153999994 meters Centerline goodness [0,1] 0.9991261469321515 Centerline is valid? [True, True] Translation: X:50.46, Y:0.64, Z:0.39 [[ 9.99338602e-01 -3.23333238e-02 -1.66407445e-02 5.04560772e+01] [ 3.23326015e-02 9.99477116e-01 -3.12509776e-04 6.35764870e-01] [ 1.66421478e-02 -2.25735479e-04 9.99861484e-01 3.89143030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449254153999995 meters Centerline goodness [0,1] 0.9992075408742075 Centerline is valid? [True, True] Translation: X:50.49, Y:0.64, Z:0.39 [[ 9.99295121e-01 -3.39323421e-02 -1.60579583e-02 5.04861284e+01] [ 3.39318351e-02 9.99424103e-01 -3.04105875e-04 6.35029754e-01] [ 1.60590296e-02 -2.40984476e-04 9.99871016e-01 3.89136596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479254153999996 meters Centerline goodness [0,1] 0.9993962735505361 Centerline is valid? [True, True] Translation: X:50.52, Y:0.63, Z:0.39 [[ 9.99148025e-01 -3.77313636e-02 -1.67203037e-02 5.05151347e+01] [ 3.77313427e-02 9.99287869e-01 -3.16821174e-04 6.32145511e-01] [ 1.67203508e-02 -3.14328261e-04 9.99860156e-01 3.89043672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.509254154 meters Centerline goodness [0,1] 0.9991035503575375 Centerline is valid? [True, True] Translation: X:50.55, Y:0.63, Z:0.39 [[ 9.98978295e-01 -4.21095975e-02 -1.64057318e-02 5.05460054e+01] [ 4.21101712e-02 9.99112925e-01 -3.10628280e-04 6.30546648e-01] [ 1.64042592e-02 -3.80537267e-04 9.99865369e-01 3.89500870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53925415399999 meters Centerline goodness [0,1] 0.9992926981485334 Centerline is valid? [True, True] Translation: X:50.58, Y:0.63, Z:0.39 [[ 9.98792211e-01 -4.63479633e-02 -1.63090900e-02 5.05774605e+01] [ 4.63490989e-02 9.98925255e-01 -3.08544526e-04 6.28647747e-01] [ 1.63058623e-02 -4.47739758e-04 9.99866950e-01 3.89714277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56925415399999 meters Centerline goodness [0,1] 0.9989589189414287 Centerline is valid? [True, True] Translation: X:50.61, Y:0.63, Z:0.39 [[ 9.98690560e-01 -4.84877812e-02 -1.63125919e-02 5.06085810e+01] [ 4.84892122e-02 9.98823659e-01 -3.08014545e-04 6.27754309e-01] [ 1.63083377e-02 -4.83373512e-04 9.99866893e-01 3.89372311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59925415399999 meters Centerline goodness [0,1] 0.9990229705851783 Centerline is valid? [True, True] Translation: X:50.64, Y:0.63, Z:0.39 [[ 9.98602670e-01 -5.02191597e-02 -1.64542645e-02 5.06400278e+01] [ 5.02208604e-02 9.98738088e-01 -3.10087260e-04 6.26935516e-01] [ 1.64490730e-02 -5.16693355e-04 9.99864571e-01 3.89175753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629254153999995 meters Centerline goodness [0,1] 0.9990229705851783 Centerline is valid? [True, True] Translation: X:50.67, Y:0.63, Z:0.39 [[ 9.98604493e-01 -5.01828978e-02 -1.64542757e-02 5.06708808e+01] [ 5.01846035e-02 9.98739911e-01 -3.09489844e-04 6.27485909e-01] [ 1.64490730e-02 -5.16693355e-04 9.99864571e-01 3.89464777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659254153999996 meters Centerline goodness [0,1] 0.9988942899463835 Centerline is valid? [True, True] Translation: X:50.70, Y:0.63, Z:0.39 [[ 9.98523219e-01 -5.18432212e-02 -1.62376590e-02 5.07014274e+01] [ 5.18451089e-02 9.98655091e-01 -3.04955929e-04 6.26658396e-01] [ 1.62316307e-02 -5.37337624e-04 9.99868114e-01 3.89254210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.689254154 meters Centerline goodness [0,1] 0.9988945436342399 Centerline is valid? [True, True] Translation: X:50.73, Y:0.63, Z:0.39 [[ 9.98456647e-01 -5.31093472e-02 -1.62395070e-02 5.07331899e+01] [ 5.31114094e-02 9.98588547e-01 -3.04574468e-04 6.27152459e-01] [ 1.62327615e-02 -5.58398703e-04 9.99868084e-01 3.89498005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719254154 meters Centerline goodness [0,1] 0.99900174694285 Centerline is valid? [True, True] Translation: X:50.76, Y:0.63, Z:0.39 [[ 9.98383685e-01 -5.45836850e-02 -1.58315815e-02 5.07649110e+01] [ 5.45858388e-02 9.98509038e-01 -2.96362803e-04 6.28906964e-01] [ 1.58241538e-02 -5.68296369e-04 9.99874629e-01 3.90381756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74925415399999 meters Centerline goodness [0,1] 0.9990233969164277 Centerline is valid? [True, True] Translation: X:50.80, Y:0.63, Z:0.39 [[ 9.98385496e-01 -5.45782414e-02 -1.57358608e-02 5.07965900e+01] [ 5.45803812e-02 9.98509337e-01 -2.93771231e-04 6.31172281e-01] [ 1.57284374e-02 -5.65572343e-04 9.99876141e-01 3.90942222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77925415399999 meters Centerline goodness [0,1] 0.9990221574950587 Centerline is valid? [True, True] Translation: X:50.83, Y:0.63, Z:0.39 [[ 9.98401004e-01 -5.43732090e-02 -1.54592946e-02 5.08282818e+01] [ 5.43752651e-02 9.98520529e-01 -2.87604999e-04 6.30099313e-01] [ 1.54520611e-02 -5.53458124e-04 9.99880457e-01 3.91238969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809254153999994 meters Centerline goodness [0,1] 0.9989411618153885 Centerline is valid? [True, True] Translation: X:50.86, Y:0.64, Z:0.39 [[ 9.98475036e-01 -5.30463759e-02 -1.52867134e-02 5.08603103e+01] [ 5.30482454e-02 9.98591910e-01 -2.83456839e-04 6.37646107e-01] [ 1.52802247e-02 -5.27908744e-04 9.99883111e-01 3.92604589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839254153999995 meters Centerline goodness [0,1] 0.9987917673527206 Centerline is valid? [True, True] Translation: X:50.89, Y:0.64, Z:0.39 [[ 9.98528953e-01 -5.20809967e-02 -1.50830963e-02 5.08920707e+01] [ 5.20827216e-02 9.98642735e-01 -2.78689281e-04 6.40651585e-01] [ 1.50771389e-02 -5.07289389e-04 9.99886205e-01 3.92980597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869254154 meters Centerline goodness [0,1] 0.9989604125083167 Centerline is valid? [True, True] Translation: X:50.92, Y:0.64, Z:0.39 [[ 9.98585672e-01 -5.10554296e-02 -1.48323721e-02 5.09242845e+01] [ 5.10569981e-02 9.98695704e-01 -2.73147200e-04 6.43643605e-01] [ 1.48269719e-02 -4.84535511e-04 9.99889957e-01 3.93614930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899254154 meters Centerline goodness [0,1] 0.9987924214032896 Centerline is valid? [True, True] Translation: X:50.96, Y:0.65, Z:0.39 [[ 9.98686618e-01 -4.91607175e-02 -1.44313339e-02 5.09558022e+01] [ 4.91620171e-02 9.98790782e-01 -2.64903286e-04 6.48500643e-01] [ 1.44269061e-02 -4.44918118e-04 9.99895828e-01 3.94271721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92925415399999 meters Centerline goodness [0,1] 0.9986906370154838 Centerline is valid? [True, True] Translation: X:50.99, Y:0.65, Z:0.39 [[ 9.98754198e-01 -4.78505681e-02 -1.41553658e-02 5.09878147e+01] [ 4.78516967e-02 9.98854418e-01 -2.59147670e-04 6.50864012e-01] [ 1.41515501e-02 -4.18533451e-04 9.99899774e-01 3.94436229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95925415399999 meters Centerline goodness [0,1] 0.9990014769819642 Centerline is valid? [True, True] Translation: X:51.02, Y:0.66, Z:0.39 [[ 9.98865958e-01 -4.52895770e-02 -1.46851096e-02 5.10188214e+01] [ 4.52905285e-02 9.98973822e-01 -2.67936482e-04 6.56279797e-01] [ 1.46821748e-02 -3.97463744e-04 9.99892132e-01 3.94673421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989254153999994 meters Centerline goodness [0,1] 0.9990006870276685 Centerline is valid? [True, True] Translation: X:51.05, Y:0.66, Z:0.39 [[ 9.98926554e-01 -4.37387448e-02 -1.52532665e-02 5.10495539e+01] [ 4.37395995e-02 9.99042927e-01 -2.77729712e-04 6.58587501e-01] [ 1.52508155e-02 -3.89740182e-04 9.99883624e-01 3.94853870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019254153999995 meters Centerline goodness [0,1] 0.999290780141844 Centerline is valid? [True, True] Translation: X:51.08, Y:0.67, Z:0.39 [[ 9.99067491e-01 -4.00608485e-02 -1.61020826e-02 5.10809554e+01] [ 4.00613334e-02 9.99197180e-01 -2.92572258e-04 6.65306728e-01] [ 1.61008762e-02 -3.52771468e-04 9.99870310e-01 3.94895185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049254153999996 meters Centerline goodness [0,1] 0.9991019027130893 Centerline is valid? [True, True] Translation: X:51.11, Y:0.67, Z:0.39 [[ 9.99238022e-01 -3.51784840e-02 -1.69070619e-02 5.11115437e+01] [ 3.51783308e-02 9.99381004e-01 -3.06552054e-04 6.70762065e-01] [ 1.69073805e-02 -2.88443748e-04 9.99857018e-01 3.94400850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079254154 meters Centerline goodness [0,1] 0.9991019027130893 Centerline is valid? [True, True] Translation: X:51.14, Y:0.67, Z:0.39 [[ 9.99238022e-01 -3.51784807e-02 -1.69070681e-02 5.11415426e+01] [ 3.51783335e-02 9.99381004e-01 -3.06205510e-04 6.71305212e-01] [ 1.69073746e-02 -2.88790292e-04 9.99857018e-01 3.94681860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10925415399999 meters Centerline goodness [0,1] 0.9990803060072739 Centerline is valid? [True, True] Translation: X:51.17, Y:0.68, Z:0.40 [[ 9.99329478e-01 -3.23115862e-02 -1.72208099e-02 5.11719247e+01] [ 3.23110079e-02 9.99477814e-01 -3.11887717e-04 6.75230855e-01] [ 1.72218950e-02 -2.44743135e-04 9.99851662e-01 3.95301513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13925415399999 meters Centerline goodness [0,1] 0.998913225213175 Centerline is valid? [True, True] Translation: X:51.20, Y:0.68, Z:0.40 [[ 9.99420618e-01 -2.92758122e-02 -1.73595728e-02 5.12014458e+01] [ 2.92747640e-02 9.99571353e-01 -3.14546816e-04 6.78847409e-01] [ 1.73613402e-02 -1.93832822e-04 9.99849262e-01 3.95816086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169254153999994 meters Centerline goodness [0,1] 0.9992238793447025 Centerline is valid? [True, True] Translation: X:51.23, Y:0.69, Z:0.40 [[ 9.99559439e-01 -2.41375177e-02 -1.72716268e-02 5.12307673e+01] [ 2.41357076e-02 9.99708642e-01 -3.13266209e-04 6.85031989e-01] [ 1.72741560e-02 -1.03734739e-04 9.99850785e-01 3.96892480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199254153999995 meters Centerline goodness [0,1] 0.9993517085616295 Centerline is valid? [True, True] Translation: X:51.26, Y:0.69, Z:0.40 [[ 9.99603865e-01 -2.23998286e-02 -1.70399706e-02 5.12580581e+01] [ 2.23977999e-02 9.99749090e-01 -3.09914924e-04 6.87446803e-01] [ 1.70426372e-02 -7.18656967e-05 9.99854761e-01 3.97317647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229254153999996 meters Centerline goodness [0,1] 0.9992677211482133 Centerline is valid? [True, True] Translation: X:51.29, Y:0.69, Z:0.40 [[ 9.99628492e-01 -2.12479173e-02 -1.70705784e-02 5.12872759e+01] [ 2.12456664e-02 9.99774236e-01 -3.13215833e-04 6.88976802e-01] [ 1.70733797e-02 -4.95763439e-05 9.99854238e-01 3.97216679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259254154 meters Centerline goodness [0,1] 0.9990562080536913 Centerline is valid? [True, True] Translation: X:51.32, Y:0.69, Z:0.40 [[ 9.99630170e-01 -2.12847412e-02 -1.69258276e-02 5.13150856e+01] [ 2.12824574e-02 9.99773453e-01 -3.15064692e-04 6.90877917e-01] [ 1.69286992e-02 -4.52750334e-05 9.99856698e-01 3.97687400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28925415399999 meters Centerline goodness [0,1] 0.9992674146014735 Centerline is valid? [True, True] Translation: X:51.34, Y:0.69, Z:0.40 [[ 9.99621806e-01 -2.20507275e-02 -1.64320074e-02 5.13432682e+01] [ 2.20486244e-02 9.99756852e-01 -3.09161185e-04 6.91476469e-01] [ 1.64348292e-02 -5.32588980e-05 9.99864938e-01 3.97744224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31925415399999 meters Centerline goodness [0,1] 0.9991415769858883 Centerline is valid? [True, True] Translation: X:51.37, Y:0.69, Z:0.40 [[ 9.99588543e-01 -2.34865728e-02 -1.64659094e-02 5.13721383e+01] [ 2.34846118e-02 9.99724150e-01 -3.12472008e-04 6.91894447e-01] [ 1.64687062e-02 -7.43520520e-05 9.99864379e-01 3.98649619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34925415399999 meters Centerline goodness [0,1] 0.9992687003760969 Centerline is valid? [True, True] Translation: X:51.40, Y:0.69, Z:0.40 [[ 9.99473150e-01 -2.79129952e-02 -1.65616067e-02 5.14012353e+01] [ 2.79115477e-02 9.99610346e-01 -3.18583604e-04 6.90543142e-01] [ 1.65640461e-02 -1.43844318e-04 9.99862796e-01 3.99171403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379254153999995 meters Centerline goodness [0,1] 0.9989950800795562 Centerline is valid? [True, True] Translation: X:51.43, Y:0.69, Z:0.40 [[ 9.99388115e-01 -3.07644171e-02 -1.66416977e-02 5.14309338e+01] [ 3.07633056e-02 9.99526645e-01 -3.22840812e-04 6.89495623e-01] [ 1.66437523e-02 -1.89310361e-04 9.99861465e-01 3.99054178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409254153999996 meters Centerline goodness [0,1] 0.9992255039457434 Centerline is valid? [True, True] Translation: X:51.46, Y:0.69, Z:0.40 [[ 9.99285822e-01 -3.38053160e-02 -1.68833392e-02 5.14605654e+01] [ 3.38045994e-02 9.99428407e-01 -3.27910778e-04 6.87660176e-01] [ 1.68847740e-02 -2.43057928e-04 9.99857412e-01 3.98898067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439254154 meters Centerline goodness [0,1] 0.9989535151426359 Centerline is valid? [True, True] Translation: X:51.49, Y:0.68, Z:0.40 [[ 9.99043016e-01 -4.01719977e-02 -1.72991973e-02 5.14909938e+01] [ 4.01721986e-02 9.99192715e-01 -3.36028403e-04 6.84161984e-01] [ 1.72987308e-02 -3.59239959e-04 9.99850301e-01 3.98887269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46925415399999 meters Centerline goodness [0,1] 0.9988126978836861 Centerline is valid? [True, True] Translation: X:51.52, Y:0.68, Z:0.40 [[ 9.98929238e-01 -4.30979675e-02 -1.68209088e-02 5.15209020e+01] [ 4.30985835e-02 9.99070771e-01 -3.26049809e-04 6.80369451e-01] [ 1.68193305e-02 -3.99256657e-04 9.99858465e-01 3.98472732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49925415399999 meters Centerline goodness [0,1] 0.9988734979973297 Centerline is valid? [True, True] Translation: X:51.55, Y:0.68, Z:0.40 [[ 9.98757325e-01 -4.71931895e-02 -1.60190255e-02 5.15525771e+01] [ 4.71942914e-02 9.98885681e-01 -3.09442945e-04 6.79387397e-01] [ 1.60157788e-02 -4.46948152e-04 9.99871639e-01 4.00047256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52925415399999 meters Centerline goodness [0,1] 0.9986637994028854 Centerline is valid? [True, True] Translation: X:51.58, Y:0.68, Z:0.40 [[ 9.98697467e-01 -4.85857473e-02 -1.55818547e-02 5.15847492e+01] [ 4.85869716e-02 9.98818911e-01 -3.00202625e-04 6.80845947e-01] [ 1.55780367e-02 -4.57263531e-04 9.99878550e-01 4.00785246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559254153999994 meters Centerline goodness [0,1] 0.9988932509188105 Centerline is valid? [True, True] Translation: X:51.62, Y:0.68, Z:0.40 [[ 9.98652675e-01 -4.94783805e-02 -1.56436899e-02 5.16164740e+01] [ 4.94797467e-02 9.98775082e-01 -2.99940426e-04 6.80747337e-01] [ 1.56393682e-02 -4.74509505e-04 9.99877585e-01 4.01292350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589254153999995 meters Centerline goodness [0,1] 0.9987257687165776 Centerline is valid? [True, True] Translation: X:51.65, Y:0.68, Z:0.40 [[ 9.98612807e-01 -5.03485967e-02 -1.54103806e-02 5.16476093e+01] [ 5.03500480e-02 9.98731589e-01 -2.94030394e-04 6.78579683e-01] [ 1.54056379e-02 -4.82290885e-04 9.99881210e-01 4.00915666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619254154 meters Centerline goodness [0,1] 0.9987450586685073 Centerline is valid? [True, True] Translation: X:51.68, Y:0.68, Z:0.40 [[ 9.98619987e-01 -5.02517709e-02 -1.52604584e-02 5.16797713e+01] [ 5.02531974e-02 9.98736468e-01 -2.90215072e-04 6.80198889e-01] [ 1.52557601e-02 -4.77072256e-04 9.99883510e-01 4.01586275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.649254154 meters Centerline goodness [0,1] 0.9988737094587549 Centerline is valid? [True, True] Translation: X:51.71, Y:0.68, Z:0.40 [[ 9.98678669e-01 -4.92780273e-02 -1.45805416e-02 5.17113158e+01] [ 4.92792397e-02 9.98785002e-01 -2.76334434e-04 6.80616519e-01] [ 1.45764435e-02 -4.42548699e-04 9.99893660e-01 4.01880519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67925415399999 meters Centerline goodness [0,1] 0.9986851167741532 Centerline is valid? [True, True] Translation: X:51.74, Y:0.68, Z:0.40 [[ 9.98736408e-01 -4.81258285e-02 -1.44738531e-02 5.17433943e+01] [ 4.81269151e-02 9.98841191e-01 -2.73424809e-04 6.82390746e-01] [ 1.44702395e-02 -4.23502589e-04 9.99895211e-01 4.02326562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70925415399999 meters Centerline goodness [0,1] 0.9987254758571698 Centerline is valid? [True, True] Translation: X:51.78, Y:0.68, Z:0.40 [[ 9.98794110e-01 -4.68580303e-02 -1.46509397e-02 5.17751313e+01] [ 4.68590234e-02 9.98901475e-01 -2.75682046e-04 6.84800519e-01] [ 1.46477632e-02 -4.11179124e-04 9.99892631e-01 4.03048133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739254153999994 meters Centerline goodness [0,1] 0.9988751874687553 Centerline is valid? [True, True] Translation: X:51.81, Y:0.69, Z:0.40 [[ 9.98868251e-01 -4.52499250e-02 -1.46513066e-02 5.18061390e+01] [ 4.52507597e-02 9.98975622e-01 -2.74703108e-04 6.86520962e-01] [ 1.46487284e-02 -3.88590542e-04 9.99892626e-01 4.03316413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769254153999995 meters Centerline goodness [0,1] 0.9989559842980038 Centerline is valid? [True, True] Translation: X:51.84, Y:0.69, Z:0.40 [[ 9.98996393e-01 -4.20977091e-02 -1.52967405e-02 5.18377217e+01] [ 4.20982612e-02 9.99113434e-01 -2.86049201e-04 6.90434098e-01] [ 1.52952209e-02 -3.58204056e-04 9.99882957e-01 4.03666833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799254153999996 meters Centerline goodness [0,1] 0.9990581439156097 Centerline is valid? [True, True] Translation: X:51.87, Y:0.69, Z:0.40 [[ 9.99062493e-01 -4.04964394e-02 -1.53027535e-02 5.18695797e+01] [ 4.04968143e-02 9.99179627e-01 -2.85500095e-04 6.92037461e-01] [ 1.53017613e-02 -3.34480330e-04 9.99882865e-01 4.03741055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.829254154 meters Centerline goodness [0,1] 0.9989529453646891 Centerline is valid? [True, True] Translation: X:51.90, Y:0.69, Z:0.40 [[ 9.99102800e-01 -3.94377587e-02 -1.54356385e-02 5.19017079e+01] [ 3.94380286e-02 9.99221977e-01 -2.87025214e-04 6.93919300e-01] [ 1.54349489e-02 -3.21983460e-04 9.99880822e-01 4.03846736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85925415399999 meters Centerline goodness [0,1] 0.9989986022155926 Centerline is valid? [True, True] Translation: X:51.93, Y:0.70, Z:0.40 [[ 9.99130850e-01 -3.83347318e-02 -1.63704903e-02 5.19331968e+01] [ 3.83349056e-02 9.99264901e-01 -3.03303957e-04 6.95362918e-01] [ 1.63700835e-02 -3.24520861e-04 9.99865949e-01 4.03378735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88925415399999 meters Centerline goodness [0,1] 0.9991212286061012 Centerline is valid? [True, True] Translation: X:51.96, Y:0.70, Z:0.40 [[ 9.99128352e-01 -3.81450034e-02 -1.69556509e-02 5.19646951e+01] [ 3.81451761e-02 9.99272159e-01 -3.13345096e-04 6.97092206e-01] [ 1.69552624e-02 -3.33704318e-04 9.99856194e-01 4.03467255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919254153999994 meters Centerline goodness [0,1] 0.9991631273929326 Centerline is valid? [True, True] Translation: X:52.00, Y:0.70, Z:0.40 [[ 9.99074741e-01 -3.88714141e-02 -1.84031507e-02 5.19957877e+01] [ 3.88717535e-02 9.99244150e-01 -3.39404612e-04 6.98307123e-01] [ 1.84024338e-02 -3.76272165e-04 9.99830590e-01 4.02636767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949254153999995 meters Centerline goodness [0,1] 0.9989765226835993 Centerline is valid? [True, True] Translation: X:52.03, Y:0.70, Z:0.40 [[ 9.99032495e-01 -3.96266607e-02 -1.90735870e-02 5.20274515e+01] [ 3.96271762e-02 9.99214473e-01 -3.51074411e-04 6.98958644e-01] [ 1.90725161e-02 -4.05097645e-04 9.99818021e-01 4.02304234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979254153999996 meters Centerline goodness [0,1] 0.9989958579138948 Centerline is valid? [True, True] Translation: X:52.06, Y:0.70, Z:0.40 [[ 9.98990065e-01 -4.04038486e-02 -1.96565134e-02 5.20573637e+01] [ 4.04045711e-02 9.99183337e-01 -3.60548324e-04 6.98754786e-01] [ 1.96550282e-02 -4.34028801e-04 9.99806727e-01 4.01965793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.009254154 meters Centerline goodness [0,1] 0.9991020902503707 Centerline is valid? [True, True] Translation: X:52.09, Y:0.70, Z:0.40 [[ 9.98935984e-01 -4.13404707e-02 -2.04417517e-02 5.20881096e+01] [ 4.13414697e-02 9.99145006e-01 -3.73897308e-04 6.98651515e-01] [ 2.04397312e-02 -4.71592580e-04 9.99790976e-01 4.01639897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03925415399999 meters Centerline goodness [0,1] 0.9990189529932371 Centerline is valid? [True, True] Translation: X:52.12, Y:0.70, Z:0.40 [[ 9.98829461e-01 -4.37191306e-02 -2.06964987e-02 5.21189367e+01] [ 4.37206683e-02 9.99043723e-01 -3.78392640e-04 6.98664383e-01] [ 2.06932501e-02 -5.26915036e-04 9.99785733e-01 4.01825676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06925415399999 meters Centerline goodness [0,1] 0.99899673940306 Centerline is valid? [True, True] Translation: X:52.15, Y:0.70, Z:0.40 [[ 9.98765592e-01 -4.53411922e-02 -2.02847102e-02 5.21482163e+01] [ 4.53429997e-02 9.98971408e-01 -3.71051294e-04 6.98033825e-01] [ 2.02806695e-02 -5.49176345e-04 9.99794175e-01 4.02604210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09925415399999 meters Centerline goodness [0,1] 0.999015624345495 Centerline is valid? [True, True] Translation: X:52.18, Y:0.70, Z:0.41 [[ 9.98703230e-01 -4.69629186e-02 -1.96555837e-02 5.21797323e+01] [ 4.69649339e-02 9.98896474e-01 -3.59317496e-04 7.02794928e-01] [ 1.96507679e-02 -5.64271647e-04 9.99806746e-01 4.05763567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129254153999995 meters Centerline goodness [0,1] 0.998870387415279 Centerline is valid? [True, True] Translation: X:52.21, Y:0.70, Z:0.41 [[ 9.98548235e-01 -5.07591573e-02 -1.80258145e-02 5.22102967e+01] [ 5.07614785e-02 9.98710751e-01 -3.29046641e-04 7.01644066e-01] [ 1.80192768e-02 -5.86448051e-04 9.99837468e-01 4.07503696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159254153999996 meters Centerline goodness [0,1] 0.9989334783245154 Centerline is valid? [True, True] Translation: X:52.24, Y:0.70, Z:0.41 [[ 9.98475579e-01 -5.24283297e-02 -1.72565271e-02 5.22422425e+01] [ 5.24307187e-02 9.98624515e-01 -3.14260338e-04 7.01950869e-01] [ 1.72492671e-02 -5.90990845e-04 9.99851046e-01 4.08671600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.189254154 meters Centerline goodness [0,1] 0.9988484087102177 Centerline is valid? [True, True] Translation: X:52.27, Y:0.70, Z:0.41 [[ 9.98343088e-01 -5.53844418e-02 -1.56090706e-02 5.22734899e+01] [ 5.53867721e-02 9.98464934e-01 -2.83295703e-04 6.99778624e-01] [ 1.56007999e-02 -5.81709733e-04 9.99878131e-01 4.09431080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21925415399999 meters Centerline goodness [0,1] 0.9988484087102177 Centerline is valid? [True, True] Translation: X:52.31, Y:0.70, Z:0.41 [[ 9.98347051e-01 -5.53129543e-02 -1.56090880e-02 5.23051966e+01] [ 5.53152908e-02 9.98468897e-01 -2.82337065e-04 7.00290519e-01] [ 1.56008058e-02 -5.81550866e-04 9.99878131e-01 4.09728035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24925415399999 meters Centerline goodness [0,1] 0.9990141170054329 Centerline is valid? [True, True] Translation: X:52.34, Y:0.70, Z:0.41 [[ 9.98266452e-01 -5.67983918e-02 -1.54283049e-02 5.23368035e+01] [ 5.68008713e-02 9.98385489e-01 -2.77789776e-04 7.02145920e-01] [ 1.54191737e-02 -5.99032945e-04 9.99880938e-01 4.10440986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27925415399999 meters Centerline goodness [0,1] 0.9989507040775639 Centerline is valid? [True, True] Translation: X:52.37, Y:0.70, Z:0.41 [[ 9.98179814e-01 -5.82674333e-02 -1.55552425e-02 5.23677690e+01] [ 5.82701520e-02 9.98300812e-01 -2.78780259e-04 7.01695983e-01] [ 1.55450551e-02 -6.28133519e-04 9.99878971e-01 4.10529538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309254153999994 meters Centerline goodness [0,1] 0.9988487943737442 Centerline is valid? [True, True] Translation: X:52.40, Y:0.70, Z:0.41 [[ 9.97979580e-01 -6.15706405e-02 -1.56784716e-02 5.23987409e+01] [ 6.15738192e-02 9.98102493e-01 -2.80357200e-04 7.04094378e-01] [ 1.56659834e-02 -6.85592617e-04 9.99877046e-01 4.11331093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339254153999995 meters Centerline goodness [0,1] 0.9986807664118941 Centerline is valid? [True, True] Translation: X:52.43, Y:0.70, Z:0.41 [[ 9.97909885e-01 -6.26177753e-02 -1.59648026e-02 5.24294876e+01] [ 6.26212212e-02 9.98037325e-01 -2.84461223e-04 7.02950095e-01] [ 1.59512813e-02 -7.15868770e-04 9.99872514e-01 4.11309423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369254154 meters Centerline goodness [0,1] 0.9987184873949579 Centerline is valid? [True, True] Translation: X:52.46, Y:0.71, Z:0.41 [[ 9.97833058e-01 -6.36377019e-02 -1.67162146e-02 5.24612845e+01] [ 6.36416525e-02 9.97972771e-01 -2.96058199e-04 7.06402301e-01] [ 1.67011675e-02 -7.68430864e-04 9.99860230e-01 4.11315729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399254154 meters Centerline goodness [0,1] 0.9986775818639798 Centerline is valid? [True, True] Translation: X:52.49, Y:0.71, Z:0.41 [[ 9.97785824e-01 -6.43054464e-02 -1.69781858e-02 5.24925868e+01] [ 6.43096439e-02 9.97929948e-01 -2.99195204e-04 7.06813473e-01] [ 1.69622799e-02 -7.93328347e-04 9.99855815e-01 4.10690608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42925415399999 meters Centerline goodness [0,1] 0.99869761579666 Centerline is valid? [True, True] Translation: X:52.52, Y:0.71, Z:0.41 [[ 9.97807581e-01 -6.39934199e-02 -1.68781688e-02 5.25239470e+01] [ 6.39975554e-02 9.97950012e-01 -2.95542700e-04 7.06302297e-01] [ 1.68624816e-02 -7.85266798e-04 9.99857510e-01 4.10662372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45925415399999 meters Centerline goodness [0,1] 0.9985499022760229 Centerline is valid? [True, True] Translation: X:52.56, Y:0.71, Z:0.41 [[ 9.97929009e-01 -6.21774416e-02 -1.64820653e-02 5.25560494e+01] [ 6.21811647e-02 9.98064838e-01 -2.86986407e-04 7.14255482e-01] [ 1.64680139e-02 -7.38481954e-04 9.99864120e-01 4.11657249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489254153999994 meters Centerline goodness [0,1] 0.9985688428673654 Centerline is valid? [True, True] Translation: X:52.59, Y:0.72, Z:0.41 [[ 9.98016054e-01 -6.06490454e-02 -1.69011345e-02 5.25886828e+01] [ 6.06527662e-02 9.98158883e-01 -2.92820960e-04 7.18324419e-01] [ 1.68877768e-02 -7.32860539e-04 9.99857123e-01 4.11746586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519254153999995 meters Centerline goodness [0,1] 0.9987394163497699 Centerline is valid? [True, True] Translation: X:52.62, Y:0.72, Z:0.41 [[ 9.98128454e-01 -5.86160658e-02 -1.74282884e-02 5.26196675e+01] [ 5.86197379e-02 9.98280339e-01 -3.00528911e-04 7.21233993e-01] [ 1.74159335e-02 -7.21675239e-04 9.99848071e-01 4.11512253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549254153999996 meters Centerline goodness [0,1] 0.9988838580604401 Centerline is valid? [True, True] Translation: X:52.65, Y:0.73, Z:0.41 [[ 9.98400883e-01 -5.34697330e-02 -1.83484062e-02 5.26494616e+01] [ 5.34729451e-02 9.98569249e-01 -3.15857141e-04 7.28273662e-01] [ 1.83390430e-02 -6.65791268e-04 9.99831604e-01 4.10434859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579254154 meters Centerline goodness [0,1] 0.9988815261891698 Centerline is valid? [True, True] Translation: X:52.68, Y:0.73, Z:0.41 [[ 9.98532727e-01 -5.06891576e-02 -1.90526235e-02 5.26804671e+01] [ 5.06921221e-02 9.98714274e-01 -3.27635933e-04 7.31886107e-01] [ 1.90447346e-02 -6.38662715e-04 9.99818429e-01 4.09851521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60925415399999 meters Centerline goodness [0,1] 0.9991568296795953 Centerline is valid? [True, True] Translation: X:52.71, Y:0.74, Z:0.41 [[ 9.98843785e-01 -4.45124924e-02 -1.81584962e-02 5.27099147e+01] [ 4.45141709e-02 9.99008704e-01 -3.11943250e-04 7.39250772e-01] [ 1.81543811e-02 -4.96727826e-04 9.99835072e-01 4.10259941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63925415399999 meters Centerline goodness [0,1] 0.9991107158737217 Centerline is valid? [True, True] Translation: X:52.74, Y:0.75, Z:0.41 [[ 9.98981988e-01 -4.15987673e-02 -1.74507712e-02 5.27414161e+01] [ 4.15998783e-02 9.99134306e-01 -2.99491511e-04 7.45738726e-01] [ 1.74481227e-02 -4.26763334e-04 9.99847679e-01 4.12021913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669254153999994 meters Centerline goodness [0,1] 0.9987706915919544 Centerline is valid? [True, True] Translation: X:52.77, Y:0.75, Z:0.41 [[ 9.99204956e-01 -3.68482784e-02 -1.52203793e-02 5.27726191e+01] [ 3.68485802e-02 9.99320826e-01 -2.60704317e-04 7.52713688e-01] [ 1.52196486e-02 -3.00352323e-04 9.99884129e-01 4.13911513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699254153999995 meters Centerline goodness [0,1] 0.9991527218809574 Centerline is valid? [True, True] Translation: X:52.80, Y:0.76, Z:0.41 [[ 9.99277709e-01 -3.50500746e-02 -1.46817373e-02 5.28047618e+01] [ 3.50501719e-02 9.99385522e-01 -2.50762372e-04 7.56129144e-01] [ 1.46815049e-02 -2.64016166e-04 9.99892186e-01 4.14957692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729254153999996 meters Centerline goodness [0,1] 0.9990872813720496 Centerline is valid? [True, True] Translation: X:52.84, Y:0.76, Z:0.42 [[ 9.99339781e-01 -3.36568765e-02 -1.36826822e-02 5.28360717e+01] [ 3.36568424e-02 9.99433421e-01 -2.32826031e-04 7.57862539e-01] [ 1.36827661e-02 -2.27843565e-04 9.99906361e-01 4.15186568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759254154 meters Centerline goodness [0,1] 0.9992150040310603 Centerline is valid? [True, True] Translation: X:52.87, Y:0.76, Z:0.42 [[ 9.99416915e-01 -3.16757906e-02 -1.27465776e-02 5.28681719e+01] [ 3.16756090e-02 9.99498179e-01 -2.16183639e-04 7.62207593e-01] [ 1.27470289e-02 -1.87698022e-04 9.99918736e-01 4.15698659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78925415399999 meters Centerline goodness [0,1] 0.9992150040310603 Centerline is valid? [True, True] Translation: X:52.90, Y:0.76, Z:0.42 [[ 9.99419146e-01 -3.16052881e-02 -1.27465928e-02 5.28998637e+01] [ 3.16051123e-02 9.99500410e-01 -2.15283905e-04 7.62681000e-01] [ 1.27470288e-02 -1.87698639e-04 9.99918736e-01 4.15995394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81925415399999 meters Centerline goodness [0,1] 0.9992341566149723 Centerline is valid? [True, True] Translation: X:52.93, Y:0.77, Z:0.42 [[ 9.99475458e-01 -2.98639027e-02 -1.25281937e-02 5.29316644e+01] [ 2.98636071e-02 9.99553961e-01 -2.10711573e-04 7.67464897e-01] [ 1.25288983e-02 -1.63536007e-04 9.99921497e-01 4.15562468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84925415399999 meters Centerline goodness [0,1] 0.9993621499798014 Centerline is valid? [True, True] Translation: X:52.96, Y:0.77, Z:0.42 [[ 9.99531937e-01 -2.78930317e-02 -1.25652240e-02 5.29634964e+01] [ 2.78925903e-02 9.99610904e-01 -2.10403656e-04 7.71304403e-01] [ 1.25662038e-02 -1.40171472e-04 9.99921032e-01 4.15072686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879254153999995 meters Centerline goodness [0,1] 0.9993400745077169 Centerline is valid? [True, True] Translation: X:53.00, Y:0.77, Z:0.41 [[ 9.99548731e-01 -2.71857414e-02 -1.27777333e-02 5.29954165e+01] [ 2.71852393e-02 9.99630390e-01 -2.13013291e-04 7.73592562e-01] [ 1.27788014e-02 -1.34448572e-04 9.99918339e-01 4.14879482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909254153999996 meters Centerline goodness [0,1] 0.9994451084172785 Centerline is valid? [True, True] Translation: X:53.03, Y:0.78, Z:0.41 [[ 9.99564214e-01 -2.66316248e-02 -1.27333983e-02 5.30262723e+01] [ 2.66310914e-02 9.99645307e-01 -2.11471645e-04 7.75614273e-01] [ 1.27345137e-02 -1.27724805e-04 9.99918905e-01 4.14836869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939254154 meters Centerline goodness [0,1] 0.999572877736252 Centerline is valid? [True, True] Translation: X:53.06, Y:0.78, Z:0.41 [[ 9.99557997e-01 -2.63523530e-02 -1.37609756e-02 5.30580153e+01] [ 2.63517109e-02 9.99652707e-01 -2.28012735e-04 7.78624680e-01] [ 1.37622052e-02 -1.34713299e-04 9.99905287e-01 4.14175496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96925415399999 meters Centerline goodness [0,1] 0.9994012104103848 Centerline is valid? [True, True] Translation: X:53.09, Y:0.78, Z:0.41 [[ 9.99550914e-01 -2.65035581e-02 -1.39832637e-02 5.30887593e+01] [ 2.65029159e-02 9.99648709e-01 -2.31271006e-04 7.79949496e-01] [ 1.39844810e-02 -1.39430115e-04 9.99902203e-01 4.13979123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99925415399999 meters Centerline goodness [0,1] 0.9995501670807986 Centerline is valid? [True, True] Translation: X:53.12, Y:0.78, Z:0.41 [[ 9.99534686e-01 -2.73425452e-02 -1.35202291e-02 5.31207035e+01] [ 2.73420276e-02 9.99626112e-01 -2.23155657e-04 7.81704399e-01] [ 1.35212757e-02 -1.46618657e-04 9.99908573e-01 4.13813395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02925415399999 meters Centerline goodness [0,1] 0.9997006500171057 Centerline is valid? [True, True] Translation: X:53.15, Y:0.78, Z:0.41 [[ 9.99527550e-01 -2.78147869e-02 -1.30772576e-02 5.31526656e+01] [ 2.78143551e-02 9.99613083e-01 -2.14928379e-04 7.83127731e-01] [ 1.30781760e-02 -1.48908650e-04 9.99914466e-01 4.14357810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059254153999994 meters Centerline goodness [0,1] 0.9995082212576707 Centerline is valid? [True, True] Translation: X:53.18, Y:0.78, Z:0.41 [[ 9.99521211e-01 -2.82129130e-02 -1.27035766e-02 5.31835289e+01] [ 2.82125484e-02 9.99601925e-01 -2.07939332e-04 7.82621503e-01] [ 1.27043862e-02 -1.50560498e-04 9.99919285e-01 4.14326092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089254153999995 meters Centerline goodness [0,1] 0.9992937248523243 Centerline is valid? [True, True] Translation: X:53.22, Y:0.79, Z:0.42 [[ 9.99504794e-01 -2.92654666e-02 -1.15628646e-02 5.32158460e+01] [ 2.92652422e-02 9.99571663e-01 -1.88642438e-04 7.85276022e-01] [ 1.15634325e-02 -1.49841011e-04 9.99933130e-01 4.15282548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119254154 meters Centerline goodness [0,1] 0.9992520248755156 Centerline is valid? [True, True] Translation: X:53.25, Y:0.79, Z:0.42 [[ 9.99455249e-01 -3.10049785e-02 -1.13091645e-02 5.32467838e+01] [ 3.10048839e-02 9.99519216e-01 -1.83728096e-04 7.85396842e-01] [ 1.13094238e-02 -1.67011324e-04 9.99936032e-01 4.15843467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14925415399999 meters Centerline goodness [0,1] 0.9990579772201764 Centerline is valid? [True, True] Translation: X:53.28, Y:0.79, Z:0.42 [[ 9.99419394e-01 -3.22667721e-02 -1.09421259e-02 5.32792341e+01] [ 3.22667658e-02 9.99479277e-01 -1.77160322e-04 7.85584958e-01] [ 1.09421445e-02 -1.76009552e-04 9.99940117e-01 4.16065366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17925415399999 meters Centerline goodness [0,1] 0.9992736129211442 Centerline is valid? [True, True] Translation: X:53.31, Y:0.79, Z:0.42 [[ 9.99309669e-01 -3.53244926e-02 -1.15049870e-02 5.33110574e+01] [ 3.53246980e-02 9.99375871e-01 -1.85418072e-04 7.86791475e-01] [ 1.15043562e-02 -2.21120121e-04 9.99933798e-01 4.15993653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20925415399999 meters Centerline goodness [0,1] 0.9992083698838229 Centerline is valid? [True, True] Translation: X:53.34, Y:0.79, Z:0.42 [[ 9.99225452e-01 -3.76288631e-02 -1.15136881e-02 5.33428444e+01] [ 3.76292312e-02 9.99291753e-01 -1.84739380e-04 7.86054444e-01] [ 1.15124851e-02 -2.48654942e-04 9.99933698e-01 4.15883216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239254153999994 meters Centerline goodness [0,1] 0.9992083698838229 Centerline is valid? [True, True] Translation: X:53.37, Y:0.79, Z:0.42 [[ 9.99228248e-01 -3.75545412e-02 -1.15136991e-02 5.33745427e+01] [ 3.75549122e-02 9.99294549e-01 -1.84056882e-04 7.86503679e-01] [ 1.15124889e-02 -2.48481122e-04 9.99933698e-01 4.16180044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269254153999995 meters Centerline goodness [0,1] 0.9990807251582008 Centerline is valid? [True, True] Translation: X:53.41, Y:0.78, Z:0.42 [[ 9.99134725e-01 -3.99791623e-02 -1.14659288e-02 5.34059634e+01] [ 3.99797006e-02 9.99200476e-01 -1.82345391e-04 7.83510001e-01] [ 1.14640515e-02 -2.76216790e-04 9.99934247e-01 4.15753811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299254153999996 meters Centerline goodness [0,1] 0.9994222374390139 Centerline is valid? [True, True] Translation: X:53.44, Y:0.78, Z:0.42 [[ 9.98855184e-01 -4.63022981e-02 -1.20174162e-02 5.34368794e+01] [ 4.63033615e-02 9.98927406e-01 -1.89880148e-04 7.82489063e-01] [ 1.20133183e-02 -3.66783996e-04 9.99927770e-01 4.15924019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.329254154 meters Centerline goodness [0,1] 0.9994003512228552 Centerline is valid? [True, True] Translation: X:53.47, Y:0.78, Z:0.42 [[ 9.98692382e-01 -4.96825729e-02 -1.20486034e-02 5.34685590e+01] [ 4.96838913e-02 9.98764975e-01 -1.90055243e-04 7.81573091e-01] [ 1.20431655e-02 -4.08814776e-04 9.99927395e-01 4.16090404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35925415399999 meters Centerline goodness [0,1] 0.9993381301108099 Centerline is valid? [True, True] Translation: X:53.50, Y:0.78, Z:0.42 [[ 9.98378206e-01 -5.55586116e-02 -1.24176354e-02 5.34995940e+01] [ 5.55604730e-02 9.98455305e-01 -1.95291981e-04 7.79539282e-01] [ 1.24093041e-02 -4.94954440e-04 9.99922879e-01 4.15692073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38925415399999 meters Centerline goodness [0,1] 0.9995299245742613 Centerline is valid? [True, True] Translation: X:53.53, Y:0.78, Z:0.42 [[ 9.98238610e-01 -5.78900213e-02 -1.29777577e-02 5.35314095e+01] [ 5.78922560e-02 9.98322816e-01 -2.03725083e-04 7.79543880e-01] [ 1.29677853e-02 -5.47945428e-04 9.99915765e-01 4.16107938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419254153999994 meters Centerline goodness [0,1] 0.9992939968336828 Centerline is valid? [True, True] Translation: X:53.56, Y:0.78, Z:0.42 [[ 9.98143716e-01 -5.95788520e-02 -1.26286179e-02 5.35626263e+01] [ 5.95811115e-02 9.98223448e-01 -1.97566407e-04 7.78801504e-01] [ 1.26179532e-02 -5.55227421e-04 9.99920236e-01 4.16223234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449254153999995 meters Centerline goodness [0,1] 0.9995721925133689 Centerline is valid? [True, True] Translation: X:53.59, Y:0.78, Z:0.42 [[ 9.98069720e-01 -6.08147384e-02 -1.25857527e-02 5.35938986e+01] [ 6.08170892e-02 9.98148908e-01 -1.96214780e-04 7.79809551e-01] [ 1.25743881e-02 -5.69592817e-04 9.99920777e-01 4.17045465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479254153999996 meters Centerline goodness [0,1] 0.9994861253854059 Centerline is valid? [True, True] Translation: X:53.63, Y:0.78, Z:0.42 [[ 9.98069580e-01 -6.09240557e-02 -1.20570545e-02 5.36256519e+01] [ 6.09262292e-02 9.98142254e-01 -1.87299785e-04 7.81876065e-01] [ 1.20460666e-02 -5.47652647e-04 9.99927294e-01 4.18149848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.509254154 meters Centerline goodness [0,1] 0.9994859162471886 Centerline is valid? [True, True] Translation: X:53.66, Y:0.78, Z:0.42 [[ 9.98106835e-01 -6.04649418e-02 -1.12577652e-02 5.36571868e+01] [ 6.04668156e-02 9.98170193e-01 -1.74158765e-04 7.82672907e-01] [ 1.12476962e-02 -5.06892161e-04 9.99936614e-01 4.19178712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53925415399999 meters Centerline goodness [0,1] 0.9993121829593328 Centerline is valid? [True, True] Translation: X:53.69, Y:0.79, Z:0.42 [[ 9.98182694e-01 -5.92798812e-02 -1.08261459e-02 5.36891327e+01] [ 5.92815508e-02 9.98241288e-01 -1.66899692e-04 7.88073732e-01] [ 1.08169996e-02 -4.75194332e-04 9.99941382e-01 4.20200939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56925415399999 meters Centerline goodness [0,1] 0.9995270647921235 Centerline is valid? [True, True] Translation: X:53.72, Y:0.79, Z:0.42 [[ 9.98211751e-01 -5.87818308e-02 -1.08626606e-02 5.37216791e+01] [ 5.87834907e-02 9.98270742e-01 -1.66688316e-04 7.90489752e-01] [ 1.08536745e-02 -4.72154874e-04 9.99940986e-01 4.19983094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59925415399999 meters Centerline goodness [0,1] 0.9993546444090694 Centerline is valid? [True, True] Translation: X:53.75, Y:0.79, Z:0.42 [[ 9.98236246e-01 -5.81273046e-02 -1.20670747e-02 5.37531523e+01] [ 5.81293188e-02 9.98309045e-01 -1.84050397e-04 7.92642117e-01] [ 1.20573682e-02 -5.17725054e-04 9.99927173e-01 4.19217366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629254153999995 meters Centerline goodness [0,1] 0.9992880566102865 Centerline is valid? [True, True] Translation: X:53.79, Y:0.80, Z:0.42 [[ 9.98220063e-01 -5.82844714e-02 -1.26343380e-02 5.37856205e+01] [ 5.82867125e-02 9.98299866e-01 -1.91079303e-04 7.99016557e-01] [ 1.26239949e-02 -5.45674834e-04 9.99920165e-01 4.19252687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659254153999996 meters Centerline goodness [0,1] 0.9994816526640893 Centerline is valid? [True, True] Translation: X:53.82, Y:0.80, Z:0.42 [[ 9.98195452e-01 -5.85710889e-02 -1.32388142e-02 5.38180730e+01] [ 5.85735882e-02 9.98283074e-01 -1.99204387e-04 8.00144596e-01] [ 1.32277517e-02 -5.76599936e-04 9.99912343e-01 4.19335682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.689254154 meters Centerline goodness [0,1] 0.9993295992733722 Centerline is valid? [True, True] Translation: X:53.85, Y:0.80, Z:0.42 [[ 9.98165693e-01 -5.89203894e-02 -1.39153316e-02 5.38493932e+01] [ 5.89232036e-02 9.98262497e-01 -2.08019242e-04 7.99705940e-01] [ 1.39034102e-02 -6.12298244e-04 9.99903155e-01 4.19307176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71925415399999 meters Centerline goodness [0,1] 0.9995227869243617 Centerline is valid? [True, True] Translation: X:53.88, Y:0.80, Z:0.42 [[ 9.98150902e-01 -5.90599565e-02 -1.43769966e-02 5.38819081e+01] [ 5.90629997e-02 9.98254234e-01 -2.13206752e-04 8.04751978e-01] [ 1.43644897e-02 -6.36336032e-04 9.99896623e-01 4.20195813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74925415399999 meters Centerline goodness [0,1] 0.9995873422670113 Centerline is valid? [True, True] Translation: X:53.91, Y:0.80, Z:0.42 [[ 9.98149292e-01 -5.91833478e-02 -1.39757629e-02 5.39129331e+01] [ 5.91862480e-02 9.98246936e-01 -2.06357374e-04 8.01535129e-01] [ 1.39634754e-02 -6.21197500e-04 9.99902313e-01 4.20272177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77925415399999 meters Centerline goodness [0,1] 0.99947832891362 Centerline is valid? [True, True] Translation: X:53.95, Y:0.81, Z:0.42 [[ 9.98170605e-01 -5.89100051e-02 -1.36034431e-02 5.39453139e+01] [ 5.89127383e-02 9.98263116e-01 -2.00070551e-04 8.08554274e-01] [ 1.35916016e-02 -6.01711537e-04 9.99907449e-01 4.21593537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809254153999994 meters Centerline goodness [0,1] 0.9993911322765129 Centerline is valid? [True, True] Translation: X:53.98, Y:0.81, Z:0.42 [[ 9.98233138e-01 -5.78362628e-02 -1.36223877e-02 5.39772590e+01] [ 5.78389170e-02 9.98325909e-01 -1.99378502e-04 8.10613625e-01] [ 1.36111139e-02 -5.88877925e-04 9.99907191e-01 4.22079017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839254153999995 meters Centerline goodness [0,1] 0.9995413344981982 Centerline is valid? [True, True] Translation: X:54.01, Y:0.82, Z:0.42 [[ 9.98460784e-01 -5.38701370e-02 -1.31936116e-02 5.40091626e+01] [ 5.38722922e-02 9.98547815e-01 -1.92251778e-04 8.18026178e-01] [ 1.31848086e-02 -5.18814236e-04 9.99912942e-01 4.22624821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869254154 meters Centerline goodness [0,1] 0.9996946165256085 Centerline is valid? [True, True] Translation: X:54.04, Y:0.82, Z:0.42 [[ 9.98586270e-01 -5.16038588e-02 -1.27476381e-02 5.40403039e+01] [ 5.16056943e-02 9.98667521e-01 -1.85135821e-04 8.20656020e-01] [ 1.27402059e-02 -4.72976626e-04 9.99918728e-01 4.23515964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89925415399999 meters Centerline goodness [0,1] 0.9995180194983021 Centerline is valid? [True, True] Translation: X:54.07, Y:0.82, Z:0.42 [[ 9.98666456e-01 -5.01262559e-02 -1.23559028e-02 5.40716247e+01] [ 5.01278733e-02 9.98742792e-01 -1.78951865e-04 8.21933565e-01] [ 1.23493391e-02 -4.40661907e-04 9.99923647e-01 4.24119167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92925415399999 meters Centerline goodness [0,1] 0.999715162138475 Centerline is valid? [True, True] Translation: X:54.10, Y:0.83, Z:0.42 [[ 9.98792119e-01 -4.76206874e-02 -1.21067684e-02 5.41031521e+01] [ 4.76220637e-02 9.98865411e-01 -1.74746205e-04 8.26257142e-01] [ 1.21013537e-02 -4.02014165e-04 9.99926695e-01 4.24831298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95925415399999 meters Centerline goodness [0,1] 0.9995613938902169 Centerline is valid? [True, True] Translation: X:54.14, Y:0.83, Z:0.42 [[ 9.98809500e-01 -4.70331046e-02 -1.29409862e-02 5.41352319e+01] [ 4.70346358e-02 9.98893242e-01 -1.86169947e-04 8.27584227e-01] [ 1.29354198e-02 -4.22726262e-04 9.99916245e-01 4.24461867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989254153999994 meters Centerline goodness [0,1] 0.9994300120574372 Centerline is valid? [True, True] Translation: X:54.17, Y:0.83, Z:0.42 [[ 9.98807606e-01 -4.66615420e-02 -1.43550505e-02 5.41675098e+01] [ 4.66634037e-02 9.98910649e-01 -2.05410172e-04 8.29893072e-01] [ 1.43489975e-02 -4.64690273e-04 9.99896940e-01 4.23379008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019254153999995 meters Centerline goodness [0,1] 0.9995176813627694 Centerline is valid? [True, True] Translation: X:54.20, Y:0.83, Z:0.42 [[ 9.98789186e-01 -4.67923368e-02 -1.51867924e-02 5.42001763e+01] [ 4.67944529e-02 9.98904516e-01 -2.16179183e-04 8.30203640e-01] [ 1.51802711e-02 -4.94740214e-04 9.99884651e-01 4.23054057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049254153999996 meters Centerline goodness [0,1] 0.9996495531803049 Centerline is valid? [True, True] Translation: X:54.23, Y:0.83, Z:0.42 [[ 9.98761664e-01 -4.70178891e-02 -1.62621025e-02 5.42328239e+01] [ 4.70203652e-02 9.98893904e-01 -2.30267147e-04 8.32063945e-01] [ 1.62549417e-02 -5.34667998e-04 9.99867737e-01 4.22941622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079254154 meters Centerline goodness [0,1] 0.9997151246877328 Centerline is valid? [True, True] Translation: X:54.26, Y:0.83, Z:0.42 [[ 9.98781326e-01 -4.65195623e-02 -1.64861453e-02 5.42639887e+01] [ 4.65220667e-02 9.98917236e-01 -2.31775642e-04 8.32049592e-01] [ 1.64790768e-02 -5.35476369e-04 9.99864067e-01 4.23021989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10925415399999 meters Centerline goodness [0,1] 0.9996051246051246 Centerline is valid? [True, True] Translation: X:54.30, Y:0.84, Z:0.42 [[ 9.98850979e-01 -4.53763721e-02 -1.54177189e-02 5.42958871e+01] [ 4.53784516e-02 9.98969844e-01 -2.15114331e-04 8.35460669e-01] [ 1.54115973e-02 -4.84765049e-04 9.99881117e-01 4.24871586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13925415399999 meters Centerline goodness [0,1] 0.9996051246051246 Centerline is valid? [True, True] Translation: X:54.33, Y:0.84, Z:0.43 [[ 9.98855924e-01 -4.52673833e-02 -1.54177374e-02 5.43284472e+01] [ 4.52694705e-02 9.98974789e-01 -2.13775731e-04 8.35822133e-01] [ 1.54116081e-02 -4.84421655e-04 9.99881117e-01 4.25176399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169254153999994 meters Centerline goodness [0,1] 0.9995612495612496 Centerline is valid? [True, True] Translation: X:54.36, Y:0.84, Z:0.43 [[ 9.98905685e-01 -4.43239682e-02 -1.49270734e-02 5.43596175e+01] [ 4.43258386e-02 9.99017106e-01 -2.05682325e-04 8.36095444e-01] [ 1.49215183e-02 -4.56197804e-04 9.99888564e-01 4.25762244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199254153999995 meters Centerline goodness [0,1] 0.9996931641352708 Centerline is valid? [True, True] Translation: X:54.39, Y:0.84, Z:0.43 [[ 9.98966593e-01 -4.32071555e-02 -1.41027345e-02 5.43920455e+01] [ 4.32087253e-02 9.99066048e-01 -1.93507237e-04 8.37243369e-01] [ 1.40979241e-02 -4.16053916e-04 9.99900533e-01 4.26723005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229254153999996 meters Centerline goodness [0,1] 0.9997144112478031 Centerline is valid? [True, True] Translation: X:54.42, Y:0.84, Z:0.43 [[ 9.99042284e-01 -4.17805317e-02 -1.29962259e-02 5.44244909e+01] [ 4.17817556e-02 9.99126745e-01 -1.77444005e-04 8.39679276e-01] [ 1.29922906e-02 -3.65731069e-04 9.99915530e-01 4.28542695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259254154 meters Centerline goodness [0,1] 0.9996711247533435 Centerline is valid? [True, True] Translation: X:54.46, Y:0.84, Z:0.43 [[ 9.99083899e-01 -4.10171082e-02 -1.22049316e-02 5.44567781e+01] [ 4.10181410e-02 9.99158388e-01 -1.65796176e-04 8.39667874e-01] [ 1.22014602e-02 -3.34979314e-04 9.99925503e-01 4.29301507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28925415399999 meters Centerline goodness [0,1] 0.9994737880681445 Centerline is valid? [True, True] Translation: X:54.49, Y:0.84, Z:0.43 [[ 9.99096352e-01 -4.06831715e-02 -1.23028082e-02 5.44877088e+01] [ 4.06842059e-02 9.99172041e-01 -1.66289337e-04 8.38780549e-01] [ 1.22993872e-02 -3.34390913e-04 9.99924304e-01 4.29443737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31925415399999 meters Centerline goodness [0,1] 0.9997151746198677 Centerline is valid? [True, True] Translation: X:54.52, Y:0.84, Z:0.43 [[ 9.99113906e-01 -4.03525481e-02 -1.19614222e-02 5.45195002e+01] [ 4.03535103e-02 9.99185452e-01 -1.60996419e-04 8.41146197e-01] [ 1.19581757e-02 -3.21831614e-04 9.99928447e-01 4.30049172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34925415399999 meters Centerline goodness [0,1] 0.9995611532891561 Centerline is valid? [True, True] Translation: X:54.55, Y:0.84, Z:0.43 [[ 9.99103956e-01 -4.02036983e-02 -1.32268053e-02 5.45530661e+01] [ 4.02048775e-02 9.99191441e-01 -1.76849667e-04 8.40129286e-01] [ 1.32232206e-02 -3.55090884e-04 9.99912506e-01 4.29437000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379254153999995 meters Centerline goodness [0,1] 0.9997370669821863 Centerline is valid? [True, True] Translation: X:54.58, Y:0.84, Z:0.43 [[ 9.99086829e-01 -4.04498207e-02 -1.37593621e-02 5.45849820e+01] [ 4.04511392e-02 9.99181501e-01 -1.82581340e-04 8.39893580e-01] [ 1.37554855e-02 -3.74167261e-04 9.99905319e-01 4.29301604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409254153999996 meters Centerline goodness [0,1] 0.9994742030890569 Centerline is valid? [True, True] Translation: X:54.62, Y:0.84, Z:0.43 [[ 9.99052522e-01 -4.08775966e-02 -1.49358584e-02 5.46161063e+01] [ 4.08792137e-02 9.99164076e-01 -1.97144569e-04 8.37794990e-01] [ 1.49314320e-02 -4.13608368e-04 9.99888434e-01 4.28722114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439254154 meters Centerline goodness [0,1] 0.9995622866147247 Centerline is valid? [True, True] Translation: X:54.65, Y:0.83, Z:0.43 [[ 9.99043594e-01 -4.10466158e-02 -1.50688991e-02 5.46468462e+01] [ 4.10482919e-02 9.99157144e-01 -1.98180986e-04 8.33759762e-01] [ 1.50643329e-02 -4.20561126e-04 9.99886438e-01 4.27867964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46925415399999 meters Centerline goodness [0,1] 0.9998904997590995 Centerline is valid? [True, True] Translation: X:54.68, Y:0.84, Z:0.43 [[ 9.99040792e-01 -4.08617128e-02 -1.57422009e-02 5.46799870e+01] [ 4.08635355e-02 9.99164716e-01 -2.05992178e-04 8.37336819e-01] [ 1.57374689e-02 -4.37487397e-04 9.99876063e-01 4.28670041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49925415399999 meters Centerline goodness [0,1] 0.9994096683210529 Centerline is valid? [True, True] Translation: X:54.71, Y:0.84, Z:0.43 [[ 9.99057964e-01 -4.04488659e-02 -1.57185711e-02 5.47122124e+01] [ 4.04506553e-02 9.99181516e-01 -2.04206215e-04 8.37480235e-01] [ 1.57139657e-02 -4.31812658e-04 9.99876435e-01 4.28446561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52925415399999 meters Centerline goodness [0,1] 0.9993651210648452 Centerline is valid? [True, True] Translation: X:54.74, Y:0.84, Z:0.43 [[ 9.99081310e-01 -3.97791619e-02 -1.59421967e-02 5.47442929e+01] [ 3.97809359e-02 9.99208404e-01 -2.05947718e-04 8.38337059e-01] [ 1.59377694e-02 -4.28436991e-04 9.99872894e-01 4.28392833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559254153999994 meters Centerline goodness [0,1] 0.9996062216971845 Centerline is valid? [True, True] Translation: X:54.78, Y:0.84, Z:0.43 [[ 9.99146752e-01 -3.79796586e-02 -1.62269410e-02 5.47755500e+01] [ 3.79812767e-02 9.99278429e-01 -2.08561459e-04 8.38690620e-01] [ 1.62231532e-02 -4.07936430e-04 9.99868313e-01 4.27939961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589254153999995 meters Centerline goodness [0,1] 0.9994977727312429 Centerline is valid? [True, True] Translation: X:54.81, Y:0.84, Z:0.43 [[ 9.99193301e-01 -3.66147456e-02 -1.64956725e-02 5.48072913e+01] [ 3.66162488e-02 9.99329378e-01 -2.10987628e-04 8.40234568e-01] [ 1.64923354e-02 -3.93192225e-04 9.99863915e-01 4.28147514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619254154 meters Centerline goodness [0,1] 0.9998032313780363 Centerline is valid? [True, True] Translation: X:54.84, Y:0.84, Z:0.43 [[ 9.99233875e-01 -3.55250058e-02 -1.64206129e-02 5.48397293e+01] [ 3.55263676e-02 9.99368718e-01 -2.08853955e-04 8.41370503e-01] [ 1.64176664e-02 -3.74670784e-04 9.99865151e-01 4.28340190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64925415399999 meters Centerline goodness [0,1] 0.9996934597446958 Centerline is valid? [True, True] Translation: X:54.87, Y:0.84, Z:0.43 [[ 9.99268128e-01 -3.45704266e-02 -1.63735658e-02 5.48724196e+01] [ 3.45716750e-02 9.99402200e-01 -2.06879288e-04 8.43508150e-01] [ 1.63709295e-02 -3.59333715e-04 9.99865923e-01 4.29119323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67925415399999 meters Centerline goodness [0,1] 0.9996284559064583 Centerline is valid? [True, True] Translation: X:54.90, Y:0.84, Z:0.43 [[ 9.99314367e-01 -3.37062993e-02 -1.53192926e-02 5.49038911e+01] [ 3.37073158e-02 9.99431729e-01 -1.91915992e-04 8.43200549e-01] [ 1.53170559e-02 -3.24587825e-04 9.99882634e-01 4.30037973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70925415399999 meters Centerline goodness [0,1] 0.9996724318658281 Centerline is valid? [True, True] Translation: X:54.93, Y:0.84, Z:0.43 [[ 9.99298586e-01 -3.45100607e-02 -1.45393289e-02 5.49347901e+01] [ 3.45110817e-02 9.99404299e-01 -1.80744305e-04 8.42466063e-01] [ 1.45369053e-02 -3.21150438e-04 9.99894282e-01 4.30721181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739254153999994 meters Centerline goodness [0,1] 0.9997595470741251 Centerline is valid? [True, True] Translation: X:54.97, Y:0.84, Z:0.43 [[ 9.99256950e-01 -3.56718211e-02 -1.45968784e-02 5.49669932e+01] [ 3.56729867e-02 9.99363500e-01 -1.80591149e-04 8.42913723e-01] [ 1.45940295e-02 -3.40257288e-04 9.99893444e-01 4.31428663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769254153999995 meters Centerline goodness [0,1] 0.9998251671838804 Centerline is valid? [True, True] Translation: X:55.00, Y:0.84, Z:0.43 [[ 9.99130271e-01 -3.86958657e-02 -1.55348620e-02 5.49993921e+01] [ 3.86975691e-02 9.99250950e-01 -1.91044086e-04 8.40270253e-01] [ 1.55306183e-02 -4.10283468e-04 9.99879308e-01 4.31119660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799254153999996 meters Centerline goodness [0,1] 0.9996727677305352 Centerline is valid? [True, True] Translation: X:55.03, Y:0.84, Z:0.43 [[ 9.99046847e-01 -4.05813004e-02 -1.60796783e-02 5.50314519e+01] [ 4.05833881e-02 9.99176136e-01 -1.96579607e-04 8.38562956e-01] [ 1.60744083e-02 -4.56175588e-04 9.99870694e-01 4.30441193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.829254154 meters Centerline goodness [0,1] 0.9994764169466381 Centerline is valid? [True, True] Translation: X:55.06, Y:0.84, Z:0.43 [[ 9.98855355e-01 -4.45143806e-02 -1.75057095e-02 5.50630695e+01] [ 4.45174764e-02 9.99008583e-01 -2.12992821e-04 8.37697935e-01] [ 1.74978353e-02 -5.66560988e-04 9.99846741e-01 4.30149848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85925415399999 meters Centerline goodness [0,1] 0.9994109305116178 Centerline is valid? [True, True] Translation: X:55.09, Y:0.83, Z:0.43 [[ 9.98769860e-01 -4.63930622e-02 -1.75057135e-02 5.50938446e+01] [ 4.63964575e-02 9.98923082e-01 -2.12349326e-04 8.32835324e-01] [ 1.74967128e-02 -6.00114985e-04 9.99846741e-01 4.29124327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88925415399999 meters Centerline goodness [0,1] 0.9994761655316919 Centerline is valid? [True, True] Translation: X:55.13, Y:0.83, Z:0.43 [[ 9.98709474e-01 -4.77567249e-02 -1.72824065e-02 5.51260921e+01] [ 4.77602537e-02 9.98858806e-01 -2.08727351e-04 8.33781667e-01] [ 1.72726521e-02 -6.16954138e-04 9.99850626e-01 4.29995033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919254153999994 meters Centerline goodness [0,1] 0.9995636236690522 Centerline is valid? [True, True] Translation: X:55.16, Y:0.83, Z:0.43 [[ 9.98682873e-01 -4.85913002e-02 -1.64743531e-02 5.51575955e+01] [ 4.85946371e-02 9.98818563e-01 -1.97938065e-04 8.31741712e-01] [ 1.64645077e-02 -6.02887852e-04 9.99864269e-01 4.30574217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949254153999995 meters Centerline goodness [0,1] 0.999477317769018 Centerline is valid? [True, True] Translation: X:55.19, Y:0.83, Z:0.43 [[ 9.98679990e-01 -4.87517051e-02 -1.61724504e-02 5.51894185e+01] [ 4.87549575e-02 9.98810751e-01 -1.93332240e-04 8.31605490e-01] [ 1.61626426e-02 -5.95410095e-04 9.99869199e-01 4.31495229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979254153999996 meters Centerline goodness [0,1] 0.9995428621185075 Centerline is valid? [True, True] Translation: X:55.22, Y:0.83, Z:0.43 [[ 9.98760587e-01 -4.73695823e-02 -1.52778729e-02 5.52215414e+01] [ 4.73723394e-02 9.98877284e-01 -1.81589375e-04 8.32908357e-01] [ 1.52693220e-02 -5.42384268e-04 9.99883270e-01 4.33150820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.009254154 meters Centerline goodness [0,1] 0.9996298796020117 Centerline is valid? [True, True] Translation: X:55.25, Y:0.83, Z:0.43 [[ 9.98827839e-01 -4.61920953e-02 -1.44651080e-02 5.52525586e+01] [ 4.61944564e-02 9.98932452e-01 -1.71025142e-04 8.32342567e-01] [ 1.44575658e-02 -4.97383129e-04 9.99895360e-01 4.34003674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03925415399999 meters Centerline goodness [0,1] 0.9993030448229299 Centerline is valid? [True, True] Translation: X:55.28, Y:0.83, Z:0.44 [[ 9.98950401e-01 -4.39379976e-02 -1.29440646e-02 5.52835844e+01] [ 4.39397073e-02 9.99034173e-01 -1.52413013e-04 8.33146136e-01] [ 1.29382596e-02 -4.16505369e-04 9.99916210e-01 4.35132670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06925415399999 meters Centerline goodness [0,1] 0.9994977946635224 Centerline is valid? [True, True] Translation: X:55.32, Y:0.84, Z:0.44 [[ 9.99016977e-01 -4.25873507e-02 -1.23043624e-02 5.53156954e+01] [ 4.25888013e-02 9.99092675e-01 -1.44219073e-04 8.36910850e-01] [ 1.22993402e-02 -3.79950744e-04 9.99924288e-01 4.35865192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09925415399999 meters Centerline goodness [0,1] 0.9996078260490653 Centerline is valid? [True, True] Translation: X:55.35, Y:0.84, Z:0.44 [[ 9.99090841e-01 -4.08219895e-02 -1.22905086e-02 5.53479343e+01] [ 4.08233141e-02 9.99166371e-01 -1.43184281e-04 8.39107766e-01] [ 1.22861079e-02 -3.58685189e-04 9.99924459e-01 4.36082261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129254153999995 meters Centerline goodness [0,1] 0.999478045279572 Centerline is valid? [True, True] Translation: X:55.38, Y:0.84, Z:0.44 [[ 9.99218311e-01 -3.74836073e-02 -1.25596918e-02 5.53780039e+01] [ 3.74847365e-02 9.99297190e-01 -1.45575312e-04 8.40699546e-01] [ 1.25563214e-02 -3.25335221e-04 9.99921113e-01 4.35099670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159254153999996 meters Centerline goodness [0,1] 0.999498386111838 Centerline is valid? [True, True] Translation: X:55.41, Y:0.84, Z:0.43 [[ 9.99283900e-01 -3.57120367e-02 -1.25034919e-02 5.54103208e+01] [ 3.57130220e-02 9.99362076e-01 -1.44537705e-04 8.41774837e-01] [ 1.25006774e-02 -3.02103281e-04 9.99921818e-01 4.34841199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.189254154 meters Centerline goodness [0,1] 0.9995850894241478 Centerline is valid? [True, True] Translation: X:55.44, Y:0.84, Z:0.43 [[ 9.99373984e-01 -3.26681158e-02 -1.35806617e-02 5.54420457e+01] [ 3.26690110e-02 9.99466213e-01 -1.55979241e-04 8.44060899e-01] [ 1.35785080e-02 -2.87785190e-04 9.99907766e-01 4.34621677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21925415399999 meters Centerline goodness [0,1] 0.9997592734434839 Centerline is valid? [True, True] Translation: X:55.47, Y:0.85, Z:0.43 [[ 9.99409038e-01 -3.12610535e-02 -1.42941036e-02 5.54745318e+01] [ 3.12619161e-02 9.99511214e-01 -1.63144332e-04 8.45198220e-01] [ 1.42922169e-02 -2.83813148e-04 9.99897821e-01 4.34774073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24925415399999 meters Centerline goodness [0,1] 0.9996715280515044 Centerline is valid? [True, True] Translation: X:55.51, Y:0.85, Z:0.43 [[ 9.99488980e-01 -2.84712944e-02 -1.45314985e-02 5.55059723e+01] [ 2.84719046e-02 9.99594580e-01 -1.64928777e-04 8.46908753e-01] [ 1.45303029e-02 -2.48894944e-04 9.99894399e-01 4.34295291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27925415399999 meters Centerline goodness [0,1] 0.9995405819295559 Centerline is valid? [True, True] Translation: X:55.54, Y:0.85, Z:0.43 [[ 9.99519825e-01 -2.71695573e-02 -1.48974486e-02 5.55385977e+01] [ 2.71700671e-02 9.99630811e-01 -1.68212231e-04 8.47883508e-01] [ 1.48965189e-02 -2.36633217e-04 9.99889013e-01 4.33803545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309254153999994 meters Centerline goodness [0,1] 0.9994956803929308 Centerline is valid? [True, True] Translation: X:55.57, Y:0.85, Z:0.43 [[ 9.99550611e-01 -2.58069112e-02 -1.52505514e-02 5.55710413e+01] [ 2.58073032e-02 9.99666921e-01 -1.71126578e-04 8.50531684e-01] [ 1.52498881e-02 -2.22525930e-04 9.99883689e-01 4.34725001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339254153999995 meters Centerline goodness [0,1] 0.9994532531437944 Centerline is valid? [True, True] Translation: X:55.60, Y:0.85, Z:0.43 [[ 9.99604383e-01 -2.31526822e-02 -1.59697070e-02 5.56019212e+01] [ 2.31527884e-02 9.99731922e-01 -1.78257862e-04 8.50876525e-01] [ 1.59695530e-02 -1.91555908e-04 9.99872460e-01 4.33019037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369254154 meters Centerline goodness [0,1] 0.9997370554593861 Centerline is valid? [True, True] Translation: X:55.63, Y:0.85, Z:0.43 [[ 9.99623215e-01 -2.16367404e-02 -1.68902129e-02 5.56332802e+01] [ 2.16366534e-02 9.99765883e-01 -1.87910799e-04 8.53798906e-01] [ 1.68903244e-02 -1.77607684e-04 9.99857333e-01 4.33989409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39925415399999 meters Centerline goodness [0,1] 0.9996063594812693 Centerline is valid? [True, True] Translation: X:55.66, Y:0.85, Z:0.43 [[ 9.99641435e-01 -2.03428155e-02 -1.74117950e-02 5.56623817e+01] [ 2.03425304e-02 9.99793051e-01 -1.93509676e-04 8.54381285e-01] [ 1.74121282e-02 -1.60759678e-04 9.99848384e-01 4.33075047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42925415399999 meters Centerline goodness [0,1] 0.9994081543182814 Centerline is valid? [True, True] Translation: X:55.69, Y:0.86, Z:0.43 [[ 9.99670426e-01 -1.83005248e-02 -1.80036302e-02 5.56918156e+01] [ 1.82998799e-02 9.99832523e-01 -2.00576052e-04 8.56619264e-01] [ 1.80042857e-02 -1.28954324e-04 9.99837901e-01 4.33841882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45925415399999 meters Centerline goodness [0,1] 0.9995616534432122 Centerline is valid? [True, True] Translation: X:55.72, Y:0.86, Z:0.43 [[ 9.99691379e-01 -1.77047998e-02 -1.74265915e-02 5.57208352e+01] [ 1.77040633e-02 9.99843251e-01 -1.96543772e-04 8.57128750e-01] [ 1.74273397e-02 -1.12038366e-04 9.99848126e-01 4.34307194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489254153999994 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:55.75, Y:0.86, Z:0.44 [[ 9.99727771e-01 -1.67037786e-02 -1.62900793e-02 5.57498810e+01] [ 1.67029595e-02 9.99860478e-01 -1.86345663e-04 8.57298614e-01] [ 1.62909192e-02 -8.57976014e-05 9.99867290e-01 4.35237115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519254153999995 meters Centerline goodness [0,1] 0.9995174909529554 Centerline is valid? [True, True] Translation: X:55.78, Y:0.86, Z:0.44 [[ 9.99731989e-01 -1.71121449e-02 -1.55924427e-02 5.57787214e+01] [ 1.71114121e-02 9.99853573e-01 -1.80419295e-04 8.57375273e-01] [ 1.55932469e-02 -8.64377709e-05 9.99878414e-01 4.36077395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549254153999996 meters Centerline goodness [0,1] 0.9995390187685216 Centerline is valid? [True, True] Translation: X:55.81, Y:0.86, Z:0.44 [[ 9.99732720e-01 -1.78866895e-02 -1.46476871e-02 5.58073344e+01] [ 1.78860893e-02 9.99840016e-01 -1.71983748e-04 8.55703513e-01] [ 1.46484199e-02 -9.00520597e-05 9.99892702e-01 4.35551544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57925415399999 meters Centerline goodness [0,1] 0.9996274135928288 Centerline is valid? [True, True] Translation: X:55.84, Y:0.85, Z:0.44 [[ 9.99684823e-01 -2.14702596e-02 -1.30108642e-02 5.58374085e+01] [ 2.14700820e-02 9.99769479e-01 -1.53341679e-04 8.54771195e-01] [ 1.30111572e-02 -1.26050971e-04 9.99915343e-01 4.38077059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60925415399999 meters Centerline goodness [0,1] 0.999605721420279 Centerline is valid? [True, True] Translation: X:55.87, Y:0.85, Z:0.44 [[ 9.99626391e-01 -2.43263702e-02 -1.24622138e-02 5.58689344e+01] [ 2.43264265e-02 9.99704058e-01 -1.47087338e-04 8.52887287e-01] [ 1.24621038e-02 -1.56128744e-04 9.99922333e-01 4.38573323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63925415399999 meters Centerline goodness [0,1] 0.9995418148495625 Centerline is valid? [True, True] Translation: X:55.90, Y:0.85, Z:0.44 [[ 9.99450150e-01 -3.10493938e-02 -1.16332363e-02 5.58997173e+01] [ 3.10499052e-02 9.99517826e-01 -1.36691000e-04 8.45979712e-01] [ 1.16318713e-02 -2.24595045e-04 9.99932322e-01 4.38637546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669254153999994 meters Centerline goodness [0,1] 0.9995418048525048 Centerline is valid? [True, True] Translation: X:55.93, Y:0.84, Z:0.44 [[ 9.99338523e-01 -3.46843048e-02 -1.09323509e-02 5.59315849e+01] [ 3.46849871e-02 9.99398287e-01 -1.27243266e-04 8.42146236e-01] [ 1.09301861e-02 -2.52029353e-04 9.99940232e-01 4.38733077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699254153999995 meters Centerline goodness [0,1] 0.9993478402643421 Centerline is valid? [True, True] Translation: X:55.96, Y:0.84, Z:0.44 [[ 9.99208297e-01 -3.83581844e-02 -1.05559446e-02 5.59638827e+01] [ 3.83590314e-02 9.99264014e-01 -1.22288874e-04 8.40241389e-01] [ 1.05528664e-02 -2.82723753e-04 9.99944277e-01 4.38762057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729254153999996 meters Centerline goodness [0,1] 0.9994151540094441 Centerline is valid? [True, True] Translation: X:55.99, Y:0.83, Z:0.44 [[ 9.98976127e-01 -4.41508196e-02 -9.86926150e-03 5.59939383e+01] [ 4.41518487e-02 9.99024825e-01 -1.13690148e-04 8.33189277e-01] [ 9.86465676e-03 -3.22172396e-04 9.99951291e-01 4.39509863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759254154 meters Centerline goodness [0,1] 0.9992864402015266 Centerline is valid? [True, True] Translation: X:56.03, Y:0.83, Z:0.44 [[ 9.98915342e-01 -4.54897423e-02 -9.94094893e-03 5.60258861e+01] [ 4.54908530e-02 9.98964749e-01 -1.14474181e-04 8.32834082e-01] [ 9.93586495e-03 -3.37872231e-04 9.99950581e-01 4.39113323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78925415399999 meters Centerline goodness [0,1] 0.9993932696266441 Centerline is valid? [True, True] Translation: X:56.06, Y:0.83, Z:0.44 [[ 9.98848607e-01 -4.68972309e-02 -1.01049111e-02 5.60571204e+01] [ 4.68984579e-02 9.98899655e-01 -1.15628329e-04 8.27892740e-01] [ 1.00992149e-02 -3.58409553e-04 9.99948937e-01 4.38723346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81925415399999 meters Centerline goodness [0,1] 0.9993732710926694 Centerline is valid? [True, True] Translation: X:56.09, Y:0.83, Z:0.44 [[ 9.98832268e-01 -4.73370806e-02 -9.65926576e-03 5.60893793e+01] [ 4.73382272e-02 9.98878912e-01 -1.10021737e-04 8.26992431e-01] [ 9.65364498e-03 -3.47359256e-04 9.99953342e-01 4.38765106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84925415399999 meters Centerline goodness [0,1] 0.999394751632009 Centerline is valid? [True, True] Translation: X:56.12, Y:0.83, Z:0.44 [[ 9.98782382e-01 -4.83380024e-02 -9.85854568e-03 5.61218572e+01] [ 4.83392526e-02 9.98830969e-01 -1.11570446e-04 8.26328974e-01] [ 9.85241383e-03 -3.65120134e-04 9.99951397e-01 4.38931389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879254153999995 meters Centerline goodness [0,1] 0.9992876416621694 Centerline is valid? [True, True] Translation: X:56.15, Y:0.82, Z:0.44 [[ 9.98767648e-01 -4.85384633e-02 -1.03538399e-02 5.61533398e+01] [ 4.85398619e-02 9.98821239e-01 -1.16319259e-04 8.24903432e-01] [ 1.03472811e-02 -3.86398044e-04 9.99946391e-01 4.38833636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909254153999996 meters Centerline goodness [0,1] 0.9992663559468323 Centerline is valid? [True, True] Translation: X:56.18, Y:0.82, Z:0.44 [[ 9.98748619e-01 -4.88151192e-02 -1.08756599e-02 5.61840648e+01] [ 4.88166943e-02 9.98807747e-01 -1.20751722e-04 8.23330919e-01] [ 1.08685878e-02 -4.10313147e-04 9.99940851e-01 4.38264769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939254154 meters Centerline goodness [0,1] 0.9993083922280577 Centerline is valid? [True, True] Translation: X:56.22, Y:0.82, Z:0.44 [[ 9.98724960e-01 -4.90009102e-02 -1.21393689e-02 5.62159344e+01] [ 4.90028933e-02 9.98798628e-01 -1.34207365e-04 8.22633238e-01] [ 1.21313613e-02 -4.60827954e-04 9.99926306e-01 4.37223779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96925415399999 meters Centerline goodness [0,1] 0.9991363116187679 Centerline is valid? [True, True] Translation: X:56.25, Y:0.82, Z:0.44 [[ 9.98735749e-01 -4.88856125e-02 -1.17089723e-02 5.62478723e+01] [ 4.88874595e-02 9.98804285e-01 -1.28593642e-04 8.21394258e-01] [ 1.17012581e-02 -4.43990840e-04 9.99931439e-01 4.37171278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99925415399999 meters Centerline goodness [0,1] 0.9992659124276708 Centerline is valid? [True, True] Translation: X:56.28, Y:0.82, Z:0.44 [[ 9.98799015e-01 -4.77566643e-02 -1.09466240e-02 5.62802933e+01] [ 4.77582207e-02 9.98858918e-01 -1.19324597e-04 8.23688843e-01] [ 1.09398316e-02 -4.03609997e-04 9.99940077e-01 4.37999595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02925415399999 meters Centerline goodness [0,1] 0.9992659124276708 Centerline is valid? [True, True] Translation: X:56.31, Y:0.82, Z:0.44 [[ 9.98804236e-01 -4.76473375e-02 -1.09466333e-02 5.63128563e+01] [ 4.76488967e-02 9.98864139e-01 -1.18470451e-04 8.23950648e-01] [ 1.09398442e-02 -4.03266211e-04 9.99940077e-01 4.38304448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059254153999994 meters Centerline goodness [0,1] 0.9992655794362242 Centerline is valid? [True, True] Translation: X:56.34, Y:0.83, Z:0.44 [[ 9.98851984e-01 -4.64979682e-02 -1.15175071e-02 5.63446140e+01] [ 4.64996322e-02 9.98918299e-01 -1.23412879e-04 8.25406475e-01] [ 1.15107870e-02 -4.12288645e-04 9.99933664e-01 4.38126557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089254153999995 meters Centerline goodness [0,1] 0.999330583687836 Centerline is valid? [True, True] Translation: X:56.38, Y:0.83, Z:0.44 [[ 9.98896072e-01 -4.53575204e-02 -1.22201455e-02 5.63762556e+01] [ 4.53593198e-02 9.98970728e-01 -1.30009960e-04 8.26098979e-01] [ 1.22134645e-02 -4.24431047e-04 9.99925323e-01 4.37989816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119254154 meters Centerline goodness [0,1] 0.99930809314796 Centerline is valid? [True, True] Translation: X:56.41, Y:0.83, Z:0.44 [[ 9.98985605e-01 -4.28928780e-02 -1.37099433e-02 5.64082697e+01] [ 4.28949259e-02 9.99079579e-01 -1.44783814e-04 8.29080717e-01] [ 1.37035346e-02 -4.43450057e-04 9.99906004e-01 4.37298836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14925415399999 meters Centerline goodness [0,1] 0.9994153692917307 Centerline is valid? [True, True] Translation: X:56.44, Y:0.83, Z:0.44 [[ 9.99013495e-01 -4.20720230e-02 -1.42119951e-02 5.64397684e+01] [ 4.20741545e-02 9.99114480e-01 -1.49116112e-04 8.29370341e-01] [ 1.42056837e-02 -4.48988671e-04 9.99898993e-01 4.36875803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17925415399999 meters Centerline goodness [0,1] 0.9995462990969192 Centerline is valid? [True, True] Translation: X:56.47, Y:0.83, Z:0.44 [[ 9.99028546e-01 -4.14478506e-02 -1.49679681e-02 5.64724453e+01] [ 4.14501605e-02 9.99140561e-01 -1.56009872e-04 8.30013408e-01] [ 1.49615704e-02 -4.64566366e-04 9.99887962e-01 4.36604987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20925415399999 meters Centerline goodness [0,1] 0.9993711100991044 Centerline is valid? [True, True] Translation: X:56.50, Y:0.83, Z:0.44 [[ 9.99010475e-01 -4.14342358e-02 -1.61640016e-02 5.65042949e+01] [ 4.14369506e-02 9.99141107e-01 -1.67069982e-04 8.31259672e-01] [ 1.61570409e-02 -5.02882276e-04 9.99869340e-01 4.36110220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239254153999994 meters Centerline goodness [0,1] 0.9996099674972915 Centerline is valid? [True, True] Translation: X:56.54, Y:0.83, Z:0.44 [[ 9.98991701e-01 -4.18345681e-02 -1.62926182e-02 5.65358732e+01] [ 4.18373969e-02 9.99124419e-01 -1.67331828e-04 8.30358109e-01] [ 1.62853529e-02 -5.14477624e-04 9.99867252e-01 4.36161431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269254153999995 meters Centerline goodness [0,1] 0.9992637824260534 Centerline is valid? [True, True] Translation: X:56.57, Y:0.83, Z:0.44 [[ 9.98958895e-01 -4.24071584e-02 -1.68154357e-02 5.65684942e+01] [ 4.24102705e-02 9.99100265e-01 -1.71642101e-04 8.30067326e-01] [ 1.68075851e-02 -5.41683771e-04 9.99858596e-01 4.35644954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299254153999996 meters Centerline goodness [0,1] 0.999414976599064 Centerline is valid? [True, True] Translation: X:56.60, Y:0.83, Z:0.44 [[ 9.98943902e-01 -4.25947290e-02 -1.72270258e-02 5.66000152e+01] [ 4.25980422e-02 9.99092276e-01 -1.74737862e-04 8.29620372e-01] [ 1.72188313e-02 -5.59284249e-04 9.99851589e-01 4.36039361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32925415399999 meters Centerline goodness [0,1] 0.9993068491963782 Centerline is valid? [True, True] Translation: X:56.63, Y:0.83, Z:0.44 [[ 9.98939466e-01 -4.27404264e-02 -1.71230589e-02 5.66323521e+01] [ 4.27437392e-02 9.99086054e-01 -1.72633485e-04 8.31049000e-01] [ 1.71147878e-02 -5.59453163e-04 9.99853375e-01 4.36925319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35925415399999 meters Centerline goodness [0,1] 0.9993062330623306 Centerline is valid? [True, True] Translation: X:56.66, Y:0.83, Z:0.44 [[ 9.98971367e-01 -4.23530954e-02 -1.61995033e-02 5.66642791e+01] [ 4.23560275e-02 9.99102568e-01 -1.62206281e-04 8.32456900e-01] [ 1.61918352e-02 -5.24107175e-04 9.99868766e-01 4.38485286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38925415399999 meters Centerline goodness [0,1] 0.999285497769887 Centerline is valid? [True, True] Translation: X:56.70, Y:0.84, Z:0.44 [[ 9.98985921e-01 -4.22282447e-02 -1.56174443e-02 5.66968391e+01] [ 4.22309717e-02 9.99107863e-01 -1.55281530e-04 8.35326570e-01] [ 1.56100687e-02 -5.04415788e-04 9.99878028e-01 4.39551219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419254153999994 meters Centerline goodness [0,1] 0.9994573946260363 Centerline is valid? [True, True] Translation: X:56.73, Y:0.84, Z:0.44 [[ 9.98991100e-01 -4.22428604e-02 -1.52421540e-02 5.67287171e+01] [ 4.22454763e-02 9.99107250e-01 -1.50449427e-04 8.36635842e-01] [ 1.52349020e-02 -4.93614419e-04 9.99883820e-01 4.40106704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449254153999995 meters Centerline goodness [0,1] 0.9994149385685497 Centerline is valid? [True, True] Translation: X:56.76, Y:0.84, Z:0.44 [[ 9.98978938e-01 -4.28844970e-02 -1.42126945e-02 5.67605127e+01] [ 4.28868505e-02 9.99079926e-01 -1.39288215e-04 8.38094794e-01] [ 1.42055911e-02 -4.70391713e-04 9.99898985e-01 4.41266997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479254153999996 meters Centerline goodness [0,1] 0.9991757407487745 Centerline is valid? [True, True] Translation: X:56.79, Y:0.84, Z:0.44 [[ 9.98949900e-01 -4.36887395e-02 -1.37982608e-02 5.67922626e+01] [ 4.36910482e-02 9.99045081e-01 -1.34232712e-04 8.38334840e-01] [ 1.37909490e-02 -4.68768721e-04 9.99904790e-01 4.41913279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.509254154 meters Centerline goodness [0,1] 0.9994360331438983 Centerline is valid? [True, True] Translation: X:56.82, Y:0.84, Z:0.44 [[ 9.98890840e-01 -4.53805669e-02 -1.25576117e-02 5.68247260e+01] [ 4.53826233e-02 9.98969671e-01 -1.21308799e-04 8.38719921e-01] [ 1.25501783e-02 -4.48723112e-04 9.99921143e-01 4.43269759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53925415399999 meters Centerline goodness [0,1] 0.9993484210069067 Centerline is valid? [True, True] Translation: X:56.86, Y:0.84, Z:0.44 [[ 9.98871696e-01 -4.58051778e-02 -1.25387649e-02 5.68569507e+01] [ 4.58072728e-02 9.98950289e-01 -1.20218028e-04 8.39378500e-01] [ 1.25311094e-02 -4.54284240e-04 9.99921379e-01 4.43687445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56925415399999 meters Centerline goodness [0,1] 0.9993285683344163 Centerline is valid? [True, True] Translation: X:56.89, Y:0.84, Z:0.44 [[ 9.98930342e-01 -4.44069408e-02 -1.28916747e-02 5.68884901e+01] [ 4.44090505e-02 9.99013424e-01 -1.22714474e-04 8.40967775e-01] [ 1.28844055e-02 -4.49923823e-04 9.99916891e-01 4.42979957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59925415399999 meters Centerline goodness [0,1] 0.9994151413408426 Centerline is valid? [True, True] Translation: X:56.92, Y:0.84, Z:0.44 [[ 9.99010726e-01 -4.25375771e-02 -1.29662263e-02 5.69194335e+01] [ 4.25395630e-02 9.99094776e-01 -1.22724436e-04 8.41317557e-01] [ 1.29597094e-02 -4.28974574e-04 9.99915927e-01 4.42465776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629254153999995 meters Centerline goodness [0,1] 0.9993277383818012 Centerline is valid? [True, True] Translation: X:56.95, Y:0.84, Z:0.44 [[ 9.99038770e-01 -4.18061799e-02 -1.31825142e-02 5.69510638e+01] [ 4.18081784e-02 9.99125648e-01 -1.24062059e-04 8.40813785e-01] [ 1.31761746e-02 -4.27194099e-04 9.99913099e-01 4.42458558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659254153999996 meters Centerline goodness [0,1] 0.9993689478837994 Centerline is valid? [True, True] Translation: X:56.98, Y:0.84, Z:0.44 [[ 9.99074192e-01 -4.10780470e-02 -1.27809317e-02 5.69827669e+01] [ 4.10798754e-02 9.99155858e-01 -1.19552836e-04 8.44711137e-01] [ 1.27750538e-02 -4.05596928e-04 9.99918313e-01 4.42791463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.689254154 meters Centerline goodness [0,1] 0.9995006296408876 Centerline is valid? [True, True] Translation: X:57.01, Y:0.84, Z:0.44 [[ 9.99051651e-01 -4.14577793e-02 -1.33060843e-02 5.70135123e+01] [ 4.14598109e-02 9.99140165e-01 -1.23245735e-04 8.41459210e-01] [ 1.32997528e-02 -4.28538885e-04 9.99911463e-01 4.41903561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71925415399999 meters Centerline goodness [0,1] 0.9992186143427678 Centerline is valid? [True, True] Translation: X:57.05, Y:0.84, Z:0.44 [[ 9.98990353e-01 -4.30030585e-02 -1.30004756e-02 5.70455721e+01] [ 4.30051471e-02 9.99074844e-01 -1.18982898e-04 8.41786836e-01] [ 1.29935647e-02 -4.40224596e-04 9.99915483e-01 4.41347357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74925415399999 meters Centerline goodness [0,1] 0.9994568877495601 Centerline is valid? [True, True] Translation: X:57.08, Y:0.84, Z:0.44 [[ 9.98938174e-01 -4.43412742e-02 -1.25049964e-02 5.70770128e+01] [ 4.43433216e-02 9.99016345e-01 -1.13623711e-04 8.39779299e-01] [ 1.24977340e-02 -4.41010016e-04 9.99921803e-01 4.41431789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77925415399999 meters Centerline goodness [0,1] 0.9994568877495601 Centerline is valid? [True, True] Translation: X:57.11, Y:0.84, Z:0.44 [[ 9.98942953e-01 -4.42334798e-02 -1.25050041e-02 5.71095751e+01] [ 4.42355294e-02 9.99021124e-01 -1.12777738e-04 8.39981301e-01] [ 1.24977517e-02 -4.40506948e-04 9.99921803e-01 4.41736685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809254153999994 meters Centerline goodness [0,1] 0.9992853894627428 Centerline is valid? [True, True] Translation: X:57.14, Y:0.84, Z:0.44 [[ 9.98925403e-01 -4.46654172e-02 -1.23709288e-02 5.71413461e+01] [ 4.46674712e-02 9.99001904e-01 -1.10353429e-04 8.39232462e-01] [ 1.23635104e-02 -4.42343261e-04 9.99923471e-01 4.42415643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839254153999995 meters Centerline goodness [0,1] 0.9995674179175499 Centerline is valid? [True, True] Translation: X:57.17, Y:0.84, Z:0.44 [[ 9.98958601e-01 -4.38360245e-02 -1.26537340e-02 5.71736280e+01] [ 4.38381187e-02 9.99038641e-01 -1.11952942e-04 8.39816484e-01] [ 1.26464768e-02 -4.42879541e-04 9.99919932e-01 4.42408207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869254154 meters Centerline goodness [0,1] 0.9993715053530406 Centerline is valid? [True, True] Translation: X:57.21, Y:0.84, Z:0.44 [[ 9.98971675e-01 -4.33373807e-02 -1.33215408e-02 5.72054059e+01] [ 4.33396708e-02 9.99060388e-01 -1.16865893e-04 8.39869239e-01] [ 1.33140884e-02 -4.60605476e-04 9.99911258e-01 4.42001863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89925415399999 meters Centerline goodness [0,1] 0.9993715053530406 Centerline is valid? [True, True] Translation: X:57.24, Y:0.84, Z:0.44 [[ 9.98976350e-01 -4.32294770e-02 -1.33215504e-02 5.72379676e+01] [ 4.32317722e-02 9.99065063e-01 -1.15766011e-04 8.40060396e-01] [ 1.33141001e-02 -4.60266723e-04 9.99911258e-01 4.42306696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92925415399999 meters Centerline goodness [0,1] 0.9994804632535988 Centerline is valid? [True, True] Translation: X:57.27, Y:0.84, Z:0.44 [[ 9.99005008e-01 -4.24784143e-02 -1.35859917e-02 5.72691389e+01] [ 4.24807492e-02 9.99097279e-01 -1.16806458e-04 8.38564010e-01] [ 1.35786891e-02 -4.60452869e-04 9.99907699e-01 4.41670208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95925415399999 meters Centerline goodness [0,1] 0.9994135661692839 Centerline is valid? [True, True] Translation: X:57.30, Y:0.84, Z:0.44 [[ 9.99031184e-01 -4.17648162e-02 -1.38706004e-02 5.73009065e+01] [ 4.17671929e-02 9.99127363e-01 -1.18421481e-04 8.40497818e-01] [ 1.38634423e-02 -4.61029289e-04 9.99903792e-01 4.41854964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989254153999994 meters Centerline goodness [0,1] 0.9993917274939172 Centerline is valid? [True, True] Translation: X:57.33, Y:0.84, Z:0.44 [[ 9.99058348e-01 -4.10869018e-02 -1.39385621e-02 5.73320133e+01] [ 4.10892486e-02 9.99155473e-01 -1.18089781e-04 8.39203811e-01] [ 1.39316425e-02 -4.54746462e-04 9.99902847e-01 4.41424959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019254153999995 meters Centerline goodness [0,1] 0.9993694555574882 Centerline is valid? [True, True] Translation: X:57.36, Y:0.84, Z:0.44 [[ 9.99100601e-01 -3.99911831e-02 -1.40958710e-02 5.73645507e+01] [ 3.99934859e-02 9.99199933e-01 -1.18587929e-04 8.41432556e-01] [ 1.40893359e-02 -4.45261749e-04 9.99900641e-01 4.41469908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049254153999996 meters Centerline goodness [0,1] 0.9994345859429367 Centerline is valid? [True, True] Translation: X:57.40, Y:0.85, Z:0.44 [[ 9.99152519e-01 -3.84421527e-02 -1.47120630e-02 5.73966100e+01] [ 3.84445094e-02 9.99260729e-01 -1.22696175e-04 8.45048075e-01] [ 1.47059035e-02 -4.43005852e-04 9.99891764e-01 4.41399465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07925415399999 meters Centerline goodness [0,1] 0.9994789518247541 Centerline is valid? [True, True] Translation: X:57.43, Y:0.85, Z:0.44 [[ 9.99184370e-01 -3.74107255e-02 -1.51997756e-02 5.74289214e+01] [ 3.74131390e-02 9.99299876e-01 -1.25635970e-04 8.46568738e-01] [ 1.51938340e-02 -4.43137820e-04 9.99884469e-01 4.41407024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10925415399999 meters Centerline goodness [0,1] 0.9994338718808518 Centerline is valid? [True, True] Translation: X:57.46, Y:0.85, Z:0.44 [[ 9.99254058e-01 -3.49319543e-02 -1.64646671e-02 5.74608578e+01] [ 3.49344708e-02 9.99389596e-01 -1.34830743e-04 8.49741660e-01] [ 1.64593269e-02 -4.40454266e-04 9.99864439e-01 4.40842064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13925415399999 meters Centerline goodness [0,1] 0.9995208328795766 Centerline is valid? [True, True] Translation: X:57.49, Y:0.85, Z:0.44 [[ 9.99302080e-01 -3.34628560e-02 -1.66009355e-02 5.74922576e+01] [ 3.34652389e-02 9.99439873e-01 -1.34311055e-04 8.49657202e-01] [ 1.65961313e-02 -4.21336957e-04 9.99862186e-01 4.40368572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169254153999994 meters Centerline goodness [0,1] 0.9994334277620397 Centerline is valid? [True, True] Translation: X:57.52, Y:0.85, Z:0.44 [[ 9.99341952e-01 -3.20830388e-02 -1.69216029e-02 5.75249506e+01] [ 3.20853497e-02 9.99485124e-01 -1.34979027e-04 8.52249929e-01] [ 1.69172209e-02 -4.08045339e-04 9.99856810e-01 4.40671070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199254153999995 meters Centerline goodness [0,1] 0.9994978823734882 Centerline is valid? [True, True] Translation: X:57.56, Y:0.86, Z:0.44 [[ 9.99417284e-01 -2.97724661e-02 -1.66941162e-02 5.75559351e+01] [ 2.97744113e-02 9.99556635e-01 -1.32068538e-04 8.55023228e-01] [ 1.66906466e-02 -3.65065901e-04 9.99860635e-01 4.41746749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229254153999996 meters Centerline goodness [0,1] 0.9996500131245079 Centerline is valid? [True, True] Translation: X:57.59, Y:0.86, Z:0.44 [[ 9.99464895e-01 -2.88459829e-02 -1.54218086e-02 5.75875253e+01] [ 2.88475407e-02 9.99583816e-01 -1.21475650e-04 8.56571495e-01] [ 1.54188943e-02 -3.23470603e-04 9.99881069e-01 4.43169673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25925415399999 meters Centerline goodness [0,1] 0.9993886329395838 Centerline is valid? [True, True] Translation: X:57.62, Y:0.86, Z:0.44 [[ 9.99469577e-01 -2.88437573e-02 -1.51195756e-02 5.76191651e+01] [ 2.88452625e-02 9.99583882e-01 -1.18558967e-04 8.56422429e-01] [ 1.51167038e-02 -3.17632048e-04 9.99885686e-01 4.43453579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28925415399999 meters Centerline goodness [0,1] 0.9996069010701026 Centerline is valid? [True, True] Translation: X:57.65, Y:0.86, Z:0.44 [[ 9.99468922e-01 -2.90322122e-02 -1.47987859e-02 5.76512546e+01] [ 2.90336856e-02 9.99578427e-01 -1.15320877e-04 8.56530688e-01] [ 1.47958951e-02 -3.14403663e-04 9.99890485e-01 4.44436802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31925415399999 meters Centerline goodness [0,1] 0.9993886729837125 Centerline is valid? [True, True] Translation: X:57.68, Y:0.85, Z:0.44 [[ 9.99453524e-01 -3.02282601e-02 -1.33755479e-02 5.76819638e+01] [ 3.02295809e-02 9.99542976e-01 -1.03469185e-04 8.54200885e-01] [ 1.33725627e-02 -3.00924566e-04 9.99910538e-01 4.44729516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34925415399999 meters Centerline goodness [0,1] 0.9993887530562348 Centerline is valid? [True, True] Translation: X:57.71, Y:0.85, Z:0.44 [[ 9.99434871e-01 -3.08925181e-02 -1.32510613e-02 5.77146000e+01] [ 3.08938808e-02 9.99522665e-01 -1.01896636e-04 8.53517228e-01] [ 1.32478840e-02 -3.07537658e-04 9.99912196e-01 4.44995034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379254153999995 meters Centerline goodness [0,1] 0.9996505710978619 Centerline is valid? [True, True] Translation: X:57.75, Y:0.85, Z:0.45 [[ 9.99384413e-01 -3.29135679e-02 -1.21446336e-02 5.77471690e+01] [ 3.29148714e-02 9.99458155e-01 -9.25872363e-05 8.52680854e-01] [ 1.21411005e-02 -3.07208813e-04 9.99926247e-01 4.45839150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409254153999996 meters Centerline goodness [0,1] 0.9994117006209827 Centerline is valid? [True, True] Translation: X:57.78, Y:0.85, Z:0.45 [[ 9.99324675e-01 -3.47363367e-02 -1.19825204e-02 5.77794445e+01] [ 3.47377467e-02 9.99396458e-01 -9.05023391e-05 8.52639222e-01] [ 1.19784321e-02 -3.25804537e-04 9.99928203e-01 4.45999856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439254154 meters Centerline goodness [0,1] 0.9993036363240703 Centerline is valid? [True, True] Translation: X:57.81, Y:0.85, Z:0.45 [[ 9.99143760e-01 -3.96782123e-02 -1.17212317e-02 5.78102176e+01] [ 3.96799103e-02 9.99212438e-01 -8.77499337e-05 8.48211599e-01] [ 1.17154822e-02 -3.77422622e-04 9.99931300e-01 4.45970211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46925415399999 meters Centerline goodness [0,1] 0.9993261016064868 Centerline is valid? [True, True] Translation: X:57.84, Y:0.84, Z:0.45 [[ 9.99041336e-01 -4.23471738e-02 -1.10962300e-02 5.78409607e+01] [ 4.23488671e-02 9.99102881e-01 -8.24243654e-05 8.43744250e-01] [ 1.10897658e-02 -3.87567420e-04 9.99938432e-01 4.46058705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49925415399999 meters Centerline goodness [0,1] 0.9995219573672889 Centerline is valid? [True, True] Translation: X:57.87, Y:0.84, Z:0.45 [[ 9.98929731e-01 -4.48350798e-02 -1.13670135e-02 5.78731597e+01] [ 4.48370330e-02 9.98994311e-01 -8.30820618e-05 8.40537499e-01] [ 1.13593068e-02 -4.26670019e-04 9.99935390e-01 4.46437854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52925415399999 meters Centerline goodness [0,1] 0.9995006730059485 Centerline is valid? [True, True] Translation: X:57.90, Y:0.84, Z:0.45 [[ 9.98768449e-01 -4.83776319e-02 -1.10086603e-02 5.79039073e+01] [ 4.83796861e-02 9.98829014e-01 -7.97855576e-05 8.37809786e-01] [ 1.09996292e-02 -4.52908233e-04 9.99939400e-01 4.46293007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559254153999994 meters Centerline goodness [0,1] 0.9993291059796134 Centerline is valid? [True, True] Translation: X:57.94, Y:0.84, Z:0.45 [[ 9.98713978e-01 -4.94415396e-02 -1.12215971e-02 5.79354570e+01] [ 4.94437443e-02 9.98776907e-01 -8.10498067e-05 8.35303440e-01] [ 1.12118793e-02 -4.73892204e-04 9.99937033e-01 4.46491504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589254153999995 meters Centerline goodness [0,1] 0.999309258100028 Centerline is valid? [True, True] Translation: X:57.97, Y:0.83, Z:0.45 [[ 9.98630631e-01 -5.10681195e-02 -1.13538390e-02 5.79677327e+01] [ 5.10704889e-02 9.98695048e-01 -8.13347462e-05 8.31617855e-01] [ 1.13431764e-02 -4.98622741e-04 9.99935540e-01 4.46254523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619254154 meters Centerline goodness [0,1] 0.9995466419118758 Centerline is valid? [True, True] Translation: X:58.00, Y:0.83, Z:0.45 [[ 9.98590764e-01 -5.17836789e-02 -1.16162590e-02 5.79999966e+01] [ 5.17862175e-02 9.98658190e-01 -8.23467366e-05 8.30463189e-01] [ 1.16049364e-02 -5.19331424e-04 9.99932526e-01 4.46460533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64925415399999 meters Centerline goodness [0,1] 0.9992226636724822 Centerline is valid? [True, True] Translation: X:58.03, Y:0.83, Z:0.45 [[ 9.98531941e-01 -5.29956259e-02 -1.11993596e-02 5.80317701e+01] [ 5.29980701e-02 9.98594612e-01 -7.86254383e-05 8.28461940e-01] [ 1.11877869e-02 -5.15034432e-04 9.99937282e-01 4.45723256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67925415399999 meters Centerline goodness [0,1] 0.9993546860547656 Centerline is valid? [True, True] Translation: X:58.06, Y:0.83, Z:0.45 [[ 9.98508511e-01 -5.34316194e-02 -1.12167493e-02 5.80641566e+01] [ 5.34341061e-02 9.98571375e-01 -7.80861167e-05 8.25846282e-01] [ 1.12048970e-02 -5.21387321e-04 9.99937087e-01 4.45365578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70925415399999 meters Centerline goodness [0,1] 0.9991186586414446 Centerline is valid? [True, True] Translation: X:58.10, Y:0.82, Z:0.45 [[ 9.98520082e-01 -5.30788221e-02 -1.18441532e-02 5.80968773e+01] [ 5.30815814e-02 9.98590176e-01 -8.14898950e-05 8.24648766e-01] [ 1.18317804e-02 -5.47337086e-04 9.99929852e-01 4.45277453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739254153999994 meters Centerline goodness [0,1] 0.9992896351307717 Centerline is valid? [True, True] Translation: X:58.13, Y:0.82, Z:0.44 [[ 9.98561468e-01 -5.19954475e-02 -1.30945472e-02 5.81288837e+01] [ 5.19987435e-02 9.98647146e-01 -8.88607271e-05 8.24338367e-01] [ 1.30814525e-02 -5.92167102e-04 9.99914259e-01 4.44255009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769254153999995 meters Centerline goodness [0,1] 0.9992254733218588 Centerline is valid? [True, True] Translation: X:58.16, Y:0.82, Z:0.44 [[ 9.98576345e-01 -5.14702268e-02 -1.40035101e-02 5.81599741e+01] [ 5.14739587e-02 9.98674333e-01 -9.40302517e-05 8.23509135e-01] [ 1.39897859e-02 -6.26919718e-04 9.99901942e-01 4.44052341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799254153999996 meters Centerline goodness [0,1] 0.9990311329285622 Centerline is valid? [True, True] Translation: X:58.19, Y:0.82, Z:0.44 [[ 9.98604502e-01 -5.07405089e-02 -1.46441010e-02 5.81923628e+01] [ 5.07445255e-02 9.98711662e-01 -9.74004411e-05 8.24472792e-01] [ 1.46301766e-02 -6.45843437e-04 9.99892765e-01 4.43906586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82925415399999 meters Centerline goodness [0,1] 0.9992260727491615 Centerline is valid? [True, True] Translation: X:58.22, Y:0.82, Z:0.44 [[ 9.98633147e-01 -5.02405831e-02 -1.44125162e-02 5.82234356e+01] [ 5.02444418e-02 9.98736946e-01 -9.44600366e-05 8.22350346e-01] [ 1.43990581e-02 -6.29817909e-04 9.99896130e-01 4.43774653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85925415399999 meters Centerline goodness [0,1] 0.9990116878652457 Centerline is valid? [True, True] Translation: X:58.25, Y:0.82, Z:0.44 [[ 9.98636881e-01 -4.99584327e-02 -1.51173418e-02 5.82542972e+01] [ 4.99626717e-02 9.98751081e-01 -9.73730786e-05 8.20014031e-01] [ 1.51033261e-02 -6.58062438e-04 9.99885722e-01 4.42933017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88925415399999 meters Centerline goodness [0,1] 0.9989251472548261 Centerline is valid? [True, True] Translation: X:58.29, Y:0.82, Z:0.44 [[ 9.98639970e-01 -4.99451856e-02 -1.49561957e-02 5.82856428e+01] [ 4.99493450e-02 9.98751748e-01 -9.55414809e-05 8.18396107e-01] [ 1.49422984e-02 -6.51640636e-04 9.99888145e-01 4.42386263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919254153999994 meters Centerline goodness [0,1] 0.9993346782847577 Centerline is valid? [True, True] Translation: X:58.32, Y:0.82, Z:0.44 [[ 9.98637004e-01 -4.98594180e-02 -1.54328517e-02 5.83189239e+01] [ 4.98638549e-02 9.98756020e-01 -9.74012575e-05 8.22950804e-01] [ 1.54185099e-02 -6.72272980e-04 9.99880902e-01 4.43171295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949254153999995 meters Centerline goodness [0,1] 0.9993346782847577 Centerline is valid? [True, True] Translation: X:58.35, Y:0.82, Z:0.44 [[ 9.98640691e-01 -4.97855104e-02 -1.54328610e-02 5.83506476e+01] [ 4.97899615e-02 9.98759706e-01 -9.59101258e-05 8.23088764e-01] [ 1.54184947e-02 -6.72621803e-04 9.99880902e-01 4.43468173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979254153999996 meters Centerline goodness [0,1] 0.99924784561494 Centerline is valid? [True, True] Translation: X:58.38, Y:0.82, Z:0.44 [[ 9.98639400e-01 -4.95748239e-02 -1.61766944e-02 5.83818989e+01] [ 4.95797047e-02 9.98770165e-01 -9.94307538e-05 8.20798864e-01] [ 1.61617290e-02 -7.02740264e-04 9.99869144e-01 4.42732336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00925415399999 meters Centerline goodness [0,1] 0.9991180519704009 Centerline is valid? [True, True] Translation: X:58.41, Y:0.82, Z:0.44 [[ 9.98633922e-01 -4.97028265e-02 -1.61220152e-02 5.84144610e+01] [ 4.97077072e-02 9.98763803e-01 -9.80938286e-05 8.20604272e-01] [ 1.61069608e-02 -7.03428586e-04 9.99870027e-01 4.42304610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03925415399999 meters Centerline goodness [0,1] 0.9993329460116627 Centerline is valid? [True, True] Translation: X:58.45, Y:0.82, Z:0.44 [[ 9.98606005e-01 -5.00278607e-02 -1.68303440e-02 5.84465789e+01] [ 5.00332467e-02 9.98747548e-01 -1.01165019e-04 8.20375584e-01] [ 1.68143258e-02 -7.41052756e-04 9.99858355e-01 4.42213571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06925415399999 meters Centerline goodness [0,1] 0.9992047115467285 Centerline is valid? [True, True] Translation: X:58.48, Y:0.82, Z:0.44 [[ 9.98511819e-01 -5.13731864e-02 -1.83014640e-02 5.84773847e+01] [ 5.13798000e-02 9.98679180e-01 -1.08958718e-04 8.19163597e-01] [ 1.82828886e-02 -8.31528991e-04 9.99832508e-01 4.41301152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09925415399999 meters Centerline goodness [0,1] 0.9991605862981856 Centerline is valid? [True, True] Translation: X:58.51, Y:0.82, Z:0.44 [[ 9.98457255e-01 -5.20940038e-02 -1.92178435e-02 5.85093780e+01] [ 5.21014499e-02 9.98641791e-01 -1.13366537e-04 8.18972764e-01] [ 1.91976474e-02 -8.88085868e-04 9.99815314e-01 4.40930257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129254153999995 meters Centerline goodness [0,1] 0.9990078081187179 Centerline is valid? [True, True] Translation: X:58.54, Y:0.82, Z:0.44 [[ 9.98359607e-01 -5.38068120e-02 -1.95683907e-02 5.85413326e+01] [ 5.38148879e-02 9.98550923e-01 -1.14031361e-04 8.18984302e-01] [ 1.95461703e-02 -9.39226449e-04 9.99808514e-01 4.40890135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159254153999996 meters Centerline goodness [0,1] 0.9990961716413093 Centerline is valid? [True, True] Translation: X:58.57, Y:0.82, Z:0.44 [[ 9.98342967e-01 -5.41290140e-02 -1.95287050e-02 5.85733298e+01] [ 5.41371458e-02 9.98533503e-01 -1.12404928e-04 8.19208459e-01] [ 1.95061505e-02 -9.45009679e-04 9.99809290e-01 4.41408816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.189254154 meters Centerline goodness [0,1] 0.9991824968267969 Centerline is valid? [True, True] Translation: X:58.61, Y:0.82, Z:0.44 [[ 9.98342784e-01 -5.41999230e-02 -1.93404739e-02 5.86059586e+01] [ 5.42079389e-02 9.98529663e-01 -1.09935495e-04 8.20676052e-01] [ 1.93179954e-02 -9.38653919e-04 9.99812949e-01 4.42256214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21925415399999 meters Centerline goodness [0,1] 0.9993096753316795 Centerline is valid? [True, True] Translation: X:58.64, Y:0.82, Z:0.44 [[ 9.98404379e-01 -5.33444014e-02 -1.85221583e-02 5.86369434e+01] [ 5.33516274e-02 9.98575782e-01 -1.04141165e-04 8.19873143e-01] [ 1.85013341e-02 -8.84212293e-04 9.99828445e-01 4.43131456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24925415399999 meters Centerline goodness [0,1] 0.9993088552915766 Centerline is valid? [True, True] Translation: X:58.67, Y:0.83, Z:0.45 [[ 9.98464499e-01 -5.22566510e-02 -1.83816802e-02 5.86689127e+01] [ 5.22636053e-02 9.98633319e-01 -1.02179550e-04 8.26721261e-01] [ 1.83618978e-02 -8.58670224e-04 9.99831037e-01 4.45125753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27925415399999 meters Centerline goodness [0,1] 0.9991579765528855 Centerline is valid? [True, True] Translation: X:58.70, Y:0.83, Z:0.45 [[ 9.98589231e-01 -5.01523000e-02 -1.74440138e-02 5.86990321e+01] [ 5.01582565e-02 9.98741278e-01 -9.61577593e-05 8.28144338e-01] [ 1.74268792e-02 -7.78939215e-04 9.99847837e-01 4.45740471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309254153999994 meters Centerline goodness [0,1] 0.9992881794650561 Centerline is valid? [True, True] Translation: X:58.73, Y:0.83, Z:0.45 [[ 9.98673473e-01 -4.87428638e-02 -1.65960053e-02 5.87316694e+01] [ 4.87480745e-02 9.98811102e-01 -9.06575451e-05 8.30433258e-01] [ 1.65806932e-02 -7.18486016e-04 9.99862273e-01 4.46492841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339254153999995 meters Centerline goodness [0,1] 0.9993306415045452 Centerline is valid? [True, True] Translation: X:58.76, Y:0.83, Z:0.45 [[ 9.98725812e-01 -4.77590658e-02 -1.63041193e-02 5.87625738e+01] [ 4.77639839e-02 9.98858646e-01 -8.78410888e-05 8.30631701e-01] [ 1.62897058e-02 -6.91020530e-04 9.99867075e-01 4.46775610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.369254154 meters Centerline goodness [0,1] 0.9993523176234375 Centerline is valid? [True, True] Translation: X:58.79, Y:0.83, Z:0.45 [[ 9.98843036e-01 -4.56178239e-02 -1.52185083e-02 5.87926244e+01] [ 4.56218695e-02 9.98958777e-01 -8.14098849e-05 8.27309473e-01] [ 1.52063762e-02 -6.12981104e-04 9.99884188e-01 4.46770656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39925415399999 meters Centerline goodness [0,1] 0.9993080482636336 Centerline is valid? [True, True] Translation: X:58.82, Y:0.83, Z:0.45 [[ 9.98870866e-01 -4.50891029e-02 -1.49655015e-02 5.88248252e+01] [ 4.50929643e-02 9.98982792e-01 -7.94879099e-05 8.34888783e-01] [ 1.49538625e-02 -5.95440667e-04 9.99888007e-01 4.48131462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42925415399999 meters Centerline goodness [0,1] 0.9993086014303308 Centerline is valid? [True, True] Translation: X:58.86, Y:0.84, Z:0.45 [[ 9.98881915e-01 -4.49001215e-02 -1.47952516e-02 5.88556404e+01] [ 4.49038891e-02 9.98991309e-01 -7.76228158e-05 8.35114802e-01] [ 1.47838131e-02 -5.86828312e-04 9.99890541e-01 4.48696964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45925415399999 meters Centerline goodness [0,1] 0.9994167836699428 Centerline is valid? [True, True] Translation: X:58.89, Y:0.84, Z:0.45 [[ 9.98850473e-01 -4.57314850e-02 -1.43653800e-02 5.88878620e+01] [ 4.57351347e-02 9.98953598e-01 -7.45219822e-05 8.35073528e-01] [ 1.43537561e-02 -5.82566274e-04 9.99896810e-01 4.49329768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489254153999994 meters Centerline goodness [0,1] 0.9993095412764855 Centerline is valid? [True, True] Translation: X:58.92, Y:0.83, Z:0.45 [[ 9.98822701e-01 -4.63526283e-02 -1.43054566e-02 5.89199483e+01] [ 4.63563258e-02 9.98924965e-01 -7.31974632e-05 8.34214412e-01] [ 1.42934706e-02 -5.90037117e-04 9.99897669e-01 4.49244295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519254153999995 meters Centerline goodness [0,1] 0.9992876109060294 Centerline is valid? [True, True] Translation: X:58.95, Y:0.84, Z:0.45 [[ 9.98721342e-01 -4.81240829e-02 -1.54840034e-02 5.89524663e+01] [ 4.81286452e-02 9.98841142e-01 -7.80640189e-05 8.35618829e-01] [ 1.54698164e-02 -6.67259906e-04 9.99880113e-01 4.48548359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549254153999996 meters Centerline goodness [0,1] 0.9992870260343524 Centerline is valid? [True, True] Translation: X:58.98, Y:0.83, Z:0.45 [[ 9.98659220e-01 -4.89611572e-02 -1.68097238e-02 5.89832860e+01] [ 4.89666811e-02 9.98800409e-01 -8.30621915e-05 8.32914373e-01] [ 1.67936259e-02 -7.40165564e-04 9.99858703e-01 4.47586618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57925415399999 meters Centerline goodness [0,1] 0.9992644036260574 Centerline is valid? [True, True] Translation: X:59.02, Y:0.84, Z:0.45 [[ 9.98611214e-01 -4.95558657e-02 -1.78846125e-02 5.90153781e+01] [ 4.95622479e-02 9.98771033e-01 -8.64769361e-05 8.35744423e-01] [ 1.78669183e-02 -8.00044759e-04 9.99840054e-01 4.47470007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60925415399999 meters Centerline goodness [0,1] 0.9992872878061423 Centerline is valid? [True, True] Translation: X:59.05, Y:0.83, Z:0.45 [[ 9.98509447e-01 -5.08315292e-02 -1.98756085e-02 5.90462195e+01] [ 5.08396873e-02 9.98706822e-01 -9.49400517e-05 8.31624574e-01] [ 1.98547317e-02 -9.15671180e-04 9.99802456e-01 4.45641867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63925415399999 meters Centerline goodness [0,1] 0.9994376189652189 Centerline is valid? [True, True] Translation: X:59.08, Y:0.83, Z:0.45 [[ 9.98490673e-01 -5.10164620e-02 -2.03395289e-02 5.90782214e+01] [ 5.10250669e-02 9.98697368e-01 -9.60176252e-05 8.32001739e-01] [ 2.03179325e-02 -9.41953120e-04 9.99793126e-01 4.45627882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669254153999994 meters Centerline goodness [0,1] 0.9995670995670995 Centerline is valid? [True, True] Translation: X:59.11, Y:0.83, Z:0.45 [[ 9.98482933e-01 -5.12772372e-02 -2.00618442e-02 5.91099769e+01] [ 5.12856897e-02 9.98684019e-01 -9.32833206e-05 8.32123719e-01] [ 2.00402265e-02 -9.35743712e-04 9.99798737e-01 4.46586402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699254153999995 meters Centerline goodness [0,1] 0.9993937294301056 Centerline is valid? [True, True] Translation: X:59.14, Y:0.83, Z:0.45 [[ 9.98514518e-01 -5.08471449e-02 -1.95786761e-02 5.91409354e+01] [ 5.08551360e-02 9.98706036e-01 -8.98399487e-05 8.31498952e-01] [ 1.95579102e-02 -9.05969744e-04 9.99808315e-01 4.47271694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729254153999996 meters Centerline goodness [0,1] 0.9991770794984516 Centerline is valid? [True, True] Translation: X:59.17, Y:0.83, Z:0.45 [[ 9.98547057e-01 -5.04572784e-02 -1.89166275e-02 5.91723059e+01] [ 5.04646991e-02 9.98725842e-01 -8.51726129e-05 8.31389639e-01] [ 1.88968223e-02 -8.69573053e-04 9.99821061e-01 4.48128871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75925415399999 meters Centerline goodness [0,1] 0.9992650078903564 Centerline is valid? [True, True] Translation: X:59.20, Y:0.83, Z:0.45 [[ 9.98612563e-01 -4.97844670e-02 -1.71597090e-02 5.92040582e+01] [ 4.97905007e-02 9.98759681e-01 -7.56927113e-05 8.32507524e-01] [ 1.71421938e-02 -7.78802812e-04 9.99852758e-01 4.50284744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78925415399999 meters Centerline goodness [0,1] 0.9993722536095417 Centerline is valid? [True, True] Translation: X:59.24, Y:0.83, Z:0.45 [[ 9.98694404e-01 -4.86708471e-02 -1.55124637e-02 5.92350257e+01] [ 4.86756651e-02 9.98814635e-01 -6.70440384e-05 8.32345615e-01] [ 1.54973389e-02 -6.88122983e-04 9.99879672e-01 4.51330151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81925415399999 meters Centerline goodness [0,1] 0.9993517157922033 Centerline is valid? [True, True] Translation: X:59.27, Y:0.84, Z:0.45 [[ 9.98737507e-01 -4.78851745e-02 -1.51789965e-02 5.92672944e+01] [ 4.78897212e-02 9.98852627e-01 -6.40075625e-05 8.36126302e-01] [ 1.51646455e-02 -6.62991155e-04 9.99884790e-01 4.52148430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84925415399999 meters Centerline goodness [0,1] 0.9992411430553749 Centerline is valid? [True, True] Translation: X:59.30, Y:0.84, Z:0.45 [[ 9.98757536e-01 -4.74864739e-02 -1.51135101e-02 5.92999477e+01] [ 4.74909526e-02 9.98871666e-01 -6.26277280e-05 8.38211562e-01] [ 1.50994310e-02 -6.55205076e-04 9.99885782e-01 4.52559242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879254153999995 meters Centerline goodness [0,1] 0.9993074492490153 Centerline is valid? [True, True] Translation: X:59.33, Y:0.83, Z:0.45 [[ 9.98773333e-01 -4.71239999e-02 -1.52038820e-02 5.93309659e+01] [ 4.71285059e-02 9.98888833e-01 -6.19784543e-05 8.32328373e-01] [ 1.51899086e-02 -6.54633816e-04 9.99884412e-01 4.51988573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909254153999996 meters Centerline goodness [0,1] 0.9993514635306325 Centerline is valid? [True, True] Translation: X:59.36, Y:0.84, Z:0.45 [[ 9.98746696e-01 -4.75606085e-02 -1.55892945e-02 5.93630759e+01] [ 4.75654144e-02 9.98868123e-01 -6.25560663e-05 8.37516573e-01] [ 1.55746246e-02 -6.79033590e-04 9.99878478e-01 4.52800677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93925415399999 meters Centerline goodness [0,1] 0.9995021213957919 Centerline is valid? [True, True] Translation: X:59.39, Y:0.84, Z:0.45 [[ 9.98709685e-01 -4.82503501e-02 -1.58388622e-02 5.93943533e+01] [ 4.82554146e-02 9.98835027e-01 -6.24932392e-05 8.35818681e-01] [ 1.58234257e-02 -7.01898261e-04 9.99874555e-01 4.52614944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96925415399999 meters Centerline goodness [0,1] 0.9992237531535029 Centerline is valid? [True, True] Translation: X:59.43, Y:0.82, Z:0.45 [[ 9.98673398e-01 -4.89268332e-02 -1.60501789e-02 5.94250649e+01] [ 4.89321333e-02 9.98802104e-01 -6.25569339e-05 8.24624469e-01] [ 1.60340132e-02 -7.22895550e-04 9.99871186e-01 4.50640973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99925415399999 meters Centerline goodness [0,1] 0.9994594945192744 Centerline is valid? [True, True] Translation: X:59.46, Y:0.83, Z:0.45 [[ 9.98587488e-01 -5.03101211e-02 -1.70856821e-02 5.94566833e+01] [ 5.03163426e-02 9.98733328e-01 -6.58133310e-05 8.30210934e-01] [ 1.70673512e-02 -7.93968664e-04 9.99854027e-01 4.51259037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02925415399999 meters Centerline goodness [0,1] 0.9993954703456615 Centerline is valid? [True, True] Translation: X:59.49, Y:0.83, Z:0.45 [[ 9.98547267e-01 -5.07355378e-02 -1.81455705e-02 5.94878497e+01] [ 5.07426437e-02 9.98711760e-01 -6.88954488e-05 8.28571424e-01] [ 1.81256901e-02 -8.51958854e-04 9.99835353e-01 4.50904799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059254153999994 meters Centerline goodness [0,1] 0.9992000172969233 Centerline is valid? [True, True] Translation: X:59.52, Y:0.83, Z:0.45 [[ 9.98572885e-01 -4.99044574e-02 -1.90194098e-02 5.95198868e+01] [ 4.99121370e-02 9.98753610e-01 -7.10006836e-05 8.29786872e-01] [ 1.89992474e-02 -8.78400028e-04 9.99819112e-01 4.50491529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089254153999995 meters Centerline goodness [0,1] 0.9991577219618599 Centerline is valid? [True, True] Translation: X:59.55, Y:0.83, Z:0.45 [[ 9.98714610e-01 -4.71113583e-02 -1.86988628e-02 5.95514791e+01] [ 4.71183141e-02 9.98889313e-01 -6.86462439e-05 8.30886330e-01] [ 1.86813282e-02 -8.12500882e-04 9.99825159e-01 4.51558082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119254154 meters Centerline goodness [0,1] 0.9993311181115954 Centerline is valid? [True, True] Translation: X:59.58, Y:0.83, Z:0.45 [[ 9.98822672e-01 -4.50780276e-02 -1.79232289e-02 5.95823966e+01] [ 4.50841054e-02 9.98983193e-01 -6.50152355e-05 8.31772261e-01] [ 1.79079352e-02 -7.43114051e-04 9.99839364e-01 4.52717749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14925415399999 meters Centerline goodness [0,1] 0.9992027923812807 Centerline is valid? [True, True] Translation: X:59.61, Y:0.83, Z:0.45 [[ 9.98968018e-01 -4.21712188e-02 -1.68667729e-02 5.96138388e+01] [ 4.21761971e-02 9.99110186e-01 -6.06051456e-05 8.33603129e-01] [ 1.68543204e-02 -6.50833735e-04 9.99857744e-01 4.53962309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17925415399999 meters Centerline goodness [0,1] 0.9995029176572293 Centerline is valid? [True, True] Translation: X:59.65, Y:0.84, Z:0.46 [[ 9.99109156e-01 -3.90275803e-02 -1.60543827e-02 5.96458182e+01] [ 3.90316961e-02 9.99237971e-01 -5.70102416e-05 8.36939791e-01] [ 1.60443737e-02 -5.69670331e-04 9.99871118e-01 4.55188090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20925415399999 meters Centerline goodness [0,1] 0.9992869798193682 Centerline is valid? [True, True] Translation: X:59.68, Y:0.84, Z:0.46 [[ 9.99372314e-01 -3.18262675e-02 -1.55584948e-02 5.96759486e+01] [ 3.18292685e-02 9.99493319e-01 -5.47602208e-05 8.40489906e-01] [ 1.55523545e-02 -4.40489662e-04 9.99878958e-01 4.56045707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239254153999994 meters Centerline goodness [0,1] 0.9994368149720574 Centerline is valid? [True, True] Translation: X:59.71, Y:0.84, Z:0.46 [[ 9.99491042e-01 -2.78713209e-02 -1.55192476e-02 5.97068876e+01] [ 2.78738337e-02 9.99611448e-01 -5.44050853e-05 8.41566077e-01] [ 1.55147340e-02 -3.78203533e-04 9.99879568e-01 4.56457474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269254153999995 meters Centerline goodness [0,1] 0.999437314692579 Centerline is valid? [True, True] Translation: X:59.74, Y:0.85, Z:0.46 [[ 9.99673424e-01 -1.99387595e-02 -1.59840753e-02 5.97363597e+01] [ 1.99404151e-02 9.99801169e-01 -5.58049873e-05 8.47118057e-01] [ 1.59820099e-02 -2.62942334e-04 9.99872245e-01 4.56306405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299254153999996 meters Centerline goodness [0,1] 0.9992628086988573 Centerline is valid? [True, True] Translation: X:59.76, Y:0.85, Z:0.46 [[ 9.99730583e-01 -1.63588781e-02 -1.64665813e-02 5.97649624e+01] [ 1.63601412e-02 9.99866162e-01 -5.80074034e-05 8.49563546e-01] [ 1.64653264e-02 -2.11403820e-04 9.99864415e-01 4.56025379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32925415399999 meters Centerline goodness [0,1] 0.9993057363533802 Centerline is valid? [True, True] Translation: X:59.79, Y:0.85, Z:0.46 [[ 9.99769866e-01 -1.31579133e-02 -1.69435772e-02 5.97940577e+01] [ 1.31587529e-02 9.99913418e-01 -6.19368171e-05 8.51887404e-01] [ 1.69429252e-02 -1.61033783e-04 9.99856445e-01 4.55731435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35925415399999 meters Centerline goodness [0,1] 0.9993712873433638 Centerline is valid? [True, True] Translation: X:59.82, Y:0.85, Z:0.46 [[ 9.99801988e-01 -8.25899766e-03 -1.81044956e-02 5.98224775e+01] [ 8.25907046e-03 9.99965891e-01 -7.07496332e-05 8.54914306e-01] [ 1.81044624e-02 -7.87906808e-05 9.99836098e-01 4.56393894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38925415399999 meters Centerline goodness [0,1] 0.9993048163194369 Centerline is valid? [True, True] Translation: X:59.85, Y:0.86, Z:0.46 [[ 9.99804978e-01 -6.34714974e-03 -1.87007663e-02 5.98493705e+01] [ 6.34682461e-03 9.99979856e-01 -7.67367659e-05 8.55419702e-01] [ 1.87008767e-02 -4.19686834e-05 9.99825122e-01 4.55894105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419254153999994 meters Centerline goodness [0,1] 0.9995655007603736 Centerline is valid? [True, True] Translation: X:59.88, Y:0.86, Z:0.46 [[ 9.99789779e-01 -3.45993609e-03 -2.02095836e-02 5.98782828e+01] [ 3.45888509e-03 9.99994014e-01 -8.69596522e-05 8.56474655e-01] [ 2.02097635e-02 1.70387440e-05 9.99795762e-01 4.55445060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449254153999995 meters Centerline goodness [0,1] 0.9993910263381108 Centerline is valid? [True, True] Translation: X:59.91, Y:0.86, Z:0.45 [[ 9.99780414e-01 -2.44687051e-03 -2.08119156e-02 5.99063802e+01] [ 2.44546417e-03 9.99997006e-01 -9.30236547e-05 8.57336759e-01] [ 2.08120809e-02 4.21084340e-05 9.99783404e-01 4.54039463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479254153999996 meters Centerline goodness [0,1] 0.99956499989125 Centerline is valid? [True, True] Translation: X:59.93, Y:0.86, Z:0.46 [[ 9.99762534e-01 -1.56310598e-03 -2.17354974e-02 5.99349419e+01] [ 1.56127534e-03 9.99998776e-01 -1.01192879e-04 8.57771790e-01] [ 2.17356290e-02 6.72337532e-05 9.99763751e-01 4.55157243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50925415399999 meters Centerline goodness [0,1] 0.9995675395160767 Centerline is valid? [True, True] Translation: X:59.96, Y:0.86, Z:0.45 [[ 9.99757349e-01 -1.90638995e-04 -2.20273875e-02 5.99623224e+01] [ 1.88346996e-04 9.99999977e-01 -1.06126861e-04 8.58775889e-01] [ 2.20274073e-02 1.01952317e-04 9.99757362e-01 4.54582908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53925415399999 meters Centerline goodness [0,1] 0.9996302257797886 Centerline is valid? [True, True] Translation: X:59.99, Y:0.86, Z:0.46 [[ 9.99765934e-01 -2.29985484e-04 -2.16338799e-02 5.99898013e+01] [ 2.27689072e-04 9.99999968e-01 -1.08611993e-04 8.58566989e-01] [ 2.16339042e-02 1.03660773e-04 9.99765954e-01 4.55636029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56925415399999 meters Centerline goodness [0,1] 0.9994357393984113 Centerline is valid? [True, True] Translation: X:60.02, Y:0.86, Z:0.46 [[ 9.99771502e-01 -5.24008441e-04 -2.13698102e-02 6.00162770e+01] [ 5.21745598e-04 9.99999858e-01 -1.11465011e-04 8.58354510e-01] [ 2.13698655e-02 1.00289937e-04 9.99771633e-01 4.55261346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59925415399999 meters Centerline goodness [0,1] 0.9993721312895124 Centerline is valid? [True, True] Translation: X:60.04, Y:0.86, Z:0.46 [[ 9.99805692e-01 -2.40871645e-03 -1.95646677e-02 6.00449336e+01] [ 2.40714553e-03 9.99997097e-01 -1.03843148e-04 8.56089649e-01] [ 1.95648611e-02 5.67279676e-05 9.99808588e-01 4.57416286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629254153999995 meters Centerline goodness [0,1] 0.9993508741561364 Centerline is valid? [True, True] Translation: X:60.07, Y:0.85, Z:0.46 [[ 9.99830937e-01 -6.51638123e-03 -1.71940281e-02 6.00741209e+01] [ 6.51575564e-03 9.99978768e-01 -9.24048113e-05 8.53185521e-01] [ 1.71942651e-02 -1.96428962e-05 9.99852168e-01 4.60504003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659254153999996 meters Centerline goodness [0,1] 0.9994614274327323 Centerline is valid? [True, True] Translation: X:60.10, Y:0.85, Z:0.46 [[ 9.99824760e-01 -9.41896841e-03 -1.61781371e-02 6.01010210e+01] [ 9.41877048e-03 9.99955638e-01 -8.84296369e-05 8.50929522e-01] [ 1.61782523e-02 -6.39640193e-05 9.99869121e-01 4.61984739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68925415399999 meters Centerline goodness [0,1] 0.9991601524646295 Centerline is valid? [True, True] Translation: X:60.13, Y:0.85, Z:0.46 [[ 9.99811023e-01 -1.27050888e-02 -1.47139278e-02 6.01295207e+01] [ 1.27052594e-02 9.99919282e-01 -8.18847664e-05 8.48567735e-01] [ 1.47137804e-02 -1.05074978e-04 9.99891741e-01 4.63467598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71925415399999 meters Centerline goodness [0,1] 0.9991422751152568 Centerline is valid? [True, True] Translation: X:60.16, Y:0.84, Z:0.46 [[ 9.99702459e-01 -2.04299035e-02 -1.33271259e-02 6.01576626e+01] [ 2.04307206e-02 9.99791268e-01 -7.48510655e-05 8.41108747e-01] [ 1.33258733e-02 -1.97453992e-04 9.99911187e-01 4.64865646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74925415399999 meters Centerline goodness [0,1] 0.9992075051405072 Centerline is valid? [True, True] Translation: X:60.19, Y:0.84, Z:0.47 [[ 9.99608674e-01 -2.46839822e-02 -1.31605321e-02 6.01872395e+01] [ 2.46851448e-02 9.99695273e-01 -7.41198006e-05 8.36667129e-01] [ 1.31583513e-02 -2.50778844e-04 9.99913394e-01 4.65256549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77925415399999 meters Centerline goodness [0,1] 0.9990400409582525 Centerline is valid? [True, True] Translation: X:60.22, Y:0.83, Z:0.47 [[ 9.99379499e-01 -3.26963870e-02 -1.30982231e-02 6.02183116e+01] [ 3.26982249e-02 9.99465267e-01 -7.38695776e-05 8.29016368e-01] [ 1.30936343e-02 -3.54464902e-04 9.99914212e-01 4.65681598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809254153999994 meters Centerline goodness [0,1] 0.9990621136547726 Centerline is valid? [True, True] Translation: X:60.25, Y:0.82, Z:0.47 [[ 9.99258928e-01 -3.61288580e-02 -1.32777871e-02 6.02489388e+01] [ 3.61310583e-02 9.99347057e-01 -7.42099351e-05 8.24408262e-01] [ 1.32717986e-02 -4.05585561e-04 9.99911844e-01 4.65747512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839254153999995 meters Centerline goodness [0,1] 0.9990621136547726 Centerline is valid? [True, True] Translation: X:60.28, Y:0.82, Z:0.47 [[ 9.99261542e-01 -3.60565017e-02 -1.32777952e-02 6.02806461e+01] [ 3.60587152e-02 9.99349670e-01 -7.27328278e-05 8.24521509e-01] [ 1.32717828e-02 -4.06101120e-04 9.99911844e-01 4.66044195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.869254154 meters Centerline goodness [0,1] 0.999127659574468 Centerline is valid? [True, True] Translation: X:60.31, Y:0.82, Z:0.47 [[ 9.99138981e-01 -3.92236671e-02 -1.35203436e-02 6.03122388e+01] [ 3.92262642e-02 9.99230351e-01 -7.31444073e-05 8.20993135e-01] [ 1.35128067e-02 -4.57271143e-04 9.99908593e-01 4.65879710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89925415399999 meters Centerline goodness [0,1] 0.9990425124473382 Centerline is valid? [True, True] Translation: X:60.34, Y:0.82, Z:0.47 [[ 9.99015180e-01 -4.20219656e-02 -1.42416354e-02 6.03429315e+01] [ 4.20251477e-02 9.99116550e-01 -7.58951341e-05 8.17081600e-01] [ 1.42322429e-02 -5.22686441e-04 9.99898580e-01 4.65594024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92925415399999 meters Centerline goodness [0,1] 0.9990644667460452 Centerline is valid? [True, True] Translation: X:60.37, Y:0.81, Z:0.46 [[ 9.98841858e-01 -4.55247132e-02 -1.55706188e-02 6.03729312e+01] [ 4.55289619e-02 9.98963016e-01 -8.16883550e-05 8.10288440e-01] [ 1.55581911e-02 -6.27320360e-04 9.99878767e-01 4.64456047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95925415399999 meters Centerline goodness [0,1] 0.9990662139219015 Centerline is valid? [True, True] Translation: X:60.40, Y:0.81, Z:0.46 [[ 9.98792950e-01 -4.63777687e-02 -1.61785230e-02 6.04046768e+01] [ 4.63824733e-02 9.98923750e-01 -8.45086696e-05 8.09894173e-01] [ 1.61650302e-02 -6.65993249e-04 9.99869116e-01 4.64398413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989254153999994 meters Centerline goodness [0,1] 0.9988733232711889 Centerline is valid? [True, True] Translation: X:60.44, Y:0.81, Z:0.46 [[ 9.98797772e-01 -4.59604294e-02 -1.70484460e-02 6.04355347e+01] [ 4.59656092e-02 9.98943019e-01 -8.81050859e-05 8.06488556e-01] [ 1.70344754e-02 -6.95643041e-04 9.99854661e-01 4.63673335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019254153999995 meters Centerline goodness [0,1] 0.9990423698154965 Centerline is valid? [True, True] Translation: X:60.47, Y:0.81, Z:0.46 [[ 9.98855466e-01 -4.43101536e-02 -1.80102269e-02 6.04670481e+01] [ 4.43156958e-02 9.99017573e-01 -9.14535206e-05 8.06520488e-01] [ 1.79965855e-02 -7.06786889e-04 9.99837799e-01 4.63474640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049254153999996 meters Centerline goodness [0,1] 0.9989593067708776 Centerline is valid? [True, True] Translation: X:60.50, Y:0.81, Z:0.46 [[ 9.99055849e-01 -3.90091524e-02 -1.91231855e-02 6.04979225e+01] [ 3.90144584e-02 9.99238642e-01 -9.56705498e-05 8.11488644e-01] [ 1.91123580e-02 -6.50500505e-04 9.99817131e-01 4.63714879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07925415399999 meters Centerline goodness [0,1] 0.9988521140233404 Centerline is valid? [True, True] Translation: X:60.53, Y:0.81, Z:0.46 [[ 9.99180602e-01 -3.55303815e-02 -1.93833988e-02 6.05279041e+01] [ 3.55351825e-02 9.99368421e-01 -9.67972215e-05 8.13269133e-01] [ 1.93745959e-02 -5.92074709e-04 9.99812120e-01 4.63770424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10925415399999 meters Centerline goodness [0,1] 0.9990419620616976 Centerline is valid? [True, True] Translation: X:60.56, Y:0.82, Z:0.46 [[ 9.99314906e-01 -3.14987878e-02 -1.94304992e-02 6.05589968e+01] [ 3.15028541e-02 9.99503657e-01 -9.68546033e-05 8.17099423e-01] [ 1.94239059e-02 -5.15327934e-04 9.99811205e-01 4.64676031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13925415399999 meters Centerline goodness [0,1] 0.9987843371438321 Centerline is valid? [True, True] Translation: X:60.59, Y:0.82, Z:0.47 [[ 9.99545191e-01 -2.35081909e-02 -1.88885210e-02 6.05883761e+01] [ 2.35106040e-02 9.99723583e-01 -9.43260382e-05 8.22939144e-01] [ 1.88855173e-02 -3.49797398e-04 9.99821592e-01 4.65784946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169254153999994 meters Centerline goodness [0,1] 0.9988083331560019 Centerline is valid? [True, True] Translation: X:60.62, Y:0.83, Z:0.47 [[ 9.99626776e-01 -1.99668114e-02 -1.86449863e-02 6.06167960e+01] [ 1.99684985e-02 9.99800605e-01 -9.56999376e-05 8.25791428e-01] [ 1.86431794e-02 -2.76648162e-04 9.99826163e-01 4.66491345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199254153999995 meters Centerline goodness [0,1] 0.9989968197050223 Centerline is valid? [True, True] Translation: X:60.65, Y:0.83, Z:0.47 [[ 9.99684714e-01 -1.70913074e-02 -1.83945375e-02 6.06458931e+01] [ 1.70923809e-02 9.99853910e-01 -9.88644255e-05 8.28181587e-01] [ 1.83935399e-02 -2.15573187e-04 9.99830801e-01 4.66835811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229254153999996 meters Centerline goodness [0,1] 0.9989339701085218 Centerline is valid? [True, True] Translation: X:60.67, Y:0.83, Z:0.47 [[ 9.99740175e-01 -1.34096673e-02 -1.84326637e-02 6.06743310e+01] [ 1.34100360e-02 9.99910076e-01 -1.03606779e-04 8.31470444e-01] [ 1.84323955e-02 -1.43602824e-04 9.99830099e-01 4.68042570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25925415399999 meters Centerline goodness [0,1] 0.9991270652359053 Centerline is valid? [True, True] Translation: X:60.70, Y:0.83, Z:0.47 [[ 9.99749570e-01 -1.28709131e-02 -1.83067247e-02 6.07018474e+01] [ 1.28711296e-02 9.99917158e-01 -1.06002065e-04 8.31708800e-01] [ 1.83065725e-02 -1.29652707e-04 9.99832412e-01 4.68289700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28925415399999 meters Centerline goodness [0,1] 0.9988050019205327 Centerline is valid? [True, True] Translation: X:60.73, Y:0.83, Z:0.47 [[ 9.99732946e-01 -1.44234325e-02 -1.80555232e-02 6.07298833e+01] [ 1.44238680e-02 9.99895965e-01 -1.06112096e-04 8.29513744e-01] [ 1.80551752e-02 -1.54346724e-04 9.99836980e-01 4.68223542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31925415399999 meters Centerline goodness [0,1] 0.9990428790199081 Centerline is valid? [True, True] Translation: X:60.76, Y:0.83, Z:0.47 [[ 9.99694852e-01 -1.65217052e-02 -1.83639962e-02 6.07588596e+01] [ 1.65224537e-02 9.99863489e-01 -1.10969913e-04 8.28171505e-01] [ 1.83633227e-02 -1.92482227e-04 9.99831361e-01 4.68851328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34925415399999 meters Centerline goodness [0,1] 0.9988923679894349 Centerline is valid? [True, True] Translation: X:60.79, Y:0.82, Z:0.47 [[ 9.99569222e-01 -2.22694868e-02 -1.91165081e-02 6.07864759e+01] [ 2.22712866e-02 9.99751957e-01 -1.18767460e-04 8.22501583e-01] [ 1.91144112e-02 -3.07032931e-04 9.99817256e-01 4.68095064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379254153999995 meters Centerline goodness [0,1] 0.9988535275259549 Centerline is valid? [True, True] Translation: X:60.82, Y:0.82, Z:0.47 [[ 9.99477285e-01 -2.59774774e-02 -1.92438835e-02 6.08151314e+01] [ 2.59799243e-02 9.99662457e-01 -1.22879816e-04 8.20885385e-01] [ 1.92405800e-02 -3.77139050e-04 9.99814812e-01 4.68955004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409254153999996 meters Centerline goodness [0,1] 0.998917289402174 Centerline is valid? [True, True] Translation: X:60.84, Y:0.81, Z:0.47 [[ 9.99273542e-01 -3.30839752e-02 -1.89166137e-02 6.08449843e+01] [ 3.30875611e-02 9.99452449e-01 -1.23468761e-04 8.14702738e-01] [ 1.89103408e-02 -5.02525547e-04 9.99821057e-01 4.69278962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43925415399999 meters Centerline goodness [0,1] 0.9988386824324325 Centerline is valid? [True, True] Translation: X:60.87, Y:0.81, Z:0.47 [[ 9.99031367e-01 -3.98474266e-02 -1.86684145e-02 6.08745699e+01] [ 3.98520913e-02 9.99205582e-01 -1.22230411e-04 8.08222250e-01] [ 1.86584545e-02 -6.21863344e-04 9.99825722e-01 4.70032901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46925415399999 meters Centerline goodness [0,1] 0.9989457482025007 Centerline is valid? [True, True] Translation: X:60.91, Y:0.81, Z:0.47 [[ 9.98926479e-01 -4.25390917e-02 -1.83388811e-02 6.09058556e+01] [ 4.25440511e-02 9.99094585e-01 -1.19802980e-04 8.06065165e-01] [ 1.83273731e-02 -6.60535924e-04 9.99831821e-01 4.70742385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49925415399999 meters Centerline goodness [0,1] 0.9987724088301903 Centerline is valid? [True, True] Translation: X:60.94, Y:0.81, Z:0.47 [[ 9.98834331e-01 -4.48770405e-02 -1.77772462e-02 6.09368423e+01] [ 4.48820789e-02 9.98992285e-01 -1.15656811e-04 8.06144716e-01] [ 1.77645222e-02 -6.82357773e-04 9.99841966e-01 4.71597616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52925415399999 meters Centerline goodness [0,1] 0.9987102230679776 Centerline is valid? [True, True] Translation: X:60.97, Y:0.81, Z:0.47 [[ 9.98775197e-01 -4.63035591e-02 -1.74380761e-02 6.09685500e+01] [ 4.63086426e-02 9.98927173e-01 -1.12383766e-04 8.05187634e-01] [ 1.74245718e-02 -6.95287514e-04 9.99847939e-01 4.72424956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559254153999994 meters Centerline goodness [0,1] 0.9987931144000508 Centerline is valid? [True, True] Translation: X:61.00, Y:0.80, Z:0.47 [[ 9.98746744e-01 -4.71057504e-02 -1.69112550e-02 6.10010759e+01] [ 4.71106725e-02 9.98889670e-01 -1.07426747e-04 8.04053549e-01] [ 1.68975383e-02 -6.89408481e-04 9.99856989e-01 4.73397614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589254153999995 meters Centerline goodness [0,1] 0.9988380690820746 Centerline is valid? [True, True] Translation: X:61.03, Y:0.80, Z:0.47 [[ 9.98781075e-01 -4.68649379e-02 -1.54932776e-02 6.10319116e+01] [ 4.68690550e-02 9.98901037e-01 -9.74585113e-05 8.03187984e-01] [ 1.54808185e-02 -6.28815564e-04 9.99879967e-01 4.74425910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61925415399999 meters Centerline goodness [0,1] 0.9987520622699776 Centerline is valid? [True, True] Translation: X:61.06, Y:0.80, Z:0.48 [[ 9.98842896e-01 -4.55589335e-02 -1.54030165e-02 6.10645850e+01] [ 4.55628638e-02 9.98961469e-01 -9.58447730e-05 8.04085641e-01] [ 1.53913866e-02 -6.06071674e-04 9.99881362e-01 4.75261342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64925415399999 meters Centerline goodness [0,1] 0.9989185521321486 Centerline is valid? [True, True] Translation: X:61.09, Y:0.81, Z:0.48 [[ 9.98999099e-01 -4.21552149e-02 -1.49578729e-02 6.10948098e+01] [ 4.21585608e-02 9.99110928e-01 -9.16992739e-05 8.06063562e-01] [ 1.49484399e-02 -5.38994904e-04 9.99888121e-01 4.75784876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67925415399999 meters Centerline goodness [0,1] 0.9987929099341395 Centerline is valid? [True, True] Translation: X:61.13, Y:0.81, Z:0.48 [[ 9.99094325e-01 -3.98893705e-02 -1.48110977e-02 6.11272124e+01] [ 3.98924223e-02 9.99203976e-01 -8.94549411e-05 8.11708598e-01] [ 1.48028760e-02 -5.01476640e-04 9.99890306e-01 4.76726987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70925415399999 meters Centerline goodness [0,1] 0.9987897575268588 Centerline is valid? [True, True] Translation: X:61.16, Y:0.81, Z:0.48 [[ 9.99300641e-01 -3.44586360e-02 -1.45200422e-02 6.11571122e+01] [ 3.44610061e-02 9.99406039e-01 -8.70096806e-05 8.13757774e-01] [ 1.45144161e-02 -4.13426434e-04 9.99894575e-01 4.76849865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739254153999994 meters Centerline goodness [0,1] 0.9988341776713229 Centerline is valid? [True, True] Translation: X:61.19, Y:0.82, Z:0.48 [[ 9.99393085e-01 -3.17267212e-02 -1.43832347e-02 6.11888105e+01] [ 3.17287680e-02 9.99496512e-01 -8.59194891e-05 8.16113678e-01] [ 1.43787189e-02 -3.70494974e-04 9.99896552e-01 4.77339722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769254153999995 meters Centerline goodness [0,1] 0.9989178637357041 Centerline is valid? [True, True] Translation: X:61.22, Y:0.82, Z:0.48 [[ 9.99471820e-01 -2.90808107e-02 -1.45047302e-02 6.12201988e+01] [ 2.90826238e-02 9.99577007e-01 -8.59526290e-05 8.18385261e-01] [ 1.45010944e-02 -3.35928382e-04 9.99894797e-01 4.77554202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799254153999996 meters Centerline goodness [0,1] 0.9990413702015253 Centerline is valid? [True, True] Translation: X:61.25, Y:0.82, Z:0.48 [[ 9.99576687e-01 -2.46189037e-02 -1.55034090e-02 6.12514047e+01] [ 2.46204478e-02 9.99696867e-01 -9.12858962e-05 8.23330124e-01] [ 1.55009568e-02 -2.90453620e-04 9.99879811e-01 4.77427994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82925415399999 meters Centerline goodness [0,1] 0.9992339936591698 Centerline is valid? [True, True] Translation: X:61.28, Y:0.83, Z:0.48 [[ 9.99639450e-01 -2.02971359e-02 -1.75782828e-02 6.12817385e+01] [ 2.02984600e-02 9.99793960e-01 -1.03109274e-04 8.26413040e-01] [ 1.75767538e-02 -2.53739973e-04 9.99845485e-01 4.75659513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85925415399999 meters Centerline goodness [0,1] 0.9992339936591698 Centerline is valid? [True, True] Translation: X:61.31, Y:0.83, Z:0.48 [[ 9.99633481e-01 -2.05890219e-02 -1.75782684e-02 6.13091333e+01] [ 2.05903489e-02 9.99787991e-01 -1.05506517e-04 8.26643343e-01] [ 1.75767139e-02 -2.56474834e-04 9.99845485e-01 4.75916174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88925415399999 meters Centerline goodness [0,1] 0.9992339936591698 Centerline is valid? [True, True] Translation: X:61.34, Y:0.83, Z:0.48 [[ 9.99627427e-01 -2.08809317e-02 -1.75782365e-02 6.13365280e+01] [ 2.08822136e-02 9.99781937e-01 -1.10638883e-04 8.26883001e-01] [ 1.75767135e-02 -2.56474828e-04 9.99845485e-01 4.76173681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919254153999994 meters Centerline goodness [0,1] 0.9990850090435153 Centerline is valid? [True, True] Translation: X:61.36, Y:0.83, Z:0.48 [[ 9.99623643e-01 -2.02084169e-02 -1.85524413e-02 6.13647975e+01] [ 2.02096320e-02 9.99795757e-01 -1.22003269e-04 8.28524921e-01] [ 1.85511176e-02 -2.52980661e-04 9.99827881e-01 4.75430845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949254153999995 meters Centerline goodness [0,1] 0.9989792663476874 Centerline is valid? [True, True] Translation: X:61.39, Y:0.83, Z:0.48 [[ 9.99613474e-01 -2.04283941e-02 -1.88569191e-02 6.13927862e+01] [ 2.04295905e-02 9.99791286e-01 -1.29205662e-04 8.29016974e-01] [ 1.88556228e-02 -2.56083414e-04 9.99822184e-01 4.75176028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979254153999996 meters Centerline goodness [0,1] 0.9990621536362861 Centerline is valid? [True, True] Translation: X:61.42, Y:0.83, Z:0.48 [[ 9.99565822e-01 -2.18541021e-02 -1.97627108e-02 6.14218065e+01] [ 2.18555860e-02 9.99761128e-01 -1.40923135e-04 8.29156511e-01] [ 1.97610698e-02 -2.91063675e-04 9.99804689e-01 4.75064670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00925415399999 meters Centerline goodness [0,1] 0.9994235080602114 Centerline is valid? [True, True] Translation: X:61.45, Y:0.83, Z:0.48 [[ 9.99530505e-01 -2.33536064e-02 -1.98337819e-02 6.14496228e+01] [ 2.33553202e-02 9.99727217e-01 -1.45253522e-04 8.28721665e-01] [ 1.98317638e-02 -3.18039002e-04 9.99803281e-01 4.75139308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03925415399999 meters Centerline goodness [0,1] 0.999212229603134 Centerline is valid? [True, True] Translation: X:61.48, Y:0.83, Z:0.48 [[ 9.99477777e-01 -2.52656954e-02 -2.01449282e-02 6.14780451e+01] [ 2.52677713e-02 9.99680707e-01 -1.51521439e-04 8.28251704e-01] [ 2.01423243e-02 -3.57575126e-04 9.99797059e-01 4.75048566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06925415399999 meters Centerline goodness [0,1] 0.9989775268931729 Centerline is valid? [True, True] Translation: X:61.51, Y:0.83, Z:0.48 [[ 9.99350070e-01 -2.99525570e-02 -2.00569729e-02 6.15076406e+01] [ 2.99555038e-02 9.99551221e-01 -1.53570669e-04 8.26915191e-01] [ 2.00525716e-02 -4.47345868e-04 9.99798827e-01 4.75423015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09925415399999 meters Centerline goodness [0,1] 0.9993409303512203 Centerline is valid? [True, True] Translation: X:61.54, Y:0.82, Z:0.48 [[ 9.99257149e-01 -3.29333883e-02 -2.00135353e-02 6.15364737e+01] [ 3.29368974e-02 9.99457421e-01 -1.54350386e-04 8.24283239e-01] [ 2.00077596e-02 -5.04948032e-04 9.99799697e-01 4.75390428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129254153999995 meters Centerline goodness [0,1] 0.9990635309141215 Centerline is valid? [True, True] Translation: X:61.57, Y:0.82, Z:0.48 [[ 9.99053399e-01 -3.93886904e-02 -1.84617934e-02 6.15664532e+01] [ 3.93927625e-02 9.99223794e-01 -1.43182031e-04 8.24704929e-01] [ 1.84531030e-02 -5.84214549e-04 9.99829556e-01 4.77572834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159254153999996 meters Centerline goodness [0,1] 0.9990014871468026 Centerline is valid? [True, True] Translation: X:61.60, Y:0.82, Z:0.48 [[ 9.98904135e-01 -4.30576610e-02 -1.83457841e-02 6.15963941e+01] [ 4.30622969e-02 9.99072379e-01 -1.42454660e-04 8.19350561e-01] [ 1.83348999e-02 -6.47713050e-04 9.99831692e-01 4.77321559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18925415399999 meters Centerline goodness [0,1] 0.9990872232482116 Centerline is valid? [True, True] Translation: X:61.63, Y:0.82, Z:0.48 [[ 9.98758540e-01 -4.64653939e-02 -1.79540005e-02 6.16270810e+01] [ 4.64703863e-02 9.98919658e-01 -1.39254347e-04 8.21573061e-01] [ 1.79410746e-02 -6.95247871e-04 9.99838804e-01 4.79022185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21925415399999 meters Centerline goodness [0,1] 0.9989818860560811 Centerline is valid? [True, True] Translation: X:61.66, Y:0.82, Z:0.48 [[ 9.98597817e-01 -5.00045063e-02 -1.73766751e-02 6.16573495e+01] [ 5.00097230e-02 9.98748722e-01 -1.34463155e-04 8.19188075e-01] [ 1.73616558e-02 -7.34728094e-04 9.99849005e-01 4.79392073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24925415399999 meters Centerline goodness [0,1] 0.999066808059385 Centerline is valid? [True, True] Translation: X:61.69, Y:0.82, Z:0.48 [[ 9.98255640e-01 -5.65145777e-02 -1.70815506e-02 6.16869425e+01] [ 5.65205703e-02 9.98401426e-01 -1.32125547e-04 8.15027381e-01] [ 1.70617115e-02 -8.33563908e-04 9.99854091e-01 4.79672570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27925415399999 meters Centerline goodness [0,1] 0.9990037095919448 Centerline is valid? [True, True] Translation: X:61.72, Y:0.81, Z:0.48 [[ 9.98095922e-01 -5.92591050e-02 -1.71139732e-02 6.17184708e+01] [ 5.92655251e-02 9.98242245e-01 -1.32237498e-04 8.13656357e-01] [ 1.70917273e-02 -8.82282898e-04 9.99853536e-01 4.80024426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309254153999994 meters Centerline goodness [0,1] 0.9990658570761326 Centerline is valid? [True, True] Translation: X:61.75, Y:0.81, Z:0.48 [[ 9.97960703e-01 -6.15654583e-02 -1.68561289e-02 6.17494887e+01] [ 6.15720222e-02 9.98102635e-01 -1.29780516e-04 8.12083273e-01] [ 1.68321367e-02 -9.08350087e-04 9.99857917e-01 4.80277271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339254153999995 meters Centerline goodness [0,1] 0.9989376845773047 Centerline is valid? [True, True] Translation: X:61.78, Y:0.81, Z:0.48 [[ 9.97730402e-01 -6.53396212e-02 -1.62720410e-02 6.17807631e+01] [ 6.53462428e-02 9.97862642e-01 -1.24999292e-04 8.10932067e-01] [ 1.62454293e-02 -9.38601150e-04 9.99867594e-01 4.81102465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36925415399999 meters Centerline goodness [0,1] 0.998876690263236 Centerline is valid? [True, True] Translation: X:61.81, Y:0.81, Z:0.48 [[ 9.97670221e-01 -6.63044209e-02 -1.60578380e-02 6.18118917e+01] [ 6.63110086e-02 9.97798995e-01 -1.22429879e-04 8.09502482e-01] [ 1.60306122e-02 -9.42666787e-04 9.99871057e-01 4.81496961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39925415399999 meters Centerline goodness [0,1] 0.9988317508868073 Centerline is valid? [True, True] Translation: X:61.84, Y:0.81, Z:0.48 [[ 9.97613789e-01 -6.71279861e-02 -1.61419316e-02 6.18435507e+01] [ 6.71347737e-02 9.97743909e-01 -1.21625090e-04 8.14690712e-01] [ 1.61136784e-02 -9.62350059e-04 9.99869703e-01 4.82426021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42925415399999 meters Centerline goodness [0,1] 0.9991513557092545 Centerline is valid? [True, True] Translation: X:61.87, Y:0.81, Z:0.48 [[ 9.97604369e-01 -6.71895118e-02 -1.64648985e-02 6.18744916e+01] [ 6.71965974e-02 9.97739747e-01 -1.23134591e-04 8.14336061e-01] [ 1.64359570e-02 -9.83545548e-04 9.99864437e-01 4.82195299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45925415399999 meters Centerline goodness [0,1] 0.9990443019156438 Centerline is valid? [True, True] Translation: X:61.91, Y:0.82, Z:0.48 [[ 9.97652942e-01 -6.63175163e-02 -1.70468061e-02 6.19066706e+01] [ 6.63250034e-02 9.97798065e-01 -1.26397525e-04 8.15625013e-01] [ 1.70176525e-02 -1.00452861e-03 9.99854685e-01 4.82095117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489254153999994 meters Centerline goodness [0,1] 0.9990840735297251 Centerline is valid? [True, True] Translation: X:61.94, Y:0.82, Z:0.48 [[ 9.97746085e-01 -6.47525043e-02 -1.76029051e-02 6.19386314e+01] [ 6.47602652e-02 9.97900842e-01 -1.29381013e-04 8.17339747e-01] [ 1.75743315e-02 -1.01087940e-03 9.99845048e-01 4.81828331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519254153999995 meters Centerline goodness [0,1] 0.999230966418867 Centerline is valid? [True, True] Translation: X:61.97, Y:0.82, Z:0.48 [[ 9.98046146e-01 -5.94382940e-02 -1.92608344e-02 6.19686723e+01] [ 5.94466110e-02 9.98231476e-01 -1.40958305e-04 8.22958272e-01] [ 1.92351495e-02 -1.00430844e-03 9.99814483e-01 4.80667280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549254153999996 meters Centerline goodness [0,1] 0.9991459561021436 Centerline is valid? [True, True] Translation: X:62.00, Y:0.83, Z:0.48 [[ 9.98445450e-01 -5.18135230e-02 -2.05436439e-02 6.19995432e+01] [ 5.18213796e-02 9.98656358e-01 -1.50095284e-04 8.34277998e-01] [ 2.05238176e-02 -9.14738018e-04 9.99788946e-01 4.80627991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57925415399999 meters Centerline goodness [0,1] 0.9990994661120521 Centerline is valid? [True, True] Translation: X:62.03, Y:0.84, Z:0.48 [[ 9.98652842e-01 -4.75728186e-02 -2.07202359e-02 6.20307250e+01] [ 4.75799073e-02 9.98867423e-01 -1.51016900e-04 8.40585425e-01] [ 2.07039529e-02 -8.35053446e-04 9.99785301e-01 4.81428892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60925415399999 meters Centerline goodness [0,1] 0.998991805740272 Centerline is valid? [True, True] Translation: X:62.06, Y:0.85, Z:0.48 [[ 9.98858806e-01 -4.29660697e-02 -2.08567236e-02 6.20614629e+01] [ 4.29722571e-02 9.99076254e-01 -1.51631592e-04 8.47083540e-01] [ 2.08439723e-02 -7.44801938e-04 9.99782463e-01 4.82040641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63925415399999 meters Centerline goodness [0,1] 0.9991384138198424 Centerline is valid? [True, True] Translation: X:62.09, Y:0.86, Z:0.48 [[ 9.99216593e-01 -3.38816797e-02 -2.04507083e-02 6.20906664e+01] [ 3.38857270e-02 9.99425703e-01 -1.48690841e-04 8.56523003e-01] [ 2.04440015e-02 -5.44412764e-04 9.99790851e-01 4.82252160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669254153999994 meters Centerline goodness [0,1] 0.9993937819347016 Centerline is valid? [True, True] Translation: X:62.12, Y:0.86, Z:0.48 [[ 9.99377084e-01 -2.91284331e-02 -1.99243122e-02 6.21216292e+01] [ 2.91313315e-02 9.99575582e-01 -1.44816089e-04 8.64679944e-01] [ 1.99200742e-02 -4.35695862e-04 9.99801481e-01 4.84487832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699254153999995 meters Centerline goodness [0,1] 0.9992422602294869 Centerline is valid? [True, True] Translation: X:62.15, Y:0.87, Z:0.49 [[ 9.99508587e-01 -2.44900643e-02 -1.95658221e-02 6.21508244e+01] [ 2.44919706e-02 9.99700017e-01 -1.42227135e-04 8.69586612e-01] [ 1.95634358e-02 -3.37048296e-04 9.99808561e-01 4.85083325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729254153999996 meters Centerline goodness [0,1] 0.9994122257053292 Centerline is valid? [True, True] Translation: X:62.18, Y:0.88, Z:0.49 [[ 9.99703588e-01 -1.52726244e-02 -1.89600418e-02 6.21800844e+01] [ 1.52727106e-02 9.99883356e-01 -1.40259734e-04 8.80012180e-01] [ 1.89599723e-02 -1.49353073e-04 9.99820232e-01 4.86144300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75925415399999 meters Centerline goodness [0,1] 0.9994122257053292 Centerline is valid? [True, True] Translation: X:62.21, Y:0.88, Z:0.49 [[ 9.99699096e-01 -1.55638942e-02 -1.89600037e-02 6.22074638e+01] [ 1.55639378e-02 9.99878864e-01 -1.45271157e-04 8.80288152e-01] [ 1.89599680e-02 -1.49864874e-04 9.99820232e-01 4.86401611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78925415399999 meters Centerline goodness [0,1] 0.9993026955176396 Centerline is valid? [True, True] Translation: X:62.24, Y:0.89, Z:0.49 [[ 9.99761327e-01 -1.12310238e-02 -1.87391056e-02 6.22353438e+01] [ 1.12302389e-02 9.99936928e-01 -1.47120662e-04 8.85272851e-01] [ 1.87395760e-02 -6.33590848e-05 9.99824397e-01 4.86080808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81925415399999 meters Centerline goodness [0,1] 0.9995834520860281 Centerline is valid? [True, True] Translation: X:62.26, Y:0.89, Z:0.49 [[ 9.99810219e-01 -4.28676946e-03 -1.90039425e-02 6.22632696e+01] [ 4.28463744e-03 9.99990809e-01 -1.52903231e-04 8.93888662e-01] [ 1.90044233e-02 7.14492098e-05 9.99819397e-01 4.87546342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84925415399999 meters Centerline goodness [0,1] 0.9994072447859496 Centerline is valid? [True, True] Translation: X:62.29, Y:0.90, Z:0.49 [[ 9.99818890e-01 -2.36704230e-03 -1.88834162e-02 6.22912734e+01] [ 2.36452651e-03 9.99997192e-01 -1.55553347e-04 8.97557878e-01] [ 1.88837314e-02 1.10874836e-04 9.99821680e-01 4.87752463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879254153999995 meters Centerline goodness [0,1] 0.9996052804701548 Centerline is valid? [True, True] Translation: X:62.32, Y:0.90, Z:0.49 [[ 9.99821195e-01 -8.11468580e-04 -1.88923232e-02 6.23187513e+01] [ 8.08640404e-04 9.99999661e-01 -1.57338539e-04 9.00219176e-01] [ 1.88924445e-02 1.42033311e-04 9.99821512e-01 4.87721205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909254153999996 meters Centerline goodness [0,1] 0.9995601882394335 Centerline is valid? [True, True] Translation: X:62.35, Y:0.90, Z:0.49 [[ 9.99821228e-01 -1.90493159e-03 -1.88118085e-02 6.23477873e+01] [ 1.90229224e-03 9.99998178e-01 -1.58196008e-04 8.99175737e-01] [ 1.88120756e-02 1.22382169e-04 9.99823030e-01 4.88648050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93925415399999 meters Centerline goodness [0,1] 0.999606161386312 Centerline is valid? [True, True] Translation: X:62.38, Y:0.90, Z:0.49 [[ 9.99811372e-01 -3.47533565e-03 -1.91086989e-02 6.23760391e+01] [ 3.47286893e-03 9.99993956e-01 -1.62271497e-04 8.98435484e-01] [ 1.91091474e-02 9.58788809e-05 9.99817399e-01 4.87253764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96925415399999 meters Centerline goodness [0,1] 0.9995602172526772 Centerline is valid? [True, True] Translation: X:62.41, Y:0.90, Z:0.49 [[ 9.99789832e-01 -6.08601734e-03 -1.95768343e-02 6.24050374e+01] [ 6.08389727e-03 9.99981479e-01 -1.67850720e-04 8.96825577e-01] [ 1.95774933e-02 4.87119942e-05 9.99808341e-01 4.87368926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99925415399999 meters Centerline goodness [0,1] 0.9994947719884018 Centerline is valid? [True, True] Translation: X:62.43, Y:0.90, Z:0.49 [[ 9.99757700e-01 -9.15327953e-03 -2.00189414e-02 6.24315846e+01] [ 9.15162433e-03 9.99958108e-01 -1.74293860e-04 8.95408913e-01] [ 2.00196981e-02 -8.95420293e-06 9.99799586e-01 4.86839534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02925415399999 meters Centerline goodness [0,1] 0.9995175015352223 Centerline is valid? [True, True] Translation: X:62.46, Y:0.89, Z:0.49 [[ 9.99687897e-01 -1.57340690e-02 -1.94048253e-02 6.24603777e+01] [ 1.57337068e-02 9.99876203e-01 -1.71347181e-04 8.91353628e-01] [ 1.94051190e-02 -1.34016127e-04 9.99811694e-01 4.88352771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059254153999994 meters Centerline goodness [0,1] 0.9993650793650793 Centerline is valid? [True, True] Translation: X:62.49, Y:0.89, Z:0.49 [[ 9.99628010e-01 -1.96292089e-02 -1.89350422e-02 6.24889942e+01] [ 1.96295032e-02 9.99807308e-01 -1.70332974e-04 8.89520756e-01] [ 1.89347371e-02 -2.01415860e-04 9.99820702e-01 4.89381466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089254153999995 meters Centerline goodness [0,1] 0.9993231884374386 Centerline is valid? [True, True] Translation: X:62.52, Y:0.89, Z:0.49 [[ 9.99557049e-01 -2.33453329e-02 -1.84580807e-02 6.25177678e+01] [ 2.33461593e-02 9.99727427e-01 -1.70734845e-04 8.86638418e-01] [ 1.84570354e-02 -2.60266076e-04 9.99829621e-01 4.89751566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11925415399999 meters Centerline goodness [0,1] 0.9994573475146517 Centerline is valid? [True, True] Translation: X:62.55, Y:0.88, Z:0.49 [[ 9.99388188e-01 -3.04523902e-02 -1.72017797e-02 6.25467117e+01] [ 3.04541146e-02 9.99536153e-01 -1.61762213e-04 8.79094054e-01] [ 1.71987267e-02 -3.62201724e-04 9.99852025e-01 4.90381999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14925415399999 meters Centerline goodness [0,1] 0.9994788160437794 Centerline is valid? [True, True] Translation: X:62.58, Y:0.88, Z:0.49 [[ 9.99286178e-01 -3.40240518e-02 -1.64163836e-02 6.25775452e+01] [ 3.40261016e-02 9.99420933e-01 -1.54510788e-04 8.75559254e-01] [ 1.64121345e-02 -4.04185041e-04 9.99865230e-01 4.90742910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17925415399999 meters Centerline goodness [0,1] 0.9993066839995667 Centerline is valid? [True, True] Translation: X:62.61, Y:0.87, Z:0.49 [[ 9.99052247e-01 -4.06685763e-02 -1.55137056e-02 6.26077743e+01] [ 4.06712135e-02 9.99172573e-01 -1.45598211e-04 8.68190319e-01] [ 1.55067904e-02 -4.85501013e-04 9.99879645e-01 4.91195102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20925415399999 meters Centerline goodness [0,1] 0.9994149639227753 Centerline is valid? [True, True] Translation: X:62.64, Y:0.87, Z:0.49 [[ 9.98935375e-01 -4.33889680e-02 -1.56688950e-02 6.26399911e+01] [ 4.33919996e-02 9.99058113e-01 -1.46602865e-04 8.65922246e-01] [ 1.56604977e-02 -5.33457900e-04 9.99877225e-01 4.92101201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239254153999994 meters Centerline goodness [0,1] 0.9992630164303984 Centerline is valid? [True, True] Translation: X:62.67, Y:0.86, Z:0.49 [[ 9.98823644e-01 -4.61383097e-02 -1.49192908e-02 6.26722762e+01] [ 4.61413798e-02 9.98934910e-01 -1.38553725e-04 8.63406334e-01] [ 1.49097930e-02 -5.50005926e-04 9.99888692e-01 4.92563738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269254153999995 meters Centerline goodness [0,1] 0.9991149296261117 Centerline is valid? [True, True] Translation: X:62.70, Y:0.86, Z:0.49 [[ 9.98630166e-01 -5.03760703e-02 -1.41436681e-02 6.27031534e+01] [ 5.03792639e-02 9.98730150e-01 -1.30632349e-04 8.58848596e-01] [ 1.41322886e-02 -5.82094185e-04 9.99899965e-01 4.93175486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299254153999996 meters Centerline goodness [0,1] 0.999308018337514 Centerline is valid? [True, True] Translation: X:62.73, Y:0.86, Z:0.49 [[ 9.98556081e-01 -5.19355548e-02 -1.37277743e-02 6.27345629e+01] [ 5.19387194e-02 9.98650266e-01 -1.26127798e-04 8.55930382e-01] [ 1.37157960e-02 -5.87057339e-04 9.99905762e-01 4.93421821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32925415399999 meters Centerline goodness [0,1] 0.9991143752025057 Centerline is valid? [True, True] Translation: X:62.77, Y:0.85, Z:0.49 [[ 9.98492998e-01 -5.31968028e-02 -1.34845608e-02 6.27664318e+01] [ 5.31999893e-02 9.98583870e-01 -1.22542334e-04 8.54019291e-01] [ 1.34719837e-02 -5.95020825e-04 9.99909072e-01 4.93451330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35925415399999 meters Centerline goodness [0,1] 0.9992488303215006 Centerline is valid? [True, True] Translation: X:62.80, Y:0.85, Z:0.49 [[ 9.98435820e-01 -5.43423777e-02 -1.31460425e-02 6.27983030e+01] [ 5.43455172e-02 9.98522183e-01 -1.18553676e-04 8.49873413e-01] [ 1.31330575e-02 -5.96060242e-04 9.99913580e-01 4.93343175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38925415399999 meters Centerline goodness [0,1] 0.9991633594336587 Centerline is valid? [True, True] Translation: X:62.83, Y:0.85, Z:0.49 [[ 9.98433517e-01 -5.43986852e-02 -1.30879750e-02 6.28309958e+01] [ 5.44018139e-02 9.98519118e-01 -1.17112002e-04 8.48213878e-01] [ 1.30749640e-02 -5.95081031e-04 9.99914342e-01 4.93562164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419254153999994 meters Centerline goodness [0,1] 0.9991203415649338 Centerline is valid? [True, True] Translation: X:62.86, Y:0.85, Z:0.49 [[ 9.98464076e-01 -5.37722761e-02 -1.33428072e-02 6.28628999e+01] [ 5.37754848e-02 9.98553045e-01 -1.18437821e-04 8.49758547e-01] [ 1.33298694e-02 -5.99260016e-04 9.99910974e-01 4.94019978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449254153999995 meters Centerline goodness [0,1] 0.9991848817005942 Centerline is valid? [True, True] Translation: X:62.89, Y:0.85, Z:0.49 [[ 9.98615792e-01 -5.08377804e-02 -1.34914661e-02 6.28933421e+01] [ 5.08408087e-02 9.98706763e-01 -1.18639509e-04 8.48575164e-01] [ 1.34800498e-02 -5.67441760e-04 9.99908979e-01 4.94481643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479254153999996 meters Centerline goodness [0,1] 0.9992900477604234 Centerline is valid? [True, True] Translation: X:62.92, Y:0.85, Z:0.49 [[ 9.98722957e-01 -4.85638359e-02 -1.39287129e-02 6.29249678e+01] [ 4.85668607e-02 9.98819926e-01 -1.21210531e-04 8.53288775e-01] [ 1.39181624e-02 -5.55418117e-04 9.99902983e-01 4.94616827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50925415399999 meters Centerline goodness [0,1] 0.9992041470392119 Centerline is valid? [True, True] Translation: X:62.96, Y:0.86, Z:0.49 [[ 9.98960992e-01 -4.29240707e-02 -1.53121107e-02 6.29559443e+01] [ 4.29270746e-02 9.99078199e-01 -1.32587278e-04 8.57342812e-01] [ 1.53036871e-02 -5.24854598e-04 9.99882754e-01 4.93578522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53925415399999 meters Centerline goodness [0,1] 0.999267951340295 Centerline is valid? [True, True] Translation: X:62.99, Y:0.86, Z:0.49 [[ 9.99081144e-01 -3.97884575e-02 -1.59294255e-02 6.29875844e+01] [ 3.97913191e-02 9.99208002e-01 -1.37390378e-04 8.61312291e-01] [ 1.59222760e-02 -4.96588718e-04 9.99873109e-01 4.93488992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56925415399999 meters Centerline goodness [0,1] 0.9992670202216186 Centerline is valid? [True, True] Translation: X:63.02, Y:0.86, Z:0.49 [[ 9.99276492e-01 -3.33303585e-02 -1.83188531e-02 6.30183700e+01] [ 3.33330759e-02 9.99444286e-01 -1.57063113e-04 8.63696220e-01] [ 1.83139080e-02 -4.53674244e-04 9.99832183e-01 4.91628473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59925415399999 meters Centerline goodness [0,1] 0.9993297442217466 Centerline is valid? [True, True] Translation: X:63.05, Y:0.87, Z:0.49 [[ 9.99435658e-01 -2.68033317e-02 -2.02471614e-02 6.30489253e+01] [ 2.68053205e-02 9.99640658e-01 -1.73211250e-04 8.69437493e-01] [ 2.02445284e-02 -3.69618151e-04 9.99794990e-01 4.90966466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629254153999995 meters Centerline goodness [0,1] 0.999415419923355 Centerline is valid? [True, True] Translation: X:63.08, Y:0.87, Z:0.49 [[ 9.99561896e-01 -2.04823168e-02 -2.13656675e-02 6.30777760e+01] [ 2.04830747e-02 9.99790183e-01 -1.83388988e-04 8.73619825e-01] [ 2.13649408e-02 -2.54325919e-04 9.99771711e-01 4.90814544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659254153999996 meters Centerline goodness [0,1] 0.9992221598029472 Centerline is valid? [True, True] Translation: X:63.11, Y:0.88, Z:0.49 [[ 9.99608194e-01 -1.79025259e-02 -2.15164460e-02 6.31069502e+01] [ 1.79026250e-02 9.99839717e-01 -1.88030458e-04 8.76693514e-01] [ 2.15163635e-02 -1.97244080e-04 9.99768477e-01 4.92153791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68925415399999 meters Centerline goodness [0,1] 0.9993506352951362 Centerline is valid? [True, True] Translation: X:63.14, Y:0.88, Z:0.49 [[ 9.99692034e-01 -1.27872061e-02 -2.12679087e-02 6.31358071e+01] [ 1.27860347e-02 9.99918237e-01 -1.91065901e-04 8.80252698e-01] [ 2.12686130e-02 -8.09251595e-05 9.99773794e-01 4.93132143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71925415399999 meters Centerline goodness [0,1] 0.9993508882013112 Centerline is valid? [True, True] Translation: X:63.16, Y:0.88, Z:0.50 [[ 9.99777447e-01 -7.97702218e-03 -1.95300535e-02 6.31641002e+01] [ 7.97502306e-03 9.99968183e-01 -1.80243852e-04 8.82839128e-01] [ 1.95308699e-02 2.44511111e-05 9.99809254e-01 4.95321381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74925415399999 meters Centerline goodness [0,1] 0.9994812493245434 Centerline is valid? [True, True] Translation: X:63.19, Y:0.88, Z:0.50 [[ 9.99796547e-01 -7.32197088e-03 -1.87950570e-02 6.31922593e+01] [ 7.31990822e-03 9.99973193e-01 -1.78538566e-04 8.83346489e-01] [ 1.87958604e-02 4.09241497e-05 9.99823341e-01 4.96249316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77925415399999 meters Centerline goodness [0,1] 0.9994812493245434 Centerline is valid? [True, True] Translation: X:63.22, Y:0.88, Z:0.50 [[ 9.99794354e-01 -7.61557257e-03 -1.87950034e-02 6.32196380e+01] [ 7.61345809e-03 9.99971000e-01 -1.84054529e-04 8.83676847e-01] [ 1.87958600e-02 4.09217085e-05 9.99823341e-01 4.96506799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809254153999994 meters Centerline goodness [0,1] 0.9994812493245434 Centerline is valid? [True, True] Translation: X:63.25, Y:0.88, Z:0.50 [[ 9.99792076e-01 -7.90917362e-03 -1.87949481e-02 6.32470166e+01] [ 7.90700727e-03 9.99968721e-01 -1.89572916e-04 8.84015246e-01] [ 1.87958596e-02 4.09217076e-05 9.99823341e-01 4.96764284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839254153999995 meters Centerline goodness [0,1] 0.9994812493245434 Centerline is valid? [True, True] Translation: X:63.27, Y:0.88, Z:0.50 [[ 9.99789711e-01 -8.20277399e-03 -1.87948913e-02 6.32743951e+01] [ 8.20055578e-03 9.99966356e-01 -1.95091286e-04 8.84361683e-01] [ 1.87958592e-02 4.09217068e-05 9.99823341e-01 4.97021768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86925415399999 meters Centerline goodness [0,1] 0.9994806318978576 Centerline is valid? [True, True] Translation: X:63.30, Y:0.88, Z:0.50 [[ 9.99804233e-01 -7.68349937e-03 -1.82334610e-02 6.33014517e+01] [ 7.68125615e-03 9.99970480e-01 -1.93059497e-04 8.84756042e-01] [ 1.82344062e-02 5.29658180e-05 9.99833738e-01 4.97536167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89925415399999 meters Centerline goodness [0,1] 0.9994152933278472 Centerline is valid? [True, True] Translation: X:63.33, Y:0.88, Z:0.50 [[ 9.99822960e-01 -7.23612875e-03 -1.73691347e-02 6.33295713e+01] [ 7.23396490e-03 9.99973817e-01 -1.87406638e-04 8.84285896e-01] [ 1.73700360e-02 6.17257487e-05 9.99849128e-01 4.98891447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92925415399999 meters Centerline goodness [0,1] 0.9993074642370203 Centerline is valid? [True, True] Translation: X:63.36, Y:0.88, Z:0.50 [[ 9.99831364e-01 -7.33477880e-03 -1.68358148e-02 6.33570107e+01] [ 7.33267772e-03 9.99973098e-01 -1.86525514e-04 8.84001469e-01] [ 1.68367300e-02 6.30424553e-05 9.99858250e-01 4.99256524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95925415399999 meters Centerline goodness [0,1] 0.9992882869282033 Centerline is valid? [True, True] Translation: X:63.38, Y:0.88, Z:0.50 [[ 9.99840979e-01 -7.73389983e-03 -1.60687319e-02 6.33835335e+01] [ 7.73197357e-03 9.99970091e-01 -1.81999404e-04 8.82380684e-01] [ 1.60696589e-02 5.77274524e-05 9.99870873e-01 4.99915318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989254153999994 meters Centerline goodness [0,1] 0.9993958486169249 Centerline is valid? [True, True] Translation: X:63.41, Y:0.88, Z:0.50 [[ 9.99840515e-01 -8.57733710e-03 -1.56644024e-02 6.34118252e+01] [ 8.57555251e-03 9.99963213e-01 -1.81093739e-04 8.81014120e-01] [ 1.56653794e-02 4.67339522e-05 9.99877289e-01 5.00555192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019254153999995 meters Centerline goodness [0,1] 0.9992029641118435 Centerline is valid? [True, True] Translation: X:63.44, Y:0.88, Z:0.50 [[ 9.99808403e-01 -1.10472068e-02 -1.61591230e-02 6.34384324e+01] [ 1.10455709e-02 9.99938978e-01 -1.90483944e-04 8.77145390e-01] [ 1.61602413e-02 1.19607086e-05 9.99869415e-01 5.00135774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04925415399999 meters Centerline goodness [0,1] 0.9992248228935638 Centerline is valid? [True, True] Translation: X:63.47, Y:0.88, Z:0.50 [[ 9.99778781e-01 -1.29248812e-02 -1.65932594e-02 6.34658871e+01] [ 1.29233708e-02 9.99916470e-01 -1.98259056e-04 8.75058810e-01] [ 1.65944358e-02 -1.62256463e-05 9.99862303e-01 5.00219072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07925415399999 meters Centerline goodness [0,1] 0.9991627487602242 Centerline is valid? [True, True] Translation: X:63.49, Y:0.87, Z:0.50 [[ 9.99742266e-01 -1.49382087e-02 -1.70953795e-02 6.34940128e+01] [ 1.49368281e-02 9.99888418e-01 -2.08448202e-04 8.72708345e-01] [ 1.70965858e-02 -4.69562676e-05 9.99853842e-01 5.00189669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10925415399999 meters Centerline goodness [0,1] 0.9993122716526972 Centerline is valid? [True, True] Translation: X:63.52, Y:0.87, Z:0.50 [[ 9.99698966e-01 -1.71368521e-02 -1.75586347e-02 6.35225807e+01] [ 1.71356482e-02 9.99853150e-01 -2.19023698e-04 8.70152363e-01] [ 1.75598096e-02 -8.19208245e-05 9.99845811e-01 5.00005569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13925415399999 meters Centerline goodness [0,1] 0.99912051139045 Centerline is valid? [True, True] Translation: X:63.55, Y:0.86, Z:0.50 [[ 9.99599042e-01 -2.14728815e-02 -1.84572894e-02 6.35513048e+01] [ 2.14722001e-02 9.99769418e-01 -2.35115429e-04 8.64611254e-01] [ 1.84580821e-02 -1.61297454e-04 9.99829622e-01 4.99291590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169254153999994 meters Centerline goodness [0,1] 0.9991217924002913 Centerline is valid? [True, True] Translation: X:63.58, Y:0.86, Z:0.50 [[ 9.99557206e-01 -2.35001045e-02 -1.82520153e-02 6.35802962e+01] [ 2.34996910e-02 9.99723816e-01 -2.37161951e-04 8.62135606e-01] [ 1.82525478e-02 -1.91859782e-04 9.99833390e-01 4.99483672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199254153999995 meters Centerline goodness [0,1] 0.9992921341084108 Centerline is valid? [True, True] Translation: X:63.61, Y:0.86, Z:0.50 [[ 9.99520255e-01 -2.51108426e-02 -1.81302245e-02 6.36086503e+01] [ 2.51106476e-02 9.99684650e-01 -2.38439145e-04 8.59830613e-01] [ 1.81304946e-02 -2.16936924e-04 9.99835606e-01 4.99505761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229254153999996 meters Centerline goodness [0,1] 0.9992318689056265 Centerline is valid? [True, True] Translation: X:63.64, Y:0.86, Z:0.50 [[ 9.99469273e-01 -2.70887100e-02 -1.80934990e-02 6.36369166e+01] [ 2.70888220e-02 9.99633002e-01 -2.38936297e-04 8.55189794e-01] [ 1.80933312e-02 -2.51322086e-04 9.99836271e-01 4.99837102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25925415399999 meters Centerline goodness [0,1] 0.9990402047563186 Centerline is valid? [True, True] Translation: X:63.67, Y:0.85, Z:0.50 [[ 9.99453676e-01 -2.78514353e-02 -1.77945959e-02 6.36667519e+01] [ 2.78516504e-02 9.99612040e-01 -2.35784369e-04 8.53476494e-01] [ 1.77942593e-02 -2.59953311e-04 9.99841636e-01 5.00309847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28925415399999 meters Centerline goodness [0,1] 0.9989584883201904 Centerline is valid? [True, True] Translation: X:63.70, Y:0.85, Z:0.50 [[ 9.99458222e-01 -2.85337900e-02 -1.64038118e-02 6.36960145e+01] [ 2.85340576e-02 9.99592797e-01 -2.17784251e-04 8.49518985e-01] [ 1.64033463e-02 -2.50401050e-04 9.99865425e-01 5.01321145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31925415399999 meters Centerline goodness [0,1] 0.9989580232211968 Centerline is valid? [True, True] Translation: X:63.73, Y:0.85, Z:0.50 [[ 9.99460026e-01 -2.88590593e-02 -1.57102198e-02 6.37261231e+01] [ 2.88593424e-02 9.99583461e-01 -2.08733026e-04 8.48354090e-01] [ 1.57096998e-02 -2.44766297e-04 9.99876565e-01 5.02365764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34925415399999 meters Centerline goodness [0,1] 0.9990032447564312 Centerline is valid? [True, True] Translation: X:63.76, Y:0.85, Z:0.50 [[ 9.99459131e-01 -2.85417280e-02 -1.63344827e-02 6.37579551e+01] [ 2.85419958e-02 9.99592571e-01 -2.16777582e-04 8.46338669e-01] [ 1.63340148e-02 -2.49558402e-04 9.99866560e-01 5.02993714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379254153999995 meters Centerline goodness [0,1] 0.9990657380669271 Centerline is valid? [True, True] Translation: X:63.79, Y:0.85, Z:0.50 [[ 9.99468418e-01 -2.81555965e-02 -1.64360530e-02 6.37880392e+01] [ 2.81558210e-02 9.99603523e-01 -2.17787767e-04 8.45038911e-01] [ 1.64356684e-02 -2.45098570e-04 9.99864895e-01 5.02819646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409254153999996 meters Centerline goodness [0,1] 0.9989182080434413 Centerline is valid? [True, True] Translation: X:63.82, Y:0.84, Z:0.50 [[ 9.99489439e-01 -2.73609544e-02 -1.64996988e-02 6.38184550e+01] [ 2.73610724e-02 9.99625592e-01 -2.18631114e-04 8.44826651e-01] [ 1.64995032e-02 -2.32929965e-04 9.99863847e-01 5.03304581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43925415399999 meters Centerline goodness [0,1] 0.9990870488322717 Centerline is valid? [True, True] Translation: X:63.85, Y:0.84, Z:0.50 [[ 9.99564999e-01 -2.45579061e-02 -1.63316526e-02 6.38486591e+01] [ 2.45576388e-02 9.99698392e-01 -2.16945290e-04 8.43031520e-01] [ 1.63320546e-02 -1.84215906e-04 9.99866606e-01 5.03717798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46925415399999 meters Centerline goodness [0,1] 0.9989614243323442 Centerline is valid? [True, True] Translation: X:63.88, Y:0.84, Z:0.50 [[ 9.99613690e-01 -2.26941461e-02 -1.60451346e-02 6.38779448e+01] [ 2.26936326e-02 9.99742443e-01 -2.14096718e-04 8.42662757e-01] [ 1.60458608e-02 -1.50108379e-04 9.99871246e-01 5.03669659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49925415399999 meters Centerline goodness [0,1] 0.9990489274014583 Centerline is valid? [True, True] Translation: X:63.91, Y:0.84, Z:0.50 [[ 9.99658825e-01 -2.03014447e-02 -1.64342438e-02 6.39078255e+01] [ 2.03005727e-02 9.99793898e-01 -2.19897569e-04 8.43019584e-01] [ 1.64353209e-02 -1.13802015e-04 9.99864925e-01 5.04080710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52925415399999 meters Centerline goodness [0,1] 0.9990700623480926 Centerline is valid? [True, True] Translation: X:63.94, Y:0.84, Z:0.50 [[ 9.99735027e-01 -1.51769637e-02 -1.73070815e-02 6.39351729e+01] [ 1.51752099e-02 9.99884823e-01 -2.32664473e-04 8.43769667e-01] [ 1.73086193e-02 -3.00357713e-05 9.99850194e-01 5.04057576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559254153999994 meters Centerline goodness [0,1] 0.9990475787334914 Centerline is valid? [True, True] Translation: X:63.96, Y:0.84, Z:0.50 [[ 9.99758939e-01 -1.30103752e-02 -1.76859583e-02 6.39625389e+01] [ 1.30081707e-02 9.99915361e-01 -2.39684687e-04 8.44497184e-01] [ 1.76875798e-02 9.56494324e-06 9.99843562e-01 5.03824821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589254153999995 meters Centerline goodness [0,1] 0.999088326336768 Centerline is valid? [True, True] Translation: X:63.99, Y:0.84, Z:0.50 [[ 9.99785204e-01 -1.00920416e-02 -1.81023901e-02 6.39901582e+01] [ 1.00892176e-02 9.99949072e-01 -2.47321840e-04 8.44085506e-01] [ 1.81039641e-02 6.46297634e-05 9.99836108e-01 5.03099009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61925415399999 meters Centerline goodness [0,1] 0.9990484044915308 Centerline is valid? [True, True] Translation: X:64.02, Y:0.84, Z:0.50 [[ 9.99785408e-01 -9.81549051e-03 -1.82426637e-02 6.40177348e+01] [ 9.81251381e-03 9.99951824e-01 -2.52678127e-04 8.42876043e-01] [ 1.82442650e-02 7.36175153e-05 9.99833557e-01 5.03463870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64925415399999 meters Centerline goodness [0,1] 0.9990484044915308 Centerline is valid? [True, True] Translation: X:64.05, Y:0.84, Z:0.50 [[ 9.99782495e-01 -1.01079311e-02 -1.82425886e-02 6.40451276e+01] [ 1.01049057e-02 9.99948911e-01 -2.58013971e-04 8.43326065e-01] [ 1.82442646e-02 7.36182151e-05 9.99833557e-01 5.03721356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67925415399999 meters Centerline goodness [0,1] 0.9991761723700887 Centerline is valid? [True, True] Translation: X:64.07, Y:0.84, Z:0.50 [[ 9.99762222e-01 -1.16525436e-02 -1.84314383e-02 6.40726323e+01] [ 1.16496182e-02 9.99932105e-01 -2.66084120e-04 8.38849519e-01] [ 1.84332875e-02 5.13016322e-05 9.99830091e-01 5.03091508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70925415399999 meters Centerline goodness [0,1] 0.9991145591769617 Centerline is valid? [True, True] Translation: X:64.10, Y:0.84, Z:0.50 [[ 9.99743935e-01 -1.35300345e-02 -1.81384299e-02 6.41002086e+01] [ 1.35274152e-02 9.99908465e-01 -2.67094672e-04 8.36245249e-01] [ 1.81403834e-02 2.16602062e-05 9.99835449e-01 5.03323498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739254153999994 meters Centerline goodness [0,1] 0.9991977875825963 Centerline is valid? [True, True] Translation: X:64.13, Y:0.83, Z:0.50 [[ 9.99704473e-01 -1.61977939e-02 -1.81272896e-02 6.41281521e+01] [ 1.61955205e-02 9.99868807e-01 -2.72214372e-04 8.33668095e-01] [ 1.81293207e-02 -2.14469657e-05 9.99835650e-01 5.03719268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769254153999995 meters Centerline goodness [0,1] 0.9990943936649678 Centerline is valid? [True, True] Translation: X:64.16, Y:0.83, Z:0.50 [[ 9.99578445e-01 -2.21481600e-02 -1.87720963e-02 6.41562582e+01] [ 2.21467023e-02 9.99754691e-01 -2.85562653e-04 8.27632220e-01] [ 1.87738160e-02 -1.30297757e-04 9.99823748e-01 5.03079682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79925415399999 meters Centerline goodness [0,1] 0.9990943936649678 Centerline is valid? [True, True] Translation: X:64.18, Y:0.83, Z:0.50 [[ 9.99572054e-01 -2.24347749e-02 -1.87720419e-02 6.41836574e+01] [ 2.24333012e-02 9.99748300e-01 -2.89101632e-04 8.28124770e-01] [ 1.87738029e-02 -1.32140959e-04 9.99823748e-01 5.03336652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82925415399999 meters Centerline goodness [0,1] 0.9989888989530892 Centerline is valid? [True, True] Translation: X:64.21, Y:0.82, Z:0.50 [[ 9.99362516e-01 -2.98726156e-02 -1.95496267e-02 6.42118799e+01] [ 2.98723711e-02 9.99553675e-01 -3.04597250e-04 8.20927775e-01] [ 1.95500003e-02 -2.79590629e-04 9.99808841e-01 5.03396835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85925415399999 meters Centerline goodness [0,1] 0.99886559388261 Centerline is valid? [True, True] Translation: X:64.24, Y:0.82, Z:0.50 [[ 9.99222437e-01 -3.41216411e-02 -1.97543485e-02 6.42406428e+01] [ 3.41221572e-02 9.99417621e-01 -3.11035334e-04 8.16916434e-01] [ 1.97534570e-02 -3.63267500e-04 9.99804815e-01 5.03415523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88925415399999 meters Centerline goodness [0,1] 0.9989275575649248 Centerline is valid? [True, True] Translation: X:64.27, Y:0.81, Z:0.50 [[ 9.98886408e-01 -4.30556465e-02 -1.92913039e-02 6.42697358e+01] [ 4.30577552e-02 9.99072538e-01 -3.06231136e-04 8.07483791e-01] [ 1.92865969e-02 -5.24750122e-04 9.99813859e-01 5.04130925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919254153999994 meters Centerline goodness [0,1] 0.9990965057886664 Centerline is valid? [True, True] Translation: X:64.30, Y:0.80, Z:0.50 [[ 9.98691645e-01 -4.75583612e-02 -1.87936374e-02 6.43005919e+01] [ 4.75611550e-02 9.98868283e-01 -2.98531412e-04 8.03081594e-01] [ 1.87865660e-02 -5.95706274e-04 9.99823339e-01 5.04897546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949254153999995 meters Centerline goodness [0,1] 0.9989332775569965 Centerline is valid? [True, True] Translation: X:64.33, Y:0.80, Z:0.51 [[ 9.98487074e-01 -5.18274652e-02 -1.83705619e-02 6.43315844e+01] [ 5.18308590e-02 9.98655835e-01 -2.91655299e-04 7.98948829e-01] [ 1.83609846e-02 -6.60947957e-04 9.99831204e-01 5.05704305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979254153999996 meters Centerline goodness [0,1] 0.9991880582099807 Centerline is valid? [True, True] Translation: X:64.36, Y:0.79, Z:0.51 [[ 9.98064016e-01 -5.96405736e-02 -1.76414623e-02 6.43613695e+01] [ 5.96449219e-02 9.98219618e-01 -2.80041902e-04 7.90960203e-01] [ 1.76267556e-02 -7.72723896e-04 9.99844338e-01 5.06525724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00925415399999 meters Centerline goodness [0,1] 0.9992046049188906 Centerline is valid? [True, True] Translation: X:64.39, Y:0.79, Z:0.51 [[ 9.97887233e-01 -6.27478248e-02 -1.68457742e-02 6.43928294e+01] [ 6.27522337e-02 9.98029101e-01 -2.67266986e-04 7.93520499e-01] [ 1.68293433e-02 -7.90407646e-04 9.99858064e-01 5.07857086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03925415399999 meters Centerline goodness [0,1] 0.9988912597799255 Centerline is valid? [True, True] Translation: X:64.42, Y:0.79, Z:0.51 [[ 9.97736377e-01 -6.52074605e-02 -1.64349708e-02 6.44249300e+01] [ 6.52120036e-02 9.97871398e-01 -2.59906286e-04 7.92628425e-01] [ 1.64169351e-02 -8.12439416e-04 9.99864903e-01 5.08233336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06925415399999 meters Centerline goodness [0,1] 0.9989134068873287 Centerline is valid? [True, True] Translation: X:64.46, Y:0.79, Z:0.51 [[ 9.97543053e-01 -6.82959840e-02 -1.56049757e-02 6.44551821e+01] [ 6.83004747e-02 9.97664766e-01 -2.45611601e-04 7.87515194e-01] [ 1.55853087e-02 -8.20819104e-04 9.99878205e-01 5.08900744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09925415399998 meters Centerline goodness [0,1] 0.998889889617326 Centerline is valid? [True, True] Translation: X:64.49, Y:0.79, Z:0.51 [[ 9.97510000e-01 -6.88591031e-02 -1.52388835e-02 6.44873222e+01] [ 6.88634693e-02 9.97626065e-01 -2.38652741e-04 7.90813754e-01] [ 1.52191408e-02 -8.11343889e-04 9.99883853e-01 5.09766036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12925415399998 meters Centerline goodness [0,1] 0.9985194144388372 Centerline is valid? [True, True] Translation: X:64.52, Y:0.79, Z:0.51 [[ 9.97567166e-01 -6.82805111e-02 -1.40542209e-02 6.45195301e+01] [ 6.82841811e-02 9.97665887e-01 -2.19127758e-04 7.93103484e-01] [ 1.40363789e-02 -7.41086307e-04 9.99901211e-01 5.10715572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15925415399998 meters Centerline goodness [0,1] 0.9987248630795602 Centerline is valid? [True, True] Translation: X:64.55, Y:0.79, Z:0.51 [[ 9.97612864e-01 -6.76308540e-02 -1.39513913e-02 6.45513499e+01] [ 6.76344213e-02 9.97710147e-01 -2.16508085e-04 7.94397833e-01] [ 1.39340873e-02 -7.27603027e-04 9.99902651e-01 5.11361385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18925415399998 meters Centerline goodness [0,1] 0.9986835231428273 Centerline is valid? [True, True] Translation: X:64.58, Y:0.79, Z:0.51 [[ 9.97675796e-01 -6.66784301e-02 -1.40354407e-02 6.45829920e+01] [ 6.66819608e-02 9.97774258e-01 -2.16787922e-04 7.93938312e-01] [ 1.40186565e-02 -7.19626647e-04 9.99901475e-01 5.11290791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21925415399998 meters Centerline goodness [0,1] 0.9985985609103079 Centerline is valid? [True, True] Translation: X:64.62, Y:0.80, Z:0.51 [[ 9.97760897e-01 -6.50754941e-02 -1.54393425e-02 6.46154959e+01] [ 6.50795955e-02 9.97880048e-01 -2.37163627e-04 8.01696221e-01] [ 1.54220453e-02 -7.68153568e-04 9.99880778e-01 5.10540105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24925415399998 meters Centerline goodness [0,1] 0.9989098075391002 Centerline is valid? [True, True] Translation: X:64.65, Y:0.80, Z:0.51 [[ 9.97785382e-01 -6.44860570e-02 -1.63058290e-02 6.46479575e+01] [ 6.44905766e-02 9.97918285e-01 -2.49039576e-04 8.03530480e-01] [ 1.62879445e-02 -8.03084269e-04 9.99867020e-01 5.10058335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27925415399999 meters Centerline goodness [0,1] 0.9986779981114259 Centerline is valid? [True, True] Translation: X:64.68, Y:0.81, Z:0.51 [[ 9.97804242e-01 -6.36520235e-02 -1.83061337e-02 6.46787699e+01] [ 6.36576037e-02 9.97971759e-01 -2.78314631e-04 8.06073880e-01] [ 1.82867197e-02 -8.87621082e-04 9.99832390e-01 5.08544421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30925415399999 meters Centerline goodness [0,1] 0.9987849077158361 Centerline is valid? [True, True] Translation: X:64.71, Y:0.81, Z:0.51 [[ 9.97825332e-01 -6.31074515e-02 -1.90277873e-02 6.47100023e+01] [ 6.31134020e-02 9.98006320e-01 -2.88219636e-04 8.05382972e-01] [ 1.90080408e-02 -9.13315537e-04 9.99818914e-01 5.07574221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33925415399999 meters Centerline goodness [0,1] 0.9986174246391688 Centerline is valid? [True, True] Translation: X:64.74, Y:0.81, Z:0.51 [[ 9.97884865e-01 -6.21107520e-02 -1.91846358e-02 6.47417518e+01] [ 6.21166410e-02 9.98068855e-01 -2.89353593e-04 8.11143492e-01] [ 1.91655594e-02 -9.02943562e-04 9.99815916e-01 5.07815191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36925415399999 meters Centerline goodness [0,1] 0.9989930562839582 Centerline is valid? [True, True] Translation: X:64.77, Y:0.82, Z:0.51 [[ 9.98078904e-01 -5.88005117e-02 -1.95192757e-02 6.47737096e+01] [ 5.88060009e-02 9.98269387e-01 -2.93135925e-04 8.17115805e-01] [ 1.95027320e-02 -8.55277764e-04 9.99809438e-01 5.09186378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39925415399999 meters Centerline goodness [0,1] 0.9989274447949527 Centerline is valid? [True, True] Translation: X:64.80, Y:0.82, Z:0.51 [[ 9.98245492e-01 -5.62142569e-02 -1.85982797e-02 6.48049029e+01] [ 5.62188076e-02 9.98418433e-01 -2.78470686e-04 8.21373954e-01] [ 1.85845193e-02 -7.67591002e-04 9.99826998e-01 5.10122224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42925415399999 meters Centerline goodness [0,1] 0.9988436875854094 Centerline is valid? [True, True] Translation: X:64.84, Y:0.82, Z:0.51 [[ 9.98418776e-01 -5.32402673e-02 -1.80394690e-02 6.48350457e+01] [ 5.32440841e-02 9.98581491e-01 -2.68977526e-04 8.24586731e-01] [ 1.80282003e-02 -6.91942793e-04 9.99837239e-01 5.10656653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45925415399998 meters Centerline goodness [0,1] 0.9989041326842427 Centerline is valid? [True, True] Translation: X:64.87, Y:0.83, Z:0.51 [[ 9.98591796e-01 -5.00953433e-02 -1.74608674e-02 6.48662115e+01] [ 5.00984585e-02 9.98744250e-01 -2.59232080e-04 8.28743436e-01] [ 1.74519272e-02 -6.15895510e-04 9.99847514e-01 5.11610591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48925415399998 meters Centerline goodness [0,1] 0.9987785616510477 Centerline is valid? [True, True] Translation: X:64.90, Y:0.84, Z:0.51 [[ 9.98920740e-01 -4.31406108e-02 -1.72117215e-02 6.48967833e+01] [ 4.31426143e-02 9.99068891e-01 -2.55057565e-04 8.38664953e-01] [ 1.72066989e-02 -4.87776372e-04 9.99851835e-01 5.13016269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51925415399998 meters Centerline goodness [0,1] 0.9987350578711024 Centerline is valid? [True, True] Translation: X:64.93, Y:0.84, Z:0.51 [[ 9.99071751e-01 -3.95663969e-02 -1.70333924e-02 6.49274470e+01] [ 3.95678475e-02 9.99216854e-01 -2.51968605e-04 8.41936156e-01] [ 1.70300222e-02 -4.22239958e-04 9.99854889e-01 5.13158075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54925415399998 meters Centerline goodness [0,1] 0.9988381181739443 Centerline is valid? [True, True] Translation: X:64.96, Y:0.85, Z:0.51 [[ 9.99217056e-01 -3.59030713e-02 -1.66205775e-02 6.49590295e+01] [ 3.59039557e-02 9.99355215e-01 -2.45273789e-04 8.46368572e-01] [ 1.66186669e-02 -3.51662726e-04 9.99861839e-01 5.13742514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57925415399998 meters Centerline goodness [0,1] 0.9989428281461434 Centerline is valid? [True, True] Translation: X:64.99, Y:0.85, Z:0.52 [[ 9.99437688e-01 -2.95998009e-02 -1.57531031e-02 6.49893163e+01] [ 2.95998175e-02 9.99561802e-01 -2.32157897e-04 8.54457118e-01] [ 1.57530720e-02 -2.34261625e-04 9.99875885e-01 5.15238008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60925415399998 meters Centerline goodness [0,1] 0.9989012382200059 Centerline is valid? [True, True] Translation: X:65.02, Y:0.86, Z:0.52 [[ 9.99525999e-01 -2.66626371e-02 -1.53909536e-02 6.50204427e+01] [ 2.66623081e-02 9.99644472e-01 -2.26601427e-04 8.57632063e-01] [ 1.53915234e-02 -1.83864328e-04 9.99881527e-01 5.15748070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63925415399999 meters Centerline goodness [0,1] 0.9989600356559204 Centerline is valid? [True, True] Translation: X:65.05, Y:0.86, Z:0.52 [[ 9.99649937e-01 -2.18041995e-02 -1.49859846e-02 6.50498162e+01] [ 2.18033452e-02 9.99762255e-01 -2.20408289e-04 8.62211196e-01] [ 1.49872276e-02 -1.06413464e-04 9.99887680e-01 5.16148211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66925415399999 meters Centerline goodness [0,1] 0.9990025466893039 Centerline is valid? [True, True] Translation: X:65.08, Y:0.87, Z:0.52 [[ 9.99689756e-01 -1.99477463e-02 -1.49157117e-02 6.50797942e+01] [ 1.99466877e-02 9.99801021e-01 -2.19747926e-04 8.65080425e-01] [ 1.49171273e-02 -7.78392935e-05 9.99888730e-01 5.17143985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69925415399999 meters Centerline goodness [0,1] 0.9990452954280259 Centerline is valid? [True, True] Translation: X:65.11, Y:0.87, Z:0.52 [[ 9.99731397e-01 -1.72186611e-02 -1.55129768e-02 6.51083172e+01] [ 1.72171768e-02 9.99851747e-01 -2.29244741e-04 8.67899708e-01] [ 1.55146242e-02 -3.79064982e-05 9.99879640e-01 5.16908885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72925415399999 meters Centerline goodness [0,1] 0.9989585104574052 Centerline is valid? [True, True] Translation: X:65.14, Y:0.87, Z:0.52 [[ 9.99742351e-01 -1.63644401e-02 -1.57301362e-02 6.51356150e+01] [ 1.63627909e-02 9.99866093e-01 -2.33549344e-04 8.69029549e-01] [ 1.57318517e-02 -2.38997590e-05 9.99876246e-01 5.16815738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75925415399999 meters Centerline goodness [0,1] 0.9991715699810948 Centerline is valid? [True, True] Translation: X:65.16, Y:0.87, Z:0.52 [[ 9.99751128e-01 -1.61586892e-02 -1.53811369e-02 6.51635170e+01] [ 1.61570487e-02 9.99869440e-01 -2.30921862e-04 8.69839285e-01] [ 1.53828602e-02 -1.76493867e-05 9.99881677e-01 5.17081177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78925415399999 meters Centerline goodness [0,1] 0.9991933600798149 Centerline is valid? [True, True] Translation: X:65.19, Y:0.87, Z:0.52 [[ 9.99740355e-01 -1.64524326e-02 -1.57651481e-02 6.51914532e+01] [ 1.64506933e-02 9.99864649e-01 -2.40015015e-04 8.69531652e-01] [ 1.57669631e-02 -1.93949193e-05 9.99875694e-01 5.17055817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81925415399999 meters Centerline goodness [0,1] 0.9990015932023367 Centerline is valid? [True, True] Translation: X:65.22, Y:0.87, Z:0.52 [[ 9.99735905e-01 -1.71394741e-02 -1.53087692e-02 6.52189618e+01] [ 1.71378765e-02 9.99853108e-01 -2.35548240e-04 8.69166924e-01] [ 1.53105576e-02 -2.68737623e-05 9.99882786e-01 5.17458259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84925415399998 meters Centerline goodness [0,1] 0.9989614023188282 Centerline is valid? [True, True] Translation: X:65.25, Y:0.87, Z:0.52 [[ 9.99719982e-01 -1.82549719e-02 -1.50570164e-02 6.52473245e+01] [ 1.82534928e-02 9.99833363e-01 -2.35663480e-04 8.68719016e-01] [ 1.50588094e-02 -3.92456518e-05 9.99886609e-01 5.18185770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87925415399998 meters Centerline goodness [0,1] 0.9989842559674962 Centerline is valid? [True, True] Translation: X:65.28, Y:0.87, Z:0.52 [[ 9.99680821e-01 -2.09598062e-02 -1.41047349e-02 6.52756245e+01] [ 2.09587306e-02 9.99780317e-01 -2.24087442e-04 8.66585867e-01] [ 1.41063331e-02 -7.16014204e-05 9.99900498e-01 5.19299354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90925415399998 meters Centerline goodness [0,1] 0.9988754747406166 Centerline is valid? [True, True] Translation: X:65.31, Y:0.87, Z:0.52 [[ 9.99647586e-01 -2.24734055e-02 -1.41297644e-02 6.53053732e+01] [ 2.24724419e-02 9.99747437e-01 -2.26988146e-04 8.65567370e-01] [ 1.41312970e-02 -9.06221573e-05 9.99900144e-01 5.19799573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93925415399998 meters Centerline goodness [0,1] 0.9988339305022579 Centerline is valid? [True, True] Translation: X:65.34, Y:0.86, Z:0.52 [[ 9.99618139e-01 -2.36498600e-02 -1.42919564e-02 6.53360323e+01] [ 2.36489894e-02 9.99720297e-01 -2.29935814e-04 8.64108711e-01] [ 1.42933969e-02 -1.08142316e-04 9.99897838e-01 5.19899597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96925415399998 meters Centerline goodness [0,1] 0.9988548889878491 Centerline is valid? [True, True] Translation: X:65.37, Y:0.86, Z:0.52 [[ 9.99579772e-01 -2.50836383e-02 -1.45289677e-02 6.53667284e+01] [ 2.50828901e-02 9.99685347e-01 -2.33748964e-04 8.62874038e-01] [ 1.45302594e-02 -1.30777763e-04 9.99894422e-01 5.19877972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99925415399998 meters Centerline goodness [0,1] 0.9987331883537782 Centerline is valid? [True, True] Translation: X:65.40, Y:0.86, Z:0.52 [[ 9.99509282e-01 -2.68279219e-02 -1.61696525e-02 6.53965761e+01] [ 2.68272214e-02 9.99640051e-01 -2.60267482e-04 8.60450598e-01] [ 1.61708147e-02 -1.73647083e-04 9.99869229e-01 5.18665229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02925415399999 meters Centerline goodness [0,1] 0.9989011685649684 Centerline is valid? [True, True] Translation: X:65.43, Y:0.86, Z:0.52 [[ 9.99480526e-01 -2.73687762e-02 -1.70184418e-02 6.54272497e+01] [ 2.73680756e-02 9.99625386e-01 -2.74107007e-04 8.59887394e-01] [ 1.70195684e-02 -1.91797384e-04 9.99855138e-01 5.18386307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05925415399999 meters Centerline goodness [0,1] 0.9989035550120188 Centerline is valid? [True, True] Translation: X:65.46, Y:0.86, Z:0.52 [[ 9.99464432e-01 -2.77015864e-02 -1.74204292e-02 6.54570355e+01] [ 2.77008977e-02 9.99616217e-01 -2.80876244e-04 8.60237270e-01] [ 1.74215243e-02 -2.01835713e-04 9.99848213e-01 5.18684205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08925415399999 meters Centerline goodness [0,1] 0.9990060483018229 Centerline is valid? [True, True] Translation: X:65.49, Y:0.86, Z:0.52 [[ 9.99461515e-01 -2.76781964e-02 -1.76238009e-02 6.54867576e+01] [ 2.76774764e-02 9.99616865e-01 -2.84804881e-04 8.59524095e-01] [ 1.76249315e-02 -2.03130816e-04 9.99844648e-01 5.19301538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11925415399999 meters Centerline goodness [0,1] 0.998965218676747 Centerline is valid? [True, True] Translation: X:65.52, Y:0.86, Z:0.52 [[ 9.99474451e-01 -2.73955330e-02 -1.73293527e-02 6.55167313e+01] [ 2.73947861e-02 9.99624653e-01 -2.80529275e-04 8.58972774e-01] [ 1.73305334e-02 -1.94352067e-04 9.99849796e-01 5.19679284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14925415399999 meters Centerline goodness [0,1] 0.998799646211515 Centerline is valid? [True, True] Translation: X:65.55, Y:0.86, Z:0.52 [[ 9.99499354e-01 -2.68165665e-02 -1.67902547e-02 6.55465667e+01] [ 2.68157816e-02 9.99640355e-01 -2.71923642e-04 8.57800196e-01] [ 1.67915082e-02 -1.78456297e-04 9.99858997e-01 5.19443422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17925415399999 meters Centerline goodness [0,1] 0.9989456592792527 Centerline is valid? [True, True] Translation: X:65.58, Y:0.86, Z:0.52 [[ 9.99552375e-01 -2.50693447e-02 -1.63271946e-02 6.55759092e+01] [ 2.50683662e-02 9.99685704e-01 -2.64622582e-04 8.58767698e-01] [ 1.63286969e-02 -1.44791962e-04 9.99866667e-01 5.20767378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20925415399998 meters Centerline goodness [0,1] 0.9989859511989014 Centerline is valid? [True, True] Translation: X:65.61, Y:0.86, Z:0.52 [[ 9.99597092e-01 -2.35742201e-02 -1.58085280e-02 6.56050040e+01] [ 2.35731088e-02 9.99722083e-01 -2.56660452e-04 8.59083565e-01] [ 1.58101851e-02 -1.16099111e-04 9.99875004e-01 5.20427031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23925415399998 meters Centerline goodness [0,1] 0.9990080621332995 Centerline is valid? [True, True] Translation: X:65.63, Y:0.86, Z:0.52 [[ 9.99644087e-01 -2.16687802e-02 -1.55615956e-02 6.56348051e+01] [ 2.16674664e-02 9.99765201e-01 -2.53037917e-04 8.61429653e-01] [ 1.55634248e-02 -8.42324928e-05 9.99878879e-01 5.21870385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26925415399998 meters Centerline goodness [0,1] 0.9990940120517466 Centerline is valid? [True, True] Translation: X:65.66, Y:0.86, Z:0.52 [[ 9.99738180e-01 -1.69833264e-02 -1.53341877e-02 6.56641187e+01] [ 1.69814912e-02 9.99855773e-01 -2.49888394e-04 8.64538621e-01] [ 1.53362200e-02 -1.05744055e-05 9.99882393e-01 5.22657500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29925415399998 meters Centerline goodness [0,1] 0.9989863580690121 Centerline is valid? [True, True] Translation: X:65.69, Y:0.87, Z:0.52 [[ 9.99770658e-01 -1.46908354e-02 -1.55823602e-02 6.56922338e+01] [ 1.46886476e-02 9.99892084e-01 -2.54847003e-04 8.65909332e-01] [ 1.55844225e-02 2.59047575e-05 9.99878555e-01 5.22692443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32925415399998 meters Centerline goodness [0,1] 0.9990693345742205 Centerline is valid? [True, True] Translation: X:65.72, Y:0.87, Z:0.52 [[ 9.99814167e-01 -1.11783301e-02 -1.57059533e-02 6.57211504e+01] [ 1.11756350e-02 9.99937517e-01 -2.59360936e-04 8.67003522e-01] [ 1.57078711e-02 8.37887372e-05 9.99876620e-01 5.22681314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35925415399998 meters Centerline goodness [0,1] 0.9994115792791847 Centerline is valid? [True, True] Translation: X:65.75, Y:0.87, Z:0.52 [[ 9.99820867e-01 -1.01569168e-02 -1.59709282e-02 6.57493455e+01] [ 1.01539452e-02 9.99948412e-01 -2.67141037e-04 8.67378764e-01] [ 1.59728176e-02 1.04925254e-04 9.99872421e-01 5.22597304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38925415399999 meters Centerline goodness [0,1] 0.9991358050713488 Centerline is valid? [True, True] Translation: X:65.78, Y:0.87, Z:0.52 [[ 9.99818936e-01 -1.04022446e-02 -1.59339023e-02 6.57776311e+01] [ 1.03992662e-02 9.99945890e-01 -2.69771017e-04 8.67113599e-01] [ 1.59358464e-02 1.04021279e-04 9.99873011e-01 5.22693162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41925415399999 meters Centerline goodness [0,1] 0.9991787225977636 Centerline is valid? [True, True] Translation: X:65.81, Y:0.86, Z:0.52 [[ 9.99774856e-01 -1.27130969e-02 -1.69886356e-02 6.58055585e+01] [ 1.27099577e-02 9.99919182e-01 -2.92748732e-04 8.64563931e-01] [ 1.69909843e-02 7.67579826e-05 9.99855640e-01 5.22297926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44925415399999 meters Centerline goodness [0,1] 0.9989248218577391 Centerline is valid? [True, True] Translation: X:65.83, Y:0.86, Z:0.52 [[ 9.99721765e-01 -1.54442956e-02 -1.78288242e-02 6.58331308e+01] [ 1.54411771e-02 9.99880729e-01 -3.12566686e-04 8.62982379e-01] [ 1.78315251e-02 3.71816865e-05 9.99841005e-01 5.21907515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47925415399999 meters Centerline goodness [0,1] 0.9991573270413753 Centerline is valid? [True, True] Translation: X:65.86, Y:0.86, Z:0.52 [[ 9.99655649e-01 -1.83643753e-02 -1.87438713e-02 6.58614834e+01] [ 1.83613363e-02 9.99831361e-01 -3.34229942e-04 8.61027878e-01] [ 1.87468483e-02 -1.00476753e-05 9.99824262e-01 5.21573639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50925415399999 meters Centerline goodness [0,1] 0.9989904088844018 Centerline is valid? [True, True] Translation: X:65.89, Y:0.86, Z:0.52 [[ 9.99496909e-01 -2.43509225e-02 -2.03214698e-02 6.58889551e+01] [ 2.43485030e-02 9.99703464e-01 -3.66515964e-04 8.55493500e-01] [ 2.03243687e-02 -1.28465795e-04 9.99793430e-01 5.20319982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53925415399999 meters Centerline goodness [0,1] 0.9991982784083716 Centerline is valid? [True, True] Translation: X:65.92, Y:0.85, Z:0.52 [[ 9.99406853e-01 -2.76021882e-02 -2.05927459e-02 6.59176191e+01] [ 2.76003137e-02 9.99618968e-01 -3.75288045e-04 8.53395090e-01] [ 2.05952582e-02 -1.93300804e-04 9.99787876e-01 5.20938537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56925415399998 meters Centerline goodness [0,1] 0.9991982784083716 Centerline is valid? [True, True] Translation: X:65.95, Y:0.85, Z:0.52 [[ 9.99398793e-01 -2.78925742e-02 -2.05926421e-02 6.59450176e+01] [ 2.78906452e-02 9.99610908e-01 -3.80925409e-04 8.53969443e-01] [ 2.05952546e-02 -1.93645681e-04 9.99787876e-01 5.21195942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59925415399998 meters Centerline goodness [0,1] 0.9989298753619539 Centerline is valid? [True, True] Translation: X:65.97, Y:0.85, Z:0.52 [[ 9.99264659e-01 -3.25995900e-02 -2.01843447e-02 6.59733301e+01] [ 3.25986228e-02 9.99468453e-01 -3.77026955e-04 8.49589135e-01] [ 2.01859066e-02 -2.81232127e-04 9.99796204e-01 5.22091766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62925415399998 meters Centerline goodness [0,1] 0.9988239741274308 Centerline is valid? [True, True] Translation: X:66.00, Y:0.85, Z:0.52 [[ 9.99213155e-01 -3.43104014e-02 -1.98963974e-02 6.60032256e+01] [ 3.43097762e-02 9.99411177e-01 -3.72875104e-04 8.48582756e-01] [ 1.98974754e-02 -3.10059232e-04 9.99801978e-01 5.23064239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65925415399998 meters Centerline goodness [0,1] 0.9988236529776284 Centerline is valid? [True, True] Translation: X:66.03, Y:0.85, Z:0.52 [[ 9.99172209e-01 -3.56999650e-02 -1.95040713e-02 6.60324661e+01] [ 3.56996187e-02 9.99362498e-01 -3.66042043e-04 8.47456617e-01] [ 1.95047051e-02 -3.30548873e-04 9.99809711e-01 5.23925199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68925415399998 meters Centerline goodness [0,1] 0.9988008583329827 Centerline is valid? [True, True] Translation: X:66.06, Y:0.85, Z:0.52 [[ 9.99161792e-01 -3.63911241e-02 -1.87456653e-02 6.60616087e+01] [ 3.63909196e-02 9.99337569e-01 -3.52140015e-04 8.46062006e-01] [ 1.87460623e-02 -3.30327149e-04 9.99824223e-01 5.24295854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71925415399998 meters Centerline goodness [0,1] 0.9989309072614456 Centerline is valid? [True, True] Translation: X:66.09, Y:0.85, Z:0.53 [[ 9.99177029e-01 -3.67764694e-02 -1.71100859e-02 6.60918398e+01] [ 3.67763528e-02 9.99323469e-01 -3.21568617e-04 8.46559459e-01] [ 1.71103366e-02 -3.07942580e-04 9.99853560e-01 5.26624362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74925415399998 meters Centerline goodness [0,1] 0.9987383030175586 Centerline is valid? [True, True] Translation: X:66.12, Y:0.85, Z:0.53 [[ 9.99190446e-01 -3.66951418e-02 -1.64899801e-02 6.61220428e+01] [ 3.66950245e-02 9.99326463e-01 -3.09786710e-04 8.45867989e-01] [ 1.64902411e-02 -2.95564302e-04 9.99863983e-01 5.26569774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77925415399999 meters Centerline goodness [0,1] 0.9989935629966662 Centerline is valid? [True, True] Translation: X:66.15, Y:0.85, Z:0.53 [[ 9.99213064e-01 -3.59644866e-02 -1.67274561e-02 6.61538820e+01] [ 3.59642729e-02 9.99353027e-01 -3.13690363e-04 8.46456698e-01] [ 1.67279156e-02 -2.88147285e-04 9.99860037e-01 5.27163756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80925415399999 meters Centerline goodness [0,1] 0.9989743160362548 Centerline is valid? [True, True] Translation: X:66.18, Y:0.85, Z:0.53 [[ 9.99308785e-01 -3.34517763e-02 -1.62151400e-02 6.61843092e+01] [ 3.34512525e-02 9.99440304e-01 -3.03604935e-04 8.48299545e-01] [ 1.62162206e-02 -2.39021663e-04 9.99868480e-01 5.28199716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83925415399999 meters Centerline goodness [0,1] 0.9989514302491401 Centerline is valid? [True, True] Translation: X:66.22, Y:0.85, Z:0.53 [[ 9.99371752e-01 -3.17068642e-02 -1.58359043e-02 6.62154334e+01] [ 3.17061493e-02 9.99497190e-01 -2.96267248e-04 8.49830747e-01] [ 1.58373355e-02 -2.06014427e-04 9.99874560e-01 5.28571956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86925415399999 meters Centerline goodness [0,1] 0.9989907909675791 Centerline is valid? [True, True] Translation: X:66.25, Y:0.85, Z:0.53 [[ 9.99441892e-01 -2.93587334e-02 -1.59364345e-02 6.62464534e+01] [ 2.93577183e-02 9.99568925e-01 -2.97681673e-04 8.51348622e-01] [ 1.59383042e-02 -1.70341820e-04 9.99872963e-01 5.28814013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89925415399999 meters Centerline goodness [0,1] 0.9988446106337836 Centerline is valid? [True, True] Translation: X:66.28, Y:0.85, Z:0.53 [[ 9.99583276e-01 -2.38852154e-02 -1.62101802e-02 6.62756129e+01] [ 2.38834463e-02 9.99714704e-01 -3.02744657e-04 8.54517509e-01] [ 1.62127867e-02 -8.45364737e-05 9.99868561e-01 5.28736434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92925415399999 meters Centerline goodness [0,1] 0.999056445525455 Centerline is valid? [True, True] Translation: X:66.30, Y:0.86, Z:0.53 [[ 9.99637483e-01 -2.15476233e-02 -1.61431937e-02 6.63043407e+01] [ 2.15455335e-02 9.99767822e-01 -3.03379048e-04 8.56511424e-01] [ 1.61459827e-02 -4.45446537e-05 9.99869644e-01 5.29341408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95925415399998 meters Centerline goodness [0,1] 0.9990986458726365 Centerline is valid? [True, True] Translation: X:66.33, Y:0.86, Z:0.53 [[ 9.99677711e-01 -1.92786157e-02 -1.65169263e-02 6.63328820e+01] [ 1.92760476e-02 9.99814150e-01 -3.14684510e-04 8.57895880e-01] [ 1.65199234e-02 -3.79796756e-06 9.99863537e-01 5.29598254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98925415399998 meters Centerline goodness [0,1] 0.999097605506705 Centerline is valid? [True, True] Translation: X:66.36, Y:0.86, Z:0.53 [[ 9.99730729e-01 -1.57443950e-02 -1.70465038e-02 6.63617216e+01] [ 1.57410691e-02 9.99876047e-01 -3.29274029e-04 8.59335602e-01] [ 1.70495750e-02 6.08551720e-05 9.99854644e-01 5.29495901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01925415399998 meters Centerline goodness [0,1] 0.9993281827342962 Centerline is valid? [True, True] Translation: X:66.39, Y:0.86, Z:0.53 [[ 9.99741778e-01 -1.43663980e-02 -1.76063589e-02 6.63892361e+01] [ 1.43625789e-02 9.99896794e-01 -3.43349693e-04 8.59977009e-01] [ 1.76094746e-02 9.03883139e-05 9.99844937e-01 5.29386742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04925415399998 meters Centerline goodness [0,1] 0.9993500094353469 Centerline is valid? [True, True] Translation: X:66.42, Y:0.86, Z:0.53 [[ 9.99747122e-01 -1.37709424e-02 -1.77779047e-02 6.64173579e+01] [ 1.37668955e-02 9.99905171e-01 -3.50006066e-04 8.60265911e-01] [ 1.77810388e-02 1.05171000e-04 9.99841899e-01 5.29201146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07925415399998 meters Centerline goodness [0,1] 0.9993289153594497 Centerline is valid? [True, True] Translation: X:66.45, Y:0.86, Z:0.53 [[ 9.99737444e-01 -1.38530202e-02 -1.82520247e-02 6.64453063e+01] [ 1.38486695e-02 9.99904036e-01 -3.64746985e-04 8.58607697e-01] [ 1.82553260e-02 1.11884961e-04 9.99833351e-01 5.28798137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10925415399998 meters Centerline goodness [0,1] 0.9990974350363125 Centerline is valid? [True, True] Translation: X:66.47, Y:0.86, Z:0.53 [[ 9.99720935e-01 -1.48000358e-02 -1.84122723e-02 6.64730730e+01] [ 1.47956688e-02 9.99890468e-01 -3.73385941e-04 8.58019102e-01] [ 1.84157817e-02 1.00859860e-04 9.99830410e-01 5.28923809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13925415399999 meters Centerline goodness [0,1] 0.9991621106432895 Centerline is valid? [True, True] Translation: X:66.50, Y:0.86, Z:0.53 [[ 9.99698843e-01 -1.63058646e-02 -1.83396202e-02 6.65007476e+01] [ 1.63016868e-02 9.99867047e-01 -3.77284808e-04 8.57128259e-01] [ 1.83433339e-02 7.82044400e-05 9.99831744e-01 5.29026646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16925415399999 meters Centerline goodness [0,1] 0.9990773360174467 Centerline is valid? [True, True] Translation: X:66.53, Y:0.85, Z:0.53 [[ 9.99635558e-01 -2.00676043e-02 -1.80566193e-02 6.65296680e+01] [ 2.00640788e-02 9.99798625e-01 -3.76405095e-04 8.53352754e-01] [ 1.80605367e-02 1.39784838e-05 9.99836895e-01 5.29376239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19925415399999 meters Centerline goodness [0,1] 0.9992467516163455 Centerline is valid? [True, True] Translation: X:66.56, Y:0.85, Z:0.53 [[ 9.99577575e-01 -2.27303649e-02 -1.81108518e-02 6.65575164e+01] [ 2.27271648e-02 9.99741631e-01 -3.82521805e-04 8.51278350e-01] [ 1.81148674e-02 -2.92480961e-05 9.99835912e-01 5.29908669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22925415399999 meters Centerline goodness [0,1] 0.9991817724068479 Centerline is valid? [True, True] Translation: X:66.59, Y:0.85, Z:0.53 [[ 9.99507255e-01 -2.57740588e-02 -1.79149253e-02 6.65855563e+01] [ 2.57713230e-02 9.99667791e-01 -3.83593391e-04 8.49169933e-01] [ 1.79188606e-02 -7.82869494e-05 9.99839441e-01 5.30347985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25925415399999 meters Centerline goodness [0,1] 0.9989334337160424 Centerline is valid? [True, True] Translation: X:66.61, Y:0.85, Z:0.53 [[ 9.99425509e-01 -2.88719809e-02 -1.77499653e-02 6.66143290e+01] [ 2.88696980e-02 9.99583109e-01 -3.84895851e-04 8.46951117e-01] [ 1.77536782e-02 -1.27761405e-04 9.99842383e-01 5.30889294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28925415399999 meters Centerline goodness [0,1] 0.9990393049580218 Centerline is valid? [True, True] Translation: X:66.64, Y:0.84, Z:0.53 [[ 9.99235974e-01 -3.53111068e-02 -1.67509186e-02 6.66431266e+01] [ 3.53099088e-02 9.99376343e-01 -3.67361004e-04 8.41127451e-01] [ 1.67534437e-02 -2.24393077e-04 9.99859626e-01 5.31714174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31925415399998 meters Centerline goodness [0,1] 0.9991017150974535 Centerline is valid? [True, True] Translation: X:66.67, Y:0.84, Z:0.53 [[ 9.99131676e-01 -3.83468855e-02 -1.62914468e-02 6.66733200e+01] [ 3.83461179e-02 9.99264452e-01 -3.59608103e-04 8.38904407e-01] [ 1.62932535e-02 -2.65417892e-04 9.99867221e-01 5.32517422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34925415399998 meters Centerline goodness [0,1] 0.999105080230598 Centerline is valid? [True, True] Translation: X:66.70, Y:0.84, Z:0.53 [[ 9.99050670e-01 -4.07328791e-02 -1.54464244e-02 6.67041867e+01] [ 4.07324758e-02 9.99170030e-01 -3.40844115e-04 8.36546285e-01] [ 1.54474879e-02 -2.88650567e-04 9.99880639e-01 5.33276612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37925415399998 meters Centerline goodness [0,1] 0.9987496874218554 Centerline is valid? [True, True] Translation: X:66.73, Y:0.83, Z:0.53 [[ 9.98870844e-01 -4.54839052e-02 -1.37204811e-02 6.67345505e+01] [ 4.54840393e-02 9.98965020e-01 -3.02431587e-04 8.30903848e-01] [ 1.37200365e-02 -3.21972807e-04 9.99905824e-01 5.34023480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40925415399998 meters Centerline goodness [0,1] 0.9990218725937026 Centerline is valid? [True, True] Translation: X:66.77, Y:0.83, Z:0.53 [[ 9.98799565e-01 -4.71806256e-02 -1.31688169e-02 6.67671980e+01] [ 4.71809050e-02 9.98886319e-01 -2.89628664e-04 8.29976310e-01] [ 1.31678159e-02 -3.32035716e-04 9.99913245e-01 5.34685336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43925415399998 meters Centerline goodness [0,1] 0.9991261651131824 Centerline is valid? [True, True] Translation: X:66.80, Y:0.83, Z:0.53 [[ 9.98650791e-01 -5.02543341e-02 -1.30805143e-02 6.67981574e+01] [ 5.02548848e-02 9.98736384e-01 -2.86792562e-04 8.25881313e-01] [ 1.30783981e-02 -3.70954122e-04 9.99914405e-01 5.34672922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46925415399998 meters Centerline goodness [0,1] 0.9990437981998461 Centerline is valid? [True, True] Translation: X:66.83, Y:0.82, Z:0.53 [[ 9.98616811e-01 -5.08529256e-02 -1.33582984e-02 6.68292183e+01] [ 5.08535634e-02 9.98706078e-01 -2.92137102e-04 8.22404633e-01] [ 1.33558699e-02 -3.87584056e-04 9.99910731e-01 5.34031451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49925415399998 meters Centerline goodness [0,1] 0.9990640988311634 Centerline is valid? [True, True] Translation: X:66.86, Y:0.82, Z:0.53 [[ 9.98598240e-01 -5.10017364e-02 -1.41554812e-02 6.68616190e+01] [ 5.10024801e-02 9.98698479e-01 -3.08688975e-04 8.23315369e-01] [ 1.41528012e-02 -4.13708382e-04 9.99899759e-01 5.34102720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52925415399999 meters Centerline goodness [0,1] 0.9990019752573033 Centerline is valid? [True, True] Translation: X:66.89, Y:0.83, Z:0.53 [[ 9.98612353e-01 -5.05583897e-02 -1.47383371e-02 6.68942319e+01] [ 5.05591638e-02 9.98721016e-01 -3.20311031e-04 8.25145834e-01] [ 1.47356814e-02 -4.25291449e-04 9.99891334e-01 5.34423944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55925415399999 meters Centerline goodness [0,1] 0.9989800378843071 Centerline is valid? [True, True] Translation: X:66.93, Y:0.82, Z:0.53 [[ 9.98645016e-01 -4.99063862e-02 -1.47473914e-02 6.69253579e+01] [ 4.99071047e-02 9.98753813e-01 -3.19520616e-04 8.24781377e-01] [ 1.47449595e-02 -4.16911936e-04 9.99891200e-01 5.34651960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58925415399999 meters Centerline goodness [0,1] 0.9990019337533529 Centerline is valid? [True, True] Translation: X:66.96, Y:0.82, Z:0.54 [[ 9.98718209e-01 -4.84687743e-02 -1.45848133e-02 6.69562567e+01] [ 4.84693341e-02 9.98824621e-01 -3.15303180e-04 8.24778739e-01] [ 1.45829530e-02 -3.92017160e-04 9.99893586e-01 5.35497899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61925415399999 meters Centerline goodness [0,1] 0.999188193418122 Centerline is valid? [True, True] Translation: X:66.99, Y:0.83, Z:0.54 [[ 9.98767925e-01 -4.74836990e-02 -1.44197734e-02 6.69878723e+01] [ 4.74841509e-02 9.98871943e-01 -3.11226335e-04 8.26214825e-01] [ 1.44182853e-02 -3.73867817e-04 9.99895981e-01 5.36169830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64925415399999 meters Centerline goodness [0,1] 0.9992511388929337 Centerline is valid? [True, True] Translation: X:67.02, Y:0.83, Z:0.54 [[ 9.98883776e-01 -4.50865394e-02 -1.40856552e-02 6.70184558e+01] [ 4.50867381e-02 9.98983030e-01 -3.03608159e-04 8.28637070e-01] [ 1.40850191e-02 -3.31806981e-04 9.99900746e-01 5.36874911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67925415399999 meters Centerline goodness [0,1] 0.9990645074111801 Centerline is valid? [True, True] Translation: X:67.05, Y:0.83, Z:0.54 [[ 9.98930396e-01 -4.40143293e-02 -1.41704796e-02 6.70485835e+01] [ 4.40144262e-02 9.99030849e-01 -3.05187885e-04 8.29954248e-01] [ 1.41701789e-02 -3.18844071e-04 9.99899547e-01 5.36973083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70925415399998 meters Centerline goodness [0,1] 0.9992299687825182 Centerline is valid? [True, True] Translation: X:67.08, Y:0.83, Z:0.54 [[ 9.98963142e-01 -4.32133638e-02 -1.43264468e-02 6.70808493e+01] [ 4.32133880e-02 9.99065818e-01 -3.08019085e-04 8.33514566e-01] [ 1.43263738e-02 -3.11394590e-04 9.99897324e-01 5.37721601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73925415399998 meters Centerline goodness [0,1] 0.9990411273007733 Centerline is valid? [True, True] Translation: X:67.11, Y:0.83, Z:0.54 [[ 9.98976154e-01 -4.27621386e-02 -1.47662827e-02 6.71133392e+01] [ 4.27621314e-02 9.99085232e-01 -3.16370292e-04 8.34919712e-01] [ 1.47663037e-02 -3.15391345e-04 9.99890922e-01 5.37720496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76925415399998 meters Centerline goodness [0,1] 0.9992894164855375 Centerline is valid? [True, True] Translation: X:67.14, Y:0.84, Z:0.54 [[ 9.98958624e-01 -4.24137351e-02 -1.68149656e-02 6.71447192e+01] [ 4.24136942e-02 9.99100070e-01 -3.59208041e-04 8.36017032e-01] [ 1.68150687e-02 -3.54350840e-04 9.99858554e-01 5.37108649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79925415399998 meters Centerline goodness [0,1] 0.9992066640222134 Centerline is valid? [True, True] Translation: X:67.17, Y:0.84, Z:0.54 [[ 9.98935868e-01 -4.27137367e-02 -1.73973862e-02 6.71747380e+01] [ 4.27137471e-02 9.99087283e-01 -3.71152497e-04 8.36111968e-01] [ 1.73973606e-02 -3.72350013e-04 9.99848585e-01 5.36378337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82925415399998 meters Centerline goodness [0,1] 0.9992292148407391 Centerline is valid? [True, True] Translation: X:67.21, Y:0.84, Z:0.54 [[ 9.98899060e-01 -4.31199263e-02 -1.84754010e-02 6.72059514e+01] [ 4.31200170e-02 9.99069822e-01 -3.93642231e-04 8.37173089e-01] [ 1.84751894e-02 -4.03450749e-04 9.99829238e-01 5.36599964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85925415399998 meters Centerline goodness [0,1] 0.9991875169267307 Centerline is valid? [True, True] Translation: X:67.24, Y:0.84, Z:0.54 [[ 9.98853922e-01 -4.39497060e-02 -1.89542984e-02 6.72360080e+01] [ 4.39499573e-02 9.99033652e-01 -4.03498847e-04 8.37734115e-01] [ 1.89537156e-02 -4.30004199e-04 9.99820270e-01 5.36660331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88925415399999 meters Centerline goodness [0,1] 0.9991429228421514 Centerline is valid? [True, True] Translation: X:67.27, Y:0.84, Z:0.54 [[ 9.98794107e-01 -4.54622899e-02 -1.85340636e-02 6.72661884e+01] [ 4.54627904e-02 9.98965955e-01 -3.94552894e-04 8.38952878e-01] [ 1.85328358e-02 -4.48533142e-04 9.99828152e-01 5.37954966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91925415399999 meters Centerline goodness [0,1] 0.9991875846266014 Centerline is valid? [True, True] Translation: X:67.30, Y:0.84, Z:0.54 [[ 9.98746308e-01 -4.65217227e-02 -1.84808322e-02 6.72971961e+01] [ 4.65224078e-02 9.98917169e-01 -3.93085216e-04 8.38593359e-01] [ 1.84791076e-02 -4.67180403e-04 9.99829138e-01 5.38707432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94925415399999 meters Centerline goodness [0,1] 0.9992929923060927 Centerline is valid? [True, True] Translation: X:67.33, Y:0.84, Z:0.54 [[ 9.98708287e-01 -4.74530928e-02 -1.81648408e-02 6.73275402e+01] [ 4.74539176e-02 9.98873354e-01 -3.85866078e-04 8.36780383e-01] [ 1.81626860e-02 -4.76625209e-04 9.99834931e-01 5.38619241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97925415399999 meters Centerline goodness [0,1] 0.999145013971723 Centerline is valid? [True, True] Translation: X:67.36, Y:0.84, Z:0.54 [[ 9.98615509e-01 -4.96453817e-02 -1.73896720e-02 6.73577634e+01] [ 4.96464724e-02 9.98766785e-01 -3.69236309e-04 8.36556720e-01] [ 1.73865577e-02 -4.94610767e-04 9.99848720e-01 5.39584078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00925415399999 meters Centerline goodness [0,1] 0.999000124984377 Centerline is valid? [True, True] Translation: X:67.39, Y:0.84, Z:0.54 [[ 9.98573665e-01 -5.05607506e-02 -1.71536294e-02 6.73891222e+01] [ 5.05619516e-02 9.98720860e-01 -3.63946379e-04 8.37800179e-01] [ 1.71500889e-02 -5.03893712e-04 9.99852799e-01 5.40428710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03925415399999 meters Centerline goodness [0,1] 0.9988710014635166 Centerline is valid? [True, True] Translation: X:67.42, Y:0.84, Z:0.54 [[ 9.98523042e-01 -5.17355901e-02 -1.65880481e-02 6.74209297e+01] [ 5.17368894e-02 9.98660689e-01 -3.51087308e-04 8.40725562e-01] [ 1.65839953e-02 -5.07645245e-04 9.99862347e-01 5.41491420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06925415399998 meters Centerline goodness [0,1] 0.9985195070584065 Centerline is valid? [True, True] Translation: X:67.45, Y:0.84, Z:0.54 [[ 9.98541428e-01 -5.13997714e-02 -1.65251616e-02 6.74521596e+01] [ 5.14010329e-02 9.98678032e-01 -3.48668549e-04 8.41592828e-01] [ 1.65212373e-02 -5.01250384e-04 9.99863389e-01 5.41597197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09925415399998 meters Centerline goodness [0,1] 0.9987076063619119 Centerline is valid? [True, True] Translation: X:67.48, Y:0.84, Z:0.54 [[ 9.98564768e-01 -5.08772000e-02 -1.67306391e-02 6.74838256e+01] [ 5.08784331e-02 9.98704792e-01 -3.52209057e-04 8.43693794e-01] [ 1.67268889e-02 -4.99525148e-04 9.99859971e-01 5.42187644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12925415399998 meters Centerline goodness [0,1] 0.9988129451455704 Centerline is valid? [True, True] Translation: X:67.51, Y:0.85, Z:0.54 [[ 9.98638053e-01 -4.94199108e-02 -1.67245926e-02 6.75146219e+01] [ 4.94209513e-02 9.98777976e-01 -3.51332667e-04 8.45286217e-01] [ 1.67215176e-02 -4.75691105e-04 9.99860072e-01 5.42190810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15925415399998 meters Centerline goodness [0,1] 0.9990202005461861 Centerline is valid? [True, True] Translation: X:67.55, Y:0.85, Z:0.54 [[ 9.98659095e-01 -4.89269798e-02 -1.69163204e-02 6.75466949e+01] [ 4.89279920e-02 9.98802246e-01 -3.54278013e-04 8.48946397e-01] [ 1.69133925e-02 -4.73878628e-04 9.99856846e-01 5.42927630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18925415399998 meters Centerline goodness [0,1] 0.9986010773792124 Centerline is valid? [True, True] Translation: X:67.58, Y:0.85, Z:0.54 [[ 9.98657317e-01 -4.89030882e-02 -1.70894984e-02 6.75777134e+01] [ 4.89041459e-02 9.98803413e-01 -3.56255802e-04 8.48713872e-01] [ 1.70864713e-02 -4.79969860e-04 9.99853900e-01 5.42674629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21925415399998 meters Centerline goodness [0,1] 0.9989560714882245 Centerline is valid? [True, True] Translation: X:67.61, Y:0.85, Z:0.54 [[ 9.98641835e-01 -4.91292787e-02 -1.73435803e-02 6.76096987e+01] [ 4.91304327e-02 9.98792306e-01 -3.59796386e-04 8.52471316e-01] [ 1.73403111e-02 -4.92789884e-04 9.99849524e-01 5.43626919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24925415399998 meters Centerline goodness [0,1] 0.9989149486687254 Centerline is valid? [True, True] Translation: X:67.64, Y:0.85, Z:0.54 [[ 9.98545412e-01 -5.07511917e-02 -1.82037757e-02 6.76400262e+01] [ 5.07527486e-02 9.98711178e-01 -3.76748323e-04 8.52625552e-01] [ 1.81994347e-02 -5.47691342e-04 9.99834227e-01 5.42666919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27925415399999 meters Centerline goodness [0,1] 0.9988530436051968 Centerline is valid? [True, True] Translation: X:67.67, Y:0.85, Z:0.54 [[ 9.98468787e-01 -5.19194298e-02 -1.90906705e-02 6.76709258e+01] [ 5.19213623e-02 9.98651098e-01 -3.94746795e-04 8.54038096e-01] [ 1.90854141e-02 -5.97071266e-04 9.99817679e-01 5.42461118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30925415399999 meters Centerline goodness [0,1] 0.9986614239103154 Centerline is valid? [True, True] Translation: X:67.70, Y:0.85, Z:0.54 [[ 9.98374995e-01 -5.33204560e-02 -2.01071712e-02 6.77022051e+01] [ 5.33228951e-02 9.98577236e-01 -4.15197259e-04 8.54728055e-01] [ 2.01007020e-02 -6.57650022e-04 9.99797744e-01 5.42226765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33925415399999 meters Centerline goodness [0,1] 0.9987455834082499 Centerline is valid? [True, True] Translation: X:67.73, Y:0.85, Z:0.54 [[ 9.98225037e-01 -5.60480211e-02 -2.01344230e-02 6.77327192e+01] [ 5.60510368e-02 9.98427819e-01 -4.14967563e-04 8.52828359e-01] [ 2.01260262e-02 -7.14324276e-04 9.99797196e-01 5.40805749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36925415399999 meters Centerline goodness [0,1] 0.9990786690956299 Centerline is valid? [True, True] Translation: X:67.76, Y:0.86, Z:0.54 [[ 9.98147206e-01 -5.72840809e-02 -2.05107239e-02 6.77642181e+01] [ 5.72874878e-02 9.98357634e-01 -4.21909803e-04 8.58143704e-01] [ 2.05012065e-02 -7.53879752e-04 9.99789544e-01 5.42393142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39925415399999 meters Centerline goodness [0,1] 0.9989766295607861 Centerline is valid? [True, True] Translation: X:67.80, Y:0.86, Z:0.54 [[ 9.98049371e-01 -5.89519590e-02 -2.05455275e-02 6.77953812e+01] [ 5.89557501e-02 9.98260508e-01 -4.21659877e-04 8.59560202e-01] [ 2.05346464e-02 -7.90439613e-04 9.99788829e-01 5.42574811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42925415399999 meters Centerline goodness [0,1] 0.9987480699411593 Centerline is valid? [True, True] Translation: X:67.83, Y:0.86, Z:0.54 [[ 9.98002777e-01 -5.98471893e-02 -2.02181113e-02 6.78266987e+01] [ 5.98510662e-02 9.98207232e-01 -4.13836055e-04 8.58844745e-01] [ 2.02066319e-02 -7.97065987e-04 9.99795507e-01 5.42188236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45925415399998 meters Centerline goodness [0,1] 0.9987480699411593 Centerline is valid? [True, True] Translation: X:67.86, Y:0.86, Z:0.54 [[ 9.98007057e-01 -5.97757502e-02 -2.02181377e-02 6.78584070e+01] [ 5.97796385e-02 9.98211513e-01 -4.12546796e-04 8.59430189e-01] [ 2.02066381e-02 -7.96908346e-04 9.99795507e-01 5.42485224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48925415399998 meters Centerline goodness [0,1] 0.9988504305660062 Centerline is valid? [True, True] Translation: X:67.89, Y:0.86, Z:0.54 [[ 9.97913340e-01 -6.12058322e-02 -2.05623688e-02 6.78901749e+01] [ 6.12101949e-02 9.98124811e-01 -4.17737055e-04 8.62588407e-01] [ 2.05493784e-02 -8.41761223e-04 9.99788485e-01 5.43238762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51925415399998 meters Centerline goodness [0,1] 0.9989779316674314 Centerline is valid? [True, True] Translation: X:67.92, Y:0.86, Z:0.54 [[ 9.97897395e-01 -6.15493309e-02 -2.03093345e-02 6.79218266e+01] [ 6.15537018e-02 9.98103689e-01 -4.10426834e-04 8.64265056e-01] [ 2.02960832e-02 -8.40550853e-04 9.99793660e-01 5.43939084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54925415399998 meters Centerline goodness [0,1] 0.9989577036125993 Centerline is valid? [True, True] Translation: X:67.95, Y:0.87, Z:0.54 [[ 9.97871080e-01 -6.20990157e-02 -1.99253467e-02 6.79539109e+01] [ 6.21033677e-02 9.98069642e-01 -4.00882454e-04 8.65663807e-01] [ 1.99117780e-02 -8.37402124e-04 9.99801390e-01 5.44488467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57925415399998 meters Centerline goodness [0,1] 0.9989351262188629 Centerline is valid? [True, True] Translation: X:67.99, Y:0.87, Z:0.55 [[ 9.97851265e-01 -6.27354489e-02 -1.88974977e-02 6.79853558e+01] [ 6.27394990e-02 9.98029865e-01 -3.79049885e-04 8.67774186e-01] [ 1.88840469e-02 -8.07384129e-04 9.99821354e-01 5.45308789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60925415399998 meters Centerline goodness [0,1] 0.9984548890234481 Centerline is valid? [True, True] Translation: X:68.02, Y:0.87, Z:0.55 [[ 9.97918943e-01 -6.21393547e-02 -1.72187331e-02 6.80172128e+01] [ 6.21426462e-02 9.98067219e-01 -3.44344469e-04 8.74744219e-01] [ 1.72068504e-02 -7.26389773e-04 9.99851687e-01 5.46804264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63925415399999 meters Centerline goodness [0,1] 0.9988057575059188 Centerline is valid? [True, True] Translation: X:68.05, Y:0.88, Z:0.55 [[ 9.98000265e-01 -6.08959246e-02 -1.69457409e-02 6.80498844e+01] [ 6.08989567e-02 9.98143879e-01 -3.37514677e-04 8.78792836e-01] [ 1.69348409e-02 -6.95138208e-04 9.99856354e-01 5.47557616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66925415399999 meters Centerline goodness [0,1] 0.9987457145246258 Centerline is valid? [True, True] Translation: X:68.08, Y:0.88, Z:0.55 [[ 9.98117014e-01 -5.88412860e-02 -1.73242494e-02 6.80817471e+01] [ 5.88441716e-02 9.98267121e-01 -3.43582835e-04 8.82997725e-01] [ 1.73144455e-02 -6.76495234e-04 9.99849865e-01 5.47699609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69925415399999 meters Centerline goodness [0,1] 0.9987457145246258 Centerline is valid? [True, True] Translation: X:68.11, Y:0.88, Z:0.55 [[ 9.98121367e-01 -5.87673857e-02 -1.73242748e-02 6.81134564e+01] [ 5.87702825e-02 9.98271474e-01 -3.42299367e-04 8.83565930e-01] [ 1.73144454e-02 -6.76496214e-04 9.99849865e-01 5.47996545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72925415399999 meters Centerline goodness [0,1] 0.9987261146496815 Centerline is valid? [True, True] Translation: X:68.14, Y:0.89, Z:0.55 [[ 9.98257707e-01 -5.63715980e-02 -1.74296528e-02 6.81444801e+01] [ 5.63741828e-02 9.98409652e-01 -3.43384613e-04 8.87082568e-01] [ 1.74212908e-02 -6.39796099e-04 9.99848033e-01 5.47991209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75925415399999 meters Centerline goodness [0,1] 0.9987658711067416 Centerline is valid? [True, True] Translation: X:68.18, Y:0.89, Z:0.55 [[ 9.98505302e-01 -5.16856424e-02 -1.77695237e-02 6.81761445e+01] [ 5.16876023e-02 9.98663241e-01 -3.49264097e-04 8.93672441e-01] [ 1.77638221e-02 -5.69722021e-04 9.99842049e-01 5.48023251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78925415399999 meters Centerline goodness [0,1] 0.9988453625561574 Centerline is valid? [True, True] Translation: X:68.21, Y:0.90, Z:0.55 [[ 9.98605877e-01 -4.97648688e-02 -1.75999829e-02 6.82080910e+01] [ 4.97665131e-02 9.98760820e-01 -3.44813276e-04 8.97641733e-01] [ 1.75953329e-02 -5.31557214e-04 9.99845049e-01 5.48308013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81925415399998 meters Centerline goodness [0,1] 0.9986772764492221 Centerline is valid? [True, True] Translation: X:68.24, Y:0.90, Z:0.55 [[ 9.98737784e-01 -4.70080285e-02 -1.76941709e-02 6.82391988e+01] [ 4.70092785e-02 9.98894393e-01 -3.45506442e-04 9.02029349e-01] [ 1.76908496e-02 -4.86719868e-04 9.99843386e-01 5.48068886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84925415399998 meters Centerline goodness [0,1] 0.9987586264938563 Centerline is valid? [True, True] Translation: X:68.27, Y:0.90, Z:0.55 [[ 9.98773795e-01 -4.60856110e-02 -1.80837472e-02 6.82716468e+01] [ 4.60867865e-02 9.98937378e-01 -3.51959634e-04 9.04524674e-01] [ 1.80807513e-02 -4.81893735e-04 9.99836414e-01 5.48099580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87925415399998 meters Centerline goodness [0,1] 0.9988423977100522 Centerline is valid? [True, True] Translation: X:68.30, Y:0.91, Z:0.55 [[ 9.98791199e-01 -4.56413125e-02 -1.82486113e-02 6.83027367e+01] [ 4.56424565e-02 9.98957777e-01 -3.54009427e-04 9.05561472e-01] [ 1.82457496e-02 -4.79329945e-04 9.99833418e-01 5.47292553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90925415399998 meters Centerline goodness [0,1] 0.998819636195013 Centerline is valid? [True, True] Translation: X:68.33, Y:0.91, Z:0.55 [[ 9.98789348e-01 -4.54479344e-02 -1.88234968e-02 6.83345200e+01] [ 4.54491400e-02 9.98966588e-01 -3.63958951e-04 9.08158537e-01] [ 1.88205855e-02 -4.91993418e-04 9.99822756e-01 5.47404742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93925415399998 meters Centerline goodness [0,1] 0.9988187896812841 Centerline is valid? [True, True] Translation: X:68.37, Y:0.91, Z:0.55 [[ 9.98778450e-01 -4.56249059e-02 -1.89730351e-02 6.83671016e+01] [ 4.56261889e-02 9.98958516e-01 -3.65473372e-04 9.09424550e-01] [ 1.89699496e-02 -5.00640352e-04 9.99819929e-01 5.46941337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96925415399998 meters Centerline goodness [0,1] 0.998692259017085 Centerline is valid? [True, True] Translation: X:68.40, Y:0.91, Z:0.55 [[ 9.98736756e-01 -4.62999594e-02 -1.95244773e-02 6.83989257e+01] [ 4.63014749e-02 9.98927441e-01 -3.74661485e-04 9.11626399e-01] [ 1.95208830e-02 -5.29823900e-04 9.99809309e-01 5.46780267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99925415399998 meters Centerline goodness [0,1] 0.9985245141435859 Centerline is valid? [True, True] Translation: X:68.43, Y:0.91, Z:0.55 [[ 9.98716513e-01 -4.67555049e-02 -1.94743516e-02 6.84297884e+01] [ 4.67571230e-02 9.98906218e-01 -3.72474121e-04 9.11845577e-01] [ 1.94704661e-02 -5.38568598e-04 9.99810287e-01 5.46354295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02925415399999 meters Centerline goodness [0,1] 0.9987129172469089 Centerline is valid? [True, True] Translation: X:68.46, Y:0.91, Z:0.55 [[ 9.98688439e-01 -4.71930455e-02 -1.98549321e-02 6.84618628e+01] [ 4.71948391e-02 9.98885631e-01 -3.78488929e-04 9.12848136e-01] [ 1.98506684e-02 -5.59057806e-04 9.99802800e-01 5.46465656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05925415399999 meters Centerline goodness [0,1] 0.9988773802715469 Centerline is valid? [True, True] Translation: X:68.49, Y:0.92, Z:0.55 [[ 9.98647520e-01 -4.78759049e-02 -2.02738605e-02 6.84938589e+01] [ 4.78779456e-02 9.98853119e-01 -3.84996697e-04 9.16973675e-01] [ 2.02690409e-02 -5.86194795e-04 9.99794390e-01 5.47641756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08925415399999 meters Centerline goodness [0,1] 0.9990896580925162 Centerline is valid? [True, True] Translation: X:68.53, Y:0.92, Z:0.55 [[ 9.98640783e-01 -4.80258339e-02 -2.02510739e-02 6.85260808e+01] [ 4.80279306e-02 9.98845920e-01 -3.83092141e-04 9.18047444e-01] [ 2.02461008e-02 -5.90045734e-04 9.99794853e-01 5.48350481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11925415399999 meters Centerline goodness [0,1] 0.9989007736862132 Centerline is valid? [True, True] Translation: X:68.56, Y:0.92, Z:0.55 [[ 9.98637578e-01 -4.82207420e-02 -1.99436008e-02 6.85580327e+01] [ 4.82228431e-02 9.98836531e-01 -3.75831680e-04 9.20042317e-01] [ 1.99385199e-02 -5.86417493e-04 9.99801036e-01 5.49193125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14925415399999 meters Centerline goodness [0,1] 0.9986670616113744 Centerline is valid? [True, True] Translation: X:68.59, Y:0.92, Z:0.55 [[ 9.98646599e-01 -4.81168880e-02 -1.97417085e-02 6.85902417e+01] [ 4.81189549e-02 9.98841543e-01 -3.70584587e-04 9.21090375e-01] [ 1.97366699e-02 -5.79867343e-04 9.99805045e-01 5.49905305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17925415399999 meters Centerline goodness [0,1] 0.9988795162892962 Centerline is valid? [True, True] Translation: X:68.62, Y:0.92, Z:0.55 [[ 9.98663044e-01 -4.79762750e-02 -1.92458343e-02 6.86223186e+01] [ 4.79782403e-02 9.98848316e-01 -3.59870636e-04 9.22752435e-01] [ 1.92409345e-02 -5.63991760e-04 9.99814717e-01 5.50976714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20925415399998 meters Centerline goodness [0,1] 0.9988336584952074 Centerline is valid? [True, True] Translation: X:68.65, Y:0.92, Z:0.55 [[ 9.98719560e-01 -4.71409112e-02 -1.83568722e-02 6.86535611e+01] [ 4.71425918e-02 9.98888112e-01 -3.41410888e-04 9.20546026e-01] [ 1.83525558e-02 -5.24416801e-04 9.99831440e-01 5.50770188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23925415399998 meters Centerline goodness [0,1] 0.9987510584250635 Centerline is valid? [True, True] Translation: X:68.69, Y:0.93, Z:0.55 [[ 9.98847972e-01 -4.47070774e-02 -1.74357894e-02 6.86851146e+01] [ 4.47082484e-02 9.99000034e-01 -3.22822602e-04 9.25936094e-01] [ 1.74327866e-02 -4.57072901e-04 9.99847933e-01 5.53011800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26925415399998 meters Centerline goodness [0,1] 0.9989217303057212 Centerline is valid? [True, True] Translation: X:68.72, Y:0.93, Z:0.55 [[ 9.98954885e-01 -4.23633984e-02 -1.71604440e-02 6.87174993e+01] [ 4.23642024e-02 9.99102184e-01 -3.16830264e-04 9.28606811e-01] [ 1.71584591e-02 -4.10489384e-04 9.99852699e-01 5.53742235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29925415399998 meters Centerline goodness [0,1] 0.9990901589048052 Centerline is valid? [True, True] Translation: X:68.75, Y:0.93, Z:0.55 [[ 9.99064366e-01 -3.97358286e-02 -1.70720731e-02 6.87475460e+01] [ 3.97362546e-02 9.99210154e-01 -3.14393776e-04 9.31005529e-01] [ 1.70710815e-02 -3.64280625e-04 9.99854212e-01 5.54317765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32925415399998 meters Centerline goodness [0,1] 0.999002842958374 Centerline is valid? [True, True] Translation: X:68.78, Y:0.94, Z:0.55 [[ 9.99289911e-01 -3.35728372e-02 -1.71037704e-02 6.87793167e+01] [ 3.35723724e-02 9.99436240e-01 -3.14383725e-04 9.36252465e-01] [ 1.71046828e-02 -2.60053665e-04 9.99853670e-01 5.54250269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35925415399998 meters Centerline goodness [0,1] 0.9989152859603972 Centerline is valid? [True, True] Translation: X:68.81, Y:0.94, Z:0.55 [[ 9.99385440e-01 -3.05549115e-02 -1.71796303e-02 6.88109506e+01] [ 3.05540104e-02 9.99533068e-01 -3.14981581e-04 9.38821559e-01] [ 1.71812328e-02 -2.10118598e-04 9.99852370e-01 5.54312184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38925415399999 meters Centerline goodness [0,1] 0.9991673783091375 Centerline is valid? [True, True] Translation: X:68.84, Y:0.94, Z:0.55 [[ 9.99508981e-01 -2.59032859e-02 -1.76300035e-02 6.88409280e+01] [ 2.59016196e-02 9.99664445e-01 -3.22891002e-04 9.41888035e-01] [ 1.76324516e-02 -1.33913186e-04 9.99844527e-01 5.53450748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41925415399999 meters Centerline goodness [0,1] 0.9989768076398363 Centerline is valid? [True, True] Translation: X:68.87, Y:0.94, Z:0.55 [[ 9.99548341e-01 -2.41086720e-02 -1.79412048e-02 6.88708442e+01] [ 2.41066581e-02 9.99709338e-01 -3.28541399e-04 9.43220095e-01] [ 1.79439107e-02 -1.04109479e-04 9.99838990e-01 5.53201234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44925415399999 meters Centerline goodness [0,1] 0.9991275481976423 Centerline is valid? [True, True] Translation: X:68.90, Y:0.94, Z:0.55 [[ 9.99569242e-01 -2.30941696e-02 -1.81104877e-02 6.89004197e+01] [ 2.30919463e-02 9.99733290e-01 -3.31898849e-04 9.44492913e-01] [ 1.81133224e-02 -8.64505292e-05 9.99835937e-01 5.53795506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47925415399999 meters Centerline goodness [0,1] 0.999106706085033 Centerline is valid? [True, True] Translation: X:68.93, Y:0.95, Z:0.55 [[ 9.99583221e-01 -2.25646453e-02 -1.80061165e-02 6.89289501e+01] [ 2.25623167e-02 9.99745383e-01 -3.32482716e-04 9.45345513e-01] [ 1.80090342e-02 -7.39155584e-05 9.99837821e-01 5.53866652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50925415399999 meters Centerline goodness [0,1] 0.9989800038249856 Centerline is valid? [True, True] Translation: X:68.96, Y:0.95, Z:0.55 [[ 9.99586920e-01 -2.25522960e-02 -1.78152742e-02 6.89581722e+01] [ 2.25499348e-02 9.99745662e-01 -3.33432605e-04 9.45913918e-01] [ 1.78182628e-02 -6.84384024e-05 9.99841240e-01 5.54498415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53925415399999 meters Centerline goodness [0,1] 0.9989994891008175 Centerline is valid? [True, True] Translation: X:68.99, Y:0.95, Z:0.55 [[ 9.99565327e-01 -2.32793997e-02 -1.80893872e-02 6.89864873e+01] [ 2.32769996e-02 9.99728995e-01 -3.43242843e-04 9.45909673e-01] [ 1.80924754e-02 -7.79730157e-05 9.99836315e-01 5.54856022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56925415399998 meters Centerline goodness [0,1] 0.999086622201453 Centerline is valid? [True, True] Translation: X:69.01, Y:0.95, Z:0.55 [[ 9.99540322e-01 -2.41071348e-02 -1.83845411e-02 6.90148518e+01] [ 2.41047414e-02 9.99709377e-01 -3.51802242e-04 9.45428492e-01] [ 1.83876791e-02 -9.15140826e-05 9.99830928e-01 5.54255827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59925415399998 meters Centerline goodness [0,1] 0.9989596602972399 Centerline is valid? [True, True] Translation: X:69.04, Y:0.94, Z:0.55 [[ 9.99449667e-01 -2.69190593e-02 -1.93837002e-02 6.90438206e+01] [ 2.69168678e-02 9.99637606e-01 -3.73995052e-04 9.43554558e-01] [ 1.93867432e-02 -1.47959266e-04 9.99812048e-01 5.53673907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62925415399998 meters Centerline goodness [0,1] 0.9990243695518463 Centerline is valid? [True, True] Translation: X:69.07, Y:0.94, Z:0.55 [[ 9.99385806e-01 -2.88094035e-02 -1.99506523e-02 6.90724644e+01] [ 2.88073561e-02 9.99584906e-01 -3.90069724e-04 9.42543328e-01] [ 1.99536086e-02 -1.84895398e-04 9.99800890e-01 5.53600842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65925415399998 meters Centerline goodness [0,1] 0.9990658372433706 Centerline is valid? [True, True] Translation: X:69.10, Y:0.94, Z:0.55 [[ 9.99320795e-01 -3.07174805e-02 -2.03564319e-02 6.91011214e+01] [ 3.07156829e-02 9.99528082e-01 -4.01037925e-04 9.41167971e-01] [ 2.03591442e-02 -2.24496167e-04 9.99792706e-01 5.53142581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68925415399998 meters Centerline goodness [0,1] 0.9989833308622625 Centerline is valid? [True, True] Translation: X:69.13, Y:0.94, Z:0.55 [[ 9.99141542e-01 -3.54234658e-02 -2.14792181e-02 6.91312051e+01] [ 3.54225305e-02 9.99372335e-01 -4.24132649e-04 9.37679200e-01] [ 2.14807606e-02 -3.37079708e-04 9.99769205e-01 5.53278590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71925415399998 meters Centerline goodness [0,1] 0.9990239141044412 Centerline is valid? [True, True] Translation: X:69.16, Y:0.94, Z:0.55 [[ 9.99048119e-01 -3.80941424e-02 -2.12530582e-02 6.91618998e+01] [ 3.80938235e-02 9.99274079e-01 -4.20002498e-04 9.36345102e-01] [ 2.12536298e-02 -3.90007542e-04 9.99774040e-01 5.53712211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74925415399998 meters Centerline goodness [0,1] 0.9988589299298454 Centerline is valid? [True, True] Translation: X:69.19, Y:0.93, Z:0.55 [[ 9.98931916e-01 -4.07794155e-02 -2.17270814e-02 6.91926342e+01] [ 4.07797219e-02 9.99168069e-01 -4.29145988e-04 9.33256637e-01] [ 2.17265063e-02 -4.57336716e-04 9.99763847e-01 5.53337445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77925415399999 meters Centerline goodness [0,1] 0.9988778556456565 Centerline is valid? [True, True] Translation: X:69.22, Y:0.93, Z:0.55 [[ 9.98799268e-01 -4.37312003e-02 -2.20817863e-02 6.92236000e+01] [ 4.37322465e-02 9.99043193e-01 -4.35751657e-04 9.31986502e-01] [ 2.20797143e-02 -5.30457689e-04 9.99756073e-01 5.54144332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80925415399999 meters Centerline goodness [0,1] 0.9989046636053419 Centerline is valid? [True, True] Translation: X:69.25, Y:0.93, Z:0.56 [[ 9.98570186e-01 -4.90470349e-02 -2.12596363e-02 6.92549599e+01] [ 4.90492207e-02 9.98796275e-01 -4.18930984e-04 9.28428762e-01] [ 2.12545928e-02 -6.24436601e-04 9.99773901e-01 5.55197457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83925415399999 meters Centerline goodness [0,1] 0.998861983941329 Centerline is valid? [True, True] Translation: X:69.29, Y:0.92, Z:0.56 [[ 9.98433731e-01 -5.18942619e-02 -2.09062381e-02 6.92851606e+01] [ 5.18970105e-02 9.98652357e-01 -4.11420246e-04 9.24048679e-01] [ 2.08994143e-02 -6.74195405e-04 9.99781356e-01 5.55026533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86925415399999 meters Centerline goodness [0,1] 0.9988609277110975 Centerline is valid? [True, True] Translation: X:69.32, Y:0.92, Z:0.56 [[ 9.98108790e-01 -5.78380368e-02 -2.08231961e-02 6.93162937e+01] [ 5.78420627e-02 9.98325662e-01 -4.09407831e-04 9.21488970e-01] [ 2.08120104e-02 -7.95823062e-04 9.99783090e-01 5.56639552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89925415399999 meters Centerline goodness [0,1] 0.9988604229097202 Centerline is valid? [True, True] Translation: X:69.35, Y:0.92, Z:0.56 [[ 9.97918948e-01 -6.09579588e-02 -2.10214359e-02 6.93466343e+01] [ 6.09627607e-02 9.98139956e-01 -4.12922653e-04 9.18667557e-01] [ 2.10075060e-02 -8.69461426e-04 9.99778940e-01 5.56545364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92925415399998 meters Centerline goodness [0,1] 0.9985241408391313 Centerline is valid? [True, True] Translation: X:69.38, Y:0.92, Z:0.56 [[ 9.97707215e-01 -6.42091016e-02 -2.13893321e-02 6.93780705e+01] [ 6.42148317e-02 9.97936010e-01 -4.19544464e-04 9.16797216e-01] [ 2.13721233e-02 -9.54929822e-04 9.99771134e-01 5.56552891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95925415399998 meters Centerline goodness [0,1] 0.9988434201118728 Centerline is valid? [True, True] Translation: X:69.41, Y:0.91, Z:0.56 [[ 9.97311074e-01 -6.98561711e-02 -2.21526059e-02 6.94090234e+01] [ 6.98637156e-02 9.97556451e-01 -4.34121570e-04 9.12583670e-01] [ 2.21288010e-02 -1.11470911e-03 9.99754507e-01 5.56365338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98925415399998 meters Centerline goodness [0,1] 0.9988419346008885 Centerline is valid? [True, True] Translation: X:69.44, Y:0.91, Z:0.56 [[ 9.97114558e-01 -7.23804061e-02 -2.28830565e-02 6.94404478e+01] [ 7.23891315e-02 9.97376365e-01 -4.47903506e-04 9.14133795e-01] [ 2.28554391e-02 -1.20987348e-03 9.99738048e-01 5.56984049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01925415399998 meters Centerline goodness [0,1] 0.9988399071925754 Centerline is valid? [True, True] Translation: X:69.47, Y:0.91, Z:0.56 [[ 9.96950728e-01 -7.44984310e-02 -2.32213282e-02 6.94729403e+01] [ 7.45080209e-02 9.97220311e-01 -4.53156547e-04 9.13960189e-01] [ 2.31905396e-02 -1.27840046e-03 9.99730246e-01 5.57510771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04925415399998 meters Centerline goodness [0,1] 0.998675802925845 Centerline is valid? [True, True] Translation: X:69.50, Y:0.91, Z:0.56 [[ 9.96813643e-01 -7.62971710e-02 -2.32659321e-02 6.95039022e+01] [ 7.63073200e-02 9.97084243e-01 -4.52567010e-04 9.11940295e-01] [ 2.32326239e-02 -1.32423596e-03 9.99729209e-01 5.57378087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07925415399998 meters Centerline goodness [0,1] 0.9987154649595688 Centerline is valid? [True, True] Translation: X:69.53, Y:0.91, Z:0.56 [[ 9.96646195e-01 -7.84803375e-02 -2.31775630e-02 6.95348610e+01] [ 7.84910155e-02 9.96914719e-01 -4.50079519e-04 9.11382625e-01] [ 2.31413761e-02 -1.37066042e-03 9.99731263e-01 5.58601842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10925415399998 meters Centerline goodness [0,1] 0.9987131344669001 Centerline is valid? [True, True] Translation: X:69.57, Y:0.91, Z:0.56 [[ 9.96581745e-01 -7.93962408e-02 -2.28267783e-02 6.95670415e+01] [ 7.94068635e-02 9.96842191e-01 -4.42112390e-04 9.13183887e-01] [ 2.27897978e-02 -1.37200174e-03 9.99739337e-01 5.59393695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13925415399999 meters Centerline goodness [0,1] 0.9985895033788762 Centerline is valid? [True, True] Translation: X:69.60, Y:0.91, Z:0.56 [[ 9.96572700e-01 -7.94009678e-02 -2.32021613e-02 6.95986092e+01] [ 7.94119780e-02 9.96841781e-01 -4.47927689e-04 9.11976293e-01] [ 2.31644497e-02 -1.39613702e-03 9.99730693e-01 5.59115593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16925415399999 meters Centerline goodness [0,1] 0.9986951489003473 Centerline is valid? [True, True] Translation: X:69.63, Y:0.91, Z:0.56 [[ 9.96593241e-01 -7.90248776e-02 -2.36004544e-02 6.96309192e+01] [ 7.90362003e-02 9.96871643e-01 -4.54081716e-04 9.13291448e-01] [ 2.35625075e-02 -1.41275547e-03 9.99721367e-01 5.58925754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19925415399999 meters Centerline goodness [0,1] 0.9989220721577579 Centerline is valid? [True, True] Translation: X:69.66, Y:0.92, Z:0.56 [[ 9.96604075e-01 -7.85907244e-02 -2.45726705e-02 6.96628900e+01] [ 7.86029131e-02 9.96905893e-01 -4.70963304e-04 9.19542585e-01] [ 2.45336534e-02 -1.46211954e-03 9.99697935e-01 5.59872534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22925415399999 meters Centerline goodness [0,1] 0.9987145987862441 Centerline is valid? [True, True] Translation: X:69.69, Y:0.92, Z:0.56 [[ 9.96660509e-01 -7.73831040e-02 -2.60707692e-02 6.96942337e+01] [ 7.73964569e-02 9.97000271e-01 -4.98013557e-04 9.21274170e-01] [ 2.60311018e-02 -1.52143472e-03 9.99659976e-01 5.58833460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25925415399999 meters Centerline goodness [0,1] 0.9987990898365077 Centerline is valid? [True, True] Translation: X:69.73, Y:0.92, Z:0.56 [[ 9.96735711e-01 -7.62561817e-02 -2.65125897e-02 6.97252228e+01] [ 7.62696325e-02 9.97087102e-01 -5.04999159e-04 9.21373640e-01] [ 2.64738706e-02 -1.51875478e-03 9.99648352e-01 5.58258717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28925415399999 meters Centerline goodness [0,1] 0.9989000063461172 Centerline is valid? [True, True] Translation: X:69.76, Y:0.93, Z:0.56 [[ 9.96904490e-01 -7.36567802e-02 -2.74975818e-02 6.97565453e+01] [ 7.36702967e-02 9.97282515e-01 -5.22572948e-04 9.30152022e-01] [ 2.74613486e-02 -1.50479969e-03 9.99621733e-01 5.59810486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31925415399998 meters Centerline goodness [0,1] 0.9990065315267708 Centerline is valid? [True, True] Translation: X:69.79, Y:0.93, Z:0.56 [[ 9.97044917e-01 -7.18607233e-02 -2.71563958e-02 6.97865832e+01] [ 7.18732932e-02 9.97413638e-01 -5.14197976e-04 9.31791667e-01] [ 2.71231101e-02 -1.43914112e-03 9.99631065e-01 5.60111002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34925415399998 meters Centerline goodness [0,1] 0.9991755628369094 Centerline is valid? [True, True] Translation: X:69.82, Y:0.93, Z:0.56 [[ 9.97189564e-01 -6.98784496e-02 -2.70180498e-02 6.98166215e+01] [ 6.98901965e-02 9.97554560e-01 -5.10449806e-04 9.34581971e-01] [ 2.69876482e-02 -1.37928159e-03 9.99634816e-01 5.60653030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37925415399998 meters Centerline goodness [0,1] 0.9991755628369094 Centerline is valid? [True, True] Translation: X:69.85, Y:0.94, Z:0.56 [[ 9.97194481e-01 -6.98082414e-02 -2.70180764e-02 6.98483531e+01] [ 6.98200007e-02 9.97559476e-01 -5.09040068e-04 9.35116749e-01] [ 2.69876733e-02 -1.37879017e-03 9.99634816e-01 5.60950306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40925415399998 meters Centerline goodness [0,1] 0.9990445048411755 Centerline is valid? [True, True] Translation: X:69.88, Y:0.94, Z:0.56 [[ 9.97509205e-01 -6.53872211e-02 -2.64555538e-02 6.98790869e+01] [ 6.53969721e-02 9.97859203e-01 -4.97386355e-04 9.44206513e-01] [ 2.64314405e-02 -1.23396564e-03 9.99649867e-01 5.63112193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43925415399998 meters Centerline goodness [0,1] 0.9990003190471126 Centerline is valid? [True, True] Translation: X:69.91, Y:0.95, Z:0.57 [[ 9.97696292e-01 -6.25396319e-02 -2.62850311e-02 6.99105830e+01] [ 6.25483018e-02 9.98041816e-01 -4.93020903e-04 9.50738125e-01] [ 2.62643935e-02 -1.15219893e-03 9.99654367e-01 5.65061336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46925415399998 meters Centerline goodness [0,1] 0.998958045378187 Centerline is valid? [True, True] Translation: X:69.94, Y:0.96, Z:0.57 [[ 9.98094240e-01 -5.62535055e-02 -2.53659331e-02 6.99398649e+01] [ 5.62595591e-02 9.98416064e-01 -4.75502002e-04 9.58942738e-01] [ 2.53525038e-02 -9.52480407e-04 9.99678120e-01 5.66744950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49925415399998 meters Centerline goodness [0,1] 0.9991690281891207 Centerline is valid? [True, True] Translation: X:69.97, Y:0.96, Z:0.57 [[ 9.98302286e-01 -5.25586048e-02 -2.51025723e-02 6.99713053e+01] [ 5.25633780e-02 9.98617479e-01 -4.70109270e-04 9.64756811e-01] [ 2.50925758e-02 -8.50164839e-04 9.99684770e-01 5.68140873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52925415399999 meters Centerline goodness [0,1] 0.999319308247006 Centerline is valid? [True, True] Translation: X:70.00, Y:0.97, Z:0.57 [[ 9.98525789e-01 -4.84213621e-02 -2.45279688e-02 7.00019115e+01] [ 4.84246942e-02 9.98826731e-01 -4.58451760e-04 9.66398574e-01] [ 2.45213898e-02 -7.29983483e-04 9.99699039e-01 5.66787796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55925415399999 meters Centerline goodness [0,1] 0.9991039426523297 Centerline is valid? [True, True] Translation: X:70.03, Y:0.97, Z:0.57 [[ 9.98706244e-01 -4.43469004e-02 -2.48835483e-02 7.00329254e+01] [ 4.43490881e-02 9.99015987e-01 -4.64211554e-04 9.71964786e-01] [ 2.48796489e-02 -6.39951699e-04 9.99690249e-01 5.67193118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58925415399999 meters Centerline goodness [0,1] 0.999269978958217 Centerline is valid? [True, True] Translation: X:70.06, Y:0.98, Z:0.57 [[ 9.99042598e-01 -3.57406906e-02 -2.52287809e-02 7.00630168e+01] [ 3.57402046e-02 9.99361004e-01 -4.70323315e-04 9.84402016e-01] [ 2.52294695e-02 -4.31808763e-04 9.99681593e-01 5.69499204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61925415399999 meters Centerline goodness [0,1] 0.9992926803129354 Centerline is valid? [True, True] Translation: X:70.09, Y:0.99, Z:0.57 [[ 9.99183670e-01 -3.16108998e-02 -2.51544224e-02 7.00928680e+01] [ 3.16090937e-02 9.99500197e-01 -4.69512859e-04 9.89038145e-01] [ 2.51566919e-02 -3.25978913e-04 9.99683467e-01 5.69742562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64925415399999 meters Centerline goodness [0,1] 0.9994402342404409 Centerline is valid? [True, True] Translation: X:70.12, Y:1.00, Z:0.57 [[ 9.99367639e-01 -2.51256358e-02 -2.51599865e-02 7.01211878e+01] [ 2.51217436e-02 9.99684288e-01 -4.70814076e-04 9.96150230e-01] [ 2.51638727e-02 -1.61546378e-04 9.99683327e-01 5.70387763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67925415399998 meters Centerline goodness [0,1] 0.9993540886190415 Centerline is valid? [True, True] Translation: X:70.15, Y:1.00, Z:0.57 [[ 9.99437911e-01 -2.26501418e-02 -2.47150566e-02 7.01491086e+01] [ 2.26455831e-02 9.99743448e-01 -4.64355081e-04 9.99317696e-01] [ 2.47192336e-02 -9.55927970e-05 9.99694428e-01 5.70654072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70925415399998 meters Centerline goodness [0,1] 0.9994395102181599 Centerline is valid? [True, True] Translation: X:70.18, Y:1.00, Z:0.57 [[ 9.99491533e-01 -2.07138895e-02 -2.42406580e-02 7.01774553e+01] [ 2.07088254e-02 9.99785443e-01 -4.59951490e-04 1.00198581e+00] [ 2.42449844e-02 -4.22779353e-05 9.99706046e-01 5.71162243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73925415399998 meters Centerline goodness [0,1] 0.999419654371937 Centerline is valid? [True, True] Translation: X:70.21, Y:1.01, Z:0.57 [[ 9.99562754e-01 -1.82576188e-02 -2.32585355e-02 7.02063891e+01] [ 1.82521569e-02 9.99833316e-01 -4.47116042e-04 1.00551585e+00] [ 2.32628219e-02 2.24021034e-05 9.99729384e-01 5.72573684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76925415399998 meters Centerline goodness [0,1] 0.9993528625048536 Centerline is valid? [True, True] Translation: X:70.23, Y:1.01, Z:0.57 [[ 9.99569456e-01 -1.76840899e-02 -2.34131295e-02 7.02334656e+01] [ 1.76782993e-02 9.99843623e-01 -4.54295794e-04 1.00731263e+00] [ 2.34175020e-02 4.01958887e-05 9.99725772e-01 5.71360726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79925415399998 meters Centerline goodness [0,1] 0.9993528066617767 Centerline is valid? [True, True] Translation: X:70.26, Y:1.01, Z:0.57 [[ 9.99552375e-01 -1.84078298e-02 -2.35839154e-02 7.02609430e+01] [ 1.84020313e-02 9.99830561e-01 -4.62888529e-04 1.00767530e+00] [ 2.35884401e-02 2.86893802e-05 9.99721754e-01 5.72151185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82925415399998 meters Centerline goodness [0,1] 0.999330381250675 Centerline is valid? [True, True] Translation: X:70.29, Y:1.01, Z:0.57 [[ 9.99521475e-01 -1.98796628e-02 -2.36985248e-02 7.02878532e+01] [ 1.98740903e-02 9.99802380e-01 -4.70665902e-04 1.00735417e+00] [ 2.37031982e-02 -5.45944857e-07 9.99719040e-01 5.70831770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85925415399998 meters Centerline goodness [0,1] 0.9994168088645052 Centerline is valid? [True, True] Translation: X:70.32, Y:1.01, Z:0.57 [[ 9.99475386e-01 -2.18633674e-02 -2.38944774e-02 7.03156400e+01] [ 2.18581245e-02 9.99760967e-01 -4.80612610e-04 1.00667027e+00] [ 2.38992736e-02 -4.19279864e-05 9.99714371e-01 5.71817870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88925415399999 meters Centerline goodness [0,1] 0.9995687703486492 Centerline is valid? [True, True] Translation: X:70.34, Y:1.01, Z:0.57 [[ 9.99418313e-01 -2.41717607e-02 -2.40574631e-02 7.03434632e+01] [ 2.41669470e-02 9.99707816e-01 -4.90854736e-04 1.00557064e+00] [ 2.40622987e-02 -9.08262227e-05 9.99710457e-01 5.71626855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91925415399999 meters Centerline goodness [0,1] 0.9991161507286367 Centerline is valid? [True, True] Translation: X:70.37, Y:1.00, Z:0.57 [[ 9.99252011e-01 -3.04146862e-02 -2.38823051e-02 7.03724586e+01] [ 3.04115722e-02 9.99537339e-01 -4.93664733e-04 1.00196834e+00] [ 2.38862704e-02 -2.33002969e-04 9.99714655e-01 5.71868504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94925415399999 meters Centerline goodness [0,1] 0.9993337202054721 Centerline is valid? [True, True] Translation: X:70.40, Y:1.00, Z:0.57 [[ 9.99139105e-01 -3.41460400e-02 -2.35604912e-02 7.04011672e+01] [ 3.41439049e-02 9.99416805e-01 -4.93013079e-04 9.99790814e-01] [ 2.35635853e-02 -3.11858523e-04 9.99722292e-01 5.72021803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97925415399999 meters Centerline goodness [0,1] 0.9993989223536484 Centerline is valid? [True, True] Translation: X:70.43, Y:1.00, Z:0.57 [[ 9.99004525e-01 -3.79925009e-02 -2.33779467e-02 7.04307164e+01] [ 3.79913897e-02 9.99277946e-01 -4.91835176e-04 9.95963631e-01] [ 2.33797526e-02 -3.96815117e-04 9.99726577e-01 5.71063355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00925415399999 meters Centerline goodness [0,1] 0.9992291055482987 Centerline is valid? [True, True] Translation: X:70.46, Y:0.99, Z:0.57 [[ 9.98712363e-01 -4.56651340e-02 -2.20977922e-02 7.04610527e+01] [ 4.56660316e-02 9.98956655e-01 -4.64259434e-04 9.87086161e-01] [ 2.20959371e-02 -5.45456842e-04 9.99755706e-01 5.70198251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03925415399999 meters Centerline goodness [0,1] 0.999229072531426 Centerline is valid? [True, True] Translation: X:70.49, Y:0.99, Z:0.57 [[ 9.98564997e-01 -4.90635945e-02 -2.14641444e-02 7.04927219e+01] [ 4.90652523e-02 9.98795474e-01 -4.49707368e-04 9.89107986e-01] [ 2.14603545e-02 -6.04081622e-04 9.99769518e-01 5.73084145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06925415399998 meters Centerline goodness [0,1] 0.9992077596728262 Centerline is valid? [True, True] Translation: X:70.52, Y:0.99, Z:0.57 [[ 9.98423388e-01 -5.22429515e-02 -2.05283516e-02 7.05245268e+01] [ 5.22451620e-02 9.98634197e-01 -4.28980975e-04 9.87923303e-01] [ 2.05227252e-02 -6.44202419e-04 9.99789179e-01 5.74002536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09925415399998 meters Centerline goodness [0,1] 0.9990392621533337 Centerline is valid? [True, True] Translation: X:70.55, Y:0.98, Z:0.57 [[ 9.98191910e-01 -5.70168935e-02 -1.90258917e-02 7.05543469e+01] [ 5.70196673e-02 9.98372976e-01 -3.97095892e-04 9.81999425e-01] [ 1.90175773e-02 -6.88472109e-04 9.99818912e-01 5.73951087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12925415399998 meters Centerline goodness [0,1] 0.9992539540435691 Centerline is valid? [True, True] Translation: X:70.59, Y:0.98, Z:0.57 [[ 9.98097898e-01 -5.88284627e-02 -1.84336326e-02 7.05865898e+01] [ 5.88313871e-02 9.98267860e-01 -3.84070232e-04 9.80291779e-01] [ 1.84242972e-02 -7.01136482e-04 9.99830012e-01 5.74394169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15925415399998 meters Centerline goodness [0,1] 0.9989545105402406 Centerline is valid? [True, True] Translation: X:70.62, Y:0.98, Z:0.57 [[ 9.97948745e-01 -6.15301539e-02 -1.76732020e-02 7.06178725e+01] [ 6.15332844e-02 9.98104964e-01 -3.67114536e-04 9.75528410e-01] [ 1.76622993e-02 -7.21128676e-04 9.99843749e-01 5.74130378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18925415399998 meters Centerline goodness [0,1] 0.9990190433540187 Centerline is valid? [True, True] Translation: X:70.65, Y:0.97, Z:0.57 [[ 9.97910647e-01 -6.22836641e-02 -1.71780709e-02 7.06491557e+01] [ 6.22867577e-02 9.98058232e-01 -3.55393621e-04 9.73880056e-01] [ 1.71668503e-02 -7.15315260e-04 9.99852383e-01 5.74092312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21925415399998 meters Centerline goodness [0,1] 0.999083351097847 Centerline is valid? [True, True] Translation: X:70.68, Y:0.98, Z:0.57 [[ 9.97858591e-01 -6.31450937e-02 -1.70566328e-02 7.06807894e+01] [ 6.31482954e-02 9.98004093e-01 -3.51350774e-04 9.75235330e-01] [ 1.70447754e-02 -7.26498899e-04 9.99854463e-01 5.74519918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24925415399998 meters Centerline goodness [0,1] 0.9991667734905781 Centerline is valid? [True, True] Translation: X:70.71, Y:0.98, Z:0.57 [[ 9.97747364e-01 -6.49274727e-02 -1.68706839e-02 7.07126592e+01] [ 6.49308769e-02 9.97889704e-01 -3.46467170e-04 9.76902153e-01] [ 1.68575770e-02 -7.49741592e-04 9.99857620e-01 5.74808734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27925415399999 meters Centerline goodness [0,1] 0.9990636903368587 Centerline is valid? [True, True] Translation: X:70.74, Y:0.98, Z:0.57 [[ 9.97678762e-01 -6.59067996e-02 -1.71283782e-02 7.07435041e+01] [ 6.59104818e-02 9.97825479e-01 -3.50059213e-04 9.75782685e-01] [ 1.71142035e-02 -7.79693017e-04 9.99853237e-01 5.74545475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30925415399999 meters Centerline goodness [0,1] 0.9988894346795378 Centerline is valid? [True, True] Translation: X:70.78, Y:0.98, Z:0.57 [[ 9.97589933e-01 -6.72417650e-02 -1.71134377e-02 7.07754646e+01] [ 6.72456671e-02 9.97736388e-01 -3.47982748e-04 9.75440696e-01] [ 1.70980985e-02 -8.03660449e-04 9.99853494e-01 5.74267896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33925415399999 meters Centerline goodness [0,1] 0.9990592863404101 Centerline is valid? [True, True] Translation: X:70.81, Y:0.97, Z:0.57 [[ 9.97326868e-01 -7.07334369e-02 -1.83275299e-02 7.08067602e+01] [ 7.07385199e-02 9.97494824e-01 -3.71603409e-04 9.74238170e-01] [ 1.83079010e-02 -9.25852273e-04 9.99831968e-01 5.73225380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36925415399999 meters Centerline goodness [0,1] 0.9988681260010678 Centerline is valid? [True, True] Translation: X:70.84, Y:0.97, Z:0.57 [[ 9.97166805e-01 -7.27303699e-02 -1.92004282e-02 7.08391598e+01] [ 7.27363387e-02 9.97351129e-01 -3.88223916e-04 9.73342579e-01] [ 1.91778044e-02 -1.00944485e-03 9.99815579e-01 5.72839511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39925415399999 meters Centerline goodness [0,1] 0.998976393065063 Centerline is valid? [True, True] Translation: X:70.87, Y:0.97, Z:0.57 [[ 9.97029258e-01 -7.43808503e-02 -2.00036786e-02 7.08707355e+01] [ 7.43876862e-02 9.97229316e-01 -4.03170399e-04 9.72240082e-01] [ 1.99782429e-02 -1.08605468e-03 9.99799825e-01 5.72151709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42925415399998 meters Centerline goodness [0,1] 0.9988490312679839 Centerline is valid? [True, True] Translation: X:70.90, Y:0.97, Z:0.57 [[ 9.96895369e-01 -7.60845085e-02 -2.02674908e-02 7.09016918e+01] [ 7.60918994e-02 9.97100726e-01 -4.07374703e-04 9.70372253e-01] [ 2.02397247e-02 -1.13608192e-03 9.99794510e-01 5.71369774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45925415399998 meters Centerline goodness [0,1] 0.998933856454433 Centerline is valid? [True, True] Translation: X:70.93, Y:0.97, Z:0.57 [[ 9.96759700e-01 -7.77350043e-02 -2.06729017e-02 7.09334857e+01] [ 7.77430711e-02 9.96973341e-01 -4.14393340e-04 9.70598246e-01] [ 2.06425448e-02 -1.19412429e-03 9.99786207e-01 5.70565273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48925415399998 meters Centerline goodness [0,1] 0.9990172620064947 Centerline is valid? [True, True] Translation: X:70.96, Y:0.97, Z:0.57 [[ 9.96806326e-01 -7.72125996e-02 -2.03804397e-02 7.09647322e+01] [ 7.72203729e-02 9.97013966e-01 -4.06465645e-04 9.72318947e-01] [ 2.03509673e-02 -1.16861763e-03 9.99792215e-01 5.71166773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51925415399998 meters Centerline goodness [0,1] 0.9991203226913834 Centerline is valid? [True, True] Translation: X:71.00, Y:0.98, Z:0.57 [[ 9.96907063e-01 -7.59548361e-02 -2.01784505e-02 7.09972184e+01] [ 7.59622452e-02 9.97110614e-01 -4.00155240e-04 9.76037625e-01] [ 2.01505409e-02 -1.13388282e-03 9.99796314e-01 5.72085886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54925415399998 meters Centerline goodness [0,1] 0.9992521207718114 Centerline is valid? [True, True] Translation: X:71.03, Y:0.98, Z:0.57 [[ 9.97043165e-01 -7.42333157e-02 -1.98580246e-02 7.10283479e+01] [ 7.42401748e-02 9.97240313e-01 -3.92593494e-04 9.82699377e-01] [ 1.98323662e-02 -1.08283056e-03 9.99802733e-01 5.73750698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57925415399998 meters Centerline goodness [0,1] 0.9993143787628822 Centerline is valid? [True, True] Translation: X:71.06, Y:0.99, Z:0.58 [[ 9.97338191e-01 -7.04738818e-02 -1.87073623e-02 7.10592918e+01] [ 7.04793184e-02 9.97513172e-01 -3.69347672e-04 9.90120728e-01] [ 1.86868697e-02 -9.50117606e-04 9.99824934e-01 5.75607386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60925415399998 meters Centerline goodness [0,1] 0.9991405427472551 Centerline is valid? [True, True] Translation: X:71.09, Y:0.99, Z:0.58 [[ 9.97460503e-01 -6.88218742e-02 -1.83328851e-02 7.10894457e+01] [ 6.88268229e-02 9.97628557e-01 -3.61621473e-04 9.92269362e-01] [ 1.83142972e-02 -9.01091102e-04 9.99831873e-01 5.75704449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63925415399999 meters Centerline goodness [0,1] 0.9991399883898433 Centerline is valid? [True, True] Translation: X:71.12, Y:0.99, Z:0.58 [[ 9.97680586e-01 -6.56805542e-02 -1.78749571e-02 7.11202440e+01] [ 6.56847642e-02 9.97840362e-01 -3.52113155e-04 9.94805283e-01] [ 1.78594806e-02 -8.22815884e-04 9.99840168e-01 5.75513911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66925415399999 meters Centerline goodness [0,1] 0.9992237531535029 Centerline is valid? [True, True] Translation: X:71.15, Y:1.00, Z:0.58 [[ 9.97760245e-01 -6.43677855e-02 -1.82011482e-02 7.11519239e+01] [ 6.43719507e-02 9.97925911e-01 -3.57545216e-04 1.00017120e+00] [ 1.81864118e-02 -8.14899009e-04 9.99834281e-01 5.76384390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69925415399999 meters Centerline goodness [0,1] 0.9991596638655462 Centerline is valid? [True, True] Translation: X:71.18, Y:1.00, Z:0.58 [[ 9.97851342e-01 -6.28753802e-02 -1.84224262e-02 7.11836941e+01] [ 6.28794185e-02 9.98021066e-01 -3.60527420e-04 1.00320400e+00] [ 1.84086377e-02 -7.98638678e-04 9.99830228e-01 5.76871909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72925415399999 meters Centerline goodness [0,1] 0.9994393530997304 Centerline is valid? [True, True] Translation: X:71.21, Y:1.01, Z:0.58 [[ 9.98073054e-01 -5.93723932e-02 -1.80304737e-02 7.12145236e+01] [ 5.93757088e-02 9.98235644e-01 -3.51859777e-04 1.00730232e+00] [ 1.80195523e-02 -7.19390395e-04 9.99837376e-01 5.77039110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75925415399999 meters Centerline goodness [0,1] 0.9993520518358532 Centerline is valid? [True, True] Translation: X:71.25, Y:1.01, Z:0.58 [[ 9.98199365e-01 -5.72069192e-02 -1.80387145e-02 7.12464938e+01] [ 5.72099023e-02 9.98362111e-01 -3.51041761e-04 1.01082399e+00] [ 1.80292511e-02 -6.81583432e-04 9.99837228e-01 5.77576677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78925415399999 meters Centerline goodness [0,1] 0.9991796554552912 Centerline is valid? [True, True] Translation: X:71.28, Y:1.01, Z:0.58 [[ 9.98342703e-01 -5.47610230e-02 -1.76939965e-02 7.12771379e+01] [ 5.47635268e-02 9.98499293e-01 -3.43358638e-04 1.01344075e+00] [ 1.76862456e-02 -6.26196058e-04 9.99843390e-01 5.77775924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81925415399998 meters Centerline goodness [0,1] 0.9994378864530635 Centerline is valid? [True, True] Translation: X:71.31, Y:1.02, Z:0.58 [[ 9.98509460e-01 -5.17457787e-02 -1.73560667e-02 7.13089763e+01] [ 5.17477462e-02 9.98660131e-01 -3.36021955e-04 1.01932150e+00] [ 1.73501996e-02 -5.62616236e-04 9.99849316e-01 5.78561681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84925415399998 meters Centerline goodness [0,1] 0.9996534621299084 Centerline is valid? [True, True] Translation: X:71.34, Y:1.03, Z:0.58 [[ 9.98868819e-01 -4.44633401e-02 -1.68551020e-02 7.13388027e+01] [ 4.44641679e-02 9.99010927e-01 -3.25816987e-04 1.02579511e+00] [ 1.68529180e-02 -4.23999658e-04 9.99857890e-01 5.78940695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87925415399998 meters Centerline goodness [0,1] 0.9996084573218481 Centerline is valid? [True, True] Translation: X:71.37, Y:1.03, Z:0.58 [[ 9.99066958e-01 -4.00858639e-02 -1.60728933e-02 7.13700929e+01] [ 4.00860543e-02 9.99196183e-01 -3.10451418e-04 1.03164936e+00] [ 1.60724184e-02 -3.34137121e-04 9.99870775e-01 5.79837531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90925415399998 meters Centerline goodness [0,1] 0.9995423440700867 Centerline is valid? [True, True] Translation: X:71.40, Y:1.04, Z:0.58 [[ 9.99252748e-01 -3.54158729e-02 -1.54809766e-02 7.14013856e+01] [ 3.54154978e-02 9.99372630e-01 -2.98465524e-04 1.03696549e+00] [ 1.54818348e-02 -2.50023999e-04 9.99880118e-01 5.80421086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93925415399998 meters Centerline goodness [0,1] 0.9995412543416999 Centerline is valid? [True, True] Translation: X:71.43, Y:1.05, Z:0.58 [[ 9.99562615e-01 -2.50893533e-02 -1.56557520e-02 7.14319106e+01] [ 2.50877118e-02 9.99685208e-01 -3.01261610e-04 1.04744469e+00] [ 1.56583822e-02 -9.16371529e-05 9.99877396e-01 5.81450359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96925415399998 meters Centerline goodness [0,1] 0.999540270146019 Centerline is valid? [True, True] Translation: X:71.46, Y:1.05, Z:0.58 [[ 9.99684430e-01 -1.98838421e-02 -1.53516303e-02 7.14634387e+01] [ 1.98816584e-02 9.99802297e-01 -2.94864543e-04 1.05293367e+00] [ 1.53544582e-02 -1.04443751e-05 9.99882113e-01 5.81832809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99925415399998 meters Centerline goodness [0,1] 0.9996492381891922 Centerline is valid? [True, True] Translation: X:71.49, Y:1.06, Z:0.58 [[ 9.99767051e-01 -1.51094489e-02 -1.54125728e-02 7.14939318e+01] [ 1.51066856e-02 9.99885844e-01 -2.95701550e-04 1.05793511e+00] [ 1.54152812e-02 6.27997753e-05 9.99881176e-01 5.82708868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02925415399999 meters Centerline goodness [0,1] 0.9996708577447173 Centerline is valid? [True, True] Translation: X:71.52, Y:1.07, Z:0.58 [[ 9.99848354e-01 -7.52781045e-03 -1.57035605e-02 7.15220912e+01] [ 7.52400134e-03 9.99971649e-01 -3.01630264e-04 1.06605287e+00] [ 1.57053859e-02 1.83430912e-04 9.99876646e-01 5.81152110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05925415399999 meters Centerline goodness [0,1] 0.9998462349529919 Centerline is valid? [True, True] Translation: X:71.55, Y:1.07, Z:0.58 [[ 9.99852378e-01 -5.56083280e-03 -1.62573027e-02 7.15505215e+01] [ 5.55645439e-03 9.99984513e-01 -3.14476605e-04 1.06906797e+00] [ 1.62587997e-02 2.24097220e-04 9.99867792e-01 5.80592046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08925415399999 meters Centerline goodness [0,1] 0.999889778012918 Centerline is valid? [True, True] Translation: X:71.58, Y:1.07, Z:0.58 [[ 9.99858960e-01 -4.20921952e-03 -1.62586113e-02 7.15787332e+01] [ 4.20460971e-03 9.99991110e-01 -3.17703180e-04 1.07171074e+00] [ 1.62598040e-02 2.49297257e-04 9.99867770e-01 5.80082917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11925415399999 meters Centerline goodness [0,1] 0.999691555222631 Centerline is valid? [True, True] Translation: X:71.61, Y:1.07, Z:0.58 [[ 9.99849190e-01 -5.50704648e-03 -1.64702818e-02 7.16074835e+01] [ 5.50246276e-03 9.99984809e-01 -3.23606363e-04 1.07187512e+00] [ 1.64718137e-02 2.32930448e-04 9.99864303e-01 5.80249497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14925415399999 meters Centerline goodness [0,1] 0.9996921588460355 Centerline is valid? [True, True] Translation: X:71.64, Y:1.07, Z:0.58 [[ 9.99834179e-01 -7.98076616e-03 -1.63683337e-02 7.16365222e+01] [ 7.97655138e-03 9.99968135e-01 -3.22766639e-04 1.07124861e+00] [ 1.63703881e-02 1.92150263e-04 9.99865978e-01 5.80459993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17925415399998 meters Centerline goodness [0,1] 0.9997799586322229 Centerline is valid? [True, True] Translation: X:71.66, Y:1.07, Z:0.58 [[ 9.99749939e-01 -1.58625048e-02 -1.57619751e-02 7.16643772e+01] [ 1.58595570e-02 9.99874181e-01 -3.12006200e-04 1.06759429e+00] [ 1.57649412e-02 6.19502360e-05 9.99875724e-01 5.80193407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20925415399998 meters Centerline goodness [0,1] 0.999735694462799 Centerline is valid? [True, True] Translation: X:71.69, Y:1.06, Z:0.58 [[ 9.99664224e-01 -2.07359942e-02 -1.55388946e-02 7.16935840e+01] [ 2.07336821e-02 9.99784986e-01 -3.09896702e-04 1.06469046e+00] [ 1.55419795e-02 -1.23858539e-05 9.99879216e-01 5.80610596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23925415399998 meters Centerline goodness [0,1] 0.9999340789733899 Centerline is valid? [True, True] Translation: X:71.72, Y:1.06, Z:0.58 [[ 9.99416042e-01 -3.08780675e-02 -1.46328122e-02 7.17236174e+01] [ 3.08770723e-02 9.99523146e-01 -2.93985158e-04 1.05757318e+00] [ 1.46349122e-02 -1.58004917e-04 9.99892891e-01 5.81891182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26925415399998 meters Centerline goodness [0,1] 0.9999340789733899 Centerline is valid? [True, True] Translation: X:71.76, Y:1.06, Z:0.58 [[ 9.99418190e-01 -3.08084709e-02 -1.46328196e-02 7.17553101e+01] [ 3.08074735e-02 9.99525294e-01 -2.93618413e-04 1.05814563e+00] [ 1.46349192e-02 -1.57352620e-04 9.99892891e-01 5.82188147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29925415399998 meters Centerline goodness [0,1] 0.9996711463837064 Centerline is valid? [True, True] Translation: X:71.79, Y:1.06, Z:0.58 [[ 9.99293401e-01 -3.51485081e-02 -1.33147109e-02 7.17877431e+01] [ 3.51480790e-02 9.99382080e-01 -2.66300921e-04 1.05520197e+00] [ 1.33158436e-02 -2.01873760e-04 9.99911320e-01 5.83179110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32925415399998 meters Centerline goodness [0,1] 0.999453109618708 Centerline is valid? [True, True] Translation: X:71.82, Y:1.05, Z:0.58 [[ 9.98994313e-01 -4.33306145e-02 -1.15247322e-02 7.18190300e+01] [ 4.33308441e-02 9.99060751e-01 -2.29898075e-04 1.04904357e+00] [ 1.15238692e-02 -2.69709502e-04 9.99933562e-01 5.84657377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35925415399998 meters Centerline goodness [0,1] 0.9995420546481453 Centerline is valid? [True, True] Translation: X:71.85, Y:1.05, Z:0.59 [[ 9.98859057e-01 -4.64848887e-02 -1.09425845e-02 7.18507670e+01] [ 4.64852873e-02 9.98918951e-01 -2.18043971e-04 1.04740521e+00] [ 1.09408907e-02 -2.90873987e-04 9.99940104e-01 5.85306361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38925415399999 meters Centerline goodness [0,1] 0.9993906022155963 Centerline is valid? [True, True] Translation: X:71.88, Y:1.04, Z:0.59 [[ 9.98626242e-01 -5.12666189e-02 -1.08333676e-02 7.18821032e+01] [ 5.12672968e-02 9.98684944e-01 -2.15311350e-04 1.04408282e+00] [ 1.08301594e-02 -3.40381909e-04 9.99941294e-01 5.85607838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41925415399999 meters Centerline goodness [0,1] 0.9995222272895086 Centerline is valid? [True, True] Translation: X:71.91, Y:1.04, Z:0.59 [[ 9.98575537e-01 -5.22890791e-02 -1.06183566e-02 7.19137382e+01] [ 5.22897934e-02 9.98631931e-01 -2.10529106e-04 1.04207976e+00] [ 1.06148384e-02 -3.45002460e-04 9.99943601e-01 5.85826964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44925415399999 meters Centerline goodness [0,1] 0.9995433492073847 Centerline is valid? [True, True] Translation: X:71.95, Y:1.04, Z:0.59 [[ 9.98532895e-01 -5.30450582e-02 -1.08756326e-02 7.19461008e+01] [ 5.30458679e-02 9.98592054e-01 -2.14201523e-04 1.04172238e+00] [ 1.08716826e-02 -3.63020102e-04 9.99940836e-01 5.85978548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47925415399999 meters Centerline goodness [0,1] 0.9992838541666667 Centerline is valid? [True, True] Translation: X:71.98, Y:1.03, Z:0.59 [[ 9.98502083e-01 -5.35569976e-02 -1.11909752e-02 7.19769693e+01] [ 5.35578957e-02 9.98564722e-01 -2.19641026e-04 1.03463622e+00] [ 1.11866763e-02 -3.80053058e-04 9.99937355e-01 5.85270648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50925415399999 meters Centerline goodness [0,1] 0.9994784309464305 Centerline is valid? [True, True] Translation: X:72.01, Y:1.04, Z:0.58 [[ 9.98527259e-01 -5.29048844e-02 -1.20160647e-02 7.20091226e+01] [ 5.29058793e-02 9.98599476e-01 -2.35278295e-04 1.03838251e+00] [ 1.20116833e-02 -4.00788678e-04 9.99927777e-01 5.84558686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53925415399999 meters Centerline goodness [0,1] 0.9994144691186676 Centerline is valid? [True, True] Translation: X:72.04, Y:1.04, Z:0.58 [[ 9.98577058e-01 -5.18554040e-02 -1.24449135e-02 7.20416992e+01] [ 5.18564012e-02 9.98654522e-01 -2.42759333e-04 1.03921370e+00] [ 1.24407575e-02 -4.02934525e-04 9.99922530e-01 5.84467099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56925415399998 meters Centerline goodness [0,1] 0.9995658874346118 Centerline is valid? [True, True] Translation: X:72.07, Y:1.04, Z:0.58 [[ 9.98658088e-01 -5.01949384e-02 -1.27471843e-02 7.20727538e+01] [ 5.01958606e-02 9.98739362e-01 -2.47783313e-04 1.03951125e+00] [ 1.27435522e-02 -3.92405077e-04 9.99918721e-01 5.84309318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59925415399998 meters Centerline goodness [0,1] 0.9996737428223421 Centerline is valid? [True, True] Translation: X:72.10, Y:1.04, Z:0.58 [[ 9.98895821e-01 -4.49092244e-02 -1.37949096e-02 7.21038131e+01] [ 4.49098104e-02 9.98991010e-01 -2.67448007e-04 1.04276091e+00] [ 1.37930016e-02 -3.52374080e-04 9.99904810e-01 5.84166743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62925415399998 meters Centerline goodness [0,1] 0.9993697296357472 Centerline is valid? [True, True] Translation: X:72.13, Y:1.04, Z:0.58 [[ 9.99020776e-01 -4.18315193e-02 -1.44087763e-02 7.21349240e+01] [ 4.18318476e-02 9.99124626e-01 -2.78735486e-04 1.04469357e+00] [ 1.44078232e-02 -3.24283193e-04 9.99896149e-01 5.83567782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65925415399998 meters Centerline goodness [0,1] 0.9994993360761009 Centerline is valid? [True, True] Translation: X:72.17, Y:1.05, Z:0.58 [[ 9.99245243e-01 -3.57012209e-02 -1.53090288e-02 7.21662318e+01] [ 3.57008836e-02 9.99362477e-01 -2.95408957e-04 1.05014397e+00] [ 1.53098154e-02 -2.51359860e-04 9.99882766e-01 5.83055267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68925415399998 meters Centerline goodness [0,1] 0.9995865160714674 Centerline is valid? [True, True] Translation: X:72.20, Y:1.05, Z:0.58 [[ 9.99330289e-01 -3.29068282e-02 -1.60035384e-02 7.21971093e+01] [ 3.29061128e-02 9.99458400e-01 -3.08093879e-04 1.05175339e+00] [ 1.60050093e-02 -2.18726696e-04 9.99871888e-01 5.82748175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71925415399998 meters Centerline goodness [0,1] 0.9994985720203188 Centerline is valid? [True, True] Translation: X:72.23, Y:1.05, Z:0.58 [[ 9.99400206e-01 -3.05437554e-02 -1.63189436e-02 7.22279675e+01] [ 3.05427110e-02 9.99533413e-01 -3.13280399e-04 1.05351256e+00] [ 1.63208982e-02 -1.85332284e-04 9.99866788e-01 5.82556020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74925415399998 meters Centerline goodness [0,1] 0.9994563681040294 Centerline is valid? [True, True] Translation: X:72.26, Y:1.06, Z:0.58 [[ 9.99460300e-01 -2.80684355e-02 -1.70666888e-02 7.22604649e+01] [ 2.80669506e-02 9.99605992e-01 -3.26564976e-04 1.05596036e+00] [ 1.70691305e-02 -1.52621183e-04 9.99854300e-01 5.82245510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77925415399999 meters Centerline goodness [0,1] 0.9994982766894988 Centerline is valid? [True, True] Translation: X:72.29, Y:1.06, Z:0.58 [[ 9.99453736e-01 -2.78229834e-02 -1.78356709e-02 7.22918572e+01] [ 2.78213406e-02 9.99612854e-01 -3.40274804e-04 1.05676498e+00] [ 1.78382334e-02 -1.56123352e-04 9.99840874e-01 5.82445022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80925415399999 meters Centerline goodness [0,1] 0.9995649052581199 Centerline is valid? [True, True] Translation: X:72.32, Y:1.06, Z:0.58 [[ 9.99395176e-01 -2.92675079e-02 -1.87801790e-02 7.23224622e+01] [ 2.92659513e-02 9.99571596e-01 -3.57772275e-04 1.05583421e+00] [ 1.87826046e-02 -1.92063918e-04 9.99823573e-01 5.82196923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83925415399999 meters Centerline goodness [0,1] 0.9994561552350497 Centerline is valid? [True, True] Translation: X:72.35, Y:1.05, Z:0.58 [[ 9.99343985e-01 -3.08970489e-02 -1.88937039e-02 7.23534381e+01] [ 3.08957741e-02 9.99522547e-01 -3.59433960e-04 1.05474955e+00] [ 1.88957885e-02 -2.24537442e-04 9.99821433e-01 5.82371254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86925415399999 meters Centerline goodness [0,1] 0.9993044990219517 Centerline is valid? [True, True] Translation: X:72.38, Y:1.05, Z:0.58 [[ 9.99266269e-01 -3.31496920e-02 -1.91838971e-02 7.23844288e+01] [ 3.31488059e-02 9.99450361e-01 -3.64264844e-04 1.05426982e+00] [ 1.91854281e-02 -2.71925709e-04 9.99815906e-01 5.83605631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89925415399999 meters Centerline goodness [0,1] 0.9995442312700755 Centerline is valid? [True, True] Translation: X:72.42, Y:1.05, Z:0.58 [[ 9.99184239e-01 -3.56878003e-02 -1.89007107e-02 7.24158479e+01] [ 3.56874070e-02 9.99362937e-01 -3.58204320e-04 1.05261724e+00] [ 1.89014533e-02 -3.16605246e-04 9.99821301e-01 5.84396169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92925415399998 meters Centerline goodness [0,1] 0.9995454151874621 Centerline is valid? [True, True] Translation: X:72.45, Y:1.05, Z:0.58 [[ 9.98950742e-01 -4.17977261e-02 -1.87180672e-02 7.24461427e+01] [ 4.17984217e-02 9.99126001e-01 -3.54235618e-04 1.04657734e+00] [ 1.87165139e-02 -4.28521735e-04 9.99824739e-01 5.84441288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95925415399998 meters Centerline goodness [0,1] 0.9994401016430864 Centerline is valid? [True, True] Translation: X:72.48, Y:1.04, Z:0.59 [[ 9.98824320e-01 -4.49204920e-02 -1.82243640e-02 7.24783163e+01] [ 4.49216853e-02 9.98990452e-01 -3.44094020e-04 1.04458844e+00] [ 1.82214225e-02 -4.74979669e-04 9.99833863e-01 5.85225724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98925415399998 meters Centerline goodness [0,1] 0.9994390507011867 Centerline is valid? [True, True] Translation: X:72.51, Y:1.04, Z:0.59 [[ 9.98532141e-01 -5.13085647e-02 -1.73491823e-02 7.25089898e+01] [ 5.13106226e-02 9.98682689e-01 -3.26787823e-04 1.04032888e+00] [ 1.73430951e-02 -5.63889201e-04 9.99849438e-01 5.87191373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01925415399998 meters Centerline goodness [0,1] 0.9993971623570952 Centerline is valid? [True, True] Translation: X:72.54, Y:1.04, Z:0.59 [[ 9.98393809e-01 -5.41716714e-02 -1.65901000e-02 7.25400799e+01] [ 5.41739570e-02 9.98531464e-01 -3.11935960e-04 1.03613675e+00] [ 1.65826349e-02 -5.87316432e-04 9.99862326e-01 5.88008655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04925415399998 meters Centerline goodness [0,1] 0.9994201653602491 Centerline is valid? [True, True] Translation: X:72.57, Y:1.03, Z:0.59 [[ 9.98114412e-01 -5.94883124e-02 -1.51248600e-02 7.25716503e+01] [ 5.94908314e-02 9.98228812e-01 -2.83718146e-04 1.03253496e+00] [ 1.51149490e-02 -6.16607329e-04 9.99885573e-01 5.90151064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07925415399998 meters Centerline goodness [0,1] 0.9993122864327008 Centerline is valid? [True, True] Translation: X:72.60, Y:1.03, Z:0.59 [[ 9.97986831e-01 -6.17636518e-02 -1.44061272e-02 7.26037862e+01] [ 6.17661834e-02 9.98090610e-01 -2.69555072e-04 1.03161073e+00] [ 1.43952689e-02 -6.20799080e-04 9.99896190e-01 5.91002782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10925415399998 meters Centerline goodness [0,1] 0.9993985608420148 Centerline is valid? [True, True] Translation: X:72.64, Y:1.03, Z:0.59 [[ 9.97882191e-01 -6.35493969e-02 -1.38783028e-02 7.26361550e+01] [ 6.35519323e-02 9.97978499e-01 -2.58701112e-04 1.02972862e+00] [ 1.38666881e-02 -6.23839730e-04 9.99903658e-01 5.91747348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13925415399999 meters Centerline goodness [0,1] 0.9992057188244639 Centerline is valid? [True, True] Translation: X:72.67, Y:1.03, Z:0.59 [[ 9.97785695e-01 -6.51293549e-02 -1.34860658e-02 7.26675981e+01] [ 6.51319088e-02 9.97876632e-01 -2.50210461e-04 1.02589126e+00] [ 1.34737260e-02 -6.28716790e-04 9.99909028e-01 5.92462303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16925415399999 meters Centerline goodness [0,1] 0.9992269203513218 Centerline is valid? [True, True] Translation: X:72.70, Y:1.02, Z:0.59 [[ 9.97678776e-01 -6.67420494e-02 -1.35114039e-02 7.26994722e+01] [ 6.67447833e-02 9.97770050e-01 -2.48991118e-04 1.02491237e+00] [ 1.34978923e-02 -6.53402570e-04 9.99908686e-01 5.93309910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19925415399999 meters Centerline goodness [0,1] 0.9993140701363286 Centerline is valid? [True, True] Translation: X:72.73, Y:1.03, Z:0.59 [[ 9.97654421e-01 -6.69305679e-02 -1.43511583e-02 7.27319758e+01] [ 6.69336942e-02 9.97757391e-01 -2.62900134e-04 1.02553785e+00] [ 1.43365703e-02 -6.98292559e-04 9.99896982e-01 5.93564210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22925415399999 meters Centerline goodness [0,1] 0.9990774116031582 Centerline is valid? [True, True] Translation: X:72.76, Y:1.03, Z:0.59 [[ 9.97677039e-01 -6.64932547e-02 -1.48045207e-02 7.27638818e+01] [ 6.64965498e-02 9.97786618e-01 -2.70106107e-04 1.02507575e+00] [ 1.47897129e-02 -7.14970888e-04 9.99890371e-01 5.92991885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25925415399999 meters Centerline goodness [0,1] 0.9990351215746816 Centerline is valid? [True, True] Translation: X:72.80, Y:1.02, Z:0.59 [[ 9.97728040e-01 -6.55587335e-02 -1.55180833e-02 7.27965094e+01] [ 6.55622592e-02 9.97848441e-01 -2.81969790e-04 1.02488501e+00] [ 1.55031808e-02 -7.36071437e-04 9.99879548e-01 5.92538014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28925415399999 meters Centerline goodness [0,1] 0.9991850914627608 Centerline is valid? [True, True] Translation: X:72.83, Y:1.03, Z:0.59 [[ 9.97820336e-01 -6.39201615e-02 -1.63948230e-02 7.28292098e+01] [ 6.39239026e-02 9.97954732e-01 -2.96295240e-04 1.02514205e+00] [ 1.63802305e-02 -7.52371655e-04 9.99865552e-01 5.92060921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31925415399998 meters Centerline goodness [0,1] 0.9991641304813751 Centerline is valid? [True, True] Translation: X:72.86, Y:1.03, Z:0.59 [[ 9.98029706e-01 -5.98840038e-02 -1.87246289e-02 7.28604499e+01] [ 5.98882067e-02 9.98205034e-01 -3.36703799e-04 1.02886822e+00] [ 1.87111820e-02 -7.85344054e-04 9.99824622e-01 5.91474525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34925415399998 meters Centerline goodness [0,1] 0.9993995668303561 Centerline is valid? [True, True] Translation: X:72.89, Y:1.03, Z:0.59 [[ 9.98182287e-01 -5.70464902e-02 -1.94376018e-02 7.28921741e+01] [ 5.70504999e-02 9.98371233e-01 -3.48616683e-04 1.03222094e+00] [ 1.94258299e-02 -7.60941905e-04 9.99811011e-01 5.91454599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37925415399998 meters Centerline goodness [0,1] 0.9992476677700872 Centerline is valid? [True, True] Translation: X:72.92, Y:1.03, Z:0.59 [[ 9.98516841e-01 -5.06667185e-02 -1.99249177e-02 7.29224146e+01] [ 5.06696736e-02 9.98715403e-01 -3.56826921e-04 1.03375062e+00] [ 1.99174014e-02 -6.53291385e-04 9.99801415e-01 5.90464330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40925415399998 meters Centerline goodness [0,1] 0.9991617229816868 Centerline is valid? [True, True] Translation: X:72.95, Y:1.04, Z:0.59 [[ 9.98681670e-01 -4.70865425e-02 -2.04396770e-02 7.29542865e+01] [ 4.70889154e-02 9.98890635e-01 -3.65446707e-04 1.03941851e+00] [ 2.04342095e-02 -5.97517293e-04 9.99791021e-01 5.91938786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43925415399998 meters Centerline goodness [0,1] 0.9993745147096885 Centerline is valid? [True, True] Translation: X:72.99, Y:1.04, Z:0.59 [[ 9.98843451e-01 -4.35356882e-02 -2.04059809e-02 7.29857846e+01] [ 4.35373314e-02 9.99051735e-01 -3.63933218e-04 1.04343168e+00] [ 2.04024747e-02 -5.24909641e-04 9.99791710e-01 5.93151277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46925415399998 meters Centerline goodness [0,1] 0.9993955486475401 Centerline is valid? [True, True] Translation: X:73.02, Y:1.05, Z:0.59 [[ 9.99126120e-01 -3.68276721e-02 -1.97665933e-02 7.30174065e+01] [ 3.68279193e-02 9.99321560e-01 -3.51630520e-04 1.04814186e+00] [ 1.97661326e-02 -3.76639267e-04 9.99804560e-01 5.94231628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49925415399998 meters Centerline goodness [0,1] 0.9994402944912062 Centerline is valid? [True, True] Translation: X:73.05, Y:1.05, Z:0.60 [[ 9.99237935e-01 -3.37376799e-02 -1.96295323e-02 7.30489409e+01] [ 3.37373450e-02 9.99430673e-01 -3.48312067e-04 1.05080906e+00] [ 1.96301080e-02 -3.14201675e-04 9.99807261e-01 5.95329802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52925415399999 meters Centerline goodness [0,1] 0.9993749191705824 Centerline is valid? [True, True] Translation: X:73.08, Y:1.05, Z:0.60 [[ 9.99339007e-01 -3.09790319e-02 -1.90223117e-02 7.30803832e+01] [ 3.09782307e-02 9.99520003e-01 -3.36854148e-04 1.05294677e+00] [ 1.90236165e-02 -2.52646070e-04 9.99819003e-01 5.96017619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55925415399999 meters Centerline goodness [0,1] 0.9993320261156241 Centerline is valid? [True, True] Translation: X:73.11, Y:1.06, Z:0.60 [[ 9.99492135e-01 -2.62270988e-02 -1.81000447e-02 7.31108389e+01] [ 2.62256115e-02 9.99655998e-01 -3.19569382e-04 1.05520757e+00] [ 1.81021996e-02 -1.55277656e-04 9.99836130e-01 5.97148187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58925415399999 meters Centerline goodness [0,1] 0.9991822681299763 Centerline is valid? [True, True] Translation: X:73.14, Y:1.06, Z:0.60 [[ 9.99543324e-01 -2.44645496e-02 -1.77377875e-02 7.31415037e+01] [ 2.44628554e-02 9.99700691e-01 -3.12514050e-04 1.05649297e+00] [ 1.77401240e-02 -1.21545600e-04 9.99842624e-01 5.97402843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61925415399999 meters Centerline goodness [0,1] 0.9992439135037048 Centerline is valid? [True, True] Translation: X:73.17, Y:1.06, Z:0.60 [[ 9.99605579e-01 -2.18169772e-02 -1.76834957e-02 7.31713979e+01] [ 2.18148765e-02 9.99761979e-01 -3.11704849e-04 1.05785965e+00] [ 1.76860871e-02 -7.41813670e-05 9.99843586e-01 5.97960938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64925415399999 meters Centerline goodness [0,1] 0.9992880873279545 Centerline is valid? [True, True] Translation: X:73.20, Y:1.06, Z:0.60 [[ 9.99612642e-01 -2.10179196e-02 -1.82431742e-02 7.32012779e+01] [ 2.10155419e-02 9.99779097e-01 -3.22055389e-04 1.05844385e+00] [ 1.82459132e-02 -6.14595536e-05 9.99833528e-01 5.98320610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67925415399998 meters Centerline goodness [0,1] 0.9994833153928956 Centerline is valid? [True, True] Translation: X:73.23, Y:1.06, Z:0.60 [[ 9.99617003e-01 -2.08020739e-02 -1.82516021e-02 7.32299366e+01] [ 2.07996412e-02 9.99783612e-01 -3.23127407e-04 1.05839970e+00] [ 1.82543744e-02 -5.66231253e-05 9.99833373e-01 5.98075137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70925415399998 meters Centerline goodness [0,1] 0.9990300678952473 Centerline is valid? [True, True] Translation: X:73.26, Y:1.06, Z:0.60 [[ 9.99602613e-01 -2.10721770e-02 -1.87237891e-02 7.32586394e+01] [ 2.10696070e-02 9.99777955e-01 -3.34539477e-04 1.05771292e+00] [ 1.87266811e-02 -6.00963419e-05 9.99824639e-01 5.98682233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73925415399998 meters Centerline goodness [0,1] 0.9994604277728617 Centerline is valid? [True, True] Translation: X:73.29, Y:1.06, Z:0.60 [[ 9.99590403e-01 -2.13712131e-02 -1.90341091e-02 7.32870760e+01] [ 2.13685176e-02 9.99771608e-01 -3.45008672e-04 1.05743162e+00] [ 1.90371351e-02 -6.18633378e-05 9.99818775e-01 5.98689224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76925415399998 meters Centerline goodness [0,1] 0.9992882869282033 Centerline is valid? [True, True] Translation: X:73.32, Y:1.06, Z:0.60 [[ 9.99572998e-01 -2.17555788e-02 -1.95068264e-02 7.33152367e+01] [ 2.17527552e-02 9.99763317e-01 -3.56946353e-04 1.05723644e+00] [ 1.95099751e-02 -6.75332841e-05 9.99809660e-01 5.98416390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79925415399998 meters Centerline goodness [0,1] 0.9990513152220785 Centerline is valid? [True, True] Translation: X:73.34, Y:1.06, Z:0.60 [[ 9.99555469e-01 -2.19808848e-02 -2.01421372e-02 7.33435397e+01] [ 2.19778479e-02 9.99758389e-01 -3.72153943e-04 1.05675556e+00] [ 2.01454509e-02 -7.06923168e-05 9.99797057e-01 5.98658105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82925415399998 meters Centerline goodness [0,1] 0.9992463718186124 Centerline is valid? [True, True] Translation: X:73.37, Y:1.06, Z:0.60 [[ 9.99553970e-01 -2.18857096e-02 -2.03193498e-02 7.33715356e+01] [ 2.18824863e-02 9.99760477e-01 -3.80987450e-04 1.05688259e+00] [ 2.03228210e-02 -6.38203755e-05 9.99793468e-01 5.99270961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85925415399998 meters Centerline goodness [0,1] 0.9993329603649352 Centerline is valid? [True, True] Translation: X:73.40, Y:1.06, Z:0.60 [[ 9.99577961e-01 -2.10496068e-02 -2.00203540e-02 7.33997997e+01] [ 2.10462370e-02 9.99778432e-01 -3.79022891e-04 1.05565693e+00] [ 2.00238964e-02 -4.24901864e-05 9.99799501e-01 5.99340084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88925415399999 meters Centerline goodness [0,1] 0.9993762770190343 Centerline is valid? [True, True] Translation: X:73.43, Y:1.06, Z:0.60 [[ 9.99584132e-01 -2.08636025e-02 -1.99066154e-02 7.34281323e+01] [ 2.08601576e-02 9.99782331e-01 -3.80711218e-04 1.05531145e+00] [ 1.99102254e-02 -3.47022428e-05 9.99801771e-01 5.99855885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91925415399999 meters Centerline goodness [0,1] 0.9991399883898433 Centerline is valid? [True, True] Translation: X:73.46, Y:1.06, Z:0.60 [[ 9.99595999e-01 -2.06517871e-02 -1.95280076e-02 7.34556897e+01] [ 2.06483229e-02 9.99786729e-01 -3.79027663e-04 1.05505056e+00] [ 1.95316705e-02 -2.43460727e-05 9.99809238e-01 6.00413067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94925415399999 meters Centerline goodness [0,1] 0.9990990604487537 Centerline is valid? [True, True] Translation: X:73.48, Y:1.05, Z:0.60 [[ 9.99631083e-01 -1.96135329e-02 -1.87885042e-02 7.34849935e+01] [ 1.96100690e-02 9.99807636e-01 -3.68597945e-04 1.05411571e+00] [ 1.87921195e-02 1.80985509e-08 9.99823413e-01 6.01477146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97925415399999 meters Centerline goodness [0,1] 0.999250390867619 Centerline is valid? [True, True] Translation: X:73.51, Y:1.05, Z:0.60 [[ 9.99653753e-01 -1.94574669e-02 -1.77138488e-02 7.35129867e+01] [ 1.94543284e-02 9.99810686e-01 -3.49496518e-04 1.05241089e+00] [ 1.77172956e-02 4.76447375e-06 9.99843036e-01 6.01622325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00925415399999 meters Centerline goodness [0,1] 0.9991646675805346 Centerline is valid? [True, True] Translation: X:73.54, Y:1.05, Z:0.60 [[ 9.99651759e-01 -1.99307255e-02 -1.72953040e-02 7.35421605e+01] [ 1.99277567e-02 9.99801363e-01 -3.43997556e-04 1.05152842e+00] [ 1.72987246e-02 -7.78847025e-07 9.99850366e-01 6.02706817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03925415399998 meters Centerline goodness [0,1] 0.9991866612444082 Centerline is valid? [True, True] Translation: X:73.57, Y:1.05, Z:0.60 [[ 9.99635940e-01 -2.05536220e-02 -1.74796187e-02 7.35706867e+01] [ 2.05506095e-02 9.99788752e-01 -3.51967081e-04 1.05016772e+00] [ 1.74831604e-02 -7.37787551e-06 9.99847158e-01 6.02997509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06925415399998 meters Centerline goodness [0,1] 0.9990819224117685 Centerline is valid? [True, True] Translation: X:73.60, Y:1.05, Z:0.60 [[ 9.99609808e-01 -2.16590404e-02 -1.76385526e-02 7.35990348e+01] [ 2.16560672e-02 9.99765415e-01 -3.59571884e-04 1.04837546e+00] [ 1.76422029e-02 -2.25500994e-05 9.99844364e-01 6.03465309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09925415399998 meters Centerline goodness [0,1] 0.9990830383417921 Centerline is valid? [True, True] Translation: X:73.63, Y:1.04, Z:0.60 [[ 9.99539174e-01 -2.46259431e-02 -1.77482862e-02 7.36276419e+01] [ 2.46233203e-02 9.99696733e-01 -3.66324034e-04 1.04358388e+00] [ 1.77519248e-02 -7.08665131e-05 9.99842420e-01 6.03548441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12925415399998 meters Centerline goodness [0,1] 0.9988917542251871 Centerline is valid? [True, True] Translation: X:73.66, Y:1.04, Z:0.60 [[ 9.99487769e-01 -2.64468159e-02 -1.80212537e-02 7.36571251e+01] [ 2.64443584e-02 9.99650217e-01 -3.74694864e-04 1.04137152e+00] [ 1.80248596e-02 -1.02057557e-04 9.99837534e-01 6.03948769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15925415399998 meters Centerline goodness [0,1] 0.9988087640927462 Centerline is valid? [True, True] Translation: X:73.69, Y:1.04, Z:0.60 [[ 9.99421541e-01 -2.90057488e-02 -1.77553008e-02 7.36868043e+01] [ 2.90037583e-02 9.99579234e-01 -3.69654904e-04 1.03825301e+00] [ 1.77585521e-02 -1.45529380e-04 9.99842294e-01 6.03442774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18925415399998 meters Centerline goodness [0,1] 0.9988087640927462 Centerline is valid? [True, True] Translation: X:73.72, Y:1.04, Z:0.60 [[ 9.99421541e-01 -2.90057504e-02 -1.77552973e-02 7.37167985e+01] [ 2.90037569e-02 9.99579234e-01 -3.69824771e-04 1.03887784e+00] [ 1.77585535e-02 -1.45359483e-04 9.99842294e-01 6.03723894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21925415399998 meters Centerline goodness [0,1] 0.999086466964096 Centerline is valid? [True, True] Translation: X:73.75, Y:1.04, Z:0.60 [[ 9.99340431e-01 -3.16294241e-02 -1.78404520e-02 7.37475780e+01] [ 3.16278294e-02 9.99499646e-01 -3.71598457e-04 1.03576552e+00] [ 1.78432789e-02 -1.92901410e-04 9.99840777e-01 6.03846612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24925415399998 meters Centerline goodness [0,1] 0.9990909667462952 Centerline is valid? [True, True] Translation: X:73.78, Y:1.03, Z:0.60 [[ 9.99100570e-01 -3.84338757e-02 -1.79133357e-02 7.37784614e+01] [ 3.84333639e-02 9.99261096e-01 -3.72960622e-04 1.02934401e+00] [ 1.79144338e-02 -3.15844579e-04 9.99839474e-01 6.04368545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27925415399999 meters Centerline goodness [0,1] 0.9990916004732128 Centerline is valid? [True, True] Translation: X:73.81, Y:1.02, Z:0.60 [[ 9.98794526e-01 -4.55677175e-02 -1.82504341e-02 7.38087285e+01] [ 4.55683793e-02 9.98961150e-01 -3.79805033e-04 1.02043191e+00] [ 1.82487815e-02 -4.52295517e-04 9.99833375e-01 6.03141368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30925415399999 meters Centerline goodness [0,1] 0.9989026757828986 Centerline is valid? [True, True] Translation: X:73.84, Y:1.02, Z:0.60 [[ 9.98609619e-01 -4.92459049e-02 -1.88060979e-02 7.38407703e+01] [ 4.92472723e-02 9.98786541e-01 -3.90681243e-04 1.01916749e+00] [ 1.88025169e-02 -5.36010978e-04 9.99823073e-01 6.03615801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33925415399999 meters Centerline goodness [0,1] 0.9989450809122941 Centerline is valid? [True, True] Translation: X:73.87, Y:1.02, Z:0.60 [[ 9.98410806e-01 -5.30009737e-02 -1.91509481e-02 7.38720532e+01] [ 5.30031018e-02 9.98594269e-01 -3.96797746e-04 1.01568795e+00] [ 1.91450576e-02 -6.18892492e-04 9.99816525e-01 6.03694224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36925415399999 meters Centerline goodness [0,1] 0.9986762759229298 Centerline is valid? [True, True] Translation: X:73.90, Y:1.01, Z:0.60 [[ 9.97957100e-01 -6.10427646e-02 -1.88522624e-02 7.39024665e+01] [ 6.10462657e-02 9.98134861e-01 -3.90247867e-04 1.00842679e+00] [ 1.88409221e-02 -7.61409588e-04 9.99822204e-01 6.03997986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39925415399999 meters Centerline goodness [0,1] 0.9987375331397551 Centerline is valid? [True, True] Translation: X:73.93, Y:1.01, Z:0.61 [[ 9.97719299e-01 -6.50246682e-02 -1.81105724e-02 7.39337165e+01] [ 6.50285602e-02 9.97883333e-01 -3.74540466e-04 1.00839221e+00] [ 1.80965927e-02 -8.04018193e-04 9.99835920e-01 6.05313904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42925415399998 meters Centerline goodness [0,1] 0.9984500994868573 Centerline is valid? [True, True] Translation: X:73.96, Y:1.00, Z:0.61 [[ 9.97248600e-01 -7.21623650e-02 -1.69653186e-02 7.39642157e+01] [ 7.21668161e-02 9.97392514e-01 -3.50503164e-04 1.00212375e+00] [ 1.69463749e-02 -8.74794236e-04 9.99856017e-01 6.06547174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45925415399998 meters Centerline goodness [0,1] 0.9985753195055521 Centerline is valid? [True, True] Translation: X:73.99, Y:0.99, Z:0.61 [[ 9.97041595e-01 -7.51601211e-02 -1.60939071e-02 7.39941065e+01] [ 7.51645258e-02 9.97171091e-01 -3.31880939e-04 9.92715081e-01] [ 1.60733231e-02 -8.78791793e-04 9.99870430e-01 6.06279365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48925415399998 meters Centerline goodness [0,1] 0.9987614149259998 Centerline is valid? [True, True] Translation: X:74.02, Y:0.99, Z:0.61 [[ 9.96847669e-01 -7.76857695e-02 -1.61135356e-02 7.40249047e+01] [ 7.76905289e-02 9.96977468e-01 -3.31344245e-04 9.91171175e-01] [ 1.60905727e-02 -9.21569366e-04 9.99870114e-01 6.06898412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51925415399998 meters Centerline goodness [0,1] 0.9987042029803331 Centerline is valid? [True, True] Translation: X:74.06, Y:0.99, Z:0.61 [[ 9.96610407e-01 -8.06676445e-02 -1.61377809e-02 7.40564272e+01] [ 8.06728144e-02 9.96740582e-01 -3.31429407e-04 9.91860401e-01] [ 1.61119167e-02 -9.71574206e-04 9.99869723e-01 6.07364012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54925415399998 meters Centerline goodness [0,1] 0.9986144641545083 Centerline is valid? [True, True] Translation: X:74.09, Y:0.99, Z:0.61 [[ 9.96551181e-01 -8.14225431e-02 -1.60035106e-02 7.40873485e+01] [ 8.14277355e-02 9.96679194e-01 -3.27968561e-04 9.90318791e-01] [ 1.59770700e-02 -9.76292168e-04 9.99871882e-01 6.07516350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57925415399998 meters Centerline goodness [0,1] 0.9986366019926586 Centerline is valid? [True, True] Translation: X:74.12, Y:0.99, Z:0.61 [[ 9.96560489e-01 -8.12225229e-02 -1.64345042e-02 7.41198873e+01] [ 8.12279889e-02 9.96695491e-01 -3.35754669e-04 9.92325495e-01] [ 1.64074671e-02 -1.00034189e-03 9.99864888e-01 6.08079411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60925415399998 meters Centerline goodness [0,1] 0.9984914831653712 Centerline is valid? [True, True] Translation: X:74.15, Y:0.99, Z:0.61 [[ 9.96655090e-01 -7.99097936e-02 -1.71188741e-02 7.41508422e+01] [ 7.99155510e-02 9.96801577e-01 -3.48592980e-04 9.91259803e-01] [ 1.70919767e-02 -1.02063729e-03 9.99853401e-01 6.07392263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63925415399999 meters Centerline goodness [0,1] 0.9987814102025381 Centerline is valid? [True, True] Translation: X:74.18, Y:0.99, Z:0.61 [[ 9.96738929e-01 -7.87690773e-02 -1.75197260e-02 7.41835568e+01] [ 7.87749541e-02 9.96892361e-01 -3.55489108e-04 9.93503291e-01] [ 1.74932826e-02 -1.02578578e-03 9.99846455e-01 6.07465945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66925415399999 meters Centerline goodness [0,1] 0.9988900988440275 Centerline is valid? [True, True] Translation: X:74.21, Y:0.99, Z:0.61 [[ 9.96987247e-01 -7.53415428e-02 -1.84412965e-02 7.42130494e+01] [ 7.53474834e-02 9.97157268e-01 -3.73456363e-04 9.93760475e-01] [ 1.84170096e-02 -1.01717405e-03 9.99829875e-01 6.06469938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69925415399999 meters Centerline goodness [0,1] 0.9987629471212311 Centerline is valid? [True, True] Translation: X:74.24, Y:1.00, Z:0.61 [[ 9.97148366e-01 -7.30379151e-02 -1.89894501e-02 7.42442860e+01] [ 7.30438009e-02 9.97328660e-01 -3.84387951e-04 9.96245462e-01] [ 1.89667977e-02 -1.00376979e-03 9.99819610e-01 6.06728600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72925415399999 meters Centerline goodness [0,1] 0.9987414259643823 Centerline is valid? [True, True] Translation: X:74.28, Y:1.00, Z:0.61 [[ 9.97313671e-01 -7.06577522e-02 -1.93112467e-02 7.42758823e+01] [ 7.06634112e-02 9.97500140e-01 -3.90017528e-04 1.00194975e+00] [ 1.92905290e-02 -9.75628751e-04 9.99813444e-01 6.07323544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75925415399999 meters Centerline goodness [0,1] 0.9988187896812841 Centerline is valid? [True, True] Translation: X:74.31, Y:1.01, Z:0.61 [[ 9.97542075e-01 -6.73247915e-02 -1.94211330e-02 7.43073660e+01] [ 6.73299056e-02 9.97730691e-01 -3.91168278e-04 1.00603554e+00] [ 1.94033957e-02 -9.17416233e-04 9.99811315e-01 6.08068446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78925415399998 meters Centerline goodness [0,1] 0.9988002525784045 Centerline is valid? [True, True] Translation: X:74.34, Y:1.01, Z:0.61 [[ 9.98046739e-01 -5.94461034e-02 -1.92059400e-02 7.43369171e+01] [ 5.94496544e-02 9.98231230e-01 -3.86507697e-04 1.01127799e+00] [ 1.91949455e-02 -7.56033750e-04 9.99815474e-01 6.08237206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81925415399998 meters Centerline goodness [0,1] 0.9988588575896536 Centerline is valid? [True, True] Translation: X:74.37, Y:1.02, Z:0.61 [[ 9.98315121e-01 -5.47958839e-02 -1.90874123e-02 7.43670583e+01] [ 5.47985389e-02 9.98497357e-01 -3.84294795e-04 1.02032507e+00] [ 1.90797885e-02 -6.62315001e-04 9.99817745e-01 6.10141079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84925415399998 meters Centerline goodness [0,1] 0.9985870642569434 Centerline is valid? [True, True] Translation: X:74.40, Y:1.03, Z:0.61 [[ 9.98822315e-01 -4.49647097e-02 -1.82252188e-02 7.43966006e+01] [ 4.49654917e-02 9.98988473e-01 -3.67087523e-04 1.02756907e+00] [ 1.82232895e-02 -4.52850714e-04 9.99833840e-01 6.10313701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87925415399998 meters Centerline goodness [0,1] 0.9986009538950715 Centerline is valid? [True, True] Translation: X:74.43, Y:1.03, Z:0.61 [[ 9.99041111e-01 -4.00543557e-02 -1.76778736e-02 7.44280250e+01] [ 4.00543254e-02 9.99197440e-01 -3.55919046e-04 1.03364387e+00] [ 1.76779421e-02 -3.52497541e-04 9.99843671e-01 6.11518300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90925415399998 meters Centerline goodness [0,1] 0.998621567172092 Centerline is valid? [True, True] Translation: X:74.46, Y:1.04, Z:0.61 [[ 9.99229973e-01 -3.51903441e-02 -1.73522426e-02 7.44593803e+01] [ 3.51895924e-02 9.99380594e-01 -3.48745358e-04 1.03869842e+00] [ 1.73537670e-02 -2.62141530e-04 9.99849378e-01 6.12013624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93925415399998 meters Centerline goodness [0,1] 0.9988531622987724 Centerline is valid? [True, True] Translation: X:74.49, Y:1.05, Z:0.61 [[ 9.99512609e-01 -2.60848670e-02 -1.71500631e-02 7.44893955e+01] [ 2.60828003e-02 9.99659727e-01 -3.44212744e-04 1.04797987e+00] [ 1.71532062e-02 -1.03276695e-04 9.99852868e-01 6.13131886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96925415399998 meters Centerline goodness [0,1] 0.9987264120905945 Centerline is valid? [True, True] Translation: X:74.52, Y:1.05, Z:0.61 [[ 9.99621374e-01 -2.18785474e-02 -1.66864785e-02 7.45195492e+01] [ 2.18760075e-02 9.99760635e-01 -3.34747528e-04 1.05215793e+00] [ 1.66898082e-02 -3.04127464e-05 9.99860715e-01 6.12827678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99925415399998 meters Centerline goodness [0,1] 0.9990425124473382 Centerline is valid? [True, True] Translation: X:74.55, Y:1.06, Z:0.61 [[ 9.99734843e-01 -1.62629543e-02 -1.63021537e-02 7.45477023e+01] [ 1.62597776e-02 9.99867747e-01 -3.27398441e-04 1.05830805e+00] [ 1.63053222e-02 6.22422351e-05 9.99867057e-01 6.14217877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02925415399999 meters Centerline goodness [0,1] 0.9989576242341729 Centerline is valid? [True, True] Translation: X:74.58, Y:1.06, Z:0.61 [[ 9.99761299e-01 -1.46966569e-02 -1.61664508e-02 7.45768877e+01] [ 1.46932938e-02 9.99891994e-01 -3.26793411e-04 1.06020194e+00] [ 1.61695075e-02 8.91769940e-05 9.99869261e-01 6.14319456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05925415399999 meters Centerline goodness [0,1] 0.9991473033468343 Centerline is valid? [True, True] Translation: X:74.61, Y:1.06, Z:0.61 [[ 9.99770634e-01 -1.38642768e-02 -1.63236542e-02 7.46058473e+01] [ 1.38606726e-02 9.99903881e-01 -3.33912978e-04 1.06130777e+00] [ 1.63267146e-02 1.07579562e-04 9.99866705e-01 6.14391098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08925415399999 meters Centerline goodness [0,1] 0.9991505086329561 Centerline is valid? [True, True] Translation: X:74.63, Y:1.06, Z:0.61 [[ 9.99737580e-01 -1.49306130e-02 -1.73737796e-02 7.46333079e+01] [ 1.49266332e-02 9.99888527e-01 -3.58729015e-04 1.06051691e+00] [ 1.73771990e-02 9.93028419e-05 9.99849000e-01 6.12417735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11925415399999 meters Centerline goodness [0,1] 0.9989138536897029 Centerline is valid? [True, True] Translation: X:74.66, Y:1.06, Z:0.61 [[ 9.99703688e-01 -1.64481329e-02 -1.79442342e-02 7.46610775e+01] [ 1.64440702e-02 9.99864717e-01 -3.73944045e-04 1.06025073e+00] [ 1.79479573e-02 7.87569939e-05 9.99838919e-01 6.12369399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14925415399999 meters Centerline goodness [0,1] 0.9991709712390792 Centerline is valid? [True, True] Translation: X:74.69, Y:1.06, Z:0.61 [[ 9.99666564e-01 -1.82317458e-02 -1.82856154e-02 7.46890493e+01] [ 1.82277354e-02 9.99833787e-01 -3.85979069e-04 1.05931307e+00] [ 1.82896132e-02 5.25450106e-05 9.99832730e-01 6.12139174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17925415399998 meters Centerline goodness [0,1] 0.9991077877384543 Centerline is valid? [True, True] Translation: X:74.72, Y:1.06, Z:0.61 [[ 9.99622826e-01 -2.03124107e-02 -1.84827448e-02 7.47165836e+01] [ 2.03085778e-02 9.99793682e-01 -3.95068082e-04 1.05792995e+00] [ 1.84869562e-02 1.95608134e-05 9.99829101e-01 6.11932907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20925415399998 meters Centerline goodness [0,1] 0.9990219633023621 Centerline is valid? [True, True] Translation: X:74.74, Y:1.06, Z:0.61 [[ 9.99583219e-01 -2.22887899e-02 -1.83466136e-02 7.47443006e+01] [ 2.22852577e-02 9.99751574e-01 -3.96972664e-04 1.05648495e+00] [ 1.83509039e-02 -1.20517985e-05 9.99831608e-01 6.11946139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23925415399998 meters Centerline goodness [0,1] 0.9988744000339804 Centerline is valid? [True, True] Translation: X:74.77, Y:1.06, Z:0.61 [[ 9.99535597e-01 -2.43496154e-02 -1.83217448e-02 7.47727818e+01] [ 2.43463564e-02 9.99703503e-01 -4.00938197e-04 1.05503330e+00] [ 1.83260751e-02 -4.53157287e-05 9.99832062e-01 6.12629776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26925415399998 meters Centerline goodness [0,1] 0.9987904252610135 Centerline is valid? [True, True] Translation: X:74.80, Y:1.05, Z:0.61 [[ 9.99458367e-01 -2.78909711e-02 -1.74661248e-02 7.48011389e+01] [ 2.78885076e-02 9.99610966e-01 -3.84649988e-04 1.05128141e+00] [ 1.74700581e-02 -1.02662504e-04 9.99847382e-01 6.13502332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29925415399998 meters Centerline goodness [0,1] 0.9987717589259244 Centerline is valid? [True, True] Translation: X:74.83, Y:1.05, Z:0.61 [[ 9.99416449e-01 -2.96093172e-02 -1.70308763e-02 7.48315916e+01] [ 2.96072168e-02 9.99561540e-01 -3.75508492e-04 1.04982090e+00] [ 1.70345275e-02 -1.28947483e-04 9.99854894e-01 6.14130479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32925415399998 meters Centerline goodness [0,1] 0.998835683136458 Centerline is valid? [True, True] Translation: X:74.86, Y:1.05, Z:0.61 [[ 9.99328929e-01 -3.27272107e-02 -1.64505638e-02 7.48623839e+01] [ 3.27256790e-02 9.99464306e-01 -3.62368249e-04 1.04607042e+00] [ 1.64536106e-02 -1.76230796e-04 9.99864615e-01 6.14830169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35925415399998 meters Centerline goodness [0,1] 0.998857481381178 Centerline is valid? [True, True] Translation: X:74.89, Y:1.04, Z:0.61 [[ 9.99271063e-01 -3.44218738e-02 -1.65068742e-02 7.48933888e+01] [ 3.44205740e-02 9.99407371e-01 -3.62925251e-04 1.04423004e+00] [ 1.65095843e-02 -2.05515386e-04 9.99863686e-01 6.14969515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38925415399999 meters Centerline goodness [0,1] 0.9990276486006595 Centerline is valid? [True, True] Translation: X:74.92, Y:1.04, Z:0.61 [[ 9.99211874e-01 -3.61196194e-02 -1.64622115e-02 7.49242753e+01] [ 3.61185637e-02 9.99347446e-01 -3.61536522e-04 1.04192631e+00] [ 1.64645276e-02 -2.33339852e-04 9.99864423e-01 6.14949554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41925415399999 meters Centerline goodness [0,1] 0.9989451921859838 Centerline is valid? [True, True] Translation: X:74.95, Y:1.04, Z:0.61 [[ 9.99076614e-01 -3.97787375e-02 -1.62348606e-02 7.49545949e+01] [ 3.97781977e-02 9.99208471e-01 -3.56290859e-04 1.03625222e+00] [ 1.62361831e-02 -2.89831631e-04 9.99868142e-01 6.14735896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44925415399999 meters Centerline goodness [0,1] 0.998755405547938 Centerline is valid? [True, True] Translation: X:74.99, Y:1.03, Z:0.61 [[ 9.98997180e-01 -4.17945546e-02 -1.60577168e-02 7.49857266e+01] [ 4.17942925e-02 9.99126175e-01 -3.52050851e-04 1.03347728e+00] [ 1.60583990e-02 -3.19423106e-04 9.99871005e-01 6.14663632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47925415399999 meters Centerline goodness [0,1] 0.9988846331916327 Centerline is valid? [True, True] Translation: X:75.02, Y:1.04, Z:0.62 [[ 9.98844976e-01 -4.51272284e-02 -1.64998872e-02 7.50176704e+01] [ 4.51274195e-02 9.98981174e-01 -3.60932273e-04 1.03502732e+00] [ 1.64993645e-02 -3.84081942e-04 9.99863802e-01 6.16529086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50925415399999 meters Centerline goodness [0,1] 0.9989687250073662 Centerline is valid? [True, True] Translation: X:75.05, Y:1.03, Z:0.62 [[ 9.98779407e-01 -4.64660852e-02 -1.67510816e-02 7.50497445e+01] [ 4.64664907e-02 9.98919782e-01 -3.65209215e-04 1.03378011e+00] [ 1.67499567e-02 -4.13600536e-04 9.99859624e-01 6.17052645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53925415399998 meters Centerline goodness [0,1] 0.9988230101515374 Centerline is valid? [True, True] Translation: X:75.08, Y:1.03, Z:0.62 [[ 9.98709264e-01 -4.79141765e-02 -1.68534052e-02 7.50814355e+01] [ 4.79148115e-02 9.98851359e-01 -3.66340938e-04 1.03432938e+00] [ 1.68515997e-02 -4.41659647e-04 9.99857904e-01 6.17894280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56925415399998 meters Centerline goodness [0,1] 0.9986154814348647 Centerline is valid? [True, True] Translation: X:75.11, Y:1.03, Z:0.62 [[ 9.98635736e-01 -4.94757011e-02 -1.66979612e-02 7.51136435e+01] [ 4.94765604e-02 9.98775219e-01 -3.61899894e-04 1.03213633e+00] [ 1.66954151e-02 -4.64751520e-04 9.99860514e-01 6.17988183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59925415399998 meters Centerline goodness [0,1] 0.9988426169482966 Centerline is valid? [True, True] Translation: X:75.15, Y:1.03, Z:0.62 [[ 9.98623884e-01 -4.97001908e-02 -1.67400495e-02 7.51458279e+01] [ 4.97011066e-02 9.98764071e-01 -3.61573808e-04 1.03149427e+00] [ 1.67373303e-02 -4.70922744e-04 9.99859810e-01 6.18318439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62925415399998 meters Centerline goodness [0,1] 0.9986746328943493 Centerline is valid? [True, True] Translation: X:75.18, Y:1.03, Z:0.62 [[ 9.98626168e-01 -4.97089340e-02 -1.65770457e-02 7.51781531e+01] [ 4.97098533e-02 9.98763637e-01 -3.56839386e-04 1.03037654e+00] [ 1.65742886e-02 -4.67693361e-04 9.99862528e-01 6.18591631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65925415399998 meters Centerline goodness [0,1] 0.9986140568236702 Centerline is valid? [True, True] Translation: X:75.21, Y:1.03, Z:0.62 [[ 9.98635621e-01 -4.95971131e-02 -1.63408108e-02 7.52099860e+01] [ 4.95980109e-02 9.98769200e-01 -3.50564495e-04 1.03062333e+00] [ 1.63380855e-02 -4.60385522e-04 9.99866419e-01 6.19065302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68925415399998 meters Centerline goodness [0,1] 0.9985917565210081 Centerline is valid? [True, True] Translation: X:75.24, Y:1.03, Z:0.62 [[ 9.98635482e-01 -4.96089599e-02 -1.63133330e-02 7.52409857e+01] [ 4.96098737e-02 9.98768611e-01 -3.48909521e-04 1.02958691e+00] [ 1.63105539e-02 -4.60868958e-04 9.99866868e-01 6.18983033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71925415399998 meters Centerline goodness [0,1] 0.9986590961469965 Centerline is valid? [True, True] Translation: X:75.27, Y:1.03, Z:0.62 [[ 9.98621338e-01 -4.99520435e-02 -1.61312352e-02 7.52724585e+01] [ 4.99529957e-02 9.98751511e-01 -3.44148128e-04 1.02901677e+00] [ 1.61282865e-02 -4.62129860e-04 9.99869824e-01 6.18564507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74925415399998 meters Centerline goodness [0,1] 0.9985711584123048 Centerline is valid? [True, True] Translation: X:75.30, Y:1.03, Z:0.62 [[ 9.98584884e-01 -5.05043781e-02 -1.66594268e-02 7.53041713e+01] [ 5.05054855e-02 9.98723721e-01 -3.54511158e-04 1.02931935e+00] [ 1.66560691e-02 -4.87382956e-04 9.99861159e-01 6.18659903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77925415399999 meters Centerline goodness [0,1] 0.9987624281579057 Centerline is valid? [True, True] Translation: X:75.34, Y:1.03, Z:0.62 [[ 9.98441218e-01 -5.31092027e-02 -1.71623733e-02 7.53353326e+01] [ 5.31107785e-02 9.98588560e-01 -3.64283575e-04 1.02647235e+00] [ 1.71574965e-02 -5.47791270e-04 9.99852649e-01 6.18299555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80925415399999 meters Centerline goodness [0,1] 0.9986971231638893 Centerline is valid? [True, True] Translation: X:75.37, Y:1.03, Z:0.62 [[ 9.98330844e-01 -5.50378266e-02 -1.75032710e-02 7.53676805e+01] [ 5.50397810e-02 9.98484094e-01 -3.70410968e-04 1.02956999e+00] [ 1.74971243e-02 -5.93583508e-04 9.99846737e-01 6.19308160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83925415399999 meters Centerline goodness [0,1] 0.9986575210286746 Centerline is valid? [True, True] Translation: X:75.40, Y:1.03, Z:0.62 [[ 9.98197419e-01 -5.72060680e-02 -1.81488078e-02 7.53998251e+01] [ 5.72085520e-02 9.98362176e-01 -3.82705584e-04 1.02872201e+00] [ 1.81409764e-02 -6.56251290e-04 9.99835224e-01 6.19366922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86925415399999 meters Centerline goodness [0,1] 0.9984635137126139 Centerline is valid? [True, True] Translation: X:75.43, Y:1.03, Z:0.62 [[ 9.97918620e-01 -6.17845432e-02 -1.84688482e-02 7.54295338e+01] [ 6.17879242e-02 9.98089225e-01 -3.88051498e-04 1.02525890e+00] [ 1.84575340e-02 -7.53907976e-04 9.99829361e-01 6.19633480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89925415399999 meters Centerline goodness [0,1] 0.9987213080389896 Centerline is valid? [True, True] Translation: X:75.46, Y:1.03, Z:0.62 [[ 9.97635014e-01 -6.63870395e-02 -1.78084137e-02 7.54607602e+01] [ 6.63909296e-02 9.97793618e-01 -3.73325331e-04 1.02508081e+00] [ 1.77939055e-02 -8.09874720e-04 9.99841348e-01 6.21148327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92925415399998 meters Centerline goodness [0,1] 0.9984502942346757 Centerline is valid? [True, True] Translation: X:75.49, Y:1.02, Z:0.62 [[ 9.97454633e-01 -6.93178926e-02 -1.67118112e-02 7.54915174e+01] [ 6.93217336e-02 9.97594294e-01 -3.50036677e-04 1.02357854e+00] [ 1.66958713e-02 -8.09346022e-04 9.99860287e-01 6.22364098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95925415399998 meters Centerline goodness [0,1] 0.9984502942346757 Centerline is valid? [True, True] Translation: X:75.52, Y:1.02, Z:0.62 [[ 9.97462417e-01 -6.92057883e-02 -1.67118321e-02 7.55240862e+01] [ 6.92096303e-02 9.97602078e-01 -3.49036943e-04 1.02417183e+00] [ 1.66959138e-02 -8.08468490e-04 9.99860287e-01 6.22669226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98925415399998 meters Centerline goodness [0,1] 0.9985075254351299 Centerline is valid? [True, True] Translation: X:75.56, Y:1.02, Z:0.62 [[ 9.97434843e-01 -6.96558656e-02 -1.64862099e-02 7.55564092e+01] [ 6.96596918e-02 9.97570754e-01 -3.42755258e-04 1.02392074e+00] [ 1.64700358e-02 -8.06548262e-04 9.99864034e-01 6.23529956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01925415399998 meters Centerline goodness [0,1] 0.9984670950401076 Centerline is valid? [True, True] Translation: X:75.59, Y:1.02, Z:0.62 [[ 9.97478461e-01 -6.92201068e-02 -1.56619674e-02 7.55873366e+01] [ 6.92235220e-02 9.97601122e-01 -3.24606096e-04 1.02353573e+00] [ 1.56468655e-02 -7.60388956e-04 9.99877291e-01 6.24093676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04925415399998 meters Centerline goodness [0,1] 0.99830249177442 Centerline is valid? [True, True] Translation: X:75.62, Y:1.02, Z:0.62 [[ 9.97578077e-01 -6.78034549e-02 -1.55136069e-02 7.56187486e+01] [ 6.78066567e-02 9.97698429e-01 -3.20118672e-04 1.02284534e+00] [ 1.54996064e-02 -7.32582449e-04 9.99879606e-01 6.24503236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07925415399998 meters Centerline goodness [0,1] 0.99830249177442 Centerline is valid? [True, True] Translation: X:75.65, Y:1.02, Z:0.62 [[ 9.97585296e-01 -6.76971533e-02 -1.55136484e-02 7.56513140e+01] [ 6.77003737e-02 9.97705647e-01 -3.18097360e-04 1.02341801e+00] [ 1.54995889e-02 -7.32950545e-04 9.99879606e-01 6.24808017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10925415399998 meters Centerline goodness [0,1] 0.9984017832734002 Centerline is valid? [True, True] Translation: X:75.68, Y:1.03, Z:0.63 [[ 9.97821671e-01 -6.41977077e-02 -1.51844151e-02 7.56825469e+01] [ 6.42004064e-02 9.97936978e-01 -3.10157751e-04 1.03081358e+00] [ 1.51730008e-02 -6.65363497e-04 9.99884662e-01 6.26138968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13925415399999 meters Centerline goodness [0,1] 0.9986746607762701 Centerline is valid? [True, True] Translation: X:75.71, Y:1.03, Z:0.63 [[ 9.97973229e-01 -6.17789104e-02 -1.52577965e-02 7.57144108e+01] [ 6.17813632e-02 9.98089659e-01 -3.10993730e-04 1.03361822e+00] [ 1.52478617e-02 -6.32284049e-04 9.99883545e-01 6.26772199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16925415399999 meters Centerline goodness [0,1] 0.9986743261157756 Centerline is valid? [True, True] Translation: X:75.74, Y:1.04, Z:0.63 [[ 9.98314191e-01 -5.59812282e-02 -1.53257213e-02 7.57445002e+01] [ 5.59830283e-02 9.98431672e-01 -3.11866663e-04 1.03858635e+00] [ 1.53191442e-02 -5.46639372e-04 9.99882506e-01 6.27082673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19925415399999 meters Centerline goodness [0,1] 0.9985077450135564 Centerline is valid? [True, True] Translation: X:75.78, Y:1.04, Z:0.63 [[ 9.98475360e-01 -5.29400311e-02 -1.56303468e-02 7.57758127e+01] [ 5.29415350e-02 9.98597563e-01 -3.17831611e-04 1.04459813e+00] [ 1.56252522e-02 -5.10147520e-04 9.99877788e-01 6.27514371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22925415399999 meters Centerline goodness [0,1] 0.9988422758751342 Centerline is valid? [True, True] Translation: X:75.81, Y:1.05, Z:0.63 [[ 9.98800728e-01 -4.61485172e-02 -1.63530075e-02 7.58059230e+01] [ 4.61492597e-02 9.98934500e-01 -3.32160424e-04 1.04994331e+00] [ 1.63509121e-02 -4.22917119e-04 9.99866225e-01 6.27845584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25925415399999 meters Centerline goodness [0,1] 0.9987600874243443 Centerline is valid? [True, True] Translation: X:75.84, Y:1.05, Z:0.63 [[ 9.98952538e-01 -4.25945085e-02 -1.67192617e-02 7.58374230e+01] [ 4.25947916e-02 9.99092372e-01 -3.39330609e-04 1.05355082e+00] [ 1.67185404e-02 -3.73178294e-04 9.99860166e-01 6.27963959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28925415399998 meters Centerline goodness [0,1] 0.9987348978430008 Centerline is valid? [True, True] Translation: X:75.87, Y:1.06, Z:0.63 [[ 9.99099456e-01 -3.87654630e-02 -1.72486331e-02 7.58690904e+01] [ 3.87652075e-02 9.99248286e-01 -3.49284687e-04 1.05742434e+00] [ 1.72492072e-02 -3.19676700e-04 9.99851170e-01 6.28256520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31925415399998 meters Centerline goodness [0,1] 0.9988625831999326 Centerline is valid? [True, True] Translation: X:75.90, Y:1.06, Z:0.63 [[ 9.99223215e-01 -3.49862766e-02 -1.81363372e-02 7.59006308e+01] [ 3.49853876e-02 9.99387757e-01 -3.66393351e-04 1.06087704e+00] [ 1.81380521e-02 -2.68398045e-04 9.99835456e-01 6.28092928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34925415399998 meters Centerline goodness [0,1] 0.9989237100348212 Centerline is valid? [True, True] Translation: X:75.93, Y:1.07, Z:0.63 [[ 9.99432581e-01 -2.73734083e-02 -1.96268076e-02 7.59307698e+01] [ 2.73709102e-02 9.99625268e-01 -3.95944719e-04 1.06678124e+00] [ 1.96302911e-02 -1.41483534e-04 9.99807297e-01 6.26987016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37925415399998 meters Centerline goodness [0,1] 0.9988134587676922 Centerline is valid? [True, True] Translation: X:75.96, Y:1.07, Z:0.63 [[ 9.99509607e-01 -2.40622880e-02 -2.00387391e-02 7.59604809e+01] [ 2.40590143e-02 9.99710458e-01 -4.04469209e-04 1.07014924e+00] [ 2.00426695e-02 -7.78414492e-05 9.99799122e-01 6.27046102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40925415399998 meters Centerline goodness [0,1] 0.9989418213371145 Centerline is valid? [True, True] Translation: X:75.99, Y:1.07, Z:0.63 [[ 9.99611483e-01 -1.89751972e-02 -2.04162983e-02 7.59892079e+01] [ 1.89706734e-02 9.99819954e-01 -4.15248362e-04 1.07495598e+00] [ 2.04205019e-02 2.77761027e-05 9.99791479e-01 6.27733900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43925415399998 meters Centerline goodness [0,1] 0.999131797391157 Centerline is valid? [True, True] Translation: X:76.02, Y:1.08, Z:0.63 [[ 9.99640714e-01 -1.74881372e-02 -2.03127651e-02 7.60171231e+01] [ 1.74832396e-02 9.99847069e-01 -4.18680434e-04 1.07670845e+00] [ 2.03169805e-02 6.33970686e-05 9.99793587e-01 6.28321269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46925415399998 meters Centerline goodness [0,1] 0.9990687042289295 Centerline is valid? [True, True] Translation: X:76.05, Y:1.08, Z:0.63 [[ 9.99667913e-01 -1.65868078e-02 -1.97216123e-02 7.60452897e+01] [ 1.65819050e-02 9.99862426e-01 -4.12110967e-04 1.07781383e+00] [ 1.97257347e-02 8.49522096e-05 9.99805425e-01 6.29164301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49925415399998 meters Centerline goodness [0,1] 0.9989862510295888 Centerline is valid? [True, True] Translation: X:76.07, Y:1.08, Z:0.63 [[ 9.99687849e-01 -1.65656688e-02 -1.87024692e-02 7.60736378e+01] [ 1.65611579e-02 9.99862776e-01 -3.96061310e-04 1.07825844e+00] [ 1.87064638e-02 8.62031335e-05 9.99825015e-01 6.30156514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52925415399999 meters Centerline goodness [0,1] 0.9991746206429494 Centerline is valid? [True, True] Translation: X:76.10, Y:1.08, Z:0.63 [[ 9.99686253e-01 -1.77553310e-02 -1.76676000e-02 7.61017605e+01] [ 1.77514332e-02 9.99842360e-01 -3.77432067e-04 1.07754697e+00] [ 1.76715163e-02 6.36884285e-05 9.99843845e-01 6.31140852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55925415399999 meters Centerline goodness [0,1] 0.9989214566679355 Centerline is valid? [True, True] Translation: X:76.13, Y:1.08, Z:0.63 [[ 9.99653854e-01 -1.96746086e-02 -1.74665935e-02 7.61295049e+01] [ 1.96710370e-02 9.99806436e-01 -3.76283196e-04 1.07638965e+00] [ 1.74706158e-02 3.25669402e-05 9.99847377e-01 6.31677213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58925415399999 meters Centerline goodness [0,1] 0.9990280800354963 Centerline is valid? [True, True] Translation: X:76.16, Y:1.07, Z:0.63 [[ 9.99529842e-01 -2.53168448e-02 -1.72960463e-02 7.61588950e+01] [ 2.53141312e-02 9.99679475e-01 -3.75839159e-04 1.07205631e+00] [ 1.73000176e-02 -6.21719307e-05 9.99850342e-01 6.31727405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61925415399999 meters Centerline goodness [0,1] 0.9989443013386259 Centerline is valid? [True, True] Translation: X:76.19, Y:1.07, Z:0.63 [[ 9.99417404e-01 -2.91259802e-02 -1.77913085e-02 7.61888376e+01] [ 2.91236946e-02 9.99575740e-01 -3.87602975e-04 1.06953087e+00] [ 1.77950497e-02 -1.30771477e-04 9.99841647e-01 6.31532632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64925415399999 meters Centerline goodness [0,1] 0.9990929226874802 Centerline is valid? [True, True] Translation: X:76.22, Y:1.07, Z:0.63 [[ 9.99276874e-01 -3.32937324e-02 -1.83645212e-02 7.62188686e+01] [ 3.32919932e-02 9.99445588e-01 -4.00503648e-04 1.06668951e+00] [ 1.83676739e-02 -2.11177480e-04 9.99831278e-01 6.31568965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67925415399998 meters Centerline goodness [0,1] 0.9989685730523923 Centerline is valid? [True, True] Translation: X:76.25, Y:1.06, Z:0.63 [[ 9.98919026e-01 -4.23229839e-02 -1.92235317e-02 7.62496481e+01] [ 4.23227512e-02 9.99103903e-01 -4.19123401e-04 1.05989729e+00] [ 1.92240441e-02 -3.94922408e-04 9.99815123e-01 6.31151755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70925415399998 meters Centerline goodness [0,1] 0.9989491603791429 Centerline is valid? [True, True] Translation: X:76.28, Y:1.05, Z:0.63 [[ 9.98713949e-01 -4.68903950e-02 -1.92805561e-02 7.62799686e+01] [ 4.68910181e-02 9.98899923e-01 -4.20011399e-04 1.05446004e+00] [ 1.92790405e-02 -4.84613662e-04 9.99814025e-01 6.30672653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73925415399998 meters Centerline goodness [0,1] 0.9989723369895765 Centerline is valid? [True, True] Translation: X:76.31, Y:1.05, Z:0.63 [[ 9.98499756e-01 -5.11565521e-02 -1.95255018e-02 7.63112050e+01] [ 5.11580164e-02 9.98690481e-01 -4.24815288e-04 1.05127319e+00] [ 1.95216649e-02 -5.74707981e-04 9.99809269e-01 6.31024842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76925415399998 meters Centerline goodness [0,1] 0.99873795801607 Centerline is valid? [True, True] Translation: X:76.34, Y:1.05, Z:0.63 [[ 9.98095385e-01 -5.86839487e-02 -1.90209332e-02 7.63424744e+01] [ 5.86867133e-02 9.98276364e-01 -4.13291074e-04 1.04654217e+00] [ 1.90124016e-02 -7.03772138e-04 9.99819000e-01 6.31750010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79925415399998 meters Centerline goodness [0,1] 0.9988443678692245 Centerline is valid? [True, True] Translation: X:76.37, Y:1.04, Z:0.63 [[ 9.97897388e-01 -6.19205411e-02 -1.91480795e-02 7.63724160e+01] [ 6.19239418e-02 9.98080785e-01 -4.15834282e-04 1.04237269e+00] [ 1.91370789e-02 -7.70764618e-04 9.99816572e-01 6.31625932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82925415399998 meters Centerline goodness [0,1] 0.9986771931298031 Centerline is valid? [True, True] Translation: X:76.40, Y:1.04, Z:0.63 [[ 9.97574616e-01 -6.69629089e-02 -1.89961846e-02 7.64033118e+01] [ 6.69671749e-02 9.97755094e-01 -4.12172278e-04 1.04229292e+00] [ 1.89811402e-02 -8.60948214e-04 9.99819471e-01 6.32069319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85925415399998 meters Centerline goodness [0,1] 0.998803802648423 Centerline is valid? [True, True] Translation: X:76.43, Y:1.04, Z:0.63 [[ 9.97430803e-01 -6.90731017e-02 -1.89920882e-02 7.64349465e+01] [ 6.90777734e-02 9.97611193e-01 -4.10718657e-04 1.04119106e+00] [ 1.89750894e-02 -9.02267723e-04 9.99819550e-01 6.32347833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88925415399999 meters Centerline goodness [0,1] 0.9988247145735393 Centerline is valid? [True, True] Translation: X:76.47, Y:1.04, Z:0.63 [[ 9.97310510e-01 -7.08494316e-02 -1.87644739e-02 7.64656528e+01] [ 7.08543302e-02 9.97486592e-01 -4.04480878e-04 1.03919026e+00] [ 1.87459683e-02 -9.26151198e-04 9.99823850e-01 6.32676958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91925415399999 meters Centerline goodness [0,1] 0.9991193676220829 Centerline is valid? [True, True] Translation: X:76.50, Y:1.04, Z:0.63 [[ 9.97129843e-01 -7.36532675e-02 -1.75291891e-02 7.64965303e+01] [ 7.36579825e-02 9.97283490e-01 -3.77382504e-04 1.04130978e+00] [ 1.75093663e-02 -9.14865345e-04 9.99846281e-01 6.34394981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94925415399999 meters Centerline goodness [0,1] 0.998848264019768 Centerline is valid? [True, True] Translation: X:76.53, Y:1.04, Z:0.63 [[ 9.97029726e-01 -7.51185780e-02 -1.69977899e-02 7.65274894e+01] [ 7.51232337e-02 9.97174191e-01 -3.65349994e-04 1.03968923e+00] [ 1.69772020e-02 -9.12664141e-04 9.99855460e-01 6.34423366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97925415399999 meters Centerline goodness [0,1] 0.9985965941224524 Centerline is valid? [True, True] Translation: X:76.56, Y:1.04, Z:0.63 [[ 9.96857849e-01 -7.74005517e-02 -1.68399239e-02 7.65586894e+01] [ 7.74054591e-02 9.96999631e-01 -3.61169754e-04 1.04016310e+00] [ 1.68173526e-02 -9.43467134e-04 9.99858133e-01 6.34528137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00925415399999 meters Centerline goodness [0,1] 0.9985727778360793 Centerline is valid? [True, True] Translation: X:76.59, Y:1.04, Z:0.64 [[ 9.96786824e-01 -7.83099520e-02 -1.68398287e-02 7.65906859e+01] [ 7.83150037e-02 9.96928598e-01 -3.60272079e-04 1.04257757e+00] [ 1.68163197e-02 -9.59696789e-04 9.99858135e-01 6.35079594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03925415399998 meters Centerline goodness [0,1] 0.9985290409346894 Centerline is valid? [True, True] Translation: X:76.62, Y:1.04, Z:0.64 [[ 9.96709849e-01 -7.91890895e-02 -1.72790161e-02 7.66232569e+01] [ 7.91945623e-02 9.96859110e-01 -3.68365275e-04 1.04384969e+00] [ 1.72539152e-02 -1.00125082e-03 9.99850639e-01 6.35104956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06925415399998 meters Centerline goodness [0,1] 0.998675580221998 Centerline is valid? [True, True] Translation: X:76.65, Y:1.04, Z:0.63 [[ 9.96605480e-01 -8.03727057e-02 -1.78254148e-02 7.66542663e+01] [ 8.03787401e-02 9.96764323e-01 -3.78824258e-04 1.04099296e+00] [ 1.77981846e-02 -1.05524605e-03 9.99841043e-01 6.34847717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09925415399998 meters Centerline goodness [0,1] 0.9989052401103181 Centerline is valid? [True, True] Translation: X:76.69, Y:1.04, Z:0.64 [[ 9.96616275e-01 -8.02817321e-02 -1.76307548e-02 7.66875027e+01] [ 8.02876461e-02 9.96771666e-01 -3.73275569e-04 1.04345655e+00] [ 1.76038040e-02 -1.04351929e-03 9.99844496e-01 6.35144710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12925415399998 meters Centerline goodness [0,1] 0.9984212520523723 Centerline is valid? [True, True] Translation: X:76.72, Y:1.05, Z:0.63 [[ 9.96646187e-01 -7.97239222e-02 -1.84519533e-02 7.67196089e+01] [ 7.97303365e-02 9.96816393e-01 -3.88944363e-04 1.04623830e+00] [ 1.84242177e-02 -1.08354053e-03 9.99829673e-01 6.34686218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15925415399998 meters Centerline goodness [0,1] 0.9986961093585699 Centerline is valid? [True, True] Translation: X:76.75, Y:1.05, Z:0.63 [[ 9.96745135e-01 -7.84272890e-02 -1.86627018e-02 7.67509307e+01] [ 7.84336602e-02 9.96919258e-01 -3.91452701e-04 1.04771913e+00] [ 1.86359074e-02 -1.07360544e-03 9.99825760e-01 6.34950344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18925415399998 meters Centerline goodness [0,1] 0.9988426169482966 Centerline is valid? [True, True] Translation: X:76.78, Y:1.05, Z:0.64 [[ 9.96872128e-01 -7.68165644e-02 -1.85789039e-02 7.67823992e+01] [ 7.68226290e-02 9.97044700e-01 -3.88112135e-04 1.05051167e+00] [ 1.85538111e-02 -1.04038207e-03 9.99827322e-01 6.35406781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21925415399998 meters Centerline goodness [0,1] 0.9986508990493054 Centerline is valid? [True, True] Translation: X:76.81, Y:1.06, Z:0.64 [[ 9.97227587e-01 -7.19514792e-02 -1.89769594e-02 7.68133261e+01] [ 7.19569363e-02 9.97407661e-01 -3.95987330e-04 1.06295937e+00] [ 1.89562566e-02 -9.70634370e-04 9.99819843e-01 6.36797350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24925415399998 meters Centerline goodness [0,1] 0.9987796410461421 Centerline is valid? [True, True] Translation: X:76.84, Y:1.07, Z:0.64 [[ 9.97431203e-01 -6.88306391e-02 -1.98327500e-02 7.68448638e+01] [ 6.88359977e-02 9.97627904e-01 -4.13164457e-04 1.06745801e+00] [ 1.98141432e-02 -9.53104012e-04 9.99803226e-01 6.37251448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27925415399999 meters Centerline goodness [0,1] 0.9987743803224648 Centerline is valid? [True, True] Translation: X:76.88, Y:1.07, Z:0.64 [[ 9.97678004e-01 -6.51477019e-02 -1.98589322e-02 7.68763928e+01] [ 6.51523682e-02 9.97875242e-01 -4.12617985e-04 1.07308429e+00] [ 1.98436179e-02 -8.82196577e-04 9.99802707e-01 6.37800245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30925415399999 meters Centerline goodness [0,1] 0.9988138106333404 Centerline is valid? [True, True] Translation: X:76.91, Y:1.08, Z:0.64 [[ 9.98156736e-01 -5.74026219e-02 -1.96994537e-02 7.69062626e+01] [ 5.74057172e-02 9.98350848e-01 -4.08791634e-04 1.08284943e+00] [ 1.96904321e-02 -7.22823146e-04 9.99805863e-01 6.38993725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33925415399999 meters Centerline goodness [0,1] 0.998918414522936 Centerline is valid? [True, True] Translation: X:76.94, Y:1.09, Z:0.64 [[ 9.98390396e-01 -5.33130887e-02 -1.93476367e-02 7.69374706e+01] [ 5.33153145e-02 9.98577647e-01 -4.01118665e-04 1.08803277e+00] [ 1.93415024e-02 -6.31052313e-04 9.99812736e-01 6.39806961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36925415399999 meters Centerline goodness [0,1] 0.998961512377077 Centerline is valid? [True, True] Translation: X:76.97, Y:1.10, Z:0.64 [[ 9.98801355e-01 -4.54437148e-02 -1.81857670e-02 7.69667080e+01] [ 4.54443804e-02 9.98966799e-01 -3.76865766e-04 1.09597259e+00] [ 1.81841037e-02 -4.50026876e-04 9.99834554e-01 6.41084026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39925415399998 meters Centerline goodness [0,1] 0.9986600876260155 Centerline is valid? [True, True] Translation: X:77.00, Y:1.10, Z:0.64 [[ 9.98980176e-01 -4.15557933e-02 -1.76557227e-02 7.69977368e+01] [ 4.15558161e-02 9.99136117e-01 -3.65745876e-04 1.10119573e+00] [ 1.76556691e-02 -3.68325085e-04 9.99844059e-01 6.42240710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42925415399998 meters Centerline goodness [0,1] 0.9988932638075981 Centerline is valid? [True, True] Translation: X:77.03, Y:1.11, Z:0.64 [[ 9.99157408e-01 -3.74391243e-02 -1.68162598e-02 7.70283481e+01] [ 3.74385720e-02 9.99298870e-01 -3.47763512e-04 1.10520930e+00] [ 1.68174894e-02 -2.82106265e-04 9.99858536e-01 6.43190466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45925415399998 meters Centerline goodness [0,1] 0.9988510393838167 Centerline is valid? [True, True] Translation: X:77.06, Y:1.11, Z:0.64 [[ 9.99297574e-01 -3.36540168e-02 -1.64853274e-02 7.70601458e+01] [ 3.36529820e-02 9.99433520e-01 -3.40255644e-04 1.10968373e+00] [ 1.64874398e-02 -2.14763787e-04 9.99864050e-01 6.43754614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48925415399998 meters Centerline goodness [0,1] 0.9992537313432835 Centerline is valid? [True, True] Translation: X:77.09, Y:1.12, Z:0.64 [[ 9.99509868e-01 -2.67277355e-02 -1.62988219e-02 7.70911706e+01] [ 2.67258142e-02 9.99642745e-01 -3.35720730e-04 1.11768081e+00] [ 1.63019721e-02 -1.00043102e-04 9.99867109e-01 6.44383060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51925415399998 meters Centerline goodness [0,1] 0.9991456095008223 Centerline is valid? [True, True] Translation: X:77.12, Y:1.12, Z:0.64 [[ 9.99570926e-01 -2.42277021e-02 -1.64615628e-02 7.71217096e+01] [ 2.42254110e-02 9.99706464e-01 -3.38601554e-04 1.12070090e+00] [ 1.64649343e-02 -6.03318541e-05 9.99864442e-01 6.43634080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54925415399998 meters Centerline goodness [0,1] 0.9990593667828206 Centerline is valid? [True, True] Translation: X:77.15, Y:1.12, Z:0.64 [[ 9.99630896e-01 -2.09506742e-02 -1.72956701e-02 7.71518735e+01] [ 2.09476576e-02 9.99780511e-01 -3.55581202e-04 1.12444256e+00] [ 1.72993236e-02 -6.85382012e-06 9.99850355e-01 6.43475197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57925415399998 meters Centerline goodness [0,1] 0.9991220932722368 Centerline is valid? [True, True] Translation: X:77.18, Y:1.13, Z:0.64 [[ 9.99646863e-01 -2.02546980e-02 -1.72016612e-02 7.71812857e+01] [ 2.02516063e-02 9.99794853e-01 -3.53927625e-04 1.12560358e+00] [ 1.72053010e-02 5.44136999e-06 9.99851978e-01 6.43345004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60925415399998 meters Centerline goodness [0,1] 0.9992296993687815 Centerline is valid? [True, True] Translation: X:77.21, Y:1.13, Z:0.64 [[ 9.99613919e-01 -2.14122818e-02 -1.77066998e-02 7.72101918e+01] [ 2.14091442e-02 9.99770731e-01 -3.66763686e-04 1.12613460e+00] [ 1.77104934e-02 -1.24632030e-05 9.99843157e-01 6.43466636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63925415399999 meters Centerline goodness [0,1] 0.999100584619997 Centerline is valid? [True, True] Translation: X:77.24, Y:1.13, Z:0.64 [[ 9.99581244e-01 -2.26835802e-02 -1.79664268e-02 7.72391609e+01] [ 2.26805038e-02 9.99742694e-01 -3.74997562e-04 1.12600079e+00] [ 1.79703103e-02 -3.26470823e-05 9.99838520e-01 6.43310828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66925415399999 meters Centerline goodness [0,1] 0.9989946954140999 Centerline is valid? [True, True] Translation: X:77.27, Y:1.13, Z:0.64 [[ 9.99542665e-01 -2.46126583e-02 -1.75692462e-02 7.72690031e+01] [ 2.46100005e-02 9.99697061e-01 -3.67501143e-04 1.12594201e+00] [ 1.75729690e-02 -6.50460863e-05 9.99845581e-01 6.44401341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69925415399999 meters Centerline goodness [0,1] 0.9990384820837162 Centerline is valid? [True, True] Translation: X:77.30, Y:1.12, Z:0.64 [[ 9.99451951e-01 -2.85522446e-02 -1.67501082e-02 7.72982538e+01] [ 2.85503719e-02 9.99592293e-01 -3.50969941e-04 1.12357906e+00] [ 1.67533000e-02 -1.27444225e-04 9.99859645e-01 6.44790615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72925415399999 meters Centerline goodness [0,1] 0.9990599294947121 Centerline is valid? [True, True] Translation: X:77.33, Y:1.12, Z:0.65 [[ 9.99409603e-01 -3.04429167e-02 -1.59271819e-02 7.73289336e+01] [ 3.04414602e-02 9.99536496e-01 -3.33935146e-04 1.12214603e+00] [ 1.59299656e-02 -1.51108682e-04 9.99873099e-01 6.45034017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75925415399999 meters Centerline goodness [0,1] 0.9992748832348739 Centerline is valid? [True, True] Translation: X:77.36, Y:1.12, Z:0.65 [[ 9.99347803e-01 -3.25513305e-02 -1.56326352e-02 7.73615838e+01] [ 3.25501950e-02 9.99470048e-01 -3.27133686e-04 1.12168487e+00] [ 1.56349993e-02 -1.81924993e-04 9.99877749e-01 6.46244986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78925415399998 meters Centerline goodness [0,1] 0.9991268607449368 Centerline is valid? [True, True] Translation: X:77.39, Y:1.12, Z:0.65 [[ 9.99217074e-01 -3.67786327e-02 -1.45798435e-02 7.73941584e+01] [ 3.67781098e-02 9.99323410e-01 -3.04081234e-04 1.11923500e+00] [ 1.45811626e-02 -2.32375924e-04 9.99893662e-01 6.47363687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81925415399998 meters Centerline goodness [0,1] 0.9990844830522909 Centerline is valid? [True, True] Translation: X:77.43, Y:1.12, Z:0.65 [[ 9.99131861e-01 -3.90084566e-02 -1.46241343e-02 7.74265129e+01] [ 3.90081850e-02 9.99238845e-01 -3.03924945e-04 1.11828376e+00] [ 1.46248587e-02 -2.66799842e-04 9.99893015e-01 6.48063215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84925415399998 meters Centerline goodness [0,1] 0.9989557359930098 Centerline is valid? [True, True] Translation: X:77.46, Y:1.12, Z:0.65 [[ 9.98966462e-01 -4.31518086e-02 -1.42804038e-02 7.74591072e+01] [ 4.31519876e-02 9.99068475e-01 -2.95739803e-04 1.11536939e+00] [ 1.42798630e-02 -3.20793664e-04 9.99897986e-01 6.48265905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87925415399998 meters Centerline goodness [0,1] 0.9988280667362724 Centerline is valid? [True, True] Translation: X:77.49, Y:1.11, Z:0.65 [[ 9.98871903e-01 -4.53364092e-02 -1.41255775e-02 7.74900741e+01] [ 4.53368160e-02 9.98971715e-01 -2.91581898e-04 1.11291984e+00] [ 1.41242716e-02 -3.49155742e-04 9.99900187e-01 6.48216993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90925415399998 meters Centerline goodness [0,1] 0.9988083331560019 Centerline is valid? [True, True] Translation: X:77.52, Y:1.11, Z:0.65 [[ 9.98724483e-01 -4.84033368e-02 -1.43709156e-02 7.75218876e+01] [ 4.84040866e-02 9.98827791e-01 -2.95847296e-04 1.10953504e+00] [ 1.43683899e-02 -4.00141105e-04 9.99896689e-01 6.48041794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93925415399998 meters Centerline goodness [0,1] 0.998958355477137 Centerline is valid? [True, True] Translation: X:77.55, Y:1.11, Z:0.65 [[ 9.98663276e-01 -4.95351850e-02 -1.47623535e-02 7.75536210e+01] [ 4.95361119e-02 9.98772287e-01 -3.03084189e-04 1.11034299e+00] [ 1.47592429e-02 -4.28590544e-04 9.99890985e-01 6.48516447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96925415399998 meters Centerline goodness [0,1] 0.9989782233859122 Centerline is valid? [True, True] Translation: X:77.58, Y:1.11, Z:0.65 [[ 9.98626312e-01 -5.02914742e-02 -1.47056940e-02 7.75847627e+01] [ 5.02924879e-02 9.98734487e-01 -3.01105660e-04 1.10835854e+00] [ 1.47022268e-02 -4.38893903e-04 9.99891820e-01 6.48223023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99925415399998 meters Centerline goodness [0,1] 0.9989782233859122 Centerline is valid? [True, True] Translation: X:77.62, Y:1.11, Z:0.65 [[ 9.98629945e-01 -5.02192684e-02 -1.47057124e-02 7.76164638e+01] [ 5.02202876e-02 9.98738120e-01 -3.00201978e-04 1.10894549e+00] [ 1.47022315e-02 -4.38734423e-04 9.99891820e-01 6.48519910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02925415399999 meters Centerline goodness [0,1] 0.9988962003820845 Centerline is valid? [True, True] Translation: X:77.65, Y:1.11, Z:0.65 [[ 9.98636962e-01 -4.98830736e-02 -1.53589480e-02 7.76488136e+01] [ 4.98841633e-02 9.98754961e-01 -3.12385945e-04 1.10978514e+00] [ 1.53554083e-02 -4.54208119e-04 9.99881996e-01 6.48590832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05925415399999 meters Centerline goodness [0,1] 0.9987884198444076 Centerline is valid? [True, True] Translation: X:77.68, Y:1.11, Z:0.65 [[ 9.98697774e-01 -4.86087355e-02 -1.54902147e-02 7.76798523e+01] [ 4.86097068e-02 9.98817800e-01 -3.14018864e-04 1.10812935e+00] [ 1.54871663e-02 -4.39364856e-04 9.99879970e-01 6.47906863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08925415399999 meters Centerline goodness [0,1] 0.9987882910652409 Centerline is valid? [True, True] Translation: X:77.71, Y:1.11, Z:0.65 [[ 9.98898190e-01 -4.39035655e-02 -1.65796180e-02 7.77117641e+01] [ 4.39040462e-02 9.99035696e-01 -3.35162842e-04 1.11233443e+00] [ 1.65783451e-02 -3.93118758e-04 9.99862493e-01 6.47291993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11925415399999 meters Centerline goodness [0,1] 0.9989786582122263 Centerline is valid? [True, True] Translation: X:77.74, Y:1.12, Z:0.65 [[ 9.99043346e-01 -4.03961348e-02 -1.67495084e-02 7.77442577e+01] [ 4.03961527e-02 9.99183685e-01 -3.37398567e-04 1.11642272e+00] [ 1.67494652e-02 -3.39539907e-04 9.99859660e-01 6.48001589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14925415399998 meters Centerline goodness [0,1] 0.9989566920751182 Centerline is valid? [True, True] Translation: X:77.78, Y:1.12, Z:0.65 [[ 9.99186124e-01 -3.65116008e-02 -1.71462042e-02 7.77751035e+01] [ 3.65110682e-02 9.99333189e-01 -3.44205987e-04 1.11855065e+00] [ 1.71473384e-02 -2.82100384e-04 9.99852934e-01 6.47972677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17925415399998 meters Centerline goodness [0,1] 0.999019357039311 Centerline is valid? [True, True] Translation: X:77.81, Y:1.13, Z:0.65 [[ 9.99462459e-01 -2.79847771e-02 -1.70776094e-02 7.78062740e+01] [ 2.79830147e-02 9.99608340e-01 -3.42200019e-04 1.12529813e+00] [ 1.70804972e-02 -1.35866922e-04 9.99854108e-01 6.48970942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20925415399998 meters Centerline goodness [0,1] 0.9989972263708129 Centerline is valid? [True, True] Translation: X:77.84, Y:1.13, Z:0.65 [[ 9.99571025e-01 -2.38146696e-02 -1.70478122e-02 7.78377266e+01] [ 2.38123175e-02 9.99716388e-01 -3.40976589e-04 1.12844849e+00] [ 1.70510975e-02 -6.51175977e-05 9.99854617e-01 6.49404391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23925415399998 meters Centerline goodness [0,1] 0.9988690438085484 Centerline is valid? [True, True] Translation: X:77.87, Y:1.13, Z:0.65 [[ 9.99701208e-01 -1.73225286e-02 -1.72460252e-02 7.78673768e+01] [ 1.73191564e-02 9.99849953e-01 -3.44882037e-04 1.13256055e+00] [ 1.72494117e-02 4.60923824e-05 9.99851217e-01 6.49723370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26925415399998 meters Centerline goodness [0,1] 0.9988671582772256 Centerline is valid? [True, True] Translation: X:77.90, Y:1.13, Z:0.65 [[ 9.99727475e-01 -1.55312002e-02 -1.74286443e-02 7.78961024e+01] [ 1.55274420e-02 9.99879380e-01 -3.50940497e-04 1.13433300e+00] [ 1.74319926e-02 8.02225930e-05 9.99848048e-01 6.49810799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29925415399998 meters Centerline goodness [0,1] 0.9990166107274943 Centerline is valid? [True, True] Translation: X:77.92, Y:1.14, Z:0.65 [[ 9.99747521e-01 -1.41852564e-02 -1.74261909e-02 7.79237546e+01] [ 1.41812405e-02 9.99899378e-01 -3.54012292e-04 1.13548302e+00] [ 1.74294592e-02 1.06797908e-04 9.99848090e-01 6.49947785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32925415399998 meters Centerline goodness [0,1] 0.9988690196747898 Centerline is valid? [True, True] Translation: X:77.95, Y:1.14, Z:0.65 [[ 9.99759796e-01 -1.33225284e-02 -1.74028648e-02 7.79515118e+01] [ 1.33183652e-02 9.99911244e-01 -3.55102364e-04 1.13546028e+00] [ 1.74060511e-02 1.23239357e-04 9.99848496e-01 6.50326311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35925415399998 meters Centerline goodness [0,1] 0.9991887449029696 Centerline is valid? [True, True] Translation: X:77.98, Y:1.13, Z:0.65 [[ 9.99738942e-01 -1.43480632e-02 -1.77815009e-02 7.79796532e+01] [ 1.43438201e-02 9.99897055e-01 -3.66148942e-04 1.13472116e+00] [ 1.77849239e-02 1.10998706e-04 9.99841830e-01 6.51059149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38925415399999 meters Centerline goodness [0,1] 0.9989355587252251 Centerline is valid? [True, True] Translation: X:78.01, Y:1.13, Z:0.65 [[ 9.99714675e-01 -1.59208000e-02 -1.78072283e-02 7.80067719e+01] [ 1.59167149e-02 9.99873252e-01 -3.71125102e-04 1.13392255e+00] [ 1.78108799e-02 8.75866354e-05 9.99841370e-01 6.50819350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41925415399999 meters Centerline goodness [0,1] 0.9988720284333965 Centerline is valid? [True, True] Translation: X:78.04, Y:1.13, Z:0.65 [[ 9.99613053e-01 -2.04515783e-02 -1.88541052e-02 7.80350241e+01] [ 2.04477471e-02 9.99790845e-01 -3.95980352e-04 1.13030626e+00] [ 1.88582602e-02 1.03031519e-05 9.99822167e-01 6.50598109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44925415399999 meters Centerline goodness [0,1] 0.9987717069038543 Centerline is valid? [True, True] Translation: X:78.06, Y:1.13, Z:0.65 [[ 9.99538581e-01 -2.37509151e-02 -1.89346020e-02 7.80626371e+01] [ 2.37475703e-02 9.99717906e-01 -4.01505206e-04 1.12836224e+00] [ 1.89387968e-02 -4.83308495e-05 9.99820644e-01 6.50339947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47925415399999 meters Centerline goodness [0,1] 0.9989162770930726 Centerline is valid? [True, True] Translation: X:78.09, Y:1.13, Z:0.65 [[ 9.99434457e-01 -2.74932245e-02 -1.93620657e-02 7.80915359e+01] [ 2.74903256e-02 9.99621983e-01 -4.15917114e-04 1.12575811e+00] [ 1.93661814e-02 -1.16587594e-04 9.99812451e-01 6.50419616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50925415399999 meters Centerline goodness [0,1] 0.9988140618382042 Centerline is valid? [True, True] Translation: X:78.12, Y:1.12, Z:0.65 [[ 9.99211117e-01 -3.49968456e-02 -1.87713943e-02 7.81213040e+01] [ 3.49953945e-02 9.99387391e-01 -4.05880200e-04 1.11973878e+00] [ 1.87740993e-02 -2.51352341e-04 9.99823719e-01 6.50371645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53925415399998 meters Centerline goodness [0,1] 0.9987942122186495 Centerline is valid? [True, True] Translation: X:78.15, Y:1.12, Z:0.65 [[ 9.99081789e-01 -3.86893012e-02 -1.84042486e-02 7.81530194e+01] [ 3.86885326e-02 9.99251239e-01 -3.97942297e-04 1.11750088e+00] [ 1.84058643e-02 -3.14456469e-04 9.99830548e-01 6.51202407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56925415399998 meters Centerline goodness [0,1] 0.9988578680203045 Centerline is valid? [True, True] Translation: X:78.18, Y:1.11, Z:0.65 [[ 9.98784462e-01 -4.59559426e-02 -1.78227179e-02 7.81846173e+01] [ 4.59563892e-02 9.98943373e-01 -3.84723408e-04 1.11239036e+00] [ 1.78215663e-02 -4.34811998e-04 9.99841089e-01 6.52802403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59925415399998 meters Centerline goodness [0,1] 0.9987776349343506 Centerline is valid? [True, True] Translation: X:78.22, Y:1.11, Z:0.65 [[ 9.98647603e-01 -4.90416115e-02 -1.72593465e-02 7.82164529e+01] [ 4.90425040e-02 9.98796623e-01 -3.71793699e-04 1.11001407e+00] [ 1.72568103e-02 -4.75150681e-04 9.99850977e-01 6.53532934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62925415399998 meters Centerline goodness [0,1] 0.998817467691528 Centerline is valid? [True, True] Translation: X:78.25, Y:1.11, Z:0.65 [[ 9.98491116e-01 -5.22817730e-02 -1.67960320e-02 7.82488339e+01] [ 5.22830937e-02 9.98632239e-01 -3.60764897e-04 1.10793547e+00] [ 1.67919205e-02 -5.17927972e-04 9.99858872e-01 6.54166758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65925415399998 meters Centerline goodness [0,1] 0.998882917061861 Centerline is valid? [True, True] Translation: X:78.28, Y:1.11, Z:0.65 [[ 9.98330775e-01 -5.54186570e-02 -1.62614769e-02 7.82807889e+01] [ 5.54203296e-02 9.98463052e-01 -3.48108544e-04 1.10605238e+00] [ 1.62557756e-02 -5.53688939e-04 9.99867713e-01 6.54617925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68925415399998 meters Centerline goodness [0,1] 0.9986946543992252 Centerline is valid? [True, True] Translation: X:78.31, Y:1.10, Z:0.65 [[ 9.97955714e-01 -6.20021123e-02 -1.54961458e-02 7.83111964e+01] [ 6.20044343e-02 9.98075819e-01 -3.31020870e-04 1.10064271e+00] [ 1.54868524e-02 -6.30485585e-04 9.99879873e-01 6.54589190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71925415399998 meters Centerline goodness [0,1] 0.9986504723346828 Centerline is valid? [True, True] Translation: X:78.34, Y:1.10, Z:0.65 [[ 9.97765182e-01 -6.49919236e-02 -1.55142659e-02 7.83417910e+01] [ 6.49946145e-02 9.97885560e-01 -3.31225391e-04 1.09751003e+00] [ 1.55029889e-02 -6.77858572e-04 9.99879592e-01 6.54637951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74925415399998 meters Centerline goodness [0,1] 0.9986938293972655 Centerline is valid? [True, True] Translation: X:78.37, Y:1.09, Z:0.66 [[ 9.97400505e-01 -7.05053152e-02 -1.48738926e-02 7.83720442e+01] [ 7.05084028e-02 9.97511135e-01 -3.17364728e-04 1.09482952e+00] [ 1.48592494e-02 -7.32194668e-04 9.99889327e-01 6.55269107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77925415399999 meters Centerline goodness [0,1] 0.9989250258204583 Centerline is valid? [True, True] Translation: X:78.40, Y:1.09, Z:0.66 [[ 9.97225636e-01 -7.29360493e-02 -1.48782856e-02 7.84019593e+01] [ 7.29394091e-02 9.97336323e-01 -3.17415696e-04 1.09243697e+00] [ 1.48618057e-02 -7.68678289e-04 9.99889262e-01 6.55902046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80925415399999 meters Centerline goodness [0,1] 0.9987552480010127 Centerline is valid? [True, True] Translation: X:78.43, Y:1.09, Z:0.66 [[ 9.97092110e-01 -7.46900968e-02 -1.51232849e-02 7.84340160e+01] [ 7.46937757e-02 9.97206466e-01 -3.22218913e-04 1.09364441e+00] [ 1.51051041e-02 -8.08333317e-04 9.99885585e-01 6.56148675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83925415399999 meters Centerline goodness [0,1] 0.9986122500473097 Centerline is valid? [True, True] Translation: X:78.46, Y:1.09, Z:0.66 [[ 9.96846982e-01 -7.77694286e-02 -1.57483636e-02 7.84639944e+01] [ 7.77738205e-02 9.96970973e-01 -3.34301338e-04 1.09036433e+00] [ 1.57266598e-02 -8.91563122e-04 9.99875931e-01 6.55484545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86925415399999 meters Centerline goodness [0,1] 0.9987787416828098 Centerline is valid? [True, True] Translation: X:78.50, Y:1.09, Z:0.66 [[ 9.96742209e-01 -7.90353122e-02 -1.60744671e-02 7.84963834e+01] [ 7.90400722e-02 9.96871382e-01 -3.39964582e-04 1.08990030e+00] [ 1.60510455e-02 -9.31669994e-04 9.99870740e-01 6.55787109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89925415399998 meters Centerline goodness [0,1] 0.9986567038871631 Centerline is valid? [True, True] Translation: X:78.53, Y:1.09, Z:0.66 [[ 9.96649386e-01 -8.01766710e-02 -1.61772091e-02 7.85277651e+01] [ 8.01816587e-02 9.96780209e-01 -3.41092883e-04 1.08879824e+00] [ 1.61524696e-02 -9.57165446e-04 9.99869082e-01 6.55572510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92925415399998 meters Centerline goodness [0,1] 0.998588165879973 Centerline is valid? [True, True] Translation: X:78.56, Y:1.09, Z:0.66 [[ 9.96502274e-01 -8.18213291e-02 -1.69849096e-02 7.85597054e+01] [ 8.18270839e-02 9.96646477e-01 -3.57033333e-04 1.09289547e+00] [ 1.69571633e-02 -1.03404109e-03 9.99855682e-01 6.55649322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95925415399998 meters Centerline goodness [0,1] 0.9986113156731963 Centerline is valid? [True, True] Translation: X:78.59, Y:1.09, Z:0.66 [[ 9.96492479e-01 -8.18394181e-02 -1.74656482e-02 7.85910940e+01] [ 8.18455385e-02 9.96644959e-01 -3.65287946e-04 1.09172456e+00] [ 1.74369452e-02 -1.06547869e-03 9.99847397e-01 6.55093030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98925415399998 meters Centerline goodness [0,1] 0.998564128552726 Centerline is valid? [True, True] Translation: X:78.62, Y:1.09, Z:0.66 [[ 9.96560271e-01 -8.08443881e-02 -1.82156580e-02 7.86228427e+01] [ 8.08509165e-02 9.96726134e-01 -3.78963678e-04 1.09401705e+00] [ 1.81866594e-02 -1.09509250e-03 9.99834009e-01 6.55060545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01925415399998 meters Centerline goodness [0,1] 0.9987134601594466 Centerline is valid? [True, True] Translation: X:78.66, Y:1.10, Z:0.66 [[ 9.96655185e-01 -7.96732671e-02 -1.81827386e-02 7.86553047e+01] [ 7.96796014e-02 9.96820455e-01 -3.76976050e-04 1.09622567e+00] [ 1.81549607e-02 -1.07307823e-03 9.99834609e-01 6.55583254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04925415399998 meters Centerline goodness [0,1] 0.9986109941914303 Centerline is valid? [True, True] Translation: X:78.69, Y:1.10, Z:0.66 [[ 9.96780387e-01 -7.81423862e-02 -1.79618564e-02 7.86871283e+01] [ 7.81483400e-02 9.96941673e-01 -3.71265345e-04 1.09996002e+00] [ 1.79359347e-02 -1.03361925e-03 9.99838604e-01 6.56306819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07925415399998 meters Centerline goodness [0,1] 0.9985403621594179 Centerline is valid? [True, True] Translation: X:78.72, Y:1.11, Z:0.66 [[ 9.97120650e-01 -7.39611166e-02 -1.67380295e-02 7.87181825e+01] [ 7.39657094e-02 9.97260725e-01 -3.45355879e-04 1.10864600e+00] [ 1.67177223e-02 -8.93678744e-04 9.99859850e-01 6.58393728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10925415399998 meters Centerline goodness [0,1] 0.998709568234224 Centerline is valid? [True, True] Translation: X:78.75, Y:1.11, Z:0.66 [[ 9.97358399e-01 -7.08822515e-02 -1.58723074e-02 7.87491256e+01] [ 7.08859988e-02 9.97484370e-01 -3.27087554e-04 1.10881353e+00] [ 1.58555632e-02 -7.98900843e-04 9.99873973e-01 6.58980550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13925415399999 meters Centerline goodness [0,1] 0.9986887187513218 Centerline is valid? [True, True] Translation: X:78.78, Y:1.12, Z:0.66 [[ 9.97855080e-01 -6.37550777e-02 -1.48502308e-02 7.87792400e+01] [ 6.37575748e-02 9.97965369e-01 -3.05704361e-04 1.11857775e+00] [ 1.48395063e-02 -6.41766054e-04 9.99889683e-01 6.60963006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16925415399999 meters Centerline goodness [0,1] 0.9987297554779295 Centerline is valid? [True, True] Translation: X:78.81, Y:1.12, Z:0.66 [[ 9.98113120e-01 -5.97065097e-02 -1.43293908e-02 7.88110837e+01] [ 5.97084218e-02 9.98215817e-01 -2.94716801e-04 1.12314820e+00] [ 1.43214210e-02 -5.61424602e-04 9.99897286e-01 6.62133623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19925415399999 meters Centerline goodness [0,1] 0.9987288135593221 Centerline is valid? [True, True] Translation: X:78.84, Y:1.13, Z:0.66 [[ 9.98357120e-01 -5.55587331e-02 -1.40102528e-02 7.88427481e+01] [ 5.55601636e-02 9.98455300e-01 -2.87396823e-04 1.12842438e+00] [ 1.40045785e-02 -4.91487272e-04 9.99901810e-01 6.62675956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22925415399999 meters Centerline goodness [0,1] 0.9988125781896058 Centerline is valid? [True, True] Translation: X:78.87, Y:1.13, Z:0.66 [[ 9.98798158e-01 -4.70233840e-02 -1.38217742e-02 7.88718963e+01] [ 4.70239659e-02 9.98893721e-01 -2.83067680e-04 1.13437593e+00] [ 1.38197942e-02 -3.67227161e-04 9.99904435e-01 6.62798511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25925415399999 meters Centerline goodness [0,1] 0.9988581095369 Centerline is valid? [True, True] Translation: X:78.90, Y:1.14, Z:0.66 [[ 9.98988630e-01 -4.27564933e-02 -1.39140357e-02 7.89036515e+01] [ 4.27566712e-02 9.99085475e-01 -2.84823749e-04 1.13877853e+00] [ 1.39134890e-02 -3.10382163e-04 9.99903155e-01 6.63003184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28925415399998 meters Centerline goodness [0,1] 0.9985590778097982 Centerline is valid? [True, True] Translation: X:78.94, Y:1.14, Z:0.66 [[ 9.99141527e-01 -3.88790571e-02 -1.43048153e-02 7.89363115e+01] [ 3.88788617e-02 9.99243889e-01 -2.91854878e-04 1.14390037e+00] [ 1.43053463e-02 -2.64550608e-04 9.99897638e-01 6.62975923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31925415399998 meters Centerline goodness [0,1] 0.9988940876222884 Centerline is valid? [True, True] Translation: X:78.97, Y:1.15, Z:0.66 [[ 9.99382938e-01 -3.15965729e-02 -1.53427252e-02 7.89665859e+01] [ 3.15955058e-02 9.99500689e-01 -3.12001700e-04 1.15012527e+00] [ 1.53449226e-02 -1.72951988e-04 9.99882245e-01 6.62698721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34925415399998 meters Centerline goodness [0,1] 0.9989988497422571 Centerline is valid? [True, True] Translation: X:79.00, Y:1.15, Z:0.66 [[ 9.99477346e-01 -2.83760065e-02 -1.54866499e-02 7.89983739e+01] [ 2.83745397e-02 9.99597312e-01 -3.14478806e-04 1.15334421e+00] [ 1.54893372e-02 -1.25112119e-04 9.99880025e-01 6.63228765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37925415399998 meters Centerline goodness [0,1] 0.9990401842846174 Centerline is valid? [True, True] Translation: X:79.03, Y:1.16, Z:0.66 [[ 9.99599839e-01 -2.36148711e-02 -1.55723886e-02 7.90285071e+01] [ 2.36128186e-02 9.99721129e-01 -3.15680791e-04 1.15743895e+00] [ 1.55755006e-02 -5.21535183e-05 9.99878693e-01 6.63053233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40925415399998 meters Centerline goodness [0,1] 0.9989120232101715 Centerline is valid? [True, True] Translation: X:79.06, Y:1.16, Z:0.66 [[ 9.99639716e-01 -2.17603099e-02 -1.57138960e-02 7.90592809e+01] [ 2.17579952e-02 9.99763216e-01 -3.18268972e-04 1.15923612e+00] [ 1.57171009e-02 -2.37485702e-05 9.99876478e-01 6.63258639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43925415399998 meters Centerline goodness [0,1] 0.9988915179808574 Centerline is valid? [True, True] Translation: X:79.09, Y:1.16, Z:0.66 [[ 9.99680160e-01 -2.02620207e-02 -1.51336548e-02 7.90899899e+01] [ 2.02597045e-02 9.99794704e-01 -3.06358258e-04 1.16069082e+00] [ 1.51367554e-02 -3.43101868e-07 9.99885433e-01 6.63654774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46925415399998 meters Centerline goodness [0,1] 0.9989124176316294 Centerline is valid? [True, True] Translation: X:79.12, Y:1.16, Z:0.66 [[ 9.99725097e-01 -1.79945435e-02 -1.50308587e-02 7.91196696e+01] [ 1.79920010e-02 9.99838085e-01 -3.04375373e-04 1.16258428e+00] [ 1.50339021e-02 3.38564749e-05 9.99886984e-01 6.64393017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49925415399998 meters Centerline goodness [0,1] 0.9990829210032418 Centerline is valid? [True, True] Translation: X:79.15, Y:1.16, Z:0.66 [[ 9.99744764e-01 -1.71762519e-02 -1.46759289e-02 7.91490860e+01] [ 1.71737348e-02 9.99852476e-01 -2.97528516e-04 1.16339587e+00] [ 1.46788742e-02 4.54120649e-05 9.99892258e-01 6.64767415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52925415399999 meters Centerline goodness [0,1] 0.9991275853264108 Centerline is valid? [True, True] Translation: X:79.18, Y:1.16, Z:0.66 [[ 9.99759904e-01 -1.64098629e-02 -1.45206846e-02 7.91773299e+01] [ 1.64073095e-02 9.99865348e-01 -2.94962668e-04 1.16383538e+00] [ 1.45235696e-02 5.66464824e-05 9.99894526e-01 6.64928041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55925415399999 meters Centerline goodness [0,1] 0.9991281974951626 Centerline is valid? [True, True] Translation: X:79.21, Y:1.16, Z:0.67 [[ 9.99753747e-01 -1.67745695e-02 -1.45278852e-02 7.92064341e+01] [ 1.67720274e-02 9.99859296e-01 -2.96812170e-04 1.16267489e+00] [ 1.45308200e-02 5.30769892e-05 9.99894421e-01 6.65159021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58925415399999 meters Centerline goodness [0,1] 0.9989778534923339 Centerline is valid? [True, True] Translation: X:79.24, Y:1.16, Z:0.67 [[ 9.99738450e-01 -1.78976201e-02 -1.42375002e-02 7.92354208e+01] [ 1.78952450e-02 9.99839824e-01 -2.94206394e-04 1.16169488e+00] [ 1.42404852e-02 3.93458900e-05 9.99898598e-01 6.65084736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61925415399999 meters Centerline goodness [0,1] 0.9989192396533091 Centerline is valid? [True, True] Translation: X:79.26, Y:1.16, Z:0.66 [[ 9.99667456e-01 -2.11133028e-02 -1.48055837e-02 7.92641482e+01] [ 2.11110490e-02 9.99777089e-01 -3.08517635e-04 1.15710597e+00] [ 1.48087972e-02 -4.14636288e-06 9.99890344e-01 6.64177073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64925415399998 meters Centerline goodness [0,1] 0.998854184349007 Centerline is valid? [True, True] Translation: X:79.29, Y:1.15, Z:0.66 [[ 9.99607841e-01 -2.37801538e-02 -1.47874343e-02 7.92940785e+01] [ 2.37781890e-02 9.99717211e-01 -3.08698065e-04 1.15421583e+00] [ 1.47905935e-02 -4.30414018e-05 9.99890612e-01 6.64367028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67925415399998 meters Centerline goodness [0,1] 0.998814212510058 Centerline is valid? [True, True] Translation: X:79.32, Y:1.15, Z:0.67 [[ 9.99533444e-01 -2.65742094e-02 -1.50567365e-02 7.93249793e+01] [ 2.65724885e-02 9.99646840e-01 -3.14376171e-04 1.15175792e+00] [ 1.50597734e-02 -8.58654619e-05 9.99886591e-01 6.65220605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70925415399998 meters Centerline goodness [0,1] 0.99872897513028 Centerline is valid? [True, True] Translation: X:79.36, Y:1.14, Z:0.66 [[ 9.99337011e-01 -3.31032023e-02 -1.51564079e-02 7.93555706e+01] [ 3.31022133e-02 9.99451922e-01 -3.16187228e-04 1.14451498e+00] [ 1.51585678e-02 -1.85733046e-04 9.99885085e-01 6.64968251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73925415399998 meters Centerline goodness [0,1] 0.9985851845595067 Centerline is valid? [True, True] Translation: X:79.39, Y:1.14, Z:0.67 [[ 9.99219359e-01 -3.62745548e-02 -1.56469896e-02 7.93870037e+01] [ 3.62738956e-02 9.99341833e-01 -3.26027729e-04 1.14154576e+00] [ 1.56485177e-02 -2.41804048e-04 9.99877525e-01 6.65067799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76925415399998 meters Centerline goodness [0,1] 0.9987107137573182 Centerline is valid? [True, True] Translation: X:79.42, Y:1.14, Z:0.67 [[ 9.98979550e-01 -4.24299003e-02 -1.54778158e-02 7.94184609e+01] [ 4.24300021e-02 9.99099390e-01 -3.21957713e-04 1.13525952e+00] [ 1.54775369e-02 -3.35094583e-04 9.99880160e-01 6.65156131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79925415399998 meters Centerline goodness [0,1] 0.9987957152817393 Centerline is valid? [True, True] Translation: X:79.45, Y:1.13, Z:0.67 [[ 9.98855178e-01 -4.52038982e-02 -1.56505997e-02 7.94509988e+01] [ 4.52043547e-02 9.98977708e-01 -3.24771045e-04 1.13271128e+00] [ 1.56492811e-02 -3.83076018e-04 9.99877469e-01 6.65509377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82925415399998 meters Centerline goodness [0,1] 0.9987131616142438 Centerline is valid? [True, True] Translation: X:79.48, Y:1.13, Z:0.67 [[ 9.98739231e-01 -4.77791645e-02 -1.53980240e-02 7.94826638e+01] [ 4.77799310e-02 9.98857836e-01 -3.18306384e-04 1.13015482e+00] [ 1.53956454e-02 -4.17811451e-04 9.99881393e-01 6.65902262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85925415399998 meters Centerline goodness [0,1] 0.998759044253744 Centerline is valid? [True, True] Translation: X:79.51, Y:1.13, Z:0.67 [[ 9.98599030e-01 -5.06095937e-02 -1.54482104e-02 7.95136296e+01] [ 5.06107222e-02 9.98718406e-01 -3.18136352e-04 1.12679785e+00] [ 1.54445128e-02 -4.64154435e-04 9.99880619e-01 6.65982603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88925415399999 meters Centerline goodness [0,1] 0.998759044253744 Centerline is valid? [True, True] Translation: X:79.55, Y:1.13, Z:0.67 [[ 9.98602537e-01 -5.05403321e-02 -1.54482292e-02 7.95453285e+01] [ 5.05414664e-02 9.98721913e-01 -3.17221667e-04 1.12738480e+00] [ 1.54445175e-02 -4.63997797e-04 9.99880619e-01 6.66279487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91925415399999 meters Centerline goodness [0,1] 0.9985430743243243 Centerline is valid? [True, True] Translation: X:79.58, Y:1.12, Z:0.67 [[ 9.98322425e-01 -5.59582410e-02 -1.48664230e-02 7.95754085e+01] [ 5.59599064e-02 9.98432970e-01 -3.04257704e-04 1.12103359e+00] [ 1.48601526e-02 -5.28176354e-04 9.99889442e-01 6.66432125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94925415399999 meters Centerline goodness [0,1] 0.9986491050320837 Centerline is valid? [True, True] Translation: X:79.61, Y:1.12, Z:0.67 [[ 9.98160378e-01 -5.86114310e-02 -1.55099785e-02 7.96072868e+01] [ 5.86135815e-02 9.98280696e-01 -3.16280346e-04 1.12371678e+00] [ 1.55018498e-02 -5.93396881e-04 9.99879663e-01 6.67384336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97925415399999 meters Centerline goodness [0,1] 0.9986503584985238 Centerline is valid? [True, True] Translation: X:79.64, Y:1.12, Z:0.67 [[ 9.97999380e-01 -6.12434337e-02 -1.56996928e-02 7.96393882e+01] [ 6.12459804e-02 9.98122652e-01 -3.18986334e-04 1.12145823e+00] [ 1.56897548e-02 -6.43194911e-04 9.99876701e-01 6.67510011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00925415399999 meters Centerline goodness [0,1] 0.9985897408911996 Centerline is valid? [True, True] Translation: X:79.67, Y:1.12, Z:0.67 [[ 9.97648622e-01 -6.66290964e-02 -1.60558269e-02 7.96699628e+01] [ 6.66324682e-02 9.97777534e-01 -3.25453648e-04 1.11813155e+00] [ 1.60418280e-02 -7.45150989e-04 9.99871044e-01 6.67809121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03925415399998 meters Centerline goodness [0,1] 0.9987365229110512 Centerline is valid? [True, True] Translation: X:79.70, Y:1.12, Z:0.67 [[ 9.97469620e-01 -6.92275514e-02 -1.61834543e-02 7.97001869e+01] [ 6.92313217e-02 9.97600580e-01 -3.27821803e-04 1.11565525e+00] [ 1.61673177e-02 -7.93409644e-04 9.99868986e-01 6.68023592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06925415399998 meters Centerline goodness [0,1] 0.998693030903495 Centerline is valid? [True, True] Translation: X:79.73, Y:1.11, Z:0.67 [[ 9.97134262e-01 -7.38049127e-02 -1.66161975e-02 7.97308228e+01] [ 7.38095247e-02 9.97272300e-01 -3.36367387e-04 1.11260444e+00] [ 1.65956991e-02 -8.91030196e-04 9.99861885e-01 6.68525333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09925415399998 meters Centerline goodness [0,1] 0.9986070071760237 Centerline is valid? [True, True] Translation: X:79.76, Y:1.11, Z:0.67 [[ 9.97036035e-01 -7.51739853e-02 -1.63711941e-02 7.97624355e+01] [ 7.51786617e-02 9.97170025e-01 -3.30459185e-04 1.11480728e+00] [ 1.63497060e-02 -9.01284747e-04 9.99865928e-01 6.69330243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12925415399998 meters Centerline goodness [0,1] 0.9986749395309706 Centerline is valid? [True, True] Translation: X:79.79, Y:1.11, Z:0.67 [[ 9.96955327e-01 -7.62460512e-02 -1.63283489e-02 7.97933746e+01] [ 7.62508722e-02 9.97088610e-01 -3.28020346e-04 1.11341381e+00] [ 1.63058209e-02 -9.18029211e-04 9.99866630e-01 6.69498188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15925415399998 meters Centerline goodness [0,1] 0.9985916973200211 Centerline is valid? [True, True] Translation: X:79.82, Y:1.12, Z:0.67 [[ 9.96882979e-01 -7.70564342e-02 -1.69302166e-02 7.98249864e+01] [ 7.70617499e-02 9.97026264e-01 -3.39153429e-04 1.11545745e+00] [ 1.69060046e-02 -9.66575838e-04 9.99856616e-01 6.69585124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18925415399998 meters Centerline goodness [0,1] 0.9986340807363355 Centerline is valid? [True, True] Translation: X:79.86, Y:1.12, Z:0.67 [[ 9.96903094e-01 -7.67494481e-02 -1.71389714e-02 7.98566586e+01] [ 7.67548692e-02 9.97049935e-01 -3.42239830e-04 1.11583778e+00] [ 1.71146771e-02 -9.74319566e-04 9.99853058e-01 6.69482316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21925415399998 meters Centerline goodness [0,1] 0.9986339372031441 Centerline is valid? [True, True] Translation: X:79.89, Y:1.12, Z:0.67 [[ 9.96936357e-01 -7.62989748e-02 -1.72153025e-02 7.98893175e+01] [ 7.63044016e-02 9.97084511e-01 -3.42355281e-04 1.11805632e+00] [ 1.71912328e-02 -9.72296927e-04 9.99851747e-01 6.69604965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24925415399998 meters Centerline goodness [0,1] 0.9986111403379558 Centerline is valid? [True, True] Translation: X:79.92, Y:1.12, Z:0.67 [[ 9.96994727e-01 -7.55172299e-02 -1.72818589e-02 7.99204618e+01] [ 7.55226166e-02 9.97144031e-01 -3.41662189e-04 1.11913572e+00] [ 1.72583039e-02 -9.64535805e-04 9.99850599e-01 6.70067388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27925415399999 meters Centerline goodness [0,1] 0.9985416270369666 Centerline is valid? [True, True] Translation: X:79.95, Y:1.12, Z:0.67 [[ 9.97114747e-01 -7.36812010e-02 -1.82554462e-02 7.99507062e+01] [ 7.36869343e-02 9.97281358e-01 -3.59307076e-04 1.11692830e+00] [ 1.82322904e-02 -9.86917483e-04 9.99833291e-01 6.68955934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30925415399999 meters Centerline goodness [0,1] 0.9986919555264879 Centerline is valid? [True, True] Translation: X:79.98, Y:1.13, Z:0.67 [[ 9.97234173e-01 -7.19960219e-02 -1.84547058e-02 7.99831454e+01] [ 7.20016114e-02 9.97404450e-01 -3.62251171e-04 1.12645998e+00] [ 1.84328863e-02 -9.67519305e-04 9.99829632e-01 6.70334942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33925415399999 meters Centerline goodness [0,1] 0.9986718387654425 Centerline is valid? [True, True] Translation: X:80.01, Y:1.13, Z:0.67 [[ 9.97495866e-01 -6.83337097e-02 -1.82346370e-02 8.00131801e+01] [ 6.83385711e-02 9.97662123e-01 -3.57108312e-04 1.13156401e+00] [ 1.82164092e-02 -8.89914972e-04 9.99833671e-01 6.70758021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36925415399999 meters Centerline goodness [0,1] 0.9987973414917185 Centerline is valid? [True, True] Translation: X:80.04, Y:1.14, Z:0.67 [[ 9.97637227e-01 -6.63666618e-02 -1.77603555e-02 8.00447583e+01] [ 6.63709706e-02 9.97794956e-01 -3.47365605e-04 1.13736954e+00] [ 1.77442466e-02 -8.32227172e-04 9.99842212e-01 6.72065339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39925415399998 meters Centerline goodness [0,1] 0.9987090766723806 Centerline is valid? [True, True] Translation: X:80.07, Y:1.14, Z:0.67 [[ 9.97794851e-01 -6.41556807e-02 -1.70142003e-02 8.00748950e+01] [ 6.41593247e-02 9.97939613e-01 -3.32148082e-04 1.13982131e+00] [ 1.70004536e-02 -7.60203956e-04 9.99855193e-01 6.72960691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42925415399998 meters Centerline goodness [0,1] 0.9987696224013577 Centerline is valid? [True, True] Translation: X:80.10, Y:1.15, Z:0.67 [[ 9.98076394e-01 -5.96587679e-02 -1.68624691e-02 8.01049944e+01] [ 5.96617093e-02 9.98218599e-01 -3.29018263e-04 1.14968667e+00] [ 1.68520591e-02 -6.77658366e-04 9.99857764e-01 6.74457448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45925415399998 meters Centerline goodness [0,1] 0.9987682898341439 Centerline is valid? [True, True] Translation: X:80.14, Y:1.15, Z:0.67 [[ 9.98214945e-01 -5.72924524e-02 -1.68671099e-02 8.01366509e+01] [ 5.72950671e-02 9.98357234e-01 -3.28571192e-04 1.15362357e+00] [ 1.68582259e-02 -6.38417521e-04 9.99857686e-01 6.74630322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48925415399998 meters Centerline goodness [0,1] 0.9988128802492952 Centerline is valid? [True, True] Translation: X:80.17, Y:1.16, Z:0.67 [[ 9.98342571e-01 -5.49476956e-02 -1.71132199e-02 8.01678805e+01] [ 5.49500739e-02 9.98489048e-01 -3.31570797e-04 1.15699241e+00] [ 1.71055817e-02 -6.09351458e-04 9.99853503e-01 6.74850816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51925415399998 meters Centerline goodness [0,1] 0.9988507459510078 Centerline is valid? [True, True] Translation: X:80.20, Y:1.17, Z:0.67 [[ 9.98572530e-01 -5.02778719e-02 -1.80287826e-02 8.01991901e+01] [ 5.02797827e-02 9.98735111e-01 -3.47567399e-04 1.16718770e+00] [ 1.80234532e-02 -5.59412016e-04 9.99837408e-01 6.74995796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54925415399998 meters Centerline goodness [0,1] 0.9991077119184194 Centerline is valid? [True, True] Translation: X:80.23, Y:1.17, Z:0.67 [[ 9.98701877e-01 -4.76027939e-02 -1.81255474e-02 8.02301467e+01] [ 4.76043002e-02 9.98866212e-01 -3.48595876e-04 1.16865900e+00] [ 1.81215910e-02 -5.14710646e-04 9.99835658e-01 6.74477663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57925415399998 meters Centerline goodness [0,1] 0.9990182896899076 Centerline is valid? [True, True] Translation: X:80.26, Y:1.18, Z:0.68 [[ 9.98953717e-01 -4.19379460e-02 -1.82395410e-02 8.02617133e+01] [ 4.19385458e-02 9.99120131e-01 -3.49783729e-04 1.17856634e+00] [ 1.82381618e-02 -4.15522069e-04 9.99833585e-01 6.75610500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60925415399998 meters Centerline goodness [0,1] 0.9990586423054706 Centerline is valid? [True, True] Translation: X:80.29, Y:1.18, Z:0.68 [[ 9.99085800e-01 -3.87544885e-02 -1.80458700e-02 8.02940123e+01] [ 3.87545771e-02 9.99248700e-01 -3.44935012e-04 1.18309683e+00] [ 1.80456799e-02 -3.54740387e-04 9.99837101e-01 6.76247206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63925415399999 meters Centerline goodness [0,1] 0.9991851963033643 Centerline is valid? [True, True] Translation: X:80.33, Y:1.19, Z:0.68 [[ 9.99309638e-01 -3.25372791e-02 -1.79324769e-02 8.03254768e+01] [ 3.25363834e-02 9.99470493e-01 -3.41777159e-04 1.19117828e+00] [ 1.79341020e-02 -2.41916735e-04 9.99839142e-01 6.77886965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66925415399999 meters Centerline goodness [0,1] 0.9992729916394039 Centerline is valid? [True, True] Translation: X:80.36, Y:1.20, Z:0.68 [[ 9.99399356e-01 -2.97808320e-02 -1.77208615e-02 8.03563266e+01] [ 2.97795355e-02 9.99556434e-01 -3.37096674e-04 1.19526768e+00] [ 1.77230402e-02 -1.90824827e-04 9.99842916e-01 6.78668833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69925415399999 meters Centerline goodness [0,1] 0.999162299166595 Centerline is valid? [True, True] Translation: X:80.39, Y:1.20, Z:0.68 [[ 9.99466374e-01 -2.73612013e-02 -1.78418379e-02 8.03879023e+01] [ 2.73595133e-02 9.99625601e-01 -3.38740445e-04 1.19856375e+00] [ 1.78444263e-02 -1.49584317e-04 9.99840764e-01 6.79264372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72925415399999 meters Centerline goodness [0,1] 0.9989696475335937 Centerline is valid? [True, True] Translation: X:80.42, Y:1.20, Z:0.68 [[ 9.99518084e-01 -2.54307922e-02 -1.78009791e-02 8.04185764e+01] [ 2.54288146e-02 9.99676578e-01 -3.37468477e-04 1.20111667e+00] [ 1.78038040e-02 -1.15351952e-04 9.99841493e-01 6.79216002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75925415399999 meters Centerline goodness [0,1] 0.9993543110498903 Centerline is valid? [True, True] Translation: X:80.45, Y:1.20, Z:0.68 [[ 9.99575936e-01 -2.33351295e-02 -1.74189700e-02 8.04489473e+01] [ 2.33329206e-02 9.99727696e-01 -3.30059609e-04 1.20478980e+00] [ 1.74219287e-02 -7.65158001e-05 9.99848224e-01 6.79850311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78925415399998 meters Centerline goodness [0,1] 0.9990740142558735 Centerline is valid? [True, True] Translation: X:80.48, Y:1.21, Z:0.68 [[ 9.99560531e-01 -2.36740058e-02 -1.78405731e-02 8.04784298e+01] [ 2.36717399e-02 9.99719728e-01 -3.38201028e-04 1.20610661e+00] [ 1.78435795e-02 -8.42650088e-05 9.99840787e-01 6.79558444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81925415399998 meters Centerline goodness [0,1] 0.9991393777701278 Centerline is valid? [True, True] Translation: X:80.51, Y:1.21, Z:0.68 [[ 9.99532925e-01 -2.47198023e-02 -1.79683920e-02 8.05092254e+01] [ 2.47176698e-02 9.99694414e-01 -3.40794118e-04 1.20609636e+00] [ 1.79713255e-02 -1.03501839e-04 9.99838497e-01 6.79682190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84925415399998 meters Centerline goodness [0,1] 0.9992478132857665 Centerline is valid? [True, True] Translation: X:80.54, Y:1.21, Z:0.68 [[ 9.99492716e-01 -2.66467499e-02 -1.74431082e-02 8.05387914e+01] [ 2.66450311e-02 9.99644903e-01 -3.30974906e-04 1.20561377e+00] [ 1.74457336e-02 -1.33965154e-04 9.99847803e-01 6.80114788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87925415399998 meters Centerline goodness [0,1] 0.9991851264126262 Centerline is valid? [True, True] Translation: X:80.57, Y:1.20, Z:0.68 [[ 9.99440913e-01 -2.87679826e-02 -1.70371761e-02 8.05697055e+01] [ 2.87666528e-02 9.99586102e-01 -3.23165297e-04 1.20477673e+00] [ 1.70394212e-02 -1.67117909e-04 9.99854805e-01 6.80676908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90925415399998 meters Centerline goodness [0,1] 0.9990337541870652 Centerline is valid? [True, True] Translation: X:80.60, Y:1.20, Z:0.68 [[ 9.99275693e-01 -3.43398944e-02 -1.63969831e-02 8.06005128e+01] [ 3.43394218e-02 9.99410180e-01 -3.10457699e-04 1.20126975e+00] [ 1.63979729e-02 -2.52830085e-04 9.99865512e-01 6.81139054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93925415399998 meters Centerline goodness [0,1] 0.9991846193459789 Centerline is valid? [True, True] Translation: X:80.63, Y:1.20, Z:0.68 [[ 9.99164145e-01 -3.73675851e-02 -1.65733116e-02 8.06323151e+01] [ 3.73675305e-02 9.99301541e-01 -3.13071692e-04 1.20052842e+00] [ 1.65734345e-02 -3.06493718e-04 9.99862604e-01 6.81877515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96925415399998 meters Centerline goodness [0,1] 0.999250149970006 Centerline is valid? [True, True] Translation: X:80.66, Y:1.20, Z:0.68 [[ 9.99042034e-01 -4.03838445e-02 -1.68570310e-02 8.06635537e+01] [ 4.03842327e-02 9.99184174e-01 -3.17509820e-04 1.19805284e+00] [ 1.68561008e-02 -3.63552605e-04 9.99857860e-01 6.81791986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99925415399998 meters Centerline goodness [0,1] 0.999121246543927 Centerline is valid? [True, True] Translation: X:80.70, Y:1.20, Z:0.68 [[ 9.98927779e-01 -4.30721805e-02 -1.69728816e-02 8.06955952e+01] [ 4.30729798e-02 9.99071878e-01 -3.18638581e-04 1.19671410e+00] [ 1.69708532e-02 -4.12775658e-04 9.99855899e-01 6.81741742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02925415399999 meters Centerline goodness [0,1] 0.9991219616661313 Centerline is valid? [True, True] Translation: X:80.73, Y:1.19, Z:0.68 [[ 9.98734841e-01 -4.72760500e-02 -1.71374568e-02 8.07268738e+01] [ 4.72775018e-02 9.98881742e-01 -3.20639363e-04 1.19276016e+00] [ 1.71334512e-02 -4.89982441e-04 9.99853092e-01 6.81314488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05925415399999 meters Centerline goodness [0,1] 0.9992929985431485 Centerline is valid? [True, True] Translation: X:80.76, Y:1.19, Z:0.68 [[ 9.98655426e-01 -4.88252283e-02 -1.74194416e-02 8.07577965e+01] [ 4.88269799e-02 9.98807199e-01 -3.24988211e-04 1.19037007e+00] [ 1.74145313e-02 -5.25987486e-04 9.99848217e-01 6.81041741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08925415399999 meters Centerline goodness [0,1] 0.9991857724448253 Centerline is valid? [True, True] Translation: X:80.79, Y:1.19, Z:0.68 [[ 9.98660585e-01 -4.86333653e-02 -1.76587672e-02 8.07889368e+01] [ 4.86351518e-02 9.98816557e-01 -3.28521935e-04 1.18994855e+00] [ 1.76538461e-02 -5.30754914e-04 9.99844018e-01 6.81078009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11925415399999 meters Centerline goodness [0,1] 0.999249136506983 Centerline is valid? [True, True] Translation: X:80.82, Y:1.19, Z:0.68 [[ 9.98696320e-01 -4.78576072e-02 -1.77569576e-02 8.08210333e+01] [ 4.78593102e-02 9.98854032e-01 -3.29277000e-04 1.19016884e+00] [ 1.77523671e-02 -5.20988012e-04 9.99842279e-01 6.81247399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14925415399998 meters Centerline goodness [0,1] 0.9990559358036346 Centerline is valid? [True, True] Translation: X:80.85, Y:1.20, Z:0.68 [[ 9.98851072e-01 -4.45668469e-02 -1.76162571e-02 8.08519482e+01] [ 4.45680283e-02 9.99006299e-01 -3.25720595e-04 1.19520114e+00] [ 1.76132681e-02 -4.59775476e-04 9.99844769e-01 6.82732243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17925415399998 meters Centerline goodness [0,1] 0.9990332352246117 Centerline is valid? [True, True] Translation: X:80.88, Y:1.20, Z:0.68 [[ 9.98955255e-01 -4.22867095e-02 -1.73272229e-02 8.08834270e+01] [ 4.22875230e-02 9.99105432e-01 -3.19603475e-04 1.19556181e+00] [ 1.73252375e-02 -4.13455765e-04 9.99849821e-01 6.82849403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20925415399998 meters Centerline goodness [0,1] 0.9990771938107603 Centerline is valid? [True, True] Translation: X:80.91, Y:1.20, Z:0.68 [[ 9.99204617e-01 -3.60604231e-02 -1.70229007e-02 8.09149473e+01] [ 3.60603203e-02 9.99349566e-01 -3.13085192e-04 1.19900569e+00] [ 1.70231184e-02 -3.01015083e-04 9.99855051e-01 6.83555162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23925415399998 meters Centerline goodness [0,1] 0.9992030327833542 Centerline is valid? [True, True] Translation: X:80.95, Y:1.20, Z:0.68 [[ 9.99308540e-01 -3.30590357e-02 -1.70159571e-02 8.09465783e+01] [ 3.30585155e-02 9.99453369e-01 -3.11930613e-04 1.20079362e+00] [ 1.70169677e-02 -2.50807355e-04 9.99855169e-01 6.84151565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26925415399998 meters Centerline goodness [0,1] 0.9990747116543295 Centerline is valid? [True, True] Translation: X:80.98, Y:1.20, Z:0.68 [[ 9.99480422e-01 -2.71641286e-02 -1.73492385e-02 8.09782993e+01] [ 2.71627188e-02 9.99630975e-01 -3.16942212e-04 1.20455745e+00] [ 1.73514457e-02 -1.54474952e-04 9.99849440e-01 6.84686932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29925415399998 meters Centerline goodness [0,1] 0.9993115762751974 Centerline is valid? [True, True] Translation: X:81.01, Y:1.21, Z:0.68 [[ 9.99536401e-01 -2.46085479e-02 -1.79276885e-02 8.10099023e+01] [ 2.46066464e-02 9.99697157e-01 -3.26677098e-04 1.20561314e+00] [ 1.79302982e-02 -1.14614640e-04 9.99839233e-01 6.84667494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32925415399998 meters Centerline goodness [0,1] 0.9990543531990801 Centerline is valid? [True, True] Translation: X:81.04, Y:1.21, Z:0.68 [[ 9.99569790e-01 -2.26977466e-02 -1.85754229e-02 8.10407029e+01] [ 2.26953818e-02 9.99742369e-01 -3.38131318e-04 1.20637536e+00] [ 1.85783121e-02 -8.35904640e-05 9.99827405e-01 6.84663310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35925415399998 meters Centerline goodness [0,1] 0.9991833576893321 Centerline is valid? [True, True] Translation: X:81.07, Y:1.21, Z:0.68 [[ 9.99591381e-01 -2.12973846e-02 -1.90654661e-02 8.10707138e+01] [ 2.12946320e-02 9.99773183e-01 -3.47399376e-04 1.20664311e+00] [ 1.90685404e-02 -5.87346621e-05 9.99818177e-01 6.84509715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38925415399999 meters Centerline goodness [0,1] 0.9993102853694285 Centerline is valid? [True, True] Translation: X:81.10, Y:1.21, Z:0.68 [[ 9.99593906e-01 -2.01715073e-02 -2.01279040e-02 8.10991326e+01] [ 2.01681500e-02 9.99796534e-01 -3.69797551e-04 1.20562933e+00] [ 2.01312680e-02 -3.62952078e-05 9.99797345e-01 6.84154808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41925415399999 meters Centerline goodness [0,1] 0.9991176723766894 Centerline is valid? [True, True] Translation: X:81.13, Y:1.20, Z:0.68 [[ 9.99572902e-01 -2.06961655e-02 -2.06320552e-02 8.11268657e+01] [ 2.06926320e-02 9.99785811e-01 -3.84760980e-04 1.20484485e+00] [ 2.06355991e-02 -4.23348765e-05 9.99787062e-01 6.84520863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44925415399999 meters Centerline goodness [0,1] 0.9992256732341048 Centerline is valid? [True, True] Translation: X:81.15, Y:1.20, Z:0.68 [[ 9.99535542e-01 -2.14426237e-02 -2.16544177e-02 8.11544526e+01] [ 2.14388198e-02 9.99770079e-01 -4.07825114e-04 1.20351496e+00] [ 2.16581837e-02 -5.66094614e-05 9.99765432e-01 6.84085949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47925415399999 meters Centerline goodness [0,1] 0.9989916326968462 Centerline is valid? [True, True] Translation: X:81.18, Y:1.20, Z:0.68 [[ 9.99418275e-01 -2.48983467e-02 -2.33063276e-02 8.11834907e+01] [ 2.48947742e-02 9.99689979e-01 -4.43460003e-04 1.19912238e+00] [ 2.33101435e-02 -1.37003730e-04 9.99728272e-01 6.83429283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50925415399998 meters Centerline goodness [0,1] 0.9988434106534729 Centerline is valid? [True, True] Translation: X:81.21, Y:1.20, Z:0.68 [[ 9.99364836e-01 -2.71275041e-02 -2.31089318e-02 8.12115942e+01] [ 2.71244863e-02 9.99631965e-01 -4.44087257e-04 1.19688416e+00] [ 2.31124739e-02 -1.83012715e-04 9.99732854e-01 6.83023026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53925415399998 meters Centerline goodness [0,1] 0.9989964127092587 Centerline is valid? [True, True] Translation: X:81.24, Y:1.19, Z:0.68 [[ 9.99231106e-01 -3.16984639e-02 -2.30738705e-02 8.12401609e+01] [ 3.16965613e-02 9.99497437e-01 -4.48274143e-04 1.19204195e+00] [ 2.30764841e-02 -2.83432886e-04 9.99733662e-01 6.83819384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56925415399998 meters Centerline goodness [0,1] 0.9989113497128952 Centerline is valid? [True, True] Translation: X:81.27, Y:1.19, Z:0.68 [[ 9.99185502e-01 -3.34827863e-02 -2.25218878e-02 8.12697193e+01] [ 3.34813630e-02 9.99439245e-01 -4.40378629e-04 1.19036098e+00] [ 2.25240037e-02 -3.14043560e-04 9.99746253e-01 6.84663832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59925415399998 meters Centerline goodness [0,1] 0.9989999787229515 Centerline is valid? [True, True] Translation: X:81.30, Y:1.19, Z:0.69 [[ 9.99152752e-01 -3.46917365e-02 -2.21418435e-02 8.12996237e+01] [ 3.46906449e-02 9.99398004e-01 -4.33519799e-04 1.18829101e+00] [ 2.21435537e-02 -3.34962328e-04 9.99754745e-01 6.85273394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62925415399998 meters Centerline goodness [0,1] 0.9988302601076161 Centerline is valid? [True, True] Translation: X:81.33, Y:1.19, Z:0.69 [[ 9.99131350e-01 -3.59126882e-02 -2.11382102e-02 8.13298676e+01] [ 3.59119629e-02 9.99354872e-01 -4.14032654e-04 1.18680270e+00] [ 2.11394424e-02 -3.45441617e-04 9.99776477e-01 6.86567314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65925415399998 meters Centerline goodness [0,1] 0.9987896290319156 Centerline is valid? [True, True] Translation: X:81.36, Y:1.18, Z:0.69 [[ 9.99121834e-01 -3.65706557e-02 -2.04486759e-02 8.13609128e+01] [ 3.65701231e-02 9.99331009e-01 -4.00119159e-04 1.18444648e+00] [ 2.04496286e-02 -3.48042807e-04 9.99790824e-01 6.87925247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68925415399998 meters Centerline goodness [0,1] 0.9987883940907641 Centerline is valid? [True, True] Translation: X:81.39, Y:1.18, Z:0.69 [[ 9.99140709e-01 -3.63693067e-02 -1.98775375e-02 8.13916140e+01] [ 3.63687739e-02 9.99338362e-01 -3.88417003e-04 1.18274164e+00] [ 1.98785122e-02 -3.34838426e-04 9.99802347e-01 6.87915747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71925415399998 meters Centerline goodness [0,1] 0.9990656983904531 Centerline is valid? [True, True] Translation: X:81.42, Y:1.18, Z:0.69 [[ 9.99200340e-01 -3.50493302e-02 -1.92412329e-02 8.14232146e+01] [ 3.50485964e-02 9.99385539e-01 -3.75459656e-04 1.18137326e+00] [ 1.92425696e-02 -2.99218790e-04 9.99814800e-01 6.88840060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74925415399998 meters Centerline goodness [0,1] 0.9992143539653892 Centerline is valid? [True, True] Translation: X:81.45, Y:1.18, Z:0.69 [[ 9.99229895e-01 -3.43776087e-02 -1.89155338e-02 8.14544733e+01] [ 3.43767920e-02 9.99408876e-01 -3.68426241e-04 1.18070736e+00] [ 1.89170179e-02 -2.82112856e-04 9.99821017e-01 6.88702644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77925415399999 meters Centerline goodness [0,1] 0.9990679545839688 Centerline is valid? [True, True] Translation: X:81.49, Y:1.18, Z:0.69 [[ 9.99246205e-01 -3.38184655e-02 -1.90612753e-02 8.14858619e+01] [ 3.38175478e-02 9.99427954e-01 -3.70567836e-04 1.18061948e+00] [ 1.90629034e-02 -2.74317083e-04 9.99818249e-01 6.89357755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80925415399999 meters Centerline goodness [0,1] 0.9990679545839688 Centerline is valid? [True, True] Translation: X:81.52, Y:1.18, Z:0.69 [[ 9.99247450e-01 -3.37816682e-02 -1.90612889e-02 8.15167065e+01] [ 3.37807572e-02 9.99429199e-01 -3.69866032e-04 1.18118940e+00] [ 1.90629034e-02 -2.74317083e-04 9.99818249e-01 6.89646670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83925415399999 meters Centerline goodness [0,1] 0.9990054804375886 Centerline is valid? [True, True] Translation: X:81.55, Y:1.18, Z:0.69 [[ 9.99288724e-01 -3.28238922e-02 -1.85644549e-02 8.15474799e+01] [ 3.28228722e-02 9.99461120e-01 -3.59721368e-04 1.17807549e+00] [ 1.85662584e-02 -2.49873224e-04 9.99827601e-01 6.88956400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86925415399999 meters Centerline goodness [0,1] 0.9990272373540856 Centerline is valid? [True, True] Translation: X:81.58, Y:1.18, Z:0.69 [[ 9.99298064e-01 -3.23837091e-02 -1.88328101e-02 8.15788818e+01] [ 3.23825910e-02 9.99475480e-01 -3.64403480e-04 1.17780193e+00] [ 1.88347327e-02 -2.45707497e-04 9.99822580e-01 6.89230881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89925415399998 meters Centerline goodness [0,1] 0.99896687680533 Centerline is valid? [True, True] Translation: X:81.61, Y:1.18, Z:0.69 [[ 9.99320921e-01 -3.16221818e-02 -1.89138740e-02 8.16093070e+01] [ 3.16209241e-02 9.99499867e-01 -3.65630073e-04 1.17702345e+00] [ 1.89159765e-02 -2.32692392e-04 9.99821050e-01 6.89123693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92925415399998 meters Centerline goodness [0,1] 0.9988178920482131 Centerline is valid? [True, True] Translation: X:81.64, Y:1.18, Z:0.69 [[ 9.99370552e-01 -2.96380365e-02 -1.94958276e-02 8.16397742e+01] [ 2.96363263e-02 9.99560677e-01 -3.76698925e-04 1.17562794e+00] [ 1.94984272e-02 -2.01322896e-04 9.99809867e-01 6.88912157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95925415399998 meters Centerline goodness [0,1] 0.9989878969341711 Centerline is valid? [True, True] Translation: X:81.67, Y:1.18, Z:0.69 [[ 9.99424622e-01 -2.80684002e-02 -1.90417907e-02 8.16694937e+01] [ 2.80664803e-02 9.99605991e-01 -3.68110817e-04 1.17589381e+00] [ 1.90446203e-02 -1.66537029e-04 9.99818621e-01 6.89259975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98925415399998 meters Centerline goodness [0,1] 0.9989050787501053 Centerline is valid? [True, True] Translation: X:81.70, Y:1.18, Z:0.69 [[ 9.99510359e-01 -2.45721803e-02 -1.93713936e-02 8.16995256e+01] [ 2.45695232e-02 9.99698053e-01 -3.75185178e-04 1.17608369e+00] [ 1.93747636e-02 -1.00944433e-04 9.99812287e-01 6.89284233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01925415399998 meters Centerline goodness [0,1] 0.9987754154086523 Centerline is valid? [True, True] Translation: X:81.73, Y:1.18, Z:0.69 [[ 9.99533880e-01 -2.32188624e-02 -1.98219049e-02 8.17280175e+01] [ 2.32157532e-02 9.99730403e-01 -3.86982877e-04 1.17680583e+00] [ 1.98255462e-02 -7.33779553e-05 9.99803452e-01 6.90071052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04925415399998 meters Centerline goodness [0,1] 0.9990296177537761 Centerline is valid? [True, True] Translation: X:81.76, Y:1.18, Z:0.69 [[ 9.99561919e-01 -2.15523357e-02 -2.02846558e-02 8.17553611e+01] [ 2.15486653e-02 9.99767721e-01 -3.99524955e-04 1.17690400e+00] [ 2.02885548e-02 -3.77573283e-05 9.99794165e-01 6.89946281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07925415399998 meters Centerline goodness [0,1] 0.9988853134792942 Centerline is valid? [True, True] Translation: X:81.78, Y:1.18, Z:0.69 [[ 9.99589680e-01 -1.93640392e-02 -2.11069834e-02 8.17828704e+01] [ 1.93595358e-02 9.99812499e-01 -4.17693633e-04 1.17609735e+00] [ 2.11111140e-02 8.90084533e-06 9.99777136e-01 6.89686928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10925415399998 meters Centerline goodness [0,1] 0.998945125424587 Centerline is valid? [True, True] Translation: X:81.81, Y:1.18, Z:0.69 [[ 9.99592053e-01 -1.90303613e-02 -2.12972509e-02 8.18105164e+01] [ 1.90256077e-02 9.99818906e-01 -4.25819218e-04 1.17565852e+00] [ 2.13014976e-02 2.04523653e-05 9.99773097e-01 6.89780358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13925415399999 meters Centerline goodness [0,1] 0.9990712401055409 Centerline is valid? [True, True] Translation: X:81.84, Y:1.18, Z:0.69 [[ 9.99602574e-01 -1.85790466e-02 -2.12017015e-02 8.18380083e+01] [ 1.85741024e-02 9.99827394e-01 -4.30114676e-04 1.17524368e+00] [ 2.12060330e-02 3.61411637e-05 9.99775126e-01 6.90097421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16925415399999 meters Centerline goodness [0,1] 0.9989872563085492 Centerline is valid? [True, True] Translation: X:81.87, Y:1.17, Z:0.69 [[ 9.99619427e-01 -1.83429216e-02 -2.06043213e-02 8.18655124e+01] [ 1.83381259e-02 9.99831754e-01 -4.21686033e-04 1.17343950e+00] [ 2.06085897e-02 4.36809113e-05 9.99787620e-01 6.90571900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19925415399999 meters Centerline goodness [0,1] 0.9988214496169712 Centerline is valid? [True, True] Translation: X:81.89, Y:1.17, Z:0.69 [[ 9.99611647e-01 -1.87044189e-02 -2.06567048e-02 8.18934452e+01] [ 1.86995907e-02 9.99825056e-01 -4.26882824e-04 1.17274023e+00] [ 2.06610756e-02 4.04451181e-05 9.99786536e-01 6.91081559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22925415399999 meters Centerline goodness [0,1] 0.9990508131367462 Centerline is valid? [True, True] Translation: X:81.92, Y:1.17, Z:0.69 [[ 9.99608513e-01 -1.99619715e-02 -1.96045772e-02 8.19218670e+01] [ 1.99577631e-02 9.99800740e-01 -4.10313548e-04 1.16990317e+00] [ 1.96088614e-02 1.88894092e-05 9.99807728e-01 6.92382423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25925415399998 meters Centerline goodness [0,1] 0.9992218226176205 Centerline is valid? [True, True] Translation: X:81.95, Y:1.17, Z:0.69 [[ 9.99595207e-01 -2.11965659e-02 -1.89770237e-02 8.19497439e+01] [ 2.11927484e-02 9.99775328e-01 -4.02271124e-04 1.16832957e+00] [ 1.89812868e-02 -6.70002270e-08 9.99819839e-01 6.93149231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28925415399998 meters Centerline goodness [0,1] 0.9991164776910617 Centerline is valid? [True, True] Translation: X:81.98, Y:1.17, Z:0.69 [[ 9.99585644e-01 -2.21676251e-02 -1.83613100e-02 8.19778167e+01] [ 2.21641519e-02 9.99754268e-01 -3.92660996e-04 1.16653790e+00] [ 1.83655024e-02 -1.44645698e-05 9.99831340e-01 6.93296336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31925415399998 meters Centerline goodness [0,1] 0.9990109427609427 Centerline is valid? [True, True] Translation: X:82.01, Y:1.16, Z:0.69 [[ 9.99542185e-01 -2.47430837e-02 -1.74126640e-02 8.20058571e+01] [ 2.47402957e-02 9.99693842e-01 -3.75542808e-04 1.16242275e+00] [ 1.74166250e-02 -5.54235775e-05 9.99848318e-01 6.94575434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34925415399998 meters Centerline goodness [0,1] 0.99905769029421 Centerline is valid? [True, True] Translation: X:82.03, Y:1.16, Z:0.69 [[ 9.99502301e-01 -2.63116330e-02 -1.74025292e-02 8.20342723e+01] [ 2.63090021e-02 9.99653786e-01 -3.80140789e-04 1.16071059e+00] [ 1.74065063e-02 -7.78915830e-05 9.99848492e-01 6.94705843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37925415399998 meters Centerline goodness [0,1] 0.999033999033999 Centerline is valid? [True, True] Translation: X:82.06, Y:1.16, Z:0.69 [[ 9.99457204e-01 -2.80689548e-02 -1.72462071e-02 8.20636403e+01] [ 2.80665865e-02 9.99605984e-01 -3.79391216e-04 1.15876711e+00] [ 1.72500609e-02 -1.04856880e-04 9.99851201e-01 6.94752237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40925415399998 meters Centerline goodness [0,1] 0.9990553957891644 Centerline is valid? [True, True] Translation: X:82.09, Y:1.15, Z:0.69 [[ 9.99327129e-01 -3.20919994e-02 -1.77593216e-02 8.20935022e+01] [ 3.20901116e-02 9.99484903e-01 -3.91337126e-04 1.15408657e+00] [ 1.77627326e-02 -1.78824805e-04 9.99842214e-01 6.94540189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43925415399998 meters Centerline goodness [0,1] 0.9990130611902062 Centerline is valid? [True, True] Translation: X:82.12, Y:1.15, Z:0.69 [[ 9.99253238e-01 -3.41789617e-02 -1.80212540e-02 8.21237445e+01] [ 3.41773508e-02 9.99415705e-01 -3.97456575e-04 1.15166756e+00] [ 1.80243089e-02 -2.18758951e-04 9.99837525e-01 6.94295942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46925415399998 meters Centerline goodness [0,1] 0.9989318253220233 Centerline is valid? [True, True] Translation: X:82.15, Y:1.15, Z:0.69 [[ 9.99172706e-01 -3.62902110e-02 -1.83555209e-02 8.21532399e+01] [ 3.62888929e-02 9.99341259e-01 -4.04991540e-04 1.14902526e+00] [ 1.83581266e-02 -2.61445041e-04 9.99831441e-01 6.94107629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49925415399998 meters Centerline goodness [0,1] 0.9989758167339005 Centerline is valid? [True, True] Translation: X:82.18, Y:1.15, Z:0.69 [[ 9.99026429e-01 -4.00112735e-02 -1.85820567e-02 8.21839999e+01] [ 4.00105629e-02 9.99199173e-01 -4.10161408e-04 1.14501035e+00] [ 1.85835868e-02 -3.33716464e-04 9.99827255e-01 6.94288508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52925415399999 meters Centerline goodness [0,1] 0.9988504545929564 Centerline is valid? [True, True] Translation: X:82.21, Y:1.14, Z:0.69 [[ 9.98962370e-01 -4.17399426e-02 -1.82197692e-02 8.22145750e+01] [ 4.17395497e-02 9.99128444e-01 -4.02002884e-04 1.14241397e+00] [ 1.82206692e-02 -3.58899209e-04 9.99833925e-01 6.94275687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55925415399999 meters Centerline goodness [0,1] 0.9988296271526501 Centerline is valid? [True, True] Translation: X:82.24, Y:1.14, Z:0.69 [[ 9.98898565e-01 -4.31422632e-02 -1.84499954e-02 8.22447333e+01] [ 4.31421056e-02 9.99068863e-01 -4.06747392e-04 1.14006344e+00] [ 1.84503640e-02 -3.89672265e-04 9.99829702e-01 6.94331573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58925415399999 meters Centerline goodness [0,1] 0.9989334783245154 Centerline is valid? [True, True] Translation: X:82.28, Y:1.14, Z:0.70 [[ 9.98814142e-01 -4.53088506e-02 -1.78161957e-02 8.22760918e+01] [ 4.53090565e-02 9.98972940e-01 -3.92296637e-04 1.14061178e+00] [ 1.78156719e-02 -4.15403588e-04 9.99841202e-01 6.96405556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61925415399999 meters Centerline goodness [0,1] 0.9989964457453481 Centerline is valid? [True, True] Translation: X:82.31, Y:1.14, Z:0.70 [[ 9.98776962e-01 -4.59680086e-02 -1.82077405e-02 8.23074022e+01] [ 4.59683591e-02 9.98942816e-01 -3.99495182e-04 1.13901022e+00] [ 1.82068556e-02 -4.37973371e-04 9.99834146e-01 6.96743943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64925415399998 meters Centerline goodness [0,1] 0.9992058184250125 Centerline is valid? [True, True] Translation: X:82.34, Y:1.14, Z:0.70 [[ 9.98709414e-01 -4.73132631e-02 -1.84651374e-02 8.23386801e+01] [ 4.73138806e-02 9.98879990e-01 -4.03663852e-04 1.13660507e+00] [ 1.84635549e-02 -4.70514416e-04 9.99829423e-01 6.96563468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67925415399998 meters Centerline goodness [0,1] 0.9989981214777708 Centerline is valid? [True, True] Translation: X:82.37, Y:1.13, Z:0.70 [[ 9.98586311e-01 -4.95638213e-02 -1.92043407e-02 8.23703623e+01] [ 4.95649191e-02 9.98770816e-01 -4.19098151e-04 1.13402497e+00] [ 1.92015072e-02 -5.33355919e-04 9.99815492e-01 6.96537280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70925415399998 meters Centerline goodness [0,1] 0.9991642813864572 Centerline is valid? [True, True] Translation: X:82.40, Y:1.13, Z:0.70 [[ 9.98543253e-01 -5.03994628e-02 -1.92682459e-02 8.24008773e+01] [ 5.04007337e-02 9.98728987e-01 -4.19960680e-04 1.13145519e+00] [ 1.92649215e-02 -5.51784828e-04 9.99814262e-01 6.96122046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73925415399998 meters Centerline goodness [0,1] 0.9988189465832332 Centerline is valid? [True, True] Translation: X:82.43, Y:1.13, Z:0.70 [[ 9.98477840e-01 -5.17271319e-02 -1.91391403e-02 8.24309323e+01] [ 5.17286419e-02 9.98661091e-01 -4.16496516e-04 1.12716569e+00] [ 1.91350589e-02 -5.74179193e-04 9.99816743e-01 6.95214342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76925415399998 meters Centerline goodness [0,1] 0.9989559842980038 Centerline is valid? [True, True] Translation: X:82.46, Y:1.13, Z:0.70 [[ 9.98313738e-01 -5.49686873e-02 -1.86580887e-02 8.24621770e+01] [ 5.49707024e-02 9.98487886e-01 -4.05237890e-04 1.12853895e+00] [ 1.86521510e-02 -6.21093690e-04 9.99825841e-01 6.97073880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79925415399998 meters Centerline goodness [0,1] 0.9987283718991036 Centerline is valid? [True, True] Translation: X:82.49, Y:1.12, Z:0.70 [[ 9.98221598e-01 -5.67916036e-02 -1.81205911e-02 8.24929120e+01] [ 5.67938132e-02 9.98385851e-01 -3.93067659e-04 1.12475712e+00] [ 1.81136647e-02 -6.36768837e-04 9.99835731e-01 6.96881499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82925415399998 meters Centerline goodness [0,1] 0.9988971429760493 Centerline is valid? [True, True] Translation: X:82.52, Y:1.12, Z:0.70 [[ 9.98115699e-01 -5.86418041e-02 -1.80607448e-02 8.25243876e+01] [ 5.86443103e-02 9.98278865e-01 -3.91279705e-04 1.12469203e+00] [ 1.80526051e-02 -6.68617506e-04 9.99836815e-01 6.97670104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85925415399998 meters Centerline goodness [0,1] 0.9988316294596287 Centerline is valid? [True, True] Translation: X:82.56, Y:1.12, Z:0.70 [[ 9.98012572e-01 -6.04995342e-02 -1.76270301e-02 8.25558293e+01] [ 6.05022246e-02 9.98167990e-01 -3.81095351e-04 1.12058324e+00] [ 1.76177933e-02 -6.86136585e-04 9.99844559e-01 6.97476999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88925415399999 meters Centerline goodness [0,1] 0.9988953500489798 Centerline is valid? [True, True] Translation: X:82.59, Y:1.12, Z:0.70 [[ 9.97817120e-01 -6.36829359e-02 -1.74779555e-02 8.25867301e+01] [ 6.36860840e-02 9.97969910e-01 -3.76983241e-04 1.11997650e+00] [ 1.74664810e-02 -7.36942207e-04 9.99847178e-01 6.97745734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91925415399999 meters Centerline goodness [0,1] 0.9987099995838709 Centerline is valid? [True, True] Translation: X:82.62, Y:1.12, Z:0.70 [[ 9.97738398e-01 -6.47409019e-02 -1.80749776e-02 8.26174167e+01] [ 6.47444561e-02 9.97901801e-01 -3.89086130e-04 1.11706661e+00] [ 1.80622425e-02 -7.82048419e-04 9.99836559e-01 6.97230430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94925415399999 meters Centerline goodness [0,1] 0.998814352574103 Centerline is valid? [True, True] Translation: X:82.65, Y:1.12, Z:0.70 [[ 9.97675232e-01 -6.57183214e-02 -1.80342366e-02 8.26499017e+01] [ 6.57220364e-02 9.97837895e-01 -3.87236039e-04 1.11679101e+00] [ 1.80206932e-02 -7.98910949e-04 9.99837295e-01 6.97428294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97925415399999 meters Centerline goodness [0,1] 0.9988567390039079 Centerline is valid? [True, True] Translation: X:82.68, Y:1.12, Z:0.70 [[ 9.97705633e-01 -6.52909264e-02 -1.79043397e-02 8.26822154e+01] [ 6.52945425e-02 9.97865961e-01 -3.83152825e-04 1.11746873e+00] [ 1.78911476e-02 -7.86781940e-04 9.99839631e-01 6.97666536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00925415399998 meters Centerline goodness [0,1] 0.9988135134572552 Centerline is valid? [True, True] Translation: X:82.71, Y:1.12, Z:0.70 [[ 9.97827400e-01 -6.35988062e-02 -1.71950841e-02 8.27142381e+01] [ 6.36019118e-02 9.97975281e-01 -3.66744382e-04 1.12050171e+00] [ 1.71835934e-02 -7.27692627e-04 9.99852086e-01 6.98362407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03925415399998 meters Centerline goodness [0,1] 0.9988553351786718 Centerline is valid? [True, True] Translation: X:82.75, Y:1.12, Z:0.70 [[ 9.97927207e-01 -6.21581189e-02 -1.66630799e-02 8.27460096e+01] [ 6.21608526e-02 9.98066081e-01 -3.54324574e-04 1.12191992e+00] [ 1.66528790e-02 -6.82201121e-04 9.99861098e-01 6.98424457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06925415399998 meters Centerline goodness [0,1] 0.9988971429760493 Centerline is valid? [True, True] Translation: X:82.78, Y:1.12, Z:0.70 [[ 9.98036160e-01 -6.04030836e-02 -1.65918827e-02 8.27778772e+01] [ 6.04055693e-02 9.98173854e-01 -3.51759460e-04 1.12445400e+00] [ 1.65828309e-02 -6.51173461e-04 9.99862283e-01 6.98799204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09925415399998 meters Centerline goodness [0,1] 0.9989126343523901 Centerline is valid? [True, True] Translation: X:82.81, Y:1.13, Z:0.70 [[ 9.98170402e-01 -5.81892143e-02 -1.64275173e-02 8.28091162e+01] [ 5.81913672e-02 9.98305386e-01 -3.47321120e-04 1.12744467e+00] [ 1.64198894e-02 -6.09254030e-04 9.99864999e-01 6.99429194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12925415399998 meters Centerline goodness [0,1] 0.9987922956793337 Centerline is valid? [True, True] Translation: X:82.84, Y:1.13, Z:0.70 [[ 9.98462785e-01 -5.29637736e-02 -1.63372538e-02 8.28393503e+01] [ 5.29652099e-02 9.98596299e-01 -3.45062342e-04 1.12852529e+00] [ 1.63325970e-02 -5.20774170e-04 9.99866479e-01 6.99149851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15925415399998 meters Centerline goodness [0,1] 0.9988298717037903 Centerline is valid? [True, True] Translation: X:82.87, Y:1.13, Z:0.70 [[ 9.98609916e-01 -5.01087395e-02 -1.63508470e-02 8.28704438e+01] [ 5.01098000e-02 9.98743655e-01 -3.45091849e-04 1.13368493e+00] [ 1.63475968e-02 -4.74725528e-04 9.99866256e-01 7.00166497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18925415399998 meters Centerline goodness [0,1] 0.9991236489588114 Centerline is valid? [True, True] Translation: X:82.90, Y:1.14, Z:0.70 [[ 9.98864732e-01 -4.48835321e-02 -1.59598134e-02 8.29017894e+01] [ 4.48838851e-02 9.98992154e-01 -3.36253814e-04 1.13883037e+00] [ 1.59588206e-02 -3.80466354e-04 9.99872578e-01 7.01017933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21925415399998 meters Centerline goodness [0,1] 0.9989761591341232 Centerline is valid? [True, True] Translation: X:82.93, Y:1.14, Z:0.70 [[ 9.98975845e-01 -4.25710086e-02 -1.53287524e-02 8.29332737e+01] [ 4.25710707e-02 9.99093389e-01 -3.22398159e-04 1.14053932e+00] [ 1.53285800e-02 -3.30493427e-04 9.99882456e-01 7.01316106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24925415399998 meters Centerline goodness [0,1] 0.9990414869454689 Centerline is valid? [True, True] Translation: X:82.96, Y:1.14, Z:0.70 [[ 9.99062072e-01 -4.05535042e-02 -1.51785972e-02 8.29644155e+01] [ 4.05533409e-02 9.99177324e-01 -3.18677887e-04 1.14225901e+00] [ 1.51790336e-02 -2.97163836e-04 9.99884748e-01 7.01475613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27925415399999 meters Centerline goodness [0,1] 0.9991678109266425 Centerline is valid? [True, True] Translation: X:82.99, Y:1.14, Z:0.70 [[ 9.99156892e-01 -3.79067699e-02 -1.57664556e-02 8.29946327e+01] [ 3.79062718e-02 9.99281244e-01 -3.30537737e-04 1.14268616e+00] [ 1.57676530e-02 -2.67388495e-04 9.99875647e-01 7.00679824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30925415399999 meters Centerline goodness [0,1] 0.9989797193187023 Centerline is valid? [True, True] Translation: X:83.03, Y:1.14, Z:0.70 [[ 9.99173371e-01 -3.73417081e-02 -1.60676861e-02 8.30263975e+01] [ 3.73411246e-02 9.99302520e-01 -3.36432444e-04 1.14403280e+00] [ 1.60690422e-02 -2.63831129e-04 9.99870850e-01 7.00556627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33925415399999 meters Centerline goodness [0,1] 0.9993139863628804 Centerline is valid? [True, True] Translation: X:83.06, Y:1.15, Z:0.70 [[ 9.99184389e-01 -3.67979976e-02 -1.66272166e-02 8.30575427e+01] [ 3.67973077e-02 9.99322689e-01 -3.47529309e-04 1.14500946e+00] [ 1.66287432e-02 -2.64590947e-04 9.99861698e-01 7.00737054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36925415399999 meters Centerline goodness [0,1] 0.9991461179606798 Centerline is valid? [True, True] Translation: X:83.09, Y:1.15, Z:0.70 [[ 9.99176225e-01 -3.69153713e-02 -1.68560611e-02 8.30880624e+01] [ 3.69146849e-02 9.99318359e-01 -3.51963988e-04 1.14500824e+00] [ 1.68575642e-02 -2.70562137e-04 9.99857865e-01 7.00815131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39925415399998 meters Centerline goodness [0,1] 0.9990853341648477 Centerline is valid? [True, True] Translation: X:83.12, Y:1.14, Z:0.70 [[ 9.99157590e-01 -3.73416624e-02 -1.70208699e-02 8.31189308e+01] [ 3.73410322e-02 9.99302517e-01 -3.54949731e-04 1.14475917e+00] [ 1.70222525e-02 -2.80926132e-04 9.99855071e-01 7.01021734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42925415399998 meters Centerline goodness [0,1] 0.9991456553448635 Centerline is valid? [True, True] Translation: X:83.15, Y:1.14, Z:0.70 [[ 9.99099164e-01 -3.93624139e-02 -1.58575095e-02 8.31493046e+01] [ 3.93621294e-02 9.99224957e-01 -3.30169976e-04 1.14282222e+00] [ 1.58582155e-02 -2.94312794e-04 9.99874207e-01 7.01986734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45925415399998 meters Centerline goodness [0,1] 0.9990225642092129 Centerline is valid? [True, True] Translation: X:83.18, Y:1.14, Z:0.70 [[ 9.99061147e-01 -4.05414339e-02 -1.52714554e-02 8.31804765e+01] [ 4.05413111e-02 9.99177813e-01 -3.17750990e-04 1.14211823e+00] [ 1.52717815e-02 -3.01672157e-04 9.99883334e-01 7.02804003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48925415399998 meters Centerline goodness [0,1] 0.9991898797282981 Centerline is valid? [True, True] Translation: X:83.21, Y:1.14, Z:0.70 [[ 9.98983985e-01 -4.29044720e-02 -1.37914782e-02 8.32108785e+01] [ 4.29046022e-02 9.99079132e-01 -2.86566285e-04 1.13943331e+00] [ 1.37910731e-02 -3.05442759e-04 9.99904852e-01 7.03963265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51925415399998 meters Centerline goodness [0,1] 0.9992277025193597 Centerline is valid? [True, True] Translation: X:83.24, Y:1.14, Z:0.70 [[ 9.98935847e-01 -4.42073516e-02 -1.31485576e-02 8.32431876e+01] [ 4.42075886e-02 9.99022329e-01 -2.72767153e-04 1.13860245e+00] [ 1.31477609e-02 -3.08789136e-04 9.99913517e-01 7.04358209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54925415399998 meters Centerline goodness [0,1] 0.9989596770837668 Centerline is valid? [True, True] Translation: X:83.28, Y:1.14, Z:0.70 [[ 9.98894620e-01 -4.52305481e-02 -1.27959540e-02 8.32755377e+01] [ 4.52308682e-02 9.98976526e-01 -2.64530258e-04 1.13807760e+00] [ 1.27948225e-02 -3.14534254e-04 9.99918093e-01 7.04741466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57925415399998 meters Centerline goodness [0,1] 0.9990650127781587 Centerline is valid? [True, True] Translation: X:83.31, Y:1.14, Z:0.70 [[ 9.98864734e-01 -4.59252032e-02 -1.26537828e-02 8.33069277e+01] [ 4.59255829e-02 9.98944830e-01 -2.60726059e-04 1.13614196e+00] [ 1.26524048e-02 -3.20702286e-04 9.99919904e-01 7.04825230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60925415399998 meters Centerline goodness [0,1] 0.9992707117852976 Centerline is valid? [True, True] Translation: X:83.34, Y:1.14, Z:0.71 [[ 9.98795088e-01 -4.75160458e-02 -1.22718497e-02 8.33393012e+01] [ 4.75165316e-02 9.98870420e-01 -2.52143854e-04 1.13513460e+00] [ 1.22699686e-02 -3.31275691e-04 9.99924666e-01 7.05124881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63925415399999 meters Centerline goodness [0,1] 0.9992083168399342 Centerline is valid? [True, True] Translation: X:83.37, Y:1.13, Z:0.71 [[ 9.98770151e-01 -4.80818353e-02 -1.20964280e-02 8.33717453e+01] [ 4.80823594e-02 9.98843344e-01 -2.47663740e-04 1.13469739e+00] [ 1.20943447e-02 -3.34265646e-04 9.99926805e-01 7.05090643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66925415399999 meters Centerline goodness [0,1] 0.9990415468600242 Centerline is valid? [True, True] Translation: X:83.40, Y:1.13, Z:0.70 [[ 9.98709123e-01 -4.94570422e-02 -1.15796855e-02 8.34030030e+01] [ 4.94576239e-02 9.98776195e-01 -2.36304217e-04 1.13146722e+00] [ 1.15772011e-02 -3.36704552e-04 9.99932925e-01 7.04838958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69925415399999 meters Centerline goodness [0,1] 0.9990415468600242 Centerline is valid? [True, True] Translation: X:83.43, Y:1.13, Z:0.71 [[ 9.98712665e-01 -4.93854646e-02 -1.15796991e-02 8.34346962e+01] [ 4.93860492e-02 9.98779737e-01 -2.35633981e-04 1.13205080e+00] [ 1.15772058e-02 -3.36544949e-04 9.99932925e-01 7.05135819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72925415399999 meters Centerline goodness [0,1] 0.9991887000478459 Centerline is valid? [True, True] Translation: X:83.47, Y:1.13, Z:0.71 [[ 9.98708222e-01 -4.96209652e-02 -1.09383185e-02 8.34664098e+01] [ 4.96215092e-02 9.98768069e-01 -2.21832775e-04 1.13280434e+00] [ 1.09358508e-02 -3.21229656e-04 9.99940150e-01 7.05561277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75925415399998 meters Centerline goodness [0,1] 0.9990423848780081 Centerline is valid? [True, True] Translation: X:83.50, Y:1.13, Z:0.71 [[ 9.98707684e-01 -4.96468281e-02 -1.08699203e-02 8.34975924e+01] [ 4.96473751e-02 9.98766785e-01 -2.19679534e-04 1.13223806e+00] [ 1.08674217e-02 -3.20267369e-04 9.99940897e-01 7.05652428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78925415399998 meters Centerline goodness [0,1] 0.9991255647394391 Centerline is valid? [True, True] Translation: X:83.53, Y:1.13, Z:0.71 [[ 9.98739522e-01 -4.90650191e-02 -1.05825760e-02 8.35296821e+01] [ 4.90655111e-02 9.98795540e-01 -2.13284852e-04 1.13261136e+00] [ 1.05802945e-02 -3.06223489e-04 9.99943980e-01 7.06172512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81925415399998 meters Centerline goodness [0,1] 0.9989563329715287 Centerline is valid? [True, True] Translation: X:83.56, Y:1.13, Z:0.71 [[ 9.98841950e-01 -4.69578774e-02 -1.04745954e-02 8.35614489e+01] [ 4.69582516e-02 9.98896831e-01 -2.10352577e-04 1.13482249e+00] [ 1.04729179e-02 -2.81759708e-04 9.99945118e-01 7.06314723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84925415399998 meters Centerline goodness [0,1] 0.9991468642057514 Centerline is valid? [True, True] Translation: X:83.59, Y:1.14, Z:0.71 [[ 9.98917814e-01 -4.53338336e-02 -1.03944856e-02 8.35924213e+01] [ 4.53341227e-02 9.98971859e-01 -2.07922476e-04 1.13545817e+00] [ 1.03932245e-02 -2.63527422e-04 9.99945954e-01 7.06497575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87925415399998 meters Centerline goodness [0,1] 0.9992297764269953 Centerline is valid? [True, True] Translation: X:83.62, Y:1.14, Z:0.71 [[ 9.99041475e-01 -4.25038951e-02 -1.04665975e-02 8.36239200e+01] [ 4.25040465e-02 9.99096273e-01 -2.08079287e-04 1.13731626e+00] [ 1.04659827e-02 -2.36992909e-04 9.99945202e-01 7.06386997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90925415399998 meters Centerline goodness [0,1] 0.9991005124986926 Centerline is valid? [True, True] Translation: X:83.66, Y:1.14, Z:0.71 [[ 9.99101270e-01 -4.11937644e-02 -9.98633197e-03 8.36555001e+01] [ 4.11938408e-02 9.99151154e-01 -1.98128401e-04 1.13791351e+00] [ 9.98601676e-03 -2.13425032e-04 9.99950116e-01 7.06532035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93925415399998 meters Centerline goodness [0,1] 0.9992090418999646 Centerline is valid? [True, True] Translation: X:83.69, Y:1.14, Z:0.71 [[ 9.99152959e-01 -3.99460718e-02 -9.88310831e-03 8.36872912e+01] [ 3.99460976e-02 9.99201817e-01 -1.94870343e-04 1.13974615e+00] [ 9.88300409e-03 -2.00086329e-04 9.99951142e-01 7.06736497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96925415399998 meters Centerline goodness [0,1] 0.9991036064206796 Centerline is valid? [True, True] Translation: X:83.72, Y:1.14, Z:0.71 [[ 9.99192678e-01 -3.88674886e-02 -1.01641723e-02 8.37190372e+01] [ 3.88674660e-02 9.99244355e-01 -1.99827890e-04 1.14074938e+00] [ 1.01642586e-02 -1.95389055e-04 9.99948324e-01 7.06456612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99925415399998 meters Centerline goodness [0,1] 0.9992903360467543 Centerline is valid? [True, True] Translation: X:83.75, Y:1.14, Z:0.71 [[ 9.99207570e-01 -3.85303063e-02 -9.98232456e-03 8.37510372e+01] [ 3.85302749e-02 9.99257414e-01 -1.95536548e-04 1.14141266e+00] [ 9.98244591e-03 -1.89240110e-04 9.99950156e-01 7.06555491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02925415399999 meters Centerline goodness [0,1] 0.9991036437922122 Centerline is valid? [True, True] Translation: X:83.78, Y:1.14, Z:0.71 [[ 9.99206082e-01 -3.84824868e-02 -1.03103746e-02 8.37821156e+01] [ 3.84824586e-02 9.99259256e-01 -2.01202266e-04 1.14093491e+00] [ 1.03104800e-02 -1.95726037e-04 9.99946826e-01 7.06629443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05925415399999 meters Centerline goodness [0,1] 0.9991239779743033 Centerline is valid? [True, True] Translation: X:83.81, Y:1.14, Z:0.71 [[ 9.99183985e-01 -3.91502957e-02 -9.93063413e-03 8.38138705e+01] [ 3.91503078e-02 9.99233314e-01 -1.93259710e-04 1.14092082e+00] [ 9.93058663e-03 -1.95685375e-04 9.99950671e-01 7.06965162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08925415399999 meters Centerline goodness [0,1] 0.9989160795430858 Centerline is valid? [True, True] Translation: X:83.85, Y:1.14, Z:0.71 [[ 9.99166759e-01 -3.96045234e-02 -9.86248716e-03 8.38465293e+01] [ 3.96045643e-02 9.99215413e-01 -1.91237838e-04 1.14158350e+00] [ 9.86232307e-03 -1.99521016e-04 9.99951346e-01 7.07061784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11925415399999 meters Centerline goodness [0,1] 0.999104483828644 Centerline is valid? [True, True] Translation: X:83.88, Y:1.14, Z:0.71 [[ 9.99129422e-01 -4.05104826e-02 -9.96490486e-03 8.38781599e+01] [ 4.05105764e-02 9.99179091e-01 -1.92510369e-04 1.14064655e+00] [ 9.96452326e-03 -2.11341266e-04 9.99950331e-01 7.07511195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14925415399998 meters Centerline goodness [0,1] 0.9990411872602968 Centerline is valid? [True, True] Translation: X:83.91, Y:1.14, Z:0.71 [[ 9.99106465e-01 -4.10883406e-02 -9.90053554e-03 8.39098604e+01] [ 4.10884669e-02 9.99155494e-01 -1.90728802e-04 1.14184777e+00] [ 9.90001121e-03 -2.16239448e-04 9.99950970e-01 7.07664771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17925415399998 meters Centerline goodness [0,1] 0.9992100120577107 Centerline is valid? [True, True] Translation: X:83.94, Y:1.14, Z:0.71 [[ 9.99094038e-01 -4.14101063e-02 -9.81355931e-03 8.39423484e+01] [ 4.14102529e-02 9.99142210e-01 -1.88346127e-04 1.14286651e+00] [ 9.81294077e-03 -2.18206480e-04 9.99951828e-01 7.08037140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20925415399998 meters Centerline goodness [0,1] 0.9991464557093785 Centerline is valid? [True, True] Translation: X:83.97, Y:1.14, Z:0.71 [[ 9.99045993e-01 -4.26851793e-02 -9.22386327e-03 8.39740254e+01] [ 4.26853690e-02 9.99088549e-01 -1.76382502e-04 1.14224270e+00] [ 9.22298508e-03 -2.17509776e-04 9.99957444e-01 7.08464863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23925415399998 meters Centerline goodness [0,1] 0.9990185842555858 Centerline is valid? [True, True] Translation: X:84.01, Y:1.14, Z:0.71 [[ 9.99024792e-01 -4.33022890e-02 -8.62418826e-03 8.40058512e+01] [ 4.33024816e-02 9.99061994e-01 -1.64482358e-04 1.14256982e+00] [ 8.62322118e-03 -2.09126799e-04 9.99962797e-01 7.08541044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26925415399998 meters Centerline goodness [0,1] 0.9988757729061271 Centerline is valid? [True, True] Translation: X:84.04, Y:1.14, Z:0.71 [[ 9.98917985e-01 -4.56848748e-02 -8.70354310e-03 8.40368731e+01] [ 4.56851672e-02 9.98955874e-01 -1.65322173e-04 1.13990009e+00] [ 8.70200823e-03 -2.32479530e-04 9.99962110e-01 7.08765768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29925415399998 meters Centerline goodness [0,1] 0.9990865115120311 Centerline is valid? [True, True] Translation: X:84.07, Y:1.14, Z:0.71 [[ 9.98876602e-01 -4.66759788e-02 -8.17839082e-03 8.40683376e+01] [ 4.66762731e-02 9.98910057e-01 -1.54990617e-04 1.13882651e+00] [ 8.17671117e-03 -2.26920303e-04 9.99966544e-01 7.08997251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32925415399998 meters Centerline goodness [0,1] 0.9992947813822285 Centerline is valid? [True, True] Translation: X:84.10, Y:1.14, Z:0.71 [[ 9.98807494e-01 -4.81540857e-02 -8.04819292e-03 8.41004701e+01] [ 4.81544263e-02 9.98839891e-01 -1.51560999e-04 1.13800025e+00] [ 8.04615442e-03 -2.36175852e-04 9.99967601e-01 7.09552849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35925415399998 meters Centerline goodness [0,1] 0.9990823009218704 Centerline is valid? [True, True] Translation: X:84.13, Y:1.14, Z:0.71 [[ 9.98667745e-01 -5.10404536e-02 -7.58996236e-03 8.41325748e+01] [ 5.10408437e-02 9.98696557e-01 -1.42423901e-04 1.13632159e+00] [ 7.58733865e-03 -2.45163926e-04 9.99971186e-01 7.09952934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38925415399999 meters Centerline goodness [0,1] 0.9989368798465772 Centerline is valid? [True, True] Translation: X:84.16, Y:1.14, Z:0.71 [[ 9.98570848e-01 -5.29375283e-02 -7.34028969e-03 8.41647331e+01] [ 5.29379480e-02 9.98597794e-01 -1.37238977e-04 1.13690523e+00] [ 7.33726218e-03 -2.51537032e-04 9.99973050e-01 7.10283912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41925415399999 meters Centerline goodness [0,1] 0.9988761472663323 Centerline is valid? [True, True] Translation: X:84.20, Y:1.14, Z:0.71 [[ 9.98528750e-01 -5.36970689e-02 -7.54725239e-03 8.41967172e+01] [ 5.36975386e-02 9.98557237e-01 -1.40541012e-04 1.13697231e+00] [ 7.54391013e-03 -2.64934635e-04 9.99971509e-01 7.10518217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44925415399999 meters Centerline goodness [0,1] 0.9989171404177339 Centerline is valid? [True, True] Translation: X:84.23, Y:1.14, Z:0.71 [[ 9.98487118e-01 -5.44647502e-02 -7.55422857e-03 8.42292223e+01] [ 5.44652468e-02 9.98515657e-01 -1.40123275e-04 1.13754941e+00] [ 7.55064729e-03 -2.71531639e-04 9.99971457e-01 7.10983696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47925415399999 meters Centerline goodness [0,1] 0.9986889203363023 Centerline is valid? [True, True] Translation: X:84.26, Y:1.14, Z:0.71 [[ 9.98405184e-01 -5.58656514e-02 -8.13123151e-03 8.42607755e+01] [ 5.58662786e-02 9.98438249e-01 -1.50157436e-04 1.13593490e+00] [ 8.12692120e-03 -3.04343682e-04 9.99966930e-01 7.11124195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50925415399998 meters Centerline goodness [0,1] 0.998941183798036 Centerline is valid? [True, True] Translation: X:84.29, Y:1.14, Z:0.71 [[ 9.98363457e-01 -5.65595837e-02 -8.45115328e-03 8.42927505e+01] [ 5.65602900e-02 9.98399173e-01 -1.55600637e-04 1.13664080e+00] [ 8.44642516e-03 -3.22653691e-04 9.99964276e-01 7.11041806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53925415399998 meters Centerline goodness [0,1] 0.9987937022940455 Centerline is valid? [True, True] Translation: X:84.32, Y:1.14, Z:0.71 [[ 9.98336685e-01 -5.70029064e-02 -8.63323484e-03 8.43245458e+01] [ 5.70036654e-02 9.98373957e-01 -1.58325532e-04 1.13794577e+00] [ 8.62822184e-03 -3.34063844e-04 9.99962720e-01 7.10994552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56925415399998 meters Centerline goodness [0,1] 0.9987954309449637 Centerline is valid? [True, True] Translation: X:84.36, Y:1.14, Z:0.71 [[ 9.98298090e-01 -5.75631689e-02 -9.34911720e-03 8.43562725e+01] [ 5.75640903e-02 9.98341798e-01 -1.70728292e-04 1.13850708e+00] [ 9.34344214e-03 -3.67735698e-04 9.99956281e-01 7.11016796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59925415399998 meters Centerline goodness [0,1] 0.998960779830815 Centerline is valid? [True, True] Translation: X:84.39, Y:1.14, Z:0.71 [[ 9.98257244e-01 -5.82015450e-02 -9.74959885e-03 8.43877194e+01] [ 5.82025830e-02 9.98304777e-01 -1.77476660e-04 1.13872467e+00] [ 9.74340053e-03 -3.90284475e-04 9.99952456e-01 7.10937838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62925415399998 meters Centerline goodness [0,1] 0.9988995016611296 Centerline is valid? [True, True] Translation: X:84.42, Y:1.14, Z:0.71 [[ 9.98239370e-01 -5.85019851e-02 -9.78146345e-03 8.44202020e+01] [ 5.85030545e-02 9.98287214e-01 -1.77009666e-04 1.13991426e+00] [ 9.77506531e-03 -3.95547471e-04 9.99952145e-01 7.11311997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65925415399998 meters Centerline goodness [0,1] 0.9989205571585743 Centerline is valid? [True, True] Translation: X:84.45, Y:1.14, Z:0.71 [[ 9.98207353e-01 -5.91084242e-02 -9.39550313e-03 8.44524512e+01] [ 5.91094437e-02 9.98251494e-01 -1.69388765e-04 1.14335968e+00] [ 9.38908734e-03 -3.86277852e-04 9.99955847e-01 7.12123651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68925415399998 meters Centerline goodness [0,1] 0.9990879505835043 Centerline is valid? [True, True] Translation: X:84.48, Y:1.14, Z:0.71 [[ 9.98170038e-01 -5.96564066e-02 -9.88373358e-03 8.44831191e+01] [ 5.96575688e-02 9.98218885e-01 -1.77462392e-04 1.14348669e+00] [ 9.87671629e-03 -4.12501874e-04 9.99951139e-01 7.12880369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71925415399998 meters Centerline goodness [0,1] 0.9989374114509543 Centerline is valid? [True, True] Translation: X:84.52, Y:1.15, Z:0.71 [[ 9.98133663e-01 -6.02141803e-02 -1.01706733e-02 8.45151352e+01] [ 6.02154440e-02 9.98185387e-01 -1.82211331e-04 1.14508719e+00] [ 1.01631892e-02 -4.30560344e-04 9.99948261e-01 7.13357440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74925415399998 meters Centerline goodness [0,1] 0.9990436391608973 Centerline is valid? [True, True] Translation: X:84.55, Y:1.15, Z:0.71 [[ 9.98035504e-01 -6.17374228e-02 -1.06594427e-02 8.45475624e+01] [ 6.17389059e-02 9.98092316e-01 -1.90176905e-04 1.14850602e+00] [ 1.06508489e-02 -4.68299029e-04 9.99943168e-01 7.13734824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77925415399999 meters Centerline goodness [0,1] 0.9986723368945131 Centerline is valid? [True, True] Translation: X:84.58, Y:1.15, Z:0.71 [[ 9.97974575e-01 -6.27268456e-02 -1.05872888e-02 8.45788654e+01] [ 6.27283722e-02 9.98030619e-01 -1.88150696e-04 1.14689033e+00] [ 1.05782405e-02 -4.76353781e-04 9.99943935e-01 7.14009275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80925415399999 meters Centerline goodness [0,1] 0.998838198377627 Centerline is valid? [True, True] Translation: X:84.61, Y:1.15, Z:0.71 [[ 9.97898888e-01 -6.39339840e-02 -1.05001937e-02 8.46108198e+01] [ 6.39355583e-02 9.97954012e-01 -1.86020922e-04 1.14887324e+00] [ 1.04906035e-02 -4.85705675e-04 9.99944854e-01 7.14543075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83925415399999 meters Centerline goodness [0,1] 0.9989599367641553 Centerline is valid? [True, True] Translation: X:84.64, Y:1.15, Z:0.72 [[ 9.97784991e-01 -6.58281819e-02 -9.57925683e-03 8.46417969e+01] [ 6.58295853e-02 9.97830866e-01 -1.69073179e-04 1.14905732e+00] [ 9.56960792e-03 -4.61899824e-04 9.99954104e-01 7.15393816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86925415399998 meters Centerline goodness [0,1] 0.9988175009854159 Centerline is valid? [True, True] Translation: X:84.67, Y:1.15, Z:0.72 [[ 9.97732375e-01 -6.66265925e-02 -9.53970542e-03 8.46734304e+01] [ 6.66280290e-02 9.97777870e-01 -1.67507618e-04 1.15273750e+00] [ 9.52966742e-03 -4.68483996e-04 9.99954482e-01 7.15729387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89925415399998 meters Centerline goodness [0,1] 0.9987570949165182 Centerline is valid? [True, True] Translation: X:84.70, Y:1.16, Z:0.72 [[ 9.97641589e-01 -6.79206767e-02 -9.90156705e-03 8.47049815e+01] [ 6.79222934e-02 9.97690599e-01 -1.73299952e-04 1.15713032e+00] [ 9.89047101e-03 -4.99645903e-04 9.99950963e-01 7.15935143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92925415399998 meters Centerline goodness [0,1] 0.9988157320645737 Centerline is valid? [True, True] Translation: X:84.74, Y:1.16, Z:0.72 [[ 9.97608482e-01 -6.83853926e-02 -1.00376854e-02 8.47361623e+01] [ 6.83870832e-02 9.97658848e-01 -1.75118983e-04 1.15731817e+00] [ 1.00261612e-02 -5.11747845e-04 9.99949606e-01 7.16056306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95925415399998 meters Centerline goodness [0,1] 0.9986501079913607 Centerline is valid? [True, True] Translation: X:84.77, Y:1.16, Z:0.72 [[ 9.97570880e-01 -6.88156145e-02 -1.08051020e-02 8.47680029e+01] [ 6.88176058e-02 9.97629241e-01 -1.87846390e-04 1.16299441e+00] [ 1.07924125e-02 -5.56191161e-04 9.99941606e-01 7.15669492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98925415399998 meters Centerline goodness [0,1] 0.9987957060692262 Centerline is valid? [True, True] Translation: X:84.80, Y:1.17, Z:0.72 [[ 9.97607892e-01 -6.82514013e-02 -1.09654373e-02 8.48000693e+01] [ 6.82534270e-02 9.97667998e-01 -1.89814046e-04 1.16530783e+00] [ 1.09528209e-02 -5.59068682e-04 9.99939860e-01 7.16175960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01925415399998 meters Centerline goodness [0,1] 0.9987333097991985 Centerline is valid? [True, True] Translation: X:84.83, Y:1.17, Z:0.72 [[ 9.97667761e-01 -6.74064089e-02 -1.07431131e-02 8.48321601e+01] [ 6.74083129e-02 9.97725456e-01 -1.85188867e-04 1.16762257e+00] [ 1.07311603e-02 -5.39418165e-04 9.99942274e-01 7.16359386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04925415399998 meters Centerline goodness [0,1] 0.9988175745757789 Centerline is valid? [True, True] Translation: X:84.86, Y:1.17, Z:0.72 [[ 9.97868654e-01 -6.42187640e-02 -1.15801272e-02 8.48627627e+01] [ 6.42207715e-02 9.97935696e-01 -1.98798086e-04 1.17303267e+00] [ 1.15689888e-02 -5.45310323e-04 9.99932928e-01 7.16799969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07925415399998 meters Centerline goodness [0,1] 0.9988155105772828 Centerline is valid? [True, True] Translation: X:84.89, Y:1.18, Z:0.72 [[ 9.98011317e-01 -6.19680633e-02 -1.15485657e-02 8.48946154e+01] [ 6.19699148e-02 9.98077998e-01 -1.97797159e-04 1.17921434e+00] [ 1.15386264e-02 -5.18259828e-04 9.99933294e-01 7.17595291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10925415399998 meters Centerline goodness [0,1] 0.9986841830447587 Centerline is valid? [True, True] Translation: X:84.92, Y:1.19, Z:0.72 [[ 9.98311802e-01 -5.69779595e-02 -1.12720130e-02 8.49246706e+01] [ 5.69794114e-02 9.98375335e-01 -1.92561811e-04 1.18637068e+00] [ 1.12646715e-02 -4.50035935e-04 9.99936450e-01 7.18016978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13925415399999 meters Centerline goodness [0,1] 0.998828574416902 Centerline is valid? [True, True] Translation: X:84.96, Y:1.19, Z:0.72 [[ 9.98432289e-01 -5.48380361e-02 -1.12139912e-02 8.49565544e+01] [ 5.48393399e-02 9.98495173e-01 -1.91433250e-04 1.19376731e+00] [ 1.12076140e-02 -4.23834739e-04 9.99937103e-01 7.18710759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16925415399999 meters Centerline goodness [0,1] 0.9990164689141399 Centerline is valid? [True, True] Translation: X:84.99, Y:1.20, Z:0.72 [[ 9.98570670e-01 -5.22945160e-02 -1.10408793e-02 8.49879405e+01] [ 5.22956328e-02 9.98631630e-01 -1.87729564e-04 1.19799485e+00] [ 1.10355885e-02 -3.89928531e-04 9.99939030e-01 7.18992010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19925415399999 meters Centerline goodness [0,1] 0.9987424547283702 Centerline is valid? [True, True] Translation: X:85.02, Y:1.20, Z:0.72 [[ 9.98687282e-01 -4.99877996e-02 -1.11773478e-02 8.50203829e+01] [ 4.99888053e-02 9.98749760e-01 -1.89558450e-04 1.20255526e+00] [ 1.11728491e-02 -3.69432650e-04 9.99937514e-01 7.19512906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22925415399999 meters Centerline goodness [0,1] 0.9990163248221013 Centerline is valid? [True, True] Translation: X:85.05, Y:1.21, Z:0.72 [[ 9.98910209e-01 -4.53094225e-02 -1.12004337e-02 8.50506512e+01] [ 4.53101487e-02 9.98972950e-01 -1.89037620e-04 1.20923057e+00] [ 1.11974955e-02 -3.18661709e-04 9.99937255e-01 7.20259516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25925415399998 meters Centerline goodness [0,1] 0.9988482157815379 Centerline is valid? [True, True] Translation: X:85.08, Y:1.21, Z:0.72 [[ 9.99013884e-01 -4.29071070e-02 -1.14122435e-02 8.50817413e+01] [ 4.29077178e-02 9.99079021e-01 -1.91430903e-04 1.21263909e+00] [ 1.14099468e-02 -2.98431194e-04 9.99934860e-01 7.20396994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28925415399998 meters Centerline goodness [0,1] 0.9989711934156379 Centerline is valid? [True, True] Translation: X:85.11, Y:1.22, Z:0.72 [[ 9.99201386e-01 -3.81586709e-02 -1.18535659e-02 8.51132637e+01] [ 3.81590039e-02 9.99271660e-01 -1.98158124e-04 1.22010579e+00] [ 1.18524939e-02 -2.54320393e-04 9.99929724e-01 7.20770356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31925415399998 meters Centerline goodness [0,1] 0.9990757855822551 Centerline is valid? [True, True] Translation: X:85.15, Y:1.22, Z:0.72 [[ 9.99270392e-01 -3.61138338e-02 -1.24288160e-02 8.51459497e+01] [ 3.61140519e-02 9.99347653e-01 -2.06954962e-04 1.22402757e+00] [ 1.24281820e-02 -2.42050939e-04 9.99922738e-01 7.21090163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34925415399998 meters Centerline goodness [0,1] 0.9989511883036519 Centerline is valid? [True, True] Translation: X:85.18, Y:1.23, Z:0.72 [[ 9.99354355e-01 -3.37782350e-02 -1.22435037e-02 8.51773420e+01] [ 3.37782865e-02 9.99429330e-01 -2.02643038e-04 1.22666597e+00] [ 1.22433616e-02 -2.11052374e-04 9.99925025e-01 7.21240507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37925415399998 meters Centerline goodness [0,1] 0.9989701338825953 Centerline is valid? [True, True] Translation: X:85.21, Y:1.23, Z:0.72 [[ 9.99466994e-01 -3.04286091e-02 -1.18248619e-02 8.52091417e+01] [ 3.04284384e-02 9.99536929e-01 -1.94384968e-04 1.23201769e+00] [ 1.18253011e-02 -1.65530724e-04 9.99930065e-01 7.21910952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40925415399998 meters Centerline goodness [0,1] 0.9988838345547975 Centerline is valid? [True, True] Translation: X:85.24, Y:1.23, Z:0.72 [[ 9.99514207e-01 -2.88684900e-02 -1.17456162e-02 8.52406123e+01] [ 2.88682214e-02 9.99583208e-01 -1.92448394e-04 1.23383775e+00] [ 1.17462764e-02 -1.46720145e-04 9.99930999e-01 7.22169755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43925415399998 meters Centerline goodness [0,1] 0.9990118784820772 Centerline is valid? [True, True] Translation: X:85.27, Y:1.24, Z:0.72 [[ 9.99576557e-01 -2.67120058e-02 -1.15401974e-02 8.52726236e+01] [ 2.67116104e-02 9.99643164e-01 -1.88427988e-04 1.23860441e+00] [ 1.15411127e-02 -1.19909056e-04 9.99933392e-01 7.22944781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46925415399998 meters Centerline goodness [0,1] 0.9988193873463622 Centerline is valid? [True, True] Translation: X:85.30, Y:1.24, Z:0.72 [[ 9.99601687e-01 -2.58830150e-02 -1.12488991e-02 8.53036563e+01] [ 2.58825949e-02 9.99664973e-01 -1.82947006e-04 1.24022876e+00] [ 1.12498656e-02 -1.08276563e-04 9.99936712e-01 7.22600629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49925415399998 meters Centerline goodness [0,1] 0.9988203821119374 Centerline is valid? [True, True] Translation: X:85.34, Y:1.24, Z:0.72 [[ 9.99622323e-01 -2.50689901e-02 -1.12586271e-02 8.53352713e+01] [ 2.50685223e-02 9.99685719e-01 -1.82700749e-04 1.24206677e+00] [ 1.12596688e-02 -9.96053962e-05 9.99936603e-01 7.22681679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52925415399999 meters Centerline goodness [0,1] 0.9986505007907222 Centerline is valid? [True, True] Translation: X:85.37, Y:1.24, Z:0.72 [[ 9.99656579e-01 -2.35812544e-02 -1.14301411e-02 8.53656955e+01] [ 2.35806792e-02 9.99721920e-01 -1.85102743e-04 1.24486806e+00] [ 1.14313275e-02 -8.44913147e-05 9.99934657e-01 7.22259752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55925415399999 meters Centerline goodness [0,1] 0.998987149458758 Centerline is valid? [True, True] Translation: X:85.40, Y:1.25, Z:0.72 [[ 9.99668093e-01 -2.29143467e-02 -1.17744063e-02 8.53956175e+01] [ 2.29136927e-02 9.99737429e-01 -1.90461823e-04 1.24630611e+00] [ 1.17756790e-02 -7.93965203e-05 9.99930661e-01 7.22210631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58925415399999 meters Centerline goodness [0,1] 0.9990500517194064 Centerline is valid? [True, True] Translation: X:85.43, Y:1.25, Z:0.72 [[ 9.99671823e-01 -2.25557771e-02 -1.21442943e-02 8.54272078e+01] [ 2.25550582e-02 9.99745583e-01 -1.96170785e-04 1.24782493e+00] [ 1.21456293e-02 -7.78088581e-05 9.99926236e-01 7.22112294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61925415399998 meters Centerline goodness [0,1] 0.9990500517194064 Centerline is valid? [True, True] Translation: X:85.46, Y:1.25, Z:0.72 [[ 9.99672654e-01 -2.25188842e-02 -1.21443015e-02 8.54580500e+01] [ 2.25181681e-02 9.99746415e-01 -1.95722446e-04 1.24829342e+00] [ 1.21456293e-02 -7.78090447e-05 9.99926236e-01 7.22401172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64925415399998 meters Centerline goodness [0,1] 0.9989459704450113 Centerline is valid? [True, True] Translation: X:85.49, Y:1.25, Z:0.72 [[ 9.99674739e-01 -2.22485571e-02 -1.24666801e-02 8.54895377e+01] [ 2.22477873e-02 9.99752467e-01 -2.00449533e-04 1.24899580e+00] [ 1.24680539e-02 -7.69717111e-05 9.99922268e-01 7.22657846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67925415399998 meters Centerline goodness [0,1] 0.9989255919777534 Centerline is valid? [True, True] Translation: X:85.52, Y:1.25, Z:0.72 [[ 9.99686445e-01 -2.18848144e-02 -1.21682508e-02 8.55209227e+01] [ 2.18840594e-02 9.99760496e-01 -1.95214201e-04 1.24968847e+00] [ 1.21696086e-02 -7.11377317e-05 9.99925945e-01 7.22685800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70925415399998 meters Centerline goodness [0,1] 0.9989651968237878 Centerline is valid? [True, True] Translation: X:85.55, Y:1.25, Z:0.72 [[ 9.99693889e-01 -2.16269260e-02 -1.20168420e-02 8.55526760e+01] [ 2.16261762e-02 9.99766108e-01 -1.92352548e-04 1.25029132e+00] [ 1.20181913e-02 -6.75846746e-05 9.99927777e-01 7.23337789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73925415399998 meters Centerline goodness [0,1] 0.9989440337909187 Centerline is valid? [True, True] Translation: X:85.58, Y:1.25, Z:0.72 [[ 9.99719463e-01 -2.08429722e-02 -1.12501766e-02 8.55841346e+01] [ 2.08422697e-02 9.99782760e-01 -1.79694566e-04 1.25061165e+00] [ 1.12514780e-02 -5.48350593e-05 9.99936699e-01 7.23966996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76925415399998 meters Centerline goodness [0,1] 0.9988616720772376 Centerline is valid? [True, True] Translation: X:85.61, Y:1.25, Z:0.72 [[ 9.99723857e-01 -2.06857890e-02 -1.11493038e-02 8.56139975e+01] [ 2.06850935e-02 9.99786025e-01 -1.77712231e-04 1.25057063e+00] [ 1.11505942e-02 -5.29612337e-05 9.99937829e-01 7.24041703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79925415399998 meters Centerline goodness [0,1] 0.9989855225615555 Centerline is valid? [True, True] Translation: X:85.65, Y:1.25, Z:0.72 [[ 9.99722833e-01 -2.08807248e-02 -1.08743686e-02 8.56450662e+01] [ 2.08800770e-02 9.99781972e-01 -1.73108207e-04 1.25081088e+00] [ 1.08756123e-02 -5.39974270e-05 9.99940857e-01 7.24428555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82925415399998 meters Centerline goodness [0,1] 0.9990506128821283 Centerline is valid? [True, True] Translation: X:85.68, Y:1.25, Z:0.72 [[ 9.99699813e-01 -2.18883562e-02 -1.10083046e-02 8.56757057e+01] [ 2.18877577e-02 9.99760419e-01 -1.74855507e-04 1.24918988e+00] [ 1.10094945e-02 -6.61440854e-05 9.99939391e-01 7.24315356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85925415399998 meters Centerline goodness [0,1] 0.9989470802535431 Centerline is valid? [True, True] Translation: X:85.71, Y:1.25, Z:0.72 [[ 9.99672154e-01 -2.29784991e-02 -1.12948686e-02 8.57064146e+01] [ 2.29779415e-02 9.99735956e-01 -1.79158300e-04 1.24780053e+00] [ 1.12960031e-02 -8.04332668e-05 9.99936195e-01 7.24115609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88925415399999 meters Centerline goodness [0,1] 0.998947013730941 Centerline is valid? [True, True] Translation: X:85.74, Y:1.24, Z:0.72 [[ 9.99582499e-01 -2.63114020e-02 -1.19389137e-02 8.57377976e+01] [ 2.63110220e-02 9.99653787e-01 -1.88918052e-04 1.24445337e+00] [ 1.19397510e-02 -1.25285845e-04 9.99928711e-01 7.23109582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91925415399999 meters Centerline goodness [0,1] 0.9992419297100381 Centerline is valid? [True, True] Translation: X:85.77, Y:1.24, Z:0.72 [[ 9.99529275e-01 -2.80282263e-02 -1.24758442e-02 8.57697371e+01] [ 2.80279524e-02 9.99607120e-01 -1.96837119e-04 1.24291835e+00] [ 1.24764597e-02 -1.52927903e-04 9.99922154e-01 7.23238695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94925415399999 meters Centerline goodness [0,1] 0.998970003993862 Centerline is valid? [True, True] Translation: X:85.80, Y:1.24, Z:0.72 [[ 9.99464982e-01 -3.00343528e-02 -1.29494317e-02 8.58010890e+01] [ 3.00342376e-02 9.99548850e-01 -2.03410398e-04 1.24091496e+00] [ 1.29496988e-02 -1.85624739e-04 9.99916132e-01 7.23132800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97925415399999 meters Centerline goodness [0,1] 0.9987814614059414 Centerline is valid? [True, True] Translation: X:85.83, Y:1.24, Z:0.72 [[ 9.99342976e-01 -3.37538665e-02 -1.32020130e-02 8.58317435e+01] [ 3.37540789e-02 9.99430147e-01 -2.06793868e-04 1.23662384e+00] [ 1.32014699e-02 -2.38963789e-04 9.99912828e-01 7.23420566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00925415399998 meters Centerline goodness [0,1] 0.9990748528174936 Centerline is valid? [True, True] Translation: X:85.86, Y:1.24, Z:0.72 [[ 9.99292283e-01 -3.52243910e-02 -1.31975523e-02 8.58640449e+01] [ 3.52247371e-02 9.99379395e-01 -2.06296194e-04 1.23520798e+00] [ 1.31966285e-02 -2.58730116e-04 9.99912887e-01 7.23874017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03925415399998 meters Centerline goodness [0,1] 0.9987013803070607 Centerline is valid? [True, True] Translation: X:85.90, Y:1.23, Z:0.72 [[ 9.99225235e-01 -3.69295996e-02 -1.36064361e-02 8.58956945e+01] [ 3.69301374e-02 9.99317827e-01 -2.11810164e-04 1.23381748e+00] [ 1.36049762e-02 -2.90841493e-04 9.99907406e-01 7.23905093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06925415399998 meters Centerline goodness [0,1] 0.9989496239653796 Centerline is valid? [True, True] Translation: X:85.93, Y:1.23, Z:0.72 [[ 9.99110737e-01 -4.01350415e-02 -1.29195238e-02 8.59270456e+01] [ 4.01358016e-02 9.99194214e-01 -2.00538643e-04 1.23269526e+00] [ 1.29171620e-02 -3.18175133e-04 9.99916519e-01 7.24604871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09925415399998 meters Centerline goodness [0,1] 0.9990756885070269 Centerline is valid? [True, True] Translation: X:85.96, Y:1.23, Z:0.73 [[ 9.98949388e-01 -4.40135547e-02 -1.27643167e-02 8.59590542e+01] [ 4.40146204e-02 9.99030867e-01 -1.97553853e-04 1.23201830e+00] [ 1.27606415e-02 -3.64470255e-04 9.99918513e-01 7.25373567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12925415399998 meters Centerline goodness [0,1] 0.9989719488911735 Centerline is valid? [True, True] Translation: X:85.99, Y:1.22, Z:0.72 [[ 9.98857354e-01 -4.61537888e-02 -1.24021797e-02 8.59900258e+01] [ 4.61549729e-02 9.98934273e-01 -1.90887551e-04 1.22437569e+00] [ 1.23977726e-02 -3.81752834e-04 9.99923072e-01 7.24758904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15925415399998 meters Centerline goodness [0,1] 0.9986783309207627 Centerline is valid? [True, True] Translation: X:86.02, Y:1.23, Z:0.73 [[ 9.98742528e-01 -4.85290926e-02 -1.25813666e-02 8.60220528e+01] [ 4.85305176e-02 9.98821682e-01 -1.92190572e-04 1.22930181e+00] [ 1.25758686e-02 -4.18631338e-04 9.99920833e-01 7.25344347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18925415399998 meters Centerline goodness [0,1] 0.9989717978848414 Centerline is valid? [True, True] Translation: X:86.05, Y:1.23, Z:0.73 [[ 9.98617097e-01 -5.10947822e-02 -1.23780398e-02 8.60538446e+01] [ 5.10963688e-02 9.98693710e-01 -1.88236030e-04 1.22902393e+00] [ 1.23714883e-02 -4.44497166e-04 9.99923371e-01 7.25787617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21925415399998 meters Centerline goodness [0,1] 0.9986139112903226 Centerline is valid? [True, True] Translation: X:86.08, Y:1.22, Z:0.73 [[ 9.98295024e-01 -5.71064226e-02 -1.20789558e-02 8.60841683e+01] [ 5.71083810e-02 9.98367968e-01 -1.83004003e-04 1.22480030e+00] [ 1.20696932e-02 -5.07117624e-04 9.99927030e-01 7.26518337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24925415399998 meters Centerline goodness [0,1] 0.9988040034411129 Centerline is valid? [True, True] Translation: X:86.12, Y:1.22, Z:0.73 [[ 9.98111448e-01 -6.02521981e-02 -1.19670278e-02 8.61155719e+01] [ 6.02543540e-02 9.98183039e-01 -1.80637546e-04 1.22377645e+00] [ 1.19561680e-02 -5.40769124e-04 9.99928376e-01 7.26933029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27925415399999 meters Centerline goodness [0,1] 0.9986160040261701 Centerline is valid? [True, True] Translation: X:86.15, Y:1.22, Z:0.73 [[ 9.97678643e-01 -6.69436838e-02 -1.24847094e-02 8.61457154e+01] [ 6.69465576e-02 9.97756545e-01 -1.88060750e-04 1.22058810e+00] [ 1.24692900e-02 -6.48184126e-04 9.99922045e-01 7.26502893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30925415399999 meters Centerline goodness [0,1] 0.9984499696277832 Centerline is valid? [True, True] Translation: X:86.18, Y:1.22, Z:0.73 [[ 9.97464340e-01 -6.99524305e-02 -1.30976416e-02 8.61755465e+01] [ 6.99558532e-02 9.97550069e-01 -1.97200750e-04 1.21870086e+00] [ 1.30793480e-02 -7.19555980e-04 9.99914203e-01 7.26356526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33925415399999 meters Centerline goodness [0,1] 0.9984728033472803 Centerline is valid? [True, True] Translation: X:86.21, Y:1.21, Z:0.73 [[ 9.97295557e-01 -7.22272342e-02 -1.35940990e-02 8.62057514e+01] [ 7.22311331e-02 9.97387899e-01 -2.04598309e-04 1.21395289e+00] [ 1.35733674e-02 -7.77872188e-04 9.99907575e-01 7.26248137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36925415399998 meters Centerline goodness [0,1] 0.9986990095685748 Centerline is valid? [True, True] Translation: X:86.24, Y:1.22, Z:0.73 [[ 9.97025945e-01 -7.57202264e-02 -1.43426992e-02 8.62367421e+01] [ 7.57249306e-02 9.97128722e-01 -2.15592908e-04 1.21869280e+00] [ 1.43178421e-02 -8.71148181e-04 9.99897115e-01 7.26026481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39925415399998 meters Centerline goodness [0,1] 0.9984048023844007 Centerline is valid? [True, True] Translation: X:86.27, Y:1.22, Z:0.73 [[ 9.96957988e-01 -7.65688520e-02 -1.45595861e-02 8.62679120e+01] [ 7.65737963e-02 9.97063893e-01 -2.18391686e-04 1.21841611e+00] [ 1.45335596e-02 -8.97155447e-04 9.99893980e-01 7.25766349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42925415399998 meters Centerline goodness [0,1] 0.9985924961136087 Centerline is valid? [True, True] Translation: X:86.30, Y:1.22, Z:0.73 [[ 9.96926539e-01 -7.69186096e-02 -1.48661697e-02 8.62997765e+01] [ 7.69238170e-02 9.97036949e-01 -2.22059699e-04 1.21989060e+00] [ 1.48392010e-02 -9.22185307e-04 9.99889468e-01 7.26045609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45925415399998 meters Centerline goodness [0,1] 0.998568963340208 Centerline is valid? [True, True] Translation: X:86.33, Y:1.22, Z:0.73 [[ 9.96977337e-01 -7.61408210e-02 -1.54520272e-02 8.63310208e+01] [ 7.61463701e-02 9.97096624e-01 -2.29762716e-04 1.22284590e+00] [ 1.54246585e-02 -9.47547560e-04 9.99880584e-01 7.26306555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48925415399998 meters Centerline goodness [0,1] 0.9986158589014953 Centerline is valid? [True, True] Translation: X:86.36, Y:1.22, Z:0.73 [[ 9.97082364e-01 -7.47301071e-02 -1.55618540e-02 8.63622831e+01] [ 7.47355773e-02 9.97203360e-01 -2.30545838e-04 1.21914511e+00] [ 1.55355618e-02 -9.33150952e-04 9.99878880e-01 7.26029721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51925415399998 meters Centerline goodness [0,1] 0.9984852947363992 Centerline is valid? [True, True] Translation: X:86.39, Y:1.22, Z:0.73 [[ 9.97221040e-01 -7.28145426e-02 -1.57556468e-02 8.63942481e+01] [ 7.28199249e-02 9.97345078e-01 -2.32579604e-04 1.22229031e+00] [ 1.57307519e-02 -9.15391742e-04 9.99875845e-01 7.26287422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54925415399998 meters Centerline goodness [0,1] 0.9986713345706091 Centerline is valid? [True, True] Translation: X:86.42, Y:1.24, Z:0.73 [[ 9.97591314e-01 -6.77116950e-02 -1.50564153e-02 8.64244806e+01] [ 6.77160375e-02 9.97704610e-01 -2.21790298e-04 1.23621638e+00] [ 1.50368728e-02 -7.98304709e-04 9.99886621e-01 7.28038589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57925415399998 meters Centerline goodness [0,1] 0.9987123195136367 Centerline is valid? [True, True] Translation: X:86.45, Y:1.24, Z:0.73 [[ 9.97819395e-01 -6.43502446e-02 -1.46799420e-02 8.64545682e+01] [ 6.43540100e-02 9.97927109e-01 -2.16229549e-04 1.23976172e+00] [ 1.46634265e-02 -7.28955094e-04 9.99892220e-01 7.28876887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60925415399998 meters Centerline goodness [0,1] 0.9985616076150186 Centerline is valid? [True, True] Translation: X:86.48, Y:1.25, Z:0.73 [[ 9.98326562e-01 -5.62182106e-02 -1.35495067e-02 8.64844461e+01] [ 5.62206705e-02 9.98418347e-01 -1.99583757e-04 1.24964720e+00] [ 1.35392963e-02 -5.62512587e-04 9.99908181e-01 7.30310210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63925415399999 meters Centerline goodness [0,1] 0.9986672871890336 Centerline is valid? [True, True] Translation: X:86.52, Y:1.26, Z:0.73 [[ 9.98588379e-01 -5.15312250e-02 -1.28756067e-02 8.65152937e+01] [ 5.15330578e-02 9.98671271e-01 -1.89607269e-04 1.25526365e+00] [ 1.28682692e-02 -4.74179768e-04 9.99917088e-01 7.31148215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66925415399999 meters Centerline goodness [0,1] 0.9986246588095893 Centerline is valid? [True, True] Translation: X:86.55, Y:1.26, Z:0.73 [[ 9.98833966e-01 -4.65637420e-02 -1.27485877e-02 8.65461256e+01] [ 4.65651374e-02 9.98915238e-01 -1.87515798e-04 1.26339477e+00] [ 1.27434900e-02 -4.06342590e-04 9.99918716e-01 7.32037770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69925415399999 meters Centerline goodness [0,1] 0.9985776154891305 Centerline is valid? [True, True] Translation: X:86.58, Y:1.28, Z:0.73 [[ 9.99226985e-01 -3.73582499e-02 -1.22389866e-02 8.65772920e+01] [ 3.73588486e-02 9.99301898e-01 -1.79785923e-04 1.27587491e+00] [ 1.22371590e-02 -2.77587502e-04 9.99925085e-01 7.32667799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72925415399999 meters Centerline goodness [0,1] 0.9988054862310958 Centerline is valid? [True, True] Translation: X:86.61, Y:1.28, Z:0.73 [[ 9.99369588e-01 -3.33297935e-02 -1.22291351e-02 8.66081705e+01] [ 3.33300939e-02 9.99444382e-01 -1.79295196e-04 1.27942581e+00] [ 1.22283163e-02 -2.28416056e-04 9.99925205e-01 7.32687339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75925415399998 meters Centerline goodness [0,1] 0.9987412527735109 Centerline is valid? [True, True] Translation: X:86.64, Y:1.28, Z:0.73 [[ 9.99480414e-01 -2.96502726e-02 -1.26397461e-02 8.66405889e+01] [ 2.96503070e-02 9.99560316e-01 -1.84716835e-04 1.28427218e+00] [ 1.26396655e-02 -1.90151492e-04 9.99920098e-01 7.32560267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78925415399998 meters Centerline goodness [0,1] 0.9989732400693063 Centerline is valid? [True, True] Translation: X:86.67, Y:1.29, Z:0.73 [[ 9.99623403e-01 -2.38687897e-02 -1.35400290e-02 8.66716056e+01] [ 2.38683107e-02 9.99715092e-01 -1.96989844e-04 1.29184898e+00] [ 1.35408733e-02 -1.26261963e-04 9.99908310e-01 7.32091471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81925415399998 meters Centerline goodness [0,1] 0.9990162952824944 Centerline is valid? [True, True] Translation: X:86.70, Y:1.29, Z:0.73 [[ 9.99662488e-01 -2.18021640e-02 -1.41271200e-02 8.67030206e+01] [ 2.18014438e-02 9.99762299e-01 -2.05001066e-04 1.29485617e+00] [ 1.41282314e-02 -1.03059736e-04 9.99900186e-01 7.31942843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84925415399998 meters Centerline goodness [0,1] 0.9991666132444388 Centerline is valid? [True, True] Translation: X:86.73, Y:1.30, Z:0.73 [[ 9.99691762e-01 -1.94156962e-02 -1.54729589e-02 8.67334279e+01] [ 1.94145539e-02 9.99811495e-01 -2.24045044e-04 1.29825527e+00] [ 1.54743922e-02 -7.64246108e-05 9.99880262e-01 7.30460638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87925415399998 meters Centerline goodness [0,1] 0.9991014889611501 Centerline is valid? [True, True] Translation: X:86.76, Y:1.30, Z:0.73 [[ 9.99683643e-01 -1.92639654e-02 -1.61713831e-02 8.67627828e+01] [ 1.92626967e-02 9.99814430e-01 -2.34226233e-04 1.30033636e+00] [ 1.61728943e-02 -7.73523137e-05 9.99869207e-01 7.30876000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90925415399998 meters Centerline goodness [0,1] 0.9990560978225893 Centerline is valid? [True, True] Translation: X:86.79, Y:1.30, Z:0.73 [[ 9.99680272e-01 -1.93926839e-02 -1.62258247e-02 8.67910969e+01] [ 1.93914121e-02 9.99811941e-01 -2.35722689e-04 1.30147018e+00] [ 1.62273446e-02 -7.89943318e-05 9.99868325e-01 7.30758885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93925415399998 meters Centerline goodness [0,1] 0.9991639512948036 Centerline is valid? [True, True] Translation: X:86.82, Y:1.30, Z:0.73 [[ 9.99666098e-01 -2.05809687e-02 -1.56242112e-02 8.68203265e+01] [ 2.05799234e-02 9.99788185e-01 -2.27696072e-04 1.30332989e+00] [ 1.56255879e-02 -9.39250248e-05 9.99877909e-01 7.32471390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96925415399998 meters Centerline goodness [0,1] 0.9990566037735849 Centerline is valid? [True, True] Translation: X:86.85, Y:1.30, Z:0.73 [[ 9.99652957e-01 -2.13828073e-02 -1.53863690e-02 8.68496472e+01] [ 2.13818800e-02 9.99771356e-01 -2.24788234e-04 1.30406492e+00] [ 1.53876576e-02 -1.04279272e-04 9.99881598e-01 7.33301259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99925415399998 meters Centerline goodness [0,1] 0.9989923893236146 Centerline is valid? [True, True] Translation: X:86.88, Y:1.30, Z:0.73 [[ 9.99617911e-01 -2.35282227e-02 -1.45070342e-02 8.68800393e+01] [ 2.35276195e-02 9.99723165e-01 -2.12265835e-04 1.30409362e+00] [ 1.45080124e-02 -1.29131250e-04 9.99894745e-01 7.34307306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02925415399999 meters Centerline goodness [0,1] 0.99914337723525 Centerline is valid? [True, True] Translation: X:86.91, Y:1.30, Z:0.73 [[ 9.99594259e-01 -2.48112787e-02 -1.39899193e-02 8.69101200e+01] [ 2.48108446e-02 9.99692143e-01 -2.04613989e-04 1.30363576e+00] [ 1.39906891e-02 -1.42570744e-04 9.99902115e-01 7.34919415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05925415399999 meters Centerline goodness [0,1] 0.9992498928418345 Centerline is valid? [True, True] Translation: X:86.94, Y:1.30, Z:0.74 [[ 9.99571526e-01 -2.60350002e-02 -1.33769375e-02 8.69417742e+01] [ 2.60347215e-02 9.99661020e-01 -1.95002268e-04 1.30283483e+00] [ 1.33774799e-02 -1.53346128e-04 9.99910506e-01 7.35264947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08925415399999 meters Centerline goodness [0,1] 0.9988200463399983 Centerline is valid? [True, True] Translation: X:86.97, Y:1.30, Z:0.74 [[ 9.99538308e-01 -2.74423923e-02 -1.30416983e-02 8.69742761e+01] [ 2.74422650e-02 9.99623372e-01 -1.88748597e-04 1.30299666e+00] [ 1.30419661e-02 -1.69232287e-04 9.99914936e-01 7.35579279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11925415399998 meters Centerline goodness [0,1] 0.9991633594336587 Centerline is valid? [True, True] Translation: X:87.01, Y:1.30, Z:0.74 [[ 9.99469010e-01 -2.99164143e-02 -1.29114922e-02 8.70057317e+01] [ 2.99165072e-02 9.99552384e-01 -1.85983217e-04 1.30122060e+00] [ 1.29112768e-02 -2.00382289e-04 9.99916626e-01 7.35561203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14925415399998 meters Centerline goodness [0,1] 0.9991646496883501 Centerline is valid? [True, True] Translation: X:87.04, Y:1.30, Z:0.74 [[ 9.99431652e-01 -3.09731578e-02 -1.33055384e-02 8.70376709e+01] [ 3.09733610e-02 9.99520192e-01 -1.90843159e-04 1.30066799e+00] [ 1.33050653e-02 -2.21382550e-04 9.99911459e-01 7.35258406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17925415399998 meters Centerline goodness [0,1] 0.9991206811504064 Centerline is valid? [True, True] Translation: X:87.07, Y:1.30, Z:0.74 [[ 9.99389113e-01 -3.20604202e-02 -1.39115136e-02 8.70695153e+01] [ 3.20607622e-02 9.99485902e-01 -1.98493771e-04 1.30071525e+00] [ 1.39107255e-02 -2.47641216e-04 9.99903211e-01 7.35167790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20925415399998 meters Centerline goodness [0,1] 0.9990562193003153 Centerline is valid? [True, True] Translation: X:87.10, Y:1.30, Z:0.73 [[ 9.99306884e-01 -3.43264646e-02 -1.44029612e-02 8.71010821e+01] [ 3.43270806e-02 9.99410631e-01 -2.04519043e-04 1.29824051e+00] [ 1.44014929e-02 -2.90034322e-04 9.99896251e-01 7.34822441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23925415399998 meters Centerline goodness [0,1] 0.9988634414136216 Centerline is valid? [True, True] Translation: X:87.13, Y:1.30, Z:0.74 [[ 9.99287875e-01 -3.49341804e-02 -1.42599348e-02 8.71328718e+01] [ 3.49348583e-02 9.99389571e-01 -2.01633270e-04 1.29756981e+00] [ 1.42582740e-02 -2.96679119e-04 9.99898302e-01 7.35052011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26925415399998 meters Centerline goodness [0,1] 0.9990787359400107 Centerline is valid? [True, True] Translation: X:87.17, Y:1.30, Z:0.74 [[ 9.99306694e-01 -3.46140576e-02 -1.37112611e-02 8.71651784e+01] [ 3.46146674e-02 9.99400714e-01 -1.92912258e-04 1.29938014e+00] [ 1.37097216e-02 -2.81832231e-04 9.99905978e-01 7.35753957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29925415399998 meters Centerline goodness [0,1] 0.9991652933244869 Centerline is valid? [True, True] Translation: X:87.20, Y:1.30, Z:0.74 [[ 9.99329406e-01 -3.38097534e-02 -1.40584041e-02 8.71975704e+01] [ 3.38103297e-02 9.99428248e-01 -1.96737736e-04 1.30003222e+00] [ 1.40570178e-02 -2.78713473e-04 9.99901156e-01 7.35903084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32925415399998 meters Centerline goodness [0,1] 0.9991214913220484 Centerline is valid? [True, True] Translation: X:87.23, Y:1.30, Z:0.74 [[ 9.99349244e-01 -3.31212386e-02 -1.42853946e-02 8.72301916e+01] [ 3.31217787e-02 9.99451304e-01 -1.98850103e-04 1.30069764e+00] [ 1.42841424e-02 -2.74436978e-04 9.99897939e-01 7.35669825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35925415399998 meters Centerline goodness [0,1] 0.9992722914258807 Centerline is valid? [True, True] Translation: X:87.26, Y:1.30, Z:0.74 [[ 9.99430864e-01 -3.02539230e-02 -1.49214335e-02 8.72619331e+01] [ 3.02542080e-02 9.99542215e-01 -2.06678584e-04 1.30275281e+00] [ 1.49208556e-02 -2.44875198e-04 9.99888648e-01 7.35359869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38925415399999 meters Centerline goodness [0,1] 0.9987357774968394 Centerline is valid? [True, True] Translation: X:87.29, Y:1.30, Z:0.73 [[ 9.99479507e-01 -2.84272990e-02 -1.52513564e-02 8.72938502e+01] [ 2.84273989e-02 9.99595838e-01 -2.10282976e-04 1.30390745e+00] [ 1.52511702e-02 -2.23382868e-04 9.99883669e-01 7.34731425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41925415399999 meters Centerline goodness [0,1] 0.9991842167407312 Centerline is valid? [True, True] Translation: X:87.32, Y:1.31, Z:0.74 [[ 9.99542259e-01 -2.61466789e-02 -1.52191723e-02 8.73247630e+01] [ 2.61465279e-02 9.99658099e-01 -2.08932238e-04 1.30569526e+00] [ 1.52194317e-02 -1.89091912e-04 9.99884160e-01 7.35294714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44925415399999 meters Centerline goodness [0,1] 0.999013299013299 Centerline is valid? [True, True] Translation: X:87.36, Y:1.31, Z:0.74 [[ 9.99646977e-01 -2.16854424e-02 -1.53513113e-02 8.73553011e+01] [ 2.16847681e-02 9.99764836e-01 -2.10396171e-04 1.30842502e+00] [ 1.53522637e-02 -1.22567729e-04 9.99882140e-01 7.35941692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47925415399999 meters Centerline goodness [0,1] 0.9992078614399794 Centerline is valid? [True, True] Translation: X:87.38, Y:1.31, Z:0.74 [[ 9.99689589e-01 -1.97274723e-02 -1.52168706e-02 8.73849162e+01] [ 1.97265836e-02 9.99805390e-01 -2.08514688e-04 1.30945786e+00] [ 1.52180227e-02 -9.17269075e-05 9.99884195e-01 7.36473330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50925415399998 meters Centerline goodness [0,1] 0.9992078614399794 Centerline is valid? [True, True] Translation: X:87.41, Y:1.31, Z:0.74 [[ 9.99688878e-01 -1.97634520e-02 -1.52168686e-02 8.74140653e+01] [ 1.97625651e-02 9.99804680e-01 -2.08662914e-04 1.30988691e+00] [ 1.52180203e-02 -9.21263624e-05 9.99884195e-01 7.36746426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53925415399998 meters Centerline goodness [0,1] 0.9989704873026767 Centerline is valid? [True, True] Translation: X:87.44, Y:1.31, Z:0.74 [[ 9.99743511e-01 -1.74255534e-02 -1.44659025e-02 8.74432337e+01] [ 1.74245012e-02 9.99848162e-01 -1.98776827e-04 1.31047837e+00] [ 1.44671698e-02 -5.33352913e-05 9.99895344e-01 7.37474877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56925415399998 meters Centerline goodness [0,1] 0.9990336504391522 Centerline is valid? [True, True] Translation: X:87.47, Y:1.31, Z:0.74 [[ 9.99749084e-01 -1.70332323e-02 -1.45477565e-02 8.74730626e+01] [ 1.70321215e-02 9.99854923e-01 -2.00259615e-04 1.31047539e+00] [ 1.45490570e-02 -4.75697885e-05 9.99894156e-01 7.37869500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59925415399998 meters Centerline goodness [0,1] 0.9989691828626651 Centerline is valid? [True, True] Translation: X:87.50, Y:1.31, Z:0.74 [[ 9.99742957e-01 -1.68882325e-02 -1.51263776e-02 8.75022516e+01] [ 1.68870064e-02 9.99857383e-01 -2.08792016e-04 1.30969115e+00] [ 1.51277464e-02 -4.67008879e-05 9.99885568e-01 7.37383156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62925415399998 meters Centerline goodness [0,1] 0.9990557129367328 Centerline is valid? [True, True] Translation: X:87.53, Y:1.31, Z:0.74 [[ 9.99704414e-01 -1.76962117e-02 -1.66712063e-02 8.75306336e+01] [ 1.76948217e-02 9.99843408e-01 -2.30890559e-04 1.30702974e+00] [ 1.66726816e-02 -6.41717121e-05 9.99860999e-01 7.35867852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65925415399998 meters Centerline goodness [0,1] 0.9989701780733748 Centerline is valid? [True, True] Translation: X:87.56, Y:1.31, Z:0.73 [[ 9.99666358e-01 -1.87390040e-02 -1.77770452e-02 8.75597584e+01] [ 1.87375410e-02 9.99824406e-01 -2.48872034e-04 1.30586297e+00] [ 1.77785873e-02 -8.43091133e-05 9.99841945e-01 7.34982699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68925415399998 meters Centerline goodness [0,1] 0.9988676181522946 Centerline is valid? [True, True] Translation: X:87.59, Y:1.30, Z:0.73 [[ 9.99623835e-01 -2.01649372e-02 -1.85893298e-02 8.75880585e+01] [ 2.01634940e-02 9.99796661e-01 -2.65077219e-04 1.30491798e+00] [ 1.85908951e-02 -1.09848334e-04 9.99827168e-01 7.34830797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71925415399998 meters Centerline goodness [0,1] 0.9989504348198603 Centerline is valid? [True, True] Translation: X:87.62, Y:1.30, Z:0.73 [[ 9.99528420e-01 -2.35765050e-02 -1.96744869e-02 8.76155873e+01] [ 2.35754808e-02 9.99722019e-01 -2.84024540e-04 1.30105193e+00] [ 1.96757141e-02 -1.79944888e-04 9.99806398e-01 7.33884088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74925415399998 meters Centerline goodness [0,1] 0.9988659705580281 Centerline is valid? [True, True] Translation: X:87.64, Y:1.30, Z:0.73 [[ 9.99449800e-01 -2.62180415e-02 -2.03153207e-02 8.76440302e+01] [ 2.62174221e-02 9.99656220e-01 -2.96870461e-04 1.29924742e+00] [ 2.03161201e-02 -2.35908215e-04 9.99793579e-01 7.33984603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77925415399999 meters Centerline goodness [0,1] 0.9991475214185244 Centerline is valid? [True, True] Translation: X:87.67, Y:1.29, Z:0.73 [[ 9.99301194e-01 -3.14205634e-02 -2.02453073e-02 8.76724320e+01] [ 3.14209569e-02 9.99506195e-01 -2.98738031e-04 1.29399562e+00] [ 2.02446966e-02 -3.37597658e-04 9.99794998e-01 7.34092236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80925415399999 meters Centerline goodness [0,1] 0.9987619799782279 Centerline is valid? [True, True] Translation: X:87.70, Y:1.29, Z:0.74 [[ 9.99212717e-01 -3.42603317e-02 -2.00044081e-02 8.77033078e+01] [ 3.42612749e-02 9.99412866e-01 -2.95671273e-04 1.29370770e+00] [ 2.00027927e-02 -3.89938031e-04 9.99799848e-01 7.35458459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83925415399999 meters Centerline goodness [0,1] 0.9990415743738286 Centerline is valid? [True, True] Translation: X:87.73, Y:1.29, Z:0.74 [[ 9.99140892e-01 -3.64730189e-02 -1.96772950e-02 8.77340865e+01] [ 3.64743640e-02 9.99334547e-01 -2.90647599e-04 1.29154897e+00] [ 1.96748014e-02 -4.27318918e-04 9.99806341e-01 7.36047892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86925415399998 meters Centerline goodness [0,1] 0.9989572915115017 Centerline is valid? [True, True] Translation: X:87.76, Y:1.29, Z:0.74 [[ 9.98998198e-01 -4.09953808e-02 -1.79437558e-02 8.77643691e+01] [ 4.09972338e-02 9.99159225e-01 -2.64730505e-04 1.28734650e+00] [ 1.79395218e-02 -4.71179053e-04 9.99838963e-01 7.36986852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89925415399998 meters Centerline goodness [0,1] 0.998706037079462 Centerline is valid? [True, True] Translation: X:87.80, Y:1.29, Z:0.74 [[ 9.98925401e-01 -4.29143089e-02 -1.75044583e-02 8.77963989e+01] [ 4.29163797e-02 9.99078635e-01 -2.57495245e-04 1.28678318e+00] [ 1.74993805e-02 -4.94009439e-04 9.99846752e-01 7.37652005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92925415399998 meters Centerline goodness [0,1] 0.9986208067219758 Centerline is valid? [True, True] Translation: X:87.83, Y:1.28, Z:0.74 [[ 9.98785361e-01 -4.63133806e-02 -1.68188160e-02 8.78280736e+01] [ 4.63157915e-02 9.98926818e-01 -2.46351278e-04 1.28361855e+00] [ 1.68121757e-02 -5.32924723e-04 9.99858523e-01 7.37853732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95925415399998 meters Centerline goodness [0,1] 0.9985774040809393 Centerline is valid? [True, True] Translation: X:87.86, Y:1.28, Z:0.74 [[ 9.98716712e-01 -4.79410365e-02 -1.63274839e-02 8.78606197e+01] [ 4.79435422e-02 9.98850019e-01 -2.38147838e-04 1.28267298e+00] [ 1.63201246e-02 -5.44955187e-04 9.99866669e-01 7.38195300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98925415399998 meters Centerline goodness [0,1] 0.9984982444265832 Centerline is valid? [True, True] Translation: X:87.89, Y:1.28, Z:0.74 [[ 9.98654519e-01 -4.93878502e-02 -1.58111509e-02 8.78920346e+01] [ 4.93903971e-02 9.98779523e-01 -2.29599313e-04 1.27949147e+00] [ 1.58031932e-02 -5.51628631e-04 9.99874970e-01 7.38351781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01925415399998 meters Centerline goodness [0,1] 0.9986813560763963 Centerline is valid? [True, True] Translation: X:87.92, Y:1.28, Z:0.74 [[ 9.98503788e-01 -5.25657786e-02 -1.50673313e-02 8.79242588e+01] [ 5.25684664e-02 9.98617299e-01 -2.17889977e-04 1.27975899e+00] [ 1.50579512e-02 -5.74502532e-04 9.99886458e-01 7.39424210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04925415399998 meters Centerline goodness [0,1] 0.9984739296311996 Centerline is valid? [True, True] Translation: X:87.96, Y:1.28, Z:0.74 [[ 9.98441642e-01 -5.38056667e-02 -1.48066523e-02 8.79561933e+01] [ 5.38084144e-02 9.98551255e-01 -2.13039263e-04 1.27908794e+00] [ 1.47966640e-02 -5.84015211e-04 9.99890353e-01 7.39467269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07925415399998 meters Centerline goodness [0,1] 0.9985138950809928 Centerline is valid? [True, True] Translation: X:87.99, Y:1.28, Z:0.74 [[ 9.98353805e-01 -5.53049808e-02 -1.51999389e-02 8.79882036e+01] [ 5.53080672e-02 9.98469314e-01 -2.17556955e-04 1.27812603e+00] [ 1.51887045e-02 -6.23480426e-04 9.99884451e-01 7.39258755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10925415399998 meters Centerline goodness [0,1] 0.9986655652284425 Centerline is valid? [True, True] Translation: X:88.02, Y:1.28, Z:0.74 [[ 9.98190636e-01 -5.78271175e-02 -1.64765940e-02 8.80204989e+01] [ 5.78311080e-02 9.98326353e-01 -2.34563779e-04 1.27616541e+00] [ 1.64625821e-02 -7.18720318e-04 9.99864224e-01 7.38403324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13925415399999 meters Centerline goodness [0,1] 0.9984101411794633 Centerline is valid? [True, True] Translation: X:88.05, Y:1.28, Z:0.74 [[ 9.98129193e-01 -5.86632472e-02 -1.72260545e-02 8.80529963e+01] [ 5.86677557e-02 9.98277534e-01 -2.43936338e-04 1.27692823e+00] [ 1.72106933e-02 -7.67133975e-04 9.99851591e-01 7.38263211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16925415399999 meters Centerline goodness [0,1] 0.9985766787755189 Centerline is valid? [True, True] Translation: X:88.09, Y:1.28, Z:0.74 [[ 9.98115038e-01 -5.88652704e-02 -1.73566054e-02 8.80850743e+01] [ 5.88699006e-02 9.98265634e-01 -2.44483216e-04 1.27861002e+00] [ 1.73408942e-02 -7.77759258e-04 9.99849333e-01 7.38414492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19925415399999 meters Centerline goodness [0,1] 0.9988536735517014 Centerline is valid? [True, True] Translation: X:88.12, Y:1.28, Z:0.74 [[ 9.98152618e-01 -5.81776777e-02 -1.75131371e-02 8.81158115e+01] [ 5.81823066e-02 9.98305945e-01 -2.45521270e-04 1.27883635e+00] [ 1.74977527e-02 -7.73887014e-04 9.99846603e-01 7.38612736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22925415399999 meters Centerline goodness [0,1] 0.9987673736557997 Centerline is valid? [True, True] Translation: X:88.15, Y:1.28, Z:0.74 [[ 9.98219384e-01 -5.70123156e-02 -1.75401754e-02 8.81484346e+01] [ 5.70168019e-02 9.98373189e-01 -2.44607573e-04 1.28218022e+00] [ 1.75255865e-02 -7.55912686e-04 9.99846129e-01 7.39382090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25925415399998 meters Centerline goodness [0,1] 0.998894792773645 Centerline is valid? [True, True] Translation: X:88.18, Y:1.29, Z:0.74 [[ 9.98388473e-01 -5.38382333e-02 -1.79416039e-02 8.81799792e+01] [ 5.38424404e-02 9.98549413e-01 -2.48825396e-04 1.28633942e+00] [ 1.79289744e-02 -7.17595332e-04 9.99839006e-01 7.39371031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28925415399998 meters Centerline goodness [0,1] 0.9988743044050805 Centerline is valid? [True, True] Translation: X:88.21, Y:1.29, Z:0.74 [[ 9.98498427e-01 -5.17513199e-02 -1.79636528e-02 8.82109854e+01] [ 5.17552318e-02 9.98659769e-01 -2.47372047e-04 1.28762939e+00] [ 1.79523791e-02 -6.82712412e-04 9.99838610e-01 7.38848515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31925415399998 meters Centerline goodness [0,1] 0.998616049566717 Centerline is valid? [True, True] Translation: X:88.24, Y:1.29, Z:0.74 [[ 9.98652791e-01 -4.83402981e-02 -1.88631405e-02 8.82422992e+01] [ 4.83440371e-02 9.98830710e-01 -2.57998677e-04 1.29320493e+00] [ 1.88535557e-02 -6.54269264e-04 9.99822042e-01 7.38233631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34925415399998 meters Centerline goodness [0,1] 0.9990001914527006 Centerline is valid? [True, True] Translation: X:88.27, Y:1.30, Z:0.74 [[ 9.98740293e-01 -4.64368342e-02 -1.90117729e-02 8.82745862e+01] [ 4.64403079e-02 9.98921033e-01 -2.58978233e-04 1.29614064e+00] [ 1.90032859e-02 -6.24260589e-04 9.99819226e-01 7.38638821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37925415399998 meters Centerline goodness [0,1] 0.9988914234549214 Centerline is valid? [True, True] Translation: X:88.31, Y:1.30, Z:0.74 [[ 9.98816771e-01 -4.46642028e-02 -1.92397288e-02 8.83073164e+01] [ 4.46674626e-02 9.99001877e-01 -2.60485627e-04 1.29914180e+00] [ 1.92321596e-02 -5.99212455e-04 9.99814865e-01 7.38920448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40925415399998 meters Centerline goodness [0,1] 0.9991682661548305 Centerline is valid? [True, True] Translation: X:88.34, Y:1.30, Z:0.74 [[ 9.98887829e-01 -4.29605936e-02 -1.94291707e-02 8.83382072e+01] [ 4.29636234e-02 9.99076603e-01 -2.61635330e-04 1.30106532e+00] [ 1.94224699e-02 -5.73403229e-04 9.99811202e-01 7.39189608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43925415399998 meters Centerline goodness [0,1] 0.9990589241792321 Centerline is valid? [True, True] Translation: X:88.37, Y:1.31, Z:0.74 [[ 9.99042232e-01 -3.94944001e-02 -1.88364379e-02 8.83693568e+01] [ 3.94966481e-02 9.99219671e-01 -2.52807498e-04 1.30785212e+00] [ 1.88317237e-02 -4.91410790e-04 9.99822547e-01 7.41035098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46925415399998 meters Centerline goodness [0,1] 0.9991259672983862 Centerline is valid? [True, True] Translation: X:88.40, Y:1.31, Z:0.74 [[ 9.99117765e-01 -3.76695931e-02 -1.85659154e-02 8.84003911e+01] [ 3.76714778e-02 9.99290147e-01 -2.48330966e-04 1.30996428e+00] [ 1.85620909e-02 -4.51293592e-04 9.99827608e-01 7.41627110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49925415399998 meters Centerline goodness [0,1] 0.9991203793096051 Centerline is valid? [True, True] Translation: X:88.43, Y:1.31, Z:0.74 [[ 9.99256908e-01 -3.44254265e-02 -1.73355591e-02 8.84320022e+01] [ 3.44265971e-02 9.99407202e-01 -2.30981077e-04 1.31465678e+00] [ 1.73332342e-02 -3.65994871e-04 9.99849701e-01 7.42760221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52925415399999 meters Centerline goodness [0,1] 0.9990181639666176 Centerline is valid? [True, True] Translation: X:88.46, Y:1.32, Z:0.74 [[ 9.99317704e-01 -3.30362361e-02 -1.65146421e-02 8.84621097e+01] [ 3.30371186e-02 9.99454101e-01 -2.19452440e-04 1.31663433e+00] [ 1.65128766e-02 -3.26293480e-04 9.99863600e-01 7.43234646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55925415399999 meters Centerline goodness [0,1] 0.9992290064891954 Centerline is valid? [True, True] Translation: X:88.49, Y:1.32, Z:0.74 [[ 9.99365555e-01 -3.17669387e-02 -1.61043311e-02 8.84945318e+01] [ 3.17676237e-02 9.99495259e-01 -2.13343043e-04 1.31997071e+00] [ 1.61029798e-02 -2.98388640e-04 9.99870294e-01 7.43995406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58925415399999 meters Centerline goodness [0,1] 0.9990969878093354 Centerline is valid? [True, True] Translation: X:88.53, Y:1.32, Z:0.74 [[ 9.99446264e-01 -2.93665028e-02 -1.56452666e-02 8.85259468e+01] [ 2.93668692e-02 9.99568679e-01 -2.06365345e-04 1.32438817e+00] [ 1.56445787e-02 -2.53201425e-04 9.99877584e-01 7.44387625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61925415399998 meters Centerline goodness [0,1] 0.9992481687538934 Centerline is valid? [True, True] Translation: X:88.56, Y:1.33, Z:0.74 [[ 9.99481258e-01 -2.81414351e-02 -1.56612286e-02 8.85571810e+01] [ 2.81416608e-02 9.99603924e-01 -2.06006414e-04 1.32672168e+00] [ 1.56608229e-02 -2.34833434e-04 9.99877334e-01 7.44864256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64925415399998 meters Centerline goodness [0,1] 0.9991822153356146 Centerline is valid? [True, True] Translation: X:88.59, Y:1.33, Z:0.74 [[ 9.99523206e-01 -2.67526063e-02 -1.54161841e-02 8.85876473e+01] [ 2.67526667e-02 9.99642063e-01 -2.02341631e-04 1.32870135e+00] [ 1.54160792e-02 -2.10178880e-04 9.99881143e-01 7.44720812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67925415399998 meters Centerline goodness [0,1] 0.9994166198522103 Centerline is valid? [True, True] Translation: X:88.62, Y:1.33, Z:0.75 [[ 9.99591921e-01 -2.40070675e-02 -1.54807239e-02 8.86194667e+01] [ 2.40068069e-02 9.99711775e-01 -2.02694845e-04 1.33348825e+00] [ 1.54811281e-02 -1.69030619e-04 9.99880146e-01 7.45605191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70925415399998 meters Centerline goodness [0,1] 0.9993737583138983 Centerline is valid? [True, True] Translation: X:88.65, Y:1.34, Z:0.75 [[ 9.99625067e-01 -2.27501002e-02 -1.52367665e-02 8.86507095e+01] [ 2.27497124e-02 9.99741172e-01 -1.98799883e-04 1.33615576e+00] [ 1.52373455e-02 -1.47906709e-04 9.99883894e-01 7.46192611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73925415399998 meters Centerline goodness [0,1] 0.9993095412764855 Centerline is valid? [True, True] Translation: X:88.68, Y:1.34, Z:0.75 [[ 9.99657338e-01 -2.11801582e-02 -1.53820526e-02 8.86808445e+01] [ 2.11795823e-02 9.99775667e-01 -2.00357100e-04 1.33975248e+00] [ 1.53828455e-02 -1.25497004e-04 9.99881669e-01 7.46969563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76925415399998 meters Centerline goodness [0,1] 0.9993955094991365 Centerline is valid? [True, True] Translation: X:88.71, Y:1.34, Z:0.75 [[ 9.99669235e-01 -2.07872755e-02 -1.51429493e-02 8.87102344e+01] [ 2.07866708e-02 9.99783914e-01 -1.97345230e-04 1.34064086e+00] [ 1.51437794e-02 -1.17491547e-04 9.99885319e-01 7.46770517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79925415399998 meters Centerline goodness [0,1] 0.9995027457084793 Centerline is valid? [True, True] Translation: X:88.74, Y:1.34, Z:0.75 [[ 9.99664947e-01 -2.08164467e-02 -1.53840832e-02 8.87409209e+01] [ 2.08158234e-02 9.99783307e-01 -2.00656678e-04 1.34211740e+00] [ 1.53849265e-02 -1.19642912e-04 9.99881638e-01 7.47014856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82925415399998 meters Centerline goodness [0,1] 0.999372226431432 Centerline is valid? [True, True] Translation: X:88.77, Y:1.34, Z:0.75 [[ 9.99647551e-01 -2.14644320e-02 -1.56221724e-02 8.87714588e+01] [ 2.14638683e-02 9.99769604e-01 -2.03762108e-04 1.34333981e+00] [ 1.56229468e-02 -1.31621960e-04 9.99877946e-01 7.46880253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85925415399998 meters Centerline goodness [0,1] 0.9993731762671566 Centerline is valid? [True, True] Translation: X:88.80, Y:1.34, Z:0.75 [[ 9.99635173e-01 -2.21333302e-02 -1.54802169e-02 8.88023275e+01] [ 2.21328570e-02 9.99755018e-01 -2.01910563e-04 1.34360337e+00] [ 1.54808935e-02 -1.40784526e-04 9.99880154e-01 7.46815982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88925415399999 meters Centerline goodness [0,1] 0.9993930723544457 Centerline is valid? [True, True] Translation: X:88.83, Y:1.34, Z:0.75 [[ 9.99619175e-01 -2.29314167e-02 -1.53510349e-02 8.88323478e+01] [ 2.29310454e-02 9.99737029e-01 -2.00225624e-04 1.34415720e+00] [ 1.53515894e-02 -1.51865905e-04 9.99882146e-01 7.46943726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91925415399999 meters Centerline goodness [0,1] 0.9995673149730654 Centerline is valid? [True, True] Translation: X:88.86, Y:1.34, Z:0.75 [[ 9.99563694e-01 -2.51034888e-02 -1.55639499e-02 8.88623500e+01] [ 2.51033722e-02 9.99684840e-01 -2.02889689e-04 1.34334736e+00] [ 1.55641380e-02 -1.87906460e-04 9.99878854e-01 7.47256132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94925415399999 meters Centerline goodness [0,1] 0.9993505650084427 Centerline is valid? [True, True] Translation: X:88.89, Y:1.34, Z:0.75 [[ 9.99533325e-01 -2.62370504e-02 -1.56444436e-02 8.88940308e+01] [ 2.62370777e-02 9.99655728e-01 -2.03537930e-04 1.34328822e+00] [ 1.56443979e-02 -2.07021537e-04 9.99877597e-01 7.47630067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97925415399997 meters Centerline goodness [0,1] 0.9994171236129701 Centerline is valid? [True, True] Translation: X:88.92, Y:1.34, Z:0.75 [[ 9.99429723e-01 -3.00425827e-02 -1.54166362e-02 8.89249355e+01] [ 3.00430720e-02 9.99548585e-01 -1.99906359e-04 1.34126313e+00] [ 1.54156826e-02 -2.63370754e-04 9.99881137e-01 7.47760547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00925415399998 meters Centerline goodness [0,1] 0.9994382872080714 Centerline is valid? [True, True] Translation: X:88.96, Y:1.34, Z:0.75 [[ 9.99359102e-01 -3.22529438e-02 -1.55284845e-02 8.89574185e+01] [ 3.22537220e-02 9.99479693e-01 -2.00387808e-04 1.34073796e+00] [ 1.55268680e-02 -3.00592042e-04 9.99879406e-01 7.47891317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03925415399998 meters Centerline goodness [0,1] 0.9993734200462373 Centerline is valid? [True, True] Translation: X:88.99, Y:1.34, Z:0.75 [[ 9.99260170e-01 -3.47371886e-02 -1.65057715e-02 8.89882683e+01] [ 3.47384337e-02 9.99396416e-01 -2.11354136e-04 1.33853689e+00] [ 1.65031507e-02 -3.62186879e-04 9.99863748e-01 7.47558368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06925415399998 meters Centerline goodness [0,1] 0.9992876262844314 Centerline is valid? [True, True] Translation: X:89.02, Y:1.34, Z:0.75 [[ 9.99040865e-01 -3.99291283e-02 -1.79725846e-02 8.90197491e+01] [ 3.99314732e-02 9.99202395e-01 -2.28517202e-04 1.33598019e+00] [ 1.79673740e-02 -4.89373756e-04 9.99838454e-01 7.46454694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09925415399998 meters Centerline goodness [0,1] 0.9992657856093979 Centerline is valid? [True, True] Translation: X:89.05, Y:1.33, Z:0.75 [[ 9.98944312e-01 -4.21440536e-02 -1.82794828e-02 8.90509823e+01] [ 4.21468651e-02 9.99111399e-01 -2.31580904e-04 1.33421072e+00] [ 1.82729994e-02 -5.39086467e-04 9.99832889e-01 7.45732269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12925415399998 meters Centerline goodness [0,1] 0.9993749865298821 Centerline is valid? [True, True] Translation: X:89.08, Y:1.33, Z:0.75 [[ 9.98842530e-01 -4.43414963e-02 -1.86395022e-02 8.90827817e+01] [ 4.43448211e-02 9.99016257e-01 -2.35111394e-04 1.33287149e+00] [ 1.86315909e-02 -5.91726130e-04 9.99826242e-01 7.45664136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15925415399998 meters Centerline goodness [0,1] 0.999287933713102 Centerline is valid? [True, True] Translation: X:89.11, Y:1.33, Z:0.74 [[ 9.98673841e-01 -4.77874742e-02 -1.91550583e-02 8.91125160e+01] [ 4.77916286e-02 9.98857298e-01 -2.41088533e-04 1.32884796e+00] [ 1.91446907e-02 -6.74682618e-04 9.99816496e-01 7.44680382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18925415399998 meters Centerline goodness [0,1] 0.9992666882346598 Centerline is valid? [True, True] Translation: X:89.14, Y:1.33, Z:0.75 [[ 9.98613034e-01 -4.89856475e-02 -1.92980477e-02 8.91447867e+01] [ 4.89901013e-02 9.98799235e-01 -2.42173825e-04 1.33041949e+00] [ 1.92867383e-02 -7.03575372e-04 9.99813746e-01 7.45423917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21925415399998 meters Centerline goodness [0,1] 0.9992012607128209 Centerline is valid? [True, True] Translation: X:89.18, Y:1.33, Z:0.75 [[ 9.98497126e-01 -5.12671951e-02 -1.93691308e-02 8.91768979e+01] [ 5.12721374e-02 9.98684690e-01 -2.41673304e-04 1.33045151e+00] [ 1.93560443e-02 -7.51786633e-04 9.99812372e-01 7.45858466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24925415399998 meters Centerline goodness [0,1] 0.9994148624926857 Centerline is valid? [True, True] Translation: X:89.21, Y:1.33, Z:0.75 [[ 9.98443980e-01 -5.25647679e-02 -1.86162384e-02 8.92092647e+01] [ 5.25695832e-02 9.98617237e-01 -2.30951046e-04 1.33286844e+00] [ 1.86026365e-02 -7.48056213e-04 9.99826676e-01 7.46910766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27925415399999 meters Centerline goodness [0,1] 0.9993720089218043 Centerline is valid? [True, True] Translation: X:89.24, Y:1.33, Z:0.75 [[ 9.98385013e-01 -5.37139484e-02 -1.84980414e-02 8.92407273e+01] [ 5.37189216e-02 9.98556070e-01 -2.28293819e-04 1.32952178e+00] [ 1.84835941e-02 -7.65769709e-04 9.99828871e-01 7.46716552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30925415399999 meters Centerline goodness [0,1] 0.9993965257123152 Centerline is valid? [True, True] Translation: X:89.27, Y:1.33, Z:0.75 [[ 9.98269478e-01 -5.61442092e-02 -1.74893362e-02 8.92723254e+01] [ 5.61490504e-02 9.98422375e-01 -2.14497289e-04 1.33137239e+00] [ 1.74737874e-02 -7.67883526e-04 9.99847027e-01 7.48295497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33925415399999 meters Centerline goodness [0,1] 0.9992633996273669 Centerline is valid? [True, True] Translation: X:89.30, Y:1.33, Z:0.75 [[ 9.98199393e-01 -5.74916444e-02 -1.71079704e-02 8.93044191e+01] [ 5.74965004e-02 9.98345686e-01 -2.08285792e-04 1.33268763e+00] [ 1.70916432e-02 -7.75737677e-04 9.99853626e-01 7.48967176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36925415399998 meters Centerline goodness [0,1] 0.9994588978832085 Centerline is valid? [True, True] Translation: X:89.34, Y:1.33, Z:0.75 [[ 9.98065996e-01 -5.98184782e-02 -1.69120577e-02 8.93354610e+01] [ 5.98235832e-02 9.98208945e-01 -2.04342698e-04 1.33252951e+00] [ 1.68939907e-02 -8.07792391e-04 9.99856960e-01 7.49492349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39925415399998 meters Centerline goodness [0,1] 0.9993936243936244 Centerline is valid? [True, True] Translation: X:89.37, Y:1.33, Z:0.75 [[ 9.98020698e-01 -6.04799729e-02 -1.72295777e-02 8.93665424e+01] [ 6.04854068e-02 9.98169060e-01 -2.06025607e-04 1.33087717e+00] [ 1.72104918e-02 -8.36520195e-04 9.99851539e-01 7.48990844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42925415399998 meters Centerline goodness [0,1] 0.9993936243936244 Centerline is valid? [True, True] Translation: X:89.40, Y:1.33, Z:0.75 [[ 9.98027116e-01 -6.03739660e-02 -1.72296022e-02 8.93991209e+01] [ 6.03794198e-02 9.98175478e-01 -2.03955253e-04 1.33116751e+00] [ 1.72104800e-02 -8.36760514e-04 9.99851539e-01 7.49295663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45925415399998 meters Centerline goodness [0,1] 0.9993053143452588 Centerline is valid? [True, True] Translation: X:89.43, Y:1.33, Z:0.75 [[ 9.97976278e-01 -6.11378468e-02 -1.74788927e-02 8.94311698e+01] [ 6.11436044e-02 9.98128958e-01 -2.05308800e-04 1.33432172e+00] [ 1.74587411e-02 -8.63829188e-04 9.99847211e-01 7.49694623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48925415399998 meters Centerline goodness [0,1] 0.9995007163634785 Centerline is valid? [True, True] Translation: X:89.46, Y:1.34, Z:0.75 [[ 9.97917072e-01 -6.16949458e-02 -1.88480932e-02 8.94633209e+01] [ 6.17017669e-02 9.98094607e-01 -2.19973461e-04 1.33546433e+00] [ 1.88257514e-02 -9.43445382e-04 9.99822335e-01 7.48660732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51925415399998 meters Centerline goodness [0,1] 0.9994360453766566 Centerline is valid? [True, True] Translation: X:89.49, Y:1.33, Z:0.75 [[ 9.97900498e-01 -6.17264979e-02 -1.96070106e-02 8.94946440e+01] [ 6.17339271e-02 9.98092616e-01 -2.26714494e-04 1.33383001e+00] [ 1.95836068e-02 -9.84179255e-04 9.99807738e-01 7.47677476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54925415399998 meters Centerline goodness [0,1] 0.9993480528511822 Centerline is valid? [True, True] Translation: X:89.53, Y:1.34, Z:0.75 [[ 9.97898898e-01 -6.14880948e-02 -2.04206863e-02 8.95278188e+01] [ 6.14961563e-02 9.98107293e-01 -2.33552253e-04 1.33905895e+00] [ 2.03963966e-02 -1.02273218e-03 9.99791449e-01 7.48248802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57925415399998 meters Centerline goodness [0,1] 0.9995429715554202 Centerline is valid? [True, True] Translation: X:89.56, Y:1.34, Z:0.75 [[ 9.97940068e-01 -6.03429960e-02 -2.17794137e-02 8.95591535e+01] [ 6.03519334e-02 9.98177130e-01 -2.47301408e-04 1.33928915e+00] [ 2.17546356e-02 -1.06763774e-03 9.99762770e-01 7.46888808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60925415399998 meters Centerline goodness [0,1] 0.9996728533728817 Centerline is valid? [True, True] Translation: X:89.59, Y:1.34, Z:0.75 [[ 9.98017348e-01 -5.88402951e-02 -2.23426068e-02 8.95914042e+01] [ 5.88493577e-02 9.98266843e-01 -2.52239589e-04 1.34272507e+00] [ 2.23187254e-02 -1.06310858e-03 9.99750341e-01 7.47246122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63925415399999 meters Centerline goodness [0,1] 0.9995197974418301 Centerline is valid? [True, True] Translation: X:89.62, Y:1.35, Z:0.75 [[ 9.98265400e-01 -5.43670719e-02 -2.25922945e-02 8.96221160e+01] [ 5.43752156e-02 9.98520541e-01 -2.54141900e-04 1.35024944e+00] [ 2.25726870e-02 -9.74759817e-04 9.99744729e-01 7.48276762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66925415399999 meters Centerline goodness [0,1] 0.9995189890023395 Centerline is valid? [True, True] Translation: X:89.65, Y:1.35, Z:0.75 [[ 9.98445692e-01 -5.11723294e-02 -2.20814946e-02 8.96539894e+01] [ 5.11793477e-02 9.98689448e-01 -2.47541547e-04 1.35416381e+00] [ 2.20652229e-02 -8.82959697e-04 9.99756143e-01 7.49288759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69925415399999 meters Centerline goodness [0,1] 0.9996284640265758 Centerline is valid? [True, True] Translation: X:89.69, Y:1.36, Z:0.75 [[ 9.98650935e-01 -4.73358568e-02 -2.13454297e-02 8.96858064e+01] [ 4.73415680e-02 9.98878731e-01 -2.37961613e-04 1.35861649e+00] [ 2.13327599e-02 -7.72885527e-04 9.99772132e-01 7.50540973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72925415399997 meters Centerline goodness [0,1] 0.9995182516915935 Centerline is valid? [True, True] Translation: X:89.72, Y:1.37, Z:0.75 [[ 9.99080262e-01 -3.83563822e-02 -1.91681395e-02 8.97162436e+01] [ 3.83593473e-02 9.99263987e-01 -2.13094334e-04 1.36882104e+00] [ 1.91622050e-02 -5.22378977e-04 9.99816252e-01 7.53019812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75925415399998 meters Centerline goodness [0,1] 0.9997361535586289 Centerline is valid? [True, True] Translation: X:89.75, Y:1.37, Z:0.75 [[ 9.99259595e-01 -3.38045031e-02 -1.83716648e-02 8.97468695e+01] [ 3.38064640e-02 9.99428377e-01 -2.03908839e-04 1.37316728e+00] [ 1.83680561e-02 -4.17323160e-04 9.99831206e-01 7.53923527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78925415399998 meters Centerline goodness [0,1] 0.9996691662990737 Centerline is valid? [True, True] Translation: X:89.78, Y:1.38, Z:0.76 [[ 9.99539598e-01 -2.49274615e-02 -1.72978234e-02 8.97774052e+01] [ 2.49278787e-02 9.99689234e-01 -1.91527635e-04 1.38361911e+00] [ 1.72972221e-02 -2.39758589e-04 9.99850363e-01 7.55838672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81925415399998 meters Centerline goodness [0,1] 0.999690594059406 Centerline is valid? [True, True] Translation: X:89.81, Y:1.39, Z:0.76 [[ 9.99637212e-01 -2.09773690e-02 -1.68935918e-02 8.98084278e+01] [ 2.09772080e-02 9.99779937e-01 -1.86749745e-04 1.38798831e+00] [ 1.68937917e-02 -1.67698396e-04 9.99857276e-01 7.56518480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84925415399998 meters Centerline goodness [0,1] 0.9997569383065229 Centerline is valid? [True, True] Translation: X:89.84, Y:1.39, Z:0.76 [[ 9.99705805e-01 -1.74599503e-02 -1.68360884e-02 8.98384867e+01] [ 1.74592846e-02 9.99847558e-01 -1.86532402e-04 1.39190290e+00] [ 1.68367787e-02 -1.07468534e-04 9.99858246e-01 7.56923862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87925415399998 meters Centerline goodness [0,1] 0.9997560055896901 Centerline is valid? [True, True] Translation: X:89.87, Y:1.39, Z:0.76 [[ 9.99750494e-01 -1.45749553e-02 -1.69269360e-02 8.98680438e+01] [ 1.45738518e-02 9.99893778e-01 -1.88551765e-04 1.39494646e+00] [ 1.69278861e-02 -5.81859364e-05 9.99856711e-01 7.56939399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90925415399998 meters Centerline goodness [0,1] 0.9996006389776357 Centerline is valid? [True, True] Translation: X:89.90, Y:1.40, Z:0.76 [[ 9.99785371e-01 -1.02843138e-02 -1.79845781e-02 8.98958663e+01] [ 1.02823536e-02 9.99947115e-01 -2.01462467e-04 1.39943705e+00] [ 1.79856989e-02 1.64954349e-05 9.99838244e-01 7.56400612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93925415399998 meters Centerline goodness [0,1] 0.9997557129849652 Centerline is valid? [True, True] Translation: X:89.92, Y:1.40, Z:0.76 [[ 9.99788865e-01 -8.91395228e-03 -1.85139733e-02 8.99238781e+01] [ 8.91157607e-03 9.99960269e-01 -2.10845985e-04 1.40109716e+00] [ 1.85151172e-02 4.58127871e-05 9.99828579e-01 7.55796498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96925415399998 meters Centerline goodness [0,1] 0.9998226478673407 Centerline is valid? [True, True] Translation: X:89.95, Y:1.40, Z:0.76 [[ 9.99789960e-01 -7.24889911e-03 -1.91700015e-02 8.99516478e+01] [ 7.24597629e-03 9.99973723e-01 -2.21923573e-04 1.40257929e+00] [ 1.91711064e-02 8.29715846e-05 9.99816214e-01 7.55140579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99925415399998 meters Centerline goodness [0,1] 0.9997121155081161 Centerline is valid? [True, True] Translation: X:89.98, Y:1.40, Z:0.76 [[ 9.99786776e-01 -7.15264931e-03 -1.93711932e-02 8.99794076e+01] [ 7.14957642e-03 9.99974415e-01 -2.27882420e-04 1.40307032e+00] [ 1.93723276e-02 8.93380037e-05 9.99812335e-01 7.55649627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02925415399999 meters Centerline goodness [0,1] 0.9997557618011457 Centerline is valid? [True, True] Translation: X:90.01, Y:1.40, Z:0.76 [[ 9.99790101e-01 -7.17039074e-03 -1.91921773e-02 9.00068450e+01] [ 7.16727518e-03 9.99974288e-01 -2.31114822e-04 1.40342113e+00] [ 1.91933410e-02 9.35106950e-05 9.99815786e-01 7.56069766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05925415399999 meters Centerline goodness [0,1] 0.9998890516131895 Centerline is valid? [True, True] Translation: X:90.03, Y:1.40, Z:0.76 [[ 9.99806259e-01 -7.69322004e-03 -1.81179415e-02 9.00345546e+01] [ 7.69047100e-03 9.99970403e-01 -2.21399914e-04 1.40183334e+00] [ 1.81191085e-02 8.20215163e-05 9.99835832e-01 7.56648470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08925415399999 meters Centerline goodness [0,1] 0.9998004080546439 Centerline is valid? [True, True] Translation: X:90.06, Y:1.40, Z:0.76 [[ 9.99810939e-01 -8.55256627e-03 -1.74625429e-02 9.00627326e+01] [ 8.55009120e-03 9.99963424e-01 -2.16391062e-04 1.40062227e+00] [ 1.74637549e-02 6.70438161e-05 9.99847495e-01 7.57031457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11925415399998 meters Centerline goodness [0,1] 0.9996448942450673 Centerline is valid? [True, True] Translation: X:90.09, Y:1.40, Z:0.76 [[ 9.99809502e-01 -9.83720631e-03 -1.68578798e-02 9.00911344e+01] [ 9.83500756e-03 9.99951612e-01 -2.13330240e-04 1.39905914e+00] [ 1.68591626e-02 4.74922265e-05 9.99857873e-01 7.57712876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14925415399998 meters Centerline goodness [0,1] 0.9996460725108943 Centerline is valid? [True, True] Translation: X:90.12, Y:1.40, Z:0.76 [[ 9.99785671e-01 -1.27355319e-02 -1.63223189e-02 9.01194455e+01] [ 1.27337862e-02 9.99918900e-01 -2.10876672e-04 1.39531427e+00] [ 1.63236808e-02 2.98655566e-06 9.99866760e-01 7.58709606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17925415399998 meters Centerline goodness [0,1] 0.9996251708779821 Centerline is valid? [True, True] Translation: X:90.15, Y:1.39, Z:0.76 [[ 9.99767070e-01 -1.46024815e-02 -1.58925285e-02 9.01465756e+01] [ 1.46010089e-02 9.99893378e-01 -2.08693350e-04 1.39338628e+00] [ 1.58938814e-02 -2.34022105e-05 9.99873684e-01 7.58920106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20925415399998 meters Centerline goodness [0,1] 0.9995152476643752 Centerline is valid? [True, True] Translation: X:90.18, Y:1.39, Z:0.76 [[ 9.99713235e-01 -1.86138664e-02 -1.50656019e-02 9.01752272e+01] [ 1.86129759e-02 9.99826744e-01 -1.99331397e-04 1.38879539e+00] [ 1.50667020e-02 -8.11414500e-05 9.99886488e-01 7.60318055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23925415399998 meters Centerline goodness [0,1] 0.9996040475142983 Centerline is valid? [True, True] Translation: X:90.21, Y:1.39, Z:0.76 [[ 9.99677688e-01 -2.07219457e-02 -1.46670172e-02 9.02054141e+01] [ 2.07213189e-02 9.99785271e-01 -1.94719089e-04 1.38630793e+00] [ 1.46679027e-02 -1.09263612e-04 9.99892415e-01 7.60718351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26925415399998 meters Centerline goodness [0,1] 0.9995174697870287 Centerline is valid? [True, True] Translation: X:90.24, Y:1.38, Z:0.76 [[ 9.99630478e-01 -2.29358541e-02 -1.45895355e-02 9.02358122e+01] [ 2.29354696e-02 9.99736929e-01 -1.93690444e-04 1.38364204e+00] [ 1.45901399e-02 -1.40998978e-04 9.99893548e-01 7.61124143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29925415399998 meters Centerline goodness [0,1] 0.9995188732887198 Centerline is valid? [True, True] Translation: X:90.27, Y:1.38, Z:0.76 [[ 9.99503896e-01 -2.76804779e-02 -1.50250866e-02 9.02660173e+01] [ 2.76806076e-02 9.99616799e-01 -1.99370719e-04 1.37656860e+00] [ 1.50248476e-02 -2.16631716e-04 9.99887097e-01 7.60309382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32925415399998 meters Centerline goodness [0,1] 0.999564232177096 Centerline is valid? [True, True] Translation: X:90.30, Y:1.37, Z:0.76 [[ 9.99431653e-01 -3.00033206e-02 -1.53678977e-02 9.02974594e+01] [ 3.00037368e-02 9.99549766e-01 -2.03530847e-04 1.37345564e+00] [ 1.53670852e-02 -2.57679187e-04 9.99881886e-01 7.60144957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35925415399998 meters Centerline goodness [0,1] 0.9993697022386437 Centerline is valid? [True, True] Translation: X:90.33, Y:1.37, Z:0.76 [[ 9.99287383e-01 -3.44220852e-02 -1.54869388e-02 9.03293106e+01] [ 3.44230486e-02 9.99407330e-01 -2.04436350e-04 1.36660175e+00] [ 1.54847973e-02 -3.28816981e-04 9.99880049e-01 7.58664024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38925415399999 meters Centerline goodness [0,1] 0.9996093326098752 Centerline is valid? [True, True] Translation: X:90.36, Y:1.36, Z:0.76 [[ 9.99209980e-01 -3.65290681e-02 -1.56538374e-02 9.03614955e+01] [ 3.65303261e-02 9.99332524e-01 -2.05661057e-04 1.36468870e+00] [ 1.56509015e-02 -3.66341205e-04 9.99877450e-01 7.59972886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41925415399999 meters Centerline goodness [0,1] 0.9994369735161004 Centerline is valid? [True, True] Translation: X:90.39, Y:1.36, Z:0.76 [[ 9.99116768e-01 -3.91085408e-02 -1.53689861e-02 9.03929304e+01] [ 3.91100739e-02 9.99234888e-01 -2.00906294e-04 1.35892461e+00] [ 1.53650842e-02 -4.00353335e-04 9.99881870e-01 7.60198323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44925415399999 meters Centerline goodness [0,1] 0.9992867486545486 Centerline is valid? [True, True] Translation: X:90.43, Y:1.36, Z:0.76 [[ 9.99116660e-01 -3.93981598e-02 -1.46179518e-02 9.04254454e+01] [ 3.93995904e-02 9.99223517e-01 -1.90219750e-04 1.35643443e+00] [ 1.46140956e-02 -3.85889594e-04 9.99893134e-01 7.59115542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47925415399997 meters Centerline goodness [0,1] 0.9992878107734806 Centerline is valid? [True, True] Translation: X:90.46, Y:1.36, Z:0.76 [[ 9.99080942e-01 -4.04060563e-02 -1.43045915e-02 9.04580574e+01] [ 4.04075440e-02 9.99183265e-01 -1.85119755e-04 1.35631196e+00] [ 1.43003884e-02 -3.93063791e-04 9.99897667e-01 7.61509426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50925415399998 meters Centerline goodness [0,1] 0.9993765452004729 Centerline is valid? [True, True] Translation: X:90.49, Y:1.35, Z:0.76 [[ 9.99034085e-01 -4.18289623e-02 -1.34623301e-02 9.04891731e+01] [ 4.18304209e-02 9.99124710e-01 -1.73343904e-04 1.35243155e+00] [ 1.34577975e-02 -3.89958466e-04 9.99909364e-01 7.62273461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53925415399998 meters Centerline goodness [0,1] 0.9992033416587719 Centerline is valid? [True, True] Translation: X:90.52, Y:1.35, Z:0.76 [[ 9.99009934e-01 -4.25822873e-02 -1.28802615e-02 9.05208490e+01] [ 4.25836938e-02 9.99092889e-01 -1.65164470e-04 1.34894729e+00] [ 1.28756108e-02 -3.83488166e-04 9.99917032e-01 7.62414029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56925415399998 meters Centerline goodness [0,1] 0.999441040524562 Centerline is valid? [True, True] Translation: X:90.55, Y:1.35, Z:0.76 [[ 9.98891696e-01 -4.53244461e-02 -1.26914968e-02 9.05531757e+01] [ 4.53260422e-02 9.98972234e-01 -1.61999232e-04 1.34551470e+00] [ 1.26857955e-02 -4.13435634e-04 9.99919447e-01 7.62752165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59925415399998 meters Centerline goodness [0,1] 0.9993340494092374 Centerline is valid? [True, True] Translation: X:90.59, Y:1.34, Z:0.76 [[ 9.98793832e-01 -4.73439497e-02 -1.30165992e-02 9.05851519e+01] [ 4.73458124e-02 9.98878545e-01 -1.65186783e-04 1.34275598e+00] [ 1.30098223e-02 -4.51293924e-04 9.99915267e-01 7.62476339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62925415399998 meters Centerline goodness [0,1] 0.999207114539805 Centerline is valid? [True, True] Translation: X:90.62, Y:1.34, Z:0.76 [[ 9.98674614e-01 -4.95578415e-02 -1.38937632e-02 9.06170752e+01] [ 4.95601923e-02 9.98771123e-01 -1.75265235e-04 1.34081433e+00] [ 1.38853753e-02 -5.13544636e-04 9.99903462e-01 7.61973971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65925415399998 meters Centerline goodness [0,1] 0.9995284333269029 Centerline is valid? [True, True] Translation: X:90.65, Y:1.34, Z:0.76 [[ 9.98465001e-01 -5.31565873e-02 -1.55569740e-02 9.06468012e+01] [ 5.31599910e-02 9.98585989e-01 -1.94951605e-04 1.33576914e+00] [ 1.55453393e-02 -6.32356246e-04 9.99878964e-01 7.60569854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68925415399998 meters Centerline goodness [0,1] 0.9994851663556213 Centerline is valid? [True, True] Translation: X:90.68, Y:1.33, Z:0.76 [[ 9.98382246e-01 -5.45249034e-02 -1.61221963e-02 9.06785749e+01] [ 5.45287564e-02 9.98512180e-01 -2.00834894e-04 1.33465843e+00] [ 1.61091599e-02 -6.78613321e-04 9.99870009e-01 7.60142647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71925415399998 meters Centerline goodness [0,1] 0.9993787622373128 Centerline is valid? [True, True] Translation: X:90.71, Y:1.33, Z:0.76 [[ 9.98274575e-01 -5.63017306e-02 -1.66729636e-02 9.07105653e+01] [ 5.63061164e-02 9.98413531e-01 -2.06631200e-04 1.33363224e+00] [ 1.66581462e-02 -7.32515159e-04 9.99860975e-01 7.60870413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74925415399998 meters Centerline goodness [0,1] 0.9993584808827303 Centerline is valid? [True, True] Translation: X:90.74, Y:1.33, Z:0.76 [[ 9.98242774e-01 -5.69531365e-02 -1.63616703e-02 9.07424551e+01] [ 5.69574669e-02 9.98376585e-01 -2.01585622e-04 1.33288928e+00] [ 1.63465895e-02 -7.30687905e-04 9.99866119e-01 7.61398234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77925415399999 meters Centerline goodness [0,1] 0.9991019884541372 Centerline is valid? [True, True] Translation: X:90.77, Y:1.33, Z:0.76 [[ 9.98209223e-01 -5.75794425e-02 -1.62158814e-02 9.07739817e+01] [ 5.75837955e-02 9.98340657e-01 -1.98734440e-04 1.33124003e+00] [ 1.62004167e-02 -7.35393450e-04 9.99868494e-01 7.61594101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80925415399999 meters Centerline goodness [0,1] 0.9989329918907384 Centerline is valid? [True, True] Translation: X:90.81, Y:1.33, Z:0.76 [[ 9.98194186e-01 -5.77561479e-02 -1.65104582e-02 9.08063330e+01] [ 5.77607019e-02 9.98330437e-01 -2.01303490e-04 1.33175960e+00] [ 1.64945194e-02 -7.52715678e-04 9.99863673e-01 7.62126266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83925415399999 meters Centerline goodness [0,1] 0.999014693912522 Centerline is valid? [True, True] Translation: X:90.84, Y:1.33, Z:0.76 [[ 9.98167138e-01 -5.80460969e-02 -1.71177147e-02 9.08383234e+01] [ 5.80510566e-02 9.98313594e-01 -2.07425233e-04 1.33294378e+00] [ 1.71008876e-02 -7.86656376e-04 9.99853460e-01 7.62045967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86925415399998 meters Centerline goodness [0,1] 0.998800933558872 Centerline is valid? [True, True] Translation: X:90.87, Y:1.33, Z:0.76 [[ 9.98181149e-01 -5.76241324e-02 -1.77159015e-02 9.08704746e+01] [ 5.76294023e-02 9.98338022e-01 -2.13328446e-04 1.33459314e+00] [ 1.76987510e-02 -8.08016384e-04 9.99843038e-01 7.62047254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89925415399998 meters Centerline goodness [0,1] 0.9991661856199089 Centerline is valid? [True, True] Translation: X:90.90, Y:1.33, Z:0.76 [[ 9.98218585e-01 -5.69195727e-02 -1.78834828e-02 9.09020456e+01] [ 5.69248512e-02 9.98378443e-01 -2.14162947e-04 1.33198292e+00] [ 1.78666738e-02 -8.04233163e-04 9.99840055e-01 7.61733584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92925415399998 meters Centerline goodness [0,1] 0.9992080479452055 Centerline is valid? [True, True] Translation: X:90.93, Y:1.33, Z:0.76 [[ 9.98269320e-01 -5.60187675e-02 -1.78958692e-02 9.09331187e+01] [ 5.60239263e-02 9.98429404e-01 -2.13333731e-04 1.33219554e+00] [ 1.78797127e-02 -7.89632336e-04 9.99839833e-01 7.62229588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95925415399998 meters Centerline goodness [0,1] 0.9990365882378128 Centerline is valid? [True, True] Translation: X:90.97, Y:1.34, Z:0.76 [[ 9.98356643e-01 -5.46867507e-02 -1.71281516e-02 9.09655425e+01] [ 5.46912986e-02 9.98503290e-01 -2.03132948e-04 1.33658180e+00] [ 1.71136244e-02 -7.33961726e-04 9.99853282e-01 7.63705580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98925415399998 meters Centerline goodness [0,1] 0.9989287168170035 Centerline is valid? [True, True] Translation: X:91.00, Y:1.34, Z:0.77 [[ 9.98591132e-01 -5.06957603e-02 -1.56745221e-02 9.09956103e+01] [ 5.06990878e-02 9.98713957e-01 -1.85262923e-04 1.33798970e+00] [ 1.56637560e-02 -6.09682059e-04 9.99877130e-01 7.65372414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01925415399998 meters Centerline goodness [0,1] 0.9991217547767972 Centerline is valid? [True, True] Translation: X:91.03, Y:1.34, Z:0.77 [[ 9.98733750e-01 -4.78741874e-02 -1.54583124e-02 9.10266441e+01] [ 4.78770897e-02 9.98853218e-01 -1.82481951e-04 1.34396897e+00] [ 1.54493213e-02 -5.57848125e-04 9.99880496e-01 7.67221030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04925415399998 meters Centerline goodness [0,1] 0.9989914163090129 Centerline is valid? [True, True] Translation: X:91.06, Y:1.35, Z:0.77 [[ 9.98908990e-01 -4.44967781e-02 -1.41727600e-02 9.10578954e+01] [ 4.44988851e-02 9.99009420e-01 -1.66809745e-04 1.34751053e+00] [ 1.41661433e-02 -4.64044265e-04 9.99899547e-01 7.68256012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07925415399998 meters Centerline goodness [0,1] 0.9992472470750172 Centerline is valid? [True, True] Translation: X:91.09, Y:1.35, Z:0.77 [[ 9.99214854e-01 -3.72128638e-02 -1.35970264e-02 9.10871353e+01] [ 3.72141325e-02 9.99307301e-01 -1.59776945e-04 1.35351708e+00] [ 1.35935535e-02 -3.46350047e-04 9.99907543e-01 7.69437955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10925415399998 meters Centerline goodness [0,1] 0.9991812462294234 Centerline is valid? [True, True] Translation: X:91.12, Y:1.36, Z:0.77 [[ 9.99354768e-01 -3.31222214e-02 -1.38912257e-02 9.11183709e+01] [ 3.31231505e-02 9.99451265e-01 -1.63244179e-04 1.35717152e+00] [ 1.38890101e-02 -2.96982313e-04 9.99903499e-01 7.69679665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13925415399999 meters Centerline goodness [0,1] 0.9992658807272099 Centerline is valid? [True, True] Translation: X:91.15, Y:1.36, Z:0.77 [[ 9.99595285e-01 -2.42096152e-02 -1.49385795e-02 9.11498359e+01] [ 2.42097031e-02 9.99706887e-01 -1.74979772e-04 1.36430127e+00] [ 1.49384370e-02 -1.86749621e-04 9.99888398e-01 7.68377622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16925415399999 meters Centerline goodness [0,1] 0.9994808453568107 Centerline is valid? [True, True] Translation: X:91.18, Y:1.37, Z:0.77 [[ 9.99677020e-01 -1.96824815e-02 -1.60765659e-02 9.11814958e+01] [ 1.96820079e-02 9.99806273e-01 -1.87693349e-04 1.36802712e+00] [ 1.60771457e-02 -1.28786371e-04 9.99870746e-01 7.69269385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19925415399999 meters Centerline goodness [0,1] 0.999263830247916 Centerline is valid? [True, True] Translation: X:91.21, Y:1.37, Z:0.77 [[ 9.99736653e-01 -1.54819548e-02 -1.69391324e-02 9.12111994e+01] [ 1.54808275e-02 9.99880145e-01 -1.97679471e-04 1.37131808e+00] [ 1.69401626e-02 -6.46043732e-05 9.99856503e-01 7.68684696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22925415399997 meters Centerline goodness [0,1] 0.9993492690121903 Centerline is valid? [True, True] Translation: X:91.24, Y:1.38, Z:0.77 [[ 9.99801370e-01 -7.61393824e-03 -1.84187049e-02 9.12395812e+01] [ 7.61122076e-03 9.99971011e-01 -2.17635737e-04 1.37731640e+00] [ 1.84198281e-02 7.74036788e-05 9.99830338e-01 7.68643502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25925415399998 meters Centerline goodness [0,1] 0.99921875 Centerline is valid? [True, True] Translation: X:91.27, Y:1.38, Z:0.77 [[ 9.99814123e-01 -4.42282362e-03 -1.87658510e-02 9.12679758e+01] [ 4.41934971e-03 9.99990209e-01 -2.26584585e-04 1.38023144e+00] [ 1.87666694e-02 1.43609610e-04 9.99823880e-01 7.68764491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28925415399998 meters Centerline goodness [0,1] 0.9995011819818257 Centerline is valid? [True, True] Translation: X:91.30, Y:1.38, Z:0.77 [[ 9.99812496e-01 1.84891153e-03 -1.92757236e-02 9.12951859e+01] [-1.85382077e-03 9.99998254e-01 -2.36819810e-04 1.38493292e+00] [ 1.92752521e-02 2.72509142e-04 9.99814178e-01 7.69227326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31925415399998 meters Centerline goodness [0,1] 0.9995011819818257 Centerline is valid? [True, True] Translation: X:91.32, Y:1.39, Z:0.77 [[ 9.99812689e-01 1.74211174e-03 -1.92756916e-02 9.13226417e+01] [-1.74705105e-03 9.99998445e-01 -2.39408734e-04 1.38536285e+00] [ 1.92752445e-02 2.73039507e-04 9.99814178e-01 7.69485132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34925415399998 meters Centerline goodness [0,1] 0.9993277675376775 Centerline is valid? [True, True] Translation: X:91.35, Y:1.39, Z:0.77 [[ 9.99802530e-01 4.11372485e-03 -1.94416635e-02 9.13511963e+01] [-4.11926692e-03 9.99991486e-01 -2.45023141e-04 1.38684682e+00] [ 1.94404900e-02 3.25060157e-04 9.99810963e-01 7.70071207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37925415399998 meters Centerline goodness [0,1] 0.9996095952804407 Centerline is valid? [True, True] Translation: X:91.38, Y:1.39, Z:0.77 [[ 9.99795858e-01 5.99443307e-03 -1.92952933e-02 9.13795151e+01] [-6.00030458e-03 9.99981968e-01 -2.46417306e-04 1.38830444e+00] [ 1.92934682e-02 3.62144638e-04 9.99813798e-01 7.70954245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40925415399998 meters Centerline goodness [0,1] 0.9996751910959052 Centerline is valid? [True, True] Translation: X:91.41, Y:1.39, Z:0.77 [[ 9.99786163e-01 7.57405353e-03 -1.92422080e-02 9.14085995e+01] [-7.58024962e-03 9.99971238e-01 -2.49087218e-04 1.38812285e+00] [ 1.92397680e-02 3.94894694e-04 9.99814821e-01 7.71840402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43925415399998 meters Centerline goodness [0,1] 0.999631835408771 Centerline is valid? [True, True] Translation: X:91.44, Y:1.39, Z:0.77 [[ 9.99794256e-01 6.94993494e-03 -1.90563559e-02 9.14376648e+01] [-6.95595705e-03 9.99975776e-01 -2.49749640e-04 1.38713928e+00] [ 1.90541585e-02 3.82253449e-04 9.99818380e-01 7.73041667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46925415399998 meters Centerline goodness [0,1] 0.9993734606576503 Centerline is valid? [True, True] Translation: X:91.47, Y:1.38, Z:0.77 [[ 9.99799789e-01 3.08321382e-03 -1.97706019e-02 9.14659819e+01] [-3.08896931e-03 9.99995195e-01 -2.60581516e-04 1.38402270e+00] [ 1.97697034e-02 3.21600127e-04 9.99804509e-01 7.71659485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49925415399998 meters Centerline goodness [0,1] 0.9994810361977252 Centerline is valid? [True, True] Translation: X:91.50, Y:1.38, Z:0.77 [[ 9.99806542e-01 -9.39452460e-04 -1.96467741e-02 9.14951106e+01] [ 9.34517463e-04 9.99999529e-01 -2.60365661e-04 1.38094315e+00] [ 1.96470094e-02 2.41955037e-04 9.99806950e-01 7.74016317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52925415399999 meters Centerline goodness [0,1] 0.9995241700010814 Centerline is valid? [True, True] Translation: X:91.52, Y:1.38, Z:0.77 [[ 9.99786826e-01 -5.42368064e-03 -1.99220017e-02 9.15234738e+01] [ 5.41946785e-03 9.99985279e-01 -2.65447154e-04 1.37748162e+00] [ 1.99231482e-02 1.57423919e-04 9.99801502e-01 7.73811788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55925415399999 meters Centerline goodness [0,1] 0.9992247561211964 Centerline is valid? [True, True] Translation: X:91.55, Y:1.37, Z:0.77 [[ 9.99644520e-01 -1.65783821e-02 -2.08803911e-02 9.15519719e+01] [ 1.65761549e-02 9.99862567e-01 -2.79748694e-04 1.36765540e+00] [ 2.08821592e-02 -6.64673483e-05 9.99781942e-01 7.74377985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58925415399999 meters Centerline goodness [0,1] 0.9993548664573567 Centerline is valid? [True, True] Translation: X:91.58, Y:1.36, Z:0.77 [[ 9.99509198e-01 -2.26271837e-02 -2.16650366e-02 9.15811875e+01] [ 2.26261721e-02 9.99743953e-01 -2.91847429e-04 1.36252915e+00] [ 2.16660930e-02 -1.98492657e-04 9.99765243e-01 7.74487807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61925415399998 meters Centerline goodness [0,1] 0.9992704175786447 Centerline is valid? [True, True] Translation: X:91.61, Y:1.36, Z:0.77 [[ 9.99346099e-01 -2.88176444e-02 -2.18384311e-02 9.16100578e+01] [ 2.88180103e-02 9.99584630e-01 -2.98018911e-04 1.35762129e+00] [ 2.18379483e-02 -3.31516097e-04 9.99761469e-01 7.74832988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64925415399998 meters Centerline goodness [0,1] 0.9993361315744389 Centerline is valid? [True, True] Translation: X:91.64, Y:1.35, Z:0.78 [[ 9.98953276e-01 -3.97948597e-02 -2.25548470e-02 9.16398082e+01] [ 3.97979848e-02 9.99207698e-01 -3.10481052e-04 1.34674730e+00] [ 2.25493323e-02 -5.87481394e-04 9.99745559e-01 7.75074389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67925415399998 meters Centerline goodness [0,1] 0.998888770167753 Centerline is valid? [True, True] Translation: X:91.67, Y:1.34, Z:0.78 [[ 9.98753216e-01 -4.45266179e-02 -2.25697480e-02 9.16714777e+01] [ 4.45309610e-02 9.99007957e-01 -3.10374658e-04 1.34386857e+00] [ 2.25611778e-02 -6.95064882e-04 9.99745223e-01 7.75913905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70925415399998 meters Centerline goodness [0,1] 0.9989762620769083 Centerline is valid? [True, True] Translation: X:91.70, Y:1.34, Z:0.78 [[ 9.98365692e-01 -5.23119106e-02 -2.30088730e-02 9.17021772e+01] [ 5.23184974e-02 9.98630400e-01 -3.16021162e-04 1.33608905e+00] [ 2.29938917e-02 -8.88284977e-04 9.99735211e-01 7.76120565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73925415399998 meters Centerline goodness [0,1] 0.9991274182220614 Centerline is valid? [True, True] Translation: X:91.73, Y:1.33, Z:0.78 [[ 9.98192214e-01 -5.55595358e-02 -2.29225277e-02 9.17336563e+01] [ 5.55669397e-02 9.98454915e-01 -3.14316870e-04 1.33298949e+00] [ 2.29045737e-02 -9.59986061e-04 9.99737195e-01 7.77478838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76925415399998 meters Centerline goodness [0,1] 0.9989570473798476 Centerline is valid? [True, True] Translation: X:91.77, Y:1.33, Z:0.78 [[ 9.98055240e-01 -5.80464358e-02 -2.27233025e-02 9.17650924e+01] [ 5.80543786e-02 9.98313374e-01 -3.10537623e-04 1.32955063e+00] [ 2.27030024e-02 -1.00925350e-03 9.99741744e-01 7.77777843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79925415399998 meters Centerline goodness [0,1] 0.9994267029047053 Centerline is valid? [True, True] Translation: X:91.80, Y:1.32, Z:0.78 [[ 9.97797877e-01 -6.22723838e-02 -2.28374150e-02 9.17952747e+01] [ 6.22815221e-02 9.98058573e-01 -3.11594131e-04 1.32296036e+00] [ 2.28124815e-02 -1.11144100e-03 9.99739144e-01 7.78405438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82925415399998 meters Centerline goodness [0,1] 0.9994693045767173 Centerline is valid? [True, True] Translation: X:91.83, Y:1.32, Z:0.78 [[ 9.97718204e-01 -6.35991693e-02 -2.26612425e-02 9.18277136e+01] [ 6.36085301e-02 9.97974879e-01 -3.08234339e-04 1.32368702e+00] [ 2.26349542e-02 -1.13391731e-03 9.99743154e-01 7.79574177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85925415399998 meters Centerline goodness [0,1] 0.9995756148280179 Centerline is valid? [True, True] Translation: X:91.86, Y:1.32, Z:0.78 [[ 9.97550340e-01 -6.58300548e-02 -2.36584745e-02 9.18579443e+01] [ 6.58409062e-02 9.97830082e-01 -3.20841136e-04 1.31908175e+00] [ 2.36282585e-02 -1.23764022e-03 9.99720048e-01 7.79413867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88925415399999 meters Centerline goodness [0,1] 0.9993206089042695 Centerline is valid? [True, True] Translation: X:91.89, Y:1.32, Z:0.78 [[ 9.97505442e-01 -6.63506934e-02 -2.40931141e-02 9.18899939e+01] [ 6.63621279e-02 9.97795551e-01 -3.25526407e-04 1.31965762e+00] [ 2.40616010e-02 -1.27415596e-03 9.99709666e-01 7.79618422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91925415399999 meters Centerline goodness [0,1] 0.9992157195243445 Centerline is valid? [True, True] Translation: X:91.92, Y:1.32, Z:0.78 [[ 9.97460255e-01 -6.62661536e-02 -2.61120043e-02 9.19223386e+01] [ 6.62796081e-02 9.97801027e-01 -3.50848842e-04 1.32474972e+00] [ 2.60778342e-02 -1.38073564e-03 9.99658962e-01 7.80365454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94925415399999 meters Centerline goodness [0,1] 0.99923596077932 Centerline is valid? [True, True] Translation: X:91.95, Y:1.32, Z:0.78 [[ 9.97473259e-01 -6.55970643e-02 -2.72785993e-02 9.19537956e+01] [ 6.56115459e-02 9.97845174e-01 -3.64812973e-04 1.32182835e+00] [ 2.72437494e-02 -1.42589989e-03 9.99627803e-01 7.78831660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97925415399997 meters Centerline goodness [0,1] 0.9989174272978136 Centerline is valid? [True, True] Translation: X:91.99, Y:1.33, Z:0.78 [[ 9.97521771e-01 -6.43562401e-02 -2.84357382e-02 9.19861165e+01] [ 6.43715296e-02 9.97925931e-01 -3.78347386e-04 1.32640574e+00] [ 2.84011095e-02 -1.45304221e-03 9.99595551e-01 7.79759833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00925415399998 meters Centerline goodness [0,1] 0.9992149873761483 Centerline is valid? [True, True] Translation: X:92.02, Y:1.33, Z:0.78 [[ 9.97661684e-01 -6.14230234e-02 -2.99729326e-02 9.20166731e+01] [ 6.14387247e-02 9.98110778e-01 -3.97694059e-04 1.32888369e+00] [ 2.99407346e-02 -1.44473463e-03 9.99550632e-01 7.79279938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03925415399998 meters Centerline goodness [0,1] 0.9994258739474355 Centerline is valid? [True, True] Translation: X:92.05, Y:1.33, Z:0.78 [[ 9.97765502e-01 -5.91871872e-02 -3.09980656e-02 9.20467215e+01] [ 5.92029631e-02 9.98245882e-01 -4.09435400e-04 1.32899199e+00] [ 3.09679247e-02 -1.42665682e-03 9.99519361e-01 7.78649541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06925415399998 meters Centerline goodness [0,1] 0.9994680964234803 Centerline is valid? [True, True] Translation: X:92.08, Y:1.34, Z:0.78 [[ 9.98055421e-01 -5.38971470e-02 -3.13125269e-02 9.20775615e+01] [ 5.39106819e-02 9.98545677e-01 -4.12449168e-04 1.33818347e+00] [ 3.12892182e-02 -1.27643255e-03 9.99509558e-01 7.81288984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09925415399998 meters Centerline goodness [0,1] 0.9994466319037991 Centerline is valid? [True, True] Translation: X:92.11, Y:1.34, Z:0.78 [[ 9.98215511e-01 -5.06918104e-02 -3.15615968e-02 9.21068161e+01] [ 5.07039547e-02 9.98713641e-01 -4.15961685e-04 1.34014987e+00] [ 3.15420831e-02 -1.18507837e-03 9.99501722e-01 7.81367162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12925415399998 meters Centerline goodness [0,1] 0.9996589431500863 Centerline is valid? [True, True] Translation: X:92.14, Y:1.34, Z:0.78 [[ 9.98404703e-01 -4.72927597e-02 -3.08454701e-02 9.21353196e+01] [ 4.73026981e-02 9.98880518e-01 -4.07838526e-04 1.34344202e+00] [ 3.08302269e-02 -1.05188606e-03 9.99524082e-01 7.82140965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15925415399998 meters Centerline goodness [0,1] 0.9994886218358476 Centerline is valid? [True, True] Translation: X:92.17, Y:1.35, Z:0.78 [[ 9.98764096e-01 -3.99126462e-02 -2.96186124e-02 9.21656179e+01] [ 3.99185500e-02 9.99202860e-01 -3.92176502e-04 1.35213473e+00] [ 2.96106550e-02 -7.90640250e-04 9.99561196e-01 7.84404015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18925415399998 meters Centerline goodness [0,1] 0.9989962412438066 Centerline is valid? [True, True] Translation: X:92.19, Y:1.36, Z:0.79 [[ 9.98913839e-01 -3.64754184e-02 -2.89945859e-02 9.21946555e+01] [ 3.64794944e-02 9.99334326e-01 -3.88551530e-04 1.35700086e+00] [ 2.89894575e-02 -6.69578334e-04 9.99579493e-01 7.85615157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21925415399998 meters Centerline goodness [0,1] 0.999294238419094 Centerline is valid? [True, True] Translation: X:92.22, Y:1.36, Z:0.79 [[ 9.99189848e-01 -2.89416274e-02 -2.79648130e-02 9.22233468e+01] [ 2.89423912e-02 9.99581010e-01 -3.77534317e-04 1.36448681e+00] [ 2.79640224e-02 -4.32140100e-04 9.99608837e-01 7.86822585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24925415399998 meters Centerline goodness [0,1] 0.9995713857099996 Centerline is valid? [True, True] Translation: X:92.25, Y:1.37, Z:0.79 [[ 9.99278684e-01 -2.57579446e-02 -2.79041260e-02 9.22517060e+01] [ 2.57573271e-02 9.99668152e-01 -3.81626148e-04 1.36894994e+00] [ 2.79046960e-02 -3.37384825e-04 9.99610531e-01 7.87816526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27925415399999 meters Centerline goodness [0,1] 0.9994217177125723 Centerline is valid? [True, True] Translation: X:92.28, Y:1.37, Z:0.79 [[ 9.99360917e-01 -2.27252028e-02 -2.75920603e-02 9.22797746e+01] [ 2.27233363e-02 9.99741719e-01 -3.81236850e-04 1.37254762e+00] [ 2.75935975e-02 -2.45990459e-04 9.99619194e-01 7.87721539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30925415399999 meters Centerline goodness [0,1] 0.9991832348199893 Centerline is valid? [True, True] Translation: X:92.31, Y:1.38, Z:0.79 [[ 9.99435745e-01 -1.84374379e-02 -2.80758254e-02 9.23088467e+01] [ 1.84336626e-02 9.99830008e-01 -3.93304505e-04 1.37898901e+00] [ 2.80783042e-02 -1.24457711e-04 9.99605719e-01 7.88310806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33925415399997 meters Centerline goodness [0,1] 0.999591661293789 Centerline is valid? [True, True] Translation: X:92.34, Y:1.38, Z:0.79 [[ 9.99465261e-01 -1.68478469e-02 -2.80239539e-02 9.23365079e+01] [ 1.68432521e-02 9.99858062e-01 -4.00023352e-04 1.38163399e+00] [ 2.80267158e-02 -7.22050767e-05 9.99607172e-01 7.88546327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36925415399998 meters Centerline goodness [0,1] 0.999073934486249 Centerline is valid? [True, True] Translation: X:92.36, Y:1.38, Z:0.79 [[ 9.99482886e-01 -1.63531326e-02 -2.76863919e-02 9.23639236e+01] [ 1.63482460e-02 9.99866277e-01 -4.02859836e-04 1.38344592e+00] [ 2.76892776e-02 -4.99724331e-05 9.99616577e-01 7.88912426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39925415399998 meters Centerline goodness [0,1] 0.9992242883923377 Centerline is valid? [True, True] Translation: X:92.39, Y:1.39, Z:0.79 [[ 9.99488437e-01 -1.62087383e-02 -2.75706401e-02 9.23918148e+01] [ 1.62036215e-02 9.99868629e-01 -4.09008973e-04 1.38553338e+00] [ 2.75736476e-02 -3.79444770e-05 9.99619774e-01 7.91112651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42925415399998 meters Centerline goodness [0,1] 0.9994396551724138 Centerline is valid? [True, True] Translation: X:92.42, Y:1.39, Z:0.79 [[ 9.99500656e-01 -1.65608252e-02 -2.69105325e-02 9.24204744e+01] [ 1.65558881e-02 9.99862859e-01 -4.06269816e-04 1.38641897e+00] [ 2.69135701e-02 -3.94608179e-05 9.99637763e-01 7.92077121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45925415399998 meters Centerline goodness [0,1] 0.9993333189961074 Centerline is valid? [True, True] Translation: X:92.45, Y:1.39, Z:0.79 [[ 9.99494279e-01 -1.71406645e-02 -2.67840058e-02 9.24481936e+01] [ 1.71357850e-02 9.99853087e-01 -4.11711840e-04 1.38721818e+00] [ 2.67871279e-02 -4.74613358e-05 9.99641159e-01 7.92769721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48925415399998 meters Centerline goodness [0,1] 0.9993965387185069 Centerline is valid? [True, True] Translation: X:92.48, Y:1.39, Z:0.79 [[ 9.99475833e-01 -1.80563834e-02 -2.68705394e-02 9.24758705e+01] [ 1.80515940e-02 9.99836968e-01 -4.20821529e-04 1.38816980e+00] [ 2.68737572e-02 -6.44551188e-05 9.99638833e-01 7.94393975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51925415399998 meters Centerline goodness [0,1] 0.9993322850927262 Centerline is valid? [True, True] Translation: X:92.50, Y:1.39, Z:0.79 [[ 9.99466520e-01 -1.81424833e-02 -2.71574066e-02 9.25038902e+01] [ 1.81375047e-02 9.99835410e-01 -4.29659904e-04 1.38832503e+00] [ 2.71607318e-02 -6.31369018e-05 9.99631077e-01 7.92010502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54925415399998 meters Centerline goodness [0,1] 0.9993319397452751 Centerline is valid? [True, True] Translation: X:92.53, Y:1.39, Z:0.80 [[ 9.99456701e-01 -1.90948296e-02 -2.68643062e-02 9.25319056e+01] [ 1.90901432e-02 9.99817674e-01 -4.30928835e-04 1.38844063e+00] [ 2.68676367e-02 -8.21487397e-05 9.99638997e-01 7.96161706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57925415399998 meters Centerline goodness [0,1] 0.9993982894227876 Centerline is valid? [True, True] Translation: X:92.56, Y:1.39, Z:0.80 [[ 9.99441538e-01 -1.96522034e-02 -2.70259641e-02 9.25593127e+01] [ 1.96474526e-02 9.99806873e-01 -4.41347717e-04 1.38806276e+00] [ 2.70294181e-02 -8.98901065e-05 9.99634634e-01 7.96445852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60925415399998 meters Centerline goodness [0,1] 0.9991806106606865 Centerline is valid? [True, True] Translation: X:92.59, Y:1.39, Z:0.80 [[ 9.99417921e-01 -2.06926607e-02 -2.71225517e-02 9.25868333e+01] [ 2.06881422e-02 9.99785877e-01 -4.47224764e-04 1.38731783e+00] [ 2.71259984e-02 -1.14150760e-04 9.99632016e-01 7.96324233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63925415399999 meters Centerline goodness [0,1] 0.9991379310344828 Centerline is valid? [True, True] Translation: X:92.62, Y:1.38, Z:0.80 [[ 9.99338339e-01 -2.34850899e-02 -2.77729294e-02 9.26151770e+01] [ 2.34812773e-02 9.99724169e-01 -4.63449020e-04 1.38467784e+00] [ 2.77761529e-02 -1.89001482e-04 9.99614150e-01 7.96476695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66925415399999 meters Centerline goodness [0,1] 0.9991385251550655 Centerline is valid? [True, True] Translation: X:92.64, Y:1.38, Z:0.80 [[ 9.99287784e-01 -2.53282226e-02 -2.79715235e-02 9.26438415e+01] [ 2.53248798e-02 9.99679162e-01 -4.73814619e-04 1.38326119e+00] [ 2.79745500e-02 -2.34898310e-04 9.99608608e-01 7.96310215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69925415399999 meters Centerline goodness [0,1] 0.9992894668848505 Centerline is valid? [True, True] Translation: X:92.67, Y:1.38, Z:0.80 [[ 9.99241131e-01 -2.71192515e-02 -2.79590622e-02 9.26721556e+01] [ 2.71164145e-02 9.99632167e-01 -4.80683848e-04 1.38212940e+00] [ 2.79618138e-02 -2.77830449e-04 9.99608953e-01 7.97326277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72925415399997 meters Centerline goodness [0,1] 0.9992046431642304 Centerline is valid? [True, True] Translation: X:92.70, Y:1.37, Z:0.79 [[ 9.99146675e-01 -3.03092539e-02 -2.80583369e-02 9.26995758e+01] [ 3.03075302e-02 9.99540503e-01 -4.86801010e-04 1.37499482e+00] [ 2.80601987e-02 -3.63993283e-04 9.99606169e-01 7.92512729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75925415399998 meters Centerline goodness [0,1] 0.9991202660658728 Centerline is valid? [True, True] Translation: X:92.73, Y:1.38, Z:0.80 [[ 9.99111120e-01 -3.19672559e-02 -2.74784297e-02 9.27273379e+01] [ 3.19660589e-02 9.99488838e-01 -4.82943664e-04 1.37685488e+00] [ 2.74798221e-02 -3.95862716e-04 9.99622280e-01 7.98172318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78925415399998 meters Centerline goodness [0,1] 0.998950816864013 Centerline is valid? [True, True] Translation: X:92.76, Y:1.37, Z:0.80 [[ 9.99048796e-01 -3.51720723e-02 -2.57765159e-02 9.27557866e+01] [ 3.51719118e-02 9.99381171e-01 -4.59747896e-04 1.37303915e+00] [ 2.57767349e-02 -4.47298760e-04 9.99667625e-01 7.99286989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81925415399998 meters Centerline goodness [0,1] 0.9991661321359846 Centerline is valid? [True, True] Translation: X:92.79, Y:1.37, Z:0.80 [[ 9.99012842e-01 -3.65147504e-02 -2.52985167e-02 9.27851229e+01] [ 3.65149519e-02 9.99333004e-01 -4.54150496e-04 1.37130163e+00] [ 2.52982259e-02 -4.70071941e-04 9.99679838e-01 7.99966511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84925415399998 meters Centerline goodness [0,1] 0.9991666666666666 Centerline is valid? [True, True] Translation: X:92.81, Y:1.37, Z:0.80 [[ 9.98960880e-01 -3.82118811e-02 -2.48397350e-02 9.28149851e+01] [ 3.82125895e-02 9.99269533e-01 -4.46322104e-04 1.36887881e+00] [ 2.48386452e-02 -5.03332277e-04 9.99691347e-01 7.99760783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87925415399998 meters Centerline goodness [0,1] 0.9991268793389838 Centerline is valid? [True, True] Translation: X:92.85, Y:1.36, Z:0.80 [[ 9.98843822e-01 -4.15819521e-02 -2.41238612e-02 9.28454804e+01] [ 4.15836013e-02 9.99134934e-01 -4.33501112e-04 1.36490651e+00] [ 2.41210183e-02 -5.70157118e-04 9.99708883e-01 7.99765121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90925415399998 meters Centerline goodness [0,1] 0.9988909978886306 Centerline is valid? [True, True] Translation: X:92.88, Y:1.36, Z:0.80 [[ 9.98743191e-01 -4.38495495e-02 -2.42745931e-02 9.28765412e+01] [ 4.38519021e-02 9.99037948e-01 -4.35653596e-04 1.36360999e+00] [ 2.42703429e-02 -6.29381017e-04 9.99705234e-01 7.99863655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93925415399998 meters Centerline goodness [0,1] 0.998871956410693 Centerline is valid? [True, True] Translation: X:92.91, Y:1.36, Z:0.80 [[ 9.98501260e-01 -4.89076824e-02 -2.45615972e-02 9.29063118e+01] [ 4.89116282e-02 9.98803013e-01 -4.40450939e-04 1.35702298e+00] [ 2.45537387e-02 -7.61556893e-04 9.99698221e-01 7.97907175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96925415399998 meters Centerline goodness [0,1] 0.9988314033783066 Centerline is valid? [True, True] Translation: X:92.94, Y:1.35, Z:0.80 [[ 9.98362006e-01 -5.14619646e-02 -2.49994273e-02 9.29378838e+01] [ 5.14668663e-02 9.98674602e-01 -4.47735603e-04 1.35431237e+00] [ 2.49893345e-02 -8.39639969e-04 9.99687365e-01 7.97066784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99925415399998 meters Centerline goodness [0,1] 0.9988716442059995 Centerline is valid? [True, True] Translation: X:92.97, Y:1.35, Z:0.80 [[ 9.98228962e-01 -5.43291073e-02 -2.42340024e-02 9.29695128e+01] [ 5.43345848e-02 9.98522692e-01 -4.32874361e-04 1.35296778e+00] [ 2.42217190e-02 -8.84636733e-04 9.99706220e-01 7.97747389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02925415399999 meters Centerline goodness [0,1] 0.9986805422545703 Centerline is valid? [True, True] Translation: X:93.00, Y:1.35, Z:0.80 [[ 9.97922775e-01 -5.98712940e-02 -2.37815728e-02 9.29995517e+01] [ 5.98781514e-02 9.98205604e-01 -4.24283894e-04 1.34745276e+00] [ 2.37643016e-02 -1.00059405e-03 9.99717088e-01 7.97230476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05925415399999 meters Centerline goodness [0,1] 0.9988940641017461 Centerline is valid? [True, True] Translation: X:93.03, Y:1.34, Z:0.80 [[ 9.97782414e-01 -6.21983265e-02 -2.36985891e-02 9.30307085e+01] [ 6.22058096e-02 9.98063254e-01 -4.22023837e-04 1.34419042e+00] [ 2.36789401e-02 -1.05310196e-03 9.99719060e-01 7.97051641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08925415399997 meters Centerline goodness [0,1] 0.9990004040919628 Centerline is valid? [True, True] Translation: X:93.06, Y:1.34, Z:0.80 [[ 9.97543886e-01 -6.60253679e-02 -2.33847617e-02 9.30617915e+01] [ 6.60337206e-02 9.97817305e-01 -4.15676845e-04 1.34281091e+00] [ 2.33611651e-02 -1.12952693e-03 9.99726453e-01 7.97747738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11925415399998 meters Centerline goodness [0,1] 0.9988094985012437 Centerline is valid? [True, True] Translation: X:93.09, Y:1.34, Z:0.80 [[ 9.97490178e-01 -6.71013729e-02 -2.25997951e-02 9.30927573e+01] [ 6.71094694e-02 9.97745538e-01 -4.00836448e-04 1.33956581e+00] [ 2.25757414e-02 -1.11682984e-03 9.99744512e-01 7.97146251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14925415399998 meters Centerline goodness [0,1] 0.9988749018192625 Centerline is valid? [True, True] Translation: X:93.13, Y:1.34, Z:0.80 [[ 9.97467508e-01 -6.74941109e-02 -2.24302230e-02 9.31251145e+01] [ 6.75022180e-02 9.97719045e-01 -3.96373417e-04 1.34146216e+00] [ 2.24058135e-02 -1.11872020e-03 9.99748332e-01 7.98212607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17925415399998 meters Centerline goodness [0,1] 0.9988932638075981 Centerline is valid? [True, True] Translation: X:93.16, Y:1.34, Z:0.80 [[ 9.97526468e-01 -6.70828439e-02 -2.09961476e-02 9.31565008e+01] [ 6.70898827e-02 9.97746867e-01 -3.69765626e-04 1.34019478e+00] [ 2.09736455e-02 -1.03977808e-03 9.99779488e-01 7.98323949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20925415399998 meters Centerline goodness [0,1] 0.998977570451786 Centerline is valid? [True, True] Translation: X:93.19, Y:1.35, Z:0.80 [[ 9.97671465e-01 -6.49972574e-02 -2.06640651e-02 9.31878992e+01] [ 6.50036477e-02 9.97884960e-01 -3.63006345e-04 1.34506303e+00] [ 2.06439542e-02 -9.81078533e-04 9.99786410e-01 7.99091828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23925415399998 meters Centerline goodness [0,1] 0.998977570451786 Centerline is valid? [True, True] Translation: X:93.22, Y:1.35, Z:0.80 [[ 9.97676186e-01 -6.49247528e-02 -2.06640854e-02 9.32196240e+01] [ 6.49311516e-02 9.97889681e-01 -3.61843864e-04 1.34555821e+00] [ 2.06439702e-02 -9.80739857e-04 9.99786410e-01 7.99388981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26925415399998 meters Centerline goodness [0,1] 0.9988296378261055 Centerline is valid? [True, True] Translation: X:93.25, Y:1.35, Z:0.80 [[ 9.97748918e-01 -6.37816018e-02 -2.07123926e-02 9.32504660e+01] [ 6.37878116e-02 9.97963418e-01 -3.61392848e-04 1.34664762e+00] [ 2.06932603e-02 -9.60618872e-04 9.99785410e-01 7.99415442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29925415399998 meters Centerline goodness [0,1] 0.9988308071682149 Centerline is valid? [True, True] Translation: X:93.28, Y:1.35, Z:0.80 [[ 9.97810275e-01 -6.28739835e-02 -2.05308702e-02 9.32822464e+01] [ 6.28799201e-02 9.98021036e-01 -3.56915323e-04 1.34921821e+00] [ 2.05126810e-02 -9.34845701e-04 9.99789156e-01 7.99768049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32925415399998 meters Centerline goodness [0,1] 0.9991701774543598 Centerline is valid? [True, True] Translation: X:93.31, Y:1.35, Z:0.80 [[ 9.97875191e-01 -6.18879225e-02 -2.03712638e-02 9.33147019e+01] [ 6.18935921e-02 9.98082691e-01 -3.52667580e-04 1.35143893e+00] [ 2.03540317e-02 -9.08932464e-04 9.99792422e-01 8.00274907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35925415399998 meters Centerline goodness [0,1] 0.9989764148931634 Centerline is valid? [True, True] Translation: X:93.35, Y:1.35, Z:0.80 [[ 9.97940669e-01 -6.07018089e-02 -2.07295083e-02 9.33470745e+01] [ 6.07074557e-02 9.98155538e-01 -3.57351741e-04 1.35333246e+00] [ 2.07129654e-02 -9.01819875e-04 9.99785057e-01 7.99675042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38925415399999 meters Centerline goodness [0,1] 0.9990631121710246 Centerline is valid? [True, True] Translation: X:93.38, Y:1.36, Z:0.80 [[ 9.98020767e-01 -5.94262866e-02 -2.05685488e-02 9.33780135e+01] [ 5.94316203e-02 9.98232317e-01 -3.52405824e-04 1.35515881e+00] [ 2.05531323e-02 -8.70713853e-04 9.99788383e-01 7.99218949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41925415399999 meters Centerline goodness [0,1] 0.9993389769068384 Centerline is valid? [True, True] Translation: X:93.41, Y:1.36, Z:0.80 [[ 9.98082820e-01 -5.85201420e-02 -2.01513388e-02 9.34097350e+01] [ 5.85251174e-02 9.98285877e-01 -3.43255239e-04 1.35789051e+00] [ 2.01368843e-02 -8.36762313e-04 9.99796882e-01 7.99966449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44925415399999 meters Centerline goodness [0,1] 0.9992952633152522 Centerline is valid? [True, True] Translation: X:93.44, Y:1.36, Z:0.80 [[ 9.98168836e-01 -5.69898455e-02 -2.02764032e-02 9.34421150e+01] [ 5.69945973e-02 9.98374428e-01 -3.43925668e-04 1.36019750e+00] [ 2.02630427e-02 -8.12349551e-04 9.99794353e-01 7.99914972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47925415399997 meters Centerline goodness [0,1] 0.9991438722657421 Centerline is valid? [True, True] Translation: X:93.47, Y:1.37, Z:0.80 [[ 9.98439335e-01 -5.24674954e-02 -1.91326034e-02 9.34725331e+01] [ 5.24709088e-02 9.98622401e-01 -3.23891386e-04 1.36898430e+00] [ 1.91232401e-02 -6.80519189e-04 9.99816903e-01 8.01794220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50925415399998 meters Centerline goodness [0,1] 0.9993793339611334 Centerline is valid? [True, True] Translation: X:93.50, Y:1.37, Z:0.80 [[ 9.98622813e-01 -4.91670044e-02 -1.83052851e-02 9.35037998e+01] [ 4.91695811e-02 9.98790397e-01 -3.09555842e-04 1.37317420e+00] [ 1.82983629e-02 -5.90933673e-04 9.99832396e-01 8.02838698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53925415399998 meters Centerline goodness [0,1] 0.9993152590246721 Centerline is valid? [True, True] Translation: X:93.54, Y:1.38, Z:0.80 [[ 9.98803026e-01 -4.56033924e-02 -1.76874463e-02 9.35355953e+01] [ 4.56052538e-02 9.98959495e-01 -2.98310458e-04 1.37793347e+00] [ 1.76826464e-02 -5.08687091e-04 9.99843520e-01 8.03638764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56925415399998 meters Centerline goodness [0,1] 0.9992053093923838 Centerline is valid? [True, True] Translation: X:93.57, Y:1.38, Z:0.80 [[ 9.99138401e-01 -3.83925019e-02 -1.57629714e-02 9.35650528e+01] [ 3.83930886e-02 9.99262678e-01 -2.65505478e-04 1.38409287e+00] [ 1.57615424e-02 -3.39912437e-04 9.99875721e-01 8.04420768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59925415399998 meters Centerline goodness [0,1] 0.9995914242091908 Centerline is valid? [True, True] Translation: X:93.60, Y:1.39, Z:0.81 [[ 9.99274120e-01 -3.47248459e-02 -1.56658169e-02 9.35973687e+01] [ 3.47249793e-02 9.99396871e-01 -2.63579316e-04 1.38899851e+00] [ 1.56655211e-02 -2.80607178e-04 9.99877249e-01 8.05024173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62925415399998 meters Centerline goodness [0,1] 0.9994183040330921 Centerline is valid? [True, True] Translation: X:93.63, Y:1.40, Z:0.81 [[ 9.99441819e-01 -2.98162100e-02 -1.50679561e-02 9.36288594e+01] [ 2.98157887e-02 9.99555379e-01 -2.52651357e-04 1.39555332e+00] [ 1.50687896e-02 -1.96752663e-04 9.99886440e-01 8.05518416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65925415399998 meters Centerline goodness [0,1] 0.9998919292785199 Centerline is valid? [True, True] Translation: X:93.66, Y:1.40, Z:0.81 [[ 9.99487447e-01 -2.80711310e-02 -1.53900950e-02 9.36606836e+01] [ 2.80704969e-02 9.99605913e-01 -2.57257352e-04 1.39784650e+00] [ 1.53912514e-02 -1.74882118e-04 9.99881532e-01 8.05284437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68925415399998 meters Centerline goodness [0,1] 0.9997620129378421 Centerline is valid? [True, True] Translation: X:93.69, Y:1.40, Z:0.80 [[ 9.99499329e-01 -2.71610272e-02 -1.62287035e-02 9.36918067e+01] [ 2.71602181e-02 9.99631057e-01 -2.70298720e-04 1.39982288e+00] [ 1.62300576e-02 -1.70611737e-04 9.99868269e-01 8.04602177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71925415399998 meters Centerline goodness [0,1] 0.9997194406077348 Centerline is valid? [True, True] Translation: X:93.72, Y:1.40, Z:0.80 [[ 9.99499680e-01 -2.61737178e-02 -1.77574349e-02 9.37234155e+01] [ 2.61726054e-02 9.99657395e-01 -2.95078540e-04 1.40100208e+00] [ 1.77590744e-02 -1.69827431e-04 9.99842281e-01 8.02968826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74925415399998 meters Centerline goodness [0,1] 0.999891781918923 Centerline is valid? [True, True] Translation: X:93.75, Y:1.40, Z:0.80 [[ 9.99484768e-01 -2.76407792e-02 -1.63152258e-02 9.37540108e+01] [ 2.76400407e-02 9.99617904e-01 -2.70799540e-04 1.40188901e+00] [ 1.63164770e-02 -1.80293490e-04 9.99866861e-01 8.03827289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77925415399999 meters Centerline goodness [0,1] 0.9997621930127983 Centerline is valid? [True, True] Translation: X:93.79, Y:1.40, Z:0.80 [[ 9.99468818e-01 -2.90343163e-02 -1.48017210e-02 9.37856860e+01] [ 2.90338656e-02 9.99578398e-01 -2.45383790e-04 1.40149384e+00] [ 1.48026052e-02 -1.84497732e-04 9.99890418e-01 8.04398355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80925415399999 meters Centerline goodness [0,1] 0.9997621158711966 Centerline is valid? [True, True] Translation: X:93.82, Y:1.40, Z:0.81 [[ 9.99450736e-01 -3.00061419e-02 -1.40661611e-02 9.38179846e+01] [ 3.00058426e-02 9.99549696e-01 -2.32373101e-04 1.40178983e+00] [ 1.40667997e-02 -1.89821549e-04 9.99901040e-01 8.05119970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83925415399997 meters Centerline goodness [0,1] 0.9998704914848151 Centerline is valid? [True, True] Translation: X:93.85, Y:1.40, Z:0.81 [[ 9.99448354e-01 -3.04707248e-02 -1.32106692e-02 9.38501625e+01] [ 3.04705132e-02 9.99535642e-01 -2.17341296e-04 1.40250455e+00] [ 1.32111573e-02 -1.85314471e-04 9.99912712e-01 8.05932913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86925415399998 meters Centerline goodness [0,1] 0.9998268173355848 Centerline is valid? [True, True] Translation: X:93.88, Y:1.40, Z:0.81 [[ 9.99448911e-01 -3.09654282e-02 -1.19589911e-02 9.38826707e+01] [ 3.09652996e-02 9.99520441e-01 -1.95955500e-04 1.40485015e+00] [ 1.19593239e-02 -1.74466230e-04 9.99928470e-01 8.06708816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89925415399998 meters Centerline goodness [0,1] 0.99987002296261 Centerline is valid? [True, True] Translation: X:93.91, Y:1.40, Z:0.81 [[ 9.99455109e-01 -3.06465271e-02 -1.22587174e-02 9.39143435e+01] [ 3.06463786e-02 9.99530269e-01 -2.00009319e-04 1.40490031e+00] [ 1.22590887e-02 -1.75784959e-04 9.99924839e-01 8.06409494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92925415399998 meters Centerline goodness [0,1] 0.9996322415956388 Centerline is valid? [True, True] Translation: X:93.95, Y:1.41, Z:0.81 [[ 9.99410199e-01 -3.23446352e-02 -1.15360032e-02 9.39456016e+01] [ 3.23446236e-02 9.99476758e-01 -1.87625076e-04 1.40566281e+00] [ 1.15360358e-02 -1.85613268e-04 9.99933440e-01 8.06760485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95925415399998 meters Centerline goodness [0,1] 0.9998701186249892 Centerline is valid? [True, True] Translation: X:93.98, Y:1.41, Z:0.81 [[ 9.99384606e-01 -3.30341539e-02 -1.17963183e-02 9.39773842e+01] [ 3.30341978e-02 9.99454204e-01 -1.91183781e-04 1.40739915e+00] [ 1.17961955e-02 -1.98615785e-04 9.99930403e-01 8.06821014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98925415399998 meters Centerline goodness [0,1] 0.9997401359954957 Centerline is valid? [True, True] Translation: X:94.01, Y:1.41, Z:0.81 [[ 9.99335907e-01 -3.45437738e-02 -1.15962573e-02 9.40091447e+01] [ 3.45439273e-02 9.99403163e-01 -1.87119320e-04 1.40827169e+00] [ 1.15958001e-02 -2.13585214e-04 9.99932744e-01 8.07037284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01925415399998 meters Centerline goodness [0,1] 0.999653889417669 Centerline is valid? [True, True] Translation: X:94.04, Y:1.41, Z:0.81 [[ 9.99216497e-01 -3.76626343e-02 -1.21621256e-02 9.40412601e+01] [ 3.76630452e-02 9.99290477e-01 -1.95331615e-04 1.40847987e+00] [ 1.21608530e-02 -2.62884114e-04 9.99926020e-01 8.07342421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04925415399998 meters Centerline goodness [0,1] 0.9995023153157052 Centerline is valid? [True, True] Translation: X:94.07, Y:1.41, Z:0.81 [[ 9.99166002e-01 -3.89797073e-02 -1.21607389e-02 9.40734350e+01] [ 3.89802264e-02 9.99239963e-01 -1.94423967e-04 1.40913221e+00] [ 1.21590749e-02 -2.79766540e-04 9.99926037e-01 8.07359507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07925415399998 meters Centerline goodness [0,1] 0.9995023476210052 Centerline is valid? [True, True] Translation: X:94.10, Y:1.41, Z:0.81 [[ 9.99078214e-01 -4.08920206e-02 -1.30600210e-02 9.41047268e+01] [ 4.08927949e-02 9.99163518e-01 -2.07865746e-04 1.40671575e+00] [ 1.30575965e-02 -3.26386620e-04 9.99914693e-01 8.06599646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10925415399998 meters Centerline goodness [0,1] 0.9995459655798669 Centerline is valid? [True, True] Translation: X:94.14, Y:1.41, Z:0.81 [[ 9.99059773e-01 -4.13221512e-02 -1.31167823e-02 9.41371060e+01] [ 4.13229794e-02 9.99145819e-01 -2.07991065e-04 1.40883332e+00] [ 1.31141729e-02 -3.34229020e-04 9.99913950e-01 8.06938186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13925415399999 meters Centerline goodness [0,1] 0.9993727152776276 Centerline is valid? [True, True] Translation: X:94.17, Y:1.41, Z:0.81 [[ 9.99035871e-01 -4.16115518e-02 -1.39930790e-02 9.41691472e+01] [ 4.16125373e-02 9.99133799e-01 -2.20847918e-04 1.41140799e+00] [ 1.39901480e-02 -3.61652530e-04 9.99902068e-01 8.07026594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16925415399999 meters Centerline goodness [0,1] 0.9992855287087555 Centerline is valid? [True, True] Translation: X:94.20, Y:1.41, Z:0.81 [[ 9.99056718e-01 -4.12344078e-02 -1.36161073e-02 9.41999786e+01] [ 4.12353179e-02 9.99149440e-01 -2.14019955e-04 1.41194369e+00] [ 1.36133510e-02 -3.47646439e-04 9.99907274e-01 8.07249637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19925415399999 meters Centerline goodness [0,1] 0.9994365342522159 Centerline is valid? [True, True] Translation: X:94.23, Y:1.42, Z:0.81 [[ 9.99141292e-01 -3.93567772e-02 -1.29508056e-02 9.42321929e+01] [ 3.93574524e-02 9.99225175e-01 -2.02829453e-04 1.41610205e+00] [ 1.29487537e-02 -3.07055431e-04 9.99916114e-01 8.08799361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22925415399997 meters Centerline goodness [0,1] 0.9994795958194197 Centerline is valid? [True, True] Translation: X:94.26, Y:1.42, Z:0.81 [[ 9.99188392e-01 -3.82353747e-02 -1.26733566e-02 9.42648946e+01] [ 3.82359432e-02 9.99268719e-01 -1.97521011e-04 1.41846128e+00] [ 1.26716411e-02 -2.87217043e-04 9.99919670e-01 8.09504129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25925415399998 meters Centerline goodness [0,1] 0.9994789405123752 Centerline is valid? [True, True] Translation: X:94.30, Y:1.42, Z:0.81 [[ 9.99222845e-01 -3.73398538e-02 -1.26269737e-02 9.42974529e+01] [ 3.73403605e-02 9.99302586e-01 -1.95706192e-04 1.42007189e+00] [ 1.26254751e-02 -2.75941653e-04 9.99920257e-01 8.09683924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28925415399998 meters Centerline goodness [0,1] 0.9995869924354404 Centerline is valid? [True, True] Translation: X:94.33, Y:1.42, Z:0.81 [[ 9.99293888e-01 -3.53564407e-02 -1.27141019e-02 9.43288420e+01] [ 3.53568051e-02 9.99374733e-01 -1.96185632e-04 1.42251657e+00] [ 1.27130887e-02 -2.53482921e-04 9.99919153e-01 8.09848963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31925415399998 meters Centerline goodness [0,1] 0.9995868667101544 Centerline is valid? [True, True] Translation: X:94.36, Y:1.42, Z:0.81 [[ 9.99309669e-01 -3.46338209e-02 -1.34418666e-02 9.43612719e+01] [ 3.46341740e-02 9.99400036e-01 -2.06583501e-04 1.42410112e+00] [ 1.34409568e-02 -2.59107058e-04 9.99909633e-01 8.09589518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34925415399998 meters Centerline goodness [0,1] 0.9994559777168472 Centerline is valid? [True, True] Translation: X:94.39, Y:1.43, Z:0.81 [[ 9.99308594e-01 -3.37514758e-02 -1.55939490e-02 9.43921764e+01] [ 3.37518611e-02 9.99430215e-01 -2.38540998e-04 1.42569846e+00] [ 1.55931149e-02 -2.87948732e-04 9.99878379e-01 8.08282195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37925415399998 meters Centerline goodness [0,1] 0.9993687280959533 Centerline is valid? [True, True] Translation: X:94.42, Y:1.43, Z:0.81 [[ 9.99292761e-01 -3.36305806e-02 -1.68214731e-02 9.44240070e+01] [ 3.36310300e-02 9.99434284e-01 -2.56249222e-04 1.42626083e+00] [ 1.68205747e-02 -3.09655472e-04 9.99858476e-01 8.07615910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40925415399998 meters Centerline goodness [0,1] 0.9994991834512793 Centerline is valid? [True, True] Translation: X:94.46, Y:1.43, Z:0.81 [[ 9.99277243e-01 -3.34358018e-02 -1.80842205e-02 9.44555128e+01] [ 3.34363105e-02 9.99440813e-01 -2.74313721e-04 1.42709044e+00] [ 1.80832799e-02 -3.30554151e-04 9.99836429e-01 8.06728402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43925415399998 meters Centerline goodness [0,1] 0.9995215519116176 Centerline is valid? [True, True] Translation: X:94.49, Y:1.43, Z:0.81 [[ 9.99255134e-01 -3.33188803e-02 -1.94686938e-02 9.44872595e+01] [ 3.33194721e-02 9.99444709e-01 -2.94064046e-04 1.42857226e+00] [ 1.94676809e-02 -3.54841592e-04 9.99810424e-01 8.06656006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46925415399998 meters Centerline goodness [0,1] 0.9995429417141862 Centerline is valid? [True, True] Translation: X:94.52, Y:1.43, Z:0.81 [[ 9.99206517e-01 -3.34308272e-02 -2.16498600e-02 9.45190249e+01] [ 3.34316110e-02 9.99440954e-01 -3.25835442e-04 1.43010352e+00] [ 2.16486497e-02 -3.98212801e-04 9.99765561e-01 8.05585303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49925415399998 meters Centerline goodness [0,1] 0.9995637664405522 Centerline is valid? [True, True] Translation: X:94.55, Y:1.43, Z:0.81 [[ 9.99214271e-01 -3.31133457e-02 -2.17795272e-02 9.45503069e+01] [ 3.31140803e-02 9.99451525e-01 -3.27015960e-04 1.43250029e+00] [ 2.17784102e-02 -3.94449998e-04 9.99762744e-01 8.06708944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52925415399999 meters Centerline goodness [0,1] 0.9994320043691972 Centerline is valid? [True, True] Translation: X:94.58, Y:1.43, Z:0.81 [[ 9.99232228e-01 -3.28278602e-02 -2.13842488e-02 9.45817763e+01] [ 3.28285192e-02 9.99460948e-01 -3.20324995e-04 1.43442326e+00] [ 2.13832372e-02 -3.81934164e-04 9.99771279e-01 8.07919318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55925415399999 meters Centerline goodness [0,1] 0.9994318057649861 Centerline is valid? [True, True] Translation: X:94.61, Y:1.44, Z:0.81 [[ 9.99259622e-01 -3.26035141e-02 -2.04259124e-02 9.46126269e+01] [ 3.26040832e-02 9.99468299e-01 -3.05244054e-04 1.43653913e+00] [ 2.04250040e-02 -3.60950090e-04 9.99791323e-01 8.09381483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58925415399997 meters Centerline goodness [0,1] 0.9995854696192866 Centerline is valid? [True, True] Translation: X:94.64, Y:1.44, Z:0.81 [[ 9.99284231e-01 -3.22345993e-02 -1.97978735e-02 9.46427741e+01] [ 3.22350719e-02 9.99480271e-01 -2.95336804e-04 1.43652733e+00] [ 1.97971040e-02 -3.43060464e-04 9.99803959e-01 8.09657293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61925415399998 meters Centerline goodness [0,1] 0.9995838444016121 Centerline is valid? [True, True] Translation: X:94.67, Y:1.44, Z:0.81 [[ 9.99353388e-01 -3.07570916e-02 -1.86227452e-02 9.46738399e+01] [ 3.07572623e-02 9.99526845e-01 -2.77321167e-04 1.43959416e+00] [ 1.86224633e-02 -2.95642810e-04 9.99826543e-01 8.11234336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64925415399998 meters Centerline goodness [0,1] 0.999626636211895 Centerline is valid? [True, True] Translation: X:94.71, Y:1.44, Z:0.81 [[ 9.99376968e-01 -3.08991248e-02 -1.70563814e-02 9.47052729e+01] [ 3.08992984e-02 9.99522471e-01 -2.53417528e-04 1.44228765e+00] [ 1.70560668e-02 -2.73770578e-04 9.99854497e-01 8.12866196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67925415399998 meters Centerline goodness [0,1] 0.9996925239392076 Centerline is valid? [True, True] Translation: X:94.74, Y:1.44, Z:0.81 [[ 9.99384384e-01 -3.14000585e-02 -1.56489389e-02 9.47363939e+01] [ 3.14002761e-02 9.99506863e-01 -2.31859399e-04 1.44314518e+00] [ 1.56485022e-02 -2.59664340e-04 9.99877521e-01 8.13950393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70925415399998 meters Centerline goodness [0,1] 0.9999120956399438 Centerline is valid? [True, True] Translation: X:94.77, Y:1.44, Z:0.81 [[ 9.99363117e-01 -3.23492796e-02 -1.50626608e-02 9.47687551e+01] [ 3.23496023e-02 9.99476590e-01 -2.22284993e-04 1.44325492e+00] [ 1.50619676e-02 -2.65127663e-04 9.99886527e-01 8.14672128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73925415399998 meters Centerline goodness [0,1] 0.9999120357135003 Centerline is valid? [True, True] Translation: X:94.80, Y:1.44, Z:0.81 [[ 9.99314845e-01 -3.37669004e-02 -1.51537533e-02 9.48009256e+01] [ 3.37674063e-02 9.99429694e-01 -2.22550167e-04 1.44250302e+00] [ 1.51526259e-02 -2.89305260e-04 9.99885151e-01 8.14424765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76925415399998 meters Centerline goodness [0,1] 0.9997581141701117 Centerline is valid? [True, True] Translation: X:94.83, Y:1.44, Z:0.81 [[ 9.99134673e-01 -3.86860377e-02 -1.52740238e-02 9.48328236e+01] [ 3.86871412e-02 9.99251347e-01 -2.23326073e-04 1.44030880e+00] [ 1.52712285e-02 -3.67775493e-04 9.99883320e-01 8.14157385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79925415399998 meters Centerline goodness [0,1] 0.9998242762377543 Centerline is valid? [True, True] Translation: X:94.86, Y:1.44, Z:0.81 [[ 9.99018078e-01 -4.13303202e-02 -1.59588158e-02 9.48639577e+01] [ 4.13318761e-02 9.99145446e-01 -2.32460750e-04 1.43827627e+00] [ 1.59547858e-02 -4.27375305e-04 9.99872623e-01 8.13604647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82925415399998 meters Centerline goodness [0,1] 0.9999561201430484 Centerline is valid? [True, True] Translation: X:94.90, Y:1.43, Z:0.81 [[ 9.98751273e-01 -4.68246724e-02 -1.74168037e-02 9.48951842e+01] [ 4.68273721e-02 9.98902965e-01 -2.53010082e-04 1.43439787e+00] [ 1.74095440e-02 -5.62889007e-04 9.99848284e-01 8.12451906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85925415399998 meters Centerline goodness [0,1] 0.9998029642927513 Centerline is valid? [True, True] Translation: X:94.93, Y:1.43, Z:0.81 [[ 9.98615651e-01 -4.92293227e-02 -1.85271504e-02 9.49277482e+01] [ 4.92328066e-02 9.98787294e-01 -2.68297391e-04 1.43437440e+00] [ 1.85178905e-02 -6.44217639e-04 9.99828322e-01 8.11823475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88925415399999 meters Centerline goodness [0,1] 0.9998024019145059 Centerline is valid? [True, True] Translation: X:94.96, Y:1.43, Z:0.81 [[ 9.98491348e-01 -5.13131925e-02 -1.95444388e-02 9.49587181e+01] [ 5.13174930e-02 9.98682350e-01 -2.81762977e-04 1.43203762e+00] [ 1.95331442e-02 -7.21633706e-04 9.99808950e-01 8.10761748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91925415399999 meters Centerline goodness [0,1] 0.9999342782658225 Centerline is valid? [True, True] Translation: X:94.99, Y:1.43, Z:0.81 [[ 9.98387821e-01 -5.29343092e-02 -2.04870335e-02 9.49894763e+01] [ 5.29394142e-02 9.98597683e-01 -2.93458763e-04 1.42990568e+00] [ 2.04738382e-02 -7.91585898e-04 9.99790076e-01 8.09568290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94925415399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:1.43, Z:0.81 [[ 9.98393218e-01 -5.26425605e-02 -2.09700413e-02 9.50213825e+01] [ 5.26478865e-02 9.98613094e-01 -2.98391726e-04 1.43015450e+00] [ 2.09566659e-02 -8.06116077e-04 9.99780060e-01 8.09496874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97925415399997 meters Centerline goodness [0,1] 0.9999561114768488 Centerline is valid? [True, True] Translation: X:95.05, Y:1.43, Z:0.81 [[ 9.98570844e-01 -4.94289551e-02 -2.03235575e-02 9.50525227e+01] [ 4.94333138e-02 9.98777385e-01 -2.88167305e-04 1.43497228e+00] [ 2.03129534e-02 -7.16905326e-04 9.99793414e-01 8.10488981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00925415399998 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:95.08, Y:1.44, Z:0.81 [[ 9.98716952e-01 -4.67614158e-02 -1.94375852e-02 9.50835573e+01] [ 4.67649112e-02 9.98905885e-01 -2.74920863e-04 1.43832354e+00] [ 1.94291739e-02 -6.34428820e-04 9.99811034e-01 8.11496601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:1.44, Z:0.81 [[ 9.98974245e-01 -4.16898506e-02 -1.76752430e-02 9.51132595e+01] [ 4.16919529e-02 9.99130481e-01 -2.49687182e-04 1.44349595e+00] [ 1.76702835e-02 -4.87484336e-04 9.99843750e-01 8.13545180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:1.45, Z:0.82 [[ 9.99092659e-01 -3.91482500e-02 -1.67711776e-02 9.51451115e+01] [ 3.91497940e-02 9.99233325e-01 -2.36367483e-04 1.44824275e+00] [ 1.67675730e-02 -4.20435132e-04 9.99859326e-01 8.15214046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09925415399998 meters Centerline goodness [0,1] 0.9998897464167585 Centerline is valid? [True, True] Translation: X:95.18, Y:1.45, Z:0.82 [[ 9.99194698e-01 -3.68838271e-02 -1.57967911e-02 9.51763159e+01] [ 3.68849299e-02 9.99319495e-01 -2.21626753e-04 1.44953458e+00] [ 1.57942157e-02 -3.61215256e-04 9.99875198e-01 8.15659155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12925415399998 meters Centerline goodness [0,1] 0.9998897464167585 Centerline is valid? [True, True] Translation: X:95.21, Y:1.45, Z:0.82 [[ 9.99197362e-01 -3.68115790e-02 -1.57968048e-02 9.52080190e+01] [ 3.68126883e-02 9.99322159e-01 -2.20645655e-04 1.44991793e+00] [ 1.57942194e-02 -3.61054296e-04 9.99875198e-01 8.15955999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15925415399998 meters Centerline goodness [0,1] 0.9995371696824102 Centerline is valid? [True, True] Translation: X:95.24, Y:1.45, Z:0.82 [[ 9.99363556e-01 -3.27328954e-02 -1.41788416e-02 9.52385139e+01] [ 3.27333886e-02 9.99464100e-01 -1.97352344e-04 1.45279952e+00] [ 1.41777031e-02 -2.66894791e-04 9.99899456e-01 8.16734162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18925415399998 meters Centerline goodness [0,1] 0.999603305785124 Centerline is valid? [True, True] Translation: X:95.27, Y:1.45, Z:0.82 [[ 9.99436644e-01 -3.05342075e-02 -1.39304390e-02 9.52708188e+01] [ 3.05344769e-02 9.99533695e-01 -1.93404690e-04 1.45436454e+00] [ 1.39298486e-02 -2.32062933e-04 9.99902948e-01 8.17120305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21925415399998 meters Centerline goodness [0,1] 0.9999116900320124 Centerline is valid? [True, True] Translation: X:95.30, Y:1.46, Z:0.82 [[ 9.99550674e-01 -2.63937734e-02 -1.42062812e-02 9.53028076e+01] [ 2.63936500e-02 9.99651608e-01 -1.96204235e-04 1.45749143e+00] [ 1.42065104e-02 -1.78839538e-04 9.99899066e-01 8.16412738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:1.46, Z:0.82 [[ 9.99602540e-01 -2.40747982e-02 -1.46685484e-02 9.53337140e+01] [ 2.40744315e-02 9.99710149e-01 -2.01607884e-04 1.45879990e+00] [ 1.46691503e-02 -1.51609209e-04 9.99892391e-01 8.16006676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27925415399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:1.46, Z:0.82 [[ 9.99679085e-01 -1.99764134e-02 -1.55778387e-02 9.53654970e+01] [ 1.99755158e-02 9.99800447e-01 -2.13231753e-04 1.46195686e+00] [ 1.55789897e-02 -9.80120386e-05 9.99878635e-01 8.15332815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30925415399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:1.46, Z:0.82 [[ 9.99710763e-01 -1.82787253e-02 -1.56294334e-02 9.53962026e+01] [ 1.82776223e-02 9.99832928e-01 -2.13423119e-04 1.46324327e+00] [ 1.56307232e-02 -7.23074910e-05 9.99877830e-01 8.15392961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.43, Y:1.46, Z:0.81 [[ 9.99738045e-01 -1.61544402e-02 -1.62134115e-02 9.54255747e+01] [ 1.61529719e-02 9.99869508e-01 -2.21523455e-04 1.46420275e+00] [ 1.62148744e-02 -4.04293552e-05 9.99868529e-01 8.14773857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.45, Y:1.47, Z:0.81 [[ 9.99778718e-01 -1.28668654e-02 -1.66420980e-02 9.54546776e+01] [ 1.28648296e-02 9.99917218e-01 -2.29382809e-04 1.46527908e+00] [ 1.66436718e-02 1.52342964e-05 9.99861484e-01 8.13972354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39925415399998 meters Centerline goodness [0,1] 0.9998233488639123 Centerline is valid? [True, True] Translation: X:95.48, Y:1.47, Z:0.81 [[ 9.99788411e-01 -1.18194409e-02 -1.68354706e-02 9.54829369e+01] [ 1.18171329e-02 9.99930147e-01 -2.36568318e-04 1.46583092e+00] [ 1.68370907e-02 3.75712703e-05 9.99858245e-01 8.13910320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42925415399998 meters Centerline goodness [0,1] 0.9998238506253303 Centerline is valid? [True, True] Translation: X:95.51, Y:1.47, Z:0.81 [[ 9.99799890e-01 -1.10220094e-02 -1.66941580e-02 9.55109309e+01] [ 1.10195489e-02 9.99939254e-01 -2.39370065e-04 1.46602064e+00] [ 1.66957823e-02 5.53600740e-05 9.99860614e-01 8.14007914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45925415399998 meters Centerline goodness [0,1] 0.9998017752130917 Centerline is valid? [True, True] Translation: X:95.54, Y:1.47, Z:0.81 [[ 9.99815912e-01 -1.06551627e-02 -1.59565090e-02 9.55390288e+01] [ 1.06527961e-02 9.99943230e-01 -2.33302680e-04 1.46519009e+00] [ 1.59580890e-02 6.32782946e-05 9.99872660e-01 8.14370376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48925415399998 meters Centerline goodness [0,1] 0.9997356245869135 Centerline is valid? [True, True] Translation: X:95.57, Y:1.46, Z:0.82 [[ 9.99822039e-01 -1.10440785e-02 -1.52944219e-02 9.55668589e+01] [ 1.10418836e-02 9.99939011e-01 -2.27948841e-04 1.46472594e+00] [ 1.52960066e-02 5.90290485e-05 9.99883008e-01 8.15059376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51925415399998 meters Centerline goodness [0,1] 0.9997579651469811 Centerline is valid? [True, True] Translation: X:95.59, Y:1.46, Z:0.82 [[ 9.99823037e-01 -1.25182406e-02 -1.40423979e-02 9.55946558e+01] [ 1.25164819e-02 9.99921643e-01 -2.13123746e-04 1.46236300e+00] [ 1.40439655e-02 3.73246126e-05 9.99901378e-01 8.15994799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54925415399998 meters Centerline goodness [0,1] 0.9996707638279192 Centerline is valid? [True, True] Translation: X:95.62, Y:1.46, Z:0.82 [[ 9.99813874e-01 -1.36893167e-02 -1.35948432e-02 9.56231269e+01] [ 1.36877267e-02 9.99906297e-01 -2.10002218e-04 1.46092226e+00] [ 1.35964441e-02 2.38806337e-05 9.99907564e-01 8.16600725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57925415399998 meters Centerline goodness [0,1] 0.9993422350851806 Centerline is valid? [True, True] Translation: X:95.65, Y:1.46, Z:0.82 [[ 9.99795933e-01 -1.50870112e-02 -1.34341092e-02 9.56514075e+01] [ 1.50855505e-02 9.99886185e-01 -2.10062031e-04 1.45945780e+00] [ 1.34357493e-02 7.35823188e-06 9.99909736e-01 8.16871084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60925415399998 meters Centerline goodness [0,1] 0.9995618455067257 Centerline is valid? [True, True] Translation: X:95.68, Y:1.46, Z:0.82 [[ 9.99745128e-01 -1.83224937e-02 -1.31895897e-02 9.56806453e+01] [ 1.83213590e-02 9.99832128e-01 -2.06865133e-04 1.45569105e+00] [ 1.31911658e-02 -3.48387990e-05 9.99912992e-01 8.17946586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63925415399999 meters Centerline goodness [0,1] 0.9995404612893343 Centerline is valid? [True, True] Translation: X:95.71, Y:1.45, Z:0.82 [[ 9.99709572e-01 -2.02200022e-02 -1.31119810e-02 9.57110610e+01] [ 2.02190396e-02 9.99795553e-01 -2.05978594e-04 1.45404844e+00] [ 1.31134652e-02 -5.91928917e-05 9.99914013e-01 8.18635823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66925415399999 meters Centerline goodness [0,1] 0.9993455925659316 Centerline is valid? [True, True] Translation: X:95.74, Y:1.45, Z:0.82 [[ 9.99590898e-01 -2.50746023e-02 -1.37586999e-02 9.57411296e+01] [ 2.50740034e-02 9.99685574e-01 -2.16059238e-04 1.44905848e+00] [ 1.37597914e-02 -1.29014839e-04 9.99905321e-01 8.18481332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69925415399999 meters Centerline goodness [0,1] 0.9995869206017914 Centerline is valid? [True, True] Translation: X:95.77, Y:1.45, Z:0.82 [[ 9.99520238e-01 -2.72394253e-02 -1.47413663e-02 9.57727297e+01] [ 2.72389800e-02 9.99628923e-01 -2.31022830e-04 1.44643221e+00] [ 1.47421890e-02 -1.70627787e-04 9.99891313e-01 8.18195343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72925415399997 meters Centerline goodness [0,1] 0.9993472868891693 Centerline is valid? [True, True] Translation: X:95.80, Y:1.44, Z:0.82 [[ 9.99436258e-01 -2.97521798e-02 -1.55555100e-02 9.58049581e+01] [ 2.97520035e-02 9.99557282e-01 -2.42807803e-04 1.44428247e+00] [ 1.55558474e-02 -2.20136667e-04 9.99878976e-01 8.17920536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75925415399998 meters Centerline goodness [0,1] 0.9994140497840664 Centerline is valid? [True, True] Translation: X:95.84, Y:1.44, Z:0.82 [[ 9.99272918e-01 -3.41827707e-02 -1.68870877e-02 9.58361540e+01] [ 3.41832143e-02 9.99415549e-01 -2.62457827e-04 1.43838095e+00] [ 1.68861895e-02 -3.14987940e-04 9.99857369e-01 8.16999307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78925415399998 meters Centerline goodness [0,1] 0.9992830606791371 Centerline is valid? [True, True] Translation: X:95.87, Y:1.44, Z:0.82 [[ 9.99200828e-01 -3.61112208e-02 -1.71372279e-02 9.58686668e+01] [ 3.61119795e-02 9.99347715e-01 -2.65282356e-04 1.43718226e+00] [ 1.71356292e-02 -3.53788872e-04 9.99853112e-01 8.17415479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81925415399998 meters Centerline goodness [0,1] 0.999456828748968 Centerline is valid? [True, True] Translation: X:95.90, Y:1.44, Z:0.82 [[ 9.99133276e-01 -3.76584537e-02 -1.77351912e-02 9.59004734e+01] [ 3.76595330e-02 9.99290591e-01 -2.73234963e-04 1.43576726e+00] [ 1.77328993e-02 -3.94900875e-04 9.99842682e-01 8.17975016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84925415399998 meters Centerline goodness [0,1] 0.9993492548968569 Centerline is valid? [True, True] Translation: X:95.93, Y:1.43, Z:0.82 [[ 9.99133833e-01 -3.75452904e-02 -1.79425490e-02 9.59313619e+01] [ 3.75463978e-02 9.99294848e-01 -2.75265723e-04 1.43424699e+00] [ 1.79402317e-02 -3.98650783e-04 9.99838982e-01 8.17828895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87925415399998 meters Centerline goodness [0,1] 0.999348463459659 Centerline is valid? [True, True] Translation: X:95.96, Y:1.44, Z:0.82 [[ 9.99135578e-01 -3.73595028e-02 -1.82308742e-02 9.59638073e+01] [ 3.73606364e-02 9.99301809e-01 -2.78520412e-04 1.43588607e+00] [ 1.82285510e-02 -4.02837410e-04 9.99833765e-01 8.18847927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90925415399998 meters Centerline goodness [0,1] 0.9992617843107454 Centerline is valid? [True, True] Translation: X:95.99, Y:1.44, Z:0.82 [[ 9.99213435e-01 -3.55421405e-02 -1.75860114e-02 9.59948769e+01] [ 3.55429335e-02 9.99368115e-01 -2.67559019e-04 1.43610494e+00] [ 1.75844086e-02 -3.57709866e-04 9.99845318e-01 8.19631030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93925415399998 meters Centerline goodness [0,1] 0.9992836831708958 Centerline is valid? [True, True] Translation: X:96.03, Y:1.44, Z:0.82 [[ 9.99272519e-01 -3.41742497e-02 -1.69278766e-02 9.60272126e+01] [ 3.41748060e-02 9.99415838e-01 -2.56493639e-04 1.43797735e+00] [ 1.69267534e-02 -3.22199853e-04 9.99856680e-01 8.21230372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96925415399998 meters Centerline goodness [0,1] 0.9992834187440285 Centerline is valid? [True, True] Translation: X:96.06, Y:1.44, Z:0.82 [[ 9.99362520e-01 -3.14422008e-02 -1.69098096e-02 9.60586101e+01] [ 3.14423837e-02 9.99505533e-01 -2.55110234e-04 1.43793055e+00] [ 1.69094694e-02 -2.76737114e-04 9.99856986e-01 8.21939599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99925415399998 meters Centerline goodness [0,1] 0.999435935262724 Centerline is valid? [True, True] Translation: X:96.09, Y:1.44, Z:0.82 [[ 9.99396202e-01 -3.01674413e-02 -1.72382366e-02 9.60897058e+01] [ 3.01674582e-02 9.99544825e-01 -2.59114278e-04 1.43808910e+00] [ 1.72382070e-02 -2.61075958e-04 9.99851377e-01 8.21921287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02925415399999 meters Centerline goodness [0,1] 0.9991316806321365 Centerline is valid? [True, True] Translation: X:96.12, Y:1.44, Z:0.82 [[ 9.99407973e-01 -2.93093006e-02 -1.80185308e-02 9.61214763e+01] [ 2.93091947e-02 9.99570357e-01 -2.70011703e-04 1.43885976e+00] [ 1.80187031e-02 -2.58256779e-04 9.99837617e-01 8.21863643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05925415399999 meters Centerline goodness [0,1] 0.9993698802772527 Centerline is valid? [True, True] Translation: X:96.15, Y:1.44, Z:0.82 [[ 9.99408889e-01 -2.79785717e-02 -1.99767961e-02 9.61525080e+01] [ 2.79781909e-02 9.99608489e-01 -2.98603996e-04 1.44024513e+00] [ 1.99773295e-02 -2.60487126e-04 9.99800399e-01 8.21273550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08925415399997 meters Centerline goodness [0,1] 0.9993482511405605 Centerline is valid? [True, True] Translation: X:96.18, Y:1.44, Z:0.82 [[ 9.99375863e-01 -2.82478453e-02 -2.12118713e-02 9.61817003e+01] [ 2.82474798e-02 9.99600910e-01 -3.16917131e-04 1.44003033e+00] [ 2.12123581e-02 -2.82462574e-04 9.99774953e-01 8.20784495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11925415399998 meters Centerline goodness [0,1] 0.9992178333985139 Centerline is valid? [True, True] Translation: X:96.21, Y:1.44, Z:0.82 [[ 9.99338879e-01 -2.86356421e-02 -2.24009887e-02 9.62114133e+01] [ 2.86353173e-02 9.99589869e-01 -3.35335187e-04 1.43987169e+00] [ 2.24014039e-02 -3.06345929e-04 9.99749010e-01 8.20339443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14925415399998 meters Centerline goodness [0,1] 0.9993495229835212 Centerline is valid? [True, True] Translation: X:96.24, Y:1.44, Z:0.82 [[ 9.99258843e-01 -2.96093444e-02 -2.45978097e-02 9.62404390e+01] [ 2.96092184e-02 9.99561483e-01 -3.69417771e-04 1.43862567e+00] [ 2.45979614e-02 -3.59177946e-04 9.99697360e-01 8.18905169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17925415399998 meters Centerline goodness [0,1] 0.9992418170396205 Centerline is valid? [True, True] Translation: X:96.27, Y:1.44, Z:0.82 [[ 9.99214699e-01 -3.04086939e-02 -2.54026742e-02 9.62694535e+01] [ 3.04087008e-02 9.99537474e-01 -3.86113723e-04 1.43938962e+00] [ 2.54026660e-02 -3.86651809e-04 9.99677225e-01 8.19850088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20925415399998 meters Centerline goodness [0,1] 0.9991767585952902 Centerline is valid? [True, True] Translation: X:96.30, Y:1.44, Z:0.82 [[ 9.99183032e-01 -3.09177894e-02 -2.60261134e-02 9.62974992e+01] [ 3.09178483e-02 9.99521849e-01 -4.00238323e-04 1.44003419e+00] [ 2.60260434e-02 -4.04760084e-04 9.99661183e-01 8.20502181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23925415399998 meters Centerline goodness [0,1] 0.999218716090108 Centerline is valid? [True, True] Translation: X:96.33, Y:1.44, Z:0.82 [[ 9.99161759e-01 -3.14541089e-02 -2.61995910e-02 9.63263396e+01] [ 3.14542097e-02 9.99505111e-01 -4.08371402e-04 1.44067732e+00] [ 2.61994700e-02 -4.16058339e-04 9.99656648e-01 8.21194793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26925415399998 meters Centerline goodness [0,1] 0.9993276217330007 Centerline is valid? [True, True] Translation: X:96.36, Y:1.44, Z:0.82 [[ 9.99144789e-01 -3.20993412e-02 -2.60638165e-02 9.63552933e+01] [ 3.20994867e-02 9.99484593e-01 -4.12914593e-04 1.44229356e+00] [ 2.60636374e-02 -4.24073669e-04 9.99660196e-01 8.23010064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29925415399998 meters Centerline goodness [0,1] 0.9992640851929612 Centerline is valid? [True, True] Translation: X:96.38, Y:1.44, Z:0.82 [[ 9.99104622e-01 -3.42300106e-02 -2.48648678e-02 9.63842895e+01] [ 3.42306441e-02 9.99413880e-01 -4.00282265e-04 1.44197992e+00] [ 2.48639957e-02 -4.51216580e-04 9.99690741e-01 8.24654541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32925415399998 meters Centerline goodness [0,1] 0.999308167942232 Centerline is valid? [True, True] Translation: X:96.41, Y:1.44, Z:0.82 [[ 9.99078562e-01 -3.55035398e-02 -2.41148262e-02 9.64139144e+01] [ 3.55044425e-02 9.99369442e-01 -3.90852687e-04 1.44030232e+00] [ 2.41134971e-02 -4.65690921e-04 9.99709119e-01 8.24437546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35925415399998 meters Centerline goodness [0,1] 0.9995460244714428 Centerline is valid? [True, True] Translation: X:96.44, Y:1.44, Z:0.83 [[ 9.98995915e-01 -3.84097816e-02 -2.30619057e-02 9.64440312e+01] [ 3.84113772e-02 9.99261941e-01 -3.73952516e-04 1.43877349e+00] [ 2.30592480e-02 -5.12262520e-04 9.99733969e-01 8.25935988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38925415399999 meters Centerline goodness [0,1] 0.9993093624552165 Centerline is valid? [True, True] Translation: X:96.48, Y:1.44, Z:0.83 [[ 9.98935591e-01 -3.99732980e-02 -2.30178355e-02 9.64754746e+01] [ 3.99753137e-02 9.99200598e-01 -3.72743701e-04 1.43846654e+00] [ 2.30143348e-02 -5.47798246e-04 9.99734985e-01 8.26711132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41925415399999 meters Centerline goodness [0,1] 0.9992886857931154 Centerline is valid? [True, True] Translation: X:96.51, Y:1.44, Z:0.83 [[ 9.98871493e-01 -4.17783079e-02 -2.25900972e-02 9.65071934e+01] [ 4.17807290e-02 9.99126737e-01 -3.64992853e-04 1.43920928e+00] [ 2.25856189e-02 -5.79249772e-04 9.99744745e-01 8.28103051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44925415399997 meters Centerline goodness [0,1] 0.9995262602553888 Centerline is valid? [True, True] Translation: X:96.54, Y:1.44, Z:0.83 [[ 9.98704192e-01 -4.56800942e-02 -2.24336013e-02 9.65378444e+01] [ 4.56834783e-02 9.98955899e-01 -3.61877640e-04 1.43522434e+00] [ 2.24267089e-02 -6.63436222e-04 9.99748270e-01 8.28290625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47925415399997 meters Centerline goodness [0,1] 0.9991835857772049 Centerline is valid? [True, True] Translation: X:96.57, Y:1.43, Z:0.83 [[ 9.98496534e-01 -5.00922137e-02 -2.22585102e-02 9.65686028e+01] [ 5.00966492e-02 9.98744310e-01 -3.58643485e-04 1.43405477e+00] [ 2.22485257e-02 -7.56972500e-04 9.99752184e-01 8.29613916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50925415399998 meters Centerline goodness [0,1] 0.9994414127959438 Centerline is valid? [True, True] Translation: X:96.60, Y:1.43, Z:0.83 [[ 9.98389480e-01 -5.21474054e-02 -2.23404075e-02 9.66004676e+01] [ 5.21524074e-02 9.98639073e-01 -3.59062844e-04 1.43280615e+00] [ 2.23287280e-02 -8.06621467e-04 9.99750357e-01 8.29598924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53925415399998 meters Centerline goodness [0,1] 0.9991419807374675 Centerline is valid? [True, True] Translation: X:96.63, Y:1.43, Z:0.83 [[ 9.98302425e-01 -5.36988986e-02 -2.25543148e-02 9.66315171e+01] [ 5.37044207e-02 9.98556811e-01 -3.61238618e-04 1.42930018e+00] [ 2.25411628e-02 -8.50641023e-04 9.99745554e-01 8.28635900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56925415399998 meters Centerline goodness [0,1] 0.9992496194498639 Centerline is valid? [True, True] Translation: X:96.66, Y:1.43, Z:0.83 [[ 9.98209046e-01 -5.51617909e-02 -2.31490171e-02 9.66629820e+01] [ 5.51680305e-02 9.98477016e-01 -3.69487680e-04 1.42763321e+00] [ 2.31341431e-02 -9.08259738e-04 9.99731957e-01 8.28343080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59925415399998 meters Centerline goodness [0,1] 0.9992071655095569 Centerline is valid? [True, True] Translation: X:96.69, Y:1.43, Z:0.83 [[ 9.98085478e-01 -5.70935350e-02 -2.37846094e-02 9.66947107e+01] [ 5.71007007e-02 9.98368352e-01 -3.78328617e-04 1.42702838e+00] [ 2.37674015e-02 -9.80513566e-04 9.99717035e-01 8.28072437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62925415399998 meters Centerline goodness [0,1] 0.9994857510177845 Centerline is valid? [True, True] Translation: X:96.73, Y:1.43, Z:0.83 [[ 9.98094558e-01 -5.68846871e-02 -2.39036798e-02 9.67272650e+01] [ 5.68919032e-02 9.98380272e-01 -3.78622117e-04 1.42950173e+00] [ 2.38865001e-02 -9.82025162e-04 9.99714195e-01 8.29181992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65925415399998 meters Centerline goodness [0,1] 0.9992066895368782 Centerline is valid? [True, True] Translation: X:96.76, Y:1.43, Z:0.83 [[ 9.98188998e-01 -5.51581833e-02 -2.40062369e-02 9.67589854e+01] [ 5.51650059e-02 9.98477180e-01 -3.78456960e-04 1.43047838e+00] [ 2.39905547e-02 -9.46532627e-04 9.99711737e-01 8.29288009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68925415399998 meters Centerline goodness [0,1] 0.9992491042886872 Centerline is valid? [True, True] Translation: X:96.79, Y:1.43, Z:0.83 [[ 9.98303662e-01 -5.30984307e-02 -2.38821061e-02 9.67903306e+01] [ 5.31046300e-02 9.98588883e-01 -3.75010868e-04 1.43110527e+00] [ 2.38683182e-02 -8.93875687e-04 9.99714711e-01 8.29379009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71925415399998 meters Centerline goodness [0,1] 0.9992499249924992 Centerline is valid? [True, True] Translation: X:96.82, Y:1.43, Z:0.83 [[ 9.98429739e-01 -5.06998459e-02 -2.38239738e-02 9.68218869e+01] [ 5.07053578e-02 9.98713586e-01 -3.73060708e-04 1.43303012e+00] [ 2.38122405e-02 -8.35528211e-04 9.99716099e-01 8.29354600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74925415399998 meters Centerline goodness [0,1] 0.9992271527017453 Centerline is valid? [True, True] Translation: X:96.85, Y:1.44, Z:0.83 [[ 9.98703253e-01 -4.51840719e-02 -2.34565849e-02 9.68530218e+01] [ 4.51879090e-02 9.98978437e-01 -3.66713173e-04 1.43960017e+00] [ 2.34491921e-02 -6.93716384e-04 9.99724789e-01 8.30851327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77925415399999 meters Centerline goodness [0,1] 0.9993341066288611 Centerline is valid? [True, True] Translation: X:96.88, Y:1.44, Z:0.83 [[ 9.98858668e-01 -4.20363180e-02 -2.26783926e-02 9.68839367e+01] [ 4.20391088e-02 9.99115903e-01 -3.53888456e-04 1.44186314e+00] [ 2.26732189e-02 -5.99894863e-04 9.99742750e-01 8.30945664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80925415399999 meters Centerline goodness [0,1] 0.99924784561494 Centerline is valid? [True, True] Translation: X:96.92, Y:1.45, Z:0.83 [[ 9.99116626e-01 -3.60979322e-02 -2.15152751e-02 9.69158338e+01] [ 3.60990886e-02 9.99348159e-01 -3.34761523e-04 1.44715521e+00] [ 2.15133348e-02 -4.42216020e-04 9.99768464e-01 8.31797588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83925415399997 meters Centerline goodness [0,1] 0.9995246326707001 Centerline is valid? [True, True] Translation: X:96.95, Y:1.45, Z:0.83 [[ 9.99229841e-01 -3.32742231e-02 -2.07978662e-02 9.69468646e+01] [ 3.32747110e-02 9.99446191e-01 -3.22696673e-04 1.45008944e+00] [ 2.07970857e-02 -3.69594842e-04 9.99783649e-01 8.32430804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86925415399998 meters Centerline goodness [0,1] 0.9994387600915253 Centerline is valid? [True, True] Translation: X:96.98, Y:1.45, Z:0.83 [[ 9.99326470e-01 -3.06494687e-02 -2.01795956e-02 9.69775592e+01] [ 3.06494036e-02 9.99530148e-01 -3.12574201e-04 1.45231446e+00] [ 2.01796944e-02 -3.06128897e-04 9.99796322e-01 8.32644325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89925415399998 meters Centerline goodness [0,1] 0.9996322972768369 Centerline is valid? [True, True] Translation: X:97.01, Y:1.46, Z:0.83 [[ 9.99491000e-01 -2.57696887e-02 -1.88059721e-02 9.70084022e+01] [ 2.57687711e-02 9.99667888e-01 -2.91152883e-04 1.45627702e+00] [ 1.88072293e-02 -1.93602105e-04 9.99823110e-01 8.33070903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92925415399998 meters Centerline goodness [0,1] 0.9992856369736984 Centerline is valid? [True, True] Translation: X:97.04, Y:1.46, Z:0.83 [[ 9.99564249e-01 -2.34120017e-02 -1.79774811e-02 9.70381814e+01] [ 2.34107831e-02 9.99725891e-01 -2.78261857e-04 1.45832919e+00] [ 1.79790680e-02 -1.42726305e-04 9.99838353e-01 8.33187817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95925415399998 meters Centerline goodness [0,1] 0.9994577241768253 Centerline is valid? [True, True] Translation: X:97.07, Y:1.46, Z:0.83 [[ 9.99663781e-01 -1.90916998e-02 -1.75451638e-02 9.70689139e+01] [ 1.90898751e-02 9.99817735e-01 -2.71487653e-04 1.46268601e+00] [ 1.75471491e-02 -6.35386124e-05 9.99846035e-01 8.33890172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98925415399998 meters Centerline goodness [0,1] 0.9994140243505436 Centerline is valid? [True, True] Translation: X:97.10, Y:1.47, Z:0.83 [[ 9.99708842e-01 -1.69387828e-02 -1.71845724e-02 9.70975663e+01] [ 1.69367070e-02 9.99856528e-01 -2.66333826e-04 1.46502555e+00] [ 1.71866183e-02 -2.47937863e-05 9.99852299e-01 8.33861652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01925415399998 meters Centerline goodness [0,1] 0.9994573828489571 Centerline is valid? [True, True] Translation: X:97.13, Y:1.47, Z:0.83 [[ 9.99738420e-01 -1.48418867e-02 -1.74014085e-02 9.71266674e+01] [ 1.48393966e-02 9.99889853e-01 -2.72218824e-04 1.46726395e+00] [ 1.74035320e-02 1.39212148e-05 9.99848547e-01 8.33858946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04925415399998 meters Centerline goodness [0,1] 0.9994573828489571 Centerline is valid? [True, True] Translation: X:97.15, Y:1.47, Z:0.83 [[ 9.99734138e-01 -1.51276679e-02 -1.74013350e-02 9.71540440e+01] [ 1.51251404e-02 9.99885570e-01 -2.76855273e-04 1.46777230e+00] [ 1.74035319e-02 1.35840333e-05 9.99848547e-01 8.34116307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07925415399998 meters Centerline goodness [0,1] 0.9995230248894285 Centerline is valid? [True, True] Translation: X:97.18, Y:1.47, Z:0.83 [[ 9.99784197e-01 -1.13340397e-02 -1.74097643e-02 9.71827485e+01] [ 1.13308523e-02 9.99935764e-01 -2.81714655e-04 1.47068521e+00] [ 1.74118389e-02 8.43863914e-05 9.99848399e-01 8.34347173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10925415399998 meters Centerline goodness [0,1] 0.999696160774356 Centerline is valid? [True, True] Translation: X:97.21, Y:1.47, Z:0.83 [[ 9.99812153e-01 -9.24407665e-03 -1.70354185e-02 9.72108324e+01] [ 9.24067005e-03 9.99957265e-01 -2.78677784e-04 1.47251454e+00] [ 1.70372666e-02 1.21206754e-04 9.99854848e-01 8.33823103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13925415399999 meters Centerline goodness [0,1] 0.9994580768230296 Centerline is valid? [True, True] Translation: X:97.24, Y:1.47, Z:0.83 [[ 9.99854841e-01 -6.25792386e-03 -1.58472253e-02 9.72396279e+01] [ 6.25456267e-03 9.99980406e-01 -2.61653055e-04 1.47345795e+00] [ 1.58485522e-02 1.62497610e-04 9.99874391e-01 8.34836296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16925415399999 meters Centerline goodness [0,1] 0.9995228386760943 Centerline is valid? [True, True] Translation: X:97.27, Y:1.47, Z:0.84 [[ 9.99874099e-01 -5.43193949e-03 -1.49090962e-02 9.72674569e+01] [ 5.42881518e-03 9.99985233e-01 -2.50021396e-04 1.47325880e+00] [ 1.49102342e-02 1.69051189e-04 9.99888822e-01 8.35466391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19925415399997 meters Centerline goodness [0,1] 0.9995012685126959 Centerline is valid? [True, True] Translation: X:97.29, Y:1.47, Z:0.84 [[ 9.99883207e-01 -5.00450863e-03 -1.44404740e-02 9.72946211e+01] [ 5.00147938e-03 9.99987462e-01 -2.45881379e-04 1.47429857e+00] [ 1.44415235e-02 1.73628929e-04 9.99895701e-01 8.35581984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22925415399997 meters Centerline goodness [0,1] 0.9994592723969373 Centerline is valid? [True, True] Translation: X:97.32, Y:1.47, Z:0.84 [[ 9.99889746e-01 -5.91610496e-03 -1.36196834e-02 9.73232366e+01] [ 5.91345538e-03 9.99982488e-01 -2.34804370e-04 1.47144385e+00] [ 1.36208340e-02 1.54239092e-04 9.99907220e-01 8.36268696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25925415399998 meters Centerline goodness [0,1] 0.9994386873920552 Centerline is valid? [True, True] Translation: X:97.35, Y:1.47, Z:0.84 [[ 9.99884644e-01 -7.12273238e-03 -1.34151508e-02 9.73512312e+01] [ 7.12023328e-03 9.99974623e-01 -2.34042096e-04 1.47016336e+00] [ 1.34164774e-02 1.38496094e-04 9.99909985e-01 8.36141787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28925415399998 meters Centerline goodness [0,1] 0.9995042034921319 Centerline is valid? [True, True] Translation: X:97.38, Y:1.47, Z:0.84 [[ 9.99850447e-01 -1.08394684e-02 -1.34755533e-02 9.73800549e+01] [ 1.08372685e-02 9.99941247e-01 -2.36261534e-04 1.46504195e+00] [ 1.34773225e-02 9.01880106e-05 9.99909173e-01 8.35630244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31925415399998 meters Centerline goodness [0,1] 0.9994617752804151 Centerline is valid? [True, True] Translation: X:97.41, Y:1.46, Z:0.84 [[ 9.99814782e-01 -1.35484149e-02 -1.36690543e-02 9.74084978e+01] [ 1.35463798e-02 9.99908214e-01 -2.41460135e-04 1.46259640e+00] [ 1.36710711e-02 5.62492107e-05 9.99906545e-01 8.35711273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34925415399998 meters Centerline goodness [0,1] 0.9992680458978278 Centerline is valid? [True, True] Translation: X:97.44, Y:1.46, Z:0.84 [[ 9.99769707e-01 -1.63277788e-02 -1.39260802e-02 9.74373608e+01] [ 1.63258856e-02 9.99866693e-01 -2.49627933e-04 1.46015727e+00] [ 1.39282996e-02 2.22148530e-05 9.99902996e-01 8.35709773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37925415399998 meters Centerline goodness [0,1] 0.9993138789425159 Centerline is valid? [True, True] Translation: X:97.47, Y:1.45, Z:0.84 [[ 9.99661513e-01 -2.22474472e-02 -1.34874517e-02 9.74672306e+01] [ 2.22461767e-02 9.99752493e-01 -2.44239194e-04 1.45372378e+00] [ 1.34895472e-02 -5.58877124e-05 9.99909010e-01 8.35497133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40925415399998 meters Centerline goodness [0,1] 0.9994000171423674 Centerline is valid? [True, True] Translation: X:97.50, Y:1.45, Z:0.84 [[ 9.99590326e-01 -2.53303727e-02 -1.33248444e-02 9.74984904e+01] [ 2.53294039e-02 9.99679130e-01 -2.41489730e-04 1.45028403e+00] [ 1.33266858e-02 -9.61195670e-05 9.99911191e-01 8.35547968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43925415399998 meters Centerline goodness [0,1] 0.9991454999893188 Centerline is valid? [True, True] Translation: X:97.53, Y:1.44, Z:0.84 [[ 9.99414500e-01 -3.16665717e-02 -1.29570232e-02 9.75299989e+01] [ 3.16661948e-02 9.99498473e-01 -2.34294187e-04 1.44258641e+00] [ 1.29579442e-02 -1.76142612e-04 9.99916027e-01 8.35592147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46925415399998 meters Centerline goodness [0,1] 0.9991251280300444 Centerline is valid? [True, True] Translation: X:97.56, Y:1.44, Z:0.84 [[ 9.99315628e-01 -3.46955059e-02 -1.28256946e-02 9.75617002e+01] [ 3.46953949e-02 9.99397907e-01 -2.31223900e-04 1.43923515e+00] [ 1.28259947e-02 -2.13926881e-04 9.99917721e-01 8.35546873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49925415399998 meters Centerline goodness [0,1] 0.9991268979322387 Centerline is valid? [True, True] Translation: X:97.59, Y:1.44, Z:0.84 [[ 9.99230773e-01 -3.72081973e-02 -1.23860046e-02 9.75935652e+01] [ 3.72082955e-02 9.99307507e-01 -2.22584889e-04 1.43632162e+00] [ 1.23857094e-02 -2.38448448e-04 9.99923266e-01 8.35392793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52925415399999 meters Centerline goodness [0,1] 0.9989587317778061 Centerline is valid? [True, True] Translation: X:97.62, Y:1.43, Z:0.84 [[ 9.99147764e-01 -3.92588249e-02 -1.27471562e-02 9.76247187e+01] [ 3.92591096e-02 9.99229038e-01 -2.27997262e-04 1.43294433e+00] [ 1.27462795e-02 -2.72639047e-04 9.99918726e-01 8.35301219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55925415399999 meters Centerline goodness [0,1] 0.9989591741365393 Centerline is valid? [True, True] Translation: X:97.66, Y:1.43, Z:0.84 [[ 9.99006873e-01 -4.26846265e-02 -1.27785002e-02 9.76572782e+01] [ 4.26852091e-02 9.99088545e-01 -2.27268437e-04 1.42870162e+00] [ 1.27765540e-02 -3.18410220e-04 9.99918326e-01 8.35381131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58925415399997 meters Centerline goodness [0,1] 0.9991739738213242 Centerline is valid? [True, True] Translation: X:97.69, Y:1.43, Z:0.84 [[ 9.98898840e-01 -4.53428643e-02 -1.20470798e-02 9.76897196e+01] [ 4.53435853e-02 9.98971428e-01 -2.13428449e-04 1.42523307e+00] [ 1.20443659e-02 -3.33064358e-04 9.99927409e-01 8.35793061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61925415399998 meters Centerline goodness [0,1] 0.9990252791727586 Centerline is valid? [True, True] Translation: X:97.72, Y:1.42, Z:0.84 [[ 9.98848193e-01 -4.65427103e-02 -1.16646527e-02 9.77214578e+01] [ 4.65434786e-02 9.98916244e-01 -2.05739096e-04 1.42389297e+00] [ 1.16615867e-02 -3.37411389e-04 9.99931944e-01 8.36071385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64925415399998 meters Centerline goodness [0,1] 0.9988980716253444 Centerline is valid? [True, True] Translation: X:97.75, Y:1.42, Z:0.84 [[ 9.98802900e-01 -4.76721223e-02 -1.09606213e-02 9.77533740e+01] [ 4.76728807e-02 9.98862983e-01 -1.92216857e-04 1.42230883e+00] [ 1.09573223e-02 -3.30537637e-04 9.99939912e-01 8.36534705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67925415399998 meters Centerline goodness [0,1] 0.99874920500318 Centerline is valid? [True, True] Translation: X:97.79, Y:1.42, Z:0.84 [[ 9.98683396e-01 -5.02443551e-02 -1.03430389e-02 9.77852655e+01] [ 5.02451754e-02 9.98736897e-01 -1.80695337e-04 1.41865120e+00] [ 1.03390534e-02 -3.39230368e-04 9.99946493e-01 8.36266245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70925415399998 meters Centerline goodness [0,1] 0.9987294326916969 Centerline is valid? [True, True] Translation: X:97.82, Y:1.42, Z:0.84 [[ 9.98613826e-01 -5.15340967e-02 -1.07081061e-02 9.78167687e+01] [ 5.15350574e-02 9.98671169e-01 -1.86375720e-04 1.41663880e+00] [ 1.07034815e-02 -3.65725492e-04 9.99942649e-01 8.36351559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73925415399998 meters Centerline goodness [0,1] 0.9984738649370469 Centerline is valid? [True, True] Translation: X:97.85, Y:1.41, Z:0.84 [[ 9.98467838e-01 -5.42762458e-02 -1.07733718e-02 9.78490150e+01] [ 5.42773919e-02 9.98525879e-01 -1.86186544e-04 1.41460131e+00] [ 1.07675960e-02 -3.98849246e-04 9.99941948e-01 8.35981849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76925415399998 meters Centerline goodness [0,1] 0.9988971601874828 Centerline is valid? [True, True] Translation: X:97.88, Y:1.41, Z:0.84 [[ 9.98420928e-01 -5.51210226e-02 -1.08316126e-02 9.78807932e+01] [ 5.51222402e-02 9.98479596e-01 -1.86323636e-04 1.41497566e+00] [ 1.08254145e-02 -4.11033332e-04 9.99941319e-01 8.36248329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79925415399998 meters Centerline goodness [0,1] 0.9988362990076805 Centerline is valid? [True, True] Translation: X:97.91, Y:1.41, Z:0.84 [[ 9.98358575e-01 -5.62322262e-02 -1.08670293e-02 9.79116987e+01] [ 5.62335322e-02 9.98417626e-01 -1.85579465e-04 1.41227213e+00] [ 1.08602691e-02 -4.25816591e-04 9.99940935e-01 8.35990816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82925415399998 meters Centerline goodness [0,1] 0.9986875251381274 Centerline is valid? [True, True] Translation: X:97.94, Y:1.41, Z:0.84 [[ 9.98247197e-01 -5.80787002e-02 -1.13753337e-02 9.79434026e+01] [ 5.80802581e-02 9.98311898e-01 -1.93623667e-04 1.41189584e+00] [ 1.13673763e-02 -4.67398032e-04 9.99935280e-01 8.35372175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85925415399998 meters Centerline goodness [0,1] 0.998709977583217 Centerline is valid? [True, True] Translation: X:97.98, Y:1.41, Z:0.84 [[ 9.98201256e-01 -5.87949252e-02 -1.17221630e-02 9.79754968e+01] [ 5.87966370e-02 9.98269961e-01 -1.98839218e-04 1.41436100e+00] [ 1.17135739e-02 -4.90742203e-04 9.99931273e-01 8.35494776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88925415399999 meters Centerline goodness [0,1] 0.9984528981667903 Centerline is valid? [True, True] Translation: X:98.01, Y:1.41, Z:0.84 [[ 9.98107962e-01 -6.02506812e-02 -1.22617831e-02 9.80068341e+01] [ 6.02526746e-02 9.98183136e-01 -2.07114469e-04 1.41105331e+00] [ 1.22519839e-02 -5.32082624e-04 9.99924800e-01 8.35124979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91925415399999 meters Centerline goodness [0,1] 0.9988134587676922 Centerline is valid? [True, True] Translation: X:98.04, Y:1.41, Z:0.84 [[ 9.98079230e-01 -6.06607946e-02 -1.25745114e-02 9.80389108e+01] [ 6.06629331e-02 9.98158286e-01 -2.11637802e-04 1.41406569e+00] [ 1.25641908e-02 -5.51575447e-04 9.99920915e-01 8.35214272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94925415399997 meters Centerline goodness [0,1] 0.9985578554462164 Centerline is valid? [True, True] Translation: X:98.07, Y:1.41, Z:0.84 [[ 9.98066953e-01 -6.08303560e-02 -1.27289179e-02 9.80698484e+01] [ 6.08325721e-02 9.98147961e-01 -2.13367260e-04 1.41196547e+00] [ 1.27183227e-02 -5.61378006e-04 9.99918961e-01 8.35041981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97925415399997 meters Centerline goodness [0,1] 0.9986416215642576 Centerline is valid? [True, True] Translation: X:98.10, Y:1.42, Z:0.84 [[ 9.98093947e-01 -6.01532446e-02 -1.37862326e-02 9.81015364e+01] [ 6.01557917e-02 9.98188974e-01 -2.30226194e-04 1.41566249e+00] [ 1.37751143e-02 -5.99534368e-04 9.99904939e-01 8.35059212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00925415399998 meters Centerline goodness [0,1] 0.998704085317924 Centerline is valid? [True, True] Translation: X:98.13, Y:1.42, Z:0.84 [[ 9.98132115e-01 -5.95551328e-02 -1.36186343e-02 9.81339125e+01] [ 5.95575760e-02 9.98224846e-01 -2.26454528e-04 1.41900639e+00] [ 1.36079457e-02 -5.85061311e-04 9.99907236e-01 8.35621379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03925415399998 meters Centerline goodness [0,1] 0.9987050481891904 Centerline is valid? [True, True] Translation: X:98.17, Y:1.42, Z:0.84 [[ 9.98197688e-01 -5.84239531e-02 -1.37119375e-02 9.81654669e+01] [ 5.84263360e-02 9.98291697e-01 -2.27078712e-04 1.41916856e+00] [ 1.37017802e-02 -5.74468822e-04 9.99905961e-01 8.36090577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06925415399998 meters Centerline goodness [0,1] 0.9987868985038415 Centerline is valid? [True, True] Translation: X:98.20, Y:1.42, Z:0.84 [[ 9.98351180e-01 -5.59938461e-02 -1.26336902e-02 9.81964923e+01] [ 5.59956821e-02 9.98430989e-01 -2.08635387e-04 1.41754912e+00] [ 1.26255501e-02 -4.99140713e-04 9.99920170e-01 8.36776206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09925415399998 meters Centerline goodness [0,1] 0.998682056841613 Centerline is valid? [True, True] Translation: X:98.23, Y:1.43, Z:0.84 [[ 9.98453313e-01 -5.43520729e-02 -1.16975620e-02 9.82285845e+01] [ 5.43535400e-02 9.98521735e-01 -1.92693629e-04 1.42688606e+00] [ 1.16907432e-02 -4.43408313e-04 9.99931563e-01 8.38301001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12925415399998 meters Centerline goodness [0,1] 0.9990451333630403 Centerline is valid? [True, True] Translation: X:98.26, Y:1.43, Z:0.84 [[ 9.98652611e-01 -5.06674063e-02 -1.12150066e-02 9.82586286e+01] [ 5.06685306e-02 9.98715508e-01 -1.84044445e-04 1.42862038e+00] [ 1.12099261e-02 -3.84451441e-04 9.99937093e-01 8.39482522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15925415399998 meters Centerline goodness [0,1] 0.9987246524677975 Centerline is valid? [True, True] Translation: X:98.29, Y:1.43, Z:0.84 [[ 9.98771714e-01 -4.83880384e-02 -1.06611619e-02 9.82905050e+01] [ 4.83889273e-02 9.98828554e-01 -1.74698220e-04 1.43103856e+00] [ 1.06571262e-02 -3.41398549e-04 9.99943153e-01 8.39816771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18925415399998 meters Centerline goodness [0,1] 0.9986378051635698 Centerline is valid? [True, True] Translation: X:98.32, Y:1.44, Z:0.84 [[ 9.98997231e-01 -4.35398910e-02 -1.04312479e-02 9.83219184e+01] [ 4.35404851e-02 9.99051649e-01 -1.70243859e-04 1.43808900e+00] [ 1.04287679e-02 -2.84108452e-04 9.99945579e-01 8.40637707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21925415399998 meters Centerline goodness [0,1] 0.9989770475033566 Centerline is valid? [True, True] Translation: X:98.35, Y:1.44, Z:0.84 [[ 9.99114190e-01 -4.07281668e-02 -1.05854765e-02 9.83546629e+01] [ 4.07286257e-02 9.99170230e-01 -1.72300556e-04 1.44122611e+00] [ 1.05837105e-02 -2.58983982e-04 9.99943957e-01 8.41156930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24925415399998 meters Centerline goodness [0,1] 0.9989763494060694 Centerline is valid? [True, True] Translation: X:98.39, Y:1.44, Z:0.84 [[ 9.99211425e-01 -3.81208258e-02 -1.11054615e-02 9.83865710e+01] [ 3.81211814e-02 9.99273107e-01 -1.79735143e-04 1.44427789e+00] [ 1.11042407e-02 -2.43759906e-04 9.99938316e-01 8.41357799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27925415399999 meters Centerline goodness [0,1] 0.9987839740581133 Centerline is valid? [True, True] Translation: X:98.42, Y:1.45, Z:0.84 [[ 9.99385921e-01 -3.28744728e-02 -1.21264454e-02 9.84169013e+01] [ 3.28745204e-02 9.99459468e-01 -1.95454585e-04 1.44856985e+00] [ 1.21263161e-02 -2.03316518e-04 9.99926453e-01 8.40947660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30925415399999 meters Centerline goodness [0,1] 0.9989531927620756 Centerline is valid? [True, True] Translation: X:98.45, Y:1.45, Z:0.84 [[ 9.99458968e-01 -3.03564144e-02 -1.26593391e-02 9.84494452e+01] [ 3.03562697e-02 9.99539122e-01 -2.03626012e-04 1.45078297e+00] [ 1.26596860e-02 -1.80774467e-04 9.99919847e-01 8.40724660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33925415399997 meters Centerline goodness [0,1] 0.9990174509259457 Centerline is valid? [True, True] Translation: X:98.48, Y:1.45, Z:0.84 [[ 9.99526437e-01 -2.80813844e-02 -1.25832523e-02 9.84813333e+01] [ 2.80810727e-02 9.99605629e-01 -2.01491766e-04 1.45281485e+00] [ 1.25839480e-02 -1.51954876e-04 9.99920807e-01 8.40783703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36925415399998 meters Centerline goodness [0,1] 0.9992069955848943 Centerline is valid? [True, True] Translation: X:98.51, Y:1.46, Z:0.84 [[ 9.99617267e-01 -2.43854545e-02 -1.30640619e-02 9.85127612e+01] [ 2.43848138e-02 9.99702625e-01 -2.08350453e-04 1.45596782e+00] [ 1.30652577e-02 -1.10294008e-04 9.99914640e-01 8.41038714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39925415399998 meters Centerline goodness [0,1] 0.9990356591805246 Centerline is valid? [True, True] Translation: X:98.54, Y:1.46, Z:0.84 [[ 9.99659831e-01 -2.25503438e-02 -1.31035920e-02 9.85441348e+01] [ 2.25495480e-02 9.99745705e-01 -2.08496113e-04 1.45775391e+00] [ 1.31049615e-02 -8.70548868e-05 9.99914123e-01 8.41314437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42925415399998 meters Centerline goodness [0,1] 0.9990171360198282 Centerline is valid? [True, True] Translation: X:98.57, Y:1.46, Z:0.84 [[ 9.99708119e-01 -2.01346736e-02 -1.33518577e-02 9.85743818e+01] [ 2.01336376e-02 9.99797275e-01 -2.12013611e-04 1.45956163e+00] [ 1.33534197e-02 -5.68697359e-05 9.99910837e-01 8.41308532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45925415399998 meters Centerline goodness [0,1] 0.9989732839939253 Centerline is valid? [True, True] Translation: X:98.60, Y:1.46, Z:0.84 [[ 9.99725062e-01 -1.91284646e-02 -1.35610889e-02 9.86047705e+01] [ 1.91273068e-02 9.99817033e-01 -2.15082356e-04 1.46032994e+00] [ 1.35627218e-02 -4.43638858e-05 9.99908021e-01 8.41891743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48925415399998 meters Centerline goodness [0,1] 0.9989944157983697 Centerline is valid? [True, True] Translation: X:98.63, Y:1.46, Z:0.84 [[ 9.99735525e-01 -1.86696000e-02 -1.34285412e-02 9.86344974e+01] [ 1.86684246e-02 9.99825707e-01 -2.12884187e-04 1.46087586e+00] [ 1.34301752e-02 -3.78618250e-05 9.99909810e-01 8.42068849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51925415399998 meters Centerline goodness [0,1] 0.9991245302357362 Centerline is valid? [True, True] Translation: X:98.66, Y:1.46, Z:0.84 [[ 9.99770016e-01 -1.72629146e-02 -1.27242405e-02 9.86648396e+01] [ 1.72617433e-02 9.99850985e-01 -2.01878890e-04 1.46108681e+00] [ 1.27258294e-02 -1.78101123e-05 9.99919023e-01 8.42020171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54925415399998 meters Centerline goodness [0,1] 0.998996069719754 Centerline is valid? [True, True] Translation: X:98.69, Y:1.46, Z:0.84 [[ 9.99759484e-01 -1.78622286e-02 -1.27245758e-02 9.86939907e+01] [ 1.78611042e-02 9.99840457e-01 -2.02006584e-04 1.46105810e+00] [ 1.27261539e-02 -2.53169764e-05 9.99919019e-01 8.43406148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57925415399998 meters Centerline goodness [0,1] 0.9988891974451541 Centerline is valid? [True, True] Translation: X:98.72, Y:1.46, Z:0.84 [[ 9.99754652e-01 -1.82508348e-02 -1.25516208e-02 9.87236206e+01] [ 1.82497665e-02 9.99833439e-01 -1.99655135e-04 1.46048804e+00] [ 1.25531740e-02 -2.94579985e-05 9.99921205e-01 8.44106022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60925415399998 meters Centerline goodness [0,1] 0.9990195033571353 Centerline is valid? [True, True] Translation: X:98.75, Y:1.46, Z:0.84 [[ 9.99723020e-01 -2.01558712e-02 -1.21500926e-02 9.87540572e+01] [ 2.01550089e-02 9.99796848e-01 -1.93431881e-04 1.45806930e+00] [ 1.21515231e-02 -5.15069192e-05 9.99926166e-01 8.44559826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63925415399999 meters Centerline goodness [0,1] 0.9988066317180241 Centerline is valid? [True, True] Translation: X:98.78, Y:1.46, Z:0.84 [[ 9.99685379e-01 -2.17570380e-02 -1.24809833e-02 9.87843086e+01] [ 2.17562527e-02 9.99763285e-01 -1.98699727e-04 1.45652453e+00] [ 1.24823520e-02 -7.29022153e-05 9.99922090e-01 8.44694408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66925415399999 meters Centerline goodness [0,1] 0.9990437739056524 Centerline is valid? [True, True] Translation: X:98.81, Y:1.45, Z:0.84 [[ 9.99572432e-01 -2.61761809e-02 -1.30292078e-02 9.88145695e+01] [ 2.61757014e-02 9.99657336e-01 -2.07360209e-04 1.45107664e+00] [ 1.30301710e-02 -1.33777104e-04 9.99915095e-01 8.44103035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69925415399997 meters Centerline goodness [0,1] 0.998937074829932 Centerline is valid? [True, True] Translation: X:98.85, Y:1.45, Z:0.84 [[ 9.99492505e-01 -2.87509647e-02 -1.37154583e-02 9.88467502e+01] [ 2.87506827e-02 9.99586590e-01 -2.17779872e-04 1.44905298e+00] [ 1.37160496e-02 -1.76659439e-04 9.99905915e-01 8.44232427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72925415399997 meters Centerline goodness [0,1] 0.9989380230236609 Centerline is valid? [True, True] Translation: X:98.88, Y:1.44, Z:0.84 [[ 9.99306694e-01 -3.43608580e-02 -1.43339518e-02 9.88770554e+01] [ 3.43611384e-02 9.99409456e-01 -2.26788014e-04 1.44345941e+00] [ 1.43332796e-02 -2.65900120e-04 9.99897238e-01 8.43463426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75925415399998 meters Centerline goodness [0,1] 0.9988587852402891 Centerline is valid? [True, True] Translation: X:98.91, Y:1.44, Z:0.84 [[ 9.99208167e-01 -3.70311523e-02 -1.45510174e-02 9.89079325e+01] [ 3.70317308e-02 9.99314064e-01 -2.29767505e-04 1.44078833e+00] [ 1.45495449e-02 -3.09263793e-04 9.99894102e-01 8.43172030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78925415399998 meters Centerline goodness [0,1] 0.9987261416955054 Centerline is valid? [True, True] Translation: X:98.94, Y:1.44, Z:0.84 [[ 9.99112250e-01 -3.93479566e-02 -1.50482504e-02 9.89398375e+01] [ 3.93488522e-02 9.99225506e-01 -2.36680709e-04 1.43887478e+00] [ 1.50459085e-02 -3.55660786e-04 9.99886741e-01 8.43135764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81925415399998 meters Centerline goodness [0,1] 0.9986636404132109 Centerline is valid? [True, True] Translation: X:98.97, Y:1.43, Z:0.84 [[ 9.98949675e-01 -4.34378277e-02 -1.45843342e-02 9.89717501e+01] [ 4.34391213e-02 9.99056050e-01 -2.28221790e-04 1.43454700e+00] [ 1.45804808e-02 -4.05548580e-04 9.99893617e-01 8.43487340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84925415399998 meters Centerline goodness [0,1] 0.9987889346874602 Centerline is valid? [True, True] Translation: X:99.00, Y:1.44, Z:0.84 [[ 9.98883961e-01 -4.50449551e-02 -1.42050764e-02 9.90035438e+01] [ 4.50463622e-02 9.98984873e-01 -2.21045473e-04 1.43501748e+00] [ 1.42006134e-02 -4.19088238e-04 9.99899078e-01 8.44118485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87925415399998 meters Centerline goodness [0,1] 0.9987081745023295 Centerline is valid? [True, True] Translation: X:99.03, Y:1.43, Z:0.84 [[ 9.98828951e-01 -4.63396179e-02 -1.39055942e-02 9.90349119e+01] [ 4.63411047e-02 9.98925651e-01 -2.15445512e-04 1.43039664e+00] [ 1.39006384e-02 -4.29207382e-04 9.99903289e-01 8.43869316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90925415399998 meters Centerline goodness [0,1] 0.9987278972140949 Centerline is valid? [True, True] Translation: X:99.07, Y:1.43, Z:0.84 [[ 9.98722687e-01 -4.87042595e-02 -1.34495277e-02 9.90665562e+01] [ 4.87058743e-02 9.98813143e-01 -2.07654772e-04 1.42908028e+00] [ 1.34436787e-02 -4.47681474e-04 9.99909529e-01 8.44440772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93925415399998 meters Centerline goodness [0,1] 0.9987278972140949 Centerline is valid? [True, True] Translation: X:99.10, Y:1.43, Z:0.84 [[ 9.98726165e-01 -4.86328747e-02 -1.34495399e-02 9.90982615e+01] [ 4.86344937e-02 9.98816621e-01 -2.06860374e-04 1.42950620e+00] [ 1.34436842e-02 -4.47514697e-04 9.99909529e-01 8.44737686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96925415399998 meters Centerline goodness [0,1] 0.9987925007944074 Centerline is valid? [True, True] Translation: X:99.13, Y:1.43, Z:0.85 [[ 9.98694148e-01 -4.93965196e-02 -1.30377630e-02 9.91302457e+01] [ 4.93981180e-02 9.98779148e-01 -1.99608783e-04 1.43074716e+00] [ 1.30317058e-02 -4.44692832e-04 9.99914985e-01 8.45200471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99925415399998 meters Centerline goodness [0,1] 0.9986001230194922 Centerline is valid? [True, True] Translation: X:99.16, Y:1.43, Z:0.85 [[ 9.98633009e-01 -5.05755010e-02 -1.31996764e-02 9.91625436e+01] [ 5.05772550e-02 9.98720131e-01 -2.01112412e-04 1.43036563e+00] [ 1.31929539e-02 -4.66765904e-04 9.99912860e-01 8.45147603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02925415399999 meters Centerline goodness [0,1] 0.9987075723547608 Centerline is valid? [True, True] Translation: X:99.19, Y:1.43, Z:0.84 [[ 9.98610698e-01 -5.09863505e-02 -1.33066028e-02 9.91935500e+01] [ 5.09881846e-02 9.98699236e-01 -2.01606957e-04 1.42641346e+00] [ 1.32995733e-02 -4.77152656e-04 9.99911443e-01 8.44561152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05925415399999 meters Centerline goodness [0,1] 0.9985789429031985 Centerline is valid? [True, True] Translation: X:99.23, Y:1.43, Z:0.84 [[ 9.98566658e-01 -5.18289737e-02 -1.33561879e-02 9.92251862e+01] [ 5.18309138e-02 9.98655855e-01 -2.01079521e-04 1.42975842e+00] [ 1.33486569e-02 -4.91472117e-04 9.99910782e-01 8.44780744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08925415399997 meters Centerline goodness [0,1] 0.9986208067219758 Centerline is valid? [True, True] Translation: X:99.26, Y:1.43, Z:0.84 [[ 9.98497018e-01 -5.30348004e-02 -1.38207831e-02 9.92570347e+01] [ 5.30370051e-02 9.98592526e-01 -2.07215816e-04 1.43117560e+00] [ 1.38123203e-02 -5.26108568e-04 9.99904467e-01 8.43844667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11925415399998 meters Centerline goodness [0,1] 0.9987051856254378 Centerline is valid? [True, True] Translation: X:99.29, Y:1.43, Z:0.84 [[ 9.98419232e-01 -5.44373734e-02 -1.39860674e-02 9.92894097e+01] [ 5.44397831e-02 9.98517034e-01 -2.08649111e-04 1.43083691e+00] [ 1.39766849e-02 -5.53079192e-04 9.99902168e-01 8.44657983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14925415399998 meters Centerline goodness [0,1] 0.9985574577313902 Centerline is valid? [True, True] Translation: X:99.32, Y:1.43, Z:0.84 [[ 9.98273249e-01 -5.67761906e-02 -1.50660188e-02 9.93202367e+01] [ 5.67792672e-02 9.98386731e-01 -2.23806643e-04 1.42905644e+00] [ 1.50544202e-02 -6.32017322e-04 9.99886476e-01 8.43869575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17925415399998 meters Centerline goodness [0,1] 0.9985138004246285 Centerline is valid? [True, True] Translation: X:99.35, Y:1.43, Z:0.84 [[ 9.98203424e-01 -5.78773753e-02 -1.54962518e-02 9.93524135e+01] [ 5.78807750e-02 9.98323476e-01 -2.29390215e-04 1.43240361e+00] [ 1.54835485e-02 -6.67956968e-04 9.99879900e-01 8.44336623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20925415399998 meters Centerline goodness [0,1] 0.9986623351805848 Centerline is valid? [True, True] Translation: X:99.38, Y:1.43, Z:0.84 [[ 9.98149939e-01 -5.87300022e-02 -1.57316648e-02 9.93837524e+01] [ 5.87336283e-02 9.98273663e-01 -2.31820981e-04 1.43080491e+00] [ 1.57181215e-02 -6.92585655e-04 9.99876223e-01 8.44124496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23925415399998 meters Centerline goodness [0,1] 0.9989171744623028 Centerline is valid? [True, True] Translation: X:99.42, Y:1.44, Z:0.85 [[ 9.98069993e-01 -5.99864767e-02 -1.60596108e-02 9.94161690e+01] [ 5.99904344e-02 9.98198924e-01 -2.35627389e-04 1.43585307e+00] [ 1.60448207e-02 -7.28250402e-04 9.99871008e-01 8.45457305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26925415399998 meters Centerline goodness [0,1] 0.9987682636765206 Centerline is valid? [True, True] Translation: X:99.45, Y:1.44, Z:0.85 [[ 9.98082539e-01 -5.99070924e-02 -1.55687390e-02 9.94484699e+01] [ 5.99108217e-02 9.98203708e-01 -2.27171408e-04 1.43697259e+00] [ 1.55543822e-02 -7.06000131e-04 9.99878774e-01 8.45310707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29925415399998 meters Centerline goodness [0,1] 0.9986186377643184 Centerline is valid? [True, True] Translation: X:99.48, Y:1.44, Z:0.85 [[ 9.98111609e-01 -5.96021503e-02 -1.48593438e-02 9.94809632e+01] [ 5.96055320e-02 9.98221986e-01 -2.15577909e-04 1.44238233e+00] [ 1.48457726e-02 -6.70528281e-04 9.99889571e-01 8.46900988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32925415399998 meters Centerline goodness [0,1] 0.9987046081970694 Centerline is valid? [True, True] Translation: X:99.51, Y:1.44, Z:0.85 [[ 9.98131675e-01 -5.93528443e-02 -1.45051264e-02 9.95120104e+01] [ 5.93560545e-02 9.98236853e-01 -2.09468330e-04 1.44314115e+00] [ 1.44919843e-02 -6.51890097e-04 9.99894773e-01 8.47509221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35925415399998 meters Centerline goodness [0,1] 0.9987861751740881 Centerline is valid? [True, True] Translation: X:99.54, Y:1.44, Z:0.85 [[ 9.98178584e-01 -5.86534429e-02 -1.41169398e-02 9.95434264e+01] [ 5.86564246e-02 9.98278209e-01 -2.03094048e-04 1.44465260e+00] [ 1.41045455e-02 -6.25325086e-04 9.99900330e-01 8.47512657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38925415399999 meters Centerline goodness [0,1] 0.99880741955406 Centerline is valid? [True, True] Translation: X:99.58, Y:1.45, Z:0.85 [[ 9.98197216e-01 -5.83347130e-02 -1.41201862e-02 9.95757952e+01] [ 5.83376764e-02 9.98296887e-01 -2.02277094e-04 1.44957901e+00] [ 1.41079377e-02 -6.21826419e-04 9.99900285e-01 8.47983897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41925415399999 meters Centerline goodness [0,1] 0.9986153125133143 Centerline is valid? [True, True] Translation: X:99.61, Y:1.45, Z:0.85 [[ 9.98210841e-01 -5.81147660e-02 -1.40638292e-02 9.96075217e+01] [ 5.81177058e-02 9.98309718e-01 -1.99924203e-04 1.45136366e+00] [ 1.40516759e-02 -6.17790980e-04 9.99901079e-01 8.48062985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44925415399997 meters Centerline goodness [0,1] 0.9989976754601096 Centerline is valid? [True, True] Translation: X:99.64, Y:1.45, Z:0.85 [[ 9.98159121e-01 -5.88229453e-02 -1.47726329e-02 9.96400213e+01] [ 5.88262986e-02 9.98268212e-01 -2.07810692e-04 1.45448684e+00] [ 1.47592739e-02 -6.61591176e-04 9.99890857e-01 8.48155422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47925415399997 meters Centerline goodness [0,1] 0.9989319206203405 Centerline is valid? [True, True] Translation: X:99.67, Y:1.46, Z:0.85 [[ 9.98107252e-01 -5.95217702e-02 -1.54619799e-02 9.96718471e+01] [ 5.95255454e-02 9.98226759e-01 -2.16357210e-04 1.45575477e+00] [ 1.54474400e-02 -7.04435084e-04 9.99880433e-01 8.48429209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50925415399998 meters Centerline goodness [0,1] 0.999015811206915 Centerline is valid? [True, True] Translation: X:99.70, Y:1.46, Z:0.85 [[ 9.97956142e-01 -6.19132966e-02 -1.58203445e-02 9.97037391e+01] [ 6.19175650e-02 9.98081242e-01 -2.20337652e-04 1.45772991e+00] [ 1.58036309e-02 -7.59669896e-04 9.99874826e-01 8.48314774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53925415399998 meters Centerline goodness [0,1] 0.9989289233537552 Centerline is valid? [True, True] Translation: X:99.74, Y:1.46, Z:0.85 [[ 9.97896462e-01 -6.27189409e-02 -1.64007777e-02 9.97354362e+01] [ 6.27236514e-02 9.98030907e-01 -2.27527961e-04 1.45854713e+00] [ 1.63827534e-02 -8.01667316e-04 9.99865472e-01 8.47265835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56925415399998 meters Centerline goodness [0,1] 0.9989300464359847 Centerline is valid? [True, True] Translation: X:99.77, Y:1.46, Z:0.85 [[ 9.97791651e-01 -6.43675303e-02 -1.63902891e-02 9.97661825e+01] [ 6.43724791e-02 9.97925916e-01 -2.26010125e-04 1.45823516e+00] [ 1.63708420e-02 -8.29572528e-04 9.99865645e-01 8.48738822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59925415399998 meters Centerline goodness [0,1] 0.9990994661120521 Centerline is valid? [True, True] Translation: X:99.80, Y:1.46, Z:0.85 [[ 9.97632191e-01 -6.68424950e-02 -1.61892722e-02 9.97977651e+01] [ 6.68476704e-02 9.97763168e-01 -2.21853004e-04 1.46008981e+00] [ 1.61678887e-02 -8.60887432e-04 9.99868921e-01 8.49619690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62925415399998 meters Centerline goodness [0,1] 0.9991434139238067 Centerline is valid? [True, True] Translation: X:99.83, Y:1.46, Z:0.85 [[ 9.97603431e-01 -6.73405383e-02 -1.58948839e-02 9.98300944e+01] [ 6.73456026e-02 9.97729684e-01 -2.17038000e-04 1.46128644e+00] [ 1.58734130e-02 -8.53932684e-04 9.99873645e-01 8.50142832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65925415399998 meters Centerline goodness [0,1] 0.9990761628531528 Centerline is valid? [True, True] Translation: X:99.86, Y:1.46, Z:0.85 [[ 9.97571816e-01 -6.77412965e-02 -1.61737058e-02 9.98618788e+01] [ 6.77466112e-02 9.97702535e-01 -2.19698809e-04 1.46495655e+00] [ 1.61514299e-02 -8.76548417e-04 9.99869173e-01 8.50870006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68925415399998 meters Centerline goodness [0,1] 0.9990973759429198 Centerline is valid? [True, True] Translation: X:99.89, Y:1.47, Z:0.85 [[ 9.97592506e-01 -6.74394680e-02 -1.61588923e-02 9.98927544e+01] [ 6.74447498e-02 9.97722987e-01 -2.18486681e-04 1.46595237e+00] [ 1.61368330e-02 -8.71871775e-04 9.99869413e-01 8.51306995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71925415399998 meters Centerline goodness [0,1] 0.9989876362383148 Centerline is valid? [True, True] Translation: X:99.92, Y:1.47, Z:0.85 [[ 9.97636870e-01 -6.67479339e-02 -1.62907771e-02 9.99235996e+01] [ 6.67532241e-02 9.97769492e-01 -2.19420570e-04 1.46769939e+00] [ 1.62690863e-02 -8.68559847e-04 9.99867272e-01 8.51656229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74925415399998 meters Centerline goodness [0,1] 0.9991836910055638 Centerline is valid? [True, True] Translation: X:99.96, Y:1.47, Z:0.85 [[ 9.97690545e-01 -6.59267131e-02 -1.63476560e-02 9.99555924e+01] [ 6.59319461e-02 9.97824098e-01 -2.19223100e-04 1.47200048e+00] [ 1.63265378e-02 -8.59115964e-04 9.99866344e-01 8.52946402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77925415399999 meters Centerline goodness [0,1] 0.9993531973610452 Centerline is valid? [True, True] Translation: X:99.99, Y:1.48, Z:0.85 [[ 9.97815235e-01 -6.41879420e-02 -1.56417869e-02 9.99864573e+01] [ 6.41925327e-02 9.97937511e-01 -2.08925756e-04 1.47690750e+00] [ 1.56229364e-02 -7.95616615e-04 9.99877638e-01 8.54083259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80925415399997 meters Centerline goodness [0,1] 0.9994813165913855 Centerline is valid? [True, True] Translation: X:100.02, Y:1.49, Z:0.86 [[ 9.97988570e-01 -6.16587368e-02 -1.47314375e-02 1.00017353e+02] [ 6.16625410e-02 9.98097036e-01 -1.96267837e-04 1.48933215e+00] [ 1.47155057e-02 -7.12504811e-04 9.99891467e-01 8.55977869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83925415399997 meters Centerline goodness [0,1] 0.9997182060564022 Centerline is valid? [True, True] Translation: X:100.05, Y:1.48, Z:0.86 [[ 9.98106284e-01 -5.97123902e-02 -1.47741575e-02 1.00048362e+02] [ 5.97160117e-02 9.98215387e-01 -1.96297191e-04 1.48494372e+00] [ 1.47595127e-02 -6.86328300e-04 9.99890837e-01 8.55919180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86925415399998 meters Centerline goodness [0,1] 0.9995656894679696 Centerline is valid? [True, True] Translation: X:100.08, Y:1.49, Z:0.86 [[ 9.98242209e-01 -5.73562253e-02 -1.49249824e-02 1.00079346e+02] [ 5.73596662e-02 9.98353559e-01 -1.97773750e-04 1.48810884e+00] [ 1.49117529e-02 -6.58665905e-04 9.99888597e-01 8.55870672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89925415399998 meters Centerline goodness [0,1] 0.9994139353158238 Centerline is valid? [True, True] Translation: X:100.11, Y:1.50, Z:0.86 [[ 9.98365119e-01 -5.51538364e-02 -1.50048114e-02 1.00110376e+02] [ 5.51570737e-02 9.98477670e-01 -1.98313974e-04 1.49991120e+00] [ 1.49929069e-02 -6.29631732e-04 9.99887402e-01 8.56869541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92925415399998 meters Centerline goodness [0,1] 0.9992401380777665 Centerline is valid? [True, True] Translation: X:100.14, Y:1.51, Z:0.86 [[ 9.98604000e-01 -5.05989576e-02 -1.51590468e-02 1.00140618e+02] [ 5.06017430e-02 9.98718891e-01 -2.00006953e-04 1.50653042e+00] [ 1.51497465e-02 -5.67346444e-04 9.99885075e-01 8.55605501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95925415399998 meters Centerline goodness [0,1] 0.999478532939336 Centerline is valid? [True, True] Translation: X:100.17, Y:1.51, Z:0.86 [[ 9.98656444e-01 -4.96634358e-02 -1.47935714e-02 1.00171900e+02] [ 4.96659902e-02 9.98765864e-01 -1.94892368e-04 1.50856158e+00] [ 1.47849931e-02 -5.40106853e-04 9.99890550e-01 8.57933054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98925415399998 meters Centerline goodness [0,1] 0.9994976520694551 Centerline is valid? [True, True] Translation: X:100.20, Y:1.51, Z:0.86 [[ 9.98815433e-01 -4.62711957e-02 -1.50568188e-02 1.00203370e+02] [ 4.62734677e-02 9.98928790e-01 -1.97642721e-04 1.51317343e+00] [ 1.50498349e-02 -4.99322618e-04 9.99886620e-01 8.57846918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01925415399998 meters Centerline goodness [0,1] 0.9995854334402479 Centerline is valid? [True, True] Translation: X:100.24, Y:1.52, Z:0.86 [[ 9.98855940e-01 -4.51858607e-02 -1.56540352e-02 1.00235650e+02] [ 4.51881959e-02 9.98978471e-01 -2.04684562e-04 1.51561952e+00] [ 1.56472930e-02 -5.02927218e-04 9.99877447e-01 8.57927083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04925415399998 meters Centerline goodness [0,1] 0.9994747784221468 Centerline is valid? [True, True] Translation: X:100.27, Y:1.52, Z:0.86 [[ 9.98916546e-01 -4.38514410e-02 -1.55815510e-02 1.00267827e+02] [ 4.38536097e-02 9.99037947e-01 -2.02625346e-04 1.51788977e+00] [ 1.55754461e-02 -4.80901447e-04 9.99878580e-01 8.57807226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07925415399998 meters Centerline goodness [0,1] 0.9995401694803915 Centerline is valid? [True, True] Translation: X:100.30, Y:1.52, Z:0.86 [[ 9.99010799e-01 -4.14942289e-02 -1.59891537e-02 1.00299259e+02] [ 4.14962276e-02 9.99138639e-01 -2.06882160e-04 1.51965312e+00] [ 1.59839657e-02 -4.56812050e-04 9.99872144e-01 8.56869846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10925415399998 meters Centerline goodness [0,1] 0.9995619606640677 Centerline is valid? [True, True] Translation: X:100.33, Y:1.52, Z:0.86 [[ 9.99065702e-01 -4.01266848e-02 -1.60490495e-02 1.00331855e+02] [ 4.01285399e-02 9.99194504e-01 -2.06556870e-04 1.52263257e+00] [ 1.60444105e-02 -4.37661041e-04 9.99871184e-01 8.57278415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13925415399999 meters Centerline goodness [0,1] 0.9995604781997187 Centerline is valid? [True, True] Translation: X:100.36, Y:1.53, Z:0.86 [[ 9.99174849e-01 -3.73572837e-02 -1.59391023e-02 1.00364560e+02] [ 3.73587840e-02 9.99301896e-01 -2.03716500e-04 1.52654222e+00] [ 1.59355854e-02 -3.91917076e-04 9.99872944e-01 8.57578838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16925415399999 meters Centerline goodness [0,1] 0.9995609798928791 Centerline is valid? [True, True] Translation: X:100.40, Y:1.53, Z:0.86 [[ 9.99221479e-01 -3.59720400e-02 -1.62002404e-02 1.00396268e+02] [ 3.59734298e-02 9.99352726e-01 -2.05705358e-04 1.52779578e+00] [ 1.61971540e-02 -3.77232998e-04 9.99868746e-01 8.57830121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19925415399997 meters Centerline goodness [0,1] 0.9996700831390489 Centerline is valid? [True, True] Translation: X:100.43, Y:1.53, Z:0.86 [[ 9.99268634e-01 -3.46350071e-02 -1.62053338e-02 1.00428277e+02] [ 3.46362408e-02 9.99399964e-01 -2.04612908e-04 1.52926543e+00] [ 1.62026968e-02 -3.56828582e-04 9.99868664e-01 8.57953281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22925415399997 meters Centerline goodness [0,1] 0.9997357643017571 Centerline is valid? [True, True] Translation: X:100.46, Y:1.53, Z:0.86 [[ 9.99356960e-01 -3.22039923e-02 -1.57661119e-02 1.00460620e+02] [ 3.22048752e-02 9.99481269e-01 -1.97954946e-04 1.53256251e+00] [ 1.57643085e-02 -3.09918015e-04 9.99875688e-01 8.58723940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25925415399998 meters Centerline goodness [0,1] 0.9994931129476584 Centerline is valid? [True, True] Translation: X:100.49, Y:1.53, Z:0.86 [[ 9.99391135e-01 -3.12035306e-02 -1.56108765e-02 1.00492831e+02] [ 3.12042917e-02 9.99513009e-01 -1.94882083e-04 1.53363315e+00] [ 1.56093551e-02 -2.92362917e-04 9.99878124e-01 8.58866041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28925415399998 meters Centerline goodness [0,1] 0.9997793517353986 Centerline is valid? [True, True] Translation: X:100.52, Y:1.53, Z:0.86 [[ 9.99450497e-01 -2.93555547e-02 -1.53933762e-02 1.00524852e+02] [ 2.93560925e-02 9.99568999e-01 -1.91066191e-04 1.53472518e+00] [ 1.53923505e-02 -2.60928177e-04 9.99881497e-01 8.58830108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31925415399998 meters Centerline goodness [0,1] 0.99964663530555 Centerline is valid? [True, True] Translation: X:100.56, Y:1.54, Z:0.86 [[ 9.99477245e-01 -2.84909621e-02 -1.52807795e-02 1.00557547e+02] [ 2.84914094e-02 9.99594020e-01 -1.88470676e-04 1.53521894e+00] [ 1.52799456e-02 -2.46998794e-04 9.99883224e-01 8.58657927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34925415399998 meters Centerline goodness [0,1] 0.9994909589890003 Centerline is valid? [True, True] Translation: X:100.59, Y:1.54, Z:0.86 [[ 9.99523295e-01 -2.68109264e-02 -1.53087158e-02 1.00589752e+02] [ 2.68111978e-02 9.99640498e-01 -1.87540845e-04 1.53664248e+00] [ 1.53082404e-02 -2.22993565e-04 9.99882797e-01 8.58894873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37925415399998 meters Centerline goodness [0,1] 0.9995795064733872 Centerline is valid? [True, True] Translation: X:100.62, Y:1.54, Z:0.86 [[ 9.99531390e-01 -2.65049260e-02 -1.53130272e-02 1.00622305e+02] [ 2.65051788e-02 9.99648659e-01 -1.86474611e-04 1.53710508e+00] [ 1.53125896e-02 -2.19487299e-04 9.99882731e-01 8.58972066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40925415399998 meters Centerline goodness [0,1] 0.9995792643769791 Centerline is valid? [True, True] Translation: X:100.65, Y:1.54, Z:0.86 [[ 9.99539400e-01 -2.60619308e-02 -1.55487776e-02 1.00653466e+02] [ 2.60621540e-02 9.99660307e-01 -1.88313795e-04 1.53653770e+00] [ 1.55484036e-02 -2.17007579e-04 9.99879093e-01 8.58268616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43925415399998 meters Centerline goodness [0,1] 0.9996239354053755 Centerline is valid? [True, True] Translation: X:100.68, Y:1.54, Z:0.86 [[ 9.99537589e-01 -2.59947947e-02 -1.57758720e-02 1.00684511e+02] [ 2.59950296e-02 9.99662054e-01 -1.90204315e-04 1.53634603e+00] [ 1.57754849e-02 -2.19977897e-04 9.99875535e-01 8.58056043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46925415399998 meters Centerline goodness [0,1] 0.9995581867986215 Centerline is valid? [True, True] Translation: X:100.72, Y:1.54, Z:0.86 [[ 9.99530511e-01 -2.60416194e-02 -1.61428475e-02 1.00715961e+02] [ 2.60418837e-02 9.99660834e-01 -1.93872183e-04 1.53698405e+00] [ 1.61424212e-02 -2.26608996e-04 9.99869677e-01 8.58230866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49925415399998 meters Centerline goodness [0,1] 0.9995803330830056 Centerline is valid? [True, True] Translation: X:100.75, Y:1.54, Z:0.86 [[ 9.99530184e-01 -2.62956549e-02 -1.57464161e-02 1.00746810e+02] [ 2.62959545e-02 9.99654184e-01 -1.88058452e-04 1.53701481e+00] [ 1.57459158e-02 -2.26096941e-04 9.99876000e-01 8.57869186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52925415399999 meters Centerline goodness [0,1] 0.9996464166537756 Centerline is valid? [True, True] Translation: X:100.78, Y:1.54, Z:0.86 [[ 9.99528910e-01 -2.62825043e-02 -1.58489000e-02 1.00778392e+02] [ 2.62828268e-02 9.99654529e-01 -1.87977123e-04 1.53753281e+00] [ 1.58483652e-02 -2.28665326e-04 9.99874381e-01 8.58500703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55925415399997 meters Centerline goodness [0,1] 0.9995152690256908 Centerline is valid? [True, True] Translation: X:100.81, Y:1.53, Z:0.86 [[ 9.99509542e-01 -2.74070428e-02 -1.51502227e-02 1.00809202e+02] [ 2.74074826e-02 9.99624328e-01 -1.78634021e-04 1.53226606e+00] [ 1.51494271e-02 -2.36683057e-04 9.99885213e-01 8.56948831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58925415399997 meters Centerline goodness [0,1] 0.9996253113222102 Centerline is valid? [True, True] Translation: X:100.84, Y:1.54, Z:0.86 [[ 9.99493668e-01 -2.82352306e-02 -1.46689674e-02 1.00841267e+02] [ 2.82357545e-02 9.99601277e-01 -1.71432932e-04 1.53561067e+00] [ 1.46679590e-02 -2.42843231e-04 9.99892390e-01 8.59117901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61925415399998 meters Centerline goodness [0,1] 0.9995821696391265 Centerline is valid? [True, True] Translation: X:100.87, Y:1.53, Z:0.86 [[ 9.99440885e-01 -3.08197412e-02 -1.29638074e-02 1.00873404e+02] [ 3.08203787e-02 9.99524928e-01 -1.50653817e-04 1.53288057e+00] [ 1.29622918e-02 -2.48979869e-04 9.99915955e-01 8.59534573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64925415399998 meters Centerline goodness [0,1] 0.9995170884825603 Centerline is valid? [True, True] Translation: X:100.91, Y:1.53, Z:0.86 [[ 9.99399663e-01 -3.23529270e-02 -1.23936532e-02 1.00905083e+02] [ 3.23536374e-02 9.99476474e-01 -1.43224814e-04 1.53148647e+00] [ 1.23917985e-02 -2.57840931e-04 9.99923185e-01 8.59854224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67925415399998 meters Centerline goodness [0,1] 0.9995390592418621 Centerline is valid? [True, True] Translation: X:100.94, Y:1.53, Z:0.86 [[ 9.99358787e-01 -3.38123349e-02 -1.17788108e-02 1.00936615e+02] [ 3.38130851e-02 9.99428165e-01 -1.35514336e-04 1.52966062e+00] [ 1.17766574e-02 -2.62850491e-04 9.99930618e-01 8.60435255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70925415399998 meters Centerline goodness [0,1] 0.9995615092850408 Centerline is valid? [True, True] Translation: X:100.97, Y:1.53, Z:0.86 [[ 9.99308573e-01 -3.53141645e-02 -1.16312762e-02 1.00968546e+02] [ 3.53150051e-02 9.99376222e-01 -1.33166452e-04 1.52811545e+00] [ 1.16287236e-02 -2.77684203e-04 9.99932346e-01 8.60415582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73925415399998 meters Centerline goodness [0,1] 0.9995177025101392 Centerline is valid? [True, True] Translation: X:101.00, Y:1.53, Z:0.86 [[ 9.99216095e-01 -3.78957035e-02 -1.14503990e-02 1.00999202e+02] [ 3.78966980e-02 9.99281654e-01 -1.30192415e-04 1.52526150e+00] [ 1.14471073e-02 -3.03841955e-04 9.99934434e-01 8.60307178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76925415399998 meters Centerline goodness [0,1] 0.999451646158233 Centerline is valid? [True, True] Translation: X:101.03, Y:1.52, Z:0.86 [[ 9.99173134e-01 -3.90083257e-02 -1.14629190e-02 1.01030806e+02] [ 3.90094099e-02 9.99238835e-01 -1.29076616e-04 1.52363331e+00] [ 1.14592289e-02 -3.18191818e-04 9.99934290e-01 8.60111525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79925415399998 meters Centerline goodness [0,1] 0.9994527624551265 Centerline is valid? [True, True] Translation: X:101.06, Y:1.52, Z:0.86 [[ 9.99127256e-01 -4.02114820e-02 -1.13032196e-02 1.01062732e+02] [ 4.02126201e-02 9.99191137e-01 -1.26664577e-04 1.52223438e+00] [ 1.12991703e-02 -3.27978045e-04 9.99936109e-01 8.60125312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82925415399998 meters Centerline goodness [0,1] 0.9993870268613586 Centerline is valid? [True, True] Translation: X:101.09, Y:1.52, Z:0.86 [[ 9.99049289e-01 -4.20309436e-02 -1.15722948e-02 1.01094361e+02] [ 4.20322675e-02 9.99116245e-01 -1.28902231e-04 1.52230880e+00] [ 1.15674856e-02 -3.57630109e-04 9.99933030e-01 8.59541006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85925415399998 meters Centerline goodness [0,1] 0.9993870268613586 Centerline is valid? [True, True] Translation: X:101.13, Y:1.52, Z:0.86 [[ 9.99053819e-01 -4.19231260e-02 -1.15723030e-02 1.01126920e+02] [ 4.19244512e-02 9.99120775e-01 -1.28159644e-04 1.52257790e+00] [ 1.15675012e-02 -3.57124072e-04 9.99933030e-01 8.59845865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88925415399999 meters Centerline goodness [0,1] 0.9994962437304247 Centerline is valid? [True, True] Translation: X:101.16, Y:1.52, Z:0.86 [[ 9.99039107e-01 -4.21741645e-02 -1.19248525e-02 1.01159429e+02] [ 4.21756041e-02 9.99110205e-01 -1.30838548e-04 1.52161033e+00] [ 1.19197599e-02 -3.72225033e-04 9.99928888e-01 8.59574852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91925415399999 meters Centerline goodness [0,1] 0.9994094617353076 Centerline is valid? [True, True] Translation: X:101.19, Y:1.52, Z:0.86 [[ 9.99057870e-01 -4.16607582e-02 -1.21554307e-02 1.01190266e+02] [ 4.16622263e-02 9.99131744e-01 -1.32533537e-04 1.51652855e+00] [ 1.21503981e-02 -3.74013631e-04 9.99926111e-01 8.58536901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94925415399997 meters Centerline goodness [0,1] 0.9995200593381182 Centerline is valid? [True, True] Translation: X:101.22, Y:1.52, Z:0.86 [[ 9.99092987e-01 -4.08398833e-02 -1.20543731e-02 1.01222796e+02] [ 4.08412757e-02 9.99165638e-01 -1.30742359e-04 1.52097177e+00] [ 1.20496549e-02 -3.61692201e-04 9.99927335e-01 8.59066503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97925415399997 meters Centerline goodness [0,1] 0.9995409434704674 Centerline is valid? [True, True] Translation: X:101.26, Y:1.52, Z:0.86 [[ 9.99147596e-01 -3.95161079e-02 -1.19398307e-02 1.01255274e+02] [ 3.95173896e-02 9.99218875e-01 -1.28653440e-04 1.52199169e+00] [ 1.19355881e-02 -3.43287166e-04 9.99928709e-01 8.59508149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00925415399998 meters Centerline goodness [0,1] 0.9996061269146609 Centerline is valid? [True, True] Translation: X:101.29, Y:1.52, Z:0.86 [[ 9.99213011e-01 -3.79920878e-02 -1.14000044e-02 1.01288000e+02] [ 3.79931665e-02 9.99277992e-01 -1.22015617e-04 1.52372260e+00] [ 1.13964091e-02 -3.11202672e-04 9.99935010e-01 8.60131360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03925415399998 meters Centerline goodness [0,1] 0.9993653989233664 Centerline is valid? [True, True] Translation: X:101.32, Y:1.53, Z:0.86 [[ 9.99341016e-01 -3.46180592e-02 -1.09143940e-02 1.01319521e+02] [ 3.46188561e-02 9.99400581e-01 -1.15957954e-04 1.52713975e+00] [ 1.09118659e-02 -2.61962296e-04 9.99940430e-01 8.61139840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06925415399998 meters Centerline goodness [0,1] 0.9994735918582207 Centerline is valid? [True, True] Translation: X:101.35, Y:1.53, Z:0.86 [[ 9.99443677e-01 -3.16119791e-02 -1.06310854e-02 1.01351609e+02] [ 3.16125697e-02 9.99500191e-01 -1.12528398e-04 1.53096692e+00] [ 1.06293291e-02 -2.23610133e-04 9.99943482e-01 8.61432104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09925415399998 meters Centerline goodness [0,1] 0.9995837988214935 Centerline is valid? [True, True] Translation: X:101.38, Y:1.53, Z:0.86 [[ 9.99480981e-01 -3.03463457e-02 -1.08105197e-02 1.01382405e+02] [ 3.03468908e-02 9.99539421e-01 -1.13654646e-04 1.53118835e+00] [ 1.08089896e-02 -2.14470004e-04 9.99941558e-01 8.61354081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12925415399998 meters Centerline goodness [0,1] 0.9994301619655028 Centerline is valid? [True, True] Translation: X:101.42, Y:1.53, Z:0.86 [[ 9.99506791e-01 -2.95040089e-02 -1.07558759e-02 1.01415049e+02] [ 2.95045062e-02 9.99564641e-01 -1.12475321e-04 1.53140520e+00] [ 1.07545118e-02 -2.04926961e-04 9.99942148e-01 8.60945004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15925415399998 meters Centerline goodness [0,1] 0.99943032427695 Centerline is valid? [True, True] Translation: X:101.45, Y:1.53, Z:0.86 [[ 9.99522211e-01 -2.89645784e-02 -1.07890539e-02 1.01447222e+02] [ 2.89650557e-02 9.99580418e-01 -1.12050084e-04 1.53152034e+00] [ 1.07877725e-02 -2.00508998e-04 9.99941790e-01 8.60393459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18925415399998 meters Centerline goodness [0,1] 0.9994735803119037 Centerline is valid? [True, True] Translation: X:101.48, Y:1.53, Z:0.86 [[ 9.99517846e-01 -2.87183733e-02 -1.18037966e-02 1.01479152e+02] [ 2.87189381e-02 9.99587519e-01 -1.21682975e-04 1.53221561e+00] [ 1.18024223e-02 -2.17368198e-04 9.99930325e-01 8.59620818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21925415399998 meters Centerline goodness [0,1] 0.9996486065051721 Centerline is valid? [True, True] Translation: X:101.51, Y:1.53, Z:0.86 [[ 9.99474521e-01 -2.96647927e-02 -1.30645595e-02 1.01511582e+02] [ 2.96655788e-02 9.99559871e-01 -1.33659923e-04 1.53233319e+00] [ 1.30627744e-02 -2.53978032e-04 9.99914646e-01 8.59137538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24925415399998 meters Centerline goodness [0,1] 0.9995392716103554 Centerline is valid? [True, True] Translation: X:101.54, Y:1.53, Z:0.86 [[ 9.99447792e-01 -3.03282633e-02 -1.35760014e-02 1.01543418e+02] [ 3.03291870e-02 9.99539955e-01 -1.37886235e-04 1.53249608e+00] [ 1.35739377e-02 -2.73938993e-04 9.99907832e-01 8.58981341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27925415399999 meters Centerline goodness [0,1] 0.9994943387930086 Centerline is valid? [True, True] Translation: X:101.58, Y:1.53, Z:0.86 [[ 9.99422646e-01 -3.08963414e-02 -1.41347683e-02 1.01575904e+02] [ 3.08974143e-02 9.99522551e-01 -1.42511410e-04 1.53352267e+00] [ 1.41324228e-02 -2.94298664e-04 9.99900089e-01 8.59023329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30925415399997 meters Centerline goodness [0,1] 0.9995602365927131 Centerline is valid? [True, True] Translation: X:101.61, Y:1.53, Z:0.86 [[ 9.99361734e-01 -3.27263856e-02 -1.43216132e-02 1.01607282e+02] [ 3.27276888e-02 9.99464295e-01 -1.43429440e-04 1.53111781e+00] [ 1.43186349e-02 -3.25375404e-04 9.99897430e-01 8.58525887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33925415399997 meters Centerline goodness [0,1] 0.9996049686169513 Centerline is valid? [True, True] Translation: X:101.64, Y:1.53, Z:0.86 [[ 9.99342401e-01 -3.33881572e-02 -1.41420028e-02 1.01639789e+02] [ 3.33895060e-02 9.99442405e-01 -1.40790506e-04 1.53054804e+00] [ 1.41388180e-02 -3.31496566e-04 9.99899987e-01 8.58760403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36925415399998 meters Centerline goodness [0,1] 0.999757917207685 Centerline is valid? [True, True] Translation: X:101.67, Y:1.53, Z:0.86 [[ 9.99301021e-01 -3.48809332e-02 -1.34457842e-02 1.01671583e+02] [ 3.48822999e-02 9.99391419e-01 -1.32939286e-04 1.53158725e+00] [ 1.34422384e-02 -3.36173511e-04 9.99909593e-01 8.60271383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39925415399998 meters Centerline goodness [0,1] 0.9995609798928791 Centerline is valid? [True, True] Translation: X:101.70, Y:1.53, Z:0.86 [[ 9.99294670e-01 -3.52572166e-02 -1.29263993e-02 1.01702724e+02] [ 3.52585220e-02 9.99378217e-01 -1.26963472e-04 1.53109128e+00] [ 1.29228383e-02 -3.28891813e-04 9.99916443e-01 8.60892103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42925415399998 meters Centerline goodness [0,1] 0.9995601979109401 Centerline is valid? [True, True] Translation: X:101.73, Y:1.53, Z:0.86 [[ 9.99299474e-01 -3.54115485e-02 -1.21071729e-02 1.01734450e+02] [ 3.54127130e-02 9.99372766e-01 -1.18250786e-04 1.53197978e+00] [ 1.21037663e-02 -3.10579892e-04 9.99926699e-01 8.61753859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45925415399998 meters Centerline goodness [0,1] 0.9996041607107514 Centerline is valid? [True, True] Translation: X:101.77, Y:1.53, Z:0.86 [[ 9.99332421e-01 -3.48737624e-02 -1.08873057e-02 1.01766777e+02] [ 3.48746799e-02 9.99391688e-01 -1.05626883e-04 1.53388138e+00] [ 1.08843664e-02 -2.74134931e-04 9.99940726e-01 8.63578866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48925415399998 meters Centerline goodness [0,1] 0.9996701774445348 Centerline is valid? [True, True] Translation: X:101.80, Y:1.54, Z:0.86 [[ 9.99361798e-01 -3.42020501e-02 -1.03061158e-02 1.01799052e+02] [ 3.42028438e-02 9.99414907e-01 -9.92865035e-05 1.53541457e+00] [ 1.03034815e-02 -2.53275329e-04 9.99946886e-01 8.64480252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51925415399998 meters Centerline goodness [0,1] 0.9999779900515032 Centerline is valid? [True, True] Translation: X:101.83, Y:1.54, Z:0.87 [[ 9.99413825e-01 -3.30655934e-02 -8.86982119e-03 1.01830038e+02] [ 3.30661415e-02 9.99453162e-01 -8.48950238e-05 1.53615143e+00] [ 8.86777794e-03 -2.08445502e-04 9.99960659e-01 8.65854705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.86, Y:1.54, Z:0.87 [[ 9.99436120e-01 -3.25281997e-02 -8.32812972e-03 1.01862296e+02] [ 3.25286675e-02 9.99470800e-01 -7.93122631e-05 1.53781346e+00] [ 8.32630236e-03 -1.91635423e-04 9.99965317e-01 8.66605561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:1.54, Z:0.87 [[ 9.99450091e-01 -3.21994078e-02 -7.91921319e-03 1.01893734e+02] [ 3.21998241e-02 9.99481448e-01 -7.49618172e-05 1.53741787e+00] [ 7.91752040e-03 -1.80076677e-04 9.99968640e-01 8.67240961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.93, Y:1.54, Z:0.87 [[ 9.99439025e-01 -3.24637706e-02 -8.23035213e-03 1.01926095e+02] [ 3.24642385e-02 9.99472895e-01 -7.67668964e-05 1.54020102e+00] [ 8.22850601e-03 -1.90468283e-04 9.99966127e-01 8.67261240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63925415399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:1.54, Z:0.87 [[ 9.99426495e-01 -3.27661397e-02 -8.54763327e-03 1.01958047e+02] [ 3.27666611e-02 9.99463026e-01 -7.90739291e-05 1.53995659e+00] [ 8.54563436e-03 -2.01048823e-04 9.99963465e-01 8.67040975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66925415399999 meters Centerline goodness [0,1] 0.9996920843688829 Centerline is valid? [True, True] Translation: X:101.99, Y:1.54, Z:0.87 [[ 9.99349980e-01 -3.45951540e-02 -1.01387221e-02 1.01989918e+02] [ 3.45959904e-02 9.99401375e-01 -9.29253228e-05 1.53839714e+00] [ 1.01358676e-02 -2.57894212e-04 9.99948598e-01 8.65853838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69925415399997 meters Centerline goodness [0,1] 0.9996705179457892 Centerline is valid? [True, True] Translation: X:102.02, Y:1.54, Z:0.87 [[ 9.99308233e-01 -3.55531040e-02 -1.09101920e-02 1.02021527e+02] [ 3.55541386e-02 9.99367747e-01 -9.91735599e-05 1.53661745e+00] [ 1.09068199e-02 -2.88797523e-04 9.99940477e-01 8.65400755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72925415399997 meters Centerline goodness [0,1] 0.9997805333040711 Centerline is valid? [True, True] Translation: X:102.05, Y:1.54, Z:0.86 [[ 9.99269544e-01 -3.63923598e-02 -1.16608162e-02 1.02053480e+02] [ 3.63936071e-02 9.99337528e-01 -1.05285085e-04 1.53552588e+00] [ 1.16569228e-02 -3.19170986e-04 9.99932005e-01 8.64875871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75925415399998 meters Centerline goodness [0,1] 0.9996717293298901 Centerline is valid? [True, True] Translation: X:102.09, Y:1.53, Z:0.86 [[ 9.99212131e-01 -3.73775681e-02 -1.33429375e-02 1.02085378e+02] [ 3.73793032e-02 9.99301143e-01 -1.19416418e-04 1.53435559e+00] [ 1.33380762e-02 -3.79427374e-04 9.99910972e-01 8.63790224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78925415399998 meters Centerline goodness [0,1] 0.9996929487882443 Centerline is valid? [True, True] Translation: X:102.12, Y:1.53, Z:0.86 [[ 9.99201031e-01 -3.75318078e-02 -1.37354855e-02 1.02117388e+02] [ 3.75336748e-02 9.99295356e-01 -1.21924412e-04 1.53435482e+00] [ 1.37303829e-02 -3.93716248e-04 9.99905656e-01 8.63805062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81925415399998 meters Centerline goodness [0,1] 0.9994514295745288 Centerline is valid? [True, True] Translation: X:102.15, Y:1.53, Z:0.86 [[ 9.99219914e-01 -3.67699864e-02 -1.44059363e-02 1.02148932e+02] [ 3.67719750e-02 9.99323674e-01 -1.26903360e-04 1.53424940e+00] [ 1.44008594e-02 -4.02930364e-04 9.99896221e-01 8.63931298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84925415399998 meters Centerline goodness [0,1] 0.9996924699059837 Centerline is valid? [True, True] Translation: X:102.18, Y:1.54, Z:0.86 [[ 9.99242212e-01 -3.60354581e-02 -1.47121487e-02 1.02181032e+02] [ 3.60374657e-02 9.99350431e-01 -1.28708124e-04 1.53626657e+00] [ 1.47072302e-02 -4.01577964e-04 9.99891762e-01 8.64713015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87925415399998 meters Centerline goodness [0,1] 0.9997143422180228 Centerline is valid? [True, True] Translation: X:102.21, Y:1.54, Z:0.86 [[ 9.99287468e-01 -3.50100219e-02 -1.41015628e-02 1.02212765e+02] [ 3.50117781e-02 9.99386892e-01 -1.22389253e-04 1.53597266e+00] [ 1.40972018e-02 -3.71418740e-04 9.99900561e-01 8.64966929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90925415399998 meters Centerline goodness [0,1] 0.9999341050365717 Centerline is valid? [True, True] Translation: X:102.25, Y:1.54, Z:0.87 [[ 9.99355596e-01 -3.31505324e-02 -1.37635153e-02 1.02245245e+02] [ 3.31520424e-02 9.99450313e-01 -1.18489724e-04 1.53926173e+00] [ 1.37598777e-02 -3.37875274e-04 9.99905271e-01 8.66233509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93925415399998 meters Centerline goodness [0,1] 0.9998021108179419 Centerline is valid? [True, True] Translation: X:102.28, Y:1.54, Z:0.87 [[ 9.99394047e-01 -3.20866725e-02 -1.34901313e-02 1.02277606e+02] [ 3.20880393e-02 9.99485040e-01 -1.15169085e-04 1.54077929e+00] [ 1.34868798e-02 -3.17772566e-04 9.99908997e-01 8.67099916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.31, Y:1.54, Z:0.87 [[ 9.99459827e-01 -3.01614625e-02 -1.30514768e-02 1.02309190e+02] [ 3.01625891e-02 9.99544999e-01 -1.10558264e-04 1.54176502e+00] [ 1.30488729e-02 -2.83167788e-04 9.99914820e-01 8.67548563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99925415399998 meters Centerline goodness [0,1] 0.9999560178567501 Centerline is valid? [True, True] Translation: X:102.34, Y:1.54, Z:0.87 [[ 9.99479814e-01 -2.92729558e-02 -1.35349956e-02 1.02341088e+02] [ 2.92740974e-02 9.99571415e-01 -1.13816885e-04 1.54383302e+00] [ 1.35325265e-02 -2.82467100e-04 9.99908391e-01 8.68019626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02925415399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.37, Y:1.54, Z:0.87 [[ 9.99498751e-01 -2.84611831e-02 -1.38638823e-02 1.02372505e+02] [ 2.84623160e-02 9.99594860e-01 -1.15629711e-04 1.54359121e+00] [ 1.38615564e-02 -2.79026446e-04 9.99903885e-01 8.68188518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.40, Y:1.55, Z:0.87 [[ 9.99522168e-01 -2.74069256e-02 -1.42932516e-02 1.02404719e+02] [ 2.74080346e-02 9.99624322e-01 -1.18321404e-04 1.54569610e+00] [ 1.42911248e-02 -2.73485069e-04 9.99897839e-01 8.68695715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08925415399997 meters Centerline goodness [0,1] 0.999890056730727 Centerline is valid? [True, True] Translation: X:102.44, Y:1.55, Z:0.87 [[ 9.99513828e-01 -2.73730396e-02 -1.49272861e-02 1.02436117e+02] [ 2.73742607e-02 9.99625247e-01 -1.22551982e-04 1.54526497e+00] [ 1.49250467e-02 -2.86131020e-04 9.99888574e-01 8.68827463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11925415399998 meters Centerline goodness [0,1] 0.9999780084447573 Centerline is valid? [True, True] Translation: X:102.47, Y:1.54, Z:0.87 [[ 9.99495062e-01 -2.77389414e-02 -1.54974609e-02 1.02468725e+02] [ 2.77403166e-02 9.99615155e-01 -1.26264740e-04 1.54499994e+00] [ 1.54949993e-02 -3.03703488e-04 9.99879899e-01 8.69184788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14925415399998 meters Centerline goodness [0,1] 0.9999339846844468 Centerline is valid? [True, True] Translation: X:102.50, Y:1.55, Z:0.87 [[ 9.99475784e-01 -2.82223286e-02 -1.58637255e-02 1.02499934e+02] [ 2.82238450e-02 9.99601620e-01 -1.28327078e-04 1.54538975e+00] [ 1.58610274e-02 -3.19475523e-04 9.99874155e-01 8.69318303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:1.54, Z:0.87 [[ 9.99456982e-01 -2.88271047e-02 -1.59605199e-02 1.02531496e+02] [ 2.88287280e-02 9.99584358e-01 -1.28410395e-04 1.54352730e+00] [ 1.59575877e-02 -3.31780820e-04 9.99872615e-01 8.69350313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:1.54, Z:0.87 [[ 9.99416656e-01 -3.03021536e-02 -1.57520518e-02 1.02563992e+02] [ 3.03039329e-02 9.99540722e-01 -1.25773803e-04 1.54125941e+00] [ 1.57486285e-02 -3.51648687e-04 9.99875921e-01 8.69784827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23925415399998 meters Centerline goodness [0,1] 0.9999120589205233 Centerline is valid? [True, True] Translation: X:102.60, Y:1.54, Z:0.87 [[ 9.99389634e-01 -3.11652983e-02 -1.57823726e-02 1.02595307e+02] [ 3.11672081e-02 9.99514177e-01 -1.25000369e-04 1.53900077e+00] [ 1.57786009e-02 -3.66968419e-04 9.99875443e-01 8.69858185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26925415399998 meters Centerline goodness [0,1] 0.99995612688106 Centerline is valid? [True, True] Translation: X:102.63, Y:1.54, Z:0.87 [[ 9.99379593e-01 -3.16226975e-02 -1.55059359e-02 1.02627013e+02] [ 3.16246086e-02 9.99499810e-01 -1.21997781e-04 1.53799577e+00] [ 1.55020379e-02 -3.68447062e-04 9.99879768e-01 8.70613906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29925415399998 meters Centerline goodness [0,1] 0.9996051159423469 Centerline is valid? [True, True] Translation: X:102.66, Y:1.54, Z:0.87 [[ 9.99368379e-01 -3.18289825e-02 -1.58037817e-02 1.02659245e+02] [ 3.18310085e-02 9.99493257e-01 -1.23394887e-04 1.53647143e+00] [ 1.57997008e-02 -3.79733360e-04 9.99875105e-01 8.71234377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32925415399998 meters Centerline goodness [0,1] 0.9996491228070176 Centerline is valid? [True, True] Translation: X:102.69, Y:1.54, Z:0.87 [[ 9.99375542e-01 -3.14653610e-02 -1.60766305e-02 1.02690959e+02] [ 3.14674288e-02 9.99504770e-01 -1.24386284e-04 1.53774068e+00] [ 1.60725827e-02 -3.81581616e-04 9.99870755e-01 8.72062664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35925415399998 meters Centerline goodness [0,1] 0.9997371015445284 Centerline is valid? [True, True] Translation: X:102.72, Y:1.54, Z:0.87 [[ 9.99401420e-01 -3.04926055e-02 -1.63401932e-02 1.02722592e+02] [ 3.04946289e-02 9.99534923e-01 -1.25375121e-04 1.53784595e+00] [ 1.63364167e-02 -3.72988054e-04 9.99866482e-01 8.72262509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38925415399999 meters Centerline goodness [0,1] 0.9994526306570621 Centerline is valid? [True, True] Translation: X:102.76, Y:1.54, Z:0.87 [[ 9.99429152e-01 -2.95201043e-02 -1.64296637e-02 1.02755087e+02] [ 2.95220350e-02 9.99564122e-01 -1.25061715e-04 1.53797710e+00] [ 1.64261942e-02 -3.60046785e-04 9.99865016e-01 8.71102128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41925415399999 meters Centerline goodness [0,1] 0.9994078687661739 Centerline is valid? [True, True] Translation: X:102.79, Y:1.54, Z:0.87 [[ 9.99443815e-01 -2.89512780e-02 -1.65494567e-02 1.02786732e+02] [ 2.89531742e-02 9.99580761e-01 -1.25052694e-04 1.53834198e+00] [ 1.65461390e-02 -3.54176162e-04 9.99863041e-01 8.72726922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44925415399997 meters Centerline goodness [0,1] 0.9993647455696479 Centerline is valid? [True, True] Translation: X:102.82, Y:1.54, Z:0.87 [[ 9.99458925e-01 -2.85063004e-02 -1.64088043e-02 1.02818332e+02] [ 2.85081161e-02 9.99593553e-01 -1.23288090e-04 1.53759289e+00] [ 1.64056495e-02 -3.44562716e-04 9.99865359e-01 8.72303541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47925415399997 meters Centerline goodness [0,1] 0.9994752033586985 Centerline is valid? [True, True] Translation: X:102.85, Y:1.54, Z:0.87 [[ 9.99507158e-01 -2.65236535e-02 -1.67909747e-02 1.02849543e+02] [ 2.65252881e-02 9.99648135e-01 -1.25393926e-04 1.53812351e+00] [ 1.67883924e-02 -3.20053313e-04 9.99859014e-01 8.72575569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50925415399998 meters Centerline goodness [0,1] 0.9994529899568956 Centerline is valid? [True, True] Translation: X:102.88, Y:1.54, Z:0.87 [[ 9.99541340e-01 -2.52237255e-02 -1.67592840e-02 1.02880798e+02] [ 2.52251809e-02 9.99681787e-01 -1.24577370e-04 1.53876268e+00] [ 1.67570932e-02 -2.98235738e-04 9.99859546e-01 8.72776976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53925415399998 meters Centerline goodness [0,1] 0.9995405115637923 Centerline is valid? [True, True] Translation: X:102.91, Y:1.54, Z:0.87 [[ 9.99571293e-01 -2.36196101e-02 -1.73015709e-02 1.02911996e+02] [ 2.36209316e-02 9.99720979e-01 -1.28001704e-04 1.53981453e+00] [ 1.72997668e-02 -2.80732394e-04 9.99850308e-01 8.72996605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56925415399998 meters Centerline goodness [0,1] 0.9994087634396829 Centerline is valid? [True, True] Translation: X:102.94, Y:1.54, Z:0.87 [[ 9.99612963e-01 -2.17639473e-02 -1.73278892e-02 1.02941303e+02] [ 2.17650009e-02 9.99763106e-01 -1.27803322e-04 1.54090638e+00] [ 1.73265658e-02 -2.49387666e-04 9.99849853e-01 8.72658496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59925415399998 meters Centerline goodness [0,1] 0.9994522588843608 Centerline is valid? [True, True] Translation: X:102.97, Y:1.54, Z:0.87 [[ 9.99684870e-01 -1.78181022e-02 -1.76826645e-02 1.02971234e+02] [ 1.78185787e-02 9.99841228e-01 -1.30616264e-04 1.54371718e+00] [ 1.76821843e-02 -1.84504846e-04 9.99843641e-01 8.72496501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62925415399998 meters Centerline goodness [0,1] 0.9995832327973854 Centerline is valid? [True, True] Translation: X:103.00, Y:1.55, Z:0.87 [[ 9.99727232e-01 -1.43544753e-02 -1.84230801e-02 1.02999691e+02] [ 1.43543556e-02 9.99896961e-01 -1.38741790e-04 1.54709257e+00] [ 1.84231733e-02 -1.25747496e-04 9.99830271e-01 8.73906802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65925415399998 meters Centerline goodness [0,1] 0.9996057127836677 Centerline is valid? [True, True] Translation: X:103.03, Y:1.55, Z:0.87 [[ 9.99739743e-01 -1.31163081e-02 -1.86657105e-02 1.03026911e+02] [ 1.31158888e-02 9.99913973e-01 -1.44884600e-04 1.54695275e+00] [ 1.86660050e-02 -9.99704912e-05 9.99825770e-01 8.72415218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68925415399998 meters Centerline goodness [0,1] 0.9996727891453252 Centerline is valid? [True, True] Translation: X:103.05, Y:1.55, Z:0.87 [[ 9.99748081e-01 -1.21038041e-02 -1.89016713e-02 1.03053669e+02] [ 1.21031363e-02 9.99926743e-01 -1.49728644e-04 1.54758395e+00] [ 1.89020989e-02 -7.90785786e-05 9.99821336e-01 8.72457483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71925415399998 meters Centerline goodness [0,1] 0.9996282365290413 Centerline is valid? [True, True] Translation: X:103.08, Y:1.55, Z:0.87 [[ 9.99744355e-01 -1.15487962e-02 -1.94383478e-02 1.03081439e+02] [ 1.15479066e-02 9.99933308e-01 -1.58017829e-04 1.54821950e+00] [ 1.94388763e-02 -6.64947917e-05 9.99811045e-01 8.74750611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74925415399998 meters Centerline goodness [0,1] 0.9996282365290413 Centerline is valid? [True, True] Translation: X:103.11, Y:1.55, Z:0.88 [[ 9.99740954e-01 -1.18396810e-02 -1.94383006e-02 1.03108814e+02] [ 1.18387363e-02 9.99929906e-01 -1.63672524e-04 1.54851545e+00] [ 1.94388759e-02 -6.64947903e-05 9.99811045e-01 8.75008098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77925415399999 meters Centerline goodness [0,1] 0.999539867218826 Centerline is valid? [True, True] Translation: X:103.14, Y:1.55, Z:0.88 [[ 9.99735681e-01 -1.24301383e-02 -1.93406504e-02 1.03136819e+02] [ 1.24292048e-02 9.99922740e-01 -1.68474707e-04 1.54788574e+00] [ 1.93412504e-02 -7.19587294e-05 9.99812938e-01 8.75121397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80925415399997 meters Centerline goodness [0,1] 0.9993878978663868 Centerline is valid? [True, True] Translation: X:103.17, Y:1.55, Z:0.88 [[ 9.99708990e-01 -1.42133675e-02 -1.94914259e-02 1.03165089e+02] [ 1.42126787e-02 9.99898980e-01 -1.73875407e-04 1.54555971e+00] [ 1.94919282e-02 -1.03200566e-04 9.99810009e-01 8.75223718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83925415399997 meters Centerline goodness [0,1] 0.9995842450765864 Centerline is valid? [True, True] Translation: X:103.19, Y:1.54, Z:0.88 [[ 9.99691251e-01 -1.59027026e-02 -1.90920644e-02 1.03192582e+02] [ 1.59022731e-02 9.99873536e-01 -1.74318120e-04 1.54435829e+00] [ 1.90924220e-02 -1.29342923e-04 9.99817715e-01 8.75699625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86925415399998 meters Centerline goodness [0,1] 0.9996071584460934 Centerline is valid? [True, True] Translation: X:103.22, Y:1.54, Z:0.88 [[ 9.99656024e-01 -1.78025237e-02 -1.92588493e-02 1.03220652e+02] [ 1.78023617e-02 9.99841509e-01 -1.79864304e-04 1.54231986e+00] [ 1.92589990e-02 -1.63050566e-04 9.99814515e-01 8.75520997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89925415399998 meters Centerline goodness [0,1] 0.9994541723068862 Centerline is valid? [True, True] Translation: X:103.25, Y:1.54, Z:0.88 [[ 9.99608559e-01 -1.99091061e-02 -1.96559604e-02 1.03248958e+02] [ 1.99093019e-02 9.99801773e-01 -1.85748448e-04 1.54018486e+00] [ 1.96557621e-02 -2.05660710e-04 9.99806786e-01 8.75691182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92925415399998 meters Centerline goodness [0,1] 0.9993254417268692 Centerline is valid? [True, True] Translation: X:103.28, Y:1.54, Z:0.87 [[ 9.99488537e-01 -2.43562536e-02 -2.07228482e-02 1.03277315e+02] [ 2.43573772e-02 9.99703295e-01 -1.98220667e-04 1.53509202e+00] [ 2.07215275e-02 -3.06634945e-04 9.99785239e-01 8.73896229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95925415399998 meters Centerline goodness [0,1] 0.9992397089171283 Centerline is valid? [True, True] Translation: X:103.31, Y:1.53, Z:0.87 [[ 9.99344546e-01 -2.95818361e-02 -2.08660743e-02 1.03305707e+02] [ 2.95840748e-02 9.99562275e-01 -2.01455996e-04 1.52955511e+00] [ 2.08629001e-02 -4.15979550e-04 9.99782259e-01 8.74599715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98925415399998 meters Centerline goodness [0,1] 0.9991969963322265 Centerline is valid? [True, True] Translation: X:103.34, Y:1.53, Z:0.87 [[ 9.99278013e-01 -3.17606557e-02 -2.08497811e-02 1.03335840e+02] [ 3.17633545e-02 9.99495397e-01 -2.01795615e-04 1.52726601e+00] [ 2.08456694e-02 -4.60609066e-04 9.99782599e-01 8.74977285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01925415399998 meters Centerline goodness [0,1] 0.9994361799019821 Centerline is valid? [True, True] Translation: X:103.37, Y:1.53, Z:0.88 [[ 9.99230481e-01 -3.32033334e-02 -2.08802210e-02 1.03365979e+02] [ 3.32063549e-02 9.99448497e-01 -2.02090230e-04 1.52616994e+00] [ 2.08754156e-02 -4.91421312e-04 9.99781964e-01 8.75875301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04925415399998 meters Centerline goodness [0,1] 0.9993297442217466 Centerline is valid? [True, True] Translation: X:103.40, Y:1.52, Z:0.88 [[ 9.99198699e-01 -3.41653121e-02 -2.08492563e-02 1.03397649e+02] [ 3.41685424e-02 9.99416065e-01 -2.01380819e-04 1.52446005e+00] [ 2.08439619e-02 -5.11169245e-04 9.99782610e-01 8.76754430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07925415399998 meters Centerline goodness [0,1] 0.9991573215790497 Centerline is valid? [True, True] Translation: X:103.43, Y:1.52, Z:0.88 [[ 9.99196242e-01 -3.49899321e-02 -1.95595010e-02 1.03428500e+02] [ 3.49929425e-02 9.99387542e-01 -1.88428653e-04 1.52252116e+00] [ 1.95541147e-02 -4.96167291e-04 9.99808677e-01 8.78108477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10925415399998 meters Centerline goodness [0,1] 0.9994386631547131 Centerline is valid? [True, True] Translation: X:103.46, Y:1.52, Z:0.88 [[ 9.99229042e-01 -3.44344322e-02 -1.88571552e-02 1.03459930e+02] [ 3.44371408e-02 9.99406849e-01 -1.81161971e-04 1.52267666e+00] [ 1.88522083e-02 -4.68364205e-04 9.99822172e-01 8.79349332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13925415399999 meters Centerline goodness [0,1] 0.9994172871479443 Centerline is valid? [True, True] Translation: X:103.49, Y:1.52, Z:0.88 [[ 9.99288887e-01 -3.29258838e-02 -1.83740843e-02 1.03490904e+02] [ 3.29282125e-02 9.99457704e-01 -1.75869224e-04 1.52232881e+00] [ 1.83699107e-02 -4.29281590e-04 9.99831167e-01 8.79513404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16925415399999 meters Centerline goodness [0,1] 0.9991589933797684 Centerline is valid? [True, True] Translation: X:103.52, Y:1.52, Z:0.88 [[ 9.99329156e-01 -3.19268006e-02 -1.79420623e-02 1.03522668e+02] [ 3.19288716e-02 9.99490129e-01 -1.71094044e-04 1.52255380e+00] [ 1.79383766e-02 -4.01890535e-04 9.99839014e-01 8.79698652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19925415399997 meters Centerline goodness [0,1] 0.9992011399948182 Centerline is valid? [True, True] Translation: X:103.55, Y:1.52, Z:0.88 [[ 9.99408114e-01 -2.95426617e-02 -1.76253511e-02 1.03552983e+02] [ 2.95442981e-02 9.99563458e-01 -1.67592697e-04 1.52188779e+00] [ 1.76226080e-02 -3.53235124e-04 9.99844647e-01 8.79834296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22925415399997 meters Centerline goodness [0,1] 0.9992017604418364 Centerline is valid? [True, True] Translation: X:103.58, Y:1.52, Z:0.88 [[ 9.99436316e-01 -2.86215703e-02 -1.75458521e-02 1.03584486e+02] [ 2.86230581e-02 9.99590262e-01 -1.66379979e-04 1.52167536e+00] [ 1.75434250e-02 -3.35929752e-04 9.99846046e-01 8.79928981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25925415399998 meters Centerline goodness [0,1] 0.9994398603959757 Centerline is valid? [True, True] Translation: X:103.62, Y:1.52, Z:0.88 [[ 9.99453411e-01 -2.78439052e-02 -1.78212258e-02 1.03615762e+02] [ 2.78453277e-02 9.99612230e-01 -1.68356482e-04 1.52148754e+00] [ 1.78190029e-02 -3.27973412e-04 9.99841175e-01 8.79998021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28925415399998 meters Centerline goodness [0,1] 0.9992024315061111 Centerline is valid? [True, True] Translation: X:103.65, Y:1.52, Z:0.88 [[ 9.99467685e-01 -2.68574737e-02 -1.85208503e-02 1.03646129e+02] [ 2.68588503e-02 9.99639221e-01 -1.74462412e-04 1.52061307e+00] [ 1.85188539e-02 -3.23079202e-04 9.99828459e-01 8.79662018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31925415399998 meters Centerline goodness [0,1] 0.9993113095878619 Centerline is valid? [True, True] Translation: X:103.68, Y:1.52, Z:0.88 [[ 9.99466472e-01 -2.66474221e-02 -1.88861259e-02 1.03675371e+02] [ 2.66488161e-02 9.99644841e-01 -1.77900626e-04 1.51995066e+00] [ 1.88841589e-02 -3.25487185e-04 9.99821625e-01 8.79650547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34925415399998 meters Centerline goodness [0,1] 0.9990966382036005 Centerline is valid? [True, True] Translation: X:103.70, Y:1.52, Z:0.88 [[ 9.99439760e-01 -2.69439229e-02 -1.98542697e-02 1.03704638e+02] [ 2.69455114e-02 9.99636886e-01 -1.87552158e-04 1.51782719e+00] [ 1.98521137e-02 -3.47536366e-04 9.99802867e-01 8.78625865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37925415399998 meters Centerline goodness [0,1] 0.998966185655826 Centerline is valid? [True, True] Translation: X:103.73, Y:1.52, Z:0.88 [[ 9.99430582e-01 -2.67093113e-02 -2.06185498e-02 1.03734387e+02] [ 2.67109593e-02 9.99643180e-01 -1.95514938e-04 1.51807081e+00] [ 2.06164147e-02 -3.55337636e-04 9.99787396e-01 8.76754142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40925415399998 meters Centerline goodness [0,1] 0.999141925519135 Centerline is valid? [True, True] Translation: X:103.76, Y:1.51, Z:0.88 [[ 9.99399888e-01 -2.76380838e-02 -2.08806099e-02 1.03763465e+02] [ 2.76399566e-02 9.99617924e-01 -1.98962599e-04 1.51492364e+00] [ 2.08781309e-02 -3.78295953e-04 9.99781956e-01 8.77542017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43925415399998 meters Centerline goodness [0,1] 0.9990317791595843 Centerline is valid? [True, True] Translation: X:103.79, Y:1.51, Z:0.88 [[ 9.99371179e-01 -2.84195284e-02 -2.12032305e-02 1.03792597e+02] [ 2.84216111e-02 9.99596004e-01 -2.03180822e-04 1.51421749e+00] [ 2.12004388e-02 -3.99576914e-04 9.99775166e-01 8.78126498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46925415399998 meters Centerline goodness [0,1] 0.9990765794785895 Centerline is valid? [True, True] Translation: X:103.82, Y:1.51, Z:0.88 [[ 9.99364628e-01 -2.87744240e-02 -2.10326383e-02 1.03822411e+02] [ 2.87765325e-02 9.99585849e-01 -2.02464587e-04 1.51407597e+00] [ 2.10297534e-02 -4.02910451e-04 9.99778769e-01 8.78672560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49925415399998 meters Centerline goodness [0,1] 0.9992490237308501 Centerline is valid? [True, True] Translation: X:103.85, Y:1.51, Z:0.88 [[ 9.99384203e-01 -2.89091600e-02 -1.98865438e-02 1.03852247e+02] [ 2.89110576e-02 9.99581970e-01 -1.92131757e-04 1.51260326e+00] [ 1.98837850e-02 -3.82927569e-04 9.99802225e-01 8.79982346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52925415399999 meters Centerline goodness [0,1] 0.9990567453426801 Centerline is valid? [True, True] Translation: X:103.88, Y:1.51, Z:0.88 [[ 9.99407271e-01 -2.86550933e-02 -1.90785580e-02 1.03881605e+02] [ 2.86567839e-02 9.99589293e-01 -1.84823338e-04 1.51110823e+00] [ 1.90760184e-02 -3.62016326e-04 9.99817971e-01 8.80435896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55925415399997 meters Centerline goodness [0,1] 0.9990785780101571 Centerline is valid? [True, True] Translation: X:103.91, Y:1.51, Z:0.88 [[ 9.99435615e-01 -2.83012115e-02 -1.80967655e-02 1.03911721e+02] [ 2.83026589e-02 9.99599384e-01 -1.76178258e-04 1.51249225e+00] [ 1.80945017e-02 -3.36107756e-04 9.99836225e-01 8.82023336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58925415399997 meters Centerline goodness [0,1] 0.9991427163033927 Centerline is valid? [True, True] Translation: X:103.94, Y:1.51, Z:0.88 [[ 9.99474991e-01 -2.74919832e-02 -1.71445048e-02 1.03941919e+02] [ 2.74931534e-02 9.99621978e-01 -1.67486288e-04 1.51135047e+00] [ 1.71426283e-02 -3.03958144e-04 9.99853008e-01 8.83329983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61925415399998 meters Centerline goodness [0,1] 0.9989510639208803 Centerline is valid? [True, True] Translation: X:103.97, Y:1.51, Z:0.88 [[ 9.99481902e-01 -2.74853559e-02 -1.67476203e-02 1.03972630e+02] [ 2.74864743e-02 9.99622162e-01 -1.63444051e-04 1.51088786e+00] [ 1.67457848e-02 -2.96973664e-04 9.99859735e-01 8.83607119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64925415399998 meters Centerline goodness [0,1] 0.9991011428326841 Centerline is valid? [True, True] Translation: X:104.00, Y:1.51, Z:0.88 [[ 9.99470729e-01 -2.83129661e-02 -1.60198958e-02 1.04003031e+02] [ 2.83140956e-02 9.99599063e-01 -1.56342013e-04 1.51007734e+00] [ 1.60178994e-02 -2.97329597e-04 9.99871661e-01 8.84661027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67925415399998 meters Centerline goodness [0,1] 0.9990597486964697 Centerline is valid? [True, True] Translation: X:104.03, Y:1.51, Z:0.88 [[ 9.99446180e-01 -2.90798971e-02 -1.61769532e-02 1.04033472e+02] [ 2.90811513e-02 9.99577041e-01 -1.57751005e-04 1.50866794e+00] [ 1.61746984e-02 -3.12780785e-04 9.99869132e-01 8.84375833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70925415399998 meters Centerline goodness [0,1] 0.9990187085351026 Centerline is valid? [True, True] Translation: X:104.06, Y:1.51, Z:0.88 [[ 9.99405788e-01 -3.00614932e-02 -1.68635007e-02 1.04064077e+02] [ 3.00630012e-02 9.99547992e-01 -1.64133807e-04 1.50633276e+00] [ 1.68608124e-02 -3.42931165e-04 9.99857788e-01 8.83897875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73925415399998 meters Centerline goodness [0,1] 0.9987851403482597 Centerline is valid? [True, True] Translation: X:104.10, Y:1.50, Z:0.88 [[ 9.99347180e-01 -3.21687089e-02 -1.64434883e-02 1.04095787e+02] [ 3.21704347e-02 9.99482385e-01 -1.59621295e-04 1.50384736e+00] [ 1.64401117e-02 -3.69477076e-04 9.99864784e-01 8.84119198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76925415399998 meters Centerline goodness [0,1] 0.9990405730976697 Centerline is valid? [True, True] Translation: X:104.13, Y:1.50, Z:0.88 [[ 9.99312684e-01 -3.33454248e-02 -1.61938679e-02 1.04126233e+02] [ 3.33472648e-02 9.99443813e-01 -1.56466987e-04 1.50100622e+00] [ 1.61900785e-02 -3.83661754e-04 9.99868858e-01 8.84047894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79925415399998 meters Centerline goodness [0,1] 0.9989988284162318 Centerline is valid? [True, True] Translation: X:104.16, Y:1.50, Z:0.88 [[ 9.99277981e-01 -3.44362196e-02 -1.60519188e-02 1.04157298e+02] [ 3.44381806e-02 9.99406818e-01 -1.54320137e-04 1.50040781e+00] [ 1.60477113e-02 -3.98590163e-04 9.99871148e-01 8.84484695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82925415399998 meters Centerline goodness [0,1] 0.9987252214927657 Centerline is valid? [True, True] Translation: X:104.19, Y:1.50, Z:0.88 [[ 9.99208738e-01 -3.60790705e-02 -1.67391483e-02 1.04188871e+02] [ 3.60814438e-02 9.99348840e-01 -1.60304663e-04 1.49799695e+00] [ 1.67340321e-02 -4.43794819e-04 9.99859878e-01 8.84210825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85925415399998 meters Centerline goodness [0,1] 0.9989787234042553 Centerline is valid? [True, True] Translation: X:104.22, Y:1.50, Z:0.88 [[ 9.99191216e-01 -3.65579434e-02 -1.67460862e-02 1.04220518e+02] [ 3.65604060e-02 9.99331432e-01 -1.59163762e-04 1.49610957e+00] [ 1.67407090e-02 -4.53208677e-04 9.99859762e-01 8.84266612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88925415399999 meters Centerline goodness [0,1] 0.9988727961037027 Centerline is valid? [True, True] Translation: X:104.25, Y:1.50, Z:0.88 [[ 9.99182541e-01 -3.64763550e-02 -1.74276897e-02 1.04252639e+02] [ 3.64790401e-02 9.99334405e-01 -1.63907254e-04 1.49622078e+00] [ 1.74220686e-02 -4.71972124e-04 9.99848113e-01 8.84400232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91925415399997 meters Centerline goodness [0,1] 0.998915309030584 Centerline is valid? [True, True] Translation: X:104.28, Y:1.50, Z:0.88 [[ 9.99189339e-01 -3.61958259e-02 -1.76217649e-02 1.04284211e+02] [ 3.61985476e-02 9.99344604e-01 -1.64590718e-04 1.49560325e+00] [ 1.76161732e-02 -4.73425006e-04 9.99844711e-01 8.84679469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94925415399997 meters Centerline goodness [0,1] 0.9989370296356137 Centerline is valid? [True, True] Translation: X:104.32, Y:1.50, Z:0.88 [[ 9.99205060e-01 -3.56786165e-02 -1.77843653e-02 1.04315635e+02] [ 3.56813214e-02 9.99363205e-01 -1.65292658e-04 1.49547958e+00] [ 1.77789377e-02 -4.69408392e-04 9.99841832e-01 8.84997454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97925415399997 meters Centerline goodness [0,1] 0.9987666397312125 Centerline is valid? [True, True] Translation: X:104.35, Y:1.50, Z:0.89 [[ 9.99263373e-01 -3.40810411e-02 -1.76406991e-02 1.04346606e+02] [ 3.40834648e-02 9.99418977e-01 -1.63328434e-04 1.49573547e+00] [ 1.76360158e-02 -4.38048023e-04 9.99844377e-01 8.85309439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00925415399998 meters Centerline goodness [0,1] 0.9989158624208154 Centerline is valid? [True, True] Translation: X:104.38, Y:1.50, Z:0.88 [[ 9.99320401e-01 -3.22718101e-02 -1.78119489e-02 1.04377658e+02] [ 3.22740054e-02 9.99479045e-01 -1.64267412e-04 1.49760101e+00] [ 1.78079709e-02 -4.10707159e-04 9.99841341e-01 8.84978827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03925415399998 meters Centerline goodness [0,1] 0.9988948867258894 Centerline is valid? [True, True] Translation: X:104.41, Y:1.50, Z:0.89 [[ 9.99444782e-01 -2.87222393e-02 -1.68867002e-02 1.04408169e+02] [ 2.87237114e-02 9.99587377e-01 -1.55409301e-04 1.49975035e+00] [ 1.68841961e-02 -3.29725689e-04 9.99857397e-01 8.86596108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06925415399998 meters Centerline goodness [0,1] 0.9990217761143246 Centerline is valid? [True, True] Translation: X:104.44, Y:1.50, Z:0.89 [[ 9.99516517e-01 -2.61027414e-02 -1.68931485e-02 1.04437446e+02] [ 2.61038423e-02 9.99659225e-01 -1.55367406e-04 1.50133652e+00] [ 1.68914473e-02 -2.85683797e-04 9.99857289e-01 8.87034220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09925415399998 meters Centerline goodness [0,1] 0.9990229604298975 Centerline is valid? [True, True] Translation: X:104.47, Y:1.50, Z:0.89 [[ 9.99597453e-01 -2.28855959e-02 -1.67684612e-02 1.04467554e+02] [ 2.28862302e-02 9.99738064e-01 -1.54095562e-04 1.50374658e+00] [ 1.67675955e-02 -2.29733332e-04 9.99859388e-01 8.87656951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12925415399998 meters Centerline goodness [0,1] 0.9988497422570614 Centerline is valid? [True, True] Translation: X:104.50, Y:1.51, Z:0.89 [[ 9.99723859e-01 -1.67699916e-02 -1.64612689e-02 1.04496687e+02] [ 1.67697586e-02 9.99859366e-01 -1.52201069e-04 1.50839973e+00] [ 1.64615063e-02 -1.23892466e-04 9.99864493e-01 8.88663484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15925415399998 meters Centerline goodness [0,1] 0.998914708886619 Centerline is valid? [True, True] Translation: X:104.52, Y:1.51, Z:0.89 [[ 9.99764046e-01 -1.38067833e-02 -1.67697470e-02 1.04524810e+02] [ 1.38060924e-02 9.99904679e-01 -1.56971541e-04 1.51009551e+00] [ 1.67703158e-02 -7.45901742e-05 9.99859366e-01 8.87815117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18925415399998 meters Centerline goodness [0,1] 0.9992111210609356 Centerline is valid? [True, True] Translation: X:104.55, Y:1.51, Z:0.89 [[ 9.99813430e-01 -1.01134407e-02 -1.64567237e-02 1.04553409e+02] [ 1.01122320e-02 9.99948858e-01 -1.56657181e-04 1.51264368e+00] [ 1.64574664e-02 -9.78625435e-06 9.99864567e-01 8.89801373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21925415399998 meters Centerline goodness [0,1] 0.9990402047563186 Centerline is valid? [True, True] Translation: X:104.58, Y:1.51, Z:0.89 [[ 9.99827399e-01 -8.79811904e-03 -1.63635232e-02 1.04580652e+02] [ 8.79669526e-03 9.99961296e-01 -1.58986185e-04 1.51352831e+00] [ 1.63642887e-02 1.50138160e-05 9.99866096e-01 8.89562919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24925415399998 meters Centerline goodness [0,1] 0.999251912965417 Centerline is valid? [True, True] Translation: X:104.61, Y:1.51, Z:0.89 [[ 9.99839136e-01 -7.40687492e-03 -1.63352327e-02 1.04608888e+02] [ 7.40521905e-03 9.99972568e-01 -1.61853842e-04 1.51399029e+00] [ 1.63359834e-02 4.08618295e-05 9.99866558e-01 8.90297000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27925415399999 meters Centerline goodness [0,1] 0.9992096043749465 Centerline is valid? [True, True] Translation: X:104.64, Y:1.51, Z:0.89 [[ 9.99841065e-01 -7.53589733e-03 -1.61572112e-02 1.04636861e+02] [ 7.53422054e-03 9.99971604e-01 -1.64648185e-04 1.51369302e+00] [ 1.61579932e-02 4.28900242e-05 9.99869450e-01 8.90467403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30925415399997 meters Centerline goodness [0,1] 0.9992952934141967 Centerline is valid? [True, True] Translation: X:104.66, Y:1.51, Z:0.89 [[ 9.99830358e-01 -7.89857171e-03 -1.66393560e-02 1.04664320e+02] [ 7.89676343e-03 9.99968805e-01 -1.74376088e-04 1.51317382e+00] [ 1.66402142e-02 4.29494492e-05 9.99861541e-01 8.90156444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33925415399997 meters Centerline goodness [0,1] 0.9990606319385141 Centerline is valid? [True, True] Translation: X:104.69, Y:1.51, Z:0.89 [[ 9.99804733e-01 -8.93019271e-03 -1.76280142e-02 1.04691926e+02] [ 8.92823102e-03 9.99960125e-01 -1.89980620e-04 1.51170572e+00] [ 1.76290078e-02 3.25565396e-05 9.99844596e-01 8.89608757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36925415399998 meters Centerline goodness [0,1] 0.9989765458422175 Centerline is valid? [True, True] Translation: X:104.72, Y:1.51, Z:0.89 [[ 9.99791214e-01 -9.44934819e-03 -1.81173191e-02 1.04719484e+02] [ 9.44729603e-03 9.99955354e-01 -1.98856204e-04 1.51157370e+00] [ 1.81183893e-02 2.76550081e-05 9.99835848e-01 8.88866280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39925415399998 meters Centerline goodness [0,1] 0.9989963698483878 Centerline is valid? [True, True] Translation: X:104.75, Y:1.51, Z:0.89 [[ 9.99755490e-01 -1.07566961e-02 -1.93197757e-02 1.04748573e+02] [ 1.07545415e-02 9.99942145e-01 -2.15420598e-04 1.51083978e+00] [ 1.93209751e-02 7.59259582e-06 9.99813333e-01 8.88422261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42925415399998 meters Centerline goodness [0,1] 0.9990840930391071 Centerline is valid? [True, True] Translation: X:104.78, Y:1.51, Z:0.89 [[ 9.99743255e-01 -1.15431513e-02 -1.94981778e-02 1.04776219e+02] [ 1.15410041e-02 9.99933376e-01 -2.22645534e-04 1.51055391e+00] [ 1.94994488e-02 -2.44017927e-06 9.99809868e-01 8.88727102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45925415399998 meters Centerline goodness [0,1] 0.9989123712439487 Centerline is valid? [True, True] Translation: X:104.80, Y:1.51, Z:0.89 [[ 9.99723563e-01 -1.25890416e-02 -1.98573532e-02 1.04803764e+02] [ 1.25869075e-02 9.99920755e-01 -2.32456261e-04 1.51020889e+00] [ 1.98587060e-02 -1.75506677e-05 9.99802796e-01 8.88658677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48925415399998 meters Centerline goodness [0,1] 0.998785580364752 Centerline is valid? [True, True] Translation: X:104.83, Y:1.51, Z:0.89 [[ 9.99700248e-01 -1.43113059e-02 -1.98645813e-02 1.04830351e+02] [ 1.43094316e-02 9.99897587e-01 -2.36496253e-04 1.50866440e+00] [ 1.98659315e-02 -4.78255057e-05 9.99802652e-01 8.88826519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51925415399998 meters Centerline goodness [0,1] 0.9988707787365505 Centerline is valid? [True, True] Translation: X:104.86, Y:1.51, Z:0.89 [[ 9.99696448e-01 -1.52827526e-02 -1.93248263e-02 1.04857791e+02] [ 1.52811152e-02 9.99883210e-01 -2.32402488e-04 1.50809410e+00] [ 1.93261211e-02 -6.29729565e-05 9.99813231e-01 8.89175986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54925415399998 meters Centerline goodness [0,1] 0.9987632207437734 Centerline is valid? [True, True] Translation: X:104.89, Y:1.51, Z:0.89 [[ 9.99712757e-01 -1.58676512e-02 -1.79616792e-02 1.04886543e+02] [ 1.58662746e-02 9.99874099e-01 -2.19149430e-04 1.50770929e+00] [ 1.79628952e-02 -6.58984542e-05 9.99838652e-01 8.91227297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57925415399998 meters Centerline goodness [0,1] 0.9988506236430974 Centerline is valid? [True, True] Translation: X:104.91, Y:1.51, Z:0.89 [[ 9.99723792e-01 -1.57956818e-02 -1.74022115e-02 1.04914229e+02] [ 1.57943017e-02 9.99875239e-01 -2.16748861e-04 1.50834077e+00] [ 1.74034641e-02 -5.81667862e-05 9.99848547e-01 8.91920019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60925415399998 meters Centerline goodness [0,1] 0.9986362667803111 Centerline is valid? [True, True] Translation: X:104.94, Y:1.51, Z:0.89 [[ 9.99749320e-01 -1.47052454e-02 -1.68835367e-02 1.04942403e+02] [ 1.47037375e-02 9.99891871e-01 -2.13453135e-04 1.50922801e+00] [ 1.68848500e-02 -3.48514648e-05 9.99857440e-01 8.91892581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63925415399999 meters Centerline goodness [0,1] 0.9987447609727038 Centerline is valid? [True, True] Translation: X:104.97, Y:1.51, Z:0.89 [[ 9.99808916e-01 -1.08677460e-02 -1.62487965e-02 1.04970003e+02] [ 1.08657976e-02 9.99940944e-01 -2.08192305e-04 1.51232263e+00] [ 1.62500995e-02 3.15963884e-05 9.99867958e-01 8.93704761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66925415399997 meters Centerline goodness [0,1] 0.9987447609727038 Centerline is valid? [True, True] Translation: X:105.00, Y:1.51, Z:0.89 [[ 9.99805738e-01 -1.11564078e-02 -1.62487353e-02 1.04997392e+02] [ 1.11544212e-02 9.99937765e-01 -2.12888085e-04 1.51274934e+00] [ 1.62500991e-02 3.16014910e-05 9.99867958e-01 8.93962238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69925415399997 meters Centerline goodness [0,1] 0.9989339246497942 Centerline is valid? [True, True] Translation: X:105.03, Y:1.51, Z:0.89 [[ 9.99833494e-01 -8.88760382e-03 -1.59372225e-02 1.05025458e+02] [ 8.88533137e-03 9.99960502e-01 -2.13391515e-04 1.51463017e+00] [ 1.59384895e-02 7.17484812e-05 9.99872972e-01 8.94734091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72925415399997 meters Centerline goodness [0,1] 0.9988936170212765 Centerline is valid? [True, True] Translation: X:105.05, Y:1.52, Z:0.90 [[ 9.99872814e-01 -3.45834035e-03 -1.55690826e-02 1.05052677e+02] [ 3.45546111e-03 9.99994007e-01 -2.11830277e-04 1.51843274e+00] [ 1.55697219e-02 1.58004975e-04 9.99878772e-01 8.95825514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75925415399998 meters Centerline goodness [0,1] 0.9989992973790108 Centerline is valid? [True, True] Translation: X:105.08, Y:1.52, Z:0.90 [[ 9.99888984e-01 -1.27370495e-03 -1.48457584e-02 1.05081381e+02] [ 1.27081105e-03 9.99999172e-01 -2.04362618e-04 1.51970697e+00] [ 1.48460064e-02 1.85473777e-04 9.99889775e-01 8.96449796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78925415399998 meters Centerline goodness [0,1] 0.9991248292349727 Centerline is valid? [True, True] Translation: X:105.11, Y:1.52, Z:0.90 [[ 9.99882695e-01 2.37558273e-04 -1.53147225e-02 1.05110107e+02] [-2.40876520e-04 9.99999948e-01 -2.14826216e-04 1.52035430e+00] [ 1.53146707e-02 2.18489973e-04 9.99882700e-01 8.96890203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81925415399998 meters Centerline goodness [0,1] 0.999126060451038 Centerline is valid? [True, True] Translation: X:105.14, Y:1.52, Z:0.90 [[ 9.99886507e-01 1.48866460e-03 -1.49918802e-02 1.05138065e+02] [-1.49202834e-03 9.99998864e-01 -2.13188417e-04 1.52224112e+00] [ 1.49915458e-02 2.35532532e-04 9.99887593e-01 8.96439302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84925415399998 meters Centerline goodness [0,1] 0.9992746821401144 Centerline is valid? [True, True] Translation: X:105.17, Y:1.52, Z:0.90 [[ 9.99878280e-01 1.77856462e-03 -1.55003593e-02 1.05166563e+02] [-1.78221599e-03 9.99998387e-01 -2.21756348e-04 1.52056709e+00] [ 1.54999399e-02 2.49354344e-04 9.99879838e-01 8.96985078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87925415399998 meters Centerline goodness [0,1] 0.9991479027757068 Centerline is valid? [True, True] Translation: X:105.19, Y:1.52, Z:0.90 [[ 9.99861472e-01 -6.87737972e-04 -1.66301896e-02 1.05194364e+02] [ 6.83852616e-04 9.99999738e-01 -2.39318215e-04 1.51821670e+00] [ 1.66303499e-02 2.27912464e-04 9.99861680e-01 8.95585243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90925415399998 meters Centerline goodness [0,1] 0.9990635508449325 Centerline is valid? [True, True] Translation: X:105.22, Y:1.52, Z:0.90 [[ 9.99844431e-01 -2.99038269e-03 -1.73830803e-02 1.05223260e+02] [ 2.98645971e-03 9.99995509e-01 -2.51632194e-04 1.51594837e+00] [ 1.73837547e-02 1.99679179e-04 9.99848871e-01 8.95308777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93925415399998 meters Centerline goodness [0,1] 0.9989574468085106 Centerline is valid? [True, True] Translation: X:105.25, Y:1.51, Z:0.89 [[ 9.99818238e-01 -5.59990984e-03 -1.82245043e-02 1.05251677e+02] [ 5.59600623e-03 9.99984307e-01 -2.65185343e-04 1.51398396e+00] [ 1.82257033e-02 1.63152702e-04 9.99833885e-01 8.94697122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96925415399998 meters Centerline goodness [0,1] 0.9992140034838765 Centerline is valid? [True, True] Translation: X:105.28, Y:1.51, Z:0.89 [[ 9.99791255e-01 -8.40423436e-03 -1.86229982e-02 1.05279601e+02] [ 8.40061568e-03 9.99964677e-01 -2.72534604e-04 1.51199729e+00] [ 1.86246308e-02 1.16033063e-04 9.99826540e-01 8.93884862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99925415399998 meters Centerline goodness [0,1] 0.9991078066914498 Centerline is valid? [True, True] Translation: X:105.31, Y:1.51, Z:0.89 [[ 9.99700868e-01 -1.42918467e-02 -1.98473707e-02 1.05308454e+02] [ 1.42888631e-02 9.99897866e-01 -2.92136533e-04 1.50727264e+00] [ 1.98495188e-02 8.45278244e-06 9.99802979e-01 8.93636003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02925415399999 meters Centerline goodness [0,1] 0.9992160850865485 Centerline is valid? [True, True] Translation: X:105.34, Y:1.51, Z:0.89 [[ 9.99644776e-01 -1.70129764e-02 -2.05153523e-02 1.05336774e+02] [ 1.70102880e-02 9.99855268e-01 -3.05553994e-04 1.50557963e+00] [ 2.05175815e-02 -4.35265971e-05 9.99789491e-01 8.93745067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05925415399997 meters Centerline goodness [0,1] 0.9991108664817834 Centerline is valid? [True, True] Translation: X:105.37, Y:1.50, Z:0.89 [[ 9.99537415e-01 -2.19597475e-02 -2.10410551e-02 1.05365997e+02] [ 2.19579453e-02 9.99758845e-01 -3.16713709e-04 1.50212566e+00] [ 2.10429359e-02 -1.45451134e-04 9.99778562e-01 8.94241719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08925415399997 meters Centerline goodness [0,1] 0.9990483239928095 Centerline is valid? [True, True] Translation: X:105.39, Y:1.50, Z:0.89 [[ 9.99491160e-01 -2.45490451e-02 -2.03657874e-02 1.05394534e+02] [ 2.45478231e-02 9.99698609e-01 -3.10031447e-04 1.50052457e+00] [ 2.03672603e-02 -1.90062056e-04 9.99792548e-01 8.94952282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11925415399998 meters Centerline goodness [0,1] 0.999176798378926 Centerline is valid? [True, True] Translation: X:105.42, Y:1.50, Z:0.90 [[ 9.99407460e-01 -2.86864926e-02 -1.90213900e-02 1.05422741e+02] [ 2.86861164e-02 9.99588426e-01 -2.92683523e-04 1.49607792e+00] [ 1.90219573e-02 -2.53139711e-04 9.99819034e-01 8.96234398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14925415399998 meters Centerline goodness [0,1] 0.9993241388049929 Centerline is valid? [True, True] Translation: X:105.45, Y:1.50, Z:0.90 [[ 9.99374067e-01 -3.05934488e-02 -1.77627651e-02 1.05452795e+02] [ 3.05934022e-02 9.99531875e-01 -2.74416218e-04 1.49563759e+00] [ 1.77628452e-02 -2.69178965e-04 9.99842192e-01 8.97912012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17925415399998 meters Centerline goodness [0,1] 0.9987359373024902 Centerline is valid? [True, True] Translation: X:105.48, Y:1.49, Z:0.90 [[ 9.99322032e-01 -3.27463813e-02 -1.68270608e-02 1.05482729e+02] [ 3.27466369e-02 9.99463651e-01 -2.60417783e-04 1.49339356e+00] [ 1.68265633e-02 -2.90788421e-04 9.99858381e-01 8.98235740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20925415399998 meters Centerline goodness [0,1] 0.9988811484061643 Centerline is valid? [True, True] Translation: X:105.51, Y:1.49, Z:0.90 [[ 9.99238174e-01 -3.57349544e-02 -1.56870843e-02 1.05513980e+02] [ 3.57355457e-02 9.99361252e-01 -2.42700821e-04 1.49215496e+00] [ 1.56857371e-02 -3.18070593e-04 9.99876921e-01 8.99137264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23925415399998 meters Centerline goodness [0,1] 0.9988827522239555 Centerline is valid? [True, True] Translation: X:105.55, Y:1.49, Z:0.90 [[ 9.99184989e-01 -3.74972646e-02 -1.49436509e-02 1.05545082e+02] [ 3.74980077e-02 9.99296676e-01 -2.30564201e-04 1.48930736e+00] [ 1.49417862e-02 -3.29980848e-04 9.99888311e-01 8.99656281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26925415399998 meters Centerline goodness [0,1] 0.9988621038435603 Centerline is valid? [True, True] Translation: X:105.58, Y:1.49, Z:0.90 [[ 9.99021850e-01 -4.16922546e-02 -1.47343161e-02 1.05576046e+02] [ 4.16934500e-02 9.99130424e-01 -2.26173891e-04 1.48522938e+00] [ 1.47309332e-02 -3.88371812e-04 9.99891418e-01 9.00181437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29925415399998 meters Centerline goodness [0,1] 0.9987556942804117 Centerline is valid? [True, True] Translation: X:105.61, Y:1.48, Z:0.90 [[ 9.98908240e-01 -4.43645424e-02 -1.46327030e-02 1.05608557e+02] [ 4.43660296e-02 9.99015318e-01 -2.23121080e-04 1.48305008e+00] [ 1.46281931e-02 -4.26317450e-04 9.99892911e-01 9.00206792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32925415399998 meters Centerline goodness [0,1] 0.9985466647008024 Centerline is valid? [True, True] Translation: X:105.64, Y:1.48, Z:0.90 [[ 9.98615473e-01 -5.04294193e-02 -1.49670126e-02 1.05640130e+02] [ 5.04316683e-02 9.98727488e-01 -2.27364390e-04 1.47949020e+00] [ 1.49594327e-02 -5.27761817e-04 9.99887962e-01 9.00088187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35925415399998 meters Centerline goodness [0,1] 0.998987149458758 Centerline is valid? [True, True] Translation: X:105.67, Y:1.48, Z:0.90 [[ 9.98268778e-01 -5.65700927e-02 -1.61019071e-02 1.05670980e+02] [ 5.65734993e-02 9.98398407e-01 -2.44221748e-04 1.47693880e+00] [ 1.60899340e-02 -6.67142283e-04 9.99870326e-01 8.99714971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38925415399999 meters Centerline goodness [0,1] 0.998987149458758 Centerline is valid? [True, True] Translation: X:105.70, Y:1.48, Z:0.90 [[ 9.98272867e-01 -5.64978928e-02 -1.61019151e-02 1.05702694e+02] [ 5.65012986e-02 9.98402496e-01 -2.43689987e-04 1.47735767e+00] [ 1.60899602e-02 -6.66510013e-04 9.99870326e-01 9.00012099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41925415399997 meters Centerline goodness [0,1] 0.9987573715248526 Centerline is valid? [True, True] Translation: X:105.73, Y:1.48, Z:0.90 [[ 9.97961893e-01 -6.15212992e-02 -1.69466979e-02 1.05733464e+02] [ 6.15258089e-02 9.98105460e-01 -2.55625523e-04 1.47535767e+00] [ 1.69303181e-02 -7.87554763e-04 9.99856362e-01 8.99184291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44925415399997 meters Centerline goodness [0,1] 0.9990119823418121 Centerline is valid? [True, True] Translation: X:105.76, Y:1.47, Z:0.90 [[ 9.97837830e-01 -6.33950632e-02 -1.73416128e-02 1.05764586e+02] [ 6.34000784e-02 9.97988157e-01 -2.60974138e-04 1.47385768e+00] [ 1.73232686e-02 -8.39049741e-04 9.99849589e-01 8.98949029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47925415399997 meters Centerline goodness [0,1] 0.999053727263169 Centerline is valid? [True, True] Translation: X:105.80, Y:1.47, Z:0.90 [[ 9.97663480e-01 -6.57125923e-02 -1.86932224e-02 1.05795939e+02] [ 6.57188424e-02 9.97838141e-01 -2.80419847e-04 1.47472250e+00] [ 1.86712374e-02 -9.48732298e-04 9.99825227e-01 8.98164980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50925415399998 meters Centerline goodness [0,1] 0.9987144633411309 Centerline is valid? [True, True] Translation: X:105.83, Y:1.48, Z:0.90 [[ 9.97620149e-01 -6.60542355e-02 -1.97706039e-02 1.05828385e+02] [ 6.60613164e-02 9.97815522e-01 -2.95445708e-04 1.47585578e+00] [ 1.97469308e-02 -1.01132953e-03 9.99804499e-01 8.97515218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53925415399998 meters Centerline goodness [0,1] 0.998676220293753 Centerline is valid? [True, True] Translation: X:105.86, Y:1.47, Z:0.90 [[ 9.97639433e-01 -6.56045062e-02 -2.02882106e-02 1.05859932e+02] [ 6.56118968e-02 9.97845172e-01 -3.01864487e-04 1.47142619e+00] [ 2.02642967e-02 -1.02999607e-03 9.99794128e-01 8.96385589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56925415399998 meters Centerline goodness [0,1] 0.9988200838583258 Centerline is valid? [True, True] Translation: X:105.89, Y:1.48, Z:0.90 [[ 9.97783144e-01 -6.34012877e-02 -2.02255985e-02 1.05891443e+02] [ 6.34082038e-02 9.97987630e-01 -2.99813764e-04 1.48162500e+00] [ 2.02039057e-02 -9.83319754e-04 9.99795397e-01 8.98126249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59925415399998 meters Centerline goodness [0,1] 0.9989251164457184 Centerline is valid? [True, True] Translation: X:105.92, Y:1.49, Z:0.90 [[ 9.97892071e-01 -6.17678191e-02 -1.99035517e-02 1.05923272e+02] [ 6.17742182e-02 9.98090106e-01 -2.93744836e-04 1.48514559e+00] [ 1.98836820e-02 -9.36400701e-04 9.99801862e-01 8.99234402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62925415399998 meters Centerline goodness [0,1] 0.9985884930583353 Centerline is valid? [True, True] Translation: X:105.96, Y:1.49, Z:0.90 [[ 9.98026994e-01 -5.98237313e-02 -1.90588673e-02 1.05955078e+02] [ 5.98292689e-02 9.98208586e-01 -2.80018032e-04 1.48764214e+00] [ 1.90414767e-02 -8.60812543e-04 9.99818324e-01 9.00216004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65925415399998 meters Centerline goodness [0,1] 0.9988390256258707 Centerline is valid? [True, True] Translation: X:105.99, Y:1.49, Z:0.90 [[ 9.98261629e-01 -5.63463822e-02 -1.72859593e-02 1.05985229e+02] [ 5.63504281e-02 9.98411020e-01 -2.53309583e-04 1.49262684e+00] [ 1.72727653e-02 -7.21201969e-04 9.99850555e-01 9.02454323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68925415399998 meters Centerline goodness [0,1] 0.9988164680023671 Centerline is valid? [True, True] Translation: X:106.02, Y:1.50, Z:0.90 [[ 9.98362652e-01 -5.47526084e-02 -1.65579764e-02 1.06017228e+02] [ 5.47561132e-02 9.98499729e-01 -2.41956792e-04 1.49592626e+00] [ 1.65463827e-02 -6.65089804e-04 9.99862878e-01 9.03572642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71925415399998 meters Centerline goodness [0,1] 0.9987930888456 Centerline is valid? [True, True] Translation: X:106.05, Y:1.50, Z:0.90 [[ 9.98548806e-01 -5.16025159e-02 -1.54098217e-02 1.06048163e+02] [ 5.16051900e-02 9.98667539e-01 -2.24320259e-04 1.50035632e+00] [ 1.54008642e-02 -5.71232051e-04 9.99881236e-01 9.04505589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74925415399998 meters Centerline goodness [0,1] 0.9988603507587109 Centerline is valid? [True, True] Translation: X:106.08, Y:1.50, Z:0.91 [[ 9.98650359e-01 -4.97343847e-02 -1.49649984e-02 1.06079899e+02] [ 4.97367081e-02 9.98762340e-01 -2.17111920e-04 1.50201461e+00] [ 1.49572747e-02 -5.27490859e-04 9.99887995e-01 9.05073883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77925415399999 meters Centerline goodness [0,1] 0.9990054804375886 Centerline is valid? [True, True] Translation: X:106.11, Y:1.51, Z:0.91 [[ 9.98816805e-01 -4.64563886e-02 -1.43803618e-02 1.06111437e+02] [ 4.64582077e-02 9.98920213e-01 -2.07716195e-04 1.50787426e+00] [ 1.43744838e-02 -4.60615411e-04 9.99896576e-01 9.05855091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80925415399997 meters Centerline goodness [0,1] 0.9989388344157222 Centerline is valid? [True, True] Translation: X:106.14, Y:1.51, Z:0.91 [[ 9.98891535e-01 -4.48347041e-02 -1.43370667e-02 1.06144138e+02] [ 4.48363588e-02 9.98994324e-01 -2.06150689e-04 1.51064048e+00] [ 1.43318910e-02 -4.36899691e-04 9.99897198e-01 9.06013534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83925415399997 meters Centerline goodness [0,1] 0.9990631919604838 Centerline is valid? [True, True] Translation: X:106.18, Y:1.51, Z:0.91 [[ 9.98994307e-01 -4.22823221e-02 -1.49191000e-02 1.06175300e+02] [ 4.22838536e-02 9.99105615e-01 -2.12905955e-04 1.51455496e+00] [ 1.49147588e-02 -4.18145204e-04 9.99888681e-01 9.05616826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86925415399998 meters Centerline goodness [0,1] 0.9989567365014478 Centerline is valid? [True, True] Translation: X:106.21, Y:1.52, Z:0.91 [[ 9.99024225e-01 -4.13035089e-02 -1.56402573e-02 1.06207805e+02] [ 4.13051002e-02 9.99146556e-01 -2.21407815e-04 1.51910436e+00] [ 1.56360541e-02 -4.24830624e-04 9.99877659e-01 9.05873406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89925415399998 meters Centerline goodness [0,1] 0.9987849331713244 Centerline is valid? [True, True] Translation: X:106.24, Y:1.52, Z:0.91 [[ 9.99034701e-01 -4.07839627e-02 -1.63197341e-02 1.06238829e+02] [ 4.07856441e-02 9.99167893e-01 -2.29923776e-04 1.51931532e+00] [ 1.63155315e-02 -4.35909036e-04 9.99866798e-01 9.05067668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92925415399998 meters Centerline goodness [0,1] 0.9989331057292222 Centerline is valid? [True, True] Translation: X:106.27, Y:1.52, Z:0.90 [[ 9.99028766e-01 -4.06459157e-02 -1.70127420e-02 1.06270566e+02] [ 4.06477415e-02 9.99173511e-01 -2.38604268e-04 1.52070768e+00] [ 1.70083794e-02 -4.53157009e-04 9.99855244e-01 9.04744402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95925415399998 meters Centerline goodness [0,1] 0.9990179333902647 Centerline is valid? [True, True] Translation: X:106.30, Y:1.52, Z:0.90 [[ 9.98990917e-01 -4.10343948e-02 -1.82572136e-02 1.06301943e+02] [ 4.10365841e-02 9.99157612e-01 -2.54866495e-04 1.52150339e+00] [ 1.82522922e-02 -4.94604368e-04 9.99833291e-01 9.04005825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98925415399998 meters Centerline goodness [0,1] 0.9988481228668942 Centerline is valid? [True, True] Translation: X:106.33, Y:1.52, Z:0.90 [[ 9.98980883e-01 -4.12578454e-02 -1.83026010e-02 1.06333909e+02] [ 4.12601036e-02 9.99148407e-01 -2.54378123e-04 1.52374224e+00] [ 1.82975098e-02 -5.01048333e-04 9.99832461e-01 9.04530022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01925415399998 meters Centerline goodness [0,1] 0.998956203135651 Centerline is valid? [True, True] Translation: X:106.37, Y:1.52, Z:0.90 [[ 9.98995557e-01 -4.09295179e-02 -1.82387451e-02 1.06365226e+02] [ 4.09317259e-02 9.99161914e-01 -2.52380172e-04 1.52440004e+00] [ 1.82337892e-02 -4.94416644e-04 9.99833628e-01 9.04649190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04925415399998 meters Centerline goodness [0,1] 0.9988477787735245 Centerline is valid? [True, True] Translation: X:106.40, Y:1.53, Z:0.91 [[ 9.99024714e-01 -4.05959305e-02 -1.73663587e-02 1.06396517e+02] [ 4.05978947e-02 9.99175537e-01 -2.39571986e-04 1.52521406e+00] [ 1.73617664e-02 -4.65699268e-04 9.99849165e-01 9.05382372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07925415399998 meters Centerline goodness [0,1] 0.9991048211773733 Centerline is valid? [True, True] Translation: X:106.43, Y:1.53, Z:0.91 [[ 9.99092491e-01 -3.95794325e-02 -1.57373150e-02 1.06427256e+02] [ 3.95809273e-02 9.99216345e-01 -2.16592955e-04 1.52668157e+00] [ 1.57335550e-02 -4.06501126e-04 9.99876137e-01 9.06790253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10925415399998 meters Centerline goodness [0,1] 0.9988691885894728 Centerline is valid? [True, True] Translation: X:106.46, Y:1.53, Z:0.91 [[ 9.99111888e-01 -3.93373012e-02 -1.51000487e-02 1.06458992e+02] [ 3.93386604e-02 9.99225914e-01 -2.07117749e-04 1.52926579e+00] [ 1.50965074e-02 -3.87081882e-04 9.99885966e-01 9.07969053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13925415399999 meters Centerline goodness [0,1] 0.9988268418582825 Centerline is valid? [True, True] Translation: X:106.49, Y:1.53, Z:0.91 [[ 9.99128161e-01 -3.91412344e-02 -1.45217570e-02 1.06489915e+02] [ 3.91424838e-02 9.99233620e-01 -1.98289577e-04 1.52858356e+00] [ 1.45183891e-02 -3.70300938e-04 9.99894534e-01 9.08113832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16925415399997 meters Centerline goodness [0,1] 0.9989773961950617 Centerline is valid? [True, True] Translation: X:106.52, Y:1.53, Z:0.91 [[ 9.99113746e-01 -3.98039185e-02 -1.36883093e-02 1.06522138e+02] [ 3.98051012e-02 9.99207446e-01 -1.86139567e-04 1.53316908e+00] [ 1.36848697e-02 -3.58889938e-04 9.99906293e-01 9.09664084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19925415399997 meters Centerline goodness [0,1] 0.9991688510964772 Centerline is valid? [True, True] Translation: X:106.55, Y:1.53, Z:0.91 [[ 9.99067594e-01 -4.09090039e-02 -1.37983852e-02 1.06553140e+02] [ 4.09103236e-02 9.99162805e-01 -1.86719908e-04 1.52890331e+00] [ 1.37944718e-02 -3.77950597e-04 9.99904780e-01 9.09119191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22925415399997 meters Centerline goodness [0,1] 0.9988908323023762 Centerline is valid? [True, True] Translation: X:106.58, Y:1.53, Z:0.91 [[ 9.99001469e-01 -4.25412935e-02 -1.36492610e-02 1.06584819e+02] [ 4.25427503e-02 9.99094630e-01 -1.83734942e-04 1.53437388e+00] [ 1.36447197e-02 -3.97125627e-04 9.99906828e-01 9.10036272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25925415399998 meters Centerline goodness [0,1] 0.9991259113972626 Centerline is valid? [True, True] Translation: X:106.61, Y:1.53, Z:0.91 [[ 9.98769692e-01 -4.74507681e-02 -1.44058203e-02 1.06614581e+02] [ 4.74529166e-02 9.98873457e-01 -1.92832895e-04 1.53091639e+00] [ 1.43987416e-02 -4.91002541e-04 9.99896212e-01 9.09876738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28925415399998 meters Centerline goodness [0,1] 0.9989763057433513 Centerline is valid? [True, True] Translation: X:106.65, Y:1.53, Z:0.91 [[ 9.98501826e-01 -5.27497559e-02 -1.45453504e-02 1.06645307e+02] [ 5.27525088e-02 9.98607598e-01 -1.94606785e-04 1.52998941e+00] [ 1.45353629e-02 -5.72988495e-04 9.99894192e-01 9.09828718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31925415399998 meters Centerline goodness [0,1] 0.9990181430096051 Centerline is valid? [True, True] Translation: X:106.68, Y:1.53, Z:0.91 [[ 9.98377006e-01 -5.49481322e-02 -1.49685509e-02 1.06677709e+02] [ 5.49513032e-02 9.98489016e-01 -1.99684330e-04 1.53011916e+00] [ 1.49569060e-02 -6.23181136e-04 9.99887945e-01 9.09815887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34925415399998 meters Centerline goodness [0,1] 0.9988688989905457 Centerline is valid? [True, True] Translation: X:106.71, Y:1.53, Z:0.91 [[ 9.98156324e-01 -5.85734419e-02 -1.59092910e-02 1.06708912e+02] [ 5.85774999e-02 9.98282842e-01 -2.11205761e-04 1.52948609e+00] [ 1.58943433e-02 -7.21110126e-04 9.99873417e-01 9.09331681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37925415399998 meters Centerline goodness [0,1] 0.9988688989905457 Centerline is valid? [True, True] Translation: X:106.74, Y:1.53, Z:0.91 [[ 9.98162735e-01 -5.84640746e-02 -1.59093062e-02 1.06741483e+02] [ 5.84681369e-02 9.98289253e-01 -2.10059968e-04 1.52982606e+00] [ 1.58943703e-02 -7.20513457e-04 9.99873417e-01 9.09636712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40925415399998 meters Centerline goodness [0,1] 0.9990816675209294 Centerline is valid? [True, True] Translation: X:106.77, Y:1.53, Z:0.91 [[ 9.98070879e-01 -6.00058784e-02 -1.59315994e-02 1.06773775e+02] [ 6.00101722e-02 9.98197744e-01 -2.08840339e-04 1.53241344e+00] [ 1.59154182e-02 -7.47620562e-04 9.99873062e-01 9.09794301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43925415399998 meters Centerline goodness [0,1] 0.9990370830034451 Centerline is valid? [True, True] Translation: X:106.81, Y:1.53, Z:0.91 [[ 9.98069520e-01 -5.99298380e-02 -1.62986758e-02 1.06806532e+02] [ 5.99343459e-02 9.98202299e-01 -2.12173027e-04 1.53313704e+00] [ 1.62820911e-02 -7.65087040e-04 9.99867145e-01 9.10053282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46925415399998 meters Centerline goodness [0,1] 0.9992277992277993 Centerline is valid? [True, True] Translation: X:106.84, Y:1.54, Z:0.91 [[ 9.98161476e-01 -5.83471427e-02 -1.64097457e-02 1.06837670e+02] [ 5.83515224e-02 9.98296076e-01 -2.12185691e-04 1.53522290e+00] [ 1.63941651e-02 -7.45738059e-04 9.99865329e-01 9.10266839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49925415399998 meters Centerline goodness [0,1] 0.999057290997129 Centerline is valid? [True, True] Translation: X:106.87, Y:1.54, Z:0.91 [[ 9.98269469e-01 -5.65010632e-02 -1.63002282e-02 1.06868835e+02] [ 5.65051534e-02 9.98402285e-01 -2.09885705e-04 1.53650049e+00] [ 1.62860439e-02 -7.11524404e-04 9.99867120e-01 9.10606519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52925415399999 meters Centerline goodness [0,1] 0.9991001799640072 Centerline is valid? [True, True] Translation: X:106.90, Y:1.54, Z:0.91 [[ 9.98392096e-01 -5.44031028e-02 -1.59224979e-02 1.06900204e+02] [ 5.44067508e-02 9.98518835e-01 -2.04295910e-04 1.53910779e+00] [ 1.59100284e-02 -6.62323954e-04 9.99873208e-01 9.11658528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55925415399997 meters Centerline goodness [0,1] 0.9991001799640072 Centerline is valid? [True, True] Translation: X:106.93, Y:1.54, Z:0.91 [[ 9.98395943e-01 -5.43324454e-02 -1.59225081e-02 1.06931923e+02] [ 5.43360971e-02 9.98522682e-01 -2.03499233e-04 1.53945056e+00] [ 1.59100421e-02 -6.61994136e-04 9.99873208e-01 9.11955595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58925415399997 meters Centerline goodness [0,1] 0.9992276004119465 Centerline is valid? [True, True] Translation: X:106.96, Y:1.55, Z:0.91 [[ 9.98696797e-01 -4.88705132e-02 -1.47099059e-02 1.06963034e+02] [ 4.88730485e-02 9.98804981e-01 -1.87294197e-04 1.54657309e+00] [ 1.47014805e-02 -5.31867833e-04 9.99891786e-01 9.13776482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61925415399998 meters Centerline goodness [0,1] 0.9993771878959689 Centerline is valid? [True, True] Translation: X:106.99, Y:1.55, Z:0.91 [[ 9.98835924e-01 -4.60106773e-02 -1.44849825e-02 1.06994981e+02] [ 4.60128415e-02 9.98940831e-01 -1.83994937e-04 1.54998307e+00] [ 1.44781062e-02 -4.82714450e-04 9.99895070e-01 9.14349055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64925415399998 meters Centerline goodness [0,1] 0.9991827956989248 Centerline is valid? [True, True] Translation: X:107.03, Y:1.55, Z:0.91 [[ 9.98966088e-01 -4.30158875e-02 -1.47101575e-02 1.07026224e+02] [ 4.30178054e-02 9.99074288e-01 -1.86160555e-04 1.55336580e+00] [ 1.47045480e-02 -4.46830610e-04 9.99891782e-01 9.14328990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67925415399998 meters Centerline goodness [0,1] 0.9992680301399354 Centerline is valid? [True, True] Translation: X:107.06, Y:1.56, Z:0.91 [[ 9.99197360e-01 -3.70371767e-02 -1.52605467e-02 1.07057235e+02] [ 3.70385525e-02 9.99313819e-01 -1.92565501e-04 1.56130631e+00] [ 1.52572072e-02 -3.72817618e-04 9.99883533e-01 9.14163104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70925415399998 meters Centerline goodness [0,1] 0.999222142996046 Centerline is valid? [True, True] Translation: X:107.09, Y:1.56, Z:0.91 [[ 9.99297385e-01 -3.39840980e-02 -1.58055925e-02 1.07089662e+02] [ 3.39852052e-02 9.99422316e-01 -1.98619279e-04 1.56420935e+00] [ 1.58032118e-02 -3.38676580e-04 9.99875064e-01 9.13741278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73925415399998 meters Centerline goodness [0,1] 0.9992420797332121 Centerline is valid? [True, True] Translation: X:107.12, Y:1.57, Z:0.91 [[ 9.99478834e-01 -2.76316163e-02 -1.66899494e-02 1.07120495e+02] [ 2.76319818e-02 9.99618142e-01 -2.08747389e-04 1.57009495e+00] [ 1.66893442e-02 -2.52537781e-04 9.99860691e-01 9.12726965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76925415399998 meters Centerline goodness [0,1] 0.9995226108844718 Centerline is valid? [True, True] Translation: X:107.15, Y:1.57, Z:0.91 [[ 9.99569574e-01 -2.41408582e-02 -1.66699223e-02 1.07151497e+02] [ 2.41407453e-02 9.99708548e-01 -2.08026717e-04 1.57410389e+00] [ 1.66700858e-02 -1.94487172e-04 9.99861026e-01 9.13227048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79925415399998 meters Centerline goodness [0,1] 0.9993695789221974 Centerline is valid? [True, True] Translation: X:107.18, Y:1.58, Z:0.91 [[ 9.99729291e-01 -1.63465987e-02 -1.65569540e-02 1.07180657e+02] [ 1.63454191e-02 9.99866383e-01 -2.06578023e-04 1.58151002e+00] [ 1.65581186e-02 -6.41082510e-05 9.99862903e-01 9.13990513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82925415399998 meters Centerline goodness [0,1] 0.9993038635572572 Centerline is valid? [True, True] Translation: X:107.21, Y:1.59, Z:0.91 [[ 9.99774161e-01 -1.29130794e-02 -1.68783662e-02 1.07209030e+02] [ 1.29113298e-02 9.99916623e-01 -2.12627380e-04 1.58554901e+00] [ 1.68797046e-02 -5.34279284e-06 9.99857528e-01 9.14444973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85925415399998 meters Centerline goodness [0,1] 0.9994114569709652 Centerline is valid? [True, True] Translation: X:107.24, Y:1.59, Z:0.92 [[ 9.99810783e-01 -9.50857657e-03 -1.69701306e-02 1.07236758e+02] [ 9.50623962e-03 9.99954791e-01 -2.18373528e-04 1.58909377e+00] [ 1.69714398e-02 5.70100803e-05 9.99855973e-01 9.15263616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88925415399999 meters Centerline goodness [0,1] 0.9994111232279171 Centerline is valid? [True, True] Translation: X:107.26, Y:1.59, Z:0.92 [[ 9.99855501e-01 -3.26149824e-03 -1.66835041e-02 1.07263991e+02] [ 3.25831117e-03 9.99994668e-01 -2.18209452e-04 1.59473731e+00] [ 1.66841268e-02 1.63817874e-04 9.99860797e-01 9.15600240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91925415399997 meters Centerline goodness [0,1] 0.999433366023755 Centerline is valid? [True, True] Translation: X:107.29, Y:1.60, Z:0.92 [[ 9.99868045e-01 -1.05712264e-03 -1.62103098e-02 1.07291918e+02] [ 1.05379275e-03 9.99999422e-01 -2.13958447e-04 1.59719842e+00] [ 1.62105266e-02 1.96847908e-04 9.99868581e-01 9.15723080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94925415399997 meters Centerline goodness [0,1] 0.9996077747755601 Centerline is valid? [True, True] Translation: X:107.32, Y:1.60, Z:0.92 [[ 9.99867696e-01 1.76420851e-03 -1.61702587e-02 1.07320811e+02] [-1.76794003e-03 9.99998414e-01 -2.16472264e-04 1.59795106e+00] [ 1.61698511e-02 2.45031671e-04 9.99869229e-01 9.16841045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97925415399997 meters Centerline goodness [0,1] 0.9995432300163132 Centerline is valid? [True, True] Translation: X:107.35, Y:1.60, Z:0.92 [[ 9.99870383e-01 2.31812144e-03 -1.59324588e-02 1.07348548e+02] [-2.32186189e-03 9.99997281e-01 -2.16275988e-04 1.59896980e+00] [ 1.59319141e-02 2.53240924e-04 9.99873047e-01 9.16877904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00925415399998 meters Centerline goodness [0,1] 0.9996297183681471 Centerline is valid? [True, True] Translation: X:107.38, Y:1.60, Z:0.92 [[ 9.99873580e-01 2.30249040e-03 -1.57328439e-02 1.07376261e+02] [-2.30616001e-03 9.99997318e-01 -2.15107043e-04 1.59937311e+00] [ 1.57323065e-02 2.51362305e-04 9.99876208e-01 9.16929380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03925415399998 meters Centerline goodness [0,1] 0.9995004235539434 Centerline is valid? [True, True] Translation: X:107.41, Y:1.60, Z:0.92 [[ 9.99883086e-01 -6.59488174e-05 -1.52908305e-02 1.07405499e+02] [ 6.27319029e-05 9.99999976e-01 -2.10861477e-04 1.59761721e+00] [ 1.52908440e-02 2.09877601e-04 9.99883066e-01 9.16548493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06925415399998 meters Centerline goodness [0,1] 0.9996956786366403 Centerline is valid? [True, True] Translation: X:107.43, Y:1.60, Z:0.92 [[ 9.99871935e-01 -2.36638846e-03 -1.58276155e-02 1.07434772e+02] [ 2.36320166e-03 9.99997183e-01 -2.20044518e-04 1.59610368e+00] [ 1.58280916e-02 1.82612491e-04 9.99874711e-01 9.16705110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09925415399998 meters Centerline goodness [0,1] 0.9995221650268239 Centerline is valid? [True, True] Translation: X:107.46, Y:1.59, Z:0.92 [[ 9.99829423e-01 -8.72326821e-03 -1.62797351e-02 1.07464093e+02] [ 8.72072192e-03 9.99961948e-01 -2.27393724e-04 1.59117390e+00] [ 1.62810992e-02 8.53838934e-05 9.99867450e-01 9.16206456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12925415399998 meters Centerline goodness [0,1] 0.9993478402643421 Centerline is valid? [True, True] Translation: X:107.49, Y:1.59, Z:0.92 [[ 9.99784787e-01 -1.28212182e-02 -1.63094025e-02 1.07492569e+02] [ 1.28191916e-02 9.99917805e-01 -2.28804098e-04 1.58816804e+00] [ 1.63109955e-02 1.96815012e-05 9.99866967e-01 9.16042574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15925415399998 meters Centerline goodness [0,1] 0.9991544715447155 Centerline is valid? [True, True] Translation: X:107.52, Y:1.58, Z:0.92 [[ 9.99718171e-01 -1.71223707e-02 -1.64439412e-02 1.07521264e+02] [ 1.71208730e-02 9.99853400e-01 -2.31864195e-04 1.58484353e+00] [ 1.64455006e-02 -4.97357798e-05 9.99864762e-01 9.15838061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18925415399998 meters Centerline goodness [0,1] 0.9992847389297094 Centerline is valid? [True, True] Translation: X:107.55, Y:1.58, Z:0.92 [[ 9.99617849e-01 -2.18113499e-02 -1.69829811e-02 1.07550125e+02] [ 2.18103854e-02 9.99762096e-01 -2.42027533e-04 1.58133670e+00] [ 1.69842197e-02 -1.28470322e-04 9.99855749e-01 9.15804297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21925415399998 meters Centerline goodness [0,1] 0.9993729458571181 Centerline is valid? [True, True] Translation: X:107.58, Y:1.57, Z:0.92 [[ 9.99397014e-01 -3.02074013e-02 -1.71207753e-02 1.07579523e+02] [ 3.02076057e-02 9.99543616e-01 -2.46727779e-04 1.57384815e+00] [ 1.71204146e-02 -2.70598623e-04 9.99853398e-01 9.15022480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24925415399998 meters Centerline goodness [0,1] 0.9994392442738214 Centerline is valid? [True, True] Translation: X:107.61, Y:1.57, Z:0.92 [[ 9.99134625e-01 -3.79146447e-02 -1.71020643e-02 1.07610404e+02] [ 3.79159709e-02 9.99280901e-01 -2.46809819e-04 1.56883791e+00] [ 1.70991239e-02 -4.01845135e-04 9.99853719e-01 9.16012712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27925415399997 meters Centerline goodness [0,1] 0.9993106568148037 Centerline is valid? [True, True] Translation: X:107.64, Y:1.57, Z:0.92 [[ 9.99014334e-01 -4.10197606e-02 -1.69628797e-02 1.07641580e+02] [ 4.10215224e-02 9.99158233e-01 -2.44218065e-04 1.56520923e+00] [ 1.69586187e-02 -4.51865803e-04 9.99856090e-01 9.15647203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30925415399997 meters Centerline goodness [0,1] 0.9991599715682684 Centerline is valid? [True, True] Translation: X:107.67, Y:1.56, Z:0.92 [[ 9.98908951e-01 -4.36847432e-02 -1.65091129e-02 1.07672987e+02] [ 4.36867900e-02 9.99045248e-01 -2.36807647e-04 1.56143224e+00] [ 1.65036957e-02 -4.84680871e-04 9.99863687e-01 9.15704565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33925415399997 meters Centerline goodness [0,1] 0.9992077766358342 Centerline is valid? [True, True] Translation: X:107.70, Y:1.56, Z:0.92 [[ 9.98826988e-01 -4.56554027e-02 -1.61317458e-02 1.07704282e+02] [ 4.56576273e-02 9.98957120e-01 -2.30555252e-04 1.55933329e+00] [ 1.61254485e-02 -5.06252432e-04 9.99869848e-01 9.16163792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36925415399998 meters Centerline goodness [0,1] 0.9991610377317902 Centerline is valid? [True, True] Translation: X:107.74, Y:1.56, Z:0.92 [[ 9.98724639e-01 -4.79239356e-02 -1.58868577e-02 1.07736683e+02] [ 4.79263950e-02 9.98850844e-01 -2.26097867e-04 1.56129822e+00] [ 1.58794367e-02 -5.35590305e-04 9.99873770e-01 9.17568827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39925415399998 meters Centerline goodness [0,1] 0.9993348781325094 Centerline is valid? [True, True] Translation: X:107.77, Y:1.56, Z:0.92 [[ 9.98709557e-01 -4.82083967e-02 -1.59740671e-02 1.07768947e+02] [ 4.82109384e-02 9.98837151e-01 -2.26155003e-04 1.56269928e+00] [ 1.59663942e-02 -5.44261601e-04 9.99872381e-01 9.18510124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42925415399998 meters Centerline goodness [0,1] 0.9991625509984969 Centerline is valid? [True, True] Translation: X:107.80, Y:1.56, Z:0.92 [[ 9.98754112e-01 -4.72483923e-02 -1.60565913e-02 1.07801368e+02] [ 4.72508558e-02 9.98883029e-01 -2.26123465e-04 1.56387363e+00] [ 1.60493406e-02 -5.32845942e-04 9.99871059e-01 9.18772472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45925415399998 meters Centerline goodness [0,1] 0.9991614886800971 Centerline is valid? [True, True] Translation: X:107.83, Y:1.56, Z:0.92 [[ 9.98795770e-01 -4.62967395e-02 -1.62364599e-02 1.07832758e+02] [ 4.62991504e-02 9.98927593e-01 -2.27573245e-04 1.56461131e+00] [ 1.62295837e-02 -5.24435102e-04 9.99868154e-01 9.19040243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48925415399998 meters Centerline goodness [0,1] 0.9991400623454799 Centerline is valid? [True, True] Translation: X:107.87, Y:1.57, Z:0.92 [[ 9.98843452e-01 -4.50750472e-02 -1.67331452e-02 1.07865245e+02] [ 4.50774547e-02 9.98983468e-01 -2.33458913e-04 1.56590275e+00] [ 1.67266586e-02 -5.21098690e-04 9.99859964e-01 9.18967615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51925415399998 meters Centerline goodness [0,1] 0.999247149924715 Centerline is valid? [True, True] Translation: X:107.90, Y:1.56, Z:0.92 [[ 9.98924171e-01 -4.31602772e-02 -1.69614877e-02 1.07896974e+02] [ 4.31624963e-02 9.99068037e-01 -2.35391477e-04 1.56122198e+00] [ 1.69558398e-02 -4.96961914e-04 9.99856116e-01 9.17187272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54925415399998 meters Centerline goodness [0,1] 0.9992249397175336 Centerline is valid? [True, True] Translation: X:107.93, Y:1.57, Z:0.92 [[ 9.98958325e-01 -4.23223504e-02 -1.70611760e-02 1.07929245e+02] [ 4.23244943e-02 9.99103889e-01 -2.35558666e-04 1.56509744e+00] [ 1.70558567e-02 -4.86792358e-04 9.99854420e-01 9.18045410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57925415399998 meters Centerline goodness [0,1] 0.9991181468178005 Centerline is valid? [True, True] Translation: X:107.96, Y:1.57, Z:0.92 [[ 9.98996011e-01 -4.14102953e-02 -1.70926245e-02 1.07961559e+02] [ 4.14123344e-02 9.99142114e-01 -2.34786965e-04 1.56946866e+00] [ 1.70876836e-02 -4.73294240e-04 9.99853883e-01 9.19056041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60925415399998 meters Centerline goodness [0,1] 0.9993095859673348 Centerline is valid? [True, True] Translation: X:107.99, Y:1.57, Z:0.92 [[ 9.99075851e-01 -3.90908807e-02 -1.78702584e-02 1.07992398e+02] [ 3.90927598e-02 9.99235556e-01 -2.44296432e-04 1.57196320e+00] [ 1.78661474e-02 -4.54527054e-04 9.99840284e-01 9.18677366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63925415399999 meters Centerline goodness [0,1] 0.9992244555031345 Centerline is valid? [True, True] Translation: X:108.02, Y:1.57, Z:0.92 [[ 9.99130144e-01 -3.74172031e-02 -1.84094740e-02 1.08023329e+02] [ 3.74189320e-02 9.99299635e-01 -2.50661243e-04 1.57311799e+00] [ 1.84059597e-02 -4.38419653e-04 9.99830500e-01 9.17942710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66925415399997 meters Centerline goodness [0,1] 0.9992021391296847 Centerline is valid? [True, True] Translation: X:108.06, Y:1.58, Z:0.92 [[ 9.99184139e-01 -3.55987826e-02 -1.90731146e-02 1.08055205e+02] [ 3.56003269e-02 9.99366074e-01 -2.58664752e-04 1.57560257e+00] [ 1.90702318e-02 -4.20555400e-04 9.99818058e-01 9.17728568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69925415399997 meters Centerline goodness [0,1] 0.9993292656540742 Centerline is valid? [True, True] Translation: X:108.09, Y:1.58, Z:0.92 [[ 9.99289656e-01 -3.11183924e-02 -2.12562943e-02 1.08086742e+02] [ 3.11193186e-02 9.99515635e-01 -2.87284984e-04 1.58231957e+00] [ 2.12549383e-02 -3.74400479e-04 9.99774018e-01 9.17627965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72925415399997 meters Centerline goodness [0,1] 0.9993283646763151 Centerline is valid? [True, True] Translation: X:108.12, Y:1.59, Z:0.92 [[ 9.99339651e-01 -2.90518134e-02 -2.18232647e-02 1.08116814e+02] [ 2.90523048e-02 9.99577849e-01 -2.94595420e-04 1.58561549e+00] [ 2.18226106e-02 -3.39615255e-04 9.99761801e-01 9.17875077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75925415399998 meters Centerline goodness [0,1] 0.9993492831269115 Centerline is valid? [True, True] Translation: X:108.15, Y:1.59, Z:0.92 [[ 9.99442536e-01 -2.46987107e-02 -2.24630909e-02 1.08145862e+02] [ 2.46981214e-02 9.99694909e-01 -3.03711616e-04 1.59088179e+00] [ 2.24637389e-02 -2.51253838e-04 9.99747627e-01 9.17807797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78925415399998 meters Centerline goodness [0,1] 0.9995435774831558 Centerline is valid? [True, True] Translation: X:108.17, Y:1.59, Z:0.92 [[ 9.99501152e-01 -2.26084736e-02 -2.20523007e-02 1.08174532e+02] [ 2.26073185e-02 9.99744376e-01 -3.01714189e-04 1.59394355e+00] [ 2.20534849e-02 -1.96979706e-04 9.99756773e-01 9.18711515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81925415399998 meters Centerline goodness [0,1] 0.9994780339277947 Centerline is valid? [True, True] Translation: X:108.20, Y:1.60, Z:0.92 [[ 9.99565456e-01 -2.03974389e-02 -2.12801176e-02 1.08202716e+02] [ 2.03957495e-02 9.99791941e-01 -2.96443153e-04 1.59660533e+00] [ 2.12817368e-02 -1.37709613e-04 9.99773509e-01 9.18865939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84925415399998 meters Centerline goodness [0,1] 0.9995415047377844 Centerline is valid? [True, True] Translation: X:108.23, Y:1.60, Z:0.92 [[ 9.99681327e-01 -1.58044211e-02 -1.96841432e-02 1.08230902e+02] [ 1.58019899e-02 9.99875102e-01 -2.79055048e-04 1.60271561e+00] [ 1.96860950e-02 -3.20825104e-05 9.99806210e-01 9.21580912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87925415399998 meters Centerline goodness [0,1] 0.9994751000590513 Centerline is valid? [True, True] Translation: X:108.26, Y:1.61, Z:0.92 [[ 9.99739839e-01 -1.32062889e-02 -1.85970002e-02 1.08258217e+02] [ 1.32035765e-02 9.99912793e-01 -2.68636368e-04 1.60587481e+00] [ 1.85989261e-02 2.30195646e-05 9.99827025e-01 9.22617711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90925415399998 meters Centerline goodness [0,1] 0.9995837805866503 Centerline is valid? [True, True] Translation: X:108.29, Y:1.61, Z:0.92 [[ 9.99826778e-01 -7.99521520e-03 -1.68074489e-02 1.08285950e+02] [ 7.99218569e-03 9.99968031e-01 -2.47410081e-04 1.61219400e+00] [ 1.68088896e-02 1.13038972e-04 9.99858714e-01 9.24543892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93925415399998 meters Centerline goodness [0,1] 0.9996051072791892 Centerline is valid? [True, True] Translation: X:108.31, Y:1.62, Z:0.93 [[ 9.99858210e-01 -5.51805327e-03 -1.59094375e-02 1.08313384e+02] [ 5.51497551e-03 9.99984764e-01 -2.37321814e-04 1.61545251e+00] [ 1.59105047e-02 1.49548006e-04 9.99873409e-01 9.25668631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96925415399998 meters Centerline goodness [0,1] 0.9996504413178362 Centerline is valid? [True, True] Translation: X:108.34, Y:1.62, Z:0.93 [[ 9.99878615e-01 -3.62689464e-03 -1.51525876e-02 1.08342155e+02] [ 3.62385203e-03 9.99993408e-01 -2.28250539e-04 1.61807500e+00] [ 1.51533156e-02 1.73312097e-04 9.99885167e-01 9.26262330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99925415399998 meters Centerline goodness [0,1] 0.9995862459441214 Centerline is valid? [True, True] Translation: X:108.37, Y:1.62, Z:0.93 [[ 9.99899040e-01 -2.15093280e-03 -1.40457427e-02 1.08371120e+02] [ 2.14812677e-03 9.99997670e-01 -2.14861999e-04 1.62018614e+00] [ 1.40461721e-02 1.84668271e-04 9.99901331e-01 9.27198252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02925415399997 meters Centerline goodness [0,1] 0.9995857317285889 Centerline is valid? [True, True] Translation: X:108.40, Y:1.62, Z:0.93 [[ 9.99894902e-01 -2.62572724e-03 -1.42580233e-02 1.08399669e+02] [ 2.62284588e-03 9.99996536e-01 -2.20782574e-04 1.61978082e+00] [ 1.42585536e-02 1.83362772e-04 9.99898325e-01 9.27528356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05925415399997 meters Centerline goodness [0,1] 0.9996942630647944 Centerline is valid? [True, True] Translation: X:108.43, Y:1.62, Z:0.93 [[ 9.99863342e-01 -7.08236366e-03 -1.49378184e-02 1.08427115e+02] [ 7.07968042e-03 9.99974912e-01 -2.32500831e-04 1.61742884e+00] [ 1.49390903e-02 1.26714078e-04 9.99888398e-01 9.26149771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08925415399997 meters Centerline goodness [0,1] 0.9996508303690287 Centerline is valid? [True, True] Translation: X:108.46, Y:1.61, Z:0.93 [[ 9.99828216e-01 -1.07347496e-02 -1.51097156e-02 1.08455746e+02] [ 1.07324025e-02 9.99942378e-01 -2.36415232e-04 1.61425505e+00] [ 1.51113828e-02 7.42110697e-05 9.99885814e-01 9.26089584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11925415399998 meters Centerline goodness [0,1] 0.999803707742639 Centerline is valid? [True, True] Translation: X:108.48, Y:1.61, Z:0.93 [[ 9.99767611e-01 -1.50091042e-02 -1.54742046e-02 1.08484255e+02] [ 1.50071371e-02 9.99887357e-01 -2.43236250e-04 1.61093031e+00] [ 1.54761123e-02 1.09562141e-05 9.99880238e-01 9.26275312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14925415399998 meters Centerline goodness [0,1] 0.9995651795808331 Centerline is valid? [True, True] Translation: X:108.51, Y:1.60, Z:0.93 [[ 9.99578889e-01 -2.41761994e-02 -1.60485749e-02 1.08513204e+02] [ 2.41752455e-02 9.99707704e-01 -2.53464511e-04 1.60403106e+00] [ 1.60500118e-02 -1.34620466e-04 9.99871181e-01 9.25431320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17925415399998 meters Centerline goodness [0,1] 0.9996087551894277 Centerline is valid? [True, True] Translation: X:108.54, Y:1.60, Z:0.93 [[ 9.99453382e-01 -2.86922446e-02 -1.64222992e-02 1.08543787e+02] [ 2.86918437e-02 9.99588270e-01 -2.60066035e-04 1.60069764e+00] [ 1.64229996e-02 -2.11262165e-04 9.99865111e-01 9.25358090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20925415399998 meters Centerline goodness [0,1] 0.9995454053468991 Centerline is valid? [True, True] Translation: X:108.57, Y:1.59, Z:0.92 [[ 9.99186319e-01 -3.68417649e-02 -1.64129430e-02 1.08574490e+02] [ 3.68424653e-02 9.99321052e-01 -2.59790008e-04 1.59340536e+00] [ 1.64113706e-02 -3.45114662e-04 9.99865265e-01 9.24993406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23925415399998 meters Centerline goodness [0,1] 0.9992862241256245 Centerline is valid? [True, True] Translation: X:108.61, Y:1.59, Z:0.93 [[ 9.99065443e-01 -4.00656831e-02 -1.62167394e-02 1.08606503e+02] [ 4.00668022e-02 9.99196970e-01 -2.56012615e-04 1.59113750e+00] [ 1.62139742e-02 -3.93979533e-04 9.99868467e-01 9.25325653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26925415399998 meters Centerline goodness [0,1] 0.9993725388376823 Centerline is valid? [True, True] Translation: X:108.64, Y:1.59, Z:0.93 [[ 9.98955975e-01 -4.28728488e-02 -1.57758897e-02 1.08638288e+02] [ 4.28742737e-02 9.99080445e-01 -2.48030550e-04 1.58873583e+00] [ 1.57720167e-02 -4.28608214e-04 9.99875522e-01 9.25964738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29925415399998 meters Centerline goodness [0,1] 0.9993324001292129 Centerline is valid? [True, True] Translation: X:108.67, Y:1.58, Z:0.93 [[ 9.98792971e-01 -4.68593474e-02 -1.47242369e-02 1.08669312e+02] [ 4.68610328e-02 9.98901392e-01 -2.30723964e-04 1.58464496e+00] [ 1.47188723e-02 -4.59547476e-04 9.99891566e-01 9.26711490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32925415399998 meters Centerline goodness [0,1] 0.9993969546208352 Centerline is valid? [True, True] Translation: X:108.70, Y:1.58, Z:0.93 [[ 9.98720812e-01 -4.84775305e-02 -1.43759908e-02 1.08701299e+02] [ 4.84793169e-02 9.98824161e-01 -2.24406779e-04 1.58347922e+00] [ 1.43699656e-02 -4.72818492e-04 9.99896635e-01 9.27097065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35925415399998 meters Centerline goodness [0,1] 0.9992038730500269 Centerline is valid? [True, True] Translation: X:108.73, Y:1.58, Z:0.93 [[ 9.98594876e-01 -5.10861490e-02 -1.40882488e-02 1.08733157e+02] [ 5.10881368e-02 9.98694125e-01 -2.18994069e-04 1.58199000e+00] [ 1.40810388e-02 -5.01056026e-04 9.99900732e-01 9.27197681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38925415399999 meters Centerline goodness [0,1] 0.9990299633541712 Centerline is valid? [True, True] Translation: X:108.77, Y:1.58, Z:0.93 [[ 9.98522605e-01 -5.25532461e-02 -1.38116986e-02 1.08765731e+02] [ 5.25553081e-02 9.98617992e-01 -2.13871208e-04 1.58072633e+00] [ 1.38038504e-02 -5.12322840e-04 9.99904591e-01 9.27349271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41925415399997 meters Centerline goodness [0,1] 0.9991381724947752 Centerline is valid? [True, True] Translation: X:108.80, Y:1.58, Z:0.93 [[ 9.98437346e-01 -5.41057465e-02 -1.39797654e-02 1.08797651e+02] [ 5.41080251e-02 9.98535065e-01 -2.15454425e-04 1.57931917e+00] [ 1.39709432e-02 -5.41299751e-04 9.99902255e-01 9.27391685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44925415399997 meters Centerline goodness [0,1] 0.9992896810021955 Centerline is valid? [True, True] Translation: X:108.83, Y:1.58, Z:0.93 [[ 9.98271237e-01 -5.71174887e-02 -1.38610569e-02 1.08828949e+02] [ 5.71200302e-02 9.98367296e-01 -2.12793943e-04 1.57631639e+00] [ 1.38505802e-02 -5.79317918e-04 9.99903908e-01 9.27353338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47925415399997 meters Centerline goodness [0,1] 0.9992896810021955 Centerline is valid? [True, True] Translation: X:108.86, Y:1.58, Z:0.93 [[ 9.98277415e-01 -5.70094237e-02 -1.38610695e-02 1.08861516e+02] [ 5.70119661e-02 9.98373473e-01 -2.11972026e-04 1.57672226e+00] [ 1.38506085e-02 -5.78639939e-04 9.99903908e-01 9.27658355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50925415399998 meters Centerline goodness [0,1] 0.9992907191677771 Centerline is valid? [True, True] Translation: X:108.89, Y:1.58, Z:0.93 [[ 9.98196189e-01 -5.84546455e-02 -1.36902479e-02 1.08893343e+02] [ 5.84572782e-02 9.98289889e-01 -2.08124719e-04 1.57626116e+00] [ 1.36790020e-02 -5.92545331e-04 9.99906263e-01 9.28053722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53925415399998 meters Centerline goodness [0,1] 0.9991392296105014 Centerline is valid? [True, True] Translation: X:108.92, Y:1.57, Z:0.93 [[ 9.98088389e-01 -6.01987613e-02 -1.39884442e-02 1.08924861e+02] [ 6.02016916e-02 9.98186211e-01 -2.11894185e-04 1.57422078e+00] [ 1.39758279e-02 -6.30638876e-04 9.99902134e-01 9.28109383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56925415399998 meters Centerline goodness [0,1] 0.998989594978072 Centerline is valid? [True, True] Translation: X:108.96, Y:1.57, Z:0.93 [[ 9.98043929e-01 -6.08963764e-02 -1.41402690e-02 1.08956830e+02] [ 6.08994524e-02 9.98143883e-01 -2.13352112e-04 1.57417904e+00] [ 1.41270154e-02 -6.48199859e-04 9.99899999e-01 9.28026684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59925415399998 meters Centerline goodness [0,1] 0.9991415940598309 Centerline is valid? [True, True] Translation: X:108.99, Y:1.57, Z:0.93 [[ 9.98041662e-01 -6.09677826e-02 -1.39917752e-02 1.08988836e+02] [ 6.09708150e-02 9.98139527e-01 -2.10138741e-04 1.57405901e+00] [ 1.39785556e-02 -6.43362719e-04 9.99902088e-01 9.28533119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62925415399998 meters Centerline goodness [0,1] 0.9991185639041169 Centerline is valid? [True, True] Translation: X:109.02, Y:1.58, Z:0.93 [[ 9.98053218e-01 -6.08046645e-02 -1.38768723e-02 1.09021089e+02] [ 6.08076449e-02 9.98149481e-01 -2.07445265e-04 1.57632991e+00] [ 1.38638065e-02 -6.36778506e-04 9.99903690e-01 9.28476076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65925415399998 meters Centerline goodness [0,1] 0.9991835156098924 Centerline is valid? [True, True] Translation: X:109.05, Y:1.58, Z:0.93 [[ 9.98059703e-01 -6.06124374e-02 -1.42464867e-02 1.09053640e+02] [ 6.06155763e-02 9.98161163e-01 -2.11768313e-04 1.57598404e+00] [ 1.42331255e-02 -6.52201582e-04 9.99898491e-01 9.28405533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68925415399998 meters Centerline goodness [0,1] 0.9991817751173506 Centerline is valid? [True, True] Translation: X:109.09, Y:1.58, Z:0.93 [[ 9.98083454e-01 -6.00782423e-02 -1.48331684e-02 1.09085440e+02] [ 6.00816075e-02 9.98193444e-01 -2.19054941e-04 1.57998046e+00] [ 1.48195319e-02 -6.72565487e-04 9.99889959e-01 9.28361224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71925415399998 meters Centerline goodness [0,1] 0.9992919062741396 Centerline is valid? [True, True] Translation: X:109.12, Y:1.58, Z:0.93 [[ 9.98143050e-01 -5.87377748e-02 -1.61346361e-02 1.09116313e+02] [ 5.87416095e-02 9.98273193e-01 -2.36553357e-04 1.57990049e+00] [ 1.61206693e-02 -7.11660405e-04 9.99869800e-01 9.27402159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74925415399998 meters Centerline goodness [0,1] 0.99928919140137 Centerline is valid? [True, True] Translation: X:109.15, Y:1.58, Z:0.93 [[ 9.98189960e-01 -5.77649384e-02 -1.67336454e-02 1.09148879e+02] [ 5.77689591e-02 9.98329950e-01 -2.43403418e-04 1.58202070e+00] [ 1.67197595e-02 -7.23722427e-04 9.99859953e-01 9.27449779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77925415399997 meters Centerline goodness [0,1] 0.9992032044103712 Centerline is valid? [True, True] Translation: X:109.18, Y:1.58, Z:0.93 [[ 9.98236227e-01 -5.66517329e-02 -1.77487022e-02 1.09181413e+02] [ 5.66561039e-02 9.98393720e-01 -2.56863691e-04 1.58342173e+00] [ 1.77347446e-02 -7.49161677e-04 9.99842446e-01 9.27409744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80925415399997 meters Centerline goodness [0,1] 0.9993113985065956 Centerline is valid? [True, True] Translation: X:109.21, Y:1.59, Z:0.93 [[ 9.98421647e-01 -5.29463590e-02 -1.87322759e-02 1.09212750e+02] [ 5.29505964e-02 9.98597097e-01 -2.70053442e-04 1.59045663e+00] [ 1.87202947e-02 -7.22257981e-04 9.99824499e-01 9.28520275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83925415399997 meters Centerline goodness [0,1] 0.9993530299762777 Centerline is valid? [True, True] Translation: X:109.24, Y:1.59, Z:0.93 [[ 9.98566541e-01 -5.02435068e-02 -1.84513834e-02 1.09242860e+02] [ 5.02471665e-02 9.98736778e-01 -2.65501685e-04 1.59262086e+00] [ 1.84414149e-02 -6.62008634e-04 9.99829723e-01 9.28711034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86925415399998 meters Centerline goodness [0,1] 0.9994802382241472 Centerline is valid? [True, True] Translation: X:109.27, Y:1.60, Z:0.93 [[ 9.98864453e-01 -4.40829612e-02 -1.80692417e-02 1.09273759e+02] [ 4.40854695e-02 9.99027729e-01 -2.59681870e-04 1.59918021e+00] [ 1.80631210e-02 -5.37204014e-04 9.99836704e-01 9.30313337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89925415399998 meters Centerline goodness [0,1] 0.999370878167303 Centerline is valid? [True, True] Translation: X:109.30, Y:1.60, Z:0.93 [[ 9.99031304e-01 -4.04479034e-02 -1.73326666e-02 1.09304787e+02] [ 4.04496724e-02 9.99181546e-01 -2.48645891e-04 1.60358082e+00] [ 1.73285378e-02 -4.52695657e-04 9.99849747e-01 9.31486091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92925415399998 meters Centerline goodness [0,1] 0.9995444092506617 Centerline is valid? [True, True] Translation: X:109.34, Y:1.61, Z:0.93 [[ 9.99191978e-01 -3.65217533e-02 -1.67795534e-02 1.09335596e+02] [ 3.65228679e-02 9.99332789e-01 -2.40114226e-04 1.60709211e+00] [ 1.67771273e-02 -3.72917203e-04 9.99859185e-01 9.32396054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95925415399998 meters Centerline goodness [0,1] 0.9994356046627738 Centerline is valid? [True, True] Translation: X:109.37, Y:1.61, Z:0.93 [[ 9.99341073e-01 -3.25681718e-02 -1.60228953e-02 1.09366391e+02] [ 3.25686890e-02 9.99469473e-01 -2.28729188e-04 1.61131320e+00] [ 1.60218441e-02 -2.93266223e-04 9.99871599e-01 9.33334987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98925415399998 meters Centerline goodness [0,1] 0.9996726248936031 Centerline is valid? [True, True] Translation: X:109.40, Y:1.62, Z:0.94 [[ 9.99600500e-01 -2.40848752e-02 -1.47905289e-02 1.09398005e+02] [ 2.40843963e-02 9.99709907e-01 -2.10528988e-04 1.62113257e+00] [ 1.47913088e-02 -1.45776077e-04 9.99890592e-01 9.35614026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01925415399998 meters Centerline goodness [0,1] 0.9995836437743788 Centerline is valid? [True, True] Translation: X:109.43, Y:1.63, Z:0.94 [[ 9.99778517e-01 -1.55094888e-02 -1.42257423e-02 1.09429015e+02] [ 1.55081873e-02 9.99879720e-01 -2.01807252e-04 1.62837296e+00] [ 1.42271612e-02 -1.88529205e-05 9.99898789e-01 9.35876948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04925415399998 meters Centerline goodness [0,1] 0.9996485370354099 Centerline is valid? [True, True] Translation: X:109.46, Y:1.63, Z:0.94 [[ 9.99829365e-01 -1.15151011e-02 -1.44445065e-02 1.09457474e+02] [ 1.15133423e-02 9.99933698e-01 -2.04913855e-04 1.63192700e+00] [ 1.44459084e-02 3.85743415e-05 9.99895652e-01 9.35979410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07925415399998 meters Centerline goodness [0,1] 0.9995824267598514 Centerline is valid? [True, True] Translation: X:109.49, Y:1.64, Z:0.94 [[ 9.99865029e-01 -7.71022584e-03 -1.45078176e-02 1.09485169e+02] [ 7.70803485e-03 9.99970271e-01 -2.06932254e-04 1.63547812e+00] [ 1.45089818e-02 9.50775599e-05 9.99894735e-01 9.36053852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10925415399998 meters Centerline goodness [0,1] 0.9997585495412441 Centerline is valid? [True, True] Translation: X:109.51, Y:1.64, Z:0.94 [[ 9.99884808e-01 -3.86300628e-04 -1.51730554e-02 1.09513415e+02] [ 3.83035430e-04 9.99999903e-01 -2.18102614e-04 1.64188425e+00] [ 1.51731382e-02 2.12265672e-04 9.99884859e-01 9.36378891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13925415399999 meters Centerline goodness [0,1] 0.9997810474689087 Centerline is valid? [True, True] Translation: X:109.54, Y:1.65, Z:0.94 [[ 9.99875960e-01 2.59590784e-03 -1.55346532e-02 1.09541211e+02] [-2.59971931e-03 9.99996595e-01 -2.25163614e-04 1.64519840e+00] [ 1.55340158e-02 2.65521422e-04 9.99879305e-01 9.36664980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16925415399997 meters Centerline goodness [0,1] 0.9997806728955564 Centerline is valid? [True, True] Translation: X:109.57, Y:1.65, Z:0.94 [[ 9.99867155e-01 4.94059270e-03 -1.55326534e-02 1.09570202e+02] [-4.94472270e-03 9.99987749e-01 -2.27497613e-04 1.64730483e+00] [ 1.55313392e-02 3.04272055e-04 9.99879335e-01 9.36890895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19925415399997 meters Centerline goodness [0,1] 0.999736275328557 Centerline is valid? [True, True] Translation: X:109.60, Y:1.65, Z:0.94 [[ 9.99855146e-01 6.64966053e-03 -1.56674292e-02 1.09598646e+02] [-6.65413364e-03 9.99977834e-01 -2.33390657e-04 1.64895673e+00] [ 1.56655299e-02 3.37610017e-04 9.99877231e-01 9.37261954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22925415399997 meters Centerline goodness [0,1] 0.9996264064697609 Centerline is valid? [True, True] Translation: X:109.63, Y:1.65, Z:0.94 [[ 9.99846302e-01 8.02119068e-03 -1.55894937e-02 1.09627069e+02] [-8.02582929e-03 9.99967765e-01 -2.35006121e-04 1.64814248e+00] [ 1.55871061e-02 3.60088616e-04 9.99878449e-01 9.37619305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25925415399998 meters Centerline goodness [0,1] 0.9996706698575099 Centerline is valid? [True, True] Translation: X:109.66, Y:1.65, Z:0.94 [[ 9.99841617e-01 7.37024071e-03 -1.61993774e-02 1.09656386e+02] [-7.37518163e-03 9.99972773e-01 -2.45287017e-04 1.64727972e+00] [ 1.61971285e-02 3.64721519e-04 9.99868751e-01 9.37347368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28925415399998 meters Centerline goodness [0,1] 0.9995607774239595 Centerline is valid? [True, True] Translation: X:109.68, Y:1.65, Z:0.94 [[ 9.99845514e-01 6.23308076e-03 -1.64346393e-02 1.09684440e+02] [-6.23803188e-03 9.99980512e-01 -2.50014336e-04 1.64656365e+00] [ 1.64327607e-02 3.52495516e-04 9.99864911e-01 9.36680925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31925415399998 meters Centerline goodness [0,1] 0.99975840105425 Centerline is valid? [True, True] Translation: X:109.71, Y:1.64, Z:0.94 [[ 9.99847682e-01 2.28819020e-03 -1.73024985e-02 1.09713882e+02] [-2.29311067e-03 9.99997336e-01 -2.64544787e-04 1.64265053e+00] [ 1.73018471e-02 3.04181036e-04 9.99850266e-01 9.36337850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34925415399998 meters Centerline goodness [0,1] 0.9994948607572696 Centerline is valid? [True, True] Translation: X:109.74, Y:1.64, Z:0.94 [[ 9.99842514e-01 -3.67745254e-04 -1.77429338e-02 1.09743080e+02] [ 3.62969079e-04 9.99999897e-01 -2.72407040e-04 1.64064990e+00] [ 1.77430322e-02 2.65924003e-04 9.99842545e-01 9.36502345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37925415399998 meters Centerline goodness [0,1] 0.9996934865900383 Centerline is valid? [True, True] Translation: X:109.77, Y:1.63, Z:0.94 [[ 9.99814425e-01 -6.86893625e-03 -1.79981546e-02 1.09772058e+02] [ 6.86505092e-03 9.99976397e-01 -2.77649320e-04 1.63483656e+00] [ 1.79996369e-02 1.54039548e-04 9.99837982e-01 9.37468324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40925415399998 meters Centerline goodness [0,1] 0.9995397462029062 Centerline is valid? [True, True] Translation: X:109.80, Y:1.63, Z:0.94 [[ 9.99777969e-01 -1.03244768e-02 -1.83689406e-02 1.09799540e+02] [ 1.03209848e-02 9.99946697e-01 -2.84898631e-04 1.63249551e+00] [ 1.83709029e-02 9.52498187e-05 9.99831236e-01 9.37122593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43925415399998 meters Centerline goodness [0,1] 0.9994979042961928 Centerline is valid? [True, True] Translation: X:109.83, Y:1.63, Z:0.94 [[ 9.99727279e-01 -1.40806184e-02 -1.86307373e-02 1.09826932e+02] [ 1.40776468e-02 9.99900863e-01 -2.90649130e-04 1.62927977e+00] [ 1.86329828e-02 2.82929249e-05 9.99826391e-01 9.36767871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46925415399998 meters Centerline goodness [0,1] 0.9994546128842252 Centerline is valid? [True, True] Translation: X:109.85, Y:1.63, Z:0.94 [[ 9.99664933e-01 -1.78698780e-02 -1.87267072e-02 1.09854621e+02] [ 1.78675053e-02 9.99840320e-01 -2.94016607e-04 1.62584543e+00] [ 1.87289709e-02 -4.06814482e-05 9.99824597e-01 9.37605864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49925415399998 meters Centerline goodness [0,1] 0.9994355679055228 Centerline is valid? [True, True] Translation: X:109.88, Y:1.62, Z:0.94 [[ 9.99501865e-01 -2.52501377e-02 -1.89328298e-02 1.09883203e+02] [ 2.52490030e-02 9.99681148e-01 -2.99007598e-04 1.61921656e+00] [ 1.89343430e-02 -1.79176425e-04 9.99820713e-01 9.38053952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52925415399997 meters Centerline goodness [0,1] 0.999240994947195 Centerline is valid? [True, True] Translation: X:109.91, Y:1.62, Z:0.94 [[ 9.99403851e-01 -2.88183094e-02 -1.90117669e-02 1.09912630e+02] [ 2.88177907e-02 9.99584636e-01 -3.01302485e-04 1.61636897e+00] [ 1.90125531e-02 -2.46754256e-04 9.99819215e-01 9.38669953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55925415399997 meters Centerline goodness [0,1] 0.9990488131782611 Centerline is valid? [True, True] Translation: X:109.94, Y:1.61, Z:0.94 [[ 9.99201022e-01 -3.55160427e-02 -1.83283750e-02 1.09942603e+02] [ 3.55166806e-02 9.99369041e-01 -2.90803826e-04 1.60967708e+00] [ 1.83271387e-02 -3.60391561e-04 9.99831979e-01 9.39131598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58925415399997 meters Centerline goodness [0,1] 0.9992222942320156 Centerline is valid? [True, True] Translation: X:109.97, Y:1.61, Z:0.94 [[ 9.99084117e-01 -3.87210146e-02 -1.82101563e-02 1.09974335e+02] [ 3.87221853e-02 9.99249973e-01 -2.88435788e-04 1.60720884e+00] [ 1.82076668e-02 -4.16965434e-04 9.99834140e-01 9.39702657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61925415399998 meters Centerline goodness [0,1] 0.999181087429692 Centerline is valid? [True, True] Translation: X:110.01, Y:1.60, Z:0.94 [[ 9.98978180e-01 -4.16037669e-02 -1.76556846e-02 1.10006923e+02] [ 4.16053370e-02 9.99134084e-01 -2.78535988e-04 1.60407999e+00] [ 1.76519844e-02 -4.56319331e-04 9.99844087e-01 9.39678253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64925415399998 meters Centerline goodness [0,1] 0.9992483463619964 Centerline is valid? [True, True] Translation: X:110.04, Y:1.60, Z:0.94 [[ 9.98714206e-01 -4.73889291e-02 -1.80062235e-02 1.10037770e+02] [ 4.73915169e-02 9.98876351e-01 -2.83202295e-04 1.59848982e+00] [ 1.79994115e-02 -5.70504092e-04 9.99837835e-01 9.39756109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67925415399998 meters Centerline goodness [0,1] 0.9993348638616517 Centerline is valid? [True, True] Translation: X:110.07, Y:1.60, Z:0.94 [[ 9.98591081e-01 -4.97455820e-02 -1.84724054e-02 1.10068593e+02] [ 4.97487177e-02 9.98761724e-01 -2.90023575e-04 1.59607410e+00] [ 1.84639588e-02 -6.29363523e-04 9.99829328e-01 9.40017078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70925415399998 meters Centerline goodness [0,1] 0.9990115179645865 Centerline is valid? [True, True] Translation: X:110.10, Y:1.60, Z:0.94 [[ 9.98320150e-01 -5.44186027e-02 -1.98870247e-02 1.10099845e+02] [ 5.44231780e-02 9.98517912e-01 -3.11473640e-04 1.59505267e+00] [ 1.98745003e-02 -7.71364675e-04 9.99802185e-01 9.40211266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73925415399998 meters Centerline goodness [0,1] 0.9992484109259577 Centerline is valid? [True, True] Translation: X:110.13, Y:1.59, Z:0.94 [[ 9.98204754e-01 -5.61873122e-02 -2.07425711e-02 1.10130501e+02] [ 5.61926873e-02 9.98419890e-01 -3.24089795e-04 1.59082942e+00] [ 2.07280053e-02 -8.42072836e-04 9.99784797e-01 9.39089986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76925415399998 meters Centerline goodness [0,1] 0.9991410779471763 Centerline is valid? [True, True] Translation: X:110.16, Y:1.59, Z:0.94 [[ 9.98110705e-01 -5.75879875e-02 -2.14159865e-02 1.10162319e+02] [ 5.75940659e-02 9.98340028e-01 -3.33364184e-04 1.59295377e+00] [ 2.13996343e-02 -9.00699377e-04 9.99770596e-01 9.39602380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79925415399998 meters Centerline goodness [0,1] 0.9990355765109301 Centerline is valid? [True, True] Translation: X:110.19, Y:1.59, Z:0.94 [[ 9.98004190e-01 -5.90413339e-02 -2.23999443e-02 1.10193381e+02] [ 5.90483815e-02 9.98255062e-01 -3.47242092e-04 1.58974571e+00] [ 2.23813594e-02 -9.76131395e-04 9.99749029e-01 9.38757335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82925415399998 meters Centerline goodness [0,1] 0.9992718082714014 Centerline is valid? [True, True] Translation: X:110.23, Y:1.59, Z:0.94 [[ 9.97870089e-01 -6.08839460e-02 -2.34186129e-02 1.10225000e+02] [ 6.08921864e-02 9.98144284e-01 -3.61728952e-04 1.58949899e+00] [ 2.33971781e-02 -1.06505204e-03 9.99725681e-01 9.38908008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85925415399998 meters Centerline goodness [0,1] 0.9989908532657706 Centerline is valid? [True, True] Translation: X:110.26, Y:1.59, Z:0.94 [[ 9.97821239e-01 -6.16348374e-02 -2.35355370e-02 1.10256699e+02] [ 6.16433994e-02 9.98098172e-01 -3.62235159e-04 1.59083166e+00] [ 2.35131028e-02 -1.08936457e-03 9.99722935e-01 9.39450382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88925415399999 meters Centerline goodness [0,1] 0.9990338579127037 Centerline is valid? [True, True] Translation: X:110.29, Y:1.59, Z:0.94 [[ 9.97778187e-01 -6.19545032e-02 -2.45016243e-02 1.10289258e+02] [ 6.19639199e-02 9.98078319e-01 -3.75436521e-04 1.59143106e+00] [ 2.44778000e-02 -1.14361431e-03 9.99699720e-01 9.39445560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91925415399997 meters Centerline goodness [0,1] 0.9992701200008587 Centerline is valid? [True, True] Translation: X:110.32, Y:1.59, Z:0.94 [[ 9.97789242e-01 -6.10141069e-02 -2.63421316e-02 1.10320205e+02] [ 6.10247390e-02 9.98136173e-01 -4.00846496e-04 1.58835371e+00] [ 2.63174917e-02 -1.20756138e-03 9.99652905e-01 9.37077535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94925415399997 meters Centerline goodness [0,1] 0.9993552823863148 Centerline is valid? [True, True] Translation: X:110.35, Y:1.59, Z:0.94 [[ 9.97836173e-01 -5.98926703e-02 -2.71263519e-02 1.10352575e+02] [ 5.99035978e-02 9.98204083e-01 -4.10345360e-04 1.59162508e+00] [ 2.71022119e-02 -1.21550863e-03 9.99631929e-01 9.37469616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97925415399997 meters Centerline goodness [0,1] 0.9992916630892075 Centerline is valid? [True, True] Translation: X:110.38, Y:1.60, Z:0.94 [[ 9.97929449e-01 -5.80206258e-02 -2.77564637e-02 1.10384435e+02] [ 5.80313919e-02 9.98314671e-01 -4.18175791e-04 1.59622038e+00] [ 2.77339477e-02 -1.19343628e-03 9.99614628e-01 9.38337746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00925415399998 meters Centerline goodness [0,1] 0.9993756862069708 Centerline is valid? [True, True] Translation: X:110.41, Y:1.60, Z:0.94 [[ 9.98216301e-01 -5.27665686e-02 -2.79267749e-02 1.10414140e+02] [ 5.27754288e-02 9.98606318e-01 -4.20222211e-04 1.59805310e+00] [ 2.79100276e-02 -1.05437486e-03 9.99609883e-01 9.37361142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03925415399998 meters Centerline goodness [0,1] 0.9991588119836939 Centerline is valid? [True, True] Translation: X:110.45, Y:1.61, Z:0.94 [[ 9.98401909e-01 -4.91346357e-02 -2.79180135e-02 1.10445691e+02] [ 4.91421008e-02 9.98791709e-01 -4.19068050e-04 1.60592144e+00] [ 2.79048711e-02 -9.53551491e-04 9.99610128e-01 9.40419595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06925415399998 meters Centerline goodness [0,1] 0.999266229281768 Centerline is valid? [True, True] Translation: X:110.48, Y:1.61, Z:0.94 [[ 9.98574097e-01 -4.55316517e-02 -2.78682908e-02 1.10476604e+02] [ 4.55377123e-02 9.98962533e-01 -4.17471044e-04 1.60981511e+00] [ 2.78583865e-02 -8.52182437e-04 9.99611517e-01 9.41195697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09925415399998 meters Centerline goodness [0,1] 0.9994379715094788 Centerline is valid? [True, True] Translation: X:110.51, Y:1.62, Z:0.94 [[ 9.98936928e-01 -3.73528405e-02 -2.70144173e-02 1.10506702e+02] [ 3.73555481e-02 9.99301956e-01 -4.04602541e-04 1.61746057e+00] [ 2.70106731e-02 -6.04965944e-04 9.99634962e-01 9.42982788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12925415399998 meters Centerline goodness [0,1] 0.999263431542461 Centerline is valid? [True, True] Translation: X:110.54, Y:1.62, Z:0.94 [[ 9.99102954e-01 -3.32963829e-02 -2.61655904e-02 1.10535994e+02] [ 3.32975157e-02 9.99445407e-01 -3.92528358e-04 1.62149290e+00] [ 2.61641489e-02 -4.79072915e-04 9.99657545e-01 9.43646311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15925415399998 meters Centerline goodness [0,1] 0.9993264822821387 Centerline is valid? [True, True] Translation: X:110.56, Y:1.63, Z:0.95 [[ 9.99387910e-01 -2.43934384e-02 -2.50751957e-02 1.10564623e+02] [ 2.43916524e-02 9.99702408e-01 -3.77127196e-04 1.62975392e+00] [ 2.50769329e-02 -2.34729097e-04 9.99685497e-01 9.45003043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18925415399998 meters Centerline goodness [0,1] 0.9994124687193994 Centerline is valid? [True, True] Translation: X:110.59, Y:1.63, Z:0.95 [[ 9.99499162e-01 -2.01216054e-02 -2.44243032e-02 1.10592946e+02] [ 2.01185371e-02 9.99797533e-01 -3.71370366e-04 1.63415824e+00] [ 2.44268306e-02 -1.20196879e-04 9.99701613e-01 9.45787815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21925415399998 meters Centerline goodness [0,1] 0.9993903102885139 Centerline is valid? [True, True] Translation: X:110.62, Y:1.64, Z:0.95 [[ 9.99578315e-01 -1.61000437e-02 -2.41657134e-02 1.10621813e+02] [ 1.60957205e-02 9.99870386e-01 -3.73409285e-04 1.63876539e+00] [ 2.41685930e-02 -1.57127445e-05 9.99707897e-01 9.47339531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24925415399998 meters Centerline goodness [0,1] 0.9995631566301902 Centerline is valid? [True, True] Translation: X:110.65, Y:1.64, Z:0.95 [[ 9.99638340e-01 -1.20175672e-02 -2.40575620e-02 1.10648668e+02] [ 1.20119744e-02 9.99927783e-01 -3.76977917e-04 1.64304771e+00] [ 2.40603550e-02 8.78627608e-05 9.99710504e-01 9.46750860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27925415399997 meters Centerline goodness [0,1] 0.9996728176940191 Centerline is valid? [True, True] Translation: X:110.68, Y:1.65, Z:0.95 [[ 9.99709576e-01 -3.91332506e-03 -2.37791997e-02 1.10677658e+02] [ 3.90543940e-03 9.99992302e-01 -3.78051770e-04 1.64936931e+00] [ 2.37804961e-02 2.85073751e-04 9.99717163e-01 9.47977757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30925415399997 meters Centerline goodness [0,1] 0.9995421245421245 Centerline is valid? [True, True] Translation: X:110.71, Y:1.65, Z:0.95 [[ 9.99723160e-01 -7.33790746e-04 -2.35173315e-02 1.10706547e+02] [ 7.25060683e-04 9.99999665e-01 -3.79743056e-04 1.65229823e+00] [ 2.35176022e-02 3.62586435e-04 9.99723357e-01 9.48148402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33925415399997 meters Centerline goodness [0,1] 0.9996062130824764 Centerline is valid? [True, True] Translation: X:110.73, Y:1.66, Z:0.95 [[ 9.99724583e-01 4.49681647e-03 -2.30333942e-02 1.10734872e+02] [-4.50665400e-03 9.99989775e-01 -3.75207635e-04 1.65785646e+00] [ 2.30314714e-02 4.78907835e-04 9.99734626e-01 9.48344457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36925415399998 meters Centerline goodness [0,1] 0.9996062130824764 Centerline is valid? [True, True] Translation: X:110.76, Y:1.66, Z:0.95 [[ 9.99725047e-01 4.39256661e-03 -2.30333598e-02 1.10762329e+02] [-4.40242488e-03 9.99990238e-01 -3.77309141e-04 1.65839842e+00] [ 2.30314776e-02 4.78608035e-04 9.99734626e-01 9.48601995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39925415399998 meters Centerline goodness [0,1] 0.9997158407834051 Centerline is valid? [True, True] Translation: X:110.79, Y:1.66, Z:0.95 [[ 9.99724017e-01 5.74993432e-03 -2.27778100e-02 1.10791010e+02] [-5.76002422e-03 9.99983340e-01 -3.77385653e-04 1.65974533e+00] [ 2.27752605e-02 5.08482238e-04 9.99740481e-01 9.49420539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42925415399998 meters Centerline goodness [0,1] 0.9997158035109197 Centerline is valid? [True, True] Translation: X:110.82, Y:1.66, Z:0.95 [[ 9.99721536e-01 5.92440896e-03 -2.28418918e-02 1.10819415e+02] [-5.93472925e-03 9.99982316e-01 -3.84051074e-04 1.66066708e+00] [ 2.28392126e-02 5.19504573e-04 9.99739016e-01 9.49667080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45925415399998 meters Centerline goodness [0,1] 0.9995197345441844 Centerline is valid? [True, True] Translation: X:110.85, Y:1.66, Z:0.95 [[ 9.99747498e-01 4.15783877e-03 -2.20828365e-02 1.10848402e+02] [-4.16712259e-03 9.99991247e-01 -3.74408658e-04 1.65803406e+00] [ 2.20810865e-02 4.66336006e-04 9.99756074e-01 9.50450145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48925415399998 meters Centerline goodness [0,1] 0.9995414246407827 Centerline is valid? [True, True] Translation: X:110.88, Y:1.66, Z:0.95 [[ 9.99761735e-01 1.86581143e-03 -2.17483655e-02 1.10877243e+02] [-1.87430783e-03 9.99998175e-01 -3.70290998e-04 1.65562392e+00] [ 2.17476349e-02 4.10965903e-04 9.99763408e-01 9.51070750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51925415399998 meters Centerline goodness [0,1] 0.9995858852248207 Centerline is valid? [True, True] Translation: X:110.91, Y:1.65, Z:0.95 [[ 9.99770429e-01 -1.21529058e-03 -2.13918888e-02 1.10906366e+02] [ 1.20774259e-03 9.99999204e-01 -3.65759222e-04 1.65292888e+00] [ 2.13923163e-02 3.39839359e-04 9.99771100e-01 9.50909927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54925415399998 meters Centerline goodness [0,1] 0.9994991180121519 Centerline is valid? [True, True] Translation: X:110.94, Y:1.65, Z:0.95 [[ 9.99729793e-01 -9.44818733e-03 -2.12384609e-02 1.10935874e+02] [ 9.44257640e-03 9.99955351e-01 -3.64458149e-04 1.64502955e+00] [ 2.12409561e-02 1.63813880e-04 9.99774372e-01 9.50011632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57925415399998 meters Centerline goodness [0,1] 0.9993912646476945 Centerline is valid? [True, True] Translation: X:110.96, Y:1.64, Z:0.95 [[ 9.99668295e-01 -1.44687863e-02 -2.13062128e-02 1.10963372e+02] [ 1.44642456e-02 9.99895320e-01 -3.67215291e-04 1.64090778e+00] [ 2.13092956e-02 5.89151904e-05 9.99772929e-01 9.49499291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60925415399998 meters Centerline goodness [0,1] 0.9995662546085448 Centerline is valid? [True, True] Translation: X:110.99, Y:1.64, Z:0.95 [[ 9.99584100e-01 -1.96650302e-02 -2.10929725e-02 1.10992246e+02] [ 1.96617008e-02 9.99806623e-01 -3.65236501e-04 1.63651439e+00] [ 2.10960760e-02 -4.96391163e-05 9.99777452e-01 9.49640881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63925415399999 meters Centerline goodness [0,1] 0.9993951569351738 Centerline is valid? [True, True] Translation: X:111.02, Y:1.63, Z:0.95 [[ 9.99327836e-01 -2.99039624e-02 -2.12044436e-02 1.11020255e+02] [ 2.99028643e-02 9.99552741e-01 -3.68928616e-04 1.62673048e+00] [ 2.12059921e-02 -2.65392964e-04 9.99775092e-01 9.49141776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66925415399997 meters Centerline goodness [0,1] 0.9992030156165859 Centerline is valid? [True, True] Translation: X:111.05, Y:1.62, Z:0.95 [[ 9.99163146e-01 -3.49297071e-02 -2.12820112e-02 1.11049904e+02] [ 3.49297132e-02 9.99389702e-01 -3.71559702e-04 1.62217438e+00] [ 2.12820013e-02 -3.72125785e-04 9.99773443e-01 9.49017159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69925415399997 meters Centerline goodness [0,1] 0.9993763977292276 Centerline is valid? [True, True] Translation: X:111.08, Y:1.62, Z:0.95 [[ 9.98985315e-01 -3.95322125e-02 -2.15764877e-02 1.11081589e+02] [ 3.95332937e-02 9.99218183e-01 -3.76597711e-04 1.61829709e+00] [ 2.15745066e-02 -4.76774042e-04 9.99767130e-01 9.49543952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72925415399997 meters Centerline goodness [0,1] 0.9992696967093393 Centerline is valid? [True, True] Translation: X:111.11, Y:1.61, Z:0.95 [[ 9.98607238e-01 -4.81564299e-02 -2.15532301e-02 1.11111434e+02] [ 4.81595345e-02 9.98839586e-01 -3.75289783e-04 1.60865948e+00] [ 2.15462920e-02 -6.63226435e-04 9.99767632e-01 9.48954563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75925415399998 meters Centerline goodness [0,1] 0.9991443484213228 Centerline is valid? [True, True] Translation: X:111.14, Y:1.61, Z:0.95 [[ 9.98418229e-01 -5.19312679e-02 -2.15449258e-02 1.11142571e+02] [ 5.19352618e-02 9.98650383e-01 -3.74494349e-04 1.60547266e+00] [ 2.15352964e-02 -7.45039378e-04 9.99767811e-01 9.49261149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78925415399998 meters Centerline goodness [0,1] 0.9991001414063504 Centerline is valid? [True, True] Translation: X:111.17, Y:1.60, Z:0.95 [[ 9.98051522e-01 -5.88266237e-02 -2.07987373e-02 1.11172347e+02] [ 5.88318399e-02 9.98267842e-01 -3.61526890e-04 1.59623172e+00] [ 2.07839780e-02 -8.62805522e-04 9.99783618e-01 9.48600489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81925415399998 meters Centerline goodness [0,1] 0.9989105590327473 Centerline is valid? [True, True] Translation: X:111.20, Y:1.59, Z:0.95 [[ 9.97895114e-01 -6.16572818e-02 -2.00927975e-02 1.11204698e+02] [ 6.16627351e-02 9.98096982e-01 -3.48623468e-04 1.59430859e+00] [ 2.00760557e-02 -8.91087194e-04 9.99798059e-01 9.49096072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84925415399998 meters Centerline goodness [0,1] 0.9989997871887636 Centerline is valid? [True, True] Translation: X:111.24, Y:1.59, Z:0.95 [[ 9.97775349e-01 -6.36845380e-02 -1.97137585e-02 1.11237099e+02] [ 6.36902102e-02 9.97969659e-01 -3.40623933e-04 1.59422041e+00] [ 1.96954254e-02 -9.15707260e-04 9.99805607e-01 9.50000331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87925415399998 meters Centerline goodness [0,1] 0.9990621936143911 Centerline is valid? [True, True] Translation: X:111.27, Y:1.59, Z:0.95 [[ 9.97602622e-01 -6.66324919e-02 -1.86847474e-02 1.11267532e+02] [ 6.66381184e-02 9.97777158e-01 -3.22013615e-04 1.59008186e+00] [ 1.86646707e-02 -9.23874784e-04 9.99825373e-01 9.50001773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90925415399998 meters Centerline goodness [0,1] 0.9989369392354467 Centerline is valid? [True, True] Translation: X:111.30, Y:1.59, Z:0.95 [[ 9.97563348e-01 -6.72324963e-02 -1.86321644e-02 1.11299211e+02] [ 6.72382082e-02 9.97736900e-01 -3.20427502e-04 1.58751966e+00] [ 1.86115411e-02 -9.33146619e-04 9.99826355e-01 9.49732496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93925415399998 meters Centerline goodness [0,1] 0.9989800471728183 Centerline is valid? [True, True] Translation: X:111.33, Y:1.59, Z:0.95 [[ 9.97549211e-01 -6.74520549e-02 -1.85954869e-02 1.11331208e+02] [ 6.74578045e-02 9.97722077e-01 -3.18606103e-04 1.58953023e+00] [ 1.85746184e-02 -9.36585452e-04 9.99827038e-01 9.50087511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96925415399998 meters Centerline goodness [0,1] 0.9989161849710982 Centerline is valid? [True, True] Translation: X:111.36, Y:1.59, Z:0.95 [[ 9.97531740e-01 -6.74823333e-02 -1.94052002e-02 1.11362715e+02] [ 6.74886393e-02 9.97719988e-01 -3.30480337e-04 1.58772937e+00] [ 1.93832577e-02 -9.79965930e-04 9.99811647e-01 9.49023543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99925415399998 meters Centerline goodness [0,1] 0.9989787668609846 Centerline is valid? [True, True] Translation: X:111.39, Y:1.58, Z:0.95 [[ 9.97543505e-01 -6.72963437e-02 -1.94462744e-02 1.11394346e+02] [ 6.73026748e-02 9.97732550e-01 -3.29444058e-04 1.58441780e+00] [ 1.94243513e-02 -9.80151499e-04 9.99810849e-01 9.48248939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02925415399997 meters Centerline goodness [0,1] 0.9990820987917859 Centerline is valid? [True, True] Translation: X:111.43, Y:1.59, Z:0.95 [[ 9.97555637e-01 -6.71033319e-02 -1.94908800e-02 1.11426699e+02] [ 6.71096795e-02 9.97745550e-01 -3.28956864e-04 1.59138920e+00] [ 1.94690129e-02 -9.79873937e-04 9.99809981e-01 9.49516756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05925415399997 meters Centerline goodness [0,1] 0.9989528348257218 Centerline is valid? [True, True] Translation: X:111.46, Y:1.59, Z:0.95 [[ 9.97556234e-01 -6.69487179e-02 -1.99857338e-02 1.11459129e+02] [ 6.69553945e-02 9.97755913e-01 -3.35635841e-04 1.59106620e+00] [ 1.99633545e-02 -1.00333707e-03 9.99800209e-01 9.48609073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08925415399997 meters Centerline goodness [0,1] 0.9989305727852162 Centerline is valid? [True, True] Translation: X:111.49, Y:1.59, Z:0.95 [[ 9.97558570e-01 -6.67611815e-02 -2.04901203e-02 1.11492390e+02] [ 6.67682029e-02 9.97768455e-01 -3.42015383e-04 1.59165357e+00] [ 2.04672290e-02 -1.02690813e-03 9.99789997e-01 9.48575074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11925415399998 meters Centerline goodness [0,1] 0.9991027174841908 Centerline is valid? [True, True] Translation: X:111.52, Y:1.59, Z:0.95 [[ 9.97584631e-01 -6.63566114e-02 -2.05354387e-02 1.11524634e+02] [ 6.63636163e-02 9.97795447e-01 -3.40926490e-04 1.59387447e+00] [ 2.05127900e-02 -1.02270295e-03 9.99789068e-01 9.48569183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14925415399998 meters Centerline goodness [0,1] 0.9990596683193709 Centerline is valid? [True, True] Translation: X:111.56, Y:1.60, Z:0.95 [[ 9.97647966e-01 -6.50155674e-02 -2.17143315e-02 1.11556973e+02] [ 6.50231186e-02 9.97883693e-01 -3.58863719e-04 1.59636651e+00] [ 2.16917090e-02 -1.05391389e-03 9.99764152e-01 9.47908100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17925415399998 meters Centerline goodness [0,1] 0.9989294278862624 Centerline is valid? [True, True] Translation: X:111.59, Y:1.60, Z:0.95 [[ 9.97725365e-01 -6.37225633e-02 -2.19893552e-02 1.11588269e+02] [ 6.37300243e-02 9.97967110e-01 -3.62021540e-04 1.59615662e+00] [ 2.19677222e-02 -1.04018407e-03 9.99758139e-01 9.47144083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20925415399998 meters Centerline goodness [0,1] 0.9990169259702514 Centerline is valid? [True, True] Translation: X:111.62, Y:1.60, Z:0.95 [[ 9.97955975e-01 -5.96592128e-02 -2.29052607e-02 1.11618550e+02] [ 5.96662526e-02 9.98218311e-01 -3.76566747e-04 1.60149687e+00] [ 2.28869163e-02 -9.90874036e-04 9.99737569e-01 9.47041459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23925415399998 meters Centerline goodness [0,1] 0.999207114539805 Centerline is valid? [True, True] Translation: X:111.65, Y:1.61, Z:0.95 [[ 9.98111139e-01 -5.70797793e-02 -2.27167882e-02 1.11649839e+02] [ 5.70860477e-02 9.98369192e-01 -3.72986797e-04 1.60504080e+00] [ 2.27010315e-02 -9.24529377e-04 9.99741871e-01 9.47397836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26925415399998 meters Centerline goodness [0,1] 0.9990342104133579 Centerline is valid? [True, True] Translation: X:111.68, Y:1.61, Z:0.95 [[ 9.98275951e-01 -5.42460719e-02 -2.24162716e-02 1.11680432e+02] [ 5.42514800e-02 9.98527237e-01 -3.67252860e-04 1.60758537e+00] [ 2.24031797e-02 -8.49496210e-04 9.99748656e-01 9.47572804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29925415399998 meters Centerline goodness [0,1] 0.9992693200378234 Centerline is valid? [True, True] Translation: X:111.71, Y:1.61, Z:0.95 [[ 9.98453025e-01 -5.09239801e-02 -2.23227429e-02 1.11712383e+02] [ 5.09285369e-02 9.98702233e-01 -3.64688831e-04 1.61254506e+00] [ 2.23123446e-02 -7.72739968e-04 9.99750750e-01 9.48700054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32925415399998 meters Centerline goodness [0,1] 0.9990308616716559 Centerline is valid? [True, True] Translation: X:111.74, Y:1.62, Z:0.95 [[ 9.98808794e-01 -4.42237918e-02 -2.06215535e-02 1.11741618e+02] [ 4.42262588e-02 9.99021484e-01 -3.36629846e-04 1.61985704e+00] [ 2.06162620e-02 -5.75785311e-04 9.99787296e-01 9.50783244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35925415399998 meters Centerline goodness [0,1] 0.9992244387952949 Centerline is valid? [True, True] Translation: X:111.77, Y:1.62, Z:0.95 [[ 9.99003354e-01 -4.03313884e-02 -1.91227085e-02 1.11772563e+02] [ 4.03328006e-02 9.99186253e-01 -3.11970136e-04 1.62447845e+00] [ 1.91197297e-02 -4.59613178e-04 9.99817096e-01 9.52442722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38925415399997 meters Centerline goodness [0,1] 0.9993732981804037 Centerline is valid? [True, True] Translation: X:111.80, Y:1.63, Z:0.96 [[ 9.99336385e-01 -3.21904791e-02 -1.70459176e-02 1.11803264e+02] [ 3.21904245e-02 9.99481715e-01 -2.77651518e-04 1.63461241e+00] [ 1.70460207e-02 -2.71248057e-04 9.99854669e-01 9.55949356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41925415399997 meters Centerline goodness [0,1] 0.9993718184772014 Centerline is valid? [True, True] Translation: X:111.83, Y:1.64, Z:0.96 [[ 9.99492761e-01 -2.76650351e-02 -1.57754853e-02 1.11833367e+02] [ 2.76644291e-02 9.99617233e-01 -2.56682240e-04 1.63875261e+00] [ 1.57765481e-02 -1.79867752e-04 9.99875526e-01 9.56498837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44925415399997 meters Centerline goodness [0,1] 0.9993929276066171 Centerline is valid? [True, True] Translation: X:111.86, Y:1.64, Z:0.96 [[ 9.99613733e-01 -2.33192722e-02 -1.51194145e-02 1.11864516e+02] [ 2.33182241e-02 9.99728063e-01 -2.45629231e-04 1.64337494e+00] [ 1.51210309e-02 -1.07023543e-04 9.99885665e-01 9.57485466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47925415399997 meters Centerline goodness [0,1] 0.9995230559108548 Centerline is valid? [True, True] Translation: X:111.89, Y:1.65, Z:0.96 [[ 9.99791246e-01 -1.50835386e-02 -1.37823007e-02 1.11893880e+02] [ 1.50818884e-02 9.99886237e-01 -2.23669580e-04 1.64954308e+00] [ 1.37841066e-02 1.57597666e-05 9.99904995e-01 9.57009821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50925415399998 meters Centerline goodness [0,1] 0.9993045141379235 Centerline is valid? [True, True] Translation: X:111.92, Y:1.65, Z:0.96 [[ 9.99837184e-01 -1.13919349e-02 -1.39938987e-02 1.11923432e+02] [ 1.13898672e-02 9.99935107e-01 -2.27445301e-04 1.65284180e+00] [ 1.39955817e-02 6.80196202e-05 9.99902055e-01 9.57225710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53925415399998 meters Centerline goodness [0,1] 0.999325529785475 Centerline is valid? [True, True] Translation: X:111.95, Y:1.66, Z:0.96 [[ 9.99864024e-01 -8.47472601e-03 -1.41461446e-02 1.11951796e+02] [ 8.47229902e-03 9.99964083e-01 -2.31486148e-04 1.65580411e+00] [ 1.41475983e-02 1.11604304e-04 9.99899911e-01 9.57299815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56925415399998 meters Centerline goodness [0,1] 0.9994990089089285 Centerline is valid? [True, True] Translation: X:111.98, Y:1.66, Z:0.96 [[ 9.99883632e-01 -4.18211884e-03 -1.46708164e-02 1.11980713e+02] [ 4.17899005e-03 9.99991238e-01 -2.43916227e-04 1.66061663e+00] [ 1.46717079e-02 1.82578647e-04 9.99892348e-01 9.57496009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59925415399998 meters Centerline goodness [0,1] 0.9995863360257778 Centerline is valid? [True, True] Translation: X:112.01, Y:1.66, Z:0.96 [[ 9.99888613e-01 -3.02857222e-03 -1.46146969e-02 1.12008778e+02] [ 3.02530250e-03 9.99995394e-01 -2.45831117e-04 1.66245886e+00] [ 1.46153741e-02 2.01589856e-04 9.99893169e-01 9.57700970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62925415399998 meters Centerline goodness [0,1] 0.9994546009860814 Centerline is valid? [True, True] Translation: X:112.04, Y:1.66, Z:0.96 [[ 9.99890448e-01 -3.07724893e-03 -1.44783276e-02 1.12037137e+02] [ 3.07401157e-03 9.99995245e-01 -2.45849820e-04 1.66277253e+00] [ 1.44790153e-02 2.01316340e-04 9.99895153e-01 9.58115264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65925415399998 meters Centerline goodness [0,1] 0.999541564792176 Centerline is valid? [True, True] Translation: X:112.06, Y:1.66, Z:0.96 [[ 9.99892782e-01 -3.86287858e-03 -1.41245347e-02 1.12064574e+02] [ 3.85981926e-03 9.99992521e-01 -2.43850906e-04 1.66280642e+00] [ 1.41253711e-02 1.89306609e-04 9.99900214e-01 9.58368792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68925415399998 meters Centerline goodness [0,1] 0.999564146708218 Centerline is valid? [True, True] Translation: X:112.09, Y:1.66, Z:0.96 [[ 9.99886774e-01 -4.86042875e-03 -1.42413167e-02 1.12092755e+02] [ 4.85737497e-03 9.99988172e-01 -2.49012639e-04 1.66242520e+00] [ 1.42423586e-02 1.79809029e-04 9.99898556e-01 9.58125101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71925415399998 meters Centerline goodness [0,1] 0.99941166216334 Centerline is valid? [True, True] Translation: X:112.12, Y:1.66, Z:0.96 [[ 9.99881176e-01 -6.16574585e-03 -1.41285799e-02 1.12122010e+02] [ 6.16285409e-03 9.99980979e-01 -2.48203942e-04 1.66153462e+00] [ 1.41298415e-02 1.61102073e-04 9.99900156e-01 9.57979795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74925415399998 meters Centerline goodness [0,1] 0.9992392462016649 Centerline is valid? [True, True] Translation: X:112.15, Y:1.66, Z:0.96 [[ 9.99861756e-01 -8.97910724e-03 -1.39944451e-02 1.12151100e+02] [ 8.97653184e-03 9.99959680e-01 -2.46834415e-04 1.65847843e+00] [ 1.39960972e-02 1.21178709e-04 9.99902042e-01 9.58073787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77925415399997 meters Centerline goodness [0,1] 0.9995431505210259 Centerline is valid? [True, True] Translation: X:112.18, Y:1.66, Z:0.96 [[ 9.99850511e-01 -1.05131692e-02 -1.37269508e-02 1.12178853e+02] [ 1.05108096e-02 9.99944730e-01 -2.44030686e-04 1.65742931e+00] [ 1.37287577e-02 9.97128404e-05 9.99905751e-01 9.58740571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80925415399997 meters Centerline goodness [0,1] 0.9994139734768737 Centerline is valid? [True, True] Translation: X:112.21, Y:1.65, Z:0.96 [[ 9.99806511e-01 -1.40920035e-02 -1.37242838e-02 1.12208143e+02] [ 1.40899406e-02 9.99900701e-01 -2.46997266e-04 1.65408778e+00] [ 1.37264017e-02 5.35751311e-05 9.99905787e-01 9.59529319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83925415399997 meters Centerline goodness [0,1] 0.9992633996273669 Centerline is valid? [True, True] Translation: X:112.24, Y:1.65, Z:0.96 [[ 9.99779208e-01 -1.60801156e-02 -1.35264354e-02 1.12236504e+02] [ 1.60782816e-02 9.99870706e-01 -2.44330673e-04 1.65218247e+00] [ 1.35286154e-02 2.67948895e-05 9.99908484e-01 9.59437143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86925415399998 meters Centerline goodness [0,1] 0.9995668745668745 Centerline is valid? [True, True] Translation: X:112.27, Y:1.65, Z:0.96 [[ 9.99746916e-01 -1.79447674e-02 -1.35679328e-02 1.12266028e+02] [ 1.79430849e-02 9.99838980e-01 -2.45742062e-04 1.64988085e+00] [ 1.35701578e-02 2.22929997e-06 9.99907921e-01 9.60294077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89925415399998 meters Centerline goodness [0,1] 0.999741990969684 Centerline is valid? [True, True] Translation: X:112.30, Y:1.65, Z:0.96 [[ 9.99678128e-01 -2.17211353e-02 -1.31084629e-02 1.12296247e+02] [ 2.17198832e-02 9.99764067e-01 -2.37889875e-04 1.64510322e+00] [ 1.31105374e-02 -4.69009779e-05 9.99914052e-01 9.61036668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92925415399998 meters Centerline goodness [0,1] 0.9995045452587136 Centerline is valid? [True, True] Translation: X:112.33, Y:1.64, Z:0.96 [[ 9.99646797e-01 -2.33071270e-02 -1.27694728e-02 1.12327927e+02] [ 2.33060655e-02 9.99728350e-01 -2.31947364e-04 1.64273459e+00] [ 1.27714100e-02 -6.57407302e-05 9.99918440e-01 9.61455662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95925415399998 meters Centerline goodness [0,1] 0.9994412447348061 Centerline is valid? [True, True] Translation: X:112.36, Y:1.64, Z:0.96 [[ 9.99603809e-01 -2.54166758e-02 -1.20920848e-02 1.12359567e+02] [ 2.54158834e-02 9.99676940e-01 -2.19221153e-04 1.63854339e+00] [ 1.20937502e-02 -8.81967187e-05 9.99926864e-01 9.61961051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98925415399998 meters Centerline goodness [0,1] 0.9992701826689849 Centerline is valid? [True, True] Translation: X:112.39, Y:1.64, Z:0.96 [[ 9.99595554e-01 -2.55364285e-02 -1.25147571e-02 1.12391755e+02] [ 2.55355964e-02 9.99673888e-01 -2.26298175e-04 1.63723855e+00] [ 1.25164548e-02 -9.33651385e-05 9.99921662e-01 9.62286755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01925415399998 meters Centerline goodness [0,1] 0.9995276841495094 Centerline is valid? [True, True] Translation: X:112.42, Y:1.64, Z:0.96 [[ 9.99607012e-01 -2.49772365e-02 -1.27263414e-02 1.12423558e+02] [ 2.49763413e-02 9.99688016e-01 -2.29302412e-04 1.63601559e+00] [ 1.27280983e-02 -8.86451467e-05 9.99918991e-01 9.62455372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04925415399998 meters Centerline goodness [0,1] 0.9991426060489144 Centerline is valid? [True, True] Translation: X:112.45, Y:1.63, Z:0.96 [[ 9.99659078e-01 -2.24472247e-02 -1.33360651e-02 1.12454672e+02] [ 2.24460232e-02 9.99748028e-01 -2.39786188e-04 1.63454937e+00] [ 1.33380873e-02 -5.96371862e-05 9.99911042e-01 9.62065902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07925415399998 meters Centerline goodness [0,1] 0.9991001799640072 Centerline is valid? [True, True] Translation: X:112.49, Y:1.63, Z:0.96 [[ 9.99705903e-01 -2.04442711e-02 -1.30437640e-02 1.12485468e+02] [ 2.04429564e-02 9.99790994e-01 -2.34129064e-04 1.63443926e+00] [ 1.30458244e-02 -3.25928910e-05 9.99914899e-01 9.61710106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10925415399998 meters Centerline goodness [0,1] 0.9992710432657261 Centerline is valid? [True, True] Translation: X:112.52, Y:1.63, Z:0.96 [[ 9.99747363e-01 -1.81009277e-02 -1.33253750e-02 1.12515953e+02] [ 1.80993498e-02 9.99836165e-01 -2.39010268e-04 1.63478309e+00] [ 1.33275181e-02 -2.23073712e-06 9.99911185e-01 9.62114568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13925415399997 meters Centerline goodness [0,1] 0.9989931016753074 Centerline is valid? [True, True] Translation: X:112.55, Y:1.64, Z:0.96 [[ 9.99809713e-01 -1.34668067e-02 -1.41131902e-02 1.12545190e+02] [ 1.34645738e-02 9.99909316e-01 -2.53226932e-04 1.63512484e+00] [ 1.41153205e-02 6.31506554e-05 9.99900372e-01 9.61565486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16925415399997 meters Centerline goodness [0,1] 0.9992508721987972 Centerline is valid? [True, True] Translation: X:112.57, Y:1.64, Z:0.96 [[ 9.99828218e-01 -1.16251820e-02 -1.44357195e-02 1.12574052e+02] [ 1.16226328e-02 9.99932421e-01 -2.60480253e-04 1.63525057e+00] [ 1.44377721e-02 9.26544408e-05 9.99895766e-01 9.61939968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19925415399997 meters Centerline goodness [0,1] 0.999186173516373 Centerline is valid? [True, True] Translation: X:112.60, Y:1.64, Z:0.96 [[ 9.99842728e-01 -1.00329677e-02 -1.46239104e-02 1.12602555e+02] [ 1.00301262e-02 9.99949661e-01 -2.67637239e-04 1.63549218e+00] [ 1.46258595e-02 1.20915480e-04 9.99893029e-01 9.62043096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22925415399997 meters Centerline goodness [0,1] 0.9991873222267371 Centerline is valid? [True, True] Translation: X:112.63, Y:1.63, Z:0.96 [[ 9.99845661e-01 -8.23653084e-03 -1.55181878e-02 1.12631470e+02] [ 8.23305119e-03 9.99966066e-01 -2.88103359e-04 1.63406628e+00] [ 1.55200341e-02 1.60296859e-04 9.99879544e-01 9.61971277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25925415399998 meters Centerline goodness [0,1] 0.9992733179447721 Centerline is valid? [True, True] Translation: X:112.66, Y:1.63, Z:0.96 [[ 9.99837763e-01 -8.45609734e-03 -1.59041601e-02 1.12659613e+02] [ 8.45240118e-03 9.99964233e-01 -2.99607521e-04 1.63285403e+00] [ 1.59061248e-02 1.65130572e-04 9.99873476e-01 9.61807213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28925415399998 meters Centerline goodness [0,1] 0.9992733179447721 Centerline is valid? [True, True] Translation: X:112.69, Y:1.63, Z:0.96 [[ 9.99835266e-01 -8.74651387e-03 -1.59040720e-02 1.12686999e+02] [ 8.74278099e-03 9.99961735e-01 -3.04225811e-04 1.63344242e+00] [ 1.59061244e-02 1.65129877e-04 9.99873476e-01 9.62064703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31925415399998 meters Centerline goodness [0,1] 0.9993170127846669 Centerline is valid? [True, True] Translation: X:112.71, Y:1.63, Z:0.96 [[ 9.99825837e-01 -9.27385759e-03 -1.61954283e-02 1.12713597e+02] [ 9.26999703e-03 9.99956984e-01 -3.13429620e-04 1.63214285e+00] [ 1.61976384e-02 1.63243459e-04 9.99868796e-01 9.61859423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34925415399998 meters Centerline goodness [0,1] 0.9992962552247718 Centerline is valid? [True, True] Translation: X:112.74, Y:1.63, Z:0.96 [[ 9.99789133e-01 -1.10588810e-02 -1.73028935e-02 1.12741672e+02] [ 1.10546796e-02 9.99938838e-01 -3.38446376e-04 1.62843598e+00] [ 1.73055781e-02 1.47097066e-04 9.99850236e-01 9.62291302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37925415399998 meters Centerline goodness [0,1] 0.9991698948533481 Centerline is valid? [True, True] Translation: X:112.77, Y:1.63, Z:0.96 [[ 9.99769099e-01 -1.25492059e-02 -1.74432224e-02 1.12769619e+02] [ 1.25450732e-02 9.99921247e-01 -3.46328682e-04 1.62686506e+00] [ 1.74461949e-02 1.27422212e-04 9.99847795e-01 9.62385503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40925415399998 meters Centerline goodness [0,1] 0.9988951919603969 Centerline is valid? [True, True] Translation: X:112.80, Y:1.62, Z:0.96 [[ 9.99713433e-01 -1.58156802e-02 -1.79698597e-02 1.12798053e+02] [ 1.58117314e-02 9.99874921e-01 -3.61816011e-04 1.62264654e+00] [ 1.79733344e-02 7.75777331e-05 9.99838464e-01 9.62279769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43925415399998 meters Centerline goodness [0,1] 0.9993196266451215 Centerline is valid? [True, True] Translation: X:112.83, Y:1.62, Z:0.96 [[ 9.99668163e-01 -1.77904628e-02 -1.86296095e-02 1.12826164e+02] [ 1.77864649e-02 9.99841736e-01 -3.80285961e-04 1.62058231e+00] [ 1.86334266e-02 4.88048733e-05 9.99826381e-01 9.62783811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46925415399998 meters Centerline goodness [0,1] 0.9989597044711477 Centerline is valid? [True, True] Translation: X:112.85, Y:1.62, Z:0.96 [[ 9.99630581e-01 -1.99570816e-02 -1.84503925e-02 1.12854138e+02] [ 1.99534301e-02 9.99800838e-01 -3.81995652e-04 1.61857022e+00] [ 1.84543414e-02 1.37059191e-05 9.99829704e-01 9.63025212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49925415399998 meters Centerline goodness [0,1] 0.999154012097627 Centerline is valid? [True, True] Translation: X:112.88, Y:1.61, Z:0.96 [[ 9.99561891e-01 -2.39527907e-02 -1.73864857e-02 1.12881256e+02] [ 2.39500899e-02 9.99713089e-01 -3.63569761e-04 1.61330342e+00] [ 1.73902058e-02 -5.29974172e-05 9.99848778e-01 9.63763229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52925415399997 meters Centerline goodness [0,1] 0.9990916580409388 Centerline is valid? [True, True] Translation: X:112.91, Y:1.61, Z:0.97 [[ 9.99522161e-01 -2.59505631e-02 -1.67933718e-02 1.12909565e+02] [ 2.59482739e-02 9.99663224e-01 -3.54237948e-04 1.61130450e+00] [ 1.67969089e-02 -8.16903317e-05 9.99858919e-01 9.65355308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55925415399997 meters Centerline goodness [0,1] 0.9989042943234018 Centerline is valid? [True, True] Translation: X:112.94, Y:1.61, Z:0.97 [[ 9.99480161e-01 -2.85213406e-02 -1.50313287e-02 1.12939554e+02] [ 2.85197630e-02 9.99593178e-01 -3.19343029e-04 1.60711098e+00] [ 1.50343218e-02 -1.09512911e-04 9.99886972e-01 9.66736925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58925415399997 meters Centerline goodness [0,1] 0.9991368239331354 Centerline is valid? [True, True] Translation: X:112.97, Y:1.61, Z:0.97 [[ 9.99473390e-01 -2.90306423e-02 -1.44970786e-02 1.12969729e+02] [ 2.90292274e-02 9.99578516e-01 -3.08065397e-04 1.60527189e+00] [ 1.44999116e-02 -1.12935824e-04 9.99894864e-01 9.67341128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61925415399998 meters Centerline goodness [0,1] 0.9990526714664646 Centerline is valid? [True, True] Translation: X:113.00, Y:1.61, Z:0.97 [[ 9.99487994e-01 -2.87866182e-02 -1.39670949e-02 1.13001312e+02] [ 2.87852857e-02 9.99585574e-01 -2.96471066e-04 1.60508844e+00] [ 1.39698410e-02 -1.05727547e-04 9.99902411e-01 9.68615552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64925415399998 meters Centerline goodness [0,1] 0.9990751833869307 Centerline is valid? [True, True] Translation: X:113.03, Y:1.60, Z:0.97 [[ 9.99553921e-01 -2.66718546e-02 -1.34376511e-02 1.13031803e+02] [ 2.66704355e-02 9.99644240e-01 -2.84828463e-04 1.60364319e+00] [ 1.34404674e-02 -7.36865995e-05 9.99909670e-01 9.69340639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67925415399998 meters Centerline goodness [0,1] 0.9991163475699558 Centerline is valid? [True, True] Translation: X:113.06, Y:1.60, Z:0.97 [[ 9.99590026e-01 -2.53732610e-02 -1.32656532e-02 1.13063626e+02] [ 2.53717678e-02 9.99678045e-01 -2.80872761e-04 1.60381820e+00] [ 1.32685089e-02 -5.58154613e-05 9.99911968e-01 9.69907283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70925415399998 meters Centerline goodness [0,1] 0.9990947368421053 Centerline is valid? [True, True] Translation: X:113.09, Y:1.60, Z:0.97 [[ 9.99634727e-01 -2.33194806e-02 -1.36607245e-02 1.13094090e+02] [ 2.33177102e-02 9.99728063e-01 -2.88886752e-04 1.60383818e+00] [ 1.36637463e-02 -2.97555856e-05 9.99906646e-01 9.68472544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73925415399998 meters Centerline goodness [0,1] 0.999348383570858 Centerline is valid? [True, True] Translation: X:113.12, Y:1.60, Z:0.97 [[ 9.99659157e-01 -2.20929213e-02 -1.39094369e-02 1.13124230e+02] [ 2.20909670e-02 9.99755922e-01 -2.94146335e-04 1.60418993e+00] [ 1.39125405e-02 -1.32268347e-05 9.99903216e-01 9.70390708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76925415399998 meters Centerline goodness [0,1] 0.9990539063157009 Centerline is valid? [True, True] Translation: X:113.15, Y:1.60, Z:0.97 [[ 9.99695409e-01 -1.95203287e-02 -1.51012114e-02 1.13154274e+02] [ 1.95177285e-02 9.99809460e-01 -3.19557782e-04 1.60393103e+00] [ 1.51045719e-02 2.47191031e-05 9.99885919e-01 9.69808196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79925415399998 meters Centerline goodness [0,1] 0.9993277452154367 Centerline is valid? [True, True] Translation: X:113.18, Y:1.60, Z:0.97 [[ 9.99696159e-01 -1.83774799e-02 -1.64273567e-02 1.13182919e+02] [ 1.83742131e-02 9.99831119e-01 -3.49782558e-04 1.60272120e+00] [ 1.64310105e-02 4.78365277e-05 9.99865001e-01 9.69455319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82925415399998 meters Centerline goodness [0,1] 0.9992861192180906 Centerline is valid? [True, True] Translation: X:113.21, Y:1.60, Z:0.97 [[ 9.99682393e-01 -1.84017842e-02 -1.72187960e-02 1.13210405e+02] [ 1.83981166e-02 9.99830671e-01 -3.71397780e-04 1.60197557e+00] [ 1.72227148e-02 5.44864043e-05 9.99851677e-01 9.69029877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85925415399998 meters Centerline goodness [0,1] 0.9992639791390658 Centerline is valid? [True, True] Translation: X:113.24, Y:1.60, Z:0.97 [[ 9.99660040e-01 -1.88749193e-02 -1.79872868e-02 1.13238663e+02] [ 1.88708979e-02 9.99821851e-01 -3.93291079e-04 1.60121491e+00] [ 1.79915057e-02 5.37211244e-05 9.99838138e-01 9.68760760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88925415399997 meters Centerline goodness [0,1] 0.9992224767268372 Centerline is valid? [True, True] Translation: X:113.27, Y:1.60, Z:0.97 [[ 9.99650080e-01 -1.91535550e-02 -1.82444475e-02 1.13266058e+02] [ 1.91493940e-02 9.99816552e-01 -4.02761111e-04 1.60042523e+00] [ 1.82488149e-02 5.32500631e-05 9.99833475e-01 9.68259075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91925415399997 meters Centerline goodness [0,1] 0.9990366290393516 Centerline is valid? [True, True] Translation: X:113.29, Y:1.60, Z:0.97 [[ 9.99609992e-01 -2.04094624e-02 -1.90608878e-02 1.13293779e+02] [ 2.04050709e-02 9.99791705e-01 -4.24867756e-04 1.59689316e+00] [ 1.90655889e-02 3.57632859e-05 9.99818235e-01 9.66693359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94925415399997 meters Centerline goodness [0,1] 0.9992462942802111 Centerline is valid? [True, True] Translation: X:113.32, Y:1.60, Z:0.97 [[ 9.99580562e-01 -2.20896726e-02 -1.87282347e-02 1.13320998e+02] [ 2.20856547e-02 9.99755993e-01 -4.21364863e-04 1.59593618e+00] [ 1.87329727e-02 7.56280125e-06 9.99824522e-01 9.68587325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97925415399997 meters Centerline goodness [0,1] 0.9992874507502725 Centerline is valid? [True, True] Translation: X:113.35, Y:1.59, Z:0.97 [[ 9.99535714e-01 -2.41026348e-02 -1.86392088e-02 1.13349053e+02] [ 2.40989319e-02 9.99709489e-01 -4.23282750e-04 1.59443636e+00] [ 1.86439962e-02 -2.60987992e-05 9.99826185e-01 9.70268414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00925415399998 meters Centerline goodness [0,1] 0.9989959209287731 Centerline is valid? [True, True] Translation: X:113.38, Y:1.59, Z:0.97 [[ 9.99415784e-01 -2.85152297e-02 -1.88407187e-02 1.13377487e+02] [ 2.85121611e-02 9.99593353e-01 -4.31520540e-04 1.58969490e+00] [ 1.88453621e-02 -1.05921169e-04 9.99822405e-01 9.70755672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03925415399998 meters Centerline goodness [0,1] 0.999163057351495 Centerline is valid? [True, True] Translation: X:113.41, Y:1.59, Z:0.97 [[ 9.99347499e-01 -3.05815486e-02 -1.92183394e-02 1.13405681e+02] [ 3.05787035e-02 9.99532264e-01 -4.41954028e-04 1.58598342e+00] [ 1.92228659e-02 -1.46006249e-04 9.99815213e-01 9.67978902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06925415399998 meters Centerline goodness [0,1] 0.9990192191314873 Centerline is valid? [True, True] Translation: X:113.43, Y:1.58, Z:0.97 [[ 9.99148664e-01 -3.71821513e-02 -1.78727434e-02 1.13433856e+02] [ 3.71807189e-02 9.99308473e-01 -4.12538127e-04 1.57873311e+00] [ 1.78757230e-02 -2.52334529e-04 9.99840185e-01 9.71115342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09925415399998 meters Centerline goodness [0,1] 0.9993123710695756 Centerline is valid? [True, True] Translation: X:113.46, Y:1.58, Z:0.97 [[ 9.99034730e-01 -4.02432305e-02 -1.76094050e-02 1.13464693e+02] [ 4.02423014e-02 9.99189868e-01 -4.07251600e-04 1.57550971e+00] [ 1.76115282e-02 -3.01784490e-04 9.99844859e-01 9.72140796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12925415399998 meters Centerline goodness [0,1] 0.9990813429096376 Centerline is valid? [True, True] Translation: X:113.50, Y:1.58, Z:0.97 [[ 9.98918007e-01 -4.29538512e-02 -1.78264189e-02 1.13495672e+02] [ 4.29533359e-02 9.99076995e-01 -4.11961948e-04 1.57523706e+00] [ 1.78276604e-02 -3.54187951e-04 9.99841012e-01 9.73751855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15925415399998 meters Centerline goodness [0,1] 0.998749895824652 Centerline is valid? [True, True] Translation: X:113.53, Y:1.57, Z:0.97 [[ 9.98709235e-01 -4.76504957e-02 -1.75867566e-02 1.13526368e+02] [ 4.76507304e-02 9.98863976e-01 -4.05937522e-04 1.56980219e+00] [ 1.75861207e-02 -4.32608243e-04 9.99845259e-01 9.74213492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18925415399998 meters Centerline goodness [0,1] 0.9987687556084226 Centerline is valid? [True, True] Translation: X:113.56, Y:1.57, Z:0.97 [[ 9.98635113e-01 -4.91975289e-02 -1.75360555e-02 1.13558049e+02] [ 4.91980088e-02 9.98788963e-01 -4.04300460e-04 1.56862901e+00] [ 1.75347093e-02 -4.58990379e-04 9.99846150e-01 9.74784082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21925415399998 meters Centerline goodness [0,1] 0.9989141103013344 Centerline is valid? [True, True] Translation: X:113.59, Y:1.57, Z:0.97 [[ 9.98555535e-01 -5.08539671e-02 -1.73412024e-02 1.13589884e+02] [ 5.08546994e-02 9.98705983e-01 -3.99030217e-04 1.56531871e+00] [ 1.73390548e-02 -4.83427801e-04 9.99849550e-01 9.74815917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24925415399998 meters Centerline goodness [0,1] 0.998642779587405 Centerline is valid? [True, True] Translation: X:113.62, Y:1.56, Z:0.97 [[ 9.98528808e-01 -5.11008379e-02 -1.81362800e-02 1.13620739e+02] [ 5.11016981e-02 9.98693368e-01 -4.16304225e-04 1.56363520e+00] [ 1.81338561e-02 -5.11102945e-04 9.99835437e-01 9.73253365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27925415399997 meters Centerline goodness [0,1] 0.9988297494409963 Centerline is valid? [True, True] Translation: X:113.65, Y:1.56, Z:0.98 [[ 9.98495031e-01 -5.19798601e-02 -1.74862114e-02 1.13652296e+02] [ 5.19808082e-02 9.98648004e-01 -4.00592201e-04 1.56376717e+00] [ 1.74833928e-02 -5.08958077e-04 9.99847024e-01 9.76095800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30925415399997 meters Centerline goodness [0,1] 0.9991642639254523 Centerline is valid? [True, True] Translation: X:113.68, Y:1.56, Z:0.98 [[ 9.98491167e-01 -5.19121585e-02 -1.79029922e-02 1.13684286e+02] [ 5.19131591e-02 9.98651519e-01 -4.09161970e-04 1.56385905e+00] [ 1.79000909e-02 -5.20856271e-04 9.99839645e-01 9.76186647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33925415399997 meters Centerline goodness [0,1] 0.9990397662039453 Centerline is valid? [True, True] Translation: X:113.72, Y:1.56, Z:0.97 [[ 9.98467736e-01 -5.18747170e-02 -1.92663913e-02 1.13715436e+02] [ 5.18758936e-02 9.98653443e-01 -4.39036426e-04 1.56218568e+00] [ 1.92632229e-02 -5.61097557e-04 9.99814289e-01 9.74949500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36925415399998 meters Centerline goodness [0,1] 0.9991019214703425 Centerline is valid? [True, True] Translation: X:113.75, Y:1.56, Z:0.97 [[ 9.98466536e-01 -5.13538617e-02 -2.06726463e-02 1.13746618e+02] [ 5.13551249e-02 9.98680344e-01 -4.70117266e-04 1.56371081e+00] [ 2.06695079e-02 -5.92249977e-04 9.99786187e-01 9.73633637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39925415399998 meters Centerline goodness [0,1] 0.9990790162218733 Centerline is valid? [True, True] Translation: X:113.78, Y:1.56, Z:0.97 [[ 9.98434886e-01 -5.18364922e-02 -2.09942068e-02 1.13775752e+02] [ 5.18379046e-02 9.98655398e-01 -4.77293332e-04 1.56364623e+00] [ 2.09907191e-02 -6.11749376e-04 9.99779483e-01 9.74586780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42925415399998 meters Centerline goodness [0,1] 0.9988921173101445 Centerline is valid? [True, True] Translation: X:113.81, Y:1.56, Z:0.98 [[ 9.98412411e-01 -5.21179920e-02 -2.13628691e-02 1.13806259e+02] [ 5.21195152e-02 9.98640736e-01 -4.85847768e-04 1.56465137e+00] [ 2.13591527e-02 -6.28345939e-04 9.99771670e-01 9.75157231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45925415399998 meters Centerline goodness [0,1] 0.9988911205958657 Centerline is valid? [True, True] Translation: X:113.84, Y:1.57, Z:0.98 [[ 9.98391038e-01 -5.25514096e-02 -2.12998822e-02 1.13836514e+02] [ 5.25530223e-02 9.98618018e-01 -4.84415280e-04 1.56519565e+00] [ 2.12959028e-02 -6.35737308e-04 9.99773014e-01 9.75658583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48925415399998 meters Centerline goodness [0,1] 0.9990584986191313 Centerline is valid? [True, True] Translation: X:113.87, Y:1.56, Z:0.98 [[ 9.98367380e-01 -5.31169356e-02 -2.10039572e-02 1.13866181e+02] [ 5.31186243e-02 9.98588095e-01 -4.77898142e-04 1.56473265e+00] [ 2.09996861e-02 -6.38583396e-04 9.99779278e-01 9.75956903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51925415399998 meters Centerline goodness [0,1] 0.9989757096868598 Centerline is valid? [True, True] Translation: X:113.90, Y:1.56, Z:0.97 [[ 9.98274846e-01 -5.46438437e-02 -2.14798109e-02 1.13896123e+02] [ 5.46459545e-02 9.98505674e-01 -4.89119795e-04 1.56108814e+00] [ 2.14744404e-02 -6.85508778e-04 9.99769163e-01 9.74930220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54925415399998 meters Centerline goodness [0,1] 0.9989964037802125 Centerline is valid? [True, True] Translation: X:113.93, Y:1.57, Z:0.98 [[ 9.98215606e-01 -5.56673905e-02 -2.16043135e-02 1.13926111e+02] [ 5.56697616e-02 9.98449115e-01 -4.92125461e-04 1.56591676e+00] [ 2.15982030e-02 -7.11459665e-04 9.99766478e-01 9.76974305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57925415399998 meters Centerline goodness [0,1] 0.999019934940362 Centerline is valid? [True, True] Translation: X:113.96, Y:1.56, Z:0.98 [[ 9.98066723e-01 -5.82890926e-02 -2.15684653e-02 1.13956045e+02] [ 5.82920641e-02 9.98299451e-01 -4.91445221e-04 1.56306636e+00] [ 2.15604330e-02 -7.66775241e-04 9.99767253e-01 9.76031595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60925415399998 meters Centerline goodness [0,1] 0.9990804021150751 Centerline is valid? [True, True] Translation: X:113.99, Y:1.56, Z:0.98 [[ 9.97995359e-01 -5.94215541e-02 -2.17793897e-02 1.13986558e+02] [ 5.94248511e-02 9.98232659e-01 -4.96356865e-04 1.56340162e+00] [ 2.17703923e-02 -7.98875139e-04 9.99762678e-01 9.75947873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63925415399997 meters Centerline goodness [0,1] 0.9987683700734803 Centerline is valid? [True, True] Translation: X:114.02, Y:1.56, Z:0.98 [[ 9.97905755e-01 -6.09213049e-02 -2.17416229e-02 1.14017396e+02] [ 6.09249458e-02 9.98142227e-01 -4.95496152e-04 1.56297975e+00] [ 2.17314181e-02 -8.30148733e-04 9.99763500e-01 9.76350254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66925415399997 meters Centerline goodness [0,1] 0.9990177433175197 Centerline is valid? [True, True] Translation: X:114.05, Y:1.56, Z:0.98 [[ 9.97804333e-01 -6.26800964e-02 -2.13943590e-02 1.14048278e+02] [ 6.26840301e-02 9.98033303e-01 -4.87365304e-04 1.56389355e+00] [ 2.13828309e-02 -8.54789434e-04 9.99770996e-01 9.77241492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69925415399997 meters Centerline goodness [0,1] 0.9989353929652437 Centerline is valid? [True, True] Translation: X:114.08, Y:1.57, Z:0.98 [[ 9.97789074e-01 -6.30595545e-02 -2.09870411e-02 1.14079174e+02] [ 6.30634357e-02 9.98009406e-01 -4.77503176e-04 1.56509970e+00] [ 2.09753755e-02 -8.47067463e-04 9.99779634e-01 9.77951812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72925415399997 meters Centerline goodness [0,1] 0.9991027085680898 Centerline is valid? [True, True] Translation: X:114.11, Y:1.57, Z:0.98 [[ 9.97808478e-01 -6.29325274e-02 -2.04386225e-02 1.14110162e+02] [ 6.29361965e-02 9.98017445e-01 -4.64299905e-04 1.56661219e+00] [ 2.04273213e-02 -8.23046779e-04 9.99791002e-01 9.78696157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75925415399998 meters Centerline goodness [0,1] 0.9988096232562025 Centerline is valid? [True, True] Translation: X:114.14, Y:1.57, Z:0.98 [[ 9.97895338e-01 -6.14603593e-02 -2.06765135e-02 1.14140565e+02] [ 6.14638101e-02 9.98109202e-01 -4.69162336e-04 1.56837039e+00] [ 2.06662533e-02 -8.02682390e-04 9.99786108e-01 9.77711652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78925415399998 meters Centerline goodness [0,1] 0.9990206701116853 Centerline is valid? [True, True] Translation: X:114.17, Y:1.57, Z:0.98 [[ 9.97953491e-01 -6.08942656e-02 -1.95119890e-02 1.14172201e+02] [ 6.08972404e-02 9.98143943e-01 -4.42222584e-04 1.57093737e+00] [ 1.95027024e-02 -7.46908711e-04 9.99809525e-01 9.80201055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81925415399998 meters Centerline goodness [0,1] 0.9992059677790083 Centerline is valid? [True, True] Translation: X:114.20, Y:1.57, Z:0.98 [[ 9.98019947e-01 -5.97839230e-02 -1.95465748e-02 1.14203148e+02] [ 5.97867127e-02 9.98211077e-01 -4.42136757e-04 1.57282916e+00] [ 1.95380402e-02 -7.27364151e-04 9.99808850e-01 9.80703079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84925415399998 meters Centerline goodness [0,1] 0.9989150165877272 Centerline is valid? [True, True] Translation: X:114.23, Y:1.58, Z:0.98 [[ 9.98169655e-01 -5.68057733e-02 -2.07471251e-02 1.14234294e+02] [ 5.68082935e-02 9.98384995e-01 -4.68352378e-04 1.57956075e+00] [ 2.07402235e-02 -7.11113641e-04 9.99784646e-01 9.79086624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87925415399998 meters Centerline goodness [0,1] 0.9988715205216083 Centerline is valid? [True, True] Translation: X:114.27, Y:1.58, Z:0.98 [[ 9.98226831e-01 -5.58424122e-02 -2.06111479e-02 1.14265426e+02] [ 5.58447098e-02 9.98439359e-01 -4.64530288e-04 1.58308390e+00] [ 2.06049217e-02 -6.87316974e-04 9.99787460e-01 9.79932123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90925415399998 meters Centerline goodness [0,1] 0.9991224587869038 Centerline is valid? [True, True] Translation: X:114.30, Y:1.59, Z:0.98 [[ 9.98245121e-01 -5.57719610e-02 -1.99039391e-02 1.14296660e+02] [ 5.57741038e-02 9.98443313e-01 -4.47872706e-04 1.58610121e+00] [ 1.98979336e-02 -6.63037621e-04 9.99801797e-01 9.82401005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93925415399998 meters Centerline goodness [0,1] 0.9990800367985281 Centerline is valid? [True, True] Translation: X:114.33, Y:1.59, Z:0.98 [[ 9.98290912e-01 -5.44519101e-02 -2.12189442e-02 1.14326977e+02] [ 5.44540602e-02 9.98516163e-01 -4.76881294e-04 1.59007985e+00] [ 2.12134258e-02 -6.79391400e-04 9.99774739e-01 9.81192761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96925415399998 meters Centerline goodness [0,1] 0.998870954252739 Centerline is valid? [True, True] Translation: X:114.36, Y:1.59, Z:0.98 [[ 9.98301275e-01 -5.41961511e-02 -2.13855531e-02 1.14357301e+02] [ 5.41982847e-02 9.98530077e-01 -4.80238745e-04 1.59033132e+00] [ 2.13801450e-02 -6.79637342e-04 9.99771188e-01 9.80334959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99925415399998 meters Centerline goodness [0,1] 0.9991215226939971 Centerline is valid? [True, True] Translation: X:114.39, Y:1.59, Z:0.98 [[ 9.98289903e-01 -5.42542789e-02 -2.17656313e-02 1.14388855e+02] [ 5.42565162e-02 9.98526911e-01 -4.88166820e-04 1.59212606e+00] [ 2.17600537e-02 -6.93595319e-04 9.99762981e-01 9.80835453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02925415399997 meters Centerline goodness [0,1] 0.9992035379681834 Centerline is valid? [True, True] Translation: X:114.42, Y:1.59, Z:0.98 [[ 9.98273728e-01 -5.45688836e-02 -2.17209841e-02 1.14418966e+02] [ 5.45711979e-02 9.98509763e-01 -4.86620842e-04 1.59378080e+00] [ 2.17151691e-02 -6.99559322e-04 9.99763953e-01 9.80857673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05925415399997 meters Centerline goodness [0,1] 0.9990574534486731 Centerline is valid? [True, True] Translation: X:114.45, Y:1.60, Z:0.98 [[ 9.98270573e-01 -5.47905192e-02 -2.13040440e-02 1.14450057e+02] [ 5.47928086e-02 9.98497632e-01 -4.76683049e-04 1.59850384e+00] [ 2.12981552e-02 -6.91449747e-04 9.99772929e-01 9.82356593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08925415399997 meters Centerline goodness [0,1] 0.998933857345932 Centerline is valid? [True, True] Translation: X:114.48, Y:1.60, Z:0.98 [[ 9.98284065e-01 -5.47231865e-02 -2.08398517e-02 1.14480919e+02] [ 5.47253782e-02 9.98501335e-01 -4.65540203e-04 1.60076119e+00] [ 2.08340956e-02 -6.75727400e-04 9.99782718e-01 9.83063061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11925415399998 meters Centerline goodness [0,1] 0.9987628433633885 Centerline is valid? [True, True] Translation: X:114.51, Y:1.61, Z:0.98 [[ 9.98336556e-01 -5.40207774e-02 -2.01463799e-02 1.14511920e+02] [ 5.40226975e-02 9.98539607e-01 -4.49315517e-04 1.60528915e+00] [ 2.01412307e-02 -6.39793682e-04 9.99796940e-01 9.84704623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14925415399998 meters Centerline goodness [0,1] 0.9992037215540003 Centerline is valid? [True, True] Translation: X:114.54, Y:1.61, Z:0.99 [[ 9.98395275e-01 -5.31479125e-02 -1.95492582e-02 1.14543434e+02] [ 5.31495709e-02 9.98586468e-01 -4.35095171e-04 1.60676643e+00] [ 1.95447491e-02 -6.04637721e-04 9.99808800e-01 9.85425898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17925415399998 meters Centerline goodness [0,1] 0.9992037215540003 Centerline is valid? [True, True] Translation: X:114.58, Y:1.61, Z:0.99 [[ 9.98399149e-01 -5.30750831e-02 -1.95492862e-02 1.14575133e+02] [ 5.30767522e-02 9.98590342e-01 -4.33832854e-04 1.60741082e+00] [ 1.95447541e-02 -6.04474270e-04 9.99808800e-01 9.85722796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20925415399998 meters Centerline goodness [0,1] 0.9991003243017051 Centerline is valid? [True, True] Translation: X:114.61, Y:1.61, Z:0.99 [[ 9.98463715e-01 -5.21783283e-02 -1.86448906e-02 1.14606615e+02] [ 5.21797087e-02 9.98637626e-01 -4.12774670e-04 1.60978013e+00] [ 1.86410272e-02 -5.60744432e-04 9.99826084e-01 9.86833346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23925415399998 meters Centerline goodness [0,1] 0.9991002866528571 Centerline is valid? [True, True] Translation: X:114.64, Y:1.61, Z:0.99 [[ 9.98588352e-01 -5.01747519e-02 -1.74297617e-02 1.14636974e+02] [ 5.01756612e-02 9.98740334e-01 -3.85410917e-04 1.61284359e+00] [ 1.74271439e-02 -4.89682963e-04 9.99848016e-01 9.87921377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26925415399998 meters Centerline goodness [0,1] 0.9990152324679951 Centerline is valid? [True, True] Translation: X:114.67, Y:1.61, Z:0.99 [[ 9.98649648e-01 -4.91721973e-02 -1.67623441e-02 1.14669427e+02] [ 4.91729087e-02 9.98790212e-01 -3.69962160e-04 1.61492620e+00] [ 1.67602571e-02 -4.54790635e-04 9.99859434e-01 9.88301363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29925415399998 meters Centerline goodness [0,1] 0.999056821278112 Centerline is valid? [True, True] Translation: X:114.70, Y:1.62, Z:0.99 [[ 9.98740974e-01 -4.72963567e-02 -1.67189063e-02 1.14701208e+02] [ 4.72968217e-02 9.98880811e-01 -3.67813309e-04 1.61888223e+00] [ 1.67175909e-02 -4.23400908e-04 9.99860162e-01 9.88696468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32925415399998 meters Centerline goodness [0,1] 0.9988698436617065 Centerline is valid? [True, True] Translation: X:114.73, Y:1.62, Z:0.99 [[ 9.98793470e-01 -4.60815360e-02 -1.69733742e-02 1.14733659e+02] [ 4.60818605e-02 9.98937597e-01 -3.72199110e-04 1.62135986e+00] [ 1.69724931e-02 -4.10414622e-04 9.99855873e-01 9.88805020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35925415399998 meters Centerline goodness [0,1] 0.9990134755048067 Centerline is valid? [True, True] Translation: X:114.77, Y:1.63, Z:0.99 [[ 9.98855506e-01 -4.46503030e-02 -1.71472389e-02 1.14765740e+02] [ 4.46504446e-02 9.99002601e-01 -3.74775668e-04 1.62589195e+00] [ 1.71468701e-02 -3.91285100e-04 9.99852905e-01 9.89590810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38925415399997 meters Centerline goodness [0,1] 0.9990152531009051 Centerline is valid? [True, True] Translation: X:114.80, Y:1.63, Z:0.99 [[ 9.98927643e-01 -4.29039297e-02 -1.74016548e-02 1.14797328e+02] [ 4.29038279e-02 9.99079135e-01 -3.79349133e-04 1.62885062e+00] [ 1.74019057e-02 -3.67655266e-04 9.99848508e-01 9.89845863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41925415399997 meters Centerline goodness [0,1] 0.9990133512469561 Centerline is valid? [True, True] Translation: X:114.83, Y:1.63, Z:0.99 [[ 9.99055349e-01 -3.97995284e-02 -1.74472541e-02 1.14829065e+02] [ 3.97989667e-02 9.99207635e-01 -3.79549470e-04 1.63338629e+00] [ 1.74485354e-02 -3.15191758e-04 9.99847713e-01 9.90408565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44925415399997 meters Centerline goodness [0,1] 0.9992451089349745 Centerline is valid? [True, True] Translation: X:114.86, Y:1.64, Z:0.99 [[ 9.99120192e-01 -3.81907937e-02 -1.73293326e-02 1.14860665e+02] [ 3.81900118e-02 9.99270425e-01 -3.76171082e-04 1.63529332e+00] [ 1.73310558e-02 -2.85967291e-04 9.99849765e-01 9.90861719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47925415399997 meters Centerline goodness [0,1] 0.9994332493702771 Centerline is valid? [True, True] Translation: X:114.89, Y:1.64, Z:0.99 [[ 9.99209167e-01 -3.57778563e-02 -1.73489403e-02 1.14892096e+02] [ 3.57767201e-02 9.99359738e-01 -3.75956833e-04 1.63841919e+00] [ 1.73512833e-02 -2.45028666e-04 9.99849425e-01 9.91669052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50925415399998 meters Centerline goodness [0,1] 0.9989941324392289 Centerline is valid? [True, True] Translation: X:114.92, Y:1.64, Z:0.99 [[ 9.99243294e-01 -3.50109197e-02 -1.69432601e-02 1.14922312e+02] [ 3.50097338e-02 9.99386904e-01 -3.66690061e-04 1.63966371e+00] [ 1.69457105e-02 -2.26766442e-04 9.99856385e-01 9.91658534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53925415399998 meters Centerline goodness [0,1] 0.9989071038251366 Centerline is valid? [True, True] Translation: X:114.95, Y:1.64, Z:0.99 [[ 9.99252242e-01 -3.47040405e-02 -1.70465957e-02 1.14953543e+02] [ 3.47028032e-02 9.99397608e-01 -3.68474355e-04 1.64058767e+00] [ 1.70491145e-02 -2.23365830e-04 9.99854628e-01 9.91897158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56925415399998 meters Centerline goodness [0,1] 0.9991393786733838 Centerline is valid? [True, True] Translation: X:114.98, Y:1.64, Z:0.99 [[ 9.99238265e-01 -3.51602992e-02 -1.69305581e-02 1.14983724e+02] [ 3.51591522e-02 9.99381659e-01 -3.65490355e-04 1.64050985e+00] [ 1.69329400e-02 -2.30052122e-04 9.99856601e-01 9.91686413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59925415399998 meters Centerline goodness [0,1] 0.9990759990759991 Centerline is valid? [True, True] Translation: X:115.02, Y:1.64, Z:0.99 [[ 9.99190409e-01 -3.63817847e-02 -1.71724088e-02 1.15015432e+02] [ 3.63807928e-02 9.99337931e-01 -3.70258057e-04 1.64067305e+00] [ 1.71745101e-02 -2.54787546e-04 9.99852475e-01 9.92017174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62925415399998 meters Centerline goodness [0,1] 0.9990188096281915 Centerline is valid? [True, True] Translation: X:115.05, Y:1.64, Z:0.99 [[ 9.99132956e-01 -3.78321830e-02 -1.73799443e-02 1.15045560e+02] [ 3.78313947e-02 9.99284066e-01 -3.74247568e-04 1.63951462e+00] [ 1.73816600e-02 -2.83584453e-04 9.99848887e-01 9.91618243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65925415399998 meters Centerline goodness [0,1] 0.9990958598793078 Centerline is valid? [True, True] Translation: X:115.08, Y:1.64, Z:0.99 [[ 9.98948729e-01 -4.22227952e-02 -1.78514125e-02 1.15077101e+02] [ 4.22226729e-02 9.99108152e-01 -3.83916435e-04 1.63710778e+00] [ 1.78517018e-02 -3.70221516e-04 9.99840577e-01 9.91836572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68925415399998 meters Centerline goodness [0,1] 0.9989913847446943 Centerline is valid? [True, True] Translation: X:115.11, Y:1.64, Z:0.99 [[ 9.98860972e-01 -4.41904276e-02 -1.79990155e-02 1.15108147e+02] [ 4.41906345e-02 9.99023042e-01 -3.86424176e-04 1.63623869e+00] [ 1.79985075e-02 -4.09403889e-04 9.99837930e-01 9.91080916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71925415399998 meters Centerline goodness [0,1] 0.9988889121821345 Centerline is valid? [True, True] Translation: X:115.14, Y:1.63, Z:0.99 [[ 9.98751395e-01 -4.66340287e-02 -1.79141723e-02 1.15139468e+02] [ 4.66346412e-02 9.98911940e-01 -3.83782664e-04 1.63458902e+00] [ 1.79125780e-02 -4.52117527e-04 9.99839455e-01 9.92328877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74925415399997 meters Centerline goodness [0,1] 0.998657070314959 Centerline is valid? [True, True] Translation: X:115.17, Y:1.63, Z:0.99 [[ 9.98515756e-01 -5.15077007e-02 -1.76986493e-02 1.15169904e+02] [ 5.15090750e-02 9.98672455e-01 -3.78501448e-04 1.63125649e+00] [ 1.76946493e-02 -5.33701395e-04 9.99843295e-01 9.93012717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77925415399997 meters Centerline goodness [0,1] 0.9988665463246715 Centerline is valid? [True, True] Translation: X:115.20, Y:1.63, Z:0.99 [[ 9.98420552e-01 -5.35337398e-02 -1.70452189e-02 1.15202323e+02] [ 5.35353216e-02 9.98565890e-01 -3.63806357e-04 1.63007096e+00] [ 1.70402501e-02 -5.49289532e-04 9.99854654e-01 9.93605201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80925415399997 meters Centerline goodness [0,1] 0.9989716468341413 Centerline is valid? [True, True] Translation: X:115.23, Y:1.63, Z:0.99 [[ 9.98228219e-01 -5.72104010e-02 -1.63521640e-02 1.15232816e+02] [ 5.72123621e-02 9.98361971e-01 -3.48235998e-04 1.62621778e+00] [ 1.63453014e-02 -5.87926929e-04 9.99866234e-01 9.94112048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83925415399997 meters Centerline goodness [0,1] 0.9988473226448706 Centerline is valid? [True, True] Translation: X:115.26, Y:1.63, Z:0.99 [[ 9.98157268e-01 -5.84627254e-02 -1.62535543e-02 1.15264557e+02] [ 5.84648375e-02 9.98289409e-01 -3.45589041e-04 1.62688426e+00] [ 1.62459552e-02 -6.05309201e-04 9.99867843e-01 9.94415715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86925415399998 meters Centerline goodness [0,1] 0.9986606675735064 Centerline is valid? [True, True] Translation: X:115.30, Y:1.63, Z:0.99 [[ 9.98125200e-01 -5.90182070e-02 -1.62153024e-02 1.15295295e+02] [ 5.90203948e-02 9.98256718e-01 -3.44009740e-04 1.62541524e+00] [ 1.62073374e-02 -6.13668759e-04 9.99868464e-01 9.94648608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89925415399998 meters Centerline goodness [0,1] 0.998888166313537 Centerline is valid? [True, True] Translation: X:115.33, Y:1.63, Z:1.00 [[ 9.98159122e-01 -5.85216201e-02 -1.59244488e-02 1.15327308e+02] [ 5.85236801e-02 9.98285964e-01 -3.37016731e-04 1.62826777e+00] [ 1.59168765e-02 -5.95561024e-04 9.99873141e-01 9.95080379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92925415399998 meters Centerline goodness [0,1] 0.9989518698641623 Centerline is valid? [True, True] Translation: X:115.36, Y:1.63, Z:1.00 [[ 9.98230558e-01 -5.72926268e-02 -1.59156688e-02 1.15359649e+02] [ 5.72945472e-02 9.98357262e-01 -3.35655237e-04 1.62911472e+00] [ 1.59087541e-02 -5.76819721e-04 9.99873281e-01 9.95337332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95925415399998 meters Centerline goodness [0,1] 0.9989519138053914 Centerline is valid? [True, True] Translation: X:115.39, Y:1.63, Z:1.00 [[ 9.98299911e-01 -5.60129405e-02 -1.61195097e-02 1.15391217e+02] [ 5.60147611e-02 9.98429883e-01 -3.38884537e-04 1.62890518e+00] [ 1.61131821e-02 -5.64622083e-04 9.99870015e-01 9.95175421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98925415399998 meters Centerline goodness [0,1] 0.9988679719927885 Centerline is valid? [True, True] Translation: X:115.42, Y:1.63, Z:1.00 [[ 9.98397425e-01 -5.41577730e-02 -1.64169596e-02 1.15422190e+02] [ 5.41594257e-02 9.98532242e-01 -3.44238050e-04 1.63008705e+00] [ 1.64115066e-02 -5.45446720e-04 9.99865173e-01 9.95192488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01925415399998 meters Centerline goodness [0,1] 0.9990747360894983 Centerline is valid? [True, True] Translation: X:115.45, Y:1.64, Z:1.00 [[ 9.98628937e-01 -4.97058929e-02 -1.64186168e-02 1.15453119e+02] [ 4.97069573e-02 9.98763786e-01 -3.43506851e-04 1.63808383e+00] [ 1.64153942e-02 -4.73083601e-04 9.99865146e-01 9.96495291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04925415399998 meters Centerline goodness [0,1] 0.999263824327451 Centerline is valid? [True, True] Translation: X:115.49, Y:1.64, Z:1.00 [[ 9.98753423e-01 -4.71863824e-02 -1.62802071e-02 1.15485032e+02] [ 4.71871085e-02 9.98886010e-01 -3.39741808e-04 1.64047293e+00] [ 1.62781023e-02 -4.28897605e-04 9.99867411e-01 9.96948729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07925415399998 meters Centerline goodness [0,1] 0.9990962209424524 Centerline is valid? [True, True] Translation: X:115.52, Y:1.64, Z:1.00 [[ 9.98944102e-01 -4.28576335e-02 -1.65500633e-02 1.15515210e+02] [ 4.28578042e-02 9.99081123e-01 -3.44526634e-04 1.64361204e+00] [ 1.65496214e-02 -3.65136523e-04 9.99862979e-01 9.97147081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10925415399998 meters Centerline goodness [0,1] 0.9990537670584771 Centerline is valid? [True, True] Translation: X:115.55, Y:1.65, Z:1.00 [[ 9.99026025e-01 -4.09131746e-02 -1.65261561e-02 1.15546139e+02] [ 4.09130860e-02 9.99162650e-01 -3.43592504e-04 1.64708670e+00] [ 1.65263754e-02 -3.32878194e-04 9.99863375e-01 9.97673060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13925415399997 meters Centerline goodness [0,1] 0.9990110676261414 Centerline is valid? [True, True] Translation: X:115.58, Y:1.65, Z:1.00 [[ 9.99079680e-01 -3.93233439e-02 -1.71309054e-02 1.15577883e+02] [ 3.93230310e-02 9.99226487e-01 -3.55237684e-04 1.64915265e+00] [ 1.71316236e-02 -3.18728373e-04 9.99853192e-01 9.97782644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16925415399997 meters Centerline goodness [0,1] 0.9992836525293386 Centerline is valid? [True, True] Translation: X:115.61, Y:1.65, Z:1.00 [[ 9.99137744e-01 -3.74557328e-02 -1.79119290e-02 1.15608728e+02] [ 3.74551093e-02 9.99298243e-01 -3.70401801e-04 1.65230666e+00] [ 1.79132329e-02 -3.00810840e-04 9.99839500e-01 9.97104592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19925415399997 meters Centerline goodness [0,1] 0.9990736842105263 Centerline is valid? [True, True] Translation: X:115.64, Y:1.65, Z:1.00 [[ 9.99133398e-01 -3.74012271e-02 -1.82647311e-02 1.15640134e+02] [ 3.74005820e-02 9.99300282e-01 -3.77022187e-04 1.65443067e+00] [ 1.82660521e-02 -3.06416116e-04 9.99833115e-01 9.97174274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22925415399997 meters Centerline goodness [0,1] 0.9990531498548163 Centerline is valid? [True, True] Translation: X:115.67, Y:1.66, Z:1.00 [[ 9.99075462e-01 -3.82735051e-02 -1.95795893e-02 1.15670304e+02] [ 3.82729495e-02 9.99267241e-01 -4.03229083e-04 1.65500732e+00] [ 1.95806752e-02 -3.46512350e-04 9.99808220e-01 9.95761444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25925415399998 meters Centerline goodness [0,1] 0.999156989609897 Centerline is valid? [True, True] Translation: X:115.70, Y:1.66, Z:1.00 [[ 9.99020455e-01 -3.94260776e-02 -2.00926583e-02 1.15701099e+02] [ 3.94257403e-02 9.99222418e-01 -4.13068624e-04 1.65639950e+00] [ 2.00933202e-02 -3.79503921e-04 9.99798037e-01 9.95998073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28925415399998 meters Centerline goodness [0,1] 0.9991755454084221 Centerline is valid? [True, True] Translation: X:115.73, Y:1.66, Z:1.00 [[ 9.98944414e-01 -4.11168575e-02 -2.04807694e-02 1.15731946e+02] [ 4.11168699e-02 9.99154255e-01 -4.20667845e-04 1.65762075e+00] [ 2.04807444e-02 -4.21881335e-04 9.99790159e-01 9.96681067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31925415399998 meters Centerline goodness [0,1] 0.9988838345547975 Centerline is valid? [True, True] Translation: X:115.76, Y:1.66, Z:1.00 [[ 9.98756947e-01 -4.54650289e-02 -2.04326151e-02 1.15763456e+02] [ 4.54659624e-02 9.98965801e-01 -4.19093882e-04 1.65754142e+00] [ 2.04305378e-02 -5.10415584e-04 9.99791144e-01 9.97244637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34925415399998 meters Centerline goodness [0,1] 0.9988814317673378 Centerline is valid? [True, True] Translation: X:115.79, Y:1.66, Z:1.00 [[ 9.98654328e-01 -4.78002942e-02 -2.01162846e-02 1.15794155e+02] [ 4.78017072e-02 9.98856760e-01 -4.10870651e-04 1.65627208e+00] [ 2.01129266e-02 -5.51274991e-04 9.99797563e-01 9.97461995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37925415399998 meters Centerline goodness [0,1] 0.9987773257162131 Centerline is valid? [True, True] Translation: X:115.83, Y:1.65, Z:1.00 [[ 9.98364486e-01 -5.37288150e-02 -1.95337437e-02 1.15825099e+02] [ 5.37313072e-02 9.98555351e-01 -3.97611266e-04 1.65480369e+00] [ 1.95268875e-02 -6.52612619e-04 9.99809119e-01 9.98582654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40925415399998 meters Centerline goodness [0,1] 0.9987564024197458 Centerline is valid? [True, True] Translation: X:115.86, Y:1.66, Z:1.00 [[ 9.98195869e-01 -5.69818487e-02 -1.89228767e-02 1.15857086e+02] [ 5.69847876e-02 9.98374973e-01 -3.84298067e-04 1.65633520e+00] [ 1.89140246e-02 -6.94711370e-04 9.99820872e-01 9.99819364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43925415399998 meters Centerline goodness [0,1] 0.9989230281913208 Centerline is valid? [True, True] Translation: X:115.89, Y:1.66, Z:1.00 [[ 9.98006196e-01 -6.03802300e-02 -1.83809882e-02 1.15887869e+02] [ 6.03835939e-02 9.98175176e-01 -3.72443805e-04 1.65565590e+00] [ 1.83699344e-02 -7.38208901e-04 9.99830986e-01 1.00047293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46925415399998 meters Centerline goodness [0,1] 0.9989049173423187 Centerline is valid? [True, True] Translation: X:115.92, Y:1.65, Z:1.00 [[ 9.97597564e-01 -6.68712446e-02 -1.80924782e-02 1.15917442e+02] [ 6.68755693e-02 9.97761256e-01 -3.66560911e-04 1.65317753e+00] [ 1.80764861e-02 -8.44264505e-04 9.99836251e-01 1.00083329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49925415399997 meters Centerline goodness [0,1] 0.9988823517007233 Centerline is valid? [True, True] Translation: X:115.95, Y:1.65, Z:1.00 [[ 9.97421571e-01 -6.95769941e-02 -1.75855774e-02 1.15947824e+02] [ 6.95814994e-02 9.97576207e-01 -3.56281653e-04 1.65099876e+00] [ 1.75677426e-02 -8.68267840e-04 9.99845298e-01 1.00068737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52925415399997 meters Centerline goodness [0,1] 0.9988596046629499 Centerline is valid? [True, True] Translation: X:115.98, Y:1.65, Z:1.00 [[ 9.97218086e-01 -7.23743210e-02 -1.78338427e-02 1.15978832e+02] [ 7.23794113e-02 9.97377106e-01 -3.60707096e-04 1.65485169e+00] [ 1.78131724e-02 -9.31099398e-04 9.99840899e-01 1.00174533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55925415399997 meters Centerline goodness [0,1] 0.9986694544763353 Centerline is valid? [True, True] Translation: X:116.01, Y:1.65, Z:1.00 [[ 9.96944934e-01 -7.59620269e-02 -1.81815476e-02 1.16008615e+02] [ 7.59679328e-02 9.97110194e-01 -3.66613915e-04 1.65391724e+00] [ 1.81568552e-02 -1.01572070e-03 9.99834635e-01 1.00147615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58925415399997 meters Centerline goodness [0,1] 0.9986718107646575 Centerline is valid? [True, True] Translation: X:116.04, Y:1.66, Z:1.00 [[ 9.96856630e-01 -7.71807778e-02 -1.78881686e-02 1.16040778e+02] [ 7.71867133e-02 9.97016591e-01 -3.59400575e-04 1.65610489e+00] [ 1.78625397e-02 -1.02245809e-03 9.99839929e-01 1.00190333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61925415399998 meters Centerline goodness [0,1] 0.9988804630235948 Centerline is valid? [True, True] Translation: X:116.07, Y:1.66, Z:1.00 [[ 9.96797482e-01 -7.79901000e-02 -1.76727149e-02 1.16073241e+02] [ 7.79960431e-02 9.96953606e-01 -3.53771875e-04 1.65867194e+00] [ 1.76464676e-02 -1.02576292e-03 9.99843763e-01 1.00276033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64925415399998 meters Centerline goodness [0,1] 0.9988387559909634 Centerline is valid? [True, True] Translation: X:116.10, Y:1.66, Z:1.00 [[ 9.96715511e-01 -7.90497534e-02 -1.75876973e-02 1.16103974e+02] [ 7.90558346e-02 9.96870128e-01 -3.50318653e-04 1.65829491e+00] [ 1.75603427e-02 -1.04124206e-03 9.99845263e-01 1.00268375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67925415399998 meters Centerline goodness [0,1] 0.9985619118113567 Centerline is valid? [True, True] Translation: X:116.14, Y:1.66, Z:1.00 [[ 9.96705855e-01 -7.91078394e-02 -1.78714227e-02 1.16135857e+02] [ 7.91141607e-02 9.96865500e-01 -3.54121921e-04 1.66218841e+00] [ 1.78434185e-02 -1.06092721e-03 9.99840231e-01 1.00273307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70925415399998 meters Centerline goodness [0,1] 0.9986274468399603 Centerline is valid? [True, True] Translation: X:116.17, Y:1.66, Z:1.00 [[ 9.96682941e-01 -7.93417545e-02 -1.81107950e-02 1.16167681e+02] [ 7.93483088e-02 9.96846888e-01 -3.57533756e-04 1.66371136e+00] [ 1.80820570e-02 -1.08071316e-03 9.99835922e-01 1.00305373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73925415399998 meters Centerline goodness [0,1] 0.9988363974866186 Centerline is valid? [True, True] Translation: X:116.20, Y:1.67, Z:1.00 [[ 9.96707584e-01 -7.86109348e-02 -1.98573019e-02 1.16199616e+02] [ 7.86187002e-02 9.96904683e-01 -3.90500944e-04 1.66850193e+00] [ 1.98265349e-02 -1.17194002e-03 9.99802748e-01 1.00200447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76925415399998 meters Centerline goodness [0,1] 0.9987108772374733 Centerline is valid? [True, True] Translation: X:116.23, Y:1.67, Z:1.00 [[ 9.96750487e-01 -7.79949591e-02 -2.01308905e-02 1.16231624e+02] [ 7.80028447e-02 9.96953058e-01 -3.94394024e-04 1.67265881e+00] [ 2.01003136e-02 -1.17715429e-03 9.99797275e-01 1.00166753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79925415399998 meters Centerline goodness [0,1] 0.9987275195113675 Centerline is valid? [True, True] Translation: X:116.26, Y:1.67, Z:1.00 [[ 9.96902325e-01 -7.57304090e-02 -2.12287525e-02 1.16262106e+02] [ 7.57386870e-02 9.97127614e-01 -4.14953260e-04 1.67471034e+00] [ 2.11991999e-02 -1.19416997e-03 9.99774559e-01 1.00004748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82925415399998 meters Centerline goodness [0,1] 0.9989599252844286 Centerline is valid? [True, True] Translation: X:116.29, Y:1.68, Z:1.00 [[ 9.97013281e-01 -7.42040801e-02 -2.14073009e-02 1.16293797e+02] [ 7.42121691e-02 9.97242388e-01 -4.17422402e-04 1.67789228e+00] [ 2.13792423e-02 -1.17250655e-03 9.99770750e-01 1.00036239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85925415399998 meters Centerline goodness [0,1] 0.9990225036656113 Centerline is valid? [True, True] Translation: X:116.33, Y:1.69, Z:1.00 [[ 9.97126250e-01 -7.27521228e-02 -2.11274672e-02 1.16326009e+02] [ 7.27597088e-02 9.97349415e-01 -4.10442664e-04 1.68771553e+00] [ 2.11013276e-02 -1.12796520e-03 9.99776706e-01 1.00225218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88925415399997 meters Centerline goodness [0,1] 0.9988709230736457 Centerline is valid? [True, True] Translation: X:116.36, Y:1.69, Z:1.00 [[ 9.97363499e-01 -6.96071403e-02 -2.05157615e-02 1.16355428e+02] [ 6.96136391e-02 9.97573949e-01 -3.98088021e-04 1.69366749e+00] [ 2.04936989e-02 -1.03113835e-03 9.99789450e-01 1.00329046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91925415399997 meters Centerline goodness [0,1] 0.9992322293075135 Centerline is valid? [True, True] Translation: X:116.39, Y:1.70, Z:1.00 [[ 9.97494629e-01 -6.78791637e-02 -1.99219355e-02 1.16386751e+02] [ 6.78849522e-02 9.97693081e-01 -3.86348325e-04 1.69753619e+00] [ 1.99022022e-02 -9.67019262e-04 9.99801464e-01 1.00441280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94925415399997 meters Centerline goodness [0,1] 0.999061473486626 Centerline is valid? [True, True] Translation: X:116.42, Y:1.71, Z:1.01 [[ 9.97737676e-01 -6.47111057e-02 -1.82209383e-02 1.16417899e+02] [ 6.47154317e-02 9.97903697e-01 -3.52735250e-04 1.70525591e+00] [ 1.82055676e-02 -8.27238642e-04 9.99833923e-01 1.00648175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97925415399997 meters Centerline goodness [0,1] 0.999422286888052 Centerline is valid? [True, True] Translation: X:116.45, Y:1.71, Z:1.01 [[ 9.97839465e-01 -6.33618185e-02 -1.73690045e-02 1.16450320e+02] [ 6.33655607e-02 9.97990327e-01 -3.35351594e-04 1.70856895e+00] [ 1.73553470e-02 -7.65969657e-04 9.99849091e-01 1.00748405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00925415399998 meters Centerline goodness [0,1] 0.9992716366752357 Centerline is valid? [True, True] Translation: X:116.48, Y:1.71, Z:1.01 [[ 9.97942162e-01 -6.20221307e-02 -1.62694845e-02 1.16482506e+02] [ 6.20252549e-02 9.98074531e-01 -3.12984054e-04 1.71374929e+00] [ 1.62575701e-02 -6.96778940e-04 9.99867594e-01 1.00871236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03925415399998 meters Centerline goodness [0,1] 0.9993991932023002 Centerline is valid? [True, True] Translation: X:116.51, Y:1.72, Z:1.01 [[ 9.98068903e-01 -6.00239340e-02 -1.59872287e-02 1.16513020e+02] [ 6.00267075e-02 9.98196724e-01 -3.06755839e-04 1.71824059e+00] [ 1.59768120e-02 -6.53497234e-04 9.99872149e-01 1.00926229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06925415399998 meters Centerline goodness [0,1] 0.9995273695969752 Centerline is valid? [True, True] Translation: X:116.54, Y:1.72, Z:1.01 [[ 9.98108136e-01 -5.93294010e-02 -1.61298243e-02 1.16544712e+02] [ 5.93321443e-02 9.98238249e-01 -3.08832097e-04 1.71914601e+00] [ 1.61197304e-02 -6.48769234e-04 9.99869858e-01 1.00870597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09925415399998 meters Centerline goodness [0,1] 0.9995273695969752 Centerline is valid? [True, True] Translation: X:116.58, Y:1.72, Z:1.01 [[ 9.98114497e-01 -5.92222775e-02 -1.61298510e-02 1.16577276e+02] [ 5.92250295e-02 9.98244610e-01 -3.07430956e-04 1.71967427e+00] [ 1.61197436e-02 -6.48439608e-04 9.99869858e-01 1.00901086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12925415399998 meters Centerline goodness [0,1] 0.9995268918947979 Centerline is valid? [True, True] Translation: X:116.61, Y:1.72, Z:1.01 [[ 9.98131160e-01 -5.87732574e-02 -1.67299770e-02 1.16609566e+02] [ 5.87761813e-02 9.98271135e-01 -3.17295743e-04 1.72244483e+00] [ 1.67197017e-02 -6.66621394e-04 9.99859994e-01 1.00889210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15925415399998 meters Centerline goodness [0,1] 0.9993546582915653 Centerline is valid? [True, True] Translation: X:116.64, Y:1.73, Z:1.01 [[ 9.98127278e-01 -5.84369775e-02 -1.80846898e-02 1.16641414e+02] [ 5.84403806e-02 9.98290842e-01 -3.40701237e-04 1.72511747e+00] [ 1.80736898e-02 -7.16812957e-04 9.99836401e-01 1.00783846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18925415399998 meters Centerline goodness [0,1] 0.9995265660978286 Centerline is valid? [True, True] Translation: X:116.67, Y:1.73, Z:1.01 [[ 9.98098599e-01 -5.84868578e-02 -1.94544136e-02 1.16672209e+02] [ 5.84908510e-02 9.98287878e-01 -3.64168309e-04 1.72551106e+00] [ 1.94424043e-02 -7.74429326e-04 9.99810679e-01 1.00709157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21925415399998 meters Centerline goodness [0,1] 0.999373094965304 Centerline is valid? [True, True] Translation: X:116.70, Y:1.73, Z:1.01 [[ 9.98043958e-01 -5.89065031e-02 -2.09351631e-02 1.16703766e+02] [ 5.89112647e-02 9.98263147e-01 -3.89744347e-04 1.73340512e+00] [ 2.09217603e-02 -8.44334946e-04 9.99780759e-01 1.00729436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24925415399997 meters Centerline goodness [0,1] 0.9994164937759336 Centerline is valid? [True, True] Translation: X:116.74, Y:1.73, Z:1.01 [[ 9.98023959e-01 -5.91792486e-02 -2.11185669e-02 1.16735034e+02] [ 5.91841964e-02 9.98247002e-01 -3.91197266e-04 1.73384771e+00] [ 2.11046969e-02 -8.59461169e-04 9.99776902e-01 1.00708345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27925415399997 meters Centerline goodness [0,1] 0.9993730271976478 Centerline is valid? [True, True] Translation: X:116.77, Y:1.74, Z:1.01 [[ 9.98034334e-01 -5.90042612e-02 -2.11179108e-02 1.16766821e+02] [ 5.90091986e-02 9.98257363e-01 -3.89809786e-04 1.73544334e+00] [ 2.11041104e-02 -8.57107442e-04 9.99776916e-01 1.00721659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30925415399997 meters Centerline goodness [0,1] 0.9996967662284216 Centerline is valid? [True, True] Translation: X:116.80, Y:1.74, Z:1.01 [[ 9.98079892e-01 -5.84339068e-02 -2.05428348e-02 1.16799112e+02] [ 5.84384891e-02 9.98290940e-01 -3.77695937e-04 1.73927567e+00] [ 2.05297961e-02 -8.23521509e-04 9.99788902e-01 1.00848771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33925415399997 meters Centerline goodness [0,1] 0.9999134180393515 Centerline is valid? [True, True] Translation: X:116.83, Y:1.74, Z:1.01 [[ 9.98196462e-01 -5.70676648e-02 -1.86307275e-02 1.16830075e+02] [ 5.70712172e-02 9.98370051e-01 -3.41391639e-04 1.74013980e+00] [ 1.86198428e-02 -7.22502371e-04 9.99826375e-01 1.00962935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36925415399998 meters Centerline goodness [0,1] 0.9998918357634232 Centerline is valid? [True, True] Translation: X:116.86, Y:1.74, Z:1.01 [[ 9.98262838e-01 -5.62384816e-02 -1.75652812e-02 1.16862195e+02] [ 5.62415299e-02 9.98417141e-01 -3.20785930e-04 1.74381737e+00] [ 1.75555183e-02 -6.67669615e-04 9.99845667e-01 1.01100260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39925415399998 meters Centerline goodness [0,1] 0.9998045347928068 Centerline is valid? [True, True] Translation: X:116.89, Y:1.75, Z:1.01 [[ 9.98341741e-01 -5.52759808e-02 -1.60727738e-02 1.16893938e+02] [ 5.52784262e-02 9.98470936e-01 -2.92419341e-04 1.74742985e+00] [ 1.60643613e-02 -5.96543207e-04 9.99870782e-01 1.01210948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42925415399998 meters Centerline goodness [0,1] 0.9994770672186513 Centerline is valid? [True, True] Translation: X:116.93, Y:1.75, Z:1.01 [[ 9.98438323e-01 -5.40621515e-02 -1.40783285e-02 1.16926013e+02] [ 5.40639203e-02 9.98537444e-01 -2.55189381e-04 1.75142042e+00] [ 1.40715343e-02 -5.06338775e-04 9.99900863e-01 1.01371453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45925415399998 meters Centerline goodness [0,1] 0.9996731598901817 Centerline is valid? [True, True] Translation: X:116.96, Y:1.75, Z:1.01 [[ 9.98490999e-01 -5.31591361e-02 -1.37779475e-02 1.16958407e+02] [ 5.31607580e-02 9.98585936e-01 -2.48758935e-04 1.75287007e+00] [ 1.37716885e-02 -4.84062577e-04 9.99905049e-01 1.01396951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48925415399998 meters Centerline goodness [0,1] 0.999890905917263 Centerline is valid? [True, True] Translation: X:116.99, Y:1.76, Z:1.01 [[ 9.98599879e-01 -5.09568635e-02 -1.42014155e-02 1.16990059e+02] [ 5.09583789e-02 9.98700745e-01 -2.55362366e-04 1.75506173e+00] [ 1.41959767e-02 -4.68676283e-04 9.99899122e-01 1.01295025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51925415399998 meters Centerline goodness [0,1] 0.9997161324133113 Centerline is valid? [True, True] Translation: X:117.02, Y:1.76, Z:1.01 [[ 9.98628748e-01 -5.03148637e-02 -1.44581194e-02 1.17022504e+02] [ 5.03163823e-02 9.98733295e-01 -2.58934968e-04 1.75627044e+00] [ 1.44528335e-02 -4.68900361e-04 9.99895442e-01 1.01242877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54925415399998 meters Centerline goodness [0,1] 0.9998689040377556 Centerline is valid? [True, True] Translation: X:117.06, Y:1.76, Z:1.01 [[ 9.98628103e-01 -5.03075796e-02 -1.45278621e-02 1.17055858e+02] [ 5.03091300e-02 9.98733660e-01 -2.58952724e-04 1.75910009e+00] [ 1.45224922e-02 -4.72286637e-04 9.99894432e-01 1.01310348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57925415399998 meters Centerline goodness [0,1] 0.9999562946613929 Centerline is valid? [True, True] Translation: X:117.09, Y:1.76, Z:1.01 [[ 9.98626005e-01 -5.01817928e-02 -1.50960468e-02 1.17088661e+02] [ 5.01834780e-02 9.98739980e-01 -2.67394412e-04 1.75931554e+00] [ 1.50904438e-02 -4.90545118e-04 9.99886012e-01 1.01292686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60925415399998 meters Centerline goodness [0,1] 0.9999126408666026 Centerline is valid? [True, True] Translation: X:117.12, Y:1.76, Z:1.01 [[ 9.98632333e-01 -5.01199588e-02 -1.48813122e-02 1.17121251e+02] [ 5.01216134e-02 9.98743088e-01 -2.61990568e-04 1.75958717e+00] [ 1.48757387e-02 -4.84243126e-04 9.99889233e-01 1.01301914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63925415399997 meters Centerline goodness [0,1] 0.9998036049404269 Centerline is valid? [True, True] Translation: X:117.15, Y:1.76, Z:1.01 [[ 9.98622618e-01 -5.02757685e-02 -1.50071117e-02 1.17153837e+02] [ 5.02774902e-02 9.98735253e-01 -2.62770815e-04 1.76058769e+00] [ 1.50013425e-02 -4.92111034e-04 9.99887352e-01 1.01334199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66925415399997 meters Centerline goodness [0,1] 0.9994759482062143 Centerline is valid? [True, True] Translation: X:117.19, Y:1.76, Z:1.01 [[ 9.98626848e-01 -5.02197474e-02 -1.49129259e-02 1.17185666e+02] [ 5.02214664e-02 9.98738072e-01 -2.59441805e-04 1.75958355e+00] [ 1.49071360e-02 -4.89863456e-04 9.99888762e-01 1.01268429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69925415399997 meters Centerline goodness [0,1] 0.9995627268354541 Centerline is valid? [True, True] Translation: X:117.22, Y:1.76, Z:1.01 [[ 9.98655451e-01 -4.97360980e-02 -1.46154216e-02 1.17216562e+02] [ 4.97377256e-02 9.98762282e-01 -2.52328373e-04 1.75895504e+00] [ 1.46098817e-02 -4.74948727e-04 9.99893157e-01 1.01225317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72925415399997 meters Centerline goodness [0,1] 0.999453635509321 Centerline is valid? [True, True] Translation: X:117.25, Y:1.76, Z:1.01 [[ 9.98668230e-01 -4.95108251e-02 -1.45067033e-02 1.17248904e+02] [ 4.95124172e-02 9.98773477e-01 -2.49594693e-04 1.75984603e+00] [ 1.45012681e-02 -4.68999656e-04 9.99894741e-01 1.01252802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75925415399998 meters Centerline goodness [0,1] 0.9996055745464107 Centerline is valid? [True, True] Translation: X:117.28, Y:1.76, Z:1.01 [[ 9.98688059e-01 -4.92752429e-02 -1.39323679e-02 1.17279889e+02] [ 4.92767008e-02 9.98785137e-01 -2.38839247e-04 1.76017288e+00] [ 1.39272108e-02 -4.48015219e-04 9.99902911e-01 1.01312095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78925415399998 meters Centerline goodness [0,1] 0.999496805810799 Centerline is valid? [True, True] Translation: X:117.31, Y:1.76, Z:1.01 [[ 9.98701129e-01 -4.90774851e-02 -1.36914620e-02 1.17311622e+02] [ 4.90788851e-02 9.98794878e-01 -2.33925056e-04 1.76042825e+00] [ 1.36864425e-02 -4.38340471e-04 9.99906240e-01 1.01334180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81925415399998 meters Centerline goodness [0,1] 0.999605669594935 Centerline is valid? [True, True] Translation: X:117.34, Y:1.76, Z:1.01 [[ 9.98716424e-01 -4.88549829e-02 -1.33676854e-02 1.17343504e+02] [ 4.88563098e-02 9.98805792e-01 -2.27475584e-04 1.76114271e+00] [ 1.33628349e-02 -4.25912177e-04 9.99910623e-01 1.01372206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84925415399998 meters Centerline goodness [0,1] 0.9994744218640504 Centerline is valid? [True, True] Translation: X:117.38, Y:1.76, Z:1.01 [[ 9.98718926e-01 -4.88158487e-02 -1.33236809e-02 1.17376299e+02] [ 4.88171778e-02 9.98807705e-01 -2.25641419e-04 1.76267081e+00] [ 1.33188100e-02 -4.25072143e-04 9.99911210e-01 1.01411303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87925415399998 meters Centerline goodness [0,1] 0.9996500973166838 Centerline is valid? [True, True] Translation: X:117.41, Y:1.76, Z:1.01 [[ 9.98698553e-01 -4.91746595e-02 -1.35296977e-02 1.17408339e+02] [ 4.91760811e-02 9.98790099e-01 -2.27794122e-04 1.76356546e+00] [ 1.35245298e-02 -4.37839851e-04 9.99908444e-01 1.01446064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90925415399998 meters Centerline goodness [0,1] 0.9996281714785652 Centerline is valid? [True, True] Translation: X:117.44, Y:1.76, Z:1.01 [[ 9.98673899e-01 -4.96403797e-02 -1.36483210e-02 1.17440877e+02] [ 4.96418835e-02 9.98767055e-01 -2.28789685e-04 1.76283910e+00] [ 1.36428506e-02 -4.49042074e-04 9.99906831e-01 1.01441286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93925415399998 meters Centerline goodness [0,1] 0.9994981343690676 Centerline is valid? [True, True] Translation: X:117.47, Y:1.76, Z:1.01 [[ 9.98548813e-01 -5.19073299e-02 -1.43490918e-02 1.17471696e+02] [ 5.19092451e-02 9.98651778e-01 -2.39194727e-04 1.75972458e+00] [ 1.43421620e-02 -5.06002910e-04 9.99897018e-01 1.01370925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96925415399998 meters Centerline goodness [0,1] 0.999629144851658 Centerline is valid? [True, True] Translation: X:117.50, Y:1.76, Z:1.01 [[ 9.98473750e-01 -5.31854498e-02 -1.48821699e-02 1.17503484e+02] [ 5.31876745e-02 9.98584503e-01 -2.46552968e-04 1.76042883e+00] [ 1.48742173e-02 -5.45371344e-04 9.99889224e-01 1.01354500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99925415399997 meters Centerline goodness [0,1] 0.9995640897103376 Centerline is valid? [True, True] Translation: X:117.54, Y:1.76, Z:1.01 [[ 9.98336328e-01 -5.52986914e-02 -1.63288554e-02 1.17535974e+02] [ 5.53016696e-02 9.98469655e-01 -2.69433841e-04 1.75856727e+00] [ 1.63187660e-02 -6.34027376e-04 9.99866639e-01 1.01265007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02925415399997 meters Centerline goodness [0,1] 0.9995644788990027 Centerline is valid? [True, True] Translation: X:117.57, Y:1.76, Z:1.01 [[ 9.98279054e-01 -5.62948338e-02 -1.64262791e-02 1.17568248e+02] [ 5.62980025e-02 9.98413973e-01 -2.69816567e-04 1.75733342e+00] [ 1.64154158e-02 -6.55414472e-04 9.99865043e-01 1.01250313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05925415399997 meters Centerline goodness [0,1] 0.9997169544296631 Centerline is valid? [True, True] Translation: X:117.60, Y:1.76, Z:1.01 [[ 9.98187675e-01 -5.77286310e-02 -1.69932790e-02 1.17599988e+02] [ 5.77322491e-02 9.98332064e-01 -2.77988138e-04 1.75620674e+00] [ 1.69809832e-02 -7.03575883e-04 9.99855565e-01 1.01328100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08925415399997 meters Centerline goodness [0,1] 0.9994775794514584 Centerline is valid? [True, True] Translation: X:117.63, Y:1.76, Z:1.01 [[ 9.98142259e-01 -5.87260332e-02 -1.62260252e-02 1.17631597e+02] [ 5.87294776e-02 9.98273900e-01 -2.64561131e-04 1.75501994e+00] [ 1.62135541e-02 -6.88876337e-04 9.99868314e-01 1.01457831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11925415399998 meters Centerline goodness [0,1] 0.9994775794514584 Centerline is valid? [True, True] Translation: X:117.66, Y:1.76, Z:1.01 [[ 9.98148727e-01 -5.86159922e-02 -1.62260459e-02 1.17664167e+02] [ 5.86194427e-02 9.98280367e-01 -2.63288267e-04 1.75545919e+00] [ 1.62135759e-02 -6.88360918e-04 9.99868314e-01 1.01488330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14925415399998 meters Centerline goodness [0,1] 0.9997391928017213 Centerline is valid? [True, True] Translation: X:117.70, Y:1.75, Z:1.02 [[ 9.98186756e-01 -5.83417630e-02 -1.48134524e-02 1.17695201e+02] [ 5.83446270e-02 9.98296473e-01 -2.39126904e-04 1.75386135e+00] [ 1.48021683e-02 -6.25592044e-04 9.99890246e-01 1.01651273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17925415399998 meters Centerline goodness [0,1] 0.9996305552537216 Centerline is valid? [True, True] Translation: X:117.73, Y:1.75, Z:1.02 [[ 9.98175188e-01 -5.87452090e-02 -1.39748133e-02 1.17727428e+02] [ 5.87478086e-02 9.98272831e-01 -2.24773510e-04 1.75366507e+00] [ 1.39638808e-02 -5.96626319e-04 9.99902322e-01 1.01749785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20925415399998 meters Centerline goodness [0,1] 0.999740332806786 Centerline is valid? [True, True] Translation: X:117.76, Y:1.75, Z:1.02 [[ 9.98156068e-01 -5.93151199e-02 -1.28910743e-02 1.17758504e+02] [ 5.93173898e-02 9.98239152e-01 -2.06527768e-04 1.75141398e+00] [ 1.28806253e-02 -5.58517935e-04 9.99916885e-01 1.01857562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23925415399998 meters Centerline goodness [0,1] 0.9994355679055228 Centerline is valid? [True, True] Translation: X:117.79, Y:1.75, Z:1.02 [[ 9.98125747e-01 -5.99106059e-02 -1.24784720e-02 1.17789420e+02] [ 5.99127874e-02 9.98203596e-01 -1.99264038e-04 1.74954180e+00] [ 1.24679936e-02 -5.48729470e-04 9.99922121e-01 1.01881234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26925415399998 meters Centerline goodness [0,1] 0.999869822741967 Centerline is valid? [True, True] Translation: X:117.82, Y:1.75, Z:1.02 [[ 9.98099371e-01 -6.03035138e-02 -1.26937397e-02 1.17821098e+02] [ 6.03058116e-02 9.98179928e-01 -2.02019464e-04 1.74996279e+00] [ 1.26828187e-02 -5.63870777e-04 9.99919411e-01 1.01937878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29925415399998 meters Centerline goodness [0,1] 0.9997400290300916 Centerline is valid? [True, True] Translation: X:117.85, Y:1.75, Z:1.02 [[ 9.97986331e-01 -6.20647290e-02 -1.30863355e-02 1.17852931e+02] [ 6.20673316e-02 9.98071943e-01 -2.07554345e-04 1.74885644e+00] [ 1.30739861e-02 -6.05097523e-04 9.99914349e-01 1.01866642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32925415399998 meters Centerline goodness [0,1] 0.9994799453942664 Centerline is valid? [True, True] Translation: X:117.88, Y:1.75, Z:1.02 [[ 9.97921035e-01 -6.29845459e-02 -1.36585143e-02 1.17884475e+02] [ 6.29874819e-02 9.98014294e-01 -2.15543563e-04 1.74540701e+00] [ 1.36449684e-02 -6.45219965e-04 9.99906695e-01 1.01781117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35925415399998 meters Centerline goodness [0,1] 0.9994598215250319 Centerline is valid? [True, True] Translation: X:117.92, Y:1.74, Z:1.02 [[ 9.97769936e-01 -6.50061403e-02 -1.51445442e-02 1.17916197e+02] [ 6.50100128e-02 9.97884584e-01 -2.36979225e-04 1.74253143e+00] [ 1.51279123e-02 -7.48096265e-04 9.99885287e-01 1.01631281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38925415399997 meters Centerline goodness [0,1] 0.9994153313122563 Centerline is valid? [True, True] Translation: X:117.95, Y:1.74, Z:1.02 [[ 9.97704684e-01 -6.58509735e-02 -1.57801290e-02 1.17947771e+02] [ 6.58553063e-02 9.97829153e-01 -2.45470506e-04 1.74019060e+00] [ 1.57620373e-02 -7.94298157e-04 9.99875456e-01 1.01603126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41925415399997 meters Centerline goodness [0,1] 0.9995236136073277 Centerline is valid? [True, True] Translation: X:117.98, Y:1.74, Z:1.02 [[ 9.97666618e-01 -6.63530517e-02 -1.60807607e-02 1.17980339e+02] [ 6.63576320e-02 9.97795872e-01 -2.49167512e-04 1.74206246e+00] [ 1.60618496e-02 -8.18495090e-04 9.99870665e-01 1.01664360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44925415399997 meters Centerline goodness [0,1] 0.9995033791807916 Centerline is valid? [True, True] Translation: X:118.01, Y:1.74, Z:1.02 [[ 9.97638938e-01 -6.66409534e-02 -1.65991982e-02 1.18012939e+02] [ 6.66458938e-02 9.97776658e-01 -2.55982470e-04 1.74393879e+00] [ 1.65793514e-02 -8.50890317e-04 9.99862191e-01 1.01712749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47925415399997 meters Centerline goodness [0,1] 0.9995032933808444 Centerline is valid? [True, True] Translation: X:118.04, Y:1.74, Z:1.02 [[ 9.97623332e-01 -6.67905530e-02 -1.69324817e-02 1.18043711e+02] [ 6.67957433e-02 9.97766637e-01 -2.59470171e-04 1.74269948e+00] [ 1.69119955e-02 -8.72164207e-04 9.99856602e-01 1.01720351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50925415399998 meters Centerline goodness [0,1] 0.999546181440982 Centerline is valid? [True, True] Translation: X:118.08, Y:1.74, Z:1.02 [[ 9.97628201e-01 -6.66809845e-02 -1.70768633e-02 1.18075724e+02] [ 6.66862799e-02 9.97773959e-01 -2.59797186e-04 1.74124131e+00] [ 1.70561731e-02 -8.79611488e-04 9.99854146e-01 1.01703525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53925415399998 meters Centerline goodness [0,1] 0.9994615086374015 Centerline is valid? [True, True] Translation: X:118.11, Y:1.74, Z:1.02 [[ 9.97672070e-01 -6.59408702e-02 -1.73851322e-02 1.18107768e+02] [ 6.59462714e-02 9.97823141e-01 -2.63051402e-04 1.74252567e+00] [ 1.73646331e-02 -8.84045610e-04 9.99848833e-01 1.01679647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56925415399998 meters Centerline goodness [0,1] 0.9992467286501377 Centerline is valid? [True, True] Translation: X:118.14, Y:1.74, Z:1.02 [[ 9.97712591e-01 -6.53291196e-02 -1.73692792e-02 1.18139369e+02] [ 6.53344376e-02 9.97863389e-01 -2.61705924e-04 1.74189453e+00] [ 1.73492648e-02 -8.73704790e-04 9.99849108e-01 1.01718662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59925415399998 meters Centerline goodness [0,1] 0.9992676359719979 Centerline is valid? [True, True] Translation: X:118.17, Y:1.75, Z:1.02 [[ 9.97798201e-01 -6.39814435e-02 -1.74678144e-02 1.18171754e+02] [ 6.39866353e-02 9.97950721e-01 -2.62085151e-04 1.74570900e+00] [ 1.74487865e-02 -8.56198576e-04 9.99847392e-01 1.01713714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62925415399998 meters Centerline goodness [0,1] 0.9991385251550655 Centerline is valid? [True, True] Translation: X:118.20, Y:1.74, Z:1.02 [[ 9.97949599e-01 -6.17388729e-02 -1.68792355e-02 1.18201887e+02] [ 6.17434142e-02 9.98092023e-01 -2.52446087e-04 1.74425111e+00] [ 1.68626161e-02 -7.90253161e-04 9.99857504e-01 1.01844823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65925415399998 meters Centerline goodness [0,1] 0.9993756055549575 Centerline is valid? [True, True] Translation: X:118.23, Y:1.75, Z:1.02 [[ 9.98047790e-01 -6.02060106e-02 -1.66085814e-02 1.18234484e+02] [ 6.02102093e-02 9.98185689e-01 -2.47567213e-04 1.74813467e+00] [ 1.65933533e-02 -7.52922254e-04 9.99862037e-01 1.01971856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68925415399998 meters Centerline goodness [0,1] 0.99928919140137 Centerline is valid? [True, True] Translation: X:118.27, Y:1.75, Z:1.02 [[ 9.98122942e-01 -5.90217623e-02 -1.63409011e-02 1.18267023e+02] [ 5.90256904e-02 9.98256435e-01 -2.42230278e-04 1.74926653e+00] [ 1.63267065e-02 -7.22757372e-04 9.99866449e-01 1.02100385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71925415399998 meters Centerline goodness [0,1] 0.9993316949079464 Centerline is valid? [True, True] Translation: X:118.30, Y:1.75, Z:1.02 [[ 9.98257003e-01 -5.69957061e-02 -1.53116189e-02 1.18298724e+02] [ 5.69989316e-02 9.98374214e-01 -2.26012005e-04 1.75070825e+00] [ 1.52996072e-02 -6.47127855e-04 9.99882745e-01 1.02245179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74925415399997 meters Centerline goodness [0,1] 0.9992225293711127 Centerline is valid? [True, True] Translation: X:118.33, Y:1.75, Z:1.02 [[ 9.98326065e-01 -5.58363908e-02 -1.50786403e-02 1.18330392e+02] [ 5.58394006e-02 9.98439739e-01 -2.21660886e-04 1.75037266e+00] [ 1.50674905e-02 -6.20692398e-04 9.99886286e-01 1.02065118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77925415399997 meters Centerline goodness [0,1] 0.9993315940404062 Centerline is valid? [True, True] Translation: X:118.36, Y:1.75, Z:1.02 [[ 9.98325463e-01 -5.57088457e-02 -1.55818650e-02 1.18362174e+02] [ 5.57120639e-02 9.98446851e-01 -2.27805268e-04 1.74899503e+00] [ 1.55703548e-02 -6.40674060e-04 9.99878569e-01 1.02155966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80925415399997 meters Centerline goodness [0,1] 0.999309422072597 Centerline is valid? [True, True] Translation: X:118.39, Y:1.75, Z:1.02 [[ 9.98312389e-01 -5.57503760e-02 -1.62563481e-02 1.18393988e+02] [ 5.57539069e-02 9.98444513e-01 -2.36279661e-04 1.75223659e+00] [ 1.62442343e-02 -6.70474007e-04 9.99867829e-01 1.02149632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83925415399997 meters Centerline goodness [0,1] 0.999330655957162 Centerline is valid? [True, True] Translation: X:118.43, Y:1.75, Z:1.02 [[ 9.98293433e-01 -5.58087340e-02 -1.71932092e-02 1.18425647e+02] [ 5.58127240e-02 9.98441224e-01 -2.48053495e-04 1.75042699e+00] [ 1.71802524e-02 -7.11969667e-04 9.99852155e-01 1.02054697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86925415399998 meters Centerline goodness [0,1] 0.9992015020394069 Centerline is valid? [True, True] Translation: X:118.46, Y:1.75, Z:1.02 [[ 9.98230184e-01 -5.63839690e-02 -1.89036333e-02 1.18457076e+02] [ 5.63889451e-02 9.98408841e-01 -2.70107144e-04 1.74711808e+00] [ 1.88887843e-02 -7.96326838e-04 9.99821274e-01 1.01846060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89925415399998 meters Centerline goodness [0,1] 0.999245722167148 Centerline is valid? [True, True] Translation: X:118.49, Y:1.75, Z:1.02 [[ 9.98232741e-01 -5.61533409e-02 -1.94472723e-02 1.18489353e+02] [ 5.61586007e-02 9.98421822e-01 -2.75976213e-04 1.74905216e+00] [ 1.94320780e-02 -8.16643106e-04 9.99810846e-01 1.01864389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92925415399998 meters Centerline goodness [0,1] 0.9992013986315857 Centerline is valid? [True, True] Translation: X:118.52, Y:1.75, Z:1.02 [[ 9.98243724e-01 -5.58157738e-02 -1.98511397e-02 1.18521330e+02] [ 5.58212168e-02 9.98440741e-01 -2.80246058e-04 1.75208030e+00] [ 1.98358288e-02 -8.28360904e-04 9.99802907e-01 1.01946592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95925415399998 meters Centerline goodness [0,1] 0.999288010528814 Centerline is valid? [True, True] Translation: X:118.55, Y:1.75, Z:1.02 [[ 9.98320711e-01 -5.45781107e-02 -1.94161499e-02 1.18553919e+02] [ 5.45831116e-02 9.98509194e-01 -2.72687884e-04 1.75177474e+00] [ 1.94020869e-02 -7.87563912e-04 9.99811452e-01 1.02008316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98925415399998 meters Centerline goodness [0,1] 0.999288010528814 Centerline is valid? [True, True] Translation: X:118.59, Y:1.75, Z:1.02 [[ 9.98324716e-01 -5.45048063e-02 -1.94161698e-02 1.18585639e+02] [ 5.45098209e-02 9.98513198e-01 -2.71261878e-04 1.75215899e+00] [ 1.94020869e-02 -7.87564503e-04 9.99811452e-01 1.02038012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01925415399998 meters Centerline goodness [0,1] 0.9992237531535029 Centerline is valid? [True, True] Translation: X:118.62, Y:1.75, Z:1.02 [[ 9.98409591e-01 -5.32000977e-02 -1.86557919e-02 1.18616785e+02] [ 5.32045215e-02 9.98583603e-01 -2.59469601e-04 1.75211599e+00] [ 1.86431717e-02 -7.33515546e-04 9.99825932e-01 1.02073642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04925415399998 meters Centerline goodness [0,1] 0.9990514583827366 Centerline is valid? [True, True] Translation: X:118.65, Y:1.75, Z:1.02 [[ 9.98604247e-01 -4.99629835e-02 -1.71248078e-02 1.18647423e+02] [ 4.99662484e-02 9.98750879e-01 -2.37425363e-04 1.75336566e+00] [ 1.71152794e-02 -6.18568427e-04 9.99853332e-01 1.02182787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07925415399998 meters Centerline goodness [0,1] 0.999223334483949 Centerline is valid? [True, True] Translation: X:118.68, Y:1.76, Z:1.02 [[ 9.98714117e-01 -4.79603260e-02 -1.64292529e-02 1.18679936e+02] [ 4.79630760e-02 9.98849084e-01 -2.26823989e-04 1.75601022e+00] [ 1.64212228e-02 -5.61465189e-04 9.99865005e-01 1.02348528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10925415399998 meters Centerline goodness [0,1] 0.9993316516827286 Centerline is valid? [True, True] Translation: X:118.71, Y:1.76, Z:1.02 [[ 9.98817414e-01 -4.59650416e-02 -1.58426173e-02 1.18711859e+02] [ 4.59673684e-02 9.98942918e-01 -2.17433424e-04 1.76004198e+00] [ 1.58358647e-02 -5.11067138e-04 9.99874474e-01 1.02486901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13925415399997 meters Centerline goodness [0,1] 0.9995250226693726 Centerline is valid? [True, True] Translation: X:118.74, Y:1.76, Z:1.03 [[ 9.98984273e-01 -4.25406813e-02 -1.48564089e-02 1.18742308e+02] [ 4.25423603e-02 9.99094643e-01 -2.03142174e-04 1.76097150e+00] [ 1.48516003e-02 -4.29090861e-04 9.99889617e-01 1.02528611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16925415399997 meters Centerline goodness [0,1] 0.999201570963078 Centerline is valid? [True, True] Translation: X:118.77, Y:1.76, Z:1.03 [[ 9.99029451e-01 -4.13711935e-02 -1.51188590e-02 1.18774756e+02] [ 4.13728077e-02 9.99143758e-01 -2.06128475e-04 1.76294911e+00] [ 1.51144414e-02 -4.19581230e-04 9.99885682e-01 1.02548189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19925415399997 meters Centerline goodness [0,1] 0.9992881487553389 Centerline is valid? [True, True] Translation: X:118.81, Y:1.76, Z:1.03 [[ 9.99100686e-01 -3.96674894e-02 -1.49769840e-02 1.18807500e+02] [ 3.96689001e-02 9.99212859e-01 -2.02993524e-04 1.76323479e+00] [ 1.49732472e-02 -3.91309511e-04 9.99887818e-01 1.02500396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22925415399997 meters Centerline goodness [0,1] 0.9993532531367223 Centerline is valid? [True, True] Translation: X:118.84, Y:1.76, Z:1.03 [[ 9.99122011e-01 -3.91297897e-02 -1.49688458e-02 1.18838966e+02] [ 3.91311561e-02 9.99234063e-01 -2.01714899e-04 1.76253680e+00] [ 1.49652737e-02 -3.84210445e-04 9.99887940e-01 1.02501331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25925415399998 meters Centerline goodness [0,1] 0.9992669728133152 Centerline is valid? [True, True] Translation: X:118.87, Y:1.76, Z:1.03 [[ 9.99129616e-01 -3.89642265e-02 -1.48929611e-02 1.18871203e+02] [ 3.89655742e-02 9.99240534e-01 -1.99780267e-04 1.76331096e+00] [ 1.48894346e-02 -3.80706397e-04 9.99889074e-01 1.02535792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28925415399998 meters Centerline goodness [0,1] 0.9993109091692148 Centerline is valid? [True, True] Translation: X:118.90, Y:1.76, Z:1.02 [[ 9.99113914e-01 -3.89623356e-02 -1.59161282e-02 1.18902770e+02] [ 3.89638918e-02 9.99240597e-01 -2.12426392e-04 1.76279630e+00] [ 1.59123180e-02 -4.07916133e-04 9.99873308e-01 1.02453455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31925415399998 meters Centerline goodness [0,1] 0.9991413729446614 Centerline is valid? [True, True] Translation: X:118.93, Y:1.76, Z:1.02 [[ 9.99090832e-01 -3.92380427e-02 -1.66698811e-02 1.18934034e+02] [ 3.92398035e-02 9.99229798e-01 -2.21567057e-04 1.76187982e+00] [ 1.66657358e-02 -4.32757245e-04 9.99861023e-01 1.02395007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34925415399998 meters Centerline goodness [0,1] 0.9993324145059868 Centerline is valid? [True, True] Translation: X:118.97, Y:1.76, Z:1.02 [[ 9.99031092e-01 -4.03065912e-02 -1.76707747e-02 1.18966125e+02] [ 4.03087567e-02 9.99187244e-01 -2.33752737e-04 1.76111180e+00] [ 1.76658345e-02 -4.78760707e-04 9.99843832e-01 1.02346793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37925415399998 meters Centerline goodness [0,1] 0.9992891760904685 Centerline is valid? [True, True] Translation: X:119.00, Y:1.76, Z:1.02 [[ 9.98995148e-01 -4.09443358e-02 -1.82278730e-02 1.18997777e+02] [ 4.09467676e-02 9.99161301e-01 -2.39942408e-04 1.76316331e+00] [ 1.82224095e-02 -5.06671177e-04 9.99833830e-01 1.02402246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40925415399998 meters Centerline goodness [0,1] 0.9991398959274073 Centerline is valid? [True, True] Translation: X:119.03, Y:1.76, Z:1.02 [[ 9.98968189e-01 -4.16282805e-02 -1.81560943e-02 1.19028466e+02] [ 4.16308214e-02 9.99133033e-01 -2.38149148e-04 1.76195818e+00] [ 1.81502673e-02 -5.17949695e-04 9.99835136e-01 1.02423313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43925415399998 meters Centerline goodness [0,1] 0.9992695868869363 Centerline is valid? [True, True] Translation: X:119.06, Y:1.76, Z:1.03 [[ 9.98962841e-01 -4.22580888e-02 -1.69557018e-02 1.19060198e+02] [ 4.22604104e-02 9.99106605e-01 -2.21517827e-04 1.76065360e+00] [ 1.69499145e-02 -4.95266838e-04 9.99856217e-01 1.02518543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46925415399998 meters Centerline goodness [0,1] 0.9992051728212068 Centerline is valid? [True, True] Translation: X:119.09, Y:1.76, Z:1.03 [[ 9.98995772e-01 -4.17897537e-02 -1.61574548e-02 1.19092485e+02] [ 4.17918194e-02 9.99126318e-01 -2.09922316e-04 1.76109552e+00] [ 1.61521109e-02 -4.65537927e-04 9.99869438e-01 1.02603320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49925415399997 meters Centerline goodness [0,1] 0.9993121977431488 Centerline is valid? [True, True] Translation: X:119.12, Y:1.76, Z:1.03 [[ 9.99017387e-01 -4.13723926e-02 -1.58929513e-02 1.19124175e+02] [ 4.13743626e-02 9.99143693e-01 -2.04969548e-04 1.76039354e+00] [ 1.58878222e-02 -4.52792589e-04 9.99873678e-01 1.02668088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52925415399997 meters Centerline goodness [0,1] 0.99935522696011 Centerline is valid? [True, True] Translation: X:119.16, Y:1.76, Z:1.03 [[ 9.99106593e-01 -3.93593023e-02 -1.53903151e-02 1.19156342e+02] [ 3.93609354e-02 9.99225039e-01 -1.96896963e-04 1.76169279e+00] [ 1.53861379e-02 -4.09056145e-04 9.99881543e-01 1.02774939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55925415399997 meters Centerline goodness [0,1] 0.999290429397725 Centerline is valid? [True, True] Translation: X:119.19, Y:1.76, Z:1.03 [[ 9.99159878e-01 -3.79548172e-02 -1.54586333e-02 1.19188930e+02] [ 3.79563144e-02 9.99279380e-01 -1.96636879e-04 1.76337790e+00] [ 1.54549568e-02 -3.90281066e-04 9.99880489e-01 1.02814911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58925415399997 meters Centerline goodness [0,1] 0.9993552962413771 Centerline is valid? [True, True] Translation: X:119.22, Y:1.76, Z:1.03 [[ 9.99235554e-01 -3.56596965e-02 -1.60216410e-02 1.19221017e+02] [ 3.56610292e-02 9.99363923e-01 -2.02592036e-04 1.76417088e+00] [ 1.60186744e-02 -3.68911042e-04 9.99871625e-01 1.02845429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61925415399998 meters Centerline goodness [0,1] 0.9992697751336956 Centerline is valid? [True, True] Translation: X:119.25, Y:1.76, Z:1.03 [[ 9.99262501e-01 -3.48372570e-02 -1.61499372e-02 1.19251769e+02] [ 3.48385210e-02 9.99392934e-01 -2.03148713e-04 1.76383079e+00] [ 1.61472103e-02 -3.59641037e-04 9.99869561e-01 1.02848007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64925415399998 meters Centerline goodness [0,1] 0.9992914958026494 Centerline is valid? [True, True] Translation: X:119.28, Y:1.76, Z:1.03 [[ 9.99274274e-01 -3.44663849e-02 -1.62170793e-02 1.19282981e+02] [ 3.44676250e-02 9.99405794e-01 -2.03106222e-04 1.76284808e+00] [ 1.62144433e-02 -3.56005385e-04 9.99868474e-01 1.02847630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67925415399998 meters Centerline goodness [0,1] 0.9993548525838154 Centerline is valid? [True, True] Translation: X:119.31, Y:1.76, Z:1.03 [[ 9.99254041e-01 -3.48927287e-02 -1.65486872e-02 1.19313942e+02] [ 3.48940935e-02 9.99390994e-01 -2.06356108e-04 1.76000266e+00] [ 1.65458093e-02 -3.71249264e-04 9.99863040e-01 1.02772972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70925415399998 meters Centerline goodness [0,1] 0.9990969489776172 Centerline is valid? [True, True] Translation: X:119.35, Y:1.76, Z:1.03 [[ 9.99229601e-01 -3.54708221e-02 -1.67935996e-02 1.19345654e+02] [ 3.54723245e-02 9.99370637e-01 -2.08499965e-04 1.75978694e+00] [ 1.67904260e-02 -3.87368678e-04 9.99858956e-01 1.02776469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73925415399998 meters Centerline goodness [0,1] 0.9993343211149047 Centerline is valid? [True, True] Translation: X:119.38, Y:1.76, Z:1.03 [[ 9.99145343e-01 -3.74680634e-02 -1.74564567e-02 1.19376821e+02] [ 3.74700081e-02 9.99297729e-01 -2.15769335e-04 1.75687212e+00] [ 1.74522820e-02 -4.38508648e-04 9.99847601e-01 1.02748276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76925415399998 meters Centerline goodness [0,1] 0.9992068595927117 Centerline is valid? [True, True] Translation: X:119.41, Y:1.76, Z:1.03 [[ 9.99103769e-01 -3.83947622e-02 -1.78185629e-02 1.19408967e+02] [ 3.83969555e-02 9.99262541e-01 -2.19134389e-04 1.75550982e+00] [ 1.78138361e-02 -4.65240575e-04 9.99841213e-01 1.02723311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79925415399998 meters Centerline goodness [0,1] 0.9991633953278847 Centerline is valid? [True, True] Translation: X:119.44, Y:1.76, Z:1.03 [[ 9.99051578e-01 -3.93933367e-02 -1.85501861e-02 1.19441417e+02] [ 3.93959111e-02 9.99223654e-01 -2.26777538e-04 1.75525891e+00] [ 1.85447183e-02 -5.04239024e-04 9.99827905e-01 1.02772062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82925415399998 meters Centerline goodness [0,1] 0.9994006977590377 Centerline is valid? [True, True] Translation: X:119.47, Y:1.75, Z:1.03 [[ 9.98951503e-01 -4.16320827e-02 -1.90437664e-02 1.19472921e+02] [ 4.16352222e-02 9.99132851e-01 -2.31768893e-04 1.75213340e+00] [ 1.90369016e-02 -5.61365560e-04 9.99818624e-01 1.02753537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85925415399997 meters Centerline goodness [0,1] 0.998951153730896 Centerline is valid? [True, True] Translation: X:119.50, Y:1.75, Z:1.03 [[ 9.98894852e-01 -4.28305883e-02 -1.93549759e-02 1.19503949e+02] [ 4.28340730e-02 9.99082172e-01 -2.34678959e-04 1.74977725e+00] [ 1.93472628e-02 -5.94632844e-04 9.99812647e-01 1.02738140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88925415399997 meters Centerline goodness [0,1] 0.9991446228856147 Centerline is valid? [True, True] Translation: X:119.54, Y:1.75, Z:1.03 [[ 9.98829160e-01 -4.43674560e-02 -1.92831207e-02 1.19535041e+02] [ 4.43712173e-02 9.99015085e-01 -2.32957292e-04 1.74888793e+00] [ 1.92744642e-02 -6.22931002e-04 9.99814036e-01 1.02798689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91925415399997 meters Centerline goodness [0,1] 0.9989741836211318 Centerline is valid? [True, True] Translation: X:119.57, Y:1.75, Z:1.03 [[ 9.98763421e-01 -4.58334129e-02 -1.92594690e-02 1.19565719e+02] [ 4.58374669e-02 9.98948884e-01 -2.31126569e-04 1.74676510e+00] [ 1.92498184e-02 -6.51964510e-04 9.99814493e-01 1.02772450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94925415399997 meters Centerline goodness [0,1] 0.9990818243935771 Centerline is valid? [True, True] Translation: X:119.60, Y:1.75, Z:1.03 [[ 9.98598796e-01 -4.95621231e-02 -1.85483411e-02 1.19596514e+02] [ 4.95665543e-02 9.98770798e-01 -2.21034420e-04 1.74502997e+00] [ 1.85364964e-02 -6.98652649e-04 9.99827940e-01 1.03041525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97925415399997 meters Centerline goodness [0,1] 0.9990606319385141 Centerline is valid? [True, True] Translation: X:119.63, Y:1.75, Z:1.03 [[ 9.98532867e-01 -5.10104437e-02 -1.81672482e-02 1.19628446e+02] [ 5.10149539e-02 9.98697866e-01 -2.15397931e-04 1.74561438e+00] [ 1.81545796e-02 -7.11719417e-04 9.99834939e-01 1.03088818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00925415399998 meters Centerline goodness [0,1] 0.998848393081828 Centerline is valid? [True, True] Translation: X:119.66, Y:1.74, Z:1.03 [[ 9.98397485e-01 -5.37573719e-02 -1.76806793e-02 1.19660037e+02] [ 5.37620990e-02 9.98553751e-01 -2.08186639e-04 1.74007650e+00] [ 1.76663002e-02 -7.42697416e-04 9.99843663e-01 1.03174890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03925415399998 meters Centerline goodness [0,1] 0.9991681242267821 Centerline is valid? [True, True] Translation: X:119.69, Y:1.74, Z:1.03 [[ 9.98343536e-01 -5.48017972e-02 -1.75198863e-02 1.19692395e+02] [ 5.48066246e-02 9.98496966e-01 -2.04845127e-04 1.73977819e+00] [ 1.75047792e-02 -7.55700022e-04 9.99846494e-01 1.03251731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06925415399998 meters Centerline goodness [0,1] 0.998933037429047 Centerline is valid? [True, True] Translation: X:119.72, Y:1.74, Z:1.03 [[ 9.98301401e-01 -5.55201970e-02 -1.76584275e-02 1.19724890e+02] [ 5.55252359e-02 9.98457263e-01 -2.05177770e-04 1.74106991e+00] [ 1.76425767e-02 -7.75659100e-04 9.99844057e-01 1.03304382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09925415399998 meters Centerline goodness [0,1] 0.9989548673321389 Centerline is valid? [True, True] Translation: X:119.76, Y:1.74, Z:1.03 [[ 9.98206040e-01 -5.71704261e-02 -1.77832548e-02 1.19756002e+02] [ 5.71758184e-02 9.98364104e-01 -2.05471894e-04 1.73661570e+00] [ 1.77659101e-02 -8.11668861e-04 9.99841844e-01 1.03272241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12925415399998 meters Centerline goodness [0,1] 0.9990402252271467 Centerline is valid? [True, True] Translation: X:119.79, Y:1.74, Z:1.03 [[ 9.98153679e-01 -5.79515041e-02 -1.81894709e-02 1.19788486e+02] [ 5.79572965e-02 9.98319041e-01 -2.08985407e-04 1.73909396e+00] [ 1.81710061e-02 -8.45613004e-04 9.99834536e-01 1.03354815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15925415399998 meters Centerline goodness [0,1] 0.9990399795195631 Centerline is valid? [True, True] Translation: X:119.82, Y:1.74, Z:1.03 [[ 9.98137379e-01 -5.82258973e-02 -1.82076014e-02 1.19819932e+02] [ 5.82317684e-02 9.98303069e-01 -2.08009354e-04 1.73744449e+00] [ 1.81888159e-02 -8.52638915e-04 9.99834206e-01 1.03361780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18925415399998 meters Centerline goodness [0,1] 0.9993177699605585 Centerline is valid? [True, True] Translation: X:119.85, Y:1.74, Z:1.03 [[ 9.98108184e-01 -5.85091287e-02 -1.88874197e-02 1.19852555e+02] [ 5.85155206e-02 9.98286476e-01 -2.14523433e-04 1.74003835e+00] [ 1.88676072e-02 -8.91089603e-04 9.99821594e-01 1.03473237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21925415399998 meters Centerline goodness [0,1] 0.9991695236472817 Centerline is valid? [True, True] Translation: X:119.88, Y:1.74, Z:1.03 [[ 9.98113967e-01 -5.83419048e-02 -1.90979368e-02 1.19883286e+02] [ 5.83484336e-02 9.98296256e-01 -2.15657796e-04 1.73906874e+00] [ 1.90779806e-02 -8.99083636e-04 9.99817595e-01 1.03483791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24925415399997 meters Centerline goodness [0,1] 0.9992110369533233 Centerline is valid? [True, True] Translation: X:119.92, Y:1.74, Z:1.04 [[ 9.98169597e-01 -5.75088300e-02 -1.87133803e-02 1.19915234e+02] [ 5.75149749e-02 9.98344622e-01 -2.10110260e-04 1.74041506e+00] [ 1.86944858e-02 -8.66573925e-04 9.99824867e-01 1.03540410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27925415399997 meters Centerline goodness [0,1] 0.9991045157988998 Centerline is valid? [True, True] Translation: X:119.95, Y:1.74, Z:1.04 [[ 9.98234821e-01 -5.64312243e-02 -1.85137597e-02 1.19947149e+02] [ 5.64370790e-02 9.98406137e-01 -2.06506833e-04 1.74191469e+00] [ 1.84959047e-02 -8.38720207e-04 9.99828584e-01 1.03576286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30925415399997 meters Centerline goodness [0,1] 0.9992329327537715 Centerline is valid? [True, True] Translation: X:119.98, Y:1.74, Z:1.04 [[ 9.98318267e-01 -5.49314151e-02 -1.85250573e-02 1.19978633e+02] [ 5.49370414e-02 9.98489799e-01 -2.05434765e-04 1.74166647e+00] [ 1.85083656e-02 -8.12622564e-04 9.99828375e-01 1.03598257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33925415399997 meters Centerline goodness [0,1] 0.9991894889514547 Centerline is valid? [True, True] Translation: X:120.01, Y:1.75, Z:1.04 [[ 9.98524318e-01 -5.11675095e-02 -1.81953947e-02 1.20009822e+02] [ 5.11723285e-02 9.98689818e-01 -2.00946757e-04 1.74625494e+00] [ 1.81818373e-02 -7.30450490e-04 9.99834430e-01 1.03659772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36925415399998 meters Centerline goodness [0,1] 0.9991251093613298 Centerline is valid? [True, True] Translation: X:120.04, Y:1.75, Z:1.04 [[ 9.98639128e-01 -4.89625119e-02 -1.79601038e-02 1.20040555e+02] [ 4.89668627e-02 9.98800384e-01 -1.97692326e-04 1.74789122e+00] [ 1.79482380e-02 -6.82026644e-04 9.99838685e-01 1.03696894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39925415399998 meters Centerline goodness [0,1] 0.9989541311818317 Centerline is valid? [True, True] Translation: X:120.07, Y:1.75, Z:1.04 [[ 9.98782737e-01 -4.58906573e-02 -1.80856532e-02 1.20071329e+02] [ 4.58945782e-02 9.98946269e-01 -1.98414213e-04 1.74975450e+00] [ 1.80757012e-02 -6.31860736e-04 9.99836422e-01 1.03574256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42925415399998 meters Centerline goodness [0,1] 0.999060672046454 Centerline is valid? [True, True] Translation: X:120.10, Y:1.76, Z:1.04 [[ 9.99022184e-01 -4.03015863e-02 -1.81785018e-02 1.20101979e+02] [ 4.03046323e-02 9.99187418e-01 -1.98930415e-04 1.75723778e+00] [ 1.81717475e-02 -5.33941931e-04 9.99834738e-01 1.03654405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45925415399998 meters Centerline goodness [0,1] 0.9993163269666282 Centerline is valid? [True, True] Translation: X:120.13, Y:1.76, Z:1.04 [[ 9.99108856e-01 -3.83393068e-02 -1.76519415e-02 1.20133010e+02] [ 3.83418957e-02 9.99264661e-01 -1.91864897e-04 1.75960514e+00] [ 1.76463173e-02 -4.85114982e-04 9.99844174e-01 1.03962322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48925415399998 meters Centerline goodness [0,1] 0.9993359040274208 Centerline is valid? [True, True] Translation: X:120.16, Y:1.76, Z:1.04 [[ 9.99246828e-01 -3.44614131e-02 -1.78378027e-02 1.20164296e+02] [ 3.44634681e-02 9.99405940e-01 -1.92272639e-04 1.76361598e+00] [ 1.78338319e-02 -4.22624718e-04 9.99840875e-01 1.04048933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51925415399998 meters Centerline goodness [0,1] 0.9991440737808401 Centerline is valid? [True, True] Translation: X:120.19, Y:1.76, Z:1.04 [[ 9.99305634e-01 -3.29262753e-02 -1.74387854e-02 1.20194342e+02] [ 3.29280143e-02 9.99457708e-01 -1.87483054e-04 1.76441469e+00] [ 1.74355016e-02 -3.86871704e-04 9.99847915e-01 1.04059907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54925415399998 meters Centerline goodness [0,1] 0.9993799974344721 Centerline is valid? [True, True] Translation: X:120.23, Y:1.77, Z:1.04 [[ 9.99333898e-01 -3.19933911e-02 -1.75551205e-02 1.20225915e+02] [ 3.19950178e-02 9.99488011e-01 -1.88260130e-04 1.76520316e+00] [ 1.75521556e-02 -3.73541664e-04 9.99845879e-01 1.04142737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57925415399998 meters Centerline goodness [0,1] 0.9992304568093884 Centerline is valid? [True, True] Translation: X:120.26, Y:1.76, Z:1.04 [[ 9.99352008e-01 -3.13853248e-02 -1.76217226e-02 1.20256639e+02] [ 3.13868782e-02 9.99507293e-01 -1.88477959e-04 1.76442135e+00] [ 1.76189557e-02 -3.64735034e-04 9.99844708e-01 1.04133974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60925415399997 meters Centerline goodness [0,1] 0.9991019308486754 Centerline is valid? [True, True] Translation: X:120.29, Y:1.76, Z:1.04 [[ 9.99334012e-01 -3.16718604e-02 -1.81225455e-02 1.20287654e+02] [ 3.16735594e-02 9.99498248e-01 -1.93340007e-04 1.76415554e+00] [ 1.81195759e-02 -3.80794276e-04 9.99835754e-01 1.04138788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63925415399997 meters Centerline goodness [0,1] 0.9989740739949131 Centerline is valid? [True, True] Translation: X:120.32, Y:1.76, Z:1.04 [[ 9.99322620e-01 -3.20217072e-02 -1.81359162e-02 1.20318924e+02] [ 3.20234782e-02 9.99487098e-01 -1.92823530e-04 1.76318864e+00] [ 1.81327888e-02 -3.88082204e-04 9.99835512e-01 1.04044544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66925415399997 meters Centerline goodness [0,1] 0.999017031006261 Centerline is valid? [True, True] Translation: X:120.35, Y:1.76, Z:1.04 [[ 9.99247997e-01 -3.38560329e-02 -1.88999827e-02 1.20349225e+02] [ 3.38582942e-02 9.99426623e-01 -2.00421750e-04 1.76037668e+00] [ 1.88959314e-02 -4.39650144e-04 9.99821359e-01 1.04072126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69925415399997 meters Centerline goodness [0,1] 0.9989528124465721 Centerline is valid? [True, True] Translation: X:120.38, Y:1.76, Z:1.04 [[ 9.99217636e-01 -3.46581826e-02 -1.90506103e-02 1.20380374e+02] [ 3.46606359e-02 9.99399119e-01 -2.01491311e-04 1.76076891e+00] [ 1.90461465e-02 -4.58972596e-04 9.99818500e-01 1.04096297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72925415399997 meters Centerline goodness [0,1] 0.9989344471912028 Centerline is valid? [True, True] Translation: X:120.41, Y:1.76, Z:1.04 [[ 9.99147296e-01 -3.64610432e-02 -1.93719690e-02 1.20410806e+02] [ 3.64639289e-02 9.99334949e-01 -2.04354732e-04 1.75699349e+00] [ 1.93665366e-02 -5.02197621e-04 9.99812325e-01 1.04039048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75925415399998 meters Centerline goodness [0,1] 0.9988697673426737 Centerline is valid? [True, True] Translation: X:120.44, Y:1.76, Z:1.04 [[ 9.99113126e-01 -3.74320151e-02 -1.92822473e-02 1.20442354e+02] [ 3.74350652e-02 9.99299042e-01 -2.02870900e-04 1.75717953e+00] [ 1.92763251e-02 -5.19141207e-04 9.99814060e-01 1.04110494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78925415399998 meters Centerline goodness [0,1] 0.9987862268691041 Centerline is valid? [True, True] Translation: X:120.47, Y:1.75, Z:1.04 [[ 9.99079596e-01 -3.82570552e-02 -1.93999821e-02 1.20472584e+02] [ 3.82603158e-02 9.99267785e-01 -2.03195761e-04 1.75479131e+00] [ 1.93935508e-02 -5.39240701e-04 9.99811782e-01 1.04120376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81925415399998 meters Centerline goodness [0,1] 0.9990427364972665 Centerline is valid? [True, True] Translation: X:120.50, Y:1.76, Z:1.04 [[ 9.99059000e-01 -3.88226080e-02 -1.93369927e-02 1.20504181e+02] [ 3.88259705e-02 9.99245967e-01 -2.01643315e-04 1.75515906e+00] [ 1.93302403e-02 -5.49323941e-04 9.99813003e-01 1.04261323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84925415399998 meters Centerline goodness [0,1] 0.9991062879029684 Centerline is valid? [True, True] Translation: X:120.54, Y:1.75, Z:1.04 [[ 9.99033288e-01 -3.98447586e-02 -1.85710801e-02 1.20535106e+02] [ 3.98480488e-02 9.99205732e-01 -1.92983299e-04 1.75402481e+00] [ 1.85640190e-02 -5.47224566e-04 9.99827524e-01 1.04389212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87925415399998 meters Centerline goodness [0,1] 0.9989786799438274 Centerline is valid? [True, True] Translation: X:120.57, Y:1.75, Z:1.04 [[ 9.99024418e-01 -4.02949402e-02 -1.80701326e-02 1.20565884e+02] [ 4.02981541e-02 9.99187682e-01 -1.86382404e-04 1.75233513e+00] [ 1.80629642e-02 -5.41992417e-04 9.99836704e-01 1.04432462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90925415399998 meters Centerline goodness [0,1] 0.9989786799438274 Centerline is valid? [True, True] Translation: X:120.60, Y:1.75, Z:1.04 [[ 9.99027392e-01 -4.02211444e-02 -1.80701508e-02 1.20597591e+02] [ 4.02243784e-02 9.99190655e-01 -1.84603189e-04 1.75260083e+00] [ 1.80629508e-02 -5.42436943e-04 9.99836704e-01 1.04462132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93925415399998 meters Centerline goodness [0,1] 0.9988326187545103 Centerline is valid? [True, True] Translation: X:120.63, Y:1.75, Z:1.04 [[ 9.99017082e-01 -4.06094895e-02 -1.77690307e-02 1.20628746e+02] [ 4.06127079e-02 9.99174947e-01 -1.79840393e-04 1.74843874e+00] [ 1.77616736e-02 -5.41984829e-04 9.99842102e-01 1.04397451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96925415399998 meters Centerline goodness [0,1] 0.9990227736233854 Centerline is valid? [True, True] Translation: X:120.66, Y:1.75, Z:1.04 [[ 9.98995009e-01 -4.09036970e-02 -1.83264819e-02 1.20660805e+02] [ 4.09072032e-02 9.99162933e-01 -1.83670582e-04 1.74909062e+00] [ 1.83186543e-02 -5.66199126e-04 9.99832039e-01 1.04459152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99925415399997 meters Centerline goodness [0,1] 0.9990651425657587 Centerline is valid? [True, True] Translation: X:120.69, Y:1.75, Z:1.04 [[ 9.99001455e-01 -4.08239253e-02 -1.81521363e-02 1.20692947e+02] [ 4.08273758e-02 9.99166199e-01 -1.80606003e-04 1.74719822e+00] [ 1.81443741e-02 -5.60678431e-04 9.99835220e-01 1.04410144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02925415399997 meters Centerline goodness [0,1] 0.9990658967391305 Centerline is valid? [True, True] Translation: X:120.73, Y:1.75, Z:1.04 [[ 9.99015098e-01 -4.05315718e-02 -1.80561742e-02 1.20725230e+02] [ 4.05349621e-02 9.99178105e-01 -1.78333433e-04 1.74724441e+00] [ 1.80485621e-02 -5.53748545e-04 9.99836958e-01 1.04474258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05925415399997 meters Centerline goodness [0,1] 0.9991088478676002 Centerline is valid? [True, True] Translation: X:120.76, Y:1.75, Z:1.04 [[ 9.99050790e-01 -3.97850477e-02 -1.77389255e-02 1.20757298e+02] [ 3.97882252e-02 9.99208120e-01 -1.73906217e-04 1.74676085e+00] [ 1.77317973e-02 -5.32059219e-04 9.99842638e-01 1.04486022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08925415399997 meters Centerline goodness [0,1] 0.998687024840643 Centerline is valid? [True, True] Translation: X:120.79, Y:1.75, Z:1.05 [[ 9.99077754e-01 -3.91490155e-02 -1.76350604e-02 1.20788509e+02] [ 3.91520770e-02 9.99233249e-01 -1.71747329e-04 1.74651831e+00] [ 1.76282624e-02 -5.18860306e-04 9.99844475e-01 1.04535311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11925415399998 meters Centerline goodness [0,1] 0.998795409877639 Centerline is valid? [True, True] Translation: X:120.82, Y:1.75, Z:1.05 [[ 9.99139444e-01 -3.77102896e-02 -1.72715348e-02 1.20820350e+02] [ 3.77130276e-02 9.99288597e-01 -1.67271435e-04 1.74652532e+00] [ 1.72655557e-02 -4.84234381e-04 9.99850822e-01 1.04580431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14925415399998 meters Centerline goodness [0,1] 0.9990033504389499 Centerline is valid? [True, True] Translation: X:120.85, Y:1.75, Z:1.05 [[ 9.99145224e-01 -3.71626826e-02 -1.81040165e-02 1.20851913e+02] [ 3.71656194e-02 9.99309105e-01 -1.74324351e-04 1.74583410e+00] [ 1.80979868e-02 -4.98671642e-04 9.99836094e-01 1.04515236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17925415399998 meters Centerline goodness [0,1] 0.9988972069645622 Centerline is valid? [True, True] Translation: X:120.88, Y:1.75, Z:1.05 [[ 9.99132945e-01 -3.73424883e-02 -1.84091231e-02 1.20883421e+02] [ 3.73455711e-02 9.99302395e-01 -1.76412024e-04 1.74554358e+00] [ 1.84028685e-02 -5.11240151e-04 9.99830522e-01 1.04557787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20925415399998 meters Centerline goodness [0,1] 0.9989609177852705 Centerline is valid? [True, True] Translation: X:120.91, Y:1.74, Z:1.05 [[ 9.99099024e-01 -3.78639794e-02 -1.91692159e-02 1.20914659e+02] [ 3.78674318e-02 9.99282755e-01 -1.82977198e-04 1.74456609e+00] [ 1.91623951e-02 -5.43076635e-04 9.99816237e-01 1.04521223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23925415399998 meters Centerline goodness [0,1] 0.9990037095919448 Centerline is valid? [True, True] Translation: X:120.95, Y:1.74, Z:1.04 [[ 9.99063737e-01 -3.84429686e-02 -1.98440786e-02 1.20945582e+02] [ 3.84467972e-02 9.99260631e-01 -1.88679153e-04 1.74376886e+00] [ 1.98366599e-02 -5.74438765e-04 9.99803069e-01 1.04481062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26925415399998 meters Centerline goodness [0,1] 0.9986648299247642 Centerline is valid? [True, True] Translation: X:120.98, Y:1.74, Z:1.04 [[ 9.99001710e-01 -3.94189122e-02 -2.10174166e-02 1.20976631e+02] [ 3.94234396e-02 9.99222574e-01 -1.99041769e-04 1.74209194e+00] [ 2.10089232e-02 -6.29735788e-04 9.99779090e-01 1.04378305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29925415399998 meters Centerline goodness [0,1] 0.9988754270194572 Centerline is valid? [True, True] Translation: X:121.01, Y:1.74, Z:1.04 [[ 9.98986556e-01 -3.96730674e-02 -2.12581349e-02 1.21007637e+02] [ 3.96777733e-02 9.99212507e-01 -2.00536161e-04 1.74152055e+00] [ 2.12493501e-02 -6.43142528e-04 9.99774000e-01 1.04370518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32925415399998 meters Centerline goodness [0,1] 0.9988330398251681 Centerline is valid? [True, True] Translation: X:121.04, Y:1.74, Z:1.04 [[ 9.98985009e-01 -3.94683126e-02 -2.17072398e-02 1.21038549e+02] [ 3.94731887e-02 9.99220609e-01 -2.03969849e-04 1.74161023e+00] [ 2.16983717e-02 -6.53091151e-04 9.99764349e-01 1.04403650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35925415399997 meters Centerline goodness [0,1] 0.9988117215184501 Centerline is valid? [True, True] Translation: X:121.07, Y:1.74, Z:1.04 [[ 9.99030908e-01 -3.80768798e-02 -2.20770663e-02 1.21069412e+02] [ 3.80815918e-02 9.99274612e-01 -2.07095576e-04 1.74250962e+00] [ 2.20689374e-02 -6.33834945e-04 9.99756250e-01 1.04454734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38925415399997 meters Centerline goodness [0,1] 0.9986642920747997 Centerline is valid? [True, True] Translation: X:121.10, Y:1.74, Z:1.05 [[ 9.99069853e-01 -3.71239758e-02 -2.19371796e-02 1.21100062e+02] [ 3.71283987e-02 9.99310482e-01 -2.05783358e-04 1.74407426e+00] [ 2.19296931e-02 -6.08900403e-04 9.99759330e-01 1.04570628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41925415399997 meters Centerline goodness [0,1] 0.9989174962324624 Centerline is valid? [True, True] Translation: X:121.13, Y:1.74, Z:1.05 [[ 9.99096764e-01 -3.64848438e-02 -2.17832951e-02 1.21129894e+02] [ 3.64890551e-02 9.99334032e-01 -2.04246622e-04 1.74214130e+00] [ 2.17762400e-02 -5.90789718e-04 9.99762695e-01 1.04528460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44925415399997 meters Centerline goodness [0,1] 0.9987055153534368 Centerline is valid? [True, True] Translation: X:121.16, Y:1.75, Z:1.05 [[ 9.99161017e-01 -3.51784833e-02 -2.09699002e-02 1.21160396e+02] [ 3.51820998e-02 9.99380899e-01 -1.96552296e-04 1.74527776e+00] [ 2.09638321e-02 -5.41377729e-04 9.99780088e-01 1.04736083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47925415399997 meters Centerline goodness [0,1] 0.9988107878530473 Centerline is valid? [True, True] Translation: X:121.19, Y:1.75, Z:1.05 [[ 9.99201731e-01 -3.43769362e-02 -2.03501250e-02 1.21190588e+02] [ 3.43801759e-02 9.99408809e-01 -1.90743102e-04 1.74612895e+00] [ 2.03446514e-02 -5.09050041e-04 9.99792897e-01 1.04797401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50925415399998 meters Centerline goodness [0,1] 0.9986841546754955 Centerline is valid? [True, True] Translation: X:121.22, Y:1.75, Z:1.05 [[ 9.99228639e-01 -3.36738638e-02 -2.02038891e-02 1.21220718e+02] [ 3.36769134e-02 9.99432754e-01 -1.89372423e-04 1.74673511e+00] [ 2.01988055e-02 -4.91178277e-04 9.99795863e-01 1.04850283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53925415399998 meters Centerline goodness [0,1] 0.9988744717449936 Centerline is valid? [True, True] Translation: X:121.25, Y:1.75, Z:1.05 [[ 9.99322940e-01 -3.12459824e-02 -1.94254907e-02 1.21250315e+02] [ 3.12483394e-02 9.99511635e-01 -1.82260670e-04 1.74758756e+00] [ 1.94216989e-02 -4.24877059e-04 9.99811291e-01 1.04926566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56925415399998 meters Centerline goodness [0,1] 0.9987089673855531 Centerline is valid? [True, True] Translation: X:121.28, Y:1.75, Z:1.05 [[ 9.99385798e-01 -2.95070623e-02 -1.89039840e-02 1.21280849e+02] [ 2.95089803e-02 9.99564499e-01 -1.77534571e-04 1.74870589e+00] [ 1.89009898e-02 -3.80411762e-04 9.99821288e-01 1.04975860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59925415399998 meters Centerline goodness [0,1] 0.9988317260716258 Centerline is valid? [True, True] Translation: X:121.31, Y:1.75, Z:1.05 [[ 9.99498557e-01 -2.59439417e-02 -1.81534063e-02 1.21310521e+02] [ 2.59451170e-02 9.99663354e-01 -1.70811536e-04 1.75142613e+00] [ 1.81517265e-02 -3.00266366e-04 9.99835199e-01 1.05115513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62925415399998 meters Centerline goodness [0,1] 0.9987517718492818 Centerline is valid? [True, True] Translation: X:121.34, Y:1.75, Z:1.05 [[ 9.99553506e-01 -2.40064689e-02 -1.77898434e-02 1.21339124e+02] [ 2.40072764e-02 9.99711770e-01 -1.68195933e-04 1.75150955e+00] [ 1.77887536e-02 -2.58964852e-04 9.99841734e-01 1.05053165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65925415399998 meters Centerline goodness [0,1] 0.999001465932992 Centerline is valid? [True, True] Translation: X:121.37, Y:1.75, Z:1.05 [[ 9.99587102e-01 -2.25511367e-02 -1.78064859e-02 1.21367573e+02] [ 2.25516678e-02 9.99745664e-01 -1.70996519e-04 1.75251848e+00] [ 1.78058133e-02 -2.30640040e-04 9.99841437e-01 1.05113572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68925415399998 meters Centerline goodness [0,1] 0.9990665902967819 Centerline is valid? [True, True] Translation: X:121.40, Y:1.75, Z:1.05 [[ 9.99616712e-01 -2.14341377e-02 -1.75216273e-02 1.21396455e+02] [ 2.14344030e-02 9.99770242e-01 -1.72673962e-04 1.75362996e+00] [ 1.75213027e-02 -2.02957844e-04 9.99846470e-01 1.05167753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71925415399998 meters Centerline goodness [0,1] 0.9989604107438367 Centerline is valid? [True, True] Translation: X:121.43, Y:1.75, Z:1.05 [[ 9.99635769e-01 -2.02167346e-02 -1.78777171e-02 1.21425651e+02] [ 2.02167330e-02 9.99795605e-01 -1.80833884e-04 1.75375887e+00] [ 1.78777189e-02 -1.80661015e-04 9.99840164e-01 1.05145482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74925415399997 meters Centerline goodness [0,1] 0.9990453764398906 Centerline is valid? [True, True] Translation: X:121.45, Y:1.75, Z:1.05 [[ 9.99631600e-01 -2.03312155e-02 -1.79807230e-02 1.21453062e+02] [ 2.03311433e-02 9.99793283e-01 -1.86837403e-04 1.75332083e+00] [ 1.79808047e-02 -1.78800083e-04 9.99838316e-01 1.05115783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77925415399997 meters Centerline goodness [0,1] 0.998981691664722 Centerline is valid? [True, True] Translation: X:121.48, Y:1.75, Z:1.05 [[ 9.99619714e-01 -2.08108898e-02 -1.80924072e-02 1.21481325e+02] [ 2.08107988e-02 9.99783413e-01 -1.93325860e-04 1.75278915e+00] [ 1.80925119e-02 -1.83265106e-04 9.99836300e-01 1.05105581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80925415399997 meters Centerline goodness [0,1] 0.9990248865900708 Centerline is valid? [True, True] Translation: X:121.51, Y:1.75, Z:1.05 [[ 9.99601429e-01 -2.15898285e-02 -1.81896010e-02 1.21509409e+02] [ 2.15897683e-02 9.99766894e-01 -1.99705842e-04 1.75197279e+00] [ 1.81896725e-02 -1.93083026e-04 9.99834536e-01 1.05122320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83925415399997 meters Centerline goodness [0,1] 0.9990898893051411 Centerline is valid? [True, True] Translation: X:121.54, Y:1.75, Z:1.05 [[ 9.99558913e-01 -2.31421584e-02 -1.86123378e-02 1.21537470e+02] [ 2.31422968e-02 9.99732160e-01 -2.07978496e-04 1.74919600e+00] [ 1.86121658e-02 -2.22845488e-04 9.99826754e-01 1.05049666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86925415399998 meters Centerline goodness [0,1] 0.9987313669521091 Centerline is valid? [True, True] Translation: X:121.57, Y:1.75, Z:1.05 [[ 9.99531449e-01 -2.43891651e-02 -1.84945992e-02 1.21565937e+02] [ 2.43894565e-02 9.99702511e-01 -2.09837416e-04 1.74832077e+00] [ 1.84942150e-02 -2.41334125e-04 9.99828938e-01 1.05063118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89925415399998 meters Centerline goodness [0,1] 0.9987971892211273 Centerline is valid? [True, True] Translation: X:121.59, Y:1.75, Z:1.05 [[ 9.99487476e-01 -2.59255645e-02 -1.87789957e-02 1.21594256e+02] [ 2.59260740e-02 9.99663839e-01 -2.16361000e-04 1.74612908e+00] [ 1.87782922e-02 -2.70615522e-04 9.99823636e-01 1.05056848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92925415399998 meters Centerline goodness [0,1] 0.9988795399771679 Centerline is valid? [True, True] Translation: X:121.62, Y:1.74, Z:1.05 [[ 9.99471400e-01 -2.65664389e-02 -1.87388415e-02 1.21622475e+02] [ 2.65670332e-02 9.99647010e-01 -2.17267881e-04 1.74458015e+00] [ 1.87379989e-02 -2.80682391e-04 9.99824389e-01 1.05021614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95925415399998 meters Centerline goodness [0,1] 0.99888055760904 Centerline is valid? [True, True] Translation: X:121.65, Y:1.74, Z:1.05 [[ 9.99467205e-01 -2.69496596e-02 -1.84125677e-02 1.21650988e+02] [ 2.69502804e-02 9.99636752e-01 -2.14464621e-04 1.74371354e+00] [ 1.84116591e-02 -2.81873506e-04 9.99830451e-01 1.05015252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98925415399998 meters Centerline goodness [0,1] 0.998816643069966 Centerline is valid? [True, True] Translation: X:121.68, Y:1.74, Z:1.05 [[ 9.99479918e-01 -2.68929258e-02 -1.77950481e-02 1.21680939e+02] [ 2.68934826e-02 9.99638283e-01 -2.08057056e-04 1.74477507e+00] [ 1.77942066e-02 -2.70621966e-04 9.99841634e-01 1.05185555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01925415399998 meters Centerline goodness [0,1] 0.9987749757107253 Centerline is valid? [True, True] Translation: X:121.71, Y:1.75, Z:1.05 [[ 9.99499409e-01 -2.65590214e-02 -1.71915374e-02 1.21710353e+02] [ 2.65594810e-02 9.99647214e-01 -2.01621221e-04 1.74527553e+00] [ 1.71908274e-02 -2.55078021e-04 9.99852194e-01 1.05262185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04925415399998 meters Centerline goodness [0,1] 0.9989664191697604 Centerline is valid? [True, True] Translation: X:121.74, Y:1.75, Z:1.05 [[ 9.99518942e-01 -2.59750334e-02 -1.69464381e-02 1.21740105e+02] [ 2.59753855e-02 9.99662563e-01 -1.99370186e-04 1.74529488e+00] [ 1.69458984e-02 -2.40915986e-04 9.99856379e-01 1.05324795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07925415399998 meters Centerline goodness [0,1] 0.998837479655894 Centerline is valid? [True, True] Translation: X:121.77, Y:1.74, Z:1.05 [[ 9.99566602e-01 -2.47684423e-02 -1.59101294e-02 1.21769806e+02] [ 2.47685927e-02 9.99693194e-01 -1.87624040e-04 1.74458368e+00] [ 1.59098952e-02 -2.06528791e-04 9.99873408e-01 1.05434284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10925415399997 meters Centerline goodness [0,1] 0.999027997886952 Centerline is valid? [True, True] Translation: X:121.80, Y:1.74, Z:1.06 [[ 9.99603567e-01 -2.38571563e-02 -1.49513979e-02 1.21799056e+02] [ 2.38571817e-02 9.99715361e-01 -1.76684273e-04 1.74476785e+00] [ 1.49513573e-02 -1.80083986e-04 9.99888206e-01 1.05539498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13925415399997 meters Centerline goodness [0,1] 0.9992189149250581 Centerline is valid? [True, True] Translation: X:121.83, Y:1.74, Z:1.06 [[ 9.99635280e-01 -2.31794566e-02 -1.38571504e-02 1.21829150e+02] [ 2.31794066e-02 9.99731308e-01 -1.64237048e-04 1.74477499e+00] [ 1.38572341e-02 -1.57023377e-04 9.99903972e-01 1.05633325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16925415399997 meters Centerline goodness [0,1] 0.9989657865298972 Centerline is valid? [True, True] Translation: X:121.86, Y:1.74, Z:1.06 [[ 9.99663885e-01 -2.22984861e-02 -1.32247755e-02 1.21859392e+02] [ 2.22983591e-02 9.99751348e-01 -1.57070901e-04 1.74468948e+00] [ 1.32249896e-02 -1.37872687e-04 9.99912536e-01 1.05698779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19925415399997 meters Centerline goodness [0,1] 0.9990300269905533 Centerline is valid? [True, True] Translation: X:121.89, Y:1.74, Z:1.06 [[ 9.99713438e-01 -2.01752400e-02 -1.28841624e-02 1.21889759e+02] [ 2.01749432e-02 9.99796453e-01 -1.53025433e-04 1.74432483e+00] [ 1.28846272e-02 -1.06955662e-04 9.99916984e-01 1.05763089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22925415399997 meters Centerline goodness [0,1] 0.9991129883843717 Centerline is valid? [True, True] Translation: X:121.92, Y:1.74, Z:1.06 [[ 9.99738960e-01 -1.88910400e-02 -1.28506848e-02 1.21919282e+02] [ 1.88906370e-02 9.99821544e-01 -1.52755112e-04 1.74428890e+00] [ 1.28512772e-02 -9.00423840e-05 9.99917415e-01 1.05758461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25925415399998 meters Centerline goodness [0,1] 0.9993246380482039 Centerline is valid? [True, True] Translation: X:121.95, Y:1.74, Z:1.06 [[ 9.99755632e-01 -1.78188338e-02 -1.30830428e-02 1.21948469e+02] [ 1.78183188e-02 9.99841229e-01 -1.55932986e-04 1.74396130e+00] [ 1.30837441e-02 -7.72229464e-05 9.99914401e-01 1.05759773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28925415399998 meters Centerline goodness [0,1] 0.9991761549673631 Centerline is valid? [True, True] Translation: X:121.98, Y:1.74, Z:1.06 [[ 9.99764221e-01 -1.69568095e-02 -1.35635010e-02 1.21978349e+02] [ 1.69561722e-02 9.99856221e-01 -1.61990428e-04 1.74387215e+00] [ 1.35642977e-02 -6.80328241e-05 9.99907998e-01 1.05753729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31925415399998 meters Centerline goodness [0,1] 0.9990933434541506 Centerline is valid? [True, True] Translation: X:122.01, Y:1.74, Z:1.06 [[ 9.99770292e-01 -1.63460671e-02 -1.38625017e-02 1.22007076e+02] [ 1.63453215e-02 9.99866392e-01 -1.67085588e-04 1.74212217e+00] [ 1.38633807e-02 -5.95398402e-05 9.99903897e-01 1.05726558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34925415399998 meters Centerline goodness [0,1] 0.9990945652860542 Centerline is valid? [True, True] Translation: X:122.04, Y:1.74, Z:1.06 [[ 9.99766569e-01 -1.67258800e-02 -1.36767327e-02 1.22036273e+02] [ 1.67251417e-02 9.99860111e-01 -1.68367993e-04 1.74097203e+00] [ 1.36776356e-02 -6.04166020e-05 9.99906455e-01 1.05714006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37925415399998 meters Centerline goodness [0,1] 0.9992638552949837 Centerline is valid? [True, True] Translation: X:122.07, Y:1.74, Z:1.06 [[ 9.99741314e-01 -1.77970063e-02 -1.41623650e-02 1.22065414e+02] [ 1.77962691e-02 9.99841618e-01 -1.78085812e-04 1.73946986e+00] [ 1.41632913e-02 -7.39975144e-05 9.99899693e-01 1.05706614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40925415399998 meters Centerline goodness [0,1] 0.9991584262571008 Centerline is valid? [True, True] Translation: X:122.09, Y:1.74, Z:1.06 [[ 9.99678627e-01 -2.09526689e-02 -1.42698403e-02 1.22094466e+02] [ 2.09521895e-02 9.99780462e-01 -1.83112045e-04 1.73509220e+00] [ 1.42705443e-02 -1.15931201e-04 9.99898164e-01 1.05683547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43925415399998 meters Centerline goodness [0,1] 0.9992009252444538 Centerline is valid? [True, True] Translation: X:122.12, Y:1.73, Z:1.06 [[ 9.99639684e-01 -2.26657484e-02 -1.43793609e-02 1.22124350e+02] [ 2.26654015e-02 9.99743089e-01 -1.87115104e-04 1.73284343e+00] [ 1.43799078e-02 -1.38866304e-04 9.99896594e-01 1.05690044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46925415399998 meters Centerline goodness [0,1] 0.9990768520655435 Centerline is valid? [True, True] Translation: X:122.15, Y:1.73, Z:1.06 [[ 9.99590425e-01 -2.44863480e-02 -1.48121600e-02 1.22154154e+02] [ 2.44861715e-02 9.99700150e-01 -1.93295917e-04 1.73044942e+00] [ 1.48124517e-02 -1.69476344e-04 9.99890275e-01 1.05685329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49925415399997 meters Centerline goodness [0,1] 0.9988479986594894 Centerline is valid? [True, True] Translation: X:122.18, Y:1.72, Z:1.06 [[ 9.99483542e-01 -2.82797683e-02 -1.52611892e-02 1.22183029e+02] [ 2.82800129e-02 9.99600020e-01 -1.99823097e-04 1.72419670e+00] [ 1.52607360e-02 -2.31866732e-04 9.99883521e-01 1.05624739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52925415399997 meters Centerline goodness [0,1] 0.9989324513846733 Centerline is valid? [True, True] Translation: X:122.21, Y:1.72, Z:1.06 [[ 9.99430701e-01 -3.02494930e-02 -1.49412621e-02 1.22213006e+02] [ 3.02499386e-02 9.99542347e-01 -1.96230611e-04 1.72348280e+00] [ 1.49403601e-02 -2.55853365e-04 9.99888354e-01 1.05715174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55925415399997 meters Centerline goodness [0,1] 0.9991838613819948 Centerline is valid? [True, True] Translation: X:122.24, Y:1.72, Z:1.06 [[ 9.99379359e-01 -3.19895862e-02 -1.47500309e-02 1.22243129e+02] [ 3.19902088e-02 9.99488164e-01 -1.93790544e-04 1.72087033e+00] [ 1.47486806e-02 -2.78186298e-04 9.99891194e-01 1.05750728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58925415399997 meters Centerline goodness [0,1] 0.9991436210209709 Centerline is valid? [True, True] Translation: X:122.27, Y:1.71, Z:1.06 [[ 9.99264222e-01 -3.56311026e-02 -1.41929011e-02 1.22273240e+02] [ 3.56320515e-02 9.99364960e-01 -1.86091325e-04 1.71491319e+00] [ 1.41905186e-02 -3.19767778e-04 9.99899258e-01 1.05796525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61925415399998 meters Centerline goodness [0,1] 0.9990801714225985 Centerline is valid? [True, True] Translation: X:122.30, Y:1.71, Z:1.06 [[ 9.99204041e-01 -3.75671769e-02 -1.34161128e-02 1.22303830e+02] [ 3.75682054e-02 9.99294050e-01 -1.75438456e-04 1.71120503e+00] [ 1.34132325e-02 -3.28720469e-04 9.99909985e-01 1.05841457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64925415399998 meters Centerline goodness [0,1] 0.9988503825090924 Centerline is valid? [True, True] Translation: X:122.34, Y:1.71, Z:1.06 [[ 9.99138314e-01 -3.95730572e-02 -1.25140622e-02 1.22335440e+02] [ 3.95741125e-02 9.99216625e-01 -1.63377688e-04 1.70842106e+00] [ 1.25107244e-02 -3.31995999e-04 9.99921683e-01 1.05905019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67925415399998 meters Centerline goodness [0,1] 0.9989762446984101 Centerline is valid? [True, True] Translation: X:122.37, Y:1.71, Z:1.06 [[ 9.98987377e-01 -4.35521921e-02 -1.12883779e-02 1.22366792e+02] [ 4.35533087e-02 9.99051094e-01 -1.47010299e-04 1.70704966e+00] [ 1.12840689e-02 -3.44784772e-04 9.99936273e-01 1.06065833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70925415399998 meters Centerline goodness [0,1] 0.999019669190497 Centerline is valid? [True, True] Translation: X:122.40, Y:1.70, Z:1.06 [[ 9.98910759e-01 -4.53373327e-02 -1.10373122e-02 1.22398468e+02] [ 4.53385138e-02 9.98971671e-01 -1.43306890e-04 1.70062691e+00] [ 1.10324593e-02 -3.57264537e-04 9.99939077e-01 1.05987244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73925415399998 meters Centerline goodness [0,1] 0.9988518704074816 Centerline is valid? [True, True] Translation: X:122.43, Y:1.70, Z:1.06 [[ 9.98830440e-01 -4.71581249e-02 -1.06706508e-02 1.22431047e+02] [ 4.71593391e-02 9.98887370e-01 -1.37944696e-04 1.70271826e+00] [ 1.06652835e-02 -3.65437478e-04 9.99943057e-01 1.05944209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76925415399998 meters Centerline goodness [0,1] 0.9987068785717266 Centerline is valid? [True, True] Translation: X:122.46, Y:1.70, Z:1.06 [[ 9.98598110e-01 -5.17048918e-02 -1.13321990e-02 1.22461278e+02] [ 5.17065638e-02 9.98662310e-01 -1.45590646e-04 1.69687224e+00] [ 1.13245678e-02 -4.40562529e-04 9.99935778e-01 1.05879303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79925415399998 meters Centerline goodness [0,1] 0.9987068785717266 Centerline is valid? [True, True] Translation: X:122.49, Y:1.70, Z:1.06 [[ 9.98601872e-01 -5.16321869e-02 -1.13322108e-02 1.22492987e+02] [ 5.16338646e-02 9.98666072e-01 -1.44670957e-04 1.69721637e+00] [ 1.13245641e-02 -4.40657148e-04 9.99935778e-01 1.05908994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82925415399998 meters Centerline goodness [0,1] 0.9987889164978806 Centerline is valid? [True, True] Translation: X:122.52, Y:1.69, Z:1.06 [[ 9.98459629e-01 -5.43523095e-02 -1.11442966e-02 1.22524431e+02] [ 5.43541097e-02 9.98521713e-01 -1.41504807e-04 1.69432893e+00] [ 1.11355132e-02 -4.64451482e-04 9.99937890e-01 1.06092237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85925415399997 meters Centerline goodness [0,1] 0.9989378540486504 Centerline is valid? [True, True] Translation: X:122.56, Y:1.69, Z:1.06 [[ 9.98326022e-01 -5.66568671e-02 -1.16255768e-02 1.22556900e+02] [ 5.66589902e-02 9.98393578e-01 -1.46921447e-04 1.69336910e+00] [ 1.16152253e-02 -5.12017938e-04 9.99932410e-01 1.06101774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88925415399997 meters Centerline goodness [0,1] 0.9986871717929482 Centerline is valid? [True, True] Translation: X:122.59, Y:1.69, Z:1.06 [[ 9.98195154e-01 -5.88548967e-02 -1.19388519e-02 1.22587806e+02] [ 5.88573020e-02 9.98266395e-01 -1.50087823e-04 1.68996391e+00] [ 1.19269881e-02 -5.52871675e-04 9.99928718e-01 1.06052235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91925415399997 meters Centerline goodness [0,1] 0.9986005514245133 Centerline is valid? [True, True] Translation: X:122.62, Y:1.69, Z:1.06 [[ 9.97963686e-01 -6.23748568e-02 -1.33363867e-02 1.22618800e+02] [ 6.23781778e-02 9.98052571e-01 -1.67206814e-04 1.68700655e+00] [ 1.33208446e-02 -6.65033174e-04 9.99911052e-01 1.05816288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94925415399997 meters Centerline goodness [0,1] 0.9987476779862662 Centerline is valid? [True, True] Translation: X:122.65, Y:1.69, Z:1.06 [[ 9.97857321e-01 -6.40346565e-02 -1.34286604e-02 1.22651313e+02] [ 6.40381797e-02 9.97947435e-01 -1.67907325e-04 1.68647901e+00] [ 1.34118491e-02 -6.92399417e-04 9.99909817e-01 1.06007457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97925415399997 meters Centerline goodness [0,1] 0.9987266199064796 Centerline is valid? [True, True] Translation: X:122.68, Y:1.69, Z:1.06 [[ 9.97818546e-01 -6.46500504e-02 -1.33611824e-02 1.22683560e+02] [ 6.46536059e-02 9.97907753e-01 -1.66118002e-04 1.68533921e+00] [ 1.33439671e-02 -6.98093001e-04 9.99910722e-01 1.06011967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00925415399998 meters Centerline goodness [0,1] 0.9986010773792124 Centerline is valid? [True, True] Translation: X:122.72, Y:1.69, Z:1.06 [[ 9.97783335e-01 -6.52070895e-02 -1.32835146e-02 1.22715605e+02] [ 6.52106654e-02 9.97871506e-01 -1.64218026e-04 1.68512516e+00] [ 1.32659489e-02 -7.02372815e-04 9.99911757e-01 1.06097048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03925415399998 meters Centerline goodness [0,1] 0.998769397630569 Centerline is valid? [True, True] Translation: X:122.75, Y:1.69, Z:1.06 [[ 9.97807443e-01 -6.47704943e-02 -1.36047983e-02 1.22747835e+02] [ 6.47742180e-02 9.97899931e-01 -1.67219641e-04 1.68544083e+00] [ 1.35870582e-02 -7.14387168e-04 9.99907436e-01 1.06142143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06925415399998 meters Centerline goodness [0,1] 0.9987875493864582 Centerline is valid? [True, True] Translation: X:122.78, Y:1.69, Z:1.06 [[ 9.97853547e-01 -6.40626364e-02 -1.35748849e-02 1.22779729e+02] [ 6.40662912e-02 9.97945631e-01 -1.65907341e-04 1.68610243e+00] [ 1.35576255e-02 -7.04141300e-04 9.99907843e-01 1.06164364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09925415399998 meters Centerline goodness [0,1] 0.9987917925216123 Centerline is valid? [True, True] Translation: X:122.81, Y:1.69, Z:1.06 [[ 9.97975794e-01 -6.19740855e-02 -1.42662976e-02 1.22810412e+02] [ 6.19779215e-02 9.98077506e-01 -1.73505261e-04 1.68744061e+00] [ 1.42496236e-02 -7.11041423e-04 9.99898216e-01 1.06147706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12925415399998 meters Centerline goodness [0,1] 0.9987880560837495 Centerline is valid? [True, True] Translation: X:122.84, Y:1.69, Z:1.06 [[ 9.98049017e-01 -6.07650537e-02 -1.43446137e-02 1.22842398e+02] [ 6.07688169e-02 9.98151853e-01 -1.73792186e-04 1.68926482e+00] [ 1.43286632e-02 -6.98252081e-04 9.99897096e-01 1.06184635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15925415399998 meters Centerline goodness [0,1] 0.9987488270253363 Centerline is valid? [True, True] Translation: X:122.87, Y:1.69, Z:1.06 [[ 9.98151371e-01 -5.90449401e-02 -1.44060831e-02 1.22874217e+02] [ 5.90485697e-02 9.98255096e-01 -1.73645238e-04 1.69118458e+00] [ 1.43911988e-02 -6.77334371e-04 9.99896212e-01 1.06183293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18925415399998 meters Centerline goodness [0,1] 0.9987054745897189 Centerline is valid? [True, True] Translation: X:122.91, Y:1.70, Z:1.06 [[ 9.98273546e-01 -5.69403970e-02 -1.44124158e-02 1.22905843e+02] [ 5.69438223e-02 9.98377369e-01 -1.72929608e-04 1.70156216e+00] [ 1.43988765e-02 -6.48066993e-04 9.99896121e-01 1.06339064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21925415399997 meters Centerline goodness [0,1] 0.9986813738828306 Centerline is valid? [True, True] Translation: X:122.94, Y:1.70, Z:1.06 [[ 9.98530545e-01 -5.22889344e-02 -1.42343935e-02 1.22935692e+02] [ 5.22918124e-02 9.98631833e-01 -1.70187825e-04 1.69857398e+00] [ 1.42238174e-02 -5.74404490e-04 9.99898671e-01 1.06306914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24925415399997 meters Centerline goodness [0,1] 0.9986010189593252 Centerline is valid? [True, True] Translation: X:122.97, Y:1.70, Z:1.06 [[ 9.98653513e-01 -4.98106551e-02 -1.44934033e-02 1.22965857e+02] [ 4.98133793e-02 9.98758528e-01 -1.73200038e-04 1.70122717e+00] [ 1.44840374e-02 -5.48998571e-04 9.99894950e-01 1.06316711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27925415399997 meters Centerline goodness [0,1] 0.9987244631244381 Centerline is valid? [True, True] Translation: X:123.00, Y:1.71, Z:1.06 [[ 9.98903552e-01 -4.43449368e-02 -1.50073202e-02 1.22996163e+02] [ 4.43472440e-02 9.99016161e-01 -1.79181525e-04 1.70724003e+00] [ 1.50005012e-02 -4.86548228e-04 9.99887368e-01 1.06319351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30925415399997 meters Centerline goodness [0,1] 0.9990810167296728 Centerline is valid? [True, True] Translation: X:123.03, Y:1.71, Z:1.06 [[ 9.99037516e-01 -4.12773600e-02 -1.48398829e-02 1.23027257e+02] [ 4.12792804e-02 9.99147632e-01 -1.77003544e-04 1.71044818e+00] [ 1.48345401e-02 -4.35746506e-04 9.99889867e-01 1.06359818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33925415399997 meters Centerline goodness [0,1] 0.9989341915529456 Centerline is valid? [True, True] Translation: X:123.06, Y:1.71, Z:1.06 [[ 9.99156147e-01 -3.83134513e-02 -1.48011590e-02 1.23058192e+02] [ 3.83150426e-02 9.99265694e-01 -1.76148630e-04 1.71383786e+00] [ 1.47970392e-02 -3.91107050e-04 9.99890441e-01 1.06396550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36925415399998 meters Centerline goodness [0,1] 0.9986432045421337 Centerline is valid? [True, True] Translation: X:123.09, Y:1.72, Z:1.07 [[ 9.99277436e-01 -3.53146562e-02 -1.40528103e-02 1.23089342e+02] [ 3.53157987e-02 9.99376189e-01 -1.66925530e-04 1.72326929e+00] [ 1.40499389e-02 -3.29481303e-04 9.99901240e-01 1.06573723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39925415399998 meters Centerline goodness [0,1] 0.9989335006273525 Centerline is valid? [True, True] Translation: X:123.12, Y:1.73, Z:1.07 [[ 9.99495299e-01 -2.88303653e-02 -1.33400495e-02 1.23119411e+02] [ 2.88308228e-02 9.99584293e-01 -1.58056429e-04 1.72819431e+00] [ 1.33390608e-02 -2.26627946e-04 9.99911005e-01 1.06702950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42925415399998 meters Centerline goodness [0,1] 0.9990997403902521 Centerline is valid? [True, True] Translation: X:123.15, Y:1.73, Z:1.07 [[ 9.99582720e-01 -2.57542873e-02 -1.30806449e-02 1.23149029e+02] [ 2.57544652e-02 9.99668287e-01 -1.54878583e-04 1.73129640e+00] [ 1.30802946e-02 -1.82071058e-04 9.99914433e-01 1.06771156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45925415399998 meters Centerline goodness [0,1] 0.9990552768038965 Centerline is valid? [True, True] Translation: X:123.18, Y:1.74, Z:1.07 [[ 9.99704095e-01 -2.07068855e-02 -1.27650735e-02 1.23179679e+02] [ 2.07066413e-02 9.99785583e-01 -1.51303176e-04 1.73744251e+00] [ 1.27654694e-02 -1.13063394e-04 9.99918512e-01 1.06899740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48925415399998 meters Centerline goodness [0,1] 0.9989716684155299 Centerline is valid? [True, True] Translation: X:123.21, Y:1.74, Z:1.07 [[ 9.99737118e-01 -1.89835195e-02 -1.28577514e-02 1.23209505e+02] [ 1.89831277e-02 9.99819793e-01 -1.52529959e-04 1.73884529e+00] [ 1.28583299e-02 -9.15904739e-05 9.99917324e-01 1.06883651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51925415399998 meters Centerline goodness [0,1] 0.9990572954854928 Centerline is valid? [True, True] Translation: X:123.24, Y:1.74, Z:1.07 [[ 9.99748734e-01 -1.81191215e-02 -1.31971759e-02 1.23239468e+02] [ 1.81186269e-02 9.99835832e-01 -1.57050902e-04 1.73973107e+00] [ 1.31978550e-02 -8.21032663e-05 9.99912901e-01 1.06890872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54925415399998 meters Centerline goodness [0,1] 0.9992444276539478 Centerline is valid? [True, True] Translation: X:123.27, Y:1.74, Z:1.07 [[ 9.99740702e-01 -1.84069355e-02 -1.34057368e-02 1.23268039e+02] [ 1.84064324e-02 9.99830574e-01 -1.60925136e-04 1.73987119e+00] [ 1.34064276e-02 -8.58683783e-05 9.99910126e-01 1.06926287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57925415399998 meters Centerline goodness [0,1] 0.9992875104777871 Centerline is valid? [True, True] Translation: X:123.30, Y:1.74, Z:1.07 [[ 9.99711085e-01 -1.99204538e-02 -1.34507402e-02 1.23297140e+02] [ 1.99200477e-02 9.99801563e-01 -1.64177208e-04 1.73856145e+00] [ 1.34513416e-02 -1.03809613e-04 9.99909521e-01 1.06949895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60925415399997 meters Centerline goodness [0,1] 0.9991407314261762 Centerline is valid? [True, True] Translation: X:123.33, Y:1.74, Z:1.07 [[ 9.99685829e-01 -2.13547985e-02 -1.31231185e-02 1.23326395e+02] [ 2.13545254e-02 9.99771953e-01 -1.60954826e-04 1.73760853e+00] [ 1.31235630e-02 -1.19333709e-04 9.99913875e-01 1.06977205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63925415399997 meters Centerline goodness [0,1] 0.999058005903163 Centerline is valid? [True, True] Translation: X:123.36, Y:1.74, Z:1.07 [[ 9.99642813e-01 -2.33403511e-02 -1.30182188e-02 1.23355863e+02] [ 2.33402446e-02 9.99727567e-01 -1.60131668e-04 1.73644113e+00] [ 1.30184097e-02 -1.43773939e-04 9.99915247e-01 1.07062842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66925415399997 meters Centerline goodness [0,1] 0.9989737575135611 Centerline is valid? [True, True] Translation: X:123.39, Y:1.73, Z:1.07 [[ 9.99591782e-01 -2.53609079e-02 -1.31564902e-02 1.23385988e+02] [ 2.53609697e-02 9.99678346e-01 -1.62171678e-04 1.73451859e+00] [ 1.31563712e-02 -1.71555873e-04 9.99913436e-01 1.07085117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69925415399997 meters Centerline goodness [0,1] 0.998976501305483 Centerline is valid? [True, True] Translation: X:123.42, Y:1.73, Z:1.07 [[ 9.99466331e-01 -2.98215617e-02 -1.33314797e-02 1.23415979e+02] [ 2.98220208e-02 9.99555211e-01 -1.64401242e-04 1.73100108e+00] [ 1.33304527e-02 -2.33258158e-04 9.99911118e-01 1.07084087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72925415399997 meters Centerline goodness [0,1] 0.998955962498173 Centerline is valid? [True, True] Translation: X:123.45, Y:1.73, Z:1.07 [[ 9.99386172e-01 -3.22325456e-02 -1.37237871e-02 1.23447506e+02] [ 3.22332592e-02 9.99480359e-01 -1.69253713e-04 1.72971939e+00] [ 1.37221111e-02 -2.73212565e-04 9.99905810e-01 1.07097986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75925415399998 meters Centerline goodness [0,1] 0.9993093633585869 Centerline is valid? [True, True] Translation: X:123.48, Y:1.73, Z:1.07 [[ 9.99314317e-01 -3.41338034e-02 -1.43450433e-02 1.23478492e+02] [ 3.41347867e-02 9.99417223e-01 -1.76366646e-04 1.72803235e+00] [ 1.43427034e-02 -3.13419279e-04 9.99897089e-01 1.07125206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78925415399998 meters Centerline goodness [0,1] 0.9988952349189144 Centerline is valid? [True, True] Translation: X:123.51, Y:1.72, Z:1.07 [[ 9.99198251e-01 -3.70959474e-02 -1.50581059e-02 1.23508937e+02] [ 3.70973741e-02 9.99311638e-01 -1.84663101e-04 1.72438667e+00] [ 1.50545907e-02 -3.74101141e-04 9.99886603e-01 1.07033024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81925415399998 meters Centerline goodness [0,1] 0.9989358150404808 Centerline is valid? [True, True] Translation: X:123.54, Y:1.72, Z:1.07 [[ 9.99156261e-01 -3.80717328e-02 -1.54048327e-02 1.23539062e+02] [ 3.80733497e-02 9.99274929e-01 -1.88404236e-04 1.72231123e+00] [ 1.54008360e-02 -3.98268312e-04 9.99881321e-01 1.07039858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84925415399998 meters Centerline goodness [0,1] 0.9988728396092511 Centerline is valid? [True, True] Translation: X:123.57, Y:1.72, Z:1.07 [[ 9.99128345e-01 -3.88577118e-02 -1.52521317e-02 1.23569998e+02] [ 3.88593994e-02 9.99244671e-01 -1.85809774e-04 1.72286439e+00] [ 1.52478315e-02 -4.07040865e-04 9.99883662e-01 1.07117254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87925415399998 meters Centerline goodness [0,1] 0.9989340356157512 Centerline is valid? [True, True] Translation: X:123.60, Y:1.72, Z:1.07 [[ 9.99112235e-01 -3.92562066e-02 -1.52869780e-02 1.23601046e+02] [ 3.92579571e-02 9.99229092e-01 -1.85673326e-04 1.72351096e+00] [ 1.52824820e-02 -4.14627035e-04 9.99883130e-01 1.07209930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90925415399998 meters Centerline goodness [0,1] 0.9987039862873388 Centerline is valid? [True, True] Translation: X:123.63, Y:1.72, Z:1.07 [[ 9.99065876e-01 -4.04387608e-02 -1.52342626e-02 1.23632101e+02] [ 4.04406452e-02 9.99181925e-01 -1.84469516e-04 1.72096570e+00] [ 1.52292595e-02 -4.31786210e-04 9.99883935e-01 1.07176659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93925415399998 meters Centerline goodness [0,1] 0.9988515347671748 Centerline is valid? [True, True] Translation: X:123.66, Y:1.72, Z:1.07 [[ 9.99050466e-01 -4.08793933e-02 -1.50678862e-02 1.23662293e+02] [ 4.08812936e-02 9.99163994e-01 -1.82008550e-04 1.71950440e+00] [ 1.50627298e-02 -4.34158955e-04 9.99886456e-01 1.07198646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96925415399997 meters Centerline goodness [0,1] 0.9988748359135707 Centerline is valid? [True, True] Translation: X:123.69, Y:1.72, Z:1.07 [[ 9.99012781e-01 -4.17185204e-02 -1.52652422e-02 1.23693232e+02] [ 4.17205762e-02 9.99129301e-01 -1.83896044e-04 1.71847547e+00] [ 1.52596226e-02 -4.53160200e-04 9.99883462e-01 1.07208473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99925415399997 meters Centerline goodness [0,1] 0.9986233652462299 Centerline is valid? [True, True] Translation: X:123.72, Y:1.72, Z:1.07 [[ 9.98881909e-01 -4.45967588e-02 -1.56863177e-02 1.23724098e+02] [ 4.45992942e-02 9.99004939e-01 -1.88327691e-04 1.71639551e+00] [ 1.56791077e-02 -5.11481574e-04 9.99876944e-01 1.07201041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02925415399997 meters Centerline goodness [0,1] 0.9987533244680851 Centerline is valid? [True, True] Translation: X:123.75, Y:1.71, Z:1.07 [[ 9.98802490e-01 -4.62735868e-02 -1.58852234e-02 1.23754786e+02] [ 4.62764066e-02 9.98928655e-01 -1.90222127e-04 1.71369575e+00] [ 1.58770071e-02 -5.45116722e-04 9.99873804e-01 1.07168717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05925415399997 meters Centerline goodness [0,1] 0.9989974309167241 Centerline is valid? [True, True] Translation: X:123.79, Y:1.72, Z:1.07 [[ 9.98702326e-01 -4.82521099e-02 -1.62910438e-02 1.23786388e+02] [ 4.82553503e-02 9.98835013e-01 -1.94351902e-04 1.71523770e+00] [ 1.62814428e-02 -5.92030330e-04 9.99867273e-01 1.07207544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08925415399997 meters Centerline goodness [0,1] 0.9988090760937696 Centerline is valid? [True, True] Translation: X:123.82, Y:1.71, Z:1.07 [[ 9.98596387e-01 -5.03730978e-02 -1.63648317e-02 1.23817967e+02] [ 5.03766620e-02 9.98730271e-01 -1.94623861e-04 1.71494222e+00] [ 1.63538566e-02 -6.30054909e-04 9.99866068e-01 1.07225685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11925415399998 meters Centerline goodness [0,1] 0.9989561368713334 Centerline is valid? [True, True] Translation: X:123.85, Y:1.71, Z:1.07 [[ 9.98372769e-01 -5.45820883e-02 -1.65108994e-02 1.23848661e+02] [ 5.45862989e-02 9.98509037e-01 -1.95874917e-04 1.71159781e+00] [ 1.64969735e-02 -7.05712707e-04 9.99863667e-01 1.07250675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14925415399998 meters Centerline goodness [0,1] 0.998768035747844 Centerline is valid? [True, True] Translation: X:123.88, Y:1.71, Z:1.07 [[ 9.98260449e-01 -5.66882655e-02 -1.62023554e-02 1.23880257e+02] [ 5.66926059e-02 9.98391662e-01 -1.91661762e-04 1.70995996e+00] [ 1.61871615e-02 -7.27225391e-04 9.99868715e-01 1.07282842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17925415399998 meters Centerline goodness [0,1] 0.9987071212595141 Centerline is valid? [True, True] Translation: X:123.91, Y:1.71, Z:1.07 [[ 9.98156686e-01 -5.85292542e-02 -1.60485903e-02 1.23912217e+02] [ 5.85337663e-02 9.98285411e-01 -1.88831156e-04 1.70878075e+00] [ 1.60321257e-02 -7.50901351e-04 9.99871195e-01 1.07342474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20925415399998 meters Centerline goodness [0,1] 0.9987877521162086 Centerline is valid? [True, True] Translation: X:123.94, Y:1.71, Z:1.07 [[ 9.97950715e-01 -6.19130809e-02 -1.61598654e-02 1.23943744e+02] [ 6.19181135e-02 9.98081215e-01 -1.89193771e-04 1.70806688e+00] [ 1.61405717e-02 -8.11782322e-04 9.99869403e-01 1.07451144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23925415399998 meters Centerline goodness [0,1] 0.9986403380328829 Centerline is valid? [True, True] Translation: X:123.98, Y:1.71, Z:1.07 [[ 9.97838624e-01 -6.35419566e-02 -1.67481432e-02 1.23976169e+02] [ 6.35476064e-02 9.97978789e-01 -1.95169262e-04 1.70920111e+00] [ 1.67266931e-02 -8.69556986e-04 9.99859721e-01 1.07433463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26925415399998 meters Centerline goodness [0,1] 0.9987045549519432 Centerline is valid? [True, True] Translation: X:124.01, Y:1.71, Z:1.07 [[ 9.97730618e-01 -6.52166878e-02 -1.67450827e-02 1.24007952e+02] [ 6.52225894e-02 9.97870721e-01 -1.94016898e-04 1.70842732e+00] [ 1.67220809e-02 -8.98581055e-04 9.99859772e-01 1.07488860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29925415399998 meters Centerline goodness [0,1] 0.9988551207327228 Centerline is valid? [True, True] Translation: X:124.04, Y:1.71, Z:1.08 [[ 9.97637996e-01 -6.64933557e-02 -1.72355002e-02 1.24040528e+02] [ 6.64998175e-02 9.97786417e-01 -1.98572650e-04 1.70828321e+00] [ 1.72105517e-02 -9.48053996e-04 9.99851438e-01 1.07504255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32925415399998 meters Centerline goodness [0,1] 0.9987885117493472 Centerline is valid? [True, True] Translation: X:124.07, Y:1.71, Z:1.07 [[ 9.97442488e-01 -6.91527010e-02 -1.80661745e-02 1.24071902e+02] [ 6.91602545e-02 9.97605541e-01 -2.07090198e-04 1.70724169e+00] [ 1.80372367e-02 -1.04290067e-03 9.99836772e-01 1.07450393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35925415399997 meters Centerline goodness [0,1] 0.998789371516834 Centerline is valid? [True, True] Translation: X:124.10, Y:1.71, Z:1.07 [[ 9.97349025e-01 -7.04278866e-02 -1.82985104e-02 1.24103809e+02] [ 7.04358681e-02 9.97516288e-01 -2.08738419e-04 1.70815510e+00] [ 1.82677632e-02 -1.08068641e-03 9.99832546e-01 1.07436430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38925415399997 meters Centerline goodness [0,1] 0.9984946686180222 Centerline is valid? [True, True] Translation: X:124.13, Y:1.70, Z:1.07 [[ 9.97254520e-01 -7.16239064e-02 -1.87999388e-02 1.24134448e+02] [ 7.16325633e-02 9.97431065e-01 -2.13391854e-04 1.70466101e+00] [ 1.87669269e-02 -1.13388181e-03 9.99823243e-01 1.07371596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41925415399997 meters Centerline goodness [0,1] 0.9988488666568994 Centerline is valid? [True, True] Translation: X:124.17, Y:1.71, Z:1.07 [[ 9.97181226e-01 -7.22414997e-02 -2.02674083e-02 1.24166506e+02] [ 7.22517119e-02 9.97386403e-01 -2.28881802e-04 1.70725211e+00] [ 2.02309722e-02 -1.23611831e-03 9.99794569e-01 1.07182220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44925415399997 meters Centerline goodness [0,1] 0.9985367587115115 Centerline is valid? [True, True] Translation: X:124.20, Y:1.71, Z:1.07 [[ 9.97014872e-01 -7.45123571e-02 -2.02300283e-02 1.24197799e+02] [ 7.45230191e-02 9.97219268e-01 -2.27377481e-04 1.71276069e+00] [ 2.01907165e-02 -1.28090406e-03 9.99795326e-01 1.07441008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47925415399997 meters Centerline goodness [0,1] 0.9988083540651851 Centerline is valid? [True, True] Translation: X:124.23, Y:1.72, Z:1.07 [[ 9.96962948e-01 -7.52071233e-02 -2.02180175e-02 1.24229965e+02] [ 7.52179383e-02 9.97167093e-01 -2.26082286e-04 1.71512526e+00] [ 2.01777447e-02 -1.29536193e-03 9.99795569e-01 1.07497794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50925415399998 meters Centerline goodness [0,1] 0.998534338358459 Centerline is valid? [True, True] Translation: X:124.26, Y:1.72, Z:1.08 [[ 9.96932300e-01 -7.56668350e-02 -2.00129628e-02 1.24262316e+02] [ 7.56775536e-02 9.97132317e-01 -2.22301275e-04 1.71573859e+00] [ 1.99723929e-02 -1.29291275e-03 9.99799696e-01 1.07510966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53925415399998 meters Centerline goodness [0,1] 0.9985584757447875 Centerline is valid? [True, True] Translation: X:124.29, Y:1.72, Z:1.08 [[ 9.96956134e-01 -7.56775585e-02 -1.87449588e-02 1.24293763e+02] [ 7.56869854e-02 9.97131605e-01 -2.07041627e-04 1.71683490e+00] [ 1.87068592e-02 -1.21233800e-03 9.99824276e-01 1.07610365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56925415399998 meters Centerline goodness [0,1] 0.9988082294890023 Centerline is valid? [True, True] Translation: X:124.33, Y:1.72, Z:1.08 [[ 9.97012763e-01 -7.51674194e-02 -1.77597826e-02 1.24325634e+02] [ 7.51758202e-02 9.97170275e-01 -1.95051840e-04 1.71995727e+00] [ 1.77241889e-02 -1.14063705e-03 9.99842264e-01 1.07715783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59925415399998 meters Centerline goodness [0,1] 0.9985563645493347 Centerline is valid? [True, True] Translation: X:124.36, Y:1.72, Z:1.08 [[ 9.97092974e-01 -7.42059490e-02 -1.72939049e-02 1.24356993e+02] [ 7.42137897e-02 9.97242337e-01 -1.88834311e-04 1.72124516e+00] [ 1.72602268e-02 -1.09516086e-03 9.99850431e-01 1.07809626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62925415399998 meters Centerline goodness [0,1] 0.9984516237027118 Centerline is valid? [True, True] Translation: X:124.39, Y:1.73, Z:1.08 [[ 9.97335114e-01 -7.12103322e-02 -1.58669344e-02 1.24387968e+02] [ 7.12165636e-02 9.97460862e-01 -1.72667920e-04 1.72773991e+00] [ 1.58389418e-02 -9.57780765e-04 9.99874097e-01 1.07909609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65925415399998 meters Centerline goodness [0,1] 0.998488569809182 Centerline is valid? [True, True] Translation: X:124.42, Y:1.74, Z:1.08 [[ 9.97482637e-01 -6.91945929e-02 -1.55079756e-02 1.24419612e+02] [ 6.92003107e-02 9.97602771e-01 -1.68255563e-04 1.73519962e+00] [ 1.54824418e-02 -9.05324726e-04 9.99879730e-01 1.08012855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68925415399998 meters Centerline goodness [0,1] 0.9984257257404336 Centerline is valid? [True, True] Translation: X:124.45, Y:1.74, Z:1.08 [[ 9.97641580e-01 -6.69630165e-02 -1.50742191e-02 1.24450716e+02] [ 6.69681757e-02 9.97755099e-01 -1.62828927e-04 1.73902194e+00] [ 1.50512825e-02 -8.47048046e-04 9.99886364e-01 1.08051973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71925415399997 meters Centerline goodness [0,1] 0.9984257257404336 Centerline is valid? [True, True] Translation: X:124.48, Y:1.74, Z:1.08 [[ 9.97646549e-01 -6.68889396e-02 -1.50742274e-02 1.24482454e+02] [ 6.68941020e-02 9.97760068e-01 -1.62055826e-04 1.73930397e+00] [ 1.50513019e-02 -8.46702472e-04 9.99886364e-01 1.08081699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74925415399997 meters Centerline goodness [0,1] 0.9988126978836861 Centerline is valid? [True, True] Translation: X:124.51, Y:1.74, Z:1.08 [[ 9.97798971e-01 -6.45558238e-02 -1.51577914e-02 1.24512720e+02] [ 6.45607874e-02 9.97913763e-01 -1.62146905e-04 1.73961634e+00] [ 1.51366362e-02 -8.16808932e-04 9.99885101e-01 1.08048750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77925415399997 meters Centerline goodness [0,1] 0.9986112572330352 Centerline is valid? [True, True] Translation: X:124.54, Y:1.75, Z:1.08 [[ 9.97927510e-01 -6.24495595e-02 -1.55157114e-02 1.24544626e+02] [ 6.24545162e-02 9.98047797e-01 -1.65344156e-04 1.74508918e+00] [ 1.54957472e-02 -8.04024764e-04 9.99879610e-01 1.08077426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80925415399997 meters Centerline goodness [0,1] 0.9985698662404308 Centerline is valid? [True, True] Translation: X:124.58, Y:1.75, Z:1.08 [[ 9.98066796e-01 -6.01228065e-02 -1.57454253e-02 1.24576285e+02] [ 6.01276389e-02 9.98190683e-01 -1.66739222e-04 1.74946023e+00] [ 1.57269617e-02 -7.80318366e-04 9.99876019e-01 1.08068948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83925415399997 meters Centerline goodness [0,1] 0.9986309448586714 Centerline is valid? [True, True] Translation: X:124.61, Y:1.75, Z:1.08 [[ 9.98315999e-01 -5.56361146e-02 -1.64252608e-02 1.24606296e+02] [ 5.56407762e-02 9.98450837e-01 -1.73398251e-04 1.75367517e+00] [ 1.64094626e-02 -7.40808012e-04 9.99865081e-01 1.08045984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86925415399998 meters Centerline goodness [0,1] 0.9987551692125918 Centerline is valid? [True, True] Translation: X:124.64, Y:1.76, Z:1.08 [[ 9.98428870e-01 -5.35220093e-02 -1.65887327e-02 1.24638165e+02] [ 5.35264817e-02 9.98566415e-01 -1.74594096e-04 1.76171650e+00] [ 1.65742960e-02 -7.13616714e-04 9.99862382e-01 1.08112641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89925415399998 meters Centerline goodness [0,1] 0.9985855131209492 Centerline is valid? [True, True] Translation: X:124.67, Y:1.77, Z:1.08 [[ 9.98511630e-01 -5.17149917e-02 -1.73229609e-02 1.24670097e+02] [ 5.17196202e-02 9.98661628e-01 -1.81006237e-04 1.76506347e+00] [ 1.73091371e-02 -7.15200126e-04 9.99849930e-01 1.08101553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92925415399998 meters Centerline goodness [0,1] 0.998880013524365 Centerline is valid? [True, True] Translation: X:124.70, Y:1.77, Z:1.08 [[ 9.98595845e-01 -4.97448415e-02 -1.82150598e-02 1.24700933e+02] [ 4.97496683e-02 9.98761701e-01 -1.88325692e-04 1.76719069e+00] [ 1.82018724e-02 -7.18131933e-04 9.99834074e-01 1.08071730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95925415399998 meters Centerline goodness [0,1] 0.9988799898565119 Centerline is valid? [True, True] Translation: X:124.73, Y:1.77, Z:1.08 [[ 9.98754258e-01 -4.61295880e-02 -1.90261180e-02 1.24731958e+02] [ 4.61342327e-02 9.98935230e-01 -1.94959411e-04 1.77275145e+00] [ 1.90148530e-02 -6.83038813e-04 9.99818968e-01 1.07982655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98925415399998 meters Centerline goodness [0,1] 0.9986473920027052 Centerline is valid? [True, True] Translation: X:124.76, Y:1.78, Z:1.08 [[ 9.98821985e-01 -4.45475721e-02 -1.92394411e-02 1.24763544e+02] [ 4.45520420e-02 9.99007046e-01 -1.96437298e-04 1.77545953e+00] [ 1.92290880e-02 -6.60950497e-04 9.99814886e-01 1.07982913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01925415399998 meters Centerline goodness [0,1] 0.9987097320049918 Centerline is valid? [True, True] Translation: X:124.79, Y:1.78, Z:1.08 [[ 9.98900169e-01 -4.28712633e-02 -1.89870110e-02 1.24794641e+02] [ 4.28753273e-02 9.99080412e-01 -1.93170377e-04 1.77942561e+00] [ 1.89778322e-02 -6.21116388e-04 9.99819712e-01 1.08067079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04925415399998 meters Centerline goodness [0,1] 0.9988541114058356 Centerline is valid? [True, True] Translation: X:124.82, Y:1.78, Z:1.08 [[ 9.99042107e-01 -3.99325179e-02 -1.78958968e-02 1.24824802e+02] [ 3.99356765e-02 9.99202236e-01 -1.80979042e-04 1.78413424e+00] [ 1.78888471e-02 -5.33879063e-04 9.99839839e-01 1.08190637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07925415399998 meters Centerline goodness [0,1] 0.9989593730753711 Centerline is valid? [True, True] Translation: X:124.86, Y:1.79, Z:1.08 [[ 9.99092911e-01 -3.88320562e-02 -1.74764685e-02 1.24856694e+02] [ 3.88349252e-02 9.99245624e-01 -1.75308413e-04 1.78875623e+00] [ 1.74700923e-02 -5.03547955e-04 9.99847259e-01 1.08326979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10925415399997 meters Centerline goodness [0,1] 0.9989591520275294 Centerline is valid? [True, True] Translation: X:124.89, Y:1.79, Z:1.08 [[ 9.99120855e-01 -3.82088234e-02 -1.72511738e-02 1.24888030e+02] [ 3.82115456e-02 9.99269657e-01 -1.71915841e-04 1.78948693e+00] [ 1.72451432e-02 -4.87429311e-04 9.99851173e-01 1.08368117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13925415399997 meters Centerline goodness [0,1] 0.9986619942656897 Centerline is valid? [True, True] Translation: X:124.92, Y:1.79, Z:1.08 [[ 9.99137151e-01 -3.79847891e-02 -1.67961036e-02 1.24920373e+02] [ 3.79873558e-02 9.99278206e-01 -1.66321138e-04 1.79217271e+00] [ 1.67902980e-02 -4.71861937e-04 9.99858922e-01 1.08448554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16925415399997 meters Centerline goodness [0,1] 0.9989161158693388 Centerline is valid? [True, True] Translation: X:124.95, Y:1.79, Z:1.09 [[ 9.99097537e-01 -3.92097538e-02 -1.63311454e-02 1.24952313e+02] [ 3.92123632e-02 9.99230887e-01 -1.60526988e-04 1.79384125e+00] [ 1.63248791e-02 -4.80000687e-04 9.99866625e-01 1.08535696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19925415399997 meters Centerline goodness [0,1] 0.9987882653061224 Centerline is valid? [True, True] Translation: X:124.98, Y:1.79, Z:1.08 [[ 9.99045300e-01 -4.05058241e-02 -1.63635761e-02 1.24983315e+02] [ 4.05086352e-02 9.99179176e-01 -1.59767455e-04 1.79126742e+00] [ 1.63566160e-02 -5.03251209e-04 9.99866095e-01 1.08473207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22925415399997 meters Centerline goodness [0,1] 0.9989592846675021 Centerline is valid? [True, True] Translation: X:125.02, Y:1.79, Z:1.09 [[ 9.98961483e-01 -4.23379727e-02 -1.68360248e-02 1.25015875e+02] [ 4.23412263e-02 9.99103195e-01 -1.63313759e-04 1.79236663e+00] [ 1.68278405e-02 -5.49713781e-04 9.99858251e-01 1.08518472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25925415399998 meters Centerline goodness [0,1] 0.9987249776871095 Centerline is valid? [True, True] Translation: X:125.05, Y:1.79, Z:1.09 [[ 9.98859736e-01 -4.45477522e-02 -1.71675612e-02 1.25047858e+02] [ 4.45514826e-02 9.99007076e-01 -1.65278046e-04 1.79253937e+00] [ 1.71578778e-02 -5.99750717e-04 9.99852613e-01 1.08542085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28925415399998 meters Centerline goodness [0,1] 0.9989356493603253 Centerline is valid? [True, True] Translation: X:125.08, Y:1.79, Z:1.09 [[ 9.98646761e-01 -4.90317725e-02 -1.73358749e-02 1.25079341e+02] [ 4.90362680e-02 9.98796985e-01 -1.65917487e-04 1.79262896e+00] [ 1.73231548e-02 -6.84393649e-04 9.99849709e-01 1.08568318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31925415399998 meters Centerline goodness [0,1] 0.9987661937075879 Centerline is valid? [True, True] Translation: X:125.11, Y:1.79, Z:1.09 [[ 9.98538931e-01 -5.10265848e-02 -1.77845635e-02 1.25110127e+02] [ 5.10316438e-02 9.98697022e-01 -1.69544071e-04 1.79134922e+00] [ 1.77700418e-02 -7.38279152e-04 9.99841828e-01 1.08552763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34925415399998 meters Centerline goodness [0,1] 0.9989365322443423 Centerline is valid? [True, True] Translation: X:125.14, Y:1.79, Z:1.09 [[ 9.98465495e-01 -5.24560501e-02 -1.77487365e-02 1.25141860e+02] [ 5.24613285e-02 9.98622942e-01 -1.68387811e-04 1.79194490e+00] [ 1.77331284e-02 -7.62992878e-04 9.99842465e-01 1.08606163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37925415399998 meters Centerline goodness [0,1] 0.9987666135034556 Centerline is valid? [True, True] Translation: X:125.17, Y:1.79, Z:1.09 [[ 9.98439155e-01 -5.29810061e-02 -1.76710644e-02 1.25172639e+02] [ 5.29863379e-02 9.98595223e-01 -1.66669100e-04 1.79080216e+00] [ 1.76550708e-02 -7.69916033e-04 9.99843841e-01 1.08562133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40925415399998 meters Centerline goodness [0,1] 0.9988950041437344 Centerline is valid? [True, True] Translation: X:125.20, Y:1.79, Z:1.09 [[ 9.98446533e-01 -5.26780358e-02 -1.81533807e-02 1.25203847e+02] [ 5.26836416e-02 9.98611238e-01 -1.69626292e-04 1.79229401e+00] [ 1.81371055e-02 -7.87023416e-04 9.99835199e-01 1.08555118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43925415399998 meters Centerline goodness [0,1] 0.9989350599561244 Centerline is valid? [True, True] Translation: X:125.24, Y:1.79, Z:1.09 [[ 9.98490300e-01 -5.16841939e-02 -1.85974262e-02 1.25235410e+02] [ 5.16899360e-02 9.98663167e-01 -1.72123649e-04 1.79347260e+00] [ 1.85814606e-02 -7.89435978e-04 9.99827038e-01 1.08560094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46925415399997 meters Centerline goodness [0,1] 0.998976393065063 Centerline is valid? [True, True] Translation: X:125.27, Y:1.80, Z:1.09 [[ 9.98572183e-01 -5.02021389e-02 -1.82576308e-02 1.25267428e+02] [ 5.02074463e-02 9.98738797e-01 -1.67847122e-04 1.79637975e+00] [ 1.82430305e-02 -7.49061551e-04 9.99833301e-01 1.08640136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49925415399997 meters Centerline goodness [0,1] 0.9987866402707708 Centerline is valid? [True, True] Translation: X:125.30, Y:1.80, Z:1.09 [[ 9.98662077e-01 -4.84785899e-02 -1.79967371e-02 1.25300156e+02] [ 4.84834930e-02 9.98823970e-01 -1.64018360e-04 1.79882310e+00] [ 1.79835238e-02 -7.08745760e-04 9.99838032e-01 1.08698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52925415399997 meters Centerline goodness [0,1] 0.9989546220638748 Centerline is valid? [True, True] Translation: X:125.33, Y:1.80, Z:1.09 [[ 9.98748623e-01 -4.67027555e-02 -1.78896660e-02 1.25332270e+02] [ 4.67073421e-02 9.98908603e-01 -1.61584210e-04 1.80405067e+00] [ 1.78776877e-02 -6.74196743e-04 9.99839954e-01 1.08836250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55925415399997 meters Centerline goodness [0,1] 0.999230966418867 Centerline is valid? [True, True] Translation: X:125.36, Y:1.81, Z:1.09 [[ 9.98911041e-01 -4.30791185e-02 -1.79143091e-02 1.25363488e+02] [ 4.30831538e-02 9.99071477e-01 -1.60794896e-04 1.80939067e+00] [ 1.79046021e-02 -6.11185137e-04 9.99839513e-01 1.08889286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58925415399997 meters Centerline goodness [0,1] 0.9991022188021034 Centerline is valid? [True, True] Translation: X:125.39, Y:1.81, Z:1.09 [[ 9.98986063e-01 -4.11937848e-02 -1.81636287e-02 1.25394337e+02] [ 4.11976372e-02 9.99151004e-01 -1.62191069e-04 1.81067010e+00] [ 1.81548891e-02 -5.86271970e-04 9.99835015e-01 1.08852598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61925415399998 meters Centerline goodness [0,1] 0.9991450616624276 Centerline is valid? [True, True] Translation: X:125.43, Y:1.81, Z:1.09 [[ 9.99050696e-01 -3.96011236e-02 -1.81509470e-02 1.25426246e+02] [ 3.96047291e-02 9.99215412e-01 -1.60917651e-04 1.81265321e+00] [ 1.81430785e-02 -5.58098447e-04 9.99835245e-01 1.08829285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64925415399998 meters Centerline goodness [0,1] 0.9991656504717283 Centerline is valid? [True, True] Translation: X:125.46, Y:1.81, Z:1.09 [[ 9.99092937e-01 -3.83011803e-02 -1.86097673e-02 1.25457992e+02] [ 3.83047645e-02 9.99266090e-01 -1.63949149e-04 1.81433862e+00] [ 1.86023889e-02 -5.49042318e-04 9.99826810e-01 1.08828074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67925415399998 meters Centerline goodness [0,1] 0.999228593468758 Centerline is valid? [True, True] Translation: X:125.49, Y:1.82, Z:1.09 [[ 9.99155790e-01 -3.60675246e-02 -1.96682883e-02 1.25489304e+02] [ 3.60711102e-02 9.99349211e-01 -1.72544047e-04 1.81831996e+00] [ 1.96617117e-02 -5.37058613e-04 9.99806546e-01 1.08761885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70925415399998 meters Centerline goodness [0,1] 0.999205189895171 Centerline is valid? [True, True] Translation: X:125.52, Y:1.82, Z:1.09 [[ 9.99176186e-01 -3.53686211e-02 -1.99000038e-02 1.25519999e+02] [ 3.53721731e-02 9.99374194e-01 -1.73576951e-04 1.81947942e+00] [ 1.98936895e-02 -5.30472423e-04 9.99801960e-01 1.08718857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73925415399998 meters Centerline goodness [0,1] 0.9991850914627608 Centerline is valid? [True, True] Translation: X:125.55, Y:1.82, Z:1.09 [[ 9.99189365e-01 -3.45583890e-02 -2.06477533e-02 1.25551053e+02] [ 3.45620611e-02 9.99402537e-01 -1.79087524e-04 1.82166487e+00] [ 2.06416060e-02 -5.34686562e-04 9.99786796e-01 1.08747933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76925415399998 meters Centerline goodness [0,1] 0.999268581262773 Centerline is valid? [True, True] Translation: X:125.58, Y:1.82, Z:1.09 [[ 9.99217356e-01 -3.37292254e-02 -2.06643224e-02 1.25581705e+02] [ 3.37327373e-02 9.99430873e-01 -1.78693407e-04 1.82349285e+00] [ 2.06585890e-02 -5.18510606e-04 9.99786454e-01 1.08745856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79925415399998 meters Centerline goodness [0,1] 0.9992466475817388 Centerline is valid? [True, True] Translation: X:125.61, Y:1.83, Z:1.09 [[ 9.99220537e-01 -3.36538531e-02 -2.06333836e-02 1.25612836e+02] [ 3.36573505e-02 9.99433415e-01 -1.77845469e-04 1.82640266e+00] [ 2.06276783e-02 -5.16758179e-04 9.99787093e-01 1.08871397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82925415399998 meters Centerline goodness [0,1] 0.999204386625094 Centerline is valid? [True, True] Translation: X:125.64, Y:1.83, Z:1.09 [[ 9.99217088e-01 -3.38817808e-02 -2.04263774e-02 1.25644359e+02] [ 3.38852711e-02 9.99425714e-01 -1.75315081e-04 1.82731129e+00] [ 2.04205868e-02 -5.16975511e-04 9.99791344e-01 1.08948411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85925415399997 meters Centerline goodness [0,1] 0.9993547138155772 Centerline is valid? [True, True] Translation: X:125.68, Y:1.83, Z:1.09 [[ 9.99231647e-01 -3.40554112e-02 -1.93996210e-02 1.25675888e+02] [ 3.40586055e-02 9.99419824e-01 -1.65808773e-04 1.82864553e+00] [ 1.93940125e-02 -4.95042666e-04 9.99811796e-01 1.09003164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88925415399997 meters Centerline goodness [0,1] 0.9993120202954013 Centerline is valid? [True, True] Translation: X:125.71, Y:1.83, Z:1.09 [[ 9.99217041e-01 -3.45368979e-02 -1.93004723e-02 1.25706695e+02] [ 3.45401594e-02 9.99403297e-01 -1.64438820e-04 1.82876460e+00] [ 1.92946348e-02 -5.02331318e-04 9.99813715e-01 1.09026678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91925415399997 meters Centerline goodness [0,1] 0.999355143802932 Centerline is valid? [True, True] Translation: X:125.74, Y:1.83, Z:1.09 [[ 9.99195524e-01 -3.52948790e-02 -1.90414473e-02 1.25737705e+02] [ 3.52982010e-02 9.99376811e-01 -1.61707366e-04 1.83019330e+00] [ 1.90352883e-02 -5.10551559e-04 9.99818682e-01 1.09103725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94925415399997 meters Centerline goodness [0,1] 0.9993757534010677 Centerline is valid? [True, True] Translation: X:125.77, Y:1.83, Z:1.09 [[ 9.99163308e-01 -3.64156275e-02 -1.86168108e-02 1.25768644e+02] [ 3.64190131e-02 9.99336595e-01 -1.57254672e-04 1.82903388e+00] [ 1.86101869e-02 -5.20882778e-04 9.99826680e-01 1.09085494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97925415399997 meters Centerline goodness [0,1] 0.9992035474427415 Centerline is valid? [True, True] Translation: X:125.80, Y:1.83, Z:1.09 [[ 9.99105215e-01 -3.81251420e-02 -1.83096600e-02 1.25800412e+02] [ 3.81287218e-02 9.99272824e-01 -1.53664853e-04 1.82906132e+00] [ 1.83022042e-02 -5.44596578e-04 9.99832352e-01 1.09118389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00925415399998 meters Centerline goodness [0,1] 0.9993767327903028 Centerline is valid? [True, True] Translation: X:125.83, Y:1.83, Z:1.09 [[ 9.98899520e-01 -4.31688520e-02 -1.83357473e-02 1.25830393e+02] [ 4.31733122e-02 9.99067586e-01 -1.52703669e-04 1.82551811e+00] [ 1.83252428e-02 -6.39079320e-04 9.99831874e-01 1.09083611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03925415399998 meters Centerline goodness [0,1] 0.9992900630337973 Centerline is valid? [True, True] Translation: X:125.86, Y:1.82, Z:1.09 [[ 9.98748824e-01 -4.65847627e-02 -1.81836894e-02 1.25861396e+02] [ 4.65897299e-02 9.98914098e-01 -1.50587186e-04 1.82408953e+00] [ 1.81709587e-02 -6.96774401e-04 9.99834652e-01 1.09055691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06925415399998 meters Centerline goodness [0,1] 0.9993550190269387 Centerline is valid? [True, True] Translation: X:125.89, Y:1.82, Z:1.09 [[ 9.98573241e-01 -5.02053958e-02 -1.81906902e-02 1.25892746e+02] [ 5.02109752e-02 9.98738622e-01 -1.50162472e-04 1.82173973e+00] [ 1.81752839e-02 -7.63424070e-04 9.99834524e-01 1.09053417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09925415399998 meters Centerline goodness [0,1] 0.9994404992468259 Centerline is valid? [True, True] Translation: X:125.92, Y:1.82, Z:1.09 [[ 9.98375788e-01 -5.39576888e-02 -1.82853333e-02 1.25922479e+02] [ 5.39639605e-02 9.98542873e-01 -1.50607894e-04 1.81905696e+00] [ 1.82668157e-02 -8.36385728e-04 9.99832798e-01 1.09073638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12925415399998 meters Centerline goodness [0,1] 0.9991616328811883 Centerline is valid? [True, True] Translation: X:125.95, Y:1.81, Z:1.09 [[ 9.97988652e-01 -6.08000992e-02 -1.79443402e-02 1.25952789e+02] [ 6.08072425e-02 9.98149517e-01 -1.47775588e-04 1.81482110e+00] [ 1.79201192e-02 -9.43667483e-04 9.99838976e-01 1.09076612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15925415399998 meters Centerline goodness [0,1] 0.9994407158836689 Centerline is valid? [True, True] Translation: X:125.98, Y:1.81, Z:1.09 [[ 9.97828758e-01 -6.34234795e-02 -1.77547946e-02 1.25982614e+02] [ 6.34308870e-02 9.97986223e-01 -1.46189026e-04 1.81209550e+00] [ 1.77283123e-02 -9.80330759e-04 9.99842361e-01 1.09122161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18925415399998 meters Centerline goodness [0,1] 0.9992694299404801 Centerline is valid? [True, True] Translation: X:126.01, Y:1.81, Z:1.09 [[ 9.97701553e-01 -6.54263076e-02 -1.76354349e-02 1.26014622e+02] [ 6.54339381e-02 9.97856893e-01 -1.44614243e-04 1.81423170e+00] [ 1.76071019e-02 -1.00967410e-03 9.99844473e-01 1.09205395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21925415399997 meters Centerline goodness [0,1] 0.9990757855822551 Centerline is valid? [True, True] Translation: X:126.05, Y:1.81, Z:1.09 [[ 9.97598022e-01 -6.70926327e-02 -1.72268776e-02 1.26045901e+02] [ 6.71001798e-02 9.97746233e-01 -1.40186873e-04 1.81100643e+00] [ 1.71974577e-02 -1.01607643e-03 9.99851597e-01 1.09228219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24925415399997 meters Centerline goodness [0,1] 0.999270260989011 Centerline is valid? [True, True] Translation: X:126.08, Y:1.81, Z:1.09 [[ 9.97497846e-01 -6.87524734e-02 -1.64664884e-02 1.26077082e+02] [ 6.87596081e-02 9.97633249e-01 -1.33146432e-04 1.80821644e+00] [ 1.64366704e-02 -9.99416007e-04 9.99864409e-01 1.09249700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27925415399997 meters Centerline goodness [0,1] 0.9992913740900599 Centerline is valid? [True, True] Translation: X:126.11, Y:1.81, Z:1.09 [[ 9.97503611e-01 -6.87164419e-02 -1.62664492e-02 1.26109870e+02] [ 6.87234189e-02 9.97635742e-01 -1.30329374e-04 1.80795321e+00] [ 1.62369469e-02 -9.87881983e-04 9.99867684e-01 1.09264527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30925415399997 meters Centerline goodness [0,1] 0.9993768265428915 Centerline is valid? [True, True] Translation: X:126.14, Y:1.81, Z:1.09 [[ 9.97547864e-01 -6.80685122e-02 -1.62768757e-02 1.26140813e+02] [ 6.80754338e-02 9.97680169e-01 -1.29087235e-04 1.80834896e+00] [ 1.62479029e-02 -9.79284682e-04 9.99867515e-01 1.09278912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33925415399997 meters Centerline goodness [0,1] 0.9995280691593196 Centerline is valid? [True, True] Translation: X:126.17, Y:1.81, Z:1.09 [[ 9.97613591e-01 -6.70871932e-02 -1.63227335e-02 1.26172825e+02] [ 6.70940386e-02 9.97746648e-01 -1.28494793e-04 1.81016185e+00] [ 1.62945730e-02 -9.66969961e-04 9.99866767e-01 1.09277233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36925415399998 meters Centerline goodness [0,1] 0.9992703392922291 Centerline is valid? [True, True] Translation: X:126.20, Y:1.81, Z:1.09 [[ 9.97811400e-01 -6.39846014e-02 -1.66847715e-02 1.26202913e+02] [ 6.39913324e-02 9.97950446e-01 -1.30692196e-04 1.81260399e+00] [ 1.66589375e-02 -9.37274598e-04 9.99860791e-01 1.09238605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39925415399998 meters Centerline goodness [0,1] 0.9993980307004343 Centerline is valid? [True, True] Translation: X:126.23, Y:1.82, Z:1.09 [[ 9.97928018e-01 -6.20027847e-02 -1.71850589e-02 1.26234025e+02] [ 6.20096373e-02 9.98075542e-01 -1.34327318e-04 1.82254038e+00] [ 1.71603156e-02 -9.31590274e-04 9.99852317e-01 1.09390756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42925415399998 meters Centerline goodness [0,1] 0.9993321124636432 Centerline is valid? [True, True] Translation: X:126.26, Y:1.82, Z:1.09 [[ 9.98195281e-01 -5.75090654e-02 -1.72883971e-02 1.26263701e+02] [ 5.75153344e-02 9.98344614e-01 -1.34793292e-04 1.81997440e+00] [ 1.72675300e-02 -8.59797912e-04 9.99850535e-01 1.09306324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45925415399998 meters Centerline goodness [0,1] 0.9993310603771957 Centerline is valid? [True, True] Translation: X:126.29, Y:1.83, Z:1.09 [[ 9.98353329e-01 -5.47717529e-02 -1.70494988e-02 1.26294679e+02] [ 5.47774562e-02 9.98498579e-01 -1.32652473e-04 1.83097413e+00] [ 1.70311659e-02 -8.01494134e-04 9.99854638e-01 1.09478782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48925415399998 meters Centerline goodness [0,1] 0.9995898454364908 Centerline is valid? [True, True] Translation: X:126.33, Y:1.84, Z:1.10 [[ 9.98538138e-01 -5.13262595e-02 -1.69470421e-02 1.26326437e+02] [ 5.13314120e-02 9.98681665e-01 -1.31101660e-04 1.83515946e+00] [ 1.69314292e-02 -7.39005592e-04 9.99856380e-01 1.09576839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51925415399998 meters Centerline goodness [0,1] 0.9992866098836958 Centerline is valid? [True, True] Translation: X:126.36, Y:1.84, Z:1.10 [[ 9.98712658e-01 -4.80073379e-02 -1.63805256e-02 1.26357714e+02] [ 4.80117183e-02 9.98846765e-01 -1.25964564e-04 1.83843914e+00] [ 1.63676822e-02 -6.60654775e-04 9.99865822e-01 1.09643403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54925415399998 meters Centerline goodness [0,1] 0.9994383114778889 Centerline is valid? [True, True] Translation: X:126.39, Y:1.84, Z:1.10 [[ 9.98880768e-01 -4.43608469e-02 -1.64111916e-02 1.26389092e+02] [ 4.43647621e-02 9.99015391e-01 -1.25596753e-04 1.84240474e+00] [ 1.64006046e-02 -6.02622430e-04 9.99865319e-01 1.09703476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57925415399998 meters Centerline goodness [0,1] 0.9993290478973227 Centerline is valid? [True, True] Translation: X:126.42, Y:1.85, Z:1.10 [[ 9.99245666e-01 -3.55048674e-02 -1.57322613e-02 1.26419781e+02] [ 3.55073740e-02 9.99369407e-01 -1.20058174e-04 1.84968790e+00] [ 1.57266033e-02 -4.38643674e-04 9.99876233e-01 1.09751873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60925415399997 meters Centerline goodness [0,1] 0.9993290478973227 Centerline is valid? [True, True] Translation: X:126.45, Y:1.85, Z:1.10 [[ 9.99248235e-01 -3.54324898e-02 -1.57322649e-02 1.26451488e+02] [ 3.54349949e-02 9.99371976e-01 -1.19579433e-04 1.84986919e+00] [ 1.57266217e-02 -4.37983189e-04 9.99876233e-01 1.09781578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63925415399997 meters Centerline goodness [0,1] 0.9995012793269439 Centerline is valid? [True, True] Translation: X:126.48, Y:1.85, Z:1.10 [[ 9.99413280e-01 -3.06275050e-02 -1.53313752e-02 1.26483444e+02] [ 3.06293341e-02 9.99530805e-01 -1.15547043e-04 1.85377090e+00] [ 1.53277208e-02 -3.54110565e-04 9.99882461e-01 1.09828127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66925415399997 meters Centerline goodness [0,1] 0.9994998477797591 Centerline is valid? [True, True] Translation: X:126.51, Y:1.86, Z:1.10 [[ 9.99545722e-01 -2.59668354e-02 -1.52994786e-02 1.26514996e+02] [ 2.59681223e-02 9.99662765e-01 -1.14578852e-04 1.85841335e+00] [ 1.52972943e-02 -2.82771930e-04 9.99882950e-01 1.09924050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69925415399997 meters Centerline goodness [0,1] 0.9995000652088858 Centerline is valid? [True, True] Translation: X:126.55, Y:1.86, Z:1.10 [[ 9.99668589e-01 -2.10448542e-02 -1.48265239e-02 1.26546593e+02] [ 2.10455295e-02 9.99778512e-01 -1.10497797e-04 1.86207024e+00] [ 1.48255655e-02 -2.01570870e-04 9.99890075e-01 1.09946185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72925415399997 meters Centerline goodness [0,1] 0.9994981343690676 Centerline is valid? [True, True] Translation: X:126.58, Y:1.87, Z:1.10 [[ 9.99811600e-01 -1.25359135e-02 -1.48194594e-02 1.26577576e+02] [ 1.25356601e-02 9.99921419e-01 -1.09996320e-04 1.86832793e+00] [ 1.48196738e-02 -7.57961092e-05 9.99890180e-01 1.10003795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75925415399998 meters Centerline goodness [0,1] 0.9995414446676566 Centerline is valid? [True, True] Translation: X:126.61, Y:1.87, Z:1.10 [[ 9.99850506e-01 -9.02133496e-03 -1.47506289e-02 1.26605830e+02] [ 9.02069665e-03 9.99959307e-01 -1.09808229e-04 1.87073492e+00] [ 1.47510193e-02 -2.32691352e-05 9.99891198e-01 1.09996726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78925415399998 meters Centerline goodness [0,1] 0.9995407326407874 Centerline is valid? [True, True] Translation: X:126.63, Y:1.87, Z:1.10 [[ 9.99866631e-01 -6.11267608e-03 -1.51444904e-02 1.26633267e+02] [ 6.11163014e-03 9.99981317e-01 -1.15344333e-04 1.87272298e+00] [ 1.51449125e-02 2.27714251e-05 9.99885309e-01 1.10036776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81925415399998 meters Centerline goodness [0,1] 0.9995414847161572 Centerline is valid? [True, True] Translation: X:126.66, Y:1.87, Z:1.10 [[ 9.99879731e-01 -3.53754502e-03 -1.50999719e-02 1.26661521e+02] [ 3.53616171e-03 9.99993741e-01 -1.18309072e-04 1.87437721e+00] [ 1.51002959e-02 6.48989009e-05 9.99885982e-01 1.10057272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84925415399998 meters Centerline goodness [0,1] 0.9996726891856507 Centerline is valid? [True, True] Translation: X:126.69, Y:1.88, Z:1.10 [[ 9.99891359e-01 -6.48192710e-04 -1.47258162e-02 1.26689329e+02] [ 6.46540221e-04 9.99999784e-01 -1.16977549e-04 1.87559923e+00] [ 1.47258888e-02 1.07444008e-04 9.99891562e-01 1.10082285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87925415399998 meters Centerline goodness [0,1] 0.9996294035577259 Centerline is valid? [True, True] Translation: X:126.72, Y:1.88, Z:1.10 [[ 9.99897650e-01 -5.88825370e-04 -1.42948299e-02 1.26717609e+02] [ 5.87223694e-04 9.99999821e-01 -1.16242892e-04 1.87514824e+00] [ 1.42948958e-02 1.07836732e-04 9.99897817e-01 1.10116675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90925415399998 meters Centerline goodness [0,1] 0.9996283584373565 Centerline is valid? [True, True] Translation: X:126.75, Y:1.87, Z:1.10 [[ 9.99901676e-01 -1.15873184e-03 -1.39748193e-02 1.26746419e+02] [ 1.15721584e-03 9.99999324e-01 -1.16566542e-04 1.87393494e+00] [ 1.39749449e-02 1.00383199e-04 9.99902341e-01 1.10161074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93925415399998 meters Centerline goodness [0,1] 0.999607535321821 Centerline is valid? [True, True] Translation: X:126.78, Y:1.87, Z:1.10 [[ 9.99906857e-01 -2.68468683e-03 -1.33817322e-02 1.26775635e+02] [ 2.68342114e-03 9.99996393e-01 -1.12538060e-04 1.87192611e+00] [ 1.33819861e-02 7.66187552e-05 9.99910454e-01 1.10174958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96925415399997 meters Centerline goodness [0,1] 0.9995414646927814 Centerline is valid? [True, True] Translation: X:126.80, Y:1.87, Z:1.10 [[ 9.99900770e-01 -5.05437694e-03 -1.31492406e-02 1.26804726e+02] [ 5.05334759e-03 9.99987226e-01 -1.11506442e-04 1.86903605e+00] [ 1.31496362e-02 4.50476940e-05 9.99913539e-01 1.10233649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99925415399997 meters Centerline goodness [0,1] 0.9995224865428026 Centerline is valid? [True, True] Translation: X:126.83, Y:1.86, Z:1.10 [[ 9.99847151e-01 -1.19358276e-02 -1.27754234e-02 1.26833666e+02] [ 1.19354061e-02 9.99928765e-01 -1.09237440e-04 1.86150578e+00] [ 1.27758172e-02 -4.32591231e-05 9.99918385e-01 1.10233977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02925415399997 meters Centerline goodness [0,1] 0.9995662734212353 Centerline is valid? [True, True] Translation: X:126.86, Y:1.86, Z:1.10 [[ 9.99785306e-01 -1.64577202e-02 -1.25890801e-02 1.26862571e+02] [ 1.64576580e-02 9.99864558e-01 -1.08545984e-04 1.85779313e+00] [ 1.25891614e-02 -9.86640953e-05 9.99920748e-01 1.10264518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05925415399997 meters Centerline goodness [0,1] 0.9995021429499112 Centerline is valid? [True, True] Translation: X:126.89, Y:1.85, Z:1.10 [[ 9.99701826e-01 -2.12007749e-02 -1.21155131e-02 1.26891713e+02] [ 2.12010568e-02 9.99775227e-01 -1.05180388e-04 1.85282537e+00] [ 1.21150198e-02 -1.51712656e-04 9.99926599e-01 1.10254390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08925415399997 meters Centerline goodness [0,1] 0.9992865173397907 Centerline is valid? [True, True] Translation: X:126.92, Y:1.85, Z:1.10 [[ 9.99583371e-01 -2.61078407e-02 -1.23070874e-02 1.26923580e+02] [ 2.61085032e-02 9.99659109e-01 -1.06855354e-04 1.84869606e+00] [ 1.23056818e-02 -2.14508796e-04 9.99924259e-01 1.10278395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11925415399998 meters Centerline goodness [0,1] 0.9993964346532732 Centerline is valid? [True, True] Translation: X:126.95, Y:1.84, Z:1.10 [[ 9.99302236e-01 -3.52436774e-02 -1.23662291e-02 1.26954276e+02] [ 3.52450524e-02 9.99378694e-01 -1.06790077e-04 1.83928655e+00] [ 1.23623096e-02 -3.29132831e-04 9.99923530e-01 1.10270338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14925415399998 meters Centerline goodness [0,1] 0.9993981212785624 Centerline is valid? [True, True] Translation: X:126.98, Y:1.83, Z:1.10 [[ 9.99140979e-01 -3.95783341e-02 -1.22824927e-02 1.26984382e+02] [ 3.95800199e-02 9.99216398e-01 -1.05895226e-04 1.83313271e+00] [ 1.22770593e-02 -3.80337045e-04 9.99924562e-01 1.10267083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17925415399998 meters Centerline goodness [0,1] 0.9990122184285684 Centerline is valid? [True, True] Translation: X:127.02, Y:1.83, Z:1.10 [[ 9.98983245e-01 -4.33983686e-02 -1.22089288e-02 1.27015154e+02] [ 4.34003198e-02 9.99057757e-01 -1.05210024e-04 1.82826493e+00] [ 1.22019909e-02 -4.24768361e-04 9.99925463e-01 1.10268465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20925415399998 meters Centerline goodness [0,1] 0.9991656683210679 Centerline is valid? [True, True] Translation: X:127.05, Y:1.82, Z:1.10 [[ 9.98698540e-01 -4.96835265e-02 -1.15227149e-02 1.27045989e+02] [ 4.96856841e-02 9.98764899e-01 -9.91167319e-05 1.82078253e+00] [ 1.15134076e-02 -4.73526237e-04 9.99933606e-01 1.10323573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23925415399998 meters Centerline goodness [0,1] 0.999038173812679 Centerline is valid? [True, True] Translation: X:127.08, Y:1.82, Z:1.10 [[ 9.98580166e-01 -5.21244623e-02 -1.09860528e-02 1.27076927e+02] [ 5.21265743e-02 9.98640482e-01 -9.42068259e-05 1.81535487e+00] [ 1.09760276e-02 -4.78592232e-04 9.99939647e-01 1.10340165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26925415399998 meters Centerline goodness [0,1] 0.9990178075756929 Centerline is valid? [True, True] Translation: X:127.11, Y:1.81, Z:1.10 [[ 9.98480261e-01 -5.40975896e-02 -1.05175357e-02 1.27108908e+02] [ 5.40996474e-02 9.98535538e-01 -8.89666276e-05 1.81378737e+00] [ 1.05069461e-02 -4.80163553e-04 9.99944685e-01 1.10342913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29925415399998 meters Centerline goodness [0,1] 0.9990388106884251 Centerline is valid? [True, True] Translation: X:127.14, Y:1.81, Z:1.10 [[ 9.98390308e-01 -5.57960394e-02 -1.01781432e-02 1.27140714e+02] [ 5.57980618e-02 9.98442071e-01 -8.53855011e-05 1.81013371e+00] [ 1.01670505e-02 -4.82672604e-04 9.99948198e-01 1.10357375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32925415399997 meters Centerline goodness [0,1] 0.9988923443956886 Centerline is valid? [True, True] Translation: X:127.17, Y:1.81, Z:1.10 [[ 9.98329648e-01 -5.68804187e-02 -1.01257964e-02 1.27172374e+02] [ 5.68824816e-02 9.98380877e-01 -8.43922345e-05 1.80959319e+00] [ 1.01142018e-02 -4.91729160e-04 9.99948729e-01 1.10336594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35925415399997 meters Centerline goodness [0,1] 0.9990224205716715 Centerline is valid? [True, True] Translation: X:127.20, Y:1.80, Z:1.10 [[ 9.98289935e-01 -5.75577733e-02 -1.02131271e-02 1.27204719e+02] [ 5.75599133e-02 9.98342050e-01 -8.45216794e-05 1.80499787e+00] [ 1.02010592e-02 -5.03489571e-04 9.99947841e-01 1.10281870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38925415399997 meters Centerline goodness [0,1] 0.9987882137845997 Centerline is valid? [True, True] Translation: X:127.24, Y:1.80, Z:1.10 [[ 9.98292437e-01 -5.74117191e-02 -1.07751591e-02 1.27235934e+02] [ 5.74141015e-02 9.98350446e-01 -8.83496674e-05 1.80217479e+00] [ 1.07624572e-02 -5.30447276e-04 9.99941942e-01 1.10218267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41925415399997 meters Centerline goodness [0,1] 0.9988324452841404 Centerline is valid? [True, True] Translation: X:127.27, Y:1.80, Z:1.10 [[ 9.98311085e-01 -5.69839672e-02 -1.13051257e-02 1.27268349e+02] [ 5.69865703e-02 9.98374941e-01 -9.20007558e-05 1.80120244e+00] [ 1.12919968e-02 -5.52394966e-04 9.99936091e-01 1.10198349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44925415399997 meters Centerline goodness [0,1] 0.9991291048897574 Centerline is valid? [True, True] Translation: X:127.30, Y:1.80, Z:1.10 [[ 9.98363599e-01 -5.59378234e-02 -1.18779133e-02 1.27299546e+02] [ 5.59406362e-02 9.98434092e-01 -9.55634128e-05 1.79801064e+00] [ 1.18646592e-02 -5.69050992e-04 9.99929451e-01 1.10157278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47925415399997 meters Centerline goodness [0,1] 0.9989810647872973 Centerline is valid? [True, True] Translation: X:127.33, Y:1.80, Z:1.10 [[ 9.98425911e-01 -5.44063318e-02 -1.36253947e-02 1.27331582e+02] [ 5.44099167e-02 9.98518678e-01 -1.07727014e-04 1.79912793e+00] [ 1.36110721e-02 -6.33799148e-04 9.99907164e-01 1.10076419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50925415399998 meters Centerline goodness [0,1] 0.9988523823691928 Centerline is valid? [True, True] Translation: X:127.36, Y:1.80, Z:1.10 [[ 9.98466140e-01 -5.35040915e-02 -1.42365851e-02 1.27364191e+02] [ 5.35079292e-02 9.98567418e-01 -1.11470745e-04 1.80002920e+00] [ 1.42221541e-02 -6.50470423e-04 9.99898648e-01 1.10003056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53925415399998 meters Centerline goodness [0,1] 0.9988095238095238 Centerline is valid? [True, True] Translation: X:127.40, Y:1.80, Z:1.10 [[ 9.98494495e-01 -5.27752459e-02 -1.49504635e-02 1.27395698e+02] [ 5.27794124e-02 9.98606189e-01 -1.16011337e-04 1.79873795e+00] [ 1.49357479e-02 -6.73239995e-04 9.99888229e-01 1.09944346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56925415399998 meters Centerline goodness [0,1] 0.9986194299307591 Centerline is valid? [True, True] Translation: X:127.43, Y:1.80, Z:1.10 [[ 9.98529820e-01 -5.18340469e-02 -1.58565507e-02 1.27427957e+02] [ 5.18386319e-02 9.98655467e-01 -1.22002738e-04 1.79907581e+00] [ 1.58415549e-02 -7.00158523e-04 9.99874270e-01 1.09871504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59925415399998 meters Centerline goodness [0,1] 0.9988962472406181 Centerline is valid? [True, True] Translation: X:127.46, Y:1.80, Z:1.10 [[ 9.98537303e-01 -5.09650526e-02 -1.80504491e-02 1.27460286e+02] [ 5.09708788e-02 9.98700130e-01 -1.37439443e-04 1.79891976e+00] [ 1.80339904e-02 -7.82808842e-04 9.99837068e-01 1.09798814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62925415399998 meters Centerline goodness [0,1] 0.9990861369094426 Centerline is valid? [True, True] Translation: X:127.49, Y:1.80, Z:1.10 [[ 9.98537061e-01 -5.07398505e-02 -1.86870404e-02 1.27492126e+02] [ 5.07460822e-02 9.98711578e-01 -1.40870950e-04 1.79925182e+00] [ 1.86701114e-02 -8.07629222e-04 9.99825372e-01 1.09819932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65925415399998 meters Centerline goodness [0,1] 0.9988729399255715 Centerline is valid? [True, True] Translation: X:127.52, Y:1.80, Z:1.10 [[ 9.98536331e-01 -5.06436516e-02 -1.89846570e-02 1.27523277e+02] [ 5.06501018e-02 9.98716450e-01 -1.41228381e-04 1.79542108e+00] [ 1.89674416e-02 -8.20553142e-04 9.99819765e-01 1.09745778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68925415399998 meters Centerline goodness [0,1] 0.9989591741365393 Centerline is valid? [True, True] Translation: X:127.55, Y:1.80, Z:1.10 [[ 9.98518945e-01 -5.09309599e-02 -1.91299296e-02 1.27554977e+02] [ 5.09375940e-02 9.98701828e-01 -1.40626313e-04 1.79677370e+00] [ 1.91122579e-02 -8.34014550e-04 9.99816996e-01 1.09776448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71925415399997 meters Centerline goodness [0,1] 0.9988737542234216 Centerline is valid? [True, True] Translation: X:127.59, Y:1.80, Z:1.10 [[ 9.98492570e-01 -5.13686157e-02 -1.93352950e-02 1.27587379e+02] [ 5.13754991e-02 9.98679397e-01 -1.40882632e-04 1.79960984e+00] [ 1.93169977e-02 -8.52690170e-04 9.99813046e-01 1.09891750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74925415399997 meters Centerline goodness [0,1] 0.998980675302612 Centerline is valid? [True, True] Translation: X:127.62, Y:1.80, Z:1.10 [[ 9.98456843e-01 -5.20853931e-02 -1.92625325e-02 1.27618197e+02] [ 5.20923819e-02 9.98642260e-01 -1.39107273e-04 1.79524235e+00] [ 1.92436244e-02 -8.64538589e-04 9.99814451e-01 1.09832503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77925415399997 meters Centerline goodness [0,1] 0.998789269100873 Centerline is valid? [True, True] Translation: X:127.65, Y:1.80, Z:1.10 [[ 9.98370461e-01 -5.36977702e-02 -1.93125022e-02 1.27649834e+02] [ 5.37051169e-02 9.98556829e-01 -1.38396694e-04 1.79895027e+00] [ 1.92920626e-02 -8.99009021e-04 9.99813487e-01 1.10043469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80925415399997 meters Centerline goodness [0,1] 0.9989398019550052 Centerline is valid? [True, True] Translation: X:127.68, Y:1.80, Z:1.10 [[ 9.98327922e-01 -5.47055296e-02 -1.86725680e-02 1.27681496e+02] [ 5.47126010e-02 9.98502135e-01 -1.32325516e-04 1.80032384e+00] [ 1.86518379e-02 -8.89520502e-04 9.99825644e-01 1.10176556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83925415399997 meters Centerline goodness [0,1] 0.9989171514714 Centerline is valid? [True, True] Translation: X:127.71, Y:1.80, Z:1.10 [[ 9.98209072e-01 -5.72116525e-02 -1.74778356e-02 1.27713785e+02] [ 5.72182575e-02 9.98361686e-01 -1.22330289e-04 1.79898454e+00] [ 1.74562001e-02 -8.77940093e-04 9.99847243e-01 1.10366887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86925415399998 meters Centerline goodness [0,1] 0.9989623260837339 Centerline is valid? [True, True] Translation: X:127.75, Y:1.80, Z:1.10 [[ 9.98138584e-01 -5.86470674e-02 -1.67298682e-02 1.27746077e+02] [ 5.86533405e-02 9.98278404e-01 -1.15880490e-04 1.79910026e+00] [ 1.67078621e-02 -8.65597864e-04 9.99860039e-01 1.10418304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89925415399998 meters Centerline goodness [0,1] 0.998877974426285 Centerline is valid? [True, True] Translation: X:127.78, Y:1.80, Z:1.10 [[ 9.98047861e-01 -6.02303609e-02 -1.65157974e-02 1.27776892e+02] [ 6.02367064e-02 9.98184114e-01 -1.13439593e-04 1.79604135e+00] [ 1.64926391e-02 -8.81639094e-04 9.99863598e-01 1.10454484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92925415399998 meters Centerline goodness [0,1] 0.9987919121698953 Centerline is valid? [True, True] Translation: X:127.81, Y:1.79, Z:1.10 [[ 9.97962298e-01 -6.17510256e-02 -1.60643513e-02 1.27807705e+02] [ 6.17572444e-02 9.98091194e-01 -1.09148084e-04 1.79387837e+00] [ 1.60404276e-02 -8.83164399e-04 9.99870954e-01 1.10470781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95925415399998 meters Centerline goodness [0,1] 0.999027956807472 Centerline is valid? [True, True] Translation: X:127.84, Y:1.79, Z:1.11 [[ 9.97851780e-01 -6.36163103e-02 -1.56457773e-02 1.27838972e+02] [ 6.36224610e-02 9.97974033e-01 -1.04806447e-04 1.79067391e+00] [ 1.56207469e-02 -8.90841560e-04 9.99877592e-01 1.10502688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98925415399998 meters Centerline goodness [0,1] 0.9986653956148713 Centerline is valid? [True, True] Translation: X:127.87, Y:1.79, Z:1.11 [[ 9.97597885e-01 -6.75821173e-02 -1.52025486e-02 1.27870053e+02] [ 6.75883922e-02 9.97713285e-01 -1.01244167e-04 1.79226967e+00] [ 1.51746270e-02 -9.26514851e-04 9.99884429e-01 1.10570963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01925415399998 meters Centerline goodness [0,1] 0.9986047986470775 Centerline is valid? [True, True] Translation: X:127.90, Y:1.79, Z:1.11 [[ 9.97457723e-01 -6.95959113e-02 -1.53133814e-02 1.27901223e+02] [ 6.96025203e-02 9.97574799e-01 -1.01599436e-04 1.79004344e+00] [ 1.52833143e-02 -9.64508796e-04 9.99882738e-01 1.10542127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04925415399998 meters Centerline goodness [0,1] 0.9987738880432945 Centerline is valid? [True, True] Translation: X:127.93, Y:1.79, Z:1.11 [[ 9.97343286e-01 -7.12023331e-02 -1.53817262e-02 1.27933351e+02] [ 7.12092034e-02 9.97461397e-01 -1.01270984e-04 1.78957347e+00] [ 1.53498889e-02 -9.94318536e-04 9.99881689e-01 1.10583074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07925415399997 meters Centerline goodness [0,1] 0.9987322783071689 Centerline is valid? [True, True] Translation: X:127.96, Y:1.79, Z:1.11 [[ 9.97224304e-01 -7.27541171e-02 -1.58279822e-02 1.27964338e+02] [ 7.27616032e-02 9.97349356e-01 -1.03150981e-04 1.78771876e+00] [ 1.57935325e-02 -1.04880469e-03 9.99874724e-01 1.10583479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10925415399997 meters Centerline goodness [0,1] 0.9986884136151128 Centerline is valid? [True, True] Translation: X:128.00, Y:1.79, Z:1.11 [[ 9.97127328e-01 -7.39956984e-02 -1.61779935e-02 1.27996249e+02] [ 7.40036986e-02 9.97257961e-01 -1.04401885e-04 1.79119311e+00] [ 1.61413581e-02 -1.09312938e-03 9.99869122e-01 1.10617414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13925415399997 meters Centerline goodness [0,1] 0.9987957661673674 Centerline is valid? [True, True] Translation: X:128.03, Y:1.79, Z:1.11 [[ 9.97053298e-01 -7.49172486e-02 -1.64962443e-02 1.28027229e+02] [ 7.49257105e-02 9.97189113e-01 -1.05347432e-04 1.78538145e+00] [ 1.64577675e-02 -1.13095582e-03 9.99863922e-01 1.10572676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16925415399997 meters Centerline goodness [0,1] 0.9987093225001058 Centerline is valid? [True, True] Translation: X:128.06, Y:1.79, Z:1.11 [[ 9.96976220e-01 -7.58319169e-02 -1.69687165e-02 1.28059581e+02] [ 7.58410207e-02 9.97119917e-01 -1.07290993e-04 1.78539390e+00] [ 1.69279812e-02 -1.17995821e-03 9.99856015e-01 1.10525959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19925415399997 meters Centerline goodness [0,1] 0.9988350419384903 Centerline is valid? [True, True] Translation: X:128.09, Y:1.79, Z:1.11 [[ 9.96985988e-01 -7.56621429e-02 -1.71516585e-02 1.28092248e+02] [ 7.56714448e-02 9.97132800e-01 -1.06941606e-04 1.78707560e+00] [ 1.71105727e-02 -1.19127150e-03 9.99852894e-01 1.10539828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22925415399997 meters Centerline goodness [0,1] 0.998793165505706 Centerline is valid? [True, True] Translation: X:128.12, Y:1.78, Z:1.11 [[ 9.97024774e-01 -7.51923589e-02 -1.69619724e-02 1.28123993e+02] [ 7.52014144e-02 9.97168359e-01 -1.04227364e-04 1.78476690e+00] [ 1.69217793e-02 -1.17164705e-03 9.99856130e-01 1.10514901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25925415399998 meters Centerline goodness [0,1] 0.999025175892176 Centerline is valid? [True, True] Translation: X:128.16, Y:1.80, Z:1.11 [[ 9.97141207e-01 -7.36794890e-02 -1.67554741e-02 1.28155026e+02] [ 7.36881283e-02 9.97281329e-01 -1.02027541e-04 1.79660964e+00] [ 1.67174388e-02 -1.13294366e-03 9.99859612e-01 1.10659962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28925415399998 meters Centerline goodness [0,1] 0.9991518955135272 Centerline is valid? [True, True] Translation: X:128.19, Y:1.80, Z:1.11 [[ 9.97226182e-01 -7.25915174e-02 -1.64442733e-02 1.28186087e+02] [ 7.25997143e-02 9.97361154e-01 -9.87417148e-05 1.79732426e+00] [ 1.64080473e-02 -1.09538172e-03 9.99864779e-01 1.10712370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31925415399998 meters Centerline goodness [0,1] 0.9991077687846536 Centerline is valid? [True, True] Translation: X:128.22, Y:1.80, Z:1.11 [[ 9.97309084e-01 -7.14828977e-02 -1.62722398e-02 1.28218608e+02] [ 7.14908076e-02 9.97441254e-01 -9.58251962e-05 1.80076993e+00] [ 1.62374532e-02 -1.06774823e-03 9.99867594e-01 1.10777265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34925415399998 meters Centerline goodness [0,1] 0.9986211578031862 Centerline is valid? [True, True] Translation: X:128.25, Y:1.80, Z:1.11 [[ 9.97444752e-01 -6.96757894e-02 -1.57876951e-02 1.28248977e+02] [ 6.96830222e-02 9.97569180e-01 -9.21782379e-05 1.80257469e+00] [ 1.57557406e-02 -1.00819161e-03 9.99875362e-01 1.10827619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37925415399998 meters Centerline goodness [0,1] 0.9986773897647033 Centerline is valid? [True, True] Translation: X:128.28, Y:1.80, Z:1.11 [[ 9.97481693e-01 -6.91474690e-02 -1.57765607e-02 1.28281206e+02] [ 6.91546357e-02 9.97605948e-01 -9.14789368e-05 1.80323111e+00] [ 1.57451163e-02 -9.99773743e-04 9.99875538e-01 1.10861859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40925415399998 meters Centerline goodness [0,1] 0.9988480245754757 Centerline is valid? [True, True] Translation: X:128.31, Y:1.81, Z:1.11 [[ 9.97504016e-01 -6.89074851e-02 -1.54109161e-02 1.28313210e+02] [ 6.89143119e-02 9.97622579e-01 -8.82552339e-05 1.80785630e+00] [ 1.53803594e-02 -9.73997732e-04 9.99881241e-01 1.10923735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43925415399998 meters Centerline goodness [0,1] 0.9988708990200256 Centerline is valid? [True, True] Translation: X:128.35, Y:1.81, Z:1.11 [[ 9.97509388e-01 -6.88475425e-02 -1.53309333e-02 1.28346289e+02] [ 6.88543121e-02 9.97626722e-01 -8.64494128e-05 1.80797731e+00] [ 1.53005006e-02 -9.69366767e-04 9.99882471e-01 1.10950909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46925415399997 meters Centerline goodness [0,1] 0.9988701287626844 Centerline is valid? [True, True] Translation: X:128.38, Y:1.81, Z:1.11 [[ 9.97507152e-01 -6.89908073e-02 -1.48240009e-02 1.28378680e+02] [ 6.89971731e-02 9.97616852e-01 -8.21911717e-05 1.80768461e+00] [ 1.47943436e-02 -9.40827876e-04 9.99890115e-01 1.10982916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49925415399997 meters Centerline goodness [0,1] 0.9989587317778061 Centerline is valid? [True, True] Translation: X:128.41, Y:1.81, Z:1.11 [[ 9.97475232e-01 -6.95206167e-02 -1.44929745e-02 1.28409856e+02] [ 6.95267707e-02 9.97580083e-01 -7.94082812e-05 1.80597624e+00] [ 1.44634232e-02 -9.28441924e-04 9.99894968e-01 1.11001853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52925415399997 meters Centerline goodness [0,1] 0.9989587317778061 Centerline is valid? [True, True] Translation: X:128.44, Y:1.81, Z:1.11 [[ 9.97482718e-01 -6.94131124e-02 -1.44929803e-02 1.28442461e+02] [ 6.94192705e-02 9.97587569e-01 -7.83466000e-05 1.80605821e+00] [ 1.44634553e-02 -9.27942738e-04 9.99894968e-01 1.11032383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55925415399997 meters Centerline goodness [0,1] 0.9990412885082449 Centerline is valid? [True, True] Translation: X:128.47, Y:1.81, Z:1.11 [[ 9.97374632e-01 -7.09218082e-02 -1.46267144e-02 1.28474752e+02] [ 7.09282624e-02 9.97481416e-01 -7.76735753e-05 1.80689411e+00] [ 1.45953845e-02 -9.59977782e-04 9.99893021e-01 1.11065760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58925415399997 meters Centerline goodness [0,1] 0.9988471391972673 Centerline is valid? [True, True] Translation: X:128.51, Y:1.81, Z:1.11 [[ 9.97309096e-01 -7.17309480e-02 -1.51406434e-02 1.28506380e+02] [ 7.17379718e-02 9.97423509e-01 -7.93991359e-05 1.80586474e+00] [ 1.51073290e-02 -1.00697357e-03 9.99885371e-01 1.11039013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61925415399998 meters Centerline goodness [0,1] 0.9987397201751576 Centerline is valid? [True, True] Translation: X:128.54, Y:1.81, Z:1.11 [[ 9.97251035e-01 -7.24785412e-02 -1.54024052e-02 1.28538880e+02] [ 7.24859131e-02 9.97369433e-01 -7.98353849e-05 1.80542830e+00] [ 1.53676745e-02 -1.03684149e-03 9.99881373e-01 1.11002816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64925415399998 meters Centerline goodness [0,1] 0.9988921556095275 Centerline is valid? [True, True] Translation: X:128.57, Y:1.81, Z:1.11 [[ 9.97200963e-01 -7.30918847e-02 -1.57421826e-02 1.28571051e+02] [ 7.30996795e-02 9.97324636e-01 -8.04579307e-05 1.80769491e+00] [ 1.57059473e-02 -1.07051577e-03 9.99876081e-01 1.11001952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67925415399998 meters Centerline goodness [0,1] 0.9988932166954004 Centerline is valid? [True, True] Translation: X:128.60, Y:1.81, Z:1.11 [[ 9.97131854e-01 -7.37889822e-02 -1.68301020e-02 1.28603579e+02] [ 7.37980120e-02 9.97273205e-01 -8.47455155e-05 1.80970708e+00] [ 1.67904630e-02 -1.15752561e-03 9.99858360e-01 1.10929215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70925415399998 meters Centerline goodness [0,1] 0.9988897429327868 Centerline is valid? [True, True] Translation: X:128.64, Y:1.81, Z:1.11 [[ 9.97093181e-01 -7.42057158e-02 -1.72829685e-02 1.28635920e+02] [ 7.42153227e-02 9.97242237e-01 -8.57377310e-05 1.80909792e+00] [ 1.72416684e-02 -1.19717258e-03 9.99850635e-01 1.10883287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73925415399998 meters Centerline goodness [0,1] 0.9988678600418678 Centerline is valid? [True, True] Translation: X:128.67, Y:1.81, Z:1.11 [[ 9.97068780e-01 -7.44021777e-02 -1.78371419e-02 1.28666700e+02] [ 7.44124629e-02 9.97227546e-01 -8.73157912e-05 1.80844955e+00] [ 1.77941858e-02 -1.24024581e-03 9.99840902e-01 1.10863393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76925415399998 meters Centerline goodness [0,1] 0.9990824513485831 Centerline is valid? [True, True] Translation: X:128.70, Y:1.81, Z:1.11 [[ 9.97096398e-01 -7.39646745e-02 -1.81107894e-02 1.28698824e+02] [ 7.39752268e-02 9.97260075e-01 -8.74998235e-05 1.80960495e+00] [ 1.80676391e-02 -1.25250399e-03 9.99835982e-01 1.10904608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79925415399998 meters Centerline goodness [0,1] 0.9990811769482254 Centerline is valid? [True, True] Translation: X:128.73, Y:1.81, Z:1.11 [[ 9.97165877e-01 -7.30748863e-02 -1.78962301e-02 1.28729986e+02] [ 7.30850677e-02 9.97325707e-01 -8.53270549e-05 1.80941675e+00] [ 1.78546056e-02 -1.22286196e-03 9.99839846e-01 1.10954158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82925415399997 meters Centerline goodness [0,1] 0.9989973974998934 Centerline is valid? [True, True] Translation: X:128.76, Y:1.82, Z:1.11 [[ 9.97469211e-01 -6.91071284e-02 -1.67145750e-02 1.28760199e+02] [ 6.91154631e-02 9.97608664e-01 -7.91848772e-05 1.81767769e+00] [ 1.66800771e-02 -1.07625111e-03 9.99860299e-01 1.11156825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85925415399997 meters Centerline goodness [0,1] 0.999250230286412 Centerline is valid? [True, True] Translation: X:128.79, Y:1.82, Z:1.11 [[ 9.97682532e-01 -6.61161357e-02 -1.60692816e-02 1.28790579e+02] [ 6.61234533e-02 9.97811447e-01 -7.60869612e-05 1.82055933e+00] [ 1.60391437e-02 -9.86645758e-04 9.99870878e-01 1.11260398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88925415399997 meters Centerline goodness [0,1] 0.9991649001092053 Centerline is valid? [True, True] Translation: X:128.82, Y:1.82, Z:1.11 [[ 9.97900475e-01 -6.28736860e-02 -1.55416303e-02 1.28821718e+02] [ 6.28801407e-02 9.98021083e-01 -7.34767490e-05 1.82385651e+00] [ 1.55154945e-02 -9.03937419e-04 9.99879219e-01 1.11350498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91925415399997 meters Centerline goodness [0,1] 0.9990982286634461 Centerline is valid? [True, True] Translation: X:128.85, Y:1.83, Z:1.11 [[ 9.98156515e-01 -5.88070688e-02 -1.50099807e-02 1.28852268e+02] [ 5.88126350e-02 9.98269036e-01 -7.06957596e-05 1.82956072e+00] [ 1.49881563e-02 -8.12211080e-04 9.99887341e-01 1.11425873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94925415399997 meters Centerline goodness [0,1] 0.999120398180726 Centerline is valid? [True, True] Translation: X:128.88, Y:1.83, Z:1.11 [[ 9.98400842e-01 -5.46201424e-02 -1.45739260e-02 1.28882459e+02] [ 5.46249473e-02 9.98506941e-01 -6.84749254e-05 1.83272021e+00] [ 1.45559064e-02 -7.27734516e-04 9.99893792e-01 1.11448493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97925415399997 meters Centerline goodness [0,1] 0.9992914958026494 Centerline is valid? [True, True] Translation: X:128.91, Y:1.84, Z:1.11 [[ 9.98830603e-01 -4.61772972e-02 -1.43207772e-02 1.28912395e+02] [ 4.61810702e-02 9.98933083e-01 -6.72918092e-05 1.83547335e+00] [ 1.43086055e-02 -5.94135699e-04 9.99897450e-01 1.11445485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00925415399998 meters Centerline goodness [0,1] 0.9992889463477699 Centerline is valid? [True, True] Translation: X:128.94, Y:1.85, Z:1.12 [[ 9.99007859e-01 -4.20808738e-02 -1.45772804e-02 1.28943632e+02] [ 4.20843503e-02 9.99114059e-01 -6.83188598e-05 1.84552822e+00] [ 1.45672407e-02 -5.45224297e-04 9.99893743e-01 1.11549162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03925415399998 meters Centerline goodness [0,1] 0.999309332642666 Centerline is valid? [True, True] Translation: X:128.97, Y:1.85, Z:1.12 [[ 9.99156267e-01 -3.82122118e-02 -1.50526151e-02 1.28974895e+02] [ 3.82154887e-02 9.99269519e-01 -6.99839039e-05 1.84993958e+00] [ 1.50442936e-02 -5.05318185e-04 9.99886701e-01 1.11561047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06925415399998 meters Centerline goodness [0,1] 0.9993295702761738 Centerline is valid? [True, True] Translation: X:129.00, Y:1.85, Z:1.11 [[ 9.99346183e-01 -3.21758355e-02 -1.64900829e-02 1.29004397e+02] [ 3.21789513e-02 9.99482121e-01 -7.64182488e-05 1.85446016e+00] [ 1.64840019e-02 -4.54265290e-04 9.99864026e-01 1.11412124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09925415399998 meters Centerline goodness [0,1] 0.9993070743379312 Centerline is valid? [True, True] Translation: X:129.04, Y:1.86, Z:1.11 [[ 9.99405808e-01 -2.99378624e-02 -1.70808222e-02 1.29036163e+02] [ 2.99408830e-02 9.99551668e-01 -7.89107074e-05 1.85769523e+00] [ 1.70755268e-02 -4.32551081e-04 9.99854109e-01 1.11433097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12925415399998 meters Centerline goodness [0,1] 0.9993071193486922 Centerline is valid? [True, True] Translation: X:129.07, Y:1.86, Z:1.11 [[ 9.99457220e-01 -2.80794247e-02 -1.72282050e-02 1.29066267e+02] [ 2.80822331e-02 9.99605613e-01 -7.89343112e-05 1.85845075e+00] [ 1.72236269e-02 -4.04915003e-04 9.99851580e-01 1.11380618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15925415399998 meters Centerline goodness [0,1] 0.9995022399203584 Centerline is valid? [True, True] Translation: X:129.10, Y:1.86, Z:1.11 [[ 9.99490252e-01 -2.66834838e-02 -1.75278912e-02 1.29097964e+02] [ 2.66861845e-02 9.99643857e-01 -7.98386453e-05 1.86099634e+00] [ 1.75237791e-02 -3.87954591e-04 9.99846372e-01 1.11456155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18925415399998 meters Centerline goodness [0,1] 0.9994787707677272 Centerline is valid? [True, True] Translation: X:129.13, Y:1.86, Z:1.12 [[ 9.99521927e-01 -2.55064321e-02 -1.74739470e-02 1.29128925e+02] [ 2.55089449e-02 9.99674591e-01 -7.91040830e-05 1.86269208e+00] [ 1.74702785e-02 -3.66675687e-04 9.99847316e-01 1.11505127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21925415399997 meters Centerline goodness [0,1] 0.9994572768322334 Centerline is valid? [True, True] Translation: X:129.16, Y:1.86, Z:1.12 [[ 9.99560788e-01 -2.41234802e-02 -1.72130234e-02 1.29159452e+02] [ 2.41257165e-02 9.99708930e-01 -7.77529329e-05 1.86387592e+00] [ 1.72098889e-02 -3.37557740e-04 9.99851842e-01 1.11536558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24925415399997 meters Centerline goodness [0,1] 0.9993927301119112 Centerline is valid? [True, True] Translation: X:129.19, Y:1.86, Z:1.12 [[ 9.99572049e-01 -2.38575689e-02 -1.69273806e-02 1.29189514e+02] [ 2.38596934e-02 9.99715314e-01 -7.64626559e-05 1.86404736e+00] [ 1.69243858e-02 -3.27452178e-04 9.99856719e-01 1.11566781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27925415399997 meters Centerline goodness [0,1] 0.999349071341781 Centerline is valid? [True, True] Translation: X:129.22, Y:1.87, Z:1.12 [[ 9.99583712e-01 -2.35859129e-02 -1.66164683e-02 1.29220094e+02] [ 2.35879226e-02 9.99721763e-01 -7.50582344e-05 1.86505987e+00] [ 1.66136153e-02 -3.16920980e-04 9.99861934e-01 1.11583435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30925415399997 meters Centerline goodness [0,1] 0.999370905462276 Centerline is valid? [True, True] Translation: X:129.25, Y:1.86, Z:1.12 [[ 9.99581006e-01 -2.36478874e-02 -1.66909895e-02 1.29249687e+02] [ 2.36499239e-02 9.99720299e-01 -7.53926276e-05 1.86405462e+00] [ 1.66881039e-02 -3.19379593e-04 9.99860693e-01 1.11552682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33925415399997 meters Centerline goodness [0,1] 0.9993482511405605 Centerline is valid? [True, True] Translation: X:129.28, Y:1.86, Z:1.12 [[ 9.99560967e-01 -2.45005208e-02 -1.66612595e-02 1.29279945e+02] [ 2.45026684e-02 9.99699762e-01 -7.52554949e-05 1.86412001e+00] [ 1.66581009e-02 -3.33022861e-04 9.99861189e-01 1.11539463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36925415399998 meters Centerline goodness [0,1] 0.9993492266643528 Centerline is valid? [True, True] Translation: X:129.31, Y:1.86, Z:1.12 [[ 9.99542917e-01 -2.52894928e-02 -1.65649979e-02 1.29310657e+02] [ 2.52917240e-02 9.99680110e-01 -7.48207012e-05 1.86447869e+00] [ 1.65615912e-02 -3.44170854e-04 9.99862788e-01 1.11582510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39925415399998 meters Centerline goodness [0,1] 0.9992192413628576 Centerline is valid? [True, True] Translation: X:129.34, Y:1.86, Z:1.12 [[ 9.99530288e-01 -2.61017690e-02 -1.60593195e-02 1.29341246e+02] [ 2.61039708e-02 9.99659231e-01 -7.25366554e-05 1.86426924e+00] [ 1.60557403e-02 -3.46709424e-04 9.99871038e-01 1.11597801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42925415399998 meters Centerline goodness [0,1] 0.9994581120624255 Centerline is valid? [True, True] Translation: X:129.37, Y:1.86, Z:1.12 [[ 9.99460405e-01 -2.87901508e-02 -1.58122301e-02 1.29372966e+02] [ 2.87926253e-02 9.99585404e-01 -7.11843236e-05 1.86339714e+00] [ 1.58077238e-02 -3.84129703e-04 9.99874976e-01 1.11673386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45925415399998 meters Centerline goodness [0,1] 0.9992418006152246 Centerline is valid? [True, True] Translation: X:129.40, Y:1.86, Z:1.12 [[ 9.99398001e-01 -3.09364997e-02 -1.57025047e-02 1.29404598e+02] [ 3.09392137e-02 9.99521265e-01 -7.01188309e-05 1.86180684e+00] [ 1.56971566e-02 -4.15746529e-04 9.99876706e-01 1.11669726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48925415399998 meters Centerline goodness [0,1] 0.9992851572654016 Centerline is valid? [True, True] Translation: X:129.44, Y:1.86, Z:1.12 [[ 9.99336683e-01 -3.29088150e-02 -1.55949947e-02 1.29436567e+02] [ 3.29117443e-02 9.99458259e-01 -6.88412004e-05 1.86043185e+00] [ 1.55888118e-02 -4.44462942e-04 9.99878388e-01 1.11700231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51925415399998 meters Centerline goodness [0,1] 0.999395222255821 Centerline is valid? [True, True] Translation: X:129.47, Y:1.86, Z:1.12 [[ 9.99247419e-01 -3.54380508e-02 -1.57715095e-02 1.29469027e+02] [ 3.54413800e-02 9.99371755e-01 -6.84505315e-05 1.85834782e+00] [ 1.57640269e-02 -4.90565045e-04 9.99875620e-01 1.11699416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54925415399998 meters Centerline goodness [0,1] 0.9991781295959858 Centerline is valid? [True, True] Translation: X:129.50, Y:1.86, Z:1.12 [[ 9.99153207e-01 -3.81187198e-02 -1.54865156e-02 1.29501268e+02] [ 3.81222688e-02 9.99273080e-01 -6.60864545e-05 1.85615028e+00] [ 1.54777772e-02 -5.24350616e-04 9.99880075e-01 1.11689498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57925415399997 meters Centerline goodness [0,1] 0.9994382872080714 Centerline is valid? [True, True] Translation: X:129.53, Y:1.85, Z:1.12 [[ 9.98919613e-01 -4.37012288e-02 -1.58053641e-02 1.29530876e+02] [ 4.37056341e-02 9.99044450e-01 -6.67439026e-05 1.85019848e+00] [ 1.57931780e-02 -6.24111666e-04 9.99875085e-01 1.11646203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60925415399997 meters Centerline goodness [0,1] 0.9992225629508055 Centerline is valid? [True, True] Translation: X:129.56, Y:1.85, Z:1.12 [[ 9.98831115e-01 -4.56949209e-02 -1.57600274e-02 1.29562809e+02] [ 4.56995560e-02 9.98955227e-01 -6.60952056e-05 1.84737446e+00] [ 1.57465820e-02 -6.54208308e-04 9.99875801e-01 1.11542964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63925415399997 meters Centerline goodness [0,1] 0.9992455595792378 Centerline is valid? [True, True] Translation: X:129.60, Y:1.85, Z:1.12 [[ 9.98714240e-01 -4.82973463e-02 -1.54023849e-02 1.29595208e+02] [ 4.83020990e-02 9.98832770e-01 -6.35043470e-05 1.84690069e+00] [ 1.53874738e-02 -6.80544822e-04 9.99881374e-01 1.11745075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66925415399997 meters Centerline goodness [0,1] 0.9992674466205589 Centerline is valid? [True, True] Translation: X:129.63, Y:1.85, Z:1.12 [[ 9.98575957e-01 -5.12518855e-02 -1.48088366e-02 1.29626130e+02] [ 5.12566142e-02 9.98685514e-01 -6.03066116e-05 1.84550758e+00] [ 1.47924614e-02 -6.98830092e-04 9.99890341e-01 1.11835695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69925415399997 meters Centerline goodness [0,1] 0.9992893291698073 Centerline is valid? [True, True] Translation: X:129.66, Y:1.84, Z:1.12 [[ 9.98542823e-01 -5.19727443e-02 -1.45280625e-02 1.29658170e+02] [ 5.19773794e-02 9.98648261e-01 -5.86179637e-05 1.84382541e+00] [ 1.45114709e-02 -6.96598069e-04 9.99894460e-01 1.11871141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72925415399997 meters Centerline goodness [0,1] 0.9993540468961953 Centerline is valid? [True, True] Translation: X:129.69, Y:1.85, Z:1.12 [[ 9.98539037e-01 -5.20693420e-02 -1.44421210e-02 1.29690181e+02] [ 5.20739477e-02 9.98643230e-01 -5.72100237e-05 1.84539166e+00] [ 1.44255052e-02 -6.94931810e-04 9.99895705e-01 1.11921818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75925415399998 meters Centerline goodness [0,1] 0.9992034445640474 Centerline is valid? [True, True] Translation: X:129.72, Y:1.84, Z:1.12 [[ 9.98568060e-01 -5.15323485e-02 -1.43612574e-02 1.29721097e+02] [ 5.15368615e-02 9.98671091e-01 -5.59108305e-05 1.84212850e+00] [ 1.43450538e-02 -6.84303364e-04 9.99896870e-01 1.11904401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78925415399998 meters Centerline goodness [0,1] 0.9991606585602066 Centerline is valid? [True, True] Translation: X:129.75, Y:1.84, Z:1.12 [[ 9.98605001e-01 -5.08086158e-02 -1.43713560e-02 1.29752969e+02] [ 5.08130731e-02 9.98708180e-01 -5.50642802e-05 1.84241594e+00] [ 1.43555886e-02 -6.75265299e-04 9.99896725e-01 1.11946740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81925415399998 meters Centerline goodness [0,1] 0.9992889463477699 Centerline is valid? [True, True] Translation: X:129.78, Y:1.84, Z:1.12 [[ 9.98693225e-01 -4.89014375e-02 -1.48489730e-02 1.29783921e+02] [ 4.89060003e-02 9.98803384e-01 -5.59043956e-05 1.84265807e+00] [ 1.48339383e-02 -6.70372538e-04 9.99889746e-01 1.11966805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84925415399998 meters Centerline goodness [0,1] 0.9995052060924189 Centerline is valid? [True, True] Translation: X:129.82, Y:1.85, Z:1.12 [[ 9.98760007e-01 -4.73978362e-02 -1.52280194e-02 1.29816091e+02] [ 4.74024748e-02 9.98875869e-01 -5.63981536e-05 1.84571139e+00] [ 1.52135743e-02 -6.65517585e-04 9.99884045e-01 1.12013662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87925415399998 meters Centerline goodness [0,1] 0.999268581262773 Centerline is valid? [True, True] Translation: X:129.85, Y:1.85, Z:1.12 [[ 9.98828855e-01 -4.57567779e-02 -1.57237036e-02 1.29848066e+02] [ 4.57615387e-02 9.98952390e-01 -5.70680562e-05 1.84805368e+00] [ 1.57098426e-02 -6.62539651e-04 9.99876373e-01 1.11985439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90925415399998 meters Centerline goodness [0,1] 0.9993321412413555 Centerline is valid? [True, True] Translation: X:129.88, Y:1.85, Z:1.12 [[ 9.98903813e-01 -4.39319596e-02 -1.61603269e-02 1.29879975e+02] [ 4.39367696e-02 9.99034312e-01 -5.74464627e-05 1.84941317e+00] [ 1.61472448e-02 -6.52649069e-04 9.99869412e-01 1.11973443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93925415399998 meters Centerline goodness [0,1] 0.9993096455461351 Centerline is valid? [True, True] Translation: X:129.91, Y:1.85, Z:1.12 [[ 9.99052913e-01 -3.99471371e-02 -1.72482600e-02 1.29911562e+02] [ 3.99520454e-02 9.99201597e-01 -6.00559737e-05 1.85194342e+00] [ 1.72368880e-02 -6.29104171e-04 9.99851236e-01 1.11903681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96925415399997 meters Centerline goodness [0,1] 0.999332098073857 Centerline is valid? [True, True] Translation: X:129.94, Y:1.86, Z:1.12 [[ 9.99218452e-01 -3.50834691e-02 -1.82108705e-02 1.29943502e+02] [ 3.50881545e-02 9.99384219e-01 -6.22636611e-05 1.85595980e+00] [ 1.82018411e-02 -5.76770840e-04 9.99834166e-01 1.11908344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99925415399997 meters Centerline goodness [0,1] 0.999332098073857 Centerline is valid? [True, True] Translation: X:129.97, Y:1.86, Z:1.12 [[ 9.99219737e-01 -3.50468460e-02 -1.82108734e-02 1.29974365e+02] [ 3.50515407e-02 9.99385504e-01 -6.14225215e-05 1.85603452e+00] [ 1.82018355e-02 -5.76944574e-04 9.99834166e-01 1.11937240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.029254154 meters Centerline goodness [0,1] 0.999524838012959 Centerline is valid? [True, True] Translation: X:130.01, Y:1.86, Z:1.12 [[ 9.99302456e-01 -3.24468011e-02 -1.84880233e-02 1.30005553e+02] [ 3.24512079e-02 9.99473319e-01 -6.16744201e-05 1.85844835e+00] [ 1.84802872e-02 -5.38327289e-04 9.99829080e-01 1.11983543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059254154 meters Centerline goodness [0,1] 0.9994152046783625 Centerline is valid? [True, True] Translation: X:130.04, Y:1.86, Z:1.12 [[ 9.99446133e-01 -2.71567167e-02 -1.92338375e-02 1.30035032e+02] [ 2.71605108e-02 9.99631083e-01 -6.39844248e-05 1.86238456e+00] [ 1.92284794e-02 -4.58451864e-04 9.99815011e-01 1.12002188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089254154 meters Centerline goodness [0,1] 0.9994158120212904 Centerline is valid? [True, True] Translation: X:130.07, Y:1.86, Z:1.12 [[ 9.99512064e-01 -2.45048519e-02 -1.93686927e-02 1.30065790e+02] [ 2.45081984e-02 9.99699627e-01 -6.46045191e-05 1.86497962e+00] [ 1.93644580e-02 -4.10118767e-04 9.99812407e-01 1.12061060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119254154 meters Centerline goodness [0,1] 0.9995018949648078 Centerline is valid? [True, True] Translation: X:130.09, Y:1.87, Z:1.12 [[ 9.99583132e-01 -2.14096247e-02 -1.93698064e-02 1.30094360e+02] [ 2.14123803e-02 9.99770727e-01 -6.51459884e-05 1.86661077e+00] [ 1.93667601e-02 -3.49634828e-04 9.99812386e-01 1.12062365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14925415399998 meters Centerline goodness [0,1] 0.9995009005490094 Centerline is valid? [True, True] Translation: X:130.12, Y:1.87, Z:1.12 [[ 9.99708603e-01 -1.54510248e-02 -1.85465839e-02 1.30123329e+02] [ 1.54525045e-02 9.99880601e-01 -6.35334270e-05 1.87185237e+00] [ 1.85453511e-02 -2.23076257e-04 9.99827995e-01 1.12234506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17925415399998 meters Centerline goodness [0,1] 0.9994570410911302 Centerline is valid? [True, True] Translation: X:130.15, Y:1.87, Z:1.12 [[ 9.99757594e-01 -1.27790962e-02 -1.79289447e-02 1.30151520e+02] [ 1.27799983e-02 9.99918330e-01 -6.42629466e-05 1.87317762e+00] [ 1.79283017e-02 -1.64884514e-04 9.99839261e-01 1.12256727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20925415399998 meters Centerline goodness [0,1] 0.999500228156711 Centerline is valid? [True, True] Translation: X:130.18, Y:1.88, Z:1.12 [[ 9.99800957e-01 -9.93599321e-03 -1.73009502e-02 1.30180375e+02] [ 9.93633326e-03 9.99950631e-01 -6.63075218e-05 1.87548023e+00] [ 1.73007549e-02 -1.05613683e-04 9.99850325e-01 1.12369231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23925415399998 meters Centerline goodness [0,1] 0.9994781020310529 Centerline is valid? [True, True] Translation: X:130.21, Y:1.88, Z:1.12 [[ 9.99834804e-01 -7.53317047e-03 -1.65413722e-02 1.30208646e+02] [ 7.53308507e-03 9.99971624e-01 -6.74716141e-05 1.87753032e+00] [ 1.65414111e-02 -5.71470958e-05 9.99863180e-01 1.12487941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26925415399998 meters Centerline goodness [0,1] 0.9995220092990919 Centerline is valid? [True, True] Translation: X:130.24, Y:1.88, Z:1.13 [[ 9.99857178e-01 -5.22013640e-03 -1.60739863e-02 1.30236045e+02] [ 5.21970996e-03 9.99986375e-01 -6.84837747e-05 1.87908588e+00] [ 1.60741248e-02 -1.54275527e-05 9.99870803e-01 1.12542485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29925415399998 meters Centerline goodness [0,1] 0.9994355311434836 Centerline is valid? [True, True] Translation: X:130.26, Y:1.88, Z:1.13 [[ 9.99875871e-01 -3.62053819e-03 -1.53340799e-02 1.30263581e+02] [ 3.61992299e-03 9.99993446e-01 -6.78751915e-05 1.88013961e+00] [ 1.53342252e-02 1.23585778e-05 9.99882424e-01 1.12634759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32925415399998 meters Centerline goodness [0,1] 0.999673934308632 Centerline is valid? [True, True] Translation: X:130.29, Y:1.88, Z:1.13 [[ 9.99882733e-01 -1.73377671e-03 -1.52156097e-02 1.30291292e+02] [ 1.73290324e-03 9.99998496e-01 -7.05908388e-05 1.87996025e+00] [ 1.52157092e-02 4.42153816e-05 9.99884233e-01 1.12670558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35925415399998 meters Centerline goodness [0,1] 0.9995652740946833 Centerline is valid? [True, True] Translation: X:130.32, Y:1.88, Z:1.13 [[ 9.99875227e-01 -2.02531034e-03 -1.56661611e-02 1.30319022e+02] [ 2.02437803e-03 9.99997948e-01 -7.53687778e-05 1.87914588e+00] [ 1.56662816e-02 4.36451416e-05 9.99877275e-01 1.12666689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38925415399999 meters Centerline goodness [0,1] 0.9995872436565867 Centerline is valid? [True, True] Translation: X:130.35, Y:1.88, Z:1.13 [[ 9.99872850e-01 -2.71289637e-03 -1.57137975e-02 1.30347103e+02] [ 2.71198969e-03 9.99996319e-01 -7.90087717e-05 1.87790799e+00] [ 1.57139540e-02 3.63830690e-05 9.99876528e-01 1.12687407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.419254154 meters Centerline goodness [0,1] 0.9995872436565867 Centerline is valid? [True, True] Translation: X:130.37, Y:1.88, Z:1.13 [[ 9.99872006e-01 -3.00806834e-03 -1.57137824e-02 1.30374480e+02] [ 3.00715239e-03 9.99995475e-01 -8.19172273e-05 1.87810934e+00] [ 1.57139577e-02 3.46530042e-05 9.99876528e-01 1.12713093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.449254154 meters Centerline goodness [0,1] 0.9995222272895086 Centerline is valid? [True, True] Translation: X:130.40, Y:1.88, Z:1.13 [[ 9.99864025e-01 -4.34564554e-03 -1.59074619e-02 1.30400948e+02] [ 4.34481831e-03 9.99990557e-01 -8.65621169e-05 1.87648001e+00] [ 1.59076879e-02 1.74353147e-05 9.99873465e-01 1.12661765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.479254154 meters Centerline goodness [0,1] 0.9995230145480563 Centerline is valid? [True, True] Translation: X:130.43, Y:1.87, Z:1.13 [[ 9.99823652e-01 -8.54394294e-03 -1.67232347e-02 1.30430024e+02] [ 8.54358598e-03 9.99963499e-01 -9.27895652e-05 1.87138323e+00] [ 1.67234171e-02 -5.01031918e-05 9.99860153e-01 1.12576262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.509254154 meters Centerline goodness [0,1] 0.999632551604885 Centerline is valid? [True, True] Translation: X:130.46, Y:1.87, Z:1.13 [[ 9.99798607e-01 -1.10827107e-02 -1.67307611e-02 1.30458547e+02] [ 1.10826884e-02 9.99938581e-01 -9.40481643e-05 1.86858165e+00] [ 1.67307758e-02 -9.13925892e-05 9.99860027e-01 1.12613194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539254154 meters Centerline goodness [0,1] 0.9994170355176508 Centerline is valid? [True, True] Translation: X:130.49, Y:1.87, Z:1.13 [[ 9.99752353e-01 -1.42260884e-02 -1.71129167e-02 1.30486599e+02] [ 1.42264963e-02 9.99898793e-01 -9.79083242e-05 1.86508186e+00] [ 1.71125776e-02 -1.45572768e-04 9.99853559e-01 1.12573442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.569254154 meters Centerline goodness [0,1] 0.999417337447938 Centerline is valid? [True, True] Translation: X:130.52, Y:1.86, Z:1.13 [[ 9.99708919e-01 -1.71773295e-02 -1.69415834e-02 1.30515428e+02] [ 1.71780996e-02 9.99852441e-01 -1.00076507e-04 1.86216079e+00] [ 1.69408026e-02 -1.90976831e-04 9.99856476e-01 1.12600283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599254154 meters Centerline goodness [0,1] 0.9992906429354486 Centerline is valid? [True, True] Translation: X:130.54, Y:1.86, Z:1.13 [[ 9.99610002e-01 -2.26038765e-02 -1.63984262e-02 1.30544407e+02] [ 2.26052814e-02 9.99744463e-01 -9.97048462e-05 1.85510448e+00] [ 1.63964895e-02 -2.71025077e-04 9.99865532e-01 1.12610964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.629254154 meters Centerline goodness [0,1] 0.999205991544883 Centerline is valid? [True, True] Translation: X:130.57, Y:1.85, Z:1.13 [[ 9.99557953e-01 -2.51838944e-02 -1.58009461e-02 1.30573517e+02] [ 2.51855088e-02 9.99682790e-01 -9.68437539e-05 1.85125653e+00] [ 1.57983728e-02 -3.01153922e-04 9.99875153e-01 1.12613872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659254154 meters Centerline goodness [0,1] 0.9991836734693877 Centerline is valid? [True, True] Translation: X:130.60, Y:1.85, Z:1.13 [[ 9.99498246e-01 -2.75206534e-02 -1.56802459e-02 1.30603673e+02] [ 2.75225279e-02 9.99621179e-01 -9.62715061e-05 1.84922123e+00] [ 1.56769554e-02 -3.35336805e-04 9.99877053e-01 1.12676426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.689254154 meters Centerline goodness [0,1] 0.999058742994053 Centerline is valid? [True, True] Translation: X:130.64, Y:1.84, Z:1.13 [[ 9.99381369e-01 -3.16368408e-02 -1.53619604e-02 1.30635021e+02] [ 3.16391294e-02 9.99499353e-01 -9.40961319e-05 1.84418555e+00] [ 1.53572464e-02 -3.92001131e-04 9.99881994e-01 1.12709217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719254154 meters Centerline goodness [0,1] 0.9991015466233127 Centerline is valid? [True, True] Translation: X:130.67, Y:1.84, Z:1.13 [[ 9.99315772e-01 -3.36669745e-02 -1.53141447e-02 1.30665919e+02] [ 3.36694973e-02 9.99433017e-01 -9.31304314e-05 1.84047010e+00] [ 1.53085972e-02 -4.22552843e-04 9.99882727e-01 1.12715315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.749254154 meters Centerline goodness [0,1] 0.9990804499379838 Centerline is valid? [True, True] Translation: X:130.70, Y:1.84, Z:1.13 [[ 9.99247653e-01 -3.56864404e-02 -1.51857123e-02 1.30698329e+02] [ 3.56891683e-02 9.99362935e-01 -9.14118237e-05 1.83814052e+00] [ 1.51793002e-02 -4.50622392e-04 9.99884686e-01 1.12772421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779254154 meters Centerline goodness [0,1] 0.9988671824904886 Centerline is valid? [True, True] Translation: X:130.73, Y:1.83, Z:1.13 [[ 9.99107683e-01 -3.97573018e-02 -1.42546067e-02 1.30730013e+02] [ 3.97601308e-02 9.99209250e-01 -8.49855888e-05 1.83276790e+00] [ 1.42467136e-02 -4.81855272e-04 9.99898394e-01 1.12830030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.809254154 meters Centerline goodness [0,1] 0.9989537962251259 Centerline is valid? [True, True] Translation: X:130.76, Y:1.83, Z:1.13 [[ 9.99031350e-01 -4.17394660e-02 -1.39348284e-02 1.30761497e+02] [ 4.17423732e-02 9.99128404e-01 -8.22852416e-05 1.82914069e+00] [ 1.39261174e-02 -4.99467270e-04 9.99902902e-01 1.12856265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839254154 meters Centerline goodness [0,1] 0.9988470653543139 Centerline is valid? [True, True] Translation: X:130.79, Y:1.83, Z:1.13 [[ 9.98925341e-01 -4.41500328e-02 -1.41045537e-02 1.30793210e+02] [ 4.41532683e-02 9.99024766e-01 -8.20732904e-05 1.82709369e+00] [ 1.40944220e-02 -5.40777054e-04 9.99900522e-01 1.12845145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.869254154 meters Centerline goodness [0,1] 0.9989131824574863 Centerline is valid? [True, True] Translation: X:130.83, Y:1.82, Z:1.13 [[ 9.98816341e-01 -4.64407043e-02 -1.44629939e-02 1.30825302e+02] [ 4.64443593e-02 9.98920875e-01 -8.32478371e-05 1.82464867e+00] [ 1.44512526e-02 -5.88575186e-04 9.99895402e-01 1.12866360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89925415399998 meters Centerline goodness [0,1] 0.9988914707199045 Centerline is valid? [True, True] Translation: X:130.86, Y:1.82, Z:1.13 [[ 9.98639921e-01 -4.97539345e-02 -1.55838079e-02 1.30855636e+02] [ 4.97585940e-02 9.98761270e-01 -8.88372424e-05 1.81890311e+00] [ 1.55689238e-02 -6.86711955e-04 9.99878561e-01 1.12774085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92925415399998 meters Centerline goodness [0,1] 0.9989142698997296 Centerline is valid? [True, True] Translation: X:130.89, Y:1.82, Z:1.13 [[ 9.98583042e-01 -5.08035364e-02 -1.58400799e-02 1.30887398e+02] [ 5.08084962e-02 9.98708410e-01 -8.94129878e-05 1.81866089e+00] [ 1.58241635e-02 -7.15524346e-04 9.99874534e-01 1.12793072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95925415399998 meters Centerline goodness [0,1] 0.9989568031338485 Centerline is valid? [True, True] Translation: X:130.92, Y:1.82, Z:1.13 [[ 9.98545773e-01 -5.15036180e-02 -1.59284933e-02 1.30918703e+02] [ 5.15087444e-02 9.98672540e-01 -8.85165157e-05 1.81520240e+00] [ 1.59119078e-02 -7.32068898e-04 9.99873130e-01 1.12749509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98925415399998 meters Centerline goodness [0,1] 0.9987656160214528 Centerline is valid? [True, True] Translation: X:130.95, Y:1.82, Z:1.13 [[ 9.98504544e-01 -5.22736131e-02 -1.60045043e-02 1.30950664e+02] [ 5.22789034e-02 9.98632519e-01 -8.79318441e-05 1.81577566e+00] [ 1.59872149e-02 -7.48897588e-04 9.99871916e-01 1.12785997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01925415399998 meters Centerline goodness [0,1] 0.9989801555262823 Centerline is valid? [True, True] Translation: X:130.98, Y:1.81, Z:1.13 [[ 9.98455535e-01 -5.31798915e-02 -1.60761656e-02 1.30982343e+02] [ 5.31853636e-02 9.98584653e-01 -8.72632949e-05 1.81345867e+00] [ 1.60580529e-02 -7.67888191e-04 9.99870766e-01 1.12843362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04925415399998 meters Centerline goodness [0,1] 0.999001805245832 Centerline is valid? [True, True] Translation: X:131.01, Y:1.81, Z:1.13 [[ 9.98464446e-01 -5.29093004e-02 -1.64120695e-02 1.31014320e+02] [ 5.29149842e-02 9.98599017e-01 -8.80452826e-05 1.81283302e+00] [ 1.63937348e-02 -7.80534311e-04 9.99865309e-01 1.12855789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07925415399998 meters Centerline goodness [0,1] 0.9990860397891516 Centerline is valid? [True, True] Translation: X:131.05, Y:1.81, Z:1.13 [[ 9.98473792e-01 -5.24880405e-02 -1.71782609e-02 1.31046394e+02] [ 5.24942276e-02 9.98621223e-01 -9.08539109e-05 1.81486615e+00] [ 1.71593447e-02 -8.11044290e-04 9.99852439e-01 1.12873409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10925415399998 meters Centerline goodness [0,1] 0.9989600577274078 Centerline is valid? [True, True] Translation: X:131.08, Y:1.81, Z:1.13 [[ 9.98497059e-01 -5.17164175e-02 -1.81393464e-02 1.31077156e+02] [ 5.17232117e-02 9.98661454e-01 -9.47075138e-05 1.81361896e+00] [ 1.81199640e-02 -8.43660082e-04 9.99835464e-01 1.12831232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13925415399999 meters Centerline goodness [0,1] 0.9988746868232197 Centerline is valid? [True, True] Translation: X:131.11, Y:1.82, Z:1.13 [[ 9.98552395e-01 -5.03515984e-02 -1.89163990e-02 1.31109642e+02] [ 5.03587667e-02 9.98731188e-01 -9.75130271e-05 1.81533089e+00] [ 1.88973076e-02 -8.55234659e-04 9.99821064e-01 1.12808340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.169254154 meters Centerline goodness [0,1] 0.9989592183517417 Centerline is valid? [True, True] Translation: X:131.14, Y:1.82, Z:1.13 [[ 9.98638272e-01 -4.83034708e-02 -1.97072579e-02 1.31141356e+02] [ 4.83108787e-02 9.98832343e-01 -1.00288981e-04 1.81737711e+00] [ 1.96890909e-02 -8.51922531e-04 9.99805788e-01 1.12822406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.199254154 meters Centerline goodness [0,1] 0.9990228359001593 Centerline is valid? [True, True] Translation: X:131.17, Y:1.82, Z:1.13 [[ 9.98836913e-01 -4.33525501e-02 -2.11039824e-02 1.31171628e+02] [ 4.33599541e-02 9.99059509e-01 -1.06836052e-04 1.82228615e+00] [ 2.10887659e-02 -8.08355916e-04 9.99777280e-01 1.12748130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.229254154 meters Centerline goodness [0,1] 0.9992334554126565 Centerline is valid? [True, True] Translation: X:131.20, Y:1.82, Z:1.13 [[ 9.98952964e-01 -4.03288645e-02 -2.15999839e-02 1.31202406e+02] [ 4.03359249e-02 9.99186169e-01 -1.08888761e-04 1.82396954e+00] [ 2.15867965e-02 -7.62480577e-04 9.99766687e-01 1.12750681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.259254154 meters Centerline goodness [0,1] 0.9989570473798476 Centerline is valid? [True, True] Translation: X:131.23, Y:1.83, Z:1.13 [[ 9.99189155e-01 -3.40634559e-02 -2.14642358e-02 1.31232263e+02] [ 3.40689909e-02 9.99419478e-01 -1.07855745e-04 1.82676983e+00] [ 2.14554493e-02 -6.23496565e-04 9.99769611e-01 1.12745882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.289254154 meters Centerline goodness [0,1] 0.9992539699456464 Centerline is valid? [True, True] Translation: X:131.26, Y:1.83, Z:1.13 [[ 9.99304198e-01 -3.05570589e-02 -2.13865909e-02 1.31262042e+02] [ 3.05617420e-02 9.99532875e-01 -1.07910359e-04 1.83168019e+00] [ 2.13798981e-02 -5.45776198e-04 9.99771275e-01 1.12919268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319254154 meters Centerline goodness [0,1] 0.9989549119140042 Centerline is valid? [True, True] Translation: X:131.29, Y:1.84, Z:1.13 [[ 9.99413438e-01 -2.71661750e-02 -2.08513391e-02 1.31291236e+02] [ 2.71698242e-02 9.99630826e-01 -1.08315812e-04 1.83500255e+00] [ 2.08465839e-02 -4.58274941e-04 9.99782581e-01 1.13010881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.349254154 meters Centerline goodness [0,1] 0.9990178285470268 Centerline is valid? [True, True] Translation: X:131.32, Y:1.84, Z:1.13 [[ 9.99520873e-01 -2.31543559e-02 -2.05402124e-02 1.31319201e+02] [ 2.31569735e-02 9.99731835e-01 -1.10434415e-04 1.83789360e+00] [ 2.05372613e-02 -3.65267651e-04 9.99789021e-01 1.13082044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379254154 meters Centerline goodness [0,1] 0.999209367921706 Centerline is valid? [True, True] Translation: X:131.35, Y:1.84, Z:1.13 [[ 9.99623384e-01 -1.88728721e-02 -1.99224553e-02 1.31348259e+02] [ 1.88744088e-02 9.99821856e-01 -1.10912278e-04 1.84198404e+00] [ 1.99209995e-02 -2.65154059e-04 9.99801522e-01 1.13209208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.409254154 meters Centerline goodness [0,1] 0.9992505353319058 Centerline is valid? [True, True] Translation: X:131.38, Y:1.85, Z:1.13 [[ 9.99764572e-01 -9.82507448e-03 -1.93460369e-02 1.31376417e+02] [ 9.82477245e-03 9.99951730e-01 -1.10658163e-04 1.84867239e+00] [ 1.93461903e-02 -7.94383000e-05 9.99812842e-01 1.13271781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439254154 meters Centerline goodness [0,1] 0.9993358328869845 Centerline is valid? [True, True] Translation: X:131.41, Y:1.85, Z:1.13 [[ 9.99806808e-01 -5.62204421e-03 -1.88345213e-02 1.31405352e+02] [ 5.62095509e-03 9.99984196e-01 -1.10764020e-04 1.85226822e+00] [ 1.88348464e-02 4.87462264e-06 9.99822609e-01 1.13326179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.469254154 meters Centerline goodness [0,1] 0.9993353629775739 Centerline is valid? [True, True] Translation: X:131.43, Y:1.86, Z:1.13 [[ 9.99821589e-01 -1.89550863e-03 -1.87935468e-02 1.31434249e+02] [ 1.89367786e-03 9.99998200e-01 -1.15210636e-04 1.85531649e+00] [ 1.87937313e-02 7.96011580e-05 9.99823379e-01 1.13370012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499254154 meters Centerline goodness [0,1] 0.9993355339306383 Centerline is valid? [True, True] Translation: X:131.46, Y:1.86, Z:1.13 [[ 9.99831024e-01 1.50596047e-03 -1.83208800e-02 1.31463185e+02] [-1.50835473e-03 9.99998856e-01 -1.16866912e-04 1.85707212e+00] [ 1.83206831e-02 1.44481551e-04 9.99832152e-01 1.13369226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.529254154 meters Centerline goodness [0,1] 0.9994420720585395 Centerline is valid? [True, True] Translation: X:131.49, Y:1.86, Z:1.13 [[ 9.99835243e-01 3.67521723e-03 -1.77758000e-02 1.31491466e+02] [-3.67786819e-03 9.99993230e-01 -1.16444200e-04 1.85902240e+00] [ 1.77752517e-02 1.81802064e-04 9.99841991e-01 1.13461463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559254154 meters Centerline goodness [0,1] 0.9994207873002252 Centerline is valid? [True, True] Translation: X:131.52, Y:1.86, Z:1.14 [[ 9.99826911e-01 6.31489771e-03 -1.75005694e-02 1.31519103e+02] [-6.31789860e-03 9.99980035e-01 -1.16190915e-04 1.86050015e+00] [ 1.74994863e-02 2.26737627e-04 9.99846847e-01 1.13533737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.589254154 meters Centerline goodness [0,1] 0.9995073364035557 Centerline is valid? [True, True] Translation: X:131.55, Y:1.86, Z:1.14 [[ 9.99832047e-01 6.34562165e-03 -1.71933238e-02 1.31545807e+02] [-6.34856257e-03 9.99979841e-01 -1.16474838e-04 1.86058009e+00] [ 1.71922381e-02 2.25608168e-04 9.99852177e-01 1.13550163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619254154 meters Centerline goodness [0,1] 0.9996138167775156 Centerline is valid? [True, True] Translation: X:131.57, Y:1.86, Z:1.14 [[ 9.99836021e-01 5.53716654e-03 -1.72415396e-02 1.31574424e+02] [-5.54004487e-03 9.99984647e-01 -1.19182412e-04 1.85880350e+00] [ 1.72406149e-02 2.14681771e-04 9.99851347e-01 1.13651369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64925415399998 meters Centerline goodness [0,1] 0.999613874766716 Centerline is valid? [True, True] Translation: X:131.60, Y:1.86, Z:1.14 [[ 9.99842200e-01 3.93706243e-03 -1.73226562e-02 1.31602280e+02] [-3.93975830e-03 9.99992232e-01 -1.21503297e-04 1.85859371e+00] [ 1.73220433e-02 1.89731202e-04 9.99849944e-01 1.13589258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67925415399998 meters Centerline goodness [0,1] 0.9997215737508299 Centerline is valid? [True, True] Translation: X:131.63, Y:1.85, Z:1.14 [[ 9.99845874e-01 -1.03949960e-03 -1.75256416e-02 1.31631036e+02] [ 1.03747179e-03 9.99999454e-01 -1.24796647e-04 1.85360223e+00] [ 1.75257617e-02 1.06595054e-04 9.99846406e-01 1.13619743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70925415399998 meters Centerline goodness [0,1] 0.9996793570039119 Centerline is valid? [True, True] Translation: X:131.66, Y:1.85, Z:1.14 [[ 9.99833501e-01 -3.86638647e-03 -1.78331669e-02 1.31659762e+02] [ 3.86471325e-03 9.99992524e-01 -1.28288408e-04 1.85085581e+00] [ 1.78335296e-02 5.93469721e-05 9.99840968e-01 1.13618566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73925415399998 meters Centerline goodness [0,1] 0.9995729050995131 Centerline is valid? [True, True] Translation: X:131.69, Y:1.85, Z:1.14 [[ 9.99810012e-01 -7.35567475e-03 -1.80508584e-02 1.31688249e+02] [ 7.35450525e-03 9.99972947e-01 -1.31172306e-04 1.84765245e+00] [ 1.80513349e-02 -1.60774799e-06 9.99837061e-01 1.13579881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76925415399998 meters Centerline goodness [0,1] 0.99963707783613 Centerline is valid? [True, True] Translation: X:131.72, Y:1.84, Z:1.14 [[ 9.99737598e-01 -1.41983063e-02 -1.79761768e-02 1.31716904e+02] [ 1.41982290e-02 9.99899191e-01 -1.31936274e-04 1.84109858e+00] [ 1.79762379e-02 -1.23328220e-04 9.99838407e-01 1.13617669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79925415399998 meters Centerline goodness [0,1] 0.9994232864130551 Centerline is valid? [True, True] Translation: X:131.75, Y:1.84, Z:1.14 [[ 9.99687677e-01 -1.78396791e-02 -1.75012593e-02 1.31745709e+02] [ 1.78401149e-02 9.99840844e-01 -1.31231476e-04 1.83818685e+00] [ 1.75008150e-02 -1.81033987e-04 9.99846833e-01 1.13662165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82925415399998 meters Centerline goodness [0,1] 0.999127288207748 Centerline is valid? [True, True] Translation: X:131.77, Y:1.83, Z:1.14 [[ 9.99631290e-01 -2.11608500e-02 -1.70147825e-02 1.31773136e+02] [ 2.11616907e-02 9.99776058e-01 -1.30653273e-04 1.83493691e+00] [ 1.70137369e-02 -2.29456464e-04 9.99855230e-01 1.13675601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85925415399998 meters Centerline goodness [0,1] 0.9990645661925718 Centerline is valid? [True, True] Translation: X:131.80, Y:1.83, Z:1.14 [[ 9.99562201e-01 -2.41698338e-02 -1.70653489e-02 1.31800615e+02] [ 2.41710912e-02 9.99707828e-01 -1.32606442e-04 1.83168425e+00] [ 1.70635679e-02 -2.79939717e-04 9.99854368e-01 1.13703709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88925415399999 meters Centerline goodness [0,1] 0.998917128479521 Centerline is valid? [True, True] Translation: X:131.83, Y:1.83, Z:1.14 [[ 9.99395339e-01 -2.98568584e-02 -1.78192079e-02 1.31829980e+02] [ 2.98591086e-02 9.99554108e-01 -1.39817522e-04 1.82661900e+00] [ 1.78154369e-02 -3.92332684e-04 9.99841216e-01 1.13723934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.919254154 meters Centerline goodness [0,1] 0.9984731529391806 Centerline is valid? [True, True] Translation: X:131.86, Y:1.82, Z:1.14 [[ 9.99323259e-01 -3.21967880e-02 -1.77873865e-02 1.31859951e+02] [ 3.21994051e-02 9.99481455e-01 -1.39317345e-04 1.82418726e+00] [ 1.77826485e-02 -4.33520202e-04 9.99841782e-01 1.13713621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.949254154 meters Centerline goodness [0,1] 0.9986643203934954 Centerline is valid? [True, True] Translation: X:131.89, Y:1.82, Z:1.14 [[ 9.99252502e-01 -3.44123234e-02 -1.76133256e-02 1.31890734e+02] [ 3.44152482e-02 9.99407610e-01 -1.37115984e-04 1.82246759e+00] [ 1.76076101e-02 -4.69153481e-04 9.99844864e-01 1.13757889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.979254154 meters Centerline goodness [0,1] 0.998708393325993 Centerline is valid? [True, True] Translation: X:131.92, Y:1.82, Z:1.14 [[ 9.99190458e-01 -3.62539969e-02 -1.74378013e-02 1.31922120e+02] [ 3.62571490e-02 9.99342484e-01 -1.35452155e-04 1.82108957e+00] [ 1.74312463e-02 -4.96902459e-04 9.99847941e-01 1.13789131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.009254154 meters Centerline goodness [0,1] 0.9988796820833685 Centerline is valid? [True, True] Translation: X:131.95, Y:1.82, Z:1.14 [[ 9.99066032e-01 -3.96508336e-02 -1.71719262e-02 1.31952365e+02] [ 3.96543998e-02 9.99213446e-01 -1.32904116e-04 1.81567202e+00] [ 1.71636894e-02 -5.48162441e-04 9.99852543e-01 1.13810048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039254154 meters Centerline goodness [0,1] 0.9991121445935948 Centerline is valid? [True, True] Translation: X:131.98, Y:1.82, Z:1.14 [[ 9.99016893e-01 -4.08992098e-02 -1.71027044e-02 1.31983332e+02] [ 4.09029378e-02 9.99163116e-01 -1.31912672e-04 1.81520815e+00] [ 1.70937865e-02 -5.67767866e-04 9.99853729e-01 1.13898762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.069254154 meters Centerline goodness [0,1] 0.998985994042715 Centerline is valid? [True, True] Translation: X:132.01, Y:1.81, Z:1.14 [[ 9.98958152e-01 -4.22298756e-02 -1.72987796e-02 1.32013969e+02] [ 4.22338999e-02 9.99107742e-01 -1.32783770e-04 1.81222239e+00] [ 1.72889521e-02 -5.97949497e-04 9.99850356e-01 1.13900105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099254154 meters Centerline goodness [0,1] 0.9991759634888439 Centerline is valid? [True, True] Translation: X:132.04, Y:1.81, Z:1.14 [[ 9.98861287e-01 -4.44941008e-02 -1.72164200e-02 1.32044931e+02] [ 4.44984312e-02 9.99009446e-01 -1.31662896e-04 1.81183951e+00] [ 1.72052244e-02 -6.34590711e-04 9.99851778e-01 1.13986525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.129254154 meters Centerline goodness [0,1] 0.9988809357910517 Centerline is valid? [True, True] Translation: X:132.08, Y:1.81, Z:1.14 [[ 9.98803160e-01 -4.57907412e-02 -1.71888092e-02 1.32076987e+02] [ 4.57952624e-02 9.98950838e-01 -1.30695236e-04 1.81113573e+00] [ 1.71767600e-02 -6.56627212e-04 9.99852253e-01 1.14036937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159254154 meters Centerline goodness [0,1] 0.9987113946512316 Centerline is valid? [True, True] Translation: X:132.11, Y:1.81, Z:1.14 [[ 9.98720222e-01 -4.74373791e-02 -1.75389244e-02 1.32109079e+02] [ 4.74423631e-02 9.98873968e-01 -1.32034689e-04 1.81028497e+00] [ 1.75254384e-02 -7.00222308e-04 9.99846173e-01 1.14064297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.189254154 meters Centerline goodness [0,1] 0.9985431973650875 Centerline is valid? [True, True] Translation: X:132.14, Y:1.81, Z:1.14 [[ 9.98628689e-01 -4.93533495e-02 -1.74639194e-02 1.32140418e+02] [ 4.93586033e-02 9.98781113e-01 -1.30324435e-04 1.80729247e+00] [ 1.74490648e-02 -7.31848953e-04 9.99847486e-01 1.14042019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219254154 meters Centerline goodness [0,1] 0.9988397848328235 Centerline is valid? [True, True] Translation: X:132.17, Y:1.80, Z:1.14 [[ 9.98387268e-01 -5.37411577e-02 -1.82961930e-02 1.32171380e+02] [ 5.37476724e-02 9.98554540e-01 -1.35826964e-04 1.80396372e+00] [ 1.82770461e-02 -8.47769879e-04 9.99832601e-01 1.14031779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.249254154 meters Centerline goodness [0,1] 0.9988613600421719 Centerline is valid? [True, True] Translation: X:132.20, Y:1.80, Z:1.14 [[ 9.98265013e-01 -5.57865699e-02 -1.88367527e-02 1.32203180e+02] [ 5.57938518e-02 9.98442300e-01 -1.39145509e-04 1.80183056e+00] [ 1.88151732e-02 -9.12070895e-04 9.99822563e-01 1.14015465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279254154 meters Centerline goodness [0,1] 0.9986712224753227 Centerline is valid? [True, True] Translation: X:132.23, Y:1.80, Z:1.14 [[ 9.98150806e-01 -5.75585706e-02 -1.95443173e-02 1.32233839e+02] [ 5.75667663e-02 9.98341648e-01 -1.43470238e-04 1.79589005e+00] [ 1.95201639e-02 -9.81898213e-04 9.99808981e-01 1.13898417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309254154 meters Centerline goodness [0,1] 0.9991349298449204 Centerline is valid? [True, True] Translation: X:132.27, Y:1.80, Z:1.14 [[ 9.98052611e-01 -5.91097591e-02 -1.99254186e-02 1.32265819e+02] [ 5.91186082e-02 9.98250955e-01 -1.45149406e-04 1.79969761e+00] [ 1.98991479e-02 -1.03309627e-03 9.99801459e-01 1.14013867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339254154 meters Centerline goodness [0,1] 0.9991349298449204 Centerline is valid? [True, True] Translation: X:132.30, Y:1.80, Z:1.14 [[ 9.98056926e-01 -5.90368511e-02 -1.99254291e-02 1.32297553e+02] [ 5.90457147e-02 9.98255269e-01 -1.43694141e-04 1.79986602e+00] [ 1.98991479e-02 -1.03309627e-03 9.99801459e-01 1.14043579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36925415399998 meters Centerline goodness [0,1] 0.9989891970434014 Centerline is valid? [True, True] Translation: X:132.33, Y:1.80, Z:1.14 [[ 9.97977769e-01 -6.02562530e-02 -2.02374939e-02 1.32328697e+02] [ 6.02656726e-02 9.98182362e-01 -1.44658092e-04 1.79822431e+00] [ 2.02094260e-02 -1.07526062e-03 9.99795190e-01 1.14030795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39925415399998 meters Centerline goodness [0,1] 0.999094221978809 Centerline is valid? [True, True] Translation: X:132.36, Y:1.80, Z:1.14 [[ 9.97880007e-01 -6.18915506e-02 -2.01228012e-02 1.32359650e+02] [ 6.19012169e-02 9.98082271e-01 -1.42750267e-04 1.79556972e+00] [ 2.00930461e-02 -1.10317824e-03 9.99797506e-01 1.14092091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42925415399998 meters Centerline goodness [0,1] 0.999072082331604 Centerline is valid? [True, True] Translation: X:132.39, Y:1.79, Z:1.14 [[ 9.97870588e-01 -6.20573088e-02 -2.00793287e-02 1.32390825e+02] [ 6.20669884e-02 9.98071976e-01 -1.41368313e-04 1.79467969e+00] [ 2.00493882e-02 -1.10519618e-03 9.99798380e-01 1.14110473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45925415399998 meters Centerline goodness [0,1] 0.9991570961963966 Centerline is valid? [True, True] Translation: X:132.42, Y:1.80, Z:1.14 [[ 9.97882701e-01 -6.18970870e-02 -1.99716235e-02 1.32423208e+02] [ 6.19066565e-02 9.98081934e-01 -1.39336588e-04 1.79909491e+00] [ 1.99419411e-02 -1.09733486e-03 9.99800538e-01 1.14243421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48925415399998 meters Centerline goodness [0,1] 0.9990089197224975 Centerline is valid? [True, True] Translation: X:132.45, Y:1.80, Z:1.14 [[ 9.97928399e-01 -6.10897069e-02 -2.01732158e-02 1.32454374e+02] [ 6.10993469e-02 9.98131680e-01 -1.38716146e-04 1.79655469e+00] [ 2.01439999e-02 -1.09414153e-03 9.99796490e-01 1.14212542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51925415399998 meters Centerline goodness [0,1] 0.999157806084851 Centerline is valid? [True, True] Translation: X:132.48, Y:1.80, Z:1.14 [[ 9.98116054e-01 -5.80554643e-02 -1.98470711e-02 1.32484835e+02] [ 5.80642193e-02 9.98312841e-01 -1.35337542e-04 1.80091995e+00] [ 1.98214430e-02 -1.01732212e-03 9.99803018e-01 1.14324857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54925415399998 meters Centerline goodness [0,1] 0.9984413833775644 Centerline is valid? [True, True] Translation: X:132.52, Y:1.80, Z:1.14 [[ 9.98240249e-01 -5.59668049e-02 -1.95990108e-02 1.32516650e+02] [ 5.59749513e-02 9.98432165e-01 -1.33107776e-04 1.80311578e+00] [ 1.95757324e-02 -9.64180134e-04 9.99807912e-01 1.14394843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57925415399998 meters Centerline goodness [0,1] 0.9989875340125293 Centerline is valid? [True, True] Translation: X:132.55, Y:1.81, Z:1.15 [[ 9.98390213e-01 -5.33774890e-02 -1.91788138e-02 1.32548230e+02] [ 5.33848334e-02 9.98574005e-01 -1.29197291e-04 1.81079021e+00] [ 1.91583612e-02 -8.94868470e-04 9.99816061e-01 1.14636036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60925415399998 meters Centerline goodness [0,1] 0.9986063600658812 Centerline is valid? [True, True] Translation: X:132.58, Y:1.81, Z:1.15 [[ 9.98552735e-01 -5.05965311e-02 -1.82325637e-02 1.32579153e+02] [ 5.06027212e-02 9.98718854e-01 -1.21971759e-04 1.80962732e+00] [ 1.82153765e-02 -8.00822105e-04 9.99833766e-01 1.14646251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63925415399999 meters Centerline goodness [0,1] 0.9990712793127466 Centerline is valid? [True, True] Translation: X:132.61, Y:1.82, Z:1.15 [[ 9.98869210e-01 -4.41624490e-02 -1.76062121e-02 1.32609450e+02] [ 4.41672297e-02 9.99024145e-01 -1.17397096e-04 1.81780678e+00] [ 1.75942156e-02 -6.60353272e-04 9.99844992e-01 1.14839491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.669254154 meters Centerline goodness [0,1] 0.9989886859237722 Centerline is valid? [True, True] Translation: X:132.64, Y:1.82, Z:1.15 [[ 9.99026028e-01 -4.06500640e-02 -1.71629485e-02 1.32640880e+02] [ 4.06540951e-02 9.99173274e-01 -1.14103210e-04 1.82090426e+00] [ 1.71533978e-02 -5.83752066e-04 9.99852699e-01 1.14906309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.699254154 meters Centerline goodness [0,1] 0.9989426716572565 Centerline is valid? [True, True] Translation: X:132.67, Y:1.82, Z:1.15 [[ 9.99168338e-01 -3.72237852e-02 -1.66439606e-02 1.32670872e+02] [ 3.72271090e-02 9.99306825e-01 -1.10187807e-04 1.82387423e+00] [ 1.66365250e-02 -5.09510367e-04 9.99861474e-01 1.14944377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.729254154 meters Centerline goodness [0,1] 0.999277870993777 Centerline is valid? [True, True] Translation: X:132.70, Y:1.83, Z:1.15 [[ 9.99425238e-01 -2.95274455e-02 -1.66530566e-02 1.32701382e+02] [ 2.95297079e-02 9.99563897e-01 -1.10076741e-04 1.83166339e+00] [ 1.66490444e-02 -3.81746425e-04 9.99861322e-01 1.15006847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.759254154 meters Centerline goodness [0,1] 0.9989583997619199 Centerline is valid? [True, True] Translation: X:132.73, Y:1.84, Z:1.15 [[ 9.99527806e-01 -2.58698603e-02 -1.65805530e-02 1.32731652e+02] [ 2.58716000e-02 9.99665268e-01 -1.09597492e-04 1.83590793e+00] [ 1.65778383e-02 -3.19419695e-04 9.99862527e-01 1.15089405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.789254154 meters Centerline goodness [0,1] 0.9991272510536847 Centerline is valid? [True, True] Translation: X:132.76, Y:1.84, Z:1.15 [[ 9.99607842e-01 -2.26482002e-02 -1.64688037e-02 1.32760771e+02] [ 2.26494752e-02 9.99743462e-01 -1.09120134e-04 1.83755762e+00] [ 1.64670502e-02 -2.63932419e-04 9.99864374e-01 1.15069499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819254154 meters Centerline goodness [0,1] 0.9993819003367578 Centerline is valid? [True, True] Translation: X:132.79, Y:1.84, Z:1.15 [[ 9.99660577e-01 -1.98340926e-02 -1.68919700e-02 1.32790052e+02] [ 1.98350217e-02 9.99803260e-01 -1.12549830e-04 1.84145864e+00] [ 1.68908790e-02 -2.22540965e-04 9.99857314e-01 1.15109780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.849254154 meters Centerline goodness [0,1] 0.9992321474276938 Centerline is valid? [True, True] Translation: X:132.82, Y:1.85, Z:1.15 [[ 9.99714044e-01 -1.62410911e-02 -1.75515589e-02 1.32818927e+02] [ 1.62414972e-02 9.99868091e-01 -1.19412135e-04 1.84568755e+00] [ 1.75511831e-02 -1.65685606e-04 9.99845952e-01 1.15048080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879254154 meters Centerline goodness [0,1] 0.9990824513485831 Centerline is valid? [True, True] Translation: X:132.85, Y:1.85, Z:1.15 [[ 9.99701958e-01 -1.55562546e-02 -1.88148150e-02 1.32846241e+02] [ 1.55565350e-02 9.99878981e-01 -1.31465340e-04 1.84664722e+00] [ 1.88145831e-02 -1.61267169e-04 9.99822977e-01 1.14965967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.909254154 meters Centerline goodness [0,1] 0.9991052407328505 Centerline is valid? [True, True] Translation: X:132.87, Y:1.85, Z:1.15 [[ 9.99683497e-01 -1.60382785e-02 -1.93824448e-02 1.32874078e+02] [ 1.60385930e-02 9.99871364e-01 -1.39231589e-04 1.84788990e+00] [ 1.93821845e-02 -1.71679622e-04 9.99812133e-01 1.14951836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939254154 meters Centerline goodness [0,1] 0.9989759781542006 Centerline is valid? [True, True] Translation: X:132.90, Y:1.85, Z:1.15 [[ 9.99656508e-01 -1.67646262e-02 -2.01448252e-02 1.32901877e+02] [ 1.67650266e-02 9.99859446e-01 -1.49017290e-04 1.84796776e+00] [ 2.01444920e-02 -1.88762426e-04 9.99797061e-01 1.14864963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.969254154 meters Centerline goodness [0,1] 0.999296435272045 Centerline is valid? [True, True] Translation: X:132.93, Y:1.85, Z:1.15 [[ 9.99614006e-01 -1.83684925e-02 -2.08431866e-02 1.32930256e+02] [ 1.83691812e-02 9.99831260e-01 -1.58434184e-04 1.84805181e+00] [ 2.08425798e-02 -2.24499242e-04 9.99782745e-01 1.14913185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999254154 meters Centerline goodness [0,1] 0.9990417172427011 Centerline is valid? [True, True] Translation: X:132.96, Y:1.85, Z:1.15 [[ 9.99543826e-01 -2.24626673e-02 -2.01883491e-02 1.32958222e+02] [ 2.24640817e-02 9.99747638e-01 -1.56748010e-04 1.84555683e+00] [ 2.01867753e-02 -2.96836218e-04 9.99796182e-01 1.14921717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.029254154 meters Centerline goodness [0,1] 0.9990823926079255 Centerline is valid? [True, True] Translation: X:132.99, Y:1.84, Z:1.15 [[ 9.99488638e-01 -2.49080382e-02 -2.00512443e-02 1.32987077e+02] [ 2.49098546e-02 9.99689689e-01 -1.59210129e-04 1.84457173e+00] [ 2.00489878e-02 -3.40344864e-04 9.99798941e-01 1.15022991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059254154 meters Centerline goodness [0,1] 0.9990633116191936 Centerline is valid? [True, True] Translation: X:133.02, Y:1.84, Z:1.15 [[ 9.99436341e-01 -2.74851317e-02 -1.92760819e-02 1.33016053e+02] [ 2.74871969e-02 9.99622143e-01 -1.57849085e-04 1.84385334e+00] [ 1.92731368e-02 -3.72085346e-04 9.99814187e-01 1.15121885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089254154 meters Centerline goodness [0,1] 0.9986366734832992 Centerline is valid? [True, True] Translation: X:133.05, Y:1.84, Z:1.15 [[ 9.99384416e-01 -2.96641705e-02 -1.87303580e-02 1.33045078e+02] [ 2.96664469e-02 9.99559842e-01 -1.56371439e-04 1.84158369e+00] [ 1.87267523e-02 -3.99387991e-04 9.99824559e-01 1.15006031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11925415399998 meters Centerline goodness [0,1] 0.9989341973440198 Centerline is valid? [True, True] Translation: X:133.08, Y:1.84, Z:1.15 [[ 9.99318500e-01 -3.22139690e-02 -1.80220987e-02 1.33075021e+02] [ 3.22164735e-02 9.99480903e-01 -1.51420434e-04 1.84163595e+00] [ 1.80176214e-02 -4.29291226e-04 9.99837577e-01 1.15290617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14925415399998 meters Centerline goodness [0,1] 0.9991911796006981 Centerline is valid? [True, True] Translation: X:133.11, Y:1.84, Z:1.15 [[ 9.99215274e-01 -3.57323775e-02 -1.70890047e-02 1.33105860e+02] [ 3.57351402e-02 9.99361286e-01 -1.43766889e-04 1.83876099e+00] [ 1.70832269e-02 -4.67023908e-04 9.99853962e-01 1.15402896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17925415399998 meters Centerline goodness [0,1] 0.9990196287376655 Centerline is valid? [True, True] Translation: X:133.14, Y:1.84, Z:1.15 [[ 9.99171414e-01 -3.72133954e-02 -1.64817765e-02 1.33136051e+02] [ 3.72161714e-02 9.99307229e-01 -1.38363220e-04 1.83717111e+00] [ 1.64755074e-02 -4.75140045e-04 9.99864157e-01 1.15427858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20925415399998 meters Centerline goodness [0,1] 0.9988123263557507 Centerline is valid? [True, True] Translation: X:133.17, Y:1.83, Z:1.15 [[ 9.99109983e-01 -3.90897737e-02 -1.58502669e-02 1.33167679e+02] [ 3.90925850e-02 9.99235584e-01 -1.32545978e-04 1.83431869e+00] [ 1.58433319e-02 -4.87199897e-04 9.99874368e-01 1.15451471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23925415399998 meters Centerline goodness [0,1] 0.9989994039001958 Centerline is valid? [True, True] Translation: X:133.20, Y:1.84, Z:1.15 [[ 9.99112147e-01 -3.92096194e-02 -1.54117732e-02 1.33200094e+02] [ 3.92123060e-02 9.99230894e-01 -1.27938499e-04 1.83526978e+00] [ 1.54049363e-02 -4.76506256e-04 9.99881223e-01 1.15450233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26925415399998 meters Centerline goodness [0,1] 0.9988734909029077 Centerline is valid? [True, True] Translation: X:133.23, Y:1.83, Z:1.16 [[ 9.99090534e-01 -3.98096669e-02 -1.52740225e-02 1.33231392e+02] [ 3.98123912e-02 9.99207165e-01 -1.25784291e-04 1.83448666e+00] [ 1.52669202e-02 -4.82425464e-04 9.99883337e-01 1.15588575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29925415399998 meters Centerline goodness [0,1] 0.9989810864166083 Centerline is valid? [True, True] Translation: X:133.26, Y:1.83, Z:1.16 [[ 9.99096073e-01 -3.96155536e-02 -1.54157366e-02 1.33262528e+02] [ 3.96183187e-02 9.99214878e-01 -1.26101409e-04 1.83271537e+00] [ 1.54086290e-02 -4.84758145e-04 9.99881163e-01 1.15566500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32925415399998 meters Centerline goodness [0,1] 0.9991319995765852 Centerline is valid? [True, True] Translation: X:133.29, Y:1.83, Z:1.16 [[ 9.99174992e-01 -3.75168465e-02 -1.55506004e-02 1.33293124e+02] [ 3.75194160e-02 9.99295891e-01 -1.26579752e-04 1.83187452e+00] [ 1.55443999e-02 -4.56974122e-04 9.99879074e-01 1.15533628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35925415399998 meters Centerline goodness [0,1] 0.9988134336264435 Centerline is valid? [True, True] Translation: X:133.32, Y:1.83, Z:1.16 [[ 9.99251066e-01 -3.51894280e-02 -1.60937966e-02 1.33324315e+02] [ 3.51918852e-02 9.99380565e-01 -1.30586005e-04 1.83470822e+00] [ 1.60884228e-02 -4.35882838e-04 9.99870478e-01 1.15571751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38925415399999 meters Centerline goodness [0,1] 0.9990891953146512 Centerline is valid? [True, True] Translation: X:133.36, Y:1.84, Z:1.16 [[ 9.99351501e-01 -3.19887090e-02 -1.65318056e-02 1.33355521e+02] [ 3.19908743e-02 9.99488152e-01 -1.33526152e-04 1.83704322e+00] [ 1.65276152e-02 -3.95427355e-04 9.99863331e-01 1.15630794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.419254154 meters Centerline goodness [0,1] 0.999003815175922 Centerline is valid? [True, True] Translation: X:133.39, Y:1.84, Z:1.16 [[ 9.99462442e-01 -2.80593787e-02 -1.69557703e-02 1.33385923e+02] [ 2.80610973e-02 9.99606201e-01 -1.36594287e-04 1.83945481e+00] [ 1.69529259e-02 -3.39276661e-04 9.99856231e-01 1.15625449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.449254154 meters Centerline goodness [0,1] 0.999172817510817 Centerline is valid? [True, True] Translation: X:133.42, Y:1.84, Z:1.16 [[ 9.99683693e-01 -1.82473643e-02 -1.73074360e-02 1.33415561e+02] [ 1.82476795e-02 9.99833487e-01 -1.39722387e-04 1.84429433e+00] [ 1.73071036e-02 -1.76142352e-04 9.99850205e-01 1.15649995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.479254154 meters Centerline goodness [0,1] 0.9989603225122003 Centerline is valid? [True, True] Translation: X:133.44, Y:1.85, Z:1.16 [[ 9.99771623e-01 -1.28361843e-02 -1.70860632e-02 1.33443491e+02] [ 1.28356833e-02 9.99917610e-01 -1.38988443e-04 1.84653062e+00] [ 1.70864395e-02 -8.03545944e-05 9.99854013e-01 1.15555976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.509254154 meters Centerline goodness [0,1] 0.9991913861344002 Centerline is valid? [True, True] Translation: X:133.47, Y:1.85, Z:1.16 [[ 9.99819913e-01 -8.45883779e-03 -1.69879341e-02 1.33471573e+02] [ 8.45765788e-03 9.99964223e-01 -1.41300028e-04 1.84927370e+00] [ 1.69885215e-02 -2.40355293e-06 9.99855685e-01 1.15756177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539254154 meters Centerline goodness [0,1] 0.9994682208797754 Centerline is valid? [True, True] Translation: X:133.50, Y:1.85, Z:1.16 [[ 9.99858065e-01 -4.36623245e-04 -1.68421858e-02 1.33499567e+02] [ 4.34267671e-04 9.99999895e-01 -1.43518591e-04 1.85302744e+00] [ 1.68422467e-02 1.36184204e-04 9.99858150e-01 1.15786716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.569254154 meters Centerline goodness [0,1] 0.9991483019269669 Centerline is valid? [True, True] Translation: X:133.53, Y:1.85, Z:1.16 [[ 9.99861099e-01 2.46576888e-03 -1.64833903e-02 1.33527835e+02] [-2.46844398e-03 9.99996943e-01 -1.41947213e-04 1.85357248e+00] [ 1.64829899e-02 1.82615822e-04 9.99864130e-01 1.15839620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599254154 meters Centerline goodness [0,1] 0.9994252995891957 Centerline is valid? [True, True] Translation: X:133.56, Y:1.85, Z:1.16 [[ 9.99851623e-01 4.14706208e-03 -1.67192516e-02 1.33556771e+02] [-4.15009492e-03 9.99991378e-01 -1.46705981e-04 1.85374523e+00] [ 1.67184991e-02 2.16070694e-04 9.99860213e-01 1.15880130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.629254154 meters Centerline goodness [0,1] 0.999297887278994 Centerline is valid? [True, True] Translation: X:133.59, Y:1.85, Z:1.16 [[ 9.99841302e-01 4.85808692e-03 -1.71397331e-02 1.33585266e+02] [-4.86145445e-03 9.99988171e-01 -1.54814926e-04 1.85282961e+00] [ 1.71387782e-02 2.38114389e-04 9.99853092e-01 1.15888943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659254154 meters Centerline goodness [0,1] 0.9991504003738239 Centerline is valid? [True, True] Translation: X:133.61, Y:1.85, Z:1.16 [[ 9.99846901e-01 3.43754875e-03 -1.71568782e-02 1.33614170e+02] [-3.44076471e-03 9.99994068e-01 -1.57929340e-04 1.84913342e+00] [ 1.71562335e-02 2.16937942e-04 9.99852797e-01 1.15878582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.689254154 meters Centerline goodness [0,1] 0.9991292343633854 Centerline is valid? [True, True] Translation: X:133.64, Y:1.85, Z:1.16 [[ 9.99845013e-01 1.18139551e-03 -1.75657332e-02 1.33641965e+02] [-1.18444370e-03 9.99999285e-01 -1.63127722e-04 1.84660161e+00] [ 1.75655279e-02 1.83908062e-04 9.99845697e-01 1.15903518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719254154 meters Centerline goodness [0,1] 0.9990875525187795 Centerline is valid? [True, True] Translation: X:133.67, Y:1.84, Z:1.16 [[ 9.99834267e-01 -1.66987814e-03 -1.81287310e-02 1.33670680e+02] [ 1.66707269e-03 9.99998596e-01 -1.69863000e-04 1.84331557e+00] [ 1.81289892e-02 1.39612936e-04 9.99835647e-01 1.15955612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.749254154 meters Centerline goodness [0,1] 0.9991733259851199 Centerline is valid? [True, True] Translation: X:133.70, Y:1.84, Z:1.16 [[ 9.99812437e-01 -5.40370796e-03 -1.85981276e-02 1.33698400e+02] [ 5.40137281e-03 9.99985397e-01 -1.75788711e-04 1.83982199e+00] [ 1.85988060e-02 7.53003188e-05 9.99827024e-01 1.15951504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779254154 meters Centerline goodness [0,1] 0.9991545485289144 Centerline is valid? [True, True] Translation: X:133.73, Y:1.83, Z:1.16 [[ 9.99707766e-01 -1.42421455e-02 -1.95331403e-02 1.33727196e+02] [ 1.42412246e-02 9.99898571e-01 -1.86251308e-04 1.83105875e+00] [ 1.95338117e-02 -9.19789601e-05 9.99809193e-01 1.15977431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.809254154 meters Centerline goodness [0,1] 0.9989648470508704 Centerline is valid? [True, True] Translation: X:133.76, Y:1.83, Z:1.16 [[ 9.99625410e-01 -1.91404268e-02 -1.95622793e-02 1.33755906e+02] [ 1.91404130e-02 9.99816788e-01 -1.87953372e-04 1.82634743e+00] [ 1.95622927e-02 -1.86547138e-04 9.99808623e-01 1.15961661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839254154 meters Centerline goodness [0,1] 0.9986702689011777 Centerline is valid? [True, True] Translation: X:133.78, Y:1.82, Z:1.16 [[ 9.99515021e-01 -2.42602906e-02 -1.95233428e-02 1.33784867e+02] [ 2.42611892e-02 9.99705636e-01 -1.90855881e-04 1.82170098e+00] [ 1.95222261e-02 -2.82896195e-04 9.99809383e-01 1.16004953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86925415399998 meters Centerline goodness [0,1] 0.9987160868009514 Centerline is valid? [True, True] Translation: X:133.81, Y:1.81, Z:1.16 [[ 9.99261607e-01 -3.33137149e-02 -1.91425742e-02 1.33813631e+02] [ 3.33161839e-02 9.99444844e-01 -1.90004505e-04 1.81224646e+00] [ 1.91382768e-02 -4.47893315e-04 9.99816746e-01 1.16024585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89925415399998 meters Centerline goodness [0,1] 0.998635485767067 Centerline is valid? [True, True] Translation: X:133.84, Y:1.81, Z:1.16 [[ 9.99115554e-01 -3.73099460e-02 -1.93927437e-02 1.33843515e+02] [ 3.73132151e-02 9.99303601e-01 -1.93363623e-04 1.81092670e+00] [ 1.93864530e-02 -5.30413015e-04 9.99811924e-01 1.16165681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92925415399998 meters Centerline goodness [0,1] 0.9988657844990548 Centerline is valid? [True, True] Translation: X:133.87, Y:1.81, Z:1.16 [[ 9.98979041e-01 -4.09187930e-02 -1.91449138e-02 1.33874069e+02] [ 4.09226346e-02 9.99162300e-01 -1.91232357e-04 1.80923381e+00] [ 1.91367011e-02 -5.92423197e-04 9.99816701e-01 1.16262372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95925415399998 meters Centerline goodness [0,1] 0.9987622723839893 Centerline is valid? [True, True] Translation: X:133.90, Y:1.80, Z:1.16 [[ 9.98851499e-01 -4.38982643e-02 -1.91996149e-02 1.33904102e+02] [ 4.39026776e-02 9.99035794e-01 -1.91778748e-04 1.80350371e+00] [ 1.91895213e-02 -6.51356013e-04 9.99815652e-01 1.16155858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98925415399998 meters Centerline goodness [0,1] 0.9987039321027656 Centerline is valid? [True, True] Translation: X:133.93, Y:1.80, Z:1.16 [[ 9.98565510e-01 -4.99114030e-02 -1.93848751e-02 1.33934660e+02] [ 4.99170350e-02 9.98753349e-01 -1.93518181e-04 1.79869625e+00] [ 1.93703677e-02 -7.74394910e-04 9.99812077e-01 1.16300454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01925415399998 meters Centerline goodness [0,1] 0.9987028474590456 Centerline is valid? [True, True] Translation: X:133.96, Y:1.79, Z:1.16 [[ 9.98429331e-01 -5.25587796e-02 -1.94022319e-02 1.33964922e+02] [ 5.25649261e-02 9.98617490e-01 -1.93409791e-04 1.79361012e+00] [ 1.93855735e-02 -8.26770879e-04 9.99811740e-01 1.16291251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04925415399998 meters Centerline goodness [0,1] 0.998743429181763 Centerline is valid? [True, True] Translation: X:134.00, Y:1.80, Z:1.16 [[ 9.98304070e-01 -5.48611749e-02 -1.94739686e-02 1.33996275e+02] [ 5.48678145e-02 9.98493608e-01 -1.93591211e-04 1.79541530e+00] [ 1.94552538e-02 -8.75231201e-04 9.99810346e-01 1.16373652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07925415399998 meters Centerline goodness [0,1] 0.9986599945562279 Centerline is valid? [True, True] Translation: X:134.03, Y:1.79, Z:1.17 [[ 9.98023639e-01 -5.98601952e-02 -1.91199569e-02 1.34026259e+02] [ 5.98675152e-02 9.98206314e-01 -1.89824677e-04 1.79105913e+00] [ 1.90970247e-02 -9.55214798e-04 9.99817179e-01 1.16572319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10925415399998 meters Centerline goodness [0,1] 0.9987259017900035 Centerline is valid? [True, True] Translation: X:134.06, Y:1.79, Z:1.17 [[ 9.97888674e-01 -6.20310667e-02 -1.92442274e-02 1.34056995e+02] [ 6.20388865e-02 9.98073715e-01 -1.90966044e-04 1.78928222e+00] [ 1.92190034e-02 -1.00332759e-03 9.99814794e-01 1.16616166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13925415399999 meters Centerline goodness [0,1] 0.998620084049426 Centerline is valid? [True, True] Translation: X:134.09, Y:1.79, Z:1.17 [[ 9.97740921e-01 -6.43016095e-02 -1.94514069e-02 1.34088088e+02] [ 6.43100392e-02 9.97929948e-01 -1.92481945e-04 1.79105667e+00] [ 1.94235183e-02 -1.05887363e-03 9.99810785e-01 1.16700071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.169254154 meters Centerline goodness [0,1] 0.9986657771847899 Centerline is valid? [True, True] Translation: X:134.12, Y:1.79, Z:1.17 [[ 9.97603416e-01 -6.63022553e-02 -1.97847033e-02 1.34118514e+02] [ 6.63113864e-02 9.97798959e-01 -1.94879580e-04 1.78623599e+00] [ 1.97540773e-02 -1.11753857e-03 9.99804245e-01 1.16667345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199254154 meters Centerline goodness [0,1] 0.9985994983277592 Centerline is valid? [True, True] Translation: X:134.15, Y:1.79, Z:1.17 [[ 9.97465363e-01 -6.81677455e-02 -2.03962531e-02 1.34150010e+02] [ 6.81778572e-02 9.97673163e-01 -1.99996533e-04 1.78651496e+00] [ 2.03624276e-02 -1.19108321e-03 9.99791955e-01 1.16704755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.229254154 meters Centerline goodness [0,1] 0.9985994983277592 Centerline is valid? [True, True] Translation: X:134.18, Y:1.79, Z:1.17 [[ 9.97470276e-01 -6.80958167e-02 -2.03962641e-02 1.34181752e+02] [ 6.81059365e-02 9.97678075e-01 -1.98864222e-04 1.78676286e+00] [ 2.03624474e-02 -1.19074552e-03 9.99791955e-01 1.16734486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.259254154 meters Centerline goodness [0,1] 0.99851414699481 Centerline is valid? [True, True] Translation: X:134.21, Y:1.79, Z:1.17 [[ 9.97267484e-01 -7.07689071e-02 -2.11973466e-02 1.34212770e+02] [ 7.07804585e-02 9.97491897e-01 -2.05759774e-04 1.78505074e+00] [ 2.11587428e-02 -1.29516038e-03 9.99775290e-01 1.16701527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.289254154 meters Centerline goodness [0,1] 0.99901694206233 Centerline is valid? [True, True] Translation: X:134.24, Y:1.78, Z:1.17 [[ 9.97229927e-01 -7.10945054e-02 -2.18642210e-02 1.34243701e+02] [ 7.11068919e-02 9.97468679e-01 -2.11383482e-04 1.78393032e+00] [ 2.18239039e-02 -1.34389886e-03 9.99760927e-01 1.16688447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319254154 meters Centerline goodness [0,1] 0.9989336790164757 Centerline is valid? [True, True] Translation: X:134.28, Y:1.79, Z:1.17 [[ 9.97214739e-01 -7.10808017e-02 -2.25894556e-02 1.34275794e+02] [ 7.10940541e-02 9.97469593e-01 -2.16904359e-04 1.78752102e+00] [ 2.25477128e-02 -1.38967575e-03 9.99744802e-01 1.16703907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.349254154 meters Centerline goodness [0,1] 0.9988901220865705 Centerline is valid? [True, True] Translation: X:134.31, Y:1.79, Z:1.17 [[ 9.97219667e-01 -7.05568324e-02 -2.39722778e-02 1.34306793e+02] [ 7.05716433e-02 9.97506687e-01 -2.28659209e-04 1.78666134e+00] [ 2.39286409e-02 -1.46373958e-03 9.99712598e-01 1.16568592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379254154 meters Centerline goodness [0,1] 0.9989525066515828 Centerline is valid? [True, True] Translation: X:134.34, Y:1.79, Z:1.17 [[ 9.97291507e-01 -6.90321790e-02 -2.53812747e-02 1.34338474e+02] [ 6.90483268e-02 9.97613287e-01 -2.40692829e-04 1.79038535e+00] [ 2.53373124e-02 -1.51249364e-03 9.99677815e-01 1.16595519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.409254154 meters Centerline goodness [0,1] 0.998888049681101 Centerline is valid? [True, True] Translation: X:134.37, Y:1.79, Z:1.17 [[ 9.97329522e-01 -6.82097093e-02 -2.61009435e-02 1.34369843e+02] [ 6.82265349e-02 9.97669825e-01 -2.46399059e-04 1.79199085e+00] [ 2.60569306e-02 -1.53503588e-03 9.99659282e-01 1.16559189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439254154 meters Centerline goodness [0,1] 0.9988876062545913 Centerline is valid? [True, True] Translation: X:134.40, Y:1.79, Z:1.17 [[ 9.97422975e-01 -6.66652423e-02 -2.65170761e-02 1.34400226e+02] [ 6.66820740e-02 9.97774242e-01 -2.49987581e-04 1.79469612e+00] [ 2.64747210e-02 -1.51887028e-03 9.99648329e-01 1.16581092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.469254154 meters Centerline goodness [0,1] 0.9987831742368615 Centerline is valid? [True, True] Translation: X:134.43, Y:1.80, Z:1.17 [[ 9.97540674e-01 -6.46482048e-02 -2.70778941e-02 1.34430405e+02] [ 6.46650158e-02 9.97906995e-01 -2.55274647e-04 1.79784598e+00] [ 2.70377230e-02 -1.49634561e-03 9.99633294e-01 1.16604777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499254154 meters Centerline goodness [0,1] 0.9990551776266062 Centerline is valid? [True, True] Translation: X:134.46, Y:1.80, Z:1.17 [[ 9.97861149e-01 -5.93486450e-02 -2.74019434e-02 1.34460072e+02] [ 5.93638607e-02 9.98236377e-01 -2.58598600e-04 1.80299969e+00] [ 2.73689642e-02 -1.36863966e-03 9.99624463e-01 1.16660860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.529254154 meters Centerline goodness [0,1] 0.9988891683433937 Centerline is valid? [True, True] Translation: X:134.49, Y:1.81, Z:1.17 [[ 9.98083883e-01 -5.57531527e-02 -2.68355750e-02 1.34490223e+02] [ 5.57664256e-02 9.98443810e-01 -2.54123449e-04 1.80683811e+00] [ 2.68079820e-02 -1.24288758e-03 9.99639829e-01 1.16748019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559254154 meters Centerline goodness [0,1] 0.9988055072403026 Centerline is valid? [True, True] Translation: X:134.52, Y:1.81, Z:1.17 [[ 9.98311368e-01 -5.17612584e-02 -2.63663569e-02 1.34519972e+02] [ 5.17726634e-02 9.98658865e-01 -2.50362190e-04 1.81130786e+00] [ 2.63439552e-02 -1.11511710e-03 9.99652316e-01 1.16850073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.589254154 meters Centerline goodness [0,1] 0.9991596285558216 Centerline is valid? [True, True] Translation: X:134.55, Y:1.82, Z:1.17 [[ 9.98762036e-01 -4.24415364e-02 -2.59443788e-02 1.34549353e+02] [ 4.24494227e-02 9.99098586e-01 -2.46960083e-04 1.82100872e+00] [ 2.59314735e-02 -8.54669546e-04 9.99663357e-01 1.17019625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61925415399998 meters Centerline goodness [0,1] 0.99877711948386 Centerline is valid? [True, True] Translation: X:134.58, Y:1.83, Z:1.17 [[ 9.98970666e-01 -3.75139996e-02 -2.55011415e-02 1.34578893e+02] [ 3.75199941e-02 9.99295847e-01 -2.43541054e-04 1.82651183e+00] [ 2.54923210e-02 -7.13512311e-04 9.99674763e-01 1.17100083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64925415399998 meters Centerline goodness [0,1] 0.9988417394966832 Centerline is valid? [True, True] Translation: X:134.61, Y:1.83, Z:1.17 [[ 9.99145003e-01 -3.27779305e-02 -2.51966196e-02 1.34609181e+02] [ 3.27822628e-02 9.99462488e-01 -2.41219448e-04 1.83159294e+00] [ 2.51909828e-02 -5.84988999e-04 9.99682486e-01 1.17152925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67925415399998 meters Centerline goodness [0,1] 0.9989459037820972 Centerline is valid? [True, True] Translation: X:134.64, Y:1.84, Z:1.17 [[ 9.99294078e-01 -2.85378701e-02 -2.44322818e-02 1.34638159e+02] [ 2.85405919e-02 9.99592606e-01 -2.37369956e-04 1.83619782e+00] [ 2.44291023e-02 -4.60109393e-04 9.99701459e-01 1.17223454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70925415399998 meters Centerline goodness [0,1] 0.9990072240294031 Centerline is valid? [True, True] Translation: X:134.67, Y:1.84, Z:1.17 [[ 9.99491122e-01 -2.13167767e-02 -2.37295596e-02 1.34667106e+02] [ 2.13172504e-02 9.99772734e-01 -2.33025096e-04 1.84358361e+00] [ 2.37291341e-02 -2.72942450e-04 9.99718387e-01 1.17303980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73925415399998 meters Centerline goodness [0,1] 0.9991975843064383 Centerline is valid? [True, True] Translation: X:134.70, Y:1.85, Z:1.18 [[ 9.99545442e-01 -1.91649605e-02 -2.32726032e-02 1.34695341e+02] [ 1.91647451e-02 9.99816312e-01 -2.32313075e-04 1.84783134e+00] [ 2.32727806e-02 -2.13806032e-04 9.99729129e-01 1.17566552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76925415399998 meters Centerline goodness [0,1] 0.9987529854374062 Centerline is valid? [True, True] Translation: X:134.72, Y:1.85, Z:1.18 [[ 9.99577012e-01 -1.76592312e-02 -2.31073495e-02 1.34724433e+02] [ 1.76584836e-02 9.99844049e-01 -2.36417806e-04 1.85015916e+00] [ 2.31079208e-02 -1.71722949e-04 9.99732962e-01 1.17580949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79925415399998 meters Centerline goodness [0,1] 0.9991548343475322 Centerline is valid? [True, True] Translation: X:134.75, Y:1.85, Z:1.18 [[ 9.99590117e-01 -1.62903653e-02 -2.35419117e-02 1.34751636e+02] [ 1.62890880e-02 9.99867294e-01 -2.46034837e-04 1.85237746e+00] [ 2.35427955e-02 -1.37542280e-04 9.99722821e-01 1.17537243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82925415399998 meters Centerline goodness [0,1] 0.998961512377077 Centerline is valid? [True, True] Translation: X:134.78, Y:1.85, Z:1.17 [[ 9.99570403e-01 -1.66103200e-02 -2.41476088e-02 1.34780116e+02] [ 1.66089364e-02 9.99862029e-01 -2.57874820e-04 1.85280977e+00] [ 2.41485605e-02 -1.43302060e-04 9.99708371e-01 1.17479026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85925415399998 meters Centerline goodness [0,1] 0.9988806521785043 Centerline is valid? [True, True] Translation: X:134.81, Y:1.85, Z:1.17 [[ 9.99540744e-01 -1.75382186e-02 -2.47125927e-02 1.34808659e+02] [ 1.75369024e-02 9.99846180e-01 -2.70000706e-04 1.85326479e+00] [ 2.47135268e-02 -1.63505619e-04 9.99694561e-01 1.17472695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88925415399999 meters Centerline goodness [0,1] 0.9988136095928138 Centerline is valid? [True, True] Translation: X:134.84, Y:1.85, Z:1.18 [[ 9.99516857e-01 -1.87656370e-02 -2.47770585e-02 1.34836820e+02] [ 1.87645220e-02 9.99823892e-01 -2.77522120e-04 1.85381089e+00] [ 2.47779029e-02 -1.87541622e-04 9.99692963e-01 1.17602459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.919254154 meters Centerline goodness [0,1] 0.998921867072552 Centerline is valid? [True, True] Translation: X:134.86, Y:1.85, Z:1.17 [[ 9.99457016e-01 -2.11759809e-02 -2.52438287e-02 1.34864192e+02] [ 2.11754776e-02 9.99775733e-01 -2.87285317e-04 1.85216558e+00] [ 2.52442509e-02 -2.47420802e-04 9.99681283e-01 1.17497402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.949254154 meters Centerline goodness [0,1] 0.9986253859493296 Centerline is valid? [True, True] Translation: X:134.89, Y:1.85, Z:1.17 [[ 9.99432826e-01 -2.24803855e-02 -2.50730560e-02 1.34892333e+02] [ 2.24802394e-02 9.99747246e-01 -2.87733022e-04 1.85060788e+00] [ 2.50731870e-02 -2.76078473e-04 9.99685580e-01 1.17394990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.979254154 meters Centerline goodness [0,1] 0.9990478407143311 Centerline is valid? [True, True] Translation: X:134.92, Y:1.85, Z:1.17 [[ 9.99407305e-01 -2.40695426e-02 -2.46109049e-02 1.34921179e+02] [ 2.40697753e-02 9.99710240e-01 -2.86821572e-04 1.84955001e+00] [ 2.46106773e-02 -3.05727376e-04 9.99697065e-01 1.17428284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.009254154 meters Centerline goodness [0,1] 0.9989014471321432 Centerline is valid? [True, True] Translation: X:134.95, Y:1.85, Z:1.18 [[ 9.99377207e-01 -2.57936944e-02 -2.40807549e-02 1.34950204e+02] [ 2.57942766e-02 9.99667231e-01 -2.86489095e-04 1.85003699e+00] [ 2.40801312e-02 -3.34834983e-04 9.99709976e-01 1.17667240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039254154 meters Centerline goodness [0,1] 0.9986317517787227 Centerline is valid? [True, True] Translation: X:134.98, Y:1.84, Z:1.18 [[ 9.99323148e-01 -2.90244550e-02 -2.26014827e-02 1.34978165e+02] [ 2.90257174e-02 9.99578628e-01 -2.72267493e-04 1.84427727e+00] [ 2.25998615e-02 -3.83941042e-04 9.99744517e-01 1.17541229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.069254154 meters Centerline goodness [0,1] 0.998840518604406 Centerline is valid? [True, True] Translation: X:135.01, Y:1.84, Z:1.18 [[ 9.99289033e-01 -3.06484085e-02 -2.19568796e-02 1.35006479e+02] [ 3.06499499e-02 9.99530144e-01 -2.66400102e-04 1.84431544e+00] [ 2.19547278e-02 -4.06766561e-04 9.99758883e-01 1.17725663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099254154 meters Centerline goodness [0,1] 0.9987143278674704 Centerline is valid? [True, True] Translation: X:135.04, Y:1.84, Z:1.18 [[ 9.99236597e-01 -3.26049867e-02 -2.15206203e-02 1.35035119e+02] [ 3.26068402e-02 9.99468221e-01 -2.64859717e-04 1.84278304e+00] [ 2.15178118e-02 -4.37061905e-04 9.99768370e-01 1.17785593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.129254154 meters Centerline goodness [0,1] 0.9989043404972608 Centerline is valid? [True, True] Translation: X:135.06, Y:1.84, Z:1.18 [[ 9.99123677e-01 -3.61262885e-02 -2.11369059e-02 1.35063568e+02] [ 3.61287561e-02 9.99347108e-01 -2.65237605e-04 1.83894157e+00] [ 2.11326878e-02 -4.98644947e-04 9.99776555e-01 1.17818673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159254154 meters Centerline goodness [0,1] 0.9987987861417854 Centerline is valid? [True, True] Translation: X:135.09, Y:1.84, Z:1.18 [[ 9.99056667e-01 -3.80181032e-02 -2.09857202e-02 1.35093374e+02] [ 3.80208967e-02 9.99276909e-01 -2.66004991e-04 1.83669864e+00] [ 2.09806586e-02 -5.32141839e-04 9.99779740e-01 1.17825993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.189254154 meters Centerline goodness [0,1] 0.9988645443458514 Centerline is valid? [True, True] Translation: X:135.12, Y:1.83, Z:1.18 [[ 9.98983527e-01 -3.99968493e-02 -2.07885659e-02 1.35123103e+02] [ 4.00000078e-02 9.99199645e-01 -2.64024567e-04 1.83321539e+00] [ 2.07824879e-02 -5.67786606e-04 9.99783860e-01 1.17801287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219254154 meters Centerline goodness [0,1] 0.9989042943234018 Centerline is valid? [True, True] Translation: X:135.15, Y:1.83, Z:1.18 [[ 9.98907843e-01 -4.19615470e-02 -2.05511535e-02 1.35153253e+02] [ 4.19650459e-02 9.99119045e-01 -2.61168806e-04 1.83177219e+00] [ 2.05440079e-02 -6.01546531e-04 9.99788769e-01 1.17842381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.249254154 meters Centerline goodness [0,1] 0.9988199346749552 Centerline is valid? [True, True] Translation: X:135.18, Y:1.82, Z:1.18 [[ 9.98771909e-01 -4.52530429e-02 -2.01701743e-02 1.35183818e+02] [ 4.52570874e-02 9.98975340e-01 -2.56141173e-04 1.82446381e+00] [ 2.01610979e-02 -6.57016732e-04 9.99796529e-01 1.17727326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279254154 meters Centerline goodness [0,1] 0.9988205311822068 Centerline is valid? [True, True] Translation: X:135.21, Y:1.82, Z:1.18 [[ 9.98696947e-01 -4.69428397e-02 -2.00194479e-02 1.35214729e+02] [ 4.69471662e-02 9.98897342e-01 -2.54066983e-04 1.82410930e+00] [ 2.00092999e-02 -6.86120427e-04 9.99799558e-01 1.17755683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.309254154 meters Centerline goodness [0,1] 0.9987364164771292 Centerline is valid? [True, True] Translation: X:135.25, Y:1.82, Z:1.18 [[ 9.98616946e-01 -4.83262172e-02 -2.07067917e-02 1.35246014e+02] [ 4.83311509e-02 9.98831333e-01 -2.62407116e-04 1.82220967e+00] [ 2.06952734e-02 -7.38738878e-04 9.99785557e-01 1.17681692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339254154 meters Centerline goodness [0,1] 0.9986096189091829 Centerline is valid? [True, True] Translation: X:135.28, Y:1.82, Z:1.17 [[ 9.98476265e-01 -5.07397595e-02 -2.16939141e-02 1.35276643e+02] [ 5.07457601e-02 9.98711566e-01 -2.74162535e-04 1.81829481e+00] [ 2.16798738e-02 -8.27129376e-04 9.99764622e-01 1.17497674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36925415399998 meters Centerline goodness [0,1] 0.9986081822016027 Centerline is valid? [True, True] Translation: X:135.31, Y:1.82, Z:1.18 [[ 9.98433071e-01 -5.14452211e-02 -2.20180126e-02 1.35308129e+02] [ 5.14515909e-02 9.98675451e-01 -2.77477391e-04 1.82283859e+00] [ 2.20031236e-02 -8.55819175e-04 9.99757536e-01 1.17624365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39925415399998 meters Centerline goodness [0,1] 0.9989036012482078 Centerline is valid? [True, True] Translation: X:135.34, Y:1.82, Z:1.18 [[ 9.98398057e-01 -5.19975629e-02 -2.23063290e-02 1.35339476e+02] [ 5.20042562e-02 9.98646824e-01 -2.80307030e-04 1.82171279e+00] [ 2.22907199e-02 -8.80166055e-04 9.99751144e-01 1.17571358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42925415399998 meters Centerline goodness [0,1] 0.9986493901152239 Centerline is valid? [True, True] Translation: X:135.37, Y:1.82, Z:1.18 [[ 9.98379986e-01 -5.23477521e-02 -2.22961047e-02 1.35370224e+02] [ 5.23545390e-02 9.98628522e-01 -2.79614394e-04 1.82093220e+00] [ 2.22801632e-02 -8.88140868e-04 9.99751372e-01 1.17531018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45925415399998 meters Centerline goodness [0,1] 0.9987801287174526 Centerline is valid? [True, True] Translation: X:135.40, Y:1.82, Z:1.18 [[ 9.98397358e-01 -5.20440754e-02 -2.22290436e-02 1.35400087e+02] [ 5.20507551e-02 9.98644402e-01 -2.78381593e-04 1.82084703e+00] [ 2.22133981e-02 -8.79103059e-04 9.99752866e-01 1.17548123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48925415399998 meters Centerline goodness [0,1] 0.9987992416262903 Centerline is valid? [True, True] Translation: X:135.43, Y:1.82, Z:1.18 [[ 9.98423738e-01 -5.16279056e-02 -2.20135848e-02 1.35431870e+02] [ 5.16343687e-02 9.98666018e-01 -2.75077929e-04 1.82163526e+00] [ 2.19984208e-02 -8.62013219e-04 9.99757634e-01 1.17596622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51925415399998 meters Centerline goodness [0,1] 0.9988625352824704 Centerline is valid? [True, True] Translation: X:135.46, Y:1.82, Z:1.18 [[ 9.98445646e-01 -5.13167923e-02 -2.17457805e-02 1.35463230e+02] [ 5.13230418e-02 9.98682068e-01 -2.70976575e-04 1.82217101e+00] [ 2.17310267e-02 -8.45504221e-04 9.99763496e-01 1.17620212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54925415399998 meters Centerline goodness [0,1] 0.9988393441239158 Centerline is valid? [True, True] Translation: X:135.49, Y:1.82, Z:1.18 [[ 9.98474290e-01 -5.12420619e-02 -2.05753056e-02 1.35493335e+02] [ 5.12476510e-02 9.98685943e-01 -2.55888400e-04 1.82214051e+00] [ 2.05613807e-02 -7.98938090e-04 9.99788273e-01 1.17634000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57925415399998 meters Centerline goodness [0,1] 0.9985906901411413 Centerline is valid? [True, True] Translation: X:135.52, Y:1.82, Z:1.18 [[ 9.98468460e-01 -5.13686991e-02 -2.05424386e-02 1.35524735e+02] [ 5.13743083e-02 9.98679436e-01 -2.54935572e-04 1.82232564e+00] [ 2.05284067e-02 -8.00808444e-04 9.99788949e-01 1.17659647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60925415399998 meters Centerline goodness [0,1] 0.9988610478359908 Centerline is valid? [True, True] Translation: X:135.56, Y:1.83, Z:1.18 [[ 9.98460336e-01 -5.17165194e-02 -2.00589058e-02 1.35557043e+02] [ 5.17219598e-02 9.98661493e-01 -2.47825137e-04 1.82831526e+00] [ 2.00448735e-02 -7.90042351e-04 9.99798769e-01 1.17855355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63925415399999 meters Centerline goodness [0,1] 0.9987987101941032 Centerline is valid? [True, True] Translation: X:135.59, Y:1.82, Z:1.18 [[ 9.98449144e-01 -5.22147448e-02 -1.93113097e-02 1.35588178e+02] [ 5.22199038e-02 9.98635582e-01 -2.37362980e-04 1.82232487e+00] [ 1.92973548e-02 -7.71439868e-04 9.99813491e-01 1.17719262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.669254154 meters Centerline goodness [0,1] 0.9986096189091829 Centerline is valid? [True, True] Translation: X:135.62, Y:1.82, Z:1.18 [[ 9.98398001e-01 -5.33180092e-02 -1.89372793e-02 1.35618592e+02] [ 5.33231870e-02 9.98577280e-01 -2.31780551e-04 1.82075963e+00] [ 1.89226950e-02 -7.78386849e-04 9.99820647e-01 1.17762701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.699254154 meters Centerline goodness [0,1] 0.9986728180496746 Centerline is valid? [True, True] Translation: X:135.65, Y:1.83, Z:1.18 [[ 9.98363409e-01 -5.40262539e-02 -1.87527966e-02 1.35650445e+02] [ 5.40314774e-02 9.98539207e-01 -2.28380111e-04 1.82707945e+00] [ 1.87377412e-02 -7.85234959e-04 9.99824125e-01 1.17917753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.729254154 meters Centerline goodness [0,1] 0.9987153296969442 Centerline is valid? [True, True] Translation: X:135.68, Y:1.83, Z:1.18 [[ 9.98336910e-01 -5.45093263e-02 -1.87655724e-02 1.35682046e+02] [ 5.45146745e-02 9.98512944e-01 -2.26809406e-04 1.82530071e+00] [ 1.87500302e-02 -7.96566868e-04 9.99823885e-01 1.17863765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.759254154 meters Centerline goodness [0,1] 0.9987960205310183 Centerline is valid? [True, True] Translation: X:135.71, Y:1.82, Z:1.18 [[ 9.98278526e-01 -5.54947309e-02 -1.89820979e-02 1.35713132e+02] [ 5.55004106e-02 9.98458638e-01 -2.27865490e-04 1.82412812e+00] [ 1.89654849e-02 -8.26041000e-04 9.99819798e-01 1.17810840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.789254154 meters Centerline goodness [0,1] 0.9988619359733609 Centerline is valid? [True, True] Translation: X:135.75, Y:1.82, Z:1.18 [[ 9.98285930e-01 -5.52158619e-02 -1.94013287e-02 1.35745554e+02] [ 5.52217662e-02 9.98474087e-01 -2.31692508e-04 1.82464307e+00] [ 1.93845171e-02 -8.40080268e-04 9.99811750e-01 1.17821345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819254154 meters Centerline goodness [0,1] 0.998669510675593 Centerline is valid? [True, True] Translation: X:135.78, Y:1.83, Z:1.18 [[ 9.98312286e-01 -5.47940489e-02 -1.92403487e-02 1.35777581e+02] [ 5.47998030e-02 9.98497336e-01 -2.28436476e-04 1.82596385e+00] [ 1.92239539e-02 -8.26316378e-04 9.99814861e-01 1.17857516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.849254154 meters Centerline goodness [0,1] 0.9988162178159219 Centerline is valid? [True, True] Translation: X:135.81, Y:1.83, Z:1.18 [[ 9.98365823e-01 -5.38451181e-02 -1.91412068e-02 1.35810118e+02] [ 5.38506646e-02 9.98548975e-01 -2.25917638e-04 1.82951714e+00] [ 1.91255970e-02 -8.05218261e-04 9.99816765e-01 1.17973364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879254154 meters Centerline goodness [0,1] 0.9988167180830833 Centerline is valid? [True, True] Translation: X:135.84, Y:1.84, Z:1.18 [[ 9.98551594e-01 -5.07238121e-02 -1.79390199e-02 1.35841707e+02] [ 5.07282004e-02 9.98712474e-01 -2.10632837e-04 1.83609302e+00] [ 1.79266071e-02 -6.99686442e-04 9.99839061e-01 1.18154579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.909254154 meters Centerline goodness [0,1] 0.998881219259916 Centerline is valid? [True, True] Translation: X:135.87, Y:1.84, Z:1.18 [[ 9.98675750e-01 -4.83451019e-02 -1.75925400e-02 1.35872793e+02] [ 4.83489679e-02 9.98830484e-01 -2.05752439e-04 1.83940702e+00] [ 1.75819123e-02 -6.45101179e-04 9.99845218e-01 1.18235084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939254154 meters Centerline goodness [0,1] 0.9987312059887077 Centerline is valid? [True, True] Translation: X:135.90, Y:1.84, Z:1.18 [[ 9.98812716e-01 -4.57642847e-02 -1.66969827e-02 1.35903993e+02] [ 4.57674169e-02 9.98952104e-01 -1.94677264e-04 1.84210661e+00] [ 1.66883953e-02 -5.69731644e-04 9.99860577e-01 1.18323426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.969254154 meters Centerline goodness [0,1] 0.9987755705208048 Centerline is valid? [True, True] Translation: X:135.93, Y:1.85, Z:1.18 [[ 9.99075603e-01 -3.98089948e-02 -1.62228993e-02 1.35934974e+02] [ 3.98111746e-02 9.99207203e-01 -1.88688530e-04 1.84823308e+00] [ 1.62175494e-02 -4.57338571e-04 9.99868382e-01 1.18391524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999254154 meters Centerline goodness [0,1] 0.9989001226786243 Centerline is valid? [True, True] Translation: X:135.97, Y:1.85, Z:1.18 [[ 9.99190583e-01 -3.69275014e-02 -1.59542803e-02 1.35966227e+02] [ 3.69292491e-02 9.99317865e-01 -1.85152572e-04 1.85171288e+00] [ 1.59502345e-02 -4.04176885e-04 9.99872705e-01 1.18412227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.029254154 meters Centerline goodness [0,1] 0.9990070562386445 Centerline is valid? [True, True] Translation: X:136.00, Y:1.85, Z:1.18 [[ 9.99284169e-01 -3.42241715e-02 -1.61200187e-02 1.35997989e+02] [ 3.42256158e-02 9.99414115e-01 -1.86352446e-04 1.85475329e+00] [ 1.61169519e-02 -3.65498517e-04 9.99870047e-01 1.18451464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059254154 meters Centerline goodness [0,1] 0.9987729542184988 Centerline is valid? [True, True] Translation: X:136.03, Y:1.86, Z:1.18 [[ 9.99360579e-01 -3.19530169e-02 -1.60448980e-02 1.36029657e+02] [ 3.19541673e-02 9.99489318e-01 -1.84723258e-04 1.85756486e+00] [ 1.60426066e-02 -3.28096212e-04 9.99871255e-01 1.18462069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.089254154 meters Centerline goodness [0,1] 0.999004384942911 Centerline is valid? [True, True] Translation: X:136.06, Y:1.86, Z:1.18 [[ 9.99429884e-01 -2.92913397e-02 -1.67906334e-02 1.36060643e+02] [ 2.92922325e-02 9.99570872e-01 -1.92812816e-04 1.86158088e+00] [ 1.67890758e-02 -2.99132248e-04 9.99859009e-01 1.18454526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11925415399998 meters Centerline goodness [0,1] 0.9988149402179664 Centerline is valid? [True, True] Translation: X:136.09, Y:1.86, Z:1.18 [[ 9.99442665e-01 -2.88519161e-02 -1.67906456e-02 1.36091071e+02] [ 2.88527498e-02 9.99583654e-01 -1.92641064e-04 1.86262648e+00] [ 1.67892130e-02 -2.91922598e-04 9.99859009e-01 1.18425162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14925415399998 meters Centerline goodness [0,1] 0.9988149402179664 Centerline is valid? [True, True] Translation: X:136.12, Y:1.86, Z:1.18 [[ 9.99442665e-01 -2.88519161e-02 -1.67906456e-02 1.36121073e+02] [ 2.88527498e-02 9.99583654e-01 -1.92641064e-04 1.86297070e+00] [ 1.67892130e-02 -2.91922598e-04 9.99859009e-01 1.18453271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17925415399998 meters Centerline goodness [0,1] 0.9988976745172027 Centerline is valid? [True, True] Translation: X:136.15, Y:1.86, Z:1.18 [[ 9.99423857e-01 -2.93354960e-02 -1.70699546e-02 1.36151468e+02] [ 2.93364282e-02 9.99569575e-01 -1.95845609e-04 1.86349593e+00] [ 1.70683525e-02 -3.05038723e-04 9.99854279e-01 1.18462351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20925415399998 meters Centerline goodness [0,1] 0.9988978147056953 Centerline is valid? [True, True] Translation: X:136.18, Y:1.86, Z:1.18 [[ 9.99382679e-01 -3.06849977e-02 -1.71082596e-02 1.36181734e+02] [ 3.06861318e-02 9.99529051e-01 -1.96285087e-04 1.86296936e+00] [ 1.71062255e-02 -3.28822392e-04 9.99853624e-01 1.18456179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23925415399998 meters Centerline goodness [0,1] 0.9987708218539397 Centerline is valid? [True, True] Translation: X:136.21, Y:1.86, Z:1.18 [[ 9.99257465e-01 -3.45872154e-02 -1.69777400e-02 1.36212648e+02] [ 3.45888974e-02 9.99401606e-01 -1.94649286e-04 1.86048467e+00] [ 1.69743130e-02 -3.92736555e-04 9.99855849e-01 1.18417302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26925415399998 meters Centerline goodness [0,1] 0.9988987017387805 Centerline is valid? [True, True] Translation: X:136.24, Y:1.86, Z:1.18 [[ 9.99165254e-01 -3.70977332e-02 -1.71041927e-02 1.36243674e+02] [ 3.70998157e-02 9.99311546e-01 -1.95647597e-04 1.85884431e+00] [ 1.70996753e-02 -4.39078114e-04 9.99853693e-01 1.18405396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29925415399998 meters Centerline goodness [0,1] 0.9986670898127579 Centerline is valid? [True, True] Translation: X:136.27, Y:1.86, Z:1.18 [[ 9.99051273e-01 -3.98595127e-02 -1.75434682e-02 1.36274431e+02] [ 3.98621417e-02 9.99205169e-01 -1.99944655e-04 1.85643628e+00] [ 1.75374938e-02 -4.99565252e-04 9.99846082e-01 1.18396656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32925415399998 meters Centerline goodness [0,1] 0.9987510584250635 Centerline is valid? [True, True] Translation: X:136.30, Y:1.85, Z:1.18 [[ 9.98927683e-01 -4.28946942e-02 -1.74220983e-02 1.36304789e+02] [ 4.28977581e-02 9.99079448e-01 -1.97986384e-04 1.85382508e+00] [ 1.74145529e-02 -5.49594880e-04 9.99848204e-01 1.18398058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35925415399998 meters Centerline goodness [0,1] 0.9989412835877782 Centerline is valid? [True, True] Translation: X:136.34, Y:1.85, Z:1.18 [[ 9.98801300e-01 -4.58504047e-02 -1.71377903e-02 1.36336283e+02] [ 4.58538113e-02 9.98948142e-01 -1.94318838e-04 1.85239505e+00] [ 1.71286734e-02 -5.91747096e-04 9.99853118e-01 1.18445823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38925415399999 meters Centerline goodness [0,1] 0.9989207034474001 Centerline is valid? [True, True] Translation: X:136.37, Y:1.85, Z:1.19 [[ 9.98501607e-01 -5.22370010e-02 -1.63044670e-02 1.36366272e+02] [ 5.22409379e-02 9.98634493e-01 -1.84646268e-04 1.84806254e+00] [ 1.62918485e-02 -6.67391050e-04 9.99867056e-01 1.18533389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.419254154 meters Centerline goodness [0,1] 0.998688912854998 Centerline is valid? [True, True] Translation: X:136.40, Y:1.85, Z:1.19 [[ 9.98363603e-01 -5.49380320e-02 -1.58722821e-02 1.36396890e+02] [ 5.49421052e-02 9.98489526e-01 -1.79648210e-04 1.84569103e+00] [ 1.58581769e-02 -6.92702357e-04 9.99874011e-01 1.18561798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.449254154 meters Centerline goodness [0,1] 0.9986481348485489 Centerline is valid? [True, True] Translation: X:136.43, Y:1.84, Z:1.19 [[ 9.98209735e-01 -5.77352073e-02 -1.56195723e-02 1.36427578e+02] [ 5.77395001e-02 9.98331668e-01 -1.76366326e-04 1.84361481e+00] [ 1.56036962e-02 -7.25815714e-04 9.99877991e-01 1.18648882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.479254154 meters Centerline goodness [0,1] 0.9984992284766112 Centerline is valid? [True, True] Translation: X:136.46, Y:1.84, Z:1.19 [[ 9.97901253e-01 -6.29239956e-02 -1.52859357e-02 1.36457153e+02] [ 6.29287151e-02 9.98018009e-01 -1.72522206e-04 1.83927918e+00] [ 1.52664949e-02 -7.89764167e-04 9.99883148e-01 1.18739535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.509254154 meters Centerline goodness [0,1] 0.9987951297877737 Centerline is valid? [True, True] Translation: X:136.49, Y:1.84, Z:1.19 [[ 9.97779864e-01 -6.49035664e-02 -1.49288251e-02 1.36489213e+02] [ 6.49082928e-02 9.97891219e-01 -1.68226957e-04 1.84190082e+00] [ 1.49082620e-02 -8.01151082e-04 9.99888545e-01 1.18884830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539254154 meters Centerline goodness [0,1] 0.9987318227933717 Centerline is valid? [True, True] Translation: X:136.52, Y:1.85, Z:1.19 [[ 9.97671450e-01 -6.65116082e-02 -1.50958547e-02 1.36521335e+02] [ 6.65166408e-02 9.97785302e-01 -1.69023055e-04 1.84707407e+00] [ 1.50736639e-02 -8.35496070e-04 9.99886037e-01 1.18986092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.569254154 meters Centerline goodness [0,1] 0.9986934715724702 Centerline is valid? [True, True] Translation: X:136.55, Y:1.84, Z:1.19 [[ 9.97604686e-01 -6.76636811e-02 -1.43707191e-02 1.36552428e+02] [ 6.76683743e-02 9.97707856e-01 -1.59971791e-04 1.83665531e+00] [ 1.43486036e-02 -8.12854589e-04 9.99896723e-01 1.18938646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599254154 meters Centerline goodness [0,1] 0.9985014141584702 Centerline is valid? [True, True] Translation: X:136.58, Y:1.84, Z:1.19 [[ 9.97544950e-01 -6.84717894e-02 -1.46862756e-02 1.36584513e+02] [ 6.84767914e-02 9.97652696e-01 -1.62592967e-04 1.84018884e+00] [ 1.46629355e-02 -8.43475235e-04 9.99892138e-01 1.18968618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.629254154 meters Centerline goodness [0,1] 0.998753749313506 Centerline is valid? [True, True] Translation: X:136.62, Y:1.85, Z:1.19 [[ 9.97497252e-01 -6.91298160e-02 -1.48425443e-02 1.36616193e+02] [ 6.91350169e-02 9.97607299e-01 -1.63019803e-04 1.84620398e+00] [ 1.48183001e-02 -8.63527747e-04 9.99889830e-01 1.19025914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659254154 meters Centerline goodness [0,1] 0.9987325193290802 Centerline is valid? [True, True] Translation: X:136.65, Y:1.84, Z:1.19 [[ 9.97519232e-01 -6.87404061e-02 -1.51703314e-02 1.36647086e+02] [ 6.87458232e-02 9.97634194e-01 -1.64725215e-04 1.84416114e+00] [ 1.51457646e-02 -8.78580352e-04 9.99884910e-01 1.19004468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.689254154 meters Centerline goodness [0,1] 0.9988151658767772 Centerline is valid? [True, True] Translation: X:136.68, Y:1.85, Z:1.19 [[ 9.97521089e-01 -6.85467923e-02 -1.59064032e-02 1.36680397e+02] [ 6.85527552e-02 9.97647478e-01 -1.70711795e-04 1.85110798e+00] [ 1.58806847e-02 -9.20139147e-04 9.99873471e-01 1.19039794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719254154 meters Centerline goodness [0,1] 0.9986895779172743 Centerline is valid? [True, True] Translation: X:136.71, Y:1.85, Z:1.19 [[ 9.97580514e-01 -6.73688983e-02 -1.71624351e-02 1.36711500e+02] [ 6.73756933e-02 9.97727660e-01 -1.82635578e-04 1.85236795e+00] [ 1.71357402e-02 -9.74137271e-04 9.99852698e-01 1.18969710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.749254154 meters Centerline goodness [0,1] 0.9988372093023256 Centerline is valid? [True, True] Translation: X:136.74, Y:1.85, Z:1.19 [[ 9.97625183e-01 -6.65934759e-02 -1.75870197e-02 1.36743832e+02] [ 6.66005110e-02 9.97779704e-01 -1.86027520e-04 1.85351913e+00] [ 1.75603595e-02 -9.85718757e-04 9.99845319e-01 1.18966842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779254154 meters Centerline goodness [0,1] 0.9985799970328296 Centerline is valid? [True, True] Translation: X:136.78, Y:1.86, Z:1.19 [[ 9.97690742e-01 -6.55120560e-02 -1.79263602e-02 1.36776026e+02] [ 6.55192150e-02 9.97851290e-01 -1.88291190e-04 1.85744140e+00] [ 1.79001770e-02 -9.86664672e-04 9.99839292e-01 1.18977753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809254154 meters Centerline goodness [0,1] 0.9987496291272835 Centerline is valid? [True, True] Translation: X:136.81, Y:1.86, Z:1.19 [[ 9.97756615e-01 -6.43741390e-02 -1.83767950e-02 1.36807050e+02] [ 6.43814921e-02 9.97925341e-01 -1.91817637e-04 1.85844726e+00] [ 1.83510175e-02 -9.91738167e-04 9.99831114e-01 1.18997797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839254154 meters Centerline goodness [0,1] 0.9988353626257279 Centerline is valid? [True, True] Translation: X:136.84, Y:1.86, Z:1.19 [[ 9.97867023e-01 -6.27020111e-02 -1.81621034e-02 1.36838560e+02] [ 6.27089323e-02 9.98031840e-01 -1.88740622e-04 1.86258038e+00] [ 1.81381919e-02 -9.50588068e-04 9.99835038e-01 1.19084214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86925415399998 meters Centerline goodness [0,1] 0.9987088034206125 Centerline is valid? [True, True] Translation: X:136.87, Y:1.87, Z:1.19 [[ 9.98138165e-01 -5.83923874e-02 -1.76219152e-02 1.36868709e+02] [ 5.83982388e-02 9.98293350e-01 -1.82789066e-04 1.86642547e+00] [ 1.76025142e-02 -8.46640069e-04 9.99844705e-01 1.19165109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89925415399998 meters Centerline goodness [0,1] 0.998874137015401 Centerline is valid? [True, True] Translation: X:136.90, Y:1.87, Z:1.19 [[ 9.98305147e-01 -5.55906786e-02 -1.72194733e-02 1.36900206e+02] [ 5.55958548e-02 9.98453338e-01 -1.78325001e-04 1.87108864e+00] [ 1.72027538e-02 -7.79308569e-04 9.99851718e-01 1.19291949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92925415399998 meters Centerline goodness [0,1] 0.9987663249244906 Centerline is valid? [True, True] Translation: X:136.93, Y:1.87, Z:1.19 [[ 9.98489109e-01 -5.23663715e-02 -1.66511841e-02 1.36931173e+02] [ 5.23707740e-02 9.98627695e-01 -1.71839833e-04 1.87412806e+00] [ 1.66373322e-02 -7.00455195e-04 9.99861345e-01 1.19351815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95925415399998 meters Centerline goodness [0,1] 0.9989991055837131 Centerline is valid? [True, True] Translation: X:136.96, Y:1.88, Z:1.19 [[ 9.98832590e-01 -4.55890161e-02 -1.59717975e-02 1.36961806e+02] [ 4.55922071e-02 9.98960121e-01 -1.64458866e-04 1.88246357e+00] [ 1.59626863e-02 -5.63922624e-04 9.99872429e-01 1.19473648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98925415399998 meters Centerline goodness [0,1] 0.9990828231981742 Centerline is valid? [True, True] Translation: X:136.99, Y:1.88, Z:1.20 [[ 9.98994411e-01 -4.19827348e-02 -1.57358271e-02 1.36992402e+02] [ 4.19853972e-02 9.99118211e-01 -1.61275946e-04 1.88488298e+00] [ 1.57287223e-02 -4.99561183e-04 9.99876171e-01 1.19504771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01925415399998 meters Centerline goodness [0,1] 0.9989555133971394 Centerline is valid? [True, True] Translation: X:137.02, Y:1.89, Z:1.20 [[ 9.99132613e-01 -3.85215795e-02 -1.58148523e-02 1.37024272e+02] [ 3.85238573e-02 9.99257668e-01 -1.60702233e-04 1.88962024e+00] [ 1.58093030e-02 -4.48686273e-04 9.99874924e-01 1.19546912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04925415399998 meters Centerline goodness [0,1] 0.9990617936799011 Centerline is valid? [True, True] Translation: X:137.06, Y:1.89, Z:1.20 [[ 9.99255131e-01 -3.51551408e-02 -1.59154025e-02 1.37055402e+02] [ 3.51570331e-02 9.99381787e-01 -1.60962672e-04 1.89250813e+00] [ 1.59112220e-02 -3.98695555e-04 9.99873329e-01 1.19577100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07925415399998 meters Centerline goodness [0,1] 0.9990605717701817 Centerline is valid? [True, True] Translation: X:137.09, Y:1.90, Z:1.20 [[ 9.99430148e-01 -2.96825082e-02 -1.60725641e-02 1.37086060e+02] [ 2.96837401e-02 9.99559328e-01 -1.61961573e-04 1.89657282e+00] [ 1.60702888e-02 -3.15224536e-04 9.99870815e-01 1.19516863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10925415399998 meters Centerline goodness [0,1] 0.998952409458246 Centerline is valid? [True, True] Translation: X:137.12, Y:1.90, Z:1.19 [[ 9.99473602e-01 -2.77219863e-02 -1.68526159e-02 1.37116036e+02] [ 2.77230704e-02 9.99615627e-01 -1.69332445e-04 1.89842232e+00] [ 1.68508324e-02 -2.97962948e-04 9.99857970e-01 1.19498111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13925415399999 meters Centerline goodness [0,1] 0.9991657040174561 Centerline is valid? [True, True] Translation: X:137.15, Y:1.90, Z:1.20 [[ 9.99509290e-01 -2.60479253e-02 -1.73978618e-02 1.37146617e+02] [ 2.60488301e-02 9.99660656e-01 -1.74639488e-04 1.90122441e+00] [ 1.73965070e-02 -2.78640157e-04 9.99848630e-01 1.19512640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.169254154 meters Centerline goodness [0,1] 0.9990786174976966 Centerline is valid? [True, True] Translation: X:137.18, Y:1.90, Z:1.19 [[ 9.99536346e-01 -2.39092099e-02 -1.88531690e-02 1.37177188e+02] [ 2.39098923e-02 9.99714100e-01 -1.89247841e-04 1.90389117e+00] [ 1.88523037e-02 -2.61617145e-04 9.99822245e-01 1.19454218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.199254154 meters Centerline goodness [0,1] 0.999184951633314 Centerline is valid? [True, True] Translation: X:137.21, Y:1.90, Z:1.19 [[ 9.99531420e-01 -2.36967006e-02 -1.93754281e-02 1.37206085e+02] [ 2.36973314e-02 9.99719159e-01 -1.97071759e-04 1.90445860e+00] [ 1.93746567e-02 -2.62166526e-04 9.99812259e-01 1.19441377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.229254154 meters Centerline goodness [0,1] 0.9991848467297337 Centerline is valid? [True, True] Translation: X:137.23, Y:1.90, Z:1.19 [[ 9.99526634e-01 -2.37481601e-02 -1.95584412e-02 1.37233732e+02] [ 2.37487375e-02 9.99717938e-01 -2.02776210e-04 1.90360692e+00] [ 1.95577400e-02 -2.61808063e-04 9.99808695e-01 1.19358204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.259254154 meters Centerline goodness [0,1] 0.9991646496883501 Centerline is valid? [True, True] Translation: X:137.26, Y:1.91, Z:1.19 [[ 9.99515113e-01 -2.40698190e-02 -1.97530668e-02 1.37262112e+02] [ 2.40703924e-02 9.99710244e-01 -2.08761299e-04 1.90508872e+00] [ 1.97523680e-02 -2.66803994e-04 9.99804867e-01 1.19497213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.289254154 meters Centerline goodness [0,1] 0.9992288413341045 Centerline is valid? [True, True] Translation: X:137.29, Y:1.91, Z:1.20 [[ 9.99505809e-01 -2.45006811e-02 -1.96940005e-02 1.37290965e+02] [ 2.45012354e-02 9.99699777e-01 -2.13177584e-04 1.90519061e+00] [ 1.96933109e-02 -2.69455109e-04 9.99806032e-01 1.19562603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319254154 meters Centerline goodness [0,1] 0.9990151158309425 Centerline is valid? [True, True] Translation: X:137.32, Y:1.90, Z:1.20 [[ 9.99479375e-01 -2.59546574e-02 -1.91659588e-02 1.37319972e+02] [ 2.59553564e-02 9.99663080e-01 -2.12322486e-04 1.90478851e+00] [ 1.91650121e-02 -2.85247345e-04 9.99816294e-01 1.19674202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.349254154 meters Centerline goodness [0,1] 0.9989957050364324 Centerline is valid? [True, True] Translation: X:137.35, Y:1.90, Z:1.20 [[ 9.99455850e-01 -2.69786222e-02 -1.89778113e-02 1.37349497e+02] [ 2.69794400e-02 9.99635966e-01 -2.12982655e-04 1.90412750e+00] [ 1.89766487e-02 -2.99143960e-04 9.99819882e-01 1.19728683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379254154 meters Centerline goodness [0,1] 0.9990793276951075 Centerline is valid? [True, True] Translation: X:137.38, Y:1.90, Z:1.20 [[ 9.99428938e-01 -2.78726284e-02 -1.91027195e-02 1.37378514e+02] [ 2.78736068e-02 9.99611432e-01 -2.15087447e-04 1.90276123e+00] [ 1.91012918e-02 -3.17497072e-04 9.99817503e-01 1.19704680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.409254154 meters Centerline goodness [0,1] 0.9989975471899328 Centerline is valid? [True, True] Translation: X:137.41, Y:1.90, Z:1.20 [[ 9.99338697e-01 -3.12812858e-02 -1.85377895e-02 1.37408107e+02] [ 3.12827810e-02 9.99510552e-01 -2.09390996e-04 1.90018432e+00] [ 1.85352662e-02 -3.70661084e-04 9.99828138e-01 1.19797331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439254154 meters Centerline goodness [0,1] 0.9990606319385141 Centerline is valid? [True, True] Translation: X:137.44, Y:1.90, Z:1.20 [[ 9.99262049e-01 -3.34152378e-02 -1.89414892e-02 1.37438880e+02] [ 3.34171754e-02 9.99441467e-01 -2.14297458e-04 1.89922114e+00] [ 1.89380705e-02 -4.18831749e-04 9.99820571e-01 1.19837530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.469254154 meters Centerline goodness [0,1] 0.9989556469660479 Centerline is valid? [True, True] Translation: X:137.47, Y:1.90, Z:1.20 [[ 9.99174001e-01 -3.56064793e-02 -1.95830053e-02 1.37470227e+02] [ 3.56089784e-02 9.99365775e-01 -2.21178965e-04 1.89813645e+00] [ 1.95784607e-02 -4.76334542e-04 9.99808210e-01 1.19873838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499254154 meters Centerline goodness [0,1] 0.9989544436146378 Centerline is valid? [True, True] Translation: X:137.50, Y:1.89, Z:1.20 [[ 9.99075598e-01 -3.82041970e-02 -1.97075698e-02 1.37500428e+02] [ 3.82072435e-02 9.99269812e-01 -2.22049521e-04 1.89423238e+00] [ 1.97016628e-02 -5.31127660e-04 9.99805762e-01 1.19807178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.529254154 meters Centerline goodness [0,1] 0.9989343563512362 Centerline is valid? [True, True] Translation: X:137.53, Y:1.89, Z:1.20 [[ 9.98863788e-01 -4.35554004e-02 -1.93406520e-02 1.37531333e+02] [ 4.35593431e-02 9.99050818e-01 -2.17569581e-04 1.89016774e+00] [ 1.93317705e-02 -6.25143720e-04 9.99812928e-01 1.19869178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559254154 meters Centerline goodness [0,1] 0.9990209641374906 Centerline is valid? [True, True] Translation: X:137.56, Y:1.89, Z:1.20 [[ 9.98730086e-01 -4.65179608e-02 -1.93466839e-02 1.37562610e+02] [ 4.65224712e-02 9.98917220e-01 -2.17113201e-04 1.88785702e+00] [ 1.93358354e-02 -6.83218059e-04 9.99812812e-01 1.19896122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589254154 meters Centerline goodness [0,1] 0.9987645642959081 Centerline is valid? [True, True] Translation: X:137.59, Y:1.89, Z:1.20 [[ 9.98611515e-01 -4.88151235e-02 -1.98021460e-02 1.37594215e+02] [ 4.88203181e-02 9.98807553e-01 -2.21301499e-04 1.88730909e+00] [ 1.97893358e-02 -7.45752839e-04 9.99803894e-01 1.19846699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61925415399998 meters Centerline goodness [0,1] 0.9988288154000128 Centerline is valid? [True, True] Translation: X:137.63, Y:1.88, Z:1.20 [[ 9.98464420e-01 -5.17386843e-02 -1.97967211e-02 1.37625170e+02] [ 5.17444674e-02 9.98660333e-01 -2.20339907e-04 1.88139490e+00] [ 1.97816002e-02 -8.04369233e-04 9.99804001e-01 1.19832777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64925415399998 meters Centerline goodness [0,1] 0.9987435045574581 Centerline is valid? [True, True] Translation: X:137.66, Y:1.88, Z:1.20 [[ 9.98227060e-01 -5.57909010e-02 -2.07391599e-02 1.37656685e+02] [ 5.57981366e-02 9.98442044e-01 -2.30069752e-04 1.87932013e+00] [ 2.07196850e-02 -9.27544623e-04 9.99784894e-01 1.19768432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67925415399998 meters Centerline goodness [0,1] 0.9988091187478735 Centerline is valid? [True, True] Translation: X:137.69, Y:1.88, Z:1.20 [[ 9.98135190e-01 -5.71608920e-02 -2.14190260e-02 1.37688469e+02] [ 5.71689578e-02 9.98364490e-01 -2.36064645e-04 1.88251912e+00] [ 2.13974886e-02 -9.88878962e-04 9.99770558e-01 1.19839182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70925415399998 meters Centerline goodness [0,1] 0.9987651166751831 Centerline is valid? [True, True] Translation: X:137.72, Y:1.88, Z:1.20 [[ 9.98061034e-01 -5.80697275e-02 -2.24071132e-02 1.37720586e+02] [ 5.80788270e-02 9.98311970e-01 -2.45005706e-04 1.88261214e+00] [ 2.23835167e-02 -1.05684820e-03 9.99748899e-01 1.19834263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73925415399998 meters Centerline goodness [0,1] 0.9988528943175783 Centerline is valid? [True, True] Translation: X:137.75, Y:1.88, Z:1.20 [[ 9.98019045e-01 -5.88325327e-02 -2.22871914e-02 1.37751604e+02] [ 5.88417562e-02 9.98267293e-01 -2.42286943e-04 1.88169161e+00] [ 2.22628286e-02 -1.06961050e-03 9.99751580e-01 1.19839492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76925415399998 meters Centerline goodness [0,1] 0.9988712837550047 Centerline is valid? [True, True] Translation: X:137.78, Y:1.88, Z:1.20 [[ 9.98031612e-01 -5.86487538e-02 -2.22086777e-02 1.37783985e+02] [ 5.86578998e-02 9.98278114e-01 -2.39955850e-04 1.88410545e+00] [ 2.21845100e-02 -1.06323086e-03 9.99753328e-01 1.19938509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79925415399998 meters Centerline goodness [0,1] 0.9990227736233854 Centerline is valid? [True, True] Translation: X:137.82, Y:1.88, Z:1.20 [[ 9.98073583e-01 -5.79168474e-02 -2.22432452e-02 1.37815452e+02] [ 5.79258932e-02 9.98320857e-01 -2.37962728e-04 1.88009097e+00] [ 2.22196777e-02 -1.05095553e-03 9.99752560e-01 1.19894273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82925415399998 meters Centerline goodness [0,1] 0.9987645906108886 Centerline is valid? [True, True] Translation: X:137.85, Y:1.88, Z:1.20 [[ 9.98130065e-01 -5.70707336e-02 -2.18930401e-02 1.37847524e+02] [ 5.70793393e-02 9.98369619e-01 -2.32124400e-04 1.88248500e+00] [ 2.18705936e-02 -1.01794992e-03 9.99760292e-01 1.19976868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85925415399998 meters Centerline goodness [0,1] 0.9990851453129654 Centerline is valid? [True, True] Translation: X:137.88, Y:1.89, Z:1.20 [[ 9.98299656e-01 -5.41321081e-02 -2.16220216e-02 1.37879365e+02] [ 5.41398445e-02 9.98533337e-01 -2.27840010e-04 1.88626654e+00] [ 2.16026429e-02 -9.43160285e-04 9.99766191e-01 1.20121266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88925415399999 meters Centerline goodness [0,1] 0.9988750212260146 Centerline is valid? [True, True] Translation: X:137.91, Y:1.89, Z:1.20 [[ 9.98392417e-01 -5.22815714e-02 -2.18910667e-02 1.37911229e+02] [ 5.22890899e-02 9.98631964e-01 -2.29202654e-04 1.88847243e+00] [ 2.18731020e-02 -9.15829762e-04 9.99760336e-01 1.20124595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.919254154 meters Centerline goodness [0,1] 0.9989559140014064 Centerline is valid? [True, True] Translation: X:137.94, Y:1.89, Z:1.20 [[ 9.98484182e-01 -5.03764667e-02 -2.21709278e-02 1.37942456e+02] [ 5.03837351e-02 9.98729906e-01 -2.30991135e-04 1.89241127e+00] [ 2.21544051e-02 -8.86413159e-04 9.99754168e-01 1.20196788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.949254154 meters Centerline goodness [0,1] 0.9990836050550903 Centerline is valid? [True, True] Translation: X:137.97, Y:1.89, Z:1.20 [[ 9.98581975e-01 -4.81749819e-02 -2.26541679e-02 1.37972515e+02] [ 4.81820184e-02 9.98838544e-01 -2.35440096e-04 1.89402097e+00] [ 2.26391984e-02 -8.56417297e-04 9.99743334e-01 1.20187667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.979254154 meters Centerline goodness [0,1] 0.9989769820971867 Centerline is valid? [True, True] Translation: X:138.00, Y:1.90, Z:1.20 [[ 9.98672991e-01 -4.58531960e-02 -2.34465823e-02 1.38004044e+02] [ 4.58601108e-02 9.98947842e-01 -2.42986741e-04 1.89821426e+00] [ 2.34330545e-02 -8.32598566e-04 9.99725062e-01 1.20227049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.009254154 meters Centerline goodness [0,1] 0.9991668090924628 Centerline is valid? [True, True] Translation: X:138.03, Y:1.90, Z:1.20 [[ 9.98779468e-01 -4.31798849e-02 -2.39806403e-02 1.38034439e+02] [ 4.31863635e-02 9.99067003e-01 -2.47906495e-04 1.89956625e+00] [ 2.39689711e-02 -7.88032734e-04 9.99712392e-01 1.20164634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039254154 meters Centerline goodness [0,1] 0.9991668090924628 Centerline is valid? [True, True] Translation: X:138.06, Y:1.90, Z:1.20 [[ 9.98779468e-01 -4.31798833e-02 -2.39806421e-02 1.38064456e+02] [ 4.31863660e-02 9.99067003e-01 -2.47736717e-04 1.89987625e+00] [ 2.39689655e-02 -7.88202440e-04 9.99712392e-01 1.20192751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.069254154 meters Centerline goodness [0,1] 0.9990589040509903 Centerline is valid? [True, True] Translation: X:138.09, Y:1.91, Z:1.20 [[ 9.99002591e-01 -3.72598246e-02 -2.46074804e-02 1.38094041e+02] [ 3.72648726e-02 9.99305391e-01 -2.53556205e-04 1.90515201e+00] [ 2.45998353e-02 -6.63691315e-04 9.99697158e-01 1.20195905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099254154 meters Centerline goodness [0,1] 0.9993789617954428 Centerline is valid? [True, True] Translation: X:138.12, Y:1.91, Z:1.20 [[ 9.99107213e-01 -3.42863114e-02 -2.46825066e-02 1.38123781e+02] [ 3.42904796e-02 9.99411876e-01 -2.54483933e-04 1.91055435e+00] [ 2.46767155e-02 -5.92118255e-04 9.99695308e-01 1.20379851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.129254154 meters Centerline goodness [0,1] 0.9991637899611913 Centerline is valid? [True, True] Translation: X:138.15, Y:1.91, Z:1.20 [[ 9.99213598e-01 -3.10600769e-02 -2.46466289e-02 1.38152779e+02] [ 3.10632300e-02 9.99517389e-01 -2.55008224e-04 1.91310114e+00] [ 2.46426548e-02 -5.10796219e-04 9.99696193e-01 1.20352587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159254154 meters Centerline goodness [0,1] 0.9992254066615027 Centerline is valid? [True, True] Translation: X:138.18, Y:1.92, Z:1.21 [[ 9.99377844e-01 -2.57053779e-02 -2.41486808e-02 1.38181671e+02] [ 2.57068085e-02 9.99669494e-01 -2.51248303e-04 1.91995239e+00] [ 2.41471580e-02 -3.69693525e-04 9.99708347e-01 1.20522298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.189254154 meters Centerline goodness [0,1] 0.9991398034450872 Centerline is valid? [True, True] Translation: X:138.21, Y:1.92, Z:1.21 [[ 9.99439153e-01 -2.35140315e-02 -2.38425999e-02 1.38210169e+02] [ 2.35146995e-02 9.99723459e-01 -2.52386264e-04 1.92281725e+00] [ 2.38419411e-02 -3.08406858e-04 9.99715693e-01 1.20571786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219254154 meters Centerline goodness [0,1] 0.9992509683908661 Centerline is valid? [True, True] Translation: X:138.24, Y:1.93, Z:1.21 [[ 9.99488417e-01 -2.16078691e-02 -2.35797435e-02 1.38238859e+02] [ 2.16078507e-02 9.99766490e-01 -2.55598675e-04 1.92546750e+00] [ 2.35797603e-02 -2.54039661e-04 9.99721927e-01 1.20675121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.249254154 meters Centerline goodness [0,1] 0.9992470851439142 Centerline is valid? [True, True] Translation: X:138.27, Y:1.93, Z:1.21 [[ 9.99565511e-01 -1.87031821e-02 -2.27811580e-02 1.38266258e+02] [ 1.87023167e-02 9.99825065e-01 -2.51062177e-04 1.92837927e+00] [ 2.27818685e-02 -1.75107339e-04 9.99740444e-01 1.20708913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279254154 meters Centerline goodness [0,1] 0.9993534343412573 Centerline is valid? [True, True] Translation: X:138.29, Y:1.93, Z:1.21 [[ 9.99605992e-01 -1.75115165e-02 -2.19364403e-02 1.38294693e+02] [ 1.75103305e-02 9.99846652e-01 -2.46159269e-04 1.92975855e+00] [ 2.19373870e-02 -1.38052039e-04 9.99759337e-01 1.20783663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309254154 meters Centerline goodness [0,1] 0.9993533785968316 Centerline is valid? [True, True] Translation: X:138.32, Y:1.93, Z:1.21 [[ 9.99646184e-01 -1.64424558e-02 -2.09081959e-02 1.38322797e+02] [ 1.64410752e-02 9.99864808e-01 -2.37936286e-04 1.93032970e+00] [ 2.09092816e-02 -1.05901120e-04 9.99781371e-01 1.20755661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339254154 meters Centerline goodness [0,1] 0.9991599715682684 Centerline is valid? [True, True] Translation: X:138.35, Y:1.93, Z:1.21 [[ 9.99673604e-01 -1.56623648e-02 -2.01835668e-02 1.38351366e+02] [ 1.56608486e-02 9.99877334e-01 -2.33190998e-04 1.93169308e+00] [ 2.01847433e-02 -8.29768983e-05 9.99796264e-01 1.20903461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36925415399998 meters Centerline goodness [0,1] 0.9992676359719979 Centerline is valid? [True, True] Translation: X:138.38, Y:1.93, Z:1.21 [[ 9.99711079e-01 -1.48399308e-02 -1.89085814e-02 1.38378703e+02] [ 1.48383959e-02 9.99889880e-01 -2.21476486e-04 1.93265039e+00] [ 1.89097859e-02 -5.91605205e-05 9.99821192e-01 1.21037473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39925415399998 meters Centerline goodness [0,1] 0.9992899408284024 Centerline is valid? [True, True] Translation: X:138.41, Y:1.93, Z:1.21 [[ 9.99702421e-01 -1.56028420e-02 -1.87515446e-02 1.38406126e+02] [ 1.56014000e-02 9.99878266e-01 -2.23194388e-04 1.93266019e+00] [ 1.87527444e-02 -6.94223792e-05 9.99824149e-01 1.21165073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42925415399998 meters Centerline goodness [0,1] 0.999269052993658 Centerline is valid? [True, True] Translation: X:138.43, Y:1.93, Z:1.21 [[ 9.99698987e-01 -1.66975388e-02 -1.79757473e-02 1.38432929e+02] [ 1.66963123e-02 9.99860583e-01 -2.18315300e-04 1.93107524e+00] [ 1.79768865e-02 -8.18791068e-05 9.99838399e-01 1.21099408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45925415399998 meters Centerline goodness [0,1] 0.9990751494816535 Centerline is valid? [True, True] Translation: X:138.46, Y:1.93, Z:1.21 [[ 9.99666029e-01 -1.84094293e-02 -1.81362174e-02 1.38461288e+02] [ 1.84083875e-02 9.99830526e-01 -2.24402135e-04 1.92974175e+00] [ 1.81372749e-02 -1.09531327e-04 9.99835500e-01 1.21179154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48925415399998 meters Centerline goodness [0,1] 0.9993122864327008 Centerline is valid? [True, True] Translation: X:138.49, Y:1.93, Z:1.21 [[ 9.99624569e-01 -2.04569532e-02 -1.82272973e-02 1.38490109e+02] [ 2.04561564e-02 9.99790724e-01 -2.30176370e-04 1.92752039e+00] [ 1.82281915e-02 -1.42770491e-04 9.99833843e-01 1.21101884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51925415399998 meters Centerline goodness [0,1] 0.9992912979984537 Centerline is valid? [True, True] Translation: X:138.52, Y:1.92, Z:1.21 [[ 9.99502561e-01 -2.51255090e-02 -1.90614799e-02 1.38518571e+02] [ 2.51253920e-02 9.99684277e-01 -2.45660251e-04 1.92288391e+00] [ 1.90616341e-02 -2.33389104e-04 9.99818283e-01 1.21015441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54925415399998 meters Centerline goodness [0,1] 0.9989503224009768 Centerline is valid? [True, True] Translation: X:138.55, Y:1.92, Z:1.21 [[ 9.99439099e-01 -2.73766601e-02 -1.92874463e-02 1.38547761e+02] [ 2.73769024e-02 9.99625151e-01 -2.51524472e-04 1.92079947e+00] [ 1.92871023e-02 -2.76647142e-04 9.99813948e-01 1.20981922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57925415399998 meters Centerline goodness [0,1] 0.9991844443490578 Centerline is valid? [True, True] Translation: X:138.58, Y:1.92, Z:1.21 [[ 9.99377892e-01 -2.94256968e-02 -1.94411268e-02 1.38577359e+02] [ 2.94263171e-02 9.99566920e-01 -2.54225294e-04 1.91783425e+00] [ 1.94401880e-02 -3.18013624e-04 9.99810971e-01 1.20878640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60925415399998 meters Centerline goodness [0,1] 0.9991434322669065 Centerline is valid? [True, True] Translation: X:138.61, Y:1.92, Z:1.21 [[ 9.99300175e-01 -3.18340614e-02 -1.96405836e-02 1.38607415e+02] [ 3.18351524e-02 9.99493100e-01 -2.57186143e-04 1.91587633e+00] [ 1.96388150e-02 -3.68254814e-04 9.99807072e-01 1.20952956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63925415399999 meters Centerline goodness [0,1] 0.99920862386106 Centerline is valid? [True, True] Translation: X:138.64, Y:1.91, Z:1.21 [[ 9.99227201e-01 -3.40303927e-02 -1.96706136e-02 1.38637907e+02] [ 3.40319091e-02 9.99420714e-01 -2.57745478e-04 1.91496132e+00] [ 1.96679899e-02 -4.11882243e-04 9.99806482e-01 1.21000125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.669254154 meters Centerline goodness [0,1] 0.9989304126468008 Centerline is valid? [True, True] Translation: X:138.67, Y:1.91, Z:1.21 [[ 9.99089266e-01 -3.82392264e-02 -1.89314435e-02 1.38669349e+02] [ 3.82413927e-02 9.99268500e-01 -2.47705025e-04 1.91210923e+00] [ 1.89270672e-02 -4.76485333e-04 9.99820753e-01 1.21090350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.699254154 meters Centerline goodness [0,1] 0.9990191270230505 Centerline is valid? [True, True] Translation: X:138.70, Y:1.91, Z:1.21 [[ 9.99013845e-01 -4.02605604e-02 -1.87196312e-02 1.38700814e+02] [ 4.02630492e-02 9.99189085e-01 -2.44070605e-04 1.90873571e+00] [ 1.87142776e-02 -5.09879519e-04 9.99824743e-01 1.21080142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.729254154 meters Centerline goodness [0,1] 0.9989547781569966 Centerline is valid? [True, True] Translation: X:138.73, Y:1.91, Z:1.21 [[ 9.98930946e-01 -4.23291695e-02 -1.85797572e-02 1.38732961e+02] [ 4.23320010e-02 9.99103570e-01 -2.41045788e-04 1.90846225e+00] [ 1.85733050e-02 -5.45730205e-04 9.99827352e-01 1.21186121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.759254154 meters Centerline goodness [0,1] 0.9989121392461765 Centerline is valid? [True, True] Translation: X:138.76, Y:1.91, Z:1.21 [[ 9.98770154e-01 -4.63060246e-02 -1.77180954e-02 1.38763843e+02] [ 4.63092390e-02 9.98927125e-01 -2.29047215e-04 1.90611610e+00] [ 1.77096924e-02 -5.91745993e-04 9.99842996e-01 1.21260976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.789254154 meters Centerline goodness [0,1] 0.9990190851903188 Centerline is valid? [True, True] Translation: X:138.80, Y:1.90, Z:1.21 [[ 9.98696941e-01 -4.80500936e-02 -1.71932748e-02 1.38796275e+02] [ 4.80533914e-02 9.98844744e-01 -2.21512034e-04 1.90470949e+00] [ 1.71840559e-02 -6.04971773e-04 9.99852160e-01 1.21298469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819254154 meters Centerline goodness [0,1] 0.9988930988973562 Centerline is valid? [True, True] Translation: X:138.83, Y:1.90, Z:1.21 [[ 9.98614229e-01 -4.98002945e-02 -1.70162280e-02 1.38828126e+02] [ 4.98038035e-02 9.98758997e-01 -2.17751389e-04 1.90375579e+00] [ 1.70059549e-02 -6.30023241e-04 9.99855190e-01 1.21325819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.849254154 meters Centerline goodness [0,1] 0.9990446671195652 Centerline is valid? [True, True] Translation: X:138.86, Y:1.90, Z:1.21 [[ 9.98420127e-01 -5.38387408e-02 -1.60822962e-02 1.38859284e+02] [ 5.38424148e-02 9.98549424e-01 -2.04760710e-04 1.90051758e+00] [ 1.60699917e-02 -6.61472448e-04 9.99870651e-01 1.21390124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879254154 meters Centerline goodness [0,1] 0.9987457749622669 Centerline is valid? [True, True] Translation: X:138.89, Y:1.89, Z:1.21 [[ 9.98304289e-01 -5.60174864e-02 -1.58299458e-02 1.38890131e+02] [ 5.60213352e-02 9.98429552e-01 -2.00547910e-04 1.89155142e+00] [ 1.58163199e-02 -6.86606862e-04 9.99874678e-01 1.21276748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.909254154 meters Centerline goodness [0,1] 0.9988089921095727 Centerline is valid? [True, True] Translation: X:138.92, Y:1.89, Z:1.21 [[ 9.98177880e-01 -5.81867135e-02 -1.59758171e-02 1.38922415e+02] [ 5.81909372e-02 9.98305452e-01 -2.00736907e-04 1.88927845e+00] [ 1.59604255e-02 -7.29276631e-04 9.99872358e-01 1.21255043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939254154 meters Centerline goodness [0,1] 0.9990859620780546 Centerline is valid? [True, True] Translation: X:138.95, Y:1.89, Z:1.21 [[ 9.98059283e-01 -6.01533949e-02 -1.61008133e-02 1.38954533e+02] [ 6.01579585e-02 9.98188850e-01 -2.01177423e-04 1.89490804e+00] [ 1.60837538e-02 -7.67805063e-04 9.99870353e-01 1.21356812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.969254154 meters Centerline goodness [0,1] 0.9987883683360258 Centerline is valid? [True, True] Translation: X:138.98, Y:1.89, Z:1.21 [[ 9.97828861e-01 -6.37351173e-02 -1.65951659e-02 1.38984770e+02] [ 6.37404802e-02 9.97966487e-01 -2.06104936e-04 1.89212640e+00] [ 1.65745555e-02 -8.52126388e-04 9.99862270e-01 1.21308802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999254154 meters Centerline goodness [0,1] 0.9990444033891827 Centerline is valid? [True, True] Translation: X:139.02, Y:1.89, Z:1.21 [[ 9.97755149e-01 -6.48190528e-02 -1.68271345e-02 1.39016566e+02] [ 6.48247392e-02 9.97896643e-01 -2.07868551e-04 1.89179985e+00] [ 1.68052149e-02 -8.83412691e-04 9.99858392e-01 1.21342975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.029254154 meters Centerline goodness [0,1] 0.9988310059724967 Centerline is valid? [True, True] Translation: X:139.05, Y:1.89, Z:1.21 [[ 9.97679971e-01 -6.58997305e-02 -1.70851050e-02 1.39047766e+02] [ 6.59057665e-02 9.97825829e-01 -2.10121990e-04 1.89026861e+00] [ 1.70618061e-02 -9.16372444e-04 9.99854017e-01 1.21323899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059254154 meters Centerline goodness [0,1] 0.9986626191436517 Centerline is valid? [True, True] Translation: X:139.08, Y:1.89, Z:1.21 [[ 9.97641116e-01 -6.63468391e-02 -1.76153762e-02 1.39079687e+02] [ 6.63533450e-02 9.97796165e-01 -2.15524022e-04 1.89251779e+00] [ 1.75908541e-02 -9.53823506e-04 9.99844814e-01 1.21337781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089254154 meters Centerline goodness [0,1] 0.998722561689625 Centerline is valid? [True, True] Translation: X:139.11, Y:1.89, Z:1.21 [[ 9.97626873e-01 -6.65121201e-02 -1.77977692e-02 1.39110603e+02] [ 6.65188079e-02 9.97785148e-01 -2.16611628e-04 1.88745534e+00] [ 1.77727571e-02 -9.67788810e-04 9.99841584e-01 1.21270529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11925415399998 meters Centerline goodness [0,1] 0.9990456801119736 Centerline is valid? [True, True] Translation: X:139.14, Y:1.89, Z:1.21 [[ 9.97692993e-01 -6.53019248e-02 -1.85566770e-02 1.39142582e+02] [ 6.53090085e-02 9.97865062e-01 -2.24667619e-04 1.89330192e+00] [ 1.85317309e-02 -9.87768868e-04 9.99827785e-01 1.21367299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14925415399998 meters Centerline goodness [0,1] 0.9988078257722521 Centerline is valid? [True, True] Translation: X:139.17, Y:1.90, Z:1.21 [[ 9.97777011e-01 -6.40318355e-02 -1.84651064e-02 1.39174855e+02] [ 6.40386567e-02 9.97947394e-01 -2.22252446e-04 1.89562991e+00] [ 1.84414361e-02 -9.60722230e-04 9.99829481e-01 1.21410011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17925415399998 meters Centerline goodness [0,1] 0.9987645642959081 Centerline is valid? [True, True] Translation: X:139.21, Y:1.90, Z:1.21 [[ 9.97879251e-01 -6.23613397e-02 -1.86564670e-02 1.39206418e+02] [ 6.23680364e-02 9.98053194e-01 -2.23234666e-04 1.89689812e+00] [ 1.86340677e-02 -9.40805974e-04 9.99825928e-01 1.21418268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20925415399998 meters Centerline goodness [0,1] 0.9989550010663254 Centerline is valid? [True, True] Translation: X:139.24, Y:1.90, Z:1.21 [[ 9.98000868e-01 -6.03378553e-02 -1.88045345e-02 1.39237464e+02] [ 6.03443191e-02 9.98177596e-01 -2.24016945e-04 1.89973521e+00] [ 1.87837817e-02 -9.11177725e-04 9.99823154e-01 1.21466410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23925415399998 meters Centerline goodness [0,1] 0.9989753004717887 Centerline is valid? [True, True] Translation: X:139.27, Y:1.91, Z:1.21 [[ 9.98269996e-01 -5.55802453e-02 -1.91794653e-02 1.39267485e+02] [ 5.55860995e-02 9.98453871e-01 -2.28150020e-04 1.90569889e+00] [ 1.91624920e-02 -8.38356347e-04 9.99816031e-01 1.21459377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26925415399998 meters Centerline goodness [0,1] 0.9989551347662914 Centerline is valid? [True, True] Translation: X:139.30, Y:1.91, Z:1.21 [[ 9.98419488e-01 -5.27186903e-02 -1.94747695e-02 1.39299435e+02] [ 5.27241929e-02 9.98609086e-01 -2.31143490e-04 1.90931078e+00] [ 1.94598674e-02 -7.96013340e-04 9.99810322e-01 1.21498620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29925415399998 meters Centerline goodness [0,1] 0.9989941575534488 Centerline is valid? [True, True] Translation: X:139.33, Y:1.92, Z:1.22 [[ 9.98560998e-01 -4.99575060e-02 -1.94982127e-02 1.39330878e+02] [ 4.99625129e-02 9.98751067e-01 -2.30571913e-04 1.91739074e+00] [ 1.94853795e-02 -7.43939581e-04 9.99809865e-01 1.21665929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32925415399998 meters Centerline goodness [0,1] 0.9990814321114244 Centerline is valid? [True, True] Translation: X:139.36, Y:1.92, Z:1.22 [[ 9.98835581e-01 -4.41859374e-02 -1.93671095e-02 1.39360173e+02] [ 4.41897964e-02 9.99023128e-01 -2.28862646e-04 1.92360499e+00] [ 1.93583028e-02 -6.27232469e-04 9.99812414e-01 1.21768252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35925415399998 meters Centerline goodness [0,1] 0.9990792882684196 Centerline is valid? [True, True] Translation: X:139.39, Y:1.93, Z:1.22 [[ 9.98967547e-01 -4.14037935e-02 -1.86966875e-02 1.39391729e+02] [ 4.14069062e-02 9.99142342e-01 -2.20770749e-04 1.92683132e+00] [ 1.86897929e-02 -5.53629172e-04 9.99825177e-01 1.21866289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38925415399999 meters Centerline goodness [0,1] 0.9992730693577354 Centerline is valid? [True, True] Translation: X:139.42, Y:1.93, Z:1.22 [[ 9.99079285e-01 -3.87859452e-02 -1.83366618e-02 1.39423380e+02] [ 3.87885126e-02 9.99247419e-01 -2.15752480e-04 1.93001936e+00] [ 1.83312302e-02 -4.95698005e-04 9.99831846e-01 1.21976310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419254154 meters Centerline goodness [0,1] 0.9992701826689849 Centerline is valid? [True, True] Translation: X:139.45, Y:1.94, Z:1.22 [[ 9.99179679e-01 -3.65208399e-02 -1.74985100e-02 1.39454968e+02] [ 3.65228437e-02 9.99332797e-01 -2.05151171e-04 1.93563536e+00] [ 1.74943272e-02 -4.34112465e-04 9.99846868e-01 1.22180564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.449254154 meters Centerline goodness [0,1] 0.9991839539578233 Centerline is valid? [True, True] Translation: X:139.49, Y:1.94, Z:1.22 [[ 9.99270654e-01 -3.42021906e-02 -1.69814702e-02 1.39486019e+02] [ 3.42037536e-02 9.99414861e-01 -1.98471007e-04 1.93881706e+00] [ 1.69783218e-02 -3.82503769e-04 9.99855785e-01 1.22298380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.479254154 meters Centerline goodness [0,1] 0.9992685969969454 Centerline is valid? [True, True] Translation: X:139.52, Y:1.94, Z:1.22 [[ 9.99398902e-01 -3.04089296e-02 -1.66472946e-02 1.39516003e+02] [ 3.04099135e-02 9.99537493e-01 -1.94090025e-04 1.94237870e+00] [ 1.66454972e-02 -3.12269431e-04 9.99861405e-01 1.22359285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.509254154 meters Centerline goodness [0,1] 0.99933351966117 Centerline is valid? [True, True] Translation: X:139.55, Y:1.94, Z:1.22 [[ 9.99433334e-01 -2.91864182e-02 -1.67679403e-02 1.39546870e+02] [ 2.91872518e-02 9.99573942e-01 -1.95056520e-04 1.94342403e+00] [ 1.67664892e-02 -2.94464108e-04 9.99859389e-01 1.22357980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539254154 meters Centerline goodness [0,1] 0.9993315075582775 Centerline is valid? [True, True] Translation: X:139.58, Y:1.95, Z:1.22 [[ 9.99477643e-01 -2.77479626e-02 -1.65677830e-02 1.39578387e+02] [ 2.77485888e-02 9.99614915e-01 -1.92131260e-04 1.94605414e+00] [ 1.65667343e-02 -2.67701700e-04 9.99862726e-01 1.22415135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.569254154 meters Centerline goodness [0,1] 0.9994398483281627 Centerline is valid? [True, True] Translation: X:139.61, Y:1.95, Z:1.22 [[ 9.99514562e-01 -2.61636641e-02 -1.69145999e-02 1.39610050e+02] [ 2.61641006e-02 9.99657642e-01 -1.95526187e-04 1.94752605e+00] [ 1.69139248e-02 -2.47124023e-04 9.99856919e-01 1.22407596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599254154 meters Centerline goodness [0,1] 0.9991162650342716 Centerline is valid? [True, True] Translation: X:139.64, Y:1.95, Z:1.22 [[ 9.99588473e-01 -2.22163618e-02 -1.81470944e-02 1.39640795e+02] [ 2.22162264e-02 9.99753167e-01 -2.09086023e-04 1.95052373e+00] [ 1.81472602e-02 -1.94159978e-04 9.99835306e-01 1.22353805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.629254154 meters Centerline goodness [0,1] 0.9993529322951491 Centerline is valid? [True, True] Translation: X:139.67, Y:1.95, Z:1.22 [[ 9.99622237e-01 -2.04482686e-02 -1.83644277e-02 1.39670012e+02] [ 2.04477979e-02 9.99790899e-01 -2.13424309e-04 1.95312233e+00] [ 1.83649518e-02 -1.62168420e-04 9.99831337e-01 1.22434773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659254154 meters Centerline goodness [0,1] 0.9991786802688741 Centerline is valid? [True, True] Translation: X:139.70, Y:1.96, Z:1.22 [[ 9.99649511e-01 -1.85478779e-02 -1.88899702e-02 1.39699130e+02] [ 1.85469500e-02 9.99827965e-01 -2.24330862e-04 1.95507058e+00] [ 1.88908813e-02 -1.26099095e-04 9.99821543e-01 1.22444188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.689254154 meters Centerline goodness [0,1] 0.9995024875621891 Centerline is valid? [True, True] Translation: X:139.73, Y:1.96, Z:1.23 [[ 9.99707601e-01 -1.49119122e-02 -1.90354062e-02 1.39726531e+02] [ 1.49102398e-02 9.99888810e-01 -2.29783271e-04 1.95868215e+00] [ 1.90367162e-02 -5.41063888e-05 9.99818784e-01 1.22510535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719254154 meters Centerline goodness [0,1] 0.9993304101777652 Centerline is valid? [True, True] Translation: X:139.75, Y:1.96, Z:1.22 [[ 9.99721845e-01 -1.34757737e-02 -1.93555198e-02 1.39753295e+02] [ 1.34737266e-02 9.99909197e-01 -2.36176355e-04 1.95994218e+00] [ 1.93569449e-02 -2.46803205e-05 9.99812636e-01 1.22479405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.749254154 meters Centerline goodness [0,1] 0.9994149258906128 Centerline is valid? [True, True] Translation: X:139.78, Y:1.96, Z:1.23 [[ 9.99732963e-01 -1.24900438e-02 -1.94422640e-02 1.39780713e+02] [ 1.24877114e-02 9.99921996e-01 -2.41370885e-04 1.96093496e+00] [ 1.94437622e-02 -1.48295149e-06 9.99810952e-01 1.22528410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779254154 meters Centerline goodness [0,1] 0.9993515476396334 Centerline is valid? [True, True] Translation: X:139.81, Y:1.96, Z:1.23 [[ 9.99732497e-01 -1.20556105e-02 -1.97381955e-02 1.39808902e+02] [ 1.20530062e-02 9.99927328e-01 -2.50903415e-04 1.96156488e+00] [ 1.97397859e-02 1.29317045e-05 9.99805151e-01 1.22572947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809254154 meters Centerline goodness [0,1] 0.9992652461425422 Centerline is valid? [True, True] Translation: X:139.84, Y:1.96, Z:1.23 [[ 9.99725330e-01 -1.21530821e-02 -2.00391647e-02 1.39835912e+02] [ 1.21503171e-02 9.99926148e-01 -2.59732123e-04 1.96156809e+00] [ 2.00408414e-02 1.61785764e-05 9.99799162e-01 1.22533656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83925415399997 meters Centerline goodness [0,1] 0.9994594127059637 Centerline is valid? [True, True] Translation: X:139.86, Y:1.96, Z:1.23 [[ 9.99714102e-01 -1.28966205e-02 -2.01343219e-02 1.39862519e+02] [ 1.28939142e-02 9.99916835e-01 -2.64230473e-04 1.96145545e+00] [ 2.01360551e-02 4.54471081e-06 9.99797249e-01 1.22572849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86925415399998 meters Centerline goodness [0,1] 0.9993728509331545 Centerline is valid? [True, True] Translation: X:139.89, Y:1.96, Z:1.23 [[ 9.99702440e-01 -1.42851719e-02 -1.97728297e-02 1.39890684e+02] [ 1.42827511e-02 9.99897962e-01 -2.63652787e-04 1.96083619e+00] [ 1.97745785e-02 -1.88360714e-05 9.99804464e-01 1.22657872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89925415399998 meters Centerline goodness [0,1] 0.9993312768298207 Centerline is valid? [True, True] Translation: X:139.92, Y:1.96, Z:1.23 [[ 9.99676920e-01 -1.66117372e-02 -1.92381092e-02 1.39919065e+02] [ 1.66097705e-02 9.99862014e-01 -2.62024483e-04 1.95961880e+00] [ 1.92398073e-02 -5.76007503e-05 9.99814896e-01 1.22709377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92925415399998 meters Centerline goodness [0,1] 0.9993534343412573 Centerline is valid? [True, True] Translation: X:139.95, Y:1.96, Z:1.23 [[ 9.99624796e-01 -1.95267433e-02 -1.92086718e-02 1.39947034e+02] [ 1.95252517e-02 9.99809329e-01 -2.65213396e-04 1.95745891e+00] [ 1.92101880e-02 -1.09940264e-04 9.99815461e-01 1.22710577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95925415399998 meters Centerline goodness [0,1] 0.9993534343412573 Centerline is valid? [True, True] Translation: X:139.97, Y:1.96, Z:1.23 [[ 9.99619282e-01 -1.98070616e-02 -1.92086216e-02 1.39974417e+02] [ 1.98055526e-02 9.99803815e-01 -2.68811583e-04 1.95792125e+00] [ 1.92101775e-02 -1.11728122e-04 9.99815461e-01 1.22736264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98925415399998 meters Centerline goodness [0,1] 0.9993329029481386 Centerline is valid? [True, True] Translation: X:140.00, Y:1.95, Z:1.23 [[ 9.99469697e-01 -2.67388147e-02 -1.85838794e-02 1.40003038e+02] [ 2.67385405e-02 9.99642427e-01 -2.63273775e-04 1.95203906e+00] [ 1.85842740e-02 -2.33771654e-04 9.99827270e-01 1.22831906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01925415399998 meters Centerline goodness [0,1] 0.9991403395658714 Centerline is valid? [True, True] Translation: X:140.03, Y:1.95, Z:1.23 [[ 9.99345823e-01 -3.10476735e-02 -1.85463514e-02 1.40033288e+02] [ 3.10481296e-02 9.99517856e-01 -2.63415154e-04 1.94902996e+00] [ 1.85455879e-02 -3.12586689e-04 9.99827967e-01 1.22874881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04925415399998 meters Centerline goodness [0,1] 0.9991425692911191 Centerline is valid? [True, True] Translation: X:140.06, Y:1.94, Z:1.23 [[ 9.99204238e-01 -3.52723557e-02 -1.86212482e-02 1.40063360e+02] [ 3.52735640e-02 9.99377659e-01 -2.63653034e-04 1.94393644e+00] [ 1.86189591e-02 -3.93394563e-04 9.99826575e-01 1.22805090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07925415399998 meters Centerline goodness [0,1] 0.9992312127618681 Centerline is valid? [True, True] Translation: X:140.09, Y:1.94, Z:1.23 [[ 9.99037517e-01 -3.95765516e-02 -1.89138927e-02 1.40094141e+02] [ 3.95785923e-02 9.99216425e-01 -2.66561705e-04 1.94171813e+00] [ 1.89096219e-02 -4.82280106e-04 9.99821081e-01 1.22869591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10925415399998 meters Centerline goodness [0,1] 0.9990825688073395 Centerline is valid? [True, True] Translation: X:140.13, Y:1.93, Z:1.23 [[ 9.98678023e-01 -4.79234339e-02 -1.85890114e-02 1.40125019e+02] [ 4.79268570e-02 9.98850814e-01 -2.61560407e-04 1.93396154e+00] [ 1.85801840e-02 -6.29698260e-04 9.99827175e-01 1.22839962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13925415399999 meters Centerline goodness [0,1] 0.9988911870695354 Centerline is valid? [True, True] Translation: X:140.15, Y:1.93, Z:1.23 [[ 9.98500599e-01 -5.14620769e-02 -1.86603180e-02 1.40154855e+02] [ 5.14661601e-02 9.98674705e-01 -2.61666387e-04 1.92979945e+00] [ 1.86490535e-02 -6.99100870e-04 9.99825847e-01 1.22820458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.169254154 meters Centerline goodness [0,1] 0.9990825492329685 Centerline is valid? [True, True] Translation: X:140.19, Y:1.93, Z:1.23 [[ 9.98343585e-01 -5.45790590e-02 -1.81992411e-02 1.40186985e+02] [ 5.45834865e-02 9.98509178e-01 -2.53731141e-04 1.92648917e+00] [ 1.81859577e-02 -7.40067175e-04 9.99834348e-01 1.22837960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.199254154 meters Centerline goodness [0,1] 0.9990422882925064 Centerline is valid? [True, True] Translation: X:140.22, Y:1.92, Z:1.23 [[ 9.98112684e-01 -5.88116482e-02 -1.76708648e-02 1.40216904e+02] [ 5.88164958e-02 9.98268781e-01 -2.45707213e-04 1.92068812e+00] [ 1.76547231e-02 -7.94094859e-04 9.99843828e-01 1.22863503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.229254154 meters Centerline goodness [0,1] 0.9989585547290117 Centerline is valid? [True, True] Translation: X:140.25, Y:1.92, Z:1.23 [[ 9.98060547e-01 -5.96495618e-02 -1.78065806e-02 1.40249221e+02] [ 5.96546281e-02 9.98219046e-01 -2.46982960e-04 1.91965872e+00] [ 1.77896003e-02 -8.15740996e-04 9.99841420e-01 1.22875325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.259254154 meters Centerline goodness [0,1] 0.9990227736233854 Centerline is valid? [True, True] Translation: X:140.28, Y:1.92, Z:1.23 [[ 9.98042691e-01 -5.99846245e-02 -1.76814067e-02 1.40281611e+02] [ 5.99896950e-02 9.98198967e-01 -2.43957072e-04 1.92085944e+00] [ 1.76641956e-02 -8.17222624e-04 9.99843642e-01 1.22936337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.289254154 meters Centerline goodness [0,1] 0.9989572249414769 Centerline is valid? [True, True] Translation: X:140.31, Y:1.92, Z:1.23 [[ 9.98049927e-01 -5.97709892e-02 -1.79936832e-02 1.40313989e+02] [ 5.97762329e-02 9.98211772e-01 -2.46762575e-04 1.91744622e+00] [ 1.79762556e-02 -8.29313228e-04 9.99838070e-01 1.22868370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319254154 meters Centerline goodness [0,1] 0.9989135991820041 Centerline is valid? [True, True] Translation: X:140.34, Y:1.92, Z:1.23 [[ 9.98066279e-01 -5.93694424e-02 -1.84112190e-02 1.40344929e+02] [ 5.93748893e-02 9.98235723e-01 -2.51121595e-04 1.91662320e+00] [ 1.83936455e-02 -8.42528094e-04 9.99830468e-01 1.22861495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.349254154 meters Centerline goodness [0,1] 0.9990004466089619 Centerline is valid? [True, True] Translation: X:140.38, Y:1.92, Z:1.23 [[ 9.98109277e-01 -5.86014752e-02 -1.85402017e-02 1.40376844e+02] [ 5.86068880e-02 9.98281107e-01 -2.51718297e-04 1.91917487e+00] [ 1.85230842e-02 -8.35341159e-04 9.99828084e-01 1.22911369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379254154 meters Centerline goodness [0,1] 0.9988720524389205 Centerline is valid? [True, True] Translation: X:140.41, Y:1.92, Z:1.23 [[ 9.98143015e-01 -5.79630455e-02 -1.87298637e-02 1.40408770e+02] [ 5.79684832e-02 9.98318382e-01 -2.52926070e-04 1.92084686e+00] [ 1.87130275e-02 -8.33285396e-04 9.99824549e-01 1.22942641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.409254154 meters Centerline goodness [0,1] 0.9988085866859562 Centerline is valid? [True, True] Translation: X:140.44, Y:1.92, Z:1.23 [[ 9.98179765e-01 -5.72798700e-02 -1.88725269e-02 1.40439535e+02] [ 5.72852917e-02 9.98357817e-01 -2.53641087e-04 1.91964992e+00] [ 1.88560633e-02 -8.27938811e-04 9.99821866e-01 1.22937454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439254154 meters Centerline goodness [0,1] 0.9989159315548942 Centerline is valid? [True, True] Translation: X:140.47, Y:1.92, Z:1.23 [[ 9.98216108e-01 -5.65841511e-02 -1.90482360e-02 1.40470815e+02] [ 5.65895677e-02 9.98397494e-01 -2.54966268e-04 1.91781201e+00] [ 1.90321381e-02 -8.23420003e-04 9.99818533e-01 1.22926979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.469254154 meters Centerline goodness [0,1] 0.9987653795393588 Centerline is valid? [True, True] Translation: X:140.50, Y:1.92, Z:1.23 [[ 9.98241118e-01 -5.61866068e-02 -1.89138930e-02 1.40502509e+02] [ 5.61918983e-02 9.98419955e-01 -2.51983320e-04 1.92022718e+00] [ 1.88981663e-02 -8.11267441e-04 9.99821085e-01 1.22988834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499254154 meters Centerline goodness [0,1] 0.9989385866219458 Centerline is valid? [True, True] Translation: X:140.54, Y:1.92, Z:1.23 [[ 9.98255766e-01 -5.59546991e-02 -1.88280844e-02 1.40535016e+02] [ 5.59599272e-02 9.98432984e-01 -2.49480113e-04 1.92190958e+00] [ 1.88125401e-02 -8.04573270e-04 9.99822705e-01 1.23040213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.529254154 meters Centerline goodness [0,1] 0.9991056218057922 Centerline is valid? [True, True] Translation: X:140.57, Y:1.92, Z:1.23 [[ 9.98210475e-01 -5.61047065e-02 -2.06907844e-02 1.40566682e+02] [ 5.61110812e-02 9.98424495e-01 -2.72788079e-04 1.92264305e+00] [ 2.06734907e-02 -8.88682367e-04 9.99785886e-01 1.23012533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559254154 meters Centerline goodness [0,1] 0.9989984870762215 Centerline is valid? [True, True] Translation: X:140.60, Y:1.92, Z:1.23 [[ 9.98176488e-01 -5.64552325e-02 -2.13659835e-02 1.40598394e+02] [ 5.64621358e-02 9.98404702e-01 -2.80498471e-04 1.92281273e+00] [ 2.13477340e-02 -9.26382084e-04 9.99771682e-01 1.22990018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58925415399997 meters Centerline goodness [0,1] 0.9988510393838167 Centerline is valid? [True, True] Translation: X:140.63, Y:1.92, Z:1.23 [[ 9.98132170e-01 -5.70199868e-02 -2.19292573e-02 1.40629253e+02] [ 5.70274217e-02 9.98372571e-01 -2.86680361e-04 1.92090488e+00] [ 2.19099155e-02 -9.64424110e-04 9.99759484e-01 1.22901844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61925415399998 meters Centerline goodness [0,1] 0.9990838003110818 Centerline is valid? [True, True] Translation: X:140.66, Y:1.92, Z:1.23 [[ 9.98101464e-01 -5.75318883e-02 -2.19897726e-02 1.40660967e+02] [ 5.75395309e-02 9.98343188e-01 -2.85531280e-04 1.92151110e+00] [ 2.19697668e-02 -9.80292011e-04 9.99758155e-01 1.22959211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64925415399998 meters Centerline goodness [0,1] 0.9988542572828923 Centerline is valid? [True, True] Translation: X:140.69, Y:1.92, Z:1.23 [[ 9.98055055e-01 -5.82848062e-02 -2.21131040e-02 1.40692973e+02] [ 5.82927631e-02 9.98299490e-01 -2.85146013e-04 1.92138159e+00] [ 2.20921202e-02 -1.00444252e-03 9.99755435e-01 1.22993697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67925415399998 meters Centerline goodness [0,1] 0.9989804587935429 Centerline is valid? [True, True] Translation: X:140.73, Y:1.92, Z:1.23 [[ 9.98037902e-01 -5.86377957e-02 -2.19534934e-02 1.40725561e+02] [ 5.86457580e-02 9.98278817e-01 -2.81506399e-04 1.92195985e+00] [ 2.19322143e-02 -1.00652521e-03 9.99758953e-01 1.23092748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70925415399998 meters Centerline goodness [0,1] 0.9989587539046728 Centerline is valid? [True, True] Translation: X:140.76, Y:1.92, Z:1.23 [[ 9.98066512e-01 -5.84214477e-02 -2.12172591e-02 1.40756741e+02] [ 5.84288794e-02 9.98291537e-01 -2.70016488e-04 1.92184513e+00] [ 2.11967849e-02 -9.70206256e-04 9.99774852e-01 1.23232345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73925415399998 meters Centerline goodness [0,1] 0.9990640687484047 Centerline is valid? [True, True] Translation: X:140.79, Y:1.92, Z:1.23 [[ 9.98130531e-01 -5.75727033e-02 -2.05140694e-02 1.40788514e+02] [ 5.75795099e-02 9.98340890e-01 -2.59191994e-04 1.92488481e+00] [ 2.04949567e-02 -9.22482619e-04 9.99789531e-01 1.23365829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76925415399998 meters Centerline goodness [0,1] 0.999106173785354 Centerline is valid? [True, True] Translation: X:140.82, Y:1.93, Z:1.23 [[ 9.98234381e-01 -5.59448602e-02 -1.99572686e-02 1.40821083e+02] [ 5.59510097e-02 9.98433484e-01 -2.50541663e-04 1.92608302e+00] [ 1.99400217e-02 -8.66530028e-04 9.99800802e-01 1.23455860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79925415399998 meters Centerline goodness [0,1] 0.9987028176501861 Centerline is valid? [True, True] Translation: X:140.85, Y:1.93, Z:1.24 [[ 9.98529088e-01 -5.10447688e-02 -1.82781659e-02 1.40852053e+02] [ 5.10491251e-02 9.98696117e-01 -2.28474205e-04 1.93338439e+00] [ 1.82659957e-02 -7.04946237e-04 9.99832914e-01 1.23668999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82925415399998 meters Centerline goodness [0,1] 0.9989598369703659 Centerline is valid? [True, True] Translation: X:140.88, Y:1.93, Z:1.24 [[ 9.98674119e-01 -4.82353592e-02 -1.79820589e-02 1.40882352e+02] [ 4.82391275e-02 9.98835790e-01 -2.24391233e-04 1.93198104e+00] [ 1.79719476e-02 -6.43345113e-04 9.99838285e-01 1.23650373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85925415399998 meters Centerline goodness [0,1] 0.9990424716997192 Centerline is valid? [True, True] Translation: X:140.91, Y:1.94, Z:1.24 [[ 9.98814968e-01 -4.53784450e-02 -1.75913497e-02 1.40913364e+02] [ 4.53816170e-02 9.98969700e-01 -2.19038201e-04 1.93956483e+00] [ 1.75831649e-02 -5.79545259e-04 9.99845236e-01 1.23839286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88925415399999 meters Centerline goodness [0,1] 0.9991472306314757 Centerline is valid? [True, True] Translation: X:140.95, Y:1.94, Z:1.24 [[ 9.98926294e-01 -4.29063916e-02 -1.74728695e-02 1.40945155e+02] [ 4.29091598e-02 9.99078954e-01 -2.16612509e-04 1.93796049e+00] [ 1.74660703e-02 -5.33366221e-04 9.99847314e-01 1.23777612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.919254154 meters Centerline goodness [0,1] 0.9992330961612202 Centerline is valid? [True, True] Translation: X:140.98, Y:1.94, Z:1.24 [[ 9.99059677e-01 -3.95186721e-02 -1.78335748e-02 1.40976740e+02] [ 3.95210375e-02 9.99218714e-01 -2.19907647e-04 1.94497330e+00] [ 1.78283321e-02 -4.85100516e-04 9.99840945e-01 1.23880063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.949254154 meters Centerline goodness [0,1] 0.9992326057298773 Centerline is valid? [True, True] Translation: X:141.01, Y:1.95, Z:1.24 [[ 9.99098299e-01 -3.83954156e-02 -1.81213106e-02 1.41007746e+02] [ 3.83976916e-02 9.99262512e-01 -2.22450200e-04 1.94533073e+00] [ 1.81164874e-02 -4.73566881e-04 9.99835771e-01 1.23831616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.979254154 meters Centerline goodness [0,1] 0.9991884676988788 Centerline is valid? [True, True] Translation: X:141.04, Y:1.95, Z:1.24 [[ 9.99114098e-01 -3.78981065e-02 -1.82962378e-02 1.41040071e+02] [ 3.79003647e-02 9.99281498e-01 -2.23431147e-04 1.94612462e+00] [ 1.82915595e-02 -4.70200877e-04 9.99832585e-01 1.23793645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.009254154 meters Centerline goodness [0,1] 0.9992742331419301 Centerline is valid? [True, True] Translation: X:141.07, Y:1.95, Z:1.24 [[ 9.99103460e-01 -3.77415212e-02 -1.91795152e-02 1.41072527e+02] [ 3.77440014e-02 9.99287414e-01 -2.32783910e-04 1.94689410e+00] [ 1.91746338e-02 -4.91336439e-04 9.99816029e-01 1.23773826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039254154 meters Centerline goodness [0,1] 0.9991260045618299 Centerline is valid? [True, True] Translation: X:141.10, Y:1.95, Z:1.24 [[ 9.99015913e-01 -3.91476622e-02 -2.08486406e-02 1.41103756e+02] [ 3.91509278e-02 9.99233277e-01 -2.51667554e-04 1.94517101e+00] [ 2.08425077e-02 -5.64823732e-04 9.99782612e-01 1.23640545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.069254154 meters Centerline goodness [0,1] 0.9992745583340445 Centerline is valid? [True, True] Translation: X:141.14, Y:1.95, Z:1.24 [[ 9.98973571e-01 -4.00290810e-02 -2.12008907e-02 1.41135224e+02] [ 4.00326763e-02 9.99198339e-01 -2.54973569e-04 1.94582683e+00] [ 2.11941011e-02 -5.94016539e-04 9.99775203e-01 1.23656656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099254154 meters Centerline goodness [0,1] 0.9992756093403784 Centerline is valid? [True, True] Translation: X:141.17, Y:1.94, Z:1.24 [[ 9.98869119e-01 -4.21217231e-02 -2.20509283e-02 1.41165129e+02] [ 4.21261297e-02 9.99112265e-01 -2.64845586e-04 1.94332129e+00] [ 2.20425087e-02 -6.64374189e-04 9.99756814e-01 1.23564546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.129254154 meters Centerline goodness [0,1] 0.9991249413070389 Centerline is valid? [True, True] Translation: X:141.20, Y:1.94, Z:1.24 [[ 9.98819467e-01 -4.32874176e-02 -2.20425091e-02 1.41196804e+02] [ 4.32921142e-02 9.99062422e-01 -2.64300374e-04 1.94314015e+00] [ 2.20332834e-02 -6.90278461e-04 9.99756999e-01 1.23600806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159254154 meters Centerline goodness [0,1] 0.9992956243329776 Centerline is valid? [True, True] Translation: X:141.23, Y:1.94, Z:1.24 [[ 9.98776158e-01 -4.43626219e-02 -2.18665248e-02 1.41227872e+02] [ 4.43675226e-02 9.99015242e-01 -2.61209117e-04 1.94196964e+00] [ 2.18565795e-02 -7.09274097e-04 9.99760865e-01 1.23614211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.189254154 meters Centerline goodness [0,1] 0.9990612331982078 Centerline is valid? [True, True] Translation: X:141.26, Y:1.94, Z:1.24 [[ 9.98703668e-01 -4.61978773e-02 -2.13714589e-02 1.41258719e+02] [ 4.62029929e-02 9.98932039e-01 -2.54604789e-04 1.94269942e+00] [ 2.13603972e-02 -7.33150627e-04 9.99771572e-01 1.23716491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219254154 meters Centerline goodness [0,1] 0.9991455912508544 Centerline is valid? [True, True] Translation: X:141.29, Y:1.94, Z:1.24 [[ 9.98680060e-01 -4.69036037e-02 -2.09329800e-02 1.41290652e+02] [ 4.69086868e-02 9.98899151e-01 -2.48400949e-04 1.94380064e+00] [ 2.09215868e-02 -7.33865526e-04 9.99780850e-01 1.23811038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.249254154 meters Centerline goodness [0,1] 0.9992531899458029 Centerline is valid? [True, True] Translation: X:141.32, Y:1.94, Z:1.24 [[ 9.98639556e-01 -4.78056076e-02 -2.08245212e-02 1.41322926e+02] [ 4.78108646e-02 9.98856377e-01 -2.45643643e-04 1.94416319e+00] [ 2.08124490e-02 -7.50328907e-04 9.99783116e-01 1.23868779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279254154 meters Centerline goodness [0,1] 0.9991029282983405 Centerline is valid? [True, True] Translation: X:141.36, Y:1.94, Z:1.24 [[ 9.98591851e-01 -4.90874464e-02 -2.01180993e-02 1.41355039e+02] [ 4.90926404e-02 9.98794202e-01 -2.35915425e-04 1.94391671e+00] [ 2.01054214e-02 -7.52067394e-04 9.99797583e-01 1.23891925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.309254154 meters Centerline goodness [0,1] 0.9992522326197496 Centerline is valid? [True, True] Translation: X:141.39, Y:1.94, Z:1.24 [[ 9.98510976e-01 -5.07724723e-02 -1.99495907e-02 1.41387001e+02] [ 5.07779431e-02 9.98709941e-01 -2.32546711e-04 1.94339490e+00] [ 1.99356615e-02 -7.80798739e-04 9.99800960e-01 1.23942402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33925415399997 meters Centerline goodness [0,1] 0.9991668980838656 Centerline is valid? [True, True] Translation: X:141.42, Y:1.94, Z:1.24 [[ 9.98413017e-01 -5.26974177e-02 -1.98602402e-02 1.41419391e+02] [ 5.27032474e-02 9.98610192e-01 -2.30113778e-04 1.94335943e+00] [ 1.98447646e-02 -8.16950558e-04 9.99802739e-01 1.23981788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36925415399998 meters Centerline goodness [0,1] 0.9990602306706535 Centerline is valid? [True, True] Translation: X:141.45, Y:1.94, Z:1.24 [[ 9.98137167e-01 -5.77102817e-02 -1.97919174e-02 1.41450118e+02] [ 5.77170714e-02 9.98332954e-01 -2.28474220e-04 1.94458160e+00] [ 1.97721087e-02 -9.14282899e-04 9.99804095e-01 1.24073701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39925415399998 meters Centerline goodness [0,1] 0.9993800769559641 Centerline is valid? [True, True] Translation: X:141.48, Y:1.94, Z:1.24 [[ 9.98000311e-01 -6.00956230e-02 -1.95932629e-02 1.41482323e+02] [ 6.01027534e-02 9.98192170e-01 -2.25270387e-04 1.94335795e+00] [ 1.95713794e-02 -9.52789133e-04 9.99808008e-01 1.24100606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42925415399998 meters Centerline goodness [0,1] 0.9991671293725708 Centerline is valid? [True, True] Translation: X:141.51, Y:1.94, Z:1.24 [[ 9.97690601e-01 -6.51570629e-02 -1.91838931e-02 1.41511497e+02] [ 6.51648412e-02 9.97874489e-01 -2.20040920e-04 1.93969944e+00] [ 1.91574547e-02 -1.03058259e-03 9.99815948e-01 1.24085496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45925415399998 meters Centerline goodness [0,1] 0.9992095199435982 Centerline is valid? [True, True] Translation: X:141.54, Y:1.94, Z:1.24 [[ 9.97570036e-01 -6.70299226e-02 -1.90003390e-02 1.41543506e+02] [ 6.70379018e-02 9.97750406e-01 -2.17381914e-04 1.94022836e+00] [ 1.89721671e-02 -1.05688918e-03 9.99819454e-01 1.24137853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48925415399998 meters Centerline goodness [0,1] 0.9991440188315857 Centerline is valid? [True, True] Translation: X:141.58, Y:1.94, Z:1.24 [[ 9.97473474e-01 -6.85625104e-02 -1.85970534e-02 1.41575959e+02] [ 6.85704445e-02 9.97646255e-01 -2.11443681e-04 1.94154388e+00] [ 1.85677778e-02 -1.06429876e-03 9.99827037e-01 1.24211573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51925415399998 meters Centerline goodness [0,1] 0.9991465938426746 Centerline is valid? [True, True] Translation: X:141.61, Y:1.93, Z:1.24 [[ 9.97391412e-01 -6.97621085e-02 -1.85369734e-02 1.41607163e+02] [ 6.97702195e-02 9.97563067e-01 -2.09587398e-04 1.93284210e+00] [ 1.85064213e-02 -1.08428803e-03 9.99828154e-01 1.24114378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54925415399998 meters Centerline goodness [0,1] 0.9993575191673448 Centerline is valid? [True, True] Translation: X:141.64, Y:1.94, Z:1.24 [[ 9.97342884e-01 -7.05931637e-02 -1.79937956e-02 1.41639389e+02] [ 7.06009610e-02 9.97504618e-01 -2.02336524e-04 1.94063784e+00] [ 1.79631778e-02 -1.06858037e-03 9.99838078e-01 1.24288499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57925415399998 meters Centerline goodness [0,1] 0.9992939666238768 Centerline is valid? [True, True] Translation: X:141.67, Y:1.94, Z:1.24 [[ 9.97346412e-01 -7.05793212e-02 -1.78520099e-02 1.41671441e+02] [ 7.05870192e-02 9.97505605e-01 -1.99319655e-04 1.94068537e+00] [ 1.78215478e-02 -1.06132942e-03 9.99840620e-01 1.24316420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60925415399998 meters Centerline goodness [0,1] 0.9991630542083351 Centerline is valid? [True, True] Translation: X:141.70, Y:1.94, Z:1.24 [[ 9.97351375e-01 -7.05788125e-02 -1.75745880e-02 1.41704670e+02] [ 7.05863027e-02 9.97505657e-01 -1.94526890e-04 1.94124333e+00] [ 1.75444805e-02 -1.04651353e-03 9.99845536e-01 1.24309059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63925415399999 meters Centerline goodness [0,1] 0.9991413360810579 Centerline is valid? [True, True] Translation: X:141.74, Y:1.94, Z:1.24 [[ 9.97383732e-01 -6.99787334e-02 -1.81292100e-02 1.41737300e+02] [ 6.99866349e-02 9.97547909e-01 -1.99023147e-04 1.94164756e+00] [ 1.80986829e-02 -1.07029995e-03 9.99835633e-01 1.24292407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.669254154 meters Centerline goodness [0,1] 0.9990976474379633 Centerline is valid? [True, True] Translation: X:141.77, Y:1.94, Z:1.24 [[ 9.97403579e-01 -6.96006704e-02 -1.84891060e-02 1.41769875e+02] [ 6.96088482e-02 9.97574342e-01 -2.01666232e-04 1.94165689e+00] [ 1.84582938e-02 -1.08586275e-03 9.99829042e-01 1.24255255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.699254154 meters Centerline goodness [0,1] 0.9992046602609574 Centerline is valid? [True, True] Translation: X:141.80, Y:1.94, Z:1.24 [[ 9.97514245e-01 -6.78159240e-02 -1.91398025e-02 1.41800975e+02] [ 6.78243798e-02 9.97697254e-01 -2.07745756e-04 1.94327410e+00] [ 1.91098169e-02 -1.09091588e-03 9.99816796e-01 1.24198379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.729254154 meters Centerline goodness [0,1] 0.9992071485203677 Centerline is valid? [True, True] Translation: X:141.83, Y:1.95, Z:1.24 [[ 9.97617815e-01 -6.62054852e-02 -1.93785864e-02 1.41832039e+02] [ 6.62138637e-02 9.97805432e-01 -2.09656219e-04 1.94616720e+00] [ 1.93499392e-02 -1.07397430e-03 9.99812196e-01 1.24213445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759254154 meters Centerline goodness [0,1] 0.9992677621519178 Centerline is valid? [True, True] Translation: X:141.86, Y:1.95, Z:1.24 [[ 9.97736813e-01 -6.43717971e-02 -1.94299619e-02 1.41863085e+02] [ 6.43798868e-02 9.97925441e-01 -2.09514253e-04 1.95366408e+00] [ 1.94031401e-02 -1.04185867e-03 9.99811199e-01 1.24347933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.789254154 meters Centerline goodness [0,1] 0.99928896166857 Centerline is valid? [True, True] Translation: X:141.89, Y:1.95, Z:1.24 [[ 9.97890669e-01 -6.19179019e-02 -1.95035132e-02 1.41893290e+02] [ 6.19255959e-02 9.98080747e-01 -2.09777088e-04 1.95104658e+00] [ 1.94790700e-02 -9.98432081e-04 9.99809766e-01 1.24289332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819254154 meters Centerline goodness [0,1] 0.9995027887068183 Centerline is valid? [True, True] Translation: X:141.92, Y:1.97, Z:1.25 [[ 9.98249597e-01 -5.59288026e-02 -1.92278652e-02 1.41923901e+02] [ 5.59351756e-02 9.98434381e-01 -2.06622282e-04 1.96535662e+00] [ 1.92093178e-02 -8.69253404e-04 9.99815106e-01 1.24545338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.849254154 meters Centerline goodness [0,1] 0.9995027887068183 Centerline is valid? [True, True] Translation: X:141.96, Y:1.97, Z:1.25 [[ 9.98253731e-01 -5.58549687e-02 -1.92278732e-02 1.41955627e+02] [ 5.58613424e-02 9.98438515e-01 -2.05873197e-04 1.96563806e+00] [ 1.92093482e-02 -8.68581121e-04 9.99815106e-01 1.24575062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879254154 meters Centerline goodness [0,1] 0.9994370710373048 Centerline is valid? [True, True] Translation: X:141.99, Y:1.97, Z:1.25 [[ 9.98447336e-01 -5.22229583e-02 -1.93824423e-02 1.41986414e+02] [ 5.22287725e-02 9.98635125e-01 -2.06461102e-04 1.96580302e+00] [ 1.93667697e-02 -8.06180635e-04 9.99812122e-01 1.24575649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.909254154 meters Centerline goodness [0,1] 0.9992633198275301 Centerline is valid? [True, True] Translation: X:142.02, Y:1.97, Z:1.25 [[ 9.98655517e-01 -4.83308225e-02 -1.87427054e-02 1.42018182e+02] [ 4.83355902e-02 9.98831132e-01 -1.98816498e-04 1.97098177e+00] [ 1.87304066e-02 -7.07390534e-04 9.99824320e-01 1.24676807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939254154 meters Centerline goodness [0,1] 0.9994362165795694 Centerline is valid? [True, True] Translation: X:142.05, Y:1.98, Z:1.25 [[ 9.98845206e-01 -4.43554864e-02 -1.84619955e-02 1.42049582e+02] [ 4.43594493e-02 9.99015616e-01 -1.95008768e-04 1.97796586e+00] [ 1.84524716e-02 -6.24180382e-04 9.99829544e-01 1.24833773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.969254154 meters Centerline goodness [0,1] 0.9993043478260869 Centerline is valid? [True, True] Translation: X:142.08, Y:1.98, Z:1.25 [[ 9.99150104e-01 -3.68265033e-02 -1.85169834e-02 1.42079865e+02] [ 3.68292043e-02 9.99321556e-01 -1.95237118e-04 1.98304238e+00] [ 1.85116106e-02 -4.86894578e-04 9.99828527e-01 1.24810462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999254154 meters Centerline goodness [0,1] 0.9995874229132286 Centerline is valid? [True, True] Translation: X:142.11, Y:1.99, Z:1.25 [[ 9.99287541e-01 -3.28875486e-02 -1.85153974e-02 1.42111501e+02] [ 3.28895831e-02 9.99458972e-01 -1.94699716e-04 1.98694789e+00] [ 1.85117833e-02 -4.14402703e-04 9.99828556e-01 1.24877072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.029254154 meters Centerline goodness [0,1] 0.9993699350381298 Centerline is valid? [True, True] Translation: X:142.14, Y:1.99, Z:1.25 [[ 9.99392516e-01 -2.94794831e-02 -1.85892352e-02 1.42142032e+02] [ 2.94809577e-02 9.99565323e-01 -1.94770667e-04 1.98870837e+00] [ 1.85868966e-02 -3.53376109e-04 9.99827186e-01 1.24847621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059254154 meters Centerline goodness [0,1] 0.9994352246068294 Centerline is valid? [True, True] Translation: X:142.17, Y:1.99, Z:1.25 [[ 9.99575632e-01 -2.25321005e-02 -1.84623871e-02 1.42172736e+02] [ 2.25323733e-02 9.99746095e-01 -1.93269880e-04 1.99355864e+00] [ 1.84620541e-02 -2.22813535e-04 9.99829537e-01 1.24928879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08925415399997 meters Centerline goodness [0,1] 0.9996080566140446 Centerline is valid? [True, True] Translation: X:142.20, Y:2.00, Z:1.25 [[ 9.99650217e-01 -1.92033693e-02 -1.81844773e-02 1.42202823e+02] [ 1.92030708e-02 9.99815586e-01 -1.91046504e-04 1.99588605e+00] [ 1.81847925e-02 -1.58218125e-04 9.99834630e-01 1.24999107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11925415399998 meters Centerline goodness [0,1] 0.9995205718270572 Centerline is valid? [True, True] Translation: X:142.23, Y:2.00, Z:1.25 [[ 9.99709903e-01 -1.61762410e-02 -1.78448799e-02 1.42231805e+02] [ 1.61754485e-02 9.99869151e-01 -1.88759565e-04 1.99726996e+00] [ 1.78455984e-02 -9.99441291e-05 9.99840750e-01 1.25007017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14925415399998 meters Centerline goodness [0,1] 0.9995649147232858 Centerline is valid? [True, True] Translation: X:142.26, Y:2.00, Z:1.25 [[ 9.99752423e-01 -1.33317221e-02 -1.78145321e-02 1.42260705e+02] [ 1.33304319e-02 9.99911128e-01 -1.91172315e-04 1.99882937e+00] [ 1.78154975e-02 -4.63504216e-05 9.99841290e-01 1.25063868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17925415399998 meters Centerline goodness [0,1] 0.999542264266097 Centerline is valid? [True, True] Translation: X:142.29, Y:2.00, Z:1.25 [[ 9.99811763e-01 -8.19104333e-03 -1.75882125e-02 1.42288980e+02] [ 8.18890741e-03 9.99966452e-01 -1.93457822e-04 2.00022593e+00] [ 1.75892070e-02 4.93931624e-05 9.99845297e-01 1.25143267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20925415399998 meters Centerline goodness [0,1] 0.9995645452764049 Centerline is valid? [True, True] Translation: X:142.32, Y:2.00, Z:1.25 [[ 9.99829805e-01 -6.55391035e-03 -1.72454757e-02 1.42316755e+02] [ 6.55152727e-03 9.99978520e-01 -1.94679315e-04 2.00031885e+00] [ 1.72463812e-02 8.16619771e-05 9.99851267e-01 1.25161965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23925415399998 meters Centerline goodness [0,1] 0.9996299360006966 Centerline is valid? [True, True] Translation: X:142.34, Y:2.00, Z:1.25 [[ 9.99841333e-01 -4.98422424e-03 -1.71016714e-02 1.42344556e+02] [ 4.98158578e-03 9.99987572e-01 -1.96877704e-04 2.00032207e+00] [ 1.71024402e-02 1.11653023e-04 9.99853736e-01 1.25167392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26925415399998 meters Centerline goodness [0,1] 0.9994571943461363 Centerline is valid? [True, True] Translation: X:142.37, Y:2.00, Z:1.25 [[ 9.99843033e-01 -4.35652257e-03 -1.71735170e-02 1.42372732e+02] [ 4.35370776e-03 9.99990502e-01 -2.01288209e-04 1.99980225e+00] [ 1.71742308e-02 1.26488139e-04 9.99852504e-01 1.25180921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29925415399998 meters Centerline goodness [0,1] 0.9994584642044839 Centerline is valid? [True, True] Translation: X:142.40, Y:2.00, Z:1.25 [[ 9.99836269e-01 -3.73215799e-03 -1.77061074e-02 1.42400973e+02] [ 3.72900575e-03 9.99993025e-01 -2.11043623e-04 1.99724403e+00] [ 1.77067715e-02 1.44982892e-04 9.99843212e-01 1.25102339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32925415399998 meters Centerline goodness [0,1] 0.9993939787459689 Centerline is valid? [True, True] Translation: X:142.43, Y:2.00, Z:1.25 [[ 9.99828982e-01 -4.10845088e-03 -1.80313024e-02 1.42429060e+02] [ 4.10518378e-03 9.99991550e-01 -2.18200857e-04 1.99578935e+00] [ 1.80320465e-02 1.44141731e-04 9.99837399e-01 1.25052803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35925415399998 meters Centerline goodness [0,1] 0.9993723758819201 Centerline is valid? [True, True] Translation: X:142.46, Y:1.99, Z:1.25 [[ 9.99813326e-01 -4.55088161e-03 -1.87777306e-02 1.42456503e+02] [ 4.54731552e-03 9.99989634e-01 -2.32604189e-04 1.99415223e+00] [ 1.87785945e-02 1.47172502e-04 9.99823656e-01 1.25020272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38925415399999 meters Centerline goodness [0,1] 0.9993305981429497 Centerline is valid? [True, True] Translation: X:142.49, Y:1.99, Z:1.25 [[ 9.99784416e-01 -5.38942335e-03 -2.00518408e-02 1.42485641e+02] [ 5.38541489e-03 9.99985466e-01 -2.53899152e-04 1.98956007e+00] [ 2.00529177e-02 1.45856934e-04 9.99798909e-01 1.24977283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.419254154 meters Centerline goodness [0,1] 0.9994608001725439 Centerline is valid? [True, True] Translation: X:142.51, Y:1.99, Z:1.25 [[ 9.99780192e-01 -6.75527099e-03 -1.98477543e-02 1.42513651e+02] [ 6.75150596e-03 9.99977175e-01 -2.56697886e-04 1.98748417e+00] [ 1.98490353e-02 1.22639230e-04 9.99802981e-01 1.25013204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.449254154 meters Centerline goodness [0,1] 0.9993753365643511 Centerline is valid? [True, True] Translation: X:142.54, Y:1.98, Z:1.25 [[ 9.99774833e-01 -7.88911301e-03 -1.96988498e-02 1.42541449e+02] [ 7.88551203e-03 9.99968875e-01 -2.60471531e-04 1.98496813e+00] [ 1.97002915e-02 1.05077365e-04 9.99805925e-01 1.25035952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.479254154 meters Centerline goodness [0,1] 0.9991408012028783 Centerline is valid? [True, True] Translation: X:142.57, Y:1.98, Z:1.25 [[ 9.99764592e-01 -1.06910825e-02 -1.88801638e-02 1.42570810e+02] [ 1.06882150e-02 9.99942847e-01 -2.52784436e-04 1.97892405e+00] [ 1.88817873e-02 5.09296784e-05 9.99821722e-01 1.25104879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.509254154 meters Centerline goodness [0,1] 0.9993145109464033 Centerline is valid? [True, True] Translation: X:142.60, Y:1.98, Z:1.25 [[ 9.99758381e-01 -1.24671849e-02 -1.81038543e-02 1.42598517e+02] [ 1.24648164e-02 9.99922281e-01 -2.43667452e-04 1.97564974e+00] [ 1.81054851e-02 1.79473577e-05 9.99836082e-01 1.25120879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539254154 meters Centerline goodness [0,1] 0.9992723537216966 Centerline is valid? [True, True] Translation: X:142.63, Y:1.97, Z:1.25 [[ 9.99727437e-01 -1.48842880e-02 -1.79863852e-02 1.42626693e+02] [ 1.48822813e-02 9.99889223e-01 -2.45416094e-04 1.97185104e+00] [ 1.79880456e-02 -2.23292426e-05 9.99838202e-01 1.25186326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.569254154 meters Centerline goodness [0,1] 0.9992300782753754 Centerline is valid? [True, True] Translation: X:142.65, Y:1.97, Z:1.25 [[ 9.99696058e-01 -1.73115841e-02 -1.75528021e-02 1.42654802e+02] [ 1.73099581e-02 9.99850142e-01 -2.44569773e-04 1.96835863e+00] [ 1.75544056e-02 -5.93428318e-05 9.99845908e-01 1.25293892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599254154 meters Centerline goodness [0,1] 0.9992112219664023 Centerline is valid? [True, True] Translation: X:142.68, Y:1.96, Z:1.25 [[ 9.99670005e-01 -1.94083031e-02 -1.68285332e-02 1.42682197e+02] [ 1.94070447e-02 9.99811637e-01 -2.38101359e-04 1.96379364e+00] [ 1.68299845e-02 -8.85693084e-05 9.99858362e-01 1.25197505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.629254154 meters Centerline goodness [0,1] 0.9992340588498118 Centerline is valid? [True, True] Translation: X:142.71, Y:1.96, Z:1.25 [[ 9.99614369e-01 -2.23489814e-02 -1.64814062e-02 1.42710317e+02] [ 2.23481449e-02 9.99750221e-01 -2.34951930e-04 1.95652451e+00] [ 1.64825404e-02 -1.33467529e-04 9.99864145e-01 1.25252802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659254154 meters Centerline goodness [0,1] 0.9993412944626238 Centerline is valid? [True, True] Translation: X:142.74, Y:1.96, Z:1.25 [[ 9.99594536e-01 -2.32649374e-02 -1.64166550e-02 1.42739852e+02] [ 2.32642142e-02 9.99729324e-01 -2.35053209e-04 1.95553863e+00] [ 1.64176799e-02 -1.46962675e-04 9.99865210e-01 1.25403151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.689254154 meters Centerline goodness [0,1] 0.9988542815921242 Centerline is valid? [True, True] Translation: X:142.77, Y:1.95, Z:1.25 [[ 9.99580585e-01 -2.36649076e-02 -1.66920932e-02 1.42769574e+02] [ 2.36642053e-02 9.99719935e-01 -2.39616956e-04 1.95295864e+00] [ 1.66930888e-02 -1.55488663e-04 9.99860649e-01 1.25388900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719254154 meters Centerline goodness [0,1] 0.9989836752842534 Centerline is valid? [True, True] Translation: X:142.80, Y:1.95, Z:1.25 [[ 9.99569463e-01 -2.32122019e-02 -1.79466509e-02 1.42798292e+02] [ 2.32113021e-02 9.99730548e-01 -2.58464355e-04 1.94758101e+00] [ 1.79478147e-02 -1.58212061e-04 9.99838912e-01 1.25205724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.749254154 meters Centerline goodness [0,1] 0.9987919889795486 Centerline is valid? [True, True] Translation: X:142.83, Y:1.95, Z:1.25 [[ 9.99565862e-01 -2.27766392e-02 -1.86898722e-02 1.42826998e+02] [ 2.27755324e-02 9.99740567e-01 -2.72097278e-04 1.94672924e+00] [ 1.86912209e-02 -1.53692640e-04 9.99825292e-01 1.25232480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779254154 meters Centerline goodness [0,1] 0.9990893496262098 Centerline is valid? [True, True] Translation: X:142.86, Y:1.95, Z:1.25 [[ 9.99571147e-01 -2.21484694e-02 -1.91563881e-02 1.42855337e+02] [ 2.21470952e-02 9.99754683e-01 -2.83905733e-04 1.94563020e+00] [ 1.91579768e-02 -1.40474372e-04 9.99816459e-01 1.25232659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.809254154 meters Centerline goodness [0,1] 0.9991306191687871 Centerline is valid? [True, True] Translation: X:142.88, Y:1.94, Z:1.25 [[ 9.99576048e-01 -2.13932697e-02 -1.97497350e-02 1.42882978e+02] [ 2.13915932e-02 9.99771130e-01 -2.96168164e-04 1.94435877e+00] [ 1.97515509e-02 -1.26435694e-04 9.99804911e-01 1.25216013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83925415399997 meters Centerline goodness [0,1] 0.9990698264380695 Centerline is valid? [True, True] Translation: X:142.91, Y:1.94, Z:1.25 [[ 9.99612747e-01 -1.98745124e-02 -1.94771784e-02 1.42912279e+02] [ 1.98725303e-02 9.99802478e-01 -2.95328138e-04 1.94199961e+00] [ 1.94792007e-02 -9.18470466e-05 9.99810258e-01 1.25253384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86925415399998 meters Centerline goodness [0,1] 0.99915435191645 Centerline is valid? [True, True] Translation: X:142.94, Y:1.94, Z:1.25 [[ 9.99615336e-01 -1.96914903e-02 -1.95301100e-02 1.42940348e+02] [ 1.96893608e-02 9.99806100e-01 -3.01334743e-04 1.94085443e+00] [ 1.95322569e-02 -8.33165516e-05 9.99809224e-01 1.25304358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89925415399998 meters Centerline goodness [0,1] 0.999197211365797 Centerline is valid? [True, True] Translation: X:142.97, Y:1.94, Z:1.25 [[ 9.99612611e-01 -1.98380572e-02 -1.95212633e-02 1.42968711e+02] [ 1.98358459e-02 9.99803203e-01 -3.06917412e-04 1.93923411e+00] [ 1.95235103e-02 -8.04222560e-05 9.99809395e-01 1.25326222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92925415399998 meters Centerline goodness [0,1] 0.9990288187480207 Centerline is valid? [True, True] Translation: X:143.00, Y:1.94, Z:1.25 [[ 9.99605949e-01 -2.03991853e-02 -1.92826190e-02 1.42996420e+02] [ 2.03970242e-02 9.99791911e-01 -3.08763434e-04 1.93748605e+00] [ 1.92849050e-02 -8.46662797e-05 9.99814025e-01 1.25315926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95925415399998 meters Centerline goodness [0,1] 0.9991567408032044 Centerline is valid? [True, True] Translation: X:143.02, Y:1.93, Z:1.25 [[ 9.99576565e-01 -2.14925190e-02 -1.96153533e-02 1.43024826e+02] [ 2.14903805e-02 9.99769004e-01 -3.19827361e-04 1.93356644e+00] [ 1.96176961e-02 -1.01849471e-04 9.99807549e-01 1.25318456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98925415399998 meters Centerline goodness [0,1] 0.9990938975050573 Centerline is valid? [True, True] Translation: X:143.05, Y:1.93, Z:1.25 [[ 9.99555446e-01 -2.24396940e-02 -1.96308729e-02 1.43052764e+02] [ 2.24376235e-02 9.99748192e-01 -3.25751523e-04 1.93221594e+00] [ 1.96332394e-02 -1.14863425e-04 9.99807243e-01 1.25329802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01925415399998 meters Centerline goodness [0,1] 0.9990527113506231 Centerline is valid? [True, True] Translation: X:143.08, Y:1.93, Z:1.25 [[ 9.99528203e-01 -2.33899087e-02 -1.99068560e-02 1.43080533e+02] [ 2.33878513e-02 9.99726410e-01 -3.36187443e-04 1.93091518e+00] [ 1.99092731e-02 -1.29549757e-04 9.99801782e-01 1.25408261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04925415399998 meters Centerline goodness [0,1] 0.9991164219295662 Centerline is valid? [True, True] Translation: X:143.11, Y:1.93, Z:1.25 [[ 9.99491981e-01 -2.55300487e-02 -1.90787155e-02 1.43107929e+02] [ 2.55284778e-02 9.99674042e-01 -3.25922264e-04 1.92616479e+00] [ 1.90808174e-02 -1.61293874e-04 9.99817932e-01 1.25417084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07925415399998 meters Centerline goodness [0,1] 0.9992014458033875 Centerline is valid? [True, True] Translation: X:143.14, Y:1.92, Z:1.26 [[ 9.99452409e-01 -2.72888708e-02 -1.87136042e-02 1.43136917e+02] [ 2.72876042e-02 9.99627572e-01 -3.23073776e-04 1.92417968e+00] [ 1.87154510e-02 -1.87752561e-04 9.99824833e-01 1.25506455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10925415399998 meters Centerline goodness [0,1] 0.9990579664636061 Centerline is valid? [True, True] Translation: X:143.17, Y:1.92, Z:1.26 [[ 9.99412444e-01 -2.92658117e-02 -1.78403641e-02 1.43165253e+02] [ 2.92648964e-02 9.99571642e-01 -3.12429683e-04 1.92179373e+00] [ 1.78418655e-02 -2.09850292e-04 9.99840799e-01 1.25599907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13925415399999 meters Centerline goodness [0,1] 0.9989761805265357 Centerline is valid? [True, True] Translation: X:143.19, Y:1.92, Z:1.26 [[ 9.99356443e-01 -3.13982977e-02 -1.73449559e-02 1.43194819e+02] [ 3.13977083e-02 9.99506923e-01 -3.06363536e-04 1.91934386e+00] [ 1.73460228e-02 -2.38425493e-04 9.99849518e-01 1.25659916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.169254154 meters Centerline goodness [0,1] 0.9991398120174555 Centerline is valid? [True, True] Translation: X:143.23, Y:1.92, Z:1.26 [[ 9.99283477e-01 -3.40622254e-02 -1.65014404e-02 1.43225420e+02] [ 3.40620497e-02 9.99419677e-01 -2.91789366e-04 1.91642749e+00] [ 1.65018032e-02 -2.70492590e-04 9.99863799e-01 1.25735706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.199254154 meters Centerline goodness [0,1] 0.9990802098793821 Centerline is valid? [True, True] Translation: X:143.26, Y:1.91, Z:1.26 [[ 9.99060490e-01 -4.02181784e-02 -1.61441943e-02 1.43255710e+02] [ 4.02188178e-02 9.99190855e-01 -2.85191136e-04 1.90794097e+00] [ 1.61426012e-02 -3.64377214e-04 9.99869633e-01 1.25743254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.229254154 meters Centerline goodness [0,1] 0.999017435297069 Centerline is valid? [True, True] Translation: X:143.29, Y:1.90, Z:1.26 [[ 9.98929989e-01 -4.34383550e-02 -1.58740800e-02 1.43286895e+02] [ 4.34393892e-02 9.99056025e-01 -2.79807593e-04 1.90423296e+00] [ 1.58712496e-02 -4.10052144e-04 9.99873960e-01 1.25767705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259254154 meters Centerline goodness [0,1] 0.9988732394366198 Centerline is valid? [True, True] Translation: X:143.32, Y:1.90, Z:1.26 [[ 9.98782766e-01 -4.66955798e-02 -1.58905251e-02 1.43318566e+02] [ 4.66970370e-02 9.98909059e-01 -2.79530205e-04 1.90210942e+00] [ 1.58862423e-02 -4.62850487e-04 9.99873699e-01 1.25805300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.289254154 meters Centerline goodness [0,1] 0.9990185022762395 Centerline is valid? [True, True] Translation: X:143.35, Y:1.90, Z:1.26 [[ 9.98630190e-01 -4.98772709e-02 -1.58114186e-02 1.43349711e+02] [ 4.98791211e-02 9.98755223e-01 -2.77564452e-04 1.89951584e+00] [ 1.58055811e-02 -5.11475420e-04 9.99874953e-01 1.25846727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319254154 meters Centerline goodness [0,1] 0.9988718270134754 Centerline is valid? [True, True] Translation: X:143.38, Y:1.89, Z:1.26 [[ 9.98285056e-01 -5.65139163e-02 -1.52683738e-02 1.43380826e+02] [ 5.65164231e-02 9.98401634e-01 -2.67594446e-04 1.89254258e+00] [ 1.52590922e-02 -5.95778338e-04 9.99883396e-01 1.25850652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.349254154 meters Centerline goodness [0,1] 0.9989772063120982 Centerline is valid? [True, True] Translation: X:143.41, Y:1.89, Z:1.26 [[ 9.98106069e-01 -5.96137677e-02 -1.51813327e-02 1.43412248e+02] [ 5.96166096e-02 9.98221313e-01 -2.65690580e-04 1.88992201e+00] [ 1.51701686e-02 -6.39872203e-04 9.99884722e-01 1.25887913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379254154 meters Centerline goodness [0,1] 0.998873145385113 Centerline is valid? [True, True] Translation: X:143.44, Y:1.89, Z:1.26 [[ 9.97919222e-01 -6.26224741e-02 -1.53509548e-02 1.43443129e+02] [ 6.26257421e-02 9.98037046e-01 -2.68200759e-04 1.88799822e+00] [ 1.53376170e-02 -6.93722247e-04 9.99882131e-01 1.25908040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.409254154 meters Centerline goodness [0,1] 0.9986835506519559 Centerline is valid? [True, True] Translation: X:143.47, Y:1.89, Z:1.26 [[ 9.97732143e-01 -6.54582213e-02 -1.56777645e-02 1.43474457e+02] [ 6.54619857e-02 9.97855026e-01 -2.73499554e-04 1.88557315e+00] [ 1.56620389e-02 -7.53418300e-04 9.99877059e-01 1.25911389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439254154 meters Centerline goodness [0,1] 0.9987677527151211 Centerline is valid? [True, True] Translation: X:143.51, Y:1.88, Z:1.26 [[ 9.97388860e-01 -7.04820955e-02 -1.57396097e-02 1.43505235e+02] [ 7.04865193e-02 9.97512694e-01 -2.74202822e-04 1.88077734e+00] [ 1.57197869e-02 -8.35943464e-04 9.99876087e-01 1.25914394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.469254154 meters Centerline goodness [0,1] 0.9986644686045784 Centerline is valid? [True, True] Translation: X:143.54, Y:1.88, Z:1.26 [[ 9.97223123e-01 -7.27226558e-02 -1.60455314e-02 1.43535140e+02] [ 7.27275430e-02 9.97351807e-01 -2.79491834e-04 1.87669786e+00] [ 1.60233651e-02 -8.88236357e-04 9.99871223e-01 1.25881999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499254154 meters Centerline goodness [0,1] 0.9984786912576847 Centerline is valid? [True, True] Translation: X:143.57, Y:1.88, Z:1.26 [[ 9.97083642e-01 -7.46153169e-02 -1.60239244e-02 1.43566846e+02] [ 7.46204444e-02 9.97211969e-01 -2.78498635e-04 1.87630771e+00] [ 1.60000295e-02 -9.18025927e-04 9.99871570e-01 1.25895053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.529254154 meters Centerline goodness [0,1] 0.9986829727187206 Centerline is valid? [True, True] Translation: X:143.60, Y:1.87, Z:1.26 [[ 9.96893118e-01 -7.70722626e-02 -1.62473645e-02 1.43597069e+02] [ 7.70778755e-02 9.97025036e-01 -2.81379023e-04 1.87298402e+00] [ 1.62207157e-02 -9.71807525e-04 9.99867963e-01 1.25869513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559254154 meters Centerline goodness [0,1] 0.9985626497239871 Centerline is valid? [True, True] Translation: X:143.63, Y:1.87, Z:1.26 [[ 9.96846806e-01 -7.75918806e-02 -1.66116336e-02 1.43628725e+02] [ 7.75978292e-02 9.96984701e-01 -2.87128281e-04 1.87273255e+00] [ 1.65838234e-02 -1.00280380e-03 9.99861976e-01 1.25878193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58925415399997 meters Centerline goodness [0,1] 0.9986439687904202 Centerline is valid? [True, True] Translation: X:143.66, Y:1.87, Z:1.26 [[ 9.96848192e-01 -7.76833041e-02 -1.60930242e-02 1.43659776e+02] [ 7.76889124e-02 9.96977611e-01 -2.77321038e-04 1.87208026e+00] [ 1.60659280e-02 -9.73802572e-04 9.99870460e-01 1.25884542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61925415399998 meters Centerline goodness [0,1] 0.9986428929346919 Centerline is valid? [True, True] Translation: X:143.69, Y:1.88, Z:1.26 [[ 9.96855938e-01 -7.76034198e-02 -1.59983959e-02 1.43692176e+02] [ 7.76089679e-02 9.96983838e-01 -2.74702547e-04 1.87861973e+00] [ 1.59714600e-02 -9.67780128e-04 9.99871980e-01 1.25989716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64925415399998 meters Centerline goodness [0,1] 0.9987927230340119 Centerline is valid? [True, True] Translation: X:143.72, Y:1.88, Z:1.26 [[ 9.96979775e-01 -7.60313847e-02 -1.58290091e-02 1.43722551e+02] [ 7.60366404e-02 9.97104988e-01 -2.70408007e-04 1.87591196e+00] [ 1.58037434e-02 -9.33993362e-04 9.99874677e-01 1.26037156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67925415399998 meters Centerline goodness [0,1] 0.9986439122089626 Centerline is valid? [True, True] Translation: X:143.75, Y:1.88, Z:1.26 [[ 9.97077463e-01 -7.48319257e-02 -1.53855369e-02 1.43754726e+02] [ 7.48367702e-02 9.97195763e-01 -2.61426554e-04 1.87797255e+00] [ 1.53619553e-02 -8.90741366e-04 9.99881601e-01 1.26101478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70925415399998 meters Centerline goodness [0,1] 0.9985180856170817 Centerline is valid? [True, True] Translation: X:143.79, Y:1.89, Z:1.26 [[ 9.97188364e-01 -7.32149073e-02 -1.59669840e-02 1.43786495e+02] [ 7.32199372e-02 9.97315781e-01 -2.70129720e-04 1.88700585e+00] [ 1.59439027e-02 -8.99731352e-04 9.99872483e-01 1.26205870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73925415399998 meters Centerline goodness [0,1] 0.9985820039620478 Centerline is valid? [True, True] Translation: X:143.82, Y:1.89, Z:1.26 [[ 9.97326823e-01 -7.13092390e-02 -1.59436468e-02 1.43816901e+02] [ 7.13140341e-02 9.97453877e-01 -2.68313703e-04 1.88843973e+00] [ 1.59221855e-02 -8.69409316e-04 9.99872856e-01 1.26224379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76925415399998 meters Centerline goodness [0,1] 0.9985820039620478 Centerline is valid? [True, True] Translation: X:143.85, Y:1.89, Z:1.26 [[ 9.97332073e-01 -7.12357712e-02 -1.59436722e-02 1.43848632e+02] [ 7.12405810e-02 9.97459126e-01 -2.66798380e-04 1.88891040e+00] [ 1.59221669e-02 -8.69749886e-04 9.99872856e-01 1.26254086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79925415399998 meters Centerline goodness [0,1] 0.9984762143319348 Centerline is valid? [True, True] Translation: X:143.88, Y:1.90, Z:1.26 [[ 9.97613521e-01 -6.71294257e-02 -1.61525037e-02 1.43878852e+02] [ 6.71338368e-02 9.97743943e-01 -2.69593828e-04 1.89517818e+00] [ 1.61341604e-02 -8.15429099e-04 9.99869503e-01 1.26309076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82925415399998 meters Centerline goodness [0,1] 0.9986011065873265 Centerline is valid? [True, True] Translation: X:143.91, Y:1.90, Z:1.26 [[ 9.97777041e-01 -6.47179871e-02 -1.58920684e-02 1.43910326e+02] [ 6.47219557e-02 9.97903301e-01 -2.65006103e-04 1.89834885e+00] [ 1.58758982e-02 -7.64148740e-04 9.99873678e-01 1.26359327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85925415399998 meters Centerline goodness [0,1] 0.998641304347826 Centerline is valid? [True, True] Translation: X:143.94, Y:1.90, Z:1.26 [[ 9.97925894e-01 -6.24009042e-02 -1.58125456e-02 1.43940949e+02] [ 6.24045502e-02 9.98050902e-01 -2.63217076e-04 1.89743962e+00] [ 1.57981504e-02 -7.24103662e-04 9.99874939e-01 1.26319162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88925415399999 meters Centerline goodness [0,1] 0.9988283293231509 Centerline is valid? [True, True] Translation: X:143.97, Y:1.90, Z:1.26 [[ 9.98091612e-01 -5.97556009e-02 -1.55692967e-02 1.43972135e+02] [ 5.97588205e-02 9.98212811e-01 -2.58771820e-04 1.90387401e+00] [ 1.55569345e-02 -6.72124822e-04 9.99878758e-01 1.26410018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.919254154 meters Centerline goodness [0,1] 0.9988917698226831 Centerline is valid? [True, True] Translation: X:144.00, Y:1.91, Z:1.26 [[ 9.98253089e-01 -5.70148003e-02 -1.54946061e-02 1.44003564e+02] [ 5.70176682e-02 9.98373136e-01 -2.56968820e-04 1.90715587e+00] [ 1.54840495e-02 -6.26946391e-04 9.99879918e-01 1.26442088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.949254154 meters Centerline goodness [0,1] 0.9989743375057563 Centerline is valid? [True, True] Translation: X:144.03, Y:1.91, Z:1.26 [[ 9.98602948e-01 -5.05403793e-02 -1.54214904e-02 1.44033633e+02] [ 5.05424541e-02 9.98721881e-01 -2.55427879e-04 1.91458436e+00] [ 1.54146893e-02 -5.24368937e-04 9.99881049e-01 1.26485827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.979254154 meters Centerline goodness [0,1] 0.9986398828206737 Centerline is valid? [True, True] Translation: X:144.07, Y:1.92, Z:1.26 [[ 9.98781484e-01 -4.67862177e-02 -1.57033978e-02 1.44065352e+02] [ 4.67879105e-02 9.98904812e-01 -2.59774552e-04 1.91937134e+00] [ 1.56983535e-02 -4.75271160e-04 9.99876660e-01 1.26481836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.009254154 meters Centerline goodness [0,1] 0.9988053319919518 Centerline is valid? [True, True] Translation: X:144.10, Y:1.92, Z:1.27 [[ 9.98949713e-01 -4.29462396e-02 -1.59715671e-02 1.44095413e+02] [ 4.29475102e-02 9.99077295e-01 -2.63586649e-04 1.92393566e+00] [ 1.59681501e-02 -4.22629235e-04 9.99872412e-01 1.26517381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039254154 meters Centerline goodness [0,1] 0.99901694206233 Centerline is valid? [True, True] Translation: X:144.13, Y:1.93, Z:1.26 [[ 9.99259598e-01 -3.45753620e-02 -1.68759961e-02 1.44125423e+02] [ 3.45755902e-02 9.99402047e-01 -2.78337060e-04 1.93338287e+00] [ 1.68755286e-02 -3.05366546e-04 9.99857551e-01 1.26498354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.069254154 meters Centerline goodness [0,1] 0.9989297406194914 Centerline is valid? [True, True] Translation: X:144.16, Y:1.94, Z:1.26 [[ 9.99381793e-01 -3.05840007e-02 -1.73392847e-02 1.44155492e+02] [ 3.05836410e-02 9.99532170e-01 -2.85978114e-04 1.93807470e+00] [ 1.73399193e-02 -2.44497138e-04 9.99849622e-01 1.26488274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099254154 meters Centerline goodness [0,1] 0.998871213863166 Centerline is valid? [True, True] Translation: X:144.19, Y:1.94, Z:1.27 [[ 9.99490723e-01 -2.65593954e-02 -1.76887620e-02 1.44185906e+02] [ 2.65583908e-02 9.99647221e-01 -2.91742068e-04 1.94390751e+00] [ 1.76902702e-02 -1.78191563e-04 9.99843499e-01 1.26587242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.129254154 meters Centerline goodness [0,1] 0.999055693121249 Centerline is valid? [True, True] Translation: X:144.22, Y:1.95, Z:1.27 [[ 9.99587071e-01 -2.26215375e-02 -1.77187509e-02 1.44215441e+02] [ 2.26199055e-02 9.99744094e-01 -2.92540121e-04 1.94759974e+00] [ 1.77208342e-02 -1.08377148e-04 9.99842968e-01 1.26623483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159254154 meters Centerline goodness [0,1] 0.999072786277237 Centerline is valid? [True, True] Translation: X:144.24, Y:1.95, Z:1.27 [[ 9.99722325e-01 -1.59477115e-02 -1.73477475e-02 1.44243544e+02] [ 1.59451240e-02 9.99872827e-01 -2.87465972e-04 1.95440754e+00] [ 1.73501258e-02 1.07741645e-05 9.99849475e-01 1.26696899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.189254154 meters Centerline goodness [0,1] 0.9990942601369142 Centerline is valid? [True, True] Translation: X:144.27, Y:1.96, Z:1.27 [[ 9.99769694e-01 -1.32936608e-02 -1.68474960e-02 1.44271575e+02] [ 1.32907935e-02 9.99911634e-01 -2.82147150e-04 1.95777593e+00] [ 1.68497580e-02 5.81655787e-05 9.99858031e-01 1.26757667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219254154 meters Centerline goodness [0,1] 0.9992409387058004 Centerline is valid? [True, True] Translation: X:144.30, Y:1.96, Z:1.27 [[ 9.99796942e-01 -1.15836479e-02 -1.64891779e-02 1.44299421e+02] [ 1.15805902e-02 9.99932903e-01 -2.80908041e-04 1.96014403e+00] [ 1.64913255e-02 8.98965883e-05 9.99864005e-01 1.26874538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.249254154 meters Centerline goodness [0,1] 0.9991767288693744 Centerline is valid? [True, True] Translation: X:144.33, Y:1.96, Z:1.27 [[ 9.99827756e-01 -9.51653540e-03 -1.59340259e-02 1.44327655e+02] [ 9.51336506e-03 9.99954709e-01 -2.74754994e-04 1.96307262e+00] [ 1.59359189e-02 1.23121465e-04 9.99873008e-01 1.26926917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279254154 meters Centerline goodness [0,1] 0.9991141109470576 Centerline is valid? [True, True] Translation: X:144.36, Y:1.96, Z:1.27 [[ 9.99822430e-01 -9.96797187e-03 -1.59921361e-02 1.44355714e+02] [ 9.96479130e-03 9.99950311e-01 -2.78557238e-04 1.96372980e+00] [ 1.59941181e-02 1.19149476e-04 9.99872079e-01 1.26943636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309254154 meters Centerline goodness [0,1] 0.9994085964727004 Centerline is valid? [True, True] Translation: X:144.38, Y:1.96, Z:1.27 [[ 9.99806778e-01 -1.09248579e-02 -1.63417830e-02 1.44383225e+02] [ 1.09215856e-02 9.99940316e-01 -2.89474317e-04 1.96384216e+00] [ 1.63439702e-02 1.10940202e-04 9.99866422e-01 1.26957942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33925415399997 meters Centerline goodness [0,1] 0.9992194257505116 Centerline is valid? [True, True] Translation: X:144.41, Y:1.96, Z:1.27 [[ 9.99779950e-01 -1.27770984e-02 -1.66371984e-02 1.44410708e+02] [ 1.27738819e-02 9.99918366e-01 -2.99589719e-04 1.96370205e+00] [ 1.66396682e-02 8.70021855e-05 9.99861547e-01 1.26945043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36925415399998 meters Centerline goodness [0,1] 0.9991362602174096 Centerline is valid? [True, True] Translation: X:144.44, Y:1.96, Z:1.27 [[ 9.99700147e-01 -1.73321776e-02 -1.72977592e-02 1.44439003e+02] [ 1.73293214e-02 9.99849786e-01 -3.15011307e-04 1.96125920e+00] [ 1.73006207e-02 1.51584216e-05 9.99850333e-01 1.26884642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39925415399998 meters Centerline goodness [0,1] 0.9989269934778034 Centerline is valid? [True, True] Translation: X:144.47, Y:1.96, Z:1.27 [[ 9.99636632e-01 -2.05620967e-02 -1.74299645e-02 1.44466699e+02] [ 2.05596329e-02 9.99788577e-01 -3.20549978e-04 1.95954851e+00] [ 1.74328706e-02 -3.79201704e-05 9.99848035e-01 1.26908590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42925415399998 meters Centerline goodness [0,1] 0.9991775275211945 Centerline is valid? [True, True] Translation: X:144.50, Y:1.96, Z:1.27 [[ 9.99561004e-01 -2.40803742e-02 -1.72608181e-02 1.44495172e+02] [ 2.40784023e-02 9.99710021e-01 -3.22080331e-04 1.95768256e+00] [ 1.72635686e-02 -9.36739830e-05 9.99850969e-01 1.26997788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45925415399998 meters Centerline goodness [0,1] 0.9989694407638757 Centerline is valid? [True, True] Translation: X:144.52, Y:1.95, Z:1.27 [[ 9.99380230e-01 -3.10728003e-02 -1.65419979e-02 1.44524010e+02] [ 3.10719025e-02 9.99517103e-01 -3.11342550e-04 1.95128913e+00] [ 1.65436841e-02 -2.02841758e-04 9.99863123e-01 1.26982061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48925415399998 meters Centerline goodness [0,1] 0.9990319457889641 Centerline is valid? [True, True] Translation: X:144.55, Y:1.95, Z:1.27 [[ 9.99267413e-01 -3.45238833e-02 -1.65148308e-02 1.44554474e+02] [ 3.45234513e-02 9.99403839e-01 -3.11337171e-04 1.94819741e+00] [ 1.65157339e-02 -2.59039869e-04 9.99863572e-01 1.27006328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51925415399998 meters Centerline goodness [0,1] 0.9989914271306102 Centerline is valid? [True, True] Translation: X:144.59, Y:1.95, Z:1.27 [[ 9.99147809e-01 -3.79283139e-02 -1.62818832e-02 1.44585562e+02] [ 3.79283499e-02 9.99280414e-01 -3.06693419e-04 1.94683902e+00] [ 1.62817994e-02 -3.11112907e-04 9.99867394e-01 1.27117270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54925415399998 meters Centerline goodness [0,1] 0.9988443193040701 Centerline is valid? [True, True] Translation: X:144.62, Y:1.94, Z:1.27 [[ 9.99022839e-01 -4.12306862e-02 -1.59184415e-02 1.44616024e+02] [ 4.12311468e-02 9.99149590e-01 -2.99394780e-04 1.94298598e+00] [ 1.59172486e-02 -3.57233376e-04 9.99873249e-01 1.27110543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57925415399998 meters Centerline goodness [0,1] 0.9990541051835036 Centerline is valid? [True, True] Translation: X:144.65, Y:1.94, Z:1.27 [[ 9.98756948e-01 -4.71872545e-02 -1.60599464e-02 1.44646808e+02] [ 4.71884973e-02 9.98885957e-01 -3.01760979e-04 1.94071060e+00] [ 1.60562942e-02 -4.56458863e-04 9.99870985e-01 1.27176855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60925415399998 meters Centerline goodness [0,1] 0.9986155976003692 Centerline is valid? [True, True] Translation: X:144.68, Y:1.94, Z:1.27 [[ 9.98632378e-01 -4.96587099e-02 -1.63519448e-02 1.44678028e+02] [ 4.96603386e-02 9.98766117e-01 -3.06682935e-04 1.93614050e+00] [ 1.63469978e-02 -5.05779604e-04 9.99866251e-01 1.27084467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63925415399999 meters Centerline goodness [0,1] 0.9988679482610427 Centerline is valid? [True, True] Translation: X:144.71, Y:1.94, Z:1.27 [[ 9.98511079e-01 -5.19803038e-02 -1.65430968e-02 1.44709987e+02] [ 5.19823063e-02 9.98647958e-01 -3.09225765e-04 1.93550381e+00] [ 1.65368035e-02 -5.51182972e-04 9.99863106e-01 1.27111649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.669254154 meters Centerline goodness [0,1] 0.9989926124916051 Centerline is valid? [True, True] Translation: X:144.74, Y:1.94, Z:1.27 [[ 9.98392432e-01 -5.41620113e-02 -1.67041593e-02 1.44742161e+02] [ 5.41643784e-02 9.98531984e-01 -3.11010421e-04 1.93617422e+00] [ 1.66964822e-02 -5.94259952e-04 9.99860427e-01 1.27172087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.699254154 meters Centerline goodness [0,1] 0.9986192757473693 Centerline is valid? [True, True] Translation: X:144.77, Y:1.93, Z:1.27 [[ 9.98141816e-01 -5.84781495e-02 -1.71236758e-02 1.44772324e+02] [ 5.84812833e-02 9.98288454e-01 -3.18107157e-04 1.93049661e+00] [ 1.71129702e-02 -6.83898479e-04 9.99853329e-01 1.27093805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.729254154 meters Centerline goodness [0,1] 0.9987219510151061 Centerline is valid? [True, True] Translation: X:144.80, Y:1.93, Z:1.27 [[ 9.98022558e-01 -6.05419413e-02 -1.69011236e-02 1.44803875e+02] [ 6.05452966e-02 9.98165401e-01 -3.13550459e-04 1.93193666e+00] [ 1.68890998e-02 -7.10353109e-04 9.99857117e-01 1.27196425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759254154 meters Centerline goodness [0,1] 0.9986407076685 Centerline is valid? [True, True] Translation: X:144.84, Y:1.93, Z:1.27 [[ 9.97886006e-01 -6.28503851e-02 -1.65332132e-02 1.44835991e+02] [ 6.28539293e-02 9.98022690e-01 -3.05678354e-04 1.93092006e+00] [ 1.65197340e-02 -7.34145264e-04 9.99863270e-01 1.27242515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.789254154 meters Centerline goodness [0,1] 0.9984081436022034 Centerline is valid? [True, True] Translation: X:144.87, Y:1.91, Z:1.27 [[ 9.97562989e-01 -6.79271451e-02 -1.59369444e-02 1.44865879e+02] [ 6.79311012e-02 9.97689972e-01 -2.93601588e-04 1.91472441e+00] [ 1.59200731e-02 -7.89728104e-04 9.99872956e-01 1.27142328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819254154 meters Centerline goodness [0,1] 0.9984770090962196 Centerline is valid? [True, True] Translation: X:144.90, Y:1.92, Z:1.27 [[ 9.97372958e-01 -7.06403024e-02 -1.60352852e-02 1.44897230e+02] [ 7.06446696e-02 9.97501501e-01 -2.94637663e-04 1.91982187e+00] [ 1.60160343e-02 -8.38943787e-04 9.99871383e-01 1.27253448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.849254154 meters Centerline goodness [0,1] 0.9986410771031945 Centerline is valid? [True, True] Translation: X:144.93, Y:1.93, Z:1.27 [[ 9.97189868e-01 -7.30999822e-02 -1.63938869e-02 1.44928585e+02] [ 7.31048880e-02 9.97324213e-01 -3.00634520e-04 1.92713020e+00] [ 1.63719967e-02 -8.98683566e-04 9.99865566e-01 1.27359300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879254154 meters Centerline goodness [0,1] 0.9988089765556438 Centerline is valid? [True, True] Translation: X:144.96, Y:1.93, Z:1.27 [[ 9.97019456e-01 -7.53000650e-02 -1.67959460e-02 1.44959756e+02] [ 7.53055362e-02 9.97160459e-01 -3.07371514e-04 1.92627700e+00] [ 1.67713983e-02 -9.58372342e-04 9.99858891e-01 1.27390211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.909254154 meters Centerline goodness [0,1] 0.9985616609688985 Centerline is valid? [True, True] Translation: X:144.99, Y:1.92, Z:1.27 [[ 9.96783552e-01 -7.80893627e-02 -1.80167292e-02 1.44989695e+02] [ 7.80961191e-02 9.96945780e-01 -3.29338011e-04 1.92445646e+00] [ 1.79874199e-02 -1.07875792e-03 9.99837631e-01 1.27334215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939254154 meters Centerline goodness [0,1] 0.998306502195275 Centerline is valid? [True, True] Translation: X:145.02, Y:1.92, Z:1.27 [[ 9.96717479e-01 -7.88323785e-02 -1.84315591e-02 1.45021331e+02] [ 7.88395854e-02 9.96887259e-01 -3.36426217e-04 1.92200966e+00] [ 1.84007077e-02 -1.11781459e-03 9.99830068e-01 1.27301107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.969254154 meters Centerline goodness [0,1] 0.9984955178970684 Centerline is valid? [True, True] Translation: X:145.05, Y:1.93, Z:1.27 [[ 9.96724255e-01 -7.85737960e-02 -1.91551114e-02 1.45053531e+02] [ 7.85815566e-02 9.96907627e-01 -3.48372411e-04 1.93052769e+00] [ 1.91232496e-02 -1.15800724e-03 9.99816463e-01 1.27455108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999254154 meters Centerline goodness [0,1] 0.9986602750622763 Centerline is valid? [True, True] Translation: X:145.09, Y:1.93, Z:1.28 [[ 9.96793041e-01 -7.76176125e-02 -1.94715295e-02 1.45085244e+02] [ 7.76254784e-02 9.96982528e-01 -3.52662899e-04 1.93361328e+00] [ 1.94401475e-02 -1.15995487e-03 9.99810350e-01 1.27532023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.029254154 meters Centerline goodness [0,1] 0.9987444284010296 Centerline is valid? [True, True] Translation: X:145.12, Y:1.94, Z:1.28 [[ 9.96919991e-01 -7.59771337e-02 -1.94423769e-02 1.45116256e+02] [ 7.59846860e-02 9.97108923e-01 -3.51061542e-04 1.93612483e+00] [ 1.94128402e-02 -1.12734264e-03 9.99810917e-01 1.27572749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059254154 meters Centerline goodness [0,1] 0.9983882783882784 Centerline is valid? [True, True] Translation: X:145.15, Y:1.94, Z:1.28 [[ 9.97077750e-01 -7.38798710e-02 -1.94351446e-02 1.45146929e+02] [ 7.38870345e-02 9.97266556e-01 -3.50211330e-04 1.93751905e+00] [ 1.94078933e-02 -1.08681728e-03 9.99811058e-01 1.27634641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08925415399997 meters Centerline goodness [0,1] 0.9985955644992244 Centerline is valid? [True, True] Translation: X:145.18, Y:1.95, Z:1.28 [[ 9.97511449e-01 -6.80914565e-02 -1.82883203e-02 1.45177585e+02] [ 6.80968348e-02 9.97678662e-01 -3.29217004e-04 1.94844050e+00] [ 1.82682837e-02 -9.16978992e-04 9.99832700e-01 1.27845789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11925415399998 meters Centerline goodness [0,1] 0.9986960270889856 Centerline is valid? [True, True] Translation: X:145.21, Y:1.95, Z:1.28 [[ 9.97742913e-01 -6.46514940e-02 -1.81456570e-02 1.45208601e+02] [ 6.46562270e-02 9.97907544e-01 -3.26324271e-04 1.94945459e+00] [ 1.81287854e-02 -8.47641991e-04 9.99835301e-01 1.27883527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14925415399998 meters Centerline goodness [0,1] 0.9986163231933584 Centerline is valid? [True, True] Translation: X:145.24, Y:1.96, Z:1.28 [[ 9.97994172e-01 -6.07539161e-02 -1.77931190e-02 1.45239647e+02] [ 6.07578573e-02 9.98152484e-01 -3.19495684e-04 1.95665612e+00] [ 1.77796565e-02 -7.62216952e-04 9.99841639e-01 1.28026893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17925415399998 meters Centerline goodness [0,1] 0.9986127167630058 Centerline is valid? [True, True] Translation: X:145.27, Y:1.96, Z:1.28 [[ 9.98215425e-01 -5.70619395e-02 -1.76039669e-02 1.45271224e+02] [ 5.70652349e-02 9.98370402e-01 -3.15479898e-04 1.96131803e+00] [ 1.75932815e-02 -6.89657609e-04 9.99844988e-01 1.28118570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20925415399998 meters Centerline goodness [0,1] 0.9987398399596749 Centerline is valid? [True, True] Translation: X:145.30, Y:1.97, Z:1.28 [[ 9.98438875e-01 -5.31392060e-02 -1.72057308e-02 1.45302956e+02] [ 5.31417883e-02 9.98586930e-01 -3.07414211e-04 1.96628573e+00] [ 1.71977537e-02 -6.07409007e-04 9.99851923e-01 1.28203328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23925415399998 meters Centerline goodness [0,1] 0.9988619599578503 Centerline is valid? [True, True] Translation: X:145.33, Y:1.98, Z:1.28 [[ 9.98814982e-01 -4.57166100e-02 -1.66920029e-02 1.45333401e+02] [ 4.57180150e-02 9.98954341e-01 -2.97603849e-04 1.97626315e+00] [ 1.66881542e-02 -4.65874055e-04 9.99860635e-01 1.28330145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26925415399998 meters Centerline goodness [0,1] 0.9989019342849903 Centerline is valid? [True, True] Translation: X:145.36, Y:1.98, Z:1.28 [[ 9.98960219e-01 -4.23067607e-02 -1.69888111e-02 1.45363462e+02] [ 4.23077393e-02 9.99104581e-01 -3.01960953e-04 1.97888583e+00] [ 1.69863740e-02 -4.17111213e-04 9.99855634e-01 1.28311008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29925415399998 meters Centerline goodness [0,1] 0.998989260897031 Centerline is valid? [True, True] Translation: X:145.39, Y:1.98, Z:1.28 [[ 9.99091384e-01 -3.91749309e-02 -1.67848435e-02 1.45394579e+02] [ 3.91754643e-02 9.99232303e-01 -2.97150907e-04 1.98298248e+00] [ 1.67835987e-02 -3.60673124e-04 9.99859080e-01 1.28346918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32925415399998 meters Centerline goodness [0,1] 0.9990914661201378 Centerline is valid? [True, True] Translation: X:145.43, Y:1.99, Z:1.28 [[ 9.99180835e-01 -3.64171771e-02 -1.76479139e-02 1.45425907e+02] [ 3.64173481e-02 9.99336620e-01 -3.11785413e-04 1.98682880e+00] [ 1.76475609e-02 -3.31160214e-04 9.99844215e-01 1.28347287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35925415399998 meters Centerline goodness [0,1] 0.9987732397047315 Centerline is valid? [True, True] Translation: X:145.46, Y:1.99, Z:1.28 [[ 9.99267900e-01 -3.38926371e-02 -1.77469303e-02 1.45457078e+02] [ 3.38924235e-02 9.99425438e-01 -3.12893226e-04 1.99073597e+00] [ 1.77473384e-02 -2.88822321e-04 9.99842462e-01 1.28379227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38925415399999 meters Centerline goodness [0,1] 0.9990048065725115 Centerline is valid? [True, True] Translation: X:145.49, Y:1.99, Z:1.28 [[ 9.99375627e-01 -2.99780707e-02 -1.86995081e-02 1.45487130e+02] [ 2.99771583e-02 9.99550530e-01 -3.29159560e-04 1.99486614e+00] [ 1.87009708e-02 -2.31604072e-04 9.99825095e-01 1.28325024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.419254154 meters Centerline goodness [0,1] 0.9990668872205963 Centerline is valid? [True, True] Translation: X:145.52, Y:2.00, Z:1.28 [[ 9.99409971e-01 -2.82254590e-02 -1.95712284e-02 1.45517511e+02] [ 2.82241270e-02 9.99601561e-01 -3.44326930e-04 1.99683162e+00] [ 1.95731493e-02 -2.08257070e-04 9.99808406e-01 1.28216388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.449254154 meters Centerline goodness [0,1] 0.9990879589369419 Centerline is valid? [True, True] Translation: X:145.55, Y:2.00, Z:1.28 [[ 9.99437405e-01 -2.76026047e-02 -1.90517473e-02 1.45547291e+02] [ 2.76012225e-02 9.99618957e-01 -3.35545940e-04 1.99908558e+00] [ 1.90537497e-02 -1.90494352e-04 9.99818443e-01 1.28404948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.479254154 meters Centerline goodness [0,1] 0.9992578456318915 Centerline is valid? [True, True] Translation: X:145.58, Y:2.00, Z:1.28 [[ 9.99447263e-01 -2.71045889e-02 -1.92486400e-02 1.45576549e+02] [ 2.71030754e-02 9.99632587e-01 -3.39545421e-04 1.99985590e+00] [ 1.92507711e-02 -1.82339601e-04 9.99814670e-01 1.28395529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.509254154 meters Centerline goodness [0,1] 0.9991940956905327 Centerline is valid? [True, True] Translation: X:145.61, Y:2.00, Z:1.28 [[ 9.99429534e-01 -2.74225902e-02 -1.97131219e-02 1.45605124e+02] [ 2.74210501e-02 9.99623912e-01 -3.48477138e-04 1.99962179e+00] [ 1.97152642e-02 -1.92276160e-04 9.99805617e-01 1.28375610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539254154 meters Centerline goodness [0,1] 0.9990872232482116 Centerline is valid? [True, True] Translation: X:145.63, Y:2.00, Z:1.28 [[ 9.99408999e-01 -2.83214540e-02 -1.94819744e-02 1.45634832e+02] [ 2.83201036e-02 9.99598846e-01 -3.45258236e-04 1.99929506e+00] [ 1.94839373e-02 -2.06677344e-04 9.99810149e-01 1.28353805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.569254154 meters Centerline goodness [0,1] 0.9991937194992574 Centerline is valid? [True, True] Translation: X:145.66, Y:2.00, Z:1.28 [[ 9.99375280e-01 -2.93142132e-02 -1.97415135e-02 1.45664185e+02] [ 2.93130059e-02 9.99570220e-01 -3.50583082e-04 1.99929274e+00] [ 1.97433061e-02 -2.28319036e-04 9.99805056e-01 1.28413619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599254154 meters Centerline goodness [0,1] 0.9989165763813651 Centerline is valid? [True, True] Translation: X:145.69, Y:2.00, Z:1.28 [[ 9.99300464e-01 -3.21175215e-02 -1.91584735e-02 1.45693740e+02] [ 3.21168896e-02 9.99484062e-01 -3.40744598e-04 1.99637520e+00] [ 1.91595327e-02 -2.74804343e-04 9.99816402e-01 1.28372085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.629254154 meters Centerline goodness [0,1] 0.9988539168453 Centerline is valid? [True, True] Translation: X:145.72, Y:2.00, Z:1.29 [[ 9.99261467e-01 -3.36344522e-02 -1.85807458e-02 1.45724220e+02] [ 3.36341168e-02 9.99434158e-01 -3.30635937e-04 1.99688818e+00] [ 1.85813528e-02 -2.94555225e-04 9.99827308e-01 1.28530490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659254154 meters Centerline goodness [0,1] 0.9988539168453 Centerline is valid? [True, True] Translation: X:145.76, Y:2.00, Z:1.29 [[ 9.99262720e-01 -3.35972026e-02 -1.85807519e-02 1.45755066e+02] [ 3.35968672e-02 9.99435411e-01 -3.30292475e-04 1.99740853e+00] [ 1.85813584e-02 -2.94206099e-04 9.99827308e-01 1.28559392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.689254154 meters Centerline goodness [0,1] 0.9991098677517802 Centerline is valid? [True, True] Translation: X:145.79, Y:2.00, Z:1.29 [[ 9.99235803e-01 -3.47207219e-02 -1.79522064e-02 1.45785152e+02] [ 3.47205989e-02 9.99397007e-01 -3.18623179e-04 1.99636090e+00] [ 1.79524442e-02 -3.04931670e-04 9.99838795e-01 1.28623635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719254154 meters Centerline goodness [0,1] 0.9988563925538448 Centerline is valid? [True, True] Translation: X:145.82, Y:2.00, Z:1.29 [[ 9.99204534e-01 -3.57979331e-02 -1.75728879e-02 1.45816495e+02] [ 3.57979901e-02 9.99358998e-01 -3.11418345e-04 1.99587377e+00] [ 1.75727718e-02 -3.17903446e-04 9.99845536e-01 1.28729273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.749254154 meters Centerline goodness [0,1] 0.9989847715736041 Centerline is valid? [True, True] Translation: X:145.85, Y:1.99, Z:1.29 [[ 9.99149364e-01 -3.75534695e-02 -1.70377538e-02 1.45847079e+02] [ 3.75537912e-02 9.99294562e-01 -3.01169217e-04 1.99264581e+00] [ 1.70370447e-02 -3.38919218e-04 9.99854802e-01 1.28732937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779254154 meters Centerline goodness [0,1] 0.9990289007578796 Centerline is valid? [True, True] Translation: X:145.88, Y:1.99, Z:1.29 [[ 9.99144328e-01 -3.77901396e-02 -1.68082740e-02 1.45877978e+02] [ 3.77904993e-02 9.99285640e-01 -2.96329963e-04 1.99207103e+00] [ 1.68074652e-02 -3.39116667e-04 9.99858687e-01 1.28774487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809254154 meters Centerline goodness [0,1] 0.9989017719487212 Centerline is valid? [True, True] Translation: X:145.91, Y:1.99, Z:1.29 [[ 9.99171609e-01 -3.71709052e-02 -1.65656077e-02 1.45910613e+02] [ 3.71711837e-02 9.99308870e-01 -2.91195539e-04 1.99311659e+00] [ 1.65649827e-02 -3.24808933e-04 9.99862739e-01 1.28882774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83925415399997 meters Centerline goodness [0,1] 0.9988593396844173 Centerline is valid? [True, True] Translation: X:145.94, Y:1.99, Z:1.29 [[ 9.99199146e-01 -3.63836370e-02 -1.66522390e-02 1.45942610e+02] [ 3.63838297e-02 9.99337847e-01 -2.91487790e-04 1.99358588e+00] [ 1.66518180e-02 -3.14617877e-04 9.99861299e-01 1.28874338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86925415399998 meters Centerline goodness [0,1] 0.9989229827043693 Centerline is valid? [True, True] Translation: X:145.97, Y:1.99, Z:1.29 [[ 9.99234495e-01 -3.53534070e-02 -1.67499481e-02 1.45974351e+02] [ 3.53534736e-02 9.99374828e-01 -2.92227266e-04 1.99379850e+00] [ 1.67498077e-02 -3.00165282e-04 9.99859667e-01 1.28867763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89925415399998 meters Centerline goodness [0,1] 0.9990285110876452 Centerline is valid? [True, True] Translation: X:146.01, Y:1.99, Z:1.29 [[ 9.99275630e-01 -3.41905870e-02 -1.67098669e-02 1.46006202e+02] [ 3.41905033e-02 9.99415292e-01 -2.90773005e-04 1.99435139e+00] [ 1.67100382e-02 -2.80756383e-04 9.99860338e-01 1.28880927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92925415399998 meters Centerline goodness [0,1] 0.9989864008784526 Centerline is valid? [True, True] Translation: X:146.04, Y:1.99, Z:1.29 [[ 9.99358949e-01 -3.16755296e-02 -1.66838653e-02 1.46036130e+02] [ 3.16751067e-02 9.99498176e-01 -2.89664472e-04 1.99360178e+00] [ 1.66846682e-02 -2.38984433e-04 9.99860773e-01 1.28772952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95925415399998 meters Centerline goodness [0,1] 0.9989475456765177 Centerline is valid? [True, True] Translation: X:146.07, Y:1.99, Z:1.29 [[ 9.99404704e-01 -3.00653356e-02 -1.69207799e-02 1.46067259e+02] [ 3.00646775e-02 9.99547912e-01 -2.93326361e-04 1.99435538e+00] [ 1.69219491e-02 -2.15566044e-04 9.99856790e-01 1.28634871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98925415399998 meters Centerline goodness [0,1] 0.9990080411979485 Centerline is valid? [True, True] Translation: X:146.10, Y:2.00, Z:1.29 [[ 9.99461905e-01 -2.77879196e-02 -1.74278994e-02 1.46097596e+02] [ 2.77868814e-02 9.99613825e-01 -3.01764602e-04 1.99522737e+00] [ 1.74295546e-02 -1.82664752e-04 9.99848077e-01 1.28646999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01925415399998 meters Centerline goodness [0,1] 0.9989241414226647 Centerline is valid? [True, True] Translation: X:146.13, Y:2.00, Z:1.29 [[ 9.99497512e-01 -2.66210803e-02 -1.72058744e-02 1.46128497e+02] [ 2.66198955e-02 9.99645583e-01 -2.97920231e-04 1.99605241e+00] [ 1.72077073e-02 -1.60248049e-04 9.99851924e-01 1.28711426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04925415399998 meters Centerline goodness [0,1] 0.9989664409711236 Centerline is valid? [True, True] Translation: X:146.16, Y:2.00, Z:1.29 [[ 9.99536194e-01 -2.51026909e-02 -1.72409676e-02 1.46158278e+02] [ 2.51012730e-02 9.99684869e-01 -2.98671393e-04 1.99635264e+00] [ 1.72430319e-02 -1.34237368e-04 9.99851319e-01 1.28691512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07925415399998 meters Centerline goodness [0,1] 0.9989233010323643 Centerline is valid? [True, True] Translation: X:146.19, Y:2.00, Z:1.29 [[ 9.99577715e-01 -2.34639594e-02 -1.71415861e-02 1.46188191e+02] [ 2.34623090e-02 9.99724678e-01 -2.97408935e-04 1.99792422e+00] [ 1.71438450e-02 -1.04897846e-04 9.99853028e-01 1.28798357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10925415399998 meters Centerline goodness [0,1] 0.9989868715437545 Centerline is valid? [True, True] Translation: X:146.22, Y:2.00, Z:1.29 [[ 9.99622520e-01 -2.16593970e-02 -1.69022818e-02 1.46218022e+02] [ 2.16575239e-02 9.99765405e-01 -2.93880935e-04 1.99857176e+00] [ 1.69046819e-02 -7.22915710e-05 9.99857103e-01 1.28849503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13925415399999 meters Centerline goodness [0,1] 0.9990495701945213 Centerline is valid? [True, True] Translation: X:146.25, Y:2.00, Z:1.29 [[ 9.99688695e-01 -1.89588263e-02 -1.62196109e-02 1.46246582e+02] [ 1.89567116e-02 9.99820265e-01 -2.84129813e-04 1.99885488e+00] [ 1.62220824e-02 -2.34291238e-05 9.99868413e-01 1.28904375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.169254154 meters Centerline goodness [0,1] 0.9989223227115206 Centerline is valid? [True, True] Translation: X:146.28, Y:2.00, Z:1.29 [[ 9.99700069e-01 -1.83877539e-02 -1.61759773e-02 1.46275626e+02] [ 1.83855079e-02 9.99830931e-01 -2.87559830e-04 1.99870182e+00] [ 1.61785300e-02 -9.92997718e-06 9.99869119e-01 1.28910448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.199254154 meters Centerline goodness [0,1] 0.9993240817016243 Centerline is valid? [True, True] Translation: X:146.30, Y:2.00, Z:1.29 [[ 9.99716364e-01 -1.77754292e-02 -1.58500791e-02 1.46303443e+02] [ 1.77731488e-02 9.99842005e-01 -2.84734463e-04 1.99820880e+00] [ 1.58526362e-02 2.94788639e-06 9.99874339e-01 1.28914761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.229254154 meters Centerline goodness [0,1] 0.9990926547234708 Centerline is valid? [True, True] Translation: X:146.33, Y:2.00, Z:1.29 [[ 9.99705933e-01 -1.79879771e-02 -1.62628671e-02 1.46331435e+02] [ 1.79855575e-02 9.99838203e-01 -2.95035384e-04 1.99746057e+00] [ 1.62655429e-02 2.45189251e-06 9.99867707e-01 1.28885377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259254154 meters Centerline goodness [0,1] 0.9991979230428267 Centerline is valid? [True, True] Translation: X:146.36, Y:2.00, Z:1.29 [[ 9.99698374e-01 -1.84836764e-02 -1.61713903e-02 1.46359544e+02] [ 1.84812951e-02 9.99829162e-01 -2.96697689e-04 1.99645109e+00] [ 1.61741117e-02 -2.26003944e-06 9.99869190e-01 1.28857621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.289254154 meters Centerline goodness [0,1] 0.9988805103183153 Centerline is valid? [True, True] Translation: X:146.39, Y:1.99, Z:1.29 [[ 9.99658803e-01 -2.03300479e-02 -1.64002120e-02 1.46387205e+02] [ 2.03277997e-02 9.99793323e-01 -3.03790708e-04 1.99302768e+00] [ 1.64029986e-02 -2.96931691e-05 9.99865461e-01 1.28690602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319254154 meters Centerline goodness [0,1] 0.999366741250475 Centerline is valid? [True, True] Translation: X:146.42, Y:1.99, Z:1.29 [[ 9.99610829e-01 -2.27105515e-02 -1.61994201e-02 1.46415090e+02] [ 2.27086172e-02 9.99742080e-01 -3.03367864e-04 1.99134524e+00] [ 1.62021316e-02 -6.46166270e-05 9.99868735e-01 1.28882315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.349254154 meters Centerline goodness [0,1] 0.999073157373665 Centerline is valid? [True, True] Translation: X:146.44, Y:1.99, Z:1.29 [[ 9.99561189e-01 -2.49491680e-02 -1.59677168e-02 1.46444013e+02] [ 2.49475346e-02 9.99688716e-01 -3.01510274e-04 1.98944219e+00] [ 1.59702688e-02 -9.69771989e-05 9.99872462e-01 1.28921691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379254154 meters Centerline goodness [0,1] 0.9990322105573205 Centerline is valid? [True, True] Translation: X:146.47, Y:1.99, Z:1.29 [[ 9.99425624e-01 -2.97880731e-02 -1.61583617e-02 1.46473382e+02] [ 2.97869902e-02 9.99556222e-01 -3.07733820e-04 1.98558871e+00] [ 1.61603578e-02 -1.73751897e-04 9.99869398e-01 1.28973409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.409254154 meters Centerline goodness [0,1] 0.9992627854073637 Centerline is valid? [True, True] Translation: X:146.50, Y:1.98, Z:1.29 [[ 9.99351939e-01 -3.22703242e-02 -1.59477007e-02 1.46504081e+02] [ 3.22695800e-02 9.99479155e-01 -3.04062262e-04 1.98362704e+00] [ 1.59492066e-02 -2.10760393e-04 9.99872781e-01 1.29035767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439254154 meters Centerline goodness [0,1] 0.9990326989801283 Centerline is valid? [True, True] Translation: X:146.53, Y:1.98, Z:1.29 [[ 9.99265136e-01 -3.48580445e-02 -1.59406574e-02 1.46534043e+02] [ 3.48576300e-02 9.99392242e-01 -3.03927972e-04 1.98123336e+00] [ 1.59415637e-02 -2.51948911e-04 9.99872893e-01 1.29041428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.469254154 meters Centerline goodness [0,1] 0.9992647058823529 Centerline is valid? [True, True] Translation: X:146.57, Y:1.98, Z:1.29 [[ 9.99115545e-01 -3.95504770e-02 -1.42789149e-02 1.46565085e+02] [ 3.95506267e-02 9.99217531e-01 -2.72008324e-04 1.97690525e+00] [ 1.42785001e-02 -2.92972287e-04 9.99898014e-01 1.29139151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499254154 meters Centerline goodness [0,1] 0.9989285714285714 Centerline is valid? [True, True] Translation: X:146.60, Y:1.98, Z:1.29 [[ 9.99059669e-01 -4.10984042e-02 -1.38093985e-02 1.46597000e+02] [ 4.10987026e-02 9.99155057e-01 -2.62295781e-04 1.97573759e+00] [ 1.38085103e-02 -3.05499225e-04 9.99904611e-01 1.29042979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.529254154 meters Centerline goodness [0,1] 0.999263917222234 Centerline is valid? [True, True] Translation: X:146.63, Y:1.97, Z:1.29 [[ 9.98999319e-01 -4.29433314e-02 -1.24992175e-02 1.46629306e+02] [ 4.29437310e-02 9.99077464e-01 -2.36541219e-04 1.97475144e+00] [ 1.24978444e-02 -3.00458519e-04 9.99921854e-01 1.29318078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559254154 meters Centerline goodness [0,1] 0.9996017105483817 Centerline is valid? [True, True] Translation: X:146.66, Y:1.97, Z:1.29 [[ 9.98947629e-01 -4.42322520e-02 -1.21301973e-02 1.46661726e+02] [ 4.42327341e-02 9.99021227e-01 -2.28669348e-04 1.97358645e+00] [ 1.21284392e-02 -3.08123090e-04 9.99926400e-01 1.29378292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58925415399997 meters Centerline goodness [0,1] 0.9991413432742047 Centerline is valid? [True, True] Translation: X:146.69, Y:1.97, Z:1.29 [[ 9.98898473e-01 -4.57689677e-02 -1.03461275e-02 1.46692795e+02] [ 4.57694075e-02 9.98952013e-01 -1.94384882e-04 1.97071733e+00] [ 1.03441817e-02 -2.79365363e-04 9.99946458e-01 1.29448055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61925415399998 meters Centerline goodness [0,1] 0.9991616364855801 Centerline is valid? [True, True] Translation: X:146.72, Y:1.97, Z:1.30 [[ 9.98899025e-01 -4.58876456e-02 -9.74992057e-03 1.46724619e+02] [ 4.58880469e-02 9.98946572e-01 -1.82661967e-04 1.97162477e+00] [ 9.74803165e-03 -2.64943952e-04 9.99952452e-01 1.29519082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64925415399998 meters Centerline goodness [0,1] 0.9993083790920904 Centerline is valid? [True, True] Translation: X:146.76, Y:1.97, Z:1.30 [[ 9.98936059e-01 -4.51577699e-02 -9.35547879e-03 1.46756120e+02] [ 4.51581137e-02 9.98979837e-01 -1.74600313e-04 1.97104131e+00] [ 9.35381924e-03 -2.48061226e-04 9.99956221e-01 1.29569524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67925415399998 meters Centerline goodness [0,1] 0.9991419362940019 Centerline is valid? [True, True] Translation: X:146.79, Y:1.97, Z:1.30 [[ 9.98975753e-01 -4.43220695e-02 -9.11041974e-03 1.46788175e+02] [ 4.43223652e-02 9.99017267e-01 -1.69538117e-04 1.97209482e+00] [ 9.10898091e-03 -2.34430882e-04 9.99958485e-01 1.29545143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70925415399998 meters Centerline goodness [0,1] 0.9988270777479893 Centerline is valid? [True, True] Translation: X:146.82, Y:1.97, Z:1.30 [[ 9.99109793e-01 -4.12877488e-02 -8.65698327e-03 1.46820597e+02] [ 4.12879072e-02 9.99147278e-01 -1.60495617e-04 1.97337497e+00] [ 8.65622777e-03 -1.97075980e-04 9.99962515e-01 1.29542939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73925415399998 meters Centerline goodness [0,1] 0.9989945959532487 Centerline is valid? [True, True] Translation: X:146.85, Y:1.98, Z:1.30 [[ 9.99180669e-01 -3.95695928e-02 -8.49935377e-03 1.46852770e+02] [ 3.95696885e-02 9.99216801e-01 -1.56964627e-04 1.97520939e+00] [ 8.49890811e-03 -1.79480760e-04 9.99963868e-01 1.29541763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76925415399998 meters Centerline goodness [0,1] 0.999267598560308 Centerline is valid? [True, True] Translation: X:146.88, Y:1.98, Z:1.30 [[ 9.99259548e-01 -3.75387777e-02 -8.43771630e-03 1.46884694e+02] [ 3.75388050e-02 9.99295159e-01 -1.55204363e-04 1.97611859e+00] [ 8.43759523e-03 -1.61652344e-04 9.99964390e-01 1.29558156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79925415399998 meters Centerline goodness [0,1] 0.999013951536767 Centerline is valid? [True, True] Translation: X:146.92, Y:1.98, Z:1.29 [[ 9.99400402e-01 -3.36184622e-02 -8.28462575e-03 1.46916072e+02] [ 3.36183589e-02 9.99434732e-01 -1.51762639e-04 1.97685112e+00] [ 8.28504474e-03 -1.26843880e-04 9.99965670e-01 1.29484359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82925415399998 meters Centerline goodness [0,1] 0.9993934830802694 Centerline is valid? [True, True] Translation: X:146.95, Y:1.98, Z:1.29 [[ 9.99461750e-01 -3.15208493e-02 -9.09097322e-03 1.46947096e+02] [ 3.15206433e-02 9.99503087e-01 -1.65977474e-04 1.97759655e+00] [ 9.09168755e-03 -1.20665188e-04 9.99958662e-01 1.29481898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85925415399998 meters Centerline goodness [0,1] 0.9992453621213709 Centerline is valid? [True, True] Translation: X:146.98, Y:1.98, Z:1.29 [[ 9.99515683e-01 -2.96319380e-02 -9.50512940e-03 1.46978454e+02] [ 2.96316325e-02 9.99560872e-01 -1.73002301e-04 1.97828662e+00] [ 9.50608182e-03 -1.08733988e-04 9.99954810e-01 1.29439745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88925415399999 meters Centerline goodness [0,1] 0.9992023844506948 Centerline is valid? [True, True] Translation: X:147.01, Y:1.98, Z:1.29 [[ 9.99590800e-01 -2.63697937e-02 -1.10845237e-02 1.47009504e+02] [ 2.63691848e-02 9.99652252e-01 -2.01107229e-04 1.98076418e+00] [ 1.10859723e-02 -9.12649186e-05 9.99938545e-01 1.29310913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919254154 meters Centerline goodness [0,1] 0.9988876529477196 Centerline is valid? [True, True] Translation: X:147.04, Y:1.98, Z:1.29 [[ 9.99608561e-01 -2.52958731e-02 -1.19517147e-02 1.47040568e+02] [ 2.52950938e-02 9.99680005e-01 -2.16389930e-04 1.98169478e+00] [ 1.19533640e-02 -8.60145182e-05 9.99928552e-01 1.29238601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.949254154 meters Centerline goodness [0,1] 0.9990352551330719 Centerline is valid? [True, True] Translation: X:147.07, Y:1.98, Z:1.29 [[ 9.99617980e-01 -2.45978959e-02 -1.26030639e-02 1.47072385e+02] [ 2.45969799e-02 9.99697423e-01 -2.27706119e-04 1.98216993e+00] [ 1.26048515e-02 -8.23781775e-05 9.99920552e-01 1.29216657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.979254154 meters Centerline goodness [0,1] 0.9989722076560041 Centerline is valid? [True, True] Translation: X:147.10, Y:1.98, Z:1.29 [[ 9.99623205e-01 -2.40926506e-02 -1.31526650e-02 1.47102580e+02] [ 2.40916148e-02 9.99709727e-01 -2.37204715e-04 1.98189696e+00] [ 1.31545621e-02 -7.97536031e-05 9.99913472e-01 1.29188848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.009254154 meters Centerline goodness [0,1] 0.9990566828777461 Centerline is valid? [True, True] Translation: X:147.13, Y:1.98, Z:1.29 [[ 9.99608897e-01 -2.45194916e-02 -1.34479228e-02 1.47133070e+02] [ 2.45184498e-02 9.99699348e-01 -2.42353867e-04 1.98199117e+00] [ 1.34498220e-02 -8.74631384e-05 9.99909543e-01 1.29255512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039254154 meters Centerline goodness [0,1] 0.9988701983429575 Centerline is valid? [True, True] Translation: X:147.16, Y:1.98, Z:1.29 [[ 9.99596869e-01 -2.50888068e-02 -1.32910152e-02 1.47163108e+02] [ 2.50878395e-02 9.99685222e-01 -2.39526131e-04 1.98224537e+00] [ 1.32928409e-02 -9.40132847e-05 9.99911642e-01 1.29318686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.069254154 meters Centerline goodness [0,1] 0.9989742730945552 Centerline is valid? [True, True] Translation: X:147.19, Y:1.98, Z:1.29 [[ 9.99583467e-01 -2.58869480e-02 -1.27576918e-02 1.47192937e+02] [ 2.58861217e-02 9.99664872e-01 -2.29914947e-04 1.98174606e+00] [ 1.27593681e-02 -1.00427983e-04 9.99918591e-01 1.29398032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099254154 meters Centerline goodness [0,1] 0.9987016794404657 Centerline is valid? [True, True] Translation: X:147.22, Y:1.98, Z:1.29 [[ 9.99552644e-01 -2.73708718e-02 -1.20559945e-02 1.47223384e+02] [ 2.73702419e-02 9.99625341e-01 -2.17269677e-04 1.98166158e+00] [ 1.20574244e-02 -1.12803004e-04 9.99927300e-01 1.29498883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.129254154 meters Centerline goodness [0,1] 0.998872133338903 Centerline is valid? [True, True] Translation: X:147.25, Y:1.98, Z:1.30 [[ 9.99458969e-01 -3.12830727e-02 -1.01556881e-02 1.47253865e+02] [ 3.12828277e-02 9.99510556e-01 -1.83008433e-04 1.97854023e+00] [ 1.01564425e-02 -1.34789221e-04 9.99948413e-01 1.29606390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159254154 meters Centerline goodness [0,1] 0.999039726113187 Centerline is valid? [True, True] Translation: X:147.29, Y:1.98, Z:1.30 [[ 9.99392383e-01 -3.35342345e-02 -9.50366669e-03 1.47285718e+02] [ 3.35341234e-02 9.99437558e-01 -1.71088003e-04 1.97720682e+00] [ 9.50405873e-03 -1.47713085e-04 9.99954825e-01 1.29676486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.189254154 meters Centerline goodness [0,1] 0.9989764585465711 Centerline is valid? [True, True] Translation: X:147.32, Y:1.98, Z:1.30 [[ 9.99304350e-01 -3.61841139e-02 -9.02919410e-03 1.47318020e+02] [ 3.61841274e-02 9.99345127e-01 -1.61913911e-04 1.97538069e+00] [ 9.02913983e-03 -1.64912234e-04 9.99959223e-01 1.29747636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219254154 meters Centerline goodness [0,1] 0.9986020989380124 Centerline is valid? [True, True] Translation: X:147.35, Y:1.97, Z:1.30 [[ 9.99078561e-01 -4.21749378e-02 -7.95634431e-03 1.47348473e+02] [ 4.21751427e-02 9.99110223e-01 -1.42096206e-04 1.96993317e+00] [ 7.95525783e-03 -1.93594684e-04 9.99968338e-01 1.29810768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.249254154 meters Centerline goodness [0,1] 0.9985802572239852 Centerline is valid? [True, True] Translation: X:147.38, Y:1.97, Z:1.30 [[ 9.98940913e-01 -4.53308532e-02 -7.88456094e-03 1.47381015e+02] [ 4.53311532e-02 9.98972005e-01 -1.40754225e-04 1.96882942e+00] [ 7.88283616e-03 -2.16811086e-04 9.99968906e-01 1.29838349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279254154 meters Centerline goodness [0,1] 0.9986424961363352 Centerline is valid? [True, True] Translation: X:147.41, Y:1.97, Z:1.30 [[ 9.98775563e-01 -4.87956090e-02 -8.14635475e-03 1.47412519e+02] [ 4.87960495e-02 9.98808753e-01 -1.44787790e-04 1.96568984e+00] [ 8.14371544e-03 -2.52899423e-04 9.99966807e-01 1.29868499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30925415399997 meters Centerline goodness [0,1] 0.9984768502096939 Centerline is valid? [True, True] Translation: X:147.44, Y:1.97, Z:1.30 [[ 9.98564352e-01 -5.28409276e-02 -8.77904618e-03 1.47443692e+02] [ 5.28416000e-02 9.98602895e-01 -1.55505257e-04 1.96503638e+00] [ 8.77499797e-03 -3.08616841e-04 9.99961451e-01 1.29842827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33925415399997 meters Centerline goodness [0,1] 0.9985203709492549 Centerline is valid? [True, True] Translation: X:147.47, Y:1.96, Z:1.30 [[ 9.98333370e-01 -5.70001337e-02 -9.02596845e-03 1.47473741e+02] [ 5.70010174e-02 9.98374108e-01 -1.59522716e-04 1.95950169e+00] [ 9.02038601e-03 -3.55232534e-04 9.99959252e-01 1.29812142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36925415399998 meters Centerline goodness [0,1] 0.9986251432142486 Centerline is valid? [True, True] Translation: X:147.50, Y:1.96, Z:1.30 [[ 9.97768387e-01 -6.58843725e-02 -1.08395160e-02 1.47504466e+02] [ 6.58861707e-02 9.97827127e-01 -1.91513470e-04 1.95579424e+00] [ 1.08285808e-02 -5.23088112e-04 9.99941232e-01 1.29660930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39925415399998 meters Centerline goodness [0,1] 0.9982718774073996 Centerline is valid? [True, True] Translation: X:147.54, Y:1.95, Z:1.30 [[ 9.97477812e-01 -7.00437948e-02 -1.14839334e-02 1.47535010e+02] [ 7.00460932e-02 9.97543735e-01 -2.02446383e-04 1.95244939e+00] [ 1.14699059e-02 -6.02468892e-04 9.99934037e-01 1.29598687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42925415399998 meters Centerline goodness [0,1] 0.9985211106250911 Centerline is valid? [True, True] Translation: X:147.57, Y:1.95, Z:1.30 [[ 9.97217279e-01 -7.36226143e-02 -1.17221580e-02 1.47565767e+02] [ 7.36252581e-02 9.97285956e-01 -2.06427503e-04 1.95101911e+00] [ 1.17055413e-02 -6.57193833e-04 9.99931272e-01 1.29612290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45925415399998 meters Centerline goodness [0,1] 0.998267331899881 Centerline is valid? [True, True] Translation: X:147.60, Y:1.95, Z:1.30 [[ 9.96980991e-01 -7.66588775e-02 -1.23417839e-02 1.47595419e+02] [ 7.66620452e-02 9.97057112e-01 -2.16918693e-04 1.94922728e+00] [ 1.23220922e-02 -7.29882584e-04 9.99923814e-01 1.29592219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48925415399998 meters Centerline goodness [0,1] 0.9982955017876445 Centerline is valid? [True, True] Translation: X:147.63, Y:1.95, Z:1.30 [[ 9.96807920e-01 -7.88022769e-02 -1.28129525e-02 1.47626780e+02] [ 7.88058791e-02 9.96889955e-01 -2.24291547e-04 1.94913755e+00] [ 1.27907783e-02 -7.86160392e-04 9.99917886e-01 1.29599968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51925415399998 meters Centerline goodness [0,1] 0.9984361316151633 Centerline is valid? [True, True] Translation: X:147.66, Y:1.95, Z:1.30 [[ 9.96688611e-01 -8.02177159e-02 -1.33015269e-02 1.47659176e+02] [ 8.02217322e-02 9.96777016e-01 -2.32202943e-04 1.95154369e+00] [ 1.32772831e-02 -8.35637500e-04 9.99911504e-01 1.29562092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54925415399998 meters Centerline goodness [0,1] 0.9984998437337222 Centerline is valid? [True, True] Translation: X:147.69, Y:1.96, Z:1.30 [[ 9.96728720e-01 -7.96746850e-02 -1.35574207e-02 1.47690896e+02] [ 7.96788209e-02 9.96820561e-01 -2.35659179e-04 1.95564945e+00] [ 1.35330918e-02 -8.45351026e-04 9.99908066e-01 1.29588653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57925415399998 meters Centerline goodness [0,1] 0.9984998437337222 Centerline is valid? [True, True] Translation: X:147.72, Y:1.96, Z:1.30 [[ 9.96737646e-01 -7.95629337e-02 -1.35574409e-02 1.47723487e+02] [ 7.95670752e-02 9.96829487e-01 -2.34492613e-04 1.95612350e+00] [ 1.35331138e-02 -8.44998305e-04 9.99908066e-01 1.29619173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60925415399998 meters Centerline goodness [0,1] 0.9984976839293912 Centerline is valid? [True, True] Translation: X:147.76, Y:1.96, Z:1.30 [[ 9.96851901e-01 -7.81460235e-02 -1.33972613e-02 1.47755638e+02] [ 7.81499582e-02 9.96941589e-01 -2.30380456e-04 1.96055733e+00] [ 1.33742903e-02 -8.17340215e-04 9.99910226e-01 1.29643746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63925415399999 meters Centerline goodness [0,1] 0.9985620506408253 Centerline is valid? [True, True] Translation: X:147.79, Y:1.96, Z:1.30 [[ 9.97002869e-01 -7.62126761e-02 -1.33006452e-02 1.47786140e+02] [ 7.62163930e-02 9.97091274e-01 -2.27944179e-04 1.96156106e+00] [ 1.32793295e-02 -7.86466201e-04 9.99911517e-01 1.29663826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.669254154 meters Centerline goodness [0,1] 0.998768292937517 Centerline is valid? [True, True] Translation: X:147.82, Y:1.97, Z:1.30 [[ 9.97324874e-01 -7.19014479e-02 -1.31634908e-02 1.47816397e+02] [ 7.19047165e-02 9.97411480e-01 -2.25420741e-04 1.97006189e+00] [ 1.31456249e-02 -7.21699360e-04 9.99913332e-01 1.29725974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.699254154 meters Centerline goodness [0,1] 0.9985571795997742 Centerline is valid? [True, True] Translation: X:147.85, Y:1.97, Z:1.30 [[ 9.97482275e-01 -6.96542930e-02 -1.33187755e-02 1.47847646e+02] [ 6.96574412e-02 9.97570944e-01 -2.27939420e-04 1.97402757e+00] [ 1.33023004e-02 -7.00386288e-04 9.99911275e-01 1.29772397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.729254154 meters Centerline goodness [0,1] 0.9986380303823992 Centerline is valid? [True, True] Translation: X:147.88, Y:1.98, Z:1.30 [[ 9.97722972e-01 -6.60582063e-02 -1.36082675e-02 1.47878126e+02] [ 6.60611640e-02 9.97815548e-01 -2.32540488e-04 1.98183608e+00] [ 1.35939021e-02 -6.66967004e-04 9.99907376e-01 1.29775684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759254154 meters Centerline goodness [0,1] 0.9985528523489933 Centerline is valid? [True, True] Translation: X:147.91, Y:1.98, Z:1.30 [[ 9.97811921e-01 -6.46677798e-02 -1.37640582e-02 1.47910014e+02] [ 6.46706781e-02 9.97906633e-01 -2.34879917e-04 1.98492662e+00] [ 1.37504342e-02 -6.55764998e-04 9.99905243e-01 1.29776642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.789254154 meters Centerline goodness [0,1] 0.9988052819115489 Centerline is valid? [True, True] Translation: X:147.94, Y:1.99, Z:1.30 [[ 9.97867430e-01 -6.37718696e-02 -1.39190974e-02 1.47942406e+02] [ 6.37747610e-02 9.97964290e-01 -2.36492344e-04 1.98891575e+00] [ 1.39058438e-02 -6.51699106e-04 9.99903097e-01 1.29825071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819254154 meters Centerline goodness [0,1] 0.9986770264594708 Centerline is valid? [True, True] Translation: X:147.97, Y:1.99, Z:1.30 [[ 9.97908281e-01 -6.30651186e-02 -1.42075094e-02 1.47973677e+02] [ 6.30680735e-02 9.98009199e-01 -2.40414781e-04 1.99048753e+00] [ 1.41943868e-02 -6.56128342e-04 9.99899039e-01 1.29819793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.849254154 meters Centerline goodness [0,1] 0.9983811626195732 Centerline is valid? [True, True] Translation: X:148.01, Y:1.99, Z:1.30 [[ 9.97956701e-01 -6.22375585e-02 -1.44536836e-02 1.48005020e+02] [ 6.22405417e-02 9.98061148e-01 -2.43776783e-04 1.99137670e+00] [ 1.44408322e-02 -6.56326425e-04 9.99895510e-01 1.29796847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879254154 meters Centerline goodness [0,1] 0.9986527450319973 Centerline is valid? [True, True] Translation: X:148.04, Y:2.00, Z:1.30 [[ 9.98099910e-01 -5.96956252e-02 -1.52643843e-02 1.48036643e+02] [ 5.96986689e-02 9.98216411e-01 -2.56589195e-04 1.99931739e+00] [ 1.52524762e-02 -6.55161773e-04 9.99883460e-01 1.29732835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.909254154 meters Centerline goodness [0,1] 0.9987571882965054 Centerline is valid? [True, True] Translation: X:148.07, Y:2.00, Z:1.30 [[ 9.98182027e-01 -5.82629408e-02 -1.54295083e-02 1.48069304e+02] [ 5.82658964e-02 9.98301066e-01 -2.58297222e-04 2.00284944e+00] [ 1.54183437e-02 -6.41186487e-04 9.99880925e-01 1.29910850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939254154 meters Centerline goodness [0,1] 0.998819138392763 Centerline is valid? [True, True] Translation: X:148.10, Y:2.01, Z:1.30 [[ 9.98336525e-01 -5.56304573e-02 -1.51470884e-02 1.48100261e+02] [ 5.56330188e-02 9.98451252e-01 -2.52528181e-04 2.00691170e+00] [ 1.51376776e-02 -5.90570148e-04 9.99885244e-01 1.29980812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.969254154 meters Centerline goodness [0,1] 0.998945992664109 Centerline is valid? [True, True] Translation: X:148.13, Y:2.02, Z:1.30 [[ 9.98714894e-01 -4.86476682e-02 -1.42114002e-02 1.48130159e+02] [ 4.86492205e-02 9.98815898e-01 -2.36659940e-04 2.01530723e+00] [ 1.42060854e-02 -4.55017736e-04 9.99898985e-01 1.30091809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999254154 meters Centerline goodness [0,1] 0.9989864008784526 Centerline is valid? [True, True] Translation: X:148.16, Y:2.02, Z:1.30 [[ 9.98932411e-01 -4.41560530e-02 -1.35749930e-02 1.48161199e+02] [ 4.41570557e-02 9.99024576e-01 -2.26004593e-04 2.02100388e+00] [ 1.35717311e-02 -3.73668409e-04 9.99907830e-01 1.30174961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.029254154 meters Centerline goodness [0,1] 0.9993655761625817 Centerline is valid? [True, True] Translation: X:148.19, Y:2.03, Z:1.30 [[ 9.99146332e-01 -3.91002390e-02 -1.33333938e-02 1.48191462e+02] [ 3.91007616e-02 9.99235248e-01 -2.21587192e-04 2.02638760e+00] [ 1.33318612e-02 -2.99947822e-04 9.99911082e-01 1.30259073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05925415399997 meters Centerline goodness [0,1] 0.9991077308746362 Centerline is valid? [True, True] Translation: X:148.22, Y:2.04, Z:1.30 [[ 9.99494903e-01 -2.90886308e-02 -1.27980535e-02 1.48221803e+02] [ 2.90882936e-02 9.99576823e-01 -2.12531872e-04 2.03871348e+00] [ 1.27988199e-02 -1.59849016e-04 9.99918079e-01 1.30339173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08925415399997 meters Centerline goodness [0,1] 0.9994040017028523 Centerline is valid? [True, True] Translation: X:148.25, Y:2.04, Z:1.30 [[ 9.99626446e-01 -2.43905471e-02 -1.23316239e-02 1.48253109e+02] [ 2.43898779e-02 9.99702502e-01 -2.04677445e-04 2.04399935e+00] [ 1.23329475e-02 -9.61658144e-05 9.99923942e-01 1.30411877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11925415399998 meters Centerline goodness [0,1] 0.9995738969256663 Centerline is valid? [True, True] Translation: X:148.28, Y:2.05, Z:1.30 [[ 9.99715569e-01 -2.02970640e-02 -1.25223531e-02 1.48283209e+02] [ 2.02960578e-02 9.99793992e-01 -2.07437293e-04 2.04864449e+00] [ 1.25239838e-02 -4.67761118e-05 9.99921571e-01 1.30441800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14925415399998 meters Centerline goodness [0,1] 0.9994028832210186 Centerline is valid? [True, True] Translation: X:148.31, Y:2.05, Z:1.30 [[ 9.99782544e-01 -1.70068246e-02 -1.20678386e-02 1.48313639e+02] [ 1.70056525e-02 9.99855373e-01 -1.99744066e-04 2.05270775e+00] [ 1.20694903e-02 -5.52083912e-06 9.99927161e-01 1.30472606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17925415399998 meters Centerline goodness [0,1] 0.9994458416812311 Centerline is valid? [True, True] Translation: X:148.34, Y:2.06, Z:1.30 [[ 9.99813126e-01 -1.48320937e-02 -1.23984461e-02 1.48343097e+02] [ 1.48306885e-02 9.99889998e-01 -2.05271176e-04 2.05577751e+00] [ 1.24001269e-02 2.13553236e-05 9.99923115e-01 1.30458639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20925415399998 meters Centerline goodness [0,1] 0.9992320655304081 Centerline is valid? [True, True] Translation: X:148.37, Y:2.06, Z:1.30 [[ 9.99830278e-01 -1.31670576e-02 -1.28858362e-02 1.48372589e+02] [ 1.31653976e-02 9.99913310e-01 -2.13645160e-04 2.05878323e+00] [ 1.28875322e-02 4.39617428e-05 9.99916951e-01 1.30388731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23925415399998 meters Centerline goodness [0,1] 0.9991678934903667 Centerline is valid? [True, True] Translation: X:148.40, Y:2.06, Z:1.30 [[ 9.99815761e-01 -1.39792493e-02 -1.31538505e-02 1.48401504e+02] [ 1.39775724e-02 9.99902285e-01 -2.19409629e-04 2.05950368e+00] [ 1.31556323e-02 3.55103077e-05 9.99913460e-01 1.30364089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26925415399998 meters Centerline goodness [0,1] 0.9990196914159065 Centerline is valid? [True, True] Translation: X:148.43, Y:2.06, Z:1.30 [[ 9.99781522e-01 -1.56683738e-02 -1.38350824e-02 1.48430416e+02] [ 1.56666296e-02 9.99877243e-01 -2.34445932e-04 2.05980657e+00] [ 1.38370574e-02 1.76456000e-05 9.99904263e-01 1.30359941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29925415399998 meters Centerline goodness [0,1] 0.9991045157988998 Centerline is valid? [True, True] Translation: X:148.46, Y:2.06, Z:1.30 [[ 9.99740346e-01 -1.78272257e-02 -1.41926078e-02 1.48459410e+02] [ 1.78255552e-02 9.99841082e-01 -2.44204751e-04 2.05964346e+00] [ 1.41947058e-02 -8.84977147e-06 9.99899250e-01 1.30361047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32925415399998 meters Centerline goodness [0,1] 0.9991266189502386 Centerline is valid? [True, True] Translation: X:148.49, Y:2.06, Z:1.30 [[ 9.99621175e-01 -2.33644012e-02 -1.45468462e-02 1.48487883e+02] [ 2.33631923e-02 9.99727011e-01 -2.53055084e-04 2.05781122e+00] [ 1.45487875e-02 -8.69015447e-05 9.99894157e-01 1.30364536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35925415399998 meters Centerline goodness [0,1] 0.9992332268370607 Centerline is valid? [True, True] Translation: X:148.52, Y:2.06, Z:1.30 [[ 9.99540180e-01 -2.65918180e-02 -1.45706622e-02 1.48518743e+02] [ 2.65909406e-02 9.99646366e-01 -2.53981925e-04 2.05670957e+00] [ 1.45722634e-02 -1.33582476e-04 9.99893810e-01 1.30397304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38925415399999 meters Centerline goodness [0,1] 0.9989777881891944 Centerline is valid? [True, True] Translation: X:148.55, Y:2.06, Z:1.30 [[ 9.99437796e-01 -3.00362099e-02 -1.48968877e-02 1.48550132e+02] [ 3.00356783e-02 9.99548794e-01 -2.59466595e-04 2.05526658e+00] [ 1.48979595e-02 -1.88117404e-04 9.99889002e-01 1.30394822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.419254154 meters Centerline goodness [0,1] 0.9986599451215621 Centerline is valid? [True, True] Translation: X:148.58, Y:2.05, Z:1.30 [[ 9.99334386e-01 -3.33364938e-02 -1.48142830e-02 1.48582240e+02] [ 3.33363417e-02 9.99444157e-01 -2.57282093e-04 2.05419641e+00] [ 1.48146254e-02 -2.36743155e-04 9.99890229e-01 1.30402755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.449254154 meters Centerline goodness [0,1] 0.998832519634897 Centerline is valid? [True, True] Translation: X:148.61, Y:2.05, Z:1.30 [[ 9.99087269e-01 -3.98980214e-02 -1.52570170e-02 1.48612558e+02] [ 3.98986401e-02 9.99203697e-01 -2.63950705e-04 2.04773795e+00] [ 1.52553989e-02 -3.45024442e-04 9.99883570e-01 1.30347337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.479254154 meters Centerline goodness [0,1] 0.9990648644053388 Centerline is valid? [True, True] Translation: X:148.64, Y:2.05, Z:1.30 [[ 9.98961758e-01 -4.29562093e-02 -1.51713725e-02 1.48644831e+02] [ 4.29571873e-02 9.99076880e-01 -2.61560700e-04 2.04960778e+00] [ 1.51686032e-02 -3.90430356e-04 9.99884874e-01 1.30470756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.509254154 meters Centerline goodness [0,1] 0.9988548647043854 Centerline is valid? [True, True] Translation: X:148.68, Y:2.05, Z:1.30 [[ 9.98848432e-01 -4.56597089e-02 -1.47309408e-02 1.48676461e+02] [ 4.56609390e-02 9.98956963e-01 -2.52994578e-04 2.04820522e+00] [ 1.47271276e-02 -4.19925352e-04 9.99891462e-01 1.30496147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539254154 meters Centerline goodness [0,1] 0.9987489663069061 Centerline is valid? [True, True] Translation: X:148.71, Y:2.05, Z:1.31 [[ 9.98720925e-01 -4.83826890e-02 -1.46843447e-02 1.48707655e+02] [ 4.83842172e-02 9.98828766e-01 -2.51384380e-04 2.04692381e+00] [ 1.46793085e-02 -4.59427681e-04 9.99892148e-01 1.30542489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.569254154 meters Centerline goodness [0,1] 0.998791322971225 Centerline is valid? [True, True] Translation: X:148.74, Y:2.04, Z:1.31 [[ 9.98441475e-01 -5.38610212e-02 -1.46154345e-02 1.48739102e+02] [ 5.38631314e-02 9.98548297e-01 -2.49498884e-04 2.04468121e+00] [ 1.46076555e-02 -5.38123038e-04 9.99893158e-01 1.30565820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599254154 meters Centerline goodness [0,1] 0.9988957315778297 Centerline is valid? [True, True] Translation: X:148.77, Y:2.04, Z:1.31 [[ 9.98279461e-01 -5.67727820e-02 -1.46618106e-02 1.48771600e+02] [ 5.67752300e-02 9.98386955e-01 -2.49553185e-04 2.04367812e+00] [ 1.46523283e-02 -5.83303850e-04 9.99892479e-01 1.30572566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.629254154 meters Centerline goodness [0,1] 0.9988108888605767 Centerline is valid? [True, True] Translation: X:148.80, Y:2.04, Z:1.31 [[ 9.98103944e-01 -5.98096901e-02 -1.45367796e-02 1.48801654e+02] [ 5.98124280e-02 9.98209604e-01 -2.46737400e-04 2.03842254e+00] [ 1.45255103e-02 -6.23210511e-04 9.99894305e-01 1.30540883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659254154 meters Centerline goodness [0,1] 0.9988332378709773 Centerline is valid? [True, True] Translation: X:148.83, Y:2.04, Z:1.30 [[ 9.97717236e-01 -6.58463382e-02 -1.49858863e-02 1.48832404e+02] [ 6.58499274e-02 9.97829506e-01 -2.54342084e-04 2.03807658e+00] [ 1.49701070e-02 -7.33058044e-04 9.99887673e-01 1.30490696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.689254154 meters Centerline goodness [0,1] 0.9987052405917687 Centerline is valid? [True, True] Translation: X:148.86, Y:2.04, Z:1.30 [[ 9.97578137e-01 -6.78439413e-02 -1.53316824e-02 1.48864675e+02] [ 6.78479405e-02 9.97695640e-01 -2.59748448e-04 2.03670387e+00] [ 1.53139750e-02 -7.81103699e-04 9.99882429e-01 1.30338401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719254154 meters Centerline goodness [0,1] 0.9987899887490181 Centerline is valid? [True, True] Translation: X:148.90, Y:2.04, Z:1.31 [[ 9.97405378e-01 -7.03825136e-02 -1.51265594e-02 1.48895963e+02] [ 7.03867108e-02 9.97519747e-01 -2.55395960e-04 2.03709480e+00] [ 1.51070171e-02 -8.09975455e-04 9.99885554e-01 1.30532449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.749254154 meters Centerline goodness [0,1] 0.9988759278897137 Centerline is valid? [True, True] Translation: X:148.93, Y:2.04, Z:1.31 [[ 9.97289609e-01 -7.19699567e-02 -1.52892424e-02 1.48927653e+02] [ 7.19744471e-02 9.97406443e-01 -2.57061048e-04 2.03884838e+00] [ 1.52680895e-02 -8.44070455e-04 9.99883080e-01 1.30566726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779254154 meters Centerline goodness [0,1] 0.999086331088116 Centerline is valid? [True, True] Translation: X:148.96, Y:2.04, Z:1.31 [[ 9.97152844e-01 -7.37977622e-02 -1.54950460e-02 1.48958996e+02] [ 7.38026178e-02 9.97272835e-01 -2.59000392e-04 2.03629973e+00] [ 1.54719021e-02 -8.85311982e-04 9.99879911e-01 1.30556591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80925415399997 meters Centerline goodness [0,1] 0.9991075792023458 Centerline is valid? [True, True] Translation: X:148.99, Y:2.04, Z:1.31 [[ 9.97129182e-01 -7.39905594e-02 -1.60869836e-02 1.48990802e+02] [ 7.39958345e-02 9.97258514e-01 -2.67881107e-04 2.03760005e+00] [ 1.60627021e-02 -9.23257710e-04 9.99870560e-01 1.30566674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83925415399997 meters Centerline goodness [0,1] 0.9987255193508645 Centerline is valid? [True, True] Translation: X:149.02, Y:2.04, Z:1.31 [[ 9.97127746e-01 -7.39991800e-02 -1.61362922e-02 1.49022858e+02] [ 7.40045071e-02 9.97257871e-01 -2.67552467e-04 2.03893533e+00] [ 1.61118430e-02 -9.27374360e-04 9.99869766e-01 1.30552800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86925415399998 meters Centerline goodness [0,1] 0.999108772227645 Centerline is valid? [True, True] Translation: X:149.06, Y:2.04, Z:1.31 [[ 9.97153430e-01 -7.35500991e-02 -1.65957667e-02 1.49055221e+02] [ 7.35556921e-02 9.97291073e-01 -2.73961546e-04 2.04317577e+00] [ 1.65709599e-02 -9.47531413e-04 9.99862243e-01 1.30583153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89925415399998 meters Centerline goodness [0,1] 0.9990631121710246 Centerline is valid? [True, True] Translation: X:149.09, Y:2.04, Z:1.30 [[ 9.97215123e-01 -7.24285055e-02 -1.77794914e-02 1.49086939e+02] [ 7.24347711e-02 9.97373109e-01 -2.92165916e-04 2.04291059e+00] [ 1.77539477e-02 -9.96501118e-04 9.99841890e-01 1.30470636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92925415399998 meters Centerline goodness [0,1] 0.9987665085812722 Centerline is valid? [True, True] Translation: X:149.12, Y:2.04, Z:1.30 [[ 9.97284242e-01 -7.13358679e-02 -1.83121690e-02 1.49119478e+02] [ 7.13423552e-02 9.97451843e-01 -2.99602077e-04 2.04485572e+00] [ 1.82868791e-02 -1.00764483e-03 9.99832273e-01 1.30407733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95925415399998 meters Centerline goodness [0,1] 0.9992962702322308 Centerline is valid? [True, True] Translation: X:149.15, Y:2.05, Z:1.30 [[ 9.97354278e-01 -7.01387226e-02 -1.91050793e-02 1.49152126e+02] [ 7.01455949e-02 9.97536716e-01 -3.11009906e-04 2.05216272e+00] [ 1.90798318e-02 -1.02995009e-03 9.99817433e-01 1.30470568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98925415399998 meters Centerline goodness [0,1] 0.9989946093950544 Centerline is valid? [True, True] Translation: X:149.18, Y:2.06, Z:1.30 [[ 9.97563597e-01 -6.66015126e-02 -2.07631706e-02 1.49182252e+02] [ 6.66088850e-02 9.97779105e-01 -3.37075772e-04 2.05642190e+00] [ 2.07395076e-02 -1.04675713e-03 9.99784365e-01 1.30315844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01925415399998 meters Centerline goodness [0,1] 0.9989738985442186 Centerline is valid? [True, True] Translation: X:149.21, Y:2.06, Z:1.30 [[ 9.97710379e-01 -6.42101717e-02 -2.12380413e-02 1.49212883e+02] [ 6.42173539e-02 9.97935876e-01 -3.44359269e-04 2.05938086e+00] [ 2.12163147e-02 -1.02028000e-03 9.99774388e-01 1.30307210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04925415399998 meters Centerline goodness [0,1] 0.9993133341916656 Centerline is valid? [True, True] Translation: X:149.24, Y:2.06, Z:1.30 [[ 9.97906648e-01 -6.11590307e-02 -2.10212798e-02 1.49244040e+02] [ 6.11654071e-02 9.98127586e-01 -3.40094064e-04 2.06426110e+00] [ 2.10027190e-02 -9.46393008e-04 9.99778971e-01 1.30392869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07925415399998 meters Centerline goodness [0,1] 0.9992052411126624 Centerline is valid? [True, True] Translation: X:149.27, Y:2.07, Z:1.30 [[ 9.98109727e-01 -5.77582816e-02 -2.09988796e-02 1.49274672e+02] [ 5.77639089e-02 9.98330214e-01 -3.38983383e-04 2.06857485e+00] [ 2.09833951e-02 -8.74634757e-04 9.99779442e-01 1.30476735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10925415399998 meters Centerline goodness [0,1] 0.9993985737606323 Centerline is valid? [True, True] Translation: X:149.30, Y:2.08, Z:1.31 [[ 9.98560271e-01 -4.97038574e-02 -2.01720682e-02 1.49304732e+02] [ 4.97074149e-02 9.98763769e-01 -3.25314658e-04 2.08023452e+00] [ 2.01633003e-02 -6.77855072e-04 9.99796470e-01 1.30737606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13925415399999 meters Centerline goodness [0,1] 0.9992031700908817 Centerline is valid? [True, True] Translation: X:149.34, Y:2.08, Z:1.31 [[ 9.98796978e-01 -4.51206511e-02 -1.92021839e-02 1.49335288e+02] [ 4.51230351e-02 9.98981389e-01 -3.09320197e-04 2.08397419e+00] [ 1.91965811e-02 -5.57512740e-04 9.99815573e-01 1.30828215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.169254154 meters Centerline goodness [0,1] 0.9993093773605266 Centerline is valid? [True, True] Translation: X:149.37, Y:2.09, Z:1.31 [[ 9.99015198e-01 -4.05918912e-02 -1.79146179e-02 1.49366313e+02] [ 4.05932493e-02 9.99175713e-01 -2.87970950e-04 2.08940342e+00] [ 1.79115404e-02 -4.39525193e-04 9.99839479e-01 1.30976919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.199254154 meters Centerline goodness [0,1] 0.9992657380412483 Centerline is valid? [True, True] Translation: X:149.40, Y:2.10, Z:1.31 [[ 9.99218854e-01 -3.57794573e-02 -1.67783191e-02 1.49397541e+02] [ 3.57799799e-02 9.99359655e-01 -2.69131690e-04 2.09679616e+00] [ 1.67772045e-02 -3.31406461e-04 9.99859198e-01 1.31181855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.229254154 meters Centerline goodness [0,1] 0.999284366664498 Centerline is valid? [True, True] Translation: X:149.43, Y:2.11, Z:1.31 [[ 9.99532063e-01 -2.66626247e-02 -1.49920033e-02 1.49428753e+02] [ 2.66620241e-02 9.99644476e-01 -2.39965991e-04 2.10724445e+00] [ 1.49930714e-02 -1.59863450e-04 9.99887585e-01 1.31441161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259254154 meters Centerline goodness [0,1] 0.9995009980039921 Centerline is valid? [True, True] Translation: X:149.46, Y:2.11, Z:1.31 [[ 9.99650202e-01 -2.23364387e-02 -1.41618379e-02 1.49458588e+02] [ 2.23354745e-02 9.99750507e-01 -2.26263583e-04 2.11156638e+00] [ 1.41633585e-02 -9.01269318e-05 9.99899691e-01 1.31493381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.289254154 meters Centerline goodness [0,1] 0.9993699213488029 Centerline is valid? [True, True] Translation: X:149.49, Y:2.12, Z:1.32 [[ 9.99733991e-01 -1.85829971e-02 -1.36608459e-02 1.49489599e+02] [ 1.85817540e-02 9.99827321e-01 -2.17936379e-04 2.11562662e+00] [ 1.36625369e-02 -3.59640717e-05 9.99906663e-01 1.31548128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319254154 meters Centerline goodness [0,1] 0.9994128392484343 Centerline is valid? [True, True] Translation: X:149.52, Y:2.12, Z:1.32 [[ 9.99833304e-01 -1.27770369e-02 -1.30426677e-02 1.49520241e+02] [ 1.27754149e-02 9.99918369e-01 -2.07677080e-04 2.12113170e+00] [ 1.30442565e-02 4.10169707e-05 9.99914919e-01 1.31576669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.349254154 meters Centerline goodness [0,1] 0.9994775794514584 Centerline is valid? [True, True] Translation: X:149.55, Y:2.12, Z:1.32 [[ 9.99845602e-01 -1.11462736e-02 -1.35842611e-02 1.49548488e+02] [ 1.11443514e-02 9.99937876e-01 -2.17193392e-04 2.12307427e+00] [ 1.35858381e-02 6.57720793e-05 9.99907706e-01 1.31586180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379254154 meters Centerline goodness [0,1] 0.9994995212812255 Centerline is valid? [True, True] Translation: X:149.58, Y:2.12, Z:1.32 [[ 9.99841897e-01 -1.06870444e-02 -1.42115629e-02 1.49575993e+02] [ 1.06848388e-02 9.99942889e-01 -2.31123312e-04 2.12419990e+00] [ 1.42132213e-02 7.92385130e-05 9.99898984e-01 1.31540421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.409254154 meters Centerline goodness [0,1] 0.9993902173439609 Centerline is valid? [True, True] Translation: X:149.60, Y:2.12, Z:1.31 [[ 9.99827424e-01 -1.10367520e-02 -1.49436256e-02 1.49603814e+02] [ 1.10342852e-02 9.99939090e-01 -2.47516406e-04 2.12494513e+00] [ 1.49454472e-02 8.25814625e-05 9.99888307e-01 1.31474903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439254154 meters Centerline goodness [0,1] 0.9994989106753812 Centerline is valid? [True, True] Translation: X:149.63, Y:2.12, Z:1.31 [[ 9.99764364e-01 -1.37967582e-02 -1.67590299e-02 1.49631361e+02] [ 1.37939556e-02 9.99904819e-01 -2.82818279e-04 2.12391363e+00] [ 1.67613367e-02 5.15783232e-05 9.99859518e-01 1.31402798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.469254154 meters Centerline goodness [0,1] 0.9994989106753812 Centerline is valid? [True, True] Translation: X:149.66, Y:2.12, Z:1.31 [[ 9.99760248e-01 -1.40919951e-02 -1.67589452e-02 1.49658732e+02] [ 1.40891510e-02 9.99900702e-01 -2.87768055e-04 2.12444278e+00] [ 1.67613363e-02 5.15797520e-05 9.99859518e-01 1.31428546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499254154 meters Centerline goodness [0,1] 0.999477317769018 Centerline is valid? [True, True] Translation: X:149.69, Y:2.12, Z:1.31 [[ 9.99711900e-01 -1.66064594e-02 -1.73303827e-02 1.49686849e+02] [ 1.66037055e-02 9.99862103e-01 -3.02792565e-04 2.12346452e+00] [ 1.73330213e-02 1.49567599e-05 9.99849772e-01 1.31372850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.529254154 meters Centerline goodness [0,1] 0.9995211561901445 Centerline is valid? [True, True] Translation: X:149.71, Y:2.12, Z:1.31 [[ 9.99654887e-01 -1.94817142e-02 -1.76229883e-02 1.49714985e+02] [ 1.94792442e-02 9.99810213e-01 -3.11820325e-04 2.12192515e+00] [ 1.76257185e-02 -3.15697807e-05 9.99844654e-01 1.31346202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55925415399997 meters Centerline goodness [0,1] 0.9995227869243617 Centerline is valid? [True, True] Translation: X:149.74, Y:2.12, Z:1.31 [[ 9.99587276e-01 -2.24181422e-02 -1.79639929e-02 1.49743316e+02] [ 2.24159875e-02 9.99748679e-01 -3.21321449e-04 2.12010235e+00] [ 1.79666816e-02 -8.14918081e-05 9.99838583e-01 1.31319415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58925415399997 meters Centerline goodness [0,1] 0.9993494101318529 Centerline is valid? [True, True] Translation: X:149.77, Y:2.12, Z:1.31 [[ 9.99438968e-01 -2.83476882e-02 -1.78369598e-02 1.49772601e+02] [ 2.83464541e-02 9.99598107e-01 -3.22065507e-04 2.11615435e+00] [ 1.78389211e-02 -1.83729745e-04 9.99840857e-01 1.31390494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61925415399998 meters Centerline goodness [0,1] 0.9995228490250938 Centerline is valid? [True, True] Translation: X:149.80, Y:2.11, Z:1.31 [[ 9.99366913e-01 -3.12420751e-02 -1.70207433e-02 1.49803160e+02] [ 3.12413618e-02 9.99511822e-01 -3.07868183e-04 2.11363375e+00] [ 1.70220526e-02 -2.24077923e-04 9.99855089e-01 1.31464288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64925415399998 meters Centerline goodness [0,1] 0.9995022506925207 Centerline is valid? [True, True] Translation: X:149.83, Y:2.11, Z:1.32 [[ 9.99287962e-01 -3.40008652e-02 -1.63557415e-02 1.49834619e+02] [ 3.40005846e-02 9.99421769e-01 -2.95301377e-04 2.11127942e+00] [ 1.63563247e-02 -2.61013663e-04 9.99866192e-01 1.31572495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67925415399998 meters Centerline goodness [0,1] 0.9991593740569902 Centerline is valid? [True, True] Translation: X:149.87, Y:2.11, Z:1.32 [[ 9.99106017e-01 -3.95449031e-02 -1.49455017e-02 1.49866164e+02] [ 3.95453030e-02 9.99217742e-01 -2.68882598e-04 2.10597371e+00] [ 1.49444434e-02 -3.22382171e-04 9.99888274e-01 1.31769947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70925415399998 meters Centerline goodness [0,1] 0.9991823736982529 Centerline is valid? [True, True] Translation: X:149.90, Y:2.10, Z:1.32 [[ 9.99028178e-01 -4.14757435e-02 -1.49151772e-02 1.49898546e+02] [ 4.14763754e-02 9.99139449e-01 -2.67097112e-04 2.10489675e+00] [ 1.49134199e-02 -3.51789945e-04 9.99888727e-01 1.31810859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73925415399998 meters Centerline goodness [0,1] 0.9991618851137902 Centerline is valid? [True, True] Translation: X:149.93, Y:2.10, Z:1.32 [[ 9.98918834e-01 -4.43472700e-02 -1.39457278e-02 1.49931050e+02] [ 4.43481155e-02 9.99016107e-01 -2.48767971e-04 2.10389394e+00] [ 1.39430389e-02 -3.69967737e-04 9.99902723e-01 1.32087473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76925415399998 meters Centerline goodness [0,1] 0.9992505674275192 Centerline is valid? [True, True] Translation: X:149.96, Y:2.10, Z:1.32 [[ 9.98847353e-01 -4.60747684e-02 -1.34566750e-02 1.49962964e+02] [ 4.60757252e-02 9.98937921e-01 -2.39080582e-04 2.10318358e+00] [ 1.34533985e-02 -3.81221052e-04 9.99909426e-01 1.32188143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79925415399998 meters Centerline goodness [0,1] 0.9992932862190813 Centerline is valid? [True, True] Translation: X:150.00, Y:2.10, Z:1.32 [[ 9.98694447e-01 -4.91458971e-02 -1.39313308e-02 1.49995233e+02] [ 4.91472359e-02 9.98791514e-01 -2.46453776e-04 2.09957050e+00] [ 1.39266072e-02 -4.38554382e-04 9.99902924e-01 1.32293695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82925415399998 meters Centerline goodness [0,1] 0.999121246543927 Centerline is valid? [True, True] Translation: X:150.03, Y:2.10, Z:1.32 [[ 9.98644329e-01 -5.00157729e-02 -1.44196577e-02 1.50027704e+02] [ 5.00173135e-02 9.98748319e-01 -2.53999669e-04 2.09844148e+00] [ 1.44143129e-02 -4.67577212e-04 9.99895999e-01 1.32314113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85925415399998 meters Centerline goodness [0,1] 0.9993370969121547 Centerline is valid? [True, True] Translation: X:150.06, Y:2.10, Z:1.32 [[ 9.98607580e-01 -5.05249818e-02 -1.51699825e-02 1.50059607e+02] [ 5.05267632e-02 9.98722672e-01 -2.66062068e-04 2.09771019e+00] [ 1.51640483e-02 -5.00798517e-04 9.99884894e-01 1.32308587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88925415399999 meters Centerline goodness [0,1] 0.9991234821275868 Centerline is valid? [True, True] Translation: X:150.09, Y:2.10, Z:1.32 [[ 9.98609820e-01 -4.98790687e-02 -1.70442074e-02 1.50090860e+02] [ 4.98812440e-02 9.98755112e-01 -2.97741588e-04 2.09619887e+00] [ 1.70378404e-02 -5.52858595e-04 9.99854693e-01 1.32148662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919254154 meters Centerline goodness [0,1] 0.9992724315764696 Centerline is valid? [True, True] Translation: X:150.12, Y:2.10, Z:1.32 [[ 9.98630552e-01 -4.91496447e-02 -1.79257871e-02 1.50123077e+02] [ 4.91519542e-02 9.98791264e-01 -3.11985962e-04 2.09665664e+00] [ 1.79194535e-02 -5.69528751e-04 9.99839271e-01 1.32109493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.949254154 meters Centerline goodness [0,1] 0.9990798990028673 Centerline is valid? [True, True] Translation: X:150.16, Y:2.10, Z:1.32 [[ 9.98675419e-01 -4.77969041e-02 -1.90489532e-02 1.50155680e+02] [ 4.77992933e-02 9.98856906e-01 -3.30121057e-04 2.09729538e+00] [ 1.90429572e-02 -5.80842716e-04 9.99818498e-01 1.32040102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979254154 meters Centerline goodness [0,1] 0.9991648822269807 Centerline is valid? [True, True] Translation: X:150.19, Y:2.10, Z:1.32 [[ 9.98740671e-01 -4.59962001e-02 -2.00354967e-02 1.50188152e+02] [ 4.59985107e-02 9.98941448e-01 -3.45747730e-04 2.09832039e+00] [ 2.00301912e-02 -5.76290690e-04 9.99799210e-01 1.32003943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.009254154 meters Centerline goodness [0,1] 0.9993775755494505 Centerline is valid? [True, True] Translation: X:150.22, Y:2.10, Z:1.32 [[ 9.98896346e-01 -4.14314789e-02 -2.21251763e-02 1.50218687e+02] [ 4.14331994e-02 9.99141204e-01 -3.80843686e-04 2.10148788e+00] [ 2.21219542e-02 -5.36293475e-04 9.99755136e-01 1.31914291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039254154 meters Centerline goodness [0,1] 0.9992274678111588 Centerline is valid? [True, True] Translation: X:150.25, Y:2.10, Z:1.32 [[ 9.98985665e-01 -3.87420995e-02 -2.29497531e-02 1.50249806e+02] [ 3.87432564e-02 9.99249120e-01 -3.94384314e-04 2.10463886e+00] [ 2.29477998e-02 -4.95163892e-04 9.99736542e-01 1.31921511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.069254154 meters Centerline goodness [0,1] 0.9991605682307361 Centerline is valid? [True, True] Translation: X:150.28, Y:2.11, Z:1.32 [[ 9.99079840e-01 -3.56233761e-02 -2.38840795e-02 1.50279799e+02] [ 3.56237528e-02 9.99365189e-01 -4.09840820e-04 2.10733435e+00] [ 2.38835175e-02 -4.41376844e-04 9.99714651e-01 1.31909494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099254154 meters Centerline goodness [0,1] 0.9993563198661145 Centerline is valid? [True, True] Translation: X:150.31, Y:2.11, Z:1.32 [[ 9.99196602e-01 -3.20243530e-02 -2.40954443e-02 1.50309370e+02] [ 3.20236882e-02 9.99487025e-01 -4.13557940e-04 2.11007213e+00] [ 2.40963278e-02 -3.58399304e-04 9.99709577e-01 1.31882722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129254154 meters Centerline goodness [0,1] 0.9995044812133747 Centerline is valid? [True, True] Translation: X:150.34, Y:2.12, Z:1.32 [[ 9.99382148e-01 -2.53918773e-02 -2.43017647e-02 1.50339235e+02] [ 2.53892297e-02 9.99677554e-01 -4.17535977e-04 2.11742670e+00] [ 2.43045307e-02 -1.99725083e-04 9.99704581e-01 1.32174524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159254154 meters Centerline goodness [0,1] 0.9994169096209913 Centerline is valid? [True, True] Translation: X:150.37, Y:2.12, Z:1.32 [[ 9.99456559e-01 -2.22254737e-02 -2.43436735e-02 1.50367316e+02] [ 2.22218407e-02 9.99752976e-01 -4.19783552e-04 2.11991867e+00] [ 2.43469899e-02 -1.21405809e-04 9.99703561e-01 1.32173545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189254154 meters Centerline goodness [0,1] 0.999394699295257 Centerline is valid? [True, True] Translation: X:150.40, Y:2.12, Z:1.32 [[ 9.99521800e-01 -1.95013859e-02 -2.39972262e-02 1.50396066e+02] [ 1.94969621e-02 9.99809829e-01 -4.18324284e-04 2.12261085e+00] [ 2.40008205e-02 -4.97487677e-05 9.99711938e-01 1.32273777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219254154 meters Centerline goodness [0,1] 0.9994368149720574 Centerline is valid? [True, True] Translation: X:150.42, Y:2.12, Z:1.32 [[ 9.99565714e-01 -1.70554146e-02 -2.40311575e-02 1.50424190e+02] [ 1.70501118e-02 9.99854546e-01 -4.25554616e-04 2.12496812e+00] [ 2.40349200e-02 1.56358818e-05 9.99711119e-01 1.32372819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249254154 meters Centerline goodness [0,1] 0.9994145326018605 Centerline is valid? [True, True] Translation: X:150.45, Y:2.13, Z:1.32 [[ 9.99601595e-01 -1.37323004e-02 -2.46591983e-02 1.50452128e+02] [ 1.37256025e-02 9.99905702e-01 -4.40862393e-04 2.12795836e+00] [ 2.46629270e-02 1.02224397e-04 9.99695819e-01 1.32348019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279254154 meters Centerline goodness [0,1] 0.999479098840995 Centerline is valid? [True, True] Translation: X:150.48, Y:2.13, Z:1.32 [[ 9.99605058e-01 -1.32777234e-02 -2.47675068e-02 1.50479964e+02] [ 1.32706951e-02 9.99911840e-01 -4.48123963e-04 2.12882143e+00] [ 2.47712733e-02 1.19264951e-04 9.99693138e-01 1.32410835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30925415399997 meters Centerline goodness [0,1] 0.9994160899653979 Centerline is valid? [True, True] Translation: X:150.51, Y:2.13, Z:1.32 [[ 9.99586879e-01 -1.36949808e-02 -2.52689110e-02 1.50508071e+02] [ 1.36876107e-02 9.99906212e-01 -4.64613515e-04 2.12915326e+00] [ 2.52729040e-02 1.18550555e-04 9.99680582e-01 1.32439810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33925415399997 meters Centerline goodness [0,1] 0.999393821307181 Centerline is valid? [True, True] Translation: X:150.53, Y:2.13, Z:1.32 [[ 9.99561312e-01 -1.45795277e-02 -2.57802561e-02 1.50534690e+02] [ 1.45719935e-02 9.99893708e-01 -4.80098960e-04 2.12888946e+00] [ 2.57845155e-02 1.04218622e-04 9.99667519e-01 1.32398049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36925415399998 meters Centerline goodness [0,1] 0.9994821224348877 Centerline is valid? [True, True] Translation: X:150.56, Y:2.13, Z:1.32 [[ 9.99470899e-01 -1.86493599e-02 -2.66481471e-02 1.50562472e+02] [ 1.86425719e-02 9.99826086e-01 -5.03164142e-04 2.12660188e+00] [ 2.66528963e-02 6.10791798e-06 9.99644748e-01 1.32398950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39925415399998 meters Centerline goodness [0,1] 0.9992670202216186 Centerline is valid? [True, True] Translation: X:150.59, Y:2.13, Z:1.32 [[ 9.99402120e-01 -2.16048799e-02 -2.69931845e-02 1.50591298e+02] [ 2.15987996e-02 9.99766585e-01 -5.16830842e-04 2.12504005e+00] [ 2.69980499e-02 -6.64985434e-05 9.99635484e-01 1.32445021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42925415399998 meters Centerline goodness [0,1] 0.9994164685541388 Centerline is valid? [True, True] Translation: X:150.62, Y:2.12, Z:1.32 [[ 9.99320878e-01 -2.48656873e-02 -2.71933986e-02 1.50620286e+02] [ 2.48605373e-02 9.99690790e-01 -5.27502823e-04 2.12359114e+00] [ 2.71981068e-02 -1.48897916e-04 9.99630052e-01 1.32477755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45925415399998 meters Centerline goodness [0,1] 0.9993112799431806 Centerline is valid? [True, True] Translation: X:150.65, Y:2.12, Z:1.33 [[ 9.99237446e-01 -2.79859648e-02 -2.72270365e-02 1.50648922e+02] [ 2.79817746e-02 9.99608290e-01 -5.34962091e-04 2.12188377e+00] [ 2.72313428e-02 -2.27306644e-04 9.99629132e-01 1.32535779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48925415399998 meters Centerline goodness [0,1] 0.999332198789341 Centerline is valid? [True, True] Translation: X:150.68, Y:2.12, Z:1.33 [[ 9.99079344e-01 -3.37105657e-02 -2.65341639e-02 1.50676856e+02] [ 3.37085033e-02 9.99431569e-01 -5.25141934e-04 2.11828282e+00] [ 2.65367839e-02 -3.69768494e-04 9.99647769e-01 1.32631137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51925415399998 meters Centerline goodness [0,1] 0.999290169929017 Centerline is valid? [True, True] Translation: X:150.71, Y:2.12, Z:1.33 [[ 9.99002455e-01 -3.64001494e-02 -2.58674196e-02 1.50705633e+02] [ 3.63989650e-02 9.99337204e-01 -5.16792438e-04 2.11677638e+00] [ 2.58690861e-02 -4.25270386e-04 9.99665249e-01 1.32745683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54925415399998 meters Centerline goodness [0,1] 0.999205019122513 Centerline is valid? [True, True] Translation: X:150.74, Y:2.12, Z:1.33 [[ 9.98918926e-01 -3.89713185e-02 -2.53419609e-02 1.50735621e+02] [ 3.89709444e-02 9.99240215e-01 -5.08828355e-04 2.11635223e+00] [ 2.53425361e-02 -4.79321875e-04 9.99678711e-01 1.32905872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57925415399998 meters Centerline goodness [0,1] 0.9991636106285788 Centerline is valid? [True, True] Translation: X:150.77, Y:2.11, Z:1.33 [[ 9.98769491e-01 -4.34261744e-02 -2.39514220e-02 1.50766493e+02] [ 4.34271308e-02 9.99056482e-01 -4.80457505e-04 2.11394040e+00] [ 2.39496878e-02 -5.60275240e-04 9.99713008e-01 1.33044864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60925415399998 meters Centerline goodness [0,1] 0.9991846193459789 Centerline is valid? [True, True] Translation: X:150.80, Y:2.11, Z:1.33 [[ 9.98688463e-01 -4.54967529e-02 -2.34818805e-02 1.50797829e+02] [ 4.54982710e-02 9.98964307e-01 -4.69890102e-04 2.11159426e+00] [ 2.34789389e-02 -5.99111137e-04 9.99724152e-01 1.33043625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63925415399999 meters Centerline goodness [0,1] 0.9991651146361826 Centerline is valid? [True, True] Translation: X:150.83, Y:2.11, Z:1.33 [[ 9.98592982e-01 -4.78872933e-02 -2.27785646e-02 1.50828761e+02] [ 4.78893597e-02 9.98852543e-01 -4.55083785e-04 2.11137048e+00] [ 2.27742199e-02 -6.36407402e-04 9.99740431e-01 1.33151229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.669254154 meters Centerline goodness [0,1] 0.9990799580632047 Centerline is valid? [True, True] Translation: X:150.86, Y:2.11, Z:1.33 [[ 9.98457196e-01 -5.06009664e-02 -2.28641520e-02 1.50859886e+02] [ 5.06037794e-02 9.98718704e-01 -4.55902192e-04 2.10924447e+00] [ 2.28579254e-02 -7.01813682e-04 9.99738477e-01 1.33169022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699254154 meters Centerline goodness [0,1] 0.9992322947987973 Centerline is valid? [True, True] Translation: X:150.89, Y:2.11, Z:1.33 [[ 9.98113963e-01 -5.70922047e-02 -2.25609736e-02 1.50891157e+02] [ 5.70966157e-02 9.98368557e-01 -4.49122971e-04 2.10589305e+00] [ 2.25498081e-02 -8.39879330e-04 9.99745368e-01 1.33238518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.729254154 meters Centerline goodness [0,1] 0.9990606319385141 Centerline is valid? [True, True] Translation: X:150.92, Y:2.10, Z:1.33 [[ 9.97920654e-01 -6.04974394e-02 -2.22357535e-02 1.50922785e+02] [ 6.05025820e-02 9.98167943e-01 -4.42009769e-04 2.10413355e+00] [ 2.22217567e-02 -9.04229820e-04 9.99752657e-01 1.33247749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759254154 meters Centerline goodness [0,1] 0.999061853691819 Centerline is valid? [True, True] Translation: X:150.95, Y:2.10, Z:1.33 [[ 9.97706715e-01 -6.38437812e-02 -2.24784683e-02 1.50953368e+02] [ 6.38498975e-02 9.97959414e-01 -4.46248490e-04 2.09955662e+00] [ 2.24610892e-02 -9.90022780e-04 9.99747228e-01 1.33146769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.789254154 meters Centerline goodness [0,1] 0.9989972691585595 Centerline is valid? [True, True] Translation: X:150.98, Y:2.10, Z:1.33 [[ 9.97471970e-01 -6.72494667e-02 -2.29603529e-02 1.50984256e+02] [ 6.72567577e-02 9.97735597e-01 -4.55400156e-04 2.09710185e+00] [ 2.29389869e-02 -1.08999000e-03 9.99736273e-01 1.33145134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819254154 meters Centerline goodness [0,1] 0.9990412476563831 Centerline is valid? [True, True] Translation: X:151.01, Y:2.10, Z:1.33 [[ 9.97093052e-01 -7.22796771e-02 -2.41058889e-02 1.51014647e+02] [ 7.22891853e-02 9.97383600e-01 -4.77897611e-04 2.09591779e+00] [ 2.40773605e-02 -1.26608668e-03 9.99709297e-01 1.33066544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.849254154 meters Centerline goodness [0,1] 0.9992110369533233 Centerline is valid? [True, True] Translation: X:151.05, Y:2.09, Z:1.33 [[ 9.96975786e-01 -7.36305574e-02 -2.48560563e-02 1.51045921e+02] [ 7.36411071e-02 9.97284686e-01 -4.91897706e-04 2.09116092e+00] [ 2.48247830e-02 -1.34001740e-03 9.99690919e-01 1.32923043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879254154 meters Centerline goodness [0,1] 0.9992534129692833 Centerline is valid? [True, True] Translation: X:151.08, Y:2.10, Z:1.33 [[ 9.96922009e-01 -7.42524669e-02 -2.51610501e-02 1.51077739e+02] [ 7.42635168e-02 9.97238529e-01 -4.96265085e-04 2.09578307e+00] [ 2.51284175e-02 -1.37381048e-03 9.99683287e-01 1.32997632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.909254154 meters Centerline goodness [0,1] 0.9991678934903667 Centerline is valid? [True, True] Translation: X:151.11, Y:2.10, Z:1.33 [[ 9.96969957e-01 -7.36900043e-02 -2.49136063e-02 1.51109645e+02] [ 7.37007080e-02 9.97280285e-01 -4.89561678e-04 2.09778635e+00] [ 2.48819241e-02 -1.34807213e-03 9.99689488e-01 1.33016072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939254154 meters Centerline goodness [0,1] 0.9990972076422423 Centerline is valid? [True, True] Translation: X:151.14, Y:2.09, Z:1.33 [[ 9.97088106e-01 -7.20376944e-02 -2.50175850e-02 1.51140829e+02] [ 7.20480076e-02 9.97401045e-01 -4.90064195e-04 2.09295705e+00] [ 2.49878685e-02 -1.31382997e-03 9.99686891e-01 1.32850653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.969254154 meters Centerline goodness [0,1] 0.9991686739283354 Centerline is valid? [True, True] Translation: X:151.17, Y:2.10, Z:1.33 [[ 9.97251575e-01 -6.99693726e-02 -2.43635737e-02 1.51171777e+02] [ 6.99785630e-02 9.97548382e-01 -4.76213334e-04 2.10060272e+00] [ 2.43371639e-02 -1.23002338e-03 9.99703051e-01 1.33053415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999254154 meters Centerline goodness [0,1] 0.9992308021024743 Centerline is valid? [True, True] Translation: X:151.20, Y:2.11, Z:1.33 [[ 9.97654005e-01 -6.42630064e-02 -2.35956075e-02 1.51202006e+02] [ 6.42700420e-02 9.97932437e-01 -4.60841549e-04 2.10747425e+00] [ 2.35764372e-02 -1.05673027e-03 9.99721479e-01 1.33107476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.029254154 meters Centerline goodness [0,1] 0.9992086577123792 Centerline is valid? [True, True] Translation: X:151.23, Y:2.11, Z:1.33 [[ 9.97894210e-01 -6.05358821e-02 -2.32927743e-02 1.51233240e+02] [ 6.05417369e-02 9.98165563e-01 -4.54396800e-04 2.11363309e+00] [ 2.32775525e-02 -9.56745081e-04 9.99728583e-01 1.33258774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05925415399997 meters Centerline goodness [0,1] 0.9992706523371302 Centerline is valid? [True, True] Translation: X:151.26, Y:2.12, Z:1.33 [[ 9.98160179e-01 -5.62961725e-02 -2.25166216e-02 1.51263615e+02] [ 5.63005736e-02 9.98413768e-01 -4.38924114e-04 2.11774128e+00] [ 2.25056148e-02 -8.29582142e-04 9.99746372e-01 1.33324497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08925415399997 meters Centerline goodness [0,1] 0.9992493297587132 Centerline is valid? [True, True] Translation: X:151.29, Y:2.13, Z:1.33 [[ 9.98669944e-01 -4.72072574e-02 -2.07320523e-02 1.51292529e+02] [ 4.72090268e-02 9.98884950e-01 -4.04340886e-04 2.12558065e+00] [ 2.07280229e-02 -5.74936926e-04 9.99784986e-01 1.33411667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11925415399998 meters Centerline goodness [0,1] 0.9991375406972983 Centerline is valid? [True, True] Translation: X:151.32, Y:2.13, Z:1.34 [[ 9.98897093e-01 -4.26033499e-02 -1.97371011e-02 1.51323683e+02] [ 4.26040596e-02 9.99091961e-01 -3.84713030e-04 2.13100928e+00] [ 1.97355691e-02 -4.56591906e-04 9.99805130e-01 1.33555084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14925415399998 meters Centerline goodness [0,1] 0.999352667011911 Centerline is valid? [True, True] Translation: X:151.35, Y:2.13, Z:1.34 [[ 9.99111588e-01 -3.79549028e-02 -1.83155578e-02 1.51354397e+02] [ 3.79547449e-02 9.99279396e-01 -3.56356172e-04 2.13404261e+00] [ 1.83158850e-02 -3.39122742e-04 9.99832193e-01 1.33565746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17925415399998 meters Centerline goodness [0,1] 0.9993522756714742 Centerline is valid? [True, True] Translation: X:151.39, Y:2.14, Z:1.34 [[ 9.99284280e-01 -3.35725090e-02 -1.74302799e-02 1.51386058e+02] [ 3.35717125e-02 9.99436254e-01 -3.38377669e-04 2.13829546e+00] [ 1.74318139e-02 -2.47028862e-04 9.99848024e-01 1.33621664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20925415399998 meters Centerline goodness [0,1] 0.999501689921137 Centerline is valid? [True, True] Translation: X:151.42, Y:2.15, Z:1.34 [[ 9.99511320e-01 -2.61796373e-02 -1.70805979e-02 1.51417143e+02] [ 2.61778061e-02 9.99657248e-01 -3.30822982e-04 2.14588238e+00] [ 1.70834043e-02 -1.16471263e-04 9.99854061e-01 1.33647821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23925415399998 meters Centerline goodness [0,1] 0.9993285392479639 Centerline is valid? [True, True] Translation: X:151.45, Y:2.15, Z:1.34 [[ 9.99599510e-01 -2.26225622e-02 -1.70011813e-02 1.51448504e+02] [ 2.26202439e-02 9.99744076e-01 -3.28674185e-04 2.14929301e+00] [ 1.70042658e-02 -5.60283132e-05 9.99855415e-01 1.33617834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26925415399998 meters Centerline goodness [0,1] 0.9994134515119917 Centerline is valid? [True, True] Translation: X:151.48, Y:2.15, Z:1.34 [[ 9.99667356e-01 -1.94221270e-02 -1.69693249e-02 1.51477693e+02] [ 1.94193597e-02 9.99811373e-01 -3.27858533e-04 2.15235667e+00] [ 1.69724918e-02 -1.78395123e-06 9.99855957e-01 1.33534545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29925415399998 meters Centerline goodness [0,1] 0.9995652646451473 Centerline is valid? [True, True] Translation: X:151.51, Y:2.16, Z:1.33 [[ 9.99758027e-01 -1.32361221e-02 -1.75696609e-02 1.51506493e+02] [ 1.32321898e-02 9.99912393e-01 -3.40049159e-04 2.15772655e+00] [ 1.75726226e-02 1.07481787e-04 9.99845584e-01 1.33413130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32925415399998 meters Centerline goodness [0,1] 0.9995643176124606 Centerline is valid? [True, True] Translation: X:151.54, Y:2.16, Z:1.33 [[ 9.99790547e-01 -1.07749518e-02 -1.74000603e-02 1.51535404e+02] [ 1.07706803e-02 9.99941937e-01 -3.39186189e-04 2.16000964e+00] [ 1.74027047e-02 1.51704660e-04 9.99848550e-01 1.33434400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35925415399998 meters Centerline goodness [0,1] 0.9995212916421873 Centerline is valid? [True, True] Translation: X:151.56, Y:2.16, Z:1.34 [[ 9.99809906e-01 -8.56889070e-03 -1.75136103e-02 1.51563672e+02] [ 8.56414797e-03 9.99963267e-01 -3.45786210e-04 2.16100388e+00] [ 1.75159300e-02 1.95731328e-04 9.99846565e-01 1.33530519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38925415399999 meters Centerline goodness [0,1] 0.9995212916421873 Centerline is valid? [True, True] Translation: X:151.59, Y:2.16, Z:1.34 [[ 9.99807337e-01 -8.86372623e-03 -1.75135141e-02 1.51591043e+02] [ 8.85894431e-03 9.99960697e-01 -3.50605804e-04 2.16161063e+00] [ 1.75159335e-02 1.95387009e-04 9.99846565e-01 1.33556255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.419254154 meters Centerline goodness [0,1] 0.99976011863224 Centerline is valid? [True, True] Translation: X:151.62, Y:2.16, Z:1.34 [[ 9.99830824e-01 -6.69155135e-03 -1.71332231e-02 1.51619214e+02] [ 6.68659755e-03 9.99977584e-01 -3.46403973e-04 2.16416748e+00] [ 1.71351571e-02 2.31782402e-04 9.99853156e-01 1.33552575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.449254154 meters Centerline goodness [0,1] 0.9996079200156832 Centerline is valid? [True, True] Translation: X:151.65, Y:2.17, Z:1.34 [[ 9.99856415e-01 -3.47614825e-03 -1.65850883e-02 1.51647486e+02] [ 3.47103972e-03 9.99993919e-01 -3.36795034e-04 2.16687630e+00] [ 1.65861582e-02 2.79179175e-04 9.99862401e-01 1.33560697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.479254154 meters Centerline goodness [0,1] 0.9994986485308223 Centerline is valid? [True, True] Translation: X:151.68, Y:2.17, Z:1.34 [[ 9.99854549e-01 -2.63803284e-03 -1.68499723e-02 1.51676361e+02] [ 2.63259415e-03 9.99996475e-01 -3.44944793e-04 2.16740926e+00] [ 1.68508229e-02 3.00535482e-04 9.99857970e-01 1.33589666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.509254154 meters Centerline goodness [0,1] 0.9997165532879818 Centerline is valid? [True, True] Translation: X:151.70, Y:2.17, Z:1.34 [[ 9.99865662e-01 -2.04953703e-03 -1.62621702e-02 1.51704967e+02] [ 2.04432690e-03 9.99997854e-01 -3.37000669e-04 2.16803863e+00] [ 1.62628260e-02 3.03710205e-04 9.99867705e-01 1.33630811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539254154 meters Centerline goodness [0,1] 0.9997386759581881 Centerline is valid? [True, True] Translation: X:151.73, Y:2.17, Z:1.34 [[ 9.99868660e-01 -1.95681499e-03 -1.60882806e-02 1.51731353e+02] [ 1.95164069e-03 9.99998039e-01 -3.37312724e-04 2.16910322e+00] [ 1.60889091e-02 3.05869878e-04 9.99870518e-01 1.33623065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.569254154 meters Centerline goodness [0,1] 0.9996291772096676 Centerline is valid? [True, True] Translation: X:151.76, Y:2.17, Z:1.34 [[ 9.99877239e-01 -3.38061389e-03 -1.52996173e-02 1.51760494e+02] [ 3.37606349e-03 9.99994249e-01 -3.23236992e-04 2.16712793e+00] [ 1.53006221e-02 2.71544832e-04 9.99882902e-01 1.33654945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599254154 meters Centerline goodness [0,1] 0.9996740618413333 Centerline is valid? [True, True] Translation: X:151.79, Y:2.17, Z:1.34 [[ 9.99883863e-01 -5.20972403e-03 -1.43219723e-02 1.51787918e+02] [ 5.20590890e-03 9.99986403e-01 -3.03651129e-04 2.16670074e+00] [ 1.43233595e-02 2.29056980e-04 9.99897389e-01 1.33648635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.629254154 meters Centerline goodness [0,1] 0.9994563444601501 Centerline is valid? [True, True] Translation: X:151.82, Y:2.16, Z:1.34 [[ 9.99880437e-01 -7.50902759e-03 -1.35175963e-02 1.51816395e+02] [ 7.50582445e-03 9.99971790e-01 -2.87678864e-04 2.16360250e+00] [ 1.35193751e-02 1.86183764e-04 9.99908592e-01 1.33733692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659254154 meters Centerline goodness [0,1] 0.9993060976667534 Centerline is valid? [True, True] Translation: X:151.85, Y:2.16, Z:1.34 [[ 9.99833050e-01 -1.41413871e-02 -1.15712380e-02 1.51845035e+02] [ 1.41394756e-02 9.99900002e-01 -2.46989627e-04 2.15631672e+00] [ 1.15735737e-02 8.33371540e-05 9.99933020e-01 1.33834930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.689254154 meters Centerline goodness [0,1] 0.9994812381117067 Centerline is valid? [True, True] Translation: X:151.88, Y:2.15, Z:1.34 [[ 9.99780824e-01 -1.74555335e-02 -1.15588984e-02 1.51875288e+02] [ 1.74538392e-02 9.99847640e-01 -2.47448493e-04 2.15310206e+00] [ 1.15614567e-02 4.56471032e-05 9.99933163e-01 1.33898255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719254154 meters Centerline goodness [0,1] 0.999375026938494 Centerline is valid? [True, True] Translation: X:151.91, Y:2.15, Z:1.34 [[ 9.99718071e-01 -2.10348652e-02 -1.10142495e-02 1.51905297e+02] [ 2.10335433e-02 9.99778743e-01 -2.35855689e-04 2.14962531e+00] [ 1.10167737e-02 4.12049990e-06 9.99939313e-01 1.33935468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.749254154 meters Centerline goodness [0,1] 0.9995051528647346 Centerline is valid? [True, True] Translation: X:151.94, Y:2.15, Z:1.34 [[ 9.99644038e-01 -2.42811909e-02 -1.10553979e-02 1.51937928e+02] [ 2.42800652e-02 9.99705168e-01 -2.36054561e-04 2.14610567e+00] [ 1.10578701e-02 -3.24552456e-05 9.99938859e-01 1.33973225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779254154 meters Centerline goodness [0,1] 0.999230341642793 Centerline is valid? [True, True] Translation: X:151.97, Y:2.14, Z:1.34 [[ 9.99488133e-01 -2.96180890e-02 -1.20929829e-02 1.51969293e+02] [ 2.96171436e-02 9.99561283e-01 -2.57294299e-04 2.13842410e+00] [ 1.20952981e-02 -1.00997013e-04 9.99926844e-01 1.33929778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80925415399997 meters Centerline goodness [0,1] 0.9992086746369527 Centerline is valid? [True, True] Translation: X:152.00, Y:2.14, Z:1.34 [[ 9.99428418e-01 -3.14391788e-02 -1.24263738e-02 1.52001912e+02] [ 3.14383308e-02 9.99505659e-01 -2.63627486e-04 2.13547763e+00] [ 1.24285192e-02 -1.27187650e-04 9.99922755e-01 1.33936109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83925415399997 meters Centerline goodness [0,1] 0.9994228055923725 Centerline is valid? [True, True] Translation: X:152.03, Y:2.13, Z:1.34 [[ 9.99389628e-01 -3.23815515e-02 -1.31074896e-02 1.52033361e+02] [ 3.23807042e-02 9.99475569e-01 -2.76921894e-04 2.13267212e+00] [ 1.31095828e-02 -1.47676875e-04 9.99914055e-01 1.33923672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86925415399998 meters Centerline goodness [0,1] 0.999315742205876 Centerline is valid? [True, True] Translation: X:152.07, Y:2.13, Z:1.34 [[ 9.99370302e-01 -3.29949458e-02 -1.30511401e-02 1.52065737e+02] [ 3.29941753e-02 9.99455506e-01 -2.74400397e-04 2.13014058e+00] [ 1.30530877e-02 -1.56383998e-04 9.99914793e-01 1.33924823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89925415399998 meters Centerline goodness [0,1] 0.9991246050046972 Centerline is valid? [True, True] Translation: X:152.10, Y:2.13, Z:1.34 [[ 9.99392574e-01 -3.20361384e-02 -1.37174783e-02 1.52097587e+02] [ 3.20352113e-02 9.99486700e-01 -2.87372258e-04 2.12614972e+00] [ 1.37196434e-02 -1.52244613e-04 9.99905870e-01 1.33934981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92925415399998 meters Centerline goodness [0,1] 0.9993603002324243 Centerline is valid? [True, True] Translation: X:152.13, Y:2.12, Z:1.34 [[ 9.99437944e-01 -3.05635379e-02 -1.37719304e-02 1.52128608e+02] [ 3.05624763e-02 9.99532817e-01 -2.87585879e-04 2.12459296e+00] [ 1.37742860e-02 -1.33480056e-04 9.99905121e-01 1.33959577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95925415399998 meters Centerline goodness [0,1] 0.9990206931789151 Centerline is valid? [True, True] Translation: X:152.16, Y:2.12, Z:1.34 [[ 9.99492520e-01 -2.88710388e-02 -1.34597647e-02 1.52160899e+02] [ 2.88698822e-02 9.99583139e-01 -2.80268258e-04 2.12460962e+00] [ 1.34622454e-02 -1.08455791e-04 9.99909374e-01 1.34004866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98925415399998 meters Centerline goodness [0,1] 0.9991269351163732 Centerline is valid? [True, True] Translation: X:152.19, Y:2.12, Z:1.34 [[ 9.99604515e-01 -2.44879091e-02 -1.38259131e-02 1.52192137e+02] [ 2.44862814e-02 9.99700125e-01 -2.87023786e-04 2.12438855e+00] [ 1.38287956e-02 -5.16349252e-05 9.99904376e-01 1.34043098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01925415399998 meters Centerline goodness [0,1] 0.9991286792051854 Centerline is valid? [True, True] Translation: X:152.22, Y:2.12, Z:1.34 [[ 9.99660888e-01 -2.19806971e-02 -1.39627064e-02 1.52222727e+02] [ 2.19787984e-02 9.99758395e-01 -2.89433484e-04 2.12490478e+00] [ 1.39656948e-02 -1.75481739e-05 9.99902475e-01 1.34038482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04925415399998 meters Centerline goodness [0,1] 0.9991713235450354 Centerline is valid? [True, True] Translation: X:152.25, Y:2.13, Z:1.34 [[ 9.99705818e-01 -1.93128537e-02 -1.46727979e-02 1.52253473e+02] [ 1.93104723e-02 9.99813489e-01 -3.03974198e-04 2.12548503e+00] [ 1.46759318e-02 2.05461179e-05 9.99892303e-01 1.34055395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07925415399998 meters Centerline goodness [0,1] 0.9991710769623159 Centerline is valid? [True, True] Translation: X:152.28, Y:2.13, Z:1.34 [[ 9.99750095e-01 -1.65640063e-02 -1.50126745e-02 1.52283196e+02] [ 1.65612002e-02 9.99862805e-01 -3.11223848e-04 2.12574081e+00] [ 1.50157700e-02 6.25181638e-05 9.99887255e-01 1.34047459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10925415399998 meters Centerline goodness [0,1] 0.9992369162939568 Centerline is valid? [True, True] Translation: X:152.31, Y:2.13, Z:1.34 [[ 9.99800301e-01 -1.26550942e-02 -1.54663066e-02 1.52311523e+02] [ 1.26516341e-02 9.99919913e-01 -3.21544126e-04 2.12500253e+00] [ 1.54691371e-02 1.25805862e-04 9.99880338e-01 1.34042096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13925415399999 meters Centerline goodness [0,1] 0.9992988569243191 Centerline is valid? [True, True] Translation: X:152.34, Y:2.12, Z:1.34 [[ 9.99812011e-01 -1.17467660e-02 -1.54258496e-02 1.52340733e+02] [ 1.17431785e-02 9.99930994e-01 -3.23127334e-04 2.12405323e+00] [ 1.54285808e-02 1.41918084e-04 9.99880962e-01 1.34056800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.169254154 meters Centerline goodness [0,1] 0.9991724137931034 Centerline is valid? [True, True] Translation: X:152.37, Y:2.12, Z:1.34 [[ 9.99813395e-01 -1.16520166e-02 -1.54079554e-02 1.52368582e+02] [ 1.16483614e-02 9.99932102e-01 -3.26957650e-04 2.12292764e+00] [ 1.54107190e-02 1.47419205e-04 9.99881237e-01 1.34099488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.199254154 meters Centerline goodness [0,1] 0.9992154368108567 Centerline is valid? [True, True] Translation: X:152.40, Y:2.12, Z:1.34 [[ 9.99812760e-01 -1.20322912e-02 -1.51548085e-02 1.52396118e+02] [ 1.20287317e-02 9.99927599e-01 -3.26010112e-04 2.12132684e+00] [ 1.51576339e-02 1.43655944e-04 9.99885106e-01 1.34124019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.229254154 meters Centerline goodness [0,1] 0.9991741837123619 Centerline is valid? [True, True] Translation: X:152.42, Y:2.12, Z:1.34 [[ 9.99773728e-01 -1.43714352e-02 -1.56829558e-02 1.52424167e+02] [ 1.43678573e-02 9.99896719e-01 -3.40793837e-04 2.11664703e+00] [ 1.56862337e-02 1.15386254e-04 9.99876957e-01 1.34099697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259254154 meters Centerline goodness [0,1] 0.9992593062874315 Centerline is valid? [True, True] Translation: X:152.45, Y:2.11, Z:1.34 [[ 9.99727634e-01 -1.60493443e-02 -1.69433098e-02 1.52452302e+02] [ 1.60453562e-02 9.99871196e-01 -3.71301593e-04 2.11416567e+00] [ 1.69470866e-02 9.93390220e-05 9.99856383e-01 1.34053158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.289254154 meters Centerline goodness [0,1] 0.9993868662522728 Centerline is valid? [True, True] Translation: X:152.48, Y:2.11, Z:1.34 [[ 9.99676005e-01 -1.79523733e-02 -1.80442955e-02 1.52480123e+02] [ 1.79480619e-02 9.99838840e-01 -4.00861131e-04 2.11126377e+00] [ 1.80485839e-02 7.68711212e-05 9.99837108e-01 1.34003374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319254154 meters Centerline goodness [0,1] 0.9991978383855442 Centerline is valid? [True, True] Translation: X:152.51, Y:2.10, Z:1.34 [[ 9.99568534e-01 -2.18798820e-02 -1.95963338e-02 1.52507494e+02] [ 2.18754521e-02 9.99760607e-01 -4.40415620e-04 2.10429699e+00] [ 1.96012788e-02 1.15469344e-05 9.99807876e-01 1.33870905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349254154 meters Centerline goodness [0,1] 0.9992195245427891 Centerline is valid? [True, True] Translation: X:152.54, Y:2.10, Z:1.34 [[ 9.99501310e-01 -2.38549024e-02 -2.06899567e-02 1.52536156e+02] [ 2.38502856e-02 9.99715431e-01 -4.69902724e-04 2.10103773e+00] [ 2.06952784e-02 -2.37929877e-05 9.99785830e-01 1.33876119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379254154 meters Centerline goodness [0,1] 0.9992218717139852 Centerline is valid? [True, True] Translation: X:152.56, Y:2.09, Z:1.34 [[ 9.99416229e-01 -2.75188529e-02 -2.02463425e-02 1.52564535e+02] [ 2.75150723e-02 9.99621280e-01 -4.65327468e-04 2.09467958e+00] [ 2.02514801e-02 -9.20237523e-05 9.99794914e-01 1.33974016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409254154 meters Centerline goodness [0,1] 0.9990322309181183 Centerline is valid? [True, True] Translation: X:152.59, Y:2.09, Z:1.34 [[ 9.99382606e-01 -2.90084458e-02 -1.98221093e-02 1.52592281e+02] [ 2.90050016e-02 9.99579160e-01 -4.61288142e-04 2.09218419e+00] [ 1.98271486e-02 -1.13936967e-04 9.99803416e-01 1.34042799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439254154 meters Centerline goodness [0,1] 0.9990962589323245 Centerline is valid? [True, True] Translation: X:152.62, Y:2.09, Z:1.34 [[ 9.99356620e-01 -3.01443279e-02 -1.94336312e-02 1.52620637e+02] [ 3.01411310e-02 9.99545548e-01 -4.57454891e-04 2.08980696e+00] [ 1.94385892e-02 -1.28591050e-04 9.99811045e-01 1.34096373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.469254154 meters Centerline goodness [0,1] 0.9990144891069593 Centerline is valid? [True, True] Translation: X:152.65, Y:2.09, Z:1.34 [[ 9.99338301e-01 -3.11003469e-02 -1.88607731e-02 1.52649825e+02] [ 3.10974530e-02 9.99516257e-01 -4.46771639e-04 2.08766496e+00] [ 1.88655441e-02 -1.40045995e-04 9.99822020e-01 1.34167036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499254154 meters Centerline goodness [0,1] 0.9990979651772603 Centerline is valid? [True, True] Translation: X:152.68, Y:2.09, Z:1.34 [[ 9.99320659e-01 -3.18026335e-02 -1.86229146e-02 1.52679638e+02] [ 3.17999187e-02 9.99494157e-01 -4.41962109e-04 2.08590242e+00] [ 1.86275499e-02 -1.50545304e-04 9.99826481e-01 1.34260028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529254154 meters Centerline goodness [0,1] 0.9990780513357779 Centerline is valid? [True, True] Translation: X:152.71, Y:2.08, Z:1.34 [[ 9.99302581e-01 -3.23795706e-02 -1.85988014e-02 1.52708711e+02] [ 3.23769446e-02 9.99475631e-01 -4.42365977e-04 2.08429932e+00] [ 1.86033724e-02 -1.60114900e-04 9.99826929e-01 1.34292748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55925415399997 meters Centerline goodness [0,1] 0.9991005689424364 Centerline is valid? [True, True] Translation: X:152.74, Y:2.08, Z:1.34 [[ 9.99261821e-01 -3.34913095e-02 -1.88187344e-02 1.52738567e+02] [ 3.34887995e-02 9.99438992e-01 -4.48588017e-04 2.08032345e+00] [ 1.88232007e-02 -1.81959943e-04 9.99822811e-01 1.34335041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58925415399997 meters Centerline goodness [0,1] 0.9990804405525716 Centerline is valid? [True, True] Translation: X:152.77, Y:2.08, Z:1.34 [[ 9.99222270e-01 -3.45323181e-02 -1.90361486e-02 1.52767871e+02] [ 3.45299258e-02 9.99403561e-01 -4.54438920e-04 2.07857864e+00] [ 1.90404875e-02 -2.03231310e-04 9.99818693e-01 1.34339754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61925415399998 meters Centerline goodness [0,1] 0.9991439071243632 Centerline is valid? [True, True] Translation: X:152.80, Y:2.07, Z:1.34 [[ 9.99151643e-01 -3.63512623e-02 -1.93540649e-02 1.52797438e+02] [ 3.63491175e-02 9.99339045e-01 -4.62709382e-04 2.07453743e+00] [ 1.93580928e-02 -2.41186340e-04 9.99812585e-01 1.34325221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64925415399998 meters Centerline goodness [0,1] 0.9990191986644408 Centerline is valid? [True, True] Translation: X:152.83, Y:2.07, Z:1.34 [[ 9.99113067e-01 -3.75776246e-02 -1.90000132e-02 1.52826642e+02] [ 3.75757699e-02 9.99293678e-01 -4.54733829e-04 2.07222237e+00] [ 1.90036809e-02 -2.59609615e-04 9.99819380e-01 1.34338769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67925415399998 meters Centerline goodness [0,1] 0.9989983514534337 Centerline is valid? [True, True] Translation: X:152.86, Y:2.07, Z:1.34 [[ 9.99067540e-01 -3.86860896e-02 -1.91686449e-02 1.52856384e+02] [ 3.86843995e-02 9.99251373e-01 -4.59101834e-04 2.06954251e+00] [ 1.91720556e-02 -2.82853778e-04 9.99816159e-01 1.34312900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70925415399998 meters Centerline goodness [0,1] 0.9990612679141373 Centerline is valid? [True, True] Translation: X:152.89, Y:2.07, Z:1.34 [[ 9.99014606e-01 -4.00247990e-02 -1.91789603e-02 1.52886699e+02] [ 4.00233506e-02 9.99198639e-01 -4.59509436e-04 2.06994388e+00] [ 1.91819828e-02 -3.08549612e-04 9.99815961e-01 1.34468899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73925415399998 meters Centerline goodness [0,1] 0.9992287328288829 Centerline is valid? [True, True] Translation: X:152.92, Y:2.07, Z:1.34 [[ 9.98882687e-01 -4.28941002e-02 -1.98361642e-02 1.52917089e+02] [ 4.28931163e-02 9.99079554e-01 -4.75255411e-04 2.06708233e+00] [ 1.98382918e-02 -3.76110498e-04 9.99803131e-01 1.34492575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76925415399998 meters Centerline goodness [0,1] 0.9992081518681365 Centerline is valid? [True, True] Translation: X:152.95, Y:2.06, Z:1.34 [[ 9.98814404e-01 -4.45314637e-02 -1.96655690e-02 1.52946801e+02] [ 4.45308101e-02 9.99007900e-01 -4.71356609e-04 2.06466026e+00] [ 1.96670489e-02 -4.04925946e-04 9.99806503e-01 1.34456660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79925415399998 meters Centerline goodness [0,1] 0.9991456197382679 Centerline is valid? [True, True] Translation: X:152.98, Y:2.06, Z:1.35 [[ 9.98739371e-01 -4.59826110e-02 -2.01312572e-02 1.52977610e+02] [ 4.59822290e-02 9.98942142e-01 -4.82106141e-04 2.06437715e+00] [ 2.01321296e-02 -4.44181692e-04 9.99797229e-01 1.34507894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82925415399998 meters Centerline goodness [0,1] 0.9990620505658961 Centerline is valid? [True, True] Translation: X:153.01, Y:2.06, Z:1.34 [[ 9.98649545e-01 -4.77639027e-02 -2.04376274e-02 1.53008531e+02] [ 4.77638965e-02 9.98858534e-01 -4.88721115e-04 2.06307702e+00] [ 2.04376418e-02 -4.88119602e-04 9.99791010e-01 1.34482597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85925415399998 meters Centerline goodness [0,1] 0.9991471658866354 Centerline is valid? [True, True] Translation: X:153.04, Y:2.06, Z:1.34 [[ 9.98505416e-01 -5.05037958e-02 -2.08877940e-02 1.53038778e+02] [ 5.05043964e-02 9.98723714e-01 -4.99100888e-04 2.05978744e+00] [ 2.08863417e-02 -5.56570491e-04 9.99781702e-01 1.34410858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88925415399999 meters Centerline goodness [0,1] 0.9991041293387225 Centerline is valid? [True, True] Translation: X:153.07, Y:2.06, Z:1.34 [[ 9.98445861e-01 -5.16174543e-02 -2.10119303e-02 1.53068336e+02] [ 5.16183112e-02 9.98666760e-01 -5.01939694e-04 2.05859337e+00] [ 2.10098252e-02 -5.83440745e-04 9.99779099e-01 1.34398073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.919254154 meters Centerline goodness [0,1] 0.9990625585900881 Centerline is valid? [True, True] Translation: X:153.10, Y:2.06, Z:1.34 [[ 9.98383429e-01 -5.27700603e-02 -2.11151656e-02 1.53097783e+02] [ 5.27711779e-02 9.98606503e-01 -5.04651256e-04 2.05758908e+00] [ 2.11123721e-02 -6.10436709e-04 9.99776923e-01 1.34380566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.949254154 meters Centerline goodness [0,1] 0.9991676204349184 Centerline is valid? [True, True] Translation: X:153.13, Y:2.06, Z:1.34 [[ 9.98296244e-01 -5.44907323e-02 -2.08654963e-02 1.53128384e+02] [ 5.44921956e-02 9.98514072e-01 -4.98849502e-04 2.05705870e+00] [ 2.08616744e-02 -6.39007123e-04 9.99782167e-01 1.34403528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.979254154 meters Centerline goodness [0,1] 0.999083734199621 Centerline is valid? [True, True] Translation: X:153.16, Y:2.06, Z:1.34 [[ 9.98278073e-01 -5.51305285e-02 -2.00377937e-02 1.53159222e+02] [ 5.51320067e-02 9.98478959e-01 -4.79060899e-04 2.05791851e+00] [ 2.00337263e-02 -6.26487786e-04 9.99799108e-01 1.34473576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.009254154 meters Centerline goodness [0,1] 0.9990003956767113 Centerline is valid? [True, True] Translation: X:153.19, Y:2.06, Z:1.35 [[ 9.98238811e-01 -5.59320163e-02 -1.97708493e-02 1.53189560e+02] [ 5.59336160e-02 9.98434378e-01 -4.72493537e-04 2.05748958e+00] [ 1.97663232e-02 -6.34193709e-04 9.99804426e-01 1.34510290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039254154 meters Centerline goodness [0,1] 0.9990628319136973 Centerline is valid? [True, True] Translation: X:153.22, Y:2.06, Z:1.35 [[ 9.98220834e-01 -5.64684434e-02 -1.91436924e-02 1.53220378e+02] [ 5.64700517e-02 9.98404189e-01 -4.56986050e-04 2.06072327e+00] [ 1.91389480e-02 -6.24872304e-04 9.99816638e-01 1.34675419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069254154 meters Centerline goodness [0,1] 0.9987910621977656 Centerline is valid? [True, True] Translation: X:153.25, Y:2.06, Z:1.35 [[ 9.98211918e-01 -5.69727988e-02 -1.80849869e-02 1.53251448e+02] [ 5.69743311e-02 9.98375551e-01 -4.30911997e-04 2.05887505e+00] [ 1.80801591e-02 -6.00238543e-04 9.99836360e-01 1.34669348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099254154 meters Centerline goodness [0,1] 0.9989784217658709 Centerline is valid? [True, True] Translation: X:153.28, Y:2.06, Z:1.35 [[ 9.98179374e-01 -5.80386677e-02 -1.64149493e-02 1.53282707e+02] [ 5.80400857e-02 9.98314177e-01 -3.90399191e-04 2.06233234e+00] [ 1.64099349e-02 -5.63036645e-04 9.99865189e-01 1.34872442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.129254154 meters Centerline goodness [0,1] 0.9991075134910752 Centerline is valid? [True, True] Translation: X:153.31, Y:2.06, Z:1.35 [[ 9.98180365e-01 -5.82824438e-02 -1.54633615e-02 1.53313377e+02] [ 5.82837396e-02 9.98299990e-01 -3.67227558e-04 2.06272901e+00] [ 1.54584766e-02 -5.34703198e-04 9.99880368e-01 1.34939076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159254154 meters Centerline goodness [0,1] 0.9987695259546602 Centerline is valid? [True, True] Translation: X:153.34, Y:2.06, Z:1.35 [[ 9.98176678e-01 -5.84917545e-02 -1.49008025e-02 1.53344933e+02] [ 5.84929950e-02 9.98287757e-01 -3.52928860e-04 2.06077351e+00] [ 1.48959322e-02 -5.19307210e-04 9.99888915e-01 1.34944913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189254154 meters Centerline goodness [0,1] 0.9989154239232454 Centerline is valid? [True, True] Translation: X:153.38, Y:2.07, Z:1.35 [[ 9.98168132e-01 -5.87728620e-02 -1.43572661e-02 1.53376848e+02] [ 5.87740621e-02 9.98271253e-01 -3.38699958e-04 2.06532161e+00] [ 1.43523524e-02 -5.05755343e-04 9.99896872e-01 1.35041429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219254154 meters Centerline goodness [0,1] 0.9988734979973297 Centerline is valid? [True, True] Translation: X:153.41, Y:2.07, Z:1.35 [[ 9.98226748e-01 -5.79997704e-02 -1.33934921e-02 1.53407882e+02] [ 5.80007565e-02 9.98316489e-01 -3.15125881e-04 2.06766074e+00] [ 1.33892212e-02 -4.62265589e-04 9.99910254e-01 1.35073002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249254154 meters Centerline goodness [0,1] 0.9986839356590766 Centerline is valid? [True, True] Translation: X:153.44, Y:2.07, Z:1.35 [[ 9.98293722e-01 -5.68187793e-02 -1.34636620e-02 1.53439919e+02] [ 5.68196793e-02 9.98384407e-01 -3.15975519e-04 2.07285989e+00] [ 1.34598635e-02 -4.49564578e-04 9.99909311e-01 1.35111834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279254154 meters Centerline goodness [0,1] 0.9986839356590766 Centerline is valid? [True, True] Translation: X:153.47, Y:2.07, Z:1.35 [[ 9.98297889e-01 -5.67455237e-02 -1.34636851e-02 1.53471616e+02] [ 5.67464303e-02 9.98388573e-01 -3.14987930e-04 2.07354198e+00] [ 1.34598635e-02 -4.49564282e-04 9.99909311e-01 1.35141521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30925415399997 meters Centerline goodness [0,1] 0.99897695005846 Centerline is valid? [True, True] Translation: X:153.50, Y:2.08, Z:1.35 [[ 9.98379492e-01 -5.52982027e-02 -1.34350070e-02 1.53503638e+02] [ 5.52989877e-02 9.98469791e-01 -3.13328754e-04 2.07713500e+00] [ 1.34317751e-02 -4.30121284e-04 9.99909697e-01 1.35144427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33925415399997 meters Centerline goodness [0,1] 0.9990168392427571 Centerline is valid? [True, True] Translation: X:153.53, Y:2.08, Z:1.35 [[ 9.98543818e-01 -5.21301915e-02 -1.38811536e-02 1.53534414e+02] [ 5.21307360e-02 9.98640217e-01 -3.22848551e-04 2.08124229e+00] [ 1.38791084e-02 -4.01256331e-04 9.99903600e-01 1.35100958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36925415399998 meters Centerline goodness [0,1] 0.9989556135770234 Centerline is valid? [True, True] Translation: X:153.57, Y:2.08, Z:1.35 [[ 9.98630723e-01 -5.02804255e-02 -1.44415190e-02 1.53565977e+02] [ 5.02808321e-02 9.98735063e-01 -3.35157205e-04 2.08387848e+00] [ 1.44401032e-02 -3.91433308e-04 9.99895660e-01 1.35077891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39925415399998 meters Centerline goodness [0,1] 0.998806282722513 Centerline is valid? [True, True] Translation: X:153.60, Y:2.09, Z:1.35 [[ 9.98721443e-01 -4.84596821e-02 -1.43923135e-02 1.53597256e+02] [ 4.84599105e-02 9.98825073e-01 -3.33077470e-04 2.08539259e+00] [ 1.43915444e-02 -3.64798615e-04 9.99896370e-01 1.35034041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42925415399998 meters Centerline goodness [0,1] 0.9991423670668954 Centerline is valid? [True, True] Translation: X:153.63, Y:2.09, Z:1.35 [[ 9.98799673e-01 -4.66693980e-02 -1.48721206e-02 1.53629789e+02] [ 4.66694597e-02 9.98910328e-01 -3.43097345e-04 2.09045638e+00] [ 1.48719270e-02 -3.51388318e-04 9.99889345e-01 1.35081300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45925415399998 meters Centerline goodness [0,1] 0.9988490834519126 Centerline is valid? [True, True] Translation: X:153.66, Y:2.10, Z:1.35 [[ 9.98941672e-01 -4.35147718e-02 -1.48996511e-02 1.53661142e+02] [ 4.35145004e-02 9.99052737e-01 -3.42560558e-04 2.09619798e+00] [ 1.49004437e-02 -3.06152858e-04 9.99888935e-01 1.35060022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48925415399998 meters Centerline goodness [0,1] 0.9989107438362764 Centerline is valid? [True, True] Translation: X:153.69, Y:2.10, Z:1.35 [[ 9.99013473e-01 -4.19117925e-02 -1.46793500e-02 1.53692709e+02] [ 4.19113639e-02 9.99121276e-01 -3.36962863e-04 2.09976057e+00] [ 1.46805737e-02 -2.78601141e-04 9.99892196e-01 1.35102855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51925415399998 meters Centerline goodness [0,1] 0.9990165718111818 Centerline is valid? [True, True] Translation: X:153.72, Y:2.10, Z:1.35 [[ 9.99071402e-01 -4.03947658e-02 -1.49865392e-02 1.53723519e+02] [ 4.03941647e-02 9.99183764e-01 -3.42933290e-04 2.10130179e+00] [ 1.49881594e-02 -2.62753890e-04 9.99887637e-01 1.35097752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54925415399998 meters Centerline goodness [0,1] 0.9990759602662914 Centerline is valid? [True, True] Translation: X:153.75, Y:2.11, Z:1.35 [[ 9.99149784e-01 -3.84477117e-02 -1.48822651e-02 1.53754780e+02] [ 3.84469239e-02 9.99260586e-01 -3.39142068e-04 2.10661017e+00] [ 1.48843002e-02 -2.33323591e-04 9.99889195e-01 1.35141996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57925415399998 meters Centerline goodness [0,1] 0.9993067518171506 Centerline is valid? [True, True] Translation: X:153.79, Y:2.11, Z:1.35 [[ 9.99165842e-01 -3.79073026e-02 -1.51873579e-02 1.53785529e+02] [ 3.79064299e-02 9.99281233e-01 -3.45425126e-04 2.10850895e+00] [ 1.51895358e-02 -2.30561530e-04 9.99884606e-01 1.35176809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60925415399998 meters Centerline goodness [0,1] 0.9993088136729222 Centerline is valid? [True, True] Translation: X:153.82, Y:2.11, Z:1.35 [[ 9.99180861e-01 -3.74259706e-02 -1.53916871e-02 1.53817228e+02] [ 3.74250286e-02 9.99299377e-01 -3.49335177e-04 2.11037011e+00] [ 1.53939775e-02 -2.26985306e-04 9.99881480e-01 1.35219133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63925415399999 meters Centerline goodness [0,1] 0.9990365886862002 Centerline is valid? [True, True] Translation: X:153.85, Y:2.11, Z:1.35 [[ 9.99176780e-01 -3.75398181e-02 -1.53793671e-02 1.53848330e+02] [ 3.75388996e-02 9.99295106e-01 -3.48499259e-04 2.11247170e+00] [ 1.53816089e-02 -2.29112151e-04 9.99881670e-01 1.35248611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.669254154 meters Centerline goodness [0,1] 0.9989697874398167 Centerline is valid? [True, True] Translation: X:153.88, Y:2.11, Z:1.35 [[ 9.99098868e-01 -3.95423502e-02 -1.54225405e-02 1.53879458e+02] [ 3.95416737e-02 9.99217861e-01 -3.48915984e-04 2.11387797e+00] [ 1.54242749e-02 -2.61231499e-04 9.99881005e-01 1.35274768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699254154 meters Centerline goodness [0,1] 0.999016962623664 Centerline is valid? [True, True] Translation: X:153.91, Y:2.11, Z:1.35 [[ 9.99035117e-01 -4.11395990e-02 -1.53742900e-02 1.53911071e+02] [ 4.11391243e-02 9.99153368e-01 -3.47270133e-04 2.11398325e+00] [ 1.53755602e-02 -2.85549770e-04 9.99881748e-01 1.35322443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.729254154 meters Centerline goodness [0,1] 0.9991603694374476 Centerline is valid? [True, True] Translation: X:153.94, Y:2.11, Z:1.35 [[ 9.98943029e-01 -4.34981412e-02 -1.48571893e-02 1.53942993e+02] [ 4.34979694e-02 9.99053459e-01 -3.34863325e-04 2.11387339e+00] [ 1.48576923e-02 -3.11748182e-04 9.99889570e-01 1.35368079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759254154 meters Centerline goodness [0,1] 0.9990144477762167 Centerline is valid? [True, True] Translation: X:153.98, Y:2.11, Z:1.35 [[ 9.98837053e-01 -4.60048543e-02 -1.44255016e-02 1.53975444e+02] [ 4.60049686e-02 9.98941158e-01 -3.24096293e-04 2.11346983e+00] [ 1.44251373e-02 -3.39925362e-04 9.99895895e-01 1.35436417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.789254154 meters Centerline goodness [0,1] 0.9991186469131658 Centerline is valid? [True, True] Translation: X:154.01, Y:2.11, Z:1.36 [[ 9.98580290e-01 -5.15503013e-02 -1.34153411e-02 1.54006499e+02] [ 5.15509096e-02 9.98670323e-01 -3.00684139e-04 2.11123583e+00] [ 1.34130033e-02 -3.91315779e-04 9.99909965e-01 1.35521459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819254154 meters Centerline goodness [0,1] 0.9991195891415994 Centerline is valid? [True, True] Translation: X:154.04, Y:2.11, Z:1.36 [[ 9.98446563e-01 -5.40790912e-02 -1.34131782e-02 1.54038673e+02] [ 5.40799335e-02 9.98536565e-01 -3.00165336e-04 2.11036718e+00] [ 1.34097815e-02 -4.25684736e-04 9.99909994e-01 1.35558661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849254154 meters Centerline goodness [0,1] 0.999014323763186 Centerline is valid? [True, True] Translation: X:154.07, Y:2.11, Z:1.36 [[ 9.98346214e-01 -5.58788847e-02 -1.35051000e-02 1.54070178e+02] [ 5.58799155e-02 9.98437451e-01 -3.01301413e-04 2.10858140e+00] [ 1.35008340e-02 -4.53860722e-04 9.99908757e-01 1.35527784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879254154 meters Centerline goodness [0,1] 0.9989698957282207 Centerline is valid? [True, True] Translation: X:154.10, Y:2.11, Z:1.36 [[ 9.98277829e-01 -5.69577783e-02 -1.40423516e-02 1.54100856e+02] [ 5.69590093e-02 9.98376469e-01 -3.12585846e-04 2.10836644e+00] [ 1.40373576e-02 -4.87790917e-04 9.99901352e-01 1.35519900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909254154 meters Centerline goodness [0,1] 0.9988701983429575 Centerline is valid? [True, True] Translation: X:154.13, Y:2.11, Z:1.35 [[ 9.98274494e-01 -5.68445304e-02 -1.47218622e-02 1.54131625e+02] [ 5.68458805e-02 9.98382912e-01 -3.27076402e-04 2.10980063e+00] [ 1.47166481e-02 -5.10365187e-04 9.99891574e-01 1.35493934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939254154 meters Centerline goodness [0,1] 0.9989722938820026 Centerline is valid? [True, True] Translation: X:154.16, Y:2.11, Z:1.36 [[ 9.98337321e-01 -5.57724679e-02 -1.45611151e-02 1.54163476e+02] [ 5.57736874e-02 9.98443384e-01 -3.22636645e-04 2.11376257e+00] [ 1.45564433e-02 -4.90026877e-04 9.99893929e-01 1.35542782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969254154 meters Centerline goodness [0,1] 0.9989498225200059 Centerline is valid? [True, True] Translation: X:154.20, Y:2.12, Z:1.36 [[ 9.98447974e-01 -5.37939087e-02 -1.44172700e-02 1.54195830e+02] [ 5.37949133e-02 9.98551955e-01 -3.18401699e-04 2.11709555e+00] [ 1.44135212e-02 -4.57668259e-04 9.99896015e-01 1.35620205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999254154 meters Centerline goodness [0,1] 0.9989281661132361 Centerline is valid? [True, True] Translation: X:154.23, Y:2.12, Z:1.36 [[ 9.98704134e-01 -4.90066865e-02 -1.37257886e-02 1.54226276e+02] [ 4.90071554e-02 9.98798382e-01 -3.02387714e-04 2.12017433e+00] [ 1.37241145e-02 -3.70665996e-04 9.99905751e-01 1.35706733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.029254154 meters Centerline goodness [0,1] 0.9991381303735469 Centerline is valid? [True, True] Translation: X:154.26, Y:2.12, Z:1.36 [[ 9.98848588e-01 -4.60021003e-02 -1.36126468e-02 1.54258148e+02] [ 4.60022889e-02 9.98941289e-01 -2.99430171e-04 2.12337639e+00] [ 1.36120093e-02 -3.27127506e-04 9.99907299e-01 1.35793817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05925415399997 meters Centerline goodness [0,1] 0.998948320467787 Centerline is valid? [True, True] Translation: X:154.29, Y:2.13, Z:1.36 [[ 9.98963423e-01 -4.35907310e-02 -1.31120952e-02 1.54290062e+02] [ 4.35907101e-02 9.99049432e-01 -2.87531905e-04 2.12647093e+00] [ 1.31121650e-02 -2.84331682e-04 9.99913991e-01 1.35849733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08925415399997 meters Centerline goodness [0,1] 0.99900944191536 Centerline is valid? [True, True] Translation: X:154.32, Y:2.13, Z:1.36 [[ 9.99070136e-01 -4.11322435e-02 -1.29229196e-02 1.54322458e+02] [ 4.11320294e-02 9.99153680e-01 -2.82463735e-04 2.13014942e+00] [ 1.29236010e-02 -2.49344826e-04 9.99916456e-01 1.35906846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11925415399998 meters Centerline goodness [0,1] 0.9988633254046773 Centerline is valid? [True, True] Translation: X:154.35, Y:2.13, Z:1.36 [[ 9.99212466e-01 -3.75118924e-02 -1.29346732e-02 1.54354040e+02] [ 3.75113869e-02 9.99296161e-01 -2.81772195e-04 2.13230936e+00] [ 1.29361390e-02 -2.03647239e-04 9.99916304e-01 1.35854312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14925415399998 meters Centerline goodness [0,1] 0.9989072645890684 Centerline is valid? [True, True] Translation: X:154.39, Y:2.13, Z:1.36 [[ 9.99243961e-01 -3.64325974e-02 -1.35709740e-02 1.54385767e+02] [ 3.64319552e-02 9.99336093e-01 -2.94625308e-04 2.13343639e+00] [ 1.35726981e-02 -2.00014556e-04 9.99907867e-01 1.35828227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17925415399998 meters Centerline goodness [0,1] 0.9991145778433647 Centerline is valid? [True, True] Translation: X:154.42, Y:2.13, Z:1.36 [[ 9.99247610e-01 -3.61967854e-02 -1.39286413e-02 1.54418287e+02] [ 3.61960997e-02 9.99344661e-01 -3.01398836e-04 2.13430952e+00] [ 1.39304230e-02 -2.02990424e-04 9.99902946e-01 1.35793539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20925415399998 meters Centerline goodness [0,1] 0.9991144845034788 Centerline is valid? [True, True] Translation: X:154.45, Y:2.13, Z:1.36 [[ 9.99173014e-01 -3.76883271e-02 -1.52603384e-02 1.54449323e+02] [ 3.76876939e-02 9.99289512e-01 -3.29179303e-04 2.13318569e+00] [ 1.52619024e-02 -2.46219887e-04 9.99883500e-01 1.35673711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23925415399998 meters Centerline goodness [0,1] 0.9989905787348586 Centerline is valid? [True, True] Translation: X:154.48, Y:2.13, Z:1.36 [[ 9.99109851e-01 -3.91506363e-02 -1.57077219e-02 1.54480717e+02] [ 3.91501574e-02 9.99233282e-01 -3.38098862e-04 2.13361237e+00] [ 1.57089152e-02 -2.77161880e-04 9.99876569e-01 1.35704335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26925415399998 meters Centerline goodness [0,1] 0.9988860631791336 Centerline is valid? [True, True] Translation: X:154.51, Y:2.13, Z:1.36 [[ 9.99026278e-01 -4.09789629e-02 -1.63469062e-02 1.54512054e+02] [ 4.09787007e-02 9.99159959e-01 -3.51145433e-04 2.13247836e+00] [ 1.63475637e-02 -3.19071460e-04 9.99866319e-01 1.35688034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29925415399998 meters Centerline goodness [0,1] 0.9990123145462951 Centerline is valid? [True, True] Translation: X:154.54, Y:2.13, Z:1.36 [[ 9.98932437e-01 -4.29849017e-02 -1.69199186e-02 1.54544440e+02] [ 4.29849263e-02 9.99075655e-01 -3.62388186e-04 2.13407757e+00] [ 1.69198560e-02 -3.65300141e-04 9.99856782e-01 1.35777593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32925415399998 meters Centerline goodness [0,1] 0.9990109011322026 Centerline is valid? [True, True] Translation: X:154.57, Y:2.13, Z:1.36 [[ 9.98721299e-01 -4.74362488e-02 -1.74805135e-02 1.54574822e+02] [ 4.74369714e-02 9.98874163e-01 -3.73536838e-04 2.13097041e+00] [ 1.74785525e-02 -4.56163422e-04 9.99847134e-01 1.35744110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35925415399998 meters Centerline goodness [0,1] 0.9988446591744564 Centerline is valid? [True, True] Translation: X:154.61, Y:2.13, Z:1.36 [[ 9.98607562e-01 -4.98242736e-02 -1.73343255e-02 1.54605690e+02] [ 4.98253515e-02 9.98757877e-01 -3.69956562e-04 2.12806360e+00] [ 1.73312270e-02 -4.94247443e-04 9.99849681e-01 1.35778985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38925415399999 meters Centerline goodness [0,1] 0.9987863569784474 Centerline is valid? [True, True] Translation: X:154.64, Y:2.13, Z:1.36 [[ 9.98514032e-01 -5.16448016e-02 -1.73937244e-02 1.54637210e+02] [ 5.16461760e-02 9.98665377e-01 -3.70468339e-04 2.12683160e+00] [ 1.73896431e-02 -5.28401515e-04 9.99848649e-01 1.35814274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.419254154 meters Centerline goodness [0,1] 0.9988241716709361 Centerline is valid? [True, True] Translation: X:154.67, Y:2.13, Z:1.36 [[ 9.98437312e-01 -5.33184048e-02 -1.67356470e-02 1.54669438e+02] [ 5.33199287e-02 9.98577418e-01 -3.55452651e-04 2.12866798e+00] [ 1.67307913e-02 -5.37446314e-04 9.99859886e-01 1.35952674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.449254154 meters Centerline goodness [0,1] 0.9987197246358561 Centerline is valid? [True, True] Translation: X:154.70, Y:2.13, Z:1.36 [[ 9.98332720e-01 -5.57014645e-02 -1.51369546e-02 1.54700325e+02] [ 5.57030048e-02 9.98447331e-01 -3.20164794e-04 2.12664021e+00] [ 1.51312856e-02 -5.23542865e-04 9.99885378e-01 1.36039429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.479254154 meters Centerline goodness [0,1] 0.9989726171006835 Centerline is valid? [True, True] Translation: X:154.73, Y:2.13, Z:1.36 [[ 9.98314696e-01 -5.61329928e-02 -1.47259880e-02 1.54732699e+02] [ 5.61345197e-02 9.98423167e-01 -3.09954420e-04 2.12716723e+00] [ 1.47201662e-02 -5.17204209e-04 9.99891519e-01 1.36145643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.509254154 meters Centerline goodness [0,1] 0.9987407920418057 Centerline is valid? [True, True] Translation: X:154.76, Y:2.13, Z:1.36 [[ 9.98342063e-01 -5.56848250e-02 -1.45713625e-02 1.54764032e+02] [ 5.56862859e-02 9.98448268e-01 -3.05772019e-04 2.12747666e+00] [ 1.45657785e-02 -5.06159991e-04 9.99893785e-01 1.36101664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539254154 meters Centerline goodness [0,1] 0.9988036771187507 Centerline is valid? [True, True] Translation: X:154.80, Y:2.13, Z:1.36 [[ 9.98422816e-01 -5.43660761e-02 -1.40075272e-02 1.54796375e+02] [ 5.43673076e-02 9.98520961e-01 -2.93140364e-04 2.13102665e+00] [ 1.40027464e-02 -4.68873514e-04 9.99901847e-01 1.36243029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.569254154 meters Centerline goodness [0,1] 0.9988449260752689 Centerline is valid? [True, True] Translation: X:154.83, Y:2.13, Z:1.36 [[ 9.98503194e-01 -5.28806494e-02 -1.39645609e-02 1.54828748e+02] [ 5.28817420e-02 9.98600739e-01 -2.91258723e-04 2.13371340e+00] [ 1.39604228e-02 -4.47647543e-04 9.99902448e-01 1.36296196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599254154 meters Centerline goodness [0,1] 0.998949270793931 Centerline is valid? [True, True] Translation: X:154.86, Y:2.14, Z:1.36 [[ 9.98594519e-01 -5.11923750e-02 -1.37232306e-02 1.54860473e+02] [ 5.11932840e-02 9.98688723e-01 -2.85265842e-04 2.13501470e+00] [ 1.37198391e-02 -4.17672335e-04 9.99905791e-01 1.36345895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.629254154 meters Centerline goodness [0,1] 0.9987801543735672 Centerline is valid? [True, True] Translation: X:154.89, Y:2.14, Z:1.36 [[ 9.98676348e-01 -4.95692741e-02 -1.37272930e-02 1.54892368e+02] [ 4.95700437e-02 9.98770609e-01 -2.84385683e-04 2.13750282e+00] [ 1.37245136e-02 -3.96453260e-04 9.99905736e-01 1.36398229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659254154 meters Centerline goodness [0,1] 0.9990336134453781 Centerline is valid? [True, True] Translation: X:154.92, Y:2.14, Z:1.36 [[ 9.98831372e-01 -4.61849787e-02 -1.42421469e-02 1.54923067e+02] [ 4.61854755e-02 9.98932838e-01 -2.94201852e-04 2.14152745e+00] [ 1.42405359e-02 -3.63922287e-04 9.99898532e-01 1.36430052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689254154 meters Centerline goodness [0,1] 0.9990971128608924 Centerline is valid? [True, True] Translation: X:154.95, Y:2.14, Z:1.36 [[ 9.98900834e-01 -4.45810228e-02 -1.44795444e-02 1.54954009e+02] [ 4.45813765e-02 9.99005712e-01 -2.98510466e-04 2.14275256e+00] [ 1.44784555e-02 -3.47335668e-04 9.99895121e-01 1.36432401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719254154 meters Centerline goodness [0,1] 0.9989467253691727 Centerline is valid? [True, True] Translation: X:154.99, Y:2.15, Z:1.36 [[ 9.98956451e-01 -4.30976514e-02 -1.51195447e-02 1.54986592e+02] [ 4.30978833e-02 9.99070806e-01 -3.10642715e-04 2.14595005e+00] [ 1.51188837e-02 -3.41301828e-04 9.99885645e-01 1.36443067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749254154 meters Centerline goodness [0,1] 0.999093018350559 Centerline is valid? [True, True] Translation: X:155.02, Y:2.15, Z:1.36 [[ 9.99040858e-01 -4.06435202e-02 -1.62932193e-02 1.55017533e+02] [ 4.06434850e-02 9.99173657e-01 -3.33422146e-04 2.14885431e+00] [ 1.62933070e-02 -3.29110868e-04 9.99867201e-01 1.36272262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77925415399997 meters Centerline goodness [0,1] 0.9987568216776586 Centerline is valid? [True, True] Translation: X:155.05, Y:2.15, Z:1.36 [[ 9.99065854e-01 -3.95826191e-02 -1.73388613e-02 1.55048717e+02] [ 3.95824331e-02 9.99216246e-01 -3.54042794e-04 2.15090150e+00] [ 1.73392858e-02 -3.32602251e-04 9.99849608e-01 1.36193685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80925415399997 meters Centerline goodness [0,1] 0.9990518331226296 Centerline is valid? [True, True] Translation: X:155.08, Y:2.16, Z:1.36 [[ 9.99101105e-01 -3.85135476e-02 -1.77112616e-02 1.55080326e+02] [ 3.85131967e-02 9.99258026e-01 -3.61020631e-04 2.15633856e+00] [ 1.77120245e-02 -3.21421190e-04 9.99843078e-01 1.36315208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83925415399997 meters Centerline goodness [0,1] 0.9989454369054901 Centerline is valid? [True, True] Translation: X:155.11, Y:2.16, Z:1.36 [[ 9.99116556e-01 -3.76928552e-02 -1.85837877e-02 1.55112101e+02] [ 3.76923401e-02 9.99289320e-01 -3.78107815e-04 2.15803835e+00] [ 1.85848325e-02 -3.22692668e-04 9.99827235e-01 1.36270824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86925415399998 meters Centerline goodness [0,1] 0.9989016791635864 Centerline is valid? [True, True] Translation: X:155.14, Y:2.16, Z:1.36 [[ 9.99145124e-01 -3.60784099e-02 -2.01834081e-02 1.55143425e+02] [ 3.60774888e-02 9.99348911e-01 -4.09876701e-04 2.16202153e+00] [ 2.01850546e-02 -3.18640372e-04 9.99796210e-01 1.36229773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89925415399998 meters Centerline goodness [0,1] 0.9990714165119028 Centerline is valid? [True, True] Translation: X:155.17, Y:2.16, Z:1.36 [[ 9.99168497e-01 -3.51585281e-02 -2.06444295e-02 1.55174154e+02] [ 3.51573903e-02 9.99381700e-01 -4.18166525e-04 2.16260442e+00] [ 2.06463672e-02 -3.07985447e-04 9.99786794e-01 1.36141687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92925415399998 meters Centerline goodness [0,1] 0.9989443236281486 Centerline is valid? [True, True] Translation: X:155.20, Y:2.17, Z:1.36 [[ 9.99175353e-01 -3.46317090e-02 -2.11957180e-02 1.55204669e+02] [ 3.46304040e-02 9.99400096e-01 -4.28725076e-04 2.16527898e+00] [ 2.11978501e-02 -3.05644750e-04 9.99775254e-01 1.36238719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95925415399998 meters Centerline goodness [0,1] 0.9988597732215629 Centerline is valid? [True, True] Translation: X:155.23, Y:2.17, Z:1.36 [[ 9.99193795e-01 -3.41975075e-02 -2.10307128e-02 1.55234415e+02] [ 3.41961175e-02 9.99415051e-01 -4.25815954e-04 2.16735089e+00] [ 2.10329727e-02 -2.93696066e-04 9.99778739e-01 1.36306403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98925415399998 meters Centerline goodness [0,1] 0.9988213255877586 Centerline is valid? [True, True] Translation: X:155.26, Y:2.17, Z:1.36 [[ 9.99213758e-01 -3.38379223e-02 -2.06606015e-02 1.55263630e+02] [ 3.38364928e-02 9.99427294e-01 -4.18865795e-04 2.16878414e+00] [ 2.06629426e-02 -2.80545830e-04 9.99786459e-01 1.36368563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01925415399998 meters Centerline goodness [0,1] 0.9989021197533992 Centerline is valid? [True, True] Translation: X:155.29, Y:2.17, Z:1.37 [[ 9.99253840e-01 -3.34844574e-02 -1.92498142e-02 1.55293653e+02] [ 3.34831477e-02 9.99439206e-01 -3.90422892e-04 2.17117500e+00] [ 1.92520922e-02 -2.54412800e-04 9.99814629e-01 1.36586870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04925415399998 meters Centerline goodness [0,1] 0.9990495501203903 Centerline is valid? [True, True] Translation: X:155.32, Y:2.17, Z:1.37 [[ 9.99260221e-01 -3.37187919e-02 -1.84947011e-02 1.55324437e+02] [ 3.37176231e-02 9.99431329e-01 -3.75107760e-04 2.17226142e+00] [ 1.84968319e-02 -2.48767098e-04 9.99828888e-01 1.36688506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07925415399998 meters Centerline goodness [0,1] 0.9989867646127542 Centerline is valid? [True, True] Translation: X:155.35, Y:2.17, Z:1.37 [[ 9.99251601e-01 -3.42810880e-02 -1.79177318e-02 1.55354770e+02] [ 3.42800903e-02 9.99412199e-01 -3.62901335e-04 2.17268811e+00] [ 1.79196404e-02 -2.51591724e-04 9.99839399e-01 1.36726524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10925415399998 meters Centerline goodness [0,1] 0.9988609036830781 Centerline is valid? [True, True] Translation: X:155.39, Y:2.17, Z:1.37 [[ 9.99222347e-01 -3.51794362e-02 -1.78075500e-02 1.55385842e+02] [ 3.51786086e-02 9.99380976e-01 -3.59816524e-04 2.17334910e+00] [ 1.78091849e-02 -2.66908121e-04 9.99841368e-01 1.36779167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13925415399999 meters Centerline goodness [0,1] 0.9989005180251612 Centerline is valid? [True, True] Translation: X:155.42, Y:2.17, Z:1.37 [[ 9.99118340e-01 -3.79425198e-02 -1.79696196e-02 1.55417476e+02] [ 3.79421355e-02 9.99279872e-01 -3.62438333e-04 2.17313264e+00] [ 1.79704310e-02 -3.19686957e-04 9.99838468e-01 1.36773843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.169254154 meters Centerline goodness [0,1] 0.9989439891864492 Centerline is valid? [True, True] Translation: X:155.45, Y:2.17, Z:1.37 [[ 9.99037333e-01 -3.99466238e-02 -1.81293815e-02 1.55448120e+02] [ 3.99465716e-02 9.99201750e-01 -3.65159816e-04 2.17133833e+00] [ 1.81294966e-02 -3.59398345e-04 9.99835583e-01 1.36700412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.199254154 meters Centerline goodness [0,1] 0.9989439891864492 Centerline is valid? [True, True] Translation: X:155.48, Y:2.17, Z:1.37 [[ 9.99038730e-01 -3.99116561e-02 -1.81293910e-02 1.55478966e+02] [ 3.99116067e-02 9.99203148e-01 -3.64684537e-04 2.17192765e+00] [ 1.81294997e-02 -3.59239147e-04 9.99835583e-01 1.36729310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.229254154 meters Centerline goodness [0,1] 0.9987967067764408 Centerline is valid? [True, True] Translation: X:155.51, Y:2.17, Z:1.37 [[ 9.98959556e-01 -4.17956278e-02 -1.82464082e-02 1.55510625e+02] [ 4.17959035e-02 9.99126102e-01 -3.66398454e-04 2.17119759e+00] [ 1.82457766e-02 -3.96607879e-04 9.99833453e-01 1.36742833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259254154 meters Centerline goodness [0,1] 0.9987550641458474 Centerline is valid? [True, True] Translation: X:155.54, Y:2.17, Z:1.37 [[ 9.98790568e-01 -4.54404914e-02 -1.87766739e-02 1.55540725e+02] [ 4.54414363e-02 9.98966933e-01 -3.76547237e-04 2.16882514e+00] [ 1.87743869e-02 -4.77147204e-04 9.99823632e-01 1.36723059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.289254154 meters Centerline goodness [0,1] 0.9988598695184004 Centerline is valid? [True, True] Translation: X:155.57, Y:2.17, Z:1.37 [[ 9.98715470e-01 -4.69189438e-02 -1.91317226e-02 1.55571838e+02] [ 4.69202057e-02 9.98898567e-01 -3.83159190e-04 2.17003157e+00] [ 1.91286277e-02 -5.14997348e-04 9.99816898e-01 1.36798117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319254154 meters Centerline goodness [0,1] 0.9989857369255151 Centerline is valid? [True, True] Translation: X:155.60, Y:2.17, Z:1.37 [[ 9.98659969e-01 -4.79629795e-02 -1.94375496e-02 1.55602780e+02] [ 4.79644964e-02 9.98848966e-01 -3.88420823e-04 2.16900835e+00] [ 1.94338061e-02 -5.44411949e-04 9.99810998e-01 1.36789528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349254154 meters Centerline goodness [0,1] 0.9988796820833685 Centerline is valid? [True, True] Translation: X:155.63, Y:2.17, Z:1.37 [[ 9.98618510e-01 -4.86965226e-02 -1.97413235e-02 1.55634153e+02] [ 4.86982473e-02 9.98813459e-01 -3.93637945e-04 2.16923210e+00] [ 1.97370684e-02 -5.68273717e-04 9.99805044e-01 1.36795914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379254154 meters Centerline goodness [0,1] 0.9989252976504056 Centerline is valid? [True, True] Translation: X:155.67, Y:2.17, Z:1.37 [[ 9.98565951e-01 -4.93939008e-02 -2.06466259e-02 1.55666611e+02] [ 4.93959602e-02 9.98779190e-01 -4.10537563e-04 2.17360829e+00] [ 2.06416984e-02 -6.09911080e-04 9.99786751e-01 1.36910406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409254154 meters Centerline goodness [0,1] 0.9987105502356945 Centerline is valid? [True, True] Translation: X:155.70, Y:2.17, Z:1.37 [[ 9.98561171e-01 -4.90418378e-02 -2.16906769e-02 1.55697780e+02] [ 4.90440746e-02 9.98796523e-01 -4.29149078e-04 2.17160653e+00] [ 2.16856190e-02 -6.35267572e-04 9.99764637e-01 1.36776555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439254154 meters Centerline goodness [0,1] 0.9988342270925624 Centerline is valid? [True, True] Translation: X:155.73, Y:2.18, Z:1.37 [[ 9.98577439e-01 -4.85870515e-02 -2.19635155e-02 1.55730232e+02] [ 4.85892793e-02 9.98818750e-01 -4.32530780e-04 2.17632010e+00] [ 2.19585865e-02 -6.35275909e-04 9.99758679e-01 1.36905737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469254154 meters Centerline goodness [0,1] 0.998750317715835 Centerline is valid? [True, True] Translation: X:155.76, Y:2.18, Z:1.37 [[ 9.98592424e-01 -4.79704773e-02 -2.26275250e-02 1.55761061e+02] [ 4.79727352e-02 9.98848547e-01 -4.43337000e-04 2.17730904e+00] [ 2.26227376e-02 -6.42791296e-04 9.99743866e-01 1.36872167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499254154 meters Centerline goodness [0,1] 0.9987903482523716 Centerline is valid? [True, True] Translation: X:155.79, Y:2.18, Z:1.37 [[ 9.98666533e-01 -4.57658225e-02 -2.38882047e-02 1.55792574e+02] [ 4.57677495e-02 9.98951999e-01 -4.66346892e-04 2.18092302e+00] [ 2.38845126e-02 -6.27584335e-04 9.99714527e-01 1.36837068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52925415399997 meters Centerline goodness [0,1] 0.9987692307692307 Centerline is valid? [True, True] Translation: X:155.82, Y:2.18, Z:1.37 [[ 9.98728858e-01 -4.42050063e-02 -2.42195480e-02 1.55823251e+02] [ 4.42065431e-02 9.99022301e-01 -4.72213253e-04 2.18278791e+00] [ 2.42167428e-02 -5.99049492e-04 9.99706552e-01 1.36843290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55925415399997 meters Centerline goodness [0,1] 0.9989183227640035 Centerline is valid? [True, True] Translation: X:155.85, Y:2.18, Z:1.37 [[ 9.98798766e-01 -4.26199509e-02 -2.41777936e-02 1.55852464e+02] [ 4.26210263e-02 9.99091200e-01 -4.71070024e-04 2.18466831e+00] [ 2.41758978e-02 -5.59978217e-04 9.99707563e-01 1.36861105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58925415399997 meters Centerline goodness [0,1] 0.9990430011483986 Centerline is valid? [True, True] Translation: X:155.88, Y:2.19, Z:1.37 [[ 9.98845355e-01 -4.13478563e-02 -2.44603971e-02 1.55882823e+02] [ 4.13485784e-02 9.99144668e-01 -4.76471467e-04 2.18715952e+00] [ 2.44591764e-02 -5.35481337e-04 9.99700686e-01 1.36926259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61925415399998 meters Centerline goodness [0,1] 0.9990870294486083 Centerline is valid? [True, True] Translation: X:155.91, Y:2.19, Z:1.37 [[ 9.98925804e-01 -3.92057857e-02 -2.47010908e-02 1.55913178e+02] [ 3.92058675e-02 9.99231039e-01 -4.81160012e-04 2.19087685e+00] [ 2.47009609e-02 -4.87784541e-04 9.99694766e-01 1.37039433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64925415399998 meters Centerline goodness [0,1] 0.9989377522838326 Centerline is valid? [True, True] Translation: X:155.94, Y:2.19, Z:1.37 [[ 9.98950509e-01 -3.83690690e-02 -2.50138874e-02 1.55942703e+02] [ 3.83688765e-02 9.99263524e-01 -4.87823489e-04 2.19445296e+00] [ 2.50141826e-02 -4.72443233e-04 9.99686985e-01 1.37224211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67925415399998 meters Centerline goodness [0,1] 0.9990645661925718 Centerline is valid? [True, True] Translation: X:155.97, Y:2.19, Z:1.37 [[ 9.98951510e-01 -3.80885341e-02 -2.53996937e-02 1.55971125e+02] [ 3.80882096e-02 9.99274257e-01 -4.96741695e-04 2.19323032e+00] [ 2.54001802e-02 -4.71207991e-04 9.99677252e-01 1.37056360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70925415399998 meters Centerline goodness [0,1] 0.9989374814059246 Centerline is valid? [True, True] Translation: X:156.00, Y:2.19, Z:1.37 [[ 9.98944642e-01 -3.82290771e-02 -2.54585889e-02 1.56000267e+02] [ 3.82287671e-02 9.99268889e-01 -4.99058354e-04 2.19438875e+00] [ 2.54590543e-02 -4.74718796e-04 9.99675753e-01 1.37119588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73925415399998 meters Centerline goodness [0,1] 0.9989587317778061 Centerline is valid? [True, True] Translation: X:156.03, Y:2.20, Z:1.37 [[ 9.98910080e-01 -3.92778554e-02 -2.52170878e-02 1.56030093e+02] [ 3.92778628e-02 9.99228204e-01 -4.95215562e-04 2.19664770e+00] [ 2.52170764e-02 -4.95797497e-04 9.99681876e-01 1.37357461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76925415399998 meters Centerline goodness [0,1] 0.9988097262370346 Centerline is valid? [True, True] Translation: X:156.06, Y:2.19, Z:1.37 [[ 9.98859598e-01 -4.05836842e-02 -2.51489284e-02 1.56058468e+02] [ 4.05840752e-02 9.99176004e-01 -4.95066458e-04 2.19380640e+00] [ 2.51482974e-02 -5.26144119e-04 9.99683593e-01 1.37175121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79925415399998 meters Centerline goodness [0,1] 0.9989158854664881 Centerline is valid? [True, True] Translation: X:156.09, Y:2.20, Z:1.37 [[ 9.98818539e-01 -4.17057883e-02 -2.49429889e-02 1.56089273e+02] [ 4.17065100e-02 9.99129784e-01 -4.91513609e-04 2.19714008e+00] [ 2.49417821e-02 -5.49352113e-04 9.99688754e-01 1.37461916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82925415399998 meters Centerline goodness [0,1] 0.9987666921833801 Centerline is valid? [True, True] Translation: X:156.12, Y:2.20, Z:1.37 [[ 9.98761285e-01 -4.29237123e-02 -2.51684327e-02 1.56118905e+02] [ 4.29248265e-02 9.99078182e-01 -4.96238904e-04 2.19584433e+00] [ 2.51665324e-02 -5.84726401e-04 9.99683102e-01 1.37390859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85925415399998 meters Centerline goodness [0,1] 0.9989805237559204 Centerline is valid? [True, True] Translation: X:156.15, Y:2.20, Z:1.38 [[ 9.98733632e-01 -4.39289336e-02 -2.45230796e-02 1.56149763e+02] [ 4.39302901e-02 9.99034482e-01 -4.83677958e-04 2.19746888e+00] [ 2.45206496e-02 -5.94240557e-04 9.99699147e-01 1.37520116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88925415399999 meters Centerline goodness [0,1] 0.9989178866963717 Centerline is valid? [True, True] Translation: X:156.18, Y:2.20, Z:1.38 [[ 9.98676107e-01 -4.52463338e-02 -2.44704506e-02 1.56180389e+02] [ 4.52480862e-02 9.98975664e-01 -4.82369803e-04 2.19685914e+00] [ 2.44672101e-02 -6.25509863e-04 9.99700437e-01 1.37512686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.919254154 meters Centerline goodness [0,1] 0.9990222751232783 Centerline is valid? [True, True] Translation: X:156.21, Y:2.20, Z:1.38 [[ 9.98657958e-01 -4.56929470e-02 -2.43810872e-02 1.56211214e+02] [ 4.56948370e-02 9.98955330e-01 -4.79894217e-04 2.19973300e+00] [ 2.43775448e-02 -6.34839627e-04 9.99702622e-01 1.37650952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.949254154 meters Centerline goodness [0,1] 0.9989790275237164 Centerline is valid? [True, True] Translation: X:156.24, Y:2.20, Z:1.38 [[ 9.98642062e-01 -4.59147732e-02 -2.46143565e-02 1.56242396e+02] [ 4.59167890e-02 9.98945151e-01 -4.83588571e-04 2.20068553e+00] [ 2.46105959e-02 -6.47280327e-04 9.99696904e-01 1.37673086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.979254154 meters Centerline goodness [0,1] 0.9988520652197019 Centerline is valid? [True, True] Translation: X:156.27, Y:2.20, Z:1.38 [[ 9.98694416e-01 -4.52241851e-02 -2.37536610e-02 1.56273314e+02] [ 4.52258811e-02 9.98976678e-01 -4.66087742e-04 2.20359652e+00] [ 2.37504318e-02 -6.08801024e-04 9.99717733e-01 1.37758688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.009254154 meters Centerline goodness [0,1] 0.9989782233859122 Centerline is valid? [True, True] Translation: X:156.30, Y:2.20, Z:1.38 [[ 9.98722253e-01 -4.48917064e-02 -2.32076765e-02 1.56303777e+02] [ 4.48932452e-02 9.98991686e-01 -4.54955506e-04 2.20379897e+00] [ 2.32046996e-02 -5.87493724e-04 9.99730562e-01 1.37752397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039254154 meters Centerline goodness [0,1] 0.9986130078525094 Centerline is valid? [True, True] Translation: X:156.34, Y:2.21, Z:1.38 [[ 9.98746516e-01 -4.44964390e-02 -2.29229842e-02 1.56335253e+02] [ 4.44978512e-02 9.99009379e-01 -4.48721009e-04 2.20514783e+00] [ 2.29202427e-02 -5.71864993e-04 9.99737133e-01 1.37804459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069254154 meters Centerline goodness [0,1] 0.9989790926686092 Centerline is valid? [True, True] Translation: X:156.37, Y:2.21, Z:1.38 [[ 9.98810635e-01 -4.36341613e-02 -2.17571857e-02 1.56367041e+02] [ 4.36352503e-02 9.99047439e-01 -4.24913867e-04 2.20692187e+00] [ 2.17550014e-02 -5.24971753e-04 9.99763194e-01 1.37842814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099254154 meters Centerline goodness [0,1] 0.9990189178237038 Centerline is valid? [True, True] Translation: X:156.40, Y:2.21, Z:1.38 [[ 9.98840841e-01 -4.32255651e-02 -2.11784264e-02 1.56398402e+02] [ 4.32265246e-02 9.99065212e-01 -4.12689996e-04 2.20844419e+00] [ 2.11764679e-02 -5.03258149e-04 9.99775627e-01 1.37863024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129254154 meters Centerline goodness [0,1] 0.9989568475507207 Centerline is valid? [True, True] Translation: X:156.43, Y:2.21, Z:1.38 [[ 9.98846647e-01 -4.30214550e-02 -2.13197132e-02 1.56430788e+02] [ 4.30224070e-02 9.99074022e-01 -4.14222363e-04 2.20967518e+00] [ 2.13177921e-02 -5.03480761e-04 9.99772623e-01 1.37900045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159254154 meters Centerline goodness [0,1] 0.9988260154965954 Centerline is valid? [True, True] Translation: X:156.46, Y:2.21, Z:1.38 [[ 9.98856500e-01 -4.28287572e-02 -2.12459621e-02 1.56461485e+02] [ 4.28296875e-02 9.99082303e-01 -4.11453632e-04 2.21014589e+00] [ 2.12440868e-02 -4.98974783e-04 9.99774194e-01 1.37851191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189254154 meters Centerline goodness [0,1] 0.9989321487303249 Centerline is valid? [True, True] Translation: X:156.49, Y:2.21, Z:1.38 [[ 9.98879902e-01 -4.24047629e-02 -2.09946978e-02 1.56493982e+02] [ 4.24056062e-02 9.99100396e-01 -4.05227169e-04 2.21159268e+00] [ 2.09929944e-02 -4.85519611e-04 9.99779505e-01 1.37907266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219254154 meters Centerline goodness [0,1] 0.9988688989905457 Centerline is valid? [True, True] Translation: X:156.53, Y:2.21, Z:1.38 [[ 9.98871987e-01 -4.27493606e-02 -2.06699098e-02 1.56525220e+02] [ 4.27502742e-02 9.99085710e-01 -3.97866990e-04 2.21229834e+00] [ 2.06680201e-02 -4.86226122e-04 9.99786275e-01 1.37916977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249254154 meters Centerline goodness [0,1] 0.9988668434105875 Centerline is valid? [True, True] Translation: X:156.56, Y:2.21, Z:1.38 [[ 9.98853779e-01 -4.33209154e-02 -2.03574614e-02 1.56556007e+02] [ 4.33219394e-02 9.99061088e-01 -3.90912773e-04 2.21095890e+00] [ 2.03552822e-02 -4.91460006e-04 9.99792689e-01 1.37875431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27925415399997 meters Centerline goodness [0,1] 0.9987829354742281 Centerline is valid? [True, True] Translation: X:156.59, Y:2.21, Z:1.38 [[ 9.98822600e-01 -4.39460830e-02 -2.05464157e-02 1.56588645e+02] [ 4.39472858e-02 9.99033774e-01 -3.93202395e-04 2.21230914e+00] [ 2.05438429e-02 -5.10219763e-04 9.99788823e-01 1.37955515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30925415399997 meters Centerline goodness [0,1] 0.998652896273013 Centerline is valid? [True, True] Translation: X:156.62, Y:2.21, Z:1.38 [[ 9.98778957e-01 -4.48813192e-02 -2.06461372e-02 1.56620910e+02] [ 4.48827649e-02 9.98992183e-01 -3.93585874e-04 2.21261440e+00] [ 2.06429943e-02 -5.33550433e-04 9.99786768e-01 1.38011127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33925415399997 meters Centerline goodness [0,1] 0.9987212276214834 Centerline is valid? [True, True] Translation: X:156.65, Y:2.21, Z:1.38 [[ 9.98728330e-01 -4.60599025e-02 -2.04989827e-02 1.56652912e+02] [ 4.60616065e-02 9.98938525e-01 -3.89274465e-04 2.21210309e+00] [ 2.04951535e-02 -5.55436640e-04 9.99789798e-01 1.38012585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36925415399998 meters Centerline goodness [0,1] 0.9986989164747035 Centerline is valid? [True, True] Translation: X:156.68, Y:2.21, Z:1.38 [[ 9.98590090e-01 -4.88522967e-02 -2.07673928e-02 1.56684485e+02] [ 4.88546764e-02 9.98805820e-01 -3.93048129e-04 2.20974259e+00] [ 2.07617941e-02 -6.22090286e-04 9.99784257e-01 1.37948127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39925415399998 meters Centerline goodness [0,1] 0.9991270838212438 Centerline is valid? [True, True] Translation: X:156.72, Y:2.21, Z:1.38 [[ 9.98536769e-01 -4.98595507e-02 -2.09367087e-02 1.56717051e+02] [ 4.98622192e-02 9.98756028e-01 -3.94882016e-04 2.21066959e+00] [ 2.09303527e-02 -6.49646547e-04 9.99780725e-01 1.38021842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42925415399998 meters Centerline goodness [0,1] 0.9988919667590028 Centerline is valid? [True, True] Translation: X:156.75, Y:2.21, Z:1.38 [[ 9.98473768e-01 -5.12015652e-02 -2.07010593e-02 1.56748982e+02] [ 5.12044934e-02 9.98688114e-01 -3.88919325e-04 2.21051365e+00] [ 2.06938152e-02 -6.71661512e-04 9.99785634e-01 1.38040594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45925415399998 meters Centerline goodness [0,1] 0.9989356040447046 Centerline is valid? [True, True] Translation: X:156.78, Y:2.21, Z:1.38 [[ 9.98373756e-01 -5.32308268e-02 -2.04039840e-02 1.56779858e+02] [ 5.32341210e-02 9.98581986e-01 -3.82050727e-04 2.20902584e+00] [ 2.03953877e-02 -7.04758734e-04 9.99791744e-01 1.38063037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48925415399998 meters Centerline goodness [0,1] 0.9987003579342083 Centerline is valid? [True, True] Translation: X:156.81, Y:2.21, Z:1.38 [[ 9.98347884e-01 -5.37800253e-02 -2.02289863e-02 1.56810669e+02] [ 5.37833981e-02 9.98552554e-01 -3.77676391e-04 2.20884946e+00] [ 2.02200174e-02 -7.10931199e-04 9.99795302e-01 1.38089675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51925415399998 meters Centerline goodness [0,1] 0.9987215273486608 Centerline is valid? [True, True] Translation: X:156.84, Y:2.21, Z:1.38 [[ 9.98365202e-01 -5.37780299e-02 -1.93609806e-02 1.56842728e+02] [ 5.37811422e-02 9.98552682e-01 -3.60263815e-04 2.21002934e+00] [ 1.93523334e-02 -6.81580796e-04 9.99812494e-01 1.38189601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54925415399998 meters Centerline goodness [0,1] 0.9988294136426519 Centerline is valid? [True, True] Translation: X:156.88, Y:2.21, Z:1.38 [[ 9.98409648e-01 -5.30343232e-02 -1.91189907e-02 1.56875109e+02] [ 5.30372485e-02 9.98592472e-01 -3.54375791e-04 2.21234305e+00] [ 1.91108743e-02 -6.60206453e-04 9.99817153e-01 1.38304489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57925415399998 meters Centerline goodness [0,1] 0.9987224800919814 Centerline is valid? [True, True] Translation: X:156.91, Y:2.22, Z:1.38 [[ 9.98562434e-01 -5.03490396e-02 -1.83858681e-02 1.56906219e+02] [ 5.03513083e-02 9.98731511e-01 -3.39794894e-04 2.21539234e+00] [ 1.83796541e-02 -5.86446094e-04 9.99830908e-01 1.38459304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60925415399998 meters Centerline goodness [0,1] 0.9985706971584606 Centerline is valid? [True, True] Translation: X:156.94, Y:2.22, Z:1.39 [[ 9.98663905e-01 -4.84619539e-02 -1.79399877e-02 1.56938314e+02] [ 4.84638269e-02 9.98824884e-01 -3.30591747e-04 2.21786445e+00] [ 1.79349272e-02 -5.39290413e-04 9.99839011e-01 1.38563262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63925415399999 meters Centerline goodness [0,1] 0.9988484913103742 Centerline is valid? [True, True] Translation: X:156.97, Y:2.22, Z:1.39 [[ 9.98765500e-01 -4.64458206e-02 -1.76142568e-02 1.56970156e+02] [ 4.64473354e-02 9.98920688e-01 -3.23311585e-04 2.21992714e+00] [ 1.76102619e-02 -4.95222834e-04 9.99844805e-01 1.38645729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.669254154 meters Centerline goodness [0,1] 0.9987633525937614 Centerline is valid? [True, True] Translation: X:157.00, Y:2.22, Z:1.39 [[ 9.98853198e-01 -4.46214499e-02 -1.73555493e-02 1.57002328e+02] [ 4.46226673e-02 9.99003862e-01 -3.17298580e-04 2.22206475e+00] [ 1.73524191e-02 -4.57516201e-04 9.99849331e-01 1.38697193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.699254154 meters Centerline goodness [0,1] 0.999060511594141 Centerline is valid? [True, True] Translation: X:157.03, Y:2.22, Z:1.39 [[ 9.98921780e-01 -4.29674412e-02 -1.75805474e-02 1.57034424e+02] [ 4.29684572e-02 9.99076378e-01 -3.20113878e-04 2.22305558e+00] [ 1.75780641e-02 -4.35640273e-04 9.99845399e-01 1.38703751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.729254154 meters Centerline goodness [0,1] 0.9988251628751469 Centerline is valid? [True, True] Translation: X:157.07, Y:2.22, Z:1.39 [[ 9.98957680e-01 -4.18924760e-02 -1.81266060e-02 1.57066766e+02] [ 4.18934036e-02 9.99122032e-01 -3.28715228e-04 2.22412264e+00] [ 1.81244621e-02 -4.31012620e-04 9.99835646e-01 1.38697963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759254154 meters Centerline goodness [0,1] 0.9988041342786367 Centerline is valid? [True, True] Translation: X:157.10, Y:2.22, Z:1.39 [[ 9.99002636e-01 -4.02273385e-02 -1.93776811e-02 1.57097563e+02] [ 4.02281102e-02 9.99190461e-01 -3.50132832e-04 2.22459331e+00] [ 1.93760790e-02 -4.29743869e-04 9.99812174e-01 1.38581498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.789254154 meters Centerline goodness [0,1] 0.9990388722768048 Centerline is valid? [True, True] Translation: X:157.13, Y:2.22, Z:1.39 [[ 9.99018848e-01 -3.96254726e-02 -1.97778292e-02 1.57129314e+02] [ 3.96261835e-02 9.99214511e-01 -3.56105753e-04 2.22465950e+00] [ 1.97764048e-02 -4.27963531e-04 9.99804336e-01 1.38531842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819254154 meters Centerline goodness [0,1] 0.9987856579816358 Centerline is valid? [True, True] Translation: X:157.16, Y:2.23, Z:1.39 [[ 9.99015621e-01 -3.93239243e-02 -2.05284500e-02 1.57161138e+02] [ 3.93246489e-02 9.99226419e-01 -3.68535335e-04 2.22507124e+00] [ 2.05270619e-02 -4.39101534e-04 9.99789201e-01 1.38500417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849254154 meters Centerline goodness [0,1] 0.9989755629068402 Centerline is valid? [True, True] Translation: X:157.19, Y:2.23, Z:1.39 [[ 9.99025602e-01 -3.86017775e-02 -2.13950862e-02 1.57192257e+02] [ 3.86024159e-02 9.99254575e-01 -3.83309507e-04 2.22689956e+00] [ 2.13939342e-02 -4.42966005e-04 9.99771025e-01 1.38567588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879254154 meters Centerline goodness [0,1] 0.9988468683935169 Centerline is valid? [True, True] Translation: X:157.22, Y:2.23, Z:1.39 [[ 9.99018959e-01 -3.86187795e-02 -2.16727835e-02 1.57223636e+02] [ 3.86194559e-02 9.99253915e-01 -3.87491095e-04 2.22710137e+00] [ 2.16715782e-02 -4.49880156e-04 9.99765043e-01 1.38582638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909254154 meters Centerline goodness [0,1] 0.9987008284880625 Centerline is valid? [True, True] Translation: X:157.25, Y:2.23, Z:1.39 [[ 9.99006432e-01 -3.86868348e-02 -2.21241581e-02 1.57253538e+02] [ 3.86875692e-02 9.99251278e-01 -3.94983364e-04 2.22618723e+00] [ 2.21228739e-02 -4.61338974e-04 9.99755153e-01 1.38537682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939254154 meters Centerline goodness [0,1] 0.998721881390593 Centerline is valid? [True, True] Translation: X:157.28, Y:2.23, Z:1.39 [[ 9.98996357e-01 -3.90330875e-02 -2.19703799e-02 1.57284481e+02] [ 3.90339088e-02 9.99237810e-01 -3.91626583e-04 2.22629839e+00] [ 2.19689207e-02 -4.66356276e-04 9.99758545e-01 1.38564025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969254154 meters Centerline goodness [0,1] 0.9989108382274426 Centerline is valid? [True, True] Translation: X:157.32, Y:2.23, Z:1.39 [[ 9.98995188e-01 -3.87309709e-02 -2.25505116e-02 1.57315919e+02] [ 3.87317778e-02 9.99249563e-01 -4.01148896e-04 2.22836195e+00] [ 2.25491257e-02 -4.72675586e-04 9.99745624e-01 1.38687964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999254154 meters Centerline goodness [0,1] 0.9990180801331996 Centerline is valid? [True, True] Translation: X:157.35, Y:2.23, Z:1.39 [[ 9.99009462e-01 -3.82462442e-02 -2.27446591e-02 1.57346149e+02] [ 3.82469659e-02 9.99268236e-01 -4.03438285e-04 2.22730539e+00] [ 2.27434454e-02 -4.66875539e-04 9.99741225e-01 1.38620255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02925415399997 meters Centerline goodness [0,1] 0.9987180582856167 Centerline is valid? [True, True] Translation: X:157.38, Y:2.23, Z:1.39 [[ 9.99014109e-01 -3.79557957e-02 -2.30253665e-02 1.57376523e+02] [ 3.79564717e-02 9.99279310e-01 -4.07836232e-04 2.22814526e+00] [ 2.30242521e-02 -4.66527522e-04 9.99734798e-01 1.38643812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05925415399997 meters Centerline goodness [0,1] 0.9988473114607125 Centerline is valid? [True, True] Translation: X:157.41, Y:2.23, Z:1.39 [[ 9.99033516e-01 -3.72977477e-02 -2.32575086e-02 1.57406962e+02] [ 3.72982592e-02 9.99304093e-01 -4.11948044e-04 2.22975457e+00] [ 2.32566883e-02 -4.55914681e-04 9.99729423e-01 1.38697582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08925415399997 meters Centerline goodness [0,1] 0.9988473114607125 Centerline is valid? [True, True] Translation: X:157.44, Y:2.23, Z:1.39 [[ 9.99033516e-01 -3.72977477e-02 -2.32575086e-02 1.57436964e+02] [ 3.72982592e-02 9.99304093e-01 -4.11948044e-04 2.23028599e+00] [ 2.32566883e-02 -4.55914681e-04 9.99729423e-01 1.38725695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11925415399998 meters Centerline goodness [0,1] 0.9989315554415882 Centerline is valid? [True, True] Translation: X:157.47, Y:2.23, Z:1.39 [[ 9.99081985e-01 -3.61508132e-02 -2.29849248e-02 1.57467061e+02] [ 3.61510094e-02 9.99346256e-01 -4.07119910e-04 2.23273392e+00] [ 2.29846163e-02 -4.24182065e-04 9.99735729e-01 1.38871431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14925415399998 meters Centerline goodness [0,1] 0.9987602599179206 Centerline is valid? [True, True] Translation: X:157.50, Y:2.23, Z:1.39 [[ 9.99101367e-01 -3.57665708e-02 -2.27422805e-02 1.57497380e+02] [ 3.57666633e-02 9.99360087e-01 -4.02822079e-04 2.23378128e+00] [ 2.27421350e-02 -4.10955401e-04 9.99741280e-01 1.38942408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17925415399998 meters Centerline goodness [0,1] 0.9991877738591429 Centerline is valid? [True, True] Translation: X:157.53, Y:2.24, Z:1.39 [[ 9.99122890e-01 -3.54256873e-02 -2.23264788e-02 1.57528262e+02] [ 3.54256913e-02 9.99372235e-01 -3.95457202e-04 2.23559706e+00] [ 2.23264724e-02 -3.95820605e-04 9.99750655e-01 1.39098328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20925415399998 meters Centerline goodness [0,1] 0.9989737449756264 Centerline is valid? [True, True] Translation: X:157.56, Y:2.23, Z:1.39 [[ 9.99124429e-01 -3.52964055e-02 -2.24619624e-02 1.57557786e+02] [ 3.52963716e-02 9.99376810e-01 -3.98097784e-04 2.23425635e+00] [ 2.24620158e-02 -3.95076551e-04 9.99747619e-01 1.38987718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23925415399998 meters Centerline goodness [0,1] 0.9987794693903771 Centerline is valid? [True, True] Translation: X:157.59, Y:2.24, Z:1.39 [[ 9.99130420e-01 -3.47232206e-02 -2.30803417e-02 1.57587900e+02] [ 3.47230278e-02 9.99396890e-01 -4.09234416e-04 2.23616976e+00] [ 2.30806317e-02 -3.92540794e-04 9.99733530e-01 1.39089268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26925415399998 meters Centerline goodness [0,1] 0.999185667752443 Centerline is valid? [True, True] Translation: X:157.62, Y:2.24, Z:1.39 [[ 9.99142357e-01 -3.44909545e-02 -2.29112466e-02 1.57618835e+02] [ 3.44907036e-02 9.99404936e-01 -4.06236214e-04 2.23791643e+00] [ 2.29116245e-02 -3.84337208e-04 9.99737420e-01 1.39187480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29925415399998 meters Centerline goodness [0,1] 0.9990564823948193 Centerline is valid? [True, True] Translation: X:157.65, Y:2.24, Z:1.39 [[ 9.99143977e-01 -3.42256865e-02 -2.32360752e-02 1.57648975e+02] [ 3.42253507e-02 9.99414056e-01 -4.12252961e-04 2.23904623e+00] [ 2.32365698e-02 -3.83362760e-04 9.99729921e-01 1.39251670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32925415399998 meters Centerline goodness [0,1] 0.9989514230686924 Centerline is valid? [True, True] Translation: X:157.68, Y:2.24, Z:1.39 [[ 9.99152839e-01 -3.35792169e-02 -2.37916254e-02 1.57678170e+02] [ 3.35786712e-02 9.99435988e-01 -4.22553132e-04 2.23982908e+00] [ 2.37923957e-02 -3.76696004e-04 9.99716850e-01 1.39265168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35925415399998 meters Centerline goodness [0,1] 0.9989937699372712 Centerline is valid? [True, True] Translation: X:157.71, Y:2.24, Z:1.39 [[ 9.99243502e-01 -3.14210189e-02 -2.29160093e-02 1.57707693e+02] [ 3.14199299e-02 9.99506189e-01 -4.07666682e-04 2.24146617e+00] [ 2.29175024e-02 -3.12661122e-04 9.99737311e-01 1.39334645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38925415399999 meters Centerline goodness [0,1] 0.9992082513053154 Centerline is valid? [True, True] Translation: X:157.74, Y:2.24, Z:1.39 [[ 9.99286650e-01 -3.01178170e-02 -2.27839547e-02 1.57737205e+02] [ 3.01163829e-02 9.99546316e-01 -4.06150761e-04 2.24233335e+00] [ 2.27858504e-02 -2.80309269e-04 9.99740330e-01 1.39390823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.419254154 meters Centerline goodness [0,1] 0.999166684472554 Centerline is valid? [True, True] Translation: X:157.77, Y:2.24, Z:1.39 [[ 9.99331283e-01 -2.87387396e-02 -2.26068809e-02 1.57765804e+02] [ 2.87368905e-02 9.99586928e-01 -4.06721419e-04 2.24345162e+00] [ 2.26092313e-02 -2.43202025e-04 9.99744349e-01 1.39482030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.449254154 meters Centerline goodness [0,1] 0.9989520733976347 Centerline is valid? [True, True] Translation: X:157.79, Y:2.24, Z:1.40 [[ 9.99381223e-01 -2.72621860e-02 -2.22248370e-02 1.57794724e+02] [ 2.72599081e-02 9.99628297e-01 -4.05506483e-04 2.24493546e+00] [ 2.22276310e-02 -2.00591449e-04 9.99752916e-01 1.39562946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.479254154 meters Centerline goodness [0,1] 0.9989935760171306 Centerline is valid? [True, True] Translation: X:157.82, Y:2.25, Z:1.40 [[ 9.99412854e-01 -2.58567067e-02 -2.24806217e-02 1.57822504e+02] [ 2.58539390e-02 9.99665645e-01 -4.13798138e-04 2.24585815e+00] [ 2.24838046e-02 -1.67657443e-04 9.99747193e-01 1.39551407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.509254154 meters Centerline goodness [0,1] 0.9994432905809049 Centerline is valid? [True, True] Translation: X:157.85, Y:2.25, Z:1.40 [[ 9.99450322e-01 -2.36376926e-02 -2.32446365e-02 1.57849897e+02] [ 2.36340196e-02 9.99720584e-01 -4.32763116e-04 2.24802799e+00] [ 2.32483711e-02 -1.16838957e-04 9.99729713e-01 1.39580533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539254154 meters Centerline goodness [0,1] 0.9994428730607697 Centerline is valid? [True, True] Translation: X:157.88, Y:2.25, Z:1.40 [[ 9.99440259e-01 -2.33362855e-02 -2.39705244e-02 1.57877503e+02] [ 2.33321943e-02 9.99727666e-01 -4.50385601e-04 2.24875525e+00] [ 2.39745068e-02 -1.09151431e-04 9.99712564e-01 1.39505616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569254154 meters Centerline goodness [0,1] 0.9993346782847577 Centerline is valid? [True, True] Translation: X:157.91, Y:2.25, Z:1.40 [[ 9.99427266e-01 -2.33708463e-02 -2.44733091e-02 1.57905757e+02] [ 2.33664648e-02 9.99726859e-01 -4.65027032e-04 2.24900936e+00] [ 2.44774925e-02 -1.07094019e-04 9.99700376e-01 1.39516034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599254154 meters Centerline goodness [0,1] 0.9989489489489489 Centerline is valid? [True, True] Translation: X:157.93, Y:2.25, Z:1.40 [[ 9.99402870e-01 -2.38983283e-02 -2.49554300e-02 1.57934973e+02] [ 2.38937713e-02 9.99714387e-01 -4.80819757e-04 2.24848695e+00] [ 2.49597932e-02 -1.15746692e-04 9.99688449e-01 1.39504206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629254154 meters Centerline goodness [0,1] 0.9991226943980828 Centerline is valid? [True, True] Translation: X:157.96, Y:2.25, Z:1.39 [[ 9.99346076e-01 -2.55888867e-02 -2.55465998e-02 1.57962907e+02] [ 2.55845657e-02 9.99672538e-01 -4.96031079e-04 2.24566595e+00] [ 2.55509271e-02 -1.57891947e-04 9.99673509e-01 1.39414990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659254154 meters Centerline goodness [0,1] 0.9990377419009944 Centerline is valid? [True, True] Translation: X:157.99, Y:2.24, Z:1.39 [[ 9.99307545e-01 -2.77970877e-02 -2.47336460e-02 1.57991203e+02] [ 2.77935869e-02 9.99613566e-01 -4.85366103e-04 2.24408326e+00] [ 2.47375798e-02 -2.02406729e-04 9.99693959e-01 1.39453975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689254154 meters Centerline goodness [0,1] 0.9990377419009944 Centerline is valid? [True, True] Translation: X:158.02, Y:2.24, Z:1.39 [[ 9.99254002e-01 -2.96340740e-02 -2.47641184e-02 1.58019797e+02] [ 2.96309699e-02 9.99560785e-01 -4.92369086e-04 2.24250029e+00] [ 2.47678325e-02 -2.41783067e-04 9.99693201e-01 1.39479682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719254154 meters Centerline goodness [0,1] 0.9990176187933796 Centerline is valid? [True, True] Translation: X:158.05, Y:2.24, Z:1.40 [[ 9.99210393e-01 -3.15356824e-02 -2.41679705e-02 1.58049034e+02] [ 3.15331396e-02 9.99502589e-01 -4.86401070e-04 2.24119394e+00] [ 2.41712881e-02 -2.76074984e-04 9.99707794e-01 1.39559162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749254154 meters Centerline goodness [0,1] 0.9990405117270789 Centerline is valid? [True, True] Translation: X:158.08, Y:2.24, Z:1.40 [[ 9.99159760e-01 -3.36123416e-02 -2.34517608e-02 1.58077662e+02] [ 3.36103822e-02 9.99434897e-01 -4.77819998e-04 2.24072145e+00] [ 2.34545688e-02 -3.10804131e-04 9.99724855e-01 1.39690227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77925415399997 meters Centerline goodness [0,1] 0.9985291923347474 Centerline is valid? [True, True] Translation: X:158.11, Y:2.24, Z:1.40 [[ 9.99045938e-01 -3.72811538e-02 -2.27448869e-02 1.58106828e+02] [ 3.72801914e-02 9.99304743e-01 -4.66479266e-04 2.23811340e+00] [ 2.27464642e-02 -3.81899520e-04 9.99741193e-01 1.39754766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80925415399997 meters Centerline goodness [0,1] 0.998489136679931 Centerline is valid? [True, True] Translation: X:158.14, Y:2.24, Z:1.40 [[ 9.99001174e-01 -3.87466155e-02 -2.22565382e-02 1.58136529e+02] [ 3.87460451e-02 9.99248986e-01 -4.57017747e-04 2.23604415e+00] [ 2.22575312e-02 -4.05791569e-04 9.99752188e-01 1.39712104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83925415399997 meters Centerline goodness [0,1] 0.9988957081271634 Centerline is valid? [True, True] Translation: X:158.17, Y:2.23, Z:1.40 [[ 9.98951697e-01 -4.01390096e-02 -2.20083262e-02 1.58167511e+02] [ 4.01387991e-02 9.99194012e-01 -4.51490646e-04 2.23466240e+00] [ 2.20087101e-02 -4.32370437e-04 9.99757686e-01 1.39722684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86925415399998 meters Centerline goodness [0,1] 0.9990667684737422 Centerline is valid? [True, True] Translation: X:158.20, Y:2.23, Z:1.40 [[ 9.98852718e-01 -4.28859308e-02 -2.13083393e-02 1.58198025e+02] [ 4.28863697e-02 9.99079861e-01 -4.36582956e-04 2.23112630e+00] [ 2.13074559e-02 -4.77755244e-04 9.99772856e-01 1.39704800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89925415399998 meters Centerline goodness [0,1] 0.9993415323180187 Centerline is valid? [True, True] Translation: X:158.23, Y:2.23, Z:1.40 [[ 9.98788891e-01 -4.44269390e-02 -2.11423207e-02 1.58229005e+02] [ 4.44277286e-02 9.99012507e-01 -4.32586164e-04 2.23016050e+00] [ 2.11406613e-02 -5.07243033e-04 9.99776383e-01 1.39772371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92925415399998 meters Centerline goodness [0,1] 0.9990291262135922 Centerline is valid? [True, True] Translation: X:158.26, Y:2.23, Z:1.40 [[ 9.98740615e-01 -4.58936298e-02 -2.02721097e-02 1.58260762e+02] [ 4.58946721e-02 9.98946199e-01 -4.14062790e-04 2.22895580e+00] [ 2.02697497e-02 -5.16840502e-04 9.99794414e-01 1.39816691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95925415399998 meters Centerline goodness [0,1] 0.9994478306114214 Centerline is valid? [True, True] Translation: X:158.29, Y:2.23, Z:1.40 [[ 9.98674194e-01 -4.75708521e-02 -1.96689882e-02 1.58292023e+02] [ 4.75721756e-02 9.98867723e-01 -4.00862178e-04 2.22716956e+00] [ 1.96657868e-02 -5.35365847e-04 9.99806466e-01 1.39872638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98925415399998 meters Centerline goodness [0,1] 0.9988568525339769 Centerline is valid? [True, True] Translation: X:158.32, Y:2.22, Z:1.40 [[ 9.98481224e-01 -5.17398073e-02 -1.89271624e-02 1.58323289e+02] [ 5.17417966e-02 9.98660422e-01 -3.84917109e-04 2.22347281e+00] [ 1.89217235e-02 -5.94992880e-04 9.99820791e-01 1.39914642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01925415399998 meters Centerline goodness [0,1] 0.9990893110532224 Centerline is valid? [True, True] Translation: X:158.36, Y:2.22, Z:1.40 [[ 9.98367877e-01 -5.34808066e-02 -2.00346149e-02 1.58355224e+02] [ 5.34834080e-02 9.98568656e-01 -4.06326145e-04 2.22130530e+00] [ 2.00276692e-02 -6.65856515e-04 9.99799204e-01 1.39889385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04925415399998 meters Centerline goodness [0,1] 0.9991966852697446 Centerline is valid? [True, True] Translation: X:158.39, Y:2.22, Z:1.40 [[ 9.98243301e-01 -5.61034937e-02 -1.90449273e-02 1.58385957e+02] [ 5.61063396e-02 9.98424724e-01 -3.85277443e-04 2.21850905e+00] [ 1.90365417e-02 -6.83940533e-04 9.99818555e-01 1.39895575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07925415399998 meters Centerline goodness [0,1] 0.9990474779332388 Centerline is valid? [True, True] Translation: X:158.42, Y:2.22, Z:1.40 [[ 9.98130689e-01 -5.81283721e-02 -1.88738178e-02 1.58417873e+02] [ 5.81315473e-02 9.98308859e-01 -3.80817587e-04 2.21696853e+00] [ 1.88640358e-02 -7.17058512e-04 9.99821801e-01 1.39919217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10925415399998 meters Centerline goodness [0,1] 0.9986453879693519 Centerline is valid? [True, True] Translation: X:158.45, Y:2.22, Z:1.40 [[ 9.98043937e-01 -5.97065767e-02 -1.85317140e-02 1.58450471e+02] [ 5.97099333e-02 9.98215701e-01 -3.72626932e-04 2.21547945e+00] [ 1.85208961e-02 -7.34629355e-04 9.99828204e-01 1.39922494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13925415399999 meters Centerline goodness [0,1] 0.9988145639288738 Centerline is valid? [True, True] Translation: X:158.48, Y:2.21, Z:1.40 [[ 9.97892968e-01 -6.21515647e-02 -1.86227615e-02 1.58481719e+02] [ 6.21554005e-02 9.98066414e-01 -3.73316671e-04 2.21306278e+00] [ 1.86099550e-02 -7.84975116e-04 9.99826512e-01 1.39955985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.169254154 meters Centerline goodness [0,1] 0.9986881638525665 Centerline is valid? [True, True] Translation: X:158.51, Y:2.22, Z:1.40 [[ 9.97864267e-01 -6.25006770e-02 -1.89886676e-02 1.58514216e+02] [ 6.25047509e-02 9.98044594e-01 -3.79456130e-04 2.21743554e+00] [ 1.89752533e-02 -8.08236222e-04 9.99819627e-01 1.40031482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.199254154 meters Centerline goodness [0,1] 0.99872897513028 Centerline is valid? [True, True] Translation: X:158.55, Y:2.21, Z:1.40 [[ 9.97845946e-01 -6.27041887e-02 -1.92783213e-02 1.58545049e+02] [ 6.27084630e-02 9.98031814e-01 -3.83312468e-04 2.21295928e+00] [ 1.92644133e-02 -8.26427105e-04 9.99814082e-01 1.39900834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.229254154 meters Centerline goodness [0,1] 0.9987303468269251 Centerline is valid? [True, True] Translation: X:158.58, Y:2.21, Z:1.40 [[ 9.97825241e-01 -6.28072811e-02 -2.00008650e-02 1.58576982e+02] [ 6.28119414e-02 9.98025302e-01 -3.95742819e-04 2.21346139e+00] [ 1.99862248e-02 -8.61410984e-04 9.99799884e-01 1.39879188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259254154 meters Centerline goodness [0,1] 0.9988559322033899 Centerline is valid? [True, True] Translation: X:158.61, Y:2.21, Z:1.40 [[ 9.97862924e-01 -6.21382284e-02 -2.02095610e-02 1.58607805e+02] [ 6.21428881e-02 9.98067184e-01 -3.97958659e-04 2.21488288e+00] [ 2.01952280e-02 -8.58772295e-04 9.99795687e-01 1.39823300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.289254154 meters Centerline goodness [0,1] 0.9985808392112008 Centerline is valid? [True, True] Translation: X:158.64, Y:2.22, Z:1.40 [[ 9.97874660e-01 -6.19210501e-02 -2.02964851e-02 1.58638943e+02] [ 6.19257387e-02 9.98080680e-01 -3.98019255e-04 2.21566660e+00] [ 2.02821754e-02 -8.59701502e-04 9.99793926e-01 1.39817345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319254154 meters Centerline goodness [0,1] 0.9987485948204552 Centerline is valid? [True, True] Translation: X:158.67, Y:2.22, Z:1.40 [[ 9.97904825e-01 -6.14834086e-02 -2.01432643e-02 1.58671644e+02] [ 6.14879667e-02 9.98107747e-01 -3.93567126e-04 2.21692239e+00] [ 2.01293460e-02 -8.45825834e-04 9.99797026e-01 1.39814849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349254154 meters Centerline goodness [0,1] 0.9986451298770032 Centerline is valid? [True, True] Translation: X:158.70, Y:2.22, Z:1.40 [[ 9.97935250e-01 -6.08275919e-02 -2.06213926e-02 1.58704177e+02] [ 6.08322627e-02 9.98147922e-01 -4.01294256e-04 2.21843089e+00] [ 2.06076100e-02 -8.53980290e-04 9.99787276e-01 1.39830169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379254154 meters Centerline goodness [0,1] 0.9985129163834127 Centerline is valid? [True, True] Translation: X:158.74, Y:2.23, Z:1.40 [[ 9.98072369e-01 -5.86684729e-02 -2.02375036e-02 1.58735899e+02] [ 5.86725524e-02 9.98277205e-01 -3.92625669e-04 2.23041161e+00] [ 2.02256733e-02 -7.95517159e-04 9.99795124e-01 1.40048514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409254154 meters Centerline goodness [0,1] 0.9988312047091825 Centerline is valid? [True, True] Translation: X:158.77, Y:2.23, Z:1.40 [[ 9.98163936e-01 -5.71634441e-02 -2.00274394e-02 1.58767863e+02] [ 5.71671623e-02 9.98364545e-01 -3.87274698e-04 2.23214788e+00] [ 2.00168234e-02 -7.58348244e-04 9.99799356e-01 1.40056649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439254154 meters Centerline goodness [0,1] 0.9989170824928336 Centerline is valid? [True, True] Translation: X:158.80, Y:2.23, Z:1.40 [[ 9.98268222e-01 -5.55467546e-02 -1.93678764e-02 1.58799916e+02] [ 5.55499547e-02 9.98455839e-01 -3.73143304e-04 2.23494090e+00] [ 1.93586962e-02 -7.03387556e-04 9.99812355e-01 1.40117256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469254154 meters Centerline goodness [0,1] 0.9985546675735419 Centerline is valid? [True, True] Translation: X:158.83, Y:2.24, Z:1.40 [[ 9.98450773e-01 -5.24849459e-02 -1.84765630e-02 1.58830925e+02] [ 5.24873525e-02 9.98621526e-01 -3.54994664e-04 2.24017070e+00] [ 1.84697254e-02 -6.15341176e-04 9.99829231e-01 1.40227543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499254154 meters Centerline goodness [0,1] 0.9987866660990251 Centerline is valid? [True, True] Translation: X:158.86, Y:2.24, Z:1.40 [[ 9.98548972e-01 -5.07286552e-02 -1.80708305e-02 1.58863371e+02] [ 5.07306872e-02 9.98712310e-01 -3.46240438e-04 2.24306302e+00] [ 1.80651252e-02 -5.71007617e-04 9.99836649e-01 1.40267973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52925415399997 meters Centerline goodness [0,1] 0.9989998723241265 Centerline is valid? [True, True] Translation: X:158.89, Y:2.24, Z:1.40 [[ 9.98638702e-01 -4.91799504e-02 -1.73803027e-02 1.58894859e+02] [ 4.91816145e-02 9.98789797e-01 -3.31930514e-04 2.24498643e+00] [ 1.73755933e-02 -5.23312690e-04 9.99848896e-01 1.40298144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55925415399997 meters Centerline goodness [0,1] 0.9989981882127251 Centerline is valid? [True, True] Translation: X:158.93, Y:2.25, Z:1.40 [[ 9.98710001e-01 -4.77396028e-02 -1.72992666e-02 1.58926983e+02] [ 4.77410540e-02 9.98859692e-01 -3.29310048e-04 2.24827969e+00] [ 1.72952613e-02 -4.96999984e-04 9.99850302e-01 1.40339117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58925415399997 meters Centerline goodness [0,1] 0.9991682838924314 Centerline is valid? [True, True] Translation: X:158.96, Y:2.25, Z:1.40 [[ 9.98791970e-01 -4.60690963e-02 -1.70949907e-02 1.58958948e+02] [ 4.60702901e-02 9.98938148e-01 -3.24186538e-04 2.25165918e+00] [ 1.70917733e-02 -4.63776270e-04 9.99853817e-01 1.40385645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61925415399998 meters Centerline goodness [0,1] 0.9988906666666667 Centerline is valid? [True, True] Translation: X:158.99, Y:2.26, Z:1.40 [[ 9.98924226e-01 -4.30384566e-02 -1.72650377e-02 1.58990782e+02] [ 4.30392438e-02 9.99073329e-01 -3.26140155e-04 2.25645766e+00] [ 1.72630752e-02 -4.17284864e-04 9.99850895e-01 1.40377335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64925415399998 meters Centerline goodness [0,1] 0.9988475082701953 Centerline is valid? [True, True] Translation: X:159.02, Y:2.26, Z:1.40 [[ 9.99004258e-01 -4.10665410e-02 -1.74365141e-02 1.59022676e+02] [ 4.10670661e-02 9.99156338e-01 -3.28097315e-04 2.25915708e+00] [ 1.74352774e-02 -3.88295863e-04 9.99847919e-01 1.40406760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67925415399998 meters Centerline goodness [0,1] 0.9990364644669507 Centerline is valid? [True, True] Translation: X:159.05, Y:2.26, Z:1.40 [[ 9.99087693e-01 -3.89760667e-02 -1.74541581e-02 1.59054592e+02] [ 3.89762963e-02 9.99240082e-01 -3.27146027e-04 2.26211909e+00] [ 1.74536452e-02 -3.53450867e-04 9.99847611e-01 1.40434625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70925415399998 meters Centerline goodness [0,1] 0.9991205302559042 Centerline is valid? [True, True] Translation: X:159.09, Y:2.26, Z:1.40 [[ 9.99168989e-01 -3.69115691e-02 -1.72878036e-02 1.59086550e+02] [ 3.69115074e-02 9.99318486e-01 -3.22760225e-04 2.26494160e+00] [ 1.72879353e-02 -3.15626883e-04 9.99850503e-01 1.40475343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73925415399998 meters Centerline goodness [0,1] 0.9991839364329432 Centerline is valid? [True, True] Translation: X:159.12, Y:2.27, Z:1.40 [[ 9.99323634e-01 -3.25779735e-02 -1.70572377e-02 1.59116666e+02] [ 3.25772963e-02 9.99469169e-01 -3.17635061e-04 2.26930669e+00] [ 1.70585311e-02 -2.38258462e-04 9.99854464e-01 1.40484621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76925415399998 meters Centerline goodness [0,1] 0.999203530298138 Centerline is valid? [True, True] Translation: X:159.15, Y:2.27, Z:1.41 [[ 9.99399553e-01 -3.02433403e-02 -1.69078238e-02 1.59147736e+02] [ 3.02423484e-02 9.99542546e-01 -3.14407343e-04 2.27208950e+00] [ 1.69095980e-02 -1.97113740e-04 9.99857003e-01 1.40526523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79925415399998 meters Centerline goodness [0,1] 0.9991814931288502 Centerline is valid? [True, True] Translation: X:159.18, Y:2.27, Z:1.41 [[ 9.99468444e-01 -2.80035799e-02 -1.66922057e-02 1.59179004e+02] [ 2.80023110e-02 9.99607810e-01 -3.09787419e-04 2.27465559e+00] [ 1.66943344e-02 -1.57797586e-04 9.99860627e-01 1.40560991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82925415399998 meters Centerline goodness [0,1] 0.9991383210185045 Centerline is valid? [True, True] Translation: X:159.21, Y:2.28, Z:1.41 [[ 9.99526347e-01 -2.57363565e-02 -1.68737135e-02 1.59209616e+02] [ 2.57347509e-02 9.99668758e-01 -3.12321638e-04 2.27682264e+00] [ 1.68761622e-02 -1.22067107e-04 9.99857580e-01 1.40558521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85925415399998 meters Centerline goodness [0,1] 0.9993319541418844 Centerline is valid? [True, True] Translation: X:159.24, Y:2.28, Z:1.41 [[ 9.99576954e-01 -2.36016768e-02 -1.69962885e-02 1.59239680e+02] [ 2.35997495e-02 9.99721438e-01 -3.13983069e-04 2.27912390e+00] [ 1.69989645e-02 -8.72579095e-05 9.99855503e-01 1.40567745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88925415399999 meters Centerline goodness [0,1] 0.9992459821620923 Centerline is valid? [True, True] Translation: X:159.27, Y:2.28, Z:1.41 [[ 9.99654009e-01 -2.05819847e-02 -1.63781690e-02 1.59269547e+02] [ 2.05797856e-02 9.99788168e-01 -3.02816264e-04 2.28167587e+00] [ 1.63809322e-02 -3.43477154e-05 9.99865823e-01 1.40627695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.919254154 meters Centerline goodness [0,1] 0.9992923921434085 Centerline is valid? [True, True] Translation: X:159.30, Y:2.28, Z:1.41 [[ 9.99684158e-01 -1.97298858e-02 -1.55664976e-02 1.59299378e+02] [ 1.97277876e-02 9.99805347e-01 -2.88351623e-04 2.28246664e+00] [ 1.55691567e-02 -1.88320087e-05 9.99878793e-01 1.40668179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.949254154 meters Centerline goodness [0,1] 0.9991824088816215 Centerline is valid? [True, True] Translation: X:159.33, Y:2.28, Z:1.41 [[ 9.99703616e-01 -1.96404702e-02 -1.43851012e-02 1.59329245e+02] [ 1.96386620e-02 9.99807107e-01 -2.66959863e-04 2.28212861e+00] [ 1.43875697e-02 -1.56234007e-05 9.99896493e-01 1.40793970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.979254154 meters Centerline goodness [0,1] 0.9990334013532381 Centerline is valid? [True, True] Translation: X:159.36, Y:2.28, Z:1.41 [[ 9.99693964e-01 -2.03863110e-02 -1.40134650e-02 1.59358714e+02] [ 2.03846613e-02 9.99792177e-01 -2.60560902e-04 2.28170045e+00] [ 1.40158646e-02 -2.51785783e-05 9.99901773e-01 1.40842112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.009254154 meters Centerline goodness [0,1] 0.9990334013532381 Centerline is valid? [True, True] Translation: X:159.39, Y:2.28, Z:1.41 [[ 9.99693964e-01 -2.03863142e-02 -1.40134588e-02 1.59388707e+02] [ 2.03846598e-02 9.99792177e-01 -2.60897681e-04 2.28225902e+00] [ 1.40158652e-02 -2.48417530e-05 9.99901773e-01 1.40870228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039254154 meters Centerline goodness [0,1] 0.9990756465100281 Centerline is valid? [True, True] Translation: X:159.42, Y:2.28, Z:1.41 [[ 9.99677136e-01 -2.12625785e-02 -1.39113460e-02 1.59419724e+02] [ 2.12610330e-02 9.99773925e-01 -2.58996580e-04 2.28141995e+00] [ 1.39137079e-02 -3.68566258e-05 9.99903199e-01 1.40912093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069254154 meters Centerline goodness [0,1] 0.9990563407467776 Centerline is valid? [True, True] Translation: X:159.45, Y:2.28, Z:1.41 [[ 9.99648131e-01 -2.25953459e-02 -1.38948020e-02 1.59450317e+02] [ 2.25939328e-02 9.99744691e-01 -2.58688570e-04 2.28028126e+00] [ 1.38970997e-02 -5.53406771e-05 9.99903429e-01 1.40912013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099254154 meters Centerline goodness [0,1] 0.9989913730203013 Centerline is valid? [True, True] Translation: X:159.48, Y:2.28, Z:1.41 [[ 9.99566374e-01 -2.55146498e-02 -1.46992292e-02 1.59480583e+02] [ 2.55133839e-02 9.99674443e-01 -2.73665115e-04 2.27666997e+00] [ 1.47014262e-02 -1.01480632e-04 9.99891923e-01 1.40826762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129254154 meters Centerline goodness [0,1] 0.999100507570728 Centerline is valid? [True, True] Translation: X:159.51, Y:2.27, Z:1.41 [[ 9.99519931e-01 -2.68771699e-02 -1.54118454e-02 1.59511961e+02] [ 2.68759437e-02 9.99638735e-01 -2.86710936e-04 2.27488863e+00] [ 1.54139837e-02 -1.27634594e-04 9.99881189e-01 1.40778668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159254154 meters Centerline goodness [0,1] 0.9990160427807486 Centerline is valid? [True, True] Translation: X:159.54, Y:2.27, Z:1.41 [[ 9.99455780e-01 -2.88180027e-02 -1.60520260e-02 1.59543586e+02] [ 2.88169324e-02 9.99584662e-01 -2.98020150e-04 2.27315262e+00] [ 1.60539473e-02 -1.64712186e-04 9.99871114e-01 1.40756015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189254154 meters Centerline goodness [0,1] 0.9989990203177578 Centerline is valid? [True, True] Translation: X:159.58, Y:2.27, Z:1.41 [[ 9.99409099e-01 -3.03113867e-02 -1.62071872e-02 1.59575158e+02] [ 3.03105015e-02 9.99540486e-01 -3.00309662e-04 2.27139828e+00] [ 1.62088426e-02 -1.91115764e-04 9.99868610e-01 1.40758996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219254154 meters Centerline goodness [0,1] 0.9989128581173261 Centerline is valid? [True, True] Translation: X:159.61, Y:2.27, Z:1.41 [[ 9.99370377e-01 -3.14889071e-02 -1.63492676e-02 1.59605941e+02] [ 3.14881715e-02 9.99504079e-01 -3.02475038e-04 2.26945020e+00] [ 1.63506843e-02 -2.12523949e-04 9.99866296e-01 1.40729206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249254154 meters Centerline goodness [0,1] 0.9988059446896522 Centerline is valid? [True, True] Translation: X:159.64, Y:2.27, Z:1.41 [[ 9.99342257e-01 -3.22801158e-02 -1.65241753e-02 1.59637203e+02] [ 3.22794795e-02 9.99478835e-01 -3.05285605e-04 2.26875379e+00] [ 1.65254181e-02 -2.28306974e-04 9.99863420e-01 1.40763729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27925415399997 meters Centerline goodness [0,1] 0.9989572027495797 Centerline is valid? [True, True] Translation: X:159.67, Y:2.27, Z:1.41 [[ 9.99334443e-01 -3.24514530e-02 -1.66605409e-02 1.59667966e+02] [ 3.24508378e-02 9.99473286e-01 -3.07338675e-04 2.26678351e+00] [ 1.66617391e-02 -2.33514387e-04 9.99861156e-01 1.40717332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30925415399997 meters Centerline goodness [0,1] 0.9989568697577383 Centerline is valid? [True, True] Translation: X:159.70, Y:2.27, Z:1.41 [[ 9.99350517e-01 -3.19683768e-02 -1.66303130e-02 1.59698963e+02] [ 3.19677041e-02 9.99488855e-01 -3.06349555e-04 2.26775208e+00] [ 1.66316060e-02 -2.25482339e-04 9.99861660e-01 1.40787707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33925415399997 meters Centerline goodness [0,1] 0.9990845220353417 Centerline is valid? [True, True] Translation: X:159.73, Y:2.27, Z:1.41 [[ 9.99371270e-01 -3.11645797e-02 -1.69066134e-02 1.59730364e+02] [ 3.11637800e-02 9.99514243e-01 -3.10815539e-04 2.26775781e+00] [ 1.69080874e-02 -2.16253863e-04 9.99857025e-01 1.40816541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36925415399998 meters Centerline goodness [0,1] 0.9989785930118739 Centerline is valid? [True, True] Translation: X:159.76, Y:2.27, Z:1.41 [[ 9.99411811e-01 -3.00146159e-02 -1.65877725e-02 1.59762071e+02] [ 3.00136977e-02 9.99549441e-01 -3.04351587e-04 2.26803924e+00] [ 1.65894338e-02 -1.93687819e-04 9.99862367e-01 1.40883934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39925415399998 meters Centerline goodness [0,1] 0.9991056218057922 Centerline is valid? [True, True] Translation: X:159.79, Y:2.27, Z:1.41 [[ 9.99524263e-01 -2.68570008e-02 -1.51640892e-02 1.59793149e+02] [ 2.68558782e-02 9.99639277e-01 -2.77698383e-04 2.26775298e+00] [ 1.51660773e-02 -1.29678660e-04 9.99884980e-01 1.41023841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42925415399998 meters Centerline goodness [0,1] 0.9988524311458687 Centerline is valid? [True, True] Translation: X:159.82, Y:2.27, Z:1.41 [[ 9.99579630e-01 -2.48725998e-02 -1.48968727e-02 1.59824266e+02] [ 2.48713042e-02 9.99690624e-01 -2.72258122e-04 2.26807987e+00] [ 1.48990357e-02 -9.83609784e-05 9.99888998e-01 1.41081297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45925415399998 meters Centerline goodness [0,1] 0.9990215680435615 Centerline is valid? [True, True] Translation: X:159.85, Y:2.27, Z:1.41 [[ 9.99632960e-01 -2.27705773e-02 -1.46780864e-02 1.59854869e+02] [ 2.27690993e-02 9.99740715e-01 -2.67820525e-04 2.26828650e+00] [ 1.46803790e-02 -6.64845830e-05 9.99892235e-01 1.41125912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48925415399998 meters Centerline goodness [0,1] 0.998915839374163 Centerline is valid? [True, True] Translation: X:159.89, Y:2.27, Z:1.41 [[ 9.99715543e-01 -1.89057591e-02 -1.45397593e-02 1.59885387e+02] [ 1.89039026e-02 9.99821270e-01 -2.65126217e-04 2.26881991e+00] [ 1.45421731e-02 -9.80739412e-06 9.99894257e-01 1.41249992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51925415399998 meters Centerline goodness [0,1] 0.9988539168453 Centerline is valid? [True, True] Translation: X:159.92, Y:2.27, Z:1.41 [[ 9.99742337e-01 -1.72208148e-02 -1.47886113e-02 1.59915385e+02] [ 1.72187068e-02 9.99851711e-01 -2.69864373e-04 2.26868032e+00] [ 1.47910656e-02 1.51540774e-05 9.99890606e-01 1.41251584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54925415399998 meters Centerline goodness [0,1] 0.9989597044711477 Centerline is valid? [True, True] Translation: X:159.94, Y:2.27, Z:1.41 [[ 9.99764043e-01 -1.56677266e-02 -1.50459602e-02 1.59943766e+02] [ 1.56653587e-02 9.99877253e-01 -2.75225220e-04 2.26844046e+00] [ 1.50484255e-02 3.94599157e-05 9.99886765e-01 1.41197868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57925415399998 meters Centerline goodness [0,1] 0.9988764759502258 Centerline is valid? [True, True] Translation: X:159.97, Y:2.27, Z:1.41 [[ 9.99770061e-01 -1.49844729e-02 -1.53391878e-02 1.59971527e+02] [ 1.49818964e-02 9.99887725e-01 -2.82873074e-04 2.26744751e+00] [ 1.53417043e-02 5.29979074e-05 9.99882308e-01 1.41224919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60925415399998 meters Centerline goodness [0,1] 0.9989017719487212 Centerline is valid? [True, True] Translation: X:160.00, Y:2.26, Z:1.41 [[ 9.99772385e-01 -1.40478814e-02 -1.60572281e-02 1.59999723e+02] [ 1.40448811e-02 9.99901321e-01 -2.99610079e-04 2.26461211e+00] [ 1.60598525e-02 7.40200234e-05 9.99871030e-01 1.41153171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63925415399999 meters Centerline goodness [0,1] 0.998940431032656 Centerline is valid? [True, True] Translation: X:160.03, Y:2.26, Z:1.41 [[ 9.99753878e-01 -1.46629899e-02 -1.66487512e-02 1.60027321e+02] [ 1.46598001e-02 9.99892490e-01 -3.13626742e-04 2.26296214e+00] [ 1.66515600e-02 6.94821865e-05 9.99861351e-01 1.41104233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.669254154 meters Centerline goodness [0,1] 0.9988158924153681 Centerline is valid? [True, True] Translation: X:160.06, Y:2.26, Z:1.41 [[ 9.99726458e-01 -1.57590235e-02 -1.72818589e-02 1.60055573e+02] [ 1.57556617e-02 9.99875817e-01 -3.30671121e-04 2.26093175e+00] [ 1.72849239e-02 5.82935466e-05 9.99850603e-01 1.41098884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.699254154 meters Centerline goodness [0,1] 0.9990684281842819 Centerline is valid? [True, True] Translation: X:160.08, Y:2.26, Z:1.41 [[ 9.99695717e-01 -1.70379407e-02 -1.78376826e-02 1.60082439e+02] [ 1.70344931e-02 9.99854843e-01 -3.45213501e-04 2.25877342e+00] [ 1.78409751e-02 4.12525782e-05 9.99840836e-01 1.41012100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.729254154 meters Centerline goodness [0,1] 0.9991549950355958 Centerline is valid? [True, True] Translation: X:160.11, Y:2.26, Z:1.41 [[ 9.99653397e-01 -1.89787245e-02 -1.82453726e-02 1.60110203e+02] [ 1.89753724e-02 9.99819888e-01 -3.56844265e-04 2.25651283e+00] [ 1.82488588e-02 1.05078427e-05 9.99833476e-01 1.41024336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759254154 meters Centerline goodness [0,1] 0.9991370237844664 Centerline is valid? [True, True] Translation: X:160.14, Y:2.25, Z:1.41 [[ 9.99581821e-01 -2.22118046e-02 -1.85153708e-02 1.60138042e+02] [ 2.22088073e-02 9.99753286e-01 -3.67515191e-04 2.25118141e+00] [ 1.85189660e-02 -4.38427975e-05 9.99828508e-01 1.41078337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.789254154 meters Centerline goodness [0,1] 0.9991784977040064 Centerline is valid? [True, True] Translation: X:160.17, Y:2.25, Z:1.41 [[ 9.99557992e-01 -2.36708182e-02 -1.79864821e-02 1.60165563e+02] [ 2.36681636e-02 9.99719805e-01 -3.60473440e-04 2.24883308e+00] [ 1.79899751e-02 -6.53928926e-05 9.99838165e-01 1.41092764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819254154 meters Centerline goodness [0,1] 0.9992004040063968 Centerline is valid? [True, True] Translation: X:160.19, Y:2.25, Z:1.41 [[ 9.99532171e-01 -2.50187696e-02 -1.75926120e-02 1.60193031e+02] [ 2.50164110e-02 9.99686978e-01 -3.54153943e-04 2.24601863e+00] [ 1.75959656e-02 -8.61157536e-05 9.99845175e-01 1.41086104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849254154 meters Centerline goodness [0,1] 0.9986308871851041 Centerline is valid? [True, True] Translation: X:160.22, Y:2.24, Z:1.41 [[ 9.99510272e-01 -2.62298977e-02 -1.70648357e-02 1.60221656e+02] [ 2.62278079e-02 9.99655932e-01 -3.46292406e-04 2.24422131e+00] [ 1.70680474e-02 -1.01450416e-04 9.99854325e-01 1.41220143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879254154 meters Centerline goodness [0,1] 0.9990530103747974 Centerline is valid? [True, True] Translation: X:160.25, Y:2.24, Z:1.41 [[ 9.99484793e-01 -2.76999655e-02 -1.62129765e-02 1.60251098e+02] [ 2.76982320e-02 9.99616275e-01 -3.31501159e-04 2.24229236e+00] [ 1.62159377e-02 -1.17740418e-04 9.99868506e-01 1.41339370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909254154 meters Centerline goodness [0,1] 0.9990781092859538 Centerline is valid? [True, True] Translation: X:160.28, Y:2.24, Z:1.41 [[ 9.99424369e-01 -3.02455448e-02 -1.53667838e-02 1.60281215e+02] [ 3.02442818e-02 9.99542488e-01 -3.14629112e-04 2.23748607e+00] [ 1.53692694e-02 -1.50309337e-04 9.99881875e-01 1.41423849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939254154 meters Centerline goodness [0,1] 0.9989723154362417 Centerline is valid? [True, True] Translation: X:160.31, Y:2.23, Z:1.41 [[ 9.99373393e-01 -3.20137255e-02 -1.50977613e-02 1.60311478e+02] [ 3.20127071e-02 9.99487414e-01 -3.09184375e-04 2.23492258e+00] [ 1.50999205e-02 -1.74329571e-04 9.99885975e-01 1.41451446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969254154 meters Centerline goodness [0,1] 0.9991197183098591 Centerline is valid? [True, True] Translation: X:160.34, Y:2.23, Z:1.41 [[ 9.99316220e-01 -3.39008526e-02 -1.47588905e-02 1.60343034e+02] [ 3.39000904e-02 9.99425181e-01 -3.01887468e-04 2.23264463e+00] [ 1.47606411e-02 -1.98646680e-04 9.99891036e-01 1.41487369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999254154 meters Centerline goodness [0,1] 0.9990577100259653 Centerline is valid? [True, True] Translation: X:160.37, Y:2.23, Z:1.41 [[ 9.99137553e-01 -3.87785386e-02 -1.48450654e-02 1.60374737e+02] [ 3.87783135e-02 9.99247792e-01 -3.03116731e-04 2.22616097e+00] [ 1.48456532e-02 -2.72811290e-04 9.99889760e-01 1.41482089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02925415399997 meters Centerline goodness [0,1] 0.9990407073740407 Centerline is valid? [True, True] Translation: X:160.41, Y:2.22, Z:1.41 [[ 9.99024630e-01 -4.16869536e-02 -1.45597239e-02 1.60406148e+02] [ 4.16870547e-02 9.99130673e-01 -2.96683500e-04 2.22247451e+00] [ 1.45594345e-02 -3.10557881e-04 9.99893958e-01 1.41482341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05925415399997 meters Centerline goodness [0,1] 0.9991015086296962 Centerline is valid? [True, True] Translation: X:160.44, Y:2.22, Z:1.41 [[ 9.98898225e-01 -4.45425322e-02 -1.47749374e-02 1.60436636e+02] [ 4.45429573e-02 9.99007425e-01 -3.00465107e-04 2.21809590e+00] [ 1.47736556e-02 -3.57985344e-04 9.99890800e-01 1.41460724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08925415399997 meters Centerline goodness [0,1] 0.9991010390316308 Centerline is valid? [True, True] Translation: X:160.47, Y:2.21, Z:1.42 [[ 9.98573362e-01 -5.12092048e-02 -1.51280286e-02 1.60467302e+02] [ 5.12104188e-02 9.98687838e-01 -3.07371014e-04 2.21400775e+00] [ 1.51239184e-02 -4.67780171e-04 9.99885518e-01 1.41506248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11925415399998 meters Centerline goodness [0,1] 0.9990807671416037 Centerline is valid? [True, True] Translation: X:160.50, Y:2.21, Z:1.41 [[ 9.98395480e-01 -5.46177747e-02 -1.49453488e-02 1.60498643e+02] [ 5.46193466e-02 9.98507203e-01 -3.03283838e-04 2.21104827e+00] [ 1.49396031e-02 -5.13507974e-04 9.99888266e-01 1.41481327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14925415399998 meters Centerline goodness [0,1] 0.9989969071303185 Centerline is valid? [True, True] Translation: X:160.53, Y:2.21, Z:1.41 [[ 9.98187199e-01 -5.81660821e-02 -1.54603350e-02 1.60529627e+02] [ 5.81681964e-02 9.98306748e-01 -3.13265163e-04 2.20875013e+00] [ 1.54523782e-02 -5.86602528e-04 9.99880433e-01 1.41485150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17925415399998 meters Centerline goodness [0,1] 0.9991019964915212 Centerline is valid? [True, True] Translation: X:160.56, Y:2.21, Z:1.41 [[ 9.98000218e-01 -6.12489471e-02 -1.56247055e-02 1.60560103e+02] [ 6.12514883e-02 9.98122315e-01 -3.16305137e-04 2.20516333e+00] [ 1.56147406e-02 -6.41363873e-04 9.99877877e-01 1.41456045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20925415399998 meters Centerline goodness [0,1] 0.9988736859669615 Centerline is valid? [True, True] Translation: X:160.59, Y:2.20, Z:1.41 [[ 9.97563383e-01 -6.78114228e-02 -1.63983926e-02 1.60590579e+02] [ 6.78151098e-02 9.97697850e-01 -3.31764551e-04 2.19951720e+00] [ 1.63831385e-02 -7.81102628e-04 9.99865482e-01 1.41350245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23925415399998 meters Centerline goodness [0,1] 0.9986669721522151 Centerline is valid? [True, True] Translation: X:160.62, Y:2.20, Z:1.41 [[ 9.97346677e-01 -7.08335871e-02 -1.67990992e-02 1.60620851e+02] [ 7.08378869e-02 9.97487784e-01 -3.39705988e-04 2.19512665e+00] [ 1.67809588e-02 -8.51208051e-04 9.99858827e-01 1.41288946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26925415399998 meters Centerline goodness [0,1] 0.9988330415937318 Centerline is valid? [True, True] Translation: X:160.65, Y:2.20, Z:1.41 [[ 9.97152354e-01 -7.33754056e-02 -1.74135786e-02 1.60651918e+02] [ 7.33804178e-02 9.97303961e-01 -3.51809167e-04 2.19532301e+00] [ 1.73924450e-02 -9.27008331e-04 9.99848310e-01 1.41303340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29925415399998 meters Centerline goodness [0,1] 0.9985825064621029 Centerline is valid? [True, True] Translation: X:160.68, Y:2.19, Z:1.41 [[ 9.96969121e-01 -7.57496096e-02 -1.77360829e-02 1.60682536e+02] [ 7.57551895e-02 9.97126383e-01 -3.58000475e-04 2.19311787e+00] [ 1.77122345e-02 -9.86684898e-04 9.99842639e-01 1.41314534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32925415399998 meters Centerline goodness [0,1] 0.9988549777241121 Centerline is valid? [True, True] Translation: X:160.71, Y:2.19, Z:1.41 [[ 9.96817035e-01 -7.76573350e-02 -1.80315648e-02 1.60713916e+02] [ 7.76634221e-02 9.96979569e-01 -3.63484119e-04 2.19237414e+00] [ 1.80053289e-02 -1.03806587e-03 9.99837352e-01 1.41324000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35925415399998 meters Centerline goodness [0,1] 0.9987471026749358 Centerline is valid? [True, True] Translation: X:160.74, Y:2.19, Z:1.41 [[ 9.96585497e-01 -8.04771525e-02 -1.84600911e-02 1.60744536e+02] [ 8.04840237e-02 9.96755830e-01 -3.71619224e-04 2.19211011e+00] [ 1.84301103e-02 -1.11539208e-03 9.99829529e-01 1.41354068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38925415399999 meters Centerline goodness [0,1] 0.9985200933800233 Centerline is valid? [True, True] Translation: X:160.78, Y:2.19, Z:1.41 [[ 9.96524170e-01 -8.12287335e-02 -1.84789730e-02 1.60776226e+02] [ 8.12357596e-02 9.96694845e-01 -3.71346869e-04 2.19294037e+00] [ 1.84480612e-02 -1.13109728e-03 9.99829180e-01 1.41395446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.419254154 meters Centerline goodness [0,1] 0.9985579635938056 Centerline is valid? [True, True] Translation: X:160.81, Y:2.19, Z:1.41 [[ 9.96490412e-01 -8.15680767e-02 -1.88017994e-02 1.60807151e+02] [ 8.15754295e-02 9.96667100e-01 -3.76826769e-04 2.19329972e+00] [ 1.87698719e-02 -1.15826060e-03 9.99823160e-01 1.41432135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.449254154 meters Centerline goodness [0,1] 0.9987261146496815 Centerline is valid? [True, True] Translation: X:160.84, Y:2.19, Z:1.41 [[ 9.96519016e-01 -8.12361657e-02 -1.87226035e-02 1.60839620e+02] [ 8.12434198e-02 9.96694219e-01 -3.74091925e-04 2.19467675e+00] [ 1.86911005e-02 -1.14829862e-03 9.99824647e-01 1.41484130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.479254154 meters Centerline goodness [0,1] 0.9987463435018805 Centerline is valid? [True, True] Translation: X:160.87, Y:2.20, Z:1.42 [[ 9.96570556e-01 -8.06166739e-02 -1.86568652e-02 1.60871375e+02] [ 8.06237932e-02 9.96744534e-01 -3.71479603e-04 2.19630505e+00] [ 1.86260759e-02 -1.13398161e-03 9.99825877e-01 1.41553061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.509254154 meters Centerline goodness [0,1] 0.9985575113935694 Centerline is valid? [True, True] Translation: X:160.90, Y:2.20, Z:1.42 [[ 9.96706179e-01 -7.90539273e-02 -1.80905700e-02 1.60901370e+02] [ 7.90603785e-02 9.96869764e-01 -3.59422247e-04 2.19925218e+00] [ 1.80623560e-02 -1.07200894e-03 9.99836288e-01 1.41638875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539254154 meters Centerline goodness [0,1] 0.9984545340629046 Centerline is valid? [True, True] Translation: X:160.93, Y:2.20, Z:1.42 [[ 9.96790469e-01 -7.80111456e-02 -1.79727924e-02 1.60933783e+02] [ 7.80173575e-02 9.96951937e-01 -3.56331072e-04 2.20169506e+00] [ 1.79458080e-02 -1.04700236e-03 9.99838413e-01 1.41693990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569254154 meters Centerline goodness [0,1] 0.9986613399150788 Centerline is valid? [True, True] Translation: X:160.96, Y:2.21, Z:1.42 [[ 9.96995614e-01 -7.53468933e-02 -1.79608095e-02 1.60963833e+02] [ 7.53526801e-02 9.97156882e-01 -3.55306045e-04 2.20561615e+00] [ 1.79365160e-02 -9.99156561e-04 9.99838629e-01 1.41711941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599254154 meters Centerline goodness [0,1] 0.9987903562192375 Centerline is valid? [True, True] Translation: X:161.00, Y:2.21, Z:1.42 [[ 9.97098583e-01 -7.38654817e-02 -1.83930983e-02 1.60995163e+02] [ 7.38713080e-02 9.97267716e-01 -3.63381268e-04 2.21173225e+00] [ 1.83696845e-02 -9.96395282e-04 9.99830767e-01 1.41744771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629254154 meters Centerline goodness [0,1] 0.9985555485775294 Centerline is valid? [True, True] Translation: X:161.03, Y:2.22, Z:1.42 [[ 9.97223266e-01 -7.19780475e-02 -1.91028230e-02 1.61026802e+02] [ 7.19840035e-02 9.97405716e-01 -3.76537240e-04 2.21828616e+00] [ 1.90803672e-02 -9.99605977e-04 9.99817454e-01 1.41745269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659254154 meters Centerline goodness [0,1] 0.9988253309000902 Centerline is valid? [True, True] Translation: X:161.06, Y:2.22, Z:1.42 [[ 9.97336576e-01 -7.04195224e-02 -1.89959001e-02 1.61057523e+02] [ 7.04251460e-02 9.97516997e-01 -3.73581599e-04 2.21795422e+00] [ 1.89750407e-02 -9.65202449e-04 9.99819492e-01 1.41750853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689254154 meters Centerline goodness [0,1] 0.9989497563434717 Centerline is valid? [True, True] Translation: X:161.09, Y:2.23, Z:1.42 [[ 9.97648937e-01 -6.58914102e-02 -1.88393521e-02 1.61088039e+02] [ 6.58961454e-02 9.97826418e-01 -3.69996481e-04 2.23037914e+00] [ 1.88227828e-02 -8.72314087e-04 9.99822455e-01 1.41946722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719254154 meters Centerline goodness [0,1] 0.9988667841853437 Centerline is valid? [True, True] Translation: X:161.12, Y:2.24, Z:1.42 [[ 9.97848791e-01 -6.26208136e-02 -1.94016293e-02 1.61119778e+02] [ 6.26252330e-02 9.98037041e-01 -3.80298860e-04 2.23577503e+00] [ 1.93873594e-02 -8.35550801e-04 9.99811698e-01 1.41918862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749254154 meters Centerline goodness [0,1] 0.9989284138423717 Centerline is valid? [True, True] Translation: X:161.15, Y:2.24, Z:1.42 [[ 9.98023187e-01 -5.99678708e-02 -1.88035476e-02 1.61150992e+02] [ 5.99715680e-02 9.98200018e-01 -3.67712693e-04 2.24058883e+00] [ 1.87917525e-02 -7.60692440e-04 9.99823130e-01 1.42119924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77925415399997 meters Centerline goodness [0,1] 0.9988669030782467 Centerline is valid? [True, True] Translation: X:161.18, Y:2.25, Z:1.42 [[ 9.98229686e-01 -5.63158992e-02 -1.91314687e-02 1.61181984e+02] [ 5.63190705e-02 9.98412752e-01 -3.73404753e-04 2.24553856e+00] [ 1.91221309e-02 -7.04722823e-04 9.99816907e-01 1.42144364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80925415399997 meters Centerline goodness [0,1] 0.9989090069865514 Centerline is valid? [True, True] Translation: X:161.21, Y:2.24, Z:1.42 [[ 9.98449505e-01 -5.23690565e-02 -1.88697462e-02 1.61212584e+02] [ 5.23714474e-02 9.98627606e-01 -3.67775458e-04 2.24130022e+00] [ 1.88631096e-02 -6.21030697e-04 9.99821883e-01 1.41909899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83925415399997 meters Centerline goodness [0,1] 0.9992842255952507 Centerline is valid? [True, True] Translation: X:161.24, Y:2.26, Z:1.42 [[ 9.98849678e-01 -4.41046423e-02 -1.88175676e-02 1.61243088e+02] [ 4.41055617e-02 9.99026809e-01 -3.66358045e-04 2.25948003e+00] [ 1.88154126e-02 -4.64022774e-04 9.99822867e-01 1.42177972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86925415399998 meters Centerline goodness [0,1] 0.9992010596472047 Centerline is valid? [True, True] Translation: X:161.27, Y:2.27, Z:1.42 [[ 9.99023077e-01 -3.99645129e-02 -1.88607733e-02 1.61274377e+02] [ 3.99647098e-02 9.99201025e-01 -3.66624513e-04 2.26529296e+00] [ 1.88603559e-02 -3.87498982e-04 9.99822053e-01 1.42231120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89925415399998 meters Centerline goodness [0,1] 0.9992010596472047 Centerline is valid? [True, True] Translation: X:161.31, Y:2.27, Z:1.42 [[ 9.99024535e-01 -3.99280513e-02 -1.88607867e-02 1.61305224e+02] [ 3.99282548e-02 9.99202482e-01 -3.65933462e-04 2.26586222e+00] [ 1.88603559e-02 -3.87501788e-04 9.99822053e-01 1.42260014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92925415399998 meters Centerline goodness [0,1] 0.9993904233404801 Centerline is valid? [True, True] Translation: X:161.34, Y:2.27, Z:1.42 [[ 9.99189183e-01 -3.58480591e-02 -1.83273795e-02 1.61336776e+02] [ 3.58475772e-02 9.99357206e-01 -3.54925247e-04 2.27046843e+00] [ 1.83283222e-02 -3.02354684e-04 9.99831976e-01 1.42315431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95925415399998 meters Centerline goodness [0,1] 0.9994093948406421 Centerline is valid? [True, True] Translation: X:161.37, Y:2.28, Z:1.42 [[ 9.99338293e-01 -3.17871026e-02 -1.76792363e-02 1.61367605e+02] [ 3.17860241e-02 9.99494638e-01 -3.42073692e-04 2.27535528e+00] [ 1.76811754e-02 -2.20105289e-04 9.99843652e-01 1.42395305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98925415399998 meters Centerline goodness [0,1] 0.9993446227352487 Centerline is valid? [True, True] Translation: X:161.40, Y:2.28, Z:1.43 [[ 9.99547777e-01 -2.54056695e-02 -1.60870301e-02 1.61398097e+02] [ 2.54039495e-02 9.99677219e-01 -3.11296899e-04 2.28344288e+00] [ 1.60897463e-02 -9.75179776e-05 9.99870547e-01 1.42522038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01925415399998 meters Centerline goodness [0,1] 0.9992395276621813 Centerline is valid? [True, True] Translation: X:161.43, Y:2.29, Z:1.43 [[ 9.99613578e-01 -2.30608787e-02 -1.55206274e-02 1.61427491e+02] [ 2.30589933e-02 9.99734061e-01 -3.00448889e-04 2.28677334e+00] [ 1.55234285e-02 -5.75572549e-05 9.99879503e-01 1.42524085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04925415399998 meters Centerline goodness [0,1] 0.9992378210149684 Centerline is valid? [True, True] Translation: X:161.46, Y:2.29, Z:1.43 [[ 9.99652092e-01 -2.16874999e-02 -1.50115452e-02 1.61457334e+02] [ 2.16855773e-02 9.99764798e-01 -2.90858711e-04 2.28990140e+00] [ 1.50143224e-02 -3.47765044e-05 9.99887278e-01 1.42565353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07925415399998 meters Centerline goodness [0,1] 0.9989607855612819 Centerline is valid? [True, True] Translation: X:161.49, Y:2.29, Z:1.43 [[ 9.99659166e-01 -2.15728036e-02 -1.47026043e-02 1.61486651e+02] [ 2.15709416e-02 9.99767279e-01 -2.85230383e-04 2.29232809e+00] [ 1.47053359e-02 -3.20158516e-05 9.99891870e-01 1.42656598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10925415399998 meters Centerline goodness [0,1] 0.9987908614581786 Centerline is valid? [True, True] Translation: X:161.52, Y:2.29, Z:1.43 [[ 9.99628122e-01 -2.36100897e-02 -1.36448649e-02 1.61515782e+02] [ 2.36086704e-02 9.99721241e-01 -2.65107892e-04 2.29299761e+00] [ 1.36473205e-02 -5.71278138e-05 9.99906869e-01 1.42699564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13925415399999 meters Centerline goodness [0,1] 0.9990462060194998 Centerline is valid? [True, True] Translation: X:161.55, Y:2.29, Z:1.43 [[ 9.99582020e-01 -2.56210231e-02 -1.33920795e-02 1.61546041e+02] [ 2.56198341e-02 9.99671724e-01 -2.60364048e-04 2.29289214e+00] [ 1.33943540e-02 -8.28476328e-05 9.99910288e-01 1.42726772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.169254154 meters Centerline goodness [0,1] 0.9991727122311315 Centerline is valid? [True, True] Translation: X:161.58, Y:2.29, Z:1.43 [[ 9.99504817e-01 -2.86554370e-02 -1.29994704e-02 1.61576788e+02] [ 2.86545742e-02 9.99589341e-01 -2.52664463e-04 2.29195963e+00] [ 1.30013722e-02 -1.19954940e-04 9.99915471e-01 1.42770239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.199254154 meters Centerline goodness [0,1] 0.9991300103974368 Centerline is valid? [True, True] Translation: X:161.61, Y:2.29, Z:1.43 [[ 9.99412057e-01 -3.17715830e-02 -1.28882822e-02 1.61607482e+02] [ 3.17709978e-02 9.99495143e-01 -2.50205562e-04 2.29054217e+00] [ 1.28897249e-02 -1.59415130e-04 9.99916911e-01 1.42790491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.229254154 meters Centerline goodness [0,1] 0.9991520932697403 Centerline is valid? [True, True] Translation: X:161.64, Y:2.29, Z:1.43 [[ 9.99177946e-01 -3.84468847e-02 -1.28556838e-02 1.61639494e+02] [ 3.84468623e-02 9.99260615e-01 -2.48978791e-04 2.28801788e+00] [ 1.28557510e-02 -2.45486587e-04 9.99917331e-01 1.42764066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259254154 meters Centerline goodness [0,1] 0.9991736587846428 Centerline is valid? [True, True] Translation: X:161.67, Y:2.29, Z:1.43 [[ 9.99032163e-01 -4.20913918e-02 -1.27691706e-02 1.61671855e+02] [ 4.20916790e-02 9.99113722e-01 -2.46372569e-04 2.28631756e+00] [ 1.27682237e-02 -2.91341709e-04 9.99918440e-01 1.42780997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.289254154 meters Centerline goodness [0,1] 0.9994285351450886 Centerline is valid? [True, True] Translation: X:161.70, Y:2.28, Z:1.43 [[ 9.98907655e-01 -4.50695323e-02 -1.23382979e-02 1.61704315e+02] [ 4.50700383e-02 9.98983801e-01 -2.37179982e-04 2.28480362e+00] [ 1.23364494e-02 -3.19166661e-04 9.99923852e-01 1.42833101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319254154 meters Centerline goodness [0,1] 0.9991312823120604 Centerline is valid? [True, True] Translation: X:161.74, Y:2.28, Z:1.43 [[ 9.98795009e-01 -4.74905090e-02 -1.23766229e-02 1.61735934e+02] [ 4.74912144e-02 9.98871628e-01 -2.37066696e-04 2.28366959e+00] [ 1.23739159e-02 -3.50999819e-04 9.99923379e-01 1.42848966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349254154 meters Centerline goodness [0,1] 0.9988561745392925 Centerline is valid? [True, True] Translation: X:161.77, Y:2.28, Z:1.43 [[ 9.98625935e-01 -5.07058267e-02 -1.32348297e-02 1.61768204e+02] [ 5.07069263e-02 9.98713544e-01 -2.52676516e-04 2.28277851e+00] [ 1.32306159e-02 -4.18768212e-04 9.99912384e-01 1.42829120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379254154 meters Centerline goodness [0,1] 0.9987496556254901 Centerline is valid? [True, True] Translation: X:161.80, Y:2.28, Z:1.43 [[ 9.98609168e-01 -5.08732125e-02 -1.38436174e-02 1.61799814e+02] [ 5.08744450e-02 9.98705022e-01 -2.63347492e-04 2.28272647e+00] [ 1.38390875e-02 -4.41305131e-04 9.99904138e-01 1.42813911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409254154 meters Centerline goodness [0,1] 0.9985370817962091 Centerline is valid? [True, True] Translation: X:161.83, Y:2.28, Z:1.43 [[ 9.98630966e-01 -5.03426408e-02 -1.42060919e-02 1.61831094e+02] [ 5.03438960e-02 9.98731906e-01 -2.69467462e-04 2.28388310e+00] [ 1.42016429e-02 -4.46091460e-04 9.99899052e-01 1.42824666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439254154 meters Centerline goodness [0,1] 0.998833806878419 Centerline is valid? [True, True] Translation: X:161.86, Y:2.29, Z:1.43 [[ 9.98780399e-01 -4.73663701e-02 -1.39334907e-02 1.61862895e+02] [ 4.73672985e-02 9.98877505e-01 -2.63562588e-04 2.28939393e+00] [ 1.39303345e-02 -3.96750668e-04 9.99902889e-01 1.42923207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469254154 meters Centerline goodness [0,1] 0.9990455586663273 Centerline is valid? [True, True] Translation: X:161.89, Y:2.29, Z:1.43 [[ 9.98884813e-01 -4.51286132e-02 -1.38758308e-02 1.61894005e+02] [ 4.51293285e-02 9.98981119e-01 -2.61720600e-04 2.29117701e+00] [ 1.38735040e-02 -3.64778193e-04 9.99903692e-01 1.42974482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499254154 meters Centerline goodness [0,1] 0.999129973474801 Centerline is valid? [True, True] Translation: X:161.93, Y:2.29, Z:1.43 [[ 9.99003179e-01 -4.26323610e-02 -1.32336839e-02 1.61925455e+02] [ 4.26328018e-02 9.99090778e-01 -2.48919635e-04 2.29302984e+00] [ 1.32322636e-02 -3.15517516e-04 9.99912400e-01 1.43010917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52925415399997 meters Centerline goodness [0,1] 0.9992354577696604 Centerline is valid? [True, True] Translation: X:161.96, Y:2.30, Z:1.43 [[ 9.99223391e-01 -3.71764410e-02 -1.30585764e-02 1.61957095e+02] [ 3.71764136e-02 9.99308688e-01 -2.44925861e-04 2.29924647e+00] [ 1.30586543e-02 -2.40735389e-04 9.99914703e-01 1.43085841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55925415399997 meters Centerline goodness [0,1] 0.99925479592054 Centerline is valid? [True, True] Translation: X:161.99, Y:2.30, Z:1.43 [[ 9.99311933e-01 -3.45710242e-02 -1.34352018e-02 1.61989448e+02] [ 3.45707710e-02 9.99402221e-01 -2.51153591e-04 2.30166966e+00] [ 1.34358532e-02 -2.13484505e-04 9.99909712e-01 1.43099781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58925415399997 meters Centerline goodness [0,1] 0.9992980515613035 Centerline is valid? [True, True] Translation: X:162.02, Y:2.30, Z:1.43 [[ 9.99397632e-01 -3.19512608e-02 -1.35458717e-02 1.62020914e+02] [ 3.19507754e-02 9.99489412e-01 -2.52297295e-04 2.30402745e+00] [ 1.35470166e-02 -1.80655787e-04 9.99908219e-01 1.43109640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61925415399998 meters Centerline goodness [0,1] 0.9991061357396727 Centerline is valid? [True, True] Translation: X:162.05, Y:2.31, Z:1.43 [[ 9.99460002e-01 -2.97596459e-02 -1.39308527e-02 1.62052667e+02] [ 2.97589316e-02 9.99557071e-01 -2.58606204e-04 2.30628419e+00] [ 1.39323784e-02 -1.56100737e-04 9.99902928e-01 1.43096142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64925415399998 meters Centerline goodness [0,1] 0.999210835021862 Centerline is valid? [True, True] Translation: X:162.08, Y:2.31, Z:1.43 [[ 9.99554548e-01 -2.59421808e-02 -1.47549693e-02 1.62083692e+02] [ 2.59409773e-02 9.99663439e-01 -2.72986671e-04 2.30950217e+00] [ 1.47570852e-02 -1.09893256e-04 9.99891102e-01 1.43100039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67925415399998 meters Centerline goodness [0,1] 0.9992542242867188 Centerline is valid? [True, True] Translation: X:162.11, Y:2.31, Z:1.43 [[ 9.99592034e-01 -2.40629317e-02 -1.53864139e-02 1.62114125e+02] [ 2.40614115e-02 9.99710442e-01 -2.83942125e-04 2.31073847e+00] [ 1.53887911e-02 -8.63925496e-05 9.99881582e-01 1.43121585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70925415399998 meters Centerline goodness [0,1] 0.9992116421281401 Centerline is valid? [True, True] Translation: X:162.15, Y:2.31, Z:1.43 [[ 9.99623043e-01 -2.25533008e-02 -1.56563259e-02 1.62145070e+02] [ 2.25515508e-02 9.99745640e-01 -2.88334374e-04 2.31211465e+00] [ 1.56588464e-02 -6.48487443e-05 9.99877391e-01 1.43113249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73925415399998 meters Centerline goodness [0,1] 0.9992757482159974 Centerline is valid? [True, True] Translation: X:162.17, Y:2.31, Z:1.43 [[ 9.99647570e-01 -2.13892947e-02 -1.57236949e-02 1.62174292e+02] [ 2.13873821e-02 9.99771222e-01 -2.89803958e-04 2.31329009e+00] [ 1.57262964e-02 -4.65868489e-05 9.99876333e-01 1.43136260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76925415399998 meters Centerline goodness [0,1] 0.9994446817599316 Centerline is valid? [True, True] Translation: X:162.20, Y:2.31, Z:1.43 [[ 9.99679428e-01 -1.96816062e-02 -1.59271796e-02 1.62203643e+02] [ 1.96794177e-02 9.99806298e-01 -2.94135778e-04 2.31440762e+00] [ 1.59298835e-02 -1.93961344e-05 9.99873111e-01 1.43221968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79925415399998 meters Centerline goodness [0,1] 0.9992112219664023 Centerline is valid? [True, True] Translation: X:162.23, Y:2.31, Z:1.43 [[ 9.99683723e-01 -1.95126504e-02 -1.58653879e-02 1.62232127e+02] [ 1.95104256e-02 9.99809610e-01 -2.95014398e-04 2.31494162e+00] [ 1.58681238e-02 -1.46193780e-05 9.99874093e-01 1.43243033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82925415399998 meters Centerline goodness [0,1] 0.9988051039132847 Centerline is valid? [True, True] Translation: X:162.26, Y:2.31, Z:1.43 [[ 9.99698743e-01 -1.84823925e-02 -1.61500896e-02 1.62261334e+02] [ 1.84798844e-02 9.99829186e-01 -3.04532535e-04 2.31492123e+00] [ 1.61529594e-02 5.98900387e-06 9.99869532e-01 1.43072715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85925415399998 meters Centerline goodness [0,1] 0.9993382148880302 Centerline is valid? [True, True] Translation: X:162.29, Y:2.32, Z:1.43 [[ 9.99682823e-01 -1.92217110e-02 -1.62720361e-02 1.62290175e+02] [ 1.92191940e-02 9.99815246e-01 -3.11061930e-04 2.31519745e+00] [ 1.62750089e-02 -1.77215142e-06 9.99867553e-01 1.43248729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88925415399999 meters Centerline goodness [0,1] 0.9993815444328336 Centerline is valid? [True, True] Translation: X:162.32, Y:2.31, Z:1.43 [[ 9.99671631e-01 -1.95460467e-02 -1.65705511e-02 1.62318650e+02] [ 1.95434094e-02 9.99808958e-01 -3.21090439e-04 2.31400980e+00] [ 1.65736615e-02 -2.86006263e-06 9.99862647e-01 1.43305918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.919254154 meters Centerline goodness [0,1] 0.9994030487154888 Centerline is valid? [True, True] Translation: X:162.35, Y:2.31, Z:1.43 [[ 9.99672976e-01 -1.98379530e-02 -1.61368231e-02 1.62346464e+02] [ 1.98354419e-02 9.99803208e-01 -3.15664725e-04 2.31322465e+00] [ 1.61399097e-02 -4.51952185e-06 9.99869743e-01 1.43233820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.949254154 meters Centerline goodness [0,1] 0.9991900590404331 Centerline is valid? [True, True] Translation: X:162.38, Y:2.31, Z:1.43 [[ 9.99647729e-01 -2.13554933e-02 -1.57594754e-02 1.62375720e+02] [ 2.13532502e-02 9.99771945e-01 -3.10604025e-04 2.31253404e+00] [ 1.57625145e-02 -2.60214140e-05 9.99875764e-01 1.43346137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.979254154 meters Centerline goodness [0,1] 0.999042960442365 Centerline is valid? [True, True] Translation: X:162.41, Y:2.31, Z:1.43 [[ 9.99591959e-01 -2.40110107e-02 -1.54721377e-02 1.62405417e+02] [ 2.40091303e-02 9.99711692e-01 -3.07298280e-04 2.31021805e+00] [ 1.54750555e-02 -6.42996811e-05 9.99880252e-01 1.43445304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.009254154 meters Centerline goodness [0,1] 0.9990642279880901 Centerline is valid? [True, True] Translation: X:162.43, Y:2.31, Z:1.44 [[ 9.99550225e-01 -2.59096332e-02 -1.51009165e-02 1.62434912e+02] [ 2.59080504e-02 9.99664285e-01 -3.00467612e-04 2.30873593e+00] [ 1.51036319e-02 -9.09028367e-05 9.99885930e-01 1.43505972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039254154 meters Centerline goodness [0,1] 0.9993612808448126 Centerline is valid? [True, True] Translation: X:162.47, Y:2.31, Z:1.44 [[ 9.99485013e-01 -2.83152600e-02 -1.50981970e-02 1.62465671e+02] [ 2.83139486e-02 9.99599035e-01 -3.00652572e-04 2.30628387e+00] [ 1.51006562e-02 -1.26991834e-04 9.99885971e-01 1.43524259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069254154 meters Centerline goodness [0,1] 0.9990666298975415 Centerline is valid? [True, True] Translation: X:162.50, Y:2.30, Z:1.44 [[ 9.99270960e-01 -3.51001355e-02 -1.50176439e-02 1.62496810e+02] [ 3.50996096e-02 9.99383774e-01 -2.98670303e-04 2.30020112e+00] [ 1.50188730e-02 -2.28660878e-04 9.99887184e-01 1.43544737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099254154 meters Centerline goodness [0,1] 0.9988549132702829 Centerline is valid? [True, True] Translation: X:162.53, Y:2.30, Z:1.44 [[ 9.99124935e-01 -3.89635262e-02 -1.52055340e-02 1.62528065e+02] [ 3.89634429e-02 9.99240591e-01 -3.01842806e-04 2.29684905e+00] [ 1.52057477e-02 -2.90881282e-04 9.99884344e-01 1.43549170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129254154 meters Centerline goodness [0,1] 0.9991315583232722 Centerline is valid? [True, True] Translation: X:162.56, Y:2.29, Z:1.44 [[ 9.98974614e-01 -4.26639009e-02 -1.51496537e-02 1.62559026e+02] [ 4.26642533e-02 9.99089421e-01 -3.00073451e-04 2.29251058e+00] [ 1.51486610e-02 -3.46582902e-04 9.99885192e-01 1.43559116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159254154 meters Centerline goodness [0,1] 0.9990069933024868 Centerline is valid? [True, True] Translation: X:162.59, Y:2.29, Z:1.43 [[ 9.98800519e-01 -4.63923074e-02 -1.56613353e-02 1.62591360e+02] [ 4.63931576e-02 9.98923210e-01 -3.09215414e-04 2.28991294e+00] [ 1.56588166e-02 -4.17734283e-04 9.99877306e-01 1.43474688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189254154 meters Centerline goodness [0,1] 0.9991129883843717 Centerline is valid? [True, True] Translation: X:162.62, Y:2.29, Z:1.44 [[ 9.98599604e-01 -5.06117249e-02 -1.54040055e-02 1.62621893e+02] [ 5.06130609e-02 9.98718292e-01 -3.03350188e-04 2.28605805e+00] [ 1.53996152e-02 -4.76718494e-04 9.99881305e-01 1.43609332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219254154 meters Centerline goodness [0,1] 0.99898719220138 Centerline is valid? [True, True] Translation: X:162.65, Y:2.28, Z:1.44 [[ 9.98380757e-01 -5.47298782e-02 -1.55081967e-02 1.62652669e+02] [ 5.47317329e-02 9.98501049e-01 -3.05120387e-04 2.28217089e+00] [ 1.55016499e-02 -5.44164159e-04 9.99879694e-01 1.43608642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24925415399997 meters Centerline goodness [0,1] 0.9987550641458474 Centerline is valid? [True, True] Translation: X:162.68, Y:2.28, Z:1.44 [[ 9.98139874e-01 -5.90540705e-02 -1.51462246e-02 1.62683490e+02] [ 5.90563407e-02 9.98254607e-01 -2.97729045e-04 2.27947310e+00] [ 1.51373706e-02 -5.97305368e-04 9.99885245e-01 1.43621254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27925415399997 meters Centerline goodness [0,1] 0.9990982489252386 Centerline is valid? [True, True] Translation: X:162.71, Y:2.27, Z:1.44 [[ 9.97662728e-01 -6.66353313e-02 -1.51265662e-02 1.62714222e+02] [ 6.66384675e-02 9.97777143e-01 -2.97172472e-04 2.27248598e+00] [ 1.51127442e-02 -7.11533289e-04 9.99885543e-01 1.43646197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30925415399997 meters Centerline goodness [0,1] 0.9989925702052638 Centerline is valid? [True, True] Translation: X:162.75, Y:2.27, Z:1.44 [[ 9.97414811e-01 -7.02797740e-02 -1.49816141e-02 1.62745718e+02] [ 7.02832634e-02 9.97527030e-01 -2.94118859e-04 2.27059879e+00] [ 1.49652356e-02 -7.59598224e-04 9.99887726e-01 1.43695107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33925415399997 meters Centerline goodness [0,1] 0.9987441918874795 Centerline is valid? [True, True] Translation: X:162.78, Y:2.27, Z:1.44 [[ 9.96988221e-01 -7.60945261e-02 -1.49702966e-02 1.62776319e+02] [ 7.60986690e-02 9.97100249e-01 -2.93536300e-04 2.26598548e+00] [ 1.49492229e-02 -8.46567408e-04 9.99887896e-01 1.43714003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36925415399998 meters Centerline goodness [0,1] 0.9989714525608732 Centerline is valid? [True, True] Translation: X:162.81, Y:2.26, Z:1.44 [[ 9.96821998e-01 -7.82564343e-02 -1.48941433e-02 1.62806341e+02] [ 7.82607760e-02 9.96932879e-01 -2.92013854e-04 2.26353434e+00] [ 1.48713132e-02 -8.74541382e-04 9.99889033e-01 1.43728546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39925415399998 meters Centerline goodness [0,1] 0.9989507040775639 Centerline is valid? [True, True] Translation: X:162.84, Y:2.26, Z:1.44 [[ 9.96708631e-01 -7.96929725e-02 -1.48638520e-02 1.62837907e+02] [ 7.96974601e-02 9.96819056e-01 -2.91123672e-04 2.26022799e+00] [ 1.48397714e-02 -8.94445776e-04 9.99889484e-01 1.43746285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42925415399998 meters Centerline goodness [0,1] 0.9988674021561307 Centerline is valid? [True, True] Translation: X:162.87, Y:2.26, Z:1.44 [[ 9.96643030e-01 -8.04883266e-02 -1.49766502e-02 1.62870368e+02] [ 8.04929857e-02 9.96755132e-01 -2.92422308e-04 2.26182046e+00] [ 1.49515896e-02 -9.14074638e-04 9.99887801e-01 1.43822001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45925415399998 meters Centerline goodness [0,1] 0.998594149985312 Centerline is valid? [True, True] Translation: X:162.90, Y:2.26, Z:1.44 [[ 9.96600692e-01 -8.10318691e-02 -1.48626060e-02 1.62901425e+02] [ 8.10365366e-02 9.96711090e-01 -2.88916138e-04 2.26105426e+00] [ 1.48371357e-02 -9.16480095e-04 9.99889504e-01 1.43861467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48925415399998 meters Centerline goodness [0,1] 0.9989080676998026 Centerline is valid? [True, True] Translation: X:162.93, Y:2.26, Z:1.44 [[ 9.96651473e-01 -8.04462258e-02 -1.46371187e-02 1.62932286e+02] [ 8.04507143e-02 9.96758548e-01 -2.82861912e-04 2.26110443e+00] [ 1.46124283e-02 -8.95651911e-04 9.99892832e-01 1.43893123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51925415399998 meters Centerline goodness [0,1] 0.9987830976459233 Centerline is valid? [True, True] Translation: X:162.96, Y:2.26, Z:1.44 [[ 9.96689772e-01 -7.99345364e-02 -1.48313572e-02 1.62964619e+02] [ 7.99391112e-02 9.96799708e-01 -2.85079068e-04 2.26172494e+00] [ 1.48066802e-02 -9.01470122e-04 9.99889969e-01 1.43925140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54925415399998 meters Centerline goodness [0,1] 0.9989935418938186 Centerline is valid? [True, True] Translation: X:163.00, Y:2.26, Z:1.44 [[ 9.96738993e-01 -7.92088297e-02 -1.54058803e-02 1.62997269e+02] [ 7.92136979e-02 9.96857614e-01 -2.94919459e-04 2.26281616e+00] [ 1.53808293e-02 -9.26399026e-04 9.99881279e-01 1.43910699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57925415399998 meters Centerline goodness [0,1] 0.9984502293241744 Centerline is valid? [True, True] Translation: X:163.03, Y:2.26, Z:1.44 [[ 9.96866463e-01 -7.73787944e-02 -1.64249029e-02 1.63029134e+02] [ 7.73841007e-02 9.97001305e-01 -3.13195434e-04 2.26460889e+00] [ 1.63998843e-02 -9.58812316e-04 9.99865053e-01 1.43812438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60925415399998 meters Centerline goodness [0,1] 0.9988718270134754 Centerline is valid? [True, True] Translation: X:163.06, Y:2.27, Z:1.44 [[ 9.96923970e-01 -7.64694545e-02 -1.71761447e-02 1.63060554e+02] [ 7.64751385e-02 9.97071435e-01 -3.26612151e-04 2.26504167e+00] [ 1.71508191e-02 -9.87940561e-04 9.99852426e-01 1.43834055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63925415399999 meters Centerline goodness [0,1] 0.9988251337459352 Centerline is valid? [True, True] Translation: X:163.09, Y:2.27, Z:1.44 [[ 9.96999219e-01 -7.54102226e-02 -1.74887495e-02 1.63092779e+02] [ 7.54159713e-02 9.97152105e-01 -3.31517188e-04 2.26624627e+00] [ 1.74639431e-02 -9.88408649e-04 9.99847005e-01 1.43813733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.669254154 meters Centerline goodness [0,1] 0.9986338223548699 Centerline is valid? [True, True] Translation: X:163.12, Y:2.28, Z:1.44 [[ 9.97194960e-01 -7.26920703e-02 -1.78346701e-02 1.63124509e+02] [ 7.26976351e-02 9.97353969e-01 -3.36961633e-04 2.27882547e+00] [ 1.78119735e-02 -9.60521897e-04 9.99840893e-01 1.43987908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.699254154 meters Centerline goodness [0,1] 0.9989716036686465 Centerline is valid? [True, True] Translation: X:163.16, Y:2.27, Z:1.44 [[ 9.97327532e-01 -7.07508277e-02 -1.82239789e-02 1.63155560e+02] [ 7.07563305e-02 9.97493571e-01 -3.43466504e-04 2.27184324e+00] [ 1.82026024e-02 -9.46913275e-04 9.99833871e-01 1.43889557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.729254154 meters Centerline goodness [0,1] 0.9990753777292117 Centerline is valid? [True, True] Translation: X:163.19, Y:2.28, Z:1.44 [[ 9.97505068e-01 -6.83053479e-02 -1.78330745e-02 1.63187321e+02] [ 6.83102415e-02 9.97664071e-01 -3.35299677e-04 2.28460109e+00] [ 1.78143205e-02 -8.83718500e-04 9.99840922e-01 1.44128833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759254154 meters Centerline goodness [0,1] 0.9987574238658861 Centerline is valid? [True, True] Translation: X:163.22, Y:2.28, Z:1.44 [[ 9.97693324e-01 -6.56071237e-02 -1.74280304e-02 1.63217520e+02] [ 6.56114107e-02 9.97845197e-01 -3.26306174e-04 2.27849218e+00] [ 1.74118844e-02 -8.17924166e-04 9.99848067e-01 1.44043191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.789254154 meters Centerline goodness [0,1] 0.9990704749028224 Centerline is valid? [True, True] Translation: X:163.25, Y:2.30, Z:1.44 [[ 9.98111581e-01 -5.92977009e-02 -1.60329356e-02 1.63247477e+02] [ 5.93005314e-02 9.98240130e-01 -2.99228384e-04 2.29709497e+00] [ 1.60224633e-02 -6.52098285e-04 9.99871419e-01 1.44399758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819254154 meters Centerline goodness [0,1] 0.9990704749028224 Centerline is valid? [True, True] Translation: X:163.28, Y:2.30, Z:1.44 [[ 9.98116031e-01 -5.92227492e-02 -1.60329455e-02 1.63279190e+02] [ 5.92255786e-02 9.98244580e-01 -2.98696638e-04 2.29762868e+00] [ 1.60224906e-02 -6.51426571e-04 9.99871419e-01 1.44429471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849254154 meters Centerline goodness [0,1] 0.9989451699331238 Centerline is valid? [True, True] Translation: X:163.31, Y:2.30, Z:1.44 [[ 9.98323019e-01 -5.56443335e-02 -1.59642689e-02 1.63309229e+02] [ 5.56466949e-02 9.98450478e-01 -2.96592331e-04 2.30060463e+00] [ 1.59560356e-02 -5.92263848e-04 9.99872519e-01 1.44493135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879254154 meters Centerline goodness [0,1] 0.9986908230921914 Centerline is valid? [True, True] Translation: X:163.34, Y:2.30, Z:1.45 [[ 9.98528648e-01 -5.19410342e-02 -1.55778253e-02 1.63339275e+02] [ 5.19428370e-02 9.98650018e-01 -2.89125112e-04 2.30357775e+00] [ 1.55718130e-02 -5.20456734e-04 9.99878617e-01 1.44516097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909254154 meters Centerline goodness [0,1] 0.9989844064067029 Centerline is valid? [True, True] Translation: X:163.37, Y:2.31, Z:1.45 [[ 9.98916283e-01 -4.37929607e-02 -1.57618725e-02 1.63369981e+02] [ 4.37937973e-02 9.99040549e-01 -2.92246516e-04 2.31256381e+00] [ 1.57595481e-02 -3.98342446e-04 9.99875731e-01 1.44606754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939254154 meters Centerline goodness [0,1] 0.9995333941334917 Centerline is valid? [True, True] Translation: X:163.40, Y:2.32, Z:1.45 [[ 9.99087994e-01 -3.96071033e-02 -1.59517468e-02 1.63401434e+02] [ 3.96074336e-02 9.99215274e-01 -2.95344756e-04 2.31668969e+00] [ 1.59509268e-02 -3.36732350e-04 9.99872719e-01 1.44640880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969254154 meters Centerline goodness [0,1] 0.9993220195343122 Centerline is valid? [True, True] Translation: X:163.43, Y:2.32, Z:1.45 [[ 9.99232276e-01 -3.56056712e-02 -1.63430281e-02 1.63431512e+02] [ 3.56054977e-02 9.99365878e-01 -3.01682292e-04 2.31932914e+00] [ 1.63434062e-02 -2.80450965e-04 9.99866398e-01 1.44592381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99925415399997 meters Centerline goodness [0,1] 0.9993207819497804 Centerline is valid? [True, True] Translation: X:163.46, Y:2.32, Z:1.45 [[ 9.99371678e-01 -3.14425865e-02 -1.63588730e-02 1.63463321e+02] [ 3.14418727e-02 9.99505537e-01 -3.00892689e-04 2.32358363e+00] [ 1.63602450e-02 -2.13649971e-04 9.99866139e-01 1.44630074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02925415399997 meters Centerline goodness [0,1] 0.9993427050866145 Centerline is valid? [True, True] Translation: X:163.49, Y:2.33, Z:1.45 [[ 9.99488695e-01 -2.75087082e-02 -1.62978279e-02 1.63494210e+02] [ 2.75074864e-02 9.99621553e-01 -2.99178669e-04 2.32757225e+00] [ 1.62998901e-02 -1.49286583e-04 9.99867137e-01 1.44682494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05925415399997 meters Centerline goodness [0,1] 0.9995534195304525 Centerline is valid? [True, True] Translation: X:163.52, Y:2.33, Z:1.45 [[ 9.99689100e-01 -1.92476714e-02 -1.58502622e-02 1.63523938e+02] [ 1.92454781e-02 9.99814746e-01 -2.90913000e-04 2.33372883e+00] [ 1.58529253e-02 -1.42233194e-05 9.99874334e-01 1.44760312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08925415399997 meters Centerline goodness [0,1] 0.9993615255283377 Centerline is valid? [True, True] Translation: X:163.55, Y:2.34, Z:1.45 [[ 9.99753981e-01 -1.56292698e-02 -1.57385906e-02 1.63552266e+02] [ 1.56266303e-02 9.99877855e-01 -2.90677533e-04 2.33687388e+00] [ 1.57412112e-02 4.46648844e-05 9.99876098e-01 1.44807464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11925415399998 meters Centerline goodness [0,1] 0.9994259105696243 Centerline is valid? [True, True] Translation: X:163.58, Y:2.34, Z:1.45 [[ 9.99812228e-01 -1.20054729e-02 -1.52111128e-02 1.63580469e+02] [ 1.20025444e-02 9.99927927e-01 -2.83803092e-04 2.33994494e+00] [ 1.52134237e-02 1.01177744e-04 9.99884264e-01 1.44814982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14925415399998 meters Centerline goodness [0,1] 0.9998935536064039 Centerline is valid? [True, True] Translation: X:163.61, Y:2.34, Z:1.45 [[ 9.99849854e-01 -8.81601216e-03 -1.49179945e-02 1.63608766e+02] [ 8.81280648e-03 9.99961127e-01 -2.80612628e-04 2.34178846e+00] [ 1.49198884e-02 1.49101097e-04 9.99888681e-01 1.44917076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17925415399998 meters Centerline goodness [0,1] 0.9997447568809291 Centerline is valid? [True, True] Translation: X:163.64, Y:2.35, Z:1.45 [[ 9.99893393e-01 -4.04504636e-03 -1.40299984e-02 1.63636183e+02] [ 4.04170042e-03 9.99991797e-01 -2.66830770e-04 2.34515467e+00] [ 1.40309626e-02 2.10097274e-04 9.99901539e-01 1.44942624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20925415399998 meters Centerline goodness [0,1] 0.9999149497140184 Centerline is valid? [True, True] Translation: X:163.66, Y:2.35, Z:1.45 [[ 9.99904012e-01 -2.75265046e-03 -1.35790412e-02 1.63664631e+02] [ 2.74936574e-03 9.99996187e-01 -2.60558067e-04 2.34514582e+00] [ 1.35797067e-02 2.23199306e-04 9.99907767e-01 1.44960629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23925415399998 meters Centerline goodness [0,1] 0.9992574204909511 Centerline is valid? [True, True] Translation: X:163.69, Y:2.34, Z:1.45 [[ 9.99906441e-01 -2.78258501e-03 -1.33927804e-02 1.63692307e+02] [ 2.77934550e-03 9.99996104e-01 -2.60490953e-04 2.34494239e+00] [ 1.33934531e-02 2.23243418e-04 9.99910279e-01 1.44919947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26925415399998 meters Centerline goodness [0,1] 0.9998302603382063 Centerline is valid? [True, True] Translation: X:163.72, Y:2.34, Z:1.45 [[ 9.99909666e-01 -3.10418577e-03 -1.30775749e-02 1.63719884e+02] [ 3.10107560e-03 9.99995158e-01 -2.58096708e-04 2.34372679e+00] [ 1.30783127e-02 2.17518845e-04 9.99914452e-01 1.44945051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29925415399998 meters Centerline goodness [0,1] 0.9996609810361267 Centerline is valid? [True, True] Translation: X:163.75, Y:2.34, Z:1.45 [[ 9.99900268e-01 -5.75061851e-03 -1.28990145e-02 1.63749086e+02] [ 5.74777453e-03 9.99983448e-01 -2.57541647e-04 2.33996425e+00] [ 1.29002820e-02 1.83375335e-04 9.99916771e-01 1.44959966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32925415399998 meters Centerline goodness [0,1] 0.9997882746501239 Centerline is valid? [True, True] Translation: X:163.78, Y:2.34, Z:1.45 [[ 9.99885919e-01 -7.91878567e-03 -1.28624221e-02 1.63777175e+02] [ 7.91612409e-03 9.99968634e-01 -2.57826242e-04 2.33833673e+00] [ 1.28640603e-02 1.55976299e-04 9.99917242e-01 1.44971047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35925415399998 meters Centerline goodness [0,1] 0.9998943520611913 Centerline is valid? [True, True] Translation: X:163.81, Y:2.34, Z:1.45 [[ 9.99863009e-01 -1.06119420e-02 -1.27023947e-02 1.63805195e+02] [ 1.06095489e-02 9.99943684e-01 -2.55773660e-04 2.33634265e+00] [ 1.27043936e-02 1.20971944e-04 9.99919289e-01 1.44987949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38925415399999 meters Centerline goodness [0,1] 0.999113437750665 Centerline is valid? [True, True] Translation: X:163.83, Y:2.33, Z:1.45 [[ 9.99770774e-01 -1.72866998e-02 -1.26320656e-02 1.63834403e+02] [ 1.72848520e-02 9.99850573e-01 -2.55445716e-04 2.32964279e+00] [ 1.26345939e-02 3.70437766e-05 9.99920180e-01 1.44908832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.419254154 meters Centerline goodness [0,1] 0.9994512452511608 Centerline is valid? [True, True] Translation: X:163.86, Y:2.33, Z:1.45 [[ 9.99688756e-01 -2.12213332e-02 -1.31166143e-02 1.63863024e+02] [ 2.12196676e-02 9.99774802e-01 -2.66160028e-04 2.32600271e+00] [ 1.31193087e-02 -1.22530066e-05 9.99913938e-01 1.44889911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.449254154 meters Centerline goodness [0,1] 0.9991567052474016 Centerline is valid? [True, True] Translation: X:163.89, Y:2.32, Z:1.45 [[ 9.99597534e-01 -2.51733221e-02 -1.30794859e-02 1.63893228e+02] [ 2.51719958e-02 9.99683100e-01 -2.66048872e-04 2.32201495e+00] [ 1.30820383e-02 -6.32949664e-05 9.99914424e-01 1.44878009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.479254154 meters Centerline goodness [0,1] 0.9989679865206402 Centerline is valid? [True, True] Translation: X:163.92, Y:2.32, Z:1.45 [[ 9.99482271e-01 -2.93000092e-02 -1.32928349e-02 1.63923742e+02] [ 2.92990005e-02 9.99570655e-01 -2.70660512e-04 2.31718772e+00] [ 1.32950580e-02 -1.18946393e-04 9.99911610e-01 1.44825235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.509254154 meters Centerline goodness [0,1] 0.9989713445995592 Centerline is valid? [True, True] Translation: X:163.96, Y:2.31, Z:1.45 [[ 9.99226734e-01 -3.70248022e-02 -1.32324810e-02 1.63955298e+02] [ 3.70244837e-02 9.99314323e-01 -2.69128086e-04 2.30955311e+00] [ 1.32333722e-02 -2.21005798e-04 9.99912411e-01 1.44852712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539254154 meters Centerline goodness [0,1] 0.9988021183591123 Centerline is valid? [True, True] Translation: X:163.99, Y:2.31, Z:1.45 [[ 9.99088219e-01 -4.06412955e-02 -1.30773321e-02 1.63987841e+02] [ 4.06413018e-02 9.99173766e-01 -2.65380485e-04 2.30605862e+00] [ 1.30773126e-02 -2.66341286e-04 9.99914453e-01 1.44870632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569254154 meters Centerline goodness [0,1] 0.9989505499118462 Centerline is valid? [True, True] Translation: X:164.02, Y:2.30, Z:1.45 [[ 9.98973326e-01 -4.33944196e-02 -1.30084317e-02 1.64020277e+02] [ 4.33946710e-02 9.99057973e-01 -2.63063922e-04 2.30294286e+00] [ 1.30075929e-02 -3.01702771e-04 9.99915352e-01 1.44906165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599254154 meters Centerline goodness [0,1] 0.9988448047720064 Centerline is valid? [True, True] Translation: X:164.05, Y:2.30, Z:1.45 [[ 9.98860738e-01 -4.59422203e-02 -1.29050135e-02 1.64052494e+02] [ 4.59426920e-02 9.98944043e-01 -2.60066845e-04 2.29988155e+00] [ 1.29033344e-02 -3.33120497e-04 9.99916693e-01 1.44915752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629254154 meters Centerline goodness [0,1] 0.9986356289750425 Centerline is valid? [True, True] Translation: X:164.08, Y:2.29, Z:1.45 [[ 9.98669246e-01 -4.98598111e-02 -1.31808737e-02 1.64083486e+02] [ 4.98606546e-02 9.98756149e-01 -2.64822371e-04 2.29366791e+00] [ 1.31776827e-02 -3.92737033e-04 9.99913093e-01 1.44733734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659254154 meters Centerline goodness [0,1] 0.9990982867448152 Centerline is valid? [True, True] Translation: X:164.12, Y:2.29, Z:1.45 [[ 9.98576231e-01 -5.17600451e-02 -1.28999426e-02 1.64115309e+02] [ 5.17610179e-02 9.98659467e-01 -2.58676924e-04 2.29187935e+00] [ 1.28960389e-02 -4.09405532e-04 9.99916759e-01 1.44911645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689254154 meters Centerline goodness [0,1] 0.9988719919786097 Centerline is valid? [True, True] Translation: X:164.15, Y:2.29, Z:1.45 [[ 9.98498141e-01 -5.31265524e-02 -1.33803042e-02 1.64146043e+02] [ 5.31277302e-02 9.98587689e-01 -2.67664424e-04 2.28961343e+00] [ 1.33756271e-02 -4.43602761e-04 9.99910444e-01 1.44777825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719254154 meters Centerline goodness [0,1] 0.9990776454804629 Centerline is valid? [True, True] Translation: X:164.18, Y:2.29, Z:1.45 [[ 9.98275541e-01 -5.72657786e-02 -1.29064062e-02 1.64175925e+02] [ 5.72672274e-02 9.98358852e-01 -2.57590850e-04 2.28588080e+00] [ 1.28999760e-02 -4.81967453e-04 9.99916676e-01 1.44968015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74925415399997 meters Centerline goodness [0,1] 0.9989308848500095 Centerline is valid? [True, True] Translation: X:164.21, Y:2.28, Z:1.45 [[ 9.98168564e-01 -5.91047346e-02 -1.28898155e-02 1.64208015e+02] [ 5.91063455e-02 9.98251659e-01 -2.56277011e-04 2.28434141e+00] [ 1.28824268e-02 -5.06062230e-04 9.99916890e-01 1.44976719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77925415399997 meters Centerline goodness [0,1] 0.9987016794404657 Centerline is valid? [True, True] Translation: X:164.24, Y:2.28, Z:1.45 [[ 9.98035709e-01 -6.13099668e-02 -1.28767548e-02 1.64239459e+02] [ 6.13117681e-02 9.98118631e-01 -2.55203250e-04 2.28213477e+00] [ 1.28681754e-02 -5.34794648e-04 9.99917059e-01 1.44949034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80925415399997 meters Centerline goodness [0,1] 0.9983274445443332 Centerline is valid? [True, True] Translation: X:164.27, Y:2.28, Z:1.45 [[ 9.97892194e-01 -6.35311788e-02 -1.32271800e-02 1.64271888e+02] [ 6.35332843e-02 9.97979686e-01 -2.61389221e-04 2.28437374e+00] [ 1.32170633e-02 -5.79527923e-04 9.99912483e-01 1.44965131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83925415399997 meters Centerline goodness [0,1] 0.9988468634686347 Centerline is valid? [True, True] Translation: X:164.30, Y:2.28, Z:1.45 [[ 9.97626247e-01 -6.73861635e-02 -1.41766285e-02 1.64303429e+02] [ 6.73889829e-02 9.97726740e-01 -2.79273061e-04 2.28325207e+00] [ 1.41632205e-02 -6.76738442e-04 9.99899468e-01 1.44679252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86925415399998 meters Centerline goodness [0,1] 0.9987202618218437 Centerline is valid? [True, True] Translation: X:164.33, Y:2.28, Z:1.45 [[ 9.97482143e-01 -6.95874051e-02 -1.36736367e-02 1.64334734e+02] [ 6.95902418e-02 9.97575624e-01 -2.68810009e-04 2.28094872e+00] [ 1.36591925e-02 -6.83418500e-04 9.99906475e-01 1.44909340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89925415399998 meters Centerline goodness [0,1] 0.9987842454985641 Centerline is valid? [True, True] Translation: X:164.37, Y:2.29, Z:1.45 [[ 9.97373688e-01 -7.09699402e-02 -1.44566212e-02 1.64366639e+02] [ 7.09732691e-02 9.97478178e-01 -2.83288780e-04 2.28721592e+00] [ 1.44402692e-02 -7.43488895e-04 9.99895457e-01 1.44960359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92925415399998 meters Centerline goodness [0,1] 0.9986166712078975 Centerline is valid? [True, True] Translation: X:164.40, Y:2.29, Z:1.45 [[ 9.97283579e-01 -7.20655890e-02 -1.52319947e-02 1.64398251e+02] [ 7.20694285e-02 9.97399573e-01 -2.97410811e-04 2.28654754e+00] [ 1.52138181e-02 -8.01158231e-04 9.99883942e-01 1.44925902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95925415399998 meters Centerline goodness [0,1] 0.9988656891988404 Centerline is valid? [True, True] Translation: X:164.43, Y:2.29, Z:1.45 [[ 9.97221713e-01 -7.27330042e-02 -1.60861515e-02 1.64430651e+02] [ 7.27373899e-02 9.97351079e-01 -3.13037086e-04 2.28972366e+00] [ 1.60663086e-02 -8.57897291e-04 9.99870560e-01 1.44957209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98925415399998 meters Centerline goodness [0,1] 0.9984705956296747 Centerline is valid? [True, True] Translation: X:164.46, Y:2.29, Z:1.45 [[ 9.97239681e-01 -7.25026275e-02 -1.60121167e-02 1.64463018e+02] [ 7.25069622e-02 9.97367858e-01 -3.10420875e-04 2.29133736e+00] [ 1.59924769e-02 -8.51425927e-04 9.99871750e-01 1.44962000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01925415399998 meters Centerline goodness [0,1] 0.9987845766974015 Centerline is valid? [True, True] Translation: X:164.50, Y:2.29, Z:1.45 [[ 9.97307489e-01 -7.15706218e-02 -1.59818415e-02 1.64495022e+02] [ 7.15748393e-02 9.97435184e-01 -3.08667864e-04 2.29274078e+00] [ 1.59629426e-02 -8.36060965e-04 9.99872235e-01 1.44882406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04925415399998 meters Centerline goodness [0,1] 0.9988229111928534 Centerline is valid? [True, True] Translation: X:164.53, Y:2.30, Z:1.45 [[ 9.97377332e-01 -7.06177189e-02 -1.58617877e-02 1.64526990e+02] [ 7.06217713e-02 9.97503119e-01 -3.05201375e-04 2.29547385e+00] [ 1.58437353e-02 -8.15786610e-04 9.99874147e-01 1.45041896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07925415399998 meters Centerline goodness [0,1] 0.9987810004203447 Centerline is valid? [True, True] Translation: X:164.56, Y:2.30, Z:1.45 [[ 9.97493920e-01 -6.90255800e-02 -1.55354359e-02 1.64559043e+02] [ 6.90292919e-02 9.97614589e-01 -2.97809992e-04 2.29803634e+00] [ 1.55189340e-02 -7.75336483e-04 9.99879273e-01 1.45078890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10925415399998 meters Centerline goodness [0,1] 0.9986764427824114 Centerline is valid? [True, True] Translation: X:164.59, Y:2.30, Z:1.45 [[ 9.97775925e-01 -6.50124852e-02 -1.47166732e-02 1.64588320e+02] [ 6.50153885e-02 9.97884222e-01 -2.81569083e-04 2.30406306e+00] [ 1.47038415e-02 -6.75867374e-04 9.99891664e-01 1.45157642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13925415399999 meters Centerline goodness [0,1] 0.9984420068635914 Centerline is valid? [True, True] Translation: X:164.62, Y:2.31, Z:1.45 [[ 9.97955669e-01 -6.22178388e-02 -1.46090445e-02 1.64620186e+02] [ 6.22204026e-02 9.98062395e-01 -2.79396666e-04 2.30823308e+00] [ 1.45981214e-02 -6.30155144e-04 9.99893243e-01 1.45025823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.169254154 meters Centerline goodness [0,1] 0.998801841380615 Centerline is valid? [True, True] Translation: X:164.65, Y:2.31, Z:1.45 [[ 9.98132479e-01 -5.95597382e-02 -1.35717439e-02 1.64650121e+02] [ 5.95617177e-02 9.98224591e-01 -2.58651331e-04 2.31300812e+00] [ 1.35630537e-02 -5.50188086e-04 9.99907866e-01 1.45403593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.199254154 meters Centerline goodness [0,1] 0.9986926175062734 Centerline is valid? [True, True] Translation: X:164.68, Y:2.32, Z:1.45 [[ 9.98325073e-01 -5.63544557e-02 -1.30852735e-02 1.64681931e+02] [ 5.63560359e-02 9.98410705e-01 -2.48232200e-04 2.31809558e+00] [ 1.30784661e-02 -4.89617713e-04 9.99914353e-01 1.45475931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.229254154 meters Centerline goodness [0,1] 0.9986498459980592 Centerline is valid? [True, True] Translation: X:164.71, Y:2.33, Z:1.46 [[ 9.98691813e-01 -4.95556273e-02 -1.26056302e-02 1.64711961e+02] [ 4.95565586e-02 9.98771290e-01 -2.38661132e-04 2.32663863e+00] [ 1.26019685e-02 -3.86342730e-04 9.99920517e-01 1.45533887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259254154 meters Centerline goodness [0,1] 0.9986885245901639 Centerline is valid? [True, True] Translation: X:164.74, Y:2.33, Z:1.46 [[ 9.98857302e-01 -4.61357269e-02 -1.24733787e-02 1.64743614e+02] [ 4.61363742e-02 9.98935123e-01 -2.36003639e-04 2.33110262e+00] [ 1.24709843e-02 -3.39742509e-04 9.99922177e-01 1.45584639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.289254154 meters Centerline goodness [0,1] 0.9985463891463723 Centerline is valid? [True, True] Translation: X:164.77, Y:2.34, Z:1.46 [[ 9.99012678e-01 -4.27641461e-02 -1.20373153e-02 1.64774913e+02] [ 4.27645110e-02 9.99085154e-01 -2.27197420e-04 2.33548228e+00] [ 1.20360189e-02 -2.87796797e-04 9.99927523e-01 1.45635008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319254154 meters Centerline goodness [0,1] 0.9987935486602041 Centerline is valid? [True, True] Translation: X:164.81, Y:2.34, Z:1.46 [[ 9.99233390e-01 -3.75086772e-02 -1.12130088e-02 1.64805105e+02] [ 3.75086667e-02 9.99296280e-01 -2.11309941e-04 2.34253375e+00] [ 1.12130439e-02 -2.09437062e-04 9.99937110e-01 1.45703630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349254154 meters Centerline goodness [0,1] 0.9987499470316539 Centerline is valid? [True, True] Translation: X:164.84, Y:2.35, Z:1.46 [[ 9.99311262e-01 -3.52869856e-02 -1.14816983e-02 1.64836220e+02] [ 3.52868327e-02 9.99377202e-01 -2.15962380e-04 2.34583691e+00] [ 1.14821682e-02 -1.89339128e-04 9.99934060e-01 1.45727837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379254154 meters Centerline goodness [0,1] 0.9988780931817701 Centerline is valid? [True, True] Translation: X:164.87, Y:2.35, Z:1.46 [[ 9.99371188e-01 -3.35003987e-02 -1.16168605e-02 1.64868568e+02] [ 3.35001361e-02 9.99438689e-01 -2.17246230e-04 2.34897882e+00] [ 1.16176177e-02 -1.72056784e-04 9.99932498e-01 1.45749176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409254154 meters Centerline goodness [0,1] 0.9988132324580923 Centerline is valid? [True, True] Translation: X:164.90, Y:2.35, Z:1.46 [[ 9.99418312e-01 -3.20733801e-02 -1.15903548e-02 1.64900386e+02] [ 3.20730313e-02 9.99485505e-01 -2.16019693e-04 2.35168194e+00] [ 1.15913201e-02 -1.55843776e-04 9.99932806e-01 1.45736975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439254154 meters Centerline goodness [0,1] 0.9991720096811175 Centerline is valid? [True, True] Translation: X:164.93, Y:2.36, Z:1.46 [[ 9.99475920e-01 -2.96867726e-02 -1.29065874e-02 1.64931846e+02] [ 2.96861500e-02 9.99559240e-01 -2.39863270e-04 2.35551640e+00] [ 1.29080194e-02 -1.43409326e-04 9.99916678e-01 1.45649373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469254154 meters Centerline goodness [0,1] 0.9991086019907889 Centerline is valid? [True, True] Translation: X:164.96, Y:2.36, Z:1.46 [[ 9.99499762e-01 -2.86465345e-02 -1.34015641e-02 1.64963470e+02] [ 2.86457779e-02 9.99589595e-01 -2.48453438e-04 2.35730436e+00] [ 1.34031814e-02 -1.35569077e-04 9.99910164e-01 1.45607162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49925415399997 meters Centerline goodness [0,1] 0.9992139366900361 Centerline is valid? [True, True] Translation: X:165.00, Y:2.36, Z:1.46 [[ 9.99529486e-01 -2.74600400e-02 -1.36657281e-02 1.64995179e+02] [ 2.74591485e-02 9.99622895e-01 -2.52903874e-04 2.35927285e+00] [ 1.36675194e-02 -1.22464378e-04 9.99906588e-01 1.45584425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52925415399997 meters Centerline goodness [0,1] 0.9992340751457385 Centerline is valid? [True, True] Translation: X:165.03, Y:2.36, Z:1.46 [[ 9.99552969e-01 -2.65211260e-02 -1.38019153e-02 1.65026685e+02] [ 2.65201336e-02 9.99648247e-01 -2.54959030e-04 2.36346612e+00] [ 1.38038222e-02 -1.11183582e-04 9.99904717e-01 1.45721178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55925415399997 meters Centerline goodness [0,1] 0.9989771782906092 Centerline is valid? [True, True] Translation: X:165.06, Y:2.36, Z:1.46 [[ 9.99589383e-01 -2.52973584e-02 -1.34576630e-02 1.65057277e+02] [ 2.52963094e-02 9.99679966e-01 -2.48193434e-04 2.36473405e+00] [ 1.34596347e-02 -9.23376848e-05 9.99909411e-01 1.45693371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58925415399997 meters Centerline goodness [0,1] 0.9988293139779911 Centerline is valid? [True, True] Translation: X:165.09, Y:2.37, Z:1.46 [[ 9.99615035e-01 -2.46227212e-02 -1.27868106e-02 1.65088536e+02] [ 2.46217224e-02 9.99696812e-01 -2.35553264e-04 2.36637269e+00] [ 1.27887337e-02 -7.93707160e-05 9.99918218e-01 1.45756750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61925415399998 meters Centerline goodness [0,1] 0.9991480298189563 Centerline is valid? [True, True] Translation: X:165.12, Y:2.37, Z:1.46 [[ 9.99624525e-01 -2.43156881e-02 -1.26315267e-02 1.65120028e+02] [ 2.43146938e-02 9.99704327e-01 -2.32300272e-04 2.36748656e+00] [ 1.26334404e-02 -7.49186533e-05 9.99920192e-01 1.45860918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64925415399998 meters Centerline goodness [0,1] 0.9990211308067158 Centerline is valid? [True, True] Translation: X:165.15, Y:2.37, Z:1.46 [[ 9.99623028e-01 -2.45353877e-02 -1.23214095e-02 1.65150851e+02] [ 2.45344632e-02 9.99698959e-01 -2.26203799e-04 2.36988555e+00] [ 1.23232503e-02 -7.61806425e-05 9.99924063e-01 1.46000750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67925415399998 meters Centerline goodness [0,1] 0.998914593398174 Centerline is valid? [True, True] Translation: X:165.18, Y:2.37, Z:1.46 [[ 9.99601942e-01 -2.58345796e-02 -1.13371870e-02 1.65182198e+02] [ 2.58338852e-02 9.99666228e-01 -2.07715471e-04 2.36877858e+00] [ 1.13387692e-02 -8.52507998e-05 9.99935710e-01 1.46062670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70925415399998 meters Centerline goodness [0,1] 0.998914593398174 Centerline is valid? [True, True] Translation: X:165.21, Y:2.37, Z:1.46 [[ 9.99602849e-01 -2.57994807e-02 -1.13371975e-02 1.65213040e+02] [ 2.57987906e-02 9.99667134e-01 -2.07138841e-04 2.36931095e+00] [ 1.13387678e-02 -8.54294094e-05 9.99935710e-01 1.46091552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73925415399998 meters Centerline goodness [0,1] 0.9991076171252523 Centerline is valid? [True, True] Translation: X:165.25, Y:2.37, Z:1.46 [[ 9.99581754e-01 -2.68004753e-02 -1.08651165e-02 1.65245402e+02] [ 2.67999052e-02 9.99640798e-01 -1.98091377e-04 2.36895964e+00] [ 1.08665227e-02 -9.31755663e-05 9.99940953e-01 1.46140623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76925415399998 meters Centerline goodness [0,1] 0.9989796785987586 Centerline is valid? [True, True] Translation: X:165.28, Y:2.37, Z:1.46 [[ 9.99542003e-01 -2.83193396e-02 -1.06676655e-02 1.65277598e+02] [ 2.83188845e-02 9.99598921e-01 -1.93742884e-04 2.36811091e+00] [ 1.06688735e-02 -1.08442235e-04 9.99943080e-01 1.46173996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79925415399998 meters Centerline goodness [0,1] 0.9989583776199992 Centerline is valid? [True, True] Translation: X:165.31, Y:2.37, Z:1.46 [[ 9.99492501e-01 -3.01558074e-02 -1.02648803e-02 1.65310199e+02] [ 3.01554901e-02 9.99545203e-01 -1.85723143e-04 2.36774835e+00] [ 1.02658125e-02 -1.23913607e-04 9.99947297e-01 1.46233441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82925415399998 meters Centerline goodness [0,1] 0.9991297703442713 Centerline is valid? [True, True] Translation: X:165.34, Y:2.37, Z:1.46 [[ 9.99371072e-01 -3.37602780e-02 -1.08491854e-02 1.65342266e+02] [ 3.37601448e-02 9.99429945e-01 -1.95471509e-04 2.36634142e+00] [ 1.08495999e-02 -1.70921497e-04 9.99941127e-01 1.46288478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85925415399998 meters Centerline goodness [0,1] 0.9987468405513902 Centerline is valid? [True, True] Translation: X:165.37, Y:2.36, Z:1.46 [[ 9.99307240e-01 -3.54659371e-02 -1.12786199e-02 1.65373907e+02] [ 3.54659110e-02 9.99370866e-01 -2.02386018e-04 2.36468205e+00] [ 1.12787020e-02 -1.97760717e-04 9.99936374e-01 1.46246433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88925415399999 meters Centerline goodness [0,1] 0.9992777942988232 Centerline is valid? [True, True] Translation: X:165.41, Y:2.36, Z:1.46 [[ 9.99244391e-01 -3.70389259e-02 -1.17798214e-02 1.65406109e+02] [ 3.70390151e-02 9.99313798e-01 -2.10668502e-04 2.36339429e+00] [ 1.17795410e-02 -2.25803663e-04 9.99930593e-01 1.46245836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.919254154 meters Centerline goodness [0,1] 0.9988746868232197 Centerline is valid? [True, True] Translation: X:165.44, Y:2.36, Z:1.46 [[ 9.99202279e-01 -3.79425651e-02 -1.24565948e-02 1.65438451e+02] [ 3.79427466e-02 9.99279890e-01 -2.21835426e-04 2.36216329e+00] [ 1.24560417e-02 -2.50978956e-04 9.99922389e-01 1.46058979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.949254154 meters Centerline goodness [0,1] 0.9987682636765206 Centerline is valid? [True, True] Translation: X:165.47, Y:2.36, Z:1.46 [[ 9.99126953e-01 -3.93570981e-02 -1.40125486e-02 1.65470808e+02] [ 3.93574823e-02 9.99225163e-01 -2.48451418e-04 2.36125694e+00] [ 1.40114695e-02 -3.03264125e-04 9.99901789e-01 1.45901654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.979254154 meters Centerline goodness [0,1] 0.9987931910569106 Centerline is valid? [True, True] Translation: X:165.50, Y:2.36, Z:1.46 [[ 9.99106152e-01 -3.95957815e-02 -1.48010776e-02 1.65502652e+02] [ 3.95962529e-02 9.99215727e-01 -2.61315893e-04 2.36180995e+00] [ 1.47998165e-02 -3.24984896e-04 9.99890424e-01 1.46020213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.009254154 meters Centerline goodness [0,1] 0.9989375039843601 Centerline is valid? [True, True] Translation: X:165.53, Y:2.36, Z:1.46 [[ 9.99115897e-01 -3.92564150e-02 -1.50451999e-02 1.65534557e+02] [ 3.92568803e-02 9.99229117e-01 -2.64512978e-04 2.36227521e+00] [ 1.50439857e-02 -3.26348492e-04 9.99886780e-01 1.46027484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039254154 meters Centerline goodness [0,1] 0.9987054878825177 Centerline is valid? [True, True] Translation: X:165.57, Y:2.36, Z:1.46 [[ 9.99144180e-01 -3.83006303e-02 -1.56194850e-02 1.65566461e+02] [ 3.83010334e-02 9.99266209e-01 -2.73439576e-04 2.36369207e+00] [ 1.56184964e-02 -3.25036853e-04 9.99877971e-01 1.46038037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069254154 meters Centerline goodness [0,1] 0.9987472396806523 Centerline is valid? [True, True] Translation: X:165.60, Y:2.37, Z:1.46 [[ 9.99270954e-01 -3.47278788e-02 -1.58598695e-02 1.65598177e+02] [ 3.47278608e-02 9.99396768e-01 -2.76624008e-04 2.36606554e+00] [ 1.58599089e-02 -2.74357004e-04 9.99874186e-01 1.46031766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099254154 meters Centerline goodness [0,1] 0.9988956377691883 Centerline is valid? [True, True] Translation: X:165.63, Y:2.37, Z:1.46 [[ 9.99369136e-01 -3.18222040e-02 -1.57694910e-02 1.65629213e+02] [ 3.18218356e-02 9.99493519e-01 -2.74342930e-04 2.36836305e+00] [ 1.57702342e-02 -2.27644293e-04 9.99875616e-01 1.46080027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129254154 meters Centerline goodness [0,1] 0.9990206931789151 Centerline is valid? [True, True] Translation: X:165.66, Y:2.37, Z:1.46 [[ 9.99565214e-01 -2.49183755e-02 -1.57625642e-02 1.65659631e+02] [ 2.49171627e-02 9.99689482e-01 -2.73354199e-04 2.37280091e+00] [ 1.57644812e-02 -1.19523029e-04 9.99875726e-01 1.46179332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159254154 meters Centerline goodness [0,1] 0.9988494971876598 Centerline is valid? [True, True] Translation: X:165.69, Y:2.38, Z:1.46 [[ 9.99649299e-01 -2.12852760e-02 -1.57548642e-02 1.65690492e+02] [ 2.12836253e-02 9.99773441e-01 -2.72456961e-04 2.37591011e+00] [ 1.57570941e-02 -6.29592172e-05 9.99875847e-01 1.46214376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189254154 meters Centerline goodness [0,1] 0.9987643274106268 Centerline is valid? [True, True] Translation: X:165.72, Y:2.38, Z:1.46 [[ 9.99716925e-01 -1.79372727e-02 -1.56308859e-02 1.65720354e+02] [ 1.79352350e-02 9.99839114e-01 -2.70541586e-04 2.37887544e+00] [ 1.56332239e-02 -9.87860982e-06 9.99877794e-01 1.46259771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219254154 meters Centerline goodness [0,1] 0.9990210266451008 Centerline is valid? [True, True] Translation: X:165.75, Y:2.38, Z:1.46 [[ 9.99763080e-01 -1.49080036e-02 -1.58598673e-02 1.65748222e+02] [ 1.49055057e-02 9.99888869e-01 -2.75703352e-04 2.38139907e+00] [ 1.58622149e-02 3.92386908e-05 9.99874186e-01 1.46315759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24925415399997 meters Centerline goodness [0,1] 0.9989960911634662 Centerline is valid? [True, True] Translation: X:165.78, Y:2.38, Z:1.46 [[ 9.99785034e-01 -1.27929008e-02 -1.63164543e-02 1.65775848e+02] [ 1.27899445e-02 9.99918165e-01 -2.85526739e-04 2.38331098e+00] [ 1.63187717e-02 7.67788166e-05 9.99866837e-01 1.46321699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27925415399997 meters Centerline goodness [0,1] 0.9990817263544536 Centerline is valid? [True, True] Translation: X:165.81, Y:2.38, Z:1.46 [[ 9.99802366e-01 -1.07701471e-02 -1.67102364e-02 1.65805004e+02] [ 1.07667188e-02 9.99941994e-01 -2.95109408e-04 2.38384903e+00] [ 1.67124455e-02 1.15136667e-04 9.99860331e-01 1.46295775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30925415399997 meters Centerline goodness [0,1] 0.9993817685682613 Centerline is valid? [True, True] Translation: X:165.83, Y:2.38, Z:1.46 [[ 9.99784629e-01 -1.13908278e-02 -1.73477456e-02 1.65833167e+02] [ 1.13871441e-02 9.99935116e-01 -3.11111471e-04 2.38280380e+00] [ 1.73501638e-02 1.13503188e-04 9.99849468e-01 1.46329222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33925415399997 meters Centerline goodness [0,1] 0.9990624134330585 Centerline is valid? [True, True] Translation: X:165.86, Y:2.38, Z:1.46 [[ 9.99757962e-01 -1.28425352e-02 -1.78629998e-02 1.65861039e+02] [ 1.28387671e-02 9.99917527e-01 -3.25611863e-04 2.38159127e+00] [ 1.78657082e-02 9.61941579e-05 9.99840391e-01 1.46294065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36925415399998 meters Centerline goodness [0,1] 0.9989566920751182 Centerline is valid? [True, True] Translation: X:165.89, Y:2.38, Z:1.46 [[ 9.99727189e-01 -1.49453328e-02 -1.79494906e-02 1.65889171e+02] [ 1.49418043e-02 9.99888310e-01 -3.30682851e-04 2.38012984e+00] [ 1.79524280e-02 6.23948609e-05 9.99838840e-01 1.46265621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39925415399998 meters Centerline goodness [0,1] 0.9989595056590151 Centerline is valid? [True, True] Translation: X:165.92, Y:2.38, Z:1.46 [[ 9.99623670e-01 -2.02681876e-02 -1.84856538e-02 1.65918073e+02] [ 2.02653270e-02 9.99794579e-01 -3.42075482e-04 2.37586357e+00] [ 1.84887897e-02 -3.26710699e-05 9.99829067e-01 1.46344393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42925415399998 meters Centerline goodness [0,1] 0.9989797870305426 Centerline is valid? [True, True] Translation: X:165.95, Y:2.37, Z:1.46 [[ 9.99551571e-01 -2.32554193e-02 -1.88638015e-02 1.65945567e+02] [ 2.32529437e-02 9.99729552e-01 -3.50595974e-04 2.37358520e+00] [ 1.88668531e-02 -8.82001573e-05 9.99822001e-01 1.46317630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45925415399998 meters Centerline goodness [0,1] 0.9988753554301235 Centerline is valid? [True, True] Translation: X:165.97, Y:2.37, Z:1.46 [[ 9.99401767e-01 -2.90308383e-02 -1.87967840e-02 1.65974646e+02] [ 2.90293434e-02 9.99578498e-01 -3.52438580e-04 2.36829711e+00] [ 1.87990927e-02 -1.93430559e-04 9.99823263e-01 1.46327803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48925415399998 meters Centerline goodness [0,1] 0.9988138106333404 Centerline is valid? [True, True] Translation: X:166.00, Y:2.37, Z:1.46 [[ 9.99329763e-01 -3.16088730e-02 -1.84635865e-02 1.66004485e+02] [ 3.16078234e-02 9.99500287e-01 -3.48735444e-04 2.36755826e+00] [ 1.84653831e-02 -2.35092073e-04 9.99829473e-01 1.46485777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51925415399998 meters Centerline goodness [0,1] 0.9988162428393261 Centerline is valid? [True, True] Translation: X:166.03, Y:2.37, Z:1.47 [[ 9.99258687e-01 -3.40036686e-02 -1.80506884e-02 1.66033674e+02] [ 3.40030471e-02 9.99421671e-01 -3.41436801e-04 2.36522936e+00] [ 1.80518593e-02 -2.72594719e-04 9.99837015e-01 1.46505615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54925415399998 meters Centerline goodness [0,1] 0.9986036178990797 Centerline is valid? [True, True] Translation: X:166.06, Y:2.36, Z:1.47 [[ 9.99183638e-01 -3.61764437e-02 -1.79811677e-02 1.66064612e+02] [ 3.61761783e-02 9.99345370e-01 -3.40134467e-04 2.36379174e+00] [ 1.79817015e-02 -3.10633134e-04 9.99838268e-01 1.46557640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57925415399998 meters Centerline goodness [0,1] 0.9987535386825538 Centerline is valid? [True, True] Translation: X:166.09, Y:2.36, Z:1.47 [[ 9.99125563e-01 -3.81036463e-02 -1.72110590e-02 1.66094940e+02] [ 3.81036942e-02 9.99273738e-01 -3.25257595e-04 2.36170573e+00] [ 1.72109528e-02 -3.30831752e-04 9.99851826e-01 1.46636268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60925415399998 meters Centerline goodness [0,1] 0.9986705495062042 Centerline is valid? [True, True] Translation: X:166.13, Y:2.36, Z:1.47 [[ 9.98987223e-01 -4.19018277e-02 -1.63940812e-02 1.66125428e+02] [ 4.19023871e-02 9.99121661e-01 -3.09528415e-04 2.35735381e+00] [ 1.63926515e-02 -3.77736205e-04 9.99865560e-01 1.46687254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63925415399999 meters Centerline goodness [0,1] 0.9987770421287901 Centerline is valid? [True, True] Translation: X:166.16, Y:2.36, Z:1.47 [[ 9.98926857e-01 -4.36705442e-02 -1.54278047e-02 1.66157579e+02] [ 4.36712596e-02 9.99045913e-01 -2.90683467e-04 2.35695939e+00] [ 1.54257795e-02 -3.83380141e-04 9.99880942e-01 1.46756021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.669254154 meters Centerline goodness [0,1] 0.998567003139949 Centerline is valid? [True, True] Translation: X:166.19, Y:2.35, Z:1.47 [[ 9.98847583e-01 -4.54667259e-02 -1.53714852e-02 1.66188333e+02] [ 4.54676625e-02 9.98965769e-01 -2.88721956e-04 2.35489546e+00] [ 1.53687148e-02 -4.10516273e-04 9.99881810e-01 1.46756060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.699254154 meters Centerline goodness [0,1] 0.9985242341829528 Centerline is valid? [True, True] Translation: X:166.22, Y:2.35, Z:1.47 [[ 9.98755429e-01 -4.74707539e-02 -1.53010315e-02 1.66220312e+02] [ 4.74719286e-02 9.98872531e-01 -2.86628311e-04 2.35321980e+00] [ 1.52973865e-02 -4.40097892e-04 9.99882891e-01 1.46764792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.729254154 meters Centerline goodness [0,1] 0.9985653403097177 Centerline is valid? [True, True] Translation: X:166.25, Y:2.35, Z:1.47 [[ 9.98510522e-01 -5.23529819e-02 -1.53591323e-02 1.66250786e+02] [ 5.23547546e-02 9.98628508e-01 -2.86927142e-04 2.34794238e+00] [ 1.53530888e-02 -5.17623829e-04 9.99882000e-01 1.46679141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759254154 meters Centerline goodness [0,1] 0.9985888498072832 Centerline is valid? [True, True] Translation: X:166.28, Y:2.35, Z:1.47 [[ 9.98360601e-01 -5.51072969e-02 -1.54691906e-02 1.66283084e+02] [ 5.51094345e-02 9.98480279e-01 -2.88381380e-04 2.34515305e+00] [ 1.54615736e-02 -5.64589736e-04 9.99880303e-01 1.46674607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.789254154 meters Centerline goodness [0,1] 0.9985663989205827 Centerline is valid? [True, True] Translation: X:166.31, Y:2.35, Z:1.47 [[ 9.98188408e-01 -5.81348983e-02 -1.54995205e-02 1.66314652e+02] [ 5.81374242e-02 9.98308548e-01 -2.87943953e-04 2.34538257e+00] [ 1.54900434e-02 -6.13679883e-04 9.99879834e-01 1.46723891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819254154 meters Centerline goodness [0,1] 0.9985238607368043 Centerline is valid? [True, True] Translation: X:166.34, Y:2.34, Z:1.47 [[ 9.97987985e-01 -6.15233100e-02 -1.53252950e-02 1.66344904e+02] [ 6.15261876e-02 9.98105429e-01 -2.84088628e-04 2.34214761e+00] [ 1.53137382e-02 -6.59389938e-04 9.99882520e-01 1.46753700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849254154 meters Centerline goodness [0,1] 0.9984646124723946 Centerline is valid? [True, True] Translation: X:166.38, Y:2.34, Z:1.47 [[ 9.97595217e-01 -6.75925263e-02 -1.53308239e-02 1.66375194e+02] [ 6.75961238e-02 9.97712726e-01 -2.83998807e-04 2.33825709e+00] [ 1.53149543e-02 -7.52988416e-04 9.99882436e-01 1.46783098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879254154 meters Centerline goodness [0,1] 0.9986323851203501 Centerline is valid? [True, True] Translation: X:166.41, Y:2.34, Z:1.47 [[ 9.97433491e-01 -6.98624537e-02 -1.56738099e-02 1.66406816e+02] [ 6.98664993e-02 9.97556308e-01 -2.89978015e-04 2.33753805e+00] [ 1.56557665e-02 -8.05840447e-04 9.99877116e-01 1.46788166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909254154 meters Centerline goodness [0,1] 0.9982950598833905 Centerline is valid? [True, True] Translation: X:166.44, Y:2.34, Z:1.47 [[ 9.97291312e-01 -7.17431189e-02 -1.62161317e-02 1.66437983e+02] [ 7.17477118e-02 9.97422767e-01 -2.99116343e-04 2.33567863e+00] [ 1.61957985e-02 -8.65164211e-04 9.99868465e-01 1.46743104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939254154 meters Centerline goodness [0,1] 0.9987420592490094 Centerline is valid? [True, True] Translation: X:166.47, Y:2.34, Z:1.47 [[ 9.97181889e-01 -7.31329373e-02 -1.67288023e-02 1.66469807e+02] [ 7.31380357e-02 9.97321780e-01 -3.07649089e-04 2.33543641e+00] [ 1.67064981e-02 -9.16729636e-04 9.99860016e-01 1.46761066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969254154 meters Centerline goodness [0,1] 0.9984822614304686 Centerline is valid? [True, True] Translation: X:166.50, Y:2.34, Z:1.47 [[ 9.97075494e-01 -7.44447235e-02 -1.72754746e-02 1.66502031e+02] [ 7.44503757e-02 9.97224669e-01 -3.16610873e-04 2.33543556e+00] [ 1.72510994e-02 -9.70480630e-04 9.99850718e-01 1.46662894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99925415399997 meters Centerline goodness [0,1] 0.9986743819042609 Centerline is valid? [True, True] Translation: X:166.53, Y:2.34, Z:1.47 [[ 9.97049981e-01 -7.47042214e-02 -1.76242602e-02 1.66534029e+02] [ 7.47101671e-02 9.97205238e-01 -3.21727581e-04 2.33592211e+00] [ 1.75990390e-02 -9.95932946e-04 9.99844629e-01 1.46655734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02925415399997 meters Centerline goodness [0,1] 0.9987775318790179 Centerline is valid? [True, True] Translation: X:166.57, Y:2.34, Z:1.47 [[ 9.97052903e-01 -7.46084828e-02 -1.78628750e-02 1.66566517e+02] [ 7.46146009e-02 9.97212393e-01 -3.24648525e-04 2.33568136e+00] [ 1.78373018e-02 -1.00913953e-03 9.99840393e-01 1.46669258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05925415399997 meters Centerline goodness [0,1] 0.9984193555185568 Centerline is valid? [True, True] Translation: X:166.60, Y:2.34, Z:1.47 [[ 9.97057076e-01 -7.43716223e-02 -1.86023828e-02 1.66598748e+02] [ 7.43782449e-02 9.97230045e-01 -3.36560534e-04 2.33817900e+00] [ 1.85758856e-02 -1.04804252e-03 9.99826904e-01 1.46598677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08925415399997 meters Centerline goodness [0,1] 0.998669510675593 Centerline is valid? [True, True] Translation: X:166.63, Y:2.34, Z:1.47 [[ 9.97057435e-01 -7.42516976e-02 -1.90566492e-02 1.66630933e+02] [ 7.42586522e-02 9.97238956e-01 -3.43398644e-04 2.34218550e+00] [ 1.90295309e-02 -1.07273291e-03 9.99818347e-01 1.46716296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11925415399998 meters Centerline goodness [0,1] 0.9983971655137507 Centerline is valid? [True, True] Translation: X:166.66, Y:2.34, Z:1.47 [[ 9.97084123e-01 -7.39542873e-02 -1.88152842e-02 1.66662418e+02] [ 7.39610360e-02 9.97261075e-01 -3.37882704e-04 2.34198172e+00] [ 1.87887384e-02 -1.05470043e-03 9.99822920e-01 1.46712341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14925415399998 meters Centerline goodness [0,1] 0.9983790497442266 Centerline is valid? [True, True] Translation: X:166.69, Y:2.35, Z:1.47 [[ 9.97102401e-01 -7.37471473e-02 -1.86590575e-02 1.66694238e+02] [ 7.37537699e-02 9.97276426e-01 -3.33913750e-04 2.34711009e+00] [ 1.86328634e-02 -1.04322963e-03 9.99825849e-01 1.46829473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17925415399998 meters Centerline goodness [0,1] 0.9987322247342955 Centerline is valid? [True, True] Translation: X:166.73, Y:2.35, Z:1.47 [[ 9.97135180e-01 -7.34496853e-02 -1.80714355e-02 1.66725570e+02] [ 7.34558686e-02 9.97298416e-01 -3.22278334e-04 2.34567690e+00] [ 1.80462852e-02 -1.00609793e-03 9.99836646e-01 1.46891490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20925415399998 meters Centerline goodness [0,1] 0.9986049461001902 Centerline is valid? [True, True] Translation: X:166.76, Y:2.35, Z:1.47 [[ 9.97227178e-01 -7.25923572e-02 -1.63800278e-02 1.66757438e+02] [ 7.25973371e-02 9.97361290e-01 -2.91173654e-04 2.34897830e+00] [ 1.63579427e-02 -8.98780121e-04 9.99865796e-01 1.47080162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23925415399998 meters Centerline goodness [0,1] 0.9985831200964325 Centerline is valid? [True, True] Translation: X:166.79, Y:2.35, Z:1.47 [[ 9.97275470e-01 -7.20781980e-02 -1.56962188e-02 1.66789352e+02] [ 7.20827240e-02 9.97398618e-01 -2.77942987e-04 2.35472138e+00] [ 1.56754205e-02 -8.54240482e-04 9.99876768e-01 1.47230986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26925415399998 meters Centerline goodness [0,1] 0.9986672871890336 Centerline is valid? [True, True] Translation: X:166.82, Y:2.35, Z:1.47 [[ 9.97334904e-01 -7.15008144e-02 -1.45162618e-02 1.66820369e+02] [ 7.15046432e-02 9.97440234e-01 -2.55750492e-04 2.35249473e+00] [ 1.44973899e-02 -7.82911228e-04 9.99894601e-01 1.47303976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29925415399998 meters Centerline goodness [0,1] 0.9987954353338969 Centerline is valid? [True, True] Translation: X:166.85, Y:2.36, Z:1.48 [[ 9.97462466e-01 -6.99778523e-02 -1.31045252e-02 1.66852584e+02] [ 6.99808595e-02 9.97548308e-01 -2.29495091e-04 2.36230376e+00] [ 1.30884566e-02 -6.88153201e-04 9.99914106e-01 1.47506910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32925415399998 meters Centerline goodness [0,1] 0.9990257952475751 Centerline is valid? [True, True] Translation: X:166.88, Y:2.36, Z:1.48 [[ 9.97511969e-01 -6.92840819e-02 -1.30225627e-02 1.66883689e+02] [ 6.92870040e-02 9.97596742e-01 -2.27186929e-04 2.35592021e+00] [ 1.30070065e-02 -6.75672670e-04 9.99915177e-01 1.47502899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35925415399998 meters Centerline goodness [0,1] 0.9987920913772278 Centerline is valid? [True, True] Translation: X:166.92, Y:2.36, Z:1.48 [[ 9.97553715e-01 -6.87289409e-02 -1.27639505e-02 1.66916043e+02] [ 6.87317123e-02 9.97635155e-01 -2.21932008e-04 2.36498836e+00] [ 1.27490189e-02 -6.55899072e-04 9.99918513e-01 1.47534383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38925415399999 meters Centerline goodness [0,1] 0.9986473348269012 Centerline is valid? [True, True] Translation: X:166.95, Y:2.36, Z:1.47 [[ 9.97581661e-01 -6.81061621e-02 -1.38700944e-02 1.66947061e+02] [ 6.81093880e-02 9.97677831e-01 -2.40194195e-04 2.36476868e+00] [ 1.38542444e-02 -7.05070320e-04 9.99903777e-01 1.47362561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.419254154 meters Centerline goodness [0,1] 0.9986185790491573 Centerline is valid? [True, True] Translation: X:166.98, Y:2.37, Z:1.47 [[ 9.97558299e-01 -6.82557154e-02 -1.47850103e-02 1.66979300e+02] [ 6.82594112e-02 9.97667574e-01 -2.55112259e-04 2.36977711e+00] [ 1.47679382e-02 -7.54726744e-04 9.99890663e-01 1.47329951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.449254154 meters Centerline goodness [0,1] 0.9988327674023769 Centerline is valid? [True, True] Translation: X:167.01, Y:2.37, Z:1.47 [[ 9.97540428e-01 -6.81792375e-02 -1.62691754e-02 1.67011550e+02] [ 6.81837231e-02 9.97672743e-01 -2.79458942e-04 2.37440881e+00] [ 1.62503662e-02 -8.30521360e-04 9.99867609e-01 1.47326478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.479254154 meters Centerline goodness [0,1] 0.9988938523718358 Centerline is valid? [True, True] Translation: X:167.04, Y:2.37, Z:1.47 [[ 9.97524634e-01 -6.82039466e-02 -1.71121759e-02 1.67042641e+02] [ 6.82089329e-02 9.97671016e-01 -2.92771456e-04 2.37438961e+00] [ 1.70922900e-02 -8.75156515e-04 9.99853533e-01 1.47232202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.509254154 meters Centerline goodness [0,1] 0.9985959239246054 Centerline is valid? [True, True] Translation: X:167.07, Y:2.38, Z:1.47 [[ 9.97442450e-01 -6.88752835e-02 -1.90985506e-02 1.67074036e+02] [ 6.88816388e-02 9.97624786e-01 -3.25643425e-04 2.37616315e+00] [ 1.90756163e-02 -9.90728892e-04 9.99817553e-01 1.47084771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539254154 meters Centerline goodness [0,1] 0.9987449211853049 Centerline is valid? [True, True] Translation: X:167.11, Y:2.38, Z:1.47 [[ 9.97446790e-01 -6.85848070e-02 -1.99003738e-02 1.67107034e+02] [ 6.85916839e-02 9.97644760e-01 -3.37596608e-04 2.38032930e+00] [ 1.98766577e-02 -1.02826550e-03 9.99801911e-01 1.47143364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569254154 meters Centerline goodness [0,1] 0.9988516990600944 Centerline is valid? [True, True] Translation: X:167.14, Y:2.38, Z:1.47 [[ 9.97468806e-01 -6.82419773e-02 -1.99753190e-02 1.67138417e+02] [ 6.82488877e-02 9.97668270e-01 -3.36359459e-04 2.37991617e+00] [ 1.99516958e-02 -1.02778523e-03 9.99800417e-01 1.47113781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599254154 meters Centerline goodness [0,1] 0.9989159545976278 Centerline is valid? [True, True] Translation: X:167.17, Y:2.38, Z:1.47 [[ 9.97496590e-01 -6.77962742e-02 -2.01051668e-02 1.67169686e+02] [ 6.78032221e-02 9.97698657e-01 -3.36672154e-04 2.37842594e+00] [ 2.00817230e-02 -1.02736576e-03 9.99797814e-01 1.47079962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629254154 meters Centerline goodness [0,1] 0.9989159545976278 Centerline is valid? [True, True] Translation: X:167.20, Y:2.38, Z:1.47 [[ 9.97501358e-01 -6.77260816e-02 -2.01051879e-02 1.67201415e+02] [ 6.77330408e-02 9.97703424e-01 -3.35406365e-04 2.37889173e+00] [ 2.00817306e-02 -1.02721721e-03 9.99797814e-01 1.47109676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659254154 meters Centerline goodness [0,1] 0.9990658372433706 Centerline is valid? [True, True] Translation: X:167.23, Y:2.38, Z:1.47 [[ 9.97579286e-01 -6.66330561e-02 -1.98897851e-02 1.67233923e+02] [ 6.66396820e-02 9.97777051e-01 -3.30210426e-04 2.38397209e+00] [ 1.98675740e-02 -9.96037872e-04 9.99802124e-01 1.47229753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689254154 meters Centerline goodness [0,1] 0.9989133677078451 Centerline is valid? [True, True] Translation: X:167.27, Y:2.39, Z:1.47 [[ 9.97654555e-01 -6.55063898e-02 -1.98570395e-02 1.67265709e+02] [ 6.55128032e-02 9.97851675e-01 -3.28060159e-04 2.38691717e+00] [ 1.98358702e-02 -9.73599611e-04 9.99802776e-01 1.47270284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719254154 meters Centerline goodness [0,1] 0.9990393852065321 Centerline is valid? [True, True] Translation: X:167.30, Y:2.39, Z:1.47 [[ 9.97912580e-01 -6.17608967e-02 -1.88699500e-02 1.67296232e+02] [ 6.17660353e-02 9.98090607e-01 -3.10929398e-04 2.39445591e+00] [ 1.88531231e-02 -8.55241638e-04 9.99821898e-01 1.47417128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74925415399997 meters Centerline goodness [0,1] 0.9990825100817207 Centerline is valid? [True, True] Translation: X:167.33, Y:2.40, Z:1.47 [[ 9.98051796e-01 -5.96542565e-02 -1.82751604e-02 1.67327473e+02] [ 5.96587329e-02 9.98218786e-01 -3.00629035e-04 2.39737784e+00] [ 1.82605422e-02 -7.90229562e-04 9.99832950e-01 1.47476102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77925415399997 meters Centerline goodness [0,1] 0.9990187085351026 Centerline is valid? [True, True] Translation: X:167.36, Y:2.40, Z:1.48 [[ 9.98187848e-01 -5.75561402e-02 -1.75587867e-02 1.67357659e+02] [ 5.75599569e-02 9.98342010e-01 -2.88360012e-04 2.39786460e+00] [ 1.75462713e-02 -7.22845548e-04 9.99845791e-01 1.47509814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80925415399997 meters Centerline goodness [0,1] 0.9990173459796633 Centerline is valid? [True, True] Translation: X:167.39, Y:2.40, Z:1.48 [[ 9.98301628e-01 -5.56357479e-02 -1.72778306e-02 1.67389730e+02] [ 5.56391690e-02 9.98450902e-01 -2.83002980e-04 2.40231200e+00] [ 1.72668106e-02 -6.78801799e-04 9.99850687e-01 1.47619052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83925415399997 meters Centerline goodness [0,1] 0.9989504123380101 Centerline is valid? [True, True] Translation: X:167.42, Y:2.41, Z:1.48 [[ 9.98494753e-01 -5.22661976e-02 -1.66274841e-02 1.67421308e+02] [ 5.22689169e-02 9.98633009e-01 -2.71295332e-04 2.40768511e+00] [ 1.66189341e-02 -5.98213618e-04 9.99861717e-01 1.47718325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86925415399998 meters Centerline goodness [0,1] 0.9989935329136151 Centerline is valid? [True, True] Translation: X:167.45, Y:2.41, Z:1.48 [[ 9.98554712e-01 -5.11796108e-02 -1.64053518e-02 1.67452943e+02] [ 5.11821281e-02 9.98689300e-01 -2.66648240e-04 2.40831125e+00] [ 1.63974963e-02 -5.73397962e-04 9.99865388e-01 1.47735368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89925415399998 meters Centerline goodness [0,1] 0.9989916326968462 Centerline is valid? [True, True] Translation: X:167.49, Y:2.41, Z:1.48 [[ 9.98588213e-01 -5.04046613e-02 -1.67615704e-02 1.67485056e+02] [ 5.04072007e-02 9.98728712e-01 -2.71212269e-04 2.41002724e+00] [ 1.67539320e-02 -5.74074470e-04 9.99859478e-01 1.47732580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92925415399998 meters Centerline goodness [0,1] 0.9989477978913011 Centerline is valid? [True, True] Translation: X:167.52, Y:2.41, Z:1.48 [[ 9.98609400e-01 -4.98058843e-02 -1.72812092e-02 1.67516288e+02] [ 4.98085134e-02 9.98758747e-01 -2.78508271e-04 2.41087291e+00] [ 1.72736302e-02 -5.82630361e-04 9.99850630e-01 1.47684911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95925415399998 meters Centerline goodness [0,1] 0.9991407642901639 Centerline is valid? [True, True] Translation: X:167.55, Y:2.41, Z:1.48 [[ 9.98687776e-01 -4.79549318e-02 -1.79735986e-02 1.67547260e+02] [ 4.79574938e-02 9.98849336e-01 -2.88694710e-04 2.41373202e+00] [ 1.79667613e-02 -5.73652864e-04 9.99838420e-01 1.47612187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98925415399998 meters Centerline goodness [0,1] 0.9988822012037833 Centerline is valid? [True, True] Translation: X:167.58, Y:2.42, Z:1.48 [[ 9.98744642e-01 -4.66136750e-02 -1.83386257e-02 1.67579594e+02] [ 4.66161376e-02 9.98912834e-01 -2.93398218e-04 2.41910632e+00] [ 1.83323649e-02 -5.61845999e-04 9.99831790e-01 1.47697956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01925415399998 meters Centerline goodness [0,1] 0.9991394148020654 Centerline is valid? [True, True] Translation: X:167.61, Y:2.42, Z:1.48 [[ 9.98844121e-01 -4.44621858e-02 -1.82629597e-02 1.67612116e+02] [ 4.44642932e-02 9.99010932e-01 -2.90854144e-04 2.42161893e+00] [ 1.82578284e-02 -5.21531641e-04 9.99833176e-01 1.47738916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04925415399998 meters Centerline goodness [0,1] 0.9992244220867355 Centerline is valid? [True, True] Translation: X:167.64, Y:2.42, Z:1.48 [[ 9.98944108e-01 -4.20670469e-02 -1.84670434e-02 1.67644550e+02] [ 4.20688177e-02 9.99114673e-01 -2.92744572e-04 2.42458272e+00] [ 1.84630089e-02 -4.84451215e-04 9.99829427e-01 1.47794439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07925415399998 meters Centerline goodness [0,1] 0.9991794074457977 Centerline is valid? [True, True] Translation: X:167.68, Y:2.43, Z:1.48 [[ 9.99197243e-01 -3.57425446e-02 -1.80925689e-02 1.67675480e+02] [ 3.57432259e-02 9.99360966e-01 -2.85818402e-04 2.43002628e+00] [ 1.80912231e-02 -3.61097819e-04 9.99836275e-01 1.47803747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10925415399998 meters Centerline goodness [0,1] 0.9992211163998269 Centerline is valid? [True, True] Translation: X:167.71, Y:2.43, Z:1.48 [[ 9.99316958e-01 -3.22153501e-02 -1.81049088e-02 1.67706583e+02] [ 3.22154654e-02 9.99480906e-01 -2.85360929e-04 2.43319183e+00] [ 1.81047036e-02 -2.98092046e-04 9.99836052e-01 1.47846720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13925415399999 meters Centerline goodness [0,1] 0.999371709599844 Centerline is valid? [True, True] Translation: X:167.74, Y:2.44, Z:1.48 [[ 9.99431855e-01 -2.86043130e-02 -1.78258405e-02 1.67737710e+02] [ 2.86038617e-02 9.99590787e-01 -2.80333068e-04 2.43658207e+00] [ 1.78265647e-02 -2.29714078e-04 9.99841068e-01 1.47770505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.169254154 meters Centerline goodness [0,1] 0.9993064285404656 Centerline is valid? [True, True] Translation: X:167.77, Y:2.44, Z:1.48 [[ 9.99514250e-01 -2.59769884e-02 -1.72180228e-02 1.67769067e+02] [ 2.59761880e-02 9.99662525e-01 -2.70163661e-04 2.44027637e+00] [ 1.72192302e-02 -1.77226169e-04 9.99851722e-01 1.47995131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.199254154 meters Centerline goodness [0,1] 0.9993925852007722 Centerline is valid? [True, True] Translation: X:167.80, Y:2.44, Z:1.48 [[ 9.99623716e-01 -2.16515639e-02 -1.68415216e-02 1.67798570e+02] [ 2.16501878e-02 9.99765572e-01 -2.64055357e-04 2.44362759e+00] [ 1.68432906e-02 -1.00666106e-04 9.99858137e-01 1.47980604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.229254154 meters Centerline goodness [0,1] 0.9993927037695745 Centerline is valid? [True, True] Translation: X:167.83, Y:2.45, Z:1.48 [[ 9.99659324e-01 -2.01673068e-02 -1.65684991e-02 1.67828155e+02] [ 2.01657640e-02 9.99796616e-01 -2.60199225e-04 2.44538339e+00] [ 1.65703768e-02 -7.40058603e-05 9.99862699e-01 1.47910455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259254154 meters Centerline goodness [0,1] 0.9993272861420945 Centerline is valid? [True, True] Translation: X:167.86, Y:2.45, Z:1.48 [[ 9.99663518e-01 -1.99520677e-02 -1.65760621e-02 1.67858194e+02] [ 1.99504841e-02 9.99800935e-01 -2.60909790e-04 2.44620294e+00] [ 1.65779681e-02 -6.98784640e-05 9.99862574e-01 1.48033428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.289254154 meters Centerline goodness [0,1] 0.999480508236109 Centerline is valid? [True, True] Translation: X:167.89, Y:2.45, Z:1.48 [[ 9.99640336e-01 -2.02754646e-02 -1.75528875e-02 1.67888249e+02] [ 2.02737272e-02 9.99794429e-01 -2.76939641e-04 2.44655756e+00] [ 1.75548942e-02 -7.90224171e-05 9.99845898e-01 1.48039904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319254154 meters Centerline goodness [0,1] 0.9994803957652255 Centerline is valid? [True, True] Translation: X:167.92, Y:2.44, Z:1.48 [[ 9.99554607e-01 -2.33815611e-02 -1.85442603e-02 1.67916526e+02] [ 2.33801375e-02 9.99726604e-01 -2.93594846e-04 2.44453183e+00] [ 1.85460550e-02 -1.40103274e-04 9.99827997e-01 1.47973736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349254154 meters Centerline goodness [0,1] 0.9995025306051823 Centerline is valid? [True, True] Translation: X:167.95, Y:2.44, Z:1.48 [[ 9.99479668e-01 -2.61061845e-02 -1.89436188e-02 1.67945105e+02] [ 2.61051655e-02 9.99659157e-01 -3.01113954e-04 2.44207922e+00] [ 1.89450229e-02 -1.93569030e-04 9.99820508e-01 1.47879465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379254154 meters Centerline goodness [0,1] 0.9993302221069916 Centerline is valid? [True, True] Translation: X:167.97, Y:2.44, Z:1.48 [[ 9.99392260e-01 -2.91291756e-02 -1.91468455e-02 1.67974365e+02] [ 2.91286727e-02 9.99575624e-01 -3.05212164e-04 2.44104257e+00] [ 1.91476106e-02 -2.52695521e-04 9.99816636e-01 1.47913401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409254154 meters Centerline goodness [0,1] 0.9994168466522678 Centerline is valid? [True, True] Translation: X:168.01, Y:2.44, Z:1.48 [[ 9.99168174e-01 -3.58099415e-02 -1.95091797e-02 1.68005049e+02] [ 3.58106853e-02 9.99358543e-01 -3.11336495e-04 2.43629274e+00] [ 1.95078144e-02 -3.87559578e-04 9.99809629e-01 1.47892166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439254154 meters Centerline goodness [0,1] 0.999265753897983 Centerline is valid? [True, True] Translation: X:168.04, Y:2.43, Z:1.48 [[ 9.99044970e-01 -3.89839775e-02 -1.97331761e-02 1.68036764e+02] [ 3.89853647e-02 9.99239732e-01 -3.14534804e-04 2.43427223e+00] [ 1.97304354e-02 -4.55070653e-04 9.99805232e-01 1.47915089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469254154 meters Centerline goodness [0,1] 0.9993326588164381 Centerline is valid? [True, True] Translation: X:168.07, Y:2.43, Z:1.48 [[ 9.98912755e-01 -4.21304829e-02 -1.99582320e-02 1.68067095e+02] [ 4.21325401e-02 9.99111980e-01 -3.17587372e-04 2.42740565e+00] [ 1.99538888e-02 -5.23648934e-04 9.99800764e-01 1.47738487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49925415399997 meters Centerline goodness [0,1] 0.9993320117221168 Centerline is valid? [True, True] Translation: X:168.10, Y:2.43, Z:1.48 [[ 9.98793572e-01 -4.49293686e-02 -1.98179843e-02 1.68098478e+02] [ 4.49319581e-02 9.98990000e-01 -3.14812372e-04 2.43024916e+00] [ 1.98121125e-02 -5.76028269e-04 9.99803555e-01 1.47969322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52925415399997 meters Centerline goodness [0,1] 0.9992685183193133 Centerline is valid? [True, True] Translation: X:168.13, Y:2.43, Z:1.48 [[ 9.98592639e-01 -4.95675123e-02 -1.88627313e-02 1.68129644e+02] [ 4.95706973e-02 9.98770573e-01 -2.98964596e-04 2.42939484e+00] [ 1.88543599e-02 -6.36494900e-04 9.99822038e-01 1.47998179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55925415399997 meters Centerline goodness [0,1] 0.9992686756576542 Centerline is valid? [True, True] Translation: X:168.16, Y:2.43, Z:1.48 [[ 9.98481998e-01 -5.20010238e-02 -1.81547265e-02 1.68160389e+02] [ 5.20043877e-02 9.98646815e-01 -2.87081488e-04 2.42803761e+00] [ 1.81450884e-02 -6.57479740e-04 9.99835148e-01 1.48225128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58925415399997 meters Centerline goodness [0,1] 0.999333405010214 Centerline is valid? [True, True] Translation: X:168.19, Y:2.43, Z:1.48 [[ 9.98418444e-01 -5.35494914e-02 -1.71190470e-02 1.68192050e+02] [ 5.35527226e-02 9.98564987e-01 -2.69947689e-04 2.42691849e+00] [ 1.71089365e-02 -6.47250823e-04 9.99853422e-01 1.48354460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61925415399998 meters Centerline goodness [0,1] 0.9993558222928431 Centerline is valid? [True, True] Translation: X:168.22, Y:2.43, Z:1.48 [[ 9.98369384e-01 -5.48724804e-02 -1.57347795e-02 1.68223565e+02] [ 5.48753870e-02 9.98493180e-01 -2.47294785e-04 2.42596450e+00] [ 1.57246397e-02 -6.16560574e-04 9.99876170e-01 1.48461605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64925415399998 meters Centerline goodness [0,1] 0.9989466669532879 Centerline is valid? [True, True] Translation: X:168.26, Y:2.43, Z:1.49 [[ 9.98317175e-01 -5.62133648e-02 -1.42434750e-02 1.68256034e+02] [ 5.62158943e-02 9.98418611e-01 -2.23040341e-04 2.42552988e+00] [ 1.42334884e-02 -5.78044684e-04 9.99898532e-01 1.48631237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67925415399998 meters Centerline goodness [0,1] 0.9991197561080338 Centerline is valid? [True, True] Translation: X:168.29, Y:2.43, Z:1.49 [[ 9.98306259e-01 -5.65979521e-02 -1.34641947e-02 1.68287168e+02] [ 5.66002588e-02 9.98396898e-01 -2.09978187e-04 2.42530443e+00] [ 1.34544946e-02 -5.52454366e-04 9.99909332e-01 1.48711344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70925415399998 meters Centerline goodness [0,1] 0.9991192455586346 Centerline is valid? [True, True] Translation: X:168.32, Y:2.43, Z:1.49 [[ 9.98299301e-01 -5.67483418e-02 -1.33465890e-02 1.68318723e+02] [ 5.67506313e-02 9.98388363e-01 -2.07432032e-04 2.42552176e+00] [ 1.33368506e-02 -5.50348100e-04 9.99910909e-01 1.48762748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73925415399998 meters Centerline goodness [0,1] 0.9991624430890816 Centerline is valid? [True, True] Translation: X:168.35, Y:2.43, Z:1.49 [[ 9.98276736e-01 -5.70707120e-02 -1.36562317e-02 1.68350947e+02] [ 5.70731502e-02 9.98369977e-01 -2.11430309e-04 2.42585074e+00] [ 1.36460382e-02 -5.68338203e-04 9.99906727e-01 1.48785867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76925415399998 meters Centerline goodness [0,1] 0.9991835506950562 Centerline is valid? [True, True] Translation: X:168.38, Y:2.43, Z:1.49 [[ 9.98208475e-01 -5.81081020e-02 -1.42579381e-02 1.68382940e+02] [ 5.81108802e-02 9.98310111e-01 -2.19711366e-04 2.42590312e+00] [ 1.42466108e-02 -6.09223586e-04 9.99898326e-01 1.48629562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79925415399998 meters Centerline goodness [0,1] 0.9991192644784327 Centerline is valid? [True, True] Translation: X:168.41, Y:2.42, Z:1.49 [[ 9.98158116e-01 -5.88838702e-02 -1.45967563e-02 1.68414116e+02] [ 5.88868786e-02 9.98264637e-01 -2.23982235e-04 2.42408670e+00] [ 1.45846146e-02 -6.35987732e-04 9.99893437e-01 1.48700440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82925415399998 meters Centerline goodness [0,1] 0.9991409303724067 Centerline is valid? [True, True] Translation: X:168.45, Y:2.42, Z:1.49 [[ 9.98103047e-01 -5.97800425e-02 -1.47191828e-02 1.68446014e+02] [ 5.97832116e-02 9.98211359e-01 -2.24994469e-04 2.42406680e+00] [ 1.47063057e-02 -6.55392357e-04 9.99891642e-01 1.48665606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85925415399998 meters Centerline goodness [0,1] 0.9991411332746442 Centerline is valid? [True, True] Translation: X:168.48, Y:2.42, Z:1.49 [[ 9.98059169e-01 -6.03761472e-02 -1.52517480e-02 1.68477562e+02] [ 6.03796342e-02 9.98175458e-01 -2.32158257e-04 2.42249864e+00] [ 1.52379374e-02 -6.89187290e-04 9.99883658e-01 1.48631039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88925415399999 meters Centerline goodness [0,1] 0.9989706197726785 Centerline is valid? [True, True] Translation: X:168.51, Y:2.42, Z:1.49 [[ 9.98006323e-01 -6.10633662e-02 -1.59575674e-02 1.68510136e+02] [ 6.10672864e-02 9.98133622e-01 -2.41948167e-04 2.42195795e+00] [ 1.59425587e-02 -7.33019538e-04 9.99872641e-01 1.48587586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.919254154 meters Centerline goodness [0,1] 0.9991626948344712 Centerline is valid? [True, True] Translation: X:168.54, Y:2.43, Z:1.49 [[ 9.97916111e-01 -6.19416196e-02 -1.80740351e-02 1.68541737e+02] [ 6.19468142e-02 9.98079415e-01 -2.72848652e-04 2.42776072e+00] [ 1.80562231e-02 -8.47348827e-04 9.99836614e-01 1.48576282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.949254154 meters Centerline goodness [0,1] 0.9991839539578233 Centerline is valid? [True, True] Translation: X:168.57, Y:2.42, Z:1.48 [[ 9.97921735e-01 -6.16143580e-02 -1.88648126e-02 1.68572673e+02] [ 6.16199785e-02 9.98099643e-01 -2.83751864e-04 2.42399782e+00] [ 1.88464460e-02 -8.79287196e-04 9.99822003e-01 1.48424612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.979254154 meters Centerline goodness [0,1] 0.999183410336306 Centerline is valid? [True, True] Translation: X:168.60, Y:2.42, Z:1.48 [[ 9.97938540e-01 -6.09305564e-02 -2.01528589e-02 1.68603659e+02] [ 6.09368686e-02 9.98141577e-01 -3.01295189e-04 2.42402549e+00] [ 2.01337645e-02 -9.27378034e-04 9.99796865e-01 1.48330538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.009254154 meters Centerline goodness [0,1] 0.998969249269885 Centerline is valid? [True, True] Translation: X:168.64, Y:2.43, Z:1.48 [[ 9.98094602e-01 -5.77757086e-02 -2.16594625e-02 1.68635482e+02] [ 5.77822992e-02 9.98329155e-01 -3.21956730e-04 2.43282480e+00] [ 2.16418742e-02 -9.30190267e-04 9.99765354e-01 1.48409966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039254154 meters Centerline goodness [0,1] 0.9991191130972843 Centerline is valid? [True, True] Translation: X:168.67, Y:2.44, Z:1.49 [[ 9.98248990e-01 -5.52332629e-02 -2.11716920e-02 1.68666891e+02] [ 5.52390083e-02 9.98473111e-01 -3.13798489e-04 2.43601851e+00] [ 2.11566973e-02 -8.56254245e-04 9.99775805e-01 1.48503733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069254154 meters Centerline goodness [0,1] 0.9992683136782302 Centerline is valid? [True, True] Translation: X:168.70, Y:2.44, Z:1.49 [[ 9.98438685e-01 -5.18611575e-02 -2.07512014e-02 1.68697091e+02] [ 5.18659605e-02 9.98654008e-01 -3.07036010e-04 2.43823363e+00] [ 2.07391937e-02 -7.69724363e-04 9.99784623e-01 1.48600890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099254154 meters Centerline goodness [0,1] 0.9992231836523315 Centerline is valid? [True, True] Translation: X:168.73, Y:2.45, Z:1.49 [[ 9.98635881e-01 -4.82658856e-02 -1.99193745e-02 1.68728229e+02] [ 4.82696077e-02 9.98834300e-01 -2.94178523e-04 2.44575857e+00] [ 1.99103533e-02 -6.67723164e-04 9.99801546e-01 1.48878905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129254154 meters Centerline goodness [0,1] 0.9992450551109769 Centerline is valid? [True, True] Translation: X:168.76, Y:2.45, Z:1.49 [[ 9.98845322e-01 -4.41994375e-02 -1.88263593e-02 1.68759824e+02] [ 4.42020564e-02 9.99022573e-01 -2.77191654e-04 2.44948500e+00] [ 1.88202096e-02 -5.55292208e-04 9.99822730e-01 1.49056742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159254154 meters Centerline goodness [0,1] 0.9992863939105614 Centerline is valid? [True, True] Translation: X:168.79, Y:2.46, Z:1.49 [[ 9.99228384e-01 -3.56491371e-02 -1.64856196e-02 1.68790816e+02] [ 3.56499914e-02 9.99364308e-01 -2.42145990e-04 2.45914586e+00] [ 1.64837721e-02 -3.45753051e-04 9.99864074e-01 1.49406339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189254154 meters Centerline goodness [0,1] 0.999263830247916 Centerline is valid? [True, True] Translation: X:168.82, Y:2.46, Z:1.49 [[ 9.99391511e-01 -3.12973359e-02 -1.53975763e-02 1.68821317e+02] [ 3.12975689e-02 9.99510086e-01 -2.25890435e-04 2.46199771e+00] [ 1.53971025e-02 -2.56153721e-04 9.99881425e-01 1.49478467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219254154 meters Centerline goodness [0,1] 0.9995015387282736 Centerline is valid? [True, True] Translation: X:168.85, Y:2.47, Z:1.50 [[ 9.99521323e-01 -2.70965458e-02 -1.49299121e-02 1.68853127e+02] [ 2.70963031e-02 9.99632804e-01 -2.18574643e-04 2.46650415e+00] [ 1.49303525e-02 -1.86075407e-04 9.99888519e-01 1.49595140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24925415399997 meters Centerline goodness [0,1] 0.9993057062269473 Centerline is valid? [True, True] Translation: X:168.88, Y:2.47, Z:1.50 [[ 9.99632459e-01 -2.30662539e-02 -1.42441316e-02 1.68884045e+02] [ 2.30656330e-02 9.99733931e-01 -2.07894227e-04 2.46983754e+00] [ 1.42451370e-02 -1.20732095e-04 9.99898526e-01 1.49658866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27925415399997 meters Centerline goodness [0,1] 0.9995438847983319 Centerline is valid? [True, True] Translation: X:168.92, Y:2.47, Z:1.50 [[ 9.99716237e-01 -1.93617804e-02 -1.38768328e-02 1.68915831e+02] [ 1.93608414e-02 9.99812541e-01 -2.02013719e-04 2.47265365e+00] [ 1.38781428e-02 -6.67107641e-05 9.99903692e-01 1.49679169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30925415399997 meters Centerline goodness [0,1] 0.999412788168769 Centerline is valid? [True, True] Translation: X:168.95, Y:2.48, Z:1.50 [[ 9.99802290e-01 -1.34568187e-02 -1.46388099e-02 1.68945912e+02] [ 1.34551481e-02 9.99909453e-01 -2.12604773e-04 2.47718733e+00] [ 1.46403454e-02 1.55953841e-05 9.99892824e-01 1.49646699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33925415399997 meters Centerline goodness [0,1] 0.9995218118981894 Centerline is valid? [True, True] Translation: X:168.97, Y:2.48, Z:1.50 [[ 9.99813018e-01 -1.17129856e-02 -1.53862156e-02 1.68974219e+02] [ 1.17109130e-02 9.99931400e-01 -2.24801295e-04 2.47903338e+00] [ 1.53877932e-02 4.45726285e-05 9.99881600e-01 1.49658640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36925415399998 meters Centerline goodness [0,1] 0.9994781587701942 Centerline is valid? [True, True] Translation: X:169.00, Y:2.48, Z:1.49 [[ 9.99816125e-01 -1.03409847e-02 -1.61486747e-02 1.69003430e+02] [ 1.03384551e-02 9.99946528e-01 -2.40121691e-04 2.48008291e+00] [ 1.61502943e-02 7.31251902e-05 9.99869573e-01 1.49453366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39925415399998 meters Centerline goodness [0,1] 0.9993690028068496 Centerline is valid? [True, True] Translation: X:169.03, Y:2.48, Z:1.50 [[ 9.99809467e-01 -1.07775358e-02 -1.62749683e-02 1.69031539e+02] [ 1.07749529e-02 9.99941918e-01 -2.46382924e-04 2.48055797e+00] [ 1.62766784e-02 7.09739625e-05 9.99867524e-01 1.49628833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42925415399998 meters Centerline goodness [0,1] 0.9994127370802157 Centerline is valid? [True, True] Translation: X:169.06, Y:2.48, Z:1.50 [[ 9.99763976e-01 -1.28591880e-02 -1.75109643e-02 1.69059469e+02] [ 1.28564237e-02 9.99917316e-01 -2.70427293e-04 2.47863605e+00] [ 1.75129939e-02 4.52350887e-05 9.99846635e-01 1.49543252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45925415399998 meters Centerline goodness [0,1] 0.9995003692922623 Centerline is valid? [True, True] Translation: X:169.09, Y:2.48, Z:1.49 [[ 9.99721386e-01 -1.49480124e-02 -1.82676570e-02 1.69087087e+02] [ 1.49452526e-02 9.99888272e-01 -2.87593686e-04 2.47689380e+00] [ 1.82699149e-02 1.44988107e-05 9.99833091e-01 1.49495363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48925415399998 meters Centerline goodness [0,1] 0.9993914234171575 Centerline is valid? [True, True] Translation: X:169.12, Y:2.47, Z:1.49 [[ 9.99612426e-01 -2.01767785e-02 -1.91805873e-02 1.69115397e+02] [ 2.01746243e-02 9.99796425e-01 -3.05825909e-04 2.47187050e+00] [ 1.91828531e-02 -8.12537622e-05 9.99815989e-01 1.49306552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51925415399998 meters Centerline goodness [0,1] 0.9993914234171575 Centerline is valid? [True, True] Translation: X:169.14, Y:2.47, Z:1.49 [[ 9.99606817e-01 -2.04528256e-02 -1.91805287e-02 1.69142779e+02] [ 2.04506524e-02 9.99790816e-01 -3.09463338e-04 2.47239770e+00] [ 1.91828458e-02 -8.29126624e-05 9.99815989e-01 1.49332242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54925415399998 meters Centerline goodness [0,1] 0.9992191905608815 Centerline is valid? [True, True] Translation: X:169.17, Y:2.47, Z:1.49 [[ 9.99529900e-01 -2.35946488e-02 -1.95773388e-02 1.69171134e+02] [ 2.35928849e-02 9.99721598e-01 -3.21094702e-04 2.47082496e+00] [ 1.95794645e-02 -1.40942144e-04 9.99808294e-01 1.49426567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57925415399998 meters Centerline goodness [0,1] 0.9993929670901444 Centerline is valid? [True, True] Translation: X:169.20, Y:2.47, Z:1.49 [[ 9.99460986e-01 -2.61329959e-02 -1.98696607e-02 1.69200232e+02] [ 2.61315797e-02 9.99658457e-01 -3.30949787e-04 2.46895938e+00] [ 1.98715230e-02 -1.88454221e-04 9.99802524e-01 1.49401624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60925415399998 meters Centerline goodness [0,1] 0.9993728644954804 Centerline is valid? [True, True] Translation: X:169.23, Y:2.47, Z:1.50 [[ 9.99401765e-01 -2.86501522e-02 -1.93721653e-02 1.69229682e+02] [ 2.86492271e-02 9.99589474e-01 -3.25330814e-04 2.46760897e+00] [ 1.93735333e-02 -2.29861374e-04 9.99812289e-01 1.49563114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63925415399999 meters Centerline goodness [0,1] 0.9993083772801936 Centerline is valid? [True, True] Translation: X:169.26, Y:2.47, Z:1.49 [[ 9.99353798e-01 -3.03933683e-02 -1.91893040e-02 1.69259606e+02] [ 3.03927924e-02 9.99537981e-01 -3.21712332e-04 2.46533929e+00] [ 1.91902161e-02 -2.61712091e-04 9.99815817e-01 1.49495104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.669254154 meters Centerline goodness [0,1] 0.9993309159975826 Centerline is valid? [True, True] Translation: X:169.29, Y:2.46, Z:1.50 [[ 9.99313141e-01 -3.20238920e-02 -1.86471760e-02 1.69290687e+02] [ 3.20236534e-02 9.99487063e-01 -3.11475190e-04 2.46366744e+00] [ 1.86475858e-02 -2.85889450e-04 9.99826078e-01 1.49650201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.699254154 meters Centerline goodness [0,1] 0.9993527508090615 Centerline is valid? [True, True] Translation: X:169.32, Y:2.46, Z:1.50 [[ 9.99258422e-01 -3.40294155e-02 -1.80168057e-02 1.69322214e+02] [ 3.40295299e-02 9.99420783e-01 -3.00313790e-04 2.46142277e+00] [ 1.80165896e-02 -3.13012344e-04 9.99837639e-01 1.49777697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.729254154 meters Centerline goodness [0,1] 0.9990524592988199 Centerline is valid? [True, True] Translation: X:169.35, Y:2.46, Z:1.50 [[ 9.99235837e-01 -3.48446214e-02 -1.77085739e-02 1.69353464e+02] [ 3.48448712e-02 9.99392690e-01 -2.94539712e-04 2.46155312e+00] [ 1.77080824e-02 -3.22738341e-04 9.99843148e-01 1.49882866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759254154 meters Centerline goodness [0,1] 0.9992682506887053 Centerline is valid? [True, True] Translation: X:169.39, Y:2.46, Z:1.50 [[ 9.99216422e-01 -3.53502055e-02 -1.78018319e-02 1.69385166e+02] [ 3.53505526e-02 9.99374930e-01 -2.95278346e-04 2.46126225e+00] [ 1.78011426e-02 -3.34257622e-04 9.99841491e-01 1.49981270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.789254154 meters Centerline goodness [0,1] 0.9990971819178436 Centerline is valid? [True, True] Translation: X:169.42, Y:2.46, Z:1.50 [[ 9.99190750e-01 -3.60428472e-02 -1.78537816e-02 1.69417683e+02] [ 3.60433273e-02 9.99350185e-01 -2.94996650e-04 2.46053451e+00] [ 1.78528124e-02 -3.48751769e-04 9.99840565e-01 1.50021148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819254154 meters Centerline goodness [0,1] 0.9992050703620152 Centerline is valid? [True, True] Translation: X:169.45, Y:2.46, Z:1.50 [[ 9.99165415e-01 -3.68898468e-02 -1.75389131e-02 1.69448468e+02] [ 3.68904705e-02 9.99319273e-01 -2.88080558e-04 2.45760731e+00] [ 1.75376012e-02 -3.59178628e-04 9.99846140e-01 1.50020445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849254154 meters Centerline goodness [0,1] 0.9993126114321311 Centerline is valid? [True, True] Translation: X:169.48, Y:2.46, Z:1.50 [[ 9.99159496e-01 -3.71726211e-02 -1.72770652e-02 1.69480274e+02] [ 3.71732987e-02 9.99308794e-01 -2.82036946e-04 2.45654526e+00] [ 1.72756072e-02 -3.60445610e-04 9.99850701e-01 1.50034757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879254154 meters Centerline goodness [0,1] 0.9991411332746442 Centerline is valid? [True, True] Translation: X:169.51, Y:2.46, Z:1.50 [[ 9.99155776e-01 -3.73621492e-02 -1.70822914e-02 1.69512358e+02] [ 3.73628601e-02 9.99301726e-01 -2.77636054e-04 2.45561388e+00] [ 1.70807364e-02 -3.60841598e-04 9.99854048e-01 1.50066994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909254154 meters Centerline goodness [0,1] 0.9992279813857734 Centerline is valid? [True, True] Translation: X:169.54, Y:2.46, Z:1.50 [[ 9.99161209e-01 -3.73217625e-02 -1.68512659e-02 1.69544679e+02] [ 3.73224690e-02 9.99303237e-01 -2.72669813e-04 2.45617013e+00] [ 1.68497011e-02 -3.56489749e-04 9.99857970e-01 1.50122359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939254154 meters Centerline goodness [0,1] 0.9987346387286337 Centerline is valid? [True, True] Translation: X:169.58, Y:2.46, Z:1.50 [[ 9.99228447e-01 -3.52252984e-02 -1.73691782e-02 1.69576851e+02] [ 3.52257549e-02 9.99379341e-01 -2.79755890e-04 2.45664380e+00] [ 1.73682524e-02 -3.32302371e-04 9.99849105e-01 1.49960242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969254154 meters Centerline goodness [0,1] 0.999206791579128 Centerline is valid? [True, True] Translation: X:169.61, Y:2.46, Z:1.50 [[ 9.99269322e-01 -3.39384973e-02 -1.75784217e-02 1.69608631e+02] [ 3.39387888e-02 9.99423874e-01 -2.81823017e-04 2.45820815e+00] [ 1.75778590e-02 -3.14973248e-04 9.99845448e-01 1.50214680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99925415399997 meters Centerline goodness [0,1] 0.9990564216937231 Centerline is valid? [True, True] Translation: X:169.64, Y:2.46, Z:1.50 [[ 9.99322844e-01 -3.22500680e-02 -1.77140021e-02 1.69639791e+02] [ 3.22501166e-02 9.99479790e-01 -2.82991906e-04 2.45960409e+00] [ 1.77139136e-02 -2.88478355e-04 9.99843055e-01 1.50222713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02925415399997 meters Centerline goodness [0,1] 0.9992701513362671 Centerline is valid? [True, True] Translation: X:169.67, Y:2.46, Z:1.50 [[ 9.99436209e-01 -2.83603535e-02 -1.79709533e-02 1.69671487e+02] [ 2.83597868e-02 9.99597739e-01 -2.86432846e-04 2.46135972e+00] [ 1.79718477e-02 -2.23381047e-04 9.99838468e-01 1.50226281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05925415399997 meters Centerline goodness [0,1] 0.999163000321923 Centerline is valid? [True, True] Translation: X:169.70, Y:2.46, Z:1.50 [[ 9.99480500e-01 -2.68101283e-02 -1.78870406e-02 1.69701703e+02] [ 2.68093247e-02 9.99640525e-01 -2.84754779e-04 2.46200312e+00] [ 1.78882449e-02 -1.94932630e-04 9.99839974e-01 1.50233374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08925415399997 meters Centerline goodness [0,1] 0.9993557392891657 Centerline is valid? [True, True] Translation: X:169.73, Y:2.46, Z:1.50 [[ 9.99511282e-01 -2.56910094e-02 -1.78092198e-02 1.69731642e+02] [ 2.56900361e-02 9.99669916e-01 -2.83463335e-04 2.46245906e+00] [ 1.78106237e-02 -1.74194698e-04 9.99841363e-01 1.50229530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11925415399998 meters Centerline goodness [0,1] 0.9991417782354961 Centerline is valid? [True, True] Translation: X:169.76, Y:2.46, Z:1.50 [[ 9.99528161e-01 -2.48340573e-02 -1.80755545e-02 1.69761310e+02] [ 2.48329128e-02 9.99691574e-01 -2.87798779e-04 2.46299215e+00] [ 1.80771268e-02 -1.61205686e-04 9.99836582e-01 1.50204744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14925415399998 meters Centerline goodness [0,1] 0.9992485561543251 Centerline is valid? [True, True] Translation: X:169.79, Y:2.46, Z:1.50 [[ 9.99518109e-01 -2.43489844e-02 -1.92529568e-02 1.69790760e+02] [ 2.43475860e-02 9.99703506e-01 -3.07072337e-04 2.46350922e+00] [ 1.92547254e-02 -1.61838660e-04 9.99814597e-01 1.50154289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17925415399998 meters Centerline goodness [0,1] 0.9990578763676852 Centerline is valid? [True, True] Translation: X:169.82, Y:2.46, Z:1.50 [[ 9.99501016e-01 -2.48113316e-02 -1.95478164e-02 1.69819446e+02] [ 2.48099228e-02 9.99692137e-01 -3.14616798e-04 2.46342656e+00] [ 1.95496044e-02 -1.70520008e-04 9.99808874e-01 1.50124379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20925415399998 meters Centerline goodness [0,1] 0.9989085772984078 Centerline is valid? [True, True] Translation: X:169.85, Y:2.46, Z:1.50 [[ 9.99482267e-01 -2.52831888e-02 -1.98986916e-02 1.69848613e+02] [ 2.52817244e-02 9.99680313e-01 -3.25192934e-04 2.46269597e+00] [ 1.99005522e-02 -1.78048667e-04 9.99801949e-01 1.49977453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23925415399998 meters Centerline goodness [0,1] 0.9990356178474991 Centerline is valid? [True, True] Translation: X:169.88, Y:2.46, Z:1.50 [[ 9.99443539e-01 -2.68502178e-02 -1.97908527e-02 1.69876940e+02] [ 2.68490204e-02 9.99639447e-01 -3.26256889e-04 2.46166213e+00] [ 1.97924771e-02 -2.05289667e-04 9.99804089e-01 1.50115191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26925415399998 meters Centerline goodness [0,1] 0.9990577956701429 Centerline is valid? [True, True] Translation: X:169.91, Y:2.46, Z:1.50 [[ 9.99371732e-01 -2.94117773e-02 -1.97759482e-02 1.69906522e+02] [ 2.94110659e-02 9.99567348e-01 -3.26876320e-04 2.45962297e+00] [ 1.97770061e-02 -2.54960761e-04 9.99804383e-01 1.50240051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29925415399998 meters Centerline goodness [0,1] 0.9990359897172236 Centerline is valid? [True, True] Translation: X:169.94, Y:2.46, Z:1.50 [[ 9.99337217e-01 -3.05788308e-02 -1.97499899e-02 1.69936575e+02] [ 3.05783388e-02 9.99532320e-01 -3.26974370e-04 2.45851368e+00] [ 1.97507518e-02 -2.77164226e-04 9.99804896e-01 1.50161317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32925415399998 meters Centerline goodness [0,1] 0.998993856100015 Centerline is valid? [True, True] Translation: X:169.97, Y:2.46, Z:1.50 [[ 9.99291917e-01 -3.20148869e-02 -1.97664279e-02 1.69967147e+02] [ 3.20146715e-02 9.99487345e-01 -3.27415709e-04 2.45861628e+00] [ 1.97667767e-02 -3.05631824e-04 9.99804571e-01 1.50345705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35925415399998 meters Centerline goodness [0,1] 0.9989733279147862 Centerline is valid? [True, True] Translation: X:170.00, Y:2.46, Z:1.50 [[ 9.99269370e-01 -3.30401612e-02 -1.92113079e-02 1.69997422e+02] [ 3.30401506e-02 9.99453975e-01 -3.18043302e-04 2.45819023e+00] [ 1.92113262e-02 -3.16933575e-04 9.99815395e-01 1.50419098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38925415399999 meters Centerline goodness [0,1] 0.9989734377005004 Centerline is valid? [True, True] Translation: X:170.03, Y:2.46, Z:1.51 [[ 9.99232861e-01 -3.41759241e-02 -1.91231828e-02 1.70028372e+02] [ 3.41761315e-02 9.99415775e-01 -3.16056990e-04 2.45869887e+00] [ 1.91228121e-02 -3.37741879e-04 9.99817085e-01 1.50529731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.419254154 meters Centerline goodness [0,1] 0.9989295424864587 Centerline is valid? [True, True] Translation: X:170.06, Y:2.46, Z:1.50 [[ 9.99195516e-01 -3.51228935e-02 -1.93572470e-02 1.70058828e+02] [ 3.51232940e-02 9.99382936e-01 -3.19393215e-04 2.45755141e+00] [ 1.93565203e-02 -3.60754008e-04 9.99812580e-01 1.50380805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.449254154 meters Centerline goodness [0,1] 0.9991233509375869 Centerline is valid? [True, True] Translation: X:170.09, Y:2.46, Z:1.51 [[ 9.99116107e-01 -3.80014948e-02 -1.79691633e-02 1.70090242e+02] [ 3.80023136e-02 9.99277607e-01 -2.96015408e-04 2.45591062e+00] [ 1.79674316e-02 -3.87116018e-04 9.99838498e-01 1.50626942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.479254154 meters Centerline goodness [0,1] 0.9990831751988231 Centerline is valid? [True, True] Translation: X:170.12, Y:2.45, Z:1.51 [[ 9.99074099e-01 -3.93047184e-02 -1.74952630e-02 1.70121486e+02] [ 3.93057080e-02 9.99227191e-01 -2.87428311e-04 2.45399291e+00] [ 1.74930398e-02 -4.00501517e-04 9.99846905e-01 1.50590515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.509254154 meters Centerline goodness [0,1] 0.9990172410109599 Centerline is valid? [True, True] Translation: X:170.15, Y:2.45, Z:1.51 [[ 9.99018701e-01 -4.08130200e-02 -1.72026788e-02 1.70153894e+02] [ 4.08142187e-02 9.99166713e-01 -2.81545589e-04 2.45362952e+00] [ 1.71998348e-02 -4.20844586e-04 9.99851983e-01 1.50685688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539254154 meters Centerline goodness [0,1] 0.9990191061071306 Centerline is valid? [True, True] Translation: X:170.19, Y:2.45, Z:1.51 [[ 9.98925668e-01 -4.34101532e-02 -1.62193593e-02 1.70186311e+02] [ 4.34115791e-02 9.99057238e-01 -2.64314295e-04 2.45105694e+00] [ 1.62155422e-02 -4.40077666e-04 9.99868423e-01 1.50732325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569254154 meters Centerline goodness [0,1] 0.9989553575235578 Centerline is valid? [True, True] Translation: X:170.22, Y:2.45, Z:1.51 [[ 9.98872893e-01 -4.45456791e-02 -1.63898145e-02 1.70218249e+02] [ 4.45473074e-02 9.99007241e-01 -2.65902502e-04 2.45042300e+00] [ 1.63853881e-02 -4.64519302e-04 9.99865643e-01 1.50781781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599254154 meters Centerline goodness [0,1] 0.9990839369407755 Centerline is valid? [True, True] Translation: X:170.25, Y:2.45, Z:1.51 [[ 9.98826006e-01 -4.56342300e-02 -1.62519901e-02 1.70249413e+02] [ 4.56359919e-02 9.98958101e-01 -2.62627286e-04 2.44939490e+00] [ 1.62470420e-02 -4.79356726e-04 9.99867893e-01 1.50828211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629254154 meters Centerline goodness [0,1] 0.9988076734728639 Centerline is valid? [True, True] Translation: X:170.28, Y:2.45, Z:1.51 [[ 9.98737601e-01 -4.74160049e-02 -1.65809083e-02 1.70281144e+02] [ 4.74180992e-02 9.98875094e-01 -2.67038017e-04 2.44932218e+00] [ 1.65749182e-02 -5.19534246e-04 9.99862492e-01 1.50884907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659254154 meters Centerline goodness [0,1] 0.998913899951019 Centerline is valid? [True, True] Translation: X:170.31, Y:2.45, Z:1.51 [[ 9.98699984e-01 -4.80226743e-02 -1.70928446e-02 1.70313113e+02] [ 4.80250073e-02 9.98846096e-01 -2.74197012e-04 2.44938010e+00] [ 1.70862888e-02 -5.47043433e-04 9.99853869e-01 1.50920191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689254154 meters Centerline goodness [0,1] 0.9990622935447435 Centerline is valid? [True, True] Translation: X:170.34, Y:2.45, Z:1.51 [[ 9.98684828e-01 -4.83676565e-02 -1.70054336e-02 1.70344461e+02] [ 4.83700341e-02 9.98829448e-01 -2.71701988e-04 2.44799836e+00] [ 1.69986694e-02 -5.51208751e-04 9.99855360e-01 1.50904057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71925415399997 meters Centerline goodness [0,1] 0.9990853009997873 Centerline is valid? [True, True] Translation: X:170.38, Y:2.45, Z:1.51 [[ 9.98659853e-01 -4.88157837e-02 -1.71905892e-02 1.70377063e+02] [ 4.88182982e-02 9.98807639e-01 -2.73585416e-04 2.44752995e+00] [ 1.71834471e-02 -5.65996539e-04 9.99852193e-01 1.50938282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74925415399997 meters Centerline goodness [0,1] 0.9991476485755076 Centerline is valid? [True, True] Translation: X:170.41, Y:2.45, Z:1.51 [[ 9.98607734e-01 -4.95105929e-02 -1.82014873e-02 1.70409055e+02] [ 4.95135521e-02 9.98773410e-01 -2.88305180e-04 2.44893057e+00] [ 1.81934357e-02 -6.13316507e-04 9.99834298e-01 1.50922799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77925415399997 meters Centerline goodness [0,1] 0.9989990629525514 Centerline is valid? [True, True] Translation: X:170.44, Y:2.45, Z:1.51 [[ 9.98586819e-01 -4.97434084e-02 -1.87071934e-02 1.70440082e+02] [ 4.97465983e-02 9.98761828e-01 -2.95082655e-04 2.44803655e+00] [ 1.86987091e-02 -6.35953587e-04 9.99824962e-01 1.50869972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80925415399997 meters Centerline goodness [0,1] 0.9987662199532015 Centerline is valid? [True, True] Translation: X:170.47, Y:2.45, Z:1.51 [[ 9.98556721e-01 -5.00993449e-02 -1.93527698e-02 1.70470806e+02] [ 5.01028605e-02 9.98744017e-01 -3.03460295e-04 2.44686073e+00] [ 1.93436662e-02 -6.66606807e-04 9.99812672e-01 1.50814151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83925415399997 meters Centerline goodness [0,1] 0.9989577129243598 Centerline is valid? [True, True] Translation: X:170.50, Y:2.45, Z:1.51 [[ 9.98564016e-01 -4.99746577e-02 -1.92987147e-02 1.70503286e+02] [ 4.99781672e-02 9.98750265e-01 -3.00706975e-04 2.44661252e+00] [ 1.92896242e-02 -6.64239228e-04 9.99813717e-01 1.50800658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86925415399998 meters Centerline goodness [0,1] 0.9988493010569383 Centerline is valid? [True, True] Translation: X:170.54, Y:2.45, Z:1.51 [[ 9.98545981e-01 -5.01472111e-02 -1.97782922e-02 1.70535373e+02] [ 5.01509599e-02 9.98741602e-01 -3.06722551e-04 2.44705756e+00] [ 1.97687845e-02 -6.85623768e-04 9.99804343e-01 1.50783171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89925415399998 meters Centerline goodness [0,1] 0.9990201508115707 Centerline is valid? [True, True] Translation: X:170.57, Y:2.45, Z:1.51 [[ 9.98558785e-01 -4.96677870e-02 -2.03338247e-02 1.70566964e+02] [ 4.96716916e-02 9.98765551e-01 -3.13298341e-04 2.44554252e+00] [ 2.03242845e-02 -6.97168660e-04 9.99793197e-01 1.50683220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92925415399998 meters Centerline goodness [0,1] 0.9988488595182264 Centerline is valid? [True, True] Translation: X:170.60, Y:2.45, Z:1.51 [[ 9.98591307e-01 -4.91688788e-02 -1.99455109e-02 1.70599240e+02] [ 4.91725742e-02 9.98790251e-01 -3.05417375e-04 2.44883471e+00] [ 1.99363988e-02 -6.75784977e-04 9.99801022e-01 1.50887286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95925415399998 meters Centerline goodness [0,1] 0.9989982522699177 Centerline is valid? [True, True] Translation: X:170.63, Y:2.45, Z:1.51 [[ 9.98629772e-01 -4.83623121e-02 -1.99916119e-02 1.70630858e+02] [ 4.83658886e-02 9.98829639e-01 -3.04847788e-04 2.44870196e+00] [ 1.99829577e-02 -6.62481999e-04 9.99800101e-01 1.50920696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98925415399998 meters Centerline goodness [0,1] 0.9989332423033432 Centerline is valid? [True, True] Translation: X:170.66, Y:2.45, Z:1.51 [[ 9.98732680e-01 -4.61375589e-02 -2.01087064e-02 1.70662289e+02] [ 4.61407452e-02 9.98934902e-01 -3.05726439e-04 2.45189833e+00] [ 2.01013942e-02 -6.22491714e-04 9.99797753e-01 1.51040283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01925415399998 meters Centerline goodness [0,1] 0.9989117910638843 Centerline is valid? [True, True] Translation: X:170.69, Y:2.45, Z:1.51 [[ 9.98785100e-01 -4.50590253e-02 -1.99501562e-02 1.70694432e+02] [ 4.50619688e-02 9.98984148e-01 -3.02200058e-04 2.45402401e+00] [ 1.99435066e-02 -5.97160402e-04 9.99800930e-01 1.51103506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04925415399998 meters Centerline goodness [0,1] 0.998997953266246 Centerline is valid? [True, True] Translation: X:170.73, Y:2.45, Z:1.51 [[ 9.98827388e-01 -4.41293314e-02 -1.99111042e-02 1.70726496e+02] [ 4.41321079e-02 9.99025659e-01 -3.00151322e-04 2.45460447e+00] [ 1.99049495e-02 -5.78919639e-04 9.99801709e-01 1.51129647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07925415399998 meters Centerline goodness [0,1] 0.9989554020636139 Centerline is valid? [True, True] Translation: X:170.76, Y:2.46, Z:1.51 [[ 9.98854548e-01 -4.34404966e-02 -2.00627853e-02 1.70758778e+02] [ 4.34432064e-02 9.99055853e-01 -3.00960738e-04 2.45600523e+00] [ 2.00569170e-02 -5.70975721e-04 9.99798677e-01 1.51164053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10925415399998 meters Centerline goodness [0,1] 0.998828565951737 Centerline is valid? [True, True] Translation: X:170.79, Y:2.46, Z:1.51 [[ 9.98881830e-01 -4.28394698e-02 -1.99967185e-02 1.70790393e+02] [ 4.28420669e-02 9.99081813e-01 -2.98698674e-04 2.45612162e+00] [ 1.99911539e-02 -5.58336074e-04 9.99800001e-01 1.51126679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13925415399999 meters Centerline goodness [0,1] 0.9990838393522957 Centerline is valid? [True, True] Translation: X:170.82, Y:2.46, Z:1.51 [[ 9.98932984e-01 -4.18442357e-02 -1.95436501e-02 1.70821881e+02] [ 4.18465431e-02 9.99124007e-01 -2.91059409e-04 2.45717365e+00] [ 1.95387092e-02 -5.27085352e-04 9.99808962e-01 1.51168243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.169254154 meters Centerline goodness [0,1] 0.9988704418064406 Centerline is valid? [True, True] Translation: X:170.85, Y:2.46, Z:1.51 [[ 9.98968642e-01 -4.11897408e-02 -1.91064694e-02 1.70852873e+02] [ 4.11918428e-02 9.99151216e-01 -2.83687512e-04 2.45752037e+00] [ 1.91019372e-02 -5.03635757e-04 9.99817415e-01 1.51195818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.199254154 meters Centerline goodness [0,1] 0.9989767422029887 Centerline is valid? [True, True] Translation: X:170.88, Y:2.46, Z:1.51 [[ 9.99017081e-01 -4.02165815e-02 -1.86413226e-02 1.70884437e+02] [ 4.02184286e-02 9.99190874e-01 -2.75951680e-04 2.45924469e+00] [ 1.86373373e-02 -4.74044261e-04 9.99826197e-01 1.51272491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.229254154 meters Centerline goodness [0,1] 0.9988054607508532 Centerline is valid? [True, True] Translation: X:170.92, Y:2.46, Z:1.51 [[ 9.99134277e-01 -3.74424282e-02 -1.81317880e-02 1.70915636e+02] [ 3.74437308e-02 9.99298702e-01 -2.67765297e-04 2.46296399e+00] [ 1.81290980e-02 -4.11388302e-04 9.99835570e-01 1.51398946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259254154 meters Centerline goodness [0,1] 0.9990172620064947 Centerline is valid? [True, True] Translation: X:170.95, Y:2.47, Z:1.51 [[ 9.99202518e-01 -3.59289506e-02 -1.74194755e-02 1.70947180e+02] [ 3.59299337e-02 9.99354279e-01 -2.56628153e-04 2.46538803e+00] [ 1.74174477e-02 -3.69457102e-04 9.99848236e-01 1.51473590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.289254154 meters Centerline goodness [0,1] 0.9992305226033985 Centerline is valid? [True, True] Translation: X:170.98, Y:2.47, Z:1.52 [[ 9.99260503e-01 -3.43613759e-02 -1.72552457e-02 1.70979561e+02] [ 3.43621227e-02 9.99409416e-01 -2.53291031e-04 2.46715638e+00] [ 1.72537585e-02 -3.39823147e-04 9.99851085e-01 1.51531635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319254154 meters Centerline goodness [0,1] 0.9991879127219884 Centerline is valid? [True, True] Translation: X:171.01, Y:2.47, Z:1.52 [[ 9.99300605e-01 -3.30414365e-02 -1.75089871e-02 1.71010861e+02] [ 3.30420204e-02 9.99453931e-01 -2.56019991e-04 2.46872068e+00] [ 1.75078852e-02 -3.22691375e-04 9.99846673e-01 1.51575123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349254154 meters Centerline goodness [0,1] 0.998929817426853 Centerline is valid? [True, True] Translation: X:171.04, Y:2.47, Z:1.52 [[ 9.99342889e-01 -3.19851430e-02 -1.70511317e-02 1.71040880e+02] [ 3.19855510e-02 9.99488300e-01 -2.48852498e-04 2.46820070e+00] [ 1.70503663e-02 -2.96700869e-04 9.99854588e-01 1.51527248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379254154 meters Centerline goodness [0,1] 0.9989954259821314 Centerline is valid? [True, True] Translation: X:171.07, Y:2.47, Z:1.52 [[ 9.99392340e-01 -3.03846714e-02 -1.70798714e-02 1.71072047e+02] [ 3.03848549e-02 9.99538243e-01 -2.48823604e-04 2.46991872e+00] [ 1.70795450e-02 -2.70297009e-04 9.99854097e-01 1.51556681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409254154 meters Centerline goodness [0,1] 0.9991449154535155 Centerline is valid? [True, True] Translation: X:171.10, Y:2.47, Z:1.52 [[ 9.99418961e-01 -2.94959770e-02 -1.70800378e-02 1.71102177e+02] [ 2.94960389e-02 9.99564866e-01 -2.48349608e-04 2.47025836e+00] [ 1.70799310e-02 -2.55588152e-04 9.99854095e-01 1.51562897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439254154 meters Centerline goodness [0,1] 0.9991449154535155 Centerline is valid? [True, True] Translation: X:171.13, Y:2.47, Z:1.52 [[ 9.99420008e-01 -2.94604894e-02 -1.70800442e-02 1.71133024e+02] [ 2.94605536e-02 9.99565913e-01 -2.47907689e-04 2.47067587e+00] [ 1.70799335e-02 -2.55423655e-04 9.99854095e-01 1.51591793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46925415399997 meters Centerline goodness [0,1] 0.9990166317499679 Centerline is valid? [True, True] Translation: X:171.16, Y:2.47, Z:1.52 [[ 9.99471977e-01 -2.76067384e-02 -1.71357665e-02 1.71164586e+02] [ 2.76065412e-02 9.99618836e-01 -2.48101665e-04 2.47256194e+00] [ 1.71360843e-02 -2.25088583e-04 9.99853141e-01 1.51606349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49925415399997 meters Centerline goodness [0,1] 0.9988440543722573 Centerline is valid? [True, True] Translation: X:171.20, Y:2.47, Z:1.52 [[ 9.99492673e-01 -2.68098636e-02 -1.71938196e-02 1.71195187e+02] [ 2.68095555e-02 9.99640528e-01 -2.48461686e-04 2.47317384e+00] [ 1.71943001e-02 -2.12623025e-04 9.99852144e-01 1.51596846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52925415399997 meters Centerline goodness [0,1] 0.9990384615384615 Centerline is valid? [True, True] Translation: X:171.23, Y:2.47, Z:1.52 [[ 9.99521805e-01 -2.56053686e-02 -1.73356927e-02 1.71225977e+02] [ 2.56048771e-02 9.99672110e-01 -2.50342358e-04 2.47381145e+00] [ 1.73364186e-02 -1.93655636e-04 9.99849694e-01 1.51586952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55925415399997 meters Centerline goodness [0,1] 0.9989743370584842 Centerline is valid? [True, True] Translation: X:171.26, Y:2.47, Z:1.52 [[ 9.99542829e-01 -2.45882320e-02 -1.75941091e-02 1.71256906e+02] [ 2.45875683e-02 9.99697648e-01 -2.54074113e-04 2.47440215e+00] [ 1.75950367e-02 -1.78638400e-04 9.99845179e-01 1.51585573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58925415399997 meters Centerline goodness [0,1] 0.9990593466735078 Centerline is valid? [True, True] Translation: X:171.29, Y:2.48, Z:1.52 [[ 9.99579139e-01 -2.29258265e-02 -1.77749955e-02 1.71286446e+02] [ 2.29248835e-02 9.99737157e-01 -2.56835026e-04 2.47506007e+00] [ 1.77762116e-02 -1.50762766e-04 9.99841979e-01 1.51528147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61925415399998 meters Centerline goodness [0,1] 0.9989093475332007 Centerline is valid? [True, True] Translation: X:171.32, Y:2.48, Z:1.52 [[ 9.99583614e-01 -2.22521249e-02 -1.83695856e-02 1.71316508e+02] [ 2.22509949e-02 9.99752381e-01 -2.65924856e-04 2.47633898e+00] [ 1.83709543e-02 -1.42927426e-04 9.99831230e-01 1.51554826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64925415399998 meters Centerline goodness [0,1] 0.9991024298506187 Centerline is valid? [True, True] Translation: X:171.35, Y:2.48, Z:1.52 [[ 9.99602977e-01 -2.11723694e-02 -1.85908328e-02 1.71345567e+02] [ 2.11710096e-02 9.99775833e-01 -2.69971203e-04 2.47690054e+00] [ 1.85923813e-02 -1.23722682e-04 9.99827139e-01 1.51556985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67925415399998 meters Centerline goodness [0,1] 0.9992077766358342 Centerline is valid? [True, True] Translation: X:171.37, Y:2.48, Z:1.52 [[ 9.99608423e-01 -2.06147760e-02 -1.89217469e-02 1.71374622e+02] [ 2.06132117e-02 9.99787487e-01 -2.77724716e-04 2.47823844e+00] [ 1.89234510e-02 -1.12422008e-04 9.99820929e-01 1.51632338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70925415399998 meters Centerline goodness [0,1] 0.9988860325621252 Centerline is valid? [True, True] Translation: X:171.40, Y:2.48, Z:1.52 [[ 9.99635613e-01 -1.94279981e-02 -1.87401551e-02 1.71402875e+02] [ 1.94261599e-02 9.99811255e-01 -2.80142463e-04 2.47870724e+00] [ 1.87420606e-02 -8.40088670e-05 9.99824349e-01 1.51661126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73925415399998 meters Centerline goodness [0,1] 0.9988687058421738 Centerline is valid? [True, True] Translation: X:171.43, Y:2.48, Z:1.52 [[ 9.99655409e-01 -1.89562369e-02 -1.81583033e-02 1.71430438e+02] [ 1.89543710e-02 9.99820312e-01 -2.74868665e-04 2.47859926e+00] [ 1.81602510e-02 -6.94052709e-05 9.99835087e-01 1.51667174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76925415399998 meters Centerline goodness [0,1] 0.9991022955585004 Centerline is valid? [True, True] Translation: X:171.46, Y:2.48, Z:1.52 [[ 9.99667538e-01 -1.87855663e-02 -1.76611440e-02 1.71458325e+02] [ 1.87837183e-02 9.99823534e-01 -2.70531899e-04 2.47858506e+00] [ 1.76631095e-02 -6.12999970e-05 9.99843993e-01 1.51717157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79925415399998 meters Centerline goodness [0,1] 0.9989734816082122 Centerline is valid? [True, True] Translation: X:171.49, Y:2.48, Z:1.52 [[ 9.99694130e-01 -1.84247147e-02 -1.64977867e-02 1.71486199e+02] [ 1.84229772e-02 9.99830249e-01 -2.57303876e-04 2.47791265e+00] [ 1.64997269e-02 -4.67131734e-05 9.99863869e-01 1.51840680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82925415399998 meters Centerline goodness [0,1] 0.9989099536195952 Centerline is valid? [True, True] Translation: X:171.51, Y:2.48, Z:1.52 [[ 9.99700882e-01 -1.81877314e-02 -1.63509493e-02 1.71514389e+02] [ 1.81859381e-02 9.99834589e-01 -2.58368861e-04 2.47767705e+00] [ 1.63529438e-02 -3.90657741e-05 9.99866281e-01 1.51854034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85925415399998 meters Centerline goodness [0,1] 0.9990175978130873 Centerline is valid? [True, True] Translation: X:171.54, Y:2.48, Z:1.52 [[ 9.99699783e-01 -1.85544165e-02 -1.60024147e-02 1.71543247e+02] [ 1.85527056e-02 9.99827851e-01 -2.55375729e-04 2.47747997e+00] [ 1.60043983e-02 -4.15890284e-05 9.99871921e-01 1.51901168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88925415399999 meters Centerline goodness [0,1] 0.9989311214673564 Centerline is valid? [True, True] Translation: X:171.57, Y:2.48, Z:1.52 [[ 9.99701815e-01 -1.85121887e-02 -1.59242079e-02 1.71572343e+02] [ 1.85104248e-02 9.99828634e-01 -2.58164611e-04 2.47713969e+00] [ 1.59262582e-02 -3.66762215e-05 9.99873168e-01 1.51949368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.919254154 meters Centerline goodness [0,1] 0.9986968318058493 Centerline is valid? [True, True] Translation: X:171.60, Y:2.48, Z:1.52 [[ 9.99706689e-01 -1.77385360e-02 -1.64888015e-02 1.71601000e+02] [ 1.77364691e-02 9.99842660e-01 -2.71594346e-04 2.47551640e+00] [ 1.64910248e-02 -2.09384332e-05 9.99864014e-01 1.51718668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.949254154 meters Centerline goodness [0,1] 0.9989741397734558 Centerline is valid? [True, True] Translation: X:171.63, Y:2.48, Z:1.52 [[ 9.99705930e-01 -1.84362798e-02 -1.57530107e-02 1.71628535e+02] [ 1.84344146e-02 9.99830037e-01 -2.63618524e-04 2.47508679e+00] [ 1.57551934e-02 -2.68565290e-05 9.99875879e-01 1.51988906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979254154 meters Centerline goodness [0,1] 0.9991251280300444 Centerline is valid? [True, True] Translation: X:171.66, Y:2.47, Z:1.52 [[ 9.99706642e-01 -1.85992297e-02 -1.55144511e-02 1.71657321e+02] [ 1.85973736e-02 9.99827019e-01 -2.63913204e-04 2.47435361e+00] [ 1.55166760e-02 -2.46922620e-05 9.99879609e-01 1.52049800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.009254154 meters Centerline goodness [0,1] 0.9991906800417438 Centerline is valid? [True, True] Translation: X:171.69, Y:2.47, Z:1.52 [[ 9.99707713e-01 -1.86397830e-02 -1.53963095e-02 1.71686180e+02] [ 1.86378996e-02 9.99826264e-01 -2.65820275e-04 2.47317664e+00] [ 1.53985895e-02 -2.12122914e-05 9.99881434e-01 1.52069296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039254154 meters Centerline goodness [0,1] 0.9990854371822958 Centerline is valid? [True, True] Translation: X:171.71, Y:2.47, Z:1.52 [[ 9.99686955e-01 -1.96756515e-02 -1.54551305e-02 1.71714621e+02] [ 1.96738164e-02 9.99806415e-01 -2.70781242e-04 2.46946803e+00] [ 1.54574664e-02 -3.33649244e-05 9.99880526e-01 1.52075444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069254154 meters Centerline goodness [0,1] 0.9990004678661052 Centerline is valid? [True, True] Translation: X:171.74, Y:2.47, Z:1.52 [[ 9.99678372e-01 -2.02625245e-02 -1.52506365e-02 1.71743005e+02] [ 2.02607476e-02 9.99794693e-01 -2.71025740e-04 2.46800293e+00] [ 1.52529971e-02 -3.80507254e-05 9.99883666e-01 1.52115094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099254154 meters Centerline goodness [0,1] 0.9988320485867788 Centerline is valid? [True, True] Translation: X:171.77, Y:2.46, Z:1.52 [[ 9.99653093e-01 -2.11651850e-02 -1.56757639e-02 1.71772738e+02] [ 2.11633770e-02 9.99775991e-01 -2.81231211e-04 2.46417710e+00] [ 1.56782047e-02 -5.06184512e-05 9.99877088e-01 1.52079979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129254154 meters Centerline goodness [0,1] 0.9991072946777759 Centerline is valid? [True, True] Translation: X:171.80, Y:2.46, Z:1.52 [[ 9.99631632e-01 -2.15735144e-02 -1.64676764e-02 1.71802127e+02] [ 2.15715645e-02 9.99767263e-01 -2.96047870e-04 2.46237124e+00] [ 1.64702305e-02 -5.92947271e-05 9.99864355e-01 1.52089166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159254154 meters Centerline goodness [0,1] 0.9993425796326929 Centerline is valid? [True, True] Translation: X:171.83, Y:2.46, Z:1.52 [[ 9.99608078e-01 -2.20088961e-02 -1.73002787e-02 1.71830672e+02] [ 2.20067957e-02 9.99757773e-01 -3.11800710e-04 2.46007114e+00] [ 1.73029505e-02 -6.90451909e-05 9.99850290e-01 1.51997212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189254154 meters Centerline goodness [0,1] 0.9990250519265822 Centerline is valid? [True, True] Translation: X:171.86, Y:2.46, Z:1.52 [[ 9.99592692e-01 -2.26703381e-02 -1.73351263e-02 1.71859018e+02] [ 2.26682856e-02 9.99742992e-01 -3.14905524e-04 2.45851429e+00] [ 1.73378100e-02 -7.81803342e-05 9.99849686e-01 1.51976914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21925415399997 meters Centerline goodness [0,1] 0.99934405416843 Centerline is valid? [True, True] Translation: X:171.89, Y:2.46, Z:1.52 [[ 9.99575855e-01 -2.31826637e-02 -1.76259798e-02 1.71887859e+02] [ 2.31805421e-02 9.99731242e-01 -3.24692537e-04 2.45565862e+00] [ 1.76287699e-02 -8.40249474e-05 9.99844598e-01 1.52081874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24925415399997 meters Centerline goodness [0,1] 0.9990713185166424 Centerline is valid? [True, True] Translation: X:171.92, Y:2.45, Z:1.52 [[ 9.99565350e-01 -2.36481933e-02 -1.76032449e-02 1.71915928e+02] [ 2.36460931e-02 9.99720338e-01 -3.27464797e-04 2.45429482e+00] [ 1.76060659e-02 -8.89255042e-05 9.99844997e-01 1.52092206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27925415399997 meters Centerline goodness [0,1] 0.999135968979179 Centerline is valid? [True, True] Translation: X:171.94, Y:2.45, Z:1.52 [[ 9.99557008e-01 -2.41291150e-02 -1.74233786e-02 1.71944975e+02] [ 2.41270800e-02 9.99708846e-01 -3.27026330e-04 2.45260272e+00] [ 1.74261966e-02 -9.34937889e-05 9.99848148e-01 1.52142202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30925415399997 meters Centerline goodness [0,1] 0.9991356593232845 Centerline is valid? [True, True] Translation: X:171.97, Y:2.45, Z:1.52 [[ 9.99540487e-01 -2.48224965e-02 -1.73970868e-02 1.71973438e+02] [ 2.48205235e-02 9.99691869e-01 -3.29352420e-04 2.45054833e+00] [ 1.73999016e-02 -1.02603725e-04 9.99848605e-01 1.52178657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33925415399997 meters Centerline goodness [0,1] 0.9991148204350025 Centerline is valid? [True, True] Translation: X:172.00, Y:2.44, Z:1.52 [[ 9.99490065e-01 -2.74715029e-02 -1.62765376e-02 1.72002199e+02] [ 2.74701122e-02 9.99622577e-01 -3.09056223e-04 2.44406255e+00] [ 1.62788847e-02 -1.38219689e-04 9.99867481e-01 1.52192801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36925415399998 meters Centerline goodness [0,1] 0.9991166077738516 Centerline is valid? [True, True] Translation: X:172.03, Y:2.44, Z:1.52 [[ 9.99442317e-01 -2.93877240e-02 -1.58561330e-02 1.72031433e+02] [ 2.93866324e-02 9.99568074e-01 -3.01889529e-04 2.44162142e+00] [ 1.58581562e-02 -1.64237180e-04 9.99874238e-01 1.52305651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39925415399998 meters Centerline goodness [0,1] 0.9989489615740351 Centerline is valid? [True, True] Translation: X:172.06, Y:2.44, Z:1.52 [[ 9.99374450e-01 -3.17060003e-02 -1.56664450e-02 1.72061881e+02] [ 3.17052142e-02 9.99497219e-01 -2.98607113e-04 2.43886645e+00] [ 1.56680359e-02 -1.98287676e-04 9.99877229e-01 1.52381653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42925415399998 meters Centerline goodness [0,1] 0.9989310193045338 Centerline is valid? [True, True] Translation: X:172.09, Y:2.43, Z:1.52 [[ 9.99219239e-01 -3.65457200e-02 -1.50107841e-02 1.72093000e+02] [ 3.65455457e-02 9.99331948e-01 -2.86006956e-04 2.43153858e+00] [ 1.50112084e-02 -2.62793642e-04 9.99887291e-01 1.52385625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45925415399998 meters Centerline goodness [0,1] 0.9989299202685691 Centerline is valid? [True, True] Translation: X:172.12, Y:2.43, Z:1.52 [[ 9.99118649e-01 -3.92265578e-02 -1.49399514e-02 1.72124392e+02] [ 3.92266903e-02 9.99230297e-01 -2.84284223e-04 2.42807365e+00] [ 1.49396036e-02 -3.02011178e-04 9.99888352e-01 1.52375129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48925415399998 meters Centerline goodness [0,1] 0.9989522432472078 Centerline is valid? [True, True] Translation: X:172.16, Y:2.42, Z:1.52 [[ 9.99005049e-01 -4.18924060e-02 -1.52950583e-02 1.72155761e+02] [ 4.18928657e-02 9.99122066e-01 -2.90477110e-04 2.42459573e+00] [ 1.52937991e-02 -3.50565725e-04 9.99882982e-01 1.52359298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51925415399998 meters Centerline goodness [0,1] 0.998827053180571 Centerline is valid? [True, True] Translation: X:172.19, Y:2.42, Z:1.52 [[ 9.98909989e-01 -4.41557721e-02 -1.51361062e-02 1.72187801e+02] [ 4.41564934e-02 9.99024585e-01 -2.86701071e-04 2.42145948e+00] [ 1.51340017e-02 -3.81968809e-04 9.99885401e-01 1.52319673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54925415399998 meters Centerline goodness [0,1] 0.9988893778420402 Centerline is valid? [True, True] Translation: X:172.22, Y:2.41, Z:1.52 [[ 9.98628795e-01 -4.99438756e-02 -1.56887924e-02 1.72217742e+02] [ 4.99453752e-02 9.98751907e-01 -2.96461562e-04 2.41403949e+00] [ 1.56840177e-02 -4.87527568e-04 9.99876879e-01 1.52251095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57925415399998 meters Centerline goodness [0,1] 0.998890888544762 Centerline is valid? [True, True] Translation: X:172.25, Y:2.41, Z:1.52 [[ 9.98462887e-01 -5.31056059e-02 -1.58636987e-02 1.72249286e+02] [ 5.31075414e-02 9.98588754e-01 -2.99533135e-04 2.41060690e+00] [ 1.58572180e-02 -5.43409319e-04 9.99874119e-01 1.52245342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60925415399998 meters Centerline goodness [0,1] 0.9986190446299668 Centerline is valid? [True, True] Translation: X:172.28, Y:2.41, Z:1.52 [[ 9.98271437e-01 -5.65160135e-02 -1.61269714e-02 1.72280555e+02] [ 5.65184676e-02 9.98401508e-01 -3.03918290e-04 2.40740447e+00] [ 1.61183688e-02 -6.08078765e-04 9.99869906e-01 1.52236080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63925415399999 meters Centerline goodness [0,1] 0.9988076311605724 Centerline is valid? [True, True] Translation: X:172.31, Y:2.40, Z:1.52 [[ 9.97842676e-01 -6.37004441e-02 -1.58822978e-02 1.72311400e+02] [ 6.37037378e-02 9.97968809e-01 -2.98954015e-04 2.40187829e+00] [ 1.58690813e-02 -7.13452662e-04 9.99873824e-01 1.52308117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.669254154 meters Centerline goodness [0,1] 0.9986420139977019 Centerline is valid? [True, True] Translation: X:172.34, Y:2.40, Z:1.52 [[ 9.97607726e-01 -6.73435226e-02 -1.56100686e-02 1.72342822e+02] [ 6.73471533e-02 9.97729560e-01 -2.93570570e-04 2.39915161e+00] [ 1.55943969e-02 -7.58425414e-04 9.99878112e-01 1.52363302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.699254154 meters Centerline goodness [0,1] 0.9986823942778266 Centerline is valid? [True, True] Translation: X:172.37, Y:2.40, Z:1.52 [[ 9.97395634e-01 -7.04006759e-02 -1.56746415e-02 1.72373720e+02] [ 7.04047232e-02 9.97518465e-01 -2.94144797e-04 2.39661058e+00] [ 1.56564523e-02 -8.10190057e-04 9.99877102e-01 1.52425932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.729254154 meters Centerline goodness [0,1] 0.9987040133779265 Centerline is valid? [True, True] Translation: X:172.41, Y:2.39, Z:1.52 [[ 9.97204514e-01 -7.30103258e-02 -1.58949402e-02 1.72405250e+02] [ 7.30148291e-02 9.97330811e-01 -2.97596057e-04 2.39498225e+00] [ 1.58742412e-02 -8.63802210e-04 9.99873623e-01 1.52451668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759254154 meters Centerline goodness [0,1] 0.9983921486740447 Centerline is valid? [True, True] Translation: X:172.44, Y:2.39, Z:1.52 [[ 9.96977082e-01 -7.60281322e-02 -1.60131606e-02 1.72435889e+02] [ 7.60331008e-02 9.97105249e-01 -2.99172175e-04 2.39044388e+00] [ 1.59895520e-02 -9.19262456e-04 9.99871736e-01 1.52432287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.789254154 meters Centerline goodness [0,1] 0.9986426095309694 Centerline is valid? [True, True] Translation: X:172.47, Y:2.39, Z:1.53 [[ 9.96951927e-01 -7.62643966e-02 -1.64498110e-02 1.72468475e+02] [ 7.62696876e-02 9.97087178e-01 -3.06386064e-04 2.39387965e+00] [ 1.64252620e-02 -9.49169770e-04 9.99864646e-01 1.52508831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819254154 meters Centerline goodness [0,1] 0.9984536297906131 Centerline is valid? [True, True] Translation: X:172.50, Y:2.39, Z:1.52 [[ 9.97003666e-01 -7.52917634e-02 -1.77437487e-02 1.72500983e+02] [ 7.52977903e-02 9.97161037e-01 -3.29123486e-04 2.39397612e+00] [ 1.77181552e-02 -1.00792775e-03 9.99842513e-01 1.52287333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849254154 meters Centerline goodness [0,1] 0.99885028638321 Centerline is valid? [True, True] Translation: X:172.53, Y:2.40, Z:1.53 [[ 9.97002883e-01 -7.54734715e-02 -1.70001768e-02 1.72532847e+02] [ 7.54790509e-02 9.97147338e-01 -3.14105939e-04 2.39639071e+00] [ 1.69753877e-02 -9.69992681e-04 9.99855437e-01 1.52580811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879254154 meters Centerline goodness [0,1] 0.9987661292009118 Centerline is valid? [True, True] Translation: X:172.56, Y:2.40, Z:1.53 [[ 9.97153683e-01 -7.31660576e-02 -1.82005402e-02 1.72563918e+02] [ 7.31720892e-02 9.97319273e-01 -3.35213120e-04 2.40051907e+00] [ 1.81762757e-02 -9.97512551e-04 9.99834300e-01 1.52584687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909254154 meters Centerline goodness [0,1] 0.9989546309847376 Centerline is valid? [True, True] Translation: X:172.59, Y:2.40, Z:1.52 [[ 9.97270393e-01 -7.12430383e-02 -1.93956983e-02 1.72594975e+02] [ 7.12495403e-02 9.97458458e-01 -3.56474280e-04 2.40471111e+00] [ 1.93717996e-02 -1.02643334e-03 9.99811822e-01 1.52473499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939254154 meters Centerline goodness [0,1] 0.9988926959719204 Centerline is valid? [True, True] Translation: X:172.63, Y:2.41, Z:1.53 [[ 9.97344756e-01 -7.03197544e-02 -1.89359518e-02 1.72626110e+02] [ 7.03258176e-02 9.97524014e-01 -3.46345017e-04 2.40554503e+00] [ 1.89134215e-02 -9.86260904e-04 9.99820639e-01 1.52631097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96925415399997 meters Centerline goodness [0,1] 0.9988717562993606 Centerline is valid? [True, True] Translation: X:172.66, Y:2.41, Z:1.53 [[ 9.97532203e-01 -6.76666442e-02 -1.87277679e-02 1.72657512e+02] [ 6.76721390e-02 9.97707555e-01 -3.40897461e-04 2.40981093e+00] [ 1.87079029e-02 -9.27291919e-04 9.99824562e-01 1.52710295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99925415399997 meters Centerline goodness [0,1] 0.9986039630779489 Centerline is valid? [True, True] Translation: X:172.69, Y:2.41, Z:1.53 [[ 9.97646791e-01 -6.60194969e-02 -1.85015059e-02 1.72689358e+02] [ 6.60245951e-02 9.97817939e-01 -3.35810234e-04 2.41210151e+00] [ 1.84833045e-02 -8.86534435e-04 9.99828776e-01 1.52769079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02925415399997 meters Centerline goodness [0,1] 0.9986620675237796 Centerline is valid? [True, True] Translation: X:172.72, Y:2.42, Z:1.53 [[ 9.97755434e-01 -6.44746340e-02 -1.80863172e-02 1.72721896e+02] [ 6.44792784e-02 9.97918993e-01 -3.26844352e-04 2.41517737e+00] [ 1.80697526e-02 -8.40081954e-04 9.99836376e-01 1.52854088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05925415399997 meters Centerline goodness [0,1] 0.9987248364236888 Centerline is valid? [True, True] Translation: X:172.75, Y:2.42, Z:1.53 [[ 9.97996684e-01 -6.07536125e-02 -1.76527017e-02 1.72753507e+02] [ 6.07574787e-02 9.98152507e-01 -3.17707762e-04 2.42125107e+00] [ 1.76393904e-02 -7.55462356e-04 9.99844128e-01 1.52978639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08925415399997 meters Centerline goodness [0,1] 0.9987833784322363 Centerline is valid? [True, True] Translation: X:172.78, Y:2.42, Z:1.53 [[ 9.98116092e-01 -5.86245051e-02 -1.80951669e-02 1.72784698e+02] [ 5.86282338e-02 9.98279833e-01 -3.24818037e-04 2.42422363e+00] [ 1.80830825e-02 -7.36681564e-04 9.99836216e-01 1.52995231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11925415399998 meters Centerline goodness [0,1] 0.998909990357607 Centerline is valid? [True, True] Translation: X:172.82, Y:2.43, Z:1.53 [[ 9.98259862e-01 -5.60881555e-02 -1.82034751e-02 1.72815782e+02] [ 5.60915202e-02 9.98425578e-01 -3.26086944e-04 2.42731665e+00] [ 1.81931048e-02 -6.95541085e-04 9.99834250e-01 1.53029731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14925415399998 meters Centerline goodness [0,1] 0.9990135997313633 Centerline is valid? [True, True] Translation: X:172.85, Y:2.43, Z:1.53 [[ 9.98511850e-01 -5.10176206e-02 -1.92688196e-02 1.72845204e+02] [ 5.10204513e-02 9.98697549e-01 -3.44985322e-04 2.43114187e+00] [ 1.92613232e-02 -6.38631937e-04 9.99814280e-01 1.52967835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17925415399998 meters Centerline goodness [0,1] 0.9990350527574416 Centerline is valid? [True, True] Translation: X:172.88, Y:2.44, Z:1.53 [[ 9.98628755e-01 -4.84798691e-02 -1.97563277e-02 1.72876498e+02] [ 4.84823528e-02 9.98823977e-01 -3.53508477e-04 2.43660216e+00] [ 1.97502318e-02 -6.04809517e-04 9.99804762e-01 1.53035794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20925415399998 meters Centerline goodness [0,1] 0.9989509682562995 Centerline is valid? [True, True] Translation: X:172.91, Y:2.44, Z:1.53 [[ 9.98751977e-01 -4.57435605e-02 -2.00503261e-02 1.72907378e+02] [ 4.57455825e-02 9.98953059e-01 -3.58032586e-04 2.43757437e+00] [ 2.00457122e-02 -5.59628092e-04 9.99798908e-01 1.52988306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23925415399998 meters Centerline goodness [0,1] 0.9989722076560041 Centerline is valid? [True, True] Translation: X:172.94, Y:2.45, Z:1.53 [[ 9.98998267e-01 -4.02064412e-02 -1.96444492e-02 1.72938410e+02] [ 4.02073203e-02 9.99191297e-01 -3.50371306e-04 2.44641221e+00] [ 1.96426499e-02 -4.39830333e-04 9.99806968e-01 1.53197782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26925415399998 meters Centerline goodness [0,1] 0.9990557327513849 Centerline is valid? [True, True] Translation: X:172.97, Y:2.45, Z:1.53 [[ 9.99116938e-01 -3.72946017e-02 -1.93508948e-02 1.72968983e+02] [ 3.72949102e-02 9.99304243e-01 -3.45064449e-04 2.45056186e+00] [ 1.93503003e-02 -3.76930146e-04 9.99812694e-01 1.53315703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29925415399998 meters Centerline goodness [0,1] 0.9990331869101915 Centerline is valid? [True, True] Translation: X:173.00, Y:2.45, Z:1.53 [[ 9.99225755e-01 -3.42001238e-02 -1.94484581e-02 1.72998714e+02] [ 3.41998458e-02 9.99414954e-01 -3.46988215e-04 2.45350306e+00] [ 1.94489469e-02 -3.18414707e-04 9.99810801e-01 1.53352520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32925415399998 meters Centerline goodness [0,1] 0.9990331869101915 Centerline is valid? [True, True] Translation: X:173.03, Y:2.45, Z:1.53 [[ 9.99224519e-01 -3.42362024e-02 -1.94484486e-02 1.73027867e+02] [ 3.42359208e-02 9.99413719e-01 -3.47523094e-04 2.45405364e+00] [ 1.94489442e-02 -3.18581949e-04 9.99810801e-01 1.53379842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35925415399998 meters Centerline goodness [0,1] 0.9990135583259875 Centerline is valid? [True, True] Translation: X:173.06, Y:2.46, Z:1.54 [[ 9.99333370e-01 -3.12444732e-02 -1.88838043e-02 1.73058236e+02] [ 3.12436675e-02 9.99511740e-01 -3.37761916e-04 2.45808201e+00] [ 1.88851373e-02 -2.52462547e-04 9.99821628e-01 1.53503276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38925415399999 meters Centerline goodness [0,1] 0.999284481670104 Centerline is valid? [True, True] Translation: X:173.09, Y:2.46, Z:1.54 [[ 9.99511841e-01 -2.54452673e-02 -1.81278366e-02 1.73087567e+02] [ 2.54435651e-02 9.99676207e-01 -3.24565704e-04 2.46373264e+00] [ 1.81302256e-02 -1.36829526e-04 9.99835625e-01 1.53645249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.419254154 meters Centerline goodness [0,1] 0.9990946987241568 Centerline is valid? [True, True] Translation: X:173.12, Y:2.47, Z:1.54 [[ 9.99567338e-01 -2.28607164e-02 -1.85074085e-02 1.73115938e+02] [ 2.28584833e-02 9.99738656e-01 -3.32221413e-04 2.46542645e+00] [ 1.85101665e-02 -9.09736154e-05 9.99828668e-01 1.53502951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.449254154 meters Centerline goodness [0,1] 0.9992006563032457 Centerline is valid? [True, True] Translation: X:173.14, Y:2.47, Z:1.54 [[ 9.99611783e-01 -2.13536667e-02 -1.78970293e-02 1.73144938e+02] [ 2.13512886e-02 9.99771983e-01 -3.23967238e-04 2.46792324e+00] [ 1.78998664e-02 -5.82831704e-05 9.99839783e-01 1.53703547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479254154 meters Centerline goodness [0,1] 0.9991368239331354 Centerline is valid? [True, True] Translation: X:173.17, Y:2.47, Z:1.54 [[ 9.99651398e-01 -1.93463974e-02 -1.79666361e-02 1.73173159e+02] [ 1.93436108e-02 9.99812841e-01 -3.28883651e-04 2.47000375e+00] [ 1.79696362e-02 -1.87706155e-05 9.99838533e-01 1.53691693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.509254154 meters Centerline goodness [0,1] 0.999051593323217 Centerline is valid? [True, True] Translation: X:173.20, Y:2.47, Z:1.54 [[ 9.99644334e-01 -1.98206722e-02 -1.78422696e-02 1.73201349e+02] [ 1.98179322e-02 9.99803551e-01 -3.30383825e-04 2.47053367e+00] [ 1.78453130e-02 -2.33305718e-05 9.99840759e-01 1.53699319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539254154 meters Centerline goodness [0,1] 0.9991569007672203 Centerline is valid? [True, True] Translation: X:173.23, Y:2.47, Z:1.54 [[ 9.99613214e-01 -2.11735061e-02 -1.80306440e-02 1.73229274e+02] [ 2.11708648e-02 9.99775815e-01 -3.37379144e-04 2.47013290e+00] [ 1.80337453e-02 -4.44756746e-05 9.99837378e-01 1.53704446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569254154 meters Centerline goodness [0,1] 0.999157770618828 Centerline is valid? [True, True] Translation: X:173.26, Y:2.47, Z:1.54 [[ 9.99497684e-01 -2.59813989e-02 -1.81479336e-02 1.73258491e+02] [ 2.59794600e-02 9.99662418e-01 -3.42624569e-04 2.46705455e+00] [ 1.81507090e-02 -1.29021051e-04 9.99835254e-01 1.53721536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599254154 meters Centerline goodness [0,1] 0.9990323530649164 Centerline is valid? [True, True] Translation: X:173.29, Y:2.47, Z:1.54 [[ 9.99397406e-01 -2.94196171e-02 -1.84203709e-02 1.73287076e+02] [ 2.94181173e-02 9.99567131e-01 -3.52439544e-04 2.46507203e+00] [ 1.84227660e-02 -1.89665467e-04 9.99830268e-01 1.53768853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629254154 meters Centerline goodness [0,1] 0.9988860865910046 Centerline is valid? [True, True] Translation: X:173.32, Y:2.46, Z:1.54 [[ 9.99282380e-01 -3.30007342e-02 -1.85923824e-02 1.73315996e+02] [ 3.29997725e-02 9.99455295e-01 -3.58604670e-04 2.46198594e+00] [ 1.85940892e-02 -2.55197059e-04 9.99827082e-01 1.53739843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659254154 meters Centerline goodness [0,1] 0.998826709128622 Centerline is valid? [True, True] Translation: X:173.35, Y:2.46, Z:1.54 [[ 9.99029341e-01 -4.02143788e-02 -1.79772104e-02 1.73345694e+02] [ 4.02146327e-02 9.99191004e-01 -3.47525598e-04 2.45614396e+00] [ 1.79766424e-02 -3.75758642e-04 9.99838336e-01 1.53787585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689254154 meters Centerline goodness [0,1] 0.9988651170610735 Centerline is valid? [True, True] Translation: X:173.38, Y:2.45, Z:1.54 [[ 9.98890358e-01 -4.34194553e-02 -1.82428994e-02 1.73376703e+02] [ 4.34202524e-02 9.99056834e-01 -3.52580664e-04 2.45410085e+00] [ 1.82410022e-02 -4.39921872e-04 9.99833522e-01 1.53648415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71925415399997 meters Centerline goodness [0,1] 0.9987407391860977 Centerline is valid? [True, True] Translation: X:173.41, Y:2.45, Z:1.54 [[ 9.98730776e-01 -4.71916366e-02 -1.76007612e-02 1.73407801e+02] [ 4.71929766e-02 9.98885733e-01 -3.39440910e-04 2.45366291e+00] [ 1.75971680e-02 -4.91622228e-04 9.99845037e-01 1.53878252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74925415399997 meters Centerline goodness [0,1] 0.9988460892917086 Centerline is valid? [True, True] Translation: X:173.44, Y:2.45, Z:1.54 [[ 9.98459442e-01 -5.25923202e-02 -1.76858842e-02 1.73437599e+02] [ 5.25945359e-02 9.98615892e-01 -3.40144307e-04 2.44852551e+00] [ 1.76792940e-02 -5.90560580e-04 9.99843535e-01 1.53839408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77925415399997 meters Centerline goodness [0,1] 0.9987862553886075 Centerline is valid? [True, True] Translation: X:173.47, Y:2.45, Z:1.54 [[ 9.98346479e-01 -5.46992132e-02 -1.76721007e-02 1.73468783e+02] [ 5.47017749e-02 9.98502680e-01 -3.38761865e-04 2.44626621e+00] [ 1.76641699e-02 -6.28493557e-04 9.99843779e-01 1.53832930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80925415399997 meters Centerline goodness [0,1] 0.9988251337459352 Centerline is valid? [True, True] Translation: X:173.50, Y:2.45, Z:1.54 [[ 9.98179951e-01 -5.77762546e-02 -1.72826540e-02 1.73499983e+02] [ 5.77791787e-02 9.98329333e-01 -3.30500621e-04 2.44549390e+00] [ 1.72728755e-02 -6.68678460e-04 9.99850589e-01 1.53869222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83925415399997 meters Centerline goodness [0,1] 0.9988251337459352 Centerline is valid? [True, True] Translation: X:173.53, Y:2.45, Z:1.54 [[ 9.98184231e-01 -5.77022484e-02 -1.72826718e-02 1.73531691e+02] [ 5.77051776e-02 9.98333614e-01 -3.29568110e-04 2.44604026e+00] [ 1.72728890e-02 -6.68329955e-04 9.99850589e-01 1.53898923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86925415399998 meters Centerline goodness [0,1] 0.9989778037383178 Centerline is valid? [True, True] Translation: X:173.56, Y:2.44, Z:1.54 [[ 9.98131099e-01 -5.86620760e-02 -1.71192752e-02 1.73563108e+02] [ 5.86651101e-02 9.98277666e-01 -3.25335818e-04 2.44448144e+00] [ 1.71088750e-02 -6.79576367e-04 9.99853402e-01 1.53935276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89925415399998 meters Centerline goodness [0,1] 0.9988063827113959 Centerline is valid? [True, True] Translation: X:173.59, Y:2.44, Z:1.54 [[ 9.98015300e-01 -6.06916892e-02 -1.67922279e-02 1.73594957e+02] [ 6.06949106e-02 9.98156314e-01 -3.18201389e-04 2.44441822e+00] [ 1.67805804e-02 -7.01632914e-04 9.99858950e-01 1.54034840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92925415399998 meters Centerline goodness [0,1] 0.9987027660375779 Centerline is valid? [True, True] Translation: X:173.63, Y:2.44, Z:1.54 [[ 9.97957258e-01 -6.16664572e-02 -1.66900759e-02 1.73626609e+02] [ 6.16697909e-02 9.98096557e-01 -3.15347127e-04 2.44206369e+00] [ 1.66777536e-02 -7.14570538e-04 9.99860661e-01 1.53983535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95925415399998 meters Centerline goodness [0,1] 0.9987639837432438 Centerline is valid? [True, True] Translation: X:173.66, Y:2.44, Z:1.54 [[ 9.97905551e-01 -6.25360496e-02 -1.65455240e-02 1.73658607e+02] [ 6.25394624e-02 9.98042443e-01 -3.11568417e-04 2.44494842e+00] [ 1.65326195e-02 -7.23832326e-04 9.99863065e-01 1.54055293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98925415399998 meters Centerline goodness [0,1] 0.998659348946332 Centerline is valid? [True, True] Translation: X:173.69, Y:2.44, Z:1.54 [[ 9.97838373e-01 -6.34395870e-02 -1.71464116e-02 1.73690433e+02] [ 6.34434078e-02 9.97985386e-01 -3.21578783e-04 2.44444128e+00] [ 1.71322690e-02 -7.66943130e-04 9.99852938e-01 1.54015152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01925415399998 meters Centerline goodness [0,1] 0.9988272988084518 Centerline is valid? [True, True] Translation: X:173.72, Y:2.44, Z:1.54 [[ 9.97822649e-01 -6.35150102e-02 -1.77708975e-02 1.73721365e+02] [ 6.35191475e-02 9.97980565e-01 -3.32102514e-04 2.43914945e+00] [ 1.77561038e-02 -7.97412847e-04 9.99842030e-01 1.53931095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04925415399998 meters Centerline goodness [0,1] 0.9988265370269478 Centerline is valid? [True, True] Translation: X:173.75, Y:2.45, Z:1.54 [[ 9.97834985e-01 -6.31942107e-02 -1.82163174e-02 1.73753277e+02] [ 6.31985263e-02 9.98000917e-01 -3.39240450e-04 2.44547220e+00] [ 1.82013395e-02 -8.12738426e-04 9.99834012e-01 1.53918893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07925415399998 meters Centerline goodness [0,1] 0.9986790514331244 Centerline is valid? [True, True] Translation: X:173.79, Y:2.45, Z:1.54 [[ 9.97878525e-01 -6.22328186e-02 -1.91187115e-02 1.73785001e+02] [ 6.22374242e-02 9.98061309e-01 -3.54591329e-04 2.44942636e+00] [ 1.91037135e-02 -8.36060287e-04 9.99817158e-01 1.54014969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10925415399998 meters Centerline goodness [0,1] 0.9989304139927017 Centerline is valid? [True, True] Translation: X:173.82, Y:2.45, Z:1.54 [[ 9.97932851e-01 -6.12025011e-02 -1.96030056e-02 1.73817276e+02] [ 6.12071737e-02 9.98125018e-01 -3.62094553e-04 2.45143825e+00] [ 1.95884114e-02 -8.38498518e-04 9.99807777e-01 1.54067835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13925415399999 meters Centerline goodness [0,1] 0.9989099446587288 Centerline is valid? [True, True] Translation: X:173.85, Y:2.45, Z:1.54 [[ 9.98002552e-01 -5.99622774e-02 -1.98854355e-02 1.73849642e+02] [ 5.99668694e-02 9.98200301e-01 -3.65826300e-04 2.45338915e+00] [ 1.98715834e-02 -8.27371730e-04 9.99802198e-01 1.54058799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.169254154 meters Centerline goodness [0,1] 0.9989079530419808 Centerline is valid? [True, True] Translation: X:173.88, Y:2.46, Z:1.54 [[ 9.98180125e-01 -5.68856301e-02 -2.00115534e-02 1.73879769e+02] [ 5.68896811e-02 9.98380403e-01 -3.67251719e-04 2.45710938e+00] [ 2.00000341e-02 -7.71867526e-04 9.99799681e-01 1.54061459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.199254154 meters Centerline goodness [0,1] 0.99895121030331 Centerline is valid? [True, True] Translation: X:173.91, Y:2.46, Z:1.54 [[ 9.98295618e-01 -5.48513428e-02 -1.99296319e-02 1.73911177e+02] [ 5.48549670e-02 9.98494266e-01 -3.65189821e-04 2.46030292e+00] [ 1.99196543e-02 -7.28671904e-04 9.99801318e-01 1.54153076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.229254154 meters Centerline goodness [0,1] 0.9988013626613955 Centerline is valid? [True, True] Translation: X:173.94, Y:2.46, Z:1.54 [[ 9.98417344e-01 -5.27978603e-02 -1.93699122e-02 1.73942625e+02] [ 5.28009113e-02 9.98604996e-01 -3.54233867e-04 2.46356292e+00] [ 1.93615939e-02 -6.69075779e-04 9.99812323e-01 1.54212601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259254154 meters Centerline goodness [0,1] 0.9989489394799352 Centerline is valid? [True, True] Translation: X:173.97, Y:2.47, Z:1.54 [[ 9.98546733e-01 -5.05198804e-02 -1.87660254e-02 1.73973946e+02] [ 5.05223549e-02 9.98722872e-01 -3.42508997e-04 2.46730462e+00] [ 1.87593623e-02 -6.06092558e-04 9.99823844e-01 1.54366637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.289254154 meters Centerline goodness [0,1] 0.998780615999159 Centerline is valid? [True, True] Translation: X:174.00, Y:2.47, Z:1.54 [[ 9.98774524e-01 -4.61272804e-02 -1.79366843e-02 1.74004781e+02] [ 4.61288447e-02 9.98935445e-01 -3.26726925e-04 2.47149210e+00] [ 1.79326607e-02 -5.01071996e-04 9.99839071e-01 1.54448258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319254154 meters Centerline goodness [0,1] 0.9990738401953355 Centerline is valid? [True, True] Translation: X:174.04, Y:2.48, Z:1.54 [[ 9.98885314e-01 -4.36949380e-02 -1.78572533e-02 1.74036534e+02] [ 4.36961137e-02 9.99044816e-01 -3.24521572e-04 2.47571848e+00] [ 1.78543763e-02 -4.56132740e-04 9.99840494e-01 1.54491865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349254154 meters Centerline goodness [0,1] 0.9989684210526316 Centerline is valid? [True, True] Translation: X:174.07, Y:2.48, Z:1.55 [[ 9.98941011e-01 -4.24129502e-02 -1.78325027e-02 1.74068340e+02] [ 4.24139333e-02 9.99100072e-01 -3.23237942e-04 2.47841725e+00] [ 1.78301642e-02 -4.33450945e-04 9.99840936e-01 1.54604756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379254154 meters Centerline goodness [0,1] 0.9991158825386801 Centerline is valid? [True, True] Translation: X:174.10, Y:2.48, Z:1.55 [[ 9.99004168e-01 -4.08387994e-02 -1.79684360e-02 1.74098888e+02] [ 4.08395534e-02 9.99165665e-01 -3.25128559e-04 2.47928734e+00] [ 1.79667221e-02 -4.09018116e-04 9.99838502e-01 1.54574506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409254154 meters Centerline goodness [0,1] 0.9989469471999326 Centerline is valid? [True, True] Translation: X:174.13, Y:2.48, Z:1.55 [[ 9.99075717e-01 -3.90260142e-02 -1.80189408e-02 1.74130215e+02] [ 3.90264865e-02 9.99238123e-01 -3.25558770e-04 2.48417724e+00] [ 1.80179178e-02 -3.77958087e-04 9.99837593e-01 1.54622943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439254154 meters Centerline goodness [0,1] 0.9989685296284602 Centerline is valid? [True, True] Translation: X:174.16, Y:2.48, Z:1.55 [[ 9.99098508e-01 -3.84318225e-02 -1.80323859e-02 1.74160314e+02] [ 3.84322077e-02 9.99261157e-01 -3.25305896e-04 2.48367509e+00] [ 1.80315649e-02 -3.68011766e-04 9.99837350e-01 1.54597374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46925415399997 meters Centerline goodness [0,1] 0.9986727621294794 Centerline is valid? [True, True] Translation: X:174.19, Y:2.48, Z:1.55 [[ 9.99097396e-01 -3.84654449e-02 -1.80222765e-02 1.74191805e+02] [ 3.84658435e-02 9.99259863e-01 -3.24659540e-04 2.48455571e+00] [ 1.80214257e-02 -3.68875568e-04 9.99837533e-01 1.54608333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49925415399997 meters Centerline goodness [0,1] 0.9990512934033268 Centerline is valid? [True, True] Translation: X:174.22, Y:2.49, Z:1.55 [[ 9.99046814e-01 -4.00301816e-02 -1.74082527e-02 1.74222992e+02] [ 4.00308011e-02 9.99198397e-01 -3.13014154e-04 2.48564200e+00] [ 1.74068282e-02 -3.84150509e-04 9.99848416e-01 1.54712406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52925415399997 meters Centerline goodness [0,1] 0.9989249805020973 Centerline is valid? [True, True] Translation: X:174.25, Y:2.49, Z:1.55 [[ 9.99025837e-01 -4.05208200e-02 -1.74768372e-02 1.74253998e+02] [ 4.05215303e-02 9.99178616e-01 -3.13624977e-04 2.48897357e+00] [ 1.74751904e-02 -3.94868734e-04 9.99847219e-01 1.54662422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55925415399997 meters Centerline goodness [0,1] 0.9989028378520941 Centerline is valid? [True, True] Translation: X:174.29, Y:2.49, Z:1.55 [[ 9.98925156e-01 -4.31052854e-02 -1.70430793e-02 1.74285766e+02] [ 4.31063497e-02 9.99070443e-01 -3.05076725e-04 2.48890516e+00] [ 1.70403872e-02 -4.29916122e-04 9.99854710e-01 1.54908491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58925415399997 meters Centerline goodness [0,1] 0.998903716821622 Centerline is valid? [True, True] Translation: X:174.32, Y:2.49, Z:1.55 [[ 9.98766730e-01 -4.68494533e-02 -1.64361808e-02 1.74316711e+02] [ 4.68509643e-02 9.98901848e-01 -2.93323000e-04 2.48715021e+00] [ 1.64318734e-02 -4.77089666e-04 9.99864874e-01 1.54894113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61925415399998 meters Centerline goodness [0,1] 0.9989025831504306 Centerline is valid? [True, True] Translation: X:174.35, Y:2.49, Z:1.55 [[ 9.98691960e-01 -4.81957342e-02 -1.70745398e-02 1.74348102e+02] [ 4.81975852e-02 9.98837775e-01 -3.03321063e-04 2.48533994e+00] [ 1.70693141e-02 -5.20027280e-04 9.99854173e-01 1.54674501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64925415399998 meters Centerline goodness [0,1] 0.9987137043206883 Centerline is valid? [True, True] Translation: X:174.38, Y:2.49, Z:1.55 [[ 9.98617704e-01 -4.96575303e-02 -1.72282028e-02 1.74380379e+02] [ 4.96596600e-02 9.98766152e-01 -3.04429407e-04 2.48571568e+00] [ 1.72220630e-02 -5.51538098e-04 9.99851537e-01 1.54626987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67925415399998 meters Centerline goodness [0,1] 0.9988602785985647 Centerline is valid? [True, True] Translation: X:174.41, Y:2.49, Z:1.55 [[ 9.98415150e-01 -5.36805449e-02 -1.68993428e-02 1.74411400e+02] [ 5.36831874e-02 9.98557974e-01 -2.97561177e-04 2.48786068e+00] [ 1.68909467e-02 -6.10120997e-04 9.99857152e-01 1.54842195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70925415399998 meters Centerline goodness [0,1] 0.9987553005210861 Centerline is valid? [True, True] Translation: X:174.44, Y:2.49, Z:1.55 [[ 9.98297274e-01 -5.59021438e-02 -1.66584022e-02 1.74442464e+02] [ 5.59050350e-02 9.98436048e-01 -2.92428865e-04 2.48638969e+00] [ 1.66486966e-02 -6.39357619e-04 9.99861196e-01 1.55011468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73925415399998 meters Centerline goodness [0,1] 0.9987531962553623 Centerline is valid? [True, True] Translation: X:174.47, Y:2.49, Z:1.55 [[ 9.98234235e-01 -5.68710664e-02 -1.71491483e-02 1.74474338e+02] [ 5.68742926e-02 9.98381302e-01 -2.99917810e-04 2.48785579e+00] [ 1.71384457e-02 -6.75957454e-04 9.99852898e-01 1.54801479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76925415399998 meters Centerline goodness [0,1] 0.9989232328350646 Centerline is valid? [True, True] Translation: X:174.51, Y:2.49, Z:1.55 [[ 9.98110834e-01 -5.91728490e-02 -1.65329016e-02 1.74505143e+02] [ 5.91761783e-02 9.98247513e-01 -2.88192634e-04 2.48627910e+00] [ 1.65209811e-02 -6.90705743e-04 9.99863281e-01 1.55126549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79925415399998 meters Centerline goodness [0,1] 0.9988619599578503 Centerline is valid? [True, True] Translation: X:174.54, Y:2.49, Z:1.55 [[ 9.97982705e-01 -6.12571615e-02 -1.66757252e-02 1.74537386e+02] [ 6.12608540e-02 9.98121748e-01 -2.89782752e-04 2.48843056e+00] [ 1.66621553e-02 -7.32370994e-04 9.99860908e-01 1.55213081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82925415399998 meters Centerline goodness [0,1] 0.9987329475862652 Centerline is valid? [True, True] Translation: X:174.57, Y:2.49, Z:1.55 [[ 9.97939670e-01 -6.20904525e-02 -1.61613740e-02 1.74569061e+02] [ 6.20940467e-02 9.98070264e-01 -2.79787438e-04 2.48862120e+00] [ 1.61475590e-02 -7.24314131e-04 9.99869357e-01 1.55286868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85925415399998 meters Centerline goodness [0,1] 0.9987336161590578 Centerline is valid? [True, True] Translation: X:174.60, Y:2.49, Z:1.55 [[ 9.97914047e-01 -6.25817947e-02 -1.58452853e-02 1.74600951e+02] [ 6.25853273e-02 9.98039579e-01 -2.73319591e-04 2.48957921e+00] [ 1.58313267e-02 -7.18932907e-04 9.99874418e-01 1.55331879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88925415399999 meters Centerline goodness [0,1] 0.9986081528501234 Centerline is valid? [True, True] Translation: X:174.63, Y:2.49, Z:1.55 [[ 9.97877366e-01 -6.32263450e-02 -1.55946260e-02 1.74633569e+02] [ 6.32298631e-02 9.97998954e-01 -2.67845922e-04 2.49006681e+00] [ 1.55803554e-02 -7.18768686e-04 9.99878361e-01 1.55373823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.919254154 meters Centerline goodness [0,1] 0.998609472442272 Centerline is valid? [True, True] Translation: X:174.66, Y:2.49, Z:1.55 [[ 9.97873820e-01 -6.33127621e-02 -1.54704102e-02 1.74664898e+02] [ 6.33162506e-02 9.97993478e-01 -2.64684699e-04 2.48862404e+00] [ 1.54561264e-02 -7.15406438e-04 9.99880291e-01 1.55372312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.949254154 meters Centerline goodness [0,1] 0.9986725384015677 Centerline is valid? [True, True] Translation: X:174.70, Y:2.49, Z:1.55 [[ 9.97867176e-01 -6.32976430e-02 -1.59533029e-02 1.74697187e+02] [ 6.33013673e-02 9.97994420e-01 -2.71914741e-04 2.49331865e+00] [ 1.59385188e-02 -7.38531093e-04 9.99872701e-01 1.55416306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979254154 meters Centerline goodness [0,1] 0.9985245763426356 Centerline is valid? [True, True] Translation: X:174.73, Y:2.49, Z:1.55 [[ 9.97899370e-01 -6.27027907e-02 -1.62851625e-02 1.74728154e+02] [ 6.27066107e-02 9.98031966e-01 -2.76459876e-04 2.49311143e+00] [ 1.62704476e-02 -7.45308210e-04 9.99867350e-01 1.55309223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.009254154 meters Centerline goodness [0,1] 0.9986706897643112 Centerline is valid? [True, True] Translation: X:174.76, Y:2.49, Z:1.55 [[ 9.97939707e-01 -6.19187993e-02 -1.68048770e-02 1.74759414e+02] [ 6.19227721e-02 9.98080903e-01 -2.84327099e-04 2.49410511e+00] [ 1.67902320e-02 -7.56863267e-04 9.99858748e-01 1.55279777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039254154 meters Centerline goodness [0,1] 0.9987146529562982 Centerline is valid? [True, True] Translation: X:174.79, Y:2.50, Z:1.55 [[ 9.97947528e-01 -6.16986677e-02 -1.71465706e-02 1.74791404e+02] [ 6.17027926e-02 9.98094526e-01 -2.88870478e-04 2.49523993e+00] [ 1.71317211e-02 -7.69713707e-04 9.99852945e-01 1.55418037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069254154 meters Centerline goodness [0,1] 0.9987969099582085 Centerline is valid? [True, True] Translation: X:174.82, Y:2.50, Z:1.55 [[ 9.97973519e-01 -6.11692997e-02 -1.75263442e-02 1.74822690e+02] [ 6.11735508e-02 9.98127101e-01 -2.93956069e-04 2.49643941e+00] [ 1.75115002e-02 -7.78788334e-04 9.99846359e-01 1.55429509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099254154 meters Centerline goodness [0,1] 0.9987132701921657 Centerline is valid? [True, True] Translation: X:174.85, Y:2.50, Z:1.55 [[ 9.98031462e-01 -6.01293515e-02 -1.78230618e-02 1.74854469e+02] [ 6.01336028e-02 9.98190293e-01 -2.97782882e-04 2.50287927e+00] [ 1.78087128e-02 -7.74568235e-04 9.99841112e-01 1.55498755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129254154 meters Centerline goodness [0,1] 0.9986305121884416 Centerline is valid? [True, True] Translation: X:174.89, Y:2.50, Z:1.55 [[ 9.98076455e-01 -5.93591464e-02 -1.78852276e-02 1.74886225e+02] [ 5.93633281e-02 9.98236398e-01 -2.97479206e-04 2.49986275e+00] [ 1.78713433e-02 -7.64819643e-04 9.99840002e-01 1.55441390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159254154 meters Centerline goodness [0,1] 0.998692259017085 Centerline is valid? [True, True] Translation: X:174.92, Y:2.51, Z:1.56 [[ 9.98137158e-01 -5.82922960e-02 -1.80061394e-02 1.74918867e+02] [ 5.82963883e-02 9.98299275e-01 -2.97980858e-04 2.50649656e+00] [ 1.79928859e-02 -7.52267125e-04 9.99837832e-01 1.55588510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189254154 meters Centerline goodness [0,1] 0.999007433688123 Centerline is valid? [True, True] Translation: X:174.95, Y:2.50, Z:1.56 [[ 9.98239947e-01 -5.65743800e-02 -1.77861829e-02 1.74949970e+02] [ 5.65781243e-02 9.98398132e-01 -2.93008951e-04 2.50478290e+00] [ 1.77742686e-02 -7.13815630e-04 9.99841770e-01 1.55585807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21925415399997 meters Centerline goodness [0,1] 0.9987100866990907 Centerline is valid? [True, True] Translation: X:174.98, Y:2.51, Z:1.56 [[ 9.98508885e-01 -5.15088110e-02 -1.80789744e-02 1.74980887e+02] [ 5.15118632e-02 9.98672338e-01 -2.97121253e-04 2.51320035e+00] [ 1.80702760e-02 -6.34603443e-04 9.99836518e-01 1.55534638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24925415399997 meters Centerline goodness [0,1] 0.9987100866990907 Centerline is valid? [True, True] Translation: X:175.01, Y:2.51, Z:1.56 [[ 9.98512644e-01 -5.14358849e-02 -1.80789880e-02 1.75012595e+02] [ 5.14389402e-02 9.98676097e-01 -2.96290623e-04 2.51366076e+00] [ 1.80702931e-02 -6.34114048e-04 9.99836518e-01 1.55564341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27925415399997 meters Centerline goodness [0,1] 0.9990478205670758 Centerline is valid? [True, True] Translation: X:175.04, Y:2.52, Z:1.56 [[ 9.98641543e-01 -4.89646677e-02 -1.78193772e-02 1.75044860e+02] [ 4.89672658e-02 9.98800342e-01 -2.90751957e-04 2.51728583e+00] [ 1.78122366e-02 -5.82209196e-04 9.99841180e-01 1.55788617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30925415399997 meters Centerline goodness [0,1] 0.9987919889795486 Centerline is valid? [True, True] Translation: X:175.08, Y:2.52, Z:1.56 [[ 9.98796183e-01 -4.58764836e-02 -1.73646943e-02 1.75076276e+02] [ 4.58785011e-02 9.98946987e-01 -2.82375247e-04 2.52282700e+00] [ 1.73593634e-02 -5.14630824e-04 9.99849182e-01 1.55898423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33925415399997 meters Centerline goodness [0,1] 0.9990248659190639 Centerline is valid? [True, True] Translation: X:175.11, Y:2.52, Z:1.56 [[ 9.98931762e-01 -4.29225638e-02 -1.71169138e-02 1.75107509e+02] [ 4.29241161e-02 9.99078297e-01 -2.76859689e-04 2.52462988e+00] [ 1.71130206e-02 -4.58164458e-04 9.99853457e-01 1.55936476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36925415399998 meters Centerline goodness [0,1] 0.9987685513492855 Centerline is valid? [True, True] Translation: X:175.14, Y:2.53, Z:1.56 [[ 9.99126739e-01 -3.82796296e-02 -1.67460308e-02 1.75138026e+02] [ 3.82804971e-02 9.99266997e-01 -2.68859453e-04 2.53014191e+00] [ 1.67440477e-02 -3.72421714e-04 9.99859739e-01 1.55909046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39925415399998 meters Centerline goodness [0,1] 0.9989578015994555 Centerline is valid? [True, True] Translation: X:175.17, Y:2.53, Z:1.56 [[ 9.99181609e-01 -3.65728432e-02 -1.72783169e-02 1.75169766e+02] [ 3.65735364e-02 9.99330926e-01 -2.75976406e-04 2.53319706e+00] [ 1.72768496e-02 -3.56178601e-04 9.99850681e-01 1.55870258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42925415399998 meters Centerline goodness [0,1] 0.9990881716781882 Centerline is valid? [True, True] Translation: X:175.20, Y:2.54, Z:1.56 [[ 9.99198431e-01 -3.60548760e-02 -1.73937147e-02 1.75201534e+02] [ 3.60555221e-02 9.99349750e-01 -2.76547858e-04 2.53578486e+00] [ 1.73923753e-02 -3.50813279e-04 9.99848680e-01 1.56077728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45925415399998 meters Centerline goodness [0,1] 0.9990419824576343 Centerline is valid? [True, True] Translation: X:175.23, Y:2.54, Z:1.56 [[ 9.99178677e-01 -3.64783398e-02 -1.76437825e-02 1.75233458e+02] [ 3.64790936e-02 9.99334377e-01 -2.79224509e-04 2.53607882e+00] [ 1.76422241e-02 -3.64634019e-04 9.99844297e-01 1.56059651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48925415399998 meters Centerline goodness [0,1] 0.9990007016350222 Centerline is valid? [True, True] Translation: X:175.27, Y:2.54, Z:1.56 [[ 9.99137832e-01 -3.73333505e-02 -1.81607748e-02 1.75265086e+02] [ 3.73343117e-02 9.99302791e-01 -2.86225143e-04 2.53568216e+00] [ 1.81587986e-02 -3.92041657e-04 9.99835039e-01 1.56062617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51925415399998 meters Centerline goodness [0,1] 0.9990853009997873 Centerline is valid? [True, True] Translation: X:175.30, Y:2.53, Z:1.56 [[ 9.99078643e-01 -3.87702478e-02 -1.84046812e-02 1.75295875e+02] [ 3.87714971e-02 9.99248061e-01 -2.89068860e-04 2.53490995e+00] [ 1.84020493e-02 -4.24774521e-04 9.99830578e-01 1.56063538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54925415399998 meters Centerline goodness [0,1] 0.9990422475258061 Centerline is valid? [True, True] Translation: X:175.33, Y:2.54, Z:1.56 [[ 9.98960079e-01 -4.17514536e-02 -1.83187494e-02 1.75327337e+02] [ 4.17532071e-02 9.99127913e-01 -2.86898290e-04 2.53568559e+00] [ 1.83147522e-02 -4.78266598e-04 9.99832156e-01 1.56144783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57925415399998 meters Centerline goodness [0,1] 0.9988508926861448 Centerline is valid? [True, True] Translation: X:175.36, Y:2.54, Z:1.56 [[ 9.98899022e-01 -4.29967423e-02 -1.87622983e-02 1.75359785e+02] [ 4.29988204e-02 9.99075080e-01 -2.92825609e-04 2.53521544e+00] [ 1.87575352e-02 -5.14253482e-04 9.99823930e-01 1.56126241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60925415399998 meters Centerline goodness [0,1] 0.9989354680746876 Centerline is valid? [True, True] Translation: X:175.39, Y:2.54, Z:1.56 [[ 9.98837731e-01 -4.42537497e-02 -1.90995623e-02 1.75392376e+02] [ 4.42561593e-02 9.99020172e-01 -2.96700537e-04 2.53522119e+00] [ 1.90939781e-02 -5.48917581e-04 9.99817543e-01 1.56124851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63925415399999 meters Centerline goodness [0,1] 0.9988710914202948 Centerline is valid? [True, True] Translation: X:175.42, Y:2.53, Z:1.56 [[ 9.98781485e-01 -4.53564368e-02 -1.94509424e-02 1.75423678e+02] [ 4.53591689e-02 9.98970698e-01 -3.00926106e-04 2.53338105e+00] [ 1.94445705e-02 -5.81719158e-04 9.99810767e-01 1.56051537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.669254154 meters Centerline goodness [0,1] 0.9988920611923127 Centerline is valid? [True, True] Translation: X:175.46, Y:2.53, Z:1.56 [[ 9.98691706e-01 -4.71049600e-02 -1.98997125e-02 1.75455777e+02] [ 4.71081915e-02 9.98889746e-01 -3.06605617e-04 2.53376485e+00] [ 1.98920614e-02 -6.31234979e-04 9.99801934e-01 1.56090446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.699254154 meters Centerline goodness [0,1] 0.998914131198501 Centerline is valid? [True, True] Translation: X:175.49, Y:2.54, Z:1.56 [[ 9.98668320e-01 -4.76092455e-02 -1.98732340e-02 1.75487968e+02] [ 4.76125968e-02 9.98865831e-01 -3.04756728e-04 2.53667342e+00] [ 1.98652036e-02 -6.41865386e-04 9.99802461e-01 1.56211962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.729254154 meters Centerline goodness [0,1] 0.9991053932009883 Centerline is valid? [True, True] Translation: X:175.52, Y:2.54, Z:1.56 [[ 9.98660654e-01 -4.77256655e-02 -1.99789469e-02 1.75518755e+02] [ 4.77291014e-02 9.98860270e-01 -3.05096198e-04 2.53643453e+00] [ 1.99707372e-02 -6.48889612e-04 9.99800354e-01 1.56174820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759254154 meters Centerline goodness [0,1] 0.9989560252258395 Centerline is valid? [True, True] Translation: X:175.55, Y:2.54, Z:1.56 [[ 9.98676291e-01 -4.76596187e-02 -1.93449455e-02 1.75550843e+02] [ 4.76628516e-02 9.98863437e-01 -2.94172494e-04 2.53876712e+00] [ 1.93369789e-02 -6.28252171e-04 9.99812826e-01 1.56405787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.789254154 meters Centerline goodness [0,1] 0.9990635109824622 Centerline is valid? [True, True] Translation: X:175.58, Y:2.54, Z:1.56 [[ 9.98718846e-01 -4.66281685e-02 -1.96591280e-02 1.75583223e+02] [ 4.66313365e-02 9.98912123e-01 -2.97483453e-04 2.53955692e+00] [ 1.96516124e-02 -6.19629083e-04 9.99806696e-01 1.56404225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819254154 meters Centerline goodness [0,1] 0.9988715961591688 Centerline is valid? [True, True] Translation: X:175.62, Y:2.54, Z:1.56 [[ 9.98769323e-01 -4.54033915e-02 -1.99592593e-02 1.75615095e+02] [ 4.54064422e-02 9.98968550e-01 -3.00545401e-04 2.54072253e+00] [ 1.99523181e-02 -6.06103427e-04 9.99800749e-01 1.56456576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849254154 meters Centerline goodness [0,1] 0.9990619936897758 Centerline is valid? [True, True] Translation: X:175.65, Y:2.54, Z:1.57 [[ 9.98852684e-01 -4.35437078e-02 -1.99313877e-02 1.75647012e+02] [ 4.35464093e-02 9.99051361e-01 -2.98659323e-04 2.54271183e+00] [ 1.99254848e-02 -5.69623702e-04 9.99801306e-01 1.56519147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879254154 meters Centerline goodness [0,1] 0.9991687270867081 Centerline is valid? [True, True] Translation: X:175.68, Y:2.55, Z:1.57 [[ 9.99018030e-01 -3.96340365e-02 -1.98019946e-02 1.75678077e+02] [ 3.96359567e-02 9.99214143e-01 -2.95648638e-04 2.54664314e+00] [ 1.97981508e-02 -4.89512680e-04 9.99803878e-01 1.56614732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909254154 meters Centerline goodness [0,1] 0.9991471033497515 Centerline is valid? [True, True] Translation: X:175.71, Y:2.55, Z:1.57 [[ 9.99100912e-01 -3.76053109e-02 -1.95757059e-02 1.75709555e+02] [ 3.76068124e-02 9.99292571e-01 -2.91550313e-04 2.54907206e+00] [ 1.95728214e-02 -4.44891717e-04 9.99808335e-01 1.56710461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939254154 meters Centerline goodness [0,1] 0.9990397336861423 Centerline is valid? [True, True] Translation: X:175.74, Y:2.55, Z:1.57 [[ 9.99180306e-01 -3.55198375e-02 -1.94179787e-02 1.75740164e+02] [ 3.55209417e-02 9.99368891e-01 -2.88150078e-04 2.55072746e+00] [ 1.94159589e-02 -4.01831006e-04 9.99811412e-01 1.56731797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96925415399997 meters Centerline goodness [0,1] 0.9992300782753754 Centerline is valid? [True, True] Translation: X:175.77, Y:2.55, Z:1.57 [[ 9.99244605e-01 -3.36874719e-02 -1.93745864e-02 1.75771954e+02] [ 3.36882503e-02 9.99432349e-01 -2.86293298e-04 2.55301653e+00] [ 1.93732328e-02 -3.66618881e-04 9.99812254e-01 1.56819672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99925415399997 meters Centerline goodness [0,1] 0.9989317608853566 Centerline is valid? [True, True] Translation: X:175.80, Y:2.55, Z:1.57 [[ 9.99330216e-01 -3.03411395e-02 -2.04581331e-02 1.75802038e+02] [ 3.03413178e-02 9.99539551e-01 -3.01756087e-04 2.55438145e+00] [ 2.04578688e-02 -3.19172741e-04 9.99790665e-01 1.56625930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02925415399997 meters Centerline goodness [0,1] 0.9994856077330304 Centerline is valid? [True, True] Translation: X:175.83, Y:2.56, Z:1.57 [[ 9.99362051e-01 -2.94314639e-02 -2.02306573e-02 1.75831109e+02] [ 2.94314478e-02 9.99566757e-01 -2.98598743e-04 2.55532162e+00] [ 2.02306807e-02 -2.97009284e-04 9.99795295e-01 1.56696457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05925415399997 meters Centerline goodness [0,1] 0.9991444765265747 Centerline is valid? [True, True] Translation: X:175.86, Y:2.56, Z:1.57 [[ 9.99385581e-01 -2.84639229e-02 -2.04515311e-02 1.75861595e+02] [ 2.84637004e-02 9.99594781e-01 -3.02031265e-04 2.55699834e+00] [ 2.04518408e-02 -2.80280563e-04 9.99790800e-01 1.56760040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08925415399997 meters Centerline goodness [0,1] 0.9994650346657536 Centerline is valid? [True, True] Translation: X:175.89, Y:2.56, Z:1.57 [[ 9.99388529e-01 -2.83247650e-02 -2.05006288e-02 1.75890880e+02] [ 2.83245080e-02 9.99598735e-01 -3.02959087e-04 2.55696279e+00] [ 2.05009839e-02 -2.77896389e-04 9.99789794e-01 1.56756646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11925415399998 meters Centerline goodness [0,1] 0.9991651682507064 Centerline is valid? [True, True] Translation: X:175.92, Y:2.56, Z:1.57 [[ 9.99374295e-01 -2.86365334e-02 -2.07597670e-02 1.75920406e+02] [ 2.86363247e-02 9.99589849e-01 -3.07386042e-04 2.55786210e+00] [ 2.07600548e-02 -2.87289720e-04 9.99784446e-01 1.56831458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14925415399998 meters Centerline goodness [0,1] 0.9992950224311045 Centerline is valid? [True, True] Translation: X:175.95, Y:2.56, Z:1.57 [[ 9.99345081e-01 -2.93240410e-02 -2.12016217e-02 1.75950309e+02] [ 2.93239658e-02 9.99569911e-01 -3.14503406e-04 2.55686423e+00] [ 2.12017256e-02 -3.07418198e-04 9.99775171e-01 1.56737376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17925415399998 meters Centerline goodness [0,1] 0.9990596482229489 Centerline is valid? [True, True] Translation: X:175.98, Y:2.56, Z:1.57 [[ 9.99311890e-01 -2.96530008e-02 -2.22810605e-02 1.75979013e+02] [ 2.96529798e-02 9.99560199e-01 -3.31406368e-04 2.55575159e+00] [ 2.22810885e-02 -3.29521514e-04 9.99751691e-01 1.56564651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20925415399998 meters Centerline goodness [0,1] 0.9990598491485224 Centerline is valid? [True, True] Translation: X:176.01, Y:2.56, Z:1.57 [[ 9.99279809e-01 -3.07435184e-02 -2.22418217e-02 1.76008921e+02] [ 3.07437454e-02 9.99527244e-01 -3.31812870e-04 2.55635069e+00] [ 2.22415078e-02 -3.52223002e-04 9.99752565e-01 1.56756216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23925415399998 meters Centerline goodness [0,1] 0.9989741178482122 Centerline is valid? [True, True] Translation: X:176.04, Y:2.55, Z:1.57 [[ 9.99259796e-01 -3.11563668e-02 -2.25641336e-02 1.76037949e+02] [ 3.11566869e-02 9.99514456e-01 -3.37457555e-04 2.55496081e+00] [ 2.25636916e-02 -3.65815876e-04 9.99745341e-01 1.56581072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26925415399998 meters Centerline goodness [0,1] 0.9991675027216257 Centerline is valid? [True, True] Translation: X:176.07, Y:2.55, Z:1.57 [[ 9.99241579e-01 -3.24370438e-02 -2.15430738e-02 1.76066851e+02] [ 3.24376116e-02 9.99473710e-01 -3.23175566e-04 2.55468974e+00] [ 2.15422188e-02 -3.75875399e-04 9.99767869e-01 1.56768345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29925415399998 meters Centerline goodness [0,1] 0.9990172200145281 Centerline is valid? [True, True] Translation: X:176.10, Y:2.56, Z:1.57 [[ 9.99209468e-01 -3.37385933e-02 -2.10272718e-02 1.76097199e+02] [ 3.37394119e-02 9.99430614e-01 -3.15933517e-04 2.55507333e+00] [ 2.10259583e-02 -3.93764024e-04 9.99778853e-01 1.56936080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32925415399998 meters Centerline goodness [0,1] 0.9989539079011976 Centerline is valid? [True, True] Translation: X:176.13, Y:2.55, Z:1.57 [[ 9.99202346e-01 -3.37973109e-02 -2.12700148e-02 1.76128023e+02] [ 3.37981665e-02 9.99428628e-01 -3.19361256e-04 2.55354471e+00] [ 2.12686552e-02 -3.99780983e-04 9.99773717e-01 1.56775677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35925415399998 meters Centerline goodness [0,1] 0.9991048402566125 Centerline is valid? [True, True] Translation: X:176.16, Y:2.55, Z:1.57 [[ 9.99203666e-01 -3.46652619e-02 -1.97573816e-02 1.76158457e+02] [ 3.46661728e-02 9.99398904e-01 -2.96489239e-04 2.55351685e+00] [ 1.97557834e-02 -3.88659670e-04 9.99804760e-01 1.56981572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38925415399999 meters Centerline goodness [0,1] 0.9990207348746115 Centerline is valid? [True, True] Translation: X:176.19, Y:2.55, Z:1.57 [[ 9.99193151e-01 -3.56987127e-02 -1.84024208e-02 1.76189625e+02] [ 3.56996841e-02 9.99362525e-01 -2.75821373e-04 2.55273874e+00] [ 1.84005362e-02 -3.81361784e-04 9.99830623e-01 1.57114142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.419254154 meters Centerline goodness [0,1] 0.9991697888283378 Centerline is valid? [True, True] Translation: X:176.22, Y:2.55, Z:1.57 [[ 9.99193174e-01 -3.60134461e-02 -1.77772978e-02 1.76220920e+02] [ 3.60144166e-02 9.99351235e-01 -2.65650731e-04 2.55148252e+00] [ 1.77753316e-02 -3.74802614e-04 9.99841936e-01 1.57141399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.449254154 meters Centerline goodness [0,1] 0.9988922500106514 Centerline is valid? [True, True] Translation: X:176.25, Y:2.55, Z:1.57 [[ 9.99202127e-01 -3.59150845e-02 -1.74704453e-02 1.76252216e+02] [ 3.59160210e-02 9.99354778e-01 -2.60254116e-04 2.55127529e+00] [ 1.74685200e-02 -3.67422413e-04 9.99847346e-01 1.57085719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479254154 meters Centerline goodness [0,1] 0.9991276410136386 Centerline is valid? [True, True] Translation: X:176.28, Y:2.55, Z:1.57 [[ 9.99193138e-01 -3.65958289e-02 -1.65474340e-02 1.76284236e+02] [ 3.65967765e-02 9.99330083e-01 -2.45642935e-04 2.54950096e+00] [ 1.65453381e-02 -3.60138010e-04 9.99863052e-01 1.57107629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.509254154 meters Centerline goodness [0,1] 0.9990643871735987 Centerline is valid? [True, True] Translation: X:176.32, Y:2.55, Z:1.57 [[ 9.99167174e-01 -3.73876156e-02 -1.63439224e-02 1.76315979e+02] [ 3.73886656e-02 9.99300770e-01 -2.41417789e-04 2.54922816e+00] [ 1.63415203e-02 -3.69860719e-04 9.99866400e-01 1.57262102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539254154 meters Centerline goodness [0,1] 0.9991512476659311 Centerline is valid? [True, True] Translation: X:176.35, Y:2.55, Z:1.57 [[ 9.99130599e-01 -3.83209667e-02 -1.64179590e-02 1.76348638e+02] [ 3.83221723e-02 9.99265407e-01 -2.41284409e-04 2.54700983e+00] [ 1.64151447e-02 -3.88097218e-04 9.99865187e-01 1.57230905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569254154 meters Centerline goodness [0,1] 0.9991512476659311 Centerline is valid? [True, True] Translation: X:176.38, Y:2.55, Z:1.57 [[ 9.99133460e-01 -3.82462859e-02 -1.64179769e-02 1.76380338e+02] [ 3.82475016e-02 9.99268268e-01 -2.40058015e-04 2.54741661e+00] [ 1.64151447e-02 -3.88096604e-04 9.99865187e-01 1.57260584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599254154 meters Centerline goodness [0,1] 0.9990008078574769 Centerline is valid? [True, True] Translation: X:176.41, Y:2.54, Z:1.57 [[ 9.99111826e-01 -3.87711485e-02 -1.65032257e-02 1.76411637e+02] [ 3.87724666e-02 9.99248036e-01 -2.40203215e-04 2.54487401e+00] [ 1.65001288e-02 -3.99880894e-04 9.99863784e-01 1.57261388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629254154 meters Centerline goodness [0,1] 0.9987911691726932 Centerline is valid? [True, True] Translation: X:176.44, Y:2.54, Z:1.57 [[ 9.99107642e-01 -3.90753819e-02 -1.60322878e-02 1.76444112e+02] [ 3.90766809e-02 9.99236188e-01 -2.32349062e-04 2.54479388e+00] [ 1.60291213e-02 -3.94346872e-04 9.99871448e-01 1.57288210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659254154 meters Centerline goodness [0,1] 0.9991080530071356 Centerline is valid? [True, True] Translation: X:176.48, Y:2.54, Z:1.57 [[ 9.99097839e-01 -3.94257859e-02 -1.57833970e-02 1.76476282e+02] [ 3.94271069e-02 9.99222423e-01 -2.27583434e-04 2.54398380e+00] [ 1.57800969e-02 -3.94915564e-04 9.99875409e-01 1.57312285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689254154 meters Centerline goodness [0,1] 0.9993640429906938 Centerline is valid? [True, True] Translation: X:176.51, Y:2.54, Z:1.57 [[ 9.99100742e-01 -3.92991025e-02 -1.59150100e-02 1.76507223e+02] [ 3.93004465e-02 9.99227413e-01 -2.28417740e-04 2.54209492e+00] [ 1.59116909e-02 -3.97254665e-04 9.99873322e-01 1.57294196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71925415399997 meters Centerline goodness [0,1] 0.998941686951 Centerline is valid? [True, True] Translation: X:176.54, Y:2.54, Z:1.57 [[ 9.99111503e-01 -3.89352157e-02 -1.61323852e-02 1.76538117e+02] [ 3.89365636e-02 9.99241658e-01 -2.30651186e-04 2.53931899e+00] [ 1.61291318e-02 -3.97693388e-04 9.99869838e-01 1.57009108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74925415399997 meters Centerline goodness [0,1] 0.9989833308622625 Centerline is valid? [True, True] Translation: X:176.57, Y:2.54, Z:1.57 [[ 9.99086565e-01 -3.94200370e-02 -1.64953649e-02 1.76569886e+02] [ 3.94215293e-02 9.99222642e-01 -2.34810645e-04 2.54163667e+00] [ 1.64917984e-02 -4.15676351e-04 9.99863915e-01 1.57257369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77925415399997 meters Centerline goodness [0,1] 0.9989617324236132 Centerline is valid? [True, True] Translation: X:176.60, Y:2.54, Z:1.57 [[ 9.99106039e-01 -3.89028118e-02 -1.65436798e-02 1.76602321e+02] [ 3.89042620e-02 9.99242915e-01 -2.34284963e-04 2.54177636e+00] [ 1.65402692e-02 -4.09544135e-04 9.99863117e-01 1.57264033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80925415399997 meters Centerline goodness [0,1] 0.9988337326915329 Centerline is valid? [True, True] Translation: X:176.63, Y:2.54, Z:1.57 [[ 9.99126819e-01 -3.85074217e-02 -1.62104052e-02 1.76634563e+02] [ 3.85087813e-02 9.99258236e-01 -2.28375232e-04 2.54243237e+00] [ 1.62071750e-02 -3.96067129e-04 9.99868577e-01 1.57344690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83925415399997 meters Centerline goodness [0,1] 0.9988323213451659 Centerline is valid? [True, True] Translation: X:176.67, Y:2.54, Z:1.57 [[ 9.99153680e-01 -3.80432413e-02 -1.56408015e-02 1.76667046e+02] [ 3.80444680e-02 9.99276023e-01 -2.19208295e-04 2.54261982e+00] [ 1.56378173e-02 -3.76023196e-04 9.99877651e-01 1.57413859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86925415399998 meters Centerline goodness [0,1] 0.998833386361226 Centerline is valid? [True, True] Translation: X:176.70, Y:2.54, Z:1.58 [[ 9.99212803e-01 -3.70480338e-02 -1.41851209e-02 1.76698461e+02] [ 3.70489605e-02 9.99313432e-01 -1.97543711e-04 2.54234979e+00] [ 1.41827005e-02 -3.28155780e-04 9.99899367e-01 1.57551760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89925415399998 meters Centerline goodness [0,1] 0.9988771424334231 Centerline is valid? [True, True] Translation: X:176.73, Y:2.54, Z:1.58 [[ 9.99240388e-01 -3.65581448e-02 -1.34962554e-02 1.76730849e+02] [ 3.65589588e-02 9.99331480e-01 -1.86480567e-04 2.54248295e+00] [ 1.34940502e-02 -3.07070130e-04 9.99908904e-01 1.57631483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92925415399998 meters Centerline goodness [0,1] 0.9987087487563768 Centerline is valid? [True, True] Translation: X:176.76, Y:2.54, Z:1.58 [[ 9.99271066e-01 -3.60005789e-02 -1.27002092e-02 1.76762598e+02] [ 3.60012660e-02 9.99351729e-01 -1.74586992e-04 2.54229194e+00] [ 1.26982612e-02 -2.82763878e-04 9.99919334e-01 1.57529337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95925415399998 meters Centerline goodness [0,1] 0.998876666454717 Centerline is valid? [True, True] Translation: X:176.79, Y:2.54, Z:1.58 [[ 9.99265156e-01 -3.64700544e-02 -1.17933934e-02 1.76793423e+02] [ 3.64706887e-02 9.99334710e-01 -1.61343005e-04 2.54053890e+00] [ 1.17914316e-02 -2.68888737e-04 9.99930443e-01 1.57729375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98925415399998 meters Centerline goodness [0,1] 0.9986244259623728 Centerline is valid? [True, True] Translation: X:176.83, Y:2.54, Z:1.58 [[ 9.99221056e-01 -3.77830134e-02 -1.13896779e-02 1.76825249e+02] [ 3.77836977e-02 9.99285929e-01 -1.55173522e-04 2.53809255e+00] [ 1.13874078e-02 -2.75291498e-04 9.99935123e-01 1.57697966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01925415399998 meters Centerline goodness [0,1] 0.9986230272216926 Centerline is valid? [True, True] Translation: X:176.86, Y:2.54, Z:1.58 [[ 9.99185891e-01 -3.88490787e-02 -1.08767505e-02 1.76855941e+02] [ 3.88497735e-02 9.99245052e-01 -1.47478315e-04 2.53648605e+00] [ 1.08742686e-02 -2.75201044e-04 9.99940836e-01 1.57691306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04925415399998 meters Centerline goodness [0,1] 0.9986876084839761 Centerline is valid? [True, True] Translation: X:176.89, Y:2.53, Z:1.58 [[ 9.99102993e-01 -4.09048820e-02 -1.09544692e-02 1.76888540e+02] [ 4.09057152e-02 9.99163000e-01 -1.48073072e-04 2.53387037e+00] [ 1.09513573e-02 -3.00160150e-04 9.99939987e-01 1.57646957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07925415399998 meters Centerline goodness [0,1] 0.9987301049779885 Centerline is valid? [True, True] Translation: X:176.92, Y:2.53, Z:1.58 [[ 9.99052735e-01 -4.20168968e-02 -1.13231245e-02 1.76919613e+02] [ 4.20178677e-02 9.99116848e-01 -1.52241566e-04 2.53029071e+00] [ 1.13195211e-02 -3.23676193e-04 9.99935880e-01 1.57617948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10925415399998 meters Centerline goodness [0,1] 0.9987301049779885 Centerline is valid? [True, True] Translation: X:176.95, Y:2.53, Z:1.58 [[ 9.99055666e-01 -4.19471455e-02 -1.13231331e-02 1.76951314e+02] [ 4.19481192e-02 9.99119779e-01 -1.51595210e-04 2.53065130e+00] [ 1.13195253e-02 -3.23532085e-04 9.99935880e-01 1.57647634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13925415399999 meters Centerline goodness [0,1] 0.9987301049779885 Centerline is valid? [True, True] Translation: X:176.98, Y:2.53, Z:1.58 [[ 9.99058592e-01 -4.18773926e-02 -1.13231437e-02 1.76983014e+02] [ 4.18783708e-02 9.99122705e-01 -1.50804693e-04 2.53100961e+00] [ 1.13195252e-02 -3.23532084e-04 9.99935880e-01 1.57677315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.169254154 meters Centerline goodness [0,1] 0.9987520886651579 Centerline is valid? [True, True] Translation: X:177.01, Y:2.53, Z:1.58 [[ 9.99010220e-01 -4.29310110e-02 -1.16408057e-02 1.77014742e+02] [ 4.29321255e-02 9.99077979e-01 -1.54243308e-04 2.52973647e+00] [ 1.16366945e-02 -3.45673891e-04 9.99932232e-01 1.57646071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.199254154 meters Centerline goodness [0,1] 0.9987966051598193 Centerline is valid? [True, True] Translation: X:177.05, Y:2.53, Z:1.58 [[ 9.98905309e-01 -4.51201383e-02 -1.23432793e-02 1.77046931e+02] [ 4.51215676e-02 9.98981490e-01 -1.62809875e-04 2.52943364e+00] [ 1.23380535e-02 -3.94316461e-04 9.99923806e-01 1.57614610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.229254154 meters Centerline goodness [0,1] 0.9990307219014708 Centerline is valid? [True, True] Translation: X:177.08, Y:2.53, Z:1.58 [[ 9.98878063e-01 -4.57069539e-02 -1.23891319e-02 1.77078625e+02] [ 4.57084517e-02 9.98954809e-01 -1.62375869e-04 2.52756393e+00] [ 1.23836046e-02 -4.04094344e-04 9.99923239e-01 1.57606077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259254154 meters Centerline goodness [0,1] 0.9987965543450722 Centerline is valid? [True, True] Translation: X:177.11, Y:2.53, Z:1.58 [[ 9.98837859e-01 -4.65725097e-02 -1.24069326e-02 1.77110988e+02] [ 4.65740947e-02 9.98914825e-01 -1.61307773e-04 2.52720292e+00] [ 1.24009814e-02 -4.16721345e-04 9.99923018e-01 1.57589512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.289254154 meters Centerline goodness [0,1] 0.9989893247425936 Centerline is valid? [True, True] Translation: X:177.14, Y:2.53, Z:1.58 [[ 9.98801228e-01 -4.72550487e-02 -1.27697749e-02 1.77143452e+02] [ 4.72567956e-02 9.98882760e-01 -1.65073395e-04 2.52825959e+00] [ 1.27633086e-02 -4.38583133e-04 9.99918449e-01 1.57650959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319254154 meters Centerline goodness [0,1] 0.9988611679355506 Centerline is valid? [True, True] Translation: X:177.17, Y:2.53, Z:1.58 [[ 9.98732875e-01 -4.84832599e-02 -1.34913691e-02 1.77174165e+02] [ 4.84853389e-02 9.98823879e-01 -1.73135294e-04 2.52560527e+00] [ 1.34838958e-02 -4.81217693e-04 9.99908972e-01 1.57616906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349254154 meters Centerline goodness [0,1] 0.9987768100048506 Centerline is valid? [True, True] Translation: X:177.21, Y:2.52, Z:1.57 [[ 9.98723631e-01 -4.87330105e-02 -1.32741161e-02 1.77205677e+02] [ 4.87350636e-02 9.98811727e-01 -1.68950397e-04 2.52379325e+00] [ 1.32665762e-02 -4.78180136e-04 9.99911881e-01 1.57489845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379254154 meters Centerline goodness [0,1] 0.9985456538234551 Centerline is valid? [True, True] Translation: X:177.24, Y:2.53, Z:1.58 [[ 9.98691867e-01 -4.94036850e-02 -1.31844884e-02 1.77237512e+02] [ 4.94057792e-02 9.98778775e-01 -1.67028550e-04 2.52576827e+00] [ 1.31766390e-02 -4.84579867e-04 9.99913067e-01 1.57632720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409254154 meters Centerline goodness [0,1] 0.9986949566388819 Centerline is valid? [True, True] Translation: X:177.27, Y:2.53, Z:1.58 [[ 9.98672578e-01 -4.97626315e-02 -1.32951706e-02 1.77269893e+02] [ 4.97648058e-02 9.98760950e-01 -1.67446522e-04 2.52645671e+00] [ 1.32870298e-02 -4.94407335e-04 9.99911601e-01 1.57659044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439254154 meters Centerline goodness [0,1] 0.9990094001601821 Centerline is valid? [True, True] Translation: X:177.30, Y:2.53, Z:1.58 [[ 9.98651857e-01 -5.01767523e-02 -1.32951762e-02 1.77301359e+02] [ 5.01789754e-02 9.98740228e-01 -1.66534561e-04 2.52514241e+00] [ 1.32867835e-02 -5.00828270e-04 9.99911601e-01 1.57695712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46925415399997 meters Centerline goodness [0,1] 0.9985676370223702 Centerline is valid? [True, True] Translation: X:177.33, Y:2.53, Z:1.58 [[ 9.98644280e-01 -5.02784157e-02 -1.34790044e-02 1.77333834e+02] [ 5.02807211e-02 9.98735110e-01 -1.68004730e-04 2.52723011e+00] [ 1.34704020e-02 -5.09957099e-04 9.99909140e-01 1.57710083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49925415399997 meters Centerline goodness [0,1] 0.9986973147875783 Centerline is valid? [True, True] Translation: X:177.37, Y:2.53, Z:1.58 [[ 9.98645080e-01 -5.03232618e-02 -1.32504152e-02 1.77365578e+02] [ 5.03255065e-02 9.98732855e-01 -1.64178801e-04 2.52724741e+00] [ 1.32418870e-02 -5.02877503e-04 9.99912196e-01 1.57711090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52925415399997 meters Centerline goodness [0,1] 0.9987137043206883 Centerline is valid? [True, True] Translation: X:177.40, Y:2.53, Z:1.58 [[ 9.98635162e-01 -5.02874981e-02 -1.41060788e-02 1.77398161e+02] [ 5.02900539e-02 9.98734640e-01 -1.73691554e-04 2.52839224e+00] [ 1.40969640e-02 -5.35940969e-04 9.99900489e-01 1.57696073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55925415399997 meters Centerline goodness [0,1] 0.9986307429799246 Centerline is valid? [True, True] Translation: X:177.43, Y:2.53, Z:1.58 [[ 9.98626345e-01 -5.04039097e-02 -1.43132141e-02 1.77429346e+02] [ 5.04065671e-02 9.98728766e-01 -1.75269405e-04 2.52659968e+00] [ 1.43038529e-02 -5.46451341e-04 9.99897545e-01 1.57662900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58925415399997 meters Centerline goodness [0,1] 0.9986502731088006 Centerline is valid? [True, True] Translation: X:177.46, Y:2.53, Z:1.58 [[ 9.98615430e-01 -5.04957400e-02 -1.47445677e-02 1.77461455e+02] [ 5.04985836e-02 9.98724116e-01 -1.79623265e-04 2.53056450e+00] [ 1.47348255e-02 -5.65205218e-04 9.99891277e-01 1.57729164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61925415399998 meters Centerline goodness [0,1] 0.9986709421543395 Centerline is valid? [True, True] Translation: X:177.49, Y:2.53, Z:1.58 [[ 9.98619728e-01 -5.05933070e-02 -1.41051868e-02 1.77492722e+02] [ 5.05959321e-02 9.98719191e-01 -1.70909092e-04 2.53100891e+00] [ 1.40957676e-02 -5.42991884e-04 9.99900502e-01 1.57770879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64925415399998 meters Centerline goodness [0,1] 0.998503593483255 Centerline is valid? [True, True] Translation: X:177.52, Y:2.53, Z:1.58 [[ 9.98639674e-01 -5.04262254e-02 -1.32663639e-02 1.77524708e+02] [ 5.04285431e-02 9.98727659e-01 -1.59972641e-04 2.53285012e+00] [ 1.32575514e-02 -5.09248376e-04 9.99911985e-01 1.57841188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67925415399998 meters Centerline goodness [0,1] 0.9983947279486313 Centerline is valid? [True, True] Translation: X:177.56, Y:2.53, Z:1.58 [[ 9.98681404e-01 -4.97138508e-02 -1.28056859e-02 1.77557096e+02] [ 4.97159635e-02 9.98763385e-01 -1.53497713e-04 2.53483731e+00] [ 1.27974811e-02 -4.83351701e-04 9.99917992e-01 1.57907477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70925415399998 meters Centerline goodness [0,1] 0.9985006863055643 Centerline is valid? [True, True] Translation: X:177.59, Y:2.53, Z:1.58 [[ 9.98740922e-01 -4.85161731e-02 -1.27574202e-02 1.77588412e+02] [ 4.85181835e-02 9.98822288e-01 -1.52040837e-04 2.53470029e+00] [ 1.27497721e-02 -4.67117450e-04 9.99918609e-01 1.57945439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73925415399998 meters Centerline goodness [0,1] 0.9986898825120446 Centerline is valid? [True, True] Translation: X:177.62, Y:2.54, Z:1.58 [[ 9.98919557e-01 -4.45792771e-02 -1.31303678e-02 1.77620236e+02] [ 4.45810768e-02 9.99005757e-01 -1.55748166e-04 2.54149883e+00] [ 1.31242562e-02 -4.29786046e-04 9.99913781e-01 1.57963716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76925415399998 meters Centerline goodness [0,1] 0.9988143380406936 Centerline is valid? [True, True] Translation: X:177.65, Y:2.54, Z:1.58 [[ 9.99025412e-01 -4.20820116e-02 -1.33165137e-02 1.77651953e+02] [ 4.20836517e-02 9.99114078e-01 -1.57152562e-04 2.54306019e+00] [ 1.33113296e-02 -4.03408121e-04 9.99911319e-01 1.57965687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79925415399998 meters Centerline goodness [0,1] 0.9987069148259634 Centerline is valid? [True, True] Translation: X:177.68, Y:2.55, Z:1.58 [[ 9.99211115e-01 -3.72875220e-02 -1.36670499e-02 1.77683816e+02] [ 3.72888142e-02 9.99304517e-01 -1.60356101e-04 2.55151057e+00] [ 1.36635240e-02 -3.49398485e-04 9.99906589e-01 1.57994219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82925415399998 meters Centerline goodness [0,1] 0.9988758802070077 Centerline is valid? [True, True] Translation: X:177.71, Y:2.55, Z:1.58 [[ 9.99284561e-01 -3.52859554e-02 -1.36113195e-02 1.77714749e+02] [ 3.52870618e-02 9.99377205e-01 -1.58946207e-04 2.55328495e+00] [ 1.36084510e-02 -3.21470982e-04 9.99907349e-01 1.57993203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85925415399998 meters Centerline goodness [0,1] 0.9989584883201904 Centerline is valid? [True, True] Translation: X:177.75, Y:2.56, Z:1.58 [[ 9.99333007e-01 -3.37972005e-02 -1.38307686e-02 1.77746514e+02] [ 3.37982121e-02 9.99428664e-01 -1.60655156e-04 2.55522072e+00] [ 1.38282963e-02 -3.06907251e-04 9.99904337e-01 1.57946615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88925415399999 meters Centerline goodness [0,1] 0.9992131342775722 Centerline is valid? [True, True] Translation: X:177.78, Y:2.56, Z:1.58 [[ 9.99360875e-01 -3.27705745e-02 -1.42804643e-02 1.77778789e+02] [ 3.27715635e-02 9.99462854e-01 -1.64810499e-04 2.55723693e+00] [ 1.42781946e-02 -3.03287978e-04 9.99898015e-01 1.58000758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.919254154 meters Centerline goodness [0,1] 0.9992552399191403 Centerline is valid? [True, True] Translation: X:177.81, Y:2.56, Z:1.58 [[ 9.99370686e-01 -3.20605797e-02 -1.51773423e-02 1.77811324e+02] [ 3.20616327e-02 9.99485879e-01 -1.73997316e-04 2.55988870e+00] [ 1.51751178e-02 -3.12722558e-04 9.99884802e-01 1.57992071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.949254154 meters Centerline goodness [0,1] 0.998745988225042 Centerline is valid? [True, True] Translation: X:177.84, Y:2.56, Z:1.58 [[ 9.99371695e-01 -3.20968495e-02 -1.50335658e-02 1.77842142e+02] [ 3.20979018e-02 9.99484715e-01 -1.71344096e-04 2.56047666e+00] [ 1.50313188e-02 -3.11309477e-04 9.99886975e-01 1.57949719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979254154 meters Centerline goodness [0,1] 0.9990846974179953 Centerline is valid? [True, True] Translation: X:177.87, Y:2.56, Z:1.58 [[ 9.99366787e-01 -3.22156786e-02 -1.51054849e-02 1.77873732e+02] [ 3.22167657e-02 9.99480891e-01 -1.71429432e-04 2.56152042e+00] [ 1.51031662e-02 -3.15328987e-04 9.99885891e-01 1.58045674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.009254154 meters Centerline goodness [0,1] 0.9988305834325566 Centerline is valid? [True, True] Translation: X:177.90, Y:2.56, Z:1.58 [[ 9.99372054e-01 -3.22036907e-02 -1.47790525e-02 1.77904739e+02] [ 3.22047394e-02 9.99481279e-01 -1.67086643e-04 2.56060363e+00] [ 1.47767671e-02 -3.08973812e-04 9.99890770e-01 1.58024751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039254154 meters Centerline goodness [0,1] 0.9989361475776081 Centerline is valid? [True, True] Translation: X:177.94, Y:2.56, Z:1.58 [[ 9.99378685e-01 -3.23396205e-02 -1.40140292e-02 1.77935810e+02] [ 3.23405860e-02 9.99476894e-01 -1.57780262e-04 2.56196883e+00] [ 1.40118010e-02 -2.95539688e-04 9.99901786e-01 1.58109112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069254154 meters Centerline goodness [0,1] 0.9988733711710562 Centerline is valid? [True, True] Translation: X:177.97, Y:2.56, Z:1.58 [[ 9.99381565e-01 -3.22553386e-02 -1.40028622e-02 1.77967515e+02] [ 3.22563037e-02 9.99479618e-01 -1.56984616e-04 2.56309856e+00] [ 1.40006389e-02 -2.94793044e-04 9.99901943e-01 1.58185558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099254154 meters Centerline goodness [0,1] 0.9991273996509599 Centerline is valid? [True, True] Translation: X:178.00, Y:2.56, Z:1.58 [[ 9.99389913e-01 -3.21617048e-02 -1.36171605e-02 1.78000096e+02] [ 3.21626220e-02 9.99482638e-01 -1.51689810e-04 2.56432291e+00] [ 1.36149941e-02 -2.86366320e-04 9.99907271e-01 1.58251216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129254154 meters Centerline goodness [0,1] 0.9989130898086186 Centerline is valid? [True, True] Translation: X:178.03, Y:2.56, Z:1.58 [[ 9.99393042e-01 -3.20723701e-02 -1.35982094e-02 1.78030862e+02] [ 3.20732890e-02 9.99485508e-01 -1.50561225e-04 2.56493700e+00] [ 1.35960421e-02 -2.85669460e-04 9.99907529e-01 1.58290837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159254154 meters Centerline goodness [0,1] 0.9987436383381956 Centerline is valid? [True, True] Translation: X:178.06, Y:2.56, Z:1.58 [[ 9.99392818e-01 -3.21101572e-02 -1.35252591e-02 1.78062482e+02] [ 3.21110796e-02 9.99484295e-01 -1.49020102e-04 2.56385700e+00] [ 1.35230691e-02 -2.85381053e-04 9.99908518e-01 1.58254296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18925415399997 meters Centerline goodness [0,1] 0.9988288902137807 Centerline is valid? [True, True] Translation: X:178.09, Y:2.57, Z:1.58 [[ 9.99384152e-01 -3.22499610e-02 -1.38295349e-02 1.78094167e+02] [ 3.22509505e-02 9.99479791e-01 -1.51520147e-04 2.56676908e+00] [ 1.38272272e-02 -2.94588812e-04 9.99904356e-01 1.58324790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21925415399997 meters Centerline goodness [0,1] 0.9987865369467567 Centerline is valid? [True, True] Translation: X:178.13, Y:2.57, Z:1.58 [[ 9.99385055e-01 -3.21803311e-02 -1.39261864e-02 1.78125224e+02] [ 3.21813411e-02 9.99482035e-01 -1.51616653e-04 2.56594988e+00] [ 1.39238522e-02 -2.96639938e-04 9.99903014e-01 1.58289162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24925415399997 meters Centerline goodness [0,1] 0.9991051835438993 Centerline is valid? [True, True] Translation: X:178.16, Y:2.57, Z:1.58 [[ 9.99373633e-01 -3.22945415e-02 -1.44708221e-02 1.78157747e+02] [ 3.22956574e-02 9.99478347e-01 -1.56626298e-04 2.56607661e+00] [ 1.44683316e-02 -3.10816521e-04 9.99895280e-01 1.58278680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27925415399997 meters Centerline goodness [0,1] 0.9988934522162876 Centerline is valid? [True, True] Translation: X:178.19, Y:2.57, Z:1.58 [[ 9.99376146e-01 -3.21260178e-02 -1.46709962e-02 1.78188550e+02] [ 3.21271612e-02 9.99483777e-01 -1.57799228e-04 2.56568875e+00] [ 1.46684921e-02 -3.13636676e-04 9.99892363e-01 1.58282599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30925415399997 meters Centerline goodness [0,1] 0.9988541600356483 Centerline is valid? [True, True] Translation: X:178.22, Y:2.57, Z:1.58 [[ 9.99381562e-01 -3.18475153e-02 -1.49073717e-02 1.78219636e+02] [ 3.18486757e-02 9.99492690e-01 -1.59617391e-04 2.56607887e+00] [ 1.49048925e-02 -3.15261370e-04 9.99888866e-01 1.58294771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33925415399997 meters Centerline goodness [0,1] 0.9990210683124069 Centerline is valid? [True, True] Translation: X:178.25, Y:2.57, Z:1.58 [[ 9.99409389e-01 -3.09607743e-02 -1.49098719e-02 1.78251422e+02] [ 3.09618444e-02 9.99520555e-01 -1.59105405e-04 2.56727229e+00] [ 1.49076495e-02 -3.02625699e-04 9.99888829e-01 1.58360481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36925415399998 meters Centerline goodness [0,1] 0.9989361475776081 Centerline is valid? [True, True] Translation: X:178.28, Y:2.57, Z:1.58 [[ 9.99482395e-01 -2.86470670e-02 -1.46385760e-02 1.78283215e+02] [ 2.86478596e-02 9.99589554e-01 -1.55588241e-04 2.56896355e+00] [ 1.46370248e-02 -2.63856164e-04 9.99892838e-01 1.58426659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39925415399998 meters Centerline goodness [0,1] 0.9989776357827476 Centerline is valid? [True, True] Translation: X:178.31, Y:2.57, Z:1.58 [[ 9.99533767e-01 -2.69150804e-02 -1.44161910e-02 1.78314718e+02] [ 2.69156789e-02 9.99637696e-01 -1.52537844e-04 2.57005203e+00] [ 1.44150735e-02 -2.35554842e-04 9.99896070e-01 1.58476313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42925415399998 meters Centerline goodness [0,1] 0.9989136686050227 Centerline is valid? [True, True] Translation: X:178.35, Y:2.57, Z:1.58 [[ 9.99590329e-01 -2.48329729e-02 -1.42301918e-02 1.78345835e+02] [ 2.48333524e-02 9.99691593e-01 -1.50057873e-04 2.57140056e+00] [ 1.42295295e-02 -2.03386967e-04 9.99898734e-01 1.58488024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45925415399998 meters Centerline goodness [0,1] 0.9989570251803921 Centerline is valid? [True, True] Translation: X:178.38, Y:2.57, Z:1.58 [[ 9.99703436e-01 -1.98717941e-02 -1.40766345e-02 1.78376118e+02] [ 1.98716784e-02 9.99802528e-01 -1.48102596e-04 2.57388811e+00] [ 1.40767978e-02 -1.31667679e-04 9.99900908e-01 1.58441222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48925415399998 meters Centerline goodness [0,1] 0.9990216096647949 Centerline is valid? [True, True] Translation: X:178.41, Y:2.58, Z:1.59 [[ 9.99749079e-01 -1.77701866e-02 -1.36381774e-02 1.78405139e+02] [ 1.77698814e-02 9.99842093e-01 -1.43566516e-04 2.57528764e+00] [ 1.36385751e-02 -9.88183038e-05 9.99906985e-01 1.58600247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51925415399998 meters Centerline goodness [0,1] 0.9990207557211283 Centerline is valid? [True, True] Translation: X:178.43, Y:2.58, Z:1.59 [[ 9.99787091e-01 -1.56481450e-02 -1.34501822e-02 1.78433483e+02] [ 1.56476510e-02 9.99877558e-01 -1.41972714e-04 2.57618357e+00] [ 1.34507570e-02 -6.85212698e-05 9.99909532e-01 1.58592732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54925415399998 meters Centerline goodness [0,1] 0.9992107676884026 Centerline is valid? [True, True] Translation: X:178.46, Y:2.58, Z:1.59 [[ 9.99823701e-01 -1.25153961e-02 -1.39975952e-02 1.78462320e+02] [ 1.25145304e-02 9.99921679e-01 -1.49442016e-04 2.57743469e+00] [ 1.39983692e-02 -2.57576615e-05 9.99902018e-01 1.58635244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57925415399998 meters Centerline goodness [0,1] 0.9989163922235207 Centerline is valid? [True, True] Translation: X:178.49, Y:2.58, Z:1.59 [[ 9.99831338e-01 -1.16715848e-02 -1.41798853e-02 1.78490281e+02] [ 1.16705578e-02 9.99931885e-01 -1.55178873e-04 2.57775961e+00] [ 1.41807306e-02 -1.03344697e-05 9.99899448e-01 1.58573821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60925415399998 meters Centerline goodness [0,1] 0.9993409303512203 Centerline is valid? [True, True] Translation: X:178.52, Y:2.58, Z:1.58 [[ 9.99816071e-01 -1.07734119e-02 -1.58668463e-02 1.78518751e+02] [ 1.07719380e-02 9.99941965e-01 -1.78356854e-04 2.57706921e+00] [ 1.58678470e-02 7.40736506e-06 9.99874098e-01 1.58491667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63925415399999 meters Centerline goodness [0,1] 0.9989354454096406 Centerline is valid? [True, True] Translation: X:178.55, Y:2.58, Z:1.58 [[ 9.99806648e-01 -1.06846018e-02 -1.65077510e-02 1.78545742e+02] [ 1.06829291e-02 9.99942918e-01 -1.89509999e-04 2.57661034e+00] [ 1.65088335e-02 1.31222240e-05 9.99863720e-01 1.58394534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.669254154 meters Centerline goodness [0,1] 0.9989573580730275 Centerline is valid? [True, True] Translation: X:178.57, Y:2.58, Z:1.58 [[ 9.99787154e-01 -1.08826430e-02 -1.75275522e-02 1.78573808e+02] [ 1.08807109e-02 9.99940782e-01 -2.05595111e-04 2.57607316e+00] [ 1.75287517e-02 1.48391222e-05 9.99846360e-01 1.58327324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.699254154 meters Centerline goodness [0,1] 0.9989780928658109 Centerline is valid? [True, True] Translation: X:178.60, Y:2.58, Z:1.58 [[ 9.99773047e-01 -1.16281725e-02 -1.78505075e-02 1.78601876e+02] [ 1.16261932e-02 9.99932390e-01 -2.14659712e-04 2.57560239e+00] [ 1.78517967e-02 7.07754611e-06 9.99840644e-01 1.58371109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.729254154 meters Centerline goodness [0,1] 0.9991496056296107 Centerline is valid? [True, True] Translation: X:178.63, Y:2.57, Z:1.58 [[ 9.99757897e-01 -1.22024509e-02 -1.83097725e-02 1.78629423e+02] [ 1.22003982e-02 9.99925547e-01 -2.23813675e-04 2.57499790e+00] [ 1.83111404e-02 3.72974044e-07 9.99832337e-01 1.58370813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759254154 meters Centerline goodness [0,1] 0.999151013477661 Centerline is valid? [True, True] Translation: X:178.66, Y:2.57, Z:1.58 [[ 9.99741083e-01 -1.31415357e-02 -1.85760013e-02 1.78657136e+02] [ 1.31395191e-02 9.99913646e-01 -2.30612028e-04 2.57405692e+00] [ 1.85774278e-02 -1.35274047e-05 9.99827425e-01 1.58379062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.789254154 meters Centerline goodness [0,1] 0.9991500754308055 Centerline is valid? [True, True] Translation: X:178.68, Y:2.57, Z:1.58 [[ 9.99725725e-01 -1.43583517e-02 -1.85016703e-02 1.78684738e+02] [ 1.43564596e-02 9.99896913e-01 -2.35088525e-04 2.57275797e+00] [ 1.85031385e-02 -3.05944364e-05 9.99828802e-01 1.58420267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819254154 meters Centerline goodness [0,1] 0.9991933258326788 Centerline is valid? [True, True] Translation: X:178.71, Y:2.57, Z:1.58 [[ 9.99680994e-01 -1.71128893e-02 -1.85757690e-02 1.78712897e+02] [ 1.71113907e-02 9.99853561e-01 -2.39628873e-04 2.57004218e+00] [ 1.85771496e-02 -7.83048108e-05 9.99827427e-01 1.58451724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849254154 meters Centerline goodness [0,1] 0.9993639890606119 Centerline is valid? [True, True] Translation: X:178.74, Y:2.57, Z:1.58 [[ 9.99659370e-01 -1.85208828e-02 -1.83880579e-02 1.78740465e+02] [ 1.85196221e-02 9.99828469e-01 -2.38859559e-04 2.56881849e+00] [ 1.83893276e-02 -1.01761686e-04 9.99830897e-01 1.58498173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879254154 meters Centerline goodness [0,1] 0.9988975810383939 Centerline is valid? [True, True] Translation: X:178.77, Y:2.57, Z:1.59 [[ 9.99635567e-01 -2.02141800e-02 -1.78918882e-02 1.78768078e+02] [ 2.02131984e-02 9.99795665e-01 -2.35719259e-04 2.56746527e+00] [ 1.78929971e-02 -1.26018932e-04 9.99839900e-01 1.58543532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909254154 meters Centerline goodness [0,1] 0.9989609398193308 Centerline is valid? [True, True] Translation: X:178.80, Y:2.56, Z:1.59 [[ 9.99591667e-01 -2.35454968e-02 -1.61897869e-02 1.78796414e+02] [ 2.35450798e-02 9.99722753e-01 -2.16384445e-04 2.56377667e+00] [ 1.61903932e-02 -1.64893738e-04 9.99868913e-01 1.58661709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93925415399997 meters Centerline goodness [0,1] 0.9990891374343331 Centerline is valid? [True, True] Translation: X:178.82, Y:2.56, Z:1.59 [[ 9.99555516e-01 -2.53929362e-02 -1.56195039e-02 1.78824745e+02] [ 2.53927557e-02 9.99677530e-01 -2.09916001e-04 2.56224979e+00] [ 1.56197975e-02 -1.86799549e-04 9.99877986e-01 1.58745429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96925415399997 meters Centerline goodness [0,1] 0.9988582543978349 Centerline is valid? [True, True] Translation: X:178.86, Y:2.56, Z:1.59 [[ 9.99508423e-01 -2.73313742e-02 -1.53592885e-02 1.78855722e+02] [ 2.73314208e-02 9.99626406e-01 -2.06914853e-04 2.56065010e+00] [ 1.53592056e-02 -2.12978038e-04 9.99882018e-01 1.58787839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99925415399997 meters Centerline goodness [0,1] 0.9989001226786243 Centerline is valid? [True, True] Translation: X:178.89, Y:2.56, Z:1.59 [[ 9.99457013e-01 -2.93140391e-02 -1.50454797e-02 1.78886541e+02] [ 2.93143084e-02 9.99570223e-01 -2.02687333e-04 2.55908539e+00] [ 1.50449551e-02 -2.38470555e-04 9.99886790e-01 1.58855060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02925415399997 meters Centerline goodness [0,1] 0.9990086479645645 Centerline is valid? [True, True] Translation: X:178.92, Y:2.55, Z:1.59 [[ 9.99274806e-01 -3.49733192e-02 -1.50575003e-02 1.78917027e+02] [ 3.49742341e-02 9.99388194e-01 -2.02645049e-04 2.55210989e+00] [ 1.50553752e-02 -3.24126447e-04 9.99886609e-01 1.58827474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05925415399997 meters Centerline goodness [0,1] 0.9990086479645645 Centerline is valid? [True, True] Translation: X:178.95, Y:2.55, Z:1.59 [[ 9.99276006e-01 -3.49390137e-02 -1.50575074e-02 1.78947876e+02] [ 3.49399326e-02 9.99389394e-01 -2.02113610e-04 2.55249186e+00] [ 1.50553749e-02 -3.24141014e-04 9.99886609e-01 1.58856367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08925415399997 meters Centerline goodness [0,1] 0.998711802842481 Centerline is valid? [True, True] Translation: X:178.98, Y:2.55, Z:1.59 [[ 9.99150080e-01 -3.82188350e-02 -1.54414628e-02 1.78979402e+02] [ 3.82202013e-02 9.99269320e-01 -2.06722258e-04 2.55070300e+00] [ 1.54380807e-02 -3.83629254e-04 9.99880752e-01 1.58881288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11925415399998 meters Centerline goodness [0,1] 0.9987984822934233 Centerline is valid? [True, True] Translation: X:179.01, Y:2.54, Z:1.59 [[ 9.98830731e-01 -4.58060403e-02 -1.54589037e-02 1.79009038e+02] [ 4.58083224e-02 9.98950226e-01 -2.06624574e-04 2.54202055e+00] [ 1.54521400e-02 -5.01763473e-04 9.99880483e-01 1.58852611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14925415399998 meters Centerline goodness [0,1] 0.9986271279516749 Centerline is valid? [True, True] Translation: X:179.04, Y:2.54, Z:1.59 [[ 9.98634300e-01 -4.98418662e-02 -1.56628295e-02 1.79040522e+02] [ 4.98447080e-02 9.98756958e-01 -2.09129801e-04 2.53968597e+00] [ 1.56537834e-02 -5.71864973e-04 9.99877308e-01 1.58860930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17925415399998 meters Centerline goodness [0,1] 0.9987775576444801 Centerline is valid? [True, True] Translation: X:179.07, Y:2.53, Z:1.59 [[ 9.98459210e-01 -5.30936139e-02 -1.61330072e-02 1.79070785e+02] [ 5.30970634e-02 9.98589333e-01 -2.14745712e-04 2.53400888e+00] [ 1.61216505e-02 -6.42200471e-04 9.99869832e-01 1.58721020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20925415399998 meters Centerline goodness [0,1] 0.9985261606484893 Centerline is valid? [True, True] Translation: X:179.10, Y:2.54, Z:1.59 [[ 9.98257611e-01 -5.67752651e-02 -1.60720518e-02 1.79101746e+02] [ 5.67791739e-02 9.98386739e-01 -2.13368084e-04 2.53726461e+00] [ 1.60582374e-02 -6.99561512e-04 9.99870813e-01 1.58962162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23925415399998 meters Centerline goodness [0,1] 0.9984654516407054 Centerline is valid? [True, True] Translation: X:179.13, Y:2.53, Z:1.59 [[ 9.98089807e-01 -5.95996466e-02 -1.62671309e-02 1.79132297e+02] [ 5.96040300e-02 9.98222076e-01 -2.15657515e-04 2.53328727e+00] [ 1.62510623e-02 -7.54340993e-04 9.99867658e-01 1.58950246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26925415399998 meters Centerline goodness [0,1] 0.9984851035179263 Centerline is valid? [True, True] Translation: X:179.16, Y:2.53, Z:1.59 [[ 9.97858066e-01 -6.33588663e-02 -1.62767715e-02 1.79163743e+02] [ 6.33637606e-02 9.97990475e-01 -2.15360767e-04 2.53238784e+00] [ 1.62577079e-02 -8.16457972e-04 9.99867501e-01 1.58991530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29925415399998 meters Centerline goodness [0,1] 0.9985924369747899 Centerline is valid? [True, True] Translation: X:179.19, Y:2.53, Z:1.59 [[ 9.97808418e-01 -6.41094760e-02 -1.63809477e-02 1.79194596e+02] [ 6.41145460e-02 9.97942523e-01 -2.16008994e-04 2.53133141e+00] [ 1.63610925e-02 -8.34721435e-04 9.99865800e-01 1.59048572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32925415399998 meters Centerline goodness [0,1] 0.998717031926976 Centerline is valid? [True, True] Translation: X:179.23, Y:2.52, Z:1.59 [[ 9.97781447e-01 -6.45203769e-02 -1.64105197e-02 1.79225397e+02] [ 6.45255333e-02 9.97916033e-01 -2.15629012e-04 2.52293001e+00] [ 1.63902332e-02 -8.43746908e-04 9.99865315e-01 1.58952893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35925415399998 meters Centerline goodness [0,1] 0.998402253663254 Centerline is valid? [True, True] Translation: X:179.26, Y:2.54, Z:1.59 [[ 9.97817430e-01 -6.38404992e-02 -1.68750369e-02 1.79257399e+02] [ 6.38458700e-02 9.97959747e-01 -2.20827702e-04 2.53584722e+00] [ 1.68547053e-02 -8.57055685e-04 9.99857582e-01 1.59146690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38925415399999 meters Centerline goodness [0,1] 0.9986320397339843 Centerline is valid? [True, True] Translation: X:179.29, Y:2.54, Z:1.59 [[ 9.97883291e-01 -6.28973707e-02 -1.65184381e-02 1.79289245e+02] [ 6.29024080e-02 9.98019660e-01 -2.14951874e-04 2.53782300e+00] [ 1.64992459e-02 -8.24552650e-04 9.99863538e-01 1.59200891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.419254154 meters Centerline goodness [0,1] 0.9985487738190384 Centerline is valid? [True, True] Translation: X:179.32, Y:2.54, Z:1.59 [[ 9.97963556e-01 -6.16272344e-02 -1.64567667e-02 1.79320314e+02] [ 6.16320796e-02 9.98098914e-01 -2.13063748e-04 2.53819252e+00] [ 1.64386115e-02 -8.01634901e-04 9.99864556e-01 1.59275727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.449254154 meters Centerline goodness [0,1] 0.9986944619919983 Centerline is valid? [True, True] Translation: X:179.35, Y:2.54, Z:1.59 [[ 9.98073117e-01 -5.99659563e-02 -1.59417015e-02 1.79352575e+02] [ 5.99703073e-02 9.98200140e-01 -2.05401329e-04 2.54274743e+00] [ 1.59253258e-02 -7.51023194e-04 9.99872902e-01 1.59416086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479254154 meters Centerline goodness [0,1] 0.9986091794158554 Centerline is valid? [True, True] Translation: X:179.38, Y:2.54, Z:1.60 [[ 9.98332846e-01 -5.59412391e-02 -1.42164014e-02 1.79382442e+02] [ 5.59443007e-02 9.98433875e-01 -1.82547255e-04 2.54389276e+00] [ 1.42043486e-02 -6.13083711e-04 9.99898925e-01 1.59535181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.509254154 meters Centerline goodness [0,1] 0.9987343374256423 Centerline is valid? [True, True] Translation: X:179.41, Y:2.55, Z:1.60 [[ 9.98491005e-01 -5.32112943e-02 -1.35746548e-02 1.79413824e+02] [ 5.32138359e-02 9.98583125e-01 -1.74151497e-04 2.54980797e+00] [ 1.35646880e-02 -5.48470747e-04 9.99907845e-01 1.59648654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539254154 meters Centerline goodness [0,1] 0.9987328405491024 Centerline is valid? [True, True] Translation: X:179.45, Y:2.55, Z:1.60 [[ 9.98642573e-01 -5.03848152e-02 -1.32053932e-02 1.79445340e+02] [ 5.03869799e-02 9.98729755e-01 -1.68937303e-04 2.55294354e+00] [ 1.31971309e-02 -4.96671896e-04 9.99912791e-01 1.59728117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569254154 meters Centerline goodness [0,1] 0.9987115035275231 Centerline is valid? [True, True] Translation: X:179.48, Y:2.56, Z:1.60 [[ 9.98949406e-01 -4.39349744e-02 -1.30307851e-02 1.79475904e+02] [ 4.39365393e-02 9.99034310e-01 -1.66298112e-04 2.56118240e+00] [ 1.30255077e-02 -4.06404202e-04 9.99915082e-01 1.59810884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599254154 meters Centerline goodness [0,1] 0.9989650875451455 Centerline is valid? [True, True] Translation: X:179.51, Y:2.56, Z:1.60 [[ 9.99079811e-01 -4.06905492e-02 -1.35576606e-02 1.79507704e+02] [ 4.06919503e-02 9.99171725e-01 -1.72612398e-04 2.56480867e+00] [ 1.35534548e-02 -3.79234087e-04 9.99908076e-01 1.59824435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629254154 meters Centerline goodness [0,1] 0.9988379463342489 Centerline is valid? [True, True] Translation: X:179.54, Y:2.57, Z:1.60 [[ 9.99205004e-01 -3.73503631e-02 -1.39395423e-02 1.79538947e+02] [ 3.73515291e-02 9.99302173e-01 -1.76775467e-04 2.56846871e+00] [ 1.39364175e-02 -3.44028288e-04 9.99902824e-01 1.59811925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659254154 meters Centerline goodness [0,1] 0.9986891346174176 Centerline is valid? [True, True] Translation: X:179.57, Y:2.57, Z:1.60 [[ 9.99308328e-01 -3.44895644e-02 -1.39044990e-02 1.79570650e+02] [ 3.44904561e-02 9.99405012e-01 -1.75735435e-04 2.57223648e+00] [ 1.39022870e-02 -3.03958627e-04 9.99903312e-01 1.59817839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68925415399997 meters Centerline goodness [0,1] 0.9988334358495768 Centerline is valid? [True, True] Translation: X:179.60, Y:2.58, Z:1.60 [[ 9.99436538e-01 -3.04078525e-02 -1.42116022e-02 1.79601315e+02] [ 3.04083815e-02 9.99537542e-01 -1.78907489e-04 2.57606199e+00] [ 1.42104702e-02 -2.53345142e-04 9.99898994e-01 1.59823657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71925415399997 meters Centerline goodness [0,1] 0.9987494966194019 Centerline is valid? [True, True] Translation: X:179.63, Y:2.58, Z:1.60 [[ 9.99473490e-01 -2.93257162e-02 -1.38832783e-02 1.79632955e+02] [ 2.93261237e-02 9.99569882e-01 -1.74272837e-04 2.57913235e+00] [ 1.38824175e-02 -2.32961656e-04 9.99903607e-01 1.59908024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74925415399997 meters Centerline goodness [0,1] 0.9987912460768513 Centerline is valid? [True, True] Translation: X:179.66, Y:2.58, Z:1.60 [[ 9.99469517e-01 -2.89485615e-02 -1.49219535e-02 1.79664260e+02] [ 2.89489988e-02 9.99580872e-01 -1.86741744e-04 2.58061064e+00] [ 1.49211052e-02 -2.45332933e-04 9.99888644e-01 1.59869363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77925415399997 meters Centerline goodness [0,1] 0.9987285172391871 Centerline is valid? [True, True] Translation: X:179.70, Y:2.58, Z:1.60 [[ 9.99444211e-01 -2.94283681e-02 -1.56601797e-02 1.79695532e+02] [ 2.94289178e-02 9.99566857e-01 -1.95397700e-04 2.58081210e+00] [ 1.56591468e-02 -2.65573039e-04 9.99877353e-01 1.59798435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80925415399997 meters Centerline goodness [0,1] 0.9988119484046164 Centerline is valid? [True, True] Translation: X:179.73, Y:2.58, Z:1.60 [[ 9.99414762e-01 -3.00832314e-02 -1.62828913e-02 1.79726523e+02] [ 3.00839224e-02 9.99547356e-01 -2.02560161e-04 2.58203128e+00] [ 1.62816146e-02 -2.87411623e-04 9.99867404e-01 1.59796477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83925415399997 meters Centerline goodness [0,1] 0.9987719409684728 Centerline is valid? [True, True] Translation: X:179.76, Y:2.58, Z:1.60 [[ 9.99376027e-01 -3.10416905e-02 -1.68514237e-02 1.79757042e+02] [ 3.10425752e-02 9.99518041e-01 -2.09134509e-04 2.58159583e+00] [ 1.68497939e-02 -3.14107574e-04 9.99857983e-01 1.59747465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86925415399998 meters Centerline goodness [0,1] 0.998834869187586 Centerline is valid? [True, True] Translation: X:179.79, Y:2.58, Z:1.60 [[ 9.99347408e-01 -3.15831796e-02 -1.75288465e-02 1.79787455e+02] [ 3.15842259e-02 9.99501070e-01 -2.17214453e-04 2.58121222e+00] [ 1.75269611e-02 -3.36562345e-04 9.99846334e-01 1.59549710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89925415399998 meters Centerline goodness [0,1] 0.9986421691348072 Centerline is valid? [True, True] Translation: X:179.82, Y:2.58, Z:1.60 [[ 9.99287688e-01 -3.35046462e-02 -1.73653536e-02 1.79817838e+02] [ 3.35059684e-02 9.99438494e-01 -2.14877041e-04 2.58064373e+00] [ 1.73628022e-02 -3.67119008e-04 9.99849188e-01 1.59540322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92925415399998 meters Centerline goodness [0,1] 0.9990250105977109 Centerline is valid? [True, True] Translation: X:179.85, Y:2.58, Z:1.60 [[ 9.99248215e-01 -3.50952174e-02 -1.64721092e-02 1.79848726e+02] [ 3.50966300e-02 9.99383903e-01 -2.03404737e-04 2.58193528e+00] [ 1.64690993e-02 -3.74863702e-04 9.99864305e-01 1.59878546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95925415399998 meters Centerline goodness [0,1] 0.9987697267945019 Centerline is valid? [True, True] Translation: X:179.88, Y:2.58, Z:1.60 [[ 9.99220322e-01 -3.60392753e-02 -1.61220053e-02 1.79879981e+02] [ 3.60407606e-02 9.99350301e-01 -1.98497927e-04 2.58235176e+00] [ 1.61186845e-02 -3.82706169e-04 9.99870012e-01 1.59958245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98925415399998 meters Centerline goodness [0,1] 0.9988342518016109 Centerline is valid? [True, True] Translation: X:179.91, Y:2.58, Z:1.60 [[ 9.99192497e-01 -3.70233084e-02 -1.56085957e-02 1.79911672e+02] [ 3.70248311e-02 9.99314328e-01 -1.91500485e-04 2.58222924e+00] [ 1.56049833e-02 -3.86559773e-04 9.99878160e-01 1.60048884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01925415399998 meters Centerline goodness [0,1] 0.9991096035615857 Centerline is valid? [True, True] Translation: X:179.94, Y:2.58, Z:1.60 [[ 9.99107209e-01 -3.96690604e-02 -1.45310061e-02 1.79943517e+02] [ 3.96706722e-02 9.99212793e-01 -1.77419968e-04 2.58139579e+00] [ 1.45266053e-02 -3.99193210e-04 9.99894404e-01 1.60191256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04925415399998 meters Centerline goodness [0,1] 0.9990466101694915 Centerline is valid? [True, True] Translation: X:179.97, Y:2.58, Z:1.60 [[ 9.99039913e-01 -4.15328709e-02 -1.39381974e-02 1.79974792e+02] [ 4.15345478e-02 9.99137054e-01 -1.69269341e-04 2.57973461e+00] [ 1.39331997e-02 -4.09809896e-04 9.99902844e-01 1.60237796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07925415399998 meters Centerline goodness [0,1] 0.9987691001697793 Centerline is valid? [True, True] Translation: X:180.01, Y:2.58, Z:1.60 [[ 9.98962243e-01 -4.32530591e-02 -1.42691648e-02 1.80007180e+02] [ 4.32550045e-02 9.99064049e-01 -1.72398955e-04 2.57914065e+00] [ 1.42632664e-02 -4.44992743e-04 9.99898175e-01 1.60103888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10925415399998 meters Centerline goodness [0,1] 0.9989595056590151 Centerline is valid? [True, True] Translation: X:180.04, Y:2.58, Z:1.60 [[ 9.98705196e-01 -4.86894208e-02 -1.47401723e-02 1.80038065e+02] [ 4.86921001e-02 9.98813820e-01 -1.77272551e-04 2.57567824e+00] [ 1.47313191e-02 -5.40686928e-04 9.99891342e-01 1.60122502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13925415399999 meters Centerline goodness [0,1] 0.99870776400805 Centerline is valid? [True, True] Translation: X:180.07, Y:2.57, Z:1.60 [[ 9.98544569e-01 -5.18604427e-02 -1.48067205e-02 1.80068007e+02] [ 5.18634969e-02 9.98654167e-01 -1.77898959e-04 2.57042687e+00] [ 1.47960191e-02 -5.90288266e-04 9.99890359e-01 1.60105018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.169254154 meters Centerline goodness [0,1] 0.9987918097418288 Centerline is valid? [True, True] Translation: X:180.10, Y:2.57, Z:1.60 [[ 9.98381917e-01 -5.47951989e-02 -1.51998014e-02 1.80099194e+02] [ 5.47987601e-02 9.98497402e-01 -1.82414048e-04 2.56947191e+00] [ 1.51869576e-02 -6.50811385e-04 9.99884460e-01 1.60103929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.199254154 meters Centerline goodness [0,1] 0.9990250105977109 Centerline is valid? [True, True] Translation: X:180.13, Y:2.57, Z:1.60 [[ 9.98218723e-01 -5.74977854e-02 -1.59180668e-02 1.80130709e+02] [ 5.75020434e-02 9.98345370e-01 -1.90442256e-04 2.57095938e+00] [ 1.59026783e-02 -7.25218344e-04 9.99873281e-01 1.60092925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.229254154 meters Centerline goodness [0,1] 0.9987279781212237 Centerline is valid? [True, True] Translation: X:180.16, Y:2.57, Z:1.60 [[ 9.97908109e-01 -6.21142475e-02 -1.79227636e-02 1.80161776e+02] [ 6.21203980e-02 9.98068640e-01 -2.13898273e-04 2.56743081e+00] [ 1.79014344e-02 -8.99918385e-04 9.99839351e-01 1.59715899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259254154 meters Centerline goodness [0,1] 0.9990461251483805 Centerline is valid? [True, True] Translation: X:180.19, Y:2.57, Z:1.60 [[ 9.97756680e-01 -6.47246423e-02 -1.70976047e-02 1.80193068e+02] [ 6.47306287e-02 9.97902753e-01 -2.03623126e-04 2.56667019e+00] [ 1.70749263e-02 -9.03572370e-04 9.99853805e-01 1.60004889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.289254154 meters Centerline goodness [0,1] 0.9989207262877217 Centerline is valid? [True, True] Translation: X:180.22, Y:2.57, Z:1.60 [[ 9.97645421e-01 -6.62924830e-02 -1.75761629e-02 1.80224670e+02] [ 6.62990748e-02 9.97799774e-01 -2.08022454e-04 2.56559311e+00] [ 1.75512817e-02 -9.57750693e-04 9.99845506e-01 1.59983503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319254154 meters Centerline goodness [0,1] 0.9987708999978808 Centerline is valid? [True, True] Translation: X:180.26, Y:2.56, Z:1.60 [[ 9.97565036e-01 -6.74499869e-02 -1.77340969e-02 1.80255823e+02] [ 6.74569074e-02 9.97722167e-01 -2.08345368e-04 2.56148456e+00] [ 1.77077545e-02 -9.88449281e-04 9.99842717e-01 1.59949006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349254154 meters Centerline goodness [0,1] 0.9986443262937151 Centerline is valid? [True, True] Translation: X:180.29, Y:2.57, Z:1.60 [[ 9.97520207e-01 -6.81950406e-02 -1.74032419e-02 1.80287438e+02] [ 6.82018345e-02 9.97671523e-01 -2.03523491e-04 2.56503985e+00] [ 1.73765981e-02 -9.83914227e-04 9.99848531e-01 1.60043982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379254154 meters Centerline goodness [0,1] 0.9988758802070077 Centerline is valid? [True, True] Translation: X:180.32, Y:2.57, Z:1.60 [[ 9.97575557e-01 -6.73383241e-02 -1.75658082e-02 1.80319454e+02] [ 6.73451327e-02 9.97729719e-01 -2.04311638e-04 2.56861659e+00] [ 1.75396869e-02 -9.79155392e-04 9.99845688e-01 1.59988803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409254154 meters Centerline goodness [0,1] 0.9989603666298905 Centerline is valid? [True, True] Translation: X:180.35, Y:2.57, Z:1.60 [[ 9.97615205e-01 -6.69493356e-02 -1.67835912e-02 1.80351522e+02] [ 6.69555164e-02 9.97755943e-01 -1.94013010e-04 2.57036828e+00] [ 1.67589169e-02 -9.30203685e-04 9.99859127e-01 1.60221777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43925415399997 meters Centerline goodness [0,1] 0.9987898089171975 Centerline is valid? [True, True] Translation: X:180.38, Y:2.58, Z:1.60 [[ 9.97739692e-01 -6.51591641e-02 -1.64252961e-02 1.80383295e+02] [ 6.51648594e-02 9.97874494e-01 -1.88801956e-04 2.57640199e+00] [ 1.64026862e-02 -8.81976904e-04 9.99865078e-01 1.60308789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46925415399997 meters Centerline goodness [0,1] 0.9990860397891516 Centerline is valid? [True, True] Translation: X:180.42, Y:2.58, Z:1.60 [[ 9.97825934e-01 -6.38869550e-02 -1.61821747e-02 1.80415023e+02] [ 6.38923327e-02 9.97956780e-01 -1.84978455e-04 2.57693235e+00] [ 1.61609287e-02 -8.49340589e-04 9.99869043e-01 1.60294153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49925415399997 meters Centerline goodness [0,1] 0.9991076360854969 Centerline is valid? [True, True] Translation: X:180.45, Y:2.58, Z:1.60 [[ 9.97891819e-01 -6.28445836e-02 -1.62010931e-02 1.80446000e+02] [ 6.28498544e-02 9.98022977e-01 -1.84118282e-04 2.57643525e+00] [ 1.61806340e-02 -8.34506217e-04 9.99868737e-01 1.60340425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52925415399997 meters Centerline goodness [0,1] 0.9990214223413534 Centerline is valid? [True, True] Translation: X:180.48, Y:2.58, Z:1.60 [[ 9.97989838e-01 -6.13504158e-02 -1.58874222e-02 1.80477960e+02] [ 6.13553113e-02 9.98115972e-01 -1.79560310e-04 2.58116501e+00] [ 1.58685059e-02 -7.95578368e-04 9.99873771e-01 1.60381691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55925415399997 meters Centerline goodness [0,1] 0.999084619478446 Centerline is valid? [True, True] Translation: X:180.51, Y:2.59, Z:1.60 [[ 9.98180115e-01 -5.80220337e-02 -1.64286680e-02 1.80509361e+02] [ 5.80268348e-02 9.98315007e-01 -1.84695447e-04 2.58545901e+00] [ 1.64117022e-02 -7.68944282e-04 9.99865023e-01 1.60374521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58925415399997 meters Centerline goodness [0,1] 0.9992548117867485 Centerline is valid? [True, True] Translation: X:180.54, Y:2.59, Z:1.60 [[ 9.98290895e-01 -5.59378304e-02 -1.69188925e-02 1.80539781e+02] [ 5.59426320e-02 9.98433967e-01 -1.89711806e-04 2.58732630e+00] [ 1.69030090e-02 -7.57099808e-04 9.99856847e-01 1.60373307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61925415399998 meters Centerline goodness [0,1] 0.9991487369384324 Centerline is valid? [True, True] Translation: X:180.57, Y:2.59, Z:1.60 [[ 9.98399227e-01 -5.38371414e-02 -1.73362346e-02 1.80571091e+02] [ 5.38418749e-02 9.98549455e-01 -1.93925091e-04 2.59066804e+00] [ 1.73215280e-02 -7.39800710e-04 9.99849697e-01 1.60394200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64925415399998 meters Centerline goodness [0,1] 0.999167982250288 Centerline is valid? [True, True] Translation: X:180.60, Y:2.60, Z:1.60 [[ 9.98607593e-01 -4.93848983e-02 -1.85474095e-02 1.80602239e+02] [ 4.93895627e-02 9.98779569e-01 -2.06771231e-04 2.59825223e+00] [ 1.85349851e-02 -7.09565124e-04 9.99827961e-01 1.60422644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67925415399998 meters Centerline goodness [0,1] 0.9991457007389689 Centerline is valid? [True, True] Translation: X:180.63, Y:2.60, Z:1.60 [[ 9.98830900e-01 -4.45022895e-02 -1.88779936e-02 1.80631636e+02] [ 4.45062540e-02 9.99009084e-01 -2.10282919e-04 2.60223046e+00] [ 1.88686452e-02 -6.30151701e-04 9.99821773e-01 1.60350033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70925415399998 meters Centerline goodness [0,1] 0.9993149951835599 Centerline is valid? [True, True] Translation: X:180.66, Y:2.61, Z:1.60 [[ 9.98958049e-01 -4.14559450e-02 -1.90845513e-02 1.80663104e+02] [ 4.14594448e-02 9.99140165e-01 -2.12403124e-04 2.60667157e+00] [ 1.90769471e-02 -5.79053093e-04 9.99817851e-01 1.60411483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73925415399998 meters Centerline goodness [0,1] 0.9993149951835599 Centerline is valid? [True, True] Translation: X:180.69, Y:2.61, Z:1.60 [[ 9.98961057e-01 -4.13834111e-02 -1.90845630e-02 1.80694812e+02] [ 4.13869177e-02 9.99143172e-01 -2.11355570e-04 2.60696343e+00] [ 1.90769574e-02 -5.78715252e-04 9.99817851e-01 1.60441179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76925415399998 meters Centerline goodness [0,1] 0.9994013128354252 Centerline is valid? [True, True] Translation: X:180.73, Y:2.61, Z:1.60 [[ 9.99104411e-01 -3.78844373e-02 -1.88452833e-02 1.80725220e+02] [ 3.78872504e-02 9.99281999e-01 -2.07863853e-04 2.60981851e+00] [ 1.88396271e-02 -5.06318272e-04 9.99822390e-01 1.60468890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79925415399998 meters Centerline goodness [0,1] 0.9991612542474945 Centerline is valid? [True, True] Translation: X:180.76, Y:2.62, Z:1.61 [[ 9.99364709e-01 -3.04797424e-02 -1.84706312e-02 1.80755684e+02] [ 3.04811835e-02 9.99535320e-01 -2.03566601e-04 2.61918174e+00] [ 1.84682530e-02 -3.59569423e-04 9.99829383e-01 1.60644584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82925415399998 meters Centerline goodness [0,1] 0.9994185545697304 Centerline is valid? [True, True] Translation: X:180.79, Y:2.62, Z:1.61 [[ 9.99488760e-01 -2.64743293e-02 -1.79256475e-02 1.80785869e+02] [ 2.64750425e-02 9.99649455e-01 -1.97560283e-04 2.62347859e+00] [ 1.79245941e-02 -2.77122998e-04 9.99839303e-01 1.60741703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85925415399998 meters Centerline goodness [0,1] 0.9992026377604897 Centerline is valid? [True, True] Translation: X:180.82, Y:2.63, Z:1.61 [[ 9.99590070e-01 -2.21560384e-02 -1.81328789e-02 1.80815580e+02] [ 2.21560550e-02 9.99754504e-01 -2.00004605e-04 2.62661761e+00] [ 1.81328586e-02 -2.01830444e-04 9.99835566e-01 1.60634223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88925415399999 meters Centerline goodness [0,1] 0.9992444358094251 Centerline is valid? [True, True] Translation: X:180.84, Y:2.63, Z:1.61 [[ 9.99670938e-01 -1.85613794e-02 -1.77057022e-02 1.80844822e+02] [ 1.85608085e-02 9.99827714e-01 -1.96587265e-04 2.63070491e+00] [ 1.77063006e-02 -1.32109571e-04 9.99843222e-01 1.60738817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.919254154 meters Centerline goodness [0,1] 0.9996320107366279 Centerline is valid? [True, True] Translation: X:180.87, Y:2.64, Z:1.61 [[ 9.99766035e-01 -1.21759437e-02 -1.78779743e-02 1.80873745e+02] [ 1.21742792e-02 9.99925870e-01 -2.01938729e-04 2.63692633e+00] [ 1.78791078e-02 -1.57599689e-05 9.99840156e-01 1.60842055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.949254154 meters Centerline goodness [0,1] 0.9996320107366279 Centerline is valid? [True, True] Translation: X:180.90, Y:2.64, Z:1.61 [[ 9.99762465e-01 -1.24656895e-02 -1.78779185e-02 1.80901125e+02] [ 1.24639847e-02 9.99922300e-01 -2.06782316e-04 2.63730991e+00] [ 1.78791071e-02 -1.60969059e-05 9.99840156e-01 1.60867791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979254154 meters Centerline goodness [0,1] 0.9995889136502304 Centerline is valid? [True, True] Translation: X:180.93, Y:2.64, Z:1.61 [[ 9.99781567e-01 -1.02088388e-02 -1.82372899e-02 1.80929137e+02] [ 1.02065920e-02 9.99947888e-01 -2.16274028e-04 2.63976594e+00] [ 1.82385474e-02 3.00862093e-05 9.99833663e-01 1.60869694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.009254154 meters Centerline goodness [0,1] 0.9996534846450383 Centerline is valid? [True, True] Translation: X:180.96, Y:2.64, Z:1.61 [[ 9.99790475e-01 -8.34955277e-03 -1.86893472e-02 1.80956802e+02] [ 8.34679381e-03 9.99965139e-01 -2.25623496e-04 2.64147293e+00] [ 1.86905795e-02 6.95800945e-05 9.99825313e-01 1.60868789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039254154 meters Centerline goodness [0,1] 0.9996966479599575 Centerline is valid? [True, True] Translation: X:180.98, Y:2.64, Z:1.61 [[ 9.99800786e-01 -6.21209409e-03 -1.89683332e-02 1.80984635e+02] [ 6.20882791e-03 9.99980698e-01 -2.31077783e-04 2.64320058e+00] [ 1.89694025e-02 1.13260633e-04 9.99820058e-01 1.60880066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069254154 meters Centerline goodness [0,1] 0.9996964440589766 Centerline is valid? [True, True] Translation: X:181.01, Y:2.64, Z:1.61 [[ 9.99799706e-01 -6.02639479e-03 -1.90848354e-02 1.81012685e+02] [ 6.02298544e-03 9.99981834e-01 -2.36116008e-04 2.64344350e+00] [ 1.90859117e-02 1.21121029e-04 9.99817840e-01 1.60943078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099254154 meters Centerline goodness [0,1] 0.9999350128891104 Centerline is valid? [True, True] Translation: X:181.04, Y:2.64, Z:1.61 [[ 9.99799272e-01 -6.05471538e-03 -1.90985670e-02 1.81039596e+02] [ 6.05121837e-03 9.99981662e-01 -2.40888260e-04 2.64393034e+00] [ 1.90996753e-02 1.25270307e-04 9.99817577e-01 1.60954611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129254154 meters Centerline goodness [0,1] 0.9999783526355667 Centerline is valid? [True, True] Translation: X:181.07, Y:2.64, Z:1.61 [[ 9.99810010e-01 -5.94089795e-03 -1.85647511e-02 1.81066129e+02] [ 5.93752006e-03 9.99982345e-01 -2.37066095e-04 2.64311332e+00] [ 1.85658317e-02 1.26792472e-04 9.99827632e-01 1.60944765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159254154 meters Centerline goodness [0,1] 0.9999351911860013 Centerline is valid? [True, True] Translation: X:181.09, Y:2.64, Z:1.61 [[ 9.99809534e-01 -6.23531880e-03 -1.84936766e-02 1.81094373e+02] [ 6.23194984e-03 9.99980552e-01 -2.39794001e-04 2.64263046e+00] [ 1.84948121e-02 1.24496663e-04 9.99828949e-01 1.60956634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18925415399997 meters Centerline goodness [0,1] 0.9996115331491713 Centerline is valid? [True, True] Translation: X:181.12, Y:2.64, Z:1.61 [[ 9.99810902e-01 -7.01146861e-03 -1.81383274e-02 1.81122450e+02] [ 7.00826259e-03 9.99975413e-01 -2.40312926e-04 2.64074605e+00] [ 1.81395663e-02 1.13149322e-04 9.99835458e-01 1.61095945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21925415399997 meters Centerline goodness [0,1] 0.999805451676358 Centerline is valid? [True, True] Translation: X:181.15, Y:2.64, Z:1.61 [[ 9.99810571e-01 -7.56522744e-03 -1.79329069e-02 1.81149001e+02] [ 7.56211355e-03 9.99971378e-01 -2.41446446e-04 2.64031666e+00] [ 1.79342202e-02 1.05790031e-04 9.99839163e-01 1.61074657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24925415399997 meters Centerline goodness [0,1] 0.9997415074424315 Centerline is valid? [True, True] Translation: X:181.18, Y:2.64, Z:1.61 [[ 9.99803749e-01 -8.92472645e-03 -1.76865169e-02 1.81176749e+02] [ 8.92184629e-03 9.99960170e-01 -2.41743857e-04 2.63687848e+00] [ 1.76879700e-02 8.39000291e-05 9.99843552e-01 1.61151512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27925415399997 meters Centerline goodness [0,1] 0.9992031700908817 Centerline is valid? [True, True] Translation: X:181.20, Y:2.64, Z:1.61 [[ 9.99801169e-01 -9.91418809e-03 -1.73011937e-02 1.81204817e+02] [ 9.91152157e-03 9.99950851e-01 -2.39865921e-04 2.63564683e+00] [ 1.73027214e-02 6.83370737e-05 9.99850294e-01 1.61154042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30925415399997 meters Centerline goodness [0,1] 0.9992700416505647 Centerline is valid? [True, True] Translation: X:181.23, Y:2.63, Z:1.61 [[ 9.99787067e-01 -1.07920279e-02 -1.75884448e-02 1.81232667e+02] [ 1.07893508e-02 9.99941763e-01 -2.47096599e-04 2.63456588e+00] [ 1.75900872e-02 5.72760831e-05 9.99845281e-01 1.61193858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33925415399997 meters Centerline goodness [0,1] 0.9993552823863148 Centerline is valid? [True, True] Translation: X:181.26, Y:2.63, Z:1.61 [[ 9.99782921e-01 -1.12589623e-02 -1.75312985e-02 1.81260911e+02] [ 1.12562848e-02 9.99936614e-01 -2.51397500e-04 2.63336549e+00] [ 1.75330178e-02 5.40056373e-05 9.99846283e-01 1.61244111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36925415399998 meters Centerline goodness [0,1] 0.999335263214324 Centerline is valid? [True, True] Translation: X:181.29, Y:2.63, Z:1.61 [[ 9.99783710e-01 -1.10973186e-02 -1.75892694e-02 1.81287582e+02] [ 1.10945316e-02 9.99938421e-01 -2.56023692e-04 2.63006598e+00] [ 1.75910274e-02 6.08236119e-05 9.99845264e-01 1.61167403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39925415399998 meters Centerline goodness [0,1] 0.9992929076494537 Centerline is valid? [True, True] Translation: X:181.32, Y:2.63, Z:1.61 [[ 9.99781306e-01 -1.10957656e-02 -1.77263613e-02 1.81315982e+02] [ 1.10928702e-02 9.99938438e-01 -2.61655458e-04 2.62858084e+00] [ 1.77281733e-02 6.49620100e-05 9.99842841e-01 1.61214184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42925415399998 meters Centerline goodness [0,1] 0.9993356051351293 Centerline is valid? [True, True] Translation: X:181.34, Y:2.63, Z:1.61 [[ 9.99787593e-01 -1.05726734e-02 -1.76914287e-02 1.81344080e+02] [ 1.05696161e-02 9.99944105e-01 -2.66304769e-04 2.62750224e+00] [ 1.76932553e-02 7.92565943e-05 9.99843459e-01 1.61267705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45925415399998 meters Centerline goodness [0,1] 0.9992719018352356 Centerline is valid? [True, True] Translation: X:181.37, Y:2.63, Z:1.61 [[ 9.99794433e-01 -9.93442818e-03 -1.76747853e-02 1.81371886e+02] [ 9.93118474e-03 9.99950648e-01 -2.71271539e-04 2.62645912e+00] [ 1.76766079e-02 9.56842165e-05 9.99843752e-01 1.61322377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48925415399998 meters Centerline goodness [0,1] 0.9991427897906264 Centerline is valid? [True, True] Translation: X:181.40, Y:2.63, Z:1.61 [[ 9.99801005e-01 -8.98495237e-03 -1.78107053e-02 1.81400749e+02] [ 8.98141895e-03 9.99959628e-01 -2.78368120e-04 2.62582391e+00] [ 1.78124873e-02 1.18347320e-04 9.99841338e-01 1.61310643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51925415399998 meters Centerline goodness [0,1] 0.9994863893168978 Centerline is valid? [True, True] Translation: X:181.43, Y:2.62, Z:1.61 [[ 9.99816729e-01 -5.59850122e-03 -1.83075069e-02 1.81428146e+02] [ 5.59413937e-03 9.99984311e-01 -2.89458089e-04 2.62476588e+00] [ 1.83088402e-02 1.86990295e-04 9.99832362e-01 1.61302793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54925415399998 meters Centerline goodness [0,1] 0.9996142471389996 Centerline is valid? [True, True] Translation: X:181.46, Y:2.62, Z:1.61 [[ 9.99816778e-01 -3.92662298e-03 -1.87347898e-02 1.81456798e+02] [ 3.92170018e-03 9.99992265e-01 -2.99494554e-04 2.62442221e+00] [ 1.87358209e-02 2.25967451e-04 9.99824444e-01 1.61350483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57925415399998 meters Centerline goodness [0,1] 0.999337351972981 Centerline is valid? [True, True] Translation: X:181.48, Y:2.62, Z:1.61 [[ 9.99820508e-01 -2.62206637e-04 -1.89442100e-02 1.81484637e+02] [ 2.56453124e-04 9.99999920e-01 -3.06137036e-04 2.62369628e+00] [ 1.89442888e-02 3.01223785e-04 9.99820495e-01 1.61285873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60925415399998 meters Centerline goodness [0,1] 0.9992959549411162 Centerline is valid? [True, True] Translation: X:181.51, Y:2.62, Z:1.61 [[ 9.99822694e-01 1.13188159e-03 -1.87962748e-02 1.81513634e+02] [-1.13785215e-03 9.99999306e-01 -3.06954085e-04 2.62293239e+00] [ 1.87959143e-02 3.28287041e-04 9.99823287e-01 1.61291954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63925415399999 meters Centerline goodness [0,1] 0.9995940084189833 Centerline is valid? [True, True] Translation: X:181.54, Y:2.62, Z:1.61 [[ 9.99817059e-01 2.35427809e-03 -1.89817052e-02 1.81542460e+02] [-2.36067803e-03 9.99997164e-01 -3.14763918e-04 2.62176830e+00] [ 1.89809103e-02 3.59516029e-04 9.99819782e-01 1.61315698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.669254154 meters Centerline goodness [0,1] 0.9995114179500797 Centerline is valid? [True, True] Translation: X:181.57, Y:2.62, Z:1.61 [[ 9.99802547e-01 3.21144658e-03 -1.96100353e-02 1.81570860e+02] [-3.21853985e-03 9.99994766e-01 -3.30165974e-04 2.62055523e+00] [ 1.96088724e-02 3.93216462e-04 9.99807650e-01 1.61337327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.699254154 meters Centerline goodness [0,1] 0.9992340914409719 Centerline is valid? [True, True] Translation: X:181.60, Y:2.62, Z:1.61 [[ 9.99798884e-01 3.71165070e-03 -1.97082532e-02 1.81599864e+02] [-3.71897320e-03 9.99993029e-01 -3.34906819e-04 2.61884063e+00] [ 1.97068727e-02 4.08133930e-04 9.99805717e-01 1.61322105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.729254154 meters Centerline goodness [0,1] 0.9993826240606306 Centerline is valid? [True, True] Translation: X:181.63, Y:2.61, Z:1.61 [[ 9.99812848e-01 3.46582066e-03 -1.90330467e-02 1.81629235e+02] [-3.47263111e-03 9.99993918e-01 -3.24784014e-04 2.61244045e+00] [ 1.90318053e-02 3.90817980e-04 9.99818802e-01 1.61485823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759254154 meters Centerline goodness [0,1] 0.9990007441267141 Centerline is valid? [True, True] Translation: X:181.66, Y:2.61, Z:1.62 [[ 9.99821636e-01 2.52367742e-03 -1.87170409e-02 1.81658178e+02] [-2.53012405e-03 9.99996748e-01 -3.20753620e-04 2.60898628e+00] [ 1.87161706e-02 3.68052845e-04 9.99824769e-01 1.61530437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.789254154 meters Centerline goodness [0,1] 0.9987912204432192 Centerline is valid? [True, True] Translation: X:181.69, Y:2.61, Z:1.62 [[ 9.99838443e-01 6.77264131e-04 -1.79618903e-02 1.81685767e+02] [-6.82929145e-04 9.99999719e-01 -3.09258737e-04 2.60705052e+00] [ 1.79616758e-02 3.21475473e-04 9.99838624e-01 1.61501414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819254154 meters Centerline goodness [0,1] 0.9990046379635317 Centerline is valid? [True, True] Translation: X:181.72, Y:2.60, Z:1.62 [[ 9.99838331e-01 -2.97355417e-03 -1.77333134e-02 1.81715201e+02] [ 2.96858336e-03 9.99995547e-01 -3.06626025e-04 2.59689818e+00] [ 1.77341462e-02 2.53933634e-04 9.99842705e-01 1.61620920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849254154 meters Centerline goodness [0,1] 0.9991101506387847 Centerline is valid? [True, True] Translation: X:181.74, Y:2.59, Z:1.62 [[ 9.99814690e-01 -4.92075831e-03 -1.86110427e-02 1.81743712e+02] [ 4.91559769e-03 9.99987866e-01 -3.23024472e-04 2.59170920e+00] [ 1.86124064e-02 2.31480214e-04 9.99826747e-01 1.61550158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879254154 meters Centerline goodness [0,1] 0.999323910333608 Centerline is valid? [True, True] Translation: X:181.77, Y:2.59, Z:1.62 [[ 9.99810431e-01 -7.87807091e-03 -1.78055753e-02 1.81772813e+02] [ 7.87379343e-03 9.99968953e-01 -3.10325102e-04 2.58729783e+00] [ 1.78074672e-02 1.70068852e-04 9.99841420e-01 1.61652512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909254154 meters Centerline goodness [0,1] 0.9991355317533946 Centerline is valid? [True, True] Translation: X:181.80, Y:2.58, Z:1.62 [[ 9.99754013e-01 -1.36886012e-02 -1.74509679e-02 1.81801260e+02] [ 1.36853555e-02 9.99906305e-01 -3.05406222e-04 2.57687629e+00] [ 1.74535134e-02 6.65083968e-05 9.99847674e-01 1.61566896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93925415399997 meters Centerline goodness [0,1] 0.9992409547102977 Centerline is valid? [True, True] Translation: X:181.83, Y:2.57, Z:1.62 [[ 9.99708764e-01 -1.69929346e-02 -1.71355360e-02 1.81829404e+02] [ 1.69902395e-02 9.99855610e-01 -3.02859028e-04 2.57133894e+00] [ 1.71382083e-02 1.16339644e-05 9.99853130e-01 1.61725997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96925415399997 meters Centerline goodness [0,1] 0.9991366603495473 Centerline is valid? [True, True] Translation: X:181.86, Y:2.57, Z:1.62 [[ 9.99653818e-01 -2.03526018e-02 -1.66737906e-02 1.81857814e+02] [ 2.03504359e-02 9.99792864e-01 -2.99571320e-04 2.56621655e+00] [ 1.66764339e-02 -3.98512931e-05 9.99860938e-01 1.61748728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99925415399997 meters Centerline goodness [0,1] 0.9990958028429641 Centerline is valid? [True, True] Translation: X:181.89, Y:2.56, Z:1.62 [[ 9.99598692e-01 -2.36451876e-02 -1.56000140e-02 1.81885478e+02] [ 2.36436234e-02 9.99720410e-01 -2.84719639e-04 2.56106914e+00] [ 1.56023846e-02 -8.42354775e-05 9.99878272e-01 1.61818500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02925415399997 meters Centerline goodness [0,1] 0.9990562872242261 Centerline is valid? [True, True] Translation: X:181.91, Y:2.55, Z:1.62 [[ 9.99485865e-01 -2.92226680e-02 -1.31924372e-02 1.81914494e+02] [ 2.92219912e-02 9.99572917e-01 -2.44103203e-04 2.55025690e+00] [ 1.31939362e-02 -1.41531582e-04 9.99912946e-01 1.61921361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05925415399997 meters Centerline goodness [0,1] 0.9990652652569482 Centerline is valid? [True, True] Translation: X:181.94, Y:2.54, Z:1.62 [[ 9.99432062e-01 -3.12302000e-02 -1.26581445e-02 1.81944867e+02] [ 3.12297092e-02 9.99512206e-01 -2.36480358e-04 2.54426051e+00] [ 1.26593553e-02 -1.58964121e-04 9.99919855e-01 1.61940088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08925415399997 meters Centerline goodness [0,1] 0.9992458995789606 Centerline is valid? [True, True] Translation: X:181.98, Y:2.54, Z:1.62 [[ 9.99380225e-01 -3.32582108e-02 -1.15350745e-02 1.81976663e+02] [ 3.32579410e-02 9.99446778e-01 -2.15263528e-04 2.54032021e+00] [ 1.15358523e-02 -1.68502714e-04 9.99933446e-01 1.61970773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11925415399998 meters Centerline goodness [0,1] 0.9990798636525231 Centerline is valid? [True, True] Translation: X:182.01, Y:2.53, Z:1.62 [[ 9.99293114e-01 -3.58053140e-02 -1.14565496e-02 1.82007981e+02] [ 3.58052199e-02 9.99358765e-01 -2.13381518e-04 2.53209100e+00] [ 1.14568435e-02 -1.96973598e-04 9.99934349e-01 1.61920958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14925415399998 meters Centerline goodness [0,1] 0.9991015461763477 Centerline is valid? [True, True] Translation: X:182.04, Y:2.53, Z:1.62 [[ 9.99270493e-01 -3.64820303e-02 -1.12935458e-02 1.82039721e+02] [ 3.64819867e-02 9.99334289e-01 -2.09937504e-04 2.52935895e+00] [ 1.12936865e-02 -2.02226635e-04 9.99936204e-01 1.61903895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17925415399998 meters Centerline goodness [0,1] 0.9992907357573482 Centerline is valid? [True, True] Translation: X:182.07, Y:2.53, Z:1.62 [[ 9.99265716e-01 -3.66837646e-02 -1.10602801e-02 1.82071380e+02] [ 3.66837397e-02 9.99326904e-01 -2.05198723e-04 2.52591880e+00] [ 1.10603629e-02 -2.00684385e-04 9.99938812e-01 1.61866675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20925415399998 meters Centerline goodness [0,1] 0.9993318718029022 Centerline is valid? [True, True] Translation: X:182.10, Y:2.52, Z:1.62 [[ 9.99262658e-01 -3.67614291e-02 -1.10786874e-02 1.82103045e+02] [ 3.67614137e-02 9.99324050e-01 -2.05099797e-04 2.52201148e+00] [ 1.10787385e-02 -2.02319643e-04 9.99938608e-01 1.61869850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23925415399998 meters Centerline goodness [0,1] 0.999373066956449 Centerline is valid? [True, True] Translation: X:182.13, Y:2.52, Z:1.62 [[ 9.99264975e-01 -3.67016082e-02 -1.10680403e-02 1.82134069e+02] [ 3.67015956e-02 9.99326249e-01 -2.04325142e-04 2.51658280e+00] [ 1.10680822e-02 -2.02039781e-04 9.99938726e-01 1.61858946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26925415399998 meters Centerline goodness [0,1] 0.9992073259767621 Centerline is valid? [True, True] Translation: X:182.17, Y:2.51, Z:1.62 [[ 9.99268653e-01 -3.66103211e-02 -1.10383078e-02 1.82165925e+02] [ 3.66103073e-02 9.99329597e-01 -2.03377153e-04 2.51411180e+00] [ 1.10383534e-02 -2.00887427e-04 9.99939055e-01 1.61878982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29925415399998 meters Centerline goodness [0,1] 0.9993736428929347 Centerline is valid? [True, True] Translation: X:182.20, Y:2.51, Z:1.62 [[ 9.99274082e-01 -3.66022102e-02 -1.05634721e-02 1.82197528e+02] [ 3.66022011e-02 9.99329896e-01 -1.94258838e-04 2.51263268e+00] [ 1.05635038e-02 -1.92528509e-04 9.99944186e-01 1.61905068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32925415399998 meters Centerline goodness [0,1] 0.9993104024741923 Centerline is valid? [True, True] Translation: X:182.23, Y:2.51, Z:1.62 [[ 9.99264581e-01 -3.67686209e-02 -1.08796150e-02 1.82228589e+02] [ 3.67686256e-02 9.99323786e-01 -1.99654631e-04 2.51061272e+00] [ 1.08795990e-02 -2.00520689e-04 9.99940795e-01 1.61923065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35925415399998 meters Centerline goodness [0,1] 0.9990424446803639 Centerline is valid? [True, True] Translation: X:182.26, Y:2.50, Z:1.62 [[ 9.99227969e-01 -3.73685025e-02 -1.21268753e-02 1.82259760e+02] [ 3.73685586e-02 9.99301527e-01 -2.22047411e-04 2.50487558e+00] [ 1.21267026e-02 -2.31287867e-04 9.99926442e-01 1.61701484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38925415399999 meters Centerline goodness [0,1] 0.9996443737840721 Centerline is valid? [True, True] Translation: X:182.29, Y:2.50, Z:1.62 [[ 9.99193365e-01 -3.82634569e-02 -1.21871407e-02 1.82290829e+02] [ 3.82635857e-02 9.99267656e-01 -2.22694076e-04 2.50292846e+00] [ 1.21867366e-02 -2.43809260e-04 9.99925709e-01 1.61868289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.419254154 meters Centerline goodness [0,1] 0.9995819223211673 Centerline is valid? [True, True] Translation: X:182.32, Y:2.50, Z:1.62 [[ 9.99144280e-01 -3.93009575e-02 -1.28896380e-02 1.82322313e+02] [ 3.93011942e-02 9.99227382e-01 -2.35031473e-04 2.50037764e+00] [ 1.28889162e-02 -2.71747813e-04 9.99916898e-01 1.61703732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.449254154 meters Centerline goodness [0,1] 0.9993102583396037 Centerline is valid? [True, True] Translation: X:182.35, Y:2.49, Z:1.62 [[ 9.99026974e-01 -4.18552883e-02 -1.39010607e-02 1.82352868e+02] [ 4.18558192e-02 9.99123629e-01 -2.52868648e-04 2.49499457e+00] [ 1.38994621e-02 -3.29217682e-04 9.99903344e-01 1.61613532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479254154 meters Centerline goodness [0,1] 0.9992884796484253 Centerline is valid? [True, True] Translation: X:182.38, Y:2.49, Z:1.62 [[ 9.98942954e-01 -4.37621374e-02 -1.40659264e-02 1.82383500e+02] [ 4.37628779e-02 9.99041914e-01 -2.55301567e-04 2.49298641e+00] [ 1.40636226e-02 -3.60533719e-04 9.99901037e-01 1.61734693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.509254154 meters Centerline goodness [0,1] 0.9992263784055032 Centerline is valid? [True, True] Translation: X:182.41, Y:2.49, Z:1.62 [[ 9.98869071e-01 -4.53967482e-02 -1.41320220e-02 1.82414361e+02] [ 4.53976627e-02 9.98968962e-01 -2.56242810e-04 2.49105442e+00] [ 1.41290839e-02 -3.85607750e-04 9.99900105e-01 1.61763075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539254154 meters Centerline goodness [0,1] 0.9994150825151452 Centerline is valid? [True, True] Translation: X:182.45, Y:2.49, Z:1.62 [[ 9.98800159e-01 -4.68866136e-02 -1.41381847e-02 1.82445184e+02] [ 4.68876804e-02 9.98900135e-01 -2.56183628e-04 2.48982738e+00] [ 1.41346461e-02 -4.07030435e-04 9.99900018e-01 1.61835361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569254154 meters Centerline goodness [0,1] 0.9994776976914238 Centerline is valid? [True, True] Translation: X:182.48, Y:2.48, Z:1.62 [[ 9.98619591e-01 -5.08268262e-02 -1.32493861e-02 1.82475469e+02] [ 5.08281104e-02 9.98707387e-01 -2.40007590e-04 2.48378480e+00] [ 1.32444586e-02 -4.33764977e-04 9.99912194e-01 1.61896836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599254154 meters Centerline goodness [0,1] 0.9994776976914238 Centerline is valid? [True, True] Translation: X:182.51, Y:2.48, Z:1.62 [[ 9.98619591e-01 -5.08268246e-02 -1.32493892e-02 1.82505479e+02] [ 5.08281111e-02 9.98707387e-01 -2.39836319e-04 2.48432795e+00] [ 1.32444530e-02 -4.33936177e-04 9.99912194e-01 1.61924952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629254154 meters Centerline goodness [0,1] 0.9995810640971932 Centerline is valid? [True, True] Translation: X:182.54, Y:2.48, Z:1.62 [[ 9.98478161e-01 -5.38789853e-02 -1.17650744e-02 1.82536746e+02] [ 5.38802123e-02 9.98547384e-01 -2.12879172e-04 2.48304070e+00] [ 1.17594540e-02 -4.21349502e-04 9.99930766e-01 1.62101840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659254154 meters Centerline goodness [0,1] 0.9993317322752427 Centerline is valid? [True, True] Translation: X:182.57, Y:2.48, Z:1.62 [[ 9.98420958e-01 -5.50931129e-02 -1.09699171e-02 1.82567160e+02] [ 5.50942567e-02 9.98481138e-01 -1.98139708e-04 2.48091066e+00] [ 1.09641714e-02 -4.06552590e-04 9.99939809e-01 1.62043948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68925415399997 meters Centerline goodness [0,1] 0.9994990711945064 Centerline is valid? [True, True] Translation: X:182.60, Y:2.48, Z:1.62 [[ 9.98364521e-01 -5.61966049e-02 -1.04987916e-02 1.82598687e+02] [ 5.61977156e-02 9.98419642e-01 -1.89424967e-04 2.48029178e+00] [ 1.04928448e-02 -4.00892940e-04 9.99944868e-01 1.62263321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71925415399997 meters Centerline goodness [0,1] 0.9995402202762859 Centerline is valid? [True, True] Translation: X:182.63, Y:2.48, Z:1.62 [[ 9.98347213e-01 -5.65767909e-02 -1.00949917e-02 1.82629576e+02] [ 5.65778407e-02 9.98398175e-01 -1.81786407e-04 2.48072968e+00] [ 1.00891062e-02 -3.89666879e-04 9.99949028e-01 1.62338009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74925415399997 meters Centerline goodness [0,1] 0.9993317601854366 Centerline is valid? [True, True] Translation: X:182.66, Y:2.48, Z:1.62 [[ 9.98302081e-01 -5.74584759e-02 -9.56448796e-03 1.82661219e+02] [ 5.74594618e-02 9.98347826e-01 -1.71897859e-04 2.48004772e+00] [ 9.55856275e-03 -3.77964341e-04 9.99954244e-01 1.62355915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77925415399997 meters Centerline goodness [0,1] 0.9992894907320335 Centerline is valid? [True, True] Translation: X:182.69, Y:2.48, Z:1.62 [[ 9.98278422e-01 -5.78321050e-02 -9.77957094e-03 1.82692488e+02] [ 5.78331591e-02 9.98326247e-01 -1.75213646e-04 2.47971258e+00] [ 9.77333533e-03 -3.90671480e-04 9.99952164e-01 1.62369318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80925415399997 meters Centerline goodness [0,1] 0.9994147157190636 Centerline is valid? [True, True] Translation: X:182.72, Y:2.48, Z:1.62 [[ 9.98262097e-01 -5.80431368e-02 -1.01872912e-02 1.82724613e+02] [ 5.80442977e-02 9.98313992e-01 -1.81925089e-04 2.48193439e+00] [ 1.01806749e-02 -4.09705244e-04 9.99948092e-01 1.62212999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83925415399997 meters Centerline goodness [0,1] 0.9993110215671127 Centerline is valid? [True, True] Translation: X:182.76, Y:2.48, Z:1.62 [[ 9.98244490e-01 -5.83095069e-02 -1.03894182e-02 1.82757225e+02] [ 5.83107368e-02 9.98298464e-01 -1.84751704e-04 2.48423758e+00] [ 1.03825130e-02 -4.21387257e-04 9.99946011e-01 1.62398837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86925415399998 meters Centerline goodness [0,1] 0.9993110215671127 Centerline is valid? [True, True] Translation: X:182.79, Y:2.48, Z:1.62 [[ 9.98248831e-01 -5.82351432e-02 -1.03894319e-02 1.82788929e+02] [ 5.82363771e-02 9.98302805e-01 -1.83977793e-04 2.48473999e+00] [ 1.03825130e-02 -4.21387256e-04 9.99946011e-01 1.62428532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89925415399998 meters Centerline goodness [0,1] 0.9993526561977949 Centerline is valid? [True, True] Translation: X:182.82, Y:2.49, Z:1.62 [[ 9.98245118e-01 -5.82215108e-02 -1.08138961e-02 1.82820142e+02] [ 5.82228556e-02 9.98303592e-01 -1.90687472e-04 2.48551179e+00] [ 1.08066534e-02 -4.39263072e-04 9.99941510e-01 1.62451115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92925415399998 meters Centerline goodness [0,1] 0.9994382256252341 Centerline is valid? [True, True] Translation: X:182.85, Y:2.49, Z:1.62 [[ 9.98236026e-01 -5.83671261e-02 -1.08680458e-02 1.82850909e+02] [ 5.83684996e-02 9.98295088e-01 -1.91037204e-04 2.48598938e+00] [ 1.08606670e-02 -4.43651305e-04 9.99940923e-01 1.62465100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95925415399998 meters Centerline goodness [0,1] 0.9996868083684803 Centerline is valid? [True, True] Translation: X:182.88, Y:2.49, Z:1.62 [[ 9.98218568e-01 -5.86038076e-02 -1.11930504e-02 1.82882262e+02] [ 5.86052860e-02 9.98281214e-01 -1.96153293e-04 2.48803531e+00] [ 1.11853073e-02 -4.60168060e-04 9.99937337e-01 1.62499387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98925415399998 meters Centerline goodness [0,1] 0.9992930805056554 Centerline is valid? [True, True] Translation: X:182.91, Y:2.49, Z:1.62 [[ 9.98167749e-01 -5.93658267e-02 -1.16980354e-02 1.82913458e+02] [ 5.93674994e-02 9.98236174e-01 -2.04517509e-04 2.48866057e+00] [ 1.16895434e-02 -4.90340328e-04 9.99931555e-01 1.62290776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01925415399998 meters Centerline goodness [0,1] 0.9992921090984801 Centerline is valid? [True, True] Translation: X:182.94, Y:2.49, Z:1.62 [[ 9.98136816e-01 -5.99137196e-02 -1.15430436e-02 1.82943474e+02] [ 5.99153911e-02 9.98203439e-01 -2.01263153e-04 2.48806715e+00] [ 1.15343643e-02 -4.90717811e-04 9.99933357e-01 1.62265468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04925415399998 meters Centerline goodness [0,1] 0.9992898468993462 Centerline is valid? [True, True] Translation: X:182.97, Y:2.49, Z:1.62 [[ 9.98092237e-01 -6.06519513e-02 -1.15424113e-02 1.82974677e+02] [ 6.06536748e-02 9.98158851e-01 -2.01007529e-04 2.49027128e+00] [ 1.15333515e-02 -4.99465607e-04 9.99933364e-01 1.62255911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07925415399998 meters Centerline goodness [0,1] 0.9994363492129765 Centerline is valid? [True, True] Translation: X:183.01, Y:2.49, Z:1.62 [[ 9.97968103e-01 -6.25644288e-02 -1.20564694e-02 1.83005646e+02] [ 6.25664538e-02 9.98040778e-01 -2.09517393e-04 2.49355907e+00] [ 1.20459564e-02 -5.45238861e-04 9.99927296e-01 1.62456559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10925415399998 meters Centerline goodness [0,1] 0.999227412248648 Centerline is valid? [True, True] Translation: X:183.04, Y:2.49, Z:1.62 [[ 9.97901888e-01 -6.35711690e-02 -1.22690218e-02 1.83037142e+02] [ 6.35733474e-02 9.97977146e-01 -2.12769626e-04 2.49432741e+00] [ 1.22577293e-02 -5.67659571e-04 9.99924710e-01 1.62459780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13925415399999 meters Centerline goodness [0,1] 0.9993109064712147 Centerline is valid? [True, True] Translation: X:183.07, Y:2.50, Z:1.62 [[ 9.97835725e-01 -6.45752475e-02 -1.24057987e-02 1.83068750e+02] [ 6.45775584e-02 9.97912668e-01 -2.14637809e-04 2.49903215e+00] [ 1.23937640e-02 -5.86962917e-04 9.99923022e-01 1.62497426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.169254154 meters Centerline goodness [0,1] 0.999102746014523 Centerline is valid? [True, True] Translation: X:183.10, Y:2.50, Z:1.62 [[ 9.97765860e-01 -6.56731746e-02 -1.22605816e-02 1.83101054e+02] [ 6.56755233e-02 9.97841010e-01 -2.11396689e-04 2.50055290e+00] [ 1.22479942e-02 -5.94295715e-04 9.99924814e-01 1.62494918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.199254154 meters Centerline goodness [0,1] 0.9992699968714152 Centerline is valid? [True, True] Translation: X:183.13, Y:2.50, Z:1.63 [[ 9.97665096e-01 -6.72268570e-02 -1.20376952e-02 1.83132176e+02] [ 6.72292439e-02 9.97737534e-01 -2.06724506e-04 2.50274053e+00] [ 1.20243577e-02 -6.03043321e-04 9.99927523e-01 1.62636451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.229254154 meters Centerline goodness [0,1] 0.9993730145460625 Centerline is valid? [True, True] Translation: X:183.16, Y:2.50, Z:1.63 [[ 9.97634159e-01 -6.77526893e-02 -1.16472650e-02 1.83163743e+02] [ 6.77549668e-02 9.97701972e-01 -1.99394052e-04 2.50354839e+00] [ 1.16340087e-02 -5.90237734e-04 9.99932148e-01 1.62701721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259254154 meters Centerline goodness [0,1] 0.9991446393924853 Centerline is valid? [True, True] Translation: X:183.20, Y:2.51, Z:1.63 [[ 9.97627277e-01 -6.80071831e-02 -1.07163015e-02 1.83196097e+02] [ 6.80091318e-02 9.97684682e-01 -1.82886349e-04 2.50728210e+00] [ 1.07039275e-02 -5.46353954e-04 9.99942562e-01 1.62709487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.289254154 meters Centerline goodness [0,1] 0.9992681345795956 Centerline is valid? [True, True] Translation: X:183.23, Y:2.51, Z:1.63 [[ 9.97657295e-01 -6.76229190e-02 -1.03471136e-02 1.83227237e+02] [ 6.76247224e-02 9.97710813e-01 -1.75877852e-04 2.50948405e+00] [ 1.03353205e-02 -5.24254862e-04 9.99946452e-01 1.62869166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319254154 meters Centerline goodness [0,1] 0.9992067965015551 Centerline is valid? [True, True] Translation: X:183.26, Y:2.51, Z:1.63 [[ 9.97742428e-01 -6.63773220e-02 -1.02029056e-02 1.83259324e+02] [ 6.63790162e-02 9.97794466e-01 -1.72867900e-04 2.51338457e+00] [ 1.01918773e-02 -5.04781199e-04 9.99947934e-01 1.62904886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349254154 meters Centerline goodness [0,1] 0.9991234843583697 Centerline is valid? [True, True] Translation: X:183.29, Y:2.52, Z:1.63 [[ 9.97876272e-01 -6.43385047e-02 -1.01736461e-02 1.83290649e+02] [ 6.43400907e-02 9.97928015e-01 -1.71669235e-04 2.51623350e+00] [ 1.01636114e-02 -4.83268659e-04 9.99948232e-01 1.62715423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379254154 meters Centerline goodness [0,1] 0.9990393250214064 Centerline is valid? [True, True] Translation: X:183.32, Y:2.52, Z:1.63 [[ 9.98013015e-01 -6.21319296e-02 -1.04711780e-02 1.83322462e+02] [ 6.21334928e-02 9.98067832e-01 -1.76281678e-04 2.52298499e+00] [ 1.04618987e-02 -4.74679455e-04 9.99945160e-01 1.62969444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409254154 meters Centerline goodness [0,1] 0.998996844239169 Centerline is valid? [True, True] Translation: X:183.35, Y:2.53, Z:1.63 [[ 9.98390175e-01 -5.57159092e-02 -1.06205657e-02 1.83353336e+02] [ 5.57171604e-02 9.98446577e-01 -1.78264865e-04 2.53201978e+00] [ 1.06139997e-02 -4.13769873e-04 9.99943584e-01 1.63000603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43925415399997 meters Centerline goodness [0,1] 0.9994161314538327 Centerline is valid? [True, True] Translation: X:183.38, Y:2.54, Z:1.63 [[ 9.98609941e-01 -5.16523387e-02 -1.04986284e-02 1.83384738e+02] [ 5.16533380e-02 9.98665060e-01 -1.76128585e-04 2.53713029e+00] [ 1.04937108e-02 -3.66405442e-04 9.99944872e-01 1.63049320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46925415399997 meters Centerline goodness [0,1] 0.9992060507291797 Centerline is valid? [True, True] Translation: X:183.41, Y:2.54, Z:1.63 [[ 9.98808726e-01 -4.75920741e-02 -1.07760215e-02 1.83414825e+02] [ 4.75928949e-02 9.98866800e-01 -1.80403753e-04 2.54023474e+00] [ 1.07723959e-02 -3.32673214e-04 9.99941921e-01 1.63049740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49925415399997 meters Centerline goodness [0,1] 0.9990192191314873 Centerline is valid? [True, True] Translation: X:183.45, Y:2.55, Z:1.63 [[ 9.99169309e-01 -3.91050894e-02 -1.14666399e-02 1.83445214e+02] [ 3.91054627e-02 9.99235070e-01 -1.91745268e-04 2.55224391e+00] [ 1.14653669e-02 -2.56822272e-04 9.99934238e-01 1.62905633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52925415399997 meters Centerline goodness [0,1] 0.9992278797996661 Centerline is valid? [True, True] Translation: X:183.48, Y:2.56, Z:1.63 [[ 9.99291854e-01 -3.56725453e-02 -1.19691655e-02 1.83475450e+02] [ 3.56727085e-02 9.99363506e-01 -1.99926336e-04 2.55713062e+00] [ 1.19686791e-02 -2.27187795e-04 9.99928347e-01 1.63063961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55925415399997 meters Centerline goodness [0,1] 0.9997291779509188 Centerline is valid? [True, True] Translation: X:183.51, Y:2.56, Z:1.63 [[ 9.99395735e-01 -3.25191489e-02 -1.22747908e-02 1.83507190e+02] [ 3.25190868e-02 9.99471094e-01 -2.04705211e-04 2.56169232e+00] [ 1.22749555e-02 -1.94583474e-04 9.99924641e-01 1.63084266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58925415399997 meters Centerline goodness [0,1] 0.9991032886367902 Centerline is valid? [True, True] Translation: X:183.54, Y:2.56, Z:1.63 [[ 9.99472680e-01 -2.99269021e-02 -1.25992855e-02 1.83537323e+02] [ 2.99266379e-02 9.99552076e-01 -2.09547492e-04 2.56494428e+00] [ 1.25999131e-02 -1.67617262e-04 9.99920604e-01 1.63040827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61925415399998 meters Centerline goodness [0,1] 0.9992293432754994 Centerline is valid? [True, True] Translation: X:183.57, Y:2.57, Z:1.63 [[ 9.99555623e-01 -2.70143953e-02 -1.26007889e-02 1.83568847e+02] [ 2.70139032e-02 9.99635036e-01 -2.09290081e-04 2.57206559e+00] [ 1.26018439e-02 -1.31199414e-04 9.99920585e-01 1.63126664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64925415399998 meters Centerline goodness [0,1] 0.9995001770206385 Centerline is valid? [True, True] Translation: X:183.60, Y:2.57, Z:1.63 [[ 9.99571464e-01 -2.64750698e-02 -1.24883843e-02 1.83598957e+02] [ 2.64745492e-02 9.99649466e-01 -2.07027814e-04 2.57337189e+00] [ 1.24894878e-02 -1.23685251e-04 9.99921996e-01 1.63089532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67925415399998 meters Centerline goodness [0,1] 0.9992705445905671 Centerline is valid? [True, True] Translation: X:183.63, Y:2.57, Z:1.63 [[ 9.99554441e-01 -2.71184536e-02 -1.24703442e-02 1.83629081e+02] [ 2.71179874e-02 9.99632218e-01 -2.06504068e-04 2.57414579e+00] [ 1.24713579e-02 -1.31758577e-04 9.99922221e-01 1.63137740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70925415399998 meters Centerline goodness [0,1] 0.9991862115015441 Centerline is valid? [True, True] Translation: X:183.66, Y:2.57, Z:1.63 [[ 9.99477870e-01 -2.97668785e-02 -1.25666381e-02 1.83659408e+02] [ 2.97666165e-02 9.99556854e-01 -2.07929875e-04 2.57384811e+00] [ 1.25672586e-02 -1.66244986e-04 9.99921015e-01 1.63143472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73925415399998 meters Centerline goodness [0,1] 0.9992068130583619 Centerline is valid? [True, True] Translation: X:183.69, Y:2.57, Z:1.63 [[ 9.99408733e-01 -3.19902452e-02 -1.26019097e-02 1.83690765e+02] [ 3.19901599e-02 9.99488162e-01 -2.08398493e-04 2.57364808e+00] [ 1.26021262e-02 -1.94861831e-04 9.99920571e-01 1.63168515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76925415399998 meters Centerline goodness [0,1] 0.9992080198411871 Centerline is valid? [True, True] Translation: X:183.72, Y:2.57, Z:1.63 [[ 9.99328663e-01 -3.43764433e-02 -1.26682124e-02 1.83722180e+02] [ 3.43765544e-02 9.99408930e-01 -2.09043073e-04 2.57295464e+00] [ 1.26679108e-02 -2.26586758e-04 9.99919733e-01 1.63187124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79925415399998 meters Centerline goodness [0,1] 0.999085904227693 Centerline is valid? [True, True] Translation: X:183.75, Y:2.57, Z:1.63 [[ 9.99230051e-01 -3.70976913e-02 -1.27697168e-02 1.83752957e+02] [ 3.70980328e-02 9.99311609e-01 -2.10213441e-04 2.57171755e+00] [ 1.27687247e-02 -2.63679787e-04 9.99918442e-01 1.63221887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82925415399998 meters Centerline goodness [0,1] 0.9990822052105713 Centerline is valid? [True, True] Translation: X:183.78, Y:2.57, Z:1.63 [[ 9.98961708e-01 -4.35759250e-02 -1.32908126e-02 1.83784387e+02] [ 4.35768762e-02 9.99050053e-01 -2.18161951e-04 2.57070065e+00] [ 1.32876936e-02 -3.61236658e-04 9.99911649e-01 1.63129979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85925415399998 meters Centerline goodness [0,1] 0.9989784004670169 Centerline is valid? [True, True] Translation: X:183.81, Y:2.57, Z:1.63 [[ 9.98806330e-01 -4.68695692e-02 -1.37534829e-02 1.83814955e+02] [ 4.68709068e-02 9.98900930e-01 -2.25238715e-04 2.56877220e+00] [ 1.37489237e-02 -4.19668362e-04 9.99905391e-01 1.63196140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88925415399999 meters Centerline goodness [0,1] 0.9992282341162237 Centerline is valid? [True, True] Translation: X:183.85, Y:2.57, Z:1.63 [[ 9.98655865e-01 -4.99348498e-02 -1.38915223e-02 1.83846594e+02] [ 4.99365178e-02 9.98752368e-01 -2.26985524e-04 2.56711869e+00] [ 1.38855253e-02 -4.67013826e-04 9.99903482e-01 1.63098061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.919254154 meters Centerline goodness [0,1] 0.9988948202518976 Centerline is valid? [True, True] Translation: X:183.88, Y:2.57, Z:1.63 [[ 9.98497473e-01 -5.29748738e-02 -1.40163685e-02 1.83877519e+02] [ 5.29768770e-02 9.98595713e-01 -2.28594693e-04 2.56563514e+00] [ 1.40087953e-02 -5.14292208e-04 9.99901740e-01 1.63191739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.949254154 meters Centerline goodness [0,1] 0.9990208333333334 Centerline is valid? [True, True] Translation: X:183.91, Y:2.56, Z:1.63 [[ 9.98259469e-01 -5.74275542e-02 -1.34204601e-02 1.83908441e+02] [ 5.74297955e-02 9.98349523e-01 -2.18639310e-04 2.56343667e+00] [ 1.34108659e-02 -5.52475518e-04 9.99909918e-01 1.63234956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979254154 meters Centerline goodness [0,1] 0.9989777397617507 Centerline is valid? [True, True] Translation: X:183.94, Y:2.56, Z:1.63 [[ 9.98157264e-01 -5.91820227e-02 -1.34001734e-02 1.83939892e+02] [ 5.91844202e-02 9.98247042e-01 -2.17921569e-04 2.56266733e+00] [ 1.33895805e-02 -5.75561495e-04 9.99910190e-01 1.63298695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.009254154 meters Centerline goodness [0,1] 0.9992288614243138 Centerline is valid? [True, True] Translation: X:183.97, Y:2.56, Z:1.63 [[ 9.98069810e-01 -6.06378759e-02 -1.34053433e-02 1.83972257e+02] [ 6.06404170e-02 9.98159653e-01 -2.17210385e-04 2.56190668e+00] [ 1.33938440e-02 -5.96114480e-04 9.99910121e-01 1.63332087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039254154 meters Centerline goodness [0,1] 0.9989998958224815 Centerline is valid? [True, True] Translation: X:184.00, Y:2.56, Z:1.63 [[ 9.97889037e-01 -6.34809596e-02 -1.36981052e-02 1.84002960e+02] [ 6.34838924e-02 9.97982839e-01 -2.21059047e-04 2.56052223e+00] [ 1.36845070e-02 -6.49016639e-04 9.99906152e-01 1.63324893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069254154 meters Centerline goodness [0,1] 0.999039405266565 Centerline is valid? [True, True] Translation: X:184.03, Y:2.57, Z:1.63 [[ 9.97811844e-01 -6.47148382e-02 -1.35467555e-02 1.84034563e+02] [ 6.47178292e-02 9.97903580e-01 -2.17928905e-04 2.56513567e+00] [ 1.35324590e-02 -6.59264566e-04 9.99908215e-01 1.63329136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099254154 meters Centerline goodness [0,1] 0.9989975565440762 Centerline is valid? [True, True] Translation: X:184.07, Y:2.56, Z:1.63 [[ 9.97712727e-01 -6.62807666e-02 -1.32730934e-02 1.84065673e+02] [ 6.62837859e-02 9.97800789e-01 -2.12791146e-04 2.55936627e+00] [ 1.32580070e-02 -6.67486447e-04 9.99911886e-01 1.63386940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129254154 meters Centerline goodness [0,1] 0.9987678299187603 Centerline is valid? [True, True] Translation: X:184.10, Y:2.56, Z:1.63 [[ 9.97628895e-01 -6.75858475e-02 -1.29900535e-02 1.84097866e+02] [ 6.75888597e-02 9.97713237e-01 -2.07487776e-04 2.55937741e+00] [ 1.29743716e-02 -6.70987106e-04 9.99915604e-01 1.63419906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159254154 meters Centerline goodness [0,1] 0.9986842654859864 Centerline is valid? [True, True] Translation: X:184.13, Y:2.57, Z:1.64 [[ 9.97437174e-01 -7.04372918e-02 -1.25567346e-02 1.84129259e+02] [ 7.04403411e-02 9.97515974e-01 -1.99815635e-04 2.56523904e+00] [ 1.25396178e-02 -6.85197123e-04 9.99921141e-01 1.63528626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18925415399997 meters Centerline goodness [0,1] 0.9988083291520321 Centerline is valid? [True, True] Translation: X:184.16, Y:2.57, Z:1.64 [[ 9.97354238e-01 -7.15653427e-02 -1.27642727e-02 1.84161118e+02] [ 7.15685934e-02 9.97435660e-01 -2.02517719e-04 2.56566610e+00] [ 1.27460340e-02 -7.11539136e-04 9.99918513e-01 1.63557956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21925415399997 meters Centerline goodness [0,1] 0.998744769874477 Centerline is valid? [True, True] Translation: X:184.19, Y:2.56, Z:1.64 [[ 9.97286029e-01 -7.24405165e-02 -1.31509424e-02 1.84191942e+02] [ 7.24440586e-02 9.97372456e-01 -2.07458359e-04 2.56448042e+00] [ 1.31314161e-02 -7.45812318e-04 9.99913501e-01 1.63538160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24925415399997 meters Centerline goodness [0,1] 0.9986182351093897 Centerline is valid? [True, True] Translation: X:184.22, Y:2.57, Z:1.64 [[ 9.97207904e-01 -7.34408549e-02 -1.35217330e-02 1.84223924e+02] [ 7.34447119e-02 9.97299268e-01 -2.11774929e-04 2.56641844e+00] [ 1.35007673e-02 -7.81916151e-04 9.99908555e-01 1.63523008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27925415399997 meters Centerline goodness [0,1] 0.9986179168237216 Centerline is valid? [True, True] Translation: X:184.26, Y:2.57, Z:1.63 [[ 9.97133720e-01 -7.40535976e-02 -1.55051452e-02 1.84256248e+02] [ 7.40587623e-02 9.97253850e-01 -2.41604031e-04 2.57087691e+00] [ 1.54804574e-02 -9.07380334e-04 9.99879759e-01 1.63301844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30925415399997 meters Centerline goodness [0,1] 0.9989322725845284 Centerline is valid? [True, True] Translation: X:184.29, Y:2.57, Z:1.64 [[ 9.97103143e-01 -7.45884536e-02 -1.48957826e-02 1.84288130e+02] [ 7.45932958e-02 9.97214013e-01 -2.31030828e-04 2.57345505e+00] [ 1.48715153e-02 -8.80763950e-04 9.99889025e-01 1.63539666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33925415399997 meters Centerline goodness [0,1] 0.9987840925766756 Centerline is valid? [True, True] Translation: X:184.32, Y:2.58, Z:1.63 [[ 9.97130162e-01 -7.38072687e-02 -1.68501572e-02 1.84320783e+02] [ 7.38133805e-02 9.97272038e-01 -2.59772406e-04 2.57683678e+00] [ 1.68233637e-02 -9.84740161e-04 9.99857992e-01 1.63317097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36925415399998 meters Centerline goodness [0,1] 0.9987649927783476 Centerline is valid? [True, True] Translation: X:184.35, Y:2.58, Z:1.63 [[ 9.97163666e-01 -7.30999783e-02 -1.79169312e-02 1.84352651e+02] [ 7.31068048e-02 9.97324080e-01 -2.74549639e-04 2.57902254e+00] [ 1.78890565e-02 -1.03607867e-03 9.99839441e-01 1.63295848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39925415399998 meters Centerline goodness [0,1] 0.9988067075596123 Centerline is valid? [True, True] Translation: X:184.38, Y:2.58, Z:1.63 [[ 9.97213025e-01 -7.24394519e-02 -1.78524000e-02 1.84383347e+02] [ 7.24461443e-02 9.97372289e-01 -2.72410958e-04 2.58159924e+00] [ 1.78252223e-02 -1.02168579e-03 9.99840596e-01 1.63443925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42925415399998 meters Centerline goodness [0,1] 0.9987836080701313 Centerline is valid? [True, True] Translation: X:184.41, Y:2.58, Z:1.63 [[ 9.97318724e-01 -7.07792168e-02 -1.85920497e-02 1.84414663e+02] [ 7.07862040e-02 9.97491470e-01 -2.82828058e-04 2.58476198e+00] [ 1.85654293e-02 -1.03399091e-03 9.99827113e-01 1.63456510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45925415399998 meters Centerline goodness [0,1] 0.9989750240555578 Centerline is valid? [True, True] Translation: X:184.45, Y:2.59, Z:1.64 [[ 9.97450097e-01 -6.87649552e-02 -1.90967337e-02 1.84445855e+02] [ 6.87719723e-02 9.97632363e-01 -2.89803649e-04 2.58898430e+00] [ 1.90714479e-02 -1.02425536e-03 9.99817599e-01 1.63520426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48925415399998 meters Centerline goodness [0,1] 0.9988866481808252 Centerline is valid? [True, True] Translation: X:184.48, Y:2.60, Z:1.63 [[ 9.97840139e-01 -6.26675470e-02 -1.96935547e-02 1.84476468e+02] [ 6.26738320e-02 9.98034018e-01 -2.98504998e-04 2.59717861e+00] [ 1.96735441e-02 -9.36410267e-04 9.99806019e-01 1.63384851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51925415399998 meters Centerline goodness [0,1] 0.9988219950355505 Centerline is valid? [True, True] Translation: X:184.51, Y:2.60, Z:1.64 [[ 9.98062965e-01 -5.96378685e-02 -1.77099466e-02 1.84508421e+02] [ 5.96424827e-02 9.98219767e-01 -2.67990404e-04 2.60189288e+00] [ 1.76944012e-02 -7.88793888e-04 9.99843131e-01 1.63689213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54925415399998 meters Centerline goodness [0,1] 0.9988657368509494 Centerline is valid? [True, True] Translation: X:184.54, Y:2.61, Z:1.64 [[ 9.98304236e-01 -5.57800727e-02 -1.66504269e-02 1.84538622e+02] [ 5.57836232e-02 9.98442850e-01 -2.51489914e-04 2.60710331e+00] [ 1.66385278e-02 -6.77757696e-04 9.99861340e-01 1.63802272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57925415399998 meters Centerline goodness [0,1] 0.9989262253663467 Centerline is valid? [True, True] Translation: X:184.57, Y:2.62, Z:1.64 [[ 9.98743820e-01 -4.76919735e-02 -1.53706439e-02 1.84568958e+02] [ 4.76940427e-02 9.98861965e-01 -2.32128708e-04 2.62184366e+00] [ 1.53642222e-02 -5.01251034e-04 9.99881838e-01 1.64069565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60925415399998 meters Centerline goodness [0,1] 0.9986743819042609 Centerline is valid? [True, True] Translation: X:184.60, Y:2.62, Z:1.64 [[ 9.98925316e-01 -4.38365806e-02 -1.50521846e-02 1.84599283e+02] [ 4.38381298e-02 9.99038621e-01 -2.27166030e-04 2.62332015e+00] [ 1.50476720e-02 -4.32937727e-04 9.99886684e-01 1.64055409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63925415399999 meters Centerline goodness [0,1] 0.9987985835932889 Centerline is valid? [True, True] Translation: X:184.63, Y:2.63, Z:1.64 [[ 9.99088813e-01 -4.01932048e-02 -1.43544094e-02 1.84630964e+02] [ 4.01942439e-02 9.99191861e-01 -2.16212336e-04 2.62843588e+00] [ 1.43514993e-02 -3.60949308e-04 9.99896947e-01 1.64132553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.669254154 meters Centerline goodness [0,1] 0.9987764229357411 Centerline is valid? [True, True] Translation: X:184.66, Y:2.64, Z:1.64 [[ 9.99225356e-01 -3.67886273e-02 -1.39744151e-02 1.84662003e+02] [ 3.67892884e-02 9.99323023e-01 -2.09844938e-04 2.63702076e+00] [ 1.39726746e-02 -3.04426403e-04 9.99902331e-01 1.64247681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.699254154 meters Centerline goodness [0,1] 0.9989839764621213 Centerline is valid? [True, True] Translation: X:184.69, Y:2.64, Z:1.64 [[ 9.99421438e-01 -3.11230853e-02 -1.37165225e-02 1.84691937e+02] [ 3.11231946e-02 9.99515535e-01 -2.05544923e-04 2.64244388e+00] [ 1.37162745e-02 -2.21475995e-04 9.99905903e-01 1.64209677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.729254154 meters Centerline goodness [0,1] 0.9990669465826919 Centerline is valid? [True, True] Translation: X:184.72, Y:2.65, Z:1.64 [[ 9.99478026e-01 -2.90615017e-02 -1.41104684e-02 1.84723223e+02] [ 2.90614169e-02 9.99577606e-01 -2.11094121e-04 2.64638144e+00] [ 1.41106430e-02 -1.99086271e-04 9.99900420e-01 1.64239464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759254154 meters Centerline goodness [0,1] 0.9990669465826919 Centerline is valid? [True, True] Translation: X:184.75, Y:2.65, Z:1.64 [[ 9.99479099e-01 -2.90245591e-02 -1.41104762e-02 1.84754069e+02] [ 2.90244780e-02 9.99578679e-01 -2.10572322e-04 2.64681320e+00] [ 1.41106429e-02 -1.99086572e-04 9.99900420e-01 1.64268354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.789254154 meters Centerline goodness [0,1] 0.9990253617814692 Centerline is valid? [True, True] Translation: X:184.79, Y:2.65, Z:1.64 [[ 9.99520964e-01 -2.74776754e-02 -1.42414751e-02 1.84785295e+02] [ 2.74774434e-02 9.99622401e-01 -2.11998167e-04 2.64930332e+00] [ 1.42419227e-02 -1.79422713e-04 9.99898563e-01 1.64259157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819254154 meters Centerline goodness [0,1] 0.9989594393714164 Centerline is valid? [True, True] Translation: X:184.82, Y:2.65, Z:1.64 [[ 9.99540388e-01 -2.61417354e-02 -1.53500142e-02 1.84815675e+02] [ 2.61413158e-02 9.99658231e-01 -2.28018503e-04 2.65240187e+00] [ 1.53507288e-02 -1.73355865e-04 9.99882156e-01 1.64214560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849254154 meters Centerline goodness [0,1] 0.9989161389042377 Centerline is valid? [True, True] Translation: X:184.85, Y:2.65, Z:1.64 [[ 9.99530868e-01 -2.54409271e-02 -1.70529240e-02 1.84846668e+02] [ 2.54403105e-02 9.99676311e-01 -2.53124327e-04 2.65358726e+00] [ 1.70538438e-02 -1.80826102e-04 9.99854556e-01 1.64049580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879254154 meters Centerline goodness [0,1] 0.9991071808171421 Centerline is valid? [True, True] Translation: X:184.88, Y:2.65, Z:1.64 [[ 9.99529447e-01 -2.63951453e-02 -1.56263003e-02 1.84876571e+02] [ 2.63947442e-02 9.99651571e-01 -2.31941652e-04 2.65416100e+00] [ 1.56269778e-02 -1.80619688e-04 9.99877875e-01 1.64249468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909254154 meters Centerline goodness [0,1] 0.9991072377510893 Centerline is valid? [True, True] Translation: X:184.91, Y:2.65, Z:1.64 [[ 9.99483250e-01 -2.79528835e-02 -1.58704034e-02 1.84907213e+02] [ 2.79526663e-02 9.99609220e-01 -2.35554776e-04 2.65440399e+00] [ 1.58707860e-02 -2.08187037e-04 9.99874029e-01 1.64257587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93925415399997 meters Centerline goodness [0,1] 0.9990434486863362 Centerline is valid? [True, True] Translation: X:184.94, Y:2.65, Z:1.64 [[ 9.99449733e-01 -2.91036039e-02 -1.59126449e-02 1.84937740e+02] [ 2.91035313e-02 9.99576375e-01 -2.36181742e-04 2.65404527e+00] [ 1.59127777e-02 -2.27062381e-04 9.99873358e-01 1.64253881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96925415399997 meters Centerline goodness [0,1] 0.9987877498936623 Centerline is valid? [True, True] Translation: X:184.97, Y:2.65, Z:1.64 [[ 9.99410598e-01 -3.04478804e-02 -1.58550705e-02 1.84969184e+02] [ 3.04479811e-02 9.99536325e-01 -2.35092025e-04 2.65407296e+00] [ 1.58548770e-02 -2.47801427e-04 9.99874273e-01 1.64293666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99925415399997 meters Centerline goodness [0,1] 0.9989588202796311 Centerline is valid? [True, True] Translation: X:185.00, Y:2.65, Z:1.64 [[ 9.99377970e-01 -3.16778207e-02 -1.54980145e-02 1.85000812e+02] [ 3.16780734e-02 9.99498098e-01 -2.29244977e-04 2.65345681e+00] [ 1.54974980e-02 -2.61844862e-04 9.99879872e-01 1.64318022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02925415399997 meters Centerline goodness [0,1] 0.9989375491383523 Centerline is valid? [True, True] Translation: X:185.03, Y:2.65, Z:1.64 [[ 9.99285310e-01 -3.42715583e-02 -1.59476863e-02 1.85031533e+02] [ 3.42721653e-02 9.99412509e-01 -2.35311833e-04 2.65163648e+00] [ 1.59463816e-02 -3.11418082e-04 9.99872800e-01 1.64270899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05925415399997 meters Centerline goodness [0,1] 0.9989792880534173 Centerline is valid? [True, True] Translation: X:185.06, Y:2.65, Z:1.64 [[ 9.99231010e-01 -3.58935659e-02 -1.57810430e-02 1.85062267e+02] [ 3.58943695e-02 9.99355562e-01 -2.32407274e-04 2.65036141e+00] [ 1.57792150e-02 -3.34222033e-04 9.99875445e-01 1.64283401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08925415399997 meters Centerline goodness [0,1] 0.9987922449412014 Centerline is valid? [True, True] Translation: X:185.09, Y:2.65, Z:1.64 [[ 9.99161600e-01 -3.78845138e-02 -1.55196993e-02 1.85093295e+02] [ 3.78855385e-02 9.99282059e-01 -2.28079754e-04 2.64923998e+00] [ 1.55171978e-02 -3.60083636e-04 9.99879536e-01 1.64281319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11925415399998 meters Centerline goodness [0,1] 0.9987259523506179 Centerline is valid? [True, True] Translation: X:185.13, Y:2.65, Z:1.64 [[ 9.99028694e-01 -4.16443413e-02 -1.44019782e-02 1.85125243e+02] [ 4.16456257e-02 9.99132422e-01 -2.10838717e-04 2.64857002e+00] [ 1.43982636e-02 -3.89145467e-04 9.99896264e-01 1.64369152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14925415399998 meters Centerline goodness [0,1] 0.998748647903455 Centerline is valid? [True, True] Translation: X:185.16, Y:2.65, Z:1.64 [[ 9.98948792e-01 -4.36089574e-02 -1.41268891e-02 1.85157411e+02] [ 4.36104038e-02 9.99048593e-01 -2.05798246e-04 2.64787452e+00] [ 1.41224233e-02 -4.10497429e-04 9.99900189e-01 1.64424660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17925415399998 meters Centerline goodness [0,1] 0.998665423886794 Centerline is valid? [True, True] Translation: X:185.19, Y:2.65, Z:1.64 [[ 9.98868943e-01 -4.53497948e-02 -1.42909541e-02 1.85188280e+02] [ 4.53514701e-02 9.98971071e-01 -2.06991977e-04 2.64639080e+00] [ 1.42856367e-02 -4.41357919e-04 9.99897858e-01 1.64429036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20925415399998 meters Centerline goodness [0,1] 0.998876523582406 Centerline is valid? [True, True] Translation: X:185.22, Y:2.65, Z:1.64 [[ 9.98760871e-01 -4.75766010e-02 -1.46010089e-02 1.85219992e+02] [ 4.75786060e-02 9.98867475e-01 -2.10213921e-04 2.64666859e+00] [ 1.45944742e-02 -4.84742211e-04 9.99893377e-01 1.64459517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23925415399998 meters Centerline goodness [0,1] 0.9987697789844313 Centerline is valid? [True, True] Translation: X:185.25, Y:2.65, Z:1.64 [[ 9.98654121e-01 -4.96324687e-02 -1.50520526e-02 1.85252361e+02] [ 4.96348470e-02 9.98767408e-01 -2.15755530e-04 2.64540595e+00] [ 1.50442080e-02 -5.31641178e-04 9.99886688e-01 1.64439186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26925415399998 meters Centerline goodness [0,1] 0.9986411024056734 Centerline is valid? [True, True] Translation: X:185.28, Y:2.65, Z:1.64 [[ 9.98567504e-01 -5.12710228e-02 -1.53043223e-02 1.85284049e+02] [ 5.12736895e-02 9.98684615e-01 -2.18342289e-04 2.64552968e+00] [ 1.52953858e-02 -5.66679553e-04 9.99882858e-01 1.64439464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29925415399998 meters Centerline goodness [0,1] 0.9986624771771899 Centerline is valid? [True, True] Translation: X:185.32, Y:2.64, Z:1.64 [[ 9.98402493e-01 -5.43354875e-02 -1.54956868e-02 1.85315998e+02] [ 5.43386032e-02 9.98522542e-01 -2.20208538e-04 2.64402162e+00] [ 1.54847577e-02 -6.22157223e-04 9.99879910e-01 1.64382286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32925415399998 meters Centerline goodness [0,1] 0.9984941356126323 Centerline is valid? [True, True] Translation: X:185.35, Y:2.64, Z:1.64 [[ 9.98331579e-01 -5.55959933e-02 -1.55930424e-02 1.85346794e+02] [ 5.55993221e-02 9.98453137e-01 -2.20279109e-04 2.64303925e+00] [ 1.55811687e-02 -6.47050995e-04 9.99878397e-01 1.64326448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35925415399998 meters Centerline goodness [0,1] 0.998664546899841 Centerline is valid? [True, True] Translation: X:185.38, Y:2.64, Z:1.64 [[ 9.98307408e-01 -5.60504400e-02 -1.55134341e-02 1.85377818e+02] [ 5.60538134e-02 9.98427725e-01 -2.17625689e-04 2.64231486e+00] [ 1.55012408e-02 -6.52329806e-04 9.99879636e-01 1.64334448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38925415399999 meters Centerline goodness [0,1] 0.9987266553480475 Centerline is valid? [True, True] Translation: X:185.41, Y:2.64, Z:1.64 [[ 9.98331643e-01 -5.55757466e-02 -1.56609756e-02 1.85410101e+02] [ 5.55791413e-02 9.98454261e-01 -2.18726314e-04 2.64395976e+00] [ 1.56489237e-02 -6.52062176e-04 9.99877335e-01 1.64316930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.419254154 meters Centerline goodness [0,1] 0.9986821969052883 Centerline is valid? [True, True] Translation: X:185.44, Y:2.65, Z:1.64 [[ 9.98415050e-01 -5.40920936e-02 -1.55381508e-02 1.85442319e+02] [ 5.40952733e-02 9.98535755e-01 -2.15891067e-04 2.64671781e+00] [ 1.55270771e-02 -6.24991622e-04 9.99879252e-01 1.64344746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.449254154 meters Centerline goodness [0,1] 0.9987886000892611 Centerline is valid? [True, True] Translation: X:185.47, Y:2.65, Z:1.64 [[ 9.98643393e-01 -4.95747695e-02 -1.59284881e-02 1.85473375e+02] [ 4.95775501e-02 9.98770253e-01 -2.20498784e-04 2.65347059e+00] [ 1.59198313e-02 -5.69495765e-04 9.99873109e-01 1.64404466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479254154 meters Centerline goodness [0,1] 0.9986170507010489 Centerline is valid? [True, True] Translation: X:185.50, Y:2.66, Z:1.64 [[ 9.98764125e-01 -4.70823055e-02 -1.59210074e-02 1.85504840e+02] [ 4.70847773e-02 9.98890873e-01 -2.19759623e-04 2.65649045e+00] [ 1.59136958e-02 -5.30149061e-04 9.99873229e-01 1.64414844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.509254154 meters Centerline goodness [0,1] 0.9988292890591741 Centerline is valid? [True, True] Translation: X:185.54, Y:2.66, Z:1.64 [[ 9.98882170e-01 -4.45488000e-02 -1.58055171e-02 1.85536073e+02] [ 4.45509350e-02 9.99007091e-01 -2.17162167e-04 2.65793662e+00] [ 1.57994980e-02 -4.87231149e-04 9.99875061e-01 1.64406811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539254154 meters Centerline goodness [0,1] 0.9988491293876942 Centerline is valid? [True, True] Translation: X:185.57, Y:2.66, Z:1.64 [[ 9.98971039e-01 -4.25609193e-02 -1.56662802e-02 1.85568314e+02] [ 4.25627872e-02 9.99093771e-01 -2.14319368e-04 2.66132934e+00] [ 1.56612046e-02 -4.52701709e-04 9.99877253e-01 1.64460869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569254154 meters Centerline goodness [0,1] 0.9990827449390985 Centerline is valid? [True, True] Translation: X:185.60, Y:2.67, Z:1.65 [[ 9.99041130e-01 -4.08788207e-02 -1.56761750e-02 1.85600516e+02] [ 4.08805015e-02 9.99164020e-01 -2.13339159e-04 2.66756352e+00] [ 1.56717911e-02 -4.27715301e-04 9.99877098e-01 1.64595876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599254154 meters Centerline goodness [0,1] 0.9990827840703057 Centerline is valid? [True, True] Translation: X:185.63, Y:2.67, Z:1.65 [[ 9.99093791e-01 -3.92032350e-02 -1.65741413e-02 1.85631609e+02] [ 3.92049023e-02 9.99231167e-01 -2.24431229e-04 2.67103947e+00] [ 1.65701970e-02 -4.25559744e-04 9.99862614e-01 1.64551674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629254154 meters Centerline goodness [0,1] 0.9988473606693846 Centerline is valid? [True, True] Translation: X:185.66, Y:2.67, Z:1.65 [[ 9.99091515e-01 -3.89148667e-02 -1.73717665e-02 1.85663751e+02] [ 3.89166745e-02 9.99242432e-01 -2.34104523e-04 2.67310723e+00] [ 1.73677164e-02 -4.42159540e-04 9.99849072e-01 1.64523605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65925415399997 meters Centerline goodness [0,1] 0.9991451895542164 Centerline is valid? [True, True] Translation: X:185.70, Y:2.67, Z:1.65 [[ 9.99068501e-01 -3.92876916e-02 -1.78495859e-02 1.85696098e+02] [ 3.92896834e-02 9.99227834e-01 -2.39217756e-04 2.67453335e+00] [ 1.78452014e-02 -4.62309654e-04 9.99840655e-01 1.64514684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68925415399997 meters Centerline goodness [0,1] 0.9990388517482218 Centerline is valid? [True, True] Translation: X:185.73, Y:2.68, Z:1.64 [[ 9.99036278e-01 -3.98055272e-02 -1.84942087e-02 1.85728385e+02] [ 3.98077795e-02 9.99207326e-01 -2.46484965e-04 2.67562692e+00] [ 1.84893603e-02 -4.89965961e-04 9.99828937e-01 1.64472832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71925415399997 meters Centerline goodness [0,1] 0.999059829059829 Centerline is valid? [True, True] Translation: X:185.76, Y:2.68, Z:1.65 [[ 9.99005048e-01 -4.02394944e-02 -1.92275079e-02 1.85760184e+02] [ 4.02420367e-02 9.99189929e-01 -2.54828861e-04 2.67762868e+00] [ 1.92221864e-02 -5.19178760e-04 9.99815102e-01 1.64507482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74925415399997 meters Centerline goodness [0,1] 0.9990141026190579 Centerline is valid? [True, True] Translation: X:185.79, Y:2.68, Z:1.64 [[ 9.98980162e-01 -4.07309033e-02 -1.94840826e-02 1.85791338e+02] [ 4.07336316e-02 9.99170008e-01 -2.56982155e-04 2.67866617e+00] [ 1.94783781e-02 -5.36937368e-04 9.99810134e-01 1.64470118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77925415399997 meters Centerline goodness [0,1] 0.9991650252633382 Centerline is valid? [True, True] Translation: X:185.82, Y:2.68, Z:1.65 [[ 9.98984387e-01 -4.04471794e-02 -1.98549546e-02 1.85823736e+02] [ 4.04499819e-02 9.99181531e-01 -2.60599758e-04 2.68150326e+00] [ 1.98492444e-02 -5.42797465e-04 9.99802837e-01 1.64557569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80925415399997 meters Centerline goodness [0,1] 0.9989942866924871 Centerline is valid? [True, True] Translation: X:185.86, Y:2.69, Z:1.65 [[ 9.99016060e-01 -3.98745564e-02 -1.94147231e-02 1.85856311e+02] [ 3.98771548e-02 9.99204558e-01 -2.53437693e-04 2.68574329e+00] [ 1.94093855e-02 -5.21015594e-04 9.99811484e-01 1.64670477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83925415399997 meters Centerline goodness [0,1] 0.9991209450912287 Centerline is valid? [True, True] Translation: X:185.89, Y:2.69, Z:1.65 [[ 9.99041802e-01 -3.93541574e-02 -1.91501719e-02 1.85888668e+02] [ 3.93566162e-02 9.99225197e-01 -2.48614685e-04 2.68755274e+00] [ 1.91451183e-02 -5.05309503e-04 9.99816588e-01 1.64765273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86925415399998 meters Centerline goodness [0,1] 0.9992269535527927 Centerline is valid? [True, True] Translation: X:185.92, Y:2.69, Z:1.65 [[ 9.99079722e-01 -3.87273202e-02 -1.84364564e-02 1.85920840e+02] [ 3.87295164e-02 9.99249702e-01 -2.38045935e-04 2.68994762e+00] [ 1.84318425e-02 -4.76208175e-04 9.99830006e-01 1.64794177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89925415399998 meters Centerline goodness [0,1] 0.9992485400206115 Centerline is valid? [True, True] Translation: X:185.95, Y:2.69, Z:1.65 [[ 9.99129726e-01 -3.81878324e-02 -1.67773718e-02 1.85952518e+02] [ 3.81895942e-02 9.99270488e-01 -2.15476034e-04 2.69274222e+00] [ 1.67733611e-02 -4.25432509e-04 9.99859227e-01 1.65026192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92925415399998 meters Centerline goodness [0,1] 0.9992898644286636 Centerline is valid? [True, True] Translation: X:185.98, Y:2.69, Z:1.65 [[ 9.99170448e-01 -3.74552412e-02 -1.59850284e-02 1.85984874e+02] [ 3.74567646e-02 9.99298228e-01 -2.04187030e-04 2.69489454e+00] [ 1.59814584e-02 -3.94729798e-04 9.99872210e-01 1.65101810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95925415399998 meters Centerline goodness [0,1] 0.9991841641976899 Centerline is valid? [True, True] Translation: X:186.02, Y:2.70, Z:1.65 [[ 9.99213760e-01 -3.65699866e-02 -1.53133491e-02 1.86015937e+02] [ 3.65712953e-02 9.99331027e-01 -1.94650740e-04 2.69655102e+00] [ 1.53102232e-02 -3.65531313e-04 9.99882725e-01 1.65149173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98925415399998 meters Centerline goodness [0,1] 0.9992456896551725 Centerline is valid? [True, True] Translation: X:186.05, Y:2.70, Z:1.65 [[ 9.99262870e-01 -3.53201108e-02 -1.50401309e-02 1.86048411e+02] [ 3.53212451e-02 9.99375992e-01 -1.90286623e-04 2.69867983e+00] [ 1.50374667e-02 -3.41089793e-04 9.99886873e-01 1.65195178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01925415399998 meters Centerline goodness [0,1] 0.999309928405072 Centerline is valid? [True, True] Translation: X:186.08, Y:2.70, Z:1.65 [[ 9.99311961e-01 -3.37719796e-02 -1.53315746e-02 1.86079922e+02] [ 3.37729915e-02 9.99429511e-01 -1.92981299e-04 2.70056466e+00] [ 1.53293455e-02 -3.24944619e-04 9.99882446e-01 1.65113934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04925415399998 meters Centerline goodness [0,1] 0.9991802394563694 Centerline is valid? [True, True] Translation: X:186.11, Y:2.70, Z:1.65 [[ 9.99393658e-01 -3.17281977e-02 -1.43400463e-02 1.86111504e+02] [ 3.17288842e-02 9.99496496e-01 -1.79691180e-04 2.70474996e+00] [ 1.43385273e-02 -2.75411441e-04 9.99897160e-01 1.65290996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07925415399998 meters Centerline goodness [0,1] 0.999438832772166 Centerline is valid? [True, True] Translation: X:186.14, Y:2.71, Z:1.65 [[ 9.99413491e-01 -3.10328500e-02 -1.44788527e-02 1.86143839e+02] [ 3.10334917e-02 9.99518329e-01 -1.80406617e-04 2.70752267e+00] [ 1.44774772e-02 -2.69028550e-04 9.99895160e-01 1.65371112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10925415399998 meters Centerline goodness [0,1] 0.9992225797395642 Centerline is valid? [True, True] Translation: X:186.18, Y:2.71, Z:1.65 [[ 9.99418428e-01 -3.07405954e-02 -1.47587496e-02 1.86175094e+02] [ 3.07412446e-02 9.99527360e-01 -1.82925122e-04 2.70752636e+00] [ 1.47573973e-02 -2.70883595e-04 9.99891067e-01 1.65341353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13925415399999 meters Centerline goodness [0,1] 0.9990927941938829 Centerline is valid? [True, True] Translation: X:186.21, Y:2.71, Z:1.65 [[ 9.99394809e-01 -3.11324968e-02 -1.55171737e-02 1.86207486e+02] [ 3.11332769e-02 9.99515224e-01 -1.91351518e-04 2.71009848e+00] [ 1.55156086e-02 -2.91864752e-04 9.99879583e-01 1.65285384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.169254154 meters Centerline goodness [0,1] 0.9992868411384609 Centerline is valid? [True, True] Translation: X:186.24, Y:2.71, Z:1.65 [[ 9.99366753e-01 -3.15734088e-02 -1.64076901e-02 1.86239066e+02] [ 3.15743586e-02 9.99501385e-01 -2.01225331e-04 2.70788307e+00] [ 1.64058624e-02 -3.16964385e-04 9.99865365e-01 1.65197656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.199254154 meters Centerline goodness [0,1] 0.999330294454406 Centerline is valid? [True, True] Translation: X:186.27, Y:2.71, Z:1.65 [[ 9.99340433e-01 -3.21501039e-02 -1.68839895e-02 1.86270284e+02] [ 3.21512055e-02 9.99482995e-01 -2.06263543e-04 2.71091566e+00] [ 1.68818918e-02 -3.36713118e-04 9.99857434e-01 1.65239698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.229254154 meters Centerline goodness [0,1] 0.9991986485315776 Centerline is valid? [True, True] Translation: X:186.30, Y:2.71, Z:1.65 [[ 9.99313613e-01 -3.25655478e-02 -1.76575074e-02 1.86301139e+02] [ 3.25668403e-02 9.99469537e-01 -2.14420242e-04 2.70872350e+00] [ 1.76551234e-02 -3.60776156e-04 9.99844071e-01 1.65134169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259254154 meters Centerline goodness [0,1] 0.9991784494314006 Centerline is valid? [True, True] Translation: X:186.33, Y:2.71, Z:1.65 [[ 9.99310848e-01 -3.25976742e-02 -1.77544718e-02 1.86331137e+02] [ 3.25990074e-02 9.99468488e-01 -2.14396349e-04 2.70785650e+00] [ 1.77520239e-02 -3.64529561e-04 9.99842354e-01 1.65032358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.289254154 meters Centerline goodness [0,1] 0.9993502696381001 Centerline is valid? [True, True] Translation: X:186.36, Y:2.71, Z:1.65 [[ 9.99328932e-01 -3.20548834e-02 -1.77248437e-02 1.86362007e+02] [ 3.20561350e-02 9.99486047e-01 -2.13571000e-04 2.71217983e+00] [ 1.77225800e-02 -3.54762304e-04 9.99842880e-01 1.65211692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319254154 meters Centerline goodness [0,1] 0.9993710419016223 Centerline is valid? [True, True] Translation: X:186.39, Y:2.71, Z:1.65 [[ 9.99360169e-01 -3.11454690e-02 -1.75844357e-02 1.86392970e+02] [ 3.11465714e-02 9.99514806e-01 -2.11239374e-04 2.71331505e+00] [ 1.75824829e-02 -3.36590665e-04 9.99845360e-01 1.65273523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349254154 meters Centerline goodness [0,1] 0.9995225694444444 Centerline is valid? [True, True] Translation: X:186.42, Y:2.72, Z:1.65 [[ 9.99446417e-01 -2.85519601e-02 -1.70776133e-02 1.86424199e+02] [ 2.85526318e-02 9.99592270e-01 -2.04539560e-04 2.71580646e+00] [ 1.70764902e-02 -2.83184475e-04 9.99854146e-01 1.65362253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379254154 meters Centerline goodness [0,1] 0.999523241954708 Centerline is valid? [True, True] Translation: X:186.45, Y:2.72, Z:1.65 [[ 9.99484964e-01 -2.71293648e-02 -1.71407195e-02 1.86454830e+02] [ 2.71298406e-02 9.99631897e-01 -2.04813969e-04 2.71677520e+00] [ 1.71399664e-02 -2.60316504e-04 9.99853066e-01 1.65365942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40925415399997 meters Centerline goodness [0,1] 0.9994556815955061 Centerline is valid? [True, True] Translation: X:186.49, Y:2.72, Z:1.65 [[ 9.99517259e-01 -2.61836839e-02 -1.67231709e-02 1.86485818e+02] [ 2.61840094e-02 9.99657120e-01 -1.99528424e-04 2.71835037e+00] [ 1.67226613e-02 -2.38447562e-04 9.99860138e-01 1.65430969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43925415399997 meters Centerline goodness [0,1] 0.9994125454189422 Centerline is valid? [True, True] Translation: X:186.52, Y:2.72, Z:1.65 [[ 9.99540862e-01 -2.51966370e-02 -1.68284111e-02 1.86515950e+02] [ 2.51968319e-02 9.99682489e-01 -2.00482679e-04 2.71892818e+00] [ 1.68281194e-02 -2.23632015e-04 9.99858372e-01 1.65420339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46925415399997 meters Centerline goodness [0,1] 0.9996087041586053 Centerline is valid? [True, True] Translation: X:186.55, Y:2.72, Z:1.65 [[ 9.99562705e-01 -2.45875642e-02 -1.64271158e-02 1.86546741e+02] [ 2.45876703e-02 9.99697658e-01 -1.95539317e-04 2.71959244e+00] [ 1.64269570e-02 -2.08450698e-04 9.99865047e-01 1.65445604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49925415399997 meters Centerline goodness [0,1] 0.999543329346526 Centerline is valid? [True, True] Translation: X:186.58, Y:2.72, Z:1.65 [[ 9.99608908e-01 -2.28843937e-02 -1.60727966e-02 1.86577316e+02] [ 2.28842751e-02 9.99738102e-01 -1.91321697e-04 2.72093282e+00] [ 1.60729655e-02 -1.76567427e-04 9.99870806e-01 1.65478576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52925415399997 meters Centerline goodness [0,1] 0.9995005971121486 Centerline is valid? [True, True] Translation: X:186.61, Y:2.72, Z:1.65 [[ 9.99632678e-01 -2.18248767e-02 -1.60680966e-02 1.86607184e+02] [ 2.18246194e-02 9.99761796e-01 -1.91386683e-04 2.72074807e+00] [ 1.60684461e-02 -1.59363709e-04 9.99870881e-01 1.65445711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55925415399997 meters Centerline goodness [0,1] 0.9995658214657868 Centerline is valid? [True, True] Translation: X:186.64, Y:2.72, Z:1.66 [[ 9.99666900e-01 -2.02015614e-02 -1.60619147e-02 1.86637307e+02] [ 2.02010921e-02 9.99795919e-01 -1.91482036e-04 2.72218490e+00] [ 1.60625050e-02 -1.33049964e-04 9.99870981e-01 1.65536695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58925415399997 meters Centerline goodness [0,1] 0.9993273007399692 Centerline is valid? [True, True] Translation: X:186.67, Y:2.72, Z:1.66 [[ 9.99735744e-01 -1.70048352e-02 -1.54686175e-02 1.86667145e+02] [ 1.70040138e-02 9.99855404e-01 -1.84629067e-04 2.72332988e+00] [ 1.54695204e-02 -7.84483085e-05 9.99880337e-01 1.65580233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61925415399998 meters Centerline goodness [0,1] 0.9994790762285118 Centerline is valid? [True, True] Translation: X:186.70, Y:2.72, Z:1.66 [[ 9.99757383e-01 -1.57630692e-02 -1.53850944e-02 1.86695645e+02] [ 1.57620806e-02 9.99875753e-01 -1.85519695e-04 2.72391251e+00] [ 1.53861072e-02 -5.70264124e-05 9.99881625e-01 1.65626110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64925415399998 meters Centerline goodness [0,1] 0.9991546364936923 Centerline is valid? [True, True] Translation: X:186.72, Y:2.72, Z:1.66 [[ 9.99779225e-01 -1.47293781e-02 -1.49849128e-02 1.86724674e+02] [ 1.47282673e-02 9.99891516e-01 -1.84489430e-04 2.72397119e+00] [ 1.49860046e-02 -3.62531018e-05 9.99887703e-01 1.65608263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67925415399998 meters Centerline goodness [0,1] 0.9991546364936923 Centerline is valid? [True, True] Translation: X:186.75, Y:2.72, Z:1.66 [[ 9.99775411e-01 -1.49860556e-02 -1.49848646e-02 1.86752899e+02] [ 1.49849159e-02 9.99887702e-01 -1.88337250e-04 2.72436050e+00] [ 1.49860043e-02 -3.62519845e-05 9.99887703e-01 1.65634793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70925415399998 meters Centerline goodness [0,1] 0.9991765980498375 Centerline is valid? [True, True] Translation: X:186.78, Y:2.72, Z:1.66 [[ 9.99780329e-01 -1.42326394e-02 -1.53858743e-02 1.86780344e+02] [ 1.42313023e-02 9.99898711e-01 -1.96393357e-04 2.72383581e+00] [ 1.53871111e-02 -2.26108141e-05 9.99881611e-01 1.65588848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73925415399998 meters Centerline goodness [0,1] 0.9993933222109072 Centerline is valid? [True, True] Translation: X:186.81, Y:2.72, Z:1.66 [[ 9.99778700e-01 -1.39558004e-02 -1.57412618e-02 1.86808327e+02] [ 1.39543235e-02 9.99902613e-01 -2.03659915e-04 2.72308585e+00] [ 1.57425710e-02 -1.60438154e-05 9.99876078e-01 1.65569216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76925415399998 meters Centerline goodness [0,1] 0.9993071493526177 Centerline is valid? [True, True] Translation: X:186.84, Y:2.72, Z:1.65 [[ 9.99755007e-01 -1.44928868e-02 -1.67296521e-02 1.86836599e+02] [ 1.44912341e-02 9.99894972e-01 -2.20017305e-04 2.71999965e+00] [ 1.67310837e-02 -2.24699019e-05 9.99860025e-01 1.65451305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79925415399998 meters Centerline goodness [0,1] 0.9991775603843823 Centerline is valid? [True, True] Translation: X:186.86, Y:2.72, Z:1.65 [[ 9.99729518e-01 -1.54784914e-02 -1.73581752e-02 1.86864212e+02] [ 1.54768062e-02 9.99880200e-01 -2.31425870e-04 2.71815348e+00] [ 1.73596779e-02 -3.72858404e-05 9.99849309e-01 1.65424453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82925415399998 meters Centerline goodness [0,1] 0.9993945422306794 Centerline is valid? [True, True] Translation: X:186.89, Y:2.72, Z:1.65 [[ 9.99701098e-01 -1.69412703e-02 -1.76269055e-02 1.86891720e+02] [ 1.69396713e-02 9.99856485e-01 -2.40029639e-04 2.71592910e+00] [ 1.76284422e-02 -5.86360904e-05 9.99844605e-01 1.65395875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85925415399998 meters Centerline goodness [0,1] 0.9992879490775703 Centerline is valid? [True, True] Translation: X:186.92, Y:2.71, Z:1.65 [[ 9.99672489e-01 -1.86225139e-02 -1.75532751e-02 1.86919183e+02] [ 1.86211287e-02 9.99826582e-01 -2.42367889e-04 2.71316177e+00] [ 1.75547446e-02 -8.45732842e-05 9.99845900e-01 1.65338915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88925415399999 meters Centerline goodness [0,1] 0.9990967741935484 Centerline is valid? [True, True] Translation: X:186.95, Y:2.71, Z:1.65 [[ 9.99574227e-01 -2.29291124e-02 -1.80449406e-02 1.86948164e+02] [ 2.29282966e-02 9.99737080e-01 -2.52121758e-04 2.70676750e+00] [ 1.80459771e-02 -1.61725338e-04 9.99837145e-01 1.65299809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.919254154 meters Centerline goodness [0,1] 0.9991625509984969 Centerline is valid? [True, True] Translation: X:186.98, Y:2.70, Z:1.65 [[ 9.99514896e-01 -2.53837321e-02 -1.80454721e-02 1.86976498e+02] [ 2.53832360e-02 9.99677761e-01 -2.56570390e-04 2.70376514e+00] [ 1.80461699e-02 -2.01606552e-04 9.99837134e-01 1.65298477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.949254154 meters Centerline goodness [0,1] 0.9990982673851901 Centerline is valid? [True, True] Translation: X:187.01, Y:2.70, Z:1.65 [[ 9.99440784e-01 -2.79887080e-02 -1.82962300e-02 1.87006144e+02] [ 2.79885855e-02 9.99608208e-01 -2.62810107e-04 2.70114872e+00] [ 1.82964174e-02 -2.49422459e-04 9.99832575e-01 1.65300082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979254154 meters Centerline goodness [0,1] 0.9991005268342827 Centerline is valid? [True, True] Translation: X:187.04, Y:2.70, Z:1.65 [[ 9.99350124e-01 -3.07345628e-02 -1.88339157e-02 1.87036121e+02] [ 3.07349107e-02 9.99527534e-01 -2.71053594e-04 2.69806560e+00] [ 1.88333480e-02 -3.07981273e-04 9.99822589e-01 1.65287856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.009254154 meters Centerline goodness [0,1] 0.9989973119426547 Centerline is valid? [True, True] Translation: X:187.07, Y:2.69, Z:1.65 [[ 9.99165898e-01 -3.61210466e-02 -1.90467473e-02 1.87065501e+02] [ 3.61223739e-02 9.99347336e-01 -2.74461115e-04 2.69106273e+00] [ 1.90442300e-02 -4.13781542e-04 9.99818557e-01 1.65239398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039254154 meters Centerline goodness [0,1] 0.9991032539072509 Centerline is valid? [True, True] Translation: X:187.10, Y:2.69, Z:1.65 [[ 9.99078430e-01 -3.85789413e-02 -1.88137016e-02 1.87096610e+02] [ 3.85806750e-02 9.99255452e-01 -2.70927872e-04 2.68873384e+00] [ 1.88101460e-02 -4.55167113e-04 9.99822970e-01 1.65271662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069254154 meters Centerline goodness [0,1] 0.9989350372736954 Centerline is valid? [True, True] Translation: X:187.13, Y:2.69, Z:1.65 [[ 9.98994773e-01 -4.08970015e-02 -1.83542798e-02 1.87127628e+02] [ 4.08990545e-02 9.99163249e-01 -2.63659267e-04 2.68584160e+00] [ 1.83497047e-02 -4.87278459e-04 9.99831511e-01 1.65313061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099254154 meters Centerline goodness [0,1] 0.9989988923915821 Centerline is valid? [True, True] Translation: X:187.16, Y:2.68, Z:1.65 [[ 9.98904265e-01 -4.31647826e-02 -1.80850801e-02 1.87160041e+02] [ 4.31671646e-02 9.99067830e-01 -2.58824628e-04 2.68372662e+00] [ 1.80793938e-02 -5.22140602e-04 9.99836418e-01 1.65398569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129254154 meters Centerline goodness [0,1] 0.9988100803195784 Centerline is valid? [True, True] Translation: X:187.19, Y:2.68, Z:1.66 [[ 9.98705473e-01 -4.79672403e-02 -1.69269457e-02 1.87191229e+02] [ 4.79700289e-02 9.98848746e-01 -2.41472315e-04 2.67927393e+00] [ 1.69190413e-02 -5.70826354e-04 9.99856700e-01 1.65501261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15925415399997 meters Centerline goodness [0,1] 0.9988528212100611 Centerline is valid? [True, True] Translation: X:187.22, Y:2.68, Z:1.66 [[ 9.98597855e-01 -5.02021823e-02 -1.67948122e-02 1.87223805e+02] [ 5.02052552e-02 9.98738892e-01 -2.38875361e-04 2.67692751e+00] [ 1.67856242e-02 -6.04647408e-04 9.99858929e-01 1.65569221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18925415399997 meters Centerline goodness [0,1] 0.9986839870945832 Centerline is valid? [True, True] Translation: X:187.26, Y:2.68, Z:1.66 [[ 9.98488420e-01 -5.23272035e-02 -1.68148645e-02 1.87255809e+02] [ 5.23306052e-02 9.98629787e-01 -2.37927789e-04 2.67579656e+00] [ 1.68042747e-02 -6.42363895e-04 9.99858592e-01 1.65600658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21925415399997 meters Centerline goodness [0,1] 0.9985382285024257 Centerline is valid? [True, True] Translation: X:187.29, Y:2.67, Z:1.66 [[ 9.98398304e-01 -5.37639821e-02 -1.76141979e-02 1.87287244e+02] [ 5.37679590e-02 9.98553426e-01 -2.48063913e-04 2.67309467e+00] [ 1.76020546e-02 -6.99412880e-04 9.99844827e-01 1.65529321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24925415399997 meters Centerline goodness [0,1] 0.9986651976778677 Centerline is valid? [True, True] Translation: X:187.32, Y:2.67, Z:1.66 [[ 9.98205151e-01 -5.74116062e-02 -1.70406443e-02 1.87317043e+02] [ 5.74158671e-02 9.98350320e-01 -2.39489945e-04 2.66835778e+00] [ 1.70262821e-02 -7.39343271e-04 9.99854769e-01 1.65582483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27925415399997 meters Centerline goodness [0,1] 0.9988343506273313 Centerline is valid? [True, True] Translation: X:187.35, Y:2.67, Z:1.66 [[ 9.98140372e-01 -5.84854998e-02 -1.71826574e-02 1.87349278e+02] [ 5.84900005e-02 9.98287965e-01 -2.40925854e-04 2.66744728e+00] [ 1.71673308e-02 -7.64535821e-04 9.99852338e-01 1.65607794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30925415399997 meters Centerline goodness [0,1] 0.998684294293657 Centerline is valid? [True, True] Translation: X:187.38, Y:2.67, Z:1.66 [[ 9.98087788e-01 -5.94480339e-02 -1.69321697e-02 1.87380133e+02] [ 5.94525605e-02 9.98231104e-01 -2.36348601e-04 2.66593399e+00] [ 1.69162690e-02 -7.70764194e-04 9.99856613e-01 1.65656623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33925415399997 meters Centerline goodness [0,1] 0.9986844897093147 Centerline is valid? [True, True] Translation: X:187.41, Y:2.67, Z:1.66 [[ 9.98036081e-01 -6.01554609e-02 -1.74728654e-02 1.87412077e+02] [ 6.01604089e-02 9.98188693e-01 -2.42783232e-04 2.66876626e+00] [ 1.74558214e-02 -8.08868302e-04 9.99847308e-01 1.65734968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36925415399998 meters Centerline goodness [0,1] 0.998706037079462 Centerline is valid? [True, True] Translation: X:187.44, Y:2.66, Z:1.66 [[ 9.97971083e-01 -6.05908873e-02 -1.95566489e-02 1.87443540e+02] [ 6.05971957e-02 9.98162265e-01 -2.70406209e-04 2.66407745e+00] [ 1.95370931e-02 -9.15220503e-04 9.99808714e-01 1.65594423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39925415399998 meters Centerline goodness [0,1] 0.9986212162993445 Centerline is valid? [True, True] Translation: X:187.48, Y:2.67, Z:1.66 [[ 9.97956993e-01 -6.10267722e-02 -1.89095864e-02 1.87476045e+02] [ 6.10327706e-02 9.98135729e-01 -2.60260228e-04 2.66853516e+00] [ 1.88902167e-02 -8.94375936e-04 9.99821164e-01 1.65746742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42925415399998 meters Centerline goodness [0,1] 0.9986634986634987 Centerline is valid? [True, True] Translation: X:187.51, Y:2.67, Z:1.66 [[ 9.97954167e-01 -6.09073806e-02 -1.94363259e-02 1.87507041e+02] [ 6.09137199e-02 9.98143000e-01 -2.66249454e-04 2.66536786e+00] [ 1.94164492e-02 -9.18234159e-04 9.99811061e-01 1.65679671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45925415399998 meters Centerline goodness [0,1] 0.9986186671200272 Centerline is valid? [True, True] Translation: X:187.54, Y:2.67, Z:1.66 [[ 9.97949124e-01 -6.07922586e-02 -2.00461270e-02 1.87539442e+02] [ 6.07990052e-02 9.98149992e-01 -2.73295680e-04 2.66821130e+00] [ 2.00256558e-02 -9.46049395e-04 9.99799019e-01 1.65759476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48925415399998 meters Centerline goodness [0,1] 0.9986215087057028 Centerline is valid? [True, True] Translation: X:187.57, Y:2.67, Z:1.66 [[ 9.97979593e-01 -6.01862430e-02 -2.03555383e-02 1.87570547e+02] [ 6.01931000e-02 9.98186713e-01 -2.76224405e-04 2.66793625e+00] [ 2.03352528e-02 -9.49596635e-04 9.99792766e-01 1.65742296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51925415399998 meters Centerline goodness [0,1] 0.9987045256652579 Centerline is valid? [True, True] Translation: X:187.60, Y:2.67, Z:1.66 [[ 9.98051186e-01 -5.83787327e-02 -2.20398123e-02 1.87603228e+02] [ 5.83863690e-02 9.98294017e-01 -2.97401792e-04 2.66961644e+00] [ 2.20195747e-02 -9.90002402e-04 9.99757050e-01 1.65672133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54925415399998 meters Centerline goodness [0,1] 0.9989178866963717 Centerline is valid? [True, True] Translation: X:187.63, Y:2.67, Z:1.66 [[ 9.98112882e-01 -5.69041867e-02 -2.30778699e-02 1.87634178e+02] [ 5.69121977e-02 9.98379139e-01 -3.10049760e-04 2.67167406e+00] [ 2.30581070e-02 -1.00394763e-03 9.99733622e-01 1.65656633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57925415399998 meters Centerline goodness [0,1] 0.9989171054866656 Centerline is valid? [True, True] Translation: X:187.67, Y:2.68, Z:1.66 [[ 9.98190385e-01 -5.51634673e-02 -2.39363164e-02 1.87665178e+02] [ 5.51716071e-02 9.98476835e-01 -3.20707521e-04 2.67604131e+00] [ 2.39175488e-02 -1.00047788e-03 9.99713434e-01 1.65716723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60925415399998 meters Centerline goodness [0,1] 0.9989994039001958 Centerline is valid? [True, True] Translation: X:187.70, Y:2.68, Z:1.66 [[ 9.98291745e-01 -5.30383230e-02 -2.45056568e-02 1.87696050e+02] [ 5.30462377e-02 9.98592004e-01 -3.27437321e-04 2.67682275e+00] [ 2.44885197e-02 -9.73054922e-04 9.99699638e-01 1.65669065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63925415399999 meters Centerline goodness [0,1] 0.9988721724512162 Centerline is valid? [True, True] Translation: X:187.73, Y:2.68, Z:1.66 [[ 9.98412008e-01 -5.07325031e-02 -2.44882519e-02 1.87726528e+02] [ 5.07397222e-02 9.98711857e-01 -3.26865094e-04 2.67995739e+00] [ 2.44732902e-02 -9.16181063e-04 9.99700064e-01 1.65733293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.669254154 meters Centerline goodness [0,1] 0.998767321261583 Centerline is valid? [True, True] Translation: X:187.76, Y:2.69, Z:1.66 [[ 9.98706827e-01 -4.50023034e-02 -2.36530475e-02 1.87757234e+02] [ 4.50074390e-02 9.98986602e-01 -3.15457791e-04 2.68893403e+00] [ 2.36432739e-02 -7.49513243e-04 9.99720178e-01 1.65993616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.699254154 meters Centerline goodness [0,1] 0.9991045921630495 Centerline is valid? [True, True] Translation: X:187.79, Y:2.69, Z:1.66 [[ 9.98862514e-01 -4.16177825e-02 -2.32731302e-02 1.87787198e+02] [ 4.16218404e-02 9.99133388e-01 -3.10223725e-04 2.69158861e+00] [ 2.32658723e-02 -6.58799662e-04 9.99729096e-01 1.66084267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.729254154 meters Centerline goodness [0,1] 0.9993819530284301 Centerline is valid? [True, True] Translation: X:187.82, Y:2.70, Z:1.66 [[ 9.99026571e-01 -3.79848255e-02 -2.24290968e-02 1.87817753e+02] [ 3.79876792e-02 9.99278163e-01 -2.98973016e-04 2.69658727e+00] [ 2.24242631e-02 -5.53347348e-04 9.99748391e-01 1.66235478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759254154 meters Centerline goodness [0,1] 0.9994026666666667 Centerline is valid? [True, True] Translation: X:187.85, Y:2.70, Z:1.66 [[ 9.99169909e-01 -3.43127191e-02 -2.19574477e-02 1.87848008e+02] [ 3.43145678e-02 9.99411039e-01 -2.92686077e-04 2.70042178e+00] [ 2.19545584e-02 -4.61017205e-04 9.99758863e-01 1.66302096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.789254154 meters Centerline goodness [0,1] 0.9996146682936228 Centerline is valid? [True, True] Translation: X:187.88, Y:2.71, Z:1.66 [[ 9.99423101e-01 -2.63997012e-02 -2.13663390e-02 1.87878181e+02] [ 2.63996389e-02 9.99651428e-01 -2.85026604e-04 2.70904348e+00] [ 2.13664160e-02 -2.79201463e-04 9.99771673e-01 1.66456500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819254154 meters Centerline goodness [0,1] 0.9996140320782229 Centerline is valid? [True, True] Translation: X:187.91, Y:2.71, Z:1.66 [[ 9.99511079e-01 -2.29231433e-02 -2.12633858e-02 1.87906433e+02] [ 2.29222270e-02 9.99737210e-01 -2.86849549e-04 2.71218664e+00] [ 2.12643735e-02 -2.00694856e-04 9.99773868e-01 1.66398142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849254154 meters Centerline goodness [0,1] 0.9994200532691812 Centerline is valid? [True, True] Translation: X:187.94, Y:2.72, Z:1.67 [[ 9.99586132e-01 -1.96750315e-02 -2.09870663e-02 1.87935512e+02] [ 1.96733121e-02 9.99806420e-01 -2.88408669e-04 2.71635174e+00] [ 2.09886781e-02 -1.24595800e-04 9.99779706e-01 1.66522373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879254154 meters Centerline goodness [0,1] 0.9997208922858922 Centerline is valid? [True, True] Translation: X:187.96, Y:2.72, Z:1.66 [[ 9.99633858e-01 -1.66681678e-02 -2.13148508e-02 1.87963660e+02] [ 1.66656250e-02 9.99861075e-01 -2.96938049e-04 2.71923203e+00] [ 2.13168390e-02 -5.83959822e-05 9.99772769e-01 1.66474443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90925415399997 meters Centerline goodness [0,1] 0.9998711478578332 Centerline is valid? [True, True] Translation: X:187.99, Y:2.72, Z:1.67 [[ 9.99664537e-01 -1.45028550e-02 -2.14588128e-02 1.87991281e+02] [ 1.44996764e-02 9.99894828e-01 -3.03716743e-04 2.72185218e+00] [ 2.14609607e-02 -7.53098407e-06 9.99769687e-01 1.66606611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93925415399997 meters Centerline goodness [0,1] 0.999892355056083 Centerline is valid? [True, True] Translation: X:188.02, Y:2.72, Z:1.67 [[ 9.99688219e-01 -1.27470930e-02 -2.14703734e-02 1.88018004e+02] [ 1.27433942e-02 9.99918752e-01 -3.09089844e-04 2.72361654e+00] [ 2.14725690e-02 3.53880430e-05 9.99769437e-01 1.66593416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96925415399997 meters Centerline goodness [0,1] 0.9998278348074978 Centerline is valid? [True, True] Translation: X:188.05, Y:2.73, Z:1.67 [[ 9.99710023e-01 -1.10959836e-02 -2.13717048e-02 1.88045387e+02] [ 1.10918512e-02 9.99938435e-01 -3.11893274e-04 2.72561408e+00] [ 2.13738498e-02 7.47510621e-05 9.99771550e-01 1.66504684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99925415399997 meters Centerline goodness [0,1] 0.9997199301979878 Centerline is valid? [True, True] Translation: X:188.07, Y:2.73, Z:1.67 [[ 9.99709173e-01 -1.13307844e-02 -2.12880791e-02 1.88073087e+02] [ 1.13266270e-02 9.99935802e-01 -3.15864003e-04 2.72556291e+00] [ 2.12902914e-02 7.46500109e-05 9.99773333e-01 1.66688594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02925415399997 meters Centerline goodness [0,1] 0.9998922970877132 Centerline is valid? [True, True] Translation: X:188.10, Y:2.73, Z:1.67 [[ 9.99694611e-01 -1.21625103e-02 -2.15118174e-02 1.88101146e+02] [ 1.21583232e-02 9.99926032e-01 -3.25426188e-04 2.72542777e+00] [ 2.15141842e-02 6.37791781e-05 9.99768541e-01 1.66782083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05925415399997 meters Centerline goodness [0,1] 0.9996775996217169 Centerline is valid? [True, True] Translation: X:188.13, Y:2.72, Z:1.67 [[ 9.99661695e-01 -1.41804362e-02 -2.18038970e-02 1.88127924e+02] [ 1.41765200e-02 9.99899452e-01 -3.34178179e-04 2.72439016e+00] [ 2.18064435e-02 2.49617432e-05 9.99762211e-01 1.66725987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08925415399997 meters Centerline goodness [0,1] 0.9998063599982787 Centerline is valid? [True, True] Translation: X:188.16, Y:2.72, Z:1.67 [[ 9.99622077e-01 -1.59212764e-02 -2.24101609e-02 1.88156082e+02] [ 1.59174645e-02 9.99873248e-01 -3.48476319e-04 2.72363987e+00] [ 2.24128685e-02 -8.36831893e-06 9.99748800e-01 1.66807309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11925415399998 meters Centerline goodness [0,1] 0.9996988146203989 Centerline is valid? [True, True] Translation: X:188.18, Y:2.72, Z:1.67 [[ 9.99588579e-01 -1.74203779e-02 -2.27860328e-02 1.88183687e+02] [ 1.74167358e-02 9.99848253e-01 -3.58298311e-04 2.72270840e+00] [ 2.27888168e-02 -3.87074140e-05 9.99740300e-01 1.66803930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14925415399998 meters Centerline goodness [0,1] 0.9995274102079396 Centerline is valid? [True, True] Translation: X:188.21, Y:2.72, Z:1.67 [[ 9.99513806e-01 -2.13986725e-02 -2.26770515e-02 1.88212077e+02] [ 2.13959918e-02 9.99771014e-01 -3.60863449e-04 2.71995253e+00] [ 2.26795808e-02 -1.24510008e-04 9.99742777e-01 1.66854561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17925415399998 meters Centerline goodness [0,1] 0.9995070618744508 Centerline is valid? [True, True] Translation: X:188.24, Y:2.72, Z:1.67 [[ 9.99466336e-01 -2.44101091e-02 -2.17069068e-02 1.88239559e+02] [ 2.44082340e-02 9.99702013e-01 -3.51364058e-04 2.71850061e+00] [ 2.17090153e-02 -1.78650714e-04 9.99764316e-01 1.66915275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20925415399998 meters Centerline goodness [0,1] 0.9994430640047982 Centerline is valid? [True, True] Translation: X:188.27, Y:2.72, Z:1.67 [[ 9.99409329e-01 -2.71429596e-02 -2.10773186e-02 1.88266866e+02] [ 2.71417160e-02 9.99631536e-01 -3.45119499e-04 2.71680206e+00] [ 2.10789199e-02 -2.27158948e-04 9.99777789e-01 1.66936055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23925415399998 meters Centerline goodness [0,1] 0.999121830020562 Centerline is valid? [True, True] Translation: X:188.29, Y:2.71, Z:1.67 [[ 9.99341239e-01 -2.98829492e-02 -2.05936449e-02 1.88294835e+02] [ 2.98823024e-02 9.99553367e-01 -3.39201964e-04 2.71365864e+00] [ 2.05945834e-02 -2.76407013e-04 9.99787871e-01 1.66856246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26925415399998 meters Centerline goodness [0,1] 0.9993789218940741 Centerline is valid? [True, True] Translation: X:188.32, Y:2.71, Z:1.67 [[ 9.99274377e-01 -3.22797136e-02 -2.02173233e-02 1.88324341e+02] [ 3.22795562e-02 9.99478823e-01 -3.34208720e-04 2.71349345e+00] [ 2.02175747e-02 -3.18640014e-04 9.99795553e-01 1.67030548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29925415399998 meters Centerline goodness [0,1] 0.9992734732253515 Centerline is valid? [True, True] Translation: X:188.36, Y:2.71, Z:1.67 [[ 9.99179664e-01 -3.54103832e-02 -1.96495102e-02 1.88355013e+02] [ 3.54108332e-02 9.99372787e-01 -3.25143505e-04 2.71126337e+00] [ 1.96486993e-02 -3.70928751e-04 9.99806877e-01 1.67056192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32925415399998 meters Centerline goodness [0,1] 0.9995516269536254 Centerline is valid? [True, True] Translation: X:188.39, Y:2.71, Z:1.67 [[ 9.99157147e-01 -3.61777077e-02 -1.93950549e-02 1.88386184e+02] [ 3.61782977e-02 9.99345300e-01 -3.20565912e-04 2.71226580e+00] [ 1.93939542e-02 -3.81384347e-04 9.99811847e-01 1.67153083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35925415399998 meters Centerline goodness [0,1] 0.9996365812989012 Centerline is valid? [True, True] Translation: X:188.42, Y:2.71, Z:1.67 [[ 9.99124452e-01 -3.68792668e-02 -1.97547247e-02 1.88417358e+02] [ 3.68800305e-02 9.99319647e-01 -3.25776465e-04 2.71270749e+00] [ 1.97532989e-02 -4.03063616e-04 9.99804803e-01 1.67194720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38925415399999 meters Centerline goodness [0,1] 0.9997650325750294 Centerline is valid? [True, True] Translation: X:188.45, Y:2.71, Z:1.67 [[ 9.99120570e-01 -3.70917782e-02 -1.95521492e-02 1.88448079e+02] [ 3.70925773e-02 9.99311782e-01 -3.21905005e-04 2.71173504e+00] [ 1.95506331e-02 -4.03617694e-04 9.99808787e-01 1.67140047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.419254154 meters Centerline goodness [0,1] 0.9997651579846285 Centerline is valid? [True, True] Translation: X:188.48, Y:2.71, Z:1.67 [[ 9.99119900e-01 -3.71360255e-02 -1.95023284e-02 1.88479273e+02] [ 3.71368397e-02 9.99310138e-01 -3.20540407e-04 2.71212622e+00] [ 1.95007781e-02 -4.03996545e-04 9.99809760e-01 1.67152417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.449254154 meters Centerline goodness [0,1] 0.9992740781860495 Centerline is valid? [True, True] Translation: X:188.51, Y:2.71, Z:1.67 [[ 9.99136621e-01 -3.68228415e-02 -1.92377252e-02 1.88510983e+02] [ 3.68235891e-02 9.99321732e-01 -3.15490428e-04 2.71200169e+00] [ 1.92362941e-02 -3.93184046e-04 9.99814888e-01 1.67093055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479254154 meters Centerline goodness [0,1] 0.9994242333774044 Centerline is valid? [True, True] Translation: X:188.54, Y:2.71, Z:1.67 [[ 9.99145078e-01 -3.65960467e-02 -1.92312648e-02 1.88542747e+02] [ 3.65967653e-02 9.99330064e-01 -3.14683992e-04 2.71228048e+00] [ 1.92298973e-02 -3.89387123e-04 9.99815013e-01 1.67070393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.509254154 meters Centerline goodness [0,1] 0.9994448833187437 Centerline is valid? [True, True] Translation: X:188.57, Y:2.71, Z:1.67 [[ 9.99162769e-01 -3.60112865e-02 -1.94151487e-02 1.88574429e+02] [ 3.60119224e-02 9.99351310e-01 -3.16985026e-04 2.71286472e+00] [ 1.94139693e-02 -3.82457190e-04 9.99811458e-01 1.67059638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539254154 meters Centerline goodness [0,1] 0.9992101443087695 Centerline is valid? [True, True] Translation: X:188.60, Y:2.71, Z:1.67 [[ 9.99172657e-01 -3.56772033e-02 -1.95227637e-02 1.88604937e+02] [ 3.56777927e-02 9.99363294e-01 -3.18217120e-04 2.71328602e+00] [ 1.95216866e-02 -3.78575272e-04 9.99809362e-01 1.67012852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569254154 meters Centerline goodness [0,1] 0.9992101443087695 Centerline is valid? [True, True] Translation: X:188.64, Y:2.71, Z:1.67 [[ 9.99173938e-01 -3.56413185e-02 -1.95227724e-02 1.88635786e+02] [ 3.56419115e-02 9.99364575e-01 -3.17683821e-04 2.71375819e+00] [ 1.95216898e-02 -3.78407531e-04 9.99809362e-01 1.67041751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599254154 meters Centerline goodness [0,1] 0.9990403275681901 Centerline is valid? [True, True] Translation: X:188.67, Y:2.72, Z:1.67 [[ 9.99191949e-01 -3.51071522e-02 -1.95687558e-02 1.88666847e+02] [ 3.51076595e-02 9.99383486e-01 -3.17721593e-04 2.71502980e+00] [ 1.95678457e-02 -3.69548357e-04 9.99808463e-01 1.66988874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629254154 meters Centerline goodness [0,1] 0.9992095874901198 Centerline is valid? [True, True] Translation: X:188.70, Y:2.72, Z:1.67 [[ 9.99184198e-01 -3.53040257e-02 -1.96103159e-02 1.88697796e+02] [ 3.53045872e-02 9.99376548e-01 -3.17674631e-04 2.71604484e+00] [ 1.96093050e-02 -3.74918637e-04 9.99807649e-01 1.67064726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65925415399997 meters Centerline goodness [0,1] 0.9993176681308371 Centerline is valid? [True, True] Translation: X:188.73, Y:2.72, Z:1.67 [[ 9.99166781e-01 -3.58974413e-02 -1.94195212e-02 1.88728332e+02] [ 3.58981142e-02 9.99355406e-01 -3.14057195e-04 2.71557311e+00] [ 1.94182773e-02 -3.83328672e-04 9.99811374e-01 1.67035648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68925415399997 meters Centerline goodness [0,1] 0.9995300149540697 Centerline is valid? [True, True] Translation: X:188.76, Y:2.72, Z:1.67 [[ 9.99075030e-01 -3.85595615e-02 -1.90327061e-02 1.88759902e+02] [ 3.85607006e-02 9.99256212e-01 -3.07276204e-04 2.71521358e+00] [ 1.90303983e-02 -4.26922500e-04 9.99818814e-01 1.67123836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71925415399997 meters Centerline goodness [0,1] 0.9995523533424284 Centerline is valid? [True, True] Translation: X:188.79, Y:2.71, Z:1.67 [[ 9.98999084e-01 -4.04658652e-02 -1.90615966e-02 1.88790656e+02] [ 4.04673709e-02 9.99180813e-01 -3.06881767e-04 2.71236635e+00] [ 1.90583999e-02 -4.64798096e-04 9.99818264e-01 1.67066806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74925415399997 meters Centerline goodness [0,1] 0.9992961801778745 Centerline is valid? [True, True] Translation: X:188.82, Y:2.71, Z:1.67 [[ 9.98891212e-01 -4.30817624e-02 -1.89818116e-02 1.88822280e+02] [ 4.30837434e-02 9.99071418e-01 -3.04755096e-04 2.71174466e+00] [ 1.89773148e-02 -5.13390313e-04 9.99819783e-01 1.67104861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77925415399997 meters Centerline goodness [0,1] 0.9990198585187079 Centerline is valid? [True, True] Translation: X:188.85, Y:2.71, Z:1.67 [[ 9.98630471e-01 -4.86567779e-02 -1.92276049e-02 1.88852963e+02] [ 4.86598528e-02 9.98815360e-01 -3.08177700e-04 2.70878284e+00] [ 1.92198221e-02 -6.27856784e-04 9.99815085e-01 1.67084914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80925415399997 meters Centerline goodness [0,1] 0.9992531740104555 Centerline is valid? [True, True] Translation: X:188.88, Y:2.71, Z:1.67 [[ 9.98493772e-01 -5.13330875e-02 -1.93675275e-02 1.88884730e+02] [ 5.13367240e-02 9.98681353e-01 -3.09696068e-04 2.70711777e+00] [ 1.93578862e-02 -6.85035818e-04 9.99812384e-01 1.67071524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83925415399997 meters Centerline goodness [0,1] 0.9990625932080617 Centerline is valid? [True, True] Translation: X:188.92, Y:2.71, Z:1.67 [[ 9.98367046e-01 -5.37242664e-02 -1.94150577e-02 1.88916812e+02] [ 5.37283965e-02 9.98555539e-01 -3.09205821e-04 2.70568172e+00] [ 1.94036253e-02 -7.34439017e-04 9.99811462e-01 1.67041794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86925415399998 meters Centerline goodness [0,1] 0.999061633610578 Centerline is valid? [True, True] Translation: X:188.95, Y:2.71, Z:1.67 [[ 9.98262441e-01 -5.55486771e-02 -1.96581819e-02 1.88948907e+02] [ 5.55532930e-02 9.98455675e-01 -3.11627822e-04 2.70602604e+00] [ 1.96451338e-02 -7.80990387e-04 9.99806711e-01 1.67044092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89925415399998 meters Centerline goodness [0,1] 0.9987221263817009 Centerline is valid? [True, True] Translation: X:188.98, Y:2.70, Z:1.67 [[ 9.98157936e-01 -5.73775756e-02 -1.97116619e-02 1.88980276e+02] [ 5.73825974e-02 9.98352213e-01 -3.11215019e-04 2.70408931e+00] [ 1.96970381e-02 -8.20464622e-04 9.99805658e-01 1.66990870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92925415399998 meters Centerline goodness [0,1] 0.9991683016292758 Centerline is valid? [True, True] Translation: X:189.01, Y:2.71, Z:1.67 [[ 9.98086140e-01 -5.87917104e-02 -1.91727047e-02 1.89012411e+02] [ 5.87967449e-02 9.98269929e-01 -3.01493124e-04 2.70550479e+00] [ 1.91572599e-02 -8.26376522e-04 9.99816141e-01 1.67084251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95925415399998 meters Centerline goodness [0,1] 0.9989780928658109 Centerline is valid? [True, True] Translation: X:189.04, Y:2.71, Z:1.67 [[ 9.98087535e-01 -5.90105573e-02 -1.84126672e-02 1.89044930e+02] [ 5.90152617e-02 9.98257039e-01 -2.88229576e-04 2.70672551e+00] [ 1.83975832e-02 -7.98950024e-04 9.99830431e-01 1.67141037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98925415399998 meters Centerline goodness [0,1] 0.9990385437142124 Centerline is valid? [True, True] Translation: X:189.08, Y:2.71, Z:1.67 [[ 9.98132415e-01 -5.85148735e-02 -1.75411185e-02 1.89076661e+02] [ 5.85190885e-02 9.98286252e-01 -2.73334868e-04 2.70922374e+00] [ 1.75270516e-02 -7.53665872e-04 9.99846105e-01 1.67268087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01925415399998 meters Centerline goodness [0,1] 0.9988899088444378 Centerline is valid? [True, True] Translation: X:189.11, Y:2.71, Z:1.67 [[ 9.98258868e-01 -5.67648806e-02 -1.60306056e-02 1.89108455e+02] [ 5.67681936e-02 9.98387355e-01 -2.48670481e-04 2.71421099e+00] [ 1.60188697e-02 -6.61791011e-04 9.99871471e-01 1.67455007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04925415399998 meters Centerline goodness [0,1] 0.9988899088444378 Centerline is valid? [True, True] Translation: X:189.14, Y:2.71, Z:1.67 [[ 9.98265224e-01 -5.66529890e-02 -1.60306280e-02 1.89141021e+02] [ 5.66563107e-02 9.98393711e-01 -2.47225891e-04 2.71462666e+00] [ 1.60188842e-02 -6.61439228e-04 9.99871471e-01 1.67485497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07925415399998 meters Centerline goodness [0,1] 0.9988082570759736 Centerline is valid? [True, True] Translation: X:189.17, Y:2.72, Z:1.68 [[ 9.98432546e-01 -5.41215484e-02 -1.42586837e-02 1.89171391e+02] [ 5.41239331e-02 9.98534202e-01 -2.18873458e-04 2.71811241e+00] [ 1.42496291e-02 -5.53205659e-04 9.99898316e-01 1.67617323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10925415399998 meters Centerline goodness [0,1] 0.9988661161268239 Centerline is valid? [True, True] Translation: X:189.20, Y:2.72, Z:1.68 [[ 9.98508362e-01 -5.29610614e-02 -1.32731535e-02 1.89202440e+02] [ 5.29630303e-02 9.98596453e-01 -2.03369953e-04 2.71918008e+00] [ 1.32652947e-02 -4.99919833e-04 9.99911887e-01 1.67684819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13925415399999 meters Centerline goodness [0,1] 0.9990363406642825 Centerline is valid? [True, True] Translation: X:189.23, Y:2.72, Z:1.68 [[ 9.98593133e-01 -5.15743638e-02 -1.23223136e-02 1.89234356e+02] [ 5.15759637e-02 9.98669057e-01 -1.88118147e-04 2.72141145e+00] [ 1.23156153e-02 -4.47681707e-04 9.99924060e-01 1.67782425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.169254154 meters Centerline goodness [0,1] 0.9990986544198124 Centerline is valid? [True, True] Translation: X:189.27, Y:2.73, Z:1.68 [[ 9.98752809e-01 -4.86890932e-02 -1.10543751e-02 1.89265505e+02] [ 4.86902115e-02 9.98813914e-01 -1.68102386e-04 2.72821453e+00] [ 1.10494484e-02 -3.70347130e-04 9.99938884e-01 1.67887480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.199254154 meters Centerline goodness [0,1] 0.9991206434316354 Centerline is valid? [True, True] Translation: X:189.30, Y:2.73, Z:1.68 [[ 9.98840528e-01 -4.68696926e-02 -1.09923424e-02 1.89297586e+02] [ 4.68706934e-02 9.98900951e-01 -1.66698435e-04 2.73121339e+00] [ 1.09880744e-02 -3.48713558e-04 9.99939568e-01 1.67904234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.229254154 meters Centerline goodness [0,1] 0.9989479108515481 Centerline is valid? [True, True] Translation: X:189.33, Y:2.73, Z:1.68 [[ 9.98928616e-01 -4.49875624e-02 -1.08507369e-02 1.89328677e+02] [ 4.49884348e-02 9.98987494e-01 -1.63792353e-04 2.73298410e+00] [ 1.08471190e-02 -3.24540800e-04 9.99941116e-01 1.67902878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259254154 meters Centerline goodness [0,1] 0.998945896525761 Centerline is valid? [True, True] Translation: X:189.36, Y:2.74, Z:1.68 [[ 9.99032261e-01 -4.26982452e-02 -1.05547012e-02 1.89360563e+02] [ 4.26989491e-02 9.99087971e-01 -1.58740889e-04 2.73594372e+00] [ 1.05518530e-02 -2.92087383e-04 9.99944285e-01 1.67913704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.289254154 meters Centerline goodness [0,1] 0.9990501888828927 Centerline is valid? [True, True] Translation: X:189.39, Y:2.74, Z:1.68 [[ 9.99217804e-01 -3.82358596e-02 -1.00895887e-02 1.89392133e+02] [ 3.82362824e-02 9.99268715e-01 -1.51062020e-04 2.74244778e+00] [ 1.00879863e-02 -2.34844502e-04 9.99949087e-01 1.67942554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319254154 meters Centerline goodness [0,1] 0.9989207856680337 Centerline is valid? [True, True] Translation: X:189.42, Y:2.75, Z:1.68 [[ 9.99290863e-01 -3.62673462e-02 -1.01218162e-02 1.89423970e+02] [ 3.62676765e-02 9.99342100e-01 -1.50973564e-04 2.74537277e+00] [ 1.01206325e-02 -2.16228252e-04 9.99948762e-01 1.67967637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349254154 meters Centerline goodness [0,1] 0.9992002939460091 Centerline is valid? [True, True] Translation: X:189.45, Y:2.75, Z:1.68 [[ 9.99360166e-01 -3.42850904e-02 -1.01877523e-02 1.89454776e+02] [ 3.42853296e-02 9.99412074e-01 -1.51227777e-04 2.74788438e+00] [ 1.01869475e-02 -1.98159429e-04 9.99948092e-01 1.67982309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379254154 meters Centerline goodness [0,1] 0.9991769012498105 Centerline is valid? [True, True] Translation: X:189.49, Y:2.75, Z:1.68 [[ 9.99417449e-01 -3.26157228e-02 -1.00487161e-02 1.89486675e+02] [ 3.26158766e-02 9.99467950e-01 -1.48614980e-04 2.75025560e+00] [ 1.00482168e-02 -1.79219280e-04 9.99949499e-01 1.67976813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40925415399997 meters Centerline goodness [0,1] 0.9989606115068967 Centerline is valid? [True, True] Translation: X:189.52, Y:2.75, Z:1.68 [[ 9.99460417e-01 -3.10842854e-02 -1.06133062e-02 1.89519146e+02] [ 3.10843792e-02 9.99516752e-01 -1.56168616e-04 2.75225746e+00] [ 1.06130317e-02 -1.73823684e-04 9.99943665e-01 1.67969054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43925415399997 meters Centerline goodness [0,1] 0.9992636070260553 Centerline is valid? [True, True] Translation: X:189.55, Y:2.75, Z:1.68 [[ 9.99482432e-01 -3.02670295e-02 -1.08983864e-02 1.89550617e+02] [ 3.02670881e-02 9.99541834e-01 -1.59597529e-04 2.75374148e+00] [ 1.08982237e-02 -1.70347497e-04 9.99940598e-01 1.67945613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46925415399997 meters Centerline goodness [0,1] 0.9991541231076215 Centerline is valid? [True, True] Translation: X:189.58, Y:2.76, Z:1.68 [[ 9.99505415e-01 -2.92151638e-02 -1.16361332e-02 1.89582605e+02] [ 2.92151674e-02 9.99573131e-01 -1.69708266e-04 2.75645502e+00] [ 1.16361241e-02 -1.70327246e-04 9.99932284e-01 1.67869072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49925415399997 meters Centerline goodness [0,1] 0.9990893716664498 Centerline is valid? [True, True] Translation: X:189.61, Y:2.76, Z:1.68 [[ 9.99505608e-01 -2.91775225e-02 -1.17137435e-02 1.89613529e+02] [ 2.91775346e-02 9.99574231e-01 -1.69899618e-04 2.75645061e+00] [ 1.17137134e-02 -1.71962536e-04 9.99931377e-01 1.67846618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52925415399997 meters Centerline goodness [0,1] 0.9991548013783239 Centerline is valid? [True, True] Translation: X:189.65, Y:2.76, Z:1.68 [[ 9.99526747e-01 -2.87744438e-02 -1.08772269e-02 1.89646224e+02] [ 2.87744423e-02 9.99585918e-01 -1.56663471e-04 2.75769760e+00] [ 1.08772308e-02 -1.56396810e-04 9.99940829e-01 1.67814019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55925415399997 meters Centerline goodness [0,1] 0.9990028181226968 Centerline is valid? [True, True] Translation: X:189.68, Y:2.76, Z:1.68 [[ 9.99508438e-01 -2.93809198e-02 -1.09381813e-02 1.89678235e+02] [ 2.93809650e-02 9.99568274e-01 -1.56595142e-04 2.75839969e+00] [ 1.09380599e-02 -1.64856155e-04 9.99940164e-01 1.67940116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58925415399997 meters Centerline goodness [0,1] 0.9991766337320159 Centerline is valid? [True, True] Translation: X:189.71, Y:2.76, Z:1.68 [[ 9.99510829e-01 -2.95976671e-02 -1.01034877e-02 1.89710250e+02] [ 2.95977235e-02 9.99561881e-01 -1.43978568e-04 2.75934792e+00] [ 1.01033226e-02 -1.55132097e-04 9.99948948e-01 1.68073956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61925415399998 meters Centerline goodness [0,1] 0.999285079832752 Centerline is valid? [True, True] Translation: X:189.74, Y:2.76, Z:1.68 [[ 9.99512770e-01 -2.96125658e-02 -9.86503997e-03 1.89742243e+02] [ 2.96126271e-02 9.99561440e-01 -1.39882133e-04 2.76039382e+00] [ 9.86485583e-03 -1.52315772e-04 9.99951330e-01 1.68132642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64925415399998 meters Centerline goodness [0,1] 0.9992425226161105 Centerline is valid? [True, True] Translation: X:189.77, Y:2.76, Z:1.68 [[ 9.99500401e-01 -3.00092357e-02 -9.91935843e-03 1.89774396e+02] [ 3.00093245e-02 9.99549609e-01 -1.39921023e-04 2.76086872e+00] [ 9.91908976e-03 -1.57822127e-04 9.99950792e-01 1.68164902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67925415399998 meters Centerline goodness [0,1] 0.9991773111063 Centerline is valid? [True, True] Translation: X:189.81, Y:2.76, Z:1.68 [[ 9.99451249e-01 -3.17514095e-02 -9.43655660e-03 1.89807006e+02] [ 3.17515737e-02 9.99495783e-01 -1.32452533e-04 2.76017357e+00] [ 9.43600408e-03 -1.67245673e-04 9.99955466e-01 1.68150249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70925415399998 meters Centerline goodness [0,1] 0.9993286264997617 Centerline is valid? [True, True] Translation: X:189.84, Y:2.76, Z:1.68 [[ 9.99407756e-01 -3.31142595e-02 -9.35856681e-03 1.89838505e+02] [ 3.31144871e-02 9.99451556e-01 -1.30676864e-04 2.75907320e+00] [ 9.35776143e-03 -1.79304669e-04 9.99956199e-01 1.68193512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73925415399998 meters Centerline goodness [0,1] 0.9991992901815664 Centerline is valid? [True, True] Translation: X:189.87, Y:2.76, Z:1.68 [[ 9.99352737e-01 -3.47664939e-02 -9.24110088e-03 1.89870751e+02] [ 3.47667910e-02 9.99395444e-01 -1.28540800e-04 2.75880886e+00] [ 9.23998303e-03 -1.92825822e-04 9.99957292e-01 1.68204605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76925415399998 meters Centerline goodness [0,1] 0.9992223614291269 Centerline is valid? [True, True] Translation: X:189.90, Y:2.76, Z:1.68 [[ 9.99234709e-01 -3.79482841e-02 -9.48281503e-03 1.89901715e+02] [ 3.79487469e-02 9.99279678e-01 -1.31189832e-04 2.75597963e+00] [ 9.48096278e-03 -2.28771514e-04 9.99955028e-01 1.68168254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79925415399998 meters Centerline goodness [0,1] 0.9992024658892505 Centerline is valid? [True, True] Translation: X:189.93, Y:2.76, Z:1.68 [[ 9.99181178e-01 -3.92567683e-02 -9.79185826e-03 1.89933847e+02] [ 3.92573301e-02 9.99229125e-01 -1.34903060e-04 2.75617311e+00] [ 9.78960582e-03 -2.49609613e-04 9.99952050e-01 1.68172160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82925415399998 meters Centerline goodness [0,1] 0.9991364607845253 Centerline is valid? [True, True] Translation: X:189.96, Y:2.75, Z:1.68 [[ 9.99148915e-01 -4.00124946e-02 -1.00222652e-02 1.89964537e+02] [ 4.00131285e-02 9.99199145e-01 -1.37340198e-04 2.75370183e+00] [ 1.00197342e-02 -2.63798877e-04 9.99949766e-01 1.68187438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85925415399998 meters Centerline goodness [0,1] 0.9990288957465634 Centerline is valid? [True, True] Translation: X:190.00, Y:2.76, Z:1.68 [[ 9.99132916e-01 -4.04535108e-02 -9.84531060e-03 1.89996732e+02] [ 4.04541476e-02 9.99181387e-01 -1.34539118e-04 2.75512285e+00] [ 9.84269368e-03 -2.63861187e-04 9.99951525e-01 1.68203465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88925415399999 meters Centerline goodness [0,1] 0.9989638647843544 Centerline is valid? [True, True] Translation: X:190.03, Y:2.76, Z:1.68 [[ 9.99158033e-01 -3.98710596e-02 -9.67081551e-03 1.90028527e+02] [ 3.98716535e-02 9.99204801e-01 -1.31457565e-04 2.75583038e+00] [ 9.66836663e-03 -2.54244523e-04 9.99953228e-01 1.68284260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.919254154 meters Centerline goodness [0,1] 0.9989874181316787 Centerline is valid? [True, True] Translation: X:190.06, Y:2.76, Z:1.68 [[ 9.99193727e-01 -3.90048616e-02 -9.51399893e-03 1.90060387e+02] [ 3.90054037e-02 9.99238991e-01 -1.28636672e-04 2.75630207e+00] [ 9.51177615e-03 -2.42564413e-04 9.99954733e-01 1.68357849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.949254154 meters Centerline goodness [0,1] 0.999049388584021 Centerline is valid? [True, True] Translation: X:190.09, Y:2.76, Z:1.68 [[ 9.99236921e-01 -3.79941686e-02 -9.05647539e-03 1.90092517e+02] [ 3.79946241e-02 9.99277936e-01 -1.21819148e-04 2.75675200e+00] [ 9.05456446e-03 -2.22371188e-04 9.99958982e-01 1.68404436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979254154 meters Centerline goodness [0,1] 0.9990937533714532 Centerline is valid? [True, True] Translation: X:190.12, Y:2.76, Z:1.68 [[ 9.99276330e-01 -3.69195823e-02 -9.15205283e-03 1.90123270e+02] [ 3.69200086e-02 9.99318217e-01 -1.22426585e-04 2.75667354e+00] [ 9.15033305e-03 -2.15555881e-04 9.99958112e-01 1.68427246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.009254154 meters Centerline goodness [0,1] 0.9991370941645993 Centerline is valid? [True, True] Translation: X:190.16, Y:2.76, Z:1.68 [[ 9.99322322e-01 -3.55618268e-02 -9.50017937e-03 1.90155964e+02] [ 3.55622299e-02 9.99367456e-01 -1.26543938e-04 2.75747219e+00] [ 9.49867022e-03 -2.11389381e-04 9.99954864e-01 1.68409138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039254154 meters Centerline goodness [0,1] 0.9991369452175977 Centerline is valid? [True, True] Translation: X:190.19, Y:2.76, Z:1.68 [[ 9.99360141e-01 -3.45042348e-02 -9.42163104e-03 1.90187408e+02] [ 3.45045922e-02 9.99404532e-01 -1.24658263e-04 2.75754030e+00] [ 9.42032199e-03 -2.00511038e-04 9.99955608e-01 1.68359110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069254154 meters Centerline goodness [0,1] 0.998878125606783 Centerline is valid? [True, True] Translation: X:190.22, Y:2.76, Z:1.68 [[ 9.99409934e-01 -3.27616692e-02 -1.03177774e-02 1.90219447e+02] [ 3.27620115e-02 9.99463172e-01 -1.35894946e-04 2.75808187e+00] [ 1.03166907e-02 -2.02216382e-04 9.99946761e-01 1.68293477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099254154 meters Centerline goodness [0,1] 0.9991364421416234 Centerline is valid? [True, True] Translation: X:190.25, Y:2.76, Z:1.68 [[ 9.99434009e-01 -3.19765102e-02 -1.04482058e-02 1.90250676e+02] [ 3.19768268e-02 9.99488601e-01 -1.36793281e-04 2.75782580e+00] [ 1.04472368e-02 -1.97384611e-04 9.99945407e-01 1.68296984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129254154 meters Centerline goodness [0,1] 0.9992447455871564 Centerline is valid? [True, True] Translation: X:190.28, Y:2.76, Z:1.68 [[ 9.99450004e-01 -3.13388317e-02 -1.08428385e-02 1.90281888e+02] [ 3.13391503e-02 9.99508798e-01 -1.40560938e-04 2.75726244e+00] [ 1.08419174e-02 -1.99321714e-04 9.99941205e-01 1.68322560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15925415399997 meters Centerline goodness [0,1] 0.9990724562652343 Centerline is valid? [True, True] Translation: X:190.31, Y:2.76, Z:1.68 [[ 9.99454274e-01 -3.09133737e-02 -1.16412169e-02 1.90313861e+02] [ 3.09137284e-02 9.99522045e-01 -1.49518511e-04 2.75720872e+00] [ 1.16402751e-02 -2.10436504e-04 9.99932228e-01 1.68293511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18925415399997 meters Centerline goodness [0,1] 0.9989854071323719 Centerline is valid? [True, True] Translation: X:190.35, Y:2.76, Z:1.68 [[ 9.99426195e-01 -3.15507875e-02 -1.23218783e-02 1.90345667e+02] [ 3.15512447e-02 9.99502123e-01 -1.57337116e-04 2.75810251e+00] [ 1.23207076e-02 -2.31523761e-04 9.99924070e-01 1.68314581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21925415399997 meters Centerline goodness [0,1] 0.9990294193771029 Centerline is valid? [True, True] Translation: X:190.38, Y:2.76, Z:1.68 [[ 9.99347997e-01 -3.34234973e-02 -1.36547277e-02 1.90377020e+02] [ 3.34242472e-02 9.99441239e-01 -1.73354006e-04 2.75528026e+00] [ 1.36528921e-02 -2.83158016e-04 9.99906755e-01 1.68223100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24925415399997 meters Centerline goodness [0,1] 0.9991375964813937 Centerline is valid? [True, True] Translation: X:190.41, Y:2.75, Z:1.68 [[ 9.99287892e-01 -3.49078238e-02 -1.43231815e-02 1.90409395e+02] [ 3.49088142e-02 9.99390485e-01 -1.80942799e-04 2.75444258e+00] [ 1.43207677e-02 -3.19191335e-04 9.99897402e-01 1.68252961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27925415399997 meters Centerline goodness [0,1] 0.999160857216628 Centerline is valid? [True, True] Translation: X:190.44, Y:2.75, Z:1.68 [[ 9.99219670e-01 -3.66191592e-02 -1.48016606e-02 1.90441726e+02] [ 3.66204206e-02 9.99329230e-01 -1.85895797e-04 2.75341919e+00] [ 1.47985395e-02 -3.56292301e-04 9.99890432e-01 1.68240024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30925415399997 meters Centerline goodness [0,1] 0.9991832348199893 Centerline is valid? [True, True] Translation: X:190.47, Y:2.75, Z:1.68 [[ 9.99137695e-01 -3.85040642e-02 -1.55339249e-02 1.90472699e+02] [ 3.85056974e-02 9.99258362e-01 -1.94048663e-04 2.75121542e+00] [ 1.55298760e-02 -4.04263276e-04 9.99879322e-01 1.68227378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33925415399997 meters Centerline goodness [0,1] 0.9991636106285788 Centerline is valid? [True, True] Translation: X:190.50, Y:2.75, Z:1.68 [[ 9.98944357e-01 -4.31562581e-02 -1.57387768e-02 1.90504057e+02] [ 4.31585232e-02 9.99068218e-01 -1.95863848e-04 2.74913748e+00] [ 1.57325644e-02 -4.83605278e-04 9.99876119e-01 1.68270546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36925415399998 meters Centerline goodness [0,1] 0.9991640946502057 Centerline is valid? [True, True] Translation: X:190.54, Y:2.75, Z:1.68 [[ 9.98838352e-01 -4.55562355e-02 -1.57027647e-02 1.90536098e+02] [ 4.55587990e-02 9.98961640e-01 -1.94611358e-04 2.74734174e+00] [ 1.56953253e-02 -5.21013812e-04 9.99876685e-01 1.68288330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39925415399998 meters Centerline goodness [0,1] 0.9990361342557885 Centerline is valid? [True, True] Translation: X:190.57, Y:2.75, Z:1.68 [[ 9.98720327e-01 -4.81305712e-02 -1.55292026e-02 1.90567890e+02] [ 4.81334050e-02 9.98840898e-01 -1.91443748e-04 2.74584152e+00] [ 1.55204170e-02 -5.56274635e-04 9.99879396e-01 1.68364749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42925415399998 meters Centerline goodness [0,1] 0.9990808430592963 Centerline is valid? [True, True] Translation: X:190.60, Y:2.74, Z:1.68 [[ 9.98479339e-01 -5.30449902e-02 -1.50079693e-02 1.90599145e+02] [ 5.30482001e-02 9.98591936e-01 -1.84417044e-04 2.74293365e+00] [ 1.49966195e-02 -6.12009148e-04 9.99887357e-01 1.68477119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45925415399998 meters Centerline goodness [0,1] 0.9991238754621022 Centerline is valid? [True, True] Translation: X:190.63, Y:2.74, Z:1.69 [[ 9.98375995e-01 -5.50226955e-02 -1.47605816e-02 1.90631540e+02] [ 5.50260244e-02 9.98484904e-01 -1.80817359e-04 2.74148937e+00] [ 1.47481670e-02 -6.31692414e-04 9.99891040e-01 1.68531274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48925415399998 meters Centerline goodness [0,1] 0.9991238754621022 Centerline is valid? [True, True] Translation: X:190.66, Y:2.74, Z:1.69 [[ 9.98382005e-01 -5.49135488e-02 -1.47605971e-02 1.90664109e+02] [ 5.49168846e-02 9.98490913e-01 -1.79547436e-04 2.74179470e+00] [ 1.47481817e-02 -6.31349078e-04 9.99891040e-01 1.68561765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51925415399998 meters Centerline goodness [0,1] 0.9990171360198282 Centerline is valid? [True, True] Translation: X:190.69, Y:2.74, Z:1.69 [[ 9.98217745e-01 -5.78562455e-02 -1.46283160e-02 1.90694210e+02] [ 5.78598518e-02 9.98324700e-01 -1.76923423e-04 2.73839976e+00] [ 1.46140453e-02 -6.69784093e-04 9.99892985e-01 1.68664212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54925415399998 meters Centerline goodness [0,1] 0.9989350826375873 Centerline is valid? [True, True] Translation: X:190.73, Y:2.74, Z:1.69 [[ 9.98156695e-01 -5.91055229e-02 -1.37749193e-02 1.90726053e+02] [ 5.91088438e-02 9.98251530e-01 -1.66277896e-04 2.74020490e+00] [ 1.37606622e-02 -6.48248160e-04 9.99905107e-01 1.68802019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57925415399998 meters Centerline goodness [0,1] 0.9991046875999232 Centerline is valid? [True, True] Translation: X:190.76, Y:2.74, Z:1.69 [[ 9.98144608e-01 -5.93932618e-02 -1.34082836e-02 1.90757193e+02] [ 5.93964461e-02 9.98234460e-01 -1.60960493e-04 2.73834486e+00] [ 1.33941707e-02 -6.35742547e-04 9.99910092e-01 1.68872496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60925415399998 meters Centerline goodness [0,1] 0.9991046875999232 Centerline is valid? [True, True] Translation: X:190.79, Y:2.74, Z:1.69 [[ 9.98151035e-01 -5.92851514e-02 -1.34082950e-02 1.90789768e+02] [ 5.92883387e-02 9.98240886e-01 -1.60009738e-04 2.73864132e+00] [ 1.33941945e-02 -6.35241647e-04 9.99910092e-01 1.68902999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63925415399999 meters Centerline goodness [0,1] 0.9989343790626798 Centerline is valid? [True, True] Translation: X:190.82, Y:2.74, Z:1.69 [[ 9.98203061e-01 -5.85397195e-02 -1.27965004e-02 1.90821897e+02] [ 5.85425770e-02 9.98284901e-01 -1.51487960e-04 2.73970190e+00] [ 1.27834212e-02 -5.97924366e-04 9.99918110e-01 1.68676311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.669254154 meters Centerline goodness [0,1] 0.9990608324439701 Centerline is valid? [True, True] Translation: X:190.85, Y:2.74, Z:1.69 [[ 9.98162654e-01 -5.91790177e-02 -1.30061658e-02 1.90853957e+02] [ 5.91820364e-02 9.98247195e-01 -1.53001561e-04 2.74001098e+00] [ 1.29924230e-02 -6.17010934e-04 9.99915405e-01 1.68942633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.699254154 meters Centerline goodness [0,1] 0.9988485158648925 Centerline is valid? [True, True] Translation: X:190.89, Y:2.74, Z:1.69 [[ 9.98221341e-01 -5.79987892e-02 -1.37947060e-02 1.90886082e+02] [ 5.80020871e-02 9.98316449e-01 -1.61224076e-04 2.74036881e+00] [ 1.37808327e-02 -6.39184425e-04 9.99904836e-01 1.68824503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.729254154 meters Centerline goodness [0,1] 0.9989315782725757 Centerline is valid? [True, True] Translation: X:190.92, Y:2.74, Z:1.69 [[ 9.98262214e-01 -5.71939188e-02 -1.41918240e-02 1.90917920e+02] [ 5.71973432e-02 9.98362878e-01 -1.64808013e-04 2.74154270e+00] [ 1.41780163e-02 -6.47213017e-04 9.99899277e-01 1.68804717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759254154 meters Centerline goodness [0,1] 0.9989322855495526 Centerline is valid? [True, True] Translation: X:190.95, Y:2.74, Z:1.69 [[ 9.98341931e-01 -5.57620978e-02 -1.42820553e-02 1.90949249e+02] [ 5.57654334e-02 9.98443884e-01 -1.64896230e-04 2.74072711e+00] [ 1.42690257e-02 -6.31822183e-04 9.99897993e-01 1.68773904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.789254154 meters Centerline goodness [0,1] 0.9991459561021436 Centerline is valid? [True, True] Translation: X:190.98, Y:2.74, Z:1.69 [[ 9.98432199e-01 -5.40387043e-02 -1.45932070e-02 1.90981863e+02] [ 5.40420175e-02 9.98538648e-01 -1.67495866e-04 2.74279152e+00] [ 1.45809325e-02 -6.21413083e-04 9.99893499e-01 1.68780205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819254154 meters Centerline goodness [0,1] 0.9991001414063504 Centerline is valid? [True, True] Translation: X:191.01, Y:2.75, Z:1.69 [[ 9.98649542e-01 -4.97829640e-02 -1.48576107e-02 1.91011975e+02] [ 4.97859408e-02 9.98759897e-01 -1.69673085e-04 2.74564210e+00] [ 1.48476325e-02 -5.70256177e-04 9.99889605e-01 1.68767114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849254154 meters Centerline goodness [0,1] 0.999141059503103 Centerline is valid? [True, True] Translation: X:191.04, Y:2.75, Z:1.69 [[ 9.98777409e-01 -4.70558372e-02 -1.51471509e-02 1.91043698e+02] [ 4.70586227e-02 9.98892114e-01 -1.72666292e-04 2.75021910e+00] [ 1.51384946e-02 -5.40348870e-04 9.99885260e-01 1.68829016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879254154 meters Centerline goodness [0,1] 0.9990548610216093 Centerline is valid? [True, True] Translation: X:191.08, Y:2.75, Z:1.69 [[ 9.98923334e-01 -4.37680977e-02 -1.53793940e-02 1.91075292e+02] [ 4.37705931e-02 9.99041593e-01 -1.74471291e-04 2.75375162e+00] [ 1.53722906e-02 -4.98881755e-04 9.99881715e-01 1.68860038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90925415399997 meters Centerline goodness [0,1] 0.9990173039948729 Centerline is valid? [True, True] Translation: X:191.11, Y:2.76, Z:1.69 [[ 9.99065019e-01 -4.02466785e-02 -1.57889973e-02 1.91105888e+02] [ 4.02488793e-02 9.99189670e-01 -1.78480393e-04 2.75527156e+00] [ 1.57833863e-02 -4.57175930e-04 9.99875330e-01 1.68843179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93925415399997 meters Centerline goodness [0,1] 0.9990528876165056 Centerline is valid? [True, True] Translation: X:191.14, Y:2.76, Z:1.69 [[ 9.99362408e-01 -3.21182919e-02 -1.55946211e-02 1.91136957e+02] [ 3.21194543e-02 9.99484022e-01 -1.75979320e-04 2.76332689e+00] [ 1.55922268e-02 -3.25023603e-04 9.99878381e-01 1.68914361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96925415399997 meters Centerline goodness [0,1] 0.9992882715783117 Centerline is valid? [True, True] Translation: X:191.17, Y:2.77, Z:1.69 [[ 9.99499332e-01 -2.77010383e-02 -1.52885055e-02 1.91168098e+02] [ 2.77016453e-02 9.99616221e-01 -1.72108642e-04 2.76746602e+00] [ 1.52874057e-02 -2.51494285e-04 9.99883109e-01 1.68994496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99925415399997 meters Centerline goodness [0,1] 0.9992655159750276 Centerline is valid? [True, True] Translation: X:191.20, Y:2.77, Z:1.69 [[ 9.99624506e-01 -2.31129089e-02 -1.47186980e-02 1.91198177e+02] [ 2.31129803e-02 9.99732846e-01 -1.65276205e-04 2.77075798e+00] [ 1.47185859e-02 -1.74978832e-04 9.99891660e-01 1.69046203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02925415399997 meters Centerline goodness [0,1] 0.9993084819016748 Centerline is valid? [True, True] Translation: X:191.23, Y:2.78, Z:1.69 [[ 9.99799307e-01 -1.44573509e-02 -1.38683204e-02 1.91227400e+02] [ 1.44565848e-02 9.99895486e-01 -1.55492971e-04 2.77662448e+00] [ 1.38691190e-02 -4.50267851e-05 9.99903818e-01 1.69128020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05925415399997 meters Centerline goodness [0,1] 0.9995022183746348 Centerline is valid? [True, True] Translation: X:191.26, Y:2.78, Z:1.69 [[ 9.99855825e-01 -1.07075735e-02 -1.31786548e-02 1.91256311e+02] [ 1.07065459e-02 9.99942672e-01 -1.48530713e-04 2.77957372e+00] [ 1.31794897e-02 7.41142736e-06 9.99913147e-01 1.69217924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08925415399997 meters Centerline goodness [0,1] 0.9993728916183721 Centerline is valid? [True, True] Translation: X:191.28, Y:2.78, Z:1.69 [[ 9.99885827e-01 -7.28551393e-03 -1.32383423e-02 1.91284492e+02] [ 7.28414236e-03 9.99973459e-01 -1.51820561e-04 2.78228034e+00] [ 1.32390970e-02 5.53732568e-05 9.99912358e-01 1.69240764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11925415399998 meters Centerline goodness [0,1] 0.999307778835338 Centerline is valid? [True, True] Translation: X:191.31, Y:2.78, Z:1.69 [[ 9.99907886e-01 -4.37445942e-03 -1.28484490e-02 1.91312804e+02] [ 4.37290636e-03 9.99990428e-01 -1.48966215e-04 2.78426053e+00] [ 1.28489777e-02 9.27674284e-05 9.99917444e-01 1.69217876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14925415399998 meters Centerline goodness [0,1] 0.9994148371296677 Centerline is valid? [True, True] Translation: X:191.34, Y:2.79, Z:1.69 [[ 9.99917398e-01 -1.69462462e-03 -1.27407075e-02 1.91341538e+02] [ 1.69284130e-03 9.99998556e-01 -1.50753553e-04 2.78588598e+00] [ 1.27409446e-02 1.29173104e-04 9.99918823e-01 1.69179027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17925415399998 meters Centerline goodness [0,1] 0.9994169473956984 Centerline is valid? [True, True] Translation: X:191.37, Y:2.79, Z:1.69 [[ 9.99922214e-01 5.07735251e-04 -1.24622778e-02 1.91369255e+02] [-5.09643017e-04 9.99999859e-01 -1.49907926e-04 2.78686948e+00] [ 1.24622000e-02 1.56247578e-04 9.99922332e-01 1.69363314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20925415399998 meters Centerline goodness [0,1] 0.9993317957450477 Centerline is valid? [True, True] Translation: X:191.40, Y:2.79, Z:1.69 [[ 9.99924919e-01 5.16891602e-04 -1.22429034e-02 1.91397221e+02] [-5.18746525e-04 9.99999854e-01 -1.48334916e-04 2.78588766e+00] [ 1.22428250e-02 1.54674742e-04 9.99925042e-01 1.69392991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23925415399998 meters Centerline goodness [0,1] 0.9991574854180169 Centerline is valid? [True, True] Translation: X:191.43, Y:2.78, Z:1.69 [[ 9.99925079e-01 -3.16779400e-04 -1.22366603e-02 1.91425111e+02] [ 3.14974368e-04 9.99999939e-01 -1.49437089e-04 2.78423110e+00] [ 1.22367069e-02 1.45571658e-04 9.99925118e-01 1.69398637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26925415399998 meters Centerline goodness [0,1] 0.9992032387269046 Centerline is valid? [True, True] Translation: X:191.45, Y:2.78, Z:1.69 [[ 9.99918243e-01 -4.57512019e-03 -1.19405288e-02 1.91453918e+02] [ 4.57369396e-03 9.99989530e-01 -1.46748419e-04 2.77811793e+00] [ 1.19410752e-02 9.21240971e-05 9.99928699e-01 1.69408553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29925415399998 meters Centerline goodness [0,1] 0.9993773349937733 Centerline is valid? [True, True] Translation: X:191.48, Y:2.77, Z:1.69 [[ 9.99898447e-01 -7.97727039e-03 -1.18092555e-02 1.91481814e+02] [ 7.97610309e-03 9.99968180e-01 -1.45941814e-04 2.77398552e+00] [ 1.18100440e-02 5.17351536e-05 9.99930258e-01 1.69446131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32925415399998 meters Centerline goodness [0,1] 0.9992708243973578 Centerline is valid? [True, True] Translation: X:191.51, Y:2.77, Z:1.69 [[ 9.99857215e-01 -1.18876233e-02 -1.20097458e-02 1.91510871e+02] [ 1.18866867e-02 9.99929340e-01 -1.49366808e-04 2.76928262e+00] [ 1.20106728e-02 6.58939419e-06 9.99927869e-01 1.69440437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35925415399998 meters Centerline goodness [0,1] 0.9991855455772981 Centerline is valid? [True, True] Translation: X:191.54, Y:2.76, Z:1.69 [[ 9.99796278e-01 -1.61341311e-02 -1.21282019e-02 1.91539330e+02] [ 1.61334785e-02 9.99869835e-01 -1.51652739e-04 2.76480320e+00] [ 1.21290700e-02 -4.40482400e-05 9.99926439e-01 1.69467512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38925415399999 meters Centerline goodness [0,1] 0.9992945552491502 Centerline is valid? [True, True] Translation: X:191.57, Y:2.75, Z:1.69 [[ 9.99618850e-01 -2.46709511e-02 -1.23894902e-02 1.91567971e+02] [ 2.46709153e-02 9.99695615e-01 -1.55756261e-04 2.75480391e+00] [ 1.23895617e-02 -1.49963169e-04 9.99923235e-01 1.69452745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.419254154 meters Centerline goodness [0,1] 0.9990636903368587 Centerline is valid? [True, True] Translation: X:191.60, Y:2.75, Z:1.69 [[ 9.99499553e-01 -2.90051579e-02 -1.26232060e-02 1.91599714e+02] [ 2.90054626e-02 9.99579240e-01 -1.58979269e-04 2.75037995e+00] [ 1.26225059e-02 -2.07242223e-04 9.99920312e-01 1.69439867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.449254154 meters Centerline goodness [0,1] 0.9989992973790108 Centerline is valid? [True, True] Translation: X:191.63, Y:2.74, Z:1.69 [[ 9.99369376e-01 -3.30319418e-02 -1.30284998e-02 1.91631006e+02] [ 3.30326178e-02 9.99454261e-01 -1.63360525e-04 2.74053682e+00] [ 1.30267857e-02 -2.67107948e-04 9.99915112e-01 1.69338523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479254154 meters Centerline goodness [0,1] 0.9988539898132428 Centerline is valid? [True, True] Translation: X:191.66, Y:2.74, Z:1.69 [[ 9.99071675e-01 -4.07746764e-02 -1.39001501e-02 1.91661668e+02] [ 4.07762045e-02 9.99168290e-01 -1.73577129e-04 2.73736131e+00] [ 1.38956668e-02 -3.93379372e-04 9.99903373e-01 1.69428526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.509254154 meters Centerline goodness [0,1] 0.9987267634326458 Centerline is valid? [True, True] Translation: X:191.69, Y:2.73, Z:1.69 [[ 9.98929704e-01 -4.40677430e-02 -1.40527520e-02 1.91692956e+02] [ 4.40696390e-02 9.99028446e-01 -1.74869672e-04 2.72515291e+00] [ 1.40468052e-02 -4.44617199e-04 9.99901240e-01 1.69303270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539254154 meters Centerline goodness [0,1] 0.9991950346346941 Centerline is valid? [True, True] Translation: X:191.73, Y:2.73, Z:1.69 [[ 9.98792162e-01 -4.69663379e-02 -1.44354031e-02 1.91725320e+02] [ 4.69686535e-02 9.98896348e-01 -1.78761247e-04 2.72915088e+00] [ 1.44278672e-02 -4.99466112e-04 9.99895788e-01 1.69461866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569254154 meters Centerline goodness [0,1] 0.9986441539732644 Centerline is valid? [True, True] Translation: X:191.76, Y:2.73, Z:1.70 [[ 9.98494801e-01 -5.31373388e-02 -1.35851529e-02 1.91756627e+02] [ 5.31399692e-02 9.98587060e-01 -1.67539253e-04 2.72514793e+00] [ 1.35748605e-02 -5.54627534e-04 9.99907704e-01 1.69565358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599254154 meters Centerline goodness [0,1] 0.998769987699877 Centerline is valid? [True, True] Translation: X:191.79, Y:2.72, Z:1.70 [[ 9.98350876e-01 -5.58683163e-02 -1.32007762e-02 1.91788911e+02] [ 5.58710440e-02 9.98437980e-01 -1.62354391e-04 2.72308199e+00] [ 1.31892268e-02 -5.75454499e-04 9.99912853e-01 1.69664156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629254154 meters Centerline goodness [0,1] 0.9986893840104849 Centerline is valid? [True, True] Translation: X:191.82, Y:2.72, Z:1.70 [[ 9.98224020e-01 -5.83156706e-02 -1.21691202e-02 1.91821449e+02] [ 5.83181803e-02 9.98298036e-01 -1.48819550e-04 2.72087341e+00] [ 1.21570873e-02 -5.61125699e-04 9.99925942e-01 1.69726916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65925415399997 meters Centerline goodness [0,1] 0.9987955116962154 Centerline is valid? [True, True] Translation: X:191.85, Y:2.72, Z:1.70 [[ 9.98105621e-01 -6.04424669e-02 -1.14838203e-02 1.91852729e+02] [ 6.04448512e-02 9.98171529e-01 -1.39661827e-04 2.71567403e+00] [ 1.14712640e-02 -5.54740554e-04 9.99934049e-01 1.69814825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68925415399997 meters Centerline goodness [0,1] 0.9988546218130913 Centerline is valid? [True, True] Translation: X:191.88, Y:2.71, Z:1.70 [[ 9.97907906e-01 -6.36631101e-02 -1.12614433e-02 1.91884340e+02] [ 6.36656140e-02 9.97971278e-01 -1.36378263e-04 2.71362365e+00] [ 1.12472792e-02 -5.80873753e-04 9.99936579e-01 1.69911134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71925415399997 meters Centerline goodness [0,1] 0.9988127544097694 Centerline is valid? [True, True] Translation: X:191.92, Y:2.71, Z:1.70 [[ 9.97857702e-01 -6.44134035e-02 -1.14420179e-02 1.91915335e+02] [ 6.44160428e-02 9.97923120e-01 -1.38103967e-04 2.71163134e+00] [ 1.14271500e-02 -5.99241408e-04 9.99934528e-01 1.69902780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74925415399997 meters Centerline goodness [0,1] 0.9984977995937712 Centerline is valid? [True, True] Translation: X:191.95, Y:2.71, Z:1.70 [[ 9.97836951e-01 -6.47383951e-02 -1.14175249e-02 1.91947551e+02] [ 6.47410518e-02 9.97902088e-01 -1.37149315e-04 2.71025991e+00] [ 1.14024508e-02 -6.02329917e-04 9.99934809e-01 1.69894840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77925415399997 meters Centerline goodness [0,1] 0.998689023745586 Centerline is valid? [True, True] Translation: X:191.98, Y:2.71, Z:1.70 [[ 9.97841993e-01 -6.46049814e-02 -1.17282831e-02 1.91980375e+02] [ 6.46077867e-02 9.97910725e-01 -1.39926897e-04 2.71129668e+00] [ 1.17128195e-02 -6.18113479e-04 9.99931212e-01 1.69916618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80925415399997 meters Centerline goodness [0,1] 0.9986702127659575 Centerline is valid? [True, True] Translation: X:192.01, Y:2.71, Z:1.70 [[ 9.97830555e-01 -6.47186873e-02 -1.20696185e-02 1.92011676e+02] [ 6.47216812e-02 9.97903344e-01 -1.42789350e-04 2.70885953e+00] [ 1.20535538e-02 -6.38686424e-04 9.99927149e-01 1.69888791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83925415399997 meters Centerline goodness [0,1] 0.9988564652068951 Centerline is valid? [True, True] Translation: X:192.04, Y:2.71, Z:1.70 [[ 9.97796145e-01 -6.51055434e-02 -1.28110133e-02 1.92044038e+02] [ 6.51089584e-02 9.97878149e-01 -1.50761051e-04 2.71166037e+00] [ 1.27936457e-02 -6.83682940e-04 9.99917924e-01 1.69886710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86925415399998 meters Centerline goodness [0,1] 0.9988606873852776 Centerline is valid? [True, True] Translation: X:192.08, Y:2.71, Z:1.70 [[ 9.97761172e-01 -6.53581587e-02 -1.41758592e-02 1.92075094e+02] [ 6.53623805e-02 9.97861579e-01 -1.65783838e-04 2.70701757e+00] [ 1.41563806e-02 -7.61155228e-04 9.99899504e-01 1.69804028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89925415399998 meters Centerline goodness [0,1] 0.998880013524365 Centerline is valid? [True, True] Translation: X:192.11, Y:2.71, Z:1.70 [[ 9.97663070e-01 -6.60989942e-02 -1.73008896e-02 1.92106835e+02] [ 6.61054127e-02 9.97812625e-01 -2.01257230e-04 2.71036259e+00] [ 1.72763490e-02 -9.42895542e-04 9.99850308e-01 1.69644429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92925415399998 meters Centerline goodness [0,1] 0.9985845269784933 Centerline is valid? [True, True] Translation: X:192.14, Y:2.71, Z:1.70 [[ 9.97633991e-01 -6.62178465e-02 -1.84828889e-02 1.92139265e+02] [ 6.62252152e-02 9.97804678e-01 -2.13780945e-04 2.71151636e+00] [ 1.84564691e-02 -1.01075816e-03 9.99829154e-01 1.69615921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95925415399998 meters Centerline goodness [0,1] 0.9986906295537581 Centerline is valid? [True, True] Translation: X:192.17, Y:2.71, Z:1.70 [[ 9.97624496e-01 -6.61860760e-02 -1.90988865e-02 1.92170557e+02] [ 6.61939622e-02 9.97806750e-01 -2.19656231e-04 2.71126709e+00] [ 1.90715360e-02 -1.04509653e-03 9.99817576e-01 1.69580244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98925415399998 meters Centerline goodness [0,1] 0.9990049751243781 Centerline is valid? [True, True] Translation: X:192.20, Y:2.71, Z:1.70 [[ 9.97639977e-01 -6.56922038e-02 -1.99752631e-02 1.92203032e+02] [ 6.57007581e-02 9.97839345e-01 -2.28421301e-04 2.71311993e+00] [ 1.99471089e-02 -1.08450771e-03 9.99800448e-01 1.69619301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01925415399998 meters Centerline goodness [0,1] 0.9987929866169745 Centerline is valid? [True, True] Translation: X:192.23, Y:2.72, Z:1.70 [[ 9.97746660e-01 -6.37556968e-02 -2.09000621e-02 1.92233596e+02] [ 6.37646575e-02 9.97964935e-01 -2.38071467e-04 2.71592668e+00] [ 2.08727075e-02 -1.09515029e-03 9.99781542e-01 1.69593267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04925415399998 meters Centerline goodness [0,1] 0.9988350419384903 Centerline is valid? [True, True] Translation: X:192.27, Y:2.72, Z:1.70 [[ 9.97870071e-01 -6.17456676e-02 -2.10426873e-02 1.92265195e+02] [ 6.17543178e-02 9.98091352e-01 -2.39105381e-04 2.71877798e+00] [ 2.10172879e-02 -1.06088069e-03 9.99778550e-01 1.69652715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07925415399998 meters Centerline goodness [0,1] 0.9987066132349511 Centerline is valid? [True, True] Translation: X:192.30, Y:2.72, Z:1.70 [[ 9.98020961e-01 -5.92081768e-02 -2.11790821e-02 1.92295601e+02] [ 5.92164000e-02 9.98245141e-01 -2.39216576e-04 2.72159191e+00] [ 2.11560794e-02 -1.01540584e-03 9.99775669e-01 1.69706929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10925415399998 meters Centerline goodness [0,1] 0.9989603445715134 Centerline is valid? [True, True] Translation: X:192.33, Y:2.73, Z:1.70 [[ 9.98391589e-01 -5.28603061e-02 -2.04944424e-02 1.92325404e+02] [ 5.28666844e-02 9.98601552e-01 -2.30827615e-04 2.72934067e+00] [ 2.04779837e-02 -8.53016871e-04 9.99789940e-01 1.69854572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13925415399999 meters Centerline goodness [0,1] 0.9990454574380078 Centerline is valid? [True, True] Translation: X:192.36, Y:2.73, Z:1.70 [[ 9.98602854e-01 -4.90310059e-02 -1.97053231e-02 1.92355681e+02] [ 4.90361549e-02 9.98796979e-01 -2.22091537e-04 2.73380956e+00] [ 1.96925065e-02 -7.44492032e-04 9.99805807e-01 1.70005043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.169254154 meters Centerline goodness [0,1] 0.9988134587676922 Centerline is valid? [True, True] Translation: X:192.39, Y:2.74, Z:1.70 [[ 9.98809298e-01 -4.48577166e-02 -1.91773462e-02 1.92386832e+02] [ 4.48618314e-02 9.98993178e-01 -2.15801521e-04 2.73854952e+00] [ 1.91677184e-02 -6.44786308e-04 9.99816074e-01 1.70114617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.199254154 meters Centerline goodness [0,1] 0.9989595719381689 Centerline is valid? [True, True] Translation: X:192.42, Y:2.74, Z:1.70 [[ 9.98995726e-01 -4.06267343e-02 -1.88946315e-02 1.92418303e+02] [ 4.06299849e-02 9.99174239e-01 -2.11971130e-04 2.74336197e+00] [ 1.88876407e-02 -5.55930339e-04 9.99821458e-01 1.70267304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.229254154 meters Centerline goodness [0,1] 0.9987660362104547 Centerline is valid? [True, True] Translation: X:192.45, Y:2.76, Z:1.71 [[ 9.99309199e-01 -3.24424785e-02 -1.81276139e-02 1.92449200e+02] [ 3.24441329e-02 9.99473530e-01 -2.02893346e-04 2.75554147e+00] [ 1.81246526e-02 -3.85381528e-04 9.99835661e-01 1.70560331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259254154 meters Centerline goodness [0,1] 0.9990003403096818 Centerline is valid? [True, True] Translation: X:192.48, Y:2.76, Z:1.71 [[ 9.99420450e-01 -2.87990929e-02 -1.81487193e-02 1.92479147e+02] [ 2.88001538e-02 9.99585169e-01 -2.02956266e-04 2.75860210e+00] [ 1.81470356e-02 -3.19847265e-04 9.99835278e-01 1.70592133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.289254154 meters Centerline goodness [0,1] 0.9990829796762705 Centerline is valid? [True, True] Translation: X:192.51, Y:2.76, Z:1.71 [[ 9.99503346e-01 -2.54738009e-02 -1.85512082e-02 1.92508828e+02] [ 2.54743338e-02 9.99675455e-01 -2.07621960e-04 2.76156896e+00] [ 1.85504764e-02 -2.65060825e-04 9.99827890e-01 1.70588749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319254154 meters Centerline goodness [0,1] 0.99916895736112 Centerline is valid? [True, True] Translation: X:192.54, Y:2.77, Z:1.71 [[ 9.99593997e-01 -2.03033187e-02 -1.99904270e-02 1.92537996e+02] [ 2.03028692e-02 9.99793850e-01 -2.25459367e-04 2.76728552e+00] [ 1.99908835e-02 -1.80495194e-04 9.99800146e-01 1.70607134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349254154 meters Centerline goodness [0,1] 0.9991462842019891 Centerline is valid? [True, True] Translation: X:192.57, Y:2.77, Z:1.71 [[ 9.99617661e-01 -1.85428403e-02 -2.05108323e-02 1.92565925e+02] [ 1.85419468e-02 9.99828056e-01 -2.33753466e-04 2.76849534e+00] [ 2.05116401e-02 -1.46646668e-04 9.99789603e-01 1.70510360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379254154 meters Centerline goodness [0,1] 0.9991462842019891 Centerline is valid? [True, True] Translation: X:192.59, Y:2.77, Z:1.71 [[ 9.99612323e-01 -1.88284469e-02 -2.05107856e-02 1.92593316e+02] [ 1.88275305e-02 9.99822718e-01 -2.37797184e-04 2.76888546e+00] [ 2.05116268e-02 -1.48462447e-04 9.99789603e-01 1.70536051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40925415399997 meters Centerline goodness [0,1] 0.9989754098360656 Centerline is valid? [True, True] Translation: X:192.62, Y:2.77, Z:1.71 [[ 9.99602732e-01 -1.83174747e-02 -2.14207668e-02 1.92621674e+02] [ 1.83162219e-02 9.99832211e-01 -2.54697797e-04 2.77057246e+00] [ 2.14218381e-02 -1.37750905e-04 9.99770517e-01 1.70570830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43925415399997 meters Centerline goodness [0,1] 0.9991251653650834 Centerline is valid? [True, True] Translation: X:192.65, Y:2.77, Z:1.71 [[ 9.99597724e-01 -1.80618997e-02 -2.18668235e-02 1.92648451e+02] [ 1.80604160e-02 9.99836862e-01 -2.65353262e-04 2.77107251e+00] [ 2.18680490e-02 -1.29677412e-04 9.99760857e-01 1.70587854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46925415399997 meters Centerline goodness [0,1] 0.9990188759731258 Centerline is valid? [True, True] Translation: X:192.68, Y:2.77, Z:1.71 [[ 9.99566101e-01 -1.89257420e-02 -2.25704771e-02 1.92677499e+02] [ 1.89242608e-02 9.99820881e-01 -2.79236773e-04 2.77141401e+00] [ 2.25717191e-02 -1.48013984e-04 9.99745215e-01 1.70587687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49925415399997 meters Centerline goodness [0,1] 0.9990817851804399 Centerline is valid? [True, True] Translation: X:192.71, Y:2.77, Z:1.71 [[ 9.99531870e-01 -1.98969043e-02 -2.32412339e-02 1.92706188e+02] [ 1.98954558e-02 9.99802023e-01 -2.93573146e-04 2.77166919e+00] [ 2.32424739e-02 -1.68959227e-04 9.99729843e-01 1.70628865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52925415399997 meters Centerline goodness [0,1] 0.9991030432461292 Centerline is valid? [True, True] Translation: X:192.73, Y:2.77, Z:1.71 [[ 9.99495139e-01 -2.08750757e-02 -2.39519815e-02 1.92734218e+02] [ 2.08737106e-02 9.99782073e-01 -3.07036150e-04 2.77083451e+00] [ 2.39531711e-02 -1.93085590e-04 9.99713063e-01 1.70507861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55925415399997 meters Centerline goodness [0,1] 0.9993595901376882 Centerline is valid? [True, True] Translation: X:192.76, Y:2.77, Z:1.71 [[ 9.99476689e-01 -2.24333300e-02 -2.33043710e-02 1.92762222e+02] [ 2.24323367e-02 9.99748317e-01 -3.04078129e-04 2.77120164e+00] [ 2.33053271e-02 -2.18852494e-04 9.99728370e-01 1.70732902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58925415399997 meters Centerline goodness [0,1] 0.9990818047874271 Centerline is valid? [True, True] Translation: X:192.79, Y:2.77, Z:1.71 [[ 9.99417676e-01 -2.53370641e-02 -2.28548011e-02 1.92790067e+02] [ 2.53367781e-02 9.99678927e-01 -3.02132459e-04 2.76887654e+00] [ 2.28551182e-02 -2.77110503e-04 9.99738749e-01 1.70770490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61925415399998 meters Centerline goodness [0,1] 0.9988469176400248 Centerline is valid? [True, True] Translation: X:192.82, Y:2.77, Z:1.71 [[ 9.99358111e-01 -2.70385400e-02 -2.35007117e-02 1.92818385e+02] [ 2.70386022e-02 9.99634340e-01 -3.15168704e-04 2.76792394e+00] [ 2.35006401e-02 -3.20459993e-04 9.99723770e-01 1.70741752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64925415399998 meters Centerline goodness [0,1] 0.9992740936846151 Centerline is valid? [True, True] Translation: X:192.85, Y:2.77, Z:1.71 [[ 9.99312830e-01 -2.92204578e-02 -2.28042301e-02 1.92846210e+02] [ 2.92210032e-02 9.99572927e-01 -3.09376126e-04 2.76649383e+00] [ 2.28035312e-02 -3.57198950e-04 9.99739902e-01 1.70823556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67925415399998 meters Centerline goodness [0,1] 0.9991485919839935 Centerline is valid? [True, True] Translation: X:192.87, Y:2.76, Z:1.71 [[ 9.99186828e-01 -3.44686821e-02 -2.09187204e-02 1.92873655e+02] [ 3.44702481e-02 9.99405684e-01 -2.85819254e-04 2.76276845e+00] [ 2.09161398e-02 -4.35486647e-04 9.99781139e-01 1.71011574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70925415399998 meters Centerline goodness [0,1] 0.9988937111735171 Centerline is valid? [True, True] Translation: X:192.90, Y:2.76, Z:1.71 [[ 9.99107391e-01 -3.71940462e-02 -2.00255836e-02 1.92904539e+02] [ 3.71960089e-02 9.99307951e-01 -2.74581766e-04 2.76050052e+00] [ 2.00219378e-02 -4.70535116e-04 9.99799430e-01 1.71064449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73925415399998 meters Centerline goodness [0,1] 0.9988945108210383 Centerline is valid? [True, True] Translation: X:192.94, Y:2.76, Z:1.71 [[ 9.98997580e-01 -4.03009009e-02 -1.94851917e-02 1.92935400e+02] [ 4.03033530e-02 9.99187454e-01 -2.66991975e-04 2.75791851e+00] [ 1.94801191e-02 -5.18594221e-04 9.99810110e-01 1.71127339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76925415399998 meters Centerline goodness [0,1] 0.9989796785987586 Centerline is valid? [True, True] Translation: X:192.97, Y:2.75, Z:1.71 [[ 9.98704288e-01 -4.77435603e-02 -1.76152782e-02 1.92966006e+02] [ 4.77467271e-02 9.98859446e-01 -2.40992973e-04 2.74932514e+00] [ 1.76066929e-02 -6.00391165e-04 9.99844810e-01 1.71132230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79925415399998 meters Centerline goodness [0,1] 0.9987691785327759 Centerline is valid? [True, True] Translation: X:193.00, Y:2.75, Z:1.71 [[ 9.98493794e-01 -5.22195547e-02 -1.68303853e-02 1.92997459e+02] [ 5.22230888e-02 9.98635417e-01 -2.29748711e-04 2.74515344e+00] [ 1.68194162e-02 -6.49532044e-04 9.99858333e-01 1.71163593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82925415399998 meters Centerline goodness [0,1] 0.9989585989968546 Centerline is valid? [True, True] Translation: X:193.03, Y:2.74, Z:1.71 [[ 9.98013112e-01 -6.08472249e-02 -1.63536905e-02 1.93028191e+02] [ 6.08517232e-02 9.98146792e-01 -2.22862473e-04 2.74202651e+00] [ 1.63369443e-02 -7.72730579e-04 9.99866245e-01 1.71157422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85925415399998 meters Centerline goodness [0,1] 0.9989585989968546 Centerline is valid? [True, True] Translation: X:193.06, Y:2.74, Z:1.71 [[ 9.98017654e-01 -6.07726745e-02 -1.63536987e-02 1.93059916e+02] [ 6.07771728e-02 9.98151334e-01 -2.22259110e-04 2.74239992e+00] [ 1.63369735e-02 -7.72113057e-04 9.99866245e-01 1.71187143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88925415399999 meters Centerline goodness [0,1] 0.9987519566780895 Centerline is valid? [True, True] Translation: X:193.09, Y:2.74, Z:1.71 [[ 9.97525233e-01 -6.84318087e-02 -1.61399467e-02 1.93091488e+02] [ 6.84372037e-02 9.97655402e-01 -2.18465682e-04 2.73676580e+00] [ 1.61170550e-02 -8.86647791e-04 9.99869719e-01 1.71158014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.919254154 meters Centerline goodness [0,1] 0.9987925007944074 Centerline is valid? [True, True] Translation: X:193.12, Y:2.74, Z:1.71 [[ 9.97330916e-01 -7.11475080e-02 -1.64035335e-02 1.93122274e+02] [ 7.11534570e-02 9.97465356e-01 -2.21414482e-04 2.73509072e+00] [ 1.63777095e-02 -9.46344606e-04 9.99865428e-01 1.71133705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.949254154 meters Centerline goodness [0,1] 0.9987922449412014 Centerline is valid? [True, True] Translation: X:193.15, Y:2.73, Z:1.71 [[ 9.97181543e-01 -7.31786601e-02 -1.65485472e-02 1.93154009e+02] [ 7.31850076e-02 9.97318357e-01 -2.22514027e-04 2.73443755e+00] [ 1.65204532e-02 -9.89218671e-04 9.99863039e-01 1.71107282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979254154 meters Centerline goodness [0,1] 0.9986680197894203 Centerline is valid? [True, True] Translation: X:193.19, Y:2.73, Z:1.71 [[ 9.97057487e-01 -7.49060944e-02 -1.62924662e-02 1.93185071e+02] [ 7.49124986e-02 9.97190087e-01 -2.17717795e-04 2.72898442e+00] [ 1.62629942e-02 -1.00343219e-03 9.99867245e-01 1.71023522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.009254154 meters Centerline goodness [0,1] 0.9988967390151274 Centerline is valid? [True, True] Translation: X:193.22, Y:2.73, Z:1.71 [[ 9.97071576e-01 -7.47495492e-02 -1.61486004e-02 1.93217250e+02] [ 7.47558467e-02 9.97201844e-01 -2.14162405e-04 2.73295502e+00] [ 1.61194226e-02 -9.93667051e-04 9.99869580e-01 1.71079443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039254154 meters Centerline goodness [0,1] 0.998833361615476 Centerline is valid? [True, True] Translation: X:193.25, Y:2.73, Z:1.71 [[ 9.97110366e-01 -7.41341017e-02 -1.65847266e-02 1.93247995e+02] [ 7.41406778e-02 9.97247769e-01 -2.18824396e-04 2.73309638e+00] [ 1.65553039e-02 -1.01141080e-03 9.99862440e-01 1.71081732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069254154 meters Centerline goodness [0,1] 0.9988981183251399 Centerline is valid? [True, True] Translation: X:193.28, Y:2.73, Z:1.71 [[ 9.97192482e-01 -7.30254568e-02 -1.65661136e-02 1.93280759e+02] [ 7.30318853e-02 9.97329583e-01 -2.17399254e-04 2.73417007e+00] [ 1.65377508e-02 -9.93065602e-04 9.99862749e-01 1.71098534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099254154 meters Centerline goodness [0,1] 0.9987489928332132 Centerline is valid? [True, True] Translation: X:193.31, Y:2.74, Z:1.71 [[ 9.97351414e-01 -7.06485103e-02 -1.72900065e-02 1.93312288e+02] [ 7.06551801e-02 9.97500774e-01 -2.25559239e-04 2.74048367e+00] [ 1.72627303e-02 -9.96666700e-04 9.99850491e-01 1.71077923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12925415399997 meters Centerline goodness [0,1] 0.9988569251285959 Centerline is valid? [True, True] Translation: X:193.34, Y:2.74, Z:1.71 [[ 9.97441835e-01 -6.89244035e-02 -1.89529003e-02 1.93343876e+02] [ 6.89321326e-02 9.97621321e-01 -2.45963050e-04 2.73884439e+00] [ 1.89247703e-02 -1.06113000e-03 9.99820347e-01 1.70893793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15925415399997 meters Centerline goodness [0,1] 0.998894839751764 Centerline is valid? [True, True] Translation: X:193.38, Y:2.74, Z:1.71 [[ 9.97540683e-01 -6.70338198e-02 -2.04707766e-02 1.93376602e+02] [ 6.70424756e-02 9.97750087e-01 -2.63922050e-04 2.74078834e+00] [ 2.04424108e-02 -1.10913856e-03 9.99790417e-01 1.70753990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18925415399997 meters Centerline goodness [0,1] 0.9989990629525514 Centerline is valid? [True, True] Translation: X:193.41, Y:2.75, Z:1.71 [[ 9.97793506e-01 -6.25370726e-02 -2.22987539e-02 1.93407247e+02] [ 6.25462494e-02 9.98042026e-01 -2.86343382e-04 2.74852834e+00] [ 2.22730005e-02 -1.10899185e-03 9.99751311e-01 1.70648051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21925415399997 meters Centerline goodness [0,1] 0.9990866027996687 Centerline is valid? [True, True] Translation: X:193.44, Y:2.75, Z:1.71 [[ 9.97937175e-01 -5.99619903e-02 -2.29337155e-02 1.93438745e+02] [ 5.99710346e-02 9.98200074e-01 -2.93816956e-04 2.75168639e+00] [ 2.29100543e-02 -1.08214778e-03 9.99736945e-01 1.70626543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24925415399997 meters Centerline goodness [0,1] 0.9988511860440379 Centerline is valid? [True, True] Translation: X:193.47, Y:2.76, Z:1.71 [[ 9.98286834e-01 -5.37599135e-02 -2.30926335e-02 1.93468808e+02] [ 5.37674366e-02 9.98553441e-01 -2.95441812e-04 2.75787952e+00] [ 2.30751115e-02 -9.46696036e-04 9.99733286e-01 1.70679794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27925415399997 meters Centerline goodness [0,1] 0.9988067080057108 Centerline is valid? [True, True] Translation: X:193.50, Y:2.76, Z:1.71 [[ 9.98483296e-01 -5.02596202e-02 -2.24739521e-02 1.93500636e+02] [ 5.02658773e-02 9.98735831e-01 -2.86765398e-04 2.76172275e+00] [ 2.24599540e-02 -8.43342460e-04 9.99747388e-01 1.70808578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30925415399997 meters Centerline goodness [0,1] 0.9988917069843773 Centerline is valid? [True, True] Translation: X:193.53, Y:2.76, Z:1.71 [[ 9.98686164e-01 -4.64807372e-02 -2.15751252e-02 1.93531332e+02] [ 4.64856430e-02 9.98918920e-01 -2.74358575e-04 2.76466921e+00] [ 2.15645532e-02 -7.28935455e-04 9.99767192e-01 1.70900548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33925415399997 meters Centerline goodness [0,1] 0.9991463388607892 Centerline is valid? [True, True] Translation: X:193.56, Y:2.77, Z:1.71 [[ 9.99070488e-01 -3.82376090e-02 -1.99008818e-02 1.93562163e+02] [ 3.82401562e-02 9.99268546e-01 -2.52673711e-04 2.77383402e+00] [ 1.98959869e-02 -5.08573980e-04 9.99801926e-01 1.71187707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36925415399998 meters Centerline goodness [0,1] 0.9993163707833963 Centerline is valid? [True, True] Translation: X:193.59, Y:2.78, Z:1.71 [[ 9.99253326e-01 -3.35801849e-02 -1.91091932e-02 1.93593212e+02] [ 3.35816869e-02 9.99435947e-01 -2.42373015e-04 2.77828169e+00] [ 1.91065536e-02 -3.99526903e-04 9.99817373e-01 1.71282280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39925415399998 meters Centerline goodness [0,1] 0.9991651682507064 Centerline is valid? [True, True] Translation: X:193.62, Y:2.79, Z:1.71 [[ 9.99528829e-01 -2.46408038e-02 -1.83016876e-02 1.93622535e+02] [ 2.46406831e-02 9.99696345e-01 -2.32128822e-04 2.78582075e+00] [ 1.83018501e-02 -2.18946637e-04 9.99832483e-01 1.71371934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42925415399998 meters Centerline goodness [0,1] 0.9991651682507064 Centerline is valid? [True, True] Translation: X:193.65, Y:2.79, Z:1.71 [[ 9.99527930e-01 -2.46772481e-02 -1.83016813e-02 1.93651688e+02] [ 2.46771244e-02 9.99695446e-01 -2.32626348e-04 2.78622023e+00] [ 1.83018480e-02 -2.19116335e-04 9.99832483e-01 1.71399253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45925415399998 meters Centerline goodness [0,1] 0.9994206381563419 Centerline is valid? [True, True] Translation: X:193.68, Y:2.79, Z:1.72 [[ 9.99688853e-01 -1.74188857e-02 -1.78544037e-02 1.93680883e+02] [ 1.74175988e-02 9.99848276e-01 -2.27587896e-04 2.79214543e+00] [ 1.78556591e-02 -8.34637582e-05 9.99840572e-01 1.71511446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48925415399998 meters Centerline goodness [0,1] 0.9992485400206115 Centerline is valid? [True, True] Translation: X:193.71, Y:2.79, Z:1.71 [[ 9.99732630e-01 -1.49118961e-02 -1.76721360e-02 1.93708408e+02] [ 1.49102243e-02 9.99888811e-01 -2.26367321e-04 2.79412067e+00] [ 1.76735466e-02 -3.71887141e-05 9.99843810e-01 1.71486211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51925415399998 meters Centerline goodness [0,1] 0.9993993092055864 Centerline is valid? [True, True] Translation: X:193.74, Y:2.80, Z:1.72 [[ 9.99749748e-01 -1.35862406e-02 -1.77723425e-02 1.93736040e+02] [ 1.35842812e-02 9.99907703e-01 -2.30975913e-04 2.79562637e+00] [ 1.77738402e-02 -1.05063862e-05 9.99842033e-01 1.71518029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54925415399998 meters Centerline goodness [0,1] 0.9993993220920754 Centerline is valid? [True, True] Translation: X:193.76, Y:2.80, Z:1.71 [[ 9.99753590e-01 -1.31037634e-02 -1.79178809e-02 1.93762497e+02] [ 1.31016252e-02 9.99914142e-01 -2.36719107e-04 2.79652740e+00] [ 1.79194445e-02 1.90741678e-06 9.99839434e-01 1.71473781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57925415399998 meters Centerline goodness [0,1] 0.9992699005776375 Centerline is valid? [True, True] Translation: X:193.79, Y:2.80, Z:1.72 [[ 9.99739094e-01 -1.44557898e-02 -1.76854431e-02 1.93790656e+02] [ 1.44538554e-02 9.99895509e-01 -2.37200111e-04 2.79656498e+00] [ 1.76870241e-02 -1.84846137e-05 9.99843572e-01 1.71506877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60925415399998 meters Centerline goodness [0,1] 0.9993346925635798 Centerline is valid? [True, True] Translation: X:193.82, Y:2.80, Z:1.72 [[ 9.99715084e-01 -1.64154385e-02 -1.73287389e-02 1.93817718e+02] [ 1.64138031e-02 9.99865256e-01 -2.36604948e-04 2.79602178e+00] [ 1.73302879e-02 -4.78929733e-05 9.99849818e-01 1.71562947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63925415399999 meters Centerline goodness [0,1] 0.9992505513800561 Centerline is valid? [True, True] Translation: X:193.85, Y:2.79, Z:1.72 [[ 9.99648452e-01 -2.11831720e-02 -1.59450702e-02 1.93846926e+02] [ 2.11823405e-02 9.99775605e-01 -2.21051874e-04 2.79217316e+00] [ 1.59461748e-02 -1.16779743e-04 9.99872845e-01 1.71621979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.669254154 meters Centerline goodness [0,1] 0.9991862258009251 Centerline is valid? [True, True] Translation: X:193.88, Y:2.79, Z:1.72 [[ 9.99592557e-01 -2.40546503e-02 -1.53653688e-02 1.93875974e+02] [ 2.40541778e-02 9.99710633e-01 -2.15592553e-04 2.78948555e+00] [ 1.53661086e-02 -1.54096602e-04 9.99881923e-01 1.71667806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.699254154 meters Centerline goodness [0,1] 0.9992947361672117 Centerline is valid? [True, True] Translation: X:193.91, Y:2.79, Z:1.72 [[ 9.99539130e-01 -2.66349078e-02 -1.45639686e-02 1.93906518e+02] [ 2.66347502e-02 9.99645211e-01 -2.04819860e-04 2.78857660e+00] [ 1.45642569e-02 -1.83182202e-04 9.99893919e-01 1.71791697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.729254154 meters Centerline goodness [0,1] 0.999294585408606 Centerline is valid? [True, True] Translation: X:193.94, Y:2.79, Z:1.72 [[ 9.99465364e-01 -2.94348791e-02 -1.42328637e-02 1.93936816e+02] [ 2.94350137e-02 9.99566676e-01 -2.00074222e-04 2.78602227e+00] [ 1.42325854e-02 -2.18977283e-04 9.99898688e-01 1.71818457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759254154 meters Centerline goodness [0,1] 0.9989552684320498 Centerline is valid? [True, True] Translation: X:193.97, Y:2.78, Z:1.72 [[ 9.99390629e-01 -3.19606069e-02 -1.40317312e-02 1.93969078e+02] [ 3.19609937e-02 9.99489098e-01 -1.96736608e-04 2.78355702e+00] [ 1.40308502e-02 -2.51851351e-04 9.99901531e-01 1.71776651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.789254154 meters Centerline goodness [0,1] 0.9991483381949028 Centerline is valid? [True, True] Translation: X:194.00, Y:2.78, Z:1.72 [[ 9.99186548e-01 -3.78698091e-02 -1.38607216e-02 1.94000155e+02] [ 3.78707652e-02 9.99282627e-01 -1.93580190e-04 2.77827217e+00] [ 1.38581091e-02 -3.31493411e-04 9.99903917e-01 1.71797546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819254154 meters Centerline goodness [0,1] 0.9988519187838844 Centerline is valid? [True, True] Translation: X:194.03, Y:2.77, Z:1.72 [[ 9.99072662e-01 -4.08020207e-02 -1.37481690e-02 1.94031497e+02] [ 4.08032472e-02 9.99167182e-01 -1.91389170e-04 2.77403993e+00] [ 1.37445284e-02 -3.69758251e-04 9.99905471e-01 1.71779124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849254154 meters Centerline goodness [0,1] 0.9991081666454326 Centerline is valid? [True, True] Translation: X:194.06, Y:2.77, Z:1.72 [[ 9.98863632e-01 -4.59869788e-02 -1.25157073e-02 1.94062813e+02] [ 4.59884142e-02 9.98941958e-01 -1.73241269e-04 2.76960817e+00] [ 1.25104320e-02 -4.02533129e-04 9.99921660e-01 1.71842117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87925415399997 meters Centerline goodness [0,1] 0.9987256005607358 Centerline is valid? [True, True] Translation: X:194.09, Y:2.76, Z:1.72 [[ 9.98702915e-01 -4.95818253e-02 -1.15814579e-02 1.94093779e+02] [ 4.95833004e-02 9.98769979e-01 -1.59908375e-04 2.76322571e+00] [ 1.15751410e-02 -4.14545947e-04 9.99932920e-01 1.71919087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90925415399997 meters Centerline goodness [0,1] 0.9990458622225049 Centerline is valid? [True, True] Translation: X:194.13, Y:2.76, Z:1.72 [[ 9.98661845e-01 -5.02762601e-02 -1.21168400e-02 1.94126098e+02] [ 5.02779325e-02 9.98735251e-01 -1.66744148e-04 2.76318267e+00] [ 1.21098985e-02 -4.42688646e-04 9.99926574e-01 1.71979110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93925415399997 meters Centerline goodness [0,1] 0.9989580896893406 Centerline is valid? [True, True] Translation: X:194.16, Y:2.76, Z:1.72 [[ 9.98655056e-01 -5.02517146e-02 -1.27610374e-02 1.94158667e+02] [ 5.02535809e-02 9.98736475e-01 -1.74567570e-04 2.76175763e+00] [ 1.27536859e-02 -4.66955040e-04 9.99918559e-01 1.71915458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96925415399997 meters Centerline goodness [0,1] 0.9988539654916275 Centerline is valid? [True, True] Translation: X:194.19, Y:2.76, Z:1.72 [[ 9.98851446e-01 -4.60528023e-02 -1.32260448e-02 1.94188899e+02] [ 4.60544524e-02 9.98938915e-01 -1.79949350e-04 2.75991880e+00] [ 1.32202980e-02 -4.29375581e-04 9.99912516e-01 1.71862043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99925415399997 meters Centerline goodness [0,1] 0.9988539654916275 Centerline is valid? [True, True] Translation: X:194.22, Y:2.76, Z:1.72 [[ 9.98854730e-01 -4.59815089e-02 -1.32260509e-02 1.94220604e+02] [ 4.59831587e-02 9.98942199e-01 -1.79499338e-04 2.76028749e+00] [ 1.32203140e-02 -4.28881834e-04 9.99912516e-01 1.71891742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02925415399997 meters Centerline goodness [0,1] 0.9988539654916275 Centerline is valid? [True, True] Translation: X:194.25, Y:2.76, Z:1.72 [[ 9.98858010e-01 -4.59102107e-02 -1.32260636e-02 1.94252309e+02] [ 4.59118667e-02 9.98945478e-01 -1.78555346e-04 2.76065367e+00] [ 1.32203140e-02 -4.28881833e-04 9.99912516e-01 1.71921428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05925415399997 meters Centerline goodness [0,1] 0.9989798954392826 Centerline is valid? [True, True] Translation: X:194.29, Y:2.76, Z:1.72 [[ 9.98958173e-01 -4.36507223e-02 -1.33110073e-02 1.94285002e+02] [ 4.36522130e-02 9.99046772e-01 -1.78670516e-04 2.76304317e+00] [ 1.33061180e-02 -4.02570554e-04 9.99911389e-01 1.71944642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08925415399997 meters Centerline goodness [0,1] 0.9989824256428738 Centerline is valid? [True, True] Translation: X:194.32, Y:2.76, Z:1.72 [[ 9.99052907e-01 -4.12608584e-02 -1.38141318e-02 1.94316944e+02] [ 4.12622524e-02 9.99148334e-01 -1.84213696e-04 2.76433214e+00] [ 1.38099675e-02 -3.85962962e-04 9.99904563e-01 1.71950409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11925415399998 meters Centerline goodness [0,1] 0.9991491534076407 Centerline is valid? [True, True] Translation: X:194.35, Y:2.77, Z:1.72 [[ 9.99214897e-01 -3.68487293e-02 -1.45519990e-02 1.94347933e+02] [ 3.68498219e-02 9.99320796e-01 -1.93135638e-04 2.76732459e+00] [ 1.45492320e-02 -3.43254566e-04 9.99894095e-01 1.71916556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14925415399998 meters Centerline goodness [0,1] 0.9990224828934506 Centerline is valid? [True, True] Translation: X:194.38, Y:2.77, Z:1.72 [[ 9.99278210e-01 -3.47654846e-02 -1.53107859e-02 1.94378784e+02] [ 3.47664587e-02 9.99395443e-01 -2.02619494e-04 2.76831233e+00] [ 1.53085738e-02 -3.29828560e-04 9.99882763e-01 1.71891807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17925415399998 meters Centerline goodness [0,1] 0.9988960597826086 Centerline is valid? [True, True] Translation: X:194.41, Y:2.77, Z:1.72 [[ 9.99324775e-01 -3.31604322e-02 -1.58234032e-02 1.94410606e+02] [ 3.31612827e-02 9.99449992e-01 -2.08694010e-04 2.76912693e+00] [ 1.58216206e-02 -3.16171253e-04 9.99874780e-01 1.71854793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20925415399998 meters Centerline goodness [0,1] 0.9990004891223444 Centerline is valid? [True, True] Translation: X:194.44, Y:2.77, Z:1.72 [[ 9.99345226e-01 -3.22388885e-02 -1.64247850e-02 1.94442299e+02] [ 3.22396936e-02 9.99480143e-01 -2.15831544e-04 2.77013459e+00] [ 1.64232046e-02 -3.13839814e-04 9.99865081e-01 1.71820951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23925415399998 meters Centerline goodness [0,1] 0.9989603666298905 Centerline is valid? [True, True] Translation: X:194.47, Y:2.77, Z:1.72 [[ 9.99352299e-01 -3.12721676e-02 -1.78054336e-02 1.94473958e+02] [ 3.12729727e-02 9.99510854e-01 -2.33285787e-04 2.76980819e+00] [ 1.78040195e-02 -3.23694152e-04 9.99841443e-01 1.71761552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26925415399998 meters Centerline goodness [0,1] 0.999088326336768 Centerline is valid? [True, True] Translation: X:194.50, Y:2.77, Z:1.72 [[ 9.99345898e-01 -3.14615695e-02 -1.78310182e-02 1.94504186e+02] [ 3.14624132e-02 9.99504909e-01 -2.33274292e-04 2.76909687e+00] [ 1.78295294e-02 -3.27885157e-04 9.99840988e-01 1.71751360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29925415399998 meters Centerline goodness [0,1] 0.999088326336768 Centerline is valid? [True, True] Translation: X:194.53, Y:2.77, Z:1.72 [[ 9.99345898e-01 -3.14615695e-02 -1.78310182e-02 1.94534188e+02] [ 3.14624132e-02 9.99504909e-01 -2.33274292e-04 2.76948937e+00] [ 1.78295294e-02 -3.27885157e-04 9.99840988e-01 1.71779470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32925415399998 meters Centerline goodness [0,1] 0.9990447482380912 Centerline is valid? [True, True] Translation: X:194.56, Y:2.77, Z:1.72 [[ 9.99316773e-01 -3.22230842e-02 -1.81013628e-02 1.94564875e+02] [ 3.22240786e-02 9.99480641e-01 -2.36811074e-04 2.76886037e+00] [ 1.80995924e-02 -3.46650458e-04 9.99836129e-01 1.71820421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35925415399998 meters Centerline goodness [0,1] 0.998896926242549 Centerline is valid? [True, True] Translation: X:194.59, Y:2.77, Z:1.72 [[ 9.99290076e-01 -3.30834026e-02 -1.80231366e-02 1.94594054e+02] [ 3.30845278e-02 9.99452529e-01 -2.35815596e-04 2.76623379e+00] [ 1.80210710e-02 -3.60638779e-04 9.99837542e-01 1.71787384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38925415399999 meters Centerline goodness [0,1] 0.9990889251435473 Centerline is valid? [True, True] Translation: X:194.62, Y:2.77, Z:1.72 [[ 9.99251762e-01 -3.42996083e-02 -1.78732288e-02 1.94624503e+02] [ 3.43009088e-02 9.99411523e-01 -2.33884151e-04 2.76548891e+00] [ 1.78707329e-02 -3.79358839e-04 9.99840234e-01 1.71865174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.419254154 meters Centerline goodness [0,1] 0.9987709260436534 Centerline is valid? [True, True] Translation: X:194.65, Y:2.76, Z:1.72 [[ 9.99196059e-01 -3.60642559e-02 -1.75101470e-02 1.94654793e+02] [ 3.60657748e-02 9.99349392e-01 -2.29132963e-04 2.76428836e+00] [ 1.75070183e-02 -4.02568264e-04 9.99846659e-01 1.71939350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.449254154 meters Centerline goodness [0,1] 0.9987948750475707 Centerline is valid? [True, True] Translation: X:194.69, Y:2.76, Z:1.72 [[ 9.99071638e-01 -3.96848346e-02 -1.67623519e-02 1.94685823e+02] [ 3.96867380e-02 9.99212147e-01 -2.19211583e-04 2.76049255e+00] [ 1.67578450e-02 -4.46234993e-04 9.99859478e-01 1.71976539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479254154 meters Centerline goodness [0,1] 0.998753433340376 Centerline is valid? [True, True] Translation: X:194.72, Y:2.76, Z:1.72 [[ 9.98979965e-01 -4.19074199e-02 -1.68165865e-02 1.94717529e+02] [ 4.19096601e-02 9.99121380e-01 -2.19335961e-04 2.75840061e+00] [ 1.68110029e-02 -4.85665191e-04 9.99858567e-01 1.72011189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.509254154 meters Centerline goodness [0,1] 0.9988388050248074 Centerline is valid? [True, True] Translation: X:194.75, Y:2.76, Z:1.72 [[ 9.98883810e-01 -4.41168582e-02 -1.68771030e-02 1.94748395e+02] [ 4.41194430e-02 9.99026239e-01 -2.19329782e-04 2.75530144e+00] [ 1.68703449e-02 -5.25523415e-04 9.99857547e-01 1.72014410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539254154 meters Centerline goodness [0,1] 0.9988189640627636 Centerline is valid? [True, True] Translation: X:194.78, Y:2.75, Z:1.72 [[ 9.98639958e-01 -4.94656073e-02 -1.64738789e-02 1.94779130e+02] [ 4.94688044e-02 9.98775646e-01 -2.13623054e-04 2.75126954e+00] [ 1.64642760e-02 -6.01610574e-04 9.99864274e-01 1.72090666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569254154 meters Centerline goodness [0,1] 0.9987770936999241 Centerline is valid? [True, True] Translation: X:194.81, Y:2.75, Z:1.72 [[ 9.98517587e-01 -5.20935675e-02 -1.57762239e-02 1.94810299e+02] [ 5.20968391e-02 9.98642017e-01 -2.03807919e-04 2.74567364e+00] [ 1.57654171e-02 -6.18385606e-04 9.99875527e-01 1.72093717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599254154 meters Centerline goodness [0,1] 0.9986920107170735 Centerline is valid? [True, True] Translation: X:194.84, Y:2.75, Z:1.72 [[ 9.98363956e-01 -5.49597641e-02 -1.57745067e-02 1.94841488e+02] [ 5.49634096e-02 9.98488349e-01 -2.02670551e-04 2.74601886e+00] [ 1.57617998e-02 -6.64681697e-04 9.99875554e-01 1.72186793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62925415399997 meters Centerline goodness [0,1] 0.998654727372094 Centerline is valid? [True, True] Translation: X:194.87, Y:2.74, Z:1.72 [[ 9.98069665e-01 -6.02180434e-02 -1.51898062e-02 1.94872632e+02] [ 6.02220377e-02 9.98184987e-01 -1.94725145e-04 2.74180029e+00] [ 1.51739625e-02 -7.20411820e-04 9.99884609e-01 1.72279144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65925415399997 meters Centerline goodness [0,1] 0.9984633843433599 Centerline is valid? [True, True] Translation: X:194.90, Y:2.74, Z:1.72 [[ 9.97966667e-01 -6.20502668e-02 -1.45703536e-02 1.94904630e+02] [ 6.20541447e-02 9.98072767e-01 -1.86240509e-04 2.74088764e+00] [ 1.45538295e-02 -7.18289013e-04 9.99893829e-01 1.72338654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68925415399997 meters Centerline goodness [0,1] 0.998697177919267 Centerline is valid? [True, True] Translation: X:194.94, Y:2.74, Z:1.72 [[ 9.97823367e-01 -6.44409503e-02 -1.39961422e-02 1.94936533e+02] [ 6.44447758e-02 9.97921259e-01 -1.77983279e-04 2.73973869e+00] [ 1.39785173e-02 -7.24382374e-04 9.99902033e-01 1.72493336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71925415399997 meters Centerline goodness [0,1] 0.9983681666980481 Centerline is valid? [True, True] Translation: X:194.97, Y:2.74, Z:1.73 [[ 9.97797884e-01 -6.49285207e-02 -1.35525152e-02 1.94967947e+02] [ 6.49321621e-02 9.97889666e-01 -1.71616433e-04 2.73590978e+00] [ 1.35350577e-02 -7.08755602e-04 9.99908146e-01 1.72504052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74925415399997 meters Centerline goodness [0,1] 0.9988008331054214 Centerline is valid? [True, True] Translation: X:195.00, Y:2.74, Z:1.73 [[ 9.97773507e-01 -6.53125260e-02 -1.35019215e-02 1.95000044e+02] [ 6.53161864e-02 9.97864603e-01 -1.70157377e-04 2.74079174e+00] [ 1.34842029e-02 -7.12115496e-04 9.99908830e-01 1.72596058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77925415399997 meters Centerline goodness [0,1] 0.9988852431431937 Centerline is valid? [True, True] Translation: X:195.03, Y:2.74, Z:1.73 [[ 9.97756854e-01 -6.55957885e-02 -1.33585950e-02 1.95031674e+02] [ 6.55994129e-02 9.97846025e-01 -1.67150708e-04 2.73901417e+00] [ 1.33407853e-02 -7.09540227e-04 9.99910756e-01 1.72576041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80925415399997 meters Centerline goodness [0,1] 0.9985476436043697 Centerline is valid? [True, True] Translation: X:195.06, Y:2.74, Z:1.73 [[ 9.97734885e-01 -6.58263702e-02 -1.38559899e-02 1.95064211e+02] [ 6.58303136e-02 9.97830817e-01 -1.71795773e-04 2.73943593e+00] [ 1.38372424e-02 -7.40737522e-04 9.99903986e-01 1.72546558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83925415399997 meters Centerline goodness [0,1] 0.9986969314838168 Centerline is valid? [True, True] Translation: X:195.10, Y:2.74, Z:1.73 [[ 9.97723544e-01 -6.57499237e-02 -1.49892136e-02 1.95096236e+02] [ 6.57545472e-02 9.97835811e-01 -1.84697683e-04 2.74277254e+00] [ 1.49689179e-02 -8.01331725e-04 9.99887638e-01 1.72503340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86925415399998 meters Centerline goodness [0,1] 0.9987405277188858 Centerline is valid? [True, True] Translation: X:195.13, Y:2.74, Z:1.72 [[ 9.97727869e-01 -6.56197846e-02 -1.52690152e-02 1.95128111e+02] [ 6.56245863e-02 9.97844366e-01 -1.86895133e-04 2.74216538e+00] [ 1.52483648e-02 -8.15552323e-04 9.99883404e-01 1.72473431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89925415399998 meters Centerline goodness [0,1] 0.9985508463897174 Centerline is valid? [True, True] Translation: X:195.16, Y:2.74, Z:1.72 [[ 9.97757155e-01 -6.51029629e-02 -1.55648340e-02 1.95160779e+02] [ 6.51079121e-02 9.97878211e-01 -1.89075871e-04 2.74272323e+00] [ 1.55441182e-02 -8.24742045e-04 9.99878843e-01 1.72464936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92925415399998 meters Centerline goodness [0,1] 0.9986967945349449 Centerline is valid? [True, True] Translation: X:195.19, Y:2.75, Z:1.72 [[ 9.97790016e-01 -6.45329095e-02 -1.58299763e-02 1.95192799e+02] [ 6.45379784e-02 9.97915233e-01 -1.90964244e-04 2.74539810e+00] [ 1.58092980e-02 -8.31092456e-04 9.99874680e-01 1.72493255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95925415399998 meters Centerline goodness [0,1] 0.9985910457804975 Centerline is valid? [True, True] Translation: X:195.22, Y:2.75, Z:1.72 [[ 9.97913913e-01 -6.24380892e-02 -1.64105643e-02 1.95222958e+02] [ 6.24432681e-02 9.98048496e-01 -1.97130580e-04 2.74714529e+00] [ 1.63908475e-02 -8.28009920e-04 9.99865318e-01 1.72493552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98925415399998 meters Centerline goodness [0,1] 0.998758286856782 Centerline is valid? [True, True] Translation: X:195.25, Y:2.75, Z:1.72 [[ 9.98013977e-01 -6.07173935e-02 -1.67779659e-02 1.95253800e+02] [ 6.07225737e-02 9.98154662e-01 -2.00979321e-04 2.74736502e+00] [ 1.67592078e-02 -8.18221101e-04 9.99859220e-01 1.72473622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01925415399998 meters Centerline goodness [0,1] 0.9989241414226647 Centerline is valid? [True, True] Translation: X:195.28, Y:2.76, Z:1.72 [[ 9.98276058e-01 -5.59783698e-02 -1.76446698e-02 1.95284359e+02] [ 5.59833731e-02 9.98431679e-01 -2.10646587e-04 2.75623176e+00] [ 1.76287889e-02 -7.77524686e-04 9.99844299e-01 1.72495190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04925415399998 meters Centerline goodness [0,1] 0.998541935211208 Centerline is valid? [True, True] Translation: X:195.31, Y:2.76, Z:1.73 [[ 9.98448675e-01 -5.28026432e-02 -1.76670469e-02 1.95314881e+02] [ 5.28071694e-02 9.98604706e-01 -2.10543725e-04 2.75881275e+00] [ 1.76535135e-02 -7.22729637e-04 9.99843903e-01 1.72504837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07925415399998 meters Centerline goodness [0,1] 0.9987317691819911 Centerline is valid? [True, True] Translation: X:195.35, Y:2.76, Z:1.73 [[ 9.98642963e-01 -4.90261776e-02 -1.75689110e-02 1.95346393e+02] [ 4.90300806e-02 9.98797281e-01 -2.08771596e-04 2.76294866e+00] [ 1.75580158e-02 -6.52916839e-04 9.99845633e-01 1.72549791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10925415399998 meters Centerline goodness [0,1] 0.9989193541551892 Centerline is valid? [True, True] Translation: X:195.38, Y:2.77, Z:1.73 [[ 9.98844104e-01 -4.48474502e-02 -1.72962837e-02 1.95377194e+02] [ 4.48506204e-02 9.98993684e-01 -2.04764630e-04 2.76634414e+00] [ 1.72880614e-02 -5.71221113e-04 9.99850387e-01 1.72585534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13925415399999 meters Centerline goodness [0,1] 0.9990055646065633 Centerline is valid? [True, True] Translation: X:195.41, Y:2.77, Z:1.73 [[ 9.99033237e-01 -4.05314011e-02 -1.70234469e-02 1.95408852e+02] [ 4.05338588e-02 9.99178145e-01 -2.00784107e-04 2.77112893e+00] [ 1.70175942e-02 -4.89435997e-04 9.99855070e-01 1.72675371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.169254154 meters Centerline goodness [0,1] 0.9988547189819724 Centerline is valid? [True, True] Translation: X:195.44, Y:2.78, Z:1.73 [[ 9.99198192e-01 -3.64244775e-02 -1.66201904e-02 1.95440480e+02] [ 3.64262674e-02 9.99336324e-01 -1.95122360e-04 2.77820772e+00] [ 1.66162672e-02 -4.10445589e-04 9.99861856e-01 1.72810969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.199254154 meters Centerline goodness [0,1] 0.9990440582912011 Centerline is valid? [True, True] Translation: X:195.47, Y:2.78, Z:1.73 [[ 9.99460406e-01 -2.88937860e-02 -1.56219395e-02 1.95469748e+02] [ 2.88944534e-02 9.99582451e-01 -1.83034204e-04 2.78459852e+00] [ 1.56207051e-02 -2.68451963e-04 9.99877953e-01 1.72901767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.229254154 meters Centerline goodness [0,1] 0.9989809133564044 Centerline is valid? [True, True] Translation: X:195.50, Y:2.79, Z:1.73 [[ 9.99550889e-01 -2.57963383e-02 -1.52502219e-02 1.95499924e+02] [ 2.57966113e-02 9.99667196e-01 -1.78843398e-04 2.78759651e+00] [ 1.52497601e-02 -2.14640969e-04 9.99883693e-01 1.72925118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259254154 meters Centerline goodness [0,1] 0.9991701951105343 Centerline is valid? [True, True] Translation: X:195.53, Y:2.79, Z:1.73 [[ 9.99621500e-01 -2.31440726e-02 -1.48730671e-02 1.95530244e+02] [ 2.31440387e-02 9.99732126e-01 -1.74420404e-04 2.79005162e+00] [ 1.48731198e-02 -1.69868455e-04 9.99889375e-01 1.72973005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.289254154 meters Centerline goodness [0,1] 0.9992567266240523 Centerline is valid? [True, True] Translation: X:195.56, Y:2.79, Z:1.73 [[ 9.99656743e-01 -2.12178880e-02 -1.53687467e-02 1.95559604e+02] [ 2.12176226e-02 9.99774865e-01 -1.80339973e-04 2.79161449e+00] [ 1.53691131e-02 -1.45810198e-04 9.99881878e-01 1.72956193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319254154 meters Centerline goodness [0,1] 0.9992540653438758 Centerline is valid? [True, True] Translation: X:195.59, Y:2.79, Z:1.73 [[ 9.99677079e-01 -1.96717380e-02 -1.60860624e-02 1.95588813e+02] [ 1.96712197e-02 9.99806485e-01 -1.90462438e-04 2.79415697e+00] [ 1.60866962e-02 -1.26031534e-04 9.99870593e-01 1.72904186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349254154 meters Centerline goodness [0,1] 0.9989362381124609 Centerline is valid? [True, True] Translation: X:195.62, Y:2.79, Z:1.73 [[ 9.99654262e-01 -2.01787244e-02 -1.68575053e-02 1.95617114e+02] [ 2.01781729e-02 9.99796379e-01 -2.02823838e-04 2.79484471e+00] [ 1.68581655e-02 -1.37399943e-04 9.99857882e-01 1.72862860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37925415399997 meters Centerline goodness [0,1] 0.9990013386311964 Centerline is valid? [True, True] Translation: X:195.64, Y:2.79, Z:1.73 [[ 9.99592281e-01 -2.32541027e-02 -1.65685930e-02 1.95644430e+02] [ 2.32539597e-02 9.99729570e-01 -2.01313482e-04 2.79292786e+00] [ 1.65687937e-02 -1.84053991e-04 9.99862711e-01 1.72827718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40925415399997 meters Centerline goodness [0,1] 0.998957557706627 Centerline is valid? [True, True] Translation: X:195.67, Y:2.79, Z:1.73 [[ 9.99536435e-01 -2.57185691e-02 -1.62932468e-02 1.95673623e+02] [ 2.57187367e-02 9.99669199e-01 -1.99282253e-04 2.79120945e+00] [ 1.62929823e-02 -2.19851853e-04 9.99867236e-01 1.72858725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43925415399997 meters Centerline goodness [0,1] 0.9989779405502087 Centerline is valid? [True, True] Translation: X:195.70, Y:2.79, Z:1.73 [[ 9.99449621e-01 -2.89998398e-02 -1.61078933e-02 1.95703493e+02] [ 2.90004182e-02 9.99579380e-01 -1.97721942e-04 2.78864402e+00] [ 1.61068519e-02 -2.69522522e-04 9.99870240e-01 1.72873164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46925415399997 meters Centerline goodness [0,1] 0.9989353774087086 Centerline is valid? [True, True] Translation: X:195.73, Y:2.79, Z:1.73 [[ 9.99324151e-01 -3.30525678e-02 -1.60862993e-02 1.95734297e+02] [ 3.30536643e-02 9.99453559e-01 -1.97775636e-04 2.78778193e+00] [ 1.60840461e-02 -3.34069167e-04 9.99870588e-01 1.72931708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49925415399997 meters Centerline goodness [0,1] 0.998978288633461 Centerline is valid? [True, True] Translation: X:195.77, Y:2.79, Z:1.73 [[ 9.99164308e-01 -3.77220597e-02 -1.57394788e-02 1.95765348e+02] [ 3.77236902e-02 9.99288190e-01 -1.93393853e-04 2.78555569e+00] [ 1.57355705e-02 -4.00518989e-04 9.99876108e-01 1.72960829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52925415399997 meters Centerline goodness [0,1] 0.9986590609169469 Centerline is valid? [True, True] Translation: X:195.80, Y:2.78, Z:1.73 [[ 9.98735598e-01 -4.80406690e-02 -1.48087340e-02 1.95795004e+02] [ 4.80432461e-02 9.98845240e-01 -1.81878578e-04 2.77801162e+00] [ 1.48003710e-02 -5.29811040e-04 9.99890328e-01 1.72995690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55925415399997 meters Centerline goodness [0,1] 0.9986169624239329 Centerline is valid? [True, True] Translation: X:195.83, Y:2.78, Z:1.73 [[ 9.98482139e-01 -5.31442486e-02 -1.44605053e-02 1.95825973e+02] [ 5.31472395e-02 9.98586671e-01 -1.77648967e-04 2.77504079e+00] [ 1.44495089e-02 -5.91156619e-04 9.99895426e-01 1.73059035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58925415399997 meters Centerline goodness [0,1] 0.9988521872210178 Centerline is valid? [True, True] Translation: X:195.86, Y:2.76, Z:1.73 [[ 9.98218693e-01 -5.79862352e-02 -1.40369921e-02 1.95856423e+02] [ 5.79895379e-02 9.98317176e-01 -1.71963309e-04 2.76219967e+00] [ 1.40233418e-02 -6.42341693e-04 9.99901462e-01 1.73005237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61925415399998 meters Centerline goodness [0,1] 0.9984072036867926 Centerline is valid? [True, True] Translation: X:195.89, Y:2.77, Z:1.73 [[ 9.97961874e-01 -6.22793795e-02 -1.39060113e-02 1.95887678e+02] [ 6.22830475e-02 9.98058512e-01 -1.69568053e-04 2.76698740e+00] [ 1.38895735e-02 -6.96886310e-04 9.99903292e-01 1.73086136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64925415399998 meters Centerline goodness [0,1] 0.9986832324519486 Centerline is valid? [True, True] Translation: X:195.92, Y:2.76, Z:1.73 [[ 9.97753678e-01 -6.56044667e-02 -1.35518628e-02 1.95917869e+02] [ 6.56082604e-02 9.97845443e-01 -1.64921138e-04 2.76378378e+00] [ 1.35334841e-02 -7.24563474e-04 9.99908156e-01 1.73112077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67925415399998 meters Centerline goodness [0,1] 0.9987262769074003 Centerline is valid? [True, True] Translation: X:195.95, Y:2.76, Z:1.73 [[ 9.97439055e-01 -7.02729582e-02 -1.33057565e-02 1.95948738e+02] [ 7.02770296e-02 9.97527500e-01 -1.61908842e-04 2.76372898e+00] [ 1.32842358e-02 -7.73594839e-04 9.99911461e-01 1.73156718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70925415399998 meters Centerline goodness [0,1] 0.9986209530275385 Centerline is valid? [True, True] Translation: X:195.98, Y:2.76, Z:1.73 [[ 9.97349818e-01 -7.15708664e-02 -1.30748154e-02 1.95980629e+02] [ 7.15749129e-02 9.97435214e-01 -1.58781421e-04 2.76439715e+00] [ 1.30526455e-02 -7.77468156e-04 9.99914508e-01 1.73195602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73925415399998 meters Centerline goodness [0,1] 0.9987692830012519 Centerline is valid? [True, True] Translation: X:196.01, Y:2.76, Z:1.73 [[ 9.97307238e-01 -7.22266104e-02 -1.27118118e-02 1.96011613e+02] [ 7.22304994e-02 9.97387954e-01 -1.53506583e-04 2.76349431e+00] [ 1.26896953e-02 -7.65087290e-04 9.99919190e-01 1.73218143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76925415399998 meters Centerline goodness [0,1] 0.9989603445715134 Centerline is valid? [True, True] Translation: X:196.04, Y:2.76, Z:1.73 [[ 9.97291148e-01 -7.24773811e-02 -1.25457363e-02 1.96042456e+02] [ 7.24811975e-02 9.97369768e-01 -1.50810813e-04 2.75999138e+00] [ 1.25236685e-02 -7.58927705e-04 9.99921288e-01 1.73203088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79925415399998 meters Centerline goodness [0,1] 0.9987484355444305 Centerline is valid? [True, True] Translation: X:196.07, Y:2.76, Z:1.73 [[ 9.97277062e-01 -7.24628481e-02 -1.36965856e-02 1.96074663e+02] [ 7.24674077e-02 9.97370768e-01 -1.63765386e-04 2.76263019e+00] [ 1.36724410e-02 -8.29236588e-04 9.99906184e-01 1.73150663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82925415399998 meters Centerline goodness [0,1] 0.9986638104731808 Centerline is valid? [True, True] Translation: X:196.11, Y:2.76, Z:1.73 [[ 9.97321450e-01 -7.17742620e-02 -1.40847566e-02 1.96105558e+02] [ 7.17790287e-02 9.97420545e-01 -1.67446413e-04 2.75835024e+00] [ 1.40604439e-02 -8.43992248e-04 9.99900791e-01 1.73063730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85925415399998 meters Centerline goodness [0,1] 0.9985146203794084 Centerline is valid? [True, True] Translation: X:196.14, Y:2.77, Z:1.73 [[ 9.97406656e-01 -7.05059118e-02 -1.44526301e-02 1.96137312e+02] [ 7.05108112e-02 9.97511001e-01 -1.70919908e-04 2.76651561e+00] [ 1.44287084e-02 -8.48590020e-04 9.99895541e-01 1.73042158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88925415399999 meters Centerline goodness [0,1] 0.9987296210035994 Centerline is valid? [True, True] Translation: X:196.17, Y:2.77, Z:1.73 [[ 9.97669368e-01 -6.64574994e-02 -1.54671499e-02 1.96167644e+02] [ 6.64626373e-02 9.97788898e-01 -1.82174564e-04 2.76667720e+00] [ 1.54450573e-02 -8.46237592e-04 9.99880360e-01 1.72914384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.919254154 meters Centerline goodness [0,1] 0.9988952858447877 Centerline is valid? [True, True] Translation: X:196.20, Y:2.77, Z:1.73 [[ 9.97845874e-01 -6.36951296e-02 -1.57016313e-02 1.96199269e+02] [ 6.37000910e-02 9.97969070e-01 -1.84450788e-04 2.77225143e+00] [ 1.56814910e-02 -8.16141886e-04 9.99876705e-01 1.72915688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.949254154 meters Centerline goodness [0,1] 0.9988088907795385 Centerline is valid? [True, True] Translation: X:196.23, Y:2.77, Z:1.73 [[ 9.98071230e-01 -6.00311023e-02 -1.58141471e-02 1.96229024e+02] [ 6.00356877e-02 9.98196214e-01 -1.85049398e-04 2.77392304e+00] [ 1.57967305e-02 -7.64720718e-04 9.99874931e-01 1.72938489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979254154 meters Centerline goodness [0,1] 0.998743932555565 Centerline is valid? [True, True] Translation: X:196.26, Y:2.78, Z:1.73 [[ 9.98304561e-01 -5.60145070e-02 -1.58233227e-02 1.96259748e+02] [ 5.60185960e-02 9.98429708e-01 -1.85041100e-04 2.78012408e+00] [ 1.58088405e-02 -7.01672950e-04 9.99874786e-01 1.72985875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.009254154 meters Centerline goodness [0,1] 0.9988922972051807 Centerline is valid? [True, True] Translation: X:196.29, Y:2.78, Z:1.73 [[ 9.98548178e-01 -5.14751235e-02 -1.58696980e-02 1.96289260e+02] [ 5.14786649e-02 9.98674077e-01 -1.85530757e-04 2.78399545e+00] [ 1.58582062e-02 -6.31689467e-04 9.99874051e-01 1.73001776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039254154 meters Centerline goodness [0,1] 0.9990845999914847 Centerline is valid? [True, True] Translation: X:196.32, Y:2.79, Z:1.73 [[ 9.99009420e-01 -4.15801400e-02 -1.58514959e-02 1.96319324e+02] [ 4.15824261e-02 9.99135060e-01 -1.85488686e-04 2.79486343e+00] [ 1.58454979e-02 -4.73838712e-04 9.99874340e-01 1.73015574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069254154 meters Centerline goodness [0,1] 0.9989957479541035 Centerline is valid? [True, True] Translation: X:196.35, Y:2.80, Z:1.73 [[ 9.99189910e-01 -3.67235984e-02 -1.64590696e-02 1.96351250e+02] [ 3.67254109e-02 9.99325376e-01 -1.92218156e-04 2.80096115e+00] [ 1.64550248e-02 -4.12403651e-04 9.99864522e-01 1.73044323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099254154 meters Centerline goodness [0,1] 0.9989950393431406 Centerline is valid? [True, True] Translation: X:196.38, Y:2.80, Z:1.73 [[ 9.99353312e-01 -3.18238689e-02 -1.67391299e-02 1.96381769e+02] [ 3.18250676e-02 9.99493435e-01 -1.94835326e-04 2.80475315e+00] [ 1.67368509e-02 -3.38014612e-04 9.99859872e-01 1.73028094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12925415399997 meters Centerline goodness [0,1] 0.9994208121500741 Centerline is valid? [True, True] Translation: X:196.41, Y:2.82, Z:1.73 [[ 9.99603913e-01 -2.25680308e-02 -1.68137241e-02 1.96411936e+02] [ 2.25679338e-02 9.99745293e-01 -1.95532324e-04 2.81572107e+00] [ 1.68138543e-02 -1.83996137e-04 9.99858620e-01 1.73116159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15925415399997 meters Centerline goodness [0,1] 0.9993122125263294 Centerline is valid? [True, True] Translation: X:196.44, Y:2.82, Z:1.73 [[ 9.99686652e-01 -1.85856512e-02 -1.67681940e-02 1.96441645e+02] [ 1.85849899e-02 9.99827265e-01 -1.95275708e-04 2.81950822e+00] [ 1.67689269e-02 -1.16422198e-04 9.99859385e-01 1.73140370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18925415399997 meters Centerline goodness [0,1] 0.9993122125263294 Centerline is valid? [True, True] Translation: X:196.47, Y:2.82, Z:1.73 [[ 9.99681120e-01 -1.88808423e-02 -1.67681642e-02 1.96469030e+02] [ 1.88801802e-02 9.99821734e-01 -1.97806293e-04 2.81989102e+00] [ 1.67689097e-02 -1.18842743e-04 9.99859385e-01 1.73166040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21925415399997 meters Centerline goodness [0,1] 0.9993561679114087 Centerline is valid? [True, True] Translation: X:196.50, Y:2.82, Z:1.73 [[ 9.99736661e-01 -1.53571583e-02 -1.70518615e-02 1.96497125e+02] [ 1.53559011e-02 9.99882070e-01 -2.04667791e-04 2.82310166e+00] [ 1.70529937e-02 -5.72328038e-05 9.99854585e-01 1.73139520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24925415399997 meters Centerline goodness [0,1] 0.9995473650177821 Centerline is valid? [True, True] Translation: X:196.52, Y:2.83, Z:1.73 [[ 9.99762803e-01 -1.25642644e-02 -1.77898186e-02 1.96524485e+02] [ 1.25623941e-02 9.99921066e-01 -2.16883635e-04 2.82609084e+00] [ 1.77911394e-02 -6.65052063e-06 9.99841725e-01 1.73147701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27925415399997 meters Centerline goodness [0,1] 0.9992443053006586 Centerline is valid? [True, True] Translation: X:196.55, Y:2.83, Z:1.73 [[ 9.99779814e-01 -1.05308838e-02 -1.81500345e-02 1.96552240e+02] [ 1.05285047e-02 9.99944548e-01 -2.26635536e-04 2.82853636e+00] [ 1.81514147e-02 3.54929107e-05 9.99835249e-01 1.73118640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30925415399997 meters Centerline goodness [0,1] 0.9995031431595774 Centerline is valid? [True, True] Translation: X:196.58, Y:2.83, Z:1.73 [[ 9.99796001e-01 -7.84746559e-03 -1.86111225e-02 1.96580961e+02] [ 7.84440304e-03 9.99969204e-01 -2.37553392e-04 2.83136758e+00] [ 1.86124136e-02 9.15117848e-05 9.99826770e-01 1.73157885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33925415399997 meters Centerline goodness [0,1] 0.999265753897983 Centerline is valid? [True, True] Translation: X:196.61, Y:2.83, Z:1.73 [[ 9.99805922e-01 -7.50982952e-03 -1.82131840e-02 1.96608880e+02] [ 7.50675111e-03 9.99971796e-01 -2.37382591e-04 2.83232155e+00] [ 1.82144530e-02 1.00614681e-04 9.99834098e-01 1.73201903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36925415399998 meters Centerline goodness [0,1] 0.9994815518880152 Centerline is valid? [True, True] Translation: X:196.64, Y:2.83, Z:1.73 [[ 9.99809258e-01 -7.70033544e-03 -1.79485861e-02 1.96637099e+02] [ 7.69728389e-03 9.99970347e-01 -2.39094383e-04 2.83290372e+00] [ 1.79498949e-02 1.00893415e-04 9.99838883e-01 1.73300750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39925415399998 meters Centerline goodness [0,1] 0.9994165694282381 Centerline is valid? [True, True] Translation: X:196.66, Y:2.83, Z:1.73 [[ 9.99817378e-01 -8.29672837e-03 -1.72155383e-02 1.96663852e+02] [ 8.29393794e-03 9.99965577e-01 -2.33480452e-04 2.83330530e+00] [ 1.72168828e-02 9.06532069e-05 9.99851774e-01 1.73354610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42925415399998 meters Centerline goodness [0,1] 0.999373487729001 Centerline is valid? [True, True] Translation: X:196.69, Y:2.83, Z:1.73 [[ 9.99821818e-01 -1.05949873e-02 -1.56230134e-02 1.96692339e+02] [ 1.05929365e-02 9.99943870e-01 -2.14010975e-04 2.83175594e+00] [ 1.56244039e-02 4.84792529e-05 9.99877930e-01 1.73476538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45925415399998 meters Centerline goodness [0,1] 0.9995040003450433 Centerline is valid? [True, True] Translation: X:196.72, Y:2.83, Z:1.74 [[ 9.99807042e-01 -1.24886302e-02 -1.51628973e-02 1.96720333e+02] [ 1.24868808e-02 9.99922014e-01 -2.10046456e-04 2.83031725e+00] [ 1.51643380e-02 2.06686331e-05 9.99885015e-01 1.73553586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48925415399998 meters Centerline goodness [0,1] 0.99928896166857 Centerline is valid? [True, True] Translation: X:196.75, Y:2.83, Z:1.74 [[ 9.99774922e-01 -1.51777850e-02 -1.48236303e-02 1.96748274e+02] [ 1.51763452e-02 9.99884811e-01 -2.09615279e-04 2.82885736e+00] [ 1.48251043e-02 -1.54004331e-05 9.99890102e-01 1.73603219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51925415399998 meters Centerline goodness [0,1] 0.9991182037164488 Centerline is valid? [True, True] Translation: X:196.78, Y:2.82, Z:1.74 [[ 9.99679808e-01 -2.10712101e-02 -1.40101872e-02 1.96777282e+02] [ 2.10704617e-02 9.99777973e-01 -2.01036254e-04 2.82415762e+00] [ 1.40113126e-02 -9.42292292e-05 9.99901832e-01 1.73684377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54925415399998 meters Centerline goodness [0,1] 0.9992276335550311 Centerline is valid? [True, True] Translation: X:196.81, Y:2.82, Z:1.74 [[ 9.99596987e-01 -2.47151326e-02 -1.39651711e-02 1.96806447e+02] [ 2.47147349e-02 9.99694524e-01 -2.01084955e-04 2.82081343e+00] [ 1.39658749e-02 -1.44141585e-04 9.99902462e-01 1.73689915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57925415399998 meters Centerline goodness [0,1] 0.9991649358713574 Centerline is valid? [True, True] Translation: X:196.84, Y:2.82, Z:1.74 [[ 9.99490993e-01 -2.85786040e-02 -1.41781139e-02 1.96837446e+02] [ 2.85785860e-02 9.99591528e-01 -2.03913178e-04 2.81768305e+00] [ 1.41781501e-02 -2.01381062e-04 9.99899465e-01 1.73701588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60925415399998 meters Centerline goodness [0,1] 0.9990814517334928 Centerline is valid? [True, True] Translation: X:196.87, Y:2.81, Z:1.74 [[ 9.99190655e-01 -3.74393134e-02 -1.47082356e-02 1.96868171e+02] [ 3.74402648e-02 9.99298845e-01 -2.10759244e-04 2.80986093e+00] [ 1.47058135e-02 -3.40091568e-04 9.99891806e-01 1.73615069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63925415399999 meters Centerline goodness [0,1] 0.9988697191358683 Centerline is valid? [True, True] Translation: X:196.90, Y:2.81, Z:1.74 [[ 9.98997754e-01 -4.22062541e-02 -1.49036460e-02 1.96897917e+02] [ 4.22077681e-02 9.99108832e-01 -2.13084453e-04 2.80510917e+00] [ 1.48993579e-02 -4.16178745e-04 9.99888912e-01 1.73568986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.669254154 meters Centerline goodness [0,1] 0.9990853788233293 Centerline is valid? [True, True] Translation: X:196.93, Y:2.80, Z:1.74 [[ 9.98576376e-01 -5.10537302e-02 -1.54511771e-02 1.96929063e+02] [ 5.10564153e-02 9.98695746e-01 -2.20891683e-04 2.79646720e+00] [ 1.54423022e-02 -5.68304499e-04 9.99880599e-01 1.73534928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.699254154 meters Centerline goodness [0,1] 0.9990853788233293 Centerline is valid? [True, True] Translation: X:196.96, Y:2.80, Z:1.74 [[ 9.98580050e-01 -5.09817992e-02 -1.54511838e-02 1.96960773e+02] [ 5.09844830e-02 9.98699421e-01 -2.20420979e-04 2.79685866e+00] [ 1.54423258e-02 -5.67662626e-04 9.99880599e-01 1.73564637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.729254154 meters Centerline goodness [0,1] 0.9989803288439478 Centerline is valid? [True, True] Translation: X:196.99, Y:2.79, Z:1.74 [[ 9.98378437e-01 -5.48562648e-02 -1.52081174e-02 1.96991175e+02] [ 5.48593252e-02 9.98494070e-01 -2.16185187e-04 2.79231488e+00] [ 1.51970742e-02 -6.18472430e-04 9.99884327e-01 1.73587227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759254154 meters Centerline goodness [0,1] 0.9985962524193377 Centerline is valid? [True, True] Translation: X:197.02, Y:2.79, Z:1.74 [[ 9.98003083e-01 -6.13268198e-02 -1.51283926e-02 1.97022267e+02] [ 6.13305927e-02 9.98117484e-01 -2.14867796e-04 2.78651537e+00] [ 1.51130903e-02 -7.13394562e-04 9.99885536e-01 1.73621329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.789254154 meters Centerline goodness [0,1] 0.9988945343225833 Centerline is valid? [True, True] Translation: X:197.05, Y:2.78, Z:1.74 [[ 9.97880770e-01 -6.32799077e-02 -1.51532902e-02 1.97054428e+02] [ 6.32839243e-02 9.97995540e-01 -2.14776973e-04 2.78452322e+00] [ 1.51365071e-02 -7.44637858e-04 9.99885159e-01 1.73633969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819254154 meters Centerline goodness [0,1] 0.9986212455455625 Centerline is valid? [True, True] Translation: X:197.09, Y:2.78, Z:1.74 [[ 9.97808587e-01 -6.43629925e-02 -1.53437119e-02 1.97085658e+02] [ 6.43672537e-02 9.97926255e-01 -2.16476253e-04 2.78167607e+00] [ 1.53258260e-02 -7.71630733e-04 9.99882255e-01 1.73631239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849254154 meters Centerline goodness [0,1] 0.998727411555103 Centerline is valid? [True, True] Translation: X:197.12, Y:2.78, Z:1.74 [[ 9.97789566e-01 -6.46970674e-02 -1.51746827e-02 1.97118155e+02] [ 6.47012877e-02 9.97904654e-01 -2.13176795e-04 2.78277640e+00] [ 1.51566784e-02 -7.69115933e-04 9.99884835e-01 1.73677427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87925415399997 meters Centerline goodness [0,1] 0.9987255464219715 Centerline is valid? [True, True] Translation: X:197.15, Y:2.78, Z:1.74 [[ 9.97799207e-01 -6.44264898e-02 -1.56834004e-02 1.97148929e+02] [ 6.44309808e-02 9.97922142e-01 -2.19284223e-04 2.78084639e+00] [ 1.56649402e-02 -7.91695247e-04 9.99876984e-01 1.73649768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90925415399997 meters Centerline goodness [0,1] 0.9985768903993203 Centerline is valid? [True, True] Translation: X:197.18, Y:2.79, Z:1.74 [[ 9.97855952e-01 -6.34318989e-02 -1.61211875e-02 1.97181091e+02] [ 6.34365311e-02 9.97985850e-01 -2.24386362e-04 2.78568622e+00] [ 1.61029503e-02 -7.98766946e-04 9.99870020e-01 1.73727885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93925415399997 meters Centerline goodness [0,1] 0.9987060919735279 Centerline is valid? [True, True] Translation: X:197.21, Y:2.79, Z:1.74 [[ 9.98091332e-01 -5.95388692e-02 -1.63955915e-02 1.97212342e+02] [ 5.95431500e-02 9.98225707e-01 -2.27369864e-04 2.78762672e+00] [ 1.63800383e-02 -7.49309276e-04 9.99865557e-01 1.73732527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96925415399997 meters Centerline goodness [0,1] 0.9987684206055973 Centerline is valid? [True, True] Translation: X:197.24, Y:2.79, Z:1.74 [[ 9.98247066e-01 -5.68531170e-02 -1.64474339e-02 1.97242708e+02] [ 5.68570661e-02 9.98382303e-01 -2.27785135e-04 2.78878365e+00] [ 1.64337773e-02 -7.07766995e-04 9.99864706e-01 1.73744677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99925415399997 meters Centerline goodness [0,1] 0.9988092453592464 Centerline is valid? [True, True] Translation: X:197.27, Y:2.79, Z:1.74 [[ 9.98550019e-01 -5.08012440e-02 -1.78071217e-02 1.97273479e+02] [ 5.08049183e-02 9.98708566e-01 -2.46273094e-04 2.79484905e+00] [ 1.77966359e-02 -6.58773359e-04 9.99841410e-01 1.73746205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02925415399997 meters Centerline goodness [0,1] 0.9989353320699274 Centerline is valid? [True, True] Translation: X:197.31, Y:2.80, Z:1.74 [[ 9.98684320e-01 -4.77314310e-02 -1.87440482e-02 1.97305360e+02] [ 4.77349753e-02 9.98860003e-01 -2.58536697e-04 2.79768474e+00] [ 1.87350204e-02 -6.36550132e-04 9.99824281e-01 1.73647058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05925415399997 meters Centerline goodness [0,1] 0.998870514022675 Centerline is valid? [True, True] Translation: X:197.34, Y:2.80, Z:1.74 [[ 9.98772112e-01 -4.52217716e-02 -2.02301451e-02 1.97335975e+02] [ 4.52254150e-02 9.98976769e-01 -2.77603996e-04 2.79914088e+00] [ 2.02219987e-02 -6.37653578e-04 9.99795311e-01 1.73676901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08925415399997 meters Centerline goodness [0,1] 0.9988915416098226 Centerline is valid? [True, True] Translation: X:197.37, Y:2.80, Z:1.74 [[ 9.98860696e-01 -4.28489090e-02 -2.10066957e-02 1.97367607e+02] [ 4.28523387e-02 9.99081375e-01 -2.87053193e-04 2.80149906e+00] [ 2.09996983e-02 -6.13459886e-04 9.99779294e-01 1.73645039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11925415399998 meters Centerline goodness [0,1] 0.9990178914556557 Centerline is valid? [True, True] Translation: X:197.40, Y:2.80, Z:1.74 [[ 9.98954017e-01 -3.95063081e-02 -2.30244086e-02 1.97397939e+02] [ 3.95095743e-02 9.99219143e-01 -3.13202339e-04 2.80448899e+00] [ 2.30188033e-02 -5.96809848e-04 9.99734854e-01 1.73602639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14925415399998 meters Centerline goodness [0,1] 0.9988277919863597 Centerline is valid? [True, True] Translation: X:197.43, Y:2.81, Z:1.74 [[ 9.98998717e-01 -3.81366587e-02 -2.33914330e-02 1.97427275e+02] [ 3.81396742e-02 9.99272368e-01 -3.17367725e-04 2.80502726e+00] [ 2.33865160e-02 -5.75091684e-04 9.99726333e-01 1.73558157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17925415399998 meters Centerline goodness [0,1] 0.9988494971876598 Centerline is valid? [True, True] Translation: X:197.46, Y:2.81, Z:1.74 [[ 9.99022091e-01 -3.72980402e-02 -2.37427545e-02 1.97456908e+02] [ 3.73008996e-02 9.99304027e-01 -3.22586003e-04 2.80797263e+00] [ 2.37382621e-02 -5.63355561e-04 9.99718049e-01 1.73694264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20925415399998 meters Centerline goodness [0,1] 0.9989546443657464 Centerline is valid? [True, True] Translation: X:197.49, Y:2.81, Z:1.74 [[ 9.99026499e-01 -3.70137527e-02 -2.40007741e-02 1.97486027e+02] [ 3.70164966e-02 9.99314600e-01 -3.30090785e-04 2.80903492e+00] [ 2.39965419e-02 -5.58655132e-04 9.99711885e-01 1.73677437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23925415399998 meters Centerline goodness [0,1] 0.9990190642726149 Centerline is valid? [True, True] Translation: X:197.51, Y:2.81, Z:1.74 [[ 9.99035238e-01 -3.69076948e-02 -2.37994876e-02 1.97514306e+02] [ 3.69102893e-02 9.99318528e-01 -3.30411068e-04 2.80934107e+00] [ 2.37954637e-02 -5.48353674e-04 9.99716697e-01 1.73715305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26925415399998 meters Centerline goodness [0,1] 0.9991252213616676 Centerline is valid? [True, True] Translation: X:197.54, Y:2.81, Z:1.74 [[ 9.99016721e-01 -3.75961681e-02 -2.34972295e-02 1.97543030e+02] [ 3.75987918e-02 9.99292861e-01 -3.30281409e-04 2.81110184e+00] [ 2.34930310e-02 -5.53510789e-04 9.99723847e-01 1.73859721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29925415399998 meters Centerline goodness [0,1] 0.9990617736742222 Centerline is valid? [True, True] Translation: X:197.57, Y:2.81, Z:1.74 [[ 9.99010945e-01 -3.80007398e-02 -2.30884495e-02 1.97572310e+02] [ 3.80033156e-02 9.99277559e-01 -3.27362486e-04 2.81176198e+00] [ 2.30842095e-02 -5.50398927e-04 9.99733373e-01 1.73960901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32925415399998 meters Centerline goodness [0,1] 0.9991475395861305 Centerline is valid? [True, True] Translation: X:197.60, Y:2.81, Z:1.74 [[ 9.98965344e-01 -3.94527002e-02 -2.26213634e-02 1.97601755e+02] [ 3.94555263e-02 9.99221276e-01 -3.21554322e-04 2.81236209e+00] [ 2.26164338e-02 -5.71316177e-04 9.99744053e-01 1.74120103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35925415399998 meters Centerline goodness [0,1] 0.99889194314816 Centerline is valid? [True, True] Translation: X:197.63, Y:2.81, Z:1.74 [[ 9.98939138e-01 -4.03123916e-02 -2.22600663e-02 1.97631243e+02] [ 4.03153329e-02 9.99186956e-01 -3.16800497e-04 2.81102169e+00] [ 2.22547389e-02 -5.80957566e-04 9.99752164e-01 1.74087263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38925415399999 meters Centerline goodness [0,1] 0.9989565365531634 Centerline is valid? [True, True] Translation: X:197.66, Y:2.81, Z:1.74 [[ 9.98915287e-01 -4.10393112e-02 -2.20005623e-02 1.97661838e+02] [ 4.10423597e-02 9.99157358e-01 -3.13141204e-04 2.81271055e+00] [ 2.19948748e-02 -5.90153454e-04 9.99757909e-01 1.74254138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.419254154 meters Centerline goodness [0,1] 0.9987426744805541 Centerline is valid? [True, True] Translation: X:197.69, Y:2.81, Z:1.74 [[ 9.98871226e-01 -4.22094530e-02 -2.17861308e-02 1.97693382e+02] [ 4.22127304e-02 9.99108597e-01 -3.09631517e-04 2.81332033e+00] [ 2.17797800e-02 -6.10370053e-04 9.99762606e-01 1.74333891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.449254154 meters Centerline goodness [0,1] 0.9990199002855074 Centerline is valid? [True, True] Translation: X:197.72, Y:2.81, Z:1.74 [[ 9.98844607e-01 -4.31592940e-02 -2.11359175e-02 1.97724870e+02] [ 4.31626072e-02 9.99068015e-01 -2.99624486e-04 2.81273261e+00] [ 2.11291507e-02 -6.13003003e-04 9.99776567e-01 1.74389400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479254154 meters Centerline goodness [0,1] 0.9988731316309825 Centerline is valid? [True, True] Translation: X:197.76, Y:2.81, Z:1.74 [[ 9.98803060e-01 -4.43520546e-02 -2.06238176e-02 1.97755731e+02] [ 4.43554743e-02 9.99015769e-01 -2.91822074e-04 2.81254320e+00] [ 2.06164619e-02 -6.23306430e-04 9.99787264e-01 1.74466915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.509254154 meters Centerline goodness [0,1] 0.9990440582912011 Centerline is valid? [True, True] Translation: X:197.79, Y:2.81, Z:1.75 [[ 9.98703367e-01 -4.72757032e-02 -1.88836788e-02 1.97787205e+02] [ 4.72791016e-02 9.98881682e-01 -2.66688912e-04 2.81057421e+00] [ 1.88751688e-02 -6.26460254e-04 9.99821652e-01 1.74625989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539254154 meters Centerline goodness [0,1] 0.9990032658947279 Centerline is valid? [True, True] Translation: X:197.82, Y:2.81, Z:1.75 [[ 9.98629959e-01 -4.90300804e-02 -1.82826491e-02 1.97818463e+02] [ 4.90335745e-02 9.98797098e-01 -2.57371851e-04 2.80912172e+00] [ 1.82732758e-02 -6.39444397e-04 9.99832825e-01 1.74713529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569254154 meters Centerline goodness [0,1] 0.9990035194843744 Centerline is valid? [True, True] Translation: X:197.85, Y:2.81, Z:1.75 [[ 9.98566593e-01 -5.05670540e-02 -1.75423230e-02 1.97851007e+02] [ 5.05705269e-02 9.98720462e-01 -2.45851872e-04 2.80809069e+00] [ 1.75323089e-02 -6.41625049e-04 9.99846091e-01 1.74797685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599254154 meters Centerline goodness [0,1] 0.9987912717093963 Centerline is valid? [True, True] Translation: X:197.88, Y:2.81, Z:1.75 [[ 9.98501157e-01 -5.20836352e-02 -1.68146817e-02 1.97883044e+02] [ 5.20870609e-02 9.98642520e-01 -2.34445420e-04 2.80711308e+00] [ 1.68040668e-02 -6.41733326e-04 9.99858596e-01 1.74872371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62925415399997 meters Centerline goodness [0,1] 0.998832519634897 Centerline is valid? [True, True] Translation: X:197.91, Y:2.80, Z:1.75 [[ 9.98379213e-01 -5.46447590e-02 -1.59027344e-02 1.97914131e+02] [ 5.46481676e-02 9.98505648e-01 -2.20457623e-04 2.80371450e+00] [ 1.58910169e-02 -6.48954984e-04 9.99873519e-01 1.74872443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65925415399997 meters Centerline goodness [0,1] 0.9986871916488449 Centerline is valid? [True, True] Translation: X:197.95, Y:2.80, Z:1.75 [[ 9.98347261e-01 -5.51009798e-02 -1.63287582e-02 1.97946077e+02] [ 5.51046577e-02 9.98480559e-01 -2.24943722e-04 2.80320368e+00] [ 1.63163422e-02 -6.75218681e-04 9.99866652e-01 1.74709938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68925415399997 meters Centerline goodness [0,1] 0.9987917841320982 Centerline is valid? [True, True] Translation: X:197.98, Y:2.80, Z:1.75 [[ 9.98284835e-01 -5.63394286e-02 -1.59140672e-02 1.97976862e+02] [ 5.63431028e-02 9.98411442e-01 -2.17737477e-04 2.80084777e+00] [ 1.59010540e-02 -6.79283904e-04 9.99873340e-01 1.74872166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71925415399997 meters Centerline goodness [0,1] 0.9987928076752017 Centerline is valid? [True, True] Translation: X:198.01, Y:2.80, Z:1.75 [[ 9.98255296e-01 -5.68527358e-02 -1.59414657e-02 1.98008607e+02] [ 5.68565125e-02 9.98382337e-01 -2.16573492e-04 2.80036532e+00] [ 1.59279906e-02 -6.90180507e-04 9.99872903e-01 1.74846769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74925415399997 meters Centerline goodness [0,1] 0.9987053505104315 Centerline is valid? [True, True] Translation: X:198.04, Y:2.80, Z:1.75 [[ 9.98218746e-01 -5.71004448e-02 -1.72879601e-02 1.98041116e+02] [ 5.71049432e-02 9.98368154e-01 -2.33739627e-04 2.80157861e+00] [ 1.72730954e-02 -7.53904699e-04 9.99850525e-01 1.74791377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77925415399997 meters Centerline goodness [0,1] 0.9986835679554961 Centerline is valid? [True, True] Translation: X:198.07, Y:2.80, Z:1.75 [[ 9.98205165e-01 -5.70514460e-02 -1.82093603e-02 1.98073752e+02] [ 5.70564536e-02 9.98370924e-01 -2.44826171e-04 2.80154108e+00] [ 1.81936635e-02 -7.94574769e-04 9.99834166e-01 1.74733856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80925415399997 meters Centerline goodness [0,1] 0.9986832604171091 Centerline is valid? [True, True] Translation: X:198.11, Y:2.80, Z:1.75 [[ 9.98209638e-01 -5.66614086e-02 -1.91573286e-02 1.98106183e+02] [ 5.66669072e-02 9.98393107e-01 -2.56133008e-04 2.80228085e+00] [ 1.91410577e-02 -8.29912126e-04 9.99816449e-01 1.74681528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83925415399997 meters Centerline goodness [0,1] 0.998513516383173 Centerline is valid? [True, True] Translation: X:198.14, Y:2.80, Z:1.75 [[ 9.98219841e-01 -5.61045294e-02 -2.02344183e-02 1.98137416e+02] [ 5.61105765e-02 9.98424524e-01 -2.69214201e-04 2.79828143e+00] [ 2.02176436e-02 -8.66629916e-04 9.99795227e-01 1.74511840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86925415399998 meters Centerline goodness [0,1] 0.9987238386932108 Centerline is valid? [True, True] Translation: X:198.17, Y:2.81, Z:1.75 [[ 9.98289236e-01 -5.42848323e-02 -2.17200017e-02 1.98169645e+02] [ 5.42914023e-02 9.98525093e-01 -2.87513093e-04 2.80537040e+00] [ 2.17035744e-02 -8.92188125e-04 9.99764052e-01 1.74626671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89925415399998 meters Centerline goodness [0,1] 0.9988726522451237 Centerline is valid? [True, True] Translation: X:198.20, Y:2.81, Z:1.75 [[ 9.98353443e-01 -5.30500056e-02 -2.18197062e-02 1.98201938e+02] [ 5.30563769e-02 9.98591477e-01 -2.87213396e-04 2.80642857e+00] [ 2.18042093e-02 -8.70934075e-04 9.99761881e-01 1.74673000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92925415399998 meters Centerline goodness [0,1] 0.9987440662451839 Centerline is valid? [True, True] Translation: X:198.23, Y:2.81, Z:1.75 [[ 9.98437648e-01 -5.15399256e-02 -2.15846825e-02 1.98232019e+02] [ 5.15458439e-02 9.98670589e-01 -2.82459228e-04 2.80717964e+00] [ 2.15705455e-02 -8.30582746e-04 9.99766984e-01 1.74708939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95925415399998 meters Centerline goodness [0,1] 0.998728598067469 Centerline is valid? [True, True] Translation: X:198.26, Y:2.81, Z:1.75 [[ 9.98529709e-01 -4.98661136e-02 -2.12553763e-02 1.98262697e+02] [ 4.98715094e-02 9.98755604e-01 -2.76476559e-04 2.80736734e+00] [ 2.12427130e-02 -7.83967642e-04 9.99774041e-01 1.74740398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98925415399998 meters Centerline goodness [0,1] 0.9985752562412282 Centerline is valid? [True, True] Translation: X:198.29, Y:2.81, Z:1.75 [[ 9.98636847e-01 -4.78315554e-02 -2.08947379e-02 1.98293625e+02] [ 4.78363486e-02 9.98855150e-01 -2.70648704e-04 2.80818417e+00] [ 2.08837621e-02 -7.29248197e-04 9.99781644e-01 1.74783018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01925415399998 meters Centerline goodness [0,1] 0.9988930988973562 Centerline is valid? [True, True] Translation: X:198.32, Y:2.81, Z:1.75 [[ 9.98910108e-01 -4.26291774e-02 -1.90091898e-02 1.98324081e+02] [ 4.26322089e-02 9.99090804e-01 -2.45921409e-04 2.81477716e+00] [ 1.90023902e-02 -5.64750369e-04 9.99819279e-01 1.75087451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04925415399998 meters Centerline goodness [0,1] 0.9987228607918263 Centerline is valid? [True, True] Translation: X:198.36, Y:2.82, Z:1.75 [[ 9.99035341e-01 -3.97635941e-02 -1.86344653e-02 1.98355285e+02] [ 3.97660152e-02 9.99208990e-01 -2.40739911e-04 2.81713975e+00] [ 1.86292979e-02 -5.00510753e-04 9.99826334e-01 1.75204176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07925415399998 meters Centerline goodness [0,1] 0.9988305834325566 Centerline is valid? [True, True] Translation: X:198.39, Y:2.82, Z:1.75 [[ 9.99162531e-01 -3.67626862e-02 -1.79650070e-02 1.98386470e+02] [ 3.67644631e-02 9.99323932e-01 -2.31458122e-04 2.81950885e+00] [ 1.79613705e-02 -4.29209554e-04 9.99838589e-01 1.75297846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10925415399998 meters Centerline goodness [0,1] 0.9988305834325566 Centerline is valid? [True, True] Translation: X:198.42, Y:2.82, Z:1.75 [[ 9.99163835e-01 -3.67272239e-02 -1.79650153e-02 1.98417323e+02] [ 3.67290066e-02 9.99325236e-01 -2.30817677e-04 2.81987458e+00] [ 1.79613704e-02 -4.29212489e-04 9.99838589e-01 1.75326742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13925415399999 meters Centerline goodness [0,1] 0.9988934051201294 Centerline is valid? [True, True] Translation: X:198.45, Y:2.82, Z:1.75 [[ 9.99364868e-01 -3.08732399e-02 -1.77961866e-02 1.98447189e+02] [ 3.08740672e-02 9.99523256e-01 -2.28319210e-04 2.82413200e+00] [ 1.77947513e-02 -3.21266463e-04 9.99841609e-01 1.75383687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.169254154 meters Centerline goodness [0,1] 0.9987868985038415 Centerline is valid? [True, True] Translation: X:198.48, Y:2.83, Z:1.75 [[ 9.99446195e-01 -2.81812120e-02 -1.76952614e-02 1.98477998e+02] [ 2.81816081e-02 9.99602794e-01 -2.27024373e-04 2.82598616e+00] [ 1.76946305e-02 -2.71782275e-04 9.99843401e-01 1.75366222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.199254154 meters Centerline goodness [0,1] 0.9989354680746876 Centerline is valid? [True, True] Translation: X:198.51, Y:2.83, Z:1.75 [[ 9.99493104e-01 -2.59295271e-02 -1.84714379e-02 1.98507236e+02] [ 2.59295714e-02 9.99663744e-01 -2.37140396e-04 2.82747218e+00] [ 1.84713757e-02 -2.41936277e-04 9.99829360e-01 1.75370792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.229254154 meters Centerline goodness [0,1] 0.9989772000852333 Centerline is valid? [True, True] Translation: X:198.54, Y:2.83, Z:1.75 [[ 9.99528012e-01 -2.43104964e-02 -1.87817285e-02 1.98535843e+02] [ 2.43102100e-02 9.99704433e-01 -2.43597585e-04 2.82927116e+00] [ 1.87820992e-02 -2.13105155e-04 9.99823578e-01 1.75376631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259254154 meters Centerline goodness [0,1] 0.9990206514796679 Centerline is valid? [True, True] Translation: X:198.56, Y:2.83, Z:1.75 [[ 9.99552584e-01 -2.31467633e-02 -1.89435681e-02 1.98564381e+02] [ 2.31461726e-02 9.99732060e-01 -2.50466707e-04 2.83142703e+00] [ 1.89442898e-02 -1.88116451e-04 9.99820523e-01 1.75469420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.289254154 meters Centerline goodness [0,1] 0.9989145009897197 Centerline is valid? [True, True] Translation: X:198.59, Y:2.83, Z:1.75 [[ 9.99574984e-01 -2.16981271e-02 -1.94690145e-02 1.98592459e+02] [ 2.16971526e-02 9.99764555e-01 -2.61308855e-04 2.83091237e+00] [ 1.94701006e-02 -1.61224384e-04 9.99810427e-01 1.75300999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319254154 meters Centerline goodness [0,1] 0.9992133684837146 Centerline is valid? [True, True] Translation: X:198.62, Y:2.83, Z:1.75 [[ 9.99568540e-01 -2.17623511e-02 -1.97265016e-02 1.98619990e+02] [ 2.17612766e-02 9.99763159e-01 -2.69148229e-04 2.83203786e+00] [ 1.97276868e-02 -1.60241756e-04 9.99805377e-01 1.75489926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349254154 meters Centerline goodness [0,1] 0.9988093466289626 Centerline is valid? [True, True] Translation: X:198.65, Y:2.83, Z:1.75 [[ 9.99549535e-01 -2.23474729e-02 -2.00329169e-02 1.98647626e+02] [ 2.23463636e-02 9.99750250e-01 -2.79253968e-04 2.83137029e+00] [ 2.00341543e-02 -1.68534671e-04 9.99799282e-01 1.75470796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37925415399997 meters Centerline goodness [0,1] 0.9989795484501892 Centerline is valid? [True, True] Translation: X:198.68, Y:2.83, Z:1.75 [[ 9.99503783e-01 -2.37191607e-02 -2.07265487e-02 1.98675743e+02] [ 2.37181877e-02 9.99718641e-01 -2.92801656e-04 2.82949177e+00] [ 2.07276621e-02 -1.98939810e-04 9.99785139e-01 1.75369220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40925415399997 meters Centerline goodness [0,1] 0.9989795484501892 Centerline is valid? [True, True] Translation: X:198.70, Y:2.83, Z:1.75 [[ 9.99496902e-01 -2.40074159e-02 -2.07264897e-02 1.98703137e+02] [ 2.40064193e-02 9.99711760e-01 -2.96928706e-04 2.82995306e+00] [ 2.07276440e-02 -2.00789483e-04 9.99785139e-01 1.75394914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43925415399997 meters Centerline goodness [0,1] 0.9991058883637757 Centerline is valid? [True, True] Translation: X:198.73, Y:2.83, Z:1.75 [[ 9.99439951e-01 -2.62209843e-02 -2.07905004e-02 1.98732101e+02] [ 2.62203445e-02 9.99656142e-01 -3.03413983e-04 2.82752632e+00] [ 2.07913072e-02 -2.41890027e-04 9.99783808e-01 1.75368084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46925415399997 meters Centerline goodness [0,1] 0.9988525286867829 Centerline is valid? [True, True] Translation: X:198.76, Y:2.83, Z:1.75 [[ 9.99404007e-01 -2.77807372e-02 -2.04905041e-02 1.98760470e+02] [ 2.77803391e-02 9.99614006e-01 -3.04128519e-04 2.82645781e+00] [ 2.04910438e-02 -2.65285892e-04 9.99790001e-01 1.75415683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49925415399997 meters Centerline goodness [0,1] 0.9989798087141339 Centerline is valid? [True, True] Translation: X:198.79, Y:2.83, Z:1.75 [[ 9.99362442e-01 -2.95172583e-02 -2.00858524e-02 1.98788443e+02] [ 2.95171515e-02 9.99564228e-01 -3.01854629e-04 2.82521516e+00] [ 2.00860095e-02 -2.91214969e-04 9.99798213e-01 1.75472821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52925415399997 meters Centerline goodness [0,1] 0.9988744717449936 Centerline is valid? [True, True] Translation: X:198.82, Y:2.82, Z:1.76 [[ 9.99318049e-01 -3.13059837e-02 -1.95799203e-02 1.98817446e+02] [ 3.13061515e-02 9.99509798e-01 -2.98024306e-04 2.82421389e+00] [ 1.95796521e-02 -3.15150882e-04 9.99808251e-01 1.75538916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55925415399997 meters Centerline goodness [0,1] 0.998706037079462 Centerline is valid? [True, True] Translation: X:198.85, Y:2.82, Z:1.75 [[ 9.99207616e-01 -3.49619410e-02 -1.90211023e-02 1.98846136e+02] [ 3.49627083e-02 9.99388575e-01 -2.92302701e-04 2.81916315e+00] [ 1.90196918e-02 -3.72958168e-04 9.99819040e-01 1.75495494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58925415399997 meters Centerline goodness [0,1] 0.9988548647043854 Centerline is valid? [True, True] Translation: X:198.88, Y:2.82, Z:1.76 [[ 9.99128301e-01 -3.73401050e-02 -1.86642532e-02 1.98876939e+02] [ 3.73412494e-02 9.99302531e-01 -2.87306260e-04 2.81877473e+00] [ 1.86619635e-02 -4.09890718e-04 9.99825766e-01 1.75647881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61925415399998 meters Centerline goodness [0,1] 0.9988782831382674 Centerline is valid? [True, True] Translation: X:198.91, Y:2.81, Z:1.76 [[ 9.99044920e-01 -3.95625707e-02 -1.85485910e-02 1.98907313e+02] [ 3.95640868e-02 9.99216994e-01 -2.85360881e-04 2.81438969e+00] [ 1.85453569e-02 -4.48769724e-04 9.99827919e-01 1.75576898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64925415399998 meters Centerline goodness [0,1] 0.998791015335016 Centerline is valid? [True, True] Translation: X:198.94, Y:2.82, Z:1.76 [[ 9.98939848e-01 -4.20451117e-02 -1.87453743e-02 1.98938118e+02] [ 4.20471032e-02 9.99115588e-01 -2.88047667e-04 2.81524278e+00] [ 1.87409067e-02 -5.00446396e-04 9.99824249e-01 1.75713648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67925415399998 meters Centerline goodness [0,1] 0.9989403636671894 Centerline is valid? [True, True] Translation: X:198.97, Y:2.81, Z:1.76 [[ 9.98851106e-01 -4.42241129e-02 -1.84579472e-02 1.98969722e+02] [ 4.42264247e-02 9.99021493e-01 -2.83131033e-04 2.81371100e+00] [ 1.84524072e-02 -5.33523267e-04 9.99829597e-01 1.75734501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70925415399998 meters Centerline goodness [0,1] 0.9989620843041729 Centerline is valid? [True, True] Translation: X:199.00, Y:2.81, Z:1.76 [[ 9.98676523e-01 -4.78448831e-02 -1.88698310e-02 1.99000719e+02] [ 4.78479547e-02 9.98854589e-01 -2.88924430e-04 2.80985530e+00] [ 1.88620408e-02 -6.14340772e-04 9.99821907e-01 1.75763286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73925415399998 meters Centerline goodness [0,1] 0.9988769758867653 Centerline is valid? [True, True] Translation: X:199.03, Y:2.81, Z:1.76 [[ 9.98626285e-01 -4.89523026e-02 -1.86872966e-02 1.99032448e+02] [ 4.89555215e-02 9.98800919e-01 -2.85443779e-04 2.80817173e+00] [ 1.86788622e-02 -6.29794692e-04 9.99825336e-01 1.75788492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76925415399998 meters Centerline goodness [0,1] 0.9988980482739621 Centerline is valid? [True, True] Translation: X:199.06, Y:2.80, Z:1.76 [[ 9.98575253e-01 -5.01271371e-02 -1.82957457e-02 1.99063921e+02] [ 5.01304377e-02 9.98742640e-01 -2.78466745e-04 2.80084214e+00] [ 1.82867001e-02 -6.39103739e-04 9.99832580e-01 1.75675578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79925415399998 meters Centerline goodness [0,1] 0.9987099230183571 Centerline is valid? [True, True] Translation: X:199.10, Y:2.80, Z:1.76 [[ 9.98524579e-01 -5.11730229e-02 -1.81655153e-02 1.99096013e+02] [ 5.11764702e-02 9.98689588e-01 -2.75345681e-04 2.80361772e+00] [ 1.81558013e-02 -6.54707522e-04 9.99834955e-01 1.75833636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82925415399998 meters Centerline goodness [0,1] 0.9986876918192401 Centerline is valid? [True, True] Translation: X:199.13, Y:2.81, Z:1.76 [[ 9.98515971e-01 -5.12484193e-02 -1.84243270e-02 1.99128266e+02] [ 5.12520031e-02 9.98685714e-01 -2.77923466e-04 2.80521067e+00] [ 1.84143553e-02 -6.66772646e-04 9.99830219e-01 1.75910425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85925415399998 meters Centerline goodness [0,1] 0.9987294595968151 Centerline is valid? [True, True] Translation: X:199.16, Y:2.81, Z:1.76 [[ 9.98525201e-01 -5.11316364e-02 -1.82476888e-02 1.99160363e+02] [ 5.11351569e-02 9.98691705e-01 -2.73915750e-04 2.80630239e+00] [ 1.82378212e-02 -6.59586648e-04 9.99833460e-01 1.75977722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88925415399999 meters Centerline goodness [0,1] 0.9989834385192088 Centerline is valid? [True, True] Translation: X:199.19, Y:2.81, Z:1.76 [[ 9.98546824e-01 -5.08454079e-02 -1.78601568e-02 1.99192280e+02] [ 5.08487581e-02 9.98706330e-01 -2.66782931e-04 2.80692912e+00] [ 1.78506164e-02 -6.41771547e-04 9.99840459e-01 1.75996754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.919254154 meters Centerline goodness [0,1] 0.99873131330218 Centerline is valid? [True, True] Translation: X:199.22, Y:2.81, Z:1.76 [[ 9.98567812e-01 -5.03646995e-02 -1.80477691e-02 1.99223738e+02] [ 5.03680635e-02 9.98730687e-01 -2.68398433e-04 2.80671737e+00] [ 1.80383786e-02 -6.41017142e-04 9.99837090e-01 1.75968740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.949254154 meters Centerline goodness [0,1] 0.9986921762608898 Centerline is valid? [True, True] Translation: X:199.25, Y:2.81, Z:1.76 [[ 9.98567874e-01 -5.02918567e-02 -1.82463483e-02 1.99254804e+02] [ 5.02953015e-02 9.98734354e-01 -2.70337821e-04 2.80585876e+00] [ 1.82368506e-02 -6.47754923e-04 9.99833485e-01 1.75966066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979254154 meters Centerline goodness [0,1] 0.9989861011364116 Centerline is valid? [True, True] Translation: X:199.29, Y:2.81, Z:1.76 [[ 9.98568063e-01 -5.03589973e-02 -1.80497757e-02 1.99287080e+02] [ 5.03623998e-02 9.98730974e-01 -2.66287404e-04 2.80649179e+00] [ 1.80402801e-02 -6.43123923e-04 9.99837054e-01 1.76021071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.009254154 meters Centerline goodness [0,1] 0.9987128629304524 Centerline is valid? [True, True] Translation: X:199.32, Y:2.81, Z:1.76 [[ 9.98555756e-01 -5.05159238e-02 -1.82905226e-02 1.99319712e+02] [ 5.05194684e-02 9.98723040e-01 -2.68501804e-04 2.80744088e+00] [ 1.82807300e-02 -6.55913457e-04 9.99832678e-01 1.76022741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039254154 meters Centerline goodness [0,1] 0.9987336696144024 Centerline is valid? [True, True] Translation: X:199.35, Y:2.81, Z:1.76 [[ 9.98515659e-01 -5.10484460e-02 -1.89877375e-02 1.99351491e+02] [ 5.10523892e-02 9.98695938e-01 -2.77313738e-04 2.80859840e+00] [ 1.89771328e-02 -6.92467256e-04 9.99819678e-01 1.76033018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069254154 meters Centerline goodness [0,1] 0.9987117212249208 Centerline is valid? [True, True] Translation: X:199.38, Y:2.81, Z:1.76 [[ 9.98366471e-01 -5.33421422e-02 -2.04696043e-02 1.99382840e+02] [ 5.33472343e-02 9.98575978e-01 -2.97600970e-04 2.80624090e+00] [ 2.04563298e-02 -7.94881946e-04 9.99790431e-01 1.75891416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099254154 meters Centerline goodness [0,1] 0.9988582061149406 Centerline is valid? [True, True] Translation: X:199.41, Y:2.81, Z:1.76 [[ 9.98295281e-01 -5.47082743e-02 -2.03355978e-02 1.99413834e+02] [ 5.47136013e-02 9.98502046e-01 -2.94745640e-04 2.80580751e+00] [ 2.03212611e-02 -8.18390610e-04 9.99793167e-01 1.75890400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12925415399997 meters Centerline goodness [0,1] 0.9987968083759023 Centerline is valid? [True, True] Translation: X:199.45, Y:2.80, Z:1.76 [[ 9.98210594e-01 -5.61663749e-02 -2.05170217e-02 1.99445328e+02] [ 5.61721202e-02 9.98421056e-01 -2.96627111e-04 2.80493482e+00] [ 2.05012869e-02 -8.56388282e-04 9.99789460e-01 1.75890600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15925415399997 meters Centerline goodness [0,1] 0.9987098684488812 Centerline is valid? [True, True] Translation: X:199.48, Y:2.81, Z:1.76 [[ 9.98116323e-01 -5.77751899e-02 -2.06357333e-02 1.99477052e+02] [ 5.77813650e-02 9.98329217e-01 -2.97375140e-04 2.80577578e+00] [ 2.06184364e-02 -8.95545857e-04 9.99787016e-01 1.75958603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18925415399997 meters Centerline goodness [0,1] 0.998714273670011 Centerline is valid? [True, True] Translation: X:199.51, Y:2.80, Z:1.76 [[ 9.98057790e-01 -5.88475542e-02 -2.04355643e-02 1.99508150e+02] [ 5.88538694e-02 9.98266566e-01 -2.92772928e-04 2.80270498e+00] [ 2.04173695e-02 -9.10507729e-04 9.99791129e-01 1.75918395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21925415399997 meters Centerline goodness [0,1] 0.9987979248386688 Centerline is valid? [True, True] Translation: X:199.54, Y:2.80, Z:1.76 [[ 9.97932253e-01 -6.10721648e-02 -2.00352014e-02 1.99539065e+02] [ 6.10787134e-02 9.98132912e-01 -2.85480826e-04 2.79994094e+00] [ 2.00152289e-02 -9.38833801e-04 9.99799234e-01 1.76019312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24925415399997 meters Centerline goodness [0,1] 0.9985844372609918 Centerline is valid? [True, True] Translation: X:199.57, Y:2.80, Z:1.76 [[ 9.97900919e-01 -6.17873104e-02 -1.93928675e-02 1.99571598e+02] [ 6.17936037e-02 9.98088911e-01 -2.75123491e-04 2.80298229e+00] [ 1.93728051e-02 -9.23809185e-04 9.99811903e-01 1.76111721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27925415399997 meters Centerline goodness [0,1] 0.9988603267063442 Centerline is valid? [True, True] Translation: X:199.60, Y:2.80, Z:1.76 [[ 9.97871215e-01 -6.23988495e-02 -1.89584072e-02 1.99603427e+02] [ 6.24050001e-02 9.98050873e-01 -2.67582929e-04 2.80454566e+00] [ 1.89381517e-02 -9.16086099e-04 9.99820237e-01 1.76295486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30925415399997 meters Centerline goodness [0,1] 0.998690546591197 Centerline is valid? [True, True] Translation: X:199.64, Y:2.80, Z:1.76 [[ 9.97922921e-01 -6.17946950e-02 -1.82005219e-02 1.99636124e+02] [ 6.18002901e-02 9.98088503e-01 -2.55404592e-04 2.80495743e+00] [ 1.81815143e-02 -8.69923435e-04 9.99834324e-01 1.76359256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33925415399997 meters Centerline goodness [0,1] 0.9986079767152469 Centerline is valid? [True, True] Translation: X:199.67, Y:2.80, Z:1.76 [[ 9.97969003e-01 -6.10725941e-02 -1.81109983e-02 1.99667566e+02] [ 6.10780509e-02 9.98132961e-01 -2.52201137e-04 2.80339496e+00] [ 1.80925869e-02 -8.54495560e-04 9.99835951e-01 1.76359731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36925415399998 meters Centerline goodness [0,1] 0.9986050050727088 Centerline is valid? [True, True] Translation: X:199.70, Y:2.81, Z:1.76 [[ 9.98028018e-01 -6.01388312e-02 -1.79832400e-02 1.99699313e+02] [ 6.01440924e-02 9.98189675e-01 -2.48619239e-04 2.80741426e+00] [ 1.79656361e-02 -8.33456681e-04 9.99838258e-01 1.76420929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39925415399998 meters Centerline goodness [0,1] 0.9988165430376804 Centerline is valid? [True, True] Translation: X:199.73, Y:2.80, Z:1.76 [[ 9.98103660e-01 -5.88805618e-02 -1.79489334e-02 1.99730932e+02] [ 5.88856211e-02 9.98264706e-01 -2.46963930e-04 2.80329231e+00] [ 1.79323280e-02 -8.10438487e-04 9.99838874e-01 1.76376240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42925415399998 meters Centerline goodness [0,1] 0.9988374550834919 Centerline is valid? [True, True] Translation: X:199.76, Y:2.81, Z:1.76 [[ 9.98209865e-01 -5.71715313e-02 -1.75636259e-02 1.99762712e+02] [ 5.71761307e-02 9.98364078e-01 -2.40582030e-04 2.80513129e+00] [ 1.75486476e-02 -7.64068811e-04 9.99845719e-01 1.76421890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45925415399998 meters Centerline goodness [0,1] 0.9985847362751104 Centerline is valid? [True, True] Translation: X:199.79, Y:2.81, Z:1.77 [[ 9.98410605e-01 -5.35619209e-02 -1.75324100e-02 1.99794296e+02] [ 5.35659681e-02 9.98564284e-01 -2.39021520e-04 2.81056353e+00] [ 1.75200409e-02 -7.00498893e-04 9.99846267e-01 1.76525866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48925415399998 meters Centerline goodness [0,1] 0.9987313401277118 Centerline is valid? [True, True] Translation: X:199.83, Y:2.81, Z:1.77 [[ 9.98537658e-01 -5.11086650e-02 -1.76196090e-02 1.99826071e+02] [ 5.11123886e-02 9.98692879e-01 -2.39220398e-04 2.81318543e+00] [ 1.76088043e-02 -6.61709726e-04 9.99844734e-01 1.76557547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51925415399998 meters Centerline goodness [0,1] 0.9987750791974657 Centerline is valid? [True, True] Translation: X:199.86, Y:2.82, Z:1.77 [[ 9.98653416e-01 -4.86727654e-02 -1.79531539e-02 1.99857767e+02] [ 4.86762558e-02 9.98814579e-01 -2.42774348e-04 2.81727471e+00] [ 1.79436884e-02 -6.31444881e-04 9.99838800e-01 1.76650997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54925415399998 meters Centerline goodness [0,1] 0.9987310986570794 Centerline is valid? [True, True] Translation: X:199.89, Y:2.82, Z:1.77 [[ 9.98787629e-01 -4.58371566e-02 -1.79507136e-02 1.99889510e+02] [ 4.58402065e-02 9.98948756e-01 -2.41743963e-04 2.81995013e+00] [ 1.79429238e-02 -5.81413537e-04 9.99838844e-01 1.76674117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57925415399998 meters Centerline goodness [0,1] 0.9989202235772358 Centerline is valid? [True, True] Translation: X:199.92, Y:2.82, Z:1.77 [[ 9.99025928e-01 -4.01930412e-02 -1.82130392e-02 1.99919593e+02] [ 4.01952532e-02 9.99191814e-01 -2.44747862e-04 2.82434276e+00] [ 1.82081568e-02 -4.87568261e-04 9.99834099e-01 1.76676287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60925415399998 meters Centerline goodness [0,1] 0.9988768568946153 Centerline is valid? [True, True] Translation: X:199.95, Y:2.83, Z:1.77 [[ 9.99148610e-01 -3.71268419e-02 -1.79903390e-02 1.99949932e+02] [ 3.71285062e-02 9.99310470e-01 -2.41599744e-04 2.82692250e+00] [ 1.79869039e-02 -4.26560363e-04 9.99838132e-01 1.76688395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63925415399999 meters Centerline goodness [0,1] 0.9987478777589134 Centerline is valid? [True, True] Translation: X:199.98, Y:2.83, Z:1.77 [[ 9.99263031e-01 -3.41272362e-02 -1.75706392e-02 1.99980367e+02] [ 3.41283631e-02 9.99417430e-01 -2.35798501e-04 2.83008261e+00] [ 1.75684503e-02 -3.64032431e-04 9.99845597e-01 1.76718052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.669254154 meters Centerline goodness [0,1] 0.998704855729421 Centerline is valid? [True, True] Translation: X:200.01, Y:2.83, Z:1.77 [[ 9.99357501e-01 -3.13734697e-02 -1.73288930e-02 2.00010301e+02] [ 3.13741519e-02 9.99507683e-01 -2.32554259e-04 2.83270563e+00] [ 1.73276577e-02 -3.11274478e-04 9.99849816e-01 1.76733943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.699254154 meters Centerline goodness [0,1] 0.9990000425513808 Centerline is valid? [True, True] Translation: X:200.04, Y:2.84, Z:1.77 [[ 9.99432483e-01 -2.87818041e-02 -1.75019781e-02 2.00040361e+02] [ 2.87821028e-02 9.99585682e-01 -2.34877067e-04 2.83711029e+00] [ 1.75014869e-02 -2.68999962e-04 9.99846801e-01 1.76821078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.729254154 meters Centerline goodness [0,1] 0.9987434242753391 Centerline is valid? [True, True] Translation: X:200.07, Y:2.84, Z:1.77 [[ 9.99539794e-01 -2.45332276e-02 -1.78415472e-02 2.00069541e+02] [ 2.45328557e-02 9.99698995e-01 -2.39746730e-04 2.84030341e+00] [ 1.78420586e-02 -1.98067706e-04 9.99840798e-01 1.76703027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759254154 meters Centerline goodness [0,1] 0.9990187085351026 Centerline is valid? [True, True] Translation: X:200.10, Y:2.84, Z:1.77 [[ 9.99571728e-01 -2.32179375e-02 -1.78125759e-02 2.00098500e+02] [ 2.32173439e-02 9.99730412e-01 -2.40146644e-04 2.84184367e+00] [ 1.78133495e-02 -1.73516905e-04 9.99841315e-01 1.76708097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.789254154 meters Centerline goodness [0,1] 0.9988064282364977 Centerline is valid? [True, True] Translation: X:200.13, Y:2.84, Z:1.77 [[ 9.99595195e-01 -2.23500494e-02 -1.76045591e-02 2.00127635e+02] [ 2.23492892e-02 9.99750195e-01 -2.39947642e-04 2.84438783e+00] [ 1.76055243e-02 -1.53598873e-04 9.99844999e-01 1.76826377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819254154 meters Centerline goodness [0,1] 0.9988064536754833 Centerline is valid? [True, True] Translation: X:200.16, Y:2.85, Z:1.77 [[ 9.99621603e-01 -2.14210930e-02 -1.72565041e-02 2.00156426e+02] [ 2.14201481e-02 9.99770534e-01 -2.39602583e-04 2.84596254e+00] [ 1.72576768e-02 -1.30124956e-04 9.99851067e-01 1.76912375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849254154 meters Centerline goodness [0,1] 0.9989975471899328 Centerline is valid? [True, True] Translation: X:200.18, Y:2.85, Z:1.77 [[ 9.99623826e-01 -2.12997918e-02 -1.72778928e-02 2.00184096e+02] [ 2.12987721e-02 9.99773126e-01 -2.43043931e-04 2.84630027e+00] [ 1.72791496e-02 -1.25045397e-04 9.99850697e-01 1.76953501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87925415399997 meters Centerline goodness [0,1] 0.9991899554475496 Centerline is valid? [True, True] Translation: X:200.21, Y:2.85, Z:1.77 [[ 9.99610344e-01 -2.18269174e-02 -1.73995754e-02 2.00213010e+02] [ 2.18259122e-02 9.99761756e-01 -2.47685571e-04 2.84684302e+00] [ 1.74008363e-02 -1.32172547e-04 9.99848585e-01 1.77020379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90925415399997 meters Centerline goodness [0,1] 0.9991071428571429 Centerline is valid? [True, True] Translation: X:200.24, Y:2.85, Z:1.77 [[ 9.99590498e-01 -2.26334753e-02 -1.75088917e-02 2.00241082e+02] [ 2.26325257e-02 9.99743820e-01 -2.52411436e-04 2.84569923e+00] [ 1.75101192e-02 -1.43962369e-04 9.99846676e-01 1.76993778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93925415399997 meters Centerline goodness [0,1] 0.9989994891008175 Centerline is valid? [True, True] Translation: X:200.27, Y:2.84, Z:1.77 [[ 9.99543441e-01 -2.43058386e-02 -1.79481540e-02 2.00269679e+02] [ 2.43050556e-02 9.99704554e-01 -2.61790183e-04 2.84338060e+00] [ 1.79492144e-02 -1.74560222e-04 9.99838885e-01 1.76971887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96925415399997 meters Centerline goodness [0,1] 0.9989994891008175 Centerline is valid? [True, True] Translation: X:200.30, Y:2.84, Z:1.77 [[ 9.99537260e-01 -2.45587468e-02 -1.79480869e-02 2.00297921e+02] [ 2.45579230e-02 9.99698373e-01 -2.66330219e-04 2.84383945e+00] [ 1.79492140e-02 -1.74560761e-04 9.99838885e-01 1.76998419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99925415399997 meters Centerline goodness [0,1] 0.9991073895394555 Centerline is valid? [True, True] Translation: X:200.33, Y:2.84, Z:1.77 [[ 9.99507353e-01 -2.56493967e-02 -1.80875814e-02 2.00326736e+02] [ 2.56486557e-02 9.99670982e-01 -2.72981872e-04 2.84243750e+00] [ 1.80886321e-02 -1.91074761e-04 9.99836369e-01 1.77005881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02925415399997 meters Centerline goodness [0,1] 0.9991073895394555 Centerline is valid? [True, True] Translation: X:200.35, Y:2.84, Z:1.77 [[ 9.99500872e-01 -2.59007360e-02 -1.80875119e-02 2.00354978e+02] [ 2.58999539e-02 9.99664501e-01 -2.77529489e-04 2.84291274e+00] [ 1.80886318e-02 -1.91074758e-04 9.99836369e-01 1.77032412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05925415399997 meters Centerline goodness [0,1] 0.999150436463267 Centerline is valid? [True, True] Translation: X:200.38, Y:2.84, Z:1.77 [[ 9.99475580e-01 -2.69429969e-02 -1.79622074e-02 2.00383957e+02] [ 2.69423130e-02 9.99636951e-01 -2.80107732e-04 2.84160721e+00] [ 1.79632332e-02 -2.03982576e-04 9.99838627e-01 1.77045689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08925415399997 meters Centerline goodness [0,1] 0.9991724840331855 Centerline is valid? [True, True] Translation: X:200.41, Y:2.84, Z:1.77 [[ 9.99446817e-01 -2.79270936e-02 -1.80592781e-02 2.00412322e+02] [ 2.79264809e-02 9.99609939e-01 -2.86163435e-04 2.84041017e+00] [ 1.80602256e-02 -2.18326952e-04 9.99836877e-01 1.77063144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11925415399998 meters Centerline goodness [0,1] 0.9991726946819117 Centerline is valid? [True, True] Translation: X:200.44, Y:2.84, Z:1.77 [[ 9.99442235e-01 -2.82162714e-02 -1.78622530e-02 2.00440532e+02] [ 2.82156665e-02 9.99601818e-01 -2.85929323e-04 2.83947289e+00] [ 1.78632084e-02 -2.18225533e-04 9.99840416e-01 1.77070965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14925415399998 meters Centerline goodness [0,1] 0.9990678361086395 Centerline is valid? [True, True] Translation: X:200.47, Y:2.84, Z:1.77 [[ 9.99450199e-01 -2.80663389e-02 -1.76516343e-02 2.00470417e+02] [ 2.80657086e-02 9.99606040e-01 -2.83482117e-04 2.84015892e+00] [ 1.76526366e-02 -2.12079367e-04 9.99844158e-01 1.77156922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17925415399998 meters Centerline goodness [0,1] 0.9990687239401443 Centerline is valid? [True, True] Translation: X:200.50, Y:2.84, Z:1.77 [[ 9.99448366e-01 -2.73771055e-02 -1.88004774e-02 2.00498872e+02] [ 2.73762521e-02 9.99625154e-01 -3.02807097e-04 2.83952889e+00] [ 1.88017201e-02 -2.12046551e-04 9.99823210e-01 1.77050303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20925415399998 meters Centerline goodness [0,1] 0.9989822530373386 Centerline is valid? [True, True] Translation: X:200.53, Y:2.84, Z:1.77 [[ 9.99455377e-01 -2.66124330e-02 -1.95122514e-02 2.00527674e+02] [ 2.66113475e-02 9.99645806e-01 -3.15324005e-04 2.83994029e+00] [ 1.95137318e-02 -2.04095032e-04 9.99809568e-01 1.77027819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23925415399998 meters Centerline goodness [0,1] 0.9991520393453743 Centerline is valid? [True, True] Translation: X:200.56, Y:2.84, Z:1.77 [[ 9.99457876e-01 -2.61943089e-02 -1.99452094e-02 2.00555500e+02] [ 2.61930635e-02 9.99656850e-01 -3.23724271e-04 2.84031677e+00] [ 1.99468449e-02 -1.98877362e-04 9.99801022e-01 1.76988247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26925415399998 meters Centerline goodness [0,1] 0.9991076360854969 Centerline is valid? [True, True] Translation: X:200.58, Y:2.84, Z:1.77 [[ 9.99465339e-01 -2.58748881e-02 -1.99881584e-02 2.00583810e+02] [ 2.58734964e-02 9.99665171e-01 -3.28270601e-04 2.84156462e+00] [ 1.99899598e-02 -1.89068459e-04 9.99800163e-01 1.77062788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29925415399998 meters Centerline goodness [0,1] 0.9989391946365681 Centerline is valid? [True, True] Translation: X:200.61, Y:2.84, Z:1.77 [[ 9.99444360e-01 -2.60186603e-02 -2.08326772e-02 2.00611526e+02] [ 2.60171004e-02 9.99661438e-01 -3.45954386e-04 2.84068962e+00] [ 2.08346253e-02 -1.96243693e-04 9.99782916e-01 1.76981688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32925415399998 meters Centerline goodness [0,1] 0.9990219425072291 Centerline is valid? [True, True] Translation: X:200.64, Y:2.84, Z:1.77 [[ 9.99409177e-01 -2.71487481e-02 -2.10770643e-02 2.00640323e+02] [ 2.71473239e-02 9.99631381e-01 -3.53743591e-04 2.84012133e+00] [ 2.10788986e-02 -2.18651301e-04 9.99777791e-01 1.76994077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35925415399998 meters Centerline goodness [0,1] 0.9993415323180187 Centerline is valid? [True, True] Translation: X:200.67, Y:2.84, Z:1.77 [[ 9.99355572e-01 -2.88638535e-02 -2.13381746e-02 2.00669059e+02] [ 2.88626694e-02 9.99583320e-01 -3.63530158e-04 2.84010137e+00] [ 2.13397763e-02 -2.52580788e-04 9.99772249e-01 1.77097962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38925415399999 meters Centerline goodness [0,1] 0.9991092636579573 Centerline is valid? [True, True] Translation: X:200.70, Y:2.84, Z:1.77 [[ 9.99215303e-01 -3.36969107e-02 -2.08157590e-02 2.00696733e+02] [ 3.36967617e-02 9.99432039e-01 -3.58005106e-04 2.83584062e+00] [ 2.08160001e-02 -3.43699488e-04 9.99783265e-01 1.77013809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.419254154 meters Centerline goodness [0,1] 0.9991108664817834 Centerline is valid? [True, True] Translation: X:200.73, Y:2.83, Z:1.77 [[ 9.99093295e-01 -3.69804249e-02 -2.10958679e-02 2.00725507e+02] [ 3.69809725e-02 9.99315903e-01 -3.64292758e-04 2.83318100e+00] [ 2.10949080e-02 -4.16183259e-04 9.99777391e-01 1.77024809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.449254154 meters Centerline goodness [0,1] 0.9989418213371145 Centerline is valid? [True, True] Translation: X:200.76, Y:2.83, Z:1.77 [[ 9.98967326e-01 -4.02986954e-02 -2.09832324e-02 2.00755350e+02] [ 4.02999501e-02 9.99187561e-01 -3.63232594e-04 2.83053425e+00] [ 2.09808226e-02 -4.82765724e-04 9.99779762e-01 1.77029004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479254154 meters Centerline goodness [0,1] 0.9986032928429339 Centerline is valid? [True, True] Translation: X:200.79, Y:2.83, Z:1.77 [[ 9.98805115e-01 -4.40103898e-02 -2.12468165e-02 2.00785378e+02] [ 4.40124997e-02 9.99030912e-01 -3.68528389e-04 2.82739006e+00] [ 2.12424456e-02 -5.67037464e-04 9.99774193e-01 1.76980892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.509254154 meters Centerline goodness [0,1] 0.998498752484459 Centerline is valid? [True, True] Translation: X:200.81, Y:2.82, Z:1.77 [[ 9.98622703e-01 -4.77540379e-02 -2.17313029e-02 2.00814776e+02] [ 4.77571188e-02 9.98858907e-01 -3.77474790e-04 2.82373948e+00] [ 2.17245314e-02 -6.60869518e-04 9.99763776e-01 1.76962005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539254154 meters Centerline goodness [0,1] 0.9985844671680892 Centerline is valid? [True, True] Translation: X:200.84, Y:2.82, Z:1.77 [[ 9.98405174e-01 -5.18020485e-02 -2.24422744e-02 2.00844266e+02] [ 5.18063470e-02 9.98657073e-01 -3.90213490e-04 2.81998348e+00] [ 2.24323499e-02 -7.73061087e-04 9.99748064e-01 1.76911074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569254154 meters Centerline goodness [0,1] 0.9985650072804778 Centerline is valid? [True, True] Translation: X:200.87, Y:2.82, Z:1.77 [[ 9.97968402e-01 -5.98620789e-02 -2.18082592e-02 2.00874748e+02] [ 5.98680558e-02 9.98206227e-01 -3.79304790e-04 2.81668769e+00] [ 2.17918462e-02 -9.27083885e-04 9.99762100e-01 1.77087729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59925415399996 meters Centerline goodness [0,1] 0.9985645832014016 Centerline is valid? [True, True] Translation: X:200.91, Y:2.82, Z:1.77 [[ 9.97755131e-01 -6.34588926e-02 -2.13931569e-02 2.00906351e+02] [ 6.34654788e-02 9.97983965e-01 -3.71622910e-04 2.81552011e+00] [ 2.13736103e-02 -9.86938278e-04 9.99771071e-01 1.77178815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62925415399997 meters Centerline goodness [0,1] 0.9986764427824114 Centerline is valid? [True, True] Translation: X:200.94, Y:2.81, Z:1.77 [[ 9.97558263e-01 -6.67269181e-02 -2.06162528e-02 2.00936805e+02] [ 6.67337413e-02 9.97770755e-01 -3.57600480e-04 2.81246669e+00] [ 2.05941557e-02 -1.01907237e-03 9.99787399e-01 1.77322135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65925415399997 meters Centerline goodness [0,1] 0.9986970684039088 Centerline is valid? [True, True] Translation: X:200.97, Y:2.81, Z:1.77 [[ 9.97391247e-01 -6.94383871e-02 -1.97233494e-02 2.00967946e+02] [ 6.94451710e-02 9.97585711e-01 -3.41577884e-04 2.81211680e+00] [ 1.96994502e-02 -1.02900458e-03 9.99805417e-01 1.77460837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68925415399997 meters Centerline goodness [0,1] 0.9989454369054901 Centerline is valid? [True, True] Translation: X:201.00, Y:2.81, Z:1.77 [[ 9.97128823e-01 -7.31668136e-02 -1.95122265e-02 2.00999415e+02] [ 7.31741782e-02 9.97319119e-01 -3.37221627e-04 2.80928574e+00] [ 1.94845899e-02 -1.09153773e-03 9.99809562e-01 1.77475670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71925415399997 meters Centerline goodness [0,1] 0.9985463891463723 Centerline is valid? [True, True] Translation: X:201.03, Y:2.81, Z:1.78 [[ 9.97029397e-01 -7.45281273e-02 -1.94406947e-02 2.01031300e+02] [ 7.45357168e-02 9.97218288e-01 -3.34907567e-04 2.81124293e+00] [ 1.94115763e-02 -1.11511342e-03 9.99810956e-01 1.77625906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74925415399997 meters Centerline goodness [0,1] 0.9986524329901248 Centerline is valid? [True, True] Translation: X:201.06, Y:2.81, Z:1.78 [[ 9.96972285e-01 -7.50916621e-02 -2.01867649e-02 2.01063900e+02] [ 7.50999910e-02 9.97175948e-01 -3.46252576e-04 2.81108284e+00] [ 2.01557571e-02 -1.17082164e-03 9.99796167e-01 1.77633356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77925415399997 meters Centerline goodness [0,1] 0.9986284026165858 Centerline is valid? [True, True] Translation: X:201.10, Y:2.81, Z:1.78 [[ 9.96928088e-01 -7.50109585e-02 -2.25331547e-02 2.01095117e+02] [ 7.50213499e-02 9.97181853e-01 -3.85017945e-04 2.81107849e+00] [ 2.24985335e-02 -1.30663248e-03 9.99746022e-01 1.77507920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80925415399997 meters Centerline goodness [0,1] 0.9987949769565769 Centerline is valid? [True, True] Translation: X:201.13, Y:2.81, Z:1.77 [[ 9.96940262e-01 -7.45469640e-02 -2.35130484e-02 2.01126314e+02] [ 7.45581810e-02 9.97216585e-01 -4.00471398e-04 2.81168646e+00] [ 2.34774557e-02 -1.35384406e-03 9.99723450e-01 1.77436728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83925415399997 meters Centerline goodness [0,1] 0.9988156419854917 Centerline is valid? [True, True] Translation: X:201.16, Y:2.82, Z:1.78 [[ 9.96966093e-01 -7.38702019e-02 -2.45316516e-02 2.01158567e+02] [ 7.38822486e-02 9.97266885e-01 -4.16172505e-04 2.81827087e+00] [ 2.44953465e-02 -1.39754371e-03 9.99698967e-01 1.77555723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86925415399998 meters Centerline goodness [0,1] 0.9987755446715082 Centerline is valid? [True, True] Translation: X:201.19, Y:2.81, Z:1.77 [[ 9.97019401e-01 -7.29785517e-02 -2.50288905e-02 2.01189710e+02] [ 7.29908513e-02 9.97332521e-01 -4.23035897e-04 2.81332170e+00] [ 2.49929990e-02 -1.40510502e-03 9.99686639e-01 1.77414468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89925415399998 meters Centerline goodness [0,1] 0.9989649126513023 Centerline is valid? [True, True] Translation: X:201.22, Y:2.82, Z:1.78 [[ 9.97076214e-01 -7.21425902e-02 -2.51886919e-02 2.01221399e+02] [ 7.21548242e-02 9.97393353e-01 -4.24041364e-04 2.82300578e+00] [ 2.51536253e-02 -1.39468408e-03 9.99682625e-01 1.77681676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92925415399998 meters Centerline goodness [0,1] 0.9987534860136905 Centerline is valid? [True, True] Translation: X:201.25, Y:2.82, Z:1.78 [[ 9.97266175e-01 -6.95955729e-02 -2.48320823e-02 2.01252068e+02] [ 6.96067066e-02 9.97574425e-01 -4.16780146e-04 2.82484040e+00] [ 2.48008562e-02 -1.31283872e-03 9.99691549e-01 1.77745993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95925415399998 meters Centerline goodness [0,1] 0.9986051524821946 Centerline is valid? [True, True] Translation: X:201.28, Y:2.83, Z:1.78 [[ 9.97415076e-01 -6.75986546e-02 -2.43636757e-02 2.01283781e+02] [ 6.76088066e-02 9.97711824e-01 -4.07740441e-04 2.83121204e+00] [ 2.43354900e-02 -1.24051258e-03 9.99703078e-01 1.77968800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98925415399998 meters Centerline goodness [0,1] 0.9988794926004229 Centerline is valid? [True, True] Translation: X:201.31, Y:2.83, Z:1.78 [[ 9.97592136e-01 -6.50796172e-02 -2.39702625e-02 2.01313897e+02] [ 6.50887632e-02 9.97879398e-01 -3.99287164e-04 2.83267451e+00] [ 2.39454166e-02 -1.16186900e-03 9.99712592e-01 1.78018992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01925415399998 meters Centerline goodness [0,1] 0.9987548276808138 Centerline is valid? [True, True] Translation: X:201.34, Y:2.84, Z:1.78 [[ 9.98037317e-01 -5.81854198e-02 -2.31510352e-02 2.01343599e+02] [ 5.81921130e-02 9.98305329e-01 -3.85049638e-04 2.84129299e+00] [ 2.31342061e-02 -9.62913750e-04 9.99731905e-01 1.78243879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04925415399998 meters Centerline goodness [0,1] 0.998897978213877 Centerline is valid? [True, True] Translation: X:201.37, Y:2.85, Z:1.78 [[ 9.98268107e-01 -5.42858958e-02 -2.26677966e-02 2.01374571e+02] [ 5.42913103e-02 9.98525068e-01 -3.76934680e-04 2.84808202e+00] [ 2.26548254e-02 -8.54382511e-04 9.99742981e-01 1.78431396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07925415399998 meters Centerline goodness [0,1] 0.9987052131091866 Centerline is valid? [True, True] Translation: X:201.41, Y:2.85, Z:1.79 [[ 9.98500748e-01 -5.02184715e-02 -2.17798204e-02 2.01405799e+02] [ 5.02225171e-02 9.98737988e-01 -3.61541486e-04 2.85391391e+00] [ 2.17704901e-02 -7.32837958e-04 9.99762726e-01 1.78582005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10925415399998 meters Centerline goodness [0,1] 0.9987479840421017 Centerline is valid? [True, True] Translation: X:201.44, Y:2.86, Z:1.79 [[ 9.98718904e-01 -4.59244824e-02 -2.12483729e-02 2.01437419e+02] [ 4.59273832e-02 9.98944719e-01 -3.51712769e-04 2.85850432e+00] [ 2.12421021e-02 -6.24619975e-04 9.99774166e-01 1.78705685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13925415399999 meters Centerline goodness [0,1] 0.998938924493867 Centerline is valid? [True, True] Translation: X:201.47, Y:2.86, Z:1.79 [[ 9.98902111e-01 -4.18513246e-02 -2.10484801e-02 2.01468911e+02] [ 4.18532875e-02 9.99123707e-01 -3.47450485e-04 2.86235447e+00] [ 2.10445768e-02 -5.33879067e-04 9.99778396e-01 1.78789127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.169254154 meters Centerline goodness [0,1] 0.9989574911705885 Centerline is valid? [True, True] Translation: X:201.50, Y:2.87, Z:1.79 [[ 9.99168311e-01 -3.50931446e-02 -2.07643273e-02 2.01499859e+02] [ 3.50936075e-02 9.99383971e-01 -3.42206613e-04 2.86973011e+00] [ 2.07635450e-02 -3.86773149e-04 9.99784340e-01 1.78908482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.199254154 meters Centerline goodness [0,1] 0.9990410024720825 Centerline is valid? [True, True] Translation: X:201.53, Y:2.87, Z:1.79 [[ 9.99238679e-01 -3.27595541e-02 -2.11866407e-02 2.01529559e+02] [ 3.27595178e-02 9.99463202e-01 -3.48876452e-04 2.87209429e+00] [ 2.11866968e-02 -3.45453288e-04 9.99775477e-01 1.78899722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.229254154 meters Centerline goodness [0,1] 0.9991914721589821 Centerline is valid? [True, True] Translation: X:201.56, Y:2.87, Z:1.79 [[ 9.99266953e-01 -3.14190059e-02 -2.18724194e-02 2.01558912e+02] [ 3.14186384e-02 9.99506248e-01 -3.60528040e-04 2.87385810e+00] [ 2.18729473e-02 -3.26937879e-04 9.99760705e-01 1.78866704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259254154 meters Centerline goodness [0,1] 0.9990171570198492 Centerline is valid? [True, True] Translation: X:201.59, Y:2.88, Z:1.79 [[ 9.99247319e-01 -3.06498806e-02 -2.37777235e-02 2.01588073e+02] [ 3.06491328e-02 9.99530127e-01 -3.95968918e-04 2.87559690e+00] [ 2.37786874e-02 -3.33095726e-04 9.99717192e-01 1.78791919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.289254154 meters Centerline goodness [0,1] 0.9991232384577551 Centerline is valid? [True, True] Translation: X:201.62, Y:2.88, Z:1.79 [[ 9.99216788e-01 -3.11553722e-02 -2.43957507e-02 2.01616586e+02] [ 3.11545815e-02 9.99514493e-01 -4.12578091e-04 2.87628322e+00] [ 2.43967604e-02 -3.47784450e-04 9.99702294e-01 1.78802568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319254154 meters Centerline goodness [0,1] 0.9988680051260145 Centerline is valid? [True, True] Translation: X:201.65, Y:2.88, Z:1.79 [[ 9.99176889e-01 -3.19032761e-02 -2.50544358e-02 2.01645698e+02] [ 3.19025143e-02 9.99490893e-01 -4.30218605e-04 2.87633758e+00] [ 2.50554057e-02 -3.69435008e-04 9.99685996e-01 1.78792296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34925415399996 meters Centerline goodness [0,1] 0.999060351087003 Centerline is valid? [True, True] Translation: X:201.67, Y:2.87, Z:1.79 [[ 9.99152810e-01 -3.27375085e-02 -2.49382998e-02 2.01673224e+02] [ 3.27369185e-02 9.99463910e-01 -4.32030634e-04 2.87493338e+00] [ 2.49390742e-02 -3.84738466e-04 9.99688899e-01 1.78753027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37925415399997 meters Centerline goodness [0,1] 0.9990820596020835 Centerline is valid? [True, True] Translation: X:201.70, Y:2.87, Z:1.79 [[ 9.99079889e-01 -3.49163901e-02 -2.49042459e-02 2.01702143e+02] [ 3.49163572e-02 9.99390143e-01 -4.36304549e-04 2.87487605e+00] [ 2.49042920e-02 -4.33662443e-04 9.99689746e-01 1.78923527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40925415399997 meters Centerline goodness [0,1] 0.9992548435171386 Centerline is valid? [True, True] Translation: X:201.73, Y:2.87, Z:1.79 [[ 9.99034529e-01 -3.61148642e-02 -2.50145143e-02 2.01730408e+02] [ 3.61151099e-02 9.99347539e-01 -4.42096241e-04 2.87425930e+00] [ 2.50141596e-02 -4.61732524e-04 9.99686990e-01 1.78946947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43925415399997 meters Centerline goodness [0,1] 0.9990385642559556 Centerline is valid? [True, True] Translation: X:201.76, Y:2.87, Z:1.79 [[ 9.98967907e-01 -3.80091177e-02 -2.48682036e-02 2.01759368e+02] [ 3.80098274e-02 9.99277267e-01 -4.44324631e-04 2.87385291e+00] [ 2.48671189e-02 -5.01370081e-04 9.99690640e-01 1.78982842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46925415399997 meters Centerline goodness [0,1] 0.9990837417430215 Centerline is valid? [True, True] Translation: X:201.79, Y:2.87, Z:1.79 [[ 9.98909565e-01 -3.96776336e-02 -2.46042067e-02 2.01788179e+02] [ 3.96786797e-02 9.99212392e-01 -4.45880678e-04 2.87309882e+00] [ 2.46025197e-02 -5.30867962e-04 9.99697171e-01 1.79020456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49925415399997 meters Centerline goodness [0,1] 0.9989150090415914 Centerline is valid? [True, True] Translation: X:201.82, Y:2.87, Z:1.79 [[ 9.98771006e-01 -4.31277342e-02 -2.44228460e-02 2.01817204e+02] [ 4.31297173e-02 9.99069381e-01 -4.45794454e-04 2.87026275e+00] [ 2.44193438e-02 -6.08103869e-04 9.99701618e-01 1.79059464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52925415399997 meters Centerline goodness [0,1] 0.9987238658357616 Centerline is valid? [True, True] Translation: X:201.85, Y:2.87, Z:1.79 [[ 9.98711121e-01 -4.48096952e-02 -2.38366936e-02 2.01848046e+02] [ 4.48120510e-02 9.98995341e-01 -4.35592347e-04 2.86990340e+00] [ 2.38322646e-02 -6.33140207e-04 9.99715771e-01 1.79144660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55925415399997 meters Centerline goodness [0,1] 0.9989806320081549 Centerline is valid? [True, True] Translation: X:201.88, Y:2.87, Z:1.79 [[ 9.98642807e-01 -4.65953388e-02 -2.32684105e-02 2.01879453e+02] [ 4.65980794e-02 9.98913629e-01 -4.24703011e-04 2.86884341e+00] [ 2.32629216e-02 -6.60136636e-04 9.99729164e-01 1.79207611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58925415399997 meters Centerline goodness [0,1] 0.9990240590656426 Centerline is valid? [True, True] Translation: X:201.91, Y:2.87, Z:1.79 [[ 9.98560724e-01 -4.84665602e-02 -2.29667851e-02 2.01910841e+02] [ 4.84697436e-02 9.98824564e-01 -4.18368613e-04 2.86773531e+00] [ 2.29600660e-02 -6.95427719e-04 9.99736141e-01 1.79255763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61925415399998 meters Centerline goodness [0,1] 0.9987510584250635 Centerline is valid? [True, True] Translation: X:201.94, Y:2.87, Z:1.79 [[ 9.98468795e-01 -5.04900637e-02 -2.26012976e-02 2.01941726e+02] [ 5.04936862e-02 9.98724296e-01 -4.10739852e-04 2.86623623e+00] [ 2.25932033e-02 -7.31111903e-04 9.99744474e-01 1.79279498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64925415399998 meters Centerline goodness [0,1] 0.9989174962324624 Centerline is valid? [True, True] Translation: X:201.97, Y:2.86, Z:1.79 [[ 9.98258007e-01 -5.48042690e-02 -2.18504820e-02 2.01972532e+02] [ 5.48087011e-02 9.98496795e-01 -3.96431395e-04 2.86323326e+00] [ 2.18393623e-02 -8.01855719e-04 9.99761171e-01 1.79386755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67925415399998 meters Centerline goodness [0,1] 0.9988554229636067 Centerline is valid? [True, True] Translation: X:202.00, Y:2.86, Z:1.79 [[ 9.98129870e-01 -5.71066642e-02 -2.18080520e-02 2.02004735e+02] [ 5.71116513e-02 9.98367720e-01 -3.94579130e-04 2.86184647e+00] [ 2.17949883e-02 -8.51652647e-04 9.99762098e-01 1.79438601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70925415399998 meters Centerline goodness [0,1] 0.998813307904217 Centerline is valid? [True, True] Translation: X:202.04, Y:2.86, Z:1.79 [[ 9.97994529e-01 -5.93748203e-02 -2.19442511e-02 2.02036911e+02] [ 5.93804530e-02 9.98235346e-01 -3.95414754e-04 2.86178899e+00] [ 2.19290047e-02 -9.08437807e-04 9.99759118e-01 1.79496108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73925415399998 meters Centerline goodness [0,1] 0.9989628093050822 Centerline is valid? [True, True] Translation: X:202.07, Y:2.86, Z:1.79 [[ 9.97852557e-01 -6.15724467e-02 -2.23407308e-02 2.02068317e+02] [ 6.15788664e-02 9.98102140e-01 -4.01127077e-04 2.85761202e+00] [ 2.23230296e-02 -9.75451197e-04 9.99750334e-01 1.79402750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76925415399998 meters Centerline goodness [0,1] 0.9988789237668162 Centerline is valid? [True, True] Translation: X:202.10, Y:2.85, Z:1.79 [[ 9.97518885e-01 -6.66419340e-02 -2.26920017e-02 2.02097764e+02] [ 6.66498871e-02 9.97776341e-01 -4.06490156e-04 2.85211759e+00] [ 2.26686318e-02 -1.10693775e-03 9.99742421e-01 1.79320868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79925415399998 meters Centerline goodness [0,1] 0.99852183461441 Centerline is valid? [True, True] Translation: X:202.13, Y:2.85, Z:1.79 [[ 9.97335534e-01 -6.91726045e-02 -2.31728906e-02 2.02128456e+02] [ 6.91815924e-02 9.97603997e-01 -4.14553317e-04 2.85324070e+00] [ 2.31460441e-02 -1.18968872e-03 9.99731387e-01 1.79386406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82925415399998 meters Centerline goodness [0,1] 0.9988378481173139 Centerline is valid? [True, True] Translation: X:202.16, Y:2.85, Z:1.79 [[ 9.97150548e-01 -7.17597396e-02 -2.32663927e-02 2.02159993e+02] [ 7.17695181e-02 9.97421157e-01 -4.15544957e-04 2.85139583e+00] [ 2.32362117e-02 -1.25545691e-03 9.99729214e-01 1.79408439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85925415399998 meters Centerline goodness [0,1] 0.9988366928234522 Centerline is valid? [True, True] Translation: X:202.19, Y:2.85, Z:1.79 [[ 9.96961444e-01 -7.41601114e-02 -2.38360659e-02 2.02190336e+02] [ 7.41710732e-02 9.97245442e-01 -4.25105794e-04 2.84901027e+00] [ 2.38019340e-02 -1.34413251e-03 9.99715790e-01 1.79391443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88925415399999 meters Centerline goodness [0,1] 0.998902397838568 Centerline is valid? [True, True] Translation: X:202.22, Y:2.85, Z:1.79 [[ 9.96650107e-01 -7.80907045e-02 -2.42982864e-02 2.02220043e+02] [ 7.81032594e-02 9.96945181e-01 -4.33350428e-04 2.84633975e+00] [ 2.42579002e-02 -1.46587661e-03 9.99704659e-01 1.79370851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.919254154 meters Centerline goodness [0,1] 0.998902397838568 Centerline is valid? [True, True] Translation: X:202.25, Y:2.85, Z:1.79 [[ 9.96655735e-01 -7.80188323e-02 -2.42983036e-02 2.02251789e+02] [ 7.80313894e-02 9.96950809e-01 -4.32383068e-04 2.84684302e+00] [ 2.42579475e-02 -1.46509333e-03 9.99704659e-01 1.79400598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.949254154 meters Centerline goodness [0,1] 0.9986880805772446 Centerline is valid? [True, True] Translation: X:202.28, Y:2.85, Z:1.79 [[ 9.96518229e-01 -7.95745849e-02 -2.48858474e-02 2.02283638e+02] [ 7.95882783e-02 9.96827724e-01 -4.41301986e-04 2.84727619e+00] [ 2.48420190e-02 -1.54085628e-03 9.99690202e-01 1.79408997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979254154 meters Centerline goodness [0,1] 0.9987931399534195 Centerline is valid? [True, True] Translation: X:202.32, Y:2.85, Z:1.80 [[ 9.96406069e-01 -8.06738500e-02 -2.58200771e-02 2.02315736e+02] [ 8.06890043e-02 9.96739222e-01 -4.56116845e-04 2.85060691e+00] [ 2.57726803e-02 -1.62891872e-03 9.99666502e-01 1.79508796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.009254154 meters Centerline goodness [0,1] 0.998984513835999 Centerline is valid? [True, True] Translation: X:202.35, Y:2.85, Z:1.79 [[ 9.96336891e-01 -8.14898714e-02 -2.59268401e-02 2.02347233e+02] [ 8.15054884e-02 9.96672789e-01 -4.55607695e-04 2.84876393e+00] [ 2.58777034e-02 -1.65924101e-03 9.99663739e-01 1.79473133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039254154 meters Centerline goodness [0,1] 0.9987725127510529 Centerline is valid? [True, True] Translation: X:202.38, Y:2.85, Z:1.79 [[ 9.96225420e-01 -8.28463117e-02 -2.59114042e-02 2.02379059e+02] [ 8.28624153e-02 9.96560894e-01 -4.53467405e-04 2.84968412e+00] [ 2.58598603e-02 -1.69532578e-03 9.99664140e-01 1.79494235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.069254154 meters Centerline goodness [0,1] 0.9986232605426472 Centerline is valid? [True, True] Translation: X:202.41, Y:2.85, Z:1.79 [[ 9.96181425e-01 -8.32793045e-02 -2.62130967e-02 2.02410543e+02] [ 8.32959724e-02 9.96524747e-01 -4.57306115e-04 2.84667808e+00] [ 2.61600837e-02 -1.72788552e-03 9.99656273e-01 1.79434245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09925415399996 meters Centerline goodness [0,1] 0.9987931910569106 Centerline is valid? [True, True] Translation: X:202.44, Y:2.85, Z:1.79 [[ 9.96173314e-01 -8.33066753e-02 -2.64334384e-02 2.02442942e+02] [ 8.33236806e-02 9.96522430e-01 -4.59399658e-04 2.84882565e+00] [ 2.63797853e-02 -1.74488970e-03 9.99650470e-01 1.79432341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12925415399997 meters Centerline goodness [0,1] 0.9987702745680059 Centerline is valid? [True, True] Translation: X:202.48, Y:2.85, Z:1.80 [[ 9.96182961e-01 -8.32238074e-02 -2.63307076e-02 2.02475490e+02] [ 8.32407019e-02 9.96529366e-01 -4.55708429e-04 2.85139187e+00] [ 2.62772492e-02 -1.73781761e-03 9.99653183e-01 1.79588353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15925415399997 meters Centerline goodness [0,1] 0.9988130815370594 Centerline is valid? [True, True] Translation: X:202.51, Y:2.85, Z:1.80 [[ 9.96320285e-01 -8.15414384e-02 -2.63985527e-02 2.02506415e+02] [ 8.15578663e-02 9.96668504e-01 -4.55586074e-04 2.85373027e+00] [ 2.63477551e-02 -1.69909998e-03 9.99651394e-01 1.79635982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18925415399997 meters Centerline goodness [0,1] 0.9988130815370594 Centerline is valid? [True, True] Translation: X:202.54, Y:2.85, Z:1.80 [[ 9.96326122e-01 -8.14700810e-02 -2.63985795e-02 2.02538170e+02] [ 8.14865251e-02 9.96674340e-01 -4.54028281e-04 2.85421410e+00] [ 2.63477765e-02 -1.69876827e-03 9.99651394e-01 1.79665726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21925415399997 meters Centerline goodness [0,1] 0.9986640938103013 Centerline is valid? [True, True] Translation: X:202.57, Y:2.86, Z:1.80 [[ 9.96456454e-01 -7.99251244e-02 -2.62013285e-02 2.02569981e+02] [ 7.99408334e-02 9.96799509e-01 -4.49037810e-04 2.86015101e+00] [ 2.61533608e-02 -1.64710942e-03 9.99656585e-01 1.79826786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24925415399997 meters Centerline goodness [0,1] 0.9987474790361958 Centerline is valid? [True, True] Translation: X:202.60, Y:2.86, Z:1.80 [[ 9.96652317e-01 -7.75438465e-02 -2.59057923e-02 2.02600821e+02] [ 7.75584305e-02 9.96987710e-01 -4.42853455e-04 2.85601678e+00] [ 2.58620971e-02 -1.56784167e-03 9.99664291e-01 1.79716905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27925415399997 meters Centerline goodness [0,1] 0.9988978147056953 Centerline is valid? [True, True] Translation: X:202.63, Y:2.86, Z:1.80 [[ 9.96876718e-01 -7.47183398e-02 -2.55730074e-02 2.02631439e+02] [ 7.47316405e-02 9.97203586e-01 -4.36546736e-04 2.85999082e+00] [ 2.55341127e-02 -1.47592952e-03 9.99672862e-01 1.79841058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30925415399997 meters Centerline goodness [0,1] 0.9988535275259549 Centerline is valid? [True, True] Translation: X:202.66, Y:2.87, Z:1.80 [[ 9.97388704e-01 -6.79002458e-02 -2.46034397e-02 2.02662165e+02] [ 6.79104942e-02 9.97691329e-01 -4.19724522e-04 2.87498036e+00] [ 2.45751378e-02 -1.25220325e-03 9.99697201e-01 1.80204009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33925415399997 meters Centerline goodness [0,1] 0.9987043330501274 Centerline is valid? [True, True] Translation: X:202.69, Y:2.88, Z:1.80 [[ 9.97674273e-01 -6.39528945e-02 -2.35812039e-02 2.02693045e+02] [ 6.39612162e-02 9.97952304e-01 -4.01955056e-04 2.87961281e+00] [ 2.35586229e-02 -1.10726226e-03 9.99721844e-01 1.80337141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36925415399998 meters Centerline goodness [0,1] 0.9988726522451237 Centerline is valid? [True, True] Translation: X:202.72, Y:2.88, Z:1.80 [[ 9.97935214e-01 -5.99491388e-02 -2.30523347e-02 2.02722570e+02] [ 5.99560232e-02 9.98200942e-01 -3.93021638e-04 2.88317464e+00] [ 2.30344235e-02 -9.89916179e-04 9.99734182e-01 1.80451121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39925415399998 meters Centerline goodness [0,1] 0.9989777228777101 Centerline is valid? [True, True] Translation: X:202.75, Y:2.89, Z:1.81 [[ 9.98446173e-01 -5.16245258e-02 -2.09797139e-02 2.02752905e+02] [ 5.16283882e-02 9.98666301e-01 -3.57849322e-04 2.89207162e+00] [ 2.09702070e-02 -7.25855527e-04 9.99779838e-01 1.80673134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42925415399998 meters Centerline goodness [0,1] 0.9989570251803921 Centerline is valid? [True, True] Translation: X:202.78, Y:2.90, Z:1.81 [[ 9.98658903e-01 -4.74860387e-02 -2.06269550e-02 2.02784789e+02] [ 4.74889031e-02 9.98871704e-01 -3.51216218e-04 2.89651088e+00] [ 2.06203595e-02 -6.28806261e-04 9.99787180e-01 1.80748312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45925415399998 meters Centerline goodness [0,1] 0.9989752785961317 Centerline is valid? [True, True] Translation: X:202.82, Y:2.90, Z:1.81 [[ 9.98839291e-01 -4.36305719e-02 -2.04069522e-02 2.02816681e+02] [ 4.36325945e-02 9.99047585e-01 -3.46340490e-04 2.90066492e+00] [ 2.04026274e-02 -5.44469782e-04 9.99791696e-01 1.80766786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48925415399998 meters Centerline goodness [0,1] 0.9989961983682885 Centerline is valid? [True, True] Translation: X:202.85, Y:2.90, Z:1.81 [[ 9.98978956e-01 -4.01421730e-02 -2.07280450e-02 2.02848116e+02] [ 4.01435291e-02 9.99193862e-01 -3.50835257e-04 2.90391707e+00] [ 2.07254186e-02 -4.81619838e-04 9.99785089e-01 1.80747454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51925415399998 meters Centerline goodness [0,1] 0.9990371860156618 Centerline is valid? [True, True] Translation: X:202.88, Y:2.91, Z:1.81 [[ 9.99108416e-01 -3.65700892e-02 -2.10950624e-02 2.02879108e+02] [ 3.65707144e-02 9.99331004e-01 -3.56262304e-04 2.90740588e+00] [ 2.10939784e-02 -4.15516836e-04 9.99777411e-01 1.80702964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54925415399998 meters Centerline goodness [0,1] 0.9989907665879322 Centerline is valid? [True, True] Translation: X:202.91, Y:2.91, Z:1.81 [[ 9.99281385e-01 -3.01124420e-02 -2.30207191e-02 2.02910025e+02] [ 3.01114880e-02 9.99546471e-01 -3.88158798e-04 2.91359824e+00] [ 2.30219670e-02 -3.05308248e-04 9.99734913e-01 1.80579879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57925415399998 meters Centerline goodness [0,1] 0.9990770155404826 Centerline is valid? [True, True] Translation: X:202.94, Y:2.92, Z:1.81 [[ 9.99347344e-01 -2.74525754e-02 -2.34785403e-02 2.02938301e+02] [ 2.74507676e-02 9.99623077e-01 -3.99352096e-04 2.91657004e+00] [ 2.34806540e-02 -2.45412499e-04 9.99724261e-01 1.80593455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60925415399998 meters Centerline goodness [0,1] 0.9991612542474945 Centerline is valid? [True, True] Translation: X:202.97, Y:2.92, Z:1.81 [[ 9.99411465e-01 -2.46789771e-02 -2.38258604e-02 2.02966189e+02] [ 2.46762373e-02 9.99695412e-01 -4.09038928e-04 2.91922573e+00] [ 2.38286980e-02 -1.79134391e-04 9.99716040e-01 1.80589788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63925415399999 meters Centerline goodness [0,1] 0.9990728562495957 Centerline is valid? [True, True] Translation: X:202.99, Y:2.92, Z:1.81 [[ 9.99479341e-01 -2.20322434e-02 -2.35717616e-02 2.02994950e+02] [ 2.20287203e-02 9.99757255e-01 -4.09146233e-04 2.92191803e+00] [ 2.35750541e-02 -1.10322536e-04 9.99722064e-01 1.80639817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.669254154 meters Centerline goodness [0,1] 0.9991793188346327 Centerline is valid? [True, True] Translation: X:203.02, Y:2.93, Z:1.81 [[ 9.99597511e-01 -1.69901983e-02 -2.27189349e-02 2.03023658e+02] [ 1.69854937e-02 9.99855656e-01 -4.00046233e-04 2.92653715e+00] [ 2.27224524e-02 1.39928920e-05 9.99741812e-01 1.80773709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.699254154 meters Centerline goodness [0,1] 0.9990503528802366 Centerline is valid? [True, True] Translation: X:203.05, Y:2.93, Z:1.81 [[ 9.99641651e-01 -1.48678173e-02 -2.22602069e-02 2.03051304e+02] [ 1.48626394e-02 9.99889466e-01 -3.98042725e-04 2.92872953e+00] [ 2.22636644e-02 6.70546590e-05 9.99752132e-01 1.80866559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.729254154 meters Centerline goodness [0,1] 0.999094085673612 Centerline is valid? [True, True] Translation: X:203.08, Y:2.93, Z:1.81 [[ 9.99684789e-01 -1.29447292e-02 -2.15117930e-02 2.03078421e+02] [ 1.29393592e-02 9.99916207e-01 -3.88807850e-04 2.93070387e+00] [ 2.15150234e-02 1.10336479e-04 9.99768519e-01 1.80917180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759254154 meters Centerline goodness [0,1] 0.9991148340853645 Centerline is valid? [True, True] Translation: X:203.11, Y:2.93, Z:1.81 [[ 9.99709467e-01 -1.17976341e-02 -2.10189588e-02 2.03106683e+02] [ 1.17921589e-02 9.99930396e-01 -3.84415211e-04 2.93172269e+00] [ 2.10220310e-02 1.36444623e-04 9.99779003e-01 1.81034434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.789254154 meters Centerline goodness [0,1] 0.9993104488546987 Centerline is valid? [True, True] Translation: X:203.13, Y:2.93, Z:1.81 [[ 9.99732412e-01 -1.05786398e-02 -2.05717669e-02 2.03134708e+02] [ 1.05730142e-02 9.99944031e-01 -3.82212055e-04 2.93106543e+00] [ 2.05746588e-02 1.64604196e-04 9.99788306e-01 1.81112575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819254154 meters Centerline goodness [0,1] 0.9992459821620923 Centerline is valid? [True, True] Translation: X:203.16, Y:2.93, Z:1.81 [[ 9.99735436e-01 -1.10535755e-02 -2.01711745e-02 2.03162595e+02] [ 1.10481440e-02 9.99938895e-01 -3.80692528e-04 2.93033552e+00] [ 2.01741500e-02 1.57737770e-04 9.99796469e-01 1.81095343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84925415399996 meters Centerline goodness [0,1] 0.9989879414298019 Centerline is valid? [True, True] Translation: X:203.19, Y:2.93, Z:1.81 [[ 9.99715108e-01 -1.21096099e-02 -2.05684120e-02 2.03189667e+02] [ 1.21040982e-02 9.99926666e-01 -3.92448532e-04 2.92957225e+00] [ 2.05716560e-02 1.43374649e-04 9.99788371e-01 1.81046300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87925415399997 meters Centerline goodness [0,1] 0.9992029469421168 Centerline is valid? [True, True] Translation: X:203.22, Y:2.93, Z:1.81 [[ 9.99684188e-01 -1.38346714e-02 -2.09791851e-02 2.03218073e+02] [ 1.38292196e-02 9.99904290e-01 -4.04934519e-04 2.92788388e+00] [ 2.09827793e-02 1.14680879e-04 9.99779831e-01 1.81097966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90925415399997 meters Centerline goodness [0,1] 0.9990315916329517 Centerline is valid? [True, True] Translation: X:203.25, Y:2.93, Z:1.81 [[ 9.99645230e-01 -1.60107391e-02 -2.12854604e-02 2.03245835e+02] [ 1.60055372e-02 9.99871817e-01 -4.14736867e-04 2.92634199e+00] [ 2.12893722e-02 7.39045037e-05 9.99773353e-01 1.81090015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93925415399997 meters Centerline goodness [0,1] 0.9990332767621216 Centerline is valid? [True, True] Translation: X:203.27, Y:2.92, Z:1.81 [[ 9.99543365e-01 -2.18595936e-02 -2.08619098e-02 2.03274800e+02] [ 2.18558355e-02 9.99761049e-01 -4.08155897e-04 2.92106147e+00] [ 2.08658470e-02 -4.79849490e-05 9.99782283e-01 1.81174508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96925415399997 meters Centerline goodness [0,1] 0.9991429183629741 Centerline is valid? [True, True] Translation: X:203.30, Y:2.92, Z:1.81 [[ 9.99452969e-01 -2.58522868e-02 -2.06257375e-02 2.03303972e+02] [ 2.58493903e-02 9.99665766e-01 -4.07072528e-04 2.91770617e+00] [ 2.06293674e-02 -1.26312892e-04 9.99787184e-01 1.81221227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99925415399997 meters Centerline goodness [0,1] 0.9989734816082122 Centerline is valid? [True, True] Translation: X:203.33, Y:2.91, Z:1.81 [[ 9.99330387e-01 -3.00685982e-02 -2.08484155e-02 2.03331665e+02] [ 3.00664843e-02 9.99547815e-01 -4.14910650e-04 2.91359958e+00] [ 2.08514640e-02 -2.12205738e-04 9.99782562e-01 1.81182212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02925415399997 meters Centerline goodness [0,1] 0.9990813143614067 Centerline is valid? [True, True] Translation: X:203.36, Y:2.91, Z:1.81 [[ 9.99199533e-01 -3.39683983e-02 -2.11291466e-02 2.03361683e+02] [ 3.39670717e-02 9.99422864e-01 -4.21773222e-04 2.90907159e+00] [ 2.11312791e-02 -2.96259631e-04 9.99776666e-01 1.81058153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05925415399997 meters Centerline goodness [0,1] 0.9986571745246824 Centerline is valid? [True, True] Translation: X:203.39, Y:2.90, Z:1.81 [[ 9.98896989e-01 -4.23619977e-02 -2.02550523e-02 2.03391548e+02] [ 4.23624884e-02 9.99102225e-01 -4.05037714e-04 2.90078253e+00] [ 2.02540260e-02 -4.53463463e-04 9.99794763e-01 1.81237019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08925415399997 meters Centerline goodness [0,1] 0.9990008928191828 Centerline is valid? [True, True] Translation: X:203.42, Y:2.90, Z:1.81 [[ 9.98754449e-01 -4.57757929e-02 -1.98526176e-02 2.03422653e+02] [ 4.57769390e-02 9.98951608e-01 -3.96946306e-04 2.89705305e+00] [ 1.98499748e-02 -5.12340174e-04 9.99802839e-01 1.81289141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11925415399998 meters Centerline goodness [0,1] 0.9989377522838326 Centerline is valid? [True, True] Translation: X:203.45, Y:2.89, Z:1.81 [[ 9.98614665e-01 -4.89746874e-02 -1.92413614e-02 2.03453686e+02] [ 4.89763668e-02 9.98799864e-01 -3.84221753e-04 2.89467237e+00] [ 1.92370863e-02 -5.58682499e-04 9.99814794e-01 1.81389288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14925415399998 meters Centerline goodness [0,1] 0.9987701181110711 Centerline is valid? [True, True] Translation: X:203.48, Y:2.89, Z:1.81 [[ 9.98501743e-01 -5.15378627e-02 -1.83879661e-02 2.03484659e+02] [ 5.15398424e-02 9.98670872e-01 -3.66530113e-04 2.89052645e+00] [ 1.83824163e-02 -5.81731919e-04 9.99830860e-01 1.81421152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17925415399998 meters Centerline goodness [0,1] 0.9986665537823308 Centerline is valid? [True, True] Translation: X:203.51, Y:2.88, Z:1.81 [[ 9.98304489e-01 -5.53803805e-02 -1.79209602e-02 2.03514831e+02] [ 5.53828880e-02 9.98465126e-01 -3.56726976e-04 2.88466976e+00] [ 1.79132095e-02 -6.36392391e-04 9.99839343e-01 1.81494632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20925415399998 meters Centerline goodness [0,1] 0.9989219126537859 Centerline is valid? [True, True] Translation: X:203.55, Y:2.88, Z:1.82 [[ 9.98232993e-01 -5.66642629e-02 -1.78900335e-02 2.03546849e+02] [ 5.66669783e-02 9.98393072e-01 -3.55514667e-04 2.88272574e+00] [ 1.78814304e-02 -6.58887667e-04 9.99839897e-01 1.81543332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23925415399998 meters Centerline goodness [0,1] 0.9987117484319233 Centerline is valid? [True, True] Translation: X:203.58, Y:2.88, Z:1.81 [[ 9.98158002e-01 -5.78246572e-02 -1.83551904e-02 2.03577796e+02] [ 5.78277326e-02 9.98326510e-01 -3.63616010e-04 2.88014698e+00] [ 1.83454991e-02 -6.98492811e-04 9.99831463e-01 1.81488127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26925415399998 meters Centerline goodness [0,1] 0.9989052631578947 Centerline is valid? [True, True] Translation: X:203.61, Y:2.88, Z:1.81 [[ 9.97968044e-01 -6.06583999e-02 -1.95023602e-02 2.03608537e+02] [ 6.06624255e-02 9.98158265e-01 -3.85648215e-04 2.87528942e+00] [ 1.94898348e-02 -7.98195879e-04 9.99809737e-01 1.81383084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29925415399998 meters Centerline goodness [0,1] 0.9988191134916283 Centerline is valid? [True, True] Translation: X:203.64, Y:2.87, Z:1.81 [[ 9.97891220e-01 -6.17264034e-02 -2.00739520e-02 2.03641092e+02] [ 6.17309023e-02 9.98092751e-01 -3.96053137e-04 2.87383523e+00] [ 2.00601129e-02 -8.43965223e-04 9.99798419e-01 1.81211452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32925415399998 meters Centerline goodness [0,1] 0.9987576593459814 Centerline is valid? [True, True] Translation: X:203.67, Y:2.88, Z:1.81 [[ 9.97760357e-01 -6.38414372e-02 -1.99635081e-02 2.03672998e+02] [ 6.38463373e-02 9.97959664e-01 -3.92466746e-04 2.87684594e+00] [ 1.99478315e-02 -8.83009113e-04 9.99800632e-01 1.81465508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35925415399998 meters Centerline goodness [0,1] 0.998631204329606 Centerline is valid? [True, True] Translation: X:203.71, Y:2.88, Z:1.81 [[ 9.97612060e-01 -6.58117155e-02 -2.09522322e-02 2.03705422e+02] [ 6.58175795e-02 9.97831588e-01 -4.10338416e-04 2.87596562e+00] [ 2.09338042e-02 -9.69666657e-04 9.99780394e-01 1.81487801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38925415399999 meters Centerline goodness [0,1] 0.9986530569293908 Centerline is valid? [True, True] Translation: X:203.74, Y:2.87, Z:1.81 [[ 9.97306183e-01 -6.98252893e-02 -2.24678785e-02 2.03736726e+02] [ 6.98330706e-02 9.97558595e-01 -4.39044233e-04 2.87118589e+00] [ 2.24436816e-02 -1.13113941e-03 9.99747469e-01 1.81213099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.419254154 meters Centerline goodness [0,1] 0.9988428117570326 Centerline is valid? [True, True] Translation: X:203.77, Y:2.87, Z:1.81 [[ 9.97128513e-01 -7.24648667e-02 -2.19902512e-02 2.03766644e+02] [ 7.24729890e-02 9.97370283e-01 -4.28410791e-04 2.86922827e+00] [ 2.19634678e-02 -1.16651862e-03 9.99758093e-01 1.81471075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.449254154 meters Centerline goodness [0,1] 0.9988427387114421 Centerline is valid? [True, True] Translation: X:203.80, Y:2.87, Z:1.82 [[ 9.96987546e-01 -7.43410325e-02 -2.21188398e-02 2.03797551e+02] [ 7.43497393e-02 9.97232135e-01 -4.29609140e-04 2.86631019e+00] [ 2.20895555e-02 -1.21621501e-03 9.99755256e-01 1.81508091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479254154 meters Centerline goodness [0,1] 0.998528051139709 Centerline is valid? [True, True] Translation: X:203.83, Y:2.86, Z:1.81 [[ 9.96875633e-01 -7.57989023e-02 -2.22148492e-02 2.03828678e+02] [ 7.58080683e-02 9.97122335e-01 -4.30450473e-04 2.86399408e+00] [ 2.21835500e-02 -1.25495922e-03 9.99753127e-01 1.81486059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.509254154 meters Centerline goodness [0,1] 0.9987138941598145 Centerline is valid? [True, True] Translation: X:203.86, Y:2.87, Z:1.82 [[ 9.96751687e-01 -7.75024711e-02 -2.18961322e-02 2.03860332e+02] [ 7.75118113e-02 9.96991344e-01 -4.23093804e-04 2.86899434e+00] [ 2.18630451e-02 -1.27548941e-03 9.99760161e-01 1.81767613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539254154 meters Centerline goodness [0,1] 0.9985061751772601 Centerline is valid? [True, True] Translation: X:203.89, Y:2.87, Z:1.82 [[ 9.96758742e-01 -7.74266096e-02 -2.18433060e-02 2.03891672e+02] [ 7.74359287e-02 9.96997242e-01 -4.20145064e-04 2.86877810e+00] [ 2.18102463e-02 -1.27267342e-03 9.99761318e-01 1.81836217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569254154 meters Centerline goodness [0,1] 0.9984657096618256 Centerline is valid? [True, True] Translation: X:203.92, Y:2.87, Z:1.82 [[ 9.96787187e-01 -7.70109768e-02 -2.20139143e-02 2.03923679e+02] [ 7.70203849e-02 9.97029429e-01 -4.21433464e-04 2.87157388e+00] [ 2.19809755e-02 -1.27544068e-03 9.99757576e-01 1.81929898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59925415399996 meters Centerline goodness [0,1] 0.9985275247691369 Centerline is valid? [True, True] Translation: X:203.96, Y:2.87, Z:1.82 [[ 9.96821916e-01 -7.65942558e-02 -2.18949150e-02 2.03955178e+02] [ 7.66034921e-02 9.97061548e-01 -4.17792411e-04 2.87077789e+00] [ 2.18625784e-02 -1.26076232e-03 9.99760190e-01 1.81960137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62925415399997 meters Centerline goodness [0,1] 0.9985462666441935 Centerline is valid? [True, True] Translation: X:203.99, Y:2.88, Z:1.82 [[ 9.96896838e-01 -7.57304700e-02 -2.14846489e-02 2.03987751e+02] [ 7.57391976e-02 9.97127578e-01 -4.08361702e-04 2.87530364e+00] [ 2.14538614e-02 -1.22013558e-03 9.99769095e-01 1.82183028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65925415399997 meters Centerline goodness [0,1] 0.9988617920451911 Centerline is valid? [True, True] Translation: X:204.02, Y:2.88, Z:1.82 [[ 9.96922117e-01 -7.53713977e-02 -2.15741828e-02 2.04019821e+02] [ 7.53801522e-02 9.97154785e-01 -4.08310884e-04 2.87802353e+00] [ 2.15435745e-02 -1.21921103e-03 9.99767167e-01 1.82302381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68925415399997 meters Centerline goodness [0,1] 0.9986513254941628 Centerline is valid? [True, True] Translation: X:204.05, Y:2.88, Z:1.82 [[ 9.96964733e-01 -7.49071948e-02 -2.12186810e-02 2.04052008e+02] [ 7.49155911e-02 9.97189798e-01 -4.00034953e-04 2.87940912e+00] [ 2.11890177e-02 -1.19078929e-03 9.99774778e-01 1.82356871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71925415399997 meters Centerline goodness [0,1] 0.9985664291436522 Centerline is valid? [True, True] Translation: X:204.08, Y:2.88, Z:1.82 [[ 9.97016971e-01 -7.42401485e-02 -2.11082883e-02 2.04084392e+02] [ 7.42483411e-02 9.97239704e-01 -3.96409330e-04 2.88099959e+00] [ 2.10794527e-02 -1.17202856e-03 9.99777117e-01 1.82422112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74925415399997 meters Centerline goodness [0,1] 0.9988202330039817 Centerline is valid? [True, True] Translation: X:204.12, Y:2.88, Z:1.82 [[ 9.97192088e-01 -7.18141730e-02 -2.12288299e-02 2.04115226e+02] [ 7.18219352e-02 9.97417391e-01 -3.97550700e-04 2.88294541e+00] [ 2.12025539e-02 -1.12826123e-03 9.99774564e-01 1.82472684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77925415399997 meters Centerline goodness [0,1] 0.9988167430853424 Centerline is valid? [True, True] Translation: X:204.15, Y:2.89, Z:1.83 [[ 9.97302910e-01 -7.02372396e-02 -2.12987371e-02 2.04147030e+02] [ 7.02447205e-02 9.97529709e-01 -3.97632835e-04 2.88904622e+00] [ 2.12740517e-02 -1.09956345e-03 9.99773077e-01 1.82606427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80925415399997 meters Centerline goodness [0,1] 0.9988167430853424 Centerline is valid? [True, True] Translation: X:204.18, Y:2.89, Z:1.83 [[ 9.97308110e-01 -7.01633536e-02 -2.12987665e-02 2.04178760e+02] [ 7.01708513e-02 9.97534909e-01 -3.96054961e-04 2.88957750e+00] [ 2.12740516e-02 -1.09956375e-03 9.99773077e-01 1.82636138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83925415399997 meters Centerline goodness [0,1] 0.9988156419854917 Centerline is valid? [True, True] Translation: X:204.21, Y:2.89, Z:1.83 [[ 9.97448959e-01 -6.81982052e-02 -2.10850257e-02 2.04209373e+02] [ 6.82051342e-02 9.97671242e-01 -3.91175638e-04 2.88912968e+00] [ 2.10626012e-02 -1.04792927e-03 9.99777610e-01 1.82633076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86925415399998 meters Centerline goodness [0,1] 0.9987308570945088 Centerline is valid? [True, True] Translation: X:204.24, Y:2.89, Z:1.83 [[ 9.97582015e-01 -6.60067949e-02 -2.17537725e-02 2.04240314e+02] [ 6.60136646e-02 9.97818638e-01 -4.02944361e-04 2.89499298e+00] [ 2.17329167e-02 -1.03407619e-03 9.99763277e-01 1.82754724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89925415399998 meters Centerline goodness [0,1] 0.9986519788529182 Centerline is valid? [True, True] Translation: X:204.27, Y:2.89, Z:1.83 [[ 9.97757461e-01 -6.32675629e-02 -2.18463700e-02 2.04271245e+02] [ 6.32738536e-02 9.97996120e-01 -4.03854035e-04 2.89318494e+00] [ 2.18281434e-02 -9.79355643e-04 9.99761258e-01 1.82649003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92925415399998 meters Centerline goodness [0,1] 0.9986029676354169 Centerline is valid? [True, True] Translation: X:204.30, Y:2.90, Z:1.83 [[ 9.98152496e-01 -5.66125996e-02 -2.20592009e-02 2.04300174e+02] [ 5.66173940e-02 9.98395866e-01 -4.07638491e-04 2.90018261e+00] [ 2.20468924e-02 -8.42049090e-04 9.99756583e-01 1.82708817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95925415399998 meters Centerline goodness [0,1] 0.998753169907016 Centerline is valid? [True, True] Translation: X:204.33, Y:2.91, Z:1.83 [[ 9.98367789e-01 -5.26879146e-02 -2.20395307e-02 2.04331264e+02] [ 5.26917520e-02 9.98610742e-01 -4.06975196e-04 2.90648455e+00] [ 2.20303548e-02 -7.54990560e-04 9.99757017e-01 1.82861701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98925415399998 meters Centerline goodness [0,1] 0.9990668476416695 Centerline is valid? [True, True] Translation: X:204.36, Y:2.91, Z:1.83 [[ 9.98589800e-01 -4.82647286e-02 -2.21117038e-02 2.04363086e+02] [ 4.82675302e-02 9.98834360e-01 -4.07296130e-04 2.91236918e+00] [ 2.21055876e-02 -6.60555570e-04 9.99755423e-01 1.82975901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01925415399998 meters Centerline goodness [0,1] 0.9989393296563428 Centerline is valid? [True, True] Translation: X:204.39, Y:2.92, Z:1.83 [[ 9.99016510e-01 -3.86940271e-02 -2.16514492e-02 2.04393612e+02] [ 3.86944816e-02 9.99251009e-01 -3.98110965e-04 2.92218533e+00] [ 2.16506369e-02 -4.40072175e-04 9.99765501e-01 1.83158803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04925415399998 meters Centerline goodness [0,1] 0.9990654999575227 Centerline is valid? [True, True] Translation: X:204.42, Y:2.93, Z:1.83 [[ 9.99185292e-01 -3.40868977e-02 -2.16063745e-02 2.04423401e+02] [ 3.40862770e-02 9.99418815e-01 -3.97117413e-04 2.92590685e+00] [ 2.16073537e-02 -3.39686988e-04 9.99766476e-01 1.83214838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07925415399998 meters Centerline goodness [0,1] 0.999172782420566 Centerline is valid? [True, True] Translation: X:204.45, Y:2.93, Z:1.83 [[ 9.99325855e-01 -2.96615353e-02 -2.16339859e-02 2.04453451e+02] [ 2.96598715e-02 9.99559970e-01 -3.97843581e-04 2.92942834e+00] [ 2.16362669e-02 -2.44085864e-04 9.99765879e-01 1.83252754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10925415399998 meters Centerline goodness [0,1] 0.9989999361661382 Centerline is valid? [True, True] Translation: X:204.48, Y:2.93, Z:1.83 [[ 9.99502678e-01 -2.25214563e-02 -2.20721606e-02 2.04482698e+02] [ 2.25179695e-02 9.99746356e-01 -4.06533053e-04 2.93446450e+00] [ 2.20757178e-02 -9.06893627e-05 9.99756298e-01 1.83249303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13925415399999 meters Centerline goodness [0,1] 0.9990636106322757 Centerline is valid? [True, True] Translation: X:204.51, Y:2.94, Z:1.83 [[ 9.99546700e-01 -1.96299612e-02 -2.28267320e-02 2.04509931e+02] [ 1.96254312e-02 9.99807313e-01 -4.22476609e-04 2.93574904e+00] [ 2.28306268e-02 -2.56993592e-05 9.99739347e-01 1.83124338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.169254154 meters Centerline goodness [0,1] 0.9990240176525503 Centerline is valid? [True, True] Translation: X:204.54, Y:2.94, Z:1.83 [[ 9.99576136e-01 -1.84866478e-02 -2.24898465e-02 2.04537711e+02] [ 1.84818490e-02 9.99829107e-01 -4.21230673e-04 2.93662179e+00] [ 2.24937903e-02 5.39818238e-06 9.99746983e-01 1.83242024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199254154 meters Centerline goodness [0,1] 0.9988728440484039 Centerline is valid? [True, True] Translation: X:204.57, Y:2.94, Z:1.83 [[ 9.99580001e-01 -1.78743603e-02 -2.28107135e-02 2.04565789e+02] [ 1.78691732e-02 9.99840241e-01 -4.31222935e-04 2.93700989e+00] [ 2.28147771e-02 2.34332311e-05 9.99739709e-01 1.83187919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.229254154 meters Centerline goodness [0,1] 0.9991525962332902 Centerline is valid? [True, True] Translation: X:204.59, Y:2.94, Z:1.83 [[ 9.99583296e-01 -1.79875833e-02 -2.25761222e-02 2.04592950e+02] [ 1.79824759e-02 9.99838210e-01 -4.29239508e-04 2.93689222e+00] [ 2.25801906e-02 2.30860674e-05 9.99745035e-01 1.83190420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259254154 meters Centerline goodness [0,1] 0.9992577984180503 Centerline is valid? [True, True] Translation: X:204.62, Y:2.93, Z:1.83 [[ 9.99522719e-01 -2.08829031e-02 -2.27648423e-02 2.04621168e+02] [ 2.08783467e-02 9.99781928e-01 -4.37833068e-04 2.93296959e+00] [ 2.27690211e-02 -3.76681709e-05 9.99740752e-01 1.83295709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.289254154 meters Centerline goodness [0,1] 0.99891946863281 Centerline is valid? [True, True] Translation: X:204.65, Y:2.93, Z:1.83 [[ 9.99467894e-01 -2.32613807e-02 -2.28656491e-02 2.04648883e+02] [ 2.32572543e-02 9.99729414e-01 -4.46411631e-04 2.93007083e+00] [ 2.28698461e-02 -8.56181222e-05 9.99738447e-01 1.83276161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319254154 meters Centerline goodness [0,1] 0.9989407004088896 Centerline is valid? [True, True] Translation: X:204.68, Y:2.93, Z:1.83 [[ 9.99402568e-01 -2.65401078e-02 -2.21388913e-02 2.04676543e+02] [ 2.65369597e-02 9.99647738e-01 -4.36020685e-04 2.92622172e+00] [ 2.21426647e-02 -1.51738676e-04 9.99754810e-01 1.83242556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34925415399996 meters Centerline goodness [0,1] 0.9987967067764408 Centerline is valid? [True, True] Translation: X:204.71, Y:2.92, Z:1.83 [[ 9.99309534e-01 -3.02606768e-02 -2.15579781e-02 2.04705268e+02] [ 3.02584767e-02 9.99542016e-01 -4.28317399e-04 2.92230592e+00] [ 2.15610660e-02 -2.24289915e-04 9.99767508e-01 1.83302889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37925415399997 meters Centerline goodness [0,1] 0.9988432011778315 Centerline is valid? [True, True] Translation: X:204.74, Y:2.92, Z:1.84 [[ 9.99067536e-01 -3.82652855e-02 -1.99956807e-02 2.04735105e+02] [ 3.82649457e-02 9.99267549e-01 -3.99741481e-04 2.91535645e+00] [ 1.99963311e-02 -3.65764899e-04 9.99799986e-01 1.83532529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40925415399997 meters Centerline goodness [0,1] 0.9988432984920819 Centerline is valid? [True, True] Translation: X:204.77, Y:2.91, Z:1.83 [[ 9.98912721e-01 -4.25580103e-02 -1.90313173e-02 2.04765797e+02] [ 4.25584781e-02 9.99093905e-01 -3.80612509e-04 2.90758423e+00] [ 1.90302712e-02 -4.29745224e-04 9.99818816e-01 1.83432023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43925415399997 meters Centerline goodness [0,1] 0.9988237271046883 Centerline is valid? [True, True] Translation: X:204.80, Y:2.90, Z:1.84 [[ 9.98539177e-01 -5.08286258e-02 -1.83293102e-02 2.04796479e+02] [ 5.08304573e-02 9.98707230e-01 -3.66247995e-04 2.90204402e+00] [ 1.83242305e-02 -5.65974248e-04 9.99831937e-01 1.83617889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46925415399997 meters Centerline goodness [0,1] 0.9987164380102685 Centerline is valid? [True, True] Translation: X:204.83, Y:2.90, Z:1.83 [[ 9.98353901e-01 -5.42381649e-02 -1.86470027e-02 2.04826545e+02] [ 5.42406576e-02 9.98527823e-01 -3.72424487e-04 2.89523666e+00] [ 1.86397506e-02 -6.39614250e-04 9.99826060e-01 1.83481743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49925415399997 meters Centerline goodness [0,1] 0.9987375597029057 Centerline is valid? [True, True] Translation: X:204.86, Y:2.90, Z:1.84 [[ 9.98158102e-01 -5.77778726e-02 -1.84964943e-02 2.04857229e+02] [ 5.77809351e-02 9.98329218e-01 -3.69249895e-04 2.89609230e+00] [ 1.84869252e-02 -7.00174964e-04 9.99828857e-01 1.83630409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52925415399997 meters Centerline goodness [0,1] 0.9986571830217579 Centerline is valid? [True, True] Translation: X:204.89, Y:2.89, Z:1.84 [[ 9.97846035e-01 -6.29702393e-02 -1.83858660e-02 2.04887070e+02] [ 6.29741592e-02 9.98015091e-01 -3.66262543e-04 2.88726209e+00] [ 1.83724354e-02 -7.92360826e-04 9.99830899e-01 1.83554705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55925415399997 meters Centerline goodness [0,1] 0.9985939729707043 Centerline is valid? [True, True] Translation: X:204.92, Y:2.89, Z:1.84 [[ 9.97729174e-01 -6.48516049e-02 -1.81869122e-02 2.04919417e+02] [ 6.48557752e-02 9.97894583e-01 -3.61032543e-04 2.88739090e+00] [ 1.81720347e-02 -8.19313588e-04 9.99834539e-01 1.83624428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58925415399997 meters Centerline goodness [0,1] 0.998638572386059 Centerline is valid? [True, True] Translation: X:204.95, Y:2.89, Z:1.84 [[ 9.97634107e-01 -6.63276799e-02 -1.80783605e-02 2.04951905e+02] [ 6.63320665e-02 9.97797539e-01 -3.57544844e-04 2.88798318e+00] [ 1.80622587e-02 -8.42476080e-04 9.99836509e-01 1.83693560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61925415399998 meters Centerline goodness [0,1] 0.9984519800012551 Centerline is valid? [True, True] Translation: X:204.98, Y:2.88, Z:1.84 [[ 9.97558388e-01 -6.75769390e-02 -1.76243918e-02 2.04982951e+02] [ 6.75813227e-02 9.97713709e-01 -3.47419393e-04 2.88446263e+00] [ 1.76075749e-02 -8.44508581e-04 9.99844618e-01 1.83693971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64925415399998 meters Centerline goodness [0,1] 0.9985360548770286 Centerline is valid? [True, True] Translation: X:205.01, Y:2.88, Z:1.84 [[ 9.97462086e-01 -6.91054004e-02 -1.71415132e-02 2.05014523e+02] [ 6.91097882e-02 9.97609003e-01 -3.36966431e-04 2.88032654e+00] [ 1.71238141e-02 -8.48535105e-04 9.99853017e-01 1.83654987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67925415399998 meters Centerline goodness [0,1] 0.9988261926720885 Centerline is valid? [True, True] Translation: X:205.05, Y:2.88, Z:1.84 [[ 9.97455143e-01 -6.92099713e-02 -1.71235895e-02 2.05046307e+02] [ 6.92143837e-02 9.97601752e-01 -3.35543301e-04 2.87953574e+00] [ 1.71057458e-02 -8.50509303e-04 9.99853324e-01 1.83666035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70925415399998 meters Centerline goodness [0,1] 0.9988653793625113 Centerline is valid? [True, True] Translation: X:205.08, Y:2.88, Z:1.84 [[ 9.97455094e-01 -6.92098511e-02 -1.71269583e-02 2.05078909e+02] [ 6.92142863e-02 9.97601760e-01 -3.34374160e-04 2.87933545e+00] [ 1.71090257e-02 -8.51906985e-04 9.99853267e-01 1.83693026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73925415399998 meters Centerline goodness [0,1] 0.9986794390760266 Centerline is valid? [True, True] Translation: X:205.11, Y:2.88, Z:1.84 [[ 9.97488803e-01 -6.86783770e-02 -1.73022790e-02 2.05110769e+02] [ 6.86828457e-02 9.97638488e-01 -3.36526589e-04 2.88209774e+00] [ 1.72845315e-02 -8.52688252e-04 9.99850248e-01 1.83713672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76925415399998 meters Centerline goodness [0,1] 0.99868021367969 Centerline is valid? [True, True] Translation: X:205.14, Y:2.88, Z:1.84 [[ 9.97546933e-01 -6.76943661e-02 -1.78210316e-02 2.05142672e+02] [ 6.76989743e-02 9.97705733e-01 -3.45267755e-04 2.88390580e+00] [ 1.78035181e-02 -8.62044772e-04 9.99841133e-01 1.83708173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79925415399998 meters Centerline goodness [0,1] 0.9987190794170762 Centerline is valid? [True, True] Translation: X:205.17, Y:2.88, Z:1.84 [[ 9.97637799e-01 -6.62160100e-02 -1.82828257e-02 2.05174242e+02] [ 6.62206347e-02 9.97804942e-01 -3.52997641e-04 2.88320376e+00] [ 1.82660679e-02 -8.58536532e-04 9.99832793e-01 1.83665018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82925415399998 meters Centerline goodness [0,1] 0.9989294710327455 Centerline is valid? [True, True] Translation: X:205.21, Y:2.89, Z:1.84 [[ 9.97876785e-01 -6.22125354e-02 -1.92749334e-02 2.05205326e+02] [ 6.22169444e-02 9.98062580e-01 -3.71420680e-04 2.88698736e+00] [ 1.92606968e-02 -8.28595389e-04 9.99814152e-01 1.83642686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85925415399998 meters Centerline goodness [0,1] 0.9988424220739587 Centerline is valid? [True, True] Translation: X:205.24, Y:2.89, Z:1.84 [[ 9.97983624e-01 -6.04583233e-02 -1.93255476e-02 2.05237248e+02] [ 6.04624448e-02 9.98170404e-01 -3.71485259e-04 2.88996552e+00] [ 1.93126490e-02 -7.97733651e-04 9.99813175e-01 1.83729263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88925415399999 meters Centerline goodness [0,1] 0.9988468634686347 Centerline is valid? [True, True] Translation: X:205.27, Y:2.89, Z:1.84 [[ 9.98091958e-01 -5.85526548e-02 -1.95966712e-02 2.05268624e+02] [ 5.85565510e-02 9.98284022e-01 -3.75427529e-04 2.89093838e+00] [ 1.95850261e-02 -7.72802280e-04 9.99807896e-01 1.83742929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.919254154 meters Centerline goodness [0,1] 0.9987220848870826 Centerline is valid? [True, True] Translation: X:205.30, Y:2.89, Z:1.84 [[ 9.98177640e-01 -5.70000218e-02 -1.98090006e-02 2.05300004e+02] [ 5.70037155e-02 9.98373894e-01 -3.78592207e-04 2.89283821e+00] [ 1.97983688e-02 -7.51284359e-04 9.99803711e-01 1.83764063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.949254154 meters Centerline goodness [0,1] 0.9991140735740803 Centerline is valid? [True, True] Translation: X:205.33, Y:2.90, Z:1.84 [[ 9.98298127e-01 -5.47827851e-02 -1.99923950e-02 2.05331604e+02] [ 5.47861182e-02 9.98498040e-01 -3.81361519e-04 2.89606472e+00] [ 1.99832593e-02 -7.14593225e-04 9.99800059e-01 1.83821175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979254154 meters Centerline goodness [0,1] 0.9989031849820713 Centerline is valid? [True, True] Translation: X:205.36, Y:2.90, Z:1.84 [[ 9.98339290e-01 -5.39417304e-02 -2.02225321e-02 2.05364155e+02] [ 5.39449914e-02 9.98543835e-01 -3.84611295e-04 2.89697773e+00] [ 2.02138314e-02 -7.06931756e-04 9.99795430e-01 1.83846257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.009254154 meters Centerline goodness [0,1] 0.9990099218470224 Centerline is valid? [True, True] Translation: X:205.40, Y:2.90, Z:1.84 [[ 9.98356481e-01 -5.35744364e-02 -2.03498793e-02 2.05395666e+02] [ 5.35776886e-02 9.98563610e-01 -3.85750834e-04 2.89750302e+00] [ 2.03413153e-02 -7.05182650e-04 9.99792845e-01 1.83828780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039254154 meters Centerline goodness [0,1] 0.9988403963736032 Centerline is valid? [True, True] Translation: X:205.43, Y:2.90, Z:1.84 [[ 9.98393150e-01 -5.29140829e-02 -2.02784865e-02 2.05427210e+02] [ 5.29171983e-02 9.98598830e-01 -3.83307429e-04 2.89873264e+00] [ 2.02703553e-02 -6.90389181e-04 9.99794297e-01 1.83815991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069254154 meters Centerline goodness [0,1] 0.9989039940984298 Centerline is valid? [True, True] Translation: X:205.46, Y:2.90, Z:1.84 [[ 9.98412671e-01 -5.25179288e-02 -2.03471052e-02 2.05458589e+02] [ 5.25210015e-02 9.98619746e-01 -3.83705790e-04 2.90172743e+00] [ 2.03391725e-02 -6.85553621e-04 9.99792903e-01 1.83925684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09925415399996 meters Centerline goodness [0,1] 0.9988441007103527 Centerline is valid? [True, True] Translation: X:205.49, Y:2.90, Z:1.84 [[ 9.98478232e-01 -5.12964376e-02 -2.02458801e-02 2.05489629e+02] [ 5.12992476e-02 9.98683254e-01 -3.80875059e-04 2.90454430e+00] [ 2.02387589e-02 -6.58302960e-04 9.99794959e-01 1.83991019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12925415399997 meters Centerline goodness [0,1] 0.9986533120107735 Centerline is valid? [True, True] Translation: X:205.52, Y:2.91, Z:1.84 [[ 9.98526980e-01 -5.04751343e-02 -1.99030625e-02 2.05521211e+02] [ 5.04777043e-02 9.98725118e-01 -3.73557841e-04 2.90666733e+00] [ 1.98965439e-02 -6.31653321e-04 9.99801845e-01 1.84057655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15925415399997 meters Centerline goodness [0,1] 0.998929381140314 Centerline is valid? [True, True] Translation: X:205.55, Y:2.91, Z:1.84 [[ 9.98595961e-01 -4.93479357e-02 -1.92584576e-02 2.05552479e+02] [ 4.93501452e-02 9.98781474e-01 -3.60790751e-04 2.90875690e+00] [ 1.92527950e-02 -5.90123493e-04 9.99814474e-01 1.84196283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18925415399997 meters Centerline goodness [0,1] 0.9986114617520828 Centerline is valid? [True, True] Translation: X:205.58, Y:2.91, Z:1.84 [[ 9.98659217e-01 -4.82425285e-02 -1.87730230e-02 2.05584316e+02] [ 4.82444466e-02 9.98835497e-01 -3.50964027e-04 2.91160228e+00] [ 1.87680932e-02 -5.55200645e-04 9.99823710e-01 1.84270815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21925415399997 meters Centerline goodness [0,1] 0.9988873026536782 Centerline is valid? [True, True] Translation: X:205.62, Y:2.92, Z:1.84 [[ 9.98796310e-01 -4.55811520e-02 -1.81187633e-02 2.05615665e+02] [ 4.55825141e-02 9.98960520e-01 -3.38016306e-04 2.91795274e+00] [ 1.81153364e-02 -4.88289344e-04 9.99835785e-01 1.84479556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24925415399997 meters Centerline goodness [0,1] 0.9987175174501725 Centerline is valid? [True, True] Translation: X:205.65, Y:2.92, Z:1.84 [[ 9.98870005e-01 -4.39254986e-02 -1.81456362e-02 2.05646694e+02] [ 4.39266067e-02 9.99034704e-01 -3.37695011e-04 2.91855841e+00] [ 1.81429537e-02 -4.59762807e-04 9.99835297e-01 1.84486664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27925415399997 meters Centerline goodness [0,1] 0.9988020931845407 Centerline is valid? [True, True] Translation: X:205.68, Y:2.92, Z:1.85 [[ 9.98952794e-01 -4.21359959e-02 -1.78290147e-02 2.05677635e+02] [ 4.21367950e-02 9.99111796e-01 -3.31002817e-04 2.92247463e+00] [ 1.78271260e-02 -4.20601347e-04 9.99840996e-01 1.84584500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30925415399997 meters Centerline goodness [0,1] 0.998716870004207 Centerline is valid? [True, True] Translation: X:205.71, Y:2.93, Z:1.85 [[ 9.99053016e-01 -3.96397553e-02 -1.79377058e-02 2.05709279e+02] [ 3.96401735e-02 9.99213964e-01 -3.32376096e-04 2.92644424e+00] [ 1.79367815e-02 -3.78992431e-04 9.99839051e-01 1.84508601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33925415399997 meters Centerline goodness [0,1] 0.9988215488215488 Centerline is valid? [True, True] Translation: X:205.74, Y:2.93, Z:1.85 [[ 9.99219422e-01 -3.54715033e-02 -1.73873352e-02 2.05740159e+02] [ 3.54712762e-02 9.99370645e-01 -3.21555002e-04 2.93231431e+00] [ 1.73877984e-02 -2.95446966e-04 9.99848777e-01 1.84643848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36925415399998 meters Centerline goodness [0,1] 0.9990098175536173 Centerline is valid? [True, True] Translation: X:205.77, Y:2.94, Z:1.85 [[ 9.99304456e-01 -3.31523352e-02 -1.70741578e-02 2.05770716e+02] [ 3.31517922e-02 9.99450279e-01 -3.14920373e-04 2.93566171e+00] [ 1.70752121e-02 -2.51337599e-04 9.99854176e-01 1.84781788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39925415399998 meters Centerline goodness [0,1] 0.999009504541527 Centerline is valid? [True, True] Translation: X:205.80, Y:2.94, Z:1.85 [[ 9.99391429e-01 -3.04228351e-02 -1.70652468e-02 2.05801149e+02] [ 3.04219053e-02 9.99537097e-01 -3.14139539e-04 2.93912371e+00] [ 1.70669043e-02 -2.05208960e-04 9.99854329e-01 1.84840829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42925415399998 meters Centerline goodness [0,1] 0.998945236688887 Centerline is valid? [True, True] Translation: X:205.83, Y:2.94, Z:1.85 [[ 9.99478457e-01 -2.75950866e-02 -1.67727678e-02 2.05830448e+02] [ 2.75937881e-02 9.99619171e-01 -3.08887007e-04 2.94237889e+00] [ 1.67749040e-02 -1.54098290e-04 9.99859280e-01 1.84879942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45925415399998 meters Centerline goodness [0,1] 0.9990913893291072 Centerline is valid? [True, True] Translation: X:205.86, Y:2.95, Z:1.85 [[ 9.99608403e-01 -2.24327321e-02 -1.67276149e-02 2.05861201e+02] [ 2.24307149e-02 9.99748352e-01 -3.08221269e-04 2.94838003e+00] [ 1.67303196e-02 -6.71117893e-05 9.99860036e-01 1.84990721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48925415399998 meters Centerline goodness [0,1] 0.9990280389629599 Centerline is valid? [True, True] Translation: X:205.89, Y:2.95, Z:1.85 [[ 9.99643371e-01 -2.03828665e-02 -1.72530855e-02 2.05890293e+02] [ 2.03804079e-02 9.99792247e-01 -3.18332039e-04 2.95082123e+00] [ 1.72559896e-02 -3.34064078e-05 9.99851104e-01 1.84980797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51925415399998 meters Centerline goodness [0,1] 0.9989214110481347 Centerline is valid? [True, True] Translation: X:205.92, Y:2.95, Z:1.85 [[ 9.99663203e-01 -1.90254267e-02 -1.76497730e-02 2.05918829e+02] [ 1.90225961e-02 9.99819000e-01 -3.28261420e-04 2.95295976e+00] [ 1.76528237e-02 -7.59364155e-06 9.99844177e-01 1.84988207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54925415399998 meters Centerline goodness [0,1] 0.9989840409770139 Centerline is valid? [True, True] Translation: X:205.95, Y:2.95, Z:1.85 [[ 9.99673147e-01 -1.82140666e-02 -1.79400963e-02 2.05946625e+02] [ 1.82109242e-02 9.99834110e-01 -3.38521672e-04 2.95462975e+00] [ 1.79432860e-02 1.17052918e-05 9.99839006e-01 1.84986974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57925415399998 meters Centerline goodness [0,1] 0.9990696690982134 Centerline is valid? [True, True] Translation: X:205.97, Y:2.96, Z:1.85 [[ 9.99661270e-01 -1.73303749e-02 -1.94165940e-02 2.05974631e+02] [ 1.73264452e-02 9.99849817e-01 -3.70608125e-04 2.95528515e+00] [ 1.94201007e-02 3.40620376e-05 9.99811411e-01 1.84911854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60925415399998 meters Centerline goodness [0,1] 0.9991541730984754 Centerline is valid? [True, True] Translation: X:206.00, Y:2.96, Z:1.85 [[ 9.99641329e-01 -1.77135575e-02 -2.00858800e-02 2.06002186e+02] [ 1.77093436e-02 9.99843102e-01 -3.87660640e-04 2.95529103e+00] [ 2.00895955e-02 3.18138466e-05 9.99798183e-01 1.84910012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63925415399999 meters Centerline goodness [0,1] 0.9992812599091005 Centerline is valid? [True, True] Translation: X:206.03, Y:2.95, Z:1.85 [[ 9.99622604e-01 -1.82011138e-02 -2.05759145e-02 2.06029635e+02] [ 1.81966751e-02 9.99834346e-01 -4.02945552e-04 2.95490492e+00] [ 2.05798401e-02 2.83802509e-05 9.99788212e-01 1.84893701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.669254154 meters Centerline goodness [0,1] 0.9990067204869183 Centerline is valid? [True, True] Translation: X:206.06, Y:2.95, Z:1.85 [[ 9.99574207e-01 -2.00452445e-02 -2.12036048e-02 2.06057907e+02] [ 2.00408667e-02 9.99799074e-01 -4.18962502e-04 2.95341628e+00] [ 2.12077427e-02 -6.15450665e-06 9.99775091e-01 1.84885405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699254154 meters Centerline goodness [0,1] 0.9990070142820925 Centerline is valid? [True, True] Translation: X:206.09, Y:2.95, Z:1.85 [[ 9.99550838e-01 -2.13946676e-02 -2.09854948e-02 2.06086206e+02] [ 2.13905927e-02 9.99771107e-01 -4.18651228e-04 2.95243938e+00] [ 2.09896483e-02 -3.04289864e-05 9.99779693e-01 1.84922019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.729254154 meters Centerline goodness [0,1] 0.9990070142820925 Centerline is valid? [True, True] Translation: X:206.11, Y:2.95, Z:1.85 [[ 9.99544925e-01 -2.16692750e-02 -2.09853786e-02 2.06113600e+02] [ 2.16651396e-02 9.99765193e-01 -4.24417790e-04 2.95307980e+00] [ 2.09896479e-02 -3.04265092e-05 9.99779693e-01 1.84947768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759254154 meters Centerline goodness [0,1] 0.9991759983097401 Centerline is valid? [True, True] Translation: X:206.14, Y:2.95, Z:1.85 [[ 9.99504976e-01 -2.34845134e-02 -2.09351317e-02 2.06141497e+02] [ 2.34806759e-02 9.99724199e-01 -4.29133765e-04 2.95161614e+00] [ 2.09394358e-02 -6.26497082e-05 9.99780744e-01 1.84992752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.789254154 meters Centerline goodness [0,1] 0.9991145218417946 Centerline is valid? [True, True] Translation: X:206.17, Y:2.95, Z:1.85 [[ 9.99461885e-01 -2.54033959e-02 -2.07510986e-02 2.06169431e+02] [ 2.53999664e-02 9.99677277e-01 -4.28865585e-04 2.94959951e+00] [ 2.07552964e-02 -9.84424003e-05 9.99784581e-01 1.85006002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819254154 meters Centerline goodness [0,1] 0.998862439435433 Centerline is valid? [True, True] Translation: X:206.20, Y:2.94, Z:1.85 [[ 9.99330701e-01 -3.01458822e-02 -2.07213821e-02 2.06197110e+02] [ 3.01434454e-02 9.99545491e-01 -4.29997542e-04 2.94375004e+00] [ 2.07249266e-02 -1.94904104e-04 9.99785197e-01 1.85023886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84925415399996 meters Centerline goodness [0,1] 0.9988634928652608 Centerline is valid? [True, True] Translation: X:206.23, Y:2.94, Z:1.85 [[ 9.99238968e-01 -3.33021608e-02 -2.03089004e-02 2.06225768e+02] [ 3.33004040e-02 9.99445297e-01 -4.24773202e-04 2.94069275e+00] [ 2.03117809e-02 -2.51844653e-04 9.99793663e-01 1.85077329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87925415399997 meters Centerline goodness [0,1] 0.9990312526324657 Centerline is valid? [True, True] Translation: X:206.26, Y:2.94, Z:1.85 [[ 9.99139400e-01 -3.63675706e-02 -1.99464297e-02 2.06255129e+02] [ 3.63664365e-02 9.99338434e-01 -4.19700022e-04 2.93743614e+00] [ 1.99484973e-02 -3.06041741e-04 9.99800962e-01 1.85150866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90925415399997 meters Centerline goodness [0,1] 0.9991160314019321 Centerline is valid? [True, True] Translation: X:206.28, Y:2.93, Z:1.85 [[ 9.99036219e-01 -3.94659226e-02 -1.92112895e-02 2.06284636e+02] [ 3.94654342e-02 9.99220854e-01 -4.04695516e-04 2.93356442e+00] [ 1.92122928e-02 -3.53876403e-04 9.99815364e-01 1.85213615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93925415399997 meters Centerline goodness [0,1] 0.9988666176933572 Centerline is valid? [True, True] Translation: X:206.32, Y:2.92, Z:1.85 [[ 9.98762782e-01 -4.63285065e-02 -1.80714074e-02 2.06315168e+02] [ 4.63291940e-02 9.98926154e-01 -3.80829341e-04 2.92463025e+00] [ 1.80696447e-02 -4.56875566e-04 9.99836626e-01 1.85247057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96925415399997 meters Centerline goodness [0,1] 0.9990965057886664 Centerline is valid? [True, True] Translation: X:206.35, Y:2.93, Z:1.85 [[ 9.98620557e-01 -4.94009692e-02 -1.77912217e-02 2.06346678e+02] [ 4.94021310e-02 9.98778899e-01 -3.74454788e-04 2.92693435e+00] [ 1.77879953e-02 -5.04986019e-04 9.99841654e-01 1.85493040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99925415399997 meters Centerline goodness [0,1] 0.9988677821109574 Centerline is valid? [True, True] Translation: X:206.38, Y:2.92, Z:1.85 [[ 9.98450081e-01 -5.27793315e-02 -1.76572449e-02 2.06378207e+02] [ 5.27810208e-02 9.98606042e-01 -3.70657117e-04 2.91559201e+00] [ 1.76521945e-02 -5.61884785e-04 9.99844030e-01 1.85289760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02925415399997 meters Centerline goodness [0,1] 0.9989113139603049 Centerline is valid? [True, True] Translation: X:206.41, Y:2.91, Z:1.85 [[ 9.98130915e-01 -5.86850743e-02 -1.70510720e-02 2.06409744e+02] [ 5.86875230e-02 9.98276338e-01 -3.57164784e-04 2.91328259e+00] [ 1.70426420e-02 -6.44187969e-04 9.99854556e-01 1.85420268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05925415399997 meters Centerline goodness [0,1] 0.9986801030776644 Centerline is valid? [True, True] Translation: X:206.44, Y:2.91, Z:1.85 [[ 9.97991336e-01 -6.08386860e-02 -1.76620576e-02 2.06441653e+02] [ 6.08416667e-02 9.98147362e-01 -3.69021204e-04 2.91347545e+00] [ 1.76517869e-02 -7.06309056e-04 9.99843946e-01 1.85379473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08925415399997 meters Centerline goodness [0,1] 0.9992043551088777 Centerline is valid? [True, True] Translation: X:206.47, Y:2.91, Z:1.86 [[ 9.97850668e-01 -6.31425242e-02 -1.75232973e-02 2.06474169e+02] [ 6.31458353e-02 9.98004244e-01 -3.64836119e-04 2.91308017e+00] [ 1.75113618e-02 -7.42471281e-04 9.99846389e-01 1.85523375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11925415399998 meters Centerline goodness [0,1] 0.9988904938349139 Centerline is valid? [True, True] Translation: X:206.50, Y:2.91, Z:1.85 [[ 9.97602076e-01 -6.66101388e-02 -1.87933061e-02 2.06504247e+02] [ 6.66145754e-02 9.97778706e-01 -3.90528917e-04 2.90728256e+00] [ 1.87775738e-02 -8.62315650e-04 9.99823314e-01 1.85249400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14925415399998 meters Centerline goodness [0,1] 0.9985156690987393 Centerline is valid? [True, True] Translation: X:206.54, Y:2.90, Z:1.85 [[ 9.97480179e-01 -6.86134127e-02 -1.80413830e-02 2.06535861e+02] [ 6.86178368e-02 9.97642948e-01 -3.74426585e-04 2.90327150e+00] [ 1.80245492e-02 -8.64477577e-04 9.99837171e-01 1.85352302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17925415399998 meters Centerline goodness [0,1] 0.9986221294363257 Centerline is valid? [True, True] Translation: X:206.57, Y:2.90, Z:1.85 [[ 9.97412946e-01 -6.96527237e-02 -1.77739278e-02 2.06567906e+02] [ 6.96572018e-02 9.97570919e-01 -3.67770923e-04 2.90194880e+00] [ 1.77563698e-02 -8.71262597e-04 9.99841964e-01 1.85386068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20925415399998 meters Centerline goodness [0,1] 0.998766954377312 Centerline is valid? [True, True] Translation: X:206.60, Y:2.90, Z:1.85 [[ 9.97359862e-01 -7.05221839e-02 -1.73184186e-02 2.06600125e+02] [ 7.05265872e-02 9.97509836e-01 -3.57122937e-04 2.90269292e+00] [ 1.73004780e-02 -8.65228875e-04 9.99849961e-01 1.85499563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23925415399998 meters Centerline goodness [0,1] 0.9986827799615288 Centerline is valid? [True, True] Translation: X:206.63, Y:2.90, Z:1.85 [[ 9.97371110e-01 -7.04178891e-02 -1.70935736e-02 2.06631562e+02] [ 7.04221820e-02 9.97517214e-01 -3.51402463e-04 2.90144790e+00] [ 1.70758789e-02 -8.53288087e-04 9.99853832e-01 1.85411885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26925415399998 meters Centerline goodness [0,1] 0.9987685500198284 Centerline is valid? [True, True] Translation: X:206.66, Y:2.90, Z:1.86 [[ 9.97377398e-01 -7.05793380e-02 -1.60275671e-02 2.06663813e+02] [ 7.05831480e-02 9.97505845e-01 -3.28540477e-04 2.90214805e+00] [ 1.60107800e-02 -8.03597292e-04 9.99871496e-01 1.85581461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29925415399998 meters Centerline goodness [0,1] 0.9984783424354859 Centerline is valid? [True, True] Translation: X:206.70, Y:2.90, Z:1.86 [[ 9.97424237e-01 -6.99380302e-02 -1.59236847e-02 2.06696062e+02] [ 6.99417274e-02 9.97551026e-01 -3.25279150e-04 2.90334813e+00] [ 1.59074373e-02 -7.89288704e-04 9.99873157e-01 1.85566214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32925415399998 meters Centerline goodness [0,1] 0.998432863889005 Centerline is valid? [True, True] Translation: X:206.73, Y:2.90, Z:1.85 [[ 9.97456136e-01 -6.94063950e-02 -1.62483582e-02 2.06728144e+02] [ 6.94101933e-02 9.97588149e-01 -3.30738310e-04 2.90330085e+00] [ 1.62321249e-02 -7.97904725e-04 9.99867932e-01 1.85496939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35925415399998 meters Centerline goodness [0,1] 0.9985345224636771 Centerline is valid? [True, True] Translation: X:206.76, Y:2.90, Z:1.85 [[ 9.97514232e-01 -6.85097125e-02 -1.64856296e-02 2.06760000e+02] [ 6.85135198e-02 9.97650132e-01 -3.34389932e-04 2.90413155e+00] [ 1.64697995e-02 -7.95929793e-04 9.99864047e-01 1.85481858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38925415399999 meters Centerline goodness [0,1] 0.9987870168981094 Centerline is valid? [True, True] Translation: X:206.79, Y:2.90, Z:1.85 [[ 9.97576883e-01 -6.75333132e-02 -1.67216748e-02 2.06791050e+02] [ 6.75371203e-02 9.97716705e-01 -3.37569928e-04 2.90354633e+00] [ 1.67062915e-02 -7.92581807e-04 9.99860126e-01 1.85445124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.419254154 meters Centerline goodness [0,1] 0.9984930618053957 Centerline is valid? [True, True] Translation: X:206.82, Y:2.91, Z:1.85 [[ 9.97620551e-01 -6.67032531e-02 -1.74330721e-02 2.06823368e+02] [ 6.67072961e-02 9.97772526e-01 -3.50128521e-04 2.90564135e+00] [ 1.74175951e-02 -8.13617694e-04 9.99847971e-01 1.85459850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.449254154 meters Centerline goodness [0,1] 0.9987244364518423 Centerline is valid? [True, True] Translation: X:206.86, Y:2.91, Z:1.86 [[ 9.97704497e-01 -6.53499653e-02 -1.77515744e-02 2.06855178e+02] [ 6.53539663e-02 9.97862081e-01 -3.55249564e-04 2.91248272e+00] [ 1.77368386e-02 -8.05701710e-04 9.99842365e-01 1.85568276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479254154 meters Centerline goodness [0,1] 0.9983246775004189 Centerline is valid? [True, True] Translation: X:206.89, Y:2.91, Z:1.85 [[ 9.97894328e-01 -6.20333359e-02 -1.89413572e-02 2.06885402e+02] [ 6.20373123e-02 9.98073759e-01 -3.78150639e-04 2.91464446e+00] [ 1.89283296e-02 -7.97716517e-04 9.99820525e-01 1.85292632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.509254154 meters Centerline goodness [0,1] 0.9988695597563273 Centerline is valid? [True, True] Translation: X:206.92, Y:2.92, Z:1.86 [[ 9.97977903e-01 -6.09795144e-02 -1.79333303e-02 2.06917921e+02] [ 6.09829227e-02 9.98138746e-01 -3.57246825e-04 2.91672323e+00] [ 1.79217366e-02 -7.37102461e-04 9.99839121e-01 1.85534804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539254154 meters Centerline goodness [0,1] 0.9987653804302336 Centerline is valid? [True, True] Translation: X:206.95, Y:2.92, Z:1.86 [[ 9.98091998e-01 -5.92073015e-02 -1.75173902e-02 2.06948977e+02] [ 5.92103002e-02 9.98245470e-01 -3.47865972e-04 2.91827582e+00] [ 1.75072516e-02 -6.90007687e-04 9.99846498e-01 1.85521584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569254154 meters Centerline goodness [0,1] 0.9986391709410656 Centerline is valid? [True, True] Translation: X:206.98, Y:2.92, Z:1.86 [[ 9.98211957e-01 -5.72607399e-02 -1.71492708e-02 2.06980081e+02] [ 5.72633401e-02 9.98359051e-01 -3.39788025e-04 2.92026491e+00] [ 1.71405862e-02 -6.42844056e-04 9.99852883e-01 1.85596037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59925415399996 meters Centerline goodness [0,1] 0.9986155395200537 Centerline is valid? [True, True] Translation: X:207.01, Y:2.92, Z:1.86 [[ 9.98431991e-01 -5.35712878e-02 -1.62381215e-02 2.07010542e+02] [ 5.35731475e-02 9.98563876e-01 -3.20755828e-04 2.92370647e+00] [ 1.62319849e-02 -5.49674399e-04 9.99868102e-01 1.85651664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62925415399997 meters Centerline goodness [0,1] 0.9985534287930564 Centerline is valid? [True, True] Translation: X:207.04, Y:2.93, Z:1.86 [[ 9.98541818e-01 -5.16664422e-02 -1.56466127e-02 2.07041624e+02] [ 5.16679540e-02 9.98664272e-01 -3.07871617e-04 2.92516099e+00] [ 1.56416197e-02 -5.01005780e-04 9.99877537e-01 1.85665282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65925415399997 meters Centerline goodness [0,1] 0.9987833529115624 Centerline is valid? [True, True] Translation: X:207.07, Y:2.93, Z:1.86 [[ 9.98622677e-01 -5.00533133e-02 -1.57294078e-02 2.07074079e+02] [ 5.00546561e-02 9.98746432e-01 -3.08559851e-04 2.92875429e+00] [ 1.57251344e-02 -4.79195235e-04 9.99876238e-01 1.85736943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68925415399997 meters Centerline goodness [0,1] 0.9987633101366648 Centerline is valid? [True, True] Translation: X:207.11, Y:2.93, Z:1.86 [[ 9.98717097e-01 -4.82915275e-02 -1.52344490e-02 2.07106438e+02] [ 4.82925983e-02 9.98833187e-01 -2.97794463e-04 2.93099994e+00] [ 1.52310542e-02 -4.38298702e-04 9.99883905e-01 1.85749686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71925415399997 meters Centerline goodness [0,1] 0.9988440035310437 Centerline is valid? [True, True] Translation: X:207.14, Y:2.93, Z:1.86 [[ 9.98815245e-01 -4.62423552e-02 -1.51575524e-02 2.07138199e+02] [ 4.62431941e-02 9.98930168e-01 -2.95321806e-04 2.93390812e+00] [ 1.51549928e-02 -4.05961717e-04 9.99885074e-01 1.85710755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74925415399997 meters Centerline goodness [0,1] 0.9988453867954236 Centerline is valid? [True, True] Translation: X:207.17, Y:2.94, Z:1.86 [[ 9.98950045e-01 -4.34156890e-02 -1.46248556e-02 2.07168846e+02] [ 4.34161770e-02 9.99057033e-01 -2.84271873e-04 2.93642277e+00] [ 1.46234067e-02 -3.50981919e-04 9.99893011e-01 1.85795910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77925415399997 meters Centerline goodness [0,1] 0.9986996644295302 Centerline is valid? [True, True] Translation: X:207.20, Y:2.94, Z:1.86 [[ 9.99005549e-01 -4.20235495e-02 -1.48974878e-02 2.07200595e+02] [ 4.20239123e-02 9.99116563e-01 -2.88827914e-04 2.94027106e+00] [ 1.48964644e-02 -3.37510034e-04 9.99888985e-01 1.85831919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80925415399997 meters Centerline goodness [0,1] 0.9988868118712062 Centerline is valid? [True, True] Translation: X:207.23, Y:2.94, Z:1.86 [[ 9.99063779e-01 -4.05855835e-02 -1.49791544e-02 2.07232543e+02] [ 4.05858054e-02 9.99176015e-01 -2.89302935e-04 2.94200768e+00] [ 1.49785534e-02 -3.18908963e-04 9.99887764e-01 1.85784311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83925415399997 meters Centerline goodness [0,1] 0.9990989669551369 Centerline is valid? [True, True] Translation: X:207.26, Y:2.94, Z:1.86 [[ 9.99101987e-01 -3.95325779e-02 -1.52445215e-02 2.07263563e+02] [ 3.95327009e-02 9.99218234e-01 -2.93395099e-04 2.94319910e+00] [ 1.52442026e-02 -3.09525485e-04 9.99883752e-01 1.85854004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86925415399998 meters Centerline goodness [0,1] 0.9993918805569535 Centerline is valid? [True, True] Translation: X:207.29, Y:2.95, Z:1.86 [[ 9.99194637e-01 -3.73616605e-02 -1.46350433e-02 2.07294473e+02] [ 3.73615512e-02 9.99301774e-01 -2.80973061e-04 2.94566687e+00] [ 1.46353223e-02 -2.66041143e-04 9.99892863e-01 1.85887918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89925415399998 meters Centerline goodness [0,1] 0.9989308848500095 Centerline is valid? [True, True] Translation: X:207.33, Y:2.95, Z:1.86 [[ 9.99235420e-01 -3.61894864e-02 -1.47951576e-02 2.07326324e+02] [ 3.61892559e-02 9.99344914e-01 -2.83399262e-04 2.94695465e+00] [ 1.47957216e-02 -2.52243163e-04 9.99890506e-01 1.85903270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92925415399998 meters Centerline goodness [0,1] 0.9994337367085422 Centerline is valid? [True, True] Translation: X:207.36, Y:2.95, Z:1.86 [[ 9.99326339e-01 -3.36037541e-02 -1.47531743e-02 2.07358179e+02] [ 3.36032551e-02 9.99435211e-01 -2.81784185e-04 2.94929642e+00] [ 1.47543109e-02 -2.14160323e-04 9.99891126e-01 1.85936339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95925415399998 meters Centerline goodness [0,1] 0.9990562674328377 Centerline is valid? [True, True] Translation: X:207.39, Y:2.95, Z:1.86 [[ 9.99376942e-01 -3.20129998e-02 -1.48625733e-02 2.07389158e+02] [ 3.20123282e-02 9.99487434e-01 -2.83152385e-04 2.95044897e+00] [ 1.48640198e-02 -1.92809608e-04 9.99889506e-01 1.85925876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98925415399998 meters Centerline goodness [0,1] 0.9990559902662107 Centerline is valid? [True, True] Translation: X:207.42, Y:2.95, Z:1.86 [[ 9.99409338e-01 -3.08518460e-02 -1.51373230e-02 2.07420703e+02] [ 3.08510246e-02 9.99523952e-01 -2.87827412e-04 2.95159176e+00] [ 1.51389970e-02 -1.79344521e-04 9.99885383e-01 1.85938265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01925415399998 meters Centerline goodness [0,1] 0.9989708909144369 Centerline is valid? [True, True] Translation: X:207.45, Y:2.95, Z:1.86 [[ 9.99457877e-01 -2.93367869e-02 -1.49434002e-02 2.07451980e+02] [ 2.93358252e-02 9.99569572e-01 -2.83599847e-04 2.95218143e+00] [ 1.49452880e-02 -1.54930874e-04 9.99888301e-01 1.85826773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04925415399998 meters Centerline goodness [0,1] 0.9989701771715601 Centerline is valid? [True, True] Translation: X:207.48, Y:2.95, Z:1.86 [[ 9.99499356e-01 -2.82285299e-02 -1.42894265e-02 2.07482962e+02] [ 2.82275445e-02 9.99601487e-01 -2.70683646e-04 2.95289357e+00] [ 1.42913729e-02 -1.32807292e-04 9.99897864e-01 1.85995038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07925415399998 meters Centerline goodness [0,1] 0.9992431727878571 Centerline is valid? [True, True] Translation: X:207.51, Y:2.95, Z:1.86 [[ 9.99518378e-01 -2.76110665e-02 -1.41648047e-02 2.07513370e+02] [ 2.76100422e-02 9.99618734e-01 -2.67900147e-04 2.95285455e+00] [ 1.41668011e-02 -1.23319735e-04 9.99899638e-01 1.86060074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10925415399998 meters Centerline goodness [0,1] 0.9992432841468029 Centerline is valid? [True, True] Translation: X:207.54, Y:2.95, Z:1.86 [[ 9.99514689e-01 -2.78006618e-02 -1.40538074e-02 2.07543891e+02] [ 2.77996746e-02 9.99613479e-01 -2.65633593e-04 2.95247832e+00] [ 1.40557601e-02 -1.25186596e-04 9.99901205e-01 1.86085086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13925415399999 meters Centerline goodness [0,1] 0.9992467831363113 Centerline is valid? [True, True] Translation: X:207.57, Y:2.95, Z:1.86 [[ 9.99508186e-01 -2.80995831e-02 -1.39211908e-02 2.07574763e+02] [ 2.80986471e-02 9.99605121e-01 -2.62860332e-04 2.95163564e+00] [ 1.39230799e-02 -1.28435575e-04 9.99903061e-01 1.86079693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.169254154 meters Centerline goodness [0,1] 0.9992024179330031 Centerline is valid? [True, True] Translation: X:207.61, Y:2.95, Z:1.86 [[ 9.99479745e-01 -2.91116614e-02 -1.38834942e-02 2.07606242e+02] [ 2.91108380e-02 9.99576156e-01 -2.61443512e-04 2.95025572e+00] [ 1.38852209e-02 -1.42852657e-04 9.99903585e-01 1.86015605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199254154 meters Centerline goodness [0,1] 0.9990351539558687 Centerline is valid? [True, True] Translation: X:207.64, Y:2.95, Z:1.86 [[ 9.99346363e-01 -3.32191525e-02 -1.42595517e-02 2.07636890e+02] [ 3.32187078e-02 9.99448070e-01 -2.68103147e-04 2.94616870e+00] [ 1.42605876e-02 -2.05755976e-04 9.99898291e-01 1.86099936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.229254154 meters Centerline goodness [0,1] 0.9991178509168049 Centerline is valid? [True, True] Translation: X:207.67, Y:2.94, Z:1.86 [[ 9.99250344e-01 -3.58409126e-02 -1.46348595e-02 2.07668417e+02] [ 3.58407304e-02 9.99357477e-01 -2.74810426e-04 2.94368330e+00] [ 1.46353058e-02 -2.49919643e-04 9.99892867e-01 1.86094851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259254154 meters Centerline goodness [0,1] 0.9991200687184429 Centerline is valid? [True, True] Translation: X:207.70, Y:2.94, Z:1.86 [[ 9.99151039e-01 -3.85764140e-02 -1.44589905e-02 2.07699153e+02] [ 3.85765306e-02 9.99255612e-01 -2.70942119e-04 2.94067647e+00] [ 1.44586793e-02 -2.87065588e-04 9.99895427e-01 1.86096817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.289254154 meters Centerline goodness [0,1] 0.9990367904181586 Centerline is valid? [True, True] Translation: X:207.73, Y:2.93, Z:1.86 [[ 9.98910532e-01 -4.43912860e-02 -1.43931249e-02 2.07729084e+02] [ 4.43920158e-02 9.99014152e-01 -2.68931675e-04 2.93408470e+00] [ 1.43908737e-02 -3.70301144e-04 9.99896377e-01 1.86139414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319254154 meters Centerline goodness [0,1] 0.9991417926068573 Centerline is valid? [True, True] Translation: X:207.76, Y:2.93, Z:1.86 [[ 9.98773203e-01 -4.72940218e-02 -1.46753089e-02 2.07761572e+02] [ 4.72951083e-02 9.98880923e-01 -2.73202771e-04 2.93457110e+00] [ 1.46718069e-02 -4.21202715e-04 9.99892275e-01 1.86215416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34925415399996 meters Centerline goodness [0,1] 0.9990163042340777 Centerline is valid? [True, True] Translation: X:207.79, Y:2.93, Z:1.86 [[ 9.98642308e-01 -4.99294456e-02 -1.48523256e-02 2.07793599e+02] [ 4.99308658e-02 9.98752638e-01 -2.75406308e-04 2.93396507e+00] [ 1.48475503e-02 -4.66557087e-04 9.99889660e-01 1.86239883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37925415399997 meters Centerline goodness [0,1] 0.9987674438037938 Centerline is valid? [True, True] Translation: X:207.82, Y:2.93, Z:1.86 [[ 9.98351560e-01 -5.53068169e-02 -1.53400972e-02 2.07823579e+02] [ 5.53089836e-02 9.98469246e-01 -2.83291974e-04 2.92676752e+00] [ 1.53322833e-02 -5.65620202e-04 9.99882294e-01 1.86212412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40925415399997 meters Centerline goodness [0,1] 0.9988294314381271 Centerline is valid? [True, True] Translation: X:207.86, Y:2.93, Z:1.86 [[ 9.98208100e-01 -5.78615894e-02 -1.52520770e-02 2.07855733e+02] [ 5.78640460e-02 9.98324433e-01 -2.80549354e-04 2.92662564e+00] [ 1.52427541e-02 -6.02500247e-04 9.99883641e-01 1.86274232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43925415399997 meters Centerline goodness [0,1] 0.9989130889176874 Centerline is valid? [True, True] Translation: X:207.89, Y:2.92, Z:1.86 [[ 9.98072085e-01 -6.01775673e-02 -1.51912105e-02 2.07886605e+02] [ 6.01802938e-02 9.98187485e-01 -2.78004943e-04 2.92300346e+00] [ 1.51804058e-02 -6.36742534e-04 9.99884568e-01 1.86318815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46925415399997 meters Centerline goodness [0,1] 0.9986189868385261 Centerline is valid? [True, True] Translation: X:207.92, Y:2.92, Z:1.86 [[ 9.97935213e-01 -6.25463387e-02 -1.46036118e-02 2.07918177e+02] [ 6.25491324e-02 9.98041851e-01 -2.65816027e-04 2.92339417e+00] [ 1.45916415e-02 -6.48176072e-04 9.99893326e-01 1.86394253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49925415399997 meters Centerline goodness [0,1] 0.9989751955494207 Centerline is valid? [True, True] Translation: X:207.95, Y:2.92, Z:1.86 [[ 9.97703292e-01 -6.63838908e-02 -1.34654840e-02 2.07948640e+02] [ 6.63866221e-02 9.97793945e-01 -2.44544844e-04 2.91895666e+00] [ 1.34520123e-02 -6.49944802e-04 9.99909306e-01 1.86498924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52925415399997 meters Centerline goodness [0,1] 0.9988275443334799 Centerline is valid? [True, True] Translation: X:207.98, Y:2.92, Z:1.87 [[ 9.97572908e-01 -6.81601373e-02 -1.42298840e-02 2.07980884e+02] [ 6.81633754e-02 9.97674139e-01 -2.57890230e-04 2.91835569e+00] [ 1.42143651e-02 -7.12692620e-04 9.99898717e-01 1.86521665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55925415399997 meters Centerline goodness [0,1] 0.9986838806718475 Centerline is valid? [True, True] Translation: X:208.01, Y:2.92, Z:1.87 [[ 9.97464304e-01 -6.96940667e-02 -1.44117652e-02 2.08011690e+02] [ 6.96975669e-02 9.97568134e-01 -2.59851850e-04 2.91662097e+00] [ 1.43948278e-02 -7.45272022e-04 9.99896111e-01 1.86538574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58925415399997 meters Centerline goodness [0,1] 0.9984952978056426 Centerline is valid? [True, True] Translation: X:208.04, Y:2.91, Z:1.86 [[ 9.97368832e-01 -7.10915742e-02 -1.41915660e-02 2.08042820e+02] [ 7.10951297e-02 9.97469507e-01 -2.54450040e-04 2.91481323e+00] [ 1.41737436e-02 -7.55170684e-04 9.99899262e-01 1.86499425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61925415399998 meters Centerline goodness [0,1] 0.9984952978056426 Centerline is valid? [True, True] Translation: X:208.07, Y:2.92, Z:1.87 [[ 9.97373922e-01 -7.10201280e-02 -1.41915812e-02 2.08074548e+02] [ 7.10236883e-02 9.97474597e-01 -2.53599074e-04 2.91531742e+00] [ 1.41737524e-02 -7.55005336e-04 9.99899262e-01 1.86529140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64925415399998 meters Centerline goodness [0,1] 0.9986437990318812 Centerline is valid? [True, True] Translation: X:208.11, Y:2.91, Z:1.87 [[ 9.97244564e-01 -7.26278777e-02 -1.51152679e-02 2.08106795e+02] [ 7.26321178e-02 9.97358763e-01 -2.68977172e-04 2.91491394e+00] [ 1.50948802e-02 -8.29617899e-04 9.99885722e-01 1.86527419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67925415399998 meters Centerline goodness [0,1] 0.998724383103304 Centerline is valid? [True, True] Translation: X:208.14, Y:2.91, Z:1.86 [[ 9.96992953e-01 -7.58408517e-02 -1.59127755e-02 2.08137640e+02] [ 7.58459722e-02 9.97119506e-01 -2.82341037e-04 2.91478329e+00] [ 1.58883518e-02 -9.25427900e-04 9.99873344e-01 1.86422420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70925415399998 meters Centerline goodness [0,1] 0.9986638551953068 Centerline is valid? [True, True] Translation: X:208.17, Y:2.92, Z:1.86 [[ 9.96871818e-01 -7.72817217e-02 -1.65563753e-02 2.08170078e+02] [ 7.72874746e-02 9.97008807e-01 -2.93047112e-04 2.91658188e+00] [ 1.65294992e-02 -9.87470027e-04 9.99862891e-01 1.86428739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73925415399998 meters Centerline goodness [0,1] 0.9986006098834538 Centerline is valid? [True, True] Translation: X:208.20, Y:2.92, Z:1.86 [[ 9.96768680e-01 -7.85440896e-02 -1.68233231e-02 2.08202634e+02] [ 7.85502299e-02 9.96910113e-01 -2.96505672e-04 2.91699370e+00] [ 1.67946297e-02 -1.02592833e-03 9.99858434e-01 1.86415060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76925415399998 meters Centerline goodness [0,1] 0.9985153897624623 Centerline is valid? [True, True] Translation: X:208.23, Y:2.91, Z:1.86 [[ 9.96548881e-01 -8.09327487e-02 -1.84450205e-02 2.08232731e+02] [ 8.09405659e-02 9.96718877e-01 -3.23559313e-04 2.91150712e+00] [ 1.84106867e-02 -1.17050773e-03 9.99829824e-01 1.86287527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79925415399998 meters Centerline goodness [0,1] 0.9984128310082699 Centerline is valid? [True, True] Translation: X:208.26, Y:2.92, Z:1.86 [[ 9.96503441e-01 -8.14302772e-02 -1.87083665e-02 2.08264840e+02] [ 8.14384346e-02 9.96678321e-01 -3.26680911e-04 2.91888823e+00] [ 1.86728250e-02 -1.19804143e-03 9.99824930e-01 1.86411386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82925415399998 meters Centerline goodness [0,1] 0.9985991176532084 Centerline is valid? [True, True] Translation: X:208.30, Y:2.92, Z:1.86 [[ 9.96478295e-01 -8.16457444e-02 -1.91044322e-02 2.08297368e+02] [ 8.16543180e-02 9.96660655e-01 -3.32149361e-04 2.91961378e+00] [ 1.90677545e-02 -1.22897975e-03 9.99817439e-01 1.86437362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85925415399998 meters Centerline goodness [0,1] 0.9985778223951144 Centerline is valid? [True, True] Translation: X:208.33, Y:2.92, Z:1.87 [[ 9.96501901e-01 -8.13871070e-02 -1.89763132e-02 2.08329943e+02] [ 8.13955460e-02 9.96681823e-01 -3.28509396e-04 2.92104133e+00] [ 1.89400829e-02 -1.21722714e-03 9.99819880e-01 1.86501035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88925415399999 meters Centerline goodness [0,1] 0.9987449536678729 Centerline is valid? [True, True] Translation: X:208.36, Y:2.92, Z:1.87 [[ 9.96584282e-01 -8.04452228e-02 -1.86637421e-02 2.08362419e+02] [ 8.04532471e-02 9.96758332e-01 -3.21721466e-04 2.92321121e+00] [ 1.86291214e-02 -1.18093610e-03 9.99825765e-01 1.86618219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.919254154 meters Centerline goodness [0,1] 0.9984510078914868 Centerline is valid? [True, True] Translation: X:208.39, Y:2.93, Z:1.87 [[ 9.96836204e-01 -7.73367245e-02 -1.83470488e-02 2.08392548e+02] [ 7.73439667e-02 9.97004419e-01 -3.15578565e-04 2.92797314e+00] [ 1.83164945e-02 -1.10445339e-03 9.99831629e-01 1.86719739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.949254154 meters Centerline goodness [0,1] 0.9987029831387808 Centerline is valid? [True, True] Translation: X:208.42, Y:2.93, Z:1.87 [[ 9.97016827e-01 -7.50094760e-02 -1.81941164e-02 2.08423758e+02] [ 7.50162177e-02 9.97182265e-01 -3.12618504e-04 2.93294637e+00] [ 1.81662996e-02 -1.05316789e-03 9.99834424e-01 1.86756009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979254154 meters Centerline goodness [0,1] 0.9988689204474048 Centerline is valid? [True, True] Translation: X:208.45, Y:2.94, Z:1.87 [[ 9.97411618e-01 -6.95686548e-02 -1.81732505e-02 2.08453658e+02] [ 6.95744870e-02 9.97576711e-01 -3.11900086e-04 2.93815260e+00] [ 1.81509099e-02 -9.53301808e-04 9.99834804e-01 1.86802752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.009254154 meters Centerline goodness [0,1] 0.9988481192929547 Centerline is valid? [True, True] Translation: X:208.48, Y:2.94, Z:1.87 [[ 9.97611153e-01 -6.66451381e-02 -1.81772430e-02 2.08484707e+02] [ 6.66504948e-02 9.97776335e-01 -3.11636631e-04 2.94317019e+00] [ 1.81575919e-02 -9.00630059e-04 9.99834732e-01 1.86862415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039254154 meters Centerline goodness [0,1] 0.9986805453745785 Centerline is valid? [True, True] Translation: X:208.52, Y:2.95, Z:1.87 [[ 9.97800900e-01 -6.37281394e-02 -1.82233025e-02 2.08516009e+02] [ 6.37330500e-02 9.97966934e-01 -3.11759394e-04 2.94797930e+00] [ 1.82061211e-02 -8.50352844e-04 9.99833893e-01 1.86905832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06925415399996 meters Centerline goodness [0,1] 0.9988873260134781 Centerline is valid? [True, True] Translation: X:208.55, Y:2.95, Z:1.87 [[ 9.97964334e-01 -6.08965257e-02 -1.89420596e-02 2.08547627e+02] [ 6.09013390e-02 9.98143738e-01 -3.23176861e-04 2.95147075e+00] [ 1.89265785e-02 -8.31077814e-04 9.99820531e-01 1.86902157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09925415399996 meters Centerline goodness [0,1] 0.9988047558137096 Centerline is valid? [True, True] Translation: X:208.58, Y:2.96, Z:1.87 [[ 9.98120214e-01 -5.82103130e-02 -1.91728462e-02 2.08579067e+02] [ 5.82147665e-02 9.98304029e-01 -3.26231260e-04 2.95744223e+00] [ 1.91593196e-02 -7.90524751e-04 9.99816131e-01 1.86954359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12925415399997 meters Centerline goodness [0,1] 0.9990340396043762 Centerline is valid? [True, True] Translation: X:208.61, Y:2.96, Z:1.87 [[ 9.98379168e-01 -5.32655091e-02 -2.00455337e-02 2.08608281e+02] [ 5.32693855e-02 9.98580120e-01 -3.40910800e-04 2.96294110e+00] [ 2.00352302e-02 -7.27455021e-04 9.99799010e-01 1.86983820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15925415399997 meters Centerline goodness [0,1] 0.9989704368289455 Centerline is valid? [True, True] Translation: X:208.64, Y:2.97, Z:1.87 [[ 9.98493401e-01 -5.10036903e-02 -2.02373931e-02 2.08639837e+02] [ 5.10071819e-02 9.98698227e-01 -3.43945780e-04 2.96791014e+00] [ 2.02285911e-02 -6.88824799e-04 9.99795144e-01 1.87099452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18925415399997 meters Centerline goodness [0,1] 0.9990130819142011 Centerline is valid? [True, True] Translation: X:208.67, Y:2.97, Z:1.87 [[ 9.98591519e-01 -4.88792071e-02 -2.06349331e-02 2.08670130e+02] [ 4.88823958e-02 9.98804480e-01 -3.50142209e-04 2.96797519e+00] [ 2.06273783e-02 -6.59035925e-04 9.99787016e-01 1.87059202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21925415399997 meters Centerline goodness [0,1] 0.9990124805647771 Centerline is valid? [True, True] Translation: X:208.70, Y:2.97, Z:1.87 [[ 9.98698245e-01 -4.68084859e-02 -2.02677274e-02 2.08701000e+02] [ 4.68111471e-02 9.98903698e-01 -3.43366405e-04 2.97099812e+00] [ 2.02615803e-02 -6.05836143e-04 9.99794530e-01 1.87119958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24925415399997 meters Centerline goodness [0,1] 0.998905954134231 Centerline is valid? [True, True] Translation: X:208.73, Y:2.98, Z:1.87 [[ 9.98885650e-01 -4.24593753e-02 -2.06072960e-02 2.08731960e+02] [ 4.24612168e-02 9.99098055e-01 -3.48379517e-04 2.97958648e+00] [ 2.06035013e-02 -5.27019562e-04 9.99787586e-01 1.87267988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27925415399997 meters Centerline goodness [0,1] 0.9990948511766935 Centerline is valid? [True, True] Translation: X:208.76, Y:2.98, Z:1.87 [[ 9.98982360e-01 -4.01129457e-02 -2.06202856e-02 2.08762821e+02] [ 4.01143012e-02 9.99195037e-01 -3.48051719e-04 2.98269304e+00] [ 2.06176484e-02 -4.79470819e-04 9.99787319e-01 1.87319789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30925415399997 meters Centerline goodness [0,1] 0.9991164776910617 Centerline is valid? [True, True] Translation: X:208.79, Y:2.99, Z:1.87 [[ 9.99084489e-01 -3.76380561e-02 -2.03361854e-02 2.08793047e+02] [ 3.76388655e-02 9.99291348e-01 -3.43088341e-04 2.98640663e+00] [ 2.03346873e-02 -4.22656708e-04 9.99793140e-01 1.87382751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33925415399997 meters Centerline goodness [0,1] 0.9989035087719298 Centerline is valid? [True, True] Translation: X:208.82, Y:2.99, Z:1.88 [[ 9.99290007e-01 -3.19695896e-02 -1.99355846e-02 2.08823250e+02] [ 3.19692397e-02 9.99488797e-01 -3.36329873e-04 2.99267988e+00] [ 1.99361458e-02 -3.01234401e-04 9.99801210e-01 1.87513763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36925415399998 meters Centerline goodness [0,1] 0.998859965798974 Centerline is valid? [True, True] Translation: X:208.85, Y:3.00, Z:1.88 [[ 9.99383054e-01 -2.90325431e-02 -1.97641646e-02 2.08852533e+02] [ 2.90316211e-02 9.99578438e-01 -3.33629976e-04 2.99526224e+00] [ 1.97655189e-02 -2.40361592e-04 9.99804614e-01 1.87524082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39925415399998 meters Centerline goodness [0,1] 0.999240426205296 Centerline is valid? [True, True] Translation: X:208.88, Y:3.00, Z:1.88 [[ 9.99470785e-01 -2.58617582e-02 -1.97311847e-02 2.08882163e+02] [ 2.58602105e-02 9.99665513e-01 -3.33625416e-04 2.99832419e+00] [ 1.97332131e-02 -1.76803735e-04 9.99805266e-01 1.87609831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42925415399998 meters Centerline goodness [0,1] 0.9993031358885017 Centerline is valid? [True, True] Translation: X:208.91, Y:3.00, Z:1.88 [[ 9.99539694e-01 -2.32968223e-02 -1.94334071e-02 2.08910451e+02] [ 2.32947797e-02 9.99728585e-01 -3.31501758e-04 3.00082306e+00] [ 1.94358555e-02 -1.21347772e-04 9.99811099e-01 1.87635210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45925415399998 meters Centerline goodness [0,1] 0.9989238462999304 Centerline is valid? [True, True] Translation: X:208.94, Y:3.00, Z:1.88 [[ 9.99620941e-01 -1.97017983e-02 -1.92305568e-02 2.08939052e+02] [ 1.96990382e-02 9.99805900e-01 -3.32962973e-04 3.00379839e+00] [ 1.92333841e-02 -4.59867126e-05 9.99815020e-01 1.87652511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48925415399998 meters Centerline goodness [0,1] 0.9989213197969543 Centerline is valid? [True, True] Translation: X:208.97, Y:3.00, Z:1.88 [[ 9.99632183e-01 -1.87894414e-02 -1.95564643e-02 2.08965697e+02] [ 1.87863387e-02 9.99823463e-01 -3.42374446e-04 3.00444060e+00] [ 1.95594449e-02 -2.51458477e-05 9.99808695e-01 1.87612502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51925415399998 meters Centerline goodness [0,1] 0.999090466823191 Centerline is valid? [True, True] Translation: X:208.99, Y:3.00, Z:1.88 [[ 9.99629439e-01 -1.85354188e-02 -1.99354887e-02 2.08993758e+02] [ 1.85320581e-02 9.99828204e-01 -3.53321462e-04 3.00450638e+00] [ 1.99386128e-02 -1.62550999e-05 9.99801206e-01 1.87637626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54925415399998 meters Centerline goodness [0,1] 0.9991325872172975 Centerline is valid? [True, True] Translation: X:209.02, Y:3.00, Z:1.88 [[ 9.99613725e-01 -1.91739831e-02 -2.01186096e-02 2.09021363e+02] [ 1.91705712e-02 9.99816162e-01 -3.62454354e-04 3.00418371e+00] [ 2.01218608e-02 -2.33708919e-05 9.99797535e-01 1.87657710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57925415399998 meters Centerline goodness [0,1] 0.9991750047595879 Centerline is valid? [True, True] Translation: X:209.05, Y:3.00, Z:1.88 [[ 9.99587036e-01 -2.04238073e-02 -2.02145058e-02 2.09049466e+02] [ 2.04204985e-02 9.99791411e-01 -3.70109124e-04 3.00359620e+00] [ 2.02178483e-02 -4.28340015e-05 9.99795597e-01 1.87725458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60925415399998 meters Centerline goodness [0,1] 0.9989862938480708 Centerline is valid? [True, True] Translation: X:209.08, Y:3.00, Z:1.88 [[ 9.99559889e-01 -2.16411623e-02 -2.02900855e-02 2.09077336e+02] [ 2.16380031e-02 9.99765801e-01 -3.75255469e-04 3.00259140e+00] [ 2.02934545e-02 -6.39466170e-05 9.99794065e-01 1.87717973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63925415399999 meters Centerline goodness [0,1] 0.9991120507399577 Centerline is valid? [True, True] Translation: X:209.11, Y:3.00, Z:1.88 [[ 9.99481139e-01 -2.52371094e-02 -2.00135423e-02 2.09106008e+02] [ 2.52346844e-02 9.99681485e-01 -3.73742060e-04 2.99906562e+00] [ 2.00165999e-02 -1.31487285e-04 9.99799639e-01 1.87766063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.669254154 meters Centerline goodness [0,1] 0.9990508331575617 Centerline is valid? [True, True] Translation: X:209.13, Y:3.00, Z:1.88 [[ 9.99430274e-01 -2.72345494e-02 -1.99350442e-02 2.09133485e+02] [ 2.72324732e-02 9.99629057e-01 -3.75662842e-04 2.99646766e+00] [ 1.99378805e-02 -1.67431739e-04 9.99801207e-01 1.87682995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699254154 meters Centerline goodness [0,1] 0.999179638199411 Centerline is valid? [True, True] Translation: X:209.16, Y:2.99, Z:1.88 [[ 9.99367465e-01 -2.98572405e-02 -1.93187577e-02 2.09161888e+02] [ 2.98557164e-02 9.99554151e-01 -3.67364244e-04 2.99414149e+00] [ 1.93211129e-02 -2.09643477e-04 9.99813308e-01 1.87794216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.729254154 meters Centerline goodness [0,1] 0.9989459482249768 Centerline is valid? [True, True] Translation: X:209.19, Y:2.99, Z:1.88 [[ 9.99300065e-01 -3.23662651e-02 -1.87564711e-02 2.09191978e+02] [ 3.23652213e-02 9.99476044e-01 -3.59287387e-04 2.99258567e+00] [ 1.87582723e-02 -2.48021427e-04 9.99824017e-01 1.87909784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759254154 meters Centerline goodness [0,1] 0.9989688769175733 Centerline is valid? [True, True] Translation: X:209.22, Y:2.99, Z:1.88 [[ 9.99219059e-01 -3.50417596e-02 -1.82578111e-02 2.09221791e+02] [ 3.50412077e-02 9.99385807e-01 -3.50236252e-04 2.99000862e+00] [ 1.82588701e-02 -2.89813012e-04 9.99833251e-01 1.87946699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.789254154 meters Centerline goodness [0,1] 0.9989076548189227 Centerline is valid? [True, True] Translation: X:209.25, Y:2.99, Z:1.88 [[ 9.99018496e-01 -4.05181011e-02 -1.78977014e-02 2.09252377e+02] [ 4.05184460e-02 9.99178732e-01 -3.43497016e-04 2.98569469e+00] [ 1.78969204e-02 -3.82027174e-04 9.99839764e-01 1.87996302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81925415399996 meters Centerline goodness [0,1] 0.9990747750021027 Centerline is valid? [True, True] Translation: X:209.28, Y:2.98, Z:1.88 [[ 9.98889212e-01 -4.36495683e-02 -1.77498317e-02 2.09283586e+02] [ 4.36504071e-02 9.99046809e-01 -3.40347474e-04 2.98330698e+00] [ 1.77477687e-02 -4.34817959e-04 9.99842401e-01 1.88102212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84925415399996 meters Centerline goodness [0,1] 0.9992017309833414 Centerline is valid? [True, True] Translation: X:209.32, Y:2.98, Z:1.88 [[ 9.98771298e-01 -4.63190676e-02 -1.76192720e-02 2.09315479e+02] [ 4.63203261e-02 9.98926581e-01 -3.36880238e-04 2.98086833e+00] [ 1.76159631e-02 -4.79664110e-04 9.99844712e-01 1.88129069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87925415399997 meters Centerline goodness [0,1] 0.9989941324392289 Centerline is valid? [True, True] Translation: X:209.35, Y:2.97, Z:1.88 [[ 9.98488437e-01 -5.20521466e-02 -1.76469523e-02 2.09346747e+02] [ 5.20543184e-02 9.98644198e-01 -3.36552423e-04 2.97378047e+00] [ 1.76405448e-02 -5.82556373e-04 9.99844224e-01 1.87911959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90925415399997 meters Centerline goodness [0,1] 0.9988873260134781 Centerline is valid? [True, True] Translation: X:209.38, Y:2.97, Z:1.88 [[ 9.98313039e-01 -5.54677470e-02 -1.71582689e-02 2.09376899e+02] [ 5.54703192e-02 9.98460283e-01 -3.26341652e-04 2.96884486e+00] [ 1.71499515e-02 -6.25983526e-04 9.99852733e-01 1.88059297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93925415399997 meters Centerline goodness [0,1] 0.9989938372531757 Centerline is valid? [True, True] Translation: X:209.41, Y:2.97, Z:1.88 [[ 9.98150631e-01 -5.83162748e-02 -1.71618807e-02 2.09409075e+02] [ 5.83192929e-02 9.98297929e-01 -3.24982387e-04 2.96653693e+00] [ 1.71516217e-02 -6.76487371e-04 9.99852671e-01 1.88106547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96925415399997 meters Centerline goodness [0,1] 0.9986638551953068 Centerline is valid? [True, True] Translation: X:209.44, Y:2.96, Z:1.88 [[ 9.97837185e-01 -6.34150224e-02 -1.73057172e-02 2.09440594e+02] [ 6.34188734e-02 9.97986944e-01 -3.26728621e-04 2.96344580e+00] [ 1.72915993e-02 -7.71487121e-04 9.99850191e-01 1.88113255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99925415399997 meters Centerline goodness [0,1] 0.9983049073977189 Centerline is valid? [True, True] Translation: X:209.47, Y:2.96, Z:1.88 [[ 9.97698250e-01 -6.54577048e-02 -1.77056706e-02 2.09471915e+02] [ 6.54620716e-02 9.97855002e-01 -3.33452297e-04 2.96009799e+00] [ 1.76895190e-02 -8.26365100e-04 9.99843187e-01 1.88054608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02925415399997 meters Centerline goodness [0,1] 0.9982825786453315 Centerline is valid? [True, True] Translation: X:209.50, Y:2.96, Z:1.88 [[ 9.97583310e-01 -6.71202079e-02 -1.79559742e-02 2.09503960e+02] [ 6.71249886e-02 9.97744518e-01 -3.36999018e-04 2.95852983e+00] [ 1.79380942e-02 -8.69109965e-04 9.99838722e-01 1.88049815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05925415399997 meters Centerline goodness [0,1] 0.9986585621463006 Centerline is valid? [True, True] Translation: X:209.54, Y:2.96, Z:1.88 [[ 9.97497700e-01 -6.83951613e-02 -1.79008639e-02 2.09536223e+02] [ 6.84001411e-02 9.97657912e-01 -3.34637032e-04 2.95825574e+00] [ 1.78818260e-02 -8.90621945e-04 9.99839711e-01 1.88073202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08925415399997 meters Centerline goodness [0,1] 0.998766954377312 Centerline is valid? [True, True] Translation: X:209.57, Y:2.95, Z:1.88 [[ 9.97333098e-01 -7.05671406e-02 -1.86271375e-02 2.09567584e+02] [ 7.05729337e-02 9.97506562e-01 -3.46976202e-04 2.95356360e+00] [ 1.86051770e-02 -9.68520890e-04 9.99826440e-01 1.88003043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11925415399998 meters Centerline goodness [0,1] 0.9985150482086462 Centerline is valid? [True, True] Translation: X:209.60, Y:2.95, Z:1.88 [[ 9.97265941e-01 -7.14929462e-02 -1.86923048e-02 2.09599473e+02] [ 7.14989647e-02 9.97440614e-01 -3.46976505e-04 2.95485132e+00] [ 1.86692704e-02 -9.90452594e-04 9.99825223e-01 1.88029132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14925415399998 meters Centerline goodness [0,1] 0.9986215826737119 Centerline is valid? [True, True] Translation: X:209.63, Y:2.95, Z:1.88 [[ 9.97239257e-01 -7.19159742e-02 -1.84920935e-02 2.09632033e+02] [ 7.19219623e-02 9.97410204e-01 -3.41890814e-04 2.95405133e+00] [ 1.84687902e-02 -9.89040713e-04 9.99828948e-01 1.88044667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17925415399998 meters Centerline goodness [0,1] 0.998810691259624 Centerline is valid? [True, True] Translation: X:209.66, Y:2.95, Z:1.88 [[ 9.97234902e-01 -7.20438346e-02 -1.82273275e-02 2.09664554e+02] [ 7.20496981e-02 9.97400987e-01 -3.35656348e-04 2.95387155e+00] [ 1.82041364e-02 -9.78545216e-04 9.99833812e-01 1.88103855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20925415399998 meters Centerline goodness [0,1] 0.9991423132439387 Centerline is valid? [True, True] Translation: X:209.70, Y:2.95, Z:1.88 [[ 9.97255057e-01 -7.18851381e-02 -1.77448031e-02 2.09695461e+02] [ 7.18906902e-02 9.97412464e-01 -3.25636021e-04 2.95312620e+00] [ 1.77222962e-02 -9.50943972e-04 9.99842496e-01 1.88205118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23925415399998 meters Centerline goodness [0,1] 0.9987071751777634 Centerline is valid? [True, True] Translation: X:209.73, Y:2.95, Z:1.88 [[ 9.97312013e-01 -7.11828418e-02 -1.73710032e-02 2.09728084e+02] [ 7.11880791e-02 9.97462860e-01 -3.17453479e-04 2.95349695e+00] [ 1.73495278e-02 -9.20008182e-04 9.99849062e-01 1.88254621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26925415399998 meters Centerline goodness [0,1] 0.9991648223159477 Centerline is valid? [True, True] Translation: X:209.76, Y:2.96, Z:1.88 [[ 9.97369917e-01 -7.02965054e-02 -1.76536380e-02 2.09760004e+02] [ 7.03018041e-02 9.97525716e-01 -3.21030510e-04 2.95724255e+00] [ 1.76325252e-02 -9.20896429e-04 9.99844111e-01 1.88358834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29925415399998 meters Centerline goodness [0,1] 0.9989143370148443 Centerline is valid? [True, True] Translation: X:209.79, Y:2.96, Z:1.88 [[ 9.97424218e-01 -6.95331186e-02 -1.76089376e-02 2.09791693e+02] [ 6.95382947e-02 9.97579232e-01 -3.18918330e-04 2.95653919e+00] [ 1.75884859e-02 -9.06398629e-04 9.99844900e-01 1.88353336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32925415399998 meters Centerline goodness [0,1] 0.9992893422235227 Centerline is valid? [True, True] Translation: X:209.82, Y:2.96, Z:1.88 [[ 9.97555588e-01 -6.74668873e-02 -1.81952634e-02 2.09823529e+02] [ 6.74720929e-02 9.97721108e-01 -3.28342743e-04 2.95921198e+00] [ 1.81759506e-02 -9.00132364e-04 9.99834399e-01 1.88372554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35925415399998 meters Centerline goodness [0,1] 0.9990180101124065 Centerline is valid? [True, True] Translation: X:209.86, Y:2.96, Z:1.88 [[ 9.97646877e-01 -6.60672533e-02 -1.83255980e-02 2.09855844e+02] [ 6.60723197e-02 9.97814782e-01 -3.29519863e-04 2.96214057e+00] [ 1.83073230e-02 -8.82070306e-04 9.99832018e-01 1.88404291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38925415399999 meters Centerline goodness [0,1] 0.9989356373653895 Centerline is valid? [True, True] Translation: X:209.89, Y:2.97, Z:1.88 [[ 9.97747744e-01 -6.44428464e-02 -1.86160991e-02 2.09888132e+02] [ 6.44478184e-02 9.97921023e-01 -3.33355271e-04 2.96579677e+00] [ 1.85988790e-02 -8.67162503e-04 9.99826650e-01 1.88479826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.419254154 meters Centerline goodness [0,1] 0.9990601896328474 Centerline is valid? [True, True] Translation: X:209.92, Y:2.97, Z:1.89 [[ 9.98008041e-01 -6.05026465e-02 -1.78712245e-02 2.09918277e+02] [ 6.05066098e-02 9.98167746e-01 -3.19347609e-04 2.96997569e+00] [ 1.78578012e-02 -7.62615724e-04 9.99840246e-01 1.88633430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.449254154 meters Centerline goodness [0,1] 0.9988071570576541 Centerline is valid? [True, True] Translation: X:209.95, Y:2.97, Z:1.89 [[ 9.98150412e-01 -5.82621454e-02 -1.73573332e-02 2.09949290e+02] [ 5.82655510e-02 9.98301072e-01 -3.09867645e-04 2.97428268e+00] [ 1.73458979e-02 -7.02040064e-04 9.99849302e-01 1.88750191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479254154 meters Centerline goodness [0,1] 0.9989514742272365 Centerline is valid? [True, True] Translation: X:209.98, Y:2.98, Z:1.89 [[ 9.98306373e-01 -5.56930570e-02 -1.68127502e-02 2.09979381e+02] [ 5.56958963e-02 9.98447734e-01 -2.99671913e-04 2.97564456e+00] [ 1.68033420e-02 -6.37236814e-04 9.99858611e-01 1.88825118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.509254154 meters Centerline goodness [0,1] 0.9986817601640476 Centerline is valid? [True, True] Translation: X:210.01, Y:2.98, Z:1.89 [[ 9.98462365e-01 -5.30125393e-02 -1.62041925e-02 2.10010624e+02] [ 5.30148310e-02 9.98593683e-01 -2.88404883e-04 2.98167891e+00] [ 1.61966933e-02 -5.71101104e-04 9.99868662e-01 1.88957958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539254154 meters Centerline goodness [0,1] 0.9986817601640476 Centerline is valid? [True, True] Translation: X:210.04, Y:2.98, Z:1.89 [[ 9.98466293e-01 -5.29385052e-02 -1.62042077e-02 2.10042329e+02] [ 5.29408010e-02 9.98597611e-01 -2.87549252e-04 2.98218331e+00] [ 1.61967055e-02 -5.70755498e-04 9.99868662e-01 1.88987655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56925415399996 meters Centerline goodness [0,1] 0.9988888190032916 Centerline is valid? [True, True] Translation: X:210.07, Y:2.98, Z:1.89 [[ 9.98615316e-01 -5.02949222e-02 -1.54231071e-02 2.10072327e+02] [ 5.02966989e-02 9.98734283e-01 -2.72916141e-04 2.98333917e+00] [ 1.54173121e-02 -5.03193138e-04 9.99881020e-01 1.89027079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59925415399996 meters Centerline goodness [0,1] 0.9990779160903642 Centerline is valid? [True, True] Translation: X:210.10, Y:2.99, Z:1.89 [[ 9.98863760e-01 -4.52800741e-02 -1.48628171e-02 2.10103423e+02] [ 4.52811747e-02 9.98974247e-01 -2.62636941e-04 2.98990535e+00] [ 1.48594638e-02 -4.10667297e-04 9.99889508e-01 1.89104500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62925415399997 meters Centerline goodness [0,1] 0.9990346680097373 Centerline is valid? [True, True] Translation: X:210.13, Y:2.99, Z:1.89 [[ 9.98959561e-01 -4.29744089e-02 -1.52642050e-02 2.10134535e+02] [ 4.29753093e-02 9.99076098e-01 -2.69169246e-04 2.99269345e+00] [ 1.52616697e-02 -3.87094738e-04 9.99883459e-01 1.89129469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65925415399997 meters Centerline goodness [0,1] 0.9990545423985209 Centerline is valid? [True, True] Translation: X:210.17, Y:2.99, Z:1.89 [[ 9.99043599e-01 -4.09340420e-02 -1.53717773e-02 2.10165916e+02] [ 4.09347309e-02 9.99161786e-01 -2.69953571e-04 2.99494269e+00] [ 1.53699427e-02 -3.59544178e-04 9.99881811e-01 1.89126242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68925415399997 meters Centerline goodness [0,1] 0.9990541648275427 Centerline is valid? [True, True] Translation: X:210.20, Y:3.00, Z:1.89 [[ 9.99125681e-01 -3.88079371e-02 -1.55504606e-02 2.10197514e+02] [ 3.88084072e-02 9.99246633e-01 -2.71646901e-04 2.99857624e+00] [ 1.55492874e-02 -3.32079210e-04 9.99879047e-01 1.89131697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71925415399997 meters Centerline goodness [0,1] 0.9989076777649406 Centerline is valid? [True, True] Translation: X:210.23, Y:3.00, Z:1.89 [[ 9.99225147e-01 -3.58415289e-02 -1.62631312e-02 2.10227579e+02] [ 3.58416581e-02 9.99357441e-01 -2.83618133e-04 3.00222222e+00] [ 1.62628465e-02 -2.99499219e-04 9.99867706e-01 1.89096739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74925415399997 meters Centerline goodness [0,1] 0.9990977569818922 Centerline is valid? [True, True] Translation: X:210.26, Y:3.00, Z:1.89 [[ 9.99262579e-01 -3.46296475e-02 -1.65857174e-02 2.10258540e+02] [ 3.46296221e-02 9.99400173e-01 -2.88815764e-04 3.00383164e+00] [ 1.65857704e-02 -2.85754340e-04 9.99862406e-01 1.89129463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77925415399997 meters Centerline goodness [0,1] 0.9992030368490594 Centerline is valid? [True, True] Translation: X:210.29, Y:3.01, Z:1.89 [[ 9.99283414e-01 -3.40215949e-02 -1.65888663e-02 2.10289570e+02] [ 3.40214955e-02 9.99421060e-01 -2.88283194e-04 3.00507470e+00] [ 1.65890702e-02 -2.76301427e-04 9.99862354e-01 1.89131971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80925415399997 meters Centerline goodness [0,1] 0.9990976812506558 Centerline is valid? [True, True] Translation: X:210.32, Y:3.01, Z:1.89 [[ 9.99312977e-01 -3.32666861e-02 -1.63370981e-02 2.10321303e+02] [ 3.32664981e-02 9.99446477e-01 -2.83339534e-04 3.00596223e+00] [ 1.63374809e-02 -2.60333168e-04 9.99866501e-01 1.89163881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83925415399997 meters Centerline goodness [0,1] 0.9988847740089218 Centerline is valid? [True, True] Translation: X:210.35, Y:3.01, Z:1.89 [[ 9.99364552e-01 -3.21475989e-02 -1.53955645e-02 2.10352204e+02] [ 3.21473073e-02 9.99483106e-01 -2.66479434e-04 3.00911181e+00] [ 1.53961733e-02 -2.28615845e-04 9.99881446e-01 1.89301281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86925415399998 meters Centerline goodness [0,1] 0.9990958408679927 Centerline is valid? [True, True] Translation: X:210.38, Y:3.01, Z:1.89 [[ 9.99394874e-01 -3.12491351e-02 -1.52766995e-02 2.10382871e+02] [ 3.12487500e-02 9.99511604e-01 -2.63970857e-04 3.00836461e+00] [ 1.52774873e-02 -2.13566642e-04 9.99883270e-01 1.89262120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89925415399998 meters Centerline goodness [0,1] 0.9990946415412149 Centerline is valid? [True, True] Translation: X:210.41, Y:3.01, Z:1.89 [[ 9.99432364e-01 -3.00268305e-02 -1.52754203e-02 2.10413993e+02] [ 3.00263086e-02 9.99549074e-01 -2.63560472e-04 3.01130710e+00] [ 1.52764461e-02 -1.95253618e-04 9.99883289e-01 1.89353563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92925415399998 meters Centerline goodness [0,1] 0.9992206752743433 Centerline is valid? [True, True] Translation: X:210.44, Y:3.01, Z:1.89 [[ 9.99501665e-01 -2.76425740e-02 -1.52417354e-02 2.10444570e+02] [ 2.76417841e-02 9.99617858e-01 -2.62529371e-04 3.01124653e+00] [ 1.52431679e-02 -1.58910216e-04 9.99883804e-01 1.89272187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95925415399998 meters Centerline goodness [0,1] 0.998948099215282 Centerline is valid? [True, True] Translation: X:210.48, Y:3.01, Z:1.89 [[ 9.99525772e-01 -2.67454165e-02 -1.52614828e-02 2.10475294e+02] [ 2.67445226e-02 9.99642267e-01 -2.62698752e-04 3.01320437e+00] [ 1.52630492e-02 -1.45586899e-04 9.99883502e-01 1.89345272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98925415399998 meters Centerline goodness [0,1] 0.999241817952066 Centerline is valid? [True, True] Translation: X:210.51, Y:3.01, Z:1.89 [[ 9.99549790e-01 -2.59196611e-02 -1.51125503e-02 2.10505867e+02] [ 2.59186902e-02 9.99664020e-01 -2.60135150e-04 3.01355943e+00] [ 1.51142154e-02 -1.31679475e-04 9.99885765e-01 1.89379626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01925415399998 meters Centerline goodness [0,1] 0.999095403386978 Centerline is valid? [True, True] Translation: X:210.53, Y:3.01, Z:1.89 [[ 9.99556598e-01 -2.58521809e-02 -1.47740296e-02 2.10534920e+02] [ 2.58512442e-02 9.99665768e-01 -2.54404278e-04 3.01202057e+00] [ 1.47756685e-02 -1.27635572e-04 9.99890826e-01 1.89321187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04925415399998 meters Centerline goodness [0,1] 0.999221265758845 Centerline is valid? [True, True] Translation: X:210.57, Y:3.01, Z:1.89 [[ 9.99560471e-01 -2.62299007e-02 -1.38150728e-02 2.10565338e+02] [ 2.62291156e-02 9.99655929e-01 -2.38047063e-04 3.01137099e+00] [ 1.38165633e-02 -1.24414706e-04 9.99904539e-01 1.89463694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07925415399998 meters Centerline goodness [0,1] 0.9990742883591761 Centerline is valid? [True, True] Translation: X:210.60, Y:3.01, Z:1.89 [[ 9.99544894e-01 -2.69348354e-02 -1.35838215e-02 2.10595564e+02] [ 2.69341414e-02 9.99637183e-01 -2.34062380e-04 3.01086588e+00] [ 1.35851975e-02 -1.31912712e-04 9.99907708e-01 1.89483654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10925415399998 meters Centerline goodness [0,1] 0.998990515047635 Centerline is valid? [True, True] Translation: X:210.63, Y:3.01, Z:1.89 [[ 9.99516517e-01 -2.78467317e-02 -1.38307960e-02 2.10626431e+02] [ 2.78461007e-02 9.99612194e-01 -2.38236448e-04 3.00968457e+00] [ 1.38320665e-02 -1.47012474e-04 9.99904322e-01 1.89492684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13925415399999 meters Centerline goodness [0,1] 0.9990336337471902 Centerline is valid? [True, True] Translation: X:210.66, Y:3.01, Z:1.89 [[ 9.99477567e-01 -2.92902796e-02 -1.36627899e-02 2.10657116e+02] [ 2.92898040e-02 9.99570934e-01 -2.34947600e-04 3.00723979e+00] [ 1.36638094e-02 -1.65355583e-04 9.99906632e-01 1.89475267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.169254154 meters Centerline goodness [0,1] 0.9990545622623275 Centerline is valid? [True, True] Translation: X:210.69, Y:3.01, Z:1.89 [[ 9.99416366e-01 -3.10957893e-02 -1.41413992e-02 2.10687978e+02] [ 3.10954690e-02 9.99516390e-01 -2.42581789e-04 3.00636168e+00] [ 1.41421035e-02 -1.97293231e-04 9.99899976e-01 1.89477587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199254154 meters Centerline goodness [0,1] 0.9989725955590967 Centerline is valid? [True, True] Translation: X:210.72, Y:3.00, Z:1.89 [[ 9.99246767e-01 -3.59683830e-02 -1.45662169e-02 2.10719449e+02] [ 3.59685660e-02 9.99352891e-01 -2.49501604e-04 3.00193179e+00] [ 1.45657651e-02 -2.74612262e-04 9.99893876e-01 1.89442824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.229254154 meters Centerline goodness [0,1] 0.9992244649856421 Centerline is valid? [True, True] Translation: X:210.75, Y:3.00, Z:1.89 [[ 9.99137217e-01 -3.87753215e-02 -1.48760481e-02 2.10750830e+02] [ 3.87758331e-02 9.99247902e-01 -2.54146537e-04 2.99873699e+00] [ 1.48747145e-02 -3.22903894e-04 9.99889313e-01 1.89434805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259254154 meters Centerline goodness [0,1] 0.9991403350596524 Centerline is valid? [True, True] Translation: X:210.78, Y:3.00, Z:1.89 [[ 9.99013397e-01 -4.18980021e-02 -1.47237842e-02 2.10783354e+02] [ 4.18988556e-02 9.99121826e-01 -2.50632426e-04 2.99650302e+00] [ 1.47213552e-02 -3.66524559e-04 9.99891568e-01 1.89432685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.289254154 meters Centerline goodness [0,1] 0.9987657420191624 Centerline is valid? [True, True] Translation: X:210.82, Y:2.99, Z:1.89 [[ 9.98908822e-01 -4.41864805e-02 -1.51234681e-02 2.10815228e+02] [ 4.41876628e-02 9.99023215e-01 -2.56132829e-04 2.99372662e+00] [ 1.51200134e-02 -4.12417367e-04 9.99885601e-01 1.89275097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31925415399996 meters Centerline goodness [0,1] 0.9989757953262823 Centerline is valid? [True, True] Translation: X:210.85, Y:2.99, Z:1.89 [[ 9.98655418e-01 -4.98037742e-02 -1.43854144e-02 2.10845130e+02] [ 4.98054391e-02 9.98758910e-01 -2.42719366e-04 2.98907956e+00] [ 1.43796492e-02 -4.74078872e-04 9.99896495e-01 1.89490624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34925415399996 meters Centerline goodness [0,1] 0.99885028638321 Centerline is valid? [True, True] Translation: X:210.88, Y:2.99, Z:1.90 [[ 9.98558991e-01 -5.16578215e-02 -1.45400113e-02 2.10877130e+02] [ 5.16597242e-02 9.98664715e-01 -2.44941234e-04 2.98887233e+00] [ 1.45332493e-02 -5.06544701e-04 9.99894258e-01 1.89529447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37925415399997 meters Centerline goodness [0,1] 0.9991642464637178 Centerline is valid? [True, True] Translation: X:210.91, Y:2.99, Z:1.90 [[ 9.98489081e-01 -5.30679821e-02 -1.42598624e-02 2.10908529e+02] [ 5.30699728e-02 9.98590767e-01 -2.39028027e-04 2.98722156e+00] [ 1.42524517e-02 -5.18103636e-04 9.99898294e-01 1.89563887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40925415399997 meters Centerline goodness [0,1] 0.9988923025477041 Centerline is valid? [True, True] Translation: X:210.94, Y:2.99, Z:1.90 [[ 9.98393081e-01 -5.47354731e-02 -1.46725611e-02 2.10939627e+02] [ 5.47377795e-02 9.98500734e-01 -2.44654364e-04 2.98512187e+00] [ 1.46639543e-02 -5.58882187e-04 9.99892322e-01 1.89550521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43925415399997 meters Centerline goodness [0,1] 0.9988300428287893 Centerline is valid? [True, True] Translation: X:210.97, Y:2.98, Z:1.90 [[ 9.98387318e-01 -5.49585441e-02 -1.42239625e-02 2.10971264e+02] [ 5.49607451e-02 9.98488488e-01 -2.36411106e-04 2.98327600e+00] [ 1.42154556e-02 -5.45729727e-04 9.99898806e-01 1.89528608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46925415399997 meters Centerline goodness [0,1] 0.9988920709910738 Centerline is valid? [True, True] Translation: X:211.00, Y:2.99, Z:1.90 [[ 9.98390038e-01 -5.48943640e-02 -1.42808201e-02 2.11003873e+02] [ 5.48965886e-02 9.98492017e-01 -2.36479279e-04 2.98703539e+00] [ 1.42722662e-02 -5.47869748e-04 9.99897996e-01 1.89593540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49925415399997 meters Centerline goodness [0,1] 0.9988781551885323 Centerline is valid? [True, True] Translation: X:211.04, Y:2.98, Z:1.90 [[ 9.98405538e-01 -5.44522383e-02 -1.48773593e-02 2.11035438e+02] [ 5.44546248e-02 9.98516216e-01 -2.44935644e-04 2.98238702e+00] [ 1.48686218e-02 -5.65595916e-04 9.99889296e-01 1.89532398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52925415399997 meters Centerline goodness [0,1] 0.9989967184332086 Centerline is valid? [True, True] Translation: X:211.07, Y:2.99, Z:1.90 [[ 9.98493692e-01 -5.30446160e-02 -1.40219799e-02 2.11068042e+02] [ 5.30466186e-02 9.98592011e-01 -2.29334964e-04 2.98548472e+00] [ 1.40144020e-02 -5.14829102e-04 9.99901661e-01 1.89622888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55925415399997 meters Centerline goodness [0,1] 0.9990163865810016 Centerline is valid? [True, True] Translation: X:211.10, Y:2.99, Z:1.90 [[ 9.98586579e-01 -5.13225484e-02 -1.38144616e-02 2.11100694e+02] [ 5.13243445e-02 9.98682012e-01 -2.24712670e-04 2.99167950e+00] [ 1.38077871e-02 -4.84623128e-04 9.99904551e-01 1.89615047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58925415399997 meters Centerline goodness [0,1] 0.9988498295656538 Centerline is valid? [True, True] Translation: X:211.13, Y:2.99, Z:1.90 [[ 9.98654263e-01 -5.02643353e-02 -1.27734189e-02 2.11131850e+02] [ 5.02658007e-02 9.98735854e-01 -2.06499823e-04 2.99069636e+00] [ 1.27676510e-02 -4.35844200e-04 9.99918395e-01 1.89780132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61925415399998 meters Centerline goodness [0,1] 0.9989326971371171 Centerline is valid? [True, True] Translation: X:211.16, Y:2.99, Z:1.90 [[ 9.98728094e-01 -4.88103150e-02 -1.26391068e-02 2.11164534e+02] [ 4.88116531e-02 9.98807980e-01 -2.02770551e-04 2.99442479e+00] [ 1.26339380e-02 -4.14423051e-04 9.99920103e-01 1.89861160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64925415399998 meters Centerline goodness [0,1] 0.9988934588805144 Centerline is valid? [True, True] Translation: X:211.20, Y:3.00, Z:1.90 [[ 9.98908693e-01 -4.48459446e-02 -1.30485561e-02 2.11195470e+02] [ 4.48470464e-02 9.98993843e-01 -2.08301789e-04 2.99709940e+00] [ 1.30447687e-02 -3.77114735e-04 9.99914842e-01 1.89888532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67925415399998 meters Centerline goodness [0,1] 0.9989318029490617 Centerline is valid? [True, True] Translation: X:211.23, Y:3.00, Z:1.90 [[ 9.99000488e-01 -4.26358466e-02 -1.34241855e-02 2.11226362e+02] [ 4.26368212e-02 9.99090614e-01 -2.13718377e-04 2.99866571e+00] [ 1.34210898e-02 -3.58859832e-04 9.99909869e-01 1.89906354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70925415399998 meters Centerline goodness [0,1] 0.9988491075352068 Centerline is valid? [True, True] Translation: X:211.26, Y:3.00, Z:1.90 [[ 9.99083900e-01 -4.05176146e-02 -1.37725637e-02 2.11259067e+02] [ 4.05184520e-02 9.99178766e-01 -2.18336200e-04 3.00165162e+00] [ 1.37700997e-02 -3.39906780e-04 9.99905130e-01 1.89937887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73925415399998 meters Centerline goodness [0,1] 0.9989305037117813 Centerline is valid? [True, True] Translation: X:211.29, Y:3.00, Z:1.90 [[ 9.99213357e-01 -3.67434943e-02 -1.49191815e-02 2.11289036e+02] [ 3.67440719e-02 9.99324681e-01 -2.35487537e-04 3.00418239e+00] [ 1.49177589e-02 -3.12889186e-04 9.99888675e-01 1.89892894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76925415399998 meters Centerline goodness [0,1] 0.999015005448906 Centerline is valid? [True, True] Translation: X:211.32, Y:3.01, Z:1.90 [[ 9.99267593e-01 -3.50290264e-02 -1.54027817e-02 2.11320249e+02] [ 3.50294446e-02 9.99386251e-01 -2.42727546e-04 3.00623250e+00] [ 1.54018308e-02 -2.97001118e-04 9.99881341e-01 1.89883693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79925415399998 meters Centerline goodness [0,1] 0.9990997215417792 Centerline is valid? [True, True] Translation: X:211.35, Y:3.01, Z:1.90 [[ 9.99295203e-01 -3.39580429e-02 -1.59984031e-02 2.11351343e+02] [ 3.39583663e-02 9.99423217e-01 -2.51520985e-04 3.00776831e+00] [ 1.59977167e-02 -2.91935920e-04 9.99871986e-01 1.89903837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82925415399998 meters Centerline goodness [0,1] 0.9990790547753103 Centerline is valid? [True, True] Translation: X:211.38, Y:3.01, Z:1.90 [[ 9.99321392e-01 -3.29704167e-02 -1.64227926e-02 2.11382905e+02] [ 3.29706342e-02 9.99456288e-01 -2.57586042e-04 3.00896649e+00] [ 1.64223560e-02 -2.84058644e-04 9.99865104e-01 1.89921401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85925415399998 meters Centerline goodness [0,1] 0.9989953324821567 Centerline is valid? [True, True] Translation: X:211.41, Y:3.01, Z:1.90 [[ 9.99337097e-01 -3.25513394e-02 -1.63026692e-02 2.11413051e+02] [ 3.25515055e-02 9.99470027e-01 -2.55235696e-04 3.00868113e+00] [ 1.63023374e-02 -2.75609925e-04 9.99867070e-01 1.89923543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88925415399999 meters Centerline goodness [0,1] 0.9990383007191838 Centerline is valid? [True, True] Translation: X:211.44, Y:3.01, Z:1.90 [[ 9.99331674e-01 -3.28198810e-02 -1.60953769e-02 2.11443166e+02] [ 3.28200805e-02 9.99461244e-01 -2.51822278e-04 3.00875259e+00] [ 1.60949702e-02 -2.76597587e-04 9.99870429e-01 1.89973123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.919254154 meters Centerline goodness [0,1] 0.9991218716678166 Centerline is valid? [True, True] Translation: X:211.47, Y:3.01, Z:1.90 [[ 9.99320951e-01 -3.32538187e-02 -1.58688524e-02 2.11473521e+02] [ 3.32540733e-02 9.99446900e-01 -2.47903049e-04 3.00838527e+00] [ 1.58683191e-02 -2.79969269e-04 9.99874051e-01 1.90001586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.949254154 meters Centerline goodness [0,1] 0.998911450701277 Centerline is valid? [True, True] Translation: X:211.50, Y:3.01, Z:1.90 [[ 9.99317317e-01 -3.37074306e-02 -1.51231360e-02 2.11504688e+02] [ 3.37077245e-02 9.99431705e-01 -2.35533265e-04 3.00823347e+00] [ 1.51224809e-02 -2.74394032e-04 9.99885611e-01 1.90082520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979254154 meters Centerline goodness [0,1] 0.9989346813443903 Centerline is valid? [True, True] Translation: X:211.54, Y:3.01, Z:1.90 [[ 9.99271789e-01 -3.54510021e-02 -1.41109161e-02 2.11535896e+02] [ 3.54514386e-02 9.99371376e-01 -2.19284602e-04 3.00734208e+00] [ 1.41098195e-02 -2.81127358e-04 9.99900412e-01 1.90201716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.009254154 meters Centerline goodness [0,1] 0.9988510789413214 Centerline is valid? [True, True] Translation: X:211.57, Y:3.01, Z:1.90 [[ 9.99240605e-01 -3.65023729e-02 -1.36304770e-02 2.11567101e+02] [ 3.65028845e-02 9.99333525e-01 -2.11335554e-04 3.00619556e+00] [ 1.36291069e-02 -2.86376662e-04 9.99907078e-01 1.90241627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039254154 meters Centerline goodness [0,1] 0.9987884864435811 Centerline is valid? [True, True] Translation: X:211.60, Y:3.00, Z:1.90 [[ 9.99209123e-01 -3.73714348e-02 -1.35832027e-02 2.11598451e+02] [ 3.73720344e-02 9.99301400e-01 -2.09775649e-04 3.00459332e+00] [ 1.35815530e-02 -2.98022174e-04 9.99907722e-01 1.90282041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06925415399996 meters Centerline goodness [0,1] 0.9989568337818948 Centerline is valid? [True, True] Translation: X:211.63, Y:3.00, Z:1.90 [[ 9.99114003e-01 -4.01487495e-02 -1.26208644e-02 2.11630651e+02] [ 4.01495042e-02 9.99193665e-01 -1.93665810e-04 3.00146337e+00] [ 1.26184632e-02 -3.13227227e-04 9.99920335e-01 1.90348557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09925415399996 meters Centerline goodness [0,1] 0.9992272508928385 Centerline is valid? [True, True] Translation: X:211.66, Y:3.00, Z:1.90 [[ 9.99053629e-01 -4.16711571e-02 -1.24643582e-02 2.11662618e+02] [ 4.16720229e-02 9.99131326e-01 -1.90358090e-04 3.00041376e+00] [ 1.24614632e-02 -3.29237079e-04 9.99922299e-01 1.90440846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12925415399997 meters Centerline goodness [0,1] 0.9989603908930242 Centerline is valid? [True, True] Translation: X:211.69, Y:3.00, Z:1.90 [[ 9.98980741e-01 -4.34921975e-02 -1.20792511e-02 2.11694277e+02] [ 4.34931535e-02 9.99053708e-01 -1.83653614e-04 2.99676109e+00] [ 1.20758081e-02 -3.41898300e-04 9.99927026e-01 1.90463334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15925415399997 meters Centerline goodness [0,1] 0.9990189734705379 Centerline is valid? [True, True] Translation: X:211.73, Y:3.00, Z:1.90 [[ 9.98881233e-01 -4.58146245e-02 -1.17175997e-02 2.11725945e+02] [ 4.58156912e-02 9.98949894e-01 -1.77521857e-04 2.99627334e+00] [ 1.17134281e-02 -3.59526680e-04 9.99931331e-01 1.90495988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18925415399997 meters Centerline goodness [0,1] 0.9988320924315418 Centerline is valid? [True, True] Translation: X:211.76, Y:2.99, Z:1.90 [[ 9.98577704e-01 -5.18345123e-02 -1.24800418e-02 2.11755780e+02] [ 5.18362015e-02 9.98655583e-01 -1.88299362e-04 2.98603467e+00] [ 1.24730238e-02 -4.58886418e-04 9.99922104e-01 1.90351750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21925415399997 meters Centerline goodness [0,1] 0.9988539279016462 Centerline is valid? [True, True] Translation: X:211.79, Y:2.98, Z:1.90 [[ 9.98394083e-01 -5.51969885e-02 -1.27494021e-02 2.11787253e+02] [ 5.51990351e-02 9.98475353e-01 -1.91578980e-04 2.98245214e+00] [ 1.27405383e-02 -5.12483374e-04 9.99918705e-01 1.90279600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24925415399997 meters Centerline goodness [0,1] 0.9990620701154695 Centerline is valid? [True, True] Translation: X:211.82, Y:2.98, Z:1.90 [[ 9.98175510e-01 -5.88586570e-02 -1.34651062e-02 2.11818280e+02] [ 5.88612779e-02 9.98266151e-01 -2.01919617e-04 2.97855909e+00] [ 1.34536445e-02 -5.91022144e-04 9.99909321e-01 1.90212887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27925415399997 meters Centerline goodness [0,1] 0.9988327497081875 Centerline is valid? [True, True] Translation: X:211.85, Y:2.98, Z:1.90 [[ 9.97943992e-01 -6.26426238e-02 -1.35532769e-02 2.11849804e+02] [ 6.26456316e-02 9.98035813e-01 -2.02927089e-04 2.97921116e+00] [ 1.35393676e-02 -6.46543720e-04 9.99908130e-01 1.90182958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30925415399997 meters Centerline goodness [0,1] 0.9987100800998647 Centerline is valid? [True, True] Translation: X:211.88, Y:2.97, Z:1.90 [[ 9.97476116e-01 -6.94794299e-02 -1.46289858e-02 2.11880770e+02] [ 6.94836745e-02 9.97583065e-01 -2.18528696e-04 2.97372499e+00] [ 1.46088117e-02 -7.98498533e-04 9.99892967e-01 1.90136588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33925415399997 meters Centerline goodness [0,1] 0.9987278945612279 Centerline is valid? [True, True] Translation: X:211.91, Y:2.97, Z:1.90 [[ 9.97295383e-01 -7.20509470e-02 -1.45114039e-02 2.11912055e+02] [ 7.20554012e-02 9.97400608e-01 -2.16341792e-04 2.97229954e+00] [ 1.44892707e-02 -8.29868363e-04 9.99894681e-01 1.90154669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36925415399998 meters Centerline goodness [0,1] 0.998727151322928 Centerline is valid? [True, True] Translation: X:211.94, Y:2.97, Z:1.90 [[ 9.97153366e-01 -7.39445930e-02 -1.47431659e-02 2.11943021e+02] [ 7.39494062e-02 9.97261970e-01 -2.19165694e-04 2.97049450e+00] [ 1.47190048e-02 -8.71706554e-04 9.99891290e-01 1.90184983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39925415399998 meters Centerline goodness [0,1] 0.9986878280429893 Centerline is valid? [True, True] Translation: X:211.97, Y:2.97, Z:1.90 [[ 9.97006995e-01 -7.58223871e-02 -1.51002544e-02 2.11974811e+02] [ 7.58276634e-02 9.97120913e-01 -2.23644424e-04 2.97419843e+00] [ 1.50737367e-02 -9.22041954e-04 9.99885960e-01 1.90264052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42925415399998 meters Centerline goodness [0,1] 0.9986878280429893 Centerline is valid? [True, True] Translation: X:212.01, Y:2.97, Z:1.90 [[ 9.97012600e-01 -7.57486457e-02 -1.51002683e-02 2.12006554e+02] [ 7.57539277e-02 9.97126518e-01 -2.22704592e-04 2.97460662e+00] [ 1.50737475e-02 -9.21865347e-04 9.99885960e-01 1.90293781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45925415399998 meters Centerline goodness [0,1] 0.9985616010006254 Centerline is valid? [True, True] Translation: X:212.04, Y:2.97, Z:1.90 [[ 9.97019025e-01 -7.56881652e-02 -1.49788664e-02 2.12037804e+02] [ 7.56933759e-02 9.97131117e-01 -2.19572443e-04 2.97118824e+00] [ 1.49525129e-02 -9.14883064e-04 9.99887786e-01 1.90272525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48925415399998 meters Centerline goodness [0,1] 0.9986849246440946 Centerline is valid? [True, True] Translation: X:212.07, Y:2.97, Z:1.90 [[ 9.97041817e-01 -7.54142702e-02 -1.48425818e-02 2.12069242e+02] [ 7.54193822e-02 9.97151879e-01 -2.15824332e-04 2.97130100e+00] [ 1.48165846e-02 -9.04232466e-04 9.99889820e-01 1.90287268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51925415399998 meters Centerline goodness [0,1] 0.9987269919445719 Centerline is valid? [True, True] Translation: X:212.10, Y:2.98, Z:1.90 [[ 9.97167037e-01 -7.38039291e-02 -1.45217188e-02 2.12100477e+02] [ 7.38086713e-02 9.97272398e-01 -2.09848296e-04 2.97943258e+00] [ 1.44975969e-02 -8.62574965e-04 9.99894532e-01 1.90297497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54925415399998 meters Centerline goodness [0,1] 0.9988969134389244 Centerline is valid? [True, True] Translation: X:212.13, Y:2.98, Z:1.90 [[ 9.97215350e-01 -7.32678687e-02 -1.39055523e-02 2.12132724e+02] [ 7.32721742e-02 9.97311961e-01 -2.00274563e-04 2.98073660e+00] [ 1.38828474e-02 -8.19173185e-04 9.99903293e-01 1.90389524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57925415399998 meters Centerline goodness [0,1] 0.9988942207385771 Centerline is valid? [True, True] Translation: X:212.16, Y:2.98, Z:1.90 [[ 9.97270157e-01 -7.24794270e-02 -1.41055219e-02 2.12164521e+02] [ 7.24837935e-02 9.97369570e-01 -2.02102362e-04 2.98277579e+00] [ 1.40830666e-02 -8.20871084e-04 9.99900492e-01 1.90425361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60925415399998 meters Centerline goodness [0,1] 0.9988116087065299 Centerline is valid? [True, True] Translation: X:212.20, Y:2.98, Z:1.90 [[ 9.97334965e-01 -7.15357018e-02 -1.43391094e-02 2.12196007e+02] [ 7.15401309e-02 9.97437701e-01 -2.04471085e-04 2.98372783e+00] [ 1.43169953e-02 -8.21895604e-04 9.99897169e-01 1.90427038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63925415399999 meters Centerline goodness [0,1] 0.998977398418098 Centerline is valid? [True, True] Translation: X:212.23, Y:2.99, Z:1.91 [[ 9.97474999e-01 -6.95397256e-02 -1.44171204e-02 2.12227546e+02] [ 6.95440068e-02 9.97578864e-01 -2.04780156e-04 2.99098385e+00] [ 1.43964549e-02 -7.98361230e-04 9.99896047e-01 1.90530593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.669254154 meters Centerline goodness [0,1] 0.9989152655513371 Centerline is valid? [True, True] Translation: X:212.26, Y:2.99, Z:1.91 [[ 9.97572688e-01 -6.81150311e-02 -1.44594235e-02 2.12258624e+02] [ 6.81192068e-02 9.97677168e-01 -2.04094122e-04 2.98999673e+00] [ 1.44397386e-02 -7.81365741e-04 9.99895436e-01 1.90581034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699254154 meters Centerline goodness [0,1] 0.9988301161527534 Centerline is valid? [True, True] Translation: X:212.29, Y:3.00, Z:1.91 [[ 9.97682868e-01 -6.65527518e-02 -1.41288820e-02 2.12290501e+02] [ 6.65566067e-02 9.97782631e-01 -1.97715852e-04 2.99501237e+00] [ 1.41107116e-02 -7.43112723e-04 9.99900163e-01 1.90652558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.729254154 meters Centerline goodness [0,1] 0.9987869154187233 Centerline is valid? [True, True] Translation: X:212.32, Y:2.99, Z:1.91 [[ 9.97799548e-01 -6.48221690e-02 -1.39337040e-02 2.12320744e+02] [ 6.48257605e-02 9.97896579e-01 -1.94221126e-04 2.99489997e+00] [ 1.39169854e-02 -7.09469209e-04 9.99902902e-01 1.90664029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759254154 meters Centerline goodness [0,1] 0.9984721321082484 Centerline is valid? [True, True] Translation: X:212.35, Y:3.00, Z:1.91 [[ 9.98059548e-01 -6.05603029e-02 -1.44771485e-02 2.12350143e+02] [ 6.05637339e-02 9.98164312e-01 -2.01708536e-04 3.00025341e+00] [ 1.44627885e-02 -6.75473036e-04 9.99895180e-01 1.90664723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.789254154 meters Centerline goodness [0,1] 0.9987675210461449 Centerline is valid? [True, True] Translation: X:212.38, Y:3.01, Z:1.91 [[ 9.98221229e-01 -5.78203445e-02 -1.45322157e-02 2.12381427e+02] [ 5.78235122e-02 9.98326800e-01 -2.02452938e-04 3.00662183e+00] [ 1.45196063e-02 -6.38210932e-04 9.99894381e-01 1.90723022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81925415399996 meters Centerline goodness [0,1] 0.9987027931792029 Centerline is valid? [True, True] Translation: X:212.41, Y:3.01, Z:1.91 [[ 9.98370357e-01 -5.52202082e-02 -1.43999541e-02 2.12411547e+02] [ 5.52230547e-02 9.98474023e-01 -2.00180913e-04 3.00975462e+00] [ 1.43890342e-02 -5.95354764e-04 9.99896295e-01 1.90742447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84925415399996 meters Centerline goodness [0,1] 0.9990150673735828 Centerline is valid? [True, True] Translation: X:212.44, Y:3.02, Z:1.91 [[ 9.98662168e-01 -4.93170774e-02 -1.55467119e-02 2.12441935e+02] [ 4.93196839e-02 9.98783021e-01 -2.15938674e-04 3.01776293e+00] [ 1.55384413e-02 -5.51109131e-04 9.99879119e-01 1.90717312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87925415399997 meters Centerline goodness [0,1] 0.9987031459170014 Centerline is valid? [True, True] Translation: X:212.47, Y:3.02, Z:1.91 [[ 9.98818085e-01 -4.59979219e-02 -1.57042654e-02 2.12472340e+02] [ 4.60001734e-02 9.98941408e-01 -2.18012330e-04 3.02122374e+00] [ 1.56976691e-02 -5.04644272e-04 9.99876657e-01 1.90675742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90925415399997 meters Centerline goodness [0,1] 0.9989691589178272 Centerline is valid? [True, True] Translation: X:212.50, Y:3.03, Z:1.91 [[ 9.98974233e-01 -4.23716648e-02 -1.59725763e-02 2.12503548e+02] [ 4.23735374e-02 9.99101814e-01 -2.21328769e-04 3.02507844e+00] [ 1.59676080e-02 -4.55712820e-04 9.99872406e-01 1.90683526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93925415399997 meters Centerline goodness [0,1] 0.9989890906027548 Centerline is valid? [True, True] Translation: X:212.53, Y:3.03, Z:1.91 [[ 9.99248123e-01 -3.48340747e-02 -1.70228289e-02 2.12533606e+02] [ 3.48351144e-02 9.99393045e-01 -2.35525393e-04 3.03289987e+00] [ 1.70207011e-02 -3.57643885e-04 9.99855073e-01 1.90690033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96925415399997 meters Centerline goodness [0,1] 0.9989685513408832 Centerline is valid? [True, True] Translation: X:212.56, Y:3.04, Z:1.91 [[ 9.99377352e-01 -3.10132204e-02 -1.68252521e-02 2.12564077e+02] [ 3.10136948e-02 9.99518933e-01 -2.32791749e-04 3.03805936e+00] [ 1.68243777e-02 -2.89166432e-04 9.99858418e-01 1.90771414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99925415399997 meters Centerline goodness [0,1] 0.9991576642028345 Centerline is valid? [True, True] Translation: X:212.59, Y:3.04, Z:1.91 [[ 9.99499816e-01 -2.70387154e-02 -1.64020195e-02 2.12594000e+02] [ 2.70386311e-02 9.99634364e-01 -2.26935964e-04 3.04182037e+00] [ 1.64021584e-02 -2.16665700e-04 9.99865452e-01 1.90831839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02925415399997 meters Centerline goodness [0,1] 0.9992816850822893 Centerline is valid? [True, True] Translation: X:212.62, Y:3.05, Z:1.91 [[ 9.99601454e-01 -2.31802152e-02 -1.61124164e-02 2.12623996e+02] [ 2.31796327e-02 9.99731291e-01 -2.22929058e-04 3.04655884e+00] [ 1.61132544e-02 -1.50639683e-04 9.99870162e-01 1.90954994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05925415399997 meters Centerline goodness [0,1] 0.9991770589352409 Centerline is valid? [True, True] Translation: X:212.65, Y:3.05, Z:1.91 [[ 9.99683696e-01 -1.94506833e-02 -1.59429756e-02 2.12653270e+02] [ 1.94496241e-02 9.99810814e-01 -2.21495201e-04 3.05033120e+00] [ 1.59442677e-02 -8.86597426e-05 9.99872878e-01 1.91025552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08925415399997 meters Centerline goodness [0,1] 0.99924013761952 Centerline is valid? [True, True] Translation: X:212.68, Y:3.05, Z:1.91 [[ 9.99744870e-01 -1.63584624e-02 -1.55754748e-02 2.12682216e+02] [ 1.63570320e-02 9.99866191e-01 -2.19233689e-04 3.05358456e+00] [ 1.55769770e-02 -3.55907848e-05 9.99878671e-01 1.91090877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11925415399998 meters Centerline goodness [0,1] 0.99930151338766 Centerline is valid? [True, True] Translation: X:212.71, Y:3.06, Z:1.91 [[ 9.99819862e-01 -1.12777404e-02 -1.52661474e-02 2.12710209e+02] [ 1.12757124e-02 9.99936403e-01 -2.18912306e-04 3.05810804e+00] [ 1.52676454e-02 4.67361836e-05 9.99883442e-01 1.91156329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14925415399998 meters Centerline goodness [0,1] 0.9992596353175107 Centerline is valid? [True, True] Translation: X:212.74, Y:3.06, Z:1.91 [[ 9.99839315e-01 -1.00691100e-02 -1.48309657e-02 2.12737679e+02] [ 1.00670009e-02 9.99949303e-01 -2.16857460e-04 3.05971163e+00] [ 1.48323973e-02 6.75192691e-05 9.99889992e-01 1.91180898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17925415399998 meters Centerline goodness [0,1] 0.9991134190361598 Centerline is valid? [True, True] Translation: X:212.76, Y:3.06, Z:1.91 [[ 9.99847175e-01 -9.53945781e-03 -1.46500711e-02 2.12764935e+02] [ 9.53728905e-03 9.99954495e-01 -2.17896617e-04 3.06047582e+00] [ 1.46514831e-02 7.81413549e-05 9.99892658e-01 1.91196202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20925415399998 meters Centerline goodness [0,1] 0.9991115247926892 Centerline is valid? [True, True] Translation: X:212.79, Y:3.06, Z:1.91 [[ 9.99841276e-01 -1.03651870e-02 -1.44908708e-02 2.12793138e+02] [ 1.03631045e-02 9.99946278e-01 -2.18796360e-04 3.05957368e+00] [ 1.44923602e-02 6.85912238e-05 9.99894978e-01 1.91193169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23925415399998 meters Centerline goodness [0,1] 0.9993238960490175 Centerline is valid? [True, True] Translation: X:212.82, Y:3.06, Z:1.91 [[ 9.99827586e-01 -1.12736329e-02 -1.47548110e-02 2.12819807e+02] [ 1.12715232e-02 9.99936449e-01 -2.26133436e-04 3.05918388e+00] [ 1.47564226e-02 5.97852523e-05 9.99891116e-01 1.91230944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26925415399998 meters Centerline goodness [0,1] 0.9991959884053064 Centerline is valid? [True, True] Translation: X:212.85, Y:3.06, Z:1.91 [[ 9.99812125e-01 -1.28331266e-02 -1.45267199e-02 2.12847426e+02] [ 1.28312234e-02 9.99917651e-01 -2.24211306e-04 3.05851575e+00] [ 1.45284010e-02 3.77735950e-05 9.99894456e-01 1.91173905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29925415399998 meters Centerline goodness [0,1] 0.9993020304568528 Centerline is valid? [True, True] Translation: X:212.88, Y:3.06, Z:1.91 [[ 9.99773262e-01 -1.48043687e-02 -1.53053868e-02 2.12875407e+02] [ 1.48024489e-02 9.99890409e-01 -2.38717778e-04 3.05753476e+00] [ 1.53072436e-02 1.21064455e-05 9.99882837e-01 1.91235298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32925415399998 meters Centerline goodness [0,1] 0.9990304563178417 Centerline is valid? [True, True] Translation: X:212.90, Y:3.05, Z:1.91 [[ 9.99692852e-01 -1.90859451e-02 -1.58091229e-02 2.12903560e+02] [ 1.90843616e-02 9.99817845e-01 -2.51035750e-04 3.05367101e+00] [ 1.58110344e-02 -5.07483728e-05 9.99874996e-01 1.91193738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35925415399998 meters Centerline goodness [0,1] 0.9990084178991118 Centerline is valid? [True, True] Translation: X:212.93, Y:3.05, Z:1.91 [[ 9.99655486e-01 -2.10627824e-02 -1.56610363e-02 2.12932163e+02] [ 2.10614052e-02 9.99778152e-01 -2.52887933e-04 3.05229450e+00] [ 1.56628885e-02 -7.70426211e-05 9.99877326e-01 1.91261456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38925415399999 meters Centerline goodness [0,1] 0.9989247991904371 Centerline is valid? [True, True] Translation: X:212.96, Y:3.05, Z:1.91 [[ 9.99608493e-01 -2.31650679e-02 -1.56920175e-02 2.12961088e+02] [ 2.31638807e-02 9.99731648e-01 -2.57433563e-04 3.05083681e+00] [ 1.56937700e-02 -1.06155246e-04 9.99876840e-01 1.91295736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.419254154 meters Centerline goodness [0,1] 0.9984612790354538 Centerline is valid? [True, True] Translation: X:212.99, Y:3.05, Z:1.91 [[ 9.99567898e-01 -2.48325964e-02 -1.57276569e-02 2.12989563e+02] [ 2.48315663e-02 9.99691615e-01 -2.60806128e-04 3.04907315e+00] [ 1.57292832e-02 -1.29848922e-04 9.99876279e-01 1.91288213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.449254154 meters Centerline goodness [0,1] 0.9989265417806777 Centerline is valid? [True, True] Translation: X:213.02, Y:3.05, Z:1.91 [[ 9.99501278e-01 -2.76481239e-02 -1.52570348e-02 2.13019618e+02] [ 2.76474715e-02 9.99617703e-01 -2.53719262e-04 3.04580145e+00] [ 1.52582169e-02 -1.68225708e-04 9.99883572e-01 1.91336461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479254154 meters Centerline goodness [0,1] 0.9989257277667776 Centerline is valid? [True, True] Translation: X:213.05, Y:3.04, Z:1.91 [[ 9.99466603e-01 -2.90215414e-02 -1.49753319e-02 2.13050399e+02] [ 2.90210619e-02 9.99578769e-01 -2.49372581e-04 3.04420813e+00] [ 1.49762610e-02 -1.85360468e-04 9.99887832e-01 1.91305366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.509254154 meters Centerline goodness [0,1] 0.9989912999621737 Centerline is valid? [True, True] Translation: X:213.08, Y:3.04, Z:1.91 [[ 9.99416259e-01 -3.08074621e-02 -1.47662360e-02 2.13080852e+02] [ 3.08071908e-02 9.99525316e-01 -2.45890670e-04 3.04280933e+00] [ 1.47668020e-02 -2.09159118e-04 9.99890943e-01 1.91398751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539254154 meters Centerline goodness [0,1] 0.998758130038519 Centerline is valid? [True, True] Translation: X:213.11, Y:3.04, Z:1.91 [[ 9.99358694e-01 -3.27926656e-02 -1.43819779e-02 2.13111906e+02] [ 3.27926164e-02 9.99462149e-01 -2.39309673e-04 3.04023942e+00] [ 1.43820901e-02 -2.32466483e-04 9.99896545e-01 1.91410906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56925415399996 meters Centerline goodness [0,1] 0.9989498445769974 Centerline is valid? [True, True] Translation: X:213.14, Y:3.03, Z:1.91 [[ 9.99199700e-01 -3.74547364e-02 -1.40392805e-02 2.13141788e+02] [ 3.74551540e-02 9.99298282e-01 -2.33275098e-04 3.03430947e+00] [ 1.40381661e-02 -2.92755005e-04 9.99901417e-01 1.91422274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59925415399996 meters Centerline goodness [0,1] 0.9989707179767257 Centerline is valid? [True, True] Translation: X:213.17, Y:3.03, Z:1.91 [[ 9.99105743e-01 -3.97821525e-02 -1.43211390e-02 2.13174171e+02] [ 3.97828312e-02 9.99208322e-01 -2.37601977e-04 3.03236953e+00] [ 1.43192536e-02 -3.32345955e-04 9.99897419e-01 1.91472335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62925415399997 meters Centerline goodness [0,1] 0.998970804452846 Centerline is valid? [True, True] Translation: X:213.20, Y:3.03, Z:1.91 [[ 9.98994108e-01 -4.24884436e-02 -1.43354113e-02 2.13204558e+02] [ 4.24894147e-02 9.99096889e-01 -2.36956661e-04 3.02928847e+00] [ 1.43325328e-02 -3.72384927e-04 9.99897215e-01 1.91464259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65925415399997 meters Centerline goodness [0,1] 0.999453781512605 Centerline is valid? [True, True] Translation: X:213.24, Y:3.02, Z:1.91 [[ 9.98695306e-01 -4.86243549e-02 -1.55999511e-02 2.13235752e+02] [ 4.86262630e-02 9.98817010e-01 -2.57190158e-04 3.02451519e+00] [ 1.55940022e-02 -5.01712722e-04 9.99878280e-01 1.91488642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68925415399997 meters Centerline goodness [0,1] 0.999180775532496 Centerline is valid? [True, True] Translation: X:213.27, Y:3.02, Z:1.91 [[ 9.98523263e-01 -5.17876463e-02 -1.64113567e-02 2.13266220e+02] [ 5.17901932e-02 9.98657951e-01 -2.70056367e-04 3.01938944e+00] [ 1.64033175e-02 -5.80289771e-04 9.99865288e-01 1.91250218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71925415399997 meters Centerline goodness [0,1] 0.9992024514125005 Centerline is valid? [True, True] Translation: X:213.30, Y:3.01, Z:1.91 [[ 9.98061134e-01 -5.98207445e-02 -1.71887182e-02 2.13295998e+02] [ 5.98247285e-02 9.98208857e-01 -2.82783722e-04 3.01207390e+00] [ 1.71748471e-02 -7.46074956e-04 9.99852223e-01 1.91339499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74925415399997 meters Centerline goodness [0,1] 0.9992024514125005 Centerline is valid? [True, True] Translation: X:213.33, Y:3.01, Z:1.91 [[ 9.98065314e-01 -5.97509622e-02 -1.71887249e-02 2.13327712e+02] [ 5.97549429e-02 9.98213037e-01 -2.82371654e-04 3.01253135e+00] [ 1.71748813e-02 -7.45285924e-04 9.99852223e-01 1.91369216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77925415399997 meters Centerline goodness [0,1] 0.9989299202685691 Centerline is valid? [True, True] Translation: X:213.36, Y:3.00, Z:1.91 [[ 9.97557940e-01 -6.76702463e-02 -1.72885541e-02 2.13358223e+02] [ 6.76754722e-02 9.97707347e-01 -2.83267201e-04 3.00492159e+00] [ 1.72680862e-02 -8.87435618e-04 9.99850502e-01 1.91337265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80925415399997 meters Centerline goodness [0,1] 0.9986570139544644 Centerline is valid? [True, True] Translation: X:213.39, Y:3.01, Z:1.91 [[ 9.97313175e-01 -7.11365708e-02 -1.74934332e-02 2.13389050e+02] [ 7.11424573e-02 9.97466124e-01 -2.86373248e-04 3.00751423e+00] [ 1.74694786e-02 -9.58922008e-04 9.99846937e-01 1.91421733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83925415399997 meters Centerline goodness [0,1] 0.9987194558737089 Centerline is valid? [True, True] Translation: X:213.42, Y:3.00, Z:1.91 [[ 9.97099388e-01 -7.41074135e-02 -1.73465179e-02 2.13418952e+02] [ 7.41136635e-02 9.97249760e-01 -2.83159446e-04 3.00440744e+00] [ 1.73197950e-02 -1.00327588e-03 9.99849498e-01 1.91462753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86925415399998 meters Centerline goodness [0,1] 0.9987404219586439 Centerline is valid? [True, True] Translation: X:213.45, Y:3.00, Z:1.91 [[ 9.96745014e-01 -7.86195620e-02 -1.78421480e-02 2.13448958e+02] [ 7.86269106e-02 9.96904070e-01 -2.90337836e-04 3.00056843e+00] [ 1.78097362e-02 -1.11348019e-03 9.99840774e-01 1.91421412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89925415399998 meters Centerline goodness [0,1] 0.9986773319896706 Centerline is valid? [True, True] Translation: X:213.48, Y:3.00, Z:1.91 [[ 9.96631324e-01 -7.99568109e-02 -1.82458873e-02 2.13480799e+02] [ 7.99647306e-02 9.96797650e-01 -2.96274040e-04 2.99985361e+00] [ 1.82111467e-02 -1.16375147e-03 9.99833486e-01 1.91388338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92925415399998 meters Centerline goodness [0,1] 0.9988043797457734 Centerline is valid? [True, True] Translation: X:213.51, Y:3.00, Z:1.92 [[ 9.96569658e-01 -8.08287688e-02 -1.77658757e-02 2.13512872e+02] [ 8.08364345e-02 9.96727339e-01 -2.87390441e-04 3.00122318e+00] [ 1.77309635e-02 -1.14972546e-03 9.99842133e-01 1.91634375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95925415399998 meters Centerline goodness [0,1] 0.9986356862498164 Centerline is valid? [True, True] Translation: X:213.54, Y:3.00, Z:1.92 [[ 9.96530127e-01 -8.12845840e-02 -1.79031166e-02 2.13543643e+02] [ 8.12924621e-02 9.96690249e-01 -2.88478283e-04 3.00209927e+00] [ 1.78673106e-02 -1.16791113e-03 9.99839685e-01 1.91701377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98925415399998 meters Centerline goodness [0,1] 0.9991600697142137 Centerline is valid? [True, True] Translation: X:213.58, Y:3.00, Z:1.92 [[ 9.96554866e-01 -8.09413097e-02 -1.80804730e-02 2.13575847e+02] [ 8.09493088e-02 9.96718177e-01 -2.90209246e-04 3.00439380e+00] [ 1.80446260e-02 -1.17439236e-03 9.99836493e-01 1.91779688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01925415399998 meters Centerline goodness [0,1] 0.9990336946475086 Centerline is valid? [True, True] Translation: X:213.61, Y:3.01, Z:1.92 [[ 9.96610560e-01 -8.02607780e-02 -1.80443450e-02 2.13606845e+02] [ 8.02686544e-02 9.96773224e-01 -2.88502000e-04 3.00533226e+00] [ 1.80092753e-02 -1.16087115e-03 9.99837146e-01 1.91703493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04925415399998 meters Centerline goodness [0,1] 0.9988273724767569 Centerline is valid? [True, True] Translation: X:213.64, Y:3.01, Z:1.92 [[ 9.96730858e-01 -7.88929556e-02 -1.74211741e-02 2.13637766e+02] [ 7.89001024e-02 9.96882489e-01 -2.77775238e-04 3.00711673e+00] [ 1.73887779e-02 -1.09766527e-03 9.99848201e-01 1.91867845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07925415399998 meters Centerline goodness [0,1] 0.9985735562501311 Centerline is valid? [True, True] Translation: X:213.67, Y:3.01, Z:1.92 [[ 9.96808251e-01 -7.79811984e-02 -1.70951206e-02 2.13669762e+02] [ 7.79879613e-02 9.96954264e-01 -2.71712623e-04 3.01118735e+00] [ 1.70642418e-02 -1.06236822e-03 9.99853831e-01 1.91991753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10925415399998 meters Centerline goodness [0,1] 0.9987405805923469 Centerline is valid? [True, True] Translation: X:213.70, Y:3.01, Z:1.92 [[ 9.96880966e-01 -7.71331344e-02 -1.66978959e-02 2.13700686e+02] [ 7.71394851e-02 9.97020276e-01 -2.64376362e-04 3.01246698e+00] [ 1.66685329e-02 -1.02451533e-03 9.99860545e-01 1.92032137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13925415399999 meters Centerline goodness [0,1] 0.9989511883036519 Centerline is valid? [True, True] Translation: X:213.73, Y:3.03, Z:1.92 [[ 9.97032197e-01 -7.51427753e-02 -1.67440030e-02 2.13731722e+02] [ 7.51488943e-02 9.97172289e-01 -2.64338416e-04 3.02627854e+00] [ 1.67165189e-02 -9.94739397e-04 9.99859774e-01 1.92170723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.169254154 meters Centerline goodness [0,1] 0.998948851094246 Centerline is valid? [True, True] Translation: X:213.76, Y:3.03, Z:1.92 [[ 9.97097742e-01 -7.41848874e-02 -1.71083408e-02 2.13764131e+02] [ 7.41911511e-02 9.97244003e-01 -2.69153124e-04 3.02821995e+00] [ 1.70811574e-02 -1.00091553e-03 9.99853605e-01 1.92184714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199254154 meters Centerline goodness [0,1] 0.9988642099949521 Centerline is valid? [True, True] Translation: X:213.80, Y:3.03, Z:1.92 [[ 9.97190617e-01 -7.29115296e-02 -1.71692263e-02 2.13795262e+02] [ 7.29176816e-02 9.97337927e-01 -2.68260323e-04 3.02997568e+00] [ 1.71430798e-02 -9.84433501e-04 9.99852562e-01 1.92187805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.229254154 meters Centerline goodness [0,1] 0.9985271529867233 Centerline is valid? [True, True] Translation: X:213.83, Y:3.04, Z:1.92 [[ 9.97401894e-01 -6.97769323e-02 -1.79064813e-02 2.13827183e+02] [ 6.97831581e-02 9.97562145e-01 -2.77677882e-04 3.03671152e+00] [ 1.78822034e-02 -9.72614372e-04 9.99839628e-01 1.92168179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259254154 meters Centerline goodness [0,1] 0.9986533970164327 Centerline is valid? [True, True] Translation: X:213.86, Y:3.04, Z:1.92 [[ 9.97524350e-01 -6.79259743e-02 -1.81997888e-02 2.13858072e+02] [ 6.79321179e-02 9.97689906e-01 -2.81163323e-04 3.03845478e+00] [ 1.81768439e-02 -9.55882939e-04 9.99834331e-01 1.92166014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.289254154 meters Centerline goodness [0,1] 0.9984422036502958 Centerline is valid? [True, True] Translation: X:213.89, Y:3.04, Z:1.92 [[ 9.97675770e-01 -6.54240614e-02 -1.90459824e-02 2.13889379e+02] [ 6.54303487e-02 9.97857096e-01 -2.93518644e-04 3.04235731e+00] [ 1.90243718e-02 -9.53348829e-04 9.99818566e-01 1.92037758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31925415399996 meters Centerline goodness [0,1] 0.9988828935165669 Centerline is valid? [True, True] Translation: X:213.92, Y:3.05, Z:1.92 [[ 9.97812352e-01 -6.34622932e-02 -1.85215461e-02 2.13920455e+02] [ 6.34679141e-02 9.97983839e-01 -2.84767695e-04 3.04635208e+00] [ 1.85022757e-02 -8.91379171e-04 9.99828421e-01 1.92269559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34925415399996 meters Centerline goodness [0,1] 0.9988828935165669 Centerline is valid? [True, True] Translation: X:213.95, Y:3.05, Z:1.92 [[ 9.97816967e-01 -6.33896806e-02 -1.85215615e-02 2.13952179e+02] [ 6.33953077e-02 9.97988454e-01 -2.83759173e-04 3.04677792e+00] [ 1.85022920e-02 -8.91040375e-04 9.99828421e-01 1.92299273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37925415399997 meters Centerline goodness [0,1] 0.9987317691819911 Centerline is valid? [True, True] Translation: X:213.98, Y:3.05, Z:1.92 [[ 9.98152321e-01 -5.77089301e-02 -1.90164127e-02 2.13982367e+02] [ 5.77138481e-02 9.98333124e-01 -2.90541746e-04 3.05410521e+00] [ 1.90014816e-02 -8.07505439e-04 9.99819129e-01 1.92256714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40925415399997 meters Centerline goodness [0,1] 0.9987747169173568 Centerline is valid? [True, True] Translation: X:214.01, Y:3.06, Z:1.92 [[ 9.98297952e-01 -5.51578877e-02 -1.89422003e-02 2.14014182e+02] [ 5.51623205e-02 9.98477358e-01 -2.88795219e-04 3.05727853e+00] [ 1.89292874e-02 -7.56592048e-04 9.99820539e-01 1.92337675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43925415399997 meters Centerline goodness [0,1] 0.9985691139027418 Centerline is valid? [True, True] Translation: X:214.04, Y:3.06, Z:1.92 [[ 9.98467809e-01 -5.17880684e-02 -1.94943895e-02 2.14044785e+02] [ 5.17921393e-02 9.98657843e-01 -2.96330903e-04 3.06052289e+00] [ 1.94835713e-02 -7.13779267e-04 9.99809922e-01 1.92304367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46925415399997 meters Centerline goodness [0,1] 0.9988139613690274 Centerline is valid? [True, True] Translation: X:214.07, Y:3.07, Z:1.92 [[ 9.98784728e-01 -4.49699714e-02 -2.01685040e-02 2.14074562e+02] [ 4.49729470e-02 9.98988158e-01 -3.06231119e-04 3.06787541e+00] [ 2.01618678e-02 -6.01178095e-04 9.99796548e-01 1.92256148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49925415399997 meters Centerline goodness [0,1] 0.9987067503392131 Centerline is valid? [True, True] Translation: X:214.11, Y:3.07, Z:1.92 [[ 9.98951536e-01 -4.10044351e-02 -2.03584356e-02 2.14105507e+02] [ 4.10066481e-02 9.99158826e-01 -3.08923268e-04 3.07217587e+00] [ 2.03539779e-02 -5.26231831e-04 9.99792698e-01 1.92278073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52925415399997 meters Centerline goodness [0,1] 0.9986227938216412 Centerline is valid? [True, True] Translation: X:214.14, Y:3.08, Z:1.92 [[ 9.99112753e-01 -3.68655242e-02 -2.03627145e-02 2.14135536e+02] [ 3.68668822e-02 9.99320138e-01 -3.08824814e-04 3.07642976e+00] [ 2.03602557e-02 -4.42158989e-04 9.99792611e-01 1.92292834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55925415399997 meters Centerline goodness [0,1] 0.9987689172839769 Centerline is valid? [True, True] Translation: X:214.17, Y:3.08, Z:1.92 [[ 9.99259934e-01 -3.26923971e-02 -2.02680058e-02 2.14165762e+02] [ 3.26928844e-02 9.99465398e-01 -3.07388443e-04 3.08090180e+00] [ 2.02672197e-02 -3.55458615e-04 9.99794536e-01 1.92388935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58925415399997 meters Centerline goodness [0,1] 0.9987661674608578 Centerline is valid? [True, True] Translation: X:214.20, Y:3.09, Z:1.93 [[ 9.99524881e-01 -2.45335416e-02 -1.86578834e-02 2.14195289e+02] [ 2.45325301e-02 9.99698992e-01 -2.83127619e-04 3.08856036e+00] [ 1.86592134e-02 -1.74731987e-04 9.99825886e-01 1.92575333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61925415399998 meters Centerline goodness [0,1] 0.9989791143817262 Centerline is valid? [True, True] Translation: X:214.22, Y:3.09, Z:1.93 [[ 9.99632916e-01 -2.09908868e-02 -1.71294003e-02 2.14224199e+02] [ 2.09894800e-02 9.99779662e-01 -2.61921200e-04 3.09196832e+00] [ 1.71311240e-02 -9.77121529e-05 9.99853247e-01 1.92733495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64925415399998 meters Centerline goodness [0,1] 0.9987867952238043 Centerline is valid? [True, True] Translation: X:214.25, Y:3.09, Z:1.93 [[ 9.99699909e-01 -1.81475378e-02 -1.64547273e-02 2.14253241e+02] [ 1.81457900e-02 9.99835319e-01 -2.55522643e-04 3.09495206e+00] [ 1.64566546e-02 -4.31380634e-05 9.99864579e-01 1.92892427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67925415399998 meters Centerline goodness [0,1] 0.9987457482993197 Centerline is valid? [True, True] Translation: X:214.28, Y:3.10, Z:1.93 [[ 9.99784212e-01 -1.39714159e-02 -1.53729947e-02 2.14282151e+02] [ 1.39693396e-02 9.99902395e-01 -2.42439385e-04 3.09752137e+00] [ 1.53748814e-02 2.76364864e-05 9.99881799e-01 1.93005423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70925415399998 meters Centerline goodness [0,1] 0.9989361023044024 Centerline is valid? [True, True] Translation: X:214.31, Y:3.10, Z:1.93 [[ 9.99805839e-01 -1.30378710e-02 -1.47749169e-02 2.14309753e+02] [ 1.30357948e-02 9.99915002e-01 -2.36825432e-04 3.09813450e+00] [ 1.47767488e-02 4.41766651e-05 9.99890817e-01 1.93011714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73925415399998 meters Centerline goodness [0,1] 0.9988737063561213 Centerline is valid? [True, True] Translation: X:214.34, Y:3.10, Z:1.93 [[ 9.99802886e-01 -1.29469268e-02 -1.50521338e-02 2.14337925e+02] [ 1.29446960e-02 9.99916184e-01 -2.45630908e-04 3.09819997e+00] [ 1.50540524e-02 5.07371941e-05 9.99886680e-01 1.92990793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76925415399998 meters Centerline goodness [0,1] 0.9988951684868057 Centerline is valid? [True, True] Translation: X:214.37, Y:3.10, Z:1.93 [[ 9.99795114e-01 -1.34311402e-02 -1.51437735e-02 2.14365384e+02] [ 1.34288860e-02 9.99909797e-01 -2.50535391e-04 3.09749923e+00] [ 1.51457725e-02 4.71200509e-05 9.99885295e-01 1.92948585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79925415399998 meters Centerline goodness [0,1] 0.9990036884724637 Centerline is valid? [True, True] Translation: X:214.39, Y:3.09, Z:1.93 [[ 9.99725403e-01 -1.65920204e-02 -1.65476347e-02 2.14393461e+02] [ 1.65897305e-02 9.99862343e-01 -2.75655586e-04 3.09322749e+00] [ 1.65499305e-02 1.05909285e-06 9.99863041e-01 1.92765714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82925415399998 meters Centerline goodness [0,1] 0.9987912460768513 Centerline is valid? [True, True] Translation: X:214.42, Y:3.09, Z:1.93 [[ 9.99670816e-01 -1.91878624e-02 -1.70319125e-02 2.14421361e+02] [ 1.91857626e-02 9.99815895e-01 -2.86692717e-04 3.09054363e+00] [ 1.70342778e-02 -4.01718868e-05 9.99854905e-01 1.92689435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85925415399998 meters Centerline goodness [0,1] 0.9987511377346908 Centerline is valid? [True, True] Translation: X:214.45, Y:3.09, Z:1.93 [[ 9.99605004e-01 -2.20414966e-02 -1.74358361e-02 2.14449750e+02] [ 2.20396478e-02 9.99757053e-01 -2.98205682e-04 3.08812595e+00] [ 1.74381730e-02 -8.61917954e-05 9.99847940e-01 1.92732762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88925415399999 meters Centerline goodness [0,1] 0.9987954353338969 Centerline is valid? [True, True] Translation: X:214.48, Y:3.08, Z:1.93 [[ 9.99462539e-01 -2.79720194e-02 -1.70938295e-02 2.14478720e+02] [ 2.79710357e-02 9.99608690e-01 -2.96670052e-04 3.08204237e+00] [ 1.70954390e-02 -1.81621512e-04 9.99853846e-01 1.92731906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.919254154 meters Centerline goodness [0,1] 0.9988418858309995 Centerline is valid? [True, True] Translation: X:214.51, Y:3.08, Z:1.93 [[ 9.99390354e-01 -3.05337461e-02 -1.69295604e-02 2.14508709e+02] [ 3.05331202e-02 9.99533712e-01 -2.95505743e-04 3.07873704e+00] [ 1.69306892e-02 -2.21586712e-04 9.99856641e-01 1.92757556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.949254154 meters Centerline goodness [0,1] 0.9987384091339179 Centerline is valid? [True, True] Translation: X:214.54, Y:3.08, Z:1.93 [[ 9.99315150e-01 -3.30940877e-02 -1.65533276e-02 2.14539210e+02] [ 3.30938542e-02 9.99452207e-01 -2.88108684e-04 3.07596647e+00] [ 1.65537945e-02 -2.59902036e-04 9.99862943e-01 1.92782716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979254154 meters Centerline goodness [0,1] 0.9988639710522994 Centerline is valid? [True, True] Translation: X:214.57, Y:3.07, Z:1.93 [[ 9.99239438e-01 -3.54486479e-02 -1.62462008e-02 2.14570282e+02] [ 3.54487380e-02 9.99371456e-01 -2.82515163e-04 3.07409822e+00] [ 1.62460041e-02 -2.93607023e-04 9.99867982e-01 1.92884582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.009254154 meters Centerline goodness [0,1] 0.9987589920491355 Centerline is valid? [True, True] Translation: X:214.60, Y:3.07, Z:1.93 [[ 9.99076711e-01 -4.02639069e-02 -1.49847552e-02 2.14601903e+02] [ 4.02645326e-02 9.99189021e-01 -2.60064082e-04 3.06828274e+00] [ 1.49830740e-02 -3.43530194e-04 9.99887688e-01 1.92978486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039254154 meters Centerline goodness [0,1] 0.9988239494298254 Centerline is valid? [True, True] Translation: X:214.63, Y:3.07, Z:1.93 [[ 9.98978352e-01 -4.27321852e-02 -1.47041574e-02 2.14634200e+02] [ 4.27330655e-02 9.99086493e-01 -2.54467547e-04 3.06589715e+00] [ 1.47015990e-02 -3.74146151e-04 9.99891856e-01 1.93033214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06925415399996 meters Centerline goodness [0,1] 0.99888674172408 Centerline is valid? [True, True] Translation: X:214.67, Y:3.06, Z:1.93 [[ 9.98883021e-01 -4.49739560e-02 -1.44932189e-02 2.14666257e+02] [ 4.49750623e-02 9.98988079e-01 -2.49754957e-04 3.06338704e+00] [ 1.44897854e-02 -4.02357439e-04 9.99894937e-01 1.93065687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09925415399996 meters Centerline goodness [0,1] 0.9986561679790026 Centerline is valid? [True, True] Translation: X:214.70, Y:3.06, Z:1.93 [[ 9.98627142e-01 -5.02110846e-02 -1.49223902e-02 2.14697939e+02] [ 5.02128552e-02 9.98738506e-01 -2.56228399e-04 3.05715802e+00] [ 1.49164312e-02 -4.93419187e-04 9.99888622e-01 1.92953758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12925415399997 meters Centerline goodness [0,1] 0.998907448261372 Centerline is valid? [True, True] Translation: X:214.73, Y:3.05, Z:1.93 [[ 9.98452422e-01 -5.33433578e-02 -1.57241200e-02 2.14729613e+02] [ 5.33457210e-02 9.98576067e-01 -2.69396793e-04 3.05410410e+00] [ 1.57161004e-02 -5.69834639e-04 9.99876332e-01 1.92956780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15925415399997 meters Centerline goodness [0,1] 0.9985273079188757 Centerline is valid? [True, True] Translation: X:214.76, Y:3.05, Z:1.93 [[ 9.98246250e-01 -5.71538831e-02 -1.54226394e-02 2.14759284e+02] [ 5.71566158e-02 9.98365190e-01 -2.63893927e-04 3.05100417e+00] [ 1.54125089e-02 -6.18074751e-04 9.99881029e-01 1.93013027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18925415399997 meters Centerline goodness [0,1] 0.9985914604662897 Centerline is valid? [True, True] Translation: X:214.79, Y:3.05, Z:1.93 [[ 9.98021560e-01 -6.07446642e-02 -1.62188449e-02 2.14790758e+02] [ 6.07481637e-02 9.98153086e-01 -2.77267984e-04 3.04826170e+00] [ 1.62057327e-02 -7.08545621e-04 9.99868427e-01 1.92993803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21925415399997 meters Centerline goodness [0,1] 0.9987416635208255 Centerline is valid? [True, True] Translation: X:214.82, Y:3.04, Z:1.93 [[ 9.97534495e-01 -6.80429983e-02 -1.71779546e-02 2.14822058e+02] [ 6.80480128e-02 9.97682004e-01 -2.93098844e-04 3.04235924e+00] [ 1.71580795e-02 -8.76549466e-04 9.99852405e-01 1.92965515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24925415399997 meters Centerline goodness [0,1] 0.9985756477660711 Centerline is valid? [True, True] Translation: X:214.85, Y:3.04, Z:1.93 [[ 9.97281520e-01 -7.12819447e-02 -1.86669292e-02 2.14852280e+02] [ 7.12884371e-02 9.97455692e-01 -3.18238568e-04 3.03753418e+00] [ 1.86421195e-02 -1.01336277e-03 9.99825707e-01 1.92773530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27925415399997 meters Centerline goodness [0,1] 0.9984045344809489 Centerline is valid? [True, True] Translation: X:214.88, Y:3.04, Z:1.93 [[ 9.97042084e-01 -7.46930012e-02 -1.81118020e-02 2.14883108e+02] [ 7.46996804e-02 9.97206028e-01 -3.08417708e-04 3.03538448e+00] [ 1.80842347e-02 -1.04544038e-03 9.99835920e-01 1.92865830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30925415399997 meters Centerline goodness [0,1] 0.9984675133830166 Centerline is valid? [True, True] Translation: X:214.91, Y:3.03, Z:1.93 [[ 9.96838248e-01 -7.70418321e-02 -1.94438766e-02 2.14913407e+02] [ 7.70499869e-02 9.97027176e-01 -3.30511163e-04 3.03271064e+00] [ 1.94115365e-02 -1.16868427e-03 9.99810895e-01 1.92762347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33925415399997 meters Centerline goodness [0,1] 0.99859220036981 Centerline is valid? [True, True] Translation: X:214.94, Y:3.03, Z:1.93 [[ 9.96565092e-01 -8.05781755e-02 -1.91095568e-02 2.14944569e+02] [ 8.05867060e-02 9.96747550e-01 -3.24491590e-04 3.03114034e+00] [ 1.90735508e-02 -1.21659924e-03 9.99817343e-01 1.92855666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36925415399998 meters Centerline goodness [0,1] 0.9985719685833089 Centerline is valid? [True, True] Translation: X:214.98, Y:3.03, Z:1.93 [[ 9.96546728e-01 -8.08690031e-02 -1.88367622e-02 2.14976417e+02] [ 8.08773592e-02 9.96724009e-01 -3.19024438e-04 3.03184736e+00] [ 1.88008523e-02 -1.20554482e-03 9.99822522e-01 1.92929734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39925415399998 meters Centerline goodness [0,1] 0.9983612756838522 Centerline is valid? [True, True] Translation: X:215.01, Y:3.03, Z:1.93 [[ 9.96584491e-01 -8.03829272e-02 -1.89192411e-02 2.15007841e+02] [ 8.03912915e-02 9.96763331e-01 -3.19250127e-04 3.03202341e+00] [ 1.88836680e-02 -1.20278250e-03 9.99820964e-01 1.92984138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42925415399998 meters Centerline goodness [0,1] 0.9981490829547367 Centerline is valid? [True, True] Translation: X:215.04, Y:3.04, Z:1.93 [[ 9.96832546e-01 -7.72574196e-02 -1.88723722e-02 2.15038848e+02] [ 7.72651977e-02 9.97010526e-01 -3.17755084e-04 3.03761897e+00] [ 1.88405027e-02 -1.14142896e-03 9.99821850e-01 1.93056953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45925415399998 meters Centerline goodness [0,1] 0.998275209288629 Centerline is valid? [True, True] Translation: X:215.07, Y:3.05, Z:1.93 [[ 9.97024161e-01 -7.47533457e-02 -1.88350677e-02 2.15069942e+02] [ 7.47606582e-02 9.97201456e-01 -3.16571558e-04 3.04593796e+00] [ 1.88060218e-02 -1.09249257e-03 9.99822554e-01 1.93171890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48925415399998 meters Centerline goodness [0,1] 0.9984656129140743 Centerline is valid? [True, True] Translation: X:215.10, Y:3.05, Z:1.93 [[ 9.97205806e-01 -7.21645493e-02 -1.93095164e-02 2.15100899e+02] [ 7.21717650e-02 9.97392165e-01 -3.23829914e-04 3.04761627e+00] [ 1.92825294e-02 -1.07067681e-03 9.99813501e-01 1.93194128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51925415399998 meters Centerline goodness [0,1] 0.998382013027947 Centerline is valid? [True, True] Translation: X:215.13, Y:3.06, Z:1.93 [[ 9.97557887e-01 -6.73909678e-02 -1.83499254e-02 2.15131475e+02] [ 6.73966855e-02 9.97726211e-01 -3.07349090e-04 3.05638661e+00] [ 1.83289141e-02 -9.30125644e-04 9.99831579e-01 1.93329950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54925415399998 meters Centerline goodness [0,1] 0.998530060267529 Centerline is valid? [True, True] Translation: X:215.16, Y:3.06, Z:1.93 [[ 9.97727722e-01 -6.47472921e-02 -1.86328173e-02 2.15162202e+02] [ 6.47527350e-02 9.97901291e-01 -3.11683531e-04 3.05691042e+00] [ 1.86138931e-02 -8.95550583e-04 9.99826345e-01 1.93317886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57925415399998 meters Centerline goodness [0,1] 0.9987372142947342 Centerline is valid? [True, True] Translation: X:215.19, Y:3.06, Z:1.93 [[ 9.97880059e-01 -6.23680211e-02 -1.85907785e-02 2.15193371e+02] [ 6.23730400e-02 9.98052858e-01 -3.10306223e-04 3.06285400e+00] [ 1.85739328e-02 -8.49914977e-04 9.99827128e-01 1.93431062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60925415399998 meters Centerline goodness [0,1] 0.9985261296163725 Centerline is valid? [True, True] Translation: X:215.22, Y:3.07, Z:1.94 [[ 9.98025828e-01 -5.99902467e-02 -1.85907923e-02 2.15224824e+02] [ 5.99948666e-02 9.98198638e-01 -3.09622711e-04 3.06901924e+00] [ 1.85758779e-02 -8.06340644e-04 9.99827128e-01 1.93528029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63925415399999 meters Centerline goodness [0,1] 0.9985908679832587 Centerline is valid? [True, True] Translation: X:215.25, Y:3.07, Z:1.94 [[ 9.98287705e-01 -5.52854708e-02 -1.91095615e-02 2.15254582e+02] [ 5.52894985e-02 9.98470315e-01 -3.17903266e-04 3.07418305e+00] [ 1.90979054e-02 -7.39199152e-04 9.99817345e-01 1.93538290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.669254154 meters Centerline goodness [0,1] 0.9986116662109005 Centerline is valid? [True, True] Translation: X:215.29, Y:3.08, Z:1.94 [[ 9.98418179e-01 -5.28610228e-02 -1.91533806e-02 2.15286030e+02] [ 5.28646303e-02 9.98601637e-01 -3.18269867e-04 3.07909248e+00] [ 1.91434213e-02 -6.94769962e-04 9.99816507e-01 1.93602241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699254154 meters Centerline goodness [0,1] 0.9985474907376221 Centerline is valid? [True, True] Translation: X:215.32, Y:3.07, Z:1.93 [[ 9.98556071e-01 -5.00983892e-02 -1.93887695e-02 2.15316594e+02] [ 5.01015761e-02 9.98744076e-01 -3.21647627e-04 3.07405877e+00] [ 1.93805327e-02 -6.50224720e-04 9.99811968e-01 1.93375518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.729254154 meters Centerline goodness [0,1] 0.9986729578295488 Centerline is valid? [True, True] Translation: X:215.35, Y:3.09, Z:1.94 [[ 9.98844913e-01 -4.39297399e-02 -1.94684028e-02 2.15347075e+02] [ 4.39317893e-02 9.99034481e-01 -3.22608206e-04 3.09202161e+00] [ 1.94637778e-02 -5.33046207e-04 9.99810421e-01 1.93773028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759254154 meters Centerline goodness [0,1] 0.9984815892698975 Centerline is valid? [True, True] Translation: X:215.38, Y:3.09, Z:1.94 [[ 9.98985381e-01 -4.06483314e-02 -1.93886801e-02 2.15377454e+02] [ 4.06497534e-02 9.99173406e-01 -3.20926597e-04 3.09469884e+00] [ 1.93856987e-02 -4.67544086e-04 9.99811970e-01 1.93739246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.789254154 meters Centerline goodness [0,1] 0.998689300890007 Centerline is valid? [True, True] Translation: X:215.41, Y:3.10, Z:1.94 [[ 9.99228873e-01 -3.38873697e-02 -1.98319458e-02 2.15408320e+02] [ 3.38875303e-02 9.99425599e-01 -3.28064269e-04 3.10418073e+00] [ 1.98316715e-02 -3.44244372e-04 9.99803274e-01 1.93814013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81925415399996 meters Centerline goodness [0,1] 0.998898678414097 Centerline is valid? [True, True] Translation: X:215.44, Y:3.11, Z:1.94 [[ 9.99417484e-01 -2.80555819e-02 -1.94313470e-02 2.15438485e+02] [ 2.80546342e-02 9.99606340e-01 -3.21418482e-04 3.11111675e+00] [ 1.94327153e-02 -2.23908084e-04 9.99811142e-01 1.93863572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84925415399996 meters Centerline goodness [0,1] 0.998898678414097 Centerline is valid? [True, True] Translation: X:215.47, Y:3.11, Z:1.94 [[ 9.99416465e-01 -2.80918660e-02 -1.94313410e-02 2.15467637e+02] [ 2.80909181e-02 9.99605321e-01 -3.21783861e-04 3.11162856e+00] [ 1.94327113e-02 -2.24248118e-04 9.99811142e-01 1.93890886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87925415399997 meters Centerline goodness [0,1] 0.9990878428544154 Centerline is valid? [True, True] Translation: X:215.50, Y:3.11, Z:1.94 [[ 9.99484406e-01 -2.58627562e-02 -1.90273630e-02 2.15497475e+02] [ 2.58614387e-02 9.99665487e-01 -3.15340590e-04 3.11474986e+00] [ 1.90291537e-02 -1.76896981e-04 9.99818914e-01 1.93931519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90925415399997 meters Centerline goodness [0,1] 0.9991075602396838 Centerline is valid? [True, True] Translation: X:215.53, Y:3.12, Z:1.94 [[ 9.99531826e-01 -2.40184694e-02 -1.89536760e-02 2.15527121e+02] [ 2.40168255e-02 9.99711505e-01 -3.14382619e-04 3.11762649e+00] [ 1.89557590e-02 -1.40971698e-04 9.99820314e-01 1.93977360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93925415399997 meters Centerline goodness [0,1] 0.9987878787878788 Centerline is valid? [True, True] Translation: X:215.56, Y:3.12, Z:1.94 [[ 9.99562838e-01 -2.26463003e-02 -1.90073244e-02 2.15555643e+02] [ 2.26443457e-02 9.99743533e-01 -3.18080827e-04 3.12020634e+00] [ 1.90096530e-02 -1.12466650e-04 9.99819294e-01 1.94024283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96925415399997 meters Centerline goodness [0,1] 0.9987219358411792 Centerline is valid? [True, True] Translation: X:215.58, Y:3.12, Z:1.94 [[ 9.99605952e-01 -2.08449267e-02 -1.87997140e-02 2.15583804e+02] [ 2.08426353e-02 9.99782718e-01 -3.17833593e-04 3.12465940e+00] [ 1.88022544e-02 -7.41272322e-05 9.99823219e-01 1.94075273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99925415399997 meters Centerline goodness [0,1] 0.9987637743248716 Centerline is valid? [True, True] Translation: X:215.61, Y:3.13, Z:1.94 [[ 9.99619190e-01 -2.04185244e-02 -1.85623132e-02 2.15611998e+02] [ 2.04161526e-02 9.99791518e-01 -3.17287290e-04 3.12670072e+00] [ 1.85649219e-02 -6.18045566e-05 9.99827655e-01 1.94110805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02925415399997 meters Centerline goodness [0,1] 0.998912579957356 Centerline is valid? [True, True] Translation: X:215.64, Y:3.13, Z:1.94 [[ 9.99623229e-01 -2.06259763e-02 -1.81099191e-02 2.15640140e+02] [ 2.06236914e-02 9.99787260e-01 -3.12940496e-04 3.12790405e+00] [ 1.81125211e-02 -6.06707926e-05 9.99835953e-01 1.94149622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05925415399997 meters Centerline goodness [0,1] 0.9989749065670048 Centerline is valid? [True, True] Translation: X:215.67, Y:3.13, Z:1.94 [[ 9.99607870e-01 -2.13712423e-02 -1.80935387e-02 2.15668703e+02] [ 2.13690288e-02 9.99771606e-01 -3.15689731e-04 3.12796411e+00] [ 1.80961530e-02 -7.10754100e-05 9.99836249e-01 1.94196154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08925415399997 meters Centerline goodness [0,1] 0.9988699842224212 Centerline is valid? [True, True] Translation: X:215.70, Y:3.13, Z:1.94 [[ 9.99585927e-01 -2.25210075e-02 -1.79102959e-02 2.15697628e+02] [ 2.25189427e-02 9.99746366e-01 -3.16978436e-04 3.12776586e+00] [ 1.79128920e-02 -8.64737449e-05 9.99839548e-01 1.94238728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11925415399998 meters Centerline goodness [0,1] 0.9988461538461538 Centerline is valid? [True, True] Translation: X:215.73, Y:3.13, Z:1.94 [[ 9.99555438e-01 -2.40913534e-02 -1.75650816e-02 2.15725957e+02] [ 2.40895335e-02 9.99709755e-01 -3.15212937e-04 3.12762212e+00] [ 1.75675773e-02 -1.08061817e-04 9.99845672e-01 1.94276925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14925415399998 meters Centerline goodness [0,1] 0.9989752348420153 Centerline is valid? [True, True] Translation: X:215.76, Y:3.13, Z:1.94 [[ 9.99524516e-01 -2.54918796e-02 -1.73466544e-02 2.15755836e+02] [ 2.54902708e-02 9.99675021e-01 -3.13875620e-04 3.12733682e+00] [ 1.73490184e-02 -1.28444540e-04 9.99849486e-01 1.94347427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17925415399998 meters Centerline goodness [0,1] 0.9989760218448673 Centerline is valid? [True, True] Translation: X:215.79, Y:3.13, Z:1.94 [[ 9.99442671e-01 -2.88601717e-02 -1.67761084e-02 2.15785185e+02] [ 2.88591339e-02 9.99583442e-01 -3.04001930e-04 3.12546798e+00] [ 1.67778937e-02 -1.80311456e-04 9.99859225e-01 1.94448812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20925415399998 meters Centerline goodness [0,1] 0.9987409572992467 Centerline is valid? [True, True] Translation: X:215.82, Y:3.12, Z:1.94 [[ 9.99390182e-01 -3.09034675e-02 -1.62554271e-02 2.15815083e+02] [ 3.09027607e-02 9.99522352e-01 -2.94725808e-04 3.12393107e+00] [ 1.62567708e-02 -2.07791494e-04 9.99867828e-01 1.94471991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23925415399998 meters Centerline goodness [0,1] 0.9987409572992467 Centerline is valid? [True, True] Translation: X:215.85, Y:3.12, Z:1.95 [[ 9.99391253e-01 -3.08688286e-02 -1.62554314e-02 2.15845926e+02] [ 3.08681211e-02 9.99523423e-01 -2.94487038e-04 3.12445855e+00] [ 1.62567749e-02 -2.07466854e-04 9.99867828e-01 1.94500891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26925415399998 meters Centerline goodness [0,1] 0.9986340547231827 Centerline is valid? [True, True] Translation: X:215.88, Y:3.12, Z:1.94 [[ 9.99324609e-01 -3.29371859e-02 -1.62931666e-02 2.15877382e+02] [ 3.29367591e-02 9.99457394e-01 -2.94606503e-04 3.12241457e+00] [ 1.62940293e-02 -2.42236573e-04 9.99867214e-01 1.94480709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29925415399998 meters Centerline goodness [0,1] 0.9986411889596603 Centerline is valid? [True, True] Translation: X:215.91, Y:3.12, Z:1.94 [[ 9.99187031e-01 -3.68166893e-02 -1.64258718e-02 2.15907865e+02] [ 3.68167868e-02 9.99321988e-01 -2.96559927e-04 3.11724185e+00] [ 1.64256533e-02 -3.08428988e-04 9.99865042e-01 1.94385941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32925415399998 meters Centerline goodness [0,1] 0.9986182560265295 Centerline is valid? [True, True] Translation: X:215.94, Y:3.12, Z:1.94 [[ 9.99134062e-01 -3.82954781e-02 -1.62660109e-02 2.15939925e+02] [ 3.82957798e-02 9.99266405e-01 -2.93045928e-04 3.11521464e+00] [ 1.62653005e-02 -3.30127401e-04 9.99867657e-01 1.94368924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35925415399998 meters Centerline goodness [0,1] 0.9982969664715274 Centerline is valid? [True, True] Translation: X:215.97, Y:3.11, Z:1.94 [[ 9.99072547e-01 -3.96707331e-02 -1.67415447e-02 2.15971995e+02] [ 3.96712651e-02 9.99212740e-01 -3.00454742e-04 3.11425960e+00] [ 1.67402840e-02 -3.63982174e-04 9.99859805e-01 1.94391215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38925415399999 meters Centerline goodness [0,1] 0.9985742557402166 Centerline is valid? [True, True] Translation: X:216.00, Y:3.11, Z:1.94 [[ 9.99043833e-01 -4.05534411e-02 -1.63351662e-02 2.16003902e+02] [ 4.05540835e-02 9.99177302e-01 -2.92061523e-04 3.11342417e+00] [ 1.63335714e-02 -3.70675430e-04 9.99866530e-01 1.94410258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.419254154 meters Centerline goodness [0,1] 0.9986839591602811 Centerline is valid? [True, True] Translation: X:216.04, Y:3.11, Z:1.94 [[ 9.98979650e-01 -4.18925536e-02 -1.68722533e-02 2.16036436e+02] [ 4.18934495e-02 9.99122039e-01 -3.00491675e-04 3.11111314e+00] [ 1.68700284e-02 -4.06651822e-04 9.99857608e-01 1.94393069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.449254154 meters Centerline goodness [0,1] 0.9985565697304182 Centerline is valid? [True, True] Translation: X:216.07, Y:3.11, Z:1.95 [[ 9.98932301e-01 -4.26610129e-02 -1.77283748e-02 2.16068247e+02] [ 4.26621460e-02 9.99089507e-01 -3.14449617e-04 3.11462579e+00] [ 1.77256480e-02 -4.42216635e-04 9.99842791e-01 1.94514562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479254154 meters Centerline goodness [0,1] 0.9987282207808724 Centerline is valid? [True, True] Translation: X:216.10, Y:3.11, Z:1.94 [[ 9.98920571e-01 -4.29827925e-02 -1.76117264e-02 2.16099397e+02] [ 4.29839904e-02 9.99075713e-01 -3.10693223e-04 3.10943144e+00] [ 1.76088026e-02 -4.46664429e-04 9.99844853e-01 1.94356487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.509254154 meters Centerline goodness [0,1] 0.9986264607062105 Centerline is valid? [True, True] Translation: X:216.13, Y:3.11, Z:1.94 [[ 9.98834782e-01 -4.46452326e-02 -1.83270494e-02 2.16130768e+02] [ 4.46468393e-02 9.99002781e-01 -3.21683334e-04 3.10538119e+00] [ 1.83231350e-02 -4.96936328e-04 9.99831994e-01 1.94234871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53925415399996 meters Centerline goodness [0,1] 0.9985839585755046 Centerline is valid? [True, True] Translation: X:216.16, Y:3.11, Z:1.94 [[ 9.98783249e-01 -4.55993341e-02 -1.87808973e-02 2.16162720e+02] [ 4.56012120e-02 9.98959670e-01 -3.28474639e-04 3.11017153e+00] [ 1.87763372e-02 -5.28356713e-04 9.99823569e-01 1.94429470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56925415399996 meters Centerline goodness [0,1] 0.9986455599762973 Centerline is valid? [True, True] Translation: X:216.19, Y:3.11, Z:1.94 [[ 9.98740844e-01 -4.66262341e-02 -1.85127001e-02 2.16194622e+02] [ 4.66282599e-02 9.98912259e-01 -3.22434736e-04 3.10939765e+00] [ 1.85075970e-02 -5.41186251e-04 9.99828573e-01 1.94445235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59925415399996 meters Centerline goodness [0,1] 0.9984974180987048 Centerline is valid? [True, True] Translation: X:216.23, Y:3.11, Z:1.95 [[ 9.98651488e-01 -4.84436216e-02 -1.86660205e-02 2.16226327e+02] [ 4.84460208e-02 9.98825750e-01 -3.23900411e-04 3.10839311e+00] [ 1.86597928e-02 -5.80830788e-04 9.99825722e-01 1.94512903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62925415399997 meters Centerline goodness [0,1] 0.998688912854998 Centerline is valid? [True, True] Translation: X:216.26, Y:3.11, Z:1.95 [[ 9.98611734e-01 -4.93386527e-02 -1.84472733e-02 2.16258878e+02] [ 4.93411702e-02 9.98781932e-01 -3.18926946e-04 3.10810239e+00] [ 1.84405386e-02 -5.91725858e-04 9.99829784e-01 1.94560926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65925415399997 meters Centerline goodness [0,1] 0.9986243677382489 Centerline is valid? [True, True] Translation: X:216.29, Y:3.11, Z:1.95 [[ 9.98582268e-01 -4.99115226e-02 -1.85011981e-02 2.16290833e+02] [ 4.99141782e-02 9.98753460e-01 -3.18497044e-04 3.10800847e+00] [ 1.84940323e-02 -6.05426598e-04 9.99828787e-01 1.94617186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68925415399997 meters Centerline goodness [0,1] 0.9985617293089956 Centerline is valid? [True, True] Translation: X:216.32, Y:3.11, Z:1.95 [[ 9.98530300e-01 -5.07434527e-02 -1.90352901e-02 2.16322842e+02] [ 5.07464421e-02 9.98711516e-01 -3.26262288e-04 3.10875669e+00] [ 1.90273192e-02 -6.40190470e-04 9.99818759e-01 1.94628381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71925415399997 meters Centerline goodness [0,1] 0.9985441809435396 Centerline is valid? [True, True] Translation: X:216.35, Y:3.11, Z:1.95 [[ 9.98401256e-01 -5.33673815e-02 -1.86240592e-02 2.16353721e+02] [ 5.33707181e-02 9.98574717e-01 -3.18187457e-04 3.10681590e+00] [ 1.86144955e-02 -6.76300656e-04 9.99826507e-01 1.94716699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74925415399997 meters Centerline goodness [0,1] 0.9986457605958653 Centerline is valid? [True, True] Translation: X:216.39, Y:3.11, Z:1.95 [[ 9.98325923e-01 -5.48024473e-02 -1.84944240e-02 2.16386086e+02] [ 5.48060025e-02 9.98496972e-01 -3.14940501e-04 3.10774278e+00] [ 1.84838859e-02 -6.99192182e-04 9.99828914e-01 1.94789735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77925415399997 meters Centerline goodness [0,1] 0.9986453592972802 Centerline is valid? [True, True] Translation: X:216.42, Y:3.10, Z:1.95 [[ 9.98245339e-01 -5.62776786e-02 -1.84137319e-02 2.16417089e+02] [ 5.62814835e-02 9.98414892e-01 -3.11932430e-04 3.10342118e+00] [ 1.84020990e-02 -7.24967054e-04 9.99830404e-01 1.94753669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80925415399997 meters Centerline goodness [0,1] 0.9986021095437794 Centerline is valid? [True, True] Translation: X:216.45, Y:3.10, Z:1.95 [[ 9.98163076e-01 -5.77245053e-02 -1.83944435e-02 2.16448826e+02] [ 5.77285740e-02 9.98332267e-01 -3.10157746e-04 3.10268580e+00] [ 1.83816702e-02 -7.52296984e-04 9.99830760e-01 1.94772126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83925415399997 meters Centerline goodness [0,1] 0.9985837490487867 Centerline is valid? [True, True] Translation: X:216.48, Y:3.11, Z:1.95 [[ 9.98016410e-01 -6.02101470e-02 -1.83843291e-02 2.16480803e+02] [ 6.02146538e-02 9.98185404e-01 -3.08813178e-04 3.10558603e+00] [ 1.83695627e-02 -7.98805395e-04 9.99830946e-01 1.94919993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86925415399998 meters Centerline goodness [0,1] 0.9985845568817999 Centerline is valid? [True, True] Translation: X:216.51, Y:3.10, Z:1.95 [[ 9.97964384e-01 -6.09560942e-02 -1.87468016e-02 2.16512179e+02] [ 6.09609349e-02 9.98140103e-01 -3.13669823e-04 3.10391695e+00] [ 1.87310546e-02 -8.29791243e-04 9.99824214e-01 1.94896410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89925415399998 meters Centerline goodness [0,1] 0.9985201784242014 Centerline is valid? [True, True] Translation: X:216.54, Y:3.11, Z:1.95 [[ 9.97939927e-01 -6.12544236e-02 -1.90734560e-02 2.16544738e+02] [ 6.12595126e-02 9.98121822e-01 -3.17891283e-04 3.10639777e+00] [ 1.90571049e-02 -8.51194214e-04 9.99818035e-01 1.94978806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92925415399998 meters Centerline goodness [0,1] 0.998561211967331 Centerline is valid? [True, True] Translation: X:216.58, Y:3.11, Z:1.95 [[ 9.97969518e-01 -6.08358342e-02 -1.88637717e-02 2.16576571e+02] [ 6.08407636e-02 9.98147436e-01 -3.12998504e-04 3.10912364e+00] [ 1.88478668e-02 -8.35323306e-04 9.99822014e-01 1.95020914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95925415399998 meters Centerline goodness [0,1] 0.9988799188469504 Centerline is valid? [True, True] Translation: X:216.61, Y:3.11, Z:1.95 [[ 9.98069860e-01 -5.90198700e-02 -1.93186213e-02 2.16607723e+02] [ 5.90247426e-02 9.98256469e-01 -3.18373651e-04 3.11086980e+00] [ 1.93037291e-02 -8.22517504e-04 9.99813327e-01 1.94984547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98925415399998 meters Centerline goodness [0,1] 0.9986861344804934 Centerline is valid? [True, True] Translation: X:216.64, Y:3.11, Z:1.95 [[ 9.98159472e-01 -5.74016010e-02 -1.95633309e-02 2.16639811e+02] [ 5.74063292e-02 9.98350846e-01 -3.20276382e-04 3.11244148e+00] [ 1.95494523e-02 -8.03372107e-04 9.99808568e-01 1.94960441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01925415399998 meters Centerline goodness [0,1] 0.9985799368389818 Centerline is valid? [True, True] Translation: X:216.67, Y:3.11, Z:1.95 [[ 9.98253520e-01 -5.57551772e-02 -1.95261258e-02 2.16671954e+02] [ 5.57596008e-02 9.98444173e-01 -3.18236119e-04 3.11486036e+00] [ 1.95134898e-02 -7.71088653e-04 9.99809296e-01 1.94990979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04925415399998 meters Centerline goodness [0,1] 0.9987300781001969 Centerline is valid? [True, True] Translation: X:216.70, Y:3.12, Z:1.95 [[ 9.98380862e-01 -5.34678297e-02 -1.94124893e-02 2.16703591e+02] [ 5.34717942e-02 9.98569311e-01 -3.15150896e-04 3.11735755e+00] [ 1.94015665e-02 -7.23380007e-04 9.99811510e-01 1.95040008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07925415399998 meters Centerline goodness [0,1] 0.9987921169739351 Centerline is valid? [True, True] Translation: X:216.73, Y:3.12, Z:1.95 [[ 9.98650355e-01 -4.85426837e-02 -1.84682402e-02 2.16733267e+02] [ 4.85454394e-02 9.98820930e-01 -2.99333663e-04 3.12272715e+00] [ 1.84609954e-02 -5.97619169e-04 9.99829403e-01 1.95133773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10925415399998 meters Centerline goodness [0,1] 0.9988759040488664 Centerline is valid? [True, True] Translation: X:216.77, Y:3.13, Z:1.95 [[ 9.98770778e-01 -4.61041133e-02 -1.82028432e-02 2.16765507e+02] [ 4.61063975e-02 9.98936491e-01 -2.94386003e-04 3.12700147e+00] [ 1.81970567e-02 -5.45243385e-04 9.99834271e-01 1.95233089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13925415399999 meters Centerline goodness [0,1] 0.9987450012762699 Centerline is valid? [True, True] Translation: X:216.80, Y:3.13, Z:1.95 [[ 9.99010374e-01 -4.11036768e-02 -1.69929558e-02 2.16797368e+02] [ 4.11049623e-02 9.99154796e-01 -2.73763385e-04 3.13152181e+00] [ 1.69898460e-02 -4.25002347e-04 9.99855572e-01 1.95265967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.169254154 meters Centerline goodness [0,1] 0.9987254381306426 Centerline is valid? [True, True] Translation: X:216.83, Y:3.13, Z:1.95 [[ 9.99098188e-01 -3.88311971e-02 -1.71741043e-02 2.16830011e+02] [ 3.88321980e-02 9.99245708e-01 -2.75316827e-04 3.13408775e+00] [ 1.71718409e-02 -3.91839677e-04 9.99852476e-01 1.95311374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199254154 meters Centerline goodness [0,1] 0.9988960363458803 Centerline is valid? [True, True] Translation: X:216.86, Y:3.14, Z:1.95 [[ 9.99175813e-01 -3.67471235e-02 -1.72436430e-02 2.16860871e+02] [ 3.67478473e-02 9.99324532e-01 -2.74983373e-04 3.13568273e+00] [ 1.72421003e-02 -3.58910024e-04 9.99851280e-01 1.95333036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.229254154 meters Centerline goodness [0,1] 0.9988934286687096 Centerline is valid? [True, True] Translation: X:216.89, Y:3.14, Z:1.95 [[ 9.99230369e-01 -3.51942683e-02 -1.73214649e-02 2.16892474e+02] [ 3.51947793e-02 9.99380434e-01 -2.75432061e-04 3.13748742e+00] [ 1.73204267e-02 -3.34405054e-04 9.99849934e-01 1.95341434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259254154 meters Centerline goodness [0,1] 0.9988087387521538 Centerline is valid? [True, True] Translation: X:216.92, Y:3.14, Z:1.95 [[ 9.99316667e-01 -3.27684780e-02 -1.71004418e-02 2.16924150e+02] [ 3.27686313e-02 9.99462927e-01 -2.71305236e-04 3.14129093e+00] [ 1.71001479e-02 -2.89238230e-04 9.99853740e-01 1.95416683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28925415399996 meters Centerline goodness [0,1] 0.998766718407791 Centerline is valid? [True, True] Translation: X:216.96, Y:3.14, Z:1.95 [[ 9.99337817e-01 -3.21084519e-02 -1.71165178e-02 2.16955792e+02] [ 3.21085196e-02 9.99484352e-01 -2.70929440e-04 3.14275297e+00] [ 1.71163908e-02 -2.78836012e-04 9.99853465e-01 1.95437266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31925415399996 meters Centerline goodness [0,1] 0.9989156088537348 Centerline is valid? [True, True] Translation: X:216.99, Y:3.14, Z:1.95 [[ 9.99343101e-01 -3.16955438e-02 -1.75715641e-02 2.16986313e+02] [ 3.16955603e-02 9.99497531e-01 -2.77625480e-04 3.14302245e+00] [ 1.75715344e-02 -2.79497462e-04 9.99845570e-01 1.95409580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34925415399996 meters Centerline goodness [0,1] 0.9987656422916489 Centerline is valid? [True, True] Translation: X:217.02, Y:3.14, Z:1.95 [[ 9.99342879e-01 -3.15330802e-02 -1.78738690e-02 2.17017960e+02] [ 3.15330799e-02 9.99502669e-01 -2.81915594e-04 3.14337065e+00] [ 1.78738694e-02 -2.81887797e-04 9.99840210e-01 1.95364577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37925415399997 meters Centerline goodness [0,1] 0.9988264914227192 Centerline is valid? [True, True] Translation: X:217.05, Y:3.14, Z:1.95 [[ 9.99314007e-01 -3.17193550e-02 -1.91154006e-02 2.17049187e+02] [ 3.17194027e-02 9.99496768e-01 -3.00776160e-04 3.14331160e+00] [ 1.91153215e-02 -3.05759259e-04 9.99817239e-01 1.95258146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40925415399997 meters Centerline goodness [0,1] 0.9988277170322059 Centerline is valid? [True, True] Translation: X:217.08, Y:3.14, Z:1.95 [[ 9.99303653e-01 -3.18152797e-02 -1.94935148e-02 2.17080014e+02] [ 3.18153543e-02 9.99493717e-01 -3.06378031e-04 3.14404578e+00] [ 1.94933930e-02 -3.14028393e-04 9.99809936e-01 1.95256757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43925415399997 meters Centerline goodness [0,1] 0.9988907849829352 Centerline is valid? [True, True] Translation: X:217.11, Y:3.14, Z:1.95 [[ 9.99290443e-01 -3.20160914e-02 -1.98388548e-02 2.17110413e+02] [ 3.20162082e-02 9.99487301e-01 -3.11805713e-04 3.14427715e+00] [ 1.98386662e-02 -3.23580436e-04 9.99803142e-01 1.95242453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46925415399997 meters Centerline goodness [0,1] 0.9987437988374817 Centerline is valid? [True, True] Translation: X:217.14, Y:3.14, Z:1.95 [[ 9.99297571e-01 -3.22480412e-02 -1.90900024e-02 2.17140652e+02] [ 3.22481950e-02 9.99479847e-01 -2.99859277e-04 3.14437493e+00] [ 1.90897426e-02 -3.15969474e-04 9.99817724e-01 1.95270419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49925415399997 meters Centerline goodness [0,1] 0.9989135991820041 Centerline is valid? [True, True] Translation: X:217.17, Y:3.14, Z:1.95 [[ 9.99310695e-01 -3.20510769e-02 -1.87313213e-02 2.17171354e+02] [ 3.20511966e-02 9.99486185e-01 -2.93889455e-04 3.14375325e+00] [ 1.87311163e-02 -3.06674386e-04 9.99824510e-01 1.95305293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52925415399997 meters Centerline goodness [0,1] 0.998804976419624 Centerline is valid? [True, True] Translation: X:217.20, Y:3.15, Z:1.95 [[ 9.99346866e-01 -3.14695551e-02 -1.77625323e-02 2.17202911e+02] [ 3.14695792e-02 9.99504671e-01 -2.78224211e-04 3.14537916e+00] [ 1.77624896e-02 -2.80936923e-04 9.99842195e-01 1.95401570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55925415399997 meters Centerline goodness [0,1] 0.9990828036346572 Centerline is valid? [True, True] Translation: X:217.23, Y:3.15, Z:1.95 [[ 9.99434888e-01 -2.89380709e-02 -1.71024112e-02 2.17233252e+02] [ 2.89377306e-02 9.99581180e-01 -2.67416944e-04 3.14615365e+00] [ 1.71029869e-02 -2.27639144e-04 9.99853707e-01 1.95491597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58925415399997 meters Centerline goodness [0,1] 0.9993173478965782 Centerline is valid? [True, True] Translation: X:217.26, Y:3.15, Z:1.96 [[ 9.99501775e-01 -2.68982487e-02 -1.65131843e-02 2.17264963e+02] [ 2.68976600e-02 9.99638159e-01 -2.57786797e-04 3.14772206e+00] [ 1.65141431e-02 -1.86507656e-04 9.99863615e-01 1.95574162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61925415399998 meters Centerline goodness [0,1] 0.9991240626402034 Centerline is valid? [True, True] Translation: X:217.29, Y:3.15, Z:1.96 [[ 9.99578470e-01 -2.45580207e-02 -1.54849984e-02 2.17294917e+02] [ 2.45572271e-02 9.99698397e-01 -2.41424055e-04 3.14921296e+00] [ 1.54862570e-02 -1.38946336e-04 9.99880071e-01 1.95630509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64925415399998 meters Centerline goodness [0,1] 0.9991036940609062 Centerline is valid? [True, True] Translation: X:217.33, Y:3.15, Z:1.96 [[ 9.99681053e-01 -2.04361021e-02 -1.48377406e-02 2.17325667e+02] [ 2.04349194e-02 9.99791158e-01 -2.31332764e-04 3.15216475e+00] [ 1.48393694e-02 -7.19490509e-05 9.99889888e-01 1.95775147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67925415399998 meters Centerline goodness [0,1] 0.9993170565135735 Centerline is valid? [True, True] Translation: X:217.36, Y:3.15, Z:1.96 [[ 9.99705665e-01 -1.91535649e-02 -1.48904228e-02 2.17355618e+02] [ 1.91522319e-02 9.99816552e-01 -2.32125753e-04 3.15274758e+00] [ 1.48921372e-02 -5.31274004e-05 9.99889105e-01 1.95773682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70925415399998 meters Centerline goodness [0,1] 0.999126786360829 Centerline is valid? [True, True] Translation: X:217.39, Y:3.15, Z:1.96 [[ 9.99717313e-01 -1.84049991e-02 -1.50515564e-02 2.17385057e+02] [ 1.84035499e-02 9.99830613e-01 -2.34796236e-04 3.15276618e+00] [ 1.50533282e-02 -4.22722057e-05 9.99886691e-01 1.95794532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73925415399998 meters Centerline goodness [0,1] 0.9990406140070355 Centerline is valid? [True, True] Translation: X:217.41, Y:3.15, Z:1.96 [[ 9.99700811e-01 -1.86502212e-02 -1.58258495e-02 2.17413718e+02] [ 1.86486177e-02 9.99826068e-01 -2.48900079e-04 3.15089247e+00] [ 1.58277389e-02 -4.63046059e-05 9.99874732e-01 1.95694247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76925415399998 meters Centerline goodness [0,1] 0.9989557137376923 Centerline is valid? [True, True] Translation: X:217.44, Y:3.15, Z:1.96 [[ 9.99668708e-01 -1.94083268e-02 -1.69053686e-02 2.17442885e+02] [ 1.94065549e-02 9.99811639e-01 -2.68874974e-04 3.15001387e+00] [ 1.69074027e-02 -5.92890642e-05 9.99857058e-01 1.95631139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79925415399998 meters Centerline goodness [0,1] 0.9992991547381387 Centerline is valid? [True, True] Translation: X:217.47, Y:3.15, Z:1.96 [[ 9.99630403e-01 -2.06413765e-02 -1.76915360e-02 2.17470771e+02] [ 2.06396059e-02 9.99786941e-01 -2.82678158e-04 3.14879343e+00] [ 1.76936016e-02 -8.25726512e-05 9.99843453e-01 1.95567014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82925415399998 meters Centerline goodness [0,1] 0.9990404912684705 Centerline is valid? [True, True] Translation: X:217.50, Y:3.15, Z:1.96 [[ 9.99585515e-01 -2.23945726e-02 -1.80909001e-02 2.17499495e+02] [ 2.23929519e-02 9.99749204e-01 -2.92177368e-04 3.14767905e+00] [ 1.80929061e-02 -1.13052389e-04 9.99836304e-01 1.95555309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85925415399998 meters Centerline goodness [0,1] 0.9991911796006981 Centerline is valid? [True, True] Translation: X:217.53, Y:3.14, Z:1.95 [[ 9.99469509e-01 -2.61764691e-02 -1.93776543e-02 2.17527314e+02] [ 2.61752526e-02 9.99657319e-01 -3.16450912e-04 3.14377175e+00] [ 1.93792975e-02 -1.90931959e-04 9.99812186e-01 1.95487388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88925415399999 meters Centerline goodness [0,1] 0.9991921081724636 Centerline is valid? [True, True] Translation: X:217.56, Y:3.14, Z:1.95 [[ 9.99403252e-01 -2.85130911e-02 -1.94972706e-02 2.17555822e+02] [ 2.85122380e-02 9.99593392e-01 -3.21789414e-04 3.14182026e+00] [ 1.94985180e-02 -2.34313433e-04 9.99809858e-01 1.95475763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.919254154 meters Centerline goodness [0,1] 0.9990276691538608 Centerline is valid? [True, True] Translation: X:217.58, Y:3.14, Z:1.95 [[ 9.99276689e-01 -3.29131549e-02 -1.90479268e-02 2.17584671e+02] [ 3.29130865e-02 9.99458167e-01 -3.17169979e-04 3.13741612e+00] [ 1.90480451e-02 -3.09985496e-04 9.99818521e-01 1.95434253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.949254154 meters Centerline goodness [0,1] 0.998813182155346 Centerline is valid? [True, True] Translation: X:217.62, Y:3.14, Z:1.96 [[ 9.99199667e-01 -3.52172056e-02 -1.89677257e-02 2.17615585e+02] [ 3.52175526e-02 9.99379620e-01 -3.15836974e-04 3.13567499e+00] [ 1.89670814e-02 -3.52412678e-04 9.99820047e-01 1.95504293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979254154 meters Centerline goodness [0,1] 0.9989201549895191 Centerline is valid? [True, True] Translation: X:217.65, Y:3.13, Z:1.96 [[ 9.99130069e-01 -3.74953314e-02 -1.82539186e-02 2.17647139e+02] [ 3.74960468e-02 9.99296730e-01 -3.03180804e-04 3.13391329e+00] [ 1.82524490e-02 -3.81532727e-04 9.99833337e-01 1.95588992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.009254154 meters Centerline goodness [0,1] 0.9987116940167691 Centerline is valid? [True, True] Translation: X:217.68, Y:3.13, Z:1.96 [[ 9.99046023e-01 -4.00047037e-02 -1.75119532e-02 2.17678739e+02] [ 4.00057580e-02 9.99199407e-01 -2.90245266e-04 3.13493686e+00] [ 1.75095445e-02 -4.10610585e-04 9.99846612e-01 1.95753304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03925415399996 meters Centerline goodness [0,1] 0.9985836592326393 Centerline is valid? [True, True] Translation: X:217.71, Y:3.13, Z:1.96 [[ 9.98787169e-01 -4.63299544e-02 -1.66651322e-02 2.17709299e+02] [ 4.63317964e-02 9.98926068e-01 -2.75747841e-04 3.12711167e+00] [ 1.66600103e-02 -4.96712105e-04 9.99861089e-01 1.95736037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06925415399996 meters Centerline goodness [0,1] 0.9985847362751104 Centerline is valid? [True, True] Translation: X:217.74, Y:3.12, Z:1.96 [[ 9.98598688e-01 -5.01899126e-02 -1.67819323e-02 2.17740846e+02] [ 5.01923321e-02 9.98739532e-01 -2.77252814e-04 3.12419741e+00] [ 1.67746945e-02 -5.65460020e-04 9.99859135e-01 1.95797280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09925415399996 meters Centerline goodness [0,1] 0.9986888851294198 Centerline is valid? [True, True] Translation: X:217.77, Y:3.12, Z:1.96 [[ 9.98404275e-01 -5.41015681e-02 -1.61840425e-02 2.17772053e+02] [ 5.41043402e-02 9.98535252e-01 -2.66830483e-04 3.12133040e+00] [ 1.61747729e-02 -6.09222244e-04 9.99868994e-01 1.95836801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12925415399997 meters Centerline goodness [0,1] 0.9984364435429344 Centerline is valid? [True, True] Translation: X:217.80, Y:3.12, Z:1.96 [[ 9.98156902e-01 -5.84419927e-02 -1.63502799e-02 2.17803154e+02] [ 5.84454105e-02 9.98290570e-01 -2.69121077e-04 3.12197431e+00] [ 1.63380582e-02 -6.86973760e-04 9.99866289e-01 1.95934074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15925415399997 meters Centerline goodness [0,1] 0.9984364435429344 Centerline is valid? [True, True] Translation: X:217.83, Y:3.12, Z:1.96 [[ 9.98161111e-01 -5.83700592e-02 -1.63502909e-02 2.17834869e+02] [ 5.83734784e-02 9.98294779e-01 -2.68449599e-04 3.12243428e+00] [ 1.63380795e-02 -6.86467404e-04 9.99866289e-01 1.95963785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18925415399997 meters Centerline goodness [0,1] 0.9986284604996624 Centerline is valid? [True, True] Translation: X:217.86, Y:3.12, Z:1.96 [[ 9.97667238e-01 -6.63368054e-02 -1.61093556e-02 2.17864868e+02] [ 6.63411693e-02 9.97796963e-01 -2.63934577e-04 3.12049750e+00] [ 1.60913746e-02 -8.05394606e-04 9.99870201e-01 1.95994485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21925415399997 meters Centerline goodness [0,1] 0.9982078475194501 Centerline is valid? [True, True] Translation: X:217.90, Y:3.12, Z:1.96 [[ 9.97418480e-01 -6.98679919e-02 -1.65782559e-02 2.17895244e+02] [ 6.98730996e-02 9.97555851e-01 -2.71634766e-04 3.11605282e+00] [ 1.65567147e-02 -8.87440588e-04 9.99862534e-01 1.95937831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24925415399997 meters Centerline goodness [0,1] 0.9984821654439666 Centerline is valid? [True, True] Translation: X:217.93, Y:3.12, Z:1.96 [[ 9.97133237e-01 -7.40254841e-02 -1.56695669e-02 2.17926020e+02] [ 7.40305631e-02 9.97255940e-01 -2.56466065e-04 3.11520732e+00] [ 1.56455537e-02 -9.04296023e-04 9.99877192e-01 1.96132378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27925415399997 meters Centerline goodness [0,1] 0.9985023624704691 Centerline is valid? [True, True] Translation: X:217.96, Y:3.11, Z:1.96 [[ 9.96779314e-01 -7.85151958e-02 -1.63206504e-02 2.17956315e+02] [ 7.85213085e-02 9.96912400e-01 -2.66919738e-04 3.11231920e+00] [ 1.62912160e-02 -1.01545875e-03 9.99866774e-01 1.95994553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30925415399997 meters Centerline goodness [0,1] 0.9986272439281944 Centerline is valid? [True, True] Translation: X:217.99, Y:3.11, Z:1.96 [[ 9.96625717e-01 -8.04955469e-02 -1.60513970e-02 2.17987847e+02] [ 8.05017198e-02 9.96754435e-01 -2.62234875e-04 3.11403049e+00] [ 1.60204099e-02 -1.03081504e-03 9.99871134e-01 1.96133922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33925415399997 meters Centerline goodness [0,1] 0.9984579636670892 Centerline is valid? [True, True] Translation: X:218.02, Y:3.11, Z:1.96 [[ 9.96554603e-01 -8.13676660e-02 -1.60694405e-02 2.18018812e+02] [ 8.13739773e-02 9.96683604e-01 -2.61805164e-04 3.11158759e+00] [ 1.60374504e-02 -1.04673114e-03 9.99870844e-01 1.96149042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36925415399998 meters Centerline goodness [0,1] 0.9985216785284365 Centerline is valid? [True, True] Translation: X:218.05, Y:3.11, Z:1.96 [[ 9.96548594e-01 -8.14066009e-02 -1.62439447e-02 2.18051276e+02] [ 8.14130719e-02 9.96680411e-01 -2.63615052e-04 3.11341238e+00] [ 1.62114815e-02 -1.05976423e-03 9.99868024e-01 1.96142876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39925415399998 meters Centerline goodness [0,1] 0.9985010028502058 Centerline is valid? [True, True] Translation: X:218.08, Y:3.11, Z:1.96 [[ 9.96667995e-01 -7.95880610e-02 -1.78507170e-02 2.18082084e+02] [ 7.95956044e-02 9.96827195e-01 -2.88625224e-04 3.11456391e+00] [ 1.78170513e-02 -1.13317508e-03 9.99840622e-01 1.95887542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42925415399998 meters Centerline goodness [0,1] 0.9985176714736463 Centerline is valid? [True, True] Translation: X:218.11, Y:3.12, Z:1.96 [[ 9.96731863e-01 -7.87483811e-02 -1.80079559e-02 2.18114335e+02] [ 7.87559391e-02 9.96893885e-01 -2.90184365e-04 3.11948436e+00] [ 1.79748726e-02 -1.12899747e-03 9.99837802e-01 1.96023992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45925415399998 meters Centerline goodness [0,1] 0.9984557781397415 Centerline is valid? [True, True] Translation: X:218.15, Y:3.12, Z:1.96 [[ 9.96895221e-01 -7.66229515e-02 -1.81340028e-02 2.18145628e+02] [ 7.66302839e-02 9.97059534e-01 -2.91196385e-04 3.12209608e+00] [ 1.81029927e-02 -1.09932150e-03 9.99835523e-01 1.96016266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48925415399998 meters Centerline goodness [0,1] 0.9984122615746132 Centerline is valid? [True, True] Translation: X:218.18, Y:3.12, Z:1.96 [[ 9.97079770e-01 -7.42049352e-02 -1.80432994e-02 2.18176186e+02] [ 7.42118118e-02 9.97242460e-01 -2.89080058e-04 3.12327542e+00] [ 1.80149954e-02 -1.05079006e-03 9.99837165e-01 1.96031963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51925415399998 meters Centerline goodness [0,1] 0.9984932727812911 Centerline is valid? [True, True] Translation: X:218.21, Y:3.13, Z:1.96 [[ 9.97489868e-01 -6.86353140e-02 -1.74114277e-02 2.18206640e+02] [ 6.86408775e-02 9.97641395e-01 -2.78586100e-04 3.13392355e+00] [ 1.73894818e-02 -9.17248863e-04 9.99848371e-01 1.96191394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54925415399998 meters Centerline goodness [0,1] 0.998658375569658 Centerline is valid? [True, True] Translation: X:218.24, Y:3.14, Z:1.96 [[ 9.97706722e-01 -6.55481366e-02 -1.68741834e-02 2.18238146e+02] [ 6.55529291e-02 9.97849057e-01 -2.69542582e-04 3.13849106e+00] [ 1.68555560e-02 -8.37227704e-04 9.99857584e-01 1.96303079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57925415399998 meters Centerline goodness [0,1] 0.998641073551894 Centerline is valid? [True, True] Translation: X:218.27, Y:3.14, Z:1.96 [[ 9.97906721e-01 -6.25684603e-02 -1.63512456e-02 2.18269990e+02] [ 6.25725779e-02 9.98040382e-01 -2.60162448e-04 3.14474464e+00] [ 1.63354814e-02 -7.63521733e-04 9.99866276e-01 1.96384319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60925415399998 meters Centerline goodness [0,1] 0.998614013390763 Centerline is valid? [True, True] Translation: X:218.30, Y:3.15, Z:1.96 [[ 9.98253695e-01 -5.68648593e-02 -1.59984122e-02 2.18299489e+02] [ 5.68680802e-02 9.98381669e-01 -2.53895403e-04 3.15004481e+00] [ 1.59869592e-02 -6.56346967e-04 9.99871985e-01 1.96386974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63925415399999 meters Centerline goodness [0,1] 0.9988689472673339 Centerline is valid? [True, True] Translation: X:218.33, Y:3.16, Z:1.96 [[ 9.98405430e-01 -5.41296128e-02 -1.60182180e-02 2.18331127e+02] [ 5.41324947e-02 9.98533729e-01 -2.53930326e-04 3.15605564e+00] [ 1.60084761e-02 -6.13580684e-04 9.99871668e-01 1.96449472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.669254154 meters Centerline goodness [0,1] 0.9988472376398259 Centerline is valid? [True, True] Translation: X:218.36, Y:3.16, Z:1.96 [[ 9.98547467e-01 -5.15184173e-02 -1.57736899e-02 2.18362349e+02] [ 5.15208981e-02 9.98671886e-01 -2.49318453e-04 3.16166012e+00] [ 1.57655851e-02 -5.63718361e-04 9.99875557e-01 1.96480207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699254154 meters Centerline goodness [0,1] 0.9989715681443233 Centerline is valid? [True, True] Translation: X:218.39, Y:3.17, Z:1.96 [[ 9.98794943e-01 -4.63265802e-02 -1.62021278e-02 2.18391872e+02] [ 4.63285189e-02 9.98926225e-01 -2.55859131e-04 3.16864707e+00] [ 1.61965835e-02 -4.95069778e-04 9.99868704e-01 1.96355695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.729254154 meters Centerline goodness [0,1] 0.9986922780088325 Centerline is valid? [True, True] Translation: X:218.42, Y:3.17, Z:1.96 [[ 9.98883077e-01 -4.43894819e-02 -1.61917096e-02 2.18424006e+02] [ 4.43911691e-02 9.99014194e-01 -2.55371589e-04 3.17206033e+00] [ 1.61870835e-02 -4.63682559e-04 9.99868873e-01 1.96460455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759254154 meters Centerline goodness [0,1] 0.9989927564184989 Centerline is valid? [True, True] Translation: X:218.46, Y:3.18, Z:1.97 [[ 9.98986778e-01 -4.20373517e-02 -1.60710700e-02 2.18456468e+02] [ 4.20387284e-02 9.99115950e-01 -2.52302804e-04 3.17663006e+00] [ 1.60674685e-02 -4.23560182e-04 9.99870820e-01 1.96518205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78925415399996 meters Centerline goodness [0,1] 0.9990558952902049 Centerline is valid? [True, True] Translation: X:218.49, Y:3.18, Z:1.96 [[ 9.99079830e-01 -3.96962427e-02 -1.62389090e-02 2.18487535e+02] [ 3.96973566e-02 9.99211717e-01 -2.53863149e-04 3.17857109e+00] [ 1.62361856e-02 -3.91012212e-04 9.99868108e-01 1.96482784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81925415399996 meters Centerline goodness [0,1] 0.9989673199802069 Centerline is valid? [True, True] Translation: X:218.52, Y:3.19, Z:1.96 [[ 9.99250164e-01 -3.46189488e-02 -1.73389335e-02 2.18518456e+02] [ 3.46194693e-02 9.99400530e-01 -2.70220747e-04 3.18630094e+00] [ 1.73378941e-02 -3.30246549e-04 9.99849633e-01 1.96482029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84925415399996 meters Centerline goodness [0,1] 0.999204489260605 Centerline is valid? [True, True] Translation: X:218.55, Y:3.19, Z:1.96 [[ 9.99338945e-01 -3.20174770e-02 -1.72207261e-02 2.18549223e+02] [ 3.20176151e-02 9.99487269e-01 -2.67758342e-04 3.18906327e+00] [ 1.72204695e-02 -2.83785241e-04 9.99851676e-01 1.96479276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87925415399997 meters Centerline goodness [0,1] 0.9992034960067164 Centerline is valid? [True, True] Translation: X:218.58, Y:3.19, Z:1.97 [[ 9.99425313e-01 -2.92039865e-02 -1.72095885e-02 2.18580327e+02] [ 2.92037179e-02 9.99573445e-01 -2.66972361e-04 3.19348655e+00] [ 1.72100443e-02 -2.35765033e-04 9.99851868e-01 1.96570174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90925415399997 meters Centerline goodness [0,1] 0.9990501478747059 Centerline is valid? [True, True] Translation: X:218.61, Y:3.20, Z:1.97 [[ 9.99523692e-01 -2.61474345e-02 -1.63921211e-02 2.18610707e+02] [ 2.61467870e-02 9.99658082e-01 -2.53851926e-04 3.19695286e+00] [ 1.63931539e-02 -1.74870285e-04 9.99865608e-01 1.96524004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93925415399997 meters Centerline goodness [0,1] 0.9992860851505712 Centerline is valid? [True, True] Translation: X:218.64, Y:3.20, Z:1.97 [[ 9.99655837e-01 -2.15556797e-02 -1.49519471e-02 2.18641238e+02] [ 2.15546296e-02 9.99767645e-01 -2.31399040e-04 3.20406185e+00] [ 1.49534609e-02 -9.09642814e-05 9.99888187e-01 1.96813973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96925415399997 meters Centerline goodness [0,1] 0.9992210658415734 Centerline is valid? [True, True] Translation: X:218.67, Y:3.21, Z:1.97 [[ 9.99701956e-01 -1.98169757e-02 -1.42578682e-02 2.18671336e+02] [ 1.98158440e-02 9.99803623e-01 -2.20657350e-04 3.20716333e+00] [ 1.42594411e-02 -6.19401090e-05 9.99898327e-01 1.96891661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99925415399997 meters Centerline goodness [0,1] 0.9991770794984516 Centerline is valid? [True, True] Translation: X:218.70, Y:3.21, Z:1.97 [[ 9.99737068e-01 -1.79848230e-02 -1.42246770e-02 2.18701769e+02] [ 1.79835123e-02 9.99838259e-01 -2.20054325e-04 3.20919306e+00] [ 1.42263339e-02 -3.58131880e-05 9.99898800e-01 1.96728950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02925415399997 meters Centerline goodness [0,1] 0.9991974840039042 Centerline is valid? [True, True] Translation: X:218.73, Y:3.21, Z:1.97 [[ 9.99750694e-01 -1.77206009e-02 -1.35841701e-02 2.18731666e+02] [ 1.77193814e-02 9.99842977e-01 -2.10135163e-04 3.21220015e+00] [ 1.35857608e-02 -3.06203149e-05 9.99907709e-01 1.96907847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05925415399997 meters Centerline goodness [0,1] 0.999326745574981 Centerline is valid? [True, True] Translation: X:218.76, Y:3.21, Z:1.97 [[ 9.99741210e-01 -1.84333379e-02 -1.33313609e-02 2.18762552e+02] [ 1.84322222e-02 9.99830091e-01 -2.06559959e-04 3.21323352e+00] [ 1.33329033e-02 -3.92201026e-05 9.99911112e-01 1.96928171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08925415399997 meters Centerline goodness [0,1] 0.9993049522154648 Centerline is valid? [True, True] Translation: X:218.79, Y:3.21, Z:1.97 [[ 9.99712453e-01 -1.97338674e-02 -1.36230120e-02 2.18793071e+02] [ 1.97328232e-02 9.99805267e-01 -2.11078887e-04 3.21380284e+00] [ 1.36245246e-02 -5.78022962e-05 9.99907180e-01 1.96984800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11925415399998 meters Centerline goodness [0,1] 0.9993707962681709 Centerline is valid? [True, True] Translation: X:218.82, Y:3.21, Z:1.97 [[ 9.99680200e-01 -2.15220973e-02 -1.32776837e-02 2.18823218e+02] [ 2.15212631e-02 9.99768370e-01 -2.05728269e-04 3.21363786e+00] [ 1.32790359e-02 -8.00900458e-05 9.99911827e-01 1.96977012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14925415399998 meters Centerline goodness [0,1] 0.9992208298162457 Centerline is valid? [True, True] Translation: X:218.85, Y:3.21, Z:1.97 [[ 9.99543756e-01 -2.68326387e-02 -1.38668791e-02 2.18854097e+02] [ 2.68322408e-02 9.99639928e-01 -2.14774709e-04 3.21138411e+00] [ 1.38676490e-02 -1.57402721e-04 9.99903827e-01 1.96935720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17925415399998 meters Centerline goodness [0,1] 0.9992417513377673 Centerline is valid? [True, True] Translation: X:218.89, Y:3.21, Z:1.97 [[ 9.99445399e-01 -3.02113615e-02 -1.40060186e-02 2.18886024e+02] [ 3.02112945e-02 9.99543511e-01 -2.16415201e-04 3.20968707e+00] [ 1.40061632e-02 -2.06844775e-04 9.99901887e-01 1.96959944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20925415399998 meters Centerline goodness [0,1] 0.9992648171773304 Centerline is valid? [True, True] Translation: X:218.92, Y:3.21, Z:1.97 [[ 9.99335633e-01 -3.36276142e-02 -1.40526423e-02 2.18918242e+02] [ 3.36278989e-02 9.99434399e-01 -2.16101868e-04 3.20766025e+00] [ 1.40519611e-02 -2.56602537e-04 9.99901233e-01 1.96948468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23925415399998 meters Centerline goodness [0,1] 0.9991792124759704 Centerline is valid? [True, True] Translation: X:218.95, Y:3.20, Z:1.97 [[ 9.99070445e-01 -4.09072856e-02 -1.35955656e-02 2.18948790e+02] [ 4.09082356e-02 9.99162886e-01 -2.08331551e-04 3.20232547e+00] [ 1.35927068e-02 -3.48032704e-04 9.99907554e-01 1.96946562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26925415399998 meters Centerline goodness [0,1] 0.9993537964458804 Centerline is valid? [True, True] Translation: X:218.98, Y:3.20, Z:1.97 [[ 9.98946918e-01 -4.38483065e-02 -1.35048805e-02 2.18981007e+02] [ 4.38495187e-02 9.99038126e-01 -2.06473225e-04 3.20005885e+00] [ 1.35009440e-02 -3.85926720e-04 9.99908784e-01 1.96974013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29925415399998 meters Centerline goodness [0,1] 0.9990746519184833 Centerline is valid? [True, True] Translation: X:219.01, Y:3.20, Z:1.97 [[ 9.98858834e-01 -4.58014089e-02 -1.35373644e-02 2.19013428e+02] [ 4.58028195e-02 9.98950479e-01 -2.05981956e-04 3.19890805e+00] [ 1.35325909e-02 -4.14302563e-04 9.99908344e-01 1.96784923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32925415399998 meters Centerline goodness [0,1] 0.9991609113793326 Centerline is valid? [True, True] Translation: X:219.04, Y:3.19, Z:1.97 [[ 9.98608552e-01 -5.11577421e-02 -1.28002130e-02 2.19043185e+02] [ 5.11594510e-02 9.98690479e-01 -1.94113414e-04 3.19372841e+00] [ 1.27933813e-02 -4.61008556e-04 9.99918055e-01 1.96985715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35925415399998 meters Centerline goodness [0,1] 0.9991615247350203 Centerline is valid? [True, True] Translation: X:219.07, Y:3.19, Z:1.97 [[ 9.98527753e-01 -5.27483095e-02 -1.26468332e-02 2.19074650e+02] [ 5.27501073e-02 9.98607726e-01 -1.91613061e-04 3.19207476e+00] [ 1.26393326e-02 -4.75790850e-04 9.99920007e-01 1.96982675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38925415399999 meters Centerline goodness [0,1] 0.9991398219431422 Centerline is valid? [True, True] Translation: X:219.11, Y:3.19, Z:1.97 [[ 9.98473455e-01 -5.37720975e-02 -1.26222638e-02 2.19106892e+02] [ 5.37739791e-02 9.98553115e-01 -1.90514539e-04 3.19097298e+00] [ 1.26142452e-02 -4.88525641e-04 9.99920318e-01 1.96995195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.419254154 meters Centerline goodness [0,1] 0.9992698692206927 Centerline is valid? [True, True] Translation: X:219.14, Y:3.19, Z:1.97 [[ 9.98323362e-01 -5.65883475e-02 -1.21747262e-02 2.19137828e+02] [ 5.65903190e-02 9.98397467e-01 -1.82781983e-04 3.18845836e+00] [ 1.21655592e-02 -5.06496118e-04 9.99925869e-01 1.97028278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.449254154 meters Centerline goodness [0,1] 0.999227451232859 Centerline is valid? [True, True] Translation: X:219.17, Y:3.19, Z:1.97 [[ 9.98224386e-01 -5.82333853e-02 -1.25278866e-02 2.19168495e+02] [ 5.82356182e-02 9.98302849e-01 -1.86803010e-04 3.18678625e+00] [ 1.25175031e-02 -5.43097901e-04 9.99921506e-01 1.97070850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479254154 meters Centerline goodness [0,1] 0.9990352250069678 Centerline is valid? [True, True] Translation: X:219.20, Y:3.19, Z:1.97 [[ 9.97993028e-01 -6.20710495e-02 -1.25340090e-02 2.19199647e+02] [ 6.20735913e-02 9.98071558e-01 -1.86514328e-04 3.18647248e+00] [ 1.25214150e-02 -5.91890951e-04 9.99921429e-01 1.97090207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.509254154 meters Centerline goodness [0,1] 0.9991002763436945 Centerline is valid? [True, True] Translation: X:219.23, Y:3.18, Z:1.97 [[ 9.97887932e-01 -6.37631800e-02 -1.24069395e-02 2.19232002e+02] [ 6.37658056e-02 9.97964873e-01 -1.84247578e-04 3.18438066e+00] [ 1.23934380e-02 -6.07280059e-04 9.99923014e-01 1.97063629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53925415399996 meters Centerline goodness [0,1] 0.9992496516239683 Centerline is valid? [True, True] Translation: X:219.26, Y:3.19, Z:1.97 [[ 9.97751810e-01 -6.57187355e-02 -1.31290748e-02 2.19263717e+02] [ 6.57218563e-02 9.97837963e-01 -1.94071331e-04 3.18670521e+00] [ 1.31134434e-02 -6.69232147e-04 9.99913791e-01 1.97053879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56925415399996 meters Centerline goodness [0,1] 0.9991631978715186 Centerline is valid? [True, True] Translation: X:219.30, Y:3.19, Z:1.97 [[ 9.97636710e-01 -6.74006479e-02 -1.33472075e-02 2.19295907e+02] [ 6.74040343e-02 9.97725743e-01 -1.96484480e-04 3.18569655e+00] [ 1.33300957e-02 -7.03635504e-04 9.99910903e-01 1.97024328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59925415399996 meters Centerline goodness [0,1] 0.999206076731611 Centerline is valid? [True, True] Translation: X:219.33, Y:3.18, Z:1.97 [[ 9.97532917e-01 -6.88473206e-02 -1.37158691e-02 2.19327921e+02] [ 6.88510469e-02 9.97626931e-01 -2.00892932e-04 3.18471722e+00] [ 1.36971514e-02 -7.43954636e-04 9.99905913e-01 1.96992180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62925415399997 meters Centerline goodness [0,1] 0.9992058552080874 Centerline is valid? [True, True] Translation: X:219.36, Y:3.18, Z:1.97 [[ 9.97447929e-01 -7.00030134e-02 -1.40430652e-02 2.19359944e+02] [ 7.00070484e-02 9.97546476e-01 -2.04647420e-04 3.18411066e+00] [ 1.40229361e-02 -7.78988397e-04 9.99901370e-01 1.96965084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65925415399997 meters Centerline goodness [0,1] 0.9993558361247101 Centerline is valid? [True, True] Translation: X:219.39, Y:3.18, Z:1.97 [[ 9.97373953e-01 -7.10200298e-02 -1.41899191e-02 2.19391294e+02] [ 7.10242656e-02 9.97474567e-01 -2.05840739e-04 3.18369163e+00] [ 1.41687022e-02 -8.02528390e-04 9.99899297e-01 1.96921644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68925415399997 meters Centerline goodness [0,1] 0.999097531102946 Centerline is valid? [True, True] Translation: X:219.42, Y:3.19, Z:1.97 [[ 9.97350051e-01 -7.12640015e-02 -1.46396112e-02 2.19423357e+02] [ 7.12685495e-02 9.97457142e-01 -2.11463135e-04 3.18515936e+00] [ 1.46174545e-02 -8.32441091e-04 9.99892813e-01 1.96933757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71925415399997 meters Centerline goodness [0,1] 0.999205991544883 Centerline is valid? [True, True] Translation: X:219.46, Y:3.19, Z:1.97 [[ 9.97372117e-01 -7.09339441e-02 -1.47389000e-02 2.19455774e+02] [ 7.09385338e-02 9.97480666e-01 -2.11829788e-04 3.18663018e+00] [ 1.47167937e-02 -8.34282828e-04 9.99891354e-01 1.96966303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74925415399997 meters Centerline goodness [0,1] 0.9990096878363832 Centerline is valid? [True, True] Translation: X:219.49, Y:3.19, Z:1.97 [[ 9.97400010e-01 -7.04940165e-02 -1.49604018e-02 2.19487763e+02] [ 7.04987122e-02 9.97511847e-01 -2.13922727e-04 3.18823139e+00] [ 1.49382583e-02 -8.41322532e-04 9.99888064e-01 1.96937472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77925415399997 meters Centerline goodness [0,1] 0.9990750102179103 Centerline is valid? [True, True] Translation: X:219.52, Y:3.19, Z:1.97 [[ 9.97441335e-01 -6.97965008e-02 -1.54671328e-02 2.19519149e+02] [ 6.98014523e-02 9.97560880e-01 -2.20143101e-04 3.18861907e+00] [ 1.54447718e-02 -8.60048501e-04 9.99880353e-01 1.96805619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80925415399997 meters Centerline goodness [0,1] 0.9990752091532787 Centerline is valid? [True, True] Translation: X:219.55, Y:3.19, Z:1.97 [[ 9.97431399e-01 -6.99786026e-02 -1.52839689e-02 2.19551045e+02] [ 6.99834728e-02 9.97548127e-01 -2.16618638e-04 3.18921726e+00] [ 1.52616532e-02 -8.53562989e-04 9.99883170e-01 1.96943778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83925415399997 meters Centerline goodness [0,1] 0.9993117243456004 Centerline is valid? [True, True] Translation: X:219.58, Y:3.19, Z:1.97 [[ 9.97437462e-01 -6.98813637e-02 -1.53330875e-02 2.19584573e+02] [ 6.98862737e-02 9.97554942e-01 -2.16012342e-04 3.18996063e+00] [ 1.53106925e-02 -8.56113548e-04 9.99882418e-01 1.96977863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86925415399998 meters Centerline goodness [0,1] 0.9992040100681969 Centerline is valid? [True, True] Translation: X:219.62, Y:3.19, Z:1.97 [[ 9.97485099e-01 -6.93134825e-02 -1.48026476e-02 2.19616675e+02] [ 6.93180162e-02 9.97594592e-01 -2.07195068e-04 3.19105821e+00] [ 1.47814026e-02 -8.19416176e-04 9.99890413e-01 1.96999593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89925415399998 meters Centerline goodness [0,1] 0.9992444847385917 Centerline is valid? [True, True] Translation: X:219.65, Y:3.19, Z:1.97 [[ 9.97518169e-01 -6.88963705e-02 -1.45187323e-02 2.19647747e+02] [ 6.89007011e-02 9.97623502e-01 -2.02305909e-04 3.19195697e+00] [ 1.44981667e-02 -7.98547014e-04 9.99894577e-01 1.97088706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92925415399998 meters Centerline goodness [0,1] 0.999222478996134 Centerline is valid? [True, True] Translation: X:219.68, Y:3.19, Z:1.97 [[ 9.97575156e-01 -6.82106665e-02 -1.38243987e-02 2.19679802e+02] [ 6.82145378e-02 9.97670657e-01 -1.91855100e-04 3.19362890e+00] [ 1.38052835e-02 -7.51635084e-04 9.99904420e-01 1.97176431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95925415399998 meters Centerline goodness [0,1] 0.9992217898832685 Centerline is valid? [True, True] Translation: X:219.71, Y:3.20, Z:1.97 [[ 9.97648588e-01 -6.72818716e-02 -1.30554810e-02 2.19712336e+02] [ 6.72852571e-02 9.97733763e-01 -1.80247430e-04 3.19773475e+00] [ 1.30380216e-02 -6.98617804e-04 9.99914757e-01 1.97319229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98925415399998 meters Centerline goodness [0,1] 0.999307943510889 Centerline is valid? [True, True] Translation: X:219.74, Y:3.20, Z:1.98 [[ 9.97860314e-01 -6.43673767e-02 -1.14731776e-02 2.19743808e+02] [ 6.43698087e-02 9.97926101e-01 -1.57562016e-04 3.20408593e+00] [ 1.14595253e-02 -5.81301364e-04 9.99934169e-01 1.97505167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01925415399998 meters Centerline goodness [0,1] 0.9994374607845259 Centerline is valid? [True, True] Translation: X:219.78, Y:3.21, Z:1.98 [[ 9.97960998e-01 -6.28394189e-02 -1.11827644e-02 2.19776094e+02] [ 6.28416405e-02 9.98023499e-01 -1.52949359e-04 3.20604317e+00] [ 1.11702729e-02 -5.50105766e-04 9.99937459e-01 1.97581883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04925415399998 meters Centerline goodness [0,1] 0.9994374607845259 Centerline is valid? [True, True] Translation: X:219.81, Y:3.21, Z:1.98 [[ 9.97967751e-01 -6.27320699e-02 -1.11827762e-02 2.19808673e+02] [ 6.27342945e-02 9.98030253e-01 -1.52084299e-04 3.20639231e+00] [ 1.11702895e-02 -5.49768347e-04 9.99937459e-01 1.97612384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07925415399998 meters Centerline goodness [0,1] 0.9993933484996208 Centerline is valid? [True, True] Translation: X:219.84, Y:3.21, Z:1.98 [[ 9.98070876e-01 -6.11367324e-02 -1.08085867e-02 2.19841254e+02] [ 6.11387292e-02 9.98129267e-01 -1.45893641e-04 3.20798800e+00] [ 1.07972862e-02 -5.15211060e-04 9.99941575e-01 1.97635299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10925415399998 meters Centerline goodness [0,1] 0.9994139989148128 Centerline is valid? [True, True] Translation: X:219.87, Y:3.21, Z:1.98 [[ 9.98228349e-01 -5.84113190e-02 -1.13261453e-02 2.19871377e+02] [ 5.84133467e-02 9.98292471e-01 -1.51975199e-04 3.21036761e+00] [ 1.13156827e-02 -5.09892101e-04 9.99935846e-01 1.97556460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13925415399999 meters Centerline goodness [0,1] 0.9991733379742429 Centerline is valid? [True, True] Translation: X:219.90, Y:3.21, Z:1.97 [[ 9.98274918e-01 -5.75073950e-02 -1.18358935e-02 2.19903149e+02] [ 5.75095501e-02 9.98344944e-01 -1.58469204e-04 3.20778069e+00] [ 1.18254176e-02 -5.22481080e-04 9.99929941e-01 1.97494996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.169254154 meters Centerline goodness [0,1] 0.9993910793119196 Centerline is valid? [True, True] Translation: X:219.93, Y:3.21, Z:1.98 [[ 9.98299573e-01 -5.69339263e-02 -1.25096186e-02 2.19934879e+02] [ 5.69363001e-02 9.98377799e-01 -1.66582995e-04 3.21243125e+00] [ 1.24988097e-02 -5.45951665e-04 9.99921738e-01 1.97508741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199254154 meters Centerline goodness [0,1] 0.999259807549963 Centerline is valid? [True, True] Translation: X:219.97, Y:3.21, Z:1.97 [[ 9.98324187e-01 -5.64246485e-02 -1.28482355e-02 2.19967410e+02] [ 5.64271222e-02 9.98406706e-01 -1.70183581e-04 3.21356825e+00] [ 1.28373670e-02 -5.55090569e-04 9.99917444e-01 1.97491691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.229254154 meters Centerline goodness [0,1] 0.9992595012523141 Centerline is valid? [True, True] Translation: X:220.00, Y:3.21, Z:1.97 [[ 9.98340014e-01 -5.57647078e-02 -1.44053715e-02 2.19998291e+02] [ 5.57677632e-02 9.98443749e-01 -1.89821455e-04 3.21380821e+00] [ 1.43935385e-02 -6.13848994e-04 9.99896219e-01 1.97164732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259254154 meters Centerline goodness [0,1] 0.9993044687880369 Centerline is valid? [True, True] Translation: X:220.03, Y:3.22, Z:1.97 [[ 9.98321906e-01 -5.57725339e-02 -1.55819298e-02 2.20030072e+02] [ 5.57761250e-02 9.98443279e-01 -2.04351951e-04 3.21932338e+00] [ 1.55690703e-02 -6.65090633e-04 9.99878573e-01 1.97406404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28925415399996 meters Centerline goodness [0,1] 0.9995431703974418 Centerline is valid? [True, True] Translation: X:220.06, Y:3.22, Z:1.97 [[ 9.98358962e-01 -5.50298313e-02 -1.58461296e-02 2.20062768e+02] [ 5.50334750e-02 9.98484489e-01 -2.06359514e-04 3.22042321e+00] [ 1.58334705e-02 -6.66046706e-04 9.99874421e-01 1.97436338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31925415399996 meters Centerline goodness [0,1] 0.9993903501132206 Centerline is valid? [True, True] Translation: X:220.09, Y:3.22, Z:1.97 [[ 9.98423674e-01 -5.37568865e-02 -1.61357983e-02 2.20094509e+02] [ 5.37605247e-02 9.98553836e-01 -2.08518815e-04 3.21634765e+00] [ 1.61236726e-02 -6.59278864e-04 9.99869788e-01 1.97368855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34925415399996 meters Centerline goodness [0,1] 0.9994110975396964 Centerline is valid? [True, True] Translation: X:220.13, Y:3.22, Z:1.97 [[ 9.98596539e-01 -5.04765414e-02 -1.60334137e-02 2.20126120e+02] [ 5.04797277e-02 9.98725065e-01 -2.06174067e-04 3.22414330e+00] [ 1.60233791e-02 -6.03477649e-04 9.99871435e-01 1.97491770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37925415399997 meters Centerline goodness [0,1] 0.9995415948134727 Centerline is valid? [True, True] Translation: X:220.16, Y:3.23, Z:1.98 [[ 9.98695935e-01 -4.86503716e-02 -1.54780905e-02 2.20158127e+02] [ 4.86531360e-02 9.98815715e-01 -1.98119945e-04 3.22575028e+00] [ 1.54693986e-02 -5.55196059e-04 9.99880188e-01 1.97542682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40925415399997 meters Centerline goodness [0,1] 0.9994109305116178 Centerline is valid? [True, True] Translation: X:220.19, Y:3.23, Z:1.98 [[ 9.98781577e-01 -4.69157613e-02 -1.53059983e-02 2.20189773e+02] [ 4.69182775e-02 9.98898712e-01 -1.94849545e-04 3.22731325e+00] [ 1.52982835e-02 -5.23518939e-04 9.99882837e-01 1.97584800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43925415399997 meters Centerline goodness [0,1] 0.9994099392455964 Centerline is valid? [True, True] Translation: X:220.22, Y:3.23, Z:1.98 [[ 9.98942886e-01 -4.35849961e-02 -1.46102396e-02 2.20221592e+02] [ 4.35869460e-02 9.99049620e-01 -1.85087702e-04 3.23262005e+00] [ 1.46044214e-02 -4.51923682e-04 9.99893248e-01 1.97743611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46925415399997 meters Centerline goodness [0,1] 0.9994757077944775 Centerline is valid? [True, True] Translation: X:220.25, Y:3.24, Z:1.98 [[ 9.99009253e-01 -4.22208007e-02 -1.40683092e-02 2.20254079e+02] [ 4.22224850e-02 9.99108218e-01 -1.77399196e-04 3.23536847e+00] [ 1.40632532e-02 -4.16775534e-04 9.99901021e-01 1.97846107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49925415399997 meters Centerline goodness [0,1] 0.9994969818913481 Centerline is valid? [True, True] Translation: X:220.29, Y:3.24, Z:1.98 [[ 9.99066630e-01 -4.10351055e-02 -1.34903591e-02 2.20286442e+02] [ 4.10365591e-02 9.99157631e-01 -1.69156740e-04 3.23732510e+00] [ 1.34859366e-02 -3.84599066e-04 9.99908987e-01 1.97924090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52925415399997 meters Centerline goodness [0,1] 0.9994535399680867 Centerline is valid? [True, True] Translation: X:220.32, Y:3.24, Z:1.98 [[ 9.99108262e-01 -4.01319993e-02 -1.31188252e-02 2.20317658e+02] [ 4.01333077e-02 9.99194321e-01 -1.63623471e-04 3.23690655e+00] [ 1.31148221e-02 -3.63024285e-04 9.99913931e-01 1.97931234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55925415399997 meters Centerline goodness [0,1] 0.9994308729533316 Centerline is valid? [True, True] Translation: X:220.35, Y:3.24, Z:1.98 [[ 9.99131857e-01 -3.95205515e-02 -1.31779406e-02 2.20349547e+02] [ 3.95218288e-02 9.99218694e-01 -1.63574073e-04 3.23830663e+00] [ 1.31741091e-02 -3.57384244e-04 9.99913154e-01 1.97947157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58925415399997 meters Centerline goodness [0,1] 0.9994528343182315 Centerline is valid? [True, True] Translation: X:220.38, Y:3.24, Z:1.98 [[ 9.99112806e-01 -3.98832365e-02 -1.35250977e-02 2.20381736e+02] [ 3.98846286e-02 9.99204278e-01 -1.66897614e-04 3.23918859e+00] [ 1.35209919e-02 -3.72693957e-04 9.99908518e-01 1.97915669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61925415399998 meters Centerline goodness [0,1] 0.9994968718554491 Centerline is valid? [True, True] Translation: X:220.41, Y:3.24, Z:1.98 [[ 9.99068812e-01 -4.06592189e-02 -1.44338822e-02 2.20412464e+02] [ 4.06608983e-02 9.99172988e-01 -1.77211670e-04 3.23831535e+00] [ 1.44291505e-02 -4.09847963e-04 9.99895810e-01 1.97868522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64925415399998 meters Centerline goodness [0,1] 0.9995186627576248 Centerline is valid? [True, True] Translation: X:220.44, Y:3.24, Z:1.98 [[ 9.98999306e-01 -4.20880670e-02 -1.51320938e-02 2.20444625e+02] [ 4.20900881e-02 9.99113802e-01 -1.85026362e-04 3.23779227e+00] [ 1.51264711e-02 -4.52069952e-04 9.99885486e-01 1.97806987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67925415399998 meters Centerline goodness [0,1] 0.9995616630503869 Centerline is valid? [True, True] Translation: X:220.48, Y:3.24, Z:1.98 [[ 9.98801738e-01 -4.59108024e-02 -1.69495238e-02 2.20475540e+02] [ 4.59139029e-02 9.98945379e-01 -2.06372658e-04 3.23761805e+00] [ 1.69411233e-02 -5.72093423e-04 9.99856325e-01 1.97740824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70925415399998 meters Centerline goodness [0,1] 0.9995411841817785 Centerline is valid? [True, True] Translation: X:220.51, Y:3.24, Z:1.98 [[ 9.98690601e-01 -4.81650416e-02 -1.72398317e-02 2.20507630e+02] [ 4.81685975e-02 9.98839198e-01 -2.09164092e-04 3.23619634e+00] [ 1.72298941e-02 -6.21528303e-04 9.99851361e-01 1.97696082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73925415399998 meters Centerline goodness [0,1] 0.9994088411096271 Centerline is valid? [True, True] Translation: X:220.54, Y:3.24, Z:1.98 [[ 9.98554024e-01 -5.06549966e-02 -1.79981337e-02 2.20539466e+02] [ 5.06592973e-02 9.98715970e-01 -2.17181319e-04 3.23520401e+00] [ 1.79860248e-02 -6.94905525e-04 9.99837997e-01 1.97694633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76925415399998 meters Centerline goodness [0,1] 0.9995631375461436 Centerline is valid? [True, True] Translation: X:220.57, Y:3.23, Z:1.98 [[ 9.98310590e-01 -5.51482962e-02 -1.82929159e-02 2.20569208e+02] [ 5.51535015e-02 9.98477863e-01 -2.20215636e-04 3.22557071e+00] [ 1.82772161e-02 -7.89074761e-04 9.99832646e-01 1.97621726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79925415399998 meters Centerline goodness [0,1] 0.9994327726509152 Centerline is valid? [True, True] Translation: X:220.60, Y:3.23, Z:1.98 [[ 9.98249142e-01 -5.62425522e-02 -1.83146339e-02 2.20601006e+02] [ 5.62479650e-02 9.98416806e-01 -2.19853083e-04 3.22735723e+00] [ 1.82980034e-02 -8.10692737e-04 9.99832249e-01 1.97691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82925415399998 meters Centerline goodness [0,1] 0.9995409535051479 Centerline is valid? [True, True] Translation: X:220.63, Y:3.23, Z:1.98 [[ 9.98241852e-01 -5.62280700e-02 -1.87512257e-02 2.20632740e+02] [ 5.62337664e-02 9.98417605e-01 -2.23760420e-04 3.22842405e+00] [ 1.87341354e-02 -8.31085028e-04 9.99824155e-01 1.97745992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85925415399998 meters Centerline goodness [0,1] 0.9995641182111411 Centerline is valid? [True, True] Translation: X:220.66, Y:3.23, Z:1.98 [[ 9.98316256e-01 -5.49207687e-02 -1.86644456e-02 2.20664873e+02] [ 5.49262092e-02 9.98490392e-01 -2.21396403e-04 3.23020471e+00] [ 1.86484288e-02 -8.04143615e-04 9.99825780e-01 1.97721434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88925415399999 meters Centerline goodness [0,1] 0.9996720451265906 Centerline is valid? [True, True] Translation: X:220.70, Y:3.23, Z:1.98 [[ 9.98350143e-01 -5.44252305e-02 -1.82999203e-02 2.20697012e+02] [ 5.44304015e-02 9.98517544e-01 -2.15758561e-04 3.23236661e+00] [ 1.82845342e-02 -7.80669419e-04 9.99832519e-01 1.97923213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.919254154 meters Centerline goodness [0,1] 0.9995191992482024 Centerline is valid? [True, True] Translation: X:220.73, Y:3.23, Z:1.98 [[ 9.98370141e-01 -5.39575748e-02 -1.85914541e-02 2.20728198e+02] [ 5.39628533e-02 9.98542920e-01 -2.17996488e-04 3.22919590e+00] [ 1.85761274e-02 -7.85606724e-04 9.99827140e-01 1.97902499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.949254154 meters Centerline goodness [0,1] 0.9998689069020517 Centerline is valid? [True, True] Translation: X:220.76, Y:3.23, Z:1.98 [[ 9.98387078e-01 -5.36220024e-02 -1.86526809e-02 2.20760336e+02] [ 5.36272790e-02 9.98560998e-01 -2.17547352e-04 3.23146796e+00] [ 1.86375050e-02 -7.83096057e-04 9.99826000e-01 1.98030456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979254154 meters Centerline goodness [0,1] 0.999825388510564 Centerline is valid? [True, True] Translation: X:220.79, Y:3.23, Z:1.98 [[ 9.98396182e-01 -5.34963208e-02 -1.85258586e-02 2.20792883e+02] [ 5.35015343e-02 9.98567744e-01 -2.14447720e-04 3.23111411e+00] [ 1.85107970e-02 -7.77058075e-04 9.99828359e-01 1.98080044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.009254154 meters Centerline goodness [0,1] 0.9999562669465583 Centerline is valid? [True, True] Translation: X:220.83, Y:3.23, Z:1.98 [[ 9.98389468e-01 -5.35539739e-02 -1.87200777e-02 2.20825284e+02] [ 5.35593387e-02 9.98564645e-01 -2.15025775e-04 3.23310745e+00] [ 1.87047232e-02 -7.87955512e-04 9.99824741e-01 1.98175357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03925415399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.86, Y:3.23, Z:1.98 [[ 9.98395688e-01 -5.34681129e-02 -1.86335901e-02 2.20857085e+02] [ 5.34734413e-02 9.98569249e-01 -2.12529059e-04 3.23006634e+00] [ 1.86182936e-02 -7.84214088e-04 9.99826357e-01 1.98118270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06925415399996 meters Centerline goodness [0,1] 0.9996942029618627 Centerline is valid? [True, True] Translation: X:220.89, Y:3.23, Z:1.98 [[ 9.98384413e-01 -5.33456766e-02 -1.95653290e-02 2.20888757e+02] [ 5.33515555e-02 9.98575767e-01 -2.21745643e-04 3.22966909e+00] [ 1.95492926e-02 -8.22453341e-04 9.99808556e-01 1.98096331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09925415399996 meters Centerline goodness [0,1] 0.9995184731220452 Centerline is valid? [True, True] Translation: X:220.92, Y:3.23, Z:1.98 [[ 9.98383999e-01 -5.31400367e-02 -2.01376857e-02 2.20921249e+02] [ 5.31462479e-02 9.98586714e-01 -2.26990323e-04 3.23159745e+00] [ 2.01212877e-02 -8.43618930e-04 9.99797190e-01 1.98122848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12925415399997 meters Centerline goodness [0,1] 0.9993871341957231 Centerline is valid? [True, True] Translation: X:220.95, Y:3.23, Z:1.98 [[ 9.98405552e-01 -5.25963159e-02 -2.04934313e-02 2.20953397e+02] [ 5.26026639e-02 9.98615495e-01 -2.29553308e-04 3.23493760e+00] [ 2.04771317e-02 -8.48821784e-04 9.99789961e-01 1.98221667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15925415399997 meters Centerline goodness [0,1] 0.9994523188818543 Centerline is valid? [True, True] Translation: X:220.99, Y:3.24, Z:1.98 [[ 9.98436379e-01 -5.19488484e-02 -2.06425543e-02 2.20986016e+02] [ 5.19551895e-02 9.98649391e-01 -2.29358006e-04 3.23876804e+00] [ 2.06265891e-02 -8.43488443e-04 9.99786893e-01 1.98366924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18925415399997 meters Centerline goodness [0,1] 0.9996274299239519 Centerline is valid? [True, True] Translation: X:221.02, Y:3.24, Z:1.98 [[ 9.98519000e-01 -4.99484466e-02 -2.15628996e-02 2.21016818e+02] [ 4.99549606e-02 9.98751443e-01 -2.36790786e-04 3.24099306e+00] [ 2.15478045e-02 -8.40733701e-04 9.99767466e-01 1.98460906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21925415399997 meters Centerline goodness [0,1] 0.9995618167079289 Centerline is valid? [True, True] Translation: X:221.05, Y:3.24, Z:1.98 [[ 9.98579282e-01 -4.86947878e-02 -2.16387430e-02 2.21047711e+02] [ 4.87010974e-02 9.98813370e-01 -2.35606573e-04 3.23763239e+00] [ 2.16245386e-02 -8.18558687e-04 9.99765827e-01 1.98343381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24925415399997 meters Centerline goodness [0,1] 0.9994967727819714 Centerline is valid? [True, True] Translation: X:221.08, Y:3.24, Z:1.98 [[ 9.98642780e-01 -4.73017068e-02 -2.17978760e-02 2.21079629e+02] [ 4.73078085e-02 9.98880331e-01 -2.35946454e-04 3.24260680e+00] [ 2.17846303e-02 -7.95583521e-04 9.99762370e-01 1.98459109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27925415399997 meters Centerline goodness [0,1] 0.9994739495429936 Centerline is valid? [True, True] Translation: X:221.11, Y:3.24, Z:1.99 [[ 9.98711039e-01 -4.59365288e-02 -2.15892351e-02 2.21112198e+02] [ 4.59422286e-02 9.98944071e-01 -2.32160715e-04 3.24434717e+00] [ 2.15771030e-02 -7.59996104e-04 9.99766898e-01 1.98532625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30925415399997 meters Centerline goodness [0,1] 0.9999122479871883 Centerline is valid? [True, True] Translation: X:221.14, Y:3.25, Z:1.99 [[ 9.98823681e-01 -4.32887136e-02 -2.18481605e-02 2.21143606e+02] [ 4.32939429e-02 9.99062350e-01 -2.33820910e-04 3.24813132e+00] [ 2.18377964e-02 -7.12347150e-04 9.99761273e-01 1.98711433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33925415399997 meters Centerline goodness [0,1] 0.999868212967844 Centerline is valid? [True, True] Translation: X:221.18, Y:3.25, Z:1.99 [[ 9.98874628e-01 -4.19792082e-02 -2.20731582e-02 2.21175397e+02] [ 4.19842541e-02 9.99118245e-01 -2.34971531e-04 3.24990373e+00] [ 2.20635590e-02 -6.92017984e-04 9.99756331e-01 1.98744314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.21, Y:3.25, Z:1.99 [[ 9.98915536e-01 -4.07708630e-02 -2.24830693e-02 2.21207051e+02] [ 4.07758290e-02 9.99168292e-01 -2.37710935e-04 3.24990177e+00] [ 2.24740616e-02 -6.79312643e-04 9.99747196e-01 1.98796450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.24, Y:3.25, Z:1.99 [[ 9.99001222e-01 -3.86654945e-02 -2.23950301e-02 2.21238411e+02] [ 3.86699183e-02 9.99252011e-01 -2.35652320e-04 3.25294276e+00] [ 2.23873905e-02 -6.30597028e-04 9.99749172e-01 1.98950956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42925415399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.27, Y:3.25, Z:1.99 [[ 9.99028195e-01 -3.79216319e-02 -2.24636563e-02 2.21270139e+02] [ 3.79259237e-02 9.99280526e-01 -2.35094417e-04 3.25430852e+00] [ 2.24564094e-02 -6.17088965e-04 9.99747633e-01 1.99075951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45925415399998 meters Centerline goodness [0,1] 0.9998024192663169 Centerline is valid? [True, True] Translation: X:221.30, Y:3.26, Z:1.99 [[ 9.99057496e-01 -3.73493054e-02 -2.21167328e-02 2.21302519e+02] [ 3.73533609e-02 9.99302093e-01 -2.29866056e-04 3.25507788e+00] [ 2.21098827e-02 -5.96484895e-04 9.99755369e-01 1.99168811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48925415399998 meters Centerline goodness [0,1] 0.9998464373464373 Centerline is valid? [True, True] Translation: X:221.33, Y:3.26, Z:1.99 [[ 9.99078076e-01 -3.68458289e-02 -2.20314218e-02 2.21334838e+02] [ 3.68497663e-02 9.99320791e-01 -2.27369764e-04 3.25553498e+00] [ 2.20248355e-02 -5.84692596e-04 9.99757253e-01 1.99248825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51925415399998 meters Centerline goodness [0,1] 0.9998025103133503 Centerline is valid? [True, True] Translation: X:221.37, Y:3.25, Z:1.99 [[ 9.99081138e-01 -3.68864572e-02 -2.18236079e-02 2.21366435e+02] [ 3.68903782e-02 9.99319293e-01 -2.23029826e-04 3.25372877e+00] [ 2.18169792e-02 -5.82256257e-04 9.99761812e-01 1.99380971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54925415399998 meters Centerline goodness [0,1] 0.9995838535164377 Centerline is valid? [True, True] Translation: X:221.40, Y:3.25, Z:1.99 [[ 9.99072451e-01 -3.71745833e-02 -2.17322077e-02 2.21397963e+02] [ 3.71785787e-02 9.99308613e-01 -2.20298987e-04 3.25220409e+00] [ 2.17253719e-02 -5.87877948e-04 9.99763803e-01 1.99409362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57925415399998 meters Centerline goodness [0,1] 0.9996496682796523 Centerline is valid? [True, True] Translation: X:221.43, Y:3.25, Z:2.00 [[ 9.99043602e-01 -3.77013063e-02 -2.21470913e-02 2.21430277e+02] [ 3.77056167e-02 9.99288866e-01 -2.23078990e-04 3.25227671e+00] [ 2.21397521e-02 -6.12204100e-04 9.99754698e-01 1.99507030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60925415399998 meters Centerline goodness [0,1] 0.9995834977421193 Centerline is valid? [True, True] Translation: X:221.46, Y:3.25, Z:2.00 [[ 9.99003099e-01 -3.83845539e-02 -2.27911187e-02 2.21462042e+02] [ 3.83893343e-02 9.99262832e-01 -2.27900326e-04 3.25256958e+00] [ 2.27830656e-02 -6.47262742e-04 9.99740223e-01 1.99604766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63925415399999 meters Centerline goodness [0,1] 0.9996065917733968 Centerline is valid? [True, True] Translation: X:221.49, Y:3.25, Z:2.00 [[ 9.98927414e-01 -3.97438182e-02 -2.37581651e-02 2.21493152e+02] [ 3.97494325e-02 9.99209651e-01 -2.36082792e-04 3.24853164e+00] [ 2.37487707e-02 -7.08544009e-04 9.99717707e-01 1.99561760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.669254154 meters Centerline goodness [0,1] 0.9995190626093039 Centerline is valid? [True, True] Translation: X:221.52, Y:3.25, Z:2.00 [[ 9.98882264e-01 -4.04254720e-02 -2.44949716e-02 2.21524881e+02] [ 4.04316713e-02 9.99182276e-01 -2.42327322e-04 3.24947188e+00] [ 2.44847376e-02 -7.48316173e-04 9.99699924e-01 1.99686668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699254154 meters Centerline goodness [0,1] 0.9994768278327593 Centerline is valid? [True, True] Translation: X:221.56, Y:3.25, Z:2.00 [[ 9.98852443e-01 -4.08461084e-02 -2.50078569e-02 2.21556373e+02] [ 4.08527320e-02 9.99165148e-01 -2.46193456e-04 3.24687783e+00] [ 2.49970351e-02 -7.75728341e-04 9.99687224e-01 1.99688803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.729254154 meters Centerline goodness [0,1] 0.9994546842621878 Centerline is valid? [True, True] Translation: X:221.59, Y:3.25, Z:2.00 [[ 9.98861117e-01 -4.06429967e-02 -2.49923065e-02 2.21588026e+02] [ 4.06495754e-02 9.99173434e-01 -2.44967671e-04 3.24615327e+00] [ 2.49816050e-02 -7.71237966e-04 9.99687614e-01 1.99858287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759254154 meters Centerline goodness [0,1] 0.9993449209537951 Centerline is valid? [True, True] Translation: X:221.62, Y:3.25, Z:2.00 [[ 9.98883262e-01 -4.01066730e-02 -2.49736653e-02 2.21619867e+02] [ 4.01131041e-02 9.99195116e-01 -2.43599368e-04 3.24687509e+00] [ 2.49633343e-02 -7.58443903e-04 9.99688080e-01 1.99994315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78925415399996 meters Centerline goodness [0,1] 0.9995424537551474 Centerline is valid? [True, True] Translation: X:221.65, Y:3.25, Z:2.00 [[ 9.98942377e-01 -3.87813453e-02 -2.47009137e-02 2.21650775e+02] [ 3.87872580e-02 9.99247462e-01 -2.39877940e-04 3.24717752e+00] [ 2.46916282e-02 -7.18456474e-04 9.99694857e-01 2.00094609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81925415399996 meters Centerline goodness [0,1] 0.9995205718270572 Centerline is valid? [True, True] Translation: X:221.68, Y:3.25, Z:2.00 [[ 9.99109580e-01 -3.51759393e-02 -2.32959452e-02 2.21680244e+02] [ 3.51802204e-02 9.99380959e-01 -2.26164206e-04 3.24731904e+00] [ 2.32894796e-02 -5.93593661e-04 9.99728587e-01 2.00232036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84925415399996 meters Centerline goodness [0,1] 0.9996072613021469 Centerline is valid? [True, True] Translation: X:221.71, Y:3.25, Z:2.00 [[ 9.99201605e-01 -3.28755203e-02 -2.27013976e-02 2.21710513e+02] [ 3.28789885e-02 9.99459316e-01 -2.20556491e-04 3.24923519e+00] [ 2.26963742e-02 -5.26018592e-04 9.99742266e-01 2.00378993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87925415399997 meters Centerline goodness [0,1] 0.9993242948690004 Centerline is valid? [True, True] Translation: X:221.74, Y:3.25, Z:2.00 [[ 9.99294692e-01 -3.02875767e-02 -2.21986855e-02 2.21741395e+02] [ 3.02902599e-02 9.99541122e-01 -2.15439095e-04 3.25036263e+00] [ 2.21950241e-02 -4.57116809e-04 9.99753556e-01 2.00455699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90925415399997 meters Centerline goodness [0,1] 0.9994106090373281 Centerline is valid? [True, True] Translation: X:221.77, Y:3.25, Z:2.01 [[ 9.99454027e-01 -2.48647451e-02 -2.17575743e-02 2.21771752e+02] [ 2.48660417e-02 9.99690770e-01 -2.10991198e-04 3.25179602e+00] [ 2.17560924e-02 -3.30148746e-04 9.99763254e-01 2.00525733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93925415399997 meters Centerline goodness [0,1] 0.9994766452963496 Centerline is valid? [True, True] Translation: X:221.80, Y:3.25, Z:2.01 [[ 9.99509329e-01 -2.27423407e-02 -2.15380286e-02 2.21800821e+02] [ 2.27430521e-02 9.99741321e-01 -2.11950118e-04 3.25230704e+00] [ 2.15372774e-02 -2.77994386e-04 9.99768007e-01 2.00517722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96925415399997 meters Centerline goodness [0,1] 0.9994766452963496 Centerline is valid? [True, True] Translation: X:221.83, Y:3.25, Z:2.01 [[ 9.99503537e-01 -2.29955498e-02 -2.15379739e-02 2.21829049e+02] [ 2.29962024e-02 9.99735529e-01 -2.17408989e-04 3.25263204e+00] [ 2.15372772e-02 -2.77990554e-04 9.99768007e-01 2.00544255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99925415399997 meters Centerline goodness [0,1] 0.9995852977125895 Centerline is valid? [True, True] Translation: X:221.86, Y:3.25, Z:2.01 [[ 9.99540964e-01 -2.09281438e-02 -2.19060290e-02 2.21857692e+02] [ 2.09281998e-02 9.99780956e-01 -2.26725376e-04 3.25317948e+00] [ 2.19059756e-02 -2.31832451e-04 9.99760008e-01 2.00542523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02925415399997 meters Centerline goodness [0,1] 0.9993027410990544 Centerline is valid? [True, True] Translation: X:221.89, Y:3.25, Z:2.00 [[ 9.99589598e-01 -1.76499507e-02 -2.25635946e-02 2.21886467e+02] [ 1.76490435e-02 9.99844215e-01 -2.39361872e-04 3.25236540e+00] [ 2.25643042e-02 -1.58962223e-04 9.99745381e-01 2.00395941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05925415399997 meters Centerline goodness [0,1] 0.9994346720010436 Centerline is valid? [True, True] Translation: X:221.91, Y:3.25, Z:2.00 [[ 9.99599237e-01 -1.65670598e-02 -2.29542779e-02 2.21914837e+02] [ 1.65656883e-02 9.99862748e-01 -2.49910565e-04 3.25165860e+00] [ 2.29552677e-02 -1.30443003e-04 9.99736485e-01 2.00336588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08925415399997 meters Centerline goodness [0,1] 0.9993249716923613 Centerline is valid? [True, True] Translation: X:221.94, Y:3.25, Z:2.00 [[ 9.99601924e-01 -1.59023233e-02 -2.33047047e-02 2.21943101e+02] [ 1.59005694e-02 9.99873544e-01 -2.60574095e-04 3.25057349e+00] [ 2.33059014e-02 -1.10087708e-04 9.99728375e-01 2.00306363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11925415399998 meters Centerline goodness [0,1] 0.9993904960926446 Centerline is valid? [True, True] Translation: X:221.97, Y:3.25, Z:2.00 [[ 9.99598397e-01 -1.52662014e-02 -2.38744248e-02 2.21970897e+02] [ 1.52640810e-02 9.99883460e-01 -2.71059326e-04 3.24707789e+00] [ 2.38757805e-02 -9.34706857e-05 9.99714929e-01 2.00157639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14925415399998 meters Centerline goodness [0,1] 0.9994137062451142 Centerline is valid? [True, True] Translation: X:222.00, Y:3.25, Z:2.00 [[ 9.99587928e-01 -1.54951434e-02 -2.41635126e-02 2.21998764e+02] [ 1.54929140e-02 9.99879939e-01 -2.79480546e-04 3.24525305e+00] [ 2.41649421e-02 -9.49978437e-05 9.99707981e-01 2.00160792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17925415399998 meters Centerline goodness [0,1] 0.9991760445803248 Centerline is valid? [True, True] Translation: X:222.03, Y:3.24, Z:2.00 [[ 9.99587014e-01 -1.61425393e-02 -2.37743333e-02 2.22026200e+02] [ 1.61404326e-02 9.99869695e-01 -2.80512591e-04 3.24337816e+00] [ 2.37757636e-02 -1.03331282e-04 9.99717311e-01 2.00126138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20925415399998 meters Centerline goodness [0,1] 0.9992635432235146 Centerline is valid? [True, True] Translation: X:222.05, Y:3.24, Z:2.00 [[ 9.99586830e-01 -1.71106019e-02 -2.30953966e-02 2.22054471e+02] [ 1.71087390e-02 9.99853596e-01 -2.78265917e-04 3.24118630e+00] [ 2.30967766e-02 -1.16982168e-04 9.99733227e-01 2.00139423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23925415399998 meters Centerline goodness [0,1] 0.9991367962191674 Centerline is valid? [True, True] Translation: X:222.08, Y:3.24, Z:2.00 [[ 9.99589323e-01 -1.93509525e-02 -2.11358926e-02 2.22082793e+02] [ 1.93497787e-02 9.99812742e-01 -2.60066078e-04 3.23534976e+00] [ 2.11369673e-02 -1.49015569e-04 9.99776578e-01 2.00111629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26925415399998 meters Centerline goodness [0,1] 0.9990503733759226 Centerline is valid? [True, True] Translation: X:222.11, Y:3.23, Z:2.00 [[ 9.99571796e-01 -2.10148735e-02 -2.03617044e-02 2.22110601e+02] [ 2.10140167e-02 9.99779148e-01 -2.56063888e-04 3.23294814e+00] [ 2.03625887e-02 -1.71926957e-04 9.99792646e-01 2.00230628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29925415399998 meters Centerline goodness [0,1] 0.9992243218202581 Centerline is valid? [True, True] Translation: X:222.14, Y:3.23, Z:2.00 [[ 9.99548524e-01 -2.29483102e-02 -1.93938727e-02 2.22137946e+02] [ 2.29478239e-02 9.99736633e-01 -2.47652070e-04 3.22956012e+00] [ 1.93944482e-02 -1.97506914e-04 9.99811890e-01 2.00204071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32925415399998 meters Centerline goodness [0,1] 0.9991410963904576 Centerline is valid? [True, True] Translation: X:222.17, Y:3.22, Z:2.00 [[ 9.99465956e-01 -2.74290161e-02 -1.77609771e-02 2.22166355e+02] [ 2.74292597e-02 9.99623721e-01 -2.29933779e-04 3.22315761e+00] [ 1.77606008e-02 -2.57359469e-04 9.99842235e-01 2.00221383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35925415399998 meters Centerline goodness [0,1] 0.99916391544827 Centerline is valid? [True, True] Translation: X:222.20, Y:3.22, Z:2.00 [[ 9.99406265e-01 -3.00681217e-02 -1.68233615e-02 2.22196748e+02] [ 3.00686774e-02 9.99547811e-01 -2.19968758e-04 3.21968105e+00] [ 1.68223682e-02 -2.86018073e-04 9.99858453e-01 2.00224262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38925415399999 meters Centerline goodness [0,1] 0.9989952326998311 Centerline is valid? [True, True] Translation: X:222.23, Y:3.22, Z:2.00 [[ 9.99304659e-01 -3.34561452e-02 -1.64585815e-02 2.22227670e+02] [ 3.34571412e-02 9.99440130e-01 -2.14900062e-04 3.21616496e+00] [ 1.64565566e-02 -3.35906455e-04 9.99864525e-01 2.00220176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.419254154 meters Centerline goodness [0,1] 0.9989545774572763 Centerline is valid? [True, True] Translation: X:222.26, Y:3.21, Z:2.00 [[ 9.99062675e-01 -4.05339054e-02 -1.51912137e-02 2.22258913e+02] [ 4.05355755e-02 9.99178076e-01 -1.98085001e-04 3.20812358e+00] [ 1.51867568e-02 -4.17885257e-04 9.99884587e-01 2.00100833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.449254154 meters Centerline goodness [0,1] 0.998764248428678 Centerline is valid? [True, True] Translation: X:222.29, Y:3.20, Z:2.00 [[ 9.98895912e-01 -4.47280626e-02 -1.43651631e-02 2.22290854e+02] [ 4.47299955e-02 9.98999095e-01 -1.86871927e-04 3.20439864e+00] [ 1.43591433e-02 -4.55888076e-04 9.99896798e-01 2.00257317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479254154 meters Centerline goodness [0,1] 0.9988102067265813 Centerline is valid? [True, True] Translation: X:222.32, Y:3.20, Z:2.00 [[ 9.98710219e-01 -4.88366780e-02 -1.38880235e-02 2.22320996e+02] [ 4.88388882e-02 9.98806653e-01 -1.80163072e-04 3.19799282e+00] [ 1.38802489e-02 -4.98344927e-04 9.99903541e-01 2.00235705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.509254154 meters Centerline goodness [0,1] 0.9987659311900253 Centerline is valid? [True, True] Translation: X:222.35, Y:3.20, Z:2.00 [[ 9.98507268e-01 -5.30315275e-02 -1.30725703e-02 2.22351943e+02] [ 5.30338456e-02 9.98592701e-01 -1.69516195e-04 3.19570067e+00] [ 1.30631630e-02 -5.24025523e-04 9.99914536e-01 2.00317781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53925415399996 meters Centerline goodness [0,1] 0.998746734073964 Centerline is valid? [True, True] Translation: X:222.38, Y:3.19, Z:2.00 [[ 9.98317532e-01 -5.66879462e-02 -1.21894529e-02 2.22383486e+02] [ 5.66902368e-02 9.98391803e-01 -1.57799339e-04 3.19188064e+00] [ 1.21787952e-02 -5.33489124e-04 9.99925693e-01 2.00347493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56925415399996 meters Centerline goodness [0,1] 0.9986412466561929 Centerline is valid? [True, True] Translation: X:222.41, Y:3.18, Z:2.00 [[ 9.97951439e-01 -6.28998791e-02 -1.16846299e-02 2.22413113e+02] [ 6.29024121e-02 9.98019671e-01 -1.50967997e-04 3.18354389e+00] [ 1.16709863e-02 -5.84332673e-04 9.99931721e-01 2.00291700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59925415399996 meters Centerline goodness [0,1] 0.9986449577607927 Centerline is valid? [True, True] Translation: X:222.45, Y:3.18, Z:2.00 [[ 9.97847461e-01 -6.45633077e-02 -1.14902058e-02 2.22445580e+02] [ 6.45658673e-02 9.97913437e-01 -1.48438203e-04 3.18185912e+00] [ 1.14758144e-02 -5.93756418e-04 9.99933974e-01 2.00194590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62925415399997 meters Centerline goodness [0,1] 0.9986642920747997 Centerline is valid? [True, True] Translation: X:222.48, Y:3.18, Z:2.00 [[ 9.97634966e-01 -6.78181586e-02 -1.11880031e-02 2.22475421e+02] [ 6.78207985e-02 9.97697509e-01 -1.43714378e-04 3.17628500e+00] [ 1.11719893e-02 -6.15404814e-04 9.99937402e-01 2.00235677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65925415399997 meters Centerline goodness [0,1] 0.9987494966194019 Centerline is valid? [True, True] Translation: X:222.51, Y:3.18, Z:2.00 [[ 9.97600225e-01 -6.82980750e-02 -1.13650483e-02 2.22507431e+02] [ 6.83008406e-02 9.97664760e-01 -1.45070353e-04 3.17517479e+00] [ 1.13484162e-02 -6.31520137e-04 9.99935405e-01 2.00213367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68925415399997 meters Centerline goodness [0,1] 0.9988558594825943 Centerline is valid? [True, True] Translation: X:222.54, Y:3.18, Z:2.00 [[ 9.97579183e-01 -6.84782809e-02 -1.21036348e-02 2.22539985e+02] [ 6.84814420e-02 9.97652379e-01 -1.53580587e-04 3.17580254e+00] [ 1.20857370e-02 -6.75665566e-04 9.99926737e-01 2.00188137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71925415399997 meters Centerline goodness [0,1] 0.998558130658807 Centerline is valid? [True, True] Translation: X:222.57, Y:3.18, Z:2.00 [[ 9.97588356e-01 -6.83692088e-02 -1.19634281e-02 2.22573125e+02] [ 6.83723006e-02 9.97659865e-01 -1.50845070e-04 3.17543285e+00] [ 1.19457452e-02 -6.67485818e-04 9.99928424e-01 2.00188380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74925415399997 meters Centerline goodness [0,1] 0.998686496334901 Centerline is valid? [True, True] Translation: X:222.60, Y:3.18, Z:2.00 [[ 9.97742769e-01 -6.60905972e-02 -1.18911739e-02 2.22603549e+02] [ 6.60935057e-02 9.97813423e-01 -1.48649049e-04 3.17578263e+00] [ 1.18749972e-02 -6.37615853e-04 9.99929286e-01 2.00150949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77925415399997 meters Centerline goodness [0,1] 0.9988150405213821 Centerline is valid? [True, True] Translation: X:222.64, Y:3.18, Z:2.00 [[ 9.97846352e-01 -6.44832809e-02 -1.20234646e-02 2.22635670e+02] [ 6.44861526e-02 9.97918591e-01 -1.49098227e-04 3.17687424e+00] [ 1.20080532e-02 -6.26569851e-04 9.99927704e-01 2.00185378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80925415399997 meters Centerline goodness [0,1] 0.9988352393053791 Centerline is valid? [True, True] Translation: X:222.67, Y:3.18, Z:2.00 [[ 9.97967547e-01 -6.26288850e-02 -1.17642591e-02 2.22667012e+02] [ 6.26315142e-02 9.98036709e-01 -1.45154828e-04 3.17906212e+00] [ 1.17502533e-02 -5.91953551e-04 9.99930788e-01 2.00224392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83925415399997 meters Centerline goodness [0,1] 0.9988136095928138 Centerline is valid? [True, True] Translation: X:222.70, Y:3.18, Z:2.00 [[ 9.98284156e-01 -5.76160070e-02 -1.04470255e-02 2.22696194e+02] [ 5.76178092e-02 9.98338706e-01 -1.28633965e-04 3.18334979e+00] [ 1.04370813e-02 -4.73521472e-04 9.99945420e-01 2.00294067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86925415399998 meters Centerline goodness [0,1] 0.998960476907737 Centerline is valid? [True, True] Translation: X:222.73, Y:3.19, Z:2.00 [[ 9.98449945e-01 -5.46501901e-02 -1.05386513e-02 2.22727254e+02] [ 5.46518571e-02 9.98505462e-01 -1.29957859e-04 3.19082373e+00] [ 1.05300031e-02 -4.46200446e-04 9.99944458e-01 2.00330292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89925415399998 meters Centerline goodness [0,1] 0.998875068981619 Centerline is valid? [True, True] Translation: X:222.76, Y:3.19, Z:2.00 [[ 9.98627670e-01 -5.13730201e-02 -1.01778955e-02 2.22758282e+02] [ 5.13744087e-02 9.98679455e-01 -1.25144221e-04 3.19367460e+00] [ 1.01708842e-02 -3.97910884e-04 9.99948196e-01 2.00397913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92925415399998 meters Centerline goodness [0,1] 0.9988101814473292 Centerline is valid? [True, True] Translation: X:222.79, Y:3.20, Z:2.00 [[ 9.98972447e-01 -4.43196997e-02 -9.47704950e-03 2.22788629e+02] [ 4.43205895e-02 9.99017353e-01 -1.16203744e-04 3.20098885e+00] [ 9.47288702e-03 -3.03944083e-04 9.99955085e-01 2.00423910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95925415399998 meters Centerline goodness [0,1] 0.9988331883658272 Centerline is valid? [True, True] Translation: X:222.82, Y:3.21, Z:2.00 [[ 9.99138192e-01 -4.04620539e-02 -9.25713184e-03 2.22820504e+02] [ 4.04627387e-02 9.99181042e-01 -1.13374963e-04 3.20571852e+00] [ 9.25413802e-03 -2.61291651e-04 9.99957145e-01 2.00461351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98925415399998 meters Centerline goodness [0,1] 0.9988505747126437 Centerline is valid? [True, True] Translation: X:222.85, Y:3.21, Z:2.00 [[ 9.99300519e-01 -3.62733378e-02 -9.09495603e-03 2.22851194e+02] [ 3.62738300e-02 9.99341882e-01 -1.10883812e-04 3.20773373e+00] [ 9.09299260e-03 -2.19102638e-04 9.99958634e-01 2.00458047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01925415399998 meters Centerline goodness [0,1] 0.9989135991820041 Centerline is valid? [True, True] Translation: X:222.88, Y:3.22, Z:2.00 [[ 9.99589214e-01 -2.72724459e-02 -8.81005196e-03 2.22881817e+02] [ 2.72725611e-02 9.99628029e-01 -1.07084931e-04 3.21702154e+00] [ 8.80969534e-03 -1.33231738e-04 9.99961185e-01 2.00472784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04925415399998 meters Centerline goodness [0,1] 0.9989748189914782 Centerline is valid? [True, True] Translation: X:222.91, Y:3.22, Z:2.01 [[ 9.99701591e-01 -2.27941116e-02 -8.78396826e-03 2.22913051e+02] [ 2.27940547e-02 9.99740176e-01 -1.06607946e-04 3.21969640e+00] [ 8.78411601e-03 -9.36461203e-05 9.99961415e-01 2.00533054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07925415399998 meters Centerline goodness [0,1] 0.9987620064034152 Centerline is valid? [True, True] Translation: X:222.94, Y:3.22, Z:2.01 [[ 9.99802874e-01 -1.79113818e-02 -8.56714551e-03 2.22944209e+02] [ 1.79111525e-02 9.99839577e-01 -1.03498524e-04 3.22469299e+00] [ 8.56762494e-03 -4.99693277e-05 9.99963296e-01 2.00558641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10925415399998 meters Centerline goodness [0,1] 0.9989539079011976 Centerline is valid? [True, True] Translation: X:222.98, Y:3.23, Z:2.01 [[ 9.99928073e-01 -8.92514834e-03 -8.01186266e-03 2.22975064e+02] [ 8.92466147e-03 9.99960170e-01 -9.65196337e-05 3.23147608e+00] [ 8.01240500e-03 2.50095294e-05 9.99967900e-01 2.00657427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13925415399999 meters Centerline goodness [0,1] 0.9990607522520599 Centerline is valid? [True, True] Translation: X:223.00, Y:3.23, Z:2.01 [[ 9.99952760e-01 -4.99910830e-03 -8.33587674e-03 2.23004686e+02] [ 4.99844811e-03 9.99987503e-01 -1.00031015e-04 3.23449899e+00] [ 8.33627263e-03 5.83598427e-05 9.99965251e-01 2.00721759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.169254154 meters Centerline goodness [0,1] 0.9992085561497326 Centerline is valid? [True, True] Translation: X:223.03, Y:3.24, Z:2.01 [[ 9.99966913e-01 -1.80322840e-03 -7.93230615e-03 2.23032619e+02] [ 1.80252849e-03 9.99998371e-01 -9.53835567e-05 3.23716489e+00] [ 7.93246522e-03 8.10821929e-05 9.99968534e-01 2.00780544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199254154 meters Centerline goodness [0,1] 0.9990604514103906 Centerline is valid? [True, True] Translation: X:223.06, Y:3.24, Z:2.01 [[ 9.99971672e-01 6.98968795e-04 -7.49446652e-03 2.23061649e+02] [-6.99666279e-04 9.99999751e-01 -9.04450931e-05 3.23860342e+00] [ 7.49440144e-03 9.56861565e-05 9.99971912e-01 2.00825945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.229254154 meters Centerline goodness [0,1] 0.9990805679096818 Centerline is valid? [True, True] Translation: X:223.09, Y:3.24, Z:2.01 [[ 9.99967769e-01 3.57798192e-03 -7.18746535e-03 2.23089886e+02] [-3.57871274e-03 9.99993592e-01 -8.88220766e-05 3.23950559e+00] [ 7.18710149e-03 1.14541088e-04 9.99974166e-01 2.00853530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259254154 meters Centerline goodness [0,1] 0.9991243806594908 Centerline is valid? [True, True] Translation: X:223.12, Y:3.24, Z:2.01 [[ 9.99968337e-01 3.97564009e-03 -6.89343877e-03 2.23118402e+02] [-3.97632611e-03 9.99992091e-01 -8.58150707e-05 3.23888108e+00] [ 6.89304307e-03 1.13222914e-04 9.99976236e-01 2.00892231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28925415399996 meters Centerline goodness [0,1] 0.9992957896758499 Centerline is valid? [True, True] Translation: X:223.15, Y:3.24, Z:2.01 [[ 9.99970556e-01 3.49061943e-03 -6.83397084e-03 2.23146710e+02] [-3.49128572e-03 9.99993902e-01 -8.55689304e-05 3.23885963e+00] [ 6.83363047e-03 1.09425756e-04 9.99976644e-01 2.00890319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31925415399996 meters Centerline goodness [0,1] 0.9991019692531378 Centerline is valid? [True, True] Translation: X:223.18, Y:3.23, Z:2.01 [[ 9.99970861e-01 1.80766422e-05 -7.63388563e-03 2.23175230e+02] [-1.88116918e-05 9.99999995e-01 -9.62159421e-05 3.23418165e+00] [ 7.63388385e-03 9.63567448e-05 9.99970857e-01 2.00808468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34925415399996 meters Centerline goodness [0,1] 0.9991899554475496 Centerline is valid? [True, True] Translation: X:223.20, Y:3.23, Z:2.01 [[ 9.99964515e-01 -2.84233949e-03 -7.93027699e-03 2.23202954e+02] [ 2.84163160e-03 9.99995958e-01 -1.00530191e-04 3.23226686e+00] [ 7.93053068e-03 7.79916980e-05 9.99968550e-01 2.00811518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37925415399997 meters Centerline goodness [0,1] 0.9989558250047946 Centerline is valid? [True, True] Translation: X:223.23, Y:3.23, Z:2.01 [[ 9.99945006e-01 -6.47415939e-03 -8.25052681e-03 2.23231708e+02] [ 6.47351018e-03 9.99979041e-01 -1.05390621e-04 3.22898190e+00] [ 8.25103621e-03 5.19749561e-05 9.99965958e-01 2.00794720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40925415399997 meters Centerline goodness [0,1] 0.9988119988119988 Centerline is valid? [True, True] Translation: X:223.26, Y:3.22, Z:2.01 [[ 9.99857271e-01 -1.49503827e-02 -7.86913599e-03 2.23260505e+02] [ 1.49500501e-02 9.99888237e-01 -1.01089802e-04 3.22107830e+00] [ 7.86976784e-03 -1.65686034e-05 9.99969033e-01 2.00828985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43925415399997 meters Centerline goodness [0,1] 0.9987708479030242 Centerline is valid? [True, True] Translation: X:223.29, Y:3.22, Z:2.01 [[ 9.99781169e-01 -1.95994711e-02 -7.31269697e-03 2.23291451e+02] [ 1.95993035e-02 9.99807911e-01 -9.45797215e-05 3.21705137e+00] [ 7.31314599e-03 -4.87647429e-05 9.99973257e-01 2.00874710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46925415399997 meters Centerline goodness [0,1] 0.9988788289050601 Centerline is valid? [True, True] Translation: X:223.32, Y:3.21, Z:2.01 [[ 9.99684892e-01 -2.42006341e-02 -6.66679153e-03 2.23323581e+02] [ 2.42006004e-02 9.99707119e-01 -8.57390841e-05 3.21314408e+00] [ 6.66691389e-03 -7.56282907e-05 9.99977773e-01 2.00930714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49925415399997 meters Centerline goodness [0,1] 0.9986497605434714 Centerline is valid? [True, True] Translation: X:223.36, Y:3.21, Z:2.01 [[ 9.99571465e-01 -2.86691238e-02 -5.91336009e-03 2.23355163e+02] [ 2.86691780e-02 9.99588952e-01 -7.56263484e-05 3.20850053e+00] [ 5.91309755e-03 -9.39372329e-05 9.99982513e-01 2.01005874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52925415399997 meters Centerline goodness [0,1] 0.9987360438171476 Centerline is valid? [True, True] Translation: X:223.39, Y:3.20, Z:2.01 [[ 9.99291490e-01 -3.72693672e-02 -5.24520521e-03 2.23385356e+02] [ 3.72695289e-02 9.99305248e-01 -6.69464630e-05 3.19968390e+00] [ 5.24405614e-03 -1.28587296e-04 9.99986242e-01 2.01072356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55925415399997 meters Centerline goodness [0,1] 0.9986734887246541 Centerline is valid? [True, True] Translation: X:223.42, Y:3.20, Z:2.01 [[ 9.99146032e-01 -4.10196899e-02 -4.95895585e-03 2.23417830e+02] [ 4.10198824e-02 9.99158328e-01 -6.29113159e-05 3.19590587e+00] [ 4.95736264e-03 -1.40558194e-04 9.99987702e-01 2.01078200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58925415399997 meters Centerline goodness [0,1] 0.9987189449146313 Centerline is valid? [True, True] Translation: X:223.45, Y:3.19, Z:2.01 [[ 9.98835189e-01 -4.79577914e-02 -5.32118854e-03 2.23448273e+02] [ 4.79581146e-02 9.98849345e-01 -6.69277788e-05 3.18726648e+00] [ 5.31827540e-03 -1.88344349e-04 9.99985840e-01 2.01007666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61925415399998 meters Centerline goodness [0,1] 0.9988235788412252 Centerline is valid? [True, True] Translation: X:223.48, Y:3.19, Z:2.01 [[ 9.98685282e-01 -5.09396436e-02 -5.73243539e-03 2.23479836e+02] [ 5.09400684e-02 9.98701709e-01 -7.19615212e-05 3.18724670e+00] [ 5.72865872e-03 -2.20143739e-04 9.99983567e-01 2.00957219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64925415399998 meters Centerline goodness [0,1] 0.9988027976728067 Centerline is valid? [True, True] Translation: X:223.51, Y:3.18, Z:2.01 [[ 9.98530888e-01 -5.38165814e-02 -6.31204207e-03 2.23511111e+02] [ 5.38171565e-02 9.98550804e-01 -7.88340718e-05 3.18037018e+00] [ 6.30713726e-03 -2.60977900e-04 9.99980076e-01 2.00952900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67925415399998 meters Centerline goodness [0,1] 0.9985317252228632 Centerline is valid? [True, True] Translation: X:223.54, Y:3.18, Z:2.01 [[ 9.98361500e-01 -5.68215513e-02 -6.75475143e-03 2.23542279e+02] [ 5.68222816e-02 9.98384305e-01 -8.39079470e-05 3.17870539e+00] [ 6.74860559e-03 -3.00049924e-04 9.99977183e-01 2.00889200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70925415399998 meters Centerline goodness [0,1] 0.998660499382574 Centerline is valid? [True, True] Translation: X:223.57, Y:3.18, Z:2.01 [[ 9.98028961e-01 -6.22381546e-02 -8.03773428e-03 2.23573424e+02] [ 6.22393668e-02 9.98061246e-01 -9.94817411e-05 3.17630863e+00] [ 8.02834265e-03 -4.00977833e-04 9.99967692e-01 2.00817416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73925415399998 meters Centerline goodness [0,1] 0.9986423260088562 Centerline is valid? [True, True] Translation: X:223.60, Y:3.17, Z:2.01 [[ 9.97859780e-01 -6.47761770e-02 -8.93906833e-03 2.23603500e+02] [ 6.47777796e-02 9.97899708e-01 -1.10439600e-04 3.17020252e+00] [ 8.92744753e-03 -4.68849763e-04 9.99960040e-01 2.00792495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76925415399998 meters Centerline goodness [0,1] 0.9984694733310969 Centerline is valid? [True, True] Translation: X:223.63, Y:3.17, Z:2.01 [[ 9.97688409e-01 -6.72645866e-02 -9.65993050e-03 2.23634257e+02] [ 6.72665832e-02 9.97735031e-01 -1.18434356e-04 3.17195623e+00] [ 9.64601750e-03 -5.31629935e-04 9.99953335e-01 2.00615014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79925415399998 meters Centerline goodness [0,1] 0.9983866574475664 Centerline is valid? [True, True] Translation: X:223.66, Y:3.17, Z:2.01 [[ 9.97366684e-01 -7.17006777e-02 -1.08954413e-02 2.23663946e+02] [ 7.17034840e-02 9.97425984e-01 -1.33353803e-04 3.16742688e+00] [ 1.08769578e-02 -6.48238463e-04 9.99940634e-01 2.00673966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82925415399998 meters Centerline goodness [0,1] 0.9985114991928552 Centerline is valid? [True, True] Translation: X:223.70, Y:3.17, Z:2.01 [[ 9.97266631e-01 -7.30385042e-02 -1.11643982e-02 2.23696094e+02] [ 7.30415382e-02 9.97328890e-01 -1.36288493e-04 3.16570744e+00] [ 1.11445311e-02 -6.79548849e-04 9.99937667e-01 2.00663403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85925415399998 meters Centerline goodness [0,1] 0.9985114991928552 Centerline is valid? [True, True] Translation: X:223.73, Y:3.17, Z:2.01 [[ 9.97274518e-01 -7.29307296e-02 -1.11644087e-02 2.23728686e+02] [ 7.29337666e-02 9.97336777e-01 -1.35422041e-04 3.16600795e+00] [ 1.11445518e-02 -6.79209426e-04 9.99937667e-01 2.00693921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88925415399999 meters Centerline goodness [0,1] 0.9983867926504787 Centerline is valid? [True, True] Translation: X:223.76, Y:3.17, Z:2.01 [[ 9.97220387e-01 -7.35676764e-02 -1.18024396e-02 2.23761001e+02] [ 7.35711296e-02 9.97289962e-01 -1.41917270e-04 3.16515648e+00] [ 1.17808950e-02 -7.26796015e-04 9.99930339e-01 2.00703826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.919254154 meters Centerline goodness [0,1] 0.998321936485296 Centerline is valid? [True, True] Translation: X:223.79, Y:3.17, Z:2.01 [[ 9.97218224e-01 -7.34428026e-02 -1.27267173e-02 2.23793416e+02] [ 7.34468206e-02 9.97299123e-01 -1.52012520e-04 3.16602242e+00] [ 1.27035082e-02 -7.83147267e-04 9.99919000e-01 2.00694265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.949254154 meters Centerline goodness [0,1] 0.9985763038335113 Centerline is valid? [True, True] Translation: X:223.83, Y:3.17, Z:2.01 [[ 9.97275545e-01 -7.25716436e-02 -1.32228901e-02 2.23825685e+02] [ 7.25759199e-02 9.97362878e-01 -1.56803477e-04 3.16773558e+00] [ 1.31993992e-02 -8.03287136e-04 9.99912561e-01 2.00733132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979254154 meters Centerline goodness [0,1] 0.9985572399372713 Centerline is valid? [True, True] Translation: X:223.86, Y:3.17, Z:2.01 [[ 9.97358153e-01 -7.12312672e-02 -1.42415371e-02 2.23858095e+02] [ 7.12361066e-02 9.97459467e-01 -1.67832584e-04 3.16924621e+00] [ 1.42173109e-02 -8.47122459e-04 9.99898570e-01 2.00737739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00925415399996 meters Centerline goodness [0,1] 0.9985537926264384 Centerline is valid? [True, True] Translation: X:223.89, Y:3.17, Z:2.01 [[ 9.97453066e-01 -6.98005279e-02 -1.46719676e-02 2.23890233e+02] [ 6.98055252e-02 9.97560604e-01 -1.71863684e-04 3.17129244e+00] [ 1.46481731e-02 -8.52758447e-04 9.99892346e-01 2.00735138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03925415399996 meters Centerline goodness [0,1] 0.998531694424634 Centerline is valid? [True, True] Translation: X:223.92, Y:3.18, Z:2.01 [[ 9.97617903e-01 -6.71482057e-02 -1.57999348e-02 2.23921833e+02] [ 6.71536859e-02 9.97742626e-01 -1.84045177e-04 3.17512321e+00] [ 1.57766267e-02 -8.77417093e-04 9.99875156e-01 2.00750958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06925415399996 meters Centerline goodness [0,1] 0.9985929099462365 Centerline is valid? [True, True] Translation: X:223.95, Y:3.18, Z:2.01 [[ 9.97697642e-01 -6.59235790e-02 -1.59216128e-02 2.23954195e+02] [ 6.59290033e-02 9.97824299e-01 -1.84525134e-04 3.17708501e+00] [ 1.58991367e-02 -8.65595774e-04 9.99873226e-01 2.00794754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09925415399996 meters Centerline goodness [0,1] 0.9984672559682533 Centerline is valid? [True, True] Translation: X:223.99, Y:3.18, Z:2.01 [[ 9.97783827e-01 -6.45549155e-02 -1.61275466e-02 2.23985348e+02] [ 6.45603188e-02 9.97913789e-01 -1.85915528e-04 3.17839787e+00] [ 1.61059029e-02 -8.55696044e-04 9.99869925e-01 2.00825865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12925415399997 meters Centerline goodness [0,1] 0.9988036017883005 Centerline is valid? [True, True] Translation: X:224.02, Y:3.18, Z:2.01 [[ 9.97902152e-01 -6.25910173e-02 -1.65426638e-02 2.24015468e+02] [ 6.25964434e-02 9.98038902e-01 -1.90087797e-04 3.18119169e+00] [ 1.65221198e-02 -8.45822899e-04 9.99863143e-01 2.00871676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15925415399997 meters Centerline goodness [0,1] 0.9988642338836892 Centerline is valid? [True, True] Translation: X:224.05, Y:3.18, Z:2.01 [[ 9.97950159e-01 -6.16998955e-02 -1.69883418e-02 2.24047764e+02] [ 6.17055007e-02 9.98094381e-01 -1.94532414e-04 3.18315561e+00] [ 1.69679711e-02 -8.54140480e-04 9.99855669e-01 2.00934031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18925415399997 meters Centerline goodness [0,1] 0.9984862501051215 Centerline is valid? [True, True] Translation: X:224.08, Y:3.18, Z:2.01 [[ 9.98019928e-01 -6.03622431e-02 -1.76811601e-02 2.24080324e+02] [ 6.03681293e-02 9.98176161e-01 -2.01117670e-04 3.18484943e+00] [ 1.76610524e-02 -8.66659116e-04 9.99843656e-01 2.00954560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21925415399997 meters Centerline goodness [0,1] 0.9986752181684365 Centerline is valid? [True, True] Translation: X:224.11, Y:3.19, Z:2.01 [[ 9.98120668e-01 -5.86323572e-02 -1.78151559e-02 2.24112242e+02] [ 5.86380796e-02 9.98279287e-01 -2.01434056e-04 3.18724972e+00] [ 1.77963117e-02 -8.43591038e-04 9.99841277e-01 2.00992195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24925415399997 meters Centerline goodness [0,1] 0.9985439044463671 Centerline is valid? [True, True] Translation: X:224.14, Y:3.19, Z:2.01 [[ 9.98350101e-01 -5.43063692e-02 -1.86519207e-02 2.24141762e+02] [ 5.43118975e-02 9.98523997e-01 -2.10405731e-04 3.19213582e+00] [ 1.86358168e-02 -8.02962623e-04 9.99826016e-01 2.01030776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27925415399997 meters Centerline goodness [0,1] 0.9987769647639331 Centerline is valid? [True, True] Translation: X:224.17, Y:3.20, Z:2.01 [[ 9.98505731e-01 -5.12294567e-02 -1.90223107e-02 2.24173141e+02] [ 5.12346554e-02 9.98686620e-01 -2.14267005e-04 3.19578905e+00] [ 1.90083039e-02 -7.60654700e-04 9.99819037e-01 2.01104441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30925415399997 meters Centerline goodness [0,1] 0.9987335359675785 Centerline is valid? [True, True] Translation: X:224.20, Y:3.20, Z:2.01 [[ 9.98665086e-01 -4.79067242e-02 -1.93129857e-02 2.24204835e+02] [ 4.79114780e-02 9.98851562e-01 -2.16743598e-04 3.19932420e+00] [ 1.93011894e-02 -7.08859423e-04 9.99813463e-01 2.01137497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33925415399997 meters Centerline goodness [0,1] 0.9988591709975916 Centerline is valid? [True, True] Translation: X:224.23, Y:3.21, Z:2.01 [[ 9.99015990e-01 -3.98208854e-02 -1.95281530e-02 2.24233883e+02] [ 3.98242084e-02 9.99206678e-01 -2.18847795e-04 3.20828455e+00] [ 1.95213756e-02 -5.59060787e-04 9.99809283e-01 2.01217795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36925415399998 meters Centerline goodness [0,1] 0.9987088307509948 Centerline is valid? [True, True] Translation: X:224.26, Y:3.21, Z:2.01 [[ 9.99188374e-01 -3.52115464e-02 -1.95637297e-02 2.24264834e+02] [ 3.52139989e-02 9.99379771e-01 -2.19224298e-04 3.21348441e+00] [ 1.95593149e-02 -4.69870786e-04 9.99808588e-01 2.01300649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39925415399998 meters Centerline goodness [0,1] 0.9987499735163881 Centerline is valid? [True, True] Translation: X:224.29, Y:3.22, Z:2.01 [[ 9.99327723e-01 -3.08613179e-02 -1.97909350e-02 2.24294711e+02] [ 3.08629747e-02 9.99523600e-01 -2.21783936e-04 3.21888807e+00] [ 1.97883511e-02 -3.89172290e-04 9.99804116e-01 2.01374253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42925415399998 meters Centerline goodness [0,1] 0.9987063115032236 Centerline is valid? [True, True] Translation: X:224.32, Y:3.22, Z:2.01 [[ 9.99461824e-01 -2.62664726e-02 -1.96503208e-02 2.24324308e+02] [ 2.62672089e-02 9.99654933e-01 -2.20676864e-04 3.22409828e+00] [ 1.96493365e-02 -2.95600980e-04 9.99806889e-01 2.01465351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45925415399998 meters Centerline goodness [0,1] 0.998768054375531 Centerline is valid? [True, True] Translation: X:224.35, Y:3.23, Z:2.02 [[ 9.99632967e-01 -1.82654645e-02 -2.00076075e-02 2.24352893e+02] [ 1.82646104e-02 9.99833163e-01 -2.25437927e-04 3.23263019e+00] [ 2.00083872e-02 -1.40075972e-04 9.99799802e-01 2.01546114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48925415399998 meters Centerline goodness [0,1] 0.998765747361253 Centerline is valid? [True, True] Translation: X:224.38, Y:3.24, Z:2.02 [[ 9.99679417e-01 -1.53993193e-02 -2.00978622e-02 2.24381596e+02] [ 1.53978179e-02 9.99881420e-01 -2.29462860e-04 3.23680094e+00] [ 2.00990126e-02 -8.00739240e-05 9.99797991e-01 2.01824826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51925415399998 meters Centerline goodness [0,1] 0.9989362154801923 Centerline is valid? [True, True] Translation: X:224.41, Y:3.24, Z:2.02 [[ 9.99705782e-01 -1.31778569e-02 -2.03640105e-02 2.24409464e+02] [ 1.31757437e-02 9.99913168e-01 -2.37942669e-04 3.23898046e+00] [ 2.03653778e-02 -3.04383197e-05 9.99792604e-01 2.01894862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54925415399998 meters Centerline goodness [0,1] 0.9991281418789606 Centerline is valid? [True, True] Translation: X:224.44, Y:3.24, Z:2.02 [[ 9.99728857e-01 -1.03745933e-02 -2.08465816e-02 2.24436990e+02] [ 1.03716441e-02 9.99946182e-01 -2.49586612e-04 3.24091300e+00] [ 2.08480491e-02 3.33056130e-05 9.99782655e-01 2.01969958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57925415399998 meters Centerline goodness [0,1] 0.9991281418789606 Centerline is valid? [True, True] Translation: X:224.47, Y:3.24, Z:2.02 [[ 9.99719606e-01 -1.04625703e-02 -2.12424950e-02 2.24465370e+02] [ 1.04593963e-02 9.99945265e-01 -2.60519265e-04 3.24071060e+00] [ 2.12440580e-02 3.82625436e-05 9.99774319e-01 2.02041391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60925415399998 meters Centerline goodness [0,1] 0.9990442613201937 Centerline is valid? [True, True] Translation: X:224.49, Y:3.24, Z:2.02 [[ 9.99678110e-01 -1.25495585e-02 -2.20495925e-02 2.24494625e+02] [ 1.25465125e-02 9.99921251e-01 -2.76481331e-04 3.23836554e+00] [ 2.20513258e-02 -2.53152985e-07 9.99756840e-01 2.02049967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63925415399999 meters Centerline goodness [0,1] 0.999044606271629 Centerline is valid? [True, True] Translation: X:224.52, Y:3.24, Z:2.02 [[ 9.99648996e-01 -1.48422370e-02 -2.19452284e-02 2.24522786e+02] [ 1.48396404e-02 9.99889847e-01 -2.81173973e-04 3.23633254e+00] [ 2.19469843e-02 -4.45840181e-05 9.99759135e-01 2.02053411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.669254154 meters Centerline goodness [0,1] 0.9989168525007964 Centerline is valid? [True, True] Translation: X:224.55, Y:3.23, Z:2.02 [[ 9.99597638e-01 -1.76661137e-02 -2.21916957e-02 2.24550222e+02] [ 1.76640551e-02 9.99843937e-01 -2.88795477e-04 3.23364689e+00] [ 2.21933343e-02 -1.03316060e-04 9.99753692e-01 2.02017104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699254154 meters Centerline goodness [0,1] 0.9989836752842534 Centerline is valid? [True, True] Translation: X:224.58, Y:3.23, Z:2.02 [[ 9.99521188e-01 -2.10942825e-02 -2.26368434e-02 2.24579172e+02] [ 2.10929154e-02 9.99777475e-01 -2.99187268e-04 3.23052420e+00] [ 2.26381173e-02 -1.78433010e-04 9.99743709e-01 2.02041655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.729254154 meters Centerline goodness [0,1] 0.9988353133007221 Centerline is valid? [True, True] Translation: X:224.61, Y:3.22, Z:2.02 [[ 9.99326432e-01 -2.89380139e-02 -2.25670826e-02 2.24609014e+02] [ 2.89385909e-02 9.99581146e-01 -3.01071844e-04 3.22303497e+00] [ 2.25663427e-02 -3.52190521e-04 9.99745286e-01 2.02129832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75925415399996 meters Centerline goodness [0,1] 0.9988802264900383 Centerline is valid? [True, True] Translation: X:224.64, Y:3.22, Z:2.02 [[ 9.99194518e-01 -3.33955420e-02 -2.22497910e-02 2.24638181e+02] [ 3.33971277e-02 9.99442115e-01 -3.00415729e-04 3.21883537e+00] [ 2.22474107e-02 -4.42905363e-04 9.99752398e-01 2.02184668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78925415399996 meters Centerline goodness [0,1] 0.9989865078862356 Centerline is valid? [True, True] Translation: X:224.67, Y:3.21, Z:2.02 [[ 9.99053964e-01 -3.76463020e-02 -2.17700019e-02 2.24667176e+02] [ 3.76487638e-02 9.99290990e-01 -2.96907622e-04 3.21429878e+00] [ 2.17657443e-02 -5.22986925e-04 9.99762961e-01 2.02198782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81925415399996 meters Centerline goodness [0,1] 0.9988225151916567 Centerline is valid? [True, True] Translation: X:224.70, Y:3.21, Z:2.02 [[ 9.98767197e-01 -4.46732233e-02 -2.16422844e-02 2.24696207e+02] [ 4.46772882e-02 9.99001428e-01 -2.95899895e-04 3.20572492e+00] [ 2.16338918e-02 -6.71383467e-04 9.99765735e-01 2.02225083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84925415399996 meters Centerline goodness [0,1] 0.9988204318062138 Centerline is valid? [True, True] Translation: X:224.73, Y:3.20, Z:2.02 [[ 9.98648603e-01 -4.73887702e-02 -2.13371065e-02 2.24727418e+02] [ 4.73933458e-02 9.98876262e-01 -2.91468235e-04 3.20452511e+00] [ 2.13269415e-02 -7.20162521e-04 9.99772296e-01 2.02300058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87925415399997 meters Centerline goodness [0,1] 0.9987787673973006 Centerline is valid? [True, True] Translation: X:224.76, Y:3.20, Z:2.02 [[ 9.98526737e-01 -4.97383645e-02 -2.16898696e-02 2.24759122e+02] [ 4.97436637e-02 9.98761974e-01 -2.95481268e-04 3.20333626e+00] [ 2.16777137e-02 -7.83887630e-04 9.99764703e-01 2.02371234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90925415399997 meters Centerline goodness [0,1] 0.9987578162831336 Centerline is valid? [True, True] Translation: X:224.79, Y:3.20, Z:2.02 [[ 9.98436100e-01 -5.14282642e-02 -2.19200384e-02 2.24789417e+02] [ 5.14341044e-02 9.98676346e-01 -2.97641719e-04 3.19508385e+00] [ 2.19063311e-02 -8.30261307e-04 9.99759683e-01 2.02178441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93925415399997 meters Centerline goodness [0,1] 0.9988221436984688 Centerline is valid? [True, True] Translation: X:224.82, Y:3.19, Z:2.02 [[ 9.98325098e-01 -5.35847513e-02 -2.18099225e-02 2.24820959e+02] [ 5.35910660e-02 9.98562923e-01 -2.95260891e-04 3.19127644e+00] [ 2.17944014e-02 -8.74050636e-04 9.99762092e-01 2.02212773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96925415399997 meters Centerline goodness [0,1] 0.9989072645890684 Centerline is valid? [True, True] Translation: X:224.85, Y:3.20, Z:2.02 [[ 9.98303642e-01 -5.39975192e-02 -2.17739699e-02 2.24853307e+02] [ 5.40039378e-02 9.98540679e-01 -2.93548346e-04 3.19560729e+00] [ 2.17580456e-02 -8.82829733e-04 9.99762876e-01 2.02393726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99925415399997 meters Centerline goodness [0,1] 0.9987611288426004 Centerline is valid? [True, True] Translation: X:224.89, Y:3.19, Z:2.02 [[ 9.98287426e-01 -5.40665404e-02 -2.23388477e-02 2.24885122e+02] [ 5.40733509e-02 9.98536921e-01 -2.99501427e-04 3.19478948e+00] [ 2.23223573e-02 -9.08947843e-04 9.99750412e-01 2.02400947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02925415399997 meters Centerline goodness [0,1] 0.9988432255079291 Centerline is valid? [True, True] Translation: X:224.92, Y:3.19, Z:2.02 [[ 9.98283427e-01 -5.38371126e-02 -2.30600050e-02 2.24916328e+02] [ 5.38443428e-02 9.98549294e-01 -3.07701487e-04 3.19399182e+00] [ 2.30431174e-02 -9.34477520e-04 9.99734035e-01 2.02412271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05925415399997 meters Centerline goodness [0,1] 0.9987390984553957 Centerline is valid? [True, True] Translation: X:224.95, Y:3.20, Z:2.02 [[ 9.98315268e-01 -5.32513741e-02 -2.30416114e-02 2.24947639e+02] [ 5.32584606e-02 9.98580714e-01 -3.06436874e-04 3.19516408e+00] [ 2.30252270e-02 -9.21240144e-04 9.99734460e-01 2.02415222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08925415399997 meters Centerline goodness [0,1] 0.9990758826370949 Centerline is valid? [True, True] Translation: X:224.98, Y:3.20, Z:2.02 [[ 9.98364558e-01 -5.23570312e-02 -2.29553945e-02 2.24979070e+02] [ 5.23638482e-02 9.98628026e-01 -3.04442098e-04 3.19662067e+00] [ 2.29398400e-02 -8.98088591e-04 9.99736444e-01 2.02434286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11925415399998 meters Centerline goodness [0,1] 0.9988686597808553 Centerline is valid? [True, True] Translation: X:225.01, Y:3.20, Z:2.02 [[ 9.98486214e-01 -4.97374754e-02 -2.34832658e-02 2.25010651e+02] [ 4.97439069e-02 9.98761957e-01 -3.10563944e-04 3.19841771e+00] [ 2.34696392e-02 -8.58055573e-04 9.99724182e-01 2.02400199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14925415399998 meters Centerline goodness [0,1] 0.998948541627237 Centerline is valid? [True, True] Translation: X:225.04, Y:3.20, Z:2.02 [[ 9.98553681e-01 -4.84216584e-02 -2.33642640e-02 2.25041204e+02] [ 4.84276791e-02 9.98826644e-01 -3.08389344e-04 3.19817538e+00] [ 2.33517821e-02 -8.23533763e-04 9.99726971e-01 2.02324720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17925415399998 meters Centerline goodness [0,1] 0.9989274899057874 Centerline is valid? [True, True] Translation: X:225.07, Y:3.20, Z:2.02 [[ 9.98628584e-01 -4.68534197e-02 -2.33604140e-02 2.25071524e+02] [ 4.68590139e-02 9.98901466e-01 -3.08167736e-04 3.19973320e+00] [ 2.33491905e-02 -7.86900855e-04 9.99727061e-01 2.02313683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20925415399998 meters Centerline goodness [0,1] 0.9989270837716161 Centerline is valid? [True, True] Translation: X:225.10, Y:3.20, Z:2.02 [[ 9.98689664e-01 -4.56376939e-02 -2.31550321e-02 2.25102449e+02] [ 4.56428613e-02 9.98957775e-01 -3.05564081e-04 3.20325352e+00] [ 2.31448446e-02 -7.51698230e-04 9.99731840e-01 2.02391138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23925415399998 meters Centerline goodness [0,1] 0.9988852431431937 Centerline is valid? [True, True] Translation: X:225.13, Y:3.20, Z:2.02 [[ 9.98787890e-01 -4.34651793e-02 -2.30982384e-02 2.25132460e+02] [ 4.34697393e-02 9.99054698e-01 -3.04886241e-04 3.20288127e+00] [ 2.30896556e-02 -6.99557718e-04 9.99733154e-01 2.02249234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26925415399998 meters Centerline goodness [0,1] 0.9990944318086092 Centerline is valid? [True, True] Translation: X:225.16, Y:3.21, Z:2.02 [[ 9.98809906e-01 -4.28466213e-02 -2.33010328e-02 2.25162978e+02] [ 4.28510937e-02 9.99081423e-01 -3.07563034e-04 3.20629238e+00] [ 2.32928070e-02 -6.91277732e-04 9.99728447e-01 2.02328045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29925415399998 meters Centerline goodness [0,1] 0.9990955746256099 Centerline is valid? [True, True] Translation: X:225.19, Y:3.21, Z:2.02 [[ 9.98806949e-01 -4.28042314e-02 -2.35048379e-02 2.25193955e+02] [ 4.28087706e-02 9.99083236e-01 -3.10253169e-04 3.20732502e+00] [ 2.34965697e-02 -6.96330192e-04 9.99723675e-01 2.02312340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32925415399998 meters Centerline goodness [0,1] 0.9989066902148774 Centerline is valid? [True, True] Translation: X:225.22, Y:3.21, Z:2.02 [[ 9.98764098e-01 -4.35545447e-02 -2.39432245e-02 2.25223824e+02] [ 4.35595016e-02 9.99050785e-01 -3.14733144e-04 3.20564602e+00] [ 2.39342053e-02 -7.28610763e-04 9.99713270e-01 2.02148305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35925415399998 meters Centerline goodness [0,1] 0.9988432498370033 Centerline is valid? [True, True] Translation: X:225.25, Y:3.21, Z:2.02 [[ 9.98716509e-01 -4.45641741e-02 -2.40701034e-02 2.25253987e+02] [ 4.45694969e-02 9.99006236e-01 -3.15557035e-04 3.20729418e+00] [ 2.40602459e-02 -7.57640378e-04 9.99710223e-01 2.02216772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38925415399999 meters Centerline goodness [0,1] 0.9989886433071364 Centerline is valid? [True, True] Translation: X:225.28, Y:3.21, Z:2.02 [[ 9.98672312e-01 -4.59174774e-02 -2.33494934e-02 2.25283955e+02] [ 4.59228497e-02 9.98944942e-01 -3.06357821e-04 3.20688564e+00] [ 2.33389255e-02 -7.66324202e-04 9.99727316e-01 2.02249492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.419254154 meters Centerline goodness [0,1] 0.9988629424522542 Centerline is valid? [True, True] Translation: X:225.31, Y:3.21, Z:2.02 [[ 9.98611559e-01 -4.74024860e-02 -2.29773330e-02 2.25314640e+02] [ 4.74080772e-02 9.98875559e-01 -3.01638295e-04 3.20645130e+00] [ 2.29657948e-02 -7.88091690e-04 9.99735941e-01 2.02278858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.449254154 meters Centerline goodness [0,1] 0.9990310893925352 Centerline is valid? [True, True] Translation: X:225.34, Y:3.20, Z:2.02 [[ 9.98444842e-01 -5.10595347e-02 -2.23790489e-02 2.25344769e+02] [ 5.10657555e-02 9.98695250e-01 -2.93784233e-04 3.20452737e+00] [ 2.23648504e-02 -8.49475689e-04 9.99749515e-01 2.02318204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479254154 meters Centerline goodness [0,1] 0.9986899101954569 Centerline is valid? [True, True] Translation: X:225.38, Y:3.20, Z:2.02 [[ 9.98359062e-01 -5.27689697e-02 -2.22400307e-02 2.25376429e+02] [ 5.27755468e-02 9.98606357e-01 -2.91513990e-04 3.20320265e+00] [ 2.22244190e-02 -8.82694148e-04 9.99752617e-01 2.02300477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50925415399996 meters Centerline goodness [0,1] 0.9987108227486949 Centerline is valid? [True, True] Translation: X:225.41, Y:3.20, Z:2.02 [[ 9.98140660e-01 -5.70456072e-02 -2.14714176e-02 2.25406062e+02] [ 5.70527314e-02 9.98371127e-01 -2.81126538e-04 3.20109457e+00] [ 2.14524804e-02 -9.44399195e-04 9.99769423e-01 2.02369561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53925415399996 meters Centerline goodness [0,1] 0.998858085389837 Centerline is valid? [True, True] Translation: X:225.44, Y:3.20, Z:2.02 [[ 9.98085738e-01 -5.82154561e-02 -2.08762969e-02 2.25437268e+02] [ 5.82224542e-02 9.98303597e-01 -2.72942358e-04 3.20059532e+00] [ 2.08567718e-02 -9.43049366e-04 9.99782029e-01 2.02411236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56925415399996 meters Centerline goodness [0,1] 0.9988381918039713 Centerline is valid? [True, True] Translation: X:225.47, Y:3.20, Z:2.03 [[ 9.98009939e-01 -5.97532262e-02 -2.01423371e-02 2.25467960e+02] [ 5.97600668e-02 9.98212736e-01 -2.62671025e-04 3.20014241e+00] [ 2.01220329e-02 -9.41559119e-04 9.99797088e-01 2.02509141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59925415399996 meters Centerline goodness [0,1] 0.9987988873904248 Centerline is valid? [True, True] Translation: X:225.50, Y:3.20, Z:2.03 [[ 9.97906727e-01 -6.17424763e-02 -1.92361791e-02 2.25498741e+02] [ 6.17490960e-02 9.98091672e-01 -2.50216765e-04 3.19991193e+00] [ 1.92149192e-02 -9.38123678e-04 9.99814936e-01 2.02606090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62925415399997 meters Centerline goodness [0,1] 0.9988621997471555 Centerline is valid? [True, True] Translation: X:225.53, Y:3.20, Z:2.03 [[ 9.97869163e-01 -6.25256420e-02 -1.86461396e-02 2.25530476e+02] [ 6.25320123e-02 9.98042929e-01 -2.41772857e-04 3.20024177e+00] [ 1.86247648e-02 -9.24722954e-04 9.99826116e-01 2.02679629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65925415399997 meters Centerline goodness [0,1] 0.9987744839098189 Centerline is valid? [True, True] Translation: X:225.56, Y:3.21, Z:2.03 [[ 9.97843574e-01 -6.31601738e-02 -1.78604291e-02 2.25562214e+02] [ 6.31661391e-02 9.98002999e-01 -2.30501962e-04 3.21221992e+00] [ 1.78393203e-02 -8.98169446e-04 9.99840463e-01 2.02917757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68925415399997 meters Centerline goodness [0,1] 0.9990057329017791 Centerline is valid? [True, True] Translation: X:225.59, Y:3.21, Z:2.03 [[ 9.97830005e-01 -6.35664397e-02 -1.71636129e-02 2.25593899e+02] [ 6.35720275e-02 9.97977229e-01 -2.20395758e-04 3.21369616e+00] [ 1.71429046e-02 -8.71208173e-04 9.99852670e-01 2.02957883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71925415399997 meters Centerline goodness [0,1] 0.9987101412501057 Centerline is valid? [True, True] Translation: X:225.63, Y:3.21, Z:2.03 [[ 9.97843225e-01 -6.36443138e-02 -1.60716865e-02 2.25625682e+02] [ 6.36492412e-02 9.97972310e-01 -2.05252101e-04 3.21348751e+00] [ 1.60521613e-02 -8.18141234e-04 9.99870821e-01 2.02965423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74925415399997 meters Centerline goodness [0,1] 0.9987932932509104 Centerline is valid? [True, True] Translation: X:225.66, Y:3.22, Z:2.03 [[ 9.97889075e-01 -6.30623923e-02 -1.55089598e-02 2.25657826e+02] [ 6.30669307e-02 9.98009280e-01 -1.96764197e-04 3.21622112e+00] [ 1.54904942e-02 -7.81753651e-04 9.99879709e-01 2.03024968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77925415399997 meters Centerline goodness [0,1] 0.9987932932509104 Centerline is valid? [True, True] Translation: X:225.69, Y:3.22, Z:2.03 [[ 9.97896097e-01 -6.29511778e-02 -1.55089772e-02 2.25690403e+02] [ 6.29557241e-02 9.98016302e-01 -1.95385035e-04 3.21654320e+00] [ 1.54905118e-02 -7.81404927e-04 9.99879709e-01 2.03055470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80925415399997 meters Centerline goodness [0,1] 0.9986452445968544 Centerline is valid? [True, True] Translation: X:225.72, Y:3.21, Z:2.03 [[ 9.97936051e-01 -6.23212243e-02 -1.54823555e-02 2.25721535e+02] [ 6.23257008e-02 9.98055845e-01 -1.93670014e-04 3.21495820e+00] [ 1.54643252e-02 -7.71678370e-04 9.99880122e-01 2.03037364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83925415399997 meters Centerline goodness [0,1] 0.9986214502343534 Centerline is valid? [True, True] Translation: X:225.75, Y:3.22, Z:2.03 [[ 9.98083926e-01 -5.98513319e-02 -1.56938009e-02 2.25753370e+02] [ 5.98556407e-02 9.98207025e-01 -1.95435024e-04 3.22498209e+00] [ 1.56773594e-02 -7.44301955e-04 9.99876826e-01 2.03106186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86925415399998 meters Centerline goodness [0,1] 0.9986468772463952 Centerline is valid? [True, True] Translation: X:225.79, Y:3.23, Z:2.03 [[ 9.98180971e-01 -5.82581540e-02 -1.55156778e-02 2.25785105e+02] [ 5.82621886e-02 9.98301297e-01 -1.92238885e-04 3.22711542e+00] [ 1.55005208e-02 -7.12088151e-04 9.99879606e-01 2.03123599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89925415399998 meters Centerline goodness [0,1] 0.9991726420297848 Centerline is valid? [True, True] Translation: X:225.82, Y:3.23, Z:2.03 [[ 9.98305361e-01 -5.61594405e-02 -1.52487197e-02 2.25815661e+02] [ 5.61631051e-02 9.98421589e-01 -1.88139986e-04 3.22920486e+00] [ 1.52352168e-02 -6.68594290e-04 9.99883714e-01 2.03110106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92925415399998 meters Centerline goodness [0,1] 0.9988521628228292 Centerline is valid? [True, True] Translation: X:225.85, Y:3.23, Z:2.03 [[ 9.98396631e-01 -5.45893104e-02 -1.49724746e-02 2.25848054e+02] [ 5.45926759e-02 9.98508691e-01 -1.84155468e-04 3.23211612e+00] [ 1.49601989e-02 -6.33527252e-04 9.99887889e-01 2.03170520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95925415399998 meters Centerline goodness [0,1] 0.9988946283187722 Centerline is valid? [True, True] Translation: X:225.88, Y:3.24, Z:2.03 [[ 9.98624496e-01 -5.02967396e-02 -1.48106181e-02 2.25879922e+02] [ 5.02995757e-02 9.98734159e-01 -1.81186211e-04 3.24037500e+00] [ 1.48009833e-02 -5.64030817e-04 9.99890300e-01 2.03217563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98925415399998 meters Centerline goodness [0,1] 0.9988297623353688 Centerline is valid? [True, True] Translation: X:225.91, Y:3.24, Z:2.03 [[ 9.98747908e-01 -4.78714943e-02 -1.45236403e-02 2.25911838e+02] [ 4.78739772e-02 9.98853368e-01 -1.76870747e-04 3.24358019e+00] [ 1.45154541e-02 -5.18655136e-04 9.99894511e-01 2.03219689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01925415399998 meters Centerline goodness [0,1] 0.9987223712789064 Centerline is valid? [True, True] Translation: X:225.94, Y:3.25, Z:2.03 [[ 9.98872386e-01 -4.53008442e-02 -1.42052970e-02 2.25943183e+02] [ 4.53029774e-02 9.98973278e-01 -1.71751968e-04 3.24605066e+00] [ 1.41984926e-02 -4.71983951e-04 9.99899085e-01 2.03205146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04925415399998 meters Centerline goodness [0,1] 0.9990183315905162 Centerline is valid? [True, True] Translation: X:225.98, Y:3.25, Z:2.03 [[ 9.99097428e-01 -3.98570191e-02 -1.46883218e-02 2.25975044e+02] [ 3.98587375e-02 9.99205309e-01 -1.75848912e-04 3.25242627e+00] [ 1.46836580e-02 -4.09767768e-04 9.99892105e-01 2.03192538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07925415399998 meters Centerline goodness [0,1] 0.9991473578752158 Centerline is valid? [True, True] Translation: X:226.01, Y:3.26, Z:2.03 [[ 9.99209600e-01 -3.69792501e-02 -1.45846240e-02 2.26007494e+02] [ 3.69806512e-02 9.99315967e-01 -1.73701553e-04 3.25653949e+00] [ 1.45810710e-02 -3.65784636e-04 9.99893624e-01 2.03216855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10925415399998 meters Centerline goodness [0,1] 0.99910409556314 Centerline is valid? [True, True] Translation: X:226.04, Y:3.26, Z:2.03 [[ 9.99301216e-01 -3.43983240e-02 -1.46230869e-02 2.26038773e+02] [ 3.43994709e-02 9.99408148e-01 -1.73167146e-04 3.25922252e+00] [ 1.46203889e-02 -3.29980314e-04 9.99893062e-01 2.03231477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13925415399999 meters Centerline goodness [0,1] 0.9989742274650596 Centerline is valid? [True, True] Translation: X:226.07, Y:3.26, Z:2.03 [[ 9.99388446e-01 -3.18709290e-02 -1.43867400e-02 2.26070654e+02] [ 3.18717899e-02 9.99491951e-01 -1.69491096e-04 3.26267429e+00] [ 1.43848327e-02 -2.89143713e-04 9.99896491e-01 2.03230347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.169254154 meters Centerline goodness [0,1] 0.9992946909463966 Centerline is valid? [True, True] Translation: X:226.10, Y:3.27, Z:2.03 [[ 9.99525108e-01 -2.76428962e-02 -1.36172537e-02 2.26102333e+02] [ 2.76432871e-02 9.99617839e-01 -1.59549821e-04 3.26781183e+00] [ 1.36164601e-02 -2.16951601e-04 9.99907268e-01 2.03268866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199254154 meters Centerline goodness [0,1] 0.9991221684580139 Centerline is valid? [True, True] Translation: X:226.13, Y:3.27, Z:2.03 [[ 9.99569102e-01 -2.62170984e-02 -1.32012743e-02 2.26134103e+02] [ 2.62173500e-02 9.99656254e-01 -1.54028018e-04 3.27060828e+00] [ 1.32007746e-02 -1.92140783e-04 9.99912848e-01 2.03318915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.229254154 meters Centerline goodness [0,1] 0.9990362993896563 Centerline is valid? [True, True] Translation: X:226.17, Y:3.27, Z:2.03 [[ 9.99610217e-01 -2.47836947e-02 -1.28523420e-02 2.26165561e+02] [ 2.47838220e-02 9.99692823e-01 -1.49398013e-04 3.27260050e+00] [ 1.28520967e-02 -1.69190376e-04 9.99917394e-01 2.03326946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25925415399996 meters Centerline goodness [0,1] 0.9993123159908023 Centerline is valid? [True, True] Translation: X:226.20, Y:3.28, Z:2.03 [[ 9.99666852e-01 -2.23862864e-02 -1.28467681e-02 2.26196796e+02] [ 2.23862236e-02 9.99749386e-01 -1.48701600e-04 3.27645462e+00] [ 1.28468774e-02 -1.38938562e-04 9.99917466e-01 2.03326683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28925415399996 meters Centerline goodness [0,1] 0.9991845843526029 Centerline is valid? [True, True] Translation: X:226.23, Y:3.28, Z:2.03 [[ 9.99690221e-01 -2.14672302e-02 -1.25944448e-02 2.26228173e+02] [ 2.14671026e-02 9.99769545e-01 -1.45334323e-04 3.27898651e+00] [ 1.25946622e-02 -1.25076937e-04 9.99920676e-01 2.03366384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31925415399996 meters Centerline goodness [0,1] 0.9991178811936573 Centerline is valid? [True, True] Translation: X:226.26, Y:3.28, Z:2.03 [[ 9.99723164e-01 -2.02506061e-02 -1.19794966e-02 2.26259804e+02] [ 2.02504084e-02 9.99794930e-01 -1.37814245e-04 3.28090216e+00] [ 1.19798308e-02 -1.04813606e-04 9.99928234e-01 2.03391230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34925415399996 meters Centerline goodness [0,1] 0.9992035131527963 Centerline is valid? [True, True] Translation: X:226.29, Y:3.28, Z:2.03 [[ 9.99752683e-01 -1.90005193e-02 -1.15565263e-02 2.26291469e+02] [ 1.90002566e-02 9.99819470e-01 -1.32532593e-04 3.28261448e+00] [ 1.15569582e-02 -8.70771497e-05 9.99933212e-01 2.03427641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37925415399997 meters Centerline goodness [0,1] 0.9992250064582795 Centerline is valid? [True, True] Translation: X:226.32, Y:3.29, Z:2.03 [[ 9.99798414e-01 -1.66601611e-02 -1.12058616e-02 2.26321632e+02] [ 1.66597713e-02 9.99861208e-01 -1.28142278e-04 3.28528116e+00] [ 1.12064412e-02 -5.85706445e-05 9.99937204e-01 2.03490587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40925415399997 meters Centerline goodness [0,1] 0.999203187250996 Centerline is valid? [True, True] Translation: X:226.35, Y:3.29, Z:2.04 [[ 9.99818544e-01 -1.58794781e-02 -1.05223794e-02 2.26351954e+02] [ 1.58790928e-02 9.99873912e-01 -1.20165755e-04 3.28681229e+00] [ 1.05229608e-02 -4.69418881e-05 9.99944631e-01 2.03508826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43925415399997 meters Centerline goodness [0,1] 0.9992872108343953 Centerline is valid? [True, True] Translation: X:226.38, Y:3.29, Z:2.04 [[ 9.99840089e-01 -1.50934190e-02 -9.59085599e-03 2.26382462e+02] [ 1.50930628e-02 9.99886087e-01 -1.09527742e-04 3.28832994e+00] [ 9.59141662e-03 -3.52451643e-05 9.99954001e-01 2.03533711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46925415399997 meters Centerline goodness [0,1] 0.9992236192283638 Centerline is valid? [True, True] Translation: X:226.41, Y:3.29, Z:2.04 [[ 9.99835169e-01 -1.52654148e-02 -9.82858265e-03 2.26412463e+02] [ 1.52650490e-02 9.99883476e-01 -1.12234177e-04 3.28835274e+00] [ 9.82915068e-03 -3.78181189e-05 9.99951692e-01 2.03536416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49925415399997 meters Centerline goodness [0,1] 0.9994175134295515 Centerline is valid? [True, True] Translation: X:226.44, Y:3.29, Z:2.04 [[ 9.99824843e-01 -1.56345846e-02 -1.02880349e-02 2.26442787e+02] [ 1.56342052e-02 9.99877771e-01 -1.17301995e-04 3.28854630e+00] [ 1.02886114e-02 -4.35638008e-05 9.99947070e-01 2.03553396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52925415399997 meters Centerline goodness [0,1] 0.9993955094991365 Centerline is valid? [True, True] Translation: X:226.47, Y:3.29, Z:2.04 [[ 9.99814123e-01 -1.63151211e-02 -1.02730705e-02 2.26473255e+02] [ 1.63147794e-02 9.99866898e-01 -1.17076449e-04 3.28805886e+00] [ 1.02736132e-02 -5.05481914e-05 9.99947224e-01 2.03539681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55925415399997 meters Centerline goodness [0,1] 0.9993306270513042 Centerline is valid? [True, True] Translation: X:226.50, Y:3.29, Z:2.03 [[ 9.99781378e-01 -1.80883990e-02 -1.04883400e-02 2.26503645e+02] [ 1.80881464e-02 9.99836389e-01 -1.18949796e-04 3.28698172e+00] [ 1.04887756e-02 -7.07908381e-05 9.99944989e-01 2.03485752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58925415399997 meters Centerline goodness [0,1] 0.9991160745084512 Centerline is valid? [True, True] Translation: X:226.53, Y:3.29, Z:2.03 [[ 9.99751741e-01 -1.93276707e-02 -1.10858885e-02 2.26533639e+02] [ 1.93274650e-02 9.99813199e-01 -1.25695814e-04 3.28621908e+00] [ 1.10862471e-02 -8.85975143e-05 9.99938542e-01 2.03431915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61925415399998 meters Centerline goodness [0,1] 0.9993100028031137 Centerline is valid? [True, True] Translation: X:226.57, Y:3.29, Z:2.03 [[ 9.99727781e-01 -2.03537454e-02 -1.14056784e-02 2.26565449e+02] [ 2.03535973e-02 9.99792836e-01 -1.29074614e-04 3.28578480e+00] [ 1.14059427e-02 -1.03107107e-04 9.99934945e-01 2.03423775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64925415399998 meters Centerline goodness [0,1] 0.9992246225419458 Centerline is valid? [True, True] Translation: X:226.60, Y:3.28, Z:2.03 [[ 9.99654251e-01 -2.32526372e-02 -1.22756899e-02 2.26597052e+02] [ 2.32526926e-02 9.99729610e-01 -1.38235326e-04 3.28362808e+00] [ 1.22755850e-02 -1.47255313e-04 9.99924641e-01 2.03347559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67925415399998 meters Centerline goodness [0,1] 0.9992037873897138 Centerline is valid? [True, True] Translation: X:226.63, Y:3.28, Z:2.03 [[ 9.99623074e-01 -2.44556773e-02 -1.24751455e-02 2.26629305e+02] [ 2.44558440e-02 9.99700901e-01 -1.39213944e-04 3.28361387e+00] [ 1.24748188e-02 -1.65928742e-04 9.99922173e-01 2.03360519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70925415399998 meters Centerline goodness [0,1] 0.999246598932323 Centerline is valid? [True, True] Translation: X:226.66, Y:3.28, Z:2.03 [[ 9.99588039e-01 -2.56795120e-02 -1.28185725e-02 2.26661323e+02] [ 2.56798006e-02 9.99670209e-01 -1.42108031e-04 3.28309981e+00] [ 1.28179943e-02 -1.87128899e-04 9.99917829e-01 2.03381196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73925415399998 meters Centerline goodness [0,1] 0.9991809285683494 Centerline is valid? [True, True] Translation: X:226.69, Y:3.28, Z:2.03 [[ 9.99515462e-01 -2.81344810e-02 -1.33150857e-02 2.26692005e+02] [ 2.81350213e-02 9.99604121e-01 -1.46775659e-04 3.28203061e+00] [ 1.33139440e-02 -2.27915681e-04 9.99911340e-01 2.03378688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76925415399998 meters Centerline goodness [0,1] 0.9992680774115773 Centerline is valid? [True, True] Translation: X:226.72, Y:3.28, Z:2.03 [[ 9.99477494e-01 -2.93493987e-02 -1.35407213e-02 2.26724321e+02] [ 2.93500777e-02 9.99569183e-01 -1.48615673e-04 3.28309864e+00] [ 1.35392495e-02 -2.48883202e-04 9.99908309e-01 2.03430653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79925415399998 meters Centerline goodness [0,1] 0.9991171213850427 Centerline is valid? [True, True] Translation: X:226.76, Y:3.28, Z:2.03 [[ 9.99444844e-01 -3.03365220e-02 -1.37731127e-02 2.26755250e+02] [ 3.03373312e-02 9.99539706e-01 -1.50223325e-04 3.28258196e+00] [ 1.37713303e-02 -2.67699555e-04 9.99905135e-01 2.03439145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82925415399998 meters Centerline goodness [0,1] 0.9992027408476805 Centerline is valid? [True, True] Translation: X:226.79, Y:3.28, Z:2.04 [[ 9.99384359e-01 -3.23768706e-02 -1.35144975e-02 2.26787044e+02] [ 3.23778491e-02 9.99475689e-01 -1.46444539e-04 3.28189503e+00] [ 1.35121531e-02 -2.91215978e-04 9.99908664e-01 2.03523049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85925415399998 meters Centerline goodness [0,1] 0.9992255899498784 Centerline is valid? [True, True] Translation: X:226.82, Y:3.28, Z:2.04 [[ 9.99353603e-01 -3.35862198e-02 -1.28196288e-02 2.26819055e+02] [ 3.35872154e-02 9.99435781e-01 -1.37691692e-04 3.28161863e+00] [ 1.28170203e-02 -2.92972946e-04 9.99917816e-01 2.03552868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88925415399999 meters Centerline goodness [0,1] 0.9992042155070437 Centerline is valid? [True, True] Translation: X:226.85, Y:3.28, Z:2.04 [[ 9.99317642e-01 -3.46555215e-02 -1.27767808e-02 2.26850724e+02] [ 3.46566088e-02 9.99399270e-01 -1.36368525e-04 3.28167613e+00] [ 1.27738313e-02 -3.06524420e-04 9.99918364e-01 2.03593189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.919254154 meters Centerline goodness [0,1] 0.9993547554523164 Centerline is valid? [True, True] Translation: X:226.88, Y:3.28, Z:2.04 [[ 9.99267220e-01 -3.60526690e-02 -1.28540964e-02 2.26882167e+02] [ 3.60538940e-02 9.99349838e-01 -1.36485838e-04 3.27976681e+00] [ 1.28506598e-02 -3.27054405e-04 9.99917373e-01 2.03623829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.949254154 meters Centerline goodness [0,1] 0.9990546376469072 Centerline is valid? [True, True] Translation: X:226.91, Y:3.28, Z:2.04 [[ 9.99120084e-01 -3.98313760e-02 -1.31346762e-02 2.26914132e+02] [ 3.98329919e-02 9.99206342e-01 -1.38668083e-04 3.27907132e+00] [ 1.31297751e-02 -3.84647386e-04 9.99913727e-01 2.03650820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979254154 meters Centerline goodness [0,1] 0.9991846893237213 Centerline is valid? [True, True] Translation: X:226.95, Y:3.28, Z:2.04 [[ 9.99006085e-01 -4.23898053e-02 -1.37821291e-02 2.26945935e+02] [ 4.23918444e-02 9.99101051e-01 -1.44287334e-04 3.27783001e+00] [ 1.37758560e-02 -4.40105949e-04 9.99905012e-01 2.03649624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00925415399996 meters Centerline goodness [0,1] 0.9991216418869703 Centerline is valid? [True, True] Translation: X:226.98, Y:3.28, Z:2.04 [[ 9.98871377e-01 -4.52445861e-02 -1.44533820e-02 2.26977053e+02] [ 4.52471472e-02 9.98975812e-01 -1.49928250e-04 3.27506158e+00] [ 1.44453624e-02 -5.04215263e-04 9.99895533e-01 2.03628401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03925415399996 meters Centerline goodness [0,1] 0.9993143493818432 Centerline is valid? [True, True] Translation: X:227.01, Y:3.27, Z:2.04 [[ 9.98523748e-01 -5.20272078e-02 -1.56042991e-02 2.27007722e+02] [ 5.20310287e-02 9.98645456e-01 -1.61292509e-04 3.27040202e+00] [ 1.55915540e-02 -6.50853334e-04 9.99878233e-01 2.03621708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06925415399996 meters Centerline goodness [0,1] 0.9990794065383545 Centerline is valid? [True, True] Translation: X:227.04, Y:3.27, Z:2.04 [[ 9.98322818e-01 -5.56422624e-02 -1.59840279e-02 2.27038694e+02] [ 5.56467396e-02 9.98450506e-01 -1.64862652e-04 3.27176500e+00] [ 1.59684341e-02 -7.24872891e-04 9.99872234e-01 2.03689638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09925415399996 meters Centerline goodness [0,1] 0.9992075560600544 Centerline is valid? [True, True] Translation: X:227.07, Y:3.27, Z:2.04 [[ 9.98115964e-01 -5.91656457e-02 -1.62464758e-02 2.27069535e+02] [ 5.91707494e-02 9.98247862e-01 -1.66786673e-04 3.26948770e+00] [ 1.62278777e-02 -7.94843705e-04 9.99868003e-01 2.03688976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12925415399997 meters Centerline goodness [0,1] 0.9992944949225013 Centerline is valid? [True, True] Translation: X:227.10, Y:3.26, Z:2.04 [[ 9.97722575e-01 -6.53316183e-02 -1.67762516e-02 2.27098807e+02] [ 6.53379443e-02 9.97863179e-01 -1.71331501e-04 3.26272735e+00] [ 1.67515971e-02 -9.25184485e-04 9.99859254e-01 2.03641843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15925415399997 meters Centerline goodness [0,1] 0.9992512728361785 Centerline is valid? [True, True] Translation: X:227.13, Y:3.26, Z:2.04 [[ 9.97551202e-01 -6.77580344e-02 -1.73334187e-02 2.27129452e+02] [ 6.77651651e-02 9.97701284e-01 -1.76304746e-04 3.26279977e+00] [ 1.73055201e-02 -9.98728968e-04 9.99849749e-01 2.03647541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18925415399997 meters Centerline goodness [0,1] 0.9991007964374411 Centerline is valid? [True, True] Translation: X:227.16, Y:3.26, Z:2.04 [[ 9.97285712e-01 -7.12658756e-02 -1.85036041e-02 2.27159864e+02] [ 7.12746128e-02 9.97456713e-01 -1.87694892e-04 3.25946536e+00] [ 1.84699204e-02 -1.13165178e-03 9.99828776e-01 2.03602204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21925415399997 meters Centerline goodness [0,1] 0.9992499732133291 Centerline is valid? [True, True] Translation: X:227.19, Y:3.26, Z:2.04 [[ 9.97234497e-01 -7.18995304e-02 -1.88099904e-02 2.27192372e+02] [ 7.19086912e-02 9.97411201e-01 -1.89766433e-04 3.26208265e+00] [ 1.87749392e-02 -1.16336015e-03 9.99823058e-01 2.03684220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24925415399997 meters Centerline goodness [0,1] 0.999229962995444 Centerline is valid? [True, True] Translation: X:227.22, Y:3.26, Z:2.04 [[ 9.97234191e-01 -7.19579146e-02 -1.86017832e-02 2.27224925e+02] [ 7.19669092e-02 9.97407003e-01 -1.86300126e-04 3.26472576e+00] [ 1.85669546e-02 -1.15292799e-03 9.99826955e-01 2.03740270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27925415399997 meters Centerline goodness [0,1] 0.9991863477720917 Centerline is valid? [True, True] Translation: X:227.26, Y:3.26, Z:2.04 [[ 9.97271068e-01 -7.12735507e-02 -1.92483116e-02 2.27255986e+02] [ 7.12830789e-02 9.97456107e-01 -1.91508319e-04 3.26338756e+00] [ 1.92129954e-02 -1.18109321e-03 9.99814716e-01 2.03723713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30925415399997 meters Centerline goodness [0,1] 0.999205394725539 Centerline is valid? [True, True] Translation: X:227.29, Y:3.27, Z:2.04 [[ 9.97467706e-01 -6.83434926e-02 -1.96810357e-02 2.27287008e+02] [ 6.83528999e-02 9.97661186e-01 -1.95097205e-04 3.26822971e+00] [ 1.96483390e-02 -1.15065270e-03 9.99806291e-01 2.03771963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33925415399997 meters Centerline goodness [0,1] 0.9991615788115917 Centerline is valid? [True, True] Translation: X:227.32, Y:3.27, Z:2.04 [[ 9.97624390e-01 -6.59587839e-02 -1.98749699e-02 2.27318026e+02] [ 6.59679168e-02 9.97821725e-01 -1.96465035e-04 3.27110753e+00] [ 1.98446354e-02 -1.11511205e-03 9.99802454e-01 2.03841663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36925415399998 meters Centerline goodness [0,1] 0.9991834629764923 Centerline is valid? [True, True] Translation: X:227.35, Y:3.27, Z:2.04 [[ 9.97815454e-01 -6.30548645e-02 -1.97079535e-02 2.27348555e+02] [ 6.30632938e-02 9.98009511e-01 -1.94102862e-04 3.27326095e+00] [ 1.96809641e-02 -1.04916963e-03 9.99805761e-01 2.03878698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39925415399998 meters Centerline goodness [0,1] 0.9991821625344353 Centerline is valid? [True, True] Translation: X:227.38, Y:3.28, Z:2.04 [[ 9.98034611e-01 -5.94998761e-02 -1.96641845e-02 2.27379124e+02] [ 5.95075899e-02 9.98227834e-01 -1.93151072e-04 3.27782212e+00] [ 1.96408287e-02 -9.77396770e-04 9.99806623e-01 2.03951126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42925415399998 meters Centerline goodness [0,1] 0.9993524294687763 Centerline is valid? [True, True] Translation: X:227.41, Y:3.29, Z:2.04 [[ 9.98502285e-01 -5.13401856e-02 -1.89042846e-02 2.27408646e+02] [ 5.13458543e-02 9.98680914e-01 -1.85707773e-04 3.28531524e+00] [ 1.88888825e-02 -7.85227006e-04 9.99821281e-01 2.03986095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45925415399998 meters Centerline goodness [0,1] 0.9993953006219765 Centerline is valid? [True, True] Translation: X:227.44, Y:3.29, Z:2.04 [[ 9.98715848e-01 -4.72580180e-02 -1.82574697e-02 2.27439004e+02] [ 4.72626210e-02 9.98882482e-01 -1.79526061e-04 3.29017469e+00] [ 1.82455507e-02 -6.83600351e-04 9.99833302e-01 2.04212516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48925415399998 meters Centerline goodness [0,1] 0.9993722671977142 Centerline is valid? [True, True] Translation: X:227.47, Y:3.30, Z:2.04 [[ 9.99111536e-01 -3.85389270e-02 -1.70554628e-02 2.27469729e+02] [ 3.85416744e-02 9.99256980e-01 -1.67699865e-04 3.30114908e+00] [ 1.70492532e-02 -4.89795225e-04 9.99854531e-01 2.04415992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51925415399998 meters Centerline goodness [0,1] 0.9994143802190651 Centerline is valid? [True, True] Translation: X:227.50, Y:3.30, Z:2.04 [[ 9.99266609e-01 -3.44670966e-02 -1.66812140e-02 2.27500418e+02] [ 3.44691623e-02 9.99405748e-01 -1.63751294e-04 3.30461972e+00] [ 1.66769451e-02 -4.11356271e-04 9.99860845e-01 2.04451880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54925415399998 meters Centerline goodness [0,1] 0.9996092732482418 Centerline is valid? [True, True] Translation: X:227.53, Y:3.31, Z:2.05 [[ 9.99380591e-01 -3.08780671e-02 -1.68813026e-02 2.27532163e+02] [ 3.08796836e-02 9.99523095e-01 -1.64959214e-04 3.31043570e+00] [ 1.68783454e-02 -3.56432246e-04 9.99857487e-01 2.04568504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57925415399998 meters Centerline goodness [0,1] 0.9993910793119196 Centerline is valid? [True, True] Translation: X:227.56, Y:3.31, Z:2.05 [[ 9.99473448e-01 -2.76934931e-02 -1.69085153e-02 2.27562989e+02] [ 2.76946728e-02 9.99616415e-01 -1.64426151e-04 3.31271813e+00] [ 1.69065830e-02 -3.03936226e-04 9.99857027e-01 2.04527587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60925415399998 meters Centerline goodness [0,1] 0.999455373287149 Centerline is valid? [True, True] Translation: X:227.59, Y:3.32, Z:2.04 [[ 9.99577880e-01 -2.21971592e-02 -1.87442689e-02 2.27594628e+02] [ 2.21976564e-02 9.99753585e-01 -1.81554096e-04 3.31792973e+00] [ 1.87436800e-02 -2.34601382e-04 9.99824294e-01 2.04390057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63925415399999 meters Centerline goodness [0,1] 0.9995198498439511 Centerline is valid? [True, True] Translation: X:227.62, Y:3.32, Z:2.04 [[ 9.99636462e-01 -1.72276020e-02 -2.07401658e-02 2.27623055e+02] [ 1.72271365e-02 9.99851582e-01 -2.01125298e-04 3.32171660e+00] [ 2.07405525e-02 -1.56241486e-04 9.99784879e-01 2.04114725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.669254154 meters Centerline goodness [0,1] 0.9995198498439511 Centerline is valid? [True, True] Translation: X:227.65, Y:3.32, Z:2.04 [[ 9.99631534e-01 -1.75112070e-02 -2.07401290e-02 2.27650434e+02] [ 1.75107250e-02 9.99846655e-01 -2.04860907e-04 3.32206201e+00] [ 2.07405360e-02 -1.58389274e-04 9.99784879e-01 2.04140396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699254154 meters Centerline goodness [0,1] 0.9997154862995711 Centerline is valid? [True, True] Translation: X:227.68, Y:3.32, Z:2.04 [[ 9.99650011e-01 -1.57651677e-02 -2.12441601e-02 2.27678731e+02] [ 1.57641381e-02 9.99875715e-01 -2.15944724e-04 3.32488205e+00] [ 2.12449242e-02 -1.19026727e-04 9.99774294e-01 2.04266430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.729254154 meters Centerline goodness [0,1] 0.9995841176728101 Centerline is valid? [True, True] Translation: X:227.71, Y:3.33, Z:2.04 [[ 9.99670620e-01 -1.37487817e-02 -2.16707824e-02 2.27706647e+02] [ 1.37471017e-02 9.99905478e-01 -2.26501044e-04 3.32737176e+00] [ 2.16718481e-02 -7.14840097e-05 9.99765135e-01 2.04288117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75925415399996 meters Centerline goodness [0,1] 0.9994749392898554 Centerline is valid? [True, True] Translation: X:227.73, Y:3.33, Z:2.04 [[ 9.99700444e-01 -1.17417918e-02 -2.14744792e-02 2.27734607e+02] [ 1.17395486e-02 9.99931063e-01 -2.30523076e-04 3.32979798e+00] [ 2.14757056e-02 -2.16466719e-05 9.99769370e-01 2.04317128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78925415399996 meters Centerline goodness [0,1] 0.9995834886117018 Centerline is valid? [True, True] Translation: X:227.76, Y:3.33, Z:2.04 [[ 9.99768180e-01 -7.46498749e-03 -2.01955574e-02 2.27762068e+02] [ 7.46201863e-03 9.99972134e-01 -2.22360479e-04 3.33374427e+00] [ 2.01966546e-02 7.16093053e-05 9.99796024e-01 2.04474092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81925415399996 meters Centerline goodness [0,1] 0.9996713625309467 Centerline is valid? [True, True] Translation: X:227.79, Y:3.34, Z:2.05 [[ 9.99794301e-01 -5.55609978e-03 -1.95060114e-02 2.27789568e+02] [ 5.55286004e-03 9.99984559e-01 -2.20248355e-04 3.33540030e+00] [ 1.95069339e-02 1.11888900e-04 9.99809715e-01 2.04634235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84925415399996 meters Centerline goodness [0,1] 0.9993857628605901 Centerline is valid? [True, True] Translation: X:227.82, Y:3.34, Z:2.05 [[ 9.99815672e-01 -4.36578149e-03 -1.86965927e-02 2.27816234e+02] [ 4.36251413e-03 9.99990461e-01 -2.15539132e-04 3.33715502e+00] [ 1.86973554e-02 1.33935252e-04 9.99825180e-01 2.04648237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87925415399997 meters Centerline goodness [0,1] 0.9995406422259165 Centerline is valid? [True, True] Translation: X:227.84, Y:3.34, Z:2.05 [[ 9.99836300e-01 -3.39055200e-03 -1.77729487e-02 2.27844573e+02] [ 3.38737117e-03 9.99994241e-01 -2.09071835e-04 3.33750066e+00] [ 1.77735553e-02 1.48834036e-04 9.99842027e-01 2.04792005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90925415399997 meters Centerline goodness [0,1] 0.9997811289369433 Centerline is valid? [True, True] Translation: X:227.87, Y:3.34, Z:2.05 [[ 9.99857275e-01 -3.38981449e-03 -1.65510697e-02 2.27871992e+02] [ 3.38699935e-03 9.99994244e-01 -1.98116571e-04 3.33699902e+00] [ 1.65516461e-02 1.42029832e-04 9.99863002e-01 2.04871106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93925415399997 meters Centerline goodness [0,1] 0.999628593900201 Centerline is valid? [True, True] Translation: X:227.90, Y:3.34, Z:2.05 [[ 9.99863714e-01 -4.24939505e-03 -1.59529061e-02 2.27900834e+02] [ 4.24686336e-03 9.99990963e-01 -1.92571594e-04 3.33593403e+00] [ 1.59535802e-02 1.24795537e-04 9.99872726e-01 2.04921330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96925415399997 meters Centerline goodness [0,1] 0.9995416048196979 Centerline is valid? [True, True] Translation: X:227.93, Y:3.33, Z:2.05 [[ 9.99860510e-01 -5.51438942e-03 -1.57655551e-02 2.27929466e+02] [ 5.51205636e-03 9.99984790e-01 -1.91434377e-04 3.33446378e+00] [ 1.57663710e-02 1.04507045e-04 9.99875698e-01 2.04967556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99925415399997 meters Centerline goodness [0,1] 0.9995201430846075 Centerline is valid? [True, True] Translation: X:227.96, Y:3.33, Z:2.05 [[ 9.99832525e-01 -8.81597263e-03 -1.60374912e-02 2.27958554e+02] [ 8.81396444e-03 9.99961137e-01 -1.95897396e-04 3.32967130e+00] [ 1.60385950e-02 5.45107106e-05 9.99871372e-01 2.04852112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02925415399997 meters Centerline goodness [0,1] 0.9995862909898532 Centerline is valid? [True, True] Translation: X:227.99, Y:3.33, Z:2.05 [[ 9.99795599e-01 -1.16620664e-02 -1.65153600e-02 2.27986356e+02] [ 1.16603009e-02 9.99931996e-01 -2.03192086e-04 3.32712149e+00] [ 1.65166065e-02 1.05764861e-05 9.99863591e-01 2.04903592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05925415399997 meters Centerline goodness [0,1] 0.9994349300182561 Centerline is valid? [True, True] Translation: X:228.01, Y:3.32, Z:2.05 [[ 9.99740789e-01 -1.45127794e-02 -1.75423363e-02 2.28014145e+02] [ 1.45111948e-02 9.99894683e-01 -2.17625211e-04 3.32415164e+00] [ 1.75436472e-02 -3.69914593e-05 9.99846098e-01 2.04814533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08925415399997 meters Centerline goodness [0,1] 0.9994142277569262 Centerline is valid? [True, True] Translation: X:228.04, Y:3.32, Z:2.05 [[ 9.99612412e-01 -2.04917432e-02 -1.88444502e-02 2.28041950e+02] [ 2.04909443e-02 9.99790011e-01 -2.35505413e-04 3.31632678e+00] [ 1.88453190e-02 -1.50726445e-04 9.99822400e-01 2.04607689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11925415399998 meters Centerline goodness [0,1] 0.9994152046783625 Centerline is valid? [True, True] Translation: X:228.07, Y:3.31, Z:2.05 [[ 9.99532516e-01 -2.40803050e-02 -1.88384587e-02 2.28070829e+02] [ 2.40800847e-02 9.99710004e-01 -2.38561513e-04 3.31249579e+00] [ 1.88387403e-02 -2.15181692e-04 9.99822512e-01 2.04665100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14925415399998 meters Centerline goodness [0,1] 0.9994151793450009 Centerline is valid? [True, True] Translation: X:228.10, Y:3.31, Z:2.05 [[ 9.99454931e-01 -2.69562436e-02 -1.90578360e-02 2.28100759e+02] [ 2.69564904e-02 9.99636578e-01 -2.43986651e-04 3.30889143e+00] [ 1.90574870e-02 -2.69878713e-04 9.99818353e-01 2.04668308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17925415399998 meters Centerline goodness [0,1] 0.9992637186539045 Centerline is valid? [True, True] Translation: X:228.13, Y:3.31, Z:2.05 [[ 9.99395537e-01 -2.92160303e-02 -1.88410383e-02 2.28131406e+02] [ 2.92166669e-02 9.99573073e-01 -2.41531765e-04 3.30564366e+00] [ 1.88400512e-02 -3.09086572e-04 9.99822463e-01 2.04664849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20925415399998 meters Centerline goodness [0,1] 0.9992666882346598 Centerline is valid? [True, True] Translation: X:228.16, Y:3.30, Z:2.05 [[ 9.99338866e-01 -3.13786109e-02 -1.83633892e-02 2.28162055e+02] [ 3.13795833e-02 9.99507512e-01 -2.35254246e-04 3.29962795e+00] [ 1.83617274e-02 -3.41136791e-04 9.99831351e-01 2.04684801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23925415399998 meters Centerline goodness [0,1] 0.9991824968267969 Centerline is valid? [True, True] Translation: X:228.19, Y:3.30, Z:2.05 [[ 9.99334877e-01 -3.15876703e-02 -1.82215013e-02 2.28192158e+02] [ 3.15886682e-02 9.99500926e-01 -2.33127028e-04 3.29735603e+00] [ 1.82197714e-02 -3.42620990e-04 9.99833947e-01 2.04677732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26925415399998 meters Centerline goodness [0,1] 0.9991619751600842 Centerline is valid? [True, True] Translation: X:228.22, Y:3.30, Z:2.05 [[ 9.99338478e-01 -3.13719847e-02 -1.83957990e-02 2.28223358e+02] [ 3.13729738e-02 9.99507720e-01 -2.34886767e-04 3.29663394e+00] [ 1.83941119e-02 -3.42399536e-04 9.99830755e-01 2.04736402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29925415399998 meters Centerline goodness [0,1] 0.9993973569798975 Centerline is valid? [True, True] Translation: X:228.25, Y:3.29, Z:2.05 [[ 9.99392201e-01 -2.96270930e-02 -1.83701966e-02 2.28253597e+02] [ 2.96277935e-02 9.99560973e-01 -2.34085359e-04 3.29482288e+00] [ 1.83690668e-02 -3.10325308e-04 9.99831226e-01 2.04795228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32925415399998 meters Centerline goodness [0,1] 0.9991622091899207 Centerline is valid? [True, True] Translation: X:228.28, Y:3.29, Z:2.05 [[ 9.99428808e-01 -2.83058904e-02 -1.84617061e-02 2.28284298e+02] [ 2.83063755e-02 9.99599267e-01 -2.35091079e-04 3.29493399e+00] [ 1.84609624e-02 -2.87627188e-04 9.99829541e-01 2.04841664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35925415399998 meters Centerline goodness [0,1] 0.9992487819535962 Centerline is valid? [True, True] Translation: X:228.31, Y:3.29, Z:2.05 [[ 9.99506819e-01 -2.53703832e-02 -1.85057480e-02 2.28314073e+02] [ 2.53703647e-02 9.99678093e-01 -2.35807412e-04 3.29431551e+00] [ 1.85057734e-02 -2.33806462e-04 9.99828726e-01 2.04901146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38925415399999 meters Centerline goodness [0,1] 0.9991855455772981 Centerline is valid? [True, True] Translation: X:228.34, Y:3.29, Z:2.05 [[ 9.99562080e-01 -2.34512407e-02 -1.80467984e-02 2.28343024e+02] [ 2.34508996e-02 9.99724963e-01 -2.30551559e-04 3.29429164e+00] [ 1.80472416e-02 -1.92763062e-04 9.99837117e-01 2.04923008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.419254154 meters Centerline goodness [0,1] 0.9992068765942852 Centerline is valid? [True, True] Translation: X:228.37, Y:3.29, Z:2.05 [[ 9.99601099e-01 -2.15503617e-02 -1.82544632e-02 2.28372280e+02] [ 2.15496817e-02 9.99767751e-01 -2.33977876e-04 3.29428957e+00] [ 1.82552659e-02 -1.59493330e-04 9.99833346e-01 2.04955424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.449254154 meters Centerline goodness [0,1] 0.9991642916836309 Centerline is valid? [True, True] Translation: X:228.40, Y:3.29, Z:2.05 [[ 9.99636684e-01 -1.95939123e-02 -1.85088966e-02 2.28401495e+02] [ 1.95928354e-02 9.99808013e-01 -2.39530229e-04 3.29468826e+00] [ 1.85100365e-02 -1.23198561e-04 9.99828667e-01 2.04975193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479254154 meters Centerline goodness [0,1] 0.9990366707340569 Centerline is valid? [True, True] Translation: X:228.43, Y:3.30, Z:2.05 [[ 9.99715143e-01 -1.46291935e-02 -1.88578735e-02 2.28430492e+02] [ 1.46271104e-02 9.99892987e-01 -2.48396722e-04 3.29632207e+00] [ 1.88594893e-02 -2.75102323e-05 9.99822144e-01 2.05113584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50925415399996 meters Centerline goodness [0,1] 0.998950906716338 Centerline is valid? [True, True] Translation: X:228.46, Y:3.30, Z:2.05 [[ 9.99740362e-01 -1.21110116e-02 -1.93010975e-02 2.28458364e+02] [ 1.21082629e-02 9.99926659e-01 -2.59271331e-04 3.29702779e+00] [ 1.93028220e-02 2.55012513e-05 9.99813683e-01 2.05107099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53925415399996 meters Centerline goodness [0,1] 0.9992307527938631 Centerline is valid? [True, True] Translation: X:228.49, Y:3.30, Z:2.05 [[ 9.99761155e-01 -9.28781820e-03 -1.97830580e-02 2.28487125e+02] [ 9.28427333e-03 9.99956863e-01 -2.71026462e-04 3.29729435e+00] [ 1.97847218e-02 8.72904116e-05 9.99804259e-01 2.05267728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56925415399996 meters Centerline goodness [0,1] 0.9992729294527725 Centerline is valid? [True, True] Translation: X:228.52, Y:3.30, Z:2.05 [[ 9.99797461e-01 -3.69758123e-03 -1.97829416e-02 2.28515212e+02] [ 3.69287651e-03 9.99993144e-01 -2.74343435e-04 3.29834833e+00] [ 1.97838204e-02 2.01231909e-04 9.99804261e-01 2.05283609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59925415399996 meters Centerline goodness [0,1] 0.9991858596679164 Centerline is valid? [True, True] Translation: X:228.54, Y:3.30, Z:2.05 [[ 9.99802553e-01 -1.15391259e-03 -1.98374029e-02 2.28542484e+02] [ 1.14864274e-03 9.99999302e-01 -2.77044633e-04 3.30008200e+00] [ 1.98377087e-02 2.54203842e-04 9.99803181e-01 2.05231448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62925415399997 meters Centerline goodness [0,1] 0.9989957479541035 Centerline is valid? [True, True] Translation: X:228.57, Y:3.30, Z:2.05 [[ 9.99806770e-01 9.35394936e-04 -1.96353782e-02 2.28571072e+02] [-9.41030391e-04 9.99999519e-01 -2.77767492e-04 3.29844469e+00] [ 1.96351089e-02 2.96191307e-04 9.99807169e-01 2.05399502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65925415399997 meters Centerline goodness [0,1] 0.9992104308486801 Centerline is valid? [True, True] Translation: X:228.60, Y:3.30, Z:2.05 [[ 9.99796189e-01 3.47737902e-03 -1.98868641e-02 2.28599425e+02] [-3.48372846e-03 9.99993891e-01 -2.84643428e-04 3.29623567e+00] [ 1.98857528e-02 3.53865849e-04 9.99802196e-01 2.05457345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68925415399997 meters Centerline goodness [0,1] 0.9991050500745792 Centerline is valid? [True, True] Translation: X:228.63, Y:3.29, Z:2.06 [[ 9.99781946e-01 2.85794181e-03 -2.06855887e-02 2.28627460e+02] [-2.86472317e-03 9.99995852e-01 -2.98205163e-04 3.29083997e+00] [ 2.06846507e-02 3.57398623e-04 9.99785986e-01 2.05531333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71925415399997 meters Centerline goodness [0,1] 0.9989767422029887 Centerline is valid? [True, True] Translation: X:228.66, Y:3.29, Z:2.06 [[ 9.99785097e-01 1.01512097e-03 -2.07057968e-02 2.28655531e+02] [-1.02156356e-03 9.99999433e-01 -3.00574302e-04 3.28812533e+00] [ 2.07054799e-02 3.21661995e-04 9.99785567e-01 2.05521807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74925415399997 meters Centerline goodness [0,1] 0.999151769620629 Centerline is valid? [True, True] Translation: X:228.68, Y:3.28, Z:2.06 [[ 9.99777546e-01 -4.37616489e-03 -2.06326987e-02 2.28684217e+02] [ 4.37088076e-03 9.99990402e-01 -3.01193904e-04 3.27981069e+00] [ 2.06338187e-02 2.10943836e-04 9.99787078e-01 2.05626980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77925415399997 meters Centerline goodness [0,1] 0.9991327706918798 Centerline is valid? [True, True] Translation: X:228.71, Y:3.27, Z:2.06 [[ 9.99740859e-01 -1.18065877e-02 -1.94632895e-02 2.28712978e+02] [ 1.18032666e-02 9.99930298e-01 -2.85507994e-04 3.26981860e+00] [ 1.94653038e-02 5.57036126e-05 9.99810531e-01 2.05692962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80925415399997 meters Centerline goodness [0,1] 0.9992859543010753 Centerline is valid? [True, True] Translation: X:228.74, Y:3.25, Z:2.06 [[ 9.99462481e-01 -2.80043355e-02 -1.70442716e-02 2.28740902e+02] [ 2.80041208e-02 9.99607776e-01 -2.51318034e-04 3.24891543e+00] [ 1.70446244e-02 -2.26126894e-04 9.99854704e-01 2.05782700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83925415399997 meters Centerline goodness [0,1] 0.9992859543010753 Centerline is valid? [True, True] Translation: X:228.77, Y:3.25, Z:2.06 [[ 9.99461476e-01 -2.80401804e-02 -1.70442550e-02 2.28770056e+02] [ 2.80399517e-02 9.99606771e-01 -2.52441931e-04 3.24937749e+00] [ 1.70446312e-02 -2.25614100e-04 9.99854704e-01 2.05810039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86925415399998 meters Centerline goodness [0,1] 0.9992859543010753 Centerline is valid? [True, True] Translation: X:228.80, Y:3.25, Z:2.06 [[ 9.99460470e-01 -2.80760203e-02 -1.70442459e-02 2.28799209e+02] [ 2.80757864e-02 9.99605765e-01 -2.53053037e-04 3.24984036e+00] [ 1.70446312e-02 -2.25614100e-04 9.99854704e-01 2.05837363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89925415399998 meters Centerline goodness [0,1] 0.9992859543010753 Centerline is valid? [True, True] Translation: X:228.83, Y:3.25, Z:2.06 [[ 9.99459463e-01 -2.81118603e-02 -1.70442368e-02 2.28828362e+02] [ 2.81116212e-02 9.99604758e-01 -2.53664143e-04 3.25030426e+00] [ 1.70446312e-02 -2.25614100e-04 9.99854704e-01 2.05864688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92925415399998 meters Centerline goodness [0,1] 0.9988246405708888 Centerline is valid? [True, True] Translation: X:228.86, Y:3.25, Z:2.06 [[ 9.99350045e-01 -3.20464043e-02 -1.65080375e-02 2.28858237e+02] [ 3.20467101e-02 9.99486342e-01 -2.46075225e-04 3.24550977e+00] [ 1.65074438e-02 -2.83113004e-04 9.99863703e-01 2.05877885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95925415399998 meters Centerline goodness [0,1] 0.9988251090970124 Centerline is valid? [True, True] Translation: X:228.89, Y:3.24, Z:2.06 [[ 9.99230472e-01 -3.57167468e-02 -1.62104079e-02 2.28889269e+02] [ 3.57175250e-02 9.99361896e-01 -2.41602550e-04 3.24059378e+00] [ 1.62086933e-02 -3.37579020e-04 9.99868574e-01 2.05896273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98925415399998 meters Centerline goodness [0,1] 0.9989533618018923 Centerline is valid? [True, True] Translation: X:228.92, Y:3.24, Z:2.06 [[ 9.99095817e-01 -3.93969930e-02 -1.59820251e-02 2.28920286e+02] [ 3.93982245e-02 9.99223560e-01 -2.37914365e-04 3.23768373e+00] [ 1.59789891e-02 -3.91964164e-04 9.99872251e-01 2.06006265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01925415399998 meters Centerline goodness [0,1] 0.9988910277870774 Centerline is valid? [True, True] Translation: X:228.95, Y:3.23, Z:2.06 [[ 9.98794864e-01 -4.65073675e-02 -1.56807049e-02 2.28951658e+02] [ 4.65094345e-02 9.98917824e-01 -2.33024779e-04 3.23023454e+00] [ 1.56745730e-02 -4.96556766e-04 9.99877023e-01 2.06067082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04925415399998 meters Centerline goodness [0,1] 0.9988287214239401 Centerline is valid? [True, True] Translation: X:228.98, Y:3.23, Z:2.06 [[ 9.98624821e-01 -5.00115249e-02 -1.57262092e-02 2.28981454e+02] [ 5.00140527e-02 9.98748487e-01 -2.32761042e-04 3.22583580e+00] [ 1.57181684e-02 -5.54090500e-04 9.99876308e-01 2.06069379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07925415399998 meters Centerline goodness [0,1] 0.9987437975001571 Centerline is valid? [True, True] Translation: X:229.01, Y:3.22, Z:2.06 [[ 9.98449863e-01 -5.33521877e-02 -1.58560724e-02 2.29012408e+02] [ 5.33551972e-02 9.98575570e-01 -2.33467813e-04 3.22279667e+00] [ 1.58459426e-02 -6.12897965e-04 9.99874257e-01 2.06108063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10925415399998 meters Centerline goodness [0,1] 0.9985799310848908 Centerline is valid? [True, True] Translation: X:229.04, Y:3.21, Z:2.06 [[ 9.98080032e-01 -5.97501300e-02 -1.63147484e-02 2.29042108e+02] [ 5.97541798e-02 9.98213094e-01 -2.39565064e-04 3.21336355e+00] [ 1.62999095e-02 -7.35769303e-04 9.99866877e-01 2.06076771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13925415399999 meters Centerline goodness [0,1] 0.9988140812250332 Centerline is valid? [True, True] Translation: X:229.07, Y:3.21, Z:2.06 [[ 9.97918788e-01 -6.23920719e-02 -1.62886964e-02 2.29073060e+02] [ 6.23964652e-02 9.98051414e-01 -2.38854006e-04 3.21022204e+00] [ 1.62718591e-02 -7.78000182e-04 9.99867302e-01 2.06094312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.169254154 meters Centerline goodness [0,1] 0.9988736154857012 Centerline is valid? [True, True] Translation: X:229.10, Y:3.21, Z:2.06 [[ 9.97752346e-01 -6.50192744e-02 -1.62095728e-02 2.29103249e+02] [ 6.50239835e-02 9.97883673e-01 -2.36919140e-04 3.20649633e+00] [ 1.61906724e-02 -8.17624366e-04 9.99868588e-01 2.06082187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199254154 meters Centerline goodness [0,1] 0.9986855008659002 Centerline is valid? [True, True] Translation: X:229.13, Y:3.21, Z:2.06 [[ 9.97487923e-01 -6.86805113e-02 -1.73444479e-02 2.29134292e+02] [ 6.86864728e-02 9.97638263e-01 -2.52468309e-04 3.20754188e+00] [ 1.73208245e-02 -9.39494857e-04 9.99849542e-01 2.06077595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.229254154 meters Centerline goodness [0,1] 0.9987935015497265 Centerline is valid? [True, True] Translation: X:229.17, Y:3.20, Z:2.06 [[ 9.97414666e-01 -6.96764408e-02 -1.75834718e-02 2.29165849e+02] [ 6.96827407e-02 9.97569171e-01 -2.54882826e-04 3.20169033e+00] [ 1.75584887e-02 -9.71040638e-04 9.99845366e-01 2.06003635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25925415399996 meters Centerline goodness [0,1] 0.9988107656999792 Centerline is valid? [True, True] Translation: X:229.20, Y:3.21, Z:2.06 [[ 9.97367687e-01 -7.02514725e-02 -1.79562443e-02 2.29197900e+02] [ 7.02581654e-02 9.97528808e-01 -2.58610819e-04 3.20665601e+00] [ 1.79300388e-02 -1.00364271e-03 9.99838740e-01 2.06121867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28925415399996 meters Centerline goodness [0,1] 0.998688729316266 Centerline is valid? [True, True] Translation: X:229.23, Y:3.21, Z:2.06 [[ 9.97385152e-01 -6.98555951e-02 -1.85217306e-02 2.29228613e+02] [ 6.98626711e-02 9.97556583e-01 -2.65520393e-04 3.20663438e+00] [ 1.84950224e-02 -1.02915148e-03 9.99828423e-01 2.06121957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31925415399996 meters Centerline goodness [0,1] 0.9988737799282557 Centerline is valid? [True, True] Translation: X:229.26, Y:3.21, Z:2.06 [[ 9.97427008e-01 -6.93035299e-02 -1.83408037e-02 2.29261259e+02] [ 6.93104017e-02 9.97595108e-01 -2.61482836e-04 3.20772434e+00] [ 1.83148178e-02 -1.01039843e-03 9.99831759e-01 2.06163665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34925415399996 meters Centerline goodness [0,1] 0.9988747421284044 Centerline is valid? [True, True] Translation: X:229.29, Y:3.21, Z:2.06 [[ 9.97491878e-01 -6.83183488e-02 -1.85083022e-02 2.29293986e+02] [ 6.83252115e-02 9.97663068e-01 -2.62041389e-04 3.21038026e+00] [ 1.84829518e-02 -1.00319950e-03 9.99828672e-01 2.06227480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37925415399997 meters Centerline goodness [0,1] 0.9987484094369928 Centerline is valid? [True, True] Translation: X:229.33, Y:3.21, Z:2.06 [[ 9.97543842e-01 -6.74217138e-02 -1.89893702e-02 2.29325789e+02] [ 6.74288066e-02 9.97724052e-01 -2.67235535e-04 3.21182237e+00] [ 1.89641689e-02 -1.01385141e-03 9.99819650e-01 2.06261906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40925415399997 meters Centerline goodness [0,1] 0.9987691665797434 Centerline is valid? [True, True] Translation: X:229.36, Y:3.21, Z:2.06 [[ 9.97703720e-01 -6.50396813e-02 -1.88977973e-02 2.29356418e+02] [ 6.50462996e-02 9.97882212e-01 -2.64895500e-04 3.21199631e+00] [ 1.88750045e-02 -9.64944560e-04 9.99821386e-01 2.06276606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43925415399997 meters Centerline goodness [0,1] 0.9988097972479172 Centerline is valid? [True, True] Translation: X:229.39, Y:3.22, Z:2.06 [[ 9.97799425e-01 -6.36979155e-02 -1.84087756e-02 2.29388235e+02] [ 6.37039833e-02 9.97968805e-01 -2.57195997e-04 3.21617571e+00] [ 1.83877666e-02 -9.16082314e-04 9.99830511e-01 2.06354740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46925415399997 meters Centerline goodness [0,1] 0.9990591678862638 Centerline is valid? [True, True] Translation: X:229.42, Y:3.22, Z:2.06 [[ 9.97892120e-01 -6.22453664e-02 -1.83529890e-02 2.29420129e+02] [ 6.22511711e-02 9.98060482e-01 -2.55395813e-04 3.21753001e+00] [ 1.83332902e-02 -8.87637588e-04 9.99831537e-01 2.06408142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49925415399997 meters Centerline goodness [0,1] 0.9987460815047022 Centerline is valid? [True, True] Translation: X:229.45, Y:3.22, Z:2.06 [[ 9.98103553e-01 -5.91340609e-02 -1.71014914e-02 2.29451938e+02] [ 5.91386606e-02 9.98249750e-01 -2.37068331e-04 3.22084971e+00] [ 1.70855783e-02 -7.74740551e-04 9.99853731e-01 2.06457917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52925415399997 meters Centerline goodness [0,1] 0.9986402242583993 Centerline is valid? [True, True] Translation: X:229.48, Y:3.22, Z:2.06 [[ 9.98209965e-01 -5.73597163e-02 -1.69330649e-02 2.29483147e+02] [ 5.73639866e-02 9.98353303e-01 -2.33812685e-04 3.22177557e+00] [ 1.69185927e-02 -7.37953956e-04 9.99856598e-01 2.06445794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55925415399997 meters Centerline goodness [0,1] 0.9989956478071644 Centerline is valid? [True, True] Translation: X:229.51, Y:3.23, Z:2.06 [[ 9.98315413e-01 -5.54884794e-02 -1.69518279e-02 2.29514995e+02] [ 5.54925078e-02 9.98459076e-01 -2.33013900e-04 3.22509789e+00] [ 1.69386360e-02 -7.08078074e-04 9.99856280e-01 2.06459707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58925415399997 meters Centerline goodness [0,1] 0.9989956478071644 Centerline is valid? [True, True] Translation: X:229.55, Y:3.23, Z:2.06 [[ 9.98319447e-01 -5.54158601e-02 -1.69518448e-02 2.29546709e+02] [ 5.54198989e-02 9.98463110e-01 -2.31780972e-04 3.22547129e+00] [ 1.69386360e-02 -7.08078073e-04 9.99856280e-01 2.06489403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61925415399998 meters Centerline goodness [0,1] 0.9989330543933055 Centerline is valid? [True, True] Translation: X:229.58, Y:3.23, Z:2.06 [[ 9.98547005e-01 -5.11675876e-02 -1.69043531e-02 2.29576015e+02] [ 5.11710052e-02 9.98689879e-01 -2.30587750e-04 3.22997476e+00] [ 1.68940050e-02 -6.34760034e-04 9.99857085e-01 2.06439127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64925415399998 meters Centerline goodness [0,1] 0.9988247639034628 Centerline is valid? [True, True] Translation: X:229.61, Y:3.23, Z:2.06 [[ 9.98663691e-01 -4.87762857e-02 -1.70794228e-02 2.29607683e+02] [ 4.87794293e-02 9.98809548e-01 -2.32734221e-04 3.23255441e+00] [ 1.70704424e-02 -6.00701280e-04 9.99854109e-01 2.06437083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67925415399998 meters Centerline goodness [0,1] 0.9987625579395542 Centerline is valid? [True, True] Translation: X:229.64, Y:3.24, Z:2.06 [[ 9.98781320e-01 -4.64959075e-02 -1.65531127e-02 2.29638676e+02] [ 4.64985597e-02 9.98918332e-01 -2.24822160e-04 3.23564033e+00] [ 1.65456611e-02 -5.45147726e-04 9.99862963e-01 2.06451121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70925415399998 meters Centerline goodness [0,1] 0.9989520456069751 Centerline is valid? [True, True] Translation: X:229.67, Y:3.24, Z:2.06 [[ 9.98900815e-01 -4.37497764e-02 -1.68261304e-02 2.29670275e+02] [ 4.37521378e-02 9.99042391e-01 -2.27925533e-04 3.23895338e+00] [ 1.68199893e-02 -5.08504175e-04 9.99858405e-01 2.06484383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73925415399998 meters Centerline goodness [0,1] 0.9989308848500095 Centerline is valid? [True, True] Translation: X:229.70, Y:3.24, Z:2.07 [[ 9.99158607e-01 -3.78024246e-02 -1.59077240e-02 2.29699461e+02] [ 3.78037850e-02 9.99285158e-01 -2.15283861e-04 3.24437511e+00] [ 1.59044907e-02 -3.86269454e-04 9.99873441e-01 2.06535665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76925415399998 meters Centerline goodness [0,1] 0.9989912999621737 Centerline is valid? [True, True] Translation: X:229.73, Y:3.25, Z:2.07 [[ 9.99279496e-01 -3.45276454e-02 -1.57584986e-02 2.29730346e+02] [ 3.45285707e-02 9.99403688e-01 -2.13434886e-04 3.24771522e+00] [ 1.57564710e-02 -3.30837327e-04 9.99875804e-01 2.06564684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79925415399998 meters Centerline goodness [0,1] 0.9990748333648731 Centerline is valid? [True, True] Translation: X:229.76, Y:3.25, Z:2.07 [[ 9.99402943e-01 -3.09482630e-02 -1.53610531e-02 2.29760453e+02] [ 3.09487193e-02 9.99520952e-01 -2.08062232e-04 3.25340041e+00] [ 1.53601335e-02 -2.67466913e-04 9.99881990e-01 2.06675589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82925415399998 meters Centerline goodness [0,1] 0.9990135583259875 Centerline is valid? [True, True] Translation: X:229.79, Y:3.26, Z:2.07 [[ 9.99500939e-01 -2.74119754e-02 -1.56989031e-02 2.29790036e+02] [ 2.74120141e-02 9.99624197e-01 -2.12755476e-04 3.25596216e+00] [ 1.56988355e-02 -2.17689256e-04 9.99876742e-01 2.06672126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85925415399998 meters Centerline goodness [0,1] 0.9990523323154681 Centerline is valid? [True, True] Translation: X:229.82, Y:3.26, Z:2.07 [[ 9.99661736e-01 -2.08007303e-02 -1.56122608e-02 2.29820601e+02] [ 2.07999596e-02 9.99783635e-01 -2.11753600e-04 3.26142602e+00] [ 1.56132875e-02 -1.13052422e-04 9.99878099e-01 2.06682737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88925415399999 meters Centerline goodness [0,1] 0.9990528907877844 Centerline is valid? [True, True] Translation: X:229.85, Y:3.26, Z:2.07 [[ 9.99727165e-01 -1.76762313e-02 -1.52691136e-02 2.29848812e+02] [ 1.76751248e-02 9.99843761e-01 -2.07421041e-04 3.26361993e+00] [ 1.52703944e-02 -6.25190387e-05 9.99883399e-01 2.06682100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.919254154 meters Centerline goodness [0,1] 0.9992422488370625 Centerline is valid? [True, True] Translation: X:229.88, Y:3.27, Z:2.07 [[ 9.99777309e-01 -1.51767366e-02 -1.46628577e-02 2.29876668e+02] [ 1.51754172e-02 9.99884826e-01 -2.01243650e-04 3.26588360e+00] [ 1.46642232e-02 -2.13161492e-05 9.99892474e-01 2.06813775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.949254154 meters Centerline goodness [0,1] 0.999075066742343 Centerline is valid? [True, True] Translation: X:229.90, Y:3.27, Z:2.07 [[ 9.99849223e-01 -1.10205083e-02 -1.34193532e-02 2.29904356e+02] [ 1.10189876e-02 9.99939272e-01 -1.87253735e-04 3.26829387e+00] [ 1.34206019e-02 3.93578144e-05 9.99909939e-01 2.06854237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979254154 meters Centerline goodness [0,1] 0.9991613552499161 Centerline is valid? [True, True] Translation: X:229.93, Y:3.27, Z:2.07 [[ 9.99861554e-01 -9.95700751e-03 -1.33315489e-02 2.29932136e+02] [ 9.95538024e-03 9.99950426e-01 -1.88420348e-04 3.26931150e+00] [ 1.33327641e-02 5.56736236e-05 9.99911113e-01 2.06936256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00925415399996 meters Centerline goodness [0,1] 0.9991581960140581 Centerline is valid? [True, True] Translation: X:229.96, Y:3.27, Z:2.07 [[ 9.99872821e-01 -9.22167781e-03 -1.30116207e-02 2.29958590e+02] [ 9.22002396e-03 9.99957477e-01 -1.87087312e-04 3.26982910e+00] [ 1.30127926e-02 6.70960639e-05 9.99915328e-01 2.06934065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03925415399996 meters Centerline goodness [0,1] 0.999326485940394 Centerline is valid? [True, True] Translation: X:229.99, Y:3.27, Z:2.07 [[ 9.99866668e-01 -9.01352559e-03 -1.36162804e-02 2.29986733e+02] [ 9.01167081e-03 9.99959375e-01 -1.97568634e-04 3.27084875e+00] [ 1.36175080e-02 7.48368550e-05 9.99907275e-01 2.06864838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06925415399996 meters Centerline goodness [0,1] 0.9991593813046402 Centerline is valid? [True, True] Translation: X:230.01, Y:3.27, Z:2.07 [[ 9.99848774e-01 -1.03470958e-02 -1.39773934e-02 2.30014328e+02] [ 1.03452411e-02 9.99946466e-01 -2.04990991e-04 3.26766011e+00] [ 1.39787662e-02 6.03604863e-05 9.99902290e-01 2.06901237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09925415399996 meters Centerline goodness [0,1] 0.9991376409220932 Centerline is valid? [True, True] Translation: X:230.04, Y:3.27, Z:2.07 [[ 9.99827267e-01 -1.16834237e-02 -1.44545093e-02 2.30042528e+02] [ 1.16815172e-02 9.99931745e-01 -2.16318471e-04 3.26600843e+00] [ 1.44560500e-02 4.74305066e-05 9.99895505e-01 2.06930489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12925415399997 meters Centerline goodness [0,1] 0.99922321128653 Centerline is valid? [True, True] Translation: X:230.07, Y:3.26, Z:2.07 [[ 9.99808178e-01 -1.29821739e-02 -1.46652645e-02 2.30070609e+02] [ 1.29802864e-02 9.99915727e-01 -2.23881679e-04 3.26404965e+00] [ 1.46669351e-02 3.34793995e-05 9.99892434e-01 2.06882206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15925415399997 meters Centerline goodness [0,1] 0.9990963538930335 Centerline is valid? [True, True] Translation: X:230.10, Y:3.26, Z:2.07 [[ 9.99771494e-01 -1.48301715e-02 -1.53956155e-02 2.30098383e+02] [ 1.48282382e-02 9.99890027e-01 -2.39727830e-04 3.26201334e+00] [ 1.53974776e-02 1.13831978e-05 9.99881452e-01 2.06863077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18925415399997 meters Centerline goodness [0,1] 0.9990580847723705 Centerline is valid? [True, True] Translation: X:230.13, Y:3.26, Z:2.07 [[ 9.99731720e-01 -1.74106327e-02 -1.52760746e-02 2.30125773e+02] [ 1.74089700e-02 9.99848423e-01 -2.41824251e-04 3.25811622e+00] [ 1.52779694e-02 -2.41813496e-05 9.99883285e-01 2.06775594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21925415399997 meters Centerline goodness [0,1] 0.9991617770326907 Centerline is valid? [True, True] Translation: X:230.15, Y:3.26, Z:2.07 [[ 9.99708647e-01 -1.87254010e-02 -1.52309328e-02 2.30154061e+02] [ 1.87238453e-02 9.99824663e-01 -2.44744691e-04 3.25684470e+00] [ 1.52328452e-02 -4.05082462e-05 9.99883973e-01 2.06876607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24925415399997 meters Centerline goodness [0,1] 0.9990985702905538 Centerline is valid? [True, True] Translation: X:230.18, Y:3.25, Z:2.07 [[ 9.99665086e-01 -2.08711966e-02 -1.53006462e-02 2.30181707e+02] [ 2.08698085e-02 9.99782170e-01 -2.50406209e-04 3.25305320e+00] [ 1.53025395e-02 -6.89992113e-05 9.99882907e-01 2.06870464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27925415399997 meters Centerline goodness [0,1] 0.9992874955468471 Centerline is valid? [True, True] Translation: X:230.21, Y:3.25, Z:2.07 [[ 9.99636217e-01 -2.19512657e-02 -1.56708493e-02 2.30209186e+02] [ 2.19498885e-02 9.99759038e-01 -2.59894566e-04 3.25127925e+00] [ 1.56727782e-02 -8.41733740e-05 9.99877171e-01 2.06875006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30925415399997 meters Centerline goodness [0,1] 0.9992869576159218 Centerline is valid? [True, True] Translation: X:230.24, Y:3.25, Z:2.07 [[ 9.99611469e-01 -2.31555563e-02 -1.55154885e-02 2.30238188e+02] [ 2.31543137e-02 9.99731869e-01 -2.59744719e-04 3.24974512e+00] [ 1.55173429e-02 -9.96066875e-05 9.99879594e-01 2.06887699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33925415399997 meters Centerline goodness [0,1] 0.9992461522353681 Centerline is valid? [True, True] Translation: X:230.27, Y:3.25, Z:2.07 [[ 9.99584450e-01 -2.42889021e-02 -1.55234299e-02 2.30266981e+02] [ 2.42877524e-02 9.99704975e-01 -2.62611219e-04 3.24785075e+00] [ 1.55252286e-02 -1.14527131e-04 9.99879470e-01 2.06867150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36925415399998 meters Centerline goodness [0,1] 0.999245630945895 Centerline is valid? [True, True] Translation: X:230.30, Y:3.24, Z:2.07 [[ 9.99532333e-01 -2.63122178e-02 -1.55815055e-02 2.30295377e+02] [ 2.63112921e-02 9.99653763e-01 -2.64438089e-04 3.24330272e+00] [ 1.55830686e-02 -1.45655123e-04 9.99878566e-01 2.06822066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39925415399998 meters Centerline goodness [0,1] 0.9991005501286423 Centerline is valid? [True, True] Translation: X:230.32, Y:3.24, Z:2.07 [[ 9.99516117e-01 -2.72307622e-02 -1.50338974e-02 2.30324571e+02] [ 2.72299940e-02 9.99629162e-01 -2.55832049e-04 3.24204793e+00] [ 1.50352888e-02 -1.53664681e-04 9.99886952e-01 2.06848951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42925415399998 meters Centerline goodness [0,1] 0.9990591285439492 Centerline is valid? [True, True] Translation: X:230.35, Y:3.24, Z:2.07 [[ 9.99490148e-01 -2.81069090e-02 -1.51474447e-02 2.30354544e+02] [ 2.81062231e-02 9.99604909e-01 -2.58203825e-04 3.23982551e+00] [ 1.51487174e-02 -1.67665280e-04 9.99885238e-01 2.06844439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45925415399998 meters Centerline goodness [0,1] 0.9990399666075341 Centerline is valid? [True, True] Translation: X:230.38, Y:3.24, Z:2.07 [[ 9.99440173e-01 -2.97570788e-02 -1.52923778e-02 2.30384350e+02] [ 2.97565670e-02 9.99557141e-01 -2.61050887e-04 3.23681925e+00] [ 1.52933736e-02 -1.94143922e-04 9.99883031e-01 2.06797430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48925415399998 meters Centerline goodness [0,1] 0.9991644385026738 Centerline is valid? [True, True] Translation: X:230.41, Y:3.24, Z:2.07 [[ 9.99420530e-01 -3.01614858e-02 -1.57762231e-02 2.30414005e+02] [ 3.01609826e-02 9.99545018e-01 -2.69877580e-04 3.23591684e+00] [ 1.57771851e-02 -2.06105195e-04 9.99875511e-01 2.06794221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51925415399998 meters Centerline goodness [0,1] 0.9992499687486979 Centerline is valid? [True, True] Translation: X:230.44, Y:3.24, Z:2.07 [[ 9.99403705e-01 -3.05046832e-02 -1.61771351e-02 2.30443518e+02] [ 3.05041897e-02 9.99534600e-01 -2.77313902e-04 3.23548414e+00] [ 1.61780657e-02 -2.16321858e-04 9.99869103e-01 2.06790294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54925415399998 meters Centerline goodness [0,1] 0.9992903064206395 Centerline is valid? [True, True] Translation: X:230.47, Y:3.24, Z:2.07 [[ 9.99399835e-01 -3.04804644e-02 -1.64593861e-02 2.30472790e+02] [ 3.04799406e-02 9.99535339e-01 -2.82739995e-04 3.23604938e+00] [ 1.64603561e-02 -2.19110806e-04 9.99864495e-01 2.06829458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57925415399998 meters Centerline goodness [0,1] 0.9992894461859979 Centerline is valid? [True, True] Translation: X:230.50, Y:3.24, Z:2.07 [[ 9.99416551e-01 -2.94321738e-02 -1.73292863e-02 2.30501163e+02] [ 2.94314221e-02 9.99566757e-01 -2.98459595e-04 3.23549810e+00] [ 1.73305629e-02 -2.11740083e-04 9.99849792e-01 2.06781570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60925415399998 meters Centerline goodness [0,1] 0.9991430840613635 Centerline is valid? [True, True] Translation: X:230.53, Y:3.24, Z:2.07 [[ 9.99431697e-01 -2.86907613e-02 -1.76952848e-02 2.30530156e+02] [ 2.86898150e-02 9.99588315e-01 -3.07385753e-04 3.23717967e+00] [ 1.76968191e-02 -2.00463382e-04 9.99843379e-01 2.06844220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63925415399999 meters Centerline goodness [0,1] 0.9992682875838856 Centerline is valid? [True, True] Translation: X:230.56, Y:3.24, Z:2.07 [[ 9.99455267e-01 -2.78081270e-02 -1.77729323e-02 2.30559095e+02] [ 2.78069524e-02 9.99613263e-01 -3.13260043e-04 3.23810834e+00] [ 1.77747700e-02 -1.81121681e-04 9.99842000e-01 2.06854523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.669254154 meters Centerline goodness [0,1] 0.9992683793557557 Centerline is valid? [True, True] Translation: X:230.59, Y:3.24, Z:2.07 [[ 9.99485276e-01 -2.63371031e-02 -1.83177438e-02 2.30586441e+02] [ 2.63355486e-02 9.99653106e-01 -3.26123060e-04 3.23890422e+00] [ 1.83199786e-02 -1.56452636e-04 9.99832163e-01 2.06823820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699254154 meters Centerline goodness [0,1] 0.9993723980669861 Centerline is valid? [True, True] Translation: X:230.61, Y:3.24, Z:2.07 [[ 9.99577256e-01 -2.26793875e-02 -1.81921723e-02 2.30614778e+02] [ 2.26771914e-02 9.99742786e-01 -3.27023122e-04 3.24155192e+00] [ 1.81949097e-02 -8.56624983e-05 9.99834455e-01 2.06953813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.729254154 meters Centerline goodness [0,1] 0.99924841854736 Centerline is valid? [True, True] Translation: X:230.64, Y:3.24, Z:2.07 [[ 9.99619174e-01 -2.07260810e-02 -1.82191250e-02 2.30642630e+02] [ 2.07234946e-02 9.99785191e-01 -3.30765503e-04 3.24272109e+00] [ 1.82220668e-02 -4.69244005e-05 9.99833963e-01 2.06985791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75925415399996 meters Centerline goodness [0,1] 0.999309493419263 Centerline is valid? [True, True] Translation: X:230.67, Y:3.24, Z:2.07 [[ 9.99658224e-01 -1.91600966e-02 -1.77855349e-02 2.30670445e+02] [ 1.91573249e-02 9.99816428e-01 -3.26218149e-04 3.24399944e+00] [ 1.77885204e-02 -1.46166159e-05 9.99841772e-01 2.07059065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78925415399996 meters Centerline goodness [0,1] 0.9993933688944671 Centerline is valid? [True, True] Translation: X:230.70, Y:3.25, Z:2.07 [[ 9.99685656e-01 -1.75931707e-02 -1.78625077e-02 2.30696970e+02] [ 1.75900559e-02 9.99845228e-01 -3.31489022e-04 3.24528695e+00] [ 1.78655751e-02 1.71823107e-05 9.99840398e-01 2.07010224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81925415399996 meters Centerline goodness [0,1] 0.9994350755324937 Centerline is valid? [True, True] Translation: X:230.73, Y:3.25, Z:2.07 [[ 9.99713059e-01 -1.55880093e-02 -1.81882886e-02 2.30725033e+02] [ 1.55843785e-02 9.99878498e-01 -3.41357359e-04 3.24645227e+00] [ 1.81913998e-02 5.78062370e-05 9.99834521e-01 2.07168406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84925415399996 meters Centerline goodness [0,1] 0.9990786883872859 Centerline is valid? [True, True] Translation: X:230.75, Y:3.25, Z:2.07 [[ 9.99707699e-01 -1.54123532e-02 -1.86273060e-02 2.30752669e+02] [ 1.54084458e-02 9.99881220e-01 -3.53274534e-04 3.24728541e+00] [ 1.86305382e-02 6.61534357e-05 9.99826434e-01 2.07093104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87925415399997 meters Centerline goodness [0,1] 0.9993515458310672 Centerline is valid? [True, True] Translation: X:230.78, Y:3.25, Z:2.07 [[ 9.99693915e-01 -1.59054152e-02 -1.89497535e-02 2.30780325e+02] [ 1.59013903e-02 9.99873499e-01 -3.63067990e-04 3.24704016e+00] [ 1.89531311e-02 6.16294346e-05 9.99820371e-01 2.07192066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90925415399997 meters Centerline goodness [0,1] 0.9985537926264384 Centerline is valid? [True, True] Translation: X:230.81, Y:3.25, Z:2.07 [[ 9.99641983e-01 -1.89431648e-02 -1.88960764e-02 2.30807926e+02] [ 1.89396373e-02 9.99820562e-01 -3.65640187e-04 3.24511678e+00] [ 1.88996121e-02 7.62444834e-06 9.99821386e-01 2.07148569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93925415399997 meters Centerline goodness [0,1] 0.9986689128761881 Centerline is valid? [True, True] Translation: X:230.84, Y:3.24, Z:2.07 [[ 9.99600206e-01 -2.12162121e-02 -1.86895860e-02 2.30835895e+02] [ 2.12130927e-02 9.99774910e-01 -3.65162022e-04 3.24401687e+00] [ 1.86931265e-02 -3.14478865e-05 9.99825268e-01 2.07241258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96925415399997 meters Centerline goodness [0,1] 0.9990396659707724 Centerline is valid? [True, True] Translation: X:230.86, Y:3.24, Z:2.07 [[ 9.99534129e-01 -2.41983166e-02 -1.86001896e-02 2.30863780e+02] [ 2.41956781e-02 9.99707174e-01 -3.66913131e-04 3.24241679e+00] [ 1.86036217e-02 -8.33020051e-05 9.99826934e-01 2.07298261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99925415399997 meters Centerline goodness [0,1] 0.9984745904379806 Centerline is valid? [True, True] Translation: X:230.89, Y:3.24, Z:2.07 [[ 9.99444805e-01 -2.77260483e-02 -1.84756182e-02 2.30892719e+02] [ 2.77239895e-02 9.99615549e-01 -3.67605283e-04 3.24096470e+00] [ 1.84787074e-02 -1.44816654e-04 9.99829244e-01 2.07364099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02925415399997 meters Centerline goodness [0,1] 0.9985387746581776 Centerline is valid? [True, True] Translation: X:230.92, Y:3.24, Z:2.07 [[ 9.99205755e-01 -3.54991571e-02 -1.81016548e-02 2.30922781e+02] [ 3.54984076e-02 9.99369667e-01 -3.62820033e-04 3.23639530e+00] [ 1.81031246e-02 -2.80048057e-04 9.99836086e-01 2.07426772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05925415399997 meters Centerline goodness [0,1] 0.9986220143644563 Centerline is valid? [True, True] Translation: X:230.95, Y:3.23, Z:2.07 [[ 9.99050814e-01 -3.98394437e-02 -1.76150466e-02 2.30951983e+02] [ 3.98393946e-02 9.99206034e-01 -3.53841924e-04 3.23394807e+00] [ 1.76151577e-02 -3.48266728e-04 9.99844780e-01 2.07437367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08925415399997 meters Centerline goodness [0,1] 0.9984750365573428 Centerline is valid? [True, True] Translation: X:230.98, Y:3.23, Z:2.07 [[ 9.98852557e-01 -4.44628927e-02 -1.77938277e-02 2.30982326e+02] [ 4.44635666e-02 9.99010942e-01 -3.57944348e-04 3.23235531e+00] [ 1.77921438e-02 -4.33643413e-04 9.99841613e-01 2.07481771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11925415399998 meters Centerline goodness [0,1] 0.9983275494418197 Centerline is valid? [True, True] Translation: X:231.01, Y:3.23, Z:2.07 [[ 9.98631979e-01 -4.91172816e-02 -1.79349502e-02 2.31012576e+02] [ 4.91187188e-02 9.98792882e-01 -3.60627179e-04 3.22920956e+00] [ 1.79310136e-02 -5.20807941e-04 9.99839091e-01 2.07472068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14925415399998 meters Centerline goodness [0,1] 0.9985216648968289 Centerline is valid? [True, True] Translation: X:231.04, Y:3.22, Z:2.08 [[ 9.98106116e-01 -5.87090675e-02 -1.83691592e-02 2.31042823e+02] [ 5.87121974e-02 9.98274883e-01 -3.69321498e-04 3.22377448e+00] [ 1.83591528e-02 -7.09871656e-04 9.99831205e-01 2.07549969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17925415399998 meters Centerline goodness [0,1] 0.9989951852627171 Centerline is valid? [True, True] Translation: X:231.07, Y:3.22, Z:2.08 [[ 9.97786093e-01 -6.36980550e-02 -1.91172966e-02 2.31073379e+02] [ 6.37023613e-02 9.97968868e-01 -3.84242148e-04 3.22081027e+00] [ 1.91029423e-02 -8.34425462e-04 9.99817174e-01 2.07562674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20925415399998 meters Centerline goodness [0,1] 0.9986617038183263 Centerline is valid? [True, True] Translation: X:231.10, Y:3.21, Z:2.08 [[ 9.97103071e-01 -7.33996265e-02 -1.99489411e-02 2.31102638e+02] [ 7.34062521e-02 9.97302041e-01 -4.00917107e-04 3.21477746e+00] [ 1.99245468e-02 -1.06462132e-03 9.99800920e-01 2.07547541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23925415399998 meters Centerline goodness [0,1] 0.9989930985295044 Centerline is valid? [True, True] Translation: X:231.13, Y:3.22, Z:2.08 [[ 9.96738353e-01 -7.80906675e-02 -2.03593401e-02 2.31132999e+02] [ 7.80985404e-02 9.96945560e-01 -4.09331985e-04 3.21550730e+00] [ 2.03291187e-02 -1.18203786e-03 9.99792643e-01 2.07643561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26925415399998 meters Centerline goodness [0,1] 0.9989949959171709 Centerline is valid? [True, True] Translation: X:231.16, Y:3.21, Z:2.08 [[ 9.96414637e-01 -8.21586056e-02 -2.01948949e-02 2.31164183e+02] [ 8.21671901e-02 9.96618477e-01 -4.05717901e-04 3.21409987e+00] [ 2.01599386e-02 -1.25509451e-03 9.99795980e-01 2.07690695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29925415399998 meters Centerline goodness [0,1] 0.9988886792057201 Centerline is valid? [True, True] Translation: X:231.19, Y:3.21, Z:2.08 [[ 9.95869681e-01 -8.85438837e-02 -2.00888031e-02 2.31193952e+02] [ 8.85536914e-02 9.96071324e-01 -4.02569443e-04 3.20514293e+00] [ 2.00455258e-02 -1.37803097e-03 9.99798119e-01 2.07693017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32925415399998 meters Centerline goodness [0,1] 0.9985520931696569 Centerline is valid? [True, True] Translation: X:231.23, Y:3.21, Z:2.08 [[ 9.95723275e-01 -8.99044649e-02 -2.12684674e-02 2.31225678e+02] [ 8.99157971e-02 9.95949280e-01 -4.24819883e-04 3.21316406e+00] [ 2.12205080e-02 -1.48936815e-03 9.99773710e-01 2.07685266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35925415399998 meters Centerline goodness [0,1] 0.998786052157897 Centerline is valid? [True, True] Translation: X:231.26, Y:3.21, Z:2.08 [[ 9.95574784e-01 -9.19437063e-02 -1.94217426e-02 2.31255438e+02] [ 9.19535505e-02 9.95763222e-01 -3.87454526e-04 3.20875480e+00] [ 1.93750810e-02 -1.40015824e-03 9.99811305e-01 2.07875734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38925415399999 meters Centerline goodness [0,1] 0.9987428499591426 Centerline is valid? [True, True] Translation: X:231.29, Y:3.22, Z:2.08 [[ 9.95505978e-01 -9.26674695e-02 -1.95086681e-02 2.31287398e+02] [ 9.26775550e-02 9.95696098e-01 -3.88436413e-04 3.21516267e+00] [ 1.94607001e-02 -1.42132489e-03 9.99809612e-01 2.07965079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.419254154 meters Centerline goodness [0,1] 0.9986827248776816 Centerline is valid? [True, True] Translation: X:231.32, Y:3.22, Z:2.08 [[ 9.95547000e-01 -9.21221807e-02 -1.99918576e-02 2.31319057e+02] [ 9.21326925e-02 9.95746659e-01 -3.96562784e-04 3.21506475e+00] [ 1.99433576e-02 -1.44710678e-03 9.99800064e-01 2.07917971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.449254154 meters Centerline goodness [0,1] 0.9988305559036044 Centerline is valid? [True, True] Translation: X:231.35, Y:3.22, Z:2.08 [[ 9.95633900e-01 -9.11295782e-02 -2.02123224e-02 2.31349905e+02] [ 9.11401636e-02 9.95837995e-01 -3.98763954e-04 3.21650715e+00] [ 2.01645378e-02 -1.44513146e-03 9.99795631e-01 2.07896519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47925415399996 meters Centerline goodness [0,1] 0.9988305559036044 Centerline is valid? [True, True] Translation: X:231.38, Y:3.22, Z:2.08 [[ 9.95640461e-01 -9.10578492e-02 -2.02123628e-02 2.31381667e+02] [ 9.10684613e-02 9.95844555e-01 -3.96709958e-04 3.21706702e+00] [ 2.01644950e-02 -1.44572829e-03 9.99795631e-01 2.07926254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50925415399996 meters Centerline goodness [0,1] 0.9988706000460126 Centerline is valid? [True, True] Translation: X:231.41, Y:3.23, Z:2.08 [[ 9.95907846e-01 -8.79708139e-02 -2.07050084e-02 2.31412231e+02] [ 8.79813045e-02 9.96122044e-01 -4.05476915e-04 3.22769935e+00] [ 2.06603855e-02 -1.41783601e-03 9.99785546e-01 2.08008914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53925415399996 meters Centerline goodness [0,1] 0.9987046361490086 Centerline is valid? [True, True] Translation: X:231.44, Y:3.23, Z:2.08 [[ 9.96088598e-01 -8.58027800e-02 -2.11041926e-02 2.31444112e+02] [ 8.58132125e-02 9.96311157e-01 -4.12452339e-04 3.23285889e+00] [ 2.10617322e-02 -1.40017950e-03 9.99777197e-01 2.08050195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56925415399996 meters Centerline goodness [0,1] 0.9989758809513857 Centerline is valid? [True, True] Translation: X:231.47, Y:3.24, Z:2.08 [[ 9.96306385e-01 -8.31552727e-02 -2.14193348e-02 2.31474778e+02] [ 8.31654310e-02 9.96535668e-01 -4.17627283e-04 3.23525653e+00] [ 2.13798590e-02 -1.36526348e-03 9.99770493e-01 2.08032435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59925415399996 meters Centerline goodness [0,1] 0.9987636729391056 Centerline is valid? [True, True] Translation: X:231.51, Y:3.24, Z:2.08 [[ 9.96524946e-01 -8.02215416e-02 -2.24173235e-02 2.31506660e+02] [ 8.02319558e-02 9.96776125e-01 -4.35908506e-04 3.23928822e+00] [ 2.23800221e-02 -1.36419201e-03 9.99748605e-01 2.08000777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62925415399997 meters Centerline goodness [0,1] 0.9983881434343012 Centerline is valid? [True, True] Translation: X:231.54, Y:3.25, Z:2.08 [[ 9.97024707e-01 -7.33812431e-02 -2.35993074e-02 2.31537194e+02] [ 7.33908887e-02 9.97303147e-01 -4.58295026e-04 3.24890434e+00] [ 2.35692938e-02 -1.27504268e-03 9.99721393e-01 2.07970624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65925415399997 meters Centerline goodness [0,1] 0.9989334560207453 Centerline is valid? [True, True] Translation: X:231.57, Y:3.25, Z:2.08 [[ 9.97271104e-01 -7.02774537e-02 -2.26146888e-02 2.31566624e+02] [ 7.02855092e-02 9.97526819e-01 -4.39426430e-04 3.25317181e+00] [ 2.25896403e-02 -1.15125763e-03 9.99744159e-01 2.08118448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68925415399997 meters Centerline goodness [0,1] 0.9990155831099196 Centerline is valid? [True, True] Translation: X:231.60, Y:3.26, Z:2.08 [[ 9.97533628e-01 -6.63838919e-02 -2.28000132e-02 2.31596701e+02] [ 6.63910613e-02 9.97793581e-01 -4.43199412e-04 3.25676848e+00] [ 2.27791282e-02 -1.07161076e-03 9.99739948e-01 2.08140879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71925415399997 meters Centerline goodness [0,1] 0.9989089154199626 Centerline is valid? [True, True] Translation: X:231.63, Y:3.26, Z:2.08 [[ 9.97772814e-01 -6.26889504e-02 -2.27927035e-02 2.31627606e+02] [ 6.26951586e-02 9.98032625e-01 -4.42813051e-04 3.26453544e+00] [ 2.27756212e-02 -9.87165340e-04 9.99740115e-01 2.08253772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74925415399997 meters Centerline goodness [0,1] 0.9990111300469188 Centerline is valid? [True, True] Translation: X:231.66, Y:3.27, Z:2.08 [[ 9.98262489e-01 -5.43393407e-02 -2.27868148e-02 2.31657485e+02] [ 5.43433768e-02 9.98522209e-01 -4.42528714e-04 3.27382327e+00] [ 2.27771874e-02 -7.96552650e-04 9.99740249e-01 2.08308838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77925415399997 meters Centerline goodness [0,1] 0.9989292462733571 Centerline is valid? [True, True] Translation: X:231.69, Y:3.28, Z:2.08 [[ 9.98493857e-01 -5.00151899e-02 -2.25499065e-02 2.31687787e+02] [ 5.00180409e-02 9.98748218e-01 -4.37928139e-04 3.27929801e+00] [ 2.25435820e-02 -6.90633588e-04 9.99745623e-01 2.08357962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80925415399997 meters Centerline goodness [0,1] 0.999052950585066 Centerline is valid? [True, True] Translation: X:231.72, Y:3.28, Z:2.08 [[ 9.98694791e-01 -4.59932694e-02 -2.22111119e-02 2.31717719e+02] [ 4.59950414e-02 9.98941575e-01 -4.31348614e-04 3.28442866e+00] [ 2.22074423e-02 -5.90815399e-04 9.99753210e-01 2.08429608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83925415399997 meters Centerline goodness [0,1] 0.9988388050248074 Centerline is valid? [True, True] Translation: X:231.75, Y:3.29, Z:2.09 [[ 9.99067394e-01 -3.74002268e-02 -2.15769781e-02 2.31748320e+02] [ 3.73999001e-02 9.99300291e-01 -4.18818966e-04 3.29469243e+00] [ 2.15775444e-02 -3.88548452e-04 9.99767102e-01 2.08517872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86925415399998 meters Centerline goodness [0,1] 0.9990297814899182 Centerline is valid? [True, True] Translation: X:231.78, Y:3.30, Z:2.09 [[ 9.99220682e-01 -3.35343070e-02 -2.08201517e-02 2.31778301e+02] [ 3.35331629e-02 9.99437524e-01 -4.04170402e-04 3.29972979e+00] [ 2.08219944e-02 -2.94310113e-04 9.99783155e-01 2.08633755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89925415399998 meters Centerline goodness [0,1] 0.9988790423214399 Centerline is valid? [True, True] Translation: X:231.81, Y:3.30, Z:2.09 [[ 9.99350096e-01 -3.00341767e-02 -1.99332283e-02 2.31807871e+02] [ 3.00324213e-02 9.99548850e-01 -3.87477656e-04 3.30400417e+00] [ 1.99358730e-02 -2.11417277e-04 9.99801238e-01 2.08692690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92925415399998 meters Centerline goodness [0,1] 0.9989836537647159 Centerline is valid? [True, True] Translation: X:231.84, Y:3.31, Z:2.09 [[ 9.99534424e-01 -2.31189883e-02 -1.99109702e-02 2.31837145e+02] [ 2.31158510e-02 9.99732718e-01 -3.87734573e-04 3.31161555e+00] [ 1.99146124e-02 -7.27049688e-05 9.99801682e-01 2.08737278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95925415399998 meters Centerline goodness [0,1] 0.9991108853042042 Centerline is valid? [True, True] Translation: X:231.86, Y:3.32, Z:2.09 [[ 9.99613427e-01 -1.94844951e-02 -1.98330902e-02 2.31864448e+02] [ 1.94806211e-02 9.99810159e-01 -3.88528121e-04 3.31539386e+00] [ 1.98368953e-02 2.01701086e-06 9.99803229e-01 2.08682139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98925415399998 meters Centerline goodness [0,1] 0.9989834815756036 Centerline is valid? [True, True] Translation: X:231.89, Y:3.32, Z:2.09 [[ 9.99669545e-01 -1.69356285e-02 -1.93386868e-02 2.31891315e+02] [ 1.69314119e-02 9.99856580e-01 -3.81760834e-04 3.31921059e+00] [ 1.93423786e-02 5.42034074e-05 9.99812917e-01 2.08826481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01925415399998 meters Centerline goodness [0,1] 0.9991339796802061 Centerline is valid? [True, True] Translation: X:231.92, Y:3.32, Z:2.09 [[ 9.99703021e-01 -1.46560465e-02 -1.94697308e-02 2.31919935e+02] [ 1.46512721e-02 9.99892589e-01 -3.87846577e-04 3.32258158e+00] [ 1.94733238e-02 1.02475070e-04 9.99810372e-01 2.08830803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04925415399998 meters Centerline goodness [0,1] 0.9992997198879552 Centerline is valid? [True, True] Translation: X:231.95, Y:3.33, Z:2.09 [[ 9.99727411e-01 -1.27808319e-02 -1.95385280e-02 2.31948985e+02] [ 1.27755759e-02 9.99918311e-01 -3.93809914e-04 3.32534071e+00] [ 1.95419652e-02 1.44086618e-04 9.99809027e-01 2.08851719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07925415399998 meters Centerline goodness [0,1] 0.9991953244113163 Centerline is valid? [True, True] Translation: X:231.98, Y:3.33, Z:2.09 [[ 9.99753054e-01 -1.03151729e-02 -1.96831795e-02 2.31977698e+02] [ 1.03092665e-02 9.99946777e-01 -4.01525436e-04 3.32695901e+00] [ 1.96862737e-02 1.98507139e-04 9.99806187e-01 2.08968085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10925415399998 meters Centerline goodness [0,1] 0.9991944886062533 Centerline is valid? [True, True] Translation: X:232.01, Y:3.33, Z:2.09 [[ 9.99757711e-01 -9.98818851e-03 -1.96151772e-02 2.32006064e+02] [ 9.98215525e-03 9.99950095e-01 -4.05469741e-04 3.32757419e+00] [ 1.96182482e-02 2.09569756e-04 9.99807522e-01 2.09024531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13925415399999 meters Centerline goodness [0,1] 0.9991733259851199 Centerline is valid? [True, True] Translation: X:232.03, Y:3.33, Z:2.09 [[ 9.99751470e-01 -1.12503965e-02 -1.92464594e-02 2.32034417e+02] [ 1.12447220e-02 9.99936695e-01 -4.03031814e-04 3.32690409e+00] [ 1.92497752e-02 1.86510563e-04 9.99814689e-01 2.09012973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.169254154 meters Centerline goodness [0,1] 0.9990683690105655 Centerline is valid? [True, True] Translation: X:232.06, Y:3.33, Z:2.09 [[ 9.99736336e-01 -1.25761394e-02 -1.92119526e-02 2.32062390e+02] [ 1.25706294e-02 9.99920903e-01 -4.07545560e-04 3.32598849e+00] [ 1.92155583e-02 1.65931770e-04 9.99815350e-01 2.09033464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199254154 meters Centerline goodness [0,1] 0.9993444702897019 Centerline is valid? [True, True] Translation: X:232.09, Y:3.33, Z:2.09 [[ 9.99717334e-01 -1.41121701e-02 -1.91337045e-02 2.32090459e+02] [ 1.41069173e-02 9.99900409e-01 -4.09477822e-04 3.32514525e+00] [ 1.91375776e-02 1.39444489e-04 9.99816850e-01 2.09061155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22925415399996 meters Centerline goodness [0,1] 0.999155548049316 Centerline is valid? [True, True] Translation: X:232.12, Y:3.32, Z:2.09 [[ 9.99697906e-01 -1.61121425e-02 -1.85606081e-02 2.32119288e+02] [ 1.61074865e-02 9.99870186e-01 -4.00334006e-04 3.32393271e+00] [ 1.85646489e-02 1.01248323e-04 9.99827657e-01 2.09083994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25925415399996 meters Centerline goodness [0,1] 0.9991970926301555 Centerline is valid? [True, True] Translation: X:232.15, Y:3.32, Z:2.09 [[ 9.99626838e-01 -2.04815337e-02 -1.80746043e-02 2.32148363e+02] [ 2.04777797e-02 9.99790231e-01 -3.92767291e-04 3.31996423e+00] [ 1.80788573e-02 2.24929606e-05 9.99836564e-01 2.09168499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28925415399996 meters Centerline goodness [0,1] 0.999030762747577 Centerline is valid? [True, True] Translation: X:232.18, Y:3.32, Z:2.09 [[ 9.99564012e-01 -2.33103721e-02 -1.81221631e-02 2.32175236e+02] [ 2.33070308e-02 9.99728276e-01 -3.95584983e-04 3.31775901e+00] [ 1.81264601e-02 -2.69613018e-05 9.99835702e-01 2.09170300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31925415399996 meters Centerline goodness [0,1] 0.9990745220116526 Centerline is valid? [True, True] Translation: X:232.20, Y:3.32, Z:2.09 [[ 9.99488318e-01 -2.65898457e-02 -1.77786840e-02 2.32203693e+02] [ 2.65870906e-02 9.99646424e-01 -3.91348084e-04 3.31522469e+00] [ 1.77828038e-02 -8.15356458e-05 9.99841870e-01 2.09188429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34925415399996 meters Centerline goodness [0,1] 0.9990536078571579 Centerline is valid? [True, True] Translation: X:232.23, Y:3.31, Z:2.09 [[ 9.99398384e-01 -2.99597495e-02 -1.74723761e-02 2.32233380e+02] [ 2.99575582e-02 9.99551097e-01 -3.87193598e-04 3.31221113e+00] [ 1.74761329e-02 -1.36469068e-04 9.99847271e-01 2.09234846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37925415399997 meters Centerline goodness [0,1] 0.9990768714333669 Centerline is valid? [True, True] Translation: X:232.26, Y:3.31, Z:2.09 [[ 9.99148872e-01 -3.77378540e-02 -1.66548930e-02 2.32263428e+02] [ 3.77369332e-02 9.99287640e-01 -3.69665823e-04 3.30621893e+00] [ 1.66569791e-02 -2.59153395e-04 9.99861229e-01 2.09405167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40925415399997 meters Centerline goodness [0,1] 0.9987637247506496 Centerline is valid? [True, True] Translation: X:232.29, Y:3.30, Z:2.09 [[ 9.98997672e-01 -4.15487053e-02 -1.66540204e-02 2.32294119e+02] [ 4.15483137e-02 9.99136428e-01 -3.69657925e-04 3.30204495e+00] [ 1.66549973e-02 -3.22659058e-04 9.99861244e-01 2.09243714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43925415399997 meters Centerline goodness [0,1] 0.9990357000607928 Centerline is valid? [True, True] Translation: X:232.33, Y:3.30, Z:2.09 [[ 9.98797586e-01 -4.62749005e-02 -1.61868735e-02 2.32325567e+02] [ 4.62751616e-02 9.98928667e-01 -3.58617571e-04 3.29881665e+00] [ 1.61861270e-02 -3.90863824e-04 9.99868920e-01 2.09436453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46925415399997 meters Centerline goodness [0,1] 0.999099325541452 Centerline is valid? [True, True] Translation: X:232.36, Y:3.29, Z:2.09 [[ 9.98585884e-01 -5.06703319e-02 -1.60856691e-02 2.32355415e+02] [ 5.06711650e-02 9.98715328e-01 -3.56033680e-04 3.29448295e+00] [ 1.60830446e-02 -4.59549384e-04 9.99870554e-01 2.09461558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49925415399997 meters Centerline goodness [0,1] 0.9990181331996323 Centerline is valid? [True, True] Translation: X:232.39, Y:3.29, Z:2.09 [[ 9.98092924e-01 -5.96726554e-02 -1.58015694e-02 2.32386380e+02] [ 5.96745860e-02 9.98217823e-01 -3.49718583e-04 3.28663196e+00] [ 1.57942768e-02 -5.93900470e-04 9.99875086e-01 2.09452632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52925415399997 meters Centerline goodness [0,1] 0.9988096729733116 Centerline is valid? [True, True] Translation: X:232.42, Y:3.28, Z:2.09 [[ 9.97817746e-01 -6.40669197e-02 -1.59742243e-02 2.32416744e+02] [ 6.40694554e-02 9.97945379e-01 -3.53500116e-04 3.27786999e+00] [ 1.59640510e-02 -6.70731162e-04 9.99872341e-01 2.09374198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55925415399997 meters Centerline goodness [0,1] 0.9990375360923965 Centerline is valid? [True, True] Translation: X:232.45, Y:3.28, Z:2.09 [[ 9.97531381e-01 -6.83453601e-02 -1.61262290e-02 2.32447845e+02] [ 6.83485041e-02 9.97661443e-01 -3.56743954e-04 3.27704219e+00] [ 1.61128987e-02 -7.46340337e-04 9.99869900e-01 2.09423834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58925415399997 meters Centerline goodness [0,1] 0.9987439552848082 Centerline is valid? [True, True] Translation: X:232.48, Y:3.27, Z:2.09 [[ 9.96974634e-01 -7.60163929e-02 -1.62199923e-02 2.32478998e+02] [ 7.60205914e-02 9.97106184e-01 -3.58452658e-04 3.27446973e+00] [ 1.62003029e-02 -8.75685202e-04 9.99868383e-01 2.09454502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61925415399998 meters Centerline goodness [0,1] 0.9988521818978651 Centerline is valid? [True, True] Translation: X:232.51, Y:3.27, Z:2.09 [[ 9.96739876e-01 -7.89517233e-02 -1.66206476e-02 2.32510250e+02] [ 7.89565477e-02 9.96877991e-01 -3.66762236e-04 3.27239943e+00] [ 1.65977143e-02 -9.46742408e-04 9.99861800e-01 2.09464171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64925415399998 meters Centerline goodness [0,1] 0.9984734101507768 Centerline is valid? [True, True] Translation: X:232.54, Y:3.26, Z:2.09 [[ 9.96558225e-01 -8.12175667e-02 -1.65955067e-02 2.32540326e+02] [ 8.12227060e-02 9.96695911e-01 -3.65210957e-04 3.25920000e+00] [ 1.65703352e-02 -9.83977976e-04 9.99862218e-01 2.09349607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67925415399998 meters Centerline goodness [0,1] 0.9986651928170689 Centerline is valid? [True, True] Translation: X:232.57, Y:3.27, Z:2.09 [[ 9.96346673e-01 -8.37531674e-02 -1.66947402e-02 2.32571276e+02] [ 8.37587393e-02 9.96485996e-01 -3.66412458e-04 3.26771395e+00] [ 1.66667630e-02 -1.03325656e-03 9.99860566e-01 2.09488416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70925415399998 meters Centerline goodness [0,1] 0.9986407360936846 Centerline is valid? [True, True] Translation: X:232.60, Y:3.27, Z:2.10 [[ 9.96300797e-01 -8.42431439e-02 -1.69650945e-02 2.32603127e+02] [ 8.42489809e-02 9.96444665e-01 -3.71617086e-04 3.27036630e+00] [ 1.69360841e-02 -1.05904952e-03 9.99856013e-01 2.09551997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73925415399998 meters Centerline goodness [0,1] 0.9989539967783101 Centerline is valid? [True, True] Translation: X:232.64, Y:3.27, Z:2.10 [[ 9.96342286e-01 -8.36608883e-02 -1.74041392e-02 2.32635255e+02] [ 8.36669656e-02 9.96493700e-01 -3.79932797e-04 3.27322294e+00] [ 1.73749005e-02 -1.07760840e-03 9.99848464e-01 2.09593937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76925415399998 meters Centerline goodness [0,1] 0.9986817601640476 Centerline is valid? [True, True] Translation: X:232.67, Y:3.27, Z:2.10 [[ 9.96421744e-01 -8.26603170e-02 -1.76346245e-02 2.32666564e+02] [ 8.26664206e-02 9.96577200e-01 -3.83802945e-04 3.27170218e+00] [ 1.76059900e-02 -1.07536169e-03 9.99844424e-01 2.09592305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79925415399998 meters Centerline goodness [0,1] 0.9986599664991624 Centerline is valid? [True, True] Translation: X:232.70, Y:3.28, Z:2.10 [[ 9.96732030e-01 -7.88405269e-02 -1.75906757e-02 2.32696942e+02] [ 7.88460199e-02 9.96886733e-01 -3.82126376e-04 3.28227584e+00] [ 1.75660383e-02 -1.00607717e-03 9.99845199e-01 2.09717284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82925415399998 meters Centerline goodness [0,1] 0.9988286969253294 Centerline is valid? [True, True] Translation: X:232.73, Y:3.29, Z:2.10 [[ 9.96946812e-01 -7.61456953e-02 -1.72883485e-02 2.32728672e+02] [ 7.61506087e-02 9.97096256e-01 -3.74887335e-04 3.28589347e+00] [ 1.72666936e-02 -9.42775529e-04 9.99850475e-01 2.09774379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85925415399998 meters Centerline goodness [0,1] 0.9989106982005572 Centerline is valid? [True, True] Translation: X:232.76, Y:3.29, Z:2.10 [[ 9.97137335e-01 -7.35942458e-02 -1.73500050e-02 2.32759590e+02] [ 7.35988234e-02 9.97287858e-01 -3.75401053e-04 3.28725631e+00] [ 1.73305767e-02 -9.02613550e-04 9.99849407e-01 2.09835263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88925415399999 meters Centerline goodness [0,1] 0.9988265616159923 Centerline is valid? [True, True] Translation: X:232.79, Y:3.29, Z:2.10 [[ 9.97340450e-01 -7.09827750e-02 -1.65370327e-02 2.32790581e+02] [ 7.09865852e-02 9.97477206e-01 -3.57218928e-04 3.28735261e+00] [ 1.65206695e-02 -8.17638591e-04 9.99863190e-01 2.09873760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.919254154 meters Centerline goodness [0,1] 0.9989503736669746 Centerline is valid? [True, True] Translation: X:232.82, Y:3.30, Z:2.10 [[ 9.97710989e-01 -6.56812539e-02 -1.60858951e-02 2.32820889e+02] [ 6.56841781e-02 9.97840402e-01 -3.47042290e-04 3.29838397e+00] [ 1.60739502e-02 -7.10340890e-04 9.99870553e-01 2.10050222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.949254154 meters Centerline goodness [0,1] 0.9986974242615236 Centerline is valid? [True, True] Translation: X:232.85, Y:3.30, Z:2.10 [[ 9.97881302e-01 -6.30489649e-02 -1.60541035e-02 2.32851660e+02] [ 6.30515438e-02 9.98010212e-01 -3.45970402e-04 3.29835873e+00] [ 1.60439723e-02 -6.66998616e-04 9.99871065e-01 2.09998496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97925415399996 meters Centerline goodness [0,1] 0.9987207180756245 Centerline is valid? [True, True] Translation: X:232.88, Y:3.31, Z:2.10 [[ 9.98020801e-01 -6.05939713e-02 -1.68181777e-02 2.32883198e+02] [ 6.05964666e-02 9.98162280e-01 -3.61658063e-04 3.30630229e+00] [ 1.68091849e-02 -6.58179876e-04 9.99858499e-01 2.10097516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00925415399996 meters Centerline goodness [0,1] 0.9989908121859429 Centerline is valid? [True, True] Translation: X:232.91, Y:3.31, Z:2.10 [[ 9.98284528e-01 -5.57386899e-02 -1.79220624e-02 2.32913403e+02] [ 5.57407521e-02 9.98445202e-01 -3.84835447e-04 3.31208018e+00] [ 1.79156474e-02 -6.14813963e-04 9.99839313e-01 2.10066677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03925415399996 meters Centerline goodness [0,1] 0.9987194558737089 Centerline is valid? [True, True] Translation: X:232.94, Y:3.31, Z:2.10 [[ 9.98404996e-01 -5.33846318e-02 -1.83723727e-02 2.32944693e+02] [ 5.33864100e-02 9.98573851e-01 -3.94007034e-04 3.31418398e+00] [ 1.83672049e-02 -5.87456431e-04 9.99831136e-01 2.10056229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06925415399996 meters Centerline goodness [0,1] 0.9990534486022591 Centerline is valid? [True, True] Translation: X:232.98, Y:3.32, Z:2.10 [[ 9.98505378e-01 -5.13098347e-02 -1.88231265e-02 2.32976571e+02] [ 5.13113562e-02 9.98682624e-01 -4.02442272e-04 3.31846631e+00] [ 1.88189786e-02 -5.63999377e-04 9.99822748e-01 2.10125449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09925415399996 meters Centerline goodness [0,1] 0.9990554354442602 Centerline is valid? [True, True] Translation: X:233.01, Y:3.32, Z:2.10 [[ 9.98703426e-01 -4.73663533e-02 -1.86519337e-02 2.33007256e+02] [ 4.73671792e-02 9.98877466e-01 -3.97751668e-04 3.32294037e+00] [ 1.86498363e-02 -4.86253530e-04 9.99825958e-01 2.10131083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12925415399997 meters Centerline goodness [0,1] 0.9989079989079989 Centerline is valid? [True, True] Translation: X:233.04, Y:3.33, Z:2.10 [[ 9.98786080e-01 -4.56247624e-02 -1.85673524e-02 2.33039016e+02] [ 4.56252960e-02 9.98958546e-01 -3.95089804e-04 3.32712037e+00] [ 1.85660412e-02 -4.52530752e-04 9.99827534e-01 2.10219052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15925415399997 meters Centerline goodness [0,1] 0.9988240482140233 Centerline is valid? [True, True] Translation: X:233.07, Y:3.33, Z:2.10 [[ 9.98871321e-01 -4.35498297e-02 -1.89603969e-02 2.33070293e+02] [ 4.35500472e-02 9.99051166e-01 -4.01625263e-04 3.32881575e+00] [ 1.89598973e-02 -4.24554222e-04 9.99820155e-01 2.10041742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18925415399997 meters Centerline goodness [0,1] 0.9987800774019855 Centerline is valid? [True, True] Translation: X:233.10, Y:3.33, Z:2.10 [[ 9.98938923e-01 -4.23100985e-02 -1.81901861e-02 2.33101839e+02] [ 4.23101212e-02 9.99104452e-01 -3.83771077e-04 3.33250010e+00] [ 1.81901333e-02 -3.86265112e-04 9.99834471e-01 2.10293063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21925415399997 meters Centerline goodness [0,1] 0.999033999033999 Centerline is valid? [True, True] Translation: X:233.13, Y:3.34, Z:2.10 [[ 9.99094359e-01 -3.85339400e-02 -1.80443253e-02 2.33132210e+02] [ 3.85333658e-02 9.99257242e-01 -3.79632222e-04 3.33656746e+00] [ 1.80455515e-02 -3.16020176e-04 9.99837116e-01 2.10347943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24925415399997 meters Centerline goodness [0,1] 0.9989484974027886 Centerline is valid? [True, True] Translation: X:233.16, Y:3.34, Z:2.10 [[ 9.99183357e-01 -3.63302469e-02 -1.76842270e-02 2.33163180e+02] [ 3.63293690e-02 9.99339802e-01 -3.70996910e-04 3.34007339e+00] [ 1.76860304e-02 -2.71762872e-04 9.99843553e-01 2.10418217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27925415399997 meters Centerline goodness [0,1] 0.9989051479103064 Centerline is valid? [True, True] Translation: X:233.19, Y:3.34, Z:2.10 [[ 9.99266502e-01 -3.40026433e-02 -1.76147391e-02 2.33193837e+02] [ 3.40014194e-02 9.99421716e-01 -3.69052079e-04 3.34202155e+00] [ 1.76171016e-02 -2.30144752e-04 9.99844780e-01 2.10428688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30925415399997 meters Centerline goodness [0,1] 0.9988616720772376 Centerline is valid? [True, True] Translation: X:233.22, Y:3.35, Z:2.11 [[ 9.99399255e-01 -3.00665848e-02 -1.72374673e-02 2.33224538e+02] [ 3.00648301e-02 9.99547886e-01 -3.60982768e-04 3.34751620e+00] [ 1.72405275e-02 -1.57475616e-04 9.99851359e-01 2.10619272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33925415399997 meters Centerline goodness [0,1] 0.9990296586929924 Centerline is valid? [True, True] Translation: X:233.25, Y:3.35, Z:2.11 [[ 9.99449867e-01 -2.84592096e-02 -1.70304912e-02 2.33254788e+02] [ 2.84572658e-02 9.99594946e-01 -3.56510870e-04 3.34964874e+00] [ 1.70337389e-02 -1.28326474e-04 9.99854907e-01 2.10677058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36925415399998 meters Centerline goodness [0,1] 0.9990936492211707 Centerline is valid? [True, True] Translation: X:233.29, Y:3.35, Z:2.11 [[ 9.99496633e-01 -2.70689084e-02 -1.65455122e-02 2.33285241e+02] [ 2.70668860e-02 9.99633565e-01 -3.46195300e-04 3.35174379e+00] [ 1.65488204e-02 -1.01814454e-04 9.99863054e-01 2.10747529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39925415399998 meters Centerline goodness [0,1] 0.9990936492211707 Centerline is valid? [True, True] Translation: X:233.32, Y:3.35, Z:2.11 [[ 9.99496633e-01 -2.70689084e-02 -1.65455122e-02 2.33315234e+02] [ 2.70668860e-02 9.99633565e-01 -3.46195300e-04 3.35237136e+00] [ 1.65488204e-02 -1.01814454e-04 9.99863054e-01 2.10775634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42925415399998 meters Centerline goodness [0,1] 0.9989870425864179 Centerline is valid? [True, True] Translation: X:233.35, Y:3.35, Z:2.11 [[ 9.99520427e-01 -2.62063602e-02 -1.64967562e-02 2.33345321e+02] [ 2.62042323e-02 9.99656551e-01 -3.45175140e-04 3.35424475e+00] [ 1.65001362e-02 -8.72752286e-05 9.99863860e-01 2.10838556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45925415399998 meters Centerline goodness [0,1] 0.9990709459459459 Centerline is valid? [True, True] Translation: X:233.38, Y:3.36, Z:2.11 [[ 9.99535307e-01 -2.55704958e-02 -1.65927745e-02 2.33376146e+02] [ 2.55682554e-02 9.99673018e-01 -3.47184208e-04 3.35541726e+00] [ 1.65962266e-02 -7.72254217e-05 9.99862270e-01 2.10898682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48925415399998 meters Centerline goodness [0,1] 0.999156135946499 Centerline is valid? [True, True] Translation: X:233.41, Y:3.36, Z:2.11 [[ 9.99532869e-01 -2.54779363e-02 -1.68795246e-02 2.33405632e+02] [ 2.54756001e-02 9.99675382e-01 -3.53452562e-04 3.35624933e+00] [ 1.68830504e-02 -7.67285645e-05 9.99857468e-01 2.10862851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51925415399998 meters Centerline goodness [0,1] 0.9989870212092434 Centerline is valid? [True, True] Translation: X:233.44, Y:3.36, Z:2.11 [[ 9.99513942e-01 -2.56401573e-02 -1.77331064e-02 2.33435587e+02] [ 2.56375927e-02 9.99671234e-01 -3.71975422e-04 3.35613446e+00] [ 1.77368138e-02 -8.28395383e-05 9.99842687e-01 2.10672519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54925415399998 meters Centerline goodness [0,1] 0.9992430136467818 Centerline is valid? [True, True] Translation: X:233.47, Y:3.36, Z:2.11 [[ 9.99488379e-01 -2.68571944e-02 -1.73686859e-02 2.33465311e+02] [ 2.68549073e-02 9.99639275e-01 -3.64941427e-04 3.35601336e+00] [ 1.73722219e-02 -1.01679735e-04 9.99849086e-01 2.10843187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57925415399998 meters Centerline goodness [0,1] 0.9990308648477826 Centerline is valid? [True, True] Translation: X:233.49, Y:3.35, Z:2.11 [[ 9.99396626e-01 -2.99806435e-02 -1.75369872e-02 2.33494559e+02] [ 2.99787816e-02 9.99550467e-01 -3.69112527e-04 3.35435217e+00] [ 1.75401700e-02 -1.56847696e-04 9.99846147e-01 2.10969654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60925415399998 meters Centerline goodness [0,1] 0.9992406825420261 Centerline is valid? [True, True] Translation: X:233.52, Y:3.35, Z:2.11 [[ 9.99350355e-01 -3.18686938e-02 -1.68301755e-02 2.33524474e+02] [ 3.18672525e-02 9.99492047e-01 -3.53886482e-04 3.35276651e+00] [ 1.68329045e-02 -1.82674872e-04 9.99858300e-01 2.11005840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63925415399999 meters Centerline goodness [0,1] 0.9992412106904983 Centerline is valid? [True, True] Translation: X:233.56, Y:3.35, Z:2.11 [[ 9.99284222e-01 -3.38811494e-02 -1.68258893e-02 2.33555612e+02] [ 3.38800128e-02 9.99425845e-01 -3.52679661e-04 3.35121104e+00] [ 1.68281779e-02 -2.17634126e-04 9.99858373e-01 2.11050359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.669254154 meters Centerline goodness [0,1] 0.9990102554383304 Centerline is valid? [True, True] Translation: X:233.59, Y:3.35, Z:2.11 [[ 9.99119218e-01 -3.85473563e-02 -1.65798145e-02 2.33586594e+02] [ 3.85469025e-02 9.99256732e-01 -3.47063801e-04 3.34750833e+00] [ 1.65808696e-02 -2.92342378e-04 9.99862485e-01 2.11085837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699254154 meters Centerline goodness [0,1] 0.9989263157894737 Centerline is valid? [True, True] Translation: X:233.62, Y:3.35, Z:2.11 [[ 9.99011388e-01 -4.10571592e-02 -1.70457141e-02 2.33618860e+02] [ 4.10570571e-02 9.99156740e-01 -3.56087460e-04 3.34604903e+00] [ 1.70459601e-02 -3.44111430e-04 9.99854648e-01 2.11062357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72925415399996 meters Centerline goodness [0,1] 0.9989901964909328 Centerline is valid? [True, True] Translation: X:233.65, Y:3.34, Z:2.11 [[ 9.98910931e-01 -4.32021600e-02 -1.76217278e-02 2.33650190e+02] [ 4.32024046e-02 9.99066273e-01 -3.66973447e-04 3.34316671e+00] [ 1.76211280e-02 -3.94727228e-04 9.99844658e-01 2.11016210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75925415399996 meters Centerline goodness [0,1] 0.999011753821569 Centerline is valid? [True, True] Translation: X:233.68, Y:3.34, Z:2.11 [[ 9.98807978e-01 -4.52404569e-02 -1.83282511e-02 2.33681755e+02] [ 4.52410800e-02 9.98976026e-01 -3.80843626e-04 3.34194483e+00] [ 1.83267129e-02 -4.48800222e-04 9.99831951e-01 2.11011978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78925415399996 meters Centerline goodness [0,1] 0.9986140277194456 Centerline is valid? [True, True] Translation: X:233.71, Y:3.34, Z:2.11 [[ 9.98608168e-01 -4.91644872e-02 -1.90939527e-02 2.33713275e+02] [ 4.91658933e-02 9.98790548e-01 -3.96065331e-04 3.33863303e+00] [ 1.90903319e-02 -5.43257169e-04 9.99817615e-01 2.10969574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81925415399996 meters Centerline goodness [0,1] 0.9983838129420901 Centerline is valid? [True, True] Translation: X:233.74, Y:3.34, Z:2.11 [[ 9.98544924e-01 -5.03321704e-02 -1.93573382e-02 2.33744641e+02] [ 5.03338481e-02 9.98732368e-01 -4.00840002e-04 3.33790150e+00] [ 1.93529754e-02 -5.74072572e-04 9.99812549e-01 2.10972377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84925415399996 meters Centerline goodness [0,1] 0.998927241749227 Centerline is valid? [True, True] Translation: X:233.78, Y:3.34, Z:2.11 [[ 9.98515878e-01 -5.09548493e-02 -1.92261252e-02 2.33776078e+02] [ 5.09566360e-02 9.98700788e-01 -3.97272456e-04 3.33700619e+00] [ 1.92213893e-02 -5.83015806e-04 9.99815082e-01 2.11026285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87925415399997 meters Centerline goodness [0,1] 0.9984874585101466 Centerline is valid? [True, True] Translation: X:233.81, Y:3.34, Z:2.11 [[ 9.98528687e-01 -5.08340879e-02 -1.88774015e-02 2.33807787e+02] [ 5.08358104e-02 9.98706949e-01 -3.88919566e-04 3.33656134e+00] [ 1.88727624e-02 -5.71300658e-04 9.99821730e-01 2.11037693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90925415399997 meters Centerline goodness [0,1] 0.9983633387888707 Centerline is valid? [True, True] Translation: X:233.84, Y:3.34, Z:2.11 [[ 9.98549185e-01 -5.04898749e-02 -1.87162452e-02 2.33838950e+02] [ 5.04915391e-02 9.98724415e-01 -3.83920080e-04 3.33596202e+00] [ 1.87117551e-02 -5.61648944e-04 9.99824762e-01 2.11079287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93925415399997 meters Centerline goodness [0,1] 0.9974399328506978 Centerline is valid? [True, True] Translation: X:233.87, Y:3.34, Z:2.11 [[ 9.98566523e-01 -5.02440920e-02 -1.84507653e-02 2.33870559e+02] [ 5.02456948e-02 9.98736816e-01 -3.76989085e-04 3.33555961e+00] [ 1.84464000e-02 -5.50622840e-04 9.99829699e-01 2.11055572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96925415399997 meters Centerline goodness [0,1] 0.9971871195264285 Centerline is valid? [True, True] Translation: X:233.90, Y:3.34, Z:2.11 [[ 9.98566637e-01 -5.01433081e-02 -1.87168512e-02 2.33902012e+02] [ 5.01449578e-02 9.98741877e-01 -3.81467675e-04 3.33538143e+00] [ 1.87124311e-02 -5.57634820e-04 9.99824752e-01 2.11075276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99925415399997 meters Centerline goodness [0,1] 0.9978169605373636 Centerline is valid? [True, True] Translation: X:233.93, Y:3.33, Z:2.11 [[ 9.98565462e-01 -5.02405723e-02 -1.85176589e-02 2.33933220e+02] [ 5.02422181e-02 9.98736991e-01 -3.76633875e-04 3.33476686e+00] [ 1.85131932e-02 -5.54274677e-04 9.99828463e-01 2.11172407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02925415399997 meters Centerline goodness [0,1] 0.9980445752733389 Centerline is valid? [True, True] Translation: X:233.96, Y:3.33, Z:2.11 [[ 9.98558151e-01 -5.04246260e-02 -1.84113210e-02 2.33964694e+02] [ 5.04262954e-02 9.98727715e-01 -3.73859985e-04 3.33446798e+00] [ 1.84067483e-02 -5.55093777e-04 9.99830427e-01 2.11208364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05925415399997 meters Centerline goodness [0,1] 0.9985290409346894 Centerline is valid? [True, True] Translation: X:234.00, Y:3.34, Z:2.11 [[ 9.98531166e-01 -5.07814296e-02 -1.88880027e-02 2.33997108e+02] [ 5.07832693e-02 9.98709624e-01 -3.82533967e-04 3.33918187e+00] [ 1.88830557e-02 -5.77222442e-04 9.99821533e-01 2.11404718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08925415399997 meters Centerline goodness [0,1] 0.9989080218395632 Centerline is valid? [True, True] Translation: X:234.03, Y:3.34, Z:2.11 [[ 9.98476381e-01 -5.16455797e-02 -1.94332369e-02 2.34029704e+02] [ 5.16477186e-02 9.98665289e-01 -3.92143052e-04 3.33978866e+00] [ 1.94275516e-02 -6.12136775e-04 9.99811080e-01 2.11440129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11925415399998 meters Centerline goodness [0,1] 0.9987192138912802 Centerline is valid? [True, True] Translation: X:234.06, Y:3.34, Z:2.11 [[ 9.98413775e-01 -5.26521338e-02 -1.99420961e-02 2.34060487e+02] [ 5.26546086e-02 9.98612703e-01 -4.01320295e-04 3.33646101e+00] [ 1.99355608e-02 -6.49359553e-04 9.99801056e-01 2.11353593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14925415399998 meters Centerline goodness [0,1] 0.9986142023264604 Centerline is valid? [True, True] Translation: X:234.09, Y:3.34, Z:2.11 [[ 9.98336632e-01 -5.38328123e-02 -2.06397057e-02 2.34093036e+02] [ 5.38357395e-02 9.98549719e-01 -4.14187671e-04 3.33891779e+00] [ 2.06320692e-02 -6.97655093e-04 9.99786893e-01 2.11472945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17925415399998 meters Centerline goodness [0,1] 0.9985939729707043 Centerline is valid? [True, True] Translation: X:234.13, Y:3.34, Z:2.11 [[ 9.98256332e-01 -5.52256057e-02 -2.08429493e-02 2.34125382e+02] [ 5.52289256e-02 9.98473631e-01 -4.16750697e-04 3.33842933e+00] [ 2.08341506e-02 -7.35109676e-04 9.99782675e-01 2.11496416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20925415399998 meters Centerline goodness [0,1] 0.9979476869594354 Centerline is valid? [True, True] Translation: X:234.16, Y:3.34, Z:2.11 [[ 9.98026282e-01 -5.90164873e-02 -2.14614920e-02 2.34155563e+02] [ 5.90208973e-02 9.98256655e-01 -4.28421225e-04 3.33593538e+00] [ 2.14493611e-02 -8.39100871e-04 9.99769584e-01 2.11465135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23925415399998 meters Centerline goodness [0,1] 0.9978789978789979 Centerline is valid? [True, True] Translation: X:234.19, Y:3.34, Z:2.12 [[ 9.97903245e-01 -6.09183013e-02 -2.18649090e-02 2.34187586e+02] [ 6.09233539e-02 9.98142352e-01 -4.35580183e-04 3.33641545e+00] [ 2.18508265e-02 -8.97416711e-04 9.99760839e-01 2.11511998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26925415399998 meters Centerline goodness [0,1] 0.998173918518985 Centerline is valid? [True, True] Translation: X:234.22, Y:3.33, Z:2.12 [[ 9.97788482e-01 -6.27003513e-02 -2.20637748e-02 2.34218270e+02] [ 6.27059561e-02 9.98031949e-01 -4.38412919e-04 3.33375318e+00] [ 2.20478408e-02 -9.46086731e-04 9.99756469e-01 2.11516509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29925415399998 meters Centerline goodness [0,1] 0.9986146386515816 Centerline is valid? [True, True] Translation: X:234.25, Y:3.33, Z:2.12 [[ 9.97704689e-01 -6.40664415e-02 -2.19281668e-02 2.34250362e+02] [ 6.40723336e-02 9.97945162e-01 -4.34498327e-04 3.33493813e+00] [ 2.19109447e-02 -9.71487800e-04 9.99759454e-01 2.11623123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32925415399998 meters Centerline goodness [0,1] 0.9984042664874966 Centerline is valid? [True, True] Translation: X:234.28, Y:3.33, Z:2.12 [[ 9.97590791e-01 -6.61861346e-02 -2.07848261e-02 2.34282196e+02] [ 6.61919225e-02 9.97806826e-01 -4.10133821e-04 3.33447518e+00] [ 2.07663866e-02 -9.66641879e-04 9.99783888e-01 2.11754717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35925415399998 meters Centerline goodness [0,1] 0.9987222187310165 Centerline is valid? [True, True] Translation: X:234.31, Y:3.33, Z:2.12 [[ 9.97574393e-01 -6.64715311e-02 -2.06607292e-02 2.34313519e+02] [ 6.64773558e-02 9.97787852e-01 -4.05520422e-04 3.33417114e+00] [ 2.06419802e-02 -9.68933856e-04 9.99786462e-01 2.11834625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38925415399999 meters Centerline goodness [0,1] 0.9987197246358561 Centerline is valid? [True, True] Translation: X:234.35, Y:3.34, Z:2.12 [[ 9.97576346e-01 -6.67099084e-02 -1.97793528e-02 2.34345716e+02] [ 6.67153282e-02 9.97771976e-01 -3.86448885e-04 3.33946153e+00] [ 1.97610639e-02 -9.34073747e-04 9.99804295e-01 2.12066800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419254154 meters Centerline goodness [0,1] 0.99867813680235 Centerline is valid? [True, True] Translation: X:234.38, Y:3.34, Z:2.12 [[ 9.97618740e-01 -6.61158570e-02 -1.96352719e-02 2.34376540e+02] [ 6.61211203e-02 9.97811531e-01 -3.81749872e-04 3.33848565e+00] [ 1.96175404e-02 -9.17465348e-04 9.99807137e-01 2.12067233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.449254154 meters Centerline goodness [0,1] 0.9986793560288445 Centerline is valid? [True, True] Translation: X:234.41, Y:3.34, Z:2.12 [[ 9.97683002e-01 -6.51900322e-02 -1.94650404e-02 2.34408647e+02] [ 6.51950643e-02 9.97872468e-01 -3.76616333e-04 3.34256648e+00] [ 1.94481795e-02 -8.93280848e-04 9.99810467e-01 2.12200258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47925415399996 meters Centerline goodness [0,1] 0.9988036771187507 Centerline is valid? [True, True] Translation: X:234.44, Y:3.35, Z:2.12 [[ 9.97740798e-01 -6.42790723e-02 -1.95320420e-02 2.34440610e+02] [ 6.42839929e-02 9.97931574e-01 -3.76477099e-04 3.34678828e+00] [ 1.95158410e-02 -8.79971087e-04 9.99809161e-01 2.12298532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50925415399996 meters Centerline goodness [0,1] 0.9988240235195296 Centerline is valid? [True, True] Translation: X:234.47, Y:3.35, Z:2.12 [[ 9.97882513e-01 -6.21090380e-02 -1.93121060e-02 2.34470997e+02] [ 6.21134596e-02 9.98069026e-01 -3.71365349e-04 3.34873812e+00] [ 1.92978800e-02 -8.28962729e-04 9.99813435e-01 2.12302655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53925415399996 meters Centerline goodness [0,1] 0.9986548687446142 Centerline is valid? [True, True] Translation: X:234.50, Y:3.35, Z:2.12 [[ 9.97952596e-01 -6.08600647e-02 -1.96638883e-02 2.34502470e+02] [ 6.08644214e-02 9.98145971e-01 -3.77393733e-04 3.34738753e+00] [ 1.96503991e-02 -8.20210128e-04 9.99806576e-01 2.12221730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56925415399996 meters Centerline goodness [0,1] 0.9986720627292273 Centerline is valid? [True, True] Translation: X:234.53, Y:3.35, Z:2.12 [[ 9.98109882e-01 -5.81071059e-02 -2.00056722e-02 2.34533642e+02] [ 5.81110812e-02 9.98310050e-01 -3.83058095e-04 3.35127882e+00] [ 1.99941220e-02 -7.80217173e-04 9.99799793e-01 2.12210859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59925415399996 meters Centerline goodness [0,1] 0.9986721746827972 Centerline is valid? [True, True] Translation: X:234.57, Y:3.36, Z:2.12 [[ 9.98202966e-01 -5.65145215e-02 -1.99235595e-02 2.34566335e+02] [ 5.65181731e-02 9.98401498e-01 -3.80198415e-04 3.35543599e+00] [ 1.99131984e-02 -7.46528000e-04 9.99801434e-01 2.12300333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62925415399997 meters Centerline goodness [0,1] 0.9984446592963134 Centerline is valid? [True, True] Translation: X:234.60, Y:3.36, Z:2.12 [[ 9.98313039e-01 -5.45267524e-02 -1.99476713e-02 2.34598099e+02] [ 5.45300487e-02 9.98512058e-01 -3.79046422e-04 3.35692257e+00] [ 1.99386585e-02 -7.09340503e-04 9.99800954e-01 2.12285650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65925415399997 meters Centerline goodness [0,1] 0.9982107146616146 Centerline is valid? [True, True] Translation: X:234.63, Y:3.36, Z:2.12 [[ 9.98448547e-01 -5.21510503e-02 -1.95132366e-02 2.34629544e+02] [ 5.21537715e-02 9.98638998e-01 -3.69760680e-04 3.36077700e+00] [ 1.95059624e-02 -6.48501869e-04 9.99809530e-01 2.12360899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68925415399997 meters Centerline goodness [0,1] 0.9981023467645013 Centerline is valid? [True, True] Translation: X:234.66, Y:3.36, Z:2.12 [[ 9.98596876e-01 -4.92426995e-02 -1.94791286e-02 2.34660278e+02] [ 4.92448722e-02 9.98786667e-01 -3.68405589e-04 3.36301529e+00] [ 1.94736352e-02 -5.91358528e-04 9.99810196e-01 2.12372892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71925415399997 meters Centerline goodness [0,1] 0.9981435382473314 Centerline is valid? [True, True] Translation: X:234.69, Y:3.37, Z:2.12 [[ 9.98926573e-01 -4.20599620e-02 -1.94077724e-02 2.34690874e+02] [ 4.20607739e-02 9.99114987e-01 -3.66532519e-04 3.37115502e+00] [ 1.94060126e-02 -4.50166855e-04 9.99811584e-01 2.12453506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74925415399997 meters Centerline goodness [0,1] 0.9984409564942589 Centerline is valid? [True, True] Translation: X:234.72, Y:3.37, Z:2.12 [[ 9.99096834e-01 -3.77682888e-02 -1.94697823e-02 2.34721355e+02] [ 3.77683114e-02 9.99286456e-01 -3.66676711e-04 3.37450122e+00] [ 1.94697385e-02 -3.68995258e-04 9.99810379e-01 2.12454124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77925415399997 meters Centerline goodness [0,1] 0.9986071835563246 Centerline is valid? [True, True] Translation: X:234.75, Y:3.38, Z:2.12 [[ 9.99238327e-01 -3.36779698e-02 -1.97119460e-02 2.34752631e+02] [ 3.36772204e-02 9.99432693e-01 -3.70063441e-04 3.37831660e+00] [ 1.97132263e-02 -2.94061978e-04 9.99805632e-01 2.12443307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80925415399997 meters Centerline goodness [0,1] 0.9988795399771679 Centerline is valid? [True, True] Translation: X:234.78, Y:3.38, Z:2.13 [[ 9.99368793e-01 -2.97314415e-02 -1.94436670e-02 2.34783400e+02] [ 2.97299720e-02 9.99557900e-01 -3.64694116e-04 3.38231969e+00] [ 1.94459138e-02 -2.13595755e-04 9.99810888e-01 2.12534612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83925415399997 meters Centerline goodness [0,1] 0.9987936507936508 Centerline is valid? [True, True] Translation: X:234.81, Y:3.39, Z:2.13 [[ 9.99556241e-01 -2.29546891e-02 -1.89842800e-02 2.34812762e+02] [ 2.29520592e-02 9.99736503e-01 -3.56432345e-04 3.38772951e+00] [ 1.89874595e-02 -7.94541429e-05 9.99819719e-01 2.12576517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86925415399998 meters Centerline goodness [0,1] 0.9989606092102751 Centerline is valid? [True, True] Translation: X:234.84, Y:3.39, Z:2.13 [[ 9.99618470e-01 -2.03403350e-02 -1.86865026e-02 2.34840349e+02] [ 2.03373079e-02 9.99793114e-01 -3.52032962e-04 3.38980416e+00] [ 1.86897971e-02 -2.81345066e-05 9.99825330e-01 2.12594381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89925415399998 meters Centerline goodness [0,1] 0.9983656315666589 Centerline is valid? [True, True] Translation: X:234.87, Y:3.39, Z:2.13 [[ 9.99656898e-01 -1.84051946e-02 -1.86369485e-02 2.34868246e+02] [ 1.84017814e-02 9.99830610e-01 -3.54630757e-04 3.39116307e+00] [ 1.86403186e-02 1.15560300e-05 9.99826254e-01 2.12519567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92925415399998 meters Centerline goodness [0,1] 0.9984726347051337 Centerline is valid? [True, True] Translation: X:234.89, Y:3.39, Z:2.13 [[ 9.99683886e-01 -1.76324632e-02 -1.79227329e-02 2.34894704e+02] [ 1.76291166e-02 9.99844536e-01 -3.44712190e-04 3.39255993e+00] [ 1.79260247e-02 2.86412733e-05 9.99839315e-01 2.12623282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95925415399998 meters Centerline goodness [0,1] 0.9988136849909968 Centerline is valid? [True, True] Translation: X:234.92, Y:3.39, Z:2.13 [[ 9.99696184e-01 -1.77863455e-02 -1.70641382e-02 2.34922661e+02] [ 1.77832766e-02 9.99841810e-01 -3.31580671e-04 3.39237750e+00] [ 1.70673365e-02 2.80236415e-05 9.99854342e-01 2.12752594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98925415399998 meters Centerline goodness [0,1] 0.9987077366324888 Centerline is valid? [True, True] Translation: X:234.95, Y:3.39, Z:2.13 [[ 9.99676531e-01 -1.90587435e-02 -1.68403864e-02 2.34950711e+02] [ 1.90558725e-02 9.99818366e-01 -3.30943085e-04 3.39170672e+00] [ 1.68436349e-02 9.92777873e-06 9.99858136e-01 2.12718940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01925415399998 meters Centerline goodness [0,1] 0.9990898893051411 Centerline is valid? [True, True] Translation: X:234.98, Y:3.39, Z:2.13 [[ 9.99564413e-01 -2.39954926e-02 -1.71813928e-02 2.34979295e+02] [ 2.39931778e-02 9.99712064e-01 -3.40877433e-04 3.38762384e+00] [ 1.71846251e-02 -7.15072594e-05 9.99852331e-01 2.12733646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04925415399998 meters Centerline goodness [0,1] 0.9991766767295066 Centerline is valid? [True, True] Translation: X:235.01, Y:3.39, Z:2.13 [[ 9.99470898e-01 -2.75999405e-02 -1.72094846e-02 2.35009334e+02] [ 2.75981067e-02 9.99619040e-01 -3.44084727e-04 3.38532418e+00] [ 1.72124252e-02 -1.31046520e-04 9.99851847e-01 2.12748777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07925415399998 meters Centerline goodness [0,1] 0.9988814081593888 Centerline is valid? [True, True] Translation: X:235.04, Y:3.38, Z:2.13 [[ 9.99343451e-01 -3.19026416e-02 -1.71722878e-02 2.35038559e+02] [ 3.19014425e-02 9.99490960e-01 -3.43823237e-04 3.38202554e+00] [ 1.71745153e-02 -2.04223253e-04 9.99852486e-01 2.12740381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10925415399998 meters Centerline goodness [0,1] 0.9986299348692115 Centerline is valid? [True, True] Translation: X:235.07, Y:3.38, Z:2.13 [[ 9.99186305e-01 -3.66192917e-02 -1.69042964e-02 2.35069841e+02] [ 3.66188062e-02 9.99329249e-01 -3.38352409e-04 3.37857828e+00] [ 1.69053481e-02 -2.80938063e-04 9.99857055e-01 2.12746392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13925415399999 meters Centerline goodness [0,1] 0.9982508271690796 Centerline is valid? [True, True] Translation: X:235.10, Y:3.37, Z:2.13 [[ 9.98754597e-01 -4.68740408e-02 -1.70903419e-02 2.35100855e+02] [ 4.68750526e-02 9.98900702e-01 -3.41596488e-04 3.37014514e+00] [ 1.70875665e-02 -4.59939612e-04 9.99853891e-01 2.12731839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.169254154 meters Centerline goodness [0,1] 0.9981081308332632 Centerline is valid? [True, True] Translation: X:235.13, Y:3.37, Z:2.13 [[ 9.98513724e-01 -5.17831072e-02 -1.69956952e-02 2.35132399e+02] [ 5.17848257e-02 9.98658208e-01 -3.39256325e-04 3.36751752e+00] [ 1.69904582e-02 -5.41367016e-04 9.99855505e-01 2.12741479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199254154 meters Centerline goodness [0,1] 0.9978755179739593 Centerline is valid? [True, True] Translation: X:235.16, Y:3.36, Z:2.13 [[ 9.98265840e-01 -5.63518568e-02 -1.70229419e-02 2.35163611e+02] [ 5.63542525e-02 9.98410779e-01 -3.39312860e-04 3.36367688e+00] [ 1.70150096e-02 -6.20590730e-04 9.99855042e-01 2.12730291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22925415399996 meters Centerline goodness [0,1] 0.9980301760268231 Centerline is valid? [True, True] Translation: X:235.19, Y:3.36, Z:2.13 [[ 9.97820408e-01 -6.38793021e-02 -1.65489564e-02 2.35193760e+02] [ 6.38826001e-02 9.97957366e-01 -3.29809765e-04 3.35872893e+00] [ 1.65362210e-02 -7.28099451e-04 9.99863002e-01 2.12765007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25925415399996 meters Centerline goodness [0,1] 0.9984473027130237 Centerline is valid? [True, True] Translation: X:235.22, Y:3.35, Z:2.13 [[ 9.97631566e-01 -6.68498277e-02 -1.61975183e-02 2.35224402e+02] [ 6.68533812e-02 9.97762758e-01 -3.22586401e-04 3.35214869e+00] [ 1.61828453e-02 -7.61036488e-04 9.99868760e-01 2.12711915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28925415399996 meters Centerline goodness [0,1] 0.9984473027130237 Centerline is valid? [True, True] Translation: X:235.26, Y:3.35, Z:2.13 [[ 9.97636279e-01 -6.67794491e-02 -1.61975377e-02 2.35256121e+02] [ 6.67830092e-02 9.97767471e-01 -3.21607982e-04 3.35271499e+00] [ 1.61828530e-02 -7.60872520e-04 9.99868760e-01 2.12741622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31925415399996 meters Centerline goodness [0,1] 0.9983643683945647 Centerline is valid? [True, True] Translation: X:235.29, Y:3.36, Z:2.13 [[ 9.97501303e-01 -6.86851579e-02 -1.65378452e-02 2.35287676e+02] [ 6.86891557e-02 9.97638057e-01 -3.26839464e-04 3.35610334e+00] [ 1.65212328e-02 -8.09947833e-04 9.99863187e-01 2.12681086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34925415399996 meters Centerline goodness [0,1] 0.9983439196696224 Centerline is valid? [True, True] Translation: X:235.32, Y:3.35, Z:2.13 [[ 9.97225491e-01 -7.26653244e-02 -1.61576620e-02 2.35317951e+02] [ 7.26696867e-02 9.97356013e-01 -3.17754014e-04 3.35140901e+00] [ 1.61380310e-02 -8.57299834e-04 9.99869406e-01 2.12722496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37925415399997 meters Centerline goodness [0,1] 0.9982358129961776 Centerline is valid? [True, True] Translation: X:235.35, Y:3.35, Z:2.13 [[ 9.97113275e-01 -7.42257208e-02 -1.59893773e-02 2.35350030e+02] [ 7.42302113e-02 9.97241083e-01 -3.13282809e-04 3.35397142e+00] [ 1.59685176e-02 -8.74516408e-04 9.99872113e-01 2.12791396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40925415399997 meters Centerline goodness [0,1] 0.9978784186867201 Centerline is valid? [True, True] Translation: X:235.38, Y:3.35, Z:2.13 [[ 9.97054841e-01 -7.51036687e-02 -1.55268778e-02 2.35381486e+02] [ 7.51080252e-02 9.97175357e-01 -3.03192732e-04 3.34807343e+00] [ 1.55057908e-02 -8.63893345e-04 9.99879405e-01 2.12741945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43925415399997 meters Centerline goodness [0,1] 0.9976698784558221 Centerline is valid? [True, True] Translation: X:235.41, Y:3.35, Z:2.13 [[ 9.96914438e-01 -7.70966279e-02 -1.47550789e-02 2.35413679e+02] [ 7.71007927e-02 9.97023262e-01 -2.87227089e-04 3.35129740e+00] [ 1.47333011e-02 -8.51287443e-04 9.99891097e-01 2.12878399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46925415399997 meters Centerline goodness [0,1] 0.9980279030735341 Centerline is valid? [True, True] Translation: X:235.45, Y:3.35, Z:2.13 [[ 9.96886528e-01 -7.75927259e-02 -1.40221077e-02 2.35445580e+02] [ 7.75965500e-02 9.96984805e-01 -2.71959551e-04 3.35198014e+00] [ 1.40009304e-02 -8.16954369e-04 9.99901648e-01 2.12928419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49925415399997 meters Centerline goodness [0,1] 0.9977971719884194 Centerline is valid? [True, True] Translation: X:235.48, Y:3.35, Z:2.13 [[ 9.96846494e-01 -7.81214316e-02 -1.39322965e-02 2.35476985e+02] [ 7.81252713e-02 9.96943514e-01 -2.69279494e-04 3.35002937e+00] [ 1.39107491e-02 -8.20034121e-04 9.99902905e-01 2.12987610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52925415399997 meters Centerline goodness [0,1] 0.9979054082359348 Centerline is valid? [True, True] Translation: X:235.51, Y:3.35, Z:2.13 [[ 9.96851083e-01 -7.80954127e-02 -1.37486314e-02 2.35510164e+02] [ 7.80991629e-02 9.96945561e-01 -2.64744024e-04 3.35117452e+00] [ 1.37273124e-02 -8.09846239e-04 9.99905448e-01 2.13023344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55925415399997 meters Centerline goodness [0,1] 0.9981147094557795 Centerline is valid? [True, True] Translation: X:235.54, Y:3.35, Z:2.13 [[ 9.96874409e-01 -7.76679438e-02 -1.44604099e-02 2.35541793e+02] [ 7.76720736e-02 9.96978923e-01 -2.76650580e-04 3.35134186e+00] [ 1.44382107e-02 -8.47384135e-04 9.99895405e-01 2.12971761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58925415399997 meters Centerline goodness [0,1] 0.9983405453094147 Centerline is valid? [True, True] Translation: X:235.57, Y:3.35, Z:2.13 [[ 9.96929326e-01 -7.69266953e-02 -1.46356753e-02 2.35573332e+02] [ 7.69308701e-02 9.97036390e-01 -2.78372438e-04 3.35160997e+00] [ 1.46137151e-02 -8.48417584e-04 9.99892854e-01 2.12939603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61925415399998 meters Centerline goodness [0,1] 0.998298283577386 Centerline is valid? [True, True] Translation: X:235.61, Y:3.36, Z:2.13 [[ 9.97029089e-01 -7.55117218e-02 -1.51978645e-02 2.35605909e+02] [ 7.55160759e-02 9.97144543e-01 -2.87998722e-04 3.35960552e+00] [ 1.51762149e-02 -8.60539987e-04 9.99884464e-01 2.12882116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64925415399998 meters Centerline goodness [0,1] 0.9979408303916625 Centerline is valid? [True, True] Translation: X:235.64, Y:3.36, Z:2.13 [[ 9.97220046e-01 -7.29164817e-02 -1.53416349e-02 2.35636862e+02] [ 7.29206294e-02 9.97337705e-01 -2.89611363e-04 3.35944335e+00] [ 1.53219084e-02 -8.29915414e-04 9.99882268e-01 2.12950943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67925415399998 meters Centerline goodness [0,1] 0.9980436703268963 Centerline is valid? [True, True] Translation: X:235.67, Y:3.37, Z:2.13 [[ 9.97355768e-01 -7.09192768e-02 -1.58722662e-02 2.35668583e+02] [ 7.09234758e-02 9.97481715e-01 -2.98901206e-04 3.36682162e+00] [ 1.58534932e-02 -8.27605446e-04 9.99873983e-01 2.13024939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70925415399998 meters Centerline goodness [0,1] 0.9981239855820915 Centerline is valid? [True, True] Translation: X:235.70, Y:3.36, Z:2.13 [[ 9.97501281e-01 -6.87281087e-02 -1.63597736e-02 2.35698888e+02] [ 6.87322866e-02 9.97635093e-01 -3.07410744e-04 3.36481084e+00] [ 1.63422120e-02 -8.17802039e-04 9.99866123e-01 2.13006464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73925415399998 meters Centerline goodness [0,1] 0.9983356858449027 Centerline is valid? [True, True] Translation: X:235.73, Y:3.37, Z:2.13 [[ 9.97668825e-01 -6.62078310e-02 -1.65359788e-02 2.35729356e+02] [ 6.62117590e-02 9.97805545e-01 -3.10420438e-04 3.36780742e+00] [ 1.65202436e-02 -7.85179448e-04 9.99863223e-01 2.13035583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76925415399998 meters Centerline goodness [0,1] 0.9983314324335741 Centerline is valid? [True, True] Translation: X:235.76, Y:3.38, Z:2.13 [[ 9.98031441e-01 -6.04845606e-02 -1.65789200e-02 2.35760168e+02] [ 6.04877255e-02 9.98168893e-01 -3.10943035e-04 3.38163215e+00] [ 1.65673695e-02 -6.92490239e-04 9.99862512e-01 2.13207478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79925415399998 meters Centerline goodness [0,1] 0.9986498459980592 Centerline is valid? [True, True] Translation: X:235.79, Y:3.38, Z:2.13 [[ 9.98218206e-01 -5.73260072e-02 -1.65572676e-02 2.35791250e+02] [ 5.73287369e-02 9.98355307e-01 -3.10116089e-04 3.37745688e+00] [ 1.65478137e-02 -6.39643714e-04 9.99862871e-01 2.13135314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82925415399998 meters Centerline goodness [0,1] 0.9986057418087331 Centerline is valid? [True, True] Translation: X:235.82, Y:3.39, Z:2.13 [[ 9.98411526e-01 -5.40732595e-02 -1.58274002e-02 2.35822669e+02] [ 5.40753565e-02 9.98536814e-01 -2.95753679e-04 3.38845464e+00] [ 1.58202342e-02 -5.60588429e-04 9.99874695e-01 2.13325931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85925415399998 meters Centerline goodness [0,1] 0.9984606300873012 Centerline is valid? [True, True] Translation: X:235.85, Y:3.39, Z:2.13 [[ 9.98589680e-01 -5.09386675e-02 -1.49634161e-02 2.35852807e+02] [ 5.09401991e-02 9.98701666e-01 -2.79014516e-04 3.39025248e+00] [ 1.49582012e-02 -4.83618378e-04 9.99888003e-01 2.13386942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88925415399999 meters Centerline goodness [0,1] 0.9983935742971888 Centerline is valid? [True, True] Translation: X:235.88, Y:3.40, Z:2.14 [[ 9.98920452e-01 -4.43093226e-02 -1.39504077e-02 2.35883641e+02] [ 4.43100111e-02 9.99017795e-01 -2.59878270e-04 3.40067963e+00] [ 1.39482206e-02 -3.58545000e-04 9.99902655e-01 2.13607088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919254154 meters Centerline goodness [0,1] 0.9979075076090632 Centerline is valid? [True, True] Translation: X:235.92, Y:3.40, Z:2.14 [[ 9.99064698e-01 -4.10099604e-02 -1.37080871e-02 2.35915100e+02] [ 4.10103258e-02 9.99158690e-01 -2.54557314e-04 3.40303374e+00] [ 1.37069937e-02 -3.07853892e-04 9.99906007e-01 2.13618264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.949254154 meters Centerline goodness [0,1] 0.9981798556583208 Centerline is valid? [True, True] Translation: X:235.95, Y:3.41, Z:2.13 [[ 9.99193522e-01 -3.75610936e-02 -1.41940334e-02 2.35946767e+02] [ 3.75611626e-02 9.99294296e-01 -2.61816601e-04 3.40621022e+00] [ 1.41938507e-02 -2.71538945e-04 9.99899225e-01 2.13498508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97925415399996 meters Centerline goodness [0,1] 0.9983663597403148 Centerline is valid? [True, True] Translation: X:235.98, Y:3.41, Z:2.14 [[ 9.99393563e-01 -3.20305207e-02 -1.36583954e-02 2.35977977e+02] [ 3.20300792e-02 9.99486874e-01 -2.51131195e-04 3.41345430e+00] [ 1.36594308e-02 -1.86500588e-04 9.99906688e-01 2.13703631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00925415399996 meters Centerline goodness [0,1] 0.9986208945090385 Centerline is valid? [True, True] Translation: X:236.01, Y:3.42, Z:2.14 [[ 9.99477326e-01 -2.92810331e-02 -1.37001865e-02 2.36008883e+02] [ 2.92803431e-02 9.99571207e-01 -2.50990132e-04 3.41581372e+00] [ 1.37016612e-02 -1.50287215e-04 9.99906117e-01 2.13742608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03925415399996 meters Centerline goodness [0,1] 0.9986641787880073 Centerline is valid? [True, True] Translation: X:236.04, Y:3.42, Z:2.14 [[ 9.99544848e-01 -2.69600930e-02 -1.35369871e-02 2.36039909e+02] [ 2.69592248e-02 9.99636504e-01 -2.46646092e-04 3.41820533e+00] [ 1.35387160e-02 -1.18412847e-04 9.99908340e-01 2.13777935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06925415399996 meters Centerline goodness [0,1] 0.9985983094762775 Centerline is valid? [True, True] Translation: X:236.07, Y:3.42, Z:2.14 [[ 9.99650994e-01 -2.32261083e-02 -1.25872097e-02 2.36069817e+02] [ 2.32250663e-02 9.99730236e-01 -2.28965842e-04 3.42112422e+00] [ 1.25891321e-02 -6.34528492e-05 9.99920752e-01 2.13830511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09925415399996 meters Centerline goodness [0,1] 0.9987246795757434 Centerline is valid? [True, True] Translation: X:236.10, Y:3.42, Z:2.14 [[ 9.99684049e-01 -2.18729306e-02 -1.23845111e-02 2.36100681e+02] [ 2.18718216e-02 9.99760758e-01 -2.25003594e-04 3.42244893e+00] [ 1.23864696e-02 -4.59393115e-05 9.99923284e-01 2.13861362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12925415399997 meters Centerline goodness [0,1] 0.9987271415842844 Centerline is valid? [True, True] Translation: X:236.13, Y:3.42, Z:2.14 [[ 9.99700922e-01 -2.06479766e-02 -1.31044775e-02 2.36131776e+02] [ 2.06466361e-02 9.99786807e-01 -2.37592892e-04 3.42352903e+00] [ 1.31065895e-02 -3.30415440e-05 9.99914104e-01 2.13831865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15925415399997 meters Centerline goodness [0,1] 0.9987436650909246 Centerline is valid? [True, True] Translation: X:236.16, Y:3.42, Z:2.14 [[ 9.99713303e-01 -1.99504321e-02 -1.32397554e-02 2.36162267e+02] [ 1.99490070e-02 9.99800970e-01 -2.39706401e-04 3.42431563e+00] [ 1.32419025e-02 -2.44822953e-05 9.99912322e-01 2.13828168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18925415399997 meters Centerline goodness [0,1] 0.998382014817338 Centerline is valid? [True, True] Translation: X:236.19, Y:3.42, Z:2.14 [[ 9.99710494e-01 -1.95549769e-02 -1.40189552e-02 2.36191393e+02] [ 1.95533391e-02 9.99808783e-01 -2.53898888e-04 3.42436169e+00] [ 1.40212395e-02 -2.02920009e-05 9.99901697e-01 2.13660384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21925415399997 meters Centerline goodness [0,1] 0.998638008086827 Centerline is valid? [True, True] Translation: X:236.22, Y:3.42, Z:2.14 [[ 9.99693827e-01 -2.03677770e-02 -1.40501435e-02 2.36221181e+02] [ 2.03662073e-02 9.99792555e-01 -2.54806607e-04 3.42353112e+00] [ 1.40524188e-02 -3.14195436e-05 9.99901259e-01 2.13687142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24925415399997 meters Centerline goodness [0,1] 0.9986382978723404 Centerline is valid? [True, True] Translation: X:236.25, Y:3.42, Z:2.14 [[ 9.99672059e-01 -2.12488979e-02 -1.42919129e-02 2.36251429e+02] [ 2.12473588e-02 9.99774216e-01 -2.59539646e-04 3.42280680e+00] [ 1.42942009e-02 -4.42108671e-05 9.99897832e-01 2.13655255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27925415399997 meters Centerline goodness [0,1] 0.9987474258539796 Centerline is valid? [True, True] Translation: X:236.28, Y:3.42, Z:2.14 [[ 9.99646917e-01 -2.23800099e-02 -1.43239778e-02 2.36280974e+02] [ 2.23785802e-02 9.99749534e-01 -2.60106134e-04 3.42147688e+00] [ 1.43262113e-02 -6.05359903e-05 9.99897373e-01 2.13639149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30925415399997 meters Centerline goodness [0,1] 0.9989160928334608 Centerline is valid? [True, True] Translation: X:236.31, Y:3.42, Z:2.14 [[ 9.99616349e-01 -2.38387783e-02 -1.41020298e-02 2.36310747e+02] [ 2.38375369e-02 9.99715813e-01 -2.56130790e-04 3.41998334e+00] [ 1.41041280e-02 -8.01251300e-05 9.99900529e-01 2.13647995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33925415399997 meters Centerline goodness [0,1] 0.9985991722381408 Centerline is valid? [True, True] Translation: X:236.34, Y:3.42, Z:2.14 [[ 9.99501925e-01 -2.84518433e-02 -1.36526127e-02 2.36341313e+02] [ 2.84511079e-02 9.99595155e-01 -2.48129704e-04 3.41666471e+00] [ 1.36541452e-02 -1.40425839e-04 9.99906768e-01 2.13732975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36925415399998 meters Centerline goodness [0,1] 0.9985171376519933 Centerline is valid? [True, True] Translation: X:236.37, Y:3.41, Z:2.14 [[ 9.99435613e-01 -3.08371468e-02 -1.33238688e-02 2.36372114e+02] [ 3.08366611e-02 9.99524408e-01 -2.41937677e-04 3.41402702e+00] [ 1.33249927e-02 -1.69062496e-04 9.99911204e-01 2.13740163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39925415399998 meters Centerline goodness [0,1] 0.9987100866990907 Centerline is valid? [True, True] Translation: X:236.40, Y:3.41, Z:2.14 [[ 9.99258271e-01 -3.63861207e-02 -1.26078912e-02 2.36403290e+02] [ 3.63861350e-02 9.99337779e-01 -2.28333893e-04 3.40827875e+00] [ 1.26078502e-02 -2.30587902e-04 9.99920491e-01 2.13785924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42925415399998 meters Centerline goodness [0,1] 0.998710958962005 Centerline is valid? [True, True] Translation: X:236.44, Y:3.41, Z:2.14 [[ 9.99146596e-01 -3.93544781e-02 -1.25421478e-02 2.36435877e+02] [ 3.93547330e-02 9.99225277e-01 -2.26579722e-04 3.40537049e+00] [ 1.25413480e-02 -2.67206518e-04 9.99921319e-01 2.13772839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45925415399998 meters Centerline goodness [0,1] 0.9984594931099247 Centerline is valid? [True, True] Translation: X:236.47, Y:3.40, Z:2.14 [[ 9.99039967e-01 -4.20329234e-02 -1.23441102e-02 2.36468122e+02] [ 4.20333855e-02 9.99116182e-01 -2.22122564e-04 3.40228835e+00] [ 1.23425367e-02 -2.96955421e-04 9.99923784e-01 2.13794134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48925415399998 meters Centerline goodness [0,1] 0.9986300792446468 Centerline is valid? [True, True] Translation: X:236.50, Y:3.40, Z:2.14 [[ 9.98932710e-01 -4.45129852e-02 -1.23302309e-02 2.36500211e+02] [ 4.45136459e-02 9.99008752e-01 -2.20986863e-04 3.39926481e+00] [ 1.23278454e-02 -3.28112528e-04 9.99923955e-01 2.13805380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51925415399998 meters Centerline goodness [0,1] 0.9985271529867233 Centerline is valid? [True, True] Translation: X:236.53, Y:3.39, Z:2.14 [[ 9.98769497e-01 -4.79334676e-02 -1.27229674e-02 2.36532491e+02] [ 4.79344602e-02 9.98850457e-01 -2.27093513e-04 3.39394430e+00] [ 1.27192272e-02 -3.83054503e-04 9.99919034e-01 2.13662792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54925415399998 meters Centerline goodness [0,1] 0.9985485601295778 Centerline is valid? [True, True] Translation: X:236.56, Y:3.39, Z:2.14 [[ 9.98717161e-01 -4.90319044e-02 -1.26453802e-02 2.36564720e+02] [ 4.90329842e-02 9.98797135e-01 -2.24809410e-04 3.39230365e+00] [ 1.26411924e-02 -3.95519715e-04 9.99920019e-01 2.13719835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57925415399998 meters Centerline goodness [0,1] 0.9984874585101466 Centerline is valid? [True, True] Translation: X:236.60, Y:3.39, Z:2.14 [[ 9.98700499e-01 -4.92672451e-02 -1.30403799e-02 2.36596722e+02] [ 4.92684259e-02 9.98785547e-01 -2.30885497e-04 3.39103264e+00] [ 1.30359181e-02 -4.11893530e-04 9.99914944e-01 2.13693217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60925415399998 meters Centerline goodness [0,1] 0.9985478270019994 Centerline is valid? [True, True] Translation: X:236.63, Y:3.39, Z:2.14 [[ 9.98751609e-01 -4.79381735e-02 -1.40411992e-02 2.36628477e+02] [ 4.79394259e-02 9.98850214e-01 -2.47564779e-04 3.38977452e+00] [ 1.40369226e-02 -4.25871307e-04 9.99901387e-01 2.13635247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63925415399999 meters Centerline goodness [0,1] 0.9987398134923968 Centerline is valid? [True, True] Translation: X:236.66, Y:3.39, Z:2.14 [[ 9.98834355e-01 -4.60870721e-02 -1.43496582e-02 2.36660656e+02] [ 4.60882039e-02 9.98937342e-01 -2.51985632e-04 3.39031182e+00] [ 1.43460227e-02 -4.09658065e-04 9.99897007e-01 2.13628196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.669254154 meters Centerline goodness [0,1] 0.9986131831648841 Centerline is valid? [True, True] Translation: X:236.69, Y:3.39, Z:2.14 [[ 9.98925875e-01 -4.39280779e-02 -1.47451825e-02 2.36692613e+02] [ 4.39290536e-02 9.99034620e-01 -2.57865701e-04 3.39439346e+00] [ 1.47422753e-02 -3.90153191e-04 9.99891251e-01 2.13655827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699254154 meters Centerline goodness [0,1] 0.9990547608544962 Centerline is valid? [True, True] Translation: X:236.72, Y:3.40, Z:2.14 [[ 9.99036549e-01 -4.11338895e-02 -1.52962990e-02 2.36724887e+02] [ 4.11346299e-02 9.99153577e-01 -2.66351228e-04 3.39574875e+00] [ 1.52943079e-02 -3.63112985e-04 9.99882969e-01 2.13678290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72925415399996 meters Centerline goodness [0,1] 0.9986355430538646 Centerline is valid? [True, True] Translation: X:236.76, Y:3.40, Z:2.14 [[ 9.99272496e-01 -3.48967049e-02 -1.53849974e-02 2.36755479e+02] [ 3.48967289e-02 9.99390888e-01 -2.66981174e-04 3.39651134e+00] [ 1.53849430e-02 -2.70099139e-04 9.99881608e-01 2.13605337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75925415399996 meters Centerline goodness [0,1] 0.9987596964409594 Centerline is valid? [True, True] Translation: X:236.79, Y:3.40, Z:2.14 [[ 9.99377307e-01 -3.15803267e-02 -1.57379007e-02 2.36785988e+02] [ 3.15799479e-02 9.99501192e-01 -2.72647195e-04 3.39843820e+00] [ 1.57386608e-02 -2.24524665e-04 9.99876114e-01 2.13596811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78925415399996 meters Centerline goodness [0,1] 0.9985923778310013 Centerline is valid? [True, True] Translation: X:236.82, Y:3.40, Z:2.14 [[ 9.99470357e-01 -2.83351099e-02 -1.60039755e-02 2.36816873e+02] [ 2.83343065e-02 9.99598465e-01 -2.76987241e-04 3.40161357e+00] [ 1.60053978e-02 -1.76621010e-04 9.99871890e-01 2.13628574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81925415399996 meters Centerline goodness [0,1] 0.9989909606895102 Centerline is valid? [True, True] Translation: X:236.85, Y:3.40, Z:2.14 [[ 9.99555895e-01 -2.50912524e-02 -1.60761479e-02 2.36846956e+02] [ 2.50900230e-02 9.99685157e-01 -2.78190915e-04 3.40417022e+00] [ 1.60780666e-02 -1.25283551e-04 9.99870732e-01 2.13658867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84925415399996 meters Centerline goodness [0,1] 0.9989694190888824 Centerline is valid? [True, True] Translation: X:236.88, Y:3.41, Z:2.14 [[ 9.99683631e-01 -1.90643123e-02 -1.64070069e-02 2.36876617e+02] [ 1.90622184e-02 9.99818259e-01 -2.84015003e-04 3.40812412e+00] [ 1.64094396e-02 -2.88287990e-05 9.99865356e-01 2.13602343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87925415399997 meters Centerline goodness [0,1] 0.9988429821608886 Centerline is valid? [True, True] Translation: X:236.90, Y:3.41, Z:2.14 [[ 9.99737311e-01 -1.65257730e-02 -1.58810527e-02 2.36903955e+02] [ 1.65234837e-02 9.99863440e-01 -2.75361570e-04 3.41020294e+00] [ 1.58834346e-02 1.28789198e-05 9.99873850e-01 2.13629098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90925415399997 meters Centerline goodness [0,1] 0.9989259313859697 Centerline is valid? [True, True] Translation: X:236.93, Y:3.41, Z:2.14 [[ 9.99786489e-01 -1.27144681e-02 -1.62886136e-02 2.36932323e+02] [ 1.27115129e-02 9.99919165e-01 -2.84953444e-04 3.41190872e+00] [ 1.62909200e-02 7.78396809e-05 9.99867291e-01 2.13774367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93925415399997 meters Centerline goodness [0,1] 0.9990516532844408 Centerline is valid? [True, True] Translation: X:236.96, Y:3.41, Z:2.14 [[ 9.99793592e-01 -1.16858641e-02 -1.66196692e-02 2.36961193e+02] [ 1.16825750e-02 9.99931713e-01 -2.94975832e-04 3.41270049e+00] [ 1.66219813e-02 1.00754415e-04 9.99861840e-01 2.13805256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96925415399997 meters Centerline goodness [0,1] 0.9990110884339428 Centerline is valid? [True, True] Translation: X:236.99, Y:3.41, Z:2.14 [[ 9.99797643e-01 -1.12459216e-02 -1.66793714e-02 2.36989397e+02] [ 1.12424734e-02 9.99936756e-01 -3.00486517e-04 3.41260007e+00] [ 1.66816958e-02 1.12908322e-04 9.99860844e-01 2.13838734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99925415399997 meters Centerline goodness [0,1] 0.9993480820995962 Centerline is valid? [True, True] Translation: X:237.02, Y:3.41, Z:2.14 [[ 9.99801859e-01 -1.15123457e-02 -1.62391180e-02 2.37017283e+02] [ 1.15090375e-02 9.99933725e-01 -2.97158253e-04 3.41168595e+00] [ 1.62414627e-02 1.10202755e-04 9.99868093e-01 2.13930518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02925415399997 meters Centerline goodness [0,1] 0.9992222969564486 Centerline is valid? [True, True] Translation: X:237.04, Y:3.41, Z:2.14 [[ 9.99781777e-01 -1.33520673e-02 -1.60661151e-02 2.37044878e+02] [ 1.33489922e-02 9.99910854e-01 -2.98631640e-04 3.40787330e+00] [ 1.60686703e-02 8.41000255e-05 9.99870887e-01 2.13982660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05925415399997 meters Centerline goodness [0,1] 0.9990120861797163 Centerline is valid? [True, True] Translation: X:237.07, Y:3.41, Z:2.14 [[ 9.99766281e-01 -1.47139596e-02 -1.58392991e-02 2.37072821e+02] [ 1.47110897e-02 9.99891742e-01 -2.97694825e-04 3.40576487e+00] [ 1.58419646e-02 6.46118983e-05 9.99874506e-01 2.13903394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08925415399997 meters Centerline goodness [0,1] 0.9991610738255033 Centerline is valid? [True, True] Translation: X:237.10, Y:3.40, Z:2.14 [[ 9.99745896e-01 -1.62725057e-02 -1.55996506e-02 2.37100643e+02] [ 1.62698900e-02 9.99867593e-01 -2.94580206e-04 3.40391832e+00] [ 1.56023786e-02 4.07007530e-05 9.99878275e-01 2.14026607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11925415399998 meters Centerline goodness [0,1] 0.9991809475806451 Centerline is valid? [True, True] Translation: X:237.13, Y:3.40, Z:2.14 [[ 9.99716699e-01 -1.81642815e-02 -1.53811767e-02 2.37128489e+02] [ 1.81619237e-02 9.99835016e-01 -2.92973010e-04 3.40191061e+00] [ 1.53839606e-02 1.35382531e-05 9.99881660e-01 2.14112747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14925415399998 meters Centerline goodness [0,1] 0.9991814117498898 Centerline is valid? [True, True] Translation: X:237.16, Y:3.40, Z:2.14 [[ 9.99664638e-01 -2.14119144e-02 -1.45650778e-02 2.37156637e+02] [ 2.14100866e-02 9.99770738e-01 -2.81420787e-04 3.39743365e+00] [ 1.45677643e-02 -3.05131680e-05 9.99893884e-01 2.14232269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17925415399998 meters Centerline goodness [0,1] 0.9988472018444771 Centerline is valid? [True, True] Translation: X:237.19, Y:3.39, Z:2.14 [[ 9.99616736e-01 -2.39006693e-02 -1.39691916e-02 2.37185268e+02] [ 2.38991916e-02 9.99714336e-01 -2.72735819e-04 3.39221376e+00] [ 1.39717197e-02 -6.12210973e-05 9.99902389e-01 2.14237542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20925415399998 meters Centerline goodness [0,1] 0.9988472018444771 Centerline is valid? [True, True] Translation: X:237.21, Y:3.39, Z:2.14 [[ 9.99615902e-01 -2.39355626e-02 -1.39691787e-02 2.37214417e+02] [ 2.39340790e-02 9.99713502e-01 -2.73396810e-04 3.39281532e+00] [ 1.39717205e-02 -6.10476281e-05 9.99902389e-01 2.14264869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23925415399998 meters Centerline goodness [0,1] 0.9988472018444771 Centerline is valid? [True, True] Translation: X:237.24, Y:3.39, Z:2.14 [[ 9.99615066e-01 -2.39704542e-02 -1.39691691e-02 2.37243565e+02] [ 2.39689672e-02 9.99712666e-01 -2.73884357e-04 3.39341782e+00] [ 1.39717205e-02 -6.10476281e-05 9.99902389e-01 2.14292190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26925415399998 meters Centerline goodness [0,1] 0.9991419362940019 Centerline is valid? [True, True] Translation: X:237.27, Y:3.39, Z:2.14 [[ 9.99595980e-01 -2.47920903e-02 -1.39006703e-02 2.37272968e+02] [ 2.47906905e-02 9.99692626e-01 -2.73027794e-04 3.38943892e+00] [ 1.39031665e-02 -7.16897310e-05 9.99903344e-01 2.14324212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29925415399998 meters Centerline goodness [0,1] 0.9991840662789238 Centerline is valid? [True, True] Translation: X:237.30, Y:3.39, Z:2.14 [[ 9.99592897e-01 -2.49663723e-02 -1.38101678e-02 2.37302342e+02] [ 2.49650017e-02 9.99688289e-01 -2.71658971e-04 3.38771244e+00] [ 1.38126454e-02 -7.32224856e-05 9.99904598e-01 2.14340608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32925415399998 meters Centerline goodness [0,1] 0.9992053035531296 Centerline is valid? [True, True] Translation: X:237.33, Y:3.39, Z:2.14 [[ 9.99585276e-01 -2.51784883e-02 -1.39756520e-02 2.37332787e+02] [ 2.51771030e-02 9.99682969e-01 -2.75081241e-04 3.38674867e+00] [ 1.39781474e-02 -7.68992719e-05 9.99902298e-01 2.14396650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35925415399998 meters Centerline goodness [0,1] 0.9991839638433211 Centerline is valid? [True, True] Translation: X:237.36, Y:3.39, Z:2.14 [[ 9.99580568e-01 -2.52110977e-02 -1.42508842e-02 2.37362603e+02] [ 2.52096609e-02 9.99682147e-01 -2.80480746e-04 3.38541010e+00] [ 1.42534258e-02 -7.88968545e-05 9.99898412e-01 2.14400592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38925415399999 meters Centerline goodness [0,1] 0.9990173942130791 Centerline is valid? [True, True] Translation: X:237.39, Y:3.38, Z:2.14 [[ 9.99581749e-01 -2.49518321e-02 -1.46196423e-02 2.37392590e+02] [ 2.49502901e-02 9.99688652e-01 -2.87883995e-04 3.38347991e+00] [ 1.46222737e-02 -7.70007287e-05 9.99893086e-01 2.14427155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419254154 meters Centerline goodness [0,1] 0.9991003995899496 Centerline is valid? [True, True] Translation: X:237.42, Y:3.38, Z:2.14 [[ 9.99586426e-01 -2.45603028e-02 -1.49588601e-02 2.37422540e+02] [ 2.45586366e-02 9.99698348e-01 -2.95097071e-04 3.38283728e+00] [ 1.49615954e-02 -7.23941818e-05 9.99888066e-01 2.14465244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.449254154 meters Centerline goodness [0,1] 0.9990999853485987 Centerline is valid? [True, True] Translation: X:237.45, Y:3.38, Z:2.15 [[ 9.99600890e-01 -2.41021804e-02 -1.47358746e-02 2.37450885e+02] [ 2.41005045e-02 9.99709498e-01 -2.91325705e-04 3.38135179e+00] [ 1.47386153e-02 -6.39325765e-05 9.99891379e-01 2.14520705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47925415399996 meters Centerline goodness [0,1] 0.9990386825771667 Centerline is valid? [True, True] Translation: X:237.48, Y:3.38, Z:2.15 [[ 9.99630581e-01 -2.24290583e-02 -1.53505489e-02 2.37480867e+02] [ 2.24270310e-02 9.99748436e-01 -3.04220030e-04 3.37931430e+00] [ 1.53535106e-02 -4.01595914e-05 9.99882127e-01 2.14522185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50925415399996 meters Centerline goodness [0,1] 0.999310171829926 Centerline is valid? [True, True] Translation: X:237.51, Y:3.38, Z:2.15 [[ 9.99644621e-01 -2.13943109e-02 -1.59033291e-02 2.37508597e+02] [ 2.13919893e-02 9.99771115e-01 -3.16098418e-04 3.37924364e+00] [ 1.59064518e-02 -2.42177626e-05 9.99873484e-01 2.14537229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53925415399996 meters Centerline goodness [0,1] 0.9993736951983299 Centerline is valid? [True, True] Translation: X:237.54, Y:3.38, Z:2.15 [[ 9.99655957e-01 -2.00731656e-02 -1.68829733e-02 2.37536726e+02] [ 2.00703086e-02 9.99798514e-01 -3.38661323e-04 3.37963598e+00] [ 1.68863696e-02 -3.01674004e-07 9.99857415e-01 2.14597522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56925415399996 meters Centerline goodness [0,1] 0.9994145811118778 Centerline is valid? [True, True] Translation: X:237.56, Y:3.38, Z:2.15 [[ 9.99660515e-01 -1.90972239e-02 -1.77243072e-02 2.37564217e+02] [ 1.90938270e-02 9.99817631e-01 -3.60873810e-04 3.37989614e+00] [ 1.77279665e-02 2.23264434e-05 9.99842847e-01 2.14615576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59925415399996 meters Centerline goodness [0,1] 0.9991896272285251 Centerline is valid? [True, True] Translation: X:237.59, Y:3.38, Z:2.14 [[ 9.99701266e-01 -1.63857887e-02 -1.81351771e-02 2.37592059e+02] [ 1.63817212e-02 9.99865741e-01 -3.72830353e-04 3.38025686e+00] [ 1.81388514e-02 7.56335603e-05 9.99835475e-01 2.14356885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62925415399997 meters Centerline goodness [0,1] 0.9991007194244604 Centerline is valid? [True, True] Translation: X:237.62, Y:3.38, Z:2.15 [[ 9.99712003e-01 -1.55136625e-02 -1.83094866e-02 2.37619898e+02] [ 1.55093080e-02 9.99879651e-01 -3.79808834e-04 3.37863186e+00] [ 1.83131753e-02 9.57319839e-05 9.99832295e-01 2.14578503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65925415399997 meters Centerline goodness [0,1] 0.9994582091729355 Centerline is valid? [True, True] Translation: X:237.65, Y:3.38, Z:2.15 [[ 9.99738489e-01 -1.40813380e-02 -1.80185859e-02 2.37648379e+02] [ 1.40768016e-02 9.99900845e-01 -3.78576980e-04 3.37548300e+00] [ 1.80221301e-02 1.24833920e-04 9.99837580e-01 2.14663912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68925415399997 meters Centerline goodness [0,1] 0.9993731586535448 Centerline is valid? [True, True] Translation: X:237.68, Y:3.37, Z:2.15 [[ 9.99734794e-01 -1.43869927e-02 -1.79821170e-02 2.37675882e+02] [ 1.43824366e-02 9.99896494e-01 -3.82672184e-04 3.37424748e+00] [ 1.79857612e-02 1.23944040e-04 9.99838235e-01 2.14713911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71925415399997 meters Centerline goodness [0,1] 0.9993722798794777 Centerline is valid? [True, True] Translation: X:237.70, Y:3.37, Z:2.15 [[ 9.99728466e-01 -1.47860469e-02 -1.80101732e-02 2.37704181e+02] [ 1.47814474e-02 9.99890673e-01 -3.88484439e-04 3.37313378e+00] [ 1.80139483e-02 1.22162525e-04 9.99837728e-01 2.14761586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74925415399997 meters Centerline goodness [0,1] 0.9993723718069416 Centerline is valid? [True, True] Translation: X:237.73, Y:3.37, Z:2.15 [[ 9.99699821e-01 -1.65768063e-02 -1.80409800e-02 2.37732338e+02] [ 1.65723874e-02 9.99862591e-01 -3.94422437e-04 3.36944533e+00] [ 1.80450393e-02 9.53219304e-05 9.99837170e-01 2.14884873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77925415399997 meters Centerline goodness [0,1] 0.9993731586535448 Centerline is valid? [True, True] Translation: X:237.76, Y:3.37, Z:2.15 [[ 9.99679353e-01 -1.80247587e-02 -1.77848113e-02 2.37759931e+02] [ 1.80206312e-02 9.99837538e-01 -3.92328677e-04 3.36732843e+00] [ 1.77889935e-02 7.17093540e-05 9.99841761e-01 2.14844449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80925415399997 meters Centerline goodness [0,1] 0.9993518305559621 Centerline is valid? [True, True] Translation: X:237.79, Y:3.36, Z:2.15 [[ 9.99644834e-01 -1.97951947e-02 -1.78425157e-02 2.37787787e+02] [ 1.97912626e-02 9.99804055e-01 -3.96949568e-04 3.36470519e+00] [ 1.78468772e-02 4.36826730e-05 9.99840731e-01 2.14878231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83925415399997 meters Centerline goodness [0,1] 0.9993312155158001 Centerline is valid? [True, True] Translation: X:237.82, Y:3.36, Z:2.15 [[ 9.99584158e-01 -2.21621285e-02 -1.84486182e-02 2.37815681e+02] [ 2.21582254e-02 9.99754390e-01 -4.15977493e-04 3.36206657e+00] [ 1.84533060e-02 7.01587281e-06 9.99829723e-01 2.14905752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86925415399998 meters Centerline goodness [0,1] 0.9993731717509402 Centerline is valid? [True, True] Translation: X:237.84, Y:3.36, Z:2.15 [[ 9.99480443e-01 -2.61966440e-02 -1.87771138e-02 2.37843542e+02] [ 2.61932429e-02 9.99656807e-01 -4.27086988e-04 3.35651193e+00] [ 1.87818579e-02 -6.49684118e-05 9.99823603e-01 2.14836710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89925415399998 meters Centerline goodness [0,1] 0.999333374997396 Centerline is valid? [True, True] Translation: X:237.87, Y:3.35, Z:2.15 [[ 9.99411638e-01 -2.83442931e-02 -1.93126365e-02 2.37871242e+02] [ 2.83410618e-02 9.99598214e-01 -4.41045219e-04 3.35358946e+00] [ 1.93173781e-02 -1.06554900e-04 9.99813396e-01 2.14757462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92925415399998 meters Centerline goodness [0,1] 0.9993316066505138 Centerline is valid? [True, True] Translation: X:237.90, Y:3.35, Z:2.15 [[ 9.99342000e-01 -3.06911309e-02 -1.93293053e-02 2.37898611e+02] [ 3.06882894e-02 9.99528905e-01 -4.43676406e-04 3.35111544e+00] [ 1.93338163e-02 -1.49798849e-04 9.99813073e-01 2.14760596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95925415399998 meters Centerline goodness [0,1] 0.9990827982990077 Centerline is valid? [True, True] Translation: X:237.93, Y:3.35, Z:2.15 [[ 9.99270952e-01 -3.26500502e-02 -1.97873505e-02 2.37927483e+02] [ 3.26473771e-02 9.99466827e-01 -4.58196370e-04 3.34985332e+00] [ 1.97917606e-02 -1.88142772e-04 9.99804106e-01 2.14836512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98925415399998 meters Centerline goodness [0,1] 0.9993101429885441 Centerline is valid? [True, True] Translation: X:237.96, Y:3.35, Z:2.15 [[ 9.99124210e-01 -3.67363232e-02 -2.00313409e-02 2.37956606e+02] [ 3.67343010e-02 9.99324958e-01 -4.69022001e-04 3.34551074e+00] [ 2.00350490e-02 -2.67226068e-04 9.99799243e-01 2.14972906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01925415399998 meters Centerline goodness [0,1] 0.9994156806277259 Centerline is valid? [True, True] Translation: X:237.98, Y:3.34, Z:2.15 [[ 9.99063261e-01 -3.85135284e-02 -1.97308924e-02 2.37984721e+02] [ 3.85118468e-02 9.99258035e-01 -4.65331805e-04 3.34278877e+00] [ 1.97341744e-02 -2.94977196e-04 9.99805219e-01 2.14914041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04925415399998 meters Centerline goodness [0,1] 0.999539989545217 Centerline is valid? [True, True] Translation: X:238.01, Y:3.34, Z:2.15 [[ 9.98987207e-01 -4.03637209e-02 -1.98829099e-02 2.38013185e+02] [ 4.03623075e-02 9.99184998e-01 -4.72542990e-04 3.34190931e+00] [ 1.98857789e-02 -3.30455720e-04 9.99802204e-01 2.15028411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07925415399998 meters Centerline goodness [0,1] 0.9994366784894638 Centerline is valid? [True, True] Translation: X:238.04, Y:3.34, Z:2.15 [[ 9.98839046e-01 -4.40042904e-02 -1.96005835e-02 2.38041533e+02] [ 4.40035550e-02 9.99031264e-01 -4.69015211e-04 3.33839548e+00] [ 1.96022344e-02 -3.94024650e-04 9.99807780e-01 2.15052975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10925415399998 meters Centerline goodness [0,1] 0.9993948373364496 Centerline is valid? [True, True] Translation: X:238.07, Y:3.34, Z:2.15 [[ 9.98758033e-01 -4.59021762e-02 -1.93747773e-02 2.38070329e+02] [ 4.59017513e-02 9.98945850e-01 -4.66878128e-04 3.33724566e+00] [ 1.93757841e-02 -4.23037930e-04 9.99812182e-01 2.15066944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13925415399999 meters Centerline goodness [0,1] 0.9994355479366142 Centerline is valid? [True, True] Translation: X:238.10, Y:3.34, Z:2.15 [[ 9.98667254e-01 -4.77818982e-02 -1.95091200e-02 2.38100053e+02] [ 4.77817710e-02 9.98857687e-01 -4.72919726e-04 3.33695602e+00] [ 1.95094315e-02 -4.59890863e-04 9.99809567e-01 2.15122591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.169254154 meters Centerline goodness [0,1] 0.9994147034846046 Centerline is valid? [True, True] Translation: X:238.13, Y:3.33, Z:2.15 [[ 9.98491864e-01 -5.14883930e-02 -1.90510459e-02 2.38128707e+02] [ 5.14889291e-02 9.98673458e-01 -4.62687737e-04 3.33447644e+00] [ 1.90495969e-02 -5.18928008e-04 9.99818405e-01 2.15112375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199254154 meters Centerline goodness [0,1] 0.9996653419786655 Centerline is valid? [True, True] Translation: X:238.16, Y:3.33, Z:2.15 [[ 9.98403811e-01 -5.31297435e-02 -1.91588086e-02 2.38158573e+02] [ 5.31305743e-02 9.98587465e-01 -4.66002021e-04 3.33335989e+00] [ 1.91565047e-02 -5.52660311e-04 9.99816345e-01 2.15137350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22925415399996 meters Centerline goodness [0,1] 0.9996233285203089 Centerline is valid? [True, True] Translation: X:238.19, Y:3.33, Z:2.15 [[ 9.98323014e-01 -5.47383202e-02 -1.88381412e-02 2.38188458e+02] [ 5.47394030e-02 9.98500570e-01 -4.58540767e-04 3.33220081e+00] [ 1.88349945e-02 -5.73416805e-04 9.99822441e-01 2.15159744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25925415399996 meters Centerline goodness [0,1] 0.9995611285266458 Centerline is valid? [True, True] Translation: X:238.22, Y:3.33, Z:2.15 [[ 9.98232775e-01 -5.63379989e-02 -1.89038674e-02 2.38219305e+02] [ 5.63393727e-02 9.98411570e-01 -4.60310124e-04 3.33295847e+00] [ 1.88997729e-02 -6.05535378e-04 9.99821200e-01 2.15227344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28925415399996 meters Centerline goodness [0,1] 0.9994986526289403 Centerline is valid? [True, True] Translation: X:238.25, Y:3.33, Z:2.15 [[ 9.98078605e-01 -5.91687664e-02 -1.83889846e-02 2.38248303e+02] [ 5.91705488e-02 9.98247788e-01 -4.47625890e-04 3.33266989e+00] [ 1.83832487e-02 -6.41320488e-04 9.99830808e-01 2.15285726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31925415399996 meters Centerline goodness [0,1] 0.9994163748540937 Centerline is valid? [True, True] Translation: X:238.28, Y:3.33, Z:2.15 [[ 9.98005687e-01 -6.03377231e-02 -1.85474711e-02 2.38278177e+02] [ 6.03397408e-02 9.98177796e-01 -4.51330111e-04 3.33244135e+00] [ 1.85409060e-02 -6.68719580e-04 9.99827879e-01 2.15284589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34925415399996 meters Centerline goodness [0,1] 0.9993116395494368 Centerline is valid? [True, True] Translation: X:238.31, Y:3.33, Z:2.15 [[ 9.97930302e-01 -6.15980507e-02 -1.84605491e-02 2.38308474e+02] [ 6.16002648e-02 9.98100799e-01 -4.49214970e-04 3.33463881e+00] [ 1.84531595e-02 -6.88889480e-04 9.99829489e-01 2.15360316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37925415399997 meters Centerline goodness [0,1] 0.999267797744817 Centerline is valid? [True, True] Translation: X:238.34, Y:3.33, Z:2.15 [[ 9.97870681e-01 -6.26026021e-02 -1.83034818e-02 2.38338909e+02] [ 6.26049504e-02 9.98038287e-01 -4.45232367e-04 3.33495145e+00] [ 1.82954483e-02 -7.01604241e-04 9.99832378e-01 2.15369542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40925415399997 meters Centerline goodness [0,1] 0.9992713039495326 Centerline is valid? [True, True] Translation: X:238.37, Y:3.34, Z:2.15 [[ 9.97789557e-01 -6.38782872e-02 -1.83184304e-02 2.38369746e+02] [ 6.38808600e-02 9.97957433e-01 -4.45263220e-04 3.33838333e+00] [ 1.83094564e-02 -7.25918097e-04 9.99832104e-01 2.15443408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43925415399997 meters Centerline goodness [0,1] 0.9993517627870018 Centerline is valid? [True, True] Translation: X:238.40, Y:3.34, Z:2.15 [[ 9.97750179e-01 -6.45052658e-02 -1.82661163e-02 2.38400345e+02] [ 6.45079349e-02 9.97917096e-01 -4.43658037e-04 3.33860731e+00] [ 1.82566880e-02 -7.35649554e-04 9.99833062e-01 2.15450317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46925415399997 meters Centerline goodness [0,1] 0.9992063492063492 Centerline is valid? [True, True] Translation: X:238.43, Y:3.34, Z:2.15 [[ 9.97712098e-01 -6.49740059e-02 -1.86801527e-02 2.38431739e+02] [ 6.49768892e-02 9.97886666e-01 -4.53194063e-04 3.34343641e+00] [ 1.86701211e-02 -7.61621013e-04 9.99825408e-01 2.15492852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49925415399997 meters Centerline goodness [0,1] 0.9990616789690979 Centerline is valid? [True, True] Translation: X:238.46, Y:3.34, Z:2.15 [[ 9.97723220e-01 -6.48510552e-02 -1.85125922e-02 2.38462397e+02] [ 6.48538753e-02 9.97894671e-01 -4.48616060e-04 3.34293353e+00] [ 1.85027104e-02 -7.53018689e-04 9.99828527e-01 2.15424562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52925415399997 meters Centerline goodness [0,1] 0.9992476331793768 Centerline is valid? [True, True] Translation: X:238.49, Y:3.35, Z:2.16 [[ 9.97757722e-01 -6.44347824e-02 -1.81020999e-02 2.38494059e+02] [ 6.44374191e-02 9.97921654e-01 -4.38183945e-04 3.34621590e+00] [ 1.80927118e-02 -7.29251186e-04 9.99836048e-01 2.15533885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55925415399997 meters Centerline goodness [0,1] 0.9991862284820031 Centerline is valid? [True, True] Translation: X:238.53, Y:3.35, Z:2.16 [[ 9.97801513e-01 -6.39131633e-02 -1.75285132e-02 2.38525384e+02] [ 6.39155660e-02 9.97955220e-01 -4.23678432e-04 3.34834397e+00] [ 1.75197498e-02 -6.97597860e-04 9.99846274e-01 2.15577103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58925415399997 meters Centerline goodness [0,1] 0.9990412671946645 Centerline is valid? [True, True] Translation: X:238.56, Y:3.35, Z:2.15 [[ 9.97923278e-01 -6.21112405e-02 -1.70682226e-02 2.38555996e+02] [ 6.21132634e-02 9.98069022e-01 -4.12088398e-04 3.34938599e+00] [ 1.70608596e-02 -6.48930403e-04 9.99854242e-01 2.15490860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61925415399998 meters Centerline goodness [0,1] 0.9992897727272727 Centerline is valid? [True, True] Translation: X:238.59, Y:3.36, Z:2.16 [[ 9.97997179e-01 -6.08302000e-02 -1.73585264e-02 2.38587386e+02] [ 6.08321068e-02 9.98147925e-01 -4.18636084e-04 3.35760198e+00] [ 1.73518428e-02 -6.38158101e-04 9.99849242e-01 2.15623445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64925415399998 meters Centerline goodness [0,1] 0.9992908688941726 Centerline is valid? [True, True] Translation: X:238.62, Y:3.36, Z:2.16 [[ 9.98086889e-01 -5.93548427e-02 -1.73079555e-02 2.38618007e+02] [ 5.93565252e-02 9.98236760e-01 -4.16932162e-04 3.36020918e+00] [ 1.73021843e-02 -6.11205571e-04 9.99850119e-01 2.15624628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67925415399998 meters Centerline goodness [0,1] 0.9991647525579453 Centerline is valid? [True, True] Translation: X:238.65, Y:3.36, Z:2.16 [[ 9.98150954e-01 -5.79911393e-02 -1.82126583e-02 2.38649349e+02] [ 5.79927848e-02 9.98316906e-01 -4.38230598e-04 3.36345361e+00] [ 1.82074182e-02 -6.18782486e-04 9.99834040e-01 2.15567934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70925415399998 meters Centerline goodness [0,1] 0.9989591356662573 Centerline is valid? [True, True] Translation: X:238.68, Y:3.37, Z:2.16 [[ 9.98348654e-01 -5.46625782e-02 -1.76626069e-02 2.38680150e+02] [ 5.46636166e-02 9.98504737e-01 -4.24358602e-04 3.37279537e+00] [ 1.76593932e-02 -5.41844135e-04 9.99843914e-01 2.15745182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73925415399998 meters Centerline goodness [0,1] 0.999227718639115 Centerline is valid? [True, True] Translation: X:238.71, Y:3.38, Z:2.16 [[ 9.98430811e-01 -5.31151190e-02 -1.77397908e-02 2.38711015e+02] [ 5.31159341e-02 9.98588262e-01 -4.25549982e-04 3.37599748e+00] [ 1.77373500e-02 -5.17383348e-04 9.99842547e-01 2.15789918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76925415399998 meters Centerline goodness [0,1] 0.9989585069155141 Centerline is valid? [True, True] Translation: X:238.74, Y:3.38, Z:2.16 [[ 9.98498068e-01 -5.17936594e-02 -1.78612749e-02 2.38742268e+02] [ 5.17942863e-02 9.98657684e-01 -4.27804113e-04 3.37922769e+00] [ 1.78594570e-02 -4.97950405e-04 9.99840383e-01 2.15828582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79925415399998 meters Centerline goodness [0,1] 0.9989369684842421 Centerline is valid? [True, True] Translation: X:238.77, Y:3.39, Z:2.16 [[ 9.98663308e-01 -4.86641594e-02 -1.74183060e-02 2.38774009e+02] [ 4.86642930e-02 9.98815105e-01 -4.16439473e-04 3.38660386e+00] [ 1.74179328e-02 -4.31766726e-04 9.99848203e-01 2.15939479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82925415399998 meters Centerline goodness [0,1] 0.9989578774046979 Centerline is valid? [True, True] Translation: X:238.81, Y:3.39, Z:2.16 [[ 9.98748157e-01 -4.67953972e-02 -1.76723115e-02 2.38805240e+02] [ 4.67952565e-02 9.98904413e-01 -4.21710074e-04 3.39067672e+00] [ 1.76726841e-02 -4.05798194e-04 9.99843744e-01 2.16001475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85925415399998 meters Centerline goodness [0,1] 0.9991220919295165 Centerline is valid? [True, True] Translation: X:238.84, Y:3.39, Z:2.16 [[ 9.98842730e-01 -4.47402053e-02 -1.76497929e-02 2.38835631e+02] [ 4.47397530e-02 9.98998587e-01 -4.20676215e-04 3.39382126e+00] [ 1.76509393e-02 -3.69457997e-04 9.99844142e-01 2.16035309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88925415399999 meters Centerline goodness [0,1] 0.9989161473205911 Centerline is valid? [True, True] Translation: X:238.87, Y:3.40, Z:2.16 [[ 9.99014296e-01 -4.06886678e-02 -1.77445167e-02 2.38866457e+02] [ 4.06875775e-02 9.99171828e-01 -4.22609456e-04 3.40150780e+00] [ 1.77470166e-02 -2.99788507e-04 9.99842464e-01 2.16077522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.919254154 meters Centerline goodness [0,1] 0.9989983096475302 Centerline is valid? [True, True] Translation: X:238.90, Y:3.41, Z:2.16 [[ 9.99108574e-01 -3.85229075e-02 -1.72638946e-02 2.38897021e+02] [ 3.85215550e-02 9.99257685e-01 -4.10997386e-04 3.40535280e+00] [ 1.72669122e-02 -2.54401055e-04 9.99850883e-01 2.16128104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94925415399996 meters Centerline goodness [0,1] 0.999019546488099 Centerline is valid? [True, True] Translation: X:238.93, Y:3.41, Z:2.16 [[ 9.99173048e-01 -3.69321059e-02 -1.70070684e-02 2.38926016e+02] [ 3.69305606e-02 9.99317752e-01 -4.05019971e-04 3.40911005e+00] [ 1.70104236e-02 -2.23395531e-04 9.99855287e-01 2.16166550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97925415399996 meters Centerline goodness [0,1] 0.998937455727322 Centerline is valid? [True, True] Translation: X:238.96, Y:3.41, Z:2.16 [[ 9.99227061e-01 -3.56099491e-02 -1.66496716e-02 2.38956878e+02] [ 3.56082819e-02 9.99365745e-01 -3.96672741e-04 3.41188149e+00] [ 1.66532369e-02 -1.96500062e-04 9.99861306e-01 2.16227233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00925415399996 meters Centerline goodness [0,1] 0.999165675906806 Centerline is valid? [True, True] Translation: X:238.99, Y:3.42, Z:2.16 [[ 9.99272795e-01 -3.46888986e-02 -1.58291493e-02 2.38986683e+02] [ 3.46872779e-02 9.99398144e-01 -3.77009756e-04 3.41572781e+00] [ 1.58327005e-02 -1.72334510e-04 9.99874640e-01 2.16319207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03925415399996 meters Centerline goodness [0,1] 0.9991644385026738 Centerline is valid? [True, True] Translation: X:239.02, Y:3.42, Z:2.16 [[ 9.99280187e-01 -3.46897951e-02 -1.53533555e-02 2.39016582e+02] [ 3.46882746e-02 9.99398114e-01 -3.65411955e-04 3.41718074e+00] [ 1.53567906e-02 -1.67432484e-04 9.99882064e-01 2.16351309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06925415399996 meters Centerline goodness [0,1] 0.9993319694376017 Centerline is valid? [True, True] Translation: X:239.05, Y:3.42, Z:2.16 [[ 9.99237643e-01 -3.59164847e-02 -1.53016097e-02 2.39047983e+02] [ 3.59151239e-02 9.99354778e-01 -3.63810202e-04 3.41860913e+00] [ 1.53048035e-02 -1.86026360e-04 9.99882857e-01 2.16387863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09925415399996 meters Centerline goodness [0,1] 0.9993319694376017 Centerline is valid? [True, True] Translation: X:239.08, Y:3.42, Z:2.16 [[ 9.99238892e-01 -3.58817139e-02 -1.53016223e-02 2.39078821e+02] [ 3.58803571e-02 9.99356027e-01 -3.63277909e-04 3.41930994e+00] [ 1.53048035e-02 -1.86026258e-04 9.99882857e-01 2.16416752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12925415399997 meters Centerline goodness [0,1] 0.9990600718522851 Centerline is valid? [True, True] Translation: X:239.11, Y:3.42, Z:2.16 [[ 9.99199711e-01 -3.70829416e-02 -1.49931052e-02 2.39109839e+02] [ 3.70817821e-02 9.99312171e-01 -3.55427362e-04 3.42126010e+00] [ 1.49959728e-02 -2.00828143e-04 9.99887534e-01 2.16487186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15925415399997 meters Centerline goodness [0,1] 0.998975516945786 Centerline is valid? [True, True] Translation: X:239.14, Y:3.42, Z:2.16 [[ 9.99148224e-01 -3.84223847e-02 -1.50514624e-02 2.39141263e+02] [ 3.84213764e-02 9.99261563e-01 -3.56258683e-04 3.42137352e+00] [ 1.50540361e-02 -2.22342672e-04 9.99886657e-01 2.16469823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18925415399997 meters Centerline goodness [0,1] 0.9989558316800669 Centerline is valid? [True, True] Translation: X:239.17, Y:3.42, Z:2.16 [[ 9.98981744e-01 -4.24418492e-02 -1.53024532e-02 2.39171770e+02] [ 4.24412852e-02 9.99098897e-01 -3.61745404e-04 3.41940871e+00] [ 1.53040173e-02 -2.88078728e-04 9.99882845e-01 2.16416893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21925415399997 meters Centerline goodness [0,1] 0.9990409473771996 Centerline is valid? [True, True] Translation: X:239.20, Y:3.42, Z:2.16 [[ 9.98887340e-01 -4.46239963e-02 -1.52571491e-02 2.39203875e+02] [ 4.46236992e-02 9.99003802e-01 -3.60077213e-04 3.41899988e+00] [ 1.52580181e-02 -3.21153865e-04 9.99883538e-01 2.16432981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24925415399997 meters Centerline goodness [0,1] 0.9990170037437517 Centerline is valid? [True, True] Translation: X:239.23, Y:3.42, Z:2.16 [[ 9.98775353e-01 -4.69800350e-02 -1.55135453e-02 2.39234555e+02] [ 4.69800243e-02 9.98895762e-01 -3.65325575e-04 3.41760822e+00] [ 1.55135776e-02 -3.63948555e-04 9.99879591e-01 2.16429851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27925415399997 meters Centerline goodness [0,1] 0.998956681412236 Centerline is valid? [True, True] Translation: X:239.27, Y:3.42, Z:2.16 [[ 9.98667113e-01 -4.92757489e-02 -1.53589688e-02 2.39266070e+02] [ 4.92760172e-02 9.98785134e-01 -3.61198080e-04 3.41629051e+00] [ 1.53581080e-02 -3.96112167e-04 9.99881979e-01 2.16449136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30925415399997 meters Centerline goodness [0,1] 0.9990586955612266 Centerline is valid? [True, True] Translation: X:239.30, Y:3.42, Z:2.17 [[ 9.98478904e-01 -5.30492764e-02 -1.50217235e-02 2.39297767e+02] [ 5.30499748e-02 9.98591797e-01 -3.52258251e-04 3.41596852e+00] [ 1.50192570e-02 -4.45179622e-04 9.99887105e-01 2.16512146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33925415399997 meters Centerline goodness [0,1] 0.9988493483127262 Centerline is valid? [True, True] Translation: X:239.33, Y:3.42, Z:2.17 [[ 9.98414029e-01 -5.41774521e-02 -1.53045575e-02 2.39329644e+02] [ 5.41783297e-02 9.98531212e-01 -3.57570375e-04 3.41789145e+00] [ 1.53014506e-02 -4.72172082e-04 9.99882814e-01 2.16563118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36925415399998 meters Centerline goodness [0,1] 0.9989117468555763 Centerline is valid? [True, True] Translation: X:239.36, Y:3.42, Z:2.17 [[ 9.98383713e-01 -5.47157415e-02 -1.53671594e-02 2.39360614e+02] [ 5.47167059e-02 9.98501855e-01 -3.57991669e-04 3.41703416e+00] [ 1.53637249e-02 -4.83427290e-04 9.99881854e-01 2.16547506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39925415399998 meters Centerline goodness [0,1] 0.9990153356239001 Centerline is valid? [True, True] Translation: X:239.39, Y:3.42, Z:2.17 [[ 9.98444996e-01 -5.35764515e-02 -1.53998044e-02 2.39393182e+02] [ 5.35772997e-02 9.98563641e-01 -3.57779472e-04 3.41965636e+00] [ 1.53968533e-02 -4.67856813e-04 9.99881352e-01 2.16546537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42925415399998 meters Centerline goodness [0,1] 0.9989323619920869 Centerline is valid? [True, True] Translation: X:239.42, Y:3.42, Z:2.17 [[ 9.98527505e-01 -5.19198030e-02 -1.57211843e-02 2.39423976e+02] [ 5.19204985e-02 9.98651155e-01 -3.64184548e-04 3.42113747e+00] [ 1.57188873e-02 -4.52603440e-04 9.99876348e-01 2.16549612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45925415399998 meters Centerline goodness [0,1] 0.9986830553116769 Centerline is valid? [True, True] Translation: X:239.45, Y:3.42, Z:2.17 [[ 9.98647031e-01 -4.95066594e-02 -1.59121729e-02 2.39454905e+02] [ 4.95070798e-02 9.98773705e-01 -3.67727610e-04 3.42340933e+00] [ 1.59108649e-02 -4.20535130e-04 9.99873326e-01 2.16572119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48925415399998 meters Centerline goodness [0,1] 0.9992040384575103 Centerline is valid? [True, True] Translation: X:239.49, Y:3.43, Z:2.17 [[ 9.98799204e-01 -4.65251832e-02 -1.53478859e-02 2.39486161e+02] [ 4.65252334e-02 9.98917052e-01 -3.53973881e-04 3.42768246e+00] [ 1.53477336e-02 -3.60515143e-04 9.99882152e-01 2.16653103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51925415399998 meters Centerline goodness [0,1] 0.9989105384454222 Centerline is valid? [True, True] Translation: X:239.52, Y:3.43, Z:2.17 [[ 9.98961887e-01 -4.30339556e-02 -1.49407514e-02 2.39517760e+02] [ 4.30336209e-02 9.99073565e-01 -3.44041627e-04 3.43081060e+00] [ 1.49417152e-02 -2.99270158e-04 9.99888322e-01 2.16666903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54925415399998 meters Centerline goodness [0,1] 0.999036427239783 Centerline is valid? [True, True] Translation: X:239.55, Y:3.44, Z:2.17 [[ 9.99267550e-01 -3.54786976e-02 -1.43396373e-02 2.39548865e+02] [ 3.54776188e-02 9.99370417e-01 -3.29685694e-04 3.43744468e+00] [ 1.43423061e-02 -1.79291972e-04 9.99897128e-01 2.16744529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57925415399998 meters Centerline goodness [0,1] 0.9991209711176224 Centerline is valid? [True, True] Translation: X:239.58, Y:3.44, Z:2.17 [[ 9.99416417e-01 -3.13714606e-02 -1.35150500e-02 2.39579904e+02] [ 3.13701331e-02 9.99507788e-01 -3.10252854e-04 3.44129418e+00] [ 1.35181308e-02 -1.13897121e-04 9.99908619e-01 2.16819945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60925415399998 meters Centerline goodness [0,1] 0.9993090162904644 Centerline is valid? [True, True] Translation: X:239.61, Y:3.44, Z:2.17 [[ 9.99538046e-01 -2.74866979e-02 -1.29682773e-02 2.39610652e+02] [ 2.74851547e-02 9.99622168e-01 -2.97242862e-04 3.44453760e+00] [ 1.29715477e-02 -5.93295596e-05 9.99915864e-01 2.16893028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63925415399999 meters Centerline goodness [0,1] 0.9989312433202707 Centerline is valid? [True, True] Translation: X:239.64, Y:3.45, Z:2.17 [[ 9.99697291e-01 -2.10132590e-02 -1.27972484e-02 2.39640622e+02] [ 2.10112301e-02 9.99779197e-01 -2.92988588e-04 3.44932349e+00] [ 1.28005794e-02 2.40139662e-05 9.99918069e-01 2.16900330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.669254154 meters Centerline goodness [0,1] 0.9990143030913133 Centerline is valid? [True, True] Translation: X:239.67, Y:3.45, Z:2.17 [[ 9.99742842e-01 -1.81734312e-02 -1.35637897e-02 2.39670536e+02] [ 1.81708884e-02 9.99834848e-01 -3.10690288e-04 3.45157140e+00] [ 1.35671959e-02 6.41442816e-05 9.99907959e-01 2.16795755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69925415399996 meters Centerline goodness [0,1] 0.9990969611693303 Centerline is valid? [True, True] Translation: X:239.70, Y:3.45, Z:2.17 [[ 9.99760812e-01 -1.71227566e-02 -1.36062317e-02 2.39699543e+02] [ 1.71200814e-02 9.99853392e-01 -3.13076024e-04 3.45327348e+00] [ 1.36095976e-02 8.00613457e-05 9.99907382e-01 2.16918397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72925415399996 meters Centerline goodness [0,1] 0.999264690434673 Centerline is valid? [True, True] Translation: X:239.73, Y:3.45, Z:2.17 [[ 9.99776051e-01 -1.59976653e-02 -1.38535844e-02 2.39727953e+02] [ 1.59947346e-02 9.99872024e-01 -3.22324375e-04 3.45449975e+00] [ 1.38569679e-02 1.00667784e-04 9.99903983e-01 2.16950107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75925415399996 meters Centerline goodness [0,1] 0.9990992689415362 Centerline is valid? [True, True] Translation: X:239.76, Y:3.45, Z:2.17 [[ 9.99772057e-01 -1.55538624e-02 -1.46257246e-02 2.39756382e+02] [ 1.55504922e-02 9.99879025e-01 -3.44138357e-04 3.45489066e+00] [ 1.46293079e-02 1.16622698e-04 9.99892979e-01 2.16924009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78925415399996 meters Centerline goodness [0,1] 0.9989718410340341 Centerline is valid? [True, True] Translation: X:239.78, Y:3.45, Z:2.17 [[ 9.99763927e-01 -1.62984655e-02 -1.43683750e-02 2.39784422e+02] [ 1.62952354e-02 9.99867165e-01 -3.41861404e-04 3.45463184e+00] [ 1.43720382e-02 1.07644648e-04 9.99896711e-01 2.16953970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81925415399996 meters Centerline goodness [0,1] 0.999119423012412 Centerline is valid? [True, True] Translation: X:239.81, Y:3.45, Z:2.17 [[ 9.99756178e-01 -1.66219737e-02 -1.45359982e-02 2.39812221e+02] [ 1.66186553e-02 9.99861840e-01 -3.49061852e-04 3.45409445e+00] [ 1.45397920e-02 1.07407999e-04 9.99894286e-01 2.16868255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84925415399996 meters Centerline goodness [0,1] 0.9993287041893054 Centerline is valid? [True, True] Translation: X:239.84, Y:3.45, Z:2.17 [[ 9.99701425e-01 -1.98041469e-02 -1.43127857e-02 2.39840344e+02] [ 1.98012347e-02 9.99803877e-01 -3.45163324e-04 3.45105310e+00] [ 1.43168143e-02 6.16494373e-05 9.99897507e-01 2.17022903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87925415399997 meters Centerline goodness [0,1] 0.9992471296819123 Centerline is valid? [True, True] Translation: X:239.87, Y:3.45, Z:2.17 [[ 9.99661422e-01 -2.18413670e-02 -1.41419922e-02 2.39869019e+02] [ 2.18386942e-02 9.99761448e-01 -3.43414883e-04 3.44956130e+00] [ 1.41461193e-02 3.44559668e-05 9.99899938e-01 2.17079350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90925415399997 meters Centerline goodness [0,1] 0.9992252120196838 Centerline is valid? [True, True] Translation: X:239.90, Y:3.45, Z:2.17 [[ 9.99613282e-01 -2.40442202e-02 -1.39700320e-02 2.39897600e+02] [ 2.40417916e-02 9.99710896e-01 -3.41777084e-04 3.44808765e+00] [ 1.39742110e-02 5.78031422e-06 9.99902356e-01 2.17118119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93925415399997 meters Centerline goodness [0,1] 0.9993725030851932 Centerline is valid? [True, True] Translation: X:239.93, Y:3.45, Z:2.17 [[ 9.99555666e-01 -2.62083696e-02 -1.41983172e-02 2.39927611e+02] [ 2.62060698e-02 9.99656501e-01 -3.48031498e-04 3.44645281e+00] [ 1.42025614e-02 -2.42052364e-05 9.99899138e-01 2.17190671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96925415399997 meters Centerline goodness [0,1] 0.9990382403980849 Centerline is valid? [True, True] Translation: X:239.96, Y:3.44, Z:2.17 [[ 9.99444074e-01 -3.05004963e-02 -1.34634019e-02 2.39957822e+02] [ 3.04988118e-02 9.99534748e-01 -3.30466910e-04 3.44119925e+00] [ 1.34672174e-02 -8.03345655e-05 9.99909310e-01 2.17323315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99925415399997 meters Centerline goodness [0,1] 0.9991441573080616 Centerline is valid? [True, True] Translation: X:239.99, Y:3.44, Z:2.17 [[ 9.99380567e-01 -3.27513835e-02 -1.28774764e-02 2.39988803e+02] [ 3.27500269e-02 9.99463524e-01 -3.16268347e-04 3.43935029e+00] [ 1.28809262e-02 -1.05665260e-04 9.99917032e-01 2.17435347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02925415399997 meters Centerline goodness [0,1] 0.9990608760982532 Centerline is valid? [True, True] Translation: X:240.02, Y:3.43, Z:2.17 [[ 9.99257230e-01 -3.64909892e-02 -1.23853406e-02 2.40020677e+02] [ 3.64900267e-02 9.99333971e-01 -3.03752327e-04 3.43415783e+00] [ 1.23881758e-02 -1.48414699e-04 9.99923253e-01 2.17487254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05925415399997 meters Centerline goodness [0,1] 0.9990191986644408 Centerline is valid? [True, True] Translation: X:240.05, Y:3.43, Z:2.18 [[ 9.99177266e-01 -3.89234123e-02 -1.13911492e-02 2.40052200e+02] [ 3.89227621e-02 9.99242183e-01 -2.78854466e-04 3.43145214e+00] [ 1.13933707e-02 -1.64749946e-04 9.99935080e-01 2.17659800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08925415399997 meters Centerline goodness [0,1] 0.9989350595113803 Centerline is valid? [True, True] Translation: X:240.08, Y:3.43, Z:2.18 [[ 9.99100834e-01 -4.09638041e-02 -1.09311268e-02 2.40084824e+02] [ 4.09633387e-02 9.99160615e-01 -2.66556029e-04 3.42915634e+00] [ 1.09328705e-02 -1.81459100e-04 9.99940218e-01 2.17767750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11925415399998 meters Centerline goodness [0,1] 0.9989358594499854 Centerline is valid? [True, True] Translation: X:240.12, Y:3.43, Z:2.18 [[ 9.99048074e-01 -4.20705916e-02 -1.15330744e-02 2.40115696e+02] [ 4.20701567e-02 9.99114620e-01 -2.80423786e-04 3.42504387e+00] [ 1.15346609e-02 -2.05041405e-04 9.99933453e-01 2.17629503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14925415399998 meters Centerline goodness [0,1] 0.9989798255293456 Centerline is valid? [True, True] Translation: X:240.15, Y:3.42, Z:2.18 [[ 9.98876041e-01 -4.61092411e-02 -1.09814328e-02 2.40147497e+02] [ 4.61090968e-02 9.98936374e-01 -2.66458292e-04 3.42167685e+00] [ 1.09820389e-02 -2.40185144e-04 9.99939667e-01 2.17914825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17925415399998 meters Centerline goodness [0,1] 0.9988727925520812 Centerline is valid? [True, True] Translation: X:240.18, Y:3.42, Z:2.18 [[ 9.98804696e-01 -4.75492586e-02 -1.13246105e-02 2.40179922e+02] [ 4.75492048e-02 9.98868859e-01 -2.74150037e-04 3.41953650e+00] [ 1.13248364e-02 -2.64653879e-04 9.99935837e-01 2.17931794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20925415399998 meters Centerline goodness [0,1] 0.9989783365651258 Centerline is valid? [True, True] Translation: X:240.21, Y:3.42, Z:2.18 [[ 9.98752222e-01 -4.85901850e-02 -1.15322186e-02 2.40212510e+02] [ 4.85902078e-02 9.98818759e-01 -2.78372001e-04 3.41744111e+00] [ 1.15321225e-02 -2.82328245e-04 9.99933463e-01 2.17952731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23925415399998 meters Centerline goodness [0,1] 0.999082683567527 Centerline is valid? [True, True] Translation: X:240.24, Y:3.42, Z:2.18 [[ 9.98702265e-01 -4.95968561e-02 -1.15731746e-02 2.40244106e+02] [ 4.95969553e-02 9.98769275e-01 -2.78607028e-04 3.41554961e+00] [ 1.15727492e-02 -2.95748752e-04 9.99932990e-01 2.17985483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26925415399998 meters Centerline goodness [0,1] 0.9990830850021881 Centerline is valid? [True, True] Translation: X:240.28, Y:3.41, Z:2.18 [[ 9.98667574e-01 -5.01932621e-02 -1.19880317e-02 2.40275223e+02] [ 5.01934190e-02 9.98739474e-01 -2.87968328e-04 3.41362791e+00] [ 1.19873745e-02 -3.14135665e-04 9.99928100e-01 2.18014509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29925415399998 meters Centerline goodness [0,1] 0.9990621287593006 Centerline is valid? [True, True] Translation: X:240.31, Y:3.41, Z:2.18 [[ 9.98723070e-01 -4.88741553e-02 -1.27885216e-02 2.40307253e+02] [ 4.88742352e-02 9.98804893e-01 -3.06466337e-04 3.41392260e+00] [ 1.27882163e-02 -3.18954214e-04 9.99918177e-01 2.17892306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32925415399998 meters Centerline goodness [0,1] 0.9991036437922122 Centerline is valid? [True, True] Translation: X:240.34, Y:3.41, Z:2.18 [[ 9.98763711e-01 -4.80380047e-02 -1.27828083e-02 2.40338321e+02] [ 4.80380262e-02 9.98845461e-01 -3.05536061e-04 3.41466287e+00] [ 1.27827274e-02 -3.08902550e-04 9.99918250e-01 2.18012401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35925415399998 meters Centerline goodness [0,1] 0.9988333576383825 Centerline is valid? [True, True] Translation: X:240.37, Y:3.42, Z:2.18 [[ 9.98904996e-01 -4.47295593e-02 -1.37140518e-02 2.40368563e+02] [ 4.47292802e-02 9.98999091e-01 -3.27224929e-04 3.41717529e+00] [ 1.37149619e-02 -2.86553050e-04 9.99905904e-01 2.17918945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38925415399999 meters Centerline goodness [0,1] 0.9989774837753803 Centerline is valid? [True, True] Translation: X:240.40, Y:3.42, Z:2.18 [[ 9.99018833e-01 -4.19592137e-02 -1.41702428e-02 2.40399877e+02] [ 4.19586417e-02 9.99119291e-01 -3.37795378e-04 3.41932473e+00] [ 1.41719366e-02 -2.57100197e-04 9.99899540e-01 2.17767696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419254154 meters Centerline goodness [0,1] 0.9992076400183494 Centerline is valid? [True, True] Translation: X:240.43, Y:3.43, Z:2.18 [[ 9.99101617e-01 -3.99959606e-02 -1.40100399e-02 2.40430828e+02] [ 3.99952150e-02 9.99199816e-01 -3.33506433e-04 3.42508704e+00] [ 1.40121682e-02 -2.27127741e-04 9.99901799e-01 2.17985059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44925415399996 meters Centerline goodness [0,1] 0.9992918142053738 Centerline is valid? [True, True] Translation: X:240.46, Y:3.43, Z:2.18 [[ 9.99204588e-01 -3.72432094e-02 -1.42525561e-02 2.40462514e+02] [ 3.72421653e-02 9.99306213e-01 -3.38752290e-04 3.42760763e+00] [ 1.42552841e-02 -1.92313209e-04 9.99898370e-01 2.17999293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47925415399996 meters Centerline goodness [0,1] 0.9994163261902776 Centerline is valid? [True, True] Translation: X:240.49, Y:3.43, Z:2.18 [[ 9.99358638e-01 -3.28061888e-02 -1.43549893e-02 2.40492459e+02] [ 3.28046770e-02 9.99461724e-01 -3.40836770e-04 3.42919339e+00] [ 1.43584439e-02 -1.30292618e-04 9.99896904e-01 2.17874008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50925415399996 meters Centerline goodness [0,1] 0.9993940786861955 Centerline is valid? [True, True] Translation: X:240.52, Y:3.43, Z:2.18 [[ 9.99392979e-01 -3.14608905e-02 -1.49628206e-02 2.40522969e+02] [ 3.14590971e-02 9.99504977e-01 -3.55268772e-04 3.43078273e+00] [ 1.49665907e-02 -1.15663709e-04 9.99887988e-01 2.17845728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53925415399996 meters Centerline goodness [0,1] 0.9993338190902467 Centerline is valid? [True, True] Translation: X:240.55, Y:3.43, Z:2.18 [[ 9.99421089e-01 -3.03710551e-02 -1.53325298e-02 2.40552466e+02] [ 3.03690421e-02 9.99538688e-01 -3.64155788e-04 3.43135490e+00] [ 1.53365165e-02 -1.01689270e-04 9.99882384e-01 2.17757857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56925415399996 meters Centerline goodness [0,1] 0.9992698293486878 Centerline is valid? [True, True] Translation: X:240.58, Y:3.43, Z:2.18 [[ 9.99414838e-01 -3.02491746e-02 -1.59677373e-02 2.40581954e+02] [ 3.02469734e-02 9.99542384e-01 -3.79396921e-04 3.43083535e+00] [ 1.59719067e-02 -1.03800813e-04 9.99872436e-01 2.17612574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59925415399996 meters Centerline goodness [0,1] 0.9993121847513443 Centerline is valid? [True, True] Translation: X:240.61, Y:3.43, Z:2.18 [[ 9.99396400e-01 -3.10313302e-02 -1.56170318e-02 2.40610794e+02] [ 3.10293139e-02 9.99518406e-01 -3.71458468e-04 3.43011417e+00] [ 1.56210376e-02 -1.13351525e-04 9.99877978e-01 2.17589467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62925415399997 meters Centerline goodness [0,1] 0.9994163748540937 Centerline is valid? [True, True] Translation: X:240.64, Y:3.43, Z:2.18 [[ 9.99363615e-01 -3.21091557e-02 -1.55359967e-02 2.40640871e+02] [ 3.21072771e-02 9.99484360e-01 -3.70389691e-04 3.42956505e+00] [ 1.55398787e-02 -1.28664572e-04 9.99879241e-01 2.17618650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65925415399997 meters Centerline goodness [0,1] 0.9992898617319019 Centerline is valid? [True, True] Translation: X:240.67, Y:3.43, Z:2.18 [[ 9.99306824e-01 -3.39547881e-02 -1.52624781e-02 2.40670345e+02] [ 3.39531837e-02 9.99423358e-01 -3.64306729e-04 3.42760508e+00] [ 1.52660471e-02 -1.54155523e-04 9.99883455e-01 2.17578501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68925415399997 meters Centerline goodness [0,1] 0.9995190900347092 Centerline is valid? [True, True] Translation: X:240.70, Y:3.42, Z:2.18 [[ 9.99137032e-01 -3.87831746e-02 -1.48679550e-02 2.40700794e+02] [ 3.87821839e-02 9.99247625e-01 -3.55053203e-04 3.42426805e+00] [ 1.48705388e-02 -2.21864962e-04 9.99889403e-01 2.17621626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71925415399997 meters Centerline goodness [0,1] 0.9994157781626223 Centerline is valid? [True, True] Translation: X:240.73, Y:3.42, Z:2.18 [[ 9.99028956e-01 -4.16135781e-02 -1.44725691e-02 2.40730708e+02] [ 4.16129430e-02 9.99133747e-01 -3.45153956e-04 3.42098892e+00] [ 1.44743953e-02 -2.57427396e-04 9.99895207e-01 2.17602776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74925415399997 meters Centerline goodness [0,1] 0.9992697531765736 Centerline is valid? [True, True] Translation: X:240.76, Y:3.42, Z:2.18 [[ 9.98928462e-01 -4.38981320e-02 -1.46588264e-02 2.40762422e+02] [ 4.38977414e-02 9.99035969e-01 -3.48557418e-04 3.41975318e+00] [ 1.46599959e-02 -2.95305447e-04 9.99892493e-01 2.17507335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77925415399997 meters Centerline goodness [0,1] 0.9991853615741321 Centerline is valid? [True, True] Translation: X:240.79, Y:3.41, Z:2.18 [[ 9.98674325e-01 -4.98410708e-02 -1.28631357e-02 2.40792190e+02] [ 4.98412664e-02 9.98757105e-01 -3.05565601e-04 3.41457287e+00] [ 1.28623779e-02 -3.35954454e-04 9.99917220e-01 2.17733265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80925415399997 meters Centerline goodness [0,1] 0.9990386825771667 Centerline is valid? [True, True] Translation: X:240.82, Y:3.41, Z:2.18 [[ 9.98569473e-01 -5.18869511e-02 -1.29132307e-02 2.40823930e+02] [ 5.18873207e-02 9.98652899e-01 -3.06631093e-04 3.41283278e+00] [ 1.29117454e-02 -3.63840494e-04 9.99916574e-01 2.17632881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83925415399997 meters Centerline goodness [0,1] 0.999376726985644 Centerline is valid? [True, True] Translation: X:240.86, Y:3.41, Z:2.18 [[ 9.98461375e-01 -5.40774540e-02 -1.22682843e-02 2.40855763e+02] [ 5.40779585e-02 9.98536674e-01 -2.90851257e-04 3.41103371e+00] [ 1.22660603e-02 -3.73040026e-04 9.99924699e-01 2.17718593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86925415399998 meters Centerline goodness [0,1] 0.9990391845601136 Centerline is valid? [True, True] Translation: X:240.89, Y:3.41, Z:2.18 [[ 9.98367957e-01 -5.59860765e-02 -1.12686539e-02 2.40886653e+02] [ 5.59866308e-02 9.98431483e-01 -2.66509636e-04 3.40923157e+00] [ 1.12658996e-02 -3.64819284e-04 9.99936471e-01 2.17797850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89925415399998 meters Centerline goodness [0,1] 0.9993534527707677 Centerline is valid? [True, True] Translation: X:240.92, Y:3.41, Z:2.18 [[ 9.98193568e-01 -5.94162037e-02 -8.90588179e-03 2.40917798e+02] [ 5.94166926e-02 9.98233246e-01 -2.09908995e-04 3.41133201e+00] [ 8.90261927e-03 -3.19628232e-04 9.99960320e-01 2.18194726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92925415399998 meters Centerline goodness [0,1] 0.9993534527707677 Centerline is valid? [True, True] Translation: X:240.95, Y:3.41, Z:2.18 [[ 9.98197958e-01 -5.93424136e-02 -8.90588909e-03 2.40949495e+02] [ 5.93429023e-02 9.98237635e-01 -2.09598479e-04 3.41201825e+00] [ 8.90263175e-03 -3.19280533e-04 9.99960320e-01 2.18224421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95925415399998 meters Centerline goodness [0,1] 0.9991245257848002 Centerline is valid? [True, True] Translation: X:240.98, Y:3.41, Z:2.18 [[ 9.98072969e-01 -6.14876402e-02 -8.34374906e-03 2.40981092e+02] [ 6.14881490e-02 9.98107794e-01 -1.95775938e-04 3.40730353e+00] [ 8.33999877e-03 -3.17643014e-04 9.99965171e-01 2.18311381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98925415399998 meters Centerline goodness [0,1] 0.9991882610053076 Centerline is valid? [True, True] Translation: X:241.01, Y:3.41, Z:2.18 [[ 9.98015859e-01 -6.24382596e-02 -8.11223222e-03 2.41012819e+02] [ 6.24387752e-02 9.98048778e-01 -1.89934149e-04 3.41077119e+00] [ 8.10826261e-03 -3.16960551e-04 9.99967077e-01 2.18326870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01925415399998 meters Centerline goodness [0,1] 0.9991882610053076 Centerline is valid? [True, True] Translation: X:241.04, Y:3.41, Z:2.18 [[ 9.98020451e-01 -6.23648227e-02 -8.11224615e-03 2.41044520e+02] [ 6.23653408e-02 9.98053370e-01 -1.89336951e-04 3.41145046e+00] [ 8.10826257e-03 -3.16960847e-04 9.99967077e-01 2.18356562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04925415399998 meters Centerline goodness [0,1] 0.9989373671708963 Centerline is valid? [True, True] Translation: X:241.08, Y:3.41, Z:2.18 [[ 9.97947505e-01 -6.35494525e-02 -7.88955225e-03 2.41075706e+02] [ 6.35499841e-02 9.97978640e-01 -1.83549761e-04 3.40980919e+00] [ 7.88526911e-03 -3.18207894e-04 9.99968860e-01 2.18418216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07925415399998 meters Centerline goodness [0,1] 0.9990004164931279 Centerline is valid? [True, True] Translation: X:241.11, Y:3.41, Z:2.18 [[ 9.97800386e-01 -6.56893083e-02 -8.90534030e-03 2.41106938e+02] [ 6.56900754e-02 9.97840053e-01 -2.06644959e-04 3.40862566e+00] [ 8.89967960e-03 -3.78802057e-04 9.99960325e-01 2.18366182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10925415399998 meters Centerline goodness [0,1] 0.9988140071991843 Centerline is valid? [True, True] Translation: X:241.14, Y:3.41, Z:2.18 [[ 9.97714386e-01 -6.69324401e-02 -9.27641040e-03 2.41139468e+02] [ 6.69333346e-02 9.97757427e-01 -2.14352635e-04 3.41007413e+00] [ 9.26995452e-03 -4.07038373e-04 9.99956950e-01 2.18295611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13925415399999 meters Centerline goodness [0,1] 0.9987936270227546 Centerline is valid? [True, True] Translation: X:241.17, Y:3.41, Z:2.19 [[ 9.97584215e-01 -6.88974006e-02 -8.88158180e-03 2.41171166e+02] [ 6.88983037e-02 9.97623667e-01 -2.04608299e-04 3.40985011e+00] [ 8.87457319e-03 -4.07811910e-04 9.99960537e-01 2.18570724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.169254154 meters Centerline goodness [0,1] 0.9988618962877126 Centerline is valid? [True, True] Translation: X:241.20, Y:3.41, Z:2.19 [[ 9.97487152e-01 -7.02319653e-02 -9.31952209e-03 2.41203426e+02] [ 7.02330227e-02 9.97530589e-01 -2.14169892e-04 3.41054454e+00] [ 9.31154993e-03 -4.40906491e-04 9.99956549e-01 2.18603213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19925415399996 meters Centerline goodness [0,1] 0.9987539717151579 Centerline is valid? [True, True] Translation: X:241.24, Y:3.41, Z:2.19 [[ 9.97409000e-01 -7.13237297e-02 -9.39214445e-03 2.41235415e+02] [ 7.13248583e-02 9.97453116e-01 -2.15156357e-04 3.41246163e+00] [ 9.38356950e-03 -4.55294485e-04 9.99955870e-01 2.18578904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22925415399996 meters Centerline goodness [0,1] 0.998922056384743 Centerline is valid? [True, True] Translation: X:241.27, Y:3.41, Z:2.19 [[ 9.97323619e-01 -7.24854007e-02 -9.56378429e-03 2.41266896e+02] [ 7.24866310e-02 9.97369360e-01 -2.18380325e-04 3.41249476e+00] [ 9.55445480e-03 -4.75450647e-04 9.99954242e-01 2.18702549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25925415399996 meters Centerline goodness [0,1] 0.9987562704697152 Centerline is valid? [True, True] Translation: X:241.30, Y:3.41, Z:2.19 [[ 9.97311368e-01 -7.26203583e-02 -9.81418931e-03 2.41298392e+02] [ 7.26216660e-02 9.97359536e-01 -2.23523729e-04 3.41122586e+00] [ 9.80450767e-03 -4.89800023e-04 9.99951815e-01 2.18685478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28925415399996 meters Centerline goodness [0,1] 0.9989808016307173 Centerline is valid? [True, True] Translation: X:241.33, Y:3.42, Z:2.19 [[ 9.97307515e-01 -7.26173882e-02 -1.02193760e-02 2.41330610e+02] [ 7.26188180e-02 9.97359741e-01 -2.31585356e-04 3.41615327e+00] [ 1.02092113e-02 -5.11157188e-04 9.99947754e-01 2.18734928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31925415399996 meters Centerline goodness [0,1] 0.9987130254281267 Centerline is valid? [True, True] Translation: X:241.36, Y:3.42, Z:2.19 [[ 9.97360265e-01 -7.17295540e-02 -1.12859513e-02 2.41361852e+02] [ 7.17312522e-02 9.97423963e-01 -2.54763575e-04 3.41784226e+00] [ 1.12751523e-02 -5.55464352e-04 9.99936279e-01 2.18679926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34925415399996 meters Centerline goodness [0,1] 0.9989413596263622 Centerline is valid? [True, True] Translation: X:241.39, Y:3.42, Z:2.19 [[ 9.97399164e-01 -7.11354001e-02 -1.16044453e-02 2.41392722e+02] [ 7.11371707e-02 9.97466508e-01 -2.60641169e-04 3.41864330e+00] [ 1.15935864e-02 -5.65544125e-04 9.99932632e-01 2.18657444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37925415399997 meters Centerline goodness [0,1] 0.9989208483791973 Centerline is valid? [True, True] Translation: X:241.42, Y:3.42, Z:2.19 [[ 9.97441441e-01 -7.04303503e-02 -1.22530328e-02 2.41424389e+02] [ 7.04322802e-02 9.97516525e-01 -2.74477561e-04 3.42209072e+00] [ 1.22419343e-02 -5.89233748e-04 9.99924891e-01 2.18671120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40925415399997 meters Centerline goodness [0,1] 0.9988985639768075 Centerline is valid? [True, True] Translation: X:241.46, Y:3.43, Z:2.19 [[ 9.97551003e-01 -6.87892003e-02 -1.26507830e-02 2.41456088e+02] [ 6.87911368e-02 9.97631044e-01 -2.82528530e-04 3.42650683e+00] [ 1.26402487e-02 -5.88425123e-04 9.99919936e-01 2.18634052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43925415399997 meters Centerline goodness [0,1] 0.9990234983690345 Centerline is valid? [True, True] Translation: X:241.49, Y:3.43, Z:2.19 [[ 9.97646498e-01 -6.73837421e-02 -1.26844589e-02 2.41488077e+02] [ 6.73855849e-02 9.97726968e-01 -2.82546471e-04 3.43105100e+00] [ 1.26746658e-02 -5.72868186e-04 9.99919509e-01 2.18646137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46925415399997 meters Centerline goodness [0,1] 0.9987512487512488 Centerline is valid? [True, True] Translation: X:241.52, Y:3.43, Z:2.19 [[ 9.97755741e-01 -6.57310289e-02 -1.27637572e-02 2.41520127e+02] [ 6.57327715e-02 9.97837222e-01 -2.83397356e-04 3.43363249e+00] [ 1.27547800e-02 -5.56235794e-04 9.99918500e-01 2.18639746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49925415399997 meters Centerline goodness [0,1] 0.9988759367194004 Centerline is valid? [True, True] Translation: X:241.55, Y:3.44, Z:2.19 [[ 9.97873297e-01 -6.39633692e-02 -1.25527366e-02 2.41552244e+02] [ 6.39649260e-02 9.97952109e-01 -2.77833287e-04 3.43658421e+00] [ 1.25448012e-02 -5.25692452e-04 9.99921173e-01 2.18648493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52925415399997 meters Centerline goodness [0,1] 0.9988754217168562 Centerline is valid? [True, True] Translation: X:241.58, Y:3.44, Z:2.19 [[ 9.97999443e-01 -6.20424538e-02 -1.21592177e-02 2.41583301e+02] [ 6.20437811e-02 9.98073393e-01 -2.68385264e-04 3.43986568e+00] [ 1.21524429e-02 -4.86555496e-04 9.99926038e-01 2.18688610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55925415399997 meters Centerline goodness [0,1] 0.9988134146595333 Centerline is valid? [True, True] Translation: X:241.61, Y:3.45, Z:2.19 [[ 9.98272060e-01 -5.75531250e-02 -1.18546402e-02 2.41613353e+02] [ 5.75540743e-02 9.98342356e-01 -2.61341516e-04 3.44679132e+00] [ 1.18500304e-02 -4.21392910e-04 9.99929697e-01 2.18683654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58925415399997 meters Centerline goodness [0,1] 0.9988978310146194 Centerline is valid? [True, True] Translation: X:241.64, Y:3.45, Z:2.19 [[ 9.98404245e-01 -5.51010995e-02 -1.23625344e-02 2.41643839e+02] [ 5.51019447e-02 9.98480697e-01 -2.72487119e-04 3.44989580e+00] [ 1.23587663e-02 -4.09147392e-04 9.99923544e-01 2.18634481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61925415399998 meters Centerline goodness [0,1] 0.9988549777241121 Centerline is valid? [True, True] Translation: X:241.67, Y:3.45, Z:2.19 [[ 9.98555657e-01 -5.22231962e-02 -1.26229400e-02 2.41674553e+02] [ 5.22238512e-02 9.98635365e-01 -2.77954523e-04 3.45418677e+00] [ 1.26202299e-02 -3.81665478e-04 9.99920289e-01 2.18615085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64925415399998 meters Centerline goodness [0,1] 0.9988533544594087 Centerline is valid? [True, True] Translation: X:241.71, Y:3.46, Z:2.19 [[ 9.98703128e-01 -4.92703196e-02 -1.28256288e-02 2.41705524e+02] [ 4.92707580e-02 9.98785419e-01 -2.81982008e-04 3.45980352e+00] [ 1.28239444e-02 -3.50312139e-04 9.99917708e-01 2.18613484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67925415399998 meters Centerline goodness [0,1] 0.9990384615384615 Centerline is valid? [True, True] Translation: X:241.73, Y:3.47, Z:2.19 [[ 9.99005858e-01 -4.27186704e-02 -1.27440779e-02 2.41734915e+02] [ 4.27185736e-02 9.99087106e-01 -2.79930014e-04 3.46833743e+00] [ 1.27444021e-02 -2.64757106e-04 9.99918752e-01 2.18627842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70925415399998 meters Centerline goodness [0,1] 0.9989767364156539 Centerline is valid? [True, True] Translation: X:241.77, Y:3.47, Z:2.19 [[ 9.99136555e-01 -3.95673809e-02 -1.26715179e-02 2.41765804e+02] [ 3.95670314e-02 9.99216880e-01 -2.78382416e-04 3.47306615e+00] [ 1.26726094e-02 -2.23232297e-04 9.99919674e-01 2.18707106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73925415399998 meters Centerline goodness [0,1] 0.9990408473904794 Centerline is valid? [True, True] Translation: X:241.80, Y:3.48, Z:2.19 [[ 9.99342444e-01 -3.41705696e-02 -1.21264832e-02 2.41797262e+02] [ 3.41698569e-02 9.99416005e-01 -2.66019514e-04 3.48105035e+00] [ 1.21284915e-02 -1.48515605e-04 9.99926436e-01 2.18850443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76925415399998 meters Centerline goodness [0,1] 0.9992066308954631 Centerline is valid? [True, True] Translation: X:241.83, Y:3.48, Z:2.19 [[ 9.99414898e-01 -3.20287511e-02 -1.20008643e-02 2.41828827e+02] [ 3.20279033e-02 9.99486941e-01 -2.62868215e-04 3.48456095e+00] [ 1.20031265e-02 -1.21648112e-04 9.99927952e-01 2.18939407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79925415399998 meters Centerline goodness [0,1] 0.999145726549152 Centerline is valid? [True, True] Translation: X:241.86, Y:3.49, Z:2.19 [[ 9.99474600e-01 -3.01383438e-02 -1.19249587e-02 2.41858817e+02] [ 3.01373764e-02 9.99545732e-01 -2.60858155e-04 3.48748115e+00] [ 1.19274034e-02 -9.86658670e-05 9.99928861e-01 2.18963900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82925415399998 meters Centerline goodness [0,1] 0.9992304972651457 Centerline is valid? [True, True] Translation: X:241.89, Y:3.49, Z:2.19 [[ 9.99510699e-01 -2.89245772e-02 -1.19050642e-02 2.41890402e+02] [ 2.89235297e-02 9.99581593e-01 -2.60189403e-04 3.48993276e+00] [ 1.19076089e-02 -8.42743850e-05 9.99929098e-01 2.19016332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85925415399998 meters Centerline goodness [0,1] 0.9990386624869384 Centerline is valid? [True, True] Translation: X:241.92, Y:3.49, Z:2.19 [[ 9.99524378e-01 -2.84422121e-02 -1.19188650e-02 2.41922073e+02] [ 2.84411324e-02 9.99595435e-01 -2.60109179e-04 3.49149440e+00] [ 1.19214411e-02 -7.90005525e-05 9.99928934e-01 2.19029914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88925415399999 meters Centerline goodness [0,1] 0.999247412982126 Centerline is valid? [True, True] Translation: X:241.95, Y:3.49, Z:2.19 [[ 9.99498783e-01 -2.89305449e-02 -1.28532337e-02 2.41952938e+02] [ 2.89293353e-02 9.99581420e-01 -2.80063139e-04 3.49234960e+00] [ 1.28559560e-02 -9.19127420e-05 9.99917355e-01 2.19020324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.919254154 meters Centerline goodness [0,1] 0.999078707678134 Centerline is valid? [True, True] Translation: X:241.98, Y:3.49, Z:2.19 [[ 9.99460860e-01 -3.00155065e-02 -1.33063133e-02 2.41983197e+02] [ 3.00143112e-02 9.99549427e-01 -2.89560328e-04 3.49241554e+00] [ 1.33090091e-02 -1.09975614e-04 9.99911425e-01 2.19023738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94925415399996 meters Centerline goodness [0,1] 0.9990374756753364 Centerline is valid? [True, True] Translation: X:242.01, Y:3.49, Z:2.19 [[ 9.99421114e-01 -3.12415057e-02 -1.34687061e-02 2.42014797e+02] [ 3.12403962e-02 9.99511857e-01 -2.92811993e-04 3.49236233e+00] [ 1.34712794e-02 -1.28125227e-04 9.99909250e-01 2.19070569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97925415399996 meters Centerline goodness [0,1] 0.9988076561029181 Centerline is valid? [True, True] Translation: X:242.04, Y:3.49, Z:2.19 [[ 9.99319357e-01 -3.42268074e-02 -1.37604147e-02 2.42044825e+02] [ 3.42259374e-02 9.99414076e-01 -2.98779826e-04 3.49027670e+00] [ 1.37625784e-02 -1.72386628e-04 9.99905276e-01 2.19133569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00925415399996 meters Centerline goodness [0,1] 0.9990789583856653 Centerline is valid? [True, True] Translation: X:242.08, Y:3.49, Z:2.19 [[ 9.99265081e-01 -3.55648323e-02 -1.42982821e-02 2.42075025e+02] [ 3.55640332e-02 9.99367352e-01 -3.10227378e-04 3.48910188e+00] [ 1.43002695e-02 -1.98505193e-04 9.99897726e-01 2.19136658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03925415399996 meters Centerline goodness [0,1] 0.9990390440577409 Centerline is valid? [True, True] Translation: X:242.11, Y:3.49, Z:2.19 [[ 9.99219620e-01 -3.68174647e-02 -1.43047277e-02 2.42105895e+02] [ 3.68167985e-02 9.99321984e-01 -3.10000127e-04 3.48824944e+00] [ 1.43064423e-02 -2.16896068e-04 9.99897634e-01 2.19186459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06925415399996 meters Centerline goodness [0,1] 0.9989113139603049 Centerline is valid? [True, True] Translation: X:242.14, Y:3.49, Z:2.19 [[ 9.99168193e-01 -3.80112421e-02 -1.47671125e-02 2.42136952e+02] [ 3.80106713e-02 9.99277282e-01 -3.19422579e-04 3.48737352e+00] [ 1.47685817e-02 -2.42150978e-04 9.99890909e-01 2.19175686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09925415399996 meters Centerline goodness [0,1] 0.9989970328889631 Centerline is valid? [True, True] Translation: X:242.17, Y:3.49, Z:2.19 [[ 9.99134984e-01 -3.87085444e-02 -1.51964845e-02 2.42168295e+02] [ 3.87080278e-02 9.99250510e-01 -3.28232771e-04 3.48688583e+00] [ 1.51978003e-02 -2.60277100e-04 9.99884473e-01 2.19158479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12925415399997 meters Centerline goodness [0,1] 0.9990585380141429 Centerline is valid? [True, True] Translation: X:242.20, Y:3.49, Z:2.19 [[ 9.99123882e-01 -3.88713879e-02 -1.55075109e-02 2.42199121e+02] [ 3.88708756e-02 9.99244186e-01 -3.34562396e-04 3.48640447e+00] [ 1.55087950e-02 -2.68521246e-04 9.99879695e-01 2.19146574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15925415399997 meters Centerline goodness [0,1] 0.9988502623492276 Centerline is valid? [True, True] Translation: X:242.23, Y:3.49, Z:2.19 [[ 9.99135912e-01 -3.86630477e-02 -1.52511907e-02 2.42229324e+02] [ 3.86625300e-02 9.99252271e-01 -3.28891447e-04 3.48692204e+00] [ 1.52525028e-02 -2.61042361e-04 9.99883640e-01 2.19147029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18925415399997 meters Centerline goodness [0,1] 0.9991027272916971 Centerline is valid? [True, True] Translation: X:242.26, Y:3.49, Z:2.19 [[ 9.99160796e-01 -3.82268080e-02 -1.47110718e-02 2.42259629e+02] [ 3.82262791e-02 9.99269058e-01 -3.17243800e-04 3.48726421e+00] [ 1.47124460e-02 -2.45371968e-04 9.99891736e-01 2.19155341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21925415399997 meters Centerline goodness [0,1] 0.9989168923141012 Centerline is valid? [True, True] Translation: X:242.29, Y:3.49, Z:2.19 [[ 9.99194478e-01 -3.74231077e-02 -1.44881233e-02 2.42290600e+02] [ 3.74225125e-02 9.99299484e-01 -3.12281486e-04 3.48795146e+00] [ 1.44896607e-02 -2.30152040e-04 9.99894993e-01 2.19089444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24925415399997 meters Centerline goodness [0,1] 0.9990594431903687 Centerline is valid? [True, True] Translation: X:242.32, Y:3.49, Z:2.19 [[ 9.99240123e-01 -3.62816480e-02 -1.42414204e-02 2.42321406e+02] [ 3.62809630e-02 9.99341582e-01 -3.06540529e-04 3.48873206e+00] [ 1.42431654e-02 -2.10384850e-04 9.99898539e-01 2.19080180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27925415399997 meters Centerline goodness [0,1] 0.9990388432687687 Centerline is valid? [True, True] Translation: X:242.35, Y:3.50, Z:2.19 [[ 9.99259280e-01 -3.56570929e-02 -1.44728640e-02 2.42352983e+02] [ 3.56563267e-02 9.99364063e-01 -3.11057054e-04 3.49541988e+00] [ 1.44747515e-02 -2.05222519e-04 9.99895214e-01 2.19244568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30925415399997 meters Centerline goodness [0,1] 0.9989958369071776 Centerline is valid? [True, True] Translation: X:242.38, Y:3.50, Z:2.19 [[ 9.99278775e-01 -3.50615995e-02 -1.45812792e-02 2.42383101e+02] [ 3.50607646e-02 9.99385133e-01 -3.12962464e-04 3.49580789e+00] [ 1.45832867e-02 -1.98494051e-04 9.99893639e-01 2.19205749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33925415399997 meters Centerline goodness [0,1] 0.9988701274245182 Centerline is valid? [True, True] Translation: X:242.41, Y:3.50, Z:2.19 [[ 9.99280422e-01 -3.49329007e-02 -1.47760335e-02 2.42414512e+02] [ 3.49320347e-02 9.99389640e-01 -3.16780453e-04 3.49788131e+00] [ 1.47780808e-02 -1.99604409e-04 9.99890778e-01 2.19231864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36925415399998 meters Centerline goodness [0,1] 0.9989744448397831 Centerline is valid? [True, True] Translation: X:242.44, Y:3.50, Z:2.19 [[ 9.99301390e-01 -3.45296176e-02 -1.42981617e-02 2.42444447e+02] [ 3.45287713e-02 9.99403657e-01 -3.06118942e-04 3.49864219e+00] [ 1.43002052e-02 -1.87792870e-04 9.99897729e-01 2.19257017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39925415399998 meters Centerline goodness [0,1] 0.9990365685083568 Centerline is valid? [True, True] Translation: X:242.48, Y:3.50, Z:2.19 [[ 9.99318354e-01 -3.42373582e-02 -1.38069339e-02 2.42475771e+02] [ 3.42365456e-02 9.99413714e-01 -2.95279785e-04 3.49992532e+00] [ 1.38089487e-02 -1.77623214e-04 9.99904636e-01 2.19346281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42925415399998 meters Centerline goodness [0,1] 0.9991416848099146 Centerline is valid? [True, True] Translation: X:242.51, Y:3.50, Z:2.19 [[ 9.99348145e-01 -3.35837946e-02 -1.32443937e-02 2.42505868e+02] [ 3.35829947e-02 9.99435892e-01 -2.82856490e-04 3.49877319e+00] [ 1.32464218e-02 -1.62114294e-04 9.99912249e-01 2.19363178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45925415399998 meters Centerline goodness [0,1] 0.9990369114167871 Centerline is valid? [True, True] Translation: X:242.54, Y:3.50, Z:2.20 [[ 9.99396152e-01 -3.25442750e-02 -1.21737742e-02 2.42537183e+02] [ 3.25435252e-02 9.99470285e-01 -2.59736245e-04 3.50296218e+00] [ 1.21757785e-02 -1.36598124e-04 9.99925863e-01 2.19577428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48925415399998 meters Centerline goodness [0,1] 0.9989765440608225 Centerline is valid? [True, True] Translation: X:242.57, Y:3.50, Z:2.20 [[ 9.99400936e-01 -3.24416249e-02 -1.20544368e-02 2.42568622e+02] [ 3.24408880e-02 9.99473623e-01 -2.56708826e-04 3.50322986e+00] [ 1.20564197e-02 -1.34501594e-04 9.99927310e-01 2.19613095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51925415399998 meters Centerline goodness [0,1] 0.9988512469192531 Centerline is valid? [True, True] Translation: X:242.60, Y:3.50, Z:2.20 [[ 9.99392079e-01 -3.27323467e-02 -1.20027878e-02 2.42600290e+02] [ 3.27316449e-02 9.99464144e-01 -2.54962789e-04 3.50401839e+00] [ 1.20047016e-02 -1.38063196e-04 9.99927931e-01 2.19661761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54925415399998 meters Centerline goodness [0,1] 0.9987675467914439 Centerline is valid? [True, True] Translation: X:242.63, Y:3.50, Z:2.20 [[ 9.99318255e-01 -3.44133835e-02 -1.33695169e-02 2.42631070e+02] [ 3.44126735e-02 9.99407668e-01 -2.83222323e-04 3.50373549e+00] [ 1.33713443e-02 -1.77051582e-04 9.99910584e-01 2.19634686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57925415399998 meters Centerline goodness [0,1] 0.9987675467914439 Centerline is valid? [True, True] Translation: X:242.66, Y:3.50, Z:2.20 [[ 9.99319465e-01 -3.43782174e-02 -1.33695304e-02 2.42661910e+02] [ 3.43775128e-02 9.99408879e-01 -2.82583455e-04 3.50435631e+00] [ 1.33713421e-02 -1.77220055e-04 9.99910584e-01 2.19663571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60925415399998 meters Centerline goodness [0,1] 0.9988284763917072 Centerline is valid? [True, True] Translation: X:242.69, Y:3.50, Z:2.20 [[ 9.99175116e-01 -3.77085865e-02 -1.50714880e-02 2.42692789e+02] [ 3.77080770e-02 9.99288747e-01 -3.18080540e-04 3.50372448e+00] [ 1.50727627e-02 -2.50498669e-04 9.99886368e-01 2.19595837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63925415399999 meters Centerline goodness [0,1] 0.9988496611729273 Centerline is valid? [True, True] Translation: X:242.72, Y:3.50, Z:2.20 [[ 9.99070027e-01 -4.00870260e-02 -1.58780106e-02 2.42723193e+02] [ 4.00867655e-02 9.99196146e-01 -3.34802940e-04 3.50077902e+00] [ 1.58786682e-02 -3.02006504e-04 9.99873880e-01 2.19548218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.669254154 meters Centerline goodness [0,1] 0.9988926265644261 Centerline is valid? [True, True] Translation: X:242.75, Y:3.50, Z:2.20 [[ 9.98949868e-01 -4.26639057e-02 -1.67018495e-02 2.42754198e+02] [ 4.26639847e-02 9.99089416e-01 -3.51735386e-04 3.50050326e+00] [ 1.67016474e-02 -3.61201434e-04 9.99860453e-01 2.19566125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69925415399996 meters Centerline goodness [0,1] 0.9987467886459052 Centerline is valid? [True, True] Translation: X:242.78, Y:3.50, Z:2.20 [[ 9.98836479e-01 -4.51296767e-02 -1.70000156e-02 2.42784643e+02] [ 4.51301235e-02 9.98981053e-01 -3.57542726e-04 3.49782255e+00] [ 1.69988293e-02 -4.10086086e-04 9.99855425e-01 2.19514569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72925415399996 meters Centerline goodness [0,1] 0.9989150165877272 Centerline is valid? [True, True] Translation: X:242.82, Y:3.50, Z:2.20 [[ 9.98584348e-01 -5.00286830e-02 -1.80673958e-02 2.42815580e+02] [ 5.00299949e-02 9.98747644e-01 -3.79656245e-04 3.49895460e+00] [ 1.80637626e-02 -5.24792933e-04 9.99836699e-01 2.19666845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75925415399996 meters Centerline goodness [0,1] 0.9988938053097345 Centerline is valid? [True, True] Translation: X:242.85, Y:3.50, Z:2.20 [[ 9.98481671e-01 -5.20410237e-02 -1.80578106e-02 2.42846966e+02] [ 5.20426719e-02 9.98644790e-01 -3.78961297e-04 3.49847867e+00] [ 1.80530600e-02 -5.61390804e-04 9.99836873e-01 2.19691519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78925415399996 meters Centerline goodness [0,1] 0.9988929966372162 Centerline is valid? [True, True] Translation: X:242.88, Y:3.50, Z:2.20 [[ 9.98385295e-01 -5.38005490e-02 -1.82291838e-02 2.42878499e+02] [ 5.38025340e-02 9.98551522e-01 -3.81878598e-04 3.49864523e+00] [ 1.82233245e-02 -5.99514303e-04 9.99833762e-01 2.19730464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81925415399996 meters Centerline goodness [0,1] 0.9988310929281122 Centerline is valid? [True, True] Translation: X:242.91, Y:3.50, Z:2.20 [[ 9.98325263e-01 -5.49768171e-02 -1.80060735e-02 2.42910431e+02] [ 5.49789626e-02 9.98487442e-01 -3.76217868e-04 3.49813113e+00] [ 1.79995215e-02 -6.14367437e-04 9.99837807e-01 2.19760518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84925415399996 meters Centerline goodness [0,1] 0.9987911377894495 Centerline is valid? [True, True] Translation: X:242.94, Y:3.50, Z:2.20 [[ 9.98248182e-01 -5.63510648e-02 -1.80311856e-02 2.42941903e+02] [ 5.63534700e-02 9.98410810e-01 -3.75084060e-04 3.49761503e+00] [ 1.80236670e-02 -6.41692896e-04 9.99837355e-01 2.19755721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87925415399997 meters Centerline goodness [0,1] 0.9986839081660365 Centerline is valid? [True, True] Translation: X:242.97, Y:3.50, Z:2.20 [[ 9.98212469e-01 -5.65965808e-02 -1.92013844e-02 2.42974076e+02] [ 5.65993891e-02 9.98396891e-01 -3.97592750e-04 3.49854394e+00] [ 1.91931049e-02 -6.89904587e-04 9.99815557e-01 2.19660186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90925415399997 meters Centerline goodness [0,1] 0.9986839081660365 Centerline is valid? [True, True] Translation: X:243.01, Y:3.50, Z:2.20 [[ 9.98216647e-01 -5.65228475e-02 -1.92014137e-02 2.43005779e+02] [ 5.65256695e-02 9.98401068e-01 -3.96174019e-04 3.49913961e+00] [ 1.91931048e-02 -6.89905263e-04 9.99815557e-01 2.19689876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93925415399997 meters Centerline goodness [0,1] 0.9985595290286216 Centerline is valid? [True, True] Translation: X:243.04, Y:3.50, Z:2.20 [[ 9.98216963e-01 -5.69892058e-02 -1.77517679e-02 2.43036490e+02] [ 5.69917216e-02 9.98374584e-01 -3.64550601e-04 3.49911731e+00] [ 1.77436893e-02 -6.47803219e-04 9.99842358e-01 2.19772367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96925415399997 meters Centerline goodness [0,1] 0.9987877774526607 Centerline is valid? [True, True] Translation: X:243.07, Y:3.50, Z:2.20 [[ 9.98243171e-01 -5.66094481e-02 -1.74911868e-02 2.43068750e+02] [ 5.66118635e-02 9.98396198e-01 -3.57417521e-04 3.50180323e+00] [ 1.74833676e-02 -6.33419078e-04 9.99846954e-01 2.19781738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99925415399997 meters Centerline goodness [0,1] 0.9987877774526607 Centerline is valid? [True, True] Translation: X:243.10, Y:3.50, Z:2.20 [[ 9.98247346e-01 -5.65357786e-02 -1.74912131e-02 2.43100454e+02] [ 5.65382053e-02 9.98400373e-01 -3.56126509e-04 3.50239009e+00] [ 1.74833675e-02 -6.33419453e-04 9.99846954e-01 2.19811428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02925415399997 meters Centerline goodness [0,1] 0.9986209778520685 Centerline is valid? [True, True] Translation: X:243.13, Y:3.50, Z:2.20 [[ 9.98345501e-01 -5.49368027e-02 -1.69767163e-02 2.43132082e+02] [ 5.49388786e-02 9.98489660e-01 -3.44423057e-04 3.50460510e+00] [ 1.69699972e-02 -5.88828547e-04 9.99855826e-01 2.19784777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05925415399997 meters Centerline goodness [0,1] 0.9986608077003557 Centerline is valid? [True, True] Translation: X:243.16, Y:3.51, Z:2.20 [[ 9.98414983e-01 -5.38195549e-02 -1.64613898e-02 2.43164033e+02] [ 5.38213745e-02 9.98550524e-01 -3.32776108e-04 3.50815559e+00] [ 1.64554393e-02 -5.53725976e-04 9.99864447e-01 2.19839363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08925415399997 meters Centerline goodness [0,1] 0.9988290642969159 Centerline is valid? [True, True] Translation: X:243.19, Y:3.51, Z:2.20 [[ 9.98487649e-01 -5.24242466e-02 -1.65563714e-02 2.43194987e+02] [ 5.24259140e-02 9.98624760e-01 -3.33597938e-04 3.50691214e+00] [ 1.65510910e-02 -5.34889482e-04 9.99862878e-01 2.19808688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11925415399998 meters Centerline goodness [0,1] 0.9988262910798122 Centerline is valid? [True, True] Translation: X:243.23, Y:3.51, Z:2.20 [[ 9.98623245e-01 -4.98769991e-02 -1.62449911e-02 2.43225105e+02] [ 4.98782777e-02 9.98755251e-01 -3.26695346e-04 3.51036031e+00] [ 1.62410647e-02 -4.84026612e-04 9.99867988e-01 2.19834000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14925415399998 meters Centerline goodness [0,1] 0.9991193306913254 Centerline is valid? [True, True] Translation: X:243.26, Y:3.52, Z:2.20 [[ 9.98695138e-01 -4.84251772e-02 -1.62180193e-02 2.43257360e+02] [ 4.84262712e-02 9.98826707e-01 -3.25488721e-04 3.51538890e+00] [ 1.62147527e-02 -4.60314198e-04 9.99868426e-01 2.19959680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17925415399998 meters Centerline goodness [0,1] 0.9986384583158777 Centerline is valid? [True, True] Translation: X:243.29, Y:3.52, Z:2.20 [[ 9.98764880e-01 -4.69024750e-02 -1.63973126e-02 2.43289775e+02] [ 4.69034079e-02 9.98899376e-01 -3.27882718e-04 3.51745861e+00] [ 1.63946438e-02 -4.41612099e-04 9.99865501e-01 2.19967382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20925415399998 meters Centerline goodness [0,1] 0.9988471293520867 Centerline is valid? [True, True] Translation: X:243.32, Y:3.52, Z:2.20 [[ 9.98836146e-01 -4.52835732e-02 -1.66057806e-02 2.43321909e+02] [ 4.52843265e-02 9.98974084e-01 -3.30840396e-04 3.51954753e+00] [ 1.66037261e-02 -4.21526244e-04 9.99862060e-01 2.19986662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23925415399998 meters Centerline goodness [0,1] 0.9987411090828979 Centerline is valid? [True, True] Translation: X:243.35, Y:3.52, Z:2.20 [[ 9.98910650e-01 -4.35053153e-02 -1.68760689e-02 2.43352972e+02] [ 4.35058559e-02 9.99053116e-01 -3.35268243e-04 3.52261925e+00] [ 1.68746752e-02 -3.99304806e-04 9.99857533e-01 2.20010147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26925415399998 meters Centerline goodness [0,1] 0.9990344248530647 Centerline is valid? [True, True] Translation: X:243.38, Y:3.53, Z:2.20 [[ 9.99043505e-01 -3.99840327e-02 -1.77017385e-02 2.43383883e+02] [ 3.99840868e-02 9.99200255e-01 -3.51010627e-04 3.52805001e+00] [ 1.77016164e-02 -3.57112959e-04 9.99843250e-01 2.20053297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29925415399998 meters Centerline goodness [0,1] 0.9992027860529518 Centerline is valid? [True, True] Translation: X:243.41, Y:3.53, Z:2.20 [[ 9.99120082e-01 -3.81884124e-02 -1.73409249e-02 2.43414816e+02] [ 3.81882047e-02 9.99270506e-01 -3.43228823e-04 3.53029129e+00] [ 1.73413821e-02 -3.19291980e-04 9.99849576e-01 2.20063514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32925415399998 meters Centerline goodness [0,1] 0.9990965437545961 Centerline is valid? [True, True] Translation: X:243.45, Y:3.53, Z:2.20 [[ 9.99182703e-01 -3.65220811e-02 -1.73223386e-02 2.43446502e+02] [ 3.65216345e-02 9.99332804e-01 -3.42230784e-04 3.53256556e+00] [ 1.73232802e-02 -2.90689041e-04 9.99849898e-01 2.20075702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35925415399998 meters Centerline goodness [0,1] 0.9991799314506802 Centerline is valid? [True, True] Translation: X:243.48, Y:3.54, Z:2.20 [[ 9.99274950e-01 -3.40049779e-02 -1.71241174e-02 2.43476691e+02] [ 3.40041801e-02 9.99421634e-01 -3.37837761e-04 3.53507308e+00] [ 1.71257015e-02 -2.44698759e-04 9.99853314e-01 2.20050096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38925415399999 meters Centerline goodness [0,1] 0.9989475899810566 Centerline is valid? [True, True] Translation: X:243.51, Y:3.54, Z:2.20 [[ 9.99308791e-01 -3.30301781e-02 -1.70571803e-02 2.43508300e+02] [ 3.30292521e-02 9.99454329e-01 -3.36074426e-04 3.53832354e+00] [ 1.70589733e-02 -2.27543781e-04 9.99854459e-01 2.20161977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419254154 meters Centerline goodness [0,1] 0.99909652477203 Centerline is valid? [True, True] Translation: X:243.54, Y:3.54, Z:2.20 [[ 9.99343560e-01 -3.21521886e-02 -1.66939103e-02 2.43538429e+02] [ 3.21511847e-02 9.99482963e-01 -3.28590080e-04 3.54037000e+00] [ 1.66958438e-02 -2.08354612e-04 9.99860593e-01 2.20209763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44925415399996 meters Centerline goodness [0,1] 0.999011753821569 Centerline is valid? [True, True] Translation: X:243.57, Y:3.54, Z:2.20 [[ 9.99386862e-01 -3.11949021e-02 -1.58989855e-02 2.43569393e+02] [ 3.11938742e-02 9.99513304e-01 -3.12704110e-04 3.54415895e+00] [ 1.59010023e-02 -1.83438575e-04 9.99873554e-01 2.20331896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47925415399996 meters Centerline goodness [0,1] 0.9990519330032656 Centerline is valid? [True, True] Translation: X:243.60, Y:3.54, Z:2.20 [[ 9.99393490e-01 -3.13636599e-02 -1.51318757e-02 2.43599759e+02] [ 3.13627546e-02 9.99508024e-01 -2.97185224e-04 3.54473020e+00] [ 1.51337520e-02 -1.77572325e-04 9.99885462e-01 2.20369463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50925415399996 meters Centerline goodness [0,1] 0.9988000505241884 Centerline is valid? [True, True] Translation: X:243.63, Y:3.55, Z:2.20 [[ 9.99390978e-01 -3.18381881e-02 -1.42829905e-02 2.43631485e+02] [ 3.18374347e-02 9.99493021e-01 -2.80181265e-04 3.54561243e+00] [ 1.42846698e-02 -1.74723150e-04 9.99897954e-01 2.20408669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53925415399996 meters Centerline goodness [0,1] 0.9989894524095244 Centerline is valid? [True, True] Translation: X:243.66, Y:3.55, Z:2.20 [[ 9.99363462e-01 -3.29849471e-02 -1.35891367e-02 2.43662148e+02] [ 3.29843785e-02 9.99455832e-01 -2.66025618e-04 3.54574391e+00] [ 1.35905168e-02 -1.82372946e-04 9.99907628e-01 2.20458962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56925415399996 meters Centerline goodness [0,1] 0.9989888776541962 Centerline is valid? [True, True] Translation: X:243.69, Y:3.54, Z:2.20 [[ 9.99233091e-01 -3.70023333e-02 -1.28084668e-02 2.43692845e+02] [ 3.70021696e-02 9.99315154e-01 -2.49841037e-04 3.54347028e+00] [ 1.28089396e-02 -2.24291628e-04 9.99917937e-01 2.20466355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59925415399996 meters Centerline goodness [0,1] 0.9989666371420136 Centerline is valid? [True, True] Translation: X:243.73, Y:3.55, Z:2.21 [[ 9.99139623e-01 -3.95648268e-02 -1.24353536e-02 2.43725209e+02] [ 3.95648873e-02 9.99216974e-01 -2.41244763e-04 3.54580084e+00] [ 1.24351612e-02 -2.50966161e-04 9.99922649e-01 2.20527527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62925415399997 meters Centerline goodness [0,1] 0.9987359639328376 Centerline is valid? [True, True] Translation: X:243.76, Y:3.54, Z:2.21 [[ 9.99028803e-01 -4.23179626e-02 -1.22735908e-02 2.43756883e+02] [ 4.23182413e-02 9.99104154e-01 -2.37113803e-04 3.54498237e+00] [ 1.22726298e-02 -2.82513260e-04 9.99924649e-01 2.20512918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65925415399997 meters Centerline goodness [0,1] 0.9989054935802989 Centerline is valid? [True, True] Translation: X:243.79, Y:3.54, Z:2.20 [[ 9.98787865e-01 -4.77707439e-02 -1.18640917e-02 2.43787463e+02] [ 4.77714006e-02 9.98858269e-01 -2.28196637e-04 3.53752639e+00] [ 1.18614473e-02 -3.38844248e-04 9.99929593e-01 2.20477063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68925415399997 meters Centerline goodness [0,1] 0.9985486517184805 Centerline is valid? [True, True] Translation: X:243.82, Y:3.54, Z:2.21 [[ 9.98648024e-01 -5.06157255e-02 -1.18394580e-02 2.43819197e+02] [ 5.06165828e-02 9.98718133e-01 -2.27417192e-04 3.54199459e+00] [ 1.18357923e-02 -3.72163180e-04 9.99929885e-01 2.20533014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71925415399997 meters Centerline goodness [0,1] 0.9986751624503186 Centerline is valid? [True, True] Translation: X:243.85, Y:3.54, Z:2.21 [[ 9.98507536e-01 -5.33303312e-02 -1.17718594e-02 2.43851610e+02] [ 5.33313752e-02 9.98576844e-01 -2.25433448e-04 3.54101274e+00] [ 1.17671287e-02 -4.02712457e-04 9.99930684e-01 2.20558853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74925415399997 meters Centerline goodness [0,1] 0.9989699823425544 Centerline is valid? [True, True] Translation: X:243.88, Y:3.54, Z:2.21 [[ 9.98344315e-01 -5.62728703e-02 -1.19160415e-02 2.43883448e+02] [ 5.62741593e-02 9.98415328e-01 -2.27364802e-04 3.54052592e+00] [ 1.19099530e-02 -4.43576861e-04 9.99928976e-01 2.20583963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77925415399997 meters Centerline goodness [0,1] 0.9987596964409594 Centerline is valid? [True, True] Translation: X:243.91, Y:3.54, Z:2.21 [[ 9.98005578e-01 -6.20183536e-02 -1.17724571e-02 2.43914224e+02] [ 6.20200171e-02 9.98074881e-01 -2.24072793e-04 3.53881344e+00] [ 1.17636903e-02 -5.06502090e-04 9.99930677e-01 2.20660858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80925415399997 meters Centerline goodness [0,1] 0.9986328741192554 Centerline is valid? [True, True] Translation: X:243.95, Y:3.54, Z:2.21 [[ 9.97844349e-01 -6.45931755e-02 -1.15920941e-02 2.43946051e+02] [ 6.45949651e-02 9.97911540e-01 -2.20349512e-04 3.53961776e+00] [ 1.15821176e-02 -5.28916401e-04 9.99932785e-01 2.20707757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83925415399997 meters Centerline goodness [0,1] 0.9985094054417198 Centerline is valid? [True, True] Translation: X:243.98, Y:3.53, Z:2.21 [[ 9.97725720e-01 -6.63970172e-02 -1.16113243e-02 2.43977218e+02] [ 6.63989422e-02 9.97793131e-01 -2.20062761e-04 3.53413213e+00] [ 1.16003111e-02 -5.51417374e-04 9.99932562e-01 2.20722345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86925415399998 meters Centerline goodness [0,1] 0.9986331041154081 Centerline is valid? [True, True] Translation: X:244.01, Y:3.54, Z:2.21 [[ 9.97634098e-01 -6.78609459e-02 -1.10044963e-02 2.44008881e+02] [ 6.78627702e-02 9.97694643e-01 -2.07978007e-04 3.53667470e+00] [ 1.09932406e-02 -5.39309650e-04 9.99939427e-01 2.20770443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89925415399998 meters Centerline goodness [0,1] 0.9983401617816997 Centerline is valid? [True, True] Translation: X:244.04, Y:3.54, Z:2.21 [[ 9.97545111e-01 -6.91702925e-02 -1.09188541e-02 2.44041160e+02] [ 6.91721735e-02 9.97604715e-01 -2.05742580e-04 3.53872659e+00] [ 1.09069317e-02 -5.50043368e-04 9.99940366e-01 2.20782081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92925415399998 meters Centerline goodness [0,1] 0.998321056055741 Centerline is valid? [True, True] Translation: X:244.07, Y:3.54, Z:2.21 [[ 9.97551792e-01 -6.90256757e-02 -1.12195594e-02 2.44073551e+02] [ 6.90276622e-02 9.97614724e-01 -2.10545686e-04 3.53871915e+00] [ 1.12073307e-02 -5.64429730e-04 9.99937037e-01 2.20835231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95925415399998 meters Centerline goodness [0,1] 0.9982739385774728 Centerline is valid? [True, True] Translation: X:244.11, Y:3.54, Z:2.21 [[ 9.97560761e-01 -6.88642168e-02 -1.14126029e-02 2.44105308e+02] [ 6.88662733e-02 9.97625877e-01 -2.13163342e-04 3.54151322e+00] [ 1.14001873e-02 -5.73300042e-04 9.99934851e-01 2.20841837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98925415399998 meters Centerline goodness [0,1] 0.9983596904441454 Centerline is valid? [True, True] Translation: X:244.14, Y:3.55, Z:2.21 [[ 9.97611656e-01 -6.80934169e-02 -1.15874741e-02 2.44137040e+02] [ 6.80954948e-02 9.97678785e-01 -2.15587280e-04 3.54630719e+00] [ 1.15752572e-02 -5.73982401e-04 9.99932840e-01 2.20872011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01925415399998 meters Centerline goodness [0,1] 0.9984198550480364 Centerline is valid? [True, True] Translation: X:244.17, Y:3.55, Z:2.21 [[ 9.97723442e-01 -6.64730608e-02 -1.13694867e-02 2.44168215e+02] [ 6.64749651e-02 9.97788071e-01 -2.10747942e-04 3.54612580e+00] [ 1.13583472e-02 -5.45518066e-04 9.99935343e-01 2.20889891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04925415399998 meters Centerline goodness [0,1] 0.998442695399638 Centerline is valid? [True, True] Translation: X:244.20, Y:3.55, Z:2.21 [[ 9.97808214e-01 -6.50918302e-02 -1.19088825e-02 2.44200528e+02] [ 6.50938299e-02 9.97879123e-01 -2.20028905e-04 3.55070888e+00] [ 1.18979473e-02 -5.55648124e-04 9.99929063e-01 2.20885227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07925415399998 meters Centerline goodness [0,1] 0.99877711948386 Centerline is valid? [True, True] Translation: X:244.23, Y:3.56, Z:2.21 [[ 9.97992677e-01 -6.20902510e-02 -1.24666880e-02 2.44232131e+02] [ 6.20922194e-02 9.98070390e-01 -2.29469722e-04 3.55628072e+00] [ 1.24568799e-02 -5.45075223e-04 9.99922261e-01 2.20875524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10925415399998 meters Centerline goodness [0,1] 0.9987783558354572 Centerline is valid? [True, True] Translation: X:244.26, Y:3.56, Z:2.21 [[ 9.98109904e-01 -6.00753616e-02 -1.29449174e-02 2.44264448e+02] [ 6.00773250e-02 9.98193698e-01 -2.37488272e-04 3.56261498e+00] [ 1.29358021e-02 -5.40656610e-04 9.99916183e-01 2.20850118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13925415399999 meters Centerline goodness [0,1] 0.999049068086725 Centerline is valid? [True, True] Translation: X:244.30, Y:3.57, Z:2.21 [[ 9.98212865e-01 -5.81308710e-02 -1.38519875e-02 2.44296433e+02] [ 5.81329471e-02 9.98308818e-01 -2.53060054e-04 3.56632259e+00] [ 1.38432719e-02 -5.52649054e-04 9.99904025e-01 2.20816738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.169254154 meters Centerline goodness [0,1] 0.9985821306132814 Centerline is valid? [True, True] Translation: X:244.33, Y:3.57, Z:2.21 [[ 9.98333265e-01 -5.58956794e-02 -1.43653850e-02 2.44328663e+02] [ 5.58976969e-02 9.98436467e-01 -2.61353621e-04 3.57047656e+00] [ 1.43575328e-02 -5.42073922e-04 9.99896778e-01 2.20786592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19925415399996 meters Centerline goodness [0,1] 0.9989601680707935 Centerline is valid? [True, True] Translation: X:244.36, Y:3.58, Z:2.21 [[ 9.98612804e-01 -5.05113692e-02 -1.48683678e-02 2.44359768e+02] [ 5.05129464e-02 9.98723370e-01 -2.69685397e-04 3.57761938e+00] [ 1.48630086e-02 -4.81733776e-04 9.99889423e-01 2.20597040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22925415399996 meters Centerline goodness [0,1] 0.9989154704944179 Centerline is valid? [True, True] Translation: X:244.39, Y:3.58, Z:2.21 [[ 9.98748742e-01 -4.80100195e-02 -1.39995926e-02 2.44392297e+02] [ 4.80111818e-02 9.98846766e-01 -2.53243712e-04 3.58115058e+00] [ 1.39956060e-02 -4.19210147e-04 9.99901969e-01 2.20763153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25925415399996 meters Centerline goodness [0,1] 0.9991055456171736 Centerline is valid? [True, True] Translation: X:244.42, Y:3.59, Z:2.21 [[ 9.98909765e-01 -4.47654991e-02 -1.32412916e-02 2.44423498e+02] [ 4.47662691e-02 9.98997460e-01 -2.38387082e-04 3.58509546e+00] [ 1.32386882e-02 -3.54636040e-04 9.99912302e-01 2.20844858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28925415399996 meters Centerline goodness [0,1] 0.9989149167038999 Centerline is valid? [True, True] Translation: X:244.46, Y:3.59, Z:2.21 [[ 9.99070937e-01 -4.12066245e-02 -1.26205184e-02 2.44455051e+02] [ 4.12070458e-02 9.99150603e-01 -2.26766214e-04 3.58948986e+00] [ 1.26191428e-02 -2.93498744e-04 9.99920332e-01 2.20918556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31925415399996 meters Centerline goodness [0,1] 0.9987220719473494 Centerline is valid? [True, True] Translation: X:244.49, Y:3.59, Z:2.21 [[ 9.99226799e-01 -3.73889745e-02 -1.21601120e-02 2.44486405e+02] [ 3.73890888e-02 9.99300760e-01 -2.18014849e-04 3.59344114e+00] [ 1.21597605e-02 -2.36809225e-04 9.99926039e-01 2.20989350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34925415399996 meters Centerline goodness [0,1] 0.9992310485507401 Centerline is valid? [True, True] Translation: X:244.52, Y:3.60, Z:2.21 [[ 9.99507498e-01 -2.93918286e-02 -1.09946349e-02 2.44517404e+02] [ 2.93914439e-02 9.99567959e-01 -1.96607575e-04 3.60346317e+00] [ 1.09956634e-02 -1.26637448e-04 9.99939538e-01 2.21205004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37925415399997 meters Centerline goodness [0,1] 0.9989508393285371 Centerline is valid? [True, True] Translation: X:244.55, Y:3.61, Z:2.21 [[ 9.99613086e-01 -2.57450260e-02 -1.05296101e-02 2.44549340e+02] [ 2.57444750e-02 9.99668538e-01 -1.87888638e-04 3.60809434e+00] [ 1.05309571e-02 -8.32633425e-05 9.99944544e-01 2.21274998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40925415399997 meters Centerline goodness [0,1] 0.9993999785706632 Centerline is valid? [True, True] Translation: X:244.58, Y:3.61, Z:2.21 [[ 9.99700077e-01 -2.23747465e-02 -9.95627623e-03 2.44581621e+02] [ 2.23740936e-02 9.99749653e-01 -1.76975551e-04 3.61151701e+00] [ 9.95774349e-03 -4.58401838e-05 9.99950419e-01 2.21340794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43925415399997 meters Centerline goodness [0,1] 0.9990565026267825 Centerline is valid? [True, True] Translation: X:244.61, Y:3.61, Z:2.21 [[ 9.99758883e-01 -1.95420525e-02 -1.00142139e-02 2.44613821e+02] [ 1.95412570e-02 9.99809036e-01 -1.77280862e-04 3.61439708e+00] [ 1.00157660e-02 -1.84522121e-05 9.99949841e-01 2.21375497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46925415399997 meters Centerline goodness [0,1] 0.9992491526150942 Centerline is valid? [True, True] Translation: X:244.64, Y:3.62, Z:2.21 [[ 9.99830880e-01 -1.58109251e-02 -9.39283644e-03 2.44644785e+02] [ 1.58100666e-02 9.99874999e-01 -1.65646771e-04 3.61790195e+00] [ 9.39428136e-03 1.71173871e-05 9.99955873e-01 2.21494480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49925415399997 meters Centerline goodness [0,1] 0.9990549016238508 Centerline is valid? [True, True] Translation: X:244.68, Y:3.62, Z:2.22 [[ 9.99845546e-01 -1.47972722e-02 -9.48285402e-03 2.44675051e+02] [ 1.47963549e-02 9.99890514e-01 -1.66890312e-04 3.61884238e+00] [ 9.48428530e-03 2.65528618e-05 9.99955023e-01 2.21517268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52925415399997 meters Centerline goodness [0,1] 0.9992687700281738 Centerline is valid? [True, True] Translation: X:244.71, Y:3.62, Z:2.22 [[ 9.99844644e-01 -1.48163393e-02 -9.54801733e-03 2.44706001e+02] [ 1.48154118e-02 9.99890232e-01 -1.67868028e-04 3.61893543e+00] [ 9.54945645e-03 2.63841400e-05 9.99954403e-01 2.21554544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55925415399997 meters Centerline goodness [0,1] 0.9992280972597453 Centerline is valid? [True, True] Translation: X:244.74, Y:3.62, Z:2.21 [[ 9.99801787e-01 -1.69243309e-02 -1.04858827e-02 2.44736830e+02] [ 1.69233288e-02 9.99856773e-01 -1.84289641e-04 3.61708153e+00] [ 1.04874998e-02 6.79707166e-06 9.99945005e-01 2.21454284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58925415399997 meters Centerline goodness [0,1] 0.9991207188659418 Centerline is valid? [True, True] Translation: X:244.77, Y:3.62, Z:2.21 [[ 9.99754651e-01 -1.91684974e-02 -1.10998470e-02 2.44767793e+02] [ 1.91675195e-02 9.99816267e-01 -1.94482892e-04 3.61553540e+00] [ 1.11015355e-02 -1.83213586e-05 9.99938376e-01 2.21415253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61925415399998 meters Centerline goodness [0,1] 0.9990593868912737 Centerline is valid? [True, True] Translation: X:244.80, Y:3.61, Z:2.21 [[ 9.99679729e-01 -2.22555198e-02 -1.20470469e-02 2.44798395e+02] [ 2.22545926e-02 9.99752314e-01 -2.11029574e-04 3.61314983e+00] [ 1.20487596e-02 -5.71401348e-05 9.99927409e-01 2.21311654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64925415399998 meters Centerline goodness [0,1] 0.9989503448866801 Centerline is valid? [True, True] Translation: X:244.83, Y:3.61, Z:2.21 [[ 9.99586012e-01 -2.57461441e-02 -1.28428952e-02 2.44829789e+02] [ 2.57453824e-02 9.99668507e-01 -2.24660946e-04 3.61007782e+00] [ 1.28444220e-02 -1.06077308e-04 9.99917501e-01 2.21237238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67925415399998 meters Centerline goodness [0,1] 0.9989313955973499 Centerline is valid? [True, True] Translation: X:244.86, Y:3.60, Z:2.21 [[ 9.99333418e-01 -3.38454444e-02 -1.36822774e-02 2.44862178e+02] [ 3.38453480e-02 9.99427054e-01 -2.38660764e-04 3.60447953e+00] [ 1.36825157e-02 -2.24579762e-04 9.99906365e-01 2.21215173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70925415399998 meters Centerline goodness [0,1] 0.998912579957356 Centerline is valid? [True, True] Translation: X:244.89, Y:3.60, Z:2.21 [[ 9.99180787e-01 -3.80957152e-02 -1.36554602e-02 2.44892837e+02] [ 3.80960276e-02 9.99274055e-01 -2.37332758e-04 3.60127919e+00] [ 1.36545884e-02 -2.83080456e-04 9.99906732e-01 2.21232286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73925415399998 meters Centerline goodness [0,1] 0.9989355813854472 Centerline is valid? [True, True] Translation: X:244.92, Y:3.60, Z:2.21 [[ 9.99012193e-01 -4.22710219e-02 -1.37040038e-02 2.44923852e+02] [ 4.22717372e-02 9.99106122e-01 -2.37586497e-04 3.59775233e+00] [ 1.37017972e-02 -3.41940241e-04 9.99906068e-01 2.21265105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76925415399998 meters Centerline goodness [0,1] 0.998813182155346 Centerline is valid? [True, True] Translation: X:244.95, Y:3.59, Z:2.21 [[ 9.98660707e-01 -5.00757101e-02 -1.30082786e-02 2.44954968e+02] [ 5.00770231e-02 9.98745333e-01 -2.24968277e-04 3.59188393e+00] [ 1.30032230e-02 -4.26748889e-04 9.99915363e-01 2.21355336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79925415399998 meters Centerline goodness [0,1] 0.9987066680801442 Centerline is valid? [True, True] Translation: X:244.99, Y:3.59, Z:2.21 [[ 9.98476368e-01 -5.37141152e-02 -1.26387186e-02 2.44985414e+02] [ 5.37156486e-02 9.98556249e-01 -2.18352144e-04 3.58829877e+00] [ 1.26322000e-02 -4.60877511e-04 9.99920104e-01 2.21376350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82925415399998 meters Centerline goodness [0,1] 0.9987066680801442 Centerline is valid? [True, True] Translation: X:245.02, Y:3.59, Z:2.21 [[ 9.98482192e-01 -5.36057325e-02 -1.26387276e-02 2.45017970e+02] [ 5.36072639e-02 9.98562073e-01 -2.17827411e-04 3.58876858e+00] [ 1.26322309e-02 -4.60030816e-04 9.99920104e-01 2.21406848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85925415399998 meters Centerline goodness [0,1] 0.9989824472144493 Centerline is valid? [True, True] Translation: X:245.05, Y:3.59, Z:2.21 [[ 9.98318032e-01 -5.66188354e-02 -1.24665619e-02 2.45049874e+02] [ 5.66205745e-02 9.98395746e-01 -2.13684215e-04 3.58828529e+00] [ 1.24586610e-02 -4.92539094e-04 9.99922267e-01 2.21436062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88925415399999 meters Centerline goodness [0,1] 0.998879445219671 Centerline is valid? [True, True] Translation: X:245.08, Y:3.58, Z:2.21 [[ 9.98000880e-01 -6.19944261e-02 -1.22855198e-02 2.45081236e+02] [ 6.19965284e-02 9.98076343e-01 -2.10013152e-04 3.58366172e+00] [ 1.22749063e-02 -5.52066264e-04 9.99924508e-01 2.21447788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919254154 meters Centerline goodness [0,1] 0.9982652845356463 Centerline is valid? [True, True] Translation: X:245.11, Y:3.58, Z:2.21 [[ 9.97860565e-01 -6.41783948e-02 -1.24670418e-02 2.45112741e+02] [ 6.41807366e-02 9.97938269e-01 -2.12569973e-04 3.58118386e+00] [ 1.24549805e-02 -5.88028735e-04 9.99922261e-01 2.21411567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94925415399996 meters Centerline goodness [0,1] 0.9990056066857083 Centerline is valid? [True, True] Translation: X:245.14, Y:3.58, Z:2.21 [[ 9.97729176e-01 -6.60677891e-02 -1.30972403e-02 2.45144563e+02] [ 6.60705542e-02 9.97814929e-01 -2.21925018e-04 3.58267912e+00] [ 1.30832840e-02 -6.43920861e-04 9.99914203e-01 2.21454712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97925415399996 meters Centerline goodness [0,1] 0.9986900485949715 Centerline is valid? [True, True] Translation: X:245.18, Y:3.58, Z:2.21 [[ 9.97470887e-01 -6.98020810e-02 -1.33976935e-02 2.45175600e+02] [ 6.98053186e-02 9.97560608e-01 -2.26405012e-04 3.58153456e+00] [ 1.33808148e-02 -7.09397854e-04 9.99910221e-01 2.21424608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00925415399996 meters Centerline goodness [0,1] 0.9987538546022895 Centerline is valid? [True, True] Translation: X:245.21, Y:3.58, Z:2.21 [[ 9.97369201e-01 -7.12553388e-02 -1.33173968e-02 2.45207158e+02] [ 7.12586720e-02 9.97457844e-01 -2.24657767e-04 3.57699556e+00] [ 1.32995500e-02 -7.24913276e-04 9.99911294e-01 2.21446982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03925415399996 meters Centerline goodness [0,1] 0.9987113674292837 Centerline is valid? [True, True] Translation: X:245.24, Y:3.58, Z:2.21 [[ 9.97269334e-01 -7.27304607e-02 -1.28123399e-02 2.45238919e+02] [ 7.27336759e-02 9.97351375e-01 -2.15457006e-04 3.57602257e+00] [ 1.27940751e-02 -7.17019913e-04 9.99917895e-01 2.21496404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06925415399996 meters Centerline goodness [0,1] 0.9986247170090768 Centerline is valid? [True, True] Translation: X:245.27, Y:3.58, Z:2.22 [[ 9.97173844e-01 -7.40332956e-02 -1.27826776e-02 2.45270723e+02] [ 7.40366122e-02 9.97255501e-01 -2.14207444e-04 3.58070569e+00] [ 1.27634540e-02 -7.32784082e-04 9.99918275e-01 2.21550631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09925415399996 meters Centerline goodness [0,1] 0.9986080647882571 Centerline is valid? [True, True] Translation: X:245.30, Y:3.58, Z:2.22 [[ 9.97001357e-01 -7.64168327e-02 -1.21968022e-02 2.45301745e+02] [ 7.64200387e-02 9.97075692e-01 -2.03671125e-04 3.58135976e+00] [ 1.21766989e-02 -7.29019711e-04 9.99925595e-01 2.21626592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12925415399997 meters Centerline goodness [0,1] 0.9987149778807668 Centerline is valid? [True, True] Translation: X:245.33, Y:3.58, Z:2.22 [[ 9.96944795e-01 -7.71044930e-02 -1.24889202e-02 2.45333371e+02] [ 7.71079125e-02 9.97022731e-01 -2.08195217e-04 3.57958551e+00] [ 1.24677901e-02 -7.55435427e-04 9.99921989e-01 2.21675915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15925415399997 meters Centerline goodness [0,1] 0.9990700820018599 Centerline is valid? [True, True] Translation: X:245.37, Y:3.58, Z:2.22 [[ 9.96936405e-01 -7.72350781e-02 -1.23510022e-02 2.45365721e+02] [ 7.72384416e-02 9.97012628e-01 -2.05157020e-04 3.58257470e+00] [ 1.23299505e-02 -7.49443662e-04 9.99923702e-01 2.21704499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18925415399997 meters Centerline goodness [0,1] 0.9989005877626961 Centerline is valid? [True, True] Translation: X:245.40, Y:3.58, Z:2.22 [[ 9.96953262e-01 -7.68904382e-02 -1.31169329e-02 2.45396788e+02] [ 7.68942145e-02 9.97039233e-01 -2.16937366e-04 3.58258941e+00] [ 1.30947771e-02 -7.92339837e-04 9.99913946e-01 2.21589449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21925415399997 meters Centerline goodness [0,1] 0.9988763330294486 Centerline is valid? [True, True] Translation: X:245.43, Y:3.59, Z:2.22 [[ 9.96960694e-01 -7.67198402e-02 -1.35440448e-02 2.45429903e+02] [ 7.67238642e-02 9.97052355e-01 -2.23012036e-04 3.58514922e+00] [ 1.35212312e-02 -8.16817221e-04 9.99908250e-01 2.21574093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24925415399997 meters Centerline goodness [0,1] 0.998686718915484 Centerline is valid? [True, True] Translation: X:245.46, Y:3.59, Z:2.22 [[ 9.96969647e-01 -7.65237898e-02 -1.39868909e-02 2.45461949e+02] [ 7.65280815e-02 9.97067400e-01 -2.28913516e-04 3.58610435e+00] [ 1.39633903e-02 -8.42170100e-04 9.99902152e-01 2.21530582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27925415399997 meters Centerline goodness [0,1] 0.9989182539345862 Centerline is valid? [True, True] Translation: X:245.50, Y:3.59, Z:2.22 [[ 9.96969649e-01 -7.64012478e-02 -1.46413211e-02 2.45495438e+02] [ 7.64059563e-02 9.97076764e-01 -2.38332089e-04 3.58931828e+00] [ 1.46167299e-02 -8.81074281e-04 9.99892782e-01 2.21501064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30925415399997 meters Centerline goodness [0,1] 0.998937662006544 Centerline is valid? [True, True] Translation: X:245.53, Y:3.59, Z:2.21 [[ 9.96926637e-01 -7.66116227e-02 -1.63688868e-02 2.45527487e+02] [ 7.66175637e-02 9.97060519e-01 -2.64782570e-04 3.59122957e+00] [ 1.63410562e-02 -9.90175428e-04 9.99865986e-01 2.21388083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33925415399997 meters Centerline goodness [0,1] 0.9987249776871095 Centerline is valid? [True, True] Translation: X:245.56, Y:3.59, Z:2.21 [[ 9.96920534e-01 -7.66173313e-02 -1.67102871e-02 2.45559973e+02] [ 7.66235443e-02 9.97060058e-01 -2.69063803e-04 3.59450638e+00] [ 1.66817748e-02 -1.01216620e-03 9.99860337e-01 2.21378951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36925415399998 meters Centerline goodness [0,1] 0.9988310308182784 Centerline is valid? [True, True] Translation: X:245.59, Y:3.59, Z:2.21 [[ 9.96926142e-01 -7.63852148e-02 -1.74231599e-02 2.45591200e+02] [ 7.63919543e-02 9.97077826e-01 -2.79377357e-04 3.59237316e+00] [ 1.73935867e-02 -1.05247064e-03 9.99848166e-01 2.21358449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39925415399998 meters Centerline goodness [0,1] 0.9990223582419451 Centerline is valid? [True, True] Translation: X:245.62, Y:3.59, Z:2.21 [[ 9.97003114e-01 -7.54810343e-02 -1.69530051e-02 2.45623089e+02] [ 7.54873023e-02 9.97146726e-01 -2.70799851e-04 3.59444099e+00] [ 1.69250738e-02 -1.00974833e-03 9.99856251e-01 2.21464901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42925415399998 meters Centerline goodness [0,1] 0.9989157932779184 Centerline is valid? [True, True] Translation: X:245.65, Y:3.60, Z:2.22 [[ 9.97104455e-01 -7.43893489e-02 -1.57775624e-02 2.45654013e+02] [ 7.43946565e-02 9.97228846e-01 -2.51067355e-04 3.59526320e+00] [ 1.57525171e-02 -9.23425954e-04 9.99875495e-01 2.21542059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45925415399998 meters Centerline goodness [0,1] 0.9988912107126103 Centerline is valid? [True, True] Translation: X:245.68, Y:3.61, Z:2.22 [[ 9.97434807e-01 -7.03118434e-02 -1.34183094e-02 2.45684540e+02] [ 7.03153208e-02 9.97524792e-01 -2.13028128e-04 3.60955943e+00] [ 1.34000747e-02 -7.31031060e-04 9.99909948e-01 2.21965210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48925415399998 meters Centerline goodness [0,1] 0.9991031007089776 Centerline is valid? [True, True] Translation: X:245.72, Y:3.61, Z:2.22 [[ 9.97645859e-01 -6.75555275e-02 -1.17894398e-02 2.45715786e+02] [ 6.75580228e-02 9.97715329e-01 -1.86924832e-04 3.61305024e+00] [ 1.17751326e-02 -6.09986458e-04 9.99930485e-01 2.22134128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51925415399998 meters Centerline goodness [0,1] 0.9990398975890762 Centerline is valid? [True, True] Translation: X:245.75, Y:3.62, Z:2.22 [[ 9.97876573e-01 -6.43079208e-02 -1.03362023e-02 2.45746174e+02] [ 6.43096682e-02 9.97929977e-01 -1.63560601e-04 3.61621523e+00] [ 1.03253244e-02 -5.01504449e-04 9.99946567e-01 2.22293964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54925415399998 meters Centerline goodness [0,1] 0.9991047066848567 Centerline is valid? [True, True] Translation: X:245.78, Y:3.62, Z:2.22 [[ 9.98095423e-01 -6.10106085e-02 -9.12311952e-03 2.45778074e+02] [ 6.10118336e-02 9.98137032e-01 -1.44235876e-04 3.62042586e+00] [ 9.11492336e-03 -4.12657082e-04 9.99958373e-01 2.22427569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57925415399998 meters Centerline goodness [0,1] 0.9991226943980828 Centerline is valid? [True, True] Translation: X:245.81, Y:3.62, Z:2.23 [[ 9.98298872e-01 -5.77122365e-02 -8.28615442e-03 2.45809259e+02] [ 5.77131372e-02 9.98333199e-01 -1.30577035e-04 3.62499376e+00] [ 8.27987895e-03 -3.47865060e-04 9.99965661e-01 2.22531765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60925415399998 meters Centerline goodness [0,1] 0.9991650431394378 Centerline is valid? [True, True] Translation: X:245.84, Y:3.63, Z:2.23 [[ 9.98637707e-01 -5.16139963e-02 -7.66327650e-03 2.45838584e+02] [ 5.16145900e-02 9.98667071e-01 -1.20412004e-04 3.63055886e+00] [ 7.65927685e-03 -2.75288907e-04 9.99970629e-01 2.22531110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63925415399999 meters Centerline goodness [0,1] 0.9993992963185446 Centerline is valid? [True, True] Translation: X:245.87, Y:3.63, Z:2.22 [[ 9.98760350e-01 -4.91682030e-02 -7.76210540e-03 2.45870738e+02] [ 4.91687361e-02 9.98790479e-01 -1.22253305e-04 3.63308490e+00] [ 7.75872794e-03 -2.59551158e-04 9.99969867e-01 2.22493396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.669254154 meters Centerline goodness [0,1] 0.9990984222389181 Centerline is valid? [True, True] Translation: X:245.90, Y:3.64, Z:2.22 [[ 9.98896685e-01 -4.60096751e-02 -9.40864708e-03 2.45901180e+02] [ 4.60103261e-02 9.98940953e-01 -1.47370502e-04 3.63622338e+00] [ 9.40546335e-03 -2.85687014e-04 9.99955727e-01 2.22311318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69925415399996 meters Centerline goodness [0,1] 0.9991404134611253 Centerline is valid? [True, True] Translation: X:245.93, Y:3.64, Z:2.22 [[ 9.98924129e-01 -4.51141942e-02 -1.07375326e-02 2.45933455e+02] [ 4.51149935e-02 9.98981786e-01 -1.67895947e-04 3.63838997e+00] [ 1.07341740e-02 -3.16708402e-04 9.99942337e-01 2.22256283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72925415399996 meters Centerline goodness [0,1] 0.9994183666874906 Centerline is valid? [True, True] Translation: X:245.97, Y:3.64, Z:2.22 [[ 9.98932604e-01 -4.47370970e-02 -1.14997655e-02 2.45965224e+02] [ 4.47379989e-02 9.98998738e-01 -1.78937149e-04 3.64053336e+00] [ 1.14962564e-02 -3.35730346e-04 9.99933859e-01 2.22239588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75925415399996 meters Centerline goodness [0,1] 0.9995476672554172 Centerline is valid? [True, True] Translation: X:246.00, Y:3.64, Z:2.22 [[ 9.98890167e-01 -4.51212267e-02 -1.35096128e-02 2.45996638e+02] [ 4.51225205e-02 9.98981438e-01 -2.09180551e-04 3.64030142e+00] [ 1.35052909e-02 -4.00639386e-04 9.99908719e-01 2.22045466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78925415399996 meters Centerline goodness [0,1] 0.9994612997759007 Centerline is valid? [True, True] Translation: X:246.03, Y:3.64, Z:2.22 [[ 9.98886781e-01 -4.50792906e-02 -1.38944429e-02 2.46029695e+02] [ 4.50806692e-02 9.98983327e-01 -2.14129041e-04 3.64022149e+00] [ 1.38899696e-02 -4.12480114e-04 9.99903445e-01 2.21987687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81925415399996 meters Centerline goodness [0,1] 0.9991167219613081 Centerline is valid? [True, True] Translation: X:246.06, Y:3.64, Z:2.22 [[ 9.98906363e-01 -4.45347471e-02 -1.42384893e-02 2.46061801e+02] [ 4.45361592e-02 9.99007749e-01 -2.18045307e-04 3.64239955e+00] [ 1.42340718e-02 -4.16320784e-04 9.99898604e-01 2.21966243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84925415399996 meters Centerline goodness [0,1] 0.9993104488546987 Centerline is valid? [True, True] Translation: X:246.09, Y:3.64, Z:2.22 [[ 9.98959525e-01 -4.33050017e-02 -1.43018977e-02 2.46093654e+02] [ 4.33063155e-02 9.99061818e-01 -2.17969195e-04 3.64371559e+00] [ 1.42979191e-02 -4.01620091e-04 9.99897699e-01 2.22001435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87925415399997 meters Centerline goodness [0,1] 0.9993104488546987 Centerline is valid? [True, True] Translation: X:246.13, Y:3.64, Z:2.22 [[ 9.98964272e-01 -4.31953472e-02 -1.43019163e-02 2.46126207e+02] [ 4.31966672e-02 9.99066565e-01 -2.16743479e-04 3.64411998e+00] [ 1.42979287e-02 -4.01276128e-04 9.99897699e-01 2.22031911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90925415399997 meters Centerline goodness [0,1] 0.9995035292593951 Centerline is valid? [True, True] Translation: X:246.16, Y:3.65, Z:2.22 [[ 9.99146759e-01 -3.90823685e-02 -1.33537331e-02 2.46156846e+02] [ 3.90831669e-02 9.99235941e-01 -2.01268999e-04 3.64697523e+00] [ 1.33513961e-02 -3.20808912e-04 9.99910815e-01 2.22192173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93925415399997 meters Centerline goodness [0,1] 0.999310270503287 Centerline is valid? [True, True] Translation: X:246.19, Y:3.65, Z:2.22 [[ 9.99256127e-01 -3.63510603e-02 -1.28760810e-02 2.46188876e+02] [ 3.63515835e-02 9.99339044e-01 -1.93490088e-04 3.64996168e+00] [ 1.28746040e-02 -2.74719776e-04 9.99917081e-01 2.22242719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96925415399997 meters Centerline goodness [0,1] 0.9994380686852968 Centerline is valid? [True, True] Translation: X:246.22, Y:3.65, Z:2.22 [[ 9.99468983e-01 -3.04442114e-02 -1.16147086e-02 2.46220343e+02] [ 3.04442463e-02 9.99536451e-01 -1.73846796e-04 3.65486049e+00] [ 1.16146173e-02 -1.79846568e-04 9.99932532e-01 2.22395821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99925415399997 meters Centerline goodness [0,1] 0.9995027672085783 Centerline is valid? [True, True] Translation: X:246.25, Y:3.66, Z:2.22 [[ 9.99555525e-01 -2.75839304e-02 -1.13083887e-02 2.46251904e+02] [ 2.75837854e-02 9.99619481e-01 -1.68822697e-04 3.65601382e+00] [ 1.13087424e-02 -1.43180507e-04 9.99936044e-01 2.22444788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02925415399997 meters Centerline goodness [0,1] 0.9998268473226267 Centerline is valid? [True, True] Translation: X:246.28, Y:3.66, Z:2.23 [[ 9.99628582e-01 -2.49812623e-02 -1.08919530e-02 2.46284476e+02] [ 2.49809798e-02 9.99687914e-01 -1.62006109e-04 3.65791165e+00] [ 1.08926009e-02 -1.10145719e-04 9.99940668e-01 2.22516825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05925415399997 meters Centerline goodness [0,1] 0.9995464362850972 Centerline is valid? [True, True] Translation: X:246.32, Y:3.66, Z:2.22 [[ 9.99702061e-01 -2.17409756e-02 -1.10959499e-02 2.46315842e+02] [ 2.17404915e-02 9.99763634e-01 -1.64256822e-04 3.65868411e+00] [ 1.10968983e-02 -7.70235198e-05 9.99938425e-01 2.22486394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08925415399997 meters Centerline goodness [0,1] 0.9996113737936395 Centerline is valid? [True, True] Translation: X:246.35, Y:3.66, Z:2.22 [[ 9.99725679e-01 -2.04807709e-02 -1.13624185e-02 2.46346926e+02] [ 2.04801886e-02 9.99790245e-01 -1.67614019e-04 3.65889672e+00] [ 1.13634681e-02 -6.51364360e-05 9.99935432e-01 2.22469695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11925415399998 meters Centerline goodness [0,1] 0.9995897303016562 Centerline is valid? [True, True] Translation: X:246.38, Y:3.66, Z:2.22 [[ 9.99735285e-01 -2.00367725e-02 -1.13087114e-02 2.46379442e+02] [ 2.00361726e-02 9.99799242e-01 -1.66349947e-04 3.65886683e+00] [ 1.13097742e-02 -6.02773825e-05 9.99936041e-01 2.22474024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14925415399998 meters Centerline goodness [0,1] 0.999654643959507 Centerline is valid? [True, True] Translation: X:246.41, Y:3.66, Z:2.22 [[ 9.99725875e-01 -2.00539211e-02 -1.20836994e-02 2.46410436e+02] [ 2.00532475e-02 9.99798898e-01 -1.76916481e-04 3.65621120e+00] [ 1.20848172e-02 -6.54494316e-05 9.99926974e-01 2.22434304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17925415399998 meters Centerline goodness [0,1] 0.999720183387503 Centerline is valid? [True, True] Translation: X:246.44, Y:3.65, Z:2.22 [[ 9.99718810e-01 -2.02766337e-02 -1.22946569e-02 2.46441708e+02] [ 2.02759589e-02 9.99794405e-01 -1.79549327e-04 3.65456873e+00] [ 1.22957698e-02 -6.97871179e-05 9.99924402e-01 2.22404525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20925415399998 meters Centerline goodness [0,1] 0.9996336522713559 Centerline is valid? [True, True] Translation: X:246.47, Y:3.65, Z:2.22 [[ 9.99703110e-01 -2.07182740e-02 -1.28236306e-02 2.46472542e+02] [ 2.07175833e-02 9.99785350e-01 -1.86714620e-04 3.65259948e+00] [ 1.28247465e-02 -7.90154497e-05 9.99917756e-01 2.22388072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23925415399998 meters Centerline goodness [0,1] 0.9997201231458158 Centerline is valid? [True, True] Translation: X:246.50, Y:3.65, Z:2.22 [[ 9.99661888e-01 -2.19874128e-02 -1.38803373e-02 2.46504213e+02] [ 2.19867365e-02 9.99758242e-01 -2.01341282e-04 3.64840980e+00] [ 1.38814086e-02 -1.03910114e-04 9.99903643e-01 2.22345600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26925415399998 meters Centerline goodness [0,1] 0.9997204902171576 Centerline is valid? [True, True] Translation: X:246.53, Y:3.65, Z:2.22 [[ 9.99640543e-01 -2.28008163e-02 -1.41034297e-02 2.46534832e+02] [ 2.28002075e-02 9.99740021e-01 -2.03977289e-04 3.64657205e+00] [ 1.41044140e-02 -1.17657156e-04 9.99900521e-01 2.22342957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29925415399998 meters Centerline goodness [0,1] 0.9995485036119711 Centerline is valid? [True, True] Translation: X:246.57, Y:3.64, Z:2.22 [[ 9.99609457e-01 -2.39960103e-02 -1.43221911e-02 2.46565501e+02] [ 2.39955126e-02 9.99712045e-01 -2.06615764e-04 3.64453458e+00] [ 1.43230249e-02 -1.37133245e-04 9.99897411e-01 2.22349795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32925415399998 meters Centerline goodness [0,1] 0.9996781184953113 Centerline is valid? [True, True] Translation: X:246.60, Y:3.64, Z:2.22 [[ 9.99548972e-01 -2.63288650e-02 -1.44445185e-02 2.46595567e+02] [ 2.63286035e-02 9.99653321e-01 -2.08292189e-04 3.63915788e+00] [ 1.44449950e-02 -1.72105758e-04 9.99895651e-01 2.22330706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35925415399998 meters Centerline goodness [0,1] 0.9996781184953113 Centerline is valid? [True, True] Translation: X:246.63, Y:3.64, Z:2.22 [[ 9.99549886e-01 -2.62941137e-02 -1.44445234e-02 2.46626412e+02] [ 2.62938536e-02 9.99654235e-01 -2.07952804e-04 3.63957070e+00] [ 1.44449969e-02 -1.71942982e-04 9.99895651e-01 2.22359600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38925415399999 meters Centerline goodness [0,1] 0.9992935434149683 Centerline is valid? [True, True] Translation: X:246.66, Y:3.63, Z:2.22 [[ 9.99467538e-01 -2.90774163e-02 -1.48035464e-02 2.46657113e+02] [ 2.90774546e-02 9.99577139e-01 -2.12693896e-04 3.63360666e+00] [ 1.48034711e-02 -2.17868802e-04 9.99890399e-01 2.22334382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41925415399996 meters Centerline goodness [0,1] 0.9992097900604404 Centerline is valid? [True, True] Translation: X:246.69, Y:3.63, Z:2.22 [[ 9.99406977e-01 -3.08821850e-02 -1.52310612e-02 2.46688851e+02] [ 3.08824409e-02 9.99523000e-01 -2.18455954e-04 3.63278087e+00] [ 1.52305424e-02 -2.52045943e-04 9.99883977e-01 2.22413438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44925415399996 meters Centerline goodness [0,1] 0.9994460778047637 Centerline is valid? [True, True] Translation: X:246.72, Y:3.63, Z:2.22 [[ 9.99250915e-01 -3.49271527e-02 -1.66643987e-02 2.46719273e+02] [ 3.49280331e-02 9.99389802e-01 -2.38303999e-04 3.62528776e+00] [ 1.66625534e-02 -3.43929179e-04 9.99861111e-01 2.22376248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47925415399996 meters Centerline goodness [0,1] 0.9992319344584071 Centerline is valid? [True, True] Translation: X:246.75, Y:3.63, Z:2.22 [[ 9.99155989e-01 -3.73006130e-02 -1.72039137e-02 2.46750477e+02] [ 3.73019156e-02 9.99304011e-01 -2.45283161e-04 3.62560954e+00] [ 1.72010891e-02 -3.96662797e-04 9.99851972e-01 2.22478922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50925415399996 meters Centerline goodness [0,1] 0.9992764571939308 Centerline is valid? [True, True] Translation: X:246.78, Y:3.62, Z:2.22 [[ 9.99047646e-01 -3.97497456e-02 -1.79932980e-02 2.46782691e+02] [ 3.97515856e-02 9.99209561e-01 -2.55532471e-04 3.62283835e+00] [ 1.79892327e-02 -4.59973010e-04 9.99838075e-01 2.22486619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53925415399996 meters Centerline goodness [0,1] 0.9991718514428896 Centerline is valid? [True, True] Translation: X:246.81, Y:3.62, Z:2.22 [[ 9.98907173e-01 -4.26458651e-02 -1.91256209e-02 2.46812905e+02] [ 4.26484920e-02 9.99090102e-01 -2.70693160e-04 3.61774914e+00] [ 1.91197625e-02 -5.45281550e-04 9.99817052e-01 2.22452938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56925415399996 meters Centerline goodness [0,1] 0.9993446227352487 Centerline is valid? [True, True] Translation: X:246.84, Y:3.61, Z:2.22 [[ 9.98610213e-01 -4.83655757e-02 -2.09383372e-02 2.46843708e+02] [ 4.83699883e-02 9.98829443e-01 -2.95952468e-04 3.61231760e+00] [ 2.09281416e-02 -7.17245968e-04 9.99780725e-01 2.22496154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59925415399996 meters Centerline goodness [0,1] 0.9988331636116768 Centerline is valid? [True, True] Translation: X:246.88, Y:3.61, Z:2.23 [[ 9.98433520e-01 -5.15488905e-02 -2.17535603e-02 2.46875042e+02] [ 5.15544217e-02 9.98670139e-01 -3.06840165e-04 3.61143725e+00] [ 2.17404483e-02 -8.15132714e-04 9.99763316e-01 2.22556718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62925415399997 meters Centerline goodness [0,1] 0.9990451131010483 Centerline is valid? [True, True] Translation: X:246.91, Y:3.61, Z:2.23 [[ 9.98263766e-01 -5.43771222e-02 -2.26402738e-02 2.46905040e+02] [ 5.43838481e-02 9.98520053e-01 -3.18985637e-04 3.60742664e+00] [ 2.26241129e-02 -9.12833407e-04 9.99743625e-01 2.22564570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65925415399997 meters Centerline goodness [0,1] 0.9990665308893415 Centerline is valid? [True, True] Translation: X:246.94, Y:3.60, Z:2.23 [[ 9.98086979e-01 -5.72261356e-02 -2.33998164e-02 2.46936049e+02] [ 5.72341079e-02 9.98360731e-01 -3.29433690e-04 3.60496208e+00] [ 2.33803100e-02 -1.01046414e-03 9.99726133e-01 2.22588818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68925415399997 meters Centerline goodness [0,1] 0.9989842774615401 Centerline is valid? [True, True] Translation: X:246.97, Y:3.60, Z:2.23 [[ 9.97781914e-01 -6.19847106e-02 -2.42723546e-02 2.46967206e+02] [ 6.19947089e-02 9.98076420e-01 -3.41074987e-04 3.60137835e+00] [ 2.42468062e-02 -1.16443910e-03 9.99705325e-01 2.22693276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71925415399997 meters Centerline goodness [0,1] 0.9989842774615401 Centerline is valid? [True, True] Translation: X:247.00, Y:3.60, Z:2.23 [[ 9.97786443e-01 -6.19117565e-02 -2.42723740e-02 2.46998934e+02] [ 6.19217669e-02 9.98080948e-01 -3.39691799e-04 3.60176245e+00] [ 2.42468249e-02 -1.16404841e-03 9.99705325e-01 2.22722993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74925415399997 meters Centerline goodness [0,1] 0.9989413732506193 Centerline is valid? [True, True] Translation: X:247.03, Y:3.60, Z:2.23 [[ 9.97678091e-01 -6.37650066e-02 -2.39259448e-02 2.47030544e+02] [ 6.37752997e-02 9.97964228e-01 -3.33373418e-04 3.59989660e+00] [ 2.38984946e-02 -1.19328495e-03 9.99713678e-01 2.22826586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77925415399997 meters Centerline goodness [0,1] 0.9987099503013641 Centerline is valid? [True, True] Translation: X:247.06, Y:3.59, Z:2.23 [[ 9.97592824e-01 -6.50371606e-02 -2.40567227e-02 2.47061921e+02] [ 6.50479831e-02 9.97882082e-01 -3.33215235e-04 3.58536854e+00] [ 2.40274439e-02 -1.23242817e-03 9.99710540e-01 2.22552805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80925415399997 meters Centerline goodness [0,1] 0.9992176597454222 Centerline is valid? [True, True] Translation: X:247.09, Y:3.60, Z:2.23 [[ 9.97500362e-01 -6.65922626e-02 -2.36325534e-02 2.47093566e+02] [ 6.66031883e-02 9.97779489e-01 -3.25370325e-04 3.59914271e+00] [ 2.36017442e-02 -1.24944638e-03 9.99720659e-01 2.23210148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83925415399997 meters Centerline goodness [0,1] 0.9990067414780532 Centerline is valid? [True, True] Translation: X:247.12, Y:3.60, Z:2.23 [[ 9.97515471e-01 -6.65530744e-02 -2.30992198e-02 2.47124366e+02] [ 6.65635541e-02 9.97782137e-01 -3.15760012e-04 3.59727887e+00] [ 2.30690037e-02 -1.22259067e-03 9.99733128e-01 2.23264769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86925415399998 meters Centerline goodness [0,1] 0.9993016316424354 Centerline is valid? [True, True] Translation: X:247.16, Y:3.60, Z:2.23 [[ 9.97529364e-01 -6.64117484e-02 -2.29051711e-02 2.47156981e+02] [ 6.64220627e-02 9.97791568e-01 -3.11048627e-04 3.59923689e+00] [ 2.28752439e-02 -1.21112857e-03 9.99737594e-01 2.23420592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89925415399998 meters Centerline goodness [0,1] 0.9991545663982415 Centerline is valid? [True, True] Translation: X:247.19, Y:3.60, Z:2.24 [[ 9.97547473e-01 -6.61182438e-02 -2.29655440e-02 2.47189027e+02] [ 6.61285731e-02 9.97811062e-01 -3.10209609e-04 3.59964523e+00] [ 2.29357844e-02 -1.20922984e-03 9.99736209e-01 2.23520410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92925415399998 meters Centerline goodness [0,1] 0.9990033927056828 Centerline is valid? [True, True] Translation: X:247.22, Y:3.60, Z:2.24 [[ 9.97634439e-01 -6.44439151e-02 -2.39271210e-02 2.47220438e+02] [ 6.44546831e-02 9.97920583e-01 -3.21714988e-04 3.60157294e+00] [ 2.38980991e-02 -1.22126105e-03 9.99713654e-01 2.23548469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95925415399998 meters Centerline goodness [0,1] 0.9989619743671221 Centerline is valid? [True, True] Translation: X:247.25, Y:3.60, Z:2.24 [[ 9.97690797e-01 -6.32502440e-02 -2.47483524e-02 2.47253110e+02] [ 6.32614497e-02 9.97996934e-01 -3.30665631e-04 3.60410805e+00] [ 2.47196945e-02 -1.23571459e-03 9.99693658e-01 2.23545696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98925415399998 meters Centerline goodness [0,1] 0.9991746206429494 Centerline is valid? [True, True] Translation: X:247.28, Y:3.61, Z:2.24 [[ 9.97781730e-01 -6.15455607e-02 -2.53724905e-02 2.47284487e+02] [ 6.15568357e-02 9.98103523e-01 -3.37171837e-04 3.60519026e+00] [ 2.53451236e-02 -1.22542633e-03 9.99678010e-01 2.23537465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01925415399998 meters Centerline goodness [0,1] 0.9990033504389499 Centerline is valid? [True, True] Translation: X:247.32, Y:3.61, Z:2.24 [[ 9.97835522e-01 -6.01876580e-02 -2.64899340e-02 2.47316351e+02] [ 6.01995185e-02 9.98186303e-01 -3.50238346e-04 3.61132682e+00] [ 2.64629693e-02 -1.24520101e-03 9.99649019e-01 2.23636224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04925415399998 meters Centerline goodness [0,1] 0.9988315771583957 Centerline is valid? [True, True] Translation: X:247.35, Y:3.62, Z:2.24 [[ 9.98005298e-01 -5.64777170e-02 -2.82080111e-02 2.47346439e+02] [ 5.64897188e-02 9.98403112e-01 -3.71869741e-04 3.61504704e+00] [ 2.81839684e-02 -1.22233464e-03 9.99602006e-01 2.23577080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07925415399998 meters Centerline goodness [0,1] 0.9992993630573248 Centerline is valid? [True, True] Translation: X:247.38, Y:3.62, Z:2.24 [[ 9.98120285e-01 -5.41265900e-02 -2.87438543e-02 2.47377639e+02] [ 5.41381051e-02 9.98533386e-01 -3.78039682e-04 3.61918160e+00] [ 2.87221602e-02 -1.17880873e-03 9.99586739e-01 2.23679199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10925415399998 meters Centerline goodness [0,1] 0.9989808917197452 Centerline is valid? [True, True] Translation: X:247.41, Y:3.63, Z:2.24 [[ 9.98334938e-01 -4.90702867e-02 -3.03225669e-02 2.47408256e+02] [ 4.90807908e-02 9.98794732e-01 -3.98241147e-04 3.62583933e+00] [ 3.03055619e-02 -1.09067751e-03 9.99540086e-01 2.23694998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13925415399999 meters Centerline goodness [0,1] 0.9989156780201557 Centerline is valid? [True, True] Translation: X:247.44, Y:3.63, Z:2.24 [[ 9.98441678e-01 -4.64530459e-02 -3.09246045e-02 2.47436778e+02] [ 4.64626858e-02 9.98919943e-01 -4.07186777e-04 3.62871519e+00] [ 3.09101192e-02 -1.03028793e-03 9.99521637e-01 2.23696039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16925415399996 meters Centerline goodness [0,1] 0.9991070669274598 Centerline is valid? [True, True] Translation: X:247.47, Y:3.63, Z:2.24 [[ 9.98580614e-01 -4.33478091e-02 -3.09471227e-02 2.47465947e+02] [ 4.33559342e-02 9.99059606e-01 -4.08749069e-04 3.63145682e+00] [ 3.09357386e-02 -9.33572519e-04 9.99520940e-01 2.23693061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19925415399996 meters Centerline goodness [0,1] 0.999104744852283 Centerline is valid? [True, True] Translation: X:247.50, Y:3.64, Z:2.24 [[ 9.98840003e-01 -3.61913400e-02 -3.17621704e-02 2.47495288e+02] [ 3.61962465e-02 9.99344613e-01 -4.20679206e-04 3.64005589e+00] [ 3.17565788e-02 -7.29480130e-04 9.99495366e-01 2.23928098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22925415399996 meters Centerline goodness [0,1] 0.9990843660832163 Centerline is valid? [True, True] Translation: X:247.52, Y:3.64, Z:2.24 [[ 9.98992169e-01 -3.22527883e-02 -3.12154429e-02 2.47523263e+02] [ 3.22555331e-02 9.99479568e-01 -4.15753983e-04 3.64323958e+00] [ 3.12126067e-02 -5.91535780e-04 9.99512593e-01 2.23889577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25925415399996 meters Centerline goodness [0,1] 0.9991854582868902 Centerline is valid? [True, True] Translation: X:247.55, Y:3.65, Z:2.24 [[ 9.99118447e-01 -2.82862855e-02 -3.10196053e-02 2.47551523e+02] [ 2.82868993e-02 9.99599758e-01 -4.19130989e-04 3.64756925e+00] [ 3.10190456e-02 -4.58686948e-04 9.99518688e-01 2.24019678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28925415399996 meters Centerline goodness [0,1] 0.9991000835636691 Centerline is valid? [True, True] Translation: X:247.58, Y:3.66, Z:2.24 [[ 9.99377137e-01 -1.99614367e-02 -2.91011824e-02 2.47581176e+02] [ 1.99583660e-02 9.99800734e-01 -3.96008697e-04 3.65598449e+00] [ 2.91032884e-02 -1.85050013e-04 9.99576392e-01 2.24463416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31925415399996 meters Centerline goodness [0,1] 0.9991010081551404 Centerline is valid? [True, True] Translation: X:247.61, Y:3.66, Z:2.25 [[ 9.99459824e-01 -1.66577898e-02 -2.83298039e-02 2.47609876e+02] [ 1.66534067e-02 9.99861246e-01 -3.90665146e-04 3.65951388e+00] [ 2.83323806e-02 -8.13336284e-05 9.99598554e-01 2.24635765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34925415399996 meters Centerline goodness [0,1] 0.9992265549468257 Centerline is valid? [True, True] Translation: X:247.64, Y:3.66, Z:2.25 [[ 9.99509697e-01 -1.39788362e-02 -2.80170882e-02 2.47637953e+02] [ 1.39733840e-02 9.99902291e-01 -3.90385134e-04 3.66245237e+00] [ 2.80198079e-02 -1.29980662e-06 9.99607368e-01 2.24730807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37925415399997 meters Centerline goodness [0,1] 0.9992921341084108 Centerline is valid? [True, True] Translation: X:247.67, Y:3.67, Z:2.25 [[ 9.99523085e-01 -1.10314198e-02 -2.88428583e-02 2.47665537e+02] [ 1.10243396e-02 9.99939148e-01 -4.04489955e-04 3.66552838e+00] [ 2.88455653e-02 8.63235840e-05 9.99583876e-01 2.24704348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40925415399997 meters Centerline goodness [0,1] 0.9992056335609086 Centerline is valid? [True, True] Translation: X:247.69, Y:3.67, Z:2.25 [[ 9.99492454e-01 -1.15380101e-02 -2.96935801e-02 2.47694483e+02] [ 1.15305545e-02 9.99933432e-01 -4.22308254e-04 3.66571336e+00] [ 2.96964760e-02 7.97104706e-05 9.99558959e-01 2.24688052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43925415399997 meters Centerline goodness [0,1] 0.9992307856669729 Centerline is valid? [True, True] Translation: X:247.72, Y:3.67, Z:2.25 [[ 9.99464389e-01 -1.25725530e-02 -3.02136621e-02 2.47722763e+02] [ 1.25651800e-02 9.99920961e-01 -4.33889848e-04 3.66516230e+00] [ 3.02167292e-02 5.40173495e-05 9.99543369e-01 2.24610303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46925415399997 meters Centerline goodness [0,1] 0.9992925893373921 Centerline is valid? [True, True] Translation: X:247.75, Y:3.66, Z:2.25 [[ 9.99398556e-01 -1.50253920e-02 -3.12532243e-02 2.47751719e+02] [ 1.50185025e-02 9.99887112e-01 -4.55189626e-04 3.66388537e+00] [ 3.12565356e-02 -1.44607721e-05 9.99511395e-01 2.24675155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49925415399997 meters Centerline goodness [0,1] 0.9991210204737914 Centerline is valid? [True, True] Translation: X:247.78, Y:3.66, Z:2.25 [[ 9.99285026e-01 -2.13851636e-02 -3.11787067e-02 2.47780948e+02] [ 2.13812775e-02 9.99771289e-01 -4.58073084e-04 3.65996830e+00] [ 3.11813717e-02 -2.08895006e-04 9.99513721e-01 2.24825026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52925415399997 meters Centerline goodness [0,1] 0.9990348525469169 Centerline is valid? [True, True] Translation: X:247.81, Y:3.66, Z:2.25 [[ 9.99229354e-01 -2.50005592e-02 -3.02600507e-02 2.47808988e+02] [ 2.49984775e-02 9.99687389e-01 -4.47167173e-04 3.65720826e+00] [ 3.02617705e-02 -3.09632630e-04 9.99541960e-01 2.24833269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55925415399997 meters Centerline goodness [0,1] 0.9991665954355073 Centerline is valid? [True, True] Translation: X:247.84, Y:3.65, Z:2.25 [[ 9.99138359e-01 -2.89732115e-02 -2.97168673e-02 2.47837841e+02] [ 2.89727802e-02 9.99580102e-01 -4.45189990e-04 3.65464128e+00] [ 2.97172879e-02 -4.16173869e-04 9.99558257e-01 2.24909604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58925415399997 meters Centerline goodness [0,1] 0.9991017771979726 Centerline is valid? [True, True] Translation: X:247.87, Y:3.65, Z:2.25 [[ 9.98941426e-01 -3.55897187e-02 -2.91444686e-02 2.47866877e+02] [ 3.55920179e-02 9.99366307e-01 -4.40038183e-04 3.64842167e+00] [ 2.91416608e-02 -5.97738076e-04 9.99575113e-01 2.24893858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61925415399998 meters Centerline goodness [0,1] 0.9989769166826523 Centerline is valid? [True, True] Translation: X:247.90, Y:3.65, Z:2.25 [[ 9.98851788e-01 -3.83406701e-02 -2.87245131e-02 2.47895265e+02] [ 3.83439744e-02 9.99264504e-01 -4.35979577e-04 3.64746290e+00] [ 2.87201021e-02 -6.65933016e-04 9.99587271e-01 2.25014882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64925415399998 meters Centerline goodness [0,1] 0.9986364411113005 Centerline is valid? [True, True] Translation: X:247.92, Y:3.64, Z:2.25 [[ 9.98667244e-01 -4.27282218e-02 -2.89488377e-02 2.47923760e+02] [ 4.27333633e-02 9.99086415e-01 -4.41324273e-04 3.64182091e+00] [ 2.89412475e-02 -7.96345103e-04 9.99580797e-01 2.24915337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67925415399998 meters Centerline goodness [0,1] 0.998614486080914 Centerline is valid? [True, True] Translation: X:247.95, Y:3.64, Z:2.25 [[ 9.98586579e-01 -4.37181781e-02 -3.02252281e-02 2.47953604e+02] [ 4.37241971e-02 9.99043533e-01 -4.62088601e-04 3.64178188e+00] [ 3.02165204e-02 -8.60138355e-04 9.99543007e-01 2.25008440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70925415399998 meters Centerline goodness [0,1] 0.9990224621204071 Centerline is valid? [True, True] Translation: X:247.98, Y:3.64, Z:2.25 [[ 9.98550916e-01 -4.57496233e-02 -2.83379735e-02 2.47982356e+02] [ 4.57555828e-02 9.98952569e-01 -4.38442125e-04 3.64053579e+00] [ 2.83283500e-02 -8.58813709e-04 9.99598303e-01 2.25053058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73925415399998 meters Centerline goodness [0,1] 0.9989353547398007 Centerline is valid? [True, True] Translation: X:248.01, Y:3.64, Z:2.25 [[ 9.98515339e-01 -4.67114432e-02 -2.80206862e-02 2.48013243e+02] [ 4.67175814e-02 9.98908043e-01 -4.35915822e-04 3.63924471e+00] [ 2.80104511e-02 -8.73790054e-04 9.99607248e-01 2.25065666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76925415399998 meters Centerline goodness [0,1] 0.9985963718338615 Centerline is valid? [True, True] Translation: X:248.04, Y:3.63, Z:2.25 [[ 9.98443436e-01 -4.85703129e-02 -2.74158518e-02 2.48043029e+02] [ 4.85768796e-02 9.98819355e-01 -4.26833776e-04 3.63249565e+00] [ 2.74042149e-02 -9.05607149e-04 9.99624024e-01 2.24861800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79925415399998 meters Centerline goodness [0,1] 0.9987665085812722 Centerline is valid? [True, True] Translation: X:248.07, Y:3.63, Z:2.25 [[ 9.98360956e-01 -5.05956851e-02 -2.67484239e-02 2.48073878e+02] [ 5.06026659e-02 9.98718778e-01 -4.16284270e-04 3.63443869e+00] [ 2.67352155e-02 -9.37939597e-04 9.99642110e-01 2.25142658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82925415399998 meters Centerline goodness [0,1] 0.9985562632696391 Centerline is valid? [True, True] Translation: X:248.10, Y:3.63, Z:2.25 [[ 9.98270326e-01 -5.13639009e-02 -2.86025435e-02 2.48103918e+02] [ 5.13722143e-02 9.98679477e-01 -4.44597283e-04 3.63237555e+00] [ 2.85876095e-02 -1.02554772e-03 9.99590765e-01 2.25112052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85925415399998 meters Centerline goodness [0,1] 0.9986837076981869 Centerline is valid? [True, True] Translation: X:248.14, Y:3.63, Z:2.25 [[ 9.98208069e-01 -5.36939147e-02 -2.64123992e-02 2.48135439e+02] [ 5.37018377e-02 9.98556931e-01 -4.09769157e-04 3.63066319e+00] [ 2.63962864e-02 -1.00935949e-03 9.99651048e-01 2.25085988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88925415399999 meters Centerline goodness [0,1] 0.9987911178978176 Centerline is valid? [True, True] Translation: X:248.17, Y:3.63, Z:2.25 [[ 9.98110436e-01 -5.54597502e-02 -2.64532341e-02 2.48167158e+02] [ 5.54683425e-02 9.98460362e-01 -4.09429427e-04 3.62971146e+00] [ 2.64352126e-02 -1.05866127e-03 9.99649968e-01 2.25081217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91925415399996 meters Centerline goodness [0,1] 0.9987926798271626 Centerline is valid? [True, True] Translation: X:248.20, Y:3.63, Z:2.25 [[ 9.97991969e-01 -5.75409871e-02 -2.64776390e-02 2.48198149e+02] [ 5.75503438e-02 9.98342522e-01 -4.09146018e-04 3.62820997e+00] [ 2.64572955e-02 -1.11547279e-03 9.99649322e-01 2.25076748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94925415399996 meters Centerline goodness [0,1] 0.9989412835877782 Centerline is valid? [True, True] Translation: X:248.23, Y:3.63, Z:2.25 [[ 9.97855698e-01 -5.98617452e-02 -2.64684185e-02 2.48229068e+02] [ 5.98719229e-02 9.98205984e-01 -4.08517093e-04 3.62580780e+00] [ 2.64453883e-02 -1.17707401e-03 9.99649567e-01 2.25020109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97925415399996 meters Centerline goodness [0,1] 0.9987900401197224 Centerline is valid? [True, True] Translation: X:248.26, Y:3.62, Z:2.25 [[ 9.97581323e-01 -6.41982110e-02 -2.66475895e-02 2.48259940e+02] [ 6.42100832e-02 9.97936319e-01 -4.10790466e-04 3.62236234e+00] [ 2.66189694e-02 -1.30124704e-03 9.99644806e-01 2.24967220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00925415399996 meters Centerline goodness [0,1] 0.9987047457267226 Centerline is valid? [True, True] Translation: X:248.29, Y:3.62, Z:2.25 [[ 9.97443930e-01 -6.60093656e-02 -2.73563545e-02 2.48290306e+02] [ 6.60225715e-02 9.97818041e-01 -4.21209264e-04 3.61891615e+00] [ 2.73244678e-02 -1.38600425e-03 9.99625656e-01 2.24870881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03925415399996 meters Centerline goodness [0,1] 0.9985791538543103 Centerline is valid? [True, True] Translation: X:248.32, Y:3.62, Z:2.25 [[ 9.97354379e-01 -6.73336289e-02 -2.73938746e-02 2.48322039e+02] [ 6.73474008e-02 9.97729498e-01 -4.20626777e-04 3.61925689e+00] [ 2.73599991e-02 -1.42539229e-03 9.99624629e-01 2.24932751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06925415399996 meters Centerline goodness [0,1] 0.9990888479223614 Centerline is valid? [True, True] Translation: X:248.35, Y:3.62, Z:2.25 [[ 9.97299720e-01 -6.80755182e-02 -2.75498200e-02 2.48354411e+02] [ 6.80897804e-02 9.97679109e-01 -4.21180814e-04 3.61862747e+00] [ 2.75145520e-02 -1.45581769e-03 9.99620343e-01 2.24949256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09925415399996 meters Centerline goodness [0,1] 0.998642543534053 Centerline is valid? [True, True] Translation: X:248.39, Y:3.62, Z:2.25 [[ 9.97212796e-01 -6.93923248e-02 -2.74106822e-02 2.48386560e+02] [ 6.94069935e-02 9.97588340e-01 -4.17065473e-04 3.61789853e+00] [ 2.73735181e-02 -1.48659002e-03 9.99624170e-01 2.24962335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12925415399997 meters Centerline goodness [0,1] 0.9987269255251432 Centerline is valid? [True, True] Translation: X:248.42, Y:3.62, Z:2.25 [[ 9.97194795e-01 -6.96351704e-02 -2.74496718e-02 2.48417531e+02] [ 6.96500492e-02 9.97571400e-01 -4.14864299e-04 3.61690531e+00] [ 2.74118966e-02 -1.49817047e-03 9.99623101e-01 2.24942335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15925415399997 meters Centerline goodness [0,1] 0.9987283285998898 Centerline is valid? [True, True] Translation: X:248.45, Y:3.62, Z:2.25 [[ 9.97202791e-01 -6.95421335e-02 -2.73950043e-02 2.48448895e+02] [ 6.95569745e-02 9.97577895e-01 -4.11980196e-04 3.61561633e+00] [ 2.73573007e-02 -1.49468581e-03 9.99624602e-01 2.24879445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18925415399997 meters Centerline goodness [0,1] 0.998621596403427 Centerline is valid? [True, True] Translation: X:248.48, Y:3.62, Z:2.25 [[ 9.97246611e-01 -6.85988428e-02 -2.81672920e-02 2.48480067e+02] [ 6.86141909e-02 9.97643180e-01 -4.22416385e-04 3.61579171e+00] [ 2.81298840e-02 -1.51142264e-03 9.99603134e-01 2.24840704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21925415399997 meters Centerline goodness [0,1] 0.9986218594296619 Centerline is valid? [True, True] Translation: X:248.51, Y:3.62, Z:2.25 [[ 9.97290039e-01 -6.78257102e-02 -2.85000087e-02 2.48512055e+02] [ 6.78411578e-02 9.97696044e-01 -4.25675191e-04 3.62041225e+00] [ 2.84632177e-02 -1.50895196e-03 9.99593702e-01 2.24963742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24925415399997 meters Centerline goodness [0,1] 0.9986411889596603 Centerline is valid? [True, True] Translation: X:248.54, Y:3.62, Z:2.25 [[ 9.97350510e-01 -6.70289356e-02 -2.82680493e-02 2.48543196e+02] [ 6.70438617e-02 9.97749941e-01 -4.20506283e-04 3.61791831e+00] [ 2.82326306e-02 -1.47580703e-03 9.99600290e-01 2.24867912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27925415399997 meters Centerline goodness [0,1] 0.9986220931465033 Centerline is valid? [True, True] Translation: X:248.57, Y:3.62, Z:2.25 [[ 9.97437967e-01 -6.59034634e-02 -2.78250973e-02 2.48573436e+02] [ 6.59175111e-02 9.97824990e-01 -4.13096592e-04 3.61840140e+00] [ 2.77918020e-02 -1.42212294e-03 9.99612722e-01 2.24940669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30925415399997 meters Centerline goodness [0,1] 0.9987671902565519 Centerline is valid? [True, True] Translation: X:248.61, Y:3.62, Z:2.25 [[ 9.97480076e-01 -6.53800264e-02 -2.75490341e-02 2.48605718e+02] [ 6.53936384e-02 9.97859462e-01 -4.07511562e-04 3.62379752e+00] [ 2.75167075e-02 -1.39504691e-03 9.99620370e-01 2.25180617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33925415399997 meters Centerline goodness [0,1] 0.9987260876027092 Centerline is valid? [True, True] Translation: X:248.64, Y:3.62, Z:2.25 [[ 9.97527424e-01 -6.51301210e-02 -2.64027621e-02 2.48638337e+02] [ 6.51425858e-02 9.97875890e-01 -3.88661955e-04 3.62404239e+00] [ 2.63719933e-02 -1.33224324e-03 9.99651311e-01 2.25275531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36925415399998 meters Centerline goodness [0,1] 0.9987253839780766 Centerline is valid? [True, True] Translation: X:248.67, Y:3.62, Z:2.25 [[ 9.97565930e-01 -6.50150089e-02 -2.52044517e-02 2.48670776e+02] [ 6.50263757e-02 9.97883477e-01 -3.69227147e-04 3.62384954e+00] [ 2.51751112e-02 -1.27062573e-03 9.99682249e-01 2.25371899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39925415399998 meters Centerline goodness [0,1] 0.9988759278897137 Centerline is valid? [True, True] Translation: X:248.70, Y:3.62, Z:2.26 [[ 9.97617355e-01 -6.47436955e-02 -2.38299376e-02 2.48703294e+02] [ 6.47538185e-02 9.97901209e-01 -3.47411847e-04 3.62381150e+00] [ 2.38024163e-02 -1.19649537e-03 9.99715966e-01 2.25562364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42925415399998 meters Centerline goodness [0,1] 0.9987704049183803 Centerline is valid? [True, True] Translation: X:248.74, Y:3.62, Z:2.26 [[ 9.97656442e-01 -6.46496178e-02 -2.24064743e-02 2.48735263e+02] [ 6.46585785e-02 9.97907392e-01 -3.25088748e-04 3.62492263e+00] [ 2.23806031e-02 -1.12444389e-03 9.99748891e-01 2.25642812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45925415399998 meters Centerline goodness [0,1] 0.9987059821807382 Centerline is valid? [True, True] Translation: X:248.77, Y:3.63, Z:2.26 [[ 9.97695548e-01 -6.42618616e-02 -2.17717128e-02 2.48766033e+02] [ 6.42702582e-02 9.97932480e-01 -3.14560224e-04 3.62506078e+00] [ 2.17469135e-02 -1.08543827e-03 9.99762919e-01 2.25689772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48925415399998 meters Centerline goodness [0,1] 0.9987720709658297 Centerline is valid? [True, True] Translation: X:248.80, Y:3.63, Z:2.26 [[ 9.97755589e-01 -6.35720949e-02 -2.10326648e-02 2.48798253e+02] [ 6.35798055e-02 9.97976712e-01 -3.02571935e-04 3.62673567e+00] [ 2.10093448e-02 -1.03535990e-03 9.99778743e-01 2.25744791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51925415399998 meters Centerline goodness [0,1] 0.9987494966194019 Centerline is valid? [True, True] Translation: X:248.83, Y:3.63, Z:2.26 [[ 9.97769215e-01 -6.33134282e-02 -2.11661005e-02 2.48830576e+02] [ 6.33212118e-02 9.97993152e-01 -3.02937746e-04 3.63303202e+00] [ 2.11428034e-02 -1.03800118e-03 9.99775927e-01 2.25862831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54925415399998 meters Centerline goodness [0,1] 0.9987927565392354 Centerline is valid? [True, True] Translation: X:248.86, Y:3.63, Z:2.26 [[ 9.97773407e-01 -6.32077773e-02 -2.12838987e-02 2.48861690e+02] [ 6.32156531e-02 9.97999844e-01 -3.03250039e-04 3.62830859e+00] [ 2.12604953e-02 -1.04290073e-03 9.99773426e-01 2.25756897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57925415399998 meters Centerline goodness [0,1] 0.9988147646461226 Centerline is valid? [True, True] Translation: X:248.89, Y:3.63, Z:2.26 [[ 9.97768275e-01 -6.32763044e-02 -2.13208426e-02 2.48893729e+02] [ 6.32842524e-02 9.97995497e-01 -3.02402856e-04 3.62959600e+00] [ 2.12972398e-02 -1.04754561e-03 9.99772639e-01 2.25770072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60925415399998 meters Centerline goodness [0,1] 0.9988337821505057 Centerline is valid? [True, True] Translation: X:248.93, Y:3.63, Z:2.26 [[ 9.97682462e-01 -6.40151302e-02 -2.30601169e-02 2.48925833e+02] [ 6.40246647e-02 9.97948263e-01 -3.25365517e-04 3.63235618e+00] [ 2.30336320e-02 -1.15180478e-03 9.99734027e-01 2.25692968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63925415399999 meters Centerline goodness [0,1] 0.9988337821505057 Centerline is valid? [True, True] Translation: X:248.96, Y:3.63, Z:2.26 [[ 9.97687066e-01 -6.39433155e-02 -2.30601403e-02 2.48957564e+02] [ 6.39528691e-02 9.97952868e-01 -3.23705415e-04 3.63274028e+00] [ 2.30336319e-02 -1.15180542e-03 9.99734027e-01 2.25722677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66925415399996 meters Centerline goodness [0,1] 0.9989382710806277 Centerline is valid? [True, True] Translation: X:248.99, Y:3.64, Z:2.26 [[ 9.97635448e-01 -6.43151564e-02 -2.42296180e-02 2.48989811e+02] [ 6.43258572e-02 9.97928890e-01 -3.38317544e-04 3.63573231e+00] [ 2.42011947e-02 -1.22107337e-03 9.99706362e-01 2.25720022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69925415399996 meters Centerline goodness [0,1] 0.9989630068568526 Centerline is valid? [True, True] Translation: X:249.02, Y:3.63, Z:2.26 [[ 9.97593262e-01 -6.47525301e-02 -2.47950138e-02 2.49021231e+02] [ 6.47639097e-02 9.97900555e-01 -3.44657659e-04 3.63387201e+00] [ 2.47652755e-02 -1.26199388e-03 9.99692497e-01 2.25565932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72925415399996 meters Centerline goodness [0,1] 0.998664546899841 Centerline is valid? [True, True] Translation: X:249.05, Y:3.64, Z:2.26 [[ 9.97536426e-01 -6.57653825e-02 -2.44129617e-02 2.49053713e+02] [ 6.57767555e-02 9.97834307e-01 -3.37741173e-04 3.63619813e+00] [ 2.43823024e-02 -1.26889629e-03 9.99701902e-01 2.25627242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75925415399996 meters Centerline goodness [0,1] 0.9987678711788074 Centerline is valid? [True, True] Translation: X:249.09, Y:3.64, Z:2.26 [[ 9.97497311e-01 -6.67033548e-02 -2.34473379e-02 2.49086230e+02] [ 6.67141436e-02 9.97772078e-01 -3.22684896e-04 3.63738748e+00] [ 2.34166232e-02 -1.24239175e-03 9.99725021e-01 2.25701531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78925415399996 meters Centerline goodness [0,1] 0.9987500794441031 Centerline is valid? [True, True] Translation: X:249.12, Y:3.64, Z:2.26 [[ 9.97506864e-01 -6.68032853e-02 -2.27459383e-02 2.49117905e+02] [ 6.68134958e-02 9.97765433e-01 -3.11624858e-04 3.63507455e+00] [ 2.27159286e-02 -1.20888772e-03 9.99741229e-01 2.25739822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81925415399996 meters Centerline goodness [0,1] 0.9985357779475427 Centerline is valid? [True, True] Translation: X:249.15, Y:3.64, Z:2.26 [[ 9.97538057e-01 -6.66556296e-02 -2.17911080e-02 2.49149784e+02] [ 6.66649962e-02 9.97775371e-01 -2.97126326e-04 3.63918412e+00] [ 2.17624360e-02 -1.15630932e-03 9.99762501e-01 2.25959108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84925415399996 meters Centerline goodness [0,1] 0.998643262952599 Centerline is valid? [True, True] Translation: X:249.18, Y:3.64, Z:2.26 [[ 9.97590030e-01 -6.65421736e-02 -1.96537818e-02 2.49181235e+02] [ 6.65498087e-02 9.97783069e-01 -2.66029195e-04 3.63849309e+00] [ 1.96279129e-02 -1.04256735e-03 9.99806810e-01 2.26122556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87925415399997 meters Centerline goodness [0,1] 0.999003646230815 Centerline is valid? [True, True] Translation: X:249.21, Y:3.64, Z:2.26 [[ 9.97614556e-01 -6.63160645e-02 -1.91670933e-02 2.49212687e+02] [ 6.63233172e-02 9.97798152e-01 -2.57734647e-04 3.63706526e+00] [ 1.91419822e-02 -1.01410537e-03 9.99816261e-01 2.26160605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90925415399997 meters Centerline goodness [0,1] 0.998729298149011 Centerline is valid? [True, True] Translation: X:249.24, Y:3.64, Z:2.26 [[ 9.97619528e-01 -6.64102608e-02 -1.85729790e-02 2.49244809e+02] [ 6.64171112e-02 9.97791915e-01 -2.48437656e-04 3.63585545e+00] [ 1.85484671e-02 -9.85717354e-04 9.99827476e-01 2.26175725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93925415399997 meters Centerline goodness [0,1] 0.9986447569032695 Centerline is valid? [True, True] Translation: X:249.28, Y:3.64, Z:2.26 [[ 9.97597767e-01 -6.67805610e-02 -1.84133853e-02 2.49276689e+02] [ 6.67873842e-02 9.97767200e-01 -2.44827775e-04 3.63765012e+00] [ 1.83886216e-02 -9.85542194e-04 9.99830429e-01 2.26239988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96925415399997 meters Centerline goodness [0,1] 0.9986247461069736 Centerline is valid? [True, True] Translation: X:249.31, Y:3.64, Z:2.26 [[ 9.97566087e-01 -6.70600318e-02 -1.91011585e-02 2.49307367e+02] [ 6.70674454e-02 9.97748412e-01 -2.52926462e-04 3.63517433e+00] [ 1.90751118e-02 -1.02875505e-03 9.99817524e-01 2.26307271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99925415399997 meters Centerline goodness [0,1] 0.9988789237668162 Centerline is valid? [True, True] Translation: X:249.34, Y:3.64, Z:2.26 [[ 9.97548842e-01 -6.75468464e-02 -1.82683218e-02 2.49339590e+02] [ 6.75537267e-02 9.97715609e-01 -2.40913424e-04 3.64168906e+00] [ 1.82428627e-02 -9.93770311e-04 9.99833091e-01 2.26317402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02925415399997 meters Centerline goodness [0,1] 0.9985408560311284 Centerline is valid? [True, True] Translation: X:249.37, Y:3.63, Z:2.26 [[ 9.97502286e-01 -6.81203667e-02 -1.86763035e-02 2.49370569e+02] [ 6.81276934e-02 9.97676580e-01 -2.44400460e-04 3.63399556e+00] [ 1.86495592e-02 -1.02858346e-03 9.99825553e-01 2.26194326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05925415399997 meters Centerline goodness [0,1] 0.9986038837415916 Centerline is valid? [True, True] Translation: X:249.40, Y:3.64, Z:2.26 [[ 9.97461297e-01 -6.87811648e-02 -1.84421414e-02 2.49403048e+02] [ 6.87884551e-02 9.97631240e-01 -2.39511662e-04 3.63823869e+00] [ 1.84149303e-02 -1.02970280e-03 9.99829901e-01 2.26199438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08925415399997 meters Centerline goodness [0,1] 0.9986458179048264 Centerline is valid? [True, True] Translation: X:249.44, Y:3.64, Z:2.26 [[ 9.97454957e-01 -6.88746429e-02 -1.84361440e-02 2.49435074e+02] [ 6.88819687e-02 9.97624788e-01 -2.38110319e-04 3.63763519e+00] [ 1.84087540e-02 -1.03241357e-03 9.99830012e-01 2.26169113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11925415399998 meters Centerline goodness [0,1] 0.9988183161004431 Centerline is valid? [True, True] Translation: X:249.47, Y:3.64, Z:2.26 [[ 9.97478059e-01 -6.85256118e-02 -1.84868012e-02 2.49467293e+02] [ 6.85329432e-02 9.97648826e-01 -2.37412535e-04 3.64225178e+00] [ 1.84596043e-02 -1.03014110e-03 9.99829076e-01 2.26204571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14925415399998 meters Centerline goodness [0,1] 0.9985386928713627 Centerline is valid? [True, True] Translation: X:249.50, Y:3.64, Z:2.26 [[ 9.97560368e-01 -6.73034758e-02 -1.85352458e-02 2.49499978e+02] [ 6.73106641e-02 9.97732037e-01 -2.36480261e-04 3.64366916e+00] [ 1.85091245e-02 -1.01171637e-03 9.99828180e-01 2.26094667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17925415399998 meters Centerline goodness [0,1] 0.9987935997290891 Centerline is valid? [True, True] Translation: X:249.53, Y:3.64, Z:2.26 [[ 9.97629277e-01 -6.61748847e-02 -1.88867567e-02 2.49531055e+02] [ 6.61821734e-02 9.97807528e-01 -2.39547694e-04 3.64206917e+00] [ 1.88612000e-02 -1.01098681e-03 9.99821601e-01 2.26012533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20925415399998 meters Centerline goodness [0,1] 0.9986823649424066 Centerline is valid? [True, True] Translation: X:249.56, Y:3.65, Z:2.26 [[ 9.97725923e-01 -6.46129838e-02 -1.91871172e-02 2.49563394e+02] [ 6.46202424e-02 9.97909899e-01 -2.42096697e-04 3.64676643e+00] [ 1.91626568e-02 -9.98330016e-04 9.99815881e-01 2.26107683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23925415399998 meters Centerline goodness [0,1] 0.998875570170786 Centerline is valid? [True, True] Translation: X:249.59, Y:3.65, Z:2.26 [[ 9.97944834e-01 -6.14393615e-02 -1.82019873e-02 2.49592750e+02] [ 6.14453761e-02 9.98110421e-01 -2.29166807e-04 3.64963396e+00] [ 1.81816731e-02 -8.89732124e-04 9.99834304e-01 2.26030757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26925415399998 meters Centerline goodness [0,1] 0.9988532597154385 Centerline is valid? [True, True] Translation: X:249.62, Y:3.65, Z:2.26 [[ 9.98061563e-01 -5.96593635e-02 -1.77165484e-02 2.49624647e+02] [ 5.96647896e-02 9.98218445e-01 -2.22611601e-04 3.65236964e+00] [ 1.76982663e-02 -8.34874052e-04 9.99843025e-01 2.26109000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29925415399998 meters Centerline goodness [0,1] 0.9988928867976751 Centerline is valid? [True, True] Translation: X:249.65, Y:3.65, Z:2.26 [[ 9.98222777e-01 -5.74588238e-02 -1.58041255e-02 2.49654861e+02] [ 5.74628777e-02 9.98347624e-01 -1.97850176e-04 3.65277961e+00] [ 1.57893794e-02 -7.10651979e-04 9.99875087e-01 2.26132849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32925415399998 meters Centerline goodness [0,1] 0.9988721964506108 Centerline is valid? [True, True] Translation: X:249.69, Y:3.66, Z:2.26 [[ 9.98271015e-01 -5.67393165e-02 -1.53502593e-02 2.49687390e+02] [ 5.67430654e-02 9.98388796e-01 -1.91554735e-04 3.65656428e+00] [ 1.53363956e-02 -6.79797228e-04 9.99882159e-01 2.26218677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35925415399998 meters Centerline goodness [0,1] 0.998851210483768 Centerline is valid? [True, True] Translation: X:249.72, Y:3.66, Z:2.26 [[ 9.98247864e-01 -5.72146659e-02 -1.50892204e-02 2.49718363e+02] [ 5.72183641e-02 9.98361670e-01 -1.86867514e-04 3.65564221e+00] [ 1.50751908e-02 -6.76840408e-04 9.99886134e-01 2.26149774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38925415399999 meters Centerline goodness [0,1] 0.9989774397648111 Centerline is valid? [True, True] Translation: X:249.75, Y:3.65, Z:2.26 [[ 9.98068694e-01 -6.01844256e-02 -1.53856136e-02 2.49748946e+02] [ 6.01886433e-02 9.98187002e-01 -1.89184849e-04 3.65339864e+00] [ 1.53691055e-02 -7.37219732e-04 9.99881617e-01 2.26071968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41925415399996 meters Centerline goodness [0,1] 0.998979635219591 Centerline is valid? [True, True] Translation: X:249.78, Y:3.65, Z:2.26 [[ 9.97929299e-01 -6.23014897e-02 -1.59886958e-02 2.49779572e+02] [ 6.23063222e-02 9.98057054e-01 -1.96187536e-04 3.65089580e+00] [ 1.59698535e-02 -8.00415545e-04 9.99872153e-01 2.26021724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44925415399996 meters Centerline goodness [0,1] 0.99857731345819 Centerline is valid? [True, True] Translation: X:249.81, Y:3.65, Z:2.26 [[ 9.97430913e-01 -6.95472863e-02 -1.71682756e-02 2.49810365e+02] [ 6.95539358e-02 9.97578170e-01 -2.10211577e-04 3.64685569e+00] [ 1.71413166e-02 -9.84449613e-04 9.99852592e-01 2.25929514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47925415399996 meters Centerline goodness [0,1] 0.9989376394348242 Centerline is valid? [True, True] Translation: X:249.84, Y:3.65, Z:2.26 [[ 9.97268453e-01 -7.18460603e-02 -1.71398827e-02 2.49840254e+02] [ 7.18530279e-02 9.97415209e-01 -2.09756747e-04 3.64511810e+00] [ 1.71106499e-02 -1.02236869e-03 9.99853079e-01 2.25939088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50925415399996 meters Centerline goodness [0,1] 0.9989376394348242 Centerline is valid? [True, True] Translation: X:249.87, Y:3.65, Z:2.26 [[ 9.97276079e-01 -7.17401329e-02 -1.71398928e-02 2.49872848e+02] [ 7.17470991e-02 9.97422834e-01 -2.08931176e-04 3.64542047e+00] [ 1.71107092e-02 -1.02137552e-03 9.99853079e-01 2.25969624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53925415399996 meters Centerline goodness [0,1] 0.9989376394348242 Centerline is valid? [True, True] Translation: X:249.91, Y:3.65, Z:2.26 [[ 9.97283694e-01 -7.16341954e-02 -1.71399148e-02 2.49905442e+02] [ 7.16411772e-02 9.97430448e-01 -2.07110732e-04 3.64571889e+00] [ 1.71107091e-02 -1.02137552e-03 9.99853079e-01 2.26000131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56925415399996 meters Centerline goodness [0,1] 0.9988967858279411 Centerline is valid? [True, True] Translation: X:249.94, Y:3.65, Z:2.26 [[ 9.97056472e-01 -7.48801265e-02 -1.64729870e-02 2.49936889e+02] [ 7.48870365e-02 9.97192004e-01 -1.97837438e-04 3.64851630e+00] [ 1.64415450e-02 -1.03635808e-03 9.99864292e-01 2.26136760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59925415399996 meters Centerline goodness [0,1] 0.9988967858279411 Centerline is valid? [True, True] Translation: X:249.97, Y:3.65, Z:2.26 [[ 9.97064689e-01 -7.47706205e-02 -1.64730004e-02 2.49969490e+02] [ 7.47775341e-02 9.97200221e-01 -1.96716817e-04 3.64881445e+00] [ 1.64415883e-02 -1.03567096e-03 9.99864292e-01 2.26167293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62925415399997 meters Centerline goodness [0,1] 0.9989611380838298 Centerline is valid? [True, True] Translation: X:250.00, Y:3.65, Z:2.26 [[ 9.96948243e-01 -7.64532754e-02 -1.57828389e-02 2.50002020e+02] [ 7.64598545e-02 9.97072643e-01 -1.87024630e-04 3.64875135e+00] [ 1.57509355e-02 -1.02029969e-03 9.99875426e-01 2.26212563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65925415399997 meters Centerline goodness [0,1] 0.9990871263586957 Centerline is valid? [True, True] Translation: X:250.03, Y:3.65, Z:2.26 [[ 9.96928062e-01 -7.67177495e-02 -1.57742120e-02 2.50033991e+02] [ 7.67243727e-02 9.97052324e-01 -1.85761526e-04 3.65440778e+00] [ 1.57419659e-02 -1.02507564e-03 9.99875562e-01 2.26269991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68925415399997 meters Centerline goodness [0,1] 0.9988964814736216 Centerline is valid? [True, True] Translation: X:250.07, Y:3.66, Z:2.26 [[ 9.96916098e-01 -7.66943892e-02 -1.66212272e-02 2.50066049e+02] [ 7.67017610e-02 9.97054062e-01 -1.94448974e-04 3.65676152e+00] [ 1.65871752e-02 -1.08102808e-03 9.99861839e-01 2.26229399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71925415399997 meters Centerline goodness [0,1] 0.9988774040498178 Centerline is valid? [True, True] Translation: X:250.10, Y:3.65, Z:2.26 [[ 9.96921357e-01 -7.65656290e-02 -1.68971241e-02 2.50098104e+02] [ 7.65732531e-02 9.97063939e-01 -1.96259953e-04 3.65230818e+00] [ 1.68625399e-02 -1.09821202e-03 9.99857214e-01 2.26163794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74925415399997 meters Centerline goodness [0,1] 0.9989798520785514 Centerline is valid? [True, True] Translation: X:250.13, Y:3.66, Z:2.26 [[ 9.96910751e-01 -7.66535936e-02 -1.71225147e-02 2.50130111e+02] [ 7.66614605e-02 9.97057161e-01 -1.97412590e-04 3.65946228e+00] [ 1.70872583e-02 -1.11583425e-03 9.99853380e-01 2.26261792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77925415399997 meters Centerline goodness [0,1] 0.9990200673171148 Centerline is valid? [True, True] Translation: X:250.16, Y:3.66, Z:2.26 [[ 9.96894806e-01 -7.68219918e-02 -1.72953134e-02 2.50161771e+02] [ 7.68300751e-02 9.97044182e-01 -1.97577479e-04 3.65877518e+00] [ 1.72593699e-02 -1.13183627e-03 9.99850405e-01 2.26187130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80925415399997 meters Centerline goodness [0,1] 0.9991056027598544 Centerline is valid? [True, True] Translation: X:250.19, Y:3.66, Z:2.26 [[ 9.96871209e-01 -7.71603389e-02 -1.71485860e-02 2.50193877e+02] [ 7.71683676e-02 9.97018057e-01 -1.94023199e-04 3.65910522e+00] [ 1.71124208e-02 -1.12991225e-03 9.99852933e-01 2.26230827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83925415399997 meters Centerline goodness [0,1] 0.9991893160387422 Centerline is valid? [True, True] Translation: X:250.23, Y:3.66, Z:2.26 [[ 9.96855249e-01 -7.74189962e-02 -1.69089168e-02 2.50225770e+02] [ 7.74268598e-02 9.96998017e-01 -1.90082637e-04 3.66189659e+00] [ 1.68728726e-02 -1.11971946e-03 9.99857016e-01 2.26301480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86925415399998 meters Centerline goodness [0,1] 0.9992325566522415 Centerline is valid? [True, True] Translation: X:250.26, Y:3.66, Z:2.26 [[ 9.96836313e-01 -7.76833739e-02 -1.68124405e-02 2.50257620e+02] [ 7.76912063e-02 9.96977453e-01 -1.87753315e-04 3.66345900e+00] [ 1.67762094e-02 -1.11901946e-03 9.99858643e-01 2.26353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89925415399998 meters Centerline goodness [0,1] 0.9990814321114244 Centerline is valid? [True, True] Translation: X:250.29, Y:3.66, Z:2.26 [[ 9.96799030e-01 -7.81529896e-02 -1.68464678e-02 2.50288333e+02] [ 7.81609370e-02 9.96940737e-01 -1.87156384e-04 3.66040220e+00] [ 1.68095568e-02 -1.13017840e-03 9.99858071e-01 2.26342481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92925415399998 meters Centerline goodness [0,1] 0.9991253146733797 Centerline is valid? [True, True] Translation: X:250.32, Y:3.66, Z:2.26 [[ 9.96675405e-01 -7.95895307e-02 -1.74253811e-02 2.50320119e+02] [ 7.95982749e-02 9.96827005e-01 -1.92280827e-04 3.66083014e+00] [ 1.73853940e-02 -1.19538870e-03 9.99848148e-01 2.26278890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95925415399998 meters Centerline goodness [0,1] 0.9991448971738851 Centerline is valid? [True, True] Translation: X:250.35, Y:3.66, Z:2.26 [[ 9.96610688e-01 -8.02589312e-02 -1.80455115e-02 2.50352157e+02] [ 8.02684500e-02 9.96773263e-01 -1.97363041e-04 3.65978220e+00] [ 1.80031235e-02 -1.25179112e-03 9.99837147e-01 2.26241424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98925415399998 meters Centerline goodness [0,1] 0.9990586423054706 Centerline is valid? [True, True] Translation: X:250.38, Y:3.66, Z:2.26 [[ 9.96453978e-01 -8.18481908e-02 -1.95023715e-02 2.50383561e+02] [ 8.18596333e-02 9.96643846e-01 -2.12196571e-04 3.66468871e+00] [ 1.94542864e-02 -1.38501286e-03 9.99809788e-01 2.26220281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01925415399998 meters Centerline goodness [0,1] 0.9991435423090099 Centerline is valid? [True, True] Translation: X:250.41, Y:3.66, Z:2.26 [[ 9.96375827e-01 -8.25296543e-02 -2.05928921e-02 2.50414717e+02] [ 8.25425779e-02 9.96587514e-01 -2.23070648e-04 3.66151462e+00] [ 2.05410291e-02 -1.47752820e-03 9.99787919e-01 2.26126107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04925415399998 meters Centerline goodness [0,1] 0.9990368769128695 Centerline is valid? [True, True] Translation: X:250.45, Y:3.66, Z:2.26 [[ 9.96297790e-01 -8.32557067e-02 -2.14289692e-02 2.50446612e+02] [ 8.32698989e-02 9.96527005e-01 -2.30706728e-04 3.66200897e+00] [ 2.13737542e-02 -1.55453550e-03 9.99770347e-01 2.26124956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07925415399998 meters Centerline goodness [0,1] 0.9992501820986331 Centerline is valid? [True, True] Translation: X:250.48, Y:3.66, Z:2.26 [[ 9.96256545e-01 -8.35837614e-02 -2.20601969e-02 2.50479217e+02] [ 8.35989181e-02 9.96499456e-01 -2.35877679e-04 3.66215455e+00] [ 2.20026897e-02 -1.60921391e-03 9.99756616e-01 2.26078517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10925415399998 meters Centerline goodness [0,1] 0.9992714962182083 Centerline is valid? [True, True] Translation: X:250.51, Y:3.66, Z:2.26 [[ 9.96249862e-01 -8.35588204e-02 -2.24529544e-02 2.50510689e+02] [ 8.35745469e-02 9.96501499e-01 -2.38677109e-04 3.65870500e+00] [ 2.23943463e-02 -1.63871345e-03 9.99747872e-01 2.25988009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13925415399999 meters Centerline goodness [0,1] 0.9991626409017713 Centerline is valid? [True, True] Translation: X:250.54, Y:3.66, Z:2.26 [[ 9.96326014e-01 -8.26306703e-02 -2.25087913e-02 2.50543435e+02] [ 8.26462773e-02 9.96578916e-01 -2.37587671e-04 3.66302938e+00] [ 2.24514189e-02 -1.62355303e-03 9.99746617e-01 2.26050250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16925415399996 meters Centerline goodness [0,1] 0.9993130688648463 Centerline is valid? [True, True] Translation: X:250.57, Y:3.67, Z:2.26 [[ 9.96497681e-01 -8.06786825e-02 -2.19845704e-02 2.50574966e+02] [ 8.06931310e-02 9.96738966e-01 -2.30548112e-04 3.66714947e+00] [ 2.19314783e-02 -1.54426316e-03 9.99758284e-01 2.26168001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19925415399996 meters Centerline goodness [0,1] 0.9992689115382961 Centerline is valid? [True, True] Translation: X:250.61, Y:3.67, Z:2.26 [[ 9.96702327e-01 -7.82801958e-02 -2.13701196e-02 2.50605171e+02] [ 7.82933095e-02 9.96930342e-01 -2.23607910e-04 3.66906730e+00] [ 2.13220248e-02 -1.45026687e-03 9.99771608e-01 2.26250818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22925415399996 meters Centerline goodness [0,1] 0.9992898185809284 Centerline is valid? [True, True] Translation: X:250.63, Y:3.68, Z:2.26 [[ 9.97325674e-01 -7.03717775e-02 -1.97310224e-02 2.50634466e+02] [ 7.03814114e-02 9.97520132e-01 -2.06589338e-04 3.67584766e+00] [ 1.96966301e-02 -1.18266036e-03 9.99805303e-01 2.26368972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25925415399996 meters Centerline goodness [0,1] 0.9995904731113266 Centerline is valid? [True, True] Translation: X:250.66, Y:3.68, Z:2.27 [[ 9.97704343e-01 -6.50613858e-02 -1.87899093e-02 2.50664742e+02] [ 6.50691813e-02 9.97880736e-01 -1.96847475e-04 3.68209792e+00] [ 1.87628957e-02 -1.02624844e-03 9.99823435e-01 2.26514465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28925415399996 meters Centerline goodness [0,1] 0.9997194103300167 Centerline is valid? [True, True] Translation: X:250.70, Y:3.69, Z:2.27 [[ 9.98096994e-01 -5.90698407e-02 -1.76958619e-02 2.50695646e+02] [ 5.90758152e-02 9.98253482e-01 -1.85384177e-04 3.69102639e+00] [ 1.76759064e-02 -8.60366078e-04 9.99843399e-01 2.26676684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31925415399996 meters Centerline goodness [0,1] 0.9996971139284323 Centerline is valid? [True, True] Translation: X:250.72, Y:3.70, Z:2.27 [[ 9.98796692e-01 -4.64674356e-02 -1.56826507e-02 2.50724651e+02] [ 4.64705747e-02 9.98919646e-01 -1.64385442e-04 3.70200323e+00] [ 1.56733464e-02 -5.64594154e-04 9.99877006e-01 2.26866637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34925415399996 meters Centerline goodness [0,1] 0.9996529058290128 Centerline is valid? [True, True] Translation: X:250.75, Y:3.71, Z:2.27 [[ 9.99319739e-01 -3.41977660e-02 -1.38047756e-02 2.50754355e+02] [ 3.41990264e-02 9.99415032e-01 -1.44826736e-04 3.71011239e+00] [ 1.38016530e-02 -3.27381669e-04 9.99904699e-01 2.26983469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37925415399997 meters Centerline goodness [0,1] 0.9997828588799861 Centerline is valid? [True, True] Translation: X:250.79, Y:3.72, Z:2.27 [[ 9.99506640e-01 -2.85759317e-02 -1.30343201e-02 2.50785373e+02] [ 2.85765790e-02 9.99591597e-01 -1.36621198e-04 3.71777189e+00] [ 1.30329009e-02 -2.35922483e-04 9.99915040e-01 2.27081516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40925415399997 meters Centerline goodness [0,1] 0.9997828588799861 Centerline is valid? [True, True] Translation: X:250.82, Y:3.72, Z:2.27 [[ 9.99508703e-01 -2.85036735e-02 -1.30343264e-02 2.50817073e+02] [ 2.85043225e-02 9.99593660e-01 -1.36016401e-04 3.71804285e+00] [ 1.30329070e-02 -2.35585068e-04 9.99915040e-01 2.27111202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43925415399997 meters Centerline goodness [0,1] 0.9998040581729514 Centerline is valid? [True, True] Translation: X:250.85, Y:3.73, Z:2.27 [[ 9.99732780e-01 -1.92096449e-02 -1.28591778e-02 2.50848018e+02] [ 1.92095180e-02 9.99815471e-01 -1.33394882e-04 3.72516561e+00] [ 1.28593674e-02 -1.13659371e-04 9.99917308e-01 2.27151593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46925415399997 meters Centerline goodness [0,1] 0.9995653685674548 Centerline is valid? [True, True] Translation: X:250.88, Y:3.73, Z:2.27 [[ 9.99792163e-01 -1.57537631e-02 -1.29402665e-02 2.50879661e+02] [ 1.57533511e-02 9.99875899e-01 -1.33771013e-04 3.72822950e+00] [ 1.29407680e-02 -7.01093516e-05 9.99916262e-01 2.27154270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49925415399997 meters Centerline goodness [0,1] 0.9995865610584037 Centerline is valid? [True, True] Translation: X:250.91, Y:3.73, Z:2.27 [[ 9.99830810e-01 -1.29559388e-02 -1.30573378e-02 2.50909482e+02] [ 1.29552834e-02 9.99916068e-01 -1.34777729e-04 3.73071715e+00] [ 1.30579880e-02 -3.44065847e-05 9.99914740e-01 2.27155955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52925415399997 meters Centerline goodness [0,1] 0.9995865610584037 Centerline is valid? [True, True] Translation: X:250.94, Y:3.73, Z:2.27 [[ 9.99827594e-01 -1.32018667e-02 -1.30573249e-02 2.50937708e+02] [ 1.32012162e-02 9.99912851e-01 -1.36013726e-04 3.73106068e+00] [ 1.30579826e-02 -3.63822919e-05 9.99914740e-01 2.27182412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55925415399997 meters Centerline goodness [0,1] 0.9996945299033405 Centerline is valid? [True, True] Translation: X:250.97, Y:3.73, Z:2.27 [[ 9.99861908e-01 -9.67633373e-03 -1.35105056e-02 2.50967078e+02] [ 9.67528123e-03 9.99953183e-01 -1.43263838e-04 3.73420598e+00] [ 1.35112593e-02 1.25261136e-05 9.99908719e-01 2.27165450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58925415399997 meters Centerline goodness [0,1] 0.9997383911052976 Centerline is valid? [True, True] Translation: X:251.00, Y:3.74, Z:2.27 [[ 9.99868107e-01 -8.99452839e-03 -1.35228523e-02 2.50995191e+02] [ 8.99340005e-03 9.99959548e-01 -1.44249210e-04 3.73501595e+00] [ 1.35236028e-02 2.26137640e-05 9.99908552e-01 2.27144588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61925415399998 meters Centerline goodness [0,1] 0.9998471048205666 Centerline is valid? [True, True] Translation: X:251.02, Y:3.74, Z:2.27 [[ 9.99864032e-01 -9.18505744e-03 -1.36949428e-02 2.51022632e+02] [ 9.18388497e-03 9.99957816e-01 -1.48501691e-04 3.73547136e+00] [ 1.36957291e-02 2.27087199e-05 9.99906209e-01 2.27151342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64925415399998 meters Centerline goodness [0,1] 0.9996727677305352 Centerline is valid? [True, True] Translation: X:251.05, Y:3.73, Z:2.27 [[ 9.99848802e-01 -1.08419790e-02 -1.35949869e-02 2.51050157e+02] [ 1.08409248e-02 9.99941224e-01 -1.51236070e-04 3.73475653e+00] [ 1.35958276e-02 3.83097241e-06 9.99907572e-01 2.27141432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67925415399998 meters Centerline goodness [0,1] 0.9996733449477352 Centerline is valid? [True, True] Translation: X:251.08, Y:3.73, Z:2.27 [[ 9.99824747e-01 -1.27515654e-02 -1.37066982e-02 2.51078247e+02] [ 1.27506195e-02 9.99918695e-01 -1.56400195e-04 3.73388946e+00] [ 1.37075781e-02 -1.83961073e-05 9.99906047e-01 2.27170022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70925415399998 meters Centerline goodness [0,1] 0.9996520604544961 Centerline is valid? [True, True] Translation: X:251.11, Y:3.73, Z:2.27 [[ 9.99795961e-01 -1.50754735e-02 -1.34449675e-02 2.51106584e+02] [ 1.50747250e-02 9.99886358e-01 -1.57022555e-04 3.73238742e+00] [ 1.34458068e-02 -4.56886721e-05 9.99909600e-01 2.27174642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73925415399998 meters Centerline goodness [0,1] 0.9995222376650452 Centerline is valid? [True, True] Translation: X:251.14, Y:3.73, Z:2.27 [[ 9.99706483e-01 -2.04789735e-02 -1.29444926e-02 2.51135328e+02] [ 2.04787013e-02 9.99790278e-01 -1.53587650e-04 3.72764502e+00] [ 1.29449232e-02 -1.11543829e-04 9.99916205e-01 2.27203863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76925415399998 meters Centerline goodness [0,1] 0.999566056976719 Centerline is valid? [True, True] Translation: X:251.17, Y:3.72, Z:2.27 [[ 9.99632291e-01 -2.38278411e-02 -1.29428565e-02 2.51166189e+02] [ 2.38278458e-02 9.99716065e-01 -1.53871977e-04 3.72466585e+00] [ 1.29428480e-02 -1.54584991e-04 9.99916226e-01 2.27206789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79925415399998 meters Centerline goodness [0,1] 0.9994170481043267 Centerline is valid? [True, True] Translation: X:251.20, Y:3.72, Z:2.27 [[ 9.99539603e-01 -2.73801634e-02 -1.30732231e-02 2.51197738e+02] [ 2.73804808e-02 9.99625072e-01 -1.54734998e-04 3.72077979e+00] [ 1.30725582e-02 -2.03287376e-04 9.99914530e-01 2.27182012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82925415399998 meters Centerline goodness [0,1] 0.9994377405821547 Centerline is valid? [True, True] Translation: X:251.23, Y:3.72, Z:2.27 [[ 9.99425277e-01 -3.12692177e-02 -1.30901351e-02 2.51229812e+02] [ 3.12698792e-02 9.99510966e-01 -1.54180848e-04 3.71942490e+00] [ 1.30885547e-02 -2.55234705e-04 9.99914309e-01 2.27241411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85925415399998 meters Centerline goodness [0,1] 0.9994170481043267 Centerline is valid? [True, True] Translation: X:251.26, Y:3.72, Z:2.27 [[ 9.99298098e-01 -3.51980609e-02 -1.28221640e-02 2.51261981e+02] [ 3.51990307e-02 9.99380311e-01 -1.50105423e-04 3.71618717e+00] [ 1.28195017e-02 -3.01327680e-04 9.99917781e-01 2.27278261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88925415399999 meters Centerline goodness [0,1] 0.999375968325013 Centerline is valid? [True, True] Translation: X:251.29, Y:3.71, Z:2.27 [[ 9.99009978e-01 -4.28246782e-02 -1.20461554e-02 2.51291907e+02] [ 4.28260957e-02 9.99082532e-01 -1.40377189e-04 3.70765219e+00] [ 1.20411151e-02 -3.75651592e-04 9.99927433e-01 2.27337952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91925415399996 meters Centerline goodness [0,1] 0.9993110278603109 Centerline is valid? [True, True] Translation: X:251.32, Y:3.70, Z:2.27 [[ 9.98855337e-01 -4.63420597e-02 -1.18503077e-02 2.51322598e+02] [ 4.63436797e-02 9.98925545e-01 -1.38008152e-04 3.70305286e+00] [ 1.18439707e-02 -4.11336686e-04 9.99929773e-01 2.27352802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94925415399996 meters Centerline goodness [0,1] 0.9993333906760709 Centerline is valid? [True, True] Translation: X:251.35, Y:3.70, Z:2.27 [[ 9.98725734e-01 -4.91267864e-02 -1.15528282e-02 2.51354564e+02] [ 4.91285176e-02 9.98792456e-01 -1.34067862e-04 3.69982916e+00] [ 1.15454639e-02 -4.33676298e-04 9.99933255e-01 2.27384421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97925415399996 meters Centerline goodness [0,1] 0.9993366003980397 Centerline is valid? [True, True] Translation: X:251.39, Y:3.70, Z:2.27 [[ 9.98510032e-01 -5.34070403e-02 -1.11984149e-02 2.51385479e+02] [ 5.34089432e-02 9.98572715e-01 -1.29270002e-04 3.69643603e+00] [ 1.11893355e-02 -4.69018109e-04 9.99937287e-01 2.27445698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00925415399996 meters Centerline goodness [0,1] 0.99939982423424 Centerline is valid? [True, True] Translation: X:251.42, Y:3.69, Z:2.27 [[ 9.98474238e-01 -5.40579633e-02 -1.12664247e-02 2.51417033e+02] [ 5.40599357e-02 9.98537684e-01 -1.29617308e-04 3.69209468e+00] [ 1.12569565e-02 -4.79642652e-04 9.99936523e-01 2.27463088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03925415399996 meters Centerline goodness [0,1] 0.999185667752443 Centerline is valid? [True, True] Translation: X:251.45, Y:3.69, Z:2.27 [[ 9.98462972e-01 -5.41928547e-02 -1.16115739e-02 2.51449163e+02] [ 5.41949764e-02 9.98530364e-01 -1.32083993e-04 3.69241078e+00] [ 1.16016672e-02 -4.97408000e-04 9.99932575e-01 2.27469004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06925415399996 meters Centerline goodness [0,1] 0.9992517850271495 Centerline is valid? [True, True] Translation: X:251.48, Y:3.69, Z:2.27 [[ 9.98517370e-01 -5.30925490e-02 -1.20101532e-02 2.51481095e+02] [ 5.30947502e-02 9.98589470e-01 -1.35719616e-04 3.69163506e+00] [ 1.20004182e-02 -5.02157691e-04 9.99927866e-01 2.27435868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09925415399996 meters Centerline goodness [0,1] 0.9990601905250117 Centerline is valid? [True, True] Translation: X:251.51, Y:3.69, Z:2.27 [[ 9.98690715e-01 -4.95322088e-02 -1.27834108e-02 2.51512583e+02] [ 4.95344223e-02 9.98772407e-01 -1.43606601e-04 3.69168611e+00] [ 1.27748311e-02 -4.89800290e-04 9.99918279e-01 2.27300445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12925415399997 meters Centerline goodness [0,1] 0.9990391390686054 Centerline is valid? [True, True] Translation: X:251.55, Y:3.69, Z:2.27 [[ 9.98798836e-01 -4.71990955e-02 -1.31578874e-02 2.51545034e+02] [ 4.72012467e-02 9.98885389e-01 -1.47182861e-04 3.69173591e+00] [ 1.31501684e-02 -4.74062618e-04 9.99913420e-01 2.27254316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15925415399997 meters Centerline goodness [0,1] 0.9989988070892979 Centerline is valid? [True, True] Translation: X:251.58, Y:3.69, Z:2.27 [[ 9.98911575e-01 -4.44326902e-02 -1.41916011e-02 2.51576907e+02] [ 4.44349280e-02 9.99012268e-01 -1.57746329e-04 3.69316307e+00] [ 1.41845927e-02 -4.73028139e-04 9.99899282e-01 2.27236500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18925415399997 meters Centerline goodness [0,1] 0.9991468850640902 Centerline is valid? [True, True] Translation: X:251.61, Y:3.70, Z:2.27 [[ 9.99133229e-01 -3.87436638e-02 -1.52223260e-02 2.51608109e+02] [ 3.87455905e-02 9.99249093e-01 -1.68437545e-04 3.69558487e+00] [ 1.52174213e-02 -4.21506460e-04 9.99884119e-01 2.27183812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21925415399997 meters Centerline goodness [0,1] 0.9991670226398974 Centerline is valid? [True, True] Translation: X:251.64, Y:3.70, Z:2.27 [[ 9.99232890e-01 -3.58094752e-02 -1.58528513e-02 2.51639388e+02] [ 3.58112070e-02 9.99358558e-01 -1.74706088e-04 3.69604057e+00] [ 1.58489387e-02 -3.93137670e-04 9.99874320e-01 2.27151202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24925415399997 meters Centerline goodness [0,1] 0.999102314745549 Centerline is valid? [True, True] Translation: X:251.67, Y:3.70, Z:2.27 [[ 9.99330092e-01 -3.30178473e-02 -1.57857289e-02 2.51671175e+02] [ 3.30192298e-02 9.99454702e-01 -1.73121059e-04 3.69840386e+00] [ 1.57828371e-02 -3.48227526e-04 9.99875383e-01 2.27190548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27925415399997 meters Centerline goodness [0,1] 0.9988871530378582 Centerline is valid? [True, True] Translation: X:251.70, Y:3.70, Z:2.27 [[ 9.99389878e-01 -3.07892473e-02 -1.64892313e-02 2.51701878e+02] [ 3.07904631e-02 9.99525845e-01 -1.80197106e-04 3.69899621e+00] [ 1.64869610e-02 -3.27623904e-04 9.99864027e-01 2.27187794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30925415399997 meters Centerline goodness [0,1] 0.9990363200274114 Centerline is valid? [True, True] Translation: X:251.73, Y:3.70, Z:2.27 [[ 9.99484192e-01 -2.72943058e-02 -1.69224898e-02 2.51732847e+02] [ 2.72950909e-02 9.99627403e-01 -1.84618862e-04 3.69974868e+00] [ 1.69212235e-02 -2.77377262e-04 9.99856787e-01 2.27154246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33925415399997 meters Centerline goodness [0,1] 0.9991015081826934 Centerline is valid? [True, True] Translation: X:251.76, Y:3.70, Z:2.27 [[ 9.99488897e-01 -2.68627169e-02 -1.73303227e-02 2.51762840e+02] [ 2.68634870e-02 9.99639094e-01 -1.88402674e-04 3.69856791e+00] [ 1.73291291e-02 -2.77246518e-04 9.99849801e-01 2.27149096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36925415399998 meters Centerline goodness [0,1] 0.9991238567398923 Centerline is valid? [True, True] Translation: X:251.79, Y:3.70, Z:2.27 [[ 9.99495042e-01 -2.67037750e-02 -1.72211904e-02 2.51793478e+02] [ 2.67045216e-02 9.99643353e-01 -1.86643148e-04 3.69765469e+00] [ 1.72200326e-02 -2.73334751e-04 9.99851687e-01 2.27239141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39925415399998 meters Centerline goodness [0,1] 0.9990375155066946 Centerline is valid? [True, True] Translation: X:251.82, Y:3.70, Z:2.27 [[ 9.99479543e-01 -2.75619122e-02 -1.67625557e-02 2.51823640e+02] [ 2.75627402e-02 9.99620059e-01 -1.81672467e-04 3.69662396e+00] [ 1.67611941e-02 -2.80444052e-04 9.99859482e-01 2.27319521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42925415399998 meters Centerline goodness [0,1] 0.999251960930988 Centerline is valid? [True, True] Translation: X:251.85, Y:3.69, Z:2.27 [[ 9.99454589e-01 -2.87403271e-02 -1.62639873e-02 2.51853701e+02] [ 2.87412625e-02 9.99586869e-01 -1.76268987e-04 3.69497234e+00] [ 1.62623342e-02 -2.91274680e-04 9.99867717e-01 2.27409115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45925415399998 meters Centerline goodness [0,1] 0.9991460837264906 Centerline is valid? [True, True] Translation: X:251.88, Y:3.69, Z:2.28 [[ 9.99413629e-01 -3.06550795e-02 -1.52533613e-02 2.51883696e+02] [ 3.06561300e-02 9.99529977e-01 -1.64993557e-04 3.69254378e+00] [ 1.52512498e-02 -3.02712218e-04 9.99883647e-01 2.27512542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48925415399998 meters Centerline goodness [0,1] 0.9991903696601683 Centerline is valid? [True, True] Translation: X:251.92, Y:3.69, Z:2.28 [[ 9.99339662e-01 -3.32801613e-02 -1.45832047e-02 2.51915419e+02] [ 3.32814108e-02 9.99446008e-01 -1.57067245e-04 3.69064615e+00] [ 1.45803529e-02 -3.28386097e-04 9.99893647e-01 2.27599267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51925415399998 meters Centerline goodness [0,1] 0.9988101561670031 Centerline is valid? [True, True] Translation: X:251.95, Y:3.68, Z:2.28 [[ 9.99085646e-01 -4.02851313e-02 -1.43170991e-02 2.51945261e+02] [ 4.02870588e-02 9.99188135e-01 -1.53871497e-04 3.68094477e+00] [ 1.43116743e-02 -4.23063009e-04 9.99897493e-01 2.27570168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54925415399998 meters Centerline goodness [0,1] 0.9990447482380912 Centerline is valid? [True, True] Translation: X:251.98, Y:3.68, Z:2.28 [[ 9.98867642e-01 -4.52561378e-02 -1.46736358e-02 2.51976150e+02] [ 4.52586997e-02 9.98975288e-01 -1.57610247e-04 3.67730768e+00] [ 1.46657324e-02 -5.06677900e-04 9.99892324e-01 2.27645815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57925415399998 meters Centerline goodness [0,1] 0.9989400267113269 Centerline is valid? [True, True] Translation: X:252.01, Y:3.67, Z:2.28 [[ 9.98636836e-01 -5.00008813e-02 -1.49793803e-02 2.52007663e+02] [ 5.00040894e-02 9.98749000e-01 -1.60529652e-04 3.67273445e+00] [ 1.49686678e-02 -5.88719450e-04 9.99887790e-01 2.27665846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60925415399998 meters Centerline goodness [0,1] 0.9988363728684466 Centerline is valid? [True, True] Translation: X:252.04, Y:3.67, Z:2.28 [[ 9.98085002e-01 -5.97070831e-02 -1.61676441e-02 2.52039160e+02] [ 5.97120998e-02 9.98215626e-01 -1.72693371e-04 3.66830027e+00] [ 1.61491060e-02 -7.93041317e-04 9.99869280e-01 2.27679582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63925415399999 meters Centerline goodness [0,1] 0.9987533543220571 Centerline is valid? [True, True] Translation: X:252.07, Y:3.67, Z:2.28 [[ 9.97800624e-01 -6.41762687e-02 -1.65928094e-02 2.52070130e+02] [ 6.41821762e-02 9.97938183e-01 -1.76797135e-04 3.66594488e+00] [ 1.65699443e-02 -8.88554326e-04 9.99862314e-01 2.27716866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66925415399996 meters Centerline goodness [0,1] 0.9986471918662411 Centerline is valid? [True, True] Translation: X:252.10, Y:3.66, Z:2.28 [[ 9.97513748e-01 -6.85277972e-02 -1.64397086e-02 2.52099840e+02] [ 6.85341865e-02 9.97648753e-01 -1.75076206e-04 3.66140175e+00] [ 1.64130524e-02 -9.52041134e-04 9.99864844e-01 2.27712034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69925415399996 meters Centerline goodness [0,1] 0.9987780212371482 Centerline is valid? [True, True] Translation: X:252.13, Y:3.65, Z:2.28 [[ 9.97279689e-01 -7.18220277e-02 -1.65776180e-02 2.52129632e+02] [ 7.18289763e-02 9.97416947e-01 -1.76652242e-04 3.64663196e+00] [ 1.65474847e-02 -1.01458164e-03 9.99862566e-01 2.27594132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72925415399996 meters Centerline goodness [0,1] 0.9986942695280416 Centerline is valid? [True, True] Translation: X:252.16, Y:3.65, Z:2.28 [[ 9.96935586e-01 -7.63454596e-02 -1.70530971e-02 2.52159902e+02] [ 7.63534718e-02 9.97080796e-01 -1.81693901e-04 3.65203040e+00] [ 1.70171871e-02 -1.12092605e-03 9.99854569e-01 2.27709481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75925415399996 meters Centerline goodness [0,1] 0.9988030742093991 Centerline is valid? [True, True] Translation: X:252.19, Y:3.65, Z:2.28 [[ 9.96862390e-01 -7.73228012e-02 -1.69280801e-02 2.52191714e+02] [ 7.73308443e-02 9.97005470e-01 -1.79914225e-04 3.65134906e+00] [ 1.68912999e-02 -1.12971300e-03 9.99856694e-01 2.27732621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78925415399996 meters Centerline goodness [0,1] 0.9986534253492678 Centerline is valid? [True, True] Translation: X:252.22, Y:3.65, Z:2.28 [[ 9.96847517e-01 -7.74478055e-02 -1.72297638e-02 2.52223256e+02] [ 7.74561729e-02 9.96995741e-01 -1.82163791e-04 3.65066425e+00] [ 1.71921093e-02 -1.15296204e-03 9.99851540e-01 2.27765551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81925415399996 meters Centerline goodness [0,1] 0.9986753574432295 Centerline is valid? [True, True] Translation: X:252.25, Y:3.65, Z:2.28 [[ 9.96918759e-01 -7.64684183e-02 -1.74805204e-02 2.52254517e+02] [ 7.64769106e-02 9.97071336e-01 -1.83122271e-04 3.64951727e+00] [ 1.74433289e-02 -1.15429817e-03 9.99847187e-01 2.27789013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84925415399996 meters Centerline goodness [0,1] 0.998779101587168 Centerline is valid? [True, True] Translation: X:252.29, Y:3.65, Z:2.28 [[ 9.97002549e-01 -7.52948509e-02 -1.77933390e-02 2.52285361e+02] [ 7.53034964e-02 9.97160644e-01 -1.84574345e-04 3.65032667e+00] [ 1.77567149e-02 -1.15587955e-03 9.99841669e-01 2.27806676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87925415399997 meters Centerline goodness [0,1] 0.9985694149327835 Centerline is valid? [True, True] Translation: X:252.32, Y:3.66, Z:2.28 [[ 9.97104573e-01 -7.38883294e-02 -1.79717752e-02 2.52317889e+02] [ 7.38969446e-02 9.97265866e-01 -1.85146526e-04 3.65583495e+00] [ 1.79363181e-02 -1.14344883e-03 9.99838477e-01 2.27882362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90925415399997 meters Centerline goodness [0,1] 0.9988398582517719 Centerline is valid? [True, True] Translation: X:252.35, Y:3.66, Z:2.28 [[ 9.97336493e-01 -7.07019122e-02 -1.79209198e-02 2.52349141e+02] [ 7.07099840e-02 9.97496899e-01 -1.83625362e-04 3.65920965e+00] [ 1.78890446e-02 -1.08405168e-03 9.99839391e-01 2.27953087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93925415399997 meters Centerline goodness [0,1] 0.9988183659689399 Centerline is valid? [True, True] Translation: X:252.38, Y:3.66, Z:2.28 [[ 9.97453448e-01 -6.91695928e-02 -1.73834842e-02 2.52380400e+02] [ 6.91769636e-02 9.97604389e-01 -1.77665142e-04 3.66053912e+00] [ 1.73541292e-02 -1.02532395e-03 9.99848880e-01 2.28007798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96925415399997 meters Centerline goodness [0,1] 0.9986696792448846 Centerline is valid? [True, True] Translation: X:252.41, Y:3.66, Z:2.28 [[ 9.97570334e-01 -6.75195288e-02 -1.71622328e-02 2.52410514e+02] [ 6.75264778e-02 9.97717467e-01 -1.74930868e-04 3.66216147e+00] [ 1.71348707e-02 -9.84399285e-04 9.99852703e-01 2.28071655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99925415399997 meters Centerline goodness [0,1] 0.9987127271192521 Centerline is valid? [True, True] Translation: X:252.44, Y:3.66, Z:2.28 [[ 9.97684315e-01 -6.59606539e-02 -1.65891638e-02 2.52441869e+02] [ 6.59669386e-02 9.97821795e-01 -1.68671664e-04 3.66395852e+00] [ 1.65641549e-02 -9.26055277e-04 9.99862376e-01 2.28176923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02925415399997 meters Centerline goodness [0,1] 0.9989429845887153 Centerline is valid? [True, True] Translation: X:252.47, Y:3.67, Z:2.28 [[ 9.97786301e-01 -6.44242572e-02 -1.64927986e-02 2.52474385e+02] [ 6.44302787e-02 9.97922197e-01 -1.66542115e-04 3.66673107e+00] [ 1.64692592e-02 -8.96462172e-04 9.99863971e-01 2.28243504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05925415399997 meters Centerline goodness [0,1] 0.9989847286264224 Centerline is valid? [True, True] Translation: X:252.51, Y:3.67, Z:2.28 [[ 9.97975295e-01 -6.14603821e-02 -1.63686446e-02 2.52506082e+02] [ 6.14659418e-02 9.98109168e-01 -1.63695506e-04 3.67013437e+00] [ 1.63477550e-02 -8.42750085e-04 9.99866011e-01 2.28302302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08925415399997 meters Centerline goodness [0,1] 0.998919789041154 Centerline is valid? [True, True] Translation: X:252.54, Y:3.67, Z:2.28 [[ 9.98080187e-01 -5.96893557e-02 -1.65263586e-02 2.52537946e+02] [ 5.96947989e-02 9.98216662e-01 -1.64183234e-04 3.67265272e+00] [ 1.65066865e-02 -8.22669617e-04 9.99863417e-01 2.28252293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11925415399998 meters Centerline goodness [0,1] 0.9987947731213261 Centerline is valid? [True, True] Translation: X:252.57, Y:3.68, Z:2.28 [[ 9.98162286e-01 -5.82686861e-02 -1.66376246e-02 2.52569689e+02] [ 5.82740230e-02 9.98300612e-01 -1.64257337e-04 3.67748851e+00] [ 1.66189219e-02 -8.05585840e-04 9.99861572e-01 2.28357241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14925415399998 meters Centerline goodness [0,1] 0.9988768568946153 Centerline is valid? [True, True] Translation: X:252.60, Y:3.68, Z:2.28 [[ 9.98264349e-01 -5.64190511e-02 -1.68872981e-02 2.52601773e+02] [ 5.64243066e-02 9.98406866e-01 -1.65468228e-04 3.68194665e+00] [ 1.68697299e-02 -7.87673050e-04 9.99857386e-01 2.28405652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17925415399998 meters Centerline goodness [0,1] 0.9989383612544324 Centerline is valid? [True, True] Translation: X:252.63, Y:3.69, Z:2.28 [[ 9.98457125e-01 -5.25688678e-02 -1.78852840e-02 2.52632912e+02] [ 5.25741654e-02 9.98617007e-01 -1.74190504e-04 3.68542957e+00] [ 1.78697058e-02 -7.66382128e-04 9.99840030e-01 2.28381184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20925415399998 meters Centerline goodness [0,1] 0.9991294377441821 Centerline is valid? [True, True] Translation: X:252.66, Y:3.69, Z:2.28 [[ 9.98559084e-01 -5.03510453e-02 -1.85614677e-02 2.52663299e+02] [ 5.03563784e-02 9.98731297e-01 -1.80247545e-04 3.68694026e+00] [ 1.85469944e-02 -7.54700470e-04 9.99827705e-01 2.28366783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23925415399998 meters Centerline goodness [0,1] 0.9988535275259549 Centerline is valid? [True, True] Translation: X:252.70, Y:3.69, Z:2.28 [[ 9.98662914e-01 -4.80219742e-02 -1.91383038e-02 2.52695624e+02] [ 4.80272340e-02 9.98846009e-01 -1.84965741e-04 3.68972763e+00] [ 1.91251008e-02 -7.34441368e-04 9.99816829e-01 2.28381404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26925415399998 meters Centerline goodness [0,1] 0.9991078445950252 Centerline is valid? [True, True] Translation: X:252.73, Y:3.70, Z:2.28 [[ 9.98890233e-01 -4.31445301e-02 -1.88905416e-02 2.52725969e+02] [ 4.31487959e-02 9.99068640e-01 -1.81902764e-04 3.69581596e+00] [ 1.88807959e-02 -6.33403232e-04 9.99821541e-01 2.28414586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29925415399998 meters Centerline goodness [0,1] 0.9990870100641216 Centerline is valid? [True, True] Translation: X:252.76, Y:3.70, Z:2.29 [[ 9.98983746e-01 -4.11757771e-02 -1.83311133e-02 2.52757083e+02] [ 4.11794688e-02 9.99151750e-01 -1.76187352e-04 3.69848277e+00] [ 1.83228186e-02 -5.78857209e-04 9.99831956e-01 2.28549477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32925415399998 meters Centerline goodness [0,1] 0.9989574468085106 Centerline is valid? [True, True] Translation: X:252.79, Y:3.70, Z:2.29 [[ 9.99075208e-01 -3.90257364e-02 -1.80477494e-02 2.52787882e+02] [ 3.90289762e-02 9.99238064e-01 -1.72810523e-04 3.70017479e+00] [ 1.80407423e-02 -5.31734474e-04 9.99837111e-01 2.28599739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35925415399998 meters Centerline goodness [0,1] 0.9990855927698032 Centerline is valid? [True, True] Translation: X:252.82, Y:3.70, Z:2.29 [[ 9.99173829e-01 -3.66872418e-02 -1.74844605e-02 2.52818895e+02] [ 3.66899357e-02 9.99326684e-01 -1.66785674e-04 3.70398257e+00] [ 1.74788068e-02 -4.74855851e-04 9.99847121e-01 2.28697862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38925415399999 meters Centerline goodness [0,1] 0.9991465756347344 Centerline is valid? [True, True] Translation: X:252.85, Y:3.71, Z:2.29 [[ 9.99317147e-01 -3.27278112e-02 -1.71502018e-02 2.52850304e+02] [ 3.27298311e-02 9.99464222e-01 -1.62965447e-04 3.70815283e+00] [ 1.71463466e-02 -3.98469043e-04 9.99852911e-01 2.28745954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41925415399996 meters Centerline goodness [0,1] 0.9991669870562604 Centerline is valid? [True, True] Translation: X:252.88, Y:3.71, Z:2.29 [[ 9.99376534e-01 -3.10158180e-02 -1.68689522e-02 2.52881502e+02] [ 3.10175389e-02 9.99518828e-01 -1.59672014e-04 3.71029266e+00] [ 1.68657877e-02 -3.63660918e-04 9.99857696e-01 2.28753130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44925415399996 meters Centerline goodness [0,1] 0.9991669870562604 Centerline is valid? [True, True] Translation: X:252.91, Y:3.71, Z:2.29 [[ 9.99377678e-01 -3.09789495e-02 -1.68689581e-02 2.52912355e+02] [ 3.09806757e-02 9.99519971e-01 -1.59049145e-04 3.71055478e+00] [ 1.68657877e-02 -3.63661556e-04 9.99857696e-01 2.28782023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47925415399996 meters Centerline goodness [0,1] 0.999060351087003 Centerline is valid? [True, True] Translation: X:252.94, Y:3.71, Z:2.29 [[ 9.99405732e-01 -3.00267987e-02 -1.69284779e-02 2.52942935e+02] [ 3.00284087e-02 9.99549033e-01 -1.59125162e-04 3.71143987e+00] [ 1.69256217e-02 -3.49304654e-04 9.99856690e-01 2.28775428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50925415399996 meters Centerline goodness [0,1] 0.9991240064951713 Centerline is valid? [True, True] Translation: X:252.97, Y:3.71, Z:2.29 [[ 9.99394591e-01 -3.01536823e-02 -1.73552948e-02 2.52972994e+02] [ 3.01553993e-02 9.99545209e-01 -1.62818969e-04 3.71125493e+00] [ 1.73523113e-02 -3.60635446e-04 9.99849372e-01 2.28704650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53925415399996 meters Centerline goodness [0,1] 0.9992101780301413 Centerline is valid? [True, True] Translation: X:253.00, Y:3.71, Z:2.29 [[ 9.99353686e-01 -3.13820867e-02 -1.75320947e-02 2.53003789e+02] [ 3.13840333e-02 9.99507386e-01 -1.64158038e-04 3.71306324e+00] [ 1.75286098e-02 -3.86175906e-04 9.99846288e-01 2.28758350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56925415399996 meters Centerline goodness [0,1] 0.9993602865916069 Centerline is valid? [True, True] Translation: X:253.03, Y:3.71, Z:2.29 [[ 9.99280048e-01 -3.33574154e-02 -1.80739689e-02 2.53033832e+02] [ 3.33598178e-02 9.99443392e-01 -1.68645102e-04 3.71159162e+00] [ 1.80695343e-02 -4.34420621e-04 9.99836638e-01 2.28745364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59925415399996 meters Centerline goodness [0,1] 0.9994444681851203 Centerline is valid? [True, True] Translation: X:253.06, Y:3.71, Z:2.29 [[ 9.99192775e-01 -3.58629136e-02 -1.81010877e-02 2.53064698e+02] [ 3.58657621e-02 9.99356603e-01 -1.67348307e-04 3.70925906e+00] [ 1.80954432e-02 -4.81996088e-04 9.99836148e-01 2.28716216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62925415399997 meters Centerline goodness [0,1] 0.9991473033468343 Centerline is valid? [True, True] Translation: X:253.10, Y:3.71, Z:2.29 [[ 9.98961499e-01 -4.17916743e-02 -1.81488029e-02 2.53095597e+02] [ 4.17955395e-02 9.99126171e-01 -1.66436970e-04 3.70559293e+00] [ 1.81398996e-02 -5.92274883e-04 9.99835283e-01 2.28718860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65925415399997 meters Centerline goodness [0,1] 0.9991258182128313 Centerline is valid? [True, True] Translation: X:253.13, Y:3.70, Z:2.29 [[ 9.98843983e-01 -4.46328058e-02 -1.78496546e-02 2.53127249e+02] [ 4.46370089e-02 9.99003259e-01 -1.63065839e-04 3.70353339e+00] [ 1.78391412e-02 -6.33877860e-04 9.99840669e-01 2.28752870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68925415399997 meters Centerline goodness [0,1] 0.9989761747328456 Centerline is valid? [True, True] Translation: X:253.16, Y:3.70, Z:2.29 [[ 9.98739261e-01 -4.69708675e-02 -1.77094863e-02 2.53159554e+02] [ 4.69753915e-02 9.98896034e-01 -1.60675976e-04 3.70196076e+00] [ 1.76974827e-02 -6.71436646e-04 9.99843162e-01 2.28745889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71925415399997 meters Centerline goodness [0,1] 0.999168141970437 Centerline is valid? [True, True] Translation: X:253.19, Y:3.70, Z:2.29 [[ 9.98634176e-01 -4.91740272e-02 -1.76549473e-02 2.53190146e+02] [ 4.91788973e-02 9.98789973e-01 -1.58465707e-04 3.69986794e+00] [ 1.76413767e-02 -7.10001569e-04 9.99844127e-01 2.28832991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74925415399997 meters Centerline goodness [0,1] 0.9992954589124448 Centerline is valid? [True, True] Translation: X:253.22, Y:3.70, Z:2.29 [[ 9.98480261e-01 -5.19490642e-02 -1.83973616e-02 2.53221101e+02] [ 5.19548482e-02 9.98649421e-01 -1.63746087e-04 3.69817122e+00] [ 1.83810210e-02 -7.92334893e-04 9.99830741e-01 2.28874005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77925415399997 meters Centerline goodness [0,1] 0.9991459378669798 Centerline is valid? [True, True] Translation: X:253.25, Y:3.70, Z:2.29 [[ 9.98450330e-01 -5.23992476e-02 -1.87418409e-02 2.53253088e+02] [ 5.24053451e-02 9.98625882e-01 -1.65973232e-04 3.69894623e+00] [ 1.87247843e-02 -8.16456612e-04 9.99824342e-01 2.28934973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80925415399997 meters Centerline goodness [0,1] 0.9991897827338436 Centerline is valid? [True, True] Translation: X:253.28, Y:3.70, Z:2.29 [[ 9.98450460e-01 -5.24316289e-02 -1.86441345e-02 2.53284194e+02] [ 5.24376903e-02 9.98624184e-01 -1.63947463e-04 3.69788763e+00] [ 1.86270797e-02 -8.13961933e-04 9.99826170e-01 2.28948712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83925415399997 meters Centerline goodness [0,1] 0.9990834878615428 Centerline is valid? [True, True] Translation: X:253.32, Y:3.70, Z:2.29 [[ 9.98518592e-01 -5.09036144e-02 -1.92208889e-02 2.53316472e+02] [ 5.09097978e-02 9.98703241e-01 -1.67790978e-04 3.70110660e+00] [ 1.92045052e-02 -8.10989154e-04 9.99815248e-01 2.29032861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86925415399998 meters Centerline goodness [0,1] 0.9992118772232518 Centerline is valid? [True, True] Translation: X:253.35, Y:3.70, Z:2.29 [[ 9.98572495e-01 -5.01839725e-02 -1.82904748e-02 2.53348565e+02] [ 5.01894749e-02 9.98739702e-01 -1.58359719e-04 3.70438733e+00] [ 1.82753704e-02 -7.59855664e-04 9.99832703e-01 2.29218695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89925415399998 meters Centerline goodness [0,1] 0.999125836851307 Centerline is valid? [True, True] Translation: X:253.38, Y:3.70, Z:2.29 [[ 9.98639365e-01 -4.88744622e-02 -1.81853137e-02 2.53380302e+02] [ 4.88797093e-02 9.98804660e-01 -1.56106430e-04 3.70399035e+00] [ 1.81712057e-02 -7.32998821e-04 9.99834621e-01 2.29224833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92925415399998 meters Centerline goodness [0,1] 0.9992749914704879 Centerline is valid? [True, True] Translation: X:253.41, Y:3.71, Z:2.29 [[ 9.98711506e-01 -4.71510983e-02 -1.87643623e-02 2.53412432e+02] [ 4.71564076e-02 9.98887505e-01 -1.59672148e-04 3.70763517e+00] [ 1.87510158e-02 -7.25393505e-04 9.99823921e-01 2.29308922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95925415399998 meters Centerline goodness [0,1] 0.9992543196199161 Centerline is valid? [True, True] Translation: X:253.44, Y:3.71, Z:2.29 [[ 9.98840636e-01 -4.38020632e-02 -1.99690407e-02 2.53444122e+02] [ 4.38074342e-02 9.99039979e-01 -1.68603782e-04 3.71108702e+00] [ 1.99572552e-02 -7.06384126e-04 9.99800585e-01 2.29279883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98925415399998 meters Centerline goodness [0,1] 0.9992749450877529 Centerline is valid? [True, True] Translation: X:253.48, Y:3.71, Z:2.29 [[ 9.98909753e-01 -4.18153531e-02 -2.07552655e-02 2.53475176e+02] [ 4.18207513e-02 9.99125115e-01 -1.74081392e-04 3.71020991e+00] [ 2.07443863e-02 -6.94109197e-04 9.99784571e-01 2.29180391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01925415399998 meters Centerline goodness [0,1] 0.999293860869193 Centerline is valid? [True, True] Translation: X:253.51, Y:3.71, Z:2.29 [[ 9.98957720e-01 -4.01739091e-02 -2.16686433e-02 2.53506661e+02] [ 4.01794283e-02 9.99192464e-01 -1.80776766e-04 3.71202360e+00] [ 2.16584076e-02 -6.90045354e-04 9.99765191e-01 2.29141589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04925415399998 meters Centerline goodness [0,1] 0.9994870260334288 Centerline is valid? [True, True] Translation: X:253.54, Y:3.72, Z:2.29 [[ 9.99056839e-01 -3.68764508e-02 -2.29250972e-02 2.53538561e+02] [ 3.68817866e-02 9.99319617e-01 -1.90170005e-04 3.71794064e+00] [ 2.29165121e-02 -6.55527898e-04 9.99737167e-01 2.29185113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07925415399998 meters Centerline goodness [0,1] 0.9993999785706632 Centerline is valid? [True, True] Translation: X:253.57, Y:3.72, Z:2.29 [[ 9.99075126e-01 -3.56854920e-02 -2.39883023e-02 2.53568472e+02] [ 3.56909979e-02 9.99362854e-01 -1.98716436e-04 3.71928687e+00] [ 2.39801095e-02 -6.57633800e-04 9.99712220e-01 2.29178833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10925415399998 meters Centerline goodness [0,1] 0.9994636459204909 Centerline is valid? [True, True] Translation: X:253.60, Y:3.72, Z:2.29 [[ 9.99111054e-01 -3.36385992e-02 -2.54075947e-02 2.53598564e+02] [ 3.36441031e-02 9.99433855e-01 -2.10941285e-04 3.72263219e+00] [ 2.54003061e-02 -6.44061967e-04 9.99677153e-01 2.29213240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13925415399999 meters Centerline goodness [0,1] 0.9996344321871707 Centerline is valid? [True, True] Translation: X:253.63, Y:3.73, Z:2.29 [[ 9.99121773e-01 -3.27284059e-02 -2.61635933e-02 2.53627935e+02] [ 3.27339100e-02 9.99464078e-01 -2.18004950e-04 3.72515457e+00] [ 2.61567066e-02 -6.38623217e-04 9.99657651e-01 2.29271316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16925415399996 meters Centerline goodness [0,1] 0.9992896198389805 Centerline is valid? [True, True] Translation: X:253.66, Y:3.73, Z:2.29 [[ 9.99107570e-01 -3.23813782e-02 -2.71202984e-02 2.53656405e+02] [ 3.23870325e-02 9.99475376e-01 -2.30854261e-04 3.72666796e+00] [ 2.71135458e-02 -6.47697746e-04 9.99632150e-01 2.29270214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19925415399996 meters Centerline goodness [0,1] 0.9994859162471886 Centerline is valid? [True, True] Translation: X:253.68, Y:3.73, Z:2.29 [[ 9.99118652e-01 -3.12392553e-02 -2.80361864e-02 2.53683800e+02] [ 3.12447325e-02 9.99511735e-01 -2.42801157e-04 3.72793575e+00] [ 2.80300822e-02 -6.33395980e-04 9.99606879e-01 2.29237783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22925415399996 meters Centerline goodness [0,1] 0.9995052593086536 Centerline is valid? [True, True] Translation: X:253.71, Y:3.73, Z:2.29 [[ 9.99124569e-01 -3.15758343e-02 -2.74419874e-02 2.53711375e+02] [ 3.15810410e-02 9.99501165e-01 -2.43756861e-04 3.72989762e+00] [ 2.74359952e-02 -6.23103060e-04 9.99623368e-01 2.29376201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25925415399996 meters Centerline goodness [0,1] 0.999375026938494 Centerline is valid? [True, True] Translation: X:253.74, Y:3.73, Z:2.29 [[ 9.99136211e-01 -3.14052747e-02 -2.72128583e-02 2.53738804e+02] [ 3.14102139e-02 9.99506547e-01 -2.46043807e-04 3.73089772e+00] [ 2.72071571e-02 -6.08930420e-04 9.99629631e-01 2.29425584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28925415399996 meters Centerline goodness [0,1] 0.9994396068626605 Centerline is valid? [True, True] Translation: X:253.77, Y:3.73, Z:2.30 [[ 9.99133750e-01 -3.18248513e-02 -2.68128428e-02 2.53766973e+02] [ 3.18296398e-02 9.99493278e-01 -2.48300069e-04 3.73220053e+00] [ 2.68071582e-02 -6.05358148e-04 9.99640440e-01 2.29526569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31925415399996 meters Centerline goodness [0,1] 0.999375 Centerline is valid? [True, True] Translation: X:253.79, Y:3.73, Z:2.30 [[ 9.99142398e-01 -3.27259044e-02 -2.53669708e-02 2.53794527e+02] [ 3.27302982e-02 9.99464191e-01 -2.42081520e-04 3.73314685e+00] [ 2.53613012e-02 -5.88394607e-04 9.99678177e-01 2.29624029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34925415399996 meters Centerline goodness [0,1] 0.9993320692924244 Centerline is valid? [True, True] Translation: X:253.82, Y:3.73, Z:2.30 [[ 9.99084506e-01 -3.57231068e-02 -2.35373974e-02 2.53822596e+02] [ 3.57276411e-02 9.99361538e-01 -2.27988414e-04 3.73278930e+00] [ 2.35305141e-02 -6.13155994e-04 9.99722931e-01 2.29795422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37925415399997 meters Centerline goodness [0,1] 0.9992671308171491 Centerline is valid? [True, True] Translation: X:253.85, Y:3.73, Z:2.30 [[ 9.99032768e-01 -3.78212339e-02 -2.24295087e-02 2.53852736e+02] [ 3.78258673e-02 9.99284322e-01 -2.17800187e-04 3.73199676e+00] [ 2.24216938e-02 -6.30826095e-04 9.99748403e-01 2.29869341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40925415399997 meters Centerline goodness [0,1] 0.9993539912573484 Centerline is valid? [True, True] Translation: X:253.88, Y:3.73, Z:2.30 [[ 9.98956337e-01 -4.02856782e-02 -2.15244243e-02 2.53883854e+02] [ 4.02905258e-02 9.99187985e-01 -2.08581306e-04 3.73072428e+00] [ 2.15153490e-02 -6.58866755e-04 9.99768301e-01 2.29933453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43925415399997 meters Centerline goodness [0,1] 0.9990964438611966 Centerline is valid? [True, True] Translation: X:253.92, Y:3.73, Z:2.30 [[ 9.98852058e-01 -4.32222390e-02 -2.06495673e-02 2.53915105e+02] [ 4.32273419e-02 9.99065242e-01 -1.99387336e-04 3.72912477e+00] [ 2.06388829e-02 -6.93467456e-04 9.99786755e-01 2.29943945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46925415399997 meters Centerline goodness [0,1] 0.9994618911298134 Centerline is valid? [True, True] Translation: X:253.94, Y:3.72, Z:2.30 [[ 9.98588986e-01 -4.92278348e-02 -1.99162373e-02 2.53944751e+02] [ 4.92337802e-02 9.98787264e-01 -1.91987552e-04 3.72445513e+00] [ 1.99015353e-02 -7.88834996e-04 9.99801634e-01 2.29998485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49925415399997 meters Centerline goodness [0,1] 0.9994187798682568 Centerline is valid? [True, True] Translation: X:253.98, Y:3.72, Z:2.30 [[ 9.98455618e-01 -5.19920566e-02 -1.95756392e-02 2.53975373e+02] [ 5.19983376e-02 9.98647154e-01 -1.88349612e-04 3.72236079e+00] [ 1.95589490e-02 -8.29841964e-04 9.99808361e-01 2.30019735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52925415399997 meters Centerline goodness [0,1] 0.9992267543011792 Centerline is valid? [True, True] Translation: X:254.01, Y:3.72, Z:2.30 [[ 9.98206135e-01 -5.65520182e-02 -1.96566078e-02 2.54005099e+02] [ 5.65592397e-02 9.98399227e-01 -1.88801898e-04 3.71910290e+00] [ 1.96358192e-02 -9.23299581e-04 9.99806772e-01 2.30011544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55925415399997 meters Centerline goodness [0,1] 0.9993332616410366 Centerline is valid? [True, True] Translation: X:254.04, Y:3.72, Z:2.30 [[ 9.98110196e-01 -5.82713833e-02 -1.95059702e-02 2.54037127e+02] [ 5.82788364e-02 9.98300327e-01 -1.86618872e-04 3.72362293e+00] [ 1.94836909e-02 -9.50519044e-04 9.99809723e-01 2.30124844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58925415399997 meters Centerline goodness [0,1] 0.9993111761666954 Centerline is valid? [True, True] Translation: X:254.07, Y:3.72, Z:2.30 [[ 9.98025110e-01 -5.97554777e-02 -1.93691385e-02 2.54068922e+02] [ 5.97631291e-02 9.98212570e-01 -1.84084459e-04 3.72375246e+00] [ 1.93455176e-02 -9.73839413e-04 9.99812384e-01 2.30155186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61925415399998 meters Centerline goodness [0,1] 0.9992905056759546 Centerline is valid? [True, True] Translation: X:254.10, Y:3.72, Z:2.30 [[ 9.97965093e-01 -6.07909150e-02 -1.92389742e-02 2.54100913e+02] [ 6.07986796e-02 9.98150033e-01 -1.81601717e-04 3.72498504e+00] [ 1.92144224e-02 -9.88472051e-04 9.99814897e-01 2.30193122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64925415399998 meters Centerline goodness [0,1] 0.9994191674733786 Centerline is valid? [True, True] Translation: X:254.13, Y:3.72, Z:2.30 [[ 9.97937760e-01 -6.12966687e-02 -1.90511349e-02 2.54131609e+02] [ 6.13043943e-02 9.98119101e-01 -1.78780124e-04 3.72435917e+00] [ 1.90262602e-02 -9.89506848e-04 9.99818495e-01 2.30141340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67925415399998 meters Centerline goodness [0,1] 0.9993110575266965 Centerline is valid? [True, True] Translation: X:254.16, Y:3.73, Z:2.30 [[ 9.98012110e-01 -6.02991796e-02 -1.83258527e-02 2.54163857e+02] [ 6.03061785e-02 9.98179911e-01 -1.70979893e-04 3.72524027e+00] [ 1.83028080e-02 -9.34522141e-04 9.99832053e-01 2.30167138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70925415399998 meters Centerline goodness [0,1] 0.9993329316577724 Centerline is valid? [True, True] Translation: X:254.20, Y:3.73, Z:2.30 [[ 9.98118139e-01 -5.84868760e-02 -1.84245795e-02 2.54195216e+02] [ 5.84936615e-02 9.98287765e-01 -1.70871374e-04 3.72723329e+00] [ 1.84030261e-02 -9.07171300e-04 9.99830238e-01 2.30192494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73925415399998 meters Centerline goodness [0,1] 0.9994831150930393 Centerline is valid? [True, True] Translation: X:254.23, Y:3.73, Z:2.30 [[ 9.98248777e-01 -5.64082999e-02 -1.78180364e-02 2.54225854e+02] [ 5.64143269e-02 9.98407430e-01 -1.64599896e-04 3.72914211e+00] [ 1.77989447e-02 -8.40880883e-04 9.99841233e-01 2.30271089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76925415399998 meters Centerline goodness [0,1] 0.9992456896551725 Centerline is valid? [True, True] Translation: X:254.26, Y:3.73, Z:2.30 [[ 9.98414207e-01 -5.35096906e-02 -1.74866863e-02 2.54257571e+02] [ 5.35150656e-02 9.98567029e-01 -1.60752172e-04 3.73259005e+00] [ 1.74702301e-02 -7.75303909e-04 9.99847083e-01 2.30333087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79925415399998 meters Centerline goodness [0,1] 0.999417199102055 Centerline is valid? [True, True] Translation: X:254.29, Y:3.74, Z:2.30 [[ 9.98778876e-01 -4.65573825e-02 -1.65277762e-02 2.54287171e+02] [ 4.65612396e-02 9.98915426e-01 -1.51564971e-04 3.73841850e+00] [ 1.65169071e-02 -6.18173856e-04 9.99863395e-01 2.30392953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82925415399998 meters Centerline goodness [0,1] 0.9994807105610489 Centerline is valid? [True, True] Translation: X:254.32, Y:3.74, Z:2.30 [[ 9.98954807e-01 -4.28961061e-02 -1.57866574e-02 2.54319152e+02] [ 4.28991716e-02 9.99079396e-01 -1.44558609e-04 3.74325983e+00] [ 1.57783251e-02 -5.32827007e-04 9.99875373e-01 2.30489497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85925415399998 meters Centerline goodness [0,1] 0.9993940312073928 Centerline is valid? [True, True] Translation: X:254.35, Y:3.75, Z:2.31 [[ 9.99125135e-01 -3.88913716e-02 -1.53761300e-02 2.54350349e+02] [ 3.88938171e-02 9.99243339e-01 -1.40071152e-04 3.74603836e+00] [ 1.53699430e-02 -4.58087779e-04 9.99881771e-01 2.30522189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88925415399996 meters Centerline goodness [0,1] 0.9994143421109714 Centerline is valid? [True, True] Translation: X:254.38, Y:3.75, Z:2.31 [[ 9.99270318e-01 -3.52161536e-02 -1.47869314e-02 2.54381794e+02] [ 3.52180210e-02 9.99379644e-01 -1.34171084e-04 3.74921588e+00] [ 1.47824832e-02 -3.86693279e-04 9.99890658e-01 2.30558670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91925415399996 meters Centerline goodness [0,1] 0.9995007488766849 Centerline is valid? [True, True] Translation: X:254.41, Y:3.75, Z:2.31 [[ 9.99396601e-01 -3.14328442e-02 -1.47787050e-02 2.54412271e+02] [ 3.14343027e-02 9.99505811e-01 -1.33650663e-04 3.75152111e+00] [ 1.47756026e-02 -3.30988268e-04 9.99890780e-01 2.30529442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94925415399996 meters Centerline goodness [0,1] 0.9995432896196255 Centerline is valid? [True, True] Translation: X:254.44, Y:3.76, Z:2.30 [[ 9.99588706e-01 -2.45980965e-02 -1.47428674e-02 2.54442475e+02] [ 2.45988087e-02 9.99697395e-01 -1.33057981e-04 3.75701678e+00] [ 1.47416791e-02 -2.29653719e-04 9.99891309e-01 2.30487151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97925415399996 meters Centerline goodness [0,1] 0.9995860656630574 Centerline is valid? [True, True] Translation: X:254.47, Y:3.76, Z:2.30 [[ 9.99667747e-01 -2.10492485e-02 -1.48770197e-02 2.54473748e+02] [ 2.10495862e-02 9.99778424e-01 -1.33900166e-04 3.76002337e+00] [ 1.48765418e-02 -1.79299430e-04 9.99889322e-01 2.30476789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00925415399996 meters Centerline goodness [0,1] 0.9995416848537756 Centerline is valid? [True, True] Translation: X:254.50, Y:3.76, Z:2.31 [[ 9.99724109e-01 -1.79912930e-02 -1.51003337e-02 2.54504226e+02] [ 1.79912973e-02 9.99838134e-01 -1.35571750e-04 3.76354622e+00] [ 1.51003285e-02 -1.36140246e-04 9.99885974e-01 2.30509622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03925415399996 meters Centerline goodness [0,1] 0.9995406221288883 Centerline is valid? [True, True] Translation: X:254.53, Y:3.77, Z:2.30 [[ 9.99797911e-01 -1.23578163e-02 -1.58562729e-02 2.54533535e+02] [ 1.23571107e-02 9.99923638e-01 -1.42476911e-04 3.76810815e+00] [ 1.58568228e-02 -5.34896008e-05 9.99874271e-01 2.30386261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06925415399996 meters Centerline goodness [0,1] 0.9994527744336216 Centerline is valid? [True, True] Translation: X:254.56, Y:3.77, Z:2.30 [[ 9.99815311e-01 -1.02938598e-02 -1.62290257e-02 2.54560733e+02] [ 1.02928320e-02 9.99947017e-01 -1.46856934e-04 3.77012351e+00] [ 1.62296776e-02 -2.02128242e-05 9.99868290e-01 2.30325375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09925415399996 meters Centerline goodness [0,1] 0.9995836346503627 Centerline is valid? [True, True] Translation: X:254.59, Y:3.77, Z:2.30 [[ 9.99842477e-01 -7.18635791e-03 -1.62288794e-02 2.54588558e+02] [ 7.18486914e-03 9.99974177e-01 -1.50039825e-04 3.77245216e+00] [ 1.62295386e-02 3.34138155e-05 9.99868292e-01 2.30358766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12925415399997 meters Centerline goodness [0,1] 0.9996930430397509 Centerline is valid? [True, True] Translation: X:254.62, Y:3.77, Z:2.30 [[ 9.99857584e-01 -6.79511382e-03 -1.54479460e-02 2.54616594e+02] [ 6.79365026e-03 9.99976912e-01 -1.47217030e-04 3.77337557e+00] [ 1.54485897e-02 4.22481216e-05 9.99880663e-01 2.30399204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15925415399997 meters Centerline goodness [0,1] 0.9996286831356617 Centerline is valid? [True, True] Translation: X:254.64, Y:3.77, Z:2.30 [[ 9.99860907e-01 -6.70173778e-03 -1.52726324e-02 2.54644683e+02] [ 6.70022862e-03 9.99977542e-01 -1.49980816e-04 3.77385127e+00] [ 1.52732945e-02 4.76298259e-05 9.99883355e-01 2.30448734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18925415399997 meters Centerline goodness [0,1] 0.9995186416943812 Centerline is valid? [True, True] Translation: X:254.67, Y:3.77, Z:2.30 [[ 9.99862646e-01 -7.34593329e-03 -1.48568589e-02 2.54671970e+02] [ 7.34452637e-03 9.99973017e-01 -1.49258158e-04 3.77409101e+00] [ 1.48575544e-02 4.01210652e-05 9.99889620e-01 2.30479634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21925415399997 meters Centerline goodness [0,1] 0.9996506321374763 Centerline is valid? [True, True] Translation: X:254.70, Y:3.77, Z:2.31 [[ 9.99855196e-01 -8.49078532e-03 -1.47476781e-02 2.54700221e+02] [ 8.48948356e-03 9.99963952e-01 -1.50870986e-04 3.77359101e+00] [ 1.47484275e-02 2.56489685e-05 9.99891236e-01 2.30550003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24925415399997 meters Centerline goodness [0,1] 0.9995849987986807 Centerline is valid? [True, True] Translation: X:254.73, Y:3.77, Z:2.31 [[ 9.99847325e-01 -1.02487971e-02 -1.41523793e-02 2.54728087e+02] [ 1.02477184e-02 9.99947480e-01 -1.48738592e-04 3.77248020e+00] [ 1.41531604e-02 3.68628559e-06 9.99899839e-01 2.30623368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27925415399997 meters Centerline goodness [0,1] 0.9997598934800166 Centerline is valid? [True, True] Translation: X:254.76, Y:3.77, Z:2.31 [[ 9.99812265e-01 -1.44533235e-02 -1.29049195e-02 2.54757158e+02] [ 1.44527412e-02 9.99895544e-01 -1.38383404e-04 3.76920422e+00] [ 1.29055716e-02 -4.81540378e-05 9.99916718e-01 2.30789864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30925415399997 meters Centerline goodness [0,1] 0.9995643935268879 Centerline is valid? [True, True] Translation: X:254.79, Y:3.77, Z:2.31 [[ 9.99786373e-01 -1.67657252e-02 -1.20879428e-02 2.54786674e+02] [ 1.67653750e-02 9.99859443e-01 -1.30318528e-04 3.76741934e+00] [ 1.20884287e-02 -7.23682060e-05 9.99926930e-01 2.30866703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33925415399997 meters Centerline goodness [0,1] 0.9995643935268879 Centerline is valid? [True, True] Translation: X:254.82, Y:3.77, Z:2.31 [[ 9.99786373e-01 -1.67657268e-02 -1.20879410e-02 2.54816671e+02] [ 1.67653745e-02 9.99859443e-01 -1.30489443e-04 3.76774325e+00] [ 1.20884297e-02 -7.21972911e-05 9.99926930e-01 2.30894813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36925415399998 meters Centerline goodness [0,1] 0.9995655856990812 Centerline is valid? [True, True] Translation: X:254.85, Y:3.76, Z:2.31 [[ 9.99696553e-01 -2.21936163e-02 -1.06885692e-02 2.54847545e+02] [ 2.21936512e-02 9.99753684e-01 -1.15359061e-04 3.76303053e+00] [ 1.06884966e-02 -1.21894320e-04 9.99942869e-01 2.31072754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39925415399998 meters Centerline goodness [0,1] 0.9995655856990812 Centerline is valid? [True, True] Translation: X:254.88, Y:3.76, Z:2.31 [[ 9.99698179e-01 -2.21202335e-02 -1.06885720e-02 2.54879242e+02] [ 2.21202671e-02 9.99755310e-01 -1.15090881e-04 3.76331369e+00] [ 1.06885025e-02 -1.21377925e-04 9.99942869e-01 2.31102444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42925415399998 meters Centerline goodness [0,1] 0.9994999239014632 Centerline is valid? [True, True] Translation: X:254.91, Y:3.76, Z:2.31 [[ 9.99640921e-01 -2.47415586e-02 -1.02899637e-02 2.54911851e+02] [ 2.47417361e-02 9.99693870e-01 -1.10068736e-04 3.76105233e+00] [ 1.02895370e-02 -1.44562355e-04 9.99947051e-01 2.31146643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45925415399998 meters Centerline goodness [0,1] 0.9995877004535295 Centerline is valid? [True, True] Translation: X:254.94, Y:3.76, Z:2.31 [[ 9.99568493e-01 -2.76666760e-02 -9.86823024e-03 2.54942811e+02] [ 2.76669886e-02 9.99617190e-01 -1.04867724e-04 3.75837491e+00] [ 9.86735393e-03 -1.68201740e-04 9.99951302e-01 2.31244942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48925415399998 meters Centerline goodness [0,1] 0.9994170732760482 Centerline is valid? [True, True] Translation: X:254.97, Y:3.75, Z:2.31 [[ 9.99390000e-01 -3.33735050e-02 -1.02876756e-02 2.54973399e+02] [ 3.33741527e-02 9.99442922e-01 -1.08754510e-04 3.75174086e+00] [ 1.02855741e-02 -2.34654287e-04 9.99947075e-01 2.31240877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51925415399998 meters Centerline goodness [0,1] 0.9994595763078253 Centerline is valid? [True, True] Translation: X:255.01, Y:3.75, Z:2.31 [[ 9.99288957e-01 -3.60711904e-02 -1.09749758e-02 2.55005367e+02] [ 3.60720954e-02 9.99349184e-01 -1.15541136e-04 3.75046924e+00] [ 1.09720008e-02 -2.80431392e-04 9.99939766e-01 2.31209076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54925415399998 meters Centerline goodness [0,1] 0.9994823681656422 Centerline is valid? [True, True] Translation: X:255.04, Y:3.74, Z:2.31 [[ 9.99061248e-01 -4.13872924e-02 -1.27951177e-02 2.55036646e+02] [ 4.13889699e-02 9.99143101e-01 -1.33781352e-04 3.74467451e+00] [ 1.27896904e-02 -3.95920978e-04 9.99918130e-01 2.31051304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57925415399998 meters Centerline goodness [0,1] 0.9994828923554253 Centerline is valid? [True, True] Translation: X:255.07, Y:3.74, Z:2.31 [[ 9.98953258e-01 -4.36259026e-02 -1.37538974e-02 2.55069170e+02] [ 4.36280624e-02 9.99047833e-01 -1.43113907e-04 3.74417892e+00] [ 1.37470449e-02 -4.57091791e-04 9.99905400e-01 2.31024961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60925415399998 meters Centerline goodness [0,1] 0.9993756727664155 Centerline is valid? [True, True] Translation: X:255.10, Y:3.74, Z:2.31 [[ 9.98841820e-01 -4.59208850e-02 -1.43628014e-02 2.55101163e+02] [ 4.59234931e-02 9.98944949e-01 -1.48345101e-04 3.74269693e+00] [ 1.43544601e-02 -5.11416721e-04 9.99896839e-01 2.30993735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63925415399996 meters Centerline goodness [0,1] 0.9994400413507926 Centerline is valid? [True, True] Translation: X:255.13, Y:3.74, Z:2.31 [[ 9.98731759e-01 -4.81407268e-02 -1.47426097e-02 2.55133320e+02] [ 4.81437328e-02 9.98840407e-01 -1.51146244e-04 3.74122437e+00] [ 1.47327905e-02 -5.58809707e-04 9.99891310e-01 2.30967687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66925415399996 meters Centerline goodness [0,1] 0.9993752827384158 Centerline is valid? [True, True] Translation: X:255.16, Y:3.73, Z:2.31 [[ 9.98492537e-01 -5.25891299e-02 -1.57173806e-02 2.55163429e+02] [ 5.25931083e-02 9.98616012e-01 -1.60393079e-04 3.73348230e+00] [ 1.57040629e-02 -6.66474609e-04 9.99876461e-01 2.30898138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69925415399996 meters Centerline goodness [0,1] 0.9992477809538137 Centerline is valid? [True, True] Translation: X:255.20, Y:3.74, Z:2.31 [[ 9.98384531e-01 -5.45512367e-02 -1.58899778e-02 2.55195128e+02] [ 5.45555568e-02 9.98510724e-01 -1.61790961e-04 3.73581480e+00] [ 1.58751392e-02 -7.05356996e-04 9.99873733e-01 2.30942015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72925415399996 meters Centerline goodness [0,1] 0.99926955550304 Centerline is valid? [True, True] Translation: X:255.23, Y:3.73, Z:2.31 [[ 9.98270427e-01 -5.66117088e-02 -1.58514735e-02 2.55227439e+02] [ 5.66162830e-02 9.98395999e-01 -1.60399477e-04 3.73353058e+00] [ 1.58351283e-02 -7.37329458e-04 9.99874345e-01 2.30953988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75925415399996 meters Centerline goodness [0,1] 0.9992912523356458 Centerline is valid? [True, True] Translation: X:255.26, Y:3.73, Z:2.31 [[ 9.98156772e-01 -5.85804545e-02 -1.58552754e-02 2.55258376e+02] [ 5.85853028e-02 9.98282393e-01 -1.58914475e-04 3.72858019e+00] [ 1.58373515e-02 -7.70264549e-04 9.99874285e-01 2.30931811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78925415399996 meters Centerline goodness [0,1] 0.9993552685306569 Centerline is valid? [True, True] Translation: X:255.29, Y:3.73, Z:2.31 [[ 9.97931327e-01 -6.22648303e-02 -1.60049277e-02 2.55289653e+02] [ 6.22702664e-02 9.98059311e-01 -1.58956083e-04 3.72952970e+00] [ 1.59837645e-02 -8.38003857e-04 9.99871900e-01 2.30991766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81925415399996 meters Centerline goodness [0,1] 0.9992271858832621 Centerline is valid? [True, True] Translation: X:255.32, Y:3.72, Z:2.31 [[ 9.97822691e-01 -6.39335682e-02 -1.61980258e-02 2.55320703e+02] [ 6.39393673e-02 9.97953772e-01 -1.60143012e-04 3.71952622e+00] [ 1.61751194e-02 -8.75897189e-04 9.99868791e-01 2.30919697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84925415399996 meters Centerline goodness [0,1] 0.9992914805908623 Centerline is valid? [True, True] Translation: X:255.35, Y:3.73, Z:2.31 [[ 9.97743828e-01 -6.51043665e-02 -1.63913234e-02 2.55352706e+02] [ 6.51104794e-02 9.97878048e-01 -1.61013642e-04 3.72612877e+00] [ 1.63670245e-02 -9.06596556e-04 9.99865640e-01 2.31059038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87925415399997 meters Centerline goodness [0,1] 0.9992702453263506 Centerline is valid? [True, True] Translation: X:255.38, Y:3.73, Z:2.31 [[ 9.97699345e-01 -6.56352151e-02 -1.69716247e-02 2.55384523e+02] [ 6.56418669e-02 9.97843233e-01 -1.65431751e-04 3.72862625e+00] [ 1.69458790e-02 -9.48997978e-04 9.99855958e-01 2.31142417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90925415399997 meters Centerline goodness [0,1] 0.9993347211193854 Centerline is valid? [True, True] Translation: X:255.42, Y:3.73, Z:2.31 [[ 9.97657123e-01 -6.60637917e-02 -1.77719174e-02 2.55416434e+02] [ 6.60711779e-02 9.97814898e-01 -1.71861579e-04 3.72869598e+00] [ 1.77444378e-02 -1.00275259e-03 9.99842052e-01 2.31214596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93925415399997 meters Centerline goodness [0,1] 0.9991211146838157 Centerline is valid? [True, True] Translation: X:255.45, Y:3.73, Z:2.31 [[ 9.97640659e-01 -6.61485461e-02 -1.83707935e-02 2.55447335e+02] [ 6.61564756e-02 9.97809245e-01 -1.76418150e-04 3.72666057e+00] [ 1.83422174e-02 -1.03934503e-03 9.99831227e-01 2.31197250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96925415399997 meters Centerline goodness [0,1] 0.9991411885949846 Centerline is valid? [True, True] Translation: X:255.48, Y:3.73, Z:2.31 [[ 9.97670769e-01 -6.53770731e-02 -1.94647328e-02 2.55479951e+02] [ 6.53858547e-02 9.97860038e-01 -1.85604587e-04 3.72832923e+00] [ 1.94352133e-02 -1.08754592e-03 9.99810527e-01 2.31222616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99925415399997 meters Centerline goodness [0,1] 0.998991848991849 Centerline is valid? [True, True] Translation: X:255.51, Y:3.73, Z:2.31 [[ 9.97674613e-01 -6.52803367e-02 -1.95919256e-02 2.55511540e+02] [ 6.52892476e-02 9.97866364e-01 -1.85145121e-04 3.72656123e+00] [ 1.95622099e-02 -1.09442749e-03 9.99808043e-01 2.31213333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02925415399997 meters Centerline goodness [0,1] 0.9991875654758087 Centerline is valid? [True, True] Translation: X:255.54, Y:3.73, Z:2.31 [[ 9.97710230e-01 -6.44089637e-02 -2.06344779e-02 2.55544264e+02] [ 6.44187032e-02 9.97922940e-01 -1.93034016e-04 3.72669694e+00] [ 2.06040519e-02 -1.13665429e-03 9.99787068e-01 2.31231231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05925415399997 meters Centerline goodness [0,1] 0.9992702766509991 Centerline is valid? [True, True] Translation: X:255.58, Y:3.73, Z:2.31 [[ 9.97790600e-01 -6.19500954e-02 -2.40021546e-02 2.55575777e+02] [ 6.19626028e-02 9.98078447e-01 -2.22998125e-04 3.72805914e+00] [ 2.39698479e-02 -1.26473054e-03 9.99711882e-01 2.31125259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08925415399997 meters Centerline goodness [0,1] 0.9994855305466238 Centerline is valid? [True, True] Translation: X:255.61, Y:3.73, Z:2.31 [[ 9.97888937e-01 -5.97452738e-02 -2.54591976e-02 2.55607364e+02] [ 5.97586556e-02 9.98212827e-01 -2.35567598e-04 3.73131867e+00] [ 2.54277717e-02 -1.28633712e-03 9.99675834e-01 2.31138353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11925415399998 meters Centerline goodness [0,1] 0.9994848348251658 Centerline is valid? [True, True] Translation: X:255.64, Y:3.73, Z:2.31 [[ 9.98006579e-01 -5.72629768e-02 -2.65296116e-02 2.55638208e+02] [ 5.72766598e-02 9.98358315e-01 -2.44470514e-04 3.73171086e+00] [ 2.65000574e-02 -1.27554435e-03 9.99647998e-01 2.31067694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14925415399998 meters Centerline goodness [0,1] 0.9991626229226607 Centerline is valid? [True, True] Translation: X:255.67, Y:3.74, Z:2.31 [[ 9.98322448e-01 -5.05301666e-02 -2.82664339e-02 2.55668767e+02] [ 5.05430208e-02 9.98721851e-01 -2.59996610e-04 3.73667210e+00] [ 2.82434428e-02 -1.16911050e-03 9.99600391e-01 2.31074721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17925415399998 meters Centerline goodness [0,1] 0.9992912371134021 Centerline is valid? [True, True] Translation: X:255.70, Y:3.74, Z:2.31 [[ 9.98532810e-01 -4.64145588e-02 -2.78911614e-02 2.55698894e+02] [ 4.64254723e-02 9.98921724e-01 -2.56491630e-04 3.73880126e+00] [ 2.78729919e-02 -1.03874503e-03 9.99610933e-01 2.31076249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20925415399998 meters Centerline goodness [0,1] 0.9993328168044077 Centerline is valid? [True, True] Translation: X:255.73, Y:3.74, Z:2.31 [[ 9.98720410e-01 -4.18740179e-02 -2.83568086e-02 2.55730034e+02] [ 4.18834808e-02 9.99122468e-01 -2.60431415e-04 3.74221181e+00] [ 2.83428299e-02 -9.27583679e-04 9.99597831e-01 2.31171758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23925415399998 meters Centerline goodness [0,1] 0.9994615086374015 Centerline is valid? [True, True] Translation: X:255.76, Y:3.75, Z:2.31 [[ 9.99111241e-01 -3.17257449e-02 -2.77525600e-02 2.55759936e+02] [ 3.17308988e-02 9.99496416e-01 -2.54773106e-04 3.75025099e+00] [ 2.77466672e-02 -6.26067000e-04 9.99614791e-01 2.31409423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26925415399998 meters Centerline goodness [0,1] 0.9991796731645187 Centerline is valid? [True, True] Translation: X:255.79, Y:3.75, Z:2.32 [[ 9.99252470e-01 -2.68627988e-02 -2.78009185e-02 2.55788587e+02] [ 2.68660507e-02 9.99639010e-01 -2.56609159e-04 3.75404321e+00] [ 2.77977758e-02 -4.90483550e-04 9.99613447e-01 2.31528526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29925415399998 meters Centerline goodness [0,1] 0.9992229489088907 Centerline is valid? [True, True] Translation: X:255.82, Y:3.76, Z:2.32 [[ 9.99384126e-01 -2.17701486e-02 -2.75214308e-02 2.55816862e+02] [ 2.17713495e-02 9.99762943e-01 -2.56044473e-04 3.75668184e+00] [ 2.75204808e-02 -3.43291908e-04 9.99621181e-01 2.31527436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32925415399998 meters Centerline goodness [0,1] 0.99948185409875 Centerline is valid? [True, True] Translation: X:255.85, Y:3.76, Z:2.32 [[ 9.99479466e-01 -1.71706662e-02 -2.73123620e-02 2.55845249e+02] [ 1.71699885e-02 9.99852551e-01 -2.59351041e-04 3.76020070e+00] [ 2.73127881e-02 -2.09736901e-04 9.99626914e-01 2.31643418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35925415399998 meters Centerline goodness [0,1] 0.9993732440025934 Centerline is valid? [True, True] Translation: X:255.87, Y:3.76, Z:2.32 [[ 9.99544311e-01 -1.29991951e-02 -2.72431996e-02 2.55873222e+02] [ 1.29968629e-02 9.99915503e-01 -2.62684744e-04 3.76257669e+00] [ 2.72443123e-02 -9.15110876e-05 9.99628801e-01 2.31603303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38925415399996 meters Centerline goodness [0,1] 0.9992427356714771 Centerline is valid? [True, True] Translation: X:255.90, Y:3.76, Z:2.32 [[ 9.99591192e-01 -9.67946175e-03 -2.69027384e-02 2.55901565e+02] [ 9.67584345e-03 9.99953153e-01 -2.64672290e-04 3.76453174e+00] [ 2.69040400e-02 4.25740518e-06 9.99638021e-01 2.31744504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41925415399996 meters Centerline goodness [0,1] 0.999481473479529 Centerline is valid? [True, True] Translation: X:255.93, Y:3.76, Z:2.32 [[ 9.99627303e-01 -5.23059220e-03 -2.67935638e-02 2.55930300e+02] [ 5.22522348e-03 9.99986312e-01 -2.70383915e-04 3.76484356e+00] [ 2.67946113e-02 1.30280785e-04 9.99640951e-01 2.31770973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44925415399996 meters Centerline goodness [0,1] 0.9994590969081979 Centerline is valid? [True, True] Translation: X:255.96, Y:3.76, Z:2.32 [[ 9.99617827e-01 -4.89533805e-03 -2.72072771e-02 2.55958711e+02] [ 4.88948608e-03 9.99988007e-01 -2.81611888e-04 3.76368069e+00] [ 2.72083294e-02 1.48474661e-04 9.99629774e-01 2.31834753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47925415399996 meters Centerline goodness [0,1] 0.9993733658894963 Centerline is valid? [True, True] Translation: X:255.99, Y:3.76, Z:2.32 [[ 9.99601965e-01 -5.29368067e-03 -2.77108011e-02 2.55986137e+02] [ 5.28762358e-03 9.99985978e-01 -2.91854581e-04 3.76219561e+00] [ 2.77119575e-02 1.45214128e-04 9.99615939e-01 2.31764282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50925415399996 meters Centerline goodness [0,1] 0.9993754845378585 Centerline is valid? [True, True] Translation: X:256.01, Y:3.76, Z:2.32 [[ 9.99553148e-01 -9.06082303e-03 -2.84851776e-02 2.56013806e+02] [ 9.05585430e-03 9.99958949e-01 -3.03435038e-04 3.75677216e+00] [ 2.84867576e-02 4.53418295e-05 9.99594169e-01 2.31671773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53925415399996 meters Centerline goodness [0,1] 0.9992898949905319 Centerline is valid? [True, True] Translation: X:256.04, Y:3.75, Z:2.32 [[ 9.99513387e-01 -1.19554342e-02 -2.88106908e-02 2.56041681e+02] [ 1.19514731e-02 9.99928531e-01 -3.09691293e-04 3.75345288e+00] [ 2.88123342e-02 -3.47896017e-05 9.99584838e-01 2.31634806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56925415399996 meters Centerline goodness [0,1] 0.9993118131572722 Centerline is valid? [True, True] Translation: X:256.07, Y:3.75, Z:2.32 [[ 9.99452437e-01 -1.55318750e-02 -2.92161953e-02 2.56070235e+02] [ 1.55291548e-02 9.99879364e-01 -3.20018215e-04 3.75009469e+00] [ 2.92176412e-02 -1.33859833e-04 9.99573065e-01 2.31724902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59925415399996 meters Centerline goodness [0,1] 0.9991425141485165 Centerline is valid? [True, True] Translation: X:256.10, Y:3.75, Z:2.32 [[ 9.99378884e-01 -1.93203598e-02 -2.94715248e-02 2.56099340e+02] [ 1.93190146e-02 9.99813316e-01 -3.30411639e-04 3.74603878e+00] [ 2.94724067e-02 -2.39154404e-04 9.99565566e-01 2.31729591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62925415399997 meters Centerline goodness [0,1] 0.9991227694809363 Centerline is valid? [True, True] Translation: X:256.13, Y:3.74, Z:2.32 [[ 9.99303752e-01 -2.28567096e-02 -2.94886675e-02 2.56127749e+02] [ 2.28566773e-02 9.99738695e-01 -3.38219810e-04 3.74195271e+00] [ 2.94886926e-02 -3.36028632e-04 9.99565057e-01 2.31781338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65925415399997 meters Centerline goodness [0,1] 0.9989990842685862 Centerline is valid? [True, True] Translation: X:256.16, Y:3.73, Z:2.32 [[ 9.99151189e-01 -2.88787987e-02 -2.93754521e-02 2.56155623e+02] [ 2.88812429e-02 9.99582792e-01 -3.41170525e-04 3.73401802e+00] [ 2.93730490e-02 -5.07518631e-04 9.99568390e-01 2.31813615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68925415399997 meters Centerline goodness [0,1] 0.9989779840735852 Centerline is valid? [True, True] Translation: X:256.18, Y:3.73, Z:2.32 [[ 9.99073829e-01 -3.13485219e-02 -2.94746404e-02 2.56184733e+02] [ 3.13518790e-02 9.99508348e-01 -3.48350383e-04 3.73218192e+00] [ 2.94710694e-02 -5.76057610e-04 9.99565468e-01 2.31940461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71925415399997 meters Centerline goodness [0,1] 0.9989574689900215 Centerline is valid? [True, True] Translation: X:256.21, Y:3.73, Z:2.32 [[ 9.99010672e-01 -3.30203893e-02 -2.97881032e-02 2.56213069e+02] [ 3.30244331e-02 9.99454481e-01 -3.56348519e-04 3.73032289e+00] [ 2.97836200e-02 -6.27739248e-04 9.99556172e-01 2.32010232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74925415399997 meters Centerline goodness [0,1] 0.9989367583889763 Centerline is valid? [True, True] Translation: X:256.24, Y:3.73, Z:2.32 [[ 9.98982355e-01 -3.39273493e-02 -2.97184953e-02 2.56241231e+02] [ 3.39316953e-02 9.99424090e-01 -3.58206719e-04 3.72742990e+00] [ 2.97135332e-02 -6.50556737e-04 9.99558244e-01 2.31920840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77925415399997 meters Centerline goodness [0,1] 0.9990017628443387 Centerline is valid? [True, True] Translation: X:256.27, Y:3.73, Z:2.32 [[ 9.98975709e-01 -3.45114694e-02 -2.92658789e-02 2.56268938e+02] [ 3.45157385e-02 9.99404090e-01 -3.59441159e-04 3.72720220e+00] [ 2.92608439e-02 -6.51060435e-04 9.99571598e-01 2.32215778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80925415399997 meters Centerline goodness [0,1] 0.9990876493178588 Centerline is valid? [True, True] Translation: X:256.30, Y:3.73, Z:2.32 [[ 9.98997813e-01 -3.42221280e-02 -2.88481586e-02 2.56297549e+02] [ 3.42259326e-02 9.99414056e-01 -3.62030855e-04 3.72679178e+00] [ 2.88436447e-02 -6.25687102e-04 9.99583740e-01 2.32309409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83925415399997 meters Centerline goodness [0,1] 0.9989585989968546 Centerline is valid? [True, True] Translation: X:256.33, Y:3.73, Z:2.32 [[ 9.99038841e-01 -3.36846230e-02 -2.80488833e-02 2.56326692e+02] [ 3.36878076e-02 9.99432340e-01 -3.59135684e-04 3.72658637e+00] [ 2.80450584e-02 -5.86114886e-04 9.99606488e-01 2.32391884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86925415399998 meters Centerline goodness [0,1] 0.9989608516774823 Centerline is valid? [True, True] Translation: X:256.35, Y:3.73, Z:2.32 [[ 9.99098918e-01 -3.27125573e-02 -2.70414452e-02 2.56354202e+02] [ 3.27150337e-02 9.99464658e-01 -3.50947588e-04 3.72576413e+00] [ 2.70384492e-02 -5.34030434e-04 9.99634252e-01 2.32429909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89925415399998 meters Centerline goodness [0,1] 0.9989175192087277 Centerline is valid? [True, True] Translation: X:256.38, Y:3.73, Z:2.33 [[ 9.99213879e-01 -2.99020525e-02 -2.60286533e-02 2.56383533e+02] [ 2.99033053e-02 9.99552738e-01 -3.41190976e-04 3.72590259e+00] [ 2.60272140e-02 -4.37420008e-04 9.99661139e-01 2.32524192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92925415399998 meters Centerline goodness [0,1] 0.9990668872205963 Centerline is valid? [True, True] Translation: X:256.41, Y:3.73, Z:2.33 [[ 9.99247055e-01 -2.86707445e-02 -2.61402377e-02 2.56412149e+02] [ 2.86714454e-02 9.99588829e-01 -3.48067419e-04 3.72645845e+00] [ 2.61394690e-02 -4.01673056e-04 9.99658225e-01 2.32550126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95925415399998 meters Centerline goodness [0,1] 0.9986841546754955 Centerline is valid? [True, True] Translation: X:256.44, Y:3.73, Z:2.33 [[ 9.99317949e-01 -2.55000114e-02 -2.67092986e-02 2.56440511e+02] [ 2.54994316e-02 9.99674771e-01 -3.62361063e-04 3.72775013e+00] [ 2.67098522e-02 -3.18958018e-04 9.99643177e-01 2.32503056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98925415399998 meters Centerline goodness [0,1] 0.9989606092102751 Centerline is valid? [True, True] Translation: X:256.47, Y:3.73, Z:2.32 [[ 9.99346127e-01 -2.37458313e-02 -2.72663644e-02 2.56468999e+02] [ 2.37443877e-02 9.99717991e-01 -3.76762066e-04 3.72881748e+00] [ 2.72676216e-02 -2.70907417e-04 9.99628133e-01 2.32493287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01925415399998 meters Centerline goodness [0,1] 0.9989799604734684 Centerline is valid? [True, True] Translation: X:256.50, Y:3.73, Z:2.33 [[ 9.99380545e-01 -2.17691618e-02 -2.76519400e-02 2.56497778e+02] [ 2.17667283e-02 9.99763001e-01 -3.89042630e-04 3.72982921e+00] [ 2.76538557e-02 -2.13090630e-04 9.99617536e-01 2.32510623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04925415399998 meters Centerline goodness [0,1] 0.9988073687573208 Centerline is valid? [True, True] Translation: X:256.53, Y:3.73, Z:2.33 [[ 9.99432266e-01 -1.92983705e-02 -2.76173619e-02 2.56526643e+02] [ 1.92948063e-02 9.99813760e-01 -3.95561589e-04 3.73076609e+00] [ 2.76198521e-02 -1.37534633e-04 9.99618490e-01 2.32564443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07925415399998 meters Centerline goodness [0,1] 0.9990417172427011 Centerline is valid? [True, True] Translation: X:256.55, Y:3.73, Z:2.32 [[ 9.99464208e-01 -1.67448882e-02 -2.81230349e-02 2.56553553e+02] [ 1.67400464e-02 9.99859793e-01 -4.07608773e-04 3.73167165e+00] [ 2.81259172e-02 -6.33905299e-05 9.99604386e-01 2.32485035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10925415399998 meters Centerline goodness [0,1] 0.9991053932009883 Centerline is valid? [True, True] Translation: X:256.58, Y:3.73, Z:2.32 [[ 9.99539247e-01 -1.13329005e-02 -2.81577566e-02 2.56581061e+02] [ 1.13258196e-02 9.99935776e-01 -4.10950087e-04 3.73402152e+00] [ 2.81606054e-02 9.18510699e-05 9.99603407e-01 2.32312906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13925415399996 meters Centerline goodness [0,1] 0.9989980814325303 Centerline is valid? [True, True] Translation: X:256.61, Y:3.73, Z:2.33 [[ 9.99567099e-01 -9.36466734e-03 -2.78911613e-02 2.56609266e+02] [ 9.35678027e-03 9.99956139e-01 -4.13280832e-04 3.73471438e+00] [ 2.78938082e-02 1.52130455e-04 9.99610880e-01 2.32600516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16925415399996 meters Centerline goodness [0,1] 0.9991899209106995 Centerline is valid? [True, True] Translation: X:256.64, Y:3.74, Z:2.33 [[ 9.99583078e-01 -7.63342401e-03 -2.78460414e-02 2.56637226e+02] [ 7.62476834e-03 9.99970844e-01 -4.17008962e-04 3.73585683e+00] [ 2.78484127e-02 2.04515487e-04 9.99612137e-01 2.32592253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19925415399996 meters Centerline goodness [0,1] 0.9991684080344577 Centerline is valid? [True, True] Translation: X:256.66, Y:3.74, Z:2.33 [[ 9.99594674e-01 -7.15539201e-03 -2.75551657e-02 2.56664817e+02] [ 7.14656620e-03 9.99974375e-01 -4.18765040e-04 3.73624412e+00] [ 2.75574560e-02 2.21670488e-04 9.99620197e-01 2.32701961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22925415399996 meters Centerline goodness [0,1] 0.9994029086876786 Centerline is valid? [True, True] Translation: X:256.69, Y:3.73, Z:2.33 [[ 9.99604020e-01 -7.81971382e-03 -2.70306340e-02 2.56693083e+02] [ 7.81134878e-03 9.99969405e-01 -4.15044962e-04 3.73441857e+00] [ 2.70330525e-02 2.03734903e-04 9.99634519e-01 2.32621719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25925415399996 meters Centerline goodness [0,1] 0.9994029086876786 Centerline is valid? [True, True] Translation: X:256.72, Y:3.73, Z:2.33 [[ 9.99601755e-01 -8.10433872e-03 -2.70305429e-02 2.56720479e+02] [ 8.09591901e-03 9.99967139e-01 -4.20914549e-04 3.73491562e+00] [ 2.70330659e-02 2.01909835e-04 9.99634520e-01 2.32647414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28925415399996 meters Centerline goodness [0,1] 0.9993176681308371 Centerline is valid? [True, True] Translation: X:256.75, Y:3.73, Z:2.33 [[ 9.99596733e-01 -9.58700311e-03 -2.67293993e-02 2.56748283e+02] [ 9.57916812e-03 9.99954030e-01 -4.21155925e-04 3.73374439e+00] [ 2.67322081e-02 1.64940678e-04 9.99642617e-01 2.32525148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31925415399996 meters Centerline goodness [0,1] 0.9990194824572622 Centerline is valid? [True, True] Translation: X:256.78, Y:3.73, Z:2.33 [[ 9.99566352e-01 -1.22028697e-02 -2.67992157e-02 2.56776031e+02] [ 1.21957659e-02 9.99925537e-01 -4.28513587e-04 3.73132111e+00] [ 2.68024492e-02 1.01490802e-04 9.99640745e-01 2.32743860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34925415399996 meters Centerline goodness [0,1] 0.9990242660783981 Centerline is valid? [True, True] Translation: X:256.80, Y:3.73, Z:2.33 [[ 9.99511717e-01 -1.79466132e-02 -2.55782633e-02 2.56803764e+02] [ 1.79419028e-02 9.99838946e-01 -4.13665616e-04 3.72678285e+00] [ 2.55815677e-02 -4.54590831e-05 9.99672737e-01 2.32773822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37925415399997 meters Centerline goodness [0,1] 0.9990660157079176 Centerline is valid? [True, True] Translation: X:256.83, Y:3.72, Z:2.33 [[ 9.99462302e-01 -2.13423897e-02 -2.48919354e-02 2.56830450e+02] [ 2.13389053e-02 9.99772217e-01 -4.05626013e-04 3.72410173e+00] [ 2.48949225e-02 -1.25758745e-04 9.99690065e-01 2.32824802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40925415399997 meters Centerline goodness [0,1] 0.9989401839840604 Centerline is valid? [True, True] Translation: X:256.86, Y:3.72, Z:2.33 [[ 9.99405288e-01 -2.45159319e-02 -2.42495236e-02 2.56859027e+02] [ 2.45134394e-02 9.99699420e-01 -4.00087574e-04 3.72228194e+00] [ 2.42520432e-02 -1.94589590e-04 9.99705857e-01 2.33052401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43925415399997 meters Centerline goodness [0,1] 0.9990452346601035 Centerline is valid? [True, True] Translation: X:256.89, Y:3.72, Z:2.33 [[ 9.99337468e-01 -2.74302236e-02 -2.39208665e-02 2.56887384e+02] [ 2.74284867e-02 9.99623688e-01 -4.00769784e-04 3.71986854e+00] [ 2.39228580e-02 -2.55608909e-04 9.99713775e-01 2.33079859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46925415399997 meters Centerline goodness [0,1] 0.999066253554603 Centerline is valid? [True, True] Translation: X:256.92, Y:3.72, Z:2.33 [[ 9.99280188e-01 -2.96514169e-02 -2.36621791e-02 2.56915666e+02] [ 2.96502530e-02 9.99560255e-01 -4.00107058e-04 3.71754456e+00] [ 2.36636375e-02 -3.01770540e-04 9.99719931e-01 2.33085521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49925415399997 meters Centerline goodness [0,1] 0.9988999132623918 Centerline is valid? [True, True] Translation: X:256.94, Y:3.71, Z:2.33 [[ 9.99229714e-01 -3.17446905e-02 -2.30706360e-02 2.56943952e+02] [ 3.17440943e-02 9.99495952e-01 -3.92158866e-04 3.71415305e+00] [ 2.30714562e-02 -3.40499653e-04 9.99733761e-01 2.33096855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52925415399997 meters Centerline goodness [0,1] 0.9990914853158673 Centerline is valid? [True, True] Translation: X:256.97, Y:3.71, Z:2.33 [[ 9.99234593e-01 -3.19698097e-02 -2.25423803e-02 2.56972658e+02] [ 3.19692044e-02 9.99488779e-01 -3.87320849e-04 3.71416990e+00] [ 2.25432388e-02 -3.33637574e-04 9.99745813e-01 2.33185336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55925415399997 meters Centerline goodness [0,1] 0.9988996804841406 Centerline is valid? [True, True] Translation: X:257.00, Y:3.71, Z:2.33 [[ 9.99281309e-01 -3.10108714e-02 -2.17988668e-02 2.57000440e+02] [ 3.10100032e-02 9.99519003e-01 -3.77939788e-04 3.71373948e+00] [ 2.18001018e-02 -2.98314762e-04 9.99762305e-01 2.33195440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58925415399997 meters Centerline goodness [0,1] 0.9989445464716189 Centerline is valid? [True, True] Translation: X:257.03, Y:3.71, Z:2.33 [[ 9.99330953e-01 -2.97380252e-02 -2.12907757e-02 2.57029252e+02] [ 2.97368262e-02 9.99557693e-01 -3.72977586e-04 3.71488841e+00] [ 2.12924503e-02 -2.60392050e-04 9.99773256e-01 2.33363759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61925415399998 meters Centerline goodness [0,1] 0.998944011489155 Centerline is valid? [True, True] Translation: X:257.06, Y:3.72, Z:2.34 [[ 9.99493708e-01 -2.50188832e-02 -1.96566312e-02 2.57058337e+02] [ 2.50168563e-02 9.99686969e-01 -3.49047048e-04 3.71591677e+00] [ 1.96592108e-02 -1.42876789e-04 9.99806729e-01 2.33563219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64925415399998 meters Centerline goodness [0,1] 0.9990069723219945 Centerline is valid? [True, True] Translation: X:257.09, Y:3.72, Z:2.34 [[ 9.99565320e-01 -2.25743929e-02 -1.89622722e-02 2.57086846e+02] [ 2.25719780e-02 9.99745162e-01 -3.41398588e-04 3.71672976e+00] [ 1.89651468e-02 -8.67658014e-05 9.99820142e-01 2.33619135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67925415399998 meters Centerline goodness [0,1] 0.9990099844125205 Centerline is valid? [True, True] Translation: X:257.12, Y:3.72, Z:2.34 [[ 9.99689538e-01 -1.71188136e-02 -1.81045512e-02 2.57115316e+02] [ 1.71156346e-02 9.99853462e-01 -3.30537539e-04 3.71819094e+00] [ 1.81075566e-02 2.05640377e-05 9.99836045e-01 2.33709928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70925415399998 meters Centerline goodness [0,1] 0.9990099844125205 Centerline is valid? [True, True] Translation: X:257.14, Y:3.72, Z:2.34 [[ 9.99684432e-01 -1.74145253e-02 -1.81044586e-02 2.57142709e+02] [ 1.74113040e-02 9.99848355e-01 -3.35547846e-04 3.71875794e+00] [ 1.81075566e-02 2.02197241e-05 9.99836045e-01 2.33735666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73925415399998 meters Centerline goodness [0,1] 0.9990512734019228 Centerline is valid? [True, True] Translation: X:257.17, Y:3.72, Z:2.34 [[ 9.99767307e-01 -1.20178479e-02 -1.79137631e-02 2.57170468e+02] [ 1.20137646e-02 9.99927776e-01 -3.35537622e-04 3.72017418e+00] [ 1.79165018e-02 1.20247810e-04 9.99839479e-01 2.33744289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76925415399998 meters Centerline goodness [0,1] 0.9991151188269004 Centerline is valid? [True, True] Translation: X:257.20, Y:3.72, Z:2.34 [[ 9.99784494e-01 -1.01182840e-02 -1.81269586e-02 2.57198906e+02] [ 1.01137347e-02 9.99948796e-01 -3.42626772e-04 3.72073809e+00] [ 1.81294972e-02 1.59221683e-04 9.99835634e-01 2.33732480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79925415399998 meters Centerline goodness [0,1] 0.9994740274768046 Centerline is valid? [True, True] Translation: X:257.23, Y:3.72, Z:2.34 [[ 9.99791826e-01 -8.41728506e-03 -1.85863722e-02 2.57227549e+02] [ 8.41211906e-03 9.99964554e-01 -3.56111565e-04 3.72052390e+00] [ 1.85887108e-02 1.99686656e-04 9.99827195e-01 2.33712125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82925415399998 meters Centerline goodness [0,1] 0.9992848127892301 Centerline is valid? [True, True] Translation: X:257.26, Y:3.72, Z:2.34 [[ 9.99792797e-01 -6.22256642e-03 -1.93814941e-02 2.57255841e+02] [ 6.21647059e-03 9.99980607e-01 -3.74750207e-04 3.71850376e+00] [ 1.93834501e-02 2.54188069e-04 9.99812091e-01 2.33598226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85925415399998 meters Centerline goodness [0,1] 0.9994742265873099 Centerline is valid? [True, True] Translation: X:257.28, Y:3.72, Z:2.34 [[ 9.99784525e-01 -6.15520367e-03 -1.98246391e-02 2.57284494e+02] [ 6.14874171e-03 9.99981021e-01 -3.86893988e-04 3.71630411e+00] [ 1.98266442e-02 2.64914036e-04 9.99803398e-01 2.33632586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88925415399996 meters Centerline goodness [0,1] 0.9992211674069085 Centerline is valid? [True, True] Translation: X:257.31, Y:3.71, Z:2.34 [[ 9.99761420e-01 -6.86939927e-03 -2.07343964e-02 2.57312600e+02] [ 6.86236179e-03 9.99976369e-01 -4.10543625e-04 3.71457313e+00] [ 2.07367267e-02 2.68158748e-04 9.99784935e-01 2.33621414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91925415399996 meters Centerline goodness [0,1] 0.999389833361387 Centerline is valid? [True, True] Translation: X:257.34, Y:3.71, Z:2.34 [[ 9.99729670e-01 -8.64084527e-03 -2.15852372e-02 2.57341287e+02] [ 8.63354955e-03 9.99962637e-01 -4.31164173e-04 3.70982627e+00] [ 2.15881563e-02 2.44690402e-04 9.99766919e-01 2.33581191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94925415399996 meters Centerline goodness [0,1] 0.9992851886891622 Centerline is valid? [True, True] Translation: X:257.37, Y:3.71, Z:2.34 [[ 9.99704141e-01 -1.02347111e-02 -2.20653650e-02 2.57369622e+02] [ 1.02273775e-02 9.99947600e-01 -4.45187321e-04 3.70736401e+00] [ 2.20687651e-02 2.19384792e-04 9.99756431e-01 2.33599508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97925415399996 meters Centerline goodness [0,1] 0.9993510028053427 Centerline is valid? [True, True] Translation: X:257.40, Y:3.70, Z:2.34 [[ 9.99676953e-01 -1.19577608e-02 -2.24277034e-02 2.57397552e+02] [ 1.19504688e-02 9.99928485e-01 -4.59135119e-04 3.70452356e+00] [ 2.24315897e-02 1.90965226e-04 9.99748362e-01 2.33615665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00925415399996 meters Centerline goodness [0,1] 0.99934914969557 Centerline is valid? [True, True] Translation: X:257.43, Y:3.70, Z:2.34 [[ 9.99645255e-01 -1.39386002e-02 -2.26953577e-02 2.57425416e+02] [ 1.39314919e-02 9.99902841e-01 -4.71293069e-04 3.70166511e+00] [ 2.26997218e-02 1.54945687e-04 9.99742316e-01 2.33619594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03925415399996 meters Centerline goodness [0,1] 0.9992880177576747 Centerline is valid? [True, True] Translation: X:257.45, Y:3.69, Z:2.34 [[ 9.99582909e-01 -1.79968188e-02 -2.25858973e-02 2.57453693e+02] [ 1.79907261e-02 9.99838042e-01 -4.72936166e-04 3.69451435e+00] [ 2.25907506e-02 6.64022168e-05 9.99744794e-01 2.33679762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06925415399996 meters Centerline goodness [0,1] 0.9991833315883154 Centerline is valid? [True, True] Translation: X:257.48, Y:3.69, Z:2.34 [[ 9.99531636e-01 -2.09085970e-02 -2.23458898e-02 2.57481447e+02] [ 2.09032571e-02 9.99781391e-01 -4.72543757e-04 3.69064846e+00] [ 2.23508850e-02 5.22055471e-06 9.99750188e-01 2.33756954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09925415399996 meters Centerline goodness [0,1] 0.9991022027351498 Centerline is valid? [True, True] Translation: X:257.51, Y:3.69, Z:2.34 [[ 9.99469225e-01 -2.41551798e-02 -2.18585203e-02 2.57509866e+02] [ 2.41507083e-02 9.99708219e-01 -4.68561677e-04 3.68675733e+00] [ 2.18634606e-02 -5.95857703e-05 9.99760964e-01 2.33818389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12925415399997 meters Centerline goodness [0,1] 0.9993318159988307 Centerline is valid? [True, True] Translation: X:257.54, Y:3.68, Z:2.34 [[ 9.99391963e-01 -2.75207743e-02 -2.14082033e-02 2.57537930e+02] [ 2.75171248e-02 9.99621224e-01 -4.65088989e-04 3.68244776e+00] [ 2.14128940e-02 -1.24286004e-04 9.99770710e-01 2.33908750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15925415399997 meters Centerline goodness [0,1] 0.9992497499166388 Centerline is valid? [True, True] Translation: X:257.57, Y:3.67, Z:2.34 [[ 9.99205626e-01 -3.41046269e-02 -2.06153112e-02 2.57565980e+02] [ 3.41025684e-02 9.99418236e-01 -4.51500857e-04 3.67341009e+00] [ 2.06187162e-02 -2.51892863e-04 9.99787380e-01 2.33993425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18925415399997 meters Centerline goodness [0,1] 0.9994572818168534 Centerline is valid? [True, True] Translation: X:257.59, Y:3.67, Z:2.34 [[ 9.99104862e-01 -3.73176213e-02 -1.99215949e-02 2.57594745e+02] [ 3.73162686e-02 9.99303409e-01 -4.39765451e-04 3.66953482e+00] [ 1.99241287e-02 -3.04027786e-04 9.99801449e-01 2.34051074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21925415399997 meters Centerline goodness [0,1] 0.9991023339317774 Centerline is valid? [True, True] Translation: X:257.62, Y:3.67, Z:2.34 [[ 9.98986592e-01 -4.05777261e-02 -1.94740218e-02 2.57623288e+02] [ 4.05769575e-02 9.99176322e-01 -4.34766225e-04 3.66659448e+00] [ 1.94756233e-02 -3.55870926e-04 9.99810269e-01 2.34136084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24925415399997 meters Centerline goodness [0,1] 0.9992068792786776 Centerline is valid? [True, True] Translation: X:257.65, Y:3.66, Z:2.34 [[ 9.98875856e-01 -4.33302480e-02 -1.92227591e-02 2.57652733e+02] [ 4.33299595e-02 9.99060723e-01 -4.31702991e-04 3.66149540e+00] [ 1.92234094e-02 -4.01703680e-04 9.99815132e-01 2.34113833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27925415399997 meters Centerline goodness [0,1] 0.9991668055324112 Centerline is valid? [True, True] Translation: X:257.68, Y:3.65, Z:2.34 [[ 9.98617848e-01 -4.91209537e-02 -1.86956100e-02 2.57682689e+02] [ 4.91216852e-02 9.98792713e-01 -4.20370398e-04 3.65441907e+00] [ 1.86936880e-02 -4.98570486e-04 9.99825133e-01 2.34186751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30925415399997 meters Centerline goodness [0,1] 0.9993957578030587 Centerline is valid? [True, True] Translation: X:257.71, Y:3.65, Z:2.34 [[ 9.98480009e-01 -5.19030379e-02 -1.85404192e-02 2.57713103e+02] [ 5.19042301e-02 9.98651980e-01 -4.17220316e-04 3.65051649e+00] [ 1.85370813e-02 -5.45740038e-04 9.99828025e-01 2.34183394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33925415399997 meters Centerline goodness [0,1] 0.9992093710338514 Centerline is valid? [True, True] Translation: X:257.74, Y:3.65, Z:2.34 [[ 9.98313449e-01 -5.50246858e-02 -1.85078829e-02 2.57742690e+02] [ 5.50264065e-02 9.98484813e-01 -4.16653431e-04 3.64574585e+00] [ 1.85027662e-02 -6.02471563e-04 9.99828628e-01 2.34162374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36925415399998 meters Centerline goodness [0,1] 0.9993745308981736 Centerline is valid? [True, True] Translation: X:257.77, Y:3.64, Z:2.34 [[ 9.98132667e-01 -5.82037098e-02 -1.85339491e-02 2.57773681e+02] [ 5.82059864e-02 9.98304507e-01 -4.17039683e-04 3.64312461e+00] [ 1.85267981e-02 -6.62525856e-04 9.99828145e-01 2.34212148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39925415399998 meters Centerline goodness [0,1] 0.999271121847602 Centerline is valid? [True, True] Translation: X:257.80, Y:3.64, Z:2.34 [[ 9.97761840e-01 -6.42001788e-02 -1.86988691e-02 2.57804546e+02] [ 6.42035574e-02 9.97936735e-01 -4.20197863e-04 3.63697179e+00] [ 1.86872652e-02 -7.81276524e-04 9.99825073e-01 2.34223487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42925415399998 meters Centerline goodness [0,1] 0.9992073590454934 Centerline is valid? [True, True] Translation: X:257.83, Y:3.63, Z:2.34 [[ 9.97553770e-01 -6.71447099e-02 -1.94438908e-02 2.57834335e+02] [ 6.71489249e-02 9.97742868e-01 -4.36761078e-04 3.63280600e+00] [ 1.94293295e-02 -8.69943700e-04 9.99810854e-01 2.34215672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45925415399998 meters Centerline goodness [0,1] 0.9992508116207441 Centerline is valid? [True, True] Translation: X:257.87, Y:3.63, Z:2.34 [[ 9.97357619e-01 -6.98510028e-02 -1.99653776e-02 2.57865853e+02] [ 6.98559957e-02 9.97556985e-01 -4.48083802e-04 3.63098576e+00] [ 1.99479009e-02 -9.47801535e-04 9.99800572e-01 2.34225041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48925415399998 meters Centerline goodness [0,1] 0.9992277669943439 Centerline is valid? [True, True] Translation: X:257.90, Y:3.63, Z:2.34 [[ 9.97166012e-01 -7.24029261e-02 -2.04392217e-02 2.57895993e+02] [ 7.24087009e-02 9.97374940e-01 -4.58364453e-04 3.62637749e+00] [ 2.04187544e-02 -1.02291204e-03 9.99790992e-01 2.34176137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51925415399998 meters Centerline goodness [0,1] 0.9993144708961735 Centerline is valid? [True, True] Translation: X:257.93, Y:3.62, Z:2.34 [[ 9.96994888e-01 -7.45279990e-02 -2.11369310e-02 2.57925553e+02] [ 7.45346471e-02 9.97218312e-01 -4.74204624e-04 3.62038489e+00] [ 2.11134761e-02 -1.10265410e-03 9.99776478e-01 2.34069869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54925415399998 meters Centerline goodness [0,1] 0.9991051919675372 Centerline is valid? [True, True] Translation: X:257.96, Y:3.62, Z:2.34 [[ 9.96747880e-01 -7.74000031e-02 -2.24254894e-02 2.57956027e+02] [ 7.74082078e-02 9.96999356e-01 -5.03276628e-04 3.62073115e+00] [ 2.23971521e-02 -1.23427703e-03 9.99748390e-01 2.34140942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57925415399998 meters Centerline goodness [0,1] 0.9990819562677349 Centerline is valid? [True, True] Translation: X:257.99, Y:3.62, Z:2.34 [[ 9.96658706e-01 -7.84153202e-02 -2.28574159e-02 2.57986489e+02] [ 7.84241103e-02 9.96919955e-01 -5.12969996e-04 3.62332297e+00] [ 2.28272387e-02 -1.28131649e-03 9.99738604e-01 2.34229802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60925415399998 meters Centerline goodness [0,1] 0.9993336942489485 Centerline is valid? [True, True] Translation: X:258.02, Y:3.62, Z:2.34 [[ 9.96638501e-01 -7.85390885e-02 -2.33090063e-02 2.58015993e+02] [ 7.85482574e-02 9.96910175e-01 -5.23357001e-04 3.62135460e+00] [ 2.32780896e-02 -1.30928409e-03 9.99728171e-01 2.34208880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63925415399996 meters Centerline goodness [0,1] 0.9993130152385711 Centerline is valid? [True, True] Translation: X:258.05, Y:3.63, Z:2.34 [[ 9.96639573e-01 -7.84467722e-02 -2.35725475e-02 2.58045944e+02] [ 7.84561200e-02 9.96917427e-01 -5.29445667e-04 3.62603884e+00] [ 2.35414167e-02 -1.32174411e-03 9.99721989e-01 2.34306376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66925415399996 meters Centerline goodness [0,1] 0.9992486224745366 Centerline is valid? [True, True] Translation: X:258.08, Y:3.63, Z:2.34 [[ 9.96706938e-01 -7.73862967e-02 -2.42206567e-02 2.58075834e+02] [ 7.73958538e-02 9.97000294e-01 -5.44002372e-04 3.62738958e+00] [ 2.41901002e-02 -1.33236747e-03 9.99706489e-01 2.34262604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69925415399996 meters Centerline goodness [0,1] 0.9993111653829294 Centerline is valid? [True, True] Translation: X:258.10, Y:3.63, Z:2.34 [[ 9.96755899e-01 -7.67764714e-02 -2.41464565e-02 2.58104986e+02] [ 7.67857785e-02 9.97047466e-01 -5.42878011e-04 3.63028554e+00] [ 2.41168435e-02 -1.31298760e-03 9.99708284e-01 2.34311095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72925415399996 meters Centerline goodness [0,1] 0.9992069289366586 Centerline is valid? [True, True] Translation: X:258.13, Y:3.63, Z:2.34 [[ 9.96754824e-01 -7.66113711e-02 -2.47086770e-02 2.58134368e+02] [ 7.66210508e-02 9.97060131e-01 -5.56148834e-04 3.63214481e+00] [ 2.46786440e-02 -1.33886076e-03 9.99694539e-01 2.34291971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75925415399996 meters Centerline goodness [0,1] 0.9991642290012537 Centerline is valid? [True, True] Translation: X:258.16, Y:3.63, Z:2.34 [[ 9.96692414e-01 -7.72975166e-02 -2.50863750e-02 2.58162912e+02] [ 7.73076857e-02 9.97007122e-01 -5.65674605e-04 3.63218051e+00] [ 2.50550198e-02 -1.37556601e-03 9.99685127e-01 2.34261995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78925415399996 meters Centerline goodness [0,1] 0.9990876290797495 Centerline is valid? [True, True] Translation: X:258.19, Y:3.63, Z:2.34 [[ 9.96641721e-01 -7.78737313e-02 -2.53172379e-02 2.58191773e+02] [ 7.78842394e-02 9.96962245e-01 -5.72243683e-04 3.63170542e+00] [ 2.52848931e-02 -1.40149189e-03 9.99679304e-01 2.34228356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81925415399996 meters Centerline goodness [0,1] 0.9992283628779979 Centerline is valid? [True, True] Translation: X:258.22, Y:3.63, Z:2.34 [[ 9.96544860e-01 -7.91311309e-02 -2.52310600e-02 2.58221125e+02] [ 7.91419426e-02 9.96863193e-01 -5.71348496e-04 3.63171812e+00] [ 2.51971265e-02 -1.42746070e-03 9.99681483e-01 2.34238726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84925415399996 meters Centerline goodness [0,1] 0.999124343257443 Centerline is valid? [True, True] Translation: X:258.25, Y:3.63, Z:2.34 [[ 9.96402055e-01 -8.11131395e-02 -2.45683587e-02 2.58249999e+02] [ 8.11239634e-02 9.96703864e-01 -5.57453099e-04 3.63274999e+00] [ 2.45325948e-02 -1.43763522e-03 9.99697997e-01 2.34381566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87925415399997 meters Centerline goodness [0,1] 0.9991648223159477 Centerline is valid? [True, True] Translation: X:258.28, Y:3.64, Z:2.35 [[ 9.96344425e-01 -8.19616883e-02 -2.40846259e-02 2.58280174e+02] [ 8.19723254e-02 9.96634456e-01 -5.46955791e-04 3.64230600e+00] [ 2.40483974e-02 -1.42931644e-03 9.99709774e-01 2.34679613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90925415399997 meters Centerline goodness [0,1] 0.9992286524349566 Centerline is valid? [True, True] Translation: X:258.31, Y:3.64, Z:2.35 [[ 9.96308698e-01 -8.24413784e-02 -2.39248399e-02 2.58311767e+02] [ 8.24520256e-02 9.96594887e-01 -5.42781762e-04 3.64494568e+00] [ 2.38881208e-02 -1.43187332e-03 9.99713613e-01 2.34774669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93925415399997 meters Centerline goodness [0,1] 0.9992693873290889 Centerline is valid? [True, True] Translation: X:258.34, Y:3.65, Z:2.35 [[ 9.96303588e-01 -8.26091237e-02 -2.35561866e-02 2.58342586e+02] [ 8.26195124e-02 9.96581021e-01 -5.33542290e-04 3.64701286e+00] [ 2.35197240e-02 -1.41463056e-03 9.99722372e-01 2.34822306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96925415399997 meters Centerline goodness [0,1] 0.9992714707963865 Centerline is valid? [True, True] Translation: X:258.37, Y:3.65, Z:2.35 [[ 9.96322022e-01 -8.24077966e-02 -2.34815522e-02 2.58374273e+02] [ 8.24180844e-02 9.96597701e-01 -5.30977210e-04 3.64883741e+00] [ 2.34454176e-02 -1.40628026e-03 9.99724129e-01 2.34872727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99925415399997 meters Centerline goodness [0,1] 0.9991666319429976 Centerline is valid? [True, True] Translation: X:258.40, Y:3.65, Z:2.35 [[ 9.96463748e-01 -8.08086075e-02 -2.30210255e-02 2.58404613e+02] [ 8.08180838e-02 9.96728733e-01 -5.19969148e-04 3.65277672e+00] [ 2.29877356e-02 -1.34238476e-03 9.99734846e-01 2.34913535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02925415399997 meters Centerline goodness [0,1] 0.99924821450946 Centerline is valid? [True, True] Translation: X:258.44, Y:3.66, Z:2.35 [[ 9.96601651e-01 -7.91519413e-02 -2.28061308e-02 2.58435945e+02] [ 7.91608244e-02 9.96861725e-01 -5.14441734e-04 3.65694660e+00] [ 2.27752780e-02 -1.29265864e-03 9.99739774e-01 2.34952780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05925415399997 meters Centerline goodness [0,1] 0.9992073259767621 Centerline is valid? [True, True] Translation: X:258.47, Y:3.66, Z:2.35 [[ 9.96790059e-01 -7.66554627e-02 -2.30979968e-02 2.58466971e+02] [ 7.66639268e-02 9.97056855e-01 -5.20151508e-04 3.66207058e+00] [ 2.30698885e-02 -1.25230128e-03 9.99733070e-01 2.35000483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08925415399997 meters Centerline goodness [0,1] 0.9992080693564521 Centerline is valid? [True, True] Translation: X:258.50, Y:3.67, Z:2.35 [[ 9.97000273e-01 -7.37399067e-02 -2.35134502e-02 2.58497446e+02] [ 7.37478779e-02 9.97276777e-01 -5.29146552e-04 3.66593346e+00] [ 2.34884370e-02 -1.20650780e-03 9.99723381e-01 2.34994873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11925415399998 meters Centerline goodness [0,1] 0.9991457087491926 Centerline is valid? [True, True] Translation: X:258.53, Y:3.67, Z:2.35 [[ 9.97245029e-01 -7.03318947e-02 -2.35749059e-02 2.58527179e+02] [ 7.03389577e-02 9.97523007e-01 -5.30529551e-04 3.67021028e+00] [ 2.35538242e-02 -1.12916635e-03 9.99721933e-01 2.34986902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14925415399998 meters Centerline goodness [0,1] 0.9991457087491926 Centerline is valid? [True, True] Translation: X:258.56, Y:3.67, Z:2.35 [[ 9.97247626e-01 -7.02950672e-02 -2.35749177e-02 2.58558052e+02] [ 7.03021323e-02 9.97525603e-01 -5.30004875e-04 3.67087513e+00] [ 2.35538407e-02 -1.12882088e-03 9.99721933e-01 2.35015832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17925415399998 meters Centerline goodness [0,1] 0.9989987693206233 Centerline is valid? [True, True] Translation: X:258.59, Y:3.68, Z:2.35 [[ 9.97761568e-01 -6.25061221e-02 -2.37663295e-02 2.58588257e+02] [ 6.25111045e-02 9.98044126e-01 -5.33963797e-04 3.68100997e+00] [ 2.37532215e-02 -9.52890951e-04 9.99717398e-01 2.35147100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20925415399998 meters Centerline goodness [0,1] 0.9988746717792689 Centerline is valid? [True, True] Translation: X:258.62, Y:3.69, Z:2.35 [[ 9.98030378e-01 -5.82636092e-02 -2.32532924e-02 2.58619288e+02] [ 5.82672345e-02 9.98300885e-01 -5.22184892e-04 3.68656934e+00] [ 2.32442068e-02 -8.33748659e-04 9.99729469e-01 2.35192310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23925415399998 meters Centerline goodness [0,1] 0.9990435397346863 Centerline is valid? [True, True] Translation: X:258.65, Y:3.69, Z:2.35 [[ 9.98247820e-01 -5.42949692e-02 -2.35232955e-02 2.58650056e+02] [ 5.42975888e-02 9.98524658e-01 -5.27812637e-04 3.69209792e+00] [ 2.35172481e-02 -7.50370410e-04 9.99723150e-01 2.35302725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26925415399998 meters Centerline goodness [0,1] 0.9989788262754251 Centerline is valid? [True, True] Translation: X:258.68, Y:3.70, Z:2.35 [[ 9.98641267e-01 -4.67631511e-02 -2.29962324e-02 2.58679838e+02] [ 4.67636625e-02 9.98905848e-01 -5.15817388e-04 3.69987967e+00] [ 2.29951923e-02 -5.60271522e-04 9.99735419e-01 2.35356686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29925415399998 meters Centerline goodness [0,1] 0.9990819754219783 Centerline is valid? [True, True] Translation: X:258.71, Y:3.70, Z:2.35 [[ 9.98734432e-01 -4.47764840e-02 -2.29041757e-02 2.58708910e+02] [ 4.47764580e-02 9.98996899e-01 -5.14240667e-04 3.70329743e+00] [ 2.29042264e-02 -5.11978002e-04 9.99737533e-01 2.35365146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32925415399998 meters Centerline goodness [0,1] 0.9991234843583697 Centerline is valid? [True, True] Translation: X:258.74, Y:3.71, Z:2.35 [[ 9.98830984e-01 -4.25760043e-02 -2.28899370e-02 2.58738526e+02] [ 4.25753876e-02 9.99093125e-01 -5.14499396e-04 3.70628371e+00] [ 2.28910840e-02 -4.60650000e-04 9.99737859e-01 2.35367272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35925415399998 meters Centerline goodness [0,1] 0.9991451209341118 Centerline is valid? [True, True] Translation: X:258.77, Y:3.71, Z:2.35 [[ 9.98893707e-01 -4.12165492e-02 -2.26397363e-02 2.58768541e+02] [ 4.12155825e-02 9.99150147e-01 -5.09512815e-04 3.70942570e+00] [ 2.26414962e-02 -4.24160773e-04 9.99743558e-01 2.35387977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38925415399996 meters Centerline goodness [0,1] 0.999021016892666 Centerline is valid? [True, True] Translation: X:258.80, Y:3.71, Z:2.36 [[ 9.98934036e-01 -4.01060606e-02 -2.28537769e-02 2.58797729e+02] [ 4.01047315e-02 9.99195348e-01 -5.16668248e-04 3.71414566e+00] [ 2.28561091e-02 -4.00427089e-04 9.99738685e-01 2.35504145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41925415399996 meters Centerline goodness [0,1] 0.998977675777175 Centerline is valid? [True, True] Translation: X:258.83, Y:3.71, Z:2.35 [[ 9.98913108e-01 -4.07649729e-02 -2.26013291e-02 2.58826533e+02] [ 4.07637940e-02 9.99168679e-01 -5.13066985e-04 3.71357907e+00] [ 2.26034553e-02 -4.08806586e-04 9.99744426e-01 2.35420466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44925415399996 meters Centerline goodness [0,1] 0.9989352596087601 Centerline is valid? [True, True] Translation: X:258.86, Y:3.71, Z:2.35 [[ 9.98889313e-01 -4.15805793e-02 -2.21629242e-02 2.58855543e+02] [ 4.15796251e-02 9.99135066e-01 -5.04069971e-04 3.71344093e+00] [ 2.21647143e-02 -4.18015973e-04 9.99754245e-01 2.35435072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47925415399996 meters Centerline goodness [0,1] 0.9991235758106923 Centerline is valid? [True, True] Translation: X:258.88, Y:3.71, Z:2.35 [[ 9.98841976e-01 -4.29126909e-02 -2.17533550e-02 2.58884223e+02] [ 4.29120626e-02 9.99078730e-01 -4.95895047e-04 3.71309540e+00] [ 2.17545945e-02 -4.38160543e-04 9.99763245e-01 2.35471635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50925415399996 meters Centerline goodness [0,1] 0.9991658672894858 Centerline is valid? [True, True] Translation: X:258.91, Y:3.72, Z:2.36 [[ 9.98777745e-01 -4.46021032e-02 -2.12994804e-02 2.58914792e+02] [ 4.46018718e-02 9.99004723e-01 -4.86154359e-04 3.71625428e+00] [ 2.12999650e-02 -4.64436537e-04 9.99773022e-01 2.35722958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53925415399996 meters Centerline goodness [0,1] 0.998850766851937 Centerline is valid? [True, True] Translation: X:258.94, Y:3.71, Z:2.36 [[ 9.98614058e-01 -4.83437245e-02 -2.08049831e-02 2.58944138e+02] [ 4.83443106e-02 9.98830617e-01 -4.75076831e-04 3.71431477e+00] [ 2.08036211e-02 -5.31384165e-04 9.99783440e-01 2.35760909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56925415399996 meters Centerline goodness [0,1] 0.998975987962634 Centerline is valid? [True, True] Translation: X:258.97, Y:3.71, Z:2.36 [[ 9.98529147e-01 -5.01954208e-02 -2.04929973e-02 2.58973877e+02] [ 5.01963715e-02 9.98739258e-01 -4.68322041e-04 3.71070677e+00] [ 2.04906685e-02 -5.61040896e-04 9.99789887e-01 2.35624173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59925415399996 meters Centerline goodness [0,1] 0.9991217431307766 Centerline is valid? [True, True] Translation: X:259.01, Y:3.71, Z:2.36 [[ 9.98435926e-01 -5.19432407e-02 -2.06785227e-02 2.59005020e+02] [ 5.19445883e-02 9.98649857e-01 -4.72318683e-04 3.71397792e+00] [ 2.06751375e-02 -6.02557407e-04 9.99786065e-01 2.35778431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62925415399997 meters Centerline goodness [0,1] 0.9991455841287042 Centerline is valid? [True, True] Translation: X:259.04, Y:3.71, Z:2.36 [[ 9.98277773e-01 -5.50232264e-02 -2.03453378e-02 2.59035314e+02] [ 5.50251862e-02 9.98484859e-01 -4.63895979e-04 3.71249224e+00] [ 2.03400368e-02 -6.56408954e-04 9.99792905e-01 2.35721671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65925415399997 meters Centerline goodness [0,1] 0.9989554826714575 Centerline is valid? [True, True] Translation: X:259.07, Y:3.71, Z:2.36 [[ 9.98233559e-01 -5.60476434e-02 -1.97084368e-02 2.59066800e+02] [ 5.60496970e-02 9.98427879e-01 -4.48603289e-04 3.71291309e+00] [ 1.97025959e-02 -6.56841051e-04 9.99805669e-01 2.35757526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68925415399997 meters Centerline goodness [0,1] 0.9989365473236441 Centerline is valid? [True, True] Translation: X:259.10, Y:3.71, Z:2.36 [[ 9.98210535e-01 -5.65943523e-02 -1.93081929e-02 2.59097113e+02] [ 5.65964354e-02 9.98397041e-01 -4.38977883e-04 3.71218121e+00] [ 1.93020863e-02 -6.54582542e-04 9.99813483e-01 2.35745972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71925415399997 meters Centerline goodness [0,1] 0.9987261146496815 Centerline is valid? [True, True] Translation: X:259.13, Y:3.71, Z:2.36 [[ 9.98212497e-01 -5.68198178e-02 -1.85288672e-02 2.59128063e+02] [ 5.68217839e-02 9.98384249e-01 -4.20766961e-04 3.71210283e+00] [ 1.85228370e-02 -6.32828447e-04 9.99828237e-01 2.35767476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74925415399997 meters Centerline goodness [0,1] 0.9988086778414078 Centerline is valid? [True, True] Translation: X:259.16, Y:3.71, Z:2.36 [[ 9.98283103e-01 -5.59378796e-02 -1.73724117e-02 2.59160141e+02] [ 5.59394900e-02 9.98434083e-01 -3.93607609e-04 3.71325467e+00] [ 1.73672255e-02 -5.78872025e-04 9.99849011e-01 2.35843106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77925415399997 meters Centerline goodness [0,1] 0.9989980378240721 Centerline is valid? [True, True] Translation: X:259.19, Y:3.72, Z:2.36 [[ 9.98361356e-01 -5.46412916e-02 -1.69980022e-02 2.59192375e+02] [ 5.46426665e-02 9.98505900e-01 -3.83893679e-04 3.71609508e+00] [ 1.69935819e-02 -5.45551550e-04 9.99855450e-01 2.35906929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80925415399997 meters Centerline goodness [0,1] 0.999082740936855 Centerline is valid? [True, True] Translation: X:259.22, Y:3.72, Z:2.36 [[ 9.98457672e-01 -5.27978808e-02 -1.71657050e-02 2.59224162e+02] [ 5.27990303e-02 9.98605084e-01 -3.86544298e-04 3.71847142e+00] [ 1.71621690e-02 -5.20384458e-04 9.99852584e-01 2.35926754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83925415399997 meters Centerline goodness [0,1] 0.9989543249121633 Centerline is valid? [True, True] Translation: X:259.25, Y:3.72, Z:2.36 [[ 9.98702947e-01 -4.81668542e-02 -1.65038482e-02 2.59254833e+02] [ 4.81672975e-02 9.98839213e-01 -3.70871925e-04 3.72024744e+00] [ 1.65025545e-02 -4.24554881e-04 9.99863733e-01 2.35857035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86925415399998 meters Centerline goodness [0,1] 0.9990174558377757 Centerline is valid? [True, True] Translation: X:259.29, Y:3.72, Z:2.36 [[ 9.98827108e-01 -4.54459166e-02 -1.67056243e-02 2.59285781e+02] [ 4.54460007e-02 9.98966726e-01 -3.74785952e-04 3.72428491e+00] [ 1.67053953e-02 -3.84857445e-04 9.99860381e-01 2.35890029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89925415399998 meters Centerline goodness [0,1] 0.9992464047225305 Centerline is valid? [True, True] Translation: X:259.32, Y:3.73, Z:2.36 [[ 9.98966380e-01 -4.23065609e-02 -1.66230725e-02 2.59317435e+02] [ 4.23062199e-02 9.99104622e-01 -3.72326025e-04 3.72680724e+00] [ 1.66239404e-02 -3.31318181e-04 9.99861758e-01 2.35905626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92925415399998 meters Centerline goodness [0,1] 0.9988927191058184 Centerline is valid? [True, True] Translation: X:259.35, Y:3.73, Z:2.36 [[ 9.99084394e-01 -3.93875687e-02 -1.67030767e-02 2.59347698e+02] [ 3.93868246e-02 9.99223968e-01 -3.73638370e-04 3.72870379e+00] [ 1.67048313e-02 -2.84584887e-04 9.99860424e-01 2.35894655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95925415399998 meters Centerline goodness [0,1] 0.9991005877554435 Centerline is valid? [True, True] Translation: X:259.38, Y:3.73, Z:2.36 [[ 9.99309201e-01 -3.36109721e-02 -1.58563655e-02 2.59377631e+02] [ 3.36095853e-02 9.99434976e-01 -3.54004474e-04 3.73215573e+00] [ 1.58593047e-02 -1.79165942e-04 9.99874217e-01 2.35930103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98925415399998 meters Centerline goodness [0,1] 0.9991406593867243 Centerline is valid? [True, True] Translation: X:259.41, Y:3.73, Z:2.36 [[ 9.99380651e-01 -3.15832092e-02 -1.55182228e-02 2.59408910e+02] [ 3.15816516e-02 9.99501116e-01 -3.45479760e-04 3.73467459e+00] [ 1.55213924e-02 -1.44825320e-04 9.99879525e-01 2.36005385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01925415399998 meters Centerline goodness [0,1] 0.999392250141459 Centerline is valid? [True, True] Translation: X:259.44, Y:3.74, Z:2.36 [[ 9.99429038e-01 -2.99169544e-02 -1.57026671e-02 2.59439268e+02] [ 2.99151594e-02 9.99552380e-01 -3.49239659e-04 3.73610718e+00] [ 1.57060864e-02 -1.20707531e-04 9.99876645e-01 2.35991919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04925415399998 meters Centerline goodness [0,1] 0.9992654774396642 Centerline is valid? [True, True] Translation: X:259.47, Y:3.74, Z:2.36 [[ 9.99452804e-01 -2.85994759e-02 -1.66181555e-02 2.59469873e+02] [ 2.85972834e-02 9.99590946e-01 -3.69600842e-04 3.73682208e+00] [ 1.66219281e-02 -1.05835505e-04 9.99861841e-01 2.35851873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07925415399998 meters Centerline goodness [0,1] 0.9992654774396642 Centerline is valid? [True, True] Translation: X:259.50, Y:3.74, Z:2.36 [[ 9.99451753e-01 -2.86361702e-02 -1.66181496e-02 2.59499020e+02] [ 2.86339784e-02 9.99589895e-01 -3.69867111e-04 3.73749920e+00] [ 1.66219259e-02 -1.06179403e-04 9.99861841e-01 2.35879187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10925415399998 meters Centerline goodness [0,1] 0.999226216617521 Centerline is valid? [True, True] Translation: X:259.53, Y:3.74, Z:2.36 [[ 9.99374940e-01 -2.99844045e-02 -1.87260238e-02 2.59527718e+02] [ 2.99818412e-02 9.99550356e-01 -4.17681022e-04 3.73638061e+00] [ 1.87301277e-02 -1.44020726e-04 9.99824565e-01 2.35677541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13925415399996 meters Centerline goodness [0,1] 0.9991601755233156 Centerline is valid? [True, True] Translation: X:259.56, Y:3.74, Z:2.36 [[ 9.99312884e-01 -3.18156959e-02 -1.90137107e-02 2.59556920e+02] [ 3.18133270e-02 9.99493737e-01 -4.27124410e-04 3.73573093e+00] [ 1.90176740e-02 -1.78058469e-04 9.99819132e-01 2.35649432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16925415399996 meters Centerline goodness [0,1] 0.9994146055905166 Centerline is valid? [True, True] Translation: X:259.59, Y:3.73, Z:2.36 [[ 9.99223621e-01 -3.42689106e-02 -1.94370222e-02 2.59585608e+02] [ 3.42668399e-02 9.99412623e-01 -4.39676695e-04 3.73359918e+00] [ 1.94406726e-02 -2.26709988e-04 9.99810987e-01 2.35569690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19925415399996 meters Centerline goodness [0,1] 0.9992685628304528 Centerline is valid? [True, True] Translation: X:259.62, Y:3.73, Z:2.36 [[ 9.98997294e-01 -4.07112095e-02 -1.86280277e-02 2.59615104e+02] [ 4.07104114e-02 9.99170898e-01 -4.22210311e-04 3.72934758e+00] [ 1.86297719e-02 -3.36567713e-04 9.99826394e-01 2.35662795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22925415399996 meters Centerline goodness [0,1] 0.9991631449014603 Centerline is valid? [True, True] Translation: X:259.65, Y:3.73, Z:2.36 [[ 9.98849777e-01 -4.44512005e-02 -1.79781349e-02 2.59645583e+02] [ 4.44510593e-02 9.99011480e-01 -4.07654020e-04 3.72635028e+00] [ 1.79784838e-02 -3.91962012e-04 9.99838297e-01 2.35729680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25925415399996 meters Centerline goodness [0,1] 0.9991037745680402 Centerline is valid? [True, True] Translation: X:259.68, Y:3.73, Z:2.36 [[ 9.98704225e-01 -4.79270639e-02 -1.71133744e-02 2.59676920e+02] [ 4.79274535e-02 9.98850744e-01 -3.87596798e-04 3.72540108e+00] [ 1.71122831e-02 -4.33105895e-04 9.99853480e-01 2.35880133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28925415399996 meters Centerline goodness [0,1] 0.9990209353192375 Centerline is valid? [True, True] Translation: X:259.71, Y:3.72, Z:2.36 [[ 9.98368563e-01 -5.47407075e-02 -1.62378454e-02 2.59707377e+02] [ 5.47419657e-02 9.98500467e-01 -3.67311784e-04 3.72027038e+00] [ 1.62336031e-02 -5.22179037e-04 9.99868090e-01 2.35986171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31925415399996 meters Centerline goodness [0,1] 0.9991441394426469 Centerline is valid? [True, True] Translation: X:259.74, Y:3.72, Z:2.36 [[ 9.98193427e-01 -5.79088773e-02 -1.60138999e-02 2.59738522e+02] [ 5.79105148e-02 9.98321712e-01 -3.61831090e-04 3.71900339e+00] [ 1.60079772e-02 -5.66195773e-04 9.99871704e-01 2.36045243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34925415399996 meters Centerline goodness [0,1] 0.9991858717434869 Centerline is valid? [True, True] Translation: X:259.77, Y:3.72, Z:2.36 [[ 9.98024780e-01 -6.08371338e-02 -1.56646514e-02 2.59769811e+02] [ 6.08390715e-02 9.98147525e-01 -3.53254143e-04 3.71637310e+00] [ 1.56571240e-02 -6.00466458e-04 9.99877239e-01 2.36044851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37925415399997 meters Centerline goodness [0,1] 0.999208910169668 Centerline is valid? [True, True] Translation: X:259.80, Y:3.72, Z:2.36 [[ 9.97832098e-01 -6.38533168e-02 -1.59329215e-02 2.59801090e+02] [ 6.38557175e-02 9.97959077e-01 -3.58534533e-04 3.71591206e+00] [ 1.59232972e-02 -6.59650867e-04 9.99872999e-01 2.36106572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40925415399997 meters Centerline goodness [0,1] 0.9991855487104522 Centerline is valid? [True, True] Translation: X:259.83, Y:3.71, Z:2.36 [[ 9.97486635e-01 -6.91525117e-02 -1.54383628e-02 2.59831279e+02] [ 6.91554098e-02 9.97605839e-01 -3.46694574e-04 3.71129843e+00] [ 1.54253756e-02 -7.21823099e-04 9.99880761e-01 2.36100068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43925415399997 meters Centerline goodness [0,1] 0.9991230451214165 Centerline is valid? [True, True] Translation: X:259.86, Y:3.71, Z:2.36 [[ 9.97316884e-01 -7.16209045e-02 -1.51485441e-02 2.59863206e+02] [ 7.16239921e-02 9.97431646e-01 -3.39306137e-04 3.71091625e+00] [ 1.51339387e-02 -7.46603465e-04 9.99885197e-01 2.36163279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46925415399997 meters Centerline goodness [0,1] 0.9990614636995016 Centerline is valid? [True, True] Translation: X:259.90, Y:3.71, Z:2.36 [[ 9.97158921e-01 -7.38837089e-02 -1.46725775e-02 2.59895182e+02] [ 7.38868627e-02 9.97266576e-01 -3.27768898e-04 3.71009752e+00] [ 1.46566880e-02 -7.57273042e-04 9.99892298e-01 2.36217925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49925415399997 meters Centerline goodness [0,1] 0.9989590056421894 Centerline is valid? [True, True] Translation: X:259.93, Y:3.71, Z:2.36 [[ 9.96854633e-01 -7.80048244e-02 -1.40031466e-02 2.59925958e+02] [ 7.80081124e-02 9.96952675e-01 -3.12080337e-04 3.70827063e+00] [ 1.39848182e-02 -7.81260305e-04 9.99901902e-01 2.36336329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52925415399997 meters Centerline goodness [0,1] 0.9990605624099705 Centerline is valid? [True, True] Translation: X:259.96, Y:3.71, Z:2.36 [[ 9.96711452e-01 -7.98973483e-02 -1.35165071e-02 2.59958020e+02] [ 7.99005914e-02 9.96802791e-01 -3.00766198e-04 3.70920672e+00] [ 1.34973224e-02 -7.80199798e-04 9.99908603e-01 2.36411241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55925415399997 meters Centerline goodness [0,1] 0.9990821094793058 Centerline is valid? [True, True] Translation: X:259.99, Y:3.71, Z:2.36 [[ 9.96601430e-01 -8.12206139e-02 -1.37405253e-02 2.59989831e+02] [ 8.12241049e-02 9.96695817e-01 -3.04724963e-04 3.71204737e+00] [ 1.37198740e-02 -8.12372533e-04 9.99905548e-01 2.36460134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58925415399997 meters Centerline goodness [0,1] 0.9990595807820108 Centerline is valid? [True, True] Translation: X:260.02, Y:3.71, Z:2.36 [[ 9.96529030e-01 -8.19788197e-02 -1.44694756e-02 2.60020683e+02] [ 8.19827909e-02 9.96633694e-01 -3.19490971e-04 3.70940829e+00] [ 1.44469584e-02 -8.67865969e-04 9.99895261e-01 2.36443243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61925415399998 meters Centerline goodness [0,1] 0.9986037303323956 Centerline is valid? [True, True] Translation: X:260.05, Y:3.71, Z:2.36 [[ 9.96480286e-01 -8.22897166e-02 -1.59825673e-02 2.60051408e+02] [ 8.22946270e-02 9.96607983e-01 -3.51320344e-04 3.71058401e+00] [ 1.59572642e-02 -9.65195616e-04 9.99872209e-01 2.36324279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64925415399998 meters Centerline goodness [0,1] 0.9987060689540028 Centerline is valid? [True, True] Translation: X:260.08, Y:3.72, Z:2.36 [[ 9.96537644e-01 -8.15475403e-02 -1.62087452e-02 2.60083241e+02] [ 8.15525068e-02 9.96668983e-01 -3.55434651e-04 3.71888251e+00] [ 1.61837384e-02 -9.67659790e-04 9.99868566e-01 2.36369017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67925415399998 meters Centerline goodness [0,1] 0.9987662582075195 Centerline is valid? [True, True] Translation: X:260.12, Y:3.72, Z:2.36 [[ 9.96624765e-01 -8.03738599e-02 -1.67069239e-02 2.60115933e+02] [ 8.03789978e-02 9.96764307e-01 -3.64822917e-04 3.72133121e+00] [ 1.66821876e-02 -9.79294241e-04 9.99860363e-01 2.36401681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70925415399998 meters Centerline goodness [0,1] 0.9987469456800953 Centerline is valid? [True, True] Translation: X:260.15, Y:3.73, Z:2.36 [[ 9.96899102e-01 -7.69275580e-02 -1.65629664e-02 2.60145265e+02] [ 7.69321592e-02 9.97036265e-01 -3.60120171e-04 3.72604422e+00] [ 1.65415813e-02 -9.15221291e-04 9.99862760e-01 2.36407755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73925415399998 meters Centerline goodness [0,1] 0.9986595735768441 Centerline is valid? [True, True] Translation: X:260.18, Y:3.73, Z:2.36 [[ 9.97064317e-01 -7.47786282e-02 -1.64591944e-02 2.60176003e+02] [ 7.47828956e-02 9.97199775e-01 -3.56909127e-04 3.72890990e+00] [ 1.64397942e-02 -8.75004865e-04 9.99864475e-01 2.36452152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76925415399998 meters Centerline goodness [0,1] 0.9984085102818612 Centerline is valid? [True, True] Translation: X:260.21, Y:3.73, Z:2.37 [[ 9.97243687e-01 -7.23529032e-02 -1.64342845e-02 2.60207681e+02] [ 7.23568413e-02 9.97378745e-01 -3.55631005e-04 3.73308991e+00] [ 1.64169370e-02 -8.34482140e-04 9.99864885e-01 2.36508526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79925415399998 meters Centerline goodness [0,1] 0.9987657161984059 Centerline is valid? [True, True] Translation: X:260.24, Y:3.74, Z:2.36 [[ 9.97682930e-01 -6.59039240e-02 -1.68950763e-02 2.60238142e+02] [ 6.59071728e-02 9.97825692e-01 -3.65034607e-04 3.74062858e+00] [ 1.68823984e-02 -7.49317915e-04 9.99857201e-01 2.36436637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82925415399998 meters Centerline goodness [0,1] 0.9988075064331889 Centerline is valid? [True, True] Translation: X:260.27, Y:3.75, Z:2.37 [[ 9.97835742e-01 -6.33432525e-02 -1.76483505e-02 2.60269286e+02] [ 6.33464040e-02 9.97991527e-01 -3.80960486e-04 3.74530997e+00] [ 1.76370355e-02 -7.37823550e-04 9.99844183e-01 2.36522513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85925415399998 meters Centerline goodness [0,1] 0.9985784170255467 Centerline is valid? [True, True] Translation: X:260.30, Y:3.75, Z:2.37 [[ 9.98063504e-01 -5.97870577e-02 -1.71682485e-02 2.60299306e+02] [ 5.97895228e-02 9.98210938e-01 -3.70118878e-04 3.74883040e+00] [ 1.71596618e-02 -6.57079243e-04 9.99852546e-01 2.36502380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88925415399996 meters Centerline goodness [0,1] 0.998766284005604 Centerline is valid? [True, True] Translation: X:260.33, Y:3.76, Z:2.37 [[ 9.98397949e-01 -5.41111185e-02 -1.65385195e-02 2.60329948e+02] [ 5.41126329e-02 9.98534775e-01 -3.56249162e-04 3.75727242e+00] [ 1.65335638e-02 -5.39264400e-04 9.99863166e-01 2.36706585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91925415399996 meters Centerline goodness [0,1] 0.999015438758196 Centerline is valid? [True, True] Translation: X:260.36, Y:3.76, Z:2.37 [[ 9.98539599e-01 -5.14431435e-02 -1.65006485e-02 2.60361270e+02] [ 5.14442941e-02 9.98675803e-01 -3.55006408e-04 3.76201357e+00] [ 1.64970610e-02 -4.94376255e-04 9.99863792e-01 2.36794660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94925415399996 meters Centerline goodness [0,1] 0.9988055573018169 Centerline is valid? [True, True] Translation: X:260.39, Y:3.77, Z:2.37 [[ 9.98670993e-01 -4.90858146e-02 -1.57108151e-02 2.60393297e+02] [ 4.90865786e-02 9.98794470e-01 -3.37223699e-04 3.76623935e+00] [ 1.57084282e-02 -4.34414635e-04 9.99876521e-01 2.36872876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97925415399996 meters Centerline goodness [0,1] 0.9987420064996331 Centerline is valid? [True, True] Translation: X:260.42, Y:3.77, Z:2.37 [[ 9.98844206e-01 -4.57844309e-02 -1.46300422e-02 2.60423593e+02] [ 4.57847561e-02 9.98951279e-01 -3.12883218e-04 3.77178164e+00] [ 1.46290245e-02 -3.57311322e-04 9.99892926e-01 2.36985032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.00925415399996 meters Centerline goodness [0,1] 0.9988042543372003 Centerline is valid? [True, True] Translation: X:260.46, Y:3.78, Z:2.37 [[ 9.98886504e-01 -4.49477757e-02 -1.43335207e-02 2.60455597e+02] [ 4.49480195e-02 9.98989280e-01 -3.05300708e-04 3.77504513e+00] [ 1.43327561e-02 -3.39302609e-04 9.99897223e-01 2.37024005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.039254154 meters Centerline goodness [0,1] 0.9985955939379966 Centerline is valid? [True, True] Translation: X:260.49, Y:3.78, Z:2.37 [[ 9.98916163e-01 -4.43220013e-02 -1.42147515e-02 2.60487524e+02] [ 4.43221925e-02 9.99017243e-01 -3.01731273e-04 3.77802030e+00] [ 1.42141552e-02 -3.28624707e-04 9.99898920e-01 2.37010902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06925415399996 meters Centerline goodness [0,1] 0.9985955939379966 Centerline is valid? [True, True] Translation: X:260.52, Y:3.78, Z:2.37 [[ 9.98919443e-01 -4.42480051e-02 -1.42147738e-02 2.60519217e+02] [ 4.42482039e-02 9.99020523e-01 -3.00678101e-04 3.77863302e+00] [ 1.42141552e-02 -3.28625008e-04 9.99898920e-01 2.37040579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.099254154 meters Centerline goodness [0,1] 0.9987189180107527 Centerline is valid? [True, True] Translation: X:260.55, Y:3.78, Z:2.37 [[ 9.98926570e-01 -4.39979990e-02 -1.44873939e-02 2.60551492e+02] [ 4.39981948e-02 9.99031564e-01 -3.05360880e-04 3.78026041e+00] [ 1.44867991e-02 -3.32386084e-04 9.99895006e-01 2.36993184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12925415399997 meters Centerline goodness [0,1] 0.9985503592587924 Centerline is valid? [True, True] Translation: X:260.58, Y:3.78, Z:2.37 [[ 9.98944785e-01 -4.34518899e-02 -1.48744741e-02 2.60583045e+02] [ 4.34520508e-02 9.99055465e-01 -3.12511159e-04 3.78328203e+00] [ 1.48740039e-02 -3.34145015e-04 9.99889320e-01 2.36924295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.159254154 meters Centerline goodness [0,1] 0.9988466942062111 Centerline is valid? [True, True] Translation: X:260.61, Y:3.79, Z:2.37 [[ 9.98952993e-01 -4.32047294e-02 -1.50422704e-02 2.60614724e+02] [ 4.32048800e-02 9.99066184e-01 -3.15109072e-04 3.78549715e+00] [ 1.50418379e-02 -3.35120339e-04 9.99886809e-01 2.36935012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18925415399997 meters Centerline goodness [0,1] 0.9984865364807769 Centerline is valid? [True, True] Translation: X:260.65, Y:3.79, Z:2.37 [[ 9.98974144e-01 -4.27962161e-02 -1.48035209e-02 2.60645508e+02] [ 4.27963313e-02 9.99083769e-01 -3.09151613e-04 3.78713221e+00] [ 1.48031879e-02 -3.24701914e-04 9.99890374e-01 2.36929349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.219254154 meters Centerline goodness [0,1] 0.9984027237762972 Centerline is valid? [True, True] Translation: X:260.68, Y:3.79, Z:2.37 [[ 9.99026267e-01 -4.17721153e-02 -1.41989104e-02 2.60676979e+02] [ 4.17721284e-02 9.99127120e-01 -2.95785056e-04 3.78949708e+00] [ 1.41988720e-02 -2.97621667e-04 9.99899147e-01 2.36940833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24925415399997 meters Centerline goodness [0,1] 0.9984029251686385 Centerline is valid? [True, True] Translation: X:260.71, Y:3.79, Z:2.37 [[ 9.99059326e-01 -4.11280756e-02 -1.37457130e-02 2.60709215e+02] [ 4.11280378e-02 9.99153843e-01 -2.85549239e-04 3.79202771e+00] [ 1.37458260e-02 -2.80053572e-04 9.99905482e-01 2.36998059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27925415399994 meters Centerline goodness [0,1] 0.9986969862553067 Centerline is valid? [True, True] Translation: X:260.74, Y:3.79, Z:2.37 [[ 9.99105831e-01 -4.00441337e-02 -1.35648686e-02 2.60740826e+02] [ 4.00440100e-02 9.99197878e-01 -2.80837081e-04 3.79407544e+00] [ 1.35652338e-02 -2.62605771e-04 9.99907953e-01 2.37055668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.309254154 meters Centerline goodness [0,1] 0.9984867591424968 Centerline is valid? [True, True] Translation: X:260.77, Y:3.80, Z:2.37 [[ 9.99164262e-01 -3.87950652e-02 -1.28732166e-02 2.60772902e+02] [ 3.87948614e-02 9.99247161e-01 -2.65641424e-04 3.79676995e+00] [ 1.28738307e-02 -2.33995236e-04 9.99917101e-01 2.37091782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.33925415399995 meters Centerline goodness [0,1] 0.9987185681574691 Centerline is valid? [True, True] Translation: X:260.80, Y:3.80, Z:2.37 [[ 9.99275372e-01 -3.59859620e-02 -1.23992413e-02 2.60804962e+02] [ 3.59855674e-02 9.99352277e-01 -2.55003928e-04 3.80159947e+00] [ 1.24003865e-02 -1.91374587e-04 9.99923094e-01 2.37150276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.369254154 meters Centerline goodness [0,1] 0.9990325158793589 Centerline is valid? [True, True] Translation: X:260.84, Y:3.80, Z:2.37 [[ 9.99322975e-01 -3.47481217e-02 -1.20896860e-02 2.60836755e+02] [ 3.47476664e-02 9.99396087e-01 -2.47778417e-04 3.80382489e+00] [ 1.20909947e-02 -1.72477711e-04 9.99926886e-01 2.37181873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.39925415399995 meters Centerline goodness [0,1] 0.9987990392313851 Centerline is valid? [True, True] Translation: X:260.87, Y:3.80, Z:2.37 [[ 9.99362927e-01 -3.37105966e-02 -1.17190543e-02 2.60867570e+02] [ 3.37101067e-02 9.99431624e-01 -2.39392399e-04 3.80423048e+00] [ 1.17204635e-02 -1.55810681e-04 9.99931301e-01 2.37158628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.429254154 meters Centerline goodness [0,1] 0.9991558331926389 Centerline is valid? [True, True] Translation: X:260.90, Y:3.81, Z:2.37 [[ 9.99376738e-01 -3.33101088e-02 -1.16863779e-02 2.60899630e+02] [ 3.33096021e-02 9.99445053e-01 -2.38052387e-04 3.80504170e+00] [ 1.16878221e-02 -1.51364580e-04 9.99931684e-01 2.37147754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.45925415399995 meters Centerline goodness [0,1] 0.9991994100916465 Centerline is valid? [True, True] Translation: X:260.93, Y:3.81, Z:2.37 [[ 9.99352651e-01 -3.39885108e-02 -1.17923740e-02 2.60931542e+02] [ 3.39880522e-02 9.99422211e-01 -2.39357369e-04 3.80604944e+00] [ 1.17936959e-02 -1.61597401e-04 9.99930439e-01 2.37183711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.489254154 meters Centerline goodness [0,1] 0.999052092768521 Centerline is valid? [True, True] Translation: X:260.96, Y:3.81, Z:2.37 [[ 9.99307144e-01 -3.52121985e-02 -1.20554456e-02 2.60962618e+02] [ 3.52118186e-02 9.99379842e-01 -2.43835611e-04 3.80543773e+00] [ 1.20565553e-02 -1.80827496e-04 9.99927301e-01 2.37214283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.51925415399995 meters Centerline goodness [0,1] 0.9991359507702683 Centerline is valid? [True, True] Translation: X:260.99, Y:3.80, Z:2.37 [[ 9.99178668e-01 -3.84552964e-02 -1.27741878e-02 2.60994878e+02] [ 3.84551450e-02 9.99260294e-01 -2.57570120e-04 3.80311027e+00] [ 1.27746436e-02 -2.33874674e-04 9.99918374e-01 2.37177931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.549254154 meters Centerline goodness [0,1] 0.9985064265729853 Centerline is valid? [True, True] Translation: X:261.03, Y:3.80, Z:2.37 [[ 9.99112709e-01 -3.99203741e-02 -1.34223028e-02 2.61026554e+02] [ 3.99203520e-02 9.99202829e-01 -2.69679097e-04 3.80297648e+00] [ 1.34223686e-02 -2.66383238e-04 9.99909880e-01 2.37181620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57925415399995 meters Centerline goodness [0,1] 0.9983613789626269 Centerline is valid? [True, True] Translation: X:261.06, Y:3.80, Z:2.37 [[ 9.99046300e-01 -4.13518359e-02 -1.40184488e-02 2.61057675e+02] [ 4.13519640e-02 9.99144602e-01 -2.80844107e-04 3.80177392e+00] [ 1.40180709e-02 -2.99114124e-04 9.99901697e-01 2.37183703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.609254154 meters Centerline goodness [0,1] 0.9986752181684365 Centerline is valid? [True, True] Translation: X:261.09, Y:3.80, Z:2.37 [[ 9.98992420e-01 -4.24975538e-02 -1.44257673e-02 2.61089491e+02] [ 4.24978220e-02 9.99096518e-01 -2.88093072e-04 3.80126503e+00] [ 1.44249771e-02 -3.25260894e-04 9.99895902e-01 2.37198158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63925415399996 meters Centerline goodness [0,1] 0.9984004041084358 Centerline is valid? [True, True] Translation: X:261.12, Y:3.80, Z:2.37 [[ 9.98953930e-01 -4.32183903e-02 -1.49404564e-02 2.61121535e+02] [ 4.32187754e-02 9.99065588e-01 -2.97245555e-04 3.80112961e+00] [ 1.49393423e-02 -3.48773612e-04 9.99888341e-01 2.37168589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.669254154 meters Centerline goodness [0,1] 0.9988829406061628 Centerline is valid? [True, True] Translation: X:261.15, Y:3.80, Z:2.37 [[ 9.98957808e-01 -4.28809140e-02 -1.56373075e-02 2.61153851e+02] [ 4.28813131e-02 9.99080125e-01 -3.09921102e-04 3.80036920e+00] [ 1.56362128e-02 -3.60950175e-04 9.99877682e-01 2.37152842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69925415399996 meters Centerline goodness [0,1] 0.9990943364434802 Centerline is valid? [True, True] Translation: X:261.19, Y:3.80, Z:2.37 [[ 9.98993324e-01 -4.20047759e-02 -1.57460564e-02 2.61185176e+02] [ 4.20050884e-02 9.99117348e-01 -3.11032687e-04 3.80022911e+00] [ 1.57452230e-02 -3.50694912e-04 9.99875975e-01 2.37152809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.729254154 meters Centerline goodness [0,1] 0.9991374050619596 Centerline is valid? [True, True] Translation: X:261.22, Y:3.80, Z:2.37 [[ 9.99065251e-01 -4.03025905e-02 -1.56309311e-02 2.61217259e+02] [ 4.03027051e-02 9.99187469e-01 -3.07797551e-04 3.80111399e+00] [ 1.56306355e-02 -3.22458968e-04 9.99877782e-01 2.37178564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75925415399996 meters Centerline goodness [0,1] 0.9994093574652998 Centerline is valid? [True, True] Translation: X:261.25, Y:3.80, Z:2.37 [[ 9.99262940e-01 -3.54737482e-02 -1.46693428e-02 2.61248584e+02] [ 3.54733411e-02 9.99370581e-01 -2.88034948e-04 3.80394030e+00] [ 1.46703273e-02 -2.32547951e-04 9.99892358e-01 2.37285671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.789254154 meters Centerline goodness [0,1] 0.9991970417326994 Centerline is valid? [True, True] Translation: X:261.28, Y:3.81, Z:2.37 [[ 9.99365464e-01 -3.27222677e-02 -1.40685039e-02 2.61279444e+02] [ 3.27216276e-02 9.99464466e-01 -2.75737228e-04 3.80538252e+00] [ 1.40699925e-02 -1.84782082e-04 9.99900996e-01 2.37378123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81925415399996 meters Centerline goodness [0,1] 0.9990517532029669 Centerline is valid? [True, True] Translation: X:261.31, Y:3.81, Z:2.37 [[ 9.99471182e-01 -2.95047675e-02 -1.36684233e-02 2.61310692e+02] [ 2.95038691e-02 9.99564630e-01 -2.67410664e-04 3.80712625e+00] [ 1.36703624e-02 -1.36002121e-04 9.99906547e-01 2.37462322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.849254154 meters Centerline goodness [0,1] 0.9991782900004214 Centerline is valid? [True, True] Translation: X:261.34, Y:3.81, Z:2.38 [[ 9.99643647e-01 -2.32442764e-02 -1.31256442e-02 2.61340969e+02] [ 2.32429134e-02 9.99729814e-01 -2.56397658e-04 3.80926195e+00] [ 1.31280576e-02 -4.87719209e-05 9.99913822e-01 2.37551088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87925415399997 meters Centerline goodness [0,1] 0.9992410027197403 Centerline is valid? [True, True] Translation: X:261.37, Y:3.81, Z:2.38 [[ 9.99703553e-01 -2.06071023e-02 -1.29673846e-02 2.61371742e+02] [ 2.06055523e-02 9.99787651e-01 -2.53139797e-04 3.81062272e+00] [ 1.29698475e-02 -1.41353663e-05 9.99915888e-01 2.37634587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.909254154 meters Centerline goodness [0,1] 0.9994108859853984 Centerline is valid? [True, True] Translation: X:261.40, Y:3.81, Z:2.38 [[ 9.99747240e-01 -1.83288752e-02 -1.30195096e-02 2.61401393e+02] [ 1.83271187e-02 9.99832012e-01 -2.54223907e-04 3.81111538e+00] [ 1.30219821e-02 1.55495526e-05 9.99915210e-01 2.37700333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93925415399997 meters Centerline goodness [0,1] 0.9994733959641067 Centerline is valid? [True, True] Translation: X:261.43, Y:3.81, Z:2.38 [[ 9.99764874e-01 -1.69688303e-02 -1.35001974e-02 2.61431206e+02] [ 1.69668132e-02 9.99856018e-01 -2.63936952e-04 3.81101073e+00] [ 1.35027323e-02 3.48195656e-05 9.99908833e-01 2.37719666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.969254154 meters Centerline goodness [0,1] 0.9992621326474681 Centerline is valid? [True, True] Translation: X:261.46, Y:3.81, Z:2.38 [[ 9.99746220e-01 -1.64541639e-02 -1.53868706e-02 2.61459875e+02] [ 1.64514717e-02 9.99864620e-01 -3.01534732e-04 3.80772313e+00] [ 1.53897490e-02 4.83215427e-05 9.99881570e-01 2.37595047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99925415399997 meters Centerline goodness [0,1] 0.9993051753905756 Centerline is valid? [True, True] Translation: X:261.49, Y:3.81, Z:2.38 [[ 9.99714980e-01 -1.76099321e-02 -1.61198527e-02 2.61487957e+02] [ 1.76071093e-02 9.99844933e-01 -3.17030450e-04 3.80536248e+00] [ 1.61229359e-02 3.31160819e-05 9.99870016e-01 2.37517238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02925415399994 meters Centerline goodness [0,1] 0.9989910243205179 Centerline is valid? [True, True] Translation: X:261.52, Y:3.80, Z:2.37 [[ 9.99654079e-01 -1.94526958e-02 -1.77007037e-02 2.61516863e+02] [ 1.94495283e-02 9.99810778e-01 -3.51095905e-04 3.80210927e+00] [ 1.77041841e-02 6.70411554e-06 9.99843269e-01 2.37426240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.059254154 meters Centerline goodness [0,1] 0.9993278864128038 Centerline is valid? [True, True] Translation: X:261.55, Y:3.79, Z:2.37 [[ 9.99511215e-01 -2.48778713e-02 -1.89320450e-02 2.61546156e+02] [ 2.48751295e-02 9.99690494e-01 -3.80338496e-04 3.79407791e+00] [ 1.89356475e-02 -9.07844800e-05 9.99820700e-01 2.37362236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.08925415399995 meters Centerline goodness [0,1] 0.9992049543894886 Centerline is valid? [True, True] Translation: X:261.57, Y:3.79, Z:2.37 [[ 9.99423263e-01 -2.81413936e-02 -1.90053371e-02 2.61574833e+02] [ 2.81391319e-02 9.99603942e-01 -3.86467149e-04 3.79016833e+00] [ 1.90086856e-02 -1.48549429e-04 9.99819308e-01 2.37410844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.119254154 meters Centerline goodness [0,1] 0.9992460259283306 Centerline is valid? [True, True] Translation: X:261.60, Y:3.79, Z:2.37 [[ 9.99319975e-01 -3.17225431e-02 -1.87953995e-02 2.61603921e+02] [ 3.17208789e-02 9.99496691e-01 -3.86743701e-04 3.78639305e+00] [ 1.87982082e-02 -2.09725887e-04 9.99823276e-01 2.37492670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.14925415399995 meters Centerline goodness [0,1] 0.9991030828918276 Centerline is valid? [True, True] Translation: X:261.63, Y:3.78, Z:2.38 [[ 9.99117912e-01 -3.77699207e-02 -1.83529453e-02 2.61632671e+02] [ 3.77693044e-02 9.99286413e-01 -3.80320245e-04 3.77842929e+00] [ 1.83542136e-02 -3.13193210e-04 9.99831498e-01 2.37661837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.179254154 meters Centerline goodness [0,1] 0.9991446750808386 Centerline is valid? [True, True] Translation: X:261.66, Y:3.77, Z:2.38 [[ 9.99028471e-01 -4.01877449e-02 -1.80848068e-02 2.61663373e+02] [ 4.01875338e-02 9.99192084e-01 -3.75239267e-04 3.77498105e+00] [ 1.80852759e-02 -3.51909076e-04 9.99836386e-01 2.37737615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.20925415399995 meters Centerline goodness [0,1] 0.9989760307608718 Centerline is valid? [True, True] Translation: X:261.69, Y:3.77, Z:2.38 [[ 9.98939590e-01 -4.23148642e-02 -1.81424523e-02 2.61694260e+02] [ 4.23150051e-02 9.99104248e-01 -3.76286241e-04 3.77191706e+00] [ 1.81421237e-02 -3.91810739e-04 9.99835341e-01 2.37829911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.239254154 meters Centerline goodness [0,1] 0.9991019589824987 Centerline is valid? [True, True] Translation: X:261.73, Y:3.77, Z:2.38 [[ 9.98775612e-01 -4.59386206e-02 -1.83553651e-02 2.61725582e+02] [ 4.59393853e-02 9.98944157e-01 -3.80209298e-04 3.76954575e+00] [ 1.83534510e-02 -4.63490417e-04 9.99831454e-01 2.38071095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.26925415399995 meters Centerline goodness [0,1] 0.9993107337552478 Centerline is valid? [True, True] Translation: X:261.76, Y:3.77, Z:2.38 [[ 9.98704779e-01 -4.75290034e-02 -1.81592660e-02 2.61756979e+02] [ 4.75300267e-02 9.98869739e-01 -3.75481649e-04 3.76668038e+00] [ 1.81565876e-02 -4.88115082e-04 9.99835036e-01 2.38142310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.299254154 meters Centerline goodness [0,1] 0.9992490299970795 Centerline is valid? [True, True] Translation: X:261.79, Y:3.76, Z:2.38 [[ 9.98633679e-01 -4.92152194e-02 -1.75680645e-02 2.61788757e+02] [ 4.92164490e-02 9.98788070e-01 -3.62618578e-04 3.76459154e+00] [ 1.75646196e-02 -5.02514624e-04 9.99845604e-01 2.38252525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.32925415399995 meters Centerline goodness [0,1] 0.9990417065955585 Centerline is valid? [True, True] Translation: X:261.82, Y:3.76, Z:2.38 [[ 9.98456636e-01 -5.27560134e-02 -1.73536332e-02 2.61819123e+02] [ 5.27577559e-02 9.98607276e-01 -3.57700514e-04 3.75749273e+00] [ 1.73483353e-02 -5.58390294e-04 9.99849350e-01 2.38280544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.359254154 meters Centerline goodness [0,1] 0.9992702404036613 Centerline is valid? [True, True] Translation: X:261.85, Y:3.76, Z:2.38 [[ 9.98352442e-01 -5.46278716e-02 -1.75555598e-02 2.61850103e+02] [ 5.46299541e-02 9.98506604e-01 -3.61279319e-04 3.75588408e+00] [ 1.75490783e-02 -5.98375337e-04 9.99845824e-01 2.38334432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.38925415399996 meters Centerline goodness [0,1] 0.9988775955602669 Centerline is valid? [True, True] Translation: X:261.88, Y:3.75, Z:2.38 [[ 9.98248394e-01 -5.65136501e-02 -1.75028700e-02 2.61881274e+02] [ 5.65160230e-02 9.98401628e-01 -3.59427328e-04 3.75347457e+00] [ 1.74952064e-02 -6.30394849e-04 9.99846748e-01 2.38369022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.419254154 meters Centerline goodness [0,1] 0.9987709613581919 Centerline is valid? [True, True] Translation: X:261.91, Y:3.75, Z:2.38 [[ 9.98070114e-01 -5.93395653e-02 -1.82992752e-02 2.61911221e+02] [ 5.93426400e-02 9.98237602e-01 -3.75418039e-04 3.74745325e+00] [ 1.82893017e-02 -7.11233774e-04 9.99832484e-01 2.38335598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.44925415399996 meters Centerline goodness [0,1] 0.9990001041558171 Centerline is valid? [True, True] Translation: X:261.94, Y:3.75, Z:2.38 [[ 9.98014918e-01 -6.01835579e-02 -1.85516023e-02 2.61941600e+02] [ 6.01868667e-02 9.98187055e-01 -3.80428548e-04 3.74520209e+00] [ 1.85408648e-02 -7.36889449e-04 9.99827832e-01 2.38325217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.479254154 meters Centerline goodness [0,1] 0.9991256011492099 Centerline is valid? [True, True] Translation: X:261.97, Y:3.75, Z:2.38 [[ 9.97961544e-01 -6.06873750e-02 -1.97433235e-02 2.61972393e+02] [ 6.06912286e-02 9.98156506e-01 -4.04493829e-04 3.74600844e+00] [ 1.97314745e-02 -7.94577274e-04 9.99805000e-01 2.38356232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.50925415399996 meters Centerline goodness [0,1] 0.9990458213196706 Centerline is valid? [True, True] Translation: X:262.00, Y:3.74, Z:2.38 [[ 9.97939874e-01 -6.07556746e-02 -2.06096081e-02 2.62002542e+02] [ 6.07599061e-02 9.98152321e-01 -4.21385746e-04 3.74207295e+00] [ 2.05971297e-02 -8.31720215e-04 9.99787511e-01 2.38232593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.539254154 meters Centerline goodness [0,1] 0.9991089560280161 Centerline is valid? [True, True] Translation: X:262.03, Y:3.74, Z:2.38 [[ 9.97987341e-01 -5.94673385e-02 -2.20205196e-02 2.62033846e+02] [ 5.94718798e-02 9.98229880e-01 -4.49173978e-04 3.74349056e+00] [ 2.20082518e-02 -8.61331749e-04 9.99757418e-01 2.38249579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56925415399996 meters Centerline goodness [0,1] 0.9990844586861982 Centerline is valid? [True, True] Translation: X:262.06, Y:3.75, Z:2.38 [[ 9.98057928e-01 -5.80021715e-02 -2.27182718e-02 2.62064132e+02] [ 5.80066343e-02 9.98316090e-01 -4.63056396e-04 3.74513486e+00] [ 2.27068746e-02 -8.55653378e-04 9.99741800e-01 2.38298859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.599254154 meters Centerline goodness [0,1] 0.9992297603930304 Centerline is valid? [True, True] Translation: X:262.09, Y:3.75, Z:2.38 [[ 9.98169232e-01 -5.61713175e-02 -2.24269478e-02 2.62094170e+02] [ 5.61751997e-02 9.98420822e-01 -4.57355180e-04 3.74684469e+00] [ 2.24172219e-02 -8.03320405e-04 9.99748380e-01 2.38360954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62925415399997 meters Centerline goodness [0,1] 0.9990234577905213 Centerline is valid? [True, True] Translation: X:262.12, Y:3.75, Z:2.38 [[ 9.98294302e-01 -5.38057879e-02 -2.26588443e-02 2.62123795e+02] [ 5.38091275e-02 9.98551132e-01 -4.62734543e-04 3.74899555e+00] [ 2.26509124e-02 -7.57307383e-04 9.99743148e-01 2.38431635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.659254154 meters Centerline goodness [0,1] 0.99900072863537 Centerline is valid? [True, True] Translation: X:262.15, Y:3.76, Z:2.39 [[ 9.98570556e-01 -4.84805301e-02 -2.25051717e-02 2.62153895e+02] [ 4.84824602e-02 9.98823928e-01 -4.60173412e-04 3.75528399e+00] [ 2.25010134e-02 -6.31590469e-04 9.99746621e-01 2.38625181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68925415399997 meters Centerline goodness [0,1] 0.9988548346797701 Centerline is valid? [True, True] Translation: X:262.18, Y:3.76, Z:2.39 [[ 9.98685613e-01 -4.58542444e-02 -2.29005291e-02 2.62183026e+02] [ 4.58555377e-02 9.98947972e-01 -4.68927206e-04 3.75622786e+00] [ 2.28979394e-02 -5.81805220e-04 9.99737639e-01 2.38566211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.719254154 meters Centerline goodness [0,1] 0.9979948618334482 Centerline is valid? [True, True] Translation: X:262.21, Y:3.76, Z:2.39 [[ 9.98859465e-01 -4.15392109e-02 -2.35427933e-02 2.62212223e+02] [ 4.15393276e-02 9.99136752e-01 -4.84300835e-04 3.76222933e+00] [ 2.35425875e-02 -4.94203329e-04 9.99722713e-01 2.38686484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74925415399997 meters Centerline goodness [0,1] 0.9974915863625912 Centerline is valid? [True, True] Translation: X:262.24, Y:3.76, Z:2.39 [[ 9.98929967e-01 -3.99402002e-02 -2.33174255e-02 2.62241490e+02] [ 3.99398051e-02 9.99201971e-01 -4.82837198e-04 3.76427898e+00] [ 2.33181022e-02 -4.48972886e-04 9.99727995e-01 2.38705941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77925415399994 meters Centerline goodness [0,1] 0.9969794183818015 Centerline is valid? [True, True] Translation: X:262.27, Y:3.77, Z:2.39 [[ 9.98986217e-01 -3.85664437e-02 -2.32199937e-02 2.62269260e+02] [ 3.85656211e-02 9.99255953e-01 -4.83398579e-04 3.76501070e+00] [ 2.32213599e-02 -4.12584964e-04 9.99730263e-01 2.38716461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.809254154 meters Centerline goodness [0,1] 0.9972663912190644 Centerline is valid? [True, True] Translation: X:262.30, Y:3.77, Z:2.39 [[ 9.99033988e-01 -3.75482852e-02 -2.28301855e-02 2.62298035e+02] [ 3.75471257e-02 9.99294743e-01 -4.79596361e-04 3.76663574e+00] [ 2.28320924e-02 -3.78074782e-04 9.99739242e-01 2.38858705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.83925415399995 meters Centerline goodness [0,1] 0.9972275494038189 Centerline is valid? [True, True] Translation: X:262.33, Y:3.77, Z:2.39 [[ 9.99081520e-01 -3.65050281e-02 -2.24388090e-02 2.62326445e+02] [ 3.65035157e-02 9.99333411e-01 -4.77130645e-04 3.76786261e+00] [ 2.24412692e-02 -3.42403008e-04 9.99748104e-01 2.39047456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.869254154 meters Centerline goodness [0,1] 0.9971663714970309 Centerline is valid? [True, True] Translation: X:262.35, Y:3.77, Z:2.39 [[ 9.99090878e-01 -3.64907839e-02 -2.20418017e-02 2.62354253e+02] [ 3.64892307e-02 9.99333934e-01 -4.72785558e-04 3.76727458e+00] [ 2.20443727e-02 -3.31932651e-04 9.99756938e-01 2.39034465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.89925415399995 meters Centerline goodness [0,1] 0.9974179576878227 Centerline is valid? [True, True] Translation: X:262.38, Y:3.77, Z:2.39 [[ 9.99066048e-01 -3.71437946e-02 -2.20764807e-02 2.62382477e+02] [ 3.71422864e-02 9.99309873e-01 -4.78490382e-04 3.76745005e+00] [ 2.20790181e-02 -3.41927475e-04 9.99756170e-01 2.39125964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.929254154 meters Centerline goodness [0,1] 0.9971197194857239 Centerline is valid? [True, True] Translation: X:262.41, Y:3.77, Z:2.39 [[ 9.99034642e-01 -3.79782316e-02 -2.20780029e-02 2.62411334e+02] [ 3.79767944e-02 9.99278504e-01 -4.84521232e-04 3.76736980e+00] [ 2.20804749e-02 -3.54398280e-04 9.99756134e-01 2.39154013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.95925415399995 meters Centerline goodness [0,1] 0.9971197194857239 Centerline is valid? [True, True] Translation: X:262.44, Y:3.77, Z:2.39 [[ 9.99024816e-01 -3.82358935e-02 -2.20778769e-02 2.62439592e+02] [ 3.82343934e-02 9.99268678e-01 -4.90211735e-04 3.76803222e+00] [ 2.20804746e-02 -3.54400545e-04 9.99756134e-01 2.39180547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.989254154 meters Centerline goodness [0,1] 0.9974756957483206 Centerline is valid? [True, True] Translation: X:262.47, Y:3.77, Z:2.39 [[ 9.98894594e-01 -4.11616766e-02 -2.27003816e-02 2.62468274e+02] [ 4.11607117e-02 9.99152409e-01 -5.09946775e-04 3.76565579e+00] [ 2.27021313e-02 -4.24980787e-04 9.99742183e-01 2.39174765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.01925415399995 meters Centerline goodness [0,1] 0.9976010180027953 Centerline is valid? [True, True] Translation: X:262.50, Y:3.76, Z:2.39 [[ 9.98801058e-01 -4.30903471e-02 -2.32307466e-02 2.62496819e+02] [ 4.30897181e-02 9.99071067e-01 -5.27878331e-04 3.76454591e+00] [ 2.32319133e-02 -4.73760887e-04 9.99729990e-01 2.39175735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.049254154 meters Centerline goodness [0,1] 0.9973082380435689 Centerline is valid? [True, True] Translation: X:262.53, Y:3.76, Z:2.39 [[ 9.98695576e-01 -4.53885117e-02 -2.33886700e-02 2.62525886e+02] [ 4.53883636e-02 9.98969273e-01 -5.37466313e-04 3.76321691e+00] [ 2.33889574e-02 -5.24808227e-04 9.99726303e-01 2.39139437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07925415399995 meters Centerline goodness [0,1] 0.9973109313766364 Centerline is valid? [True, True] Translation: X:262.56, Y:3.76, Z:2.39 [[ 9.98430859e-01 -5.06640230e-02 -2.38532346e-02 2.62555333e+02] [ 5.06652957e-02 9.98715537e-01 -5.51381835e-04 3.76016089e+00] [ 2.38505313e-02 -6.58014548e-04 9.99715319e-01 2.39120144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.109254154 meters Centerline goodness [0,1] 0.9973291601460615 Centerline is valid? [True, True] Translation: X:262.58, Y:3.76, Z:2.39 [[ 9.98272369e-01 -5.37870556e-02 -2.36480234e-02 2.62584437e+02] [ 5.37891444e-02 9.98552166e-01 -5.48212522e-04 3.75637462e+00] [ 2.36432717e-02 -7.24741532e-04 9.99720196e-01 2.39049179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13925415399996 meters Centerline goodness [0,1] 0.9973066644396191 Centerline is valid? [True, True] Translation: X:262.61, Y:3.76, Z:2.39 [[ 9.98092049e-01 -5.71866572e-02 -2.32797720e-02 2.62614028e+02] [ 5.71895771e-02 9.98363190e-01 -5.40869349e-04 3.75653715e+00] [ 2.32725980e-02 -7.91522921e-04 9.99728843e-01 2.39161982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.169254154 meters Centerline goodness [0,1] 0.9972444889779559 Centerline is valid? [True, True] Translation: X:262.64, Y:3.75, Z:2.39 [[ 9.97914437e-01 -6.03750395e-02 -2.28392325e-02 2.62644288e+02] [ 6.03786703e-02 9.98175402e-01 -5.31214781e-04 3.75449308e+00] [ 2.28296322e-02 -8.48895590e-04 9.99739010e-01 2.39212053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19925415399996 meters Centerline goodness [0,1] 0.9971458333333333 Centerline is valid? [True, True] Translation: X:262.67, Y:3.75, Z:2.39 [[ 9.97504746e-01 -6.70511453e-02 -2.21003369e-02 2.62673632e+02] [ 6.70561702e-02 9.97749069e-01 -5.14462558e-04 3.75039249e+00] [ 2.20850859e-02 -9.68785111e-04 9.99755625e-01 2.39309045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.229254154 meters Centerline goodness [0,1] 0.9971666076376591 Centerline is valid? [True, True] Translation: X:262.71, Y:3.75, Z:2.39 [[ 9.97283811e-01 -7.03234151e-02 -2.19001733e-02 2.62705041e+02] [ 7.03291423e-02 9.97523710e-01 -5.09533670e-04 3.75152543e+00] [ 2.18817743e-02 -1.03207072e-03 9.99760033e-01 2.39452198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25925415399996 meters Centerline goodness [0,1] 0.997314178638351 Centerline is valid? [True, True] Translation: X:262.74, Y:3.75, Z:2.39 [[ 9.97040901e-01 -7.37911500e-02 -2.15477845e-02 2.62735696e+02] [ 7.37975140e-02 9.97273120e-01 -5.00768384e-04 3.74811434e+00] [ 2.15259785e-02 -1.09088637e-03 9.99767694e-01 2.39447523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.289254154 meters Centerline goodness [0,1] 0.997187324207763 Centerline is valid? [True, True] Translation: X:262.77, Y:3.75, Z:2.39 [[ 9.96800119e-01 -7.69905100e-02 -2.14938085e-02 2.62766899e+02] [ 7.69975921e-02 9.97031154e-01 -4.99121533e-04 3.74706835e+00] [ 2.14684243e-02 -1.15744709e-03 9.99768857e-01 2.39499628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31925415399996 meters Centerline goodness [0,1] 0.9974761169746778 Centerline is valid? [True, True] Translation: X:262.80, Y:3.74, Z:2.39 [[ 9.96320100e-01 -8.30688483e-02 -2.11145561e-02 2.62796489e+02] [ 8.30770467e-02 9.96543007e-01 -4.90107326e-04 3.74019861e+00] [ 2.10822758e-02 -1.26583118e-03 9.99776943e-01 2.39491504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.349254154 meters Centerline goodness [0,1] 0.9973068331280402 Centerline is valid? [True, True] Translation: X:262.83, Y:3.74, Z:2.40 [[ 9.96117290e-01 -8.54787779e-02 -2.10647368e-02 2.62827810e+02] [ 8.54874838e-02 9.96339125e-01 -4.88499869e-04 3.74265363e+00] [ 2.10293778e-02 -1.31416818e-03 9.99777994e-01 2.39603400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37925415399997 meters Centerline goodness [0,1] 0.9973330555266173 Centerline is valid? [True, True] Translation: X:262.86, Y:3.74, Z:2.40 [[ 9.95964590e-01 -8.73113660e-02 -2.07668177e-02 2.62857917e+02] [ 8.73202307e-02 9.96180177e-01 -4.81260349e-04 3.74006949e+00] [ 2.07295117e-02 -1.33404505e-03 9.99784231e-01 2.39587786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.409254154 meters Centerline goodness [0,1] 0.9973058206804369 Centerline is valid? [True, True] Translation: X:262.89, Y:3.75, Z:2.40 [[ 9.95770093e-01 -8.92226827e-02 -2.19370718e-02 2.62889413e+02] [ 8.92330469e-02 9.96010645e-01 -5.07922199e-04 3.74558700e+00] [ 2.18948752e-02 -1.45173802e-03 9.99759224e-01 2.39624467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43925415399997 meters Centerline goodness [0,1] 0.9972697526104083 Centerline is valid? [True, True] Translation: X:262.92, Y:3.75, Z:2.40 [[ 9.95756865e-01 -8.93238889e-02 -2.21248249e-02 2.62921779e+02] [ 8.93344845e-02 9.96001551e-01 -5.10994509e-04 3.74699890e+00] [ 2.20820040e-02 -1.46768354e-03 9.99755086e-01 2.39652013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.469254154 meters Centerline goodness [0,1] 0.9974945192608832 Centerline is valid? [True, True] Translation: X:262.95, Y:3.75, Z:2.40 [[ 9.95806463e-01 -8.88761899e-02 -2.16912731e-02 2.62952941e+02] [ 8.88862925e-02 9.96041654e-01 -4.99864808e-04 3.74877344e+00] [ 2.16498376e-02 -1.43028824e-03 9.99764592e-01 2.39644198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49925415399997 meters Centerline goodness [0,1] 0.9971445840888722 Centerline is valid? [True, True] Translation: X:262.98, Y:3.75, Z:2.40 [[ 9.95985690e-01 -8.66889821e-02 -2.23052918e-02 2.62983092e+02] [ 8.66991318e-02 9.96234409e-01 -5.13429789e-04 3.75187798e+00] [ 2.22658079e-02 -1.42248071e-03 9.99751074e-01 2.39555307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52925415399994 meters Centerline goodness [0,1] 0.9973728654531807 Centerline is valid? [True, True] Translation: X:263.02, Y:3.75, Z:2.39 [[ 9.96146468e-01 -8.47141599e-02 -2.27095808e-02 2.63015066e+02] [ 8.47241901e-02 9.96404305e-01 -5.21848277e-04 3.75474348e+00] [ 2.26721320e-02 -1.40421352e-03 9.99741968e-01 2.39498845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.559254154 meters Centerline goodness [0,1] 0.9971245806680141 Centerline is valid? [True, True] Translation: X:263.05, Y:3.76, Z:2.39 [[ 9.96316996e-01 -8.26919174e-02 -2.26823974e-02 2.63046653e+02] [ 8.27014288e-02 9.96574234e-01 -5.20011845e-04 3.75850679e+00] [ 2.26476935e-02 -1.35777003e-03 9.99742586e-01 2.39486633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.58925415399995 meters Centerline goodness [0,1] 0.9971229021161263 Centerline is valid? [True, True] Translation: X:263.08, Y:3.76, Z:2.39 [[ 9.96531641e-01 -7.99717291e-02 -2.30045881e-02 2.63075927e+02] [ 7.99807966e-02 9.96796265e-01 -5.27131353e-04 3.76187035e+00] [ 2.29730431e-02 -1.31462221e-03 9.99735220e-01 2.39435089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.619254154 meters Centerline goodness [0,1] 0.9973762025738203 Centerline is valid? [True, True] Translation: X:263.10, Y:3.77, Z:2.39 [[ 9.96963900e-01 -7.41828332e-02 -2.36619816e-02 2.63104820e+02] [ 7.41907907e-02 9.97243918e-01 -5.42609074e-04 3.77056892e+00] [ 2.36370195e-02 -1.21453947e-03 9.99719869e-01 2.39411736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.64925415399995 meters Centerline goodness [0,1] 0.997357689747004 Centerline is valid? [True, True] Translation: X:263.14, Y:3.78, Z:2.39 [[ 9.97190041e-01 -7.08919612e-02 -2.42147132e-02 2.63135388e+02] [ 7.08993256e-02 9.97483322e-01 -5.55346893e-04 3.77571363e+00] [ 2.41931422e-02 -1.16302044e-03 9.99706627e-01 2.39425891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.679254154 meters Centerline goodness [0,1] 0.9974566377585057 Centerline is valid? [True, True] Translation: X:263.16, Y:3.78, Z:2.39 [[ 9.97419612e-01 -6.76708474e-02 -2.39744249e-02 2.63164774e+02] [ 6.76771530e-02 9.97707122e-01 -5.49193990e-04 3.78056930e+00] [ 2.39566189e-02 -1.07474396e-03 9.99712421e-01 2.39427739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.70925415399995 meters Centerline goodness [0,1] 0.9974651457541192 Centerline is valid? [True, True] Translation: X:263.20, Y:3.79, Z:2.40 [[ 9.97653101e-01 -6.42941799e-02 -2.35488482e-02 2.63195253e+02] [ 6.42993331e-02 9.97930511e-01 -5.39080566e-04 3.78595473e+00] [ 2.35347739e-02 -9.76359836e-04 9.99722542e-01 2.39517092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.739254154 meters Centerline goodness [0,1] 0.9975381277252717 Centerline is valid? [True, True] Translation: X:263.23, Y:3.80, Z:2.40 [[ 9.98069628e-01 -5.80246272e-02 -2.21395784e-02 2.63225887e+02] [ 5.80276428e-02 9.98314848e-01 -5.06741425e-04 3.79868470e+00] [ 2.21316733e-02 -7.78944323e-04 9.99754761e-01 2.39809521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.76925415399995 meters Centerline goodness [0,1] 0.997891176347768 Centerline is valid? [True, True] Translation: X:263.26, Y:3.80, Z:2.40 [[ 9.98281969e-01 -5.48226698e-02 -2.06781588e-02 2.63257003e+02] [ 5.48246235e-02 9.98495887e-01 -4.72826847e-04 3.80415840e+00] [ 2.06729782e-02 -6.61657756e-04 9.99786072e-01 2.39970845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.799254154 meters Centerline goodness [0,1] 0.9980602369431003 Centerline is valid? [True, True] Translation: X:263.29, Y:3.81, Z:2.40 [[ 9.98471622e-01 -5.17040985e-02 -1.95219543e-02 2.63288381e+02] [ 5.17052577e-02 9.98662289e-01 -4.45699686e-04 3.80859310e+00] [ 1.95188841e-02 -5.64369191e-04 9.99809329e-01 2.40082731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.82925415399995 meters Centerline goodness [0,1] 0.9976849437921038 Centerline is valid? [True, True] Translation: X:263.32, Y:3.82, Z:2.40 [[ 9.98773856e-01 -4.60473282e-02 -1.81776783e-02 2.63318421e+02] [ 4.60474052e-02 9.98939170e-01 -4.14538484e-04 3.81622508e+00] [ 1.81774833e-02 -4.23004719e-04 9.99834686e-01 2.40216390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.859254154 meters Centerline goodness [0,1] 0.9974516438985671 Centerline is valid? [True, True] Translation: X:263.35, Y:3.82, Z:2.40 [[ 9.98914475e-01 -4.31563934e-02 -1.75327598e-02 2.63349838e+02] [ 4.31560277e-02 9.99068265e-01 -3.99384717e-04 3.82044717e+00] [ 1.75336599e-02 -3.57693092e-04 9.99846210e-01 2.40295076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.88925415399996 meters Centerline goodness [0,1] 0.9974936819900165 Centerline is valid? [True, True] Translation: X:263.38, Y:3.82, Z:2.40 [[ 9.99036365e-01 -4.02873170e-02 -1.74147363e-02 2.63379879e+02] [ 4.02865286e-02 9.99188090e-01 -3.96227469e-04 3.82408038e+00] [ 1.74165600e-02 -3.05733621e-04 9.99848273e-01 2.40327069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.919254154 meters Centerline goodness [0,1] 0.9978913084326785 Centerline is valid? [True, True] Translation: X:263.41, Y:3.83, Z:2.40 [[ 9.99151791e-01 -3.75430449e-02 -1.69179668e-02 2.63410927e+02] [ 3.75419146e-02 9.99294980e-01 -3.84503503e-04 3.82757877e+00] [ 1.69204747e-02 -2.50955501e-04 9.99856807e-01 2.40363145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.94925415399996 meters Centerline goodness [0,1] 0.9980374553729878 Centerline is valid? [True, True] Translation: X:263.44, Y:3.83, Z:2.40 [[ 9.99300074e-01 -3.33003175e-02 -1.70426073e-02 2.63441701e+02] [ 3.32985637e-02 9.99445374e-01 -3.86744709e-04 3.83287554e+00] [ 1.70460338e-02 -1.81020330e-04 9.99854689e-01 2.40349526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.979254154 meters Centerline goodness [0,1] 0.9979693093558314 Centerline is valid? [True, True] Translation: X:263.47, Y:3.84, Z:2.40 [[ 9.99348033e-01 -3.18565492e-02 -1.69902529e-02 2.63470937e+02] [ 3.18546008e-02 9.99492439e-01 -3.85365420e-04 3.83524548e+00] [ 1.69939057e-02 -1.56103548e-04 9.99855581e-01 2.40327903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.00925415399996 meters Centerline goodness [0,1] 0.9980142555548588 Centerline is valid? [True, True] Translation: X:263.50, Y:3.84, Z:2.40 [[ 9.99375855e-01 -3.08153345e-02 -1.72717985e-02 2.63500968e+02] [ 3.08131704e-02 9.99525085e-01 -3.91465095e-04 3.83699713e+00] [ 1.72756590e-02 -1.40978107e-04 9.99850755e-01 2.40287321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.039254154 meters Centerline goodness [0,1] 0.9979518903216368 Centerline is valid? [True, True] Translation: X:263.53, Y:3.84, Z:2.40 [[ 9.99388733e-01 -3.03487588e-02 -1.73526178e-02 2.63531014e+02] [ 3.03465133e-02 9.99539361e-01 -3.92763319e-04 3.83901570e+00] [ 1.73565444e-02 -1.34068214e-04 9.99849355e-01 2.40307711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06925415399996 meters Centerline goodness [0,1] 0.9981171942009581 Centerline is valid? [True, True] Translation: X:263.56, Y:3.84, Z:2.40 [[ 9.99363451e-01 -3.10559629e-02 -1.75561976e-02 2.63560327e+02] [ 3.10537711e-02 9.99517636e-01 -3.97508419e-04 3.83929422e+00] [ 1.75600741e-02 -1.47930757e-04 9.99845799e-01 2.40263746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.099254154 meters Centerline goodness [0,1] 0.9979503910988413 Centerline is valid? [True, True] Translation: X:263.59, Y:3.84, Z:2.40 [[ 9.99327388e-01 -3.21645409e-02 -1.76128630e-02 2.63590477e+02] [ 3.21625043e-02 9.99482573e-01 -3.98948846e-04 3.83899595e+00] [ 1.76165817e-02 -1.67793276e-04 9.99844802e-01 2.40260503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12925415399997 meters Centerline goodness [0,1] 0.9982423101067169 Centerline is valid? [True, True] Translation: X:263.62, Y:3.84, Z:2.40 [[ 9.99281070e-01 -3.37576994e-02 -1.72557485e-02 2.63621234e+02] [ 3.37559820e-02 9.99430028e-01 -3.90859847e-04 3.83831646e+00] [ 1.72591078e-02 -1.91905891e-04 9.99851032e-01 2.40286825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.159254154 meters Centerline goodness [0,1] 0.9983247827452623 Centerline is valid? [True, True] Translation: X:263.65, Y:3.84, Z:2.40 [[ 9.99217687e-01 -3.56544326e-02 -1.71106759e-02 2.63651340e+02] [ 3.56530220e-02 9.99364154e-01 -3.87573808e-04 3.83746298e+00] [ 1.71136149e-02 -2.22776700e-04 9.99853527e-01 2.40339041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18925415399997 meters Centerline goodness [0,1] 0.9983709273182957 Centerline is valid? [True, True] Translation: X:263.68, Y:3.83, Z:2.40 [[ 9.99061117e-01 -4.01359889e-02 -1.63090962e-02 2.63681162e+02] [ 4.01353042e-02 9.99194186e-01 -3.69417231e-04 3.83405242e+00] [ 1.63107810e-02 -2.85500145e-04 9.99866930e-01 2.40391206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.219254154 meters Centerline goodness [0,1] 0.9984134274143042 Centerline is valid? [True, True] Translation: X:263.71, Y:3.83, Z:2.40 [[ 9.98961060e-01 -4.27062635e-02 -1.59051860e-02 2.63712796e+02] [ 4.27059413e-02 9.99087620e-01 -3.60058014e-04 3.83239925e+00] [ 1.59060512e-02 -3.19562003e-04 9.99873440e-01 2.40437530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24925415399997 meters Centerline goodness [0,1] 0.9982232441471572 Centerline is valid? [True, True] Translation: X:263.74, Y:3.83, Z:2.41 [[ 9.98829413e-01 -4.58378525e-02 -1.54497889e-02 2.63744175e+02] [ 4.58379303e-02 9.98948829e-01 -3.49261320e-04 3.83010831e+00] [ 1.54495579e-02 -3.59333869e-04 9.99880584e-01 2.40529490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27925415399994 meters Centerline goodness [0,1] 0.9982219805045391 Centerline is valid? [True, True] Translation: X:263.77, Y:3.83, Z:2.41 [[ 9.98511354e-01 -5.27199021e-02 -1.39888162e-02 2.63774965e+02] [ 5.27206453e-02 9.98609250e-01 -3.15886457e-04 3.82555123e+00] [ 1.39860148e-02 -4.22083204e-04 9.99902102e-01 2.40644569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.309254154 meters Centerline goodness [0,1] 0.9981588802644518 Centerline is valid? [True, True] Translation: X:263.81, Y:3.82, Z:2.41 [[ 9.98307438e-01 -5.64461060e-02 -1.40034459e-02 2.63806260e+02] [ 5.64472212e-02 9.98405535e-01 -3.15910653e-04 3.82277370e+00] [ 1.39989498e-02 -4.75079652e-04 9.99901897e-01 2.40681521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.33925415399995 meters Centerline goodness [0,1] 0.9979958664746039 Centerline is valid? [True, True] Translation: X:263.84, Y:3.82, Z:2.41 [[ 9.98125313e-01 -5.96416731e-02 -1.37378848e-02 2.63836083e+02] [ 5.96430577e-02 9.98219720e-01 -3.09261915e-04 3.81993227e+00] [ 1.37318724e-02 -5.10687311e-04 9.99905583e-01 2.40712853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.369254154 meters Centerline goodness [0,1] 0.998263307666555 Centerline is valid? [True, True] Translation: X:263.87, Y:3.82, Z:2.41 [[ 9.97915581e-01 -6.30098023e-02 -1.39376491e-02 2.63867743e+02] [ 6.30115682e-02 9.98012748e-01 -3.12836416e-04 3.81730274e+00] [ 1.39296633e-02 -5.66048796e-04 9.99902817e-01 2.40700011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.39925415399995 meters Centerline goodness [0,1] 0.9981424665539624 Centerline is valid? [True, True] Translation: X:263.90, Y:3.81, Z:2.41 [[ 9.97563108e-01 -6.82752181e-02 -1.43645704e-02 2.63897426e+02] [ 6.82776422e-02 9.97666307e-01 -3.22171022e-04 3.81217079e+00] [ 1.43530442e-02 -6.59393070e-04 9.99896772e-01 2.40623738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.429254154 meters Centerline goodness [0,1] 0.9979513337235555 Centerline is valid? [True, True] Translation: X:263.93, Y:3.81, Z:2.41 [[ 9.97386257e-01 -7.07432382e-02 -1.46986162e-02 2.63928215e+02] [ 7.07460431e-02 9.97494305e-01 -3.29701596e-04 3.81045592e+00] [ 1.46851101e-02 -7.11029096e-04 9.99891915e-01 2.40586579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.45925415399995 meters Centerline goodness [0,1] 0.9980824544582934 Centerline is valid? [True, True] Translation: X:263.96, Y:3.81, Z:2.40 [[ 9.97035978e-01 -7.53488881e-02 -1.55500198e-02 2.63957634e+02] [ 7.53525899e-02 9.97156891e-01 -3.48539563e-04 3.80555421e+00] [ 1.55320715e-02 -8.24227782e-04 9.99879030e-01 2.40476498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.489254154 meters Centerline goodness [0,1] 0.9982872420419416 Centerline is valid? [True, True] Translation: X:263.99, Y:3.81, Z:2.41 [[ 9.96878929e-01 -7.74033026e-02 -1.55283492e-02 2.63988984e+02] [ 7.74072482e-02 9.96999497e-01 -3.47692600e-04 3.81177504e+00] [ 1.55086689e-02 -8.55399356e-04 9.99879367e-01 2.40562790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.51925415399995 meters Centerline goodness [0,1] 0.9980972294824882 Centerline is valid? [True, True] Translation: X:264.02, Y:3.80, Z:2.40 [[ 9.96721318e-01 -7.93774328e-02 -1.56792152e-02 2.64019164e+02] [ 7.93817039e-02 9.96844232e-01 -3.50750624e-04 3.80175060e+00] [ 1.56575769e-02 -8.95042192e-04 9.99877012e-01 2.40452968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.549254154 meters Centerline goodness [0,1] 0.998139515437841 Centerline is valid? [True, True] Translation: X:264.05, Y:3.81, Z:2.41 [[ 9.96562332e-01 -8.13015342e-02 -1.59241889e-02 2.64050616e+02] [ 8.13061881e-02 9.96689108e-01 -3.56010750e-04 3.80953550e+00] [ 1.59004098e-02 -9.39948195e-04 9.99873139e-01 2.40587897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57925415399995 meters Centerline goodness [0,1] 0.9982008744586933 Centerline is valid? [True, True] Translation: X:264.08, Y:3.81, Z:2.41 [[ 9.96223119e-01 -8.52792169e-02 -1.63386502e-02 2.64079877e+02] [ 8.52846528e-02 9.96356560e-01 -3.65048116e-04 3.80677815e+00] [ 1.63102523e-02 -1.02976673e-03 9.99866449e-01 2.40557118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.609254154 meters Centerline goodness [0,1] 0.998054718875502 Centerline is valid? [True, True] Translation: X:264.11, Y:3.80, Z:2.41 [[ 9.96096434e-01 -8.67172899e-02 -1.64925725e-02 2.64111171e+02] [ 8.67230327e-02 9.96232393e-01 -3.68015221e-04 3.80498861e+00] [ 1.64623482e-02 -1.06370725e-03 9.99863921e-01 2.40538556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63925415399996 meters Centerline goodness [0,1] 0.9980375373181068 Centerline is valid? [True, True] Translation: X:264.14, Y:3.81, Z:2.41 [[ 9.95974323e-01 -8.80730211e-02 -1.66820663e-02 2.64143503e+02] [ 8.80791072e-02 9.96113414e-01 -3.70965961e-04 3.80555968e+00] [ 1.66499021e-02 -1.09986893e-03 9.99860776e-01 2.40559125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.669254154 meters Centerline goodness [0,1] 0.9980580496972228 Centerline is valid? [True, True] Translation: X:264.17, Y:3.81, Z:2.41 [[ 9.95899167e-01 -8.88539884e-02 -1.70240506e-02 2.64174213e+02] [ 8.88604553e-02 9.96044014e-01 -3.77690722e-04 3.80530792e+00] [ 1.69902630e-02 -1.13662301e-03 9.99855009e-01 2.40536129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69925415399996 meters Centerline goodness [0,1] 0.9978686948890467 Centerline is valid? [True, True] Translation: X:264.20, Y:3.81, Z:2.41 [[ 9.95716070e-01 -9.07284027e-02 -1.78287395e-02 2.64203924e+02] [ 9.07358117e-02 9.95874920e-01 -3.94583897e-04 3.80626403e+00] [ 1.77909945e-02 -1.22481162e-03 9.99840978e-01 2.40517559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.729254154 meters Centerline goodness [0,1] 0.9978468099339409 Centerline is valid? [True, True] Translation: X:264.24, Y:3.81, Z:2.40 [[ 9.95678223e-01 -9.09970424e-02 -1.85583867e-02 2.64236338e+02] [ 9.10051414e-02 9.95850338e-01 -4.09406515e-04 3.80728797e+00] [ 1.85186305e-02 -1.28127146e-03 9.99827694e-01 2.40497875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75925415399996 meters Centerline goodness [0,1] 0.9979092619694753 Centerline is valid? [True, True] Translation: X:264.27, Y:3.81, Z:2.40 [[ 9.95672643e-01 -9.09145254e-02 -1.92493219e-02 2.64268797e+02] [ 9.09232478e-02 9.95857813e-01 -4.23391130e-04 3.80899651e+00] [ 1.92080800e-02 -1.32865190e-03 9.99814625e-01 2.40486382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.789254154 meters Centerline goodness [0,1] 0.9978051380672673 Centerline is valid? [True, True] Translation: X:264.30, Y:3.81, Z:2.41 [[ 9.95744913e-01 -9.01590483e-02 -1.90634026e-02 2.64299627e+02] [ 9.01674852e-02 9.95926528e-01 -4.18244998e-04 3.81238391e+00] [ 1.90234569e-02 -1.30243374e-03 9.99818189e-01 2.40567494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81925415399996 meters Centerline goodness [0,1] 0.9977598191106273 Centerline is valid? [True, True] Translation: X:264.33, Y:3.81, Z:2.41 [[ 9.95820138e-01 -8.93594711e-02 -1.88981129e-02 2.64331520e+02] [ 8.93676387e-02 9.95998622e-01 -4.13575575e-04 3.81442520e+00] [ 1.88594513e-02 -1.27703284e-03 9.99821329e-01 2.40635515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.849254154 meters Centerline goodness [0,1] 0.9978184259103876 Centerline is valid? [True, True] Translation: X:264.36, Y:3.82, Z:2.41 [[ 9.95907279e-01 -8.83905951e-02 -1.88625303e-02 2.64362480e+02] [ 8.83985923e-02 9.96085097e-01 -4.11028518e-04 3.81589915e+00] [ 1.88250164e-02 -1.25807483e-03 9.99822002e-01 2.40680750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87925415399997 meters Centerline goodness [0,1] 0.9978184259103876 Centerline is valid? [True, True] Translation: X:264.39, Y:3.82, Z:2.41 [[ 9.95912792e-01 -8.83284425e-02 -1.88625684e-02 2.64394231e+02] [ 8.83364617e-02 9.96090609e-01 -4.09272701e-04 3.81651247e+00] [ 1.88249777e-02 -1.25865264e-03 9.99822002e-01 2.40710474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.909254154 meters Centerline goodness [0,1] 0.9976167579545929 Centerline is valid? [True, True] Translation: X:264.43, Y:3.82, Z:2.41 [[ 9.96072437e-01 -8.65484963e-02 -1.86831206e-02 2.64425995e+02] [ 8.65560707e-02 9.96246899e-01 -4.04362614e-04 3.82119568e+00] [ 1.86479980e-02 -1.21436306e-03 9.99825373e-01 2.40814876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93925415399997 meters Centerline goodness [0,1] 0.9978594812389826 Centerline is valid? [True, True] Translation: X:264.46, Y:3.83, Z:2.41 [[ 9.96368574e-01 -8.30862370e-02 -1.86102884e-02 2.64455128e+02] [ 8.30931685e-02 9.96541702e-01 -4.01833329e-04 3.82797030e+00] [ 1.85793153e-02 -1.14601373e-03 9.99826733e-01 2.40963623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.969254154 meters Centerline goodness [0,1] 0.9981131679909432 Centerline is valid? [True, True] Translation: X:264.49, Y:3.83, Z:2.41 [[ 9.96496546e-01 -8.15324907e-02 -1.86302564e-02 2.64486067e+02] [ 8.15391816e-02 9.96670056e-01 -4.01456175e-04 3.83225612e+00] [ 1.86009504e-02 -1.11904617e-03 9.99826361e-01 2.41001020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99925415399997 meters Centerline goodness [0,1] 0.9982988196748855 Centerline is valid? [True, True] Translation: X:264.52, Y:3.85, Z:2.41 [[ 9.96707435e-01 -7.90243027e-02 -1.81507425e-02 2.64516726e+02] [ 7.90302498e-02 9.96872142e-01 -3.90526465e-04 3.85443961e+00] [ 1.81248306e-02 -1.04521708e-03 9.99835185e-01 2.41351947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02925415399994 meters Centerline goodness [0,1] 0.9983811285846439 Centerline is valid? [True, True] Translation: X:264.55, Y:3.86, Z:2.41 [[ 9.96956470e-01 -7.59294116e-02 -1.76782479e-02 2.64547385e+02] [ 7.59345763e-02 9.97112730e-01 -3.79883621e-04 3.86003885e+00] [ 1.76560504e-02 -9.63662830e-04 9.99843655e-01 2.41469412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.059254154 meters Centerline goodness [0,1] 0.9985870344594879 Centerline is valid? [True, True] Translation: X:264.58, Y:3.87, Z:2.41 [[ 9.97355353e-01 -7.05335511e-02 -1.75304814e-02 2.64576799e+02] [ 7.05377989e-02 9.97509036e-01 -3.76669084e-04 3.86597911e+00] [ 1.75133815e-02 -8.60888648e-04 9.99846258e-01 2.41493976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.08925415399995 meters Centerline goodness [0,1] 0.9985681196041272 Centerline is valid? [True, True] Translation: X:264.61, Y:3.87, Z:2.41 [[ 9.97589987e-01 -6.71713077e-02 -1.73848460e-02 2.64607444e+02] [ 6.71749780e-02 9.97741140e-01 -3.73407671e-04 3.86743094e+00] [ 1.73706583e-02 -7.95318892e-04 9.99848802e-01 2.41488640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.119254154 meters Centerline goodness [0,1] 0.9985049798909267 Centerline is valid? [True, True] Translation: X:264.64, Y:3.88, Z:2.42 [[ 9.98076084e-01 -5.95394907e-02 -1.72968301e-02 2.64637416e+02] [ 5.95419850e-02 9.98225733e-01 -3.71198605e-04 3.87818567e+00] [ 1.72882419e-02 -6.59403150e-04 9.99850330e-01 2.41549160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.14925415399995 meters Centerline goodness [0,1] 0.9987342039197485 Centerline is valid? [True, True] Translation: X:264.67, Y:3.89, Z:2.42 [[ 9.98339002e-01 -5.50017207e-02 -1.71478298e-02 2.64668853e+02] [ 5.50035105e-02 9.98486093e-01 -3.67591897e-04 3.88595371e+00] [ 1.71420878e-02 -5.76209510e-04 9.99852898e-01 2.41616364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.179254154 meters Centerline goodness [0,1] 0.9985641588715978 Centerline is valid? [True, True] Translation: X:264.70, Y:3.89, Z:2.42 [[ 9.98572539e-01 -5.05612244e-02 -1.72176570e-02 2.64699992e+02] [ 5.05623828e-02 9.98720837e-01 -3.68305187e-04 3.89123839e+00] [ 1.72142548e-02 -5.02786321e-04 9.99851697e-01 2.41597580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.20925415399995 meters Centerline goodness [0,1] 0.9985865277103858 Centerline is valid? [True, True] Translation: X:264.73, Y:3.90, Z:2.42 [[ 9.98793957e-01 -4.58483046e-02 -1.75659973e-02 2.64730932e+02] [ 4.58487934e-02 9.98948321e-01 -3.75108387e-04 3.89716659e+00] [ 1.75647216e-02 -4.30723791e-04 9.99845636e-01 2.41630189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.239254154 meters Centerline goodness [0,1] 0.9992587101556709 Centerline is valid? [True, True] Translation: X:264.76, Y:3.90, Z:2.41 [[ 9.99155301e-01 -3.67117919e-02 -1.84642375e-02 2.64760590e+02] [ 3.67107788e-02 9.99325855e-01 -3.93925583e-04 3.90479809e+00] [ 1.84662516e-02 -2.84243704e-04 9.99829444e-01 2.41492472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.26925415399995 meters Centerline goodness [0,1] 0.9989187126319806 Centerline is valid? [True, True] Translation: X:264.79, Y:3.91, Z:2.41 [[ 9.99306576e-01 -3.22413168e-02 -1.86242989e-02 2.64792336e+02] [ 3.22395180e-02 9.99480093e-01 -3.96898645e-04 3.90910653e+00] [ 1.86274125e-02 -2.03814992e-04 9.99826474e-01 2.41466383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.299254154 meters Centerline goodness [0,1] 0.9989814539744515 Centerline is valid? [True, True] Translation: X:264.82, Y:3.91, Z:2.41 [[ 9.99432613e-01 -2.80679825e-02 -1.86182936e-02 2.64822388e+02] [ 2.80654722e-02 9.99606009e-01 -3.96157023e-04 3.91249462e+00] [ 1.86220774e-02 -1.26598951e-04 9.99826586e-01 2.41361463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.32925415399995 meters Centerline goodness [0,1] 0.999107351597203 Centerline is valid? [True, True] Translation: X:264.85, Y:3.92, Z:2.41 [[ 9.99527301e-01 -2.43048405e-02 -1.88268340e-02 2.64852677e+02] [ 2.43016093e-02 9.99704592e-01 -4.00423452e-04 3.91667219e+00] [ 1.88310046e-02 -5.72881919e-05 9.99822679e-01 2.41412813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.359254154 meters Centerline goodness [0,1] 0.9991912656692277 Centerline is valid? [True, True] Translation: X:264.88, Y:3.92, Z:2.41 [[ 9.99665480e-01 -1.83543598e-02 -1.82221000e-02 2.64880779e+02] [ 1.83503336e-02 9.99831543e-01 -3.88147329e-04 3.92290560e+00] [ 1.82261546e-02 5.36358724e-05 9.99833888e-01 2.41415259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.38925415399996 meters Centerline goodness [0,1] 0.9989568031338485 Centerline is valid? [True, True] Translation: X:264.91, Y:3.93, Z:2.41 [[ 9.99703800e-01 -1.65166053e-02 -1.78749353e-02 2.64908228e+02] [ 1.65123826e-02 9.99863588e-01 -3.83812821e-04 3.92530768e+00] [ 1.78788362e-02 8.85413659e-05 9.99840157e-01 2.41495637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.419254154 meters Centerline goodness [0,1] 0.9990001914527006 Centerline is valid? [True, True] Translation: X:264.94, Y:3.93, Z:2.41 [[ 9.99734435e-01 -1.49765106e-02 -1.75146970e-02 2.64936168e+02] [ 1.49721540e-02 9.99887839e-01 -3.79850783e-04 3.92771305e+00] [ 1.75184214e-02 1.17517167e-04 9.99846534e-01 2.41453943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.44925415399996 meters Centerline goodness [0,1] 0.9992128496968408 Centerline is valid? [True, True] Translation: X:264.96, Y:3.93, Z:2.41 [[ 9.99757370e-01 -1.43008502e-02 -1.67537324e-02 2.64964525e+02] [ 1.42967134e-02 9.99897730e-01 -3.66668789e-04 3.92831957e+00] [ 1.67572626e-02 1.27056514e-04 9.99859579e-01 2.41474611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.479254154 meters Centerline goodness [0,1] 0.9990842490842491 Centerline is valid? [True, True] Translation: X:264.99, Y:3.93, Z:2.41 [[ 9.99755635e-01 -1.52266805e-02 -1.60255511e-02 2.64992090e+02] [ 1.52229441e-02 9.99884061e-01 -3.55118655e-04 3.92802700e+00] [ 1.60291004e-02 1.11075808e-04 9.99871520e-01 2.41479262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.50925415399996 meters Centerline goodness [0,1] 0.999254700709099 Centerline is valid? [True, True] Translation: X:265.02, Y:3.93, Z:2.41 [[ 9.99734728e-01 -1.66524401e-02 -1.59113400e-02 2.65019925e+02] [ 1.66488869e-02 9.99861334e-01 -3.55755699e-04 3.92727420e+00] [ 1.59150579e-02 9.07552263e-05 9.99873343e-01 2.41483826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.539254154 meters Centerline goodness [0,1] 0.9989362154801923 Centerline is valid? [True, True] Translation: X:265.05, Y:3.93, Z:2.42 [[ 9.99704736e-01 -1.87960478e-02 -1.53996738e-02 2.65049132e+02] [ 1.87929393e-02 9.99823337e-01 -3.46554732e-04 3.92597592e+00] [ 1.54034671e-02 5.70472721e-05 9.99881358e-01 2.41513972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56925415399996 meters Centerline goodness [0,1] 0.9990892531876139 Centerline is valid? [True, True] Translation: X:265.08, Y:3.92, Z:2.42 [[ 9.99598571e-01 -2.42746670e-02 -1.46094864e-02 2.65077609e+02] [ 2.42724192e-02 9.99705327e-01 -3.31181583e-04 3.92108300e+00] [ 1.46132207e-02 -2.35589409e-05 9.99893221e-01 2.41559167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.599254154 meters Centerline goodness [0,1] 0.9989403187521194 Centerline is valid? [True, True] Translation: X:265.11, Y:3.92, Z:2.42 [[ 9.99531280e-01 -2.72885182e-02 -1.38765247e-02 2.65108799e+02] [ 2.72867766e-02 9.99627597e-01 -3.14859408e-04 3.91870346e+00] [ 1.38799491e-02 -6.39338022e-05 9.99903667e-01 2.41660258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62925415399997 meters Centerline goodness [0,1] 0.9988562472200453 Centerline is valid? [True, True] Translation: X:265.14, Y:3.91, Z:2.42 [[ 9.99353616e-01 -3.35406855e-02 -1.29372686e-02 2.65140082e+02] [ 3.35397020e-02 9.99437343e-01 -2.93043014e-04 3.91187000e+00] [ 1.29398183e-02 -1.41058539e-04 9.99916267e-01 2.41676607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.659254154 meters Centerline goodness [0,1] 0.9988379708858888 Centerline is valid? [True, True] Translation: X:265.17, Y:3.91, Z:2.42 [[ 9.99269047e-01 -3.62005703e-02 -1.22837143e-02 2.65171719e+02] [ 3.61998942e-02 9.99344531e-01 -2.77455304e-04 3.90717700e+00] [ 1.22857068e-02 -1.67416662e-04 9.99924514e-01 2.41652231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68925415399997 meters Centerline goodness [0,1] 0.9987529063622913 Centerline is valid? [True, True] Translation: X:265.20, Y:3.91, Z:2.42 [[ 9.99185465e-01 -3.85052390e-02 -1.20728444e-02 2.65204269e+02] [ 3.85047681e-02 9.99258380e-01 -2.71527612e-04 3.90688058e+00] [ 1.20743462e-02 -1.93555632e-04 9.99927084e-01 2.41734905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71925415399994 meters Centerline goodness [0,1] 0.9986901039465901 Centerline is valid? [True, True] Translation: X:265.24, Y:3.90, Z:2.42 [[ 9.99119255e-01 -4.03767479e-02 -1.14206643e-02 2.65236654e+02] [ 4.03764577e-02 9.99184506e-01 -2.56070949e-04 3.90497970e+00] [ 1.14216901e-02 -2.05280552e-04 9.99934749e-01 2.41743640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74925415399997 meters Centerline goodness [0,1] 0.9987121292093318 Centerline is valid? [True, True] Translation: X:265.27, Y:3.90, Z:2.42 [[ 9.99066924e-01 -4.16665533e-02 -1.13657097e-02 2.65268520e+02] [ 4.16663586e-02 9.99131548e-01 -2.54020406e-04 3.90323695e+00] [ 1.13664233e-02 -2.19784352e-04 9.99935376e-01 2.41735670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77925415399994 meters Centerline goodness [0,1] 0.9988156920799408 Centerline is valid? [True, True] Translation: X:265.30, Y:3.90, Z:2.42 [[ 9.99019279e-01 -4.25503391e-02 -1.22453513e-02 2.65299725e+02] [ 4.25501903e-02 9.99094293e-01 -2.72799605e-04 3.90041208e+00] [ 1.22458683e-02 -2.48509964e-04 9.99924986e-01 2.41701168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.809254154 meters Centerline goodness [0,1] 0.9987755188211201 Centerline is valid? [True, True] Translation: X:265.33, Y:3.90, Z:2.42 [[ 9.99038610e-01 -4.20566779e-02 -1.23730575e-02 2.65331519e+02] [ 4.20564970e-02 9.99115196e-01 -2.74926845e-04 3.90036236e+00] [ 1.23736723e-02 -2.45704925e-04 9.99923413e-01 2.41700373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.83925415399995 meters Centerline goodness [0,1] 0.9987131887604421 Centerline is valid? [True, True] Translation: X:265.36, Y:3.90, Z:2.42 [[ 9.99092997e-01 -4.05527868e-02 -1.29867426e-02 2.65362427e+02] [ 4.05524719e-02 9.99177369e-01 -2.87689982e-04 3.89696972e+00] [ 1.29877260e-02 -2.39215470e-04 9.99915627e-01 2.41584938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.869254154 meters Centerline goodness [0,1] 0.9987340703856865 Centerline is valid? [True, True] Translation: X:265.39, Y:3.90, Z:2.42 [[ 9.99118736e-01 -3.97508400e-02 -1.34767557e-02 2.65394619e+02] [ 3.97504386e-02 9.99209595e-01 -2.97755924e-04 3.90048002e+00] [ 1.34779397e-02 -2.38213429e-04 9.99909140e-01 2.41628766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.89925415399995 meters Centerline goodness [0,1] 0.9987538809217057 Centerline is valid? [True, True] Translation: X:265.43, Y:3.90, Z:2.42 [[ 9.99156108e-01 -3.87731643e-02 -1.35541347e-02 2.65427211e+02] [ 3.87726811e-02 9.99248012e-01 -2.98524271e-04 3.90097468e+00] [ 1.35555169e-02 -2.27257793e-04 9.99908094e-01 2.41628431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.929254154 meters Centerline goodness [0,1] 0.9990511933878722 Centerline is valid? [True, True] Translation: X:265.46, Y:3.90, Z:2.42 [[ 9.99196169e-01 -3.72832358e-02 -1.47301410e-02 2.65457973e+02] [ 3.72825177e-02 9.99304713e-01 -3.23446906e-04 3.90167958e+00] [ 1.47319584e-02 -2.25989832e-04 9.99891453e-01 2.41567019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.95925415399995 meters Centerline goodness [0,1] 0.9989026989385722 Centerline is valid? [True, True] Translation: X:265.49, Y:3.90, Z:2.42 [[ 9.99201864e-01 -3.69740782e-02 -1.51179311e-02 2.65490509e+02] [ 3.69732999e-02 9.99316199e-01 -3.31072323e-04 3.90250199e+00] [ 1.51198345e-02 -2.28151717e-04 9.99885663e-01 2.41583789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.989254154 meters Centerline goodness [0,1] 0.9987972653612424 Centerline is valid? [True, True] Translation: X:265.52, Y:3.90, Z:2.42 [[ 9.99215184e-01 -3.65601496e-02 -1.52437461e-02 2.65522407e+02] [ 3.65593265e-02 9.99331429e-01 -3.32753959e-04 3.90397374e+00] [ 1.52457201e-02 -2.24808281e-04 9.99883752e-01 2.41619688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.01925415399995 meters Centerline goodness [0,1] 0.9986914033643597 Centerline is valid? [True, True] Translation: X:265.55, Y:3.90, Z:2.42 [[ 9.99135537e-01 -3.86341779e-02 -1.53485930e-02 2.65554532e+02] [ 3.86336052e-02 9.99253388e-01 -3.33920051e-04 3.90237440e+00] [ 1.53500343e-02 -2.59340096e-04 9.99882148e-01 2.41619098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.049254154 meters Centerline goodness [0,1] 0.998630050371994 Centerline is valid? [True, True] Translation: X:265.59, Y:3.90, Z:2.42 [[ 9.99085888e-01 -3.99647215e-02 -1.51726617e-02 2.65587080e+02] [ 3.99643323e-02 9.99201053e-01 -3.28972121e-04 3.90184926e+00] [ 1.51736869e-02 -2.77693891e-04 9.99884834e-01 2.41648890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07925415399995 meters Centerline goodness [0,1] 0.9987163839905728 Centerline is valid? [True, True] Translation: X:265.62, Y:3.90, Z:2.42 [[ 9.99010249e-01 -4.18381682e-02 -1.51026806e-02 2.65618596e+02] [ 4.18380120e-02 9.99124354e-01 -3.26430718e-04 3.90001741e+00] [ 1.51031132e-02 -3.05758499e-04 9.99885895e-01 2.41639685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.109254154 meters Centerline goodness [0,1] 0.9988644488371115 Centerline is valid? [True, True] Translation: X:265.65, Y:3.90, Z:2.42 [[ 9.98923576e-01 -4.38401282e-02 -1.51569471e-02 2.65650445e+02] [ 4.38402157e-02 9.99038502e-01 -3.26645111e-04 3.89922553e+00] [ 1.51566938e-02 -3.38190327e-04 9.99885074e-01 2.41678980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13925415399996 meters Centerline goodness [0,1] 0.998990090260683 Centerline is valid? [True, True] Translation: X:265.68, Y:3.90, Z:2.42 [[ 9.98707516e-01 -4.84786909e-02 -1.52680795e-02 2.65682543e+02] [ 4.84793387e-02 9.98824132e-01 -3.27901495e-04 3.89585914e+00] [ 1.52660225e-02 -4.12708709e-04 9.99883382e-01 2.41736012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.169254154 meters Centerline goodness [0,1] 0.9988230348886087 Centerline is valid? [True, True] Translation: X:265.71, Y:3.89, Z:2.42 [[ 9.98580657e-01 -5.11841646e-02 -1.47259527e-02 2.65713722e+02] [ 5.11850752e-02 9.98689135e-01 -3.15293817e-04 3.89343272e+00] [ 1.47227870e-02 -4.38902688e-04 9.99891518e-01 2.41746651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19925415399996 meters Centerline goodness [0,1] 0.9987780212371482 Centerline is valid? [True, True] Translation: X:265.75, Y:3.89, Z:2.42 [[ 9.98431891e-01 -5.41144589e-02 -1.43312527e-02 2.65745594e+02] [ 5.41156341e-02 9.98534629e-01 -3.06057426e-04 3.89267897e+00] [ 1.43268142e-02 -4.69967334e-04 9.99897255e-01 2.41807773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.229254154 meters Centerline goodness [0,1] 0.9987395487584555 Centerline is valid? [True, True] Translation: X:265.78, Y:3.89, Z:2.42 [[ 9.98284758e-01 -5.68539065e-02 -1.39705252e-02 2.65776666e+02] [ 5.68553056e-02 9.98382385e-01 -2.97319882e-04 3.88905072e+00] [ 1.39648301e-02 -4.97488574e-04 9.99902363e-01 2.41829775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25925415399996 meters Centerline goodness [0,1] 0.9988661893463792 Centerline is valid? [True, True] Translation: X:265.81, Y:3.88, Z:2.42 [[ 9.97898805e-01 -6.34489129e-02 -1.31228933e-02 2.65806922e+02] [ 6.34507297e-02 9.97984933e-01 -2.78274660e-04 3.88422286e+00] [ 1.31141060e-02 -5.54967204e-04 9.99913852e-01 2.41928142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.289254154 meters Centerline goodness [0,1] 0.9986133871171058 Centerline is valid? [True, True] Translation: X:265.84, Y:3.88, Z:2.42 [[ 9.97726271e-01 -6.62429033e-02 -1.24163777e-02 2.65837766e+02] [ 6.62447509e-02 9.97803369e-01 -2.62857602e-04 3.88088429e+00] [ 1.24065160e-02 -5.60259917e-04 9.99922879e-01 2.41963032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31925415399996 meters Centerline goodness [0,1] 0.998238550578762 Centerline is valid? [True, True] Translation: X:265.87, Y:3.88, Z:2.42 [[ 9.97567447e-01 -6.85219574e-02 -1.28035486e-02 2.65869672e+02] [ 6.85241277e-02 9.97649423e-01 -2.69624049e-04 3.87892548e+00] [ 1.27919281e-02 -6.08383828e-04 9.99917995e-01 2.42024698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.349254154 meters Centerline goodness [0,1] 0.99844896248166 Centerline is valid? [True, True] Translation: X:265.90, Y:3.87, Z:2.42 [[ 9.97250962e-01 -7.30174602e-02 -1.26083030e-02 2.65899745e+02] [ 7.30199321e-02 9.97330446e-01 -2.64799391e-04 3.87419509e+00] [ 1.25939794e-02 -6.56585981e-04 9.99920477e-01 2.42012719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37925415399997 meters Centerline goodness [0,1] 0.9984446266052924 Centerline is valid? [True, True] Translation: X:265.93, Y:3.88, Z:2.42 [[ 9.97141811e-01 -7.44554949e-02 -1.28292222e-02 2.65931563e+02] [ 7.44581830e-02 9.97224101e-01 -2.68646269e-04 3.87573054e+00] [ 1.28136117e-02 -6.87362145e-04 9.99917666e-01 2.42023935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.409254154 meters Centerline goodness [0,1] 0.9985513636077344 Centerline is valid? [True, True] Translation: X:265.96, Y:3.87, Z:2.42 [[ 9.97049898e-01 -7.56610002e-02 -1.29195491e-02 2.65962379e+02] [ 7.56638357e-02 9.97133347e-01 -2.69875748e-04 3.87128562e+00] [ 1.29029323e-02 -7.08463056e-04 9.99916503e-01 2.42037687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43925415399997 meters Centerline goodness [0,1] 0.9985522754453326 Centerline is valid? [True, True] Translation: X:265.99, Y:3.87, Z:2.42 [[ 9.97020442e-01 -7.59800547e-02 -1.33142257e-02 2.65994304e+02] [ 7.59831032e-02 9.97109067e-01 -2.77467227e-04 3.87382169e+00] [ 1.32968172e-02 -7.35015690e-04 9.99911323e-01 2.42070018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46925415399994 meters Centerline goodness [0,1] 0.9985356873901765 Centerline is valid? [True, True] Translation: X:266.03, Y:3.87, Z:2.42 [[ 9.96950890e-01 -7.68518518e-02 -1.35172435e-02 2.66025443e+02] [ 7.68550865e-02 9.97042234e-01 -2.80763173e-04 3.87149805e+00] [ 1.34988398e-02 -7.58961824e-04 9.99908598e-01 2.42045322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49925415399997 meters Centerline goodness [0,1] 0.9983033451331141 Centerline is valid? [True, True] Translation: X:266.06, Y:3.87, Z:2.42 [[ 9.96978867e-01 -7.62632024e-02 -1.47330151e-02 2.66057867e+02] [ 7.62669954e-02 9.97087385e-01 -3.05049847e-04 3.87464841e+00] [ 1.47133676e-02 -8.19514547e-04 9.99891417e-01 2.42037193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52925415399994 meters Centerline goodness [0,1] 0.9985985902235981 Centerline is valid? [True, True] Translation: X:266.09, Y:3.87, Z:2.42 [[ 9.96996387e-01 -7.60473292e-02 -1.46631463e-02 2.66089476e+02] [ 7.60510876e-02 9.97103877e-01 -3.01925344e-04 3.87331406e+00] [ 1.46436406e-02 -8.14129747e-04 9.99892445e-01 2.41977436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.559254154 meters Centerline goodness [0,1] 0.9987005365526492 Centerline is valid? [True, True] Translation: X:266.12, Y:3.88, Z:2.42 [[ 9.97032405e-01 -7.53631823e-02 -1.57090167e-02 2.66121814e+02] [ 7.53674480e-02 9.97155778e-01 -3.21132170e-04 3.87590312e+00] [ 1.56885383e-02 -8.63769317e-04 9.99876554e-01 2.41963078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.58925415399995 meters Centerline goodness [0,1] 0.9982856664994146 Centerline is valid? [True, True] Translation: X:266.15, Y:3.87, Z:2.42 [[ 9.97180803e-01 -7.32772921e-02 -1.61519197e-02 2.66152633e+02] [ 7.32815446e-02 9.97311239e-01 -3.29219081e-04 3.87312429e+00] [ 1.61326153e-02 -8.55346672e-04 9.99869495e-01 2.41864209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.619254154 meters Centerline goodness [0,1] 0.998450683583527 Centerline is valid? [True, True] Translation: X:266.19, Y:3.88, Z:2.42 [[ 9.97305585e-01 -7.15460299e-02 -1.62091044e-02 2.66185297e+02] [ 7.15501002e-02 9.97436953e-01 -3.29413498e-04 3.87951711e+00] [ 1.61911279e-02 -8.31237120e-04 9.99868570e-01 2.41964473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.64925415399995 meters Centerline goodness [0,1] 0.9986381445242934 Centerline is valid? [True, True] Translation: X:266.22, Y:3.88, Z:2.42 [[ 9.97580225e-01 -6.76508533e-02 -1.60329928e-02 2.66215868e+02] [ 6.76543491e-02 9.97708767e-01 -3.24867971e-04 3.88407475e+00] [ 1.60182351e-02 -7.60619828e-04 9.99871411e-01 2.42065433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.679254154 meters Centerline goodness [0,1] 0.9985317560198003 Centerline is valid? [True, True] Translation: X:266.25, Y:3.89, Z:2.42 [[ 9.97738129e-01 -6.52505749e-02 -1.61551393e-02 2.66247075e+02] [ 6.52538171e-02 9.97868645e-01 -3.26916347e-04 3.88771998e+00] [ 1.61420384e-02 -7.28007598e-04 9.99869444e-01 2.42125192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.70925415399995 meters Centerline goodness [0,1] 0.9985953878406708 Centerline is valid? [True, True] Translation: X:266.28, Y:3.89, Z:2.42 [[ 9.97910946e-01 -6.25032791e-02 -1.63426954e-02 2.66277871e+02] [ 6.25062393e-02 9.98044519e-01 -3.30099890e-04 3.88701145e+00] [ 1.63313699e-02 -6.92110138e-04 9.99866395e-01 2.42103954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.739254154 meters Centerline goodness [0,1] 0.9987002096436058 Centerline is valid? [True, True] Translation: X:266.31, Y:3.89, Z:2.42 [[ 9.98089262e-01 -5.95717134e-02 -1.64022934e-02 2.66309293e+02] [ 5.95743100e-02 9.98223819e-01 -3.30695843e-04 3.89374999e+00] [ 1.63928601e-02 -6.47091344e-04 9.99865419e-01 2.42170666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.76925415399995 meters Centerline goodness [0,1] 0.9987002096436058 Centerline is valid? [True, True] Translation: X:266.34, Y:3.89, Z:2.42 [[ 9.98093646e-01 -5.94982270e-02 -1.64023108e-02 2.66341003e+02] [ 5.95008278e-02 9.98228202e-01 -3.29831592e-04 3.89432877e+00] [ 1.63928736e-02 -6.46748257e-04 9.99865419e-01 2.42200368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.799254154 meters Centerline goodness [0,1] 0.9985308315493431 Centerline is valid? [True, True] Translation: X:266.37, Y:3.90, Z:2.42 [[ 9.98460373e-01 -5.26565864e-02 -1.74403776e-02 2.66371049e+02] [ 5.26584971e-02 9.98612518e-01 -3.49973212e-04 3.90025317e+00] [ 1.74346078e-02 -5.68949691e-04 9.99847844e-01 2.42165996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.82925415399995 meters Centerline goodness [0,1] 0.9987625060301613 Centerline is valid? [True, True] Translation: X:266.40, Y:3.90, Z:2.42 [[ 9.98614632e-01 -5.01329484e-02 -1.59844952e-02 2.66402420e+02] [ 5.01342340e-02 9.98742437e-01 -3.20519117e-04 3.90320073e+00] [ 1.59804623e-02 -4.81295345e-04 9.99872188e-01 2.42236625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.859254154 meters Centerline goodness [0,1] 0.9988465490845794 Centerline is valid? [True, True] Translation: X:266.43, Y:3.91, Z:2.42 [[ 9.98766375e-01 -4.71917477e-02 -1.54488460e-02 2.66433642e+02] [ 4.71926056e-02 9.98885760e-01 -3.09228180e-04 3.90678959e+00] [ 1.54462253e-02 -4.20224589e-04 9.99880612e-01 2.42309150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.88925415399996 meters Centerline goodness [0,1] 0.9986985726280436 Centerline is valid? [True, True] Translation: X:266.46, Y:3.91, Z:2.42 [[ 9.98895333e-01 -4.45731571e-02 -1.48777700e-02 2.66464590e+02] [ 4.45736718e-02 9.99006056e-01 -2.97169694e-04 3.90847915e+00] [ 1.48762281e-02 -3.66315417e-04 9.99889276e-01 2.42306932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.919254154 meters Centerline goodness [0,1] 0.9987195633921074 Centerline is valid? [True, True] Translation: X:266.50, Y:3.91, Z:2.42 [[ 9.99084608e-01 -4.03623884e-02 -1.41712268e-02 2.66496172e+02] [ 4.03624425e-02 9.99185065e-01 -2.82306495e-04 3.91413572e+00] [ 1.41710728e-02 -2.89937255e-04 9.99899543e-01 2.42364010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.94925415399996 meters Centerline goodness [0,1] 0.9989282787315864 Centerline is valid? [True, True] Translation: X:266.53, Y:3.92, Z:2.42 [[ 9.99140924e-01 -3.88018747e-02 -1.45543182e-02 2.66527837e+02] [ 3.88017796e-02 9.99246886e-01 -2.89021557e-04 3.91508561e+00] [ 1.45545717e-02 -2.75960182e-04 9.99894039e-01 2.42323965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.979254154 meters Centerline goodness [0,1] 0.9987589137339868 Centerline is valid? [True, True] Translation: X:266.56, Y:3.92, Z:2.42 [[ 9.99183279e-01 -3.76467308e-02 -1.46798630e-02 2.66558634e+02] [ 3.76465293e-02 9.99291076e-01 -2.90161655e-04 3.91577047e+00] [ 1.46803798e-02 -2.62721220e-04 9.99892203e-01 2.42264445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.00925415399996 meters Centerline goodness [0,1] 0.9987186758249837 Centerline is valid? [True, True] Translation: X:266.59, Y:3.92, Z:2.42 [[ 9.99211710e-01 -3.64036814e-02 -1.58344453e-02 2.66590307e+02] [ 3.64033183e-02 9.99337131e-01 -3.11256528e-04 3.91895375e+00] [ 1.58352800e-02 -2.65415184e-04 9.99874579e-01 2.42214367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.039254154 meters Centerline goodness [0,1] 0.9990761542822348 Centerline is valid? [True, True] Translation: X:266.62, Y:3.92, Z:2.42 [[ 9.99196897e-01 -3.69679669e-02 -1.54573702e-02 2.66621651e+02] [ 3.69677021e-02 9.99316415e-01 -3.02955530e-04 3.91907095e+00] [ 1.54580034e-02 -2.68711233e-04 9.99880482e-01 2.42199254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06925415399996 meters Centerline goodness [0,1] 0.9987165730396179 Centerline is valid? [True, True] Translation: X:266.65, Y:3.92, Z:2.42 [[ 9.99162465e-01 -3.77974960e-02 -1.56753980e-02 2.66653807e+02] [ 3.77973385e-02 9.99285378e-01 -3.06417589e-04 3.91961463e+00] [ 1.56757779e-02 -2.86327372e-04 9.99877086e-01 2.42222542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.099254154 meters Centerline goodness [0,1] 0.9990137032295973 Centerline is valid? [True, True] Translation: X:266.69, Y:3.92, Z:2.42 [[ 9.99134520e-01 -3.84933944e-02 -1.57629157e-02 2.66685408e+02] [ 3.84933383e-02 9.99258810e-01 -3.07078722e-04 3.91707942e+00] [ 1.57630528e-02 -2.99954292e-04 9.99875710e-01 2.42149876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12925415399997 meters Centerline goodness [0,1] 0.9990976244438848 Centerline is valid? [True, True] Translation: X:266.72, Y:3.91, Z:2.42 [[ 9.99012977e-01 -4.19856856e-02 -1.45008473e-02 2.66716092e+02] [ 4.19860139e-02 9.99118159e-01 -2.81929119e-04 3.91470236e+00] [ 1.44998969e-02 -3.27181929e-04 9.99894817e-01 2.42235628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.159254154 meters Centerline goodness [0,1] 0.9989937106918239 Centerline is valid? [True, True] Translation: X:266.75, Y:3.92, Z:2.42 [[ 9.98938811e-01 -4.37858191e-02 -1.42847113e-02 2.66748188e+02] [ 4.37863290e-02 9.99040880e-01 -2.77210152e-04 3.91661159e+00] [ 1.42831485e-02 -3.48559090e-04 9.99897930e-01 2.42356475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18925415399997 meters Centerline goodness [0,1] 0.9990969232384753 Centerline is valid? [True, True] Translation: X:266.78, Y:3.92, Z:2.42 [[ 9.98863563e-01 -4.56508786e-02 -1.36959724e-02 2.66780347e+02] [ 4.56515358e-02 9.98957390e-01 -2.64806663e-04 3.91693044e+00] [ 1.36937815e-02 -3.60736447e-04 9.99906171e-01 2.42434022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21925415399994 meters Centerline goodness [0,1] 0.9988272496911059 Centerline is valid? [True, True] Translation: X:266.81, Y:3.92, Z:2.42 [[ 9.98795679e-01 -4.72377385e-02 -1.32584977e-02 2.66812103e+02] [ 4.72385059e-02 9.98883606e-01 -2.55452253e-04 3.91654925e+00] [ 1.32557630e-02 -3.71167017e-04 9.99912070e-01 2.42492189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24925415399997 meters Centerline goodness [0,1] 0.9988887258088189 Centerline is valid? [True, True] Translation: X:266.84, Y:3.91, Z:2.43 [[ 9.98609450e-01 -5.13330712e-02 -1.20033995e-02 2.66843168e+02] [ 5.13340032e-02 9.98681514e-01 -2.30647497e-04 3.91320039e+00] [ 1.19994130e-02 -3.85855777e-04 9.99927930e-01 2.42570501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27925415399994 meters Centerline goodness [0,1] 0.9987214688436629 Centerline is valid? [True, True] Translation: X:266.88, Y:3.91, Z:2.43 [[ 9.98507400e-01 -5.32808468e-02 -1.20051443e-02 2.66875733e+02] [ 5.32819282e-02 9.98579483e-01 -2.29970687e-04 3.91148391e+00] [ 1.20003438e-02 -4.10029802e-04 9.99927909e-01 2.42564407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.309254154 meters Centerline goodness [0,1] 0.998616555222504 Centerline is valid? [True, True] Translation: X:266.91, Y:3.91, Z:2.43 [[ 9.98415056e-01 -5.50050639e-02 -1.19087338e-02 2.66906818e+02] [ 5.50062603e-02 9.98485984e-01 -2.27302465e-04 3.90940250e+00] [ 1.19032065e-02 -4.28112705e-04 9.99929063e-01 2.42548799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.33925415399995 meters Centerline goodness [0,1] 0.9988036520096547 Centerline is valid? [True, True] Translation: X:266.94, Y:3.91, Z:2.42 [[ 9.98266972e-01 -5.74541036e-02 -1.27309851e-02 2.66938207e+02] [ 5.74556790e-02 9.98348029e-01 -2.42266988e-04 3.90658141e+00] [ 1.27238731e-02 -4.89620260e-04 9.99918928e-01 2.42426213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.369254154 meters Centerline goodness [0,1] 0.9986766651962946 Centerline is valid? [True, True] Translation: X:266.97, Y:3.91, Z:2.42 [[ 9.98191384e-01 -5.87178493e-02 -1.28909285e-02 2.66970323e+02] [ 5.87195797e-02 9.98274487e-01 -2.44541921e-04 3.90676282e+00] [ 1.28830440e-02 -5.12850266e-04 9.99916879e-01 2.42459680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.39925415399995 meters Centerline goodness [0,1] 0.9989283913262733 Centerline is valid? [True, True] Translation: X:267.00, Y:3.91, Z:2.42 [[ 9.98166374e-01 -5.91759701e-02 -1.27315937e-02 2.67001619e+02] [ 5.91777060e-02 9.98247435e-01 -2.40664944e-04 3.90525587e+00] [ 1.27235223e-02 -5.13202854e-04 9.99918921e-01 2.42456258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.429254154 meters Centerline goodness [0,1] 0.9987173286792691 Centerline is valid? [True, True] Translation: X:267.03, Y:3.91, Z:2.42 [[ 9.98194929e-01 -5.87992459e-02 -1.22283369e-02 2.67034151e+02] [ 5.88008276e-02 9.98269708e-01 -2.30455263e-04 3.90789137e+00] [ 1.22207289e-02 -4.88997053e-04 9.99925205e-01 2.42461147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.45925415399995 meters Centerline goodness [0,1] 0.9984883794167664 Centerline is valid? [True, True] Translation: X:267.06, Y:3.91, Z:2.43 [[ 9.98279438e-01 -5.74698428e-02 -1.16353302e-02 2.67064950e+02] [ 5.74711936e-02 9.98347141e-01 -2.18507520e-04 3.90781361e+00] [ 1.16286562e-02 -4.50564749e-04 9.99932283e-01 2.42566972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.489254154 meters Centerline goodness [0,1] 0.9987385947946011 Centerline is valid? [True, True] Translation: X:267.10, Y:3.91, Z:2.43 [[ 9.98380881e-01 -5.58004705e-02 -1.10418846e-02 2.67096914e+02] [ 5.58015916e-02 9.98441856e-01 -2.06761185e-04 3.91028843e+00] [ 1.10362171e-02 -4.09728321e-04 9.99939015e-01 2.42610479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.51925415399995 meters Centerline goodness [0,1] 0.9987611288426004 Centerline is valid? [True, True] Translation: X:267.13, Y:3.91, Z:2.43 [[ 9.98489665e-01 -5.38420988e-02 -1.09278210e-02 2.67128004e+02] [ 5.38430895e-02 9.98549388e-01 -2.03739959e-04 3.91133123e+00] [ 1.09229388e-02 -3.84955401e-04 9.99940269e-01 2.42660401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.549254154 meters Centerline goodness [0,1] 0.9985293499726879 Centerline is valid? [True, True] Translation: X:267.16, Y:3.92, Z:2.43 [[ 9.98688018e-01 -5.00124134e-02 -1.10000671e-02 2.67159751e+02] [ 5.00132008e-02 9.98748536e-01 -2.03660667e-04 3.91533386e+00] [ 1.09964865e-02 -3.46755096e-04 9.99939477e-01 2.42662193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57925415399995 meters Centerline goodness [0,1] 0.998757528534726 Centerline is valid? [True, True] Translation: X:267.19, Y:3.92, Z:2.43 [[ 9.98783486e-01 -4.81268234e-02 -1.07403955e-02 2.67191953e+02] [ 4.81274714e-02 9.98841182e-01 -1.98275484e-04 3.91826457e+00] [ 1.07374918e-02 -3.18873800e-04 9.99942301e-01 2.42694084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.609254154 meters Centerline goodness [0,1] 0.998567214496418 Centerline is valid? [True, True] Translation: X:267.22, Y:3.92, Z:2.43 [[ 9.98851363e-01 -4.66567036e-02 -1.09136374e-02 2.67224207e+02] [ 4.66572935e-02 9.98910935e-01 -2.00690346e-04 3.92224155e+00] [ 1.09111153e-02 -3.08740957e-04 9.99940424e-01 2.42706670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63925415399996 meters Centerline goodness [0,1] 0.9989259313859697 Centerline is valid? [True, True] Translation: X:267.26, Y:3.92, Z:2.43 [[ 9.98915986e-01 -4.51181495e-02 -1.14544864e-02 2.67256788e+02] [ 4.51187082e-02 9.98981611e-01 -2.09769279e-04 3.92385756e+00] [ 1.14522856e-02 -3.07269741e-04 9.99934373e-01 2.42710172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.669254154 meters Centerline goodness [0,1] 0.9986904359580939 Centerline is valid? [True, True] Translation: X:267.29, Y:3.93, Z:2.43 [[ 9.98971989e-01 -4.35831991e-02 -1.24687347e-02 2.67288514e+02] [ 4.35837536e-02 9.99049751e-01 -2.27375909e-04 3.92642150e+00] [ 1.24667961e-02 -3.16292099e-04 9.99922236e-01 2.42626232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69925415399996 meters Centerline goodness [0,1] 0.9985017936273476 Centerline is valid? [True, True] Translation: X:267.32, Y:3.93, Z:2.43 [[ 9.98969762e-01 -4.33109642e-02 -1.35490011e-02 2.67319241e+02] [ 4.33116073e-02 9.99061582e-01 -2.46098560e-04 3.92605268e+00] [ 1.35469453e-02 -3.40983996e-04 9.99908178e-01 2.42549239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.729254154 meters Centerline goodness [0,1] 0.9988178670944862 Centerline is valid? [True, True] Translation: X:267.35, Y:3.93, Z:2.43 [[ 9.98964150e-01 -4.31632188e-02 -1.44070992e-02 2.67351430e+02] [ 4.31639438e-02 9.99067969e-01 -2.60764055e-04 3.92907103e+00] [ 1.44049267e-02 -3.61373278e-04 9.99896178e-01 2.42533026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75925415399996 meters Centerline goodness [0,1] 0.9986295304560501 Centerline is valid? [True, True] Translation: X:267.38, Y:3.93, Z:2.42 [[ 9.98924509e-01 -4.33068837e-02 -1.65631845e-02 2.67383590e+02] [ 4.33078839e-02 9.99061729e-01 -2.98454630e-04 3.92998171e+00] [ 1.65605689e-02 -4.19182828e-04 9.99862777e-01 2.42420795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.789254154 meters Centerline goodness [0,1] 0.9986708860759493 Centerline is valid? [True, True] Translation: X:267.41, Y:3.93, Z:2.42 [[ 9.98919533e-01 -4.31918490e-02 -1.71531703e-02 2.67414330e+02] [ 4.31929246e-02 9.99066703e-01 -3.07939648e-04 3.93078700e+00] [ 1.71504618e-02 -4.33288662e-04 9.99852826e-01 2.42424472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81925415399996 meters Centerline goodness [0,1] 0.9986269249456051 Centerline is valid? [True, True] Translation: X:267.45, Y:3.93, Z:2.42 [[ 9.98952131e-01 -4.26135768e-02 -1.66949863e-02 2.67446985e+02] [ 4.26145345e-02 9.99091544e-01 -2.98541745e-04 3.93210555e+00] [ 1.66925416e-02 -4.13220159e-04 9.99860584e-01 2.42470951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.849254154 meters Centerline goodness [0,1] 0.9986063012078723 Centerline is valid? [True, True] Translation: X:267.48, Y:3.93, Z:2.43 [[ 9.99054929e-01 -4.02672352e-02 -1.63645479e-02 2.67478628e+02] [ 4.02678628e-02 9.99188878e-01 -2.91284440e-04 3.93482994e+00] [ 1.63630035e-02 -3.67956216e-04 9.99866049e-01 2.42615243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87925415399997 meters Centerline goodness [0,1] 0.9987334022925418 Centerline is valid? [True, True] Translation: X:267.51, Y:3.94, Z:2.43 [[ 9.99139221e-01 -3.82238994e-02 -1.61167505e-02 2.67509913e+02] [ 3.82242571e-02 9.99269145e-01 -2.85958804e-04 3.93750610e+00] [ 1.61159019e-02 -3.30338157e-04 9.99870076e-01 2.42717762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.909254154 meters Centerline goodness [0,1] 0.9987104957192686 Centerline is valid? [True, True] Translation: X:267.54, Y:3.94, Z:2.43 [[ 9.99275242e-01 -3.47961005e-02 -1.54344522e-02 2.67540871e+02] [ 3.47960282e-02 9.99394397e-01 -2.73305746e-04 3.94077421e+00] [ 1.54346150e-02 -2.63949969e-04 9.99880844e-01 2.42727947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93925415399997 meters Centerline goodness [0,1] 0.9987115307437213 Centerline is valid? [True, True] Translation: X:267.57, Y:3.94, Z:2.43 [[ 9.99363893e-01 -3.24338322e-02 -1.48275064e-02 2.67572387e+02] [ 3.24335134e-02 9.99473861e-01 -2.62027359e-04 3.94421415e+00] [ 1.48282037e-02 -2.19047447e-04 9.99890032e-01 2.42900146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96925415399994 meters Centerline goodness [0,1] 0.9989002157269151 Centerline is valid? [True, True] Translation: X:267.60, Y:3.95, Z:2.43 [[ 9.99460149e-01 -2.92618467e-02 -1.49383380e-02 2.67603691e+02] [ 2.92611771e-02 9.99571765e-01 -2.63435383e-04 3.94738052e+00] [ 1.49396495e-02 -1.73820186e-04 9.99888382e-01 2.42946492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99925415399997 meters Centerline goodness [0,1] 0.9986650845446455 Centerline is valid? [True, True] Translation: X:267.64, Y:3.95, Z:2.43 [[ 9.99626323e-01 -2.30772071e-02 -1.46511786e-02 2.67635270e+02] [ 2.30759065e-02 9.99733683e-01 -2.57840551e-04 3.95288914e+00] [ 1.46532269e-02 -8.03450252e-05 9.99892632e-01 2.43016054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02925415399994 meters Centerline goodness [0,1] 0.9986038246742257 Centerline is valid? [True, True] Translation: X:267.66, Y:3.95, Z:2.43 [[ 9.99690911e-01 -2.00135299e-02 -1.47492420e-02 2.67664693e+02] [ 2.00118820e-02 9.99799709e-01 -2.59316808e-04 3.95477445e+00] [ 1.47514777e-02 -3.59234350e-05 9.99891190e-01 2.42905410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.059254154 meters Centerline goodness [0,1] 0.9988782356551739 Centerline is valid? [True, True] Translation: X:267.69, Y:3.96, Z:2.43 [[ 9.99710173e-01 -1.89175931e-02 -1.48893856e-02 2.67693519e+02] [ 1.89157853e-02 9.99821046e-01 -2.62245421e-04 3.95652547e+00] [ 1.48916821e-02 -1.94750060e-05 9.99889113e-01 2.42973421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.08925415399995 meters Centerline goodness [0,1] 0.9988558837238866 Centerline is valid? [True, True] Translation: X:267.72, Y:3.96, Z:2.43 [[ 9.99733971e-01 -1.68377151e-02 -1.57632035e-02 2.67722909e+02] [ 1.68354184e-02 9.99858236e-01 -2.78395104e-04 3.95823644e+00] [ 1.57656564e-02 1.29409166e-05 9.99875714e-01 2.43029141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.119254154 meters Centerline goodness [0,1] 0.9988575055537925 Centerline is valid? [True, True] Translation: X:267.75, Y:3.96, Z:2.43 [[ 9.99736575e-01 -1.67530700e-02 -1.56880412e-02 2.67751764e+02] [ 1.67507539e-02 9.99859657e-01 -2.79033821e-04 3.95892800e+00] [ 1.56905142e-02 1.61737981e-05 9.99876896e-01 2.43041686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.14925415399995 meters Centerline goodness [0,1] 0.999068092767129 Centerline is valid? [True, True] Translation: X:267.78, Y:3.96, Z:2.43 [[ 9.99727415e-01 -1.68790045e-02 -1.61305331e-02 2.67780592e+02] [ 1.68765044e-02 9.99857539e-01 -2.91112923e-04 3.95928860e+00] [ 1.61331488e-02 1.88065579e-05 9.99869852e-01 2.43029076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.179254154 meters Centerline goodness [0,1] 0.9989845997630733 Centerline is valid? [True, True] Translation: X:267.81, Y:3.96, Z:2.43 [[ 9.99709494e-01 -1.73666010e-02 -1.67131394e-02 2.67808686e+02] [ 1.73639324e-02 9.99849189e-01 -3.04784449e-04 3.95772635e+00] [ 1.67159120e-02 1.44900839e-05 9.99860279e-01 2.42933748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.20925415399995 meters Centerline goodness [0,1] 0.9990261870990961 Centerline is valid? [True, True] Translation: X:267.84, Y:3.96, Z:2.43 [[ 9.99693771e-01 -1.75868571e-02 -1.74088047e-02 2.67836736e+02] [ 1.75839390e-02 9.99845339e-01 -3.20688972e-04 3.95590094e+00] [ 1.74117521e-02 1.44754090e-05 9.99848404e-01 2.42924313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.239254154 meters Centerline goodness [0,1] 0.999112857233382 Centerline is valid? [True, True] Translation: X:267.86, Y:3.96, Z:2.43 [[ 9.99692883e-01 -1.71739340e-02 -1.78660487e-02 2.67864761e+02] [ 1.71707312e-02 9.99852517e-01 -3.32663178e-04 3.95559246e+00] [ 1.78691268e-02 2.57878930e-05 9.99840334e-01 2.42871445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.26925415399995 meters Centerline goodness [0,1] 0.9988174427198817 Centerline is valid? [True, True] Translation: X:267.89, Y:3.96, Z:2.43 [[ 9.99705131e-01 -1.67745236e-02 -1.75574925e-02 2.67892629e+02] [ 1.67713137e-02 9.99859297e-01 -3.30058133e-04 3.95536384e+00] [ 1.75605586e-02 3.54985953e-05 9.99845801e-01 2.42926622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.299254154 meters Centerline goodness [0,1] 0.9989457037427517 Centerline is valid? [True, True] Translation: X:267.92, Y:3.96, Z:2.43 [[ 9.99718842e-01 -1.60871261e-02 -1.74195465e-02 2.67920388e+02] [ 1.60837756e-02 9.99870592e-01 -3.32432043e-04 3.95503227e+00] [ 1.74226402e-02 5.21664997e-05 9.99848213e-01 2.43030825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.32925415399995 meters Centerline goodness [0,1] 0.9991335404383017 Centerline is valid? [True, True] Translation: X:267.95, Y:3.95, Z:2.43 [[ 9.99731829e-01 -1.53389949e-02 -1.73489135e-02 2.67947968e+02] [ 1.53354705e-02 9.99882348e-01 -3.36175982e-04 3.95458350e+00] [ 1.73520290e-02 7.00320781e-05 9.99849440e-01 2.43149346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.359254154 meters Centerline goodness [0,1] 0.9990488871980217 Centerline is valid? [True, True] Translation: X:267.98, Y:3.95, Z:2.43 [[ 9.99765774e-01 -1.33594187e-02 -1.70271171e-02 2.67975552e+02] [ 1.33556781e-02 9.99910753e-01 -3.33385554e-04 3.95335585e+00] [ 1.70300514e-02 1.05898771e-04 9.99854973e-01 2.43103935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.38925415399996 meters Centerline goodness [0,1] 0.9992393187676964 Centerline is valid? [True, True] Translation: X:268.00, Y:3.95, Z:2.43 [[ 9.99778248e-01 -1.26363716e-02 -1.68456728e-02 2.68003850e+02] [ 1.26325569e-02 9.99920151e-01 -3.32845728e-04 3.95240899e+00] [ 1.68485337e-02 1.19967998e-04 9.99858046e-01 2.43150635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.419254154 meters Centerline goodness [0,1] 0.9989441675817214 Centerline is valid? [True, True] Translation: X:268.03, Y:3.95, Z:2.43 [[ 9.99768963e-01 -1.16280290e-02 -1.80778700e-02 2.68032243e+02] [ 1.16233786e-02 9.99932381e-01 -3.62296873e-04 3.95119506e+00] [ 1.80808603e-02 1.52087242e-04 9.99836516e-01 2.43041884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.44925415399996 meters Centerline goodness [0,1] 0.9991562961400549 Centerline is valid? [True, True] Translation: X:268.06, Y:3.95, Z:2.43 [[ 9.99795217e-01 -1.24721328e-02 -1.59364397e-02 2.68060394e+02] [ 1.24685835e-02 9.99922212e-01 -3.22057475e-04 3.94833788e+00] [ 1.59392168e-02 1.23286693e-04 9.99872955e-01 2.43226486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.479254154 meters Centerline goodness [0,1] 0.9991988362041703 Centerline is valid? [True, True] Translation: X:268.09, Y:3.95, Z:2.43 [[ 9.99782502e-01 -1.37809490e-02 -1.56535792e-02 2.68088242e+02] [ 1.37776433e-02 9.99905033e-01 -3.19006038e-04 3.94557085e+00] [ 1.56564888e-02 1.03267224e-04 9.99877424e-01 2.43332078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.50925415399996 meters Centerline goodness [0,1] 0.999241961634836 Centerline is valid? [True, True] Translation: X:268.12, Y:3.94, Z:2.43 [[ 9.99755131e-01 -1.56701145e-02 -1.56244999e-02 2.68116053e+02] [ 1.56669804e-02 9.99877213e-01 -3.22982165e-04 3.94282111e+00] [ 1.56276426e-02 7.81143429e-05 9.99877878e-01 2.43326198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.539254154 meters Centerline goodness [0,1] 0.9990119408005381 Centerline is valid? [True, True] Translation: X:268.14, Y:3.93, Z:2.43 [[ 9.99636067e-01 -2.18325070e-02 -1.58453376e-02 2.68144916e+02] [ 2.18300062e-02 9.99761642e-01 -3.30796041e-04 3.93493267e+00] [ 1.58487829e-02 -1.52281643e-05 9.99874400e-01 2.43298335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56925415399996 meters Centerline goodness [0,1] 0.9991812742731185 Centerline is valid? [True, True] Translation: X:268.17, Y:3.93, Z:2.43 [[ 9.99531604e-01 -2.59558876e-02 -1.62131111e-02 2.68174014e+02] [ 2.59537930e-02 9.99663086e-01 -3.39619924e-04 3.93024668e+00] [ 1.62164638e-02 -8.13308823e-05 9.99868501e-01 2.43272143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.599254154 meters Centerline goodness [0,1] 0.9991411993883664 Centerline is valid? [True, True] Translation: X:268.20, Y:3.93, Z:2.43 [[ 9.99405388e-01 -3.04248083e-02 -1.62234842e-02 2.68204008e+02] [ 3.04232856e-02 9.99537047e-01 -3.40707484e-04 3.92594145e+00] [ 1.62263394e-02 -1.53066798e-04 9.99868333e-01 2.43317087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62925415399997 meters Centerline goodness [0,1] 0.9987862299884901 Centerline is valid? [True, True] Translation: X:268.23, Y:3.92, Z:2.43 [[ 9.99245150e-01 -3.52569883e-02 -1.63117854e-02 2.68234619e+02] [ 3.52560869e-02 9.99378252e-01 -3.42909058e-04 3.92107011e+00] [ 1.63137336e-02 -2.32439512e-04 9.99866895e-01 2.43290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.659254154 meters Centerline goodness [0,1] 0.9988700564971752 Centerline is valid? [True, True] Translation: X:268.27, Y:3.91, Z:2.43 [[ 9.98870118e-01 -4.46060485e-02 -1.63947782e-02 2.68265568e+02] [ 4.46063983e-02 9.99004580e-01 -3.44525335e-04 3.91181205e+00] [ 1.63938264e-02 -3.87175943e-04 9.99865537e-01 2.43287739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68925415399997 meters Centerline goodness [0,1] 0.9988700564971752 Centerline is valid? [True, True] Translation: X:268.30, Y:3.91, Z:2.43 [[ 9.98873391e-01 -4.45326891e-02 -1.63947926e-02 2.68297260e+02] [ 4.45330403e-02 9.99007853e-01 -3.43838114e-04 3.91241851e+00] [ 1.63938386e-02 -3.86659216e-04 9.99865537e-01 2.43317430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71925415399994 meters Centerline goodness [0,1] 0.9987651220226883 Centerline is valid? [True, True] Translation: X:268.33, Y:3.91, Z:2.43 [[ 9.98667760e-01 -4.86343080e-02 -1.72455812e-02 2.68327157e+02] [ 4.86353313e-02 9.98816537e-01 -3.60313450e-04 3.90676437e+00] [ 1.72426953e-02 -4.78911128e-04 9.99851219e-01 2.43258861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74925415399997 meters Centerline goodness [0,1] 0.9988293090833072 Centerline is valid? [True, True] Translation: X:268.36, Y:3.90, Z:2.43 [[ 9.98462749e-01 -5.25395361e-02 -1.76560716e-02 2.68357402e+02] [ 5.25412349e-02 9.98618688e-01 -3.67961129e-04 3.90233596e+00] [ 1.76510156e-02 -5.60276327e-04 9.99844052e-01 2.43244398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77925415399994 meters Centerline goodness [0,1] 0.9986012234075868 Centerline is valid? [True, True] Translation: X:268.39, Y:3.90, Z:2.43 [[ 9.98079772e-01 -5.93882640e-02 -1.76011986e-02 2.68387696e+02] [ 5.93910190e-02 9.98234728e-01 -3.66613343e-04 3.89712465e+00] [ 1.75919002e-02 -6.79443758e-04 9.99845020e-01 2.43291457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.809254154 meters Centerline goodness [0,1] 0.9987468148210034 Centerline is valid? [True, True] Translation: X:268.42, Y:3.89, Z:2.43 [[ 9.97922984e-01 -6.20877571e-02 -1.71705906e-02 2.68419098e+02] [ 6.20907834e-02 9.98070442e-01 -3.57317776e-04 3.89497954e+00] [ 1.71596440e-02 -7.09559802e-04 9.99852511e-01 2.43389722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.83925415399995 meters Centerline goodness [0,1] 0.998747076511861 Centerline is valid? [True, True] Translation: X:268.45, Y:3.89, Z:2.43 [[ 9.97797992e-01 -6.41778652e-02 -1.67442391e-02 2.68451086e+02] [ 6.41810512e-02 9.97938210e-01 -3.47580877e-04 3.89306743e+00] [ 1.67320230e-02 -7.27847364e-04 9.99859745e-01 2.43469870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.869254154 meters Centerline goodness [0,1] 0.9984792617128097 Centerline is valid? [True, True] Translation: X:268.48, Y:3.89, Z:2.44 [[ 9.97693582e-01 -6.58728150e-02 -1.63795317e-02 2.68483133e+02] [ 6.58761107e-02 9.97827752e-01 -3.38840255e-04 3.89091468e+00] [ 1.63662717e-02 -7.40961096e-04 9.99865789e-01 2.43521266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.89925415399995 meters Centerline goodness [0,1] 0.9987289813097744 Centerline is valid? [True, True] Translation: X:268.52, Y:3.89, Z:2.44 [[ 9.97581358e-01 -6.77294434e-02 -1.56255089e-02 2.68515192e+02] [ 6.77326872e-02 9.97703453e-01 -3.22128655e-04 3.89300903e+00] [ 1.56114418e-02 -7.37008165e-04 9.99877862e-01 2.43708296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.929254154 meters Centerline goodness [0,1] 0.9986860765829649 Centerline is valid? [True, True] Translation: X:268.55, Y:3.89, Z:2.44 [[ 9.97574863e-01 -6.78675529e-02 -1.54398014e-02 2.68547008e+02] [ 6.78707543e-02 9.97694071e-01 -3.17151981e-04 3.89310328e+00] [ 1.54257226e-02 -7.31528120e-04 9.99880749e-01 2.43772313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.95925415399995 meters Centerline goodness [0,1] 0.9984771997163002 Centerline is valid? [True, True] Translation: X:268.58, Y:3.89, Z:2.44 [[ 9.97575430e-01 -6.76328121e-02 -1.64031827e-02 2.68577831e+02] [ 6.76364125e-02 9.97709979e-01 -3.35805749e-04 3.89285575e+00] [ 1.63883306e-02 -7.74460869e-04 9.99865402e-01 2.43706925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.989254154 meters Centerline goodness [0,1] 0.9984982166322508 Centerline is valid? [True, True] Translation: X:268.61, Y:3.89, Z:2.44 [[ 9.97561802e-01 -6.78500659e-02 -1.63346323e-02 2.68610300e+02] [ 6.78536823e-02 9.97695227e-01 -3.33364755e-04 3.89374798e+00] [ 1.63196036e-02 -7.75813007e-04 9.99866525e-01 2.43747824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.01925415399995 meters Centerline goodness [0,1] 0.9985017791372744 Centerline is valid? [True, True] Translation: X:268.64, Y:3.89, Z:2.44 [[ 9.97566540e-01 -6.76850150e-02 -1.67253574e-02 2.68641141e+02] [ 6.76888096e-02 9.97706425e-01 -3.39769731e-04 3.89305191e+00] [ 1.67099938e-02 -7.93176616e-04 9.99860064e-01 2.43714580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.049254154 meters Centerline goodness [0,1] 0.9986037885260591 Centerline is valid? [True, True] Translation: X:268.67, Y:3.89, Z:2.44 [[ 9.97561987e-01 -6.75777632e-02 -1.74162871e-02 2.68673055e+02] [ 6.75818916e-02 9.97713668e-01 -3.52077953e-04 3.89455839e+00] [ 1.74002603e-02 -8.25806046e-04 9.99848263e-01 2.43698453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07925415399995 meters Centerline goodness [0,1] 0.9984782155513863 Centerline is valid? [True, True] Translation: X:268.71, Y:3.90, Z:2.44 [[ 9.97566306e-01 -6.71864735e-02 -1.86398187e-02 2.68705053e+02] [ 6.71911608e-02 9.97740050e-01 -3.75394395e-04 3.89557964e+00] [ 1.86229150e-02 -8.77950255e-04 9.99826193e-01 2.43599309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.109254154 meters Centerline goodness [0,1] 0.9983315606164883 Centerline is valid? [True, True] Translation: X:268.74, Y:3.90, Z:2.44 [[ 9.97577969e-01 -6.68782429e-02 -1.91179468e-02 2.68737680e+02] [ 6.68831445e-02 9.97760742e-01 -3.83606612e-04 3.89681813e+00] [ 1.91007917e-02 -8.95990896e-04 9.99817162e-01 2.43585775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13925415399996 meters Centerline goodness [0,1] 0.9989373228871479 Centerline is valid? [True, True] Translation: X:268.77, Y:3.90, Z:2.44 [[ 9.97616560e-01 -6.62498903e-02 -1.92912071e-02 2.68770321e+02] [ 6.62547948e-02 9.97802663e-01 -3.85483978e-04 3.89833541e+00] [ 1.92743560e-02 -8.93569766e-04 9.99813833e-01 2.43592797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.169254154 meters Centerline goodness [0,1] 0.9987932003079419 Centerline is valid? [True, True] Translation: X:268.80, Y:3.90, Z:2.44 [[ 9.97656438e-01 -6.56971063e-02 -1.91186479e-02 2.68802680e+02] [ 6.57018520e-02 9.97839226e-01 -3.80470360e-04 3.90038663e+00] [ 1.91023326e-02 -8.76551869e-04 9.99817150e-01 2.43636428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19925415399996 meters Centerline goodness [0,1] 0.9987927230340119 Centerline is valid? [True, True] Translation: X:268.83, Y:3.90, Z:2.44 [[ 9.97791292e-01 -6.36949495e-02 -1.88544830e-02 2.68833562e+02] [ 6.36992276e-02 9.97969072e-01 -3.74188074e-04 3.90042591e+00] [ 1.88400247e-02 -8.27654398e-04 9.99822168e-01 2.43635103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.229254154 meters Centerline goodness [0,1] 0.9987936521142287 Centerline is valid? [True, True] Translation: X:268.87, Y:3.91, Z:2.44 [[ 9.97882760e-01 -6.23094086e-02 -1.86423107e-02 2.68865489e+02] [ 6.23133684e-02 9.98056566e-01 -3.68962786e-04 3.90666409e+00] [ 1.86290704e-02 -7.93483569e-04 9.99826149e-01 2.43790477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25925415399996 meters Centerline goodness [0,1] 0.9987505466358468 Centerline is valid? [True, True] Translation: X:268.90, Y:3.91, Z:2.44 [[ 9.97984902e-01 -6.06782591e-02 -1.85548934e-02 2.68896880e+02] [ 6.06819192e-02 9.98157087e-01 -3.66219578e-04 3.90937112e+00] [ 1.85429199e-02 -7.60464932e-04 9.99827776e-01 2.43854144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.289254154 meters Centerline goodness [0,1] 0.9986871717929482 Centerline is valid? [True, True] Translation: X:268.93, Y:3.92, Z:2.44 [[ 9.98224181e-01 -5.68576942e-02 -1.77676013e-02 2.68927906e+02] [ 5.68604570e-02 9.98382074e-01 -3.50049658e-04 3.91507245e+00] [ 1.77587577e-02 -6.60845897e-04 9.99842082e-01 2.43969647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31925415399996 meters Centerline goodness [0,1] 0.9987946799667498 Centerline is valid? [True, True] Translation: X:268.96, Y:3.92, Z:2.44 [[ 9.98346596e-01 -5.47671854e-02 -1.74536242e-02 2.68958818e+02] [ 5.47695432e-02 9.98498963e-01 -3.43238167e-04 3.91635393e+00] [ 1.74462238e-02 -6.13256368e-04 9.99847615e-01 2.44014970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.349254154 meters Centerline goodness [0,1] 0.998811236939248 Centerline is valid? [True, True] Translation: X:268.99, Y:3.92, Z:2.44 [[ 9.98453772e-01 -5.28723330e-02 -1.71633652e-02 2.68989800e+02] [ 5.28743438e-02 9.98601117e-01 -3.36920408e-04 3.92145996e+00] [ 1.71571694e-02 -5.71102220e-04 9.99852642e-01 2.44095201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37925415399997 meters Centerline goodness [0,1] 0.998747128836918 Centerline is valid? [True, True] Translation: X:269.02, Y:3.93, Z:2.44 [[ 9.98557024e-01 -5.09944674e-02 -1.68355172e-02 2.69021266e+02] [ 5.09961456e-02 9.98698796e-01 -3.29886372e-04 3.92531470e+00] [ 1.68304331e-02 -5.29136131e-04 9.99858218e-01 2.44159726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.409254154 meters Centerline goodness [0,1] 0.9988518943742825 Centerline is valid? [True, True] Translation: X:269.05, Y:3.93, Z:2.44 [[ 9.98730445e-01 -4.76320459e-02 -1.63916497e-02 2.69052562e+02] [ 4.76331939e-02 9.98864844e-01 -3.20603825e-04 3.92960193e+00] [ 1.63883137e-02 -4.60589828e-04 9.99865596e-01 2.44167510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43925415399997 meters Centerline goodness [0,1] 0.9988517985010751 Centerline is valid? [True, True] Translation: X:269.08, Y:3.93, Z:2.44 [[ 9.98831171e-01 -4.56529404e-02 -1.58776588e-02 2.69083309e+02] [ 4.56537764e-02 9.98957275e-01 -3.09987867e-04 3.93081719e+00] [ 1.58752546e-02 -4.15249540e-04 9.99873894e-01 2.44149500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46925415399994 meters Centerline goodness [0,1] 0.9987881320518178 Centerline is valid? [True, True] Translation: X:269.11, Y:3.93, Z:2.44 [[ 9.98910278e-01 -4.38948697e-02 -1.58586848e-02 2.69114222e+02] [ 4.38954913e-02 9.99036081e-01 -3.09050480e-04 3.93426974e+00] [ 1.58569640e-02 -3.87411061e-04 9.99874195e-01 2.44192567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49925415399997 meters Centerline goodness [0,1] 0.9989121338912134 Centerline is valid? [True, True] Translation: X:269.14, Y:3.94, Z:2.44 [[ 9.99119259e-01 -3.91136286e-02 -1.51931201e-02 2.69144691e+02] [ 3.91136591e-02 9.99234724e-01 -2.95249646e-04 3.93854729e+00] [ 1.51930415e-02 -2.99268914e-04 9.99884534e-01 2.44227163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52925415399994 meters Centerline goodness [0,1] 0.9991216145561016 Centerline is valid? [True, True] Translation: X:269.18, Y:3.94, Z:2.44 [[ 9.99229074e-01 -3.63460354e-02 -1.48399469e-02 2.69175819e+02] [ 3.63457741e-02 9.99339233e-01 -2.87395402e-04 3.94189588e+00] [ 1.48405868e-02 -2.52195517e-04 9.99889841e-01 2.44290603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.559254154 meters Centerline goodness [0,1] 0.9991197367593737 Centerline is valid? [True, True] Translation: X:269.21, Y:3.95, Z:2.44 [[ 9.99423693e-01 -3.05303160e-02 -1.48385537e-02 2.69207390e+02] [ 3.05294230e-02 9.99533827e-01 -2.86749549e-04 3.94921567e+00] [ 1.48403909e-02 -1.66428189e-04 9.99889861e-01 2.44434404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.58925415399995 meters Centerline goodness [0,1] 0.9992249523450428 Centerline is valid? [True, True] Translation: X:269.24, Y:3.95, Z:2.44 [[ 9.99514196e-01 -2.75304457e-02 -1.46098258e-02 2.69237017e+02] [ 2.75292676e-02 9.99620958e-01 -2.81783321e-04 3.95176297e+00] [ 1.46120457e-02 -1.20551375e-04 9.99893231e-01 2.44462697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.619254154 meters Centerline goodness [0,1] 0.9990969990969991 Centerline is valid? [True, True] Translation: X:269.27, Y:3.95, Z:2.44 [[ 9.99587493e-01 -2.49247886e-02 -1.42688262e-02 2.69267895e+02] [ 2.49234004e-02 9.99689326e-01 -2.75127221e-04 3.95410822e+00] [ 1.42712507e-02 -8.06139394e-05 9.99898157e-01 2.44496002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.64925415399995 meters Centerline goodness [0,1] 0.9992230481710134 Centerline is valid? [True, True] Translation: X:269.30, Y:3.96, Z:2.45 [[ 9.99642711e-01 -2.26079915e-02 -1.42593459e-02 2.69298716e+02] [ 2.26063695e-02 9.99744406e-01 -2.74944425e-04 3.95583325e+00] [ 1.42619172e-02 -4.75058515e-05 9.99898293e-01 2.44545518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.679254154 meters Centerline goodness [0,1] 0.9992648448822702 Centerline is valid? [True, True] Translation: X:269.33, Y:3.96, Z:2.45 [[ 9.99684240e-01 -2.06082211e-02 -1.43778381e-02 2.69328649e+02] [ 2.06063625e-02 9.99787628e-01 -2.77413640e-04 3.95745685e+00] [ 1.43805016e-02 -1.89489004e-05 9.99896595e-01 2.44610933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.70925415399995 meters Centerline goodness [0,1] 0.9990741909691537 Centerline is valid? [True, True] Translation: X:269.36, Y:3.96, Z:2.45 [[ 9.99720640e-01 -1.89412277e-02 -1.41375775e-02 2.69358778e+02] [ 1.89392568e-02 9.99820599e-01 -2.73291675e-04 3.95818121e+00] [ 1.41402177e-02 5.46011831e-06 9.99900022e-01 2.44587127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.739254154 meters Centerline goodness [0,1] 0.9992859543010753 Centerline is valid? [True, True] Translation: X:269.39, Y:3.96, Z:2.45 [[ 9.99711978e-01 -1.90893893e-02 -1.45450041e-02 2.69387273e+02] [ 1.90873096e-02 9.99817781e-01 -2.81802656e-04 3.95803725e+00] [ 1.45477331e-02 4.09649599e-06 9.99894176e-01 2.44565367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.76925415399995 meters Centerline goodness [0,1] 0.9994756711409396 Centerline is valid? [True, True] Translation: X:269.42, Y:3.96, Z:2.45 [[ 9.99690069e-01 -1.99621598e-02 -1.48754145e-02 2.69416039e+02] [ 1.99600690e-02 9.99800736e-01 -2.89021718e-04 3.95730446e+00] [ 1.48782199e-02 -7.98215937e-06 9.99889313e-01 2.44507543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.799254154 meters Centerline goodness [0,1] 0.9992242048099301 Centerline is valid? [True, True] Translation: X:269.44, Y:3.95, Z:2.45 [[ 9.99600919e-01 -2.38189546e-02 -1.51874891e-02 2.69444534e+02] [ 2.38171903e-02 9.99716286e-01 -2.97057498e-04 3.95349092e+00] [ 1.51902558e-02 -6.47843708e-05 9.99884619e-01 2.44540581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.82925415399995 meters Centerline goodness [0,1] 0.999245156420364 Centerline is valid? [True, True] Translation: X:269.47, Y:3.95, Z:2.45 [[ 9.99536005e-01 -2.65147754e-02 -1.49913667e-02 2.69472878e+02] [ 2.65133203e-02 9.99648416e-01 -2.95838498e-04 3.95093376e+00] [ 1.49939401e-02 -1.01769677e-04 9.99887579e-01 2.44554534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.859254154 meters Centerline goodness [0,1] 0.9991404431958741 Centerline is valid? [True, True] Translation: X:269.50, Y:3.95, Z:2.44 [[ 9.99453406e-01 -2.93813962e-02 -1.51532778e-02 2.69502327e+02] [ 2.93802297e-02 9.99568263e-01 -2.99639610e-04 3.94705938e+00] [ 1.51555394e-02 -1.45730954e-04 9.99885138e-01 2.44481828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.88925415399996 meters Centerline goodness [0,1] 0.9992472870972463 Centerline is valid? [True, True] Translation: X:269.53, Y:3.94, Z:2.45 [[ 9.99247983e-01 -3.55478122e-02 -1.54861758e-02 2.69532626e+02] [ 3.55473315e-02 9.99367947e-01 -3.06390384e-04 3.94120966e+00] [ 1.54872792e-02 -2.44332250e-04 9.99880035e-01 2.44541066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.919254154 meters Centerline goodness [0,1] 0.9992680427463037 Centerline is valid? [True, True] Translation: X:269.56, Y:3.94, Z:2.45 [[ 9.99122564e-01 -3.87901703e-02 -1.57931610e-02 2.69563064e+02] [ 3.87900770e-02 9.99247333e-01 -3.12350622e-04 3.93758082e+00] [ 1.57933902e-02 -3.00541378e-04 9.99875231e-01 2.44573473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.94925415399996 meters Centerline goodness [0,1] 0.9993104601111622 Centerline is valid? [True, True] Translation: X:269.59, Y:3.94, Z:2.45 [[ 9.98998974e-01 -4.19377510e-02 -1.55651972e-02 2.69594697e+02] [ 4.19380482e-02 9.99120166e-01 -3.07454433e-04 3.93518678e+00] [ 1.55643964e-02 -3.45627328e-04 9.99878808e-01 2.44631458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.979254154 meters Centerline goodness [0,1] 0.9992900693226426 Centerline is valid? [True, True] Translation: X:269.63, Y:3.93, Z:2.45 [[ 9.98854157e-01 -4.51756555e-02 -1.57966354e-02 2.69625718e+02] [ 4.51763735e-02 9.98978978e-01 -3.11564408e-04 3.93170661e+00] [ 1.57945818e-02 -4.02427298e-04 9.99875177e-01 2.44631515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.00925415399996 meters Centerline goodness [0,1] 0.9988721568955075 Centerline is valid? [True, True] Translation: X:269.66, Y:3.92, Z:2.45 [[ 9.98590439e-01 -5.06444765e-02 -1.58830656e-02 2.69655800e+02] [ 5.06459026e-02 9.98716624e-01 -3.12691107e-04 3.92040296e+00] [ 1.58785177e-02 -4.92161842e-04 9.99873807e-01 2.44536436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.039254154 meters Centerline goodness [0,1] 0.9989760093622001 Centerline is valid? [True, True] Translation: X:269.69, Y:3.92, Z:2.45 [[ 9.98490874e-01 -5.27235614e-02 -1.53688287e-02 2.69686290e+02] [ 5.27251555e-02 9.98609016e-01 -3.01726368e-04 3.91707310e+00] [ 1.53633590e-02 -5.09052859e-04 9.99881847e-01 2.44547061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06925415399996 meters Centerline goodness [0,1] 0.9988953960942873 Centerline is valid? [True, True] Translation: X:269.72, Y:3.91, Z:2.45 [[ 9.98400528e-01 -5.44070472e-02 -1.53706911e-02 2.69717448e+02] [ 5.44088506e-02 9.98518696e-01 -3.01133065e-04 3.91478011e+00] [ 1.53643062e-02 -5.35650226e-04 9.99881819e-01 2.44593804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.099254154 meters Centerline goodness [0,1] 0.9993942938301517 Centerline is valid? [True, True] Translation: X:269.75, Y:3.92, Z:2.45 [[ 9.98244345e-01 -5.71547823e-02 -1.55421561e-02 2.69749490e+02] [ 5.71569705e-02 9.98365158e-01 -3.03732585e-04 3.91742901e+00] [ 1.55341069e-02 -5.85143222e-04 9.99879167e-01 2.44740986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12925415399997 meters Centerline goodness [0,1] 0.9992683334726984 Centerline is valid? [True, True] Translation: X:269.78, Y:3.92, Z:2.45 [[ 9.98178540e-01 -5.83593421e-02 -1.52902073e-02 2.69781732e+02] [ 5.83616178e-02 9.98295464e-01 -2.97716009e-04 3.91616926e+00] [ 1.52815191e-02 -5.95187504e-04 9.99883054e-01 2.44768582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.159254154 meters Centerline goodness [0,1] 0.9992082838510741 Centerline is valid? [True, True] Translation: X:269.81, Y:3.91, Z:2.45 [[ 9.98105475e-01 -5.95490557e-02 -1.54715967e-02 2.69813125e+02] [ 5.95515441e-02 9.98225187e-01 -3.00227773e-04 3.91183130e+00] [ 1.54620158e-02 -6.21698492e-04 9.99880263e-01 2.44719889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18925415399997 meters Centerline goodness [0,1] 0.9990389035142702 Centerline is valid? [True, True] Translation: X:269.85, Y:3.91, Z:2.45 [[ 9.98036769e-01 -6.06156842e-02 -1.57590463e-02 2.69845557e+02] [ 6.06184142e-02 9.98160966e-01 -3.04825700e-04 3.91368560e+00] [ 1.57485421e-02 -6.51061138e-04 9.99875772e-01 2.44758801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21925415399994 meters Centerline goodness [0,1] 0.9991019777374016 Centerline is valid? [True, True] Translation: X:269.88, Y:3.91, Z:2.45 [[ 9.97883152e-01 -6.29982372e-02 -1.61380605e-02 2.69877024e+02] [ 6.30014282e-02 9.98013388e-01 -3.11096621e-04 3.90986553e+00] [ 1.61255990e-02 -7.06282785e-04 9.99869725e-01 2.44755329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24925415399997 meters Centerline goodness [0,1] 0.9991232281903012 Centerline is valid? [True, True] Translation: X:269.91, Y:3.90, Z:2.45 [[ 9.97820607e-01 -6.39585234e-02 -1.62278402e-02 2.69908305e+02] [ 6.39618908e-02 9.97952293e-01 -3.11955761e-04 3.90061685e+00] [ 1.62145626e-02 -7.26687457e-04 9.99868271e-01 2.44637823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27925415399994 meters Centerline goodness [0,1] 0.9989774837753803 Centerline is valid? [True, True] Translation: X:269.94, Y:3.91, Z:2.45 [[ 9.97752417e-01 -6.49760681e-02 -1.63775745e-02 2.69940569e+02] [ 6.49796510e-02 9.97886540e-01 -3.13844411e-04 3.90815916e+00] [ 1.63633536e-02 -7.51070057e-04 9.99865829e-01 2.44752955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.309254154 meters Centerline goodness [0,1] 0.9988098220997244 Centerline is valid? [True, True] Translation: X:269.97, Y:3.91, Z:2.45 [[ 9.97605525e-01 -6.70692068e-02 -1.68801068e-02 2.69971358e+02] [ 6.70733276e-02 9.97747997e-01 -3.22543948e-04 3.90609335e+00] [ 1.68637255e-02 -8.10433305e-04 9.99857469e-01 2.44707691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.33925415399995 meters Centerline goodness [0,1] 0.9987882839593866 Centerline is valid? [True, True] Translation: X:270.00, Y:3.91, Z:2.45 [[ 9.97541178e-01 -6.79739293e-02 -1.70628994e-02 2.70003820e+02] [ 6.79782864e-02 9.97686748e-01 -3.25180436e-04 3.90607616e+00] [ 1.70455324e-02 -8.35525788e-04 9.99854365e-01 2.44746497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.369254154 meters Centerline goodness [0,1] 0.9992065314986114 Centerline is valid? [True, True] Translation: X:270.04, Y:3.91, Z:2.45 [[ 9.97507022e-01 -6.84756557e-02 -1.70535965e-02 2.70035217e+02] [ 6.84800990e-02 9.97652430e-01 -3.23957425e-04 3.90522394e+00] [ 1.70357452e-02 -8.44682173e-04 9.99854524e-01 2.44762856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.39925415399995 meters Centerline goodness [0,1] 0.9990602877607702 Centerline is valid? [True, True] Translation: X:270.07, Y:3.91, Z:2.45 [[ 9.97451827e-01 -6.91915467e-02 -1.73891721e-02 2.70067126e+02] [ 6.91962933e-02 9.97603010e-01 -3.29288080e-04 3.90537771e+00] [ 1.73702744e-02 -8.74817255e-04 9.99848743e-01 2.44743853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.429254154 meters Centerline goodness [0,1] 0.9987702184425546 Centerline is valid? [True, True] Translation: X:270.10, Y:3.91, Z:2.45 [[ 9.97395869e-01 -6.97543344e-02 -1.83252240e-02 2.70099024e+02] [ 6.97597250e-02 9.97563763e-01 -3.45689478e-04 3.91112236e+00] [ 1.83046928e-02 -9.33573333e-04 9.99832019e-01 2.44765681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.45925415399995 meters Centerline goodness [0,1] 0.999146100177028 Centerline is valid? [True, True] Translation: X:270.13, Y:3.91, Z:2.45 [[ 9.97418301e-01 -6.93466279e-02 -1.86488248e-02 2.70131298e+02] [ 6.93521647e-02 9.97592178e-01 -3.50440675e-04 3.91186329e+00] [ 1.86282236e-02 -9.43800426e-04 9.99826034e-01 2.44789170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.489254154 meters Centerline goodness [0,1] 0.998831751329926 Centerline is valid? [True, True] Translation: X:270.16, Y:3.91, Z:2.45 [[ 9.97465090e-01 -6.85967864e-02 -1.89176078e-02 2.70162222e+02] [ 6.86023720e-02 9.97644019e-01 -3.54300050e-04 3.90682094e+00] [ 1.88973422e-02 -9.44390840e-04 9.99820983e-01 2.44678580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.51925415399995 meters Centerline goodness [0,1] 0.9987281332749526 Centerline is valid? [True, True] Translation: X:270.19, Y:3.91, Z:2.45 [[ 9.97552014e-01 -6.72242350e-02 -1.92582745e-02 2.70192954e+02] [ 6.72297846e-02 9.97737454e-01 -3.59844440e-04 3.90821231e+00] [ 1.92388921e-02 -9.35766103e-04 9.99814477e-01 2.44645337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.549254154 meters Centerline goodness [0,1] 0.9988728396092511 Centerline is valid? [True, True] Translation: X:270.22, Y:3.91, Z:2.45 [[ 9.97800919e-01 -6.36705276e-02 -1.84225464e-02 2.70223273e+02] [ 6.36750068e-02 9.97970628e-01 -3.43933098e-04 3.91290095e+00] [ 1.84070586e-02 -8.29879003e-04 9.99830231e-01 2.44802711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57925415399995 meters Centerline goodness [0,1] 0.9988728396092511 Centerline is valid? [True, True] Translation: X:270.25, Y:3.91, Z:2.45 [[ 9.97803001e-01 -6.36378870e-02 -1.84225519e-02 2.70254142e+02] [ 6.36423661e-02 9.97972711e-01 -3.43636856e-04 3.91344216e+00] [ 1.84070724e-02 -8.29572905e-04 9.99830231e-01 2.44831634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.609254154 meters Centerline goodness [0,1] 0.9986865422704055 Centerline is valid? [True, True] Translation: X:270.29, Y:3.92, Z:2.45 [[ 9.97995703e-01 -6.04829292e-02 -1.86116353e-02 2.70285497e+02] [ 6.04869649e-02 9.98168927e-01 -3.46530644e-04 3.92191154e+00] [ 1.85985153e-02 -7.79925240e-04 9.99826728e-01 2.44909364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63925415399996 meters Centerline goodness [0,1] 0.998641815370471 Centerline is valid? [True, True] Translation: X:270.32, Y:3.93, Z:2.45 [[ 9.98381203e-01 -5.41974614e-02 -1.72513191e-02 2.70316247e+02] [ 5.41999982e-02 9.98530048e-01 -3.20807166e-04 3.93372836e+00] [ 1.72433474e-02 -6.14733618e-04 9.99851133e-01 2.45180209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.669254154 meters Centerline goodness [0,1] 0.9989793580370347 Centerline is valid? [True, True] Translation: X:270.35, Y:3.94, Z:2.45 [[ 9.98608100e-01 -5.00688076e-02 -1.65824559e-02 2.70347629e+02] [ 5.00705889e-02 9.98745634e-01 -3.07998702e-04 3.93827217e+00] [ 1.65770766e-02 -5.22723334e-04 9.99862454e-01 2.45267184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69925415399996 meters Centerline goodness [0,1] 0.9989564636640648 Centerline is valid? [True, True] Translation: X:270.38, Y:3.94, Z:2.45 [[ 9.98816448e-01 -4.60873630e-02 -1.55453499e-02 2.70379400e+02] [ 4.60884568e-02 9.98937321e-01 -2.88074555e-04 3.94245695e+00] [ 1.55421068e-02 -4.28727582e-04 9.99879122e-01 2.45320002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.729254154 meters Centerline goodness [0,1] 0.9990803444528049 Centerline is valid? [True, True] Translation: X:270.41, Y:3.95, Z:2.45 [[ 9.99003807e-01 -4.20767394e-02 -1.48640956e-02 2.70410168e+02] [ 4.20773059e-02 9.99114320e-01 -2.74760048e-04 3.94607854e+00] [ 1.48624918e-02 -3.50954765e-04 9.99889485e-01 2.45384449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75925415399996 meters Centerline goodness [0,1] 0.9990605624099705 Centerline is valid? [True, True] Translation: X:270.44, Y:3.95, Z:2.45 [[ 9.99159555e-01 -3.84455645e-02 -1.42169559e-02 2.70441118e+02] [ 3.84457224e-02 9.99260656e-01 -2.62298753e-04 3.94969536e+00] [ 1.42165289e-02 -2.84502832e-04 9.99898900e-01 2.45415295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.789254154 meters Centerline goodness [0,1] 0.999204971023286 Centerline is valid? [True, True] Translation: X:270.47, Y:3.96, Z:2.45 [[ 9.99403419e-01 -3.15110897e-02 -1.41371084e-02 2.70472152e+02] [ 3.15105580e-02 9.99503385e-01 -2.60404166e-04 3.95728484e+00] [ 1.41382933e-02 -1.85219361e-04 9.99900032e-01 2.45433421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81925415399996 meters Centerline goodness [0,1] 0.9992055029375484 Centerline is valid? [True, True] Translation: X:270.50, Y:3.96, Z:2.45 [[ 9.99494816e-01 -2.82568562e-02 -1.45486691e-02 2.70502590e+02] [ 2.82559510e-02 9.99600685e-01 -2.67807588e-04 3.96028982e+00] [ 1.45504270e-02 -1.43414187e-04 9.99894127e-01 2.45405496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.849254154 meters Centerline goodness [0,1] 0.9991834854702286 Centerline is valid? [True, True] Translation: X:270.53, Y:3.96, Z:2.45 [[ 9.99563158e-01 -2.54906456e-02 -1.49572465e-02 2.70533487e+02] [ 2.54893792e-02 9.99675055e-01 -2.75328558e-04 3.96326721e+00] [ 1.49594045e-02 -1.06042643e-04 9.99888096e-01 2.45420374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87925415399997 meters Centerline goodness [0,1] 0.999078225164453 Centerline is valid? [True, True] Translation: X:270.56, Y:3.97, Z:2.45 [[ 9.99673791e-01 -2.09397275e-02 -1.46232347e-02 2.70562624e+02] [ 2.09380287e-02 9.99780739e-01 -2.69275895e-04 3.96808566e+00] [ 1.46256670e-02 -3.69936532e-05 9.99893039e-01 2.45464670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.909254154 meters Centerline goodness [0,1] 0.9994135020213234 Centerline is valid? [True, True] Translation: X:270.59, Y:3.97, Z:2.45 [[ 9.99717873e-01 -1.88826614e-02 -1.44090310e-02 2.70591433e+02] [ 1.88807920e-02 9.99821707e-01 -2.65771271e-04 3.97036589e+00] [ 1.44114804e-02 -6.35762774e-06 9.99896149e-01 2.45493033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93925415399997 meters Centerline goodness [0,1] 0.9993922246672954 Centerline is valid? [True, True] Translation: X:270.62, Y:3.97, Z:2.46 [[ 9.99754046e-01 -1.74697605e-02 -1.36621494e-02 2.70619672e+02] [ 1.74679267e-02 9.99847392e-01 -2.53556183e-04 3.97215410e+00] [ 1.36644940e-02 1.48443956e-05 9.99906636e-01 2.45540684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96925415399994 meters Centerline goodness [0,1] 0.999372594947298 Centerline is valid? [True, True] Translation: X:270.65, Y:3.97, Z:2.46 [[ 9.99796374e-01 -1.56683938e-02 -1.27166407e-02 2.70648683e+02] [ 1.56666205e-02 9.99877242e-01 -2.39057757e-04 3.97365023e+00] [ 1.27188253e-02 3.97822939e-05 9.99919112e-01 2.45552472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99925415399997 meters Centerline goodness [0,1] 0.999161531044313 Centerline is valid? [True, True] Translation: X:270.68, Y:3.97, Z:2.46 [[ 9.99807302e-01 -1.55295777e-02 -1.20079878e-02 2.70677197e+02] [ 1.55279513e-02 9.99879408e-01 -2.28668355e-04 3.97398008e+00] [ 1.20100908e-02 4.21648410e-05 9.99927875e-01 2.45562862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02925415399994 meters Centerline goodness [0,1] 0.9994765603735265 Centerline is valid? [True, True] Translation: X:270.71, Y:3.97, Z:2.46 [[ 9.99803933e-01 -1.61915262e-02 -1.13987251e-02 2.70706100e+02] [ 1.61900715e-02 9.99868908e-01 -2.19888720e-04 3.97255562e+00] [ 1.14007911e-02 3.52994334e-05 9.99935008e-01 2.45553957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.059254154 meters Centerline goodness [0,1] 0.9993510163920698 Centerline is valid? [True, True] Translation: X:270.73, Y:3.97, Z:2.46 [[ 9.99787156e-01 -1.73157704e-02 -1.12163372e-02 2.70734808e+02] [ 1.73144046e-02 9.99850071e-01 -2.18867130e-04 3.97156369e+00] [ 1.12184454e-02 2.46163441e-05 9.99937071e-01 2.45524852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.08925415399995 meters Centerline goodness [0,1] 0.9990378581886634 Centerline is valid? [True, True] Translation: X:270.76, Y:3.97, Z:2.46 [[ 9.99764966e-01 -1.87558162e-02 -1.08734586e-02 2.70764159e+02] [ 1.87546117e-02 9.99824094e-01 -2.12732636e-04 3.97033594e+00] [ 1.08755359e-02 8.75514135e-06 9.99940860e-01 2.45507643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.119254154 meters Centerline goodness [0,1] 0.9992045716199527 Centerline is valid? [True, True] Translation: X:270.79, Y:3.97, Z:2.46 [[ 9.99725726e-01 -2.06056589e-02 -1.11300950e-02 2.70794818e+02] [ 2.06045076e-02 9.99787681e-01 -2.18104842e-04 3.96892449e+00] [ 1.11322261e-02 -1.12851062e-05 9.99938035e-01 2.45550619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.14925415399995 meters Centerline goodness [0,1] 0.9990802098793821 Centerline is valid? [True, True] Translation: X:270.82, Y:3.97, Z:2.46 [[ 9.99673974e-01 -2.30422818e-02 -1.09999658e-02 2.70824402e+02] [ 2.30413048e-02 9.99734491e-01 -2.15557357e-04 3.96672492e+00] [ 1.10020122e-02 -3.79664856e-05 9.99939475e-01 2.45577269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.179254154 meters Centerline goodness [0,1] 0.9990612874963495 Centerline is valid? [True, True] Translation: X:270.86, Y:3.96, Z:2.46 [[ 9.99526399e-01 -2.90231439e-02 -1.02290942e-02 2.70855382e+02] [ 2.90226121e-02 9.99578735e-01 -2.00464655e-04 3.96048347e+00] [ 1.02306032e-02 -9.65053195e-05 9.99947661e-01 2.45665045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.20925415399995 meters Centerline goodness [0,1] 0.9992067965015551 Centerline is valid? [True, True] Translation: X:270.89, Y:3.96, Z:2.46 [[ 9.99420991e-01 -3.26092991e-02 -9.71164470e-03 2.70886288e+02] [ 3.26089893e-02 9.99468167e-01 -1.90284805e-04 3.95631394e+00] [ 9.71268479e-03 -1.26512290e-04 9.99952823e-01 2.45690262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.239254154 meters Centerline goodness [0,1] 0.999184356373523 Centerline is valid? [True, True] Translation: X:270.92, Y:3.95, Z:2.46 [[ 9.99300482e-01 -3.61871686e-02 -9.43587375e-03 2.70917941e+02] [ 3.61870453e-02 9.99345017e-01 -1.83847141e-04 3.95179511e+00] [ 9.43634633e-03 -1.57737854e-04 9.99955464e-01 2.45724649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.26925415399995 meters Centerline goodness [0,1] 0.9989968652037617 Centerline is valid? [True, True] Translation: X:270.95, Y:3.94, Z:2.46 [[ 9.99023396e-01 -4.31386928e-02 -9.55549928e-03 2.70949418e+02] [ 4.31388892e-02 9.99069068e-01 -1.85658687e-04 3.94356859e+00] [ 9.55461282e-03 -2.26736252e-04 9.99954328e-01 2.45679415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.299254154 meters Centerline goodness [0,1] 0.9992272186135884 Centerline is valid? [True, True] Translation: X:270.98, Y:3.94, Z:2.46 [[ 9.98882759e-01 -4.61692257e-02 -1.00814415e-02 2.70980620e+02] [ 4.61696025e-02 9.98933596e-01 -1.95480746e-04 3.93856641e+00] [ 1.00797158e-02 -2.70193801e-04 9.99949162e-01 2.45622607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.32925415399995 meters Centerline goodness [0,1] 0.9990825688073395 Centerline is valid? [True, True] Translation: X:271.01, Y:3.93, Z:2.46 [[ 9.98742031e-01 -4.89965569e-02 -1.06626670e-02 2.71012439e+02] [ 4.89971458e-02 9.98798897e-01 -2.06144254e-04 3.93499285e+00] [ 1.06599604e-02 -3.16555321e-04 9.99943131e-01 2.45574383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.359254154 meters Centerline goodness [0,1] 0.9992893570771675 Centerline is valid? [True, True] Translation: X:271.04, Y:3.93, Z:2.46 [[ 9.98631384e-01 -5.11052794e-02 -1.11179902e-02 2.71044150e+02] [ 5.11060571e-02 9.98693209e-01 -2.14330451e-04 3.93460561e+00] [ 1.11144147e-02 -3.54159525e-04 9.99938170e-01 2.45563933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.38925415399996 meters Centerline goodness [0,1] 0.9989570948835075 Centerline is valid? [True, True] Translation: X:271.08, Y:3.93, Z:2.45 [[ 9.98497214e-01 -5.36442798e-02 -1.12073859e-02 2.71075098e+02] [ 5.36452364e-02 9.98560034e-01 -2.15460449e-04 3.92873025e+00] [ 1.12028059e-02 -3.86086209e-04 9.99937172e-01 2.45498675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.419254154 meters Centerline goodness [0,1] 0.9989761805265357 Centerline is valid? [True, True] Translation: X:271.11, Y:3.93, Z:2.46 [[ 9.98479823e-01 -5.40079416e-02 -1.10084341e-02 2.71107104e+02] [ 5.40088917e-02 9.98540432e-01 -2.11174485e-04 3.92761759e+00] [ 1.10037716e-02 -3.83699861e-04 9.99939383e-01 2.45528776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.44925415399996 meters Centerline goodness [0,1] 0.9990456629530508 Centerline is valid? [True, True] Translation: X:271.14, Y:3.92, Z:2.46 [[ 9.98509188e-01 -5.35694653e-02 -1.04744417e-02 2.71138898e+02] [ 5.35703091e-02 9.98564060e-01 -2.00189537e-04 3.92260320e+00] [ 1.04701251e-02 -3.61227989e-04 9.99945121e-01 2.45563544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.479254154 meters Centerline goodness [0,1] 0.9990813237289905 Centerline is valid? [True, True] Translation: X:271.17, Y:3.92, Z:2.46 [[ 9.98614570e-01 -5.17450397e-02 -9.55986609e-03 2.71170715e+02] [ 5.17456652e-02 9.98660279e-01 -1.82068086e-04 3.92372538e+00] [ 9.55647966e-03 -3.12865787e-04 9.99954287e-01 2.45714468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.50925415399996 meters Centerline goodness [0,1] 0.9992289257059498 Centerline is valid? [True, True] Translation: X:271.20, Y:3.92, Z:2.46 [[ 9.98677230e-01 -5.05769753e-02 -9.26071534e-03 2.71203231e+02] [ 5.05775180e-02 9.98720123e-01 -1.75726703e-04 3.92444067e+00] [ 9.25775049e-03 -2.92889740e-04 9.99957103e-01 2.45734610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.539254154 meters Centerline goodness [0,1] 0.9990396659707724 Centerline is valid? [True, True] Translation: X:271.24, Y:3.93, Z:2.46 [[ 9.98737862e-01 -4.93610062e-02 -9.28296075e-03 2.71235371e+02] [ 4.93615053e-02 9.98780962e-01 -1.75478901e-04 3.92701626e+00] [ 9.28030628e-03 -2.82963494e-04 9.99956897e-01 2.45780735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56925415399996 meters Centerline goodness [0,1] 0.999227412248648 Centerline is valid? [True, True] Translation: X:271.27, Y:3.92, Z:2.46 [[ 9.98795985e-01 -4.80741182e-02 -9.77031982e-03 2.71267062e+02] [ 4.80746171e-02 9.98843730e-01 -1.83922828e-04 3.92482028e+00] [ 9.76786462e-03 -2.86003001e-04 9.99952252e-01 2.45711113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.599254154 meters Centerline goodness [0,1] 0.9991229352433855 Centerline is valid? [True, True] Translation: X:271.30, Y:3.92, Z:2.46 [[ 9.98795861e-01 -4.80256314e-02 -1.00182730e-02 2.71299722e+02] [ 4.80261611e-02 9.98846061e-01 -1.87829727e-04 3.92434161e+00] [ 1.00157332e-02 -2.93535640e-04 9.99949798e-01 2.45687589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62925415399997 meters Centerline goodness [0,1] 0.999081553843906 Centerline is valid? [True, True] Translation: X:271.33, Y:3.92, Z:2.46 [[ 9.98760838e-01 -4.86384688e-02 -1.05398465e-02 2.71330929e+02] [ 4.86390983e-02 9.98816399e-01 -1.96748511e-04 3.92269140e+00] [ 1.05369410e-02 -3.16143920e-04 9.99944435e-01 2.45643043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.659254154 meters Centerline goodness [0,1] 0.9992485283680541 Centerline is valid? [True, True] Translation: X:271.36, Y:3.92, Z:2.46 [[ 9.98615898e-01 -5.12708747e-02 -1.17296717e-02 2.71362744e+02] [ 5.12718517e-02 9.98684710e-01 -2.17606425e-04 3.92025502e+00] [ 1.17254007e-02 -3.84096754e-04 9.99931181e-01 2.45551671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68925415399997 meters Centerline goodness [0,1] 0.9992063326301719 Centerline is valid? [True, True] Translation: X:271.39, Y:3.92, Z:2.46 [[ 9.98495081e-01 -5.34147917e-02 -1.24271342e-02 2.71393562e+02] [ 5.34160624e-02 9.98572317e-01 -2.29879743e-04 3.91781543e+00] [ 1.24216711e-02 -4.34274781e-04 9.99922754e-01 2.45528973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71925415399994 meters Centerline goodness [0,1] 0.9992062994757399 Centerline is valid? [True, True] Translation: X:271.43, Y:3.92, Z:2.46 [[ 9.98362987e-01 -5.57542728e-02 -1.27595954e-02 2.71425916e+02] [ 5.57558110e-02 9.98444407e-01 -2.35422634e-04 3.91672920e+00] [ 1.27528725e-02 -4.76384345e-04 9.99918565e-01 2.45525429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74925415399997 meters Centerline goodness [0,1] 0.9993102006688963 Centerline is valid? [True, True] Translation: X:271.46, Y:3.92, Z:2.46 [[ 9.98209545e-01 -5.82660246e-02 -1.35194136e-02 2.71458118e+02] [ 5.82679955e-02 9.98300946e-01 -2.48395592e-04 3.91577239e+00] [ 1.35109164e-02 -5.39798279e-04 9.99908578e-01 2.45537020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77925415399994 meters Centerline goodness [0,1] 0.9991018839550524 Centerline is valid? [True, True] Translation: X:271.49, Y:3.91, Z:2.46 [[ 9.97903127e-01 -6.32836860e-02 -1.35840040e-02 2.71488632e+02] [ 6.32861503e-02 9.97995391e-01 -2.48801461e-04 3.90895381e+00] [ 1.35725185e-02 -6.11399565e-04 9.99907702e-01 2.45513774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.809254154 meters Centerline goodness [0,1] 0.9993105897591242 Centerline is valid? [True, True] Translation: X:271.52, Y:3.91, Z:2.46 [[ 9.97753804e-01 -6.56103405e-02 -1.35140705e-02 2.71519377e+02] [ 6.56129958e-02 9.97845115e-01 -2.47272078e-04 3.90891213e+00] [ 1.35011729e-02 -6.39981997e-04 9.99908650e-01 2.45611875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.83925415399995 meters Centerline goodness [0,1] 0.9989785495403473 Centerline is valid? [True, True] Translation: X:271.55, Y:3.90, Z:2.46 [[ 9.97621306e-01 -6.75991086e-02 -1.34940700e-02 2.71550139e+02] [ 6.76019469e-02 9.97712341e-01 -2.46205532e-04 3.90174189e+00] [ 1.34798435e-02 -6.66605521e-04 9.99908921e-01 2.45585848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.869254154 meters Centerline goodness [0,1] 0.9991019402268123 Centerline is valid? [True, True] Translation: X:271.58, Y:3.91, Z:2.46 [[ 9.97470154e-01 -6.97850319e-02 -1.35403787e-02 2.71581440e+02] [ 6.97881090e-02 9.97561807e-01 -2.45692946e-04 3.90614969e+00] [ 1.35245103e-02 -6.99886041e-04 9.99908295e-01 2.45670221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.89925415399995 meters Centerline goodness [0,1] 0.9988130934532734 Centerline is valid? [True, True] Translation: X:271.61, Y:3.91, Z:2.46 [[ 9.97435440e-01 -7.02159465e-02 -1.38659518e-02 2.71612963e+02] [ 7.02192266e-02 9.97531552e-01 -2.50753949e-04 3.90534398e+00] [ 1.38493314e-02 -7.23545538e-04 9.99903832e-01 2.45704297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.929254154 meters Centerline goodness [0,1] 0.9990607780931708 Centerline is valid? [True, True] Translation: X:271.64, Y:3.90, Z:2.46 [[ 9.97444390e-01 -7.00918737e-02 -1.38498207e-02 2.71644416e+02] [ 7.00951518e-02 9.97540279e-01 -2.49194656e-04 3.90444956e+00] [ 1.38332206e-02 -7.22247475e-04 9.99904056e-01 2.45786725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.95925415399995 meters Centerline goodness [0,1] 0.9993315089097328 Centerline is valid? [True, True] Translation: X:271.68, Y:3.91, Z:2.46 [[ 9.97579317e-01 -6.83137989e-02 -1.29896944e-02 2.71676191e+02] [ 6.83165409e-02 9.97663669e-01 -2.33032024e-04 3.91126869e+00] [ 1.29752654e-02 -6.54943059e-04 9.99915603e-01 2.46023112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.989254154 meters Centerline goodness [0,1] 0.9991654322017985 Centerline is valid? [True, True] Translation: X:271.71, Y:3.91, Z:2.46 [[ 9.97703279e-01 -6.65152367e-02 -1.28019624e-02 2.71706423e+02] [ 6.65177599e-02 9.97785215e-01 -2.29074962e-04 3.91146761e+00] [ 1.27888458e-02 -6.23009018e-04 9.99918025e-01 2.46084614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.01925415399995 meters Centerline goodness [0,1] 0.9991659368614204 Centerline is valid? [True, True] Translation: X:271.74, Y:3.92, Z:2.46 [[ 9.97998315e-01 -6.20008085e-02 -1.24604467e-02 2.71736805e+02] [ 6.20028498e-02 9.98075948e-01 -2.22793405e-04 3.91677605e+00] [ 1.24502855e-02 -5.50235763e-04 9.99922341e-01 2.46182373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.049254154 meters Centerline goodness [0,1] 0.9991875338527562 Centerline is valid? [True, True] Translation: X:271.77, Y:3.92, Z:2.46 [[ 9.98148812e-01 -5.94064473e-02 -1.30316161e-02 2.71768156e+02] [ 5.94084610e-02 9.98233730e-01 -2.32868481e-04 3.91951851e+00] [ 1.30224326e-02 -5.41750859e-04 9.99915058e-01 2.46221397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07925415399995 meters Centerline goodness [0,1] 0.99918682235196 Centerline is valid? [True, True] Translation: X:271.80, Y:3.92, Z:2.46 [[ 9.98283974e-01 -5.70255451e-02 -1.33114461e-02 2.71799162e+02] [ 5.70274417e-02 9.98372583e-01 -2.37363107e-04 3.92217497e+00] [ 1.33033185e-02 -5.22161928e-04 9.99911371e-01 2.46248223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.109254154 meters Centerline goodness [0,1] 0.9990827791790874 Centerline is valid? [True, True] Translation: X:271.83, Y:3.93, Z:2.46 [[ 9.98509871e-01 -5.27270599e-02 -1.40675383e-02 2.71830177e+02] [ 5.27287597e-02 9.98608840e-01 -2.50302496e-04 3.92670842e+00] [ 1.40611658e-02 -4.91834336e-04 9.99901016e-01 2.46282505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13925415399996 meters Centerline goodness [0,1] 0.9991657455106681 Centerline is valid? [True, True] Translation: X:271.86, Y:3.93, Z:2.46 [[ 9.98600982e-01 -5.06027256e-02 -1.53441641e-02 2.71860262e+02] [ 5.06045049e-02 9.98718734e-01 -2.72530081e-04 3.92778694e+00] [ 1.53382949e-02 -5.04335022e-04 9.99882234e-01 2.46060803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.169254154 meters Centerline goodness [0,1] 0.9993729752325217 Centerline is valid? [True, True] Translation: X:271.89, Y:3.93, Z:2.46 [[ 9.98703621e-01 -4.84411958e-02 -1.56373920e-02 2.71890781e+02] [ 4.84427893e-02 9.98825920e-01 -2.77084583e-04 3.92991227e+00] [ 1.56324548e-02 -4.80793512e-04 9.99877690e-01 2.46217160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19925415399996 meters Centerline goodness [0,1] 0.9991864661340454 Centerline is valid? [True, True] Translation: X:271.92, Y:3.93, Z:2.46 [[ 9.98760623e-01 -4.70419523e-02 -1.62564675e-02 2.71921745e+02] [ 4.70435036e-02 9.98892800e-01 -2.87183190e-04 3.93293245e+00] [ 1.62519780e-02 -4.77933926e-04 9.99867814e-01 2.46167625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.229254154 meters Centerline goodness [0,1] 0.9991864661340454 Centerline is valid? [True, True] Translation: X:271.95, Y:3.93, Z:2.46 [[ 9.98760623e-01 -4.70419507e-02 -1.62564706e-02 2.71951753e+02] [ 4.70435047e-02 9.98892800e-01 -2.87011340e-04 3.93346216e+00] [ 1.62519730e-02 -4.78105725e-04 9.99867814e-01 2.46195738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25925415399996 meters Centerline goodness [0,1] 0.9992694635775412 Centerline is valid? [True, True] Translation: X:271.98, Y:3.94, Z:2.46 [[ 9.98837778e-01 -4.51042323e-02 -1.69912225e-02 2.71981973e+02] [ 4.51056499e-02 9.98982177e-01 -2.99983536e-04 3.93628944e+00] [ 1.69874589e-02 -4.66765243e-04 9.99855594e-01 2.46258651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.289254154 meters Centerline goodness [0,1] 0.9993735905788023 Centerline is valid? [True, True] Translation: X:272.01, Y:3.94, Z:2.46 [[ 9.98859121e-01 -4.45869360e-02 -1.71014831e-02 2.72012324e+02] [ 4.45882963e-02 9.99005402e-01 -3.01930210e-04 3.93844989e+00] [ 1.70979361e-02 -4.60940249e-04 9.99853713e-01 2.46328968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31925415399996 meters Centerline goodness [0,1] 0.999331439077386 Centerline is valid? [True, True] Translation: X:272.04, Y:3.94, Z:2.46 [[ 9.98856710e-01 -4.42895474e-02 -1.79919294e-02 2.72042755e+02] [ 4.42910049e-02 9.99018621e-01 -3.17651224e-04 3.94068663e+00] [ 1.79883412e-02 -4.79592578e-04 9.99838082e-01 2.46337372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.349254154 meters Centerline goodness [0,1] 0.9993523451373655 Centerline is valid? [True, True] Translation: X:272.07, Y:3.94, Z:2.46 [[ 9.98838020e-01 -4.45368833e-02 -1.84139857e-02 2.72072843e+02] [ 4.45384520e-02 9.99007618e-01 -3.25102714e-04 3.94097270e+00] [ 1.84101910e-02 -4.95405466e-04 9.99830395e-01 2.46336764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37925415399997 meters Centerline goodness [0,1] 0.9993949888385872 Centerline is valid? [True, True] Translation: X:272.10, Y:3.94, Z:2.46 [[ 9.98806664e-01 -4.52564599e-02 -1.83603316e-02 2.72103431e+02] [ 4.52581410e-02 9.98975273e-01 -3.24155441e-04 3.94195831e+00] [ 1.83561874e-02 -5.07185863e-04 9.99831382e-01 2.46339568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.409254154 meters Centerline goodness [0,1] 0.9992687003760969 Centerline is valid? [True, True] Translation: X:272.13, Y:3.94, Z:2.46 [[ 9.98654232e-01 -4.82557640e-02 -1.90028084e-02 2.72132666e+02] [ 4.82581038e-02 9.98834843e-01 -3.35675947e-04 3.94068409e+00] [ 1.89968654e-02 -5.81815294e-04 9.99819374e-01 2.46340132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43925415399997 meters Centerline goodness [0,1] 0.9992483086945627 Centerline is valid? [True, True] Translation: X:272.16, Y:3.94, Z:2.46 [[ 9.98562482e-01 -5.03166154e-02 -1.84718065e-02 2.72162844e+02] [ 5.03191753e-02 9.98733135e-01 -3.26463683e-04 3.94070844e+00] [ 1.84648318e-02 -6.03491687e-04 9.99829328e-01 2.46434834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46925415399994 meters Centerline goodness [0,1] 0.9992483714715217 Centerline is valid? [True, True] Translation: X:272.19, Y:3.94, Z:2.46 [[ 9.98419020e-01 -5.32472471e-02 -1.80053096e-02 2.72192707e+02] [ 5.32501524e-02 9.98581153e-01 -3.18376385e-04 3.93927503e+00] [ 1.79967155e-02 -6.40912441e-04 9.99837841e-01 2.46494361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49925415399997 meters Centerline goodness [0,1] 0.9992483714715217 Centerline is valid? [True, True] Translation: X:272.22, Y:3.94, Z:2.47 [[ 9.98419020e-01 -5.32472487e-02 -1.80053066e-02 2.72222721e+02] [ 5.32501510e-02 9.98581153e-01 -3.18546966e-04 3.93980612e+00] [ 1.79967215e-02 -6.40741943e-04 9.99837841e-01 2.46522487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52925415399994 meters Centerline goodness [0,1] 0.9991230451214165 Centerline is valid? [True, True] Translation: X:272.25, Y:3.94, Z:2.47 [[ 9.98234812e-01 -5.67501776e-02 -1.75122277e-02 2.72253407e+02] [ 5.67534611e-02 9.98388175e-01 -3.09823494e-04 3.93853971e+00] [ 1.75015836e-02 -6.84602935e-04 9.99846601e-01 2.46587859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.559254154 meters Centerline goodness [0,1] 0.9989981005656557 Centerline is valid? [True, True] Translation: X:272.28, Y:3.93, Z:2.47 [[ 9.97747387e-01 -6.49204013e-02 -1.68965498e-02 2.72283952e+02] [ 6.49246270e-02 9.97890126e-01 -2.98908844e-04 3.93491615e+00] [ 1.68803055e-02 -7.98766674e-04 9.99857198e-01 2.46669355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.58925415399995 meters Centerline goodness [0,1] 0.9989149033846667 Centerline is valid? [True, True] Translation: X:272.31, Y:3.93, Z:2.47 [[ 9.97445000e-01 -6.93646171e-02 -1.70886244e-02 2.72314316e+02] [ 6.93695903e-02 9.97590983e-01 -3.02278849e-04 3.93095086e+00] [ 1.70684251e-02 -8.83924349e-04 9.99853933e-01 2.46667642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.619254154 meters Centerline goodness [0,1] 0.9989784856571048 Centerline is valid? [True, True] Translation: X:272.34, Y:3.93, Z:2.47 [[ 9.97135034e-01 -7.37384461e-02 -1.68631143e-02 2.72343643e+02] [ 7.37439166e-02 9.97277166e-01 -2.98028433e-04 3.92761208e+00] [ 1.68391750e-02 -9.46377505e-04 9.99857763e-01 2.46702032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.64925415399995 meters Centerline goodness [0,1] 0.998604108504521 Centerline is valid? [True, True] Translation: X:272.37, Y:3.93, Z:2.47 [[ 9.96500783e-01 -8.19350591e-02 -1.65177231e-02 2.72374733e+02] [ 8.19414362e-02 9.96637104e-01 -2.91480566e-04 3.92646203e+00] [ 1.64860582e-02 -1.06302534e-03 9.99863531e-01 2.46803812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.679254154 meters Centerline goodness [0,1] 0.9986879646791761 Centerline is valid? [True, True] Translation: X:272.41, Y:3.93, Z:2.47 [[ 9.96220896e-01 -8.52172917e-02 -1.67910285e-02 2.72406190e+02] [ 8.52243532e-02 9.96361743e-01 -2.95858820e-04 3.92927711e+00] [ 1.67551507e-02 -1.13626380e-03 9.99858977e-01 2.46882010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.70925415399995 meters Centerline goodness [0,1] 0.9987502343310629 Centerline is valid? [True, True] Translation: X:272.44, Y:3.93, Z:2.47 [[ 9.95998516e-01 -8.77282112e-02 -1.70504428e-02 2.72437643e+02] [ 8.77358697e-02 9.96143728e-01 -2.99782258e-04 3.92890500e+00] [ 1.70109910e-02 -1.19735274e-03 9.99854586e-01 2.46897135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.739254154 meters Centerline goodness [0,1] 0.9986258302275708 Centerline is valid? [True, True] Translation: X:272.47, Y:3.93, Z:2.47 [[ 9.95855181e-01 -8.90668684e-02 -1.84269172e-02 2.72468415e+02] [ 8.90760549e-02 9.96024775e-01 -3.23262156e-04 3.92749493e+00] [ 1.83824580e-02 -1.31947479e-03 9.99830158e-01 2.46827621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.76925415399995 meters Centerline goodness [0,1] 0.998563936063936 Centerline is valid? [True, True] Translation: X:272.50, Y:3.93, Z:2.47 [[ 9.95777210e-01 -9.01125259e-02 -1.75351345e-02 2.72499028e+02] [ 9.01210169e-02 9.95930775e-01 -3.06978018e-04 3.92724437e+00] [ 1.74914426e-02 -1.27460244e-03 9.99846201e-01 2.46893567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.799254154 meters Centerline goodness [0,1] 0.9985015296884431 Centerline is valid? [True, True] Translation: X:272.53, Y:3.93, Z:2.47 [[ 9.95845197e-01 -8.91645069e-02 -1.84941734e-02 2.72531412e+02] [ 8.91738091e-02 9.96016028e-01 -3.22720096e-04 3.93180757e+00] [ 1.84492683e-02 -1.32781663e-03 9.99828916e-01 2.46893385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.82925415399995 meters Centerline goodness [0,1] 0.9986471298339091 Centerline is valid? [True, True] Translation: X:272.56, Y:3.94, Z:2.47 [[ 9.96147983e-01 -8.58332007e-02 -1.79403816e-02 2.72562643e+02] [ 8.58414324e-02 9.96308763e-01 -3.12160175e-04 3.93851665e+00] [ 1.79009531e-02 -1.22907032e-03 9.99839010e-01 2.46996451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.859254154 meters Centerline goodness [0,1] 0.9983528626829573 Centerline is valid? [True, True] Translation: X:272.59, Y:3.94, Z:2.47 [[ 9.96344991e-01 -8.29705772e-02 -2.03111343e-02 2.72593419e+02] [ 8.29805505e-02 9.96551104e-01 -3.52739707e-04 3.94176969e+00] [ 2.02703504e-02 -1.33397867e-03 9.99793645e-01 2.46871642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.88925415399996 meters Centerline goodness [0,1] 0.9984164687252574 Centerline is valid? [True, True] Translation: X:272.62, Y:3.95, Z:2.47 [[ 9.96590097e-01 -8.02777119e-02 -1.90700510e-02 2.72623611e+02] [ 8.02860182e-02 9.96771812e-01 -3.30865736e-04 3.94845433e+00] [ 1.90350504e-02 -1.20132095e-03 9.99818095e-01 2.47020366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.919254154 meters Centerline goodness [0,1] 0.9983944284582343 Centerline is valid? [True, True] Translation: X:272.65, Y:3.96, Z:2.47 [[ 9.97106037e-01 -7.29978010e-02 -2.12337639e-02 2.72653014e+02] [ 7.30064494e-02 9.97331401e-01 -3.68643764e-04 3.95692562e+00] [ 2.12040096e-02 -1.18262479e-03 9.99774470e-01 2.46900339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.94925415399996 meters Centerline goodness [0,1] 0.9987700902628671 Centerline is valid? [True, True] Translation: X:272.68, Y:3.96, Z:2.47 [[ 9.97342667e-01 -6.99368162e-02 -2.04070352e-02 2.72682888e+02] [ 6.99441614e-02 9.97550845e-01 -3.54470940e-04 3.96144283e+00] [ 2.03818458e-02 -1.07382397e-03 9.99791692e-01 2.46992753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.979254154 meters Centerline goodness [0,1] 0.9984139902752561 Centerline is valid? [True, True] Translation: X:272.71, Y:3.97, Z:2.47 [[ 9.97568831e-01 -6.65065303e-02 -2.08160569e-02 2.72713210e+02] [ 6.65134280e-02 9.97785465e-01 -3.61575661e-04 3.96774970e+00] [ 2.07940062e-02 -1.02385069e-03 9.99783257e-01 2.47025957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.00925415399996 meters Centerline goodness [0,1] 0.9986017196760998 Centerline is valid? [True, True] Translation: X:272.74, Y:3.97, Z:2.47 [[ 9.97790928e-01 -6.30517737e-02 -2.09222018e-02 2.72744379e+02] [ 6.30579928e-02 9.98009798e-01 -3.63000200e-04 3.97405296e+00] [ 2.09034502e-02 -9.57113743e-04 9.99781041e-01 2.47105897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.039254154 meters Centerline goodness [0,1] 0.9986216402481047 Centerline is valid? [True, True] Translation: X:272.77, Y:3.98, Z:2.47 [[ 9.97971724e-01 -5.98464698e-02 -2.16988073e-02 2.72774489e+02] [ 5.98524158e-02 9.98207166e-01 -3.75893097e-04 3.97796042e+00] [ 2.16824008e-02 -9.23595355e-04 9.99764482e-01 2.47090015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06925415399996 meters Centerline goodness [0,1] 0.998914676907664 Centerline is valid? [True, True] Translation: X:272.80, Y:3.98, Z:2.47 [[ 9.98283686e-01 -5.42427021e-02 -2.20773887e-02 2.72804617e+02] [ 5.42474930e-02 9.98527447e-01 -3.82274516e-04 3.98493557e+00] [ 2.20656142e-02 -8.16024575e-04 9.99756192e-01 2.47048164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.099254154 meters Centerline goodness [0,1] 0.998639455782313 Centerline is valid? [True, True] Translation: X:272.84, Y:3.99, Z:2.47 [[ 9.98415556e-01 -5.17138251e-02 -2.21823984e-02 2.72835727e+02] [ 5.17180486e-02 9.98661653e-01 -3.83627394e-04 3.99104429e+00] [ 2.21725494e-02 -7.64210799e-04 9.99753867e-01 2.47135783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12925415399997 meters Centerline goodness [0,1] 0.9988066825775657 Centerline is valid? [True, True] Translation: X:272.87, Y:4.00, Z:2.47 [[ 9.98651223e-01 -4.68956637e-02 -2.22829781e-02 2.72865814e+02] [ 4.68987350e-02 9.98899575e-01 -3.85025221e-04 3.99830459e+00] [ 2.22765133e-02 -6.60537574e-04 9.99751629e-01 2.47215265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.159254154 meters Centerline goodness [0,1] 0.9986400251072288 Centerline is valid? [True, True] Translation: X:272.90, Y:4.00, Z:2.47 [[ 9.98755772e-01 -4.45190429e-02 -2.24713735e-02 2.72895493e+02] [ 4.45215701e-02 9.99008348e-01 -3.88068176e-04 4.00177125e+00] [ 2.24663661e-02 -6.12875498e-04 9.99747411e-01 2.47218849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18925415399997 meters Centerline goodness [0,1] 0.9986989822683874 Centerline is valid? [True, True] Translation: X:272.93, Y:4.01, Z:2.47 [[ 9.98842675e-01 -4.23498067e-02 -2.27992387e-02 2.72925695e+02] [ 4.23518470e-02 9.99102680e-01 -3.93576291e-04 4.00655352e+00] [ 2.27954484e-02 -5.72469074e-04 9.99739986e-01 2.47322536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21925415399994 meters Centerline goodness [0,1] 0.9990349515377838 Centerline is valid? [True, True] Translation: X:272.96, Y:4.01, Z:2.47 [[ 9.99004682e-01 -3.83442866e-02 -2.27894865e-02 2.72955297e+02] [ 3.83452724e-02 9.99264472e-01 -3.93897481e-04 4.01319336e+00] [ 2.27878279e-02 -4.80363640e-04 9.99740208e-01 2.47430319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24925415399997 meters Centerline goodness [0,1] 0.9991402809813378 Centerline is valid? [True, True] Translation: X:272.98, Y:4.02, Z:2.47 [[ 9.99075580e-01 -3.65583009e-02 -2.26158409e-02 2.72984637e+02] [ 3.65587957e-02 9.99331427e-01 -3.91714917e-04 4.01569665e+00] [ 2.26150409e-02 -4.35455098e-04 9.99744152e-01 2.47448367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27925415399994 meters Centerline goodness [0,1] 0.9990335322295991 Centerline is valid? [True, True] Translation: X:273.01, Y:4.02, Z:2.48 [[ 9.99125844e-01 -3.54183547e-02 -2.22055740e-02 2.73013882e+02] [ 3.54185323e-02 9.99372493e-01 -3.85417256e-04 4.01920057e+00] [ 2.22052906e-02 -4.01408497e-04 9.99753352e-01 2.47571523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.309254154 meters Centerline goodness [0,1] 0.9989713445995592 Centerline is valid? [True, True] Translation: X:273.04, Y:4.02, Z:2.48 [[ 9.99182311e-01 -3.41063470e-02 -2.17132917e-02 2.73042664e+02] [ 3.41061849e-02 9.99418143e-01 -3.77893031e-04 4.02160852e+00] [ 2.17135462e-02 -3.62973509e-04 9.99764167e-01 2.47621380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.33925415399995 meters Centerline goodness [0,1] 0.9988234305403816 Centerline is valid? [True, True] Translation: X:273.07, Y:4.02, Z:2.48 [[ 9.99246584e-01 -3.25141764e-02 -2.11918073e-02 2.73071429e+02] [ 3.25136397e-02 9.99471223e-01 -3.69964897e-04 4.02458547e+00] [ 2.11926306e-02 -3.19336626e-04 9.99775360e-01 2.47683457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.369254154 meters Centerline goodness [0,1] 0.9989291113724172 Centerline is valid? [True, True] Translation: X:273.10, Y:4.03, Z:2.48 [[ 9.99238049e-01 -3.28303359e-02 -2.11066283e-02 2.73100064e+02] [ 3.28298000e-02 9.99460888e-01 -3.71983408e-04 4.02532164e+00] [ 2.11074618e-02 -3.21226410e-04 9.99777161e-01 2.47708547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.39925415399995 meters Centerline goodness [0,1] 0.9988238012224065 Centerline is valid? [True, True] Translation: X:273.13, Y:4.03, Z:2.48 [[ 9.99237283e-01 -3.33071897e-02 -2.03834329e-02 2.73128389e+02] [ 3.33066851e-02 9.99445112e-01 -3.64337561e-04 4.02531221e+00] [ 2.03842575e-02 -3.14844907e-04 9.99792170e-01 2.47707115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.429254154 meters Centerline goodness [0,1] 0.9990966006975083 Centerline is valid? [True, True] Translation: X:273.16, Y:4.02, Z:2.48 [[ 9.99199388e-01 -3.47983469e-02 -1.97397511e-02 2.73156784e+02] [ 3.47981081e-02 9.99394299e-01 -3.55686851e-04 4.02412579e+00] [ 1.97401721e-02 -3.31503909e-04 9.99805089e-01 2.47690120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.45925415399995 meters Centerline goodness [0,1] 0.9986780258519389 Centerline is valid? [True, True] Translation: X:273.19, Y:4.02, Z:2.48 [[ 9.99165949e-01 -3.54984708e-02 -2.01807851e-02 2.73186219e+02] [ 3.54983498e-02 9.99369669e-01 -3.64339757e-04 4.02341022e+00] [ 2.01809980e-02 -3.52348688e-04 9.99796281e-01 2.47642588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.489254154 meters Centerline goodness [0,1] 0.999160034438588 Centerline is valid? [True, True] Translation: X:273.22, Y:4.02, Z:2.48 [[ 9.99133514e-01 -3.69430010e-02 -1.91686396e-02 2.73215813e+02] [ 3.69431479e-02 9.99317309e-01 -3.46568556e-04 4.02338222e+00] [ 1.91683567e-02 -3.61881630e-04 9.99816205e-01 2.47732641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.51925415399995 meters Centerline goodness [0,1] 0.9988261434620384 Centerline is valid? [True, True] Translation: X:273.25, Y:4.02, Z:2.48 [[ 9.99095504e-01 -3.78861985e-02 -1.93083062e-02 2.73246264e+02] [ 3.78865205e-02 9.99281987e-01 -3.49251924e-04 4.02249757e+00] [ 1.93076744e-02 -3.82588511e-04 9.99813516e-01 2.47709713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.549254154 meters Centerline goodness [0,1] 0.998785899690195 Centerline is valid? [True, True] Translation: X:273.28, Y:4.02, Z:2.48 [[ 9.99088368e-01 -3.79249486e-02 -1.95992513e-02 2.73276930e+02] [ 3.79252911e-02 9.99280515e-01 -3.54348796e-04 4.02261217e+00] [ 1.95985886e-02 -3.89281550e-04 9.99807853e-01 2.47660260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57925415399995 meters Centerline goodness [0,1] 0.9989702204568859 Centerline is valid? [True, True] Translation: X:273.31, Y:4.02, Z:2.48 [[ 9.99077328e-01 -3.80734677e-02 -1.98722080e-02 2.73307070e+02] [ 3.80738492e-02 9.99274864e-01 -3.59283774e-04 4.02232178e+00] [ 1.98714771e-02 -3.97659177e-04 9.99802464e-01 2.47656792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.609254154 meters Centerline goodness [0,1] 0.9987382234185733 Centerline is valid? [True, True] Translation: X:273.34, Y:4.02, Z:2.48 [[ 9.99090263e-01 -3.79233034e-02 -1.95056375e-02 2.73336438e+02] [ 3.79236389e-02 9.99280578e-01 -3.52829384e-04 4.02207860e+00] [ 1.95049852e-02 -3.87216353e-04 9.99809685e-01 2.47635643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63925415399996 meters Centerline goodness [0,1] 0.9989910879435009 Centerline is valid? [True, True] Translation: X:273.37, Y:4.02, Z:2.48 [[ 9.99100706e-01 -3.77846260e-02 -1.92379996e-02 2.73365702e+02] [ 3.77849204e-02 9.99285834e-01 -3.48313020e-04 4.02157046e+00] [ 1.92374213e-02 -3.78906497e-04 9.99814872e-01 2.47634080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.669254154 meters Centerline goodness [0,1] 0.998884820940117 Centerline is valid? [True, True] Translation: X:273.40, Y:4.02, Z:2.48 [[ 9.99106179e-01 -3.76396026e-02 -1.92380485e-02 2.73396619e+02] [ 3.76398671e-02 9.99291308e-01 -3.48472474e-04 4.02397048e+00] [ 1.92375311e-02 -3.75956587e-04 9.99814871e-01 2.47762930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69925415399996 meters Centerline goodness [0,1] 0.9988000505241884 Centerline is valid? [True, True] Translation: X:273.43, Y:4.02, Z:2.48 [[ 9.99116622e-01 -3.75210801e-02 -1.89247082e-02 2.73426716e+02] [ 3.75213179e-02 9.99295769e-01 -3.42627614e-04 4.02407714e+00] [ 1.89242366e-02 -3.67755048e-04 9.99820853e-01 2.47782047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.729254154 meters Centerline goodness [0,1] 0.9989924644738776 Centerline is valid? [True, True] Translation: X:273.46, Y:4.03, Z:2.48 [[ 9.99158192e-01 -3.64918740e-02 -1.87416627e-02 2.73458244e+02] [ 3.64919358e-02 9.99333890e-01 -3.38804218e-04 4.02630977e+00] [ 1.87415423e-02 -3.45400543e-04 9.99824302e-01 2.47897015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75925415399996 meters Centerline goodness [0,1] 0.9989482319779549 Centerline is valid? [True, True] Translation: X:273.49, Y:4.03, Z:2.48 [[ 9.99190916e-01 -3.56683133e-02 -1.85818457e-02 2.73488192e+02] [ 3.56682412e-02 9.99363630e-01 -3.35404764e-04 4.02556503e+00] [ 1.85819841e-02 -3.27648362e-04 9.99827286e-01 2.47838102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.789254154 meters Centerline goodness [0,1] 0.9988628466738265 Centerline is valid? [True, True] Translation: X:273.52, Y:4.03, Z:2.48 [[ 9.99236072e-01 -3.45108494e-02 -1.83377438e-02 2.73518578e+02] [ 3.45105874e-02 9.99404278e-01 -3.30829860e-04 4.02712184e+00] [ 1.83382368e-02 -3.02269181e-04 9.99831795e-01 2.47878676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81925415399996 meters Centerline goodness [0,1] 0.9988222923238697 Centerline is valid? [True, True] Translation: X:273.55, Y:4.03, Z:2.48 [[ 9.99320050e-01 -3.19155999e-02 -1.84616179e-02 2.73549157e+02] [ 3.19148916e-02 9.99490535e-01 -3.33064663e-04 4.02893392e+00] [ 1.84628423e-02 -2.56362337e-04 9.99829514e-01 2.47956706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.849254154 meters Centerline goodness [0,1] 0.9987364696963316 Centerline is valid? [True, True] Translation: X:273.58, Y:4.03, Z:2.48 [[ 9.99375896e-01 -3.01511019e-02 -1.84046041e-02 2.73578628e+02] [ 3.01500927e-02 9.99545327e-01 -3.32369244e-04 4.02992890e+00] [ 1.84062573e-02 -2.22738709e-04 9.99830566e-01 2.47951973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87925415399997 meters Centerline goodness [0,1] 0.998886297253567 Centerline is valid? [True, True] Translation: X:273.61, Y:4.03, Z:2.48 [[ 9.99409451e-01 -2.92598906e-02 -1.80168785e-02 2.73608664e+02] [ 2.92587669e-02 9.99571817e-01 -3.26021486e-04 4.03086140e+00] [ 1.80187034e-02 -2.01322695e-04 9.99837630e-01 2.48040482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.909254154 meters Centerline goodness [0,1] 0.9989904513523745 Centerline is valid? [True, True] Translation: X:273.64, Y:4.03, Z:2.48 [[ 9.99452214e-01 -2.79127016e-02 -1.77806761e-02 2.73636891e+02] [ 2.79113798e-02 9.99610350e-01 -3.22543010e-04 4.03130109e+00] [ 1.77827509e-02 -1.73916878e-04 9.99841859e-01 2.48046839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93925415399997 meters Centerline goodness [0,1] 0.9990119823418121 Centerline is valid? [True, True] Translation: X:273.67, Y:4.03, Z:2.48 [[ 9.99477084e-01 -2.69660355e-02 -1.78435393e-02 2.73666371e+02] [ 2.69645388e-02 9.99636338e-01 -3.24508215e-04 4.03215219e+00] [ 1.78458010e-02 -1.56804283e-04 9.99840739e-01 2.48134336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96925415399994 meters Centerline goodness [0,1] 0.9990540455319418 Centerline is valid? [True, True] Translation: X:273.70, Y:4.03, Z:2.48 [[ 9.99497507e-01 -2.60908509e-02 -1.80000056e-02 2.73695442e+02] [ 2.60891396e-02 9.99659566e-01 -3.29923928e-04 4.03094366e+00] [ 1.80024857e-02 -1.39846515e-04 9.99837932e-01 2.48109509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99925415399997 meters Centerline goodness [0,1] 0.9990144271095454 Centerline is valid? [True, True] Translation: X:273.72, Y:4.03, Z:2.48 [[ 9.99485297e-01 -2.67907845e-02 -1.76463728e-02 2.73724364e+02] [ 2.67891697e-02 9.99641052e-01 -3.27930728e-04 4.03029907e+00] [ 1.76488242e-02 -1.44969734e-04 9.99844237e-01 2.48128855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02925415399994 meters Centerline goodness [0,1] 0.9989519138053914 Centerline is valid? [True, True] Translation: X:273.75, Y:4.03, Z:2.48 [[ 9.99432048e-01 -2.86312032e-02 -1.77717718e-02 2.73752943e+02] [ 2.86297748e-02 9.99590028e-01 -3.34840937e-04 4.02720391e+00] [ 1.77740727e-02 -1.74151061e-04 9.99842014e-01 2.48079383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.059254154 meters Centerline goodness [0,1] 0.9990557921903523 Centerline is valid? [True, True] Translation: X:273.78, Y:4.03, Z:2.48 [[ 9.99382865e-01 -3.01891053e-02 -1.79584764e-02 2.73783042e+02] [ 3.01878489e-02 9.99544185e-01 -3.41105164e-04 4.02572129e+00] [ 1.79605883e-02 -2.01233114e-04 9.99838675e-01 2.48092312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.08925415399995 meters Centerline goodness [0,1] 0.9990561288698716 Centerline is valid? [True, True] Translation: X:273.81, Y:4.02, Z:2.48 [[ 9.99326177e-01 -3.18574895e-02 -1.82288617e-02 2.73813076e+02] [ 3.18564600e-02 9.99492394e-01 -3.46920913e-04 4.02366112e+00] [ 1.82306607e-02 -2.34019855e-04 9.99833780e-01 2.48055479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.119254154 meters Centerline goodness [0,1] 0.9990386223039626 Centerline is valid? [True, True] Translation: X:273.84, Y:4.02, Z:2.48 [[ 9.99255917e-01 -3.37465899e-02 -1.86756544e-02 2.73842173e+02] [ 3.37458230e-02 9.99430384e-01 -3.56292913e-04 4.02088401e+00] [ 1.86770402e-02 -2.74197527e-04 9.99825531e-01 2.48023442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.14925415399995 meters Centerline goodness [0,1] 0.9990378581886634 Centerline is valid? [True, True] Translation: X:273.87, Y:4.01, Z:2.48 [[ 9.99087826e-01 -3.80374405e-02 -1.94079692e-02 2.73872184e+02] [ 3.80374039e-02 9.99276247e-01 -3.71168245e-04 4.01466804e+00] [ 1.94080409e-02 -3.67399090e-04 9.99811579e-01 2.47928012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.179254154 meters Centerline goodness [0,1] 0.9988928347608105 Centerline is valid? [True, True] Translation: X:273.90, Y:4.01, Z:2.48 [[ 9.98992729e-01 -4.04103480e-02 -1.95072140e-02 2.73901889e+02] [ 4.04107490e-02 9.99183082e-01 -3.73787471e-04 4.01223738e+00] [ 1.95063831e-02 -4.14890162e-04 9.99809646e-01 2.47914293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.20925415399995 meters Centerline goodness [0,1] 0.9988081298093008 Centerline is valid? [True, True] Translation: X:273.93, Y:4.01, Z:2.48 [[ 9.98887772e-01 -4.29265454e-02 -1.95071830e-02 2.73931112e+02] [ 4.29274175e-02 9.99078123e-01 -3.74221788e-04 4.00857092e+00] [ 1.95052639e-02 -4.63587421e-04 9.99809647e-01 2.47927239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.239254154 meters Centerline goodness [0,1] 0.9989330990335132 Centerline is valid? [True, True] Translation: X:273.96, Y:4.00, Z:2.48 [[ 9.98737567e-01 -4.67489998e-02 -1.83794023e-02 2.73962021e+02] [ 4.67504268e-02 9.98906539e-01 -3.52244534e-04 4.00428938e+00] [ 1.83757722e-02 -5.07445053e-04 9.99831022e-01 2.48065248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.26925415399995 meters Centerline goodness [0,1] 0.9990387428428136 Centerline is valid? [True, True] Translation: X:273.99, Y:4.00, Z:2.48 [[ 9.98683765e-01 -4.80273941e-02 -1.80029835e-02 2.73993538e+02] [ 4.80289841e-02 9.98845883e-01 -3.44289733e-04 4.00238699e+00] [ 1.79987413e-02 -5.20828443e-04 9.99837874e-01 2.48136603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.299254154 meters Centerline goodness [0,1] 0.999162619326746 Centerline is valid? [True, True] Translation: X:274.02, Y:4.00, Z:2.48 [[ 9.98660978e-01 -4.88124400e-02 -1.71346493e-02 2.74024833e+02] [ 4.88140061e-02 9.98807832e-01 -3.27072231e-04 4.00140449e+00] [ 1.71301872e-02 -5.09776604e-04 9.99853138e-01 2.48245239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.32925415399995 meters Centerline goodness [0,1] 0.9990808631530572 Centerline is valid? [True, True] Translation: X:274.06, Y:4.00, Z:2.48 [[ 9.98676069e-01 -4.88959038e-02 -1.59781039e-02 2.74055723e+02] [ 4.88972944e-02 9.98803766e-01 -3.03860186e-04 3.99913869e+00] [ 1.59738478e-02 -4.77828152e-04 9.99872296e-01 2.48299624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.359254154 meters Centerline goodness [0,1] 0.99899797507463 Centerline is valid? [True, True] Translation: X:274.09, Y:4.00, Z:2.48 [[ 9.98751039e-01 -4.75966886e-02 -1.51959789e-02 2.74086666e+02] [ 4.75978159e-02 9.98866540e-01 -2.87681663e-04 3.99774301e+00] [ 1.51924476e-02 -4.35973048e-04 9.99884493e-01 2.48350145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.38925415399996 meters Centerline goodness [0,1] 0.99899797507463 Centerline is valid? [True, True] Translation: X:274.12, Y:4.00, Z:2.48 [[ 9.98754447e-01 -4.75251061e-02 -1.51959931e-02 2.74118361e+02] [ 4.75262366e-02 9.98869949e-01 -2.86929639e-04 3.99828037e+00] [ 1.51924573e-02 -4.35636112e-04 9.99884493e-01 2.48379835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.419254154 meters Centerline goodness [0,1] 0.9989545872710546 Centerline is valid? [True, True] Translation: X:274.15, Y:4.00, Z:2.48 [[ 9.98822750e-01 -4.61247058e-02 -1.50208661e-02 2.74149484e+02] [ 4.61256652e-02 9.98935605e-01 -2.82751569e-04 4.00011881e+00] [ 1.50179198e-02 -4.10428743e-04 9.99887140e-01 2.48441447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.44925415399996 meters Centerline goodness [0,1] 0.9989975984128642 Centerline is valid? [True, True] Translation: X:274.18, Y:4.00, Z:2.48 [[ 9.98888264e-01 -4.47668007e-02 -1.47705721e-02 2.74179891e+02] [ 4.47675865e-02 9.98997390e-01 -2.77603532e-04 3.99866604e+00] [ 1.47681904e-02 -3.83947956e-04 9.99890871e-01 2.48456464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.479254154 meters Centerline goodness [0,1] 0.9991657107101888 Centerline is valid? [True, True] Translation: X:274.21, Y:4.00, Z:2.49 [[ 9.99031582e-01 -4.15855112e-02 -1.43716384e-02 2.74211661e+02] [ 4.15859324e-02 9.99134895e-01 -2.69668487e-04 4.00086725e+00] [ 1.43704197e-02 -3.28250648e-04 9.99896686e-01 2.48540967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.50925415399996 meters Centerline goodness [0,1] 0.9992485911083281 Centerline is valid? [True, True] Translation: X:274.24, Y:4.00, Z:2.49 [[ 9.99078303e-01 -4.03036228e-02 -1.47703409e-02 2.74242518e+02] [ 4.03039382e-02 9.99187428e-01 -2.76434971e-04 4.00085533e+00] [ 1.47694803e-02 -3.19122727e-04 9.99890874e-01 2.48568450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.539254154 meters Centerline goodness [0,1] 0.9991021652433549 Centerline is valid? [True, True] Translation: X:274.27, Y:4.00, Z:2.49 [[ 9.99118264e-01 -3.92538831e-02 -1.48938942e-02 2.74273465e+02] [ 3.92540937e-02 9.99229222e-01 -2.78310838e-04 4.00227125e+00] [ 1.48933391e-02 -3.06580876e-04 9.99889041e-01 2.48600645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56925415399996 meters Centerline goodness [0,1] 0.9992702404036613 Centerline is valid? [True, True] Translation: X:274.30, Y:4.00, Z:2.49 [[ 9.99114255e-01 -3.88123192e-02 -1.62575629e-02 2.74304543e+02] [ 3.88125188e-02 9.99246464e-01 -3.03360325e-04 4.00169482e+00] [ 1.62570864e-02 -3.27905342e-04 9.99867791e-01 2.48575752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.599254154 meters Centerline goodness [0,1] 0.9990597576264104 Centerline is valid? [True, True] Translation: X:274.34, Y:4.00, Z:2.49 [[ 9.99081367e-01 -3.92626947e-02 -1.71715535e-02 2.74335245e+02] [ 3.92629924e-02 9.99228860e-01 -3.19919142e-04 4.00086277e+00] [ 1.71708727e-02 -3.54581323e-04 9.99852507e-01 2.48536388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62925415399997 meters Centerline goodness [0,1] 0.9991015837198612 Centerline is valid? [True, True] Translation: X:274.37, Y:4.00, Z:2.48 [[ 9.98973529e-01 -4.10199730e-02 -1.92158728e-02 2.74365168e+02] [ 4.10206912e-02 9.99158233e-01 -3.56950210e-04 3.99766214e+00] [ 1.92143396e-02 -4.31664572e-04 9.99815294e-01 2.48395161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.659254154 meters Centerline goodness [0,1] 0.9993109208603048 Centerline is valid? [True, True] Translation: X:274.39, Y:4.00, Z:2.48 [[ 9.98915954e-01 -4.22045122e-02 -1.96391331e-02 2.74394919e+02] [ 4.22055008e-02 9.99108884e-01 -3.64327038e-04 3.99685476e+00] [ 1.96370086e-02 -4.64947356e-04 9.99807067e-01 2.48362268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68925415399997 meters Centerline goodness [0,1] 0.9992061668303077 Centerline is valid? [True, True] Translation: X:274.42, Y:4.00, Z:2.48 [[ 9.98847871e-01 -4.35289163e-02 -2.02030480e-02 2.74424756e+02] [ 4.35302225e-02 9.99052040e-01 -3.75312222e-04 3.99522533e+00] [ 2.02002333e-02 -5.04563363e-04 9.99795827e-01 2.48328028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71925415399994 meters Centerline goodness [0,1] 0.9991651186575108 Centerline is valid? [True, True] Translation: X:274.45, Y:3.99, Z:2.48 [[ 9.98769560e-01 -4.49289215e-02 -2.09942158e-02 2.74454247e+02] [ 4.49306293e-02 9.98990033e-01 -3.90577152e-04 3.99418566e+00] [ 2.09905606e-02 -5.53186759e-04 9.99779521e-01 2.48306203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74925415399997 meters Centerline goodness [0,1] 0.9994356305261177 Centerline is valid? [True, True] Translation: X:274.48, Y:3.99, Z:2.48 [[ 9.98654834e-01 -4.71785794e-02 -2.15105536e-02 2.74483699e+02] [ 4.71808773e-02 9.98886282e-01 -4.00945351e-04 3.99413274e+00] [ 2.15055129e-02 -6.14480774e-04 9.99768541e-01 2.48442042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77925415399994 meters Centerline goodness [0,1] 0.9992688836898396 Centerline is valid? [True, True] Translation: X:274.51, Y:3.99, Z:2.48 [[ 9.98633328e-01 -4.77360806e-02 -2.12777583e-02 2.74512218e+02] [ 4.77384350e-02 9.98859792e-01 -3.97569356e-04 3.99217509e+00] [ 2.12724756e-02 -6.18740869e-04 9.99773524e-01 2.48430164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.809254154 meters Centerline goodness [0,1] 0.9991007946465914 Centerline is valid? [True, True] Translation: X:274.54, Y:4.00, Z:2.49 [[ 9.98628530e-01 -4.78091663e-02 -2.13387771e-02 2.74541783e+02] [ 4.78115309e-02 9.98856295e-01 -3.99644106e-04 3.99580865e+00] [ 2.13334785e-02 -6.21143597e-04 9.99772222e-01 2.48639602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.83925415399995 meters Centerline goodness [0,1] 0.9993310057909811 Centerline is valid? [True, True] Translation: X:274.57, Y:4.00, Z:2.49 [[ 9.98649735e-01 -4.71655374e-02 -2.17742853e-02 2.74572423e+02] [ 4.71678392e-02 9.98886895e-01 -4.08148249e-04 3.99805021e+00] [ 2.17692987e-02 -6.19448845e-04 9.99762829e-01 2.48806249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.869254154 meters Centerline goodness [0,1] 0.99904058732741 Centerline is valid? [True, True] Translation: X:274.60, Y:4.00, Z:2.49 [[ 9.98658432e-01 -4.71856627e-02 -2.13271998e-02 2.74602033e+02] [ 4.71878761e-02 9.98885952e-01 -3.99734523e-04 3.99866731e+00] [ 2.13223020e-02 -6.07187008e-04 9.99772469e-01 2.48905220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.89925415399995 meters Centerline goodness [0,1] 0.999041107312599 Centerline is valid? [True, True] Translation: X:274.63, Y:4.00, Z:2.49 [[ 9.98671598e-01 -4.72152574e-02 -2.06339192e-02 2.74631315e+02] [ 4.72173275e-02 9.98884565e-01 -3.87128991e-04 3.99942589e+00] [ 2.06291818e-02 -5.87663794e-04 9.99787023e-01 2.48983530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.929254154 meters Centerline goodness [0,1] 0.9990584986191313 Centerline is valid? [True, True] Translation: X:274.66, Y:4.00, Z:2.49 [[ 9.98697955e-01 -4.69738359e-02 -1.98960693e-02 2.74661177e+02] [ 4.69757022e-02 9.98895962e-01 -3.73809291e-04 3.99763571e+00] [ 1.98916625e-02 -5.61309252e-04 9.99801984e-01 2.48972662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.95925415399995 meters Centerline goodness [0,1] 0.9989340133352842 Centerline is valid? [True, True] Translation: X:274.69, Y:4.00, Z:2.49 [[ 9.98696348e-01 -4.71035696e-02 -1.96687281e-02 2.74691864e+02] [ 4.71054152e-02 9.98889855e-01 -3.69706813e-04 4.00041233e+00] [ 1.96643075e-02 -5.57278763e-04 9.99806484e-01 2.49111730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.989254154 meters Centerline goodness [0,1] 0.99912416065396 Centerline is valid? [True, True] Translation: X:274.72, Y:4.00, Z:2.49 [[ 9.98721098e-01 -4.66862225e-02 -1.94052975e-02 2.74721992e+02] [ 4.66879403e-02 9.98909457e-01 -3.64755192e-04 4.00169992e+00] [ 1.94011643e-02 -5.41704668e-04 9.99811633e-01 2.49182691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.01925415399995 meters Centerline goodness [0,1] 0.9990194237549811 Centerline is valid? [True, True] Translation: X:274.75, Y:4.00, Z:2.49 [[ 9.98723531e-01 -4.66384074e-02 -1.93950583e-02 2.74751144e+02] [ 4.66401109e-02 9.98911691e-01 -3.64743689e-04 4.00132839e+00] [ 1.93909615e-02 -5.40309563e-04 9.99811832e-01 2.49183740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.049254154 meters Centerline goodness [0,1] 0.999227718639115 Centerline is valid? [True, True] Translation: X:274.78, Y:4.00, Z:2.49 [[ 9.98729846e-01 -4.64236902e-02 -1.95840521e-02 2.74781900e+02] [ 4.64253824e-02 9.98921693e-01 -3.68468545e-04 4.00351175e+00] [ 1.95800402e-02 -5.41196576e-04 9.99808146e-01 2.49245870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07925415399995 meters Centerline goodness [0,1] 0.9990615419907822 Centerline is valid? [True, True] Translation: X:274.81, Y:4.01, Z:2.49 [[ 9.98740811e-01 -4.57918072e-02 -2.04915401e-02 2.74812132e+02] [ 4.57935272e-02 9.98950852e-01 -3.85542682e-04 4.00654515e+00] [ 2.04876961e-02 -5.53322688e-04 9.99789952e-01 2.49234526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.109254154 meters Centerline goodness [0,1] 0.9988519423048824 Centerline is valid? [True, True] Translation: X:274.84, Y:4.01, Z:2.49 [[ 9.98743697e-01 -4.50851516e-02 -2.18713649e-02 2.74841943e+02] [ 4.50869424e-02 9.98982982e-01 -4.11479341e-04 4.00612033e+00] [ 2.18676729e-02 -5.75150571e-04 9.99760708e-01 2.49118131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13925415399996 meters Centerline goodness [0,1] 0.9990821860659157 Centerline is valid? [True, True] Translation: X:274.87, Y:4.01, Z:2.49 [[ 9.98763354e-01 -4.46044115e-02 -2.19592597e-02 2.74871705e+02] [ 4.46060909e-02 9.99004567e-01 -4.13580217e-04 4.00873815e+00] [ 2.19558482e-02 -5.66447969e-04 9.99758781e-01 2.49191496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.169254154 meters Centerline goodness [0,1] 0.9991854126198383 Centerline is valid? [True, True] Translation: X:274.90, Y:4.01, Z:2.49 [[ 9.98811013e-01 -4.30610879e-02 -2.28539522e-02 2.74900879e+02] [ 4.30624211e-02 9.99072289e-01 -4.34026769e-04 4.01059430e+00] [ 2.28514400e-02 -5.50635798e-04 9.99738720e-01 2.49182371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19925415399996 meters Centerline goodness [0,1] 0.9991453525941676 Centerline is valid? [True, True] Translation: X:274.93, Y:4.01, Z:2.49 [[ 9.98844435e-01 -4.22349600e-02 -2.29347357e-02 2.74929642e+02] [ 4.22359532e-02 9.99107567e-01 -4.41310665e-04 4.01198242e+00] [ 2.29329067e-02 -5.27869720e-04 9.99736867e-01 2.49176447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.229254154 meters Centerline goodness [0,1] 0.9992495466010715 Centerline is valid? [True, True] Translation: X:274.96, Y:4.01, Z:2.49 [[ 9.98878506e-01 -4.14646672e-02 -2.28563076e-02 2.74958173e+02] [ 4.14653174e-02 9.99139844e-01 -4.45688885e-04 4.01369662e+00] [ 2.28551279e-02 -5.02555000e-04 9.99738661e-01 2.49220482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25925415399996 meters Centerline goodness [0,1] 0.9991856507485749 Centerline is valid? [True, True] Translation: X:274.99, Y:4.01, Z:2.49 [[ 9.98903375e-01 -4.05986139e-02 -2.33195138e-02 2.74986360e+02] [ 4.05989677e-02 9.99175417e-01 -4.58461821e-04 4.01389621e+00] [ 2.33188979e-02 -4.88789128e-04 9.99727958e-01 2.49190018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.289254154 meters Centerline goodness [0,1] 0.9989574428157384 Centerline is valid? [True, True] Translation: X:275.02, Y:4.02, Z:2.49 [[ 9.98978259e-01 -3.88725514e-02 -2.30513010e-02 2.75015313e+02] [ 3.88723396e-02 9.99244080e-01 -4.57447133e-04 4.01560472e+00] [ 2.30516582e-02 -4.39078258e-04 9.99734179e-01 2.49216823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31925415399996 meters Centerline goodness [0,1] 0.9988320193551078 Centerline is valid? [True, True] Translation: X:275.04, Y:4.02, Z:2.49 [[ 9.98983810e-01 -3.80180256e-02 -2.42069481e-02 2.75043695e+02] [ 3.80173844e-02 9.99276959e-01 -4.86863851e-04 4.01755008e+00] [ 2.42079551e-02 -4.33915747e-04 9.99706850e-01 2.49254517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.349254154 meters Centerline goodness [0,1] 0.9992284915968139 Centerline is valid? [True, True] Translation: X:275.07, Y:4.02, Z:2.49 [[ 9.99004356e-01 -3.80742461e-02 -2.32518445e-02 2.75072754e+02] [ 3.80735300e-02 9.99274828e-01 -4.73659928e-04 4.01891125e+00] [ 2.32530171e-02 -4.12091467e-04 9.99729527e-01 2.49332966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37925415399997 meters Centerline goodness [0,1] 0.999353331386374 Centerline is valid? [True, True] Translation: X:275.10, Y:4.02, Z:2.49 [[ 9.99007931e-01 -3.79591568e-02 -2.32864042e-02 2.75100397e+02] [ 3.79582563e-02 9.99279210e-01 -4.80843433e-04 4.01910648e+00] [ 2.32878720e-02 -4.03544896e-04 9.99728719e-01 2.49377624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.409254154 meters Centerline goodness [0,1] 0.9991241971807491 Centerline is valid? [True, True] Translation: X:275.13, Y:4.02, Z:2.49 [[ 9.98989040e-01 -3.84702803e-02 -2.32580157e-02 2.75128037e+02] [ 3.84693626e-02 9.99259661e-01 -4.87045388e-04 4.01905444e+00] [ 2.32595337e-02 -4.08168034e-04 9.99729377e-01 2.49430620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43925415399997 meters Centerline goodness [0,1] 0.9990393049580218 Centerline is valid? [True, True] Translation: X:275.16, Y:4.02, Z:2.49 [[ 9.98951728e-01 -3.91988920e-02 -2.36408851e-02 2.75156898e+02] [ 3.91979966e-02 9.99231337e-01 -5.01454740e-04 4.01900484e+00] [ 2.36423697e-02 -4.25746256e-04 9.99720389e-01 2.49487620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46925415399994 meters Centerline goodness [0,1] 0.998997723998246 Centerline is valid? [True, True] Translation: X:275.18, Y:4.02, Z:2.50 [[ 9.98936906e-01 -3.98936863e-02 -2.30987401e-02 2.75184343e+02] [ 3.98929206e-02 9.99203838e-01 -4.94130553e-04 4.01864570e+00] [ 2.31000625e-02 -4.27870962e-04 9.99733066e-01 2.49538953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49925415399997 meters Centerline goodness [0,1] 0.9990184407827413 Centerline is valid? [True, True] Translation: X:275.21, Y:4.02, Z:2.50 [[ 9.98887887e-01 -4.15657722e-02 -2.22547871e-02 2.75212575e+02] [ 4.15654105e-02 9.99135670e-01 -4.79023606e-04 4.01699085e+00] [ 2.22554627e-02 -4.46538485e-04 9.99752217e-01 2.49662533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52925415399994 meters Centerline goodness [0,1] 0.9989779956199812 Centerline is valid? [True, True] Translation: X:275.24, Y:4.02, Z:2.50 [[ 9.98866776e-01 -4.25075711e-02 -2.14072339e-02 2.75241723e+02] [ 4.25074130e-02 9.99096044e-01 -4.62622801e-04 4.01607299e+00] [ 2.14075477e-02 -4.47867587e-04 9.99770732e-01 2.49727361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.559254154 meters Centerline goodness [0,1] 0.9991247447172091 Centerline is valid? [True, True] Translation: X:275.27, Y:4.01, Z:2.50 [[ 9.98826579e-01 -4.36751496e-02 -2.09271592e-02 2.75271073e+02] [ 4.36752360e-02 9.99045679e-01 -4.53138506e-04 4.01499022e+00] [ 2.09269789e-02 -4.61391833e-04 9.99780900e-01 2.49780162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.58925415399995 meters Centerline goodness [0,1] 0.9990831996332799 Centerline is valid? [True, True] Translation: X:275.30, Y:4.01, Z:2.50 [[ 9.98707633e-01 -4.62831064e-02 -2.09985379e-02 2.75299723e+02] [ 4.62837496e-02 9.98928229e-01 -4.55624731e-04 4.01116759e+00] [ 2.09971200e-02 -5.16855176e-04 9.99779403e-01 2.49743000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.619254154 meters Centerline goodness [0,1] 0.9989149939490047 Centerline is valid? [True, True] Translation: X:275.33, Y:4.01, Z:2.50 [[ 9.98634027e-01 -4.77360898e-02 -2.12448884e-02 2.75329421e+02] [ 4.77370575e-02 9.98859830e-01 -4.61877150e-04 4.01017946e+00] [ 2.12427138e-02 -5.52922221e-04 9.99774195e-01 2.49756211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.64925415399995 meters Centerline goodness [0,1] 0.9990398864561374 Centerline is valid? [True, True] Translation: X:275.36, Y:4.01, Z:2.50 [[ 9.98561274e-01 -4.91796996e-02 -2.13714478e-02 2.75359193e+02] [ 4.91809935e-02 9.98789774e-01 -4.65366353e-04 4.00884952e+00] [ 2.13684701e-02 -5.86372218e-04 9.99771496e-01 2.49779409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.679254154 meters Centerline goodness [0,1] 0.9990184202831962 Centerline is valid? [True, True] Translation: X:275.39, Y:4.01, Z:2.50 [[ 9.98391352e-01 -5.23837057e-02 -2.16946159e-02 2.75388624e+02] [ 5.23857780e-02 9.98626810e-01 -4.73172557e-04 4.00792732e+00] [ 2.16896116e-02 -6.64077941e-04 9.99764532e-01 2.49849145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.70925415399995 meters Centerline goodness [0,1] 0.9987887647488776 Centerline is valid? [True, True] Translation: X:275.42, Y:4.00, Z:2.50 [[ 9.98314537e-01 -5.39912824e-02 -2.12844192e-02 2.75418338e+02] [ 5.39936303e-02 9.98541172e-01 -4.64768685e-04 4.00391328e+00] [ 2.12784624e-02 -6.85237729e-04 9.99773353e-01 2.49780074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.739254154 meters Centerline goodness [0,1] 0.9992274445117241 Centerline is valid? [True, True] Translation: X:275.45, Y:4.00, Z:2.50 [[ 9.98245691e-01 -5.52693057e-02 -2.12330845e-02 2.75448391e+02] [ 5.52719231e-02 9.98471231e-01 -4.64022978e-04 4.00404005e+00] [ 2.12262702e-02 -7.10384476e-04 9.99774445e-01 2.49876096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.76925415399995 meters Centerline goodness [0,1] 0.9991034195162636 Centerline is valid? [True, True] Translation: X:275.48, Y:4.00, Z:2.50 [[ 9.98136497e-01 -5.71758267e-02 -2.13180348e-02 2.75478653e+02] [ 5.71788958e-02 9.98363840e-01 -4.66044584e-04 4.00454264e+00] [ 2.13098016e-02 -7.53765581e-04 9.99772636e-01 2.49999969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.799254154 meters Centerline goodness [0,1] 0.9990828365364572 Centerline is valid? [True, True] Translation: X:275.51, Y:4.00, Z:2.50 [[ 9.98137734e-01 -5.71948944e-02 -2.12086623e-02 2.75509422e+02] [ 5.71979364e-02 9.98362750e-01 -4.63653535e-04 4.00451675e+00] [ 2.12004570e-02 -7.50301627e-04 9.99774964e-01 2.50057625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.82925415399995 meters Centerline goodness [0,1] 0.9991457443483697 Centerline is valid? [True, True] Translation: X:275.54, Y:4.00, Z:2.50 [[ 9.98146429e-01 -5.73467417e-02 -2.03729642e-02 2.75539347e+02] [ 5.73495760e-02 9.98354059e-01 -4.45584379e-04 4.00370796e+00] [ 2.03649844e-02 -7.23622404e-04 9.99792350e-01 2.50063878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.859254154 meters Centerline goodness [0,1] 0.9991455485161721 Centerline is valid? [True, True] Translation: X:275.57, Y:4.01, Z:2.50 [[ 9.98176738e-01 -5.68145616e-02 -2.03790390e-02 2.75569545e+02] [ 5.68172833e-02 9.98384494e-01 -4.45887847e-04 4.00514614e+00] [ 2.03714495e-02 -7.12806758e-04 9.99792226e-01 2.50145700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.88925415399996 meters Centerline goodness [0,1] 0.9991043905690244 Centerline is valid? [True, True] Translation: X:275.60, Y:4.00, Z:2.50 [[ 9.98200903e-01 -5.62794216e-02 -2.06781135e-02 2.75599020e+02] [ 5.62821107e-02 9.98414803e-01 -4.52355229e-04 4.00447101e+00] [ 2.06707930e-02 -7.12266478e-04 9.99786083e-01 2.50133419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.919254154 meters Centerline goodness [0,1] 0.9989777610881629 Centerline is valid? [True, True] Translation: X:275.63, Y:4.01, Z:2.50 [[ 9.98211768e-01 -5.59802512e-02 -2.09637204e-02 2.75629201e+02] [ 5.59829507e-02 9.98431620e-01 -4.58539153e-04 4.00661632e+00] [ 2.09565105e-02 -7.15891747e-04 9.99780132e-01 2.50227764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.94925415399996 meters Centerline goodness [0,1] 0.9989178164866496 Centerline is valid? [True, True] Translation: X:275.66, Y:4.00, Z:2.50 [[ 9.98223270e-01 -5.53842881e-02 -2.19746340e-02 2.75658374e+02] [ 5.53871051e-02 9.98464840e-01 -4.80883757e-04 4.00339995e+00] [ 2.19675328e-02 -7.37082004e-04 9.99758413e-01 2.50100367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.979254154 meters Centerline goodness [0,1] 0.9991653799607728 Centerline is valid? [True, True] Translation: X:275.69, Y:4.01, Z:2.50 [[ 9.98186720e-01 -5.59970475e-02 -2.20817209e-02 2.75688745e+02] [ 5.60000379e-02 9.98430650e-01 -4.83401020e-04 4.00684739e+00] [ 2.20741360e-02 -7.54052731e-04 9.99756052e-01 2.50210259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.00925415399996 meters Centerline goodness [0,1] 0.9990840012490892 Centerline is valid? [True, True] Translation: X:275.72, Y:4.01, Z:2.50 [[ 9.98153749e-01 -5.64608524e-02 -2.23889454e-02 2.75718013e+02] [ 5.64640378e-02 9.98404513e-01 -4.90367380e-04 4.00574356e+00] [ 2.23809107e-02 -7.74708219e-04 9.99749216e-01 2.50207286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.039254154 meters Centerline goodness [0,1] 0.9987906840974958 Centerline is valid? [True, True] Translation: X:275.75, Y:4.01, Z:2.50 [[ 9.98095538e-01 -5.71427766e-02 -2.32379221e-02 2.75748047e+02] [ 5.71463828e-02 9.98365680e-01 -5.09400079e-04 4.00716901e+00] [ 2.32290525e-02 -8.19533248e-04 9.99729833e-01 2.50304216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06925415399996 meters Centerline goodness [0,1] 0.9989358150404808 Centerline is valid? [True, True] Translation: X:275.78, Y:4.01, Z:2.50 [[ 9.98041393e-01 -5.83845461e-02 -2.24637924e-02 2.75777043e+02] [ 5.83882405e-02 9.98293830e-01 -4.91957098e-04 4.00633276e+00] [ 2.24541881e-02 -8.20627767e-04 9.99747536e-01 2.50286790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.099254154 meters Centerline goodness [0,1] 0.9992485126813485 Centerline is valid? [True, True] Translation: X:275.81, Y:4.01, Z:2.50 [[ 9.98004120e-01 -5.90709783e-02 -2.23247700e-02 2.75806870e+02] [ 5.90748076e-02 9.98253439e-01 -4.88508889e-04 4.00582246e+00] [ 2.23146351e-02 -8.31297608e-04 9.99750652e-01 2.50287984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12925415399997 meters Centerline goodness [0,1] 0.999103531668265 Centerline is valid? [True, True] Translation: X:275.84, Y:4.01, Z:2.50 [[ 9.97957657e-01 -5.98277708e-02 -2.23864357e-02 2.75837392e+02] [ 5.98318105e-02 9.98208352e-01 -4.89896282e-04 4.00713081e+00] [ 2.23756365e-02 -8.50525233e-04 9.99749272e-01 2.50338350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.159254154 meters Centerline goodness [0,1] 0.9990407273788918 Centerline is valid? [True, True] Translation: X:275.87, Y:4.00, Z:2.50 [[ 9.97910470e-01 -6.04987720e-02 -2.26846449e-02 2.75866596e+02] [ 6.05030877e-02 9.98167887e-01 -4.96667830e-04 4.00459201e+00] [ 2.26731319e-02 -8.76861035e-04 9.99742547e-01 2.50271633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18925415399997 meters Centerline goodness [0,1] 0.9991845610220168 Centerline is valid? [True, True] Translation: X:275.90, Y:4.01, Z:2.50 [[ 9.97841882e-01 -6.15435935e-02 -2.28902735e-02 2.75896928e+02] [ 6.15482583e-02 9.98103983e-01 -5.01344230e-04 4.00570243e+00] [ 2.28777277e-02 -9.08594196e-04 9.99737858e-01 2.50317423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21925415399994 meters Centerline goodness [0,1] 0.9991032512356364 Centerline is valid? [True, True] Translation: X:275.93, Y:4.01, Z:2.50 [[ 9.97829296e-01 -6.17537229e-02 -2.28729905e-02 2.75927259e+02] [ 6.17584358e-02 9.98091000e-01 -5.00965697e-04 4.00900692e+00] [ 2.28602625e-02 -9.12721868e-04 9.99738253e-01 2.50456500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24925415399997 meters Centerline goodness [0,1] 0.9992073094413617 Centerline is valid? [True, True] Translation: X:275.96, Y:4.01, Z:2.50 [[ 9.97819042e-01 -6.22173096e-02 -2.20491691e-02 2.75956882e+02] [ 6.22217967e-02 9.98062230e-01 -4.83154302e-04 4.00841937e+00] [ 2.20365035e-02 -8.89838357e-04 9.99756771e-01 2.50473247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27925415399994 meters Centerline goodness [0,1] 0.9989756668617777 Centerline is valid? [True, True] Translation: X:275.99, Y:4.01, Z:2.51 [[ 9.97782621e-01 -6.31630840e-02 -2.09825124e-02 2.75986973e+02] [ 6.31673525e-02 9.98002843e-01 -4.59944091e-04 4.01182872e+00] [ 2.09696585e-02 -8.66485536e-04 9.99779737e-01 2.50706325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.309254154 meters Centerline goodness [0,1] 0.9989756668617777 Centerline is valid? [True, True] Translation: X:276.02, Y:4.01, Z:2.51 [[ 9.97784965e-01 -6.31260459e-02 -2.09825218e-02 2.76017836e+02] [ 6.31303154e-02 9.98005186e-01 -4.59512903e-04 4.01247583e+00] [ 2.09696729e-02 -8.66138155e-04 9.99779737e-01 2.50735245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.33925415399995 meters Centerline goodness [0,1] 0.9990593842101962 Centerline is valid? [True, True] Translation: X:276.05, Y:4.01, Z:2.51 [[ 9.97791620e-01 -6.32971297e-02 -2.01334555e-02 2.76049158e+02] [ 6.33011099e-02 9.97994377e-01 -4.40186676e-04 4.01289710e+00] [ 2.01209379e-02 -8.35255503e-04 9.99797205e-01 2.50763151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.369254154 meters Centerline goodness [0,1] 0.9990385419279324 Centerline is valid? [True, True] Translation: X:276.08, Y:4.01, Z:2.51 [[ 9.97768434e-01 -6.37694230e-02 -1.97892027e-02 2.76080627e+02] [ 6.37733752e-02 9.97964313e-01 -4.31936654e-04 4.01327974e+00] [ 1.97764624e-02 -8.31051489e-04 9.99804081e-01 2.50785636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.39925415399995 meters Centerline goodness [0,1] 0.9990403271232763 Centerline is valid? [True, True] Translation: X:276.11, Y:4.01, Z:2.51 [[ 9.97722687e-01 -6.45687180e-02 -1.95018262e-02 2.76111735e+02] [ 6.45727224e-02 9.97912914e-01 -4.24956010e-04 4.01439694e+00] [ 1.94885631e-02 -8.35297760e-04 9.99809731e-01 2.50827303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.429254154 meters Centerline goodness [0,1] 0.9989149713093375 Centerline is valid? [True, True] Translation: X:276.14, Y:4.02, Z:2.51 [[ 9.97719448e-01 -6.47704467e-02 -1.89919151e-02 2.76142879e+02] [ 6.47742937e-02 9.97899855e-01 -4.13161674e-04 4.01619324e+00] [ 1.89787900e-02 -8.17968453e-04 9.99819552e-01 2.50816743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.45925415399995 meters Centerline goodness [0,1] 0.9992271863316415 Centerline is valid? [True, True] Translation: X:276.17, Y:4.02, Z:2.51 [[ 9.97724982e-01 -6.46313636e-02 -1.91741256e-02 2.76174141e+02] [ 6.46352728e-02 9.97908868e-01 -4.16417181e-04 4.01906181e+00] [ 1.91609436e-02 -8.23855013e-04 9.99816073e-01 2.50865593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.489254154 meters Centerline goodness [0,1] 0.998913111635976 Centerline is valid? [True, True] Translation: X:276.21, Y:4.02, Z:2.51 [[ 9.97784154e-01 -6.37947286e-02 -1.88948206e-02 2.76205077e+02] [ 6.37983915e-02 9.97962724e-01 -4.09481192e-04 4.02045777e+00] [ 1.88824493e-02 -7.96885315e-04 9.99821393e-01 2.50784738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.51925415399995 meters Centerline goodness [0,1] 0.9988925108659311 Centerline is valid? [True, True] Translation: X:276.24, Y:4.02, Z:2.51 [[ 9.97851034e-01 -6.28381533e-02 -1.85655667e-02 2.76236770e+02] [ 6.28415432e-02 9.98023436e-01 -4.01324184e-04 4.02468233e+00] [ 1.85540891e-02 -7.66227106e-04 9.99827564e-01 2.50842488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.549254154 meters Centerline goodness [0,1] 0.9989764585465711 Centerline is valid? [True, True] Translation: X:276.27, Y:4.02, Z:2.51 [[ 9.97942767e-01 -6.15842430e-02 -1.78217499e-02 2.76266948e+02] [ 6.15871787e-02 9.98101634e-01 -3.84590008e-04 4.02457557e+00] [ 1.78116023e-02 -7.13792476e-04 9.99841106e-01 2.50803964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57925415399995 meters Centerline goodness [0,1] 0.9989363698930114 Centerline is valid? [True, True] Translation: X:276.30, Y:4.03, Z:2.51 [[ 9.98165424e-01 -5.81381333e-02 -1.69039760e-02 2.76298436e+02] [ 5.81402905e-02 9.98308356e-01 -3.64208485e-04 4.03079594e+00] [ 1.68965549e-02 -6.19261761e-04 9.99857051e-01 2.50844446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.609254154 meters Centerline goodness [0,1] 0.9990186662212386 Centerline is valid? [True, True] Translation: X:276.33, Y:4.04, Z:2.51 [[ 9.98301021e-01 -5.58980564e-02 -1.64462111e-02 2.76329968e+02] [ 5.58998073e-02 9.98436321e-01 -3.53579787e-04 4.03594653e+00] [ 1.64402589e-02 -5.66360970e-04 9.99864689e-01 2.50879003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63925415399996 meters Centerline goodness [0,1] 0.9989986648865153 Centerline is valid? [True, True] Translation: X:276.36, Y:4.04, Z:2.51 [[ 9.98445464e-01 -5.31647325e-02 -1.67381732e-02 2.76360835e+02] [ 5.31661730e-02 9.98585614e-01 -3.59222343e-04 4.03833400e+00] [ 1.67335970e-02 -5.31240695e-04 9.99859842e-01 2.50846891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.669254154 meters Centerline goodness [0,1] 0.9989554826714575 Centerline is valid? [True, True] Translation: X:276.39, Y:4.05, Z:2.51 [[ 9.98710146e-01 -4.78727802e-02 -1.69186681e-02 2.76391775e+02] [ 4.78735040e-02 9.98853341e-01 -3.62455317e-04 4.04569234e+00] [ 1.69166199e-02 -4.47968121e-04 9.99856803e-01 2.50794211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69925415399996 meters Centerline goodness [0,1] 0.9990186252401236 Centerline is valid? [True, True] Translation: X:276.42, Y:4.05, Z:2.51 [[ 9.98799920e-01 -4.60412118e-02 -1.67010708e-02 2.76421859e+02] [ 4.60416694e-02 9.98939456e-01 -3.57304575e-04 4.04797491e+00] [ 1.66998093e-02 -4.12069399e-04 9.99860464e-01 2.50775349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.729254154 meters Centerline goodness [0,1] 0.9989347925978529 Centerline is valid? [True, True] Translation: X:276.45, Y:4.05, Z:2.51 [[ 9.98907724e-01 -4.37411635e-02 -1.64337657e-02 2.76452840e+02] [ 4.37413025e-02 9.99042829e-01 -3.51154972e-04 4.05074495e+00] [ 1.64333957e-02 -3.68062903e-04 9.99864895e-01 2.50763818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75925415399996 meters Centerline goodness [0,1] 0.9989973052578806 Centerline is valid? [True, True] Translation: X:276.48, Y:4.06, Z:2.51 [[ 9.99066258e-01 -3.99496214e-02 -1.64511076e-02 2.76483824e+02] [ 3.99492568e-02 9.99201648e-01 -3.50920308e-04 4.05635109e+00] [ 1.64519929e-02 -3.06616882e-04 9.99864610e-01 2.50774977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.789254154 meters Centerline goodness [0,1] 0.9988108401310162 Centerline is valid? [True, True] Translation: X:276.51, Y:4.06, Z:2.51 [[ 9.99135598e-01 -3.82173588e-02 -1.63551032e-02 2.76514029e+02] [ 3.82167741e-02 9.99269412e-01 -3.48399174e-04 4.05728479e+00] [ 1.63564693e-02 -2.76941269e-04 9.99866186e-01 2.50725876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81925415399996 meters Centerline goodness [0,1] 0.9991649269311065 Centerline is valid? [True, True] Translation: X:276.54, Y:4.06, Z:2.51 [[ 9.99182218e-01 -3.72972063e-02 -1.56145452e-02 2.76544843e+02] [ 3.72965636e-02 9.99304186e-01 -3.32459489e-04 4.06025668e+00] [ 1.56160802e-02 -2.50181268e-04 9.99878030e-01 2.50796962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.849254154 meters Centerline goodness [0,1] 0.999125 Centerline is valid? [True, True] Translation: X:276.58, Y:4.06, Z:2.51 [[ 9.99208753e-01 -3.66653246e-02 -1.54117493e-02 2.76576241e+02] [ 3.66646268e-02 9.99327573e-01 -3.27919951e-04 4.06295983e+00] [ 1.54134093e-02 -2.37405550e-04 9.99881178e-01 2.50874379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87925415399997 meters Centerline goodness [0,1] 0.9992898913951546 Centerline is valid? [True, True] Translation: X:276.61, Y:4.06, Z:2.51 [[ 9.99210684e-01 -3.70506910e-02 -1.43267343e-02 2.76606746e+02] [ 3.70501335e-02 9.99313362e-01 -3.04424371e-04 4.06448800e+00] [ 1.43281761e-02 -2.26623333e-04 9.99897321e-01 2.50932214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.909254154 meters Centerline goodness [0,1] 0.9992477746667224 Centerline is valid? [True, True] Translation: X:276.64, Y:4.06, Z:2.51 [[ 9.99182264e-01 -3.81013387e-02 -1.35311539e-02 2.76637553e+02] [ 3.81009409e-02 9.99273854e-01 -2.87283564e-04 4.06448643e+00] [ 1.35322742e-02 -2.28501055e-04 9.99908408e-01 2.50943116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93925415399997 meters Centerline goodness [0,1] 0.9992468776803832 Centerline is valid? [True, True] Translation: X:276.67, Y:4.06, Z:2.51 [[ 9.99126017e-01 -3.95461089e-02 -1.35391276e-02 2.76669155e+02] [ 3.95458485e-02 9.99217716e-01 -2.87062124e-04 4.06383590e+00] [ 1.35398883e-02 -2.48605051e-04 9.99908301e-01 2.50964448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96925415399994 meters Centerline goodness [0,1] 0.9991004560478641 Centerline is valid? [True, True] Translation: X:276.70, Y:4.06, Z:2.51 [[ 9.98949090e-01 -4.39448039e-02 -1.30218956e-02 2.76701011e+02] [ 4.39449453e-02 9.99033916e-01 -2.75418006e-04 4.06246715e+00] [ 1.30214186e-02 -2.97117924e-04 9.99915174e-01 2.50907935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99925415399997 meters Centerline goodness [0,1] 0.9990641572215868 Centerline is valid? [True, True] Translation: X:276.73, Y:4.06, Z:2.51 [[ 9.98846579e-01 -4.62601700e-02 -1.28649994e-02 2.76732931e+02] [ 4.62605097e-02 9.98929373e-01 -2.71339514e-04 4.06286376e+00] [ 1.28637779e-02 -3.24114882e-04 9.99917206e-01 2.50930682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02925415399994 meters Centerline goodness [0,1] 0.9987894220533906 Centerline is valid? [True, True] Translation: X:276.76, Y:4.06, Z:2.51 [[ 9.98716827e-01 -4.90290951e-02 -1.26825524e-02 2.76764190e+02] [ 4.90296592e-02 9.98797287e-01 -2.66625426e-04 4.06137836e+00] [ 1.26803713e-02 -3.55537923e-04 9.99919538e-01 2.50927103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.059254154 meters Centerline goodness [0,1] 0.9989746808955848 Centerline is valid? [True, True] Translation: X:276.79, Y:4.06, Z:2.51 [[ 9.98392008e-01 -5.53934488e-02 -1.20401325e-02 2.76794037e+02] [ 5.53944275e-02 9.98464518e-01 -2.52441831e-04 4.05729269e+00] [ 1.20356288e-02 -4.14920343e-04 9.99927483e-01 2.50879825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.08925415399995 meters Centerline goodness [0,1] 0.9990402670561235 Centerline is valid? [True, True] Translation: X:276.83, Y:4.06, Z:2.51 [[ 9.98221847e-01 -5.83717093e-02 -1.20784030e-02 2.76826408e+02] [ 5.83729223e-02 9.98294815e-01 -2.52386230e-04 4.05572640e+00] [ 1.20725393e-02 -4.53114231e-04 9.99927022e-01 2.50873821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.119254154 meters Centerline goodness [0,1] 0.9987296959600167 Centerline is valid? [True, True] Translation: X:276.86, Y:4.05, Z:2.51 [[ 9.98025805e-01 -6.16030659e-02 -1.22292336e-02 2.76857935e+02] [ 6.16045612e-02 9.98100603e-01 -2.54752570e-04 4.05454996e+00] [ 1.22216989e-02 -4.99126928e-04 9.99925188e-01 2.50887599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.14925415399995 meters Centerline goodness [0,1] 0.9988724159532262 Centerline is valid? [True, True] Translation: X:276.89, Y:4.06, Z:2.51 [[ 9.97822980e-01 -6.47345071e-02 -1.25994023e-02 2.76889424e+02] [ 6.47363492e-02 9.97902368e-01 -2.61997164e-04 4.05536629e+00] [ 1.25899337e-02 -5.54212518e-04 9.99920590e-01 2.50912108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.179254154 meters Centerline goodness [0,1] 0.9985392320534223 Centerline is valid? [True, True] Translation: X:276.92, Y:4.05, Z:2.51 [[ 9.97450120e-01 -7.02461917e-02 -1.25988569e-02 2.76919367e+02] [ 7.02484761e-02 9.97529490e-01 -2.61687668e-04 4.05024987e+00] [ 1.25861138e-02 -6.24030100e-04 9.99920597e-01 2.50900425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.20925415399995 meters Centerline goodness [0,1] 0.9988529240010011 Centerline is valid? [True, True] Translation: X:276.95, Y:4.05, Z:2.51 [[ 9.97235977e-01 -7.33653407e-02 -1.17444864e-02 2.76949039e+02] [ 7.33675398e-02 9.97304941e-01 -2.44072120e-04 4.04890864e+00] [ 1.17307408e-02 -6.18266578e-04 9.99931001e-01 2.51036929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.239254154 meters Centerline goodness [0,1] 0.9985825655563431 Centerline is valid? [True, True] Translation: X:276.98, Y:4.05, Z:2.51 [[ 9.97078373e-01 -7.55157849e-02 -1.14927661e-02 2.76980738e+02] [ 7.55180345e-02 9.97144408e-01 -2.38722822e-04 4.05179206e+00] [ 1.14779748e-02 -6.29885746e-04 9.99933927e-01 2.51167771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.26925415399995 meters Centerline goodness [0,1] 0.9986432328629874 Centerline is valid? [True, True] Translation: X:277.01, Y:4.05, Z:2.51 [[ 9.96891227e-01 -7.80387572e-02 -1.08551416e-02 2.77011007e+02] [ 7.80409193e-02 9.96950131e-01 -2.24911683e-04 4.05059008e+00] [ 1.08395867e-02 -6.22932747e-04 9.99941056e-01 2.51288219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.299254154 meters Centerline goodness [0,1] 0.9985218803347629 Centerline is valid? [True, True] Translation: X:277.04, Y:4.05, Z:2.51 [[ 9.96813169e-01 -7.90868156e-02 -1.04298328e-02 2.77043424e+02] [ 7.90888743e-02 9.96867546e-01 -2.15563008e-04 4.05430505e+00] [ 1.04142100e-02 -6.10007691e-04 9.99945585e-01 2.51368455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.32925415399995 meters Centerline goodness [0,1] 0.9985188584779706 Centerline is valid? [True, True] Translation: X:277.08, Y:4.06, Z:2.51 [[ 9.96783116e-01 -7.94158693e-02 -1.07953111e-02 2.77076041e+02] [ 7.94181032e-02 9.96841369e-01 -2.22279758e-04 4.05547409e+00] [ 1.07788652e-02 -6.35778419e-04 9.99941704e-01 2.51402421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.359254154 meters Centerline goodness [0,1] 0.9987057988560932 Centerline is valid? [True, True] Translation: X:277.11, Y:4.06, Z:2.51 [[ 9.96764979e-01 -7.94616921e-02 -1.20588815e-02 2.77108514e+02] [ 7.94644947e-02 9.96837666e-01 -2.47311592e-04 4.05745049e+00] [ 1.20403991e-02 -7.11741391e-04 9.99927258e-01 2.51336297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.38925415399996 meters Centerline goodness [0,1] 0.9986636319976614 Centerline is valid? [True, True] Translation: X:277.14, Y:4.06, Z:2.51 [[ 9.96788534e-01 -7.89450784e-02 -1.34273072e-02 2.77139646e+02] [ 7.89485201e-02 9.96878657e-01 -2.74373408e-04 4.05639671e+00] [ 1.34070564e-02 -7.86573763e-04 9.99909812e-01 2.51283047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.419254154 meters Centerline goodness [0,1] 0.9985579033168224 Centerline is valid? [True, True] Translation: X:277.17, Y:4.06, Z:2.51 [[ 9.96816308e-01 -7.84548553e-02 -1.42155969e-02 2.77171617e+02] [ 7.84586763e-02 9.96917325e-01 -2.89570320e-04 4.06105947e+00] [ 1.41944930e-02 -8.26688498e-04 9.99898911e-01 2.51280897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.44925415399996 meters Centerline goodness [0,1] 0.9984770726415488 Centerline is valid? [True, True] Translation: X:277.20, Y:4.06, Z:2.51 [[ 9.96943313e-01 -7.65078062e-02 -1.58299008e-02 2.77202268e+02] [ 7.65123140e-02 9.97068585e-01 -3.21558371e-04 4.05993463e+00] [ 1.58080985e-02 -8.90606874e-04 9.99874648e-01 2.51160235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.479254154 meters Centerline goodness [0,1] 0.9986845127476979 Centerline is valid? [True, True] Translation: X:277.23, Y:4.07, Z:2.51 [[ 9.97034946e-01 -7.50626122e-02 -1.69387345e-02 2.77234132e+02] [ 7.50675786e-02 9.97178390e-01 -3.43333607e-04 4.06903698e+00] [ 1.69167115e-02 -9.29234180e-04 9.99856470e-01 2.51240094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.50925415399996 meters Centerline goodness [0,1] 0.9986708479574672 Centerline is valid? [True, True] Translation: X:277.27, Y:4.07, Z:2.51 [[ 9.97127584e-01 -7.38060219e-02 -1.70074228e-02 2.77265931e+02] [ 7.38108677e-02 9.97272198e-01 -3.43465864e-04 4.07154157e+00] [ 1.69863798e-02 -9.12853349e-04 9.99855304e-01 2.51313488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.539254154 meters Centerline goodness [0,1] 0.9988696544073012 Centerline is valid? [True, True] Translation: X:277.30, Y:4.08, Z:2.51 [[ 9.97384956e-01 -7.02141941e-02 -1.71235938e-02 2.77296653e+02] [ 7.02185930e-02 9.97531569e-01 -3.44955903e-04 4.07840755e+00] [ 1.71055462e-02 -8.58340836e-04 9.99853321e-01 2.51419314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56925415399996 meters Centerline goodness [0,1] 0.9987405805923469 Centerline is valid? [True, True] Translation: X:277.33, Y:4.08, Z:2.52 [[ 9.97541148e-01 -6.80624616e-02 -1.67080648e-02 2.77328315e+02] [ 6.80663584e-02 9.97680740e-01 -3.35988807e-04 4.08291492e+00] [ 1.66921827e-02 -8.02094471e-04 9.99860354e-01 2.51503827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.599254154 meters Centerline goodness [0,1] 0.998930458854123 Centerline is valid? [True, True] Translation: X:277.36, Y:4.09, Z:2.52 [[ 9.97721757e-01 -6.54224906e-02 -1.64679539e-02 2.77359275e+02] [ 6.54259301e-02 9.97857374e-01 -3.30384685e-04 4.08846566e+00] [ 1.64542838e-02 -7.47799214e-04 9.99864339e-01 2.51594578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62925415399997 meters Centerline goodness [0,1] 0.9987408713170486 Centerline is valid? [True, True] Translation: X:277.39, Y:4.09, Z:2.52 [[ 9.98142602e-01 -5.88118367e-02 -1.58906762e-02 2.77388340e+02] [ 5.88142065e-02 9.98268895e-01 -3.18565929e-04 4.09425370e+00] [ 1.58819033e-02 -6.16623288e-04 9.99873684e-01 2.51621414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.659254154 meters Centerline goodness [0,1] 0.9988657368509494 Centerline is valid? [True, True] Translation: X:277.42, Y:4.10, Z:2.52 [[ 9.98350941e-01 -5.51563073e-02 -1.59116609e-02 2.77420033e+02] [ 5.51582246e-02 9.98477575e-01 -3.18667243e-04 4.10131339e+00] [ 1.59050131e-02 -5.59517226e-04 9.99873351e-01 2.51711349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68925415399997 meters Centerline goodness [0,1] 0.9986534820113613 Centerline is valid? [True, True] Translation: X:277.45, Y:4.11, Z:2.52 [[ 9.98552997e-01 -5.12979839e-02 -1.61378181e-02 2.77451195e+02] [ 5.12994677e-02 9.98683263e-01 -3.22272386e-04 4.10567061e+00] [ 1.61331007e-02 -5.06055420e-04 9.99869725e-01 2.51756700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71925415399994 meters Centerline goodness [0,1] 0.9989906424140469 Centerline is valid? [True, True] Translation: X:277.48, Y:4.11, Z:2.52 [[ 9.98929540e-01 -4.34052119e-02 -1.59925809e-02 2.77482142e+02] [ 4.34056654e-02 9.99057479e-01 -3.18909040e-04 4.11471680e+00] [ 1.59913499e-02 -3.75600954e-04 9.99872060e-01 2.51893935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74925415399997 meters Centerline goodness [0,1] 0.9989048250879299 Centerline is valid? [True, True] Translation: X:277.51, Y:4.12, Z:2.52 [[ 9.99069758e-01 -4.01618051e-02 -1.57050503e-02 2.77513086e+02] [ 4.01618482e-02 9.99193139e-01 -3.12773492e-04 4.11865017e+00] [ 1.57049401e-02 -3.18261310e-04 9.99876619e-01 2.51962090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77925415399994 meters Centerline goodness [0,1] 0.9989258861439313 Centerline is valid? [True, True] Translation: X:277.54, Y:4.12, Z:2.52 [[ 9.99177085e-01 -3.73216955e-02 -1.58821558e-02 2.77544680e+02] [ 3.73213902e-02 9.99303264e-01 -3.15716378e-04 4.12226982e+00] [ 1.58828732e-02 -2.77287564e-04 9.99873821e-01 2.52038181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.809254154 meters Centerline goodness [0,1] 0.9988649262202043 Centerline is valid? [True, True] Translation: X:277.58, Y:4.13, Z:2.52 [[ 9.99297807e-01 -3.35884497e-02 -1.66044594e-02 2.77575331e+02] [ 3.35876089e-02 9.99435723e-01 -3.29587530e-04 4.12593671e+00] [ 1.66061602e-02 -2.28347991e-04 9.99862082e-01 2.52039055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.83925415399995 meters Centerline goodness [0,1] 0.9988414223120997 Centerline is valid? [True, True] Translation: X:277.61, Y:4.13, Z:2.52 [[ 9.99313813e-01 -3.29337776e-02 -1.69490538e-02 2.77607042e+02] [ 3.29328150e-02 9.99457511e-01 -3.35974609e-04 4.12800911e+00] [ 1.69509240e-02 -2.22435985e-04 9.99856298e-01 2.52056338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.869254154 meters Centerline goodness [0,1] 0.998840689684246 Centerline is valid? [True, True] Translation: X:277.64, Y:4.13, Z:2.52 [[ 9.99324269e-01 -3.24756944e-02 -1.72143892e-02 2.77638486e+02] [ 3.24746446e-02 9.99472502e-01 -3.40590086e-04 4.12883807e+00] [ 1.72163695e-02 -2.18671233e-04 9.99851763e-01 2.52075988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.89925415399995 meters Centerline goodness [0,1] 0.9988403474740659 Centerline is valid? [True, True] Translation: X:277.67, Y:4.13, Z:2.52 [[ 9.99280096e-01 -3.35527190e-02 -1.77060837e-02 2.77668515e+02] [ 3.35517865e-02 9.99436919e-01 -3.49805203e-04 4.12800437e+00] [ 1.77078507e-02 -2.44517364e-04 9.99843174e-01 2.52019744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.929254154 meters Centerline goodness [0,1] 0.999198971310525 Centerline is valid? [True, True] Translation: X:277.70, Y:4.13, Z:2.52 [[ 9.99240430e-01 -3.46512814e-02 -1.78283941e-02 2.77699975e+02] [ 3.46505194e-02 9.99399429e-01 -3.51735164e-04 4.12781490e+00] [ 1.78298750e-02 -2.66295120e-04 9.99841000e-01 2.52043977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.95925415399995 meters Centerline goodness [0,1] 0.9988431525145658 Centerline is valid? [True, True] Translation: X:277.73, Y:4.13, Z:2.52 [[ 9.99193082e-01 -3.59545785e-02 -1.79012267e-02 2.77731316e+02] [ 3.59540313e-02 9.99353383e-01 -3.52511404e-04 4.12700990e+00] [ 1.79023258e-02 -2.91394307e-04 9.99839698e-01 2.52067365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.989254154 meters Centerline goodness [0,1] 0.9986961093585699 Centerline is valid? [True, True] Translation: X:277.76, Y:4.13, Z:2.52 [[ 9.99133336e-01 -3.74898837e-02 -1.80855113e-02 2.77762126e+02] [ 3.74895857e-02 9.99296955e-01 -3.55633266e-04 4.12580801e+00] [ 1.80861290e-02 -3.22693274e-04 9.99836381e-01 2.52066768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.01925415399995 meters Centerline goodness [0,1] 0.9988435417060914 Centerline is valid? [True, True] Translation: X:277.79, Y:4.12, Z:2.52 [[ 9.99019781e-01 -4.01919170e-02 -1.85496020e-02 2.77793372e+02] [ 4.01920786e-02 9.99191906e-01 -3.64244537e-04 4.12386798e+00] [ 1.85492518e-02 -3.81659563e-04 9.99827875e-01 2.52083815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.049254154 meters Centerline goodness [0,1] 0.9988437118950511 Centerline is valid? [True, True] Translation: X:277.83, Y:4.12, Z:2.52 [[ 9.98956973e-01 -4.18073857e-02 -1.83605132e-02 2.77825046e+02] [ 4.18078291e-02 9.99125606e-01 -3.59858906e-04 4.12249165e+00] [ 1.83595036e-02 -4.08129633e-04 9.99831367e-01 2.52093443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07925415399995 meters Centerline goodness [0,1] 0.9986336500462457 Centerline is valid? [True, True] Translation: X:277.86, Y:4.12, Z:2.52 [[ 9.98891137e-01 -4.33073856e-02 -1.84653001e-02 2.77856451e+02] [ 4.33081027e-02 9.99061699e-01 -3.61232012e-04 4.12143326e+00] [ 1.84636181e-02 -4.38865658e-04 9.99829437e-01 2.52115071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.109254154 meters Centerline goodness [0,1] 0.9988447319778189 Centerline is valid? [True, True] Translation: X:277.89, Y:4.12, Z:2.52 [[ 9.98731208e-01 -4.66870181e-02 -1.88758208e-02 2.77887741e+02] [ 4.66883838e-02 9.98909435e-01 -3.68560473e-04 4.11785590e+00] [ 1.88724425e-02 -5.13188722e-04 9.99821768e-01 2.52105906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13925415399996 meters Centerline goodness [0,1] 0.9986990914622632 Centerline is valid? [True, True] Translation: X:277.92, Y:4.12, Z:2.52 [[ 9.98661994e-01 -4.82374746e-02 -1.86377810e-02 2.77920400e+02] [ 4.82390949e-02 9.98835751e-01 -3.62889950e-04 4.11589791e+00] [ 1.86335869e-02 -5.36665285e-04 9.99826236e-01 2.52098771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.169254154 meters Centerline goodness [0,1] 0.9987626098445922 Centerline is valid? [True, True] Translation: X:277.95, Y:4.11, Z:2.52 [[ 9.98570631e-01 -4.99767118e-02 -1.89479188e-02 2.77951220e+02] [ 4.99787192e-02 9.98750215e-01 -3.67876813e-04 4.11282301e+00] [ 1.89426232e-02 -5.79641730e-04 9.99820404e-01 2.52072292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19925415399996 meters Centerline goodness [0,1] 0.9987626098445922 Centerline is valid? [True, True] Translation: X:277.98, Y:4.11, Z:2.52 [[ 9.98574218e-01 -4.99049714e-02 -1.89479387e-02 2.77982920e+02] [ 4.99069854e-02 9.98753803e-01 -3.66845393e-04 4.11337638e+00] [ 1.89426333e-02 -5.79312151e-04 9.99820404e-01 2.52101985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.229254154 meters Centerline goodness [0,1] 0.9986978893205922 Centerline is valid? [True, True] Translation: X:278.01, Y:4.11, Z:2.52 [[ 9.98386302e-01 -5.33689681e-02 -1.94047634e-02 2.78014070e+02] [ 5.33717544e-02 9.98574642e-01 -3.74634633e-04 4.11070496e+00] [ 1.93970985e-02 -6.61636181e-04 9.99811640e-01 2.52162985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25925415399996 meters Centerline goodness [0,1] 0.9987838886209717 Centerline is valid? [True, True] Translation: X:278.05, Y:4.11, Z:2.52 [[ 9.98300335e-01 -5.48898348e-02 -1.95843497e-02 2.78045909e+02] [ 5.48929869e-02 9.98492172e-01 -3.76992560e-04 4.11044277e+00] [ 1.95755129e-02 -6.98691653e-04 9.99808137e-01 2.52206430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.289254154 meters Centerline goodness [0,1] 0.9988688493684409 Centerline is valid? [True, True] Translation: X:278.08, Y:4.11, Z:2.52 [[ 9.98228318e-01 -5.60647717e-02 -1.99239958e-02 2.78077676e+02] [ 5.60683059e-02 9.98426862e-01 -3.81619734e-04 4.10871505e+00] [ 1.99140480e-02 -7.36161064e-04 9.99801425e-01 2.52166392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31925415399996 meters Centerline goodness [0,1] 0.9986397405043423 Centerline is valid? [True, True] Translation: X:278.11, Y:4.10, Z:2.52 [[ 9.98139028e-01 -5.75425942e-02 -2.01824383e-02 2.78108444e+02] [ 5.75465522e-02 9.98342750e-01 -3.85090896e-04 4.10275025e+00] [ 2.01711500e-02 -7.77055483e-04 9.99796240e-01 2.52051739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.349254154 meters Centerline goodness [0,1] 0.9987232884740158 Centerline is valid? [True, True] Translation: X:278.14, Y:4.10, Z:2.52 [[ 9.97983003e-01 -6.01101617e-02 -2.04131017e-02 2.78139487e+02] [ 6.01147664e-02 9.98191396e-01 -3.88530860e-04 4.10310378e+00] [ 2.03995372e-02 -8.39381649e-04 9.99791555e-01 2.52143243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37925415399997 meters Centerline goodness [0,1] 0.9990574139628412 Centerline is valid? [True, True] Translation: X:278.17, Y:4.10, Z:2.52 [[ 9.97900083e-01 -6.13491547e-02 -2.07775410e-02 2.78171084e+02] [ 6.13542172e-02 9.98115978e-01 -3.94322925e-04 4.10108594e+00] [ 2.07625871e-02 -8.81294886e-04 9.99784046e-01 2.52138093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.409254154 meters Centerline goodness [0,1] 0.9987864331596678 Centerline is valid? [True, True] Translation: X:278.20, Y:4.10, Z:2.52 [[ 9.97740271e-01 -6.39724573e-02 -2.05396359e-02 2.78202763e+02] [ 6.39779818e-02 9.97951235e-01 -3.88701597e-04 4.10086420e+00] [ 2.05224212e-02 -9.26261214e-04 9.99788964e-01 2.52183489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43925415399997 meters Centerline goodness [0,1] 0.9986414179416436 Centerline is valid? [True, True] Translation: X:278.23, Y:4.10, Z:2.52 [[ 9.97681652e-01 -6.49959294e-02 -2.01705555e-02 2.78234445e+02] [ 6.50014879e-02 9.97885094e-01 -3.80620579e-04 4.09947098e+00] [ 2.01526355e-02 -9.31377950e-04 9.99796481e-01 2.52166775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46925415399994 meters Centerline goodness [0,1] 0.9983929205017428 Centerline is valid? [True, True] Translation: X:278.27, Y:4.10, Z:2.52 [[ 9.97613384e-01 -6.60248494e-02 -2.02053113e-02 2.78265869e+02] [ 6.60306712e-02 9.97817522e-01 -3.79612712e-04 4.09544295e+00] [ 2.01862775e-02 -9.55463543e-04 9.99795780e-01 2.52118990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49925415399997 meters Centerline goodness [0,1] 0.9987293784369272 Centerline is valid? [True, True] Translation: X:278.30, Y:4.10, Z:2.52 [[ 9.97520732e-01 -6.75134572e-02 -1.98575523e-02 2.78297736e+02] [ 6.75194088e-02 9.97717892e-01 -3.71350149e-04 4.09629385e+00] [ 1.98373063e-02 -9.70340718e-04 9.99802750e-01 2.52224817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52925415399994 meters Centerline goodness [0,1] 0.9987277619037688 Centerline is valid? [True, True] Translation: X:278.33, Y:4.10, Z:2.52 [[ 9.97490825e-01 -6.80466479e-02 -1.95373319e-02 2.78330356e+02] [ 6.80525382e-02 9.97681672e-01 -3.63966395e-04 4.09582728e+00] [ 1.95168046e-02 -9.66511883e-04 9.99809062e-01 2.52249990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.559254154 meters Centerline goodness [0,1] 0.9986210642876543 Centerline is valid? [True, True] Translation: X:278.36, Y:4.10, Z:2.52 [[ 9.97470447e-01 -6.84012607e-02 -1.93384299e-02 2.78362513e+02] [ 6.84071249e-02 9.97657424e-01 -3.58881080e-04 4.09652086e+00] [ 1.93176761e-02 -9.64913116e-04 9.99812931e-01 2.52318593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.58925415399995 meters Centerline goodness [0,1] 0.9983907709670004 Centerline is valid? [True, True] Translation: X:278.39, Y:4.10, Z:2.52 [[ 9.97463266e-01 -6.85672204e-02 -1.91198868e-02 2.78393906e+02] [ 6.85730058e-02 9.97646038e-01 -3.53640583e-04 4.09592550e+00] [ 1.90991275e-02 -9.58364619e-04 9.99817136e-01 2.52285810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.619254154 meters Centerline goodness [0,1] 0.9985558508968375 Centerline is valid? [True, True] Translation: X:278.43, Y:4.10, Z:2.52 [[ 9.97461639e-01 -6.86204318e-02 -1.90135269e-02 2.78426067e+02] [ 6.86261855e-02 9.97642383e-01 -3.50465512e-04 4.10027425e+00] [ 1.89927494e-02 -9.55249921e-04 9.99819165e-01 2.52383582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.64925415399995 meters Centerline goodness [0,1] 0.9983915441176471 Centerline is valid? [True, True] Translation: X:278.46, Y:4.10, Z:2.52 [[ 9.97458940e-01 -6.86431930e-02 -1.90728741e-02 2.78457865e+02] [ 6.86490136e-02 9.97640812e-01 -3.50155116e-04 4.10090398e+00] [ 1.90519134e-02 -9.60068645e-04 9.99818035e-01 2.52412619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.679254154 meters Centerline goodness [0,1] 0.9985159173094208 Centerline is valid? [True, True] Translation: X:278.49, Y:4.10, Z:2.52 [[ 9.97458521e-01 -6.86548289e-02 -1.90529102e-02 2.78489602e+02] [ 6.86606661e-02 9.97640011e-01 -3.48387164e-04 4.10230701e+00] [ 1.90318640e-02 -9.60683757e-04 9.99818416e-01 2.52439001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.70925415399995 meters Centerline goodness [0,1] 0.9984736335884247 Centerline is valid? [True, True] Translation: X:278.52, Y:4.10, Z:2.52 [[ 9.97464565e-01 -6.84964073e-02 -1.93050164e-02 2.78520459e+02] [ 6.85023946e-02 9.97650890e-01 -3.51749946e-04 4.09953205e+00] [ 1.92837604e-02 -9.71581743e-04 9.99813579e-01 2.52384977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.739254154 meters Centerline goodness [0,1] 0.9985122165877374 Centerline is valid? [True, True] Translation: X:278.55, Y:4.10, Z:2.52 [[ 9.97502457e-01 -6.80227860e-02 -1.90196886e-02 2.78551917e+02] [ 6.80285310e-02 9.97683316e-01 -3.45535600e-04 4.09878046e+00] [ 1.89991303e-02 -9.49208862e-04 9.99819050e-01 2.52397403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.76925415399995 meters Centerline goodness [0,1] 0.9987018153646433 Centerline is valid? [True, True] Translation: X:278.58, Y:4.10, Z:2.52 [[ 9.97572437e-01 -6.71356568e-02 -1.84942283e-02 2.78584079e+02] [ 6.71409570e-02 9.97743444e-01 -3.34879005e-04 4.10083137e+00] [ 1.84749774e-02 -9.07654121e-04 9.99828911e-01 2.52457767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.799254154 meters Centerline goodness [0,1] 0.998384829987624 Centerline is valid? [True, True] Translation: X:278.62, Y:4.11, Z:2.53 [[ 9.97785992e-01 -6.41442113e-02 -1.75679911e-02 2.78615432e+02] [ 6.41485471e-02 9.97940310e-01 -3.17192953e-04 4.10892143e+00] [ 1.75521526e-02 -8.10470420e-04 9.99845621e-01 2.52641129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.82925415399995 meters Centerline goodness [0,1] 0.9986169031203503 Centerline is valid? [True, True] Translation: X:278.65, Y:4.11, Z:2.53 [[ 9.97939360e-01 -6.19355240e-02 -1.67637939e-02 2.78646673e+02] [ 6.19391708e-02 9.98079881e-01 -3.02078156e-04 4.11127452e+00] [ 1.67503147e-02 -7.36879810e-04 9.99859432e-01 2.52697858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.859254154 meters Centerline goodness [0,1] 0.9984273432585448 Centerline is valid? [True, True] Translation: X:278.68, Y:4.11, Z:2.53 [[ 9.98127119e-01 -5.88423358e-02 -1.67282165e-02 2.78677782e+02] [ 5.88455436e-02 9.98267054e-01 -3.00831610e-04 4.11401779e+00] [ 1.67169291e-02 -6.84112806e-04 9.99860028e-01 2.52752619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.88925415399996 meters Centerline goodness [0,1] 0.9986979713553699 Centerline is valid? [True, True] Translation: X:278.71, Y:4.12, Z:2.53 [[ 9.98555702e-01 -5.12903103e-02 -1.59942052e-02 2.78708612e+02] [ 5.12922802e-02 9.98683643e-01 -2.87297400e-04 4.12140893e+00] [ 1.59878867e-02 -5.33496797e-04 9.99872043e-01 2.52847982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.919254154 meters Centerline goodness [0,1] 0.9986158008431031 Centerline is valid? [True, True] Translation: X:278.74, Y:4.13, Z:2.53 [[ 9.98767538e-01 -4.72408903e-02 -1.52218132e-02 2.78739663e+02] [ 4.72422081e-02 9.98883426e-01 -2.73194855e-04 4.12596009e+00] [ 1.52177229e-02 -4.46253914e-04 9.99884104e-01 2.52881910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.94925415399996 meters Centerline goodness [0,1] 0.9986142314233523 Centerline is valid? [True, True] Translation: X:278.77, Y:4.13, Z:2.53 [[ 9.98942924e-01 -4.34349957e-02 -1.50478119e-02 2.78769762e+02] [ 4.34358586e-02 9.99056181e-01 -2.69632216e-04 4.12849212e+00] [ 1.50453209e-02 -3.84267435e-04 9.99886739e-01 2.52903317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.979254154 meters Centerline goodness [0,1] 0.9984673846864437 Centerline is valid? [True, True] Translation: X:278.80, Y:4.14, Z:2.53 [[ 9.99234707e-01 -3.64105113e-02 -1.42924602e-02 2.78800728e+02] [ 3.64105762e-02 9.99336882e-01 -2.55754225e-04 4.13635326e+00] [ 1.42922948e-02 -2.64838215e-04 9.99897825e-01 2.53012963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.00925415399996 meters Centerline goodness [0,1] 0.9986994189339431 Centerline is valid? [True, True] Translation: X:278.83, Y:4.14, Z:2.53 [[ 9.99344614e-01 -3.35527199e-02 -1.35852230e-02 2.78830986e+02] [ 3.35525202e-02 9.99436926e-01 -2.42689747e-04 4.13627995e+00] [ 1.35857165e-02 -2.13287778e-04 9.99907687e-01 2.52973913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.039254154 meters Centerline goodness [0,1] 0.9989507701347211 Centerline is valid? [True, True] Translation: X:278.86, Y:4.14, Z:2.53 [[ 9.99419832e-01 -3.12197548e-02 -1.36134362e-02 2.78862792e+02] [ 3.12193434e-02 9.99512528e-01 -2.42786164e-04 4.14058090e+00] [ 1.36143798e-02 -1.82357234e-04 9.99907303e-01 2.53058722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06925415399996 meters Centerline goodness [0,1] 0.9989461259590253 Centerline is valid? [True, True] Translation: X:278.89, Y:4.14, Z:2.53 [[ 9.99511717e-01 -2.80594694e-02 -1.37475269e-02 2.78893148e+02] [ 2.80587592e-02 9.99606246e-01 -2.44573107e-04 4.14247000e+00] [ 1.37489763e-02 -1.41284860e-04 9.99905468e-01 2.53048033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.099254154 meters Centerline goodness [0,1] 0.9988621997471555 Centerline is valid? [True, True] Translation: X:278.92, Y:4.14, Z:2.53 [[ 9.99551456e-01 -2.65608274e-02 -1.38350428e-02 2.78924225e+02] [ 2.65599692e-02 9.99647192e-01 -2.45796144e-04 4.14349540e+00] [ 1.38366903e-02 -1.21772419e-04 9.99904261e-01 2.53043617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12925415399997 meters Centerline goodness [0,1] 0.9988829641494721 Centerline is valid? [True, True] Translation: X:278.96, Y:4.14, Z:2.53 [[ 9.99558844e-01 -2.61558143e-02 -1.40709268e-02 2.78955697e+02] [ 2.61548937e-02 9.99657871e-01 -2.49472789e-04 4.14421787e+00] [ 1.40726379e-02 -1.18660862e-04 9.99900968e-01 2.53081934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.159254154 meters Centerline goodness [0,1] 0.9989472132735351 Centerline is valid? [True, True] Translation: X:278.99, Y:4.14, Z:2.53 [[ 9.99567008e-01 -2.59699473e-02 -1.38332223e-02 2.78986453e+02] [ 2.59690455e-02 9.99662717e-01 -2.44843867e-04 4.14367674e+00] [ 1.38349151e-02 -1.14497726e-04 9.99904286e-01 2.53068942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18925415399997 meters Centerline goodness [0,1] 0.9990100469701119 Centerline is valid? [True, True] Translation: X:279.02, Y:4.14, Z:2.53 [[ 9.99527740e-01 -2.69423291e-02 -1.47786160e-02 2.79017315e+02] [ 2.69414103e-02 9.99636980e-01 -2.61298238e-04 4.14218614e+00] [ 1.47802910e-02 -1.36981918e-04 9.99890756e-01 2.53044530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21925415399994 meters Centerline goodness [0,1] 0.9990128746350787 Centerline is valid? [True, True] Translation: X:279.05, Y:4.14, Z:2.53 [[ 9.99489181e-01 -2.80302045e-02 -1.53520107e-02 2.79047873e+02] [ 2.80293439e-02 9.99607064e-01 -2.71258862e-04 4.14116245e+00] [ 1.53535818e-02 -1.59186491e-04 9.99882114e-01 2.53037760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24925415399997 meters Centerline goodness [0,1] 0.998948298346725 Centerline is valid? [True, True] Translation: X:279.08, Y:4.14, Z:2.53 [[ 9.99439160e-01 -2.95843143e-02 -1.56886275e-02 2.79078795e+02] [ 2.95836070e-02 9.99562271e-01 -2.77206636e-04 4.13970091e+00] [ 1.56899611e-02 -1.87075024e-04 9.99876887e-01 2.53013568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27925415399994 meters Centerline goodness [0,1] 0.9990554552705596 Centerline is valid? [True, True] Translation: X:279.11, Y:4.14, Z:2.53 [[ 9.99321192e-01 -3.30879478e-02 -1.61970297e-02 2.79109287e+02] [ 3.30876540e-02 9.99452413e-01 -2.86189732e-04 4.13556911e+00] [ 1.61976298e-02 -2.49926250e-04 9.99868779e-01 2.52990102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.309254154 meters Centerline goodness [0,1] 0.9990548005629187 Centerline is valid? [True, True] Translation: X:279.14, Y:4.13, Z:2.53 [[ 9.99254983e-01 -3.49817575e-02 -1.63020095e-02 2.79140120e+02] [ 3.49817138e-02 9.99387911e-01 -2.87919413e-04 4.13290953e+00] [ 1.63021031e-02 -2.82567323e-04 9.99867072e-01 2.52969138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.33925415399995 meters Centerline goodness [0,1] 0.9990766970936943 Centerline is valid? [True, True] Translation: X:279.17, Y:4.13, Z:2.53 [[ 9.99169024e-01 -3.74224579e-02 -1.61499327e-02 2.79171802e+02] [ 3.74227404e-02 9.99299483e-01 -2.84819680e-04 4.13096199e+00] [ 1.61492781e-02 -3.19791739e-04 9.99869541e-01 2.53014237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.369254154 meters Centerline goodness [0,1] 0.998952067570683 Centerline is valid? [True, True] Translation: X:279.20, Y:4.13, Z:2.53 [[ 9.99078157e-01 -3.97908949e-02 -1.61096720e-02 2.79202485e+02] [ 3.97915029e-02 9.99207964e-01 -2.82917993e-04 4.12821057e+00] [ 1.61081701e-02 -3.58370872e-04 9.99870191e-01 2.53057356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.39925415399995 meters Centerline goodness [0,1] 0.9989516940623951 Centerline is valid? [True, True] Translation: X:279.23, Y:4.12, Z:2.53 [[ 9.98855896e-01 -4.51107198e-02 -1.58720358e-02 2.79233477e+02] [ 4.51120013e-02 9.98981897e-01 -2.77461730e-04 4.12256334e+00] [ 1.58683929e-02 -4.38875014e-04 9.99873993e-01 2.53104158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.429254154 meters Centerline goodness [0,1] 0.9988677821109574 Centerline is valid? [True, True] Translation: X:279.26, Y:4.12, Z:2.53 [[ 9.98777214e-01 -4.68134394e-02 -1.58926973e-02 2.79263689e+02] [ 4.68149476e-02 9.98903541e-01 -2.77325853e-04 4.11879363e+00] [ 1.58882542e-02 -4.67029050e-04 9.99873665e-01 2.53035027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.45925415399995 meters Centerline goodness [0,1] 0.9987432975871313 Centerline is valid? [True, True] Translation: X:279.29, Y:4.12, Z:2.53 [[ 9.98652097e-01 -4.94570826e-02 -1.57475936e-02 2.79294781e+02] [ 4.94589026e-02 9.98776122e-01 -2.74100551e-04 4.11663442e+00] [ 1.57418766e-02 -5.05127606e-04 9.99875961e-01 2.53130650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.489254154 meters Centerline goodness [0,1] 0.9990581242020219 Centerline is valid? [True, True] Translation: X:279.32, Y:4.11, Z:2.53 [[ 9.98442046e-01 -5.35021982e-02 -1.58428660e-02 2.79324882e+02] [ 5.35045540e-02 9.98567567e-01 -2.75426754e-04 4.11103772e+00] [ 1.58349081e-02 -5.72667826e-04 9.99874456e-01 2.53124802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.51925415399995 meters Centerline goodness [0,1] 0.9990168392427571 Centerline is valid? [True, True] Translation: X:279.36, Y:4.11, Z:2.53 [[ 9.98356455e-01 -5.51116188e-02 -1.57193748e-02 2.79356641e+02] [ 5.51141425e-02 9.98480023e-01 -2.72946651e-04 4.10872613e+00] [ 1.57105242e-02 -5.93861810e-04 9.99876406e-01 2.53131291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.549254154 meters Centerline goodness [0,1] 0.9987050690281752 Centerline is valid? [True, True] Translation: X:279.39, Y:4.11, Z:2.53 [[ 9.98285942e-01 -5.62769123e-02 -1.60650984e-02 2.79388629e+02] [ 5.62797144e-02 9.98415002e-01 -2.77983054e-04 4.10642220e+00] [ 1.60552793e-02 -6.26632573e-04 9.99870909e-01 2.53120648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57925415399995 meters Centerline goodness [0,1] 0.998910652561014 Centerline is valid? [True, True] Translation: X:279.42, Y:4.10, Z:2.53 [[ 9.98182280e-01 -5.78181125e-02 -1.70059295e-02 2.79421047e+02] [ 5.78214964e-02 9.98326895e-01 -2.93049505e-04 4.10326729e+00] [ 1.69944203e-02 -6.90791467e-04 9.99855346e-01 2.53071782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.609254154 meters Centerline goodness [0,1] 0.9988700564971752 Centerline is valid? [True, True] Translation: X:279.45, Y:4.10, Z:2.53 [[ 9.98191317e-01 -5.75012238e-02 -1.75414762e-02 2.79453606e+02] [ 5.75047969e-02 9.98345185e-01 -3.01052165e-04 4.10289299e+00] [ 1.75297592e-02 -7.08211371e-04 9.99846091e-01 2.53058277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63925415399996 meters Centerline goodness [0,1] 0.9989957948911065 Centerline is valid? [True, True] Translation: X:279.48, Y:4.10, Z:2.53 [[ 9.98229151e-01 -5.67941070e-02 -1.76915594e-02 2.79484480e+02] [ 5.67976497e-02 9.98385665e-01 -3.02553186e-04 4.10138660e+00] [ 1.76801825e-02 -7.02821584e-04 9.99843446e-01 2.53046326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.669254154 meters Centerline goodness [0,1] 0.9988289418653283 Centerline is valid? [True, True] Translation: X:279.52, Y:4.10, Z:2.53 [[ 9.98388991e-01 -5.39848878e-02 -1.74658284e-02 2.79515792e+02] [ 5.39879244e-02 9.98541544e-01 -2.97946294e-04 4.10307440e+00] [ 1.74564398e-02 -6.45477521e-04 9.99847416e-01 2.53111032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69925415399996 meters Centerline goodness [0,1] 0.9990577100259653 Centerline is valid? [True, True] Translation: X:279.55, Y:4.10, Z:2.53 [[ 9.98499216e-01 -5.18652270e-02 -1.75872988e-02 2.79546557e+02] [ 5.18679880e-02 9.98653905e-01 -2.99425762e-04 4.10420219e+00] [ 1.75791544e-02 -6.13241414e-04 9.99845287e-01 2.53155394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.729254154 meters Centerline goodness [0,1] 0.998640309591047 Centerline is valid? [True, True] Translation: X:279.58, Y:4.11, Z:2.53 [[ 9.98627118e-01 -4.94708607e-02 -1.72195651e-02 2.79577530e+02] [ 4.94731616e-02 9.98775411e-01 -2.92598542e-04 4.10603595e+00] [ 1.72129533e-02 -5.59709487e-04 9.99851689e-01 2.53198506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75925415399996 meters Centerline goodness [0,1] 0.9986810978290451 Centerline is valid? [True, True] Translation: X:279.61, Y:4.11, Z:2.53 [[ 9.98880787e-01 -4.42940694e-02 -1.65894266e-02 2.79607574e+02] [ 4.42954965e-02 9.99018433e-01 -2.81592171e-04 4.10960462e+00] [ 1.65856158e-02 -4.53559878e-04 9.99862346e-01 2.53298909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.789254154 meters Centerline goodness [0,1] 0.9991013959709103 Centerline is valid? [True, True] Translation: X:279.64, Y:4.12, Z:2.54 [[ 9.99000098e-01 -4.17632528e-02 -1.59572904e-02 2.79639123e+02] [ 4.17642543e-02 9.99127456e-01 -2.70622898e-04 4.11685867e+00] [ 1.59546690e-02 -3.96092032e-04 9.99872638e-01 2.53524407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81925415399996 meters Centerline goodness [0,1] 0.9990790933255196 Centerline is valid? [True, True] Translation: X:279.67, Y:4.12, Z:2.54 [[ 9.99095602e-01 -3.94319389e-02 -1.59091208e-02 2.79670866e+02] [ 3.94326502e-02 9.99222194e-01 -2.69101850e-04 4.11944145e+00] [ 1.59073578e-02 -3.58480320e-04 9.99873406e-01 2.53611832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.849254154 meters Centerline goodness [0,1] 0.9989124524197933 Centerline is valid? [True, True] Translation: X:279.70, Y:4.12, Z:2.54 [[ 9.99182746e-01 -3.71516060e-02 -1.59247661e-02 2.79701385e+02] [ 3.71520394e-02 9.99309589e-01 -2.68722122e-04 4.11964782e+00] [ 1.59237549e-02 -3.23135030e-04 9.99873157e-01 2.53523008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87925415399997 meters Centerline goodness [0,1] 0.9989756454478939 Centerline is valid? [True, True] Translation: X:279.73, Y:4.12, Z:2.54 [[ 9.99241476e-01 -3.54472530e-02 -1.61234535e-02 2.79731917e+02] [ 3.54474783e-02 9.99371504e-01 -2.71899700e-04 4.12067190e+00] [ 1.61229580e-02 -2.99842310e-04 9.99869972e-01 2.53552048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.909254154 meters Centerline goodness [0,1] 0.9994352764008283 Centerline is valid? [True, True] Translation: X:279.76, Y:4.12, Z:2.54 [[ 9.99234180e-01 -3.55047058e-02 -1.64459632e-02 2.79762402e+02] [ 3.55049481e-02 9.99369462e-01 -2.77338379e-04 4.12088266e+00] [ 1.64454402e-02 -3.06787081e-04 9.99864718e-01 2.53557719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93925415399997 meters Centerline goodness [0,1] 0.9990584198192166 Centerline is valid? [True, True] Translation: X:279.79, Y:4.12, Z:2.53 [[ 9.99168976e-01 -3.66274924e-02 -1.78825290e-02 2.79792724e+02] [ 3.66279614e-02 9.99328926e-01 -3.01411993e-04 4.11905099e+00] [ 1.78815684e-02 -3.53839068e-04 9.99840049e-01 2.53426170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96925415399994 meters Centerline goodness [0,1] 0.9991022589669715 Centerline is valid? [True, True] Translation: X:279.82, Y:4.12, Z:2.53 [[ 9.99091130e-01 -3.83434814e-02 -1.86196763e-02 2.79823086e+02] [ 3.83442909e-02 9.99264538e-01 -3.13662544e-04 4.11902419e+00] [ 1.86180092e-02 -4.00580820e-04 9.99826590e-01 2.53438051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99925415399997 meters Centerline goodness [0,1] 0.9990585971004791 Centerline is valid? [True, True] Translation: X:279.85, Y:4.12, Z:2.53 [[ 9.99008051e-01 -4.01066901e-02 -1.93485999e-02 2.79853027e+02] [ 4.01078933e-02 9.99195302e-01 -3.26021368e-04 4.11705624e+00] [ 1.93461058e-02 -4.50333609e-04 9.99812745e-01 2.53377222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02925415399994 meters Centerline goodness [0,1] 0.9992481988096481 Centerline is valid? [True, True] Translation: X:279.88, Y:4.11, Z:2.53 [[ 9.98817090e-01 -4.45446983e-02 -1.94984600e-02 2.79882588e+02] [ 4.45467563e-02 9.99007246e-01 -3.28994286e-04 4.11436865e+00] [ 1.94937577e-02 -5.39988029e-04 9.99809833e-01 2.53435297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.059254154 meters Centerline goodness [0,1] 0.9991015837198612 Centerline is valid? [True, True] Translation: X:279.91, Y:4.11, Z:2.53 [[ 9.98724840e-01 -4.68181763e-02 -1.88879087e-02 2.79913287e+02] [ 4.68205072e-02 9.98903268e-01 -3.19026170e-04 4.11368927e+00] [ 1.88821300e-02 -5.65722107e-04 9.99821557e-01 2.53494154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.08925415399995 meters Centerline goodness [0,1] 0.9991033447326716 Centerline is valid? [True, True] Translation: X:279.94, Y:4.11, Z:2.54 [[ 9.98614987e-01 -4.92808436e-02 -1.84256898e-02 2.79944658e+02] [ 4.92834866e-02 9.98784782e-01 -3.10882241e-04 4.11207411e+00] [ 1.84186191e-02 -5.97630570e-04 9.99830184e-01 2.53556036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.119254154 meters Centerline goodness [0,1] 0.9991033447326716 Centerline is valid? [True, True] Translation: X:279.98, Y:4.11, Z:2.54 [[ 9.98616819e-01 -4.92437043e-02 -1.84257013e-02 2.79975515e+02] [ 4.92463537e-02 9.98786614e-01 -3.10197245e-04 4.11256492e+00] [ 1.84186191e-02 -5.97630417e-04 9.99830184e-01 2.53584939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.14925415399995 meters Centerline goodness [0,1] 0.9991261287503641 Centerline is valid? [True, True] Translation: X:280.01, Y:4.11, Z:2.54 [[ 9.98421106e-01 -5.36121286e-02 -1.67640929e-02 2.80005824e+02] [ 5.36149440e-02 9.98561645e-01 -2.81770545e-04 4.10835851e+00] [ 1.67550865e-02 -6.17480242e-04 9.99859433e-01 2.53618072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.179254154 meters Centerline goodness [0,1] 0.9991660933558488 Centerline is valid? [True, True] Translation: X:280.04, Y:4.11, Z:2.54 [[ 9.98309051e-01 -5.58969414e-02 -1.59552503e-02 2.80037016e+02] [ 5.58997894e-02 9.98436348e-01 -2.67768504e-04 4.10730651e+00] [ 1.59452693e-02 -6.24579410e-04 9.99872671e-01 2.53740990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.20925415399995 meters Centerline goodness [0,1] 0.9990408073899535 Centerline is valid? [True, True] Translation: X:280.07, Y:4.11, Z:2.54 [[ 9.98223956e-01 -5.75271912e-02 -1.54775865e-02 2.80069608e+02] [ 5.75300790e-02 9.98343740e-01 -2.58959925e-04 4.10712660e+00] [ 1.54668488e-02 -6.31926771e-04 9.99880181e-01 2.53824316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.239254154 meters Centerline goodness [0,1] 0.9989154691638684 Centerline is valid? [True, True] Translation: X:280.10, Y:4.10, Z:2.54 [[ 9.98164331e-01 -5.86933752e-02 -1.49350763e-02 2.80101104e+02] [ 5.86962092e-02 9.98275860e-01 -2.48895263e-04 4.10400869e+00] [ 1.49239347e-02 -6.28193991e-04 9.99888435e-01 2.53851993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.26925415399995 meters Centerline goodness [0,1] 0.9989575080271882 Centerline is valid? [True, True] Translation: X:280.13, Y:4.10, Z:2.54 [[ 9.98036551e-01 -6.10049212e-02 -1.41930207e-02 2.80132298e+02] [ 6.10077245e-02 9.98137266e-01 -2.35770989e-04 4.10143498e+00] [ 1.41809661e-02 -6.30575832e-04 9.99899246e-01 2.53959024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.299254154 meters Centerline goodness [0,1] 0.998727443412955 Centerline is valid? [True, True] Translation: X:280.16, Y:4.10, Z:2.54 [[ 9.97946318e-01 -6.25341029e-02 -1.38792142e-02 2.80164033e+02] [ 6.25369414e-02 9.98042623e-01 -2.29817167e-04 4.10122268e+00] [ 1.38664188e-02 -6.38618412e-04 9.99903653e-01 2.54006973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.32925415399995 meters Centerline goodness [0,1] 0.9989774410985204 Centerline is valid? [True, True] Translation: X:280.20, Y:4.10, Z:2.54 [[ 9.97866072e-01 -6.39358609e-02 -1.32479828e-02 2.80195779e+02] [ 6.39385796e-02 9.97953812e-01 -2.18661342e-04 4.10253307e+00] [ 1.32348552e-02 -6.28862467e-04 9.99912218e-01 2.54092110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.359254154 meters Centerline goodness [0,1] 0.9987095431366427 Centerline is valid? [True, True] Translation: X:280.23, Y:4.10, Z:2.54 [[ 9.97627459e-01 -6.76808606e-02 -1.25998045e-02 2.80226595e+02] [ 6.76836247e-02 9.97706813e-01 -2.07404313e-04 4.10054879e+00] [ 1.25849481e-02 -6.45888202e-04 9.99920598e-01 2.54187183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.38925415399996 meters Centerline goodness [0,1] 0.9987104020633567 Centerline is valid? [True, True] Translation: X:280.26, Y:4.10, Z:2.54 [[ 9.97510324e-01 -6.93383368e-02 -1.28587660e-02 2.80258623e+02] [ 6.93413586e-02 9.97592969e-01 -2.11229719e-04 4.09894202e+00] [ 1.28424609e-02 -6.80940482e-04 9.99917300e-01 2.54219376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.419254154 meters Centerline goodness [0,1] 0.9992514503150146 Centerline is valid? [True, True] Translation: X:280.29, Y:4.10, Z:2.54 [[ 9.97378176e-01 -7.11218226e-02 -1.33588751e-02 2.80290078e+02] [ 7.11252562e-02 9.97467368e-01 -2.18501135e-04 4.09610029e+00] [ 1.33405822e-02 -7.32225151e-04 9.99910742e-01 2.54189966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.44925415399996 meters Centerline goodness [0,1] 0.9988546438983756 Centerline is valid? [True, True] Translation: X:280.32, Y:4.09, Z:2.54 [[ 9.97120628e-01 -7.44407601e-02 -1.44577332e-02 2.80321426e+02] [ 7.44451403e-02 9.97225083e-01 -2.35726059e-04 4.09447034e+00] [ 1.44351618e-02 -8.41260663e-04 9.99895454e-01 2.54104920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.479254154 meters Centerline goodness [0,1] 0.9986047189654095 Centerline is valid? [True, True] Translation: X:280.35, Y:4.09, Z:2.54 [[ 9.97037622e-01 -7.54664254e-02 -1.48592854e-02 2.80354016e+02] [ 7.54711771e-02 9.97147954e-01 -2.41513929e-04 4.09369227e+00] [ 1.48351322e-02 -8.80649284e-04 9.99889566e-01 2.54011971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.50925415399996 meters Centerline goodness [0,1] 0.99875 Centerline is valid? [True, True] Translation: X:280.39, Y:4.09, Z:2.54 [[ 9.96929318e-01 -7.67672102e-02 -1.54508915e-02 2.80386501e+02] [ 7.67725216e-02 9.97048603e-01 -2.49964030e-04 4.09369209e+00] [ 1.54244788e-02 -9.37007429e-04 9.99880597e-01 2.54058554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.539254154 meters Centerline goodness [0,1] 0.9989145409760781 Centerline is valid? [True, True] Translation: X:280.42, Y:4.09, Z:2.54 [[ 9.96883212e-01 -7.72590426e-02 -1.59656230e-02 2.80418190e+02] [ 7.72647938e-02 9.97010574e-01 -2.57214532e-04 4.09429054e+00] [ 1.59377671e-02 -9.77167719e-04 9.99872508e-01 2.54067871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56925415399996 meters Centerline goodness [0,1] 0.998831141724066 Centerline is valid? [True, True] Translation: X:280.45, Y:4.09, Z:2.54 [[ 9.96925948e-01 -7.64198121e-02 -1.72819441e-02 2.80450463e+02] [ 7.64264451e-02 9.97075184e-01 -2.77278929e-04 4.09492274e+00] [ 1.72525872e-02 -1.04437099e-03 9.99850618e-01 2.53896126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.599254154 meters Centerline goodness [0,1] 0.998664496473436 Centerline is valid? [True, True] Translation: X:280.48, Y:4.10, Z:2.54 [[ 9.96973958e-01 -7.58420844e-02 -1.70559555e-02 2.80482339e+02] [ 7.58484819e-02 9.97119318e-01 -2.72411258e-04 4.09624392e+00] [ 1.70274829e-02 -1.02208140e-03 9.99854500e-01 2.54002733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62925415399997 meters Centerline goodness [0,1] 0.9986431478968792 Centerline is valid? [True, True] Translation: X:280.51, Y:4.10, Z:2.54 [[ 9.97084534e-01 -7.43853070e-02 -1.70075806e-02 2.80513585e+02] [ 7.43914736e-02 9.97229079e-01 -2.70668652e-04 4.10029490e+00] [ 1.69805877e-02 -9.95339453e-04 9.99855324e-01 2.54052802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65925415399994 meters Centerline goodness [0,1] 0.9988747421284044 Centerline is valid? [True, True] Translation: X:280.54, Y:4.10, Z:2.54 [[ 9.97253877e-01 -7.20203651e-02 -1.72560729e-02 2.80543948e+02] [ 7.20263690e-02 9.97402691e-01 -2.74120169e-04 4.10164950e+00] [ 1.72309958e-02 -9.69524872e-04 9.99851065e-01 2.54081595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68925415399997 meters Centerline goodness [0,1] 0.998645155911289 Centerline is valid? [True, True] Translation: X:280.57, Y:4.11, Z:2.54 [[ 9.97632213e-01 -6.70138564e-02 -1.54631956e-02 2.80573035e+02] [ 6.70180783e-02 9.97751731e-01 -2.45579710e-04 4.10697733e+00] [ 1.54448874e-02 -7.91315424e-04 9.99880407e-01 2.54258921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71925415399994 meters Centerline goodness [0,1] 0.9989140422688163 Centerline is valid? [True, True] Translation: X:280.60, Y:4.11, Z:2.54 [[ 9.97843556e-01 -6.38972731e-02 -1.50125434e-02 2.80604061e+02] [ 6.39009015e-02 9.97956220e-01 -2.38362570e-04 4.10632914e+00] [ 1.49970918e-02 -7.21466504e-04 9.99887277e-01 2.54316184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74925415399997 meters Centerline goodness [0,1] 0.9990403671638678 Centerline is valid? [True, True] Translation: X:280.64, Y:4.12, Z:2.54 [[ 9.98036465e-01 -6.09011062e-02 -1.46379694e-02 2.80635105e+02] [ 6.09042418e-02 9.98143587e-01 -2.31887193e-04 4.11627424e+00] [ 1.46249174e-02 -6.60082552e-04 9.99892832e-01 2.54472234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77925415399994 meters Centerline goodness [0,1] 0.9989774410985204 Centerline is valid? [True, True] Translation: X:280.67, Y:4.12, Z:2.55 [[ 9.98433129e-01 -5.41564631e-02 -1.40841561e-02 2.80665114e+02] [ 5.41587008e-02 9.98532316e-01 -2.22759372e-04 4.12382531e+00] [ 1.40755489e-02 -5.40369262e-04 9.99900789e-01 2.54555869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.809254154 meters Centerline goodness [0,1] 0.9987057988560932 Centerline is valid? [True, True] Translation: X:280.70, Y:4.13, Z:2.55 [[ 9.98619674e-01 -5.07251779e-02 -1.36273242e-02 2.80697039e+02] [ 5.07269574e-02 9.98712536e-01 -2.15261374e-04 4.12694177e+00] [ 1.36206987e-02 -4.76308450e-04 9.99907121e-01 2.54605229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83925415399995 meters Centerline goodness [0,1] 0.9989777397617507 Centerline is valid? [True, True] Translation: X:280.73, Y:4.13, Z:2.55 [[ 9.98931237e-01 -4.42942959e-02 -1.32060265e-02 2.80726440e+02] [ 4.42954112e-02 9.99018455e-01 -2.08169522e-04 4.13281545e+00] [ 1.32022849e-02 -3.77019335e-04 9.99912775e-01 2.54707679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.869254154 meters Centerline goodness [0,1] 0.9990611895771181 Centerline is valid? [True, True] Translation: X:280.76, Y:4.14, Z:2.55 [[ 9.99047740e-01 -4.16617747e-02 -1.29579743e-02 2.80758283e+02] [ 4.16626277e-02 9.99131715e-01 -2.04228349e-04 4.13597974e+00] [ 1.29552316e-02 -3.35829391e-04 9.99916021e-01 2.54726621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.89925415399995 meters Centerline goodness [0,1] 0.9988935743810279 Centerline is valid? [True, True] Translation: X:280.79, Y:4.14, Z:2.55 [[ 9.99132732e-01 -3.95700127e-02 -1.29613952e-02 2.80789805e+02] [ 3.95706996e-02 9.99216752e-01 -2.03561502e-04 4.13751276e+00] [ 1.29592981e-02 -3.09506514e-04 9.99915977e-01 2.54705652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.929254154 meters Centerline goodness [0,1] 0.9988312636961285 Centerline is valid? [True, True] Translation: X:280.82, Y:4.14, Z:2.55 [[ 9.99244776e-01 -3.65388904e-02 -1.32207036e-02 2.80819944e+02] [ 3.65393478e-02 9.99332194e-01 -2.07036677e-04 4.14003719e+00] [ 1.32194396e-02 -2.76195567e-04 9.99912581e-01 2.54659449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.95925415399995 meters Centerline goodness [0,1] 0.9988307024137643 Centerline is valid? [True, True] Translation: X:280.85, Y:4.14, Z:2.55 [[ 9.99279012e-01 -3.54196934e-02 -1.36711643e-02 2.80850836e+02] [ 3.54200822e-02 9.99372489e-01 -2.13761458e-04 4.14136751e+00] [ 1.36701569e-02 -2.70626427e-04 9.99906522e-01 2.54652094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.989254154 meters Centerline goodness [0,1] 0.9990824157490824 Centerline is valid? [True, True] Translation: X:280.88, Y:4.14, Z:2.55 [[ 9.99302095e-01 -3.48110678e-02 -1.35466769e-02 2.80880883e+02] [ 3.48113992e-02 9.99393877e-01 -2.11406369e-04 4.14103526e+00] [ 1.35458252e-02 -2.60319948e-04 9.99908217e-01 2.54627997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.01925415399995 meters Centerline goodness [0,1] 0.9989550679205852 Centerline is valid? [True, True] Translation: X:280.91, Y:4.14, Z:2.55 [[ 9.99331111e-01 -3.39052071e-02 -1.37028412e-02 2.80912552e+02] [ 3.39054656e-02 9.99425022e-01 -2.13516781e-04 4.14344822e+00] [ 1.37022017e-02 -2.51227250e-04 9.99906089e-01 2.54633906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.049254154 meters Centerline goodness [0,1] 0.9988971429760493 Centerline is valid? [True, True] Translation: X:280.94, Y:4.14, Z:2.55 [[ 9.99337340e-01 -3.37517702e-02 -1.36271558e-02 2.80944371e+02] [ 3.37520183e-02 9.99430216e-01 -2.11845072e-04 4.14373563e+00] [ 1.36265414e-02 -2.48239322e-04 9.99907124e-01 2.54643585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07925415399995 meters Centerline goodness [0,1] 0.9989747881577571 Centerline is valid? [True, True] Translation: X:280.98, Y:4.14, Z:2.55 [[ 9.99345615e-01 -3.35202871e-02 -1.35916521e-02 2.80976175e+02] [ 3.35205192e-02 9.99438007e-01 -2.10799079e-04 4.14473796e+00] [ 1.35910797e-02 -2.44938098e-04 9.99907607e-01 2.54690715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.109254154 meters Centerline goodness [0,1] 0.9988068824046552 Centerline is valid? [True, True] Translation: X:281.01, Y:4.14, Z:2.55 [[ 9.99362347e-01 -3.29117419e-02 -1.38462082e-02 2.81006367e+02] [ 3.29119304e-02 9.99458233e-01 -2.14311434e-04 4.14391726e+00] [ 1.38457601e-02 -2.41530664e-04 9.99904114e-01 2.54624413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13925415399996 meters Centerline goodness [0,1] 0.9991209711176224 Centerline is valid? [True, True] Translation: X:281.04, Y:4.15, Z:2.55 [[ 9.99343196e-01 -3.38537775e-02 -1.29266813e-02 2.81037434e+02] [ 3.38540244e-02 9.99426768e-01 -1.99786794e-04 4.14511159e+00] [ 1.29260348e-02 -2.37964610e-04 9.99916427e-01 2.54827559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.169254154 meters Centerline goodness [0,1] 0.9990589317830105 Centerline is valid? [True, True] Translation: X:281.07, Y:4.14, Z:2.55 [[ 9.99327681e-01 -3.43391399e-02 -1.28456062e-02 2.81067326e+02] [ 3.43394289e-02 9.99410208e-01 -1.98125881e-04 4.14385694e+00] [ 1.28448334e-02 -2.43118104e-04 9.99917472e-01 2.54826423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19925415399996 meters Centerline goodness [0,1] 0.9989107666527022 Centerline is valid? [True, True] Translation: X:281.10, Y:4.14, Z:2.55 [[ 9.99251403e-01 -3.65522543e-02 -1.26714506e-02 2.81097659e+02] [ 3.65527163e-02 9.99331707e-01 -1.95211148e-04 4.14067421e+00] [ 1.26701178e-02 -2.68110927e-04 9.99919695e-01 2.54790569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.229254154 meters Centerline goodness [0,1] 0.9990375159542192 Centerline is valid? [True, True] Translation: X:281.13, Y:4.14, Z:2.55 [[ 9.99165219e-01 -3.90432125e-02 -1.20205323e-02 2.81129311e+02] [ 3.90438121e-02 9.99237483e-01 -1.84878708e-04 4.14019165e+00] [ 1.20185846e-02 -2.84603028e-04 9.99927734e-01 2.54889483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25925415399996 meters Centerline goodness [0,1] 0.9984932825513749 Centerline is valid? [True, True] Translation: X:281.16, Y:4.14, Z:2.55 [[ 9.99070384e-01 -4.14376941e-02 -1.18863299e-02 2.81161721e+02] [ 4.14384579e-02 9.99141042e-01 -1.82123507e-04 4.13859361e+00] [ 1.18836668e-02 -3.10596980e-04 9.99929338e-01 2.54909704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.289254154 meters Centerline goodness [0,1] 0.9988517505584668 Centerline is valid? [True, True] Translation: X:281.19, Y:4.13, Z:2.55 [[ 9.98776615e-01 -4.79050672e-02 -1.22628389e-02 2.81192855e+02] [ 4.79063772e-02 9.98851813e-01 -1.87071355e-04 4.13473802e+00] [ 1.22577205e-02 -4.00625690e-04 9.99924791e-01 2.54904384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31925415399996 meters Centerline goodness [0,1] 0.9985610910683378 Centerline is valid? [True, True] Translation: X:281.22, Y:4.13, Z:2.55 [[ 9.98616082e-01 -5.10251276e-02 -1.27419238e-02 2.81223842e+02] [ 5.10268021e-02 9.98697265e-01 -1.93862859e-04 4.13048260e+00] [ 1.27352163e-02 -4.56585054e-04 9.99918800e-01 2.54785583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.349254154 meters Centerline goodness [0,1] 0.9986435160065111 Centerline is valid? [True, True] Translation: X:281.26, Y:4.13, Z:2.55 [[ 9.98391510e-01 -5.52109749e-02 -1.28895492e-02 2.81255024e+02] [ 5.52130420e-02 9.98474577e-01 -1.95695767e-04 4.12845850e+00] [ 1.28806917e-02 -5.16290228e-04 9.99916907e-01 2.54840665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37925415399997 meters Centerline goodness [0,1] 0.9989145183175034 Centerline is valid? [True, True] Translation: X:281.29, Y:4.13, Z:2.55 [[ 9.98174358e-01 -5.88071132e-02 -1.37722184e-02 2.81286223e+02] [ 5.88098201e-02 9.98269183e-01 -2.08709882e-04 4.12729794e+00] [ 1.37606549e-02 -6.01612836e-04 9.99905137e-01 2.54812072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40925415399994 meters Centerline goodness [0,1] 0.9986838806718475 Centerline is valid? [True, True] Translation: X:281.32, Y:4.12, Z:2.55 [[ 9.97720245e-01 -6.58125748e-02 -1.49337997e-02 2.81315364e+02] [ 6.58165446e-02 9.97831715e-01 -2.26022720e-04 4.12121220e+00] [ 1.49162941e-02 -7.57383653e-04 9.99888459e-01 2.54673324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43925415399997 meters Centerline goodness [0,1] 0.9987696285946656 Centerline is valid? [True, True] Translation: X:281.35, Y:4.12, Z:2.55 [[ 9.97512937e-01 -6.88036551e-02 -1.52970048e-02 2.81346782e+02] [ 6.88081695e-02 9.97629882e-01 -2.31621873e-04 4.12130702e+00] [ 1.52766855e-02 -8.21513083e-04 9.99882967e-01 2.54703093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46925415399994 meters Centerline goodness [0,1] 0.9986669166198004 Centerline is valid? [True, True] Translation: X:281.38, Y:4.12, Z:2.55 [[ 9.97136919e-01 -7.40037078e-02 -1.55375600e-02 2.81376697e+02] [ 7.40090012e-02 9.97257546e-01 -2.34821730e-04 4.11767288e+00] [ 1.55123266e-02 -9.15769882e-04 9.99879257e-01 2.54712291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49925415399997 meters Centerline goodness [0,1] 0.9986868160500261 Centerline is valid? [True, True] Translation: X:281.41, Y:4.12, Z:2.55 [[ 9.96983164e-01 -7.60976410e-02 -1.52879108e-02 2.81408269e+02] [ 7.61030162e-02 9.97099934e-01 -2.30697768e-04 4.11661413e+00] [ 1.52611304e-02 -9.33454333e-04 9.99883106e-01 2.54779322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52925415399994 meters Centerline goodness [0,1] 0.9985861022164927 Centerline is valid? [True, True] Translation: X:281.44, Y:4.12, Z:2.55 [[ 9.96863404e-01 -7.77053510e-02 -1.50077633e-02 2.81440620e+02] [ 7.77107236e-02 9.96975924e-01 -2.25729669e-04 4.11656204e+00] [ 1.49799191e-02 -9.41242500e-04 9.99887352e-01 2.54853442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.559254154 meters Centerline goodness [0,1] 0.9986448734520286 Centerline is valid? [True, True] Translation: X:281.47, Y:4.12, Z:2.55 [[ 9.96758348e-01 -7.91051387e-02 -1.46687448e-02 2.81473112e+02] [ 7.91104375e-02 9.96865834e-01 -2.19585296e-04 4.11594784e+00] [ 1.46401408e-02 -9.41577341e-04 9.99892384e-01 2.54936237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.58925415399995 meters Centerline goodness [0,1] 0.9988534500729622 Centerline is valid? [True, True] Translation: X:281.50, Y:4.12, Z:2.55 [[ 9.96606809e-01 -8.11393421e-02 -1.38302652e-02 2.81504251e+02] [ 8.11442583e-02 9.96702346e-01 -2.06235450e-04 4.11759187e+00] [ 1.38013916e-02 -9.16710961e-04 9.99904336e-01 2.55055793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.619254154 meters Centerline goodness [0,1] 0.9987893967856397 Centerline is valid? [True, True] Translation: X:281.54, Y:4.12, Z:2.55 [[ 9.96553601e-01 -8.18342544e-02 -1.35674244e-02 2.81536806e+02] [ 8.18390583e-02 9.96645538e-01 -2.01673340e-04 4.11961307e+00] [ 1.35384167e-02 -9.09366940e-04 9.99907938e-01 2.55086207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.64925415399995 meters Centerline goodness [0,1] 0.9985619007919967 Centerline is valid? [True, True] Translation: X:281.57, Y:4.12, Z:2.55 [[ 9.96508907e-01 -8.23600595e-02 -1.36681553e-02 2.81568468e+02] [ 8.23649970e-02 9.96602211e-01 -2.02236692e-04 4.12131508e+00] [ 1.36383700e-02 -9.24246907e-04 9.99906566e-01 2.55105788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.679254154 meters Centerline goodness [0,1] 0.9987481221832749 Centerline is valid? [True, True] Translation: X:281.60, Y:4.13, Z:2.55 [[ 9.96449902e-01 -8.29081874e-02 -1.46227717e-02 2.81600110e+02] [ 8.29139101e-02 9.96556690e-01 -2.15505447e-04 4.12733493e+00] [ 1.45902882e-02 -9.97690800e-04 9.99893058e-01 2.55142002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.70925415399995 meters Centerline goodness [0,1] 0.9987496613666201 Centerline is valid? [True, True] Translation: X:281.63, Y:4.13, Z:2.55 [[ 9.96446147e-01 -8.28183417e-02 -1.53687245e-02 2.81631919e+02] [ 8.28246699e-02 9.96564109e-01 -2.25372076e-04 4.12755588e+00] [ 1.53345842e-02 -1.04833840e-03 9.99881869e-01 2.55095024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.739254154 meters Centerline goodness [0,1] 0.9988933664627399 Centerline is valid? [True, True] Translation: X:281.66, Y:4.13, Z:2.55 [[ 9.96469196e-01 -8.23824407e-02 -1.61948952e-02 2.81663703e+02] [ 8.23894337e-02 9.96600183e-01 -2.36045285e-04 4.13075776e+00] [ 1.61592815e-02 -1.09907639e-03 9.99868826e-01 2.55079772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.76925415399995 meters Centerline goodness [0,1] 0.9987693206232661 Centerline is valid? [True, True] Translation: X:281.70, Y:4.13, Z:2.55 [[ 9.96504700e-01 -8.18862222e-02 -1.65235829e-02 2.81695905e+02] [ 8.18934548e-02 9.96641061e-01 -2.39583624e-04 4.13358037e+00] [ 1.64876998e-02 -1.11442708e-03 9.99863448e-01 2.55134355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.799254154 meters Centerline goodness [0,1] 0.9986015445627218 Centerline is valid? [True, True] Translation: X:281.73, Y:4.13, Z:2.55 [[ 9.96546819e-01 -8.13059150e-02 -1.68459597e-02 2.81727699e+02] [ 8.13133715e-02 9.96688555e-01 -2.42984870e-04 4.12949101e+00] [ 1.68099313e-02 -1.12765598e-03 9.99858067e-01 2.55124506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.82925415399995 meters Centerline goodness [0,1] 0.9989362811554907 Centerline is valid? [True, True] Translation: X:281.76, Y:4.14, Z:2.55 [[ 9.96624453e-01 -8.02548787e-02 -1.72874091e-02 2.81759972e+02] [ 8.02625963e-02 9.96773723e-01 -2.48049344e-04 4.13792706e+00] [ 1.72515423e-02 -1.14032030e-03 9.99850531e-01 2.55239882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.859254154 meters Centerline goodness [0,1] 0.9987052042435887 Centerline is valid? [True, True] Translation: X:281.79, Y:4.14, Z:2.55 [[ 9.96871645e-01 -7.70027215e-02 -1.78186675e-02 2.81790720e+02] [ 7.70104189e-02 9.97030256e-01 -2.54798971e-04 4.14426451e+00] [ 1.77853708e-02 -1.11822118e-03 9.99841202e-01 2.55285939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.88925415399996 meters Centerline goodness [0,1] 0.9990193419158303 Centerline is valid? [True, True] Translation: X:281.82, Y:4.15, Z:2.55 [[ 9.97071369e-01 -7.43429615e-02 -1.79390514e-02 2.81821985e+02] [ 7.43503432e-02 9.97232150e-01 -2.56025731e-04 4.14853186e+00] [ 1.79084325e-02 -1.07849870e-03 9.99839049e-01 2.55330348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.919254154 meters Centerline goodness [0,1] 0.9989970119313789 Centerline is valid? [True, True] Translation: X:281.85, Y:4.15, Z:2.55 [[ 9.97319070e-01 -7.09493191e-02 -1.79127387e-02 2.81851788e+02] [ 7.09561398e-02 9.97479404e-01 -2.55300629e-04 4.14953269e+00] [ 1.78857013e-02 -1.01640261e-03 9.99839521e-01 2.55304100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.94925415399996 meters Centerline goodness [0,1] 0.9994352055224349 Centerline is valid? [True, True] Translation: X:281.88, Y:4.16, Z:2.55 [[ 9.97917649e-01 -6.19683840e-02 -1.78965351e-02 2.81882644e+02] [ 6.19737538e-02 9.98077747e-01 -2.54930590e-04 4.16105829e+00] [ 1.78779311e-02 -8.54715728e-04 9.99839812e-01 2.55400422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.979254154 meters Centerline goodness [0,1] 0.9993290701331377 Centerline is valid? [True, True] Translation: X:281.91, Y:4.17, Z:2.56 [[ 9.98240638e-01 -5.66570915e-02 -1.74815112e-02 2.81912899e+02] [ 5.66614048e-02 9.98393421e-01 -2.48870354e-04 4.16894394e+00] [ 1.74675260e-02 -7.42094479e-04 9.99847156e-01 2.55502643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.00925415399996 meters Centerline goodness [0,1] 0.9993290701331377 Centerline is valid? [True, True] Translation: X:281.94, Y:4.17, Z:2.56 [[ 9.98244847e-01 -5.65828737e-02 -1.74815197e-02 2.81944616e+02] [ 5.65871861e-02 9.98397631e-01 -2.48268045e-04 4.16933622e+00] [ 1.74675556e-02 -7.41397712e-04 9.99847156e-01 2.55532358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.039254154 meters Centerline goodness [0,1] 0.9990141583639224 Centerline is valid? [True, True] Translation: X:281.97, Y:4.17, Z:2.56 [[ 9.98546353e-01 -5.10120845e-02 -1.74054327e-02 2.81974431e+02] [ 5.10155263e-02 9.98697830e-01 -2.46494020e-04 4.17169834e+00] [ 1.73953421e-02 -6.41811608e-04 9.99848484e-01 2.55515904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06925415399996 meters Centerline goodness [0,1] 0.999244078615824 Centerline is valid? [True, True] Translation: X:282.00, Y:4.18, Z:2.56 [[ 9.98803877e-01 -4.59013152e-02 -1.68488877e-02 2.82004615e+02] [ 4.59038139e-02 9.98945836e-01 -2.38612284e-04 4.18050705e+00] [ 1.68420788e-02 -5.35101331e-04 9.99858019e-01 2.55693306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.099254154 meters Centerline goodness [0,1] 0.9993278017015019 Centerline is valid? [True, True] Translation: X:282.04, Y:4.19, Z:2.56 [[ 9.99206005e-01 -3.66080217e-02 -1.57229721e-02 2.82035230e+02] [ 3.66090485e-02 9.99329639e-01 -2.22603979e-04 4.18919780e+00] [ 1.57205811e-02 -3.53175815e-04 9.99876362e-01 2.55871247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12925415399997 meters Centerline goodness [0,1] 0.9992229665875633 Centerline is valid? [True, True] Translation: X:282.07, Y:4.19, Z:2.56 [[ 9.99326230e-01 -3.33639415e-02 -1.52948940e-02 2.82067137e+02] [ 3.33645397e-02 9.99443225e-01 -2.16126644e-04 4.19219678e+00] [ 1.52935890e-02 -2.94326073e-04 9.99883003e-01 2.55920661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15925415399994 meters Centerline goodness [0,1] 0.9989256825075834 Centerline is valid? [True, True] Translation: X:282.10, Y:4.20, Z:2.56 [[ 9.99462646e-01 -2.92143160e-02 -1.48641446e-02 2.82098598e+02] [ 2.92144326e-02 9.99573145e-01 -2.09338448e-04 4.19606978e+00] [ 1.48639155e-02 -2.25021592e-04 9.99889501e-01 2.55919744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18925415399997 meters Centerline goodness [0,1] 0.9989259087654269 Centerline is valid? [True, True] Translation: X:282.13, Y:4.20, Z:2.56 [[ 9.99491780e-01 -2.82057411e-02 -1.48532168e-02 2.82130276e+02] [ 2.82057542e-02 9.99602117e-01 -2.08642311e-04 4.19737600e+00] [ 1.48531919e-02 -2.10409907e-04 9.99889663e-01 2.55953195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21925415399994 meters Centerline goodness [0,1] 0.9991996124439202 Centerline is valid? [True, True] Translation: X:282.16, Y:4.20, Z:2.56 [[ 9.99502412e-01 -2.78741510e-02 -1.47634568e-02 2.82160383e+02] [ 2.78741342e-02 9.99611419e-01 -2.06943582e-04 4.19766068e+00] [ 1.47634884e-02 -2.04677968e-04 9.99890993e-01 2.55958910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24925415399997 meters Centerline goodness [0,1] 0.99898877114627 Centerline is valid? [True, True] Translation: X:282.19, Y:4.20, Z:2.56 [[ 9.99473210e-01 -2.84579651e-02 -1.56027638e-02 2.82191119e+02] [ 2.84580220e-02 9.99594965e-01 -2.18418184e-04 4.19662271e+00] [ 1.56026598e-02 -2.25720671e-04 9.99878246e-01 2.55862330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27925415399994 meters Centerline goodness [0,1] 0.9989676386313838 Centerline is valid? [True, True] Translation: X:282.22, Y:4.20, Z:2.56 [[ 9.99445308e-01 -2.92182454e-02 -1.59803264e-02 2.82221264e+02] [ 2.92184051e-02 9.99573026e-01 -2.23532950e-04 4.19681689e+00] [ 1.59800345e-02 -2.43510693e-04 9.99872281e-01 2.55856672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.309254154 meters Centerline goodness [0,1] 0.9988623675395538 Centerline is valid? [True, True] Translation: X:282.25, Y:4.20, Z:2.56 [[ 9.99406972e-01 -3.02551776e-02 -1.64416892e-02 2.82251451e+02] [ 3.02554869e-02 9.99542172e-01 -2.29986497e-04 4.19599309e+00] [ 1.64411200e-02 -2.67601205e-04 9.99864800e-01 2.55840784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33925415399995 meters Centerline goodness [0,1] 0.9988202578579254 Centerline is valid? [True, True] Translation: X:282.28, Y:4.19, Z:2.56 [[ 9.99379431e-01 -3.10760514e-02 -1.65840797e-02 2.82281555e+02] [ 3.10764812e-02 9.99516983e-01 -2.31845944e-04 4.19493525e+00] [ 1.65832742e-02 -2.83672775e-04 9.99862448e-01 2.55833540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.369254154 meters Centerline goodness [0,1] 0.9990735866933361 Centerline is valid? [True, True] Translation: X:282.31, Y:4.19, Z:2.56 [[ 9.99344317e-01 -3.21980971e-02 -1.65595681e-02 2.82311542e+02] [ 3.21986894e-02 9.99481461e-01 -2.30913838e-04 4.19339566e+00] [ 1.65584163e-02 -3.02433957e-04 9.99862854e-01 2.55884094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.39925415399995 meters Centerline goodness [0,1] 0.998800934009298 Centerline is valid? [True, True] Translation: X:282.34, Y:4.19, Z:2.56 [[ 9.99322078e-01 -3.27921122e-02 -1.67350457e-02 2.82342644e+02] [ 3.27928142e-02 9.99462144e-01 -2.32541267e-04 4.19323908e+00] [ 1.67336702e-02 -3.16405623e-04 9.99859932e-01 2.55926773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.429254154 meters Centerline goodness [0,1] 0.9988012114074198 Centerline is valid? [True, True] Translation: X:282.37, Y:4.19, Z:2.56 [[ 9.99308638e-01 -3.31728674e-02 -1.67871026e-02 2.82373776e+02] [ 3.31736377e-02 9.99449576e-01 -2.32648039e-04 4.19278411e+00] [ 1.67855802e-02 -3.24402066e-04 9.99859060e-01 2.55949851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.45925415399995 meters Centerline goodness [0,1] 0.9990128331688055 Centerline is valid? [True, True] Translation: X:282.40, Y:4.19, Z:2.56 [[ 9.99276045e-01 -3.40409148e-02 -1.69882679e-02 2.82404872e+02] [ 3.40418398e-02 9.99420381e-01 -2.34807571e-04 4.19036823e+00] [ 1.69864142e-02 -3.43674313e-04 9.99855661e-01 2.55948048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.489254154 meters Centerline goodness [0,1] 0.9989497122211486 Centerline is valid? [True, True] Translation: X:282.44, Y:4.19, Z:2.56 [[ 9.99259787e-01 -3.44732379e-02 -1.70725814e-02 2.82435284e+02] [ 3.44742434e-02 9.99405559e-01 -2.35487273e-04 4.18696621e+00] [ 1.70705507e-02 -3.53251363e-04 9.99854225e-01 2.55827977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.51925415399995 meters Centerline goodness [0,1] 0.9988235046954768 Centerline is valid? [True, True] Translation: X:282.47, Y:4.19, Z:2.56 [[ 9.99202904e-01 -3.61018958e-02 -1.70355697e-02 2.82466509e+02] [ 3.61031411e-02 9.99348042e-01 -2.34539598e-04 4.18543111e+00] [ 1.70329305e-02 -3.80684927e-04 9.99854857e-01 2.55923786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.549254154 meters Centerline goodness [0,1] 0.9992250010472958 Centerline is valid? [True, True] Translation: X:282.50, Y:4.18, Z:2.56 [[ 9.99091643e-01 -3.91233423e-02 -1.68894421e-02 2.82497661e+02] [ 3.91250078e-02 9.99234297e-01 -2.31926480e-04 4.18428129e+00] [ 1.68855836e-02 -4.29083747e-04 9.99857336e-01 2.56065858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57925415399995 meters Centerline goodness [0,1] 0.9990773553649689 Centerline is valid? [True, True] Translation: X:282.53, Y:4.18, Z:2.56 [[ 9.99011131e-01 -4.12831014e-02 -1.65065194e-02 2.82528393e+02] [ 4.12850075e-02 9.99147385e-01 -2.25412064e-04 4.18226129e+00] [ 1.65017514e-02 -4.56282614e-04 9.99863733e-01 2.56083933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.609254154 meters Centerline goodness [0,1] 0.9989102644704304 Centerline is valid? [True, True] Translation: X:282.56, Y:4.18, Z:2.56 [[ 9.98792867e-01 -4.60560538e-02 -1.70777088e-02 2.82559360e+02] [ 4.60588147e-02 9.98938703e-01 -2.31826261e-04 4.17840939e+00] [ 1.70702612e-02 -5.55032608e-04 9.99854138e-01 2.56110017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63925415399996 meters Centerline goodness [0,1] 0.9987868900462237 Centerline is valid? [True, True] Translation: X:282.59, Y:4.17, Z:2.56 [[ 9.98667873e-01 -4.85533081e-02 -1.74658511e-02 2.82590039e+02] [ 4.85565855e-02 9.98820405e-01 -2.36626457e-04 4.17499674e+00] [ 1.74567374e-02 -6.11770850e-04 9.99847432e-01 2.56048792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.669254154 meters Centerline goodness [0,1] 0.9989103786434214 Centerline is valid? [True, True] Translation: X:282.62, Y:4.17, Z:2.56 [[ 9.98523536e-01 -5.12858614e-02 -1.79027435e-02 2.82621175e+02] [ 5.12897551e-02 9.98683785e-01 -2.41891495e-04 4.17322263e+00] [ 1.78915852e-02 -6.76692977e-04 9.99839704e-01 2.56055852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69925415399996 meters Centerline goodness [0,1] 0.9990786498031661 Centerline is valid? [True, True] Translation: X:282.65, Y:4.17, Z:2.56 [[ 9.98213871e-01 -5.68416410e-02 -1.83873872e-02 2.82651394e+02] [ 5.68467025e-02 9.98382888e-01 -2.47706794e-04 4.16771169e+00] [ 1.83717328e-02 -7.97997974e-04 9.99830907e-01 2.56051714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.729254154 meters Centerline goodness [0,1] 0.9988495889895208 Centerline is valid? [True, True] Translation: X:282.68, Y:4.17, Z:2.56 [[ 9.98055428e-01 -5.94758571e-02 -1.86543641e-02 2.82682489e+02] [ 5.94815399e-02 9.98229374e-01 -2.50549340e-04 4.16964137e+00] [ 1.86362359e-02 -8.59528175e-04 9.99825961e-01 2.56152966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75925415399996 meters Centerline goodness [0,1] 0.9987431922915794 Centerline is valid? [True, True] Translation: X:282.71, Y:4.17, Z:2.56 [[ 9.97908621e-01 -6.19044707e-02 -1.86070165e-02 2.82712893e+02] [ 6.19105554e-02 9.98081670e-01 -2.49397968e-04 4.16652641e+00] [ 1.85867610e-02 -9.03094346e-04 9.99826843e-01 2.56146578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.789254154 meters Centerline goodness [0,1] 0.9988100208768267 Centerline is valid? [True, True] Translation: X:282.75, Y:4.17, Z:2.56 [[ 9.97780658e-01 -6.39600360e-02 -1.85167896e-02 2.82745314e+02] [ 6.39664304e-02 9.97952020e-01 -2.47348946e-04 4.16589020e+00] [ 1.84946880e-02 -9.37652940e-04 9.99828519e-01 2.56197003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81925415399996 meters Centerline goodness [0,1] 0.9991228436573243 Centerline is valid? [True, True] Translation: X:282.78, Y:4.16, Z:2.56 [[ 9.97618559e-01 -6.64161819e-02 -1.86038248e-02 2.82775079e+02] [ 6.64230752e-02 9.97791518e-01 -2.47824133e-04 4.16340362e+00] [ 1.85791982e-02 -9.88489301e-04 9.99826903e-01 2.56245526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.849254154 meters Centerline goodness [0,1] 0.9987859251041383 Centerline is valid? [True, True] Translation: X:282.81, Y:4.17, Z:2.56 [[ 9.97608568e-01 -6.65823869e-02 -1.85453741e-02 2.82807049e+02] [ 6.65892779e-02 9.97780440e-01 -2.46377520e-04 4.16510176e+00] [ 1.85206159e-02 -9.89134743e-04 9.99827989e-01 2.56297012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87925415399997 meters Centerline goodness [0,1] 0.9990154800058653 Centerline is valid? [True, True] Translation: X:282.84, Y:4.17, Z:2.56 [[ 9.97651728e-01 -6.58690289e-02 -1.87696948e-02 2.82839339e+02] [ 6.58759877e-02 9.97827787e-01 -2.47976418e-04 4.16790012e+00] [ 1.87452570e-02 -9.89078084e-04 9.99823803e-01 2.56391650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90925415399994 meters Centerline goodness [0,1] 0.998930996897795 Centerline is valid? [True, True] Translation: X:282.87, Y:4.17, Z:2.56 [[ 9.97825731e-01 -6.30787366e-02 -1.91019071e-02 2.82870148e+02] [ 6.30854541e-02 9.98008097e-01 -2.51308345e-04 4.17177069e+00] [ 1.90797101e-02 -9.54290549e-04 9.99817510e-01 2.56436537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93925415399997 meters Centerline goodness [0,1] 0.9990149641614621 Centerline is valid? [True, True] Translation: X:282.90, Y:4.17, Z:2.57 [[ 9.97936438e-01 -6.12705232e-02 -1.92038789e-02 2.82901139e+02] [ 6.12769922e-02 9.98120768e-01 -2.51945303e-04 4.17473271e+00] [ 1.91832272e-02 -9.25330540e-04 9.99815557e-01 2.56505129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96925415399994 meters Centerline goodness [0,1] 0.9989688552188553 Centerline is valid? [True, True] Translation: X:282.93, Y:4.18, Z:2.57 [[ 9.98138281e-01 -5.78197188e-02 -1.94126781e-02 2.82931217e+02] [ 5.78256883e-02 9.98326663e-01 -2.54154430e-04 4.17857240e+00] [ 1.93948893e-02 -8.68870209e-04 9.99811524e-01 2.56504659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99925415399997 meters Centerline goodness [0,1] 0.9988862738505505 Centerline is valid? [True, True] Translation: X:282.96, Y:4.18, Z:2.57 [[ 9.98218270e-01 -5.63574441e-02 -1.95990853e-02 2.82963375e+02] [ 5.63632654e-02 9.98410295e-01 -2.55680797e-04 4.18156234e+00] [ 1.95823381e-02 -8.49443204e-04 9.99807887e-01 2.56558416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02925415399994 meters Centerline goodness [0,1] 0.9987802569872347 Centerline is valid? [True, True] Translation: X:283.00, Y:4.19, Z:2.57 [[ 9.98281897e-01 -5.51025009e-02 -1.99240522e-02 2.82995724e+02] [ 5.51082967e-02 9.98480350e-01 -2.58450643e-04 4.18562500e+00] [ 1.99080159e-02 -8.39973983e-04 9.99801463e-01 2.56626914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.059254154 meters Centerline goodness [0,1] 0.998863612449757 Centerline is valid? [True, True] Translation: X:283.03, Y:4.19, Z:2.57 [[ 9.98346128e-01 -5.39144108e-02 -1.99560605e-02 2.83028349e+02] [ 5.39200216e-02 9.98545224e-01 -2.57193694e-04 4.18809154e+00] [ 1.99408954e-02 -8.19262884e-04 9.99800825e-01 2.56654164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.08925415399995 meters Centerline goodness [0,1] 0.9987997473152243 Centerline is valid? [True, True] Translation: X:283.06, Y:4.19, Z:2.57 [[ 9.98424506e-01 -5.23328686e-02 -2.02429561e-02 2.83058259e+02] [ 5.23383393e-02 9.98629376e-01 -2.59813280e-04 4.19081196e+00] [ 2.02288074e-02 -8.00078762e-04 9.99795057e-01 2.56619535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.119254154 meters Centerline goodness [0,1] 0.9989277154030528 Centerline is valid? [True, True] Translation: X:283.09, Y:4.19, Z:2.57 [[ 9.98475476e-01 -5.13136459e-02 -2.03379893e-02 2.83090468e+02] [ 5.13189768e-02 9.98682279e-01 -2.60059848e-04 4.19318004e+00] [ 2.03245341e-02 -7.84061420e-04 9.99793128e-01 2.56647729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.14925415399995 meters Centerline goodness [0,1] 0.9987975444592114 Centerline is valid? [True, True] Translation: X:283.12, Y:4.20, Z:2.57 [[ 9.98566664e-01 -4.92880140e-02 -2.08640497e-02 2.83122135e+02] [ 4.92932105e-02 9.98784316e-01 -2.65458211e-04 4.19704820e+00] [ 2.08517695e-02 -7.63378273e-04 9.99782287e-01 2.56636678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.179254154 meters Centerline goodness [0,1] 0.9988187149305995 Centerline is valid? [True, True] Translation: X:283.15, Y:4.20, Z:2.57 [[ 9.98630974e-01 -4.79217446e-02 -2.09686397e-02 2.83152733e+02] [ 4.79267077e-02 9.98850820e-01 -2.66067304e-04 4.19752083e+00] [ 2.09572933e-02 -7.39254814e-04 9.99780099e-01 2.56597249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.20925415399995 meters Centerline goodness [0,1] 0.9986492475886959 Centerline is valid? [True, True] Translation: X:283.18, Y:4.20, Z:2.57 [[ 9.98691329e-01 -4.66173533e-02 -2.10345150e-02 2.83184174e+02] [ 4.66220711e-02 9.98912565e-01 -2.66312260e-04 4.20214839e+00] [ 2.10240561e-02 -7.14708910e-04 9.99778715e-01 2.56700824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.239254154 meters Centerline goodness [0,1] 0.9987532489487142 Centerline is valid? [True, True] Translation: X:283.22, Y:4.21, Z:2.57 [[ 9.98747450e-01 -4.52528603e-02 -2.13473367e-02 2.83215854e+02] [ 4.52574250e-02 9.98975321e-01 -2.69489616e-04 4.20587003e+00] [ 2.13376577e-02 -6.96973420e-04 9.99772083e-01 2.56771669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.26925415399995 meters Centerline goodness [0,1] 0.9986460757351385 Centerline is valid? [True, True] Translation: X:283.25, Y:4.21, Z:2.57 [[ 9.98887715e-01 -4.22867081e-02 -2.08606693e-02 2.83247583e+02] [ 4.22904410e-02 9.99105325e-01 -2.62372336e-04 4.21192371e+00] [ 2.08531007e-02 -6.20126403e-04 9.99782358e-01 2.56860186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.299254154 meters Centerline goodness [0,1] 0.998645903859174 Centerline is valid? [True, True] Translation: X:283.28, Y:4.21, Z:2.57 [[ 9.98974048e-01 -4.05269169e-02 -2.02094244e-02 2.83279240e+02] [ 4.05300787e-02 9.99178287e-01 -2.53280050e-04 4.21450412e+00] [ 2.02030827e-02 -5.66069364e-04 9.99795737e-01 2.56927939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.32925415399995 meters Centerline goodness [0,1] 0.9987094590306134 Centerline is valid? [True, True] Translation: X:283.31, Y:4.22, Z:2.57 [[ 9.99052679e-01 -3.88193427e-02 -1.96672922e-02 2.83310655e+02] [ 3.88220205e-02 9.99246111e-01 -2.45771698e-04 4.21729483e+00] [ 1.96620059e-02 -5.17985146e-04 9.99806550e-01 2.57008927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.359254154 meters Centerline goodness [0,1] 0.9988172429087376 Centerline is valid? [True, True] Translation: X:283.34, Y:4.22, Z:2.57 [[ 9.99145472e-01 -3.68715544e-02 -1.86765509e-02 2.83341485e+02] [ 3.68736415e-02 9.99319909e-01 -2.32723114e-04 4.21929744e+00] [ 1.86724300e-02 -4.56148196e-04 9.99825551e-01 2.57072462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.38925415399996 meters Centerline goodness [0,1] 0.9989209318071218 Centerline is valid? [True, True] Translation: X:283.37, Y:4.22, Z:2.57 [[ 9.99304162e-01 -3.30494882e-02 -1.72894082e-02 2.83372163e+02] [ 3.30507153e-02 9.99453653e-01 -2.14834186e-04 4.22383082e+00] [ 1.72870624e-02 -3.56742614e-04 9.99850504e-01 2.57190513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.419254154 meters Centerline goodness [0,1] 0.9988350666130091 Centerline is valid? [True, True] Translation: X:283.40, Y:4.23, Z:2.57 [[ 9.99375448e-01 -3.12042595e-02 -1.65833661e-02 2.83403908e+02] [ 3.12051465e-02 9.99512980e-01 -2.05331773e-04 4.22795481e+00] [ 1.65816968e-02 -3.12282835e-04 9.99862465e-01 2.57319397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.44925415399996 meters Centerline goodness [0,1] 0.9989825119236884 Centerline is valid? [True, True] Translation: X:283.43, Y:4.23, Z:2.57 [[ 9.99418865e-01 -2.98535328e-02 -1.64529506e-02 2.83434915e+02] [ 2.98542358e-02 9.99554242e-01 -2.02935541e-04 4.22977158e+00] [ 1.64516749e-02 -2.88372658e-04 9.99864620e-01 2.57384080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.479254154 meters Centerline goodness [0,1] 0.9989199720463353 Centerline is valid? [True, True] Translation: X:283.46, Y:4.23, Z:2.57 [[ 9.99466359e-01 -2.85365625e-02 -1.58953241e-02 2.83464787e+02] [ 2.85370594e-02 9.99592716e-01 -1.95602818e-04 4.23164228e+00] [ 1.58944320e-02 -2.58107371e-04 9.99873642e-01 2.57383015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.50925415399996 meters Centerline goodness [0,1] 0.9988972537376737 Centerline is valid? [True, True] Translation: X:283.49, Y:4.23, Z:2.57 [[ 9.99458093e-01 -2.86045436e-02 -1.62880621e-02 2.83494837e+02] [ 2.86050793e-02 9.99590771e-01 -2.00133893e-04 4.23046127e+00] [ 1.62871213e-02 -2.65895870e-04 9.99867321e-01 2.57307863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.539254154 meters Centerline goodness [0,1] 0.9987720189701897 Centerline is valid? [True, True] Translation: X:283.53, Y:4.23, Z:2.57 [[ 9.99431194e-01 -2.93347292e-02 -1.66361886e-02 2.83525689e+02] [ 2.93353921e-02 9.99569604e-01 -2.04238029e-04 4.23010409e+00] [ 1.66350197e-02 -2.83907258e-04 9.99861588e-01 2.57258571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56925415399996 meters Centerline goodness [0,1] 0.9989253655864132 Centerline is valid? [True, True] Translation: X:283.56, Y:4.23, Z:2.57 [[ 9.99327217e-01 -3.20493250e-02 -1.78312469e-02 2.83556102e+02] [ 3.20505185e-02 9.99486226e-01 -2.18909439e-04 4.22902053e+00] [ 1.78291015e-02 -3.52738547e-04 9.99840987e-01 2.57180592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.599254154 meters Centerline goodness [0,1] 0.998919628860738 Centerline is valid? [True, True] Translation: X:283.59, Y:4.23, Z:2.57 [[ 9.99263147e-01 -3.39242985e-02 -1.79528307e-02 2.83586025e+02] [ 3.39258107e-02 9.99424330e-01 -2.20402091e-04 4.22722309e+00] [ 1.79499728e-02 -3.88824649e-04 9.99838811e-01 2.57155164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62925415399997 meters Centerline goodness [0,1] 0.9987738362014291 Centerline is valid? [True, True] Translation: X:283.62, Y:4.22, Z:2.57 [[ 9.99106228e-01 -3.77939467e-02 -1.89304572e-02 2.83617128e+02] [ 3.77963290e-02 9.99285437e-01 -2.32051291e-04 4.22499889e+00] [ 1.89257003e-02 -4.83657898e-04 9.99820776e-01 2.57033917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65925415399994 meters Centerline goodness [0,1] 0.9987990645344795 Centerline is valid? [True, True] Translation: X:283.65, Y:4.22, Z:2.57 [[ 9.99016820e-01 -4.02585927e-02 -1.85644626e-02 2.83647804e+02] [ 4.02613371e-02 9.99189158e-01 -2.26045541e-04 4.22241812e+00] [ 1.85585101e-02 -5.21606789e-04 9.99827640e-01 2.57099954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68925415399997 meters Centerline goodness [0,1] 0.9987102230679776 Centerline is valid? [True, True] Translation: X:283.68, Y:4.22, Z:2.57 [[ 9.98930083e-01 -4.23926820e-02 -1.84810407e-02 2.83679062e+02] [ 4.23957947e-02 9.99100869e-01 -2.23505247e-04 4.22072835e+00] [ 1.84738988e-02 -5.60252294e-04 9.99829186e-01 2.57115483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71925415399994 meters Centerline goodness [0,1] 0.9986712505009174 Centerline is valid? [True, True] Translation: X:283.71, Y:4.22, Z:2.57 [[ 9.98843980e-01 -4.43699878e-02 -1.84934265e-02 2.83710295e+02] [ 4.43734555e-02 9.99014988e-01 -2.22990789e-04 4.21881853e+00] [ 1.84851044e-02 -5.97884233e-04 9.99828957e-01 2.57131309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74925415399997 meters Centerline goodness [0,1] 0.9985000845022816 Centerline is valid? [True, True] Translation: X:283.74, Y:4.22, Z:2.57 [[ 9.98706806e-01 -4.74286387e-02 -1.83095548e-02 2.83741563e+02] [ 4.74325631e-02 9.98874418e-01 -2.20119955e-04 4.21604641e+00] [ 1.82993859e-02 -6.48633817e-04 9.99832342e-01 2.57049655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77925415399994 meters Centerline goodness [0,1] 0.9986080354318254 Centerline is valid? [True, True] Translation: X:283.77, Y:4.22, Z:2.57 [[ 9.98652551e-01 -4.87853930e-02 -1.76937237e-02 2.83773731e+02] [ 4.87892869e-02 9.98809071e-01 -2.11785481e-04 4.21633470e+00] [ 1.76829837e-02 -6.51764050e-04 9.99843431e-01 2.57204082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.809254154 meters Centerline goodness [0,1] 0.9986720627292273 Centerline is valid? [True, True] Translation: X:283.81, Y:4.21, Z:2.57 [[ 9.98606762e-01 -4.98674033e-02 -1.72562147e-02 2.83805279e+02] [ 4.98712870e-02 9.98755632e-01 -2.05456611e-04 4.21395731e+00] [ 1.72449872e-02 -6.55419273e-04 9.99851079e-01 2.57246174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83925415399995 meters Centerline goodness [0,1] 0.9987348178137652 Centerline is valid? [True, True] Translation: X:283.84, Y:4.21, Z:2.57 [[ 9.98548992e-01 -5.11186767e-02 -1.69348899e-02 2.83837832e+02] [ 5.11226143e-02 9.98692364e-01 -2.00597705e-04 4.21314834e+00] [ 1.69229995e-02 -6.65449210e-04 9.99856574e-01 2.57311856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.869254154 meters Centerline goodness [0,1] 0.9989026526262477 Centerline is valid? [True, True] Translation: X:283.87, Y:4.22, Z:2.57 [[ 9.98537229e-01 -5.15331685e-02 -1.63625783e-02 2.83869639e+02] [ 5.15369187e-02 9.98671071e-01 -1.92666504e-04 4.21562250e+00] [ 1.63507623e-02 -6.50892193e-04 9.99866105e-01 2.57426515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.89925415399995 meters Centerline goodness [0,1] 0.9985439351734616 Centerline is valid? [True, True] Translation: X:283.90, Y:4.21, Z:2.57 [[ 9.98519803e-01 -5.19347733e-02 -1.61549345e-02 2.83900698e+02] [ 5.19384984e-02 9.98650267e-01 -1.89173801e-04 4.21174501e+00] [ 1.61429543e-02 -6.50169251e-04 9.99869483e-01 2.57378453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.929254154 meters Centerline goodness [0,1] 0.9985439351734616 Centerline is valid? [True, True] Translation: X:283.93, Y:4.21, Z:2.57 [[ 9.98523417e-01 -5.18652400e-02 -1.61549459e-02 2.83932412e+02] [ 5.18689718e-02 9.98653881e-01 -1.88190231e-04 4.21205037e+00] [ 1.61429600e-02 -6.50028083e-04 9.99869483e-01 2.57408150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.95925415399995 meters Centerline goodness [0,1] 0.9987968591691996 Centerline is valid? [True, True] Translation: X:283.96, Y:4.22, Z:2.57 [[ 9.98507566e-01 -5.21446645e-02 -1.62350094e-02 2.83964592e+02] [ 5.21484891e-02 9.98639324e-01 -1.87966443e-04 4.21533480e+00] [ 1.62227203e-02 -6.58945295e-04 9.99868186e-01 2.57483330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.989254154 meters Centerline goodness [0,1] 0.9988179419525066 Centerline is valid? [True, True] Translation: X:284.00, Y:4.21, Z:2.57 [[ 9.98519692e-01 -5.19340546e-02 -1.61641454e-02 2.83996275e+02] [ 5.19378353e-02 9.98650302e-01 -1.86096318e-04 4.21407909e+00] [ 1.61519935e-02 -6.53709884e-04 9.99869334e-01 2.57451269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.01925415399995 meters Centerline goodness [0,1] 0.998902073392171 Centerline is valid? [True, True] Translation: X:284.03, Y:4.21, Z:2.57 [[ 9.98549377e-01 -5.13242354e-02 -1.62777046e-02 2.84028007e+02] [ 5.13280048e-02 9.98681832e-01 -1.86400147e-04 4.21458099e+00] [ 1.62658147e-02 -6.49372350e-04 9.99867492e-01 2.57451858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.049254154 meters Centerline goodness [0,1] 0.9987958424877472 Centerline is valid? [True, True] Translation: X:284.06, Y:4.22, Z:2.57 [[ 9.98645651e-01 -4.92074928e-02 -1.68963175e-02 2.84060683e+02] [ 4.92112746e-02 9.98788373e-01 -1.92130406e-04 4.21595266e+00] [ 1.68852997e-02 -6.39619125e-04 9.99857229e-01 2.57466045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07925415399995 meters Centerline goodness [0,1] 0.9986678507992895 Centerline is valid? [True, True] Translation: X:284.09, Y:4.22, Z:2.57 [[ 9.98736701e-01 -4.73982659e-02 -1.66855431e-02 2.84092178e+02] [ 4.74017218e-02 9.98875889e-01 -1.88534249e-04 4.21661544e+00] [ 1.66757229e-02 -6.02627400e-04 9.99860769e-01 2.57468388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.109254154 meters Centerline goodness [0,1] 0.9986475920799611 Centerline is valid? [True, True] Translation: X:284.12, Y:4.22, Z:2.58 [[ 9.98920867e-01 -4.33141386e-02 -1.67626893e-02 2.84123605e+02] [ 4.33170649e-02 9.99061358e-01 -1.88640533e-04 4.22245277e+00] [ 1.67551259e-02 -5.37673536e-04 9.99859478e-01 2.57566837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13925415399996 meters Centerline goodness [0,1] 0.9989010524536117 Centerline is valid? [True, True] Translation: X:284.15, Y:4.22, Z:2.58 [[ 9.99020755e-01 -4.08461281e-02 -1.70036492e-02 2.84154322e+02] [ 4.08487926e-02 9.99165322e-01 -1.90729900e-04 4.22092630e+00] [ 1.69972472e-02 -5.04035410e-04 9.99855409e-01 2.57513511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.169254154 meters Centerline goodness [0,1] 0.9986902423051736 Centerline is valid? [True, True] Translation: X:284.19, Y:4.22, Z:2.58 [[ 9.99137698e-01 -3.80156520e-02 -1.66934405e-02 2.84186118e+02] [ 3.80178372e-02 9.99277043e-01 -1.86543490e-04 4.22311982e+00] [ 1.66884634e-02 -4.48265868e-04 9.99860637e-01 2.57524916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19925415399996 meters Centerline goodness [0,1] 0.998754196668004 Centerline is valid? [True, True] Translation: X:284.22, Y:4.23, Z:2.58 [[ 9.99221772e-01 -3.56238046e-02 -1.69350454e-02 2.84217551e+02] [ 3.56257230e-02 9.99365185e-01 -1.88483386e-04 4.22807111e+00] [ 1.69310092e-02 -4.14986532e-04 9.99856574e-01 2.57673970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.229254154 meters Centerline goodness [0,1] 0.9990271344880824 Centerline is valid? [True, True] Translation: X:284.25, Y:4.23, Z:2.58 [[ 9.99362110e-01 -3.11801130e-02 -1.74118674e-02 2.84249066e+02] [ 3.11814780e-02 9.99513721e-01 -1.93149319e-04 4.23190816e+00] [ 1.74094228e-02 -3.49901650e-04 9.99848383e-01 2.57701060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25925415399996 meters Centerline goodness [0,1] 0.9987120476331236 Centerline is valid? [True, True] Translation: X:284.28, Y:4.23, Z:2.58 [[ 9.99410216e-01 -2.95173663e-02 -1.75483823e-02 2.84279630e+02] [ 2.95185052e-02 9.99564215e-01 -1.94170502e-04 4.23006196e+00] [ 1.75464664e-02 -3.23946032e-04 9.99845996e-01 2.57526885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.289254154 meters Centerline goodness [0,1] 0.9987093498085183 Centerline is valid? [True, True] Translation: X:284.31, Y:4.23, Z:2.58 [[ 9.99432905e-01 -2.84202179e-02 -1.80599084e-02 2.84310404e+02] [ 2.84212483e-02 9.99596015e-01 -1.99656769e-04 4.23429559e+00] [ 1.80582868e-02 -3.13741597e-04 9.99836887e-01 2.57668140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31925415399996 meters Centerline goodness [0,1] 0.9989616224120028 Centerline is valid? [True, True] Translation: X:284.34, Y:4.23, Z:2.58 [[ 9.99426700e-01 -2.77549003e-02 -1.93890819e-02 2.84340152e+02] [ 2.77559595e-02 9.99614706e-01 -2.14530837e-04 4.23377146e+00] [ 1.93875657e-02 -3.23754726e-04 9.99811991e-01 2.57533413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.349254154 meters Centerline goodness [0,1] 0.9987704831153414 Centerline is valid? [True, True] Translation: X:284.37, Y:4.23, Z:2.58 [[ 9.99398552e-01 -2.84405278e-02 -1.98411377e-02 2.84368443e+02] [ 2.84417172e-02 9.99595428e-01 -2.22296244e-04 4.23392761e+00] [ 1.98394328e-02 -3.42153483e-04 9.99803121e-01 2.57544910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37925415399997 meters Centerline goodness [0,1] 0.9989399592944369 Centerline is valid? [True, True] Translation: X:284.40, Y:4.23, Z:2.58 [[ 9.99366228e-01 -2.94741185e-02 -1.99604463e-02 2.84397019e+02] [ 2.94754706e-02 9.99565478e-01 -2.26521993e-04 4.23233218e+00] [ 1.99584496e-02 -3.61965119e-04 9.99800745e-01 2.57523531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40925415399994 meters Centerline goodness [0,1] 0.9987297554779295 Centerline is valid? [True, True] Translation: X:284.43, Y:4.23, Z:2.58 [[ 9.99266332e-01 -3.26835807e-02 -1.99644831e-02 2.84426579e+02] [ 3.26855561e-02 9.99465659e-01 -2.27441178e-04 4.23140132e+00] [ 1.99612488e-02 -4.25275920e-04 9.99800664e-01 2.57680187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43925415399997 meters Centerline goodness [0,1] 0.9988781406769257 Centerline is valid? [True, True] Translation: X:284.46, Y:4.23, Z:2.58 [[ 9.99218585e-01 -3.44280717e-02 -1.94146167e-02 2.84456397e+02] [ 3.44302553e-02 9.99407078e-01 -2.21869099e-04 4.23090780e+00] [ 1.94107439e-02 -4.46754483e-04 9.99811494e-01 2.57780545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46925415399994 meters Centerline goodness [0,1] 0.9990051225604335 Centerline is valid? [True, True] Translation: X:284.49, Y:4.23, Z:2.58 [[ 9.99102909e-01 -3.83312747e-02 -1.80024989e-02 2.84486676e+02] [ 3.83337860e-02 9.99264969e-01 -2.05685046e-04 4.22763992e+00] [ 1.79971507e-02 -4.84603414e-04 9.99837921e-01 2.57899965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49925415399997 meters Centerline goodness [0,1] 0.999027360764579 Centerline is valid? [True, True] Translation: X:284.52, Y:4.23, Z:2.58 [[ 9.99032456e-01 -4.04342545e-02 -1.72980732e-02 2.84518414e+02] [ 4.04368995e-02 9.99182075e-01 -1.96974976e-04 4.22609857e+00] [ 1.72918892e-02 -5.02696056e-04 9.99850358e-01 2.57956014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52925415399994 meters Centerline goodness [0,1] 0.9987546699875467 Centerline is valid? [True, True] Translation: X:284.55, Y:4.22, Z:2.58 [[ 9.98958454e-01 -4.24084373e-02 -1.68384099e-02 2.84549343e+02] [ 4.24112359e-02 9.99100220e-01 -1.91013502e-04 4.22311792e+00] [ 1.68313596e-02 -5.23323221e-04 9.99858206e-01 2.57969861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.559254154 meters Centerline goodness [0,1] 0.9985002112378538 Centerline is valid? [True, True] Translation: X:284.58, Y:4.22, Z:2.58 [[ 9.98891289e-01 -4.41435692e-02 -1.63565837e-02 2.84580652e+02] [ 4.41464543e-02 9.99025053e-01 -1.84816013e-04 4.22076253e+00] [ 1.63487953e-02 -5.37474066e-04 9.99866205e-01 2.57894170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.58925415399995 meters Centerline goodness [0,1] 0.9988392461431315 Centerline is valid? [True, True] Translation: X:284.61, Y:4.22, Z:2.58 [[ 9.98687450e-01 -4.87979827e-02 -1.55606293e-02 2.84611518e+02] [ 4.88011644e-02 9.98808498e-01 -1.75401256e-04 4.21844859e+00] [ 1.55506480e-02 -5.84205793e-04 9.99878911e-01 2.58068632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.619254154 meters Centerline goodness [0,1] 0.9987969099582085 Centerline is valid? [True, True] Translation: X:284.64, Y:4.22, Z:2.58 [[ 9.98570925e-01 -5.11590843e-02 -1.54549791e-02 2.84643558e+02] [ 5.11625145e-02 9.98690326e-01 -1.73608567e-04 4.21742481e+00] [ 1.54436198e-02 -6.17355126e-04 9.99880550e-01 2.58134333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.64925415399995 meters Centerline goodness [0,1] 0.9987140839429137 Centerline is valid? [True, True] Translation: X:284.68, Y:4.21, Z:2.58 [[ 9.98438200e-01 -5.38135153e-02 -1.50088693e-02 2.84675025e+02] [ 5.38170671e-02 9.98550798e-01 -1.67435396e-04 4.21454180e+00] [ 1.49961287e-02 -6.40559428e-04 9.99887347e-01 2.58164373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.679254154 meters Centerline goodness [0,1] 0.9985447029295763 Centerline is valid? [True, True] Translation: X:284.71, Y:4.21, Z:2.58 [[ 9.98125340e-01 -5.93222422e-02 -1.50558158e-02 2.84705350e+02] [ 5.93264545e-02 9.98238621e-01 -1.67089786e-04 4.20998404e+00] [ 1.50392090e-02 -7.26431624e-04 9.99886641e-01 2.58193347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.70925415399995 meters Centerline goodness [0,1] 0.9986723145982171 Centerline is valid? [True, True] Translation: X:284.74, Y:4.21, Z:2.58 [[ 9.97962305e-01 -6.18647675e-02 -1.56201436e-02 2.84736326e+02] [ 6.18696145e-02 9.98084225e-01 -1.73207207e-04 4.20774884e+00] [ 1.56009344e-02 -7.93557999e-04 9.99877983e-01 2.58185622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.739254154 meters Centerline goodness [0,1] 0.9987176522525174 Centerline is valid? [True, True] Translation: X:284.77, Y:4.20, Z:2.58 [[ 9.97693663e-01 -6.58931680e-02 -1.62924621e-02 2.84766112e+02] [ 6.58989861e-02 9.97826283e-01 -1.80088021e-04 4.20335031e+00] [ 1.62689135e-02 -8.93984058e-04 9.99867253e-01 2.58132737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.76925415399995 meters Centerline goodness [0,1] 0.9984660642992226 Centerline is valid? [True, True] Translation: X:284.80, Y:4.20, Z:2.58 [[ 9.97625107e-01 -6.69449268e-02 -1.62025447e-02 2.84798356e+02] [ 6.69508355e-02 9.97756260e-01 -1.78078177e-04 4.20062185e+00] [ 1.61781118e-02 -9.07118642e-04 9.99868714e-01 2.58034607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.799254154 meters Centerline goodness [0,1] 0.9986345111549935 Centerline is valid? [True, True] Translation: X:284.83, Y:4.20, Z:2.58 [[ 9.97509177e-01 -6.86319558e-02 -1.62817864e-02 2.84830176e+02] [ 6.86381676e-02 9.97641604e-01 -1.77649277e-04 4.19926784e+00] [ 1.62555799e-02 -9.40345195e-04 9.99867427e-01 2.58135744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.82925415399995 meters Centerline goodness [0,1] 0.9984845295727215 Centerline is valid? [True, True] Translation: X:284.86, Y:4.20, Z:2.58 [[ 9.97436312e-01 -6.96586565e-02 -1.63852161e-02 2.84862150e+02] [ 6.96651078e-02 9.97570419e-01 -1.77413889e-04 4.19794231e+00] [ 1.63577653e-02 -9.64518789e-04 9.99865738e-01 2.58120226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.859254154 meters Centerline goodness [0,1] 0.9985286699176055 Centerline is valid? [True, True] Translation: X:284.89, Y:4.20, Z:2.58 [[ 9.97346467e-01 -7.06374001e-02 -1.76176718e-02 2.84893903e+02] [ 7.06450308e-02 9.97501501e-01 -1.89622506e-04 4.20271657e+00] [ 1.75870485e-02 -1.05548163e-03 9.99844779e-01 2.58146680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.88925415399996 meters Centerline goodness [0,1] 0.9985293499726879 Centerline is valid? [True, True] Translation: X:284.93, Y:4.20, Z:2.58 [[ 9.97344878e-01 -7.05451598e-02 -1.80713639e-02 2.84925486e+02] [ 7.05531913e-02 9.97508000e-01 -1.93521886e-04 4.19713484e+00] [ 1.80399821e-02 -1.08198433e-03 9.99836681e-01 2.58054104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.919254154 meters Centerline goodness [0,1] 0.9986125709480765 Centerline is valid? [True, True] Translation: X:284.96, Y:4.21, Z:2.58 [[ 9.97387471e-01 -6.98665694e-02 -1.83547055e-02 2.84957386e+02] [ 6.98747620e-02 9.97555753e-01 -1.95376509e-04 4.20753789e+00] [ 1.83234924e-02 -1.08766460e-03 9.99831519e-01 2.58198023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.94925415399996 meters Centerline goodness [0,1] 0.9988651647612643 Centerline is valid? [True, True] Translation: X:284.99, Y:4.21, Z:2.58 [[ 9.97489068e-01 -6.82401121e-02 -1.89432252e-02 2.84988467e+02] [ 6.82485667e-02 9.97668328e-01 -2.00561968e-04 4.20961654e+00] [ 1.89127422e-02 -1.09278960e-03 9.99820541e-01 2.58236277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.979254154 meters Centerline goodness [0,1] 0.9988431525145658 Centerline is valid? [True, True] Translation: X:285.02, Y:4.21, Z:2.58 [[ 9.97587987e-01 -6.67472838e-02 -1.90527565e-02 2.85020451e+02] [ 6.67555856e-02 9.97769338e-01 -2.00647021e-04 4.21186341e+00] [ 1.90236489e-02 -1.07171486e-03 9.99818460e-01 2.58284623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.00925415399996 meters Centerline goodness [0,1] 0.9985480714601351 Centerline is valid? [True, True] Translation: X:285.05, Y:4.20, Z:2.58 [[ 9.97711180e-01 -6.48058538e-02 -1.93029029e-02 2.85051322e+02] [ 6.48140336e-02 9.97897339e-01 -2.02204372e-04 4.20133853e+00] [ 1.92754194e-02 -1.04935743e-03 9.99813661e-01 2.58110212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.039254154 meters Centerline goodness [0,1] 0.9985663686962388 Centerline is valid? [True, True] Translation: X:285.08, Y:4.20, Z:2.58 [[ 9.97847002e-01 -6.27122873e-02 -1.91971488e-02 2.85083172e+02] [ 6.27200082e-02 9.98031142e-01 -2.00218731e-04 4.20393043e+00] [ 1.91719085e-02 -1.00425767e-03 9.99815698e-01 2.58157559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06925415399996 meters Centerline goodness [0,1] 0.9987775834088563 Centerline is valid? [True, True] Translation: X:285.11, Y:4.21, Z:2.58 [[ 9.98196538e-01 -5.70688374e-02 -1.86230902e-02 2.85112227e+02] [ 5.70751297e-02 9.98369867e-01 -1.93887678e-04 4.20990952e+00] [ 1.86037971e-02 -8.69377280e-04 9.99826556e-01 2.58267843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.099254154 meters Centerline goodness [0,1] 0.9990082086560172 Centerline is valid? [True, True] Translation: X:285.14, Y:4.23, Z:2.59 [[ 9.98402141e-01 -5.35815615e-02 -1.79494008e-02 2.85143291e+02] [ 5.35868473e-02 9.98563175e-01 -1.86698398e-04 4.22565650e+00] [ 1.79336143e-02 -7.75451721e-04 9.99838879e-01 2.58584373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12925415399997 meters Centerline goodness [0,1] 0.998776293858261 Centerline is valid? [True, True] Translation: X:285.17, Y:4.23, Z:2.59 [[ 9.98786822e-01 -4.62270135e-02 -1.69689940e-02 2.85172749e+02] [ 4.62306807e-02 9.98930775e-01 -1.76302734e-04 4.23067245e+00] [ 1.69590002e-02 -6.08399295e-04 9.99856001e-01 2.58677782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15925415399994 meters Centerline goodness [0,1] 0.9987542492768311 Centerline is valid? [True, True] Translation: X:285.20, Y:4.24, Z:2.59 [[ 9.98961987e-01 -4.23377265e-02 -1.68066809e-02 2.85204369e+02] [ 4.23407787e-02 9.99103212e-01 -1.74338244e-04 4.23554082e+00] [ 1.67989900e-02 -5.37450679e-04 9.99858743e-01 2.58749489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18925415399997 meters Centerline goodness [0,1] 0.9986904082968971 Centerline is valid? [True, True] Translation: X:285.24, Y:4.24, Z:2.59 [[ 9.99120795e-01 -3.84081165e-02 -1.68063371e-02 2.85236056e+02] [ 3.84106293e-02 9.99262024e-01 -1.73372793e-04 4.23946587e+00] [ 1.68005934e-02 -4.72321622e-04 9.99858749e-01 2.58818185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21925415399994 meters Centerline goodness [0,1] 0.999049911325057 Centerline is valid? [True, True] Translation: X:285.27, Y:4.25, Z:2.59 [[ 9.99372550e-01 -3.11537484e-02 -1.68508271e-02 2.85266770e+02] [ 3.11552547e-02 9.99514542e-01 -1.73178292e-04 4.24569371e+00] [ 1.68480419e-02 -3.51922179e-04 9.99858000e-01 2.58850935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24925415399997 meters Centerline goodness [0,1] 0.9987285711258502 Centerline is valid? [True, True] Translation: X:285.30, Y:4.25, Z:2.59 [[ 9.99460154e-01 -2.80984811e-02 -1.70257297e-02 2.85297448e+02] [ 2.80995787e-02 9.99605114e-01 -1.74803255e-04 4.24800347e+00] [ 1.70239181e-02 -3.03706941e-04 9.99855036e-01 2.58839938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27925415399994 meters Centerline goodness [0,1] 0.9988344247356263 Centerline is valid? [True, True] Translation: X:285.33, Y:4.25, Z:2.59 [[ 9.99515369e-01 -2.56282734e-02 -1.76697111e-02 2.85328352e+02] [ 2.56290680e-02 9.99671505e-01 -1.81508875e-04 4.25072182e+00] [ 1.76685584e-02 -2.71437317e-04 9.99843862e-01 2.58852553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.309254154 meters Centerline goodness [0,1] 0.9990231264201831 Centerline is valid? [True, True] Translation: X:285.36, Y:4.25, Z:2.59 [[ 9.99579259e-01 -2.26571138e-02 -1.81096930e-02 2.85358022e+02] [ 2.26574562e-02 9.99743270e-01 -1.86297103e-04 4.25271632e+00] [ 1.81092646e-02 -2.24100855e-04 9.99835989e-01 2.58815659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33925415399995 meters Centerline goodness [0,1] 0.9989598148895069 Centerline is valid? [True, True] Translation: X:285.39, Y:4.25, Z:2.59 [[ 9.99601182e-01 -2.18409288e-02 -1.79011654e-02 2.85385387e+02] [ 2.18411157e-02 9.99761437e-01 -1.85089108e-04 4.25319100e+00] [ 1.79009374e-02 -2.05966134e-04 9.99839744e-01 2.58792868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.369254154 meters Centerline goodness [0,1] 0.9988543059003246 Centerline is valid? [True, True] Translation: X:285.41, Y:4.25, Z:2.59 [[ 9.99598779e-01 -2.18706387e-02 -1.79987581e-02 2.85414310e+02] [ 2.18707782e-02 9.99760788e-01 -1.89114277e-04 4.25362266e+00] [ 1.79985887e-02 -2.04608447e-04 9.99837991e-01 2.58834066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.39925415399995 meters Centerline goodness [0,1] 0.9990650631082402 Centerline is valid? [True, True] Translation: X:285.44, Y:4.25, Z:2.59 [[ 9.99582316e-01 -2.27605549e-02 -1.78087104e-02 2.85442983e+02] [ 2.27607537e-02 9.99740922e-01 -1.91548313e-04 4.25322597e+00] [ 1.78084563e-02 -2.13871364e-04 9.99841394e-01 2.58823576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.429254154 meters Centerline goodness [0,1] 0.998768054375531 Centerline is valid? [True, True] Translation: X:285.47, Y:4.25, Z:2.59 [[ 9.99565475e-01 -2.35737279e-02 -1.76957640e-02 2.85471279e+02] [ 2.35739732e-02 9.99722076e-01 -1.94765226e-04 4.25312161e+00] [ 1.76954372e-02 -2.22478870e-04 9.99843399e-01 2.58833734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.45925415399995 meters Centerline goodness [0,1] 0.9990017628443387 Centerline is valid? [True, True] Translation: X:285.50, Y:4.25, Z:2.59 [[ 9.99526544e-01 -2.57095149e-02 -1.69029183e-02 2.85499631e+02] [ 2.57099732e-02 9.99669426e-01 -1.90220705e-04 4.25154863e+00] [ 1.69022211e-02 -2.44442933e-04 9.99857117e-01 2.58864391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.489254154 meters Centerline goodness [0,1] 0.9988351406302948 Centerline is valid? [True, True] Translation: X:285.53, Y:4.25, Z:2.59 [[ 9.99497421e-01 -2.70362656e-02 -1.65512860e-02 2.85529315e+02] [ 2.70368463e-02 9.99634420e-01 -1.88717951e-04 4.24994118e+00] [ 1.65503374e-02 -2.58871471e-04 9.99863000e-01 2.58876657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.51925415399995 meters Centerline goodness [0,1] 0.998685967403514 Centerline is valid? [True, True] Translation: X:285.56, Y:4.25, Z:2.59 [[ 9.99462381e-01 -2.86634591e-02 -1.59171349e-02 2.85559836e+02] [ 2.86641999e-02 9.99589081e-01 -1.81648963e-04 4.24963594e+00] [ 1.59158010e-02 -2.74700632e-04 9.99873298e-01 2.58960007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.549254154 meters Centerline goodness [0,1] 0.999088326336768 Centerline is valid? [True, True] Translation: X:285.59, Y:4.25, Z:2.59 [[ 9.99351282e-01 -3.29542898e-02 -1.45268990e-02 2.85590012e+02] [ 3.29553611e-02 9.99456811e-01 -1.65689834e-04 4.24546941e+00] [ 1.45244683e-02 -3.13156855e-04 9.99894465e-01 2.59009774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57925415399995 meters Centerline goodness [0,1] 0.9988782356551739 Centerline is valid? [True, True] Translation: X:285.62, Y:4.24, Z:2.59 [[ 9.99262781e-01 -3.57712487e-02 -1.39395678e-02 2.85621318e+02] [ 3.57725137e-02 9.99359946e-01 -1.58663147e-04 4.24306856e+00] [ 1.39363214e-02 -3.40107204e-04 9.99902827e-01 2.59029469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.609254154 meters Centerline goodness [0,1] 0.9988540627718948 Centerline is valid? [True, True] Translation: X:285.65, Y:4.24, Z:2.59 [[ 9.99149245e-01 -3.90401390e-02 -1.32910882e-02 2.85653504e+02] [ 3.90415858e-02 9.99237575e-01 -1.50691145e-04 4.23999233e+00] [ 1.32868378e-02 -3.68342217e-04 9.99911658e-01 2.59066604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63925415399996 meters Centerline goodness [0,1] 0.9985608465608465 Centerline is valid? [True, True] Translation: X:285.69, Y:4.24, Z:2.59 [[ 9.98996444e-01 -4.29556311e-02 -1.26853662e-02 2.85685022e+02] [ 4.29572736e-02 9.99076900e-01 -1.43089180e-04 4.23777788e+00] [ 1.26798028e-02 -4.01983163e-04 9.99919527e-01 2.59092529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.669254154 meters Centerline goodness [0,1] 0.9986064777669862 Centerline is valid? [True, True] Translation: X:285.72, Y:4.23, Z:2.59 [[ 9.98614011e-01 -5.12243227e-02 -1.20882473e-02 2.85715755e+02] [ 5.12264231e-02 9.98687056e-01 -1.36014499e-04 4.23065359e+00] [ 1.20793433e-02 -4.83411685e-04 9.99926925e-01 2.59040798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69925415399996 meters Centerline goodness [0,1] 0.9987317691819911 Centerline is valid? [True, True] Translation: X:285.75, Y:4.23, Z:2.59 [[ 9.98412108e-01 -5.50230746e-02 -1.20716085e-02 2.85746835e+02] [ 5.50254475e-02 9.98484943e-01 -1.35736858e-04 4.22670665e+00] [ 1.20607879e-02 -5.28724335e-04 9.99927126e-01 2.58832965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.729254154 meters Centerline goodness [0,1] 0.9988391726466863 Centerline is valid? [True, True] Translation: X:285.78, Y:4.22, Z:2.59 [[ 9.98142350e-01 -5.96060767e-02 -1.26081088e-02 2.85778131e+02] [ 5.96090337e-02 9.98221791e-01 -1.41466061e-04 4.22363132e+00] [ 1.25941212e-02 -6.10353917e-04 9.99920505e-01 2.59020627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75925415399996 meters Centerline goodness [0,1] 0.9987126727867469 Centerline is valid? [True, True] Translation: X:285.81, Y:4.22, Z:2.59 [[ 9.97700163e-01 -6.66593967e-02 -1.22845290e-02 2.85808775e+02] [ 6.66627414e-02 9.97775556e-01 -1.37463068e-04 4.21754885e+00] [ 1.22663659e-02 -6.81773453e-04 9.99924533e-01 2.58956171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.789254154 meters Centerline goodness [0,1] 0.99848210144622 Centerline is valid? [True, True] Translation: X:285.84, Y:4.21, Z:2.59 [[ 9.97508008e-01 -6.93797973e-02 -1.28147683e-02 2.85839368e+02] [ 6.93836626e-02 9.97590039e-01 -1.43247249e-04 4.21388586e+00] [ 1.27938237e-02 -7.46245282e-04 9.99917877e-01 2.58923071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81925415399996 meters Centerline goodness [0,1] 0.99848210144622 Centerline is valid? [True, True] Translation: X:285.87, Y:4.21, Z:2.59 [[ 9.97515660e-01 -6.92696934e-02 -1.28147744e-02 2.85871957e+02] [ 6.92735568e-02 9.97597691e-01 -1.42694804e-04 4.21415778e+00] [ 1.27938738e-02 -7.45384703e-04 9.99917877e-01 2.58953597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.849254154 meters Centerline goodness [0,1] 0.998545715128778 Centerline is valid? [True, True] Translation: X:285.90, Y:4.21, Z:2.59 [[ 9.97365931e-01 -7.13857271e-02 -1.28560447e-02 2.85902520e+02] [ 7.13898060e-02 9.97448483e-01 -1.41940545e-04 4.21037359e+00] [ 1.28333748e-02 -7.76223875e-04 9.99917348e-01 2.58961475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87925415399997 meters Centerline goodness [0,1] 0.9987147883614605 Centerline is valid? [True, True] Translation: X:285.93, Y:4.21, Z:2.59 [[ 9.97209539e-01 -7.35758042e-02 -1.26387042e-02 2.85933962e+02] [ 7.35799290e-02 9.97289313e-01 -1.38955709e-04 4.20912548e+00] [ 1.26146684e-02 -7.91387001e-04 9.99920119e-01 2.58976482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90925415399994 meters Centerline goodness [0,1] 0.9985049169281307 Centerline is valid? [True, True] Translation: X:285.97, Y:4.21, Z:2.59 [[ 9.97185704e-01 -7.38786916e-02 -1.27518549e-02 2.85965866e+02] [ 7.38829227e-02 9.97266912e-01 -1.39608038e-04 4.20799834e+00] [ 1.27273170e-02 -8.02929169e-04 9.99918682e-01 2.58992090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93925415399997 meters Centerline goodness [0,1] 0.9991154915339904 Centerline is valid? [True, True] Translation: X:286.00, Y:4.21, Z:2.59 [[ 9.97237324e-01 -7.30790412e-02 -1.33106672e-02 2.85997616e+02] [ 7.30835938e-02 9.97325808e-01 -1.44720630e-04 4.21117929e+00] [ 1.32856479e-02 -8.28470579e-04 9.99911399e-01 2.59033482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96925415399994 meters Centerline goodness [0,1] 0.9987354044598069 Centerline is valid? [True, True] Translation: X:286.03, Y:4.21, Z:2.59 [[ 9.97288721e-01 -7.23365919e-02 -1.35138616e-02 2.86028443e+02] [ 7.23412293e-02 9.97379930e-01 -1.45991320e-04 4.20739076e+00] [ 1.34890149e-02 -8.32013866e-04 9.99908673e-01 2.58981341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99925415399997 meters Centerline goodness [0,1] 0.998549262015895 Centerline is valid? [True, True] Translation: X:286.06, Y:4.21, Z:2.59 [[ 9.97335415e-01 -7.15813542e-02 -1.40776618e-02 2.86060678e+02] [ 7.15863241e-02 9.97434397e-01 -1.51204685e-04 4.20758529e+00] [ 1.40523675e-02 -8.56966273e-04 9.99900893e-01 2.58936934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02925415399994 meters Centerline goodness [0,1] 0.9986298771105162 Centerline is valid? [True, True] Translation: X:286.09, Y:4.21, Z:2.59 [[ 9.97385625e-01 -7.07258994e-02 -1.48244120e-02 2.86092930e+02] [ 7.07313326e-02 9.97495390e-01 -1.58133960e-04 4.20815215e+00] [ 1.47984668e-02 -8.90829879e-04 9.99890100e-01 2.58918345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.059254154 meters Centerline goodness [0,1] 0.9988407629887238 Centerline is valid? [True, True] Translation: X:286.12, Y:4.21, Z:2.59 [[ 9.97478453e-01 -6.89681428e-02 -1.67371329e-02 2.86123608e+02] [ 6.89748393e-02 9.97618384e-01 -1.77525321e-04 4.20836134e+00] [ 1.67095151e-02 -9.77363370e-04 9.99859909e-01 2.58774916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.08925415399995 meters Centerline goodness [0,1] 0.9987336963403824 Centerline is valid? [True, True] Translation: X:286.16, Y:4.21, Z:2.59 [[ 9.97535268e-01 -6.80380966e-02 -1.71524472e-02 2.86156298e+02] [ 6.80450100e-02 9.97682236e-01 -1.80911711e-04 4.20931435e+00] [ 1.71250007e-02 -9.86672628e-04 9.99852870e-01 2.58744466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.119254154 meters Centerline goodness [0,1] 0.9987538546022895 Centerline is valid? [True, True] Translation: X:286.19, Y:4.22, Z:2.59 [[ 9.97660637e-01 -6.58589206e-02 -1.83263724e-02 2.86188090e+02] [ 6.58664714e-02 9.97828428e-01 -1.91931896e-04 4.21629947e+00] [ 1.82992157e-02 -1.01561058e-03 9.99832040e-01 2.58804140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.14925415399995 meters Centerline goodness [0,1] 0.9986909612989042 Centerline is valid? [True, True] Translation: X:286.22, Y:4.21, Z:2.59 [[ 9.97762265e-01 -6.42805922e-02 -1.83975135e-02 2.86218304e+02] [ 6.42879466e-02 9.97931372e-01 -1.92002194e-04 4.21194604e+00] [ 1.83717979e-02 -9.91165821e-04 9.99830733e-01 2.58732073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.179254154 meters Centerline goodness [0,1] 0.9985009079008488 Centerline is valid? [True, True] Translation: X:286.25, Y:4.22, Z:2.59 [[ 9.97882514e-01 -6.23863038e-02 -1.83966883e-02 2.86249260e+02] [ 6.23933456e-02 9.98051619e-01 -1.91500033e-04 4.21978616e+00] [ 1.83727915e-02 -9.56736398e-04 9.99830748e-01 2.58820398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.20925415399995 meters Centerline goodness [0,1] 0.998717409587889 Centerline is valid? [True, True] Translation: X:286.28, Y:4.23, Z:2.59 [[ 9.98206947e-01 -5.71788393e-02 -1.77051242e-02 2.86280022e+02] [ 5.71845510e-02 9.98363608e-01 -1.83918878e-04 4.22767482e+00] [ 1.76866679e-02 -8.28870474e-04 9.99843235e-01 2.59092572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.239254154 meters Centerline goodness [0,1] 0.9989640591966173 Centerline is valid? [True, True] Translation: X:286.31, Y:4.23, Z:2.59 [[ 9.98405149e-01 -5.38381414e-02 -1.69885848e-02 2.86311231e+02] [ 5.38429231e-02 9.98549402e-01 -1.76132247e-04 4.23108042e+00] [ 1.69734238e-02 -7.38863721e-04 9.99855668e-01 2.59199695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.26925415399995 meters Centerline goodness [0,1] 0.9988381181739443 Centerline is valid? [True, True] Translation: X:286.34, Y:4.23, Z:2.59 [[ 9.98631090e-01 -4.95856046e-02 -1.66497358e-02 2.86340684e+02] [ 4.95896107e-02 9.98769664e-01 -1.72412627e-04 4.23025952e+00] [ 1.66378002e-02 -6.53477306e-04 9.99861369e-01 2.59060540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.299254154 meters Centerline goodness [0,1] 0.9988800845219229 Centerline is valid? [True, True] Translation: X:286.37, Y:4.24, Z:2.59 [[ 9.99000623e-01 -4.18261068e-02 -1.57585376e-02 2.86370856e+02] [ 4.18287289e-02 9.99124782e-01 -1.63317190e-04 4.24365432e+00] [ 1.57515764e-02 -4.96005624e-04 9.99875813e-01 2.59446257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.32925415399995 meters Centerline goodness [0,1] 0.9987308570945088 Centerline is valid? [True, True] Translation: X:286.40, Y:4.25, Z:2.60 [[ 9.99172871e-01 -3.75654935e-02 -1.55694519e-02 2.86401117e+02] [ 3.75675385e-02 9.99294078e-01 -1.61201094e-04 4.24704809e+00] [ 1.55645167e-02 -4.23838226e-04 9.99878776e-01 2.59512262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.359254154 meters Centerline goodness [0,1] 0.9987936507936508 Centerline is valid? [True, True] Translation: X:286.43, Y:4.25, Z:2.60 [[ 9.99325044e-01 -3.33802008e-02 -1.53368201e-02 2.86431284e+02] [ 3.33816969e-02 9.99442663e-01 -1.58511258e-04 4.24999280e+00] [ 1.53335634e-02 -3.53564809e-04 9.99882371e-01 2.59564015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.38925415399996 meters Centerline goodness [0,1] 0.9988981650209773 Centerline is valid? [True, True] Translation: X:286.46, Y:4.25, Z:2.60 [[ 9.99440692e-01 -2.97277525e-02 -1.53154803e-02 2.86462281e+02] [ 2.97288218e-02 9.99557988e-01 -1.57898413e-04 4.25473711e+00] [ 1.53134047e-02 -2.97501086e-04 9.99882699e-01 2.59647610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.419254154 meters Centerline goodness [0,1] 0.9988970900144226 Centerline is valid? [True, True] Translation: X:286.49, Y:4.26, Z:2.60 [[ 9.99560285e-01 -2.46892572e-02 -1.64218220e-02 2.86492295e+02] [ 2.46898129e-02 9.99695146e-01 -1.68929585e-04 4.25891776e+00] [ 1.64209865e-02 -2.36596411e-04 9.99865139e-01 2.59630280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.44925415399996 meters Centerline goodness [0,1] 0.9987920657794355 Centerline is valid? [True, True] Translation: X:286.52, Y:4.26, Z:2.60 [[ 9.99583432e-01 -2.35037210e-02 -1.67492656e-02 2.86521642e+02] [ 2.35041283e-02 9.99723725e-01 -1.72565489e-04 4.26074958e+00] [ 1.67486941e-02 -2.21183284e-04 9.99859706e-01 2.59603620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.479254154 meters Centerline goodness [0,1] 0.9987883168232643 Centerline is valid? [True, True] Translation: X:286.55, Y:4.26, Z:2.60 [[ 9.99577882e-01 -2.29990181e-02 -1.77511135e-02 2.86551300e+02] [ 2.29993841e-02 9.99735462e-01 -1.83556566e-04 4.26238212e+00] [ 1.77506393e-02 -2.24785594e-04 9.99842420e-01 2.59624706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.50925415399996 meters Centerline goodness [0,1] 0.9990220672647646 Centerline is valid? [True, True] Translation: X:286.58, Y:4.26, Z:2.60 [[ 9.99540002e-01 -2.40489495e-02 -1.84779155e-02 2.86580210e+02] [ 2.40495095e-02 9.99710750e-01 -1.91932314e-04 4.26222796e+00] [ 1.84771866e-02 -2.52540780e-04 9.99829250e-01 2.59563527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.539254154 meters Centerline goodness [0,1] 0.998773602858774 Centerline is valid? [True, True] Translation: X:286.61, Y:4.26, Z:2.60 [[ 9.99510390e-01 -2.52961616e-02 -1.84142232e-02 2.86609188e+02] [ 2.52969109e-02 9.99679963e-01 -1.92275714e-04 4.26110251e+00] [ 1.84131938e-02 -2.73641390e-04 9.99830425e-01 2.59524260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56925415399996 meters Centerline goodness [0,1] 0.9989594172736732 Centerline is valid? [True, True] Translation: X:286.64, Y:4.26, Z:2.60 [[ 9.99411456e-01 -2.89440798e-02 -1.84114452e-02 2.86638180e+02] [ 2.89453957e-02 9.99580975e-01 -1.95069727e-04 4.26039435e+00] [ 1.84093765e-02 -3.37971648e-04 9.99830476e-01 2.59687154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.599254154 meters Centerline goodness [0,1] 0.9994260570116702 Centerline is valid? [True, True] Translation: X:286.67, Y:4.26, Z:2.60 [[ 9.99351719e-01 -3.07776936e-02 -1.86782104e-02 2.86667266e+02] [ 3.07793194e-02 9.99526184e-01 -2.00495199e-04 4.25911006e+00] [ 1.86755312e-02 -3.74537383e-04 9.99825527e-01 2.59719280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62925415399997 meters Centerline goodness [0,1] 0.9989390145567203 Centerline is valid? [True, True] Translation: X:286.70, Y:4.26, Z:2.60 [[ 9.99282966e-01 -3.28835181e-02 -1.87677562e-02 2.86698060e+02] [ 3.28855276e-02 9.99459104e-01 -2.01626721e-04 4.25904036e+00] [ 1.87642350e-02 -4.15705416e-04 9.99823850e-01 2.59779246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65925415399994 meters Centerline goodness [0,1] 0.9989183457051962 Centerline is valid? [True, True] Translation: X:286.73, Y:4.26, Z:2.60 [[ 9.99219323e-01 -3.49213039e-02 -1.84728986e-02 2.86727983e+02] [ 3.49235987e-02 9.99389965e-01 -1.98458991e-04 4.25763264e+00] [ 1.84685599e-02 -4.46836037e-04 9.99829342e-01 2.59800952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68925415399997 meters Centerline goodness [0,1] 0.9987902455589278 Centerline is valid? [True, True] Translation: X:286.76, Y:4.25, Z:2.60 [[ 9.99062414e-01 -3.92477040e-02 -1.82731965e-02 2.86758070e+02] [ 3.92506724e-02 9.99229376e-01 -1.96313542e-04 4.25434162e+00] [ 1.82668196e-02 -5.21105769e-04 9.99833012e-01 2.59875621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71925415399994 meters Centerline goodness [0,1] 0.9990672630530176 Centerline is valid? [True, True] Translation: X:286.79, Y:4.25, Z:2.60 [[ 9.98973701e-01 -4.15406205e-02 -1.80532717e-02 2.86789510e+02] [ 4.15438975e-02 9.99136661e-01 -1.93638717e-04 4.25333125e+00] [ 1.80457295e-02 -5.56563283e-04 9.99837008e-01 2.59940165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74925415399997 meters Centerline goodness [0,1] 0.9988156169366778 Centerline is valid? [True, True] Translation: X:286.82, Y:4.25, Z:2.60 [[ 9.98759454e-01 -4.64748506e-02 -1.78785074e-02 2.86819574e+02] [ 4.64788598e-02 9.98919255e-01 -1.91430883e-04 4.24887546e+00] [ 1.78680820e-02 -6.39779234e-04 9.99840148e-01 2.59964236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77925415399994 meters Centerline goodness [0,1] 0.9988972303516138 Centerline is valid? [True, True] Translation: X:286.85, Y:4.25, Z:2.60 [[ 9.98610455e-01 -4.94974720e-02 -1.80875376e-02 2.86851271e+02] [ 4.95020793e-02 9.98774002e-01 -1.93182124e-04 4.25009362e+00] [ 1.80749243e-02 -7.02457030e-04 9.99836388e-01 2.60064117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.809254154 meters Centerline goodness [0,1] 0.9988976511489867 Centerline is valid? [True, True] Translation: X:286.88, Y:4.24, Z:2.60 [[ 9.98447444e-01 -5.25629469e-02 -1.84346823e-02 2.86881469e+02] [ 5.25682673e-02 9.98617313e-01 -1.96189570e-04 4.24416265e+00] [ 1.84195052e-02 -7.73194331e-04 9.99830048e-01 2.59990311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83925415399995 meters Centerline goodness [0,1] 0.9989199949176232 Centerline is valid? [True, True] Translation: X:286.91, Y:4.24, Z:2.60 [[ 9.98267836e-01 -5.57305320e-02 -1.88529846e-02 2.86912822e+02] [ 5.57366702e-02 9.98445484e-01 -2.00117866e-04 4.24488462e+00] [ 1.88348300e-02 -8.51031356e-04 9.99822247e-01 2.60059068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.869254154 meters Centerline goodness [0,1] 0.9991113932085053 Centerline is valid? [True, True] Translation: X:286.94, Y:4.24, Z:2.60 [[ 9.97906425e-01 -6.18357013e-02 -1.89502960e-02 2.86942344e+02] [ 6.18430046e-02 9.98085869e-01 -2.00950470e-04 4.23957912e+00] [ 1.89264485e-02 -9.71413476e-04 9.99820407e-01 2.60049009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.89925415399995 meters Centerline goodness [0,1] 0.9991746031746032 Centerline is valid? [True, True] Translation: X:286.97, Y:4.23, Z:2.60 [[ 9.97763819e-01 -6.40805155e-02 -1.90012782e-02 2.86972285e+02] [ 6.40882778e-02 9.97944213e-01 -2.00767516e-04 4.23267729e+00] [ 1.89750809e-02 -1.01744063e-03 9.99819439e-01 2.59975542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.929254154 meters Centerline goodness [0,1] 0.9987736287901213 Centerline is valid? [True, True] Translation: X:287.00, Y:4.24, Z:2.60 [[ 9.97635304e-01 -6.59475016e-02 -1.93578949e-02 2.87004701e+02] [ 6.59559390e-02 9.97822516e-01 -2.02953454e-04 4.23643059e+00] [ 1.93291276e-02 -1.07429460e-03 9.99812598e-01 2.60069165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.95925415399995 meters Centerline goodness [0,1] 0.9987288404906676 Centerline is valid? [True, True] Translation: X:287.04, Y:4.24, Z:2.60 [[ 9.97506848e-01 -6.76683240e-02 -2.00271474e-02 2.87036964e+02] [ 6.76777307e-02 9.97707212e-01 -2.08469888e-04 4.23878643e+00] [ 1.99953362e-02 -1.14744175e-03 9.99799415e-01 2.60181035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.989254154 meters Centerline goodness [0,1] 0.9986878029164639 Centerline is valid? [True, True] Translation: X:287.07, Y:4.24, Z:2.60 [[ 9.97495001e-01 -6.77465429e-02 -2.03501690e-02 2.87069258e+02] [ 6.77563029e-02 9.97701879e-01 -2.10306562e-04 4.23885787e+00] [ 2.03176494e-02 -1.16907247e-03 9.99792892e-01 2.60232817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.01925415399995 meters Centerline goodness [0,1] 0.9986239891612685 Centerline is valid? [True, True] Translation: X:287.10, Y:4.24, Z:2.60 [[ 9.97531577e-01 -6.71826531e-02 -2.04265509e-02 2.87101272e+02] [ 6.71923997e-02 9.97740015e-01 -2.09574539e-04 4.24023227e+00] [ 2.03944670e-02 -1.16345175e-03 9.99791334e-01 2.60269686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.049254154 meters Centerline goodness [0,1] 0.9984136049241703 Centerline is valid? [True, True] Translation: X:287.13, Y:4.24, Z:2.60 [[ 9.97613089e-01 -6.60813528e-02 -2.00344364e-02 2.87132653e+02] [ 6.60905328e-02 9.97813610e-01 -2.04275196e-04 4.23653267e+00] [ 2.00041321e-02 -1.12029897e-03 9.99799270e-01 2.60237815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07925415399995 meters Centerline goodness [0,1] 0.9986863850163142 Centerline is valid? [True, True] Translation: X:287.16, Y:4.24, Z:2.60 [[ 9.97823981e-01 -6.28141325e-02 -2.00421381e-02 2.87163117e+02] [ 6.28226728e-02 9.98024684e-01 -2.03833823e-04 4.24395416e+00] [ 2.00153522e-02 -1.05571041e-03 9.99799115e-01 2.60393091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.109254154 meters Centerline goodness [0,1] 0.9985603285838291 Centerline is valid? [True, True] Translation: X:287.19, Y:4.24, Z:2.60 [[ 9.97962266e-01 -6.04090368e-02 -2.05442102e-02 2.87193880e+02] [ 6.04175105e-02 9.98173172e-01 -2.08534292e-04 4.23591456e+00] [ 2.05192768e-02 -1.03312068e-03 9.99788924e-01 2.60160188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13925415399996 meters Centerline goodness [0,1] 0.9987494701144553 Centerline is valid? [True, True] Translation: X:287.23, Y:4.25, Z:2.60 [[ 9.98082424e-01 -5.82174872e-02 -2.10285174e-02 2.87225223e+02] [ 5.82258963e-02 9.98303411e-01 -2.12680036e-04 4.24842912e+00] [ 2.10052223e-02 -1.01213207e-03 9.99778854e-01 2.60405343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.169254154 meters Centerline goodness [0,1] 0.9985984880659136 Centerline is valid? [True, True] Translation: X:287.26, Y:4.25, Z:2.60 [[ 9.98345040e-01 -5.26291096e-02 -2.31809733e-02 2.87256099e+02] [ 5.26378398e-02 9.98613641e-01 -2.33829563e-04 4.25410351e+00] [ 2.31611424e-02 -9.86753775e-04 9.99731258e-01 2.60239894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19925415399996 meters Centerline goodness [0,1] 0.9988953562476102 Centerline is valid? [True, True] Translation: X:287.29, Y:4.26, Z:2.60 [[ 9.98460892e-01 -5.02089392e-02 -2.35565270e-02 2.87287660e+02] [ 5.02172984e-02 9.98738287e-01 -2.36940463e-04 4.25759525e+00] [ 2.35387020e-02 -9.46369361e-04 9.99722478e-01 2.60341947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.229254154 meters Centerline goodness [0,1] 0.9988324204984503 Centerline is valid? [True, True] Translation: X:287.32, Y:4.26, Z:2.60 [[ 9.98576923e-01 -4.73354333e-02 -2.45659572e-02 2.87319039e+02] [ 4.73436786e-02 9.98878629e-01 -2.46186338e-04 4.26277608e+00] [ 2.45500630e-02 -9.17206788e-04 9.99698181e-01 2.60415913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25925415399996 meters Centerline goodness [0,1] 0.9986837076981869 Centerline is valid? [True, True] Translation: X:287.35, Y:4.27, Z:2.60 [[ 9.98815064e-01 -4.17300851e-02 -2.50413067e-02 2.87348720e+02] [ 4.17369019e-02 9.99128604e-01 -2.50599566e-04 4.26624404e+00] [ 2.50299434e-02 -7.94843939e-04 9.99686386e-01 2.60291336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.289254154 meters Centerline goodness [0,1] 0.9989374136648602 Centerline is valid? [True, True] Translation: X:287.38, Y:4.27, Z:2.61 [[ 9.98923289e-01 -3.88869165e-02 -2.52996019e-02 2.87378716e+02] [ 3.88929564e-02 9.99243351e-01 -2.53477406e-04 4.27257599e+00] [ 2.52903159e-02 -7.30771827e-04 9.99679882e-01 2.60515401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31925415399996 meters Centerline goodness [0,1] 0.9990000850991405 Centerline is valid? [True, True] Translation: X:287.41, Y:4.27, Z:2.60 [[ 9.99026052e-01 -3.60134153e-02 -2.54947487e-02 2.87407711e+02] [ 3.60185869e-02 9.99351087e-01 -2.56488675e-04 4.27217218e+00] [ 2.54874419e-02 -6.62045954e-04 9.99674923e-01 2.60370911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.349254154 meters Centerline goodness [0,1] 0.9989768730683151 Centerline is valid? [True, True] Translation: X:287.44, Y:4.28, Z:2.61 [[ 9.99234433e-01 -3.00793530e-02 -2.50156201e-02 2.87437649e+02] [ 3.00824534e-02 9.99547389e-01 -2.52459046e-04 4.28179488e+00] [ 2.50118916e-02 -5.00265455e-04 9.99687029e-01 2.60735188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37925415399997 meters Centerline goodness [0,1] 0.9989552461567983 Centerline is valid? [True, True] Translation: X:287.47, Y:4.28, Z:2.61 [[ 9.99330686e-01 -2.70301968e-02 -2.46484926e-02 2.87465262e+02] [ 2.70322247e-02 9.99634531e-01 -2.50988325e-04 4.28450152e+00] [ 2.46462686e-02 -4.15483254e-04 9.99696148e-01 2.60807736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40925415399994 meters Centerline goodness [0,1] 0.9989112567512756 Centerline is valid? [True, True] Translation: X:287.49, Y:4.29, Z:2.61 [[ 9.99414652e-01 -2.43630836e-02 -2.40165344e-02 2.87494512e+02] [ 2.43641257e-02 9.99703120e-01 -2.49265272e-04 4.28782225e+00] [ 2.40154772e-02 -3.36022496e-04 9.99711530e-01 2.60932978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43925415399997 meters Centerline goodness [0,1] 0.9990594673164892 Centerline is valid? [True, True] Translation: X:287.52, Y:4.29, Z:2.61 [[ 9.99552563e-01 -1.94527948e-02 -2.27214342e-02 2.87523001e+02] [ 1.94523332e-02 9.99810756e-01 -2.41355663e-04 4.29242943e+00] [ 2.27218293e-02 -2.00737238e-04 9.99741806e-01 2.61135415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46925415399994 meters Centerline goodness [0,1] 0.9989318749866485 Centerline is valid? [True, True] Translation: X:287.55, Y:4.29, Z:2.61 [[ 9.99601078e-01 -1.74926842e-02 -2.21741209e-02 2.87552155e+02] [ 1.74916364e-02 9.99846981e-01 -2.41219789e-04 4.29389768e+00] [ 2.21749474e-02 -1.46738099e-04 9.99754095e-01 2.61198405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49925415399997 meters Centerline goodness [0,1] 0.9989100468038725 Centerline is valid? [True, True] Translation: X:287.58, Y:4.29, Z:2.61 [[ 9.99634408e-01 -1.60468883e-02 -2.17611695e-02 2.87579950e+02] [ 1.60454598e-02 9.99871234e-01 -2.40258696e-04 4.29437218e+00] [ 2.17622229e-02 -1.08997113e-04 9.99763169e-01 2.61191621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52925415399994 meters Centerline goodness [0,1] 0.9991249226303545 Centerline is valid? [True, True] Translation: X:287.61, Y:4.29, Z:2.61 [[ 9.99645727e-01 -1.55068310e-02 -2.16323555e-02 2.87608198e+02] [ 1.55051963e-02 9.99879758e-01 -2.43300655e-04 4.29463178e+00] [ 2.16335272e-02 -9.21994574e-05 9.99765964e-01 2.61249625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.559254154 meters Centerline goodness [0,1] 0.9990611330417156 Centerline is valid? [True, True] Translation: X:287.64, Y:4.29, Z:2.61 [[ 9.99601081e-01 -1.66150762e-02 -2.28389579e-02 2.87636726e+02] [ 1.66133970e-02 9.99861953e-01 -2.63274938e-04 4.29374436e+00] [ 2.28401794e-02 -1.16262761e-04 9.99739122e-01 2.61263570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.58925415399995 meters Centerline goodness [0,1] 0.9990394057123341 Centerline is valid? [True, True] Translation: X:287.66, Y:4.29, Z:2.61 [[ 9.99562766e-01 -1.83479508e-02 -2.31868572e-02 2.87664807e+02] [ 1.83465850e-02 9.99831650e-01 -2.71649083e-04 4.29270706e+00] [ 2.31879379e-02 -1.53869336e-04 9.99731112e-01 2.61230721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.619254154 meters Centerline goodness [0,1] 0.9990621536362861 Centerline is valid? [True, True] Translation: X:287.69, Y:4.29, Z:2.61 [[ 9.99438704e-01 -2.33466132e-02 -2.40252375e-02 2.87692191e+02] [ 2.33465208e-02 9.99727392e-01 -2.84378489e-04 4.28813143e+00] [ 2.40253273e-02 -2.76686839e-04 9.99711312e-01 2.61106100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.64925415399995 meters Centerline goodness [0,1] 0.9992126151816305 Centerline is valid? [True, True] Translation: X:287.72, Y:4.29, Z:2.61 [[ 9.99349112e-01 -2.66990736e-02 -2.42592538e-02 2.87721062e+02] [ 2.66998497e-02 9.99643453e-01 -2.91974096e-04 4.28577224e+00] [ 2.42583997e-02 -3.55934375e-04 9.99705658e-01 2.61176576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.679254154 meters Centerline goodness [0,1] 0.9989787016745038 Centerline is valid? [True, True] Translation: X:287.75, Y:4.28, Z:2.61 [[ 9.99226674e-01 -2.99740497e-02 -2.54481866e-02 2.87749513e+02] [ 2.99758643e-02 9.99550575e-01 -3.10254788e-04 4.28217465e+00] [ 2.54460491e-02 -4.52816527e-04 9.99676094e-01 2.61070231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.70925415399995 meters Centerline goodness [0,1] 0.9988978380669775 Centerline is valid? [True, True] Translation: X:287.78, Y:4.28, Z:2.61 [[ 9.99012618e-01 -3.70225639e-02 -2.45584970e-02 2.87779516e+02] [ 3.70263477e-02 9.99314244e-01 -3.00788947e-04 4.27682818e+00] [ 2.45527919e-02 -6.08819495e-04 9.99698349e-01 2.61208526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.739254154 meters Centerline goodness [0,1] 0.9988978380669775 Centerline is valid? [True, True] Translation: X:287.81, Y:4.28, Z:2.61 [[ 9.99011248e-01 -3.70595103e-02 -2.45584859e-02 2.87808678e+02] [ 3.70632830e-02 9.99312875e-01 -3.01696733e-04 4.27721513e+00] [ 2.45527919e-02 -6.08819682e-04 9.99698349e-01 2.61235858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.76925415399995 meters Centerline goodness [0,1] 0.9988969730394757 Centerline is valid? [True, True] Translation: X:287.84, Y:4.27, Z:2.61 [[ 9.98888605e-01 -4.04561474e-02 -2.41837909e-02 2.87837643e+02] [ 4.04607722e-02 9.99181083e-01 -2.98250117e-04 4.26951609e+00] [ 2.41760525e-02 -6.80576214e-04 9.99707485e-01 2.61016488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.799254154 meters Centerline goodness [0,1] 0.9988548647043854 Centerline is valid? [True, True] Translation: X:287.87, Y:4.27, Z:2.61 [[ 9.98722409e-01 -4.46808684e-02 -2.36044476e-02 2.87868330e+02] [ 4.46864408e-02 9.99001020e-01 -2.91608341e-04 4.27184242e+00] [ 2.35938965e-02 -7.63562965e-04 9.99721334e-01 2.61382288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.82925415399995 meters Centerline goodness [0,1] 0.998707982970792 Centerline is valid? [True, True] Translation: X:287.90, Y:4.27, Z:2.61 [[ 9.98670166e-01 -4.57040000e-02 -2.38546301e-02 2.87899122e+02] [ 4.57099891e-02 9.98954709e-01 -2.94434853e-04 4.27033587e+00] [ 2.38431520e-02 -7.96351580e-04 9.99715394e-01 2.61358743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.859254154 meters Centerline goodness [0,1] 0.998834844504703 Centerline is valid? [True, True] Translation: X:287.93, Y:4.27, Z:2.61 [[ 9.98648541e-01 -4.61588618e-02 -2.38841094e-02 2.87930259e+02] [ 4.61650124e-02 9.98933784e-01 -2.94096529e-04 4.27112844e+00] [ 2.38722190e-02 -8.08911138e-04 9.99714691e-01 2.61422442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.88925415399996 meters Centerline goodness [0,1] 0.9987712645382709 Centerline is valid? [True, True] Translation: X:287.96, Y:4.27, Z:2.61 [[ 9.98654479e-01 -4.59130249e-02 -2.41086045e-02 2.87961579e+02] [ 4.59192414e-02 9.98945111e-01 -2.95978347e-04 4.27101344e+00] [ 2.40967619e-02 -8.11468728e-04 9.99709302e-01 2.61429781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.919254154 meters Centerline goodness [0,1] 0.9987293250598276 Centerline is valid? [True, True] Translation: X:287.99, Y:4.27, Z:2.61 [[ 9.98668900e-01 -4.55301139e-02 -2.42371102e-02 2.87991894e+02] [ 4.55362926e-02 9.98962641e-01 -2.97213264e-04 4.27223341e+00] [ 2.42254997e-02 -8.06850498e-04 9.99706194e-01 2.61469351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.94925415399996 meters Centerline goodness [0,1] 0.9987708999978808 Centerline is valid? [True, True] Translation: X:288.02, Y:4.27, Z:2.61 [[ 9.98766657e-01 -4.32818762e-02 -2.43278378e-02 2.88022395e+02] [ 4.32874417e-02 9.99062615e-01 -2.98053087e-04 4.27062376e+00] [ 2.43179335e-02 -7.55404374e-04 9.99703990e-01 2.61386465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.979254154 meters Centerline goodness [0,1] 0.999026228328288 Centerline is valid? [True, True] Translation: X:288.05, Y:4.28, Z:2.62 [[ 9.98836366e-01 -4.17654064e-02 -2.41156707e-02 2.88052642e+02] [ 4.17704377e-02 9.99127191e-01 -2.95284466e-04 4.27511186e+00] [ 2.41069550e-02 -7.12381257e-04 9.99709131e-01 2.61611974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.00925415399996 meters Centerline goodness [0,1] 0.9990874169655553 Centerline is valid? [True, True] Translation: X:288.08, Y:4.27, Z:2.62 [[ 9.98909749e-01 -4.00741489e-02 -2.39452906e-02 2.88082345e+02] [ 4.00786174e-02 9.99196486e-01 -2.93463668e-04 4.27492219e+00] [ 2.39378106e-02 -6.66550424e-04 9.99713227e-01 2.61565258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.039254154 meters Centerline goodness [0,1] 0.999171217884693 Centerline is valid? [True, True] Translation: X:288.11, Y:4.28, Z:2.62 [[ 9.99066671e-01 -3.60207405e-02 -2.38388798e-02 2.88113018e+02] [ 3.60240122e-02 9.99350882e-01 -2.92329300e-04 4.28095942e+00] [ 2.38339355e-02 -5.66715636e-04 9.99715771e-01 2.61737526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06925415399996 meters Centerline goodness [0,1] 0.9989578237658719 Centerline is valid? [True, True] Translation: X:288.14, Y:4.28, Z:2.62 [[ 9.99126669e-01 -3.40395603e-02 -2.42323684e-02 2.88142608e+02] [ 3.40423455e-02 9.99420347e-01 -2.97697296e-04 4.28289255e+00] [ 2.42284555e-02 -5.27489347e-04 9.99706309e-01 2.61749773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.099254154 meters Centerline goodness [0,1] 0.998702072428614 Centerline is valid? [True, True] Translation: X:288.17, Y:4.28, Z:2.62 [[ 9.99158697e-01 -3.19122559e-02 -2.57586055e-02 2.88170921e+02] [ 3.19145789e-02 9.99490549e-01 -3.21025431e-04 4.28467361e+00] [ 2.57557274e-02 -5.01319695e-04 9.99668141e-01 2.61686272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12925415399997 meters Centerline goodness [0,1] 0.9989986791086114 Centerline is valid? [True, True] Translation: X:288.20, Y:4.29, Z:2.62 [[ 9.99292195e-01 -2.81012146e-02 -2.50086013e-02 2.88198423e+02] [ 2.81021001e-02 9.99605008e-01 -3.16113977e-04 4.28812874e+00] [ 2.50076063e-02 -3.86903986e-04 9.99687186e-01 2.61668521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15925415399994 meters Centerline goodness [0,1] 0.9990837026934879 Centerline is valid? [True, True] Translation: X:288.23, Y:4.29, Z:2.62 [[ 9.99330952e-01 -2.61399143e-02 -2.55803243e-02 2.88226802e+02] [ 2.61400604e-02 9.99658236e-01 -3.28733787e-04 4.29009860e+00] [ 2.55801749e-02 -3.40157373e-04 9.99672716e-01 2.61682328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18925415399997 meters Centerline goodness [0,1] 0.9991672894203053 Centerline is valid? [True, True] Translation: X:288.26, Y:4.29, Z:2.62 [[ 9.99366714e-01 -2.44374750e-02 -2.58646733e-02 2.88255098e+02] [ 2.44368842e-02 9.99701317e-01 -3.38969807e-04 4.29228355e+00] [ 2.58652316e-02 -2.93296884e-04 9.99665396e-01 2.61685362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21925415399994 meters Centerline goodness [0,1] 0.999125184031408 Centerline is valid? [True, True] Translation: X:288.28, Y:4.29, Z:2.62 [[ 9.99405598e-01 -2.26523087e-02 -2.59870058e-02 2.88283295e+02] [ 2.26510081e-02 9.99743374e-01 -3.44448893e-04 4.29444476e+00] [ 2.59881395e-02 -2.44387729e-04 9.99662221e-01 2.61694373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24925415399997 meters Centerline goodness [0,1] 0.9992104476974948 Centerline is valid? [True, True] Translation: X:288.31, Y:4.30, Z:2.62 [[ 9.99459352e-01 -1.97581250e-02 -2.62796589e-02 2.88312229e+02] [ 1.97556608e-02 9.99804775e-01 -3.53418882e-04 4.29787869e+00] [ 2.62815113e-02 -1.65944221e-04 9.99654568e-01 2.61756975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27925415399994 meters Centerline goodness [0,1] 0.9989742493856181 Centerline is valid? [True, True] Translation: X:288.34, Y:4.30, Z:2.62 [[ 9.99474562e-01 -1.90678653e-02 -2.62110073e-02 2.88340579e+02] [ 1.90649863e-02 9.99818182e-01 -3.59754433e-04 4.29934891e+00] [ 2.62131014e-02 -1.40147092e-04 9.99656368e-01 2.61843680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.309254154 meters Centerline goodness [0,1] 0.9991043248315278 Centerline is valid? [True, True] Translation: X:288.37, Y:4.30, Z:2.62 [[ 9.99486550e-01 -1.85386611e-02 -2.61334125e-02 2.88367239e+02] [ 1.85354917e-02 9.99828137e-01 -3.63531160e-04 4.30015048e+00] [ 2.61356605e-02 -1.21051146e-04 9.99658398e-01 2.61827854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33925415399995 meters Centerline goodness [0,1] 0.9991029091375112 Centerline is valid? [True, True] Translation: X:288.40, Y:4.30, Z:2.62 [[ 9.99456311e-01 -1.82913170e-02 -2.74319278e-02 2.88395800e+02] [ 1.82875731e-02 9.99832693e-01 -3.87374260e-04 4.30058964e+00] [ 2.74344239e-02 -1.14499736e-04 9.99623599e-01 2.61763336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.369254154 meters Centerline goodness [0,1] 0.999465994531784 Centerline is valid? [True, True] Translation: X:288.42, Y:4.30, Z:2.62 [[ 9.99473749e-01 -1.91439379e-02 -2.61865501e-02 2.88424211e+02] [ 1.91406466e-02 9.99816730e-01 -3.76362083e-04 4.30150233e+00] [ 2.61889559e-02 -1.25063478e-04 9.99657003e-01 2.61935986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.39925415399995 meters Centerline goodness [0,1] 0.9990831165508124 Centerline is valid? [True, True] Translation: X:288.45, Y:4.30, Z:2.62 [[ 9.99442600e-01 -2.00387944e-02 -2.67008592e-02 2.88452684e+02] [ 2.00355077e-02 9.99799193e-01 -3.90644425e-04 4.30150250e+00] [ 2.67033255e-02 -1.44538589e-04 9.99643392e-01 2.61915969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.429254154 meters Centerline goodness [0,1] 0.9992317705554725 Centerline is valid? [True, True] Translation: X:288.48, Y:4.30, Z:2.62 [[ 9.99441667e-01 -2.11803276e-02 -2.58408079e-02 2.88480977e+02] [ 2.11774463e-02 9.99775659e-01 -3.85193388e-04 4.30154439e+00] [ 2.58431693e-02 -1.62264000e-04 9.99665996e-01 2.61991069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.45925415399995 meters Centerline goodness [0,1] 0.99933883592467 Centerline is valid? [True, True] Translation: X:288.51, Y:4.30, Z:2.62 [[ 9.99397742e-01 -2.37316134e-02 -2.53172555e-02 2.88508910e+02] [ 2.37295617e-02 9.99718342e-01 -3.81510495e-04 4.29975182e+00] [ 2.53191785e-02 -2.19486648e-04 9.99679394e-01 2.62031787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.489254154 meters Centerline goodness [0,1] 0.9990189178237038 Centerline is valid? [True, True] Translation: X:288.54, Y:4.30, Z:2.62 [[ 9.99364407e-01 -2.53857375e-02 -2.50269309e-02 2.88537899e+02] [ 2.53841296e-02 9.99677698e-01 -3.81989941e-04 4.29929379e+00] [ 2.50285618e-02 -2.53539707e-04 9.99686704e-01 2.62120613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.51925415399995 meters Centerline goodness [0,1] 0.9989768948759485 Centerline is valid? [True, True] Translation: X:288.57, Y:4.30, Z:2.62 [[ 9.99298978e-01 -2.83268544e-02 -2.44773573e-02 2.88565614e+02] [ 2.83261071e-02 9.99598664e-01 -3.77322786e-04 4.29583176e+00] [ 2.44782220e-02 -3.16289971e-04 9.99700313e-01 2.62096338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.549254154 meters Centerline goodness [0,1] 0.9988712356774716 Centerline is valid? [True, True] Translation: X:288.59, Y:4.29, Z:2.62 [[ 9.99265921e-01 -2.97409445e-02 -2.41473525e-02 2.88594503e+02] [ 2.97405223e-02 9.99557582e-01 -3.76692662e-04 4.29480296e+00] [ 2.41478724e-02 -3.41738735e-04 9.99708339e-01 2.62167712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57925415399995 meters Centerline goodness [0,1] 0.9986349578756532 Centerline is valid? [True, True] Translation: X:288.62, Y:4.30, Z:2.62 [[ 9.99234569e-01 -3.14555114e-02 -2.32556670e-02 2.88622674e+02] [ 3.14554369e-02 9.99505087e-01 -3.69105480e-04 4.29543143e+00] [ 2.32557678e-02 -3.62694209e-04 9.99729482e-01 2.62391563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.609254154 meters Centerline goodness [0,1] 0.9977240821882843 Centerline is valid? [True, True] Translation: X:288.65, Y:4.29, Z:2.62 [[ 9.99183649e-01 -3.36545693e-02 -2.23473983e-02 2.88651067e+02] [ 3.36549156e-02 9.99433448e-01 -3.60708730e-04 4.29317747e+00] [ 2.23468768e-02 -3.91685537e-04 9.99750201e-01 2.62478762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63925415399996 meters Centerline goodness [0,1] 0.9967189364240668 Centerline is valid? [True, True] Translation: X:288.68, Y:4.29, Z:2.62 [[ 9.99158917e-01 -3.43248026e-02 -2.24335881e-02 2.88680835e+02] [ 3.43252551e-02 9.99410648e-01 -3.65010640e-04 4.29210900e+00] [ 2.24328957e-02 -4.05334998e-04 9.99748269e-01 2.62455685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.669254154 meters Centerline goodness [0,1] 0.9961711088894089 Centerline is valid? [True, True] Translation: X:288.71, Y:4.29, Z:2.62 [[ 9.99162488e-01 -3.46448675e-02 -2.17728422e-02 2.88710340e+02] [ 3.46453573e-02 9.99399606e-01 -3.54822854e-04 4.28999195e+00] [ 2.17720627e-02 -3.99802212e-04 9.99762881e-01 2.62412390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69925415399996 meters Centerline goodness [0,1] 0.9944535350744841 Centerline is valid? [True, True] Translation: X:288.74, Y:4.29, Z:2.62 [[ 9.99195653e-01 -3.45407404e-02 -2.03711468e-02 2.88740838e+02] [ 3.45411442e-02 9.99403221e-01 -3.32140684e-04 4.28813377e+00] [ 2.03704621e-02 -3.71769192e-04 9.99792431e-01 2.62401795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.729254154 meters Centerline goodness [0,1] 0.9935208395292519 Centerline is valid? [True, True] Translation: X:288.77, Y:4.29, Z:2.62 [[ 9.99220672e-01 -3.41272677e-02 -1.98337489e-02 2.88771655e+02] [ 3.41275690e-02 9.99417433e-01 -3.23378698e-04 4.28738367e+00] [ 1.98332304e-02 -3.53750955e-04 9.99803240e-01 2.62410894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75925415399996 meters Centerline goodness [0,1] 0.9928065186945635 Centerline is valid? [True, True] Translation: X:288.80, Y:4.29, Z:2.62 [[ 9.99261654e-01 -3.34180396e-02 -1.89573801e-02 2.88802258e+02] [ 3.34181872e-02 9.99441409e-01 -3.09089972e-04 4.28724927e+00] [ 1.89571199e-02 -3.24659521e-04 9.99820245e-01 2.62441529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.789254154 meters Centerline goodness [0,1] 0.9926169513100668 Centerline is valid? [True, True] Translation: X:288.83, Y:4.29, Z:2.62 [[ 9.99306185e-01 -3.23159388e-02 -1.85156198e-02 2.88833921e+02] [ 3.23158966e-02 9.99477660e-01 -3.01552705e-04 4.28724559e+00] [ 1.85156933e-02 -2.97005373e-04 9.99828526e-01 2.62427944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81925415399996 meters Centerline goodness [0,1] 0.9913115344677785 Centerline is valid? [True, True] Translation: X:288.86, Y:4.29, Z:2.62 [[ 9.99400398e-01 -2.95705237e-02 -1.80119230e-02 2.88864819e+02] [ 2.95700440e-02 9.99562668e-01 -2.93016087e-04 4.28793036e+00] [ 1.80127105e-02 -2.39772963e-04 9.99837729e-01 2.62422858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.849254154 meters Centerline goodness [0,1] 0.991203154146176 Centerline is valid? [True, True] Translation: X:288.89, Y:4.29, Z:2.62 [[ 9.99448488e-01 -2.78852958e-02 -1.80313863e-02 2.88894919e+02] [ 2.78845409e-02 9.99611108e-01 -2.93332714e-04 4.28818134e+00] [ 1.80325537e-02 -2.09625992e-04 9.99837378e-01 2.62399521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87925415399997 meters Centerline goodness [0,1] 0.9910348197403922 Centerline is valid? [True, True] Translation: X:288.92, Y:4.29, Z:2.62 [[ 9.99482468e-01 -2.66727312e-02 -1.79822639e-02 2.88924880e+02] [ 2.66717814e-02 9.99644202e-01 -2.92690843e-04 4.28793305e+00] [ 1.79836728e-02 -1.87079647e-04 9.99838263e-01 2.62416268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90925415399994 meters Centerline goodness [0,1] 0.9911799003498357 Centerline is valid? [True, True] Translation: X:288.95, Y:4.29, Z:2.62 [[ 9.99567663e-01 -2.39068610e-02 -1.71157814e-02 2.88954286e+02] [ 2.39055874e-02 9.99714182e-01 -2.79031273e-04 4.28663949e+00] [ 1.71175602e-02 -1.30252172e-04 9.99853475e-01 2.62424496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93925415399997 meters Centerline goodness [0,1] 0.990832680541147 Centerline is valid? [True, True] Translation: X:288.98, Y:4.29, Z:2.62 [[ 9.99595074e-01 -2.29712504e-02 -1.67931502e-02 2.88983531e+02] [ 2.29698566e-02 9.99736120e-01 -2.75897774e-04 4.28634461e+00] [ 1.67950566e-02 -1.09950197e-04 9.99858947e-01 2.62459508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96925415399994 meters Centerline goodness [0,1] 0.9913174223332839 Centerline is valid? [True, True] Translation: X:289.01, Y:4.29, Z:2.62 [[ 9.99621932e-01 -2.21033805e-02 -1.63533944e-02 2.89012307e+02] [ 2.21019003e-02 9.99755686e-01 -2.71260375e-04 4.28558833e+00] [ 1.63553948e-02 -9.02832731e-05 9.99866238e-01 2.62491556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99925415399997 meters Centerline goodness [0,1] 0.9913161350446902 Centerline is valid? [True, True] Translation: X:289.04, Y:4.28, Z:2.62 [[ 9.99639960e-01 -2.15597541e-02 -1.59727006e-02 2.89041452e+02] [ 2.15582377e-02 9.99767559e-01 -2.67133543e-04 4.28351203e+00] [ 1.59747472e-02 -7.73059121e-05 9.99872393e-01 2.62481043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02925415399994 meters Centerline goodness [0,1] 0.9913844199830651 Centerline is valid? [True, True] Translation: X:289.07, Y:4.28, Z:2.62 [[ 9.99626040e-01 -2.17599224e-02 -1.65615923e-02 2.89069697e+02] [ 2.17582704e-02 9.99763222e-01 -2.79951823e-04 4.28200484e+00] [ 1.65637626e-02 -8.05044700e-05 9.99862808e-01 2.62459247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.059254154 meters Centerline goodness [0,1] 0.9907971566387408 Centerline is valid? [True, True] Translation: X:289.10, Y:4.28, Z:2.62 [[ 9.99594796e-01 -2.28526534e-02 -1.69705448e-02 2.89098043e+02] [ 2.28510323e-02 9.99738839e-01 -2.89456767e-04 4.27992516e+00] [ 1.69727276e-02 -9.84549905e-05 9.99855948e-01 2.62432630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.08925415399995 meters Centerline goodness [0,1] 0.9912618701703408 Centerline is valid? [True, True] Translation: X:289.13, Y:4.27, Z:2.62 [[ 9.99510783e-01 -2.60010209e-02 -1.73822372e-02 2.89126558e+02] [ 2.59997178e-02 9.99661905e-01 -3.00986392e-04 4.27398089e+00] [ 1.73841863e-02 -1.51094119e-04 9.99848872e-01 2.62349380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.119254154 meters Centerline goodness [0,1] 0.9916656143452456 Centerline is valid? [True, True] Translation: X:289.16, Y:4.27, Z:2.62 [[ 9.99460214e-01 -2.77288429e-02 -1.76179304e-02 2.89155241e+02] [ 2.77277213e-02 9.99615465e-01 -3.07973049e-04 4.26983782e+00] [ 1.76196954e-02 -1.80698254e-04 9.99844745e-01 2.62274955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.14925415399995 meters Centerline goodness [0,1] 0.9911795044523504 Centerline is valid? [True, True] Translation: X:289.18, Y:4.26, Z:2.62 [[ 9.99369174e-01 -3.09547220e-02 -1.74085852e-02 2.89184606e+02] [ 3.09541023e-02 9.99520760e-01 -3.05119740e-04 4.26496798e+00] [ 1.74096872e-02 -2.33939863e-04 9.99848413e-01 2.62422717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.179254154 meters Centerline goodness [0,1] 0.9912820620549125 Centerline is valid? [True, True] Translation: X:289.21, Y:4.26, Z:2.62 [[ 9.99326535e-01 -3.24360823e-02 -1.71574100e-02 2.89213764e+02] [ 3.24356902e-02 9.99473779e-01 -3.01203001e-04 4.26141170e+00] [ 1.71581513e-02 -2.55512285e-04 9.99852755e-01 2.62421595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.20925415399995 meters Centerline goodness [0,1] 0.9914738124238733 Centerline is valid? [True, True] Translation: X:289.24, Y:4.26, Z:2.63 [[ 9.99293121e-01 -3.36211702e-02 -1.68189201e-02 2.89244405e+02] [ 3.36209584e-02 9.99434612e-01 -2.95429558e-04 4.26051086e+00] [ 1.68193436e-02 -2.70247488e-04 9.99858508e-01 2.62584137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.239254154 meters Centerline goodness [0,1] 0.9919207604977651 Centerline is valid? [True, True] Translation: X:289.28, Y:4.26, Z:2.63 [[ 9.99267691e-01 -3.43476086e-02 -1.68619032e-02 2.89275261e+02] [ 3.43474991e-02 9.99409907e-01 -2.96184569e-04 4.25845235e+00] [ 1.68621263e-02 -2.83196533e-04 9.99857784e-01 2.62627150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.26925415399995 meters Centerline goodness [0,1] 0.9914151379035305 Centerline is valid? [True, True] Translation: X:289.31, Y:4.26, Z:2.63 [[ 9.99251989e-01 -3.49192452e-02 -1.66165170e-02 2.89305640e+02] [ 3.49192200e-02 9.99390095e-01 -2.91743076e-04 4.25584241e+00] [ 1.66165699e-02 -2.88710963e-04 9.99861894e-01 2.62592173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.299254154 meters Centerline goodness [0,1] 0.9917260159195643 Centerline is valid? [True, True] Translation: X:289.34, Y:4.25, Z:2.63 [[ 9.99240556e-01 -3.55536088e-02 -1.59452572e-02 2.89337153e+02] [ 3.55536728e-02 9.99367729e-01 -2.79549995e-04 4.25279957e+00] [ 1.59451145e-02 -2.87574765e-04 9.99872827e-01 2.62664243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.32925415399995 meters Centerline goodness [0,1] 0.9917287880056956 Centerline is valid? [True, True] Translation: X:289.37, Y:4.25, Z:2.63 [[ 9.99249986e-01 -3.55611672e-02 -1.53254510e-02 2.89367106e+02] [ 3.55612340e-02 9.99367463e-01 -2.68238586e-04 4.25004581e+00] [ 1.53252960e-02 -2.76954545e-04 9.99882522e-01 2.62652963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.359254154 meters Centerline goodness [0,1] 0.991689692707025 Centerline is valid? [True, True] Translation: X:289.40, Y:4.25, Z:2.63 [[ 9.99253174e-01 -3.55056471e-02 -1.52460984e-02 2.89398394e+02] [ 3.55057127e-02 9.99369438e-01 -2.66461824e-04 4.24866691e+00] [ 1.52459457e-02 -2.75060768e-04 9.99883736e-01 2.62711288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.38925415399996 meters Centerline goodness [0,1] 0.9915785063370692 Centerline is valid? [True, True] Translation: X:289.43, Y:4.25, Z:2.63 [[ 9.99272037e-01 -3.51464253e-02 -1.48366185e-02 2.89429318e+02] [ 3.51464558e-02 9.99382139e-01 -2.58767345e-04 4.24747602e+00] [ 1.48365462e-02 -2.62875583e-04 9.99889898e-01 2.62766987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.419254154 meters Centerline goodness [0,1] 0.9919784420630444 Centerline is valid? [True, True] Translation: X:289.46, Y:4.24, Z:2.63 [[ 9.99306008e-01 -3.43457620e-02 -1.44177573e-02 2.89459407e+02] [ 3.43457136e-02 9.99409980e-01 -2.51030719e-04 4.24437040e+00] [ 1.44178723e-02 -2.44331656e-04 9.99896027e-01 2.62816555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.44925415399996 meters Centerline goodness [0,1] 0.9921955098026908 Centerline is valid? [True, True] Translation: X:289.49, Y:4.24, Z:2.63 [[ 9.99328227e-01 -3.36624384e-02 -1.44891247e-02 2.89490639e+02] [ 3.36623231e-02 9.99433232e-01 -2.51910743e-04 4.24346062e+00] [ 1.44893927e-02 -2.35996081e-04 9.99894995e-01 2.62833994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.479254154 meters Centerline goodness [0,1] 0.9924370625718165 Centerline is valid? [True, True] Translation: X:289.52, Y:4.24, Z:2.63 [[ 9.99374182e-01 -3.22693185e-02 -1.44891453e-02 2.89521458e+02] [ 3.22690632e-02 9.99479187e-01 -2.51471147e-04 4.23923482e+00] [ 1.44897140e-02 -2.16237374e-04 9.99894995e-01 2.62748372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.50925415399996 meters Centerline goodness [0,1] 0.9924903252797824 Centerline is valid? [True, True] Translation: X:289.55, Y:4.24, Z:2.63 [[ 9.99383744e-01 -3.18847366e-02 -1.46797950e-02 2.89551921e+02] [ 3.18844356e-02 9.99491530e-01 -2.54606137e-04 4.23973525e+00] [ 1.46804488e-02 -2.13607742e-04 9.99892214e-01 2.62837371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.539254154 meters Centerline goodness [0,1] 0.9923025574700655 Centerline is valid? [True, True] Translation: X:289.58, Y:4.24, Z:2.63 [[ 9.99399615e-01 -3.15603009e-02 -1.42953232e-02 2.89582105e+02] [ 3.15599823e-02 9.99501829e-01 -2.47937865e-04 4.23935291e+00] [ 1.42960267e-02 -2.03371140e-04 9.99897786e-01 2.62875418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56925415399996 meters Centerline goodness [0,1] 0.992390827183979 Centerline is valid? [True, True] Translation: X:289.61, Y:4.24, Z:2.63 [[ 9.99407258e-01 -3.13528139e-02 -1.42173972e-02 2.89612253e+02] [ 3.13524790e-02 9.99508360e-01 -2.46496623e-04 4.23763101e+00] [ 1.42181358e-02 -1.99400134e-04 9.99898897e-01 2.62865589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.599254154 meters Centerline goodness [0,1] 0.9927928304330569 Centerline is valid? [True, True] Translation: X:289.64, Y:4.23, Z:2.63 [[ 9.99406561e-01 -3.13153144e-02 -1.43484234e-02 2.89642867e+02] [ 3.13149720e-02 9.99509535e-01 -2.48593535e-04 4.23490891e+00] [ 1.43491708e-02 -2.00874466e-04 9.99897025e-01 2.62873701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62925415399997 meters Centerline goodness [0,1] 0.9927928304330569 Centerline is valid? [True, True] Translation: X:289.67, Y:4.24, Z:2.63 [[ 9.99406561e-01 -3.13153144e-02 -1.43484234e-02 2.89672864e+02] [ 3.13149720e-02 9.99509535e-01 -2.48593535e-04 4.23542863e+00] [ 1.43491708e-02 -2.00874466e-04 9.99897025e-01 2.62901808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65925415399994 meters Centerline goodness [0,1] 0.9930610709359194 Centerline is valid? [True, True] Translation: X:289.70, Y:4.23, Z:2.63 [[ 9.99388316e-01 -3.18121807e-02 -1.45251422e-02 2.89703594e+02] [ 3.18118823e-02 9.99493842e-01 -2.51655276e-04 4.23404839e+00] [ 1.45257959e-02 -2.10570771e-04 9.99894473e-01 2.62890374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68925415399997 meters Centerline goodness [0,1] 0.9928323651105446 Centerline is valid? [True, True] Translation: X:289.73, Y:4.23, Z:2.63 [[ 9.99363577e-01 -3.23707135e-02 -1.49859492e-02 2.89733756e+02] [ 3.23704586e-02 9.99475906e-01 -2.59638985e-04 4.23266032e+00] [ 1.49864998e-02 -2.25628303e-04 9.99887671e-01 2.62865342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71925415399994 meters Centerline goodness [0,1] 0.9933326366391473 Centerline is valid? [True, True] Translation: X:289.76, Y:4.23, Z:2.63 [[ 9.99306077e-01 -3.40420103e-02 -1.51164034e-02 2.89762935e+02] [ 3.40419405e-02 9.99420371e-01 -2.62003678e-04 4.22896642e+00] [ 1.51165606e-02 -2.52769837e-04 9.99885706e-01 2.62792373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74925415399997 meters Centerline goodness [0,1] 0.9936876868089376 Centerline is valid? [True, True] Translation: X:289.79, Y:4.23, Z:2.63 [[ 9.99260635e-01 -3.51335457e-02 -1.56146386e-02 2.89793832e+02] [ 3.51336016e-02 9.99382588e-01 -2.70815141e-04 4.22747939e+00] [ 1.56145127e-02 -2.77983583e-04 9.99878047e-01 2.62804771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77925415399994 meters Centerline goodness [0,1] 0.9934346707926485 Centerline is valid? [True, True] Translation: X:289.82, Y:4.23, Z:2.63 [[ 9.99221506e-01 -3.62440853e-02 -1.55803619e-02 2.89824248e+02] [ 3.62442760e-02 9.99342924e-01 -2.70220656e-04 4.22592097e+00] [ 1.55799183e-02 -2.94688644e-04 9.99878582e-01 2.62811842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.809254154 meters Centerline goodness [0,1] 0.993768428096443 Centerline is valid? [True, True] Translation: X:289.85, Y:4.22, Z:2.63 [[ 9.99121666e-01 -3.87490064e-02 -1.59502479e-02 2.89854332e+02] [ 3.87495233e-02 9.99248917e-01 -2.76757875e-04 4.22354851e+00] [ 1.59489920e-02 -3.41549713e-04 9.99872748e-01 2.62852978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83925415399995 meters Centerline goodness [0,1] 0.99383425645313 Centerline is valid? [True, True] Translation: X:289.88, Y:4.22, Z:2.63 [[ 9.99071251e-01 -4.00537227e-02 -1.58850208e-02 2.89884705e+02] [ 4.00543994e-02 9.99197463e-01 -2.75679144e-04 4.21999287e+00] [ 1.58833145e-02 -3.60841860e-04 9.99873787e-01 2.62857606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.869254154 meters Centerline goodness [0,1] 0.9941237975742367 Centerline is valid? [True, True] Translation: X:289.92, Y:4.22, Z:2.63 [[ 9.99040202e-01 -4.07898410e-02 -1.59644211e-02 2.89915209e+02] [ 4.07906212e-02 9.99167678e-01 -2.76884042e-04 4.21846432e+00] [ 1.59624276e-02 -3.74580365e-04 9.99872522e-01 2.62850803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.89925415399995 meters Centerline goodness [0,1] 0.9941652550348202 Centerline is valid? [True, True] Translation: X:289.95, Y:4.22, Z:2.63 [[ 9.99001041e-01 -4.20836734e-02 -1.50294715e-02 2.89945096e+02] [ 4.20845112e-02 9.99114021e-01 -2.60668444e-04 4.21564029e+00] [ 1.50271256e-02 -3.72099914e-04 9.99887017e-01 2.62989184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.929254154 meters Centerline goodness [0,1] 0.9943437969610953 Centerline is valid? [True, True] Translation: X:289.97, Y:4.21, Z:2.63 [[ 9.99000852e-01 -4.22484423e-02 -1.45728038e-02 2.89974898e+02] [ 4.22492460e-02 9.99107070e-01 -2.52837932e-04 4.21445908e+00] [ 1.45704733e-02 -3.63104662e-04 9.99893779e-01 2.63071935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.95925415399995 meters Centerline goodness [0,1] 0.9945287865182617 Centerline is valid? [True, True] Translation: X:290.01, Y:4.21, Z:2.63 [[ 9.99032702e-01 -4.18448477e-02 -1.35155030e-02 2.90005591e+02] [ 4.18455001e-02 9.99124066e-01 -2.34643692e-04 4.21385793e+00] [ 1.35134829e-02 -3.31146259e-04 9.99908634e-01 2.63135132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.989254154 meters Centerline goodness [0,1] 0.9944450245379555 Centerline is valid? [True, True] Translation: X:290.04, Y:4.22, Z:2.63 [[ 9.99117721e-01 -3.98230687e-02 -1.33380218e-02 2.90036792e+02] [ 3.98235260e-02 9.99206702e-01 -2.31415472e-04 4.21786425e+00] [ 1.33366565e-02 -2.99955760e-04 9.99911018e-01 2.63189456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.01925415399995 meters Centerline goodness [0,1] 0.9946158019950749 Centerline is valid? [True, True] Translation: X:290.07, Y:4.22, Z:2.63 [[ 9.99169221e-01 -3.86262712e-02 -1.29953629e-02 2.90068356e+02] [ 3.86266103e-02 9.99253689e-01 -2.24999259e-04 4.21793024e+00] [ 1.29943552e-02 -2.77154484e-04 9.99915531e-01 2.63265526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.049254154 meters Centerline goodness [0,1] 0.9948848570891705 Centerline is valid? [True, True] Translation: X:290.10, Y:4.22, Z:2.63 [[ 9.99239561e-01 -3.68328594e-02 -1.27922169e-02 2.90098952e+02] [ 3.68330461e-02 9.99321409e-01 -2.21080661e-04 4.21855054e+00] [ 1.27916793e-02 -2.50263774e-04 9.99918152e-01 2.63287553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07925415399995 meters Centerline goodness [0,1] 0.9947981950363499 Centerline is valid? [True, True] Translation: X:290.13, Y:4.22, Z:2.63 [[ 9.99397969e-01 -3.18799160e-02 -1.36883393e-02 2.90129528e+02] [ 3.18796678e-02 9.99491686e-01 -2.36385105e-04 4.22086522e+00] [ 1.36889173e-02 -2.00136917e-04 9.99906282e-01 2.63291832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.109254154 meters Centerline goodness [0,1] 0.9948856045424181 Centerline is valid? [True, True] Translation: X:290.16, Y:4.22, Z:2.63 [[ 9.99487792e-01 -2.89575828e-02 -1.36239475e-02 2.90158724e+02] [ 2.89570645e-02 9.99580629e-01 -2.35351183e-04 4.22148652e+00] [ 1.36250492e-02 -1.59278892e-04 9.99907162e-01 2.63250385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13925415399996 meters Centerline goodness [0,1] 0.9949032877971341 Centerline is valid? [True, True] Translation: X:290.19, Y:4.22, Z:2.63 [[ 9.99567587e-01 -2.58126769e-02 -1.40835244e-02 2.90188044e+02] [ 2.58118071e-02 9.99666790e-01 -2.43551660e-04 4.22292464e+00] [ 1.40851183e-02 -1.20074870e-04 9.99900793e-01 2.63259567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.169254154 meters Centerline goodness [0,1] 0.9951521230357739 Centerline is valid? [True, True] Translation: X:290.22, Y:4.22, Z:2.63 [[ 9.99636274e-01 -2.30383829e-02 -1.40197444e-02 2.90217305e+02] [ 2.30372307e-02 9.99734578e-01 -2.43694062e-04 4.22468875e+00] [ 1.40216375e-02 -7.93706613e-05 9.99901689e-01 2.63298576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19925415399996 meters Centerline goodness [0,1] 0.9953949698901877 Centerline is valid? [True, True] Translation: X:290.25, Y:4.23, Z:2.63 [[ 9.99753289e-01 -1.75183282e-02 -1.36553866e-02 2.90245840e+02] [ 1.75166763e-02 9.99846542e-01 -2.40577983e-04 4.22676918e+00] [ 1.36575056e-02 1.32164296e-06 9.99906732e-01 2.63386167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.229254154 meters Centerline goodness [0,1] 0.9951278673441649 Centerline is valid? [True, True] Translation: X:290.27, Y:4.23, Z:2.63 [[ 9.99785647e-01 -1.56086856e-02 -1.36025323e-02 2.90274115e+02] [ 1.56068201e-02 9.99878177e-01 -2.43296034e-04 4.22744525e+00] [ 1.36046728e-02 3.09516081e-05 9.99907452e-01 2.63415276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25925415399996 meters Centerline goodness [0,1] 0.9953825581881242 Centerline is valid? [True, True] Translation: X:290.30, Y:4.23, Z:2.63 [[ 9.99811946e-01 -1.40338558e-02 -1.33837173e-02 2.90301579e+02] [ 1.40318672e-02 9.99901519e-01 -2.42480455e-04 4.22821124e+00] [ 1.33858022e-02 5.46363104e-05 9.99910405e-01 2.63403512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.289254154 meters Centerline goodness [0,1] 0.9957189098882739 Centerline is valid? [True, True] Translation: X:290.33, Y:4.23, Z:2.63 [[ 9.99822727e-01 -1.31488911e-02 -1.34767030e-02 2.90329249e+02] [ 1.31467673e-02 9.99913547e-01 -2.46176934e-04 4.22819743e+00] [ 1.34787749e-02 6.89582152e-05 9.99909155e-01 2.63423920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31925415399996 meters Centerline goodness [0,1] 0.9955760522526659 Centerline is valid? [True, True] Translation: X:290.36, Y:4.23, Z:2.63 [[ 9.99825512e-01 -1.33509359e-02 -1.30651283e-02 2.90357021e+02] [ 1.33489100e-02 9.99910870e-01 -2.42255092e-04 4.22560460e+00] [ 1.30671982e-02 6.78075990e-05 9.99914618e-01 2.63436131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.349254154 meters Centerline goodness [0,1] 0.9958800401539234 Centerline is valid? [True, True] Translation: X:290.38, Y:4.22, Z:2.63 [[ 9.99806852e-01 -1.44389334e-02 -1.33332405e-02 2.90384449e+02] [ 1.44368772e-02 9.99895751e-01 -2.50456842e-04 4.22415393e+00] [ 1.33354669e-02 5.79181110e-05 9.99911077e-01 2.63398886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37925415399997 meters Centerline goodness [0,1] 0.9957183733996116 Centerline is valid? [True, True] Translation: X:290.41, Y:4.22, Z:2.63 [[ 9.99773523e-01 -1.64442661e-02 -1.35088609e-02 2.90412112e+02] [ 1.64423059e-02 9.99864783e-01 -2.56165797e-04 4.22120619e+00] [ 1.35112467e-02 3.39909576e-05 9.99908718e-01 2.63454010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40925415399994 meters Centerline goodness [0,1] 0.996204300402511 Centerline is valid? [True, True] Translation: X:290.44, Y:4.21, Z:2.63 [[ 9.99647311e-01 -2.29372712e-02 -1.33841409e-02 2.90440094e+02] [ 2.29358869e-02 9.99736905e-01 -2.56932930e-04 4.21471143e+00] [ 1.33865130e-02 -5.01348300e-05 9.99910395e-01 2.63441797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43925415399997 meters Centerline goodness [0,1] 0.9962163970065638 Centerline is valid? [True, True] Translation: X:290.47, Y:4.21, Z:2.63 [[ 9.99540396e-01 -2.71129982e-02 -1.35603445e-02 2.90469356e+02] [ 2.71119352e-02 9.99632370e-01 -2.62249365e-04 4.21113180e+00] [ 1.35624697e-02 -1.05518348e-04 9.99908020e-01 2.63450268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46925415399994 meters Centerline goodness [0,1] 0.9962780194044831 Centerline is valid? [True, True] Translation: X:290.50, Y:4.21, Z:2.64 [[ 9.99400352e-01 -3.20842795e-02 -1.30205791e-02 2.90498622e+02] [ 3.20836891e-02 9.99485154e-01 -2.54281856e-04 4.20728914e+00] [ 1.30220339e-02 -1.63618834e-04 9.99915196e-01 2.63576520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49925415399997 meters Centerline goodness [0,1] 0.996658172856009 Centerline is valid? [True, True] Translation: X:290.53, Y:4.20, Z:2.64 [[ 9.99037826e-01 -4.21878570e-02 -1.19836173e-02 2.90528372e+02] [ 4.21880770e-02 9.99109659e-01 -2.34549749e-04 4.19585797e+00] [ 1.19828429e-02 -2.71241696e-04 9.99928166e-01 2.63731449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52925415399994 meters Centerline goodness [0,1] 0.9966339117708551 Centerline is valid? [True, True] Translation: X:290.56, Y:4.19, Z:2.64 [[ 9.98818127e-01 -4.72771844e-02 -1.12790964e-02 2.90559933e+02] [ 4.72777024e-02 9.98881760e-01 -2.20852736e-04 4.19178171e+00] [ 1.12769250e-02 -3.12658048e-04 9.99936365e-01 2.63795731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.559254154 meters Centerline goodness [0,1] 0.9967649698411705 Centerline is valid? [True, True] Translation: X:290.59, Y:4.19, Z:2.64 [[ 9.98592637e-01 -5.18151116e-02 -1.13110150e-02 2.90590650e+02] [ 5.18159274e-02 9.98656628e-01 -2.21112127e-04 4.18981573e+00] [ 1.13072771e-02 -3.65289791e-04 9.99936004e-01 2.63757248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.58925415399995 meters Centerline goodness [0,1] 0.9969921671018277 Centerline is valid? [True, True] Translation: X:290.62, Y:4.18, Z:2.64 [[ 9.98074944e-01 -6.09201291e-02 -1.16251099e-02 2.90621279e+02] [ 6.09216095e-02 9.98142528e-01 -2.27067959e-04 4.18090363e+00] [ 1.16173496e-02 -4.81589567e-04 9.99932400e-01 2.63740494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.619254154 meters Centerline goodness [0,1] 0.9972084496479313 Centerline is valid? [True, True] Translation: X:290.65, Y:4.18, Z:2.64 [[ 9.97784426e-01 -6.55437635e-02 -1.14128699e-02 2.90652700e+02] [ 6.55454932e-02 9.97849557e-01 -2.22816727e-04 4.17745467e+00] [ 1.14029314e-02 -5.25739124e-04 9.99934846e-01 2.63869876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.64925415399995 meters Centerline goodness [0,1] 0.9971355092311874 Centerline is valid? [True, True] Translation: X:290.68, Y:4.18, Z:2.64 [[ 9.97509932e-01 -6.95814577e-02 -1.15045984e-02 2.90683301e+02] [ 6.95834876e-02 9.97576106e-01 -2.24221254e-04 4.17508567e+00] [ 1.14923141e-02 -5.76867151e-04 9.99933795e-01 2.63887155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.679254154 meters Centerline goodness [0,1] 0.9973686958337684 Centerline is valid? [True, True] Translation: X:290.71, Y:4.17, Z:2.64 [[ 9.97264652e-01 -7.29653863e-02 -1.18011092e-02 2.90712976e+02] [ 7.29677606e-02 9.97334274e-01 -2.29822510e-04 4.17202696e+00] [ 1.17864198e-02 -6.31906646e-04 9.99930338e-01 2.63924480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.70925415399995 meters Centerline goodness [0,1] 0.9974851202950792 Centerline is valid? [True, True] Translation: X:290.74, Y:4.17, Z:2.64 [[ 9.96804251e-01 -7.89710561e-02 -1.20356976e-02 2.90742308e+02] [ 7.89739621e-02 9.96876652e-01 -2.34376204e-04 4.16729086e+00] [ 1.20166149e-02 -7.16879529e-04 9.99927541e-01 2.63909507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.739254154 meters Centerline goodness [0,1] 0.9977389301790014 Centerline is valid? [True, True] Translation: X:290.77, Y:4.17, Z:2.64 [[ 9.96650319e-01 -8.08316908e-02 -1.24249141e-02 2.90773028e+02] [ 8.08349332e-02 9.96727473e-01 -2.41846468e-04 4.16578700e+00] [ 1.24038021e-02 -7.63330741e-04 9.99922779e-01 2.63877674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.76925415399995 meters Centerline goodness [0,1] 0.9980320318224641 Centerline is valid? [True, True] Translation: X:290.80, Y:4.16, Z:2.64 [[ 9.96471966e-01 -8.30363622e-02 -1.21895067e-02 2.90803944e+02] [ 8.30396498e-02 9.96546216e-01 -2.37046935e-04 4.16468922e+00] [ 1.21670903e-02 -7.76001741e-04 9.99925677e-01 2.63993180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.799254154 meters Centerline goodness [0,1] 0.9978874270534837 Centerline is valid? [True, True] Translation: X:290.84, Y:4.17, Z:2.64 [[ 9.96258848e-01 -8.56040029e-02 -1.18432350e-02 2.90835326e+02] [ 8.56072900e-02 9.96328931e-01 -2.30056628e-04 4.16730943e+00] [ 1.18194515e-02 -7.84671306e-04 9.99929840e-01 2.64051027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.82925415399995 meters Centerline goodness [0,1] 0.9979489755342081 Centerline is valid? [True, True] Translation: X:290.87, Y:4.17, Z:2.64 [[ 9.96210927e-01 -8.61442685e-02 -1.19563460e-02 2.90867633e+02] [ 8.61476639e-02 9.96282353e-01 -2.31707173e-04 4.16979789e+00] [ 1.19318568e-02 -7.99182063e-04 9.99928493e-01 2.64074953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.859254154 meters Centerline goodness [0,1] 0.9980151682928358 Centerline is valid? [True, True] Translation: X:290.90, Y:4.17, Z:2.64 [[ 9.96195661e-01 -8.62679256e-02 -1.23308427e-02 2.90898490e+02] [ 8.62715576e-02 9.96271630e-01 -2.38068513e-04 4.17173234e+00] [ 1.23054065e-02 -8.26638189e-04 9.99923944e-01 2.64041456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.88925415399996 meters Centerline goodness [0,1] 0.997827857724681 Centerline is valid? [True, True] Translation: X:290.93, Y:4.18, Z:2.64 [[ 9.96260557e-01 -8.54633978e-02 -1.26850469e-02 2.90930209e+02] [ 8.54671853e-02 9.96340956e-01 -2.44213274e-04 4.17540076e+00] [ 1.26595031e-02 -8.40855203e-04 9.99919512e-01 2.64015380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.919254154 meters Centerline goodness [0,1] 0.9977862707015016 Centerline is valid? [True, True] Translation: X:290.96, Y:4.18, Z:2.64 [[ 9.96332659e-01 -8.44807033e-02 -1.35736146e-02 2.90961696e+02] [ 8.44849586e-02 9.96424721e-01 -2.60625684e-04 4.17734456e+00] [ 1.35471030e-02 -8.87096390e-04 9.99907840e-01 2.63976710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.94925415399996 meters Centerline goodness [0,1] 0.9980633876140103 Centerline is valid? [True, True] Translation: X:290.99, Y:4.18, Z:2.64 [[ 9.96454799e-01 -8.29316159e-02 -1.41485277e-02 2.90992500e+02] [ 8.29360942e-02 9.96554831e-01 -2.70940748e-04 4.18012033e+00] [ 1.41222532e-02 -9.03443418e-04 9.99899868e-01 2.63935234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.979254154 meters Centerline goodness [0,1] 0.997977270357627 Centerline is valid? [True, True] Translation: X:291.02, Y:4.19, Z:2.64 [[ 9.96709271e-01 -7.96910820e-02 -1.48310714e-02 2.91022969e+02] [ 7.96956525e-02 9.96819203e-01 -2.83532987e-04 4.18897645e+00] [ 1.48064918e-02 -8.99371955e-04 9.99889973e-01 2.63893909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.00925415399996 meters Centerline goodness [0,1] 0.9979372851338681 Centerline is valid? [True, True] Translation: X:291.05, Y:4.19, Z:2.64 [[ 9.96859614e-01 -7.76666591e-02 -1.54531882e-02 2.91054266e+02] [ 7.76713855e-02 9.96978971e-01 -2.94994770e-04 4.19314597e+00] [ 1.54294150e-02 -9.06202166e-04 9.99880549e-01 2.63883053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.039254154 meters Centerline goodness [0,1] 0.997668560960886 Centerline is valid? [True, True] Translation: X:291.09, Y:4.20, Z:2.64 [[ 9.96971410e-01 -7.62328149e-02 -1.53807194e-02 2.91085201e+02] [ 7.62373357e-02 9.97089656e-01 -2.93040643e-04 4.19730512e+00] [ 1.53582956e-02 -8.80431928e-04 9.99881667e-01 2.63949941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06925415399996 meters Centerline goodness [0,1] 0.9980430935775997 Centerline is valid? [True, True] Translation: X:291.12, Y:4.20, Z:2.64 [[ 9.97086643e-01 -7.46779514e-02 -1.55380015e-02 2.91116465e+02] [ 7.46823860e-02 9.97207327e-01 -2.95456439e-04 4.20151250e+00] [ 1.55166730e-02 -8.65819353e-04 9.99879234e-01 2.64023063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.099254154 meters Centerline goodness [0,1] 0.9977078080393423 Centerline is valid? [True, True] Translation: X:291.15, Y:4.21, Z:2.64 [[ 9.97376416e-01 -7.06063970e-02 -1.59694201e-02 2.91147045e+02] [ 7.06105684e-02 9.97503913e-01 -3.03180211e-04 4.21036904e+00] [ 1.59509655e-02 -8.25225036e-04 9.99872435e-01 2.63940391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12925415399997 meters Centerline goodness [0,1] 0.9978146398318314 Centerline is valid? [True, True] Translation: X:291.18, Y:4.21, Z:2.64 [[ 9.97437252e-01 -7.00309438e-02 -1.46490666e-02 2.91177835e+02] [ 7.00343985e-02 9.97544538e-01 -2.77661361e-04 4.21245345e+00] [ 1.46325413e-02 -7.48988783e-04 9.99892658e-01 2.64174351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15925415399994 meters Centerline goodness [0,1] 0.9976281624500666 Centerline is valid? [True, True] Translation: X:291.21, Y:4.22, Z:2.64 [[ 9.97568906e-01 -6.82202887e-02 -1.42221832e-02 2.91209574e+02] [ 6.82233725e-02 9.97670035e-01 -2.68793331e-04 4.21902914e+00] [ 1.42073832e-02 -7.02145432e-04 9.99898824e-01 2.64275424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18925415399997 meters Centerline goodness [0,1] 0.9976560879485584 Centerline is valid? [True, True] Translation: X:291.24, Y:4.23, Z:2.64 [[ 9.97777637e-01 -6.53310013e-02 -1.31014074e-02 2.91241078e+02] [ 6.53333787e-02 9.97863462e-01 -2.46917351e-04 4.22645136e+00] [ 1.30895471e-02 -6.09590601e-04 9.99914142e-01 2.64429142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21925415399994 meters Centerline goodness [0,1] 0.9977792997530249 Centerline is valid? [True, True] Translation: X:291.27, Y:4.23, Z:2.65 [[ 9.97870739e-01 -6.39875595e-02 -1.26324891e-02 2.91272973e+02] [ 6.39896717e-02 9.97950533e-01 -2.37332489e-04 4.23101720e+00] [ 1.26217855e-02 -5.71521683e-04 9.99920179e-01 2.64518483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24925415399997 meters Centerline goodness [0,1] 0.9978638682649633 Centerline is valid? [True, True] Translation: X:291.30, Y:4.23, Z:2.65 [[ 9.97949543e-01 -6.26618818e-02 -1.30460153e-02 2.91304167e+02] [ 6.26640336e-02 9.98034648e-01 -2.44177306e-04 4.23391626e+00] [ 1.30356759e-02 -5.73839308e-04 9.99914867e-01 2.64562387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27925415399994 meters Centerline goodness [0,1] 0.9976524358574842 Centerline is valid? [True, True] Translation: X:291.34, Y:4.24, Z:2.64 [[ 9.98059788e-01 -6.06503456e-02 -1.40782145e-02 2.91335444e+02] [ 6.06526620e-02 9.98158898e-01 -2.62762200e-04 4.23786878e+00] [ 1.40682316e-02 -5.91628797e-04 9.99900863e-01 2.64451769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.309254154 meters Centerline goodness [0,1] 0.997736240913811 Centerline is valid? [True, True] Translation: X:291.37, Y:4.24, Z:2.65 [[ 9.98132995e-01 -5.93904852e-02 -1.42581732e-02 2.91366289e+02] [ 5.93927466e-02 9.98234657e-01 -2.65151952e-04 4.24243850e+00] [ 1.42487501e-02 -5.82175155e-04 9.99898312e-01 2.64555949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33925415399995 meters Centerline goodness [0,1] 0.9976935544196485 Centerline is valid? [True, True] Translation: X:291.40, Y:4.25, Z:2.65 [[ 9.98172508e-01 -5.86435957e-02 -1.45798561e-02 2.91398823e+02] [ 5.86459039e-02 9.98278811e-01 -2.69550163e-04 4.24569244e+00] [ 1.45705688e-02 -5.85991275e-04 9.99893672e-01 2.64592715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.369254154 meters Centerline goodness [0,1] 0.997741119907158 Centerline is valid? [True, True] Translation: X:291.43, Y:4.25, Z:2.65 [[ 9.98186080e-01 -5.82532297e-02 -1.52023565e-02 2.91430735e+02] [ 5.82557111e-02 9.98301655e-01 -2.79934506e-04 4.24991961e+00] [ 1.51928448e-02 -6.06197363e-04 9.99884398e-01 2.64635094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.39925415399995 meters Centerline goodness [0,1] 0.9977229444398443 Centerline is valid? [True, True] Translation: X:291.46, Y:4.25, Z:2.64 [[ 9.98259807e-01 -5.67148992e-02 -1.61486397e-02 2.91462254e+02] [ 5.67175140e-02 9.98390222e-01 -2.96391220e-04 4.25277652e+00] [ 1.61394538e-02 -6.20035257e-04 9.99869558e-01 2.64480656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.429254154 meters Centerline goodness [0,1] 0.9979476761059746 Centerline is valid? [True, True] Translation: X:291.49, Y:4.26, Z:2.65 [[ 9.98236743e-01 -5.75218459e-02 -1.46506898e-02 2.91493537e+02] [ 5.75240933e-02 9.98344082e-01 -2.68305966e-04 4.25626737e+00] [ 1.46418629e-02 -5.74934773e-04 9.99892637e-01 2.64771197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.45925415399995 meters Centerline goodness [0,1] 0.9979645245710963 Centerline is valid? [True, True] Translation: X:291.52, Y:4.26, Z:2.65 [[ 9.98266475e-01 -5.70536706e-02 -1.44541939e-02 2.91524826e+02] [ 5.70558249e-02 9.98370955e-01 -2.63620843e-04 4.25676857e+00] [ 1.44456879e-02 -5.61532108e-04 9.99895498e-01 2.64777342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.489254154 meters Centerline goodness [0,1] 0.9981095622909613 Centerline is valid? [True, True] Translation: X:291.56, Y:4.26, Z:2.65 [[ 9.98325181e-01 -5.61342351e-02 -1.39921408e-02 2.91557123e+02] [ 5.61361829e-02 9.98423089e-01 -2.53815938e-04 4.26105113e+00] [ 1.39843242e-02 -5.32074533e-04 9.99902073e-01 2.64854934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.51925415399995 meters Centerline goodness [0,1] 0.9980869601380715 Centerline is valid? [True, True] Translation: X:291.59, Y:4.27, Z:2.65 [[ 9.98463986e-01 -5.36307513e-02 -1.39072651e-02 2.91588865e+02] [ 5.36324455e-02 9.98560713e-01 -2.51370893e-04 4.26612562e+00] [ 1.39007298e-02 -4.94895854e-04 9.99903258e-01 2.64858168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.549254154 meters Centerline goodness [0,1] 0.9980869601380715 Centerline is valid? [True, True] Translation: X:291.62, Y:4.27, Z:2.65 [[ 9.98467776e-01 -5.35601261e-02 -1.39072798e-02 2.91620567e+02] [ 5.35618249e-02 9.98564504e-01 -2.50552747e-04 4.26663374e+00] [ 1.39007356e-02 -4.94730444e-04 9.99903258e-01 2.64887860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57925415399995 meters Centerline goodness [0,1] 0.9981453310271532 Centerline is valid? [True, True] Translation: X:291.65, Y:4.27, Z:2.65 [[ 9.98569011e-01 -5.14712523e-02 -1.45134783e-02 2.91651953e+02] [ 5.14728961e-02 9.98674358e-01 -2.60510996e-04 4.26846936e+00] [ 1.45076475e-02 -4.86912553e-04 9.99894640e-01 2.64859571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.609254154 meters Centerline goodness [0,1] 0.9982513115163627 Centerline is valid? [True, True] Translation: X:291.68, Y:4.27, Z:2.65 [[ 9.98672290e-01 -4.93036874e-02 -1.49265813e-02 2.91683074e+02] [ 4.93051946e-02 9.98783724e-01 -2.67228868e-04 4.27236481e+00] [ 1.49216018e-02 -4.69083929e-04 9.99888557e-01 2.64868846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63925415399996 meters Centerline goodness [0,1] 0.9980829339445718 Centerline is valid? [True, True] Translation: X:291.71, Y:4.28, Z:2.65 [[ 9.98874360e-01 -4.49787403e-02 -1.50640680e-02 2.91714008e+02] [ 4.49797918e-02 9.98987861e-01 -2.69168255e-04 4.28060396e+00] [ 1.50609279e-02 -4.08713372e-04 9.99886494e-01 2.64903729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.669254154 meters Centerline goodness [0,1] 0.998023797636878 Centerline is valid? [True, True] Translation: X:291.75, Y:4.28, Z:2.65 [[ 9.98964381e-01 -4.29689910e-02 -1.49609762e-02 2.91745491e+02] [ 4.29698107e-02 9.99076336e-01 -2.66805153e-04 4.28328580e+00] [ 1.49586216e-02 -3.76341472e-04 9.99888043e-01 2.64961019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69925415399996 meters Centerline goodness [0,1] 0.9980811346334342 Centerline is valid? [True, True] Translation: X:291.78, Y:4.29, Z:2.65 [[ 9.99034669e-01 -4.12205726e-02 -1.51853460e-02 2.91777043e+02] [ 4.12212234e-02 9.99150008e-01 -2.70276138e-04 4.28560054e+00] [ 1.51835795e-02 -3.55943308e-04 9.99884659e-01 2.65031096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.729254154 meters Centerline goodness [0,1] 0.9981017543127725 Centerline is valid? [True, True] Translation: X:291.81, Y:4.29, Z:2.65 [[ 9.99159116e-01 -3.83416782e-02 -1.45250006e-02 2.91807130e+02] [ 3.83419752e-02 9.99264643e-01 -2.58125350e-04 4.28902161e+00] [ 1.45242165e-02 -2.99008919e-04 9.99894473e-01 2.65162270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75925415399996 meters Centerline goodness [0,1] 0.9981629926519706 Centerline is valid? [True, True] Translation: X:291.84, Y:4.29, Z:2.65 [[ 9.99193570e-01 -3.74211449e-02 -1.45556689e-02 2.91837004e+02] [ 3.74213492e-02 9.99299543e-01 -2.58421983e-04 4.29027358e+00] [ 1.45551437e-02 -2.86479185e-04 9.99894027e-01 2.65206284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.789254154 meters Centerline goodness [0,1] 0.9982265804297934 Centerline is valid? [True, True] Translation: X:291.87, Y:4.29, Z:2.65 [[ 9.99197855e-01 -3.71389446e-02 -1.49781503e-02 2.91868337e+02] [ 3.71391345e-02 9.99310069e-01 -2.65570277e-04 4.29146840e+00] [ 1.49776794e-02 -2.90918288e-04 9.99887786e-01 2.65217994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81925415399996 meters Centerline goodness [0,1] 0.9985192600471334 Centerline is valid? [True, True] Translation: X:291.90, Y:4.29, Z:2.65 [[ 9.99154664e-01 -3.80544076e-02 -1.55505638e-02 2.91898801e+02] [ 3.80547299e-02 9.99275619e-01 -2.75286634e-04 4.29114891e+00] [ 1.55497751e-02 -3.16718581e-04 9.99879045e-01 2.65193075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.849254154 meters Centerline goodness [0,1] 0.9983281436124637 Centerline is valid? [True, True] Translation: X:291.93, Y:4.29, Z:2.65 [[ 9.99104791e-01 -3.90266305e-02 -1.63260396e-02 2.91928940e+02] [ 3.90271181e-02 9.99238110e-01 -2.88849530e-04 4.29055769e+00] [ 1.63248738e-02 -3.48567327e-04 9.99866680e-01 2.65143883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87925415399997 meters Centerline goodness [0,1] 0.9984755779230271 Centerline is valid? [True, True] Translation: X:291.96, Y:4.29, Z:2.65 [[ 9.99052485e-01 -4.02041360e-02 -1.66661110e-02 2.91958875e+02] [ 4.02048080e-02 9.99191416e-01 -2.94866266e-04 4.28897352e+00] [ 1.66644899e-02 -3.75470918e-04 9.99861067e-01 2.65072564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90925415399994 meters Centerline goodness [0,1] 0.99872406291834 Centerline is valid? [True, True] Translation: X:291.99, Y:4.29, Z:2.65 [[ 9.98901782e-01 -4.33057647e-02 -1.78841115e-02 2.91989025e+02] [ 4.33070377e-02 9.99061760e-01 -3.16277295e-04 4.28513335e+00] [ 1.78810285e-02 -4.58577937e-04 9.99840016e-01 2.64967556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93925415399997 meters Centerline goodness [0,1] 0.9984963976192962 Centerline is valid? [True, True] Translation: X:292.02, Y:4.28, Z:2.65 [[ 9.98822118e-01 -4.49323722e-02 -1.83155427e-02 2.92019716e+02] [ 4.49339836e-02 9.98989906e-01 -3.23751090e-04 4.28437722e+00] [ 1.83115892e-02 -4.99620546e-04 9.99832204e-01 2.64951251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96925415399994 meters Centerline goodness [0,1] 0.9985395368245358 Centerline is valid? [True, True] Translation: X:292.05, Y:4.28, Z:2.65 [[ 9.98762826e-01 -4.62467181e-02 -1.82772901e-02 2.92050346e+02] [ 4.62485426e-02 9.98929911e-01 -3.23074924e-04 4.28339739e+00] [ 1.82726729e-02 -5.22622803e-04 9.99832904e-01 2.65006971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99925415399997 meters Centerline goodness [0,1] 0.9987061769616027 Centerline is valid? [True, True] Translation: X:292.08, Y:4.28, Z:2.65 [[ 9.98703224e-01 -4.74631375e-02 -1.84152598e-02 2.92080874e+02] [ 4.74651962e-02 9.98872839e-01 -3.25513720e-04 4.28246961e+00] [ 1.84099528e-02 -5.48992320e-04 9.99830372e-01 2.65044418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02925415399994 meters Centerline goodness [0,1] 0.998457401346647 Centerline is valid? [True, True] Translation: X:292.11, Y:4.28, Z:2.65 [[ 9.98641315e-01 -4.89198296e-02 -1.79547624e-02 2.92111040e+02] [ 4.89220243e-02 9.98802551e-01 -3.17236721e-04 4.28085232e+00] [ 1.79487816e-02 -5.61577624e-04 9.99838750e-01 2.65138156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.059254154 meters Centerline goodness [0,1] 0.9984577871329429 Centerline is valid? [True, True] Translation: X:292.14, Y:4.28, Z:2.65 [[ 9.98643298e-01 -4.92146221e-02 -1.70142103e-02 2.92142657e+02] [ 4.92166420e-02 9.98788082e-01 -3.00235242e-04 4.28059842e+00] [ 1.70083664e-02 -5.37554386e-04 9.99855203e-01 2.65235874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.08925415399995 meters Centerline goodness [0,1] 0.9982680550049037 Centerline is valid? [True, True] Translation: X:292.17, Y:4.28, Z:2.65 [[ 9.98654614e-01 -4.90997239e-02 -1.66787134e-02 2.92174459e+02] [ 4.91016576e-02 9.98793743e-01 -2.93794949e-04 4.28077166e+00] [ 1.66730198e-02 -5.25552793e-04 9.99860857e-01 2.65307007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.119254154 meters Centerline goodness [0,1] 0.9983272696859449 Centerline is valid? [True, True] Translation: X:292.20, Y:4.28, Z:2.65 [[ 9.98702996e-01 -4.85293282e-02 -1.54022917e-02 2.92204880e+02] [ 4.85309151e-02 9.98821644e-01 -2.70944269e-04 4.28028232e+00] [ 1.53972911e-02 -4.76894460e-04 9.99881341e-01 2.65407434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.14925415399995 meters Centerline goodness [0,1] 0.9986204590109109 Centerline is valid? [True, True] Translation: X:292.24, Y:4.28, Z:2.65 [[ 9.98744471e-01 -4.75268343e-02 -1.58329019e-02 2.92236758e+02] [ 4.75283924e-02 9.98869849e-01 -2.78068428e-04 4.28094454e+00] [ 1.58282241e-02 -4.74793071e-04 9.99874613e-01 2.65346691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.179254154 meters Centerline goodness [0,1] 0.9986627943419486 Centerline is valid? [True, True] Translation: X:292.27, Y:4.28, Z:2.65 [[ 9.98785460e-01 -4.69737326e-02 -1.48685342e-02 2.92268053e+02] [ 4.69750540e-02 9.98896029e-01 -2.60553692e-04 4.28193015e+00] [ 1.48643590e-02 -4.38212959e-04 9.99889423e-01 2.65476108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.20925415399995 meters Centerline goodness [0,1] 0.998641559907208 Centerline is valid? [True, True] Translation: X:292.30, Y:4.28, Z:2.66 [[ 9.98812469e-01 -4.63319963e-02 -1.50664503e-02 2.92299587e+02] [ 4.63332872e-02 9.98926002e-01 -2.63555554e-04 4.28269048e+00] [ 1.50624800e-02 -4.34835595e-04 9.99886460e-01 2.65514157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.239254154 meters Centerline goodness [0,1] 0.9988475158728496 Centerline is valid? [True, True] Translation: X:292.33, Y:4.28, Z:2.66 [[ 9.98840312e-01 -4.56212603e-02 -1.53861037e-02 2.92329487e+02] [ 4.56225282e-02 9.98958714e-01 -2.68763420e-04 4.28289188e+00] [ 1.53823437e-02 -4.33501214e-04 9.99881591e-01 2.65521432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.26925415399995 meters Centerline goodness [0,1] 0.9985581443945252 Centerline is valid? [True, True] Translation: X:292.36, Y:4.28, Z:2.66 [[ 9.98829423e-01 -4.58530256e-02 -1.54040066e-02 2.92359380e+02] [ 4.58543276e-02 9.98948101e-01 -2.68842785e-04 4.28241888e+00] [ 1.54001304e-02 -4.37812283e-04 9.99881315e-01 2.65515689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.299254154 meters Centerline goodness [0,1] 0.9986999643538613 Centerline is valid? [True, True] Translation: X:292.39, Y:4.28, Z:2.66 [[ 9.98803837e-01 -4.62320994e-02 -1.59213042e-02 2.92390241e+02] [ 4.62335423e-02 9.98930619e-01 -2.77626602e-04 4.28214985e+00] [ 1.59171135e-02 -4.58803774e-04 9.99873209e-01 2.65513293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.32925415399995 meters Centerline goodness [0,1] 0.9987831742368615 Centerline is valid? [True, True] Translation: X:292.42, Y:4.28, Z:2.66 [[ 9.98770983e-01 -4.70896168e-02 -1.54625737e-02 2.92420351e+02] [ 4.70910869e-02 9.98890563e-01 -2.69213197e-04 4.28092410e+00] [ 1.54580961e-02 -4.59267070e-04 9.99880411e-01 2.65548709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.359254154 meters Centerline goodness [0,1] 0.9987224328230045 Centerline is valid? [True, True] Translation: X:292.45, Y:4.28, Z:2.66 [[ 9.98627714e-01 -4.97118230e-02 -1.64749424e-02 2.92451755e+02] [ 4.97138593e-02 9.98763461e-01 -2.86173638e-04 4.27825280e+00] [ 1.64687967e-02 -5.33252045e-04 9.99864238e-01 2.65526088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.38925415399996 meters Centerline goodness [0,1] 0.9987017609983877 Centerline is valid? [True, True] Translation: X:292.48, Y:4.28, Z:2.65 [[ 9.98542885e-01 -5.12828657e-02 -1.67980723e-02 2.92482395e+02] [ 5.12852113e-02 9.98684005e-01 -2.91392678e-04 4.27609447e+00] [ 1.67909096e-02 -5.70524602e-04 9.99858860e-01 2.65484647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.419254154 meters Centerline goodness [0,1] 0.9986382301181598 Centerline is valid? [True, True] Translation: X:292.51, Y:4.27, Z:2.65 [[ 9.98380899e-01 -5.41202304e-02 -1.75094611e-02 2.92512604e+02] [ 5.41232162e-02 9.98534218e-01 -3.03649315e-04 4.27341268e+00] [ 1.75002297e-02 -6.44510674e-04 9.99846652e-01 2.65371171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.44925415399996 meters Centerline goodness [0,1] 0.9989110859823261 Centerline is valid? [True, True] Translation: X:292.54, Y:4.27, Z:2.65 [[ 9.98292402e-01 -5.55958831e-02 -1.79269904e-02 2.92544266e+02] [ 5.55992538e-02 9.98453117e-01 -3.10711868e-04 4.27199147e+00] [ 1.79165337e-02 -6.86545991e-04 9.99839250e-01 2.65341106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.479254154 meters Centerline goodness [0,1] 0.9988076810442204 Centerline is valid? [True, True] Translation: X:292.57, Y:4.27, Z:2.65 [[ 9.98234448e-01 -5.65580540e-02 -1.81431419e-02 2.92574530e+02] [ 5.65616702e-02 9.98399058e-01 -3.14181810e-04 4.27097884e+00] [ 1.81318653e-02 -7.12579304e-04 9.99835350e-01 2.65334467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.50925415399996 meters Centerline goodness [0,1] 0.9988912597799255 Centerline is valid? [True, True] Translation: X:292.61, Y:4.29, Z:2.66 [[ 9.98136815e-01 -5.80304240e-02 -1.88512405e-02 2.92606089e+02] [ 5.80346033e-02 9.98314519e-01 -3.25747362e-04 4.28911922e+00] [ 1.88383703e-02 -7.68883830e-04 9.99822247e-01 2.65732455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.539254154 meters Centerline goodness [0,1] 0.998683798182388 Centerline is valid? [True, True] Translation: X:292.64, Y:4.27, Z:2.65 [[ 9.98112482e-01 -5.83863630e-02 -1.90396045e-02 2.92637153e+02] [ 5.83907074e-02 9.98293753e-01 -3.28132055e-04 4.26983043e+00] [ 1.90262767e-02 -7.84223276e-04 9.99818676e-01 2.65304909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56925415399996 meters Centerline goodness [0,1] 0.9989332552448283 Centerline is valid? [True, True] Translation: X:292.67, Y:4.29, Z:2.66 [[ 9.98116968e-01 -5.84596011e-02 -1.85740202e-02 2.92668027e+02] [ 5.84637573e-02 9.98289481e-01 -3.19620131e-04 4.28785309e+00] [ 1.85609339e-02 -7.66888736e-04 9.99827437e-01 2.65748193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.599254154 meters Centerline goodness [0,1] 0.9988083789772965 Centerline is valid? [True, True] Translation: X:292.70, Y:4.29, Z:2.66 [[ 9.98148775e-01 -5.81379949e-02 -1.78604485e-02 2.92699765e+02] [ 5.81418032e-02 9.98308287e-01 -3.06400488e-04 4.29388331e+00] [ 1.78480473e-02 -7.32605413e-04 9.99840443e-01 2.65979506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62925415399997 meters Centerline goodness [0,1] 0.9985997324862064 Centerline is valid? [True, True] Translation: X:292.73, Y:4.30, Z:2.66 [[ 9.98188459e-01 -5.77869268e-02 -1.67472880e-02 2.92732213e+02] [ 5.77902457e-02 9.98328706e-01 -2.86114222e-04 4.29504083e+00] [ 1.67358320e-02 -6.82233970e-04 9.99859713e-01 2.66098794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65925415399994 meters Centerline goodness [0,1] 0.9984540174654243 Centerline is valid? [True, True] Translation: X:292.76, Y:4.29, Z:2.66 [[ 9.98244963e-01 -5.66789892e-02 -1.71606114e-02 2.92763553e+02] [ 5.66823300e-02 9.98392222e-01 -2.92042054e-04 4.29467523e+00] [ 1.71495736e-02 -6.81173928e-04 9.99852703e-01 2.65928011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68925415399997 meters Centerline goodness [0,1] 0.9987238760695383 Centerline is valid? [True, True] Translation: X:292.79, Y:4.29, Z:2.66 [[ 9.98263782e-01 -5.70688415e-02 -1.45797761e-02 2.92794767e+02] [ 5.70713047e-02 9.98370074e-01 -2.47405881e-04 4.29463045e+00] [ 1.45701313e-02 -5.85110513e-04 9.99893679e-01 2.66301673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71925415399994 meters Centerline goodness [0,1] 0.9986842929641 Centerline is valid? [True, True] Translation: X:292.83, Y:4.30, Z:2.66 [[ 9.98287925e-01 -5.68223480e-02 -1.38722732e-02 2.92826994e+02] [ 5.68245652e-02 9.98384151e-01 -2.34598569e-04 4.29878395e+00] [ 1.38631881e-02 -5.54088974e-04 9.99903748e-01 2.66412118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74925415399997 meters Centerline goodness [0,1] 0.9988079553296945 Centerline is valid? [True, True] Translation: X:292.86, Y:4.30, Z:2.66 [[ 9.98303686e-01 -5.66300659e-02 -1.35198088e-02 2.92857775e+02] [ 5.66321661e-02 9.98395085e-01 -2.27755797e-04 4.29915598e+00] [ 1.35110085e-02 -5.38286607e-04 9.99908577e-01 2.66469894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77925415399994 meters Centerline goodness [0,1] 0.9986411339214785 Centerline is valid? [True, True] Translation: X:292.89, Y:4.30, Z:2.66 [[ 9.98319974e-01 -5.63414914e-02 -1.35228259e-02 2.92888698e+02] [ 5.63435760e-02 9.98411413e-01 -2.27082721e-04 4.29901024e+00] [ 1.35141379e-02 -5.35223153e-04 9.99908537e-01 2.66483012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.809254154 meters Centerline goodness [0,1] 0.9985571795997742 Centerline is valid? [True, True] Translation: X:292.92, Y:4.31, Z:2.66 [[ 9.98363228e-01 -5.53553462e-02 -1.43753304e-02 2.92920856e+02] [ 5.53576127e-02 9.98466563e-01 -2.40498884e-04 4.30731032e+00] [ 1.43665996e-02 -5.55678729e-04 9.99896641e-01 2.66490468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83925415399995 meters Centerline goodness [0,1] 0.9987023044561191 Centerline is valid? [True, True] Translation: X:292.95, Y:4.31, Z:2.67 [[ 9.98398568e-01 -5.46153542e-02 -1.47466177e-02 2.92953499e+02] [ 5.46176766e-02 9.98507311e-01 -2.45503136e-04 4.30859132e+00] [ 1.47380138e-02 -5.60316015e-04 9.99891233e-01 2.66502432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.869254154 meters Centerline goodness [0,1] 0.9988263402774867 Centerline is valid? [True, True] Translation: X:292.99, Y:4.31, Z:2.67 [[ 9.98464986e-01 -5.33931904e-02 -1.47254724e-02 2.92985692e+02] [ 5.33953919e-02 9.98573419e-01 -2.43899049e-04 4.31022437e+00] [ 1.47174878e-02 -5.42747707e-04 9.99891545e-01 2.66506954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.89925415399995 meters Centerline goodness [0,1] 0.9986592646904787 Centerline is valid? [True, True] Translation: X:293.02, Y:4.32, Z:2.67 [[ 9.98594281e-01 -5.09302557e-02 -1.46823237e-02 2.93017571e+02] [ 5.09321937e-02 9.98702084e-01 -2.42139551e-04 4.31542568e+00] [ 1.46755996e-02 -5.06003786e-04 9.99892180e-01 2.66536980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.929254154 meters Centerline goodness [0,1] 0.998637002243704 Centerline is valid? [True, True] Translation: X:293.05, Y:4.32, Z:2.67 [[ 9.98678907e-01 -4.92427333e-02 -1.46831199e-02 2.93049108e+02] [ 4.92445030e-02 9.98786724e-01 -2.41221801e-04 4.31598877e+00] [ 1.46771837e-02 -4.82159819e-04 9.99892168e-01 2.66565618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.95925415399995 meters Centerline goodness [0,1] 0.9987861791850658 Centerline is valid? [True, True] Translation: X:293.08, Y:4.32, Z:2.67 [[ 9.98751223e-01 -4.76435512e-02 -1.50361646e-02 2.93081356e+02] [ 4.76452401e-02 9.98864290e-01 -2.46083559e-04 4.31878969e+00] [ 1.50308121e-02 -4.70625415e-04 9.99886920e-01 2.66596550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.989254154 meters Centerline goodness [0,1] 0.9988265124368727 Centerline is valid? [True, True] Translation: X:293.11, Y:4.32, Z:2.67 [[ 9.98833523e-01 -4.58720942e-02 -1.50779189e-02 2.93113777e+02] [ 4.58736073e-02 9.98947222e-01 -2.45673528e-04 4.32306394e+00] [ 1.50733147e-02 -4.46291574e-04 9.99886292e-01 2.66660297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.01925415399995 meters Centerline goodness [0,1] 0.9989104471357332 Centerline is valid? [True, True] Translation: X:293.14, Y:4.33, Z:2.67 [[ 9.98957004e-01 -4.27809889e-02 -1.59590657e-02 2.93144428e+02] [ 4.27823054e-02 9.99084384e-01 -2.59059640e-04 4.32562179e+00] [ 1.59555361e-02 -4.23976179e-04 9.99872612e-01 2.66599533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.049254154 meters Centerline goodness [0,1] 0.9990139722233877 Centerline is valid? [True, True] Translation: X:293.18, Y:4.33, Z:2.67 [[ 9.98999612e-01 -4.17142373e-02 -1.61151061e-02 2.93176257e+02] [ 4.17154525e-02 9.99129498e-01 -2.60882295e-04 4.32856980e+00] [ 1.61119604e-02 -4.11627633e-04 9.99870109e-01 2.66625532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07925415399995 meters Centerline goodness [0,1] 0.9989910667367314 Centerline is valid? [True, True] Translation: X:293.21, Y:4.33, Z:2.67 [[ 9.99047684e-01 -4.04202659e-02 -1.64294465e-02 2.93208067e+02] [ 4.04213689e-02 9.99182687e-01 -2.65061659e-04 4.33283053e+00] [ 1.64267323e-02 -3.99291481e-04 9.99864992e-01 2.66676567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.109254154 meters Centerline goodness [0,1] 0.9988224656727717 Centerline is valid? [True, True] Translation: X:293.24, Y:4.33, Z:2.67 [[ 9.99060915e-01 -4.00215272e-02 -1.66001601e-02 2.93239422e+02] [ 4.00226138e-02 9.99198739e-01 -2.66885258e-04 4.33326248e+00] [ 1.65975402e-02 -3.97747166e-04 9.99862172e-01 2.66676137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13925415399996 meters Centerline goodness [0,1] 0.9986755245343313 Centerline is valid? [True, True] Translation: X:293.27, Y:4.33, Z:2.67 [[ 9.99057258e-01 -4.03909274e-02 -1.59112724e-02 2.93271203e+02] [ 4.03919842e-02 9.99183878e-01 -2.55069462e-04 4.33421542e+00] [ 1.59085894e-02 -3.87858868e-04 9.99873375e-01 2.66731570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.169254154 meters Centerline goodness [0,1] 0.9987803852300445 Centerline is valid? [True, True] Translation: X:293.30, Y:4.33, Z:2.67 [[ 9.99007434e-01 -4.17264708e-02 -1.55900101e-02 2.93303263e+02] [ 4.17276603e-02 9.99128991e-01 -2.49123656e-04 4.33485345e+00] [ 1.55868261e-02 -4.01658262e-04 9.99878437e-01 2.66820767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19925415399996 meters Centerline goodness [0,1] 0.9986980533798114 Centerline is valid? [True, True] Translation: X:293.34, Y:4.34, Z:2.67 [[ 9.98970564e-01 -4.26672388e-02 -1.54051517e-02 2.93335492e+02] [ 4.26685294e-02 9.99089254e-01 -2.45043614e-04 4.33510235e+00] [ 1.54015769e-02 -4.12523812e-04 9.99881304e-01 2.66866460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.229254154 meters Centerline goodness [0,1] 0.9987801030602587 Centerline is valid? [True, True] Translation: X:293.37, Y:4.33, Z:2.67 [[ 9.98908384e-01 -4.41406421e-02 -1.52853991e-02 2.93366604e+02] [ 4.41421004e-02 9.99025233e-01 -2.42129346e-04 4.33445600e+00] [ 1.52811872e-02 -4.32864589e-04 9.99883142e-01 2.66946747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25925415399996 meters Centerline goodness [0,1] 0.9985927030603458 Centerline is valid? [True, True] Translation: X:293.40, Y:4.34, Z:2.67 [[ 9.98850294e-01 -4.55099783e-02 -1.50642481e-02 2.93399006e+02] [ 4.55115643e-02 9.98963784e-01 -2.37696591e-04 4.33505481e+00] [ 1.50594559e-02 -4.48174186e-04 9.99886500e-01 2.66977231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.289254154 meters Centerline goodness [0,1] 0.9985280820909646 Centerline is valid? [True, True] Translation: X:293.43, Y:4.33, Z:2.67 [[ 9.98674171e-01 -4.92653938e-02 -1.49271811e-02 2.93430182e+02] [ 4.92673834e-02 9.98785598e-01 -2.34639282e-04 4.33329622e+00] [ 1.49206131e-02 -5.01094964e-04 9.99888556e-01 2.67007305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31925415399996 meters Centerline goodness [0,1] 0.998548743295825 Centerline is valid? [True, True] Translation: X:293.46, Y:4.33, Z:2.67 [[ 9.98595651e-01 -5.08020901e-02 -1.50290854e-02 2.93461565e+02] [ 5.08042947e-02 9.98708600e-01 -2.35314027e-04 4.32980378e+00] [ 1.50216313e-02 -5.28558520e-04 9.99887029e-01 2.66948958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.349254154 meters Centerline goodness [0,1] 0.9985294426587676 Centerline is valid? [True, True] Translation: X:293.49, Y:4.33, Z:2.67 [[ 9.98488989e-01 -5.27665248e-02 -1.53438105e-02 2.93493232e+02] [ 5.27690745e-02 9.98606713e-01 -2.38925662e-04 4.33326681e+00] [ 1.53350395e-02 -5.71114037e-04 9.99882248e-01 2.67091721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37925415399997 meters Centerline goodness [0,1] 0.9984687991609859 Centerline is valid? [True, True] Translation: X:293.52, Y:4.33, Z:2.67 [[ 9.98343554e-01 -5.53894180e-02 -1.55615039e-02 2.93524033e+02] [ 5.53923707e-02 9.98464635e-01 -2.41545505e-04 4.33142822e+00] [ 1.55509903e-02 -6.20843193e-04 9.99878883e-01 2.67130130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40925415399994 meters Centerline goodness [0,1] 0.9984451168263574 Centerline is valid? [True, True] Translation: X:293.56, Y:4.33, Z:2.67 [[ 9.98318052e-01 -5.56862334e-02 -1.61279194e-02 2.93556434e+02] [ 5.56894577e-02 9.98448107e-01 -2.49469275e-04 4.33247994e+00] [ 1.61167826e-02 -6.49105402e-04 9.99869906e-01 2.67164058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43925415399997 meters Centerline goodness [0,1] 0.9984451168263574 Centerline is valid? [True, True] Translation: X:293.59, Y:4.33, Z:2.67 [[ 9.98322202e-01 -5.56117852e-02 -1.61279379e-02 2.93588147e+02] [ 5.56150191e-02 9.98452256e-01 -2.48266715e-04 4.33291011e+00] [ 1.61167825e-02 -6.49105401e-04 9.99869906e-01 2.67193752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46925415399994 meters Centerline goodness [0,1] 0.9986377163935113 Centerline is valid? [True, True] Translation: X:293.62, Y:4.33, Z:2.67 [[ 9.98341032e-01 -5.52593284e-02 -1.61737364e-02 2.93619864e+02] [ 5.52625541e-02 9.98471827e-01 -2.47767777e-04 4.33079246e+00] [ 1.61627116e-02 -6.46445246e-04 9.99869166e-01 2.67167166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49925415399997 meters Centerline goodness [0,1] 0.9985524576751211 Centerline is valid? [True, True] Translation: X:293.65, Y:4.34, Z:2.67 [[ 9.98482044e-01 -5.22024277e-02 -1.75645987e-02 2.93651614e+02] [ 5.22057809e-02 9.98636313e-01 -2.67869794e-04 4.33572483e+00] [ 1.75546295e-02 -6.49510413e-04 9.99845695e-01 2.67044509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52925415399994 meters Centerline goodness [0,1] 0.9987613369163587 Centerline is valid? [True, True] Translation: X:293.68, Y:4.34, Z:2.67 [[ 9.98559174e-01 -5.08627092e-02 -1.71044349e-02 2.93683570e+02] [ 5.08657112e-02 9.98705468e-01 -2.59771403e-04 4.33933299e+00] [ 1.70955053e-02 -6.10632128e-04 9.99853675e-01 2.67394643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.559254154 meters Centerline goodness [0,1] 0.9987606083522393 Centerline is valid? [True, True] Translation: X:293.72, Y:4.34, Z:2.67 [[ 9.98674479e-01 -4.85656796e-02 -1.70487340e-02 2.93716307e+02] [ 4.85683519e-02 9.98819828e-01 -2.57513706e-04 4.34202832e+00] [ 1.70411199e-02 -5.70856543e-04 9.99854627e-01 2.67466012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.58925415399995 meters Centerline goodness [0,1] 0.9987863061856533 Centerline is valid? [True, True] Translation: X:293.75, Y:4.35, Z:2.68 [[ 9.98902779e-01 -4.36909787e-02 -1.68622527e-02 2.93747550e+02] [ 4.36929180e-02 9.99044976e-01 -2.53555759e-04 4.34594844e+00] [ 1.68572270e-02 -4.83483473e-04 9.99857790e-01 2.67553146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.619254154 meters Centerline goodness [0,1] 0.9987808210539592 Centerline is valid? [True, True] Translation: X:293.78, Y:4.35, Z:2.68 [[ 9.98992650e-01 -4.15971802e-02 -1.68333151e-02 2.93779478e+02] [ 4.15988310e-02 9.99134362e-01 -2.52221718e-04 4.34774195e+00] [ 1.68292352e-02 -4.48278587e-04 9.99858278e-01 2.67596156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.64925415399995 meters Centerline goodness [0,1] 0.9984869817387102 Centerline is valid? [True, True] Translation: X:293.81, Y:4.35, Z:2.68 [[ 9.99062732e-01 -3.97126252e-02 -1.72210586e-02 2.93811292e+02] [ 3.97140928e-02 9.99211051e-01 -2.56891095e-04 4.34936721e+00] [ 1.72176739e-02 -4.27268401e-04 9.99851674e-01 2.67617625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.679254154 meters Centerline goodness [0,1] 0.9986975884379464 Centerline is valid? [True, True] Translation: X:293.84, Y:4.35, Z:2.68 [[ 9.99144246e-01 -3.74014935e-02 -1.76607843e-02 2.93842710e+02] [ 3.74026909e-02 9.99300240e-01 -2.62616729e-04 4.35151789e+00] [ 1.76582482e-02 -3.98168862e-04 9.99844002e-01 2.67640454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.70925415399995 meters Centerline goodness [0,1] 0.9987163839905728 Centerline is valid? [True, True] Translation: X:293.87, Y:4.35, Z:2.68 [[ 9.99159133e-01 -3.66751393e-02 -1.83292644e-02 2.93873906e+02] [ 3.66763195e-02 9.99327160e-01 -2.71873159e-04 4.35146598e+00] [ 1.83269028e-02 -4.00605409e-04 9.99831968e-01 2.67536117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.739254154 meters Centerline goodness [0,1] 0.9986972600437048 Centerline is valid? [True, True] Translation: X:293.90, Y:4.35, Z:2.68 [[ 9.99126529e-01 -3.71747589e-02 -1.90844388e-02 2.93904745e+02] [ 3.71761398e-02 9.99308688e-01 -2.82539201e-04 4.35202316e+00] [ 1.90817489e-02 -4.27193354e-04 9.99817836e-01 2.67591731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.76925415399995 meters Centerline goodness [0,1] 0.9986934715724702 Centerline is valid? [True, True] Translation: X:293.94, Y:4.35, Z:2.68 [[ 9.99093081e-01 -3.78025297e-02 -1.95955262e-02 2.93935536e+02] [ 3.78041133e-02 9.99285127e-01 -2.89739577e-04 4.35145832e+00] [ 1.95924708e-02 -4.51314687e-04 9.99807947e-01 2.67567822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.799254154 meters Centerline goodness [0,1] 0.9987798207598771 Centerline is valid? [True, True] Translation: X:293.97, Y:4.35, Z:2.68 [[ 9.99063500e-01 -3.83171144e-02 -2.00977797e-02 2.93966628e+02] [ 3.83188959e-02 9.99265517e-01 -2.96594988e-04 4.35134722e+00] [ 2.00943829e-02 -4.73807502e-04 9.99797975e-01 2.67548639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.82925415399995 meters Centerline goodness [0,1] 0.9985468177414599 Centerline is valid? [True, True] Translation: X:294.00, Y:4.35, Z:2.67 [[ 9.99022556e-01 -3.85617471e-02 -2.16084386e-02 2.93996735e+02] [ 3.85638867e-02 9.99256086e-01 -3.17828742e-04 4.34952871e+00] [ 2.16046198e-02 -5.15787298e-04 9.99766460e-01 2.67397470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.859254154 meters Centerline goodness [0,1] 0.9990099427030671 Centerline is valid? [True, True] Translation: X:294.03, Y:4.35, Z:2.68 [[ 9.98978212e-01 -3.96153575e-02 -2.17521561e-02 2.94026729e+02] [ 3.96177820e-02 9.99214856e-01 -3.19636147e-04 4.34985186e+00] [ 2.17477400e-02 -5.42462630e-04 9.99763343e-01 2.67530983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.88925415399996 meters Centerline goodness [0,1] 0.9987364430872907 Centerline is valid? [True, True] Translation: X:294.06, Y:4.35, Z:2.68 [[ 9.98992670e-01 -3.94067763e-02 -2.14651068e-02 2.94056457e+02] [ 3.94090808e-02 9.99223111e-01 -3.15803991e-04 4.34930140e+00] [ 2.14608756e-02 -5.30434256e-04 9.99769548e-01 2.67512700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.919254154 meters Centerline goodness [0,1] 0.9985679989891758 Centerline is valid? [True, True] Translation: X:294.09, Y:4.35, Z:2.68 [[ 9.98998873e-01 -3.92902993e-02 -2.13898016e-02 2.94086543e+02] [ 3.92925573e-02 9.99227700e-01 -3.14864288e-04 4.34953073e+00] [ 2.13856533e-02 -5.25910936e-04 9.99771162e-01 2.67562925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.94925415399996 meters Centerline goodness [0,1] 0.9987774803448348 Centerline is valid? [True, True] Translation: X:294.12, Y:4.35, Z:2.68 [[ 9.99032516e-01 -3.87738276e-02 -2.07514217e-02 2.94116608e+02] [ 3.87758414e-02 9.99247888e-01 -3.05467145e-04 4.35071925e+00] [ 2.07476584e-02 -4.99482227e-04 9.99784619e-01 2.67665584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.979254154 meters Centerline goodness [0,1] 0.9988231832892027 Centerline is valid? [True, True] Translation: X:294.15, Y:4.35, Z:2.68 [[ 9.99131798e-01 -3.68745688e-02 -1.93885494e-02 2.94146660e+02] [ 3.68759692e-02 9.99319809e-01 -2.85405257e-04 4.35276972e+00] [ 1.93858857e-02 -4.29814085e-04 9.99811984e-01 2.67833119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.00925415399996 meters Centerline goodness [0,1] 0.9987987355110642 Centerline is valid? [True, True] Translation: X:294.18, Y:4.35, Z:2.68 [[ 9.99191828e-01 -3.56544174e-02 -1.85594539e-02 2.94176444e+02] [ 3.56554871e-02 9.99364104e-01 -2.73367883e-04 4.35320473e+00] [ 1.85573988e-02 -3.88599415e-04 9.99827721e-01 2.67884902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.039254154 meters Centerline goodness [0,1] 0.99869457194593 Centerline is valid? [True, True] Translation: X:294.21, Y:4.36, Z:2.68 [[ 9.99338826e-01 -3.20749206e-02 -1.71204791e-02 2.94207489e+02] [ 3.20753054e-02 9.99485423e-01 -2.52186525e-04 4.35642315e+00] [ 1.71197581e-02 -2.97124808e-04 9.99853402e-01 2.68051634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06925415399996 meters Centerline goodness [0,1] 0.9988636602765093 Centerline is valid? [True, True] Translation: X:294.24, Y:4.36, Z:2.68 [[ 9.99420616e-01 -2.97399438e-02 -1.65519817e-02 2.94237289e+02] [ 2.97399839e-02 9.99557639e-01 -2.43776747e-04 4.35691644e+00] [ 1.65519096e-02 -2.48620162e-04 9.99862977e-01 2.68078131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.099254154 meters Centerline goodness [0,1] 0.998967703878484 Centerline is valid? [True, True] Translation: X:294.27, Y:4.36, Z:2.68 [[ 9.99495920e-01 -2.73645495e-02 -1.60961858e-02 2.94268127e+02] [ 2.73642767e-02 9.99625500e-01 -2.37230738e-04 4.35945542e+00] [ 1.60966495e-02 -2.03349328e-04 9.99870420e-01 2.68181889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12925415399997 meters Centerline goodness [0,1] 0.9987977219995782 Centerline is valid? [True, True] Translation: X:294.30, Y:4.36, Z:2.68 [[ 9.99548373e-01 -2.53655502e-02 -1.61133073e-02 2.94298105e+02] [ 2.53650172e-02 9.99678228e-01 -2.37483080e-04 4.35996859e+00] [ 1.61141464e-02 -1.71338490e-04 9.99870144e-01 2.68142912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15925415399994 meters Centerline goodness [0,1] 0.9990924249139914 Centerline is valid? [True, True] Translation: X:294.33, Y:4.36, Z:2.68 [[ 9.99611364e-01 -2.21620839e-02 -1.69104343e-02 2.94328055e+02] [ 2.21610338e-02 9.99754383e-01 -2.49506068e-04 4.36207814e+00] [ 1.69118104e-02 -1.25343606e-04 9.99856977e-01 2.68151562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18925415399997 meters Centerline goodness [0,1] 0.9987769389734722 Centerline is valid? [True, True] Translation: X:294.36, Y:4.36, Z:2.68 [[ 9.99603929e-01 -2.15686782e-02 -1.80769981e-02 2.94356216e+02] [ 2.15673633e-02 9.99767362e-01 -2.67711647e-04 4.36214497e+00] [ 1.80785668e-02 -1.22267571e-04 9.99836562e-01 2.68008072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21925415399994 meters Centerline goodness [0,1] 0.9988398827226898 Centerline is valid? [True, True] Translation: X:294.38, Y:4.36, Z:2.68 [[ 9.99601623e-01 -2.20595092e-02 -1.76060707e-02 2.94384456e+02] [ 2.20582840e-02 9.99756652e-01 -2.63803550e-04 4.36186491e+00] [ 1.76076057e-02 -1.24661251e-04 9.99844966e-01 2.68085671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24925415399997 meters Centerline goodness [0,1] 0.9986294726632509 Centerline is valid? [True, True] Translation: X:294.41, Y:4.36, Z:2.68 [[ 9.99570636e-01 -2.30618073e-02 -1.80747376e-02 2.94413441e+02] [ 2.30605878e-02 9.99734031e-01 -2.75918973e-04 4.36120696e+00] [ 1.80762935e-02 -1.41013570e-04 9.99836601e-01 2.68102021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27925415399994 meters Centerline goodness [0,1] 0.9988618640138263 Centerline is valid? [True, True] Translation: X:294.44, Y:4.36, Z:2.68 [[ 9.99502478e-01 -2.57368214e-02 -1.82321628e-02 2.94440882e+02] [ 2.57359653e-02 9.99668736e-01 -2.81621626e-04 4.35752315e+00] [ 1.82333712e-02 -1.87740797e-04 9.99833741e-01 2.68031338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.309254154 meters Centerline goodness [0,1] 0.9990316401069406 Centerline is valid? [True, True] Translation: X:294.47, Y:4.36, Z:2.68 [[ 9.99441622e-01 -2.76351196e-02 -1.87814687e-02 2.94470104e+02] [ 2.76344832e-02 9.99618052e-01 -2.93462870e-04 4.35679763e+00] [ 1.87824050e-02 -2.25717174e-04 9.99823570e-01 2.68053721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33925415399995 meters Centerline goodness [0,1] 0.9989483868253901 Centerline is valid? [True, True] Translation: X:294.50, Y:4.35, Z:2.68 [[ 9.99290309e-01 -3.15914313e-02 -2.05148583e-02 2.94499223e+02] [ 3.15914379e-02 9.99500814e-01 -3.23840830e-04 4.35286604e+00] [ 2.05148481e-02 -3.24482868e-04 9.99789496e-01 2.67820898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.369254154 meters Centerline goodness [0,1] 0.9988853134792942 Centerline is valid? [True, True] Translation: X:294.53, Y:4.35, Z:2.68 [[ 9.99205822e-01 -3.38981988e-02 -2.09436731e-02 2.94527806e+02] [ 3.38986383e-02 9.99425220e-01 -3.34139114e-04 4.35208186e+00] [ 2.09429618e-02 -3.76088252e-04 9.99780601e-01 2.67799147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.39925415399995 meters Centerline goodness [0,1] 0.9989267676767677 Centerline is valid? [True, True] Translation: X:294.56, Y:4.35, Z:2.68 [[ 9.99104208e-01 -3.63234125e-02 -2.17115360e-02 2.94557634e+02] [ 3.63243927e-02 9.99339990e-01 -3.49357676e-04 4.35053091e+00] [ 2.17098961e-02 -4.39613635e-04 9.99764216e-01 2.67756198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.429254154 meters Centerline goodness [0,1] 0.9986957253450017 Centerline is valid? [True, True] Translation: X:294.59, Y:4.35, Z:2.68 [[ 9.98914868e-01 -4.10286982e-02 -2.20393271e-02 2.94587662e+02] [ 4.10308346e-02 9.99157818e-01 -3.55448223e-04 4.34802172e+00] [ 2.20353495e-02 -5.49229469e-04 9.99757041e-01 2.67752064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.45925415399995 meters Centerline goodness [0,1] 0.9988653316803597 Centerline is valid? [True, True] Translation: X:294.62, Y:4.35, Z:2.68 [[ 9.98813650e-01 -4.30743214e-02 -2.27133348e-02 2.94618165e+02] [ 4.30771109e-02 9.99071683e-01 -3.66674354e-04 4.34697280e+00] [ 2.27080439e-02 -6.12185493e-04 9.99741952e-01 2.67701942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.489254154 meters Centerline goodness [0,1] 0.9987174904863024 Centerline is valid? [True, True] Translation: X:294.65, Y:4.35, Z:2.68 [[ 9.98696432e-01 -4.60967126e-02 -2.19209786e-02 2.94648814e+02] [ 4.61000380e-02 9.98936765e-01 -3.53882895e-04 4.34621799e+00] [ 2.19139843e-02 -6.57136363e-04 9.99759644e-01 2.67856377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.51925415399995 meters Centerline goodness [0,1] 0.9986762481089259 Centerline is valid? [True, True] Translation: X:294.68, Y:4.35, Z:2.68 [[ 9.98590789e-01 -4.86420267e-02 -2.12223568e-02 2.94679855e+02] [ 4.86457268e-02 9.98816037e-01 -3.42168187e-04 4.34507284e+00] [ 2.12138740e-02 -6.90690969e-04 9.99774722e-01 2.67919516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.549254154 meters Centerline goodness [0,1] 0.9986561961953555 Centerline is valid? [True, True] Translation: X:294.71, Y:4.34, Z:2.68 [[ 9.98333050e-01 -5.39887180e-02 -2.04044212e-02 2.94710198e+02] [ 5.39932640e-02 9.98541246e-01 -3.28447697e-04 4.33886989e+00] [ 2.03923887e-02 -7.73801111e-04 9.99791754e-01 2.67880814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57925415399995 meters Centerline goodness [0,1] 0.9987627655335836 Centerline is valid? [True, True] Translation: X:294.74, Y:4.34, Z:2.68 [[ 9.98203378e-01 -5.65910912e-02 -1.96840957e-02 2.94741543e+02] [ 5.65958374e-02 9.98397121e-01 -3.16314662e-04 4.34035699e+00] [ 1.96704451e-02 -7.98291518e-04 9.99806199e-01 2.68007892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.609254154 meters Centerline goodness [0,1] 0.9987640355287414 Centerline is valid? [True, True] Translation: X:294.77, Y:4.34, Z:2.68 [[ 9.97897082e-01 -6.21521156e-02 -1.83991631e-02 2.94771489e+02] [ 6.21572110e-02 9.98066327e-01 -2.95355690e-04 4.33761942e+00] [ 1.83819421e-02 -8.48906079e-04 9.99830677e-01 2.68102417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63925415399996 meters Centerline goodness [0,1] 0.998598619535662 Centerline is valid? [True, True] Translation: X:294.80, Y:4.34, Z:2.68 [[ 9.97733795e-01 -6.45915807e-02 -1.88467789e-02 2.94802979e+02] [ 6.45973675e-02 9.97911363e-01 -3.02210438e-04 4.33618185e+00] [ 1.88269351e-02 -9.15926738e-04 9.99822338e-01 2.67994994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.669254154 meters Centerline goodness [0,1] 0.9985959176830546 Centerline is valid? [True, True] Translation: X:294.83, Y:4.34, Z:2.68 [[ 9.97569631e-01 -6.70515134e-02 -1.89453311e-02 2.94834195e+02] [ 6.70578164e-02 9.97749045e-01 -3.03101087e-04 4.33975208e+00] [ 1.89230094e-02 -9.68068094e-04 9.99820475e-01 2.68101179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69925415399996 meters Centerline goodness [0,1] 0.9983241861829151 Centerline is valid? [True, True] Translation: X:294.87, Y:4.34, Z:2.68 [[ 9.97414747e-01 -6.96605914e-02 -1.76415330e-02 2.94865190e+02] [ 6.96664767e-02 9.97570300e-01 -2.81484516e-04 4.33984414e+00] [ 1.76182777e-02 -9.48266637e-04 9.99844336e-01 2.68257674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.729254154 meters Centerline goodness [0,1] 0.9985541562768476 Centerline is valid? [True, True] Translation: X:294.90, Y:4.34, Z:2.68 [[ 9.97162949e-01 -7.32801168e-02 -1.72069222e-02 2.94895930e+02] [ 7.32862634e-02 9.97310909e-01 -2.73924887e-04 4.33961026e+00] [ 1.71807245e-02 -9.87883287e-04 9.99851912e-01 2.68273677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75925415399996 meters Centerline goodness [0,1] 0.9983649169880933 Centerline is valid? [True, True] Translation: X:294.93, Y:4.34, Z:2.68 [[ 9.97063575e-01 -7.46211158e-02 -1.72022395e-02 2.94927252e+02] [ 7.46274764e-02 9.97211445e-01 -2.72776368e-04 4.33796000e+00] [ 1.71746250e-02 -1.01178434e-03 9.99851993e-01 2.68256884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.789254154 meters Centerline goodness [0,1] 0.9985123724516521 Centerline is valid? [True, True] Translation: X:294.96, Y:4.34, Z:2.68 [[ 9.96997429e-01 -7.55049087e-02 -1.71795318e-02 2.94959245e+02] [ 7.55114115e-02 9.97144901e-01 -2.70763277e-04 4.33966527e+00] [ 1.71509265e-02 -1.02730040e-03 9.99852384e-01 2.68297739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81925415399996 meters Centerline goodness [0,1] 0.9984246014241603 Centerline is valid? [True, True] Translation: X:294.99, Y:4.34, Z:2.68 [[ 9.96945400e-01 -7.62969467e-02 -1.66926452e-02 2.94991817e+02] [ 7.63032170e-02 9.97084626e-01 -2.61870016e-04 4.34266316e+00] [ 1.66639598e-02 -1.01263242e-03 9.99860634e-01 2.68339274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.849254154 meters Centerline goodness [0,1] 0.9984024215925335 Centerline is valid? [True, True] Translation: X:295.02, Y:4.34, Z:2.68 [[ 9.96961007e-01 -7.60780595e-02 -1.67594628e-02 2.95024374e+02] [ 7.60843702e-02 9.97101349e-01 -2.61668186e-04 4.34459049e+00] [ 1.67307901e-02 -1.01426019e-03 9.99859516e-01 2.68398862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87925415399997 meters Centerline goodness [0,1] 0.9986114617520828 Centerline is valid? [True, True] Translation: X:295.05, Y:4.35, Z:2.68 [[ 9.97075054e-01 -7.45021324e-02 -1.70519405e-02 2.95054850e+02] [ 7.45084502e-02 9.97220347e-01 -2.65384928e-04 4.34764444e+00] [ 1.70243138e-02 -1.00590497e-03 9.99854570e-01 2.68340008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90925415399994 meters Centerline goodness [0,1] 0.9986137074922808 Centerline is valid? [True, True] Translation: X:295.09, Y:4.35, Z:2.68 [[ 9.97168833e-01 -7.29991380e-02 -1.80400759e-02 2.95086054e+02] [ 7.30059761e-02 9.97331464e-01 -2.80106669e-04 4.34800884e+00] [ 1.80123828e-02 -1.03771971e-03 9.99837225e-01 2.68265113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93925415399997 meters Centerline goodness [0,1] 0.9987341238026921 Centerline is valid? [True, True] Translation: X:295.12, Y:4.36, Z:2.68 [[ 9.97304875e-01 -7.09316904e-02 -1.87531955e-02 2.95117069e+02] [ 7.09387323e-02 9.97480632e-01 -2.90290375e-04 4.35594044e+00] [ 1.87265401e-02 -1.04081991e-03 9.99824101e-01 2.68310634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96925415399994 meters Centerline goodness [0,1] 0.9985078390988189 Centerline is valid? [True, True] Translation: X:295.15, Y:4.35, Z:2.68 [[ 9.97495112e-01 -6.81022365e-02 -1.91203055e-02 2.95147594e+02] [ 6.81090490e-02 9.97677839e-01 -2.95426809e-04 4.35481675e+00] [ 1.90960243e-02 -1.00757903e-03 9.99817147e-01 2.68197746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99925415399997 meters Centerline goodness [0,1] 0.9984160506863781 Centerline is valid? [True, True] Translation: X:295.18, Y:4.36, Z:2.68 [[ 9.97960460e-01 -6.03923477e-02 -2.06805453e-02 2.95177775e+02] [ 6.03986695e-02 9.98174283e-01 -3.19351476e-04 4.36437550e+00] [ 2.06620748e-02 -9.30377273e-04 9.99786084e-01 2.68044591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02925415399994 meters Centerline goodness [0,1] 0.9986668923780101 Centerline is valid? [True, True] Translation: X:295.21, Y:4.37, Z:2.68 [[ 9.98205166e-01 -5.65326431e-02 -1.97612548e-02 2.95208011e+02] [ 5.65376600e-02 9.98400421e-01 -3.05162858e-04 4.37315301e+00] [ 1.97468968e-02 -8.12639963e-04 9.99804681e-01 2.68336250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.059254154 meters Centerline goodness [0,1] 0.9986879139948787 Centerline is valid? [True, True] Translation: X:295.24, Y:4.38, Z:2.68 [[ 9.98458367e-01 -5.18405139e-02 -1.98355887e-02 2.95237393e+02] [ 5.18446402e-02 9.98655115e-01 -3.06500949e-04 4.37763775e+00] [ 1.98248013e-02 -7.22340524e-04 9.99803208e-01 2.68373149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.08925415399995 meters Centerline goodness [0,1] 0.9988389766106561 Centerline is valid? [True, True] Translation: X:295.27, Y:4.39, Z:2.69 [[ 9.98939195e-01 -4.20236928e-02 -1.88279903e-02 2.95267332e+02] [ 4.20256656e-02 9.99116489e-01 -2.91043000e-04 4.38955349e+00] [ 1.88235862e-02 -5.00524563e-04 9.99822695e-01 2.68583392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.119254154 meters Centerline goodness [0,1] 0.9986832604171091 Centerline is valid? [True, True] Translation: X:295.30, Y:4.40, Z:2.69 [[ 9.99152313e-01 -3.71271127e-02 -1.77829430e-02 2.95298757e+02] [ 3.71281037e-02 9.99310477e-01 -2.74530163e-04 4.39568409e+00] [ 1.77808737e-02 -3.85949505e-04 9.99841833e-01 2.68695331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.14925415399995 meters Centerline goodness [0,1] 0.9989168755043962 Centerline is valid? [True, True] Translation: X:295.33, Y:4.40, Z:2.69 [[ 9.99347409e-01 -3.21666277e-02 -1.64336150e-02 2.95330328e+02] [ 3.21668151e-02 9.99482482e-01 -2.52991186e-04 4.40024439e+00] [ 1.64332482e-02 -2.75790968e-04 9.99864927e-01 2.68762041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.179254154 meters Centerline goodness [0,1] 0.9991081666454326 Centerline is valid? [True, True] Translation: X:295.36, Y:4.40, Z:2.69 [[ 9.99492477e-01 -2.76891811e-02 -1.57510921e-02 2.95361609e+02] [ 2.76888087e-02 9.99616562e-01 -2.41758550e-04 4.40485337e+00] [ 1.57517466e-02 -1.94493125e-04 9.99875915e-01 2.68869592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.20925415399995 meters Centerline goodness [0,1] 0.9988710192778784 Centerline is valid? [True, True] Translation: X:295.39, Y:4.41, Z:2.69 [[ 9.99695997e-01 -2.03449963e-02 -1.39281772e-02 2.95392311e+02] [ 2.03439965e-02 9.99793017e-01 -2.13476995e-04 4.41246331e+00] [ 1.39296375e-02 -6.99426908e-05 9.99902975e-01 2.68988395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.239254154 meters Centerline goodness [0,1] 0.9990605717701817 Centerline is valid? [True, True] Translation: X:295.42, Y:4.42, Z:2.69 [[ 9.99757521e-01 -1.76561989e-02 -1.31589534e-02 2.95421879e+02] [ 1.76550727e-02 9.99844117e-01 -2.01756648e-04 4.41530353e+00] [ 1.31604644e-02 -3.06145525e-05 9.99913397e-01 2.69015535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.26925415399995 meters Centerline goodness [0,1] 0.9991670226398974 Centerline is valid? [True, True] Translation: X:295.45, Y:4.42, Z:2.69 [[ 9.99796658e-01 -1.56324005e-02 -1.27385409e-02 2.95451717e+02] [ 1.56311772e-02 9.99877807e-01 -1.95598792e-04 4.41755914e+00] [ 1.27400420e-02 -3.55937143e-06 9.99918842e-01 2.69015707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.299254154 meters Centerline goodness [0,1] 0.9991666310526091 Centerline is valid? [True, True] Translation: X:295.48, Y:4.42, Z:2.69 [[ 9.99811685e-01 -1.41363369e-02 -1.32950515e-02 2.95481442e+02] [ 1.41348654e-02 9.99900077e-01 -2.04640867e-04 4.41870742e+00] [ 1.32966159e-02 1.66785658e-05 9.99911596e-01 2.68944414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.32925415399995 meters Centerline goodness [0,1] 0.9991464299432375 Centerline is valid? [True, True] Translation: X:295.51, Y:4.42, Z:2.69 [[ 9.99790835e-01 -1.50584990e-02 -1.38393763e-02 2.95510115e+02] [ 1.50569846e-02 9.99886614e-01 -2.13620076e-04 4.41846621e+00] [ 1.38410239e-02 5.19611776e-06 9.99904208e-01 2.68863984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.359254154 meters Centerline goodness [0,1] 0.9991464299432375 Centerline is valid? [True, True] Translation: X:295.54, Y:4.42, Z:2.69 [[ 9.99787098e-01 -1.53045855e-02 -1.38393512e-02 2.95538349e+02] [ 1.53030724e-02 9.99882878e-01 -2.15231032e-04 4.41895217e+00] [ 1.38410244e-02 3.40061489e-06 9.99904208e-01 2.68890455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.38925415399996 meters Centerline goodness [0,1] 0.9989987004409979 Centerline is valid? [True, True] Translation: X:295.57, Y:4.42, Z:2.69 [[ 9.99688422e-01 -1.96747455e-02 -1.53610774e-02 2.95566754e+02] [ 1.96733351e-02 9.99806432e-01 -2.42938080e-04 4.41561703e+00] [ 1.53628838e-02 -5.93412376e-05 9.99881982e-01 2.68777371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.419254154 meters Centerline goodness [0,1] 0.9988702010189507 Centerline is valid? [True, True] Translation: X:295.60, Y:4.41, Z:2.69 [[ 9.99606659e-01 -2.31007675e-02 -1.59022695e-02 2.95596271e+02] [ 2.30996475e-02 9.99733135e-01 -2.54130136e-04 4.41345598e+00] [ 1.59038964e-02 -1.13306644e-04 9.99873519e-01 2.68756906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.44925415399996 meters Centerline goodness [0,1] 0.9987213093791957 Centerline is valid? [True, True] Translation: X:295.63, Y:4.41, Z:2.69 [[ 9.99513530e-01 -2.67891448e-02 -1.59701088e-02 2.95626380e+02] [ 2.67884766e-02 9.99641092e-01 -2.55799880e-04 4.41123106e+00] [ 1.59712297e-02 -1.72139445e-04 9.99872437e-01 2.68776560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.479254154 meters Centerline goodness [0,1] 0.9988294136426519 Centerline is valid? [True, True] Translation: X:295.66, Y:4.41, Z:2.69 [[ 9.99413403e-01 -3.04524796e-02 -1.56683055e-02 2.95657148e+02] [ 3.04522830e-02 9.99536190e-01 -2.51190698e-04 4.40804018e+00] [ 1.56686878e-02 -2.26092323e-04 9.99877213e-01 2.68817007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.50925415399996 meters Centerline goodness [0,1] 0.9986638388123011 Centerline is valid? [True, True] Translation: X:295.69, Y:4.40, Z:2.69 [[ 9.99189854e-01 -3.75487127e-02 -1.44820319e-02 2.95687121e+02] [ 3.75492973e-02 9.99294750e-01 -2.31633932e-04 4.40102263e+00] [ 1.44805160e-02 -3.12343845e-04 9.99895103e-01 2.68886642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.539254154 meters Centerline goodness [0,1] 0.9988561987672364 Centerline is valid? [True, True] Translation: X:295.72, Y:4.40, Z:2.69 [[ 9.99096956e-01 -4.01789872e-02 -1.38174119e-02 2.95719165e+02] [ 4.01797845e-02 9.99192442e-01 -2.20012796e-04 4.39891259e+00] [ 1.38150934e-02 -3.35366516e-04 9.99904511e-01 2.68959942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56925415399996 meters Centerline goodness [0,1] 0.9987301049779885 Centerline is valid? [True, True] Translation: X:295.75, Y:4.40, Z:2.69 [[ 9.98957924e-01 -4.39424080e-02 -1.23341245e-02 2.95751585e+02] [ 4.39433401e-02 9.99034006e-01 -1.95557417e-04 4.39503640e+00] [ 1.23308031e-02 -3.46648996e-04 9.99923913e-01 2.69081518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59925415399994 meters Centerline goodness [0,1] 0.9987118844497002 Centerline is valid? [True, True] Translation: X:295.78, Y:4.39, Z:2.69 [[ 9.98925834e-01 -4.49047198e-02 -1.14343528e-02 2.95784153e+02] [ 4.49055930e-02 9.98991219e-01 -1.80491497e-04 4.39379862e+00] [ 1.14309230e-02 -3.33168773e-04 9.99934609e-01 2.69144921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62925415399997 meters Centerline goodness [0,1] 0.9986707458592678 Centerline is valid? [True, True] Translation: X:295.82, Y:4.39, Z:2.69 [[ 9.98909934e-01 -4.53823096e-02 -1.09265266e-02 2.95815357e+02] [ 4.53831438e-02 9.98969640e-01 -1.71721040e-04 4.39203643e+00] [ 1.09230614e-02 -3.24346274e-04 9.99940289e-01 2.69177151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65925415399994 meters Centerline goodness [0,1] 0.9987132973337833 Centerline is valid? [True, True] Translation: X:295.85, Y:4.39, Z:2.69 [[ 9.98916270e-01 -4.52994593e-02 -1.06884841e-02 2.95848690e+02] [ 4.53002598e-02 9.98973402e-01 -1.67323497e-04 4.39153439e+00] [ 1.06850910e-02 -3.17048943e-04 9.99942863e-01 2.69200670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68925415399997 meters Centerline goodness [0,1] 0.9987346577249145 Centerline is valid? [True, True] Translation: X:295.88, Y:4.39, Z:2.69 [[ 9.98929984e-01 -4.49465054e-02 -1.08948700e-02 2.95880999e+02] [ 4.49473290e-02 9.98989344e-01 -1.69375450e-04 4.39092843e+00] [ 1.08914719e-02 -3.20501090e-04 9.99940635e-01 2.69234876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71925415399994 meters Centerline goodness [0,1] 0.9988001263024945 Centerline is valid? [True, True] Translation: X:295.91, Y:4.39, Z:2.69 [[ 9.98979781e-01 -4.37131249e-02 -1.13384083e-02 2.95913109e+02] [ 4.37139474e-02 9.99044073e-01 -1.75404925e-04 4.39042031e+00] [ 1.13352371e-02 -3.20420608e-04 9.99935703e-01 2.69213118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74925415399997 meters Centerline goodness [0,1] 0.9985884633211141 Centerline is valid? [True, True] Translation: X:295.95, Y:4.39, Z:2.69 [[ 9.99014340e-01 -4.28531205e-02 -1.15740385e-02 2.95945815e+02] [ 4.28539303e-02 9.99081332e-01 -1.78139173e-04 4.38989402e+00] [ 1.15710397e-02 -3.18029453e-04 9.99933003e-01 2.69199093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77925415399994 meters Centerline goodness [0,1] 0.9986933614330875 Centerline is valid? [True, True] Translation: X:295.98, Y:4.39, Z:2.69 [[ 9.99050486e-01 -4.17680804e-02 -1.23917194e-02 2.95977315e+02] [ 4.17689388e-02 9.99127279e-01 -1.89638283e-04 4.38894240e+00] [ 1.23888257e-02 -3.28130749e-04 9.99923202e-01 2.69146018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.809254154 meters Centerline goodness [0,1] 0.9985256639777585 Centerline is valid? [True, True] Translation: X:296.01, Y:4.39, Z:2.69 [[ 9.99119529e-01 -3.95630062e-02 -1.39619036e-02 2.96010042e+02] [ 3.95638947e-02 9.99217020e-01 -2.12671226e-04 4.38835235e+00] [ 1.39593856e-02 -3.39903307e-04 9.99902505e-01 2.69000294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83925415399995 meters Centerline goodness [0,1] 0.9986921210842739 Centerline is valid? [True, True] Translation: X:296.04, Y:4.39, Z:2.69 [[ 9.99165869e-01 -3.81225872e-02 -1.46367885e-02 2.96041928e+02] [ 3.81234280e-02 9.99273013e-01 -2.21668676e-04 4.38909592e+00] [ 1.46345983e-02 -3.36520777e-04 9.99892852e-01 2.68941818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.869254154 meters Centerline goodness [0,1] 0.9986474205887947 Centerline is valid? [True, True] Translation: X:296.07, Y:4.39, Z:2.69 [[ 9.99210865e-01 -3.65417242e-02 -1.55675819e-02 2.96073696e+02] [ 3.65424987e-02 9.99332072e-01 -2.34802576e-04 4.39004988e+00] [ 1.55657640e-02 -3.34261057e-04 9.99878790e-01 2.68935524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.89925415399995 meters Centerline goodness [0,1] 0.9987962239445841 Centerline is valid? [True, True] Translation: X:296.11, Y:4.39, Z:2.69 [[ 9.99332161e-01 -3.24458033e-02 -1.68077686e-02 2.96105420e+02] [ 3.24461402e-02 9.99473453e-01 -2.52718358e-04 4.39194842e+00] [ 1.68071182e-02 -2.92797634e-04 9.99858708e-01 2.68882095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.929254154 meters Centerline goodness [0,1] 0.9989438553504288 Centerline is valid? [True, True] Translation: X:296.14, Y:4.39, Z:2.69 [[ 9.99401895e-01 -3.02127289e-02 -1.68238702e-02 2.96136996e+02] [ 3.02127636e-02 9.99543458e-01 -2.52160066e-04 4.39312619e+00] [ 1.68238078e-02 -2.56286365e-04 9.99858437e-01 2.68953067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.95925415399995 meters Centerline goodness [0,1] 0.998629067977137 Centerline is valid? [True, True] Translation: X:296.17, Y:4.39, Z:2.69 [[ 9.99484222e-01 -2.76443605e-02 -1.63425758e-02 2.96167102e+02] [ 2.76440555e-02 9.99617800e-01 -2.44609348e-04 4.39419618e+00] [ 1.63430917e-02 -2.07291887e-04 9.99866421e-01 2.68970025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.989254154 meters Centerline goodness [0,1] 0.9989020965732744 Centerline is valid? [True, True] Translation: X:296.20, Y:4.40, Z:2.69 [[ 9.99552149e-01 -2.50714165e-02 -1.63378647e-02 2.96197111e+02] [ 2.50707680e-02 9.99685649e-01 -2.44538834e-04 4.39517523e+00] [ 1.63388598e-02 -1.65173497e-04 9.99866498e-01 2.68994521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.01925415399995 meters Centerline goodness [0,1] 0.9987533543220571 Centerline is valid? [True, True] Translation: X:296.23, Y:4.40, Z:2.69 [[ 9.99614373e-01 -2.24241949e-02 -1.63786865e-02 2.96226923e+02] [ 2.24231857e-02 9.99748539e-01 -2.45276628e-04 4.39636392e+00] [ 1.63800681e-02 -1.22080288e-04 9.99865830e-01 2.69018379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.049254154 meters Centerline goodness [0,1] 0.9989239371241693 Centerline is valid? [True, True] Translation: X:296.26, Y:4.40, Z:2.69 [[ 9.99720038e-01 -1.77278262e-02 -1.56706699e-02 2.96256118e+02] [ 1.77262995e-02 9.99842849e-01 -2.36335183e-04 4.39933711e+00] [ 1.56723969e-02 -4.15139683e-05 9.99877180e-01 2.69153496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07925415399995 meters Centerline goodness [0,1] 0.9990918690601901 Centerline is valid? [True, True] Translation: X:296.28, Y:4.40, Z:2.69 [[ 9.99757645e-01 -1.58910486e-02 -1.52356573e-02 2.96284267e+02] [ 1.58893510e-02 9.99873729e-01 -2.32471813e-04 4.40065783e+00] [ 1.52374277e-02 -9.66923364e-06 9.99883904e-01 2.69198521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.109254154 meters Centerline goodness [0,1] 0.9990711028542476 Centerline is valid? [True, True] Translation: X:296.31, Y:4.40, Z:2.69 [[ 9.99786070e-01 -1.43352162e-02 -1.49102806e-02 2.96312148e+02] [ 1.43333819e-02 9.99897245e-01 -2.29889275e-04 4.40108235e+00] [ 1.49120441e-02 1.61253490e-05 9.99888809e-01 2.69232851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13925415399996 meters Centerline goodness [0,1] 0.9988419589842927 Centerline is valid? [True, True] Translation: X:296.34, Y:4.40, Z:2.69 [[ 9.99782081e-01 -1.47478905e-02 -1.47746529e-02 2.96339675e+02] [ 1.47460723e-02 9.99891244e-01 -2.32001470e-04 4.39990551e+00] [ 1.47764676e-02 1.40828132e-05 9.99890822e-01 2.69266218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.169254154 meters Centerline goodness [0,1] 0.998945236688887 Centerline is valid? [True, True] Translation: X:296.37, Y:4.40, Z:2.69 [[ 9.99758247e-01 -1.60192403e-02 -1.50608944e-02 2.96367248e+02] [ 1.60174269e-02 9.99871684e-01 -2.41030706e-04 4.39836555e+00] [ 1.50628230e-02 -2.64338904e-07 9.99886549e-01 2.69221850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19925415399996 meters Centerline goodness [0,1] 0.9987367357251137 Centerline is valid? [True, True] Translation: X:296.40, Y:4.39, Z:2.69 [[ 9.99666763e-01 -2.01177560e-02 -1.61752530e-02 2.96395234e+02] [ 2.01161419e-02 9.99797615e-01 -2.62500666e-04 4.39389788e+00] [ 1.61772603e-02 -6.29704939e-05 9.99869138e-01 2.69156075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.229254154 meters Centerline goodness [0,1] 0.9988434201118728 Centerline is valid? [True, True] Translation: X:296.42, Y:4.39, Z:2.69 [[ 9.99602803e-01 -2.29851441e-02 -1.63070372e-02 2.96424110e+02] [ 2.29838416e-02 9.99735801e-01 -2.67304680e-04 4.39173094e+00] [ 1.63088729e-02 -1.07599852e-04 9.99866996e-01 2.69147683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25925415399996 meters Centerline goodness [0,1] 0.9988873260134781 Centerline is valid? [True, True] Translation: X:296.45, Y:4.39, Z:2.69 [[ 9.99520451e-01 -2.60077682e-02 -1.68066746e-02 2.96452523e+02] [ 2.60067631e-02 9.99661728e-01 -2.78395210e-04 4.38923312e+00] [ 1.68082298e-02 -1.58825499e-04 9.99858719e-01 2.69128078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.289254154 meters Centerline goodness [0,1] 0.9988494205263379 Centerline is valid? [True, True] Translation: X:296.48, Y:4.38, Z:2.69 [[ 9.99349561e-01 -3.14889652e-02 -1.75755731e-02 2.96482629e+02] [ 3.14886988e-02 9.99504065e-01 -2.91966196e-04 4.38347462e+00] [ 1.75760505e-02 -2.61655639e-04 9.99845495e-01 2.69142663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31925415399996 meters Centerline goodness [0,1] 0.9988673071275748 Centerline is valid? [True, True] Translation: X:296.51, Y:4.38, Z:2.69 [[ 9.99263939e-01 -3.39265264e-02 -1.79045012e-02 2.96513508e+02] [ 3.39266348e-02 9.99424282e-01 -2.97776388e-04 4.38166762e+00] [ 1.79042958e-02 -3.09882268e-04 9.99839657e-01 2.69208973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34925415399994 meters Centerline goodness [0,1] 0.9987621944823245 Centerline is valid? [True, True] Translation: X:296.54, Y:4.38, Z:2.69 [[ 9.99197950e-01 -3.56713763e-02 -1.81936845e-02 2.96543817e+02] [ 3.56717774e-02 9.99363514e-01 -3.02585902e-04 4.37898179e+00] [ 1.81928981e-02 -3.46657849e-04 9.99834435e-01 2.69218657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37925415399997 meters Centerline goodness [0,1] 0.9988046054149278 Centerline is valid? [True, True] Translation: X:296.57, Y:4.38, Z:2.69 [[ 9.99159314e-01 -3.69181687e-02 -1.78245373e-02 2.96574627e+02] [ 3.69187547e-02 9.99318226e-01 -2.96291186e-04 4.37643148e+00] [ 1.78233235e-02 -3.62017620e-04 9.99841086e-01 2.69242935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40925415399994 meters Centerline goodness [0,1] 0.9988054571745919 Centerline is valid? [True, True] Translation: X:296.61, Y:4.37, Z:2.69 [[ 9.99138930e-01 -3.80232769e-02 -1.66020751e-02 2.96606027e+02] [ 3.80239447e-02 9.99276790e-01 -2.75546310e-04 4.37366390e+00] [ 1.66005454e-02 -3.55967340e-04 9.99862138e-01 2.69395565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43925415399997 meters Centerline goodness [0,1] 0.9988889354744036 Centerline is valid? [True, True] Translation: X:296.64, Y:4.37, Z:2.69 [[ 9.99166347e-01 -3.76678721e-02 -1.57398565e-02 2.96636899e+02] [ 3.76684370e-02 9.99290259e-01 -2.60679811e-04 4.37317213e+00] [ 1.57385045e-02 -3.32433297e-04 9.99876087e-01 2.69496979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46925415399994 meters Centerline goodness [0,1] 0.9989079759754714 Centerline is valid? [True, True] Translation: X:296.67, Y:4.37, Z:2.70 [[ 9.99196489e-01 -3.70127583e-02 -1.53763297e-02 2.96667954e+02] [ 3.70132284e-02 9.99314743e-01 -2.54103391e-04 4.37391595e+00] [ 1.53751980e-02 -3.15228386e-04 9.99881745e-01 2.69643469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49925415399997 meters Centerline goodness [0,1] 0.9991406053492077 Centerline is valid? [True, True] Translation: X:296.70, Y:4.37, Z:2.70 [[ 9.99254760e-01 -3.57084300e-02 -1.46571948e-02 2.96699514e+02] [ 3.57087246e-02 9.99362211e-01 -2.41693928e-04 4.37391068e+00] [ 1.46564771e-02 -2.81875923e-04 9.99892548e-01 2.69711254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52925415399994 meters Centerline goodness [0,1] 0.9989105840945278 Centerline is valid? [True, True] Translation: X:296.73, Y:4.37, Z:2.70 [[ 9.99366024e-01 -3.22316809e-02 -1.51217866e-02 2.96730565e+02] [ 3.22316036e-02 9.99480396e-01 -2.48894087e-04 4.37425401e+00] [ 1.51219515e-02 -2.38663135e-04 9.99885628e-01 2.69712466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.559254154 meters Centerline goodness [0,1] 0.9989941535173195 Centerline is valid? [True, True] Translation: X:296.76, Y:4.37, Z:2.70 [[ 9.99423937e-01 -2.99740712e-02 -1.59169543e-02 2.96761586e+02] [ 2.99737041e-02 9.99550653e-01 -2.61681567e-04 4.37469904e+00] [ 1.59176457e-02 -2.15559254e-04 9.99873283e-01 2.69707621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.58925415399995 meters Centerline goodness [0,1] 0.9988894011147899 Centerline is valid? [True, True] Translation: X:296.79, Y:4.38, Z:2.70 [[ 9.99484280e-01 -2.76019632e-02 -1.64105493e-02 2.96792489e+02] [ 2.76012561e-02 9.99618976e-01 -2.69620333e-04 4.37530981e+00] [ 1.64117385e-02 -1.83470490e-04 9.99865302e-01 2.69696681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.619254154 meters Centerline goodness [0,1] 0.9990166952592159 Centerline is valid? [True, True] Translation: X:296.82, Y:4.38, Z:2.70 [[ 9.99585273e-01 -2.28604446e-02 -1.75123131e-02 2.96821627e+02] [ 2.28589092e-02 9.99738660e-01 -2.87868403e-04 4.37658168e+00] [ 1.75143172e-02 -1.12563359e-04 9.99846606e-01 2.69689317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.64925415399995 meters Centerline goodness [0,1] 0.9990141583639224 Centerline is valid? [True, True] Translation: X:296.85, Y:4.38, Z:2.70 [[ 9.99620190e-01 -2.09074558e-02 -1.79542056e-02 2.96849445e+02] [ 2.09054799e-02 9.99781412e-01 -2.97750997e-04 4.37744549e+00] [ 1.79565062e-02 -7.77033760e-05 9.99838766e-01 2.69730173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.679254154 meters Centerline goodness [0,1] 0.9991830236504179 Centerline is valid? [True, True] Translation: X:296.88, Y:4.38, Z:2.70 [[ 9.99643175e-01 -1.91357493e-02 -1.86372224e-02 2.96877755e+02] [ 1.91332108e-02 9.99816894e-01 -3.14519181e-04 4.37809238e+00] [ 1.86398284e-02 -4.21829534e-05 9.99826262e-01 2.69800422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.70925415399995 meters Centerline goodness [0,1] 0.9992678436950883 Centerline is valid? [True, True] Translation: X:296.91, Y:4.38, Z:2.70 [[ 9.99685188e-01 -1.57149126e-02 -1.95593140e-02 2.96905238e+02] [ 1.57113888e-02 9.99876513e-01 -3.33821695e-04 4.37761262e+00] [ 1.95621447e-02 2.64126160e-05 9.99808643e-01 2.69834068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.739254154 meters Centerline goodness [0,1] 0.9992664934193981 Centerline is valid? [True, True] Translation: X:296.93, Y:4.38, Z:2.70 [[ 9.99696046e-01 -1.47356819e-02 -1.97654880e-02 2.96933156e+02] [ 1.47318174e-02 9.99891423e-01 -3.41115998e-04 4.37712531e+00] [ 1.97683685e-02 4.98307550e-05 9.99804585e-01 2.69824377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.76925415399995 meters Centerline goodness [0,1] 0.9990574139628412 Centerline is valid? [True, True] Translation: X:296.96, Y:4.38, Z:2.70 [[ 9.99671844e-01 -1.42135643e-02 -2.13114507e-02 2.96961627e+02] [ 1.42088268e-02 9.99898980e-01 -3.73712987e-04 4.37630764e+00] [ 2.13146096e-02 7.07796395e-05 9.99772815e-01 2.69899736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.799254154 meters Centerline goodness [0,1] 0.9991236855282924 Centerline is valid? [True, True] Translation: X:296.99, Y:4.37, Z:2.70 [[ 9.99650570e-01 -1.32919449e-02 -2.28486877e-02 2.96989348e+02] [ 1.32861715e-02 9.99911653e-01 -4.04475257e-04 4.37452517e+00] [ 2.28520454e-02 1.00762337e-04 9.99738853e-01 2.69772979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.82925415399995 meters Centerline goodness [0,1] 0.9993545163036689 Centerline is valid? [True, True] Translation: X:297.02, Y:4.37, Z:2.70 [[ 9.99637241e-01 -1.30823452e-02 -2.35422852e-02 2.97017745e+02] [ 1.30760525e-02 9.99914416e-01 -4.21221507e-04 4.37386698e+00] [ 2.35457809e-02 1.13228548e-04 9.99722753e-01 2.69822867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.859254154 meters Centerline goodness [0,1] 0.9992083663180701 Centerline is valid? [True, True] Translation: X:297.05, Y:4.37, Z:2.70 [[ 9.99592356e-01 -1.33846894e-02 -2.52184825e-02 2.97046187e+02] [ 1.33773979e-02 9.99910414e-01 -4.57825311e-04 4.37147763e+00] [ 2.52223511e-02 1.20281006e-04 9.99681859e-01 2.69918694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.88925415399996 meters Centerline goodness [0,1] 0.9992083663180701 Centerline is valid? [True, True] Translation: X:297.07, Y:4.37, Z:2.70 [[ 9.99588384e-01 -1.36783447e-02 -2.52183530e-02 2.97073594e+02] [ 1.36709685e-02 9.99906440e-01 -4.64885825e-04 4.37204256e+00] [ 2.52223524e-02 1.19935162e-04 9.99681859e-01 2.69944435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.919254154 meters Centerline goodness [0,1] 0.9993520608644763 Centerline is valid? [True, True] Translation: X:297.10, Y:4.37, Z:2.70 [[ 9.99559039e-01 -1.44153810e-02 -2.59600367e-02 2.97101502e+02] [ 1.44077002e-02 9.99896087e-01 -4.82898802e-04 4.36858381e+00] [ 2.59643002e-02 1.08661438e-04 9.99662865e-01 2.69917867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.94925415399996 meters Centerline goodness [0,1] 0.9993518305559621 Centerline is valid? [True, True] Translation: X:297.13, Y:4.37, Z:2.70 [[ 9.99547629e-01 -1.55268898e-02 -2.57575862e-02 2.97129274e+02] [ 1.55195530e-02 9.99879447e-01 -4.84735737e-04 4.36614852e+00] [ 2.57620074e-02 8.47702331e-05 9.99668101e-01 2.70084436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.979254154 meters Centerline goodness [0,1] 0.9992690821760468 Centerline is valid? [True, True] Translation: X:297.16, Y:4.36, Z:2.70 [[ 9.99536006e-01 -1.69152581e-02 -2.53307444e-02 2.97157435e+02] [ 1.69084235e-02 9.99856925e-01 -4.83990463e-04 4.36367511e+00] [ 2.53353070e-02 5.54629411e-05 9.99679008e-01 2.70139418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.00925415399996 meters Centerline goodness [0,1] 0.9992475388249065 Centerline is valid? [True, True] Translation: X:297.19, Y:4.36, Z:2.70 [[ 9.99464037e-01 -2.06352980e-02 -2.54130716e-02 2.97185175e+02] [ 2.06294336e-02 9.99787069e-01 -4.92940166e-04 4.35735805e+00] [ 2.54178323e-02 -3.15813032e-05 9.99676914e-01 2.70266539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.039254154 meters Centerline goodness [0,1] 0.999435217336736 Centerline is valid? [True, True] Translation: X:297.21, Y:4.35, Z:2.70 [[ 9.99422983e-01 -2.34201689e-02 -2.46007656e-02 2.97212680e+02] [ 2.34153439e-02 9.99725706e-01 -4.84215320e-04 4.35440813e+00] [ 2.46053582e-02 -9.20994671e-05 9.99697238e-01 2.70343727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06925415399996 meters Centerline goodness [0,1] 0.9992893125143705 Centerline is valid? [True, True] Translation: X:297.24, Y:4.35, Z:2.70 [[ 9.99278947e-01 -2.87558691e-02 -2.47928477e-02 2.97241292e+02] [ 2.87524436e-02 9.99586441e-01 -4.94706894e-04 4.34756130e+00] [ 2.47968201e-02 -2.18504771e-04 9.99692488e-01 2.70460136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09925415399994 meters Centerline goodness [0,1] 0.9993104168843381 Centerline is valid? [True, True] Translation: X:297.27, Y:4.34, Z:2.70 [[ 9.99202457e-01 -3.12749211e-02 -2.48259886e-02 2.97268745e+02] [ 3.12721685e-02 9.99510781e-01 -4.99204916e-04 4.34402933e+00] [ 2.48294559e-02 -2.77555721e-04 9.99691663e-01 2.70448711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12925415399997 meters Centerline goodness [0,1] 0.9992682110897382 Centerline is valid? [True, True] Translation: X:297.30, Y:4.34, Z:2.70 [[ 9.99117528e-01 -3.35674992e-02 -2.52465569e-02 2.97296963e+02] [ 3.35653090e-02 9.99436396e-01 -5.10637986e-04 4.34061441e+00] [ 2.52494686e-02 -3.37221121e-04 9.99681124e-01 2.70452733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15925415399994 meters Centerline goodness [0,1] 0.9992886731662413 Centerline is valid? [True, True] Translation: X:297.33, Y:4.34, Z:2.71 [[ 9.99055265e-01 -3.53169371e-02 -2.53237419e-02 2.97325508e+02] [ 3.53151600e-02 9.99376091e-01 -5.17537096e-04 4.33818392e+00] [ 2.53262201e-02 -3.77263839e-04 9.99679169e-01 2.70525378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18925415399997 meters Centerline goodness [0,1] 0.9993523721979652 Centerline is valid? [True, True] Translation: X:297.35, Y:4.33, Z:2.71 [[ 9.99009613e-01 -3.67131378e-02 -2.51384012e-02 2.97354253e+02] [ 3.67116650e-02 9.99325764e-01 -5.20250593e-04 4.33453824e+00] [ 2.51405521e-02 -4.03137220e-04 9.99683845e-01 2.70628528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21925415399994 meters Centerline goodness [0,1] 0.9992063326301719 Centerline is valid? [True, True] Translation: X:297.38, Y:4.33, Z:2.71 [[ 9.99028407e-01 -3.60756292e-02 -2.53138441e-02 2.97381837e+02] [ 3.60738315e-02 9.99348988e-01 -5.27815018e-04 4.33274875e+00] [ 2.53164058e-02 -3.85865152e-04 9.99679414e-01 2.70586880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24925415399997 meters Centerline goodness [0,1] 0.9992063326301719 Centerline is valid? [True, True] Translation: X:297.41, Y:4.33, Z:2.71 [[ 9.99018001e-01 -3.63627364e-02 -2.53137297e-02 2.97409260e+02] [ 3.63608930e-02 9.99338582e-01 -5.33261404e-04 4.33339799e+00] [ 2.53163776e-02 -3.87692075e-04 9.99679414e-01 2.70612596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27925415399994 meters Centerline goodness [0,1] 0.9992485911083281 Centerline is valid? [True, True] Translation: X:297.44, Y:4.33, Z:2.71 [[ 9.99075443e-01 -3.50618866e-02 -2.48781612e-02 2.97437391e+02] [ 3.50596026e-02 9.99385084e-01 -5.28111137e-04 4.33294873e+00] [ 2.48813798e-02 -3.44595576e-04 9.99690351e-01 2.70653104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.309254154 meters Centerline goodness [0,1] 0.9991872460143795 Centerline is valid? [True, True] Translation: X:297.47, Y:4.33, Z:2.71 [[ 9.99209574e-01 -3.09727465e-02 -2.49181763e-02 2.97466403e+02] [ 3.09690671e-02 9.99520201e-01 -5.33643031e-04 4.33327753e+00] [ 2.49227490e-02 -2.38471451e-04 9.99689352e-01 2.70721925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33925415399995 meters Centerline goodness [0,1] 0.9994162896870896 Centerline is valid? [True, True] Translation: X:297.49, Y:4.33, Z:2.71 [[ 9.99291143e-01 -2.82921800e-02 -2.48347330e-02 2.97494006e+02] [ 2.82876066e-02 9.99599682e-01 -5.35516880e-04 4.33384987e+00] [ 2.48399422e-02 -1.67377882e-04 9.99691427e-01 2.70733481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.369254154 meters Centerline goodness [0,1] 0.9993943823744388 Centerline is valid? [True, True] Translation: X:297.52, Y:4.33, Z:2.71 [[ 9.99345335e-01 -2.60297195e-02 -2.51267887e-02 2.97521541e+02] [ 2.60241890e-02 9.99661164e-01 -5.47136267e-04 4.33472725e+00] [ 2.51325166e-02 -1.07126223e-04 9.99684123e-01 2.70852660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.39925415399995 meters Centerline goodness [0,1] 0.9995206735578526 Centerline is valid? [True, True] Translation: X:297.55, Y:4.34, Z:2.71 [[ 9.99397866e-01 -2.39077346e-02 -2.51460979e-02 2.97549481e+02] [ 2.39013428e-02 9.99714168e-01 -5.54761669e-04 4.33516553e+00] [ 2.51521734e-02 -4.65978761e-05 9.99683633e-01 2.70906088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.429254154 meters Centerline goodness [0,1] 0.9997497758408574 Centerline is valid? [True, True] Translation: X:297.58, Y:4.33, Z:2.71 [[ 9.99466830e-01 -2.05208262e-02 -2.53958934e-02 2.97577623e+02] [ 2.05130241e-02 9.99789425e-01 -5.67724989e-04 4.33410006e+00] [ 2.54021959e-02 4.64757212e-05 9.99677311e-01 2.70938547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.45925415399995 meters Centerline goodness [0,1] 0.9996251717962601 Centerline is valid? [True, True] Translation: X:297.61, Y:4.33, Z:2.71 [[ 9.99457266e-01 -1.97408154e-02 -2.63718186e-02 2.97605846e+02] [ 1.97320137e-02 9.99805128e-01 -5.93966872e-04 4.33385551e+00] [ 2.63784049e-02 7.32754192e-05 9.99652027e-01 2.70688757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.489254154 meters Centerline goodness [0,1] 0.9997504626837739 Centerline is valid? [True, True] Translation: X:297.63, Y:4.33, Z:2.71 [[ 9.99425377e-01 -1.95555888e-02 -2.76856280e-02 2.97634575e+02] [ 1.95456721e-02 9.99808767e-01 -6.28787297e-04 4.33095732e+00] [ 2.76926299e-02 8.72917748e-05 9.99616482e-01 2.70628255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.51925415399995 meters Centerline goodness [0,1] 0.9997500989191779 Centerline is valid? [True, True] Translation: X:297.66, Y:4.33, Z:2.71 [[ 9.99399410e-01 -2.03071467e-02 -2.80791692e-02 2.97662174e+02] [ 2.02970284e-02 9.99793786e-01 -6.45350995e-04 4.32904579e+00] [ 2.80864841e-02 7.50397098e-05 9.99605494e-01 2.70857189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.549254154 meters Centerline goodness [0,1] 0.999688220988963 Centerline is valid? [True, True] Translation: X:297.69, Y:4.33, Z:2.71 [[ 9.99371921e-01 -2.11950041e-02 -2.83995633e-02 2.97690493e+02] [ 2.11848864e-02 9.99775359e-01 -6.57129941e-04 4.32723679e+00] [ 2.84071115e-02 5.50756874e-05 9.99596435e-01 2.70869319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57925415399995 meters Centerline goodness [0,1] 0.9997499843740234 Centerline is valid? [True, True] Translation: X:297.72, Y:4.33, Z:2.71 [[ 9.99338447e-01 -2.29233029e-02 -2.82345581e-02 2.97718114e+02] [ 2.29138136e-02 9.99737226e-01 -6.59629575e-04 4.32501865e+00] [ 2.82422597e-02 1.22317933e-05 9.99601108e-01 2.71003482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.609254154 meters Centerline goodness [0,1] 0.9996864417408755 Centerline is valid? [True, True] Translation: X:297.75, Y:4.32, Z:2.71 [[ 9.99243967e-01 -2.70065984e-02 -2.79667148e-02 2.97745908e+02] [ 2.69986602e-02 9.99635251e-01 -6.61480877e-04 4.31892718e+00] [ 2.79743783e-02 -9.40830544e-05 9.99608636e-01 2.71178908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63925415399996 meters Centerline goodness [0,1] 0.9996650407184876 Centerline is valid? [True, True] Translation: X:297.77, Y:4.32, Z:2.71 [[ 9.99186853e-01 -2.98188833e-02 -2.71379312e-02 2.97773558e+02] [ 2.98122327e-02 9.99555305e-01 -6.49715986e-04 4.31547490e+00] [ 2.71452369e-02 -1.59854648e-04 9.99631487e-01 2.71292188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.669254154 meters Centerline goodness [0,1] 0.999644128113879 Centerline is valid? [True, True] Translation: X:297.80, Y:4.31, Z:2.71 [[ 9.99035176e-01 -3.55581477e-02 -2.57746845e-02 2.97801972e+02] [ 3.55539333e-02 9.99367566e-01 -6.21908322e-04 4.30729575e+00] [ 2.57804976e-02 -2.95083124e-04 9.99667584e-01 2.71411034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69925415399996 meters Centerline goodness [0,1] 0.9997070394241232 Centerline is valid? [True, True] Translation: X:297.83, Y:4.30, Z:2.72 [[ 9.98953580e-01 -3.83494683e-02 -2.49211294e-02 2.97831016e+02] [ 3.83462677e-02 9.99264327e-01 -6.06481910e-04 4.30416214e+00] [ 2.49260539e-02 -3.49785023e-04 9.99689236e-01 2.71527832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.729254154 meters Centerline goodness [0,1] 0.9997289238275956 Centerline is valid? [True, True] Translation: X:297.86, Y:4.30, Z:2.72 [[ 9.98883575e-01 -4.03995831e-02 -2.44842149e-02 2.97858946e+02] [ 4.03970191e-02 9.99183527e-01 -5.99532475e-04 4.30065842e+00] [ 2.44884450e-02 -3.90226155e-04 9.99700037e-01 2.71555813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75925415399996 meters Centerline goodness [0,1] 0.9998536360975202 Centerline is valid? [True, True] Translation: X:297.89, Y:4.30, Z:2.72 [[ 9.98801978e-01 -4.26830932e-02 -2.39324400e-02 2.97888205e+02] [ 4.26811894e-02 9.99088568e-01 -5.90582619e-04 4.29655601e+00] [ 2.39358351e-02 -4.31589916e-04 9.99713404e-01 2.71707966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.789254154 meters Centerline goodness [0,1] 0.9998536360975202 Centerline is valid? [True, True] Translation: X:297.92, Y:4.30, Z:2.72 [[ 9.98789400e-01 -4.29765058e-02 -2.39322738e-02 2.97915639e+02] [ 4.29745261e-02 9.99075990e-01 -5.97264359e-04 4.29730569e+00] [ 2.39358285e-02 -4.31936815e-04 9.99713404e-01 2.71733713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81925415399996 meters Centerline goodness [0,1] 0.9998121007140173 Centerline is valid? [True, True] Translation: X:297.94, Y:4.29, Z:2.72 [[ 9.98854500e-01 -4.16243625e-02 -2.36029624e-02 2.97944740e+02] [ 4.16219097e-02 9.99133255e-01 -5.95392781e-04 4.29409220e+00] [ 2.36072875e-02 -3.87689613e-04 9.99721234e-01 2.71773983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84925415399994 meters Centerline goodness [0,1] 0.9997698263234986 Centerline is valid? [True, True] Translation: X:297.97, Y:4.29, Z:2.72 [[ 9.98916866e-01 -4.02747102e-02 -2.33032557e-02 2.97973945e+02] [ 4.02718134e-02 9.99188585e-01 -5.93782887e-04 4.29392931e+00] [ 2.33082615e-02 -3.45324625e-04 9.99728266e-01 2.71854652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87925415399997 meters Centerline goodness [0,1] 0.9998551594280867 Centerline is valid? [True, True] Translation: X:298.00, Y:4.29, Z:2.72 [[ 9.98992476e-01 -3.81973519e-02 -2.35583420e-02 2.98001505e+02] [ 3.81937259e-02 9.99270171e-01 -6.04014517e-04 4.29328329e+00] [ 2.35642202e-02 -2.96374898e-04 9.99722281e-01 2.71865561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90925415399994 meters Centerline goodness [0,1] 0.9998750156230471 Centerline is valid? [True, True] Translation: X:298.03, Y:4.29, Z:2.72 [[ 9.99148659e-01 -3.42737966e-02 -2.29622498e-02 2.98029887e+02] [ 3.42692181e-02 9.99412462e-01 -5.92979031e-04 4.29302545e+00] [ 2.29690822e-02 -1.94424143e-04 9.99736157e-01 2.71976993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.06, Y:4.29, Z:2.72 [[ 9.99214520e-01 -3.26804961e-02 -2.24126613e-02 2.98058707e+02] [ 3.26756077e-02 9.99465839e-01 -5.84395248e-04 4.29319809e+00] [ 2.24197876e-02 -1.48411108e-04 9.99748634e-01 2.72055671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96925415399994 meters Centerline goodness [0,1] 0.9999373040752351 Centerline is valid? [True, True] Translation: X:298.09, Y:4.29, Z:2.72 [[ 9.99268972e-01 -3.12498966e-02 -2.20219526e-02 2.98087206e+02] [ 3.12447077e-02 9.99511597e-01 -5.79745729e-04 4.29264773e+00] [ 2.20293140e-02 -1.08747553e-04 9.99757319e-01 2.72098057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.12, Y:4.29, Z:2.72 [[ 9.99302258e-01 -3.02910168e-02 -2.18506423e-02 2.98115009e+02] [ 3.02855475e-02 9.99541119e-01 -5.81251926e-04 4.28954496e+00] [ 2.18582221e-02 -8.09123026e-05 9.99761077e-01 2.72152940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.14, Y:4.29, Z:2.72 [[ 9.99300468e-01 -3.07396858e-02 -2.12989702e-02 2.98142669e+02] [ 3.07344595e-02 9.99527421e-01 -5.72754135e-04 4.28772341e+00] [ 2.13065110e-02 -8.22588610e-05 9.99772987e-01 2.72139503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.059254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.17, Y:4.29, Z:2.72 [[ 9.99269057e-01 -3.19067856e-02 -2.10548891e-02 2.98170648e+02] [ 3.19018084e-02 9.99490844e-01 -5.72316358e-04 4.28590680e+00] [ 2.10624296e-02 -9.97910101e-05 9.99778157e-01 2.72139827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.08925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.20, Y:4.28, Z:2.72 [[ 9.99158523e-01 -3.51134277e-02 -2.11965405e-02 2.98198125e+02] [ 3.51090071e-02 9.99383320e-01 -5.80769935e-04 4.27985141e+00] [ 2.12038619e-02 -1.63908261e-04 9.99775159e-01 2.72006610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.23, Y:4.28, Z:2.72 [[ 9.99053920e-01 -3.80655987e-02 -2.10303606e-02 2.98227016e+02] [ 3.80618083e-02 9.99275218e-01 -5.80621202e-04 4.27689693e+00] [ 2.10372199e-02 -2.20381667e-04 9.99778669e-01 2.72001696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.14925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.26, Y:4.27, Z:2.72 [[ 9.98907379e-01 -4.17629125e-02 -2.09739893e-02 2.98256123e+02] [ 4.17598455e-02 9.99127506e-01 -5.84384229e-04 4.27382425e+00] [ 2.09800952e-02 -2.92124834e-04 9.99779851e-01 2.72043861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.179254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.29, Y:4.27, Z:2.72 [[ 9.98543235e-01 -4.98909624e-02 -2.05499091e-02 2.98285639e+02] [ 4.98896773e-02 9.98754569e-01 -5.75516516e-04 4.26654744e+00] [ 2.05530287e-02 -4.50550213e-04 9.99788663e-01 2.72107022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.20925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.32, Y:4.26, Z:2.72 [[ 9.98319218e-01 -5.44668071e-02 -1.98016408e-02 2.98315223e+02] [ 5.44664958e-02 9.98515444e-01 -5.55439111e-04 4.26359393e+00] [ 1.98024971e-02 -5.24020443e-04 9.99803774e-01 2.72210928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.239254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.34, Y:4.26, Z:2.72 [[ 9.98082127e-01 -5.89215795e-02 -1.89819969e-02 2.98343404e+02] [ 5.89220783e-02 9.98262442e-01 -5.33485115e-04 4.25957663e+00] [ 1.89804484e-02 -5.85996752e-04 9.99819683e-01 2.72280554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.26925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.37, Y:4.26, Z:2.72 [[ 9.97799723e-01 -6.37476398e-02 -1.82195358e-02 2.98372675e+02] [ 6.37488769e-02 9.97965840e-01 -5.13468421e-04 4.25606932e+00] [ 1.82152068e-02 -6.49136300e-04 9.99833879e-01 2.72342633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.299254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.40, Y:4.25, Z:2.72 [[ 9.97286899e-01 -7.17520079e-02 -1.64465674e-02 2.98403211e+02] [ 7.17540899e-02 9.97422245e-01 -4.64227360e-04 4.24947628e+00] [ 1.64374814e-02 -7.17140609e-04 9.99864638e-01 2.72464729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.32925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.43, Y:4.25, Z:2.73 [[ 9.97054783e-01 -7.50785925e-02 -1.56513255e-02 2.98432519e+02] [ 7.50808814e-02 9.97177349e-01 -4.42128978e-04 4.24697744e+00] [ 1.56403417e-02 -7.34288499e-04 9.99877413e-01 2.72500745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.359254154 meters Centerline goodness [0,1] 0.9999582079572049 Centerline is valid? [True, True] Translation: X:298.46, Y:4.25, Z:2.73 [[ 9.96843566e-01 -7.78400547e-02 -1.56150942e-02 2.98461654e+02] [ 7.78426577e-02 9.96965559e-01 -4.41958016e-04 4.24784001e+00] [ 1.56021132e-02 -7.74957431e-04 9.99877979e-01 2.72576918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.38925415399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.49, Y:4.25, Z:2.73 [[ 9.96670322e-01 -8.01389519e-02 -1.50338891e-02 2.98490925e+02] [ 8.01416132e-02 9.96783397e-01 -4.26326511e-04 4.24716867e+00] [ 1.50196964e-02 -7.79933145e-04 9.99886894e-01 2.72591525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.419254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.52, Y:4.25, Z:2.73 [[ 9.96365764e-01 -8.38668593e-02 -1.48867080e-02 2.98521114e+02] [ 8.38698741e-02 9.96476626e-01 -4.22774227e-04 4.24672170e+00] [ 1.48697133e-02 -8.27308561e-04 9.99889097e-01 2.72610052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.44925415399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.55, Y:4.25, Z:2.73 [[ 9.96239700e-01 -8.52408524e-02 -1.55067093e-02 2.98550346e+02] [ 8.52442814e-02 9.96359984e-01 -4.40907004e-04 4.24720672e+00] [ 1.54878480e-02 -8.82609232e-04 9.99879667e-01 2.72597620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.479254154 meters Centerline goodness [0,1] 0.9999790654831686 Centerline is valid? [True, True] Translation: X:298.58, Y:4.25, Z:2.73 [[ 9.96070898e-01 -8.72080494e-02 -1.54117544e-02 2.98578784e+02] [ 8.72116557e-02 9.96189708e-01 -4.39209584e-04 4.24673934e+00] [ 1.53913337e-02 -9.06600733e-04 9.99881135e-01 2.72561164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.50925415399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.61, Y:4.25, Z:2.73 [[ 9.95976054e-01 -8.83383863e-02 -1.51006231e-02 2.98607831e+02] [ 8.83419444e-02 9.96090113e-01 -4.32562905e-04 4.25056737e+00] [ 1.50797933e-02 -9.03196116e-04 9.99885886e-01 2.72614263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.539254154 meters Centerline goodness [0,1] 0.9999790237660731 Centerline is valid? [True, True] Translation: X:298.64, Y:4.24, Z:2.73 [[ 9.95924767e-01 -8.89352966e-02 -1.49790233e-02 2.98635608e+02] [ 8.89388212e-02 9.96036997e-01 -4.32002782e-04 4.24404062e+00] [ 1.49580817e-02 -9.01974406e-04 9.99887715e-01 2.72534560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56925415399996 meters Centerline goodness [0,1] 0.9998324923051153 Centerline is valid? [True, True] Translation: X:298.66, Y:4.26, Z:2.73 [[ 9.95857050e-01 -8.95556683e-02 -1.57644855e-02 2.98663972e+02] [ 8.95596091e-02 9.95981359e-01 -4.57239705e-04 4.25702056e+00] [ 1.57420820e-02 -9.56515772e-04 9.99875628e-01 2.72614080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.69, Y:4.26, Z:2.73 [[ 9.95900859e-01 -8.93020922e-02 -1.43741061e-02 2.98692896e+02] [ 8.93053058e-02 9.96004210e-01 -4.19432781e-04 4.26068070e+00] [ 1.43541264e-02 -8.65970471e-04 9.99896599e-01 2.72678534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62925415399997 meters Centerline goodness [0,1] 0.999644262157864 Centerline is valid? [True, True] Translation: X:298.72, Y:4.27, Z:2.73 [[ 9.95926650e-01 -8.88231814e-02 -1.55097150e-02 2.98722759e+02] [ 8.88268530e-02 9.96046979e-01 -4.53360189e-04 4.26552022e+00] [ 1.54886737e-02 -9.26165680e-04 9.99879614e-01 2.72640859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65925415399994 meters Centerline goodness [0,1] 0.9998536483378633 Centerline is valid? [True, True] Translation: X:298.75, Y:4.27, Z:2.73 [[ 9.96163211e-01 -8.63511661e-02 -1.42243647e-02 2.98751303e+02] [ 8.63539946e-02 9.96264430e-01 -4.16375124e-04 4.27117139e+00] [ 1.42071830e-02 -8.13553129e-04 9.99898742e-01 2.72611499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68925415399997 meters Centerline goodness [0,1] 0.9998533355682199 Centerline is valid? [True, True] Translation: X:298.78, Y:4.28, Z:2.73 [[ 9.96306013e-01 -8.46475933e-02 -1.44607820e-02 2.98781356e+02] [ 8.46503302e-02 9.96410629e-01 -4.23820697e-04 4.27920857e+00] [ 1.44447523e-02 -8.01854866e-04 9.99895348e-01 2.72648183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71925415399994 meters Centerline goodness [0,1] 0.9997934567085262 Centerline is valid? [True, True] Translation: X:298.81, Y:4.28, Z:2.73 [[ 9.96453039e-01 -8.27367160e-02 -1.53615396e-02 2.98811230e+02] [ 8.27395782e-02 9.96571101e-01 -4.50220353e-04 4.28120345e+00] [ 1.53461161e-02 -8.22383864e-04 9.99881903e-01 2.72606548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74925415399997 meters Centerline goodness [0,1] 0.9997696142085201 Centerline is valid? [True, True] Translation: X:298.84, Y:4.29, Z:2.73 [[ 9.96641906e-01 -8.05636617e-02 -1.46426552e-02 2.98841016e+02] [ 8.05660238e-02 9.96749182e-01 -4.29448315e-04 4.28784502e+00] [ 1.46296526e-02 -7.51694324e-04 9.99892698e-01 2.72642013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77925415399994 meters Centerline goodness [0,1] 0.999748427672956 Centerline is valid? [True, True] Translation: X:298.87, Y:4.30, Z:2.73 [[ 9.97078174e-01 -7.50779648e-02 -1.40859529e-02 2.98870192e+02] [ 7.50795963e-02 9.97177458e-01 -4.13693747e-04 4.29847904e+00] [ 1.40772540e-02 -6.45082654e-04 9.99900702e-01 2.72652301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.809254154 meters Centerline goodness [0,1] 0.9994568509891579 Centerline is valid? [True, True] Translation: X:298.90, Y:4.31, Z:2.73 [[ 9.97322534e-01 -7.17638513e-02 -1.40610224e-02 2.98900742e+02] [ 7.17651477e-02 9.97421472e-01 -4.13005169e-04 4.30597919e+00] [ 1.40544045e-02 -5.97191989e-04 9.99901054e-01 2.72701364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83925415399995 meters Centerline goodness [0,1] 0.9997493420228099 Centerline is valid? [True, True] Translation: X:298.93, Y:4.31, Z:2.73 [[ 9.97569038e-01 -6.83444266e-02 -1.36034562e-02 2.98930063e+02] [ 6.83453237e-02 9.97661645e-01 -3.99476354e-04 4.31162518e+00] [ 1.35989484e-02 -5.31227374e-04 9.99907389e-01 2.72753627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.869254154 meters Centerline goodness [0,1] 0.999269265298453 Centerline is valid? [True, True] Translation: X:298.96, Y:4.32, Z:2.73 [[ 9.97992666e-01 -6.19909834e-02 -1.29520522e-02 2.98960146e+02] [ 6.19912599e-02 9.98076620e-01 -3.80509485e-04 4.32347670e+00] [ 1.29507286e-02 -4.23168356e-04 9.99916046e-01 2.72825542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.89925415399995 meters Centerline goodness [0,1] 0.999459504407118 Centerline is valid? [True, True] Translation: X:298.99, Y:4.33, Z:2.73 [[ 9.98162695e-01 -5.90815443e-02 -1.34389383e-02 2.98991189e+02] [ 5.90815805e-02 9.98253080e-01 -3.94665402e-04 4.32905740e+00] [ 1.34387790e-02 -4.00053435e-04 9.99909616e-01 2.72838500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.929254154 meters Centerline goodness [0,1] 0.9995210229284242 Centerline is valid? [True, True] Translation: X:299.02, Y:4.34, Z:2.73 [[ 9.98408879e-01 -5.45870208e-02 -1.41410024e-02 2.99021944e+02] [ 5.45866167e-02 9.98508953e-01 -4.14838480e-04 4.33886901e+00] [ 1.41425623e-02 -3.57731058e-04 9.99899925e-01 2.72846659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.95925415399995 meters Centerline goodness [0,1] 0.9994775012017473 Centerline is valid? [True, True] Translation: X:299.05, Y:4.34, Z:2.73 [[ 9.98485245e-01 -5.31549612e-02 -1.42044513e-02 2.99052860e+02] [ 5.31544123e-02 9.98586218e-01 -4.16440203e-04 4.34351780e+00] [ 1.42065052e-02 -3.39219864e-04 9.99899025e-01 2.72861799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.989254154 meters Centerline goodness [0,1] 0.9994358074222668 Centerline is valid? [True, True] Translation: X:299.08, Y:4.35, Z:2.73 [[ 9.98536933e-01 -5.19498113e-02 -1.50069891e-02 2.99082992e+02] [ 5.19490669e-02 9.98649639e-01 -4.39685309e-04 4.34674146e+00] [ 1.50095658e-02 -3.40557057e-04 9.99887292e-01 2.72852425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.01925415399995 meters Centerline goodness [0,1] 0.9993309778177333 Centerline is valid? [True, True] Translation: X:299.11, Y:4.35, Z:2.73 [[ 9.98560904e-01 -5.12208005e-02 -1.58918678e-02 2.99113285e+02] [ 5.12198763e-02 9.98687292e-01 -4.65431222e-04 4.35086204e+00] [ 1.58948462e-02 -3.49218083e-04 9.99873608e-01 2.72854282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.049254154 meters Centerline goodness [0,1] 0.9994771296509317 Centerline is valid? [True, True] Translation: X:299.14, Y:4.36, Z:2.73 [[ 9.98523816e-01 -5.19376865e-02 -1.58954420e-02 2.99143659e+02] [ 5.19368526e-02 9.98650262e-01 -4.65535900e-04 4.35564890e+00] [ 1.58981662e-02 -3.60710545e-04 9.99873551e-01 2.72820694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07925415399995 meters Centerline goodness [0,1] 0.9993522910093814 Centerline is valid? [True, True] Translation: X:299.17, Y:4.36, Z:2.73 [[ 9.98486700e-01 -5.25285992e-02 -1.62805735e-02 2.99174346e+02] [ 5.25278030e-02 9.98619348e-01 -4.76815395e-04 4.35895820e+00] [ 1.62831422e-02 -3.79088929e-04 9.99867349e-01 2.72888692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.109254154 meters Centerline goodness [0,1] 0.9994368429834807 Centerline is valid? [True, True] Translation: X:299.20, Y:4.36, Z:2.73 [[ 9.98446883e-01 -5.33057311e-02 -1.61963322e-02 2.99204365e+02] [ 5.33050453e-02 9.98578163e-01 -4.74348188e-04 4.36109762e+00] [ 1.61985892e-02 -3.89734754e-04 9.99868718e-01 2.72925328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13925415399996 meters Centerline goodness [0,1] 0.9992275735370869 Centerline is valid? [True, True] Translation: X:299.23, Y:4.37, Z:2.73 [[ 9.98398139e-01 -5.42855162e-02 -1.59448900e-02 2.99234731e+02] [ 5.42849764e-02 9.98525374e-01 -4.66984104e-04 4.36510158e+00] [ 1.59467278e-02 -3.99331919e-04 9.99872763e-01 2.73003061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.169254154 meters Centerline goodness [0,1] 0.9992275735370869 Centerline is valid? [True, True] Translation: X:299.27, Y:4.37, Z:2.73 [[ 9.98400120e-01 -5.42490630e-02 -1.59448971e-02 2.99265570e+02] [ 5.42485224e-02 9.98527356e-01 -4.66743820e-04 4.36597507e+00] [ 1.59467363e-02 -3.98990019e-04 9.99872763e-01 2.73031963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19925415399996 meters Centerline goodness [0,1] 0.9993939140611938 Centerline is valid? [True, True] Translation: X:299.30, Y:4.37, Z:2.73 [[ 9.98410933e-01 -5.41651061e-02 -1.55483219e-02 2.99297007e+02] [ 5.41645905e-02 9.98531918e-01 -4.54576231e-04 4.36871062e+00] [ 1.55501178e-02 -3.88314609e-04 9.99879014e-01 2.73124274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.229254154 meters Centerline goodness [0,1] 0.9994565444588437 Centerline is valid? [True, True] Translation: X:299.33, Y:4.37, Z:2.73 [[ 9.98446461e-01 -5.36632658e-02 -1.49972726e-02 2.99328674e+02] [ 5.36627375e-02 9.98559021e-01 -4.37931584e-04 4.37190257e+00] [ 1.49991627e-02 -3.67543463e-04 9.99887439e-01 2.73207238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25925415399996 meters Centerline goodness [0,1] 0.9993101574095365 Centerline is valid? [True, True] Translation: X:299.36, Y:4.38, Z:2.73 [[ 9.98577861e-01 -5.14135431e-02 -1.41033218e-02 2.99359714e+02] [ 5.14128586e-02 9.98677400e-01 -4.11332568e-04 4.37890830e+00] [ 1.41058168e-02 -3.14344494e-04 9.99900459e-01 2.73350179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.289254154 meters Centerline goodness [0,1] 0.9993936859711479 Centerline is valid? [True, True] Translation: X:299.39, Y:4.38, Z:2.73 [[ 9.98649369e-01 -5.01125889e-02 -1.37173821e-02 2.99390907e+02] [ 5.01118255e-02 9.98743533e-01 -3.99581581e-04 4.38227252e+00] [ 1.37201708e-02 -2.88361164e-04 9.99905832e-01 2.73414119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31925415399996 meters Centerline goodness [0,1] 0.9992702860478693 Centerline is valid? [True, True] Translation: X:299.42, Y:4.38, Z:2.73 [[ 9.98744810e-01 -4.81510624e-02 -1.37941890e-02 2.99420898e+02] [ 4.81501093e-02 9.98840030e-01 -4.01393785e-04 4.38448188e+00] [ 1.37975157e-02 -2.63301750e-04 9.99904775e-01 2.73418714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34925415399994 meters Centerline goodness [0,1] 0.999414740186447 Centerline is valid? [True, True] Translation: X:299.45, Y:4.39, Z:2.74 [[ 9.98820893e-01 -4.67264930e-02 -1.31703635e-02 2.99451842e+02] [ 4.67255044e-02 9.98907694e-01 -3.82936372e-04 4.38966089e+00] [ 1.31738707e-02 -2.32907027e-04 9.99913194e-01 2.73524994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37925415399997 meters Centerline goodness [0,1] 0.9990815154994259 Centerline is valid? [True, True] Translation: X:299.48, Y:4.39, Z:2.74 [[ 9.98950073e-01 -4.37857176e-02 -1.34745035e-02 2.99483434e+02] [ 4.37844221e-02 9.99040926e-01 -3.91267858e-04 4.39416870e+00] [ 1.34787124e-02 -1.99116296e-04 9.99909138e-01 2.73554954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40925415399994 meters Centerline goodness [0,1] 0.9993318578527581 Centerline is valid? [True, True] Translation: X:299.51, Y:4.40, Z:2.74 [[ 9.98964337e-01 -4.36486991e-02 -1.28469437e-02 2.99514795e+02] [ 4.36475200e-02 9.99046924e-01 -3.72279321e-04 4.39595997e+00] [ 1.28509491e-02 -1.88843468e-04 9.99917405e-01 2.73546134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43925415399997 meters Centerline goodness [0,1] 0.9993962986864292 Centerline is valid? [True, True] Translation: X:299.55, Y:4.40, Z:2.74 [[ 9.98966124e-01 -4.35519609e-02 -1.30349666e-02 2.99545668e+02] [ 4.35507569e-02 9.99051145e-01 -3.76343830e-04 4.39758973e+00] [ 1.30389888e-02 -1.91727925e-04 9.99914970e-01 2.73534599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46925415399994 meters Centerline goodness [0,1] 0.9993537088771213 Centerline is valid? [True, True] Translation: X:299.58, Y:4.40, Z:2.74 [[ 9.98904027e-01 -4.48616209e-02 -1.33483717e-02 2.99577141e+02] [ 4.48604841e-02 9.98993188e-01 -3.84724086e-04 4.39955974e+00] [ 1.33521918e-02 -2.14511978e-04 9.99910833e-01 2.73503304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49925415399997 meters Centerline goodness [0,1] 0.9994581640095863 Centerline is valid? [True, True] Translation: X:299.61, Y:4.40, Z:2.73 [[ 9.98832018e-01 -4.62847081e-02 -1.38681182e-02 2.99609336e+02] [ 4.62836275e-02 9.98928259e-01 -3.99029462e-04 4.40016673e+00] [ 1.38717242e-02 -2.43303416e-04 9.99903753e-01 2.73477737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52925415399994 meters Centerline goodness [0,1] 0.9993536415003857 Centerline is valid? [True, True] Translation: X:299.64, Y:4.40, Z:2.73 [[ 9.98731632e-01 -4.82979725e-02 -1.42279125e-02 2.99640932e+02] [ 4.82970529e-02 9.98832933e-01 -4.08428614e-04 4.40004221e+00] [ 1.42310338e-02 -2.79255666e-04 9.99898695e-01 2.73421396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.559254154 meters Centerline goodness [0,1] 0.999458434876794 Centerline is valid? [True, True] Translation: X:299.67, Y:4.40, Z:2.73 [[ 9.98440101e-01 -5.38144729e-02 -1.48783892e-02 2.99671837e+02] [ 5.38140886e-02 9.98550881e-01 -4.26474435e-04 4.39985996e+00] [ 1.48797791e-02 -3.74857776e-04 9.99889220e-01 2.73380476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.58925415399995 meters Centerline goodness [0,1] 0.9992492179353494 Centerline is valid? [True, True] Translation: X:299.70, Y:4.40, Z:2.73 [[ 9.98284998e-01 -5.66172328e-02 -1.48846287e-02 2.99703116e+02] [ 5.66171665e-02 9.98395871e-01 -4.26177693e-04 4.39723528e+00] [ 1.48848809e-02 -4.17278705e-04 9.99889127e-01 2.73304970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.619254154 meters Centerline goodness [0,1] 0.9992706053975201 Centerline is valid? [True, True] Translation: X:299.73, Y:4.40, Z:2.73 [[ 9.98041045e-01 -6.07800942e-02 -1.48274174e-02 2.99734061e+02] [ 6.07804964e-02 9.98151067e-01 -4.23926283e-04 4.39931556e+00] [ 1.48257687e-02 -4.78121956e-04 9.99889978e-01 2.73392003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.64925415399995 meters Centerline goodness [0,1] 0.9993948752190969 Centerline is valid? [True, True] Translation: X:299.77, Y:4.40, Z:2.73 [[ 9.97844961e-01 -6.39446757e-02 -1.47143361e-02 2.99765695e+02] [ 6.39454222e-02 9.97953309e-01 -4.20225929e-04 4.39902895e+00] [ 1.47110916e-02 -5.21594110e-04 9.99891650e-01 2.73371231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.679254154 meters Centerline goodness [0,1] 0.9992713039495326 Centerline is valid? [True, True] Translation: X:299.80, Y:4.40, Z:2.73 [[ 9.97331547e-01 -7.15702617e-02 -1.44042596e-02 2.99795860e+02] [ 7.15717769e-02 9.97435367e-01 -4.10938540e-04 4.39729590e+00] [ 1.43967290e-02 -6.21096487e-04 9.99896169e-01 2.73388755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.70925415399995 meters Centerline goodness [0,1] 0.9992299367299368 Centerline is valid? [True, True] Translation: X:299.83, Y:4.40, Z:2.73 [[ 9.97048318e-01 -7.54138795e-02 -1.44013173e-02 2.99826920e+02] [ 7.54157934e-02 9.97152089e-01 -4.10901864e-04 4.39785473e+00] [ 1.43912913e-02 -6.76397756e-04 9.99896211e-01 2.73409481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.739254154 meters Centerline goodness [0,1] 0.9991451744052707 Centerline is valid? [True, True] Translation: X:299.86, Y:4.40, Z:2.73 [[ 9.96786434e-01 -7.88866946e-02 -1.39174394e-02 2.99857060e+02] [ 7.88888272e-02 9.96883341e-01 -3.96551594e-04 4.39596755e+00] [ 1.39053462e-02 -7.02653225e-04 9.99903069e-01 2.73396599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.76925415399995 meters Centerline goodness [0,1] 0.9992702251876564 Centerline is valid? [True, True] Translation: X:299.89, Y:4.40, Z:2.73 [[ 9.96482874e-01 -8.27169463e-02 -1.34085566e-02 2.99887698e+02] [ 8.27192824e-02 9.96572815e-01 -3.81231386e-04 4.39715401e+00] [ 1.33941373e-02 -7.29255631e-04 9.99910029e-01 2.73405726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.799254154 meters Centerline goodness [0,1] 0.9992487322356477 Centerline is valid? [True, True] Translation: X:299.92, Y:4.39, Z:2.73 [[ 9.95935901e-01 -8.91800571e-02 -1.25935688e-02 2.99917678e+02] [ 8.91826379e-02 9.96015225e-01 -3.57625688e-04 4.39264108e+00] [ 1.25752794e-02 -7.66955426e-04 9.99920634e-01 2.73456361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.82925415399995 meters Centerline goodness [0,1] 0.9987503384500032 Centerline is valid? [True, True] Translation: X:299.95, Y:4.39, Z:2.73 [[ 9.95670770e-01 -9.21955055e-02 -1.18197493e-02 2.99947602e+02] [ 9.21979991e-02 9.95740637e-01 -3.34915938e-04 4.39038121e+00] [ 1.18002825e-02 -7.56291229e-04 9.99930088e-01 2.73498704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.859254154 meters Centerline goodness [0,1] 0.9989357484192734 Centerline is valid? [True, True] Translation: X:299.98, Y:4.40, Z:2.74 [[ 9.95260658e-01 -9.66242110e-02 -1.09537070e-02 2.99977802e+02] [ 9.66266195e-02 9.95320652e-01 -3.10371495e-04 4.39647961e+00] [ 1.09324401e-02 -7.49519136e-04 9.99939958e-01 2.73594997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.88925415399996 meters Centerline goodness [0,1] 0.998914563633707 Centerline is valid? [True, True] Translation: X:300.01, Y:4.40, Z:2.74 [[ 9.95114840e-01 -9.81319853e-02 -1.07966520e-02 3.00009720e+02] [ 9.81344150e-02 9.95173122e-01 -3.05787048e-04 4.39963287e+00] [ 1.07745453e-02 -7.55229895e-04 9.99941668e-01 2.73642669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.919254154 meters Centerline goodness [0,1] 0.9989147675098088 Centerline is valid? [True, True] Translation: X:300.04, Y:4.40, Z:2.74 [[ 9.95012659e-01 -9.91625502e-02 -1.07980432e-02 3.00040539e+02] [ 9.91650504e-02 9.95070952e-01 -3.04949727e-04 4.39894137e+00] [ 1.07750588e-02 -7.67359664e-04 9.99941653e-01 2.73664467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.94925415399996 meters Centerline goodness [0,1] 0.998623594919814 Centerline is valid? [True, True] Translation: X:300.07, Y:4.40, Z:2.74 [[ 9.94993152e-01 -9.93467937e-02 -1.09015023e-02 3.00071536e+02] [ 9.93493671e-02 9.95052566e-01 -3.06574693e-04 4.40116965e+00] [ 1.08780251e-02 -7.78017636e-04 9.99940530e-01 2.73655351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.979254154 meters Centerline goodness [0,1] 0.9985591379886402 Centerline is valid? [True, True] Translation: X:300.10, Y:4.41, Z:2.74 [[ 9.95067235e-01 -9.86386409e-02 -1.05648922e-02 3.00103594e+02] [ 9.86410241e-02 9.95123038e-01 -2.96534982e-04 4.40557623e+00] [ 1.05426174e-02 -7.47059539e-04 9.99944146e-01 2.73684595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.00925415399996 meters Centerline goodness [0,1] 0.9987475211355809 Centerline is valid? [True, True] Translation: X:300.14, Y:4.41, Z:2.74 [[ 9.95176997e-01 -9.75223007e-02 -1.05898860e-02 3.00135330e+02] [ 9.75246403e-02 9.95233066e-01 -2.96481303e-04 4.41450977e+00] [ 1.05683182e-02 -7.37723449e-04 9.99943882e-01 2.73725258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.039254154 meters Centerline goodness [0,1] 0.9988085035222308 Centerline is valid? [True, True] Translation: X:300.17, Y:4.43, Z:2.74 [[ 9.95475351e-01 -9.44360955e-02 -1.05190214e-02 3.00165366e+02] [ 9.44382395e-02 9.95530679e-01 -2.93812980e-04 4.42506348e+00] [ 1.04997551e-02 -7.00914283e-04 9.99944630e-01 2.73771246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06925415399996 meters Centerline goodness [0,1] 0.9990385017348773 Centerline is valid? [True, True] Translation: X:300.20, Y:4.43, Z:2.74 [[ 9.95679755e-01 -9.22213634e-02 -1.08187819e-02 3.00196611e+02] [ 9.22235018e-02 9.95738286e-01 -3.02131369e-04 4.43039330e+00] [ 1.08005383e-02 -6.96919863e-04 9.99941430e-01 2.73781838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09925415399994 meters Centerline goodness [0,1] 0.9988695124248959 Centerline is valid? [True, True] Translation: X:300.23, Y:4.44, Z:2.74 [[ 9.95925738e-01 -8.94514211e-02 -1.14178442e-02 3.00227013e+02] [ 8.94536258e-02 9.95990937e-01 -3.18491533e-04 4.43775738e+00] [ 1.14005588e-02 -7.04173643e-04 9.99934764e-01 2.73802539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12925415399997 meters Centerline goodness [0,1] 0.9990382001798147 Centerline is valid? [True, True] Translation: X:300.26, Y:4.45, Z:2.74 [[ 9.96471810e-01 -8.30470585e-02 -1.21291956e-02 3.00256635e+02] [ 8.30490733e-02 9.96545401e-01 -3.38336917e-04 4.44881299e+00] [ 1.21153920e-02 -6.70175255e-04 9.99926381e-01 2.73832199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15925415399994 meters Centerline goodness [0,1] 0.9989748096074985 Centerline is valid? [True, True] Translation: X:300.29, Y:4.45, Z:2.74 [[ 9.96769941e-01 -7.93388696e-02 -1.24510164e-02 3.00286783e+02] [ 7.93407042e-02 9.96847497e-01 -3.47323693e-04 4.45422930e+00] [ 1.24393208e-02 -6.41670594e-04 9.99922423e-01 2.73875895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18925415399997 meters Centerline goodness [0,1] 0.9992671998660022 Centerline is valid? [True, True] Translation: X:300.32, Y:4.46, Z:2.74 [[ 9.97040436e-01 -7.58569230e-02 -1.24938757e-02 3.00317169e+02] [ 7.58584974e-02 9.97118532e-01 -3.48519261e-04 4.46226913e+00] [ 1.24843126e-02 -6.00278841e-04 9.99921888e-01 2.73955595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21925415399994 meters Centerline goodness [0,1] 0.9990352753659661 Centerline is valid? [True, True] Translation: X:300.35, Y:4.47, Z:2.74 [[ 9.97310281e-01 -7.21991302e-02 -1.26288708e-02 3.00348474e+02] [ 7.22004484e-02 9.97390080e-01 -3.52108300e-04 4.46914006e+00] [ 1.26213324e-02 -5.60648906e-04 9.99920191e-01 2.73993578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24925415399997 meters Centerline goodness [0,1] 0.9992231786689062 Centerline is valid? [True, True] Translation: X:300.38, Y:4.48, Z:2.74 [[ 9.97555202e-01 -6.87137609e-02 -1.27294286e-02 3.00379425e+02] [ 6.87148249e-02 9.97636280e-01 -3.54277721e-04 4.47557715e+00] [ 1.27236835e-02 -5.21288871e-04 9.99918915e-01 2.74037160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27925415399994 meters Centerline goodness [0,1] 0.9992022169969769 Centerline is valid? [True, True] Translation: X:300.41, Y:4.48, Z:2.74 [[ 9.97971851e-01 -6.23689357e-02 -1.27397037e-02 3.00408880e+02] [ 6.23694894e-02 9.98053065e-01 -3.54221206e-04 4.48420609e+00] [ 1.27369927e-02 -4.41066021e-04 9.99918784e-01 2.74010630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.309254154 meters Centerline goodness [0,1] 0.9987626098445922 Centerline is valid? [True, True] Translation: X:300.44, Y:4.49, Z:2.74 [[ 9.98094021e-01 -6.04620640e-02 -1.23556912e-02 3.00441366e+02] [ 6.04624421e-02 9.98170414e-01 -3.43282660e-04 4.49053738e+00] [ 1.23538410e-02 -4.04426892e-04 9.99923607e-01 2.74121197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33925415399995 meters Centerline goodness [0,1] 0.9990952130457654 Centerline is valid? [True, True] Translation: X:300.47, Y:4.50, Z:2.74 [[ 9.98346478e-01 -5.62416038e-02 -1.18824382e-02 3.00473097e+02] [ 5.62416658e-02 9.98417131e-01 -3.29201016e-04 4.50050783e+00] [ 1.18821447e-02 -3.39631445e-04 9.99929347e-01 2.74207825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.369254154 meters Centerline goodness [0,1] 0.9989890906027548 Centerline is valid? [True, True] Translation: X:300.50, Y:4.51, Z:2.74 [[ 9.98449492e-01 -5.44055378e-02 -1.17749431e-02 3.00504762e+02] [ 5.44054791e-02 9.98518872e-01 -3.25546341e-04 4.50521759e+00] [ 1.17752145e-02 -3.15579844e-04 9.99930620e-01 2.74228589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.39925415399995 meters Centerline goodness [0,1] 0.9991563139355846 Centerline is valid? [True, True] Translation: X:300.54, Y:4.51, Z:2.74 [[ 9.98540716e-01 -5.27943866e-02 -1.13661944e-02 3.00536913e+02] [ 5.27942366e-02 9.98605363e-01 -3.13442808e-04 4.50880795e+00] [ 1.13668907e-02 -2.87084151e-04 9.99935354e-01 2.74239565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.429254154 meters Centerline goodness [0,1] 0.999344539591923 Centerline is valid? [True, True] Translation: X:300.57, Y:4.51, Z:2.74 [[ 9.98627010e-01 -5.11892209e-02 -1.11247004e-02 3.00568994e+02] [ 5.11889865e-02 9.98688938e-01 -3.05993846e-04 4.51237874e+00] [ 1.11257788e-02 -2.63888421e-04 9.99938072e-01 2.74269022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.45925415399995 meters Centerline goodness [0,1] 0.9988785204934509 Centerline is valid? [True, True] Translation: X:300.60, Y:4.52, Z:2.74 [[ 9.98782069e-01 -4.82681459e-02 -1.02256600e-02 3.00599691e+02] [ 4.82678024e-02 9.98834391e-01 -2.80523235e-04 4.51806461e+00] [ 1.02272812e-02 -2.13388557e-04 9.99947677e-01 2.74294069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.489254154 meters Centerline goodness [0,1] 0.998983266257149 Centerline is valid? [True, True] Translation: X:300.63, Y:4.52, Z:2.74 [[ 9.98851960e-01 -4.68752880e-02 -9.87265499e-03 3.00630637e+02] [ 4.68749132e-02 9.98900731e-01 -2.69478569e-04 4.52051355e+00] [ 9.87443417e-03 -1.93610650e-04 9.99951228e-01 2.74291590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.51925415399995 meters Centerline goodness [0,1] 0.9989605651131711 Centerline is valid? [True, True] Translation: X:300.66, Y:4.52, Z:2.74 [[ 9.98901859e-01 -4.58393176e-02 -9.68679578e-03 3.00662332e+02] [ 4.58389205e-02 9.98948810e-01 -2.63127187e-04 4.52292503e+00] [ 9.68867469e-03 -1.81194026e-04 9.99953047e-01 2.74330192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.549254154 meters Centerline goodness [0,1] 0.9990034772283946 Centerline is valid? [True, True] Translation: X:300.69, Y:4.53, Z:2.74 [[ 9.98968540e-01 -4.44531416e-02 -9.26143292e-03 3.00693246e+02] [ 4.44527249e-02 9.99011458e-01 -2.50947879e-04 4.52539274e+00] [ 9.26343303e-03 -1.61006893e-04 9.99957081e-01 2.74287919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57925415399995 meters Centerline goodness [0,1] 0.9987479840421017 Centerline is valid? [True, True] Translation: X:300.72, Y:4.53, Z:2.74 [[ 9.98981324e-01 -4.41932469e-02 -9.12531416e-03 3.00724362e+02] [ 4.41928358e-02 9.99022989e-01 -2.46787786e-04 4.52651939e+00] [ 9.12730498e-03 -1.56737121e-04 9.99958333e-01 2.74265850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.609254154 meters Centerline goodness [0,1] 0.9989580896893406 Centerline is valid? [True, True] Translation: X:300.76, Y:4.53, Z:2.74 [[ 9.98993577e-01 -4.39634803e-02 -8.89076219e-03 3.00756899e+02] [ 4.39630847e-02 9.99033127e-01 -2.40024140e-04 4.52961278e+00] [ 8.89271825e-03 -1.51082757e-04 9.99960448e-01 2.74220633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63925415399996 meters Centerline goodness [0,1] 0.9986602301001638 Centerline is valid? [True, True] Translation: X:300.79, Y:4.53, Z:2.74 [[ 9.98988918e-01 -4.40699008e-02 -8.88742430e-03 3.00788516e+02] [ 4.40695183e-02 9.99028438e-01 -2.38961390e-04 4.52804101e+00] [ 8.88932063e-03 -1.52944727e-04 9.99960478e-01 2.74086471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.669254154 meters Centerline goodness [0,1] 0.9989996807491752 Centerline is valid? [True, True] Translation: X:300.82, Y:4.53, Z:2.74 [[ 9.98966437e-01 -4.46223299e-02 -8.65480359e-03 3.00820803e+02] [ 4.46219976e-02 9.99003916e-01 -2.31582983e-04 4.53087295e+00] [ 8.65651645e-03 -1.54850998e-04 9.99962520e-01 2.74051982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69925415399996 meters Centerline goodness [0,1] 0.9990210266451008 Centerline is valid? [True, True] Translation: X:300.85, Y:4.53, Z:2.74 [[ 9.98956472e-01 -4.49190766e-02 -8.26100597e-03 3.00851804e+02] [ 4.49187889e-02 9.98990617e-01 -2.20458938e-04 4.52853897e+00] [ 8.26257027e-03 -1.50845500e-04 9.99965853e-01 2.74055754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.729254154 meters Centerline goodness [0,1] 0.9989993399902063 Centerline is valid? [True, True] Translation: X:300.88, Y:4.53, Z:2.74 [[ 9.98917248e-01 -4.59667301e-02 -7.16877017e-03 3.00884190e+02] [ 4.59665425e-02 9.98942962e-01 -1.91018819e-04 4.52714970e+00] [ 7.16997302e-03 -1.38711586e-04 9.99974286e-01 2.74033399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75925415399996 meters Centerline goodness [0,1] 0.9987249505918354 Centerline is valid? [True, True] Translation: X:300.92, Y:4.53, Z:2.74 [[ 9.98930767e-01 -4.56740707e-02 -7.15561906e-03 3.00916349e+02] [ 4.56738796e-02 9.98956386e-01 -1.90208209e-04 4.53041426e+00] [ 7.15683894e-03 -1.36820052e-04 9.99974380e-01 2.73923243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.789254154 meters Centerline goodness [0,1] 0.9988295880149812 Centerline is valid? [True, True] Translation: X:300.95, Y:4.53, Z:2.74 [[ 9.98905249e-01 -4.63490646e-02 -6.32998082e-03 3.00947961e+02] [ 4.63489298e-02 9.98925297e-01 -1.68078705e-04 4.53016308e+00] [ 6.33096826e-03 -1.25493136e-04 9.99979951e-01 2.74012844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81925415399996 meters Centerline goodness [0,1] 0.9987882137845997 Centerline is valid? [True, True] Translation: X:300.98, Y:4.53, Z:2.74 [[ 9.98886578e-01 -4.67742956e-02 -6.14572069e-03 3.00979398e+02] [ 4.67741832e-02 9.98905476e-01 -1.62103672e-04 4.52966782e+00] [ 6.14657633e-03 -1.25537883e-04 9.99981102e-01 2.73985741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84925415399994 meters Centerline goodness [0,1] 0.9988316268003569 Centerline is valid? [True, True] Translation: X:301.01, Y:4.53, Z:2.74 [[ 9.98866672e-01 -4.71365008e-02 -6.59705659e-03 3.01011568e+02] [ 4.71363814e-02 9.98888448e-01 -1.73672420e-04 4.53094347e+00] [ 6.59790993e-03 -1.37485783e-04 9.99978224e-01 2.73961829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87925415399997 meters Centerline goodness [0,1] 0.9985930505222766 Centerline is valid? [True, True] Translation: X:301.04, Y:4.53, Z:2.74 [[ 9.98849518e-01 -4.75114518e-02 -6.50400203e-03 3.01043232e+02] [ 4.75113470e-02 9.98870684e-01 -1.70702403e-04 4.53050340e+00] [ 6.50476727e-03 -1.38507884e-04 9.99978834e-01 2.73933983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90925415399994 meters Centerline goodness [0,1] 0.998912834942764 Centerline is valid? [True, True] Translation: X:301.08, Y:4.53, Z:2.74 [[ 9.98838276e-01 -4.77424825e-02 -6.53859260e-03 3.01075154e+02] [ 4.77423836e-02 9.98859668e-01 -1.71306248e-04 4.53113038e+00] [ 6.53931502e-03 -1.41060758e-04 9.99978609e-01 2.73888570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93925415399997 meters Centerline goodness [0,1] 0.9987637743248716 Centerline is valid? [True, True] Translation: X:301.11, Y:4.53, Z:2.74 [[ 9.98784668e-01 -4.88974527e-02 -6.18266743e-03 3.01107624e+02] [ 4.88973890e-02 9.98803794e-01 -1.61558777e-04 4.52874108e+00] [ 6.18317150e-03 -1.40953865e-04 9.99980874e-01 2.73801253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96925415399994 meters Centerline goodness [0,1] 0.998551002578363 Centerline is valid? [True, True] Translation: X:301.14, Y:4.53, Z:2.74 [[ 9.98758513e-01 -4.94304588e-02 -6.16950898e-03 3.01138912e+02] [ 4.94304086e-02 9.98777557e-01 -1.60701961e-04 4.52518495e+00] [ 6.16991068e-03 -1.44458899e-04 9.99980955e-01 2.73786077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99925415399997 meters Centerline goodness [0,1] 0.9987232412648424 Centerline is valid? [True, True] Translation: X:301.17, Y:4.52, Z:2.74 [[ 9.98723700e-01 -5.01097648e-02 -6.32314787e-03 3.01169940e+02] [ 5.01097281e-02 9.98743705e-01 -1.64333557e-04 4.52414581e+00] [ 6.32343884e-03 -1.52727403e-04 9.99979995e-01 2.73779677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02925415399994 meters Centerline goodness [0,1] 0.9988070638859894 Centerline is valid? [True, True] Translation: X:301.20, Y:4.53, Z:2.74 [[ 9.98722689e-01 -5.01095976e-02 -6.48217122e-03 3.01203224e+02] [ 5.01095602e-02 9.98743713e-01 -1.68285453e-04 4.52656838e+00] [ 6.48246047e-03 -1.56748249e-04 9.99978976e-01 2.73726381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.059254154 meters Centerline goodness [0,1] 0.9988070638859894 Centerline is valid? [True, True] Translation: X:301.24, Y:4.53, Z:2.74 [[ 9.98728118e-01 -5.00012780e-02 -6.48218938e-03 3.01235763e+02] [ 5.00012429e-02 9.98749141e-01 -1.67582423e-04 4.52731627e+00] [ 6.48246041e-03 -1.56748248e-04 9.99978976e-01 2.73756842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.08925415399995 meters Centerline goodness [0,1] 0.9985958641817718 Centerline is valid? [True, True] Translation: X:301.27, Y:4.52, Z:2.74 [[ 9.98695875e-01 -5.05729959e-02 -6.99433164e-03 3.01267317e+02] [ 5.05729758e-02 9.98720352e-01 -1.79853467e-04 4.52351075e+00] [ 6.99447708e-03 -1.74105249e-04 9.99975523e-01 2.73747529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.119254154 meters Centerline goodness [0,1] 0.9987094317268227 Centerline is valid? [True, True] Translation: X:301.30, Y:4.52, Z:2.74 [[ 9.98683217e-01 -5.08691151e-02 -6.64566974e-03 3.01299465e+02] [ 5.08691055e-02 9.98705314e-01 -1.70591098e-04 4.52344388e+00] [ 6.64574351e-03 -1.67692809e-04 9.99977903e-01 2.73799605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.14925415399995 meters Centerline goodness [0,1] 0.9985970580732931 Centerline is valid? [True, True] Translation: X:301.33, Y:4.53, Z:2.74 [[ 9.98660129e-01 -5.13693768e-02 -6.25568607e-03 3.01332015e+02] [ 5.13693803e-02 9.98679709e-01 -1.60218455e-04 4.52730486e+00] [ 6.25565706e-03 -1.61346934e-04 9.99980420e-01 2.73787167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.179254154 meters Centerline goodness [0,1] 0.998770326711472 Centerline is valid? [True, True] Translation: X:301.36, Y:4.53, Z:2.74 [[ 9.98530599e-01 -5.38623586e-02 -5.95724006e-03 3.01364349e+02] [ 5.38624085e-02 9.98548355e-01 -1.52174165e-04 4.52534393e+00] [ 5.95678872e-03 -1.68920737e-04 9.99982244e-01 2.73865194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.20925415399995 meters Centerline goodness [0,1] 0.9987079556045073 Centerline is valid? [True, True] Translation: X:301.40, Y:4.52, Z:2.74 [[ 9.98431032e-01 -5.56604109e-02 -6.11501135e-03 3.01395412e+02] [ 5.56605003e-02 9.98449741e-01 -1.55682085e-04 4.52173384e+00] [ 6.11419682e-03 -1.84926767e-04 9.99981291e-01 2.73942185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.239254154 meters Centerline goodness [0,1] 0.9989236873206145 Centerline is valid? [True, True] Translation: X:301.43, Y:4.52, Z:2.74 [[ 9.98164916e-01 -6.02030374e-02 -6.51105422e-03 3.01426122e+02] [ 6.02032385e-02 9.98186126e-01 -1.65276936e-04 4.52140770e+00] [ 6.50919416e-03 -2.27012911e-04 9.99978789e-01 2.73852830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.26925415399995 meters Centerline goodness [0,1] 0.9987764487479696 Centerline is valid? [True, True] Translation: X:301.46, Y:4.52, Z:2.74 [[ 9.98018747e-01 -6.24497522e-02 -7.65562259e-03 3.01457237e+02] [ 6.24500971e-02 9.98048069e-01 -1.94222673e-04 4.51823612e+00] [ 7.65280850e-03 -2.84256505e-04 9.99970676e-01 2.73738340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.299254154 meters Centerline goodness [0,1] 0.9988810539205337 Centerline is valid? [True, True] Translation: X:301.49, Y:4.52, Z:2.74 [[ 9.97819675e-01 -6.54998605e-02 -8.10338357e-03 3.01489208e+02] [ 6.55003510e-02 9.97852525e-01 -2.05131137e-04 4.51754392e+00] [ 8.09941782e-03 -3.26090583e-04 9.99967146e-01 2.73746991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.32925415399995 meters Centerline goodness [0,1] 0.9987985329454914 Centerline is valid? [True, True] Translation: X:301.52, Y:4.51, Z:2.74 [[ 9.97431140e-01 -7.09990064e-02 -9.50061888e-03 3.01518867e+02] [ 7.09999371e-02 9.97476291e-01 -2.39704899e-04 4.51262900e+00] [ 9.49366089e-03 -4.35454212e-04 9.99954839e-01 2.73625006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.359254154 meters Centerline goodness [0,1] 0.998507305792074 Centerline is valid? [True, True] Translation: X:301.55, Y:4.51, Z:2.74 [[ 9.97240273e-01 -7.35610832e-02 -1.00302466e-02 3.01548748e+02] [ 7.35622494e-02 9.97290595e-01 -2.53108261e-04 4.51053128e+00] [ 1.00216896e-02 -4.85437754e-04 9.99949664e-01 2.73611426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.38925415399996 meters Centerline goodness [0,1] 0.9985053575563648 Centerline is valid? [True, True] Translation: X:301.58, Y:4.51, Z:2.74 [[ 9.97065785e-01 -7.57862658e-02 -1.07824852e-02 3.01581190e+02] [ 7.57877541e-02 9.97123936e-01 -2.71085440e-04 4.50905866e+00] [ 1.07720187e-02 -5.46890322e-04 9.99941831e-01 2.73592531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.419254154 meters Centerline goodness [0,1] 0.9984851035179263 Centerline is valid? [True, True] Translation: X:301.61, Y:4.51, Z:2.74 [[ 9.96784288e-01 -7.93086665e-02 -1.14550592e-02 3.01611079e+02] [ 7.93105864e-02 9.96849913e-01 -2.87283498e-04 4.50619132e+00] [ 1.14417588e-02 -6.22147785e-04 9.99934347e-01 2.73556512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.44925415399996 meters Centerline goodness [0,1] 0.9985915492957746 Centerline is valid? [True, True] Translation: X:301.64, Y:4.51, Z:2.74 [[ 9.96702341e-01 -8.03041367e-02 -1.16485990e-02 3.01643475e+02] [ 8.03061917e-02 9.96770199e-01 -2.91973392e-04 4.50753816e+00] [ 1.16344230e-02 -6.44444060e-04 9.99932110e-01 2.73638333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.479254154 meters Centerline goodness [0,1] 0.998569685751546 Centerline is valid? [True, True] Translation: X:301.68, Y:4.51, Z:2.74 [[ 9.96669642e-01 -8.07502135e-02 -1.13590591e-02 3.01675537e+02] [ 8.07522056e-02 9.96734168e-01 -2.83918377e-04 4.50783649e+00] [ 1.13448888e-02 -6.34296247e-04 9.99935443e-01 2.73725789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.50925415399996 meters Centerline goodness [0,1] 0.9984874585101466 Centerline is valid? [True, True] Translation: X:301.71, Y:4.51, Z:2.74 [[ 9.96696688e-01 -8.06155082e-02 -9.84132028e-03 3.01708226e+02] [ 8.06170031e-02 9.96745122e-01 -2.45350946e-04 4.51437561e+00] [ 9.82906707e-03 -5.48837272e-04 9.99951543e-01 2.73915967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.539254154 meters Centerline goodness [0,1] 0.9984443977296615 Centerline is valid? [True, True] Translation: X:301.74, Y:4.51, Z:2.74 [[ 9.96772077e-01 -7.97911012e-02 -8.87731240e-03 3.01739536e+02] [ 7.97922927e-02 9.96811487e-01 -2.20444478e-04 4.50970411e+00] [ 8.86659649e-03 -4.88608210e-04 9.99960572e-01 2.74051263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56925415399996 meters Centerline goodness [0,1] 0.9984627695417789 Centerline is valid? [True, True] Translation: X:301.77, Y:4.52, Z:2.74 [[ 9.97073631e-01 -7.61672267e-02 -6.53671859e-03 3.01770519e+02] [ 7.61678013e-02 9.97095001e-01 -1.61365578e-04 4.52084359e+00] [ 6.53002019e-03 -3.36994119e-04 9.99978622e-01 2.74241398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59925415399994 meters Centerline goodness [0,1] 0.9986113448914324 Centerline is valid? [True, True] Translation: X:301.80, Y:4.52, Z:2.74 [[ 9.97288073e-01 -7.33674374e-02 -5.80685629e-03 3.01800597e+02] [ 7.33678441e-02 9.97304938e-01 -1.43234178e-04 4.52286306e+00] [ 5.80171518e-03 -2.83190790e-04 9.99983130e-01 2.74337354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62925415399997 meters Centerline goodness [0,1] 0.9984617978001601 Centerline is valid? [True, True] Translation: X:301.83, Y:4.53, Z:2.74 [[ 9.97520944e-01 -7.01377762e-02 -5.71483501e-03 3.01832270e+02] [ 7.01381166e-02 9.97537280e-01 -1.41081743e-04 4.52616937e+00] [ 5.71065613e-03 -2.60095770e-04 9.99983660e-01 2.74393950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65925415399994 meters Centerline goodness [0,1] 0.9987137043206883 Centerline is valid? [True, True] Translation: X:301.86, Y:4.53, Z:2.74 [[ 9.97997674e-01 -6.29460179e-02 -6.20016797e-03 3.01862430e+02] [ 6.29462849e-02 9.98016905e-01 -1.52258184e-04 4.53418055e+00] [ 6.19745649e-03 -2.38324226e-04 9.99980767e-01 2.74400596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68925415399997 meters Centerline goodness [0,1] 0.9987137043206883 Centerline is valid? [True, True] Translation: X:301.89, Y:4.53, Z:2.74 [[ 9.98004590e-01 -6.28362710e-02 -6.20015968e-03 3.01894983e+02] [ 6.28365338e-02 9.98023821e-01 -1.52596473e-04 4.53488954e+00] [ 6.19749565e-03 -2.37304563e-04 9.99980767e-01 2.74431100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71925415399994 meters Centerline goodness [0,1] 0.9986911547392865 Centerline is valid? [True, True] Translation: X:301.93, Y:4.54, Z:2.74 [[ 9.98187748e-01 -5.97154248e-02 -7.43563135e-03 3.01926876e+02] [ 5.97157247e-02 9.98215407e-01 -1.81874527e-04 4.53970585e+00] [ 7.43322249e-03 -2.62479190e-04 9.99972339e-01 2.74407330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74925415399997 meters Centerline goodness [0,1] 0.99852077257935 Centerline is valid? [True, True] Translation: X:301.96, Y:4.54, Z:2.74 [[ 9.98439081e-01 -5.50941352e-02 -9.16722248e-03 3.01957250e+02] [ 5.50944022e-02 9.98481125e-01 -2.23593164e-04 4.54393691e+00] [ 9.16561729e-03 -2.81818490e-04 9.99957955e-01 2.74310147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77925415399994 meters Centerline goodness [0,1] 0.9985629451171834 Centerline is valid? [True, True] Translation: X:301.99, Y:4.55, Z:2.74 [[ 9.98504131e-01 -5.37610203e-02 -9.96254095e-03 3.01989692e+02] [ 5.37612717e-02 9.98553788e-01 -2.42760103e-04 4.54557235e+00] [ 9.96118403e-03 -2.93201905e-04 9.99950343e-01 2.74260115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.809254154 meters Centerline goodness [0,1] 0.9987923984661342 Centerline is valid? [True, True] Translation: X:302.02, Y:4.55, Z:2.74 [[ 9.98534642e-01 -5.29740588e-02 -1.10597000e-02 3.02020945e+02] [ 5.29743298e-02 9.98595838e-01 -2.68655719e-04 4.54670533e+00] [ 1.10584022e-02 -3.17618153e-04 9.99938804e-01 2.74213500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83925415399995 meters Centerline goodness [0,1] 0.9986686671879292 Centerline is valid? [True, True] Translation: X:302.05, Y:4.55, Z:2.74 [[ 9.98501235e-01 -5.31181089e-02 -1.31814005e-02 3.02053159e+02] [ 5.31185178e-02 9.98588164e-01 -3.19324199e-04 4.54863200e+00] [ 1.31797525e-02 -3.81330852e-04 9.99913071e-01 2.74080069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.869254154 meters Centerline goodness [0,1] 0.9987719409684728 Centerline is valid? [True, True] Translation: X:302.08, Y:4.55, Z:2.74 [[ 9.98495014e-01 -5.30428897e-02 -1.39341202e-02 3.02084971e+02] [ 5.30433538e-02 9.98592154e-01 -3.36530683e-04 4.54920798e+00] [ 1.39323537e-02 -4.03088260e-04 9.99902859e-01 2.74024557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.89925415399995 meters Centerline goodness [0,1] 0.9986437804619622 Centerline is valid? [True, True] Translation: X:302.12, Y:4.55, Z:2.74 [[ 9.98476962e-01 -5.30865069e-02 -1.50193201e-02 3.02116975e+02] [ 5.30870678e-02 9.98589822e-01 -3.61622438e-04 4.55178671e+00] [ 1.50173375e-02 -4.36259992e-04 9.99887138e-01 2.74028628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.929254154 meters Centerline goodness [0,1] 0.9988143882455063 Centerline is valid? [True, True] Translation: X:302.15, Y:4.55, Z:2.74 [[ 9.98506984e-01 -5.25263773e-02 -1.49927771e-02 3.02149154e+02] [ 5.25268891e-02 9.98619445e-01 -3.59916179e-04 4.55318496e+00] [ 1.49909838e-02 -4.28145121e-04 9.99887537e-01 2.74073305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.95925415399995 meters Centerline goodness [0,1] 0.9988548161343682 Centerline is valid? [True, True] Translation: X:302.18, Y:4.55, Z:2.74 [[ 9.98541592e-01 -5.19225271e-02 -1.47898581e-02 3.02180849e+02] [ 5.19229743e-02 9.98651030e-01 -3.54007170e-04 4.55364269e+00] [ 1.47882880e-02 -4.14442540e-04 9.99890561e-01 2.74126776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.989254154 meters Centerline goodness [0,1] 0.9987692307692307 Centerline is valid? [True, True] Translation: X:302.21, Y:4.56, Z:2.74 [[ 9.98646392e-01 -5.00167999e-02 -1.42724547e-02 3.02213122e+02] [ 5.00170361e-02 9.98748307e-01 -3.40624460e-04 4.56015829e+00] [ 1.42716270e-02 -3.73702496e-04 9.99898085e-01 2.74338795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.01925415399995 meters Centerline goodness [0,1] 0.9988978147056953 Centerline is valid? [True, True] Translation: X:302.24, Y:4.56, Z:2.74 [[ 9.98698978e-01 -4.91983165e-02 -1.34118501e-02 3.02243825e+02] [ 4.91984630e-02 9.98788971e-01 -3.19213608e-04 4.56117276e+00] [ 1.34113127e-02 -3.41044106e-04 9.99910006e-01 2.74453005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.049254154 meters Centerline goodness [0,1] 0.9989170135054787 Centerline is valid? [True, True] Translation: X:302.28, Y:4.56, Z:2.75 [[ 9.98731034e-01 -4.87224619e-02 -1.27453532e-02 3.02275416e+02] [ 4.87225640e-02 9.98812305e-01 -3.02679086e-04 4.56204679e+00] [ 1.27449629e-02 -3.18691293e-04 9.99918729e-01 2.74569179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07925415399995 meters Centerline goodness [0,1] 0.998682252922423 Centerline is valid? [True, True] Translation: X:302.31, Y:4.56, Z:2.75 [[ 9.98725695e-01 -4.89466527e-02 -1.22968104e-02 3.02307581e+02] [ 4.89467734e-02 9.98801346e-01 -2.91324431e-04 4.56429509e+00] [ 1.22963302e-02 -3.10935999e-04 9.99924349e-01 2.74672750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.109254154 meters Centerline goodness [0,1] 0.9989157471777537 Centerline is valid? [True, True] Translation: X:302.34, Y:4.56, Z:2.75 [[ 9.98617338e-01 -5.12268702e-02 -1.17991785e-02 3.02338414e+02] [ 5.12271518e-02 9.98686989e-01 -2.78564382e-04 4.56061358e+00] [ 1.17979560e-02 -3.26259087e-04 9.99930348e-01 2.74773413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13925415399996 meters Centerline goodness [0,1] 0.9988747346072187 Centerline is valid? [True, True] Translation: X:302.37, Y:4.56, Z:2.75 [[ 9.98362432e-01 -5.60584186e-02 -1.13976887e-02 3.02369225e+02] [ 5.60590100e-02 9.98427421e-01 -2.67837872e-04 4.55850566e+00] [ 1.13947795e-02 -3.71543875e-04 9.99935008e-01 2.74811779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.169254154 meters Centerline goodness [0,1] 0.9986200454323504 Centerline is valid? [True, True] Translation: X:302.40, Y:4.56, Z:2.75 [[ 9.98186319e-01 -5.90828048e-02 -1.15452951e-02 3.02401019e+02] [ 5.90836202e-02 9.98253000e-01 -2.70740626e-04 4.55765509e+00] [ 1.15411216e-02 -4.11888240e-04 9.99933314e-01 2.74804835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19925415399996 meters Centerline goodness [0,1] 0.9987068325878188 Centerline is valid? [True, True] Translation: X:302.43, Y:4.55, Z:2.75 [[ 9.97775595e-01 -6.53475732e-02 -1.31740583e-02 3.02430967e+02] [ 6.53491869e-02 9.97862410e-01 -3.08404823e-04 4.55040505e+00] [ 1.31660511e-02 -5.53195194e-04 9.99913171e-01 2.74706875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.229254154 meters Centerline goodness [0,1] 0.9987068325878188 Centerline is valid? [True, True] Translation: X:302.46, Y:4.55, Z:2.75 [[ 9.97782501e-01 -6.52420397e-02 -1.31740647e-02 3.02463525e+02] [ 6.52436478e-02 9.97869316e-01 -3.08132820e-04 4.55107144e+00] [ 1.31660981e-02 -5.52074502e-04 9.99913171e-01 2.74737386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25925415399996 meters Centerline goodness [0,1] 0.9986640654819967 Centerline is valid? [True, True] Translation: X:302.49, Y:4.55, Z:2.75 [[ 9.97395183e-01 -7.04574549e-02 -1.54465443e-02 3.02494316e+02] [ 7.04603083e-02 9.97514519e-01 -3.60089224e-04 4.55081755e+00] [ 1.54335232e-02 -7.29217015e-04 9.99880630e-01 2.74632567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.289254154 meters Centerline goodness [0,1] 0.998773991713875 Centerline is valid? [True, True] Translation: X:302.53, Y:4.55, Z:2.75 [[ 9.97243112e-01 -7.24524414e-02 -1.60255747e-02 3.02525276e+02] [ 7.24557842e-02 9.97371556e-01 -3.72686231e-04 4.54678593e+00] [ 1.60104544e-02 -7.89486806e-04 9.99871513e-01 2.74577370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31925415399996 meters Centerline goodness [0,1] 0.9986659325766559 Centerline is valid? [True, True] Translation: X:302.56, Y:4.55, Z:2.75 [[ 9.97114165e-01 -7.40651413e-02 -1.66642617e-02 3.02557347e+02] [ 7.40690099e-02 9.97253044e-01 -3.85772454e-04 4.54800652e+00] [ 1.66470579e-02 -8.49646183e-04 9.99861067e-01 2.74577749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34925415399994 meters Centerline goodness [0,1] 0.998876237728728 Centerline is valid? [True, True] Translation: X:302.59, Y:4.55, Z:2.75 [[ 9.96924432e-01 -7.62363629e-02 -1.81574968e-02 3.02588044e+02] [ 7.62413316e-02 9.97089306e-01 -4.19443159e-04 4.54814159e+00] [ 1.81366227e-02 -9.66198599e-04 9.99835051e-01 2.74583239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37925415399997 meters Centerline goodness [0,1] 0.998726303946335 Centerline is valid? [True, True] Translation: X:302.62, Y:4.55, Z:2.75 [[ 9.96857744e-01 -7.69689017e-02 -1.87196976e-02 3.02619353e+02] [ 7.69743246e-02 9.97032982e-01 -4.31743331e-04 4.54738026e+00] [ 1.86973867e-02 -1.01054940e-03 9.99824678e-01 2.74584986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40925415399994 meters Centerline goodness [0,1] 0.9990024196629452 Centerline is valid? [True, True] Translation: X:302.65, Y:4.55, Z:2.75 [[ 9.96854029e-01 -7.69767714e-02 -1.88844201e-02 3.02651679e+02] [ 7.69823142e-02 9.97032364e-01 -4.34339186e-04 4.54743418e+00] [ 1.88618120e-02 -1.02079359e-03 9.99821579e-01 2.74615973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43925415399997 meters Centerline goodness [0,1] 0.998840005061796 Centerline is valid? [True, True] Translation: X:302.68, Y:4.55, Z:2.75 [[ 9.96883016e-01 -7.66404080e-02 -1.87216694e-02 3.02682536e+02] [ 7.66458185e-02 9.97058290e-01 -4.29422124e-04 4.54738158e+00] [ 1.86995068e-02 -1.00685405e-03 9.99824642e-01 2.74674743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46925415399994 meters Centerline goodness [0,1] 0.9986837356431649 Centerline is valid? [True, True] Translation: X:302.71, Y:4.55, Z:2.75 [[ 9.96978261e-01 -7.53967377e-02 -1.86997320e-02 3.02714457e+02] [ 7.54019393e-02 9.97153130e-01 -4.27741339e-04 4.54951113e+00] [ 1.86787465e-02 -9.83547238e-04 9.99825053e-01 2.74726218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49925415399997 meters Centerline goodness [0,1] 0.9988328417121151 Centerline is valid? [True, True] Translation: X:302.75, Y:4.55, Z:2.75 [[ 9.97048912e-01 -7.45110558e-02 -1.84815927e-02 3.02747071e+02] [ 7.45160127e-02 9.97219728e-01 -4.21252822e-04 4.55156184e+00] [ 1.84615969e-02 -9.57164929e-04 9.99829112e-01 2.74794647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52925415399994 meters Centerline goodness [0,1] 0.9987052955534331 Centerline is valid? [True, True] Translation: X:302.78, Y:4.55, Z:2.75 [[ 9.97127965e-01 -7.33811442e-02 -1.87357556e-02 3.02778597e+02] [ 7.33860652e-02 9.97303517e-01 -4.25672359e-04 4.55156818e+00] [ 1.87164713e-02 -9.50493568e-04 9.99824380e-01 2.74810517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.559254154 meters Centerline goodness [0,1] 0.9989185750636133 Centerline is valid? [True, True] Translation: X:302.81, Y:4.55, Z:2.75 [[ 9.97251594e-01 -7.16264987e-02 -1.89447095e-02 3.02809194e+02] [ 7.16312273e-02 9.97431092e-01 -4.29734865e-04 4.55184431e+00] [ 1.89268226e-02 -9.28479009e-04 9.99820441e-01 2.74763344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.58925415399995 meters Centerline goodness [0,1] 0.9987473460721868 Centerline is valid? [True, True] Translation: X:302.84, Y:4.55, Z:2.75 [[ 9.97294649e-01 -7.09151423e-02 -1.93500886e-02 3.02841767e+02] [ 7.09199589e-02 9.97481913e-01 -4.38049315e-04 4.55417867e+00] [ 1.93324278e-02 -9.35443254e-04 9.99812674e-01 2.74779770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.619254154 meters Centerline goodness [0,1] 0.9988778081263631 Centerline is valid? [True, True] Translation: X:302.87, Y:4.56, Z:2.75 [[ 9.97303624e-01 -7.06509367e-02 -1.98475968e-02 3.02873681e+02] [ 7.06559809e-02 9.97500643e-01 -4.47860891e-04 4.55788514e+00] [ 1.98296324e-02 -9.55698135e-04 9.99802917e-01 2.74844354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.64925415399995 meters Centerline goodness [0,1] 0.9987255193508645 Centerline is valid? [True, True] Translation: X:302.91, Y:4.56, Z:2.75 [[ 9.97239466e-01 -7.12353952e-02 -2.09515022e-02 3.02905267e+02] [ 7.12411739e-02 9.97459008e-01 -4.71394934e-04 4.56123357e+00] [ 2.09318446e-02 -1.02251598e-03 9.99780382e-01 2.74866116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.679254154 meters Centerline goodness [0,1] 0.9986416215642576 Centerline is valid? [True, True] Translation: X:302.94, Y:4.56, Z:2.75 [[ 9.97180616e-01 -7.18401214e-02 -2.16752245e-02 3.02936886e+02] [ 7.18464937e-02 9.97415583e-01 -4.85609435e-04 4.55861796e+00] [ 2.16540929e-02 -1.07304857e-03 9.99764947e-01 2.74769262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.70925415399995 meters Centerline goodness [0,1] 0.9988725563190027 Centerline is valid? [True, True] Translation: X:302.97, Y:4.56, Z:2.75 [[ 9.97084872e-01 -7.29143196e-02 -2.24779986e-02 3.02967934e+02] [ 7.29214881e-02 9.97337558e-01 -5.01684475e-04 4.55530270e+00] [ 2.24547323e-02 -1.13890711e-03 9.99747212e-01 2.74647726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.739254154 meters Centerline goodness [0,1] 0.9989796569096359 Centerline is valid? [True, True] Translation: X:303.00, Y:4.56, Z:2.75 [[ 9.96987376e-01 -7.42172909e-02 -2.25381175e-02 3.02999751e+02] [ 7.42248631e-02 9.97241404e-01 -5.01544136e-04 4.56055575e+00] [ 2.25131672e-02 -1.17285551e-03 9.99745859e-01 2.74862461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.76925415399995 meters Centerline goodness [0,1] 0.9988516990600944 Centerline is valid? [True, True] Translation: X:303.03, Y:4.56, Z:2.75 [[ 9.96811047e-01 -7.67756188e-02 -2.17541143e-02 3.03029474e+02] [ 7.67832950e-02 9.97047688e-01 -4.83428706e-04 4.55778053e+00] [ 2.17270049e-02 -1.18846550e-03 9.99763234e-01 2.74875834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.799254154 meters Centerline goodness [0,1] 0.998597833014659 Centerline is valid? [True, True] Translation: X:303.06, Y:4.56, Z:2.75 [[ 9.96750531e-01 -7.76914834e-02 -2.12699921e-02 3.03061796e+02] [ 7.76990480e-02 9.96976748e-01 -4.71799205e-04 4.56013958e+00] [ 2.12423423e-02 -1.18239203e-03 9.99773657e-01 2.74978032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.82925415399995 meters Centerline goodness [0,1] 0.9987440395095368 Centerline is valid? [True, True] Translation: X:303.09, Y:4.56, Z:2.75 [[ 9.96702178e-01 -7.84145871e-02 -2.08787336e-02 3.03093782e+02] [ 7.84220655e-02 9.96920141e-01 -4.61605820e-04 4.56085248e+00] [ 2.08506267e-02 -1.17726989e-03 9.99781909e-01 2.75039779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.859254154 meters Centerline goodness [0,1] 0.9988519187838844 Centerline is valid? [True, True] Translation: X:303.12, Y:4.56, Z:2.75 [[ 9.96651726e-01 -7.92884001e-02 -1.99671443e-02 3.03124976e+02] [ 7.92954545e-02 9.96851061e-01 -4.39429267e-04 4.56102441e+00] [ 1.99391107e-02 -1.14534585e-03 9.99800540e-01 2.75031518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.88925415399996 meters Centerline goodness [0,1] 0.9988519187838844 Centerline is valid? [True, True] Translation: X:303.16, Y:4.56, Z:2.75 [[ 9.96660339e-01 -7.91800429e-02 -1.99671961e-02 3.03157562e+02] [ 7.91871228e-02 9.96859673e-01 -4.37069642e-04 4.56164566e+00] [ 1.99390997e-02 -1.14553483e-03 9.99800540e-01 2.75062016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.919254154 meters Centerline goodness [0,1] 0.9988937582436285 Centerline is valid? [True, True] Translation: X:303.19, Y:4.57, Z:2.75 [[ 9.96636409e-01 -7.94837069e-02 -1.99551502e-02 3.03189502e+02] [ 7.94908748e-02 9.96835499e-01 -4.35004139e-04 4.56545976e+00] [ 1.99265779e-02 -1.15271139e-03 9.99800782e-01 2.75225573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.94925415399996 meters Centerline goodness [0,1] 0.998979309758224 Centerline is valid? [True, True] Translation: X:303.22, Y:4.57, Z:2.75 [[ 9.96671060e-01 -7.93188683e-02 -1.88497937e-02 3.03220964e+02] [ 7.93252566e-02 9.96848703e-01 -4.09729994e-04 4.56677232e+00] [ 1.88228917e-02 -1.08689869e-03 9.99822243e-01 2.75260447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.979254154 meters Centerline goodness [0,1] 0.998979309758224 Centerline is valid? [True, True] Translation: X:303.25, Y:4.57, Z:2.75 [[ 9.96679795e-01 -7.92090314e-02 -1.88498275e-02 3.03253552e+02] [ 7.92154295e-02 9.96857437e-01 -4.08168263e-04 4.56738810e+00] [ 1.88229213e-02 -1.08638412e-03 9.99822243e-01 2.75290966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.00925415399996 meters Centerline goodness [0,1] 0.9988315275122158 Centerline is valid? [True, True] Translation: X:303.29, Y:4.57, Z:2.75 [[ 9.96667272e-01 -7.93734898e-02 -1.88201602e-02 3.03285546e+02] [ 7.93799295e-02 9.96844352e-01 -4.05805231e-04 4.56829270e+00] [ 1.87929806e-02 -1.08949020e-03 9.99822803e-01 2.75336353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.039254154 meters Centerline goodness [0,1] 0.9988315275122158 Centerline is valid? [True, True] Translation: X:303.32, Y:4.57, Z:2.75 [[ 9.96678767e-01 -7.92474357e-02 -1.87424724e-02 3.03318860e+02] [ 7.92538320e-02 9.96854387e-01 -4.02420797e-04 4.56945004e+00] [ 1.87154067e-02 -1.08432850e-03 9.99824263e-01 2.75373394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06925415399996 meters Centerline goodness [0,1] 0.9987455616269428 Centerline is valid? [True, True] Translation: X:303.35, Y:4.57, Z:2.75 [[ 9.96620988e-01 -7.98799877e-02 -1.91257426e-02 3.03350682e+02] [ 7.98868093e-02 9.96803858e-01 -4.08302338e-04 4.56978905e+00] [ 1.90972292e-02 -1.12097187e-03 9.99817003e-01 2.75360016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09925415399994 meters Centerline goodness [0,1] 0.9988091440723019 Centerline is valid? [True, True] Translation: X:303.38, Y:4.57, Z:2.75 [[ 9.96584131e-01 -8.03028151e-02 -1.92750555e-02 3.03381792e+02] [ 8.03098569e-02 9.96769863e-01 -4.09699777e-04 4.56759288e+00] [ 1.92456945e-02 -1.13967665e-03 9.99814135e-01 2.75320969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12925415399997 meters Centerline goodness [0,1] 0.9988536978857094 Centerline is valid? [True, True] Translation: X:303.41, Y:4.57, Z:2.75 [[ 9.96523661e-01 -8.08645465e-02 -2.00379208e-02 3.03414123e+02] [ 8.08722957e-02 9.96724381e-01 -4.24637047e-04 4.56752313e+00] [ 2.00066222e-02 -1.19735179e-03 9.99799131e-01 2.75292702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15925415399994 meters Centerline goodness [0,1] 0.9988519187838844 Centerline is valid? [True, True] Translation: X:303.45, Y:4.57, Z:2.75 [[ 9.96398862e-01 -8.20077475e-02 -2.15415451e-02 3.03446087e+02] [ 8.20170038e-02 9.96630826e-01 -4.54929901e-04 4.56842335e+00] [ 2.15062756e-02 -1.31348135e-03 9.99767850e-01 2.75214437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18925415399997 meters Centerline goodness [0,1] 0.9987655372041546 Centerline is valid? [True, True] Translation: X:303.48, Y:4.57, Z:2.75 [[ 9.96405150e-01 -8.17437809e-02 -2.22425620e-02 3.03478125e+02] [ 8.17536247e-02 9.96652460e-01 -4.67916333e-04 4.56785841e+00] [ 2.22063534e-02 -1.35217583e-03 9.99752494e-01 2.75183384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21925415399994 meters Centerline goodness [0,1] 0.9989360796663546 Centerline is valid? [True, True] Translation: X:303.51, Y:4.57, Z:2.75 [[ 9.96460099e-01 -8.10340854e-02 -2.23774192e-02 3.03509851e+02] [ 8.10439095e-02 9.96710422e-01 -4.69013221e-04 4.57038518e+00] [ 2.23418130e-02 -1.34620058e-03 9.99749484e-01 2.75210067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24925415399997 meters Centerline goodness [0,1] 0.9988727481549227 Centerline is valid? [True, True] Translation: X:303.54, Y:4.57, Z:2.75 [[ 9.96737317e-01 -7.74953820e-02 -2.25651602e-02 3.03539715e+02] [ 7.75044828e-02 9.96991892e-01 -4.72287660e-04 4.57367436e+00] [ 2.25338819e-02 -1.27815433e-03 9.99745263e-01 2.75257396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27925415399994 meters Centerline goodness [0,1] 0.9987436918425143 Centerline is valid? [True, True] Translation: X:303.57, Y:4.58, Z:2.75 [[ 9.96937238e-01 -7.49274711e-02 -2.24057697e-02 3.03571647e+02] [ 7.49358122e-02 9.97188249e-01 -4.68278830e-04 4.57676905e+00] [ 2.23778572e-02 -1.21214994e-03 9.99748850e-01 2.75322630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.309254154 meters Centerline goodness [0,1] 0.9989568697577383 Centerline is valid? [True, True] Translation: X:303.60, Y:4.58, Z:2.75 [[ 9.97187990e-01 -7.17150582e-02 -2.17500003e-02 3.03601952e+02] [ 7.17221660e-02 9.97424546e-01 -4.54104287e-04 4.58031955e+00] [ 2.17265502e-02 -1.10712979e-03 9.99763338e-01 2.75395771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33925415399995 meters Centerline goodness [0,1] 0.9988710192778784 Centerline is valid? [True, True] Translation: X:303.63, Y:4.58, Z:2.75 [[ 9.97431574e-01 -6.83869420e-02 -2.12951021e-02 3.03633042e+02] [ 6.83930030e-02 9.97658358e-01 -4.44405123e-04 4.58406079e+00] [ 2.12756281e-02 -1.01317228e-03 9.99773135e-01 2.75465487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.369254154 meters Centerline goodness [0,1] 0.998933037429047 Centerline is valid? [True, True] Translation: X:303.66, Y:4.59, Z:2.76 [[ 9.97937501e-01 -6.09373082e-02 -2.01838846e-02 3.03662355e+02] [ 6.09412306e-02 9.98141267e-01 -4.21257582e-04 4.59104798e+00] [ 2.01720384e-02 -8.09642027e-04 9.99796196e-01 2.75607405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.39925415399995 meters Centerline goodness [0,1] 0.9992959248986558 Centerline is valid? [True, True] Translation: X:303.69, Y:4.60, Z:2.76 [[ 9.98188972e-01 -5.68284406e-02 -1.97308248e-02 3.03692278e+02] [ 5.68313840e-02 9.98383706e-01 -4.11964556e-04 4.59513168e+00] [ 1.97223453e-02 -7.10111602e-04 9.99805243e-01 2.75695361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.429254154 meters Centerline goodness [0,1] 0.9991468668685748 Centerline is valid? [True, True] Translation: X:303.72, Y:4.61, Z:2.76 [[ 9.98425434e-01 -5.26485580e-02 -1.93593011e-02 3.03723162e+02] [ 5.26506135e-02 9.98612913e-01 -4.03846530e-04 4.60544586e+00] [ 1.93537100e-02 -6.16068435e-04 9.99812510e-01 2.75921661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.45925415399995 meters Centerline goodness [0,1] 0.9992292375875137 Centerline is valid? [True, True] Translation: X:303.75, Y:4.61, Z:2.76 [[ 9.98825918e-01 -4.42868224e-02 -1.96332285e-02 3.03754037e+02] [ 4.42873323e-02 9.99018751e-01 -4.09034827e-04 4.61272863e+00] [ 1.96320783e-02 -4.60948728e-04 9.99807166e-01 2.75950347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.489254154 meters Centerline goodness [0,1] 0.9991219240571392 Centerline is valid? [True, True] Translation: X:303.79, Y:4.62, Z:2.76 [[ 9.99010433e-01 -3.99219534e-02 -1.96059090e-02 3.03785688e+02] [ 3.99216357e-02 9.99202731e-01 -4.07749577e-04 4.61780271e+00] [ 1.96065560e-02 -3.75353877e-04 9.99807703e-01 2.76017860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.51925415399995 meters Centerline goodness [0,1] 0.9993816367435712 Centerline is valid? [True, True] Translation: X:303.82, Y:4.62, Z:2.76 [[ 9.99177351e-01 -3.53460112e-02 -1.98816561e-02 3.03816409e+02] [ 3.53447966e-02 9.99375092e-01 -4.12592142e-04 4.62116080e+00] [ 1.98838154e-02 -2.90460367e-04 9.99802255e-01 2.76013285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.549254154 meters Centerline goodness [0,1] 0.9992480718413647 Centerline is valid? [True, True] Translation: X:303.85, Y:4.62, Z:2.76 [[ 9.99310855e-01 -3.10926930e-02 -2.02746163e-02 3.03847570e+02] [ 3.10905696e-02 9.99516483e-01 -4.20008764e-04 4.62477426e+00] [ 2.02778724e-02 -2.10630052e-04 9.99794361e-01 2.75964432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57925415399995 meters Centerline goodness [0,1] 0.9992683136782302 Centerline is valid? [True, True] Translation: X:303.88, Y:4.63, Z:2.76 [[ 9.99427695e-01 -2.72382578e-02 -2.00589326e-02 3.03878009e+02] [ 2.72354097e-02 9.99628961e-01 -4.15208848e-04 4.62846017e+00] [ 2.00627995e-02 -1.31342025e-04 9.99798713e-01 2.76059467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.609254154 meters Centerline goodness [0,1] 0.9993737447902045 Centerline is valid? [True, True] Translation: X:303.91, Y:4.63, Z:2.76 [[ 9.99602848e-01 -1.99411885e-02 -1.99121999e-02 3.03907233e+02] [ 1.99369264e-02 9.99801155e-01 -4.12558725e-04 4.63473353e+00] [ 1.99164674e-02 1.54068125e-05 9.99801647e-01 2.76220779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63925415399996 meters Centerline goodness [0,1] 0.9995469744364146 Centerline is valid? [True, True] Translation: X:303.94, Y:4.64, Z:2.76 [[ 9.99649925e-01 -1.72317711e-02 -2.00772029e-02 3.03935549e+02] [ 1.72268290e-02 9.99851519e-01 -4.19093803e-04 4.63751321e+00] [ 2.00814435e-02 7.30805490e-05 9.99798345e-01 2.76275041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.669254154 meters Centerline goodness [0,1] 0.9994593425605537 Centerline is valid? [True, True] Translation: X:303.96, Y:4.64, Z:2.76 [[ 9.99681861e-01 -1.42408508e-02 -2.08176832e-02 3.03962813e+02] [ 1.42348104e-02 9.99898584e-01 -4.38318941e-04 4.64064532e+00] [ 2.08218140e-02 1.41843721e-04 9.99783192e-01 2.76253544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69925415399996 meters Centerline goodness [0,1] 0.999503443511302 Centerline is valid? [True, True] Translation: X:303.99, Y:4.64, Z:2.76 [[ 9.99695783e-01 -1.38293518e-02 -2.04227828e-02 3.03989397e+02] [ 1.38234038e-02 9.99904359e-01 -4.32392699e-04 4.64181223e+00] [ 2.04268092e-02 1.49948785e-04 9.99791340e-01 2.76173274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.729254154 meters Centerline goodness [0,1] 0.9995891803066013 Centerline is valid? [True, True] Translation: X:304.02, Y:4.64, Z:2.76 [[ 9.99674511e-01 -1.46559975e-02 -2.08823814e-02 3.04017730e+02] [ 1.46498648e-02 9.99892585e-01 -4.46635377e-04 4.64185548e+00] [ 2.08866842e-02 1.40565939e-04 9.99781840e-01 2.76279523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75925415399996 meters Centerline goodness [0,1] 0.9994802832456311 Centerline is valid? [True, True] Translation: X:304.05, Y:4.64, Z:2.76 [[ 9.99655102e-01 -1.58492663e-02 -2.09398734e-02 3.04045543e+02] [ 1.58432347e-02 9.99874385e-01 -4.53922835e-04 4.64137577e+00] [ 2.09444374e-02 1.22010950e-04 9.99780634e-01 2.76322823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.789254154 meters Centerline goodness [0,1] 0.9992221261884183 Centerline is valid? [True, True] Translation: X:304.07, Y:4.64, Z:2.76 [[ 9.99638510e-01 -1.74026223e-02 -2.04938783e-02 3.04073279e+02] [ 1.73970964e-02 9.99848559e-01 -4.47908082e-04 4.64053066e+00] [ 2.04985695e-02 9.12121915e-05 9.99789878e-01 2.76325375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81925415399996 meters Centerline goodness [0,1] 0.9993947908786339 Centerline is valid? [True, True] Translation: X:304.10, Y:4.64, Z:2.76 [[ 9.99546567e-01 -2.20492669e-02 -2.05058529e-02 3.04102133e+02] [ 2.20446781e-02 9.99756885e-01 -4.49827172e-04 4.63664526e+00] [ 2.05107860e-02 -2.42172087e-06 9.99789632e-01 2.76495584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84925415399994 meters Centerline goodness [0,1] 0.9993526390747054 Centerline is valid? [True, True] Translation: X:304.13, Y:4.63, Z:2.77 [[ 9.99481224e-01 -2.50773884e-02 -2.02090955e-02 3.04129693e+02] [ 2.50735167e-02 9.99685511e-01 -4.44980765e-04 4.63479602e+00] [ 2.02138989e-02 -6.19631737e-05 9.99795676e-01 2.76529772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87925415399997 meters Centerline goodness [0,1] 0.9995906231147117 Centerline is valid? [True, True] Translation: X:304.16, Y:4.63, Z:2.77 [[ 9.99388395e-01 -2.83817057e-02 -2.04282633e-02 3.04158816e+02] [ 2.83783660e-02 9.99597150e-01 -4.53414383e-04 4.63260925e+00] [ 2.04329024e-02 -1.26583659e-04 9.99791218e-01 2.76570660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90925415399994 meters Centerline goodness [0,1] 0.9991602248013609 Centerline is valid? [True, True] Translation: X:304.19, Y:4.63, Z:2.77 [[ 9.99276903e-01 -3.19602898e-02 -2.05963650e-02 3.04188956e+02] [ 3.19575982e-02 9.99489120e-01 -4.59897462e-04 4.63044926e+00] [ 2.06005412e-02 -1.98645445e-04 9.99787767e-01 2.76627506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93925415399997 meters Centerline goodness [0,1] 0.9991617229816868 Centerline is valid? [True, True] Translation: X:304.22, Y:4.62, Z:2.77 [[ 9.99015879e-01 -3.92125649e-02 -2.07279723e-02 3.04219996e+02] [ 3.92113961e-02 9.99230830e-01 -4.62971827e-04 4.62455161e+00] [ 2.07301833e-02 -3.50256526e-04 9.99785045e-01 2.76588027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96925415399994 meters Centerline goodness [0,1] 0.9993773483628556 Centerline is valid? [True, True] Translation: X:304.25, Y:4.62, Z:2.77 [[ 9.98872145e-01 -4.27166866e-02 -2.07297372e-02 3.04251499e+02] [ 4.27162839e-02 9.99087136e-01 -4.62421924e-04 4.62191753e+00] [ 2.07305669e-02 -4.23596961e-04 9.99785009e-01 2.76631699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99925415399997 meters Centerline goodness [0,1] 0.9990152001712695 Centerline is valid? [True, True] Translation: X:304.28, Y:4.62, Z:2.77 [[ 9.98732245e-01 -4.59265837e-02 -2.06070730e-02 3.04282942e+02] [ 4.59268884e-02 9.98944698e-01 -4.58722255e-04 4.61851074e+00] [ 2.06063939e-02 -4.88278035e-04 9.99787546e-01 2.76588948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02925415399994 meters Centerline goodness [0,1] 0.998889387240768 Centerline is valid? [True, True] Translation: X:304.31, Y:4.61, Z:2.77 [[ 9.98586453e-01 -4.89393659e-02 -2.07372459e-02 3.04314451e+02] [ 4.89403471e-02 9.98801597e-01 -4.60481126e-04 4.61451817e+00] [ 2.07349300e-02 -5.55057800e-04 9.99784854e-01 2.76527864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.059254154 meters Centerline goodness [0,1] 0.999166720082046 Centerline is valid? [True, True] Translation: X:304.35, Y:4.61, Z:2.77 [[ 9.98338329e-01 -5.37930808e-02 -2.06612215e-02 3.04346027e+02] [ 5.37951121e-02 9.98551890e-01 -4.57870351e-04 4.61191265e+00] [ 2.06559321e-02 -6.54363206e-04 9.99786429e-01 2.76650994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.08925415399995 meters Centerline goodness [0,1] 0.9989973119426547 Centerline is valid? [True, True] Translation: X:304.38, Y:4.61, Z:2.77 [[ 9.98251023e-01 -5.53750955e-02 -2.07000873e-02 3.04377519e+02] [ 5.53774943e-02 9.98465384e-01 -4.57763287e-04 4.61013067e+00] [ 2.06936693e-02 -6.89356296e-04 9.99785625e-01 2.76644376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.119254154 meters Centerline goodness [0,1] 0.9989109777711345 Centerline is valid? [True, True] Translation: X:304.41, Y:4.61, Z:2.77 [[ 9.98198779e-01 -5.64260260e-02 -2.03789611e-02 3.04409831e+02] [ 5.64285964e-02 9.98406536e-01 -4.49345128e-04 4.60951770e+00] [ 2.03718427e-02 -7.01420411e-04 9.99792226e-01 2.76697394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.14925415399995 meters Centerline goodness [0,1] 0.9989113264739786 Centerline is valid? [True, True] Translation: X:304.44, Y:4.61, Z:2.77 [[ 9.98175184e-01 -5.71255351e-02 -1.95697763e-02 3.04441635e+02] [ 5.71280673e-02 9.98366766e-01 -4.30087067e-04 4.60881961e+00] [ 1.95623832e-02 -6.88681259e-04 9.99808401e-01 2.76767811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.179254154 meters Centerline goodness [0,1] 0.9990611530747237 Centerline is valid? [True, True] Translation: X:304.47, Y:4.61, Z:2.77 [[ 9.98216842e-01 -5.64266102e-02 -1.94724129e-02 3.04473865e+02] [ 5.64290124e-02 9.98406523e-01 -4.26507763e-04 4.60930504e+00] [ 1.94654504e-02 -6.73061797e-04 9.99810304e-01 2.76775656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.20925415399995 meters Centerline goodness [0,1] 0.9989356040447046 Centerline is valid? [True, True] Translation: X:304.51, Y:4.61, Z:2.77 [[ 9.98261630e-01 -5.56453339e-02 -1.94245871e-02 3.04505437e+02] [ 5.56476008e-02 9.98450382e-01 -4.24211593e-04 4.60846985e+00] [ 1.94180918e-02 -6.57457512e-04 9.99811235e-01 2.76756345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.239254154 meters Centerline goodness [0,1] 0.9989556024468743 Centerline is valid? [True, True] Translation: X:304.54, Y:4.61, Z:2.77 [[ 9.98393175e-01 -5.32560339e-02 -1.93613868e-02 3.04536610e+02] [ 5.32578577e-02 9.98580704e-01 -4.21777169e-04 4.60954016e+00] [ 1.93563695e-02 -6.10046538e-04 9.99812462e-01 2.76714034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.26925415399995 meters Centerline goodness [0,1] 0.9989556024468743 Centerline is valid? [True, True] Translation: X:304.57, Y:4.61, Z:2.77 [[ 9.98396967e-01 -5.31848897e-02 -1.93614133e-02 3.04568313e+02] [ 5.31867237e-02 9.98584496e-01 -4.20560441e-04 4.61016743e+00] [ 1.93563746e-02 -6.09883869e-04 9.99812462e-01 2.76743724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.299254154 meters Centerline goodness [0,1] 0.9991898518281633 Centerline is valid? [True, True] Translation: X:304.60, Y:4.61, Z:2.77 [[ 9.98492590e-01 -5.10867028e-02 -2.00673115e-02 3.04600901e+02] [ 5.10882834e-02 9.98694047e-01 -4.34217424e-04 4.61418875e+00] [ 2.00632873e-02 -5.91641617e-04 9.99798537e-01 2.76785797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.32925415399995 meters Centerline goodness [0,1] 0.9988708027952957 Centerline is valid? [True, True] Translation: X:304.63, Y:4.61, Z:2.77 [[ 9.98531065e-01 -5.01470875e-02 -2.05178629e-02 3.04632568e+02] [ 5.01485723e-02 9.98741671e-01 -4.42473742e-04 4.61289304e+00] [ 2.05142335e-02 -5.87117755e-04 9.99789389e-01 2.76600904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.359254154 meters Centerline goodness [0,1] 0.9989556469660479 Centerline is valid? [True, True] Translation: X:304.67, Y:4.62, Z:2.77 [[ 9.98522526e-01 -5.02541261e-02 -2.06709578e-02 3.04665059e+02] [ 5.02556840e-02 9.98736286e-01 -4.44423714e-04 4.61622044e+00] [ 2.06671698e-02 -5.95066035e-04 9.99786234e-01 2.76776096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.38925415399996 meters Centerline goodness [0,1] 0.9989346288246825 Centerline is valid? [True, True] Translation: X:304.70, Y:4.62, Z:2.77 [[ 9.98448800e-01 -5.13014237e-02 -2.16369719e-02 3.04697691e+02] [ 5.13034117e-02 9.98683005e-01 -4.63568634e-04 4.61642130e+00] [ 2.16322579e-02 -6.47200932e-04 9.99765786e-01 2.76727730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.419254154 meters Centerline goodness [0,1] 0.9987217452438271 Centerline is valid? [True, True] Translation: X:304.73, Y:4.62, Z:2.77 [[ 9.98378529e-01 -5.24974382e-02 -2.20075387e-02 3.04729251e+02] [ 5.24998157e-02 9.98620823e-01 -4.70116136e-04 4.61548960e+00] [ 2.20018663e-02 -6.86037871e-04 9.99757694e-01 2.76665761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.44925415399996 meters Centerline goodness [0,1] 0.998913830557567 Centerline is valid? [True, True] Translation: X:304.76, Y:4.62, Z:2.77 [[ 9.98188389e-01 -5.57773315e-02 -2.25572577e-02 3.04760199e+02] [ 5.57806942e-02 9.98442929e-01 -4.80599603e-04 4.61643655e+00] [ 2.25489411e-02 -7.78530552e-04 9.99745437e-01 2.76760913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.479254154 meters Centerline goodness [0,1] 0.999021838518298 Centerline is valid? [True, True] Translation: X:304.79, Y:4.62, Z:2.77 [[ 9.98105235e-01 -5.72166535e-02 -2.26317015e-02 3.04791607e+02] [ 5.72204506e-02 9.98361452e-01 -4.80301829e-04 4.61599418e+00] [ 2.26220996e-02 -8.15604386e-04 9.99743755e-01 2.76818664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.50925415399996 meters Centerline goodness [0,1] 0.998935717326522 Centerline is valid? [True, True] Translation: X:304.82, Y:4.62, Z:2.77 [[ 9.98024462e-01 -5.87387455e-02 -2.22920117e-02 3.04822863e+02] [ 5.87428453e-02 9.98273037e-01 -4.71436555e-04 4.61570801e+00] [ 2.22812058e-02 -8.38990979e-04 9.99751391e-01 2.76866059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.539254154 meters Centerline goodness [0,1] 0.9990012961900512 Centerline is valid? [True, True] Translation: X:304.85, Y:4.62, Z:2.77 [[ 9.97949741e-01 -6.01014444e-02 -2.20029730e-02 3.04854676e+02] [ 6.01058007e-02 9.98191904e-01 -4.63892158e-04 4.61640528e+00] [ 2.19910701e-02 -8.59565252e-04 9.99757798e-01 2.76970112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56925415399996 meters Centerline goodness [0,1] 0.9988932638075981 Centerline is valid? [True, True] Translation: X:304.89, Y:4.62, Z:2.77 [[ 9.97881127e-01 -6.17044066e-02 -2.06354839e-02 3.04886717e+02] [ 6.17086102e-02 9.98094114e-01 -4.33598888e-04 4.61686377e+00] [ 2.06229100e-02 -8.40706885e-04 9.99786972e-01 2.77125537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59925415399994 meters Centerline goodness [0,1] 0.9988522116181691 Centerline is valid? [True, True] Translation: X:304.92, Y:4.62, Z:2.77 [[ 9.97878553e-01 -6.20111030e-02 -1.98246413e-02 3.04918411e+02] [ 6.20150809e-02 9.98075126e-01 -4.14651712e-04 4.61655642e+00] [ 1.98121944e-02 -8.15654685e-04 9.99803387e-01 2.77200402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62925415399997 meters Centerline goodness [0,1] 0.9987872340425532 Centerline is valid? [True, True] Translation: X:304.95, Y:4.62, Z:2.77 [[ 9.97887521e-01 -6.21322312e-02 -1.89758050e-02 3.04950241e+02] [ 6.21359310e-02 9.98067618e-01 -3.95126222e-04 4.61869789e+00] [ 1.89636866e-02 -7.84787785e-04 9.99819865e-01 2.77337878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65925415399994 meters Centerline goodness [0,1] 0.998679361833557 Centerline is valid? [True, True] Translation: X:304.98, Y:4.62, Z:2.77 [[ 9.97902995e-01 -6.21253184e-02 -1.81674602e-02 3.04983086e+02] [ 6.21287376e-02 9.98068073e-01 -3.76690629e-04 4.61968885e+00] [ 1.81557640e-02 -7.52820660e-04 9.99834887e-01 2.77411747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68925415399997 meters Centerline goodness [0,1] 0.9990849116833369 Centerline is valid? [True, True] Translation: X:305.01, Y:4.62, Z:2.78 [[ 9.97956852e-01 -6.15248308e-02 -1.72283875e-02 3.05014275e+02] [ 6.15278400e-02 9.98105304e-01 -3.55833704e-04 4.62110095e+00] [ 1.72176375e-02 -7.04918786e-04 9.99851517e-01 2.77540952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71925415399994 meters Centerline goodness [0,1] 0.9989778099578347 Centerline is valid? [True, True] Translation: X:305.05, Y:4.62, Z:2.78 [[ 9.97996592e-01 -6.08848659e-02 -1.71998758e-02 3.05046955e+02] [ 6.08877908e-02 9.98144554e-01 -3.54051804e-04 4.62234316e+00] [ 1.71895188e-02 -6.93919948e-04 9.99852009e-01 2.77570612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74925415399997 meters Centerline goodness [0,1] 0.9992744499690575 Centerline is valid? [True, True] Translation: X:305.08, Y:4.62, Z:2.77 [[ 9.98062384e-01 -5.97009272e-02 -1.75293405e-02 3.05079463e+02] [ 5.97038078e-02 9.98216072e-01 -3.59418434e-04 4.62383968e+00] [ 1.75195271e-02 -6.87846359e-04 9.99846285e-01 2.77474908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77925415399994 meters Centerline goodness [0,1] 0.9989962198065053 Centerline is valid? [True, True] Translation: X:305.11, Y:4.62, Z:2.78 [[ 9.98091410e-01 -5.91610626e-02 -1.77061159e-02 3.05110521e+02] [ 5.91639362e-02 9.98248214e-01 -3.61941500e-04 4.62479418e+00] [ 1.76965114e-02 -6.86312808e-04 9.99843169e-01 2.77618610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.809254154 meters Centerline goodness [0,1] 0.9989949103973311 Centerline is valid? [True, True] Translation: X:305.14, Y:4.63, Z:2.78 [[ 9.98220935e-01 -5.67204446e-02 -1.83781689e-02 3.05142219e+02] [ 5.67231457e-02 9.98389876e-01 -3.74693661e-04 4.62971927e+00] [ 1.83698306e-02 -6.68440495e-04 9.99831037e-01 2.77630160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83925415399995 meters Centerline goodness [0,1] 0.9988663101604278 Centerline is valid? [True, True] Translation: X:305.17, Y:4.63, Z:2.78 [[ 9.98300980e-01 -5.51522294e-02 -1.87985241e-02 3.05173881e+02] [ 5.51547997e-02 9.98477742e-01 -3.82097818e-04 4.62972609e+00] [ 1.87909815e-02 -6.55380207e-04 9.99823219e-01 2.77555044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.869254154 meters Centerline goodness [0,1] 0.9988663101604278 Centerline is valid? [True, True] Translation: X:305.21, Y:4.63, Z:2.78 [[ 9.98304722e-01 -5.50844468e-02 -1.87985504e-02 3.05205588e+02] [ 5.50870295e-02 9.98481484e-01 -3.80803536e-04 4.63030231e+00] [ 1.87909808e-02 -6.55398330e-04 9.99823219e-01 2.77584731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.89925415399995 meters Centerline goodness [0,1] 0.9989295424864587 Centerline is valid? [True, True] Translation: X:305.24, Y:4.63, Z:2.78 [[ 9.98419540e-01 -5.28680836e-02 -1.90627415e-02 3.05238185e+02] [ 5.28703640e-02 9.98601310e-01 -3.84679138e-04 4.63412641e+00] [ 1.90564159e-02 -6.23782915e-04 9.99818215e-01 2.77592612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.929254154 meters Centerline goodness [0,1] 0.9991203415649338 Centerline is valid? [True, True] Translation: X:305.27, Y:4.64, Z:2.78 [[ 9.98665127e-01 -4.78474419e-02 -1.94573214e-02 3.05268481e+02] [ 4.78488849e-02 9.98854509e-01 -3.91648625e-04 4.64008460e+00] [ 1.94537726e-02 -5.39885309e-04 9.99810612e-01 2.77579409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.95925415399995 meters Centerline goodness [0,1] 0.9990993502455343 Centerline is valid? [True, True] Translation: X:305.30, Y:4.65, Z:2.78 [[ 9.98807515e-01 -4.47035324e-02 -1.96250232e-02 3.05300679e+02] [ 4.47044118e-02 9.99000180e-01 -3.94109643e-04 4.64770946e+00] [ 1.96230198e-02 -4.83685444e-04 9.99807333e-01 2.77769295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.989254154 meters Centerline goodness [0,1] 0.9991605320935039 Centerline is valid? [True, True] Translation: X:305.33, Y:4.65, Z:2.78 [[ 9.98977180e-01 -4.10102705e-02 -1.90460375e-02 3.05331106e+02] [ 4.10104584e-02 9.99158645e-01 -3.80876315e-04 4.65097363e+00] [ 1.90456329e-02 -4.00599983e-04 9.99818535e-01 2.77808206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.01925415399995 meters Centerline goodness [0,1] 0.9992258064516129 Centerline is valid? [True, True] Translation: X:305.36, Y:4.65, Z:2.78 [[ 9.99141223e-01 -3.69455062e-02 -1.87575667e-02 3.05361284e+02] [ 3.69450036e-02 9.99317231e-01 -3.73441314e-04 4.65214245e+00] [ 1.87585566e-02 -3.19877758e-04 9.99823992e-01 2.77730920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.049254154 meters Centerline goodness [0,1] 0.999266482568174 Centerline is valid? [True, True] Translation: X:305.39, Y:4.66, Z:2.78 [[ 9.99421081e-01 -2.85866800e-02 -1.84473443e-02 3.05392147e+02] [ 2.85847899e-02 9.99591304e-01 -3.66179094e-04 4.66258030e+00] [ 1.84502728e-02 -1.61346356e-04 9.99829766e-01 2.78003103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07925415399995 meters Centerline goodness [0,1] 0.9993956921483144 Centerline is valid? [True, True] Translation: X:305.42, Y:4.67, Z:2.78 [[ 9.99537532e-01 -2.41731273e-02 -1.84494672e-02 3.05421956e+02] [ 2.41704883e-02 9.99707784e-01 -3.66042930e-04 4.66571601e+00] [ 1.84529243e-02 -8.00589836e-05 9.99829727e-01 2.77901788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.109254154 meters Centerline goodness [0,1] 0.9993302799861735 Centerline is valid? [True, True] Translation: X:305.45, Y:4.67, Z:2.78 [[ 9.99626662e-01 -2.02378383e-02 -1.83566405e-02 3.05451695e+02] [ 2.02345533e-02 9.99795194e-01 -3.64688019e-04 4.67025969e+00] [ 1.83602615e-02 -6.88655364e-06 9.99831436e-01 2.78096369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13925415399996 meters Centerline goodness [0,1] 0.9993498190329642 Centerline is valid? [True, True] Translation: X:305.48, Y:4.68, Z:2.78 [[ 9.99742560e-01 -1.38286918e-02 -1.79883464e-02 3.05480218e+02] [ 1.38244554e-02 9.99904373e-01 -3.59841973e-04 4.67575326e+00] [ 1.79916024e-02 1.11070244e-04 9.99838132e-01 2.78153453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.169254154 meters Centerline goodness [0,1] 0.9993498190329642 Centerline is valid? [True, True] Translation: X:305.51, Y:4.68, Z:2.78 [[ 9.99738592e-01 -1.41127842e-02 -1.79882499e-02 3.05507594e+02] [ 1.41085078e-02 9.99900404e-01 -3.64619449e-04 4.67638255e+00] [ 1.79916041e-02 1.10736770e-04 9.99838132e-01 2.78179188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19925415399996 meters Centerline goodness [0,1] 0.9992625208771664 Centerline is valid? [True, True] Translation: X:305.54, Y:4.68, Z:2.78 [[ 9.99803495e-01 -9.39057397e-03 -1.74581879e-02 3.05535894e+02] [ 9.38574528e-03 9.99955889e-01 -3.58502268e-04 4.67871374e+00] [ 1.74607844e-02 1.94573716e-04 9.99847530e-01 2.78226448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.229254154 meters Centerline goodness [0,1] 0.9993072693423388 Centerline is valid? [True, True] Translation: X:305.56, Y:4.68, Z:2.78 [[ 9.99811406e-01 -8.22810778e-03 -1.75912072e-02 3.05564652e+02] [ 8.22294634e-03 9.99966124e-01 -3.65722841e-04 4.67891685e+00] [ 1.75936205e-02 2.21002316e-04 9.99845196e-01 2.78305511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25925415399996 meters Centerline goodness [0,1] 0.9993296572602444 Centerline is valid? [True, True] Translation: X:305.59, Y:4.68, Z:2.78 [[ 9.99823781e-01 -7.49520854e-03 -1.72113070e-02 3.05591985e+02] [ 7.49010648e-03 9.99971884e-01 -3.60880026e-04 4.67941730e+00] [ 1.72135279e-02 2.31901911e-04 9.99851809e-01 2.78293357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.289254154 meters Centerline goodness [0,1] 0.9996752403221616 Centerline is valid? [True, True] Translation: X:305.62, Y:4.68, Z:2.78 [[ 9.99820117e-01 -7.91526310e-03 -1.72360699e-02 3.05620351e+02] [ 7.91015504e-03 9.99968648e-01 -3.64514429e-04 4.67830401e+00] [ 1.72384148e-02 2.28108873e-04 9.99851381e-01 2.78342218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31925415399996 meters Centerline goodness [0,1] 0.9993742177722152 Centerline is valid? [True, True] Translation: X:305.65, Y:4.67, Z:2.78 [[ 9.99793187e-01 -9.98380267e-03 -1.77174316e-02 3.05648916e+02] [ 9.97866998e-03 9.99950140e-01 -3.78081086e-04 4.67441407e+00] [ 1.77203229e-02 2.01206491e-04 9.99842963e-01 2.78336626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34925415399994 meters Centerline goodness [0,1] 0.9993546444090694 Centerline is valid? [True, True] Translation: X:305.68, Y:4.67, Z:2.78 [[ 9.99765383e-01 -1.17210402e-02 -1.82152710e-02 3.05677226e+02] [ 1.17158428e-02 9.99931290e-01 -3.92017990e-04 4.67234052e+00] [ 1.82186143e-02 1.78518763e-04 9.99834011e-01 2.78304819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37925415399997 meters Centerline goodness [0,1] 0.9992680301399354 Centerline is valid? [True, True] Translation: X:305.71, Y:4.67, Z:2.78 [[ 9.99725009e-01 -1.41742065e-02 -1.86815007e-02 3.05705554e+02] [ 1.41690700e-02 9.99899531e-01 -4.07293546e-04 4.66989468e+00] [ 1.86853968e-02 1.42482054e-04 9.99825403e-01 2.78321109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40925415399994 meters Centerline goodness [0,1] 0.9992493941538527 Centerline is valid? [True, True] Translation: X:305.73, Y:4.66, Z:2.78 [[ 9.99636406e-01 -1.89745931e-02 -1.91577815e-02 3.05733658e+02] [ 1.89700055e-02 9.99819965e-01 -4.21184008e-04 4.66350692e+00] [ 1.91623242e-02 5.76076485e-05 9.99816384e-01 2.78224707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43925415399997 meters Centerline goodness [0,1] 0.9993145549962514 Centerline is valid? [True, True] Translation: X:305.76, Y:4.66, Z:2.78 [[ 9.99572724e-01 -2.21042916e-02 -1.91250996e-02 3.05761773e+02] [ 2.21002190e-02 9.99755670e-01 -4.24298219e-04 4.66021541e+00] [ 1.91298056e-02 1.44803566e-06 9.99817009e-01 2.78240154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46925415399994 meters Centerline goodness [0,1] 0.9990361755445608 Centerline is valid? [True, True] Translation: X:305.79, Y:4.66, Z:2.78 [[ 9.99498030e-01 -2.52555891e-02 -1.91270037e-02 3.05790299e+02] [ 2.52519925e-02 9.99681025e-01 -4.29571677e-04 4.65675000e+00] [ 1.91317518e-02 -5.36389092e-05 9.99816970e-01 2.78238881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49925415399997 meters Centerline goodness [0,1] 0.9989083670455275 Centerline is valid? [True, True] Translation: X:305.82, Y:4.65, Z:2.78 [[ 9.99418881e-01 -2.82973119e-02 -1.90042952e-02 3.05818740e+02] [ 2.82942529e-02 9.99599545e-01 -4.29878575e-04 4.65326829e+00] [ 1.90088493e-02 -1.08083572e-04 9.99819310e-01 2.78237699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52925415399994 meters Centerline goodness [0,1] 0.9991050500745792 Centerline is valid? [True, True] Translation: X:305.85, Y:4.65, Z:2.78 [[ 9.99253330e-01 -3.40225826e-02 -1.83097591e-02 3.05848017e+02] [ 3.40206891e-02 9.99421043e-01 -4.14976170e-04 4.64548626e+00] [ 1.83132770e-02 -2.08244300e-04 9.99832276e-01 2.78289071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.559254154 meters Centerline goodness [0,1] 0.9990206514796679 Centerline is valid? [True, True] Translation: X:305.88, Y:4.64, Z:2.78 [[ 9.99163099e-01 -3.66015608e-02 -1.82599672e-02 3.05879204e+02] [ 3.66001109e-02 9.99329906e-01 -4.13697055e-04 4.64214865e+00] [ 1.82628732e-02 -2.54965991e-04 9.99833187e-01 2.78320897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.58925415399995 meters Centerline goodness [0,1] 0.9988306828811974 Centerline is valid? [True, True] Translation: X:305.91, Y:4.64, Z:2.78 [[ 9.99084813e-01 -3.89674201e-02 -1.76373879e-02 3.05909220e+02] [ 3.89664441e-02 9.99240440e-01 -3.99122090e-04 4.63853829e+00] [ 1.76395440e-02 -2.88509472e-04 9.99844370e-01 2.78337914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.619254154 meters Centerline goodness [0,1] 0.9988790186125212 Centerline is valid? [True, True] Translation: X:305.94, Y:4.64, Z:2.78 [[ 9.98989833e-01 -4.12712323e-02 -1.77763799e-02 3.05941833e+02] [ 4.12706190e-02 9.99147924e-01 -4.01505765e-04 4.63548976e+00] [ 1.77778037e-02 -3.32542025e-04 9.99841907e-01 2.78371643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.64925415399995 meters Centerline goodness [0,1] 0.9986865241615999 Centerline is valid? [True, True] Translation: X:305.97, Y:4.63, Z:2.78 [[ 9.98833290e-01 -4.44428313e-02 -1.88916292e-02 3.05973664e+02] [ 4.44427254e-02 9.99011843e-01 -4.25646384e-04 4.63001531e+00] [ 1.88918783e-02 -4.14445713e-04 9.99821447e-01 2.78216044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.679254154 meters Centerline goodness [0,1] 0.9988582785377508 Centerline is valid? [True, True] Translation: X:306.01, Y:4.63, Z:2.78 [[ 9.98763616e-01 -4.62757683e-02 -1.81601691e-02 3.06006284e+02] [ 4.62759908e-02 9.98928609e-01 -4.08198496e-04 4.62764278e+00] [ 1.81596022e-02 -4.32686012e-04 9.99835007e-01 2.78369383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.70925415399995 meters Centerline goodness [0,1] 0.9988802501478915 Centerline is valid? [True, True] Translation: X:306.04, Y:4.62, Z:2.78 [[ 9.98640237e-01 -4.86381438e-02 -1.87618561e-02 3.06038306e+02] [ 4.86388239e-02 9.98816344e-01 -4.20338360e-04 4.62238957e+00] [ 1.87600930e-02 -4.92787815e-04 9.99823893e-01 2.78344655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.739254154 meters Centerline goodness [0,1] 0.9988410805343673 Centerline is valid? [True, True] Translation: X:306.07, Y:4.62, Z:2.78 [[ 9.98602039e-01 -4.94920125e-02 -1.85609143e-02 3.06070848e+02] [ 4.94928504e-02 9.98774392e-01 -4.14486788e-04 4.62157780e+00] [ 1.85586797e-02 -5.04725204e-04 9.99827645e-01 2.78381718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.76925415399995 meters Centerline goodness [0,1] 0.9987347911351032 Centerline is valid? [True, True] Translation: X:306.10, Y:4.62, Z:2.78 [[ 9.98560254e-01 -5.02947253e-02 -1.86510107e-02 3.06102284e+02] [ 5.02957338e-02 9.98734282e-01 -4.15293273e-04 4.61776900e+00] [ 1.86482909e-02 -5.23370914e-04 9.99825969e-01 2.78346915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.799254154 meters Centerline goodness [0,1] 0.9986115201750326 Centerline is valid? [True, True] Translation: X:306.13, Y:4.61, Z:2.78 [[ 9.98529038e-01 -5.05686934e-02 -1.95593271e-02 3.06133288e+02] [ 5.05698762e-02 9.98720431e-01 -4.34439370e-04 4.61463474e+00] [ 1.95562686e-02 -5.55312425e-04 9.99808604e-01 2.78131460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.82925415399995 meters Centerline goodness [0,1] 0.9988004545645861 Centerline is valid? [True, True] Translation: X:306.17, Y:4.62, Z:2.78 [[ 9.98489904e-01 -5.17231624e-02 -1.85101433e-02 3.06165814e+02] [ 5.17244407e-02 9.98661311e-01 -4.10004131e-04 4.61558360e+00] [ 1.85065707e-02 -5.48041827e-04 9.99828589e-01 2.78404984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.859254154 meters Centerline goodness [0,1] 0.9987798977638471 Centerline is valid? [True, True] Translation: X:306.20, Y:4.61, Z:2.78 [[ 9.98426898e-01 -5.26323184e-02 -1.93279039e-02 3.06196857e+02] [ 5.26339066e-02 9.98613784e-01 -4.26871087e-04 4.61199952e+00] [ 1.93235785e-02 -5.91103515e-04 9.99813107e-01 2.78358157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.88925415399996 meters Centerline goodness [0,1] 0.9989494032610523 Centerline is valid? [True, True] Translation: X:306.23, Y:4.61, Z:2.78 [[ 9.98406134e-01 -5.27134522e-02 -2.01614566e-02 3.06228742e+02] [ 5.27152232e-02 9.98609487e-01 -4.43981810e-04 4.61106698e+00] [ 2.01568256e-02 -6.19541520e-04 9.99796639e-01 2.78342155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.919254154 meters Centerline goodness [0,1] 0.9987398664258411 Centerline is valid? [True, True] Translation: X:306.26, Y:4.61, Z:2.78 [[ 9.98392665e-01 -5.27166694e-02 -2.08095920e-02 3.06260246e+02] [ 5.27185839e-02 9.98609304e-01 -4.56953848e-04 4.61013800e+00] [ 2.08047413e-02 -6.40832850e-04 9.99783353e-01 2.78291402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.94925415399996 meters Centerline goodness [0,1] 0.9986740750094709 Centerline is valid? [True, True] Translation: X:306.29, Y:4.61, Z:2.78 [[ 9.98379779e-01 -5.26004398e-02 -2.17027642e-02 3.06292474e+02] [ 5.26025255e-02 9.98615416e-01 -4.75159066e-04 4.61076165e+00] [ 2.16977084e-02 -6.67231001e-04 9.99764354e-01 2.78294570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.979254154 meters Centerline goodness [0,1] 0.9989478557299777 Centerline is valid? [True, True] Translation: X:306.32, Y:4.61, Z:2.78 [[ 9.98379353e-01 -5.20586028e-02 -2.29906522e-02 3.06324455e+02] [ 5.20608396e-02 9.98643789e-01 -5.01639119e-04 4.61125740e+00] [ 2.29855866e-02 -6.96086516e-04 9.99735554e-01 2.78292757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.00925415399996 meters Centerline goodness [0,1] 0.9988671645548376 Centerline is valid? [True, True] Translation: X:306.36, Y:4.61, Z:2.78 [[ 9.98410158e-01 -5.13738610e-02 -2.31922936e-02 3.06355112e+02] [ 5.13759902e-02 9.98679254e-01 -5.04423774e-04 4.61050229e+00] [ 2.31875767e-02 -6.87905231e-04 9.99730895e-01 2.78289074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.039254154 meters Centerline goodness [0,1] 0.9986956979068055 Centerline is valid? [True, True] Translation: X:306.39, Y:4.61, Z:2.78 [[ 9.98458598e-01 -5.04539261e-02 -2.31263618e-02 3.06386688e+02] [ 5.04558225e-02 9.98726168e-01 -5.01869133e-04 4.61142890e+00] [ 2.31222240e-02 -6.65764055e-04 9.99732424e-01 2.78357397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06925415399996 meters Centerline goodness [0,1] 0.9989918084436042 Centerline is valid? [True, True] Translation: X:306.42, Y:4.61, Z:2.79 [[ 9.98622853e-01 -4.73899103e-02 -2.25076340e-02 3.06417585e+02] [ 4.73909416e-02 9.98876299e-01 -4.87872490e-04 4.61277103e+00] [ 2.25054624e-02 -5.79457351e-04 9.99746552e-01 2.78507055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09925415399994 meters Centerline goodness [0,1] 0.9988023448826508 Centerline is valid? [True, True] Translation: X:306.45, Y:4.61, Z:2.79 [[ 9.98717611e-01 -4.53330374e-02 -2.25399522e-02 3.06448382e+02] [ 4.53335520e-02 9.98971787e-01 -4.88402863e-04 4.61398598e+00] [ 2.25389171e-02 -5.34039557e-04 9.99745824e-01 2.78529985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12925415399997 meters Centerline goodness [0,1] 0.9987641649735028 Centerline is valid? [True, True] Translation: X:306.48, Y:4.62, Z:2.79 [[ 9.98813605e-01 -4.34925581e-02 -2.19038667e-02 3.06477537e+02] [ 4.34925968e-02 9.99053636e-01 -4.74843763e-04 4.61517462e+00] [ 2.19037899e-02 -4.78375634e-04 9.99759969e-01 2.78626561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15925415399994 meters Centerline goodness [0,1] 0.998863612449757 Centerline is valid? [True, True] Translation: X:306.51, Y:4.62, Z:2.79 [[ 9.98988767e-01 -3.95719938e-02 -2.13424531e-02 3.06507197e+02] [ 3.95711281e-02 9.99216649e-01 -4.63047372e-04 4.61761831e+00] [ 2.13440582e-02 -3.81965823e-04 9.99772117e-01 2.78724747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18925415399997 meters Centerline goodness [0,1] 0.9990547211427371 Centerline is valid? [True, True] Translation: X:306.54, Y:4.62, Z:2.79 [[ 9.99119705e-01 -3.63746828e-02 -2.08973333e-02 3.06537927e+02] [ 3.63731502e-02 9.99338175e-01 -4.53551838e-04 4.61907400e+00] [ 2.09000007e-02 -3.06949265e-04 9.99781524e-01 2.78821532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21925415399994 meters Centerline goodness [0,1] 0.9990547211427371 Centerline is valid? [True, True] Translation: X:306.57, Y:4.62, Z:2.79 [[ 9.99118438e-01 -3.64094655e-02 -2.08973246e-02 3.06567078e+02] [ 3.64079321e-02 9.99336908e-01 -4.53953264e-04 4.61973828e+00] [ 2.08999959e-02 -3.07275299e-04 9.99781524e-01 2.78848849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24925415399997 meters Centerline goodness [0,1] 0.9988422758751342 Centerline is valid? [True, True] Translation: X:306.60, Y:4.62, Z:2.79 [[ 9.99166211e-01 -3.52893999e-02 -2.05314858e-02 3.06596449e+02] [ 3.52876688e-02 9.99377096e-01 -4.46713540e-04 4.62015019e+00] [ 2.05344609e-02 -2.78167194e-04 9.99789107e-01 2.78893795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27925415399994 meters Centerline goodness [0,1] 0.9988841165571838 Centerline is valid? [True, True] Translation: X:306.63, Y:4.62, Z:2.79 [[ 9.99208186e-01 -3.44718447e-02 -1.98668734e-02 3.06626552e+02] [ 3.44700489e-02 9.99405638e-01 -4.32929494e-04 4.61945586e+00] [ 1.98699891e-02 -2.52225401e-04 9.99802540e-01 2.78964937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.309254154 meters Centerline goodness [0,1] 0.99898877114627 Centerline is valid? [True, True] Translation: X:306.66, Y:4.62, Z:2.79 [[ 9.99198843e-01 -3.44557453e-02 -2.03586228e-02 3.06656177e+02] [ 3.44538413e-02 9.99406191e-01 -4.44372108e-04 4.62023892e+00] [ 2.03618448e-02 -2.57416663e-04 9.99792643e-01 2.79083054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33925415399995 meters Centerline goodness [0,1] 0.9990325769206503 Centerline is valid? [True, True] Translation: X:306.69, Y:4.62, Z:2.79 [[ 9.99170687e-01 -3.51464807e-02 -2.05587920e-02 3.06685484e+02] [ 3.51446742e-02 9.99382134e-01 -4.49281118e-04 4.61960134e+00] [ 2.05618801e-02 -2.73623524e-04 9.99788545e-01 2.79093715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.369254154 meters Centerline goodness [0,1] 0.9989729831694997 Centerline is valid? [True, True] Translation: X:306.71, Y:4.62, Z:2.79 [[ 9.99068141e-01 -3.77108645e-02 -2.09938177e-02 3.06714344e+02] [ 3.77095301e-02 9.99288637e-01 -4.59573280e-04 4.61571082e+00] [ 2.09962143e-02 -3.32521977e-04 9.99779500e-01 2.79022546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.39925415399995 meters Centerline goodness [0,1] 0.9989089612051782 Centerline is valid? [True, True] Translation: X:306.74, Y:4.62, Z:2.79 [[ 9.98980137e-01 -3.97957062e-02 -2.13304323e-02 3.06744202e+02] [ 3.97947838e-02 9.99207764e-01 -4.67878194e-04 4.61577211e+00] [ 2.13321531e-02 -3.81438919e-04 9.99772371e-01 2.79161754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.429254154 meters Centerline goodness [0,1] 0.9990789969439444 Centerline is valid? [True, True] Translation: X:306.77, Y:4.61, Z:2.79 [[ 9.98872008e-01 -4.23454599e-02 -2.14842610e-02 3.06774046e+02] [ 4.23451041e-02 9.99102932e-01 -4.71695118e-04 4.61225807e+00] [ 2.14849623e-02 -4.38590220e-04 9.99769075e-01 2.79086637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.45925415399995 meters Centerline goodness [0,1] 0.9988483845976674 Centerline is valid? [True, True] Translation: X:306.80, Y:4.61, Z:2.79 [[ 9.98572045e-01 -4.86935730e-02 -2.19728603e-02 3.06804269e+02] [ 4.86947293e-02 9.98813591e-01 -4.82733871e-04 4.60897063e+00] [ 2.19702975e-02 -5.87917934e-04 9.99758451e-01 2.79193722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.489254154 meters Centerline goodness [0,1] 0.9989111543857445 Centerline is valid? [True, True] Translation: X:306.83, Y:4.61, Z:2.79 [[ 9.98404100e-01 -5.20601464e-02 -2.18859329e-02 3.06834137e+02] [ 5.20620978e-02 9.98643734e-01 -4.80995197e-04 4.60524122e+00] [ 2.18812904e-02 -6.59200000e-04 9.99760359e-01 2.79187797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.51925415399995 meters Centerline goodness [0,1] 0.9987687556084226 Centerline is valid? [True, True] Translation: X:306.86, Y:4.60, Z:2.79 [[ 9.98226865e-01 -5.54736106e-02 -2.15825229e-02 3.06864459e+02] [ 5.54763097e-02 9.98459891e-01 -4.74108714e-04 4.59584931e+00] [ 2.15755840e-02 -7.24050669e-04 9.99766958e-01 2.78985575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.549254154 meters Centerline goodness [0,1] 0.9986179457648414 Centerline is valid? [True, True] Translation: X:306.90, Y:4.60, Z:2.79 [[ 9.97853515e-01 -6.19642948e-02 -2.11846302e-02 3.06895111e+02] [ 6.19683602e-02 9.98078006e-01 -4.65135896e-04 4.59563252e+00] [ 2.11727353e-02 -8.48639304e-04 9.99775472e-01 2.79243104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57925415399995 meters Centerline goodness [0,1] 0.9986179457648414 Centerline is valid? [True, True] Translation: X:306.93, Y:4.60, Z:2.79 [[ 9.97857886e-01 -6.18938615e-02 -2.11846496e-02 3.06926819e+02] [ 6.18979298e-02 9.98082377e-01 -4.64247919e-04 4.59626464e+00] [ 2.11727596e-02 -8.48032511e-04 9.99775472e-01 2.79272814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.609254154 meters Centerline goodness [0,1] 0.99880758127275 Centerline is valid? [True, True] Translation: X:306.96, Y:4.60, Z:2.79 [[ 9.97480355e-01 -6.77553800e-02 -2.10273675e-02 3.06957318e+02] [ 6.77607044e-02 9.97701496e-01 -4.59997994e-04 4.59604407e+00] [ 2.10102033e-02 -9.65990269e-04 9.99778795e-01 2.79481670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63925415399996 meters Centerline goodness [0,1] 0.9988100705607281 Centerline is valid? [True, True] Translation: X:306.99, Y:4.60, Z:2.80 [[ 9.97333513e-01 -6.98837924e-02 -2.10266445e-02 3.06989620e+02] [ 6.98896092e-02 9.97554626e-01 -4.58986806e-04 4.59543182e+00] [ 2.10073022e-02 -1.01178104e-03 9.99778810e-01 2.79523127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.669254154 meters Centerline goodness [0,1] 0.9986613399150788 Centerline is valid? [True, True] Translation: X:307.02, Y:4.59, Z:2.80 [[ 9.97036293e-01 -7.42288748e-02 -2.02164267e-02 3.07019982e+02] [ 7.42351709e-02 9.97240666e-01 -4.39886414e-04 4.59036608e+00] [ 2.01932951e-02 -1.06218717e-03 9.99795530e-01 2.79607388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69925415399996 meters Centerline goodness [0,1] 0.9985573907589379 Centerline is valid? [True, True] Translation: X:307.05, Y:4.59, Z:2.80 [[ 9.96924956e-01 -7.55620496e-02 -2.07607694e-02 3.07052464e+02] [ 7.55690088e-02 9.97140473e-01 -4.50230083e-04 4.59114919e+00] [ 2.07354238e-02 -1.12002516e-03 9.99784371e-01 2.79650164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.729254154 meters Centerline goodness [0,1] 0.9986000250741778 Centerline is valid? [True, True] Translation: X:307.08, Y:4.59, Z:2.80 [[ 9.96860065e-01 -7.65450706e-02 -2.02697583e-02 3.07083998e+02] [ 7.65519329e-02 9.97065499e-01 -4.38297256e-04 4.59004895e+00] [ 2.02438262e-02 -1.11476814e-03 9.99794451e-01 2.79710610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75925415399996 meters Centerline goodness [0,1] 0.9986412475437937 Centerline is valid? [True, True] Translation: X:307.12, Y:4.59, Z:2.80 [[ 9.96776685e-01 -7.73773702e-02 -2.11892165e-02 3.07115665e+02] [ 7.73850824e-02 9.97001174e-01 -4.56975994e-04 4.59129227e+00] [ 2.11610333e-02 -1.18422625e-03 9.99775379e-01 2.79773320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.789254154 meters Centerline goodness [0,1] 0.9986412475437937 Centerline is valid? [True, True] Translation: X:307.15, Y:4.59, Z:2.80 [[ 9.96782427e-01 -7.73033559e-02 -2.11892467e-02 3.07147397e+02] [ 7.73110812e-02 9.97006915e-01 -4.55575459e-04 4.59191572e+00] [ 2.11610430e-02 -1.18405396e-03 9.99775379e-01 2.79803042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81925415399996 meters Centerline goodness [0,1] 0.9986187556243853 Centerline is valid? [True, True] Translation: X:307.18, Y:4.59, Z:2.80 [[ 9.96704228e-01 -7.84478624e-02 -2.06546698e-02 3.07178365e+02] [ 7.84554744e-02 9.96917520e-01 -4.42779107e-04 4.58752247e+00] [ 2.06257373e-02 -1.17915211e-03 9.99786572e-01 2.79775697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84925415399994 meters Centerline goodness [0,1] 0.9989335898293744 Centerline is valid? [True, True] Translation: X:307.21, Y:4.59, Z:2.80 [[ 9.96662935e-01 -7.88429722e-02 -2.11371807e-02 3.07210097e+02] [ 7.88510624e-02 9.96886305e-01 -4.51715511e-04 4.59308973e+00] [ 2.11069806e-02 -1.21648105e-03 9.99776483e-01 2.79893993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87925415399997 meters Centerline goodness [0,1] 0.9984295824783282 Centerline is valid? [True, True] Translation: X:307.24, Y:4.59, Z:2.80 [[ 9.96612055e-01 -7.89493511e-02 -2.30523604e-02 3.07242018e+02] [ 7.89590438e-02 9.96877740e-01 -4.90872033e-04 4.59281130e+00] [ 2.30191390e-02 -1.33098335e-03 9.99734139e-01 2.79804349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90925415399994 meters Centerline goodness [0,1] 0.9984291877853643 Centerline is valid? [True, True] Translation: X:307.27, Y:4.59, Z:2.80 [[ 9.96578460e-01 -7.95320969e-02 -2.24948702e-02 3.07274059e+02] [ 7.95415110e-02 9.96831440e-01 -4.77361935e-04 4.59287685e+00] [ 2.24615594e-02 -1.31354734e-03 9.99746844e-01 2.79809623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93925415399997 meters Centerline goodness [0,1] 0.9984515265019147 Centerline is valid? [True, True] Translation: X:307.31, Y:4.59, Z:2.80 [[ 9.96541407e-01 -7.97380401e-02 -2.33895284e-02 3.07305079e+02] [ 7.97483095e-02 9.96814909e-01 -4.94865060e-04 4.59128352e+00] [ 2.33544902e-02 -1.37212183e-03 9.99726305e-01 2.79706864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96925415399994 meters Centerline goodness [0,1] 0.9986180904522614 Centerline is valid? [True, True] Translation: X:307.34, Y:4.59, Z:2.80 [[ 9.96486859e-01 -7.98247728e-02 -2.53366474e-02 3.07337276e+02] [ 7.98368954e-02 9.96807797e-01 -5.34356839e-04 4.59458137e+00] [ 2.52984226e-02 -1.49031970e-03 9.99678833e-01 2.79658071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99925415399997 meters Centerline goodness [0,1] 0.9986789960369881 Centerline is valid? [True, True] Translation: X:307.37, Y:4.60, Z:2.80 [[ 9.96490516e-01 -7.97291988e-02 -2.54932491e-02 3.07369866e+02] [ 7.97414877e-02 9.96815433e-01 -5.35811910e-04 4.59743964e+00] [ 2.54547841e-02 -1.49893813e-03 9.99674851e-01 2.79670048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02925415399994 meters Centerline goodness [0,1] 0.9984087768518907 Centerline is valid? [True, True] Translation: X:307.40, Y:4.60, Z:2.80 [[ 9.96530787e-01 -7.87972818e-02 -2.67839365e-02 3.07401112e+02] [ 7.88105563e-02 9.96889453e-01 -5.61284347e-04 4.59995053e+00] [ 2.67448515e-02 -1.55151980e-03 9.99641088e-01 2.79663521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.059254154 meters Centerline goodness [0,1] 0.9985528219971056 Centerline is valid? [True, True] Translation: X:307.43, Y:4.61, Z:2.80 [[ 9.96580209e-01 -7.82464040e-02 -2.65591209e-02 3.07432979e+02] [ 7.82593087e-02 9.96932883e-01 -5.54796007e-04 4.60729213e+00] [ 2.65210717e-02 -1.52559972e-03 9.99647090e-01 2.79873521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.08925415399995 meters Centerline goodness [0,1] 0.9985109060402685 Centerline is valid? [True, True] Translation: X:307.46, Y:4.61, Z:2.80 [[ 9.96647562e-01 -7.74554631e-02 -2.63493686e-02 3.07463839e+02] [ 7.74679669e-02 9.96994691e-01 -5.47457550e-04 4.60774304e+00] [ 2.63125842e-02 -1.49560978e-03 9.99652645e-01 2.79842547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.119254154 meters Centerline goodness [0,1] 0.9984874902842258 Centerline is valid? [True, True] Translation: X:307.50, Y:4.61, Z:2.80 [[ 9.96765785e-01 -7.61053411e-02 -2.58059570e-02 3.07495597e+02] [ 7.61169380e-02 9.97098755e-01 -5.34039229e-04 4.61067967e+00] [ 2.57717308e-02 -1.43195840e-03 9.99666828e-01 2.79950743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.14925415399995 meters Centerline goodness [0,1] 0.9985704675412042 Centerline is valid? [True, True] Translation: X:307.53, Y:4.62, Z:2.80 [[ 9.96994277e-01 -7.33620274e-02 -2.49083156e-02 3.07526688e+02] [ 7.33720041e-02 9.97304509e-01 -5.14390051e-04 4.62120372e+00] [ 2.48789122e-02 -1.31472910e-03 9.99689607e-01 2.80261315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.179254154 meters Centerline goodness [0,1] 0.9984248330323015 Centerline is valid? [True, True] Translation: X:307.56, Y:4.62, Z:2.80 [[ 9.97121991e-01 -7.16845283e-02 -2.46792088e-02 3.07556737e+02] [ 7.16938251e-02 9.97426557e-01 -5.09035244e-04 4.62400555e+00] [ 2.46521882e-02 -1.26177664e-03 9.99695292e-01 2.80332242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.20925415399995 meters Centerline goodness [0,1] 0.9985482547497317 Centerline is valid? [True, True] Translation: X:307.59, Y:4.63, Z:2.80 [[ 9.97266543e-01 -6.97071067e-02 -2.45022624e-02 3.07587699e+02] [ 6.97156928e-02 9.97566773e-01 -5.04669981e-04 4.62772528e+00] [ 2.44778219e-02 -1.20490171e-03 9.99699647e-01 2.80383219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.239254154 meters Centerline goodness [0,1] 0.99859220036981 Centerline is valid? [True, True] Translation: X:307.62, Y:4.63, Z:2.81 [[ 9.97410066e-01 -6.77604676e-02 -2.41180469e-02 3.07618602e+02] [ 6.77682398e-02 9.97700967e-01 -4.95874714e-04 4.63495203e+00] [ 2.40961994e-02 -1.13984715e-03 9.99708995e-01 2.80567446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.26925415399995 meters Centerline goodness [0,1] 0.9985684210526315 Centerline is valid? [True, True] Translation: X:307.65, Y:4.64, Z:2.81 [[ 9.97648963e-01 -6.40285687e-02 -2.44313070e-02 3.07649752e+02] [ 6.40354499e-02 9.97947499e-01 -5.01396085e-04 4.64329780e+00] [ 2.44132654e-02 -1.06425245e-03 9.99701385e-01 2.80639892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.299254154 meters Centerline goodness [0,1] 0.9986716147260996 Centerline is valid? [True, True] Translation: X:307.68, Y:4.65, Z:2.81 [[ 9.97744016e-01 -6.23031214e-02 -2.50039855e-02 3.07681190e+02] [ 6.23098192e-02 9.98056724e-01 -5.11917587e-04 4.64578208e+00] [ 2.49872899e-02 -1.04723111e-03 9.99687220e-01 2.80623767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.32925415399995 meters Centerline goodness [0,1] 0.9987122923307509 Centerline is valid? [True, True] Translation: X:307.71, Y:4.65, Z:2.81 [[ 9.97824454e-01 -6.07175063e-02 -2.56854893e-02 3.07713254e+02] [ 6.07240947e-02 9.98154452e-01 -5.24130817e-04 4.64937935e+00] [ 2.56699094e-02 -1.03673754e-03 9.99669936e-01 2.80624089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.359254154 meters Centerline goodness [0,1] 0.9989415525307479 Centerline is valid? [True, True] Translation: X:307.75, Y:4.66, Z:2.81 [[ 9.97942449e-01 -5.81774241e-02 -2.69491432e-02 3.07745064e+02] [ 5.81837963e-02 9.98305737e-01 -5.48297231e-04 4.65541344e+00] [ 2.69353828e-02 -1.02083438e-03 9.99636656e-01 2.80613648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.38925415399996 meters Centerline goodness [0,1] 0.9988572879634332 Centerline is valid? [True, True] Translation: X:307.78, Y:4.66, Z:2.81 [[ 9.97996576e-01 -5.68453523e-02 -2.77748003e-02 3.07776062e+02] [ 5.68516387e-02 9.98382478e-01 -5.63927480e-04 4.65867288e+00] [ 2.77619306e-02 -1.01624521e-03 9.99614047e-01 2.80643248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.419254154 meters Centerline goodness [0,1] 0.9988356338385976 Centerline is valid? [True, True] Translation: X:307.81, Y:4.66, Z:2.81 [[ 9.98052905e-01 -5.57647781e-02 -2.79408096e-02 3.07806308e+02] [ 5.57707362e-02 9.98443441e-01 -5.66612691e-04 4.66059112e+00] [ 2.79289151e-02 -9.92770079e-04 9.99609419e-01 2.80610649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.44925415399996 meters Centerline goodness [0,1] 0.9990247832262715 Centerline is valid? [True, True] Translation: X:307.84, Y:4.67, Z:2.81 [[ 9.98185694e-01 -5.34677189e-02 -2.76861562e-02 3.07837538e+02] [ 5.34727094e-02 9.98569154e-01 -5.60613095e-04 4.66591754e+00] [ 2.76765163e-02 -9.20857817e-04 9.99616508e-01 2.80708883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.479254154 meters Centerline goodness [0,1] 0.9988320981886905 Centerline is valid? [True, True] Translation: X:307.87, Y:4.67, Z:2.81 [[ 9.98278956e-01 -5.18663174e-02 -2.73680604e-02 3.07868861e+02] [ 5.18706196e-02 9.98653660e-01 -5.53189216e-04 4.66883574e+00] [ 2.73599056e-02 -8.67361098e-04 9.99625271e-01 2.80774323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.50925415399996 meters Centerline goodness [0,1] 0.9988765473969815 Centerline is valid? [True, True] Translation: X:307.90, Y:4.67, Z:2.81 [[ 9.98363495e-01 -5.03373464e-02 -2.71382142e-02 3.07900162e+02] [ 5.03410386e-02 9.98731936e-01 -5.47572419e-04 4.67200684e+00] [ 2.71313645e-02 -8.19489573e-04 9.99631541e-01 2.80877077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.539254154 meters Centerline goodness [0,1] 0.9988100550349547 Centerline is valid? [True, True] Translation: X:307.93, Y:4.68, Z:2.81 [[ 9.98456118e-01 -4.85291331e-02 -2.70241141e-02 3.07931087e+02] [ 4.85321505e-02 9.98821472e-01 -5.44607700e-04 4.67706801e+00] [ 2.70186948e-02 -7.67771483e-04 9.99634634e-01 2.81080178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56925415399996 meters Centerline goodness [0,1] 0.9987474258539796 Centerline is valid? [True, True] Translation: X:307.96, Y:4.68, Z:2.81 [[ 9.98582758e-01 -4.61109773e-02 -2.65754233e-02 3.07961017e+02] [ 4.61130441e-02 9.98936084e-01 -5.35394361e-04 4.67953109e+00] [ 2.65718368e-02 -6.90838087e-04 9.99646668e-01 2.81011397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59925415399994 meters Centerline goodness [0,1] 0.9990656983904531 Centerline is valid? [True, True] Translation: X:307.99, Y:4.68, Z:2.81 [[ 9.98617875e-01 -4.52671522e-02 -2.67062782e-02 3.07991306e+02] [ 4.52689379e-02 9.98974691e-01 -5.38030593e-04 4.68431721e+00] [ 2.67032511e-02 -6.71677881e-04 9.99643179e-01 2.81213296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62925415399997 meters Centerline goodness [0,1] 0.999043062200957 Centerline is valid? [True, True] Translation: X:308.02, Y:4.69, Z:2.81 [[ 9.98627226e-01 -4.48981545e-02 -2.69781109e-02 3.08020836e+02] [ 4.48998337e-02 9.98991346e-01 -5.43828053e-04 4.68583263e+00] [ 2.69753162e-02 -6.68231190e-04 9.99635877e-01 2.81188555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65925415399994 meters Centerline goodness [0,1] 0.9991289198606271 Centerline is valid? [True, True] Translation: X:308.05, Y:4.69, Z:2.81 [[ 9.98623656e-01 -4.51360952e-02 -2.67119246e-02 3.08051272e+02] [ 4.51378219e-02 9.98980624e-01 -5.38631248e-04 4.68703312e+00] [ 2.67090068e-02 -6.67828189e-04 9.99643028e-01 2.81202649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68925415399997 meters Centerline goodness [0,1] 0.9991279193431744 Centerline is valid? [True, True] Translation: X:308.08, Y:4.69, Z:2.81 [[ 9.98529904e-01 -4.72018239e-02 -2.66461655e-02 3.08082718e+02] [ 4.72042936e-02 9.98885112e-01 -5.36676336e-04 4.68891110e+00] [ 2.66417901e-02 -7.21926049e-04 9.99644784e-01 2.81328670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71925415399994 meters Centerline goodness [0,1] 0.9992110874200426 Centerline is valid? [True, True] Translation: X:308.11, Y:4.69, Z:2.81 [[ 9.98442022e-01 -4.90414549e-02 -2.66169943e-02 3.08114434e+02] [ 4.90445981e-02 9.98796446e-01 -5.35117898e-04 4.68932833e+00] [ 2.66112023e-02 -7.71135590e-04 9.99645562e-01 2.81412827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74925415399997 meters Centerline goodness [0,1] 0.9991690458942345 Centerline is valid? [True, True] Translation: X:308.14, Y:4.69, Z:2.81 [[ 9.98341881e-01 -5.12462710e-02 -2.62165820e-02 3.08144685e+02] [ 5.12501099e-02 9.98685711e-01 -5.25908207e-04 4.68820123e+00] [ 2.62090767e-02 -8.18566519e-04 9.99656148e-01 2.81385327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77925415399994 meters Centerline goodness [0,1] 0.9989547781569966 Centerline is valid? [True, True] Translation: X:308.18, Y:4.69, Z:2.81 [[ 9.98027194e-01 -5.70011193e-02 -2.63171581e-02 3.08175366e+02] [ 5.70070053e-02 9.98373639e-01 -5.27160364e-04 4.68686011e+00] [ 2.63044057e-02 -9.74141993e-04 9.99653505e-01 2.81473748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.809254154 meters Centerline goodness [0,1] 0.9990195869477184 Centerline is valid? [True, True] Translation: X:308.21, Y:4.68, Z:2.81 [[ 9.97874097e-01 -5.99505198e-02 -2.55582070e-02 3.08206260e+02] [ 5.99570558e-02 9.98200827e-01 -5.11207800e-04 4.68376218e+00] [ 2.55428705e-02 -1.02227382e-03 9.99673205e-01 2.81434705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83925415399995 meters Centerline goodness [0,1] 0.9991050691440626 Centerline is valid? [True, True] Translation: X:308.24, Y:4.68, Z:2.82 [[ 9.97514822e-01 -6.60017419e-02 -2.46566580e-02 3.08237369e+02] [ 6.60096851e-02 9.97818861e-01 -4.92508520e-04 4.68183950e+00] [ 2.46353848e-02 -1.13629368e-03 9.99695857e-01 2.81557562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.869254154 meters Centerline goodness [0,1] 0.9990396517136881 Centerline is valid? [True, True] Translation: X:308.27, Y:4.68, Z:2.82 [[ 9.97303603e-01 -6.90623130e-02 -2.48177556e-02 3.08268189e+02] [ 6.90713175e-02 9.97611602e-01 -4.95243497e-04 4.68092158e+00] [ 2.47926835e-02 -1.22028695e-03 9.99691869e-01 2.81613935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.89925415399995 meters Centerline goodness [0,1] 0.9989310986168416 Centerline is valid? [True, True] Translation: X:308.30, Y:4.68, Z:2.82 [[ 9.97124319e-01 -7.15004098e-02 -2.51153922e-02 3.08299651e+02] [ 7.15104211e-02 9.97439727e-01 -5.00462392e-04 4.67996123e+00] [ 2.50868733e-02 -1.29698905e-03 9.99684434e-01 2.81649650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.929254154 meters Centerline goodness [0,1] 0.9993170856630671 Centerline is valid? [True, True] Translation: X:308.33, Y:4.68, Z:2.82 [[ 9.96773765e-01 -7.60788393e-02 -2.55748381e-02 3.08329791e+02] [ 7.60907323e-02 9.97100768e-01 -5.09226471e-04 4.67714944e+00] [ 2.55394320e-02 -1.43842457e-03 9.99672781e-01 2.81640458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.95925415399995 meters Centerline goodness [0,1] 0.9991048593350383 Centerline is valid? [True, True] Translation: X:308.36, Y:4.68, Z:2.82 [[ 9.96645682e-01 -7.76650290e-02 -2.57978123e-02 3.08361222e+02] [ 7.76776827e-02 9.96978392e-01 -5.12781149e-04 4.67575971e+00] [ 2.57596866e-02 -1.49285316e-03 9.99667050e-01 2.81620523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.989254154 meters Centerline goodness [0,1] 0.9991039808849256 Centerline is valid? [True, True] Translation: X:308.39, Y:4.68, Z:2.82 [[ 9.96531129e-01 -7.90681753e-02 -2.59602040e-02 3.08393533e+02] [ 7.90815055e-02 9.96868021e-01 -5.14382362e-04 4.67507467e+00] [ 2.59195684e-02 -1.54037398e-03 9.99662845e-01 2.81632303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.01925415399995 meters Centerline goodness [0,1] 0.9993822821479541 Centerline is valid? [True, True] Translation: X:308.43, Y:4.68, Z:2.82 [[ 9.96431642e-01 -8.03444511e-02 -2.58602359e-02 3.08425287e+02] [ 8.03581541e-02 9.96765924e-01 -5.10573264e-04 4.68040295e+00] [ 2.58176236e-02 -1.56932946e-03 9.99665438e-01 2.81796057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.049254154 meters Centerline goodness [0,1] 0.9988501096654671 Centerline is valid? [True, True] Translation: X:308.46, Y:4.68, Z:2.82 [[ 9.96239018e-01 -8.23054198e-02 -2.70857414e-02 3.08455651e+02] [ 8.23212027e-02 9.96605707e-01 -5.33746698e-04 4.67961986e+00] [ 2.70377347e-02 -1.69799152e-03 9.99632972e-01 2.81759275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07925415399995 meters Centerline goodness [0,1] 0.9991256504307771 Centerline is valid? [True, True] Translation: X:308.49, Y:4.68, Z:2.82 [[ 9.96149712e-01 -8.29781008e-02 -2.82910944e-02 3.08487759e+02] [ 8.29956344e-02 9.96549756e-01 -5.55964862e-04 4.68287535e+00] [ 2.82396161e-02 -1.79421309e-03 9.99599572e-01 2.81736103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.109254154 meters Centerline goodness [0,1] 0.9991256504307771 Centerline is valid? [True, True] Translation: X:308.52, Y:4.68, Z:2.82 [[ 9.96158690e-01 -8.28702292e-02 -2.82911477e-02 3.08520364e+02] [ 8.28877964e-02 9.96558732e-01 -5.53243409e-04 4.68341988e+00] [ 2.82396377e-02 -1.79387266e-03 9.99599572e-01 2.81766632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13925415399996 meters Centerline goodness [0,1] 0.9990603711533944 Centerline is valid? [True, True] Translation: X:308.55, Y:4.69, Z:2.82 [[ 9.96122266e-01 -8.30699230e-02 -2.89796365e-02 3.08552962e+02] [ 8.30885114e-02 9.96542012e-01 -5.64256961e-04 4.68503215e+00] [ 2.89262981e-02 -1.84580594e-03 9.99579843e-01 2.81753590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.169254154 meters Centerline goodness [0,1] 0.9994445393949752 Centerline is valid? [True, True] Translation: X:308.58, Y:4.69, Z:2.82 [[ 9.96187462e-01 -8.21019534e-02 -2.94925309e-02 3.08584434e+02] [ 8.21208357e-02 9.96622216e-01 -5.72478302e-04 4.68692477e+00] [ 2.94399130e-02 -1.85165557e-03 9.99564837e-01 2.81752114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19925415399996 meters Centerline goodness [0,1] 0.9992307856669729 Centerline is valid? [True, True] Translation: X:308.62, Y:4.69, Z:2.82 [[ 9.96272836e-01 -8.10335211e-02 -2.95635846e-02 3.08617122e+02] [ 8.10520934e-02 9.96709703e-01 -5.71574883e-04 4.68900549e+00] [ 2.95126284e-02 -1.82674589e-03 9.99562738e-01 2.81790477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.229254154 meters Centerline goodness [0,1] 0.9990807644619265 Centerline is valid? [True, True] Translation: X:308.65, Y:4.69, Z:2.82 [[ 9.96419982e-01 -7.94624807e-02 -2.88605775e-02 3.08648100e+02] [ 7.94795665e-02 9.96836340e-01 -5.56475838e-04 4.69373047e+00] [ 2.88134913e-02 -1.73934254e-03 9.99583292e-01 2.81925208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25925415399996 meters Centerline goodness [0,1] 0.9991201150288646 Centerline is valid? [True, True] Translation: X:308.68, Y:4.71, Z:2.82 [[ 9.96798476e-01 -7.49297522e-02 -2.78985916e-02 3.08678257e+02] [ 7.49439588e-02 9.97187602e-01 -5.37519571e-04 4.70583057e+00] [ 2.78604059e-02 -1.55503221e-03 9.99610614e-01 2.82336024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.289254154 meters Centerline goodness [0,1] 0.9992483947860072 Centerline is valid? [True, True] Translation: X:308.71, Y:4.71, Z:2.82 [[ 9.97059149e-01 -7.17915743e-02 -2.68146113e-02 3.08708214e+02] [ 7.18035671e-02 9.97418659e-01 -5.16594921e-04 4.70733392e+00] [ 2.67824808e-02 -1.41030905e-03 9.99640290e-01 2.82370955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31925415399996 meters Centerline goodness [0,1] 0.9993777091111969 Centerline is valid? [True, True] Translation: X:308.74, Y:4.71, Z:2.83 [[ 9.97323661e-01 -6.83384253e-02 -2.59879704e-02 3.08739023e+02] [ 6.83485282e-02 9.97661380e-01 -5.00358113e-04 4.71480611e+00] [ 2.59613881e-02 -1.27722054e-03 9.99662130e-01 2.82610569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34925415399994 meters Centerline goodness [0,1] 0.9990763216119262 Centerline is valid? [True, True] Translation: X:308.77, Y:4.72, Z:2.83 [[ 9.97590777e-01 -6.47579973e-02 -2.48805861e-02 3.08768255e+02] [ 6.47661429e-02 9.97900354e-01 -4.79157713e-04 4.71847579e+00] [ 2.48593750e-02 -1.13341628e-03 9.99690315e-01 2.82694522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37925415399997 meters Centerline goodness [0,1] 0.9993770942520835 Centerline is valid? [True, True] Translation: X:308.80, Y:4.73, Z:2.83 [[ 9.98081914e-01 -5.72011474e-02 -2.36753320e-02 3.08798813e+02] [ 5.72063973e-02 9.98362269e-01 -4.56035323e-04 4.72668289e+00] [ 2.36626439e-02 -8.99219842e-04 9.99719596e-01 2.82802304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40925415399994 meters Centerline goodness [0,1] 0.9995252584104788 Centerline is valid? [True, True] Translation: X:308.83, Y:4.73, Z:2.83 [[ 9.98257679e-01 -5.39064948e-02 -2.39936703e-02 3.08830022e+02] [ 5.39109508e-02 9.98545641e-01 -4.61572896e-04 4.73093495e+00] [ 2.39836567e-02 -8.32752890e-04 9.99712004e-01 2.82837103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43925415399997 meters Centerline goodness [0,1] 0.9993091984543315 Centerline is valid? [True, True] Translation: X:308.86, Y:4.73, Z:2.83 [[ 9.98405405e-01 -5.09684502e-02 -2.42665207e-02 3.08860667e+02] [ 5.09721631e-02 9.98699966e-01 -4.65921075e-04 4.73332884e+00] [ 2.42587206e-02 -7.71738931e-04 9.99705416e-01 2.82782839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46925415399994 meters Centerline goodness [0,1] 0.99948073303187 Centerline is valid? [True, True] Translation: X:308.89, Y:4.74, Z:2.83 [[ 9.98584807e-01 -4.67622433e-02 -2.53313041e-02 3.08892458e+02] [ 4.67649684e-02 9.98905803e-01 -4.85139105e-04 4.73831128e+00] [ 2.53262729e-02 -7.00165098e-04 9.99678993e-01 2.82722059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49925415399997 meters Centerline goodness [0,1] 0.9996317795875931 Centerline is valid? [True, True] Translation: X:308.92, Y:4.74, Z:2.83 [[ 9.98637829e-01 -4.52189832e-02 -2.60332342e-02 3.08924552e+02] [ 4.52213828e-02 9.98976866e-01 -4.96846075e-04 4.74074362e+00] [ 2.60290656e-02 -6.81089565e-04 9.99660954e-01 2.82708607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52925415399994 meters Centerline goodness [0,1] 0.9994787820874778 Centerline is valid? [True, True] Translation: X:308.96, Y:4.74, Z:2.83 [[ 9.98651007e-01 -4.44262216e-02 -2.68789390e-02 3.08956237e+02] [ 4.44285460e-02 9.99012434e-01 -5.11016645e-04 4.74182549e+00] [ 2.68750968e-02 -6.83864890e-04 9.99638565e-01 2.82629769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.559254154 meters Centerline goodness [0,1] 0.9994137062451142 Centerline is valid? [True, True] Translation: X:308.99, Y:4.74, Z:2.83 [[ 9.98639984e-01 -4.42467761e-02 -2.75754348e-02 3.08987638e+02] [ 4.42491914e-02 9.99020388e-01 -5.22916755e-04 4.74281432e+00] [ 2.75715589e-02 -6.97985111e-04 9.99619589e-01 2.82569544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.58925415399995 meters Centerline goodness [0,1] 0.9995868756930704 Centerline is valid? [True, True] Translation: X:309.02, Y:4.74, Z:2.83 [[ 9.98615294e-01 -4.44017795e-02 -2.82130509e-02 3.09019115e+02] [ 4.44043982e-02 9.99013496e-01 -5.34001226e-04 4.74392813e+00] [ 2.82089292e-02 -7.19521757e-04 9.99601790e-01 2.82518895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.619254154 meters Centerline goodness [0,1] 0.9995432995519986 Centerline is valid? [True, True] Translation: X:309.05, Y:4.75, Z:2.83 [[ 9.98607347e-01 -4.47145084e-02 -2.79996190e-02 3.09050776e+02] [ 4.47172382e-02 9.98999544e-01 -5.28966112e-04 4.74528741e+00] [ 2.79952590e-02 -7.23836184e-04 9.99607794e-01 2.82591451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.64925415399995 meters Centerline goodness [0,1] 0.999499325177413 Centerline is valid? [True, True] Translation: X:309.08, Y:4.75, Z:2.83 [[ 9.98595972e-01 -4.51929059e-02 -2.76348821e-02 3.09081835e+02] [ 4.51957751e-02 9.98978013e-01 -5.21092366e-04 4.74589871e+00] [ 2.76301893e-02 -7.28619183e-04 9.99617948e-01 2.82610649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.679254154 meters Centerline goodness [0,1] 0.999499325177413 Centerline is valid? [True, True] Translation: X:309.11, Y:4.75, Z:2.83 [[ 9.98597587e-01 -4.51571954e-02 -2.76349007e-02 3.09112693e+02] [ 4.51600783e-02 9.98979628e-01 -5.20104991e-04 4.74644916e+00] [ 2.76301893e-02 -7.28618692e-04 9.99617948e-01 2.82639550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.70925415399995 meters Centerline goodness [0,1] 0.9995216351380735 Centerline is valid? [True, True] Translation: X:309.14, Y:4.75, Z:2.83 [[ 9.98596285e-01 -4.58231706e-02 -2.65649423e-02 3.09143672e+02] [ 4.58261027e-02 9.98949308e-01 -4.98725972e-04 4.74678713e+00] [ 2.65598839e-02 -7.19341870e-04 9.99646965e-01 2.82648854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.739254154 meters Centerline goodness [0,1] 0.9995869026394747 Centerline is valid? [True, True] Translation: X:309.18, Y:4.75, Z:2.83 [[ 9.98588111e-01 -4.62337873e-02 -2.61576186e-02 3.09175767e+02] [ 4.62368153e-02 9.98930387e-01 -4.89377435e-04 4.74870303e+00] [ 2.61522659e-02 -7.20758492e-04 9.99657711e-01 2.82770493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.76925415399995 meters Centerline goodness [0,1] 0.9995435675628681 Centerline is valid? [True, True] Translation: X:309.21, Y:4.75, Z:2.83 [[ 9.98574698e-01 -4.68390365e-02 -2.55866519e-02 3.09207484e+02] [ 4.68421792e-02 9.98902189e-01 -4.76855944e-04 4.74994158e+00] [ 2.55808980e-02 -7.22358251e-04 9.99672494e-01 2.82880325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.799254154 meters Centerline goodness [0,1] 0.9994556815955061 Centerline is valid? [True, True] Translation: X:309.24, Y:4.75, Z:2.83 [[ 9.98560448e-01 -4.76972602e-02 -2.45357477e-02 3.09238225e+02] [ 4.77004448e-02 9.98861582e-01 -4.55791473e-04 4.75032264e+00] [ 2.45295557e-02 -7.15230739e-04 9.99698849e-01 2.82951350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.82925415399995 meters Centerline goodness [0,1] 0.9995422941958545 Centerline is valid? [True, True] Translation: X:309.27, Y:4.75, Z:2.83 [[ 9.98473766e-01 -5.03286130e-02 -2.27413510e-02 3.09270385e+02] [ 5.03320633e-02 9.98732450e-01 -4.20998952e-04 4.75091499e+00] [ 2.27337135e-02 -7.24262712e-04 9.99741293e-01 2.83119335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.859254154 meters Centerline goodness [0,1] 0.999564421987978 Centerline is valid? [True, True] Translation: X:309.30, Y:4.75, Z:2.83 [[ 9.98401946e-01 -5.22038591e-02 -2.16405058e-02 3.09301089e+02] [ 5.22074716e-02 9.98636181e-01 -3.98384487e-04 4.74910970e+00] [ 2.16317892e-02 -7.32048242e-04 9.99765737e-01 2.83109067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.88925415399996 meters Centerline goodness [0,1] 0.9996080992815154 Centerline is valid? [True, True] Translation: X:309.33, Y:4.75, Z:2.83 [[ 9.98292564e-01 -5.45141100e-02 -2.09802029e-02 3.09332832e+02] [ 5.45180526e-02 9.98512711e-01 -3.84423145e-04 4.74870998e+00] [ 2.09699558e-02 -7.60033041e-04 9.99779817e-01 2.83144373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.919254154 meters Centerline goodness [0,1] 0.999543934326543 Centerline is valid? [True, True] Translation: X:309.36, Y:4.74, Z:2.83 [[ 9.98016067e-01 -5.99279596e-02 -1.93020677e-02 3.09362691e+02] [ 5.99323298e-02 9.98202380e-01 -3.52494236e-04 4.74337110e+00] [ 1.92884942e-02 -8.05022979e-04 9.99813636e-01 2.83041464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.94925415399996 meters Centerline goodness [0,1] 0.9995221235093512 Centerline is valid? [True, True] Translation: X:309.40, Y:4.75, Z:2.83 [[ 9.97883524e-01 -6.22545439e-02 -1.87841491e-02 3.09395041e+02] [ 6.22591191e-02 9.98059961e-01 -3.41694328e-04 4.74503975e+00] [ 1.87689792e-02 -8.28513438e-04 9.99823504e-01 2.83126211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.979254154 meters Centerline goodness [0,1] 0.9994354943766556 Centerline is valid? [True, True] Translation: X:309.43, Y:4.74, Z:2.83 [[ 9.97734237e-01 -6.47009709e-02 -1.84438749e-02 3.09426152e+02] [ 6.47058205e-02 9.97904327e-01 -3.34328927e-04 4.74225341e+00] [ 1.84268540e-02 -8.59854642e-04 9.99829841e-01 2.83075026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.00925415399996 meters Centerline goodness [0,1] 0.9996305070747028 Centerline is valid? [True, True] Translation: X:309.46, Y:4.74, Z:2.83 [[ 9.97535303e-01 -6.78977183e-02 -1.76980164e-02 3.09456970e+02] [ 6.79026967e-02 9.97691897e-01 -3.20164838e-04 4.74026034e+00] [ 1.76789060e-02 -8.82367312e-04 9.99843327e-01 2.83054212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.039254154 meters Centerline goodness [0,1] 0.9995654157884444 Centerline is valid? [True, True] Translation: X:309.49, Y:4.74, Z:2.83 [[ 9.97466448e-01 -6.89658112e-02 -1.74471350e-02 3.09488872e+02] [ 6.89708255e-02 9.97618628e-01 -3.14873081e-04 4.73959447e+00] [ 1.74273023e-02 -8.89267967e-04 9.99847738e-01 2.83069321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06925415399996 meters Centerline goodness [0,1] 0.9992863939105614 Centerline is valid? [True, True] Translation: X:309.52, Y:4.74, Z:2.83 [[ 9.97417984e-01 -6.96590555e-02 -1.74637064e-02 3.09521232e+02] [ 6.96642073e-02 9.97570448e-01 -3.13904531e-04 4.73948253e+00] [ 1.74431437e-02 -9.03501237e-04 9.99847449e-01 2.83072777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09925415399994 meters Centerline goodness [0,1] 0.9994582999284956 Centerline is valid? [True, True] Translation: X:309.55, Y:4.74, Z:2.83 [[ 9.97433823e-01 -6.94635274e-02 -1.73374565e-02 3.09553635e+02] [ 6.94685973e-02 9.97584091e-01 -3.10381209e-04 4.73974644e+00] [ 1.73171309e-02 -8.94824065e-04 9.99849647e-01 2.83085714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12925415399997 meters Centerline goodness [0,1] 0.9993053595849524 Centerline is valid? [True, True] Translation: X:309.58, Y:4.74, Z:2.83 [[ 9.97501200e-01 -6.86561843e-02 -1.66638897e-02 3.09584544e+02] [ 6.86607729e-02 9.97640020e-01 -2.97272971e-04 4.73905115e+00] [ 1.66449729e-02 -8.47625403e-04 9.99861104e-01 2.83030463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15925415399994 meters Centerline goodness [0,1] 0.9993068942363924 Centerline is valid? [True, True] Translation: X:309.62, Y:4.74, Z:2.83 [[ 9.97567563e-01 -6.78934290e-02 -1.57936276e-02 3.09616277e+02] [ 6.78974703e-02 9.97692265e-01 -2.80801354e-04 4.74161620e+00] [ 1.57762447e-02 -7.92229039e-04 9.99875233e-01 2.83044514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18925415399997 meters Centerline goodness [0,1] 0.9994149892748033 Centerline is valid? [True, True] Translation: X:309.65, Y:4.74, Z:2.83 [[ 9.97668896e-01 -6.65322839e-02 -1.51733089e-02 3.09648132e+02] [ 6.65358732e-02 9.97783997e-01 -2.68694721e-04 4.74373691e+00] [ 1.51575616e-02 -7.41500989e-04 9.99884843e-01 2.83057441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21925415399994 meters Centerline goodness [0,1] 0.9993711100991044 Centerline is valid? [True, True] Translation: X:309.68, Y:4.75, Z:2.83 [[ 9.97854728e-01 -6.38247586e-02 -1.45719414e-02 3.09680020e+02] [ 6.38277948e-02 9.97960894e-01 -2.57092663e-04 4.74770205e+00] [ 1.45586365e-02 -6.73553755e-04 9.99893791e-01 2.83040805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24925415399997 meters Centerline goodness [0,1] 0.9996309562574622 Centerline is valid? [True, True] Translation: X:309.71, Y:4.75, Z:2.83 [[ 9.97978560e-01 -6.18357199e-02 -1.46675719e-02 3.09711606e+02] [ 6.18386082e-02 9.98086129e-01 -2.56968135e-04 4.74797677e+00] [ 1.46553898e-02 -6.50573541e-04 9.99892392e-01 2.82991841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27925415399994 meters Centerline goodness [0,1] 0.9993271401284946 Centerline is valid? [True, True] Translation: X:309.74, Y:4.75, Z:2.83 [[ 9.98100423e-01 -5.97838243e-02 -1.48808475e-02 3.09744049e+02] [ 5.97866098e-02 9.98211147e-01 -2.58005400e-04 4.75064587e+00] [ 1.48696524e-02 -6.32160124e-04 9.99889241e-01 2.82957088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.309254154 meters Centerline goodness [0,1] 0.9995445377057713 Centerline is valid? [True, True] Translation: X:309.78, Y:4.75, Z:2.83 [[ 9.98232279e-01 -5.74534035e-02 -1.52125967e-02 3.09775334e+02] [ 5.74560584e-02 9.98348002e-01 -2.62839458e-04 4.75306984e+00] [ 1.52025666e-02 -6.11681015e-04 9.99884247e-01 2.82913582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33925415399995 meters Centerline goodness [0,1] 0.999499379666108 Centerline is valid? [True, True] Translation: X:309.81, Y:4.76, Z:2.83 [[ 9.98512804e-01 -5.23944328e-02 -1.50666095e-02 3.09805300e+02] [ 5.23964669e-02 9.98626328e-01 -2.59972310e-04 4.75671619e+00] [ 1.50595340e-02 -5.29851426e-04 9.99886458e-01 2.82843476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.369254154 meters Centerline goodness [0,1] 0.999564706394463 Centerline is valid? [True, True] Translation: X:309.84, Y:4.76, Z:2.83 [[ 9.98652372e-01 -4.97109315e-02 -1.49085071e-02 3.09836858e+02] [ 4.97126274e-02 9.98763530e-01 -2.57041650e-04 4.75910478e+00] [ 1.49028509e-02 -4.84445805e-04 9.99888829e-01 2.82828737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39925415399995 meters Centerline goodness [0,1] 0.9995420146991473 Centerline is valid? [True, True] Translation: X:309.87, Y:4.76, Z:2.83 [[ 9.98808713e-01 -4.66528937e-02 -1.43060239e-02 3.09868728e+02] [ 4.66541504e-02 9.98911072e-01 -2.46056884e-04 4.76189416e+00] [ 1.43019250e-02 -4.21671633e-04 9.99897633e-01 2.82823339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.429254154 meters Centerline goodness [0,1] 0.9994543867306853 Centerline is valid? [True, True] Translation: X:309.90, Y:4.76, Z:2.83 [[ 9.98942214e-01 -4.38669060e-02 -1.37893801e-02 3.09900651e+02] [ 4.38678195e-02 9.99037316e-01 -2.36359944e-04 4.76449606e+00] [ 1.37864737e-02 -3.68800111e-04 9.99904894e-01 2.82846283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.45925415399995 meters Centerline goodness [0,1] 0.9996069783183039 Centerline is valid? [True, True] Translation: X:309.93, Y:4.77, Z:2.83 [[ 9.99170537e-01 -3.83905778e-02 -1.35794877e-02 3.09931398e+02] [ 3.83909693e-02 9.99262768e-01 -2.31943235e-04 4.76897804e+00] [ 1.35783809e-02 -2.89578849e-04 9.99907768e-01 2.82819032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.489254154 meters Centerline goodness [0,1] 0.999562535543987 Centerline is valid? [True, True] Translation: X:309.96, Y:4.77, Z:2.83 [[ 9.99277786e-01 -3.55859588e-02 -1.33246497e-02 3.09963244e+02] [ 3.55860946e-02 9.99366589e-01 -2.26975796e-04 4.77235967e+00] [ 1.33242869e-02 -2.47360375e-04 9.99911197e-01 2.82821637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.51925415399995 meters Centerline goodness [0,1] 0.9997598882388894 Centerline is valid? [True, True] Translation: X:309.99, Y:4.78, Z:2.83 [[ 9.99467205e-01 -3.01338910e-02 -1.25401504e-02 3.09993436e+02] [ 3.01335943e-02 9.99545858e-01 -2.12649925e-04 4.77726460e+00] [ 1.25408634e-02 -1.65343179e-04 9.99921347e-01 2.82808722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.549254154 meters Centerline goodness [0,1] 0.9997150997150998 Centerline is valid? [True, True] Translation: X:310.03, Y:4.78, Z:2.83 [[ 9.99557300e-01 -2.74560394e-02 -1.14616732e-02 3.10025850e+02] [ 2.74556274e-02 9.99623005e-01 -1.93322734e-04 4.77996442e+00] [ 1.14626601e-02 -1.21450278e-04 9.99934294e-01 2.82844644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57925415399995 meters Centerline goodness [0,1] 0.9996490766328903 Centerline is valid? [True, True] Translation: X:310.06, Y:4.78, Z:2.83 [[ 9.99629973e-01 -2.51252667e-02 -1.04229740e-02 3.10058048e+02] [ 2.51248064e-02 9.99684307e-01 -1.75125911e-04 4.78298026e+00] [ 1.04240836e-02 -8.68140940e-05 9.99945664e-01 2.82894920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.609254154 meters Centerline goodness [0,1] 0.9997806151551051 Centerline is valid? [True, True] Translation: X:310.09, Y:4.79, Z:2.83 [[ 9.99749373e-01 -2.05211008e-02 -8.94851785e-03 3.10088789e+02] [ 2.05205817e-02 9.99789419e-01 -1.49827139e-04 4.78643606e+00] [ 8.94970808e-03 -3.38392033e-05 9.99959950e-01 2.82993409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63925415399996 meters Centerline goodness [0,1] 0.9998241565007143 Centerline is valid? [True, True] Translation: X:310.12, Y:4.79, Z:2.83 [[ 9.99790570e-01 -1.87429939e-02 -8.21677158e-03 3.10121301e+02] [ 1.87425045e-02 9.99824335e-01 -1.36576045e-04 4.78837462e+00] [ 8.21788802e-03 -1.74554358e-05 9.99966232e-01 2.83040103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.669254154 meters Centerline goodness [0,1] 0.9998899647887324 Centerline is valid? [True, True] Translation: X:310.15, Y:4.79, Z:2.83 [[ 9.99828667e-01 -1.70224730e-02 -7.27131277e-03 3.10153015e+02] [ 1.70220475e-02 9.99855107e-01 -1.20407575e-04 4.78982886e+00] [ 7.27230884e-03 -3.38568604e-06 9.99973556e-01 2.83086599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69925415399996 meters Centerline goodness [0,1] 0.9999340108222251 Centerline is valid? [True, True] Translation: X:310.18, Y:4.79, Z:2.83 [[ 9.99854767e-01 -1.56339050e-02 -6.78430297e-03 3.10184256e+02] [ 1.56335060e-02 9.99877783e-01 -1.11843255e-04 4.79106683e+00] [ 6.78522236e-03 5.76457045e-06 9.99976980e-01 2.83133149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.729254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.22, Y:4.79, Z:2.83 [[ 9.99885111e-01 -1.38584404e-02 -6.14072146e-03 3.10216709e+02] [ 1.38580814e-02 9.99903967e-01 -1.01007748e-04 4.79194064e+00] [ 6.14153156e-03 1.58975259e-05 9.99981140e-01 2.83083741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75925415399996 meters Centerline goodness [0,1] 0.9998460455705112 Centerline is valid? [True, True] Translation: X:310.25, Y:4.79, Z:2.83 [[ 9.99891455e-01 -1.34379720e-02 -6.04137607e-03 3.10249212e+02] [ 1.34376194e-02 9.99909706e-01 -9.89402948e-05 4.79225303e+00] [ 6.04216013e-03 1.77478429e-05 9.99981746e-01 2.83103851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.789254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.28, Y:4.79, Z:2.83 [[ 9.99894513e-01 -1.34845017e-02 -5.39735260e-03 3.10280692e+02] [ 1.34842231e-02 9.99909080e-01 -8.79996507e-05 4.79095868e+00] [ 5.39804850e-03 1.52112611e-05 9.99985430e-01 2.83084253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81925415399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.31, Y:4.79, Z:2.83 [[ 9.99891917e-01 -1.39067327e-02 -4.77042081e-03 3.10312581e+02] [ 1.39065205e-02 9.99903297e-01 -7.76597990e-05 4.78987939e+00] [ 4.77103949e-03 1.13114505e-05 9.99988618e-01 2.83070910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84925415399994 meters Centerline goodness [0,1] 0.9999121381188771 Centerline is valid? [True, True] Translation: X:310.35, Y:4.79, Z:2.83 [[ 9.99888470e-01 -1.43482342e-02 -4.14438572e-03 3.10345168e+02] [ 1.43480786e-02 9.99897059e-01 -6.72637960e-05 4.78894088e+00] [ 4.14492421e-03 7.79232182e-06 9.99991410e-01 2.83100641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87925415399997 meters Centerline goodness [0,1] 0.9999560873861016 Centerline is valid? [True, True] Translation: X:310.38, Y:4.79, Z:2.83 [[ 9.99884912e-01 -1.47439202e-02 -3.57479264e-03 3.10376285e+02] [ 1.47438080e-02 9.99891302e-01 -5.77462813e-05 4.78788850e+00] [ 3.57525548e-03 5.03357911e-06 9.99993609e-01 2.83135946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.41, Y:4.79, Z:2.83 [[ 9.99858165e-01 -1.64799251e-02 -3.47293522e-03 3.10407460e+02] [ 1.64798302e-02 9.99864197e-01 -5.59236033e-05 4.78529155e+00] [ 3.47338520e-03 -1.31771152e-06 9.99993968e-01 2.83221716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.44, Y:4.78, Z:2.83 [[ 9.99839289e-01 -1.76239673e-02 -3.28502544e-03 3.10438840e+02] [ 1.76238892e-02 9.99844686e-01 -5.27407934e-05 4.78375332e+00] [ 3.28544473e-03 -5.16260688e-06 9.99994603e-01 2.83287826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.47, Y:4.78, Z:2.83 [[ 9.99809105e-01 -1.92570816e-02 -3.30432824e-03 3.10471400e+02] [ 1.92570116e-02 9.99814565e-01 -5.29982864e-05 4.78197863e+00] [ 3.30473609e-03 -1.06433178e-05 9.99994539e-01 2.83245308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.50, Y:4.78, Z:2.83 [[ 9.99764807e-01 -2.13931727e-02 -3.55842871e-03 3.10502605e+02] [ 2.13931065e-02 9.99771140e-01 -5.66555975e-05 4.77903077e+00] [ 3.55882637e-03 -1.94835720e-05 9.99993667e-01 2.83317687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.53, Y:4.78, Z:2.83 [[ 9.99705491e-01 -2.39764552e-02 -3.74975750e-03 3.10534678e+02] [ 2.39764005e-02 9.99712523e-01 -5.95518060e-05 4.77564725e+00] [ 3.75010737e-03 -3.03714202e-05 9.99992968e-01 2.83317807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.059254154 meters Centerline goodness [0,1] 0.9999130737134909 Centerline is valid? [True, True] Translation: X:310.57, Y:4.77, Z:2.83 [[ 9.99521732e-01 -3.05403494e-02 -4.85747015e-03 3.10566604e+02] [ 3.05403379e-02 9.99533532e-01 -7.65575880e-05 4.76811252e+00] [ 4.85754239e-03 -7.18278067e-05 9.99988199e-01 2.83142978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.08925415399995 meters Centerline goodness [0,1] 0.9998485995457986 Centerline is valid? [True, True] Translation: X:310.60, Y:4.76, Z:2.83 [[ 9.99415234e-01 -3.38236806e-02 -5.01489505e-03 3.10598140e+02] [ 3.38237111e-02 9.99427811e-01 -7.87489426e-05 4.76372238e+00] [ 5.01468916e-03 -9.09194686e-05 9.99987422e-01 2.83107826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.119254154 meters Centerline goodness [0,1] 0.999741373736503 Centerline is valid? [True, True] Translation: X:310.63, Y:4.76, Z:2.83 [[ 9.99168449e-01 -4.03241418e-02 -6.03110358e-03 3.10628480e+02] [ 4.03243076e-02 9.99186640e-01 -9.41592487e-05 4.75512063e+00] [ 6.02999501e-03 -1.49119125e-04 9.99981808e-01 2.83056083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.14925415399995 meters Centerline goodness [0,1] 0.9997203459105968 Centerline is valid? [True, True] Translation: X:310.66, Y:4.75, Z:2.83 [[ 9.99022500e-01 -4.37136607e-02 -6.56970103e-03 3.10660749e+02] [ 4.37139306e-02 9.99044084e-01 -1.02584045e-04 4.75153906e+00] [ 6.56790527e-03 -1.84703686e-04 9.99978414e-01 2.83057258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.179254154 meters Centerline goodness [0,1] 0.9993348210454038 Centerline is valid? [True, True] Translation: X:310.69, Y:4.75, Z:2.83 [[ 9.98695962e-01 -5.05858005e-02 -6.88857822e-03 3.10691968e+02] [ 5.05862649e-02 9.98719690e-01 -1.06918077e-04 4.74561231e+00] [ 6.88516724e-03 -2.41688791e-04 9.99976268e-01 2.83081605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.20925415399995 meters Centerline goodness [0,1] 0.9995273492888755 Centerline is valid? [True, True] Translation: X:310.72, Y:4.74, Z:2.83 [[ 9.98509885e-01 -5.41858330e-02 -6.47333806e-03 3.10722236e+02] [ 5.41863187e-02 9.98530837e-01 -1.00460532e-04 4.74033456e+00] [ 6.46927121e-03 -2.50455524e-04 9.99979043e-01 2.83151645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.239254154 meters Centerline goodness [0,1] 0.9995721009841677 Centerline is valid? [True, True] Translation: X:310.75, Y:4.73, Z:2.83 [[ 9.98118969e-01 -6.10397579e-02 -5.71587615e-03 3.10752616e+02] [ 6.10402511e-02 9.98135301e-01 -8.83018970e-05 4.73419921e+00] [ 5.71060769e-03 -2.60762717e-04 9.99983660e-01 2.83193244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.26925415399995 meters Centerline goodness [0,1] 0.9993806594908594 Centerline is valid? [True, True] Translation: X:310.78, Y:4.73, Z:2.83 [[ 9.97944580e-01 -6.38633472e-02 -5.29988286e-03 3.10783228e+02] [ 6.38638107e-02 9.97958620e-01 -8.19198770e-05 4.72955262e+00] [ 5.29429546e-03 -2.56719218e-04 9.99985952e-01 2.83243980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.299254154 meters Centerline goodness [0,1] 0.9993173042049794 Centerline is valid? [True, True] Translation: X:310.81, Y:4.73, Z:2.83 [[ 9.97785612e-01 -6.63019296e-02 -5.28459274e-03 3.10814016e+02] [ 6.63024249e-02 9.97799570e-01 -8.15918471e-05 4.72961951e+00] [ 5.27837406e-03 -2.68970142e-04 9.99986033e-01 2.83275972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.32925415399995 meters Centerline goodness [0,1] 0.9990636903368587 Centerline is valid? [True, True] Translation: X:310.84, Y:4.72, Z:2.83 [[ 9.97538860e-01 -6.99047933e-02 -5.43537729e-03 3.10844832e+02] [ 6.99053713e-02 9.97553624e-01 -8.38158409e-05 4.72497930e+00] [ 5.42793944e-03 -2.96352509e-04 9.99985225e-01 2.83324719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.359254154 meters Centerline goodness [0,1] 0.9991924515470928 Centerline is valid? [True, True] Translation: X:310.88, Y:4.72, Z:2.83 [[ 9.97457721e-01 -7.10256510e-02 -5.78375770e-03 3.10875895e+02] [ 7.10263203e-02 9.97474438e-01 -8.98522386e-05 4.72053804e+00] [ 5.77553227e-03 -3.21175218e-04 9.99983270e-01 2.83367267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.38925415399996 meters Centerline goodness [0,1] 0.9991924515470928 Centerline is valid? [True, True] Translation: X:310.91, Y:4.72, Z:2.83 [[ 9.97465366e-01 -7.09181995e-02 -5.78378540e-03 3.10908482e+02] [ 7.09188776e-02 9.97482083e-01 -8.80256455e-05 4.72093608e+00] [ 5.77546492e-03 -3.22377036e-04 9.99983270e-01 2.83397731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.419254154 meters Centerline goodness [0,1] 0.9995970820256171 Centerline is valid? [True, True] Translation: X:310.94, Y:4.72, Z:2.83 [[ 9.97416752e-01 -7.15415624e-02 -6.45188539e-03 3.10940447e+02] [ 7.15424251e-02 9.97437553e-01 -9.72771561e-05 4.71958000e+00] [ 6.44231214e-03 -3.64557663e-04 9.99979182e-01 2.83373066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.44925415399996 meters Centerline goodness [0,1] 0.9993423006746722 Centerline is valid? [True, True] Translation: X:310.97, Y:4.72, Z:2.83 [[ 9.97351361e-01 -7.23449524e-02 -7.51470012e-03 3.10973027e+02] [ 7.23461503e-02 9.97379578e-01 -1.12654071e-04 4.71803322e+00] [ 7.50315839e-03 -4.31303933e-04 9.99971758e-01 2.83268139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.479254154 meters Centerline goodness [0,1] 0.9994271286414462 Centerline is valid? [True, True] Translation: X:311.00, Y:4.71, Z:2.83 [[ 9.97382661e-01 -7.18351055e-02 -8.21858303e-03 3.11004333e+02] [ 7.18365250e-02 9.97416412e-01 -1.22727520e-04 4.71273469e+00] [ 8.20616574e-03 -4.67988146e-04 9.99966219e-01 2.83209761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.50925415399996 meters Centerline goodness [0,1] 0.9996603477190227 Centerline is valid? [True, True] Translation: X:311.04, Y:4.71, Z:2.83 [[ 9.97502445e-01 -6.98913566e-02 -1.02014541e-02 3.11036124e+02] [ 6.98934707e-02 9.97554450e-01 -1.49562127e-04 4.71134891e+00] [ 1.01869590e-02 -5.63826445e-04 9.99947953e-01 2.83115245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53925415399993 meters Centerline goodness [0,1] 0.9995123399202782 Centerline is valid? [True, True] Translation: X:311.07, Y:4.71, Z:2.83 [[ 9.97626619e-01 -6.79780016e-02 -1.09599284e-02 3.11067226e+02] [ 6.79803332e-02 9.97686649e-01 -1.60098547e-04 4.71452437e+00] [ 1.09454574e-02 -5.85341011e-04 9.99939925e-01 2.83082073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56925415399996 meters Centerline goodness [0,1] 0.9995327202056031 Centerline is valid? [True, True] Translation: X:311.10, Y:4.72, Z:2.83 [[ 9.97782604e-01 -6.55457772e-02 -1.15596417e-02 3.11098810e+02] [ 6.55482135e-02 9.97849389e-01 -1.68389098e-04 4.71759156e+00] [ 1.15458186e-02 -5.89698148e-04 9.99933171e-01 2.83096974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59925415399994 meters Centerline goodness [0,1] 0.9995327202056031 Centerline is valid? [True, True] Translation: X:311.13, Y:4.72, Z:2.83 [[ 9.97789662e-01 -6.54382563e-02 -1.15596524e-02 3.11131388e+02] [ 6.54406940e-02 9.97856446e-01 -1.67649002e-04 4.71797052e+00] [ 1.15458443e-02 -5.89193236e-04 9.99933171e-01 2.83127480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62925415399997 meters Centerline goodness [0,1] 0.9994688535735532 Centerline is valid? [True, True] Translation: X:311.16, Y:4.72, Z:2.83 [[ 9.98195808e-01 -5.88179734e-02 -1.20654084e-02 3.11160613e+02] [ 5.88201585e-02 9.98268580e-01 -1.73977993e-04 4.72134957e+00] [ 1.20547512e-02 -5.36025133e-04 9.99927195e-01 2.83164161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65925415399994 meters Centerline goodness [0,1] 0.9995320741875107 Centerline is valid? [True, True] Translation: X:311.19, Y:4.73, Z:2.83 [[ 9.98661441e-01 -5.03166299e-02 -1.19817671e-02 3.11190486e+02] [ 5.03181719e-02 9.98733223e-01 -1.72919936e-04 4.72700683e+00] [ 1.19752896e-02 -4.30212145e-04 9.99928201e-01 2.83230966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68925415399997 meters Centerline goodness [0,1] 0.9994047492506218 Centerline is valid? [True, True] Translation: X:311.22, Y:4.73, Z:2.83 [[ 9.98889609e-01 -4.57075685e-02 -1.14178484e-02 3.11221628e+02] [ 4.57086694e-02 9.98954799e-01 -1.64654700e-04 4.73066368e+00] [ 1.14134404e-02 -3.57422788e-04 9.99934801e-01 2.83292515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71925415399994 meters Centerline goodness [0,1] 0.9989152398170796 Centerline is valid? [True, True] Translation: X:311.25, Y:4.73, Z:2.83 [[ 9.99094328e-01 -4.11883637e-02 -1.06790281e-02 3.11252285e+02] [ 4.11890724e-02 9.99151358e-01 -1.53655847e-04 4.73408979e+00] [ 1.06762943e-02 -2.86342578e-04 9.99942966e-01 2.83393641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74925415399997 meters Centerline goodness [0,1] 0.9994456289978678 Centerline is valid? [True, True] Translation: X:311.28, Y:4.74, Z:2.84 [[ 9.99288963e-01 -3.64037473e-02 -9.81503820e-03 3.11284043e+02] [ 3.64041185e-02 9.99337140e-01 -1.40903195e-04 4.74162857e+00] [ 9.81366161e-03 -2.16504806e-04 9.99951821e-01 2.83507623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77925415399994 meters Centerline goodness [0,1] 0.9991678402253232 Centerline is valid? [True, True] Translation: X:311.31, Y:4.74, Z:2.84 [[ 9.99446703e-01 -3.19972825e-02 -9.08089321e-03 3.11314476e+02] [ 3.19974227e-02 9.99487943e-01 -1.29881889e-04 4.74417701e+00] [ 9.08039914e-03 -1.60755153e-04 9.99958759e-01 2.83561306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.809254154 meters Centerline goodness [0,1] 0.9991680709912754 Centerline is valid? [True, True] Translation: X:311.35, Y:4.75, Z:2.84 [[ 9.99575545e-01 -2.76575582e-02 -9.15367597e-03 3.11346393e+02] [ 2.76575202e-02 9.99617449e-01 -1.30764128e-04 4.74717918e+00] [ 9.15379084e-03 -1.22459354e-04 9.99958096e-01 2.83569412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83925415399995 meters Centerline goodness [0,1] 0.999038749092152 Centerline is valid? [True, True] Translation: X:311.38, Y:4.75, Z:2.83 [[ 9.99755131e-01 -1.95481106e-02 -1.03705744e-02 3.11377480e+02] [ 1.95476341e-02 9.99808916e-01 -1.47325197e-04 4.75158292e+00] [ 1.03714727e-02 -5.54310721e-05 9.99946213e-01 2.83456008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.869254154 meters Centerline goodness [0,1] 0.9991874091181251 Centerline is valid? [True, True] Translation: X:311.41, Y:4.75, Z:2.83 [[ 9.99810250e-01 -1.60139955e-02 -1.10912822e-02 3.11407623e+02] [ 1.60132374e-02 9.99871768e-01 -1.57162930e-04 4.75363065e+00] [ 1.10923767e-02 -2.04742260e-05 9.99938477e-01 2.83400915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89925415399995 meters Centerline goodness [0,1] 0.9989943727667586 Centerline is valid? [True, True] Translation: X:311.44, Y:4.76, Z:2.83 [[ 9.99850258e-01 -1.27171070e-02 -1.17361472e-02 3.11438118e+02] [ 1.27160332e-02 9.99919134e-01 -1.66119789e-04 4.75549842e+00] [ 1.17373107e-02 1.68576771e-05 9.99931115e-01 2.83415539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.929254154 meters Centerline goodness [0,1] 0.9992299465240642 Centerline is valid? [True, True] Translation: X:311.47, Y:4.76, Z:2.83 [[ 9.99877534e-01 -9.82836119e-03 -1.21786696e-02 3.11466950e+02] [ 9.82698170e-03 9.99951699e-01 -1.73108832e-04 4.75730924e+00] [ 1.21797827e-02 5.34080684e-05 9.99925822e-01 2.83448402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.95925415399995 meters Centerline goodness [0,1] 0.9992501339046599 Centerline is valid? [True, True] Translation: X:311.49, Y:4.76, Z:2.84 [[ 9.99912393e-01 -4.36736900e-03 -1.24953219e-02 3.11494877e+02] [ 4.36545592e-03 9.99990455e-01 -1.80374234e-04 4.76023849e+00] [ 1.24959904e-02 1.25810655e-04 9.99921914e-01 2.83526544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.989254154 meters Centerline goodness [0,1] 0.9993143053055626 Centerline is valid? [True, True] Translation: X:311.52, Y:4.76, Z:2.84 [[ 9.99922792e-01 -1.81198556e-03 -1.22933277e-02 3.11522410e+02] [ 1.80992723e-03 9.99998346e-01 -1.78558142e-04 4.76163803e+00] [ 1.22936309e-02 1.56294328e-04 9.99924418e-01 2.83585086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.01925415399995 meters Centerline goodness [0,1] 0.9991660608134114 Centerline is valid? [True, True] Translation: X:311.55, Y:4.76, Z:2.84 [[ 9.99927648e-01 7.57464938e-05 -1.20288187e-02 3.11550996e+02] [-7.78715791e-05 9.99999981e-01 -1.76197891e-04 4.76173780e+00] [ 1.20288052e-02 1.77121846e-04 9.99927636e-01 2.83660610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.049254154 meters Centerline goodness [0,1] 0.9990171150189099 Centerline is valid? [True, True] Translation: X:311.58, Y:4.76, Z:2.84 [[ 9.99930799e-01 2.55242272e-03 -1.14840045e-02 3.11579445e+02] [-2.55455502e-03 9.99996723e-01 -1.71011090e-04 4.75994056e+00] [ 1.14835303e-02 2.00335777e-04 9.99934042e-01 2.83750071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07925415399995 meters Centerline goodness [0,1] 0.9991035792798754 Centerline is valid? [True, True] Translation: X:311.61, Y:4.76, Z:2.84 [[ 9.99930835e-01 2.78186320e-03 -1.14274025e-02 3.11608130e+02] [-2.78401856e-03 9.99996110e-01 -1.72710223e-04 4.75901820e+00] [ 1.14268776e-02 2.04512378e-04 9.99934690e-01 2.83752518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.109254154 meters Centerline goodness [0,1] 0.9995096680665999 Centerline is valid? [True, True] Translation: X:311.63, Y:4.76, Z:2.84 [[ 9.99926107e-01 2.38932047e-03 -1.19193720e-02 3.11634728e+02] [-2.39165125e-03 9.99997124e-01 -1.81295692e-04 4.75568430e+00] [ 1.19189045e-02 2.09789277e-04 9.99928945e-01 2.83741152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13925415399996 meters Centerline goodness [0,1] 0.9992342869297033 Centerline is valid? [True, True] Translation: X:311.66, Y:4.75, Z:2.84 [[ 9.99927898e-01 1.06116232e-03 -1.19613021e-02 3.11663756e+02] [-1.06343602e-03 9.99999418e-01 -1.83729511e-04 4.75297672e+00] [ 1.19611001e-02 1.96436344e-04 9.99928444e-01 2.83727562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.169254154 meters Centerline goodness [0,1] 0.9990869131293398 Centerline is valid? [True, True] Translation: X:311.69, Y:4.75, Z:2.84 [[ 9.99924397e-01 -7.47133974e-04 -1.22736264e-02 3.11691613e+02] [ 7.44864350e-04 9.99999705e-01 -1.89488955e-04 4.75101222e+00] [ 1.22737644e-02 1.80332442e-04 9.99924658e-01 2.83718148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19925415399996 meters Centerline goodness [0,1] 0.9992153203401692 Centerline is valid? [True, True] Translation: X:311.72, Y:4.74, Z:2.84 [[ 9.99897879e-01 -6.03845483e-03 -1.29525499e-02 3.11720198e+02] [ 6.03635611e-03 9.99981761e-01 -2.01119803e-04 4.74305358e+00] [ 1.29535281e-02 1.22913061e-04 9.99916092e-01 2.83754974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.229254154 meters Centerline goodness [0,1] 0.9990912933220626 Centerline is valid? [True, True] Translation: X:311.75, Y:4.74, Z:2.84 [[ 9.99868593e-01 -1.01532245e-02 -1.26375979e-02 3.11747962e+02] [ 1.01515432e-02 9.99948452e-01 -1.97178828e-04 4.73865278e+00] [ 1.26389485e-02 6.88617959e-05 9.99920123e-01 2.83750017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25925415399996 meters Centerline goodness [0,1] 0.998945236688887 Centerline is valid? [True, True] Translation: X:311.78, Y:4.73, Z:2.84 [[ 9.99815528e-01 -1.46873103e-02 -1.23770907e-02 3.11776380e+02] [ 1.46860322e-02 9.99892136e-01 -1.94151090e-04 4.73316060e+00] [ 1.23786072e-02 1.23449219e-05 9.99923382e-01 2.83800866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28925415399993 meters Centerline goodness [0,1] 0.9987584958862025 Centerline is valid? [True, True] Translation: X:311.81, Y:4.72, Z:2.84 [[ 9.99607768e-01 -2.53835904e-02 -1.18314520e-02 3.11806063e+02] [ 2.53831628e-02 9.99677778e-01 -1.86330067e-04 4.72175515e+00] [ 1.18323694e-02 -1.14062691e-04 9.99929989e-01 2.83899176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31925415399996 meters Centerline goodness [0,1] 0.9988878163428044 Centerline is valid? [True, True] Translation: X:311.84, Y:4.71, Z:2.84 [[ 9.99455930e-01 -3.08789039e-02 -1.15904363e-02 3.11837692e+02] [ 3.08788604e-02 9.99523118e-01 -1.82749658e-04 4.71423745e+00] [ 1.15905521e-02 -1.75249236e-04 9.99932812e-01 2.83911302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34925415399994 meters Centerline goodness [0,1] 0.99899218946838 Centerline is valid? [True, True] Translation: X:311.87, Y:4.71, Z:2.84 [[ 9.99262853e-01 -3.64695457e-02 -1.19884186e-02 3.11869672e+02] [ 3.64699094e-02 9.99334734e-01 -1.88346844e-04 4.70939778e+00] [ 1.19873121e-02 -2.49008537e-04 9.99928119e-01 2.83913973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37925415399997 meters Centerline goodness [0,1] 0.9988261680675792 Centerline is valid? [True, True] Translation: X:311.90, Y:4.70, Z:2.84 [[ 9.99041054e-01 -4.19380747e-02 -1.25765776e-02 3.11900542e+02] [ 4.19389155e-02 9.99120157e-01 -1.96989896e-04 4.70323094e+00] [ 1.25737735e-02 -3.30647031e-04 9.99920892e-01 2.83888131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40925415399994 meters Centerline goodness [0,1] 0.9988244185070115 Centerline is valid? [True, True] Translation: X:311.93, Y:4.69, Z:2.84 [[ 9.98576380e-01 -5.16368702e-02 -1.33733478e-02 3.11930029e+02] [ 5.16386910e-02 9.98665811e-01 -2.09348925e-04 4.69022898e+00] [ 1.33663154e-02 -4.81531284e-04 9.99910551e-01 2.83794035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43925415399997 meters Centerline goodness [0,1] 0.9986783586473106 Centerline is valid? [True, True] Translation: X:311.96, Y:4.68, Z:2.84 [[ 9.98355145e-01 -5.57062809e-02 -1.35578141e-02 3.11961029e+02] [ 5.57085260e-02 9.98447052e-01 -2.12303624e-04 4.68467867e+00] [ 1.35485861e-02 -5.43331423e-04 9.99908066e-01 2.83771443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46925415399994 meters Centerline goodness [0,1] 0.9984712682191322 Centerline is valid? [True, True] Translation: X:311.99, Y:4.67, Z:2.84 [[ 9.97946763e-01 -6.25401475e-02 -1.38198604e-02 3.11990516e+02] [ 6.25431370e-02 9.98042238e-01 -2.16190655e-04 4.67474986e+00] [ 1.38063250e-02 -6.48590658e-04 9.99904478e-01 2.83831303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49925415399997 meters Centerline goodness [0,1] 0.9984509106133557 Centerline is valid? [True, True] Translation: X:312.02, Y:4.67, Z:2.84 [[ 9.97778472e-01 -6.51090465e-02 -1.41043497e-02 3.12021612e+02] [ 6.51124189e-02 9.97877911e-01 -2.20458363e-04 4.67113672e+00] [ 1.40887728e-02 -6.98399715e-04 9.99900504e-01 2.83889559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52925415399994 meters Centerline goodness [0,1] 0.9985778223951144 Centerline is valid? [True, True] Translation: X:312.05, Y:4.67, Z:2.84 [[ 9.97619245e-01 -6.74032299e-02 -1.45823814e-02 3.12052429e+02] [ 6.74070830e-02 9.97725530e-01 -2.27669251e-04 4.66833798e+00] [ 1.45645599e-02 -7.55828568e-04 9.99893646e-01 2.83934778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.559254154 meters Centerline goodness [0,1] 0.9986844852787639 Centerline is valid? [True, True] Translation: X:312.08, Y:4.67, Z:2.84 [[ 9.97524713e-01 -6.87868352e-02 -1.45883161e-02 3.12084982e+02] [ 6.87908468e-02 9.97631078e-01 -2.27228249e-04 4.66668170e+00] [ 1.45693879e-02 -7.76876828e-04 9.99893559e-01 2.83981646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.58925415399995 meters Centerline goodness [0,1] 0.998409942046572 Centerline is valid? [True, True] Translation: X:312.12, Y:4.67, Z:2.84 [[ 9.97323054e-01 -7.15114865e-02 -1.52589048e-02 3.12115662e+02] [ 7.15162056e-02 9.97439410e-01 -2.36869825e-04 4.66811500e+00] [ 1.52367719e-02 -8.55023234e-04 9.99883548e-01 2.83987410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.619254154 meters Centerline goodness [0,1] 0.9984763733511438 Centerline is valid? [True, True] Translation: X:312.15, Y:4.66, Z:2.84 [[ 9.97261015e-01 -7.22783982e-02 -1.56939687e-02 3.12146588e+02] [ 7.22835006e-02 9.97384097e-01 -2.42621003e-04 4.65695324e+00] [ 1.56704510e-02 -8.92458526e-04 9.99876813e-01 2.83858067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.64925415399995 meters Centerline goodness [0,1] 0.998496774328246 Centerline is valid? [True, True] Translation: X:312.18, Y:4.66, Z:2.84 [[ 9.97217346e-01 -7.25564112e-02 -1.71211161e-02 3.12178775e+02] [ 7.25625575e-02 9.97363828e-01 -2.62777418e-04 4.66465932e+00] [ 1.70950480e-02 -9.80305769e-04 9.99853388e-01 2.83882200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.679254154 meters Centerline goodness [0,1] 0.9982256179024717 Centerline is valid? [True, True] Translation: X:312.21, Y:4.65, Z:2.84 [[ 9.97232783e-01 -7.19797606e-02 -1.85927804e-02 3.12210643e+02] [ 7.19869362e-02 9.97405535e-01 -2.83924890e-04 4.65372918e+00] [ 1.85649789e-02 -1.05529809e-03 9.99827099e-01 2.83556627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.70925415399995 meters Centerline goodness [0,1] 0.9983094005677075 Centerline is valid? [True, True] Translation: X:312.24, Y:4.66, Z:2.84 [[ 9.97278962e-01 -7.15016848e-02 -1.79493921e-02 3.12242681e+02] [ 7.15083178e-02 9.97439966e-01 -2.72827923e-04 4.65969459e+00] [ 1.79229487e-02 -1.01144529e-03 9.99838859e-01 2.83815056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.739254154 meters Centerline goodness [0,1] 0.9983312125826571 Centerline is valid? [True, True] Translation: X:312.27, Y:4.66, Z:2.84 [[ 9.97343552e-01 -7.05862460e-02 -1.79839407e-02 3.12273196e+02] [ 7.05927707e-02 9.97505181e-01 -2.72542317e-04 4.65517594e+00] [ 1.79583118e-02 -9.97717884e-04 9.99838239e-01 2.83762926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.76925415399995 meters Centerline goodness [0,1] 0.9988099960333201 Centerline is valid? [True, True] Translation: X:312.30, Y:4.67, Z:2.84 [[ 9.97533566e-01 -6.78141330e-02 -1.81115285e-02 3.12304100e+02] [ 6.78203040e-02 9.97697515e-01 -2.73985218e-04 4.66920793e+00] [ 1.80884071e-02 -9.55019920e-04 9.99835935e-01 2.83971032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.799254154 meters Centerline goodness [0,1] 0.9986665277633087 Centerline is valid? [True, True] Translation: X:312.33, Y:4.67, Z:2.84 [[ 9.97651779e-01 -6.56697765e-02 -1.94527228e-02 3.12334962e+02] [ 6.56765036e-02 9.97840925e-01 -2.93525462e-04 4.66914557e+00] [ 1.94299987e-02 -9.84750622e-04 9.99810735e-01 2.83802748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.82925415399995 meters Centerline goodness [0,1] 0.9986428079260017 Centerline is valid? [True, True] Translation: X:312.37, Y:4.68, Z:2.84 [[ 9.97912352e-01 -6.17057507e-02 -1.90614066e-02 3.12366020e+02] [ 6.17114982e-02 9.98093988e-01 -2.87099468e-04 4.67655090e+00] [ 1.90427910e-02 -8.89807851e-04 9.99818274e-01 2.84063245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.859254154 meters Centerline goodness [0,1] 0.9986451276706618 Centerline is valid? [True, True] Translation: X:312.40, Y:4.68, Z:2.84 [[ 9.98054266e-01 -5.93784750e-02 -1.90231325e-02 3.12396753e+02] [ 5.93837877e-02 9.98235185e-01 -2.85987155e-04 4.67575294e+00] [ 1.90065417e-02 -8.44234963e-04 9.99819003e-01 2.84028733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.88925415399996 meters Centerline goodness [0,1] 0.998645014696379 Centerline is valid? [True, True] Translation: X:312.43, Y:4.68, Z:2.84 [[ 9.98200822e-01 -5.68249493e-02 -1.91322703e-02 3.12427982e+02] [ 5.68298686e-02 9.98383836e-01 -2.86911982e-04 4.68114893e+00] [ 1.91176532e-02 -8.00888632e-04 9.99816920e-01 2.84102702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.919254154 meters Centerline goodness [0,1] 0.9987697055634331 Centerline is valid? [True, True] Translation: X:312.46, Y:4.68, Z:2.84 [[ 9.98336980e-01 -5.39432157e-02 -2.03323582e-02 3.12458352e+02] [ 5.39481867e-02 9.98543690e-01 -3.04336778e-04 4.68260016e+00] [ 2.03191649e-02 -7.93063198e-04 9.99793230e-01 2.84007321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.94925415399996 meters Centerline goodness [0,1] 0.9988710958732282 Centerline is valid? [True, True] Translation: X:312.49, Y:4.69, Z:2.84 [[ 9.98472181e-01 -5.16530810e-02 -1.96280975e-02 3.12488947e+02] [ 5.16572748e-02 9.98664829e-01 -2.93629587e-04 4.68565072e+00] [ 1.96170575e-02 -7.20753053e-04 9.99807307e-01 2.84174009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.979254154 meters Centerline goodness [0,1] 0.998767907112726 Centerline is valid? [True, True] Translation: X:312.52, Y:4.69, Z:2.84 [[ 9.98734274e-01 -4.65880769e-02 -1.89578772e-02 3.12518172e+02] [ 4.65910742e-02 9.98914006e-01 -2.83777080e-04 4.69017196e+00] [ 1.89505097e-02 -5.99849967e-04 9.99820243e-01 2.84250837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.00925415399996 meters Centerline goodness [0,1] 0.9986851167741532 Centerline is valid? [True, True] Translation: X:312.55, Y:4.69, Z:2.84 [[ 9.98860895e-01 -4.39084385e-02 -1.86804872e-02 3.12549132e+02] [ 4.39108839e-02 9.99035413e-01 -2.79444939e-04 4.69431971e+00] [ 1.86747383e-02 -5.41150083e-04 9.99825465e-01 2.84359076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03925415399993 meters Centerline goodness [0,1] 0.9988710486703463 Centerline is valid? [True, True] Translation: X:312.58, Y:4.70, Z:2.84 [[ 9.99106773e-01 -3.81868966e-02 -1.80946553e-02 3.12580092e+02] [ 3.81882622e-02 9.99270526e-01 -2.70183344e-04 4.69885398e+00] [ 1.80917731e-02 -4.21061429e-04 9.99836242e-01 2.84420817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06925415399996 meters Centerline goodness [0,1] 0.9989169374323086 Centerline is valid? [True, True] Translation: X:312.61, Y:4.70, Z:2.84 [[ 9.99232558e-01 -3.49740537e-02 -1.76383034e-02 3.12609652e+02] [ 3.49748560e-02 9.99388158e-01 -2.63081881e-04 4.70077800e+00] [ 1.76367126e-02 -3.54017140e-04 9.99844398e-01 2.84452794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09925415399994 meters Centerline goodness [0,1] 0.9990792282258402 Centerline is valid? [True, True] Translation: X:312.64, Y:4.71, Z:2.85 [[ 9.99429273e-01 -2.90021535e-02 -1.73205912e-02 3.12639813e+02] [ 2.90020327e-02 9.99579319e-01 -2.58209520e-04 4.70650656e+00] [ 1.73207934e-02 -2.44270200e-04 9.99849954e-01 2.84560209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12925415399997 meters Centerline goodness [0,1] 0.9990377776848094 Centerline is valid? [True, True] Translation: X:312.67, Y:4.71, Z:2.85 [[ 9.99505790e-01 -2.62873869e-02 -1.72380254e-02 3.12669182e+02] [ 2.62868587e-02 9.99654408e-01 -2.57262922e-04 4.70941890e+00] [ 1.72388309e-02 -1.95997760e-04 9.99851381e-01 2.84616355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15925415399994 meters Centerline goodness [0,1] 0.9990561684634423 Centerline is valid? [True, True] Translation: X:312.70, Y:4.71, Z:2.85 [[ 9.99578909e-01 -2.33288703e-02 -1.72559869e-02 3.12697897e+02] [ 2.33278600e-02 9.99727835e-01 -2.59862291e-04 4.71181822e+00] [ 1.72573527e-02 -1.42792382e-04 9.99851071e-01 2.84649357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18925415399997 meters Centerline goodness [0,1] 0.9988902150470088 Centerline is valid? [True, True] Translation: X:312.73, Y:4.71, Z:2.85 [[ 9.99632768e-01 -2.10093802e-02 -1.71153310e-02 3.12726233e+02] [ 2.10079728e-02 9.99779274e-01 -2.62040178e-04 4.71403557e+00] [ 1.71170585e-02 -9.76144580e-05 9.99853488e-01 2.84654902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21925415399994 meters Centerline goodness [0,1] 0.9990136618329101 Centerline is valid? [True, True] Translation: X:312.75, Y:4.72, Z:2.85 [[ 9.99675156e-01 -1.88553958e-02 -1.71480849e-02 3.12754117e+02] [ 1.88535873e-02 9.99822220e-01 -2.67134856e-04 4.71568226e+00] [ 1.71500732e-02 -5.62548371e-05 9.99852925e-01 2.84651563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24925415399997 meters Centerline goodness [0,1] 0.9990985324947589 Centerline is valid? [True, True] Translation: X:312.78, Y:4.72, Z:2.85 [[ 9.99738485e-01 -1.62579116e-02 -1.60823464e-02 3.12782741e+02] [ 1.62559171e-02 9.99867831e-01 -2.54748328e-04 4.71755706e+00] [ 1.60843625e-02 -6.75158227e-06 9.99870638e-01 2.84772070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27925415399994 meters Centerline goodness [0,1] 0.9992227543903873 Centerline is valid? [True, True] Translation: X:312.81, Y:4.72, Z:2.85 [[ 9.99749085e-01 -1.56896174e-02 -1.59876085e-02 3.12809543e+02] [ 1.56875228e-02 9.99876910e-01 -2.56427606e-04 4.71819107e+00] [ 1.59896639e-02 5.55729163e-06 9.99872157e-01 2.84800629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.309254154 meters Centerline goodness [0,1] 0.9991392883384066 Centerline is valid? [True, True] Translation: X:312.84, Y:4.72, Z:2.85 [[ 9.99750452e-01 -1.59677980e-02 -1.56225288e-02 3.12837727e+02] [ 1.59657863e-02 9.99872507e-01 -2.53491044e-04 4.71824284e+00] [ 1.56245848e-02 4.00182871e-06 9.99877929e-01 2.84839136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33925415399995 meters Centerline goodness [0,1] 0.9991831434316354 Centerline is valid? [True, True] Translation: X:312.86, Y:4.72, Z:2.85 [[ 9.99717852e-01 -1.77641452e-02 -1.57687158e-02 3.12864225e+02] [ 1.77622644e-02 9.99842205e-01 -2.59329508e-04 4.71697673e+00] [ 1.57708343e-02 -2.08317608e-05 9.99875632e-01 2.84857228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.369254154 meters Centerline goodness [0,1] 0.9989927393293323 Centerline is valid? [True, True] Translation: X:312.89, Y:4.72, Z:2.85 [[ 9.99688932e-01 -1.92508666e-02 -1.58569539e-02 3.12892013e+02] [ 1.92491043e-02 9.99814684e-01 -2.63774449e-04 4.71600785e+00] [ 1.58590933e-02 -4.15397621e-05 9.99874236e-01 2.84831465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39925415399995 meters Centerline goodness [0,1] 0.9990562278475703 Centerline is valid? [True, True] Translation: X:312.92, Y:4.71, Z:2.85 [[ 9.99659583e-01 -2.06875522e-02 -1.58978855e-02 3.12919983e+02] [ 2.06859110e-02 9.99785988e-01 -2.67685690e-04 4.71439495e+00] [ 1.59000209e-02 -6.12676785e-05 9.99873585e-01 2.84812651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.429254154 meters Centerline goodness [0,1] 0.9990986836589252 Centerline is valid? [True, True] Translation: X:312.95, Y:4.71, Z:2.85 [[ 9.99585855e-01 -2.41552266e-02 -1.56410867e-02 3.12948937e+02] [ 2.41540258e-02 9.99708214e-01 -2.65706233e-04 4.71058895e+00] [ 1.56429410e-02 -1.12199020e-04 9.99877635e-01 2.84827856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.45925415399995 meters Centerline goodness [0,1] 0.9991015837198612 Centerline is valid? [True, True] Translation: X:312.98, Y:4.71, Z:2.85 [[ 9.99547122e-01 -2.57507845e-02 -1.55707190e-02 3.12977473e+02] [ 2.57497474e-02 9.99668385e-01 -2.67117644e-04 4.70863118e+00] [ 1.55724340e-02 -1.33945408e-04 9.99878733e-01 2.84839517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.489254154 meters Centerline goodness [0,1] 0.9991015837198612 Centerline is valid? [True, True] Translation: X:313.01, Y:4.71, Z:2.85 [[ 9.99546235e-01 -2.57852310e-02 -1.55707069e-02 3.13006624e+02] [ 2.57841872e-02 9.99667497e-01 -2.67818767e-04 4.70916439e+00] [ 1.55724354e-02 -1.33780782e-04 9.99878733e-01 2.84866844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.51925415399995 meters Centerline goodness [0,1] 0.9992672765716918 Centerline is valid? [True, True] Translation: X:313.04, Y:4.71, Z:2.85 [[ 9.99515896e-01 -2.71104069e-02 -1.52643088e-02 3.13036468e+02] [ 2.71095502e-02 9.99632434e-01 -2.63079241e-04 4.70846716e+00] [ 1.52658303e-02 -1.50856662e-04 9.99883459e-01 2.84967990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.549254154 meters Centerline goodness [0,1] 0.9990382001798147 Centerline is valid? [True, True] Translation: X:313.07, Y:4.70, Z:2.85 [[ 9.99464554e-01 -2.90825452e-02 -1.49937252e-02 3.13066015e+02] [ 2.90819339e-02 9.99576998e-01 -2.58851118e-04 4.70369505e+00] [ 1.49949109e-02 -1.77334007e-04 9.99887554e-01 2.84933259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57925415399995 meters Centerline goodness [0,1] 0.9989758167339005 Centerline is valid? [True, True] Translation: X:313.10, Y:4.70, Z:2.85 [[ 9.99450170e-01 -2.95683872e-02 -1.50023051e-02 3.13096958e+02] [ 2.95678274e-02 9.99562743e-01 -2.59168095e-04 4.70398189e+00] [ 1.50034084e-02 -1.84559971e-04 9.99887426e-01 2.85015369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.609254154 meters Centerline goodness [0,1] 0.9992680121300846 Centerline is valid? [True, True] Translation: X:313.13, Y:4.70, Z:2.85 [[ 9.99414129e-01 -3.09128079e-02 -1.46900273e-02 3.13126683e+02] [ 3.09124149e-02 9.99522065e-01 -2.53869745e-04 4.69842076e+00] [ 1.46908542e-02 -2.00383209e-04 9.99892063e-01 2.84928123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63925415399996 meters Centerline goodness [0,1] 0.9992680121300846 Centerline is valid? [True, True] Translation: X:313.16, Y:4.70, Z:2.85 [[ 9.99414129e-01 -3.09128095e-02 -1.46900243e-02 3.13156680e+02] [ 3.09124140e-02 9.99522065e-01 -2.54039151e-04 4.69893960e+00] [ 1.46908565e-02 -2.00213798e-04 9.99892063e-01 2.84956233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.669254154 meters Centerline goodness [0,1] 0.999039003906658 Centerline is valid? [True, True] Translation: X:313.19, Y:4.69, Z:2.85 [[ 9.99338369e-01 -3.31595341e-02 -1.49421890e-02 3.13186570e+02] [ 3.31593760e-02 9.99450043e-01 -2.58399912e-04 4.69455379e+00] [ 1.49425398e-02 -2.37244716e-04 9.99888326e-01 2.84889815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69925415399996 meters Centerline goodness [0,1] 0.9989359926562631 Centerline is valid? [True, True] Translation: X:313.22, Y:4.70, Z:2.85 [[ 9.99299623e-01 -3.41867704e-02 -1.52160377e-02 3.13216890e+02] [ 3.41867254e-02 9.99415428e-01 -2.63135663e-04 4.69535882e+00] [ 1.52161386e-02 -2.57235134e-04 9.99884195e-01 2.84956739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.729254154 meters Centerline goodness [0,1] 0.998893042878924 Centerline is valid? [True, True] Translation: X:313.25, Y:4.69, Z:2.85 [[ 9.99266479e-01 -3.52284892e-02 -1.50152259e-02 3.13246972e+02] [ 3.52285645e-02 9.99379248e-01 -2.59563752e-04 4.69323478e+00] [ 1.50150492e-02 -2.69591497e-04 9.99887231e-01 2.84973580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75925415399996 meters Centerline goodness [0,1] 0.9990819754219783 Centerline is valid? [True, True] Translation: X:313.28, Y:4.69, Z:2.85 [[ 9.99225821e-01 -3.61143050e-02 -1.56050142e-02 3.13277800e+02] [ 3.61144988e-02 9.99347622e-01 -2.69472787e-04 4.69317230e+00] [ 1.56045657e-02 -2.94303102e-04 9.99878198e-01 2.85058509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78925415399993 meters Centerline goodness [0,1] 0.9990200371134881 Centerline is valid? [True, True] Translation: X:313.31, Y:4.69, Z:2.85 [[ 9.99236247e-01 -3.57279251e-02 -1.58252379e-02 3.13308528e+02] [ 3.57280806e-02 9.99361511e-01 -2.72981243e-04 4.69244397e+00] [ 1.58248867e-02 -2.92632621e-04 9.99874736e-01 2.85035143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81925415399996 meters Centerline goodness [0,1] 0.998998998998999 Centerline is valid? [True, True] Translation: X:313.34, Y:4.69, Z:2.85 [[ 9.99306075e-01 -3.32572238e-02 -1.67727430e-02 3.13338305e+02] [ 3.32570514e-02 9.99446789e-01 -2.89277329e-04 4.69156774e+00] [ 1.67730847e-02 -2.68735385e-04 9.99859286e-01 2.84953486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84925415399994 meters Centerline goodness [0,1] 0.9991447464486117 Centerline is valid? [True, True] Translation: X:313.37, Y:4.69, Z:2.85 [[ 9.99360601e-01 -3.15623098e-02 -1.67991201e-02 3.13367855e+02] [ 3.15618902e-02 9.99501757e-01 -2.90169730e-04 4.69318533e+00] [ 1.67999085e-02 -2.40227790e-04 9.99858843e-01 2.84994398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87925415399997 meters Centerline goodness [0,1] 0.9992066805845512 Centerline is valid? [True, True] Translation: X:313.40, Y:4.69, Z:2.85 [[ 9.99416059e-01 -2.94783300e-02 -1.72791487e-02 3.13397811e+02] [ 2.94775638e-02 9.99565397e-01 -2.99093712e-04 4.69439346e+00] [ 1.72804559e-02 -2.10428148e-04 9.99850660e-01 2.84990622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90925415399994 meters Centerline goodness [0,1] 0.999206034140532 Centerline is valid? [True, True] Translation: X:313.43, Y:4.70, Z:2.85 [[ 9.99478394e-01 -2.74450933e-02 -1.70207846e-02 3.13426642e+02] [ 2.74440162e-02 9.99623298e-01 -2.96896627e-04 4.69569113e+00] [ 1.70225212e-02 -1.70376925e-04 9.99855092e-01 2.85019633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93925415399997 meters Centerline goodness [0,1] 0.999103886631239 Centerline is valid? [True, True] Translation: X:313.46, Y:4.70, Z:2.85 [[ 9.99582621e-01 -2.33754946e-02 -1.69755696e-02 3.13455016e+02] [ 2.33737892e-02 9.99726751e-01 -2.98887465e-04 4.69741833e+00] [ 1.69779177e-02 -9.80206699e-05 9.99855860e-01 2.85097863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96925415399994 meters Centerline goodness [0,1] 0.9991239962456981 Centerline is valid? [True, True] Translation: X:313.48, Y:4.70, Z:2.85 [[ 9.99623982e-01 -2.18250383e-02 -1.66000470e-02 3.13483332e+02] [ 2.18231556e-02 9.99761803e-01 -2.94573598e-04 4.69829272e+00] [ 1.66025220e-02 -6.78025751e-05 9.99862166e-01 2.85151225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99925415399997 meters Centerline goodness [0,1] 0.9993320391592043 Centerline is valid? [True, True] Translation: X:313.51, Y:4.70, Z:2.85 [[ 9.99647125e-01 -2.08539312e-02 -1.64541706e-02 3.13511104e+02] [ 2.08518783e-02 9.99782532e-01 -2.96339000e-04 4.69875173e+00] [ 1.64567721e-02 -4.68659319e-05 9.99864577e-01 2.85226800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02925415399994 meters Centerline goodness [0,1] 0.9989771422607243 Centerline is valid? [True, True] Translation: X:313.54, Y:4.70, Z:2.85 [[ 9.99669581e-01 -1.98471676e-02 -1.63345610e-02 3.13539480e+02] [ 1.98449331e-02 9.99803025e-01 -2.98889759e-04 4.69763802e+00] [ 1.63372756e-02 -2.53672689e-05 9.99866537e-01 2.85149485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.059254154 meters Centerline goodness [0,1] 0.9993542742876187 Centerline is valid? [True, True] Translation: X:313.57, Y:4.70, Z:2.85 [[ 9.99663523e-01 -2.05923104e-02 -1.57732929e-02 3.13565977e+02] [ 2.05902652e-02 9.99787955e-01 -2.92065758e-04 4.69671256e+00] [ 1.57759625e-02 -3.28087988e-05 9.99875551e-01 2.85280209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.08925415399995 meters Centerline goodness [0,1] 0.9991873306938945 Centerline is valid? [True, True] Translation: X:313.59, Y:4.69, Z:2.85 [[ 9.99601831e-01 -2.31270112e-02 -1.61653963e-02 3.13594648e+02] [ 2.31251474e-02 9.99732532e-01 -3.02239106e-04 4.69329510e+00] [ 1.61680625e-02 -7.17084082e-05 9.99869286e-01 2.85173272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.119254154 meters Centerline goodness [0,1] 0.9993313832010029 Centerline is valid? [True, True] Translation: X:313.62, Y:4.69, Z:2.85 [[ 9.99539994e-01 -2.57304805e-02 -1.60543800e-02 3.13623686e+02] [ 2.57289136e-02 9.99668910e-01 -3.04171004e-04 4.69153799e+00] [ 1.60568910e-02 -1.09030673e-04 9.99871074e-01 2.85256276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.14925415399995 meters Centerline goodness [0,1] 0.9990186662212386 Centerline is valid? [True, True] Translation: X:313.65, Y:4.69, Z:2.85 [[ 9.99462068e-01 -2.83564854e-02 -1.64767790e-02 3.13652332e+02] [ 2.83551225e-02 9.99597863e-01 -3.16375639e-04 4.68920811e+00] [ 1.64791244e-02 -1.50995638e-04 9.99864199e-01 2.85227696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.179254154 meters Centerline goodness [0,1] 0.9989782513501678 Centerline is valid? [True, True] Translation: X:313.68, Y:4.68, Z:2.85 [[ 9.99242072e-01 -3.50500123e-02 -1.69345086e-02 3.13681139e+02] [ 3.50494601e-02 9.99385525e-01 -3.29492435e-04 4.68285847e+00] [ 1.69356514e-02 -2.64302678e-04 9.99856547e-01 2.85189008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.20925415399995 meters Centerline goodness [0,1] 0.9991435315744397 Centerline is valid? [True, True] Translation: X:313.71, Y:4.68, Z:2.85 [[ 9.99098614e-01 -3.86024912e-02 -1.76580480e-02 3.13709851e+02] [ 3.86023912e-02 9.99254590e-01 -3.46638937e-04 4.67851640e+00] [ 1.76582666e-02 -3.35316394e-04 9.99844024e-01 2.85114330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.239254154 meters Centerline goodness [0,1] 0.9991643163062781 Centerline is valid? [True, True] Translation: X:313.74, Y:4.68, Z:2.85 [[ 9.98949797e-01 -4.25168937e-02 -1.70768002e-02 3.13739130e+02] [ 4.25173533e-02 9.99095672e-01 -3.36304497e-04 4.67610837e+00] [ 1.70756557e-02 -3.90109037e-04 9.99854124e-01 2.85310845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.26925415399995 meters Centerline goodness [0,1] 0.99933115960204 Centerline is valid? [True, True] Translation: X:313.77, Y:4.67, Z:2.85 [[ 9.98811586e-01 -4.57641280e-02 -1.67648429e-02 3.13769027e+02] [ 4.57650198e-02 9.98952178e-01 -3.30654976e-04 4.67152007e+00] [ 1.67624084e-02 -4.36981344e-04 9.99859405e-01 2.85272485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.299254154 meters Centerline goodness [0,1] 0.9991015649484967 Centerline is valid? [True, True] Translation: X:313.80, Y:4.67, Z:2.85 [[ 9.98540150e-01 -5.12531164e-02 -1.70495701e-02 3.13798888e+02] [ 5.12548356e-02 9.98685550e-01 -3.36403073e-04 4.66553268e+00] [ 1.70444010e-02 -5.37960939e-04 9.99854589e-01 2.85254581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.32925415399995 meters Centerline goodness [0,1] 0.9991646130069755 Centerline is valid? [True, True] Translation: X:313.83, Y:4.67, Z:2.85 [[ 9.98440431e-01 -5.31552477e-02 -1.70653544e-02 3.13829012e+02] [ 5.31572426e-02 9.98586097e-01 -3.37012201e-04 4.66563281e+00] [ 1.70591396e-02 -5.70660575e-04 9.99854319e-01 2.85309086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.359254154 meters Centerline goodness [0,1] 0.9992041051418997 Centerline is valid? [True, True] Translation: X:313.86, Y:4.67, Z:2.85 [[ 9.98376403e-01 -5.42832168e-02 -1.72594860e-02 3.13859259e+02] [ 5.42854228e-02 9.98525401e-01 -3.41013503e-04 4.66590237e+00] [ 1.72525465e-02 -5.96478663e-04 9.99850986e-01 2.85290838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.38925415399996 meters Centerline goodness [0,1] 0.9990793823492489 Centerline is valid? [True, True] Translation: X:313.89, Y:4.67, Z:2.85 [[ 9.98331369e-01 -5.53669236e-02 -1.64006418e-02 3.13889977e+02] [ 5.53690615e-02 9.98465904e-01 -3.24044430e-04 4.66584513e+00] [ 1.63934230e-02 -5.84584426e-04 9.99865448e-01 2.85434260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.419254154 meters Centerline goodness [0,1] 0.9989757525083612 Centerline is valid? [True, True] Translation: X:313.92, Y:4.67, Z:2.86 [[ 9.98345152e-01 -5.54341356e-02 -1.52975151e-02 3.13920427e+02] [ 5.54360090e-02 9.98462196e-01 -3.01881042e-04 4.66500520e+00] [ 1.52907250e-02 -5.46651708e-04 9.99882941e-01 2.85551004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.44925415399996 meters Centerline goodness [0,1] 0.9990800752665691 Centerline is valid? [True, True] Translation: X:313.95, Y:4.66, Z:2.86 [[ 9.98384429e-01 -5.49075236e-02 -1.46183637e-02 3.13951295e+02] [ 5.49091886e-02 9.98491311e-01 -2.87739050e-04 4.66467677e+00] [ 1.46121082e-02 -5.15408303e-04 9.99893105e-01 2.85586316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.479254154 meters Centerline goodness [0,1] 0.9992263945805804 Centerline is valid? [True, True] Translation: X:313.98, Y:4.67, Z:2.86 [[ 9.98496614e-01 -5.27382420e-02 -1.49395200e-02 3.13981855e+02] [ 5.27397450e-02 9.98608248e-01 -2.93627385e-04 4.66606092e+00] [ 1.49342132e-02 -4.94720523e-04 9.99888356e-01 2.85593553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.50925415399996 meters Centerline goodness [0,1] 0.9990581242020219 Centerline is valid? [True, True] Translation: X:314.01, Y:4.67, Z:2.86 [[ 9.98558015e-01 -5.15606446e-02 -1.49462617e-02 3.14013223e+02] [ 5.15620225e-02 9.98669751e-01 -2.93406010e-04 4.66775105e+00] [ 1.49415076e-02 -4.77676557e-04 9.99888255e-01 2.85590350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53925415399993 meters Centerline goodness [0,1] 0.9992481674080571 Centerline is valid? [True, True] Translation: X:314.05, Y:4.67, Z:2.86 [[ 9.98618290e-01 -5.03410290e-02 -1.50761999e-02 3.14045071e+02] [ 5.03423013e-02 9.98731979e-01 -2.95339732e-04 4.66951437e+00] [ 1.50719507e-02 -4.64038940e-04 9.99886304e-01 2.85621053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56925415399996 meters Centerline goodness [0,1] 0.9992475230968605 Centerline is valid? [True, True] Translation: X:314.08, Y:4.67, Z:2.86 [[ 9.98667685e-01 -4.92648346e-02 -1.53567949e-02 3.14076343e+02] [ 4.92660384e-02 9.98785646e-01 -3.00143330e-04 4.67117926e+00] [ 1.53529328e-02 -4.56825000e-04 9.99882032e-01 2.85652293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59925415399994 meters Centerline goodness [0,1] 0.9992483400843529 Centerline is valid? [True, True] Translation: X:314.11, Y:4.67, Z:2.86 [[ 9.98785388e-01 -4.67726895e-02 -1.54940028e-02 3.14107739e+02] [ 4.67736235e-02 9.98905469e-01 -3.02290147e-04 4.67467522e+00] [ 1.54911831e-02 -4.22787670e-04 9.99879915e-01 2.85593274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62925415399997 meters Centerline goodness [0,1] 0.9992487635900753 Centerline is valid? [True, True] Translation: X:314.14, Y:4.68, Z:2.86 [[ 9.98792713e-01 -4.67196876e-02 -1.51785278e-02 3.14138417e+02] [ 4.67205826e-02 9.98907954e-01 -2.95816808e-04 4.67770044e+00] [ 1.51757726e-02 -4.13689990e-04 9.99884756e-01 2.85782170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65925415399994 meters Centerline goodness [0,1] 0.9994353472614342 Centerline is valid? [True, True] Translation: X:314.17, Y:4.68, Z:2.86 [[ 9.98767237e-01 -4.69938879e-02 -1.59868729e-02 3.14169978e+02] [ 4.69949198e-02 9.98895080e-01 -3.11327593e-04 4.68010110e+00] [ 1.59838391e-02 -4.40358008e-04 9.99872153e-01 2.85752166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68925415399997 meters Centerline goodness [0,1] 0.999185718759787 Centerline is valid? [True, True] Translation: X:314.20, Y:4.68, Z:2.86 [[ 9.98754743e-01 -4.67061670e-02 -1.75356035e-02 3.14200183e+02] [ 4.67073710e-02 9.98908557e-01 -3.41110176e-04 4.68118558e+00] [ 1.75323963e-02 -4.78356531e-04 9.99846181e-01 2.85558947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71925415399994 meters Centerline goodness [0,1] 0.9992270248814423 Centerline is valid? [True, True] Translation: X:314.23, Y:4.68, Z:2.86 [[ 9.98721545e-01 -4.74806764e-02 -1.73453376e-02 3.14230176e+02] [ 4.74819838e-02 9.98872038e-01 -3.36679712e-04 4.67607033e+00] [ 1.73417585e-02 -4.87341754e-04 9.99849502e-01 2.85521366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74925415399997 meters Centerline goodness [0,1] 0.9991847655678422 Centerline is valid? [True, True] Translation: X:314.26, Y:4.68, Z:2.86 [[ 9.98693327e-01 -4.78174735e-02 -1.80313261e-02 3.14260665e+02] [ 4.78189572e-02 9.98855958e-01 -3.49105136e-04 4.68340566e+00] [ 1.80273908e-02 -5.13590242e-04 9.99837361e-01 2.85633998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77925415399994 meters Centerline goodness [0,1] 0.9991233928869594 Centerline is valid? [True, True] Translation: X:314.29, Y:4.69, Z:2.86 [[ 9.98624393e-01 -4.87039963e-02 -1.94227058e-02 3.14291187e+02] [ 4.87058855e-02 9.98813093e-01 -3.76043687e-04 4.68575713e+00] [ 1.94179677e-02 -5.70473687e-04 9.99811291e-01 2.85605175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.809254154 meters Centerline goodness [0,1] 0.999039866416197 Centerline is valid? [True, True] Translation: X:314.32, Y:4.69, Z:2.86 [[ 9.98609452e-01 -4.88186483e-02 -1.98972907e-02 3.14320679e+02] [ 4.88206500e-02 9.98807487e-01 -3.85425451e-04 4.68556419e+00] [ 1.98923788e-02 -5.86509164e-04 9.99801955e-01 2.85511123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83925415399995 meters Centerline goodness [0,1] 0.9991653973751747 Centerline is valid? [True, True] Translation: X:314.35, Y:4.69, Z:2.86 [[ 9.98597411e-01 -4.97198195e-02 -1.81975575e-02 3.14350537e+02] [ 4.97216374e-02 9.98763052e-01 -3.52815467e-04 4.68678727e+00] [ 1.81925900e-02 -5.52491742e-04 9.99834348e-01 2.85762423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.869254154 meters Centerline goodness [0,1] 0.9988517985010751 Centerline is valid? [True, True] Translation: X:314.38, Y:4.69, Z:2.86 [[ 9.98608021e-01 -4.97265474e-02 -1.75866927e-02 3.14380377e+02] [ 4.97282409e-02 9.98762727e-01 -3.41278808e-04 4.68606742e+00] [ 1.75819038e-02 -5.33751535e-04 9.99845284e-01 2.85821781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89925415399995 meters Centerline goodness [0,1] 0.999142618151401 Centerline is valid? [True, True] Translation: X:314.41, Y:4.69, Z:2.86 [[ 9.98623293e-01 -4.96869203e-02 -1.68145172e-02 3.14411226e+02] [ 4.96884600e-02 9.98764712e-01 -3.26452286e-04 4.69109924e+00] [ 1.68099668e-02 -5.09484608e-04 9.99858573e-01 2.86033813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.929254154 meters Centerline goodness [0,1] 0.9988714497690652 Centerline is valid? [True, True] Translation: X:314.44, Y:4.69, Z:2.86 [[ 9.98632810e-01 -4.96300269e-02 -1.64125043e-02 3.14441195e+02] [ 4.96314882e-02 9.98767547e-01 -3.18519712e-04 4.69178132e+00] [ 1.64080848e-02 -4.96492778e-04 9.99865255e-01 2.86089438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.95925415399995 meters Centerline goodness [0,1] 0.999039866416197 Centerline is valid? [True, True] Translation: X:314.47, Y:4.69, Z:2.86 [[ 9.98668501e-01 -4.91876586e-02 -1.55498718e-02 3.14471319e+02] [ 4.91889209e-02 9.98789447e-01 -3.01507349e-04 4.69184572e+00] [ 1.55458783e-02 -4.63775521e-04 9.99879048e-01 2.86129834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.989254154 meters Centerline goodness [0,1] 0.9990622069396686 Centerline is valid? [True, True] Translation: X:314.50, Y:4.70, Z:2.86 [[ 9.98687102e-01 -4.87927567e-02 -1.55993062e-02 3.14502482e+02] [ 4.87939852e-02 9.98808818e-01 -3.02067550e-04 4.69717780e+00] [ 1.55954633e-02 -4.59481347e-04 9.99878278e-01 2.86131273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.01925415399995 meters Centerline goodness [0,1] 0.9991012269297493 Centerline is valid? [True, True] Translation: X:314.53, Y:4.70, Z:2.86 [[ 9.98692907e-01 -4.85012200e-02 -1.61279022e-02 3.14533875e+02] [ 4.85025069e-02 9.98823012e-01 -3.11572187e-04 4.69672181e+00] [ 1.61240315e-02 -4.71078756e-04 9.99869888e-01 2.86152891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.049254154 meters Centerline goodness [0,1] 0.9988730277986476 Centerline is valid? [True, True] Translation: X:314.57, Y:4.70, Z:2.86 [[ 9.98705702e-01 -4.80731791e-02 -1.66099668e-02 3.14565465e+02] [ 4.80744982e-02 9.98843702e-01 -3.20088719e-04 4.69926977e+00] [ 1.66061484e-02 -4.78841390e-04 9.99861994e-01 2.86175559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07925415399995 meters Centerline goodness [0,1] 0.9990185227723599 Centerline is valid? [True, True] Translation: X:314.60, Y:4.70, Z:2.86 [[ 9.98807209e-01 -4.58600290e-02 -1.67635415e-02 3.14596608e+02] [ 4.58610716e-02 9.98947775e-01 -3.22427209e-04 4.70269793e+00] [ 1.67606891e-02 -4.46751358e-04 9.99859430e-01 2.86117738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.109254154 meters Centerline goodness [0,1] 0.9989578774046979 Centerline is valid? [True, True] Translation: X:314.63, Y:4.71, Z:2.86 [[ 9.98957964e-01 -4.27167710e-02 -1.60705661e-02 3.14626643e+02] [ 4.27173300e-02 9.99087151e-01 -3.08638408e-04 4.70531630e+00] [ 1.60690802e-02 -3.78174881e-04 9.99870812e-01 2.86293379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13925415399996 meters Centerline goodness [0,1] 0.9990621483056146 Centerline is valid? [True, True] Translation: X:314.66, Y:4.71, Z:2.86 [[ 9.99080023e-01 -3.98084744e-02 -1.59497183e-02 3.14657627e+02] [ 3.98086592e-02 9.99207274e-01 -3.06024626e-04 4.70791502e+00] [ 1.59492569e-02 -3.29193809e-04 9.99872748e-01 2.86271290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.169254154 meters Centerline goodness [0,1] 0.9990621483056146 Centerline is valid? [True, True] Translation: X:314.69, Y:4.71, Z:2.86 [[ 9.99081477e-01 -3.97719595e-02 -1.59497262e-02 3.14688471e+02] [ 3.97721463e-02 9.99208728e-01 -3.05612653e-04 4.70847692e+00] [ 1.59492604e-02 -3.29022901e-04 9.99872748e-01 2.86300186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19925415399996 meters Centerline goodness [0,1] 0.9992705141832885 Centerline is valid? [True, True] Translation: X:314.72, Y:4.71, Z:2.86 [[ 9.99184915e-01 -3.71787257e-02 -1.57241334e-02 3.14718921e+02] [ 3.71785915e-02 9.99308592e-01 -3.00952507e-04 4.71132320e+00] [ 1.57244506e-02 -2.83893927e-04 9.99876323e-01 2.86431154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.229254154 meters Centerline goodness [0,1] 0.9990603270062018 Centerline is valid? [True, True] Translation: X:314.75, Y:4.72, Z:2.86 [[ 9.99408046e-01 -3.06241975e-02 -1.56753036e-02 3.14748604e+02] [ 3.06232603e-02 9.99530953e-01 -2.99868274e-04 4.71540129e+00] [ 1.56771343e-02 -1.80338136e-04 9.99877090e-01 2.86402686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25925415399996 meters Centerline goodness [0,1] 0.9992482773021507 Centerline is valid? [True, True] Translation: X:314.78, Y:4.72, Z:2.86 [[ 9.99503273e-01 -2.72137434e-02 -1.58940361e-02 3.14777834e+02] [ 2.72123485e-02 9.99629629e-01 -3.04069265e-04 4.71829119e+00] [ 1.58964243e-02 -1.28595824e-04 9.99873636e-01 2.86436438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28925415399993 meters Centerline goodness [0,1] 0.9991642115380597 Centerline is valid? [True, True] Translation: X:314.81, Y:4.72, Z:2.86 [[ 9.99657757e-01 -2.10053891e-02 -1.55930458e-02 3.14806044e+02] [ 2.10032805e-02 9.99779362e-01 -2.98994374e-04 4.72193051e+00] [ 1.55958859e-02 -2.86130698e-05 9.99878376e-01 2.86431545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31925415399996 meters Centerline goodness [0,1] 0.9992271379036638 Centerline is valid? [True, True] Translation: X:314.83, Y:4.72, Z:2.86 [[ 9.99694515e-01 -1.84908993e-02 -1.64001238e-02 3.14833559e+02] [ 1.84881863e-02 9.99829029e-01 -3.17034189e-04 4.72358336e+00] [ 1.64031821e-02 1.37287960e-05 9.99865459e-01 2.86316031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34925415399994 meters Centerline goodness [0,1] 0.9993736690467243 Centerline is valid? [True, True] Translation: X:314.86, Y:4.72, Z:2.87 [[ 9.99728818e-01 -1.78018539e-02 -1.50128250e-02 3.14861790e+02] [ 1.77994412e-02 9.99841534e-01 -2.94324027e-04 4.72472001e+00] [ 1.50156855e-02 2.70243173e-05 9.99887258e-01 2.86541639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37925415399997 meters Centerline goodness [0,1] 0.9993723455446994 Centerline is valid? [True, True] Translation: X:314.89, Y:4.73, Z:2.87 [[ 9.99730858e-01 -1.76333072e-02 -1.50757486e-02 3.14889235e+02] [ 1.76308029e-02 9.99844521e-01 -2.99014667e-04 4.72533475e+00] [ 1.50786773e-02 3.31366375e-05 9.99886310e-01 2.86584518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40925415399994 meters Centerline goodness [0,1] 0.9993723455446994 Centerline is valid? [True, True] Translation: X:314.92, Y:4.73, Z:2.87 [[ 9.99725737e-01 -1.79213508e-02 -1.50756922e-02 3.14916643e+02] [ 1.79188367e-02 9.99839399e-01 -3.01839053e-04 4.72595235e+00] [ 1.50786804e-02 3.16174038e-05 9.99886310e-01 2.86610229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43925415399997 meters Centerline goodness [0,1] 0.9991428690889326 Centerline is valid? [True, True] Translation: X:314.94, Y:4.72, Z:2.87 [[ 9.99686507e-01 -1.98713531e-02 -1.52321178e-02 3.14943332e+02] [ 1.98689602e-02 9.99802545e-01 -3.08430930e-04 4.72391283e+00] [ 1.52352391e-02 5.68789656e-06 9.99883937e-01 2.86531817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46925415399994 meters Centerline goodness [0,1] 0.9992281858194789 Centerline is valid? [True, True] Translation: X:314.97, Y:4.72, Z:2.87 [[ 9.99554791e-01 -2.60050889e-02 -1.46271848e-02 3.14971113e+02] [ 2.60035156e-02 9.99661807e-01 -2.97769828e-04 4.71847752e+00] [ 1.46299815e-02 -8.27209703e-05 9.99892973e-01 2.86618828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49925415399997 meters Centerline goodness [0,1] 0.9993735905788023 Centerline is valid? [True, True] Translation: X:315.00, Y:4.71, Z:2.87 [[ 9.99437414e-01 -3.02489480e-02 -1.44864274e-02 3.15000058e+02] [ 3.02478204e-02 9.99542386e-01 -2.96987998e-04 4.71491354e+00] [ 1.44887818e-02 -1.41361938e-04 9.99895022e-01 2.86625100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52925415399994 meters Centerline goodness [0,1] 0.9993734597552316 Centerline is valid? [True, True] Translation: X:315.03, Y:4.71, Z:2.87 [[ 9.99294281e-01 -3.46595585e-02 -1.44794904e-02 3.15029938e+02] [ 3.46588586e-02 9.99399156e-01 -2.99340423e-04 4.71176240e+00] [ 1.44811655e-02 -2.02713437e-04 9.99895122e-01 2.86654864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.559254154 meters Centerline goodness [0,1] 0.9991441037095797 Centerline is valid? [True, True] Translation: X:315.06, Y:4.70, Z:2.87 [[ 9.98942107e-01 -4.36602092e-02 -1.44379346e-02 3.15059520e+02] [ 4.36604461e-02 9.99046383e-01 -2.98947166e-04 4.70280684e+00] [ 1.44372184e-02 -3.31735751e-04 9.99895723e-01 2.86635368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.58925415399995 meters Centerline goodness [0,1] 0.9989974099757707 Centerline is valid? [True, True] Translation: X:315.09, Y:4.70, Z:2.87 [[ 9.98597034e-01 -5.10520630e-02 -1.40588064e-02 3.15090320e+02] [ 5.10530172e-02 9.98695902e-01 -2.91247980e-04 4.69661133e+00] [ 1.40553411e-02 -4.26905113e-04 9.99901128e-01 2.86661000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.619254154 meters Centerline goodness [0,1] 0.9988309709204016 Centerline is valid? [True, True] Translation: X:315.12, Y:4.70, Z:2.87 [[ 9.98452611e-01 -5.38502142e-02 -1.38757924e-02 3.15121638e+02] [ 5.38514181e-02 9.98548918e-01 -2.87128403e-04 4.69592712e+00] [ 1.38711195e-02 -4.60546997e-04 9.99903685e-01 2.86651436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.64925415399995 meters Centerline goodness [0,1] 0.9988309709204016 Centerline is valid? [True, True] Translation: X:315.15, Y:4.70, Z:2.87 [[ 9.98456560e-01 -5.37769497e-02 -1.38758064e-02 3.15153335e+02] [ 5.37781559e-02 9.98552867e-01 -2.86455242e-04 4.69652225e+00] [ 1.38711309e-02 -4.60202162e-04 9.99903685e-01 2.86681129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.679254154 meters Centerline goodness [0,1] 0.9991231000501085 Centerline is valid? [True, True] Translation: X:315.18, Y:4.69, Z:2.87 [[ 9.98331531e-01 -5.61853268e-02 -1.33177854e-02 3.15184453e+02] [ 5.61866635e-02 9.98420244e-01 -2.74059318e-04 4.69258857e+00] [ 1.33121446e-02 -4.74679867e-04 9.99911277e-01 2.86741396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.70925415399995 meters Centerline goodness [0,1] 0.9988517026118546 Centerline is valid? [True, True] Translation: X:315.22, Y:4.69, Z:2.87 [[ 9.98124660e-01 -5.98672914e-02 -1.27698963e-02 3.15215816e+02] [ 5.98688291e-02 9.98206218e-01 -2.62167714e-04 4.69233456e+00] [ 1.27626852e-02 -5.02842680e-04 9.99918427e-01 2.86780949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.739254154 meters Centerline goodness [0,1] 0.9990592858934694 Centerline is valid? [True, True] Translation: X:315.25, Y:4.69, Z:2.87 [[ 9.98062456e-01 -6.09484723e-02 -1.25147141e-02 3.15246762e+02] [ 6.09500425e-02 9.98140785e-01 -2.56245298e-04 4.69098683e+00] [ 1.25070643e-02 -5.07023547e-04 9.99921655e-01 2.86798555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.76925415399995 meters Centerline goodness [0,1] 0.9987050690281752 Centerline is valid? [True, True] Translation: X:315.28, Y:4.68, Z:2.87 [[ 9.97993675e-01 -6.20408585e-02 -1.26315306e-02 3.15278090e+02] [ 6.20425609e-02 9.98073471e-01 -2.57424111e-04 4.68318152e+00] [ 1.26231665e-02 -5.26784875e-04 9.99920186e-01 2.86760266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.799254154 meters Centerline goodness [0,1] 0.9990388633514417 Centerline is valid? [True, True] Translation: X:315.31, Y:4.69, Z:2.87 [[ 9.97866361e-01 -6.41118249e-02 -1.23449820e-02 3.15309620e+02] [ 6.41136173e-02 9.97942574e-01 -2.50915526e-04 4.69188034e+00] [ 1.23356697e-02 -5.41101287e-04 9.99923766e-01 2.86883329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.82925415399995 meters Centerline goodness [0,1] 0.9987042029803331 Centerline is valid? [True, True] Translation: X:315.34, Y:4.69, Z:2.87 [[ 9.97827346e-01 -6.46244296e-02 -1.28168269e-02 3.15341227e+02] [ 6.46264134e-02 9.97909495e-01 -2.59762792e-04 4.68826067e+00] [ 1.28068203e-02 -5.69107135e-04 9.99917827e-01 2.86727256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.859254154 meters Centerline goodness [0,1] 0.9988296760710553 Centerline is valid? [True, True] Translation: X:315.37, Y:4.69, Z:2.87 [[ 9.97752232e-01 -6.60055661e-02 -1.15650068e-02 3.15373227e+02] [ 6.60072812e-02 9.97819114e-01 -2.33754507e-04 4.69046047e+00] [ 1.15552139e-02 -5.30145574e-04 9.99933096e-01 2.86937467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.88925415399996 meters Centerline goodness [0,1] 0.9989568337818948 Centerline is valid? [True, True] Translation: X:315.40, Y:4.69, Z:2.87 [[ 9.97663035e-01 -6.73829021e-02 -1.13142884e-02 3.15403965e+02] [ 6.73846426e-02 9.97727046e-01 -2.27754141e-04 4.68853892e+00] [ 1.13039183e-02 -5.35187393e-04 9.99935965e-01 2.86952147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.919254154 meters Centerline goodness [0,1] 0.9990404072011181 Centerline is valid? [True, True] Translation: X:315.44, Y:4.69, Z:2.87 [[ 9.97629158e-01 -6.77319499e-02 -1.21838143e-02 3.15435835e+02] [ 6.77340124e-02 9.97703385e-01 -2.43753292e-04 4.68903272e+00] [ 1.21723426e-02 -5.82083236e-04 9.99925745e-01 2.86927962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.94925415399996 meters Centerline goodness [0,1] 0.9987678041852889 Centerline is valid? [True, True] Translation: X:315.47, Y:4.69, Z:2.87 [[ 9.97613251e-01 -6.77377258e-02 -1.33941134e-02 3.15468382e+02] [ 6.77402330e-02 9.97702957e-01 -2.66923839e-04 4.69314240e+00] [ 1.33814274e-02 -6.41033606e-04 9.99910259e-01 2.86858982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.979254154 meters Centerline goodness [0,1] 0.9989322949378219 Centerline is valid? [True, True] Translation: X:315.50, Y:4.70, Z:2.87 [[ 9.97647601e-01 -6.71801974e-02 -1.36413255e-02 3.15500533e+02] [ 6.71827600e-02 9.97740649e-01 -2.70824290e-04 4.69509070e+00] [ 1.36286990e-02 -6.46274695e-04 9.99906916e-01 2.86838167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.00925415399996 meters Centerline goodness [0,1] 0.998703308654369 Centerline is valid? [True, True] Translation: X:315.53, Y:4.69, Z:2.87 [[ 9.97691229e-01 -6.63486204e-02 -1.44938726e-02 3.15531586e+02] [ 6.63514458e-02 9.97796274e-01 -2.86380176e-04 4.69000936e+00] [ 1.44809330e-02 -6.75970411e-04 9.99894917e-01 2.86731870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03925415399993 meters Centerline goodness [0,1] 0.9988512469192531 Centerline is valid? [True, True] Translation: X:315.56, Y:4.70, Z:2.87 [[ 9.97750583e-01 -6.52519271e-02 -1.53610134e-02 3.15563786e+02] [ 6.52549965e-02 9.97868576e-01 -3.01857012e-04 4.69806577e+00] [ 1.53479693e-02 -7.01204868e-04 9.99881967e-01 2.86766086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06925415399996 meters Centerline goodness [0,1] 0.9988287214239401 Centerline is valid? [True, True] Translation: X:315.60, Y:4.70, Z:2.87 [[ 9.97826172e-01 -6.40468593e-02 -1.55219603e-02 3.15595186e+02] [ 6.40498621e-02 9.97946653e-01 -3.04099318e-04 4.70039383e+00] [ 1.55095649e-02 -6.90741158e-04 9.99879481e-01 2.86746550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09925415399994 meters Centerline goodness [0,1] 0.9987070403737071 Centerline is valid? [True, True] Translation: X:315.63, Y:4.71, Z:2.87 [[ 9.98014589e-01 -6.09084211e-02 -1.60325785e-02 3.15626999e+02] [ 6.09112321e-02 9.98143138e-01 -3.13376479e-04 4.70696779e+00] [ 1.60218954e-02 -6.63809809e-04 9.99871421e-01 2.86735749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12925415399997 meters Centerline goodness [0,1] 0.9989765654371527 Centerline is valid? [True, True] Translation: X:315.66, Y:4.71, Z:2.87 [[ 9.98131076e-01 -5.89275824e-02 -1.61831458e-02 3.15658183e+02] [ 5.89301992e-02 9.98262056e-01 -3.15536767e-04 4.71086749e+00] [ 1.61736142e-02 -6.38728951e-04 9.99868995e-01 2.86804253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15925415399994 meters Centerline goodness [0,1] 0.9989775904519468 Centerline is valid? [True, True] Translation: X:315.69, Y:4.71, Z:2.87 [[ 9.98246801e-01 -5.69226131e-02 -1.62215839e-02 3.15689151e+02] [ 5.69249878e-02 9.98378408e-01 -3.15680355e-04 4.71463233e+00] [ 1.62132485e-02 -6.08286564e-04 9.99868372e-01 2.86867290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18925415399997 meters Centerline goodness [0,1] 0.9989557008291735 Centerline is valid? [True, True] Translation: X:315.72, Y:4.72, Z:2.87 [[ 9.98469978e-01 -5.30937965e-02 -1.54515886e-02 3.15719315e+02] [ 5.30955077e-02 9.98589394e-01 -2.99755346e-04 4.71916320e+00] [ 1.54457077e-02 -5.21113228e-04 9.99880572e-01 2.86950557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21925415399994 meters Centerline goodness [0,1] 0.9988704110448697 Centerline is valid? [True, True] Translation: X:315.75, Y:4.72, Z:2.87 [[ 9.98577344e-01 -5.11904039e-02 -1.49275099e-02 3.15750794e+02] [ 5.11918050e-02 9.98688798e-01 -2.88479942e-04 4.72332109e+00] [ 1.49227044e-02 -4.76096645e-04 9.99888537e-01 2.87030652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24925415399997 meters Centerline goodness [0,1] 0.9990165512334959 Centerline is valid? [True, True] Translation: X:315.78, Y:4.73, Z:2.87 [[ 9.98662942e-01 -4.96043997e-02 -1.45510062e-02 3.15782408e+02] [ 4.96055705e-02 9.98768846e-01 -2.80673666e-04 4.72678391e+00] [ 1.45470143e-02 -4.41512574e-04 9.99894089e-01 2.87075207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27925415399994 meters Centerline goodness [0,1] 0.9989968861674782 Centerline is valid? [True, True] Translation: X:315.81, Y:4.73, Z:2.87 [[ 9.98800886e-01 -4.68392247e-02 -1.42434998e-02 3.15814255e+02] [ 4.68400740e-02 9.98902364e-01 -2.74147659e-04 4.73111628e+00] [ 1.42407065e-02 -3.93347660e-04 9.99898519e-01 2.87083318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.309254154 meters Centerline goodness [0,1] 0.9987255024863149 Centerline is valid? [True, True] Translation: X:315.85, Y:4.73, Z:2.87 [[ 9.98844140e-01 -4.58213885e-02 -1.45184186e-02 3.15845973e+02] [ 4.58221735e-02 9.98949574e-01 -2.78751257e-04 4.73426950e+00] [ 1.45159409e-02 -3.86836438e-04 9.99894563e-01 2.87139374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33925415399995 meters Centerline goodness [0,1] 0.9987235556299567 Centerline is valid? [True, True] Translation: X:315.88, Y:4.74, Z:2.87 [[ 9.98899324e-01 -4.44056444e-02 -1.51089201e-02 3.15876746e+02] [ 4.44063414e-02 9.99013510e-01 -2.89513611e-04 4.73574667e+00] [ 1.51068714e-02 -3.81736915e-04 9.99885812e-01 2.87096548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.369254154 meters Centerline goodness [0,1] 0.9989136792846995 Centerline is valid? [True, True] Translation: X:315.91, Y:4.74, Z:2.87 [[ 9.98972792e-01 -4.29780482e-02 -1.43613156e-02 3.15907071e+02] [ 4.29785365e-02 9.99075958e-01 -2.74770189e-04 4.73926956e+00] [ 1.43598542e-02 -3.42740381e-04 9.99896833e-01 2.87170875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39925415399995 meters Centerline goodness [0,1] 0.998767392303514 Centerline is valid? [True, True] Translation: X:315.94, Y:4.74, Z:2.87 [[ 9.98988572e-01 -4.22718882e-02 -1.53271236e-02 3.15938892e+02] [ 4.22723708e-02 9.99106081e-01 -2.92633129e-04 4.74239219e+00] [ 1.53257925e-02 -3.55576699e-04 9.99882490e-01 2.87198617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.429254154 meters Centerline goodness [0,1] 0.9989774197587545 Centerline is valid? [True, True] Translation: X:315.97, Y:4.74, Z:2.87 [[ 9.99024276e-01 -4.14200489e-02 -1.53256226e-02 3.15969476e+02] [ 4.14204433e-02 9.99141763e-01 -2.91810842e-04 4.74253499e+00] [ 1.53245564e-02 -3.43267968e-04 9.99882513e-01 2.87180349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.45925415399995 meters Centerline goodness [0,1] 0.9989330320718006 Centerline is valid? [True, True] Translation: X:316.00, Y:4.75, Z:2.87 [[ 9.99051978e-01 -4.08268718e-02 -1.51100119e-02 3.16000908e+02] [ 4.08271931e-02 9.99166181e-01 -2.87330468e-04 4.74537094e+00] [ 1.51091437e-02 -3.29841302e-04 9.99885796e-01 2.87236144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.489254154 meters Centerline goodness [0,1] 0.9987469980160802 Centerline is valid? [True, True] Translation: X:316.03, Y:4.75, Z:2.87 [[ 9.99105726e-01 -3.95355500e-02 -1.49895939e-02 3.16031837e+02] [ 3.95357291e-02 9.99218117e-01 -2.84495565e-04 4.74947471e+00] [ 1.49891214e-02 -3.08383374e-04 9.99887609e-01 2.87311043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.51925415399995 meters Centerline goodness [0,1] 0.9990588924209469 Centerline is valid? [True, True] Translation: X:316.06, Y:4.75, Z:2.87 [[ 9.99135912e-01 -3.88756514e-02 -1.47007712e-02 3.16062537e+02] [ 3.88757587e-02 9.99244013e-01 -2.78574527e-04 4.75007612e+00] [ 1.47004874e-02 -2.93169820e-04 9.99891899e-01 2.87317065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.549254154 meters Centerline goodness [0,1] 0.9989140649472695 Centerline is valid? [True, True] Translation: X:316.09, Y:4.75, Z:2.87 [[ 9.99166336e-01 -3.79488565e-02 -1.50504808e-02 3.16093465e+02] [ 3.79488696e-02 9.99279642e-01 -2.84823144e-04 4.75212575e+00] [ 1.50504477e-02 -2.86563035e-04 9.99886695e-01 2.87336520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57925415399995 meters Centerline goodness [0,1] 0.9991425643599556 Centerline is valid? [True, True] Translation: X:316.12, Y:4.76, Z:2.87 [[ 9.99225457e-01 -3.61320718e-02 -1.55871675e-02 3.16124839e+02] [ 3.61318739e-02 9.99346987e-01 -2.94405951e-04 4.75635053e+00] [ 1.55876264e-02 -2.69015650e-04 9.99878469e-01 2.87337353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.609254154 meters Centerline goodness [0,1] 0.9991433705235887 Centerline is valid? [True, True] Translation: X:316.16, Y:4.76, Z:2.87 [[ 9.99260870e-01 -3.49775381e-02 -1.59463478e-02 3.16155318e+02] [ 3.49771915e-02 9.99388066e-01 -3.00715807e-04 4.75723953e+00] [ 1.59471080e-02 -2.57264922e-04 9.99872804e-01 2.87315918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63925415399996 meters Centerline goodness [0,1] 0.9991016775649194 Centerline is valid? [True, True] Translation: X:316.19, Y:4.76, Z:2.87 [[ 9.99319748e-01 -3.31934349e-02 -1.60697756e-02 3.16186059e+02] [ 3.31928551e-02 9.99448919e-01 -3.02870589e-04 4.75925073e+00] [ 1.60709731e-02 -2.30737172e-04 9.99870827e-01 2.87307847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.669254154 meters Centerline goodness [0,1] 0.9991223854399566 Centerline is valid? [True, True] Translation: X:316.22, Y:4.76, Z:2.87 [[ 9.99341384e-01 -3.25192494e-02 -1.61026970e-02 3.16216904e+02] [ 3.25185797e-02 9.99471085e-01 -3.03491066e-04 4.76086423e+00] [ 1.61040493e-02 -2.20345653e-04 9.99870297e-01 2.87362909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69925415399996 meters Centerline goodness [0,1] 0.9989772063120982 Centerline is valid? [True, True] Translation: X:316.25, Y:4.76, Z:2.87 [[ 9.99352325e-01 -3.22346409e-02 -1.59955668e-02 3.16247738e+02] [ 3.22339437e-02 9.99480306e-01 -3.01471960e-04 4.76177198e+00] [ 1.59969719e-02 -2.14323496e-04 9.99872017e-01 2.87387983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.729254154 meters Centerline goodness [0,1] 0.9991421876307641 Centerline is valid? [True, True] Translation: X:316.28, Y:4.76, Z:2.87 [[ 9.99351285e-01 -3.24915337e-02 -1.55341134e-02 3.16278416e+02] [ 3.24909071e-02 9.99471988e-01 -2.92774847e-04 4.76246720e+00] [ 1.55354239e-02 -2.12132517e-04 9.99879296e-01 2.87471482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75925415399996 meters Centerline goodness [0,1] 0.9989119517910947 Centerline is valid? [True, True] Translation: X:316.31, Y:4.76, Z:2.88 [[ 9.99303340e-01 -3.40648805e-02 -1.52452645e-02 3.16308536e+02] [ 3.40644600e-02 9.99419597e-01 -2.87330848e-04 4.76141897e+00] [ 1.52462040e-02 -2.32191028e-04 9.99883743e-01 2.87534347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78925415399993 meters Centerline goodness [0,1] 0.9989973890339425 Centerline is valid? [True, True] Translation: X:316.34, Y:4.76, Z:2.88 [[ 9.99256577e-01 -3.54460394e-02 -1.51615343e-02 3.16339319e+02] [ 3.54457824e-02 9.99371560e-01 -2.85752766e-04 4.76030671e+00] [ 1.51621350e-02 -2.51872115e-04 9.99885017e-01 2.87544933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81925415399996 meters Centerline goodness [0,1] 0.9989543686477895 Centerline is valid? [True, True] Translation: X:316.37, Y:4.76, Z:2.88 [[ 9.99183213e-01 -3.72438230e-02 -1.56781690e-02 3.16369325e+02] [ 3.72437713e-02 9.99306166e-01 -2.95374318e-04 4.75757677e+00] [ 1.56782918e-02 -2.88781080e-04 9.99877046e-01 2.87516181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84925415399994 meters Centerline goodness [0,1] 0.9988502142782482 Centerline is valid? [True, True] Translation: X:316.40, Y:4.76, Z:2.87 [[ 9.99006164e-01 -4.08880371e-02 -1.77441054e-02 3.16400867e+02] [ 4.08885543e-02 9.99163658e-01 -3.33796028e-04 4.75504100e+00] [ 1.77429135e-02 -3.92066529e-04 9.99842505e-01 2.87323538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87925415399997 meters Centerline goodness [0,1] 0.9990175174547431 Centerline is valid? [True, True] Translation: X:316.43, Y:4.75, Z:2.88 [[ 9.98885402e-01 -4.39298782e-02 -1.72661249e-02 3.16431686e+02] [ 4.39308278e-02 9.99034522e-01 -3.24471424e-04 4.75379449e+00] [ 1.72637088e-02 -4.34405390e-04 9.99850877e-01 2.87528089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90925415399994 meters Centerline goodness [0,1] 0.9991419542515121 Centerline is valid? [True, True] Translation: X:316.46, Y:4.75, Z:2.87 [[ 9.98646552e-01 -4.86508427e-02 -1.83891244e-02 3.16463147e+02] [ 4.86527255e-02 9.98815695e-01 -3.45243981e-04 4.75024867e+00] [ 1.83841425e-02 -5.49904309e-04 9.99830846e-01 2.87457094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93925415399997 meters Centerline goodness [0,1] 0.9991419542515121 Centerline is valid? [True, True] Translation: X:316.49, Y:4.75, Z:2.87 [[ 9.98648336e-01 -4.86142029e-02 -1.83891370e-02 3.16494000e+02] [ 4.86160919e-02 9.98817479e-01 -3.44569259e-04 4.75079760e+00] [ 1.83841425e-02 -5.49904458e-04 9.99830846e-01 2.87485995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96925415399994 meters Centerline goodness [0,1] 0.9988930659983292 Centerline is valid? [True, True] Translation: X:316.52, Y:4.75, Z:2.88 [[ 9.98410914e-01 -5.31224438e-02 -1.88056811e-02 3.16524683e+02] [ 5.31252278e-02 9.98587796e-01 -3.51850964e-04 4.74720207e+00] [ 1.87978149e-02 -6.47764253e-04 9.99823096e-01 2.87501686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99925415399997 meters Centerline goodness [0,1] 0.99899673940306 Centerline is valid? [True, True] Translation: X:316.56, Y:4.75, Z:2.88 [[ 9.98301299e-01 -5.50981874e-02 -1.89395614e-02 3.16555037e+02] [ 5.51013776e-02 9.98480702e-01 -3.53759319e-04 4.74575669e+00] [ 1.89302781e-02 -6.90437538e-04 9.99820568e-01 2.87563186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02925415399994 meters Centerline goodness [0,1] 0.99814095333584 Centerline is valid? [True, True] Translation: X:316.59, Y:4.75, Z:2.88 [[ 9.98203696e-01 -5.66819614e-02 -1.94045739e-02 3.16586489e+02] [ 5.66856243e-02 9.98392012e-01 -3.61657929e-04 4.74530070e+00] [ 1.93938711e-02 -7.38952107e-04 9.99811648e-01 2.87601363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.059254154 meters Centerline goodness [0,1] 0.9980141725370514 Centerline is valid? [True, True] Translation: X:316.62, Y:4.75, Z:2.88 [[ 9.98114032e-01 -5.81841292e-02 -1.95700212e-02 3.16618214e+02] [ 5.81881569e-02 9.98305567e-01 -3.64035149e-04 4.74505611e+00] [ 1.95580421e-02 -7.75394872e-04 9.99808423e-01 2.87652884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.08925415399995 meters Centerline goodness [0,1] 0.9978672242550967 Centerline is valid? [True, True] Translation: X:316.65, Y:4.74, Z:2.88 [[ 9.97974455e-01 -6.06706692e-02 -1.91326030e-02 3.16649227e+02] [ 6.06749845e-02 9.98157513e-01 -3.55395082e-04 4.74453199e+00] [ 1.91189135e-02 -8.06195176e-04 9.99816892e-01 2.87753165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.119254154 meters Centerline goodness [0,1] 0.9977650130548303 Centerline is valid? [True, True] Translation: X:316.68, Y:4.74, Z:2.88 [[ 9.97956061e-01 -6.11468571e-02 -1.85677550e-02 3.16679376e+02] [ 6.11510096e-02 9.98128466e-01 -3.44576913e-04 4.74348574e+00] [ 1.85540746e-02 -7.91564343e-04 9.99827545e-01 2.87820840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.14925415399995 meters Centerline goodness [0,1] 0.9979759619397379 Centerline is valid? [True, True] Translation: X:316.71, Y:4.74, Z:2.88 [[ 9.97940278e-01 -6.17213817e-02 -1.74835132e-02 3.16710862e+02] [ 6.17251589e-02 9.98093132e-01 -3.24016067e-04 4.74435550e+00] [ 1.74701732e-02 -7.55823948e-04 9.99847099e-01 2.87987287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.179254154 meters Centerline goodness [0,1] 0.9977239507204009 Centerline is valid? [True, True] Translation: X:316.74, Y:4.74, Z:2.88 [[ 9.97955667e-01 -6.15792600e-02 -1.71020721e-02 3.16741690e+02] [ 6.15828743e-02 9.98101924e-01 -3.15717393e-04 4.74390792e+00] [ 1.70890527e-02 -7.38122794e-04 9.99853699e-01 2.88030099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.20925415399995 meters Centerline goodness [0,1] 0.9981392820555707 Centerline is valid? [True, True] Translation: X:316.77, Y:4.75, Z:2.88 [[ 9.97958381e-01 -6.15721450e-02 -1.69687973e-02 3.16773578e+02] [ 6.15757303e-02 9.98102366e-01 -3.11593459e-04 4.75133182e+00] [ 1.69557822e-02 -7.33908783e-04 9.99855971e-01 2.88210162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.239254154 meters Centerline goodness [0,1] 0.9977427580152991 Centerline is valid? [True, True] Translation: X:316.80, Y:4.75, Z:2.88 [[ 9.98011685e-01 -6.04276712e-02 -1.79213070e-02 3.16804947e+02] [ 6.04315082e-02 9.98172292e-01 -3.27863933e-04 4.74792748e+00] [ 1.79083641e-02 -7.55799574e-04 9.99839347e-01 2.88011557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.26925415399995 meters Centerline goodness [0,1] 0.9979112707828557 Centerline is valid? [True, True] Translation: X:316.84, Y:4.75, Z:2.88 [[ 9.98018095e-01 -6.06834926e-02 -1.66551902e-02 3.16836700e+02] [ 6.06868592e-02 9.98156808e-01 -3.03666464e-04 4.75486915e+00] [ 1.66429191e-02 -7.07686559e-04 9.99861247e-01 2.88261784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.299254154 meters Centerline goodness [0,1] 0.9979112707828557 Centerline is valid? [True, True] Translation: X:316.87, Y:4.76, Z:2.88 [[ 9.98022650e-01 -6.06085323e-02 -1.66552130e-02 3.16868412e+02] [ 6.06119093e-02 9.98161362e-01 -3.02415372e-04 4.75538764e+00] [ 1.66429190e-02 -7.07686867e-04 9.99861247e-01 2.88291481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.32925415399995 meters Centerline goodness [0,1] 0.9981792687775988 Centerline is valid? [True, True] Translation: X:316.90, Y:4.76, Z:2.88 [[ 9.98038248e-01 -6.03870499e-02 -1.65245238e-02 3.16900761e+02] [ 6.03903641e-02 9.98174792e-01 -2.98810899e-04 4.75584884e+00] [ 1.65124074e-02 -6.99697302e-04 9.99863416e-01 2.88331683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.359254154 meters Centerline goodness [0,1] 0.9980127601715302 Centerline is valid? [True, True] Translation: X:316.93, Y:4.75, Z:2.88 [[ 9.98051186e-01 -6.01101931e-02 -1.67509749e-02 3.16932597e+02] [ 6.01135809e-02 9.98191498e-01 -3.01650907e-04 4.74850244e+00] [ 1.67388130e-02 -7.05898039e-04 9.99859647e-01 2.88175976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.38925415399996 meters Centerline goodness [0,1] 0.9979356937320155 Centerline is valid? [True, True] Translation: X:316.96, Y:4.76, Z:2.88 [[ 9.98096006e-01 -5.89745620e-02 -1.80655425e-02 3.16964168e+02] [ 5.89783421e-02 9.98259210e-01 -3.23931535e-04 4.75833449e+00] [ 1.80531979e-02 -7.42160973e-04 9.99836752e-01 2.88174080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.419254154 meters Centerline goodness [0,1] 0.9982440003344761 Centerline is valid? [True, True] Translation: X:317.00, Y:4.76, Z:2.88 [[ 9.98076145e-01 -5.94821726e-02 -1.74894259e-02 3.16995196e+02] [ 5.94858209e-02 9.98229102e-01 -3.12011280e-04 4.75952654e+00] [ 1.74770130e-02 -7.28961844e-04 9.99847000e-01 2.88294084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.44925415399996 meters Centerline goodness [0,1] 0.9978904716153557 Centerline is valid? [True, True] Translation: X:317.03, Y:4.76, Z:2.88 [[ 9.98103023e-01 -5.85469797e-02 -1.90422107e-02 3.17027838e+02] [ 5.85511740e-02 9.98284351e-01 -3.37664717e-04 4.76143169e+00] [ 1.90293102e-02 -7.77919615e-04 9.99818624e-01 2.88123190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.479254154 meters Centerline goodness [0,1] 0.9983710634032245 Centerline is valid? [True, True] Translation: X:317.06, Y:4.76, Z:2.88 [[ 9.98073841e-01 -5.94509405e-02 -1.77254937e-02 3.17059334e+02] [ 5.94547477e-02 9.98230953e-01 -3.12578427e-04 4.76105651e+00] [ 1.77127195e-02 -7.41888404e-04 9.99842842e-01 2.88310871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.50925415399996 meters Centerline goodness [0,1] 0.9980142140468228 Centerline is valid? [True, True] Translation: X:317.09, Y:4.76, Z:2.88 [[ 9.98128235e-01 -5.83326879e-02 -1.83663667e-02 3.17091444e+02] [ 5.83366185e-02 9.98296917e-01 -3.22135174e-04 4.76419397e+00] [ 1.83538783e-02 -7.49899518e-04 9.99831272e-01 2.88213387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53925415399993 meters Centerline goodness [0,1] 0.998221348008956 Centerline is valid? [True, True] Translation: X:317.12, Y:4.77, Z:2.88 [[ 9.98135258e-01 -5.81829773e-02 -1.84593507e-02 3.17123182e+02] [ 5.81869473e-02 9.98305652e-01 -3.22405497e-04 4.76569621e+00] [ 1.84468327e-02 -7.52288975e-04 9.99829560e-01 2.88307140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56925415399996 meters Centerline goodness [0,1] 0.9985766316406414 Centerline is valid? [True, True] Translation: X:317.15, Y:4.77, Z:2.88 [[ 9.98258246e-01 -5.59506247e-02 -1.87083508e-02 3.17154713e+02] [ 5.59543306e-02 9.98433276e-01 -3.25714269e-04 4.76964807e+00] [ 1.86972639e-02 -7.21666289e-04 9.99824930e-01 2.88317398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59925415399994 meters Centerline goodness [0,1] 0.9987639060568603 Centerline is valid? [True, True] Translation: X:317.19, Y:4.77, Z:2.88 [[ 9.98334859e-01 -5.46005013e-02 -1.86090086e-02 3.17185918e+02] [ 5.46039618e-02 9.98508039e-01 -3.22479154e-04 4.77101040e+00] [ 1.85988522e-02 -6.94183412e-04 9.99826785e-01 2.88333717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62925415399997 meters Centerline goodness [0,1] 0.9987225933449208 Centerline is valid? [True, True] Translation: X:317.22, Y:4.78, Z:2.88 [[ 9.98416828e-01 -5.31680229e-02 -1.83575353e-02 3.17217781e+02] [ 5.31711823e-02 9.98585362e-01 -3.16285296e-04 4.77614479e+00] [ 1.83483823e-02 -6.60307293e-04 9.99831436e-01 2.88437345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65925415399994 meters Centerline goodness [0,1] 0.9987228875303575 Centerline is valid? [True, True] Translation: X:317.25, Y:4.78, Z:2.88 [[ 9.98536013e-01 -5.11324716e-02 -1.76437171e-02 3.17248373e+02] [ 5.11350967e-02 9.98691699e-01 -3.02620936e-04 4.77856396e+00] [ 1.76361075e-02 -6.00035276e-04 9.99844292e-01 2.88492134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68925415399997 meters Centerline goodness [0,1] 0.9988072569001235 Centerline is valid? [True, True] Translation: X:317.28, Y:4.78, Z:2.88 [[ 9.98604632e-01 -4.97701128e-02 -1.76557178e-02 3.17280046e+02] [ 4.97725613e-02 9.98760533e-01 -3.00985441e-04 4.77648475e+00] [ 1.76488142e-02 -5.78204842e-04 9.99844080e-01 2.88326720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71925415399994 meters Centerline goodness [0,1] 0.998784270981806 Centerline is valid? [True, True] Translation: X:317.31, Y:4.78, Z:2.89 [[ 9.98623514e-01 -4.99634165e-02 -1.59604243e-02 3.17311652e+02] [ 4.99654669e-02 9.98750909e-01 -2.70515919e-04 4.78246045e+00] [ 1.59540042e-02 -5.27326494e-04 9.99872588e-01 2.88671431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74925415399997 meters Centerline goodness [0,1] 0.9985366669453968 Centerline is valid? [True, True] Translation: X:317.34, Y:4.78, Z:2.89 [[ 9.98679258e-01 -4.94117156e-02 -1.40791478e-02 3.17343193e+02] [ 4.94132685e-02 9.98778390e-01 -2.37757640e-04 4.78252568e+00] [ 1.40736966e-02 -4.58253086e-04 9.99900856e-01 2.88836873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77925415399994 meters Centerline goodness [0,1] 0.9988884927542311 Centerline is valid? [True, True] Translation: X:317.38, Y:4.79, Z:2.89 [[ 9.98707438e-01 -4.91150784e-02 -1.30829280e-02 3.17375662e+02] [ 4.91164038e-02 9.98793037e-01 -2.20174554e-04 4.78764185e+00] [ 1.30779513e-02 -4.22696412e-04 9.99914391e-01 2.88978582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.809254154 meters Centerline goodness [0,1] 0.9985741544526221 Centerline is valid? [True, True] Translation: X:317.41, Y:4.79, Z:2.89 [[ 9.98708304e-01 -4.92646815e-02 -1.24384008e-02 3.17406784e+02] [ 4.92659042e-02 9.98785676e-01 -2.08278063e-04 4.78754215e+00] [ 1.24335573e-02 -4.04780029e-04 9.99922618e-01 2.89022892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83925415399995 meters Centerline goodness [0,1] 0.998679023735637 Centerline is valid? [True, True] Translation: X:317.44, Y:4.79, Z:2.89 [[ 9.98674811e-01 -4.99217610e-02 -1.25076218e-02 3.17439200e+02] [ 4.99230663e-02 9.98753045e-01 -2.08036226e-04 4.78924445e+00] [ 1.25024109e-02 -4.16658295e-04 9.99921755e-01 2.89056156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.869254154 meters Centerline goodness [0,1] 0.9988031496062992 Centerline is valid? [True, True] Translation: X:317.47, Y:4.79, Z:2.89 [[ 9.98649987e-01 -5.03453088e-02 -1.27887984e-02 3.17470193e+02] [ 5.03467197e-02 9.98731777e-01 -2.11803983e-04 4.78923027e+00] [ 1.27832427e-02 -4.32356005e-04 9.99918198e-01 2.89048968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89925415399995 meters Centerline goodness [0,1] 0.9988483604841074 Centerline is valid? [True, True] Translation: X:317.50, Y:4.79, Z:2.89 [[ 9.98607807e-01 -5.09115928e-02 -1.38006322e-02 3.17501341e+02] [ 5.09133011e-02 9.98703051e-01 -2.27751882e-04 4.78920334e+00] [ 1.37943287e-02 -4.75200935e-04 9.99904741e-01 2.88963584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.929254154 meters Centerline goodness [0,1] 0.9988896105256542 Centerline is valid? [True, True] Translation: X:317.53, Y:4.79, Z:2.89 [[ 9.98562473e-01 -5.15128886e-02 -1.48125079e-02 3.17532980e+02] [ 5.15149355e-02 9.98672195e-01 -2.43588646e-04 4.79216348e+00] [ 1.48053877e-02 -5.19826909e-04 9.99890259e-01 2.88967263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.95925415399995 meters Centerline goodness [0,1] 0.9988896105256542 Centerline is valid? [True, True] Translation: X:317.56, Y:4.79, Z:2.89 [[ 9.98566306e-01 -5.14385312e-02 -1.48125232e-02 3.17564685e+02] [ 5.14405837e-02 9.98676027e-01 -2.42658389e-04 4.79262497e+00] [ 1.48053938e-02 -5.19654346e-04 9.99890259e-01 2.88996956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.989254154 meters Centerline goodness [0,1] 0.9986558292903198 Centerline is valid? [True, True] Translation: X:317.60, Y:4.79, Z:2.89 [[ 9.98507140e-01 -5.22282126e-02 -1.59907559e-02 3.17595436e+02] [ 5.22307218e-02 9.98635010e-01 -2.60961255e-04 4.79220601e+00] [ 1.59825582e-02 -5.74637044e-04 9.99872106e-01 2.88877180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.01925415399995 meters Centerline goodness [0,1] 0.9987821266588275 Centerline is valid? [True, True] Translation: X:317.63, Y:4.79, Z:2.89 [[ 9.98476914e-01 -5.25956514e-02 -1.66598045e-02 3.17627414e+02] [ 5.25984409e-02 9.98615707e-01 -2.70986381e-04 4.79348831e+00] [ 1.66509951e-02 -6.05706095e-04 9.99861179e-01 2.88882755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.049254154 meters Centerline goodness [0,1] 0.998846428121985 Centerline is valid? [True, True] Translation: X:317.66, Y:4.80, Z:2.89 [[ 9.98447566e-01 -5.30870152e-02 -1.68590310e-02 3.17659984e+02] [ 5.30899629e-02 9.98589696e-01 -2.72979907e-04 4.79561645e+00] [ 1.68497464e-02 -6.22489208e-04 9.99857839e-01 2.88934414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07925415399995 meters Centerline goodness [0,1] 0.998928886461965 Centerline is valid? [True, True] Translation: X:317.69, Y:4.80, Z:2.89 [[ 9.98451556e-01 -5.29132326e-02 -1.71662426e-02 3.17692391e+02] [ 5.29162851e-02 9.98598914e-01 -2.76670371e-04 4.79762074e+00] [ 1.71568307e-02 -6.32131826e-04 9.99852611e-01 2.88933497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.109254154 meters Centerline goodness [0,1] 0.9987205570820311 Centerline is valid? [True, True] Translation: X:317.72, Y:4.80, Z:2.89 [[ 9.98504136e-01 -5.17637075e-02 -1.76070662e-02 3.17724217e+02] [ 5.17667636e-02 9.98659162e-01 -2.82452229e-04 4.80002092e+00] [ 1.75980787e-02 -6.29431115e-04 9.99844944e-01 2.88796762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13925415399996 meters Centerline goodness [0,1] 0.9986157718120805 Centerline is valid? [True, True] Translation: X:317.76, Y:4.80, Z:2.89 [[ 9.98517424e-01 -5.16423042e-02 -1.72054134e-02 3.17755310e+02] [ 5.16452237e-02 9.98665457e-01 -2.74890673e-04 4.80001347e+00] [ 1.71966481e-02 -6.14094299e-04 9.99851938e-01 2.89008600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.169254154 meters Centerline goodness [0,1] 0.998696821927022 Centerline is valid? [True, True] Translation: X:317.79, Y:4.81, Z:2.89 [[ 9.98634826e-01 -4.92352312e-02 -1.74463686e-02 3.17787217e+02] [ 4.92378857e-02 9.98787041e-01 -2.77615898e-04 4.80683148e+00] [ 1.74388754e-02 -5.81785401e-04 9.99847762e-01 2.89104420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19925415399996 meters Centerline goodness [0,1] 0.9988666890530558 Centerline is valid? [True, True] Translation: X:317.82, Y:4.81, Z:2.89 [[ 9.98699573e-01 -4.79051340e-02 -1.74430811e-02 3.17817957e+02] [ 4.79076047e-02 9.98851733e-01 -2.76426893e-04 4.80822214e+00] [ 1.74362940e-02 -5.59588814e-04 9.99847820e-01 2.89127516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.229254154 meters Centerline goodness [0,1] 0.9987787159672359 Centerline is valid? [True, True] Translation: X:317.85, Y:4.81, Z:2.89 [[ 9.98796328e-01 -4.61215173e-02 -1.66943522e-02 3.17848105e+02] [ 4.61235420e-02 9.98935708e-01 -2.63935646e-04 4.81106592e+00] [ 1.66887576e-02 -5.06384700e-04 9.99860605e-01 2.89156957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25925415399996 meters Centerline goodness [0,1] 0.9988427143608627 Centerline is valid? [True, True] Translation: X:317.88, Y:4.81, Z:2.89 [[ 9.98828241e-01 -4.54865398e-02 -1.65263030e-02 3.17879851e+02] [ 4.54884484e-02 9.98964831e-01 -2.60590653e-04 4.81456438e+00] [ 1.65210488e-02 -4.91470577e-04 9.99863397e-01 2.89255003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28925415399993 meters Centerline goodness [0,1] 0.9988433471430674 Centerline is valid? [True, True] Translation: X:317.91, Y:4.82, Z:2.89 [[ 9.98834296e-01 -4.55544853e-02 -1.59636218e-02 3.17911564e+02] [ 4.55562931e-02 9.98961742e-01 -2.50571365e-04 4.81658270e+00] [ 1.59584621e-02 -4.76964162e-04 9.99872542e-01 2.89350507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31925415399996 meters Centerline goodness [0,1] 0.9987368421052631 Centerline is valid? [True, True] Translation: X:317.94, Y:4.82, Z:2.89 [[ 9.98825096e-01 -4.59590180e-02 -1.53686832e-02 3.17943594e+02] [ 4.59607584e-02 9.98943217e-01 -2.40123769e-04 4.81750931e+00] [ 1.53634777e-02 -4.66514687e-04 9.99881866e-01 2.89416407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34925415399994 meters Centerline goodness [0,1] 0.9987421119939621 Centerline is valid? [True, True] Translation: X:317.98, Y:4.82, Z:2.89 [[ 9.98743634e-01 -4.78664754e-02 -1.48308397e-02 3.17975050e+02] [ 4.78683241e-02 9.98853628e-01 -2.30508821e-04 4.81687590e+00] [ 1.48248717e-02 -4.79708227e-04 9.99889990e-01 2.89452785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37925415399997 meters Centerline goodness [0,1] 0.9988830818511337 Centerline is valid? [True, True] Translation: X:318.01, Y:4.82, Z:2.89 [[ 9.98683785e-01 -4.89766486e-02 -1.52310867e-02 3.18007311e+02] [ 4.89787484e-02 9.98799793e-01 -2.35350510e-04 4.81710758e+00] [ 1.52243329e-02 -5.10958824e-04 9.99883973e-01 2.89436596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40925415399994 meters Centerline goodness [0,1] 0.9986510412275524 Centerline is valid? [True, True] Translation: X:318.04, Y:4.82, Z:2.89 [[ 9.98638158e-01 -4.96362907e-02 -1.60645177e-02 3.18038733e+02] [ 4.96387344e-02 9.98767208e-01 -2.46829726e-04 4.81667251e+00] [ 1.60569652e-02 -5.50928744e-04 9.99870927e-01 2.89388645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43925415399997 meters Centerline goodness [0,1] 0.9988825873373953 Centerline is valid? [True, True] Translation: X:318.07, Y:4.82, Z:2.89 [[ 9.98583592e-01 -5.04562272e-02 -1.68813291e-02 3.18071206e+02] [ 5.04590692e-02 9.98726097e-01 -2.57814837e-04 4.82073405e+00] [ 1.68728323e-02 -5.94366486e-04 9.99857467e-01 2.89477596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46925415399994 meters Centerline goodness [0,1] 0.9986322700109418 Centerline is valid? [True, True] Translation: X:318.10, Y:4.82, Z:2.90 [[ 9.98594555e-01 -5.02615284e-02 -1.68134828e-02 3.18102526e+02] [ 5.02643470e-02 9.98735916e-01 -2.55175385e-04 4.82129717e+00] [ 1.68050547e-02 -5.90301986e-04 9.99858611e-01 2.89502686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49925415399997 meters Centerline goodness [0,1] 0.9986912652509815 Centerline is valid? [True, True] Translation: X:318.13, Y:4.82, Z:2.90 [[ 9.98627246e-01 -4.97110215e-02 -1.65056993e-02 3.18133502e+02] [ 4.97136878e-02 9.98763479e-01 -2.48984044e-04 4.82252226e+00] [ 1.64976669e-02 -5.71916931e-04 9.99863741e-01 2.89553224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52925415399994 meters Centerline goodness [0,1] 0.9987751309342794 Centerline is valid? [True, True] Translation: X:318.17, Y:4.82, Z:2.90 [[ 9.98653551e-01 -4.91605280e-02 -1.65628200e-02 3.18165342e+02] [ 4.91631542e-02 9.98790730e-01 -2.48813205e-04 4.82467286e+00] [ 1.65550228e-02 -5.65802282e-04 9.99862796e-01 2.89618135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.559254154 meters Centerline goodness [0,1] 0.9987545648365103 Centerline is valid? [True, True] Translation: X:318.20, Y:4.83, Z:2.90 [[ 9.98695351e-01 -4.83365003e-02 -1.64675040e-02 3.18197395e+02] [ 4.83390043e-02 9.98830957e-01 -2.46180265e-04 4.82774535e+00] [ 1.64601522e-02 -5.50163659e-04 9.99864371e-01 2.89666643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.58925415399995 meters Centerline goodness [0,1] 0.9986479634950144 Centerline is valid? [True, True] Translation: X:318.23, Y:4.83, Z:2.90 [[ 9.98714729e-01 -4.77644745e-02 -1.69541907e-02 3.18229763e+02] [ 4.77670681e-02 9.98858470e-01 -2.52176485e-04 4.82957993e+00] [ 1.69468821e-02 -5.57999613e-04 9.99856236e-01 2.89687854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.619254154 meters Centerline goodness [0,1] 0.9986489339244248 Centerline is valid? [True, True] Translation: X:318.26, Y:4.83, Z:2.90 [[ 9.98765482e-01 -4.65990313e-02 -1.72058564e-02 3.18260616e+02] [ 4.66015493e-02 9.98913525e-01 -2.54779764e-04 4.83064718e+00] [ 1.71990351e-02 -5.47354331e-04 9.99851936e-01 2.89659536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.64925415399995 meters Centerline goodness [0,1] 0.9987952316537031 Centerline is valid? [True, True] Translation: X:318.29, Y:4.83, Z:2.90 [[ 9.98781066e-01 -4.62381394e-02 -1.72747251e-02 3.18293128e+02] [ 4.62406428e-02 9.98930297e-01 -2.54695546e-04 4.83358095e+00] [ 1.72680229e-02 -5.44409302e-04 9.99850748e-01 2.89727967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.679254154 meters Centerline goodness [0,1] 0.9986473634154074 Centerline is valid? [True, True] Translation: X:318.32, Y:4.83, Z:2.90 [[ 9.98775143e-01 -4.63169595e-02 -1.74055435e-02 3.18324577e+02] [ 4.63195328e-02 9.98926642e-01 -2.55485701e-04 4.83368467e+00] [ 1.73986944e-02 -5.51043874e-04 9.99848479e-01 2.89701604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.70925415399995 meters Centerline goodness [0,1] 0.9987099230183571 Centerline is valid? [True, True] Translation: X:318.36, Y:4.83, Z:2.90 [[ 9.98772971e-01 -4.64808770e-02 -1.70903479e-02 3.18356433e+02] [ 4.64834001e-02 9.98919031e-01 -2.49792326e-04 4.83486498e+00] [ 1.70834843e-02 -5.44931655e-04 9.99853918e-01 2.89755219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.739254154 meters Centerline goodness [0,1] 0.9986014282384353 Centerline is valid? [True, True] Translation: X:318.39, Y:4.83, Z:2.90 [[ 9.98749341e-01 -4.68485237e-02 -1.74633808e-02 3.18387705e+02] [ 4.68512341e-02 9.98901846e-01 -2.54111443e-04 4.83487654e+00] [ 1.74561081e-02 -5.64387305e-04 9.99847471e-01 2.89771812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.76925415399995 meters Centerline goodness [0,1] 0.9987714987714987 Centerline is valid? [True, True] Translation: X:318.42, Y:4.84, Z:2.90 [[ 9.98701125e-01 -4.78177608e-02 -1.75933211e-02 3.18419542e+02] [ 4.78206815e-02 9.98855904e-01 -2.54885035e-04 4.83761178e+00] [ 1.75853807e-02 -5.86770634e-04 9.99845193e-01 2.89846273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.799254154 meters Centerline goodness [0,1] 0.9987303468269251 Centerline is valid? [True, True] Translation: X:318.45, Y:4.84, Z:2.90 [[ 9.98686682e-01 -4.82669410e-02 -1.71817621e-02 3.18451469e+02] [ 4.82698147e-02 9.98834302e-01 -2.47665834e-04 4.83861368e+00] [ 1.71736875e-02 -5.82019903e-04 9.99852352e-01 2.89903195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.82925415399995 meters Centerline goodness [0,1] 0.998624134792456 Centerline is valid? [True, True] Translation: X:318.48, Y:4.84, Z:2.90 [[ 9.98650775e-01 -4.89670173e-02 -1.72875830e-02 3.18483972e+02] [ 4.89700536e-02 9.98800216e-01 -2.47895090e-04 4.83952923e+00] [ 1.72789804e-02 -5.99013244e-04 9.99850528e-01 2.89934749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.859254154 meters Centerline goodness [0,1] 0.9987730320915572 Centerline is valid? [True, True] Translation: X:318.52, Y:4.84, Z:2.90 [[ 9.98616452e-01 -4.95816142e-02 -1.75170211e-02 3.18515438e+02] [ 4.95848540e-02 9.98769883e-01 -2.49589568e-04 4.83922661e+00] [ 1.75078482e-02 -6.19334686e-04 9.99846534e-01 2.89956938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.88925415399996 meters Centerline goodness [0,1] 0.998666440878879 Centerline is valid? [True, True] Translation: X:318.55, Y:4.84, Z:2.90 [[ 9.98589651e-01 -5.02529018e-02 -1.71275998e-02 3.18547297e+02] [ 5.02561246e-02 9.98736333e-01 -2.42471977e-04 4.83969303e+00] [ 1.71181412e-02 -6.18636785e-04 9.99853283e-01 2.89966792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.919254154 meters Centerline goodness [0,1] 0.998517891170866 Centerline is valid? [True, True] Translation: X:318.58, Y:4.84, Z:2.90 [[ 9.98534775e-01 -5.13938889e-02 -1.69402277e-02 3.18578350e+02] [ 5.13972243e-02 9.98678261e-01 -2.38712482e-04 4.83816170e+00] [ 1.69301055e-02 -6.32317966e-04 9.99856476e-01 2.89924495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.94925415399996 meters Centerline goodness [0,1] 0.9988774753785873 Centerline is valid? [True, True] Translation: X:318.61, Y:4.84, Z:2.90 [[ 9.98530627e-01 -5.14601056e-02 -1.69836284e-02 3.18610226e+02] [ 5.14634862e-02 9.98674848e-01 -2.38232698e-04 4.84071868e+00] [ 1.69733819e-02 -6.36154078e-04 9.99855739e-01 2.90010636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.979254154 meters Centerline goodness [0,1] 0.9988977212506625 Centerline is valid? [True, True] Translation: X:318.64, Y:4.84, Z:2.90 [[ 9.98550632e-01 -5.10392887e-02 -1.70770952e-02 3.18641037e+02] [ 5.10426645e-02 9.98696445e-01 -2.38404675e-04 4.83883887e+00] [ 1.70670023e-02 -6.33601303e-04 9.99854147e-01 2.89970687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.00925415399996 meters Centerline goodness [0,1] 0.9987470800594606 Centerline is valid? [True, True] Translation: X:318.67, Y:4.84, Z:2.90 [[ 9.98668997e-01 -4.87201698e-02 -1.69286462e-02 3.18672973e+02] [ 4.87231727e-02 9.98812293e-01 -2.35251977e-04 4.84329923e+00] [ 1.69200014e-02 -5.89878496e-04 9.99856673e-01 2.90045582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03925415399993 meters Centerline goodness [0,1] 0.9987290828214361 Centerline is valid? [True, True] Translation: X:318.70, Y:4.85, Z:2.90 [[ 9.98761864e-01 -4.67114121e-02 -1.71108768e-02 3.18704898e+02] [ 4.67142073e-02 9.98908268e-01 -2.36513061e-04 4.84517194e+00] [ 1.71032441e-02 -5.63100819e-04 9.99853570e-01 2.90060063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06925415399996 meters Centerline goodness [0,1] 0.9987270065559163 Centerline is valid? [True, True] Translation: X:318.74, Y:4.85, Z:2.90 [[ 9.98879402e-01 -4.42080245e-02 -1.68994397e-02 3.18735878e+02] [ 4.42104092e-02 9.99022215e-01 -2.32632095e-04 4.84771092e+00] [ 1.68931999e-02 -5.14759739e-04 9.99857167e-01 2.90151973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09925415399994 meters Centerline goodness [0,1] 0.998935807934616 Centerline is valid? [True, True] Translation: X:318.77, Y:4.85, Z:2.90 [[ 9.99158579e-01 -3.78409223e-02 -1.58176543e-02 3.18765315e+02] [ 3.78422264e-02 9.99283703e-01 -2.16960735e-04 4.85277799e+00] [ 1.58145341e-02 -3.81797075e-04 9.99874870e-01 2.90250008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12925415399997 meters Centerline goodness [0,1] 0.9990245143778098 Centerline is valid? [True, True] Translation: X:318.80, Y:4.86, Z:2.90 [[ 9.99292211e-01 -3.44080292e-02 -1.52040806e-02 3.18796920e+02] [ 3.44088497e-02 9.99407819e-01 -2.07696221e-04 4.85584575e+00] [ 1.52022234e-02 -3.15605709e-04 9.99884390e-01 2.90332523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15925415399994 meters Centerline goodness [0,1] 0.9987036171207548 Centerline is valid? [True, True] Translation: X:318.83, Y:4.86, Z:2.90 [[ 9.99386605e-01 -3.14503539e-02 -1.54042176e-02 3.18828759e+02] [ 3.14508552e-02 9.99505277e-01 -2.09765144e-04 4.85829812e+00] [ 1.54031940e-02 -2.74839342e-04 9.99881326e-01 2.90316220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18925415399997 meters Centerline goodness [0,1] 0.9988935463965785 Centerline is valid? [True, True] Translation: X:318.86, Y:4.86, Z:2.90 [[ 9.99513181e-01 -2.67833544e-02 -1.60016559e-02 3.18859764e+02] [ 2.67833096e-02 9.99641239e-01 -2.17144515e-04 4.86246222e+00] [ 1.60017310e-02 -2.11538498e-04 9.99871942e-01 2.90299309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21925415399994 meters Centerline goodness [0,1] 0.9988935463965785 Centerline is valid? [True, True] Translation: X:318.89, Y:4.86, Z:2.90 [[ 9.99513181e-01 -2.67833513e-02 -1.60016604e-02 3.18889764e+02] [ 2.67833118e-02 9.99641239e-01 -2.16811985e-04 4.86286853e+00] [ 1.60017266e-02 -2.11871022e-04 9.99871942e-01 2.90327405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24925415399997 meters Centerline goodness [0,1] 0.999084989573137 Centerline is valid? [True, True] Translation: X:318.92, Y:4.86, Z:2.90 [[ 9.99540033e-01 -2.55080652e-02 -1.64030975e-02 3.18920426e+02] [ 2.55078519e-02 9.99674597e-01 -2.22251195e-04 4.86451198e+00] [ 1.64034291e-02 -1.96258816e-04 9.99865435e-01 2.90303744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27925415399994 meters Centerline goodness [0,1] 0.9989355813854472 Centerline is valid? [True, True] Translation: X:318.95, Y:4.87, Z:2.90 [[ 9.99542748e-01 -2.45687787e-02 -1.76258493e-02 3.18951321e+02] [ 2.45683865e-02 9.99698123e-01 -2.38818678e-04 4.86538368e+00] [ 1.76263959e-02 -1.94329200e-04 9.99844624e-01 2.90237063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.309254154 meters Centerline goodness [0,1] 0.9989131129723163 Centerline is valid? [True, True] Translation: X:318.98, Y:4.87, Z:2.90 [[ 9.99517516e-01 -2.51033280e-02 -1.82909286e-02 3.18980891e+02] [ 2.51029892e-02 9.99684840e-01 -2.48154437e-04 4.86560039e+00] [ 1.82913935e-02 -2.11122277e-04 9.99832676e-01 2.90231446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33925415399995 meters Centerline goodness [0,1] 0.9988722204489839 Centerline is valid? [True, True] Translation: X:319.01, Y:4.87, Z:2.90 [[ 9.99483181e-01 -2.61601100e-02 -1.86820596e-02 3.19009234e+02] [ 2.61599252e-02 9.99657738e-01 -2.54312614e-04 4.86507982e+00] [ 1.86823183e-02 -2.34540102e-04 9.99825443e-01 2.90210326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.369254154 meters Centerline goodness [0,1] 0.9989997233277289 Centerline is valid? [True, True] Translation: X:319.04, Y:4.86, Z:2.90 [[ 9.99432524e-01 -2.73798424e-02 -1.96207743e-02 3.19038837e+02] [ 2.73798559e-02 9.99625066e-01 -2.67995904e-04 4.86480741e+00] [ 1.96207555e-02 -2.69370152e-04 9.99807458e-01 2.90205449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39925415399995 meters Centerline goodness [0,1] 0.9990443222120755 Centerline is valid? [True, True] Translation: X:319.07, Y:4.86, Z:2.90 [[ 9.99340975e-01 -3.06650780e-02 -1.94234122e-02 3.19068660e+02] [ 3.06656979e-02 9.99529662e-01 -2.66002227e-04 4.86280011e+00] [ 1.94224336e-02 -3.29805566e-04 9.99811312e-01 2.90369938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.429254154 meters Centerline goodness [0,1] 0.9990647451430514 Centerline is valid? [True, True] Translation: X:319.10, Y:4.86, Z:2.90 [[ 9.99273209e-01 -3.26364265e-02 -1.96956077e-02 3.19099002e+02] [ 3.26374398e-02 9.99467220e-01 -2.70074659e-04 4.86162372e+00] [ 1.96939285e-02 -3.72935838e-04 9.99805986e-01 2.90404651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.45925415399995 meters Centerline goodness [0,1] 0.9987462547015449 Centerline is valid? [True, True] Translation: X:319.13, Y:4.86, Z:2.90 [[ 9.99203193e-01 -3.46848886e-02 -1.97468581e-02 3.19128950e+02] [ 3.46863033e-02 9.99398212e-01 -2.70964356e-04 4.85980931e+00] [ 1.97443731e-02 -4.14197059e-04 9.99804975e-01 2.90429292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.489254154 meters Centerline goodness [0,1] 0.9990227943831921 Centerline is valid? [True, True] Translation: X:319.16, Y:4.86, Z:2.90 [[ 9.99139684e-01 -3.65532583e-02 -1.95895616e-02 3.19159828e+02] [ 3.65550061e-02 9.99331606e-01 -2.68973276e-04 4.85775852e+00] [ 1.95862999e-02 -4.47354671e-04 9.99808070e-01 2.90435091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.51925415399995 meters Centerline goodness [0,1] 0.9985786112820078 Centerline is valid? [True, True] Translation: X:319.19, Y:4.85, Z:2.90 [[ 9.98971285e-01 -4.04422236e-02 -2.05133798e-02 3.19190456e+02] [ 4.04449676e-02 9.99181728e-01 -2.81260378e-04 4.85339292e+00] [ 2.05079691e-02 -5.48691941e-04 9.99789539e-01 2.90343755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.549254154 meters Centerline goodness [0,1] 0.9987270335638817 Centerline is valid? [True, True] Translation: X:319.22, Y:4.85, Z:2.90 [[ 9.98902866e-01 -4.22981045e-02 -2.00981501e-02 3.19222059e+02] [ 4.23011279e-02 9.99104869e-01 -2.74863571e-04 4.85139104e+00] [ 2.00917859e-02 -5.75612410e-04 9.99797974e-01 2.90392859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57925415399995 meters Centerline goodness [0,1] 0.9987496556254901 Centerline is valid? [True, True] Translation: X:319.25, Y:4.85, Z:2.90 [[ 9.98821053e-01 -4.43472040e-02 -1.97441196e-02 3.19253106e+02] [ 4.43505353e-02 9.99015995e-01 -2.69336943e-04 4.84955185e+00] [ 1.97366356e-02 -6.06642864e-04 9.99805030e-01 2.90489054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.609254154 meters Centerline goodness [0,1] 0.998706942236354 Centerline is valid? [True, True] Translation: X:319.28, Y:4.85, Z:2.91 [[ 9.98660418e-01 -4.78334454e-02 -1.97314913e-02 3.19283438e+02] [ 4.78374620e-02 9.98855097e-01 -2.68658531e-04 4.84611493e+00] [ 1.97217515e-02 -6.75605824e-04 9.99805279e-01 2.90501294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63925415399996 meters Centerline goodness [0,1] 0.9988123011664899 Centerline is valid? [True, True] Translation: X:319.31, Y:4.84, Z:2.90 [[ 9.98587194e-01 -4.91888605e-02 -2.01015179e-02 3.19314091e+02] [ 4.91933142e-02 9.98789239e-01 -2.73160758e-04 4.84427457e+00] [ 2.00906162e-02 -7.16085450e-04 9.99797907e-01 2.90440804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.669254154 meters Centerline goodness [0,1] 0.998961798419391 Centerline is valid? [True, True] Translation: X:319.35, Y:4.84, Z:2.91 [[ 9.98528865e-01 -5.06058232e-02 -1.94719456e-02 3.19345417e+02] [ 5.06102873e-02 9.98718443e-01 -2.63774852e-04 4.84258789e+00] [ 1.94603397e-02 -7.22093958e-04 9.99810369e-01 2.90529056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69925415399996 meters Centerline goodness [0,1] 0.9988147395601837 Centerline is valid? [True, True] Translation: X:319.38, Y:4.84, Z:2.91 [[ 9.98408524e-01 -5.31317268e-02 -1.89060644e-02 3.19377789e+02] [ 5.31364084e-02 9.98587231e-01 -2.54988011e-04 4.84107508e+00] [ 1.88929024e-02 -7.50018153e-04 9.99821232e-01 2.90577858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.729254154 meters Centerline goodness [0,1] 0.9988790186125212 Centerline is valid? [True, True] Translation: X:319.41, Y:4.84, Z:2.91 [[ 9.98378968e-01 -5.37567208e-02 -1.86989799e-02 3.19410401e+02] [ 5.37614337e-02 9.98553777e-01 -2.50919482e-04 4.84018157e+00] [ 1.86854256e-02 -7.54771234e-04 9.99825127e-01 2.90618509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75925415399996 meters Centerline goodness [0,1] 0.9989199034266594 Centerline is valid? [True, True] Translation: X:319.44, Y:4.85, Z:2.91 [[ 9.98353439e-01 -5.42339751e-02 -1.86838703e-02 3.19442814e+02] [ 5.42387886e-02 9.98527962e-01 -2.49388036e-04 4.84595415e+00] [ 1.86698923e-02 -7.64413091e-04 9.99825410e-01 2.90768839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78925415399993 meters Centerline goodness [0,1] 0.9987506617257809 Centerline is valid? [True, True] Translation: X:319.47, Y:4.85, Z:2.91 [[ 9.98346718e-01 -5.43348888e-02 -1.87496660e-02 3.19474540e+02] [ 5.43397799e-02 9.98522472e-01 -2.48885811e-04 4.84558853e+00] [ 1.87354860e-02 -7.70378391e-04 9.99824179e-01 2.90729542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81925415399996 meters Centerline goodness [0,1] 0.9988575538959528 Centerline is valid? [True, True] Translation: X:319.51, Y:4.84, Z:2.91 [[ 9.98364837e-01 -5.38970863e-02 -1.90461736e-02 3.19505855e+02] [ 5.39020772e-02 9.98546195e-01 -2.51597101e-04 4.84283422e+00] [ 1.90320445e-02 -7.75442617e-04 9.99818574e-01 2.90657455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84925415399994 meters Centerline goodness [0,1] 0.9989214566679355 Centerline is valid? [True, True] Translation: X:319.54, Y:4.85, Z:2.91 [[ 9.98479359e-01 -5.15538608e-02 -1.95235296e-02 3.19537221e+02] [ 5.15586750e-02 9.98669934e-01 -2.57020407e-04 4.84588171e+00] [ 1.95108124e-02 -7.49977749e-04 9.99809365e-01 2.90605744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87925415399997 meters Centerline goodness [0,1] 0.9990891567285899 Centerline is valid? [True, True] Translation: X:319.57, Y:4.85, Z:2.91 [[ 9.98577775e-01 -4.96782941e-02 -1.93518441e-02 3.19568883e+02] [ 4.96826853e-02 9.98765021e-01 -2.54085804e-04 4.84740658e+00] [ 1.93405675e-02 -7.07727145e-04 9.99812703e-01 2.90611624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90925415399994 meters Centerline goodness [0,1] 0.99872897513028 Centerline is valid? [True, True] Translation: X:319.60, Y:4.85, Z:2.91 [[ 9.98702336e-01 -4.70135072e-02 -1.95799617e-02 3.19600613e+02] [ 4.70175082e-02 9.98894033e-01 -2.56207372e-04 4.85111841e+00] [ 1.95703521e-02 -6.64726108e-04 9.99808261e-01 2.90522188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93925415399997 meters Centerline goodness [0,1] 0.999043956744354 Centerline is valid? [True, True] Translation: X:319.63, Y:4.86, Z:2.91 [[ 9.98955140e-01 -4.14849086e-02 -1.91736911e-02 3.19630896e+02] [ 4.14877371e-02 9.99138982e-01 -2.50402513e-04 4.85829803e+00] [ 1.91675701e-02 -5.45332176e-04 9.99816137e-01 2.90685079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96925415399994 meters Centerline goodness [0,1] 0.9992342380668765 Centerline is valid? [True, True] Translation: X:319.66, Y:4.86, Z:2.91 [[ 9.99089634e-01 -3.79955780e-02 -1.93969109e-02 3.19660945e+02] [ 3.79978191e-02 9.99277790e-01 -2.53137525e-04 4.86135275e+00] [ 1.93925204e-02 -4.84133235e-04 9.99811830e-01 2.90684317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99925415399997 meters Centerline goodness [0,1] 0.9995529346645946 Centerline is valid? [True, True] Translation: X:319.69, Y:4.87, Z:2.91 [[ 9.99229133e-01 -3.40921496e-02 -1.94644429e-02 3.19691885e+02] [ 3.40936695e-02 9.99418610e-01 -2.53846076e-04 4.86645024e+00] [ 1.94617806e-02 -4.09963887e-04 9.99810518e-01 2.90782003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02925415399994 meters Centerline goodness [0,1] 0.9994234957509501 Centerline is valid? [True, True] Translation: X:319.72, Y:4.87, Z:2.91 [[ 9.99463631e-01 -2.64410511e-02 -1.93215394e-02 3.19722940e+02] [ 2.64411206e-02 9.99650341e-01 -2.51915226e-04 4.87327740e+00] [ 1.93214444e-02 -2.59103048e-04 9.99813290e-01 2.90782086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.059254154 meters Centerline goodness [0,1] 0.9995943378098512 Centerline is valid? [True, True] Translation: X:319.75, Y:4.88, Z:2.91 [[ 9.99554677e-01 -2.27326848e-02 -1.93306239e-02 3.19752086e+02] [ 2.27320162e-02 9.99741562e-01 -2.54345291e-04 4.87646522e+00] [ 1.93314101e-02 -1.85192031e-04 9.99813114e-01 2.90814007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.08925415399995 meters Centerline goodness [0,1] 0.9995513683266039 Centerline is valid? [True, True] Translation: X:319.78, Y:4.88, Z:2.91 [[ 9.99617104e-01 -1.95066127e-02 -1.96249404e-02 3.19779944e+02] [ 1.95052393e-02 9.99809721e-01 -2.61409275e-04 4.87907277e+00] [ 1.96263054e-02 -1.21479977e-04 9.99807378e-01 2.90810421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.119254154 meters Centerline goodness [0,1] 0.9993581652082754 Centerline is valid? [True, True] Translation: X:319.81, Y:4.88, Z:2.91 [[ 9.99715771e-01 -1.32189374e-02 -1.98402991e-02 3.19808189e+02] [ 1.32162258e-02 9.99912626e-01 -2.67789888e-04 4.88297610e+00] [ 1.98421055e-02 5.49990097e-06 9.99803126e-01 2.90685961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.14925415399995 meters Centerline goodness [0,1] 0.9997863521770713 Centerline is valid? [True, True] Translation: X:319.84, Y:4.88, Z:2.91 [[ 9.99748526e-01 -1.16294109e-02 -1.91739597e-02 3.19835958e+02] [ 1.16264879e-02 9.99932375e-01 -2.63916858e-04 4.88484030e+00] [ 1.91757323e-02 4.09246785e-05 9.99816128e-01 2.90857634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.179254154 meters Centerline goodness [0,1] 0.9996789177387246 Centerline is valid? [True, True] Translation: X:319.86, Y:4.89, Z:2.91 [[ 9.99772479e-01 -9.77168236e-03 -1.89606176e-02 3.19863753e+02] [ 9.76838723e-03 9.99952253e-01 -2.66398175e-04 4.88617115e+00] [ 1.89623154e-02 8.11229089e-05 9.99820196e-01 2.90861624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.20925415399995 meters Centerline goodness [0,1] 0.9995725308312138 Centerline is valid? [True, True] Translation: X:319.89, Y:4.89, Z:2.91 [[ 9.99789196e-01 -8.18461004e-03 -1.88301784e-02 3.19892340e+02] [ 8.18098280e-03 9.99966499e-01 -2.69653739e-04 4.88689792e+00] [ 1.88317546e-02 1.15547529e-04 9.99822660e-01 2.90931937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.239254154 meters Centerline goodness [0,1] 0.9997007396007012 Centerline is valid? [True, True] Translation: X:319.92, Y:4.89, Z:2.91 [[ 9.99805551e-01 -6.34719449e-03 -1.86701318e-02 3.19921326e+02] [ 6.34321912e-03 9.99979845e-01 -2.72139099e-04 4.88712233e+00] [ 1.86714828e-02 1.53657444e-04 9.99825661e-01 2.90967660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.26925415399995 meters Centerline goodness [0,1] 0.9994662225638398 Centerline is valid? [True, True] Translation: X:319.95, Y:4.89, Z:2.91 [[ 9.99813500e-01 -5.96543611e-03 -1.83678908e-02 3.19948807e+02] [ 5.96143190e-03 9.99982193e-01 -2.72747579e-04 4.88738107e+00] [ 1.83691908e-02 1.63197781e-04 9.99831259e-01 2.90952229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.299254154 meters Centerline goodness [0,1] 0.999722032158741 Centerline is valid? [True, True] Translation: X:319.98, Y:4.89, Z:2.91 [[ 9.99818283e-01 -5.65789149e-03 -1.82041085e-02 3.19976841e+02] [ 5.65381063e-03 9.99983979e-01 -2.75630245e-04 4.88706777e+00] [ 1.82053763e-02 1.72657576e-04 9.99834253e-01 2.90953879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.32925415399995 meters Centerline goodness [0,1] 0.9996587976883543 Centerline is valid? [True, True] Translation: X:320.00, Y:4.89, Z:2.91 [[ 9.99824137e-01 -5.98490724e-03 -1.77728936e-02 3.20004947e+02] [ 5.98100782e-03 9.99982076e-01 -2.72549301e-04 4.88692741e+00] [ 1.77742063e-02 1.66201554e-04 9.99842013e-01 2.91034304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.359254154 meters Centerline goodness [0,1] 0.9994473494027123 Centerline is valid? [True, True] Translation: X:320.03, Y:4.88, Z:2.91 [[ 9.99830141e-01 -6.30155817e-03 -1.73199192e-02 3.20032521e+02] [ 6.29787580e-03 9.99980133e-01 -2.67144509e-04 4.88458267e+00] [ 1.73212585e-02 1.58020432e-04 9.99849963e-01 2.90978096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.38925415399996 meters Centerline goodness [0,1] 0.9993833592038954 Centerline is valid? [True, True] Translation: X:320.06, Y:4.88, Z:2.91 [[ 9.99831106e-01 -7.90113746e-03 -1.65931186e-02 3.20061660e+02] [ 7.89795585e-03 9.99968778e-01 -2.57265320e-04 4.88292011e+00] [ 1.65946332e-02 1.26170151e-04 9.99862292e-01 2.91174607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.419254154 meters Centerline goodness [0,1] 0.9993838308721981 Centerline is valid? [True, True] Translation: X:320.09, Y:4.88, Z:2.91 [[ 9.99831871e-01 -8.86490745e-03 -1.60512494e-02 3.20089437e+02] [ 8.86201246e-03 9.99960700e-01 -2.51479451e-04 4.88157468e+00] [ 1.60528480e-02 1.09190798e-04 9.99871139e-01 2.91229496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.44925415399996 meters Centerline goodness [0,1] 0.9992355876420003 Centerline is valid? [True, True] Translation: X:320.12, Y:4.88, Z:2.91 [[ 9.99836493e-01 -8.98575192e-03 -1.56921576e-02 3.20116774e+02] [ 8.98293745e-03 9.99959621e-01 -2.49832745e-04 4.88020598e+00] [ 1.56937689e-02 1.08830225e-04 9.99876839e-01 2.91168591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.479254154 meters Centerline goodness [0,1] 0.9991731331891617 Centerline is valid? [True, True] Translation: X:320.14, Y:4.88, Z:2.91 [[ 9.99831515e-01 -9.86406577e-03 -1.54804003e-02 3.20144030e+02] [ 9.86138399e-03 9.99951344e-01 -2.49563627e-04 4.87701551e+00] [ 1.54821088e-02 9.68634078e-05 9.99880140e-01 2.91164406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.50925415399996 meters Centerline goodness [0,1] 0.9994069304414132 Centerline is valid? [True, True] Translation: X:320.17, Y:4.88, Z:2.91 [[ 9.99825672e-01 -1.17286122e-02 -1.45280535e-02 3.20172364e+02] [ 1.17264025e-02 9.99931215e-01 -2.37271621e-04 4.87553833e+00] [ 1.45298371e-02 6.68684549e-05 9.99894434e-01 2.91408096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53925415399993 meters Centerline goodness [0,1] 0.9995978750873035 Centerline is valid? [True, True] Translation: X:320.20, Y:4.87, Z:2.91 [[ 9.99822384e-01 -1.24123928e-02 -1.41821589e-02 3.20200534e+02] [ 1.24103024e-02 9.99922962e-01 -2.35396640e-04 4.87398717e+00] [ 1.41839881e-02 5.93499488e-05 9.99899400e-01 2.91425360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56925415399996 meters Centerline goodness [0,1] 0.9993660185967879 Centerline is valid? [True, True] Translation: X:320.23, Y:4.87, Z:2.91 [[ 9.99797820e-01 -1.44523958e-02 -1.39802846e-02 3.20228497e+02] [ 1.44505072e-02 9.99895558e-01 -2.36104924e-04 4.86953133e+00] [ 1.39822368e-02 3.40349846e-05 9.99902243e-01 2.91390674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59925415399994 meters Centerline goodness [0,1] 0.9993449274137312 Centerline is valid? [True, True] Translation: X:320.26, Y:4.87, Z:2.91 [[ 9.99777400e-01 -1.55170722e-02 -1.42958599e-02 3.20256617e+02] [ 1.55151455e-02 9.99879603e-01 -2.45678494e-04 4.86713651e+00] [ 1.42979509e-02 2.38214592e-05 9.99897779e-01 2.91283275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62925415399997 meters Centerline goodness [0,1] 0.9992827458177752 Centerline is valid? [True, True] Translation: X:320.28, Y:4.86, Z:2.91 [[ 9.99755298e-01 -1.66222911e-02 -1.45960448e-02 3.20284642e+02] [ 1.66203528e-02 9.99861840e-01 -2.54093612e-04 4.86460900e+00] [ 1.45982518e-02 1.14400203e-05 9.99893440e-01 2.91182873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65925415399994 meters Centerline goodness [0,1] 0.999303900267893 Centerline is valid? [True, True] Translation: X:320.31, Y:4.86, Z:2.91 [[ 9.99665431e-01 -2.10954998e-02 -1.49668213e-02 3.20313021e+02] [ 2.10939256e-02 9.99777464e-01 -2.63056918e-04 4.85948102e+00] [ 1.49690399e-02 -5.27401069e-05 9.99887956e-01 2.91336783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68925415399997 meters Centerline goodness [0,1] 0.998926496590048 Centerline is valid? [True, True] Translation: X:320.34, Y:4.86, Z:2.91 [[ 9.99626731e-01 -2.29707953e-02 -1.47898824e-02 3.20341429e+02] [ 2.29694173e-02 9.99736134e-01 -2.63052413e-04 4.85665207e+00] [ 1.47920224e-02 -7.67607572e-05 9.99890589e-01 2.91299485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71925415399994 meters Centerline goodness [0,1] 0.9993680352215036 Centerline is valid? [True, True] Translation: X:320.37, Y:4.85, Z:2.91 [[ 9.99595684e-01 -2.41437390e-02 -1.50182484e-02 3.20370757e+02] [ 2.41424371e-02 9.99708493e-01 -2.68003344e-04 4.85401637e+00] [ 1.50203411e-02 -9.46821323e-05 9.99887184e-01 2.91225661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74925415399997 meters Centerline goodness [0,1] 0.99905366756393 Centerline is valid? [True, True] Translation: X:320.40, Y:4.85, Z:2.91 [[ 9.99460116e-01 -2.93412432e-02 -1.47840201e-02 3.20399630e+02] [ 2.93405408e-02 9.99569439e-01 -2.64454539e-04 4.84812853e+00] [ 1.47854141e-02 -1.69459380e-04 9.99890675e-01 2.91335555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77925415399994 meters Centerline goodness [0,1] 0.9990333494441759 Centerline is valid? [True, True] Translation: X:320.43, Y:4.85, Z:2.91 [[ 9.99383023e-01 -3.18413121e-02 -1.48224208e-02 3.20430403e+02] [ 3.18408734e-02 9.99492916e-01 -2.65651845e-04 4.84531050e+00] [ 1.48233633e-02 -2.06470881e-04 9.99890107e-01 2.91339474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.809254154 meters Centerline goodness [0,1] 0.9992643813447109 Centerline is valid? [True, True] Translation: X:320.46, Y:4.84, Z:2.91 [[ 9.99300731e-01 -3.43251636e-02 -1.48267210e-02 3.20460622e+02] [ 3.43249994e-02 9.99410688e-01 -2.65630855e-04 4.84179218e+00] [ 1.48271012e-02 -2.43482081e-04 9.99890043e-01 2.91338429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83925415399995 meters Centerline goodness [0,1] 0.9988257742551006 Centerline is valid? [True, True] Translation: X:320.49, Y:4.83, Z:2.91 [[ 9.99145144e-01 -3.84721118e-02 -1.51287026e-02 3.20490833e+02] [ 3.84724200e-02 9.99259626e-01 -2.70767784e-04 4.83426669e+00] [ 1.51279187e-02 -3.11501484e-04 9.99885518e-01 2.91180474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.869254154 meters Centerline goodness [0,1] 0.9988257742551006 Centerline is valid? [True, True] Translation: X:320.52, Y:4.83, Z:2.91 [[ 9.99146500e-01 -3.84368775e-02 -1.51287092e-02 3.20521679e+02] [ 3.84371873e-02 9.99260982e-01 -2.70399407e-04 4.83478712e+00] [ 1.51279221e-02 -3.11336406e-04 9.99885518e-01 2.91209371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89925415399995 meters Centerline goodness [0,1] 0.9990783410138249 Centerline is valid? [True, True] Translation: X:320.55, Y:4.83, Z:2.91 [[ 9.98904522e-01 -4.44383283e-02 -1.46625625e-02 3.20552799e+02] [ 4.44392714e-02 9.99012053e-01 -2.61651618e-04 4.82954108e+00] [ 1.46597040e-02 -3.90228609e-04 9.99892465e-01 2.91351543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.929254154 meters Centerline goodness [0,1] 0.9990339584602138 Centerline is valid? [True, True] Translation: X:320.58, Y:4.83, Z:2.91 [[ 9.98764681e-01 -4.75141895e-02 -1.45435266e-02 3.20583933e+02] [ 4.75154483e-02 9.98870470e-01 -2.59166689e-04 4.82765315e+00] [ 1.45394134e-02 -4.32195653e-04 9.99894204e-01 2.91354887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.95925415399995 meters Centerline goodness [0,1] 0.998929381140314 Centerline is valid? [True, True] Translation: X:320.61, Y:4.82, Z:2.91 [[ 9.98618728e-01 -5.03990014e-02 -1.48518441e-02 3.20614989e+02] [ 5.04006426e-02 9.98729045e-01 -2.64000840e-04 4.82214861e+00] [ 1.48462735e-02 -4.84906306e-04 9.99889670e-01 2.91302530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.989254154 meters Centerline goodness [0,1] 0.9988029988029988 Centerline is valid? [True, True] Translation: X:320.65, Y:4.82, Z:2.91 [[ 9.98201218e-01 -5.80563968e-02 -1.49593847e-02 3.20645754e+02] [ 5.80589284e-02 9.98313122e-01 -2.65366981e-04 4.81780118e+00] [ 1.49495563e-02 -6.03636199e-04 9.99888067e-01 2.91307947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.01925415399995 meters Centerline goodness [0,1] 0.9987012987012988 Centerline is valid? [True, True] Translation: X:320.68, Y:4.81, Z:2.91 [[ 9.97968486e-01 -6.18052751e-02 -1.54599329e-02 3.20675905e+02] [ 6.18084364e-02 9.98087993e-01 -2.73690381e-04 4.81278941e+00] [ 1.54472889e-02 -6.82419905e-04 9.99880451e-01 2.91286400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.049254154 meters Centerline goodness [0,1] 0.9985527309338031 Centerline is valid? [True, True] Translation: X:320.71, Y:4.81, Z:2.91 [[ 9.97709021e-01 -6.58778048e-02 -1.53891148e-02 3.20707048e+02] [ 6.58814345e-02 9.97827421e-01 -2.71530409e-04 4.81071261e+00] [ 1.53735685e-02 -7.42948618e-04 9.99881544e-01 2.91316378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07925415399995 meters Centerline goodness [0,1] 0.9985349211996902 Centerline is valid? [True, True] Translation: X:320.74, Y:4.80, Z:2.91 [[ 9.97200729e-01 -7.33519779e-02 -1.44980640e-02 3.20736899e+02] [ 7.33559953e-02 9.97305787e-01 -2.55210648e-04 4.80123737e+00] [ 1.44777233e-02 -8.09023670e-04 9.99894865e-01 2.91322696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.109254154 meters Centerline goodness [0,1] 0.9985349211996902 Centerline is valid? [True, True] Translation: X:320.77, Y:4.80, Z:2.91 [[ 9.97206049e-01 -7.32796116e-02 -1.44980844e-02 3.20768630e+02] [ 7.32836383e-02 9.97311107e-01 -2.54046935e-04 4.80173167e+00] [ 1.44777170e-02 -8.09135231e-04 9.99894865e-01 2.91352409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13925415399996 meters Centerline goodness [0,1] 0.9985332020199904 Centerline is valid? [True, True] Translation: X:320.80, Y:4.80, Z:2.91 [[ 9.96924450e-01 -7.70352997e-02 -1.43945453e-02 3.20799173e+02] [ 7.70396702e-02 9.97027997e-01 -2.51463550e-04 4.80288316e+00] [ 1.43711363e-02 -8.58260863e-04 9.99896362e-01 2.91427025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.169254154 meters Centerline goodness [0,1] 0.9983275844047246 Centerline is valid? [True, True] Translation: X:320.83, Y:4.80, Z:2.91 [[ 9.96696365e-01 -7.99414646e-02 -1.43429115e-02 3.20829819e+02] [ 7.99461073e-02 9.96799156e-01 -2.50293878e-04 4.80097020e+00] [ 1.43170109e-02 -8.97192944e-04 9.99897104e-01 2.91453315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19925415399996 meters Centerline goodness [0,1] 0.9983865560305087 Centerline is valid? [True, True] Translation: X:320.86, Y:4.80, Z:2.91 [[ 9.96359125e-01 -8.38696396e-02 -1.53093718e-02 3.20860019e+02] [ 8.38753940e-02 9.96476215e-01 -2.66945786e-04 4.79677140e+00] [ 1.52778135e-02 -1.01810572e-03 9.99882769e-01 2.91414262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.229254154 meters Centerline goodness [0,1] 0.9985377673796791 Centerline is valid? [True, True] Translation: X:320.89, Y:4.80, Z:2.91 [[ 9.96306071e-01 -8.44284797e-02 -1.56857974e-02 3.20892373e+02] [ 8.44345977e-02 9.96428986e-01 -2.72992477e-04 4.79972547e+00] [ 1.56528315e-02 -1.05243993e-03 9.99876933e-01 2.91460628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25925415399996 meters Centerline goodness [0,1] 0.9983892561291942 Centerline is valid? [True, True] Translation: X:320.92, Y:4.80, Z:2.91 [[ 9.96380183e-01 -8.36387377e-02 -1.52017446e-02 3.20924053e+02] [ 8.36444093e-02 9.96495631e-01 -2.63453810e-04 4.79995462e+00] [ 1.51705070e-02 -1.00904079e-03 9.99884412e-01 2.91470861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28925415399993 meters Centerline goodness [0,1] 0.9984520123839009 Centerline is valid? [True, True] Translation: X:320.96, Y:4.80, Z:2.91 [[ 9.96485928e-01 -8.23557417e-02 -1.52750547e-02 3.20956356e+02] [ 8.23613355e-02 9.96602499e-01 -2.63577698e-04 4.80412018e+00] [ 1.52448648e-02 -9.95422435e-04 9.99883295e-01 2.91481900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31925415399996 meters Centerline goodness [0,1] 0.9984791983500344 Centerline is valid? [True, True] Translation: X:320.99, Y:4.80, Z:2.92 [[ 9.96618624e-01 -8.08427174e-02 -1.46892104e-02 3.20986526e+02] [ 8.08477380e-02 9.96726432e-01 -2.52687742e-04 4.80132886e+00] [ 1.46615522e-02 -9.35756120e-04 9.99892076e-01 2.91527130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34925415399994 meters Centerline goodness [0,1] 0.9984748135302843 Centerline is valid? [True, True] Translation: X:321.02, Y:4.81, Z:2.92 [[ 9.96774631e-01 -7.88975133e-02 -1.46805239e-02 3.21018107e+02] [ 7.89023247e-02 9.96882320e-01 -2.52064257e-04 4.80743163e+00] [ 1.46546419e-02 -9.07076206e-04 9.99892204e-01 2.91580125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37925415399997 meters Centerline goodness [0,1] 0.9985581443945252 Centerline is valid? [True, True] Translation: X:321.05, Y:4.81, Z:2.92 [[ 9.96957081e-01 -7.64800000e-02 -1.50794044e-02 3.21049811e+02] [ 7.64848140e-02 9.97070713e-01 -2.58050219e-04 4.81021803e+00] [ 1.50549682e-02 -8.96080448e-04 9.99886266e-01 2.91566087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40925415399994 meters Centerline goodness [0,1] 0.9985147686386077 Centerline is valid? [True, True] Translation: X:321.08, Y:4.81, Z:2.92 [[ 9.97111207e-01 -7.44170082e-02 -1.52102038e-02 3.21081094e+02] [ 7.44216782e-02 9.97226828e-01 -2.59538118e-04 4.81318868e+00] [ 1.51873373e-02 -8.73180527e-04 9.99884284e-01 2.91665309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43925415399997 meters Centerline goodness [0,1] 0.9987465006476414 Centerline is valid? [True, True] Translation: X:321.11, Y:4.82, Z:2.92 [[ 9.97490742e-01 -6.91646472e-02 -1.51152553e-02 3.21111755e+02] [ 6.91686632e-02 9.97604947e-01 -2.57551004e-04 4.82161870e+00] [ 1.50968668e-02 -7.88597258e-04 9.99885725e-01 2.91787322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46925415399994 meters Centerline goodness [0,1] 0.9988701983429575 Centerline is valid? [True, True] Translation: X:321.14, Y:4.83, Z:2.92 [[ 9.97701586e-01 -6.60411323e-02 -1.51695352e-02 3.21142803e+02] [ 6.60448209e-02 9.97816624e-01 -2.58226912e-04 4.82511118e+00] [ 1.51534680e-02 -7.44235836e-04 9.99884903e-01 2.91792239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49925415399997 meters Centerline goodness [0,1] 0.9987449011609665 Centerline is valid? [True, True] Translation: X:321.17, Y:4.83, Z:2.92 [[ 9.97865129e-01 -6.34619413e-02 -1.54196609e-02 3.21174654e+02] [ 6.34654561e-02 9.97984002e-01 -2.61783208e-04 4.82933142e+00] [ 1.54051882e-02 -7.17391476e-04 9.99881076e-01 2.91895027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52925415399994 meters Centerline goodness [0,1] 0.9989130889176874 Centerline is valid? [True, True] Translation: X:321.21, Y:4.83, Z:2.92 [[ 9.98038231e-01 -6.05549794e-02 -1.58991535e-02 3.21206573e+02] [ 6.05583626e-02 9.98164622e-01 -2.69008561e-04 4.83288200e+00] [ 1.58862624e-02 -6.94345875e-04 9.99873564e-01 2.91910736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.559254154 meters Centerline goodness [0,1] 0.9987423756523927 Centerline is valid? [True, True] Translation: X:321.24, Y:4.84, Z:2.92 [[ 9.98336591e-01 -5.48987096e-02 -1.76119866e-02 3.21236396e+02] [ 5.49019926e-02 9.98491704e-01 -2.97403418e-04 4.83782492e+00] [ 1.76017496e-02 -6.70024446e-04 9.99844853e-01 2.91789431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.58925415399995 meters Centerline goodness [0,1] 0.9988878630182978 Centerline is valid? [True, True] Translation: X:321.27, Y:4.85, Z:2.92 [[ 9.98613951e-01 -4.95122607e-02 -1.78525164e-02 3.21267024e+02] [ 4.95147771e-02 9.98773346e-01 -3.01308101e-04 4.84634068e+00] [ 1.78455360e-02 -5.83072896e-04 9.99840586e-01 2.91932374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.619254154 meters Centerline goodness [0,1] 0.9989953745369304 Centerline is valid? [True, True] Translation: X:321.30, Y:4.85, Z:2.92 [[ 9.98775747e-01 -4.61314309e-02 -1.78577268e-02 3.21297258e+02] [ 4.61334255e-02 9.98935242e-01 -3.00462368e-04 4.85007314e+00] [ 1.78525734e-02 -5.23743581e-04 9.99840493e-01 2.91970954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.64925415399995 meters Centerline goodness [0,1] 0.9989081364829396 Centerline is valid? [True, True] Translation: X:321.33, Y:4.86, Z:2.92 [[ 9.98921343e-01 -4.28084090e-02 -1.79886150e-02 3.21328294e+02] [ 4.28099155e-02 9.99083190e-01 -3.01493937e-04 4.85539831e+00] [ 1.79850293e-02 -4.68922361e-04 9.99838146e-01 2.92069725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.679254154 meters Centerline goodness [0,1] 0.9989072416256882 Centerline is valid? [True, True] Translation: X:321.36, Y:4.86, Z:2.92 [[ 9.99063134e-01 -3.93848267e-02 -1.79357205e-02 3.21358280e+02] [ 3.93857822e-02 9.99224034e-01 -3.00094985e-04 4.85865049e+00] [ 1.79336221e-02 -4.06598544e-04 9.99839097e-01 2.92095782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.70925415399995 meters Centerline goodness [0,1] 0.999077394057579 Centerline is valid? [True, True] Translation: X:321.39, Y:4.86, Z:2.92 [[ 9.99199790e-01 -3.57440467e-02 -1.79483632e-02 3.21388749e+02] [ 3.57444224e-02 9.99360919e-01 -2.99975329e-04 4.86225130e+00] [ 1.79476150e-02 -3.41818588e-04 9.99838870e-01 2.92146083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.739254154 meters Centerline goodness [0,1] 0.9990978705549145 Centerline is valid? [True, True] Translation: X:321.42, Y:4.87, Z:2.92 [[ 9.99315523e-01 -3.24260936e-02 -1.78054325e-02 3.21418112e+02] [ 3.24259417e-02 9.99474097e-01 -2.97311645e-04 4.86539644e+00] [ 1.78057092e-02 -2.80249774e-04 9.99841427e-01 2.92106103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.76925415399995 meters Centerline goodness [0,1] 0.9988248132292453 Centerline is valid? [True, True] Translation: X:321.45, Y:4.87, Z:2.92 [[ 9.99486723e-01 -2.67503648e-02 -1.76269492e-02 3.21448118e+02] [ 2.67493327e-02 9.99642129e-01 -2.94367195e-04 4.87232039e+00] [ 1.76285155e-02 -1.77293025e-04 9.99844590e-01 2.92204437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.799254154 meters Centerline goodness [0,1] 0.9989886433071364 Centerline is valid? [True, True] Translation: X:321.48, Y:4.87, Z:2.92 [[ 9.99533873e-01 -2.47686644e-02 -1.78479771e-02 3.21476497e+02] [ 2.47672790e-02 9.99693199e-01 -2.98694144e-04 4.87491015e+00] [ 1.78498996e-02 -1.43490913e-04 9.99840668e-01 2.92238347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.82925415399995 meters Centerline goodness [0,1] 0.9989267450914371 Centerline is valid? [True, True] Translation: X:321.51, Y:4.88, Z:2.92 [[ 9.99573699e-01 -2.38832247e-02 -1.67931817e-02 3.21505189e+02] [ 2.38818333e-02 9.99714748e-01 -2.83423505e-04 4.87736078e+00] [ 1.67951605e-02 -1.17749285e-04 9.99858944e-01 2.92447441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.859254154 meters Centerline goodness [0,1] 0.9990309873396389 Centerline is valid? [True, True] Translation: X:321.53, Y:4.88, Z:2.92 [[ 9.99598269e-01 -2.30241947e-02 -1.65283613e-02 3.21534300e+02] [ 2.30226599e-02 9.99734903e-01 -2.83154951e-04 4.87861546e+00] [ 1.65304991e-02 -9.74856411e-05 9.99863357e-01 2.92498123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.88925415399996 meters Centerline goodness [0,1] 0.9989461037455473 Centerline is valid? [True, True] Translation: X:321.56, Y:4.88, Z:2.93 [[ 9.99613925e-01 -2.28587397e-02 -1.57949218e-02 3.21563167e+02] [ 2.28572551e-02 9.99738701e-01 -2.74535801e-04 4.87924263e+00] [ 1.57970702e-02 -8.65987486e-05 9.99875215e-01 2.92556768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.919254154 meters Centerline goodness [0,1] 0.9988854306864065 Centerline is valid? [True, True] Translation: X:321.59, Y:4.88, Z:2.93 [[ 9.99604219e-01 -2.32677734e-02 -1.58119217e-02 3.21592218e+02] [ 2.32662933e-02 9.99729265e-01 -2.77581533e-04 4.87906316e+00] [ 1.58140995e-02 -9.04131354e-05 9.99874945e-01 2.92567317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.94925415399996 meters Centerline goodness [0,1] 0.9990944127371901 Centerline is valid? [True, True] Translation: X:321.62, Y:4.88, Z:2.92 [[ 9.99580626e-01 -2.39017713e-02 -1.63486013e-02 3.21622050e+02] [ 2.39002611e-02 9.99714307e-01 -2.87780750e-04 4.87808759e+00] [ 1.63508091e-02 -1.03075779e-04 9.99866311e-01 2.92469644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.979254154 meters Centerline goodness [0,1] 0.9991165148614821 Centerline is valid? [True, True] Translation: X:321.65, Y:4.87, Z:2.93 [[ 9.99502304e-01 -2.70896698e-02 -1.61645713e-02 3.21651238e+02] [ 2.70885768e-02 9.99632996e-01 -2.86604422e-04 4.87487961e+00] [ 1.61664028e-02 -1.51413450e-04 9.99869304e-01 2.92585615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.00925415399996 meters Centerline goodness [0,1] 0.999033938172043 Centerline is valid? [True, True] Translation: X:321.68, Y:4.87, Z:2.93 [[ 9.99439588e-01 -2.91065120e-02 -1.65324152e-02 3.21681306e+02] [ 2.91056000e-02 9.99576299e-01 -2.95821187e-04 4.87321138e+00] [ 1.65340207e-02 -1.85530458e-04 9.99863287e-01 2.92601282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03925415399993 meters Centerline goodness [0,1] 0.9989484974027886 Centerline is valid? [True, True] Translation: X:321.71, Y:4.87, Z:2.93 [[ 9.99377626e-01 -3.08973239e-02 -1.70210281e-02 3.21711323e+02] [ 3.08966086e-02 9.99522539e-01 -3.05053065e-04 4.87192384e+00] [ 1.70223265e-02 -2.21028834e-04 9.99855085e-01 2.92627952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06925415399996 meters Centerline goodness [0,1] 0.9991171277221895 Centerline is valid? [True, True] Translation: X:321.74, Y:4.87, Z:2.93 [[ 9.99315656e-01 -3.26580271e-02 -1.73687172e-02 3.21741889e+02] [ 3.26575450e-02 9.99466552e-01 -3.11460056e-04 4.86998291e+00] [ 1.73696236e-02 -2.55972754e-04 9.99849104e-01 2.92587136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09925415399994 meters Centerline goodness [0,1] 0.9989310193045338 Centerline is valid? [True, True] Translation: X:321.77, Y:4.87, Z:2.92 [[ 9.99148500e-01 -3.64294880e-02 -1.93692603e-02 3.21772311e+02] [ 3.64295969e-02 9.99336162e-01 -3.47334281e-04 4.86537531e+00] [ 1.93690554e-02 -3.58575819e-04 9.99812338e-01 2.92346525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12925415399997 meters Centerline goodness [0,1] 0.998845895585026 Centerline is valid? [True, True] Translation: X:321.80, Y:4.86, Z:2.92 [[ 9.99066724e-01 -3.83939395e-02 -1.97885319e-02 3.21802889e+02] [ 3.83944384e-02 9.99262599e-01 -3.54852760e-04 4.86353221e+00] [ 1.97875640e-02 -4.05247982e-04 9.99804125e-01 2.92361752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15925415399994 meters Centerline goodness [0,1] 0.9991193676220829 Centerline is valid? [True, True] Translation: X:321.83, Y:4.86, Z:2.92 [[ 9.98988934e-01 -4.04032288e-02 -1.97151867e-02 3.21833426e+02] [ 4.04041150e-02 9.99183358e-01 -3.53537517e-04 4.86249487e+00] [ 1.97133705e-02 -4.43394603e-04 9.99805574e-01 2.92473882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18925415399997 meters Centerline goodness [0,1] 0.9988669506284228 Centerline is valid? [True, True] Translation: X:321.86, Y:4.86, Z:2.92 [[ 9.98928587e-01 -4.18505557e-02 -1.97537277e-02 3.21864189e+02] [ 4.18517319e-02 9.99123770e-01 -3.54037297e-04 4.85848968e+00] [ 1.97512356e-02 -4.73069740e-04 9.99804813e-01 2.92383603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21925415399994 meters Centerline goodness [0,1] 0.9989952062967072 Centerline is valid? [True, True] Translation: X:321.89, Y:4.86, Z:2.93 [[ 9.98866383e-01 -4.35449759e-02 -1.92297793e-02 3.21894559e+02] [ 4.35464074e-02 9.99051346e-01 -3.44478859e-04 4.85780763e+00] [ 1.92265372e-02 -4.93299454e-04 9.99815031e-01 2.92530500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24925415399997 meters Centerline goodness [0,1] 0.9987656645536518 Centerline is valid? [True, True] Translation: X:321.93, Y:4.86, Z:2.93 [[ 9.98860666e-01 -4.37610116e-02 -1.90353185e-02 3.21926130e+02] [ 4.37624603e-02 9.99041907e-01 -3.40640194e-04 4.85722773e+00] [ 1.90319876e-02 -4.92780277e-04 9.99818754e-01 2.92599137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27925415399994 meters Centerline goodness [0,1] 0.998848264019768 Centerline is valid? [True, True] Translation: X:321.96, Y:4.86, Z:2.93 [[ 9.98871178e-01 -4.36900458e-02 -1.86426820e-02 3.21957657e+02] [ 4.36914356e-02 9.99045018e-01 -3.32935056e-04 4.85746851e+00] [ 1.86394246e-02 -4.81966310e-04 9.99826155e-01 2.92672735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.309254154 meters Centerline goodness [0,1] 0.9986999370937304 Centerline is valid? [True, True] Translation: X:321.99, Y:4.86, Z:2.93 [[ 9.98901408e-01 -4.31607475e-02 -1.82517529e-02 3.21987811e+02] [ 4.31619975e-02 9.99068034e-01 -3.25615542e-04 4.85725002e+00] [ 1.82487967e-02 -4.62524288e-04 9.99833370e-01 2.92737237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33925415399995 meters Centerline goodness [0,1] 0.9989948696471573 Centerline is valid? [True, True] Translation: X:322.02, Y:4.86, Z:2.93 [[ 9.98937248e-01 -4.23021078e-02 -1.83004509e-02 3.22018322e+02] [ 4.23032235e-02 9.99104765e-01 -3.26321739e-04 4.85668489e+00] [ 1.82978717e-02 -4.48193122e-04 9.99832479e-01 2.92669522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.369254154 meters Centerline goodness [0,1] 0.9988480710426004 Centerline is valid? [True, True] Translation: X:322.05, Y:4.86, Z:2.93 [[ 9.98977310e-01 -4.15862989e-02 -1.77457992e-02 3.22048569e+02] [ 4.15872380e-02 9.99134827e-01 -3.16266280e-04 4.85710976e+00] [ 1.77435984e-02 -4.22055939e-04 9.99842481e-01 2.92820031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39925415399995 meters Centerline goodness [0,1] 0.9990996649916248 Centerline is valid? [True, True] Translation: X:322.08, Y:4.86, Z:2.93 [[ 9.99029306e-01 -4.03550505e-02 -1.76611570e-02 3.22079430e+02] [ 4.03557884e-02 9.99185324e-01 -3.14757784e-04 4.85762702e+00] [ 1.76594710e-02 -3.98277666e-04 9.99843980e-01 2.92873479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.429254154 meters Centerline goodness [0,1] 0.9989521773754139 Centerline is valid? [True, True] Translation: X:322.11, Y:4.86, Z:2.93 [[ 9.99139943e-01 -3.75995819e-02 -1.74827491e-02 3.22109600e+02] [ 3.75998833e-02 9.99292826e-01 -3.11578191e-04 4.85890618e+00] [ 1.74821010e-02 -3.46039110e-04 9.99847117e-01 2.92920036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.45925415399995 meters Centerline goodness [0,1] 0.9989725740166066 Centerline is valid? [True, True] Translation: X:322.14, Y:4.86, Z:2.93 [[ 9.99205497e-01 -3.58175901e-02 -1.74778463e-02 3.22140055e+02] [ 3.58176188e-02 9.99358295e-01 -3.11490812e-04 4.85962219e+00] [ 1.74777875e-02 -3.14771503e-04 9.99847202e-01 2.92957830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.489254154 meters Centerline goodness [0,1] 0.9991418644564444 Centerline is valid? [True, True] Translation: X:322.17, Y:4.86, Z:2.93 [[ 9.99269497e-01 -3.41859284e-02 -1.70820110e-02 3.22170588e+02] [ 3.41857175e-02 9.99415451e-01 -3.04436222e-04 4.86062384e+00] [ 1.70824332e-02 -2.79746972e-04 9.99854045e-01 2.93034060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.51925415399995 meters Centerline goodness [0,1] 0.999036951742908 Centerline is valid? [True, True] Translation: X:322.20, Y:4.86, Z:2.93 [[ 9.99382168e-01 -3.09024462e-02 -1.67427949e-02 3.22200989e+02] [ 3.09017828e-02 9.99522381e-01 -2.98390700e-04 4.86220358e+00] [ 1.67440192e-02 -2.19175866e-04 9.99859785e-01 2.93108906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.549254154 meters Centerline goodness [0,1] 0.9990376367706437 Centerline is valid? [True, True] Translation: X:322.23, Y:4.86, Z:2.93 [[ 9.99430963e-01 -2.93338883e-02 -1.66514990e-02 3.22230163e+02] [ 2.93330101e-02 9.99569651e-01 -2.97030282e-04 4.86180394e+00] [ 1.66530461e-02 -1.91577327e-04 9.99861310e-01 2.93086433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57925415399995 meters Centerline goodness [0,1] 0.9991217614955147 Centerline is valid? [True, True] Translation: X:322.26, Y:4.86, Z:2.93 [[ 9.99464706e-01 -2.78851003e-02 -1.71091455e-02 3.22259987e+02] [ 2.78839500e-02 9.99611120e-01 -3.05829486e-04 4.86308557e+00] [ 1.71110202e-02 -1.71404782e-04 9.99853581e-01 2.93142591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.609254154 meters Centerline goodness [0,1] 0.9990378380639628 Centerline is valid? [True, True] Translation: X:322.29, Y:4.86, Z:2.93 [[ 9.99483782e-01 -2.68549935e-02 -1.76345823e-02 3.22288155e+02] [ 2.68535969e-02 9.99639327e-01 -3.16025392e-04 4.86324747e+00] [ 1.76367089e-02 -1.57689712e-04 9.99844449e-01 2.93084549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63925415399996 meters Centerline goodness [0,1] 0.9992259090338508 Centerline is valid? [True, True] Translation: X:322.32, Y:4.86, Z:2.93 [[ 9.99516374e-01 -2.49249834e-02 -1.85947119e-02 3.22316902e+02] [ 2.49230427e-02 9.99689316e-01 -3.36134299e-04 4.86310476e+00] [ 1.85973130e-02 -1.27465064e-04 9.99827047e-01 2.93029166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.669254154 meters Centerline goodness [0,1] 0.9989331213522163 Centerline is valid? [True, True] Translation: X:322.34, Y:4.86, Z:2.93 [[ 9.99507198e-01 -2.41532496e-02 -2.00494718e-02 3.22344611e+02] [ 2.41507237e-02 9.99708261e-01 -3.68140802e-04 4.86302959e+00] [ 2.00525144e-02 -1.16249873e-04 9.99798921e-01 2.92757593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69925415399996 meters Centerline goodness [0,1] 0.9991413432742047 Centerline is valid? [True, True] Translation: X:322.37, Y:4.86, Z:2.93 [[ 9.99502166e-01 -2.45644116e-02 -1.97992325e-02 3.22372162e+02] [ 2.45619156e-02 9.99698242e-01 -3.69270860e-04 4.86279921e+00] [ 1.98023289e-02 -1.17220054e-04 9.99803908e-01 2.92987098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.729254154 meters Centerline goodness [0,1] 0.9992056358049208 Centerline is valid? [True, True] Translation: X:322.40, Y:4.86, Z:2.93 [[ 9.99503218e-01 -2.46042469e-02 -1.96964100e-02 3.22400064e+02] [ 2.46016727e-02 9.99697263e-01 -3.73024328e-04 4.86214959e+00] [ 1.96996252e-02 -1.11725616e-04 9.99805937e-01 2.93052909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75925415399996 meters Centerline goodness [0,1] 0.9992460732984293 Centerline is valid? [True, True] Translation: X:322.43, Y:4.86, Z:2.93 [[ 9.99492320e-01 -2.52452656e-02 -1.94365501e-02 3.22428452e+02] [ 2.52427714e-02 9.99681281e-01 -3.73690824e-04 4.86213629e+00] [ 1.94397892e-02 -1.17131284e-04 9.99811023e-01 2.93169087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78925415399993 meters Centerline goodness [0,1] 0.9990792860281654 Centerline is valid? [True, True] Translation: X:322.46, Y:4.86, Z:2.93 [[ 9.99470263e-01 -2.62526968e-02 -1.92351148e-02 3.22455954e+02] [ 2.62503339e-02 9.99655330e-01 -3.75364092e-04 4.86167254e+00] [ 1.92383393e-02 -1.29762938e-04 9.99814918e-01 2.93237159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81925415399996 meters Centerline goodness [0,1] 0.9990595218190937 Centerline is valid? [True, True] Translation: X:322.48, Y:4.86, Z:2.93 [[ 9.99394181e-01 -2.92981735e-02 -1.87852878e-02 3.22483638e+02] [ 2.92963841e-02 9.99570700e-01 -3.70502726e-04 4.85935742e+00] [ 1.87880784e-02 -1.80062739e-04 9.99823472e-01 2.93354050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84925415399994 meters Centerline goodness [0,1] 0.9991019402268123 Centerline is valid? [True, True] Translation: X:322.51, Y:4.86, Z:2.93 [[ 9.99326667e-01 -3.17044243e-02 -1.84673050e-02 3.22511986e+02] [ 3.17030409e-02 9.99497265e-01 -3.67739074e-04 4.85778720e+00] [ 1.84696798e-02 -2.17978263e-04 9.99829397e-01 2.93403462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87925415399997 meters Centerline goodness [0,1] 0.9991648920622991 Centerline is valid? [True, True] Translation: X:322.54, Y:4.86, Z:2.93 [[ 9.99236436e-01 -3.46009221e-02 -1.81472307e-02 3.22540944e+02] [ 3.45999815e-02 9.99401174e-01 -3.65895724e-04 4.85643933e+00] [ 1.81490240e-02 -2.62277509e-04 9.99835258e-01 2.93482907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90925415399994 meters Centerline goodness [0,1] 0.9989561368713334 Centerline is valid? [True, True] Translation: X:322.57, Y:4.85, Z:2.93 [[ 9.99118855e-01 -3.79146339e-02 -1.79998464e-02 3.22569474e+02] [ 3.79141949e-02 9.99280931e-01 -3.65765757e-04 4.85205627e+00] [ 1.80007711e-02 -3.17006219e-04 9.99837923e-01 2.93415555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93925415399997 meters Centerline goodness [0,1] 0.9987686528227069 Centerline is valid? [True, True] Translation: X:322.60, Y:4.84, Z:2.93 [[ 9.98805222e-01 -4.57346730e-02 -1.72182292e-02 3.22599775e+02] [ 4.57354215e-02 9.98953527e-01 -3.50504523e-04 4.84465666e+00] [ 1.72162410e-02 -4.37397222e-04 9.99851694e-01 2.93491381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96925415399994 meters Centerline goodness [0,1] 0.9990395456633399 Centerline is valid? [True, True] Translation: X:322.63, Y:4.84, Z:2.94 [[ 9.98597725e-01 -5.00569521e-02 -1.72303421e-02 3.22630749e+02] [ 5.00583473e-02 9.98746234e-01 -3.50580505e-04 4.84449878e+00] [ 1.72262882e-02 -5.12433554e-04 9.99851485e-01 2.93643352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99925415399997 meters Centerline goodness [0,1] 0.9989351706858753 Centerline is valid? [True, True] Translation: X:322.66, Y:4.84, Z:2.94 [[ 9.98338048e-01 -5.49563230e-02 -1.73477760e-02 3.22662405e+02] [ 5.49584880e-02 9.98488578e-01 -3.52276244e-04 4.84096893e+00] [ 1.73409160e-02 -6.01716759e-04 9.99849454e-01 2.93646373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02925415399994 meters Centerline goodness [0,1] 0.9989351706858753 Centerline is valid? [True, True] Translation: X:322.69, Y:4.84, Z:2.94 [[ 9.98342125e-01 -5.48821918e-02 -1.73477950e-02 3.22694106e+02] [ 5.48843619e-02 9.98492656e-01 -3.51337795e-04 4.84155269e+00] [ 1.73409281e-02 -6.01367336e-04 9.99849454e-01 2.93676068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.059254154 meters Centerline goodness [0,1] 0.9989967813401329 Centerline is valid? [True, True] Translation: X:322.72, Y:4.84, Z:2.93 [[ 9.98059607e-01 -5.92003913e-02 -1.92959483e-02 3.22724790e+02] [ 5.92039024e-02 9.98245834e-01 -3.89737812e-04 4.83817786e+00] [ 1.92851727e-02 -7.53413873e-04 9.99813740e-01 2.93457784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.08925415399995 meters Centerline goodness [0,1] 0.9988977393257492 Centerline is valid? [True, True] Translation: X:322.76, Y:4.83, Z:2.94 [[ 9.97767597e-01 -6.44644867e-02 -1.74399775e-02 3.22755015e+02] [ 6.44681612e-02 9.97919702e-01 -3.52011250e-04 4.82989484e+00] [ 1.74263894e-02 -7.73097864e-04 9.99847850e-01 2.93660996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.119254154 meters Centerline goodness [0,1] 0.9990395055541635 Centerline is valid? [True, True] Translation: X:322.79, Y:4.83, Z:2.94 [[ 9.97468446e-01 -6.89841081e-02 -1.72595645e-02 3.22786265e+02] [ 6.89883869e-02 9.97617402e-01 -3.48075536e-04 4.83295489e+00] [ 1.72424535e-02 -8.43515148e-04 9.99850982e-01 2.93806461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.14925415399995 meters Centerline goodness [0,1] 0.998703308654369 Centerline is valid? [True, True] Translation: X:322.82, Y:4.83, Z:2.94 [[ 9.96832300e-01 -7.74762199e-02 -1.79666759e-02 3.22816554e+02] [ 7.74822381e-02 9.96993667e-01 -3.61945463e-04 4.82774417e+00] [ 1.79407043e-02 -1.03129933e-03 9.99838521e-01 2.93812567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.179254154 meters Centerline goodness [0,1] 0.9986201128998536 Centerline is valid? [True, True] Translation: X:322.85, Y:4.83, Z:2.94 [[ 9.96577817e-01 -8.05723015e-02 -1.84596587e-02 3.22847692e+02] [ 8.05791913e-02 9.96748141e-01 -3.71470456e-04 4.82603266e+00] [ 1.84295607e-02 -1.11726515e-03 9.99829537e-01 2.93838272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.20925415399995 meters Centerline goodness [0,1] 0.9989342583692064 Centerline is valid? [True, True] Translation: X:322.88, Y:4.82, Z:2.94 [[ 9.96393826e-01 -8.27974606e-02 -1.85451905e-02 3.22877733e+02] [ 8.28048054e-02 9.96565715e-01 -3.72802599e-04 4.82345835e+00] [ 1.85123681e-02 -1.16417268e-03 9.99827954e-01 2.93840683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.239254154 meters Centerline goodness [0,1] 0.9987261412521405 Centerline is valid? [True, True] Translation: X:322.91, Y:4.82, Z:2.94 [[ 9.96278134e-01 -8.41253138e-02 -1.87832783e-02 3.22909697e+02] [ 8.41330964e-02 9.96454455e-01 -3.76897731e-04 4.82344129e+00] [ 1.87483880e-02 -1.20480040e-03 9.99823508e-01 2.93874081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.26925415399995 meters Centerline goodness [0,1] 0.998537706287863 Centerline is valid? [True, True] Translation: X:322.94, Y:4.82, Z:2.94 [[ 9.96250157e-01 -8.44370564e-02 -1.88681752e-02 3.22940720e+02] [ 8.44449880e-02 9.96428071e-01 -3.77391643e-04 4.82451458e+00] [ 1.88326452e-02 -1.21734634e-03 9.99821909e-01 2.93926260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.299254154 meters Centerline goodness [0,1] 0.9986218129424294 Centerline is valid? [True, True] Translation: X:322.97, Y:4.83, Z:2.94 [[ 9.96336565e-01 -8.34379429e-02 -1.87498809e-02 3.22972604e+02] [ 8.34456215e-02 9.96512262e-01 -3.73833207e-04 4.82745024e+00] [ 1.87156782e-02 -1.19213178e-03 9.99824136e-01 2.93984736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.32925415399995 meters Centerline goodness [0,1] 0.9984126321066042 Centerline is valid? [True, True] Translation: X:323.00, Y:4.83, Z:2.94 [[ 9.96445994e-01 -8.20551554e-02 -1.90350467e-02 3.23004251e+02] [ 8.20628416e-02 9.96627085e-01 -3.78283464e-04 4.83326550e+00] [ 1.90018832e-02 -1.18513098e-03 9.99818746e-01 2.94036844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.359254154 meters Centerline goodness [0,1] 0.9986888384773877 Centerline is valid? [True, True] Translation: X:323.03, Y:4.84, Z:2.94 [[ 9.96717261e-01 -7.85392931e-02 -1.96540502e-02 3.23033995e+02] [ 7.85468170e-02 9.96910350e-01 -3.90042304e-04 4.83677635e+00] [ 1.96239597e-02 -1.15500119e-03 9.99806764e-01 2.93997042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.38925415399996 meters Centerline goodness [0,1] 0.9987678041852889 Centerline is valid? [True, True] Translation: X:323.07, Y:4.84, Z:2.94 [[ 9.96848471e-01 -7.68205346e-02 -1.97922088e-02 3.23065253e+02] [ 7.68278347e-02 9.97044297e-01 -3.92393049e-04 4.84183830e+00] [ 1.97638528e-02 -1.12943614e-03 9.99804038e-01 2.94036442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.419254154 meters Centerline goodness [0,1] 0.9987692692797097 Centerline is valid? [True, True] Translation: X:323.10, Y:4.84, Z:2.94 [[ 9.96963799e-01 -7.52437569e-02 -2.00389984e-02 3.23096850e+02] [ 7.52509379e-02 9.97164550e-01 -3.96533378e-04 4.84410491e+00] [ 2.00120155e-02 -1.11262400e-03 9.99799120e-01 2.94023627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.44925415399996 meters Centerline goodness [0,1] 0.9987943041263901 Centerline is valid? [True, True] Translation: X:323.13, Y:4.84, Z:2.94 [[ 9.97057833e-01 -7.38945968e-02 -2.03781055e-02 3.23127821e+02] [ 7.39017616e-02 9.97265445e-01 -4.02281918e-04 4.84469439e+00] [ 2.03521069e-02 -1.10487956e-03 9.99792264e-01 2.94000136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.479254154 meters Centerline goodness [0,1] 0.9988739443228026 Centerline is valid? [True, True] Translation: X:323.16, Y:4.85, Z:2.94 [[ 9.97241275e-01 -7.15709564e-02 -1.96834556e-02 3.23159240e+02] [ 7.15772067e-02 9.97434987e-01 -3.87689409e-04 4.85083953e+00] [ 1.96607146e-02 -1.02226689e-03 9.99806187e-01 2.94090704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.50925415399996 meters Centerline goodness [0,1] 0.9984555017532142 Centerline is valid? [True, True] Translation: X:323.19, Y:4.86, Z:2.94 [[ 9.97315376e-01 -7.05095840e-02 -1.97595563e-02 3.23191281e+02] [ 7.05156974e-02 9.97510594e-01 -3.88058713e-04 4.85568102e+00] [ 1.97377286e-02 -1.00634197e-03 9.99804686e-01 2.94178849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53925415399993 meters Centerline goodness [0,1] 0.9986013694054776 Centerline is valid? [True, True] Translation: X:323.22, Y:4.86, Z:2.94 [[ 9.97394588e-01 -6.94266989e-02 -1.95951283e-02 3.23223644e+02] [ 6.94325311e-02 9.97586576e-01 -3.83362068e-04 4.85795180e+00] [ 1.95744526e-02 -9.78176108e-04 9.99807924e-01 2.94245871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56925415399996 meters Centerline goodness [0,1] 0.99872712476264 Centerline is valid? [True, True] Translation: X:323.26, Y:4.86, Z:2.94 [[ 9.97560128e-01 -6.71870324e-02 -1.89656111e-02 3.23255356e+02] [ 6.71921150e-02 9.97739988e-01 -3.69828160e-04 4.86221527e+00] [ 1.89475963e-02 -9.05413699e-04 9.99820068e-01 2.94334678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59925415399994 meters Centerline goodness [0,1] 0.9985774058577406 Centerline is valid? [True, True] Translation: X:323.29, Y:4.87, Z:2.94 [[ 9.97649892e-01 -6.58655759e-02 -1.88790829e-02 3.23287310e+02] [ 6.58703995e-02 9.97828119e-01 -3.66904847e-04 4.86527542e+00] [ 1.88622461e-02 -8.77530149e-04 9.99821707e-01 2.94383040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62925415399997 meters Centerline goodness [0,1] 0.9987045549519432 Centerline is valid? [True, True] Translation: X:323.32, Y:4.87, Z:2.94 [[ 9.97757459e-01 -6.42433192e-02 -1.87842519e-02 3.23319820e+02] [ 6.42478373e-02 9.97933907e-01 -3.63479461e-04 4.86843578e+00] [ 1.87687930e-02 -8.44183216e-04 9.99823494e-01 2.94424462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65925415399994 meters Centerline goodness [0,1] 0.998744796133972 Centerline is valid? [True, True] Translation: X:323.35, Y:4.87, Z:2.94 [[ 9.97888152e-01 -6.21901828e-02 -1.87514870e-02 3.23351258e+02] [ 6.21943463e-02 9.98063992e-01 -3.61616289e-04 4.87138464e+00] [ 1.87376730e-02 -8.05383866e-04 9.99824110e-01 2.94456584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68925415399997 meters Centerline goodness [0,1] 0.9987650961759843 Centerline is valid? [True, True] Translation: X:323.38, Y:4.88, Z:2.94 [[ 9.98201852e-01 -5.69873161e-02 -1.85878478e-02 3.23381423e+02] [ 5.69905129e-02 9.98374656e-01 -3.58111822e-04 4.87719267e+00] [ 1.85780440e-02 -7.01863096e-04 9.99827167e-01 2.94485614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71925415399994 meters Centerline goodness [0,1] 0.9987643202714307 Centerline is valid? [True, True] Translation: X:323.41, Y:4.88, Z:2.95 [[ 9.98369704e-01 -5.39555423e-02 -1.86207768e-02 3.23412655e+02] [ 5.39582302e-02 9.98543129e-01 -3.58397728e-04 4.88263974e+00] [ 1.86129863e-02 -6.46930730e-04 9.99826554e-01 2.94533240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74925415399997 meters Centerline goodness [0,1] 0.998806907378336 Centerline is valid? [True, True] Translation: X:323.44, Y:4.89, Z:2.95 [[ 9.98543342e-01 -5.04782677e-02 -1.90562067e-02 3.23443426e+02] [ 5.04804641e-02 9.98724982e-01 -3.66055842e-04 4.88555009e+00] [ 1.90503876e-02 -5.96443537e-04 9.99818347e-01 2.94542815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77925415399994 meters Centerline goodness [0,1] 0.9989717763088868 Centerline is valid? [True, True] Translation: X:323.47, Y:4.90, Z:2.95 [[ 9.98903161e-01 -4.29118018e-02 -1.87363992e-02 3.23473740e+02] [ 4.29126011e-02 9.99078765e-01 -3.59568792e-04 4.89569210e+00] [ 1.87345683e-02 -4.44853222e-04 9.99824394e-01 2.94665563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.809254154 meters Centerline goodness [0,1] 0.9989515182016441 Centerline is valid? [True, True] Translation: X:323.50, Y:4.90, Z:2.95 [[ 9.99053266e-01 -3.93791706e-02 -1.84892659e-02 3.23504408e+02] [ 3.93793506e-02 9.99224270e-01 -3.54487918e-04 4.89965634e+00] [ 1.84888827e-02 -3.73942973e-04 9.99828996e-01 2.94699667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83925415399995 meters Centerline goodness [0,1] 0.9987398134923968 Centerline is valid? [True, True] Translation: X:323.54, Y:4.90, Z:2.95 [[ 9.99177751e-01 -3.62768242e-02 -1.81056159e-02 3.23535157e+02] [ 3.62764937e-02 9.99341731e-01 -3.46792407e-04 4.90386784e+00] [ 1.81062781e-02 -3.10301006e-04 9.99836020e-01 2.94750085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.869254154 meters Centerline goodness [0,1] 0.9988647114474929 Centerline is valid? [True, True] Translation: X:323.57, Y:4.91, Z:2.95 [[ 9.99289956e-01 -3.34181355e-02 -1.74015175e-02 3.23565706e+02] [ 3.34173968e-02 9.99441427e-01 -3.33306206e-04 4.90787104e+00] [ 1.74029360e-02 -2.48443873e-04 9.99848527e-01 2.94809527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89925415399995 meters Centerline goodness [0,1] 0.998863181827751 Centerline is valid? [True, True] Translation: X:323.60, Y:4.91, Z:2.95 [[ 9.99414672e-01 -2.98710629e-02 -1.66742996e-02 3.23595345e+02] [ 2.98698925e-02 9.99553744e-01 -3.19292069e-04 4.91237115e+00] [ 1.66763962e-02 -1.78954357e-04 9.99860923e-01 2.94832406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.929254154 meters Centerline goodness [0,1] 0.9988010853332773 Centerline is valid? [True, True] Translation: X:323.63, Y:4.91, Z:2.95 [[ 9.99448034e-01 -2.90489377e-02 -1.61178810e-02 3.23625901e+02] [ 2.90477388e-02 9.99577978e-01 -3.08531920e-04 4.91478326e+00] [ 1.61200415e-02 -1.59826378e-04 9.99870051e-01 2.94912058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.95925415399995 meters Centerline goodness [0,1] 0.9989899415007786 Centerline is valid? [True, True] Translation: X:323.66, Y:4.92, Z:2.95 [[ 9.99452491e-01 -2.90255107e-02 -1.58819874e-02 3.23655929e+02] [ 2.90243456e-02 9.99578659e-01 -3.03899326e-04 4.91655207e+00] [ 1.58841165e-02 -1.57231353e-04 9.99873827e-01 2.94949562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.989254154 meters Centerline goodness [0,1] 0.9989052631578947 Centerline is valid? [True, True] Translation: X:323.69, Y:4.92, Z:2.95 [[ 9.99428004e-01 -2.98349260e-02 -1.59229924e-02 3.23686494e+02] [ 2.98338603e-02 9.99554825e-01 -3.04515248e-04 4.91818667e+00] [ 1.59249891e-02 -1.70703265e-04 9.99873175e-01 2.95001996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.01925415399995 meters Centerline goodness [0,1] 0.9986518084725411 Centerline is valid? [True, True] Translation: X:323.72, Y:4.92, Z:2.95 [[ 9.99388825e-01 -3.09594021e-02 -1.62324184e-02 3.23716686e+02] [ 3.09584449e-02 9.99520624e-01 -3.10309421e-04 4.91796814e+00] [ 1.62342439e-02 -1.92410660e-04 9.99868197e-01 2.94921785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.049254154 meters Centerline goodness [0,1] 0.9987389394480758 Centerline is valid? [True, True] Translation: X:323.75, Y:4.92, Z:2.95 [[ 9.99322100e-01 -3.34233205e-02 -1.54344629e-02 3.23747040e+02] [ 3.34227513e-02 9.99441260e-01 -2.94895193e-04 4.91784575e+00] [ 1.54356954e-02 -2.21166933e-04 9.99880838e-01 2.95009508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07925415399995 meters Centerline goodness [0,1] 0.9982335499337581 Centerline is valid? [True, True] Translation: X:323.78, Y:4.91, Z:2.95 [[ 9.99076191e-01 -3.99844000e-02 -1.57483909e-02 3.23778693e+02] [ 3.99846256e-02 9.99200250e-01 -3.00665786e-04 4.91449563e+00] [ 1.57478180e-02 -3.29305483e-04 9.99875941e-01 2.94949325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.109254154 meters Centerline goodness [0,1] 0.9971421967261342 Centerline is valid? [True, True] Translation: X:323.81, Y:4.91, Z:2.95 [[ 9.98888654e-01 -4.41523541e-02 -1.64932556e-02 3.23809054e+02] [ 4.41531771e-02 9.99024723e-01 -3.14410879e-04 4.91155468e+00] [ 1.64910521e-02 -4.14168175e-04 9.99863928e-01 2.94849452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13925415399996 meters Centerline goodness [0,1] 0.9957966415165718 Centerline is valid? [True, True] Translation: X:323.84, Y:4.91, Z:2.95 [[ 9.98684066e-01 -4.83188756e-02 -1.71878492e-02 3.23840094e+02] [ 4.83203914e-02 9.98831834e-01 -3.27338091e-04 4.91094653e+00] [ 1.71835876e-02 -5.03616266e-04 9.99852224e-01 2.94840228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.169254154 meters Centerline goodness [0,1] 0.9952423055871332 Centerline is valid? [True, True] Translation: X:323.87, Y:4.91, Z:2.95 [[ 9.98478883e-01 -5.21822635e-02 -1.78025452e-02 3.23870497e+02] [ 5.21845087e-02 9.98637403e-01 -3.38719305e-04 4.90789683e+00] [ 1.77959627e-02 -5.90813005e-04 9.99841465e-01 2.94729889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19925415399996 meters Centerline goodness [0,1] 0.9940182821517334 Centerline is valid? [True, True] Translation: X:323.90, Y:4.90, Z:2.95 [[ 9.97993036e-01 -6.04923046e-02 -1.87238155e-02 3.23901338e+02] [ 6.04962519e-02 9.98168361e-01 -3.56041287e-04 4.90312442e+00] [ 1.87110580e-02 -7.77393932e-04 9.99824631e-01 2.94703910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.229254154 meters Centerline goodness [0,1] 0.994101413554109 Centerline is valid? [True, True] Translation: X:323.93, Y:4.90, Z:2.95 [[ 9.97778048e-01 -6.38273973e-02 -1.91057771e-02 3.23931849e+02] [ 6.38321213e-02 9.97960585e-01 -3.63101449e-04 4.90038504e+00] [ 1.90899883e-02 -8.57267625e-04 9.99817402e-01 2.94681813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25925415399996 meters Centerline goodness [0,1] 0.9945932299665495 Centerline is valid? [True, True] Translation: X:323.96, Y:4.90, Z:2.95 [[ 9.97433045e-01 -6.88925951e-02 -1.95225942e-02 3.23962652e+02] [ 6.88984993e-02 9.97623606e-01 -3.70811631e-04 4.89693886e+00] [ 1.95017470e-02 -9.75217667e-04 9.99809347e-01 2.94627357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28925415399993 meters Centerline goodness [0,1] 0.9945973217851962 Centerline is valid? [True, True] Translation: X:323.99, Y:4.90, Z:2.95 [[ 9.97317215e-01 -7.06089518e-02 -1.93067120e-02 3.23994643e+02] [ 7.06150610e-02 9.97503574e-01 -3.65971805e-04 4.89647876e+00] [ 1.92843551e-02 -9.98354667e-04 9.99813541e-01 2.94638874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31925415399996 meters Centerline goodness [0,1] 0.9948423224285293 Centerline is valid? [True, True] Translation: X:324.03, Y:4.90, Z:2.95 [[ 9.97211075e-01 -7.19046037e-02 -1.99950000e-02 3.24026908e+02] [ 7.19114457e-02 9.97410949e-01 -3.77545022e-04 4.90180592e+00] [ 1.99703792e-02 -1.06137728e-03 9.99800009e-01 2.94744723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34925415399994 meters Centerline goodness [0,1] 0.9948542384272873 Centerline is valid? [True, True] Translation: X:324.06, Y:4.90, Z:2.95 [[ 9.97154282e-01 -7.27237145e-02 -1.98645133e-02 3.24057924e+02] [ 7.27306547e-02 9.97351549e-01 -3.73808237e-04 4.89636127e+00] [ 1.98390879e-02 -1.07201458e-03 9.99802611e-01 2.94681304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37925415399997 meters Centerline goodness [0,1] 0.9951210279489391 Centerline is valid? [True, True] Translation: X:324.09, Y:4.90, Z:2.95 [[ 9.97127147e-01 -7.31928515e-02 -1.95002241e-02 3.24089390e+02] [ 7.31996490e-02 9.97317240e-01 -3.65917136e-04 4.89714757e+00] [ 1.94746922e-02 -1.06254365e-03 9.99809786e-01 2.94736902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40925415399994 meters Centerline goodness [0,1] 0.9951274835132524 Centerline is valid? [True, True] Translation: X:324.12, Y:4.90, Z:2.95 [[ 9.97154653e-01 -7.28394403e-02 -1.94168574e-02 3.24121519e+02] [ 7.28461357e-02 9.97343125e-01 -3.63180263e-04 4.89824043e+00] [ 1.93917231e-02 -1.05229614e-03 9.99811409e-01 2.94765124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43925415399997 meters Centerline goodness [0,1] 0.9953665676797034 Centerline is valid? [True, True] Translation: X:324.15, Y:4.91, Z:2.95 [[ 9.97176857e-01 -7.24564318e-02 -1.97073854e-02 3.24153249e+02] [ 7.24632823e-02 9.97371013e-01 -3.67209228e-04 4.90665507e+00] [ 1.96821816e-02 -1.06188929e-03 9.99805723e-01 2.94925820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46925415399994 meters Centerline goodness [0,1] 0.9954486071895149 Centerline is valid? [True, True] Translation: X:324.18, Y:4.91, Z:2.95 [[ 9.97250016e-01 -7.15063523e-02 -1.94742759e-02 3.24184996e+02] [ 7.15128884e-02 9.97439610e-01 -3.61454074e-04 4.90889005e+00] [ 1.94502605e-02 -1.03220164e-03 9.99810293e-01 2.94948333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49925415399997 meters Centerline goodness [0,1] 0.9960593416782568 Centerline is valid? [True, True] Translation: X:324.22, Y:4.91, Z:2.95 [[ 9.97411510e-01 -6.93421318e-02 -1.90249577e-02 3.24216857e+02] [ 6.93479999e-02 9.97592467e-01 -3.51914148e-04 4.91470837e+00] [ 1.90035570e-02 -9.68339544e-04 9.99818947e-01 2.95061512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52925415399994 meters Centerline goodness [0,1] 0.9961000906465417 Centerline is valid? [True, True] Translation: X:324.25, Y:4.92, Z:2.95 [[ 9.97493635e-01 -6.81122142e-02 -1.91617722e-02 3.24248078e+02] [ 6.81179609e-02 9.97677212e-01 -3.53385816e-04 4.91674505e+00] [ 1.91413333e-02 -9.52760747e-04 9.99816334e-01 2.95101620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.559254154 meters Centerline goodness [0,1] 0.9962009286618827 Centerline is valid? [True, True] Translation: X:324.28, Y:4.92, Z:2.95 [[ 9.97589386e-01 -6.66958064e-02 -1.91595078e-02 3.24280667e+02] [ 6.67013180e-02 9.97772925e-01 -3.51940790e-04 4.91990065e+00] [ 1.91403112e-02 -9.26872029e-04 9.99816378e-01 2.95141997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.58925415399995 meters Centerline goodness [0,1] 0.9963446585530764 Centerline is valid? [True, True] Translation: X:324.31, Y:4.92, Z:2.95 [[ 9.97673913e-01 -6.52089978e-02 -1.98632641e-02 3.24313069e+02] [ 6.52146606e-02 9.97871192e-01 -3.63221869e-04 4.92308359e+00] [ 1.98446644e-02 -9.32999045e-04 9.99802640e-01 2.95144315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.619254154 meters Centerline goodness [0,1] 0.9969130581867388 Centerline is valid? [True, True] Translation: X:324.35, Y:4.93, Z:2.95 [[ 9.97754165e-01 -6.38347924e-02 -2.02915174e-02 3.24345294e+02] [ 6.38404486e-02 9.97960050e-01 -3.69565742e-04 4.92567966e+00] [ 2.02737149e-02 -9.26683817e-04 9.99794038e-01 2.95115921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.64925415399995 meters Centerline goodness [0,1] 0.9966178366837889 Centerline is valid? [True, True] Translation: X:324.38, Y:4.93, Z:2.95 [[ 9.97827201e-01 -6.24850160e-02 -2.08925654e-02 3.24376491e+02] [ 6.24907448e-02 9.98045471e-01 -3.79193024e-04 4.92525078e+00] [ 2.08754241e-02 -9.27222856e-04 9.99781655e-01 2.95008822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.679254154 meters Centerline goodness [0,1] 0.9968392694257653 Centerline is valid? [True, True] Translation: X:324.41, Y:4.94, Z:2.95 [[ 9.98006422e-01 -5.92034835e-02 -2.18661794e-02 3.24408016e+02] [ 5.92089992e-02 9.98245530e-01 -3.95647772e-04 4.93530304e+00] [ 2.18512396e-02 -8.99815584e-04 9.99760828e-01 2.95117050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.70925415399995 meters Centerline goodness [0,1] 0.9970951189516984 Centerline is valid? [True, True] Translation: X:324.44, Y:4.94, Z:2.95 [[ 9.98118262e-01 -5.72456556e-02 -2.19743161e-02 3.24439619e+02] [ 5.72507839e-02 9.98359750e-01 -3.96171357e-04 4.93712410e+00] [ 2.19609518e-02 -8.62620955e-04 9.99758457e-01 2.95110280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.739254154 meters Centerline goodness [0,1] 0.9974758187680298 Centerline is valid? [True, True] Translation: X:324.47, Y:4.94, Z:2.95 [[ 9.98249681e-01 -5.48889514e-02 -2.20176435e-02 3.24470611e+02] [ 5.48935524e-02 9.98492134e-01 -3.95819792e-04 4.94084185e+00] [ 2.20061699e-02 -8.13499683e-04 9.99757504e-01 2.95169707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.76925415399995 meters Centerline goodness [0,1] 0.9979379251700681 Centerline is valid? [True, True] Translation: X:324.50, Y:4.95, Z:2.95 [[ 9.98535893e-01 -4.94238485e-02 -2.19852885e-02 3.24501301e+02] [ 4.94271251e-02 9.98777655e-01 -3.94672846e-04 4.95170236e+00] [ 2.19779212e-02 -6.92574604e-04 9.99758216e-01 2.95403212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.799254154 meters Centerline goodness [0,1] 0.9978079043139592 Centerline is valid? [True, True] Translation: X:324.53, Y:4.96, Z:2.95 [[ 9.98696564e-01 -4.62021253e-02 -2.16918581e-02 3.24532619e+02] [ 4.62045692e-02 9.98931923e-01 -3.88782359e-04 4.95577155e+00] [ 2.16866521e-02 -6.13987351e-04 9.99764628e-01 2.95453448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.82925415399995 meters Centerline goodness [0,1] 0.998167561578454 Centerline is valid? [True, True] Translation: X:324.56, Y:4.96, Z:2.96 [[ 9.98844667e-01 -4.31478196e-02 -2.11565063e-02 3.24563633e+02] [ 4.31494759e-02 9.99068556e-01 -3.78413150e-04 4.96037903e+00] [ 2.11531279e-02 -5.34916204e-04 9.99776104e-01 2.95566842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.859254154 meters Centerline goodness [0,1] 0.9982286909385804 Centerline is valid? [True, True] Translation: X:324.59, Y:4.97, Z:2.96 [[ 9.99139809e-01 -3.63759448e-02 -1.99106350e-02 3.24593477e+02] [ 3.63760740e-02 9.99338108e-01 -3.55801431e-04 4.96716509e+00] [ 1.99103990e-02 -3.68775360e-04 9.99801700e-01 2.95658694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.88925415399996 meters Centerline goodness [0,1] 0.9986327123568621 Centerline is valid? [True, True] Translation: X:324.62, Y:4.97, Z:2.96 [[ 9.99267124e-01 -3.30700095e-02 -1.92766414e-02 3.24624533e+02] [ 3.30695226e-02 9.99452995e-01 -3.44107868e-04 4.97159503e+00] [ 1.92774766e-02 -2.93613650e-04 9.99814129e-01 2.95784909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.919254154 meters Centerline goodness [0,1] 0.9986327123568621 Centerline is valid? [True, True] Translation: X:324.66, Y:4.97, Z:2.96 [[ 9.99268338e-01 -3.30332987e-02 -1.92766540e-02 3.24655380e+02] [ 3.30328186e-02 9.99454209e-01 -3.43399819e-04 4.97211572e+00] [ 1.92774766e-02 -2.93613650e-04 9.99814129e-01 2.95813799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.94925415399996 meters Centerline goodness [0,1] 0.9988660918679532 Centerline is valid? [True, True] Translation: X:324.69, Y:4.98, Z:2.96 [[ 9.99431868e-01 -2.76005579e-02 -1.93429478e-02 3.24685206e+02] [ 2.75990638e-02 9.99619014e-01 -3.44235486e-04 4.97801867e+00] [ 1.93450795e-02 -1.89807336e-04 9.99812848e-01 2.95817029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.979254154 meters Centerline goodness [0,1] 0.9990994274931921 Centerline is valid? [True, True] Translation: X:324.71, Y:4.98, Z:2.96 [[ 9.99477328e-01 -2.56558434e-02 -1.96684706e-02 3.24714957e+02] [ 2.56539147e-02 9.99670823e-01 -3.50405728e-04 4.98153502e+00] [ 1.96709862e-02 -1.54350688e-04 9.99806496e-01 2.95918052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.00925415399996 meters Centerline goodness [0,1] 0.9990149471069425 Centerline is valid? [True, True] Translation: X:324.74, Y:4.98, Z:2.96 [[ 9.99509831e-01 -2.44860797e-02 -1.95071841e-02 3.24743123e+02] [ 2.44839424e-02 9.99700163e-01 -3.48424514e-04 4.98369307e+00] [ 1.95098666e-02 -1.29359044e-04 9.99809656e-01 2.95893777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03925415399993 meters Centerline goodness [0,1] 0.9991426060489144 Centerline is valid? [True, True] Translation: X:324.77, Y:4.99, Z:2.96 [[ 9.99522820e-01 -2.38096161e-02 -1.96782870e-02 3.24771401e+02] [ 2.38072890e-02 9.99716504e-01 -3.52547203e-04 4.98524745e+00] [ 1.96811023e-02 -1.16107691e-04 9.99806302e-01 2.95880735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06925415399996 meters Centerline goodness [0,1] 0.9992070125806383 Centerline is valid? [True, True] Translation: X:324.80, Y:4.99, Z:2.96 [[ 9.99520480e-01 -2.40282079e-02 -1.95308687e-02 3.24799892e+02] [ 2.40258969e-02 9.99711274e-01 -3.52994104e-04 4.98730121e+00] [ 1.95337115e-02 -1.16421803e-04 9.99809192e-01 2.95972772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09925415399994 meters Centerline goodness [0,1] 0.9992496033617769 Centerline is valid? [True, True] Translation: X:324.83, Y:4.99, Z:2.96 [[ 9.99505241e-01 -2.43928392e-02 -1.98560245e-02 3.24828213e+02] [ 2.43904214e-02 9.99702443e-01 -3.63966124e-04 4.98791382e+00] [ 1.98589944e-02 -1.20510755e-04 9.99802783e-01 2.95989607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12925415399997 meters Centerline goodness [0,1] 0.9991643633091213 Centerline is valid? [True, True] Translation: X:324.86, Y:4.99, Z:2.96 [[ 9.99472198e-01 -2.53383829e-02 -2.03296037e-02 3.24856504e+02] [ 2.53359376e-02 9.99678922e-01 -3.77874075e-04 4.98864440e+00] [ 2.03326510e-02 -1.37394939e-04 9.99793261e-01 2.96006240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15925415399994 meters Centerline goodness [0,1] 0.9989717884454726 Centerline is valid? [True, True] Translation: X:324.88, Y:4.99, Z:2.96 [[ 9.99469401e-01 -2.56809307e-02 -2.00351473e-02 3.24884962e+02] [ 2.56785232e-02 9.99670181e-01 -3.77457091e-04 4.98929001e+00] [ 2.00382328e-02 -1.37216183e-04 9.99799205e-01 2.96027595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18925415399997 meters Centerline goodness [0,1] 0.9990358244772026 Centerline is valid? [True, True] Translation: X:324.91, Y:4.99, Z:2.96 [[ 9.99468700e-01 -2.56199484e-02 -2.01478601e-02 3.24914583e+02] [ 2.56174452e-02 9.99671746e-01 -3.82366863e-04 4.99067230e+00] [ 2.01510427e-02 -1.33972990e-04 9.99796938e-01 2.96140398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21925415399994 meters Centerline goodness [0,1] 0.9987356691310404 Centerline is valid? [True, True] Translation: X:324.94, Y:4.99, Z:2.96 [[ 9.99484705e-01 -2.44476346e-02 -2.07999347e-02 3.24944224e+02] [ 2.44446969e-02 9.99701106e-01 -3.95514299e-04 4.99145264e+00] [ 2.08033871e-02 -1.13137606e-04 9.99783580e-01 2.96056733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24925415399997 meters Centerline goodness [0,1] 0.9989074082008655 Centerline is valid? [True, True] Translation: X:324.97, Y:4.99, Z:2.96 [[ 9.99495569e-01 -2.43492390e-02 -2.03892567e-02 3.24971818e+02] [ 2.43463684e-02 9.99703508e-01 -3.89042297e-04 4.99247363e+00] [ 2.03926843e-02 -1.07558303e-04 9.99792042e-01 2.96161218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27925415399994 meters Centerline goodness [0,1] 0.998928831569476 Centerline is valid? [True, True] Translation: X:325.00, Y:4.99, Z:2.96 [[ 9.99522283e-01 -2.34389479e-02 -2.01449979e-02 3.25000237e+02] [ 2.34358883e-02 9.99725267e-01 -3.87979152e-04 4.99368946e+00] [ 2.01485573e-02 -8.43221129e-05 9.99796994e-01 2.96247940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.309254154 meters Centerline goodness [0,1] 0.9989934466955069 Centerline is valid? [True, True] Translation: X:325.03, Y:4.99, Z:2.96 [[ 9.99587689e-01 -2.11323893e-02 -1.94389918e-02 3.25029121e+02] [ 2.11290094e-02 9.99776686e-01 -3.79266037e-04 4.99428186e+00] [ 1.94426656e-02 -3.16169788e-05 9.99810973e-01 2.96306474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33925415399995 meters Centerline goodness [0,1] 0.9988003427592117 Centerline is valid? [True, True] Translation: X:325.06, Y:4.99, Z:2.96 [[ 9.99608927e-01 -2.03622111e-02 -1.91669890e-02 3.25058227e+02] [ 2.03586906e-02 9.99792669e-01 -3.78802507e-04 4.99461903e+00] [ 1.91707283e-02 -1.15604306e-05 9.99816225e-01 2.96354016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.369254154 meters Centerline goodness [0,1] 0.9988854356446254 Centerline is valid? [True, True] Translation: X:325.09, Y:4.99, Z:2.96 [[ 9.99649916e-01 -1.91360879e-02 -1.82717330e-02 3.25085694e+02] [ 1.91325956e-02 9.99816888e-01 -3.65934502e-04 4.99437885e+00] [ 1.82753898e-02 1.62207158e-05 9.99832991e-01 2.96403945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39925415399995 meters Centerline goodness [0,1] 0.9988854356446254 Centerline is valid? [True, True] Translation: X:325.11, Y:5.00, Z:2.96 [[ 9.99644377e-01 -1.94233474e-02 -1.82716267e-02 3.25113075e+02] [ 1.94198071e-02 9.99811349e-01 -3.71185847e-04 4.99500481e+00] [ 1.82753894e-02 1.62223787e-05 9.99832991e-01 2.96429692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.429254154 meters Centerline goodness [0,1] 0.9986934264356245 Centerline is valid? [True, True] Translation: X:325.14, Y:4.99, Z:2.96 [[ 9.99613768e-01 -2.06954923e-02 -1.85475684e-02 3.25141323e+02] [ 2.06919634e-02 9.99785825e-01 -3.82171362e-04 4.99228467e+00] [ 1.85515052e-02 -1.76185163e-06 9.99827906e-01 2.96422711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.45925415399995 meters Centerline goodness [0,1] 0.9987371845636865 Centerline is valid? [True, True] Translation: X:325.17, Y:4.99, Z:2.96 [[ 9.99560920e-01 -2.27547981e-02 -1.89785535e-02 3.25169471e+02] [ 2.27514057e-02 9.99741075e-01 -3.94673194e-04 4.99022294e+00] [ 1.89826202e-02 -3.72888683e-05 9.99819813e-01 2.96419975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.489254154 meters Centerline goodness [0,1] 0.9986530114814736 Centerline is valid? [True, True] Translation: X:325.20, Y:4.99, Z:2.96 [[ 9.99490840e-01 -2.55231468e-02 -1.91475899e-02 3.25197960e+02] [ 2.55201389e-02 9.99674228e-01 -4.01459096e-04 4.98734107e+00] [ 1.91515987e-02 -8.73944661e-05 9.99816587e-01 2.96398849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.51925415399995 meters Centerline goodness [0,1] 0.9985269944281964 Centerline is valid? [True, True] Translation: X:325.23, Y:4.98, Z:2.96 [[ 9.99395769e-01 -2.87957081e-02 -1.94654592e-02 3.25227271e+02] [ 2.87931671e-02 9.99585306e-01 -4.10850565e-04 4.98402739e+00] [ 1.94692178e-02 -1.49869903e-04 9.99810446e-01 2.96401159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.549254154 meters Centerline goodness [0,1] 0.9986574892918789 Centerline is valid? [True, True] Translation: X:325.26, Y:4.98, Z:2.96 [[ 9.99121023e-01 -3.68503485e-02 -1.99808321e-02 3.25257318e+02] [ 3.68492661e-02 9.99320746e-01 -4.22468785e-04 4.97598890e+00] [ 1.99828282e-02 -3.14181556e-04 9.99800274e-01 2.96428838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57925415399995 meters Centerline goodness [0,1] 0.9989341973440198 Centerline is valid? [True, True] Translation: X:325.29, Y:4.97, Z:2.96 [[ 9.98947763e-01 -4.11730869e-02 -2.02025818e-02 3.25287486e+02] [ 4.11728608e-02 9.99151947e-01 -4.27308720e-04 4.97129321e+00] [ 2.02030426e-02 -4.04939000e-04 9.99795816e-01 2.96395306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.609254154 meters Centerline goodness [0,1] 0.9988307077407148 Centerline is valid? [True, True] Translation: X:325.32, Y:4.97, Z:2.96 [[ 9.98738399e-01 -4.57499383e-02 -2.07015350e-02 3.25318705e+02] [ 4.57506956e-02 9.98952793e-01 -4.37266384e-04 4.96763168e+00] [ 2.06998611e-02 -5.10394897e-04 9.99785605e-01 2.96436356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63925415399996 meters Centerline goodness [0,1] 0.9985571210320828 Centerline is valid? [True, True] Translation: X:325.35, Y:4.96, Z:2.96 [[ 9.98507183e-01 -5.04250591e-02 -2.09933109e-02 3.25349080e+02] [ 5.04268821e-02 9.98727657e-01 -4.42864771e-04 4.96073035e+00] [ 2.09889317e-02 -6.16423558e-04 9.99779518e-01 2.96310885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.669254154 meters Centerline goodness [0,1] 0.998496113193959 Centerline is valid? [True, True] Translation: X:325.38, Y:4.95, Z:2.96 [[ 9.97946923e-01 -6.01989158e-02 -2.18638982e-02 3.25380116e+02] [ 6.02032384e-02 9.98186034e-01 -4.61057241e-04 4.95485729e+00] [ 2.18519930e-02 -8.56166823e-04 9.99760850e-01 2.96444333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69925415399996 meters Centerline goodness [0,1] 0.9985380116959064 Centerline is valid? [True, True] Translation: X:325.41, Y:4.95, Z:2.96 [[ 9.97644413e-01 -6.49994566e-02 -2.19247850e-02 3.25410865e+02] [ 6.50049651e-02 9.97884834e-01 -4.62112716e-04 4.95135861e+00] [ 2.19084475e-02 -9.64195714e-04 9.99759516e-01 2.96483096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.729254154 meters Centerline goodness [0,1] 0.9984359478367467 Centerline is valid? [True, True] Translation: X:325.44, Y:4.95, Z:2.97 [[ 9.97351121e-01 -6.91943208e-02 -2.24251657e-02 3.25442098e+02] [ 6.92011508e-02 9.97602615e-01 -4.72240758e-04 4.94736565e+00] [ 2.24040804e-02 -1.08085743e-03 9.99748413e-01 2.96522340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75925415399996 meters Centerline goodness [0,1] 0.998223951285521 Centerline is valid? [True, True] Translation: X:325.47, Y:4.94, Z:2.97 [[ 9.96832350e-01 -7.62358288e-02 -2.26575418e-02 3.25473455e+02] [ 7.62446263e-02 9.97089028e-01 -4.76595778e-04 4.94047282e+00] [ 2.26279200e-02 -1.25242972e-03 9.99743171e-01 2.96597418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78925415399993 meters Centerline goodness [0,1] 0.9983327001815036 Centerline is valid? [True, True] Translation: X:325.50, Y:4.94, Z:2.97 [[ 9.96618928e-01 -7.88901547e-02 -2.29576920e-02 3.25504875e+02] [ 7.88999059e-02 9.96882427e-01 -4.82154891e-04 4.93761743e+00] [ 2.29241570e-02 -1.33083505e-03 9.99736321e-01 2.96619842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81925415399996 meters Centerline goodness [0,1] 0.998458321893941 Centerline is valid? [True, True] Translation: X:325.54, Y:4.94, Z:2.97 [[ 9.96464563e-01 -8.06560887e-02 -2.35153227e-02 3.25536811e+02] [ 8.06668360e-02 9.96740999e-01 -4.92739967e-04 4.93661510e+00] [ 2.34784287e-02 -1.40590877e-03 9.99723355e-01 2.96674715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84925415399994 meters Centerline goodness [0,1] 0.9982298274081723 Centerline is valid? [True, True] Translation: X:325.57, Y:4.93, Z:2.97 [[ 9.96287054e-01 -8.28835795e-02 -2.32898775e-02 3.25567504e+02] [ 8.28947455e-02 9.96558189e-01 -4.87253404e-04 4.93418090e+00] [ 2.32501034e-02 -1.44516421e-03 9.99728635e-01 2.96725948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87925415399997 meters Centerline goodness [0,1] 0.9982682519904542 Centerline is valid? [True, True] Translation: X:325.60, Y:4.94, Z:2.97 [[ 9.96266339e-01 -8.30890661e-02 -2.34433322e-02 3.25599973e+02] [ 8.31004651e-02 9.96541055e-01 -4.89242371e-04 4.93658678e+00] [ 2.34028937e-02 -1.46073611e-03 9.99725048e-01 2.96811729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90925415399994 meters Centerline goodness [0,1] 0.9983117020154058 Centerline is valid? [True, True] Translation: X:325.63, Y:4.94, Z:2.97 [[ 9.96257855e-01 -8.31339039e-02 -2.36440526e-02 3.25632265e+02] [ 8.31455531e-02 9.96537292e-01 -4.91673575e-04 4.93583275e+00] [ 2.36030549e-02 -1.47606417e-03 9.99720319e-01 2.96779349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93925415399997 meters Centerline goodness [0,1] 0.9984790231948962 Centerline is valid? [True, True] Translation: X:325.66, Y:4.94, Z:2.97 [[ 9.96237789e-01 -8.31073087e-02 -2.45650809e-02 3.25664575e+02] [ 8.31199208e-02 9.96539422e-01 -5.08985388e-04 4.93646684e+00] [ 2.45223720e-02 -1.53477710e-03 9.99698103e-01 2.96791359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96925415399994 meters Centerline goodness [0,1] 0.9984167862872583 Centerline is valid? [True, True] Translation: X:325.70, Y:4.94, Z:2.97 [[ 9.96264553e-01 -8.23310276e-02 -2.60488372e-02 3.25697264e+02] [ 8.23450055e-02 9.96603738e-01 -5.37444448e-04 4.93895063e+00] [ 2.60046168e-02 -1.60955479e-03 9.99660527e-01 2.96770770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99925415399997 meters Centerline goodness [0,1] 0.9981852711542519 Centerline is valid? [True, True] Translation: X:325.73, Y:4.93, Z:2.97 [[ 9.96289960e-01 -8.16901075e-02 -2.70747437e-02 3.25728932e+02] [ 8.17050242e-02 9.96656400e-01 -5.56725109e-04 4.93498764e+00] [ 2.70296955e-02 -1.65748295e-03 9.99633257e-01 2.96631474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02925415399994 meters Centerline goodness [0,1] 0.9984824533670565 Centerline is valid? [True, True] Translation: X:325.76, Y:4.94, Z:2.97 [[ 9.96313955e-01 -8.14004613e-02 -2.70641436e-02 3.25760890e+02] [ 8.14153078e-02 9.96680109e-01 -5.54732555e-04 4.93620844e+00] [ 2.70194490e-02 -1.65074779e-03 9.99633545e-01 2.96672795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.059254154 meters Centerline goodness [0,1] 0.9986084169688791 Centerline is valid? [True, True] Translation: X:325.79, Y:4.94, Z:2.97 [[ 9.96351566e-01 -8.08508171e-02 -2.73258377e-02 3.25792768e+02] [ 8.08658007e-02 9.96724842e-01 -5.58106071e-04 4.94150449e+00] [ 2.72814646e-02 -1.65365589e-03 9.99626424e-01 2.96817314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.08925415399995 meters Centerline goodness [0,1] 0.998670465337132 Centerline is valid? [True, True] Translation: X:325.82, Y:4.94, Z:2.97 [[ 9.96455426e-01 -7.95744480e-02 -2.72853642e-02 3.25823755e+02] [ 7.95889559e-02 9.96827613e-01 -5.55611822e-04 4.94159635e+00] [ 2.72430169e-02 -1.61797123e-03 9.99627531e-01 2.96792346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.119254154 meters Centerline goodness [0,1] 0.9984408579495175 Centerline is valid? [True, True] Translation: X:325.86, Y:4.95, Z:2.97 [[ 9.96542154e-01 -7.85448587e-02 -2.71005633e-02 3.25856108e+02] [ 7.85588405e-02 9.96909327e-01 -5.50027953e-04 4.94674646e+00] [ 2.70600062e-02 -1.58086279e-03 9.99632561e-01 2.96908620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.14925415399995 meters Centerline goodness [0,1] 0.9987768358007507 Centerline is valid? [True, True] Translation: X:325.89, Y:4.95, Z:2.97 [[ 9.96620359e-01 -7.73123396e-02 -2.77607949e-02 3.25888742e+02] [ 7.73266017e-02 9.97005658e-01 -5.61024079e-04 4.94899971e+00] [ 2.77210437e-02 -1.58751991e-03 9.99614437e-01 2.96945051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.179254154 meters Centerline goodness [0,1] 0.9986690328305236 Centerline is valid? [True, True] Translation: X:325.92, Y:4.95, Z:2.97 [[ 9.96817523e-01 -7.46248519e-02 -2.80349474e-02 3.25919363e+02] [ 7.46383813e-02 9.97210506e-01 -5.65008181e-04 4.95073704e+00] [ 2.79989078e-02 -1.52927304e-03 9.99606784e-01 2.96870352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.20925415399995 meters Centerline goodness [0,1] 0.9985837191113366 Centerline is valid? [True, True] Translation: X:325.95, Y:4.96, Z:2.97 [[ 9.96961510e-01 -7.29485138e-02 -2.73178091e-02 3.25950357e+02] [ 7.29607590e-02 9.97334661e-01 -5.49559465e-04 4.95585584e+00] [ 2.72850874e-02 -1.44523845e-03 9.99626648e-01 2.96996033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.239254154 meters Centerline goodness [0,1] 0.9986739633761313 Centerline is valid? [True, True] Translation: X:325.98, Y:4.96, Z:2.97 [[ 9.97107252e-01 -7.11223176e-02 -2.68094010e-02 3.25981269e+02] [ 7.11334789e-02 9.97466660e-01 -5.38356477e-04 4.95733965e+00] [ 2.67797729e-02 -1.37024681e-03 9.99640418e-01 2.96968906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.26925415399995 meters Centerline goodness [0,1] 0.9988999830766627 Centerline is valid? [True, True] Translation: X:326.01, Y:4.96, Z:2.97 [[ 9.97260049e-01 -6.91116664e-02 -2.63812761e-02 3.26011876e+02] [ 6.91217969e-02 9.97608088e-01 -5.28813956e-04 4.95980220e+00] [ 2.63547216e-02 -1.29615618e-03 9.99651814e-01 2.97019154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.299254154 meters Centerline goodness [0,1] 0.9985603285838291 Centerline is valid? [True, True] Translation: X:326.04, Y:4.97, Z:2.97 [[ 9.97515578e-01 -6.55664040e-02 -2.57627140e-02 3.26042378e+02] [ 6.55749016e-02 9.97847517e-01 -5.15765763e-04 4.96892882e+00] [ 2.57410770e-02 -1.17490305e-03 9.99667953e-01 2.97237203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.32925415399995 meters Centerline goodness [0,1] 0.9987706394794295 Centerline is valid? [True, True] Translation: X:326.07, Y:4.97, Z:2.97 [[ 9.97629269e-01 -6.38927660e-02 -2.55647550e-02 3.26074190e+02] [ 6.39006203e-02 9.97956136e-01 -5.10418694e-04 4.97227704e+00] [ 2.55451162e-02 -1.12439508e-03 9.99673038e-01 2.97303285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.359254154 meters Centerline goodness [0,1] 0.9986655369625079 Centerline is valid? [True, True] Translation: X:326.11, Y:4.98, Z:2.97 [[ 9.97715997e-01 -6.25372017e-02 -2.55320844e-02 3.26106641e+02] [ 6.25446416e-02 9.98042038e-01 -5.07862884e-04 4.97583697e+00] [ 2.55138538e-02 -1.09019214e-03 9.99673874e-01 2.97385232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.38925415399996 meters Centerline goodness [0,1] 0.9986851313808242 Centerline is valid? [True, True] Translation: X:326.14, Y:4.98, Z:2.97 [[ 9.97787206e-01 -6.13557701e-02 -2.56156308e-02 3.26137640e+02] [ 6.13629114e-02 9.98115392e-01 -5.07917191e-04 4.97716053e+00] [ 2.55985190e-02 -1.06505641e-03 9.99671737e-01 2.97332022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.419254154 meters Centerline goodness [0,1] 0.9990256508017199 Centerline is valid? [True, True] Translation: X:326.17, Y:4.98, Z:2.97 [[ 9.97899466e-01 -5.95724729e-02 -2.54514432e-02 3.26169388e+02] [ 5.95789868e-02 9.98223468e-01 -5.02973285e-04 4.97995814e+00] [ 2.54361912e-02 -1.01445442e-03 9.99675933e-01 2.97273523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.44925415399996 meters Centerline goodness [0,1] 0.9989411490650346 Centerline is valid? [True, True] Translation: X:326.20, Y:4.98, Z:2.97 [[ 9.97927027e-01 -5.91561319e-02 -2.53416752e-02 3.26201225e+02] [ 5.91625021e-02 9.98248240e-01 -4.98970173e-04 4.98221922e+00] [ 2.53267998e-02 -1.00134109e-03 9.99678724e-01 2.97324817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47925415399993 meters Centerline goodness [0,1] 0.9989787016745038 Centerline is valid? [True, True] Translation: X:326.23, Y:4.98, Z:2.97 [[ 9.97957100e-01 -5.91486819e-02 -2.41466153e-02 3.26233426e+02] [ 5.91545041e-02 9.98248727e-01 -4.73732261e-04 4.98476566e+00] [ 2.41323486e-02 -9.55616582e-04 9.99708316e-01 2.97336376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.50925415399996 meters Centerline goodness [0,1] 0.9990651227026452 Centerline is valid? [True, True] Translation: X:326.27, Y:4.99, Z:2.97 [[ 9.97974248e-01 -5.91681337e-02 -2.33780277e-02 3.26265962e+02] [ 5.91736353e-02 9.98247601e-01 -4.56979497e-04 4.98726479e+00] [ 2.33640987e-02 -9.27309118e-04 9.99726592e-01 2.97432147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53925415399993 meters Centerline goodness [0,1] 0.9987637743248716 Centerline is valid? [True, True] Translation: X:326.30, Y:4.99, Z:2.98 [[ 9.97976262e-01 -5.94410428e-02 -2.25863501e-02 3.26298476e+02] [ 5.94462846e-02 9.98231409e-01 -4.39867299e-04 4.98951357e+00] [ 2.25725502e-02 -9.03697470e-04 9.99744799e-01 2.97511272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56925415399996 meters Centerline goodness [0,1] 0.9989574024426572 Centerline is valid? [True, True] Translation: X:326.33, Y:4.99, Z:2.98 [[ 9.97981589e-01 -5.96901825e-02 -2.16755665e-02 3.26330151e+02] [ 5.96950976e-02 9.98216569e-01 -4.20788416e-04 4.98978825e+00] [ 2.16620265e-02 -8.73985963e-04 9.99764969e-01 2.97546054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59925415399994 meters Centerline goodness [0,1] 0.9990405935527886 Centerline is valid? [True, True] Translation: X:326.36, Y:4.99, Z:2.98 [[ 9.97984370e-01 -5.98613943e-02 -2.10668222e-02 3.26361690e+02] [ 5.98661142e-02 9.98206333e-01 -4.07115033e-04 4.98880573e+00] [ 2.10534058e-02 -8.54894345e-04 9.99777987e-01 2.97516539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62925415399997 meters Centerline goodness [0,1] 0.9989348557794725 Centerline is valid? [True, True] Translation: X:326.39, Y:4.99, Z:2.98 [[ 9.97932744e-01 -6.09807794e-02 -2.02875130e-02 3.26393834e+02] [ 6.09854242e-02 9.98138580e-01 -3.90231819e-04 4.99110746e+00] [ 2.02735461e-02 -8.47817478e-04 9.99794111e-01 2.97592201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65925415399994 meters Centerline goodness [0,1] 0.998912579957356 Centerline is valid? [True, True] Translation: X:326.43, Y:4.99, Z:2.98 [[ 9.97896874e-01 -6.17347959e-02 -1.97647015e-02 3.26425595e+02] [ 6.17393794e-02 9.98092233e-01 -3.78782114e-04 4.99182139e+00] [ 1.97503790e-02 -8.42274915e-04 9.99804587e-01 2.97600152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68925415399997 meters Centerline goodness [0,1] 0.9991259486654729 Centerline is valid? [True, True] Translation: X:326.46, Y:4.99, Z:2.98 [[ 9.97843865e-01 -6.25399666e-02 -1.99091105e-02 3.26456443e+02] [ 6.25448019e-02 9.98042085e-01 -3.80313204e-04 4.99204115e+00] [ 1.98939149e-02 -8.65718172e-04 9.99801722e-01 2.97586833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71925415399994 meters Centerline goodness [0,1] 0.9992110705985202 Centerline is valid? [True, True] Translation: X:326.49, Y:4.99, Z:2.98 [[ 9.97786131e-01 -6.35328603e-02 -1.96573875e-02 3.26488699e+02] [ 6.35377904e-02 9.97979363e-01 -3.74284966e-04 4.99236986e+00] [ 1.96414465e-02 -8.75530619e-04 9.99806705e-01 2.97599976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74925415399997 meters Centerline goodness [0,1] 0.9991037323147179 Centerline is valid? [True, True] Translation: X:326.52, Y:4.99, Z:2.98 [[ 9.97645322e-01 -6.59178472e-02 -1.89380232e-02 3.26519761e+02] [ 6.59228731e-02 9.97824657e-01 -3.59447716e-04 4.99151132e+00] [ 1.89205205e-02 -8.89847566e-04 9.99820595e-01 2.97533178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77925415399994 meters Centerline goodness [0,1] 0.9988922972051807 Centerline is valid? [True, True] Translation: X:326.55, Y:4.99, Z:2.98 [[ 9.97577882e-01 -6.70670284e-02 -1.84494710e-02 3.26552318e+02] [ 6.70720148e-02 9.97748076e-01 -3.49063357e-04 4.99125255e+00] [ 1.84313349e-02 -8.89225310e-04 9.99829733e-01 2.97517562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.809254154 meters Centerline goodness [0,1] 0.9990376801676575 Centerline is valid? [True, True] Translation: X:326.58, Y:4.99, Z:2.98 [[ 9.97436213e-01 -6.92867847e-02 -1.78981090e-02 3.26584593e+02] [ 6.92918562e-02 9.97596374e-01 -3.37382816e-04 4.99414272e+00] [ 1.78784648e-02 -9.03675354e-04 9.99839759e-01 2.97536498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83925415399995 meters Centerline goodness [0,1] 0.9990376801676575 Centerline is valid? [True, True] Translation: X:326.62, Y:4.99, Z:2.98 [[ 9.97443770e-01 -6.91778995e-02 -1.78981392e-02 3.26617170e+02] [ 6.91829823e-02 9.97603931e-01 -3.35774448e-04 4.99466172e+00] [ 1.78784822e-02 -9.03330513e-04 9.99839759e-01 2.97567000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.869254154 meters Centerline goodness [0,1] 0.999146466370775 Centerline is valid? [True, True] Translation: X:326.65, Y:5.00, Z:2.98 [[ 9.97395375e-01 -6.99240831e-02 -1.76942813e-02 3.26649530e+02] [ 6.99291966e-02 9.97551903e-01 -3.30323934e-04 4.99693481e+00] [ 1.76740615e-02 -9.07883308e-04 9.99843389e-01 2.97601518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89925415399995 meters Centerline goodness [0,1] 0.9989750379022443 Centerline is valid? [True, True] Translation: X:326.68, Y:5.00, Z:2.98 [[ 9.97352230e-01 -7.05028535e-02 -1.78291086e-02 3.26681431e+02] [ 7.05081610e-02 9.97511147e-01 -3.31519814e-04 4.99805151e+00] [ 1.78081077e-02 -9.26455637e-04 9.99840994e-01 2.97570988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.929254154 meters Centerline goodness [0,1] 0.9989522526567879 Centerline is valid? [True, True] Translation: X:326.71, Y:4.99, Z:2.97 [[ 9.97342142e-01 -7.05331207e-02 -1.82682727e-02 3.26712454e+02] [ 7.05387198e-02 9.97508985e-01 -3.38490229e-04 4.99418572e+00] [ 1.82466410e-02 -9.51030002e-04 9.99833064e-01 2.97477229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.95925415399995 meters Centerline goodness [0,1] 0.999272042135914 Centerline is valid? [True, True] Translation: X:326.74, Y:5.00, Z:2.97 [[ 9.97462348e-01 -6.87837558e-02 -1.83755159e-02 3.26743743e+02] [ 6.87891401e-02 9.97631164e-01 -3.39645895e-04 4.99713322e+00] [ 1.83553494e-02 -9.25251946e-04 9.99831098e-01 2.97389381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.989254154 meters Centerline goodness [0,1] 0.9991229383703767 Centerline is valid? [True, True] Translation: X:326.78, Y:5.01, Z:2.98 [[ 9.97549843e-01 -6.74937810e-02 -1.84092402e-02 3.26776323e+02] [ 6.74989940e-02 9.97719285e-01 -3.38747093e-04 5.00543892e+00] [ 1.83901173e-02 -9.04688087e-04 9.99830478e-01 2.97502739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.01925415399995 meters Centerline goodness [0,1] 0.9991872179325391 Centerline is valid? [True, True] Translation: X:326.81, Y:5.01, Z:2.97 [[ 9.97683090e-01 -6.56231932e-02 -1.79456807e-02 3.26806610e+02] [ 6.56278694e-02 9.97844113e-01 -3.28854723e-04 5.00638843e+00] [ 1.79285724e-02 -8.49643996e-04 9.99838909e-01 2.97494858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.049254154 meters Centerline goodness [0,1] 0.9991032156125892 Centerline is valid? [True, True] Translation: X:326.84, Y:5.01, Z:2.98 [[ 9.97859028e-01 -6.29486895e-02 -1.77432722e-02 3.26838476e+02] [ 6.29528500e-02 9.98016449e-01 -3.24514481e-04 5.01044772e+00] [ 1.77285053e-02 -7.93169849e-04 9.99842523e-01 2.97583882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07925415399995 meters Centerline goodness [0,1] 0.9990545970219806 Centerline is valid? [True, True] Translation: X:326.87, Y:5.02, Z:2.98 [[ 9.98197943e-01 -5.77471241e-02 -1.63137124e-02 3.26868516e+02] [ 5.77499551e-02 9.98331034e-01 -2.97894268e-04 5.01583373e+00] [ 1.63036879e-02 -6.44758714e-04 9.99866878e-01 2.97721342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.109254154 meters Centerline goodness [0,1] 0.9990985963858008 Centerline is valid? [True, True] Translation: X:326.90, Y:5.02, Z:2.98 [[ 9.98419968e-01 -5.40855773e-02 -1.52419523e-02 3.26899421e+02] [ 5.40876256e-02 9.98536154e-01 -2.78112316e-04 5.01900795e+00] [ 1.52346823e-02 -5.46728119e-04 9.99883796e-01 2.97781182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13925415399996 meters Centerline goodness [0,1] 0.9993119463318139 Centerline is valid? [True, True] Translation: X:326.93, Y:5.02, Z:2.98 [[ 9.98585769e-01 -5.12126384e-02 -1.42733202e-02 3.26929389e+02] [ 5.12141471e-02 9.98687661e-01 -2.60035092e-04 5.02166542e+00] [ 1.42679058e-02 -4.71328576e-04 9.99898097e-01 2.97848362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.169254154 meters Centerline goodness [0,1] 0.9992893291698073 Centerline is valid? [True, True] Translation: X:326.96, Y:5.03, Z:2.98 [[ 9.98876382e-01 -4.52481507e-02 -1.40918152e-02 3.26960435e+02] [ 4.52490316e-02 9.98975705e-01 -2.56476882e-04 5.03064234e+00] [ 1.40889861e-02 -3.81452291e-04 9.99900673e-01 2.97883671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19925415399996 meters Centerline goodness [0,1] 0.9996330196010708 Centerline is valid? [True, True] Translation: X:326.99, Y:5.03, Z:2.98 [[ 9.98980830e-01 -4.27151212e-02 -1.45849385e-02 3.26992711e+02] [ 4.27158033e-02 9.99087228e-01 -2.64895789e-04 5.03335994e+00] [ 1.45829408e-02 -3.58381546e-04 9.99893599e-01 2.97862548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22925415399993 meters Centerline goodness [0,1] 0.9994808902731815 Centerline is valid? [True, True] Translation: X:327.03, Y:5.04, Z:2.98 [[ 9.99067696e-01 -4.05815549e-02 -1.47267439e-02 3.27025086e+02] [ 4.05820344e-02 9.99176174e-01 -2.66394229e-04 5.03581774e+00] [ 1.47254223e-02 -3.31495360e-04 9.99891520e-01 2.97813309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25925415399996 meters Centerline goodness [0,1] 0.9992850023833254 Centerline is valid? [True, True] Translation: X:327.06, Y:5.04, Z:2.98 [[ 9.99121971e-01 -3.89253559e-02 -1.54953036e-02 3.27056054e+02] [ 3.89257040e-02 9.99242069e-01 -2.79248994e-04 5.03756087e+00] [ 1.54944291e-02 -3.24161795e-04 9.99879902e-01 2.97749396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28925415399993 meters Centerline goodness [0,1] 0.9995233349222169 Centerline is valid? [True, True] Translation: X:327.09, Y:5.04, Z:2.98 [[ 9.99163792e-01 -3.72664718e-02 -1.68204344e-02 3.27087354e+02] [ 3.72666631e-02 9.99305311e-01 -3.02179958e-04 5.03965572e+00] [ 1.68200106e-02 -3.24914189e-04 9.99858481e-01 2.97565551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31925415399996 meters Centerline goodness [0,1] 0.9991535356166168 Centerline is valid? [True, True] Translation: X:327.12, Y:5.04, Z:2.98 [[ 9.99169007e-01 -3.68983385e-02 -1.73149739e-02 3.27119665e+02] [ 3.68985047e-02 9.99318970e-01 -3.09984191e-04 5.04072990e+00] [ 1.73146197e-02 -3.29170047e-04 9.99850037e-01 2.97509622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34925415399994 meters Centerline goodness [0,1] 0.9994354698627758 Centerline is valid? [True, True] Translation: X:327.15, Y:5.04, Z:2.97 [[ 9.99172803e-01 -3.65405089e-02 -1.78465770e-02 3.27150940e+02] [ 3.65406585e-02 9.99332117e-01 -3.17816597e-04 5.04102611e+00] [ 1.78462708e-02 -3.34571977e-04 9.99840687e-01 2.97468206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37925415399997 meters Centerline goodness [0,1] 0.9992605802270453 Centerline is valid? [True, True] Translation: X:327.18, Y:5.04, Z:2.97 [[ 9.99170035e-01 -3.64580207e-02 -1.81673821e-02 3.27182763e+02] [ 3.64581937e-02 9.99335127e-01 -3.21790328e-04 5.04200881e+00] [ 1.81670349e-02 -3.40826680e-04 9.99834908e-01 2.97472776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40925415399994 meters Centerline goodness [0,1] 0.9993472584856397 Centerline is valid? [True, True] Translation: X:327.22, Y:5.04, Z:2.98 [[ 9.99172596e-01 -3.63938576e-02 -1.81551744e-02 3.27215323e+02] [ 3.63940432e-02 9.99337466e-01 -3.20283129e-04 5.04498326e+00] [ 1.81548023e-02 -3.40722074e-04 9.99835130e-01 2.97548155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43925415399997 meters Centerline goodness [0,1] 0.9993245451574245 Centerline is valid? [True, True] Translation: X:327.25, Y:5.05, Z:2.98 [[ 9.99184984e-01 -3.62247374e-02 -1.78082981e-02 3.27247957e+02] [ 3.62249122e-02 9.99343614e-01 -3.12868517e-04 5.04727609e+00] [ 1.78079426e-02 -3.32490511e-04 9.99841371e-01 2.97634907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46925415399994 meters Centerline goodness [0,1] 0.9992164203469517 Centerline is valid? [True, True] Translation: X:327.28, Y:5.05, Z:2.98 [[ 9.99184860e-01 -3.63462182e-02 -1.75661114e-02 3.27279431e+02] [ 3.63464272e-02 9.99339203e-01 -3.07469174e-04 5.04820199e+00] [ 1.75656791e-02 -3.31246844e-04 9.99845657e-01 2.97647308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49925415399997 meters Centerline goodness [0,1] 0.9994341798872712 Centerline is valid? [True, True] Translation: X:327.31, Y:5.05, Z:2.98 [[ 9.99181705e-01 -3.67685130e-02 -1.68522057e-02 3.27311351e+02] [ 3.67687830e-02 9.99323756e-01 -2.93923123e-04 5.04887613e+00] [ 1.68516166e-02 -3.25952485e-04 9.99857948e-01 2.97684623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52925415399994 meters Centerline goodness [0,1] 0.9992817499183807 Centerline is valid? [True, True] Translation: X:327.34, Y:5.05, Z:2.98 [[ 9.99142043e-01 -3.79833505e-02 -1.65058274e-02 3.27342153e+02] [ 3.79837928e-02 9.99278314e-01 -2.86813716e-04 5.04874280e+00] [ 1.65048095e-02 -3.40386285e-04 9.99863728e-01 2.97725892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.559254154 meters Centerline goodness [0,1] 0.9993264676487202 Centerline is valid? [True, True] Translation: X:327.37, Y:5.05, Z:2.98 [[ 9.99112704e-01 -3.89582113e-02 -1.60019571e-02 3.27374020e+02] [ 3.89587677e-02 9.99240781e-01 -2.77074562e-04 5.04861124e+00] [ 1.60006024e-02 -3.46587815e-04 9.99871922e-01 2.97709575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.58925415399995 meters Centerline goodness [0,1] 0.9995872615892601 Centerline is valid? [True, True] Translation: X:327.40, Y:5.05, Z:2.98 [[ 9.98902502e-01 -4.43237341e-02 -1.51392981e-02 3.27404061e+02] [ 4.43248576e-02 9.99017136e-01 -2.61490274e-04 5.04542810e+00] [ 1.51360084e-02 -4.09843940e-04 9.99885360e-01 2.97800169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.619254154 meters Centerline goodness [0,1] 0.9995007163634785 Centerline is valid? [True, True] Translation: X:327.44, Y:5.05, Z:2.98 [[ 9.98760119e-01 -4.76295710e-02 -1.44792677e-02 3.27436222e+02] [ 4.76309511e-02 9.98864971e-01 -2.49709603e-04 5.04600598e+00] [ 1.44747269e-02 -4.40261300e-04 9.99895139e-01 2.97879882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.64925415399995 meters Centerline goodness [0,1] 0.9992405337962461 Centerline is valid? [True, True] Translation: X:327.47, Y:5.04, Z:2.98 [[ 9.98579949e-01 -5.13087982e-02 -1.43350288e-02 3.27466979e+02] [ 5.13105487e-02 9.98682716e-01 -2.45895282e-04 5.04346753e+00] [ 1.43287620e-02 -4.89992093e-04 9.99897218e-01 2.97915026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.679254154 meters Centerline goodness [0,1] 0.9993287282648708 Centerline is valid? [True, True] Translation: X:327.50, Y:5.04, Z:2.98 [[ 9.98099251e-01 -5.98808653e-02 -1.45659895e-02 3.27496405e+02] [ 5.98836002e-02 9.98205336e-01 -2.48715930e-04 5.03544916e+00] [ 1.45547418e-02 -6.24020712e-04 9.99893879e-01 2.97875409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.70925415399995 meters Centerline goodness [0,1] 0.9993286555786556 Centerline is valid? [True, True] Translation: X:327.53, Y:5.03, Z:2.98 [[ 9.97842747e-01 -6.38695006e-02 -1.51835368e-02 3.27527735e+02] [ 6.38729340e-02 9.97958006e-01 -2.59201928e-04 5.03359218e+00] [ 1.51690872e-02 -7.11174278e-04 9.99884690e-01 2.97896870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.739254154 meters Centerline goodness [0,1] 0.9992427520553873 Centerline is valid? [True, True] Translation: X:327.56, Y:5.03, Z:2.98 [[ 9.97578159e-01 -6.78069623e-02 -1.54930159e-02 3.27557931e+02] [ 6.78110222e-02 9.97698149e-01 -2.63734275e-04 5.02993890e+00] [ 1.54752363e-02 -7.87501692e-04 9.99879941e-01 2.97872229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.76925415399995 meters Centerline goodness [0,1] 0.999374163753291 Centerline is valid? [True, True] Translation: X:327.59, Y:5.03, Z:2.98 [[ 9.97169321e-01 -7.33763984e-02 -1.64088141e-02 3.27588395e+02] [ 7.33817154e-02 9.97303889e-01 -2.78639883e-04 5.02857584e+00] [ 1.63850197e-02 -9.26255785e-04 9.99865328e-01 2.97845468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.799254154 meters Centerline goodness [0,1] 0.9993957443135224 Centerline is valid? [True, True] Translation: X:327.62, Y:5.03, Z:2.98 [[ 9.97106555e-01 -7.40192710e-02 -1.73108332e-02 3.27620390e+02] [ 7.40252957e-02 9.97256321e-01 -2.93357011e-04 5.02760294e+00] [ 1.72850519e-02 -9.88931351e-04 9.99850113e-01 2.97799780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.82925415399995 meters Centerline goodness [0,1] 0.9993530160236365 Centerline is valid? [True, True] Translation: X:327.65, Y:5.03, Z:2.98 [[ 9.97095287e-01 -7.41044532e-02 -1.75931604e-02 3.27652399e+02] [ 7.41107119e-02 9.97249976e-01 -2.96855877e-04 5.02708452e+00] [ 1.75667771e-02 -1.00784804e-03 9.99845184e-01 2.97813861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.859254154 meters Centerline goodness [0,1] 0.9993734471210975 Centerline is valid? [True, True] Translation: X:327.68, Y:5.03, Z:2.98 [[ 9.97252932e-01 -7.19458035e-02 -1.76178978e-02 3.27683582e+02] [ 7.19517613e-02 9.97408069e-01 -2.96289420e-04 5.03074549e+00] [ 1.75935502e-02 -9.72163285e-04 9.99844749e-01 2.97858752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.88925415399996 meters Centerline goodness [0,1] 0.999286116038593 Centerline is valid? [True, True] Translation: X:327.72, Y:5.03, Z:2.98 [[ 9.97311836e-01 -7.11358017e-02 -1.75726909e-02 3.27716214e+02] [ 7.11416229e-02 9.97466181e-01 -2.94431805e-04 5.03197615e+00] [ 1.75491095e-02 -9.56509427e-04 9.99845545e-01 2.97962644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.919254154 meters Centerline goodness [0,1] 0.999307898607146 Centerline is valid? [True, True] Translation: X:327.75, Y:5.03, Z:2.98 [[ 9.97439417e-01 -6.93675468e-02 -1.73997981e-02 3.27748049e+02] [ 6.93730080e-02 9.97590749e-01 -2.90245763e-04 5.03353535e+00] [ 1.73780113e-02 -9.17573771e-04 9.99848570e-01 2.98042090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.94925415399996 meters Centerline goodness [0,1] 0.9994584759346705 Centerline is valid? [True, True] Translation: X:327.78, Y:5.03, Z:2.98 [[ 9.97576357e-01 -6.73253098e-02 -1.75702560e-02 3.27778562e+02] [ 6.73305873e-02 9.97730679e-01 -2.91688077e-04 5.03472215e+00] [ 1.75500214e-02 -8.92034524e-04 9.99845589e-01 2.98109401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97925415399993 meters Centerline goodness [0,1] 0.9993938606745465 Centerline is valid? [True, True] Translation: X:327.81, Y:5.04, Z:2.98 [[ 9.97925418e-01 -6.21756556e-02 -1.67047339e-02 3.27808805e+02] [ 6.21797231e-02 9.98064931e-01 -2.76284786e-04 5.03984932e+00] [ 1.66895873e-02 -7.62984117e-04 9.99860428e-01 2.98231989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.00925415399996 meters Centerline goodness [0,1] 0.9993722536095417 Centerline is valid? [True, True] Translation: X:327.84, Y:5.04, Z:2.98 [[ 9.98135028e-01 -5.88526605e-02 -1.62120655e-02 3.27840459e+02] [ 5.88560614e-02 9.98266444e-01 -2.67676468e-04 5.04231500e+00] [ 1.61997145e-02 -6.87001065e-04 9.99868540e-01 2.98247370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03925415399993 meters Centerline goodness [0,1] 0.9993295122742512 Centerline is valid? [True, True] Translation: X:327.87, Y:5.05, Z:2.98 [[ 9.98316755e-01 -5.56423397e-02 -1.63580692e-02 3.27871844e+02] [ 5.56453842e-02 9.98450559e-01 -2.69332864e-04 5.04577599e+00] [ 1.63477097e-02 -6.41371535e-04 9.99866162e-01 2.98331153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06925415399996 meters Centerline goodness [0,1] 0.9995236342377065 Centerline is valid? [True, True] Translation: X:327.90, Y:5.05, Z:2.98 [[ 9.98703572e-01 -4.82108793e-02 -1.63366458e-02 3.27901731e+02] [ 4.82129264e-02 9.98837045e-01 -2.68742750e-04 5.05268106e+00] [ 1.63306034e-02 -5.19243158e-04 9.99866512e-01 2.98371026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09925415399994 meters Centerline goodness [0,1] 0.999392136856045 Centerline is valid? [True, True] Translation: X:327.93, Y:5.06, Z:2.98 [[ 9.98867085e-01 -4.45474986e-02 -1.67352226e-02 3.27932720e+02] [ 4.45491352e-02 9.99007157e-01 -2.75174677e-04 5.05682970e+00] [ 1.67308655e-02 -4.70676768e-04 9.99859918e-01 2.98413031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12925415399997 meters Centerline goodness [0,1] 0.9996100604406317 Centerline is valid? [True, True] Translation: X:327.96, Y:5.06, Z:2.99 [[ 9.99018728e-01 -4.09599402e-02 -1.68482922e-02 3.27963709e+02] [ 4.09610993e-02 9.99160704e-01 -2.76429032e-04 5.06330671e+00] [ 1.68454740e-02 -4.13966788e-04 9.99858019e-01 2.98537789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15925415399994 meters Centerline goodness [0,1] 0.9995213645461666 Centerline is valid? [True, True] Translation: X:328.00, Y:5.07, Z:2.99 [[ 9.99150199e-01 -3.74556612e-02 -1.72032796e-02 3.27995921e+02] [ 3.74563665e-02 9.99298224e-01 -2.81321493e-04 5.06705363e+00] [ 1.72017439e-02 -3.63289921e-04 9.99851973e-01 2.98588271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18925415399997 meters Centerline goodness [0,1] 0.9994554088790136 Centerline is valid? [True, True] Translation: X:328.03, Y:5.07, Z:2.99 [[ 9.99364999e-01 -3.07956697e-02 -1.79227743e-02 3.28026218e+02] [ 3.07953803e-02 9.99525667e-01 -2.92206458e-04 5.07222316e+00] [ 1.79232716e-02 -2.59917744e-04 9.99839331e-01 2.98517211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21925415399994 meters Centerline goodness [0,1] 0.9995433690665159 Centerline is valid? [True, True] Translation: X:328.06, Y:5.08, Z:2.99 [[ 9.99452044e-01 -2.72962742e-02 -1.87223074e-02 3.28057487e+02] [ 2.72953543e-02 9.99627366e-01 -3.04716860e-04 5.07541804e+00] [ 1.87236485e-02 -2.06482125e-04 9.99824676e-01 2.98520543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24925415399997 meters Centerline goodness [0,1] 0.999410480349345 Centerline is valid? [True, True] Translation: X:328.09, Y:5.08, Z:2.99 [[ 9.99527759e-01 -2.37447321e-02 -1.95050674e-02 3.28088201e+02] [ 2.37430775e-02 9.99718043e-01 -3.16435446e-04 5.07836063e+00] [ 1.95070815e-02 -1.46824316e-04 9.99809708e-01 2.98500262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27925415399994 meters Centerline goodness [0,1] 0.9995851709532335 Centerline is valid? [True, True] Translation: X:328.12, Y:5.08, Z:2.99 [[ 9.99594278e-01 -2.01338000e-02 -2.01471796e-02 3.28117799e+02] [ 2.01313060e-02 9.99797291e-01 -3.26618728e-04 5.08194576e+00] [ 2.01496717e-02 -7.91028245e-05 9.99796972e-01 2.98580862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.309254154 meters Centerline goodness [0,1] 0.9996276991809382 Centerline is valid? [True, True] Translation: X:328.15, Y:5.09, Z:2.99 [[ 9.99710232e-01 -1.25813072e-02 -2.05222533e-02 3.28145484e+02] [ 1.25770999e-02 9.99920849e-01 -3.34076199e-04 5.08820223e+00] [ 2.05248321e-02 7.58689648e-05 9.99789341e-01 2.98646897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33925415399995 meters Centerline goodness [0,1] 0.9996713769306605 Centerline is valid? [True, True] Translation: X:328.17, Y:5.09, Z:2.99 [[ 9.99746572e-01 -9.27965067e-03 -2.05104613e-02 3.28173710e+02] [ 9.27471502e-03 9.99956933e-01 -3.35753639e-04 5.09124806e+00] [ 2.05126936e-02 1.45439867e-04 9.99789582e-01 2.98707229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.369254154 meters Centerline goodness [0,1] 0.9996288614780046 Centerline is valid? [True, True] Translation: X:328.20, Y:5.10, Z:2.99 [[ 9.99800911e-01 -3.48045777e-03 -1.96475365e-02 3.28200902e+02] [ 3.47477139e-03 9.99993911e-01 -3.23550524e-04 5.09531984e+00] [ 1.96485430e-02 2.55215411e-04 9.99806916e-01 2.98800879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39925415399995 meters Centerline goodness [0,1] 0.99965079988651 Centerline is valid? [True, True] Translation: X:328.23, Y:5.10, Z:2.99 [[ 9.99810233e-01 -1.63356165e-03 -1.94120859e-02 3.28229822e+02] [ 1.62759378e-03 9.99998623e-01 -3.23225672e-04 5.09604801e+00] [ 1.94125871e-02 2.91569344e-04 9.99811515e-01 2.98890579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.429254154 meters Centerline goodness [0,1] 0.9996949957517265 Centerline is valid? [True, True] Translation: X:328.26, Y:5.10, Z:2.99 [[ 9.99819757e-01 1.00873157e-04 -1.89853715e-02 3.28257161e+02] [-1.06954752e-04 9.99999943e-01 -3.19315442e-04 5.09723342e+00] [ 1.89853382e-02 3.21288463e-04 9.99819711e-01 2.98873595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.45925415399995 meters Centerline goodness [0,1] 0.9997385677871942 Centerline is valid? [True, True] Translation: X:328.29, Y:5.10, Z:2.99 [[ 9.99830423e-01 1.86957987e-04 -1.84144064e-02 3.28285493e+02] [-1.92727110e-04 9.99999933e-01 -3.11519901e-04 5.09646482e+00] [ 1.84143469e-02 3.15016030e-04 9.99830392e-01 2.98984200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.489254154 meters Centerline goodness [0,1] 0.9995649241880398 Centerline is valid? [True, True] Translation: X:328.31, Y:5.10, Z:2.99 [[ 9.99848698e-01 -8.10043899e-04 -1.73759803e-02 3.28313650e+02] [ 8.05028310e-04 9.99999632e-01 -2.95643420e-04 5.09549651e+00] [ 1.73762134e-02 2.81610533e-04 9.99848983e-01 2.98972662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.51925415399995 meters Centerline goodness [0,1] 0.9996087977049465 Centerline is valid? [True, True] Translation: X:328.34, Y:5.09, Z:2.99 [[ 9.99851961e-01 -1.91717006e-03 -1.70991495e-02 3.28342652e+02] [ 1.91245134e-03 9.99998129e-01 -2.92309723e-04 5.09365346e+00] [ 1.70996779e-02 2.59565159e-04 9.99853756e-01 2.99042346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.549254154 meters Centerline goodness [0,1] 0.9996961343954159 Centerline is valid? [True, True] Translation: X:328.37, Y:5.09, Z:2.99 [[ 9.99852170e-01 -3.26265822e-03 -1.68817464e-02 3.28370417e+02] [ 3.25822846e-03 9.99994650e-01 -2.89897201e-04 5.09204649e+00] [ 1.68826019e-02 2.34849759e-04 9.99857451e-01 2.99058193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57925415399995 meters Centerline goodness [0,1] 0.9995656045698399 Centerline is valid? [True, True] Translation: X:328.40, Y:5.09, Z:2.99 [[ 9.99848721e-01 -4.78034329e-03 -1.67237527e-02 3.28399762e+02] [ 4.77618826e-03 9.99988552e-01 -2.88382998e-04 5.08903380e+00] [ 1.67249399e-02 2.08463580e-04 9.99860107e-01 2.99137127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.609254154 meters Centerline goodness [0,1] 0.9995005971121486 Centerline is valid? [True, True] Translation: X:328.43, Y:5.08, Z:2.99 [[ 9.99826722e-01 -8.62815618e-03 -1.64948488e-02 3.28427778e+02] [ 8.62461923e-03 9.99962767e-01 -2.85552853e-04 5.08327309e+00] [ 1.64966984e-02 1.43241583e-04 9.99863910e-01 2.99161788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63925415399996 meters Centerline goodness [0,1] 0.9994581238078724 Centerline is valid? [True, True] Translation: X:328.46, Y:5.08, Z:2.99 [[ 9.99802580e-01 -1.10683335e-02 -1.65012912e-02 3.28456170e+02] [ 1.10650836e-02 9.99938739e-01 -2.88240881e-04 5.08003971e+00] [ 1.65034707e-02 1.05595810e-04 9.99863803e-01 2.99212890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.669254154 meters Centerline goodness [0,1] 0.9995465635998532 Centerline is valid? [True, True] Translation: X:328.49, Y:5.07, Z:2.99 [[ 9.99748541e-01 -1.55275539e-02 -1.61786995e-02 3.28485226e+02] [ 1.55249691e-02 9.99879440e-01 -2.85357791e-04 5.07162123e+00] [ 1.61811799e-02 3.41122253e-05 9.99869076e-01 2.99307644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69925415399996 meters Centerline goodness [0,1] 0.9992670044195322 Centerline is valid? [True, True] Translation: X:328.51, Y:5.07, Z:2.99 [[ 9.99712173e-01 -1.79878650e-02 -1.58747365e-02 3.28513548e+02] [ 1.79856666e-02 9.99838205e-01 -2.81251797e-04 5.06752929e+00] [ 1.58772271e-02 -4.34687217e-06 9.99873949e-01 2.99311028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72925415399993 meters Centerline goodness [0,1] 0.9992670044195322 Centerline is valid? [True, True] Translation: X:328.54, Y:5.07, Z:2.99 [[ 9.99707616e-01 -1.82394039e-02 -1.58746921e-02 3.28541774e+02] [ 1.82371978e-02 9.99833648e-01 -2.83733580e-04 5.06807297e+00] [ 1.58772265e-02 -5.85928022e-06 9.99873949e-01 2.99337504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75925415399996 meters Centerline goodness [0,1] 0.9991825144135617 Centerline is valid? [True, True] Translation: X:328.57, Y:5.06, Z:2.99 [[ 9.99667796e-01 -2.04497939e-02 -1.56877054e-02 3.28570982e+02] [ 2.04478503e-02 9.99790880e-01 -2.84302915e-04 5.06363333e+00] [ 1.56902387e-02 -3.65713814e-05 9.99876900e-01 2.99335117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78925415399993 meters Centerline goodness [0,1] 0.9992275506919859 Centerline is valid? [True, True] Translation: X:328.60, Y:5.05, Z:2.99 [[ 9.99572919e-01 -2.49163242e-02 -1.52694282e-02 3.28599549e+02] [ 2.49149642e-02 9.99689535e-01 -2.79318168e-04 5.05371323e+00] [ 1.52716471e-02 -1.01238379e-04 9.99883376e-01 2.99241304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81925415399996 meters Centerline goodness [0,1] 0.9991448788934733 Centerline is valid? [True, True] Translation: X:328.63, Y:5.05, Z:2.99 [[ 9.99533677e-01 -2.63997512e-02 -1.53454220e-02 3.28629837e+02] [ 2.63985448e-02 9.99651458e-01 -2.81209296e-04 5.05030290e+00] [ 1.53474973e-02 -1.24018649e-04 9.99882213e-01 2.99287767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84925415399994 meters Centerline goodness [0,1] 0.9989531256676495 Centerline is valid? [True, True] Translation: X:328.66, Y:5.05, Z:2.99 [[ 9.99477275e-01 -2.85019162e-02 -1.52583391e-02 3.28661477e+02] [ 2.85009716e-02 9.99593726e-01 -2.79397279e-04 5.04649188e+00] [ 1.52601034e-02 -1.55626259e-04 9.99883546e-01 2.99289633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87925415399997 meters Centerline goodness [0,1] 0.9987001640776492 Centerline is valid? [True, True] Translation: X:328.69, Y:5.04, Z:2.99 [[ 9.99360001e-01 -3.19119098e-02 -1.61622774e-02 3.28693293e+02] [ 3.19113141e-02 9.99490661e-01 -2.94818077e-04 5.03804006e+00] [ 1.61634536e-02 -2.21130118e-04 9.99869338e-01 2.99178019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90925415399994 meters Centerline goodness [0,1] 0.9989142467853189 Centerline is valid? [True, True] Translation: X:328.72, Y:5.03, Z:2.99 [[ 9.99283841e-01 -3.43370520e-02 -1.58988275e-02 3.28724569e+02] [ 3.43368028e-02 9.99410276e-01 -2.88733788e-04 5.03402692e+00] [ 1.58993659e-02 -2.57387897e-04 9.99873564e-01 2.99156456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93925415399997 meters Centerline goodness [0,1] 0.9988110150958619 Centerline is valid? [True, True] Translation: X:328.76, Y:5.03, Z:2.99 [[ 9.99194657e-01 -3.65620985e-02 -1.65302961e-02 3.28755789e+02] [ 3.65621436e-02 9.99331336e-01 -2.99586995e-04 5.02964023e+00] [ 1.65301964e-02 -3.05037335e-04 9.99863320e-01 2.99085699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96925415399994 meters Centerline goodness [0,1] 0.9988120492151039 Centerline is valid? [True, True] Translation: X:328.79, Y:5.03, Z:2.99 [[ 9.99092046e-01 -3.90287100e-02 -1.70834462e-02 3.28787045e+02] [ 3.90291293e-02 9.99238026e-01 -3.08983644e-04 5.02531854e+00] [ 1.70824883e-02 -3.58048931e-04 9.99854020e-01 2.99061806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99925415399997 meters Centerline goodness [0,1] 0.9988998434392586 Centerline is valid? [True, True] Translation: X:328.82, Y:5.02, Z:2.99 [[ 9.98861770e-01 -4.41961075e-02 -1.79406961e-02 3.28818395e+02] [ 4.41974148e-02 9.99022764e-01 -3.23818202e-04 5.01752368e+00] [ 1.79374753e-02 -4.69482767e-04 9.99839000e-01 2.99033435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02925415399994 meters Centerline goodness [0,1] 0.9986479634950144 Centerline is valid? [True, True] Translation: X:328.85, Y:5.01, Z:2.99 [[ 9.98729059e-01 -4.67462496e-02 -1.88429077e-02 3.28850075e+02] [ 4.67481693e-02 9.98906649e-01 -3.38825873e-04 5.01187808e+00] [ 1.88381446e-02 -5.42476192e-04 9.99822399e-01 2.98921882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.059254154 meters Centerline goodness [0,1] 0.9988611439176649 Centerline is valid? [True, True] Translation: X:328.88, Y:5.01, Z:2.99 [[ 9.98567544e-01 -5.02511914e-02 -1.83760153e-02 3.28881420e+02] [ 5.02536321e-02 9.98736434e-01 -3.29217436e-04 5.00925982e+00] [ 1.83693395e-02 -5.94715664e-04 9.99831093e-01 2.99024600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.08925415399995 meters Centerline goodness [0,1] 0.9989034162800506 Centerline is valid? [True, True] Translation: X:328.91, Y:5.00, Z:2.99 [[ 9.98195425e-01 -5.70778132e-02 -1.86552098e-02 3.28912139e+02] [ 5.70815262e-02 9.98369465e-01 -3.33818516e-04 5.00138192e+00] [ 1.86438455e-02 -7.31651733e-04 9.99825921e-01 2.99015957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.119254154 meters Centerline goodness [0,1] 0.9987327067272151 Centerline is valid? [True, True] Translation: X:328.94, Y:5.00, Z:2.99 [[ 9.98005994e-01 -6.01002083e-02 -1.92873300e-02 3.28942959e+02] [ 6.01047453e-02 9.98192016e-01 -3.44892017e-04 4.99838960e+00] [ 1.92731869e-02 -8.15055757e-04 9.99813923e-01 2.98993200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.14925415399995 meters Centerline goodness [0,1] 0.998862439435433 Centerline is valid? [True, True] Translation: X:328.97, Y:4.99, Z:2.99 [[ 9.97830791e-01 -6.30534465e-02 -1.89202217e-02 3.28974590e+02] [ 6.30583520e-02 9.98009785e-01 -3.37802690e-04 4.99495150e+00] [ 1.89038660e-02 -8.56008076e-04 9.99820940e-01 2.99026015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.179254154 meters Centerline goodness [0,1] 0.9985473072550424 Centerline is valid? [True, True] Translation: X:329.00, Y:4.99, Z:2.99 [[ 9.97524341e-01 -6.75553793e-02 -1.95309854e-02 3.29004644e+02] [ 6.75614870e-02 9.97715052e-01 -3.47700900e-04 4.98857088e+00] [ 1.95098472e-02 -9.72702306e-04 9.99809192e-01 2.99010541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.20925415399995 meters Centerline goodness [0,1] 0.998609472442272 Centerline is valid? [True, True] Translation: X:329.04, Y:4.99, Z:2.99 [[ 9.97394029e-01 -6.96002155e-02 -1.89989696e-02 3.29036952e+02] [ 6.96063894e-02 9.97574477e-01 -3.36932064e-04 4.98805369e+00] [ 1.89763377e-02 -9.86395649e-04 9.99819447e-01 2.99108079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.239254154 meters Centerline goodness [0,1] 0.9984639986533687 Centerline is valid? [True, True] Translation: X:329.07, Y:4.98, Z:2.99 [[ 9.97241037e-01 -7.15917202e-02 -1.96198887e-02 3.29067670e+02] [ 7.15987287e-02 9.97433458e-01 -3.45903379e-04 4.98452002e+00] [ 1.95942973e-02 -1.05981004e-03 9.99807452e-01 2.99103502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.26925415399995 meters Centerline goodness [0,1] 0.9984449207750179 Centerline is valid? [True, True] Translation: X:329.10, Y:4.98, Z:2.99 [[ 9.97242169e-01 -7.14427444e-02 -2.00995283e-02 3.29098560e+02] [ 7.14501063e-02 9.97444113e-01 -3.52535101e-04 4.98328081e+00] [ 2.00733423e-02 -1.08455057e-03 9.99797922e-01 2.99072679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.299254154 meters Centerline goodness [0,1] 0.9986535953212438 Centerline is valid? [True, True] Translation: X:329.13, Y:4.98, Z:2.99 [[ 9.97261678e-01 -7.11933337e-02 -2.00163891e-02 3.29129579e+02] [ 7.12006214e-02 9.97461954e-01 -3.49241842e-04 4.98237735e+00] [ 1.99904503e-02 -1.07689384e-03 9.99799591e-01 2.99092160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.32925415399995 meters Centerline goodness [0,1] 0.9986958350862432 Centerline is valid? [True, True] Translation: X:329.16, Y:4.99, Z:2.99 [[ 9.97308357e-01 -7.05250401e-02 -2.00564343e-02 3.29161540e+02] [ 7.05322616e-02 9.97509438e-01 -3.47979149e-04 4.98649828e+00] [ 2.00310237e-02 -1.06758316e-03 9.99798789e-01 2.99207449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.359254154 meters Centerline goodness [0,1] 0.9984646124723946 Centerline is valid? [True, True] Translation: X:329.19, Y:4.99, Z:2.99 [[ 9.97457647e-01 -6.86338778e-02 -1.91737854e-02 3.29192761e+02] [ 6.86401487e-02 9.97641429e-01 -3.31632732e-04 4.98837545e+00] [ 1.91513239e-02 -9.85301879e-04 9.99816111e-01 2.99329762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.38925415399996 meters Centerline goodness [0,1] 0.9987162759375394 Centerline is valid? [True, True] Translation: X:329.23, Y:4.99, Z:2.99 [[ 9.97559082e-01 -6.71980081e-02 -1.89817363e-02 3.29225316e+02] [ 6.72039183e-02 9.97739208e-01 -3.27071482e-04 4.98946645e+00] [ 1.89608011e-02 -9.49373927e-04 9.99819777e-01 2.99370344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.419254154 meters Centerline goodness [0,1] 0.9987998231318299 Centerline is valid? [True, True] Translation: X:329.26, Y:4.99, Z:2.99 [[ 9.97684846e-01 -6.52706554e-02 -1.90968687e-02 3.29256369e+02] [ 6.52763089e-02 9.97867174e-01 -3.27818055e-04 4.99081901e+00] [ 1.90775353e-02 -9.19513995e-04 9.99817584e-01 2.99402214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.44925415399996 meters Centerline goodness [0,1] 0.9985881063767017 Centerline is valid? [True, True] Translation: X:329.29, Y:4.99, Z:2.99 [[ 9.98002131e-01 -6.01692580e-02 -1.92719321e-02 3.29286771e+02] [ 6.01740730e-02 9.98187844e-01 -3.30471368e-04 4.99496656e+00] [ 1.92568926e-02 -8.29859520e-04 9.99814224e-01 2.99438694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47925415399993 meters Centerline goodness [0,1] 0.9985465422450657 Centerline is valid? [True, True] Translation: X:329.32, Y:5.00, Z:2.99 [[ 9.98196746e-01 -5.67789999e-02 -1.94782258e-02 3.29318028e+02] [ 5.67832815e-02 9.98386472e-01 -3.33629738e-04 4.99869858e+00] [ 1.94657403e-02 -7.73009460e-04 9.99810226e-01 2.99471811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.50925415399996 meters Centerline goodness [0,1] 0.9986928104575163 Centerline is valid? [True, True] Translation: X:329.35, Y:5.00, Z:3.00 [[ 9.98393482e-01 -5.31433595e-02 -1.96529733e-02 3.29348598e+02] [ 5.31470294e-02 9.98586641e-01 -3.35885664e-04 5.00137363e+00] [ 1.96430467e-02 -7.09151094e-04 9.99806805e-01 2.99510433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53925415399993 meters Centerline goodness [0,1] 0.9988400539902142 Centerline is valid? [True, True] Translation: X:329.38, Y:5.01, Z:3.00 [[ 9.98772482e-01 -4.54622560e-02 -1.96650050e-02 3.29379731e+02] [ 4.54644546e-02 9.98965901e-01 -3.35488716e-04 5.01018529e+00] [ 1.96599215e-02 -5.58981830e-04 9.99806569e-01 2.99640283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56925415399996 meters Centerline goodness [0,1] 0.9989452589389305 Centerline is valid? [True, True] Translation: X:329.41, Y:5.01, Z:3.00 [[ 9.98950095e-01 -4.15413575e-02 -1.93138353e-02 3.29410226e+02] [ 4.15427537e-02 9.99136673e-01 -3.29089217e-04 5.01393328e+00] [ 1.93108320e-02 -4.73606201e-04 9.99813416e-01 2.99708046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59925415399994 meters Centerline goodness [0,1] 0.9987562451251133 Centerline is valid? [True, True] Translation: X:329.44, Y:5.02, Z:3.00 [[ 9.99097314e-01 -3.76737047e-02 -1.96277604e-02 3.29441814e+02] [ 3.76744116e-02 9.99290012e-01 -3.33882209e-04 5.01838989e+00] [ 1.96264034e-02 -4.05883504e-04 9.99807301e-01 2.99778229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62925415399997 meters Centerline goodness [0,1] 0.9987334290298067 Centerline is valid? [True, True] Translation: X:329.47, Y:5.02, Z:3.00 [[ 9.99217713e-01 -3.43075846e-02 -1.96710628e-02 3.29471235e+02] [ 3.43076457e-02 9.99411263e-01 -3.34458277e-04 5.02154235e+00] [ 1.96709561e-02 -3.40671217e-04 9.99806450e-01 2.99785411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65925415399994 meters Centerline goodness [0,1] 0.9990271962102948 Centerline is valid? [True, True] Translation: X:329.50, Y:5.03, Z:3.00 [[ 9.99391023e-01 -2.88015352e-02 -1.96991148e-02 3.29501619e+02] [ 2.88005236e-02 9.99585123e-01 -3.35107134e-04 5.02714382e+00] [ 1.97005937e-02 -2.32441759e-04 9.99805897e-01 2.99792293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68925415399997 meters Centerline goodness [0,1] 0.9990061744058192 Centerline is valid? [True, True] Translation: X:329.53, Y:5.03, Z:3.00 [[ 9.99452138e-01 -2.65109705e-02 -1.98139325e-02 3.29530752e+02] [ 2.65094436e-02 9.99648505e-01 -3.39755758e-04 5.02948517e+00] [ 1.98159753e-02 -1.85686709e-04 9.99803627e-01 2.99792444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71925415399994 meters Centerline goodness [0,1] 0.9990887513774689 Centerline is valid? [True, True] Translation: X:329.56, Y:5.03, Z:3.00 [[ 9.99536294e-01 -2.29585296e-02 -2.00025917e-02 3.29559847e+02] [ 2.29561587e-02 9.99736412e-01 -3.48162635e-04 5.03387545e+00] [ 2.00053125e-02 -1.11181480e-04 9.99799868e-01 2.99839120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74925415399997 meters Centerline goodness [0,1] 0.998897136797455 Centerline is valid? [True, True] Translation: X:329.59, Y:5.04, Z:3.00 [[ 9.99575540e-01 -2.12259942e-02 -1.99548768e-02 3.29587674e+02] [ 2.12232224e-02 9.99774701e-01 -3.50693905e-04 5.03586739e+00] [ 1.99578248e-02 -7.29617389e-05 9.99800820e-01 2.99804119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77925415399994 meters Centerline goodness [0,1] 0.9990901589048052 Centerline is valid? [True, True] Translation: X:329.62, Y:5.04, Z:3.00 [[ 9.99602108e-01 -1.94653266e-02 -2.04138879e-02 3.29615742e+02] [ 1.94619750e-02 9.99810532e-01 -3.62857400e-04 5.03761932e+00] [ 2.04170833e-02 -3.45815544e-05 9.99791549e-01 2.99874512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.809254154 meters Centerline goodness [0,1] 0.9989623260837339 Centerline is valid? [True, True] Translation: X:329.64, Y:5.04, Z:3.00 [[ 9.99634661e-01 -1.79868534e-02 -2.01746563e-02 3.29642213e+02] [ 1.79831967e-02 9.99838223e-01 -3.62673080e-04 5.03906134e+00] [ 2.01779159e-02 -2.64231580e-07 9.99796405e-01 2.99935734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83925415399995 meters Centerline goodness [0,1] 0.9990676188256236 Centerline is valid? [True, True] Translation: X:329.67, Y:5.04, Z:3.00 [[ 9.99711119e-01 -1.42734724e-02 -1.93377108e-02 3.29670506e+02] [ 1.42693409e-02 9.99898126e-01 -3.51619163e-04 5.04146770e+00] [ 1.93407596e-02 7.55811982e-05 9.99812947e-01 3.00046124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.869254154 meters Centerline goodness [0,1] 0.9993654285472544 Centerline is valid? [True, True] Translation: X:329.70, Y:5.04, Z:3.00 [[ 9.99740559e-01 -1.27968458e-02 -1.88428930e-02 3.29698861e+02] [ 1.27925590e-02 9.99918111e-01 -3.48027179e-04 5.04252537e+00] [ 1.88458036e-02 1.06888066e-04 9.99822396e-01 3.00184705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89925415399995 meters Centerline goodness [0,1] 0.9993236960013526 Centerline is valid? [True, True] Translation: X:329.73, Y:5.04, Z:3.00 [[ 9.99779348e-01 -1.06976695e-02 -1.80780089e-02 3.29726135e+02] [ 1.06933155e-02 9.99942768e-01 -3.37496660e-04 5.04381756e+00] [ 1.80805847e-02 1.44108337e-04 9.99836522e-01 3.00219290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.929254154 meters Centerline goodness [0,1] 0.9995135569561355 Centerline is valid? [True, True] Translation: X:329.75, Y:5.04, Z:3.00 [[ 9.99787357e-01 -1.05131939e-02 -1.77401590e-02 3.29753671e+02] [ 1.05089113e-02 9.99944724e-01 -3.34614399e-04 5.04289896e+00] [ 1.77426962e-02 1.48113488e-04 9.99842575e-01 3.00307028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.95925415399995 meters Centerline goodness [0,1] 0.9995344013883304 Centerline is valid? [True, True] Translation: X:329.78, Y:5.04, Z:3.00 [[ 9.99783385e-01 -1.24200765e-02 -1.67010479e-02 3.29782117e+02] [ 1.24164729e-02 9.99922862e-01 -3.19452958e-04 5.03982913e+00] [ 1.67037273e-02 1.12015651e-04 9.99860477e-01 3.00395138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.989254154 meters Centerline goodness [0,1] 0.9994287406905891 Centerline is valid? [True, True] Translation: X:329.81, Y:5.03, Z:3.00 [[ 9.99727140e-01 -1.68724104e-02 -1.61545113e-02 3.29810210e+02] [ 1.68695722e-02 9.99857650e-01 -3.11950598e-04 5.03496740e+00] [ 1.61574751e-02 3.93457838e-05 9.99869459e-01 3.00352102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.01925415399995 meters Centerline goodness [0,1] 0.9994292599403893 Centerline is valid? [True, True] Translation: X:329.84, Y:5.03, Z:3.00 [[ 9.99615059e-01 -2.22976094e-02 -1.65091251e-02 3.29838753e+02] [ 2.22953621e-02 9.99751376e-01 -3.20186091e-04 5.02848303e+00] [ 1.65121599e-02 -4.80140846e-05 9.99863664e-01 3.00256332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.049254154 meters Centerline goodness [0,1] 0.999198853094957 Centerline is valid? [True, True] Translation: X:329.87, Y:5.02, Z:3.00 [[ 9.99440636e-01 -2.90547946e-02 -1.65599860e-02 3.29867088e+02] [ 2.90534388e-02 9.99577808e-01 -3.22497261e-04 5.02165676e+00] [ 1.65623646e-02 -1.58807672e-04 9.99862822e-01 3.00184972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07925415399995 meters Centerline goodness [0,1] 0.9993049851519555 Centerline is valid? [True, True] Translation: X:329.90, Y:5.02, Z:3.00 [[ 9.99258775e-01 -3.45708386e-02 -1.69339105e-02 3.29897220e+02] [ 3.45701933e-02 9.99402217e-01 -3.30916367e-04 5.01619213e+00] [ 1.69352277e-02 -2.54737474e-04 9.99856556e-01 3.00176940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.109254154 meters Centerline goodness [0,1] 0.9993049851519555 Centerline is valid? [True, True] Translation: X:329.93, Y:5.02, Z:3.00 [[ 9.99260042e-01 -3.45342033e-02 -1.69339092e-02 3.29928063e+02] [ 3.45335517e-02 9.99403484e-01 -3.30982066e-04 5.01676641e+00] [ 1.69352380e-02 -2.54050874e-04 9.99856556e-01 3.00205849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13925415399996 meters Centerline goodness [0,1] 0.9993049851519555 Centerline is valid? [True, True] Translation: X:329.96, Y:5.02, Z:3.00 [[ 9.99261307e-01 -3.44975616e-02 -1.69339213e-02 3.29958906e+02] [ 3.44969152e-02 9.99404750e-01 -3.30361208e-04 5.01733923e+00] [ 1.69352380e-02 -2.54050874e-04 9.99856556e-01 3.00234739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.169254154 meters Centerline goodness [0,1] 0.9992841502442311 Centerline is valid? [True, True] Translation: X:329.99, Y:5.01, Z:3.00 [[ 9.99194996e-01 -3.63752433e-02 -1.69175107e-02 3.29989246e+02] [ 3.63748753e-02 9.99338161e-01 -3.29560444e-04 5.01299032e+00] [ 1.69183018e-02 -2.86077195e-04 9.99856834e-01 3.00145348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19925415399996 meters Centerline goodness [0,1] 0.999305424007072 Centerline is valid? [True, True] Translation: X:330.02, Y:5.01, Z:3.00 [[ 9.99138044e-01 -3.79209938e-02 -1.68869050e-02 3.30020218e+02] [ 3.79208554e-02 9.99280692e-01 -3.28515114e-04 5.01345194e+00] [ 1.68872158e-02 -3.12133935e-04 9.99857352e-01 3.00255033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22925415399993 meters Centerline goodness [0,1] 0.9993070138597228 Centerline is valid? [True, True] Translation: X:330.05, Y:5.01, Z:3.00 [[ 9.99097436e-01 -3.90633441e-02 -1.66843652e-02 3.30050941e+02] [ 3.90633762e-02 9.99236682e-01 -3.24097131e-04 5.00917578e+00] [ 1.66842901e-02 -3.27943023e-04 9.99860754e-01 3.00165857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25925415399996 meters Centerline goodness [0,1] 0.9990138687816034 Centerline is valid? [True, True] Translation: X:330.08, Y:5.01, Z:3.00 [[ 9.99088553e-01 -3.94189675e-02 -1.63770570e-02 3.30081118e+02] [ 3.94190510e-02 9.99222717e-01 -3.17830972e-04 5.00754162e+00] [ 1.63768559e-02 -3.28026759e-04 9.99865836e-01 3.00171681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28925415399993 meters Centerline goodness [0,1] 0.9990135169171355 Centerline is valid? [True, True] Translation: X:330.11, Y:5.01, Z:3.00 [[ 9.99122238e-01 -3.88418510e-02 -1.56864617e-02 3.30112347e+02] [ 3.88418627e-02 9.99245324e-01 -3.04032368e-04 5.00827254e+00] [ 1.56864326e-02 -3.05525890e-04 9.99876914e-01 3.00220504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31925415399996 meters Centerline goodness [0,1] 0.9992669542998366 Centerline is valid? [True, True] Translation: X:330.14, Y:5.01, Z:3.00 [[ 9.99208904e-01 -3.67264576e-02 -1.52556232e-02 3.30142385e+02] [ 3.67262290e-02 9.99325321e-01 -2.95238602e-04 5.00720114e+00] [ 1.52561736e-02 -2.65276469e-04 9.99883583e-01 3.00168293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34925415399994 meters Centerline goodness [0,1] 0.9989306606839579 Centerline is valid? [True, True] Translation: X:330.17, Y:5.01, Z:3.00 [[ 9.99241830e-01 -3.58357175e-02 -1.52172783e-02 3.30173646e+02] [ 3.58353926e-02 9.99357663e-01 -2.94111504e-04 5.00717013e+00] [ 1.52180434e-02 -2.51428625e-04 9.99884167e-01 3.00189851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37925415399997 meters Centerline goodness [0,1] 0.9993714513189047 Centerline is valid? [True, True] Translation: X:330.21, Y:5.01, Z:3.00 [[ 9.99288888e-01 -3.44816264e-02 -1.52556842e-02 3.30205101e+02] [ 3.44811506e-02 9.99405305e-01 -2.94293564e-04 5.00724749e+00] [ 1.52567594e-02 -2.31949256e-04 9.99883582e-01 3.00208972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40925415399994 meters Centerline goodness [0,1] 0.999205203823388 Centerline is valid? [True, True] Translation: X:330.24, Y:5.01, Z:3.00 [[ 9.99361112e-01 -3.23224186e-02 -1.52521574e-02 3.30236380e+02] [ 3.23217002e-02 9.99477474e-01 -2.93666740e-04 5.00619557e+00] [ 1.52536798e-02 -1.99496539e-04 9.99883636e-01 3.00193342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43925415399997 meters Centerline goodness [0,1] 0.9991837930601482 Centerline is valid? [True, True] Translation: X:330.27, Y:5.01, Z:3.00 [[ 9.99399917e-01 -3.11723187e-02 -1.51027166e-02 3.30266648e+02] [ 3.11714881e-02 9.99514009e-01 -2.90451316e-04 5.00575487e+00] [ 1.51044308e-02 -1.80497129e-04 9.99885905e-01 3.00140105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46925415399994 meters Centerline goodness [0,1] 0.9991212102190697 Centerline is valid? [True, True] Translation: X:330.30, Y:5.01, Z:3.00 [[ 9.99385386e-01 -3.14303686e-02 -1.55235741e-02 3.30297229e+02] [ 3.14295222e-02 9.99505926e-01 -2.98545132e-04 5.00520695e+00] [ 1.55252877e-02 -1.89536874e-04 9.99879457e-01 3.00226112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49925415399997 meters Centerline goodness [0,1] 0.999707100715511 Centerline is valid? [True, True] Translation: X:330.33, Y:5.00, Z:3.00 [[ 9.99368058e-01 -3.19478544e-02 -1.55826270e-02 3.30328066e+02] [ 3.19470644e-02 9.99489517e-01 -2.99680821e-04 5.00481621e+00] [ 1.55842465e-02 -1.98327748e-04 9.99878539e-01 3.00265468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52925415399994 meters Centerline goodness [0,1] 0.9991426360803831 Centerline is valid? [True, True] Translation: X:330.36, Y:5.00, Z:3.00 [[ 9.99286924e-01 -3.42059493e-02 -1.59874099e-02 3.30357367e+02] [ 3.42054047e-02 9.99414777e-01 -3.07586811e-04 5.00029968e+00] [ 1.59885750e-02 -2.39488348e-04 9.99872146e-01 3.00168270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.559254154 meters Centerline goodness [0,1] 0.9996028262051089 Centerline is valid? [True, True] Translation: X:330.39, Y:5.00, Z:3.00 [[ 9.99205676e-01 -3.62717801e-02 -1.65037625e-02 3.30387307e+02] [ 3.62714891e-02 9.99341923e-01 -3.17055783e-04 4.99745407e+00] [ 1.65044019e-02 -2.81812103e-04 9.99863753e-01 3.00191251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.58925415399995 meters Centerline goodness [0,1] 0.999476220406453 Centerline is valid? [True, True] Translation: X:330.42, Y:5.00, Z:3.00 [[ 9.99109959e-01 -3.87960956e-02 -1.65575863e-02 3.30417741e+02] [ 3.87961633e-02 9.99247095e-01 -3.17244098e-04 4.99503460e+00] [ 1.65574278e-02 -3.25409084e-04 9.99862863e-01 3.00178319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.619254154 meters Centerline goodness [0,1] 0.9994555543922102 Centerline is valid? [True, True] Translation: X:330.45, Y:4.99, Z:3.00 [[ 9.98858848e-01 -4.44912480e-02 -1.73646409e-02 3.30448531e+02] [ 4.44921823e-02 9.99009677e-01 -3.32707300e-04 4.99003747e+00] [ 1.73622468e-02 -4.40263137e-04 9.99849168e-01 3.00139553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.64925415399995 meters Centerline goodness [0,1] 0.9994555543922102 Centerline is valid? [True, True] Translation: X:330.48, Y:4.99, Z:3.00 [[ 9.98860467e-01 -4.44548785e-02 -1.73646465e-02 3.30479379e+02] [ 4.44558124e-02 9.99011296e-01 -3.32416072e-04 4.99059866e+00] [ 1.73622555e-02 -4.39922192e-04 9.99849168e-01 3.00168457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.679254154 meters Centerline goodness [0,1] 0.9992889111975573 Centerline is valid? [True, True] Translation: X:330.51, Y:4.99, Z:3.00 [[ 9.98742756e-01 -4.70692943e-02 -1.72449762e-02 3.30511023e+02] [ 4.70706156e-02 9.98891510e-01 -3.29497313e-04 4.98857767e+00] [ 1.72413695e-02 -4.82648591e-04 9.99851240e-01 3.00175841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.70925415399995 meters Centerline goodness [0,1] 0.9991199949713998 Centerline is valid? [True, True] Translation: X:330.54, Y:4.99, Z:3.00 [[ 9.98616631e-01 -4.95493282e-02 -1.75979392e-02 3.30540825e+02] [ 4.95511081e-02 9.98771533e-01 -3.35141369e-04 4.98624818e+00] [ 1.75929267e-02 -5.37319642e-04 9.99845088e-01 3.00180230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.739254154 meters Centerline goodness [0,1] 0.9987851113298841 Centerline is valid? [True, True] Translation: X:330.57, Y:4.98, Z:3.00 [[ 9.98395761e-01 -5.38424516e-02 -1.75183951e-02 3.30571442e+02] [ 5.38448929e-02 9.98549256e-01 -3.32630698e-04 4.98230310e+00] [ 1.75108901e-02 -6.11179030e-04 9.99846486e-01 3.00233078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.76925415399995 meters Centerline goodness [0,1] 0.9988684227069844 Centerline is valid? [True, True] Translation: X:330.60, Y:4.98, Z:3.00 [[ 9.98310053e-01 -5.53862627e-02 -1.75897589e-02 3.30602606e+02] [ 5.53889714e-02 9.98464797e-01 -3.33516537e-04 4.98167393e+00] [ 1.75812273e-02 -6.41325743e-04 9.99845233e-01 3.00313043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.799254154 meters Centerline goodness [0,1] 0.9990795364210703 Centerline is valid? [True, True] Translation: X:330.63, Y:4.98, Z:3.00 [[ 9.98237759e-01 -5.67501896e-02 -1.73433756e-02 3.30632437e+02] [ 5.67530343e-02 9.98388194e-01 -3.28508741e-04 4.97875013e+00] [ 1.73340644e-02 -6.56359360e-04 9.99849538e-01 3.00329226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.82925415399995 meters Centerline goodness [0,1] 0.998679715824549 Centerline is valid? [True, True] Translation: X:330.66, Y:4.98, Z:3.00 [[ 9.98190124e-01 -5.78652006e-02 -1.63736009e-02 3.30663630e+02] [ 5.78678899e-02 9.98324202e-01 -3.09884920e-04 4.97953689e+00] [ 1.63640936e-02 -6.38181665e-04 9.99865896e-01 3.00463976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.859254154 meters Centerline goodness [0,1] 0.998890586733092 Centerline is valid? [True, True] Translation: X:330.70, Y:4.98, Z:3.01 [[ 9.98166173e-01 -5.84059861e-02 -1.59069609e-02 3.30695071e+02] [ 5.84086097e-02 9.98292715e-01 -2.99998296e-04 4.97728274e+00] [ 1.58973249e-02 -6.29655319e-04 9.99873431e-01 3.00565926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.88925415399996 meters Centerline goodness [0,1] 0.9988292601342169 Centerline is valid? [True, True] Translation: X:330.73, Y:4.98, Z:3.01 [[ 9.98169965e-01 -5.88011122e-02 -1.41120929e-02 3.30726978e+02] [ 5.88032341e-02 9.98269558e-01 -2.64892199e-04 4.97717459e+00] [ 1.41032487e-02 -5.65429264e-04 9.99900384e-01 3.00795713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.919254154 meters Centerline goodness [0,1] 0.998765845291386 Centerline is valid? [True, True] Translation: X:330.76, Y:4.98, Z:3.01 [[ 9.98170345e-01 -5.89274736e-02 -1.35468061e-02 3.30759456e+02] [ 5.89294532e-02 9.98262118e-01 -2.53345670e-04 4.97859002e+00] [ 1.35381923e-02 -5.45423739e-04 9.99908206e-01 3.00902951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.94925415399996 meters Centerline goodness [0,1] 0.999101640029249 Centerline is valid? [True, True] Translation: X:330.79, Y:4.98, Z:3.01 [[ 9.98156809e-01 -5.92484244e-02 -1.31380371e-02 3.30791679e+02] [ 5.92503261e-02 9.98243126e-01 -2.44773976e-04 4.98064210e+00] [ 1.31294577e-02 -5.34110171e-04 9.99913662e-01 3.01028425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97925415399993 meters Centerline goodness [0,1] 0.9990395256091704 Centerline is valid? [True, True] Translation: X:330.82, Y:4.98, Z:3.01 [[ 9.98127066e-01 -5.96976921e-02 -1.33621020e-02 3.30823515e+02] [ 5.96997127e-02 9.98216351e-01 -2.47956106e-04 4.98166462e+00] [ 1.33530711e-02 -5.50221949e-04 9.99910692e-01 3.01078089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.00925415399996 meters Centerline goodness [0,1] 0.9990812853652935 Centerline is valid? [True, True] Translation: X:330.85, Y:4.98, Z:3.01 [[ 9.98083643e-01 -6.02689501e-02 -1.40247853e-02 3.30854971e+02] [ 6.02712463e-02 9.98182002e-01 -2.59271840e-04 4.98032462e+00] [ 1.40149143e-02 -5.86516304e-04 9.99901614e-01 3.01075959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03925415399993 meters Centerline goodness [0,1] 0.9991024650900666 Centerline is valid? [True, True] Translation: X:330.89, Y:4.98, Z:3.01 [[ 9.97997668e-01 -6.14467501e-02 -1.49984104e-02 3.30886620e+02] [ 6.14495219e-02 9.98110154e-01 -2.76409400e-04 4.98225498e+00] [ 1.49870501e-02 -6.45789209e-04 9.99887479e-01 3.01071810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06925415399996 meters Centerline goodness [0,1] 0.9989351484528334 Centerline is valid? [True, True] Translation: X:330.92, Y:4.98, Z:3.01 [[ 9.97932085e-01 -6.23628797e-02 -1.55700087e-02 3.30919044e+02] [ 6.23659936e-02 9.98053306e-01 -2.85948038e-04 4.98369329e+00] [ 1.55575312e-02 -6.85682345e-04 9.99878739e-01 3.01070569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09925415399994 meters Centerline goodness [0,1] 0.9987894978503151 Centerline is valid? [True, True] Translation: X:330.95, Y:4.98, Z:3.01 [[ 9.97880859e-01 -6.29672390e-02 -1.63987094e-02 3.30950246e+02] [ 6.29707931e-02 9.98015325e-01 -3.00048770e-04 4.98281515e+00] [ 1.63850565e-02 -7.33226811e-04 9.99865487e-01 3.01056362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12925415399997 meters Centerline goodness [0,1] 0.9991023901471663 Centerline is valid? [True, True] Translation: X:330.98, Y:4.99, Z:3.01 [[ 9.97804246e-01 -6.39065931e-02 -1.73963521e-02 3.30982559e+02] [ 6.39107552e-02 9.97955568e-01 -3.17161479e-04 4.98611505e+00] [ 1.73810551e-02 -7.95348927e-04 9.99848622e-01 3.01130378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15925415399994 meters Centerline goodness [0,1] 0.9988952809738203 Centerline is valid? [True, True] Translation: X:331.01, Y:4.99, Z:3.01 [[ 9.97797802e-01 -6.38873341e-02 -1.78312730e-02 3.31013892e+02] [ 6.38917249e-02 9.97956784e-01 -3.23917051e-04 4.98663227e+00] [ 1.78155341e-02 -8.16067067e-04 9.99840958e-01 3.01117243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18925415399997 meters Centerline goodness [0,1] 0.9987917673527206 Centerline is valid? [True, True] Translation: X:331.05, Y:4.99, Z:3.01 [[ 9.97819320e-01 -6.35591861e-02 -1.77998239e-02 3.31046231e+02] [ 6.35635293e-02 9.97977742e-01 -3.22217372e-04 4.98813539e+00] [ 1.77843079e-02 -8.09904906e-04 9.99841519e-01 3.01150802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21925415399994 meters Centerline goodness [0,1] 0.9987697825225713 Centerline is valid? [True, True] Translation: X:331.08, Y:4.99, Z:3.01 [[ 9.97916065e-01 -6.20141614e-02 -1.78261499e-02 3.31077141e+02] [ 6.20182918e-02 9.98074961e-01 -3.21551949e-04 4.99143798e+00] [ 1.78117747e-02 -7.84665513e-04 9.99841050e-01 3.01193100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24925415399997 meters Centerline goodness [0,1] 0.9986446191379778 Centerline is valid? [True, True] Translation: X:331.11, Y:4.99, Z:3.01 [[ 9.98012138e-01 -6.03965096e-02 -1.80009577e-02 3.31108119e+02] [ 6.04004736e-02 9.98174172e-01 -3.23883493e-04 4.99417430e+00] [ 1.79876525e-02 -7.64026712e-04 9.99837917e-01 3.01187947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27925415399994 meters Centerline goodness [0,1] 0.9987864331596678 Centerline is valid? [True, True] Translation: X:331.14, Y:5.00, Z:3.01 [[ 9.98097851e-01 -5.90303294e-02 -1.77792060e-02 3.31138953e+02] [ 5.90339911e-02 9.98255922e-01 -3.19264159e-04 4.99639224e+00] [ 1.77670440e-02 -7.30920619e-04 9.99841886e-01 3.01286650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.309254154 meters Centerline goodness [0,1] 0.9986600226121184 Centerline is valid? [True, True] Translation: X:331.17, Y:5.00, Z:3.01 [[ 9.98232547e-01 -5.67332617e-02 -1.76951805e-02 3.31169507e+02] [ 5.67365370e-02 9.98389135e-01 -3.17279360e-04 4.99853620e+00] [ 1.76846762e-02 -6.87244676e-04 9.99843378e-01 3.01250878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33925415399995 meters Centerline goodness [0,1] 0.99876501862938 Centerline is valid? [True, True] Translation: X:331.20, Y:5.01, Z:3.01 [[ 9.98450762e-01 -5.28551631e-02 -1.73898808e-02 3.31201315e+02] [ 5.28577502e-02 9.98602004e-01 -3.11144858e-04 5.00632422e+00] [ 1.73820154e-02 -6.08527156e-04 9.99848736e-01 3.01435922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.369254154 meters Centerline goodness [0,1] 0.9987003186315613 Centerline is valid? [True, True] Translation: X:331.23, Y:5.01, Z:3.01 [[ 9.98557791e-01 -5.08215370e-02 -1.73063587e-02 3.31232904e+02] [ 5.08238091e-02 9.98707587e-01 -3.08792914e-04 5.00938824e+00] [ 1.72996851e-02 -5.71227503e-04 9.99850186e-01 3.01413099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39925415399995 meters Centerline goodness [0,1] 0.9987397605545053 Centerline is valid? [True, True] Translation: X:331.26, Y:5.01, Z:3.02 [[ 9.98637016e-01 -4.94479441e-02 -1.67036540e-02 3.31263706e+02] [ 4.94498803e-02 9.98776562e-01 -2.97342087e-04 5.01329488e+00] [ 1.66979210e-02 -5.29056875e-04 9.99860440e-01 3.01597119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.429254154 meters Centerline goodness [0,1] 0.998804053628753 Centerline is valid? [True, True] Translation: X:331.30, Y:5.02, Z:3.02 [[ 9.98662236e-01 -4.90315655e-02 -1.64208462e-02 3.31295465e+02] [ 4.90333924e-02 9.98797097e-01 -2.91582906e-04 5.01591533e+00] [ 1.64153903e-02 -5.13976959e-04 9.99865126e-01 3.01659189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.45925415399995 meters Centerline goodness [0,1] 0.9988252569750367 Centerline is valid? [True, True] Translation: X:331.33, Y:5.02, Z:3.02 [[ 9.98675256e-01 -4.87190242e-02 -1.65586836e-02 3.31327100e+02] [ 4.87208486e-02 9.98812391e-01 -2.93452845e-04 5.01735570e+00] [ 1.65533151e-02 -5.13689022e-04 9.99862853e-01 3.01696119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.489254154 meters Centerline goodness [0,1] 0.9991585855823639 Centerline is valid? [True, True] Translation: X:331.36, Y:5.02, Z:3.02 [[ 9.98709509e-01 -4.79573505e-02 -1.67155165e-02 3.31357974e+02] [ 4.79591129e-02 9.98849256e-01 -2.95640132e-04 5.02331069e+00] [ 1.67104594e-02 -5.06402733e-04 9.99860242e-01 3.01779632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.51925415399995 meters Centerline goodness [0,1] 0.9989080447701644 Centerline is valid? [True, True] Translation: X:331.39, Y:5.02, Z:3.02 [[ 9.98760828e-01 -4.67418252e-02 -1.70883270e-02 3.31389030e+02] [ 4.67435023e-02 9.98906880e-01 -3.01471496e-04 5.02068252e+00] [ 1.70837387e-02 -4.97670333e-04 9.99853938e-01 3.01634364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.549254154 meters Centerline goodness [0,1] 0.9990120446471739 Centerline is valid? [True, True] Translation: X:331.42, Y:5.03, Z:3.02 [[ 9.98803684e-01 -4.57965320e-02 -1.71428713e-02 3.31420401e+02] [ 4.57980943e-02 9.98950671e-01 -3.01647141e-04 5.02760655e+00] [ 1.71386971e-02 -4.83824559e-04 9.99853005e-01 3.01817045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57925415399995 meters Centerline goodness [0,1] 0.9989292013101537 Centerline is valid? [True, True] Translation: X:331.45, Y:5.03, Z:3.02 [[ 9.98983691e-01 -4.15911557e-02 -1.73712924e-02 3.31451222e+02] [ 4.15921354e-02 9.99134626e-01 -3.05038273e-04 5.02846640e+00] [ 1.73689467e-02 -4.17780888e-04 9.99849061e-01 3.01700347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.609254154 meters Centerline goodness [0,1] 0.9989696357977963 Centerline is valid? [True, True] Translation: X:331.48, Y:5.03, Z:3.02 [[ 9.99088129e-01 -3.89550733e-02 -1.74760605e-02 3.31482177e+02] [ 3.89556723e-02 9.99240893e-01 -3.06277694e-04 5.03191080e+00] [ 1.74747253e-02 -3.74793275e-04 9.99847235e-01 3.01689334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63925415399996 meters Centerline goodness [0,1] 0.9987814870060295 Centerline is valid? [True, True] Translation: X:331.51, Y:5.04, Z:3.02 [[ 9.99188563e-01 -3.59562160e-02 -1.81484214e-02 3.31512492e+02] [ 3.59563732e-02 9.99353310e-01 -3.17746367e-04 5.03871831e+00] [ 1.81481100e-02 -3.35062877e-04 9.99835253e-01 3.01817676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.669254154 meters Centerline goodness [0,1] 0.9988866014033024 Centerline is valid? [True, True] Translation: X:331.54, Y:5.04, Z:3.02 [[ 9.99287262e-01 -3.29256294e-02 -1.84626839e-02 3.31543062e+02] [ 3.29252750e-02 9.99457764e-01 -3.23248541e-04 5.04376054e+00] [ 1.84633159e-02 -2.84870795e-04 9.99829498e-01 3.01903694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69925415399996 meters Centerline goodness [0,1] 0.9989895800442059 Centerline is valid? [True, True] Translation: X:331.57, Y:5.05, Z:3.02 [[ 9.99450735e-01 -2.74139247e-02 -1.86200424e-02 3.31572305e+02] [ 2.74126047e-02 9.99624151e-01 -3.26170945e-04 5.04936797e+00] [ 1.86219857e-02 -1.84432070e-04 9.99826579e-01 3.01912037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72925415399993 meters Centerline goodness [0,1] 0.9989906211885435 Centerline is valid? [True, True] Translation: X:331.60, Y:5.05, Z:3.02 [[ 9.99502450e-01 -2.57095284e-02 -1.82722081e-02 3.31601408e+02] [ 2.57079287e-02 9.99669445e-01 -3.22471761e-04 5.05163957e+00] [ 1.82744587e-02 -1.47429308e-04 9.99832997e-01 3.01936691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75925415399996 meters Centerline goodness [0,1] 0.9992012779552716 Centerline is valid? [True, True] Translation: X:331.63, Y:5.05, Z:3.02 [[ 9.99524351e-01 -2.45026370e-02 -1.87268077e-02 3.31628927e+02] [ 2.45006773e-02 9.99699758e-01 -3.34099944e-04 5.05339482e+00] [ 1.87293715e-02 -1.24878445e-04 9.99824582e-01 3.01932298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78925415399993 meters Centerline goodness [0,1] 0.9991177953285162 Centerline is valid? [True, True] Translation: X:331.66, Y:5.05, Z:3.02 [[ 9.99534121e-01 -2.38095215e-02 -1.90957680e-02 3.31656396e+02] [ 2.38072817e-02 9.99716507e-01 -3.44646881e-04 5.05473568e+00] [ 1.90985603e-02 -1.10132010e-04 9.99817600e-01 3.01927392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81925415399996 meters Centerline goodness [0,1] 0.9992020327166586 Centerline is valid? [True, True] Translation: X:331.68, Y:5.06, Z:3.02 [[ 9.99521687e-01 -2.43800947e-02 -1.90265302e-02 3.31684706e+02] [ 2.43778714e-02 9.99702755e-01 -3.48812247e-04 5.05520917e+00] [ 1.90293787e-02 -1.15180901e-04 9.99818918e-01 3.01993969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84925415399994 meters Centerline goodness [0,1] 0.9988431768467104 Centerline is valid? [True, True] Translation: X:331.71, Y:5.05, Z:3.02 [[ 9.99446697e-01 -2.71676608e-02 -1.91889906e-02 3.31713047e+02] [ 2.71658124e-02 9.99630877e-01 -3.57032300e-04 5.05354873e+00] [ 1.91916072e-02 -1.64449765e-04 9.99815811e-01 3.02036025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87925415399997 meters Centerline goodness [0,1] 0.9988221684719739 Centerline is valid? [True, True] Translation: X:331.74, Y:5.05, Z:3.02 [[ 9.99303279e-01 -3.20689258e-02 -1.90929363e-02 3.31740934e+02] [ 3.20679278e-02 9.99485627e-01 -3.58510655e-04 5.04897643e+00] [ 1.90946125e-02 -2.54010031e-04 9.99817649e-01 3.01974288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90925415399994 meters Centerline goodness [0,1] 0.9988221684719739 Centerline is valid? [True, True] Translation: X:331.77, Y:5.05, Z:3.02 [[ 9.99302151e-01 -3.21040811e-02 -1.90929139e-02 3.31770086e+02] [ 3.21030667e-02 9.99484499e-01 -3.59701646e-04 5.04955671e+00] [ 1.90946194e-02 -2.53490461e-04 9.99817649e-01 3.02001626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93925415399997 meters Centerline goodness [0,1] 0.9988238753307851 Centerline is valid? [True, True] Translation: X:331.80, Y:5.05, Z:3.02 [[ 9.99194443e-01 -3.52578234e-02 -1.91663849e-02 3.31799815e+02] [ 3.52573681e-02 9.99378200e-01 -3.61770699e-04 5.04782523e+00] [ 1.91672225e-02 -3.14277015e-04 9.99816243e-01 3.02066946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96925415399994 meters Centerline goodness [0,1] 0.9989514082587085 Centerline is valid? [True, True] Translation: X:331.83, Y:5.04, Z:3.02 [[ 9.98934869e-01 -4.19980927e-02 -1.91124879e-02 3.31829738e+02] [ 4.19988593e-02 9.99117593e-01 -3.61450154e-04 5.04231089e+00] [ 1.91108032e-02 -4.41637530e-04 9.99817274e-01 3.02084393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99925415399997 meters Centerline goodness [0,1] 0.9987229944732876 Centerline is valid? [True, True] Translation: X:331.86, Y:5.04, Z:3.02 [[ 9.98800546e-01 -4.49458710e-02 -1.94251782e-02 3.31861303e+02] [ 4.49472204e-02 9.98989295e-01 -3.67344755e-04 5.03931785e+00] [ 1.94220557e-02 -5.06203625e-04 9.99811246e-01 3.01968579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02925415399994 meters Centerline goodness [0,1] 0.9988486015742757 Centerline is valid? [True, True] Translation: X:331.89, Y:5.04, Z:3.02 [[ 9.98658819e-01 -4.82689395e-02 -1.87262455e-02 3.31892830e+02] [ 4.82707897e-02 9.98834223e-01 -3.53453276e-04 5.03674271e+00] [ 1.87214757e-02 -5.50951428e-04 9.99824586e-01 3.02076998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.059254154 meters Centerline goodness [0,1] 0.9988696307460437 Centerline is valid? [True, True] Translation: X:331.92, Y:5.03, Z:3.02 [[ 9.98418207e-01 -5.33488600e-02 -1.77477440e-02 3.31923489e+02] [ 5.33513318e-02 9.98575748e-01 -3.34504011e-04 5.03375330e+00] [ 1.77403121e-02 -6.12890884e-04 9.99842440e-01 3.02269540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.08925415399995 meters Centerline goodness [0,1] 0.9985809090529655 Centerline is valid? [True, True] Translation: X:331.96, Y:5.03, Z:3.02 [[ 9.98343595e-01 -5.49003328e-02 -1.72052256e-02 3.31955397e+02] [ 5.49028987e-02 9.98491646e-01 -3.23529185e-04 5.03215386e+00] [ 1.71970359e-02 -6.21623470e-04 9.99851927e-01 3.02288041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.119254154 meters Centerline goodness [0,1] 0.9988517265856612 Centerline is valid? [True, True] Translation: X:331.99, Y:5.03, Z:3.02 [[ 9.98278519e-01 -5.61482766e-02 -1.69519524e-02 3.31987740e+02] [ 5.61509683e-02 9.98422239e-01 -3.17517013e-04 5.03171049e+00] [ 1.69430343e-02 -6.34898129e-04 9.99856255e-01 3.02318410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.14925415399995 meters Centerline goodness [0,1] 0.9987667481867017 Centerline is valid? [True, True] Translation: X:332.02, Y:5.03, Z:3.02 [[ 9.98239154e-01 -5.70533340e-02 -1.62329745e-02 3.32018506e+02] [ 5.70559469e-02 9.98370937e-01 -3.02493367e-04 5.02967538e+00] [ 1.62237882e-02 -6.24227010e-04 9.99868191e-01 3.02332085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.179254154 meters Centerline goodness [0,1] 0.9986211219053588 Centerline is valid? [True, True] Translation: X:332.05, Y:5.03, Z:3.02 [[ 9.98225892e-01 -5.74049011e-02 -1.58033214e-02 3.32051061e+02] [ 5.74074476e-02 9.98350790e-01 -2.92830367e-04 5.02988929e+00] [ 1.57940683e-02 -6.14917494e-04 9.99875077e-01 3.02379378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.20925415399995 meters Centerline goodness [0,1] 0.9987687813021703 Centerline is valid? [True, True] Translation: X:332.08, Y:5.03, Z:3.02 [[ 9.98244472e-01 -5.71314920e-02 -1.56194368e-02 3.32082026e+02] [ 5.71339623e-02 9.98366479e-01 -2.88390942e-04 5.02841114e+00] [ 1.56103983e-02 -6.04515647e-04 9.99877968e-01 3.02372971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.239254154 meters Centerline goodness [0,1] 0.9984356096950482 Centerline is valid? [True, True] Translation: X:332.11, Y:5.03, Z:3.02 [[ 9.98288704e-01 -5.61411705e-02 -1.63655805e-02 3.32113911e+02] [ 5.61437670e-02 9.98422649e-01 -3.01109501e-04 5.03005211e+00] [ 1.63566708e-02 -6.18231122e-04 9.99866030e-01 3.02212599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.26925415399995 meters Centerline goodness [0,1] 0.9987461863167133 Centerline is valid? [True, True] Translation: X:332.15, Y:5.03, Z:3.02 [[ 9.98259764e-01 -5.67034894e-02 -1.61913066e-02 3.32146023e+02] [ 5.67061240e-02 9.98390869e-01 -2.96712657e-04 5.03112607e+00] [ 1.61820773e-02 -6.21949931e-04 9.99868868e-01 3.02378518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.299254154 meters Centerline goodness [0,1] 0.9987673665517601 Centerline is valid? [True, True] Translation: X:332.18, Y:5.03, Z:3.02 [[ 9.98268057e-01 -5.64409156e-02 -1.65924408e-02 3.32177322e+02] [ 5.64436646e-02 9.98405740e-01 -3.02950442e-04 5.03067387e+00] [ 1.65830869e-02 -6.34112411e-04 9.99862290e-01 3.02353468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.32925415399995 meters Centerline goodness [0,1] 0.9988076810442204 Centerline is valid? [True, True] Translation: X:332.21, Y:5.03, Z:3.02 [[ 9.98262904e-01 -5.63165758e-02 -1.73094885e-02 3.32208529e+02] [ 5.63195659e-02 9.98412744e-01 -3.15066541e-04 5.02767015e+00] [ 1.72997574e-02 -6.60343636e-04 9.99850130e-01 3.02272440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.359254154 meters Centerline goodness [0,1] 0.9988910045824527 Centerline is valid? [True, True] Translation: X:332.24, Y:5.03, Z:3.02 [[ 9.98270653e-01 -5.61158380e-02 -1.75133057e-02 3.32241090e+02] [ 5.61188874e-02 9.98424043e-01 -3.17668982e-04 5.02997832e+00] [ 1.75035318e-02 -6.65707610e-04 9.99846580e-01 3.02322429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.38925415399996 meters Centerline goodness [0,1] 0.9988068324541572 Centerline is valid? [True, True] Translation: X:332.27, Y:5.03, Z:3.02 [[ 9.98324010e-01 -5.48328953e-02 -1.85074223e-02 3.32272295e+02] [ 5.48361031e-02 9.98495313e-01 -3.34494395e-04 5.02855077e+00] [ 1.84979157e-02 -6.80941133e-04 9.99828667e-01 3.02177076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.419254154 meters Centerline goodness [0,1] 0.9985314479922797 Centerline is valid? [True, True] Translation: X:332.30, Y:5.03, Z:3.02 [[ 9.98371389e-01 -5.39785287e-02 -1.84631361e-02 3.32303849e+02] [ 5.39815904e-02 9.98541875e-01 -3.32870040e-04 5.03149558e+00] [ 1.84541824e-02 -6.64341527e-04 9.99829486e-01 3.02306207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.44925415399996 meters Centerline goodness [0,1] 0.9985952700436095 Centerline is valid? [True, True] Translation: X:332.34, Y:5.03, Z:3.02 [[ 9.98447684e-01 -5.22667593e-02 -1.92459919e-02 3.32335131e+02] [ 5.22697821e-02 9.98632941e-01 -3.46285596e-04 5.03481908e+00] [ 1.92377808e-02 -6.60235754e-04 9.99814719e-01 3.02367406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47925415399993 meters Centerline goodness [0,1] 0.9990145097710308 Centerline is valid? [True, True] Translation: X:332.37, Y:5.04, Z:3.02 [[ 9.98633850e-01 -4.83697427e-02 -1.97687270e-02 3.32366130e+02] [ 4.83721769e-02 9.98829318e-01 -3.55302744e-04 5.03906423e+00] [ 1.97627701e-02 -6.01439014e-04 9.99804516e-01 3.02456289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.50925415399996 meters Centerline goodness [0,1] 0.998952287157136 Centerline is valid? [True, True] Translation: X:332.40, Y:5.04, Z:3.02 [[ 9.98728233e-01 -4.63605868e-02 -1.98144785e-02 3.32397155e+02] [ 4.63626417e-02 9.98924611e-01 -3.55898551e-04 5.04110924e+00] [ 1.98096699e-02 -5.63205635e-04 9.99803611e-01 3.02443778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53925415399993 meters Centerline goodness [0,1] 0.998952287157136 Centerline is valid? [True, True] Translation: X:332.43, Y:5.04, Z:3.02 [[ 9.98728233e-01 -4.63605852e-02 -1.98144815e-02 3.32427163e+02] [ 4.63626435e-02 9.98924611e-01 -3.55731096e-04 5.04164788e+00] [ 1.98096651e-02 -5.63373051e-04 9.99803611e-01 3.02471890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56925415399996 meters Centerline goodness [0,1] 0.999015871686419 Centerline is valid? [True, True] Translation: X:332.46, Y:5.04, Z:3.03 [[ 9.98799606e-01 -4.48597836e-02 -1.96709808e-02 3.32457907e+02] [ 4.48615212e-02 9.98993153e-01 -3.53154815e-04 5.04318945e+00] [ 1.96670175e-02 -5.29739231e-04 9.99806445e-01 3.02570309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59925415399994 meters Centerline goodness [0,1] 0.9989519138053914 Centerline is valid? [True, True] Translation: X:332.49, Y:5.04, Z:3.03 [[ 9.98839783e-01 -4.40052765e-02 -1.95607629e-02 3.32488074e+02] [ 4.40068310e-02 9.99031168e-01 -3.51176065e-04 5.04485396e+00] [ 1.95572654e-02 -5.10038565e-04 9.99808608e-01 3.02632496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62925415399997 meters Centerline goodness [0,1] 0.9989313329002787 Centerline is valid? [True, True] Translation: X:332.52, Y:5.05, Z:3.03 [[ 9.98865278e-01 -4.33376018e-02 -1.97486612e-02 3.32518515e+02] [ 4.33390559e-02 9.99060359e-01 -3.54549418e-04 5.04604725e+00] [ 1.97454698e-02 -5.01741228e-04 9.99804913e-01 3.02666336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65925415399994 meters Centerline goodness [0,1] 0.9988268566041688 Centerline is valid? [True, True] Translation: X:332.55, Y:5.05, Z:3.03 [[ 9.98843577e-01 -4.37303931e-02 -1.99790280e-02 3.32550035e+02] [ 4.37319675e-02 9.99043236e-01 -3.58307286e-04 5.04786572e+00] [ 1.99755817e-02 -5.15829273e-04 9.99800335e-01 3.02747779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68925415399997 meters Centerline goodness [0,1] 0.9988701983429575 Centerline is valid? [True, True] Translation: X:332.58, Y:5.05, Z:3.03 [[ 9.98818222e-01 -4.42000517e-02 -2.02117466e-02 3.32579545e+02] [ 4.42017620e-02 9.99022559e-01 -3.62335140e-04 5.04773304e+00] [ 2.02080061e-02 -5.31487873e-04 9.99795656e-01 3.02752883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71925415399994 meters Centerline goodness [0,1] 0.9990375360923965 Centerline is valid? [True, True] Translation: X:332.61, Y:5.05, Z:3.03 [[ 9.98775973e-01 -4.50143922e-02 -2.05002734e-02 3.32610200e+02] [ 4.50163197e-02 9.98986184e-01 -3.67675386e-04 5.04875122e+00] [ 2.04960406e-02 -5.55621521e-04 9.99789780e-01 3.02799098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74925415399997 meters Centerline goodness [0,1] 0.9988288928855242 Centerline is valid? [True, True] Translation: X:332.64, Y:5.05, Z:3.03 [[ 9.98681129e-01 -4.67615680e-02 -2.11980617e-02 3.32641004e+02] [ 4.67640223e-02 9.98905892e-01 -3.80190320e-04 5.05053592e+00] [ 2.11926470e-02 -6.11617730e-04 9.99775224e-01 3.02910770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77925415399994 meters Centerline goodness [0,1] 0.9987640873098999 Centerline is valid? [True, True] Translation: X:332.67, Y:5.05, Z:3.03 [[ 9.98619536e-01 -4.79489280e-02 -2.14458105e-02 3.32670198e+02] [ 4.79517089e-02 9.98849581e-01 -3.84846129e-04 5.04885544e+00] [ 2.14395918e-02 -6.44048398e-04 9.99769938e-01 3.02880864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.809254154 meters Centerline goodness [0,1] 0.9986638551953068 Centerline is valid? [True, True] Translation: X:332.70, Y:5.05, Z:3.03 [[ 9.98515953e-01 -4.94765325e-02 -2.27588128e-02 3.32699879e+02] [ 4.94800518e-02 9.98775028e-01 -4.08810203e-04 5.04729281e+00] [ 2.27511604e-02 -7.17903726e-04 9.99740901e-01 3.02803643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83925415399995 meters Centerline goodness [0,1] 0.9989522212908634 Centerline is valid? [True, True] Translation: X:332.73, Y:5.05, Z:3.03 [[ 9.98466562e-01 -5.08035534e-02 -2.19891581e-02 3.32730728e+02] [ 5.08071566e-02 9.98708404e-01 -3.95138766e-04 5.04875366e+00] [ 2.19808314e-02 -7.22673754e-04 9.99758131e-01 3.02989333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.869254154 meters Centerline goodness [0,1] 0.9989520236423466 Centerline is valid? [True, True] Translation: X:332.76, Y:5.05, Z:3.03 [[ 9.98415157e-01 -5.15585036e-02 -2.25587219e-02 3.32762031e+02] [ 5.15624993e-02 9.98669688e-01 -4.04889535e-04 5.05351150e+00] [ 2.25495873e-02 -7.58936236e-04 9.99745438e-01 3.03191690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89925415399995 meters Centerline goodness [0,1] 0.9987228073114047 Centerline is valid? [True, True] Translation: X:332.79, Y:5.05, Z:3.03 [[ 9.98368270e-01 -5.15578105e-02 -2.45477057e-02 3.32792137e+02] [ 5.15625583e-02 9.98669670e-01 -4.39937790e-04 5.04937526e+00] [ 2.45377314e-02 -8.26522576e-04 9.99698563e-01 3.02927230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.929254154 meters Centerline goodness [0,1] 0.9988030742093991 Centerline is valid? [True, True] Translation: X:332.82, Y:5.05, Z:3.03 [[ 9.98301340e-01 -5.30292267e-02 -2.41316401e-02 3.32822135e+02] [ 5.30342482e-02 9.98592600e-01 -4.32313470e-04 5.05376723e+00] [ 2.41206025e-02 -8.48224273e-04 9.99708696e-01 3.03207869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.95925415399995 meters Centerline goodness [0,1] 0.9986993097950364 Centerline is valid? [True, True] Translation: X:332.85, Y:5.05, Z:3.03 [[ 9.98276497e-01 -5.35491355e-02 -2.40109684e-02 3.32852404e+02] [ 5.35542570e-02 9.98564848e-01 -4.30151660e-04 5.05461476e+00] [ 2.39995432e-02 -8.56479277e-04 9.99711603e-01 3.03279423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.989254154 meters Centerline goodness [0,1] 0.998739787024007 Centerline is valid? [True, True] Translation: X:332.88, Y:5.05, Z:3.03 [[ 9.98251042e-01 -5.39607934e-02 -2.41472401e-02 3.32882567e+02] [ 5.39661143e-02 9.98542674e-01 -4.31726932e-04 5.05369023e+00] [ 2.41353460e-02 -8.72160861e-04 9.99708320e-01 3.03271309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.01925415399995 meters Centerline goodness [0,1] 0.998653566995561 Centerline is valid? [True, True] Translation: X:332.91, Y:5.05, Z:3.03 [[ 9.98229896e-01 -5.42000122e-02 -2.44833440e-02 3.32913160e+02] [ 5.42055679e-02 9.98529702e-01 -4.37179806e-04 5.05465251e+00] [ 2.44710414e-02 -8.90727616e-04 9.99700142e-01 3.03374294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.049254154 meters Centerline goodness [0,1] 0.9987393104027903 Centerline is valid? [True, True] Translation: X:332.94, Y:5.06, Z:3.03 [[ 9.98230192e-01 -5.38033071e-02 -2.53315580e-02 3.32943172e+02] [ 5.38091272e-02 9.98551137e-01 -4.52325694e-04 5.05520891e+00] [ 2.53191926e-02 -9.11543859e-04 9.99679002e-01 3.03399380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07925415399995 meters Centerline goodness [0,1] 0.9986125126135217 Centerline is valid? [True, True] Translation: X:332.97, Y:5.06, Z:3.04 [[ 9.98225620e-01 -5.33885434e-02 -2.63680567e-02 3.32973739e+02] [ 5.33947054e-02 9.98573374e-01 -4.70833636e-04 5.05811907e+00] [ 2.63555765e-02 -9.37916421e-04 9.99652191e-01 3.03533058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.109254154 meters Centerline goodness [0,1] 0.9987432975871313 Centerline is valid? [True, True] Translation: X:333.00, Y:5.06, Z:3.04 [[ 9.98248928e-01 -5.35189944e-02 -2.51951224e-02 3.33003948e+02] [ 5.35246615e-02 9.98566427e-01 -4.49889472e-04 5.06034172e+00] [ 2.51830810e-02 -8.99458714e-04 9.99682451e-01 3.03710492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13925415399996 meters Centerline goodness [0,1] 0.9988236529776284 Centerline is valid? [True, True] Translation: X:333.03, Y:5.06, Z:3.04 [[ 9.98248412e-01 -5.30929469e-02 -2.61007215e-02 3.33034518e+02] [ 5.30988836e-02 9.98589150e-01 -4.66060042e-04 5.06126486e+00] [ 2.60886418e-02 -9.20675474e-04 9.99659209e-01 3.03736136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.169254154 meters Centerline goodness [0,1] 0.9987832252921308 Centerline is valid? [True, True] Translation: X:333.06, Y:5.06, Z:3.04 [[ 9.98236591e-01 -5.32978882e-02 -2.61351165e-02 3.33064748e+02] [ 5.33039107e-02 9.98578227e-01 -4.66674207e-04 5.06272728e+00] [ 2.61228311e-02 -9.27252648e-04 9.99658311e-01 3.03790097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19925415399996 meters Centerline goodness [0,1] 0.9988440521227406 Centerline is valid? [True, True] Translation: X:333.10, Y:5.06, Z:3.04 [[ 9.98228263e-01 -5.32258888e-02 -2.65958659e-02 3.33095132e+02] [ 5.32321003e-02 9.98582054e-01 -4.74901447e-04 5.06312530e+00] [ 2.65834315e-02 -9.41693756e-04 9.99646155e-01 3.03782151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22925415399993 meters Centerline goodness [0,1] 0.9986353998278504 Centerline is valid? [True, True] Translation: X:333.12, Y:5.06, Z:3.04 [[ 9.98197776e-01 -5.32436445e-02 -2.76823896e-02 3.33124965e+02] [ 5.32503721e-02 9.98581070e-01 -4.94628073e-04 5.06274312e+00] [ 2.76694460e-02 -9.80360904e-04 9.99616647e-01 3.03716431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25925415399996 meters Centerline goodness [0,1] 0.9988252816177551 Centerline is valid? [True, True] Translation: X:333.15, Y:5.06, Z:3.04 [[ 9.98188195e-01 -5.30362087e-02 -2.84163391e-02 3.33154276e+02] [ 5.30431903e-02 9.98592090e-01 -5.08582036e-04 5.06328180e+00] [ 2.84033047e-02 -9.99632699e-04 9.99596045e-01 3.03711063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28925415399993 meters Centerline goodness [0,1] 0.9986584777915191 Centerline is valid? [True, True] Translation: X:333.18, Y:5.06, Z:3.04 [[ 9.98226863e-01 -5.21623086e-02 -2.86744526e-02 3.33183705e+02] [ 5.21690288e-02 9.98638137e-01 -5.14208168e-04 5.06448320e+00] [ 2.86622242e-02 -9.82621940e-04 9.99588671e-01 3.03716596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31925415399996 meters Centerline goodness [0,1] 0.9988226884749611 Centerline is valid? [True, True] Translation: X:333.21, Y:5.07, Z:3.04 [[ 9.98328794e-01 -4.85991848e-02 -3.12688118e-02 3.33213635e+02] [ 4.86053713e-02 9.98817902e-01 -5.62669997e-04 5.07195430e+00] [ 3.12591943e-02 -9.58102548e-04 9.99510853e-01 3.04008933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34925415399994 meters Centerline goodness [0,1] 0.9987181911786337 Centerline is valid? [True, True] Translation: X:333.24, Y:5.07, Z:3.04 [[ 9.98453950e-01 -4.70424719e-02 -2.96093666e-02 3.33242015e+02] [ 4.70472717e-02 9.98892521e-01 -5.34933383e-04 5.07483589e+00] [ 2.96017395e-02 -8.58933568e-04 9.99561403e-01 3.04081449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37925415399997 meters Centerline goodness [0,1] 0.9989487184878366 Centerline is valid? [True, True] Translation: X:333.27, Y:5.07, Z:3.04 [[ 9.98567404e-01 -4.43992105e-02 -2.98638525e-02 3.33269843e+02] [ 4.44028361e-02 9.99013561e-01 -5.42082165e-04 5.07446658e+00] [ 2.98584616e-02 -7.84734167e-04 9.99553829e-01 3.03871307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40925415399994 meters Centerline goodness [0,1] 0.9987814358047776 Centerline is valid? [True, True] Translation: X:333.30, Y:5.08, Z:3.04 [[ 9.98848390e-01 -3.77219108e-02 -2.96471102e-02 3.33299439e+02] [ 3.77224967e-02 9.99288108e-01 -5.39741917e-04 5.08377594e+00] [ 2.96463647e-02 -5.79242672e-04 9.99560282e-01 3.04268407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43925415399997 meters Centerline goodness [0,1] 0.999096619676884 Centerline is valid? [True, True] Translation: X:333.33, Y:5.09, Z:3.04 [[ 9.98963228e-01 -3.44884188e-02 -2.97156168e-02 3.33328269e+02] [ 3.44874113e-02 9.99404983e-01 -5.46577444e-04 5.08646133e+00] [ 2.97167861e-02 -4.78803931e-04 9.99558244e-01 3.04304047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46925415399994 meters Centerline goodness [0,1] 0.998989792697043 Centerline is valid? [True, True] Translation: X:333.36, Y:5.09, Z:3.04 [[ 9.99076725e-01 -3.11273685e-02 -2.96105516e-02 3.33356400e+02] [ 3.11246680e-02 9.99515358e-01 -5.52219182e-04 5.08862569e+00] [ 2.96133902e-02 -3.69909254e-04 9.99561359e-01 3.04232412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49925415399997 meters Centerline goodness [0,1] 0.999034749034749 Centerline is valid? [True, True] Translation: X:333.39, Y:5.09, Z:3.04 [[ 9.99297268e-01 -2.47574835e-02 -2.81431481e-02 3.33385368e+02] [ 2.47524157e-02 9.99693472e-01 -5.28486451e-04 5.09419216e+00] [ 2.81476054e-02 -1.68495834e-04 9.99603763e-01 3.04461719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52925415399994 meters Centerline goodness [0,1] 0.9991364603298301 Centerline is valid? [True, True] Translation: X:333.41, Y:5.10, Z:3.05 [[ 9.99353600e-01 -2.25255821e-02 -2.80174882e-02 3.33413939e+02] [ 2.25195316e-02 9.99746262e-01 -5.31507441e-04 5.09632136e+00] [ 2.80223516e-02 -9.97768367e-05 9.99607292e-01 3.04513576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.559254154 meters Centerline goodness [0,1] 0.9990735866933361 Centerline is valid? [True, True] Translation: X:333.44, Y:5.10, Z:3.05 [[ 9.99407265e-01 -2.07235841e-02 -2.74891172e-02 3.33442803e+02] [ 2.07168888e-02 9.99785243e-01 -5.28366580e-04 5.09816901e+00] [ 2.74941634e-02 -4.14355862e-05 9.99621963e-01 3.04552523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.58925415399995 meters Centerline goodness [0,1] 0.9990752222619222 Centerline is valid? [True, True] Translation: X:333.47, Y:5.10, Z:3.05 [[ 9.99438989e-01 -1.87614645e-02 -2.77437236e-02 3.33471096e+02] [ 1.87536736e-02 9.99823988e-01 -5.41013153e-04 5.09917510e+00] [ 2.77489906e-02 2.04129014e-05 9.99614922e-01 3.04627844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.619254154 meters Centerline goodness [0,1] 0.9990921566557585 Centerline is valid? [True, True] Translation: X:333.50, Y:5.10, Z:3.05 [[ 9.99423414e-01 -1.89141862e-02 -2.81973889e-02 3.33500203e+02] [ 1.89059835e-02 9.99821110e-01 -5.57500969e-04 5.09919549e+00] [ 2.82028893e-02 2.40801539e-05 9.99602219e-01 3.04613674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.64925415399995 meters Centerline goodness [0,1] 0.9991138866618845 Centerline is valid? [True, True] Translation: X:333.53, Y:5.10, Z:3.05 [[ 9.99398414e-01 -1.90539743e-02 -2.89785519e-02 3.33528060e+02] [ 1.90452455e-02 9.99818456e-01 -5.77219778e-04 5.09892661e+00] [ 2.89842893e-02 2.49688957e-05 9.99579867e-01 3.04551890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.679254154 meters Centerline goodness [0,1] 0.9991170906033214 Centerline is valid? [True, True] Translation: X:333.56, Y:5.10, Z:3.05 [[ 9.99370617e-01 -1.98574020e-02 -2.93947977e-02 3.33555733e+02] [ 1.98485714e-02 9.99802822e-01 -5.92196653e-04 5.09874744e+00] [ 2.94007612e-02 8.37919335e-06 9.99567704e-01 3.04522895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.70925415399995 meters Centerline goodness [0,1] 0.9990316197212749 Centerline is valid? [True, True] Translation: X:333.58, Y:5.10, Z:3.05 [[ 9.99292227e-01 -2.25862730e-02 -3.00816559e-02 3.33584319e+02] [ 2.25780185e-02 9.99744895e-01 -6.14087978e-04 5.09735330e+00] [ 3.00878519e-02 -6.55308398e-05 9.99547256e-01 3.04575758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.739254154 meters Centerline goodness [0,1] 0.9990726690271455 Centerline is valid? [True, True] Translation: X:333.61, Y:5.10, Z:3.05 [[ 9.99247607e-01 -2.45165287e-02 -3.00526035e-02 3.33611142e+02] [ 2.45089668e-02 9.99699418e-01 -6.20012396e-04 5.09619589e+00] [ 3.00587708e-02 -1.17012358e-04 9.99548126e-01 3.04556612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.76925415399995 meters Centerline goodness [0,1] 0.9991359325605901 Centerline is valid? [True, True] Translation: X:333.64, Y:5.09, Z:3.04 [[ 9.99127030e-01 -2.95903971e-02 -2.94887600e-02 3.33639078e+02] [ 2.95852188e-02 9.99562074e-01 -6.11992427e-04 5.09062519e+00] [ 2.94939552e-02 -2.60973243e-04 9.99564925e-01 3.04420589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.799254154 meters Centerline goodness [0,1] 0.998948099215282 Centerline is valid? [True, True] Translation: X:333.67, Y:5.09, Z:3.05 [[ 9.99035087e-01 -3.29136435e-02 -2.90789947e-02 3.33667594e+02] [ 3.29098468e-02 9.99458139e-01 -6.09278819e-04 5.08873568e+00] [ 2.90832915e-02 -3.48294343e-04 9.99576931e-01 3.04642541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.82925415399995 meters Centerline goodness [0,1] 0.998845483742312 Centerline is valid? [True, True] Translation: X:333.70, Y:5.09, Z:3.05 [[ 9.98921292e-01 -3.63201342e-02 -2.89326756e-02 3.33696416e+02] [ 3.63175917e-02 9.99340110e-01 -6.13537994e-04 5.08595510e+00] [ 2.89358670e-02 -4.37888932e-04 9.99581174e-01 3.04712550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.859254154 meters Centerline goodness [0,1] 0.9990767745861222 Centerline is valid? [True, True] Translation: X:333.72, Y:5.08, Z:3.05 [[ 9.98824829e-01 -4.00756420e-02 -2.72562613e-02 3.33724785e+02] [ 4.00745960e-02 9.99196520e-01 -5.84840544e-04 5.08394729e+00] [ 2.72577992e-02 -5.08130400e-04 9.99628308e-01 3.04764272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.88925415399996 meters Centerline goodness [0,1] 0.9987829444351184 Centerline is valid? [True, True] Translation: X:333.75, Y:5.08, Z:3.05 [[ 9.98622523e-01 -4.48681288e-02 -2.72012260e-02 3.33754535e+02] [ 4.48687800e-02 9.98992717e-01 -5.86723666e-04 5.07923468e+00] [ 2.72001519e-02 -6.34570358e-04 9.99629806e-01 3.04844216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.919254154 meters Centerline goodness [0,1] 0.99882661079099 Centerline is valid? [True, True] Translation: X:333.78, Y:5.08, Z:3.05 [[ 9.98556356e-01 -4.73755415e-02 -2.53132894e-02 3.33783297e+02] [ 4.73767966e-02 9.98876937e-01 -5.50479088e-04 5.07896744e+00] [ 2.53109403e-02 -6.49578172e-04 9.99679416e-01 3.04892552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.94925415399996 meters Centerline goodness [0,1] 0.99903648778853 Centerline is valid? [True, True] Translation: X:333.81, Y:5.08, Z:3.05 [[ 9.98493778e-01 -4.89058184e-02 -2.48675655e-02 3.33813072e+02] [ 4.89074370e-02 9.98803167e-01 -5.43469980e-04 5.07690120e+00] [ 2.48643821e-02 -6.73557501e-04 9.99690607e-01 3.04875124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97925415399993 meters Centerline goodness [0,1] 0.9987023587768685 Centerline is valid? [True, True] Translation: X:333.84, Y:5.07, Z:3.05 [[ 9.98379865e-01 -5.10895400e-02 -2.50500251e-02 3.33842117e+02] [ 5.10918506e-02 9.98693808e-01 -5.48196874e-04 5.07345345e+00] [ 2.50453121e-02 -7.32543418e-04 9.99686049e-01 3.04890761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.00925415399996 meters Centerline goodness [0,1] 0.9988702456169715 Centerline is valid? [True, True] Translation: X:333.87, Y:5.07, Z:3.05 [[ 9.98343076e-01 -5.27238207e-02 -2.30499570e-02 3.33872609e+02] [ 5.27262046e-02 9.98608879e-01 -5.04737771e-04 5.07398403e+00] [ 2.30445034e-02 -7.11435287e-04 9.99734187e-01 3.04941450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03925415399993 meters Centerline goodness [0,1] 0.9987866870280108 Centerline is valid? [True, True] Translation: X:333.90, Y:5.07, Z:3.05 [[ 9.98212081e-01 -5.52360554e-02 -2.28389959e-02 3.33903062e+02] [ 5.52390525e-02 9.98473033e-01 -5.00118239e-04 5.07164688e+00] [ 2.28317461e-02 -7.62380427e-04 9.99739031e-01 3.05005161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06925415399996 meters Centerline goodness [0,1] 0.9987660259761989 Centerline is valid? [True, True] Translation: X:333.93, Y:5.07, Z:3.05 [[ 9.98137997e-01 -5.67770073e-02 -2.22914941e-02 3.33933831e+02] [ 5.67802513e-02 9.98386581e-01 -4.87894765e-04 5.06865055e+00] [ 2.22832297e-02 -7.78730331e-04 9.99751395e-01 3.04907772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09925415399994 meters Centerline goodness [0,1] 0.9987648117908136 Centerline is valid? [True, True] Translation: X:333.96, Y:5.07, Z:3.05 [[ 9.98041280e-01 -5.84560622e-02 -2.22821193e-02 3.33964569e+02] [ 5.84597304e-02 9.98289649e-01 -4.87283665e-04 5.07058740e+00] [ 2.22724937e-02 -8.16277472e-04 9.99751604e-01 3.05008201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12925415399997 meters Centerline goodness [0,1] 0.9987240896065595 Centerline is valid? [True, True] Translation: X:334.00, Y:5.07, Z:3.05 [[ 9.97959794e-01 -5.95337159e-02 -2.30648324e-02 3.33995971e+02] [ 5.95379497e-02 9.98225916e-01 -5.03714057e-04 5.07091768e+00] [ 2.30539014e-02 -8.70546453e-04 9.99733844e-01 3.05060716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15925415399994 meters Centerline goodness [0,1] 0.9987869154187233 Centerline is valid? [True, True] Translation: X:334.03, Y:5.07, Z:3.05 [[ 9.97768064e-01 -6.27607529e-02 -2.28030306e-02 3.34025999e+02] [ 6.27657639e-02 9.98028162e-01 -4.96608663e-04 5.06781073e+00] [ 2.27892342e-02 -9.35749367e-04 9.99739854e-01 3.04920606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18925415399997 meters Centerline goodness [0,1] 0.9988906099552057 Centerline is valid? [True, True] Translation: X:334.06, Y:5.07, Z:3.05 [[ 9.97692387e-01 -6.38350971e-02 -2.31296653e-02 3.34056956e+02] [ 6.38405752e-02 9.97959984e-01 -5.02240551e-04 5.06696515e+00] [ 2.31145410e-02 -9.75529560e-04 9.99732347e-01 3.04865613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21925415399994 meters Centerline goodness [0,1] 0.998847757316741 Centerline is valid? [True, True] Translation: X:334.09, Y:5.07, Z:3.05 [[ 9.97585139e-01 -6.52034936e-02 -2.39247918e-02 3.34088236e+02] [ 6.52097729e-02 9.97871443e-01 -5.18452365e-04 5.06820096e+00] [ 2.39076714e-02 -1.04292987e-03 9.99713627e-01 3.04809865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24925415399997 meters Centerline goodness [0,1] 0.9988910045824527 Centerline is valid? [True, True] Translation: X:334.12, Y:5.07, Z:3.05 [[ 9.97565439e-01 -6.53944414e-02 -2.42231707e-02 3.34119803e+02] [ 6.54009564e-02 9.97858928e-01 -5.24019247e-04 5.07107771e+00] [ 2.42055751e-02 -1.06147504e-03 9.99706439e-01 3.04844336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27925415399994 meters Centerline goodness [0,1] 0.9987021414665801 Centerline is valid? [True, True] Translation: X:334.15, Y:5.07, Z:3.05 [[ 9.97579091e-01 -6.52174614e-02 -2.41379420e-02 3.34150968e+02] [ 6.52239295e-02 9.97870517e-01 -5.20082541e-04 5.07177582e+00] [ 2.41204591e-02 -1.05554796e-03 9.99708502e-01 3.04847469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.309254154 meters Centerline goodness [0,1] 0.9988041790794276 Centerline is valid? [True, True] Translation: X:334.18, Y:5.07, Z:3.05 [[ 9.97606463e-01 -6.46310000e-02 -2.45800671e-02 3.34181930e+02] [ 6.46375711e-02 9.97908666e-01 -5.27922031e-04 5.07396457e+00] [ 2.45627821e-02 -1.06213740e-03 9.99697725e-01 3.04897051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33925415399995 meters Centerline goodness [0,1] 0.9988070821648319 Centerline is valid? [True, True] Translation: X:334.21, Y:5.08, Z:3.05 [[ 9.97669959e-01 -6.36876050e-02 -2.44651066e-02 3.34213116e+02] [ 6.36938536e-02 9.97969347e-01 -5.24553572e-04 5.07653429e+00] [ 2.44488340e-02 -1.03494558e-03 9.99700547e-01 3.04972830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.369254154 meters Centerline goodness [0,1] 0.9988056574122577 Centerline is valid? [True, True] Translation: X:334.24, Y:5.08, Z:3.05 [[ 9.97830973e-01 -6.12514767e-02 -2.41165211e-02 3.34243229e+02] [ 6.12568528e-02 9.98121902e-01 -5.16469832e-04 5.07991080e+00] [ 2.41028625e-02 -9.61952590e-04 9.99709021e-01 3.05059182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39925415399995 meters Centerline goodness [0,1] 0.9986775541048301 Centerline is valid? [True, True] Translation: X:334.27, Y:5.08, Z:3.05 [[ 9.97933188e-01 -5.96928894e-02 -2.37930879e-02 3.34274601e+02] [ 5.96976963e-02 9.98216372e-01 -5.08846852e-04 5.08286673e+00] [ 2.37810244e-02 -9.12597376e-04 9.99716775e-01 3.05122829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.429254154 meters Centerline goodness [0,1] 0.9989918719677399 Centerline is valid? [True, True] Translation: X:334.31, Y:5.09, Z:3.05 [[ 9.98038101e-01 -5.79049407e-02 -2.38110855e-02 3.34306082e+02] [ 5.79092676e-02 9.98321721e-01 -5.08359662e-04 5.08583102e+00] [ 2.38005604e-02 -8.71520211e-04 9.99716347e-01 3.05207751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.45925415399995 meters Centerline goodness [0,1] 0.9989918719677399 Centerline is valid? [True, True] Translation: X:334.34, Y:5.09, Z:3.05 [[ 9.98040219e-01 -5.78684055e-02 -2.38111041e-02 3.34336943e+02] [ 5.78727428e-02 9.98323839e-01 -5.07487927e-04 5.08645934e+00] [ 2.38005604e-02 -8.71520542e-04 9.99716347e-01 3.05236659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.489254154 meters Centerline goodness [0,1] 0.9986140568236702 Centerline is valid? [True, True] Translation: X:334.37, Y:5.09, Z:3.05 [[ 9.98171076e-01 -5.59557879e-02 -2.28790715e-02 3.34366902e+02] [ 5.59593034e-02 9.98432932e-01 -4.87048480e-04 5.08822982e+00] [ 2.28704716e-02 -7.94139199e-04 9.99738121e-01 3.05268921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.51925415399995 meters Centerline goodness [0,1] 0.9987846785684351 Centerline is valid? [True, True] Translation: X:334.40, Y:5.09, Z:3.05 [[ 9.98466705e-01 -5.10632862e-02 -2.13723859e-02 3.34396651e+02] [ 5.10652372e-02 9.98695216e-01 -4.54815309e-04 5.09319493e+00] [ 2.13677239e-02 -6.37268014e-04 9.99771481e-01 3.05378401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.549254154 meters Centerline goodness [0,1] 0.9988038277511961 Centerline is valid? [True, True] Translation: X:334.43, Y:5.10, Z:3.06 [[ 9.98619410e-01 -4.82451934e-02 -2.07767919e-02 3.34427909e+02] [ 4.82464363e-02 9.98835365e-01 -4.41726328e-04 5.09769193e+00] [ 2.07739057e-02 -5.61289679e-04 9.99784042e-01 3.05519706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57925415399995 meters Centerline goodness [0,1] 0.9987611808675934 Centerline is valid? [True, True] Translation: X:334.46, Y:5.10, Z:3.06 [[ 9.98857026e-01 -4.35340559e-02 -1.97339041e-02 3.34458216e+02] [ 4.35342681e-02 9.99051846e-01 -4.19042923e-04 5.10254744e+00] [ 1.97334360e-02 -4.40537105e-04 9.99805180e-01 3.05614678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.609254154 meters Centerline goodness [0,1] 0.9988860163524392 Centerline is valid? [True, True] Translation: X:334.49, Y:5.11, Z:3.06 [[ 9.98935543e-01 -4.17801201e-02 -1.95499798e-02 3.34489099e+02] [ 4.17800032e-02 9.99126748e-01 -4.14599189e-04 5.10567891e+00] [ 1.95502297e-02 -4.02640352e-04 9.99808795e-01 3.05686894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63925415399996 meters Centerline goodness [0,1] 0.9987625060301613 Centerline is valid? [True, True] Translation: X:334.52, Y:5.11, Z:3.06 [[ 9.98980160e-01 -4.04547175e-02 -2.00513111e-02 3.34519215e+02] [ 4.04543385e-02 9.99181298e-01 -4.24689474e-04 5.10753420e+00] [ 2.00520758e-02 -3.86906168e-04 9.99798862e-01 3.05656165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.669254154 meters Centerline goodness [0,1] 0.998989920245786 Centerline is valid? [True, True] Translation: X:334.55, Y:5.11, Z:3.06 [[ 9.98962343e-01 -4.07643261e-02 -2.03102706e-02 3.34550388e+02] [ 4.07640127e-02 9.99168710e-01 -4.29609873e-04 5.10824823e+00] [ 2.03108996e-02 -3.98764041e-04 9.99793633e-01 3.05648799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69925415399996 meters Centerline goodness [0,1] 0.9989274899057874 Centerline is valid? [True, True] Translation: X:334.58, Y:5.11, Z:3.06 [[ 9.98923106e-01 -4.14548756e-02 -2.08355693e-02 3.34581202e+02] [ 4.14547074e-02 9.99140287e-01 -4.40171347e-04 5.10758714e+00] [ 2.08359040e-02 -4.24035101e-04 9.99782819e-01 3.05597463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72925415399993 meters Centerline goodness [0,1] 0.9987804621627873 Centerline is valid? [True, True] Translation: X:334.61, Y:5.11, Z:3.06 [[ 9.98803262e-01 -4.41959365e-02 -2.09466732e-02 3.34611337e+02] [ 4.41963766e-02 9.99022765e-01 -4.42149212e-04 5.10570298e+00] [ 2.09457446e-02 -4.84146983e-04 9.99780497e-01 3.05540980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75925415399996 meters Centerline goodness [0,1] 0.9987180295483681 Centerline is valid? [True, True] Translation: X:334.64, Y:5.11, Z:3.06 [[ 9.98722011e-01 -4.58265186e-02 -2.13137146e-02 3.34641952e+02] [ 4.58273489e-02 9.98949274e-01 -4.49731085e-04 5.10557517e+00] [ 2.13119293e-02 -5.27594703e-04 9.99772736e-01 3.05591604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78925415399993 meters Centerline goodness [0,1] 0.9987396811393282 Centerline is valid? [True, True] Translation: X:334.67, Y:5.10, Z:3.06 [[ 9.98668440e-01 -4.70833719e-02 -2.10832189e-02 3.34672330e+02] [ 4.70844642e-02 9.98890813e-01 -4.44867499e-04 5.10476596e+00] [ 2.10807796e-02 -5.48416935e-04 9.99777625e-01 3.05649813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81925415399996 meters Centerline goodness [0,1] 0.9985927326191977 Centerline is valid? [True, True] Translation: X:334.70, Y:5.10, Z:3.06 [[ 9.98633027e-01 -4.81284281e-02 -2.03895241e-02 3.34702709e+02] [ 4.81296710e-02 9.98841003e-01 -4.30042477e-04 5.10309158e+00] [ 2.03865900e-02 -5.51886469e-04 9.99792020e-01 3.05646538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84925415399994 meters Centerline goodness [0,1] 0.9989711286089239 Centerline is valid? [True, True] Translation: X:334.73, Y:5.11, Z:3.06 [[ 9.98618210e-01 -4.86877860e-02 -1.97780352e-02 3.34734620e+02] [ 4.86890834e-02 9.98813897e-01 -4.16219180e-04 5.10947266e+00] [ 1.97748412e-02 -5.47330351e-04 9.99804309e-01 3.05980162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87925415399997 meters Centerline goodness [0,1] 0.998866879301662 Centerline is valid? [True, True] Translation: X:334.77, Y:5.11, Z:3.06 [[ 9.98653653e-01 -4.82337460e-02 -1.90889263e-02 3.34767188e+02] [ 4.82348980e-02 9.98835940e-01 -4.00333412e-04 5.10975658e+00] [ 1.90860152e-02 -5.20957990e-04 9.99817710e-01 3.05998509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90925415399994 meters Centerline goodness [0,1] 0.9986811806573163 Centerline is valid? [True, True] Translation: X:334.80, Y:5.11, Z:3.06 [[ 9.98683671e-01 -4.76804842e-02 -1.89075669e-02 3.34798194e+02] [ 4.76815381e-02 9.98862510e-01 -3.95326533e-04 5.10856478e+00] [ 1.89049091e-02 -5.06735719e-04 9.99821158e-01 3.05963012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93925415399997 meters Centerline goodness [0,1] 0.9987608686520771 Centerline is valid? [True, True] Translation: X:334.83, Y:5.11, Z:3.06 [[ 9.98743720e-01 -4.67688898e-02 -1.79903308e-02 3.34829252e+02] [ 4.67697105e-02 9.98905628e-01 -3.75344628e-04 5.11211711e+00] [ 1.79881972e-02 -4.66529475e-04 9.99838090e-01 3.06098019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96925415399994 meters Centerline goodness [0,1] 0.9987812565665055 Centerline is valid? [True, True] Translation: X:334.86, Y:5.11, Z:3.06 [[ 9.98819747e-01 -4.56603414e-02 -1.65603549e-02 3.34860198e+02] [ 4.56608963e-02 9.98956938e-01 -3.44799534e-04 5.11271001e+00] [ 1.65588251e-02 -4.11768063e-04 9.99862808e-01 3.06134458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99925415399997 meters Centerline goodness [0,1] 0.9988257742551006 Centerline is valid? [True, True] Translation: X:334.89, Y:5.11, Z:3.06 [[ 9.98842629e-01 -4.52660494e-02 -1.62599613e-02 3.34892474e+02] [ 4.52665483e-02 9.98974887e-01 -3.37540664e-04 5.11352803e+00] [ 1.62585721e-02 -3.98882319e-04 9.99867741e-01 3.06189366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02925415399994 meters Centerline goodness [0,1] 0.998614842175957 Centerline is valid? [True, True] Translation: X:334.92, Y:5.11, Z:3.06 [[ 9.98847578e-01 -4.52530125e-02 -1.59900468e-02 3.34924861e+02] [ 4.52535119e-02 9.98975480e-01 -3.30776718e-04 5.11496227e+00] [ 1.59886334e-02 -3.93210252e-04 9.99872096e-01 3.06258679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.059254154 meters Centerline goodness [0,1] 0.9986776651344373 Centerline is valid? [True, True] Translation: X:334.96, Y:5.11, Z:3.06 [[ 9.98860659e-01 -4.51215719e-02 -1.55379222e-02 3.34957051e+02] [ 4.51220451e-02 9.98981430e-01 -3.20292289e-04 5.11402386e+00] [ 1.55365479e-02 -3.81175461e-04 9.99879228e-01 3.06270333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.08925415399995 meters Centerline goodness [0,1] 0.9986555186756859 Centerline is valid? [True, True] Translation: X:334.99, Y:5.11, Z:3.06 [[ 9.98829066e-01 -4.59197756e-02 -1.52273314e-02 3.34989693e+02] [ 4.59203397e-02 9.98945056e-01 -3.12782215e-04 5.11376760e+00] [ 1.52256303e-02 -3.86828260e-04 9.99884009e-01 3.06216033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.119254154 meters Centerline goodness [0,1] 0.9986978346249974 Centerline is valid? [True, True] Translation: X:335.02, Y:5.11, Z:3.06 [[ 9.98787598e-01 -4.66626687e-02 -1.56821122e-02 3.35022274e+02] [ 4.66633770e-02 9.98910620e-01 -3.20943546e-04 5.11363527e+00] [ 1.56800045e-02 -4.11225880e-04 9.99876977e-01 3.06189790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.14925415399995 meters Centerline goodness [0,1] 0.9985596793721037 Centerline is valid? [True, True] Translation: X:335.05, Y:5.11, Z:3.06 [[ 9.98772700e-01 -4.68581278e-02 -1.60439895e-02 3.35053660e+02] [ 4.68589118e-02 9.98901464e-01 -3.27262105e-04 5.11253485e+00] [ 1.60416995e-02 -4.24943435e-04 9.99871233e-01 3.06138716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.179254154 meters Centerline goodness [0,1] 0.9988041038121813 Centerline is valid? [True, True] Translation: X:335.08, Y:5.11, Z:3.06 [[ 9.98773960e-01 -4.68435010e-02 -1.60082269e-02 3.35084413e+02] [ 4.68442937e-02 9.98902150e-01 -3.25652501e-04 5.11093522e+00] [ 1.60059070e-02 -4.24640847e-04 9.99871807e-01 3.06074172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.20925415399995 meters Centerline goodness [0,1] 0.9987826378977416 Centerline is valid? [True, True] Translation: X:335.12, Y:5.11, Z:3.06 [[ 9.98846071e-01 -4.51456879e-02 -1.63827441e-02 3.35116423e+02] [ 4.51463070e-02 9.98980330e-01 -3.32233036e-04 5.11409100e+00] [ 1.63810380e-02 -4.07770731e-04 9.99865739e-01 3.06065036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.239254154 meters Centerline goodness [0,1] 0.9988893545683152 Centerline is valid? [True, True] Translation: X:335.15, Y:5.11, Z:3.06 [[ 9.98921233e-01 -4.34720948e-02 -1.63262769e-02 3.35147595e+02] [ 4.34725037e-02 9.99054569e-01 -3.30014574e-04 5.11444728e+00] [ 1.63251879e-02 -3.80085566e-04 9.99866663e-01 3.06030994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.26925415399995 meters Centerline goodness [0,1] 0.9989734135048501 Centerline is valid? [True, True] Translation: X:335.18, Y:5.12, Z:3.06 [[ 9.99134280e-01 -3.86383844e-02 -1.54196879e-02 3.35179116e+02] [ 3.86381846e-02 9.99253218e-01 -3.10979202e-04 5.11775442e+00] [ 1.54201885e-02 -2.85078767e-04 9.99881061e-01 3.06059197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.299254154 meters Centerline goodness [0,1] 0.998826709128622 Centerline is valid? [True, True] Translation: X:335.21, Y:5.12, Z:3.06 [[ 9.99252969e-01 -3.57079087e-02 -1.47800325e-02 3.35210015e+02] [ 3.57074125e-02 9.99362243e-01 -2.97548902e-04 5.12032698e+00] [ 1.47812312e-02 -2.30430092e-04 9.99890725e-01 3.06128437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.32925415399995 meters Centerline goodness [0,1] 0.9987446122944302 Centerline is valid? [True, True] Translation: X:335.24, Y:5.12, Z:3.06 [[ 9.99361754e-01 -3.28240225e-02 -1.40949591e-02 3.35240714e+02] [ 3.28232903e-02 9.99461130e-01 -2.83340878e-04 5.12230296e+00] [ 1.40966642e-02 -1.79482898e-04 9.99900621e-01 3.06163707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.359254154 meters Centerline goodness [0,1] 0.9988483363695374 Centerline is valid? [True, True] Translation: X:335.27, Y:5.13, Z:3.06 [[ 9.99467467e-01 -2.96844418e-02 -1.35504892e-02 3.35271634e+02] [ 2.96834808e-02 9.99559311e-01 -2.72076211e-04 5.12512426e+00] [ 1.35525941e-02 -1.30294365e-04 9.99908151e-01 3.06221888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.38925415399996 meters Centerline goodness [0,1] 0.9991624790619765 Centerline is valid? [True, True] Translation: X:335.30, Y:5.13, Z:3.06 [[ 9.99551414e-01 -2.69033887e-02 -1.31596951e-02 3.35301550e+02] [ 2.69022491e-02 9.99638034e-01 -2.63643571e-04 5.12678459e+00] [ 1.31620247e-02 -9.05000920e-05 9.99913373e-01 3.06244651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.419254154 meters Centerline goodness [0,1] 0.9989728539985326 Centerline is valid? [True, True] Translation: X:335.33, Y:5.13, Z:3.06 [[ 9.99668523e-01 -2.26184999e-02 -1.22982873e-02 3.35331417e+02] [ 2.26171881e-02 9.99744168e-01 -2.45756656e-04 5.12904468e+00] [ 1.23006997e-02 -3.24774843e-05 9.99924343e-01 3.06231693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.44925415399996 meters Centerline goodness [0,1] 0.9989722723268594 Centerline is valid? [True, True] Translation: X:335.36, Y:5.13, Z:3.06 [[ 9.99700292e-01 -2.12073343e-02 -1.22300869e-02 3.35361458e+02] [ 2.12059334e-02 9.99775099e-01 -2.44226076e-04 5.12996762e+00] [ 1.22325157e-02 -1.51975273e-05 9.99925180e-01 3.06269894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47925415399993 meters Centerline goodness [0,1] 0.9988473951129553 Centerline is valid? [True, True] Translation: X:335.39, Y:5.13, Z:3.06 [[ 9.99718492e-01 -2.02815532e-02 -1.23124305e-02 3.35392148e+02] [ 2.02800631e-02 9.99794308e-01 -2.45870420e-04 5.12924840e+00] [ 1.23148846e-02 -3.89566260e-06 9.99924169e-01 3.06257323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.50925415399996 meters Centerline goodness [0,1] 0.9989102187945343 Centerline is valid? [True, True] Translation: X:335.42, Y:5.13, Z:3.06 [[ 9.99704812e-01 -2.09698674e-02 -1.22699963e-02 3.35421289e+02] [ 2.09684389e-02 9.99780108e-01 -2.45076100e-04 5.12880664e+00] [ 1.22724375e-02 -1.22789111e-05 9.99924691e-01 3.06214977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53925415399993 meters Centerline goodness [0,1] 0.9989095103281954 Centerline is valid? [True, True] Translation: X:335.45, Y:5.13, Z:3.06 [[ 9.99676014e-01 -2.21716168e-02 -1.25014429e-02 3.35451691e+02] [ 2.21702256e-02 9.99754179e-01 -2.49873272e-04 5.12779338e+00] [ 1.25039099e-02 -2.73674922e-05 9.99921823e-01 3.06195269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56925415399996 meters Centerline goodness [0,1] 0.9990375562297311 Centerline is valid? [True, True] Translation: X:335.48, Y:5.12, Z:3.06 [[ 9.99563445e-01 -2.61118563e-02 -1.38235276e-02 3.35482548e+02] [ 2.61105321e-02 9.99659024e-01 -2.76298512e-04 5.12377609e+00] [ 1.38260287e-02 -8.47617674e-05 9.99904412e-01 3.06092086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59925415399994 meters Centerline goodness [0,1] 0.9988461377082197 Centerline is valid? [True, True] Translation: X:335.51, Y:5.12, Z:3.06 [[ 9.99486930e-01 -2.86964035e-02 -1.42265258e-02 3.35513238e+02] [ 2.86952627e-02 9.99588166e-01 -2.84353461e-04 5.12184065e+00] [ 1.42288267e-02 -1.24026327e-04 9.99898757e-01 3.06077364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62925415399997 meters Centerline goodness [0,1] 0.9989728109343228 Centerline is valid? [True, True] Translation: X:335.54, Y:5.12, Z:3.06 [[ 9.99400865e-01 -3.13667545e-02 -1.46300332e-02 3.35543723e+02] [ 3.13658382e-02 9.99507928e-01 -2.92133852e-04 5.11934905e+00] [ 1.46319975e-02 -1.66924431e-04 9.99892933e-01 3.06054850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65925415399994 meters Centerline goodness [0,1] 0.9989330990335132 Centerline is valid? [True, True] Translation: X:335.57, Y:5.12, Z:3.06 [[ 9.99316991e-01 -3.40729553e-02 -1.43032966e-02 3.35573952e+02] [ 3.40723650e-02 9.99419328e-01 -2.85025245e-04 5.11644220e+00] [ 1.43047027e-02 -2.02516572e-04 9.99897662e-01 3.06031352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68925415399997 meters Centerline goodness [0,1] 0.998727549594276 Centerline is valid? [True, True] Translation: X:335.60, Y:5.11, Z:3.06 [[ 9.99120334e-01 -3.96014548e-02 -1.37942743e-02 3.35604019e+02] [ 3.96014397e-02 9.99215518e-01 -2.74353806e-04 5.11036441e+00] [ 1.37943177e-02 -2.72160654e-04 9.99904817e-01 3.06030374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71925415399994 meters Centerline goodness [0,1] 0.9990585774058578 Centerline is valid? [True, True] Translation: X:335.64, Y:5.11, Z:3.06 [[ 9.99035967e-01 -4.17635791e-02 -1.35255585e-02 3.35636519e+02] [ 4.17637770e-02 9.99127477e-01 -2.67948581e-04 5.10987097e+00] [ 1.35249476e-02 -2.97188140e-04 9.99908490e-01 3.06091240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74925415399997 meters Centerline goodness [0,1] 0.9989766723054111 Centerline is valid? [True, True] Translation: X:335.67, Y:5.11, Z:3.06 [[ 9.98951353e-01 -4.37852665e-02 -1.33807666e-02 3.35668180e+02] [ 4.37856564e-02 9.99040913e-01 -2.63958237e-04 5.10646173e+00] [ 1.33794908e-02 -3.22204210e-04 9.99910439e-01 3.06100139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77925415399994 meters Centerline goodness [0,1] 0.9989133841813812 Centerline is valid? [True, True] Translation: X:335.70, Y:5.10, Z:3.06 [[ 9.98790789e-01 -4.74380036e-02 -1.29071668e-02 3.35700620e+02] [ 4.74386873e-02 9.98874120e-01 -2.53359940e-04 5.10300337e+00] [ 1.29046538e-02 -3.59245477e-04 9.99916667e-01 3.06116306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.809254154 meters Centerline goodness [0,1] 0.998766954377312 Centerline is valid? [True, True] Translation: X:335.73, Y:5.10, Z:3.06 [[ 9.98710922e-01 -4.91540993e-02 -1.26637032e-02 3.35732677e+02] [ 4.91549066e-02 9.98791136e-01 -2.47686427e-04 5.10242609e+00] [ 1.26605693e-02 -3.75116009e-04 9.99919781e-01 3.06167206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83925415399995 meters Centerline goodness [0,1] 0.998684869739479 Centerline is valid? [True, True] Translation: X:335.76, Y:5.10, Z:3.06 [[ 9.98652248e-01 -5.04070582e-02 -1.23619150e-02 3.35764998e+02] [ 5.04079342e-02 9.98728683e-01 -2.40903536e-04 5.10039356e+00] [ 1.23583423e-02 -3.82559741e-04 9.99923560e-01 3.06209858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.869254154 meters Centerline goodness [0,1] 0.9986658049990619 Centerline is valid? [True, True] Translation: X:335.80, Y:5.10, Z:3.06 [[ 9.98554130e-01 -5.23992921e-02 -1.19984631e-02 3.35796133e+02] [ 5.24002705e-02 9.98626135e-01 -2.33023581e-04 5.09627605e+00] [ 1.19941891e-02 -3.96036054e-04 9.99927989e-01 3.06240750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89925415399995 meters Centerline goodness [0,1] 0.9987074447015657 Centerline is valid? [True, True] Translation: X:335.83, Y:5.10, Z:3.06 [[ 9.98342045e-01 -5.63179435e-02 -1.18932768e-02 3.35827214e+02] [ 5.63191890e-02 9.98412788e-01 -2.30436434e-04 5.09522083e+00] [ 1.18873773e-02 -4.39765321e-04 9.99929246e-01 3.06244006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.929254154 meters Centerline goodness [0,1] 0.9985817377883452 Centerline is valid? [True, True] Translation: X:335.86, Y:5.09, Z:3.06 [[ 9.98219480e-01 -5.84931518e-02 -1.16799779e-02 3.35859127e+02] [ 5.84945051e-02 9.98287705e-01 -2.26016115e-04 5.09330686e+00] [ 1.16731987e-02 -4.57600839e-04 9.99931761e-01 3.06218833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.95925415399995 meters Centerline goodness [0,1] 0.9984158085629716 Centerline is valid? [True, True] Translation: X:335.89, Y:5.09, Z:3.06 [[ 9.98093556e-01 -6.05543334e-02 -1.19342204e-02 3.35891394e+02] [ 6.05559016e-02 9.98164781e-01 -2.30243317e-04 5.09164676e+00] [ 1.19262607e-02 -4.92883105e-04 9.99928758e-01 3.06191159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.989254154 meters Centerline goodness [0,1] 0.9986695493098287 Centerline is valid? [True, True] Translation: X:335.92, Y:5.09, Z:3.06 [[ 9.97827972e-01 -6.46335112e-02 -1.27219597e-02 3.35922515e+02] [ 6.46356339e-02 9.97908901e-01 -2.44673156e-04 5.09173575e+00] [ 1.27111709e-02 -5.78150207e-04 9.99919043e-01 3.06130490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.01925415399995 meters Centerline goodness [0,1] 0.9987064199127876 Centerline is valid? [True, True] Translation: X:335.95, Y:5.09, Z:3.06 [[ 9.97709579e-01 -6.63733330e-02 -1.30451513e-02 3.35954998e+02] [ 6.63757191e-02 9.97794669e-01 -2.50444136e-04 5.09112749e+00] [ 1.30330052e-02 -6.16010783e-04 9.99914877e-01 3.06116778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.049254154 meters Centerline goodness [0,1] 0.9984983732376741 Centerline is valid? [True, True] Translation: X:335.99, Y:5.09, Z:3.06 [[ 9.97599094e-01 -6.79509140e-02 -1.33686504e-02 3.35986158e+02] [ 6.79535735e-02 9.97688452e-01 -2.55733490e-04 5.08972003e+00] [ 1.33551254e-02 -6.53328068e-04 9.99910603e-01 3.06085305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07925415399995 meters Centerline goodness [0,1] 0.998705501618123 Centerline is valid? [True, True] Translation: X:336.02, Y:5.09, Z:3.06 [[ 9.97456548e-01 -6.99613139e-02 -1.36326910e-02 3.36018339e+02] [ 6.99642782e-02 9.97549464e-01 -2.59947418e-04 5.09152436e+00] [ 1.36174699e-02 -6.94515133e-04 9.99907037e-01 3.06112883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.109254154 meters Centerline goodness [0,1] 0.9986457769073711 Centerline is valid? [True, True] Translation: X:336.05, Y:5.09, Z:3.06 [[ 9.97409263e-01 -7.06779285e-02 -1.33937485e-02 3.36049346e+02] [ 7.06808663e-02 9.97498948e-01 -2.54487759e-04 5.09134078e+00] [ 1.33782367e-02 -6.92853298e-04 9.99910267e-01 3.06153683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13925415399996 meters Centerline goodness [0,1] 0.9987096505650482 Centerline is valid? [True, True] Translation: X:336.08, Y:5.09, Z:3.06 [[ 9.97390213e-01 -7.08654456e-02 -1.38148982e-02 3.36081475e+02] [ 7.08686008e-02 9.97485625e-01 -2.61631591e-04 5.09224538e+00] [ 1.37987030e-02 -7.18093718e-04 9.99904536e-01 3.06177826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.169254154 meters Centerline goodness [0,1] 0.9984977779632372 Centerline is valid? [True, True] Translation: X:336.11, Y:5.09, Z:3.06 [[ 9.97337101e-01 -7.14704420e-02 -1.45149280e-02 3.36113078e+02] [ 7.14740036e-02 9.97442425e-01 -2.73888142e-04 5.09429300e+00] [ 1.44973799e-02 -7.64281208e-04 9.99894615e-01 3.06180027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19925415399996 meters Centerline goodness [0,1] 0.9989138381201045 Centerline is valid? [True, True] Translation: X:336.15, Y:5.10, Z:3.06 [[ 9.97359724e-01 -7.10927928e-02 -1.48120131e-02 3.36145160e+02] [ 7.10964738e-02 9.97469405e-01 -2.78570238e-04 5.09627315e+00] [ 1.47943342e-02 -7.75247167e-04 9.99890257e-01 3.06177196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22925415399993 meters Centerline goodness [0,1] 0.9988311661205151 Centerline is valid? [True, True] Translation: X:336.18, Y:5.10, Z:3.06 [[ 9.97408429e-01 -7.03027257e-02 -1.52954839e-02 3.36176020e+02] [ 7.03065742e-02 9.97525390e-01 -2.86629134e-04 5.09772829e+00] [ 1.52777843e-02 -7.89486755e-04 9.99882976e-01 3.06163012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25925415399996 meters Centerline goodness [0,1] 0.998914676907664 Centerline is valid? [True, True] Translation: X:336.21, Y:5.10, Z:3.06 [[ 9.97459862e-01 -6.96126200e-02 -1.50966147e-02 3.36208406e+02] [ 6.96163040e-02 9.97573802e-01 -2.81982720e-04 5.10032336e+00] [ 1.50796168e-02 -7.69704072e-04 9.99886000e-01 3.06234331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28925415399993 meters Centerline goodness [0,1] 0.9988107656999792 Centerline is valid? [True, True] Translation: X:336.24, Y:5.10, Z:3.06 [[ 9.97504189e-01 -6.90416773e-02 -1.47864519e-02 3.36240972e+02] [ 6.90451646e-02 9.97613497e-01 -2.75132233e-04 5.10295826e+00] [ 1.47701596e-02 -7.46487449e-04 9.99890637e-01 3.06314730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31925415399996 meters Centerline goodness [0,1] 0.998683468121121 Centerline is valid? [True, True] Translation: X:336.27, Y:5.11, Z:3.06 [[ 9.97548985e-01 -6.84301450e-02 -1.46060632e-02 3.36273415e+02] [ 6.84334976e-02 9.97655644e-01 -2.70721991e-04 5.10624916e+00] [ 1.45903469e-02 -7.29485542e-04 9.99893289e-01 3.06390130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34925415399994 meters Centerline goodness [0,1] 0.998683468121121 Centerline is valid? [True, True] Translation: X:336.31, Y:5.11, Z:3.06 [[ 9.97553981e-01 -6.83572804e-02 -1.46060829e-02 3.36305138e+02] [ 6.83606409e-02 9.97660639e-01 -2.69655228e-04 5.10677424e+00] [ 1.45903469e-02 -7.29485541e-04 9.99893289e-01 3.06419837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37925415399997 meters Centerline goodness [0,1] 0.9985185803409352 Centerline is valid? [True, True] Translation: X:336.34, Y:5.11, Z:3.06 [[ 9.97622938e-01 -6.68932597e-02 -1.65458841e-02 3.36336802e+02] [ 6.68973928e-02 9.97759814e-01 -3.04172154e-04 5.10961989e+00] [ 1.65291653e-02 -8.03427388e-04 9.99863061e-01 3.06376961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40925415399994 meters Centerline goodness [0,1] 0.9986414463371304 Centerline is valid? [True, True] Translation: X:336.37, Y:5.11, Z:3.06 [[ 9.97686239e-01 -6.57978728e-02 -1.71116692e-02 3.36369455e+02] [ 6.58021584e-02 9.97832640e-01 -3.13076818e-04 5.11269512e+00] [ 1.70951819e-02 -8.13632335e-04 9.99853536e-01 3.06382732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43925415399997 meters Centerline goodness [0,1] 0.9986611438851931 Centerline is valid? [True, True] Translation: X:336.40, Y:5.12, Z:3.06 [[ 9.97771113e-01 -6.45244076e-02 -1.70119610e-02 3.36401500e+02] [ 6.45284844e-02 9.97915817e-01 -3.09736828e-04 5.11712119e+00] [ 1.69964905e-02 -7.88709598e-04 9.99855238e-01 3.06458629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46925415399994 meters Centerline goodness [0,1] 0.9984300755656961 Centerline is valid? [True, True] Translation: X:336.43, Y:5.12, Z:3.06 [[ 9.97857985e-01 -6.30539068e-02 -1.74254702e-02 3.36432478e+02] [ 6.30579805e-02 9.98009815e-01 -3.16122048e-04 5.11919296e+00] [ 1.74107230e-02 -7.83370050e-04 9.99848115e-01 3.06496175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49925415399997 meters Centerline goodness [0,1] 0.9986394273035543 Centerline is valid? [True, True] Translation: X:336.46, Y:5.13, Z:3.07 [[ 9.98063198e-01 -5.96624022e-02 -1.76139177e-02 3.36464051e+02] [ 5.96660543e-02 9.98218343e-01 -3.18571008e-04 5.12570943e+00] [ 1.76015425e-02 -7.32998973e-04 9.99844812e-01 3.06683184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52925415399994 meters Centerline goodness [0,1] 0.9985307081986482 Centerline is valid? [True, True] Translation: X:336.50, Y:5.13, Z:3.07 [[ 9.98183817e-01 -5.74239995e-02 -1.82085693e-02 3.36495818e+02] [ 5.74275508e-02 9.98349622e-01 -3.28217376e-04 5.12941571e+00] [ 1.81973658e-02 -7.18052265e-04 9.99834156e-01 3.06771994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.559254154 meters Centerline goodness [0,1] 0.9988041038121813 Centerline is valid? [True, True] Translation: X:336.53, Y:5.13, Z:3.07 [[ 9.98309298e-01 -5.48615224e-02 -1.92031208e-02 3.36526736e+02] [ 5.48650182e-02 9.98493721e-01 -3.45141770e-04 5.13119899e+00] [ 1.91931306e-02 -7.09021336e-04 9.99815544e-01 3.06774246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.58925415399995 meters Centerline goodness [0,1] 0.9988664987405541 Centerline is valid? [True, True] Translation: X:336.56, Y:5.14, Z:3.07 [[ 9.98563678e-01 -4.92098015e-02 -2.11890411e-02 3.36557617e+02] [ 4.92127997e-02 9.98788244e-01 -3.80240458e-04 5.14163779e+00] [ 2.11820767e-02 -6.63077725e-04 9.99775415e-01 3.06872389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.619254154 meters Centerline goodness [0,1] 0.9988649977930513 Centerline is valid? [True, True] Translation: X:336.59, Y:5.15, Z:3.07 [[ 9.98696510e-01 -4.60486375e-02 -2.20182804e-02 3.36588951e+02] [ 4.60511219e-02 9.98939006e-01 -3.94466750e-04 5.14574604e+00] [ 2.20130838e-02 -6.20013947e-04 9.99757490e-01 3.06932599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.64925415399995 meters Centerline goodness [0,1] 0.9988870690017219 Centerline is valid? [True, True] Translation: X:336.62, Y:5.15, Z:3.07 [[ 9.98852433e-01 -4.24599999e-02 -2.21577409e-02 3.36619037e+02] [ 4.24616655e-02 9.99098018e-01 -3.95518019e-04 5.14920122e+00] [ 2.21545487e-02 -5.45790448e-04 9.99754409e-01 3.06986700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.679254154 meters Centerline goodness [0,1] 0.998821598417575 Centerline is valid? [True, True] Translation: X:336.65, Y:5.16, Z:3.07 [[ 9.99107379e-01 -3.55330833e-02 -2.28439141e-02 3.36648197e+02] [ 3.55330571e-02 9.99368419e-01 -4.07187051e-04 5.15603583e+00] [ 2.28439550e-02 -4.04890517e-04 9.99738961e-01 3.07158206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.70925415399995 meters Centerline goodness [0,1] 0.9989670945846245 Centerline is valid? [True, True] Translation: X:336.68, Y:5.16, Z:3.07 [[ 9.99222150e-01 -3.26208991e-02 -2.21578916e-02 3.36677813e+02] [ 3.26201446e-02 9.99467743e-01 -3.95587431e-04 5.15979611e+00] [ 2.21590023e-02 -3.27513904e-04 9.99754406e-01 3.07281879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.739254154 meters Centerline goodness [0,1] 0.9988400784528756 Centerline is valid? [True, True] Translation: X:336.71, Y:5.16, Z:3.07 [[ 9.99298488e-01 -3.00391165e-02 -2.23647788e-02 3.36706291e+02] [ 3.00376781e-02 9.99548687e-01 -4.00321853e-04 5.16304402e+00] [ 2.23667106e-02 -2.71745006e-04 9.99749797e-01 3.07387063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.76925415399995 meters Centerline goodness [0,1] 0.9988804630235948 Centerline is valid? [True, True] Translation: X:336.73, Y:5.17, Z:3.08 [[ 9.99357652e-01 -2.82282503e-02 -2.20782741e-02 3.36734932e+02] [ 2.82263234e-02 9.99601478e-01 -3.98965936e-04 5.16674685e+00] [ 2.20807375e-02 -2.24478842e-04 9.99756166e-01 3.07577468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.799254154 meters Centerline goodness [0,1] 0.9987950024311354 Centerline is valid? [True, True] Translation: X:336.76, Y:5.17, Z:3.08 [[ 9.99403933e-01 -2.67839134e-02 -2.17807456e-02 3.36763740e+02] [ 2.67815741e-02 9.99641230e-01 -3.99145293e-04 5.17020415e+00] [ 2.17836219e-02 -1.84415275e-04 9.99762692e-01 3.07724115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.82925415399995 meters Centerline goodness [0,1] 0.9989219126537859 Centerline is valid? [True, True] Translation: X:336.79, Y:5.17, Z:3.08 [[ 9.99386733e-01 -2.73989714e-02 -2.18049363e-02 3.36791783e+02] [ 2.73966421e-02 9.99624559e-01 -4.05603927e-04 5.17086346e+00] [ 2.18078630e-02 -1.92026853e-04 9.99762162e-01 3.07744329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.859254154 meters Centerline goodness [0,1] 0.9989007504492126 Centerline is valid? [True, True] Translation: X:336.82, Y:5.17, Z:3.08 [[ 9.99274326e-01 -3.10003147e-02 -2.21314495e-02 3.36820457e+02] [ 3.09986647e-02 9.99519339e-01 -4.17698640e-04 5.16963809e+00] [ 2.21337606e-02 -2.68649856e-04 9.99754982e-01 3.07777289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.88925415399996 meters Centerline goodness [0,1] 0.9988600620632877 Centerline is valid? [True, True] Translation: X:336.85, Y:5.17, Z:3.08 [[ 9.99165376e-01 -3.39851825e-02 -2.26618340e-02 3.36848916e+02] [ 3.39840878e-02 9.99422280e-01 -4.33534541e-04 5.16863386e+00] [ 2.26634755e-02 -3.36969052e-04 9.99743094e-01 3.07803338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.919254154 meters Centerline goodness [0,1] 0.9989881316272108 Centerline is valid? [True, True] Translation: X:336.88, Y:5.17, Z:3.08 [[ 9.99042403e-01 -3.71952944e-02 -2.30388216e-02 3.36878094e+02] [ 3.71949371e-02 9.99307930e-01 -4.44175659e-04 5.16783283e+00] [ 2.30393983e-02 -4.13177203e-04 9.99734472e-01 3.07839864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.94925415399996 meters Centerline goodness [0,1] 0.9986735166547354 Centerline is valid? [True, True] Translation: X:336.91, Y:5.16, Z:3.08 [[ 9.98740843e-01 -4.39910023e-02 -2.41147364e-02 3.36908292e+02] [ 4.39925663e-02 9.99031750e-01 -4.65911393e-04 5.16452757e+00] [ 2.41118832e-02 -5.95544402e-04 9.99709089e-01 3.07814411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97925415399993 meters Centerline goodness [0,1] 0.9990296382238161 Centerline is valid? [True, True] Translation: X:336.94, Y:5.16, Z:3.08 [[ 9.98565048e-01 -4.74106734e-02 -2.49012519e-02 3.36938687e+02] [ 4.74133990e-02 9.98875236e-01 -4.81283693e-04 5.16341015e+00] [ 2.48960618e-02 -7.00059917e-04 9.99689800e-01 3.07839581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.00925415399996 meters Centerline goodness [0,1] 0.9988380690820746 Centerline is valid? [True, True] Translation: X:336.97, Y:5.16, Z:3.08 [[ 9.98187276e-01 -5.42952413e-02 -2.59651584e-02 3.36969359e+02] [ 5.43005330e-02 9.98524512e-01 -5.01757124e-04 5.15965297e+00] [ 2.59540902e-02 -9.09074366e-04 9.99662723e-01 3.07822988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03925415399993 meters Centerline goodness [0,1] 0.9988003030813268 Centerline is valid? [True, True] Translation: X:337.00, Y:5.15, Z:3.08 [[ 9.97866299e-01 -5.97930973e-02 -2.62227809e-02 3.36999906e+02] [ 5.98003987e-02 9.98210226e-01 -5.06377742e-04 5.15281545e+00] [ 2.62061259e-02 -1.06283547e-03 9.99655996e-01 3.07682212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06925415399996 meters Centerline goodness [0,1] 0.998693526635199 Centerline is valid? [True, True] Translation: X:337.03, Y:5.15, Z:3.08 [[ 9.97591018e-01 -6.37846758e-02 -2.72704055e-02 3.37031362e+02] [ 6.37940832e-02 9.97962944e-01 -5.25787003e-04 5.15324086e+00] [ 2.72483913e-02 -1.21517012e-03 9.99627955e-01 3.07801141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09925415399994 meters Centerline goodness [0,1] 0.9986735725113693 Centerline is valid? [True, True] Translation: X:337.06, Y:5.15, Z:3.08 [[ 9.97397488e-01 -6.67932344e-02 -2.71461604e-02 3.37062040e+02] [ 6.68036858e-02 9.97766002e-01 -5.22727581e-04 5.15428123e+00] [ 2.71204306e-02 -1.29209639e-03 9.99631338e-01 3.07882270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12925415399997 meters Centerline goodness [0,1] 0.9986297038052071 Centerline is valid? [True, True] Translation: X:337.09, Y:5.15, Z:3.08 [[ 9.97300715e-01 -6.79692007e-02 -2.77753618e-02 3.37093719e+02] [ 6.79806310e-02 9.97686498e-01 -5.33635973e-04 5.15480746e+00] [ 2.77473742e-02 -1.35599108e-03 9.99614048e-01 3.07925471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15925415399994 meters Centerline goodness [0,1] 0.9988208043798694 Centerline is valid? [True, True] Translation: X:337.12, Y:5.15, Z:3.08 [[ 9.97290225e-01 -6.80659172e-02 -2.79148302e-02 3.37124987e+02] [ 6.80775438e-02 9.97679890e-01 -5.34760749e-04 5.15032762e+00] [ 2.78864637e-02 -1.36706141e-03 9.99610162e-01 3.07756132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18925415399997 meters Centerline goodness [0,1] 0.9986496750780657 Centerline is valid? [True, True] Translation: X:337.16, Y:5.16, Z:3.08 [[ 9.97306717e-01 -6.79648850e-02 -2.75696642e-02 3.37157474e+02] [ 6.79762379e-02 9.97686802e-01 -5.26304647e-04 5.15548532e+00] [ 2.75416604e-02 -1.34919490e-03 9.99619746e-01 3.07964053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21925415399994 meters Centerline goodness [0,1] 0.9986496750780657 Centerline is valid? [True, True] Translation: X:337.19, Y:5.16, Z:3.08 [[ 9.97311672e-01 -6.78921196e-02 -2.75697026e-02 3.37189203e+02] [ 6.79035003e-02 9.97691756e-01 -5.24292344e-04 5.15602870e+00] [ 2.75416603e-02 -1.34919643e-03 9.99619746e-01 3.07993762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24925415399997 meters Centerline goodness [0,1] 0.9985667615133312 Centerline is valid? [True, True] Translation: X:337.22, Y:5.16, Z:3.08 [[ 9.97340439e-01 -6.72224848e-02 -2.81635779e-02 3.37221597e+02] [ 6.72341533e-02 9.97737082e-01 -5.33521057e-04 5.15708940e+00] [ 2.81357106e-02 -1.36145219e-03 9.99603185e-01 3.08019701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27925415399994 meters Centerline goodness [0,1] 0.9985667615133312 Centerline is valid? [True, True] Translation: X:337.25, Y:5.16, Z:3.08 [[ 9.97345325e-01 -6.71499259e-02 -2.81636166e-02 3.37253324e+02] [ 6.71616233e-02 9.97741968e-01 -5.31473200e-04 5.15762768e+00] [ 2.81357106e-02 -1.36145189e-03 9.99603185e-01 3.08049409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.309254154 meters Centerline goodness [0,1] 0.9986924520741506 Centerline is valid? [True, True] Translation: X:337.28, Y:5.16, Z:3.08 [[ 9.97360167e-01 -6.65681984e-02 -2.90064133e-02 3.37284254e+02] [ 6.65804518e-02 9.97780911e-01 -5.44263582e-04 5.15812527e+00] [ 2.89782761e-02 -1.38843328e-03 9.99579077e-01 3.08009376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33925415399995 meters Centerline goodness [0,1] 0.9987963764596575 Centerline is valid? [True, True] Translation: X:337.32, Y:5.16, Z:3.08 [[ 9.97384869e-01 -6.63162492e-02 -2.87328820e-02 3.37315970e+02] [ 6.63282207e-02 9.97797714e-01 -5.37300346e-04 5.15965165e+00] [ 2.87052357e-02 -1.36990570e-03 9.99586981e-01 3.08047792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.369254154 meters Centerline goodness [0,1] 0.9987539861882537 Centerline is valid? [True, True] Translation: X:337.35, Y:5.16, Z:3.08 [[ 9.97457704e-01 -6.46364083e-02 -3.00043805e-02 3.37346392e+02] [ 6.46487270e-02 9.97907926e-01 -5.60362691e-04 5.16129868e+00] [ 2.99778290e-02 -1.38080692e-03 9.99549610e-01 3.07965239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39925415399995 meters Centerline goodness [0,1] 0.9986673435715192 Centerline is valid? [True, True] Translation: X:337.38, Y:5.16, Z:3.08 [[ 9.97517226e-01 -6.31119373e-02 -3.12452739e-02 3.37378246e+02] [ 6.31245920e-02 9.98005484e-01 -5.82220294e-04 5.16329743e+00] [ 3.12196998e-02 -1.39157039e-03 9.99511578e-01 3.07951627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.429254154 meters Centerline goodness [0,1] 0.998794747637071 Centerline is valid? [True, True] Translation: X:337.41, Y:5.17, Z:3.08 [[ 9.97596125e-01 -6.19170329e-02 -3.11167638e-02 3.37408425e+02] [ 6.19290187e-02 9.98080388e-01 -5.79337775e-04 5.16566952e+00] [ 3.10929026e-02 -1.34908553e-03 9.99515588e-01 3.07977626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.45925415399995 meters Centerline goodness [0,1] 0.9988965751389891 Centerline is valid? [True, True] Translation: X:337.44, Y:5.17, Z:3.08 [[ 9.97792861e-01 -5.85230631e-02 -3.13760822e-02 3.37437970e+02] [ 5.85335979e-02 9.98285269e-01 -5.83426961e-04 5.16987828e+00] [ 3.13564246e-02 -1.25441573e-03 9.99507479e-01 3.08020313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.489254154 meters Centerline goodness [0,1] 0.9987275464975718 Centerline is valid? [True, True] Translation: X:337.47, Y:5.17, Z:3.08 [[ 9.97905854e-01 -5.64410389e-02 -3.15961448e-02 3.37467662e+02] [ 5.64506663e-02 9.98405217e-01 -5.87963429e-04 5.17296621e+00] [ 3.15789411e-02 -1.19689128e-03 9.99500544e-01 3.08068332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.51925415399995 meters Centerline goodness [0,1] 0.9987686036389886 Centerline is valid? [True, True] Translation: X:337.50, Y:5.18, Z:3.08 [[ 9.98036723e-01 -5.42822279e-02 -3.12432378e-02 3.37497050e+02] [ 5.42905517e-02 9.98525011e-01 -5.82457202e-04 5.17619455e+00] [ 3.12287715e-02 -1.11489894e-03 9.99511641e-01 3.08151673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.549254154 meters Centerline goodness [0,1] 0.9989365548631346 Centerline is valid? [True, True] Translation: X:337.53, Y:5.18, Z:3.08 [[ 9.98278677e-01 -5.01121669e-02 -3.04705425e-02 3.37525641e+02] [ 5.01181014e-02 9.98743136e-01 -5.69429678e-04 5.18174676e+00] [ 3.04607806e-02 -9.58676234e-04 9.99535503e-01 3.08292789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57925415399995 meters Centerline goodness [0,1] 0.9988090174393875 Centerline is valid? [True, True] Translation: X:337.56, Y:5.19, Z:3.09 [[ 9.98401196e-01 -4.80767841e-02 -2.97266632e-02 3.37555145e+02] [ 4.80814959e-02 9.98843261e-01 -5.56700570e-04 5.18732687e+00] [ 2.97190416e-02 -8.73491921e-04 9.99557910e-01 3.08579176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.609254154 meters Centerline goodness [0,1] 0.998746334622413 Centerline is valid? [True, True] Translation: X:337.58, Y:5.19, Z:3.08 [[ 9.98507841e-01 -4.60964530e-02 -2.92781273e-02 3.37584409e+02] [ 4.61001432e-02 9.98936672e-01 -5.49312011e-04 5.18772132e+00] [ 2.92723164e-02 -8.01233512e-04 9.99571153e-01 3.08468035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63925415399996 meters Centerline goodness [0,1] 0.9990000425513808 Centerline is valid? [True, True] Translation: X:337.61, Y:5.20, Z:3.09 [[ 9.98664699e-01 -4.31649258e-02 -2.83832362e-02 3.37614421e+02] [ 4.31671919e-02 9.99067720e-01 -5.33179212e-04 5.19674401e+00] [ 2.83797897e-02 -6.92757346e-04 9.99596973e-01 3.08910588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.669254154 meters Centerline goodness [0,1] 0.9989606753489161 Centerline is valid? [True, True] Translation: X:337.64, Y:5.20, Z:3.09 [[ 9.98702392e-01 -4.24695805e-02 -2.81045837e-02 3.37643767e+02] [ 4.24715032e-02 9.99097539e-01 -5.28791763e-04 5.19903978e+00] [ 2.81016779e-02 -6.65538318e-04 9.99604848e-01 3.08976190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69925415399996 meters Centerline goodness [0,1] 0.999000871580111 Centerline is valid? [True, True] Translation: X:337.67, Y:5.20, Z:3.09 [[ 9.98723164e-01 -4.21413658e-02 -2.78594137e-02 3.37673607e+02] [ 4.21430992e-02 9.99111447e-01 -5.25192057e-04 5.20100018e+00] [ 2.78567915e-02 -6.49560564e-04 9.99611713e-01 3.09049622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72925415399993 meters Centerline goodness [0,1] 0.9989792012249585 Centerline is valid? [True, True] Translation: X:337.70, Y:5.20, Z:3.09 [[ 9.98682690e-01 -4.31990924e-02 -2.76897601e-02 3.37702463e+02] [ 4.32011739e-02 9.99066256e-01 -5.23331235e-04 5.19808949e+00] [ 2.76865124e-02 -6.73588296e-04 9.99616428e-01 3.08753068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75925415399996 meters Centerline goodness [0,1] 0.998979635219591 Centerline is valid? [True, True] Translation: X:337.73, Y:5.20, Z:3.09 [[ 9.98635241e-01 -4.44548344e-02 -2.74121104e-02 3.37732154e+02] [ 4.44573167e-02 9.99011150e-01 -5.19190353e-04 5.19791098e+00] [ 2.74080844e-02 -7.00187089e-04 9.99624083e-01 3.08756478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78925415399993 meters Centerline goodness [0,1] 0.9989599252844286 Centerline is valid? [True, True] Translation: X:337.76, Y:5.20, Z:3.09 [[ 9.98582489e-01 -4.57468149e-02 -2.72073939e-02 3.37762723e+02] [ 4.57497308e-02 9.98952800e-01 -5.15623155e-04 5.20300609e+00] [ 2.72024904e-02 -7.29838695e-04 9.99629677e-01 3.09155223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81925415399996 meters Centerline goodness [0,1] 0.9990216096647949 Centerline is valid? [True, True] Translation: X:337.79, Y:5.20, Z:3.09 [[ 9.98465977e-01 -4.85327029e-02 -2.66508678e-02 3.37793271e+02] [ 4.85365003e-02 9.98821282e-01 -5.04757852e-04 5.20080678e+00] [ 2.66439513e-02 -7.89556314e-04 9.99644675e-01 3.09109595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84925415399994 meters Centerline goodness [0,1] 0.9992555567372116 Centerline is valid? [True, True] Translation: X:337.82, Y:5.20, Z:3.09 [[ 9.98392857e-01 -4.98747562e-02 -2.69112003e-02 3.37824264e+02] [ 4.98791374e-02 9.98755132e-01 -5.08866835e-04 5.20257577e+00] [ 2.69030790e-02 -8.34258446e-04 9.99637699e-01 3.09242059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87925415399997 meters Centerline goodness [0,1] 0.9991276781345078 Centerline is valid? [True, True] Translation: X:337.86, Y:5.20, Z:3.09 [[ 9.98324722e-01 -5.11292235e-02 -2.70841605e-02 3.37855262e+02] [ 5.11341494e-02 9.98691663e-01 -5.11139027e-04 5.20289202e+00] [ 2.70748594e-02 -8.74642780e-04 9.99633026e-01 3.09285637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90925415399994 meters Centerline goodness [0,1] 0.9991495333064019 Centerline is valid? [True, True] Translation: X:337.89, Y:5.20, Z:3.09 [[ 9.98277496e-01 -5.22558124e-02 -2.66715396e-02 3.37886598e+02] [ 5.22610167e-02 9.98633333e-01 -5.02379176e-04 5.20314123e+00] [ 2.66613407e-02 -8.92367948e-04 9.99644125e-01 3.09296186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93925415399997 meters Centerline goodness [0,1] 0.9989373233300036 Centerline is valid? [True, True] Translation: X:337.92, Y:5.20, Z:3.09 [[ 9.98221713e-01 -5.33714884e-02 -2.65498766e-02 3.37917574e+02] [ 5.33770651e-02 9.98574304e-01 -4.99116208e-04 5.20352700e+00] [ 2.65386631e-02 -9.18925854e-04 9.99647365e-01 3.09347207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96925415399994 meters Centerline goodness [0,1] 0.9988697432397851 Centerline is valid? [True, True] Translation: X:337.95, Y:5.20, Z:3.09 [[ 9.98254346e-01 -5.30612330e-02 -2.59377366e-02 3.37947480e+02] [ 5.30664672e-02 9.98590864e-01 -4.86972165e-04 5.20327647e+00] [ 2.59270262e-02 -8.90301970e-04 9.99663442e-01 3.09347248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99925415399997 meters Centerline goodness [0,1] 0.9990194824572622 Centerline is valid? [True, True] Translation: X:337.98, Y:5.20, Z:3.09 [[ 9.98291313e-01 -5.25196148e-02 -2.56153255e-02 3.37979233e+02] [ 5.25245608e-02 9.98619517e-01 -4.80167261e-04 5.20438102e+00] [ 2.56051822e-02 -8.66086917e-04 9.99671758e-01 3.09405137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02925415399994 meters Centerline goodness [0,1] 0.9990199002855074 Centerline is valid? [True, True] Translation: X:338.01, Y:5.21, Z:3.10 [[ 9.98452251e-01 -5.00226894e-02 -2.43070615e-02 3.38009805e+02] [ 5.00264425e-02 9.98747790e-01 -4.54041312e-04 5.20617175e+00] [ 2.42993363e-02 -7.62657243e-04 9.99704437e-01 3.09518340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.059254154 meters Centerline goodness [0,1] 0.9991040764521427 Centerline is valid? [True, True] Translation: X:338.04, Y:5.21, Z:3.10 [[ 9.98565962e-01 -4.80781283e-02 -2.35481037e-02 3.38041361e+02] [ 4.80811403e-02 9.98843337e-01 -4.38588057e-04 5.20861947e+00] [ 2.35419529e-02 -6.94260572e-04 9.99722609e-01 3.09654882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.08925415399995 meters Centerline goodness [0,1] 0.9989532374869154 Centerline is valid? [True, True] Translation: X:338.07, Y:5.21, Z:3.10 [[ 9.98684762e-01 -4.58357980e-02 -2.29744710e-02 3.38072717e+02] [ 4.58380905e-02 9.98948791e-01 -4.27102892e-04 5.21196467e+00] [ 2.29698966e-02 -6.26564729e-04 9.99735961e-01 3.09805832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.119254154 meters Centerline goodness [0,1] 0.9990580780510778 Centerline is valid? [True, True] Translation: X:338.10, Y:5.22, Z:3.10 [[ 9.98908314e-01 -4.10393915e-02 -2.23147590e-02 3.38104101e+02] [ 4.10403759e-02 9.99157403e-01 -4.14035129e-04 5.21888670e+00] [ 2.23129484e-02 -5.02222966e-04 9.99750909e-01 3.10040460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.14925415399995 meters Centerline goodness [0,1] 0.9991431753919973 Centerline is valid? [True, True] Translation: X:338.14, Y:5.22, Z:3.10 [[ 9.99000915e-01 -3.86975343e-02 -2.23533804e-02 3.38135466e+02] [ 3.86979548e-02 9.99250868e-01 -4.13920626e-04 5.22128523e+00] [ 2.23526524e-02 -4.51523020e-04 9.99750046e-01 3.10080635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.179254154 meters Centerline goodness [0,1] 0.9990588033968641 Centerline is valid? [True, True] Translation: X:338.17, Y:5.22, Z:3.10 [[ 9.99095649e-01 -3.62367964e-02 -2.22436361e-02 3.38165722e+02] [ 3.62366308e-02 9.99343153e-01 -4.10643911e-04 5.22102236e+00] [ 2.22439058e-02 -3.95761883e-04 9.99752495e-01 3.09955539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.20925415399995 meters Centerline goodness [0,1] 0.9991005268342827 Centerline is valid? [True, True] Translation: X:338.20, Y:5.23, Z:3.10 [[ 9.99161761e-01 -3.42378751e-02 -2.24397900e-02 3.38196828e+02] [ 3.42372284e-02 9.99413649e-01 -4.13118181e-04 5.22510454e+00] [ 2.24407766e-02 -3.55504325e-04 9.99748111e-01 3.10122459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.239254154 meters Centerline goodness [0,1] 0.9991638795986622 Centerline is valid? [True, True] Translation: X:338.23, Y:5.23, Z:3.10 [[ 9.99256410e-01 -3.10859980e-02 -2.28098257e-02 3.38225883e+02] [ 3.10845113e-02 9.99516672e-01 -4.19824354e-04 5.22626543e+00] [ 2.28118518e-02 -2.89520109e-04 9.99739734e-01 3.10027299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.26925415399995 meters Centerline goodness [0,1] 0.9991638795986622 Centerline is valid? [True, True] Translation: X:338.26, Y:5.23, Z:3.10 [[ 9.99255300e-01 -3.11216566e-02 -2.28098137e-02 3.38255034e+02] [ 3.11201643e-02 9.99515562e-01 -4.20477235e-04 5.22683280e+00] [ 2.28118497e-02 -2.89681043e-04 9.99739734e-01 3.10054619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.299254154 meters Centerline goodness [0,1] 0.9991627307857449 Centerline is valid? [True, True] Translation: X:338.28, Y:5.23, Z:3.10 [[ 9.99281317e-01 -3.01967427e-02 -2.29130021e-02 3.38284871e+02] [ 3.01949746e-02 9.99543938e-01 -4.23213842e-04 5.22869137e+00] [ 2.29153320e-02 -2.68947829e-04 9.99737373e-01 3.10165388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.32925415399995 meters Centerline goodness [0,1] 0.999184391835333 Centerline is valid? [True, True] Translation: X:338.31, Y:5.23, Z:3.10 [[ 9.99305461e-01 -2.93813132e-02 -2.29201867e-02 3.38313191e+02] [ 2.93792997e-02 9.99568245e-01 -4.24647388e-04 5.22907419e+00] [ 2.29227675e-02 -2.49026582e-04 9.99737208e-01 3.10167016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.359254154 meters Centerline goodness [0,1] 0.9990131296661804 Centerline is valid? [True, True] Translation: X:338.34, Y:5.23, Z:3.10 [[ 9.99301418e-01 -2.95217511e-02 -2.29159906e-02 3.38342609e+02] [ 2.95197489e-02 9.99564107e-01 -4.25719935e-04 5.22921724e+00] [ 2.29185697e-02 -2.51051755e-04 9.99737304e-01 3.10162871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.38925415399996 meters Centerline goodness [0,1] 0.9991842867875925 Centerline is valid? [True, True] Translation: X:338.37, Y:5.23, Z:3.10 [[ 9.99284103e-01 -3.01097789e-02 -2.29059528e-02 3.38372338e+02] [ 3.01079139e-02 9.99546563e-01 -4.26363440e-04 5.22915377e+00] [ 2.29084041e-02 -2.63592247e-04 9.99737533e-01 3.10189782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.419254154 meters Centerline goodness [0,1] 0.9991445680068435 Centerline is valid? [True, True] Translation: X:338.40, Y:5.23, Z:3.10 [[ 9.99243085e-01 -3.11399152e-02 -2.33144490e-02 3.38401482e+02] [ 3.11382374e-02 9.99514993e-01 -4.35084426e-04 5.22869390e+00] [ 2.33166898e-02 -2.91215744e-04 9.99728087e-01 3.10174669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.44925415399996 meters Centerline goodness [0,1] 0.9990808823529411 Centerline is valid? [True, True] Translation: X:338.43, Y:5.23, Z:3.10 [[ 9.99137588e-01 -3.40801493e-02 -2.37196995e-02 3.38431032e+02] [ 3.40792159e-02 9.99419036e-01 -4.43700849e-04 5.22567748e+00] [ 2.37210406e-02 -3.65030566e-04 9.99718550e-01 3.10128612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47925415399993 meters Centerline goodness [0,1] 0.9988448703687858 Centerline is valid? [True, True] Translation: X:338.46, Y:5.22, Z:3.10 [[ 9.99075391e-01 -3.58308298e-02 -2.37595305e-02 3.38460812e+02] [ 3.58303736e-02 9.99357787e-01 -4.45052660e-04 5.22399087e+00] [ 2.37602185e-02 -4.06671696e-04 9.99717603e-01 3.10082696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.50925415399996 meters Centerline goodness [0,1] 0.9991245489291739 Centerline is valid? [True, True] Translation: X:338.49, Y:5.22, Z:3.10 [[ 9.99001838e-01 -3.77371171e-02 -2.39005843e-02 3.38490890e+02] [ 3.77371903e-02 9.99287598e-01 -4.48130978e-04 5.22257745e+00] [ 2.39004686e-02 -4.54257227e-04 9.99714240e-01 3.10115822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53925415399993 meters Centerline goodness [0,1] 0.9989336290735369 Centerline is valid? [True, True] Translation: X:338.52, Y:5.22, Z:3.10 [[ 9.98820760e-01 -4.22819393e-02 -2.38605598e-02 3.38520862e+02] [ 4.22832978e-02 9.99105561e-01 -4.47813511e-04 5.21850181e+00] [ 2.38581524e-02 -5.61617724e-04 9.99715196e-01 3.10113884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56925415399996 meters Centerline goodness [0,1] 0.9989369844374522 Centerline is valid? [True, True] Translation: X:338.55, Y:5.22, Z:3.10 [[ 9.98729707e-01 -4.44810820e-02 -2.36728987e-02 3.38552462e+02] [ 4.44830447e-02 9.99010041e-01 -4.43941559e-04 5.21644998e+00] [ 2.36692105e-02 -6.09664989e-04 9.99719659e-01 3.10146409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59925415399994 meters Centerline goodness [0,1] 0.9989163231481875 Centerline is valid? [True, True] Translation: X:338.58, Y:5.21, Z:3.10 [[ 9.98633955e-01 -4.67874347e-02 -2.32628330e-02 3.38583245e+02] [ 4.67899686e-02 9.98904655e-01 -4.35668142e-04 5.21330010e+00] [ 2.32577360e-02 -6.53394226e-04 9.99729289e-01 3.10141199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62925415399997 meters Centerline goodness [0,1] 0.9989374362461748 Centerline is valid? [True, True] Translation: X:338.61, Y:5.21, Z:3.10 [[ 9.98542641e-01 -4.89711540e-02 -2.26808123e-02 3.38614142e+02] [ 4.89741344e-02 9.98799957e-01 -4.24366544e-04 5.21093521e+00] [ 2.26743761e-02 -6.87025060e-04 9.99742667e-01 3.10206944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65925415399994 meters Centerline goodness [0,1] 0.9991087154892515 Centerline is valid? [True, True] Translation: X:338.65, Y:5.21, Z:3.10 [[ 9.98407331e-01 -5.22551303e-02 -2.12650580e-02 3.38645300e+02] [ 5.22585064e-02 9.98633512e-01 -3.97290604e-04 5.20707126e+00] [ 2.12567600e-02 -7.14622315e-04 9.99773794e-01 3.10321847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68925415399997 meters Centerline goodness [0,1] 0.9988760709135635 Centerline is valid? [True, True] Translation: X:338.68, Y:5.21, Z:3.10 [[ 9.98366017e-01 -5.33468626e-02 -2.04794622e-02 3.38677427e+02] [ 5.33502466e-02 9.98575789e-01 -3.81465556e-04 5.20688017e+00] [ 2.04706451e-02 -7.11742110e-04 9.99790201e-01 3.10441279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71925415399994 meters Centerline goodness [0,1] 0.998816768086545 Centerline is valid? [True, True] Translation: X:338.71, Y:5.21, Z:3.11 [[ 9.98337422e-01 -5.40678036e-02 -1.99766149e-02 3.38709308e+02] [ 5.40711966e-02 9.98537014e-01 -3.70636682e-04 5.20579733e+00] [ 1.99674289e-02 -7.10139002e-04 9.99800379e-01 3.10519891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74925415399997 meters Centerline goodness [0,1] 0.998941642148043 Centerline is valid? [True, True] Translation: X:338.74, Y:5.20, Z:3.11 [[ 9.98329253e-01 -5.45602526e-02 -1.90231876e-02 3.38741831e+02] [ 5.45634448e-02 9.98510244e-01 -3.51570289e-04 5.20458873e+00] [ 1.90140295e-02 -6.86987744e-04 9.99818981e-01 3.10605634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77925415399994 meters Centerline goodness [0,1] 0.9988390501319261 Centerline is valid? [True, True] Translation: X:338.77, Y:5.20, Z:3.11 [[ 9.98339158e-01 -5.49070115e-02 -1.74397838e-02 3.38773805e+02] [ 5.49097686e-02 9.98491269e-01 -3.21071653e-04 5.20266443e+00] [ 1.74311009e-02 -6.37076087e-04 9.99847864e-01 3.10718238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.809254154 meters Centerline goodness [0,1] 0.9990491685507216 Centerline is valid? [True, True] Translation: X:338.81, Y:5.20, Z:3.11 [[ 9.98352096e-01 -5.49051413e-02 -1.66888540e-02 3.38805790e+02] [ 5.49076859e-02 9.98491388e-01 -3.06042039e-04 5.20161466e+00] [ 1.66804803e-02 -6.10808642e-04 9.99860685e-01 3.10753787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83925415399995 meters Centerline goodness [0,1] 0.9988588575896536 Centerline is valid? [True, True] Translation: X:338.84, Y:5.20, Z:3.11 [[ 9.98372930e-01 -5.45108390e-02 -1.67350307e-02 3.38838147e+02] [ 5.45133629e-02 9.98512994e-01 -3.05657350e-04 5.20042231e+00] [ 1.67268073e-02 -6.07122780e-04 9.99859913e-01 3.10732783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.869254154 meters Centerline goodness [0,1] 0.9988631578947369 Centerline is valid? [True, True] Translation: X:338.87, Y:5.20, Z:3.11 [[ 9.98335386e-01 -5.52006122e-02 -1.67137310e-02 3.38869433e+02] [ 5.52032444e-02 9.98475092e-01 -3.04181673e-04 5.19812066e+00] [ 1.67050351e-02 -6.18976850e-04 9.99860270e-01 3.10673271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89925415399995 meters Centerline goodness [0,1] 0.9986891900463012 Centerline is valid? [True, True] Translation: X:338.90, Y:5.20, Z:3.11 [[ 9.98314189e-01 -5.55954054e-02 -1.66712624e-02 3.38901388e+02] [ 5.55980967e-02 9.98453184e-01 -3.02356055e-04 5.19953906e+00] [ 1.66622847e-02 -6.25044121e-04 9.99860979e-01 3.10682482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.929254154 meters Centerline goodness [0,1] 0.998669623059867 Centerline is valid? [True, True] Translation: X:338.93, Y:5.20, Z:3.10 [[ 9.98270865e-01 -5.60721567e-02 -1.76406771e-02 3.38933016e+02] [ 5.60752740e-02 9.98426493e-01 -3.18269419e-04 5.19740974e+00] [ 1.76307654e-02 -6.71486714e-04 9.99844340e-01 3.10497717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.95925415399995 meters Centerline goodness [0,1] 0.9988424707986951 Centerline is valid? [True, True] Translation: X:338.97, Y:5.20, Z:3.10 [[ 9.98250934e-01 -5.61674932e-02 -1.84468457e-02 3.38965005e+02] [ 5.61709509e-02 9.98421111e-01 -3.31044591e-04 5.19688519e+00] [ 1.84363141e-02 -7.05711292e-04 9.99829788e-01 3.10419709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.989254154 meters Centerline goodness [0,1] 0.9986056534415009 Centerline is valid? [True, True] Translation: X:339.00, Y:5.20, Z:3.10 [[ 9.98247986e-01 -5.60596103e-02 -1.89282596e-02 3.38997041e+02] [ 5.60632582e-02 9.98427161e-01 -3.38276526e-04 5.19720319e+00] [ 1.89174522e-02 -7.23496046e-04 9.99820787e-01 3.10380686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.01925415399995 meters Centerline goodness [0,1] 0.9987333488146256 Centerline is valid? [True, True] Translation: X:339.03, Y:5.20, Z:3.10 [[ 9.98287817e-01 -5.51578911e-02 -1.94689768e-02 3.39028086e+02] [ 5.51616039e-02 9.98477379e-01 -3.46677951e-04 5.19643563e+00] [ 1.94584549e-02 -7.27855609e-04 9.99810401e-01 3.10294945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.049254154 meters Centerline goodness [0,1] 0.9989228234697757 Centerline is valid? [True, True] Translation: X:339.06, Y:5.20, Z:3.10 [[ 9.98339094e-01 -5.41031158e-02 -1.97966251e-02 3.39059949e+02] [ 5.41067728e-02 9.98535094e-01 -3.51235043e-04 5.19810627e+00] [ 1.97866278e-02 -7.20479821e-04 9.99803966e-01 3.10330927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07925415399995 meters Centerline goodness [0,1] 0.9988394665766374 Centerline is valid? [True, True] Translation: X:339.09, Y:5.20, Z:3.10 [[ 9.98529165e-01 -5.07397641e-02 -1.91045116e-02 3.39091489e+02] [ 5.07425775e-02 9.98711709e-01 -3.37773819e-04 5.20158705e+00] [ 1.90970379e-02 -6.32135148e-04 9.99817435e-01 3.10423336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.109254154 meters Centerline goodness [0,1] 0.9988389766106561 Centerline is valid? [True, True] Translation: X:339.12, Y:5.20, Z:3.11 [[ 9.98658568e-01 -4.84600100e-02 -1.82398678e-02 3.39122821e+02] [ 4.84622092e-02 9.98824965e-01 -3.21681556e-04 5.20409842e+00] [ 1.82340240e-02 -5.62694247e-04 9.99833588e-01 3.10566869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13925415399996 meters Centerline goodness [0,1] 0.9987310986570794 Centerline is valid? [True, True] Translation: X:339.15, Y:5.21, Z:3.11 [[ 9.98895358e-01 -4.42606076e-02 -1.57817032e-02 3.39154531e+02] [ 4.42617406e-02 9.99019930e-01 -2.77657731e-04 5.20896038e+00] [ 1.57785254e-02 -4.21174636e-04 9.99875423e-01 3.10810696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.169254154 meters Centerline goodness [0,1] 0.99867024083416 Centerline is valid? [True, True] Translation: X:339.19, Y:5.21, Z:3.11 [[ 9.99003347e-01 -4.20057490e-02 -1.50939980e-02 3.39187001e+02] [ 4.20065425e-02 9.99117301e-01 -2.64608677e-04 5.21203532e+00] [ 1.50917897e-02 -3.69701716e-04 9.99886044e-01 3.10926695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19925415399996 meters Centerline goodness [0,1] 0.9986897994547875 Centerline is valid? [True, True] Translation: X:339.22, Y:5.21, Z:3.11 [[ 9.99097732e-01 -3.99196070e-02 -1.44964294e-02 3.39219552e+02] [ 3.99201345e-02 9.99202842e-01 -2.53089129e-04 5.21419438e+00] [ 1.44949766e-02 -3.25838635e-04 9.99894889e-01 3.10991351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22925415399993 meters Centerline goodness [0,1] 0.998689965558772 Centerline is valid? [True, True] Translation: X:339.25, Y:5.22, Z:3.11 [[ 9.99172344e-01 -3.82451990e-02 -1.38539699e-02 3.39251454e+02] [ 3.82455337e-02 9.99268343e-01 -2.40874623e-04 5.21598035e+00] [ 1.38530459e-02 -2.89177211e-04 9.99904000e-01 3.11036504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25925415399996 meters Centerline goodness [0,1] 0.9987124282337049 Centerline is valid? [True, True] Translation: X:339.28, Y:5.22, Z:3.11 [[ 9.99263159e-01 -3.61758682e-02 -1.28236051e-02 3.39282624e+02] [ 3.61759953e-02 9.99345410e-01 -2.22122865e-04 5.21628886e+00] [ 1.28232464e-02 -2.41947483e-04 9.99917750e-01 3.11047293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28925415399993 meters Centerline goodness [0,1] 0.9988171929454008 Centerline is valid? [True, True] Translation: X:339.31, Y:5.22, Z:3.11 [[ 9.99293341e-01 -3.54514042e-02 -1.24906407e-02 3.39314475e+02] [ 3.54514774e-02 9.99371376e-01 -2.15623302e-04 5.21751427e+00] [ 1.24904330e-02 -2.27340738e-04 9.99921966e-01 3.11130352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31925415399996 meters Centerline goodness [0,1] 0.9988165930559371 Centerline is valid? [True, True] Translation: X:339.35, Y:5.22, Z:3.11 [[ 9.99304515e-01 -3.52824469e-02 -1.20679717e-02 3.39346444e+02] [ 3.52825133e-02 9.99377357e-01 -2.07469979e-04 5.21861247e+00] [ 1.20677777e-02 -2.18462684e-04 9.99927158e-01 3.11167766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34925415399994 meters Centerline goodness [0,1] 0.9987978234276796 Centerline is valid? [True, True] Translation: X:339.38, Y:5.22, Z:3.11 [[ 9.99309111e-01 -3.49230532e-02 -1.27153580e-02 3.39378521e+02] [ 3.49231102e-02 9.99389978e-01 -2.17624042e-04 5.21840959e+00] [ 1.27152014e-02 -2.26586160e-04 9.99919133e-01 3.11173527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37925415399997 meters Centerline goodness [0,1] 0.998671670743021 Centerline is valid? [True, True] Translation: X:339.41, Y:5.22, Z:3.11 [[ 9.99227057e-01 -3.73307190e-02 -1.23169148e-02 3.39410201e+02] [ 3.73309674e-02 9.99302934e-01 -2.09821407e-04 5.21608707e+00] [ 1.23161618e-02 -2.50143117e-04 9.99924122e-01 3.11093703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40925415399994 meters Centerline goodness [0,1] 0.9988185404755374 Centerline is valid? [True, True] Translation: X:339.44, Y:5.21, Z:3.11 [[ 9.99173527e-01 -3.85792941e-02 -1.28023572e-02 3.39442449e+02] [ 3.85796815e-02 9.99255503e-01 -2.16796360e-04 5.21492464e+00] [ 1.28011898e-02 -2.77293681e-04 9.99918023e-01 3.11051956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43925415399997 meters Centerline goodness [0,1] 0.9989234146753356 Centerline is valid? [True, True] Translation: X:339.47, Y:5.21, Z:3.11 [[ 9.99057745e-01 -4.12335319e-02 -1.35432033e-02 3.39474098e+02] [ 4.12342220e-02 9.99149482e-01 -2.28393363e-04 5.21305068e+00] [ 1.35411020e-02 -3.30265292e-04 9.99908261e-01 3.10944742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46925415399994 meters Centerline goodness [0,1] 0.9988399805960391 Centerline is valid? [True, True] Translation: X:339.51, Y:5.21, Z:3.11 [[ 9.99009945e-01 -4.22977887e-02 -1.37850196e-02 3.39505261e+02] [ 4.22986156e-02 9.99104986e-01 -2.31698614e-04 5.21048340e+00] [ 1.37824821e-02 -3.51618026e-04 9.99904955e-01 3.10889976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49925415399997 meters Centerline goodness [0,1] 0.9986326728091212 Centerline is valid? [True, True] Translation: X:339.54, Y:5.21, Z:3.11 [[ 9.98998275e-01 -4.20735280e-02 -1.52402495e-02 3.39537524e+02] [ 4.20745278e-02 9.99114442e-01 -2.55163090e-04 5.20940038e+00] [ 1.52374890e-02 -3.86318816e-04 9.99883828e-01 3.10889181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52925415399994 meters Centerline goodness [0,1] 0.9988645443458514 Centerline is valid? [True, True] Translation: X:339.57, Y:5.21, Z:3.11 [[ 9.99002946e-01 -4.26634567e-02 -1.31507929e-02 3.39569455e+02] [ 4.26642635e-02 9.99089442e-01 -2.19316496e-04 5.21049312e+00] [ 1.31481752e-02 -3.41971069e-04 9.99913501e-01 3.10899183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.559254154 meters Centerline goodness [0,1] 0.9987781756899095 Centerline is valid? [True, True] Translation: X:339.60, Y:5.21, Z:3.11 [[ 9.99060944e-01 -4.10991512e-02 -1.37146043e-02 3.39600397e+02] [ 4.10998946e-02 9.99155016e-01 -2.27761190e-04 5.20928113e+00] [ 1.37123765e-02 -3.36121481e-04 9.99905924e-01 3.10934430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.58925415399995 meters Centerline goodness [0,1] 0.9987575808625337 Centerline is valid? [True, True] Translation: X:339.63, Y:5.21, Z:3.11 [[ 9.99106545e-01 -4.04931089e-02 -1.21003936e-02 3.39632395e+02] [ 4.04936510e-02 9.99179776e-01 -2.00305723e-04 5.20980515e+00] [ 1.20985795e-02 -2.89862355e-04 9.99926767e-01 3.10961354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.619254154 meters Centerline goodness [0,1] 0.9989274222381123 Centerline is valid? [True, True] Translation: X:339.66, Y:5.21, Z:3.11 [[ 9.99255741e-01 -3.67682385e-02 -1.16644901e-02 3.39663482e+02] [ 3.67684970e-02 9.99323792e-01 -1.92364872e-04 5.21229545e+00] [ 1.16636754e-02 -2.36664066e-04 9.99931949e-01 3.11031248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.64925415399995 meters Centerline goodness [0,1] 0.998779358531863 Centerline is valid? [True, True] Translation: X:339.69, Y:5.21, Z:3.11 [[ 9.99343149e-01 -3.43985866e-02 -1.14020806e-02 3.39694933e+02] [ 3.43986844e-02 9.99408173e-01 -1.87595350e-04 5.21262946e+00] [ 1.14017856e-02 -2.04744445e-04 9.99934977e-01 3.11089391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.679254154 meters Centerline goodness [0,1] 0.9990322716371439 Centerline is valid? [True, True] Translation: X:339.73, Y:5.21, Z:3.11 [[ 9.99410637e-01 -3.23824625e-02 -1.13909736e-02 3.39727355e+02] [ 3.23824366e-02 9.99475534e-01 -1.86764360e-04 5.21494782e+00] [ 1.13910473e-02 -1.82213191e-04 9.99935103e-01 3.11149027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.70925415399995 meters Centerline goodness [0,1] 0.9989890693119353 Centerline is valid? [True, True] Translation: X:339.76, Y:5.22, Z:3.11 [[ 9.99473516e-01 -3.04949506e-02 -1.10792247e-02 3.39759424e+02] [ 3.04948187e-02 9.99534909e-01 -1.80879382e-04 5.21716886e+00] [ 1.10795878e-02 -1.57074797e-04 9.99938607e-01 3.11208136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.739254154 meters Centerline goodness [0,1] 0.999032129105561 Centerline is valid? [True, True] Translation: X:339.79, Y:5.22, Z:3.11 [[ 9.99567685e-01 -2.71775582e-02 -1.12171341e-02 3.39791622e+02] [ 2.71772235e-02 9.99630614e-01 -1.82297148e-04 5.21844720e+00] [ 1.12179451e-02 -1.22632223e-04 9.99937069e-01 3.11231714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.76925415399995 meters Centerline goodness [0,1] 0.9991164219295662 Centerline is valid? [True, True] Translation: X:339.82, Y:5.22, Z:3.11 [[ 9.99604550e-01 -2.58989616e-02 -1.09538647e-02 3.39823174e+02] [ 2.58985738e-02 9.99664560e-01 -1.77275569e-04 5.21848644e+00] [ 1.09547816e-02 -1.06484010e-04 9.99939989e-01 3.11214740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.799254154 meters Centerline goodness [0,1] 0.9992011940047508 Centerline is valid? [True, True] Translation: X:339.85, Y:5.22, Z:3.11 [[ 9.99644499e-01 -2.42769247e-02 -1.10230004e-02 3.39854025e+02] [ 2.42764379e-02 9.99705268e-01 -1.77983972e-04 5.21715244e+00] [ 1.10240725e-02 -8.96784874e-05 9.99939229e-01 3.11181329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.82925415399995 meters Centerline goodness [0,1] 0.9991586917656956 Centerline is valid? [True, True] Translation: X:339.89, Y:5.22, Z:3.11 [[ 9.99713636e-01 -2.11837929e-02 -1.11306949e-02 3.39885349e+02] [ 2.11831093e-02 9.99775597e-01 -1.79311853e-04 5.21749827e+00] [ 1.11319957e-02 -5.65222233e-05 9.99938036e-01 3.11174751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.859254154 meters Centerline goodness [0,1] 0.9989275575649248 Centerline is valid? [True, True] Translation: X:339.92, Y:5.22, Z:3.11 [[ 9.99752233e-01 -1.92925730e-02 -1.11026817e-02 3.39916964e+02] [ 1.92917807e-02 9.99813880e-01 -1.78462194e-04 5.21801624e+00] [ 1.11040582e-02 -3.57725229e-05 9.99938347e-01 3.11202574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.88925415399996 meters Centerline goodness [0,1] 0.9992841502442311 Centerline is valid? [True, True] Translation: X:339.95, Y:5.22, Z:3.11 [[ 9.99792244e-01 -1.73119469e-02 -1.07594556e-02 3.39947462e+02] [ 1.73110917e-02 9.99850137e-01 -1.72616231e-04 5.21895133e+00] [ 1.07608315e-02 -1.36775539e-05 9.99942100e-01 3.11220566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.919254154 meters Centerline goodness [0,1] 0.998905217061771 Centerline is valid? [True, True] Translation: X:339.98, Y:5.22, Z:3.11 [[ 9.99824674e-01 -1.52935986e-02 -1.08040343e-02 3.39977827e+02] [ 1.52926185e-02 9.99883046e-01 -1.73331417e-04 5.21945238e+00] [ 1.08054216e-02 8.07905202e-06 9.99941620e-01 3.11276148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.94925415399996 meters Centerline goodness [0,1] 0.9991564918496025 Centerline is valid? [True, True] Translation: X:340.01, Y:5.22, Z:3.11 [[ 9.99880147e-01 -1.15414900e-02 -1.03191516e-02 3.40006879e+02] [ 1.15403960e-02 9.99933394e-01 -1.65554401e-04 5.21911855e+00] [ 1.03203750e-02 4.64474628e-05 9.99946742e-01 3.11283710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97925415399993 meters Centerline goodness [0,1] 0.9992193928141944 Centerline is valid? [True, True] Translation: X:340.04, Y:5.22, Z:3.11 [[ 9.99891607e-01 -1.05011287e-02 -1.03199327e-02 3.40035834e+02] [ 1.04999764e-02 9.99944860e-01 -1.65832974e-04 5.21806248e+00] [ 1.03211051e-02 5.74559489e-05 9.99946734e-01 3.11273026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.00925415399996 meters Centerline goodness [0,1] 0.9992205110919165 Centerline is valid? [True, True] Translation: X:340.06, Y:5.21, Z:3.11 [[ 9.99898614e-01 -9.57885102e-03 -1.05360071e-02 3.40064268e+02] [ 9.57757212e-03 9.99954119e-01 -1.71834346e-04 5.21401095e+00] [ 1.05371696e-02 7.09075569e-05 9.99944480e-01 3.11204090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03925415399993 meters Centerline goodness [0,1] 0.9990327599983179 Centerline is valid? [True, True] Translation: X:340.09, Y:5.21, Z:3.11 [[ 9.99882402e-01 -1.08523946e-02 -1.08355221e-02 3.40092647e+02] [ 1.08511070e-02 9.99941109e-01 -1.77619420e-04 5.21126973e+00] [ 1.08368115e-02 6.00211226e-05 9.99941278e-01 3.11229334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06925415399996 meters Centerline goodness [0,1] 0.9991373869135283 Centerline is valid? [True, True] Translation: X:340.12, Y:5.21, Z:3.11 [[ 9.99859733e-01 -1.28481246e-02 -1.07443369e-02 3.40121344e+02] [ 1.28469445e-02 9.99917459e-01 -1.78847107e-04 5.20798101e+00] [ 1.07457479e-02 4.07901204e-05 9.99942262e-01 3.11238877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09925415399994 meters Centerline goodness [0,1] 0.9994343180389692 Centerline is valid? [True, True] Translation: X:340.15, Y:5.20, Z:3.11 [[ 9.99776799e-01 -1.85575099e-02 -1.00980361e-02 3.40149703e+02] [ 1.85567348e-02 9.99827794e-01 -1.70455547e-04 5.19960040e+00] [ 1.00994604e-02 -1.69690779e-05 9.99948999e-01 3.11251236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12925415399997 meters Centerline goodness [0,1] 0.9992683946488294 Centerline is valid? [True, True] Translation: X:340.18, Y:5.19, Z:3.11 [[ 9.99695214e-01 -2.25913330e-02 -9.95547898e-03 3.40180130e+02] [ 2.25907745e-02 9.99744782e-01 -1.68566534e-04 5.19454671e+00] [ 9.95674630e-03 -5.63868230e-05 9.99950429e-01 3.11244305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15925415399994 meters Centerline goodness [0,1] 0.9992683946488294 Centerline is valid? [True, True] Translation: X:340.21, Y:5.20, Z:3.11 [[ 9.99696029e-01 -2.25552036e-02 -9.95547934e-03 3.40210970e+02] [ 2.25546435e-02 9.99745597e-01 -1.68545245e-04 5.19503917e+00] [ 9.95674821e-03 -5.60482743e-05 9.99950429e-01 3.11273200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18925415399997 meters Centerline goodness [0,1] 0.999163739755812 Centerline is valid? [True, True] Translation: X:340.24, Y:5.19, Z:3.11 [[ 9.99593209e-01 -2.66949267e-02 -1.00397849e-02 3.40242464e+02] [ 2.66945695e-02 9.99643622e-01 -1.69606433e-04 5.18966545e+00] [ 1.00407346e-02 -9.84702965e-05 9.99949586e-01 3.11259377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21925415399994 meters Centerline goodness [0,1] 0.9991021089997912 Centerline is valid? [True, True] Translation: X:340.27, Y:5.18, Z:3.11 [[ 9.99324385e-01 -3.50472902e-02 -1.10662229e-02 3.40274265e+02] [ 3.50473769e-02 9.99385635e-01 -1.86156542e-04 5.17869598e+00] [ 1.10659485e-02 -2.01811315e-04 9.99938750e-01 3.11163295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24925415399997 meters Centerline goodness [0,1] 0.9991248723772217 Centerline is valid? [True, True] Translation: X:340.31, Y:5.17, Z:3.11 [[ 9.99179660e-01 -3.89499977e-02 -1.10862441e-02 3.40306568e+02] [ 3.89503514e-02 9.99241130e-01 -1.84086712e-04 5.17362475e+00] [ 1.10850013e-02 -2.47877406e-04 9.99938529e-01 3.11177478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27925415399994 meters Centerline goodness [0,1] 0.9990844015315465 Centerline is valid? [True, True] Translation: X:340.34, Y:5.17, Z:3.11 [[ 9.99037554e-01 -4.24607056e-02 -1.10024389e-02 3.40337978e+02] [ 4.24612754e-02 9.99098097e-01 -1.81906587e-04 5.16746673e+00] [ 1.10002397e-02 -2.85446077e-04 9.99939455e-01 3.11208008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.309254154 meters Centerline goodness [0,1] 0.9991256921603731 Centerline is valid? [True, True] Translation: X:340.37, Y:5.16, Z:3.11 [[ 9.98813703e-01 -4.75124846e-02 -1.06653940e-02 3.40369509e+02] [ 4.75133136e-02 9.98870589e-01 -1.75779579e-04 5.15999723e+00] [ 1.06617001e-02 -3.31177159e-04 9.99943108e-01 3.11281850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33925415399995 meters Centerline goodness [0,1] 0.9989165312330708 Centerline is valid? [True, True] Translation: X:340.40, Y:5.16, Z:3.11 [[ 9.98755266e-01 -4.87449846e-02 -1.05756697e-02 3.40402116e+02] [ 4.87458733e-02 9.98811198e-01 -1.73871268e-04 5.15698875e+00] [ 1.05715726e-02 -3.41865409e-04 9.99944061e-01 3.11314408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.369254154 meters Centerline goodness [0,1] 0.9992924184720401 Centerline is valid? [True, True] Translation: X:340.43, Y:5.15, Z:3.11 [[ 9.98734659e-01 -4.91222129e-02 -1.07744626e-02 3.40434428e+02] [ 4.91231659e-02 9.98792713e-01 -1.76333431e-04 5.15425096e+00] [ 1.07701167e-02 -3.53165408e-04 9.99941938e-01 3.11339752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39925415399995 meters Centerline goodness [0,1] 0.9991668228873752 Centerline is valid? [True, True] Translation: X:340.47, Y:5.15, Z:3.11 [[ 9.98743759e-01 -4.89611269e-02 -1.06635978e-02 3.40466568e+02] [ 4.89620595e-02 9.98800624e-01 -1.73743117e-04 5.15300554e+00] [ 1.06593148e-02 -3.48586854e-04 9.99943127e-01 3.11356681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.429254154 meters Centerline goodness [0,1] 0.9991870596573144 Centerline is valid? [True, True] Translation: X:340.50, Y:5.15, Z:3.11 [[ 9.98796811e-01 -4.78953044e-02 -1.05342187e-02 3.40499147e+02] [ 4.78961635e-02 9.98852306e-01 -1.70859341e-04 5.15174070e+00] [ 1.05303120e-02 -3.33894897e-04 9.99944499e-01 3.11390681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.45925415399995 meters Centerline goodness [0,1] 0.9992919764269799 Centerline is valid? [True, True] Translation: X:340.53, Y:5.15, Z:3.11 [[ 9.99014531e-01 -4.31190092e-02 -1.05222168e-02 3.40529498e+02] [ 4.31196091e-02 9.99069903e-01 -1.69942568e-04 5.14992688e+00] [ 1.05197579e-02 -2.83938781e-04 9.99944626e-01 3.11449124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.489254154 meters Centerline goodness [0,1] 0.9993118979106719 Centerline is valid? [True, True] Translation: X:340.56, Y:5.15, Z:3.11 [[ 9.99164228e-01 -3.95648604e-02 -1.02697437e-02 3.40561066e+02] [ 3.95652463e-02 9.99216975e-01 -1.65659955e-04 5.15131564e+00] [ 1.02682566e-02 -2.40803440e-04 9.99947251e-01 3.11494582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.51925415399995 meters Centerline goodness [0,1] 0.999417382800308 Centerline is valid? [True, True] Translation: X:340.59, Y:5.15, Z:3.12 [[ 9.99465000e-01 -3.10930236e-02 -1.01458648e-02 3.40592019e+02] [ 3.10929674e-02 9.99516483e-01 -1.63306973e-04 5.15405720e+00] [ 1.01460368e-02 -1.52245441e-04 9.99948516e-01 3.11558067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.549254154 meters Centerline goodness [0,1] 0.999394963593499 Centerline is valid? [True, True] Translation: X:340.62, Y:5.16, Z:3.12 [[ 9.99578192e-01 -2.71132696e-02 -1.04071305e-02 3.40622496e+02] [ 2.71129969e-02 9.99632361e-01 -1.67318775e-04 5.15516637e+00] [ 1.04078410e-02 -1.14920298e-04 9.99945830e-01 3.11593955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57925415399995 meters Centerline goodness [0,1] 0.9993329442174602 Centerline is valid? [True, True] Translation: X:340.65, Y:5.16, Z:3.12 [[ 9.99681959e-01 -2.28553434e-02 -1.06590330e-02 3.40652442e+02] [ 2.28548171e-02 9.99738780e-01 -1.71195883e-04 5.15622608e+00] [ 1.06601614e-02 -7.24688140e-05 9.99943176e-01 3.11569146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.609254154 meters Centerline goodness [0,1] 0.9993952285618952 Centerline is valid? [True, True] Translation: X:340.68, Y:5.16, Z:3.12 [[ 9.99814976e-01 -1.58112185e-02 -1.09553033e-02 3.40683017e+02] [ 1.58102397e-02 9.99874995e-01 -1.75954313e-04 5.15658905e+00] [ 1.09567159e-02 2.71578589e-06 9.99939973e-01 3.11502595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63925415399996 meters Centerline goodness [0,1] 0.9995410930329579 Centerline is valid? [True, True] Translation: X:340.71, Y:5.16, Z:3.11 [[ 9.99844173e-01 -1.36992025e-02 -1.11338035e-02 3.40711461e+02] [ 1.36980595e-02 9.99906161e-01 -1.78914598e-04 5.15671122e+00] [ 1.11352097e-02 2.63752157e-05 9.99938001e-01 3.11469783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.669254154 meters Centerline goodness [0,1] 0.9996043397680182 Centerline is valid? [True, True] Translation: X:340.74, Y:5.16, Z:3.11 [[ 9.99861202e-01 -1.20763965e-02 -1.14777075e-02 3.40739776e+02] [ 1.20750630e-02 9.99927077e-01 -1.85477625e-04 5.15599728e+00] [ 1.14791104e-02 4.68578395e-05 9.99934112e-01 3.11475920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69925415399996 meters Centerline goodness [0,1] 0.9996669234132023 Centerline is valid? [True, True] Translation: X:340.77, Y:5.15, Z:3.11 [[ 9.99864515e-01 -1.12439452e-02 -1.20218468e-02 3.40768055e+02] [ 1.12423898e-02 9.99936783e-01 -1.96951755e-04 5.15276133e+00] [ 1.20233013e-02 6.17707835e-05 9.99927716e-01 3.11370095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72925415399993 meters Centerline goodness [0,1] 0.9996250078123372 Centerline is valid? [True, True] Translation: X:340.80, Y:5.15, Z:3.11 [[ 9.99846341e-01 -1.22428983e-02 -1.25461139e-02 3.40796229e+02] [ 1.22412608e-02 9.99925051e-01 -2.07307959e-04 5.15018999e+00] [ 1.25477117e-02 5.36958513e-05 9.99921273e-01 3.11342267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75925415399996 meters Centerline goodness [0,1] 0.9997083880105814 Centerline is valid? [True, True] Translation: X:340.82, Y:5.15, Z:3.11 [[ 9.99820606e-01 -1.37167401e-02 -1.30616654e-02 3.40824400e+02] [ 1.37150407e-02 9.99905920e-01 -2.19676997e-04 5.14702169e+00] [ 1.30634499e-02 4.04963146e-05 9.99914669e-01 3.11325247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78925415399993 meters Centerline goodness [0,1] 0.9996460103281692 Centerline is valid? [True, True] Translation: X:340.85, Y:5.14, Z:3.11 [[ 9.99744628e-01 -1.77967930e-02 -1.39267331e-02 3.40852064e+02] [ 1.77952094e-02 9.99841624e-01 -2.37632516e-04 5.13938391e+00] [ 1.39287566e-02 -1.02573011e-05 9.99902990e-01 3.11244972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81925415399996 meters Centerline goodness [0,1] 0.9997084912339149 Centerline is valid? [True, True] Translation: X:340.88, Y:5.14, Z:3.11 [[ 9.99699020e-01 -2.01052032e-02 -1.40587938e-02 3.40879616e+02] [ 2.01037837e-02 9.99797869e-01 -2.42294692e-04 5.13562295e+00] [ 1.40608235e-02 -4.04131843e-05 9.99901141e-01 3.11270135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84925415399994 meters Centerline goodness [0,1] 0.9995628369798281 Centerline is valid? [True, True] Translation: X:340.91, Y:5.13, Z:3.11 [[ 9.99654118e-01 -2.22696944e-02 -1.39894863e-02 3.40907965e+02] [ 2.22684567e-02 9.99751997e-01 -2.44257858e-04 5.13227287e+00] [ 1.39914564e-02 -6.73508966e-05 9.99902113e-01 3.11295723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87925415399997 meters Centerline goodness [0,1] 0.9996041584199671 Centerline is valid? [True, True] Translation: X:340.94, Y:5.13, Z:3.11 [[ 9.99595973e-01 -2.47803756e-02 -1.39220880e-02 3.40936911e+02] [ 2.47793655e-02 9.99692914e-01 -2.45068345e-04 5.12934501e+00] [ 1.39238856e-02 -1.00011177e-04 9.99903053e-01 3.11351333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90925415399994 meters Centerline goodness [0,1] 0.9995002082465639 Centerline is valid? [True, True] Translation: X:340.97, Y:5.12, Z:3.11 [[ 9.99479438e-01 -2.93979318e-02 -1.32896087e-02 3.40965586e+02] [ 2.93973766e-02 9.99567776e-01 -2.37165308e-04 5.12335676e+00] [ 1.32908368e-02 -1.53637784e-04 9.99911661e-01 3.11424693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93925415399997 meters Centerline goodness [0,1] 0.9995824634655532 Centerline is valid? [True, True] Translation: X:340.99, Y:5.12, Z:3.12 [[ 9.99404900e-01 -3.19581063e-02 -1.29816969e-02 3.40994386e+02] [ 3.19577503e-02 9.99489193e-01 -2.34921602e-04 5.12062014e+00] [ 1.29825734e-02 -1.80084027e-04 9.99915707e-01 3.11503251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96925415399994 meters Centerline goodness [0,1] 0.9994996351506307 Centerline is valid? [True, True] Translation: X:341.02, Y:5.12, Z:3.12 [[ 9.99341527e-01 -3.39562575e-02 -1.27861188e-02 3.41023467e+02] [ 3.39560472e-02 9.99423300e-01 -2.33596173e-04 5.11694281e+00] [ 1.27866771e-02 -2.00723697e-04 9.99918227e-01 3.11530425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99925415399997 meters Centerline goodness [0,1] 0.9996451309884146 Centerline is valid? [True, True] Translation: X:341.05, Y:5.11, Z:3.12 [[ 9.99194138e-01 -3.81954396e-02 -1.23362097e-02 3.41053408e+02] [ 3.81955710e-02 9.99270258e-01 -2.25035794e-04 5.11101202e+00] [ 1.23358027e-02 -2.46334126e-04 9.99923881e-01 3.11608284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02925415399994 meters Centerline goodness [0,1] 0.9996868410614 Centerline is valid? [True, True] Translation: X:341.08, Y:5.11, Z:3.12 [[ 9.99116582e-01 -4.03348044e-02 -1.17965927e-02 3.41083520e+02] [ 4.03350692e-02 9.99186187e-01 -2.15564341e-04 5.10836196e+00] [ 1.17956872e-02 -2.60442476e-04 9.99930395e-01 3.11668027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.059254154 meters Centerline goodness [0,1] 0.9995823413941445 Centerline is valid? [True, True] Translation: X:341.11, Y:5.10, Z:3.12 [[ 9.98971238e-01 -4.37150990e-02 -1.20604952e-02 3.41113426e+02] [ 4.37156193e-02 9.99043991e-01 -2.20610077e-04 5.10221550e+00] [ 1.20586093e-02 -3.06848896e-04 9.99927245e-01 3.11659741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.08925415399995 meters Centerline goodness [0,1] 0.9997091392599672 Centerline is valid? [True, True] Translation: X:341.14, Y:5.10, Z:3.12 [[ 9.98923563e-01 -4.46305586e-02 -1.26423087e-02 3.41143600e+02] [ 4.46312013e-02 9.99003505e-01 -2.31430128e-04 5.10210776e+00] [ 1.26400396e-02 -3.33060418e-04 9.99920056e-01 3.11662312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.119254154 meters Centerline goodness [0,1] 0.9998330655426413 Centerline is valid? [True, True] Translation: X:341.17, Y:5.10, Z:3.12 [[ 9.98887897e-01 -4.53495855e-02 -1.28989876e-02 3.41173789e+02] [ 4.53503145e-02 9.98971117e-01 -2.36128892e-04 5.10138444e+00] [ 1.28964244e-02 -3.49106853e-04 9.99916777e-01 3.11697270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.14925415399995 meters Centerline goodness [0,1] 0.9997704411703326 Centerline is valid? [True, True] Translation: X:341.20, Y:5.10, Z:3.12 [[ 9.98899347e-01 -4.50449667e-02 -1.30784111e-02 3.41204718e+02] [ 4.50456900e-02 9.98984899e-01 -2.39413418e-04 5.10004909e+00] [ 1.30759196e-02 -3.49976145e-04 9.99914445e-01 3.11729835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.179254154 meters Centerline goodness [0,1] 0.9997704938554945 Centerline is valid? [True, True] Translation: X:341.23, Y:5.10, Z:3.12 [[ 9.98926469e-01 -4.43958009e-02 -1.32257861e-02 3.41233848e+02] [ 4.43964828e-02 9.99013961e-01 -2.42180743e-04 5.09946389e+00] [ 1.32234968e-02 -3.45257632e-04 9.99912506e-01 3.11764283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.20925415399995 meters Centerline goodness [0,1] 0.9997707234716635 Centerline is valid? [True, True] Translation: X:341.26, Y:5.10, Z:3.12 [[ 9.98981628e-01 -4.33169866e-02 -1.26231877e-02 3.41263172e+02] [ 4.33175190e-02 9.99061329e-01 -2.31364958e-04 5.09826367e+00] [ 1.26213607e-02 -3.15675830e-04 9.99920298e-01 3.11763756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.239254154 meters Centerline goodness [0,1] 0.9998538378017205 Centerline is valid? [True, True] Translation: X:341.29, Y:5.10, Z:3.12 [[ 9.99049180e-01 -4.16976182e-02 -1.27296714e-02 3.41293716e+02] [ 4.16980261e-02 9.99130232e-01 -2.33483776e-04 5.10134728e+00] [ 1.27283352e-02 -2.97540395e-04 9.99918947e-01 3.11863008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.26925415399995 meters Centerline goodness [0,1] 0.9996867364200238 Centerline is valid? [True, True] Translation: X:341.32, Y:5.10, Z:3.12 [[ 9.99191173e-01 -3.81458340e-02 -1.27238088e-02 3.41323405e+02] [ 3.81459521e-02 9.99272151e-01 -2.33494947e-04 5.10287854e+00] [ 1.27234547e-02 -2.52055713e-04 9.99919022e-01 3.11827521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.299254154 meters Centerline goodness [0,1] 0.9997284765445508 Centerline is valid? [True, True] Translation: X:341.35, Y:5.10, Z:3.12 [[ 9.99245141e-01 -3.64307326e-02 -1.34888499e-02 3.41353366e+02] [ 3.64307025e-02 9.99336151e-01 -2.48029967e-04 5.10487318e+00] [ 1.34889312e-02 -2.43565537e-04 9.99908991e-01 3.11867516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.32925415399995 meters Centerline goodness [0,1] 0.9998536728124086 Centerline is valid? [True, True] Translation: X:341.38, Y:5.11, Z:3.12 [[ 9.99360218e-01 -3.29691213e-02 -1.38633251e-02 3.41382362e+02] [ 3.29687480e-02 9.99456350e-01 -2.55527412e-04 5.10672748e+00] [ 1.38642128e-02 -2.01692543e-04 9.99903867e-01 3.11786250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.359254154 meters Centerline goodness [0,1] 0.9999791618912668 Centerline is valid? [True, True] Translation: X:341.41, Y:5.11, Z:3.12 [[ 9.99379711e-01 -3.21467525e-02 -1.43798321e-02 3.41411128e+02] [ 3.21462394e-02 9.99483140e-01 -2.66881058e-04 5.10898853e+00] [ 1.43809791e-02 -1.95542011e-04 9.99896569e-01 3.11825093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.38925415399996 meters Centerline goodness [0,1] 0.9997079926581011 Centerline is valid? [True, True] Translation: X:341.44, Y:5.11, Z:3.12 [[ 9.99387390e-01 -3.16727055e-02 -1.48890534e-02 3.41439897e+02] [ 3.16720468e-02 9.99498276e-01 -2.80098644e-04 5.10889531e+00] [ 1.48904547e-02 -1.91639742e-04 9.99889113e-01 3.11768529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41925415399993 meters Centerline goodness [0,1] 0.999790965530216 Centerline is valid? [True, True] Translation: X:341.47, Y:5.11, Z:3.12 [[ 9.99338284e-01 -3.24905178e-02 -1.63511783e-02 3.41467943e+02] [ 3.24897765e-02 9.99472019e-01 -3.11045868e-04 5.10831970e+00] [ 1.63526512e-02 -2.20406083e-04 9.99866262e-01 3.11702468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.44925415399996 meters Centerline goodness [0,1] 0.9998123514448939 Centerline is valid? [True, True] Translation: X:341.50, Y:5.11, Z:3.12 [[ 9.99293970e-01 -3.34892551e-02 -1.70302941e-02 3.41496346e+02] [ 3.34885428e-02 9.99439048e-01 -3.27084085e-04 5.10806138e+00] [ 1.70316948e-02 -2.43466580e-04 9.99854921e-01 3.11747773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47925415399993 meters Centerline goodness [0,1] 0.9997503484719246 Centerline is valid? [True, True] Translation: X:341.52, Y:5.11, Z:3.12 [[ 9.99255214e-01 -3.46935210e-02 -1.68930908e-02 3.41524399e+02] [ 3.46929431e-02 9.99397965e-01 -3.27354244e-04 5.10617185e+00] [ 1.68942777e-02 -2.58960604e-04 9.99857248e-01 3.11711833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.50925415399996 meters Centerline goodness [0,1] 0.9998118611116917 Centerline is valid? [True, True] Translation: X:341.55, Y:5.10, Z:3.12 [[ 9.99081315e-01 -3.94805748e-02 -1.66676219e-02 3.41551717e+02] [ 3.94806466e-02 9.99220283e-01 -3.24871851e-04 5.10291210e+00] [ 1.66674520e-02 -3.33475093e-04 9.99861033e-01 3.11855215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53925415399993 meters Centerline goodness [0,1] 0.9998745557181685 Centerline is valid? [True, True] Translation: X:341.58, Y:5.10, Z:3.12 [[ 9.98976857e-01 -4.22024915e-02 -1.62538753e-02 3.41580756e+02] [ 4.22028709e-02 9.99109011e-01 -3.19810004e-04 5.10040103e+00] [ 1.62528900e-02 -3.66477407e-04 9.99867846e-01 3.11910636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56925415399996 meters Centerline goodness [0,1] 0.999708004838777 Centerline is valid? [True, True] Translation: X:341.61, Y:5.10, Z:3.12 [[ 9.98854187e-01 -4.49782451e-02 -1.63484297e-02 3.41609173e+02] [ 4.49789536e-02 9.98987882e-01 -3.24537818e-04 5.10055741e+00] [ 1.63464803e-02 -4.11169305e-04 9.99866303e-01 3.11999318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59925415399994 meters Centerline goodness [0,1] 0.9999164438502673 Centerline is valid? [True, True] Translation: X:341.64, Y:5.10, Z:3.12 [[ 9.98587939e-01 -5.09806355e-02 -1.49366234e-02 3.41638731e+02] [ 5.09818816e-02 9.98699534e-01 -2.97582447e-04 5.09660858e+00] [ 1.49323698e-02 -4.64334923e-04 9.99888398e-01 3.12171366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62925415399997 meters Centerline goodness [0,1] 0.9999582681272822 Centerline is valid? [True, True] Translation: X:341.67, Y:5.09, Z:3.12 [[ 9.98427949e-01 -5.41266738e-02 -1.45579602e-02 3.41668055e+02] [ 5.41281802e-02 9.98533953e-01 -2.90811198e-04 5.09454796e+00] [ 1.45523582e-02 -4.97641863e-04 9.99893985e-01 3.12228626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65925415399994 meters Centerline goodness [0,1] 0.9997908124843109 Centerline is valid? [True, True] Translation: X:341.70, Y:5.09, Z:3.12 [[ 9.98266312e-01 -5.69441340e-02 -1.48908213e-02 3.41697264e+02] [ 5.69460162e-02 9.98377215e-01 -2.97924978e-04 5.09155105e+00] [ 1.48836218e-02 -5.50564483e-04 9.99889081e-01 3.12161119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68925415399997 meters Centerline goodness [0,1] 0.9999374087210515 Centerline is valid? [True, True] Translation: X:341.73, Y:5.09, Z:3.12 [[ 9.98129826e-01 -5.92655853e-02 -1.49813682e-02 3.41726328e+02] [ 5.92677499e-02 9.98242077e-01 -2.99845346e-04 5.08591407e+00] [ 1.49728026e-02 -5.88627400e-04 9.99887728e-01 3.12162777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71925415399994 meters Centerline goodness [0,1] 0.9998538439052909 Centerline is valid? [True, True] Translation: X:341.76, Y:5.08, Z:3.12 [[ 9.97894338e-01 -6.28702789e-02 -1.59442360e-02 3.41755184e+02] [ 6.28731840e-02 9.98021473e-01 -3.19495998e-04 5.08144325e+00] [ 1.59327767e-02 -6.83641635e-04 9.99872832e-01 3.12067872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74925415399997 meters Centerline goodness [0,1] 0.999750119734294 Centerline is valid? [True, True] Translation: X:341.78, Y:5.09, Z:3.12 [[ 9.97836211e-01 -6.37580138e-02 -1.60565198e-02 3.41784952e+02] [ 6.37610701e-02 9.97965141e-01 -3.22026484e-04 5.09014924e+00] [ 1.60443788e-02 -7.02451197e-04 9.99871034e-01 3.12216280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77925415399994 meters Centerline goodness [0,1] 0.9998746107709348 Centerline is valid? [True, True] Translation: X:341.81, Y:5.09, Z:3.12 [[ 9.97818107e-01 -6.42437058e-02 -1.52240447e-02 3.41814110e+02] [ 6.42465016e-02 9.97934013e-01 -3.05865877e-04 5.09244059e+00] [ 1.52122419e-02 -6.72893099e-04 9.99884061e-01 3.12348331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.809254154 meters Centerline goodness [0,1] 0.9996026767043078 Centerline is valid? [True, True] Translation: X:341.84, Y:5.09, Z:3.12 [[ 9.97823658e-01 -6.39509899e-02 -1.60691648e-02 3.41844119e+02] [ 6.39540572e-02 9.97952791e-01 -3.23451364e-04 5.09347162e+00] [ 1.60569529e-02 -7.04940861e-04 9.99870830e-01 3.12334478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83925415399995 meters Centerline goodness [0,1] 0.9997909567907687 Centerline is valid? [True, True] Translation: X:341.87, Y:5.10, Z:3.12 [[ 9.97884821e-01 -6.33198633e-02 -1.47131899e-02 3.41873283e+02] [ 6.33223587e-02 9.97993082e-01 -2.96666915e-04 5.09636051e+00] [ 1.47024466e-02 -6.35634475e-04 9.99891711e-01 3.12498612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.869254154 meters Centerline goodness [0,1] 0.9997697974217311 Centerline is valid? [True, True] Translation: X:341.90, Y:5.10, Z:3.12 [[ 9.98017538e-01 -6.11387024e-02 -1.49349341e-02 3.41902693e+02] [ 6.11410230e-02 9.98129092e-01 -3.01588653e-04 5.09887162e+00] [ 1.49254309e-02 -6.12146383e-04 9.99888422e-01 3.12485537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89925415399995 meters Centerline goodness [0,1] 0.9997920046590957 Centerline is valid? [True, True] Translation: X:341.93, Y:5.10, Z:3.12 [[ 9.98107103e-01 -5.94879491e-02 -1.56011019e-02 3.41932869e+02] [ 5.94902756e-02 9.98228835e-01 -3.15331847e-04 5.10168146e+00] [ 1.55922282e-02 -6.13378894e-04 9.99878246e-01 3.12483481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.929254154 meters Centerline goodness [0,1] 0.999539334547815 Centerline is valid? [True, True] Translation: X:341.96, Y:5.10, Z:3.12 [[ 9.98210256e-01 -5.71278249e-02 -1.76832205e-02 3.41962900e+02] [ 5.71304382e-02 9.98366659e-01 -3.57758364e-04 5.10444924e+00] [ 1.76747757e-02 -6.53132065e-04 9.99843576e-01 3.12401473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.95925415399995 meters Centerline goodness [0,1] 0.9997702061877206 Centerline is valid? [True, True] Translation: X:341.99, Y:5.11, Z:3.12 [[ 9.98438836e-01 -5.30760734e-02 -1.74017820e-02 3.41991195e+02] [ 5.30779790e-02 9.98590308e-01 -3.52664534e-04 5.10978110e+00] [ 1.73959689e-02 -5.71537453e-04 9.99848515e-01 3.12378536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.989254154 meters Centerline goodness [0,1] 0.9996256706733768 Centerline is valid? [True, True] Translation: X:342.02, Y:5.11, Z:3.12 [[ 9.98543732e-01 -5.09713313e-02 -1.76731128e-02 3.42020018e+02] [ 5.09729222e-02 9.98699971e-01 -3.60725842e-04 5.11266827e+00] [ 1.76685239e-02 -5.40649673e-04 9.99843753e-01 3.12378541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.01925415399995 meters Centerline goodness [0,1] 0.9998326254785865 Centerline is valid? [True, True] Translation: X:342.05, Y:5.12, Z:3.12 [[ 9.98634088e-01 -4.89627954e-02 -1.82374247e-02 3.42048167e+02] [ 4.89640718e-02 9.98800469e-01 -3.76799091e-04 5.11529991e+00] [ 1.82339975e-02 -5.16694154e-04 9.99833613e-01 3.12379829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.049254154 meters Centerline goodness [0,1] 0.9999373145555602 Centerline is valid? [True, True] Translation: X:342.08, Y:5.12, Z:3.12 [[ 9.98722157e-01 -4.71135220e-02 -1.82857835e-02 3.42076830e+02] [ 4.71144138e-02 9.98889426e-01 -3.82267303e-04 5.11801094e+00] [ 1.82834858e-02 -4.79745146e-04 9.99832728e-01 3.12371678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07925415399995 meters Centerline goodness [0,1] 0.9999373145555602 Centerline is valid? [True, True] Translation: X:342.10, Y:5.12, Z:3.12 [[ 9.98709016e-01 -4.73912955e-02 -1.82856831e-02 3.42104273e+02] [ 4.73921467e-02 9.98876286e-01 -3.87027041e-04 5.11867986e+00] [ 1.82834769e-02 -4.80070381e-04 9.99832728e-01 3.12397429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.109254154 meters Centerline goodness [0,1] 0.9998536146719923 Centerline is valid? [True, True] Translation: X:342.13, Y:5.13, Z:3.13 [[ 9.98826361e-01 -4.47076964e-02 -1.86312083e-02 3.42132762e+02] [ 4.47080197e-02 9.99000017e-01 -3.99375884e-04 5.12537663e+00] [ 1.86304325e-02 -4.34057265e-04 9.99826344e-01 3.12533202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13925415399996 meters Centerline goodness [0,1] 0.9997283063032938 Centerline is valid? [True, True] Translation: X:342.16, Y:5.13, Z:3.13 [[ 9.98838501e-01 -4.43637386e-02 -1.88017990e-02 3.42161658e+02] [ 4.43639156e-02 9.99015354e-01 -4.07887420e-04 5.12753355e+00] [ 1.88013812e-02 -4.26707764e-04 9.99823147e-01 3.12571250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16925415399993 meters Centerline goodness [0,1] 0.9998538530596905 Centerline is valid? [True, True] Translation: X:342.19, Y:5.13, Z:3.13 [[ 9.98823295e-01 -4.46656754e-02 -1.88945048e-02 3.42189116e+02] [ 4.46658461e-02 9.99001898e-01 -4.13184310e-04 5.12933526e+00] [ 1.88941013e-02 -4.31240930e-04 9.99821398e-01 3.12613738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19925415399996 meters Centerline goodness [0,1] 0.9997491271716179 Centerline is valid? [True, True] Translation: X:342.22, Y:5.13, Z:3.13 [[ 9.98793173e-01 -4.54376073e-02 -1.86445820e-02 3.42217613e+02] [ 4.54378489e-02 9.98967083e-01 -4.10880095e-04 5.12995820e+00] [ 1.86439931e-02 -4.36785467e-04 9.99826090e-01 3.12638478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22925415399993 meters Centerline goodness [0,1] 0.9997290650660664 Centerline is valid? [True, True] Translation: X:342.25, Y:5.13, Z:3.13 [[ 9.98755470e-01 -4.64023348e-02 -1.82847936e-02 3.42245971e+02] [ 4.64026446e-02 9.98922734e-01 -4.07553794e-04 5.13202646e+00] [ 1.82840075e-02 -4.41416198e-04 9.99832736e-01 3.12728680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25925415399996 meters Centerline goodness [0,1] 0.9997495565063133 Centerline is valid? [True, True] Translation: X:342.27, Y:5.13, Z:3.13 [[ 9.98646214e-01 -4.89169807e-02 -1.76880900e-02 3.42274496e+02] [ 4.89175848e-02 9.98802739e-01 -3.98768912e-04 5.13291726e+00] [ 1.76864193e-02 -4.67029579e-04 9.99843474e-01 3.12799539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28925415399993 meters Centerline goodness [0,1] 0.9995839314318999 Centerline is valid? [True, True] Translation: X:342.30, Y:5.13, Z:3.13 [[ 9.98592496e-01 -4.99517158e-02 -1.78284112e-02 3.42302938e+02] [ 4.99524419e-02 9.98751515e-01 -4.04867601e-04 5.13218460e+00] [ 1.78263765e-02 -4.86274927e-04 9.99840979e-01 3.12762232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31925415399996 meters Centerline goodness [0,1] 0.9996238323128044 Centerline is valid? [True, True] Translation: X:342.33, Y:5.13, Z:3.13 [[ 9.98525645e-01 -5.11976980e-02 -1.80369616e-02 3.42332318e+02] [ 5.11986291e-02 9.98688406e-01 -4.10447915e-04 5.13370245e+00] [ 1.80343184e-02 -5.13624939e-04 9.99837237e-01 3.12820360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34925415399994 meters Centerline goodness [0,1] 0.9996657823825539 Centerline is valid? [True, True] Translation: X:342.36, Y:5.13, Z:3.13 [[ 9.98378389e-01 -5.40426020e-02 -1.78882258e-02 3.42360933e+02] [ 5.40439595e-02 9.98538474e-01 -4.07871158e-04 5.13040521e+00] [ 1.78841241e-02 -5.59540802e-04 9.99839910e-01 3.12751943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37925415399997 meters Centerline goodness [0,1] 0.9994591896164406 Centerline is valid? [True, True] Translation: X:342.39, Y:5.13, Z:3.13 [[ 9.98286397e-01 -5.57775947e-02 -1.76954501e-02 3.42390094e+02] [ 5.57791783e-02 9.98443048e-01 -4.04435644e-04 5.13322350e+00] [ 1.76904575e-02 -5.83295063e-04 9.99843341e-01 3.12875695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40925415399994 meters Centerline goodness [0,1] 0.9995198831019727 Centerline is valid? [True, True] Translation: X:342.42, Y:5.13, Z:3.13 [[ 9.98190002e-01 -5.77906184e-02 -1.66422458e-02 3.42419931e+02] [ 5.77922862e-02 9.98328556e-01 -3.81105001e-04 5.13296202e+00] [ 1.66364535e-02 -5.81378232e-04 9.99861436e-01 3.12941201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43925415399997 meters Centerline goodness [0,1] 0.9994567034436643 Centerline is valid? [True, True] Translation: X:342.45, Y:5.13, Z:3.13 [[ 9.97967791e-01 -6.17582220e-02 -1.56910858e-02 3.42449448e+02] [ 6.17601868e-02 9.98090953e-01 -3.59784843e-04 5.13100885e+00] [ 1.56833504e-02 -6.10030704e-04 9.99876823e-01 3.13017345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46925415399994 meters Centerline goodness [0,1] 0.9994355125337124 Centerline is valid? [True, True] Translation: X:342.48, Y:5.13, Z:3.13 [[ 9.97871443e-01 -6.33255047e-02 -1.55712250e-02 3.42479761e+02] [ 6.33276268e-02 9.97992727e-01 -3.57247711e-04 5.13261169e+00] [ 1.55625922e-02 -6.29601437e-04 9.99878697e-01 3.13099714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49925415399997 meters Centerline goodness [0,1] 0.9995204036949767 Centerline is valid? [True, True] Translation: X:342.51, Y:5.13, Z:3.13 [[ 9.97827386e-01 -6.40035057e-02 -1.56224116e-02 3.42510000e+02] [ 6.40057247e-02 9.97949467e-01 -3.58422076e-04 5.13321559e+00] [ 1.56133176e-02 -6.42280416e-04 9.99877898e-01 3.13084919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52925415399994 meters Centerline goodness [0,1] 0.9993744787322769 Centerline is valid? [True, True] Translation: X:342.54, Y:5.13, Z:3.13 [[ 9.97812068e-01 -6.45389893e-02 -1.43455545e-02 3.42540068e+02] [ 6.45409169e-02 9.97915007e-01 -3.29037443e-04 5.13433865e+00] [ 1.43368798e-02 -5.97557708e-04 9.99897043e-01 3.13194472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.559254154 meters Centerline goodness [0,1] 0.9994161679768135 Centerline is valid? [True, True] Translation: X:342.57, Y:5.14, Z:3.13 [[ 9.97864059e-01 -6.39830980e-02 -1.31712625e-02 3.42571333e+02] [ 6.39846783e-02 9.97950835e-01 -3.01813198e-04 5.13629662e+00] [ 1.31635833e-02 -5.41590449e-04 9.99913210e-01 3.13236431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.58925415399995 meters Centerline goodness [0,1] 0.9994775230412338 Centerline is valid? [True, True] Translation: X:342.60, Y:5.14, Z:3.13 [[ 9.97926144e-01 -6.30069322e-02 -1.31733547e-02 3.42602727e+02] [ 6.30084343e-02 9.98012949e-01 -3.01395180e-04 5.13858485e+00] [ 1.31661685e-02 -5.29262323e-04 9.99913182e-01 3.13261016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.619254154 meters Centerline goodness [0,1] 0.9993940407037486 Centerline is valid? [True, True] Translation: X:342.63, Y:5.14, Z:3.13 [[ 9.98137636e-01 -5.95747540e-02 -1.31190329e-02 3.42633071e+02] [ 5.95759525e-02 9.98223730e-01 -2.99777433e-04 5.14123045e+00] [ 1.31135891e-02 -4.82359741e-04 9.99913897e-01 3.13127196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.64925415399995 meters Centerline goodness [0,1] 0.9993984775258759 Centerline is valid? [True, True] Translation: X:342.66, Y:5.15, Z:3.13 [[ 9.98231499e-01 -5.80216295e-02 -1.29369315e-02 3.42664283e+02] [ 5.80226678e-02 9.98315222e-01 -2.95379629e-04 5.14533672e+00] [ 1.29322740e-02 -4.55778026e-04 9.99916271e-01 3.13178586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.679254154 meters Centerline goodness [0,1] 0.9994352645889981 Centerline is valid? [True, True] Translation: X:342.69, Y:5.15, Z:3.13 [[ 9.98407845e-01 -5.46598120e-02 -1.39312320e-02 3.42694935e+02] [ 5.46606951e-02 9.98504936e-01 -3.17650516e-04 5.15387321e+00] [ 1.39277667e-02 -4.44346060e-04 9.99902905e-01 3.13145993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.70925415399995 meters Centerline goodness [0,1] 0.9993960849645981 Centerline is valid? [True, True] Translation: X:342.73, Y:5.16, Z:3.13 [[ 9.98492695e-01 -5.29906863e-02 -1.42942307e-02 3.42726587e+02] [ 5.29914502e-02 9.98594913e-01 -3.25574682e-04 5.15745804e+00] [ 1.42913985e-02 -4.32388074e-04 9.99897779e-01 3.13120319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.739254154 meters Centerline goodness [0,1] 0.9994154244436093 Centerline is valid? [True, True] Translation: X:342.76, Y:5.16, Z:3.13 [[ 9.98567102e-01 -5.15421823e-02 -1.43925746e-02 3.42758065e+02] [ 5.15428140e-02 9.98670732e-01 -3.27289960e-04 5.16016598e+00] [ 1.43903123e-02 -4.15012811e-04 9.99896368e-01 3.13118960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.76925415399995 meters Centerline goodness [0,1] 0.9995190296946884 Centerline is valid? [True, True] Translation: X:342.79, Y:5.16, Z:3.13 [[ 9.98630545e-01 -5.02592539e-02 -1.45272787e-02 3.42789370e+02] [ 5.02597695e-02 9.98736125e-01 -3.29824903e-04 5.16213406e+00] [ 1.45254948e-02 -4.00764454e-04 9.99894419e-01 3.13121402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.799254154 meters Centerline goodness [0,1] 0.9994574177257455 Centerline is valid? [True, True] Translation: X:342.82, Y:5.17, Z:3.13 [[ 9.98738658e-01 -4.80807256e-02 -1.44684912e-02 3.42819699e+02] [ 4.80810135e-02 9.98843385e-01 -3.28154456e-04 5.16580870e+00] [ 1.44675347e-02 -3.67919181e-04 9.99895272e-01 3.13083120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.82925415399995 meters Centerline goodness [0,1] 0.9994152535293627 Centerline is valid? [True, True] Translation: X:342.85, Y:5.17, Z:3.13 [[ 9.98762165e-01 -4.74752503e-02 -1.48404581e-02 3.42849683e+02] [ 4.74754863e-02 9.98872347e-01 -3.36590897e-04 5.16725603e+00] [ 1.48397029e-02 -3.68383711e-04 9.99889818e-01 3.13101737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.859254154 meters Centerline goodness [0,1] 0.9995816162165554 Centerline is valid? [True, True] Translation: X:342.88, Y:5.17, Z:3.13 [[ 9.98820563e-01 -4.61849535e-02 -1.49810822e-02 3.42880142e+02] [ 4.61850490e-02 9.98932843e-01 -3.39780340e-04 5.17196670e+00] [ 1.49807878e-02 -3.52522424e-04 9.99887720e-01 3.13081385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.88925415399996 meters Centerline goodness [0,1] 0.9994348508634223 Centerline is valid? [True, True] Translation: X:342.91, Y:5.17, Z:3.13 [[ 9.98844916e-01 -4.57066456e-02 -1.48234738e-02 3.42909664e+02] [ 4.57066849e-02 9.98954847e-01 -3.36306732e-04 5.17391968e+00] [ 1.48233524e-02 -3.41613575e-04 9.99890070e-01 3.13164909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91925415399993 meters Centerline goodness [0,1] 0.9994355361361403 Centerline is valid? [True, True] Translation: X:342.94, Y:5.18, Z:3.13 [[ 9.98885194e-01 -4.49719688e-02 -1.43488847e-02 3.42940401e+02] [ 4.49719275e-02 9.98988198e-01 -3.25707349e-04 5.17599088e+00] [ 1.43490141e-02 -3.19952753e-04 9.99896996e-01 3.13234745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.94925415399996 meters Centerline goodness [0,1] 0.9994569417465589 Centerline is valid? [True, True] Translation: X:342.97, Y:5.18, Z:3.13 [[ 9.98936658e-01 -4.40296502e-02 -1.36727481e-02 3.42971413e+02] [ 4.40295255e-02 9.99030182e-01 -3.10280963e-04 5.17760974e+00] [ 1.36731496e-02 -2.92053582e-04 9.99906475e-01 3.13233146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97925415399993 meters Centerline goodness [0,1] 0.9994562375823486 Centerline is valid? [True, True] Translation: X:343.00, Y:5.18, Z:3.13 [[ 9.98975204e-01 -4.34184510e-02 -1.27819829e-02 3.43001969e+02] [ 4.34182941e-02 9.99056939e-01 -2.89906591e-04 5.17969238e+00] [ 1.27825160e-02 -2.65362398e-04 9.99918265e-01 3.13311554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.00925415399996 meters Centerline goodness [0,1] 0.9992674605998452 Centerline is valid? [True, True] Translation: X:343.03, Y:5.18, Z:3.13 [[ 9.98985259e-01 -4.32300551e-02 -1.26338748e-02 3.43032530e+02] [ 4.32298875e-02 9.99065110e-01 -2.86488067e-04 5.17976209e+00] [ 1.26344484e-02 -2.59963630e-04 9.99920148e-01 3.13285448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03925415399993 meters Centerline goodness [0,1] 0.9992474759087774 Centerline is valid? [True, True] Translation: X:343.06, Y:5.18, Z:3.13 [[ 9.98959264e-01 -4.39034154e-02 -1.23644264e-02 3.43063723e+02] [ 4.39033098e-02 9.99035746e-01 -2.80102372e-04 5.18191745e+00] [ 1.23648014e-02 -2.63028382e-04 9.99923518e-01 3.13403295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06925415399996 meters Centerline goodness [0,1] 0.9992681039710587 Centerline is valid? [True, True] Translation: X:343.09, Y:5.18, Z:3.13 [[ 9.98941530e-01 -4.44423335e-02 -1.18616522e-02 3.43094751e+02] [ 4.44422792e-02 9.99011918e-01 -2.68293879e-04 5.18292203e+00] [ 1.18618555e-02 -2.59148960e-04 9.99929612e-01 3.13464188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09925415399994 meters Centerline goodness [0,1] 0.9990807287314056 Centerline is valid? [True, True] Translation: X:343.13, Y:5.18, Z:3.13 [[ 9.98905909e-01 -4.55144362e-02 -1.07433797e-02 3.43126399e+02] [ 4.55144587e-02 9.98963651e-01 -2.42530197e-04 5.18178776e+00] [ 1.07432844e-02 -2.46714264e-04 9.99942259e-01 3.13410347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12925415399997 meters Centerline goodness [0,1] 0.9993509892180467 Centerline is valid? [True, True] Translation: X:343.16, Y:5.18, Z:3.14 [[ 9.98862890e-01 -4.64541527e-02 -1.07209538e-02 3.43158429e+02] [ 4.64542419e-02 9.98920390e-01 -2.40838992e-04 5.18351428e+00] [ 1.07205673e-02 -2.57468648e-04 9.99942500e-01 3.13646096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15925415399994 meters Centerline goodness [0,1] 0.9992485754242418 Centerline is valid? [True, True] Translation: X:343.19, Y:5.18, Z:3.14 [[ 9.98813953e-01 -4.74225003e-02 -1.10360156e-02 3.43190100e+02] [ 4.74226626e-02 9.98874882e-01 -2.47127778e-04 5.18372063e+00] [ 1.10353182e-02 -2.76522571e-04 9.99939071e-01 3.13649355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18925415399997 meters Centerline goodness [0,1] 0.999395039322444 Centerline is valid? [True, True] Translation: X:343.22, Y:5.18, Z:3.14 [[ 9.98824292e-01 -4.71448873e-02 -1.12868607e-02 3.43222528e+02] [ 4.71450468e-02 9.98888022e-01 -2.52082647e-04 5.18490061e+00] [ 1.12861944e-02 -2.80333306e-04 9.99936270e-01 3.13645562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21925415399994 meters Centerline goodness [0,1] 0.9993745830553702 Centerline is valid? [True, True] Translation: X:343.26, Y:5.19, Z:3.14 [[ 9.98841879e-01 -4.66407766e-02 -1.18126291e-02 3.43255116e+02] [ 4.66409267e-02 9.98911685e-01 -2.62923985e-04 5.18652234e+00] [ 1.18120362e-02 -2.88332482e-04 9.99930194e-01 3.13657592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24925415399997 meters Centerline goodness [0,1] 0.9993104024741923 Centerline is valid? [True, True] Translation: X:343.29, Y:5.19, Z:3.14 [[ 9.98915398e-01 -4.46053184e-02 -1.33563670e-02 3.43285756e+02] [ 4.46053400e-02 9.99004643e-01 -2.96423416e-04 5.18638526e+00] [ 1.33562947e-02 -2.99663379e-04 9.99910756e-01 3.13543207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27925415399994 meters Centerline goodness [0,1] 0.9993941799494453 Centerline is valid? [True, True] Translation: X:343.32, Y:5.19, Z:3.14 [[ 9.98947566e-01 -4.37211150e-02 -1.38645257e-02 3.43317225e+02] [ 4.37210579e-02 9.99043730e-01 -3.07363443e-04 5.18868583e+00] [ 1.38647058e-02 -2.99131769e-04 9.99903836e-01 3.13621564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.309254154 meters Centerline goodness [0,1] 0.9992708485239891 Centerline is valid? [True, True] Translation: X:343.35, Y:5.19, Z:3.14 [[ 9.98986760e-01 -4.27381209e-02 -1.41034276e-02 3.43347417e+02] [ 4.27379686e-02 9.99086267e-01 -3.12322318e-04 5.19148966e+00] [ 1.41038889e-02 -2.90745986e-04 9.99900493e-01 3.13655148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33925415399995 meters Centerline goodness [0,1] 0.9993111653829294 Centerline is valid? [True, True] Translation: X:343.38, Y:5.19, Z:3.14 [[ 9.99051005e-01 -4.09318256e-02 -1.48887451e-02 3.43377587e+02] [ 4.09314570e-02 9.99161902e-01 -3.29612330e-04 5.19130926e+00] [ 1.48897585e-02 -2.80118501e-04 9.99889102e-01 3.13528263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.369254154 meters Centerline goodness [0,1] 0.9993518983107543 Centerline is valid? [True, True] Translation: X:343.41, Y:5.19, Z:3.14 [[ 9.99057847e-01 -4.06039465e-02 -1.53211584e-02 3.43407885e+02] [ 4.06035203e-02 9.99175280e-01 -3.39009107e-04 5.19203606e+00] [ 1.53222878e-02 -2.83403255e-04 9.99882567e-01 3.13563778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39925415399995 meters Centerline goodness [0,1] 0.9992265562941595 Centerline is valid? [True, True] Translation: X:343.44, Y:5.19, Z:3.14 [[ 9.99038729e-01 -4.11185803e-02 -1.51947537e-02 3.43437750e+02] [ 4.11182206e-02 9.99154232e-01 -3.36212169e-04 5.19134934e+00] [ 1.51957270e-02 -2.88892256e-04 9.99884497e-01 3.13644644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.429254154 meters Centerline goodness [0,1] 0.9994982123816095 Centerline is valid? [True, True] Translation: X:343.47, Y:5.19, Z:3.14 [[ 9.99000188e-01 -4.17284251e-02 -1.60425205e-02 3.43468643e+02] [ 4.17281028e-02 9.99128940e-01 -3.54970586e-04 5.19194787e+00] [ 1.60433589e-02 -3.14808263e-04 9.99871247e-01 3.13685904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.45925415399995 meters Centerline goodness [0,1] 0.9994569077160881 Centerline is valid? [True, True] Translation: X:343.50, Y:5.19, Z:3.14 [[ 9.98951670e-01 -4.26388159e-02 -1.66581139e-02 3.43498648e+02] [ 4.26385927e-02 9.99090494e-01 -3.68723282e-04 5.19144735e+00] [ 1.66586851e-02 -3.41941793e-04 9.99861176e-01 3.13735270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.489254154 meters Centerline goodness [0,1] 0.9994986631016043 Centerline is valid? [True, True] Translation: X:343.53, Y:5.19, Z:3.14 [[ 9.98888563e-01 -4.40572329e-02 -1.67510972e-02 3.43528359e+02] [ 4.40571993e-02 9.99028941e-01 -3.71216290e-04 5.19021176e+00] [ 1.67511856e-02 -3.67202720e-04 9.99859622e-01 3.13748256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.51925415399995 meters Centerline goodness [0,1] 0.9996652579605841 Centerline is valid? [True, True] Translation: X:343.56, Y:5.19, Z:3.14 [[ 9.98811583e-01 -4.56557571e-02 -1.70579310e-02 3.43558254e+02] [ 4.56559471e-02 9.98957152e-01 -3.78495073e-04 5.18812757e+00] [ 1.70574226e-02 -4.00750729e-04 9.99854431e-01 3.13743558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.549254154 meters Centerline goodness [0,1] 0.9995195822454308 Centerline is valid? [True, True] Translation: X:343.59, Y:5.18, Z:3.14 [[ 9.98597056e-01 -5.00402074e-02 -1.73175339e-02 3.43587766e+02] [ 5.00410541e-02 9.98747088e-01 -3.84705201e-04 5.18435460e+00] [ 1.73150873e-02 -4.82422168e-04 9.99849966e-01 3.13758447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57925415399995 meters Centerline goodness [0,1] 0.9993940407037486 Centerline is valid? [True, True] Translation: X:343.62, Y:5.18, Z:3.14 [[ 9.98467399e-01 -5.25712266e-02 -1.72950707e-02 3.43617920e+02] [ 5.25724422e-02 9.98617039e-01 -3.84675456e-04 5.18232463e+00] [ 1.72913752e-02 -5.25158204e-04 9.99850355e-01 3.13789596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.609254154 meters Centerline goodness [0,1] 0.9994775121217188 Centerline is valid? [True, True] Translation: X:343.65, Y:5.18, Z:3.14 [[ 9.98175516e-01 -5.79457724e-02 -1.69683823e-02 3.43647720e+02] [ 5.79477121e-02 9.98319548e-01 -3.77754331e-04 5.17754435e+00] [ 1.69617570e-02 -6.06213804e-04 9.99855955e-01 3.13876204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63925415399996 meters Centerline goodness [0,1] 0.9995608715653883 Centerline is valid? [True, True] Translation: X:343.68, Y:5.18, Z:3.14 [[ 9.98013606e-01 -6.04377790e-02 -1.77796595e-02 3.43678221e+02] [ 6.04402993e-02 9.98171735e-01 -3.96052175e-04 5.17611985e+00] [ 1.77710901e-02 -6.79342483e-04 9.99841851e-01 3.13862525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66925415399993 meters Centerline goodness [0,1] 0.9995405851274877 Centerline is valid? [True, True] Translation: X:343.71, Y:5.17, Z:3.14 [[ 9.97868354e-01 -6.28891111e-02 -1.74272414e-02 3.43708852e+02] [ 6.28919056e-02 9.98020269e-01 -3.88201859e-04 5.17446427e+00] [ 1.74171539e-02 -7.08658073e-04 9.99848059e-01 3.13941406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69925415399996 meters Centerline goodness [0,1] 0.9994150214143946 Centerline is valid? [True, True] Translation: X:343.74, Y:5.17, Z:3.14 [[ 9.97609808e-01 -6.67233244e-02 -1.79630057e-02 3.43737937e+02] [ 6.67269084e-02 9.97771196e-01 -4.00431308e-04 5.16942559e+00] [ 1.79496878e-02 -7.99141635e-04 9.99838572e-01 3.13891805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72925415399993 meters Centerline goodness [0,1] 0.9994575535665853 Centerline is valid? [True, True] Translation: X:343.77, Y:5.17, Z:3.14 [[ 9.97495723e-01 -6.83862570e-02 -1.80444668e-02 3.43767900e+02] [ 6.83901366e-02 9.97658572e-01 -4.02716861e-04 5.16826707e+00] [ 1.80297573e-02 -8.32355202e-04 9.99837104e-01 3.13922027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75925415399996 meters Centerline goodness [0,1] 0.9995819922250554 Centerline is valid? [True, True] Translation: X:343.80, Y:5.17, Z:3.14 [[ 9.97320178e-01 -7.07936752e-02 -1.84585556e-02 3.43798406e+02] [ 7.07981433e-02 9.97490578e-01 -4.12120595e-04 5.17374969e+00] [ 1.84414108e-02 -8.95815277e-04 9.99829541e-01 3.14059223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78925415399993 meters Centerline goodness [0,1] 0.9993531154793206 Centerline is valid? [True, True] Translation: X:343.83, Y:5.18, Z:3.14 [[ 9.97228214e-01 -7.20408541e-02 -1.86011992e-02 3.43829363e+02] [ 7.20456143e-02 9.97401252e-01 -4.14963217e-04 5.17519777e+00] [ 1.85827536e-02 -9.26321792e-04 9.99826897e-01 3.14115006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81925415399996 meters Centerline goodness [0,1] 0.9992288774957275 Centerline is valid? [True, True] Translation: X:343.86, Y:5.17, Z:3.14 [[ 9.97143064e-01 -7.26722111e-02 -2.06024208e-02 3.43860510e+02] [ 7.26782020e-02 9.97355337e-01 -4.58808729e-04 5.17491744e+00] [ 2.05812770e-02 -1.03984896e-03 9.99787642e-01 3.14043367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84925415399994 meters Centerline goodness [0,1] 0.9993554557551564 Centerline is valid? [True, True] Translation: X:343.89, Y:5.18, Z:3.14 [[ 9.97095450e-01 -7.37801097e-02 -1.88986713e-02 3.43891086e+02] [ 7.37853548e-02 9.97274057e-01 -4.20550105e-04 5.17643509e+00] [ 1.88781828e-02 -9.75116570e-04 9.99821316e-01 3.14210376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87925415399997 meters Centerline goodness [0,1] 0.9991230451214165 Centerline is valid? [True, True] Translation: X:343.92, Y:5.18, Z:3.14 [[ 9.97004332e-01 -7.47077257e-02 -2.00279074e-02 3.43921563e+02] [ 7.47138071e-02 9.97204918e-01 -4.45484530e-04 5.17699103e+00] [ 2.00052089e-02 -1.05221120e-03 9.99799322e-01 3.14202928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90925415399994 meters Centerline goodness [0,1] 0.9993731586535448 Centerline is valid? [True, True] Translation: X:343.95, Y:5.18, Z:3.14 [[ 9.96970319e-01 -7.44676796e-02 -2.24666050e-02 3.43951691e+02] [ 7.44752765e-02 9.97222735e-01 -4.99537473e-04 5.17777786e+00] [ 2.24414087e-02 -1.17518259e-03 9.99747469e-01 3.14116973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93925415399997 meters Centerline goodness [0,1] 0.9993962107016449 Centerline is valid? [True, True] Translation: X:343.98, Y:5.18, Z:3.14 [[ 9.96992829e-01 -7.46566789e-02 -2.07768890e-02 3.43980928e+02] [ 7.46632123e-02 9.97208700e-01 -4.62172206e-04 5.17900059e+00] [ 2.07533987e-02 -1.09048690e-03 9.99784030e-01 3.14216789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96925415399994 meters Centerline goodness [0,1] 0.9993962107016449 Centerline is valid? [True, True] Translation: X:344.01, Y:5.18, Z:3.14 [[ 9.96992829e-01 -7.46566805e-02 -2.07768853e-02 3.44010962e+02] [ 7.46632104e-02 9.97208700e-01 -4.62340352e-04 5.17966902e+00] [ 2.07534075e-02 -1.09031894e-03 9.99784030e-01 3.14244936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99925415399997 meters Centerline goodness [0,1] 0.9993109784106569 Centerline is valid? [True, True] Translation: X:344.04, Y:5.18, Z:3.14 [[ 9.97038950e-01 -7.39207858e-02 -2.11907967e-02 3.44040856e+02] [ 7.39274128e-02 9.97263513e-01 -4.71550969e-04 5.18229610e+00] [ 2.11676658e-02 -1.09642609e-03 9.99775339e-01 3.14289874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02925415399994 meters Centerline goodness [0,1] 0.999290380481289 Centerline is valid? [True, True] Translation: X:344.07, Y:5.18, Z:3.14 [[ 9.97072872e-01 -7.34394348e-02 -2.12682099e-02 3.44071353e+02] [ 7.34460011e-02 9.97299083e-01 -4.73273618e-04 5.18450296e+00] [ 2.12455232e-02 -1.09017668e-03 9.99773694e-01 3.14325031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.059254154 meters Centerline goodness [0,1] 0.9992281536182906 Centerline is valid? [True, True] Translation: X:344.10, Y:5.19, Z:3.15 [[ 9.97091101e-01 -7.30002555e-02 -2.19157308e-02 3.44101602e+02] [ 7.30071222e-02 9.97331300e-01 -4.87682662e-04 5.19207978e+00] [ 2.18928453e-02 -1.11374040e-03 9.99759703e-01 3.14502149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.08925415399995 meters Centerline goodness [0,1] 0.9991037372074119 Centerline is valid? [True, True] Translation: X:344.13, Y:5.19, Z:3.14 [[ 9.97110849e-01 -7.28492559e-02 -2.15160707e-02 3.44131155e+02] [ 7.28558344e-02 9.97342367e-01 -4.79009669e-04 5.18902005e+00] [ 2.14937844e-02 -1.08994555e-03 9.99768388e-01 3.14405578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.119254154 meters Centerline goodness [0,1] 0.9992069785884219 Centerline is valid? [True, True] Translation: X:344.16, Y:5.20, Z:3.15 [[ 9.97103794e-01 -7.27635481e-02 -2.21244254e-02 3.44161098e+02] [ 7.27704793e-02 9.97348592e-01 -4.92728131e-04 5.19698720e+00] [ 2.21016171e-02 -1.11870395e-03 9.99755104e-01 3.14582514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.14925415399995 meters Centerline goodness [0,1] 0.9991440322344934 Centerline is valid? [True, True] Translation: X:344.19, Y:5.19, Z:3.14 [[ 9.97081584e-01 -7.29207689e-02 -2.26025689e-02 3.44190554e+02] [ 7.29280378e-02 9.97337078e-01 -5.03618988e-04 5.19225966e+00] [ 2.25791043e-02 -1.14621178e-03 9.99744402e-01 3.14399755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.179254154 meters Centerline goodness [0,1] 0.9989988110881672 Centerline is valid? [True, True] Translation: X:344.22, Y:5.20, Z:3.15 [[ 9.97115482e-01 -7.18954355e-02 -2.43261552e-02 3.44220531e+02] [ 7.19035473e-02 9.97411443e-01 -5.42207484e-04 5.20222832e+00] [ 2.43021678e-02 -1.20849337e-03 9.99703928e-01 3.14562017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.20925415399995 meters Centerline goodness [0,1] 0.9991244710345834 Centerline is valid? [True, True] Translation: X:344.25, Y:5.20, Z:3.14 [[ 9.97190592e-01 -7.09961539e-02 -2.38845063e-02 3.44249799e+02] [ 7.10037037e-02 9.97475910e-01 -5.32891689e-04 5.19784646e+00] [ 2.38620529e-02 -1.16449383e-03 9.99714582e-01 3.14423151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.239254154 meters Centerline goodness [0,1] 0.9992079868275704 Centerline is valid? [True, True] Translation: X:344.28, Y:5.21, Z:3.15 [[ 9.97279696e-01 -6.98835364e-02 -2.34413923e-02 3.44279884e+02] [ 6.98904940e-02 9.97554532e-01 -5.23339592e-04 5.20835511e+00] [ 2.34206400e-02 -1.11641454e-03 9.99725076e-01 3.14695696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.26925415399995 meters Centerline goodness [0,1] 0.9993533044058746 Centerline is valid? [True, True] Translation: X:344.31, Y:5.22, Z:3.15 [[ 9.97517617e-01 -6.67723662e-02 -2.23618948e-02 3.44310185e+02] [ 6.67779172e-02 9.97767739e-01 -4.99239325e-04 5.21511525e+00] [ 2.23453126e-02 -9.95280737e-04 9.99749817e-01 3.14847010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.299254154 meters Centerline goodness [0,1] 0.9993526156416415 Centerline is valid? [True, True] Translation: X:344.34, Y:5.22, Z:3.15 [[ 9.97658575e-01 -6.47612178e-02 -2.19852949e-02 3.44340972e+02] [ 6.47661009e-02 9.97900351e-01 -4.90601400e-04 5.21855811e+00] [ 2.19709054e-02 -9.34449134e-04 9.99758174e-01 3.14911161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.32925415399995 meters Centerline goodness [0,1] 0.999102858335072 Centerline is valid? [True, True] Translation: X:344.37, Y:5.23, Z:3.15 [[ 9.97952921e-01 -6.02164804e-02 -2.15393291e-02 3.44372004e+02] [ 6.02201172e-02 9.98185006e-01 -4.80331589e-04 5.22554632e+00] [ 2.15291592e-02 -8.17752609e-04 9.99767886e-01 3.14927420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.359254154 meters Centerline goodness [0,1] 0.9992699968714152 Centerline is valid? [True, True] Translation: X:344.40, Y:5.23, Z:3.15 [[ 9.98104296e-01 -5.76969765e-02 -2.14213113e-02 3.44401129e+02] [ 5.76999918e-02 9.98333853e-01 -4.77806470e-04 5.22818813e+00] [ 2.14131882e-02 -7.59108794e-04 9.99770423e-01 3.14895817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.38925415399996 meters Centerline goodness [0,1] 0.9989992494370779 Centerline is valid? [True, True] Translation: X:344.43, Y:5.23, Z:3.15 [[ 9.98227153e-01 -5.50159591e-02 -2.27111048e-02 3.44431352e+02] [ 5.50186514e-02 9.98485198e-01 -5.06758418e-04 5.23163548e+00] [ 2.27045818e-02 -7.43674348e-04 9.99741941e-01 3.14878248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41925415399993 meters Centerline goodness [0,1] 0.9991453169623314 Centerline is valid? [True, True] Translation: X:344.46, Y:5.24, Z:3.15 [[ 9.98532494e-01 -4.98612387e-02 -2.11356575e-02 3.44461430e+02] [ 4.98624036e-02 9.98755985e-01 -4.72205250e-04 5.23915379e+00] [ 2.11329092e-02 -5.82362397e-04 9.99776506e-01 3.14892028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.44925415399996 meters Centerline goodness [0,1] 0.9991049312045961 Centerline is valid? [True, True] Translation: X:344.49, Y:5.24, Z:3.15 [[ 9.98674151e-01 -4.71313842e-02 -2.07020203e-02 3.44490475e+02] [ 4.71318975e-02 9.98888567e-01 -4.63390954e-04 5.24253688e+00] [ 2.07008516e-02 -5.12948931e-04 9.99785583e-01 3.14920079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47925415399993 meters Centerline goodness [0,1] 0.9991022777093468 Centerline is valid? [True, True] Translation: X:344.52, Y:5.25, Z:3.15 [[ 9.98785439e-01 -4.47148064e-02 -2.06938136e-02 3.44519656e+02] [ 4.47147855e-02 9.98999686e-01 -4.63947959e-04 5.24613741e+00] [ 2.06938586e-02 -4.61934970e-04 9.99785752e-01 3.14938262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.50925415399996 meters Centerline goodness [0,1] 0.9991858207553078 Centerline is valid? [True, True] Translation: X:344.55, Y:5.25, Z:3.15 [[ 9.98954860e-01 -4.09768386e-02 -2.02505721e-02 3.44549395e+02] [ 4.09760362e-02 9.99160026e-01 -4.54732624e-04 5.25102584e+00] [ 2.02521956e-02 -3.75530811e-04 9.99794833e-01 3.14988859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53925415399993 meters Centerline goodness [0,1] 0.999187483072564 Centerline is valid? [True, True] Translation: X:344.58, Y:5.25, Z:3.15 [[ 9.99008459e-01 -3.98176741e-02 -1.99161164e-02 3.44578528e+02] [ 3.98166535e-02 9.99206902e-01 -4.47934781e-04 5.25170703e+00] [ 1.99181567e-02 -3.45502470e-04 9.99801554e-01 3.14948693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56925415399996 meters Centerline goodness [0,1] 0.9990002499375156 Centerline is valid? [True, True] Translation: X:344.61, Y:5.25, Z:3.15 [[ 9.99017557e-01 -3.95052217e-02 -2.00812697e-02 3.44607383e+02] [ 3.95041029e-02 9.99219306e-01 -4.52548032e-04 5.25299709e+00] [ 2.00834704e-02 -3.41189118e-04 9.99798249e-01 3.14960046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59925415399994 meters Centerline goodness [0,1] 0.9991663887962654 Centerline is valid? [True, True] Translation: X:344.64, Y:5.25, Z:3.15 [[ 9.99018337e-01 -3.95377432e-02 -1.99781964e-02 3.44637114e+02] [ 3.95366253e-02 9.99218020e-01 -4.51077572e-04 5.25402345e+00] [ 1.99804084e-02 -3.39235698e-04 9.99800314e-01 3.14984639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62925415399997 meters Centerline goodness [0,1] 0.9989364364364365 Centerline is valid? [True, True] Translation: X:344.67, Y:5.26, Z:3.15 [[ 9.98936429e-01 -4.16150053e-02 -1.98545042e-02 3.44666556e+02] [ 4.16142975e-02 9.99133649e-01 -4.48985081e-04 5.25613587e+00] [ 1.98559878e-02 -3.77723692e-04 9.99802779e-01 3.15093809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65925415399994 meters Centerline goodness [0,1] 0.9989370127975322 Centerline is valid? [True, True] Translation: X:344.70, Y:5.25, Z:3.15 [[ 9.98836008e-01 -4.34418595e-02 -2.09626985e-02 3.44696077e+02] [ 4.34414632e-02 9.99055861e-01 -4.74497370e-04 5.25302255e+00] [ 2.09635199e-02 -4.36705238e-04 9.99780146e-01 3.14977912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68925415399997 meters Centerline goodness [0,1] 0.9989572471324296 Centerline is valid? [True, True] Translation: X:344.73, Y:5.25, Z:3.15 [[ 9.98586314e-01 -4.91401471e-02 -2.02637413e-02 3.44725628e+02] [ 4.91409396e-02 9.98791749e-01 -4.59131712e-04 5.25146154e+00] [ 2.02618194e-02 -5.37296644e-04 9.99794564e-01 3.15011438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71925415399994 meters Centerline goodness [0,1] 0.9989984141557466 Centerline is valid? [True, True] Translation: X:344.76, Y:5.25, Z:3.15 [[ 9.98417561e-01 -5.23876423e-02 -2.04428250e-02 3.44756500e+02] [ 5.23891221e-02 9.98626639e-01 -4.63520447e-04 5.25038092e+00] [ 2.04390324e-02 -6.08194701e-04 9.99790916e-01 3.15024764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74925415399997 meters Centerline goodness [0,1] 0.9989779316674314 Centerline is valid? [True, True] Translation: X:344.79, Y:5.25, Z:3.15 [[ 9.98233643e-01 -5.56707653e-02 -2.07450931e-02 3.44787285e+02] [ 5.56729973e-02 9.98448945e-01 -4.70374073e-04 5.24854016e+00] [ 2.07391024e-02 -6.85398290e-04 9.99784687e-01 3.15013791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77925415399994 meters Centerline goodness [0,1] 0.9990402870793432 Centerline is valid? [True, True] Translation: X:344.82, Y:5.24, Z:3.15 [[ 9.97853111e-01 -6.21262745e-02 -2.07242430e-02 3.44817415e+02] [ 6.21298980e-02 9.98067961e-01 -4.69602855e-04 5.24393178e+00] [ 2.07133777e-02 -8.19000434e-04 9.99785120e-01 3.15025133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.809254154 meters Centerline goodness [0,1] 0.9988736154857012 Centerline is valid? [True, True] Translation: X:344.85, Y:5.24, Z:3.15 [[ 9.97650408e-01 -6.52887709e-02 -2.07615104e-02 3.44848184e+02] [ 6.52931001e-02 9.97866018e-01 -4.70002750e-04 5.24256054e+00] [ 2.07478916e-02 -8.86684944e-04 9.99784346e-01 3.15111294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83925415399995 meters Centerline goodness [0,1] 0.9988736859669615 Centerline is valid? [True, True] Translation: X:344.88, Y:5.24, Z:3.15 [[ 9.97471465e-01 -6.80520573e-02 -2.04839871e-02 3.44879855e+02] [ 6.80568639e-02 9.97681336e-01 -4.63174677e-04 5.24143428e+00] [ 2.04680116e-02 -9.32072398e-04 9.99790074e-01 3.15198100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.869254154 meters Centerline goodness [0,1] 0.9988316294596287 Centerline is valid? [True, True] Translation: X:344.91, Y:5.25, Z:3.15 [[ 9.97296215e-01 -7.07180695e-02 -1.99803568e-02 3.44911213e+02] [ 7.07231904e-02 9.97495878e-01 -4.51079810e-04 5.24583463e+00] [ 1.99622231e-02 -9.63214393e-04 9.99800271e-01 3.15367794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89925415399995 meters Centerline goodness [0,1] 0.9988530436051968 Centerline is valid? [True, True] Translation: X:344.94, Y:5.24, Z:3.15 [[ 9.96985104e-01 -7.50839435e-02 -1.95730583e-02 3.44941477e+02] [ 7.50897031e-02 9.97176685e-01 -4.41546812e-04 5.23862241e+00] [ 1.95509505e-02 -1.02951954e-03 9.99808332e-01 3.15360418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.929254154 meters Centerline goodness [0,1] 0.9987483833284659 Centerline is valid? [True, True] Translation: X:344.97, Y:5.24, Z:3.15 [[ 9.96855097e-01 -7.68601501e-02 -1.92985451e-02 3.44973744e+02] [ 7.68660952e-02 9.97041330e-01 -4.34623436e-04 5.24209159e+00] [ 1.92748523e-02 -1.05014722e-03 9.99813671e-01 3.15485550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.95925415399995 meters Centerline goodness [0,1] 0.9987053123955897 Centerline is valid? [True, True] Translation: X:345.00, Y:5.24, Z:3.16 [[ 9.96620393e-01 -7.99506216e-02 -1.88597443e-02 3.45003925e+02] [ 7.99568634e-02 9.96798234e-01 -4.24068016e-04 5.24066130e+00] [ 1.88332644e-02 -1.08533117e-03 9.99822049e-01 3.15527647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.989254154 meters Centerline goodness [0,1] 0.9987465268347714 Centerline is valid? [True, True] Translation: X:345.04, Y:5.24, Z:3.16 [[ 9.96558360e-01 -8.07727956e-02 -1.86330360e-02 3.45036308e+02] [ 8.07790439e-02 9.96731945e-01 -4.18296272e-04 5.24124665e+00] [ 1.86059292e-02 -1.08830219e-03 9.99826302e-01 3.15548330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.01925415399995 meters Centerline goodness [0,1] 0.9987058528846957 Centerline is valid? [True, True] Translation: X:345.07, Y:5.24, Z:3.16 [[ 9.96493881e-01 -8.15164197e-02 -1.88419109e-02 3.45067920e+02] [ 8.15229640e-02 9.96671374e-01 -4.21782844e-04 5.23998197e+00] [ 1.88135755e-02 -1.11574440e-03 9.99822386e-01 3.15545631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.049254154 meters Centerline goodness [0,1] 0.9984349241459902 Centerline is valid? [True, True] Translation: X:345.10, Y:5.24, Z:3.16 [[ 9.96408234e-01 -8.26652303e-02 -1.83600510e-02 3.45099543e+02] [ 8.26716563e-02 9.96576755e-01 -4.10018309e-04 5.24184543e+00] [ 1.83310943e-02 -1.10931021e-03 9.99831356e-01 3.15559984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07925415399995 meters Centerline goodness [0,1] 0.9985436691216244 Centerline is valid? [True, True] Translation: X:345.13, Y:5.24, Z:3.16 [[ 9.96378988e-01 -8.28838268e-02 -1.89521123e-02 3.45130565e+02] [ 8.28907330e-02 9.96558552e-01 -4.22210372e-04 5.24173527e+00] [ 1.89218840e-02 -1.15027294e-03 9.99820303e-01 3.15551210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.109254154 meters Centerline goodness [0,1] 0.9984602580108198 Centerline is valid? [True, True] Translation: X:345.16, Y:5.24, Z:3.16 [[ 9.96389939e-01 -8.28167942e-02 -1.86673125e-02 3.45162849e+02] [ 8.28235039e-02 9.96564145e-01 -4.14720587e-04 5.24331617e+00] [ 1.86375202e-02 -1.13286881e-03 9.99825665e-01 3.15563113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13925415399996 meters Centerline goodness [0,1] 0.998478437584676 Centerline is valid? [True, True] Translation: X:345.20, Y:5.25, Z:3.16 [[ 9.96434380e-01 -8.21522372e-02 -1.92233504e-02 3.45195181e+02] [ 8.21592566e-02 9.96619123e-01 -4.25665977e-04 5.25278293e+00] [ 1.91933280e-02 -1.15522796e-03 9.99815124e-01 3.15686117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16925415399993 meters Centerline goodness [0,1] 0.9986437424362559 Centerline is valid? [True, True] Translation: X:345.23, Y:5.25, Z:3.16 [[ 9.96495438e-01 -8.12529439e-02 -1.98696018e-02 3.45226622e+02] [ 8.12603071e-02 9.96692817e-01 -4.37863856e-04 5.24851395e+00] [ 1.98394671e-02 -1.17828061e-03 9.99802484e-01 3.15574785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19925415399996 meters Centerline goodness [0,1] 0.9987500260411242 Centerline is valid? [True, True] Translation: X:345.26, Y:5.26, Z:3.16 [[ 9.96683476e-01 -7.86392955e-02 -2.09263197e-02 3.45257847e+02] [ 7.86469251e-02 9.96902428e-01 -4.59417709e-04 5.26027602e+00] [ 2.08976272e-02 -1.18789666e-03 9.99780915e-01 3.15641976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22925415399993 meters Centerline goodness [0,1] 0.9986242261271966 Centerline is valid? [True, True] Translation: X:345.29, Y:5.27, Z:3.16 [[ 9.96810036e-01 -7.69826844e-02 -2.10575018e-02 3.45289523e+02] [ 7.69900624e-02 9.97031754e-01 -4.61303933e-04 5.26562801e+00] [ 2.10305104e-02 -1.16138599e-03 9.99778160e-01 3.15692146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25925415399996 meters Centerline goodness [0,1] 0.9987525468834463 Centerline is valid? [True, True] Translation: X:345.32, Y:5.27, Z:3.16 [[ 9.97102646e-01 -7.30609661e-02 -2.11756777e-02 3.45320232e+02] [ 7.30675608e-02 9.97326886e-01 -4.63153233e-04 5.27210374e+00] [ 2.11529111e-02 -1.08544380e-03 9.99775663e-01 3.15736017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28925415399993 meters Centerline goodness [0,1] 0.9984375 Centerline is valid? [True, True] Translation: X:345.35, Y:5.28, Z:3.16 [[ 9.97264541e-01 -7.09408267e-02 -2.07565356e-02 3.45350911e+02] [ 7.09467168e-02 9.97480004e-01 -4.53400431e-04 5.27536962e+00] [ 2.07363938e-02 -1.02044788e-03 9.99784457e-01 3.15761567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31925415399996 meters Centerline goodness [0,1] 0.9987043383766614 Centerline is valid? [True, True] Translation: X:345.38, Y:5.28, Z:3.16 [[ 9.97430470e-01 -6.85735591e-02 -2.07394324e-02 3.45382832e+02] [ 6.85789490e-02 9.97645590e-01 -4.52059986e-04 5.27993281e+00] [ 2.07216026e-02 -9.71390073e-04 9.99784813e-01 3.15835049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34925415399994 meters Centerline goodness [0,1] 0.998806657594473 Centerline is valid? [True, True] Translation: X:345.41, Y:5.28, Z:3.16 [[ 9.97598035e-01 -6.61253821e-02 -2.06299329e-02 3.45413276e+02] [ 6.61302076e-02 9.97810901e-01 -4.48955557e-04 5.28359941e+00] [ 2.06144593e-02 -9.16384562e-04 9.99787079e-01 3.15849593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37925415399997 meters Centerline goodness [0,1] 0.9987650961759843 Centerline is valid? [True, True] Translation: X:345.44, Y:5.29, Z:3.16 [[ 9.97888260e-01 -6.14006034e-02 -2.11892798e-02 3.45443979e+02] [ 6.14046391e-02 9.98112848e-01 -4.60735721e-04 5.29330155e+00] [ 2.11775819e-02 -8.41357312e-04 9.99775376e-01 3.15956392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40925415399994 meters Centerline goodness [0,1] 0.9988265862040063 Centerline is valid? [True, True] Translation: X:345.47, Y:5.29, Z:3.16 [[ 9.98025560e-01 -5.91418557e-02 -2.11476308e-02 3.45474482e+02] [ 5.91453774e-02 9.98249274e-01 -4.59445442e-04 5.29417586e+00] [ 2.11377795e-02 -7.92246309e-04 9.99776258e-01 3.15921188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43925415399997 meters Centerline goodness [0,1] 0.9986387719628909 Centerline is valid? [True, True] Translation: X:345.51, Y:5.30, Z:3.16 [[ 9.98247891e-01 -5.54282925e-02 -2.07087425e-02 3.45505556e+02] [ 5.54308831e-02 9.98462426e-01 -4.49333971e-04 5.30318046e+00] [ 2.07018071e-02 -6.99357198e-04 9.99785450e-01 3.16099622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46925415399994 meters Centerline goodness [0,1] 0.9984903444949993 Centerline is valid? [True, True] Translation: X:345.54, Y:5.31, Z:3.16 [[ 9.98349072e-01 -5.37991255e-02 -2.01192617e-02 3.45536912e+02] [ 5.38012548e-02 9.98551569e-01 -4.35816665e-04 5.30812462e+00] [ 2.01135668e-02 -6.47344360e-04 9.99797492e-01 3.16218147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49925415399997 meters Centerline goodness [0,1] 0.9987187565637471 Centerline is valid? [True, True] Translation: X:345.57, Y:5.31, Z:3.16 [[ 9.98411299e-01 -5.27077578e-02 -1.99190977e-02 3.45567920e+02] [ 5.27096464e-02 9.98609788e-01 -4.30553837e-04 5.30961118e+00] [ 1.99140995e-02 -6.20058784e-04 9.99801502e-01 3.16225968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52925415399994 meters Centerline goodness [0,1] 0.9988442707348337 Centerline is valid? [True, True] Translation: X:345.60, Y:5.31, Z:3.16 [[ 9.98474177e-01 -5.16042815e-02 -1.96549284e-02 3.45600407e+02] [ 5.16059318e-02 9.98667436e-01 -4.23569353e-04 5.31462660e+00] [ 1.96505950e-02 -5.91387833e-04 9.99806734e-01 3.16283990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.559254154 meters Centerline goodness [0,1] 0.9988649023605827 Centerline is valid? [True, True] Translation: X:345.63, Y:5.31, Z:3.16 [[ 9.98505879e-01 -5.12275953e-02 -1.90195551e-02 3.45631447e+02] [ 5.12290952e-02 9.98686844e-01 -4.08671373e-04 5.31344551e+00] [ 1.90155147e-02 -5.66293831e-04 9.99819028e-01 3.16196409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.58925415399995 meters Centerline goodness [0,1] 0.9987789987789988 Centerline is valid? [True, True] Translation: X:345.66, Y:5.31, Z:3.16 [[ 9.98512654e-01 -5.11338729e-02 -1.89157861e-02 3.45662316e+02] [ 5.11353588e-02 9.98691649e-01 -4.05430175e-04 5.31438485e+00] [ 1.89117688e-02 -5.62438347e-04 9.99820998e-01 3.16197032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.619254154 meters Centerline goodness [0,1] 0.9985448256954257 Centerline is valid? [True, True] Translation: X:345.69, Y:5.32, Z:3.16 [[ 9.98524198e-01 -5.09557809e-02 -1.87865566e-02 3.45694446e+02] [ 5.09572370e-02 9.98700755e-01 -4.01489511e-04 5.31910303e+00] [ 1.87826064e-02 -5.56414024e-04 9.99823436e-01 3.16316749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.64925415399995 meters Centerline goodness [0,1] 0.9984798902142933 Centerline is valid? [True, True] Translation: X:345.73, Y:5.32, Z:3.16 [[ 9.98550869e-01 -5.02271970e-02 -1.93233205e-02 3.45725389e+02] [ 5.02286253e-02 9.98737661e-01 -4.11717837e-04 5.32058939e+00] [ 1.93196074e-02 -5.59462622e-04 9.99813202e-01 3.16285331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.679254154 meters Centerline goodness [0,1] 0.9986914862183952 Centerline is valid? [True, True] Translation: X:345.76, Y:5.32, Z:3.16 [[ 9.98578045e-01 -4.98590685e-02 -1.88669540e-02 3.45757112e+02] [ 4.98603867e-02 9.98756117e-01 -4.00814855e-04 5.32303694e+00] [ 1.88634700e-02 -5.40468710e-04 9.99821923e-01 3.16349345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.70925415399995 meters Centerline goodness [0,1] 0.9987540914370183 Centerline is valid? [True, True] Translation: X:345.79, Y:5.33, Z:3.16 [[ 9.98642153e-01 -4.85236342e-02 -1.89554222e-02 3.45788367e+02] [ 4.85247470e-02 9.98821900e-01 -4.01504117e-04 5.32580822e+00] [ 1.89525733e-02 -5.18848133e-04 9.99820249e-01 3.16367716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.739254154 meters Centerline goodness [0,1] 0.9987105502356945 Centerline is valid? [True, True] Translation: X:345.82, Y:5.33, Z:3.16 [[ 9.98687831e-01 -4.76326280e-02 -1.88082002e-02 3.45820807e+02] [ 4.76335882e-02 9.98864797e-01 -3.97186211e-04 5.32956080e+00] [ 1.88057681e-02 -4.99237028e-04 9.99823031e-01 3.16483257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.76925415399995 meters Centerline goodness [0,1] 0.9987125369354158 Centerline is valid? [True, True] Translation: X:345.85, Y:5.33, Z:3.16 [[ 9.98733441e-01 -4.68009382e-02 -1.84712164e-02 3.45852100e+02] [ 4.68017441e-02 9.98904122e-01 -3.88882727e-04 5.32758182e+00] [ 1.84691743e-02 -4.76094960e-04 9.99829317e-01 3.16395453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.799254154 meters Centerline goodness [0,1] 0.9986923969208057 Centerline is valid? [True, True] Translation: X:345.88, Y:5.33, Z:3.16 [[ 9.98807160e-01 -4.52298003e-02 -1.83989590e-02 3.45883804e+02] [ 4.52303488e-02 9.98976509e-01 -3.86533199e-04 5.32975473e+00] [ 1.83976107e-02 -4.46119207e-04 9.99830650e-01 3.16457040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.82925415399995 meters Centerline goodness [0,1] 0.9985643710678546 Centerline is valid? [True, True] Translation: X:345.92, Y:5.33, Z:3.17 [[ 9.98837003e-01 -4.46281274e-02 -1.82475008e-02 3.45915550e+02] [ 4.46285843e-02 9.99003575e-01 -3.82379102e-04 5.33332867e+00] [ 1.82463834e-02 -4.32425732e-04 9.99833427e-01 3.16572430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.859254154 meters Centerline goodness [0,1] 0.9987542492768311 Centerline is valid? [True, True] Translation: X:345.95, Y:5.33, Z:3.17 [[ 9.98863211e-01 -4.39484852e-02 -1.84612189e-02 3.45947815e+02] [ 4.39488621e-02 9.99033708e-01 -3.85491501e-04 5.33421448e+00] [ 1.84603217e-02 -4.26296284e-04 9.99829503e-01 3.16575371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.88925415399996 meters Centerline goodness [0,1] 0.9987542492768311 Centerline is valid? [True, True] Translation: X:345.98, Y:5.33, Z:3.17 [[ 9.98866449e-01 -4.38748089e-02 -1.84612472e-02 3.45979509e+02] [ 4.38751983e-02 9.99036946e-01 -3.84129953e-04 5.33481592e+00] [ 1.84603217e-02 -4.26296361e-04 9.99829503e-01 3.16605049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91925415399993 meters Centerline goodness [0,1] 0.9988831289248535 Centerline is valid? [True, True] Translation: X:346.01, Y:5.33, Z:3.17 [[ 9.98821520e-01 -4.46522259e-02 -1.90197257e-02 3.46011416e+02] [ 4.46528072e-02 9.99002488e-01 -3.94326560e-04 5.33459716e+00] [ 1.90183609e-02 -4.55422293e-04 9.99819031e-01 3.16577449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.94925415399996 meters Centerline goodness [0,1] 0.9986299348692115 Centerline is valid? [True, True] Translation: X:346.04, Y:5.33, Z:3.17 [[ 9.98783113e-01 -4.54885957e-02 -1.90547025e-02 3.46042554e+02] [ 4.54893546e-02 9.98964746e-01 -3.93826818e-04 5.33333259e+00] [ 1.90528907e-02 -4.73438545e-04 9.99818365e-01 3.16523387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97925415399993 meters Centerline goodness [0,1] 0.9987770421287901 Centerline is valid? [True, True] Translation: X:346.07, Y:5.33, Z:3.17 [[ 9.98706858e-01 -4.69098109e-02 -1.95979787e-02 3.46074595e+02] [ 4.69109121e-02 9.98898996e-01 -4.03783454e-04 5.33327485e+00] [ 1.95953426e-02 -5.16097749e-04 9.99807860e-01 3.16551119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.00925415399996 meters Centerline goodness [0,1] 0.9987359905620629 Centerline is valid? [True, True] Translation: X:346.11, Y:5.33, Z:3.17 [[ 9.98530997e-01 -5.03671406e-02 -1.99749541e-02 3.46106090e+02] [ 5.03689974e-02 9.98730592e-01 -4.10464930e-04 5.33142861e+00] [ 1.99702717e-02 -5.96256456e-04 9.99800396e-01 3.16551957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03925415399993 meters Centerline goodness [0,1] 0.9988856884553119 Centerline is valid? [True, True] Translation: X:346.14, Y:5.33, Z:3.17 [[ 9.98440857e-01 -5.21083452e-02 -2.00144026e-02 3.46137388e+02] [ 5.21105775e-02 9.98641237e-01 -4.10336807e-04 5.32951419e+00] [ 2.00085897e-02 -6.33265044e-04 9.99799608e-01 3.16540104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06925415399996 meters Centerline goodness [0,1] 0.9986750231345167 Centerline is valid? [True, True] Translation: X:346.17, Y:5.33, Z:3.17 [[ 9.98253400e-01 -5.56161208e-02 -1.99247479e-02 3.46168173e+02] [ 5.56190451e-02 9.98451980e-01 -4.07784849e-04 5.32794590e+00] [ 1.99165834e-02 -7.01122840e-04 9.99801399e-01 3.16615663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09925415399994 meters Centerline goodness [0,1] 0.9986742703225943 Centerline is valid? [True, True] Translation: X:346.20, Y:5.33, Z:3.17 [[ 9.98172933e-01 -5.69601709e-02 -2.01577400e-02 3.46198887e+02] [ 5.69634694e-02 9.98376179e-01 -4.10979810e-04 5.32684081e+00] [ 2.01484169e-02 -7.38025883e-04 9.99796728e-01 3.16645118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12925415399997 meters Centerline goodness [0,1] 0.998885032081624 Centerline is valid? [True, True] Translation: X:346.23, Y:5.33, Z:3.17 [[ 9.98122892e-01 -5.78543813e-02 -2.00888988e-02 3.46231286e+02] [ 5.78578783e-02 9.98324747e-01 -4.07575914e-04 5.32617168e+00] [ 2.00788249e-02 -7.55490212e-04 9.99798115e-01 3.16695994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15925415399994 meters Centerline goodness [0,1] 0.9985510898324303 Centerline is valid? [True, True] Translation: X:346.26, Y:5.32, Z:3.17 [[ 9.98060243e-01 -5.88494536e-02 -2.03099455e-02 3.46262790e+02] [ 5.88532602e-02 9.98266560e-01 -4.10759007e-04 5.32469509e+00] [ 2.02989124e-02 -7.85344274e-04 9.99793647e-01 3.16685964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18925415399997 meters Centerline goodness [0,1] 0.9986535386686863 Centerline is valid? [True, True] Translation: X:346.29, Y:5.32, Z:3.17 [[ 9.98023403e-01 -5.95661064e-02 -2.00291153e-02 3.46294627e+02] [ 5.95699782e-02 9.98224050e-01 -4.03796656e-04 5.32458051e+00] [ 2.00175972e-02 -7.90135447e-04 9.99799316e-01 3.16757587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21925415399994 meters Centerline goodness [0,1] 0.99869457194593 Centerline is valid? [True, True] Translation: X:346.33, Y:5.32, Z:3.17 [[ 9.98020177e-01 -5.95156246e-02 -2.03375718e-02 3.46327195e+02] [ 5.95196362e-02 9.98227051e-01 -4.08531518e-04 5.32453330e+00] [ 2.03258283e-02 -8.02762177e-04 9.99793087e-01 3.16783292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24925415399997 meters Centerline goodness [0,1] 0.998695862518668 Centerline is valid? [True, True] Translation: X:346.36, Y:5.32, Z:3.17 [[ 9.98028199e-01 -5.93366206e-02 -2.04665369e-02 3.46358082e+02] [ 5.93406720e-02 9.98237706e-01 -4.09843010e-04 5.32317443e+00] [ 2.04547875e-02 -8.05463171e-04 9.99790454e-01 3.16799538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27925415399994 meters Centerline goodness [0,1] 0.9985924961136087 Centerline is valid? [True, True] Translation: X:346.39, Y:5.33, Z:3.17 [[ 9.98101422e-01 -5.79055861e-02 -2.09879782e-02 3.46390592e+02] [ 5.79095587e-02 9.98321745e-01 -4.18947557e-04 5.32501864e+00] [ 2.09770144e-02 -7.97252403e-04 9.99779640e-01 3.16884786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.309254154 meters Centerline goodness [0,1] 0.998547949241356 Centerline is valid? [True, True] Translation: X:346.42, Y:5.33, Z:3.17 [[ 9.98205533e-01 -5.63621514e-02 -2.02242831e-02 3.46421972e+02] [ 5.63655443e-02 9.98410118e-01 -4.02686549e-04 5.32645268e+00] [ 2.02148251e-02 -7.37988782e-04 9.99795387e-01 3.17038947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33925415399995 meters Centerline goodness [0,1] 0.9986313772555956 Centerline is valid? [True, True] Translation: X:346.45, Y:5.33, Z:3.17 [[ 9.98270970e-01 -5.52591807e-02 -2.00373148e-02 3.46453781e+02] [ 5.52623111e-02 9.98471792e-01 -3.97873728e-04 5.32910887e+00] [ 2.00286798e-02 -7.10122530e-04 9.99799154e-01 3.17171432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.369254154 meters Centerline goodness [0,1] 0.9985278034827964 Centerline is valid? [True, True] Translation: X:346.49, Y:5.33, Z:3.17 [[ 9.98346906e-01 -5.38031679e-02 -2.02156763e-02 3.46486438e+02] [ 5.38060893e-02 9.98551323e-01 -3.99773159e-04 5.33010968e+00] [ 2.02078993e-02 -6.88614186e-04 9.99795562e-01 3.17255709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39925415399995 meters Centerline goodness [0,1] 0.9984855177636146 Centerline is valid? [True, True] Translation: X:346.52, Y:5.33, Z:3.17 [[ 9.98469266e-01 -5.16794060e-02 -1.97069416e-02 3.46516705e+02] [ 5.16817885e-02 9.98663528e-01 -3.88719261e-04 5.32906998e+00] [ 1.97006926e-02 -6.30365753e-04 9.99805724e-01 3.17274480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.429254154 meters Centerline goodness [0,1] 0.9986943520195426 Centerline is valid? [True, True] Translation: X:346.55, Y:5.34, Z:3.18 [[ 9.98516374e-01 -5.07615962e-02 -1.97056031e-02 3.46549061e+02] [ 5.07638184e-02 9.98710611e-01 -3.87750139e-04 5.33549165e+00] [ 1.96998778e-02 -6.13156796e-04 9.99805751e-01 3.17502401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.45925415399995 meters Centerline goodness [0,1] 0.998779281459811 Centerline is valid? [True, True] Translation: X:346.58, Y:5.33, Z:3.17 [[ 9.98580045e-01 -4.94745412e-02 -1.97525578e-02 3.46580093e+02] [ 4.94765636e-02 9.98775210e-01 -3.86593308e-04 5.33474924e+00] [ 1.97474916e-02 -5.91244320e-04 9.99804824e-01 3.17473172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.489254154 meters Centerline goodness [0,1] 0.9986550666162317 Centerline is valid? [True, True] Translation: X:346.61, Y:5.34, Z:3.17 [[ 9.98630122e-01 -4.81193243e-02 -2.05526116e-02 3.46611286e+02] [ 4.81212622e-02 9.98841421e-01 -4.00546996e-04 5.33748696e+00] [ 2.05480738e-02 -5.89019315e-04 9.99788693e-01 3.17489407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.51925415399995 meters Centerline goodness [0,1] 0.9984659998318904 Centerline is valid? [True, True] Translation: X:346.64, Y:5.34, Z:3.17 [[ 9.98636627e-01 -4.75004389e-02 -2.16470591e-02 3.46643859e+02] [ 4.75024712e-02 9.98871032e-01 -4.20601962e-04 5.33799878e+00] [ 2.16425991e-02 -6.08260279e-04 9.99765586e-01 3.17447125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.549254154 meters Centerline goodness [0,1] 0.9985944743963582 Centerline is valid? [True, True] Translation: X:346.67, Y:5.34, Z:3.17 [[ 9.98591277e-01 -4.79835752e-02 -2.26503386e-02 3.46674326e+02] [ 4.79859466e-02 9.98847914e-01 -4.39128225e-04 5.33728208e+00] [ 2.26453144e-02 -6.48388324e-04 9.99743352e-01 3.17365432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57925415399995 meters Centerline goodness [0,1] 0.9987396811393282 Centerline is valid? [True, True] Translation: X:346.71, Y:5.34, Z:3.17 [[ 9.98564299e-01 -4.85144932e-02 -2.27087054e-02 3.46706112e+02] [ 4.85170290e-02 9.98822259e-01 -4.39596122e-04 5.33801404e+00] [ 2.27032873e-02 -6.62793927e-04 9.99742027e-01 3.17400303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.609254154 meters Centerline goodness [0,1] 0.9986758307585598 Centerline is valid? [True, True] Translation: X:346.74, Y:5.34, Z:3.17 [[ 9.98523865e-01 -4.92853392e-02 -2.28264248e-02 3.46736527e+02] [ 4.92881161e-02 9.98784505e-01 -4.41281589e-04 5.33692689e+00] [ 2.28204281e-02 -6.84441276e-04 9.99739346e-01 3.17382517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63925415399996 meters Centerline goodness [0,1] 0.9985929985929985 Centerline is valid? [True, True] Translation: X:346.77, Y:5.34, Z:3.17 [[ 9.98472198e-01 -5.04876147e-02 -2.24559623e-02 3.46768312e+02] [ 5.04906202e-02 9.98724441e-01 -4.33483249e-04 5.33662950e+00] [ 2.24492039e-02 -7.00994491e-04 9.99747739e-01 3.17429265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66925415399993 meters Centerline goodness [0,1] 0.9988662607600252 Centerline is valid? [True, True] Translation: X:346.80, Y:5.34, Z:3.18 [[ 9.98417868e-01 -5.14438561e-02 -2.27000335e-02 3.46799383e+02] [ 5.14471930e-02 9.98675621e-01 -4.37362988e-04 5.33878504e+00] [ 2.26924697e-02 -7.31181983e-04 9.99742225e-01 3.17591342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69925415399996 meters Centerline goodness [0,1] 0.99871897181738 Centerline is valid? [True, True] Translation: X:346.83, Y:5.34, Z:3.18 [[ 9.98246104e-01 -5.52966417e-02 -2.11423329e-02 3.46830813e+02] [ 5.53004150e-02 9.98469678e-01 -4.06590965e-04 5.33801138e+00] [ 2.11324614e-02 -7.63301933e-04 9.99776393e-01 3.17725614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72925415399993 meters Centerline goodness [0,1] 0.998615394297942 Centerline is valid? [True, True] Translation: X:346.86, Y:5.34, Z:3.18 [[ 9.98146409e-01 -5.72775979e-02 -2.05675158e-02 3.46862294e+02] [ 5.72816083e-02 9.98357983e-01 -3.94577109e-04 5.33651336e+00] [ 2.05563440e-02 -7.84294660e-04 9.99788388e-01 3.17747671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75925415399996 meters Centerline goodness [0,1] 0.9984675455537828 Centerline is valid? [True, True] Translation: X:346.89, Y:5.33, Z:3.18 [[ 9.97895344e-01 -6.14905834e-02 -2.05861589e-02 3.46892971e+02] [ 6.14955107e-02 9.98107282e-01 -3.94210904e-04 5.33358195e+00] [ 2.05714354e-02 -8.72575131e-04 9.99788005e-01 3.17785285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78925415399993 meters Centerline goodness [0,1] 0.9985296588808603 Centerline is valid? [True, True] Translation: X:346.92, Y:5.33, Z:3.18 [[ 9.97711923e-01 -6.48581084e-02 -1.90878328e-02 3.46924268e+02] [ 6.48629691e-02 9.97894114e-01 -3.65000033e-04 5.33341049e+00] [ 1.90713092e-02 -8.73928622e-04 9.99817744e-01 3.17842951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81925415399996 meters Centerline goodness [0,1] 0.9983424255140579 Centerline is valid? [True, True] Translation: X:346.96, Y:5.33, Z:3.18 [[ 9.97520577e-01 -6.76730807e-02 -1.93145642e-02 3.46955870e+02] [ 6.76785979e-02 9.97707107e-01 -3.68611242e-04 5.33276175e+00] [ 1.92952230e-02 -9.39485325e-04 9.99813388e-01 3.17873792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84925415399994 meters Centerline goodness [0,1] 0.9983203510466313 Centerline is valid? [True, True] Translation: X:346.99, Y:5.33, Z:3.18 [[ 9.97061765e-01 -7.43950700e-02 -1.82540473e-02 3.46986335e+02] [ 7.44011271e-02 9.97228335e-01 -3.48012697e-04 5.32882564e+00] [ 1.82293436e-02 -1.01113154e-03 9.99833320e-01 3.17925905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87925415399997 meters Centerline goodness [0,1] 0.9983413118333754 Centerline is valid? [True, True] Translation: X:347.02, Y:5.33, Z:3.18 [[ 9.96829222e-01 -7.73969838e-02 -1.84718301e-02 3.47017284e+02] [ 7.74037036e-02 9.96999771e-01 -3.51966898e-04 5.32696335e+00] [ 1.84436516e-02 -1.07893718e-03 9.99829319e-01 3.17978578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90925415399994 meters Centerline goodness [0,1] 0.9984055386551978 Centerline is valid? [True, True] Translation: X:347.05, Y:5.32, Z:3.18 [[ 9.96358273e-01 -8.34157392e-02 -1.76636767e-02 3.47047821e+02] [ 8.34228344e-02 9.96514183e-01 -3.36056192e-04 5.32181804e+00] [ 1.76301367e-02 -1.13872161e-03 9.99843929e-01 3.17996811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93925415399997 meters Centerline goodness [0,1] 0.9981546720348935 Centerline is valid? [True, True] Translation: X:347.08, Y:5.32, Z:3.18 [[ 9.96151777e-01 -8.59583241e-02 -1.71114846e-02 3.47078809e+02] [ 8.59653647e-02 9.96298073e-01 -3.25030248e-04 5.32076079e+00] [ 1.70760782e-02 -1.14721555e-03 9.99853535e-01 3.18042683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96925415399994 meters Centerline goodness [0,1] 0.9981111087791467 Centerline is valid? [True, True] Translation: X:347.11, Y:5.32, Z:3.18 [[ 9.96010728e-01 -8.76417366e-02 -1.67796036e-02 3.47109553e+02] [ 8.76487518e-02 9.96151392e-01 -3.18289304e-04 5.31922144e+00] [ 1.67429209e-02 -1.15369175e-03 9.99859162e-01 3.18080106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99925415399997 meters Centerline goodness [0,1] 0.9982617072966407 Centerline is valid? [True, True] Translation: X:347.14, Y:5.32, Z:3.18 [[ 9.95902530e-01 -8.90178734e-02 -1.59364264e-02 3.47140722e+02] [ 8.90243872e-02 9.96029401e-01 -3.01615992e-04 5.31895255e+00] [ 1.58999985e-02 -1.11835047e-03 9.99872962e-01 3.18144513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02925415399994 meters Centerline goodness [0,1] 0.9980308362661304 Centerline is valid? [True, True] Translation: X:347.17, Y:5.32, Z:3.18 [[ 9.95906187e-01 -8.89162585e-02 -1.62716101e-02 3.47174210e+02] [ 8.89230563e-02 9.96038451e-01 -3.06697346e-04 5.31990308e+00] [ 1.62344197e-02 -1.14147952e-03 9.99867562e-01 3.18158401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.059254154 meters Centerline goodness [0,1] 0.9980944004690706 Centerline is valid? [True, True] Translation: X:347.21, Y:5.32, Z:3.18 [[ 9.95973989e-01 -8.81224948e-02 -1.64389466e-02 3.47206427e+02] [ 8.81293507e-02 9.96108991e-01 -3.08320138e-04 5.32347827e+00] [ 1.64021524e-02 -1.14167485e-03 9.99864824e-01 3.18186692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.08925415399995 meters Centerline goodness [0,1] 0.9983636478066586 Centerline is valid? [True, True] Translation: X:347.24, Y:5.33, Z:3.18 [[ 9.96185829e-01 -8.56012331e-02 -1.69181320e-02 3.47235696e+02] [ 8.56081422e-02 9.96328834e-01 -3.16744675e-04 5.32635759e+00] [ 1.68831365e-02 -1.13279330e-03 9.99856828e-01 3.18183231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.119254154 meters Centerline goodness [0,1] 0.9985078704579367 Centerline is valid? [True, True] Translation: X:347.27, Y:5.33, Z:3.18 [[ 9.96326919e-01 -8.39084778e-02 -1.70891053e-02 3.47267181e+02] [ 8.39152811e-02 9.96472841e-01 -3.19839380e-04 5.32913253e+00] [ 1.70556665e-02 -1.11537249e-03 9.99853919e-01 3.18185082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.14925415399995 meters Centerline goodness [0,1] 0.9984866637240684 Centerline is valid? [True, True] Translation: X:347.30, Y:5.33, Z:3.18 [[ 9.96489039e-01 -8.19435699e-02 -1.71711131e-02 3.47298644e+02] [ 8.19501587e-02 9.96636377e-01 -3.20760204e-04 5.33181619e+00] [ 1.71396402e-02 -1.08754142e-03 9.99852514e-01 3.18211266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.179254154 meters Centerline goodness [0,1] 0.9983396733990458 Centerline is valid? [True, True] Translation: X:347.33, Y:5.34, Z:3.18 [[ 9.96780769e-01 -7.80007035e-02 -1.85469352e-02 3.47328165e+02] [ 7.80077173e-02 9.96952695e-01 -3.46101892e-04 5.33647813e+00] [ 1.85174132e-02 -1.10181637e-03 9.99827931e-01 3.18216073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.20925415399995 meters Centerline goodness [0,1] 0.9984231108868424 Centerline is valid? [True, True] Translation: X:347.36, Y:5.34, Z:3.18 [[ 9.96941810e-01 -7.57938289e-02 -1.90347689e-02 3.47360105e+02] [ 7.58008254e-02 9.97122916e-01 -3.54697863e-04 5.34038128e+00] [ 1.90068881e-02 -1.08923806e-03 9.99818759e-01 3.18263526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.239254154 meters Centerline goodness [0,1] 0.9983354403708387 Centerline is valid? [True, True] Translation: X:347.39, Y:5.34, Z:3.18 [[ 9.97088142e-01 -7.37865084e-02 -1.92558743e-02 3.47391481e+02] [ 7.37933115e-02 9.97273493e-01 -3.57973493e-04 5.34340698e+00] [ 1.92297866e-02 -1.06402360e-03 9.99814524e-01 3.18291697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.26925415399995 meters Centerline goodness [0,1] 0.9984628990145709 Centerline is valid? [True, True] Translation: X:347.42, Y:5.35, Z:3.18 [[ 9.97383555e-01 -6.95414401e-02 -1.97492518e-02 3.47420980e+02] [ 6.95477730e-02 9.97578555e-01 -3.66809646e-04 5.34888920e+00] [ 1.97269385e-02 -1.00766657e-03 9.99804897e-01 3.18347599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.299254154 meters Centerline goodness [0,1] 0.9985455618557788 Centerline is valid? [True, True] Translation: X:347.45, Y:5.36, Z:3.19 [[ 9.97548879e-01 -6.71133255e-02 -1.97998715e-02 3.47451840e+02] [ 6.71192214e-02 9.97744895e-01 -3.67365768e-04 5.35824629e+00] [ 1.97798759e-02 -9.62486652e-04 9.99803896e-01 3.18528062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.32925415399995 meters Centerline goodness [0,1] 0.9988419102164575 Centerline is valid? [True, True] Translation: X:347.48, Y:5.36, Z:3.19 [[ 9.97721721e-01 -6.44716634e-02 -1.98688593e-02 3.47483079e+02] [ 6.44770924e-02 9.97919120e-01 -3.67911437e-04 5.36194938e+00] [ 1.98512344e-02 -9.14013045e-04 9.99802527e-01 3.18585815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.359254154 meters Centerline goodness [0,1] 0.9986065366100836 Centerline is valid? [True, True] Translation: X:347.51, Y:5.37, Z:3.19 [[ 9.98050089e-01 -5.88128809e-02 -2.09061152e-02 3.47513884e+02] [ 5.88176643e-02 9.98268668e-01 -3.86543333e-04 5.36843673e+00] [ 2.08926535e-02 -8.43859261e-04 9.99781369e-01 3.18656776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.38925415399996 meters Centerline goodness [0,1] 0.998754591125934 Centerline is valid? [True, True] Translation: X:347.55, Y:5.37, Z:3.19 [[ 9.98245243e-01 -5.54505807e-02 -2.07766214e-02 3.47545516e+02] [ 5.54545945e-02 9.98461136e-01 -3.83345939e-04 5.37289595e+00] [ 2.07659057e-02 -7.69485854e-04 9.99784069e-01 3.18734419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41925415399993 meters Centerline goodness [0,1] 0.9987117212249208 Centerline is valid? [True, True] Translation: X:347.57, Y:5.38, Z:3.19 [[ 9.98570307e-01 -4.91268261e-02 -2.10688428e-02 3.47574908e+02] [ 4.91295541e-02 9.98792339e-01 -3.88424475e-04 5.37818367e+00] [ 2.10624809e-02 -6.47233705e-04 9.99777952e-01 3.18756323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.44925415399996 meters Centerline goodness [0,1] 0.9987746651455613 Centerline is valid? [True, True] Translation: X:347.61, Y:5.38, Z:3.19 [[ 9.98718383e-01 -4.59259648e-02 -2.12696495e-02 3.47606438e+02] [ 4.59280255e-02 9.98944675e-01 -3.91859201e-04 5.38315864e+00] [ 2.12651996e-02 -5.85516018e-04 9.99773699e-01 3.18862588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47925415399993 meters Centerline goodness [0,1] 0.9986223559832139 Centerline is valid? [True, True] Translation: X:347.64, Y:5.39, Z:3.19 [[ 9.98844726e-01 -4.29678295e-02 -2.15169236e-02 3.47638010e+02] [ 4.29692696e-02 9.99076316e-01 -3.95618419e-04 5.38614461e+00] [ 2.15140476e-02 -5.29405119e-04 9.99768406e-01 3.18903936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.50925415399996 meters Centerline goodness [0,1] 0.9987290828214361 Centerline is valid? [True, True] Translation: X:347.67, Y:5.39, Z:3.19 [[ 9.98962522e-01 -4.02523249e-02 -2.12985791e-02 3.47669780e+02] [ 4.02531402e-02 9.99189438e-01 -3.90606168e-04 5.38856043e+00] [ 2.12970381e-02 -4.67133768e-04 9.99773083e-01 3.18938812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53925415399993 meters Centerline goodness [0,1] 0.998876666454717 Centerline is valid? [True, True] Translation: X:347.70, Y:5.39, Z:3.19 [[ 9.99125495e-01 -3.58560886e-02 -2.15078160e-02 3.47700394e+02] [ 3.58559178e-02 9.99356892e-01 -3.93702351e-04 5.39123397e+00] [ 2.15081008e-02 -3.77824427e-04 9.99768603e-01 3.18950127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56925415399996 meters Centerline goodness [0,1] 0.998812124811743 Centerline is valid? [True, True] Translation: X:347.73, Y:5.39, Z:3.19 [[ 9.99186561e-01 -3.37736057e-02 -2.20354104e-02 3.47731693e+02] [ 3.37729343e-02 9.99429451e-01 -4.02719203e-04 5.39369151e+00] [ 2.20364394e-02 -3.41808853e-04 9.99757110e-01 3.19024699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59925415399994 meters Centerline goodness [0,1] 0.9990235826027891 Centerline is valid? [True, True] Translation: X:347.76, Y:5.40, Z:3.19 [[ 9.99260758e-01 -3.07437060e-02 -2.30816577e-02 3.47762258e+02] [ 3.07421697e-02 9.99527259e-01 -4.21478949e-04 5.39663928e+00] [ 2.30837038e-02 -2.88412862e-04 9.99733494e-01 3.19054489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62925415399997 meters Centerline goodness [0,1] 0.9991931374214371 Centerline is valid? [True, True] Translation: X:347.79, Y:5.40, Z:3.19 [[ 9.99273345e-01 -2.98161221e-02 -2.37440686e-02 3.47790516e+02] [ 2.98142157e-02 9.99555363e-01 -4.34372122e-04 5.39696979e+00] [ 2.37464624e-02 -2.73854297e-04 9.99717975e-01 3.18978511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65925415399994 meters Centerline goodness [0,1] 0.9990653610043121 Centerline is valid? [True, True] Translation: X:347.82, Y:5.40, Z:3.19 [[ 9.99269302e-01 -2.94176999e-02 -2.44020840e-02 3.47819464e+02] [ 2.94154610e-02 9.99567170e-01 -4.50777152e-04 5.39760763e+00] [ 2.44047829e-02 -2.67350781e-04 9.99702123e-01 3.18965677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68925415399997 meters Centerline goodness [0,1] 0.9987911691726932 Centerline is valid? [True, True] Translation: X:347.85, Y:5.40, Z:3.19 [[ 9.99251956e-01 -2.93192457e-02 -2.52172749e-02 3.47848322e+02] [ 2.93166592e-02 9.99570063e-01 -4.72342206e-04 5.39768618e+00] [ 2.52202818e-02 -2.67297383e-04 9.99681882e-01 3.18950528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71925415399994 meters Centerline goodness [0,1] 0.9988107625984837 Centerline is valid? [True, True] Translation: X:347.88, Y:5.40, Z:3.19 [[ 9.99221941e-01 -2.97710577e-02 -2.58688297e-02 3.47875991e+02] [ 2.97683854e-02 9.99556704e-01 -4.88480149e-04 5.39702646e+00] [ 2.58719047e-02 -2.81973210e-04 9.99665226e-01 3.18925999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74925415399997 meters Centerline goodness [0,1] 0.9986430040497848 Centerline is valid? [True, True] Translation: X:347.90, Y:5.40, Z:3.19 [[ 9.99176329e-01 -3.08479874e-02 -2.63640834e-02 3.47904671e+02] [ 3.08454517e-02 9.99524039e-01 -5.02949480e-04 5.39644029e+00] [ 2.63670501e-02 -3.10676845e-04 9.99652281e-01 3.18919540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77925415399994 meters Centerline goodness [0,1] 0.9986430040497848 Centerline is valid? [True, True] Translation: X:347.93, Y:5.40, Z:3.19 [[ 9.99167448e-01 -3.11344452e-02 -2.63639444e-02 3.47932065e+02] [ 3.11318187e-02 9.99515157e-01 -5.10166302e-04 5.39704301e+00] [ 2.63670458e-02 -3.11015976e-04 9.99652281e-01 3.18945281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.809254154 meters Centerline goodness [0,1] 0.9988129557402069 Centerline is valid? [True, True] Translation: X:347.96, Y:5.40, Z:3.19 [[ 9.99060751e-01 -3.34182680e-02 -2.75832562e-02 3.47961046e+02] [ 3.34160581e-02 9.99441381e-01 -5.41190597e-04 5.39549501e+00] [ 2.75859333e-02 -3.81041409e-04 9.99619363e-01 3.19021316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83925415399995 meters Centerline goodness [0,1] 0.9988991680250651 Centerline is valid? [True, True] Translation: X:347.99, Y:5.40, Z:3.19 [[ 9.99001305e-01 -3.49435410e-02 -2.78449674e-02 3.47989612e+02] [ 3.49416821e-02 9.99389200e-01 -5.53471008e-04 5.39512955e+00] [ 2.78472999e-02 -4.20031739e-04 9.99612100e-01 3.19106853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.869254154 meters Centerline goodness [0,1] 0.9988577230613022 Centerline is valid? [True, True] Translation: X:348.02, Y:5.39, Z:3.19 [[ 9.98865496e-01 -3.75963961e-02 -2.92272439e-02 3.48017243e+02] [ 3.75953566e-02 9.99292873e-01 -5.85278799e-04 5.39138471e+00] [ 2.92285809e-02 -5.14193859e-04 9.99572622e-01 3.18946487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89925415399995 meters Centerline goodness [0,1] 0.9987526954462813 Centerline is valid? [True, True] Translation: X:348.05, Y:5.39, Z:3.19 [[ 9.98804862e-01 -3.90418745e-02 -2.94037364e-02 3.48045965e+02] [ 3.90412733e-02 9.99237422e-01 -5.94768906e-04 5.39122432e+00] [ 2.94045347e-02 -5.53901235e-04 9.99567440e-01 3.19056301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.929254154 meters Centerline goodness [0,1] 0.998816643069966 Centerline is valid? [True, True] Translation: X:348.07, Y:5.39, Z:3.19 [[ 9.98751415e-01 -4.04812323e-02 -2.92725330e-02 3.48074297e+02] [ 4.04810363e-02 9.99180127e-01 -5.99558181e-04 5.39000381e+00] [ 2.92728041e-02 -5.86172891e-04 9.99571288e-01 3.19050107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.95925415399995 meters Centerline goodness [0,1] 0.9989018647181804 Centerline is valid? [True, True] Translation: X:348.10, Y:5.39, Z:3.19 [[ 9.98631707e-01 -4.32675560e-02 -2.93706183e-02 3.48101657e+02] [ 4.32684000e-02 9.99063300e-01 -6.07110049e-04 5.38540795e+00] [ 2.93693750e-02 -6.64540313e-04 9.99568406e-01 3.18975643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.989254154 meters Centerline goodness [0,1] 0.9986515528212043 Centerline is valid? [True, True] Translation: X:348.13, Y:5.38, Z:3.19 [[ 9.98563734e-01 -4.47511837e-02 -2.94584606e-02 3.48130236e+02] [ 4.47524844e-02 9.98997916e-01 -6.15489003e-04 5.38485276e+00] [ 2.94564846e-02 -7.03734300e-04 9.99565816e-01 3.19077523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.01925415399995 meters Centerline goodness [0,1] 0.9985462360154226 Centerline is valid? [True, True] Translation: X:348.16, Y:5.38, Z:3.19 [[ 9.98511786e-01 -4.54337249e-02 -3.01660516e-02 3.48158452e+02] [ 4.54352822e-02 9.98967083e-01 -6.34187174e-04 5.38145835e+00] [ 3.01637060e-02 -7.37359697e-04 9.99544700e-01 3.18950224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.049254154 meters Centerline goodness [0,1] 0.9986938018792398 Centerline is valid? [True, True] Translation: X:348.19, Y:5.38, Z:3.19 [[ 9.98361938e-01 -4.85534904e-02 -3.02654760e-02 3.48187442e+02] [ 4.85563073e-02 9.98820240e-01 -6.42313562e-04 5.38134450e+00] [ 3.02609565e-02 -8.28318339e-04 9.99541689e-01 3.19108920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07925415399995 meters Centerline goodness [0,1] 0.9987362035554807 Centerline is valid? [True, True] Translation: X:348.22, Y:5.38, Z:3.19 [[ 9.98312199e-01 -4.92319244e-02 -3.08053745e-02 3.48216111e+02] [ 4.92350541e-02 9.98787003e-01 -6.57386409e-04 5.37961363e+00] [ 3.08003721e-02 -8.60427409e-04 9.99525186e-01 3.19009697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.109254154 meters Centerline goodness [0,1] 0.9986522059597768 Centerline is valid? [True, True] Translation: X:348.24, Y:5.38, Z:3.19 [[ 9.98245142e-01 -5.04037639e-02 -3.10821161e-02 3.48244702e+02] [ 5.04073271e-02 9.98728518e-01 -6.69424297e-04 5.37795586e+00] [ 3.10763372e-02 -8.98516837e-04 9.99516610e-01 3.19009599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13925415399996 meters Centerline goodness [0,1] 0.9986537086120577 Centerline is valid? [True, True] Translation: X:348.27, Y:5.38, Z:3.19 [[ 9.98217067e-01 -5.07431216e-02 -3.14296330e-02 3.48273303e+02] [ 5.07468181e-02 9.98711318e-01 -6.80567245e-04 5.37587587e+00] [ 3.14236643e-02 -9.15600028e-04 9.99505735e-01 3.18945064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16925415399993 meters Centerline goodness [0,1] 0.9988213752025762 Centerline is valid? [True, True] Translation: X:348.30, Y:5.37, Z:3.19 [[ 9.98206354e-01 -5.10345137e-02 -3.12978277e-02 3.48302009e+02] [ 5.10382694e-02 9.98696467e-01 -6.79401375e-04 5.37466193e+00] [ 3.12917029e-02 -9.19204193e-04 9.99509872e-01 3.18949852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19925415399996 meters Centerline goodness [0,1] 0.9988438091233971 Centerline is valid? [True, True] Translation: X:348.33, Y:5.37, Z:3.19 [[ 9.98215605e-01 -5.12560313e-02 -3.06337395e-02 3.48330436e+02] [ 5.12595542e-02 9.98685140e-01 -6.70827804e-04 5.37348072e+00] [ 3.06278444e-02 -9.00641050e-04 9.99530452e-01 3.19044097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22925415399993 meters Centerline goodness [0,1] 0.9987423229295491 Centerline is valid? [True, True] Translation: X:348.36, Y:5.37, Z:3.19 [[ 9.98253107e-01 -5.06691784e-02 -3.03869669e-02 3.48359858e+02] [ 5.06722791e-02 9.98715111e-01 -6.68512706e-04 5.37359121e+00] [ 3.03817960e-02 -8.72431980e-04 9.99537986e-01 3.19107952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25925415399996 meters Centerline goodness [0,1] 0.9988428117570326 Centerline is valid? [True, True] Translation: X:348.39, Y:5.38, Z:3.19 [[ 9.98289385e-01 -4.98518454e-02 -3.05466404e-02 3.48389390e+02] [ 4.98545624e-02 9.98756261e-01 -6.73142258e-04 5.37558475e+00] [ 3.05422058e-02 -8.50898622e-04 9.99533116e-01 3.19270268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28925415399993 meters Centerline goodness [0,1] 0.9988002020712301 Centerline is valid? [True, True] Translation: X:348.42, Y:5.37, Z:3.19 [[ 9.98370307e-01 -4.84995643e-02 -3.00752762e-02 3.48418264e+02] [ 4.85015406e-02 9.98822887e-01 -6.64229153e-04 5.37464111e+00] [ 3.00720890e-02 -7.95550565e-04 9.99547416e-01 3.19175917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31925415399996 meters Centerline goodness [0,1] 0.9987363898658467 Centerline is valid? [True, True] Translation: X:348.45, Y:5.38, Z:3.19 [[ 9.98560356e-01 -4.48980470e-02 -2.93492982e-02 3.48447021e+02] [ 4.48983321e-02 9.98991350e-01 -6.49627254e-04 5.37570002e+00] [ 2.93488620e-02 -6.69042513e-04 9.99569005e-01 3.19213935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34925415399994 meters Centerline goodness [0,1] 0.9988220693717003 Centerline is valid? [True, True] Translation: X:348.48, Y:5.38, Z:3.19 [[ 9.98632255e-01 -4.32933708e-02 -2.93138774e-02 3.48475888e+02] [ 4.32928056e-02 9.99062213e-01 -6.54255297e-04 5.37790306e+00] [ 2.93147122e-02 -6.15719554e-04 9.99570042e-01 3.19342512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37925415399997 meters Centerline goodness [0,1] 0.9987196171445364 Centerline is valid? [True, True] Translation: X:348.50, Y:5.38, Z:3.19 [[ 9.98708582e-01 -4.15943431e-02 -2.91732648e-02 3.48503686e+02] [ 4.15929399e-02 9.99134424e-01 -6.55189597e-04 5.37818329e+00] [ 2.91752653e-02 -5.59058375e-04 9.99574155e-01 3.19272979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40925415399994 meters Centerline goodness [0,1] 0.9990947177835323 Centerline is valid? [True, True] Translation: X:348.53, Y:5.38, Z:3.20 [[ 9.98848623e-01 -3.87025455e-02 -2.83467911e-02 3.48532625e+02] [ 3.86998957e-02 9.99250672e-01 -6.42294168e-04 5.38157488e+00] [ 2.83504084e-02 -4.55463213e-04 9.99597943e-01 3.19578874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43925415399997 meters Centerline goodness [0,1] 0.998840518604406 Centerline is valid? [True, True] Translation: X:348.56, Y:5.38, Z:3.19 [[ 9.98899422e-01 -3.74995391e-02 -2.81731870e-02 3.48560069e+02] [ 3.74963282e-02 9.99296559e-01 -6.42447344e-04 5.38099058e+00] [ 2.81774604e-02 -4.14650788e-04 9.99602851e-01 3.19443754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46925415399994 meters Centerline goodness [0,1] 0.9988841400509506 Centerline is valid? [True, True] Translation: X:348.59, Y:5.38, Z:3.20 [[ 9.98977399e-01 -3.61271972e-02 -2.71842342e-02 3.48589073e+02] [ 3.61235540e-02 9.99347136e-01 -6.25252483e-04 5.38206307e+00] [ 2.71890752e-02 -3.57378054e-04 9.99630245e-01 3.19676743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49925415399997 meters Centerline goodness [0,1] 0.9990314973892538 Centerline is valid? [True, True] Translation: X:348.62, Y:5.38, Z:3.20 [[ 9.99013670e-01 -3.57117728e-02 -2.63885552e-02 3.48616815e+02] [ 3.57080932e-02 9.99362076e-01 -6.10801358e-04 5.38121152e+00] [ 2.63935341e-02 -3.32086081e-04 9.99651575e-01 3.19642765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52925415399994 meters Centerline goodness [0,1] 0.9991580365412142 Centerline is valid? [True, True] Translation: X:348.65, Y:5.38, Z:3.20 [[ 9.99025669e-01 -3.58183933e-02 -2.57828615e-02 3.48645963e+02] [ 3.58147866e-02 9.99358264e-01 -6.01802994e-04 5.38147194e+00] [ 2.57878713e-02 -3.22191044e-04 9.99667386e-01 3.19784504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.559254154 meters Centerline goodness [0,1] 0.9992009756507843 Centerline is valid? [True, True] Translation: X:348.67, Y:5.38, Z:3.20 [[ 9.99015432e-01 -3.68384441e-02 -2.47203683e-02 3.48673490e+02] [ 3.68353496e-02 9.99321180e-01 -5.80686649e-04 5.37849349e+00] [ 2.47249792e-02 -3.30468483e-04 9.99694236e-01 3.19694106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.58925415399995 meters Centerline goodness [0,1] 0.9989911091493789 Centerline is valid? [True, True] Translation: X:348.70, Y:5.38, Z:3.20 [[ 9.99000035e-01 -3.77477349e-02 -2.39591057e-02 3.48701855e+02] [ 3.77449817e-02 9.99287243e-01 -5.67295943e-04 5.37843178e+00] [ 2.39634428e-02 -3.37607340e-04 9.99712778e-01 3.19796800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.619254154 meters Centerline goodness [0,1] 0.9990536078571579 Centerline is valid? [True, True] Translation: X:348.73, Y:5.38, Z:3.20 [[ 9.98916892e-01 -4.02400454e-02 -2.33619789e-02 3.48731040e+02] [ 4.02380371e-02 9.99189967e-01 -5.56231634e-04 5.37730034e+00] [ 2.33654377e-02 -3.84410999e-04 9.99726917e-01 3.19916462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.64925415399995 meters Centerline goodness [0,1] 0.9991162546028406 Centerline is valid? [True, True] Translation: X:348.76, Y:5.38, Z:3.20 [[ 9.98890798e-01 -4.13155608e-02 -2.25875531e-02 3.48760972e+02] [ 4.13139414e-02 9.99146070e-01 -5.38539077e-04 5.37602897e+00] [ 2.25905150e-02 -3.95239118e-04 9.99744724e-01 3.19908648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.679254154 meters Centerline goodness [0,1] 0.9989513422818792 Centerline is valid? [True, True] Translation: X:348.79, Y:5.37, Z:3.20 [[ 9.98852158e-01 -4.25250406e-02 -2.20451096e-02 3.48790938e+02] [ 4.25238140e-02 9.99095316e-01 -5.24627410e-04 5.37341996e+00] [ 2.20474756e-02 -4.13416922e-04 9.99756839e-01 3.19819613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.70925415399995 meters Centerline goodness [0,1] 0.9989929929089917 Centerline is valid? [True, True] Translation: X:348.82, Y:5.37, Z:3.20 [[ 9.98753217e-01 -4.52586620e-02 -2.10633374e-02 3.48821103e+02] [ 4.52581668e-02 9.98975199e-01 -5.00454387e-04 5.37238319e+00] [ 2.10644016e-02 -4.53457609e-04 9.99778018e-01 3.19986850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.739254154 meters Centerline goodness [0,1] 0.998911632969149 Centerline is valid? [True, True] Translation: X:348.85, Y:5.37, Z:3.20 [[ 9.98713283e-01 -4.64885208e-02 -2.02631651e-02 3.48851787e+02] [ 4.64883193e-02 9.98918718e-01 -4.81245852e-04 5.37010026e+00] [ 2.02636273e-02 -4.61373865e-04 9.99794565e-01 3.19977237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.76925415399995 meters Centerline goodness [0,1] 0.9990150260913301 Centerline is valid? [True, True] Translation: X:348.88, Y:5.37, Z:3.20 [[ 9.98662686e-01 -4.77644767e-02 -1.97836787e-02 3.48882627e+02] [ 4.77645417e-02 9.98858513e-01 -4.69505377e-04 5.37062125e+00] [ 1.97835215e-02 -4.76080844e-04 9.99804174e-01 3.20079314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.799254154 meters Centerline goodness [0,1] 0.9991012644999477 Centerline is valid? [True, True] Translation: X:348.91, Y:5.37, Z:3.20 [[ 9.98599022e-01 -4.92593359e-02 -1.93264530e-02 3.48913767e+02] [ 4.92596912e-02 9.98785900e-01 -4.57953242e-04 5.36980249e+00] [ 1.93255472e-02 -4.94703446e-04 9.99813122e-01 3.20109502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.82925415399995 meters Centerline goodness [0,1] 0.9988276179709417 Centerline is valid? [True, True] Translation: X:348.94, Y:5.37, Z:3.20 [[ 9.98449309e-01 -5.25320288e-02 -1.84218261e-02 3.48944960e+02] [ 5.25329231e-02 9.98619098e-01 -4.35705107e-04 5.36864335e+00] [ 1.84192758e-02 -5.32722908e-04 9.99830209e-01 3.20230336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.859254154 meters Centerline goodness [0,1] 0.998869323059528 Centerline is valid? [True, True] Translation: X:348.98, Y:5.37, Z:3.20 [[ 9.98337089e-01 -5.48151345e-02 -1.78426075e-02 3.48976762e+02] [ 5.48163518e-02 9.98496365e-01 -4.21208873e-04 5.36733548e+00] [ 1.78388674e-02 -5.57558212e-04 9.99840719e-01 3.20204286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.88925415399996 meters Centerline goodness [0,1] 0.9987037695218582 Centerline is valid? [True, True] Translation: X:349.01, Y:5.36, Z:3.20 [[ 9.98084956e-01 -5.93416529e-02 -1.74639270e-02 3.49007583e+02] [ 5.93435223e-02 9.98237535e-01 -4.11618670e-04 5.36440825e+00] [ 1.74575736e-02 -6.25540542e-04 9.99847409e-01 3.20177852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91925415399993 meters Centerline goodness [0,1] 0.9987249163879599 Centerline is valid? [True, True] Translation: X:349.04, Y:5.36, Z:3.20 [[ 9.97949490e-01 -6.16832022e-02 -1.70879323e-02 3.49039085e+02] [ 6.16853448e-02 9.98095565e-01 -4.02165487e-04 5.36205890e+00] [ 1.70801963e-02 -6.52734153e-04 9.99853910e-01 3.20160607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.94925415399996 meters Centerline goodness [0,1] 0.9986831929435863 Centerline is valid? [True, True] Translation: X:349.07, Y:5.36, Z:3.20 [[ 9.97802867e-01 -6.40895602e-02 -1.67918906e-02 3.49069801e+02] [ 6.40919935e-02 9.97943917e-01 -3.93755910e-04 5.35903887e+00] [ 1.67826007e-02 -6.83334965e-04 9.99858929e-01 3.20114721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97925415399993 meters Centerline goodness [0,1] 0.9988487702773418 Centerline is valid? [True, True] Translation: X:349.10, Y:5.36, Z:3.20 [[ 9.97468331e-01 -6.90775310e-02 -1.68885860e-02 3.49101213e+02] [ 6.90807303e-02 9.97610995e-01 -3.94566523e-04 5.35583739e+00] [ 1.68754948e-02 -7.73108246e-04 9.99857300e-01 3.20114378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.00925415399996 meters Centerline goodness [0,1] 0.9987888406281323 Centerline is valid? [True, True] Translation: X:349.13, Y:5.36, Z:3.20 [[ 9.97281080e-01 -7.18190824e-02 -1.65065414e-02 3.49132274e+02] [ 7.18225246e-02 9.97417353e-01 -3.84947547e-04 5.35698064e+00] [ 1.64915574e-02 -8.01640572e-04 9.99863684e-01 3.20150598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03925415399993 meters Centerline goodness [0,1] 0.9987465006476414 Centerline is valid? [True, True] Translation: X:349.16, Y:5.35, Z:3.20 [[ 9.96910476e-01 -7.69251044e-02 -1.58754995e-02 3.49161641e+02] [ 7.69289437e-02 9.97036509e-01 -3.69610182e-04 5.35273100e+00] [ 1.58568849e-02 -8.52817143e-04 9.99873908e-01 3.20147407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06925415399996 meters Centerline goodness [0,1] 0.9987464744594171 Centerline is valid? [True, True] Translation: X:349.19, Y:5.35, Z:3.20 [[ 9.96745835e-01 -7.90464368e-02 -1.57924733e-02 3.49193781e+02] [ 7.90505122e-02 9.96870544e-01 -3.66989320e-04 5.35220185e+00] [ 1.57720607e-02 -8.82608031e-04 9.99875224e-01 3.20161776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09925415399994 meters Centerline goodness [0,1] 0.9987250229913887 Centerline is valid? [True, True] Translation: X:349.23, Y:5.35, Z:3.20 [[ 9.96618980e-01 -8.06810992e-02 -1.55296256e-02 3.49225775e+02] [ 8.06852551e-02 9.96739565e-01 -3.59766687e-04 5.35206795e+00] [ 1.55080186e-02 -8.94461495e-04 9.99879343e-01 3.20183401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12925415399997 meters Centerline goodness [0,1] 0.9986435726210351 Centerline is valid? [True, True] Translation: X:349.26, Y:5.35, Z:3.20 [[ 9.96402301e-01 -8.33507810e-02 -1.53330294e-02 3.49256733e+02] [ 8.33551593e-02 9.96519840e-01 -3.54428141e-04 5.35100674e+00] [ 1.53092098e-02 -9.24934089e-04 9.99882379e-01 3.20222819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15925415399994 meters Centerline goodness [0,1] 0.998828966353694 Centerline is valid? [True, True] Translation: X:349.29, Y:5.35, Z:3.20 [[ 9.96372666e-01 -8.38085765e-02 -1.47524116e-02 3.49289074e+02] [ 8.38126877e-02 9.96481469e-01 -3.40444123e-04 5.35416233e+00] [ 1.47290369e-02 -8.97230045e-04 9.99891119e-01 3.20305266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18925415399997 meters Centerline goodness [0,1] 0.9986004344919787 Centerline is valid? [True, True] Translation: X:349.32, Y:5.35, Z:3.20 [[ 9.96339315e-01 -8.42249575e-02 -1.46330445e-02 3.49321255e+02] [ 8.42290629e-02 9.96446362e-01 -3.36612257e-04 5.35488827e+00] [ 1.46093951e-02 -8.97147604e-04 9.99892875e-01 3.20344117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21925415399994 meters Centerline goodness [0,1] 0.9984326673911226 Centerline is valid? [True, True] Translation: X:349.35, Y:5.36, Z:3.20 [[ 9.96406278e-01 -8.34426773e-02 -1.45549983e-02 3.49353771e+02] [ 8.34466714e-02 9.96512188e-01 -3.33743718e-04 5.35859874e+00] [ 1.45320817e-02 -8.82021824e-04 9.99894015e-01 3.20363566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24925415399997 meters Centerline goodness [0,1] 0.9985170332309877 Centerline is valid? [True, True] Translation: X:349.38, Y:5.36, Z:3.20 [[ 9.96443948e-01 -8.28841883e-02 -1.51548330e-02 3.49384930e+02] [ 8.28884780e-02 9.96558769e-01 -3.45918493e-04 5.35655635e+00] [ 1.51313529e-02 -9.11472650e-04 9.99885099e-01 3.20332888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27925415399994 meters Centerline goodness [0,1] 0.9987458980415108 Centerline is valid? [True, True] Translation: X:349.42, Y:5.36, Z:3.20 [[ 9.96419489e-01 -8.32002659e-02 -1.50305268e-02 3.49416495e+02] [ 8.32045464e-02 9.96532431e-01 -3.41410696e-04 5.35629691e+00] [ 1.50068129e-02 -9.10419896e-04 9.99886977e-01 3.20323257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.309254154 meters Centerline goodness [0,1] 0.9986201994438986 Centerline is valid? [True, True] Translation: X:349.45, Y:5.36, Z:3.20 [[ 9.96426692e-01 -8.31161043e-02 -1.50186807e-02 3.49449696e+02] [ 8.31203856e-02 9.96539455e-01 -3.40006216e-04 5.36488406e+00] [ 1.49949679e-02 -9.09567266e-04 9.99887155e-01 3.20432977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33925415399995 meters Centerline goodness [0,1] 0.9985556695204404 Centerline is valid? [True, True] Translation: X:349.48, Y:5.37, Z:3.20 [[ 9.96396237e-01 -8.35482033e-02 -1.46368143e-02 3.49480822e+02] [ 8.35523353e-02 9.96503336e-01 -3.30041542e-04 5.36686393e+00] [ 1.46132086e-02 -8.94087866e-04 9.99892822e-01 3.20497458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.369254154 meters Centerline goodness [0,1] 0.9986588713564258 Centerline is valid? [True, True] Translation: X:349.51, Y:5.37, Z:3.20 [[ 9.96325054e-01 -8.43853090e-02 -1.46801537e-02 3.49512085e+02] [ 8.43895680e-02 9.96432783e-01 -3.30203461e-04 5.36805124e+00] [ 1.46556507e-02 -9.09861847e-04 9.99892186e-01 3.20457395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39925415399995 meters Centerline goodness [0,1] 0.9988665225331123 Centerline is valid? [True, True] Translation: X:349.54, Y:5.37, Z:3.20 [[ 9.96303795e-01 -8.46594629e-02 -1.45438602e-02 3.49543777e+02] [ 8.46636838e-02 9.96409531e-01 -3.26344579e-04 5.36604441e+00] [ 1.45192691e-02 -9.06198443e-04 9.99894179e-01 3.20459422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.429254154 meters Centerline goodness [0,1] 0.9983848638670973 Centerline is valid? [True, True] Translation: X:349.58, Y:5.37, Z:3.21 [[ 9.96272039e-01 -8.50852820e-02 -1.42309050e-02 3.49575350e+02] [ 8.50893773e-02 9.96373272e-01 -3.18557558e-04 5.37111245e+00] [ 1.42063980e-02 -8.93528860e-04 9.99898685e-01 3.20514339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.45925415399995 meters Centerline goodness [0,1] 0.9984449207750179 Centerline is valid? [True, True] Translation: X:349.61, Y:5.37, Z:3.21 [[ 9.96288595e-01 -8.49821919e-02 -1.36771015e-02 3.49608114e+02] [ 8.49859781e-02 9.96382101e-01 -3.05199891e-04 5.37270432e+00] [ 1.36535556e-02 -8.58294675e-04 9.99906417e-01 3.20584529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.489254154 meters Centerline goodness [0,1] 0.9986988184431992 Centerline is valid? [True, True] Translation: X:349.64, Y:5.38, Z:3.21 [[ 9.96359658e-01 -8.43223785e-02 -1.25366968e-02 3.49638975e+02] [ 8.43255213e-02 9.96438221e-01 -2.78646006e-04 5.37524600e+00] [ 1.25155399e-02 -7.79531849e-04 9.99921374e-01 3.20695402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.51925415399995 meters Centerline goodness [0,1] 0.9985331405460908 Centerline is valid? [True, True] Translation: X:349.67, Y:5.38, Z:3.21 [[ 9.96407626e-01 -8.38444480e-02 -1.19142995e-02 3.49670114e+02] [ 8.38472624e-02 9.96478583e-01 -2.63973701e-04 5.37634384e+00] [ 1.18944771e-02 -7.35955991e-04 9.99928987e-01 3.20737304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.549254154 meters Centerline goodness [0,1] 0.9985743935931571 Centerline is valid? [True, True] Translation: X:349.70, Y:5.38, Z:3.21 [[ 9.96442053e-01 -8.34753568e-02 -1.16232510e-02 3.49702355e+02] [ 8.34780271e-02 9.96509585e-01 -2.56081187e-04 5.37980245e+00] [ 1.16040575e-02 -7.15115999e-04 9.99932415e-01 3.20796958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57925415399995 meters Centerline goodness [0,1] 0.9985913716255992 Centerline is valid? [True, True] Translation: X:349.73, Y:5.39, Z:3.21 [[ 9.96452285e-01 -8.33853658e-02 -1.13896724e-02 3.49734879e+02] [ 8.33879339e-02 9.96517130e-01 -2.50059309e-04 5.38865186e+00] [ 1.13708550e-02 -7.00589083e-04 9.99935104e-01 3.20815203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.609254154 meters Centerline goodness [0,1] 0.9982773109243698 Centerline is valid? [True, True] Translation: X:349.77, Y:5.38, Z:3.21 [[ 9.96414126e-01 -8.37488643e-02 -1.20422775e-02 3.49766041e+02] [ 8.37517767e-02 9.96486613e-01 -2.63134011e-04 5.38354948e+00] [ 1.20220055e-02 -7.46371687e-04 9.99927455e-01 3.20770443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63925415399996 meters Centerline goodness [0,1] 0.9982127086925439 Centerline is valid? [True, True] Translation: X:349.80, Y:5.38, Z:3.21 [[ 9.96437516e-01 -8.33926045e-02 -1.25678022e-02 3.49796840e+02] [ 8.33957607e-02 9.96516469e-01 -2.73640124e-04 5.38413013e+00] [ 1.25468415e-02 -7.75436142e-04 9.99920985e-01 3.20718903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66925415399993 meters Centerline goodness [0,1] 0.9981282072852696 Centerline is valid? [True, True] Translation: X:349.83, Y:5.39, Z:3.21 [[ 9.96352865e-01 -8.42599746e-02 -1.34619686e-02 3.49828230e+02] [ 8.42636961e-02 9.96443448e-01 -2.91527743e-04 5.38600770e+00] [ 1.34386545e-02 -8.43890729e-04 9.99909341e-01 3.20655196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69925415399996 meters Centerline goodness [0,1] 0.9981282072852696 Centerline is valid? [True, True] Translation: X:349.86, Y:5.39, Z:3.21 [[ 9.96361512e-01 -8.41576586e-02 -1.34619881e-02 3.49860820e+02] [ 8.41613829e-02 9.96452095e-01 -2.90626486e-04 5.38660992e+00] [ 1.34386846e-02 -8.43410487e-04 9.99909341e-01 3.20685720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72925415399993 meters Centerline goodness [0,1] 0.998526532931989 Centerline is valid? [True, True] Translation: X:349.89, Y:5.40, Z:3.21 [[ 9.96384193e-01 -8.38505380e-02 -1.36976918e-02 3.49893160e+02] [ 8.38543827e-02 9.96477976e-01 -2.94421535e-04 5.39602218e+00] [ 1.36741356e-02 -8.55254529e-04 9.99906139e-01 3.20755146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75925415399996 meters Centerline goodness [0,1] 0.9986534820113613 Centerline is valid? [True, True] Translation: X:349.93, Y:5.40, Z:3.21 [[ 9.96446927e-01 -8.31159393e-02 -1.36110786e-02 3.49925816e+02] [ 8.31196817e-02 9.96539529e-01 -2.91496005e-04 5.40100186e+00] [ 1.35882058e-02 -8.40888223e-04 9.99907322e-01 3.20770832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78925415399993 meters Centerline goodness [0,1] 0.9986103215210662 Centerline is valid? [True, True] Translation: X:349.96, Y:5.40, Z:3.21 [[ 9.96535202e-01 -8.20226955e-02 -1.37793102e-02 3.49957772e+02] [ 8.20264433e-02 9.96630110e-01 -2.93905641e-04 5.40463988e+00] [ 1.37569824e-02 -8.37380490e-04 9.99905018e-01 3.20817975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81925415399996 meters Centerline goodness [0,1] 0.9987388334209143 Centerline is valid? [True, True] Translation: X:349.99, Y:5.41, Z:3.21 [[ 9.96621309e-01 -8.09858160e-02 -1.36844348e-02 3.49990109e+02] [ 8.09894287e-02 9.96714918e-01 -2.90874847e-04 5.40784251e+00] [ 1.36630371e-02 -8.18402486e-04 9.99906321e-01 3.20865491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84925415399994 meters Centerline goodness [0,1] 0.9987146258718419 Centerline is valid? [True, True] Translation: X:350.02, Y:5.41, Z:3.21 [[ 9.96894173e-01 -7.75310016e-02 -1.38185063e-02 3.50021163e+02] [ 7.75343657e-02 9.96989637e-01 -2.92920574e-04 5.41313265e+00] [ 1.37996180e-02 -7.79398304e-04 9.99904477e-01 3.20934392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87925415399997 meters Centerline goodness [0,1] 0.998695313650807 Centerline is valid? [True, True] Translation: X:350.05, Y:5.42, Z:3.21 [[ 9.97081506e-01 -7.50844372e-02 -1.38129275e-02 3.50052653e+02] [ 7.50875710e-02 9.97176901e-01 -2.92335892e-04 5.41774879e+00] [ 1.37958821e-02 -7.45696462e-04 9.99904554e-01 3.20989647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90925415399994 meters Centerline goodness [0,1] 0.9988214248132169 Centerline is valid? [True, True] Translation: X:350.08, Y:5.42, Z:3.21 [[ 9.97293376e-01 -7.21849202e-02 -1.39735636e-02 3.50082827e+02] [ 7.21878520e-02 9.97391010e-01 -2.95120175e-04 5.41813651e+00] [ 1.39584099e-02 -7.14400144e-04 9.99902321e-01 3.21005659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93925415399997 meters Centerline goodness [0,1] 0.99888055760904 Centerline is valid? [True, True] Translation: X:350.11, Y:5.42, Z:3.21 [[ 9.97690826e-01 -6.64064442e-02 -1.42547864e-02 3.50112678e+02] [ 6.64089080e-02 9.97792447e-01 -3.00956671e-04 5.42473420e+00] [ 1.42433036e-02 -6.46383088e-04 9.99898350e-01 3.21039702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96925415399994 meters Centerline goodness [0,1] 0.9986699039375065 Centerline is valid? [True, True] Translation: X:350.14, Y:5.43, Z:3.21 [[ 9.97887863e-01 -6.33323420e-02 -1.44508515e-02 3.50144160e+02] [ 6.33345543e-02 9.97992305e-01 -3.04959781e-04 5.43364950e+00] [ 1.44411524e-02 -6.10922573e-04 9.99895534e-01 3.21128541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99925415399997 meters Centerline goodness [0,1] 0.9989839334476408 Centerline is valid? [True, True] Translation: X:350.18, Y:5.44, Z:3.21 [[ 9.98064561e-01 -6.04683275e-02 -1.45159915e-02 3.50175888e+02] [ 6.04702691e-02 9.98169952e-01 -3.05526564e-04 5.43692333e+00] [ 1.45079012e-02 -5.72850675e-04 9.99894591e-01 3.21166517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.02925415399994 meters Centerline goodness [0,1] 0.9988817621740231 Centerline is valid? [True, True] Translation: X:350.21, Y:5.44, Z:3.21 [[ 9.98342552e-01 -5.58636221e-02 -1.38349092e-02 3.50206015e+02] [ 5.58649509e-02 9.98438292e-01 -2.90698066e-04 5.44120609e+00] [ 1.38295425e-02 -4.82670271e-04 9.99904251e-01 3.21196406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.059254154 meters Centerline goodness [0,1] 0.9991302318674559 Centerline is valid? [True, True] Translation: X:350.24, Y:5.44, Z:3.21 [[ 9.98468103e-01 -5.36227550e-02 -1.36399409e-02 3.50237911e+02] [ 5.36238419e-02 9.98561166e-01 -2.86293977e-04 5.44358696e+00] [ 1.36356672e-02 -4.45570633e-04 9.99906931e-01 3.21250374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.08925415399995 meters Centerline goodness [0,1] 0.9988773327119829 Centerline is valid? [True, True] Translation: X:350.27, Y:5.45, Z:3.21 [[ 9.98596745e-01 -5.13225315e-02 -1.30590814e-02 3.50269151e+02] [ 5.13233466e-02 9.98682051e-01 -2.72929149e-04 5.44597986e+00] [ 1.30558776e-02 -3.97689598e-04 9.99914689e-01 3.21289639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.119254154 meters Centerline goodness [0,1] 0.9991308956014838 Centerline is valid? [True, True] Translation: X:350.30, Y:5.45, Z:3.21 [[ 9.98787828e-01 -4.75449493e-02 -1.27417838e-02 3.50300272e+02] [ 4.75454363e-02 9.98869041e-01 -2.64869327e-04 5.45126306e+00] [ 1.27399666e-02 -3.41265412e-04 9.99918785e-01 3.21318668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.14925415399995 meters Centerline goodness [0,1] 0.9989818860560811 Centerline is valid? [True, True] Translation: X:350.33, Y:5.45, Z:3.21 [[ 9.98884772e-01 -4.54471906e-02 -1.27970794e-02 3.50332611e+02] [ 4.54475173e-02 9.98966693e-01 -2.65427351e-04 5.45489426e+00] [ 1.27959190e-02 -3.16464150e-04 9.99918079e-01 3.21344624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.179254154 meters Centerline goodness [0,1] 0.9991925030281137 Centerline is valid? [True, True] Translation: X:350.36, Y:5.46, Z:3.21 [[ 9.98983774e-01 -4.31662587e-02 -1.29651183e-02 3.50364786e+02] [ 4.31664145e-02 9.99067860e-01 -2.67953855e-04 5.45778750e+00] [ 1.29645996e-02 -2.91976120e-04 9.99915913e-01 3.21338415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.20925415399995 meters Centerline goodness [0,1] 0.9990642677895453 Centerline is valid? [True, True] Translation: X:350.39, Y:5.46, Z:3.21 [[ 9.99166488e-01 -3.85925658e-02 -1.33019682e-02 3.50394694e+02] [ 3.85923349e-02 9.99255001e-01 -2.74139617e-04 5.46189764e+00] [ 1.33026380e-02 -2.39442893e-04 9.99911487e-01 3.21299087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.239254154 meters Centerline goodness [0,1] 0.9991700891622156 Centerline is valid? [True, True] Translation: X:350.43, Y:5.46, Z:3.21 [[ 9.99263218e-01 -3.59997665e-02 -1.33055619e-02 3.50426372e+02] [ 3.59993118e-02 9.99351777e-01 -2.73760789e-04 5.46410008e+00] [ 1.33067922e-02 -2.05431983e-04 9.99911440e-01 3.21317782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.26925415399995 meters Centerline goodness [0,1] 0.9993179444551016 Centerline is valid? [True, True] Translation: X:350.46, Y:5.47, Z:3.21 [[ 9.99345853e-01 -3.37648768e-02 -1.29537697e-02 3.50458845e+02] [ 3.37642698e-02 9.99429789e-01 -2.65611872e-04 5.46620515e+00] [ 1.29553517e-02 -1.71936452e-04 9.99916061e-01 3.21334962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.299254154 meters Centerline goodness [0,1] 0.9991690990050494 Centerline is valid? [True, True] Translation: X:350.49, Y:5.47, Z:3.21 [[ 9.99416105e-01 -3.18015729e-02 -1.24943532e-02 3.50489886e+02] [ 3.18008650e-02 9.99494192e-01 -2.55381909e-04 5.46791821e+00] [ 1.24961550e-02 -1.42098444e-04 9.99921910e-01 3.21348086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.32925415399995 meters Centerline goodness [0,1] 0.9992101274470038 Centerline is valid? [True, True] Translation: X:350.52, Y:5.47, Z:3.21 [[ 9.99499338e-01 -2.93637168e-02 -1.17832897e-02 3.50520963e+02] [ 2.93629247e-02 9.99568788e-01 -2.40251729e-04 5.47012046e+00] [ 1.17852632e-02 -1.05860403e-04 9.99930546e-01 3.21358448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.359254154 meters Centerline goodness [0,1] 0.9992319016834155 Centerline is valid? [True, True] Translation: X:350.55, Y:5.47, Z:3.21 [[ 9.99526626e-01 -2.84657463e-02 -1.16715299e-02 3.50553481e+02] [ 2.84649156e-02 9.99594764e-01 -2.37325700e-04 5.47091157e+00] [ 1.16735558e-02 -9.50157554e-05 9.99931857e-01 3.21337670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.38925415399996 meters Centerline goodness [0,1] 0.9991035410129987 Centerline is valid? [True, True] Translation: X:350.59, Y:5.47, Z:3.21 [[ 9.99538151e-01 -2.81305355e-02 -1.14960256e-02 3.50586143e+02] [ 2.81297165e-02 9.99604254e-01 -2.32968543e-04 5.47158859e+00] [ 1.14980297e-02 -9.05189950e-05 9.99933891e-01 3.21332632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41925415399993 meters Centerline goodness [0,1] 0.9989569363731188 Centerline is valid? [True, True] Translation: X:350.62, Y:5.47, Z:3.21 [[ 9.99531402e-01 -2.82757828e-02 -1.17242028e-02 3.50618853e+02] [ 2.82749506e-02 9.99600156e-01 -2.36761903e-04 5.47135648e+00] [ 1.17262096e-02 -9.48502996e-05 9.99931241e-01 3.21238363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.44925415399996 meters Centerline goodness [0,1] 0.9989554465998721 Centerline is valid? [True, True] Translation: X:350.65, Y:5.47, Z:3.21 [[ 9.99513988e-01 -2.87564160e-02 -1.20356122e-02 3.50651373e+02] [ 2.87555843e-02 9.99586443e-01 -2.42180349e-04 5.47124419e+00] [ 1.20375990e-02 -1.04028415e-04 9.99927540e-01 3.21194148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47925415399993 meters Centerline goodness [0,1] 0.9991692582967665 Centerline is valid? [True, True] Translation: X:350.68, Y:5.47, Z:3.21 [[ 9.99457640e-01 -3.05550964e-02 -1.22805829e-02 3.50683910e+02] [ 3.05543773e-02 9.99533076e-01 -2.46215349e-04 5.46910840e+00] [ 1.22823719e-02 -1.29143751e-04 9.99924560e-01 3.21158015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.50925415399996 meters Centerline goodness [0,1] 0.9989341973440198 Centerline is valid? [True, True] Translation: X:350.72, Y:5.47, Z:3.21 [[ 9.99427147e-01 -3.17218062e-02 -1.17942961e-02 3.50715894e+02] [ 3.17212338e-02 9.99496727e-01 -2.35647967e-04 5.46809850e+00] [ 1.17958355e-02 -1.38616648e-04 9.99930417e-01 3.21151391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53925415399993 meters Centerline goodness [0,1] 0.9989988923915821 Centerline is valid? [True, True] Translation: X:350.75, Y:5.46, Z:3.21 [[ 9.99313289e-01 -3.52624543e-02 -1.13802733e-02 3.50747070e+02] [ 3.52621607e-02 9.99378071e-01 -2.26515544e-04 5.46297354e+00] [ 1.13811831e-02 -1.74933034e-04 9.99935217e-01 3.21234185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56925415399996 meters Centerline goodness [0,1] 0.9989156780201557 Centerline is valid? [True, True] Translation: X:350.78, Y:5.46, Z:3.21 [[ 9.99260856e-01 -3.69695741e-02 -1.05352832e-02 3.50779383e+02] [ 3.69694274e-02 9.99316375e-01 -2.08736977e-04 5.46098549e+00] [ 1.05357980e-02 -1.80900699e-04 9.99944481e-01 3.21246057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59925415399994 meters Centerline goodness [0,1] 0.9988949336960218 Centerline is valid? [True, True] Translation: X:350.81, Y:5.46, Z:3.21 [[ 9.99190348e-01 -3.87958033e-02 -1.06551976e-02 3.50811105e+02] [ 3.87957648e-02 9.99247139e-01 -2.10382880e-04 5.46035801e+00] [ 1.06553377e-02 -2.03163997e-04 9.99943210e-01 3.21243330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62925415399997 meters Centerline goodness [0,1] 0.9986189312652715 Centerline is valid? [True, True] Translation: X:350.84, Y:5.46, Z:3.21 [[ 9.99094772e-01 -4.12994289e-02 -1.01977027e-02 3.50843301e+02] [ 4.12995296e-02 9.99146790e-01 -2.00800718e-04 5.45798736e+00] [ 1.01972949e-02 -2.20541378e-04 9.99947982e-01 3.21297586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65925415399994 meters Centerline goodness [0,1] 0.998748196554358 Centerline is valid? [True, True] Translation: X:350.88, Y:5.45, Z:3.21 [[ 9.98924012e-01 -4.51253146e-02 -1.07015746e-02 3.50875550e+02] [ 4.51256535e-02 9.98981297e-01 -2.09916269e-04 5.45472498e+00] [ 1.07001454e-02 -2.73225145e-04 9.99942714e-01 3.21258757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68925415399997 meters Centerline goodness [0,1] 0.9988546703995927 Centerline is valid? [True, True] Translation: X:350.91, Y:5.45, Z:3.21 [[ 9.98855852e-01 -4.65207596e-02 -1.10817476e-02 3.50907591e+02] [ 4.65212181e-02 9.98917279e-01 -2.16535066e-04 5.45315608e+00] [ 1.10798225e-02 -2.99249080e-04 9.99938572e-01 3.21245599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71925415399994 meters Centerline goodness [0,1] 0.998771316597818 Centerline is valid? [True, True] Translation: X:350.94, Y:5.45, Z:3.21 [[ 9.98819804e-01 -4.73300355e-02 -1.09026024e-02 3.50940037e+02] [ 4.73305361e-02 9.98879260e-01 -2.12246599e-04 5.45157035e+00] [ 1.09004290e-02 -3.04029910e-04 9.99940542e-01 3.21225761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74925415399997 meters Centerline goodness [0,1] 0.9985811697937402 Centerline is valid? [True, True] Translation: X:350.97, Y:5.45, Z:3.21 [[ 9.98770339e-01 -4.84019202e-02 -1.07268124e-02 3.50970780e+02] [ 4.84024743e-02 9.98827892e-01 -2.08103288e-04 5.45018737e+00] [ 1.07243121e-02 -3.11356872e-04 9.99942444e-01 3.21256965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77925415399994 meters Centerline goodness [0,1] 0.9987310449844553 Centerline is valid? [True, True] Translation: X:351.00, Y:5.45, Z:3.21 [[ 9.98735920e-01 -4.92350713e-02 -1.01227078e-02 3.51003208e+02] [ 4.92356112e-02 9.98787173e-01 -1.96007617e-04 5.44844808e+00] [ 1.01200811e-02 -3.02637858e-04 9.99948745e-01 3.21232531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.809254154 meters Centerline goodness [0,1] 0.9988595083213652 Centerline is valid? [True, True] Translation: X:351.03, Y:5.45, Z:3.21 [[ 9.98674507e-01 -5.05341128e-02 -9.77407048e-03 3.51034270e+02] [ 5.05346852e-02 9.98722289e-01 -1.88551041e-04 5.44713844e+00] [ 9.77111030e-03 -3.05628457e-04 9.99952215e-01 3.21383856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.83925415399995 meters Centerline goodness [0,1] 0.9987751050664189 Centerline is valid? [True, True] Translation: X:351.07, Y:5.45, Z:3.21 [[ 9.98631047e-01 -5.14268506e-02 -9.55567026e-03 3.51066913e+02] [ 5.14274496e-02 9.98676716e-01 -1.83188655e-04 5.44647600e+00] [ 9.55244621e-03 -3.08485872e-04 9.99954327e-01 3.21433008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.869254154 meters Centerline goodness [0,1] 0.9987345509765049 Centerline is valid? [True, True] Translation: X:351.10, Y:5.44, Z:3.21 [[ 9.98613307e-01 -5.17293294e-02 -9.77444328e-03 3.51098400e+02] [ 5.17299776e-02 9.98661091e-01 -1.86666744e-04 5.44479542e+00] [ 9.77101233e-03 -3.19223837e-04 9.99952212e-01 3.21444588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.89925415399995 meters Centerline goodness [0,1] 0.9988605431411027 Centerline is valid? [True, True] Translation: X:351.13, Y:5.45, Z:3.21 [[ 9.98574667e-01 -5.24338669e-02 -9.96615920e-03 3.51130752e+02] [ 5.24345814e-02 9.98624343e-01 -1.89768709e-04 5.44550264e+00] [ 9.96239949e-03 -3.33073160e-04 9.99950319e-01 3.21464706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.929254154 meters Centerline goodness [0,1] 0.9986111695635705 Centerline is valid? [True, True] Translation: X:351.16, Y:5.44, Z:3.21 [[ 9.98512676e-01 -5.35730784e-02 -1.01173283e-02 3.51162328e+02] [ 5.35738804e-02 9.98563870e-01 -1.91921698e-04 5.44195079e+00] [ 1.01130803e-02 -3.50388287e-04 9.99948800e-01 3.21452222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.95925415399995 meters Centerline goodness [0,1] 0.9987539335572029 Centerline is valid? [True, True] Translation: X:351.19, Y:5.44, Z:3.21 [[ 9.98474896e-01 -5.42202101e-02 -1.03947519e-02 3.51194559e+02] [ 5.42210979e-02 9.98528935e-01 -1.96596570e-04 5.44168836e+00] [ 1.03901201e-02 -3.67318122e-04 9.99945954e-01 3.21495824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.989254154 meters Centerline goodness [0,1] 0.9987335894296931 Centerline is valid? [True, True] Translation: X:351.23, Y:5.45, Z:3.22 [[ 9.98432937e-01 -5.48965037e-02 -1.08648483e-02 3.51227080e+02] [ 5.48975221e-02 9.98491973e-01 -2.04702071e-04 5.44593169e+00] [ 1.08597012e-02 -3.92071959e-04 9.99940955e-01 3.21547583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.01925415399995 meters Centerline goodness [0,1] 0.998754617414248 Centerline is valid? [True, True] Translation: X:351.26, Y:5.45, Z:3.21 [[ 9.98403214e-01 -5.52841136e-02 -1.16055737e-02 3.51259338e+02] [ 5.52853122e-02 9.98470574e-01 -2.17761370e-04 5.44603235e+00] [ 1.15998626e-02 -4.24204115e-04 9.99932629e-01 3.21360634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.049254154 meters Centerline goodness [0,1] 0.9986479920569533 Centerline is valid? [True, True] Translation: X:351.29, Y:5.45, Z:3.22 [[ 9.98312867e-01 -5.67318008e-02 -1.23661551e-02 3.51291720e+02] [ 5.67332843e-02 9.98389343e-01 -2.31080803e-04 5.44749667e+00] [ 1.23593471e-02 -4.70881655e-04 9.99923509e-01 3.21576276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07925415399995 meters Centerline goodness [0,1] 0.9985431973650875 Centerline is valid? [True, True] Translation: X:351.32, Y:5.45, Z:3.22 [[ 9.98283600e-01 -5.72048764e-02 -1.25481317e-02 3.51323600e+02] [ 5.72064531e-02 9.98362343e-01 -2.33538577e-04 5.44830436e+00] [ 1.25409417e-02 -4.84696375e-04 9.99921242e-01 3.21587200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.109254154 meters Centerline goodness [0,1] 0.9985657336904937 Centerline is valid? [True, True] Translation: X:351.36, Y:5.45, Z:3.22 [[ 9.98233756e-01 -5.79531788e-02 -1.30689875e-02 3.51356120e+02] [ 5.79549662e-02 9.98319169e-01 -2.42229174e-04 5.44907442e+00] [ 1.30610587e-02 -5.15611390e-04 9.99914568e-01 3.21651243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13925415399996 meters Centerline goodness [0,1] 0.9987969607429295 Centerline is valid? [True, True] Translation: X:351.39, Y:5.45, Z:3.22 [[ 9.98245288e-01 -5.78068448e-02 -1.28340805e-02 3.51388785e+02] [ 5.78085702e-02 9.98327658e-01 -2.36806660e-04 5.44969453e+00] [ 1.28263065e-02 -5.05528709e-04 9.99917612e-01 3.21699263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16925415399993 meters Centerline goodness [0,1] 0.9986065071891561 Centerline is valid? [True, True] Translation: X:351.42, Y:5.45, Z:3.22 [[ 9.98297209e-01 -5.69797358e-02 -1.24896710e-02 3.51420915e+02] [ 5.69813207e-02 9.98375218e-01 -2.29206973e-04 5.45141139e+00] [ 1.24824382e-02 -4.82861269e-04 9.99921975e-01 3.21627277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19925415399996 meters Centerline goodness [0,1] 0.9986931961891915 Centerline is valid? [True, True] Translation: X:351.45, Y:5.45, Z:3.22 [[ 9.98332017e-01 -5.65025555e-02 -1.18593802e-02 3.51451975e+02] [ 5.65039603e-02 9.98402351e-01 -2.16842404e-04 5.45332382e+00] [ 1.18526853e-02 -4.53621235e-04 9.99929652e-01 3.21922899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22925415399993 meters Centerline goodness [0,1] 0.9986689203465032 Centerline is valid? [True, True] Translation: X:351.48, Y:5.46, Z:3.22 [[ 9.98403025e-01 -5.53577245e-02 -1.12659623e-02 3.51483865e+02] [ 5.53589265e-02 9.98466498e-01 -2.05361137e-04 5.45549703e+00] [ 1.12600542e-02 -4.18638399e-04 9.99936516e-01 3.21995715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25925415399996 meters Centerline goodness [0,1] 0.99885871288175 Centerline is valid? [True, True] Translation: X:351.52, Y:5.46, Z:3.22 [[ 9.98477754e-01 -5.41300131e-02 -1.05885075e-02 3.51515820e+02] [ 5.41310137e-02 9.98533823e-01 -1.92277469e-04 5.45714903e+00] [ 1.05833909e-02 -3.81181871e-04 9.99943922e-01 3.22072823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28925415399993 meters Centerline goodness [0,1] 0.9986473062371864 Centerline is valid? [True, True] Translation: X:351.55, Y:5.46, Z:3.22 [[ 9.98649851e-01 -5.10504601e-02 -9.60860982e-03 3.51547302e+02] [ 5.10511478e-02 9.98696025e-01 -1.73854138e-04 5.46133400e+00] [ 9.60495577e-03 -3.16911151e-04 9.99953821e-01 3.21954174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31925415399996 meters Centerline goodness [0,1] 0.9985604504943159 Centerline is valid? [True, True] Translation: X:351.58, Y:5.46, Z:3.22 [[ 9.98664516e-01 -5.07328020e-02 -9.76556738e-03 3.51578916e+02] [ 5.07335012e-02 9.98712211e-01 -1.76270689e-04 5.46245083e+00] [ 9.76193410e-03 -3.19406142e-04 9.99952300e-01 3.22220640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34925415399994 meters Centerline goodness [0,1] 0.9986644053423787 Centerline is valid? [True, True] Translation: X:351.61, Y:5.46, Z:3.22 [[ 9.98733308e-01 -4.94494785e-02 -9.30204574e-03 3.51609778e+02] [ 4.94500723e-02 9.98776583e-01 -1.66292235e-04 5.46395869e+00] [ 9.29888853e-03 -2.93905241e-04 9.99956721e-01 3.22191013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37925415399997 meters Centerline goodness [0,1] 0.9987267904509284 Centerline is valid? [True, True] Translation: X:351.64, Y:5.47, Z:3.22 [[ 9.98777210e-01 -4.84209514e-02 -9.97478296e-03 3.51640551e+02] [ 4.84215975e-02 9.98826971e-01 -1.76860108e-04 5.46678320e+00] [ 9.97164599e-03 -3.06351080e-04 9.99950235e-01 3.22246974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40925415399994 meters Centerline goodness [0,1] 0.9987265472450972 Centerline is valid? [True, True] Translation: X:351.67, Y:5.47, Z:3.22 [[ 9.98806423e-01 -4.77396235e-02 -1.03275182e-02 3.51672475e+02] [ 4.77402857e-02 9.98859766e-01 -1.82534031e-04 5.46879015e+00] [ 1.03244565e-02 -3.10722504e-04 9.99946653e-01 3.22236433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43925415399997 meters Centerline goodness [0,1] 0.9988304839669984 Centerline is valid? [True, True] Translation: X:351.70, Y:5.47, Z:3.22 [[ 9.98815422e-01 -4.73776626e-02 -1.10955092e-02 3.51703601e+02] [ 4.73784135e-02 9.98876993e-01 -1.95310372e-04 5.47050928e+00] [ 1.10923023e-02 -3.30608614e-04 9.99938424e-01 3.22234175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46925415399994 meters Centerline goodness [0,1] 0.9988732274592342 Centerline is valid? [True, True] Translation: X:351.74, Y:5.47, Z:3.22 [[ 9.98833472e-01 -4.69961526e-02 -1.10931122e-02 3.51736108e+02] [ 4.69968866e-02 9.98895017e-01 -1.94653530e-04 5.47375931e+00] [ 1.10900025e-02 -3.26915275e-04 9.99938451e-01 3.22261987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49925415399997 meters Centerline goodness [0,1] 0.9985954458395403 Centerline is valid? [True, True] Translation: X:351.77, Y:5.47, Z:3.22 [[ 9.98856579e-01 -4.64539471e-02 -1.12944754e-02 3.51768414e+02] [ 4.64546826e-02 9.98920379e-01 -1.97365903e-04 5.47494739e+00] [ 1.12914501e-02 -3.27541039e-04 9.99936196e-01 3.22258695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.52925415399994 meters Centerline goodness [0,1] 0.9988519675999745 Centerline is valid? [True, True] Translation: X:351.80, Y:5.48, Z:3.22 [[ 9.98904558e-01 -4.52956265e-02 -1.17468951e-02 3.51800907e+02] [ 4.52963523e-02 9.98973573e-01 -2.04400044e-04 5.47883195e+00] [ 1.17440962e-02 -3.27915362e-04 9.99930982e-01 3.22274486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.559254154 meters Centerline goodness [0,1] 0.9989358532328779 Centerline is valid? [True, True] Translation: X:351.83, Y:5.48, Z:3.22 [[ 9.98936339e-01 -4.44217039e-02 -1.23653690e-02 3.51832712e+02] [ 4.44224529e-02 9.99012813e-01 -2.14215547e-04 5.48101232e+00] [ 1.23626779e-02 -3.35312329e-04 9.99923523e-01 3.22316678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.58925415399995 meters Centerline goodness [0,1] 0.9989358532328779 Centerline is valid? [True, True] Translation: X:351.87, Y:5.48, Z:3.22 [[ 9.98941281e-01 -4.43104392e-02 -1.23653868e-02 3.51865262e+02] [ 4.43111924e-02 9.99017754e-01 -2.13188747e-04 5.48148641e+00] [ 1.23626874e-02 -3.34961991e-04 9.99923523e-01 3.22347152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.619254154 meters Centerline goodness [0,1] 0.9989786147462496 Centerline is valid? [True, True] Translation: X:351.90, Y:5.48, Z:3.22 [[ 9.98967722e-01 -4.35739422e-02 -1.28375319e-02 3.51896535e+02] [ 4.35747096e-02 9.99050147e-01 -2.20054095e-04 5.48256208e+00] [ 1.28349268e-02 -3.39564786e-04 9.99917571e-01 3.22328821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.64925415399995 meters Centerline goodness [0,1] 0.9988929810742342 Centerline is valid? [True, True] Translation: X:351.93, Y:5.48, Z:3.22 [[ 9.99028717e-01 -4.18544946e-02 -1.37776246e-02 3.51928396e+02] [ 4.18552273e-02 9.99123658e-01 -2.35288030e-04 5.48465561e+00] [ 1.37753985e-02 -3.41606110e-04 9.99905056e-01 3.22106076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.679254154 meters Centerline goodness [0,1] 0.9990833315568441 Centerline is valid? [True, True] Translation: X:351.96, Y:5.49, Z:3.22 [[ 9.99034655e-01 -4.12256425e-02 -1.51724977e-02 3.51959575e+02] [ 4.12264750e-02 9.99149794e-01 -2.58026293e-04 5.48502135e+00] [ 1.51702352e-02 -3.67731388e-04 9.99884858e-01 3.22197116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.70925415399995 meters Centerline goodness [0,1] 0.9991470306002772 Centerline is valid? [True, True] Translation: X:351.99, Y:5.49, Z:3.22 [[ 9.99047685e-01 -4.09060907e-02 -1.51794085e-02 3.51991591e+02] [ 4.09069014e-02 9.99162929e-01 -2.57209372e-04 5.48538412e+00] [ 1.51772237e-02 -3.63978139e-04 9.99884753e-01 3.22246452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.739254154 meters Centerline goodness [0,1] 0.9989386767421621 Centerline is valid? [True, True] Translation: X:352.02, Y:5.48, Z:3.22 [[ 9.99062494e-01 -4.05881395e-02 -1.50577331e-02 3.52022343e+02] [ 4.05889216e-02 9.99175898e-01 -2.53790874e-04 5.48442136e+00] [ 1.50556249e-02 -3.57624204e-04 9.99886594e-01 3.22241824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.76925415399995 meters Centerline goodness [0,1] 0.9986818046519539 Centerline is valid? [True, True] Translation: X:352.05, Y:5.49, Z:3.22 [[ 9.99043741e-01 -4.11025586e-02 -1.49058096e-02 3.52054939e+02] [ 4.11034050e-02 9.99154867e-01 -2.49696292e-04 5.48711010e+00] [ 1.49034754e-02 -3.63222011e-04 9.99888871e-01 3.22439267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.799254154 meters Centerline goodness [0,1] 0.9987456416361935 Centerline is valid? [True, True] Translation: X:352.09, Y:5.49, Z:3.22 [[ 9.99044702e-01 -4.10551659e-02 -1.49718682e-02 3.52086282e+02] [ 4.10560297e-02 9.99156815e-01 -2.49791955e-04 5.48558831e+00] [ 1.49694994e-02 -3.65132137e-04 9.99887884e-01 3.22448709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.82925415399995 meters Centerline goodness [0,1] 0.9989170365022403 Centerline is valid? [True, True] Translation: X:352.12, Y:5.49, Z:3.23 [[ 9.99045545e-01 -4.10796972e-02 -1.48478383e-02 3.52118889e+02] [ 4.10805631e-02 9.99155807e-01 -2.46802749e-04 5.48656577e+00] [ 1.48454424e-02 -3.63390370e-04 9.99889734e-01 3.22566167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.859254154 meters Centerline goodness [0,1] 0.999003646230815 Centerline is valid? [True, True] Translation: X:352.15, Y:5.48, Z:3.23 [[ 9.99018186e-01 -4.15828828e-02 -1.52816176e-02 3.52150186e+02] [ 4.15838747e-02 9.99134985e-01 -2.52974940e-04 5.48473675e+00] [ 1.52789181e-02 -3.82742305e-04 9.99883197e-01 3.22551058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.88925415399996 meters Centerline goodness [0,1] 0.9986847966738084 Centerline is valid? [True, True] Translation: X:352.18, Y:5.48, Z:3.22 [[ 9.99003697e-01 -4.16022054e-02 -1.61514974e-02 3.52182572e+02] [ 4.16033330e-02 9.99134171e-01 -2.66328198e-04 5.48462942e+00] [ 1.61485928e-02 -4.05893271e-04 9.99869521e-01 3.22350791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91925415399993 meters Centerline goodness [0,1] 0.998896926242549 Centerline is valid? [True, True] Translation: X:352.22, Y:5.48, Z:3.22 [[ 9.98905178e-01 -4.33724866e-02 -1.75292100e-02 3.52215109e+02] [ 4.33741108e-02 9.99058859e-01 -2.87693372e-04 5.48209817e+00] [ 1.75251905e-02 -4.72935499e-04 9.99846310e-01 3.22382494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.94925415399996 meters Centerline goodness [0,1] 0.9987068874144108 Centerline is valid? [True, True] Translation: X:352.25, Y:5.48, Z:3.22 [[ 9.98858948e-01 -4.41183517e-02 -1.82858458e-02 3.52247690e+02] [ 4.41202694e-02 9.99026182e-01 -2.98732532e-04 5.48201489e+00] [ 1.82812183e-02 -5.08384780e-04 9.99832755e-01 3.22405917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97925415399993 meters Centerline goodness [0,1] 0.9987491519674355 Centerline is valid? [True, True] Translation: X:352.28, Y:5.48, Z:3.22 [[ 9.98836012e-01 -4.44402727e-02 -1.87532161e-02 3.52279419e+02] [ 4.44423695e-02 9.99011903e-01 -3.05137756e-04 5.48136116e+00] [ 1.87482466e-02 -5.28654781e-04 9.99824096e-01 3.22414425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.00925415399996 meters Centerline goodness [0,1] 0.9986878306878307 Centerline is valid? [True, True] Translation: X:352.31, Y:5.48, Z:3.22 [[ 9.98838019e-01 -4.40075222e-02 -1.96456043e-02 3.52311340e+02] [ 4.40097653e-02 9.99031050e-01 -3.18360580e-04 5.48066174e+00] [ 1.96405790e-02 -5.46607783e-04 9.99806956e-01 3.22426834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03925415399993 meters Centerline goodness [0,1] 0.9987911948084998 Centerline is valid? [True, True] Translation: X:352.34, Y:5.48, Z:3.22 [[ 9.98894333e-01 -4.27552743e-02 -1.95473115e-02 3.52343581e+02] [ 4.27572832e-02 9.99085439e-01 -3.15340716e-04 5.48086128e+00] [ 1.95429167e-02 -5.20797879e-04 9.99808883e-01 3.22484236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06925415399996 meters Centerline goodness [0,1] 0.9987960205310183 Centerline is valid? [True, True] Translation: X:352.38, Y:5.48, Z:3.23 [[ 9.98968450e-01 -4.08646694e-02 -1.98018699e-02 3.52375174e+02] [ 4.08663811e-02 9.99164570e-01 -3.18375594e-04 5.48225473e+00] [ 1.97983371e-02 -4.91183586e-04 9.99803873e-01 3.22580040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09925415399994 meters Centerline goodness [0,1] 0.9984723430438565 Centerline is valid? [True, True] Translation: X:352.41, Y:5.48, Z:3.23 [[ 9.99170329e-01 -3.54129617e-02 -2.01140710e-02 3.52405626e+02] [ 3.54136501e-02 9.99372688e-01 -3.22079929e-04 5.48453712e+00] [ 2.01128590e-02 -3.90499964e-04 9.99797640e-01 3.22533386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12925415399997 meters Centerline goodness [0,1] 0.9988118979929562 Centerline is valid? [True, True] Translation: X:352.44, Y:5.49, Z:3.23 [[ 9.99262939e-01 -3.33295228e-02 -1.90452670e-02 3.52436454e+02] [ 3.33297769e-02 9.99444362e-01 -3.04165777e-04 5.48589225e+00] [ 1.90448225e-02 -3.30832912e-04 9.99818576e-01 3.22786746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15925415399994 meters Centerline goodness [0,1] 0.9987905535869634 Centerline is valid? [True, True] Translation: X:352.47, Y:5.49, Z:3.23 [[ 9.99351477e-01 -3.06730441e-02 -1.88623854e-02 3.52466694e+02] [ 3.06728202e-02 9.99529433e-01 -3.01245035e-04 5.48703132e+00] [ 1.88627495e-02 -2.77512887e-04 9.99822044e-01 3.22822204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18925415399997 meters Centerline goodness [0,1] 0.998789500509684 Centerline is valid? [True, True] Translation: X:352.50, Y:5.49, Z:3.23 [[ 9.99483460e-01 -2.59380284e-02 -1.89745019e-02 3.52496472e+02] [ 2.59369454e-02 9.99663535e-01 -3.03205450e-04 5.48801080e+00] [ 1.89759822e-02 -1.89091789e-04 9.99819922e-01 3.22834480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21925415399994 meters Centerline goodness [0,1] 0.9988746151396114 Centerline is valid? [True, True] Translation: X:352.53, Y:5.49, Z:3.23 [[ 9.99530616e-01 -2.40795146e-02 -1.89400184e-02 3.52525898e+02] [ 2.40780923e-02 9.99710035e-01 -3.03165573e-04 5.48909163e+00] [ 1.89418265e-02 -1.53016238e-04 9.99820576e-01 3.22929135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24925415399997 meters Centerline goodness [0,1] 0.9990445251289891 Centerline is valid? [True, True] Translation: X:352.55, Y:5.49, Z:3.23 [[ 9.99551483e-01 -2.30369513e-02 -1.91345495e-02 3.52554302e+02] [ 2.30352549e-02 9.99734606e-01 -3.09087466e-04 5.48906796e+00] [ 1.91365918e-02 -1.31820390e-04 9.99816870e-01 3.22958485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27925415399994 meters Centerline goodness [0,1] 0.9986849082617457 Centerline is valid? [True, True] Translation: X:352.58, Y:5.49, Z:3.23 [[ 9.99540740e-01 -2.22641772e-02 -2.05575967e-02 3.52582658e+02] [ 2.22619828e-02 9.99752115e-01 -3.35619933e-04 5.48681346e+00] [ 2.05599731e-02 -1.22187068e-04 9.99788614e-01 3.22760276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.309254154 meters Centerline goodness [0,1] 0.9991096601869713 Centerline is valid? [True, True] Translation: X:352.61, Y:5.49, Z:3.23 [[ 9.99510397e-01 -2.38070183e-02 -2.03025204e-02 3.52610304e+02] [ 2.38051143e-02 9.99716562e-01 -3.35488316e-04 5.48515624e+00] [ 2.03047528e-02 -1.47979757e-04 9.99793826e-01 3.22945564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.33925415399995 meters Centerline goodness [0,1] 0.9988559806787848 Centerline is valid? [True, True] Translation: X:352.64, Y:5.48, Z:3.23 [[ 9.99466516e-01 -2.49406800e-02 -2.10866514e-02 3.52638212e+02] [ 2.49387959e-02 9.99688918e-01 -3.52355173e-04 5.48242921e+00] [ 2.10888797e-02 -1.73708499e-04 9.99777590e-01 3.22741401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.369254154 meters Centerline goodness [0,1] 0.9988178920482131 Centerline is valid? [True, True] Translation: X:352.67, Y:5.48, Z:3.23 [[ 9.99316709e-01 -3.03651008e-02 -2.10731289e-02 3.52667418e+02] [ 3.03643437e-02 9.99538834e-01 -3.55971033e-04 5.47677711e+00] [ 2.10742198e-02 -2.84143929e-04 9.99777874e-01 3.22873162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.39925415399995 meters Centerline goodness [0,1] 0.9989228007181329 Centerline is valid? [True, True] Translation: X:352.70, Y:5.47, Z:3.23 [[ 9.99195414e-01 -3.36297812e-02 -2.18532109e-02 3.52696910e+02] [ 3.36296833e-02 9.99434293e-01 -3.72088203e-04 5.47324618e+00] [ 2.18533616e-02 -3.63127734e-04 9.99761121e-01 3.22875947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.429254154 meters Centerline goodness [0,1] 0.9988401518346689 Centerline is valid? [True, True] Translation: X:352.73, Y:5.47, Z:3.23 [[ 9.99055628e-01 -3.74568472e-02 -2.20189959e-02 3.52725968e+02] [ 3.74576540e-02 9.99298145e-01 -3.75942835e-04 5.46915416e+00] [ 2.20176234e-02 -4.49192123e-04 9.99757482e-01 3.22850877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.45925415399995 meters Centerline goodness [0,1] 0.9986750510000211 Centerline is valid? [True, True] Translation: X:352.76, Y:5.46, Z:3.23 [[ 9.98759471e-01 -4.47295989e-02 -2.18810709e-02 3.52756790e+02] [ 4.47321281e-02 9.98998947e-01 -3.74093592e-04 5.46145879e+00] [ 2.18758998e-02 -6.05157347e-04 9.99760511e-01 3.22809331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.489254154 meters Centerline goodness [0,1] 0.9986744655781855 Centerline is valid? [True, True] Translation: X:352.79, Y:5.46, Z:3.23 [[ 9.98599628e-01 -4.84503498e-02 -2.12449200e-02 3.52787638e+02] [ 4.84535797e-02 9.98825370e-01 -3.63002464e-04 5.45760283e+00] [ 2.12375527e-02 -6.66898301e-04 9.99774235e-01 3.22908634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.51925415399995 meters Centerline goodness [0,1] 0.9986550948788535 Centerline is valid? [True, True] Translation: X:352.82, Y:5.46, Z:3.23 [[ 9.98461459e-01 -5.13956689e-02 -2.08134375e-02 3.52819120e+02] [ 5.13994201e-02 9.98678113e-01 -3.55038977e-04 5.45584794e+00] [ 2.08041719e-02 -7.15305883e-04 9.99783314e-01 3.23023494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.549254154 meters Centerline goodness [0,1] 0.9987614149259998 Centerline is valid? [True, True] Translation: X:352.85, Y:5.45, Z:3.23 [[ 9.98243687e-01 -5.59689807e-02 -1.94168389e-02 3.52849582e+02] [ 5.59731188e-02 9.98432221e-01 -3.30706036e-04 5.45012636e+00] [ 1.94049068e-02 -7.56695814e-04 9.99811421e-01 3.23091688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57925415399995 meters Centerline goodness [0,1] 0.9984466834592779 Centerline is valid? [True, True] Translation: X:352.88, Y:5.45, Z:3.23 [[ 9.98163065e-01 -5.71933505e-02 -1.99853890e-02 3.52881242e+02] [ 5.71979948e-02 9.98362797e-01 -3.39626385e-04 5.44728923e+00] [ 1.99720933e-02 -8.04121666e-04 9.99800214e-01 3.22946479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.609254154 meters Centerline goodness [0,1] 0.9986568166554735 Centerline is valid? [True, True] Translation: X:352.91, Y:5.45, Z:3.23 [[ 9.98055207e-01 -5.96586271e-02 -1.80734978e-02 3.52913527e+02] [ 5.96628487e-02 9.98218539e-01 -3.06013088e-04 5.44740238e+00] [ 1.80595569e-02 -7.72898408e-04 9.99836614e-01 3.23277695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63925415399996 meters Centerline goodness [0,1] 0.9985754687336336 Centerline is valid? [True, True] Translation: X:352.94, Y:5.44, Z:3.23 [[ 9.97868301e-01 -6.29954071e-02 -1.70420931e-02 3.52944197e+02] [ 6.29996598e-02 9.98013507e-01 -2.87741073e-04 5.43921840e+00] [ 1.70263654e-02 -7.86518369e-04 9.99854732e-01 3.23295089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66925415399993 meters Centerline goodness [0,1] 0.9985160723989466 Centerline is valid? [True, True] Translation: X:352.98, Y:5.44, Z:3.23 [[ 9.97754603e-01 -6.48002473e-02 -1.69316436e-02 3.52975945e+02] [ 6.48047143e-02 9.97897924e-01 -2.85285866e-04 5.43861970e+00] [ 1.69145386e-02 -8.12605037e-04 9.99856609e-01 3.23337631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69925415399996 meters Centerline goodness [0,1] 0.998849252013809 Centerline is valid? [True, True] Translation: X:353.01, Y:5.44, Z:3.23 [[ 9.97643484e-01 -6.64977213e-02 -1.68977170e-02 3.53007695e+02] [ 6.65024290e-02 9.97786223e-01 -2.83780127e-04 5.43755390e+00] [ 1.68791800e-02 -8.40627832e-04 9.99857183e-01 3.23412714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72925415399993 meters Centerline goodness [0,1] 0.9985151724282159 Centerline is valid? [True, True] Translation: X:353.04, Y:5.44, Z:3.23 [[ 9.97582574e-01 -6.71056977e-02 -1.80508466e-02 3.53039412e+02] [ 6.71111955e-02 9.97745457e-01 -3.01692887e-04 5.43502378e+00] [ 1.80303954e-02 -9.10450326e-04 9.99837025e-01 3.23157055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75925415399996 meters Centerline goodness [0,1] 0.998661311914324 Centerline is valid? [True, True] Translation: X:353.07, Y:5.43, Z:3.23 [[ 9.97363054e-01 -7.06835055e-02 -1.64554394e-02 3.53069730e+02] [ 7.06885742e-02 9.97498396e-01 -2.74147002e-04 5.42703083e+00] [ 1.64336521e-02 -8.89787460e-04 9.99864563e-01 3.23297504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78925415399993 meters Centerline goodness [0,1] 0.9986619836092993 Centerline is valid? [True, True] Translation: X:353.10, Y:5.43, Z:3.23 [[ 9.97271093e-01 -7.20159436e-02 -1.62502338e-02 3.53101763e+02] [ 7.20210711e-02 9.97403074e-01 -2.70221182e-04 5.43083575e+00] [ 1.62274934e-02 -9.00875474e-04 9.99867920e-01 3.23451013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81925415399996 meters Centerline goodness [0,1] 0.998495203461032 Centerline is valid? [True, True] Translation: X:353.13, Y:5.43, Z:3.23 [[ 9.97189435e-01 -7.28344876e-02 -1.75604265e-02 3.53133406e+02] [ 7.28406327e-02 9.97343551e-01 -2.90263497e-04 5.43206822e+00] [ 1.75349193e-02 -9.89664886e-04 9.99845762e-01 3.23370768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84925415399994 meters Centerline goodness [0,1] 0.9985791002361201 Centerline is valid? [True, True] Translation: X:353.16, Y:5.43, Z:3.23 [[ 9.97176795e-01 -7.27906372e-02 -1.84380896e-02 3.53164332e+02] [ 7.27974361e-02 9.97346701e-01 -3.03064610e-04 5.43067666e+00] [ 1.84112281e-02 -1.04003665e-03 9.99829958e-01 3.23284984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87925415399997 meters Centerline goodness [0,1] 0.9987451111622362 Centerline is valid? [True, True] Translation: X:353.20, Y:5.43, Z:3.23 [[ 9.97238359e-01 -7.14342967e-02 -2.03173984e-02 3.53195824e+02] [ 7.14422959e-02 9.97444679e-01 -3.32776602e-04 5.43018845e+00] [ 2.02892526e-02 -1.11966400e-03 9.99793525e-01 3.23033327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90925415399994 meters Centerline goodness [0,1] 0.9984957379241184 Centerline is valid? [True, True] Translation: X:353.23, Y:5.43, Z:3.23 [[ 9.97252540e-01 -7.10921748e-02 -2.08152230e-02 3.53227542e+02] [ 7.11005254e-02 9.97469097e-01 -3.39552489e-04 5.43357132e+00] [ 2.07866812e-02 -1.14135371e-03 9.99783282e-01 3.23105592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93925415399997 meters Centerline goodness [0,1] 0.9984529185482522 Centerline is valid? [True, True] Translation: X:353.26, Y:5.43, Z:3.23 [[ 9.97265834e-01 -7.09761435e-02 -2.05728924e-02 3.53258963e+02] [ 7.09843192e-02 9.97477376e-01 -3.33499397e-04 5.43283134e+00] [ 2.05446653e-02 -1.12776521e-03 9.99788300e-01 3.23196034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96925415399994 meters Centerline goodness [0,1] 0.9984715242881071 Centerline is valid? [True, True] Translation: X:353.29, Y:5.43, Z:3.23 [[ 9.97418898e-01 -6.85263544e-02 -2.14401823e-02 3.53289731e+02] [ 6.85347057e-02 9.97648673e-01 -3.45890802e-04 5.43410328e+00] [ 2.14134720e-02 -1.12439856e-03 9.99770073e-01 3.23054098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99925415399997 meters Centerline goodness [0,1] 0.9989525724819842 Centerline is valid? [True, True] Translation: X:353.32, Y:5.44, Z:3.23 [[ 9.97481880e-01 -6.79528513e-02 -2.03054178e-02 3.53321662e+02] [ 6.79602461e-02 9.97687976e-01 -3.26449434e-04 5.43931014e+00] [ 2.02806543e-02 -1.05433379e-03 9.99793770e-01 3.23389496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.02925415399994 meters Centerline goodness [0,1] 0.9988698200083717 Centerline is valid? [True, True] Translation: X:353.35, Y:5.44, Z:3.23 [[ 9.97603160e-01 -6.61840158e-02 -2.01893988e-02 3.53352165e+02] [ 6.61909830e-02 9.97806920e-01 -3.23694077e-04 5.44044307e+00] [ 2.01665452e-02 -1.01343792e-03 9.99796121e-01 3.23427824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.059254154 meters Centerline goodness [0,1] 0.998828623423348 Centerline is valid? [True, True] Translation: X:353.38, Y:5.44, Z:3.24 [[ 9.97714774e-01 -6.46531704e-02 -1.96264638e-02 3.53383847e+02] [ 6.46594765e-02 9.97907337e-01 -3.13770271e-04 5.44005657e+00] [ 1.96056784e-02 -9.55983637e-04 9.99807333e-01 3.23511389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.08925415399995 meters Centerline goodness [0,1] 0.9989729616432613 Centerline is valid? [True, True] Translation: X:353.41, Y:5.45, Z:3.24 [[ 9.98056744e-01 -5.96863757e-02 -1.78961441e-02 3.53414834e+02] [ 5.96908353e-02 9.98216872e-01 -2.85344750e-04 5.44906060e+00] [ 1.78812641e-02 -7.83445535e-04 9.99839810e-01 3.23719628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.119254154 meters Centerline goodness [0,1] 0.9986590680522963 Centerline is valid? [True, True] Translation: X:353.45, Y:5.45, Z:3.24 [[ 9.98201495e-01 -5.75744643e-02 -1.67019854e-02 3.53446333e+02] [ 5.75780604e-02 9.98340972e-01 -2.65874253e-04 5.45218130e+00] [ 1.66895839e-02 -6.96271849e-04 9.99860477e-01 3.23874035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.14925415399995 meters Centerline goodness [0,1] 0.9990347085239434 Centerline is valid? [True, True] Translation: X:353.48, Y:5.45, Z:3.24 [[ 9.98351660e-01 -5.50176031e-02 -1.63409701e-02 3.53476801e+02] [ 5.50207111e-02 9.98485180e-01 -2.59659678e-04 5.45229005e+00] [ 1.63305023e-02 -6.39860124e-04 9.99866444e-01 3.23908678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.179254154 meters Centerline goodness [0,1] 0.9989497784032431 Centerline is valid? [True, True] Translation: X:353.51, Y:5.45, Z:3.24 [[ 9.98496167e-01 -5.24091887e-02 -1.60835565e-02 3.53507488e+02] [ 5.24118682e-02 9.98625521e-01 -2.55162466e-04 5.45430686e+00] [ 1.60748228e-02 -5.88190497e-04 9.99870619e-01 3.23912049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.20925415399995 meters Centerline goodness [0,1] 0.9988682804149639 Centerline is valid? [True, True] Translation: X:353.54, Y:5.46, Z:3.24 [[ 9.98746185e-01 -4.72043193e-02 -1.66676130e-02 3.53538595e+02] [ 4.72064807e-02 9.98885118e-01 -2.63952831e-04 5.46072068e+00] [ 1.66614903e-02 -5.23197470e-04 9.99861051e-01 3.23791906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.239254154 meters Centerline goodness [0,1] 0.9988847036047221 Centerline is valid? [True, True] Translation: X:353.57, Y:5.46, Z:3.24 [[ 9.98837065e-01 -4.51851621e-02 -1.68172040e-02 3.53570815e+02] [ 4.51870886e-02 9.98978507e-01 -2.65607774e-04 5.46425554e+00] [ 1.68120269e-02 -4.94621598e-04 9.99858546e-01 3.23873623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.26925415399995 meters Centerline goodness [0,1] 0.9988620079237966 Centerline is valid? [True, True] Translation: X:353.60, Y:5.47, Z:3.24 [[ 9.98955329e-01 -4.21433204e-02 -1.76689169e-02 3.53601766e+02] [ 4.21449898e-02 9.99111467e-01 -2.78033965e-04 5.46848648e+00] [ 1.76649347e-02 -4.66912809e-04 9.99843854e-01 3.23788695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.299254154 meters Centerline goodness [0,1] 0.9990083551354545 Centerline is valid? [True, True] Translation: X:353.63, Y:5.47, Z:3.24 [[ 9.98981193e-01 -4.16289055e-02 -1.74244371e-02 3.53632715e+02] [ 4.16304644e-02 9.99133039e-01 -2.73405101e-04 5.46986627e+00] [ 1.74207124e-02 -4.52260854e-04 9.99848146e-01 3.23987898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.32925415399995 meters Centerline goodness [0,1] 0.9988414467170813 Centerline is valid? [True, True] Translation: X:353.67, Y:5.47, Z:3.24 [[ 9.99010386e-01 -4.06684504e-02 -1.80090718e-02 3.53665225e+02] [ 4.06699807e-02 9.99172594e-01 -2.81413987e-04 5.47216250e+00] [ 1.80056157e-02 -4.51293106e-04 9.99837784e-01 3.23987891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.359254154 meters Centerline goodness [0,1] 0.9990727471971677 Centerline is valid? [True, True] Translation: X:353.70, Y:5.47, Z:3.24 [[ 9.99066510e-01 -3.88498991e-02 -1.88890026e-02 3.53696473e+02] [ 3.88512780e-02 9.99244961e-01 -2.94095579e-04 5.47445482e+00] [ 1.88861663e-02 -4.40040848e-04 9.99821544e-01 3.23900482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.38925415399996 meters Centerline goodness [0,1] 0.9988643294285895 Centerline is valid? [True, True] Translation: X:353.73, Y:5.48, Z:3.24 [[ 9.99103987e-01 -3.73408090e-02 -1.99220152e-02 3.53726873e+02] [ 3.73420503e-02 9.99302494e-01 -3.09819500e-04 5.47570374e+00] [ 1.99196884e-02 -4.34386998e-04 9.99801489e-01 3.23755125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41925415399993 meters Centerline goodness [0,1] 0.9991358961389311 Centerline is valid? [True, True] Translation: X:353.76, Y:5.48, Z:3.24 [[ 9.99124966e-01 -3.69741793e-02 -1.95502440e-02 3.53757982e+02] [ 3.69753119e-02 9.99316133e-01 -3.03661951e-04 5.47814758e+00] [ 1.95481019e-02 -4.19480134e-04 9.99808830e-01 3.23950189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.44925415399996 meters Centerline goodness [0,1] 0.9990520128926247 Centerline is valid? [True, True] Translation: X:353.79, Y:5.48, Z:3.24 [[ 9.99211643e-01 -3.51643801e-02 -1.84271191e-02 3.53787906e+02] [ 3.51650846e-02 9.99381476e-01 -2.85891286e-04 5.48068764e+00] [ 1.84257747e-02 -3.62325300e-04 9.99830165e-01 3.24037389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47925415399993 meters Centerline goodness [0,1] 0.9991351305741889 Centerline is valid? [True, True] Translation: X:353.82, Y:5.48, Z:3.24 [[ 9.99247813e-01 -3.44087811e-02 -1.78841686e-02 3.53817867e+02] [ 3.44093265e-02 9.99407785e-01 -2.77313581e-04 5.48151049e+00] [ 1.78831193e-02 -3.38277206e-04 9.99840027e-01 3.24113383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.50925415399996 meters Centerline goodness [0,1] 0.9991351305741889 Centerline is valid? [True, True] Translation: X:353.85, Y:5.48, Z:3.24 [[ 9.99249045e-01 -3.43729929e-02 -1.78841759e-02 3.53848715e+02] [ 3.43735410e-02 9.99409017e-01 -2.76839262e-04 5.48195808e+00] [ 1.78831225e-02 -3.38111086e-04 9.99840027e-01 3.24142280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53925415399993 meters Centerline goodness [0,1] 0.9987570573860285 Centerline is valid? [True, True] Translation: X:353.88, Y:5.48, Z:3.24 [[ 9.99304253e-01 -3.33564966e-02 -1.66839462e-02 3.53880471e+02] [ 3.33568416e-02 9.99443473e-01 -2.57681244e-04 5.48336455e+00] [ 1.66832564e-02 -2.99021786e-04 9.99860780e-01 3.24243226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56925415399996 meters Centerline goodness [0,1] 0.9991152493101051 Centerline is valid? [True, True] Translation: X:353.91, Y:5.48, Z:3.24 [[ 9.99324570e-01 -3.28696352e-02 -1.64314199e-02 3.53910446e+02] [ 3.28699116e-02 9.99459606e-01 -2.53318246e-04 5.48291429e+00] [ 1.64308669e-02 -2.86952172e-04 9.99864963e-01 3.24290230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59925415399994 meters Centerline goodness [0,1] 0.998945236688887 Centerline is valid? [True, True] Translation: X:353.94, Y:5.48, Z:3.24 [[ 9.99330671e-01 -3.27439996e-02 -1.63107711e-02 3.53941428e+02] [ 3.27442621e-02 9.99463731e-01 -2.51036111e-04 5.48467955e+00] [ 1.63102440e-02 -2.83216078e-04 9.99866939e-01 3.24350852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62925415399997 meters Centerline goodness [0,1] 0.999030578912984 Centerline is valid? [True, True] Translation: X:353.97, Y:5.48, Z:3.24 [[ 9.99331905e-01 -3.26909304e-02 -1.63415862e-02 3.53972129e+02] [ 3.26911946e-02 9.99465469e-01 -2.51039886e-04 5.48331029e+00] [ 1.63410578e-02 -2.83353806e-04 9.99866436e-01 3.24317281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65925415399994 meters Centerline goodness [0,1] 0.9989245951417004 Centerline is valid? [True, True] Translation: X:354.00, Y:5.48, Z:3.24 [[ 9.99309246e-01 -3.32144104e-02 -1.66683692e-02 3.54003445e+02] [ 3.32147654e-02 9.99448205e-01 -2.55615835e-04 5.48396169e+00] [ 1.66676618e-02 -2.98196707e-04 9.99861040e-01 3.24326288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68925415399997 meters Centerline goodness [0,1] 0.9987364164771292 Centerline is valid? [True, True] Translation: X:354.03, Y:5.48, Z:3.24 [[ 9.99284685e-01 -3.35031305e-02 -1.75402035e-02 3.54033312e+02] [ 3.35035745e-02 9.99438562e-01 -2.68620518e-04 5.48270424e+00] [ 1.75393554e-02 -3.19231144e-04 9.99846123e-01 3.24195040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71925415399994 meters Centerline goodness [0,1] 0.9989283012524166 Centerline is valid? [True, True] Translation: X:354.06, Y:5.48, Z:3.24 [[ 9.99205838e-01 -3.59702492e-02 -1.71416117e-02 3.54064489e+02] [ 3.59710409e-02 9.99352798e-01 -2.62232469e-04 5.48042457e+00] [ 1.71399502e-02 -3.54577401e-04 9.99853037e-01 3.24341411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74925415399997 meters Centerline goodness [0,1] 0.9987388069113381 Centerline is valid? [True, True] Translation: X:354.10, Y:5.48, Z:3.24 [[ 9.99163154e-01 -3.69236285e-02 -1.75965287e-02 3.54095834e+02] [ 3.69246221e-02 9.99318018e-01 -2.68539619e-04 5.47953959e+00] [ 1.75944436e-02 -3.81430280e-04 9.99845133e-01 3.24322110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77925415399994 meters Centerline goodness [0,1] 0.9988843984171087 Centerline is valid? [True, True] Translation: X:354.13, Y:5.48, Z:3.24 [[ 9.99133731e-01 -3.71967585e-02 -1.86598376e-02 3.54126733e+02] [ 3.71979335e-02 9.99307877e-01 -2.84233201e-04 5.47835426e+00] [ 1.86574952e-02 -4.10120419e-04 9.99825850e-01 3.24196171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.809254154 meters Centerline goodness [0,1] 0.9986745492415476 Centerline is valid? [True, True] Translation: X:354.16, Y:5.48, Z:3.24 [[ 9.99137280e-01 -3.70148768e-02 -1.88306915e-02 3.54157663e+02] [ 3.70160510e-02 9.99314630e-01 -2.86311973e-04 5.47837388e+00] [ 1.88283833e-02 -4.10972872e-04 9.99822646e-01 3.24147575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.83925415399995 meters Centerline goodness [0,1] 0.9986107018060877 Centerline is valid? [True, True] Translation: X:354.19, Y:5.48, Z:3.24 [[ 9.99146499e-01 -3.63408164e-02 -1.96371994e-02 3.54188351e+02] [ 3.63419829e-02 9.99339368e-01 -2.97572486e-04 5.47770591e+00] [ 1.96350405e-02 -4.16336259e-04 9.99807127e-01 3.24143982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.869254154 meters Centerline goodness [0,1] 0.9986520356368078 Centerline is valid? [True, True] Translation: X:354.22, Y:5.48, Z:3.24 [[ 9.99167371e-01 -3.56670496e-02 -1.98097314e-02 3.54218963e+02] [ 3.56681160e-02 9.99363645e-01 -2.99598226e-04 5.47962834e+00] [ 1.98078112e-02 -4.07227027e-04 9.99803723e-01 3.24335829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.89925415399995 meters Centerline goodness [0,1] 0.9988472260065813 Centerline is valid? [True, True] Translation: X:354.25, Y:5.48, Z:3.24 [[ 9.99222132e-01 -3.39142822e-02 -2.01234329e-02 3.54249968e+02] [ 3.39150313e-02 9.99424674e-01 -3.04147455e-04 5.48015908e+00] [ 2.01221703e-02 -3.78575988e-04 9.99797457e-01 3.24307222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.929254154 meters Centerline goodness [0,1] 0.9986761090213714 Centerline is valid? [True, True] Translation: X:354.28, Y:5.48, Z:3.24 [[ 9.99345791e-01 -3.04924516e-02 -1.94473508e-02 3.54279836e+02] [ 3.04924995e-02 9.99534952e-01 -2.94132514e-04 5.48216987e+00] [ 1.94472757e-02 -2.99058243e-04 9.99810839e-01 3.24463726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.95925415399995 meters Centerline goodness [0,1] 0.9989507921519253 Centerline is valid? [True, True] Translation: X:354.31, Y:5.48, Z:3.25 [[ 9.99424162e-01 -2.81006404e-02 -1.90183693e-02 3.54308104e+02] [ 2.81002369e-02 9.99605069e-01 -2.88501936e-04 5.48326497e+00] [ 1.90189654e-02 -2.46084876e-04 9.99819093e-01 3.24553662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.989254154 meters Centerline goodness [0,1] 0.9987791529847605 Centerline is valid? [True, True] Translation: X:354.34, Y:5.48, Z:3.25 [[ 9.99495459e-01 -2.53367709e-02 -1.91540104e-02 3.54337559e+02] [ 2.53358376e-02 9.99678954e-01 -2.91427174e-04 5.48457348e+00] [ 1.91552449e-02 -1.94002760e-04 9.99816503e-01 3.24535321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.01925415399995 meters Centerline goodness [0,1] 0.9988848913295041 Centerline is valid? [True, True] Translation: X:354.37, Y:5.49, Z:3.25 [[ 9.99565187e-01 -2.32969391e-02 -1.80745588e-02 3.54366613e+02] [ 2.32957282e-02 9.99728579e-01 -2.77564418e-04 5.48658542e+00] [ 1.80761194e-02 -1.43616280e-04 9.99836603e-01 3.24792558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.049254154 meters Centerline goodness [0,1] 0.9990322716371439 Centerline is valid? [True, True] Translation: X:354.39, Y:5.49, Z:3.25 [[ 9.99686037e-01 -1.79176504e-02 -1.75153009e-02 3.54394045e+02] [ 1.79156337e-02 9.99839465e-01 -2.72051694e-04 5.48907369e+00] [ 1.75173636e-02 -4.18314359e-05 9.99846558e-01 3.24881843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07925415399995 meters Centerline goodness [0,1] 0.9988031244750546 Centerline is valid? [True, True] Translation: X:354.42, Y:5.49, Z:3.25 [[ 9.99724418e-01 -1.57501279e-02 -1.74075227e-02 3.54422106e+02] [ 1.57477517e-02 9.99875959e-01 -2.73582641e-04 5.49027045e+00] [ 1.74096724e-02 -6.22098218e-07 9.99848440e-01 3.24920608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.109254154 meters Centerline goodness [0,1] 0.9991371509144096 Centerline is valid? [True, True] Translation: X:354.45, Y:5.49, Z:3.25 [[ 9.99769121e-01 -1.19111231e-02 -1.78837604e-02 3.54450461e+02] [ 1.19079108e-02 9.99929057e-01 -2.86105924e-04 5.49076561e+00] [ 1.78858995e-02 7.30816460e-05 9.99840032e-01 3.24917579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13925415399996 meters Centerline goodness [0,1] 0.9989708260696057 Centerline is valid? [True, True] Translation: X:354.48, Y:5.49, Z:3.25 [[ 9.99779026e-01 -1.07960559e-02 -1.80373073e-02 3.54477913e+02] [ 1.07925479e-02 9.99941716e-01 -2.91818338e-04 5.49051464e+00] [ 1.80394065e-02 9.70853504e-05 9.99837272e-01 3.24861432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16925415399993 meters Centerline goodness [0,1] 0.9990161806878363 Centerline is valid? [True, True] Translation: X:354.51, Y:5.49, Z:3.25 [[ 9.99786616e-01 -9.94990190e-03 -1.81030984e-02 3.54506004e+02] [ 9.94619955e-03 9.99950492e-01 -2.94541759e-04 5.48995924e+00] [ 1.81051328e-02 1.14421880e-04 9.99836082e-01 3.24834247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19925415399996 meters Centerline goodness [0,1] 0.999036265739247 Centerline is valid? [True, True] Translation: X:354.53, Y:5.49, Z:3.25 [[ 9.99775070e-01 -1.07014771e-02 -1.83108930e-02 3.54533473e+02] [ 1.06977508e-02 9.99942732e-01 -3.01445168e-04 5.48716834e+00] [ 1.83130703e-02 1.05491994e-04 9.99832296e-01 3.24866715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22925415399993 meters Centerline goodness [0,1] 0.9990116914795188 Centerline is valid? [True, True] Translation: X:354.56, Y:5.49, Z:3.25 [[ 9.99762082e-01 -1.17445694e-02 -1.83805451e-02 3.54560605e+02] [ 1.17409181e-02 9.99931026e-01 -3.06551616e-04 5.48588316e+00] [ 1.83828776e-02 9.06742074e-05 9.99831017e-01 3.24856618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25925415399996 meters Centerline goodness [0,1] 0.9989925913488782 Centerline is valid? [True, True] Translation: X:354.59, Y:5.48, Z:3.25 [[ 9.99755101e-01 -1.28094861e-02 -1.80459157e-02 3.54588755e+02] [ 1.28061045e-02 9.99917953e-01 -3.02940286e-04 5.48475582e+00] [ 1.80483156e-02 7.17682143e-05 9.99837113e-01 3.24709641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28925415399993 meters Centerline goodness [0,1] 0.9991195706858964 Centerline is valid? [True, True] Translation: X:354.62, Y:5.48, Z:3.25 [[ 9.99722610e-01 -1.46197299e-02 -1.84652837e-02 3.54616515e+02] [ 1.46164324e-02 9.99893125e-01 -3.13533771e-04 5.48194093e+00] [ 1.84678940e-02 4.35502292e-05 9.99829453e-01 3.24891248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31925415399996 meters Centerline goodness [0,1] 0.9991619526503247 Centerline is valid? [True, True] Translation: X:354.64, Y:5.48, Z:3.25 [[ 9.99665508e-01 -1.86391057e-02 -1.79291711e-02 3.54643711e+02] [ 1.86365651e-02 9.99826276e-01 -3.08788516e-04 5.47665349e+00] [ 1.79318119e-02 -2.54529350e-05 9.99839212e-01 3.24877545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34925415399994 meters Centerline goodness [0,1] 0.9990159953102755 Centerline is valid? [True, True] Translation: X:354.67, Y:5.47, Z:3.25 [[ 9.99634351e-01 -2.00299666e-02 -1.81649171e-02 3.54671639e+02] [ 2.00275081e-02 9.99799379e-01 -3.17264501e-04 5.47400146e+00] [ 1.81676276e-02 -4.66495318e-05 9.99834954e-01 3.24669398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37925415399997 meters Centerline goodness [0,1] 0.9990369315802696 Centerline is valid? [True, True] Translation: X:354.70, Y:5.47, Z:3.25 [[ 9.99590512e-01 -2.33114666e-02 -1.65947189e-02 3.54699727e+02] [ 2.33097903e-02 9.99728247e-01 -2.94461570e-04 5.47207574e+00] [ 1.65970736e-02 -9.24784257e-05 9.99862255e-01 3.24976223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40925415399994 meters Centerline goodness [0,1] 0.9989962358845671 Centerline is valid? [True, True] Translation: X:354.73, Y:5.47, Z:3.25 [[ 9.99486578e-01 -2.80735011e-02 -1.54421441e-02 3.54727747e+02] [ 2.80725695e-02 9.99605849e-01 -2.77129760e-04 5.46668801e+00] [ 1.54438376e-02 -1.56513188e-04 9.99880725e-01 3.25049571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43925415399997 meters Centerline goodness [0,1] 0.999019873626259 Centerline is valid? [True, True] Translation: X:354.76, Y:5.46, Z:3.25 [[ 9.99421912e-01 -3.03806045e-02 -1.52598059e-02 3.54757021e+02] [ 3.03799492e-02 9.99538385e-01 -2.74805958e-04 5.46391589e+00] [ 1.52611105e-02 -1.88945032e-04 9.99883525e-01 3.25075014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46925415399994 meters Centerline goodness [0,1] 0.9988938976542282 Centerline is valid? [True, True] Translation: X:354.79, Y:5.46, Z:3.25 [[ 9.99277564e-01 -3.51523331e-02 -1.44451747e-02 3.54787028e+02] [ 3.51522406e-02 9.99381935e-01 -2.60386508e-04 5.45969621e+00] [ 1.44453998e-02 -2.47581861e-04 9.99895629e-01 3.25118457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49925415399997 meters Centerline goodness [0,1] 0.9989984141557466 Centerline is valid? [True, True] Translation: X:354.82, Y:5.46, Z:3.25 [[ 9.99217931e-01 -3.70184072e-02 -1.38983532e-02 3.54817287e+02] [ 3.70185008e-02 9.99314549e-01 -2.50611587e-04 5.45674313e+00] [ 1.38981038e-02 -2.64080609e-04 9.99903382e-01 3.25133535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.52925415399994 meters Centerline goodness [0,1] 0.998976501305483 Centerline is valid? [True, True] Translation: X:354.85, Y:5.45, Z:3.25 [[ 9.99149512e-01 -3.89063882e-02 -1.36581693e-02 3.54848006e+02] [ 3.89066644e-02 9.99242819e-01 -2.45584985e-04 5.45449678e+00] [ 1.36573825e-02 -2.86017693e-04 9.99906693e-01 3.25170728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.559254154 meters Centerline goodness [0,1] 0.9989146316009184 Centerline is valid? [True, True] Translation: X:354.88, Y:5.45, Z:3.25 [[ 9.98981581e-01 -4.32963409e-02 -1.26975340e-02 3.54879786e+02] [ 4.32969499e-02 9.99062222e-01 -2.27051034e-04 5.45266946e+00] [ 1.26954570e-02 -3.22944693e-04 9.99919357e-01 3.25244590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.58925415399995 meters Centerline goodness [0,1] 0.9989360814419226 Centerline is valid? [True, True] Translation: X:354.91, Y:5.45, Z:3.25 [[ 9.98901693e-01 -4.50688473e-02 -1.28142919e-02 3.54910699e+02] [ 4.50696226e-02 9.98983822e-01 -2.28417550e-04 5.44813514e+00] [ 1.28115648e-02 -3.49368622e-04 9.99917868e-01 3.25154962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.619254154 meters Centerline goodness [0,1] 0.9991455663228093 Centerline is valid? [True, True] Translation: X:354.94, Y:5.45, Z:3.25 [[ 9.98801018e-01 -4.73288691e-02 -1.25102086e-02 3.54942332e+02] [ 4.73297937e-02 9.98879293e-01 -2.22312631e-04 5.44838338e+00] [ 1.25067101e-02 -3.70059507e-04 9.99921720e-01 3.25223059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.64925415399995 meters Centerline goodness [0,1] 0.9988327010464001 Centerline is valid? [True, True] Translation: X:354.97, Y:5.44, Z:3.25 [[ 9.98603792e-01 -5.12766351e-02 -1.26954238e-02 3.54973617e+02] [ 5.12779143e-02 9.98684397e-01 -2.24948427e-04 5.44438564e+00] [ 1.26902563e-02 -4.26360501e-04 9.99919385e-01 3.25220917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.679254154 meters Centerline goodness [0,1] 0.9990016431290168 Centerline is valid? [True, True] Translation: X:355.00, Y:5.44, Z:3.25 [[ 9.98513623e-01 -5.29091201e-02 -1.30831807e-02 3.55004910e+02] [ 5.29106260e-02 9.98599225e-01 -2.31254466e-04 5.44221780e+00] [ 1.30770896e-02 -4.61328546e-04 9.99914385e-01 3.25220562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.70925415399995 meters Centerline goodness [0,1] 0.9988934819825462 Centerline is valid? [True, True] Translation: X:355.04, Y:5.44, Z:3.25 [[ 9.98462687e-01 -5.37984319e-02 -1.33413195e-02 3.55037087e+02] [ 5.38000880e-02 9.98551699e-01 -2.34995524e-04 5.44109410e+00] [ 1.33346396e-02 -4.83129901e-04 9.99910973e-01 3.25065970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.739254154 meters Centerline goodness [0,1] 0.9988098220997244 Centerline is valid? [True, True] Translation: X:355.07, Y:5.44, Z:3.25 [[ 9.98388686e-01 -5.51595385e-02 -1.33212782e-02 3.55069083e+02] [ 5.51613236e-02 9.98477428e-01 -2.33666778e-04 5.44024875e+00] [ 1.33138846e-02 -5.01529073e-04 9.99911241e-01 3.25208256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.76925415399995 meters Centerline goodness [0,1] 0.9988730042784096 Centerline is valid? [True, True] Translation: X:355.10, Y:5.44, Z:3.25 [[ 9.98298593e-01 -5.65864254e-02 -1.40675423e-02 3.55101229e+02] [ 5.65885726e-02 9.98397553e-01 -2.45685558e-04 5.43970103e+00] [ 1.40589022e-02 -5.50794590e-04 9.99901017e-01 3.25179373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.799254154 meters Centerline goodness [0,1] 0.9988946358555101 Centerline is valid? [True, True] Translation: X:355.13, Y:5.44, Z:3.25 [[ 9.98257297e-01 -5.71890971e-02 -1.45525205e-02 3.55132446e+02] [ 5.71914735e-02 9.98363196e-01 -2.53152864e-04 5.43893287e+00] [ 1.45431784e-02 -5.79568396e-04 9.99894074e-01 3.25166650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.82925415399995 meters Centerline goodness [0,1] 0.9989762660872472 Centerline is valid? [True, True] Translation: X:355.16, Y:5.44, Z:3.25 [[ 9.98225485e-01 -5.75986218e-02 -1.51089638e-02 3.55163136e+02] [ 5.76012416e-02 9.98339636e-01 -2.62087400e-04 5.43762344e+00] [ 1.50989733e-02 -6.08672750e-04 9.99885819e-01 3.25141885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.859254154 meters Centerline goodness [0,1] 0.9986845402154848 Centerline is valid? [True, True] Translation: X:355.20, Y:5.44, Z:3.25 [[ 9.98191996e-01 -5.81475920e-02 -1.52183213e-02 3.55195568e+02] [ 5.81503252e-02 9.98307803e-01 -2.63217595e-04 5.43792815e+00] [ 1.52078744e-02 -6.22208638e-04 9.99884160e-01 3.25126266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.88925415399996 meters Centerline goodness [0,1] 0.9988088272172532 Centerline is valid? [True, True] Translation: X:355.23, Y:5.44, Z:3.25 [[ 9.98194568e-01 -5.80890523e-02 -1.52730488e-02 3.55226744e+02] [ 5.80918136e-02 9.98311210e-01 -2.63166125e-04 5.43740259e+00] [ 1.52625429e-02 -6.24548104e-04 9.99883326e-01 3.25144474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91925415399993 meters Centerline goodness [0,1] 0.9989968861674782 Centerline is valid? [True, True] Translation: X:355.26, Y:5.44, Z:3.25 [[ 9.98216727e-01 -5.77420618e-02 -1.51400064e-02 3.55259193e+02] [ 5.77447491e-02 9.98331346e-01 -2.59959459e-04 5.43997100e+00] [ 1.51297536e-02 -6.14759993e-04 9.99885350e-01 3.25257348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.94925415399996 meters Centerline goodness [0,1] 0.9987693206232661 Centerline is valid? [True, True] Translation: X:355.29, Y:5.44, Z:3.25 [[ 9.98236171e-01 -5.73641862e-02 -1.52937236e-02 3.55290262e+02] [ 5.73668994e-02 9.98353129e-01 -2.61604156e-04 5.43996210e+00] [ 1.52835435e-02 -6.16210772e-04 9.99883010e-01 3.25248488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97925415399993 meters Centerline goodness [0,1] 0.9986830002508571 Centerline is valid? [True, True] Translation: X:355.32, Y:5.44, Z:3.25 [[ 9.98256577e-01 -5.73043388e-02 -1.41427884e-02 3.55321509e+02] [ 5.73066629e-02 9.98356594e-01 -2.41203812e-04 5.44054708e+00] [ 1.41333681e-02 -5.69692715e-04 9.99899957e-01 3.25404129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.00925415399996 meters Centerline goodness [0,1] 0.9986862135841345 Centerline is valid? [True, True] Translation: X:355.35, Y:5.44, Z:3.26 [[ 9.98349410e-01 -5.59184134e-02 -1.30991271e-02 3.55353814e+02] [ 5.59202973e-02 9.98435211e-01 -2.22689685e-04 5.44293439e+00] [ 1.30910822e-02 -5.10184966e-04 9.99914178e-01 3.25542459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03925415399993 meters Centerline goodness [0,1] 0.9988115591509945 Centerline is valid? [True, True] Translation: X:355.39, Y:5.45, Z:3.26 [[ 9.98420495e-01 -5.45920821e-02 -1.32747646e-02 3.55386113e+02] [ 5.45939124e-02 9.98508615e-01 -2.24724185e-04 5.44962596e+00] [ 1.32672350e-02 -5.00352103e-04 9.99911861e-01 3.25500916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06925415399996 meters Centerline goodness [0,1] 0.9987091132440817 Centerline is valid? [True, True] Translation: X:355.42, Y:5.45, Z:3.26 [[ 9.98498782e-01 -5.32772719e-02 -1.27166904e-02 3.55418687e+02] [ 5.32788576e-02 9.98579650e-01 -2.14290179e-04 5.45126067e+00] [ 1.27100450e-02 -4.63562253e-04 9.99919117e-01 3.25544606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09925415399994 meters Centerline goodness [0,1] 0.9987280802352009 Centerline is valid? [True, True] Translation: X:355.45, Y:5.45, Z:3.26 [[ 9.98550980e-01 -5.25225036e-02 -1.17186433e-02 3.55449496e+02] [ 5.25238093e-02 9.98619653e-01 -1.96531046e-04 5.45083546e+00] [ 1.17127898e-02 -4.19261518e-04 9.99931315e-01 3.25718857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12925415399997 meters Centerline goodness [0,1] 0.9986476927557941 Centerline is valid? [True, True] Translation: X:355.48, Y:5.46, Z:3.26 [[ 9.98688004e-01 -4.97304318e-02 -1.22129270e-02 3.55480902e+02] [ 4.97316493e-02 9.98762595e-01 -2.04169074e-04 5.45536110e+00] [ 1.22079681e-02 -4.03467797e-04 9.99925399e-01 3.25529445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15925415399994 meters Centerline goodness [0,1] 0.9987711149528233 Centerline is valid? [True, True] Translation: X:355.51, Y:5.46, Z:3.26 [[ 9.98712438e-01 -4.93732252e-02 -1.16512352e-02 3.55512443e+02] [ 4.93743144e-02 9.98780326e-01 -1.94319019e-04 5.45574821e+00] [ 1.16466186e-02 -3.81202928e-04 9.99932103e-01 3.25724971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18925415399997 meters Centerline goodness [0,1] 0.9988959253395551 Centerline is valid? [True, True] Translation: X:355.54, Y:5.46, Z:3.26 [[ 9.98758465e-01 -4.83926550e-02 -1.18186156e-02 3.55544262e+02] [ 4.83937155e-02 9.98828318e-01 -1.96403077e-04 5.45836142e+00] [ 1.18142724e-02 -3.75787484e-04 9.99930138e-01 3.25694733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21925415399994 meters Centerline goodness [0,1] 0.9984595528539906 Centerline is valid? [True, True] Translation: X:355.58, Y:5.46, Z:3.26 [[ 9.98849143e-01 -4.61617462e-02 -1.30185419e-02 3.55576759e+02] [ 4.61628572e-02 9.98933904e-01 -2.15308530e-04 5.46050562e+00] [ 1.30146019e-02 -3.85912351e-04 9.99915232e-01 3.25587862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24925415399997 meters Centerline goodness [0,1] 0.9987899776771744 Centerline is valid? [True, True] Translation: X:355.61, Y:5.46, Z:3.26 [[ 9.98905965e-01 -4.47691332e-02 -1.35128443e-02 3.55607924e+02] [ 4.47702156e-02 9.98997286e-01 -2.22535752e-04 5.46133394e+00] [ 1.35092575e-02 -3.82680663e-04 9.99908673e-01 3.25536374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27925415399994 meters Centerline goodness [0,1] 0.99874749498998 Centerline is valid? [True, True] Translation: X:355.64, Y:5.46, Z:3.26 [[ 9.98959586e-01 -4.34408465e-02 -1.38794508e-02 3.55640473e+02] [ 4.34418723e-02 9.99055930e-01 -2.27712541e-04 5.46326679e+00] [ 1.38762397e-02 -3.75473704e-04 9.99903650e-01 3.25507231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.309254154 meters Centerline goodness [0,1] 0.9985830381329444 Centerline is valid? [True, True] Translation: X:355.67, Y:5.47, Z:3.25 [[ 9.99062027e-01 -4.07495002e-02 -1.46473051e-02 3.55672377e+02] [ 4.07503685e-02 9.99169330e-01 -2.39293809e-04 5.46663262e+00] [ 1.46448891e-02 -3.57813722e-04 9.99892694e-01 3.25394317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.33925415399995 meters Centerline goodness [0,1] 0.9985400241938848 Centerline is valid? [True, True] Translation: X:355.70, Y:5.47, Z:3.25 [[ 9.99123800e-01 -3.92484857e-02 -1.45323103e-02 3.55704205e+02] [ 3.92491929e-02 9.99229426e-01 -2.36648260e-04 5.46949644e+00] [ 1.45304002e-02 -3.33940543e-04 9.99894372e-01 3.25372185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.369254154 meters Centerline goodness [0,1] 0.9985599499113013 Centerline is valid? [True, True] Translation: X:355.74, Y:5.47, Z:3.25 [[ 9.99197995e-01 -3.72015027e-02 -1.48126336e-02 3.55735007e+02] [ 3.72020226e-02 9.99307736e-01 -2.40541144e-04 5.47004033e+00] [ 1.48113278e-02 -3.10711699e-04 9.99890258e-01 3.25376097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.39925415399995 meters Centerline goodness [0,1] 0.9985599499113013 Centerline is valid? [True, True] Translation: X:355.77, Y:5.47, Z:3.25 [[ 9.99199299e-01 -3.71664828e-02 -1.48126423e-02 3.55765853e+02] [ 3.71670068e-02 9.99309039e-01 -2.40002192e-04 5.47050897e+00] [ 1.48113274e-02 -3.10731555e-04 9.99890258e-01 3.25404989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.429254154 meters Centerline goodness [0,1] 0.9989136111981615 Centerline is valid? [True, True] Translation: X:355.80, Y:5.47, Z:3.26 [[ 9.99218714e-01 -3.66419675e-02 -1.48097210e-02 3.55797052e+02] [ 3.66424415e-02 9.99328412e-01 -2.39433308e-04 5.47295841e+00] [ 1.48085483e-02 -3.03418093e-04 9.99890301e-01 3.25544626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.45925415399995 meters Centerline goodness [0,1] 0.998976501305483 Centerline is valid? [True, True] Translation: X:355.83, Y:5.48, Z:3.26 [[ 9.99247434e-01 -3.58317594e-02 -1.48543163e-02 3.55828495e+02] [ 3.58321547e-02 9.99357793e-01 -2.39617238e-04 5.47653565e+00] [ 1.48533626e-02 -2.92825249e-04 9.99889640e-01 3.25644471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.489254154 meters Centerline goodness [0,1] 0.9988100457192961 Centerline is valid? [True, True] Translation: X:355.86, Y:5.48, Z:3.26 [[ 9.99301853e-01 -3.43035816e-02 -1.48010711e-02 3.55859135e+02] [ 3.43038131e-02 9.99411423e-01 -2.38312424e-04 5.47885165e+00] [ 1.48005345e-02 -2.69587130e-04 9.99890430e-01 3.25554476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.51925415399995 meters Centerline goodness [0,1] 0.9988296760710553 Centerline is valid? [True, True] Translation: X:355.89, Y:5.48, Z:3.26 [[ 9.99302093e-01 -3.47039848e-02 -1.38188528e-02 3.55890434e+02] [ 3.47042294e-02 9.99397602e-01 -2.22174640e-04 5.48076988e+00] [ 1.38182387e-02 -2.57553054e-04 9.99904490e-01 3.25774927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.549254154 meters Centerline goodness [0,1] 0.9988528761523381 Centerline is valid? [True, True] Translation: X:355.92, Y:5.48, Z:3.26 [[ 9.99287074e-01 -3.51867265e-02 -1.36835264e-02 3.55921376e+02] [ 3.51870183e-02 9.99380721e-01 -2.19503918e-04 5.48168423e+00] [ 1.36827761e-02 -2.62135064e-04 9.99906352e-01 3.25823128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57925415399995 meters Centerline goodness [0,1] 0.9987251295769938 Centerline is valid? [True, True] Translation: X:355.95, Y:5.48, Z:3.26 [[ 9.99267178e-01 -3.58328060e-02 -1.34579650e-02 3.55952085e+02] [ 3.58331583e-02 9.99357763e-01 -2.15032797e-04 5.48192872e+00] [ 1.34570270e-02 -2.67366175e-04 9.99909414e-01 3.25857620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.609254154 meters Centerline goodness [0,1] 0.9985996446859651 Centerline is valid? [True, True] Translation: X:355.98, Y:5.48, Z:3.26 [[ 9.99193733e-01 -3.79221223e-02 -1.31832271e-02 3.55983242e+02] [ 3.79226626e-02 9.99280655e-01 -2.09089761e-04 5.48128286e+00] [ 1.31816729e-02 -2.91021894e-04 9.99913076e-01 3.25715399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63925415399996 meters Centerline goodness [0,1] 0.998746579205749 Centerline is valid? [True, True] Translation: X:356.02, Y:5.48, Z:3.26 [[ 9.99119930e-01 -3.99183777e-02 -1.28797699e-02 3.56015690e+02] [ 3.99190744e-02 9.99202895e-01 -2.03087769e-04 5.48117209e+00] [ 1.28776103e-02 -3.11239456e-04 9.99917032e-01 3.25877529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66925415399993 meters Centerline goodness [0,1] 0.9987670574467641 Centerline is valid? [True, True] Translation: X:356.05, Y:5.48, Z:3.26 [[ 9.99063545e-01 -4.14509548e-02 -1.24037144e-02 3.56046377e+02] [ 4.14517283e-02 9.99140489e-01 -1.94832857e-04 5.48082584e+00] [ 1.24011293e-02 -3.19504996e-04 9.99923052e-01 3.25894261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69925415399996 meters Centerline goodness [0,1] 0.9987266464878405 Centerline is valid? [True, True] Translation: X:356.08, Y:5.48, Z:3.26 [[ 9.98944688e-01 -4.40242233e-02 -1.30911287e-02 3.56077104e+02] [ 4.40253162e-02 9.99030395e-01 -2.04825575e-04 5.48039069e+00] [ 1.30874528e-02 -3.71731663e-04 9.99914287e-01 3.25902787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72925415399993 meters Centerline goodness [0,1] 0.9987257687165776 Centerline is valid? [True, True] Translation: X:356.11, Y:5.48, Z:3.26 [[ 9.98911513e-01 -4.48942450e-02 -1.26608060e-02 3.56108765e+02] [ 4.48953532e-02 9.98991676e-01 -1.96814677e-04 5.48042860e+00] [ 1.26568756e-02 -3.71810908e-04 9.99919829e-01 3.25933299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75925415399996 meters Centerline goodness [0,1] 0.9986421274728948 Centerline is valid? [True, True] Translation: X:356.14, Y:5.48, Z:3.26 [[ 9.98905106e-01 -4.49694856e-02 -1.28970674e-02 3.56141448e+02] [ 4.49706514e-02 9.98988289e-01 -1.99749049e-04 5.48063516e+00] [ 1.28930019e-02 -3.80459177e-04 9.99916809e-01 3.25862001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78925415399993 meters Centerline goodness [0,1] 0.9987674180541918 Centerline is valid? [True, True] Translation: X:356.17, Y:5.48, Z:3.26 [[ 9.98915383e-01 -4.50734795e-02 -1.16806754e-02 3.56172663e+02] [ 4.50744510e-02 9.98983614e-01 -1.80207768e-04 5.48224830e+00] [ 1.16769259e-02 -3.46487716e-04 9.99931762e-01 3.26108416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81925415399996 meters Centerline goodness [0,1] 0.9987657420191624 Centerline is valid? [True, True] Translation: X:356.20, Y:5.48, Z:3.26 [[ 9.98971241e-01 -4.39648063e-02 -1.11155157e-02 3.56204667e+02] [ 4.39656239e-02 9.99033030e-01 -1.70913873e-04 5.48438785e+00] [ 1.11122815e-02 -3.17962538e-04 9.99938206e-01 3.26224294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84925415399994 meters Centerline goodness [0,1] 0.9987054475601862 Centerline is valid? [True, True] Translation: X:356.24, Y:5.49, Z:3.26 [[ 9.99040636e-01 -4.24590935e-02 -1.07253137e-02 3.56236633e+02] [ 4.24597755e-02 9.99098164e-01 -1.64203682e-04 5.49169146e+00] [ 1.07226132e-02 -2.91348263e-04 9.99942469e-01 3.26346561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87925415399997 meters Centerline goodness [0,1] 0.9987879294491349 Centerline is valid? [True, True] Translation: X:356.27, Y:5.49, Z:3.26 [[ 9.99198684e-01 -3.86778291e-02 -1.02963430e-02 3.56267025e+02] [ 3.86782640e-02 9.99251704e-01 -1.56959945e-04 5.49334162e+00] [ 1.02947092e-02 -2.41410504e-04 9.99946979e-01 3.26405152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90925415399994 meters Centerline goodness [0,1] 0.9989541936833298 Centerline is valid? [True, True] Translation: X:356.30, Y:5.50, Z:3.26 [[ 9.99268924e-01 -3.68247350e-02 -1.02741110e-02 3.56299602e+02] [ 3.68250728e-02 9.99321715e-01 -1.56367165e-04 5.50129905e+00] [ 1.02729004e-02 -2.22092037e-04 9.99947208e-01 3.26480615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93925415399997 meters Centerline goodness [0,1] 0.9987040133779265 Centerline is valid? [True, True] Translation: X:356.33, Y:5.51, Z:3.26 [[ 9.99362088e-01 -3.42250456e-02 -1.02011152e-02 3.56332223e+02] [ 3.42252528e-02 9.99414133e-01 -1.54314396e-04 5.50551793e+00] [ 1.02004201e-02 -1.94919789e-04 9.99947955e-01 3.26493175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96925415399994 meters Centerline goodness [0,1] 0.999185157327316 Centerline is valid? [True, True] Translation: X:356.36, Y:5.51, Z:3.27 [[ 9.99384042e-01 -3.34807021e-02 -1.05156260e-02 3.56363940e+02] [ 3.34808914e-02 9.99439345e-01 -1.58090909e-04 5.50768516e+00] [ 1.05150233e-02 -1.94078999e-04 9.99944697e-01 3.26536853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99925415399997 meters Centerline goodness [0,1] 0.9990174147555035 Centerline is valid? [True, True] Translation: X:356.40, Y:5.51, Z:3.27 [[ 9.99394642e-01 -3.31899663e-02 -1.04295626e-02 3.56396220e+02] [ 3.31901447e-02 9.99449043e-01 -1.56023170e-04 5.50942957e+00] [ 1.04289947e-02 -1.90229971e-04 9.99945598e-01 3.26562887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.02925415399994 meters Centerline goodness [0,1] 0.9989761591341232 Centerline is valid? [True, True] Translation: X:356.43, Y:5.51, Z:3.26 [[ 9.99379220e-01 -3.34538494e-02 -1.10460474e-02 3.56427172e+02] [ 3.34540749e-02 9.99440242e-01 -1.64407699e-04 5.51087406e+00] [ 1.10453643e-02 -2.05229658e-04 9.99938977e-01 3.26485700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.059254154 meters Centerline goodness [0,1] 0.9991431556948799 Centerline is valid? [True, True] Translation: X:356.46, Y:5.51, Z:3.27 [[ 9.99342559e-01 -3.44497469e-02 -1.12988586e-02 3.56459375e+02] [ 3.44500541e-02 9.99406407e-01 -1.67492504e-04 5.51223715e+00] [ 1.12979218e-02 -2.21863903e-04 9.99936152e-01 3.26569801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.08925415399995 meters Centerline goodness [0,1] 0.9988893080179387 Centerline is valid? [True, True] Translation: X:356.49, Y:5.51, Z:3.27 [[ 9.99310444e-01 -3.50943272e-02 -1.21254119e-02 3.56491160e+02] [ 3.50947400e-02 9.99383974e-01 -1.78798182e-04 5.51292968e+00] [ 1.21242171e-02 -2.46863288e-04 9.99926469e-01 3.26505882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.119254154 meters Centerline goodness [0,1] 0.9990157892532563 Centerline is valid? [True, True] Translation: X:356.52, Y:5.51, Z:3.27 [[ 9.99222650e-01 -3.73580212e-02 -1.25886294e-02 3.56522239e+02] [ 3.73586590e-02 9.99301905e-01 -1.84566980e-04 5.51366725e+00] [ 1.25867364e-02 -2.85870806e-04 9.99920743e-01 3.26588643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.14925415399995 meters Centerline goodness [0,1] 0.9987231013983087 Centerline is valid? [True, True] Translation: X:356.55, Y:5.51, Z:3.27 [[ 9.99188424e-01 -3.82881010e-02 -1.25105510e-02 3.56554839e+02] [ 3.82888190e-02 9.99266698e-01 -1.82202812e-04 5.51410358e+00] [ 1.25083531e-02 -2.96959281e-04 9.99921723e-01 3.26590029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.179254154 meters Centerline goodness [0,1] 0.998890075600511 Centerline is valid? [True, True] Translation: X:356.59, Y:5.52, Z:3.27 [[ 9.99161488e-01 -3.89471070e-02 -1.26270937e-02 3.56587222e+02] [ 3.89479028e-02 9.99241226e-01 -1.82975534e-04 5.51580293e+00] [ 1.26246390e-02 -3.08976713e-04 9.99920258e-01 3.26655030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.20925415399995 meters Centerline goodness [0,1] 0.9986993097950364 Centerline is valid? [True, True] Translation: X:356.62, Y:5.52, Z:3.27 [[ 9.99150040e-01 -3.93596123e-02 -1.22482445e-02 3.56619589e+02] [ 3.93604028e-02 9.99225063e-01 -1.76601934e-04 5.51665362e+00] [ 1.22457039e-02 -3.05644008e-04 9.99924972e-01 3.26674084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.239254154 meters Centerline goodness [0,1] 0.9987622983490319 Centerline is valid? [True, True] Translation: X:356.65, Y:5.52, Z:3.27 [[ 9.99140431e-01 -3.97378215e-02 -1.18027803e-02 3.56651706e+02] [ 3.97385919e-02 9.99210096e-01 -1.69330992e-04 5.51869576e+00] [ 1.18001861e-02 -2.99840431e-04 9.99930330e-01 3.26766978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.26925415399995 meters Centerline goodness [0,1] 0.998803802648423 Centerline is valid? [True, True] Translation: X:356.68, Y:5.52, Z:3.27 [[ 9.99146206e-01 -3.96512760e-02 -1.16032569e-02 3.56682738e+02] [ 3.96520260e-02 9.99213535e-01 -1.65506408e-04 5.51967778e+00] [ 1.16006939e-02 -2.94727545e-04 9.99932666e-01 3.26802553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.299254154 meters Centerline goodness [0,1] 0.9986358294157153 Centerline is valid? [True, True] Translation: X:356.71, Y:5.52, Z:3.27 [[ 9.99157166e-01 -3.93257223e-02 -1.17662834e-02 3.56714880e+02] [ 3.93264869e-02 9.99226401e-01 -1.66473047e-04 5.52194605e+00] [ 1.17637277e-02 -2.96393853e-04 9.99930761e-01 3.26690293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.32925415399995 meters Centerline goodness [0,1] 0.9987406598942155 Centerline is valid? [True, True] Translation: X:356.75, Y:5.52, Z:3.27 [[ 9.99135359e-01 -3.99985686e-02 -1.13423352e-02 3.56746259e+02] [ 3.99993311e-02 9.99199694e-01 -1.59700255e-04 5.52110800e+00] [ 1.13396457e-02 -2.94123651e-04 9.99935661e-01 3.26776264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3592541539999 meters Centerline goodness [0,1] 0.9987592269352905 Centerline is valid? [True, True] Translation: X:356.78, Y:5.52, Z:3.27 [[ 9.99112280e-01 -4.04047417e-02 -1.19209348e-02 3.56778575e+02] [ 4.04056217e-02 9.99183345e-01 -1.67119013e-04 5.52326446e+00] [ 1.19179519e-02 -3.14702123e-04 9.99928929e-01 3.26709693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.38925415399996 meters Centerline goodness [0,1] 0.9984824853517683 Centerline is valid? [True, True] Translation: X:356.81, Y:5.52, Z:3.27 [[ 9.98980750e-01 -4.33602877e-02 -1.25437514e-02 3.56810921e+02] [ 4.33615067e-02 9.99059432e-01 -1.74896898e-04 5.52314988e+00] [ 1.25395367e-02 -3.69197325e-04 9.99921309e-01 3.26695737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41925415399993 meters Centerline goodness [0,1] 0.9986957253450017 Centerline is valid? [True, True] Translation: X:356.84, Y:5.52, Z:3.27 [[ 9.98894756e-01 -4.52291967e-02 -1.27901194e-02 3.56842186e+02] [ 4.52306284e-02 9.98976556e-01 -1.77449314e-04 5.52089003e+00] [ 1.27850553e-02 -4.01251949e-04 9.99918187e-01 3.26676802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.44925415399996 meters Centerline goodness [0,1] 0.9986777761454027 Centerline is valid? [True, True] Translation: X:356.87, Y:5.52, Z:3.27 [[ 9.98795631e-01 -4.72622326e-02 -1.31745536e-02 3.56874117e+02] [ 4.72639390e-02 9.98882419e-01 -1.81978504e-04 5.52298486e+00] [ 1.31684307e-02 -4.40921965e-04 9.99913195e-01 3.26666903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47925415399993 meters Centerline goodness [0,1] 0.9986735725113693 Centerline is valid? [True, True] Translation: X:356.90, Y:5.52, Z:3.27 [[ 9.98508505e-01 -5.27032107e-02 -1.42526336e-02 3.56904336e+02] [ 5.27057766e-02 9.98610065e-01 -1.95789701e-04 5.51982429e+00] [ 1.42431422e-02 -5.55698443e-04 9.99898407e-01 3.26603726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.50925415399996 meters Centerline goodness [0,1] 0.9987560877906854 Centerline is valid? [True, True] Translation: X:356.94, Y:5.52, Z:3.27 [[ 9.98358932e-01 -5.52587610e-02 -1.50303767e-02 3.56936030e+02] [ 5.52619187e-02 9.98471871e-01 -2.05478415e-04 5.52109008e+00] [ 1.50187629e-02 -6.25466246e-04 9.99887016e-01 3.26598889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53925415399993 meters Centerline goodness [0,1] 0.9985669125395152 Centerline is valid? [True, True] Translation: X:356.97, Y:5.52, Z:3.27 [[ 9.98202420e-01 -5.78649764e-02 -1.56068354e-02 3.56967289e+02] [ 5.78687126e-02 9.98324179e-01 -2.12477012e-04 5.51896931e+00] [ 1.55929761e-02 -6.91052403e-04 9.99878183e-01 3.26543124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56925415399996 meters Centerline goodness [0,1] 0.9983137304498124 Centerline is valid? [True, True] Translation: X:357.00, Y:5.52, Z:3.26 [[ 9.98034735e-01 -6.04629856e-02 -1.64588676e-02 3.56997926e+02] [ 6.04675044e-02 9.98170141e-01 -2.23409130e-04 5.51755306e+00] [ 1.64422582e-02 -7.72256579e-04 9.99864519e-01 3.26492344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59925415399994 meters Centerline goodness [0,1] 0.9984999577452885 Centerline is valid? [True, True] Translation: X:357.03, Y:5.52, Z:3.26 [[ 9.97754500e-01 -6.45133209e-02 -1.79996825e-02 3.57028905e+02] [ 6.45193891e-02 9.97916424e-01 -2.43984557e-04 5.51681383e+00] [ 1.79779191e-02 -9.17891832e-04 9.99837963e-01 3.26390941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62925415399997 meters Centerline goodness [0,1] 0.9985639769391591 Centerline is valid? [True, True] Translation: X:357.06, Y:5.52, Z:3.26 [[ 9.97643831e-01 -6.60830395e-02 -1.84341423e-02 3.57061363e+02] [ 6.60896868e-02 9.97813656e-01 -2.49039537e-04 5.51737992e+00] [ 1.84102962e-02 -9.69853936e-04 9.99830046e-01 3.26400433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65925415399994 meters Centerline goodness [0,1] 0.9986506146028801 Centerline is valid? [True, True] Translation: X:357.09, Y:5.52, Z:3.26 [[ 9.97433562e-01 -6.89449316e-02 -1.93102497e-02 3.57092052e+02] [ 6.89527779e-02 9.97619891e-01 -2.59976083e-04 5.51857536e+00] [ 1.92822132e-02 -1.07218649e-03 9.99813506e-01 3.26311981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68925415399997 meters Centerline goodness [0,1] 0.9985231755944218 Centerline is valid? [True, True] Translation: X:357.12, Y:5.52, Z:3.26 [[ 9.97368500e-01 -6.96743906e-02 -2.00388398e-02 3.57122741e+02] [ 6.96830183e-02 9.97569148e-01 -2.68233892e-04 5.51580553e+00] [ 2.00088174e-02 -1.12883881e-03 9.99799166e-01 3.26121463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71925415399994 meters Centerline goodness [0,1] 0.9987975698253312 Centerline is valid? [True, True] Translation: X:357.15, Y:5.51, Z:3.26 [[ 9.97265427e-01 -7.10692706e-02 -2.02688635e-02 3.57153423e+02] [ 7.10784368e-02 9.97470693e-01 -2.68732269e-04 5.51368986e+00] [ 2.02366959e-02 -1.17268173e-03 9.99794529e-01 3.26205736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74925415399997 meters Centerline goodness [0,1] 0.998714273670011 Centerline is valid? [True, True] Translation: X:357.19, Y:5.51, Z:3.26 [[ 9.97243508e-01 -7.13394716e-02 -2.03976715e-02 3.57185849e+02] [ 7.13488509e-02 9.97451387e-01 -2.68487156e-04 5.51429128e+00] [ 2.03648395e-02 -1.18760335e-03 9.99791910e-01 3.26057495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77925415399994 meters Centerline goodness [0,1] 0.9986918175296451 Centerline is valid? [True, True] Translation: X:357.22, Y:5.52, Z:3.26 [[ 9.97134760e-01 -7.29745762e-02 -1.99243962e-02 3.57217906e+02] [ 7.29838784e-02 9.97333087e-01 -2.60848390e-04 5.51987259e+00] [ 1.98902948e-02 -1.19405871e-03 9.99801455e-01 3.26354442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.809254154 meters Centerline goodness [0,1] 0.998839148145803 Centerline is valid? [True, True] Translation: X:357.25, Y:5.52, Z:3.26 [[ 9.97118010e-01 -7.32474867e-02 -1.97605448e-02 3.57249526e+02] [ 7.32567146e-02 9.97313084e-01 -2.57452608e-04 5.52275388e+00] [ 1.97263076e-02 -1.19088196e-03 9.99804708e-01 3.26453857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.83925415399995 meters Centerline goodness [0,1] 0.9987533016376122 Centerline is valid? [True, True] Translation: X:357.28, Y:5.53, Z:3.26 [[ 9.97077090e-01 -7.37698609e-02 -1.98817752e-02 3.57281336e+02] [ 7.37793317e-02 9.97274558e-01 -2.57728798e-04 5.52560210e+00] [ 1.98466012e-02 -1.20988860e-03 9.99802305e-01 3.26487939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.869254154 meters Centerline goodness [0,1] 0.9985398988509638 Centerline is valid? [True, True] Translation: X:357.31, Y:5.52, Z:3.26 [[ 9.97094155e-01 -7.34121508e-02 -2.03445682e-02 3.57313047e+02] [ 7.34220204e-02 9.97300927e-01 -2.62408628e-04 5.52260654e+00] [ 2.03089207e-02 -1.23209319e-03 9.99792993e-01 3.26247827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.89925415399995 meters Centerline goodness [0,1] 0.9988356338385976 Centerline is valid? [True, True] Translation: X:357.34, Y:5.53, Z:3.27 [[ 9.97031138e-01 -7.43749778e-02 -1.99316763e-02 3.57344955e+02] [ 7.43846680e-02 9.97229590e-01 -2.55795621e-04 5.52743547e+00] [ 1.98954822e-02 -1.22757492e-03 9.99801312e-01 3.26530969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.929254154 meters Centerline goodness [0,1] 0.998773187808025 Centerline is valid? [True, True] Translation: X:357.38, Y:5.53, Z:3.27 [[ 9.97005367e-01 -7.46326393e-02 -2.02550729e-02 3.57377475e+02] [ 7.46427302e-02 9.97210307e-01 -2.58434937e-04 5.52942044e+00] [ 2.02178551e-02 -1.25423292e-03 9.99794812e-01 3.26512841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.95925415399995 meters Centerline goodness [0,1] 0.998773187808025 Centerline is valid? [True, True] Translation: X:357.41, Y:5.53, Z:3.26 [[ 9.96951271e-01 -7.51322133e-02 -2.10550281e-02 3.57409680e+02] [ 7.51432615e-02 9.97172713e-01 -2.67055583e-04 5.53056875e+00] [ 2.10155640e-02 -1.31590208e-03 9.99778283e-01 3.26479365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.989254154 meters Centerline goodness [0,1] 0.998411252568475 Centerline is valid? [True, True] Translation: X:357.44, Y:5.53, Z:3.26 [[ 9.96924511e-01 -7.53595606e-02 -2.15047956e-02 3.57442070e+02] [ 7.53711731e-02 9.97155511e-01 -2.71161567e-04 5.53132701e+00] [ 2.14640600e-02 -1.35051406e-03 9.99768708e-01 3.26435772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.01925415399995 meters Centerline goodness [0,1] 0.9985994992148708 Centerline is valid? [True, True] Translation: X:357.47, Y:5.53, Z:3.26 [[ 9.96938507e-01 -7.48155954e-02 -2.27209345e-02 3.57473637e+02] [ 7.48284514e-02 9.97196381e-01 -2.85039072e-04 5.52930560e+00] [ 2.26785590e-02 -1.41600592e-03 9.99741806e-01 3.26278597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.049254154 meters Centerline goodness [0,1] 0.9989183457051962 Centerline is valid? [True, True] Translation: X:357.51, Y:5.53, Z:3.26 [[ 9.96974934e-01 -7.40605004e-02 -2.35801317e-02 3.57506005e+02] [ 7.40741740e-02 9.97252691e-01 -2.94256684e-04 5.53365303e+00] [ 2.35371426e-02 -1.45331224e-03 9.99721907e-01 3.26339885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07925415399995 meters Centerline goodness [0,1] 0.9990676978493485 Centerline is valid? [True, True] Translation: X:357.54, Y:5.53, Z:3.26 [[ 9.97016462e-01 -7.33736995e-02 -2.39681875e-02 3.57536941e+02] [ 7.33876647e-02 9.97303445e-01 -2.97622423e-04 5.53485042e+00] [ 2.39253936e-02 -1.46223485e-03 9.99712677e-01 3.26331504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1092541539999 meters Centerline goodness [0,1] 0.9992566634809388 Centerline is valid? [True, True] Translation: X:357.57, Y:5.54, Z:3.26 [[ 9.97161104e-01 -7.10981920e-02 -2.47947390e-02 3.57568587e+02] [ 7.11124704e-02 9.97468256e-01 -3.06518897e-04 5.54126267e+00] [ 2.47537581e-02 -1.45756642e-03 9.99692516e-01 3.26409510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13925415399996 meters Centerline goodness [0,1] 0.9989371200204072 Centerline is valid? [True, True] Translation: X:357.60, Y:5.55, Z:3.26 [[ 9.97284512e-01 -6.93631913e-02 -2.47457034e-02 3.57600384e+02] [ 6.93769199e-02 9.97590472e-01 -3.04336398e-04 5.54616925e+00] [ 2.47071877e-02 -1.41327071e-03 9.99693732e-01 3.26499473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16925415399993 meters Centerline goodness [0,1] 0.9988934993084371 Centerline is valid? [True, True] Translation: X:357.63, Y:5.55, Z:3.26 [[ 9.97410208e-01 -6.75979156e-02 -2.45641724e-02 3.57631327e+02] [ 6.76109394e-02 9.97711717e-01 -3.00897710e-04 5.54626533e+00] [ 2.45283026e-02 -1.36068832e-03 9.99698210e-01 3.26487792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19925415399996 meters Centerline goodness [0,1] 0.9990435503411337 Centerline is valid? [True, True] Translation: X:357.66, Y:5.55, Z:3.26 [[ 9.97783537e-01 -6.20361907e-02 -2.40732940e-02 3.57660374e+02] [ 6.20470863e-02 9.98073180e-01 -2.94801529e-04 5.54931882e+00] [ 2.40451974e-02 -1.19952964e-03 9.99710153e-01 3.26359081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22925415399993 meters Centerline goodness [0,1] 0.9990424920739621 Centerline is valid? [True, True] Translation: X:357.69, Y:5.56, Z:3.27 [[ 9.97944515e-01 -5.96718604e-02 -2.33669538e-02 3.57691594e+02] [ 5.96814876e-02 9.98217430e-01 -2.85787758e-04 5.55919752e+00] [ 2.33423541e-02 -1.10937424e-03 9.99726915e-01 3.26816471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25925415399996 meters Centerline goodness [0,1] 0.9991265817391675 Centerline is valid? [True, True] Translation: X:357.72, Y:5.56, Z:3.27 [[ 9.98160597e-01 -5.62962950e-02 -2.24977698e-02 3.57721790e+02] [ 5.63043761e-02 9.98413613e-01 -2.74584691e-04 5.56022728e+00] [ 2.24775377e-02 -9.92643272e-04 9.99746855e-01 3.26833802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28925415399993 meters Centerline goodness [0,1] 0.9991450616624276 Centerline is valid? [True, True] Translation: X:357.75, Y:5.57, Z:3.27 [[ 9.98533679e-01 -4.97466504e-02 -2.13486204e-02 3.57752051e+02] [ 4.97524362e-02 9.98761547e-01 -2.60361912e-04 5.57092133e+00] [ 2.13351333e-02 -8.02165739e-04 9.99772058e-01 3.27098272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31925415399996 meters Centerline goodness [0,1] 0.9991450616624276 Centerline is valid? [True, True] Translation: X:357.78, Y:5.57, Z:3.27 [[ 9.98537333e-01 -4.96732307e-02 -2.13486315e-02 3.57783767e+02] [ 4.96790191e-02 9.98765202e-01 -2.59451540e-04 5.57124867e+00] [ 2.13351580e-02 -8.01507025e-04 9.99772058e-01 3.27127985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34925415399994 meters Centerline goodness [0,1] 0.9991671293725708 Centerline is valid? [True, True] Translation: X:357.81, Y:5.57, Z:3.27 [[ 9.98720197e-01 -4.59289163e-02 -2.11778639e-02 3.57814251e+02] [ 4.59337907e-02 9.98944453e-01 -2.56475190e-04 5.57433379e+00] [ 2.11672893e-02 -7.16632615e-04 9.99775691e-01 3.27035922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37925415399997 meters Centerline goodness [0,1] 0.9992296169484272 Centerline is valid? [True, True] Translation: X:357.85, Y:5.58, Z:3.27 [[ 9.98933515e-01 -4.12469610e-02 -2.07489757e-02 3.57845518e+02] [ 4.12506431e-02 9.99148799e-01 -2.50691889e-04 5.58218848e+00] [ 2.07416545e-02 -6.05484063e-04 9.99784685e-01 3.27267885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40925415399994 meters Centerline goodness [0,1] 0.9992492170406281 Centerline is valid? [True, True] Translation: X:357.88, Y:5.58, Z:3.27 [[ 9.99019467e-01 -3.91978861e-02 -2.05822733e-02 3.57876958e+02] [ 3.92010901e-02 9.99231311e-01 -2.47926691e-04 5.58444452e+00] [ 2.05761701e-02 -5.59163959e-04 9.99788132e-01 3.27280921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43925415399997 meters Centerline goodness [0,1] 0.9992065194081063 Centerline is valid? [True, True] Translation: X:357.91, Y:5.59, Z:3.27 [[ 9.99111653e-01 -3.68220447e-02 -2.04949135e-02 3.57907929e+02] [ 3.68247373e-02 9.99321709e-01 -2.46132822e-04 5.58623871e+00] [ 2.04900751e-02 -5.08805637e-04 9.99789927e-01 3.27162647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46925415399994 meters Centerline goodness [0,1] 0.9992474736615782 Centerline is valid? [True, True] Translation: X:357.94, Y:5.59, Z:3.27 [[ 9.99223171e-01 -3.38023160e-02 -2.02597759e-02 3.57937971e+02] [ 3.38043375e-02 9.99428441e-01 -2.42779006e-04 5.59083894e+00] [ 2.02564028e-02 -4.42277895e-04 9.99794720e-01 3.27387684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49925415399997 meters Centerline goodness [0,1] 0.9992902920555723 Centerline is valid? [True, True] Translation: X:357.97, Y:5.59, Z:3.27 [[ 9.99291147e-01 -3.18435052e-02 -2.00797129e-02 3.57968181e+02] [ 3.18450990e-02 9.99492787e-01 -2.40454738e-04 5.59350346e+00] [ 2.00771852e-02 -3.99156155e-04 9.99798353e-01 3.27406959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.52925415399994 meters Centerline goodness [0,1] 0.9990309868860225 Centerline is valid? [True, True] Translation: X:358.00, Y:5.60, Z:3.27 [[ 9.99345320e-01 -2.99550047e-02 -2.02886431e-02 3.57999074e+02] [ 2.99562509e-02 9.99551181e-01 -2.42560994e-04 5.59686623e+00] [ 2.02868031e-02 -3.65369489e-04 9.99794135e-01 3.27478237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.559254154 meters Centerline goodness [0,1] 0.9992877339146575 Centerline is valid? [True, True] Translation: X:358.03, Y:5.60, Z:3.27 [[ 9.99418394e-01 -2.71357035e-02 -2.06525263e-02 3.58029754e+02] [ 2.71364002e-02 9.99631710e-01 -2.46565987e-04 5.59949642e+00] [ 2.06516109e-02 -3.14012637e-04 9.99786683e-01 3.27390905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.58925415399995 meters Centerline goodness [0,1] 0.9993746091307066 Centerline is valid? [True, True] Translation: X:358.06, Y:5.60, Z:3.28 [[ 9.99532838e-01 -2.28479142e-02 -2.02996966e-02 3.58059094e+02] [ 2.28476950e-02 9.99738928e-01 -2.42753218e-04 5.60465961e+00] [ 2.02999433e-02 -2.21161464e-04 9.99793910e-01 3.27629760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.619254154 meters Centerline goodness [0,1] 0.999546906015362 Centerline is valid? [True, True] Translation: X:358.09, Y:5.61, Z:3.28 [[ 9.99602721e-01 -1.99938639e-02 -1.98656769e-02 3.58087496e+02] [ 1.99930715e-02 9.99800090e-01 -2.38517946e-04 5.60594512e+00] [ 1.98664744e-02 -1.58752710e-04 9.99802630e-01 3.27542503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.64925415399995 meters Centerline goodness [0,1] 0.99941772697865 Centerline is valid? [True, True] Translation: X:358.12, Y:5.61, Z:3.28 [[ 9.99699435e-01 -1.58722086e-02 -1.86845698e-02 3.58115719e+02] [ 1.58707337e-02 9.99874026e-01 -2.27226740e-04 5.60974970e+00] [ 1.86858226e-02 -6.93793880e-05 9.99825402e-01 3.27794527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.679254154 meters Centerline goodness [0,1] 0.9992471823109352 Centerline is valid? [True, True] Translation: X:358.14, Y:5.61, Z:3.28 [[ 9.99744635e-01 -1.40121446e-02 -1.77292030e-02 3.58144345e+02] [ 1.40104467e-02 9.99901825e-01 -2.19981549e-04 5.61157098e+00] [ 1.77305448e-02 -2.84686791e-05 9.99842801e-01 3.27876630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.70925415399995 meters Centerline goodness [0,1] 0.999373934068781 Centerline is valid? [True, True] Translation: X:358.17, Y:5.61, Z:3.28 [[ 9.99780758e-01 -1.27057960e-02 -1.66432570e-02 3.58172380e+02] [ 1.27040461e-02 9.99919278e-01 -2.10865830e-04 5.61278523e+00] [ 1.66445927e-02 -6.17105631e-07 9.99861469e-01 3.28005085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.739254154 meters Centerline goodness [0,1] 0.9993954703456615 Centerline is valid? [True, True] Translation: X:358.20, Y:5.61, Z:3.28 [[ 9.99816441e-01 -1.17970074e-02 -1.50968589e-02 3.58200221e+02] [ 1.17954009e-02 9.99930413e-01 -1.95452381e-04 5.61295527e+00] [ 1.50981141e-02 1.73430005e-05 9.99886017e-01 3.28148518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.76925415399995 meters Centerline goodness [0,1] 0.9994613578092345 Centerline is valid? [True, True] Translation: X:358.23, Y:5.61, Z:3.28 [[ 9.99815920e-01 -1.23567368e-02 -1.46777467e-02 3.58227199e+02] [ 1.23552229e-02 9.99923653e-01 -1.93816811e-04 5.61224997e+00] [ 1.46790210e-02 1.24343003e-05 9.99892257e-01 3.28185086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.799254154 meters Centerline goodness [0,1] 0.999375565221136 Centerline is valid? [True, True] Translation: X:358.25, Y:5.61, Z:3.28 [[ 9.99795174e-01 -1.40081499e-02 -1.46076180e-02 3.58254836e+02] [ 1.40067757e-02 9.99901881e-01 -1.96380707e-04 5.61077198e+00] [ 1.46089357e-02 -8.26514717e-06 9.99893284e-01 3.28134955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.82925415399995 meters Centerline goodness [0,1] 0.9993109833559417 Centerline is valid? [True, True] Translation: X:358.28, Y:5.61, Z:3.28 [[ 9.99697050e-01 -1.95760309e-02 -1.49193618e-02 3.58283864e+02] [ 1.95751695e-02 9.99808367e-01 -2.03782394e-04 5.60539368e+00] [ 1.49204920e-02 -8.83283785e-05 9.99888679e-01 3.28196683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8592541539999 meters Centerline goodness [0,1] 0.9993127590576208 Centerline is valid? [True, True] Translation: X:358.31, Y:5.60, Z:3.28 [[ 9.99614702e-01 -2.31652278e-02 -1.52911933e-02 3.58313413e+02] [ 2.31647286e-02 9.99731640e-01 -2.09789875e-04 5.60214708e+00] [ 1.52919495e-02 -1.44507298e-04 9.99883061e-01 3.28193483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.88925415399996 meters Centerline goodness [0,1] 0.999292194839457 Centerline is valid? [True, True] Translation: X:358.34, Y:5.60, Z:3.28 [[ 9.99525054e-01 -2.66676491e-02 -1.54435259e-02 3.58343462e+02] [ 2.66675541e-02 9.99644335e-01 -2.12119057e-04 5.59780213e+00] [ 1.54436899e-02 -1.99822751e-04 9.99880719e-01 3.28168797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91925415399993 meters Centerline goodness [0,1] 0.9992508882325243 Centerline is valid? [True, True] Translation: X:358.37, Y:5.59, Z:3.28 [[ 9.99405260e-01 -3.04750682e-02 -1.61368301e-02 3.58374479e+02] [ 3.04754695e-02 9.99535491e-01 -2.21097035e-04 5.59369743e+00] [ 1.61360724e-02 -2.70811934e-04 9.99869768e-01 3.28160445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.94925415399996 meters Centerline goodness [0,1] 0.998996541269909 Centerline is valid? [True, True] Translation: X:358.41, Y:5.59, Z:3.28 [[ 9.99154884e-01 -3.73573211e-02 -1.71449060e-02 3.58405629e+02] [ 3.73587981e-02 9.99301889e-01 -2.34232215e-04 5.58730040e+00] [ 1.71416872e-02 -4.06478819e-04 9.99852988e-01 3.28123676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97925415399993 meters Centerline goodness [0,1] 0.9991889007470651 Centerline is valid? [True, True] Translation: X:358.44, Y:5.58, Z:3.28 [[ 9.99045225e-01 -3.98231636e-02 -1.79653440e-02 3.58438072e+02] [ 3.98251984e-02 9.99206632e-01 -2.44631535e-04 5.58471140e+00] [ 1.79608329e-02 -4.71075423e-04 9.99838580e-01 3.28181883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.00925415399996 meters Centerline goodness [0,1] 0.9989546666666667 Centerline is valid? [True, True] Translation: X:358.47, Y:5.58, Z:3.28 [[ 9.98879674e-01 -4.35358150e-02 -1.85480454e-02 3.58468999e+02] [ 4.35386428e-02 9.99051712e-01 -2.51520957e-04 5.57851105e+00] [ 1.85414067e-02 -5.56317551e-04 9.99827939e-01 3.28126797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03925415399993 meters Centerline goodness [0,1] 0.9990187294679808 Centerline is valid? [True, True] Translation: X:358.50, Y:5.58, Z:3.28 [[ 9.98845367e-01 -4.42564981e-02 -1.86894552e-02 3.58501279e+02] [ 4.42595144e-02 9.99020036e-01 -2.52412378e-04 5.57740538e+00] [ 1.86823111e-02 -5.75065274e-04 9.99825305e-01 3.28185458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06925415399996 meters Centerline goodness [0,1] 0.998998956358757 Centerline is valid? [True, True] Translation: X:358.53, Y:5.58, Z:3.28 [[ 9.98822077e-01 -4.47528668e-02 -1.87520687e-02 3.58532303e+02] [ 4.47560132e-02 9.98997916e-01 -2.52059685e-04 5.57569411e+00] [ 1.87445580e-02 -5.87505058e-04 9.99824133e-01 3.28216312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09925415399994 meters Centerline goodness [0,1] 0.9989784625861923 Centerline is valid? [True, True] Translation: X:358.56, Y:5.57, Z:3.28 [[ 9.98855738e-01 -4.38608569e-02 -1.90640799e-02 3.58563814e+02] [ 4.38639795e-02 9.99037480e-01 -2.54524383e-04 5.57294609e+00] [ 1.90568940e-02 -5.81993270e-04 9.99818232e-01 3.28257196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12925415399997 meters Centerline goodness [0,1] 0.9990644070679793 Centerline is valid? [True, True] Translation: X:358.60, Y:5.57, Z:3.28 [[ 9.98897255e-01 -4.27645684e-02 -1.93769568e-02 3.58595611e+02] [ 4.27676196e-02 9.99085014e-01 -2.57087862e-04 5.57460263e+00] [ 1.93702214e-02 -5.71901959e-04 9.99812216e-01 3.28381910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15925415399994 meters Centerline goodness [0,1] 0.9989562920678197 Centerline is valid? [True, True] Translation: X:358.63, Y:5.58, Z:3.29 [[ 9.99015064e-01 -3.98753847e-02 -1.94642288e-02 3.58627309e+02] [ 3.98779341e-02 9.99204526e-01 -2.57292650e-04 5.57726533e+00] [ 1.94590052e-02 -5.19154001e-04 9.99810521e-01 3.28512531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18925415399997 meters Centerline goodness [0,1] 0.999020338622085 Centerline is valid? [True, True] Translation: X:358.66, Y:5.58, Z:3.29 [[ 9.99073891e-01 -3.83140422e-02 -1.95804572e-02 3.58658248e+02] [ 3.83163397e-02 9.99265626e-01 -2.57945500e-04 5.57743261e+00] [ 1.95759608e-02 -4.92544836e-04 9.99808251e-01 3.28525696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21925415399994 meters Centerline goodness [0,1] 0.9989786364797004 Centerline is valid? [True, True] Translation: X:358.69, Y:5.58, Z:3.28 [[ 9.99126928e-01 -3.65424429e-02 -2.02492189e-02 3.58688205e+02] [ 3.65445476e-02 9.99331989e-01 -2.66212315e-04 5.57686398e+00] [ 2.02454203e-02 -4.74018651e-04 9.99794928e-01 3.28381616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24925415399997 meters Centerline goodness [0,1] 0.9990852231630004 Centerline is valid? [True, True] Translation: X:358.72, Y:5.58, Z:3.29 [[ 9.99140996e-01 -3.63672690e-02 -1.98668736e-02 3.58719610e+02] [ 3.63692710e-02 9.99338385e-01 -2.60649439e-04 5.57746195e+00] [ 1.98632085e-02 -4.62118169e-04 9.99802600e-01 3.28599756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27925415399994 meters Centerline goodness [0,1] 0.9988946753108726 Centerline is valid? [True, True] Translation: X:358.75, Y:5.58, Z:3.28 [[ 9.99164793e-01 -3.52159747e-02 -2.07256031e-02 3.58750015e+02] [ 3.52179173e-02 9.99379620e-01 -2.71370033e-04 5.57606433e+00] [ 2.07223019e-02 -4.58769193e-04 9.99785165e-01 3.28445451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.309254154 meters Centerline goodness [0,1] 0.9989798737593777 Centerline is valid? [True, True] Translation: X:358.78, Y:5.58, Z:3.29 [[ 9.99150098e-01 -3.57332096e-02 -2.05479904e-02 3.58781032e+02] [ 3.57352401e-02 9.99361256e-01 -2.68471507e-04 5.57794260e+00] [ 2.05444588e-02 -4.66044038e-04 9.99788832e-01 3.28670320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.33925415399995 meters Centerline goodness [0,1] 0.9990868355666929 Centerline is valid? [True, True] Translation: X:358.81, Y:5.58, Z:3.29 [[ 9.99089991e-01 -3.64806580e-02 -2.20986933e-02 3.58811747e+02] [ 3.64832128e-02 9.99334225e-01 -2.87677843e-04 5.57632626e+00] [ 2.20944752e-02 -5.18815277e-04 9.99755753e-01 3.28608700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.369254154 meters Centerline goodness [0,1] 0.9987281668645074 Centerline is valid? [True, True] Translation: X:358.84, Y:5.58, Z:3.29 [[ 9.99056345e-01 -3.69173997e-02 -2.28806506e-02 3.58842671e+02] [ 3.69202651e-02 9.99318170e-01 -2.97335290e-04 5.57628782e+00] [ 2.28760267e-02 -5.47704978e-04 9.99738159e-01 3.28577048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.39925415399995 meters Centerline goodness [0,1] 0.9987048007304075 Centerline is valid? [True, True] Translation: X:358.87, Y:5.58, Z:3.28 [[ 9.99037869e-01 -3.67615065e-02 -2.39150076e-02 3.58872831e+02] [ 3.67645924e-02 9.99323906e-01 -3.10776815e-04 5.57598505e+00] [ 2.39102634e-02 -5.68747699e-04 9.99713947e-01 3.28454576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.429254154 meters Centerline goodness [0,1] 0.9987916304509127 Centerline is valid? [True, True] Translation: X:358.90, Y:5.58, Z:3.28 [[ 9.99021308e-01 -3.68248014e-02 -2.45022315e-02 3.58902634e+02] [ 3.68280530e-02 9.99321566e-01 -3.18687279e-04 5.57506243e+00] [ 2.44973440e-02 -5.83994097e-04 9.99699724e-01 3.28421528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.45925415399995 meters Centerline goodness [0,1] 0.9990241004752206 Centerline is valid? [True, True] Translation: X:358.93, Y:5.58, Z:3.29 [[ 9.99028110e-01 -3.72079305e-02 -2.36306002e-02 3.58932189e+02] [ 3.72110454e-02 9.99307382e-01 -3.08043660e-04 5.57613495e+00] [ 2.36256949e-02 -5.71575061e-04 9.99720711e-01 3.28697592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.489254154 meters Centerline goodness [0,1] 0.9988951450122171 Centerline is valid? [True, True] Translation: X:358.96, Y:5.58, Z:3.29 [[ 9.99043457e-01 -3.71601553e-02 -2.30498343e-02 3.58962726e+02] [ 3.71630984e-02 9.99309168e-01 -3.00810082e-04 5.57724793e+00] [ 2.30450889e-02 -5.56080916e-04 9.99734272e-01 3.28857684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.51925415399995 meters Centerline goodness [0,1] 0.9990037940609169 Centerline is valid? [True, True] Translation: X:358.99, Y:5.58, Z:3.29 [[ 9.99087274e-01 -3.62569699e-02 -2.25843281e-02 3.58993083e+02] [ 3.62595701e-02 9.99342362e-01 -2.94492033e-04 5.57733584e+00] [ 2.25801532e-02 -5.24674786e-04 9.99744898e-01 3.28913238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.549254154 meters Centerline goodness [0,1] 0.9991086398268214 Centerline is valid? [True, True] Translation: X:359.02, Y:5.58, Z:3.29 [[ 9.99106032e-01 -3.60313492e-02 -2.21106060e-02 3.59023490e+02] [ 3.60337899e-02 9.99350531e-01 -2.88146285e-04 5.57815921e+00] [ 2.21066281e-02 -5.08840238e-04 9.99755489e-01 3.29016297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57925415399995 meters Centerline goodness [0,1] 0.9988116710875331 Centerline is valid? [True, True] Translation: X:359.05, Y:5.58, Z:3.29 [[ 9.99114561e-01 -3.57587936e-02 -2.21675986e-02 3.59054475e+02] [ 3.57611799e-02 9.99360323e-01 -2.88889015e-04 5.57840314e+00] [ 2.21637488e-02 -5.04106260e-04 9.99754227e-01 3.29013400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6092541539999 meters Centerline goodness [0,1] 0.9989177718832891 Centerline is valid? [True, True] Translation: X:359.09, Y:5.58, Z:3.29 [[ 9.99139893e-01 -3.53918076e-02 -2.16077493e-02 3.59085463e+02] [ 3.53939938e-02 9.99373397e-01 -2.81368491e-04 5.57891389e+00] [ 2.16041680e-02 -4.83658062e-04 9.99766486e-01 3.29088583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63925415399996 meters Centerline goodness [0,1] 0.9988784255634324 Centerline is valid? [True, True] Translation: X:359.12, Y:5.58, Z:3.29 [[ 9.99137016e-01 -3.56210188e-02 -2.13627520e-02 3.59116351e+02] [ 3.56232117e-02 9.99365253e-01 -2.78008365e-04 5.57895594e+00] [ 2.13590950e-02 -4.83241390e-04 9.99771752e-01 3.29153013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66925415399993 meters Centerline goodness [0,1] 0.9989410145081012 Centerline is valid? [True, True] Translation: X:359.15, Y:5.58, Z:3.29 [[ 9.99137414e-01 -3.60612467e-02 -2.05916179e-02 3.59147249e+02] [ 3.60633861e-02 9.99349469e-01 -2.67554809e-04 5.57927877e+00] [ 2.05878708e-02 -4.75279449e-04 9.99787934e-01 3.29228024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69925415399996 meters Centerline goodness [0,1] 0.9989209089754982 Centerline is valid? [True, True] Translation: X:359.18, Y:5.58, Z:3.29 [[ 9.99106466e-01 -3.74236123e-02 -1.96403123e-02 3.59177350e+02] [ 3.74258318e-02 9.99299376e-01 -2.54671428e-04 5.57726872e+00] [ 1.96360825e-02 -4.80611154e-04 9.99807078e-01 3.29233928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72925415399993 meters Centerline goodness [0,1] 0.9987707958037512 Centerline is valid? [True, True] Translation: X:359.21, Y:5.58, Z:3.29 [[ 9.99082794e-01 -3.81440404e-02 -1.94577229e-02 3.59209146e+02] [ 3.81463659e-02 9.99272131e-01 -2.51759886e-04 5.57734139e+00] [ 1.94531634e-02 -4.90712449e-04 9.99810649e-01 3.29290748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75925415399996 meters Centerline goodness [0,1] 0.9988977679801598 Centerline is valid? [True, True] Translation: X:359.24, Y:5.58, Z:3.29 [[ 9.99057929e-01 -3.88374583e-02 -1.93625021e-02 3.59240814e+02] [ 3.88399050e-02 9.99245415e-01 -2.49813415e-04 5.57715615e+00] [ 1.93575936e-02 -5.02459671e-04 9.99812498e-01 3.29320787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78925415399993 meters Centerline goodness [0,1] 0.9989602783907656 Centerline is valid? [True, True] Translation: X:359.27, Y:5.58, Z:3.29 [[ 9.99006390e-01 -4.02781997e-02 -1.90761398e-02 3.59272127e+02] [ 4.02808505e-02 9.99188367e-01 -2.45417140e-04 5.57562297e+00] [ 1.90705420e-02 -5.23229845e-04 9.99818004e-01 3.29303278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81925415399996 meters Centerline goodness [0,1] 0.9989618864007118 Centerline is valid? [True, True] Translation: X:359.30, Y:5.57, Z:3.29 [[ 9.98967911e-01 -4.11018859e-02 -1.93325317e-02 3.59303267e+02] [ 4.11047800e-02 9.99154811e-01 -2.47811535e-04 5.57361354e+00] [ 1.93263776e-02 -5.47103690e-04 9.99813078e-01 3.29221560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84925415399994 meters Centerline goodness [0,1] 0.9989602563286438 Centerline is valid? [True, True] Translation: X:359.34, Y:5.57, Z:3.29 [[ 9.98868354e-01 -4.32560694e-02 -1.97717893e-02 3.59335730e+02] [ 4.32595439e-02 9.99063836e-01 -2.52138415e-04 5.57360840e+00] [ 1.97641861e-02 -6.03465502e-04 9.99804487e-01 3.29277750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87925415399997 meters Centerline goodness [0,1] 0.999005101500815 Centerline is valid? [True, True] Translation: X:359.37, Y:5.57, Z:3.29 [[ 9.98818377e-01 -4.44737770e-02 -1.95941842e-02 3.59366916e+02] [ 4.44774480e-02 9.99010358e-01 -2.48617529e-04 5.57226119e+00] [ 1.95858499e-02 -6.23175552e-04 9.99807985e-01 3.29268426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90925415399994 meters Centerline goodness [0,1] 0.9986265767954867 Centerline is valid? [True, True] Translation: X:359.40, Y:5.57, Z:3.29 [[ 9.98787603e-01 -4.51246556e-02 -1.96745820e-02 3.59399425e+02] [ 4.51285083e-02 9.98981159e-01 -2.48345694e-04 5.57246794e+00] [ 1.96657432e-02 -6.39839935e-04 9.99806406e-01 3.29191497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93925415399997 meters Centerline goodness [0,1] 0.9991533674808449 Centerline is valid? [True, True] Translation: X:359.43, Y:5.57, Z:3.29 [[ 9.98697248e-01 -4.76411417e-02 -1.82791705e-02 3.59431079e+02] [ 4.76449091e-02 9.98864310e-01 -2.29581727e-04 5.57187914e+00] [ 1.82693486e-02 -6.41626780e-04 9.99832896e-01 3.29398343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96925415399994 meters Centerline goodness [0,1] 0.9988154666215416 Centerline is valid? [True, True] Translation: X:359.46, Y:5.57, Z:3.29 [[ 9.98650754e-01 -4.87182132e-02 -1.79779624e-02 3.59463572e+02] [ 4.87220525e-02 9.98812350e-01 -2.24640873e-04 5.57154707e+00] [ 1.79675550e-02 -6.51585452e-04 9.99838358e-01 3.29405361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99925415399997 meters Centerline goodness [0,1] 0.9989423585404548 Centerline is valid? [True, True] Translation: X:359.50, Y:5.57, Z:3.29 [[ 9.98609772e-01 -4.94715876e-02 -1.81957400e-02 3.59495422e+02] [ 4.94756700e-02 9.98775304e-01 -2.26003576e-04 5.57051772e+00] [ 1.81846365e-02 -6.74557048e-04 9.99834418e-01 3.29305841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.02925415399994 meters Centerline goodness [0,1] 0.998776293858261 Centerline is valid? [True, True] Translation: X:359.53, Y:5.57, Z:3.29 [[ 9.98452865e-01 -5.26788492e-02 -1.77992910e-02 3.59525270e+02] [ 5.26832901e-02 9.98611247e-01 -2.19632114e-04 5.56572817e+00] [ 1.77861422e-02 -7.18432898e-04 9.99841556e-01 3.29303796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.059254154 meters Centerline goodness [0,1] 0.9989421347720301 Centerline is valid? [True, True] Translation: X:359.56, Y:5.57, Z:3.29 [[ 9.98360161e-01 -5.42844727e-02 -1.81709765e-02 3.59557099e+02] [ 5.42893943e-02 9.98525219e-01 -2.22691034e-04 5.57087445e+00] [ 1.81562669e-02 -7.64165452e-04 9.99834869e-01 3.29448640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.08925415399995 meters Centerline goodness [0,1] 0.9988787340272489 Centerline is valid? [True, True] Translation: X:359.59, Y:5.57, Z:3.29 [[ 9.98261200e-01 -5.59262105e-02 -1.86235124e-02 3.59588605e+02] [ 5.59316967e-02 9.98434572e-01 -2.26559583e-04 5.56807925e+00] [ 1.86070292e-02 -8.15479006e-04 9.99826542e-01 3.29279143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.119254154 meters Centerline goodness [0,1] 0.9988591950987641 Centerline is valid? [True, True] Translation: X:359.62, Y:5.57, Z:3.29 [[ 9.98115593e-01 -5.84350372e-02 -1.87245909e-02 3.59619224e+02] [ 5.84410482e-02 9.98290836e-01 -2.26474049e-04 5.56707171e+00] [ 1.87058216e-02 -8.68237442e-04 9.99824654e-01 3.29392505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.14925415399995 meters Centerline goodness [0,1] 0.9989401165871754 Centerline is valid? [True, True] Translation: X:359.65, Y:5.57, Z:3.29 [[ 9.97874364e-01 -6.23690125e-02 -1.88907325e-02 3.59650223e+02] [ 6.23758433e-02 9.98052705e-01 -2.27973633e-04 5.56705047e+00] [ 1.88681651e-02 -9.50836326e-04 9.99821528e-01 3.29453401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.179254154 meters Centerline goodness [0,1] 0.9989416197451421 Centerline is valid? [True, True] Translation: X:359.68, Y:5.57, Z:3.30 [[ 9.97759692e-01 -6.42907495e-02 -1.85012468e-02 3.59681870e+02] [ 6.42976432e-02 9.97930741e-01 -2.22607649e-04 5.56653820e+00] [ 1.84772745e-02 -9.67477624e-04 9.99828813e-01 3.29507983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.20925415399995 meters Centerline goodness [0,1] 0.9989416197451421 Centerline is valid? [True, True] Translation: X:359.71, Y:5.57, Z:3.30 [[ 9.97766731e-01 -6.41814199e-02 -1.85012649e-02 3.59714451e+02] [ 6.41883229e-02 9.97937779e-01 -2.21094955e-04 5.56683706e+00] [ 1.84773014e-02 -9.66963973e-04 9.99828813e-01 3.29538492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.239254154 meters Centerline goodness [0,1] 0.9988565620632702 Centerline is valid? [True, True] Translation: X:359.74, Y:5.56, Z:3.29 [[ 9.97596790e-01 -6.67485486e-02 -1.85816243e-02 3.59744993e+02] [ 6.67559779e-02 9.97769307e-01 -2.20858559e-04 5.56151265e+00] [ 1.85549164e-02 -1.02010671e-03 9.99827322e-01 3.29310003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.26925415399995 meters Centerline goodness [0,1] 0.998750926219964 Centerline is valid? [True, True] Translation: X:359.78, Y:5.56, Z:3.30 [[ 9.97500881e-01 -6.82753660e-02 -1.81787317e-02 3.59776953e+02] [ 6.82827436e-02 9.97665986e-01 -2.15278661e-04 5.56347850e+00] [ 1.81510005e-02 -1.02655302e-03 9.99834730e-01 3.29554515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.299254154 meters Centerline goodness [0,1] 0.998984191479906 Centerline is valid? [True, True] Translation: X:359.81, Y:5.57, Z:3.30 [[ 9.97431987e-01 -6.90918471e-02 -1.88613078e-02 3.59808839e+02] [ 6.90999609e-02 9.97609716e-01 -2.21973978e-04 5.56760577e+00] [ 1.88315605e-02 -1.08191169e-03 9.99822085e-01 3.29613208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.32925415399995 meters Centerline goodness [0,1] 0.9990231886520003 Centerline is valid? [True, True] Translation: X:359.84, Y:5.57, Z:3.30 [[ 9.97370485e-01 -6.96262208e-02 -2.01073565e-02 3.59841380e+02] [ 6.96355815e-02 9.97572469e-01 -2.35104460e-04 5.57099995e+00] [ 2.00749147e-02 -1.16570121e-03 9.99797799e-01 3.29587862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3592541539999 meters Centerline goodness [0,1] 0.9988764997668207 Centerline is valid? [True, True] Translation: X:359.87, Y:5.57, Z:3.30 [[ 9.97349769e-01 -6.97694580e-02 -2.06315715e-02 3.59873416e+02] [ 6.97793759e-02 9.97562420e-01 -2.39681001e-04 5.57213628e+00] [ 2.05980028e-02 -1.20061239e-03 9.99787118e-01 3.29579399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.38925415399996 meters Centerline goodness [0,1] 0.9991083181181266 Centerline is valid? [True, True] Translation: X:359.91, Y:5.57, Z:3.30 [[ 9.97381301e-01 -6.93557530e-02 -2.05017195e-02 3.59905831e+02] [ 6.93654905e-02 9.97591285e-01 -2.36649489e-04 5.57446182e+00] [ 2.04687497e-02 -1.18608205e-03 9.99789790e-01 3.29643295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41925415399993 meters Centerline goodness [0,1] 0.998745401577817 Centerline is valid? [True, True] Translation: X:359.94, Y:5.58, Z:3.30 [[ 9.97502396e-01 -6.76892843e-02 -2.01774807e-02 3.59936893e+02] [ 6.76983983e-02 9.97705805e-01 -2.31810062e-04 5.57876196e+00] [ 2.01468807e-02 -1.13475203e-03 9.99796387e-01 3.29711763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.44925415399996 meters Centerline goodness [0,1] 0.9988315771583957 Centerline is valid? [True, True] Translation: X:359.97, Y:5.57, Z:3.29 [[ 9.97590465e-01 -6.62719421e-02 -2.05254591e-02 3.59968204e+02] [ 6.62810944e-02 9.97800963e-01 -2.34823159e-04 5.57012062e+00] [ 2.04958851e-02 -1.12619255e-03 9.99789303e-01 3.29482494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47925415399993 meters Centerline goodness [0,1] 0.9992555409027098 Centerline is valid? [True, True] Translation: X:360.00, Y:5.58, Z:3.30 [[ 9.97680923e-01 -6.52178151e-02 -1.94785053e-02 3.60000559e+02] [ 6.52258810e-02 9.97870500e-01 -2.21605516e-04 5.58161001e+00] [ 1.94514785e-02 -1.04941107e-03 9.99810251e-01 3.29849598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.50925415399996 meters Centerline goodness [0,1] 0.999063750106392 Centerline is valid? [True, True] Translation: X:360.03, Y:5.59, Z:3.30 [[ 9.97868360e-01 -6.25405904e-02 -1.86389683e-02 3.60031958e+02] [ 6.25475287e-02 9.98041964e-01 -2.11056030e-04 5.58760085e+00] [ 1.86156721e-02 -9.55215269e-04 9.99826257e-01 3.29985732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53925415399993 meters Centerline goodness [0,1] 0.998912278456715 Centerline is valid? [True, True] Translation: X:360.06, Y:5.59, Z:3.30 [[ 9.97982757e-01 -6.07392579e-02 -1.84705197e-02 3.60063218e+02] [ 6.07457760e-02 9.98153248e-01 -2.08474899e-04 5.59060792e+00] [ 1.84490718e-02 -9.13951695e-04 9.99829384e-01 3.30050433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56925415399996 meters Centerline goodness [0,1] 0.9991500393106819 Centerline is valid? [True, True] Translation: X:360.09, Y:5.59, Z:3.30 [[ 9.98095751e-01 -5.88019661e-02 -1.86333226e-02 3.60094041e+02] [ 5.88082755e-02 9.98269274e-01 -2.09630887e-04 5.59221380e+00] [ 1.86134001e-02 -8.86561869e-04 9.99826363e-01 3.30020686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59925415399994 meters Centerline goodness [0,1] 0.9992092834398307 Centerline is valid? [True, True] Translation: X:360.13, Y:5.60, Z:3.30 [[ 9.98289898e-01 -5.54452753e-02 -1.85229930e-02 3.60125561e+02] [ 5.54509488e-02 9.98461391e-01 -2.07559061e-04 5.59790518e+00] [ 1.85060015e-02 -8.19913423e-04 9.99828413e-01 3.30060847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62925415399997 meters Centerline goodness [0,1] 0.999251561029852 Centerline is valid? [True, True] Translation: X:360.16, Y:5.60, Z:3.30 [[ 9.98381496e-01 -5.36740944e-02 -1.88010770e-02 3.60156450e+02] [ 5.36796453e-02 9.98558186e-01 -2.09659254e-04 5.59998059e+00] [ 1.87852226e-02 -7.99915226e-04 9.99823222e-01 3.30061041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65925415399994 meters Centerline goodness [0,1] 0.9993361173573188 Centerline is valid? [True, True] Translation: X:360.19, Y:5.60, Z:3.30 [[ 9.98533788e-01 -5.05520623e-02 -1.93588012e-02 3.60187753e+02] [ 5.05573786e-02 9.98721135e-01 -2.15010194e-04 5.60480539e+00] [ 1.93449131e-02 -7.64035297e-04 9.99812578e-01 3.30057735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68925415399997 meters Centerline goodness [0,1] 0.9990995433398366 Centerline is valid? [True, True] Translation: X:360.22, Y:5.61, Z:3.30 [[ 9.98593566e-01 -4.91463238e-02 -1.98878992e-02 3.60219469e+02] [ 4.91516786e-02 9.98791302e-01 -2.19765931e-04 5.61057384e+00] [ 1.98746614e-02 -7.58066786e-04 9.99802192e-01 3.30099225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71925415399994 meters Centerline goodness [0,1] 0.999163000321923 Centerline is valid? [True, True] Translation: X:360.25, Y:5.61, Z:3.30 [[ 9.98621269e-01 -4.80110127e-02 -2.12250823e-02 3.60250353e+02] [ 4.80168857e-02 9.98846497e-01 -2.33145087e-04 5.60824789e+00] [ 2.12117926e-02 -7.86338709e-04 9.99774695e-01 3.29935208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74925415399997 meters Centerline goodness [0,1] 0.9993344640288542 Centerline is valid? [True, True] Translation: X:360.28, Y:5.61, Z:3.30 [[ 9.98744765e-01 -4.57640987e-02 -2.03602858e-02 3.60280957e+02] [ 4.57690543e-02 9.98952023e-01 -2.22768025e-04 5.61278593e+00] [ 2.03491434e-02 -7.09382626e-04 9.99792683e-01 3.30065069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77925415399994 meters Centerline goodness [0,1] 0.9992272190619298 Centerline is valid? [True, True] Translation: X:360.31, Y:5.62, Z:3.30 [[ 9.98789202e-01 -4.45794975e-02 -2.08037949e-02 3.60312744e+02] [ 4.45844390e-02 9.99005594e-01 -2.26456034e-04 5.61829243e+00] [ 2.07932028e-02 -7.01343682e-04 9.99783552e-01 3.30172118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.809254154 meters Centerline goodness [0,1] 0.9993753365643511 Centerline is valid? [True, True] Translation: X:360.34, Y:5.62, Z:3.30 [[ 9.98914301e-01 -4.14651291e-02 -2.12335347e-02 3.60343111e+02] [ 4.14695933e-02 9.99139740e-01 -2.30224289e-04 5.62193577e+00] [ 2.12248146e-02 -6.50571713e-04 9.99774517e-01 3.30179644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.83925415399995 meters Centerline goodness [0,1] 0.9994396551724138 Centerline is valid? [True, True] Translation: X:360.37, Y:5.62, Z:3.30 [[ 9.99012259e-01 -3.92558952e-02 -2.08201944e-02 3.60373852e+02] [ 3.92597199e-02 9.99229015e-01 -2.25169756e-04 5.62398057e+00] [ 2.08129816e-02 -5.92447654e-04 9.99783211e-01 3.30214215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.869254154 meters Centerline goodness [0,1] 0.9992458521870287 Centerline is valid? [True, True] Translation: X:360.41, Y:5.63, Z:3.30 [[ 9.99095826e-01 -3.72407128e-02 -2.05099830e-02 3.60405583e+02] [ 3.72440190e-02 9.99306176e-01 -2.20890590e-04 5.62713671e+00] [ 2.05039788e-02 -5.43183330e-04 9.99789624e-01 3.30305685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.89925415399995 meters Centerline goodness [0,1] 0.9993740286651701 Centerline is valid? [True, True] Translation: X:360.44, Y:5.63, Z:3.30 [[ 9.99240696e-01 -3.31305129e-02 -2.05036849e-02 3.60436433e+02] [ 3.31329705e-02 9.99450928e-01 -2.19927430e-04 5.63123626e+00] [ 2.04997132e-02 -4.59587549e-04 9.99789753e-01 3.30384929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.929254154 meters Centerline goodness [0,1] 0.9993944767630458 Centerline is valid? [True, True] Translation: X:360.47, Y:5.64, Z:3.31 [[ 9.99310604e-01 -3.11994715e-02 -2.01223697e-02 3.60468254e+02] [ 3.12014658e-02 9.99513093e-01 -2.14915709e-04 5.63569123e+00] [ 2.01192773e-02 -4.13079885e-04 9.99797502e-01 3.30563505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.95925415399995 meters Centerline goodness [0,1] 0.9993737718370079 Centerline is valid? [True, True] Translation: X:360.50, Y:5.63, Z:3.30 [[ 9.99381421e-01 -2.89192373e-02 -2.00113388e-02 3.60498577e+02] [ 2.89207670e-02 9.99581684e-01 -2.13018738e-04 5.63274420e+00] [ 2.00091281e-02 -3.65856296e-04 9.99799730e-01 3.30330537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.989254154 meters Centerline goodness [0,1] 0.9994390507011867 Centerline is valid? [True, True] Translation: X:360.53, Y:5.64, Z:3.31 [[ 9.99407708e-01 -2.81037751e-02 -1.98597871e-02 3.60529363e+02] [ 2.81051241e-02 9.99604951e-01 -2.11235176e-04 5.63578790e+00] [ 1.98578780e-02 -3.47051718e-04 9.99802753e-01 3.30509913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.01925415399995 meters Centerline goodness [0,1] 0.999438007954349 Centerline is valid? [True, True] Translation: X:360.56, Y:5.64, Z:3.31 [[ 9.99423854e-01 -2.76651699e-02 -1.96621026e-02 3.60559459e+02] [ 2.76664073e-02 9.99617190e-01 -2.09132540e-04 5.63870787e+00] [ 1.96603615e-02 -3.34967690e-04 9.99806660e-01 3.30691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.049254154 meters Centerline goodness [0,1] 0.9992214364497503 Centerline is valid? [True, True] Translation: X:360.59, Y:5.64, Z:3.31 [[ 9.99420204e-01 -2.71219670e-02 -2.05828545e-02 3.60589839e+02] [ 2.71232121e-02 9.99632074e-01 -2.18720086e-04 5.63862195e+00] [ 2.05812136e-02 -3.39679855e-04 9.99788127e-01 3.30662830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07925415399995 meters Centerline goodness [0,1] 0.9993728102426576 Centerline is valid? [True, True] Translation: X:360.62, Y:5.64, Z:3.31 [[ 9.99448298e-01 -2.61146796e-02 -2.05213092e-02 3.60619961e+02] [ 2.61157086e-02 9.99658903e-01 -2.17894677e-04 5.63996617e+00] [ 2.05199997e-02 -3.18154066e-04 9.99789392e-01 3.30692767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1092541539999 meters Centerline goodness [0,1] 0.9993735689290189 Centerline is valid? [True, True] Translation: X:360.65, Y:5.64, Z:3.31 [[ 9.99445496e-01 -2.55372510e-02 -2.13670233e-02 3.60650006e+02] [ 2.55382254e-02 9.99673820e-01 -2.27311154e-04 5.64107751e+00] [ 2.13658587e-02 -3.18490748e-04 9.99771673e-01 3.30651070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13925415399996 meters Centerline goodness [0,1] 0.9993939918621765 Centerline is valid? [True, True] Translation: X:360.68, Y:5.64, Z:3.31 [[ 9.99463789e-01 -2.46793154e-02 -2.15189692e-02 3.60679710e+02] [ 2.46800880e-02 9.99695374e-01 -2.29712949e-04 5.64217869e+00] [ 2.15180831e-02 -3.01500279e-04 9.99768414e-01 3.30647464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16925415399993 meters Centerline goodness [0,1] 0.9995020243791543 Centerline is valid? [True, True] Translation: X:360.71, Y:5.64, Z:3.31 [[ 9.99469517e-01 -2.35086758e-02 -2.25394662e-02 3.60708765e+02] [ 2.35092018e-02 9.99723591e-01 -2.41676411e-04 5.64290167e+00] [ 2.25389176e-02 -2.88336654e-04 9.99745925e-01 3.30629457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19925415399996 meters Centerline goodness [0,1] 0.9993724437904395 Centerline is valid? [True, True] Translation: X:360.74, Y:5.64, Z:3.31 [[ 9.99515437e-01 -2.07399235e-02 -2.32109147e-02 3.60736765e+02] [ 2.07396941e-02 9.99784878e-01 -2.50634210e-04 5.64415867e+00] [ 2.32111197e-02 -2.30874508e-04 9.99730559e-01 3.30602873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22925415399993 meters Centerline goodness [0,1] 0.999414976599064 Centerline is valid? [True, True] Translation: X:360.76, Y:5.65, Z:3.31 [[ 9.99549285e-01 -1.91870242e-02 -2.30886512e-02 3.60764417e+02] [ 1.91863358e-02 9.99815894e-01 -2.51357518e-04 5.64520856e+00] [ 2.30892232e-02 -1.91742388e-04 9.99733390e-01 3.30655392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25925415399996 meters Centerline goodness [0,1] 0.999264228521965 Centerline is valid? [True, True] Translation: X:360.79, Y:5.65, Z:3.31 [[ 9.99598486e-01 -1.62719842e-02 -2.31967487e-02 3.60792807e+02] [ 1.62704065e-02 9.99867595e-01 -2.56758296e-04 5.64671083e+00] [ 2.31978553e-02 -1.20765327e-04 9.99730886e-01 3.30755746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28925415399993 meters Centerline goodness [0,1] 0.9995013550135501 Centerline is valid? [True, True] Translation: X:360.82, Y:5.65, Z:3.31 [[ 9.99638712e-01 -1.52545289e-02 -2.21301994e-02 3.60820575e+02] [ 1.52527593e-02 9.99883639e-01 -2.48767548e-04 5.64764027e+00] [ 2.21314191e-02 -8.88689322e-05 9.99755066e-01 3.30823035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31925415399996 meters Centerline goodness [0,1] 0.9993280152605567 Centerline is valid? [True, True] Translation: X:360.85, Y:5.65, Z:3.31 [[ 9.99610019e-01 -1.42898368e-02 -2.39918997e-02 3.60849667e+02] [ 1.42873603e-02 9.99897893e-01 -2.74644220e-04 5.64829595e+00] [ 2.39933745e-02 -6.82438004e-05 9.99712115e-01 3.30948671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34925415399994 meters Centerline goodness [0,1] 0.9994372903365437 Centerline is valid? [True, True] Translation: X:360.88, Y:5.65, Z:3.31 [[ 9.99652747e-01 -1.31970657e-02 -2.28083753e-02 3.60877547e+02] [ 1.31944651e-02 9.99912914e-01 -2.64512157e-04 5.64794598e+00] [ 2.28098798e-02 -3.65240084e-05 9.99739820e-01 3.30874935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37925415399997 meters Centerline goodness [0,1] 0.9992644513672551 Centerline is valid? [True, True] Translation: X:360.91, Y:5.65, Z:3.31 [[ 9.99611655e-01 -1.34947925e-02 -2.43809504e-02 3.60905921e+02] [ 1.34917934e-02 9.99908940e-01 -2.87511741e-04 5.64746553e+00] [ 2.43826102e-02 -4.15426579e-05 9.99702699e-01 3.31046874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40925415399994 meters Centerline goodness [0,1] 0.999307164353606 Centerline is valid? [True, True] Translation: X:360.93, Y:5.65, Z:3.31 [[ 9.99609795e-01 -1.41118524e-02 -2.41063046e-02 3.60934111e+02] [ 1.41089374e-02 9.99900422e-01 -2.91006866e-04 5.64685480e+00] [ 2.41080108e-02 -4.92210308e-05 9.99709358e-01 3.31055677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43925415399997 meters Centerline goodness [0,1] 0.9992655001080147 Centerline is valid? [True, True] Translation: X:360.96, Y:5.64, Z:3.31 [[ 9.99533733e-01 -1.56184100e-02 -2.62370371e-02 3.60962979e+02] [ 1.56152834e-02 9.99878022e-01 -3.24060683e-04 5.64440672e+00] [ 2.62388980e-02 -8.57891867e-05 9.99655697e-01 3.31030590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46925415399994 meters Centerline goodness [0,1] 0.9993949739622723 Centerline is valid? [True, True] Translation: X:360.99, Y:5.64, Z:3.31 [[ 9.99514836e-01 -1.72060105e-02 -2.59624041e-02 3.60990983e+02] [ 1.72032967e-02 9.99851959e-01 -3.27899677e-04 5.64333683e+00] [ 2.59642024e-02 -1.18898348e-04 9.99662866e-01 3.31038562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49925415399997 meters Centerline goodness [0,1] 0.9992440278197763 Centerline is valid? [True, True] Translation: X:361.02, Y:5.64, Z:3.31 [[ 9.99441654e-01 -2.02673389e-02 -2.65634347e-02 3.61020104e+02] [ 2.02653868e-02 9.99794577e-01 -3.42720678e-04 5.64045728e+00] [ 2.65649240e-02 -1.95788956e-04 9.99647071e-01 3.31067502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.52925415399994 meters Centerline goodness [0,1] 0.9995261276009133 Centerline is valid? [True, True] Translation: X:361.05, Y:5.64, Z:3.31 [[ 9.99411781e-01 -2.17789318e-02 -2.64909402e-02 3.61048267e+02] [ 2.17774160e-02 9.99762784e-01 -3.45753453e-04 5.63863298e+00] [ 2.64921863e-02 -2.31354151e-04 9.99648994e-01 3.31045192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.559254154 meters Centerline goodness [0,1] 0.9993536989960791 Centerline is valid? [True, True] Translation: X:361.08, Y:5.64, Z:3.31 [[ 9.99359645e-01 -2.36237869e-02 -2.68741020e-02 3.61076918e+02] [ 2.36227500e-02 9.99720880e-01 -3.56106565e-04 5.63733979e+00] [ 2.68750135e-02 -2.78961663e-04 9.99638763e-01 3.31123852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.58925415399995 meters Centerline goodness [0,1] 0.9992899866603554 Centerline is valid? [True, True] Translation: X:361.11, Y:5.63, Z:3.31 [[ 9.99248855e-01 -2.75347909e-02 -2.72683244e-02 3.61105752e+02] [ 2.75349877e-02 9.99620772e-01 -3.68342994e-04 5.63402445e+00] [ 2.72681257e-02 -3.82766661e-04 9.99628082e-01 3.31160590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.619254154 meters Centerline goodness [0,1] 0.9991190373871938 Centerline is valid? [True, True] Translation: X:361.13, Y:5.63, Z:3.31 [[ 9.99173231e-01 -2.98108770e-02 -2.76435378e-02 3.61134733e+02] [ 2.98117530e-02 9.99555458e-01 -3.80533547e-04 5.63262045e+00] [ 2.76425931e-02 -4.43883386e-04 9.99617772e-01 3.31180797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.64925415399995 meters Centerline goodness [0,1] 0.9994407519735002 Centerline is valid? [True, True] Translation: X:361.16, Y:5.63, Z:3.31 [[ 9.99100684e-01 -3.18981165e-02 -2.79344362e-02 3.61162495e+02] [ 3.18997114e-02 9.99490999e-01 -3.88654188e-04 5.63000973e+00] [ 2.79326149e-02 -5.02795788e-04 9.99609682e-01 3.31096380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.679254154 meters Centerline goodness [0,1] 0.9992915414340919 Centerline is valid? [True, True] Translation: X:361.19, Y:5.63, Z:3.31 [[ 9.98964253e-01 -3.61164804e-02 -2.76770735e-02 3.61190941e+02] [ 3.61195096e-02 9.99347401e-01 -3.90645116e-04 5.62790549e+00] [ 2.76731202e-02 -6.09441813e-04 9.99616840e-01 3.31254668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.70925415399995 meters Centerline goodness [0,1] 0.9991412623443539 Centerline is valid? [True, True] Translation: X:361.22, Y:5.63, Z:3.31 [[ 9.98871960e-01 -3.78778943e-02 -2.86369259e-02 3.61219658e+02] [ 3.78816469e-02 9.99282148e-01 -4.11661024e-04 5.62640295e+00] [ 2.86319617e-02 -6.73617261e-04 9.99589794e-01 3.31324711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.739254154 meters Centerline goodness [0,1] 0.9992068765942852 Centerline is valid? [True, True] Translation: X:361.25, Y:5.62, Z:3.31 [[ 9.98866692e-01 -3.96353722e-02 -2.63508824e-02 3.61248603e+02] [ 3.96390696e-02 9.99213990e-01 -3.82229830e-04 5.62338036e+00] [ 2.63453202e-02 -6.62727815e-04 9.99652682e-01 3.31216308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.76925415399995 meters Centerline goodness [0,1] 0.9990786767226603 Centerline is valid? [True, True] Translation: X:361.28, Y:5.62, Z:3.31 [[ 9.98755145e-01 -4.30354821e-02 -2.52211588e-02 3.61278979e+02] [ 4.30399358e-02 9.99073285e-01 -3.66481696e-04 5.62241867e+00] [ 2.52135577e-02 -7.19491579e-04 9.99681829e-01 3.31424378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.799254154 meters Centerline goodness [0,1] 0.9991429918155719 Centerline is valid? [True, True] Translation: X:361.31, Y:5.62, Z:3.31 [[ 9.98699214e-01 -4.47855038e-02 -2.43749524e-02 3.61310469e+02] [ 4.47901976e-02 9.98996353e-01 -3.53637306e-04 5.62105727e+00] [ 2.43663264e-02 -7.38581635e-04 9.99702824e-01 3.31488281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.82925415399995 meters Centerline goodness [0,1] 0.9989728885370082 Centerline is valid? [True, True] Translation: X:361.34, Y:5.62, Z:3.31 [[ 9.98508981e-01 -4.91424777e-02 -2.37662101e-02 3.61341687e+02] [ 4.91481925e-02 9.98791438e-01 -3.43949205e-04 5.61707578e+00] [ 2.37543897e-02 -8.24629899e-04 9.99717485e-01 3.31498408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8592541539999 meters Centerline goodness [0,1] 0.9989731302413144 Centerline is valid? [True, True] Translation: X:361.37, Y:5.61, Z:3.31 [[ 9.98392915e-01 -5.13929673e-02 -2.38820046e-02 3.61372359e+02] [ 5.13994016e-02 9.98678118e-01 -3.44756454e-04 5.61144627e+00] [ 2.38681534e-02 -8.83318343e-04 9.99714725e-01 3.31340096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.88925415399996 meters Centerline goodness [0,1] 0.999229072531426 Centerline is valid? [True, True] Translation: X:361.40, Y:5.61, Z:3.32 [[ 9.98257203e-01 -5.38976437e-02 -2.40333376e-02 3.61404243e+02] [ 5.39049185e-02 9.98546013e-01 -3.45525496e-04 5.61375459e+00] [ 2.40170164e-02 -9.50591787e-04 9.99711098e-01 3.31502746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91925415399993 meters Centerline goodness [0,1] 0.9991230509272132 Centerline is valid? [True, True] Translation: X:361.44, Y:5.61, Z:3.31 [[ 9.98117664e-01 -5.62541875e-02 -2.44252909e-02 3.61436066e+02] [ 5.62624432e-02 9.98415953e-01 -3.49631509e-04 5.61247087e+00] [ 2.44062684e-02 -1.02525316e-03 9.99701597e-01 3.31474267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.94925415399996 meters Centerline goodness [0,1] 0.9990588436610982 Centerline is valid? [True, True] Translation: X:361.47, Y:5.61, Z:3.31 [[ 9.97846508e-01 -6.04964403e-02 -2.53481259e-02 3.61466132e+02] [ 6.05067112e-02 9.98167725e-01 -3.62303985e-04 5.60741202e+00] [ 2.53235992e-02 -1.17220797e-03 9.99678619e-01 3.31293284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97925415399993 meters Centerline goodness [0,1] 0.9990804696020358 Centerline is valid? [True, True] Translation: X:361.50, Y:5.61, Z:3.31 [[ 9.97768855e-01 -6.16591630e-02 -2.56019309e-02 3.61497712e+02] [ 6.16700657e-02 9.98096524e-01 -3.64243769e-04 5.60569985e+00] [ 2.55756571e-02 -1.21544167e-03 9.99672150e-01 3.31240867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.00925415399996 meters Centerline goodness [0,1] 0.9988895532587341 Centerline is valid? [True, True] Translation: X:361.53, Y:5.61, Z:3.31 [[ 9.97752785e-01 -6.21463317e-02 -2.50442484e-02 3.61530360e+02] [ 6.21569692e-02 9.98066323e-01 -3.54240418e-04 5.60523272e+00] [ 2.50178356e-02 -1.20323021e-03 9.99686281e-01 3.31219112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03925415399993 meters Centerline goodness [0,1] 0.9989933389020969 Centerline is valid? [True, True] Translation: X:361.56, Y:5.61, Z:3.31 [[ 9.97814421e-01 -6.13150195e-02 -2.46343125e-02 3.61562497e+02] [ 6.13251015e-02 9.98117785e-01 -3.46704311e-04 5.60637251e+00] [ 2.46092035e-02 -1.16475515e-03 9.99696469e-01 3.31302760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06925415399996 meters Centerline goodness [0,1] 0.9989292903336331 Centerline is valid? [True, True] Translation: X:361.59, Y:5.61, Z:3.31 [[ 9.97945818e-01 -5.95487960e-02 -2.36238418e-02 3.61593956e+02] [ 5.95576005e-02 9.98224816e-01 -3.31341132e-04 5.60857616e+00] [ 2.36016361e-02 -1.07631883e-03 9.99720863e-01 3.31382970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09925415399994 meters Centerline goodness [0,1] 0.9989068227123657 Centerline is valid? [True, True] Translation: X:361.62, Y:5.61, Z:3.32 [[ 9.98243730e-01 -5.50670719e-02 -2.18419822e-02 3.61623232e+02] [ 5.50735287e-02 9.98482255e-01 -3.06260008e-04 5.61278518e+00] [ 2.18256964e-02 -8.97192898e-04 9.99761389e-01 3.31553162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12925415399997 meters Centerline goodness [0,1] 0.9989068227123657 Centerline is valid? [True, True] Translation: X:361.65, Y:5.61, Z:3.32 [[ 9.98247556e-01 -5.49976771e-02 -2.18419920e-02 3.61654950e+02] [ 5.50041327e-02 9.98486080e-01 -3.05556282e-04 5.61316504e+00] [ 2.18257299e-02 -8.96379016e-04 9.99761389e-01 3.31582883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15925415399994 meters Centerline goodness [0,1] 0.9990575736806031 Centerline is valid? [True, True] Translation: X:361.69, Y:5.62, Z:3.32 [[ 9.98421215e-01 -5.21668734e-02 -2.08253345e-02 3.61685920e+02] [ 5.21721488e-02 9.98638064e-01 -2.90284070e-04 5.62117299e+00] [ 2.08121150e-02 -7.96676679e-04 9.99783087e-01 3.31792526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18925415399997 meters Centerline goodness [0,1] 0.9991630542083351 Centerline is valid? [True, True] Translation: X:361.72, Y:5.62, Z:3.32 [[ 9.98593159e-01 -4.89941179e-02 -2.02800154e-02 3.61716467e+02] [ 4.89984985e-02 9.98798813e-01 -2.81132071e-04 5.62326600e+00] [ 2.02694291e-02 -7.12953743e-04 9.99794300e-01 3.31797657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21925415399994 meters Centerline goodness [0,1] 0.9992075730317828 Centerline is valid? [True, True] Translation: X:361.75, Y:5.63, Z:3.32 [[ 9.98764814e-01 -4.56196437e-02 -1.96899759e-02 3.61748166e+02] [ 4.56231489e-02 9.98958685e-01 -2.71380827e-04 5.62604500e+00] [ 1.96818527e-02 -6.27273080e-04 9.99806097e-01 3.31812084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24925415399997 meters Centerline goodness [0,1] 0.9992255899498784 Centerline is valid? [True, True] Translation: X:361.78, Y:5.63, Z:3.32 [[ 9.99065210e-01 -3.88373761e-02 -1.89832727e-02 3.61778959e+02] [ 3.88394232e-02 9.99245431e-01 -2.60973801e-04 5.63215223e+00] [ 1.89790840e-02 -4.76569516e-04 9.99819767e-01 3.31800668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27925415399994 meters Centerline goodness [0,1] 0.9992892067116118 Centerline is valid? [True, True] Translation: X:361.81, Y:5.64, Z:3.32 [[ 9.99205384e-01 -3.53517656e-02 -1.84079586e-02 3.61810510e+02] [ 3.53531083e-02 9.99374852e-01 -2.52573263e-04 5.63569406e+00] [ 1.84053798e-02 -3.98405991e-04 9.99830527e-01 3.31819750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.309254154 meters Centerline goodness [0,1] 0.9992011399948182 Centerline is valid? [True, True] Translation: X:361.84, Y:5.64, Z:3.32 [[ 9.99420865e-01 -2.90366900e-02 -1.77427248e-02 3.61840848e+02] [ 2.90369509e-02 9.99578309e-01 -2.42966875e-04 5.64206743e+00] [ 1.77422978e-02 -2.72368465e-04 9.99842556e-01 3.31843958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.33925415399995 meters Centerline goodness [0,1] 0.9993522896560658 Centerline is valid? [True, True] Translation: X:361.87, Y:5.65, Z:3.32 [[ 9.99510612e-01 -2.58682560e-02 -1.75889014e-02 3.61871657e+02] [ 2.58680248e-02 9.99665338e-01 -2.40692367e-04 5.64561450e+00] [ 1.75892414e-02 -2.14415565e-04 9.99845274e-01 3.31862866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.369254154 meters Centerline goodness [0,1] 0.9993084071752756 Centerline is valid? [True, True] Translation: X:361.90, Y:5.65, Z:3.32 [[ 9.99577929e-01 -2.30463099e-02 -1.76870275e-02 3.61901576e+02] [ 2.30456371e-02 9.99734385e-01 -2.41888392e-04 5.64830649e+00] [ 1.76879042e-02 -1.65822518e-04 9.99843543e-01 3.31824354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.39925415399995 meters Centerline goodness [0,1] 0.9993726609989833 Centerline is valid? [True, True] Translation: X:361.93, Y:5.65, Z:3.32 [[ 9.99635338e-01 -2.03901451e-02 -1.77040566e-02 3.61931215e+02] [ 2.03890522e-02 9.99792092e-01 -2.42247973e-04 5.65123936e+00] [ 1.77053152e-02 -1.18809299e-04 9.99843242e-01 3.31819765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.429254154 meters Centerline goodness [0,1] 0.9993926510780443 Centerline is valid? [True, True] Translation: X:361.96, Y:5.66, Z:3.32 [[ 9.99728749e-01 -1.53921267e-02 -1.74788492e-02 3.61960459e+02] [ 1.53902867e-02 9.99881534e-01 -2.39783307e-04 5.65658754e+00] [ 1.74804693e-02 -2.92862347e-05 9.99847204e-01 3.31835480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.45925415399995 meters Centerline goodness [0,1] 0.9993268040565485 Centerline is valid? [True, True] Translation: X:361.99, Y:5.66, Z:3.32 [[ 9.99762140e-01 -1.30611545e-02 -1.74662584e-02 3.61988649e+02] [ 1.30589429e-02 9.99914699e-01 -2.40673904e-04 5.65922212e+00] [ 1.74679120e-02 1.25257859e-05 9.99847424e-01 3.31797649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.489254154 meters Centerline goodness [0,1] 0.999434499858625 Centerline is valid? [True, True] Translation: X:362.02, Y:5.66, Z:3.32 [[ 9.99825921e-01 -8.98366554e-03 -1.63530470e-02 3.62016525e+02] [ 8.98113516e-03 9.99959643e-01 -2.28169207e-04 5.66364541e+00] [ 1.63544369e-02 8.12605614e-05 9.99866254e-01 3.31864227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.51925415399995 meters Centerline goodness [0,1] 0.9995870103899491 Centerline is valid? [True, True] Translation: X:362.04, Y:5.67, Z:3.32 [[ 9.99847256e-01 -6.71489261e-03 -1.61361146e-02 3.62044859e+02] [ 6.71206163e-03 9.99977448e-01 -2.29594864e-04 5.66583658e+00] [ 1.61372924e-02 1.21253199e-04 9.99869778e-01 3.31897496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.549254154 meters Centerline goodness [0,1] 0.9995862369337979 Centerline is valid? [True, True] Translation: X:362.07, Y:5.67, Z:3.32 [[ 9.99864991e-01 -5.05126630e-03 -1.56359721e-02 3.62072498e+02] [ 5.04835462e-03 9.99987232e-01 -2.25681800e-04 5.66853998e+00] [ 1.56369124e-02 1.46715399e-04 9.99877725e-01 3.31869168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57925415399995 meters Centerline goodness [0,1] 0.9994358128634667 Centerline is valid? [True, True] Translation: X:362.10, Y:5.67, Z:3.32 [[ 9.99883228e-01 -1.28738126e-03 -1.52273845e-02 3.62101549e+02] [ 1.28414196e-03 9.99999151e-01 -2.22504331e-04 5.67169756e+00] [ 1.52276580e-02 2.02924226e-04 9.99884032e-01 3.31883744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6092541539999 meters Centerline goodness [0,1] 0.9995663580581514 Centerline is valid? [True, True] Translation: X:362.13, Y:5.67, Z:3.32 [[ 9.99888501e-01 8.45692968e-05 -1.49324595e-02 3.62130007e+02] [-8.78919259e-05 9.99999972e-01 -2.21854388e-04 5.67379606e+00] [ 1.49324403e-02 2.23142094e-04 9.99888480e-01 3.31911455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63925415399996 meters Centerline goodness [0,1] 0.9995655479526447 Centerline is valid? [True, True] Translation: X:362.16, Y:5.67, Z:3.32 [[ 9.99896638e-01 1.51968170e-03 -1.42969627e-02 3.62159054e+02] [-1.52292370e-03 9.99998817e-01 -2.15877212e-04 5.67492687e+00] [ 1.42966177e-02 2.37628082e-04 9.99897770e-01 3.31952995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66925415399993 meters Centerline goodness [0,1] 0.9994364487601872 Centerline is valid? [True, True] Translation: X:362.19, Y:5.68, Z:3.32 [[ 9.99896681e-01 2.05867537e-03 -1.42263842e-02 3.62188010e+02] [-2.06199089e-03 9.99997850e-01 -2.18390298e-04 5.67584358e+00] [ 1.42259041e-02 2.47702409e-04 9.99898776e-01 3.31991800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69925415399996 meters Centerline goodness [0,1] 0.9994343153039468 Centerline is valid? [True, True] Translation: X:362.22, Y:5.67, Z:3.32 [[ 9.99903257e-01 1.89151772e-03 -1.37803592e-02 3.62215582e+02] [-1.89465099e-03 9.99998182e-01 -2.14320598e-04 5.67434095e+00] [ 1.37799288e-02 2.40408836e-04 9.99905023e-01 3.32004304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72925415399993 meters Centerline goodness [0,1] 0.9995242317423931 Centerline is valid? [True, True] Translation: X:362.24, Y:5.67, Z:3.32 [[ 9.99903134e-01 7.16822798e-04 -1.38999708e-02 3.62243763e+02] [-7.19920146e-04 9.99999717e-01 -2.17828855e-04 5.67402221e+00] [ 1.38998108e-02 2.27814623e-04 9.99903367e-01 3.31979700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75925415399996 meters Centerline goodness [0,1] 0.9996089506843363 Centerline is valid? [True, True] Translation: X:362.27, Y:5.67, Z:3.32 [[ 9.99905475e-01 -1.38632058e-03 -1.36791445e-02 3.62272234e+02] [ 1.38349667e-03 9.99999020e-01 -2.15899703e-04 5.67219757e+00] [ 1.36794304e-02 1.96954244e-04 9.99906413e-01 3.32003377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78925415399993 meters Centerline goodness [0,1] 0.9994366563386995 Centerline is valid? [True, True] Translation: X:362.30, Y:5.67, Z:3.32 [[ 9.99879921e-01 -7.13515907e-03 -1.37562362e-02 3.62300817e+02] [ 7.13283324e-03 9.99974537e-01 -2.18129919e-04 5.66721415e+00] [ 1.37574423e-02 1.19982787e-04 9.99905355e-01 3.31954811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81925415399996 meters Centerline goodness [0,1] 0.9993497908493899 Centerline is valid? [True, True] Translation: X:362.33, Y:5.66, Z:3.32 [[ 9.99859748e-01 -1.01419971e-02 -1.33275452e-02 3.62329985e+02] [ 1.01400684e-02 9.99948566e-01 -2.12282988e-04 5.66455734e+00] [ 1.33290126e-02 7.71109962e-05 9.99911162e-01 3.31938456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84925415399994 meters Centerline goodness [0,1] 0.9992224454091881 Centerline is valid? [True, True] Translation: X:362.36, Y:5.66, Z:3.32 [[ 9.99765650e-01 -1.75099889e-02 -1.27297166e-02 3.62358534e+02] [ 1.75088151e-02 9.99846688e-01 -2.03656164e-04 5.65806334e+00] [ 1.27313310e-02 -1.92738174e-05 9.99918953e-01 3.31965208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87925415399997 meters Centerline goodness [0,1] 0.9993528625048536 Centerline is valid? [True, True] Translation: X:362.39, Y:5.65, Z:3.32 [[ 9.99704430e-01 -2.09573329e-02 -1.23224148e-02 3.62388428e+02] [ 2.09564867e-02 9.99780369e-01 -1.97802455e-04 5.65477763e+00] [ 1.23238538e-02 -6.04905300e-05 9.99924057e-01 3.31960541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90925415399994 meters Centerline goodness [0,1] 0.9990544954443872 Centerline is valid? [True, True] Translation: X:362.42, Y:5.65, Z:3.32 [[ 9.99538855e-01 -2.77722160e-02 -1.22792842e-02 3.62419281e+02] [ 2.77718904e-02 9.99614267e-01 -1.97056866e-04 5.64882969e+00] [ 1.22800204e-02 -1.44052942e-04 9.99924587e-01 3.31997908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93925415399997 meters Centerline goodness [0,1] 0.9992483625040266 Centerline is valid? [True, True] Translation: X:362.45, Y:5.65, Z:3.32 [[ 9.99449753e-01 -3.06858629e-02 -1.25924005e-02 3.62450101e+02] [ 3.06857592e-02 9.99529061e-01 -2.01495527e-04 5.64544694e+00] [ 1.25926533e-02 -1.85022715e-04 9.99920692e-01 3.32023076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96925415399994 meters Centerline goodness [0,1] 0.999163807890223 Centerline is valid? [True, True] Translation: X:362.48, Y:5.64, Z:3.32 [[ 9.99351625e-01 -3.36751997e-02 -1.27401274e-02 3.62482395e+02] [ 3.36753548e-02 9.99432804e-01 -2.02407064e-04 5.64311526e+00] [ 1.27397173e-02 -2.26752482e-04 9.99918821e-01 3.32023273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99925415399997 meters Centerline goodness [0,1] 0.9991878606539859 Centerline is valid? [True, True] Translation: X:362.51, Y:5.64, Z:3.32 [[ 9.99248452e-01 -3.64675793e-02 -1.31395132e-02 3.62514709e+02] [ 3.64679984e-02 9.99334800e-01 -2.07773530e-04 5.64003230e+00] [ 1.31383498e-02 -2.71554371e-04 9.99913651e-01 3.32012284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.02925415399994 meters Centerline goodness [0,1] 0.9990175978130873 Centerline is valid? [True, True] Translation: X:362.55, Y:5.63, Z:3.32 [[ 9.99054221e-01 -4.14291317e-02 -1.32019428e-02 3.62546413e+02] [ 4.14299995e-02 9.99141387e-01 -2.07866337e-04 5.63495874e+00] [ 1.31992192e-02 -3.39286743e-04 9.99912829e-01 3.31958177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.059254154 meters Centerline goodness [0,1] 0.9992526477622139 Centerline is valid? [True, True] Translation: X:362.58, Y:5.63, Z:3.32 [[ 9.98967914e-01 -4.33796857e-02 -1.34651107e-02 3.62578216e+02] [ 4.33807756e-02 9.99058589e-01 -2.11258826e-04 5.63268384e+00] [ 1.34615989e-02 -3.73086157e-04 9.99909319e-01 3.31991958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.08925415399995 meters Centerline goodness [0,1] 0.9989553797940606 Centerline is valid? [True, True] Translation: X:362.61, Y:5.63, Z:3.32 [[ 9.98812491e-01 -4.68522364e-02 -1.33595032e-02 3.62609098e+02] [ 4.68536332e-02 9.98901744e-01 -2.08581593e-04 5.62740485e+00] [ 1.33546035e-02 -4.17607361e-04 9.99910736e-01 3.31984208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.119254154 meters Centerline goodness [0,1] 0.9990423698154965 Centerline is valid? [True, True] Translation: X:362.64, Y:5.63, Z:3.32 [[ 9.98742157e-01 -4.83605615e-02 -1.32423523e-02 3.62641086e+02] [ 4.83620858e-02 9.98829849e-01 -2.05285787e-04 5.62710685e+00] [ 1.32367845e-02 -4.35400207e-04 9.99912295e-01 3.32055893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.14925415399995 meters Centerline goodness [0,1] 0.9989990416356086 Centerline is valid? [True, True] Translation: X:362.67, Y:5.62, Z:3.32 [[ 9.98667377e-01 -4.99019497e-02 -1.31630111e-02 3.62672747e+02] [ 4.99036048e-02 9.98754018e-01 -2.02891208e-04 5.62469693e+00] [ 1.31567349e-02 -4.54260874e-04 9.99913343e-01 3.32071092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.179254154 meters Centerline goodness [0,1] 0.9985101628179206 Centerline is valid? [True, True] Translation: X:362.70, Y:5.62, Z:3.32 [[ 9.98488701e-01 -5.33010117e-02 -1.33909092e-02 3.62704002e+02] [ 5.33030478e-02 9.98578361e-01 -2.05063294e-04 5.62050853e+00] [ 1.33828022e-02 -5.09022891e-04 9.99910317e-01 3.32054835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.20925415399995 meters Centerline goodness [0,1] 0.9989369844374522 Centerline is valid? [True, True] Translation: X:362.74, Y:5.62, Z:3.32 [[ 9.98396408e-01 -5.49639155e-02 -1.35492004e-02 3.62736236e+02] [ 5.49661617e-02 9.98488196e-01 -2.06839133e-04 5.61920837e+00] [ 1.35400854e-02 -5.38240093e-04 9.99908184e-01 3.32114867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.239254154 meters Centerline goodness [0,1] 0.9985549440040802 Centerline is valid? [True, True] Translation: X:362.77, Y:5.62, Z:3.32 [[ 9.98302030e-01 -5.65921255e-02 -1.37981106e-02 3.62767823e+02] [ 5.65946231e-02 9.98397218e-01 -2.09702057e-04 5.61651918e+00] [ 1.37878628e-02 -5.71552881e-04 9.99904780e-01 3.32108909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.26925415399995 meters Centerline goodness [0,1] 0.9987699355276553 Centerline is valid? [True, True] Translation: X:362.80, Y:5.62, Z:3.32 [[ 9.98189197e-01 -5.84969270e-02 -1.40155842e-02 3.62800151e+02] [ 5.84997034e-02 9.98287403e-01 -2.12146281e-04 5.61733194e+00] [ 1.40039910e-02 -6.08145391e-04 9.99901754e-01 3.32158062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.299254154 meters Centerline goodness [0,1] 0.9988509904887546 Centerline is valid? [True, True] Translation: X:362.83, Y:5.61, Z:3.32 [[ 9.97958803e-01 -6.20846642e-02 -1.49573279e-02 3.62830090e+02] [ 6.20882465e-02 9.98070638e-01 -2.25196732e-04 5.61163222e+00] [ 1.49424510e-02 -7.03937198e-04 9.99888108e-01 3.32162396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.32925415399995 meters Centerline goodness [0,1] 0.9987911691726932 Centerline is valid? [True, True] Translation: X:362.86, Y:5.61, Z:3.32 [[ 9.97852943e-01 -6.36436225e-02 -1.54593834e-02 3.62862147e+02] [ 6.36476551e-02 9.97972406e-01 -2.31509925e-04 5.61146032e+00] [ 1.54427722e-02 -7.52940644e-04 9.99880470e-01 3.32196982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3592541539999 meters Centerline goodness [0,1] 0.998770326711472 Centerline is valid? [True, True] Translation: X:362.89, Y:5.61, Z:3.32 [[ 9.97761243e-01 -6.50289908e-02 -1.56119240e-02 3.62893445e+02] [ 6.50332950e-02 9.97883068e-01 -2.32357112e-04 5.60951639e+00] [ 1.55939845e-02 -7.83457936e-04 9.99878099e-01 3.32204382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.38925415399996 meters Centerline goodness [0,1] 0.998917634075426 Centerline is valid? [True, True] Translation: X:362.92, Y:5.61, Z:3.32 [[ 9.97585833e-01 -6.73646247e-02 -1.68675096e-02 3.62923653e+02] [ 6.73700051e-02 9.97728029e-01 -2.49686956e-04 5.60654361e+00] [ 1.68460072e-02 -8.87280038e-04 9.99857702e-01 3.32210320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41925415399993 meters Centerline goodness [0,1] 0.998707216276359 Centerline is valid? [True, True] Translation: X:362.96, Y:5.61, Z:3.32 [[ 9.97524173e-01 -6.83167754e-02 -1.66835862e-02 3.62955604e+02] [ 6.83221833e-02 9.97663279e-01 -2.46275230e-04 5.60808304e+00] [ 1.66614260e-02 -8.94193537e-04 9.99860789e-01 3.32242519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.44925415399996 meters Centerline goodness [0,1] 0.99875 Centerline is valid? [True, True] Translation: X:362.99, Y:5.60, Z:3.32 [[ 9.97443298e-01 -6.93216418e-02 -1.73602234e-02 3.62986431e+02] [ 6.93276786e-02 9.97593909e-01 -2.54565809e-04 5.60444865e+00] [ 1.73361001e-02 -9.49629029e-04 9.99849268e-01 3.32228423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47925415399993 meters Centerline goodness [0,1] 0.9988391726466863 Centerline is valid? [True, True] Translation: X:363.02, Y:5.61, Z:3.32 [[ 9.97428726e-01 -6.95581116e-02 -1.72512381e-02 3.63018875e+02] [ 6.95641376e-02 9.97577449e-01 -2.51254827e-04 5.60516868e+00] [ 1.72269229e-02 -9.49458716e-04 9.99851155e-01 3.32283865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.50925415399996 meters Centerline goodness [0,1] 0.9984104444397347 Centerline is valid? [True, True] Translation: X:363.05, Y:5.61, Z:3.32 [[ 9.97442996e-01 -6.91856373e-02 -1.79113732e-02 3.63051452e+02] [ 6.91920965e-02 9.97603321e-01 -2.59582520e-04 5.60683074e+00] [ 1.78864047e-02 -9.80406694e-04 9.99839545e-01 3.32286571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53925415399993 meters Centerline goodness [0,1] 0.9987915023533902 Centerline is valid? [True, True] Translation: X:363.08, Y:5.61, Z:3.32 [[ 9.97443810e-01 -6.90555255e-02 -1.83624927e-02 3.63084755e+02] [ 6.90623234e-02 9.97612312e-01 -2.64425803e-04 5.61344988e+00] [ 1.83369088e-02 -1.00440653e-03 9.99831360e-01 3.32442763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56925415399996 meters Centerline goodness [0,1] 0.9986865519871198 Centerline is valid? [True, True] Translation: X:363.12, Y:5.62, Z:3.33 [[ 9.97605718e-01 -6.66675950e-02 -1.83919295e-02 3.63115832e+02] [ 6.66740356e-02 9.97774776e-01 -2.63453662e-04 5.61632901e+00] [ 1.83685672e-02 -9.63441285e-04 9.99830819e-01 3.32510866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59925415399994 meters Centerline goodness [0,1] 0.9988125530110263 Centerline is valid? [True, True] Translation: X:363.15, Y:5.62, Z:3.33 [[ 9.97741390e-01 -6.47248396e-02 -1.79669988e-02 3.63147164e+02] [ 6.47306838e-02 9.97902737e-01 -2.56701568e-04 5.61864885e+00] [ 1.79459322e-02 -9.06894337e-04 9.99838547e-01 3.32604532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62925415399997 meters Centerline goodness [0,1] 0.9985146518980627 Centerline is valid? [True, True] Translation: X:363.18, Y:5.62, Z:3.33 [[ 9.97900448e-01 -6.23781630e-02 -1.74258568e-02 3.63178550e+02] [ 6.23833145e-02 9.98052233e-01 -2.48329528e-04 5.62136981e+00] [ 1.74074057e-02 -8.39274560e-04 9.99848127e-01 3.32700973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65925415399994 meters Centerline goodness [0,1] 0.9989190793099063 Centerline is valid? [True, True] Translation: X:363.21, Y:5.63, Z:3.33 [[ 9.98310986e-01 -5.58751986e-02 -1.59102624e-02 3.63208643e+02] [ 5.58786736e-02 9.98437541e-01 -2.26400005e-04 5.62846475e+00] [ 1.58980534e-02 -6.63026746e-04 9.99873398e-01 3.32906631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68925415399997 meters Centerline goodness [0,1] 0.9989390145567203 Centerline is valid? [True, True] Translation: X:363.24, Y:5.63, Z:3.33 [[ 9.98518566e-01 -5.22555953e-02 -1.51666142e-02 3.63239528e+02] [ 5.22583396e-02 9.98633576e-01 -2.15584011e-04 5.62988774e+00] [ 1.51571556e-02 -5.77317438e-04 9.99884957e-01 3.32924061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71925415399994 meters Centerline goodness [0,1] 0.9989377071471063 Centerline is valid? [True, True] Translation: X:363.27, Y:5.64, Z:3.33 [[ 9.98889819e-01 -4.49234004e-02 -1.41780460e-02 3.63270207e+02] [ 4.49250660e-02 9.98990339e-01 -2.01153166e-04 5.63688412e+00] [ 1.41727675e-02 -4.36019803e-04 9.99899466e-01 3.32982871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74925415399997 meters Centerline goodness [0,1] 0.9990654999575227 Centerline is valid? [True, True] Translation: X:363.30, Y:5.64, Z:3.33 [[ 9.99055178e-01 -4.11679483e-02 -1.39266300e-02 3.63300754e+02] [ 4.11691933e-02 9.99152170e-01 -1.97402775e-04 5.63891337e+00] [ 1.39229493e-02 -3.76131861e-04 9.99903000e-01 3.32973303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77925415399994 meters Centerline goodness [0,1] 0.9989790058069045 Centerline is valid? [True, True] Translation: X:363.33, Y:5.65, Z:3.33 [[ 9.99333517e-01 -3.36637324e-02 -1.41165082e-02 3.63331035e+02] [ 3.36642656e-02 9.99433178e-01 -1.99918034e-04 5.64543858e+00] [ 1.41152366e-02 -2.75437088e-04 9.99900337e-01 3.32935791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.809254154 meters Centerline goodness [0,1] 0.9989800905169666 Centerline is valid? [True, True] Translation: X:363.36, Y:5.65, Z:3.33 [[ 9.99443816e-01 -2.99090232e-02 -1.47481833e-02 3.63361296e+02] [ 2.99092027e-02 9.99552598e-01 -2.08441418e-04 5.64833687e+00] [ 1.47478192e-02 -2.32780916e-04 9.99891218e-01 3.32891457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.83925415399995 meters Centerline goodness [0,1] 0.9987838962258113 Centerline is valid? [True, True] Translation: X:363.39, Y:5.65, Z:3.33 [[ 9.99542286e-01 -2.61811053e-02 -1.51581265e-02 3.63391900e+02] [ 2.61808794e-02 9.99657199e-01 -2.13376668e-04 5.65158563e+00] [ 1.51585167e-02 -1.83574079e-04 9.99885086e-01 3.32852420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.869254154 meters Centerline goodness [0,1] 0.9990171780189727 Centerline is valid? [True, True] Translation: X:363.42, Y:5.66, Z:3.33 [[ 9.99625245e-01 -2.24064077e-02 -1.57264716e-02 3.63423494e+02] [ 2.24057038e-02 9.99748936e-01 -2.20973235e-04 5.65519437e+00] [ 1.57274745e-02 -1.31472240e-04 9.99876307e-01 3.32871858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.89925415399995 meters Centerline goodness [0,1] 0.9993581926705603 Centerline is valid? [True, True] Translation: X:363.45, Y:5.66, Z:3.33 [[ 9.99753531e-01 -1.49323171e-02 -1.64287420e-02 3.63452916e+02] [ 1.49305434e-02 9.99888507e-01 -2.30612656e-04 5.65979274e+00] [ 1.64303539e-02 -1.47342292e-05 9.99865013e-01 3.32820886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.929254154 meters Centerline goodness [0,1] 0.9992513529122372 Centerline is valid? [True, True] Translation: X:363.48, Y:5.66, Z:3.33 [[ 9.99807874e-01 -1.12703389e-02 -1.60372672e-02 3.63480798e+02] [ 1.12681657e-02 9.99936487e-01 -2.25866042e-04 5.66238872e+00] [ 1.60387942e-02 4.51120634e-05 9.99871369e-01 3.32817735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.95925415399995 meters Centerline goodness [0,1] 0.9992937701971023 Centerline is valid? [True, True] Translation: X:363.51, Y:5.66, Z:3.33 [[ 9.99839580e-01 -8.34236328e-03 -1.58499042e-02 3.63509558e+02] [ 8.33983353e-03 9.99965198e-01 -2.25698535e-04 5.66411595e+00] [ 1.58512354e-02 9.34767659e-05 9.99874357e-01 3.32948659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.989254154 meters Centerline goodness [0,1] 0.9992505674275192 Centerline is valid? [True, True] Translation: X:363.54, Y:5.67, Z:3.33 [[ 9.99863680e-01 -5.79593290e-03 -1.54605394e-02 3.63537966e+02] [ 5.79316110e-03 9.99983194e-01 -2.24061899e-04 5.66564853e+00] [ 1.54615782e-02 1.34465959e-04 9.99880454e-01 3.33019199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.01925415399995 meters Centerline goodness [0,1] 0.9992505674275192 Centerline is valid? [True, True] Translation: X:363.57, Y:5.67, Z:3.33 [[ 9.99861936e-01 -6.08960985e-03 -1.54604776e-02 3.63565347e+02] [ 6.08680825e-03 9.99981449e-01 -2.28259419e-04 5.66611312e+00] [ 1.54615808e-02 1.34122942e-04 9.99880454e-01 3.33044935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.049254154 meters Centerline goodness [0,1] 0.9992096550250988 Centerline is valid? [True, True] Translation: X:363.59, Y:5.67, Z:3.33 [[ 9.99885785e-01 -2.72476261e-03 -1.48657959e-02 3.63593157e+02] [ 2.72175382e-03 9.99996271e-01 -2.22624827e-04 5.66747668e+00] [ 1.48663471e-02 1.82138363e-04 9.99889473e-01 3.33051743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07925415399995 meters Centerline goodness [0,1] 0.9993364726027397 Centerline is valid? [True, True] Translation: X:363.62, Y:5.66, Z:3.33 [[ 9.99875809e-01 -3.41293730e-03 -1.53856794e-02 3.63621486e+02] [ 3.40975533e-03 9.99994160e-01 -2.33041411e-04 5.66480126e+00] [ 1.53863849e-02 1.80551067e-04 9.99881606e-01 3.33048377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1092541539999 meters Centerline goodness [0,1] 0.9992332105050161 Centerline is valid? [True, True] Translation: X:363.65, Y:5.66, Z:3.33 [[ 9.99867802e-01 -5.11994315e-03 -1.54325550e-02 3.63650185e+02] [ 5.11689609e-03 9.99986881e-01 -2.36923613e-04 5.66274960e+00] [ 1.54335655e-02 1.57925512e-04 9.99880883e-01 3.33065246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13925415399996 meters Centerline goodness [0,1] 0.9993172022361627 Centerline is valid? [True, True] Translation: X:363.68, Y:5.66, Z:3.33 [[ 9.99852003e-01 -7.79102330e-03 -1.53385857e-02 3.63677833e+02] [ 7.78830885e-03 9.99969643e-01 -2.36695585e-04 5.66039073e+00] [ 1.53399641e-02 1.17198912e-04 9.99882329e-01 3.33065826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16925415399993 meters Centerline goodness [0,1] 0.9992533333333333 Centerline is valid? [True, True] Translation: X:363.71, Y:5.66, Z:3.33 [[ 9.99823680e-01 -1.12543189e-02 -1.50316290e-02 3.63707154e+02] [ 1.12520799e-02 9.99936666e-01 -2.33518833e-04 5.65676413e+00] [ 1.50333050e-02 6.43405685e-05 9.99886991e-01 3.33140458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19925415399996 meters Centerline goodness [0,1] 0.9990213807041805 Centerline is valid? [True, True] Translation: X:363.73, Y:5.65, Z:3.33 [[ 9.99702751e-01 -1.95791333e-02 -1.45281253e-02 3.63734653e+02] [ 1.95778969e-02 9.99808309e-01 -2.27335168e-04 5.64876153e+00] [ 1.45297914e-02 -5.71625456e-05 9.99894435e-01 3.33192248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22925415399993 meters Centerline goodness [0,1] 0.9990026101903529 Centerline is valid? [True, True] Translation: X:363.76, Y:5.64, Z:3.33 [[ 9.99604116e-01 -2.41525268e-02 -1.44314691e-02 3.63763707e+02] [ 2.41517686e-02 9.99708278e-01 -2.26844562e-04 5.64421268e+00] [ 1.44327380e-02 -1.21790744e-04 9.99895835e-01 3.33230207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25925415399996 meters Centerline goodness [0,1] 0.9991312086794372 Centerline is valid? [True, True] Translation: X:363.79, Y:5.64, Z:3.33 [[ 9.99471298e-01 -2.88340116e-02 -1.50241173e-02 3.63794048e+02] [ 2.88337135e-02 9.99584194e-01 -2.36503577e-04 5.64045091e+00] [ 1.50246895e-02 -1.96822555e-04 9.99887104e-01 3.33261322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28925415399993 meters Centerline goodness [0,1] 0.9988147646461226 Centerline is valid? [True, True] Translation: X:363.82, Y:5.63, Z:3.33 [[ 9.99159355e-01 -3.75004848e-02 -1.65619008e-02 3.63824767e+02] [ 3.75013180e-02 9.99296544e-01 -2.60370858e-04 5.62994654e+00] [ 1.65600142e-02 -3.60941127e-04 9.99862808e-01 3.33131335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31925415399996 meters Centerline goodness [0,1] 0.9985262847638897 Centerline is valid? [True, True] Translation: X:363.86, Y:5.63, Z:3.33 [[ 9.98991392e-01 -4.13108009e-02 -1.75959190e-02 3.63855401e+02] [ 4.13123452e-02 9.99146243e-01 -2.75872021e-04 5.62516061e+00] [ 1.75922929e-02 -4.51334907e-04 9.99845142e-01 3.33038597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34925415399994 meters Centerline goodness [0,1] 0.9986481919567421 Centerline is valid? [True, True] Translation: X:363.89, Y:5.62, Z:3.33 [[ 9.98675302e-01 -4.80548096e-02 -1.83950213e-02 3.63886575e+02] [ 4.80576493e-02 9.98844522e-01 -2.87901861e-04 5.61846137e+00] [ 1.83876013e-02 -5.96501003e-04 9.99830756e-01 3.33050501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37925415399997 meters Centerline goodness [0,1] 0.9986915414485903 Centerline is valid? [True, True] Translation: X:363.92, Y:5.62, Z:3.33 [[ 9.98548643e-01 -5.05760630e-02 -1.85113140e-02 3.63918416e+02] [ 5.05793834e-02 9.98720002e-01 -2.89069090e-04 5.61508768e+00] [ 1.85022395e-02 -6.47641302e-04 9.99828609e-01 3.33054479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40925415399994 meters Centerline goodness [0,1] 0.9986714186296632 Centerline is valid? [True, True] Translation: X:363.95, Y:5.62, Z:3.33 [[ 9.98456403e-01 -5.23141623e-02 -1.86557982e-02 3.63950618e+02] [ 5.23178598e-02 9.98630441e-01 -2.90141405e-04 5.61536628e+00] [ 1.86454265e-02 -6.86337892e-04 9.99825923e-01 3.33155866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43925415399997 meters Centerline goodness [0,1] 0.9985689031063221 Centerline is valid? [True, True] Translation: X:363.98, Y:5.61, Z:3.33 [[ 9.98353931e-01 -5.42773150e-02 -1.85310735e-02 3.63982440e+02] [ 5.42813229e-02 9.98525641e-01 -2.87014449e-04 5.61196677e+00] [ 1.85193304e-02 -7.19349178e-04 9.99828244e-01 3.33200314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46925415399994 meters Centerline goodness [0,1] 0.9986516096409911 Centerline is valid? [True, True] Translation: X:364.02, Y:5.61, Z:3.33 [[ 9.98362597e-01 -5.42065719e-02 -1.82694216e-02 3.64015115e+02] [ 5.42104768e-02 9.98529491e-01 -2.81793850e-04 5.61214325e+00] [ 1.82578313e-02 -7.09061616e-04 9.99833060e-01 3.33278625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49925415399997 meters Centerline goodness [0,1] 0.998567486148855 Centerline is valid? [True, True] Translation: X:364.05, Y:5.61, Z:3.33 [[ 9.98373997e-01 -5.39463808e-02 -1.84160395e-02 3.64046102e+02] [ 5.39503265e-02 9.98543581e-01 -2.82854670e-04 5.60746807e+00] [ 1.84044770e-02 -7.11156599e-04 9.99830370e-01 3.33185841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.52925415399994 meters Centerline goodness [0,1] 0.9986970957844744 Centerline is valid? [True, True] Translation: X:364.08, Y:5.61, Z:3.33 [[ 9.98456554e-01 -5.19680956e-02 -1.95915121e-02 3.64077869e+02] [ 5.19722068e-02 9.98648487e-01 -2.99596662e-04 5.61242054e+00] [ 1.95806033e-02 -7.19079866e-04 9.99808023e-01 3.33264120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.559254154 meters Centerline goodness [0,1] 0.9986961093585699 Centerline is valid? [True, True] Translation: X:364.11, Y:5.61, Z:3.33 [[ 9.98503641e-01 -5.10059253e-02 -1.97199154e-02 3.64110399e+02] [ 5.10099321e-02 9.98698101e-01 -3.00094031e-04 5.61218964e+00] [ 1.97095486e-02 -7.06266561e-04 9.99805499e-01 3.33256193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.58925415399995 meters Centerline goodness [0,1] 0.9985943564460296 Centerline is valid? [True, True] Translation: X:364.14, Y:5.61, Z:3.33 [[ 9.98613222e-01 -4.85039194e-02 -2.04695620e-02 3.64141783e+02] [ 4.85077348e-02 9.98822759e-01 -3.10376273e-04 5.61269967e+00] [ 2.04605188e-02 -6.82986234e-04 9.99790428e-01 3.33204550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.619254154 meters Centerline goodness [0,1] 0.9988240235195296 Centerline is valid? [True, True] Translation: X:364.17, Y:5.61, Z:3.33 [[ 9.98650855e-01 -4.74889811e-02 -2.10063500e-02 3.64173339e+02] [ 4.74927914e-02 9.98871530e-01 -3.17735036e-04 5.61417315e+00] [ 2.09977339e-02 -6.80343834e-04 9.99779292e-01 3.33198473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.64925415399995 meters Centerline goodness [0,1] 0.9988869988869988 Centerline is valid? [True, True] Translation: X:364.21, Y:5.62, Z:3.33 [[ 9.98693279e-01 -4.63255850e-02 -2.15794822e-02 3.64205113e+02] [ 4.63293521e-02 9.98926166e-01 -3.25604992e-04 5.61502390e+00] [ 2.15713933e-02 -6.74583913e-04 9.99767083e-01 3.33199305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.679254154 meters Centerline goodness [0,1] 0.9988022442161003 Centerline is valid? [True, True] Translation: X:364.24, Y:5.62, Z:3.33 [[ 9.98749538e-01 -4.42505128e-02 -2.32648131e-02 3.64236509e+02] [ 4.42543497e-02 9.99020235e-01 -3.50160355e-04 5.61738113e+00] [ 2.32575138e-02 -6.79846679e-04 9.99729276e-01 3.33144739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.70925415399995 meters Centerline goodness [0,1] 0.9987390719569603 Centerline is valid? [True, True] Translation: X:364.27, Y:5.62, Z:3.33 [[ 9.98768038e-01 -4.33364489e-02 -2.41734978e-02 3.64267068e+02] [ 4.33403326e-02 9.99060300e-01 -3.63483283e-04 5.61895674e+00] [ 2.41665341e-02 -6.84651951e-04 9.99707712e-01 3.33149183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.739254154 meters Centerline goodness [0,1] 0.9985712484766988 Centerline is valid? [True, True] Translation: X:364.30, Y:5.62, Z:3.33 [[ 9.98787400e-01 -4.25002790e-02 -2.48486652e-02 3.64296997e+02] [ 4.25041174e-02 9.99096222e-01 -3.73914844e-04 5.61994884e+00] [ 2.48420990e-02 -6.82709146e-04 9.99691154e-01 3.33084496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.76925415399995 meters Centerline goodness [0,1] 0.9986517232662004 Centerline is valid? [True, True] Translation: X:364.33, Y:5.62, Z:3.33 [[ 9.98812578e-01 -4.15966065e-02 -2.53605279e-02 3.64326386e+02] [ 4.16002945e-02 9.99134260e-01 -3.82377002e-04 5.62238931e+00] [ 2.53544778e-02 -6.73082470e-04 9.99678297e-01 3.33152857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.799254154 meters Centerline goodness [0,1] 0.9985245452437662 Centerline is valid? [True, True] Translation: X:364.36, Y:5.62, Z:3.33 [[ 9.98856349e-01 -4.02313577e-02 -2.58347070e-02 3.64355962e+02] [ 4.02347119e-02 9.99190180e-01 -3.90176537e-04 5.62347926e+00] [ 2.58294829e-02 -6.49721680e-04 9.99666152e-01 3.33137637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.82925415399995 meters Centerline goodness [0,1] 0.9988840930624276 Centerline is valid? [True, True] Translation: X:364.38, Y:5.62, Z:3.33 [[ 9.98883549e-01 -3.99921832e-02 -2.51452076e-02 3.64384492e+02] [ 3.99951830e-02 9.99199799e-01 -3.83813841e-04 5.62480200e+00] [ 2.51404360e-02 -6.22301848e-04 9.99683736e-01 3.33236552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8592541539999 meters Centerline goodness [0,1] 0.998757528534726 Centerline is valid? [True, True] Translation: X:364.41, Y:5.63, Z:3.34 [[ 9.98932887e-01 -3.94114948e-02 -2.40794793e-02 3.64414176e+02] [ 3.94140111e-02 9.99222897e-01 -3.70282144e-04 5.62844249e+00] [ 2.40753604e-02 -5.79181851e-04 9.99709979e-01 3.33504470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.88925415399996 meters Centerline goodness [0,1] 0.998754617414248 Centerline is valid? [True, True] Translation: X:364.44, Y:5.63, Z:3.34 [[ 9.98965228e-01 -3.90793261e-02 -2.32654258e-02 3.64443933e+02] [ 3.90815716e-02 9.99235959e-01 -3.58335684e-04 5.62823247e+00] [ 2.32616535e-02 -5.51284514e-04 9.99729259e-01 3.33534899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91925415399993 meters Centerline goodness [0,1] 0.998544549443132 Centerline is valid? [True, True] Translation: X:364.47, Y:5.63, Z:3.34 [[ 9.98985107e-01 -3.92321582e-02 -2.21267590e-02 3.64474763e+02] [ 3.92342231e-02 9.99229983e-01 -3.40956294e-04 5.62961390e+00] [ 2.21230975e-02 -5.27515939e-04 9.99755115e-01 3.33701354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.94925415399996 meters Centerline goodness [0,1] 0.9985447336229806 Centerline is valid? [True, True] Translation: X:364.50, Y:5.63, Z:3.34 [[ 9.98994125e-01 -3.94893668e-02 -2.12444840e-02 3.64504935e+02] [ 3.94913327e-02 9.99219860e-01 -3.27153261e-04 5.62982148e+00] [ 2.12408294e-02 -5.12148799e-04 9.99774257e-01 3.33739984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97925415399993 meters Centerline goodness [0,1] 0.9985850351629322 Centerline is valid? [True, True] Translation: X:364.54, Y:5.63, Z:3.34 [[ 9.98989636e-01 -3.95821281e-02 -2.12829346e-02 3.64536297e+02] [ 3.95841347e-02 9.99216187e-01 -3.27154558e-04 5.63197594e+00] [ 2.12792022e-02 -5.15642536e-04 9.99773439e-01 3.33847412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.00925415399996 meters Centerline goodness [0,1] 0.9986719227607143 Centerline is valid? [True, True] Translation: X:364.57, Y:5.63, Z:3.34 [[ 9.98993399e-01 -3.96270752e-02 -2.10210454e-02 3.64567191e+02] [ 3.96290586e-02 9.99214408e-01 -3.22370879e-04 5.63404732e+00] [ 2.10173061e-02 -5.10997859e-04 9.99778981e-01 3.33947857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03925415399993 meters Centerline goodness [0,1] 0.9986730416833414 Centerline is valid? [True, True] Translation: X:364.60, Y:5.64, Z:3.34 [[ 9.99000928e-01 -3.94672612e-02 -2.09638043e-02 3.64598462e+02] [ 3.94692147e-02 9.99220735e-01 -3.20725904e-04 5.63554873e+00] [ 2.09601261e-02 -5.07019416e-04 9.99780184e-01 3.33986657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06925415399996 meters Centerline goodness [0,1] 0.9985826105352232 Centerline is valid? [True, True] Translation: X:364.63, Y:5.64, Z:3.34 [[ 9.98995181e-01 -3.92702939e-02 -2.15979582e-02 3.64630032e+02] [ 3.92723387e-02 9.99228490e-01 -3.29628481e-04 5.63727223e+00] [ 2.15942398e-02 -5.18905066e-04 9.99766683e-01 3.33958915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09925415399994 meters Centerline goodness [0,1] 0.9987104957192686 Centerline is valid? [True, True] Translation: X:364.66, Y:5.64, Z:3.34 [[ 9.99003164e-01 -3.89904759e-02 -2.17352538e-02 3.64661285e+02] [ 3.89924980e-02 9.99239449e-01 -3.30929135e-04 5.63827842e+00] [ 2.17316261e-02 -5.16912588e-04 9.99763707e-01 3.33953804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12925415399997 meters Centerline goodness [0,1] 0.9989420228523064 Centerline is valid? [True, True] Translation: X:364.69, Y:5.64, Z:3.34 [[ 9.99004901e-01 -3.87444626e-02 -2.20923991e-02 3.64692640e+02] [ 3.87465096e-02 9.99249016e-01 -3.35549688e-04 5.63961951e+00] [ 2.20888087e-02 -5.20787571e-04 9.99755877e-01 3.34001768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15925415399994 meters Centerline goodness [0,1] 0.9985628843755944 Centerline is valid? [True, True] Translation: X:364.72, Y:5.64, Z:3.34 [[ 9.99046331e-01 -3.73867589e-02 -2.25534532e-02 3.64721896e+02] [ 3.73885490e-02 9.99300745e-01 -3.42441254e-04 5.63817572e+00] [ 2.25504854e-02 -5.01126214e-04 9.99745580e-01 3.33859825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18925415399997 meters Centerline goodness [0,1] 0.9988791371470868 Centerline is valid? [True, True] Translation: X:364.75, Y:5.64, Z:3.34 [[ 9.99103532e-01 -3.65200652e-02 -2.14106602e-02 3.64751982e+02] [ 3.65214760e-02 9.99332815e-01 -3.25252645e-04 5.64117510e+00] [ 2.14082536e-02 -4.56987847e-04 9.99770713e-01 3.34035016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21925415399994 meters Centerline goodness [0,1] 0.9987955625990491 Centerline is valid? [True, True] Translation: X:364.78, Y:5.64, Z:3.34 [[ 9.99215159e-01 -3.36340747e-02 -2.09240114e-02 3.64781052e+02] [ 3.36347853e-02 9.99434140e-01 -3.18061731e-04 5.64424594e+00] [ 2.09228690e-02 -3.85962527e-04 9.99781018e-01 3.34105453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24925415399997 meters Centerline goodness [0,1] 0.9989405432894012 Centerline is valid? [True, True] Translation: X:364.81, Y:5.65, Z:3.34 [[ 9.99264041e-01 -3.21413953e-02 -2.09357657e-02 3.64811164e+02] [ 3.21417714e-02 9.99483269e-01 -3.18615246e-04 5.64759068e+00] [ 2.09351883e-02 -3.54531836e-04 9.99780772e-01 3.34225740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27925415399994 meters Centerline goodness [0,1] 0.9987496821225735 Centerline is valid? [True, True] Translation: X:364.84, Y:5.65, Z:3.34 [[ 9.99315137e-01 -3.05012400e-02 -2.09506776e-02 3.64840355e+02] [ 3.05012438e-02 9.99534678e-01 -3.19439037e-04 5.64938157e+00] [ 2.09506721e-02 -3.19801459e-04 9.99780459e-01 3.34227389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.309254154 meters Centerline goodness [0,1] 0.9988332131189274 Centerline is valid? [True, True] Translation: X:364.87, Y:5.65, Z:3.34 [[ 9.99408795e-01 -2.73106010e-02 -2.08851914e-02 3.64869067e+02] [ 2.73098879e-02 9.99626964e-01 -3.19414113e-04 5.65125455e+00] [ 2.08861239e-02 -2.51146962e-04 9.99781830e-01 3.34230474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.33925415399995 meters Centerline goodness [0,1] 0.998874949585005 Centerline is valid? [True, True] Translation: X:364.90, Y:5.65, Z:3.34 [[ 9.99441567e-01 -2.61445857e-02 -2.08090094e-02 3.64898075e+02] [ 2.61435525e-02 9.99658147e-01 -3.21739622e-04 5.65269765e+00] [ 2.08103075e-02 -2.22461477e-04 9.99783417e-01 3.34314393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.369254154 meters Centerline goodness [0,1] 0.9988362497619602 Centerline is valid? [True, True] Translation: X:364.93, Y:5.65, Z:3.34 [[ 9.99511530e-01 -2.40585376e-02 -1.99471186e-02 3.64925436e+02] [ 2.40571067e-02 9.99710537e-01 -3.11725715e-04 5.65325840e+00] [ 1.99488443e-02 -1.68296513e-04 9.99800988e-01 3.34339376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.39925415399995 meters Centerline goodness [0,1] 0.9987722009356675 Centerline is valid? [True, True] Translation: X:364.95, Y:5.65, Z:3.34 [[ 9.99516836e-01 -2.38549192e-02 -1.99257959e-02 3.64953367e+02] [ 2.38534147e-02 9.99715418e-01 -3.13208655e-04 5.65253105e+00] [ 1.99275969e-02 -1.62240949e-04 9.99801413e-01 3.34239615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.429254154 meters Centerline goodness [0,1] 0.9989636429009539 Centerline is valid? [True, True] Translation: X:364.98, Y:5.65, Z:3.34 [[ 9.99519833e-01 -2.42442688e-02 -1.92955640e-02 3.64982292e+02] [ 2.42428647e-02 9.99706052e-01 -3.06712921e-04 5.65371840e+00] [ 1.92973282e-02 -1.61214100e-04 9.99813776e-01 3.34462257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.45925415399995 meters Centerline goodness [0,1] 0.9987789473684211 Centerline is valid? [True, True] Translation: X:365.01, Y:5.65, Z:3.34 [[ 9.99479464e-01 -2.62326498e-02 -1.87789530e-02 3.65011168e+02] [ 2.62315802e-02 9.99655847e-01 -3.03318585e-04 5.65132600e+00] [ 1.87804471e-02 -1.89440916e-04 9.99823614e-01 3.34467924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.489254154 meters Centerline goodness [0,1] 0.9987753119787157 Centerline is valid? [True, True] Translation: X:365.04, Y:5.65, Z:3.34 [[ 9.99431389e-01 -2.79775249e-02 -1.88190343e-02 3.65040007e+02] [ 2.79767044e-02 9.99608528e-01 -3.06918181e-04 5.64898685e+00] [ 1.88202540e-02 -2.19750896e-04 9.99822859e-01 3.34407242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.51925415399995 meters Centerline goodness [0,1] 0.9985438429882875 Centerline is valid? [True, True] Translation: X:365.07, Y:5.65, Z:3.34 [[ 9.99381555e-01 -2.98205044e-02 -1.86345164e-02 3.65070039e+02] [ 2.98200077e-02 9.99555238e-01 -3.04585260e-04 5.64751108e+00] [ 1.86353114e-02 -2.51284532e-04 9.99826316e-01 3.34432547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.549254154 meters Centerline goodness [0,1] 0.9988388540545106 Centerline is valid? [True, True] Translation: X:365.10, Y:5.65, Z:3.34 [[ 9.99323578e-01 -3.18058892e-02 -1.84600258e-02 3.65100319e+02] [ 3.18057372e-02 9.99494024e-01 -3.01899583e-04 5.64621611e+00] [ 1.84602877e-02 -2.85439358e-04 9.99829554e-01 3.34488743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57925415399995 meters Centerline goodness [0,1] 0.9989874058603886 Centerline is valid? [True, True] Translation: X:365.13, Y:5.64, Z:3.35 [[ 9.99154768e-01 -3.67295877e-02 -1.84577280e-02 3.65130794e+02] [ 3.67302754e-02 9.99325170e-01 -3.01862003e-04 5.64228293e+00] [ 1.84563594e-02 -3.76350572e-04 9.99829596e-01 3.34504993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6092541539999 meters Centerline goodness [0,1] 0.9987236090477286 Centerline is valid? [True, True] Translation: X:365.16, Y:5.64, Z:3.34 [[ 9.99075710e-01 -3.87749804e-02 -1.85533599e-02 3.65160784e+02] [ 3.87760432e-02 9.99247881e-01 -3.02587671e-04 5.63971216e+00] [ 1.85511383e-02 -4.17117892e-04 9.99827826e-01 3.34491337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63925415399996 meters Centerline goodness [0,1] 0.9986547839246679 Centerline is valid? [True, True] Translation: X:365.19, Y:5.64, Z:3.35 [[ 9.98986112e-01 -4.11728552e-02 -1.82083307e-02 3.65192371e+02] [ 4.11742981e-02 9.99151935e-01 -2.95799362e-04 5.63795600e+00] [ 1.82050678e-02 -4.54215781e-04 9.99834171e-01 3.34506391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66925415399993 meters Centerline goodness [0,1] 0.9986542464831676 Centerline is valid? [True, True] Translation: X:365.22, Y:5.63, Z:3.34 [[ 9.98806456e-01 -4.52820605e-02 -1.83084148e-02 3.65224034e+02] [ 4.52842212e-02 9.98974099e-01 -2.96756455e-04 5.63371446e+00] [ 1.83030699e-02 -5.32680039e-04 9.99832343e-01 3.34472082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69925415399996 meters Centerline goodness [0,1] 0.9986555751617511 Centerline is valid? [True, True] Translation: X:365.26, Y:5.63, Z:3.35 [[ 9.98744251e-01 -4.67049320e-02 -1.81264978e-02 3.65256637e+02] [ 4.67073019e-02 9.98908576e-01 -2.92821742e-04 5.63300921e+00] [ 1.81203903e-02 -5.54185771e-04 9.99835659e-01 3.34504261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72925415399993 meters Centerline goodness [0,1] 0.9982762607470939 Centerline is valid? [True, True] Translation: X:365.29, Y:5.63, Z:3.34 [[ 9.98704057e-01 -4.74785929e-02 -1.83299968e-02 3.65289201e+02] [ 4.74811715e-02 9.98872090e-01 -2.94744921e-04 5.63166947e+00] [ 1.83233162e-02 -5.75966771e-04 9.99831948e-01 3.34497018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75925415399996 meters Centerline goodness [0,1] 0.9985722084575652 Centerline is valid? [True, True] Translation: X:365.32, Y:5.63, Z:3.35 [[ 9.98594903e-01 -4.97898427e-02 -1.81436131e-02 3.65320182e+02] [ 4.97927714e-02 9.98759528e-01 -2.90578690e-04 5.62908556e+00] [ 1.81355744e-02 -6.13250382e-04 9.99835349e-01 3.34519725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78925415399993 meters Centerline goodness [0,1] 0.9988234058199391 Centerline is valid? [True, True] Translation: X:365.35, Y:5.63, Z:3.34 [[ 9.98563023e-01 -5.04994295e-02 -1.79359313e-02 3.65351642e+02] [ 5.05024233e-02 9.98723897e-01 -2.86274217e-04 5.62585120e+00] [ 1.79274999e-02 -6.19945149e-04 9.99839097e-01 3.34476913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81925415399996 meters Centerline goodness [0,1] 0.9987148966650515 Centerline is valid? [True, True] Translation: X:365.38, Y:5.62, Z:3.35 [[ 9.98546800e-01 -5.09966050e-02 -1.74251025e-02 3.65383988e+02] [ 5.09995247e-02 9.98698639e-01 -2.77057679e-04 5.62490022e+00] [ 1.74165552e-02 -6.12016889e-04 9.99848133e-01 3.34517382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84925415399994 meters Centerline goodness [0,1] 0.9986552361741469 Centerline is valid? [True, True] Translation: X:365.42, Y:5.62, Z:3.35 [[ 9.98538058e-01 -5.11491721e-02 -1.74787945e-02 3.65416612e+02] [ 5.11521547e-02 9.98690833e-01 -2.76684926e-04 5.62397061e+00] [ 1.74700640e-02 -6.17797570e-04 9.99847196e-01 3.34514877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87925415399997 meters Centerline goodness [0,1] 0.998675580221998 Centerline is valid? [True, True] Translation: X:365.45, Y:5.62, Z:3.35 [[ 9.98600487e-01 -4.99893204e-02 -1.72666056e-02 3.65449265e+02] [ 4.99920827e-02 9.98749577e-01 -2.71886310e-04 5.62436201e+00] [ 1.72586065e-02 -5.91687775e-04 9.99850884e-01 3.34544842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90925415399994 meters Centerline goodness [0,1] 0.9990539063157009 Centerline is valid? [True, True] Translation: X:365.48, Y:5.62, Z:3.35 [[ 9.98659059e-01 -4.88577832e-02 -1.71172599e-02 3.65480081e+02] [ 4.88603548e-02 9.98805584e-01 -2.68194502e-04 5.62416426e+00] [ 1.71099182e-02 -5.68520522e-04 9.99853453e-01 3.34536403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93925415399997 meters Centerline goodness [0,1] 0.9990539063157009 Centerline is valid? [True, True] Translation: X:365.51, Y:5.62, Z:3.35 [[ 9.98662473e-01 -4.87879533e-02 -1.71172761e-02 3.65511784e+02] [ 4.87905323e-02 9.98808997e-01 -2.67160367e-04 5.62459581e+00] [ 1.71099235e-02 -5.68357978e-04 9.99853453e-01 3.34566093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96925415399994 meters Centerline goodness [0,1] 0.9988029988029988 Centerline is valid? [True, True] Translation: X:365.54, Y:5.63, Z:3.35 [[ 9.98806862e-01 -4.56748470e-02 -1.72818205e-02 3.65543291e+02] [ 4.56770268e-02 9.98956224e-01 -2.68775112e-04 5.62940709e+00] [ 1.72760585e-02 -5.20927754e-04 9.99850622e-01 3.34629976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99925415399997 meters Centerline goodness [0,1] 0.9988011105502271 Centerline is valid? [True, True] Translation: X:365.57, Y:5.63, Z:3.35 [[ 9.98893067e-01 -4.35775230e-02 -1.77098732e-02 3.65574216e+02] [ 4.35794972e-02 9.99049925e-01 -2.74621696e-04 5.62906839e+00] [ 1.77050148e-02 -4.97469661e-04 9.99843130e-01 3.34584765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.02925415399994 meters Centerline goodness [0,1] 0.9988218959060883 Centerline is valid? [True, True] Translation: X:365.61, Y:5.63, Z:3.35 [[ 9.98987152e-01 -4.11070815e-02 -1.82996821e-02 3.65605960e+02] [ 4.11087937e-02 9.99154636e-01 -2.82755125e-04 5.63233085e+00] [ 1.82958355e-02 -4.69809121e-04 9.99832507e-01 3.34627198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.059254154 meters Centerline goodness [0,1] 0.9987593313005994 Centerline is valid? [True, True] Translation: X:365.64, Y:5.64, Z:3.35 [[ 9.99218294e-01 -3.49604130e-02 -1.84545589e-02 3.65636486e+02] [ 3.49611318e-02 9.99388632e-01 -2.83771139e-04 5.63508774e+00] [ 1.84531971e-02 -3.61642951e-04 9.99829660e-01 3.34553054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.08925415399995 meters Centerline goodness [0,1] 0.998967246975509 Centerline is valid? [True, True] Translation: X:365.67, Y:5.64, Z:3.35 [[ 9.99317836e-01 -3.20133946e-02 -1.84121093e-02 3.65666338e+02] [ 3.20136265e-02 9.99487393e-01 -2.82227662e-04 5.63738005e+00] [ 1.84117062e-02 -3.07403255e-04 9.99830443e-01 3.34584356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.119254154 meters Centerline goodness [0,1] 0.9991133628879038 Centerline is valid? [True, True] Translation: X:365.70, Y:5.64, Z:3.35 [[ 9.99421573e-01 -2.89710787e-02 -1.78099946e-02 3.65696628e+02] [ 2.89708126e-02 9.99580221e-01 -2.72998223e-04 5.63999915e+00] [ 1.78104274e-02 -2.43129703e-04 9.99841352e-01 3.34614554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.14925415399995 meters Centerline goodness [0,1] 0.9990293105995062 Centerline is valid? [True, True] Translation: X:365.73, Y:5.65, Z:3.35 [[ 9.99579197e-01 -2.28986322e-02 -1.78068122e-02 3.65726613e+02] [ 2.28973999e-02 9.99737783e-01 -2.73106283e-04 5.64604903e+00] [ 1.78083967e-02 -1.34738341e-04 9.99841409e-01 3.34807793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.179254154 meters Centerline goodness [0,1] 0.9989260444743935 Centerline is valid? [True, True] Translation: X:365.75, Y:5.65, Z:3.35 [[ 9.99617338e-01 -2.16920658e-02 -1.71648480e-02 3.65754656e+02] [ 2.16907214e-02 9.99764694e-01 -2.64510765e-04 5.64773586e+00] [ 1.71665468e-02 -1.07908389e-04 9.99852638e-01 3.34894506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.20925415399995 meters Centerline goodness [0,1] 0.9991345646437995 Centerline is valid? [True, True] Translation: X:365.78, Y:5.65, Z:3.35 [[ 9.99652515e-01 -2.04750294e-02 -1.66018632e-02 3.65782963e+02] [ 2.04735520e-02 9.99790361e-01 -2.58964186e-04 5.64917382e+00] [ 1.66036851e-02 -8.10249096e-05 9.99862146e-01 3.34948881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.239254154 meters Centerline goodness [0,1] 0.9990072869363185 Centerline is valid? [True, True] Translation: X:365.81, Y:5.65, Z:3.35 [[ 9.99674055e-01 -1.93387498e-02 -1.66672372e-02 3.65811401e+02] [ 1.93370310e-02 9.99812987e-01 -2.64291072e-04 5.65003652e+00] [ 1.66692313e-02 -5.80899552e-05 9.99861057e-01 3.34995609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.26925415399995 meters Centerline goodness [0,1] 0.9990503524247668 Centerline is valid? [True, True] Translation: X:365.84, Y:5.65, Z:3.35 [[ 9.99665989e-01 -1.94674089e-02 -1.69979751e-02 3.65839338e+02] [ 1.94655595e-02 9.99810490e-01 -2.74256776e-04 5.65023088e+00] [ 1.70000929e-02 -5.67099251e-05 9.99855486e-01 3.35019311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.299254154 meters Centerline goodness [0,1] 0.9992612293144209 Centerline is valid? [True, True] Translation: X:365.87, Y:5.65, Z:3.35 [[ 9.99613938e-01 -2.11153553e-02 -1.80587211e-02 3.65868029e+02] [ 2.11134425e-02 9.99777042e-01 -2.96593470e-04 5.64900394e+00] [ 1.80609574e-02 -8.48028026e-05 9.99836884e-01 3.35043336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.32925415399995 meters Centerline goodness [0,1] 0.9991986165591126 Centerline is valid? [True, True] Translation: X:365.90, Y:5.65, Z:3.35 [[ 9.99581755e-01 -2.25247367e-02 -1.81370354e-02 3.65895616e+02] [ 2.25229474e-02 9.99746280e-01 -3.02944524e-04 5.64818382e+00] [ 1.81392574e-02 -1.05681675e-04 9.99835465e-01 3.35061613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3592541539999 meters Centerline goodness [0,1] 0.9990083969787755 Centerline is valid? [True, True] Translation: X:365.92, Y:5.65, Z:3.35 [[ 9.99535231e-01 -2.44965882e-02 -1.81449453e-02 3.65924536e+02] [ 2.44950302e-02 9.99699904e-01 -3.08143056e-04 5.64721843e+00] [ 1.81470485e-02 -1.36461142e-04 9.99835319e-01 3.35094307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.38925415399996 meters Centerline goodness [0,1] 0.9986705775601933 Centerline is valid? [True, True] Translation: X:365.95, Y:5.64, Z:3.35 [[ 9.99426742e-01 -2.86166804e-02 -1.80907041e-02 3.65952714e+02] [ 2.86157511e-02 9.99590437e-01 -3.10280550e-04 5.64404556e+00] [ 1.80921740e-02 -2.07576407e-04 9.99836302e-01 3.35115550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41925415399993 meters Centerline goodness [0,1] 0.9987994945240101 Centerline is valid? [True, True] Translation: X:365.98, Y:5.64, Z:3.35 [[ 9.99355965e-01 -3.09255742e-02 -1.82006437e-02 3.65982774e+02] [ 3.09250008e-02 9.99521659e-01 -3.13020449e-04 5.64297023e+00] [ 1.82016179e-02 -2.50036069e-04 9.99834306e-01 3.35198464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.44925415399996 meters Centerline goodness [0,1] 0.9988211022693781 Centerline is valid? [True, True] Translation: X:366.01, Y:5.64, Z:3.35 [[ 9.99286745e-01 -3.32359830e-02 -1.79268309e-02 3.66013195e+02] [ 3.32357953e-02 9.99447491e-01 -3.08481689e-04 5.64173705e+00] [ 1.79271789e-02 -2.87550820e-04 9.99839254e-01 3.35216986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47925415399993 meters Centerline goodness [0,1] 0.998991998991999 Centerline is valid? [True, True] Translation: X:366.04, Y:5.64, Z:3.35 [[ 9.99138573e-01 -3.73772230e-02 -1.80292661e-02 3.66043824e+02] [ 3.73777070e-02 9.99301161e-01 -3.10244376e-04 5.63826412e+00] [ 1.80282627e-02 -3.63915504e-04 9.99837411e-01 3.35268375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.50925415399996 meters Centerline goodness [0,1] 0.9987616229036794 Centerline is valid? [True, True] Translation: X:366.07, Y:5.64, Z:3.35 [[ 9.99067253e-01 -3.92643152e-02 -1.79704510e-02 3.66074087e+02] [ 3.92651040e-02 9.99228781e-01 -3.09073065e-04 5.63637358e+00] [ 1.79687274e-02 -3.96826851e-04 9.99838471e-01 3.35240441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53925415399993 meters Centerline goodness [0,1] 0.9987390454574112 Centerline is valid? [True, True] Translation: X:366.11, Y:5.64, Z:3.35 [[ 9.98950820e-01 -4.17300806e-02 -1.88642603e-02 3.66105740e+02] [ 4.17313993e-02 9.99128813e-01 -3.23911914e-04 5.63552229e+00] [ 1.88613429e-02 -4.63659907e-04 9.99822002e-01 3.35269363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56925415399996 meters Centerline goodness [0,1] 0.9988246899070246 Centerline is valid? [True, True] Translation: X:366.14, Y:5.64, Z:3.35 [[ 9.98908541e-01 -4.25326878e-02 -1.93053626e-02 3.66136987e+02] [ 4.25342327e-02 9.99094955e-01 -3.30764673e-04 5.63572204e+00] [ 1.93019587e-02 -4.90735126e-04 9.99813579e-01 3.35286237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59925415399994 meters Centerline goodness [0,1] 0.9988655462184874 Centerline is valid? [True, True] Translation: X:366.17, Y:5.64, Z:3.35 [[ 9.98888689e-01 -4.28299537e-02 -1.96718653e-02 3.66167884e+02] [ 4.28316298e-02 9.99082248e-01 -3.36312637e-04 5.63630377e+00] [ 1.96682157e-02 -5.06639164e-04 9.99806434e-01 3.35314022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62925415399997 meters Centerline goodness [0,1] 0.9990546218487395 Centerline is valid? [True, True] Translation: X:366.20, Y:5.64, Z:3.35 [[ 9.98899046e-01 -4.26604612e-02 -1.95135974e-02 3.66199446e+02] [ 4.26620921e-02 9.99089503e-01 -3.32889412e-04 5.63702495e+00] [ 1.95100315e-02 -4.99967971e-04 9.99809536e-01 3.35352643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65925415399994 meters Centerline goodness [0,1] 0.9987398664258411 Centerline is valid? [True, True] Translation: X:366.23, Y:5.64, Z:3.35 [[ 9.98953816e-01 -4.10826706e-02 -2.00870056e-02 3.66230696e+02] [ 4.10840952e-02 9.99155634e-01 -3.41915310e-04 5.63824230e+00] [ 2.00840916e-02 -4.83698847e-04 9.99798177e-01 3.35394515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68925415399997 meters Centerline goodness [0,1] 0.9990124183143871 Centerline is valid? [True, True] Translation: X:366.26, Y:5.64, Z:3.35 [[ 9.98994204e-01 -4.05315215e-02 -1.91774689e-02 3.66261525e+02] [ 4.05327283e-02 9.99178158e-01 -3.25918667e-04 5.63587612e+00] [ 1.91749180e-02 -4.51724276e-04 9.99816042e-01 3.35319013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71925415399994 meters Centerline goodness [0,1] 0.998928886461965 Centerline is valid? [True, True] Translation: X:366.29, Y:5.64, Z:3.36 [[ 9.99067444e-01 -3.89480308e-02 -1.86357878e-02 3.66292468e+02] [ 3.89488968e-02 9.99241154e-01 -3.16617315e-04 5.64139699e+00] [ 1.86339778e-02 -4.09521325e-04 9.99826288e-01 3.35572152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74925415399997 meters Centerline goodness [0,1] 0.9990758438176052 Centerline is valid? [True, True] Translation: X:366.32, Y:5.64, Z:3.36 [[ 9.99108506e-01 -3.79789960e-02 -1.84333521e-02 3.66323989e+02] [ 3.79796833e-02 9.99278463e-01 -3.12916079e-04 5.64272036e+00] [ 1.84319360e-02 -3.87455758e-04 9.99830042e-01 3.35603678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77925415399994 meters Centerline goodness [0,1] 0.999053428691628 Centerline is valid? [True, True] Translation: X:366.35, Y:5.64, Z:3.36 [[ 9.99131340e-01 -3.72939762e-02 -1.85937002e-02 3.66354987e+02] [ 3.72945697e-02 9.99304266e-01 -3.14950711e-04 5.64362156e+00] [ 1.85925097e-02 -3.78766924e-04 9.99827073e-01 3.35623678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.809254154 meters Centerline goodness [0,1] 0.9987585220099319 Centerline is valid? [True, True] Translation: X:366.39, Y:5.64, Z:3.36 [[ 9.99163864e-01 -3.64350920e-02 -1.85487782e-02 3.66386761e+02] [ 3.64355473e-02 9.99335956e-01 -3.13509888e-04 5.64475173e+00] [ 1.85478837e-02 -3.62587133e-04 9.99827907e-01 3.35624731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.83925415399995 meters Centerline goodness [0,1] 0.9987803852300445 Centerline is valid? [True, True] Translation: X:366.42, Y:5.65, Z:3.36 [[ 9.99189429e-01 -3.53584467e-02 -1.92422909e-02 3.66418141e+02] [ 3.53587512e-02 9.99374631e-01 -3.24507023e-04 5.64677446e+00] [ 1.92417314e-02 -3.56139389e-04 9.99814797e-01 3.35600128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.869254154 meters Centerline goodness [0,1] 0.9992221007484652 Centerline is valid? [True, True] Translation: X:366.45, Y:5.65, Z:3.36 [[ 9.99201256e-01 -3.49476751e-02 -1.93780617e-02 3.66448035e+02] [ 3.49479171e-02 9.99389082e-01 -3.26260165e-04 5.64615044e+00] [ 1.93776253e-02 -3.51223328e-04 9.99812175e-01 3.35533057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.89925415399995 meters Centerline goodness [0,1] 0.9993056286165176 Centerline is valid? [True, True] Translation: X:366.48, Y:5.65, Z:3.36 [[ 9.99206610e-01 -3.45869766e-02 -1.97456867e-02 3.66478967e+02] [ 3.45871610e-02 9.99401630e-01 -3.32273348e-04 5.64746393e+00] [ 1.97453638e-02 -3.50937518e-04 9.99804980e-01 3.35552396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.929254154 meters Centerline goodness [0,1] 0.9988442221615147 Centerline is valid? [True, True] Translation: X:366.51, Y:5.65, Z:3.36 [[ 9.99205635e-01 -3.42970352e-02 -2.02931766e-02 3.66508511e+02] [ 3.42971662e-02 9.99411621e-01 -3.41682549e-04 5.64864541e+00] [ 2.02929552e-02 -3.54587322e-04 9.99794014e-01 3.35505144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.95925415399995 meters Centerline goodness [0,1] 0.9988049813409368 Centerline is valid? [True, True] Translation: X:366.54, Y:5.65, Z:3.36 [[ 9.99194726e-01 -3.40571091e-02 -2.12134875e-02 3.66538335e+02] [ 3.40571856e-02 9.99419822e-01 -3.57774809e-04 5.65021388e+00] [ 2.12133647e-02 -3.64984979e-04 9.99774905e-01 3.35541141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.989254154 meters Centerline goodness [0,1] 0.9989710421872703 Centerline is valid? [True, True] Translation: X:366.57, Y:5.65, Z:3.36 [[ 9.99198101e-01 -3.45504961e-02 -2.02340862e-02 3.66567766e+02] [ 3.45506525e-02 9.99402889e-01 -3.41963041e-04 5.65161416e+00] [ 2.02338192e-02 -3.57412058e-04 9.99795211e-01 3.35627277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.01925415399995 meters Centerline goodness [0,1] 0.9990336134453781 Centerline is valid? [True, True] Translation: X:366.60, Y:5.65, Z:3.36 [[ 9.99187472e-01 -3.52208354e-02 -1.95930863e-02 3.66598350e+02] [ 3.52211045e-02 9.99379489e-01 -3.31454463e-04 5.65362789e+00] [ 1.95926027e-02 -3.58904993e-04 9.99807982e-01 3.35827759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.049254154 meters Centerline goodness [0,1] 0.99895112229914 Centerline is valid? [True, True] Translation: X:366.63, Y:5.65, Z:3.36 [[ 9.99174187e-01 -3.58661436e-02 -1.90935739e-02 3.66628527e+02] [ 3.58665202e-02 9.99356537e-01 -3.22826921e-04 5.65226350e+00] [ 1.90928664e-02 -3.62259728e-04 9.99817649e-01 3.35780785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07925415399995 meters Centerline goodness [0,1] 0.9989704800924467 Centerline is valid? [True, True] Translation: X:366.66, Y:5.65, Z:3.36 [[ 9.99160920e-01 -3.65812333e-02 -1.84192458e-02 3.66659843e+02] [ 3.65817144e-02 9.99330617e-01 -3.10927829e-04 5.65470544e+00] [ 1.84182904e-02 -3.63140654e-04 9.99830303e-01 3.35945835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1092541539999 meters Centerline goodness [0,1] 0.9988227627236226 Centerline is valid? [True, True] Translation: X:366.69, Y:5.65, Z:3.36 [[ 9.99069425e-01 -3.92770003e-02 -1.78213856e-02 3.66690479e+02] [ 3.92778880e-02 9.99228281e-01 -3.00347883e-04 5.65407290e+00] [ 1.78194292e-02 -3.99917998e-04 9.99841141e-01 3.35959031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13925415399996 meters Centerline goodness [0,1] 0.9987619866966028 Centerline is valid? [True, True] Translation: X:366.72, Y:5.65, Z:3.36 [[ 9.98993787e-01 -4.11793133e-02 -1.77672948e-02 3.66721882e+02] [ 4.11805047e-02 9.99151679e-01 -2.98961196e-04 5.65400619e+00] [ 1.77645334e-02 -4.33005787e-04 9.99842104e-01 3.35988168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16925415399993 meters Centerline goodness [0,1] 0.9990749111704477 Centerline is valid? [True, True] Translation: X:366.75, Y:5.65, Z:3.36 [[ 9.98895399e-01 -4.33085781e-02 -1.82304508e-02 3.66753619e+02] [ 4.33101989e-02 9.99061626e-01 -3.06082074e-04 5.65387402e+00] [ 1.82265998e-02 -4.83820476e-04 9.99833765e-01 3.36014159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19925415399996 meters Centerline goodness [0,1] 0.9986578870108628 Centerline is valid? [True, True] Translation: X:366.78, Y:5.65, Z:3.36 [[ 9.98604116e-01 -4.91202998e-02 -1.94168769e-02 3.66784073e+02] [ 4.91232465e-02 9.98792672e-01 -3.25454997e-04 5.64945973e+00] [ 1.94094208e-02 -6.28819331e-04 9.99811422e-01 3.35876669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22925415399993 meters Centerline goodness [0,1] 0.9988253801782905 Centerline is valid? [True, True] Translation: X:366.81, Y:5.65, Z:3.36 [[ 9.98436419e-01 -5.28063978e-02 -1.83357960e-02 3.66814722e+02] [ 5.28096569e-02 9.98604549e-01 -3.06742250e-04 5.64725618e+00] [ 1.83264073e-02 -6.62044462e-04 9.99831838e-01 3.35908999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25925415399996 meters Centerline goodness [0,1] 0.9987830976459233 Centerline is valid? [True, True] Translation: X:366.85, Y:5.65, Z:3.36 [[ 9.98234663e-01 -5.66160234e-02 -1.79494590e-02 3.66845885e+02] [ 5.66197720e-02 9.98395769e-01 -2.99685567e-04 5.64613304e+00] [ 1.79376309e-02 -7.17137757e-04 9.99838851e-01 3.35950959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28925415399993 meters Centerline goodness [0,1] 0.9988026970823618 Centerline is valid? [True, True] Translation: X:366.88, Y:5.64, Z:3.36 [[ 9.97787983e-01 -6.41353490e-02 -1.74870554e-02 3.66875992e+02] [ 6.41400595e-02 9.97940864e-01 -2.91924989e-04 5.64476568e+00] [ 1.74697699e-02 -8.30341529e-04 9.99847047e-01 3.36025534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31925415399996 meters Centerline goodness [0,1] 0.9989075859750846 Centerline is valid? [True, True] Translation: X:366.91, Y:5.64, Z:3.36 [[ 9.97569827e-01 -6.74701217e-02 -1.73845782e-02 3.66906881e+02] [ 6.74752823e-02 9.97720904e-01 -2.90207726e-04 5.64338685e+00] [ 1.73645374e-02 -8.83526852e-04 9.99848835e-01 3.36045393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34925415399994 meters Centerline goodness [0,1] 0.9986576618146734 Centerline is valid? [True, True] Translation: X:366.94, Y:5.64, Z:3.36 [[ 9.97370987e-01 -7.03101716e-02 -1.75383843e-02 3.66937773e+02] [ 7.03158673e-02 9.97524733e-01 -2.92453518e-04 5.64363395e+00] [ 1.75155346e-02 -9.41542050e-04 9.99846148e-01 3.36082761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37925415399997 meters Centerline goodness [0,1] 0.9987426128504967 Centerline is valid? [True, True] Translation: X:366.97, Y:5.64, Z:3.36 [[ 9.97076583e-01 -7.42724298e-02 -1.79413954e-02 3.66967499e+02] [ 7.42790423e-02 9.97237452e-01 -2.98466724e-04 5.64164591e+00] [ 1.79139993e-02 -1.03507549e-03 9.99838996e-01 3.36035565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40925415399994 meters Centerline goodness [0,1] 0.9985721484965564 Centerline is valid? [True, True] Translation: X:367.00, Y:5.64, Z:3.36 [[ 9.97005506e-01 -7.52538039e-02 -1.78013152e-02 3.66998656e+02] [ 7.52604878e-02 9.97163864e-01 -2.95104686e-04 5.64138014e+00] [ 1.77730360e-02 -1.04551467e-03 9.99841500e-01 3.36055992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43925415399997 meters Centerline goodness [0,1] 0.9985702571434579 Centerline is valid? [True, True] Translation: X:367.03, Y:5.64, Z:3.36 [[ 9.96970011e-01 -7.57797020e-02 -1.75565771e-02 3.67030928e+02] [ 7.57863035e-02 9.97124040e-01 -2.89961495e-04 5.64245967e+00] [ 1.75280583e-02 -1.04146517e-03 9.99845829e-01 3.36096027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46925415399994 meters Centerline goodness [0,1] 0.9985705276434728 Centerline is valid? [True, True] Translation: X:367.06, Y:5.65, Z:3.36 [[ 9.97004342e-01 -7.53319614e-02 -1.75339098e-02 3.67062578e+02] [ 7.53384992e-02 9.97157975e-01 -2.88314360e-04 5.64866443e+00] [ 1.75057972e-02 -1.03352778e-03 9.99846228e-01 3.36179839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49925415399997 meters Centerline goodness [0,1] 0.9987643202714307 Centerline is valid? [True, True] Translation: X:367.09, Y:5.65, Z:3.36 [[ 9.97048078e-01 -7.47393766e-02 -1.75828368e-02 3.67094217e+02] [ 7.47458792e-02 9.97202573e-01 -2.87974161e-04 5.64638168e+00] [ 1.75551731e-02 -1.02712051e-03 9.99845369e-01 3.36145544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.52925415399994 meters Centerline goodness [0,1] 0.999052950585066 Centerline is valid? [True, True] Translation: X:367.13, Y:5.66, Z:3.36 [[ 9.97103345e-01 -7.37531737e-02 -1.85846623e-02 3.67126226e+02] [ 7.37602910e-02 9.97275954e-01 -3.03141735e-04 5.65539408e+00] [ 1.85563945e-02 -1.06854646e-03 9.99827244e-01 3.36238735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.559254154 meters Centerline goodness [0,1] 0.9986949566388819 Centerline is valid? [True, True] Translation: X:367.16, Y:5.66, Z:3.36 [[ 9.97218631e-01 -7.22058231e-02 -1.84748827e-02 3.67156253e+02] [ 7.22126079e-02 9.97389216e-01 -3.00477795e-04 5.65827058e+00] [ 1.84483450e-02 -1.03447741e-03 9.99829280e-01 3.36205369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.58925415399995 meters Centerline goodness [0,1] 0.9985903936378363 Centerline is valid? [True, True] Translation: X:367.19, Y:5.66, Z:3.36 [[ 9.97319955e-01 -7.05671273e-02 -1.93180765e-02 3.67187599e+02] [ 7.05742535e-02 9.97506479e-01 -3.13458838e-04 5.66022516e+00] [ 1.92920263e-02 -1.05074007e-03 9.99813339e-01 3.36205313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.619254154 meters Centerline goodness [0,1] 0.9988617920451911 Centerline is valid? [True, True] Translation: X:367.22, Y:5.66, Z:3.36 [[ 9.97468406e-01 -6.86389391e-02 -1.85869744e-02 3.67218984e+02] [ 6.86452177e-02 9.97641090e-01 -3.00759244e-04 5.66343723e+00] [ 1.85637732e-02 -9.75909060e-04 9.99827202e-01 3.36240447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.64925415399995 meters Centerline goodness [0,1] 0.998922186060273 Centerline is valid? [True, True] Translation: X:367.25, Y:5.67, Z:3.36 [[ 9.97839189e-01 -6.26824471e-02 -1.96942338e-02 3.67249708e+02] [ 6.26883462e-02 9.98033101e-01 -3.18286845e-04 5.67178248e+00] [ 1.96754483e-02 -9.16999861e-04 9.99805999e-01 3.36315513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.679254154 meters Centerline goodness [0,1] 0.9987739657978735 Centerline is valid? [True, True] Translation: X:367.28, Y:5.68, Z:3.36 [[ 9.98059062e-01 -5.92111855e-02 -1.92910294e-02 3.67280339e+02] [ 5.92162058e-02 9.98245132e-01 -3.11385489e-04 5.67622315e+00] [ 1.92756137e-02 -8.31560457e-04 9.99813862e-01 3.36342299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.70925415399995 meters Centerline goodness [0,1] 0.9988569493247534 Centerline is valid? [True, True] Translation: X:367.31, Y:5.68, Z:3.36 [[ 9.98318689e-01 -5.44968865e-02 -1.97455058e-02 3.67310908e+02] [ 5.45012361e-02 9.98513652e-01 -3.18183328e-04 5.68191766e+00] [ 1.97334971e-02 -7.58506111e-04 9.99804988e-01 3.36394509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.739254154 meters Centerline goodness [0,1] 0.9991097734161385 Centerline is valid? [True, True] Translation: X:367.34, Y:5.69, Z:3.36 [[ 9.98551583e-01 -5.03891290e-02 -1.88592524e-02 3.67340900e+02] [ 5.03923713e-02 9.98729451e-01 -3.03568430e-04 5.68718504e+00] [ 1.88505873e-02 -6.47233712e-04 9.99822102e-01 3.36481371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.76925415399995 meters Centerline goodness [0,1] 0.9989591299175801 Centerline is valid? [True, True] Translation: X:367.37, Y:5.70, Z:3.37 [[ 9.98982191e-01 -4.14257304e-02 -1.78463407e-02 3.67371488e+02] [ 4.14272075e-02 9.99141484e-01 -2.87076678e-04 5.69803387e+00] [ 1.78429117e-02 -4.52539571e-04 9.99840700e-01 3.36629621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.799254154 meters Centerline goodness [0,1] 0.9989994678020223 Centerline is valid? [True, True] Translation: X:367.40, Y:5.70, Z:3.37 [[ 9.99165980e-01 -3.63817270e-02 -1.85395404e-02 3.67401573e+02] [ 3.63824685e-02 9.99337895e-01 -2.97402179e-04 5.70308236e+00] [ 1.85380853e-02 -3.77360104e-04 9.99828084e-01 3.36658432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.82925415399995 meters Centerline goodness [0,1] 0.9989994678020223 Centerline is valid? [True, True] Translation: X:367.43, Y:5.70, Z:3.37 [[ 9.99167264e-01 -3.63464475e-02 -1.85395585e-02 3.67432422e+02] [ 3.63472039e-02 9.99339178e-01 -2.96267390e-04 5.70354437e+00] [ 1.85380755e-02 -3.77840438e-04 9.99828084e-01 3.36687310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8592541539999 meters Centerline goodness [0,1] 0.9989974188869216 Centerline is valid? [True, True] Translation: X:367.46, Y:5.71, Z:3.37 [[ 9.99307389e-01 -3.22291750e-02 -1.86016663e-02 3.67464144e+02] [ 3.22292387e-02 9.99480459e-01 -2.96439510e-04 5.70857191e+00] [ 1.86015560e-02 -3.03283351e-04 9.99826930e-01 3.36674426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.88925415399996 meters Centerline goodness [0,1] 0.9991238567398923 Centerline is valid? [True, True] Translation: X:367.49, Y:5.71, Z:3.37 [[ 9.99415929e-01 -2.81421000e-02 -1.93861713e-02 3.67494897e+02] [ 2.81414105e-02 9.99603905e-01 -3.08425137e-04 5.71325153e+00] [ 1.93871723e-02 -2.37309210e-04 9.99812023e-01 3.36644296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91925415399993 meters Centerline goodness [0,1] 0.9991863826142812 Centerline is valid? [True, True] Translation: X:367.52, Y:5.72, Z:3.37 [[ 9.99553999e-01 -2.17061197e-02 -2.05097106e-02 3.67524213e+02] [ 2.17039960e-02 9.99764387e-01 -3.26161223e-04 5.72059865e+00] [ 2.05119579e-02 -1.19126921e-04 9.99789601e-01 3.36560582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.94925415399996 meters Centerline goodness [0,1] 0.9992295509994435 Centerline is valid? [True, True] Translation: X:367.55, Y:5.72, Z:3.37 [[ 9.99590140e-01 -2.00170322e-02 -2.04663227e-02 3.67552514e+02] [ 2.00145034e-02 9.99799636e-01 -3.28406659e-04 5.72355176e+00] [ 2.04687957e-02 -8.13512268e-05 9.99790489e-01 3.36561065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97925415399993 meters Centerline goodness [0,1] 0.9994199785177229 Centerline is valid? [True, True] Translation: X:367.58, Y:5.73, Z:3.37 [[ 9.99608898e-01 -1.86536732e-02 -2.08348642e-02 3.67580827e+02] [ 1.86506315e-02 9.99826004e-01 -3.40311832e-04 5.72608846e+00] [ 2.08375871e-02 -4.84046402e-05 9.99782873e-01 3.36729596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.00925415399996 meters Centerline goodness [0,1] 0.999313142587306 Centerline is valid? [True, True] Translation: X:367.61, Y:5.73, Z:3.37 [[ 9.99615144e-01 -1.80172908e-02 -2.10936231e-02 3.67608088e+02] [ 1.80139412e-02 9.99837675e-01 -3.48816107e-04 5.72755830e+00] [ 2.10964838e-02 -3.12974228e-05 9.99777444e-01 3.36743752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03925415399993 meters Centerline goodness [0,1] 0.9991637899611913 Centerline is valid? [True, True] Translation: X:367.63, Y:5.73, Z:3.37 [[ 9.99638249e-01 -1.71220649e-02 -2.07414304e-02 3.67634710e+02] [ 1.71185794e-02 9.99853407e-01 -3.45598074e-04 5.72862064e+00] [ 2.07443072e-02 -9.59076922e-06 9.99784814e-01 3.36767590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06925415399996 meters Centerline goodness [0,1] 0.9992286099980715 Centerline is valid? [True, True] Translation: X:367.66, Y:5.73, Z:3.37 [[ 9.99635498e-01 -1.79619978e-02 -2.01553443e-02 3.67662270e+02] [ 1.79587921e-02 9.99838670e-01 -3.40056022e-04 5.72896942e+00] [ 2.01582008e-02 -2.20335668e-05 9.99796803e-01 3.36855217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09925415399994 meters Centerline goodness [0,1] 0.9991434139238067 Centerline is valid? [True, True] Translation: X:367.69, Y:5.73, Z:3.37 [[ 9.99634647e-01 -1.90389000e-02 -1.91857396e-02 3.67690646e+02] [ 1.90360944e-02 9.99818743e-01 -3.28865959e-04 5.72899861e+00] [ 1.91885233e-02 -3.64757424e-05 9.99815883e-01 3.37004928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12925415399997 meters Centerline goodness [0,1] 0.9988199450738071 Centerline is valid? [True, True] Translation: X:367.72, Y:5.73, Z:3.37 [[ 9.99628302e-01 -1.97203571e-02 -1.88246170e-02 3.67718127e+02] [ 1.97177149e-02 9.99805534e-01 -3.25970103e-04 5.72870046e+00] [ 1.88273845e-02 -4.53294915e-05 9.99822748e-01 3.37071118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15925415399994 meters Centerline goodness [0,1] 0.9993366429855345 Centerline is valid? [True, True] Translation: X:367.75, Y:5.73, Z:3.37 [[ 9.99600343e-01 -2.17511419e-02 -1.80566476e-02 3.67747302e+02] [ 2.17489889e-02 9.99763413e-01 -3.15624179e-04 5.72809069e+00] [ 1.80592408e-02 -7.72157909e-05 9.99836916e-01 3.37169457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18925415399997 meters Centerline goodness [0,1] 0.9991448971738851 Centerline is valid? [True, True] Translation: X:367.78, Y:5.73, Z:3.37 [[ 9.99572685e-01 -2.29663520e-02 -1.80829754e-02 3.67777222e+02] [ 2.29643436e-02 9.99736234e-01 -3.18737250e-04 5.72740572e+00] [ 1.80855260e-02 -9.66626119e-05 9.99836439e-01 3.37291252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21925415399994 meters Centerline goodness [0,1] 0.9990184991571895 Centerline is valid? [True, True] Translation: X:367.81, Y:5.73, Z:3.37 [[ 9.99523571e-01 -2.51122613e-02 -1.79444905e-02 3.67807366e+02] [ 2.51106174e-02 9.99684628e-01 -3.16957972e-04 5.72620321e+00] [ 1.79467908e-02 -1.33790270e-04 9.99838934e-01 3.37342173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24925415399997 meters Centerline goodness [0,1] 0.9989338109860116 Centerline is valid? [True, True] Translation: X:367.84, Y:5.72, Z:3.37 [[ 9.99405640e-01 -2.96155582e-02 -1.76432991e-02 3.67836732e+02] [ 2.96146591e-02 9.99561341e-01 -3.12283375e-04 5.72256270e+00] [ 1.76448082e-02 -2.10402522e-04 9.99844296e-01 3.37351894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27925415399994 meters Centerline goodness [0,1] 0.9989959624874495 Centerline is valid? [True, True] Translation: X:367.87, Y:5.72, Z:3.37 [[ 9.99313415e-01 -3.25927168e-02 -1.76185696e-02 3.67867395e+02] [ 3.25922794e-02 9.99468682e-01 -3.12038964e-04 5.72055891e+00] [ 1.76193787e-02 -2.62404621e-04 9.99844732e-01 3.37340341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.309254154 meters Centerline goodness [0,1] 0.9990625133165723 Centerline is valid? [True, True] Translation: X:367.90, Y:5.72, Z:3.37 [[ 9.99147600e-01 -3.69110625e-02 -1.84836738e-02 3.67898336e+02] [ 3.69113444e-02 9.99318491e-01 -3.26025191e-04 5.71583626e+00] [ 1.84831109e-02 -3.56509960e-04 9.99829109e-01 3.37287141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.33925415399995 meters Centerline goodness [0,1] 0.9990421659819927 Centerline is valid? [True, True] Translation: X:367.93, Y:5.71, Z:3.37 [[ 9.99062752e-01 -3.89684982e-02 -1.88434107e-02 3.67930164e+02] [ 3.89691982e-02 9.99240358e-01 -3.30177938e-04 5.71393002e+00] [ 1.88419630e-02 -4.04444129e-04 9.99822393e-01 3.37270463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.369254154 meters Centerline goodness [0,1] 0.998977592229701 Centerline is valid? [True, True] Translation: X:367.96, Y:5.71, Z:3.37 [[ 9.98966985e-01 -4.12385898e-02 -1.90877569e-02 3.67962502e+02] [ 4.12397543e-02 9.99149224e-01 -3.32777700e-04 5.71191378e+00] [ 1.90852408e-02 -4.54740469e-04 9.99817757e-01 3.37239306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.39925415399995 meters Centerline goodness [0,1] 0.9989812377960777 Centerline is valid? [True, True] Translation: X:367.99, Y:5.71, Z:3.37 [[ 9.98901601e-01 -4.24832703e-02 -1.97677297e-02 3.67994423e+02] [ 4.24847914e-02 9.99097055e-01 -3.43190085e-04 5.71049147e+00] [ 1.97644603e-02 -4.97014746e-04 9.99804540e-01 3.37228603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.429254154 meters Centerline goodness [0,1] 0.9988751644806656 Centerline is valid? [True, True] Translation: X:368.03, Y:5.71, Z:3.37 [[ 9.98794238e-01 -4.46913600e-02 -2.03162879e-02 3.68025483e+02] [ 4.46934451e-02 9.99000687e-01 -3.51632306e-04 5.70849940e+00] [ 2.03117005e-02 -5.56796576e-04 9.99793541e-01 3.37193479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.45925415399995 meters Centerline goodness [0,1] 0.9990051436191605 Centerline is valid? [True, True] Translation: X:368.06, Y:5.71, Z:3.37 [[ 9.98787760e-01 -4.48793564e-02 -2.02201402e-02 3.68057147e+02] [ 4.48814928e-02 9.98992257e-01 -3.48359508e-04 5.70761815e+00] [ 2.02153977e-02 -5.59572864e-04 9.99795491e-01 3.37205921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.489254154 meters Centerline goodness [0,1] 0.9987280590180616 Centerline is valid? [True, True] Translation: X:368.09, Y:5.71, Z:3.37 [[ 9.98792504e-01 -4.46526186e-02 -2.04860461e-02 3.68089606e+02] [ 4.46548035e-02 9.99002415e-01 -3.51009756e-04 5.70884452e+00] [ 2.04812831e-02 -5.64214451e-04 9.99790077e-01 3.37296510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.51925415399995 meters Centerline goodness [0,1] 0.9989835676774521 Centerline is valid? [True, True] Translation: X:368.12, Y:5.71, Z:3.37 [[ 9.98803067e-01 -4.51272063e-02 -1.88671093e-02 3.68121499e+02] [ 4.51291690e-02 9.98981108e-01 -3.21942271e-04 5.70789970e+00] [ 1.88624142e-02 -5.29900038e-04 9.99821948e-01 3.37448880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.549254154 meters Centerline goodness [0,1] 0.9988563925538448 Centerline is valid? [True, True] Translation: X:368.15, Y:5.71, Z:3.37 [[ 9.98831517e-01 -4.44375793e-02 -1.89974442e-02 3.68153815e+02] [ 4.44394711e-02 9.99012027e-01 -3.22774344e-04 5.70796528e+00] [ 1.89930185e-02 -5.21839184e-04 9.99819480e-01 3.37468273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57925415399995 meters Centerline goodness [0,1] 0.9986462189317822 Centerline is valid? [True, True] Translation: X:368.19, Y:5.71, Z:3.38 [[ 9.98849219e-01 -4.41045135e-02 -1.88422277e-02 3.68186434e+02] [ 4.41063411e-02 9.99026791e-01 -3.18767193e-04 5.70822006e+00] [ 1.88379493e-02 -5.12661359e-04 9.99822419e-01 3.37534539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6092541539999 meters Centerline goodness [0,1] 0.998860013933163 Centerline is valid? [True, True] Translation: X:368.22, Y:5.71, Z:3.38 [[ 9.98854048e-01 -4.44608629e-02 -1.77150499e-02 3.68218375e+02] [ 4.44625567e-02 9.99011007e-01 -2.98429106e-04 5.70881852e+00] [ 1.77107982e-02 -4.89569289e-04 9.99843032e-01 3.37618096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63925415399996 meters Centerline goodness [0,1] 0.9989220493743659 Centerline is valid? [True, True] Translation: X:368.25, Y:5.71, Z:3.38 [[ 9.98856190e-01 -4.42203404e-02 -1.81899398e-02 3.68250666e+02] [ 4.42221115e-02 9.99021677e-01 -3.05048610e-04 5.70870531e+00] [ 1.81856336e-02 -4.99697856e-04 9.99834503e-01 3.37595406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66925415399993 meters Centerline goodness [0,1] 0.9988151408078201 Centerline is valid? [True, True] Translation: X:368.28, Y:5.71, Z:3.37 [[ 9.98775124e-01 -4.56816406e-02 -1.90115572e-02 3.68282530e+02] [ 4.56838675e-02 9.98955897e-01 -3.17375645e-04 5.70726560e+00] [ 1.90062054e-02 -5.51534561e-04 9.99819214e-01 3.37497273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69925415399996 meters Centerline goodness [0,1] 0.9990893689114781 Centerline is valid? [True, True] Translation: X:368.31, Y:5.71, Z:3.37 [[ 9.98705424e-01 -4.69518333e-02 -1.95704195e-02 3.68313551e+02] [ 4.69544736e-02 9.98896978e-01 -3.24825270e-04 5.70585632e+00] [ 1.95640840e-02 -5.94513986e-04 9.99808428e-01 3.37443552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72925415399993 meters Centerline goodness [0,1] 0.9989201321250106 Centerline is valid? [True, True] Translation: X:368.34, Y:5.70, Z:3.37 [[ 9.98545763e-01 -4.96086342e-02 -2.11031597e-02 3.68344368e+02] [ 4.96123304e-02 9.98768489e-01 -3.48684548e-04 5.70244649e+00] [ 2.10944687e-02 -6.98799453e-04 9.99777243e-01 3.37252797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75925415399996 meters Centerline goodness [0,1] 0.9989836107229069 Centerline is valid? [True, True] Translation: X:368.38, Y:5.70, Z:3.37 [[ 9.98457256e-01 -5.10794954e-02 -2.17714023e-02 3.68376586e+02] [ 5.10838065e-02 9.98694306e-01 -3.58447675e-04 5.70397559e+00] [ 2.17612848e-02 -7.54271419e-04 9.99762911e-01 3.37341815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78925415399993 meters Centerline goodness [0,1] 0.9989836107229069 Centerline is valid? [True, True] Translation: X:368.41, Y:5.70, Z:3.37 [[ 9.98461051e-01 -5.10052487e-02 -2.17714288e-02 3.68408296e+02] [ 5.10095774e-02 9.98698100e-01 -3.56828422e-04 5.70443779e+00] [ 2.17612847e-02 -7.54272104e-04 9.99762911e-01 3.37371504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81925415399996 meters Centerline goodness [0,1] 0.9987699094398846 Centerline is valid? [True, True] Translation: X:368.44, Y:5.70, Z:3.37 [[ 9.98303130e-01 -5.39473057e-02 -2.19214310e-02 3.68439238e+02] [ 5.39524529e-02 9.98543442e-01 -3.56988280e-04 5.70058499e+00] [ 2.19087597e-02 -8.26332457e-04 9.99759633e-01 3.37306391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84925415399994 meters Centerline goodness [0,1] 0.9988975810383939 Centerline is valid? [True, True] Translation: X:368.47, Y:5.70, Z:3.37 [[ 9.98243302e-01 -5.51100926e-02 -2.17528876e-02 3.68470726e+02] [ 5.51154768e-02 9.98479925e-01 -3.52393687e-04 5.69974263e+00] [ 2.17392420e-02 -8.47146134e-04 9.99763316e-01 3.37346047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87925415399997 meters Centerline goodness [0,1] 0.9987919121698953 Centerline is valid? [True, True] Translation: X:368.50, Y:5.70, Z:3.37 [[ 9.98222335e-01 -5.55636155e-02 -2.15604885e-02 3.68502110e+02] [ 5.55690353e-02 9.98454787e-01 -3.48124779e-04 5.69884652e+00] [ 2.15465160e-02 -8.50589617e-04 9.99767485e-01 3.37405555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90925415399994 meters Centerline goodness [0,1] 0.9987702224201175 Centerline is valid? [True, True] Translation: X:368.53, Y:5.70, Z:3.38 [[ 9.98289257e-01 -5.46929740e-02 -2.06697296e-02 3.68534389e+02] [ 5.46977952e-02 9.98502900e-01 -3.32453731e-04 5.70183668e+00] [ 2.06569678e-02 -7.98703648e-04 9.99786303e-01 3.37572412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93925415399997 meters Centerline goodness [0,1] 0.9987266283240307 Centerline is valid? [True, True] Translation: X:368.57, Y:5.70, Z:3.38 [[ 9.98370845e-01 -5.33785496e-02 -2.01590408e-02 3.68566840e+02] [ 5.33828968e-02 9.98574064e-01 -3.22803802e-04 5.70442747e+00] [ 2.01475261e-02 -7.53870092e-04 9.99796734e-01 3.37679439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96925415399994 meters Centerline goodness [0,1] 0.9985577025049314 Centerline is valid? [True, True] Translation: X:368.60, Y:5.71, Z:3.38 [[ 9.98499282e-01 -5.08418954e-02 -2.03539819e-02 3.68598469e+02] [ 5.08458269e-02 9.98706462e-01 -3.24640890e-04 5.70718178e+00] [ 2.03441586e-02 -7.10761343e-04 9.99792784e-01 3.37757862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99925415399997 meters Centerline goodness [0,1] 0.9986196351589544 Centerline is valid? [True, True] Translation: X:368.63, Y:5.71, Z:3.38 [[ 9.98723094e-01 -4.71917981e-02 -1.80309420e-02 3.68630155e+02] [ 4.71943055e-02 9.98885687e-01 -2.86662237e-04 5.71242086e+00] [ 1.80243779e-02 -5.64661586e-04 9.99837388e-01 3.37947529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.02925415399994 meters Centerline goodness [0,1] 0.9988090427681249 Centerline is valid? [True, True] Translation: X:368.66, Y:5.72, Z:3.38 [[ 9.98835294e-01 -4.51291095e-02 -1.70709959e-02 3.68662829e+02] [ 4.51310763e-02 9.98981037e-01 -2.70210119e-04 5.71515822e+00] [ 1.70657956e-02 -5.00537017e-04 9.99854243e-01 3.38020746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.059254154 meters Centerline goodness [0,1] 0.9989364870038712 Centerline is valid? [True, True] Translation: X:368.70, Y:5.72, Z:3.38 [[ 9.98922135e-01 -4.33160355e-02 -1.66819752e-02 3.68695458e+02] [ 4.33176861e-02 9.99061314e-01 -2.62548975e-04 5.71680132e+00] [ 1.66776886e-02 -4.60358583e-04 9.99860812e-01 3.38056796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.08925415399995 meters Centerline goodness [0,1] 0.9991274182220614 Centerline is valid? [True, True] Translation: X:368.73, Y:5.72, Z:3.38 [[ 9.99061937e-01 -4.04280815e-02 -1.55182383e-02 3.68726819e+02] [ 4.04291774e-02 9.99182377e-01 -2.43213511e-04 5.71981288e+00] [ 1.55153829e-02 -3.84404247e-04 9.99879555e-01 3.38077336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.119254154 meters Centerline goodness [0,1] 0.9990851842396392 Centerline is valid? [True, True] Translation: X:368.76, Y:5.72, Z:3.38 [[ 9.99108241e-01 -3.91919468e-02 -1.57071151e-02 3.68759014e+02] [ 3.91929297e-02 9.99231632e-01 -2.45356791e-04 5.72183062e+00] [ 1.57046623e-02 -3.70469867e-04 9.99876606e-01 3.38070440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.14925415399995 meters Centerline goodness [0,1] 0.9991480116722401 Centerline is valid? [True, True] Translation: X:368.79, Y:5.72, Z:3.38 [[ 9.99207238e-01 -3.62106233e-02 -1.65434462e-02 3.68789834e+02] [ 3.62113217e-02 9.99344122e-01 -2.57431826e-04 5.72446997e+00] [ 1.65419175e-02 -3.41832309e-04 9.99863115e-01 3.37972737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.179254154 meters Centerline goodness [0,1] 0.9988921556095275 Centerline is valid? [True, True] Translation: X:368.82, Y:5.73, Z:3.38 [[ 9.99253623e-01 -3.45527639e-02 -1.72714661e-02 3.68821773e+02] [ 3.45532936e-02 9.99402821e-01 -2.67835152e-04 5.72623436e+00] [ 1.72704064e-02 -3.29150792e-04 9.99850801e-01 3.37955210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.20925415399995 meters Centerline goodness [0,1] 0.9989332423033432 Centerline is valid? [True, True] Translation: X:368.85, Y:5.73, Z:3.38 [[ 9.99352737e-01 -3.13980012e-02 -1.75577148e-02 3.68852367e+02] [ 3.13980764e-02 9.99506922e-01 -2.71442587e-04 5.72951668e+00] [ 1.75575802e-02 -2.80011578e-04 9.99845815e-01 3.37931910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.239254154 meters Centerline goodness [0,1] 0.9987608955734063 Centerline is valid? [True, True] Translation: X:368.88, Y:5.73, Z:3.38 [[ 9.99432308e-01 -2.84913706e-02 -1.79806575e-02 3.68883257e+02] [ 2.84909878e-02 9.99594011e-01 -2.77508785e-04 5.73255058e+00] [ 1.79812641e-02 -2.34935446e-04 9.99838296e-01 3.37928959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.26925415399995 meters Centerline goodness [0,1] 0.9987608955734063 Centerline is valid? [True, True] Translation: X:368.91, Y:5.73, Z:3.38 [[ 9.99432308e-01 -2.84913676e-02 -1.79806625e-02 3.68913255e+02] [ 2.84909906e-02 9.99594011e-01 -2.77180857e-04 5.73301287e+00] [ 1.79812598e-02 -2.35263384e-04 9.99838296e-01 3.37957055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.299254154 meters Centerline goodness [0,1] 0.999064725263046 Centerline is valid? [True, True] Translation: X:368.94, Y:5.73, Z:3.38 [[ 9.99460210e-01 -2.73009785e-02 -1.82741952e-02 3.68944154e+02] [ 2.73003902e-02 9.99627235e-01 -2.81705809e-04 5.73454072e+00] [ 1.82750741e-02 -2.17338912e-04 9.99832973e-01 3.37934868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.32925415399995 meters Centerline goodness [0,1] 0.9991914721589821 Centerline is valid? [True, True] Translation: X:368.97, Y:5.74, Z:3.38 [[ 9.99479920e-01 -2.62440508e-02 -1.87387370e-02 3.68974259e+02] [ 2.62432465e-02 9.99655545e-01 -2.88866952e-04 5.73596802e+00] [ 1.87398634e-02 -2.03048577e-04 9.99824373e-01 3.37921034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3592541539999 meters Centerline goodness [0,1] 0.9991231634551637 Centerline is valid? [True, True] Translation: X:369.00, Y:5.74, Z:3.38 [[ 9.99473049e-01 -2.56231144e-02 -1.99268624e-02 3.69003926e+02] [ 2.56220821e-02 9.99671653e-01 -3.07151640e-04 5.73739836e+00] [ 1.99281897e-02 -2.03577919e-04 9.99801393e-01 3.37882380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.38925415399996 meters Centerline goodness [0,1] 0.9994639334419761 Centerline is valid? [True, True] Translation: X:369.03, Y:5.74, Z:3.38 [[ 9.99469636e-01 -2.49053933e-02 -2.09801667e-02 3.69032333e+02] [ 2.49040790e-02 9.99689793e-01 -3.23955489e-04 5.73934733e+00] [ 2.09817268e-02 -1.98708056e-04 9.99779840e-01 3.37822703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41925415399993 meters Centerline goodness [0,1] 0.9990156848479661 Centerline is valid? [True, True] Translation: X:369.06, Y:5.74, Z:3.38 [[ 9.99451575e-01 -2.55833328e-02 -2.10248084e-02 3.69060588e+02] [ 2.55820933e-02 9.99672671e-01 -3.27951485e-04 5.74038737e+00] [ 2.10263164e-02 -2.10086981e-04 9.99778900e-01 3.37877854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.44925415399996 meters Centerline goodness [0,1] 0.9992279317148495 Centerline is valid? [True, True] Translation: X:369.09, Y:5.74, Z:3.38 [[ 9.99426087e-01 -2.64953852e-02 -2.11066628e-02 3.69089451e+02] [ 2.64942278e-02 9.99648910e-01 -3.34515616e-04 5.74166400e+00] [ 2.11081156e-02 -2.24881099e-04 9.99777174e-01 3.38038938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47925415399993 meters Centerline goodness [0,1] 0.9991438356164384 Centerline is valid? [True, True] Translation: X:369.12, Y:5.74, Z:3.38 [[ 9.99384443e-01 -2.87677873e-02 -2.00785866e-02 3.69117878e+02] [ 2.87671408e-02 9.99586089e-01 -3.21089126e-04 5.73987787e+00] [ 2.00795128e-02 -2.56712049e-04 9.99798353e-01 3.38095390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.50925415399996 meters Centerline goodness [0,1] 0.9992948265914482 Centerline is valid? [True, True] Translation: X:369.15, Y:5.74, Z:3.38 [[ 9.99342020e-01 -3.04045727e-02 -1.97759626e-02 3.69147229e+02] [ 3.04042484e-02 9.99537634e-01 -3.17129984e-04 5.73947401e+00] [ 1.97764611e-02 -2.84351962e-04 9.99804386e-01 3.38214437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53925415399993 meters Centerline goodness [0,1] 0.9992291385623434 Centerline is valid? [True, True] Translation: X:369.18, Y:5.74, Z:3.38 [[ 9.99302119e-01 -3.22309095e-02 -1.88797167e-02 3.69178215e+02] [ 3.22309337e-02 9.99480403e-01 -3.03082374e-04 5.73848475e+00] [ 1.88796755e-02 -3.05640038e-04 9.99821716e-01 3.38279297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56925415399996 meters Centerline goodness [0,1] 0.9993589743589744 Centerline is valid? [True, True] Translation: X:369.21, Y:5.74, Z:3.38 [[ 9.99243814e-01 -3.42925417e-02 -1.83254309e-02 3.69209506e+02] [ 3.42929170e-02 9.99411782e-01 -2.93858134e-04 5.73787230e+00] [ 1.83247287e-02 -3.34796558e-04 9.99832032e-01 3.38380459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59925415399994 meters Centerline goodness [0,1] 0.9992292375875137 Centerline is valid? [True, True] Translation: X:369.24, Y:5.73, Z:3.38 [[ 9.99078418e-01 -3.91075674e-02 -1.76893355e-02 3.69240119e+02] [ 3.91086824e-02 9.99234923e-01 -2.83026349e-04 5.73466250e+00] [ 1.76868703e-02 -4.09041087e-04 9.99843491e-01 3.38439124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62925415399997 meters Centerline goodness [0,1] 0.9994654921748054 Centerline is valid? [True, True] Translation: X:369.27, Y:5.73, Z:3.38 [[ 9.98990920e-01 -4.13496052e-02 -1.75314810e-02 3.69272480e+02] [ 4.13510617e-02 9.99144640e-01 -2.79567067e-04 5.73371802e+00] [ 1.75280452e-02 -4.45660391e-04 9.99846273e-01 3.38496816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65925415399994 meters Centerline goodness [0,1] 0.9993380170407227 Centerline is valid? [True, True] Translation: X:369.30, Y:5.73, Z:3.38 [[ 9.98893940e-01 -4.37025604e-02 -1.73488739e-02 3.69304389e+02] [ 4.37043632e-02 9.99044470e-01 -2.75395511e-04 5.73217747e+00] [ 1.73443320e-02 -4.83130580e-04 9.99849459e-01 3.38486070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68925415399997 meters Centerline goodness [0,1] 0.9996157212698277 Centerline is valid? [True, True] Translation: X:369.34, Y:5.73, Z:3.38 [[ 9.98811296e-01 -4.54994042e-02 -1.74871385e-02 3.69336559e+02] [ 4.55015332e-02 9.98964231e-01 -2.76311592e-04 5.73062909e+00] [ 1.74815979e-02 -5.19708476e-04 9.99847050e-01 3.38487760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71925415399994 meters Centerline goodness [0,1] 0.999359316604378 Centerline is valid? [True, True] Translation: X:369.37, Y:5.73, Z:3.38 [[ 9.98659938e-01 -4.84111520e-02 -1.82944914e-02 3.69367939e+02] [ 4.84139986e-02 9.98827313e-01 -2.87521053e-04 5.72716292e+00] [ 1.82869569e-02 -5.98573723e-04 9.99832600e-01 3.38360339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74925415399997 meters Centerline goodness [0,1] 0.999359316604378 Centerline is valid? [True, True] Translation: X:369.40, Y:5.73, Z:3.38 [[ 9.98663393e-01 -4.83398301e-02 -1.82945151e-02 3.69399646e+02] [ 4.83426925e-02 9.98830768e-01 -2.86006519e-04 5.72759732e+00] [ 1.82869501e-02 -5.98781876e-04 9.99832600e-01 3.38390018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77925415399994 meters Centerline goodness [0,1] 0.999424073718564 Centerline is valid? [True, True] Translation: X:369.43, Y:5.73, Z:3.38 [[ 9.98612687e-01 -4.92542423e-02 -1.86204486e-02 3.69431687e+02] [ 4.92573915e-02 9.98786076e-01 -2.89753736e-04 5.72776792e+00] [ 1.86121164e-02 -6.27842971e-04 9.99826582e-01 3.38360984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.809254154 meters Centerline goodness [0,1] 0.9995522197108618 Centerline is valid? [True, True] Translation: X:369.46, Y:5.73, Z:3.38 [[ 9.98581524e-01 -4.97570987e-02 -1.89518087e-02 3.69462996e+02] [ 4.97604742e-02 9.98761137e-01 -2.93706686e-04 5.72681632e+00] [ 1.89429440e-02 -6.49760921e-04 9.99820355e-01 3.38306828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.83925415399995 meters Centerline goodness [0,1] 0.9993599726921683 Centerline is valid? [True, True] Translation: X:369.50, Y:5.73, Z:3.38 [[ 9.98603147e-01 -4.92633936e-02 -1.91016698e-02 3.69495336e+02] [ 4.92667552e-02 9.98785613e-01 -2.94838823e-04 5.72825662e+00] [ 1.90929977e-02 -6.46650313e-04 9.99817503e-01 3.38365455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.869254154 meters Centerline goodness [0,1] 0.9993179589922844 Centerline is valid? [True, True] Translation: X:369.53, Y:5.73, Z:3.38 [[ 9.98623597e-01 -4.89477595e-02 -1.88421924e-02 3.69527167e+02] [ 4.89509996e-02 9.98801139e-01 -2.89492056e-04 5.73247141e+00] [ 1.88337733e-02 -6.33250555e-04 9.99822428e-01 3.38487583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.89925415399995 meters Centerline goodness [0,1] 0.9988287405766856 Centerline is valid? [True, True] Translation: X:369.56, Y:5.73, Z:3.38 [[ 9.98716272e-01 -4.71236597e-02 -1.85787152e-02 3.69558442e+02] [ 4.71265164e-02 9.98888888e-01 -2.84264541e-04 5.73157442e+00] [ 1.85714678e-02 -5.91650504e-04 9.99827360e-01 3.38473794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.929254154 meters Centerline goodness [0,1] 0.9990200046869341 Centerline is valid? [True, True] Translation: X:369.59, Y:5.73, Z:3.39 [[ 9.98766151e-01 -4.61613365e-02 -1.83113558e-02 3.69590478e+02] [ 4.61639706e-02 9.98933837e-01 -2.79048791e-04 5.73315397e+00] [ 1.83047142e-02 -5.66620403e-04 9.99832294e-01 3.38507862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.95925415399995 meters Centerline goodness [0,1] 0.9994677340373438 Centerline is valid? [True, True] Translation: X:369.62, Y:5.74, Z:3.39 [[ 9.98856663e-01 -4.44802765e-02 -1.75177617e-02 3.69623074e+02] [ 4.44824521e-02 9.99010131e-01 -2.65625188e-04 5.73624784e+00] [ 1.75122364e-02 -5.13911506e-04 9.99846517e-01 3.38599915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.989254154 meters Centerline goodness [0,1] 0.9991250533504055 Centerline is valid? [True, True] Translation: X:369.66, Y:5.74, Z:3.39 [[ 9.98898837e-01 -4.36609724e-02 -1.71706923e-02 3.69655584e+02] [ 4.36629654e-02 9.99046284e-01 -2.58981357e-04 5.74155980e+00] [ 1.71656237e-02 -4.91027168e-04 9.99852539e-01 3.38750114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.01925415399995 meters Centerline goodness [0,1] 0.9993608998530069 Centerline is valid? [True, True] Translation: X:369.69, Y:5.74, Z:3.39 [[ 9.98915036e-01 -4.34196314e-02 -1.68370567e-02 3.69686989e+02] [ 4.34215320e-02 9.99056809e-01 -2.52845667e-04 5.74212780e+00] [ 1.68321546e-02 -4.78519457e-04 9.99858215e-01 3.38780664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.049254154 meters Centerline goodness [0,1] 0.9991689396522332 Centerline is valid? [True, True] Translation: X:369.72, Y:5.74, Z:3.39 [[ 9.98928167e-01 -4.30262964e-02 -1.70662076e-02 3.69718681e+02] [ 4.30282104e-02 9.99073825e-01 -2.55190831e-04 5.74346900e+00] [ 1.70613812e-02 -4.79411061e-04 9.99854329e-01 3.38804478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07925415399995 meters Centerline goodness [0,1] 0.9994878470369817 Centerline is valid? [True, True] Translation: X:369.75, Y:5.74, Z:3.39 [[ 9.98929109e-01 -4.26462058e-02 -1.79425885e-02 3.69750970e+02] [ 4.26482846e-02 9.99090112e-01 -2.66938492e-04 5.74485657e+00] [ 1.79376467e-02 -4.98567993e-04 9.99838983e-01 3.38762232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1092541539999 meters Centerline goodness [0,1] 0.9994664276262433 Centerline is valid? [True, True] Translation: X:369.78, Y:5.75, Z:3.39 [[ 9.98913084e-01 -4.27783621e-02 -1.85111679e-02 3.69783321e+02] [ 4.27806233e-02 9.99084452e-01 -2.74004689e-04 5.74621565e+00] [ 1.85059415e-02 -5.18212431e-04 9.99828616e-01 3.38740657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13925415399996 meters Centerline goodness [0,1] 0.9998513800424629 Centerline is valid? [True, True] Translation: X:369.81, Y:5.74, Z:3.39 [[ 9.98871974e-01 -4.31823296e-02 -1.97501074e-02 3.69814900e+02] [ 4.31850088e-02 9.99067050e-01 -2.91023351e-04 5.74490722e+00] [ 1.97442486e-02 -5.62213491e-04 9.99804905e-01 3.38659275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16925415399993 meters Centerline goodness [0,1] 0.9995724668661822 Centerline is valid? [True, True] Translation: X:369.85, Y:5.75, Z:3.39 [[ 9.98847213e-01 -4.37007191e-02 -1.98618192e-02 3.69847137e+02] [ 4.37035564e-02 9.99044501e-01 -2.91392838e-04 5.74578387e+00] [ 1.98555753e-02 -5.76975211e-04 9.99802692e-01 3.38701209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19925415399996 meters Centerline goodness [0,1] 0.9994448833187437 Centerline is valid? [True, True] Translation: X:369.88, Y:5.75, Z:3.39 [[ 9.98824045e-01 -4.41246588e-02 -2.00883533e-02 3.69879236e+02] [ 4.41276762e-02 9.99025857e-01 -2.93251410e-04 5.74744820e+00] [ 2.00817240e-02 -5.93545791e-04 9.99798166e-01 3.38779507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22925415399993 meters Centerline goodness [0,1] 0.9993816367435712 Centerline is valid? [True, True] Translation: X:369.91, Y:5.75, Z:3.39 [[ 9.98833275e-01 -4.38985602e-02 -2.01247417e-02 3.69910339e+02] [ 4.39015831e-02 9.99035818e-01 -2.91778286e-04 5.74638976e+00] [ 2.01181464e-02 -5.92070160e-04 9.99797434e-01 3.38750868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25925415399996 meters Centerline goodness [0,1] 0.999786807657869 Centerline is valid? [True, True] Translation: X:369.94, Y:5.75, Z:3.39 [[ 9.98895675e-01 -4.24597730e-02 -2.01146382e-02 3.69942205e+02] [ 4.24625402e-02 9.99098018e-01 -2.89703864e-04 5.74985916e+00] [ 2.01087959e-02 -5.64734697e-04 9.99797638e-01 3.38888337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28925415399993 meters Centerline goodness [0,1] 0.9998718195218869 Centerline is valid? [True, True] Translation: X:369.97, Y:5.75, Z:3.39 [[ 9.98975825e-01 -4.07078841e-02 -1.97526995e-02 3.69974421e+02] [ 4.07102384e-02 9.99170955e-01 -2.83070099e-04 5.75178154e+00] [ 1.97478468e-02 -5.21356920e-04 9.99804856e-01 3.38979121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31925415399996 meters Centerline goodness [0,1] 0.999636480273709 Centerline is valid? [True, True] Translation: X:370.00, Y:5.75, Z:3.39 [[ 9.99086151e-01 -3.82625929e-02 -1.90482748e-02 3.70004512e+02] [ 3.82643539e-02 9.99267614e-01 -2.72147347e-04 5.75392638e+00] [ 1.90447372e-02 -4.56971281e-04 9.99818528e-01 3.39044742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34925415399994 meters Centerline goodness [0,1] 0.9997642217173233 Centerline is valid? [True, True] Translation: X:370.04, Y:5.76, Z:3.39 [[ 9.99343994e-01 -3.15947587e-02 -1.77018013e-02 3.70035951e+02] [ 3.15952453e-02 9.99500714e-01 -2.52250594e-04 5.76097187e+00] [ 1.77009328e-02 -3.07207638e-04 9.99843279e-01 3.39327612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37925415399997 meters Centerline goodness [0,1] 0.9999357381543998 Centerline is valid? [True, True] Translation: X:370.07, Y:5.76, Z:3.39 [[ 9.99459230e-01 -2.80700214e-02 -1.71266365e-02 3.70065940e+02] [ 2.80699713e-02 9.99605931e-01 -2.43366496e-04 5.76334450e+00] [ 1.71267188e-02 -2.37509305e-04 9.99853299e-01 3.39401307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40925415399994 meters Centerline goodness [0,1] 0.999807272260054 Centerline is valid? [True, True] Translation: X:370.10, Y:5.77, Z:3.40 [[ 9.99557928e-01 -2.46296183e-02 -1.66532232e-02 3.70096573e+02] [ 2.46290962e-02 9.99696630e-01 -2.36474189e-04 5.76665442e+00] [ 1.66539954e-02 -1.73784186e-04 9.99861297e-01 3.39519335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43925415399997 meters Centerline goodness [0,1] 0.9992707931197186 Centerline is valid? [True, True] Translation: X:370.13, Y:5.77, Z:3.40 [[ 9.99694267e-01 -1.90827245e-02 -1.57232840e-02 3.70127246e+02] [ 1.90815729e-02 9.99817905e-01 -2.23269140e-04 5.77091745e+00] [ 1.57246814e-02 -7.68241110e-05 9.99876357e-01 3.39684785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46925415399994 meters Centerline goodness [0,1] 0.9991648643439902 Centerline is valid? [True, True] Translation: X:370.16, Y:5.77, Z:3.40 [[ 9.99735527e-01 -1.71025587e-02 -1.53746048e-02 3.70156770e+02] [ 1.71012219e-02 9.99853740e-01 -2.18428448e-04 5.77167587e+00] [ 1.53760918e-02 -4.45538484e-05 9.99881780e-01 3.39685156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49925415399997 meters Centerline goodness [0,1] 0.9993568580371307 Centerline is valid? [True, True] Translation: X:370.19, Y:5.77, Z:3.40 [[ 9.99760964e-01 -1.55156591e-02 -1.54038911e-02 3.70186021e+02] [ 1.55141227e-02 9.99879625e-01 -2.19239056e-04 5.77210585e+00] [ 1.54054385e-02 -1.97912061e-05 9.99881329e-01 3.39735524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.52925415399994 meters Centerline goodness [0,1] 0.999422150882825 Centerline is valid? [True, True] Translation: X:370.21, Y:5.77, Z:3.40 [[ 9.99767150e-01 -1.55171059e-02 -1.49955170e-02 3.70214394e+02] [ 1.55156232e-02 9.99879602e-01 -2.15211261e-04 5.77218136e+00] [ 1.49970510e-02 -1.75036434e-05 9.99887538e-01 3.39760288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.559254154 meters Centerline goodness [0,1] 0.9995722931502748 Centerline is valid? [True, True] Translation: X:370.24, Y:5.77, Z:3.40 [[ 9.99755094e-01 -1.64160073e-02 -1.48413656e-02 3.70243667e+02] [ 1.64145977e-02 9.99865248e-01 -2.16799810e-04 5.76981335e+00] [ 1.48429247e-02 -2.68683300e-05 9.99889837e-01 3.39724023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.58925415399995 meters Centerline goodness [0,1] 0.9993580003851997 Centerline is valid? [True, True] Translation: X:370.27, Y:5.77, Z:3.40 [[ 9.99722311e-01 -1.73033526e-02 -1.59967011e-02 3.70272712e+02] [ 1.73017593e-02 9.99850285e-01 -2.38003787e-04 5.76776061e+00] [ 1.59984244e-02 -3.88333755e-05 9.99872016e-01 3.39720078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.619254154 meters Centerline goodness [0,1] 0.9993374935886477 Centerline is valid? [True, True] Translation: X:370.30, Y:5.77, Z:3.40 [[ 9.99681750e-01 -2.00537994e-02 -1.53050304e-02 3.70301315e+02] [ 2.00526039e-02 9.99798900e-01 -2.31586246e-04 5.76588397e+00] [ 1.53065968e-02 -7.53931696e-05 9.99882844e-01 3.39696179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.64925415399995 meters Centerline goodness [0,1] 0.9995526298971049 Centerline is valid? [True, True] Translation: X:370.33, Y:5.76, Z:3.40 [[ 9.99558288e-01 -2.51967236e-02 -1.57592593e-02 3.70330490e+02] [ 2.51960601e-02 9.99682500e-01 -2.40679244e-04 5.75945975e+00] [ 1.57603201e-02 -1.56498312e-04 9.99875786e-01 3.39555252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.679254154 meters Centerline goodness [0,1] 0.9992761182907876 Centerline is valid? [True, True] Translation: X:370.36, Y:5.76, Z:3.40 [[ 9.99475102e-01 -2.83790250e-02 -1.56253179e-02 3.70361338e+02] [ 2.83787700e-02 9.99597213e-01 -2.38088852e-04 5.75620785e+00] [ 1.56257810e-02 -2.05463424e-04 9.99877889e-01 3.39511963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.70925415399995 meters Centerline goodness [0,1] 0.9994052802616766 Centerline is valid? [True, True] Translation: X:370.39, Y:5.75, Z:3.39 [[ 9.99253415e-01 -3.50432866e-02 -1.62659153e-02 3.70391340e+02] [ 3.50439053e-02 9.99385743e-01 -2.47082102e-04 5.74869633e+00] [ 1.62645824e-02 -3.23123559e-04 9.99867671e-01 3.39464698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.739254154 meters Centerline goodness [0,1] 0.9991506529355558 Centerline is valid? [True, True] Translation: X:370.42, Y:5.75, Z:3.39 [[ 9.99134446e-01 -3.82144320e-02 -1.64321891e-02 3.70423237e+02] [ 3.82155138e-02 9.99269490e-01 -2.48284085e-04 5.74580039e+00] [ 1.64296732e-02 -3.79895366e-04 9.99864952e-01 3.39495994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.76925415399995 meters Centerline goodness [0,1] 0.9993011731819914 Centerline is valid? [True, True] Translation: X:370.46, Y:5.74, Z:3.39 [[ 9.99012238e-01 -4.13077350e-02 -1.63774175e-02 3.70455815e+02] [ 4.13092445e-02 9.99146379e-01 -2.46259647e-04 5.74286135e+00] [ 1.63736099e-02 -4.30522344e-04 9.99865851e-01 3.39487478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.799254154 meters Centerline goodness [0,1] 0.9990689998095681 Centerline is valid? [True, True] Translation: X:370.49, Y:5.74, Z:3.39 [[ 9.98803516e-01 -4.62610746e-02 -1.58571372e-02 3.70487212e+02] [ 4.62631275e-02 9.98929260e-01 -2.37533583e-04 5.73640048e+00] [ 1.58511469e-02 -4.96351380e-04 9.99874239e-01 3.39491956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.82925415399995 meters Centerline goodness [0,1] 0.9988991447201288 Centerline is valid? [True, True] Translation: X:370.52, Y:5.73, Z:3.39 [[ 9.98609075e-01 -5.06826621e-02 -1.45321355e-02 3.70517796e+02] [ 5.06848596e-02 9.98714673e-01 -2.17277549e-04 5.72905115e+00] [ 1.45244692e-02 -5.19583916e-04 9.99894379e-01 3.39451783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8592541539999 meters Centerline goodness [0,1] 0.9990895231642246 Centerline is valid? [True, True] Translation: X:370.55, Y:5.73, Z:3.40 [[ 9.98540620e-01 -5.22243753e-02 -1.37566087e-02 3.70550204e+02] [ 5.22264972e-02 9.98635244e-01 -2.05197761e-04 5.72840130e+00] [ 1.37485506e-02 -5.13561186e-04 9.99905352e-01 3.39508315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.88925415399996 meters Centerline goodness [0,1] 0.9987602697989115 Centerline is valid? [True, True] Translation: X:370.58, Y:5.73, Z:3.40 [[ 9.98454198e-01 -5.39700962e-02 -1.32832189e-02 3.70581050e+02] [ 5.39722396e-02 9.98542417e-01 -1.97326357e-04 5.72574932e+00] [ 1.32745072e-02 -5.19903743e-04 9.99911755e-01 3.39521717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91925415399993 meters Centerline goodness [0,1] 0.999048706240487 Centerline is valid? [True, True] Translation: X:370.61, Y:5.72, Z:3.40 [[ 9.98374135e-01 -5.56199742e-02 -1.24701576e-02 3.70612707e+02] [ 5.56219978e-02 9.98451881e-01 -1.84751987e-04 5.72493860e+00] [ 1.24611282e-02 -5.09163474e-04 9.99922227e-01 3.39595241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.94925415399996 meters Centerline goodness [0,1] 0.9987519830777366 Centerline is valid? [True, True] Translation: X:370.65, Y:5.72, Z:3.40 [[ 9.98290837e-01 -5.72352329e-02 -1.18123622e-02 3.70645090e+02] [ 5.72371695e-02 9.98360594e-01 -1.74331586e-04 5.72292602e+00] [ 1.18029749e-02 -5.02072554e-04 9.99930216e-01 3.39624331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97925415399993 meters Centerline goodness [0,1] 0.9988352886366524 Centerline is valid? [True, True] Translation: X:370.68, Y:5.72, Z:3.40 [[ 9.98138417e-01 -5.99448720e-02 -1.12388691e-02 3.70677242e+02] [ 5.99468054e-02 9.98201559e-01 -1.65072552e-04 5.72012007e+00] [ 1.12285520e-02 -5.08969045e-04 9.99936828e-01 3.39610808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.00925415399996 meters Centerline goodness [0,1] 0.9987080103359173 Centerline is valid? [True, True] Translation: X:370.71, Y:5.72, Z:3.40 [[ 9.98047880e-01 -6.14850592e-02 -1.09552538e-02 3.70708101e+02] [ 6.14869968e-02 9.98107872e-01 -1.60180809e-04 5.71807732e+00] [ 1.09443738e-02 -5.13737540e-04 9.99939977e-01 3.39624721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03925415399993 meters Centerline goodness [0,1] 0.998495316407409 Centerline is valid? [True, True] Translation: X:370.74, Y:5.72, Z:3.40 [[ 9.98005196e-01 -6.22464428e-02 -1.05361200e-02 3.70740066e+02] [ 6.22482817e-02 9.98060683e-01 -1.53635522e-04 5.71680786e+00] [ 1.05252504e-02 -5.02526318e-04 9.99944482e-01 3.39599366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06925415399996 meters Centerline goodness [0,1] 0.9986680479502738 Centerline is valid? [True, True] Translation: X:370.77, Y:5.71, Z:3.40 [[ 9.97885737e-01 -6.41338789e-02 -1.05309792e-02 3.70771161e+02] [ 6.41358286e-02 9.97941167e-01 -1.52815027e-04 5.71319220e+00] [ 1.05190983e-02 -5.22921140e-04 9.99944536e-01 3.39591175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09925415399994 meters Centerline goodness [0,1] 0.9986477349560514 Centerline is valid? [True, True] Translation: X:370.80, Y:5.71, Z:3.40 [[ 9.97812344e-01 -6.52064803e-02 -1.08922062e-02 3.70803493e+02] [ 6.52086367e-02 9.97871640e-01 -1.57422723e-04 5.71249495e+00] [ 1.08792886e-02 -5.53187580e-04 9.99940666e-01 3.39588598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12925415399997 meters Centerline goodness [0,1] 0.9983912960650255 Centerline is valid? [True, True] Translation: X:370.84, Y:5.71, Z:3.39 [[ 9.97832433e-01 -6.50146538e-02 -1.01750137e-02 3.70835819e+02] [ 6.50165325e-02 9.97884176e-01 -1.46380653e-04 5.71252940e+00] [ 1.01630021e-02 -5.15480746e-04 9.99948222e-01 3.39498453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15925415399994 meters Centerline goodness [0,1] 0.9986645752077328 Centerline is valid? [True, True] Translation: X:370.87, Y:5.71, Z:3.39 [[ 9.97714006e-01 -6.64804537e-02 -1.21289711e-02 3.70866626e+02] [ 6.64832422e-02 9.97787527e-01 -1.73597368e-04 5.71156893e+00] [ 1.21136769e-02 -6.33172797e-04 9.99926426e-01 3.39458252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18925415399997 meters Centerline goodness [0,1] 0.998688912854998 Centerline is valid? [True, True] Translation: X:370.90, Y:5.72, Z:3.39 [[ 9.97750807e-01 -6.58570250e-02 -1.24972020e-02 3.70898310e+02] [ 6.58599438e-02 9.97828861e-01 -1.78294023e-04 5.71667221e+00] [ 1.24818108e-02 -6.45172018e-04 9.99921891e-01 3.39377643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21925415399994 meters Centerline goodness [0,1] 0.9987298361488632 Centerline is valid? [True, True] Translation: X:370.93, Y:5.72, Z:3.39 [[ 9.97756557e-01 -6.54708421e-02 -1.39793330e-02 3.70930746e+02] [ 6.54744722e-02 9.97854225e-01 -1.98327652e-04 5.71905541e+00] [ 1.39623212e-02 -7.17406736e-04 9.99902265e-01 3.39385172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24925415399997 meters Centerline goodness [0,1] 0.9987519302773253 Centerline is valid? [True, True] Translation: X:370.96, Y:5.72, Z:3.39 [[ 9.97799786e-01 -6.47385188e-02 -1.43007126e-02 3.70962055e+02] [ 6.47422566e-02 9.97901999e-01 -2.01912994e-04 5.71957750e+00] [ 1.42837813e-02 -7.24391665e-04 9.99897719e-01 3.39375684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27925415399994 meters Centerline goodness [0,1] 0.9986661867761946 Centerline is valid? [True, True] Translation: X:370.99, Y:5.72, Z:3.39 [[ 9.98008351e-01 -6.14192433e-02 -1.43878002e-02 3.70992429e+02] [ 6.14226913e-02 9.98111823e-01 -2.02539395e-04 5.72122594e+00] [ 1.43730733e-02 -6.81601401e-04 9.99896470e-01 3.39336602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.309254154 meters Centerline goodness [0,1] 0.9987283555517877 Centerline is valid? [True, True] Translation: X:371.02, Y:5.72, Z:3.39 [[ 9.98108979e-01 -5.97359602e-02 -1.44941659e-02 3.71024106e+02] [ 5.97392898e-02 9.98213993e-01 -2.03514108e-04 5.72206173e+00] [ 1.44804363e-02 -6.62741916e-04 9.99894933e-01 3.39435734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.33925415399995 meters Centerline goodness [0,1] 0.9987080650626906 Centerline is valid? [True, True] Translation: X:371.06, Y:5.73, Z:3.40 [[ 9.98248390e-01 -5.73917507e-02 -1.43644885e-02 3.71055767e+02] [ 5.73947921e-02 9.98351540e-01 -2.00767011e-04 5.73243464e+00] [ 1.43523315e-02 -6.24031483e-04 9.99896805e-01 3.39621948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.369254154 meters Centerline goodness [0,1] 0.9986455313115067 Centerline is valid? [True, True] Translation: X:371.09, Y:5.74, Z:3.40 [[ 9.98433341e-01 -5.44164566e-02 -1.30273881e-02 3.71087433e+02] [ 5.44187139e-02 9.98518187e-01 -1.81403774e-04 5.73533711e+00] [ 1.30179553e-02 -5.27814130e-04 9.99915124e-01 3.39634081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.39925415399995 meters Centerline goodness [0,1] 0.9986421403263106 Centerline is valid? [True, True] Translation: X:371.12, Y:5.74, Z:3.40 [[ 9.98683361e-01 -4.97051033e-02 -1.26864580e-02 3.71117863e+02] [ 4.97068707e-02 9.98763834e-01 -1.76152784e-04 5.74262928e+00] [ 1.26795311e-02 -4.54683270e-04 9.99919508e-01 3.39907229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.429254154 meters Centerline goodness [0,1] 0.9985383833248602 Centerline is valid? [True, True] Translation: X:371.15, Y:5.75, Z:3.40 [[ 9.98859586e-01 -4.64373772e-02 -1.10949402e-02 3.71149108e+02] [ 4.64385283e-02 9.98921138e-01 -1.53990320e-04 5.74619690e+00] [ 1.10901212e-02 -3.61417987e-04 9.99938437e-01 3.39880348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.45925415399995 meters Centerline goodness [0,1] 0.9987696485013046 Centerline is valid? [True, True] Translation: X:371.18, Y:5.75, Z:3.40 [[ 9.98964333e-01 -4.40773074e-02 -1.12895240e-02 3.71180952e+02] [ 4.40783543e-02 9.99028065e-01 -1.56194711e-04 5.75040185e+00] [ 1.12854360e-02 -3.41590695e-04 9.99936259e-01 3.40066261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.489254154 meters Centerline goodness [0,1] 0.9989177489177489 Centerline is valid? [True, True] Translation: X:371.21, Y:5.75, Z:3.40 [[ 9.99083095e-01 -4.14545497e-02 -1.06999404e-02 3.71212572e+02] [ 4.14553479e-02 9.99140347e-01 -1.47279566e-04 5.75315014e+00] [ 1.06968476e-02 -2.96425229e-04 9.99942743e-01 3.40113859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.51925415399995 meters Centerline goodness [0,1] 0.9988953797132236 Centerline is valid? [True, True] Translation: X:371.24, Y:5.76, Z:3.40 [[ 9.99305555e-01 -3.58056692e-02 -1.03132170e-02 3.71243081e+02] [ 3.58061173e-02 9.99358745e-01 -1.41256761e-04 5.75786030e+00] [ 1.03116613e-02 -2.28117589e-04 9.99946807e-01 3.40042437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.549254154 meters Centerline goodness [0,1] 0.9988934051201294 Centerline is valid? [True, True] Translation: X:371.28, Y:5.76, Z:3.40 [[ 9.99352512e-01 -3.41527154e-02 -1.13202540e-02 3.71275256e+02] [ 3.41531551e-02 9.99416599e-01 -1.54531982e-04 5.76167848e+00] [ 1.13189274e-02 -2.32190466e-04 9.99935912e-01 3.40117247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57925415399995 meters Centerline goodness [0,1] 0.9988515525308379 Centerline is valid? [True, True] Translation: X:371.31, Y:5.76, Z:3.40 [[ 9.99416006e-01 -3.20351467e-02 -1.18909975e-02 3.71307083e+02] [ 3.20354926e-02 9.99486719e-01 -1.61428564e-04 5.76450755e+00] [ 1.18900655e-02 -2.19599671e-04 9.99929287e-01 3.40110439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6092541539999 meters Centerline goodness [0,1] 0.9992324912056284 Centerline is valid? [True, True] Translation: X:371.34, Y:5.77, Z:3.40 [[ 9.99501801e-01 -2.81630343e-02 -1.42475403e-02 3.71338430e+02] [ 2.81631530e-02 9.99603321e-01 -1.92342035e-04 5.76835017e+00] [ 1.42473055e-02 -2.09009447e-04 9.99898480e-01 3.40043286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63925415399996 meters Centerline goodness [0,1] 0.9992324912056284 Centerline is valid? [True, True] Translation: X:371.37, Y:5.77, Z:3.40 [[ 9.99502794e-01 -2.81277811e-02 -1.42475494e-02 3.71369276e+02] [ 2.81279060e-02 9.99604314e-01 -1.91663211e-04 5.76873435e+00] [ 1.42473029e-02 -2.09185815e-04 9.99898480e-01 3.40072170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66925415399993 meters Centerline goodness [0,1] 0.9992320819112628 Centerline is valid? [True, True] Translation: X:371.40, Y:5.77, Z:3.40 [[ 9.99548467e-01 -2.61719129e-02 -1.47612198e-02 3.71401016e+02] [ 2.61718415e-02 9.99657439e-01 -1.98040803e-04 5.77088800e+00] [ 1.47613462e-02 -1.88376923e-04 9.99891028e-01 3.40051214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69925415399996 meters Centerline goodness [0,1] 0.999124885274594 Centerline is valid? [True, True] Translation: X:371.43, Y:5.77, Z:3.40 [[ 9.99617929e-01 -2.26697789e-02 -1.58138398e-02 3.71432803e+02] [ 2.26692699e-02 9.99742997e-01 -2.11463305e-04 5.77495193e+00] [ 1.58145694e-02 -1.47105692e-04 9.99874931e-01 3.40089221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72925415399993 meters Centerline goodness [0,1] 0.9992093510267752 Centerline is valid? [True, True] Translation: X:371.46, Y:5.78, Z:3.40 [[ 9.99647353e-01 -2.11265149e-02 -1.60885104e-02 3.71463297e+02] [ 2.11257964e-02 9.99776802e-01 -2.14624854e-04 5.77750226e+00] [ 1.60894537e-02 -1.25333428e-04 9.99870549e-01 3.40196453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75925415399996 meters Centerline goodness [0,1] 0.9990815890645024 Centerline is valid? [True, True] Translation: X:371.49, Y:5.78, Z:3.40 [[ 9.99672750e-01 -1.97004012e-02 -1.63182867e-02 3.71492452e+02] [ 1.96994680e-02 9.99805923e-01 -2.17947188e-04 5.77895876e+00] [ 1.63194133e-02 -1.03585701e-04 9.99866824e-01 3.40218862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78925415399993 meters Centerline goodness [0,1] 0.9993387936182919 Centerline is valid? [True, True] Translation: X:371.52, Y:5.78, Z:3.40 [[ 9.99698123e-01 -1.85069505e-02 -1.61603305e-02 3.71522216e+02] [ 1.85058696e-02 9.99828728e-01 -2.16433430e-04 5.78021341e+00] [ 1.61615682e-02 -8.26928752e-05 9.99869390e-01 3.40299405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81925415399996 meters Centerline goodness [0,1] 0.9991463024223669 Centerline is valid? [True, True] Translation: X:371.55, Y:5.78, Z:3.40 [[ 9.99696929e-01 -1.86607331e-02 -1.60569714e-02 3.71550428e+02] [ 1.86596744e-02 9.99825870e-01 -2.15765644e-04 5.78020416e+00] [ 1.60582018e-02 -8.39176072e-05 9.99871055e-01 3.40311248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84925415399994 meters Centerline goodness [0,1] 0.9989557582473787 Centerline is valid? [True, True] Translation: X:371.58, Y:5.78, Z:3.40 [[ 9.99687183e-01 -1.94710922e-02 -1.56975352e-02 3.71579343e+02] [ 1.94701470e-02 9.99810416e-01 -2.13057098e-04 5.77993878e+00] [ 1.56987076e-02 -9.26428674e-05 9.99876763e-01 3.40363978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87925415399997 meters Centerline goodness [0,1] 0.999338553779845 Centerline is valid? [True, True] Translation: X:371.61, Y:5.78, Z:3.40 [[ 9.99670790e-01 -2.04161749e-02 -1.55399790e-02 3.71608966e+02] [ 2.04153224e-02 9.99791563e-01 -2.13510526e-04 5.77927761e+00] [ 1.55410989e-02 -1.03813445e-04 9.99879224e-01 3.40437525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90925415399994 meters Centerline goodness [0,1] 0.9990404912684705 Centerline is valid? [True, True] Translation: X:371.64, Y:5.78, Z:3.41 [[ 9.99608776e-01 -2.30858890e-02 -1.57903682e-02 3.71638490e+02] [ 2.30853326e-02 9.99733475e-01 -2.17536234e-04 5.77636410e+00] [ 1.57911817e-02 -1.47074773e-04 9.99875301e-01 3.40501823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93925415399997 meters Centerline goodness [0,1] 0.9991282160323198 Centerline is valid? [True, True] Translation: X:371.67, Y:5.77, Z:3.41 [[ 9.99519895e-01 -2.64706021e-02 -1.61023540e-02 3.71669224e+02] [ 2.64704569e-02 9.99649571e-01 -2.22185539e-04 5.77231700e+00] [ 1.61025927e-02 -2.04157802e-04 9.99870324e-01 3.40543268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96925415399994 meters Centerline goodness [0,1] 0.9988313537173575 Centerline is valid? [True, True] Translation: X:371.70, Y:5.77, Z:3.41 [[ 9.99462038e-01 -2.82713743e-02 -1.66241728e-02 3.71700852e+02] [ 2.82714729e-02 9.99600256e-01 -2.29121703e-04 5.77015528e+00] [ 1.66240050e-02 -2.40991408e-04 9.99861783e-01 3.40531499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99925415399997 meters Centerline goodness [0,1] 0.9990861174870356 Centerline is valid? [True, True] Translation: X:371.73, Y:5.77, Z:3.41 [[ 9.99396848e-01 -3.00465810e-02 -1.74110225e-02 3.71731772e+02] [ 3.00469673e-02 9.99548459e-01 -2.39462027e-04 5.76794176e+00] [ 1.74103558e-02 -2.83830830e-04 9.99848388e-01 3.40570041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.02925415399994 meters Centerline goodness [0,1] 0.9986864406779661 Centerline is valid? [True, True] Translation: X:371.76, Y:5.76, Z:3.40 [[ 9.99348182e-01 -3.13469195e-02 -1.79047723e-02 3.71761757e+02] [ 3.13475427e-02 9.99508515e-01 -2.45921016e-04 5.76422500e+00] [ 1.79036812e-02 -3.15509894e-04 9.99839666e-01 3.40455963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.059254154 meters Centerline goodness [0,1] 0.9991101506387847 Centerline is valid? [True, True] Translation: X:371.79, Y:5.76, Z:3.41 [[ 9.99293372e-01 -3.31915552e-02 -1.76373913e-02 3.71792143e+02] [ 3.31924526e-02 9.99448949e-01 -2.41933863e-04 5.75995774e+00] [ 1.76357024e-02 -3.43665372e-04 9.99844420e-01 3.40559732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.08925415399995 meters Centerline goodness [0,1] 0.9987054054627645 Centerline is valid? [True, True] Translation: X:371.82, Y:5.76, Z:3.41 [[ 9.99288955e-01 -3.33464297e-02 -1.75954614e-02 3.71823208e+02] [ 3.33473551e-02 9.99443793e-01 -2.40891181e-04 5.75977341e+00] [ 1.75937075e-02 -3.46042203e-04 9.99845159e-01 3.40622454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.119254154 meters Centerline goodness [0,1] 0.9988165930559371 Centerline is valid? [True, True] Translation: X:371.85, Y:5.76, Z:3.41 [[ 9.99352850e-01 -3.14222915e-02 -1.75077323e-02 3.71853327e+02] [ 3.14229211e-02 9.99506149e-01 -2.39200588e-04 5.75756218e+00] [ 1.75066023e-02 -3.11098300e-04 9.99846699e-01 3.40599912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.14925415399995 meters Centerline goodness [0,1] 0.9988327674023769 Centerline is valid? [True, True] Translation: X:371.88, Y:5.76, Z:3.41 [[ 9.99404966e-01 -2.95272776e-02 -1.78284432e-02 3.71884303e+02] [ 2.95276376e-02 9.99563935e-01 -2.43099681e-04 5.75752261e+00] [ 1.78278469e-02 -2.83476782e-04 9.99841031e-01 3.40605929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.179254154 meters Centerline goodness [0,1] 0.9990023349607302 Centerline is valid? [True, True] Translation: X:371.91, Y:5.76, Z:3.41 [[ 9.99534505e-01 -2.47205534e-02 -1.78792346e-02 3.71914077e+02] [ 2.47201500e-02 9.99694381e-01 -2.43603408e-04 5.75789573e+00] [ 1.78797924e-02 -1.98487349e-04 9.99840124e-01 3.40608955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.20925415399995 meters Centerline goodness [0,1] 0.9988324700687782 Centerline is valid? [True, True] Translation: X:371.94, Y:5.76, Z:3.41 [[ 9.99592343e-01 -2.17742301e-02 -1.84670243e-02 3.71943956e+02] [ 2.17732877e-02 9.99762902e-01 -2.52112001e-04 5.75882632e+00] [ 1.84681354e-02 -1.50078608e-04 9.99829438e-01 3.40596080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.239254154 meters Centerline goodness [0,1] 0.998962545785607 Centerline is valid? [True, True] Translation: X:371.97, Y:5.76, Z:3.41 [[ 9.99641277e-01 -1.85974365e-02 -1.92730976e-02 3.71971922e+02] [ 1.85957883e-02 9.99827048e-01 -2.64743183e-04 5.76001867e+00] [ 1.92746878e-02 -9.37502296e-05 9.99814222e-01 3.40587454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.26925415399995 meters Centerline goodness [0,1] 0.9989623700315524 Centerline is valid? [True, True] Translation: X:372.00, Y:5.76, Z:3.41 [[ 9.99685343e-01 -1.57104256e-02 -1.95549939e-02 3.71999975e+02] [ 1.57080962e-02 9.99876583e-01 -2.72725074e-04 5.76157416e+00] [ 1.95568651e-02 -3.45324667e-05 9.99808746e-01 3.40600068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2992541539999 meters Centerline goodness [0,1] 0.9991536720055858 Centerline is valid? [True, True] Translation: X:372.03, Y:5.76, Z:3.41 [[ 9.99741024e-01 -1.03692028e-02 -2.02574337e-02 3.72029116e+02] [ 1.03654965e-02 9.99946235e-01 -2.87955082e-04 5.76294139e+00] [ 2.02593304e-02 7.79021510e-05 9.99794756e-01 3.40635095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.32925415399995 meters Centerline goodness [0,1] 0.9988583992220202 Centerline is valid? [True, True] Translation: X:372.06, Y:5.76, Z:3.41 [[ 9.99763076e-01 -8.19520172e-03 -2.01650926e-02 3.72058119e+02] [ 8.19098486e-03 9.99966411e-01 -2.91703384e-04 5.76270110e+00] [ 2.01668058e-02 1.26462304e-04 9.99796621e-01 3.40731946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3592541539999 meters Centerline goodness [0,1] 0.9993872031104725 Centerline is valid? [True, True] Translation: X:372.09, Y:5.76, Z:3.41 [[ 9.99784984e-01 -5.47348605e-03 -2.00006751e-02 3.72087124e+02] [ 5.46869146e-03 9.99985003e-01 -2.94408073e-04 5.76113574e+00] [ 2.00019866e-02 1.84967249e-04 9.99799923e-01 3.40763633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.38925415399996 meters Centerline goodness [0,1] 0.9992824430702995 Centerline is valid? [True, True] Translation: X:372.11, Y:5.76, Z:3.41 [[ 9.99785363e-01 -4.86753751e-03 -2.01378980e-02 3.72114477e+02] [ 4.86248608e-03 9.99988133e-01 -2.99799673e-04 5.76059050e+00] [ 2.01391183e-02 2.01815077e-04 9.99797167e-01 3.40728325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41925415399993 meters Centerline goodness [0,1] 0.9993027088703884 Centerline is valid? [True, True] Translation: X:372.14, Y:5.76, Z:3.41 [[ 9.99777418e-01 -4.93467431e-03 -2.05125145e-02 3.72142287e+02] [ 4.92936296e-03 9.99987803e-01 -3.09486433e-04 5.75879886e+00] [ 2.05137915e-02 2.08303917e-04 9.99789548e-01 3.40788882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.44925415399996 meters Centerline goodness [0,1] 0.999219787866647 Centerline is valid? [True, True] Translation: X:372.17, Y:5.76, Z:3.41 [[ 9.99774561e-01 -5.33770193e-03 -2.05508315e-02 3.72170119e+02] [ 5.33233262e-03 9.99985733e-01 -3.16059277e-04 5.75716005e+00] [ 2.05522254e-02 2.06404155e-04 9.99788759e-01 3.40788836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47925415399993 meters Centerline goodness [0,1] 0.9992403460645706 Centerline is valid? [True, True] Translation: X:372.20, Y:5.76, Z:3.41 [[ 9.99764944e-01 -6.10174562e-03 -2.08044572e-02 3.72198000e+02] [ 6.09628201e-03 9.99981364e-01 -3.26029343e-04 5.75533344e+00] [ 2.08060589e-02 1.99122869e-04 9.99783511e-01 3.40788910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.50925415399996 meters Centerline goodness [0,1] 0.999326259053394 Centerline is valid? [True, True] Translation: X:372.23, Y:5.75, Z:3.41 [[ 9.99723921e-01 -8.30034821e-03 -2.19815015e-02 3.72226950e+02] [ 8.29469707e-03 9.99965538e-01 -3.48250981e-04 5.74978689e+00] [ 2.19836346e-02 1.65824940e-04 9.99758317e-01 3.40782291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53925415399993 meters Centerline goodness [0,1] 0.9992206916887821 Centerline is valid? [True, True] Translation: X:372.25, Y:5.75, Z:3.41 [[ 9.99704794e-01 -9.99507605e-03 -2.21454944e-02 3.72254913e+02] [ 9.98965896e-03 9.99950039e-01 -3.55229407e-04 5.74674231e+00] [ 2.21479385e-02 1.33898605e-04 9.99754695e-01 3.40796758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56925415399996 meters Centerline goodness [0,1] 0.9992649375196891 Centerline is valid? [True, True] Translation: X:372.28, Y:5.74, Z:3.41 [[ 9.99651804e-01 -1.40763781e-02 -2.23187415e-02 3.72284209e+02] [ 1.40718112e-02 9.99900922e-01 -3.61668917e-04 5.73948562e+00] [ 2.23216212e-02 4.74778677e-05 9.99750840e-01 3.40877880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59925415399994 meters Centerline goodness [0,1] 0.9992863589614424 Centerline is valid? [True, True] Translation: X:372.31, Y:5.74, Z:3.41 [[ 9.99626210e-01 -1.66216789e-02 -2.17062211e-02 3.72311952e+02] [ 1.66178678e-02 9.99861850e-01 -3.55953799e-04 5.73596387e+00] [ 2.17091389e-02 -4.89036526e-06 9.99764329e-01 3.40940094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62925415399997 meters Centerline goodness [0,1] 0.9991609154412536 Centerline is valid? [True, True] Translation: X:372.34, Y:5.73, Z:3.41 [[ 9.99578526e-01 -1.92021164e-02 -2.17726729e-02 3.72339382e+02] [ 1.91988109e-02 9.99815621e-01 -3.60857301e-04 5.73222579e+00] [ 2.17755877e-02 -5.73042202e-05 9.99762882e-01 3.40982650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65925415399994 meters Centerline goodness [0,1] 0.9991004184100418 Centerline is valid? [True, True] Translation: X:372.37, Y:5.72, Z:3.41 [[ 9.99465795e-01 -2.44791749e-02 -2.16539907e-02 3.72368233e+02] [ 2.44770586e-02 9.99700326e-01 -3.62810692e-04 5.72421718e+00] [ 2.16563829e-02 -1.67409124e-04 9.99765459e-01 3.41039371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68925415399997 meters Centerline goodness [0,1] 0.9992485126813485 Centerline is valid? [True, True] Translation: X:372.40, Y:5.72, Z:3.41 [[ 9.99398143e-01 -2.72544193e-02 -2.14603862e-02 3.72396007e+02] [ 2.72529071e-02 9.99628505e-01 -3.62977975e-04 5.71961123e+00] [ 2.14623065e-02 -2.22098397e-04 9.99769634e-01 3.40992538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71925415399994 meters Centerline goodness [0,1] 0.9992694788253219 Centerline is valid? [True, True] Translation: X:372.42, Y:5.72, Z:3.41 [[ 9.99316158e-01 -3.03139655e-02 -2.11726111e-02 3.72424816e+02] [ 3.03131015e-02 9.99540387e-01 -3.61819838e-04 5.71552687e+00] [ 2.11738481e-02 -2.80235100e-04 9.99775770e-01 3.41027538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74925415399997 meters Centerline goodness [0,1] 0.9994987887394536 Centerline is valid? [True, True] Translation: X:372.45, Y:5.71, Z:3.41 [[ 9.99127039e-01 -3.61372499e-02 -2.09585317e-02 3.72453934e+02] [ 3.61375733e-02 9.99346759e-01 -3.63429824e-04 5.70902125e+00] [ 2.09579741e-02 -3.94277913e-04 9.99780280e-01 3.41164532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77925415399994 meters Centerline goodness [0,1] 0.9990189529932371 Centerline is valid? [True, True] Translation: X:372.48, Y:5.71, Z:3.41 [[ 9.99005323e-01 -3.95097118e-02 -2.06723582e-02 3.72482864e+02] [ 3.95106856e-02 9.99219083e-01 -3.61482569e-04 5.70501242e+00] [ 2.06704969e-02 -4.55656036e-04 9.99786239e-01 3.41162840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.809254154 meters Centerline goodness [0,1] 0.9989777184344488 Centerline is valid? [True, True] Translation: X:372.51, Y:5.70, Z:3.41 [[ 9.98729126e-01 -4.60939232e-02 -2.03834035e-02 3.72511515e+02] [ 4.60962101e-02 9.98936941e-01 -3.57893504e-04 5.69615861e+00] [ 2.03782314e-02 -5.82158983e-04 9.99792173e-01 3.41196706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.83925415399995 meters Centerline goodness [0,1] 0.9992289899768697 Centerline is valid? [True, True] Translation: X:372.54, Y:5.69, Z:3.41 [[ 9.98568618e-01 -4.94494111e-02 -2.03830897e-02 3.72541567e+02] [ 4.94523754e-02 9.98776418e-01 -3.58900062e-04 5.69251268e+00] [ 2.03758967e-02 -6.49605864e-04 9.99792179e-01 3.41270998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.869254154 meters Centerline goodness [0,1] 0.9992282019190655 Centerline is valid? [True, True] Translation: X:372.57, Y:5.69, Z:3.41 [[ 9.98421631e-01 -5.24491161e-02 -2.00832306e-02 3.72572222e+02] [ 5.24525965e-02 9.98623352e-01 -3.53788016e-04 5.68907253e+00] [ 2.00741389e-02 -7.00187981e-04 9.99798249e-01 3.41295994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.89925415399995 meters Centerline goodness [0,1] 0.9991032886367902 Centerline is valid? [True, True] Translation: X:372.60, Y:5.68, Z:3.41 [[ 9.98105957e-01 -5.80511592e-02 -2.03607953e-02 3.72602143e+02] [ 5.80559091e-02 9.98313269e-01 -3.58229403e-04 5.68138666e+00] [ 2.03472478e-02 -8.24513582e-04 9.99792633e-01 3.41299933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.929254154 meters Centerline goodness [0,1] 0.9990821669204614 Centerline is valid? [True, True] Translation: X:372.63, Y:5.68, Z:3.41 [[ 9.97998309e-01 -5.99660315e-02 -2.00860708e-02 3.72633483e+02] [ 5.99710564e-02 9.98200054e-01 -3.52628799e-04 5.68016073e+00] [ 2.00710627e-02 -8.52659942e-04 9.99798192e-01 3.41369479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.95925415399995 meters Centerline goodness [0,1] 0.9993748827905232 Centerline is valid? [True, True] Translation: X:372.66, Y:5.68, Z:3.41 [[ 9.97895841e-01 -6.17002678e-02 -1.99240352e-02 3.72663809e+02] [ 6.17055674e-02 9.98094335e-01 -3.49255046e-04 5.67707925e+00] [ 1.99076157e-02 -8.80903737e-04 9.99801436e-01 3.41371982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.989254154 meters Centerline goodness [0,1] 0.9989987066627728 Centerline is valid? [True, True] Translation: X:372.70, Y:5.67, Z:3.41 [[ 9.97764478e-01 -6.36274676e-02 -2.04350404e-02 3.72695318e+02] [ 6.36334576e-02 9.97973274e-01 -3.57644531e-04 5.67424774e+00] [ 2.04163802e-02 -9.43507268e-04 9.99791119e-01 3.41361674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.01925415399995 meters Centerline goodness [0,1] 0.9993324850330628 Centerline is valid? [True, True] Translation: X:372.73, Y:5.67, Z:3.41 [[ 9.97742778e-01 -6.38425967e-02 -2.08200030e-02 3.72726900e+02] [ 6.38488770e-02 9.97959513e-01 -3.63629258e-04 5.67473382e+00] [ 2.08007351e-02 -9.66525347e-04 9.99783174e-01 3.41385358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0492541539999 meters Centerline goodness [0,1] 0.9990440167920529 Centerline is valid? [True, True] Translation: X:372.76, Y:5.67, Z:3.41 [[ 9.97758170e-01 -6.33763989e-02 -2.14957200e-02 3.72757359e+02] [ 6.33830093e-02 9.97989205e-01 -3.74335180e-04 5.67347226e+00] [ 2.14762205e-02 -9.88967434e-04 9.99768870e-01 3.41295762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07925415399995 meters Centerline goodness [0,1] 0.9987472596304416 Centerline is valid? [True, True] Translation: X:372.79, Y:5.68, Z:3.41 [[ 9.97754044e-01 -6.26829461e-02 -2.36160299e-02 3.72788588e+02] [ 6.26907590e-02 9.98032916e-01 -4.10108248e-04 5.67583271e+00] [ 2.35952820e-02 -1.07131968e-03 9.99721019e-01 3.41320725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1092541539999 meters Centerline goodness [0,1] 0.9991259287007555 Centerline is valid? [True, True] Translation: X:372.82, Y:5.68, Z:3.41 [[ 9.97803919e-01 -6.26240197e-02 -2.15770901e-02 3.72819398e+02] [ 6.26305341e-02 9.98036711e-01 -3.74390346e-04 5.67657928e+00] [ 2.15581739e-02 -9.77816523e-04 9.99767117e-01 3.41375683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13925415399996 meters Centerline goodness [0,1] 0.9990611699908203 Centerline is valid? [True, True] Translation: X:372.85, Y:5.68, Z:3.41 [[ 9.97812585e-01 -6.20956435e-02 -2.26754619e-02 3.72850832e+02] [ 6.21027131e-02 9.98069686e-01 -3.92969357e-04 5.67718846e+00] [ 2.26560928e-02 -1.01609794e-03 9.99742801e-01 3.41373281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16925415399993 meters Centerline goodness [0,1] 0.999207871258234 Centerline is valid? [True, True] Translation: X:372.88, Y:5.68, Z:3.41 [[ 9.97881253e-01 -6.11243518e-02 -2.22894333e-02 3.72880286e+02] [ 6.11309519e-02 9.98129680e-01 -3.85782745e-04 5.67839228e+00] [ 2.22713256e-02 -9.77608903e-04 9.99751485e-01 3.41405181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19925415399996 meters Centerline goodness [0,1] 0.9989583984334313 Centerline is valid? [True, True] Translation: X:372.91, Y:5.68, Z:3.41 [[ 9.97933965e-01 -6.02123681e-02 -2.24114486e-02 3.72910815e+02] [ 6.02188138e-02 9.98185125e-01 -3.87774159e-04 5.67951856e+00] [ 2.23941234e-02 -9.62617846e-04 9.99748757e-01 3.41423606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22925415399993 meters Centerline goodness [0,1] 0.9990198531865199 Centerline is valid? [True, True] Translation: X:372.94, Y:5.68, Z:3.41 [[ 9.98006597e-01 -5.91675873e-02 -2.19551673e-02 3.72941029e+02] [ 5.91735159e-02 9.98247640e-01 -3.80101425e-04 5.68067554e+00] [ 2.19391836e-02 -9.19820709e-04 9.99758884e-01 3.41422323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25925415399996 meters Centerline goodness [0,1] 0.9990646240828119 Centerline is valid? [True, True] Translation: X:372.97, Y:5.68, Z:3.41 [[ 9.98219676e-01 -5.53951429e-02 -2.21100798e-02 3.72970591e+02] [ 5.54002229e-02 9.98464155e-01 -3.83172706e-04 5.68339212e+00] [ 2.20973480e-02 -8.42412815e-04 9.99755469e-01 3.41460589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28925415399993 meters Centerline goodness [0,1] 0.9988735449956193 Centerline is valid? [True, True] Translation: X:373.00, Y:5.69, Z:3.42 [[ 9.98349264e-01 -5.30297065e-02 -2.20589526e-02 3.73000651e+02] [ 5.30341779e-02 9.98592624e-01 -3.82669895e-04 5.68634738e+00] [ 2.20482002e-02 -7.87840207e-04 9.99756598e-01 3.41503860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31925415399996 meters Centerline goodness [0,1] 0.9985994397759104 Centerline is valid? [True, True] Translation: X:373.03, Y:5.69, Z:3.42 [[ 9.98478766e-01 -5.05839517e-02 -2.19412481e-02 3.73030759e+02] [ 5.05877774e-02 9.98719546e-01 -3.81006150e-04 5.68955915e+00] [ 2.19324262e-02 -7.29532425e-04 9.99759189e-01 3.41569300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34925415399994 meters Centerline goodness [0,1] 0.999206514930048 Centerline is valid? [True, True] Translation: X:373.06, Y:5.70, Z:3.42 [[ 9.98727095e-01 -4.56927228e-02 -2.13627010e-02 3.73059562e+02] [ 4.56952191e-02 9.98955359e-01 -3.71527284e-04 5.69544836e+00] [ 2.13573608e-02 -6.05118939e-04 9.99771722e-01 3.41649034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37925415399997 meters Centerline goodness [0,1] 0.9991850721942453 Centerline is valid? [True, True] Translation: X:373.09, Y:5.70, Z:3.42 [[ 9.98813405e-01 -4.36210751e-02 -2.16560114e-02 3.73089181e+02] [ 4.36231380e-02 9.99047987e-01 -3.77368650e-04 5.69839375e+00] [ 2.16518558e-02 -5.67782305e-04 9.99765410e-01 3.41676372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40925415399994 meters Centerline goodness [0,1] 0.9989145409760781 Centerline is valid? [True, True] Translation: X:373.12, Y:5.70, Z:3.42 [[ 9.98950851e-01 -4.03236727e-02 -2.17071009e-02 3.73117792e+02] [ 4.03249477e-02 9.99186547e-01 -3.79156530e-04 5.70281802e+00] [ 2.17047322e-02 -4.96578971e-04 9.99764301e-01 3.41657424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43925415399997 meters Centerline goodness [0,1] 0.998912520651651 Centerline is valid? [True, True] Translation: X:373.15, Y:5.70, Z:3.42 [[ 9.98994396e-01 -3.88230574e-02 -2.24269335e-02 3.73146552e+02] [ 3.88239622e-02 9.99245988e-01 -3.95224905e-04 5.70498199e+00] [ 2.24253671e-02 -4.75874952e-04 9.99748407e-01 3.41626567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46925415399994 meters Centerline goodness [0,1] 0.999141037459147 Centerline is valid? [True, True] Translation: X:373.18, Y:5.71, Z:3.42 [[ 9.99047644e-01 -3.76465887e-02 -2.20576386e-02 3.73175509e+02] [ 3.76470651e-02 9.99291020e-01 -3.93799729e-04 5.70733859e+00] [ 2.20568254e-02 -4.36980665e-04 9.99756623e-01 3.41718441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49925415399997 meters Centerline goodness [0,1] 0.9990360435875943 Centerline is valid? [True, True] Translation: X:373.20, Y:5.71, Z:3.42 [[ 9.99160594e-01 -3.48741584e-02 -2.14918914e-02 3.73203125e+02] [ 3.48738919e-02 9.99391646e-01 -3.87307053e-04 5.71224798e+00] [ 2.14923237e-02 -3.62523954e-04 9.99768948e-01 3.41875442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.52925415399994 meters Centerline goodness [0,1] 0.99939157435381 Centerline is valid? [True, True] Translation: X:373.23, Y:5.72, Z:3.42 [[ 9.99215659e-01 -3.31923068e-02 -2.15948702e-02 3.73231964e+02] [ 3.31915599e-02 9.99448931e-01 -3.93108210e-04 5.71530536e+00] [ 2.15960181e-02 -3.23967550e-04 9.99766726e-01 3.41981850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.559254154 meters Centerline goodness [0,1] 0.99939157435381 Centerline is valid? [True, True] Translation: X:373.26, Y:5.72, Z:3.42 [[ 9.99206993e-01 -3.34522269e-02 -2.15947725e-02 3.73259382e+02] [ 3.34514260e-02 9.99440265e-01 -3.98421012e-04 5.71591865e+00] [ 2.15960133e-02 -3.24270874e-04 9.99766726e-01 3.42007593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.58925415399995 meters Centerline goodness [0,1] 0.999328844984165 Centerline is valid? [True, True] Translation: X:373.29, Y:5.72, Z:3.42 [[ 9.99291475e-01 -3.08179541e-02 -2.16055719e-02 3.73286851e+02] [ 3.08164628e-02 9.99524979e-01 -4.02044031e-04 5.71987742e+00] [ 2.16076990e-02 -2.64048131e-04 9.99766492e-01 3.42052811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.619254154 meters Centerline goodness [0,1] 0.9994755391457582 Centerline is valid? [True, True] Translation: X:373.31, Y:5.72, Z:3.42 [[ 9.99309347e-01 -3.01060020e-02 -2.17820338e-02 3.73314570e+02] [ 3.01042234e-02 9.99546681e-01 -4.09627927e-04 5.72362775e+00] [ 2.17844918e-02 -2.46386194e-04 9.99762659e-01 3.42336418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.64925415399995 meters Centerline goodness [0,1] 0.9991417027779522 Centerline is valid? [True, True] Translation: X:373.34, Y:5.72, Z:3.42 [[ 9.99316230e-01 -2.99907829e-02 -2.16246686e-02 3.73342255e+02] [ 2.99888691e-02 9.99550147e-01 -4.12858034e-04 5.72481153e+00] [ 2.16273226e-02 -2.35923623e-04 9.99766074e-01 3.42383507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.679254154 meters Centerline goodness [0,1] 0.999015624345495 Centerline is valid? [True, True] Translation: X:373.37, Y:5.73, Z:3.42 [[ 9.99316939e-01 -3.00921282e-02 -2.14503718e-02 3.73369637e+02] [ 3.00901595e-02 9.99547103e-01 -4.14607870e-04 5.72503589e+00] [ 2.14531334e-02 -2.31120441e-04 9.99769828e-01 3.42337697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.70925415399995 meters Centerline goodness [0,1] 0.9994967392899831 Centerline is valid? [True, True] Translation: X:373.40, Y:5.73, Z:3.42 [[ 9.99275503e-01 -3.13684310e-02 -2.15520476e-02 3.73397934e+02] [ 3.13666764e-02 9.99507857e-01 -4.19537434e-04 5.72525671e+00] [ 2.15546012e-02 -2.56782624e-04 9.99767640e-01 3.42381461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.739254154 meters Centerline goodness [0,1] 0.9992240421114443 Centerline is valid? [True, True] Translation: X:373.43, Y:5.72, Z:3.42 [[ 9.99244459e-01 -3.27045053e-02 -2.09982492e-02 3.73425354e+02] [ 3.27030955e-02 9.99465026e-01 -4.10620362e-04 5.72446133e+00] [ 2.10004449e-02 -2.76397628e-04 9.99779428e-01 3.42362876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.76925415399995 meters Centerline goodness [0,1] 0.9989737360197712 Centerline is valid? [True, True] Translation: X:373.45, Y:5.72, Z:3.42 [[ 9.99184873e-01 -3.43053614e-02 -2.12774868e-02 3.73453909e+02] [ 3.43041941e-02 9.99411350e-01 -4.19956966e-04 5.72492949e+00] [ 2.12793685e-02 -3.10292389e-04 9.99773520e-01 3.42447690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7992541539999 meters Centerline goodness [0,1] 0.9991620228767755 Centerline is valid? [True, True] Translation: X:373.48, Y:5.72, Z:3.42 [[ 9.99054866e-01 -3.82910604e-02 -2.05710927e-02 3.73482202e+02] [ 3.82907458e-02 9.99266557e-01 -4.09323069e-04 5.72123594e+00] [ 2.05716784e-02 -3.78746277e-04 9.99788309e-01 3.42417985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.82925415399995 meters Centerline goodness [0,1] 0.9989754955256335 Centerline is valid? [True, True] Translation: X:373.51, Y:5.72, Z:3.42 [[ 9.98970732e-01 -4.06457435e-02 -2.01345501e-02 3.73510911e+02] [ 4.06458920e-02 9.99173533e-01 -4.02029351e-04 5.71818454e+00] [ 2.01342503e-02 -4.16771193e-04 9.99797199e-01 3.42372946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8592541539999 meters Centerline goodness [0,1] 0.9989525066515828 Centerline is valid? [True, True] Translation: X:373.54, Y:5.72, Z:3.42 [[ 9.98870068e-01 -4.33062331e-02 -1.95743859e-02 3.73541018e+02] [ 4.33068710e-02 9.99061741e-01 -3.91506500e-04 5.71782883e+00] [ 1.95729747e-02 -4.56641278e-04 9.99808327e-01 3.42453261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.88925415399996 meters Centerline goodness [0,1] 0.9991205109412626 Centerline is valid? [True, True] Translation: X:373.57, Y:5.71, Z:3.42 [[ 9.98632574e-01 -4.84307786e-02 -1.96835377e-02 3.73570640e+02] [ 4.84324112e-02 9.98826384e-01 -3.94038952e-04 5.71326248e+00] [ 1.96795204e-02 -5.59821059e-04 9.99806183e-01 3.42454916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91925415399993 meters Centerline goodness [0,1] 0.9990197509750349 Centerline is valid? [True, True] Translation: X:373.60, Y:5.71, Z:3.43 [[ 9.98497720e-01 -5.11911880e-02 -1.95388144e-02 3.73601649e+02] [ 5.11933304e-02 9.98688685e-01 -3.90841982e-04 5.71328561e+00] [ 1.95332005e-02 -6.10002153e-04 9.99809023e-01 3.42523451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.94925415399996 meters Centerline goodness [0,1] 0.99872712476264 Centerline is valid? [True, True] Translation: X:373.63, Y:5.71, Z:3.42 [[ 9.98363721e-01 -5.37125457e-02 -1.96174043e-02 3.73631844e+02] [ 5.37152173e-02 9.98556219e-01 -3.91095242e-04 5.70667522e+00] [ 1.96100878e-02 -6.63297836e-04 9.99807484e-01 3.42364035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97925415399993 meters Centerline goodness [0,1] 0.9988094740799532 Centerline is valid? [True, True] Translation: X:373.66, Y:5.71, Z:3.42 [[ 9.98116748e-01 -5.80055278e-02 -1.99578698e-02 3.73662633e+02] [ 5.80091702e-02 9.98315971e-01 -3.96866396e-04 5.70749824e+00] [ 1.99472806e-02 -7.61620468e-04 9.99800743e-01 3.42417676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.00925415399996 meters Centerline goodness [0,1] 0.9990609544875941 Centerline is valid? [True, True] Translation: X:373.69, Y:5.71, Z:3.42 [[ 9.98025713e-01 -5.94344233e-02 -2.03033399e-02 3.73693709e+02] [ 5.94384998e-02 9.98231888e-01 -4.03159486e-04 5.70912359e+00] [ 2.02914029e-02 -8.04436530e-04 9.99793785e-01 3.42465386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03925415399993 meters Centerline goodness [0,1] 0.9989973890339425 Centerline is valid? [True, True] Translation: X:373.72, Y:5.71, Z:3.42 [[ 9.97919498e-01 -6.11556140e-02 -2.04124180e-02 3.73723905e+02] [ 6.11601051e-02 9.98127886e-01 -4.04772017e-04 5.70614322e+00] [ 2.03989578e-02 -8.44495744e-04 9.99791563e-01 3.42379457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06925415399996 meters Centerline goodness [0,1] 0.998892487723331 Centerline is valid? [True, True] Translation: X:373.75, Y:5.70, Z:3.42 [[ 9.97944318e-01 -6.08156571e-02 -2.02136856e-02 3.73754688e+02] [ 6.08199990e-02 9.98148670e-01 -4.00465566e-04 5.70480401e+00] [ 2.02006179e-02 -8.29753999e-04 9.99795602e-01 3.42317611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09925415399994 meters Centerline goodness [0,1] 0.9988518464396802 Centerline is valid? [True, True] Translation: X:373.79, Y:5.71, Z:3.42 [[ 9.98001915e-01 -5.99328006e-02 -2.00059389e-02 3.73786082e+02] [ 5.99368876e-02 9.98202090e-01 -3.95792882e-04 5.70973701e+00] [ 1.99936910e-02 -8.04091660e-04 9.99799783e-01 3.42454339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12925415399997 meters Centerline goodness [0,1] 0.9986830002508571 Centerline is valid? [True, True] Translation: X:373.82, Y:5.71, Z:3.43 [[ 9.98094988e-01 -5.84405571e-02 -1.97761563e-02 3.73817769e+02] [ 5.84442766e-02 9.98290596e-01 -3.90320007e-04 5.71303279e+00] [ 1.97651614e-02 -7.66226706e-04 9.99804357e-01 3.42531370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15925415399994 meters Centerline goodness [0,1] 0.998912975311997 Centerline is valid? [True, True] Translation: X:373.85, Y:5.72, Z:3.43 [[ 9.98425915e-01 -5.27600199e-02 -1.90282139e-02 3.73848762e+02] [ 5.27624458e-02 9.98607022e-01 -3.74870387e-04 5.71671144e+00] [ 1.90214862e-02 -6.29694797e-04 9.99818877e-01 3.42543383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18925415399997 meters Centerline goodness [0,1] 0.9988510069357399 Centerline is valid? [True, True] Translation: X:373.88, Y:5.72, Z:3.43 [[ 9.98638550e-01 -4.83486288e-02 -1.95820445e-02 3.73879220e+02] [ 4.83503731e-02 9.98830363e-01 -3.84636528e-04 5.71838428e+00] [ 1.95777373e-02 -5.62686296e-04 9.99808179e-01 3.42573835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21925415399994 meters Centerline goodness [0,1] 0.9989747452555814 Centerline is valid? [True, True] Translation: X:373.91, Y:5.73, Z:3.43 [[ 9.99069712e-01 -3.92546525e-02 -1.78545028e-02 3.73910039e+02] [ 3.92546670e-02 9.99229177e-01 -3.49785345e-04 5.72631263e+00] [ 1.78544709e-02 -3.51412620e-04 9.99840534e-01 3.42681434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24925415399997 meters Centerline goodness [0,1] 0.9993296323452393 Centerline is valid? [True, True] Translation: X:373.94, Y:5.73, Z:3.43 [[ 9.99266286e-01 -3.41754724e-02 -1.72894697e-02 3.73940587e+02] [ 3.41747279e-02 9.99415816e-01 -3.38597313e-04 5.73076755e+00] [ 1.72909412e-02 -2.52514045e-04 9.99850469e-01 3.42765346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27925415399994 meters Centerline goodness [0,1] 0.9994339978617697 Centerline is valid? [True, True] Translation: X:373.97, Y:5.73, Z:3.43 [[ 9.99419334e-01 -2.94072134e-02 -1.72107587e-02 3.73969805e+02] [ 2.94057704e-02 9.99567500e-01 -3.36960579e-04 5.73384272e+00] [ 1.72132241e-02 -1.69330701e-04 9.99851827e-01 3.42759576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.309254154 meters Centerline goodness [0,1] 0.9992021332437483 Centerline is valid? [True, True] Translation: X:374.00, Y:5.74, Z:3.43 [[ 9.99630722e-01 -2.15378553e-02 -1.65692757e-02 3.73998959e+02] [ 2.15354222e-02 9.99768033e-01 -3.25278090e-04 5.73970880e+00] [ 1.65724379e-02 -3.16683744e-05 9.99862667e-01 3.42795737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.33925415399995 meters Centerline goodness [0,1] 0.9992021332437483 Centerline is valid? [True, True] Translation: X:374.03, Y:5.74, Z:3.43 [[ 9.99624325e-01 -2.18327742e-02 -1.65692082e-02 3.74026362e+02] [ 2.18303252e-02 9.99761636e-01 -3.28684934e-04 5.74031276e+00] [ 1.65724348e-02 -3.31497473e-05 9.99862667e-01 3.42821447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.369254154 meters Centerline goodness [0,1] 0.9992443324937028 Centerline is valid? [True, True] Translation: X:374.05, Y:5.74, Z:3.43 [[ 9.99700545e-01 -1.73667390e-02 -1.72399644e-02 3.74054649e+02] [ 1.73633341e-02 9.99849186e-01 -3.47174317e-04 5.74239456e+00] [ 1.72433937e-02 4.77270927e-05 9.99851320e-01 3.42778464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.39925415399995 meters Centerline goodness [0,1] 0.9994125422235277 Centerline is valid? [True, True] Translation: X:374.08, Y:5.74, Z:3.43 [[ 9.99711307e-01 -1.62534500e-02 -1.76954293e-02 3.74082573e+02] [ 1.62496252e-02 9.99867901e-01 -3.59917495e-04 5.74338264e+00] [ 1.76989417e-02 7.22694944e-05 9.99843359e-01 3.42720826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.429254154 meters Centerline goodness [0,1] 0.9992228686648044 Centerline is valid? [True, True] Translation: X:374.11, Y:5.74, Z:3.43 [[ 9.99699568e-01 -1.64880885e-02 -1.81360867e-02 3.74110865e+02] [ 1.64840469e-02 9.99864060e-01 -3.72323694e-04 5.74367453e+00] [ 1.81397601e-02 7.32557329e-05 9.99835458e-01 3.42748541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.45925415399995 meters Centerline goodness [0,1] 0.9992256336200582 Centerline is valid? [True, True] Translation: X:374.14, Y:5.74, Z:3.43 [[ 9.99646970e-01 -1.82977956e-02 -1.92646096e-02 3.74138710e+02] [ 1.82934978e-02 9.99832580e-01 -3.99310428e-04 5.74225492e+00] [ 1.92686908e-02 4.67523673e-05 9.99814340e-01 3.42682876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.489254154 meters Centerline goodness [0,1] 0.999392453857918 Centerline is valid? [True, True] Translation: X:374.17, Y:5.74, Z:3.43 [[ 9.99611618e-01 -2.04594403e-02 -1.89215367e-02 3.74167014e+02] [ 2.04556128e-02 9.99790684e-01 -3.95824899e-04 5.74086305e+00] [ 1.89256744e-02 8.61954050e-06 9.99820893e-01 3.42700487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.51925415399995 meters Centerline goodness [0,1] 0.9991217247652705 Centerline is valid? [True, True] Translation: X:374.20, Y:5.74, Z:3.43 [[ 9.99556646e-01 -2.29634818e-02 -1.89523132e-02 3.74195338e+02] [ 2.29599867e-02 9.99736304e-01 -4.02016332e-04 5.73926032e+00] [ 1.89565472e-02 -3.33067623e-05 9.99820308e-01 3.42749118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5492541539999 meters Centerline goodness [0,1] 0.9992685475444096 Centerline is valid? [True, True] Translation: X:374.22, Y:5.73, Z:3.43 [[ 9.99441267e-01 -2.83270690e-02 -1.77406785e-02 3.74222942e+02] [ 2.83247923e-02 9.99598700e-01 -3.79641551e-04 5.73423653e+00] [ 1.77443133e-02 -1.23071603e-04 9.99842550e-01 3.42806290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57925415399995 meters Centerline goodness [0,1] 0.9992059843704292 Centerline is valid? [True, True] Translation: X:374.25, Y:5.73, Z:3.43 [[ 9.99361037e-01 -3.11202688e-02 -1.75797113e-02 3.74251887e+02] [ 3.11184140e-02 9.99515633e-01 -3.79114588e-04 5.73192319e+00] [ 1.75829945e-02 -1.68180386e-04 9.99845393e-01 3.42867867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6092541539999 meters Centerline goodness [0,1] 0.9992070778732994 Centerline is valid? [True, True] Translation: X:374.28, Y:5.73, Z:3.43 [[ 9.99211983e-01 -3.63313655e-02 -1.59826268e-02 3.74280222e+02] [ 3.63304576e-02 9.99339771e-01 -3.47239863e-04 5.72709331e+00] [ 1.59846903e-02 -2.33689913e-04 9.99872209e-01 3.42946138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63925415399996 meters Centerline goodness [0,1] 0.9990171681897074 Centerline is valid? [True, True] Translation: X:374.31, Y:5.73, Z:3.43 [[ 9.99140890e-01 -3.86751611e-02 -1.48900745e-02 3.74310417e+02] [ 3.86746252e-02 9.99251804e-01 -3.24048975e-04 5.72528822e+00] [ 1.48914664e-02 -2.52097468e-04 9.99889084e-01 3.42998977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66925415399993 meters Centerline goodness [0,1] 0.9990382202893703 Centerline is valid? [True, True] Translation: X:374.34, Y:5.72, Z:3.43 [[ 9.99063777e-01 -4.07151808e-02 -1.46234074e-02 3.74340454e+02] [ 4.07148864e-02 9.99170755e-01 -3.17968798e-04 5.72299349e+00] [ 1.46242272e-02 -2.77719264e-04 9.99893022e-01 3.43064098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69925415399996 meters Centerline goodness [0,1] 0.9989986857750798 Centerline is valid? [True, True] Translation: X:374.37, Y:5.72, Z:3.43 [[ 9.98941916e-01 -4.37970723e-02 -1.40308412e-02 3.74371801e+02] [ 4.37971141e-02 9.99040400e-01 -3.04438885e-04 5.72041628e+00] [ 1.40307107e-02 -3.10393589e-04 9.99901517e-01 3.43123890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72925415399993 meters Centerline goodness [0,1] 0.9991030828918276 Centerline is valid? [True, True] Translation: X:374.40, Y:5.72, Z:3.43 [[ 9.98894076e-01 -4.50666310e-02 -1.34023717e-02 3.74403015e+02] [ 4.50667907e-02 9.98983934e-01 -2.90249053e-04 5.71861766e+00] [ 1.34018346e-02 -3.14073822e-04 9.99910142e-01 3.43133315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75925415399996 meters Centerline goodness [0,1] 0.9988734744967143 Centerline is valid? [True, True] Translation: X:374.43, Y:5.72, Z:3.43 [[ 9.98848177e-01 -4.60564381e-02 -1.34582519e-02 3.74434150e+02] [ 4.60566990e-02 9.98938785e-01 -2.90715508e-04 5.71503508e+00] [ 1.34573591e-02 -3.29462002e-04 9.99909391e-01 3.43100634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78925415399993 meters Centerline goodness [0,1] 0.9988312636961285 Centerline is valid? [True, True] Translation: X:374.47, Y:5.72, Z:3.43 [[ 9.98814287e-01 -4.67206377e-02 -1.36822017e-02 3.74466382e+02] [ 4.67209811e-02 9.98907935e-01 -2.94714545e-04 5.71680434e+00] [ 1.36810291e-02 -3.44880788e-04 9.99906351e-01 3.43195792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81925415399996 meters Centerline goodness [0,1] 0.999062343723954 Centerline is valid? [True, True] Translation: X:374.50, Y:5.71, Z:3.43 [[ 9.98769623e-01 -4.79425567e-02 -1.26787493e-02 3.74498715e+02] [ 4.79429611e-02 9.98850038e-01 -2.72217456e-04 5.71494974e+00] [ 1.26772200e-02 -3.35974258e-04 9.99919584e-01 3.43157828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84925415399994 meters Centerline goodness [0,1] 0.9990400066782145 Centerline is valid? [True, True] Translation: X:374.53, Y:5.71, Z:3.43 [[ 9.98739443e-01 -4.84995319e-02 -1.29352635e-02 3.74530587e+02] [ 4.85000121e-02 9.98823144e-01 -2.76755727e-04 5.71462391e+00] [ 1.29334631e-02 -3.50953576e-04 9.99916298e-01 3.43165100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87925415399997 meters Centerline goodness [0,1] 0.999102071500167 Centerline is valid? [True, True] Translation: X:374.56, Y:5.71, Z:3.43 [[ 9.98739146e-01 -4.84931471e-02 -1.29820109e-02 3.74562018e+02] [ 4.84936449e-02 9.98823453e-01 -2.76619322e-04 5.71269740e+00] [ 1.29801511e-02 -3.53274482e-04 9.99915692e-01 3.43085017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90925415399994 meters Centerline goodness [0,1] 0.9990192191314873 Centerline is valid? [True, True] Translation: X:374.59, Y:5.71, Z:3.43 [[ 9.98748167e-01 -4.81899982e-02 -1.34097764e-02 3.74593971e+02] [ 4.81905219e-02 9.98838121e-01 -2.84256620e-04 5.71355255e+00] [ 1.34078942e-02 -3.62323344e-04 9.99910045e-01 3.43086206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93925415399997 meters Centerline goodness [0,1] 0.999122513789069 Centerline is valid? [True, True] Translation: X:374.63, Y:5.71, Z:3.43 [[ 9.98811606e-01 -4.69860423e-02 -1.29494197e-02 3.74625354e+02] [ 4.69864398e-02 9.98895490e-01 -2.73701947e-04 5.71357195e+00] [ 1.29479771e-02 -3.35070446e-04 9.99916115e-01 3.43080060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96925415399994 meters Centerline goodness [0,1] 0.9989359926562631 Centerline is valid? [True, True] Translation: X:374.66, Y:5.71, Z:3.43 [[ 9.98874601e-01 -4.56394028e-02 -1.29064489e-02 3.74656176e+02] [ 4.56396914e-02 9.98957929e-01 -2.72324239e-04 5.71362580e+00] [ 1.29054282e-02 -3.17028579e-04 9.99916671e-01 3.43072743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99925415399997 meters Centerline goodness [0,1] 0.9992490299970795 Centerline is valid? [True, True] Translation: X:374.69, Y:5.72, Z:3.43 [[ 9.98962982e-01 -4.36607102e-02 -1.29113376e-02 3.74687202e+02] [ 4.36608400e-02 9.99046374e-01 -2.71957898e-04 5.71635093e+00] [ 1.29108989e-02 -2.92043973e-04 9.99916608e-01 3.43124206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.02925415399994 meters Centerline goodness [0,1] 0.9990189529932371 Centerline is valid? [True, True] Translation: X:374.72, Y:5.72, Z:3.43 [[ 9.99164635e-01 -3.88656947e-02 -1.26288941e-02 3.74718157e+02] [ 3.88654417e-02 9.99244418e-01 -2.65553470e-04 5.71834454e+00] [ 1.26296728e-02 -2.25495909e-04 9.99920217e-01 3.43113012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.059254154 meters Centerline goodness [0,1] 0.9991223671013039 Centerline is valid? [True, True] Translation: X:374.75, Y:5.72, Z:3.43 [[ 9.99261701e-01 -3.64309772e-02 -1.21998520e-02 3.74749819e+02] [ 3.64305649e-02 9.99336154e-01 -2.56098142e-04 5.72102891e+00] [ 1.22010831e-02 -1.88538435e-04 9.99925546e-01 3.43145218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.08925415399995 meters Centerline goodness [0,1] 0.9992056025922442 Centerline is valid? [True, True] Translation: X:374.78, Y:5.72, Z:3.43 [[ 9.99399573e-01 -3.22023759e-02 -1.27867354e-02 3.74780538e+02] [ 3.22015830e-02 9.99481359e-01 -2.67940888e-04 5.72283852e+00] [ 1.27887320e-02 -1.43973114e-04 9.99918210e-01 3.43062233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.119254154 meters Centerline goodness [0,1] 0.9991650140903873 Centerline is valid? [True, True] Translation: X:374.81, Y:5.72, Z:3.43 [[ 9.99441688e-01 -3.03605491e-02 -1.39481100e-02 3.74811529e+02] [ 3.03594325e-02 9.99539004e-01 -2.91827517e-04 5.72459852e+00] [ 1.39505400e-02 -1.31792119e-04 9.99902678e-01 3.43095635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.14925415399995 meters Centerline goodness [0,1] 0.9991226604278075 Centerline is valid? [True, True] Translation: X:374.84, Y:5.73, Z:3.43 [[ 9.99466951e-01 -2.96755586e-02 -1.36079355e-02 3.74841554e+02] [ 2.96744347e-02 9.99559577e-01 -2.84543170e-04 5.72526353e+00] [ 1.36103863e-02 -1.19416300e-04 9.99907367e-01 3.43113100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.179254154 meters Centerline goodness [0,1] 0.9992287810571953 Centerline is valid? [True, True] Translation: X:374.87, Y:5.72, Z:3.43 [[ 9.99466493e-01 -2.98553871e-02 -1.32432836e-02 3.74871043e+02] [ 2.98543386e-02 9.99554222e-01 -2.76902318e-04 5.72410445e+00] [ 1.32456471e-02 -1.18614885e-04 9.99912266e-01 3.43064547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.20925415399995 meters Centerline goodness [0,1] 0.9993325407254448 Centerline is valid? [True, True] Translation: X:374.90, Y:5.72, Z:3.43 [[ 9.99444802e-01 -3.05408555e-02 -1.33170258e-02 3.74901898e+02] [ 3.05398566e-02 9.99533511e-01 -2.78405451e-04 5.72474019e+00] [ 1.33193163e-02 -1.28449176e-04 9.99911286e-01 3.43122627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.239254154 meters Centerline goodness [0,1] 0.9991852594635247 Centerline is valid? [True, True] Translation: X:374.93, Y:5.72, Z:3.43 [[ 9.99353493e-01 -3.32239265e-02 -1.37392492e-02 3.74932895e+02] [ 3.32231168e-02 9.99447919e-01 -2.87232446e-04 5.72191832e+00] [ 1.37412071e-02 -1.69413934e-04 9.99905571e-01 3.43155997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.26925415399995 meters Centerline goodness [0,1] 0.9991032325338894 Centerline is valid? [True, True] Translation: X:374.96, Y:5.72, Z:3.43 [[ 9.99292762e-01 -3.45899379e-02 -1.47483198e-02 3.74962029e+02] [ 3.45891522e-02 9.99401569e-01 -3.08425452e-04 5.71972113e+00] [ 1.47501623e-02 -2.01924556e-04 9.99891190e-01 3.43150018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2992541539999 meters Centerline goodness [0,1] 0.9989359038557837 Centerline is valid? [True, True] Translation: X:374.99, Y:5.72, Z:3.43 [[ 9.99138303e-01 -3.85570292e-02 -1.53625504e-02 3.74991158e+02] [ 3.85566452e-02 9.99256364e-01 -3.21284912e-04 5.71553933e+00] [ 1.53635141e-02 -2.71320345e-04 9.99881937e-01 3.43205121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.32925415399995 meters Centerline goodness [0,1] 0.9991041666666667 Centerline is valid? [True, True] Translation: X:375.02, Y:5.71, Z:3.43 [[ 9.99058049e-01 -4.09496947e-02 -1.43574919e-02 3.75021582e+02] [ 4.09496097e-02 9.99161168e-01 -3.00028853e-04 5.71465972e+00] [ 1.43577345e-02 -2.88187449e-04 9.99896881e-01 3.43290618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3592541539999 meters Centerline goodness [0,1] 0.9991454772822009 Centerline is valid? [True, True] Translation: X:375.05, Y:5.71, Z:3.43 [[ 9.98987907e-01 -4.26264867e-02 -1.43577330e-02 3.75052795e+02] [ 4.26265773e-02 9.99091029e-01 -2.99851644e-04 5.71361237e+00] [ 1.43574638e-02 -3.12472849e-04 9.99896877e-01 3.43333150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.38925415399996 meters Centerline goodness [0,1] 0.9989795705866428 Centerline is valid? [True, True] Translation: X:375.08, Y:5.71, Z:3.43 [[ 9.98819863e-01 -4.62101850e-02 -1.49499483e-02 3.75083428e+02] [ 4.62106912e-02 9.98931667e-01 -3.11762541e-04 5.70933279e+00] [ 1.49483834e-02 -3.79452827e-04 9.99888195e-01 3.43334877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41925415399993 meters Centerline goodness [0,1] 0.9991239962456981 Centerline is valid? [True, True] Translation: X:375.11, Y:5.71, Z:3.43 [[ 9.98728169e-01 -4.79490103e-02 -1.55864109e-02 3.75114295e+02] [ 4.79497767e-02 9.98849695e-01 -3.24746035e-04 5.70882789e+00] [ 1.55840531e-02 -4.23031911e-04 9.99878472e-01 3.43396950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.44925415399996 meters Centerline goodness [0,1] 0.9991239962456981 Centerline is valid? [True, True] Translation: X:375.14, Y:5.71, Z:3.43 [[ 9.98728169e-01 -4.79490087e-02 -1.55864145e-02 3.75144299e+02] [ 4.79497777e-02 9.98849695e-01 -3.24576979e-04 5.70945262e+00] [ 1.55840485e-02 -4.23200937e-04 9.99878472e-01 3.43425061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47925415399993 meters Centerline goodness [0,1] 0.998875281179705 Centerline is valid? [True, True] Translation: X:375.17, Y:5.71, Z:3.43 [[ 9.98658975e-01 -4.90698816e-02 -1.65044888e-02 3.75174902e+02] [ 4.90709028e-02 9.98795239e-01 -3.43337058e-04 5.70753775e+00] [ 1.65014523e-02 -4.67013533e-04 9.99863733e-01 3.43407595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.50925415399996 meters Centerline goodness [0,1] 0.9991886494133311 Centerline is valid? [True, True] Translation: X:375.21, Y:5.71, Z:3.43 [[ 9.98557155e-01 -5.12448799e-02 -1.60489834e-02 3.75205228e+02] [ 5.12461334e-02 9.98685998e-01 -3.33404366e-04 5.70574794e+00] [ 1.60449802e-02 -4.89525028e-04 9.99871151e-01 3.43473298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53925415399993 meters Centerline goodness [0,1] 0.9988557638296545 Centerline is valid? [True, True] Translation: X:375.24, Y:5.70, Z:3.44 [[ 9.98348623e-01 -5.50175996e-02 -1.65254783e-02 3.75235167e+02] [ 5.50194531e-02 9.98485224e-01 -3.42804787e-04 5.70214148e+00] [ 1.65193062e-02 -5.66984091e-04 9.99863386e-01 3.43527908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56925415399996 meters Centerline goodness [0,1] 0.9990213022926514 Centerline is valid? [True, True] Translation: X:375.27, Y:5.70, Z:3.44 [[ 9.98268432e-01 -5.63414815e-02 -1.69048743e-02 3.75266423e+02] [ 5.63436266e-02 9.98411375e-01 -3.49732522e-04 5.70411141e+00] [ 1.68977233e-02 -6.03354991e-04 9.99857041e-01 3.43661286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59925415399994 meters Centerline goodness [0,1] 0.9990424845444517 Centerline is valid? [True, True] Translation: X:375.30, Y:5.70, Z:3.44 [[ 9.98166707e-01 -5.81046951e-02 -1.69431262e-02 3.75296812e+02] [ 5.81071117e-02 9.98310293e-01 -3.50043327e-04 5.70280526e+00] [ 1.69348365e-02 -6.35114534e-04 9.99856394e-01 3.43726713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62925415399997 meters Centerline goodness [0,1] 0.9989811195209183 Centerline is valid? [True, True] Translation: X:375.33, Y:5.70, Z:3.44 [[ 9.98038366e-01 -6.00801107e-02 -1.76011634e-02 3.75326732e+02] [ 6.00830285e-02 9.98193317e-01 -3.63461885e-04 5.69788935e+00] [ 1.75912005e-02 -6.94782297e-04 9.99845021e-01 3.43712417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65925415399994 meters Centerline goodness [0,1] 0.9990017054199076 Centerline is valid? [True, True] Translation: X:375.36, Y:5.70, Z:3.44 [[ 9.97975497e-01 -6.10548483e-02 -1.78104684e-02 3.75357163e+02] [ 6.10579909e-02 9.98134153e-01 -3.67784007e-04 5.70064622e+00] [ 1.77996918e-02 -7.20431990e-04 9.99841313e-01 3.43817387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68925415399997 meters Centerline goodness [0,1] 0.9989572471324296 Centerline is valid? [True, True] Translation: X:375.39, Y:5.70, Z:3.44 [[ 9.97924767e-01 -6.17333520e-02 -1.83071861e-02 3.75388081e+02] [ 6.17367893e-02 9.98092394e-01 -3.77882336e-04 5.70006414e+00] [ 1.82955912e-02 -7.53128751e-04 9.99832338e-01 3.43843415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71925415399994 meters Centerline goodness [0,1] 0.9990614441246403 Centerline is valid? [True, True] Translation: X:375.42, Y:5.70, Z:3.44 [[ 9.97871186e-01 -6.23876648e-02 -1.89967025e-02 3.75418972e+02] [ 6.23914909e-02 9.98051676e-01 -3.91772376e-04 5.69935905e+00] [ 1.89841326e-02 -7.94294228e-04 9.99819470e-01 3.43864620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74925415399997 meters Centerline goodness [0,1] 0.9991876861552561 Centerline is valid? [True, True] Translation: X:375.45, Y:5.70, Z:3.44 [[ 9.97722908e-01 -6.43233063e-02 -2.02857345e-02 3.75448354e+02] [ 6.43280685e-02 9.97928717e-01 -4.18371174e-04 5.69828670e+00] [ 2.02706280e-02 -8.87523612e-04 9.99794136e-01 3.43901141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77925415399994 meters Centerline goodness [0,1] 0.9989760949515212 Centerline is valid? [True, True] Translation: X:375.48, Y:5.70, Z:3.44 [[ 9.97513510e-01 -6.69223119e-02 -2.20952734e-02 3.75479060e+02] [ 6.69285943e-02 9.97757664e-01 -4.55869501e-04 5.69931875e+00] [ 2.20762362e-02 -1.02406960e-03 9.99755766e-01 3.44015480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.809254154 meters Centerline goodness [0,1] 0.9989760949515212 Centerline is valid? [True, True] Translation: X:375.51, Y:5.70, Z:3.44 [[ 9.97511134e-01 -6.69577279e-02 -2.20952641e-02 3.75508244e+02] [ 6.69640090e-02 9.97755287e-01 -4.56321411e-04 5.69995257e+00] [ 2.20762208e-02 -1.02440177e-03 9.99755766e-01 3.44042827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.83925415399995 meters Centerline goodness [0,1] 0.9991033260348243 Centerline is valid? [True, True] Translation: X:375.54, Y:5.70, Z:3.44 [[ 9.97400285e-01 -6.84357358e-02 -2.25659235e-02 3.75537800e+02] [ 6.84426463e-02 9.97654943e-01 -4.66861236e-04 5.70207511e+00] [ 2.25449551e-02 -1.07882399e-03 9.99745248e-01 3.44138520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.869254154 meters Centerline goodness [0,1] 0.9990602681368249 Centerline is valid? [True, True] Translation: X:375.57, Y:5.70, Z:3.44 [[ 9.97173759e-01 -7.12431484e-02 -2.38517989e-02 3.75567809e+02] [ 7.12516531e-02 9.97458249e-01 -4.94189093e-04 5.70186012e+00] [ 2.38263812e-02 -1.20668771e-03 9.99715383e-01 3.44185914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.89925415399995 meters Centerline goodness [0,1] 0.9991012269297493 Centerline is valid? [True, True] Translation: X:375.60, Y:5.70, Z:3.44 [[ 9.97054960e-01 -7.26007543e-02 -2.47090340e-02 3.75597653e+02] [ 7.26102776e-02 9.97360258e-01 -5.12751091e-04 5.70254180e+00] [ 2.46810347e-02 -1.28288880e-03 9.99694554e-01 3.44244298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.929254154 meters Centerline goodness [0,1] 0.9988108401310162 Centerline is valid? [True, True] Translation: X:375.63, Y:5.70, Z:3.44 [[ 9.96866389e-01 -7.48360026e-02 -2.56315436e-02 3.75626801e+02] [ 7.48469633e-02 9.97194890e-01 -5.32832057e-04 5.70287824e+00] [ 2.55995193e-02 -1.38728083e-03 9.99671316e-01 3.44312939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.95925415399995 meters Centerline goodness [0,1] 0.9990811702549752 Centerline is valid? [True, True] Translation: X:375.66, Y:5.70, Z:3.44 [[ 9.96788909e-01 -7.57064095e-02 -2.60846739e-02 3.75655546e+02] [ 7.57179405e-02 9.97129126e-01 -5.46783059e-04 5.70406895e+00] [ 2.60511831e-02 -1.43005050e-03 9.99659587e-01 3.44364699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.989254154 meters Centerline goodness [0,1] 0.9988977393257492 Centerline is valid? [True, True] Translation: X:375.68, Y:5.71, Z:3.45 [[ 9.96742821e-01 -7.64119638e-02 -2.57868201e-02 3.75684731e+02] [ 7.64233929e-02 9.97075308e-01 -5.43458256e-04 5.70784454e+00] [ 2.57529283e-02 -1.42902817e-03 9.99667317e-01 3.44510694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.01925415399995 meters Centerline goodness [0,1] 0.9990191986644408 Centerline is valid? [True, True] Translation: X:375.71, Y:5.71, Z:3.44 [[ 9.96665300e-01 -7.69669134e-02 -2.70993451e-02 3.75713702e+02] [ 7.69797052e-02 9.97032496e-01 -5.72443244e-04 5.70704388e+00] [ 2.70629869e-02 -1.51556528e-03 9.99632581e-01 3.44458323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0492541539999 meters Centerline goodness [0,1] 0.9990825688073395 Centerline is valid? [True, True] Translation: X:375.74, Y:5.71, Z:3.45 [[ 9.96685406e-01 -7.68315540e-02 -2.67416043e-02 3.75742813e+02] [ 7.68438387e-02 9.97042978e-01 -5.69482499e-04 5.71257147e+00] [ 2.67062831e-02 -1.48733263e-03 9.99642217e-01 3.44608563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07925415399995 meters Centerline goodness [0,1] 0.9988777121955275 Centerline is valid? [True, True] Translation: X:375.77, Y:5.72, Z:3.45 [[ 9.96878425e-01 -7.43836658e-02 -2.64665222e-02 3.75771790e+02] [ 7.43947647e-02 9.97228709e-01 -5.66421309e-04 5.71650739e+00] [ 2.64353083e-02 -1.40431751e-03 9.99649540e-01 3.44658436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1092541539999 meters Centerline goodness [0,1] 0.9989801864801865 Centerline is valid? [True, True] Translation: X:375.80, Y:5.72, Z:3.45 [[ 9.97022118e-01 -7.24258670e-02 -2.64837741e-02 3.75801631e+02] [ 7.24362743e-02 9.97372881e-01 -5.67443066e-04 5.72436798e+00] [ 2.64552956e-02 -1.35263264e-03 9.99649082e-01 3.44871273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13925415399996 meters Centerline goodness [0,1] 0.9991440858419273 Centerline is valid? [True, True] Translation: X:375.83, Y:5.73, Z:3.45 [[ 9.97355980e-01 -6.75711967e-02 -2.67428852e-02 3.75831105e+02] [ 6.75800517e-02 9.97713690e-01 -5.73586566e-04 5.73098909e+00] [ 2.67205006e-02 -1.23521557e-03 9.99642181e-01 3.44931136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16925415399993 meters Centerline goodness [0,1] 0.9992483400843529 Centerline is valid? [True, True] Translation: X:375.86, Y:5.74, Z:3.45 [[ 9.97520015e-01 -6.53576827e-02 -2.61188121e-02 3.75861220e+02] [ 6.53653381e-02 9.97861242e-01 -5.61487030e-04 5.73596629e+00] [ 2.60996478e-02 -1.14717043e-03 9.99658688e-01 3.45040391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19925415399996 meters Centerline goodness [0,1] 0.9992483400843529 Centerline is valid? [True, True] Translation: X:375.89, Y:5.74, Z:3.45 [[ 9.97517629e-01 -6.53941110e-02 -2.61187861e-02 3.75890401e+02] [ 6.54017473e-02 9.97858855e-01 -5.62694299e-04 5.73662507e+00] [ 2.60996589e-02 -1.14691677e-03 9.99658688e-01 3.45067748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22925415399993 meters Centerline goodness [0,1] 0.9989763730180283 Centerline is valid? [True, True] Translation: X:375.92, Y:5.74, Z:3.45 [[ 9.97819551e-01 -6.05599705e-02 -2.62418460e-02 3.75920062e+02] [ 6.05659928e-02 9.98164035e-01 -5.65996905e-04 5.74465982e+00] [ 2.62279436e-02 -1.02460068e-03 9.99655463e-01 3.45121389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25925415399996 meters Centerline goodness [0,1] 0.9987467101140494 Centerline is valid? [True, True] Translation: X:375.95, Y:5.75, Z:3.45 [[ 9.97974834e-01 -5.79868421e-02 -2.61487545e-02 3.75948791e+02] [ 5.79919114e-02 9.98316893e-01 -5.65069158e-04 5.74792391e+00] [ 2.61375100e-02 -9.52491458e-04 9.99657903e-01 3.45148735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28925415399993 meters Centerline goodness [0,1] 0.9989753884114339 Centerline is valid? [True, True] Translation: X:375.98, Y:5.75, Z:3.45 [[ 9.98121434e-01 -5.55239719e-02 -2.58977069e-02 3.75978481e+02] [ 5.55280875e-02 9.98456968e-01 -5.60754960e-04 5.75308881e+00] [ 2.58888812e-02 -8.78348589e-04 9.99664441e-01 3.45279252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31925415399996 meters Centerline goodness [0,1] 0.9989549150345923 Centerline is valid? [True, True] Translation: X:376.01, Y:5.76, Z:3.45 [[ 9.98262896e-01 -5.30352725e-02 -2.56602744e-02 3.76007755e+02] [ 5.30384676e-02 9.98592315e-01 -5.56549563e-04 5.75639714e+00] [ 2.56536696e-02 -8.05398856e-04 9.99670566e-01 3.45306994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34925415399994 meters Centerline goodness [0,1] 0.9989967813401329 Centerline is valid? [True, True] Translation: X:376.04, Y:5.76, Z:3.45 [[ 9.98526220e-01 -4.80512954e-02 -2.52281983e-02 3.76037292e+02] [ 4.80527708e-02 9.98844648e-01 -5.48103550e-04 5.76475485e+00] [ 2.52253880e-02 -6.64989068e-04 9.99681568e-01 3.45439584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37925415399997 meters Centerline goodness [0,1] 0.9989315567846144 Centerline is valid? [True, True] Translation: X:376.07, Y:5.77, Z:3.46 [[ 9.98599524e-01 -4.63383903e-02 -2.55292788e-02 3.76066569e+02] [ 4.63393175e-02 9.98925602e-01 -5.55598851e-04 5.76898142e+00] [ 2.55275957e-02 -6.28188605e-04 9.99673920e-01 3.45572034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40925415399994 meters Centerline goodness [0,1] 0.9990582424711718 Centerline is valid? [True, True] Translation: X:376.09, Y:5.77, Z:3.46 [[ 9.98665163e-01 -4.47542356e-02 -2.57866305e-02 3.76094953e+02] [ 4.47545342e-02 9.98997854e-01 -5.65837625e-04 5.77238013e+00] [ 2.57861122e-02 -5.88986313e-04 9.99667309e-01 3.45585175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43925415399997 meters Centerline goodness [0,1] 0.999268669814869 Centerline is valid? [True, True] Translation: X:376.12, Y:5.78, Z:3.45 [[ 9.98748178e-01 -4.22731332e-02 -2.67405966e-02 3.76123925e+02] [ 4.22724722e-02 9.99105945e-01 -5.90266691e-04 5.77555197e+00] [ 2.67416414e-02 -5.40863344e-04 9.99642232e-01 3.45488768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46925415399994 meters Centerline goodness [0,1] 0.9987879041190362 Centerline is valid? [True, True] Translation: X:376.15, Y:5.78, Z:3.46 [[ 9.98781664e-01 -4.12559881e-02 -2.70763891e-02 3.76152254e+02] [ 4.12547993e-02 9.99148477e-01 -6.02761411e-04 5.77944940e+00] [ 2.70782004e-02 -5.15003951e-04 9.99633186e-01 3.45573188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49925415399997 meters Centerline goodness [0,1] 0.9988293580283044 Centerline is valid? [True, True] Translation: X:376.18, Y:5.78, Z:3.46 [[ 9.98766063e-01 -4.12364507e-02 -2.76750053e-02 3.76180168e+02] [ 4.12349829e-02 9.99149282e-01 -6.23974948e-04 5.78224050e+00] [ 2.76771922e-02 -5.17973369e-04 9.99616779e-01 3.45676870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.52925415399994 meters Centerline goodness [0,1] 0.9991652580396085 Centerline is valid? [True, True] Translation: X:376.21, Y:5.79, Z:3.46 [[ 9.98752272e-01 -4.12173480e-02 -2.81962624e-02 3.76207618e+02] [ 4.12156885e-02 9.99150067e-01 -6.40278512e-04 5.78538632e+00] [ 2.81986881e-02 -5.22648752e-04 9.99602201e-01 3.45689281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.559254154 meters Centerline goodness [0,1] 0.9990175790639828 Centerline is valid? [True, True] Translation: X:376.24, Y:5.79, Z:3.46 [[ 9.98723195e-01 -4.19119711e-02 -2.82022339e-02 3.76236327e+02] [ 4.19104277e-02 9.99121163e-01 -6.46085609e-04 5.78763668e+00] [ 2.82045274e-02 -5.36706999e-04 9.99602029e-01 3.45798087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.58925415399995 meters Centerline goodness [0,1] 0.9992465782093676 Centerline is valid? [True, True] Translation: X:376.26, Y:5.79, Z:3.46 [[ 9.98687409e-01 -4.28492306e-02 -2.80606957e-02 3.76264807e+02] [ 4.28478699e-02 9.99081397e-01 -6.50055291e-04 5.78987964e+00] [ 2.80627734e-02 -5.53139002e-04 9.99606010e-01 3.45912655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.619254154 meters Centerline goodness [0,1] 0.9990165718111818 Centerline is valid? [True, True] Translation: X:376.29, Y:5.79, Z:3.46 [[ 9.98680240e-01 -4.32537736e-02 -2.76927602e-02 3.76292162e+02] [ 4.32524725e-02 9.99063965e-01 -6.46266590e-04 5.79021035e+00] [ 2.76947923e-02 -5.52366677e-04 9.99616273e-01 3.45782324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.64925415399995 meters Centerline goodness [0,1] 0.9990374555346306 Centerline is valid? [True, True] Translation: X:376.32, Y:5.79, Z:3.46 [[ 9.98564500e-01 -4.63974695e-02 -2.67621914e-02 3.76321199e+02] [ 4.63972322e-02 9.98922870e-01 -6.30158615e-04 5.79131611e+00] [ 2.67626028e-02 -6.12437585e-04 9.99641630e-01 3.45941384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.679254154 meters Centerline goodness [0,1] 0.9992056358049208 Centerline is valid? [True, True] Translation: X:376.35, Y:5.79, Z:3.46 [[ 9.98474213e-01 -4.85332992e-02 -2.63394333e-02 3.76349572e+02] [ 4.85336360e-02 9.98821352e-01 -6.26876122e-04 5.79151002e+00] [ 2.63388127e-02 -6.52428826e-04 9.99652860e-01 3.46001531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.70925415399995 meters Centerline goodness [0,1] 0.9991440322344934 Centerline is valid? [True, True] Translation: X:376.38, Y:5.79, Z:3.46 [[ 9.98373249e-01 -5.06406966e-02 -2.61987637e-02 3.76379543e+02] [ 5.06416762e-02 9.98716691e-01 -6.26520103e-04 5.79303082e+00] [ 2.61968700e-02 -7.01248398e-04 9.99656557e-01 3.46131149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.739254154 meters Centerline goodness [0,1] 0.9988893080179387 Centerline is valid? [True, True] Translation: X:376.41, Y:5.79, Z:3.46 [[ 9.98131010e-01 -5.54979581e-02 -2.55824708e-02 3.76408959e+02] [ 5.55004691e-02 9.98458473e-01 -6.12419378e-04 5.79064056e+00] [ 2.55770227e-02 -8.08564356e-04 9.99672527e-01 3.46101313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.76925415399995 meters Centerline goodness [0,1] 0.9987653545943458 Centerline is valid? [True, True] Translation: X:376.44, Y:5.79, Z:3.46 [[ 9.98008631e-01 -5.77123134e-02 -2.54570440e-02 3.76439418e+02] [ 5.77155149e-02 9.98332884e-01 -6.09588087e-04 5.79241499e+00] [ 2.54497849e-02 -8.60892226e-04 9.99675731e-01 3.46149395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7992541539999 meters Centerline goodness [0,1] 0.998784270981806 Centerline is valid? [True, True] Translation: X:376.47, Y:5.79, Z:3.46 [[ 9.97804615e-01 -6.10857713e-02 -2.55827667e-02 3.76470487e+02] [ 6.10901192e-02 9.98132067e-01 -6.12296942e-04 5.79259775e+00] [ 2.55723824e-02 -9.51901550e-04 9.99672520e-01 3.46261165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.82925415399995 meters Centerline goodness [0,1] 0.9989112683723462 Centerline is valid? [True, True] Translation: X:376.50, Y:5.79, Z:3.46 [[ 9.97404085e-01 -6.72280107e-02 -2.57970279e-02 3.76501597e+02] [ 6.72344884e-02 9.97737011e-01 -6.17167702e-04 5.79021752e+00] [ 2.57801405e-02 -1.11888439e-03 9.99667011e-01 3.46238701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8592541539999 meters Centerline goodness [0,1] 0.9988693467336683 Centerline is valid? [True, True] Translation: X:376.53, Y:5.79, Z:3.46 [[ 9.97196795e-01 -7.02585722e-02 -2.57348910e-02 3.76533121e+02] [ 7.02660423e-02 9.97528097e-01 -6.15028431e-04 5.78954510e+00] [ 2.57144879e-02 -1.19498456e-03 9.99668614e-01 3.46270999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.88925415399996 meters Centerline goodness [0,1] 0.998786280787662 Centerline is valid? [True, True] Translation: X:376.56, Y:5.79, Z:3.46 [[ 9.97026724e-01 -7.27835073e-02 -2.53036090e-02 3.76564380e+02] [ 7.27915635e-02 9.97346993e-01 -6.03788235e-04 5.78919552e+00] [ 2.52804242e-02 -1.23989626e-03 9.99679630e-01 3.46259799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91925415399993 meters Centerline goodness [0,1] 0.9989940481180317 Centerline is valid? [True, True] Translation: X:376.59, Y:5.79, Z:3.46 [[ 9.96820014e-01 -7.56535137e-02 -2.50281102e-02 3.76594780e+02] [ 7.56623132e-02 9.97133320e-01 -5.96581106e-04 5.78817405e+00] [ 2.50014960e-02 -1.29900072e-03 9.99686570e-01 3.46313428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.94925415399996 meters Centerline goodness [0,1] 0.9986381445242934 Centerline is valid? [True, True] Translation: X:376.63, Y:5.79, Z:3.46 [[ 9.96506644e-01 -7.98175901e-02 -2.45695003e-02 3.76625889e+02] [ 7.98273422e-02 9.96808534e-01 -5.85199766e-04 5.78800196e+00] [ 2.45377969e-02 -1.37816246e-03 9.99697953e-01 3.46390547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97925415399993 meters Centerline goodness [0,1] 0.9987003186315613 Centerline is valid? [True, True] Translation: X:376.66, Y:5.79, Z:3.46 [[ 9.96412166e-01 -8.11510175e-02 -2.40272172e-02 3.76658415e+02] [ 8.11607599e-02 9.96700860e-01 -5.71036465e-04 5.78817946e+00] [ 2.39942882e-02 -1.38107952e-03 9.99711142e-01 3.46404758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.00925415399996 meters Centerline goodness [0,1] 0.9985144578817424 Centerline is valid? [True, True] Translation: X:376.69, Y:5.79, Z:3.46 [[ 9.96347554e-01 -8.18929145e-02 -2.41888739e-02 3.76689072e+02] [ 8.19030687e-02 9.96640136e-01 -5.72294887e-04 5.78847474e+00] [ 2.41544695e-02 -1.41093839e-03 9.99707243e-01 3.46422624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03925415399993 meters Centerline goodness [0,1] 0.9985320639181311 Centerline is valid? [True, True] Translation: X:376.72, Y:5.79, Z:3.46 [[ 9.96368905e-01 -8.18503023e-02 -2.34421205e-02 3.76720903e+02] [ 8.18598784e-02 9.96643695e-01 -5.52437971e-04 5.79046316e+00] [ 2.34086588e-02 -1.36853712e-03 9.99725043e-01 3.46471501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06925415399996 meters Centerline goodness [0,1] 0.9984909140449791 Centerline is valid? [True, True] Translation: X:376.75, Y:5.79, Z:3.46 [[ 9.96544879e-01 -7.97755960e-02 -2.31118862e-02 3.76751645e+02] [ 7.97843751e-02 9.96811997e-01 -5.43476775e-04 5.79374854e+00] [ 2.30815616e-02 -1.30236840e-03 9.99732737e-01 3.46492084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09925415399994 meters Centerline goodness [0,1] 0.9984679636508637 Centerline is valid? [True, True] Translation: X:376.78, Y:5.80, Z:3.47 [[ 9.96710590e-01 -7.78692821e-02 -2.24582941e-02 3.76782679e+02] [ 7.78771071e-02 9.96962827e-01 -5.27300522e-04 5.79646800e+00] [ 2.24311449e-02 -1.22342096e-03 9.99747642e-01 3.46519659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12925415399997 meters Centerline goodness [0,1] 0.9987822800755826 Centerline is valid? [True, True] Translation: X:376.81, Y:5.80, Z:3.47 [[ 9.96888912e-01 -7.57228865e-02 -2.18756073e-02 3.76813278e+02] [ 7.57298123e-02 9.97128243e-01 -5.12839634e-04 5.79875702e+00] [ 2.18516195e-02 -1.14539149e-03 9.99760569e-01 3.46541246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15925415399994 meters Centerline goodness [0,1] 0.9985705276434728 Centerline is valid? [True, True] Translation: X:376.84, Y:5.81, Z:3.47 [[ 9.97250749e-01 -7.09606985e-02 -2.13429853e-02 3.76842482e+02] [ 7.09662269e-02 9.97478594e-01 -4.99223071e-04 5.80584166e+00] [ 2.13245962e-02 -1.01678056e-03 9.99772088e-01 3.46562203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18925415399997 meters Centerline goodness [0,1] 0.9987812565665055 Centerline is valid? [True, True] Translation: X:376.87, Y:5.81, Z:3.47 [[ 9.97468604e-01 -6.78624174e-02 -2.12385581e-02 3.76874233e+02] [ 6.78672177e-02 9.97694239e-01 -4.95516929e-04 5.81178208e+00] [ 2.12232140e-02 -9.47139263e-04 9.99774314e-01 3.46577752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21925415399994 meters Centerline goodness [0,1] 0.9986297038052071 Centerline is valid? [True, True] Translation: X:376.91, Y:5.81, Z:3.47 [[ 9.97613833e-01 -6.57119826e-02 -2.11795926e-02 3.76905040e+02] [ 6.57162920e-02 9.97838226e-01 -4.93216649e-04 5.81403527e+00] [ 2.11662173e-02 -8.99804539e-04 9.99775566e-01 3.46582381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24925415399997 meters Centerline goodness [0,1] 0.9989906211885435 Centerline is valid? [True, True] Translation: X:376.94, Y:5.82, Z:3.47 [[ 9.97761609e-01 -6.32498894e-02 -2.17076541e-02 3.76936563e+02] [ 6.32538568e-02 9.97997342e-01 -5.04506219e-04 5.81988492e+00] [ 2.16960911e-02 -8.69715908e-04 9.99764234e-01 3.46634130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27925415399994 meters Centerline goodness [0,1] 0.9986311178502232 Centerline is valid? [True, True] Translation: X:376.97, Y:5.83, Z:3.47 [[ 9.98063209e-01 -5.80364979e-02 -2.23963457e-02 3.76967526e+02] [ 5.80394272e-02 9.98314156e-01 -5.19748660e-04 5.82999485e+00] [ 2.23887533e-02 -7.81129060e-04 9.99749035e-01 3.46588796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.309254154 meters Centerline goodness [0,1] 0.9986717827626919 Centerline is valid? [True, True] Translation: X:377.00, Y:5.83, Z:3.47 [[ 9.98145515e-01 -5.66414493e-02 -2.22997105e-02 3.76999378e+02] [ 5.66440310e-02 9.98394304e-01 -5.16368735e-04 5.83318693e+00] [ 2.22931518e-02 -7.47734357e-04 9.99751197e-01 3.46650157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.33925415399995 meters Centerline goodness [0,1] 0.9988610238130392 Centerline is valid? [True, True] Translation: X:377.03, Y:5.84, Z:3.47 [[ 9.98256866e-01 -5.47438941e-02 -2.20530339e-02 3.77031707e+02] [ 5.47459923e-02 9.98500184e-01 -5.09029144e-04 5.83618099e+00] [ 2.20478247e-02 -6.99173389e-04 9.99756673e-01 3.46643351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.369254154 meters Centerline goodness [0,1] 0.9988610238130392 Centerline is valid? [True, True] Translation: X:377.06, Y:5.84, Z:3.47 [[ 9.98260904e-01 -5.46701851e-02 -2.20530714e-02 3.77063409e+02] [ 5.46723013e-02 9.98504222e-01 -5.07400820e-04 5.83685227e+00] [ 2.20478246e-02 -6.99173765e-04 9.99756673e-01 3.46673037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.39925415399995 meters Centerline goodness [0,1] 0.9990921183202077 Centerline is valid? [True, True] Translation: X:377.09, Y:5.84, Z:3.47 [[ 9.98360376e-01 -5.29520537e-02 -2.17402997e-02 3.77094683e+02] [ 5.29537280e-02 9.98596842e-01 -4.99067420e-04 5.84027219e+00] [ 2.17362213e-02 -6.52980778e-04 9.99763527e-01 3.46707469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.429254154 meters Centerline goodness [0,1] 0.9988389030800735 Centerline is valid? [True, True] Translation: X:377.13, Y:5.85, Z:3.47 [[ 9.98545767e-01 -4.98338928e-02 -2.05653721e-02 3.77126014e+02] [ 4.98347454e-02 9.98757366e-01 -4.71351489e-04 5.84702016e+00] [ 2.05633062e-02 -5.54204050e-04 9.99788399e-01 3.46827506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.45925415399995 meters Centerline goodness [0,1] 0.9988424464368396 Centerline is valid? [True, True] Translation: X:377.16, Y:5.85, Z:3.47 [[ 9.98646368e-01 -4.80811918e-02 -1.98401426e-02 3.77156911e+02] [ 4.80816577e-02 9.98843305e-01 -4.53811779e-04 5.84982783e+00] [ 1.98390135e-02 -5.00749463e-04 9.99803062e-01 3.46879685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.489254154 meters Centerline goodness [0,1] 0.9987748980841941 Centerline is valid? [True, True] Translation: X:377.19, Y:5.85, Z:3.47 [[ 9.98848556e-01 -4.45746687e-02 -1.77387176e-02 3.77187043e+02] [ 4.45744992e-02 9.99005981e-01 -4.05129095e-04 5.85475050e+00] [ 1.77391435e-02 -3.86031841e-04 9.99842574e-01 3.46967201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.51925415399995 meters Centerline goodness [0,1] 0.9986007759333461 Centerline is valid? [True, True] Translation: X:377.22, Y:5.86, Z:3.47 [[ 9.98925621e-01 -4.31650002e-02 -1.68637888e-02 3.77218969e+02] [ 4.31646582e-02 9.99067898e-01 -3.84436466e-04 5.85795963e+00] [ 1.68646642e-02 -3.43896241e-04 9.99857722e-01 3.47021939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5492541539999 meters Centerline goodness [0,1] 0.9989631604562094 Centerline is valid? [True, True] Translation: X:377.25, Y:5.86, Z:3.47 [[ 9.98983819e-01 -4.18545499e-02 -1.67190577e-02 3.77250414e+02] [ 4.18540484e-02 9.99123663e-01 -3.80057531e-04 5.85998689e+00] [ 1.67203133e-02 -3.20088923e-04 9.99860155e-01 3.47037568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57925415399995 meters Centerline goodness [0,1] 0.9987085573950968 Centerline is valid? [True, True] Translation: X:377.28, Y:5.86, Z:3.47 [[ 9.99022664e-01 -4.11533916e-02 -1.61280755e-02 3.77282153e+02] [ 4.11528492e-02 9.99152796e-01 -3.65646880e-04 5.86216807e+00] [ 1.61294593e-02 -2.98426738e-04 9.99869867e-01 3.47067674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6092541539999 meters Centerline goodness [0,1] 0.9987909384014932 Centerline is valid? [True, True] Translation: X:377.31, Y:5.86, Z:3.47 [[ 9.99044034e-01 -4.07499556e-02 -1.58259166e-02 3.77313318e+02] [ 4.07493987e-02 9.99169334e-01 -3.57792689e-04 5.86386635e+00] [ 1.58273506e-02 -2.87445933e-04 9.99874698e-01 3.47102383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63925415399996 meters Centerline goodness [0,1] 0.9985545754065257 Centerline is valid? [True, True] Translation: X:377.35, Y:5.87, Z:3.47 [[ 9.99031746e-01 -4.14220333e-02 -1.48251368e-02 3.77345560e+02] [ 4.14216312e-02 9.99141700e-01 -3.34312295e-04 5.86520885e+00] [ 1.48262603e-02 -2.80092754e-04 9.99890046e-01 3.47134279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66925415399993 meters Centerline goodness [0,1] 0.9988565862748005 Centerline is valid? [True, True] Translation: X:377.38, Y:5.87, Z:3.47 [[ 9.99007871e-01 -4.21896528e-02 -1.42585863e-02 3.77377716e+02] [ 4.21893731e-02 9.99109581e-01 -3.20547490e-04 5.86626675e+00] [ 1.42594140e-02 -2.81331353e-04 9.99898290e-01 3.47151017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69925415399996 meters Centerline goodness [0,1] 0.9987487009819516 Centerline is valid? [True, True] Translation: X:377.41, Y:5.87, Z:3.47 [[ 9.98987064e-01 -4.27577583e-02 -1.40221343e-02 3.77408575e+02] [ 4.27575566e-02 9.99085428e-01 -3.14318169e-04 5.86587308e+00] [ 1.40227495e-02 -2.85552414e-04 9.99901636e-01 3.47121574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72925415399993 meters Centerline goodness [0,1] 0.998792551952041 Centerline is valid? [True, True] Translation: X:377.44, Y:5.87, Z:3.47 [[ 9.98963923e-01 -4.32050800e-02 -1.42969279e-02 3.77440912e+02] [ 4.32049285e-02 9.99066180e-01 -3.19605509e-04 5.86763203e+00] [ 1.42973857e-02 -2.98423373e-04 9.99897743e-01 3.47125898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75925415399996 meters Centerline goodness [0,1] 0.9988968560397132 Centerline is valid? [True, True] Translation: X:377.47, Y:5.87, Z:3.47 [[ 9.98949007e-01 -4.33356806e-02 -1.49298639e-02 3.77472425e+02] [ 4.33355451e-02 9.99060519e-01 -3.32738839e-04 5.86908946e+00] [ 1.49302570e-02 -3.14604659e-04 9.99888488e-01 3.47039750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78925415399993 meters Centerline goodness [0,1] 0.9987261146496815 Centerline is valid? [True, True] Translation: X:377.50, Y:5.87, Z:3.47 [[ 9.98981216e-01 -4.24683976e-02 -1.52631780e-02 3.77504688e+02] [ 4.24681695e-02 9.99097763e-01 -3.39207721e-04 5.87199276e+00] [ 1.52638126e-02 -3.09337089e-04 9.99883453e-01 3.47070504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81925415399996 meters Centerline goodness [0,1] 0.9990659562273123 Centerline is valid? [True, True] Translation: X:377.54, Y:5.87, Z:3.47 [[ 9.99038255e-01 -4.11750203e-02 -1.50725992e-02 3.77535754e+02] [ 4.11746658e-02 9.99151908e-01 -3.33966394e-04 5.87343267e+00] [ 1.50735673e-02 -2.86964030e-04 9.99886346e-01 3.47084926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84925415399994 meters Centerline goodness [0,1] 0.998937526561836 Centerline is valid? [True, True] Translation: X:377.57, Y:5.88, Z:3.47 [[ 9.99160505e-01 -3.80576181e-02 -1.51625603e-02 3.77567479e+02] [ 3.80569152e-02 9.99275517e-01 -3.34999847e-04 5.87771696e+00] [ 1.51643245e-02 -2.42321654e-04 9.99884986e-01 3.47126830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87925415399997 meters Centerline goodness [0,1] 0.9988527237188748 Centerline is valid? [True, True] Translation: X:377.60, Y:5.88, Z:3.47 [[ 9.99230503e-01 -3.61937247e-02 -1.51134688e-02 3.77598643e+02] [ 3.61928287e-02 9.99344770e-01 -3.32889359e-04 5.87906015e+00] [ 1.51156145e-02 -2.14365984e-04 9.99885730e-01 3.47144948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90925415399994 meters Centerline goodness [0,1] 0.9987873372478938 Centerline is valid? [True, True] Translation: X:377.63, Y:5.88, Z:3.47 [[ 9.99291211e-01 -3.46875374e-02 -1.46236553e-02 3.77631165e+02] [ 3.46865504e-02 9.99398189e-01 -3.21204001e-04 5.88081995e+00] [ 1.46259964e-02 -1.86267821e-04 9.99893017e-01 3.47168007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93925415399997 meters Centerline goodness [0,1] 0.9990246591607829 Centerline is valid? [True, True] Translation: X:377.66, Y:5.88, Z:3.47 [[ 9.99379352e-01 -3.23789386e-02 -1.38749560e-02 3.77662855e+02] [ 3.23778412e-02 9.99475654e-01 -3.03771710e-04 5.88299169e+00] [ 1.38775166e-02 -1.45657949e-04 9.99903692e-01 3.47222430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96925415399994 meters Centerline goodness [0,1] 0.9988759755683746 Centerline is valid? [True, True] Translation: X:377.70, Y:5.88, Z:3.47 [[ 9.99408144e-01 -3.16906864e-02 -1.33814010e-02 3.77695120e+02] [ 3.16896168e-02 9.99497715e-01 -2.92006741e-04 5.88430490e+00] [ 1.33839336e-02 -1.32217555e-04 9.99910422e-01 3.47232790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99925415399997 meters Centerline goodness [0,1] 0.9990459026820736 Centerline is valid? [True, True] Translation: X:377.73, Y:5.88, Z:3.47 [[ 9.99404009e-01 -3.17266937e-02 -1.36031123e-02 3.77726363e+02] [ 3.17256045e-02 9.99496573e-01 -2.95905493e-04 5.88457259e+00] [ 1.36056522e-02 -1.35837824e-04 9.99907430e-01 3.47247159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.02925415399994 meters Centerline goodness [0,1] 0.9987896033296526 Centerline is valid? [True, True] Translation: X:377.76, Y:5.88, Z:3.47 [[ 9.99400435e-01 -3.18671858e-02 -1.35371264e-02 3.77758775e+02] [ 3.18661311e-02 9.99492103e-01 -2.93652515e-04 5.88490637e+00] [ 1.35396088e-02 -1.37899394e-04 9.99908326e-01 3.47243356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.059254154 meters Centerline goodness [0,1] 0.9988572879634332 Centerline is valid? [True, True] Translation: X:377.79, Y:5.88, Z:3.47 [[ 9.99304396e-01 -3.45219971e-02 -1.41051810e-02 3.77790457e+02] [ 3.45211339e-02 9.99403922e-01 -3.04742167e-04 5.88262396e+00] [ 1.41072935e-02 -1.82396655e-04 9.99900471e-01 3.47141682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.08925415399995 meters Centerline goodness [0,1] 0.9987729542184988 Centerline is valid? [True, True] Translation: X:377.82, Y:5.88, Z:3.47 [[ 9.99225672e-01 -3.65035443e-02 -1.46815142e-02 3.77822227e+02] [ 3.65028430e-02 9.99333499e-01 -3.15825947e-04 5.88161551e+00] [ 1.46832578e-02 -2.20335616e-04 9.99892171e-01 3.47128654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.119254154 meters Centerline goodness [0,1] 0.9990277924548241 Centerline is valid? [True, True] Translation: X:377.85, Y:5.88, Z:3.47 [[ 9.99121635e-01 -3.90839633e-02 -1.51129580e-02 3.77854448e+02] [ 3.90835295e-02 9.99235894e-01 -3.24166655e-04 5.88038800e+00] [ 1.51140798e-02 -2.66785822e-04 9.99885740e-01 3.47124556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.14925415399995 meters Centerline goodness [0,1] 0.9989213426111969 Centerline is valid? [True, True] Translation: X:377.89, Y:5.88, Z:3.47 [[ 9.98984533e-01 -4.23186673e-02 -1.54606956e-02 3.77886181e+02] [ 4.23186164e-02 9.99104111e-01 -3.30596700e-04 5.87840373e+00] [ 1.54608349e-02 -3.24014254e-04 9.99880422e-01 3.47119230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.179254154 meters Centerline goodness [0,1] 0.9988364221037488 Centerline is valid? [True, True] Translation: X:377.92, Y:5.87, Z:3.47 [[ 9.98652454e-01 -4.93769500e-02 -1.59747566e-02 3.77917458e+02] [ 4.93778081e-02 9.98780114e-01 -3.40940909e-04 5.87396664e+00] [ 1.59721038e-02 -4.48316990e-04 9.99872337e-01 3.47078488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.20925415399995 meters Centerline goodness [0,1] 0.998793165505706 Centerline is valid? [True, True] Translation: X:377.95, Y:5.87, Z:3.47 [[ 9.98452940e-01 -5.32122022e-02 -1.61303574e-02 3.77950023e+02] [ 5.32135878e-02 9.98583094e-01 -3.43594811e-04 5.87126078e+00] [ 1.61257857e-02 -5.15290942e-04 9.99869838e-01 3.47100910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.239254154 meters Centerline goodness [0,1] 0.998771212474312 Centerline is valid? [True, True] Translation: X:377.98, Y:5.87, Z:3.47 [[ 9.98261299e-01 -5.66879453e-02 -1.61510588e-02 3.77982205e+02] [ 5.66898077e-02 9.98391781e-01 -3.42859184e-04 5.86856169e+00] [ 1.61445203e-02 -5.73337362e-04 9.99869504e-01 3.47122910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.26925415399995 meters Centerline goodness [0,1] 0.9986037656018616 Centerline is valid? [True, True] Translation: X:378.01, Y:5.86, Z:3.47 [[ 9.97900667e-01 -6.28566546e-02 -1.55980722e-02 3.78012260e+02] [ 6.28591586e-02 9.98022353e-01 -3.30171971e-04 5.86256257e+00] [ 1.55879782e-02 -6.51002863e-04 9.99878288e-01 3.47120657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2992541539999 meters Centerline goodness [0,1] 0.9986259671077664 Centerline is valid? [True, True] Translation: X:378.04, Y:5.86, Z:3.47 [[ 9.97737406e-01 -6.54373332e-02 -1.54280175e-02 3.78044350e+02] [ 6.54401042e-02 9.97856446e-01 -3.25698751e-04 5.86121131e+00] [ 1.54162596e-02 -6.84649247e-04 9.99880928e-01 3.47179344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.32925415399995 meters Centerline goodness [0,1] 0.9986467628028926 Centerline is valid? [True, True] Translation: X:378.08, Y:5.86, Z:3.47 [[ 9.97614191e-01 -6.73901152e-02 -1.49832784e-02 3.78076685e+02] [ 6.73929645e-02 9.97726460e-01 -3.15238076e-04 5.86071515e+00] [ 1.49704573e-02 -6.95281575e-04 9.99887695e-01 3.47238860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3592541539999 meters Centerline goodness [0,1] 0.9987121835877298 Centerline is valid? [True, True] Translation: X:378.11, Y:5.86, Z:3.47 [[ 9.97505672e-01 -6.89718219e-02 -1.50107065e-02 3.78108209e+02] [ 6.89748753e-02 9.97618348e-01 -3.14819667e-04 5.85945356e+00] [ 1.49966699e-02 -7.21327206e-04 9.99887283e-01 3.47292556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.38925415399996 meters Centerline goodness [0,1] 0.9984158834090189 Centerline is valid? [True, True] Translation: X:378.14, Y:5.86, Z:3.47 [[ 9.97383342e-01 -7.06827195e-02 -1.51796927e-02 3.78140034e+02] [ 7.06860579e-02 9.97498562e-01 -3.17155546e-04 5.85823158e+00] [ 1.51641391e-02 -7.56666980e-04 9.99884732e-01 3.47322570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41925415399993 meters Centerline goodness [0,1] 0.9987766552065976 Centerline is valid? [True, True] Translation: X:378.17, Y:5.86, Z:3.47 [[ 9.97353940e-01 -7.10554198e-02 -1.53702875e-02 3.78172389e+02] [ 7.10589108e-02 9.97472069e-01 -3.19572889e-04 5.85973531e+00] [ 1.53541399e-02 -7.73468608e-04 9.99881819e-01 3.47350585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.44925415399996 meters Centerline goodness [0,1] 0.9986280262574667 Centerline is valid? [True, True] Translation: X:378.20, Y:5.86, Z:3.47 [[ 9.97350146e-01 -7.10219347e-02 -1.57661356e-02 3.78203818e+02] [ 7.10256290e-02 9.97474438e-01 -3.26202745e-04 5.85909204e+00] [ 1.57494848e-02 -7.94461343e-04 9.99875654e-01 3.47386756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47925415399993 meters Centerline goodness [0,1] 0.9986039723332699 Centerline is valid? [True, True] Translation: X:378.23, Y:5.86, Z:3.47 [[ 9.97375129e-01 -7.06166830e-02 -1.60042273e-02 3.78234901e+02] [ 7.06204740e-02 9.97503203e-01 -3.28855203e-04 5.85739326e+00] [ 1.59874907e-02 -8.02234120e-04 9.99871870e-01 3.47425427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.50925415399996 meters Centerline goodness [0,1] 0.9985212413122927 Centerline is valid? [True, True] Translation: X:378.27, Y:5.86, Z:3.47 [[ 9.97415271e-01 -7.00800503e-02 -1.58607494e-02 3.78267082e+02] [ 7.00837339e-02 9.97541059e-01 -3.24142401e-04 5.85810175e+00] [ 1.58444647e-02 -7.88275961e-04 9.99874158e-01 3.47485325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53925415399993 meters Centerline goodness [0,1] 0.998627939376029 Centerline is valid? [True, True] Translation: X:378.30, Y:5.86, Z:3.48 [[ 9.97458951e-01 -6.94284099e-02 -1.59792932e-02 3.78299500e+02] [ 6.94320832e-02 9.97586628e-01 -3.25450594e-04 5.85910043e+00] [ 1.59633247e-02 -7.84852004e-04 9.99872270e-01 3.47533335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56925415399996 meters Centerline goodness [0,1] 0.9986447569032695 Centerline is valid? [True, True] Translation: X:378.33, Y:5.87, Z:3.48 [[ 9.97553130e-01 -6.77677269e-02 -1.71839428e-02 3.78331917e+02] [ 6.77717535e-02 9.97700791e-01 -3.48574094e-04 5.86693361e+00] [ 1.71680554e-02 -8.16864756e-04 9.99852284e-01 3.47593178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59925415399994 meters Centerline goodness [0,1] 0.9987739398807762 Centerline is valid? [True, True] Translation: X:378.36, Y:5.87, Z:3.48 [[ 9.97620241e-01 -6.66064220e-02 -1.78168205e-02 3.78364116e+02] [ 6.66105928e-02 9.97778983e-01 -3.59907058e-04 5.86860023e+00] [ 1.78012212e-02 -8.27738411e-04 9.99841203e-01 3.47590638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62925415399997 meters Centerline goodness [0,1] 0.9988978147056953 Centerline is valid? [True, True] Translation: X:378.40, Y:5.87, Z:3.48 [[ 9.97684631e-01 -6.53975528e-02 -1.86691730e-02 3.78395960e+02] [ 6.54019473e-02 9.97858930e-01 -3.75724722e-04 5.87069152e+00] [ 1.86537724e-02 -8.46145487e-04 9.99825645e-01 3.47561522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65925415399994 meters Centerline goodness [0,1] 0.9988550346670059 Centerline is valid? [True, True] Translation: X:378.43, Y:5.87, Z:3.48 [[ 9.97781596e-01 -6.36554423e-02 -1.94902718e-02 3.78428027e+02] [ 6.36599286e-02 9.97971573e-01 -3.90793621e-04 5.87238412e+00] [ 1.94756134e-02 -8.50822630e-04 9.99809970e-01 3.47525180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68925415399997 meters Centerline goodness [0,1] 0.9989403412101303 Centerline is valid? [True, True] Translation: X:378.46, Y:5.88, Z:3.48 [[ 9.97994020e-01 -5.99430340e-02 -2.03658728e-02 3.78459832e+02] [ 5.99471878e-02 9.98201467e-01 -4.07028280e-04 5.87704830e+00] [ 2.03536426e-02 -8.14665011e-04 9.99792511e-01 3.47508981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71925415399994 meters Centerline goodness [0,1] 0.9987471066658172 Centerline is valid? [True, True] Translation: X:378.49, Y:5.88, Z:3.48 [[ 9.98103833e-01 -5.77813381e-02 -2.12145006e-02 3.78492503e+02] [ 5.77853928e-02 9.98328939e-01 -4.22349843e-04 5.88041481e+00] [ 2.12034538e-02 -8.04339251e-04 9.99774858e-01 3.47545860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74925415399997 meters Centerline goodness [0,1] 0.9988106615695019 Centerline is valid? [True, True] Translation: X:378.52, Y:5.88, Z:3.48 [[ 9.98255101e-01 -5.50277637e-02 -2.14172607e-02 3.78523263e+02] [ 5.50312917e-02 9.98484540e-01 -4.25063538e-04 5.88259333e+00] [ 2.14081940e-02 -7.54297675e-04 9.99770534e-01 3.47549365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77925415399994 meters Centerline goodness [0,1] 0.9988523579792999 Centerline is valid? [True, True] Translation: X:378.55, Y:5.89, Z:3.48 [[ 9.98412122e-01 -5.21602025e-02 -2.12731540e-02 3.78553978e+02] [ 5.21630494e-02 9.98638492e-01 -4.21425766e-04 5.88533005e+00] [ 2.12661720e-02 -6.88915988e-04 9.99773612e-01 3.47597086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.809254154 meters Centerline goodness [0,1] 0.9988938523718358 Centerline is valid? [True, True] Translation: X:378.58, Y:5.89, Z:3.48 [[ 9.98724435e-01 -4.60634587e-02 -2.06799405e-02 3.78584361e+02] [ 4.60648498e-02 9.98938368e-01 -4.09342230e-04 5.89199011e+00] [ 2.06768417e-02 -5.43798263e-04 9.99786063e-01 3.47723644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.83925415399995 meters Centerline goodness [0,1] 0.9988740891806344 Centerline is valid? [True, True] Translation: X:378.62, Y:5.90, Z:3.48 [[ 9.98862074e-01 -4.31705965e-02 -2.02696251e-02 3.78615974e+02] [ 4.31713457e-02 9.99067602e-01 -4.00817962e-04 5.89557366e+00] [ 2.02680293e-02 -4.74705133e-04 9.99794470e-01 3.47864588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.869254154 meters Centerline goodness [0,1] 0.9988525286867829 Centerline is valid? [True, True] Translation: X:378.65, Y:5.90, Z:3.48 [[ 9.98982985e-01 -4.06807510e-02 -1.94440849e-02 3.78646680e+02] [ 4.06809826e-02 9.99172112e-01 -3.83792776e-04 5.89733196e+00] [ 1.94436004e-02 -4.07602026e-04 9.99810872e-01 3.47887867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.89925415399995 meters Centerline goodness [0,1] 0.9989171054866656 Centerline is valid? [True, True] Translation: X:378.68, Y:5.90, Z:3.48 [[ 9.99133180e-01 -3.74244366e-02 -1.82290783e-02 3.78678555e+02] [ 3.74241130e-02 9.99299408e-01 -3.59004365e-04 5.90020490e+00] [ 1.82297427e-02 -3.23513912e-04 9.99833772e-01 3.48007995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.929254154 meters Centerline goodness [0,1] 0.9990431639379119 Centerline is valid? [True, True] Translation: X:378.71, Y:5.90, Z:3.48 [[ 9.99172614e-01 -3.65591364e-02 -1.78189800e-02 3.78710450e+02] [ 3.65587097e-02 9.99331446e-01 -3.49798834e-04 5.90196108e+00] [ 1.78198554e-02 -3.01929503e-04 9.99841168e-01 3.48091579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.95925415399995 meters Centerline goodness [0,1] 0.9987477714576789 Centerline is valid? [True, True] Translation: X:378.74, Y:5.90, Z:3.48 [[ 9.99201301e-01 -3.59739567e-02 -1.73963841e-02 3.78741309e+02] [ 3.59734809e-02 9.99352687e-01 -3.40378822e-04 5.90236633e+00] [ 1.73973680e-02 -2.85701530e-04 9.99848614e-01 3.48088704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.989254154 meters Centerline goodness [0,1] 0.9990447076805502 Centerline is valid? [True, True] Translation: X:378.77, Y:5.90, Z:3.48 [[ 9.99208342e-01 -3.56316956e-02 -1.76938302e-02 3.78773360e+02] [ 3.56311700e-02 9.99364949e-01 -3.45055006e-04 5.90310647e+00] [ 1.76948886e-02 -2.85670034e-04 9.99843392e-01 3.48059256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.01925415399995 meters Centerline goodness [0,1] 0.9989160928334608 Centerline is valid? [True, True] Translation: X:378.80, Y:5.90, Z:3.48 [[ 9.99173173e-01 -3.60548109e-02 -1.87888284e-02 3.78804963e+02] [ 3.60543134e-02 9.99349765e-01 -3.65327710e-04 5.90305587e+00] [ 1.87897831e-02 -3.12392660e-04 9.99823408e-01 3.47961300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0492541539999 meters Centerline goodness [0,1] 0.9988321229880665 Centerline is valid? [True, True] Translation: X:378.84, Y:5.90, Z:3.48 [[ 9.99154754e-01 -3.60906715e-02 -1.96784539e-02 3.78835848e+02] [ 3.60901472e-02 9.99348465e-01 -3.81887759e-04 5.90313575e+00] [ 1.96794153e-02 -3.28633330e-04 9.99806288e-01 3.47981701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07925415399995 meters Centerline goodness [0,1] 0.9989383387124172 Centerline is valid? [True, True] Translation: X:378.87, Y:5.90, Z:3.48 [[ 9.99103801e-01 -3.75522155e-02 -1.95301290e-02 3.78865817e+02] [ 3.75519885e-02 9.99294604e-01 -3.78482636e-04 5.90149662e+00] [ 1.95305654e-02 -3.55251742e-04 9.99809197e-01 3.47858586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1092541539999 meters Centerline goodness [0,1] 0.9988717162685741 Centerline is valid? [True, True] Translation: X:378.90, Y:5.90, Z:3.48 [[ 9.99059107e-01 -3.85442237e-02 -1.98807437e-02 3.78897463e+02] [ 3.85441960e-02 9.99256822e-01 -3.84715233e-04 5.90270272e+00] [ 1.98807973e-02 -3.81934025e-04 9.99802284e-01 3.47920660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13925415399996 meters Centerline goodness [0,1] 0.9988528212100611 Centerline is valid? [True, True] Translation: X:378.93, Y:5.90, Z:3.48 [[ 9.99010667e-01 -3.96477672e-02 -2.01430467e-02 3.78928925e+02] [ 3.96479956e-02 9.99213634e-01 -3.88177243e-04 5.90171240e+00] [ 2.01425972e-02 -4.10838220e-04 9.99797033e-01 3.47885084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16925415399993 meters Centerline goodness [0,1] 0.9988752838316746 Centerline is valid? [True, True] Translation: X:378.96, Y:5.90, Z:3.48 [[ 9.98918919e-01 -4.17751566e-02 -2.03918946e-02 3.78959898e+02] [ 4.17758686e-02 9.99126931e-01 -3.91258626e-04 5.89876283e+00] [ 2.03904360e-02 -4.61053467e-04 9.99791987e-01 3.47786603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19925415399996 meters Centerline goodness [0,1] 0.9987682636765206 Centerline is valid? [True, True] Translation: X:378.99, Y:5.90, Z:3.48 [[ 9.98891505e-01 -4.24114208e-02 -2.04213927e-02 3.78991598e+02] [ 4.24122949e-02 9.99100117e-01 -3.90497615e-04 5.90027275e+00] [ 2.04195774e-02 -4.76053379e-04 9.99791385e-01 3.47899043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22925415399993 meters Centerline goodness [0,1] 0.9990467111534795 Centerline is valid? [True, True] Translation: X:379.02, Y:5.90, Z:3.48 [[ 9.98894579e-01 -4.28068787e-02 -1.94214111e-02 3.79023853e+02] [ 4.28077709e-02 9.99083259e-01 -3.69981382e-04 5.89984097e+00] [ 1.94194445e-02 -4.61814920e-04 9.99811318e-01 3.47922029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25925415399996 meters Centerline goodness [0,1] 0.9990467111534795 Centerline is valid? [True, True] Translation: X:379.06, Y:5.90, Z:3.48 [[ 9.98897719e-01 -4.27335402e-02 -1.94214382e-02 3.79055551e+02] [ 4.27344463e-02 9.99086398e-01 -3.68555740e-04 5.90038437e+00] [ 1.94194444e-02 -4.61814920e-04 9.99811318e-01 3.47951707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28925415399993 meters Centerline goodness [0,1] 0.9987504500497703 Centerline is valid? [True, True] Translation: X:379.09, Y:5.90, Z:3.48 [[ 9.98920604e-01 -4.25172975e-02 -1.87057748e-02 3.79087208e+02] [ 4.25181221e-02 9.99095633e-01 -3.53801314e-04 5.89966696e+00] [ 1.87039006e-02 -4.41914994e-04 9.99824969e-01 3.47952150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31925415399996 meters Centerline goodness [0,1] 0.9987728763355549 Centerline is valid? [True, True] Translation: X:379.12, Y:5.90, Z:3.48 [[ 9.98970463e-01 -4.15444392e-02 -1.82228860e-02 3.79119612e+02] [ 4.15450806e-02 9.99136571e-01 -3.43528189e-04 5.90074600e+00] [ 1.82214236e-02 -4.13896756e-04 9.99833890e-01 3.48064411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34925415399994 meters Centerline goodness [0,1] 0.9990031390514974 Centerline is valid? [True, True] Translation: X:379.15, Y:5.90, Z:3.48 [[ 9.99002415e-01 -4.11931685e-02 -1.72422973e-02 3.79150831e+02] [ 4.11937088e-02 9.99151126e-01 -3.23977501e-04 5.90104274e+00] [ 1.72410065e-02 -3.86619871e-04 9.99851288e-01 3.48069931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37925415399997 meters Centerline goodness [0,1] 0.9989821235447548 Centerline is valid? [True, True] Translation: X:379.18, Y:5.90, Z:3.48 [[ 9.99032191e-01 -4.07530263e-02 -1.65490621e-02 3.79182663e+02] [ 4.07534801e-02 9.99169184e-01 -3.09956582e-04 5.90145930e+00] [ 1.65479445e-02 -3.64775268e-04 9.99863007e-01 3.48108079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40925415399994 meters Centerline goodness [0,1] 0.9988123767310669 Centerline is valid? [True, True] Translation: X:379.21, Y:5.90, Z:3.48 [[ 9.99056106e-01 -4.04066788e-02 -1.59435490e-02 3.79214537e+02] [ 4.04070737e-02 9.99183256e-01 -2.97499547e-04 5.90222619e+00] [ 1.59425481e-02 -3.47013420e-04 9.99872849e-01 3.48096275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43925415399997 meters Centerline goodness [0,1] 0.998961798419391 Centerline is valid? [True, True] Translation: X:379.25, Y:5.90, Z:3.48 [[ 9.99043877e-01 -4.08035024e-02 -1.56973285e-02 3.79247185e+02] [ 4.08039517e-02 9.99167129e-01 -2.91786117e-04 5.90214515e+00] [ 1.56961606e-02 -3.49005900e-04 9.99876747e-01 3.48087770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46925415399994 meters Centerline goodness [0,1] 0.9989621282724731 Centerline is valid? [True, True] Translation: X:379.28, Y:5.90, Z:3.48 [[ 9.99002506e-01 -4.17004531e-02 -1.59707653e-02 3.79278335e+02] [ 4.17010493e-02 9.99130089e-01 -2.95832139e-04 5.90048543e+00] [ 1.59692084e-02 -3.70460621e-04 9.99872415e-01 3.48018036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49925415399997 meters Centerline goodness [0,1] 0.9988574572075408 Centerline is valid? [True, True] Translation: X:379.31, Y:5.90, Z:3.48 [[ 9.98884805e-01 -4.42978594e-02 -1.63354402e-02 3.79310288e+02] [ 4.42988466e-02 9.99018279e-01 -3.01584130e-04 5.89850951e+00] [ 1.63327629e-02 -4.22393356e-04 9.99866522e-01 3.47890392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.52925415399994 meters Centerline goodness [0,1] 0.9987510584250635 Centerline is valid? [True, True] Translation: X:379.34, Y:5.90, Z:3.48 [[ 9.98826330e-01 -4.55486289e-02 -1.64707293e-02 3.79342328e+02] [ 4.55498217e-02 9.98962022e-01 -3.02916121e-04 5.89727403e+00] [ 1.64674305e-02 -4.47678185e-04 9.99864302e-01 3.47839139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.559254154 meters Centerline goodness [0,1] 0.9988784255634324 Centerline is valid? [True, True] Translation: X:379.37, Y:5.90, Z:3.48 [[ 9.98760921e-01 -4.68434162e-02 -1.68023014e-02 3.79373337e+02] [ 4.68448584e-02 9.98902130e-01 -3.07951745e-04 5.89582355e+00] [ 1.67982801e-02 -4.79531260e-04 9.99858784e-01 3.47783645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.58925415399995 meters Centerline goodness [0,1] 0.9987707697524585 Centerline is valid? [True, True] Translation: X:379.41, Y:5.90, Z:3.48 [[ 9.98745997e-01 -4.72264850e-02 -1.66160497e-02 3.79405187e+02] [ 4.72279647e-02 9.98884091e-01 -3.03552136e-04 5.89524092e+00] [ 1.66118434e-02 -4.81570728e-04 9.99861898e-01 3.47738041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.619254154 meters Centerline goodness [0,1] 0.9987715508112001 Centerline is valid? [True, True] Translation: X:379.44, Y:5.90, Z:3.48 [[ 9.98757392e-01 -4.68802095e-02 -1.69090926e-02 3.79437085e+02] [ 4.68817124e-02 9.98900401e-01 -3.07716727e-04 5.89744644e+00] [ 1.69049252e-02 -4.85392859e-04 9.99856984e-01 3.47775113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.64925415399995 meters Centerline goodness [0,1] 0.9988138357586156 Centerline is valid? [True, True] Translation: X:379.47, Y:5.90, Z:3.48 [[ 9.98824531e-01 -4.56410336e-02 -1.63233915e-02 3.79469679e+02] [ 4.56422892e-02 9.98957804e-01 -2.95806978e-04 5.89909684e+00] [ 1.63198802e-02 -4.49577688e-04 9.99866721e-01 3.47798042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.679254154 meters Centerline goodness [0,1] 0.9988562956687493 Centerline is valid? [True, True] Translation: X:379.50, Y:5.90, Z:3.48 [[ 9.98911054e-01 -4.38579491e-02 -1.59118083e-02 3.79502217e+02] [ 4.38589363e-02 9.99037693e-01 -2.87076300e-04 5.90104605e+00] [ 1.59090868e-02 -4.11111298e-04 9.99873358e-01 3.47844274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.70925415399995 meters Centerline goodness [0,1] 0.9989840194729601 Centerline is valid? [True, True] Translation: X:379.53, Y:5.90, Z:3.48 [[ 9.99144988e-01 -3.85408243e-02 -1.49632069e-02 3.79532985e+02] [ 3.85411136e-02 9.99256979e-01 -2.69137788e-04 5.90480198e+00] [ 1.49624617e-02 -3.07790986e-04 9.99888009e-01 3.47902752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.739254154 meters Centerline goodness [0,1] 0.9986446995044682 Centerline is valid? [True, True] Translation: X:379.56, Y:5.91, Z:3.48 [[ 9.99265194e-01 -3.55333112e-02 -1.43685950e-02 3.79564437e+02] [ 3.55332742e-02 9.99368461e-01 -2.57951238e-04 5.90800937e+00] [ 1.43686865e-02 -2.52801532e-04 9.99896733e-01 3.47970085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.76925415399995 meters Centerline goodness [0,1] 0.9989178178114456 Centerline is valid? [True, True] Translation: X:379.60, Y:5.91, Z:3.48 [[ 9.99384525e-01 -3.23612571e-02 -1.35395658e-02 3.79596366e+02] [ 3.23609412e-02 9.99476218e-01 -2.42470842e-04 5.91116319e+00] [ 1.35403207e-02 -1.95831484e-04 9.99908306e-01 3.48046618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7992541539999 meters Centerline goodness [0,1] 0.9988733232711889 Centerline is valid? [True, True] Translation: X:379.63, Y:5.92, Z:3.48 [[ 9.99567302e-01 -2.65541301e-02 -1.26525085e-02 3.79628163e+02] [ 2.65533990e-02 9.99647371e-01 -2.25801058e-04 5.91626728e+00] [ 1.26540428e-02 -1.10263752e-04 9.99919928e-01 3.48130100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.82925415399995 meters Centerline goodness [0,1] 0.9986593177416953 Centerline is valid? [True, True] Translation: X:379.66, Y:5.92, Z:3.48 [[ 9.99629413e-01 -2.40281116e-02 -1.27940168e-02 3.79659479e+02] [ 2.40271651e-02 9.99711280e-01 -2.27700546e-04 5.91887066e+00] [ 1.27957941e-02 -7.97877913e-05 9.99918127e-01 3.48227499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8592541539999 meters Centerline goodness [0,1] 0.9987871308196442 Centerline is valid? [True, True] Translation: X:379.69, Y:5.92, Z:3.48 [[ 9.99680982e-01 -2.19687162e-02 -1.24623479e-02 3.79690640e+02] [ 2.19676638e-02 9.99758657e-01 -2.21350444e-04 5.92024705e+00] [ 1.24642030e-02 -5.24888396e-05 9.99922317e-01 3.48228768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.88925415399996 meters Centerline goodness [0,1] 0.9989157010736686 Centerline is valid? [True, True] Translation: X:379.72, Y:5.92, Z:3.48 [[ 9.99714978e-01 -2.00389899e-02 -1.29769583e-02 3.79722025e+02] [ 2.00376925e-02 9.99799199e-01 -2.30001833e-04 5.92076206e+00] [ 1.29789615e-02 -3.00920222e-05 9.99915769e-01 3.48125971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91925415399993 meters Centerline goodness [0,1] 0.9988521140233404 Centerline is valid? [True, True] Translation: X:379.75, Y:5.92, Z:3.48 [[ 9.99720326e-01 -1.97015406e-02 -1.30812662e-02 3.79752240e+02] [ 1.97001979e-02 9.99805905e-01 -2.31505421e-04 5.92071371e+00] [ 1.30832882e-02 -2.62628574e-05 9.99914410e-01 3.48099403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.94925415399996 meters Centerline goodness [0,1] 0.9988316764381001 Centerline is valid? [True, True] Translation: X:379.78, Y:5.92, Z:3.48 [[ 9.99706418e-01 -2.00153625e-02 -1.36551133e-02 3.79783188e+02] [ 2.00139287e-02 9.99799672e-01 -2.41661068e-04 5.92040692e+00] [ 1.36572147e-02 -3.17023434e-05 9.99906735e-01 3.48074863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97925415399993 meters Centerline goodness [0,1] 0.9991281047975502 Centerline is valid? [True, True] Translation: X:379.81, Y:5.92, Z:3.48 [[ 9.99656825e-01 -2.20278390e-02 -1.41776806e-02 3.79814141e+02] [ 2.20264957e-02 9.99757356e-01 -2.50909191e-04 5.91814406e+00] [ 1.41797674e-02 -6.14615358e-05 9.99899460e-01 3.48027773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.00925415399996 meters Centerline goodness [0,1] 0.9988556170131604 Centerline is valid? [True, True] Translation: X:379.84, Y:5.92, Z:3.48 [[ 9.99619363e-01 -2.33097899e-02 -1.47574634e-02 3.79844830e+02] [ 2.33084742e-02 9.99728287e-01 -2.61169884e-04 5.91672381e+00] [ 1.47595414e-02 -8.29034806e-05 9.99891069e-01 3.48117319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03925415399993 meters Centerline goodness [0,1] 0.9987909896915963 Centerline is valid? [True, True] Translation: X:379.87, Y:5.92, Z:3.48 [[ 9.99567712e-01 -2.53341519e-02 -1.49187479e-02 3.79874436e+02] [ 2.53330324e-02 9.99679032e-01 -2.64042485e-04 5.91502719e+00] [ 1.49206487e-02 -1.14008781e-04 9.99888674e-01 3.48140905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06925415399996 meters Centerline goodness [0,1] 0.9986635553669919 Centerline is valid? [True, True] Translation: X:379.91, Y:5.91, Z:3.48 [[ 9.99506187e-01 -2.80977847e-02 -1.40675850e-02 3.79905058e+02] [ 2.80970626e-02 9.99605169e-01 -2.49007069e-04 5.91318730e+00] [ 1.40690272e-02 -1.46373710e-04 9.99901016e-01 3.48106457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09925415399994 meters Centerline goodness [0,1] 0.9987089673855531 Centerline is valid? [True, True] Translation: X:379.94, Y:5.91, Z:3.48 [[ 9.99363258e-01 -3.28967031e-02 -1.38161226e-02 3.79936869e+02] [ 3.28964684e-02 9.99458735e-01 -2.44313729e-04 5.90865281e+00] [ 1.38166815e-02 -2.10343475e-04 9.99904523e-01 3.48242529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12925415399997 meters Centerline goodness [0,1] 0.9989853081069654 Centerline is valid? [True, True] Translation: X:379.97, Y:5.91, Z:3.48 [[ 9.99284635e-01 -3.56005080e-02 -1.27601816e-02 3.79969317e+02] [ 3.56005372e-02 9.99366075e-01 -2.24924573e-04 5.90648280e+00] [ 1.27601000e-02 -2.29505649e-04 9.99918560e-01 3.48267571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15925415399994 meters Centerline goodness [0,1] 0.9986913481225067 Centerline is valid? [True, True] Translation: X:380.00, Y:5.91, Z:3.48 [[ 9.99212510e-01 -3.76177844e-02 -1.26199300e-02 3.80001104e+02] [ 3.76179853e-02 9.99292169e-01 -2.21540966e-04 5.90534199e+00] [ 1.26193311e-02 -2.53369835e-04 9.99920341e-01 3.48462259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18925415399997 meters Centerline goodness [0,1] 0.9986090914838465 Centerline is valid? [True, True] Translation: X:380.03, Y:5.90, Z:3.48 [[ 9.99027461e-01 -4.28767370e-02 -1.02819322e-02 3.80032796e+02] [ 4.28771550e-02 9.99080336e-01 -1.79882792e-04 5.90072899e+00] [ 1.02801891e-02 -2.61152152e-04 9.99947123e-01 3.48481072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21925415399994 meters Centerline goodness [0,1] 0.998545715128778 Centerline is valid? [True, True] Translation: X:380.07, Y:5.90, Z:3.49 [[ 9.98933075e-01 -4.51256692e-02 -9.81758750e-03 3.80065379e+02] [ 4.51261639e-02 9.98981281e-01 -1.71230790e-04 5.89846705e+00] [ 9.81531304e-03 -2.71981964e-04 9.99951792e-01 3.48567453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24925415399997 meters Centerline goodness [0,1] 0.9984213185147764 Centerline is valid? [True, True] Translation: X:380.10, Y:5.90, Z:3.49 [[ 9.98831177e-01 -4.73727504e-02 -9.59695329e-03 3.80097842e+02] [ 4.73733334e-02 9.98877239e-01 -1.66692478e-04 5.89648437e+00] [ 9.59407489e-03 -2.88142024e-04 9.99953934e-01 3.48664282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27925415399994 meters Centerline goodness [0,1] 0.9986308871851041 Centerline is valid? [True, True] Translation: X:380.13, Y:5.89, Z:3.49 [[ 9.98528443e-01 -5.33810788e-02 -9.56076075e-03 3.80128524e+02] [ 5.33819390e-02 9.98574154e-01 -1.65374666e-04 5.89313397e+00] [ 9.55595646e-03 -3.45240639e-04 9.99954281e-01 3.48548686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.309254154 meters Centerline goodness [0,1] 0.9983979426210502 Centerline is valid? [True, True] Translation: X:380.16, Y:5.89, Z:3.49 [[ 9.98357963e-01 -5.64386141e-02 -9.80101978e-03 3.80160406e+02] [ 5.64396672e-02 9.98405997e-01 -1.69325904e-04 5.89047170e+00] [ 9.79495345e-03 -3.84118430e-04 9.99951955e-01 3.48500480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.33925415399995 meters Centerline goodness [0,1] 0.9983179142136249 Centerline is valid? [True, True] Translation: X:380.19, Y:5.88, Z:3.48 [[ 9.98183721e-01 -5.91941319e-02 -1.11943542e-02 3.80191131e+02] [ 5.91956862e-02 9.98246379e-01 -1.92728256e-04 5.88498382e+00] [ 1.11861319e-02 -4.70279269e-04 9.99937323e-01 3.48498423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.369254154 meters Centerline goodness [0,1] 0.9982974609046578 Centerline is valid? [True, True] Translation: X:380.22, Y:5.88, Z:3.48 [[ 9.97744475e-01 -6.59800326e-02 -1.23530485e-02 3.80221250e+02] [ 6.59824484e-02 9.97820761e-01 -2.12337625e-04 5.88275105e+00] [ 1.23401383e-02 -6.03225693e-04 9.99923676e-01 3.48319843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.39925415399995 meters Centerline goodness [0,1] 0.9985513940208264 Centerline is valid? [True, True] Translation: X:380.25, Y:5.88, Z:3.48 [[ 9.97536841e-01 -6.90157596e-02 -1.25329869e-02 3.80252364e+02] [ 6.90184853e-02 9.97615358e-01 -2.15426236e-04 5.88058146e+00] [ 1.25179680e-02 -6.50112164e-04 9.99921436e-01 3.48249583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.429254154 meters Centerline goodness [0,1] 0.9982342183262912 Centerline is valid? [True, True] Translation: X:380.28, Y:5.88, Z:3.48 [[ 9.97384572e-01 -7.10570390e-02 -1.32254699e-02 3.80284210e+02] [ 7.10602624e-02 9.97471998e-01 -2.26629827e-04 5.87974803e+00] [ 1.32081395e-02 -7.13768265e-04 9.99912514e-01 3.48319132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.45925415399995 meters Centerline goodness [0,1] 0.9984859954579863 Centerline is valid? [True, True] Translation: X:380.31, Y:5.88, Z:3.48 [[ 9.97152233e-01 -7.44002043e-02 -1.23301611e-02 3.80314394e+02] [ 7.44032668e-02 9.97228213e-01 -2.10795277e-04 5.87695640e+00] [ 1.23116678e-02 -7.07209289e-04 9.99923958e-01 3.48217517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.489254154 meters Centerline goodness [0,1] 0.9985908679832587 Centerline is valid? [True, True] Translation: X:380.35, Y:5.88, Z:3.48 [[ 9.97131934e-01 -7.47050890e-02 -1.21266589e-02 3.80346394e+02] [ 7.47080762e-02 9.97205425e-01 -2.07111418e-04 5.87721477e+00] [ 1.21082424e-02 -6.99441951e-04 9.99926448e-01 3.48254224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.51925415399995 meters Centerline goodness [0,1] 0.9982932996207332 Centerline is valid? [True, True] Translation: X:380.38, Y:5.88, Z:3.48 [[ 9.97221715e-01 -7.35515739e-02 -1.17905627e-02 3.80378242e+02] [ 7.35543275e-02 9.97291192e-01 -2.00515781e-04 5.87912497e+00] [ 1.17733726e-02 -6.67288217e-04 9.99930469e-01 3.48352669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5492541539999 meters Centerline goodness [0,1] 0.9982932996207332 Centerline is valid? [True, True] Translation: X:380.41, Y:5.88, Z:3.48 [[ 9.97229916e-01 -7.34402948e-02 -1.17905790e-02 3.80410825e+02] [ 7.34430520e-02 9.97299393e-01 -1.99550919e-04 5.87958661e+00] [ 1.17733924e-02 -6.66937962e-04 9.99930469e-01 3.48383178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57925415399995 meters Centerline goodness [0,1] 0.9984636753935516 Centerline is valid? [True, True] Translation: X:380.44, Y:5.88, Z:3.48 [[ 9.97456761e-01 -7.03650622e-02 -1.13475542e-02 3.80441128e+02] [ 7.03674291e-02 9.97521122e-01 -1.91046745e-04 5.88289509e+00] [ 1.13328681e-02 -6.07937350e-04 9.99935596e-01 3.48325258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6092541539999 meters Centerline goodness [0,1] 0.9980410329864768 Centerline is valid? [True, True] Translation: X:380.47, Y:5.88, Z:3.48 [[ 9.97599947e-01 -6.82007754e-02 -1.19582501e-02 3.80471407e+02] [ 6.82032494e-02 9.97671427e-01 -2.01280452e-04 5.88298767e+00] [ 1.19441319e-02 -6.14794147e-04 9.99928477e-01 3.48349270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63925415399996 meters Centerline goodness [0,1] 0.9984606300873012 Centerline is valid? [True, True] Translation: X:380.50, Y:5.89, Z:3.48 [[ 9.97886855e-01 -6.37623894e-02 -1.24973185e-02 3.80502074e+02] [ 6.37647474e-02 9.97964936e-01 -2.10097960e-04 5.89101133e+00] [ 1.24852820e-02 -5.87234365e-04 9.99921883e-01 3.48266637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66925415399993 meters Centerline goodness [0,1] 0.9983764179985661 Centerline is valid? [True, True] Translation: X:380.53, Y:5.89, Z:3.48 [[ 9.98042474e-01 -6.11940761e-02 -1.29036941e-02 3.80533137e+02] [ 6.11963804e-02 9.98125722e-01 -2.16567236e-04 5.89426516e+00] [ 1.28927616e-02 -5.73516072e-04 9.99916720e-01 3.48358891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69925415399996 meters Centerline goodness [0,1] 0.9985856922719692 Centerline is valid? [True, True] Translation: X:380.56, Y:5.90, Z:3.48 [[ 9.98289720e-01 -5.71613683e-02 -1.22561531e-02 3.80563269e+02] [ 5.71631477e-02 9.98364829e-01 -2.05370550e-04 5.89808579e+00] [ 1.22478514e-02 -4.95580978e-04 9.99924869e-01 3.48294202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72925415399993 meters Centerline goodness [0,1] 0.9986486771816473 Centerline is valid? [True, True] Translation: X:380.59, Y:5.90, Z:3.48 [[ 9.98442120e-01 -5.44222971e-02 -1.23104083e-02 3.80594455e+02] [ 5.44238857e-02 9.98517901e-01 -2.06170045e-04 5.90262931e+00] [ 1.23033833e-02 -4.64131398e-04 9.99924203e-01 3.48413697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75925415399996 meters Centerline goodness [0,1] 0.9986691171810634 Centerline is valid? [True, True] Translation: X:380.63, Y:5.91, Z:3.48 [[ 9.98573101e-01 -5.20800020e-02 -1.18082341e-02 3.80626542e+02] [ 5.20813061e-02 9.98642828e-01 -1.97244636e-04 5.90558214e+00] [ 1.18024808e-02 -4.18025066e-04 9.99930261e-01 3.48399730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78925415399993 meters Centerline goodness [0,1] 0.9985043500242253 Centerline is valid? [True, True] Translation: X:380.66, Y:5.91, Z:3.48 [[ 9.98720859e-01 -4.91773327e-02 -1.17573741e-02 3.80657308e+02] [ 4.91784339e-02 9.98789990e-01 -1.95616903e-04 5.90775063e+00] [ 1.17527675e-02 -3.82842563e-04 9.99930861e-01 3.48493250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81925415399996 meters Centerline goodness [0,1] 0.9984555167671638 Centerline is valid? [True, True] Translation: X:380.69, Y:5.91, Z:3.48 [[ 9.98830707e-01 -4.68856992e-02 -1.17876880e-02 3.80688887e+02] [ 4.68866527e-02 9.98900197e-01 -1.95599303e-04 5.90878258e+00] [ 1.17838947e-02 -3.57314645e-04 9.99930504e-01 3.48420516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84925415399994 meters Centerline goodness [0,1] 0.9986697073356139 Centerline is valid? [True, True] Translation: X:380.72, Y:5.92, Z:3.48 [[ 9.99099516e-01 -4.07229609e-02 -1.19078674e-02 3.80718831e+02] [ 4.07235046e-02 9.99170435e-01 -1.96909961e-04 5.91538220e+00] [ 1.19060078e-02 -2.88197446e-04 9.99929079e-01 3.48464937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87925415399997 meters Centerline goodness [0,1] 0.9986274758224587 Centerline is valid? [True, True] Translation: X:380.75, Y:5.92, Z:3.48 [[ 9.99209785e-01 -3.78833793e-02 -1.20272562e-02 3.80750906e+02] [ 3.78837306e-02 9.99282134e-01 -1.98693101e-04 5.92030301e+00] [ 1.20261494e-02 -2.57101244e-04 9.99927650e-01 3.48478185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90925415399994 meters Centerline goodness [0,1] 0.9987323050919079 Centerline is valid? [True, True] Translation: X:380.78, Y:5.93, Z:3.48 [[ 9.99416730e-01 -3.20236200e-02 -1.18611683e-02 3.80782078e+02] [ 3.20235581e-02 9.99487095e-01 -1.95196624e-04 5.92561443e+00] [ 1.18613356e-02 -1.84754040e-04 9.99929635e-01 3.48432061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93925415399997 meters Centerline goodness [0,1] 0.9987943907443051 Centerline is valid? [True, True] Translation: X:380.81, Y:5.93, Z:3.48 [[ 9.99502972e-01 -2.92108756e-02 -1.18547059e-02 3.80814567e+02] [ 2.92106220e-02 9.99573260e-01 -1.94578784e-04 5.92837871e+00] [ 1.18553308e-02 -1.51801259e-04 9.99929712e-01 3.48451835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96925415399994 meters Centerline goodness [0,1] 0.998962545785607 Centerline is valid? [True, True] Translation: X:380.85, Y:5.93, Z:3.48 [[ 9.99644894e-01 -2.38901784e-02 -1.18044962e-02 3.80845420e+02] [ 2.38895652e-02 9.99714585e-01 -1.92964834e-04 5.93377300e+00] [ 1.18057370e-02 -8.91079708e-05 9.99930306e-01 3.48480324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99925415399997 meters Centerline goodness [0,1] 0.9989615784008308 Centerline is valid? [True, True] Translation: X:380.88, Y:5.94, Z:3.49 [[ 9.99699977e-01 -2.13427209e-02 -1.20184858e-02 3.80876488e+02] [ 2.13419085e-02 9.99772216e-01 -1.95863422e-04 5.93676323e+00] [ 1.20199284e-02 -6.06927642e-05 9.99927756e-01 3.48531322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.02925415399994 meters Centerline goodness [0,1] 0.9987486213625181 Centerline is valid? [True, True] Translation: X:380.91, Y:5.94, Z:3.49 [[ 9.99745453e-01 -1.91579273e-02 -1.19165083e-02 3.80906400e+02] [ 1.91569779e-02 9.99816469e-01 -1.93820086e-04 5.93868550e+00] [ 1.19180345e-02 -3.45135371e-05 9.99928977e-01 3.48518275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.059254154 meters Centerline goodness [0,1] 0.9990025043507789 Centerline is valid? [True, True] Translation: X:380.94, Y:5.94, Z:3.49 [[ 9.99796633e-01 -1.60862027e-02 -1.21624967e-02 3.80937141e+02] [ 1.60849885e-02 9.99870609e-01 -1.97649638e-04 5.94108508e+00] [ 1.21641024e-02 1.97582288e-06 9.99926015e-01 3.48541236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.08925415399995 meters Centerline goodness [0,1] 0.9989377974167233 Centerline is valid? [True, True] Translation: X:380.97, Y:5.94, Z:3.49 [[ 9.99811987e-01 -1.52897245e-02 -1.19253529e-02 3.80967286e+02] [ 1.52884994e-02 9.99883105e-01 -1.93887616e-04 5.94149043e+00] [ 1.19269234e-02 1.15304122e-05 9.99928872e-01 3.48573170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.119254154 meters Centerline goodness [0,1] 0.9990447482380912 Centerline is valid? [True, True] Translation: X:381.00, Y:5.94, Z:3.49 [[ 9.99817520e-01 -1.51373969e-02 -1.16527441e-02 3.80996282e+02] [ 1.51362117e-02 9.99885423e-01 -1.89905451e-04 5.94131550e+00] [ 1.16542837e-02 1.34923956e-05 9.99932086e-01 3.48626718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.14925415399995 meters Centerline goodness [0,1] 0.998661311914324 Centerline is valid? [True, True] Translation: X:381.03, Y:5.94, Z:3.49 [[ 9.99814042e-01 -1.53963349e-02 -1.16118298e-02 3.81026158e+02] [ 1.53951686e-02 9.99881469e-01 -1.89819145e-04 5.94075398e+00] [ 1.16133760e-02 1.10177687e-05 9.99932562e-01 3.48671336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.179254154 meters Centerline goodness [0,1] 0.998661311914324 Centerline is valid? [True, True] Translation: X:381.06, Y:5.94, Z:3.49 [[ 9.99813474e-01 -1.54331982e-02 -1.16118228e-02 3.81055306e+02] [ 1.54320295e-02 9.99880901e-01 -1.90247397e-04 5.94126007e+00] [ 1.16133760e-02 1.10179189e-05 9.99932562e-01 3.48698657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.20925415399995 meters Centerline goodness [0,1] 0.9991113368033515 Centerline is valid? [True, True] Translation: X:381.09, Y:5.94, Z:3.49 [[ 9.99763364e-01 -1.83014195e-02 -1.17589700e-02 3.81085020e+02] [ 1.83004147e-02 9.99832515e-01 -1.93051805e-04 5.93786735e+00] [ 1.17605336e-02 -2.21879047e-05 9.99930842e-01 3.48675888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.239254154 meters Centerline goodness [0,1] 0.9989211600702304 Centerline is valid? [True, True] Translation: X:381.12, Y:5.94, Z:3.49 [[ 9.99734389e-01 -1.98255479e-02 -1.17515622e-02 3.81115180e+02] [ 1.98246477e-02 9.99803454e-01 -1.93101429e-04 5.93602619e+00] [ 1.17530808e-02 -3.99204410e-05 9.99930929e-01 3.48684024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.26925415399995 meters Centerline goodness [0,1] 0.9988160175905958 Centerline is valid? [True, True] Translation: X:381.15, Y:5.93, Z:3.49 [[ 9.99662765e-01 -2.28086190e-02 -1.24146686e-02 3.81145857e+02] [ 2.28078443e-02 9.99739846e-01 -2.03997580e-04 5.93368164e+00] [ 1.24160918e-02 -7.92230443e-05 9.99922914e-01 3.48722632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2992541539999 meters Centerline goodness [0,1] 0.9989467475564543 Centerline is valid? [True, True] Translation: X:381.18, Y:5.93, Z:3.49 [[ 9.99531323e-01 -2.79219247e-02 -1.25499181e-02 3.81176936e+02] [ 2.79215375e-02 9.99610097e-01 -2.06103573e-04 5.92758222e+00] [ 1.25507797e-02 -1.44406032e-04 9.99921225e-01 3.48745282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.32925415399995 meters Centerline goodness [0,1] 0.9990099427030671 Centerline is valid? [True, True] Translation: X:381.21, Y:5.92, Z:3.49 [[ 9.99445835e-01 -3.08364038e-02 -1.25355436e-02 3.81208648e+02] [ 3.08362531e-02 9.99524429e-01 -2.05350484e-04 5.92455346e+00] [ 1.25359143e-02 -1.81312508e-04 9.99921406e-01 3.48778110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3592541539999 meters Centerline goodness [0,1] 0.9988845392936818 Centerline is valid? [True, True] Translation: X:381.24, Y:5.92, Z:3.49 [[ 9.99287011e-01 -3.57835043e-02 -1.20420024e-02 3.81240627e+02] [ 3.57837326e-02 9.99359538e-01 -1.96572804e-04 5.91841350e+00] [ 1.20413240e-02 -2.34475144e-04 9.99927473e-01 3.48836599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.38925415399996 meters Centerline goodness [0,1] 0.9986119581904982 Centerline is valid? [True, True] Translation: X:381.27, Y:5.92, Z:3.49 [[ 9.99159231e-01 -3.90929161e-02 -1.23521029e-02 3.81272495e+02] [ 3.90934214e-02 9.99235540e-01 -2.00637792e-04 5.91577826e+00] [ 1.23505037e-02 -2.82416862e-04 9.99923690e-01 3.48874769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41925415399993 meters Centerline goodness [0,1] 0.9988668317454988 Centerline is valid? [True, True] Translation: X:381.30, Y:5.91, Z:3.49 [[ 9.99047881e-01 -4.17717758e-02 -1.25876756e-02 3.81303651e+02] [ 4.17725270e-02 9.99127126e-01 -2.03352155e-04 5.91192108e+00] [ 1.25851825e-02 -3.22660477e-04 9.99920751e-01 3.48901826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.44925415399996 meters Centerline goodness [0,1] 0.9987837101035943 Centerline is valid? [True, True] Translation: X:381.33, Y:5.91, Z:3.49 [[ 9.98934401e-01 -4.44365487e-02 -1.24681785e-02 3.81334635e+02] [ 4.44375016e-02 9.99012146e-01 -2.00742197e-04 5.90742038e+00] [ 1.24647820e-02 -3.53526414e-04 9.99922249e-01 3.48899607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47925415399993 meters Centerline goodness [0,1] 0.9986584777915191 Centerline is valid? [True, True] Translation: X:381.37, Y:5.90, Z:3.49 [[ 9.98682244e-01 -4.98131521e-02 -1.23460296e-02 3.81365507e+02] [ 4.98145045e-02 9.98758467e-01 -1.98148623e-04 5.90019689e+00] [ 1.23405720e-02 -4.17123836e-04 9.99923765e-01 3.48858591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.50925415399996 meters Centerline goodness [0,1] 0.9986589556617216 Centerline is valid? [True, True] Translation: X:381.40, Y:5.90, Z:3.49 [[ 9.98604487e-01 -5.13765361e-02 -1.22282874e-02 3.81397666e+02] [ 5.13779871e-02 9.98679260e-01 -1.95666000e-04 5.89829288e+00] [ 1.22221896e-02 -4.32871843e-04 9.99925213e-01 3.48847689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53925415399993 meters Centerline goodness [0,1] 0.9985533984653444 Centerline is valid? [True, True] Translation: X:381.43, Y:5.89, Z:3.49 [[ 9.98337368e-01 -5.60877253e-02 -1.32915697e-02 3.81429183e+02] [ 5.60898681e-02 9.98425702e-01 -2.11805441e-04 5.89394603e+00] [ 1.32825245e-02 -5.34069104e-04 9.99911641e-01 3.48885040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56925415399996 meters Centerline goodness [0,1] 0.9984938498870387 Centerline is valid? [True, True] Translation: X:381.46, Y:5.89, Z:3.49 [[ 9.98249699e-01 -5.75564666e-02 -1.35938274e-02 3.81461100e+02] [ 5.75588529e-02 9.98342092e-01 -2.15960733e-04 5.89319330e+00] [ 1.35837200e-02 -5.66862374e-04 9.99907576e-01 3.48876144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59925415399994 meters Centerline goodness [0,1] 0.9986001128267274 Centerline is valid? [True, True] Translation: X:381.49, Y:5.89, Z:3.49 [[ 9.98177741e-01 -5.86974886e-02 -1.39929290e-02 3.81492725e+02] [ 5.87001425e-02 9.98275635e-01 -2.21332683e-04 5.89083579e+00] [ 1.39817918e-02 -6.00457569e-04 9.99902070e-01 3.48854496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62925415399997 meters Centerline goodness [0,1] 0.998534491782686 Centerline is valid? [True, True] Translation: X:381.52, Y:5.89, Z:3.49 [[ 9.98049621e-01 -6.06982815e-02 -1.45833028e-02 3.81524454e+02] [ 6.07013894e-02 9.98155944e-01 -2.29840461e-04 5.88907643e+00] [ 1.45703613e-02 -6.55834554e-04 9.99893632e-01 3.48780715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65925415399994 meters Centerline goodness [0,1] 0.998554822494502 Centerline is valid? [True, True] Translation: X:381.56, Y:5.89, Z:3.49 [[ 9.97953695e-01 -6.22806364e-02 -1.44756679e-02 3.81556970e+02] [ 6.22838777e-02 9.98058449e-01 -2.27244132e-04 5.88752278e+00] [ 1.44617156e-02 -6.74821608e-04 9.99895196e-01 3.48824107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68925415399997 meters Centerline goodness [0,1] 0.9985347985347985 Centerline is valid? [True, True] Translation: X:381.59, Y:5.88, Z:3.49 [[ 9.97793620e-01 -6.48812575e-02 -1.40824169e-02 3.81586756e+02] [ 6.48845989e-02 9.97892750e-01 -2.19961324e-04 5.88336164e+00] [ 1.40670131e-02 -6.94255965e-04 9.99900814e-01 3.48757081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71925415399994 meters Centerline goodness [0,1] 0.9986603872318158 Centerline is valid? [True, True] Translation: X:381.62, Y:5.88, Z:3.49 [[ 9.97621361e-01 -6.74932327e-02 -1.40101205e-02 3.81618104e+02] [ 6.74968111e-02 9.97719466e-01 -2.17805186e-04 5.88281412e+00] [ 1.39928703e-02 -7.28351350e-04 9.99901830e-01 3.48829526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74925415399997 meters Centerline goodness [0,1] 0.9984717802713113 Centerline is valid? [True, True] Translation: X:381.65, Y:5.88, Z:3.49 [[ 9.97488370e-01 -6.94044403e-02 -1.41412523e-02 3.81650342e+02] [ 6.94082875e-02 9.97588313e-01 -2.19139906e-04 5.88156866e+00] [ 1.41223573e-02 -7.62930599e-04 9.99899983e-01 3.48868472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77925415399994 meters Centerline goodness [0,1] 0.9983452378458767 Centerline is valid? [True, True] Translation: X:381.68, Y:5.88, Z:3.49 [[ 9.97348250e-01 -7.13449129e-02 -1.43656491e-02 3.81682243e+02] [ 7.13490980e-02 9.97451381e-01 -2.21630384e-04 5.88137178e+00] [ 1.43448487e-02 -8.03933430e-04 9.99896784e-01 3.48880506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.809254154 meters Centerline goodness [0,1] 0.998595976529757 Centerline is valid? [True, True] Translation: X:381.71, Y:5.88, Z:3.49 [[ 9.97094853e-01 -7.46022384e-02 -1.53739891e-02 3.81713311e+02] [ 7.46074280e-02 9.97212954e-01 -2.36511454e-04 5.87989548e+00] [ 1.53487854e-02 -9.11189431e-04 9.99881785e-01 3.48866016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.83925415399995 meters Centerline goodness [0,1] 0.9984710440883863 Centerline is valid? [True, True] Translation: X:381.74, Y:5.88, Z:3.49 [[ 9.96996046e-01 -7.58286318e-02 -1.57766280e-02 3.81744222e+02] [ 7.58342582e-02 9.97120407e-01 -2.42168609e-04 5.87815418e+00] [ 1.57495610e-02 -9.54967733e-04 9.99875512e-01 3.48826410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.869254154 meters Centerline goodness [0,1] 0.9982168705028425 Centerline is valid? [True, True] Translation: X:381.78, Y:5.88, Z:3.49 [[ 9.96885080e-01 -7.71463852e-02 -1.63882004e-02 3.81776088e+02] [ 7.71526490e-02 9.97019261e-01 -2.50618975e-04 5.87804810e+00] [ 1.63586857e-02 -1.01455475e-03 9.99865673e-01 3.48737835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.89925415399995 meters Centerline goodness [0,1] 0.998321936485296 Centerline is valid? [True, True] Translation: X:381.81, Y:5.88, Z:3.49 [[ 9.96776312e-01 -7.85151584e-02 -1.65031448e-02 3.81807787e+02] [ 7.85217127e-02 9.96912372e-01 -2.51447249e-04 5.87774387e+00] [ 1.64719317e-02 -1.04521853e-03 9.99863782e-01 3.48826318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.929254154 meters Centerline goodness [0,1] 0.9986369736621372 Centerline is valid? [True, True] Translation: X:381.84, Y:5.88, Z:3.49 [[ 9.96742047e-01 -7.89151843e-02 -1.66639157e-02 3.81838570e+02] [ 7.89219471e-02 9.96880766e-01 -2.52422010e-04 5.87537198e+00] [ 1.66318569e-02 -1.06354904e-03 9.99861115e-01 3.48804429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.95925415399995 meters Centerline goodness [0,1] 0.9986760255548084 Centerline is valid? [True, True] Translation: X:381.87, Y:5.88, Z:3.49 [[ 9.96670610e-01 -7.97237764e-02 -1.70825980e-02 3.81870805e+02] [ 7.97310326e-02 9.96816380e-01 -2.56943877e-04 5.87988291e+00] [ 1.70486981e-02 -1.10592477e-03 9.99854049e-01 3.48895314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.989254154 meters Centerline goodness [0,1] 0.9984273432585448 Centerline is valid? [True, True] Translation: X:381.90, Y:5.88, Z:3.49 [[ 9.96680953e-01 -7.96224866e-02 -1.69510060e-02 3.81903220e+02] [ 7.96296406e-02 9.96824486e-01 -2.53562379e-04 5.87932614e+00] [ 1.69173671e-02 -1.09708172e-03 9.99856289e-01 3.48916920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.01925415399995 meters Centerline goodness [0,1] 0.9983437807920501 Centerline is valid? [True, True] Translation: X:381.94, Y:5.88, Z:3.49 [[ 9.96692884e-01 -7.94376824e-02 -1.71157968e-02 3.81935965e+02] [ 7.94449790e-02 9.96839220e-01 -2.54277180e-04 5.88100193e+00] [ 1.70818967e-02 -1.10632786e-03 9.99853482e-01 3.48961002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0492541539999 meters Centerline goodness [0,1] 0.9982386244495701 Centerline is valid? [True, True] Translation: X:381.97, Y:5.88, Z:3.49 [[ 9.96749318e-01 -7.88628320e-02 -1.64757787e-02 3.81967233e+02] [ 7.88695474e-02 9.96884916e-01 -2.42789102e-04 5.88119576e+00] [ 1.64436023e-02 -1.05743734e-03 9.99864236e-01 3.49053137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07925415399995 meters Centerline goodness [0,1] 0.9984459331751265 Centerline is valid? [True, True] Translation: X:382.00, Y:5.88, Z:3.49 [[ 9.96815209e-01 -7.82146751e-02 -1.55532578e-02 3.81999010e+02] [ 7.82206065e-02 9.96936049e-01 -2.27539053e-04 5.88294497e+00] [ 1.55234003e-02 -9.89770872e-04 9.99879015e-01 3.49173246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1092541539999 meters Centerline goodness [0,1] 0.9985720285594288 Centerline is valid? [True, True] Translation: X:382.03, Y:5.89, Z:3.49 [[ 9.96911989e-01 -7.70865886e-02 -1.49714255e-02 3.82031467e+02] [ 7.70919736e-02 9.97023962e-01 -2.17965037e-04 5.88502767e+00] [ 1.49436722e-02 -9.36884783e-04 9.99887898e-01 3.49278348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13925415399996 meters Centerline goodness [0,1] 0.9984471723848495 Centerline is valid? [True, True] Translation: X:382.06, Y:5.89, Z:3.49 [[ 9.97129534e-01 -7.43294131e-02 -1.44163227e-02 3.82062363e+02] [ 7.43341296e-02 9.97233370e-01 -2.09139914e-04 5.88964589e+00] [ 1.43919833e-02 -8.63085215e-04 9.99896058e-01 3.49421510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16925415399993 meters Centerline goodness [0,1] 0.99848828420257 Centerline is valid? [True, True] Translation: X:382.09, Y:5.89, Z:3.50 [[ 9.97272259e-01 -7.24187999e-02 -1.42673820e-02 3.82093316e+02] [ 7.24232295e-02 9.97373969e-01 -2.06637471e-04 5.89199268e+00] [ 1.42448799e-02 -8.27216065e-04 9.99898194e-01 3.49504091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19925415399996 meters Centerline goodness [0,1] 0.998445084154567 Centerline is valid? [True, True] Translation: X:382.12, Y:5.89, Z:3.50 [[ 9.97421350e-01 -7.03394331e-02 -1.42483218e-02 3.82124905e+02] [ 7.03436478e-02 9.97522796e-01 -2.05766165e-04 5.89499116e+00] [ 1.42274993e-02 -7.97043365e-04 9.99898466e-01 3.49570357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22925415399993 meters Centerline goodness [0,1] 0.9985471237261012 Centerline is valid? [True, True] Translation: X:382.15, Y:5.90, Z:3.50 [[ 9.97716128e-01 -6.60084766e-02 -1.43321101e-02 3.82154942e+02] [ 6.60123025e-02 9.97818788e-01 -2.06476130e-04 5.90014950e+00] [ 1.43144779e-02 -7.40091024e-04 9.99897269e-01 3.49571113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25925415399996 meters Centerline goodness [0,1] 0.9986737679725491 Centerline is valid? [True, True] Translation: X:382.19, Y:5.91, Z:3.50 [[ 9.97868597e-01 -6.36016089e-02 -1.45979134e-02 3.82186339e+02] [ 6.36053239e-02 9.97975109e-01 -2.10113508e-04 5.90938851e+00] [ 1.45817178e-02 -7.18839338e-04 9.99893423e-01 3.49664871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28925415399993 meters Centerline goodness [0,1] 0.9987801800286027 Centerline is valid? [True, True] Translation: X:382.22, Y:5.91, Z:3.50 [[ 9.98023922e-01 -6.10263224e-02 -1.49679230e-02 3.82217314e+02] [ 6.10299477e-02 9.98135912e-01 -2.14873968e-04 5.90727477e+00] [ 1.49531344e-02 -6.99042196e-04 9.99887951e-01 3.49622772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31925415399996 meters Centerline goodness [0,1] 0.9987370813951041 Centerline is valid? [True, True] Translation: X:382.25, Y:5.92, Z:3.50 [[ 9.98313686e-01 -5.57918537e-02 -1.60328641e-02 3.82247526e+02] [ 5.57953453e-02 9.98442200e-01 -2.29791475e-04 5.91935933e+00] [ 1.60207086e-02 -6.65155217e-04 9.99871439e-01 3.49666803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34925415399994 meters Centerline goodness [0,1] 0.9985262537369994 Centerline is valid? [True, True] Translation: X:382.28, Y:5.92, Z:3.50 [[ 9.98451509e-01 -5.29519629e-02 -1.70491736e-02 3.82278602e+02] [ 5.29555029e-02 9.98596843e-01 -2.44070329e-04 5.92339015e+00] [ 1.70381750e-02 -6.59155176e-04 9.99854622e-01 3.49592191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37925415399997 meters Centerline goodness [0,1] 0.9986523194845122 Centerline is valid? [True, True] Translation: X:382.31, Y:5.93, Z:3.50 [[ 9.98554191e-01 -5.06233429e-02 -1.80777299e-02 3.82310264e+02] [ 5.06269603e-02 9.98717600e-01 -2.57780315e-04 5.92575012e+00] [ 1.80675967e-02 -6.57812901e-04 9.99836551e-01 3.49604935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40925415399994 meters Centerline goodness [0,1] 0.9988196113148686 Centerline is valid? [True, True] Translation: X:382.34, Y:5.93, Z:3.49 [[ 9.98801467e-01 -4.52096874e-02 -1.87540575e-02 3.82339931e+02] [ 4.52126407e-02 9.98977350e-01 -2.66707314e-04 5.92567345e+00] [ 1.87469364e-02 -5.81532806e-04 9.99824092e-01 3.49391643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43925415399997 meters Centerline goodness [0,1] 0.9987774030354132 Centerline is valid? [True, True] Translation: X:382.37, Y:5.94, Z:3.50 [[ 9.98883955e-01 -4.34733491e-02 -1.84638020e-02 3.82371038e+02] [ 4.34759216e-02 9.99054441e-01 -2.62240854e-04 5.93553106e+00] [ 1.84577439e-02 -5.40782628e-04 9.99829495e-01 3.49729331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46925415399994 meters Centerline goodness [0,1] 0.9989026063100137 Centerline is valid? [True, True] Translation: X:382.40, Y:5.93, Z:3.50 [[ 9.98978616e-01 -4.14485271e-02 -1.79928728e-02 3.82401457e+02] [ 4.14506508e-02 9.99140520e-01 -2.55053389e-04 5.93179404e+00] [ 1.79879799e-02 -4.91023408e-04 9.99838083e-01 3.49619476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49925415399997 meters Centerline goodness [0,1] 0.9988823988360078 Centerline is valid? [True, True] Translation: X:382.43, Y:5.94, Z:3.50 [[ 9.99124245e-01 -3.84073077e-02 -1.66018464e-02 3.82433014e+02] [ 3.84087052e-02 9.99262086e-01 -2.34783764e-04 5.94118184e+00] [ 1.65986130e-02 -4.03077271e-04 9.99862152e-01 3.49904474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.52925415399994 meters Centerline goodness [0,1] 0.9987121020184107 Centerline is valid? [True, True] Translation: X:382.47, Y:5.94, Z:3.50 [[ 9.99169455e-01 -3.74371415e-02 -1.60891234e-02 3.82465270e+02] [ 3.74383441e-02 9.99298914e-01 -2.26545693e-04 5.94395579e+00] [ 1.60863248e-02 -3.75992603e-04 9.99870536e-01 3.49988962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.559254154 meters Centerline goodness [0,1] 0.9987949514809412 Centerline is valid? [True, True] Translation: X:382.50, Y:5.95, Z:3.50 [[ 9.99208701e-01 -3.66202709e-02 -1.55218142e-02 3.82496584e+02] [ 3.66213073e-02 9.99329191e-01 -2.17554382e-04 5.94541372e+00] [ 1.55193690e-02 -3.51046897e-04 9.99879506e-01 3.50076201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.58925415399995 meters Centerline goodness [0,1] 0.9987941101802488 Centerline is valid? [True, True] Translation: X:382.53, Y:5.95, Z:3.50 [[ 9.99206841e-01 -3.68177394e-02 -1.51704598e-02 3.82528467e+02] [ 3.68187661e-02 9.99321937e-01 -2.11708473e-04 5.94654954e+00] [ 1.51679679e-02 -3.47017058e-04 9.99884900e-01 3.50146499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.619254154 meters Centerline goodness [0,1] 0.9989636209813875 Centerline is valid? [True, True] Translation: X:382.56, Y:5.95, Z:3.50 [[ 9.99151741e-01 -3.83285021e-02 -1.50573776e-02 3.82560141e+02] [ 3.83296997e-02 9.99265125e-01 -2.09150967e-04 5.94665502e+00] [ 1.50543288e-02 -3.68171208e-04 9.99886609e-01 3.50176968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.64925415399995 meters Centerline goodness [0,1] 0.9986047101602469 Centerline is valid? [True, True] Translation: X:382.59, Y:5.95, Z:3.50 [[ 9.99112280e-01 -3.91402808e-02 -1.55785489e-02 3.82591712e+02] [ 3.91416747e-02 9.99233648e-01 -2.15532717e-04 5.94546835e+00] [ 1.55750462e-02 -3.94429108e-04 9.99878624e-01 3.49985407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.679254154 meters Centerline goodness [0,1] 0.9986706617150574 Centerline is valid? [True, True] Translation: X:382.62, Y:5.95, Z:3.50 [[ 9.99007911e-01 -4.18635546e-02 -1.51867189e-02 3.82623837e+02] [ 4.18652075e-02 9.99123246e-01 -2.09202766e-04 5.94558936e+00] [ 1.51821619e-02 -4.26799922e-04 9.99884653e-01 3.50191786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.70925415399995 meters Centerline goodness [0,1] 0.9987544333727411 Centerline is valid? [True, True] Translation: X:382.66, Y:5.95, Z:3.50 [[ 9.98913162e-01 -4.38551244e-02 -1.57868026e-02 3.82656086e+02] [ 4.38571775e-02 9.99037788e-01 -2.16299394e-04 5.94530916e+00] [ 1.57810981e-02 -4.76300290e-04 9.99875357e-01 3.50207486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.739254154 meters Centerline goodness [0,1] 0.9986702969670107 Centerline is valid? [True, True] Translation: X:382.69, Y:5.94, Z:3.50 [[ 9.98782506e-01 -4.65729632e-02 -1.62623954e-02 3.82686777e+02] [ 4.65755172e-02 9.98914747e-01 -2.21860198e-04 5.94221534e+00] [ 1.62550793e-02 -5.35839394e-04 9.99867734e-01 3.50183307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.76925415399995 meters Centerline goodness [0,1] 0.9986691734088172 Centerline is valid? [True, True] Translation: X:382.72, Y:5.94, Z:3.50 [[ 9.98525683e-01 -5.12985531e-02 -1.77459265e-02 3.82716608e+02] [ 5.13023567e-02 9.98683138e-01 -2.41136402e-04 5.93790549e+00] [ 1.77349275e-02 -6.69626962e-04 9.99842500e-01 3.50042615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7992541539999 meters Centerline goodness [0,1] 0.9984579636670892 Centerline is valid? [True, True] Translation: X:382.75, Y:5.94, Z:3.50 [[ 9.98408586e-01 -5.33020954e-02 -1.84169191e-02 3.82748833e+02] [ 5.33065566e-02 9.98578164e-01 -2.48941306e-04 5.93592625e+00] [ 1.84040024e-02 -7.33197405e-04 9.99830363e-01 3.49923653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.82925415399995 meters Centerline goodness [0,1] 0.9986919831223628 Centerline is valid? [True, True] Translation: X:382.78, Y:5.94, Z:3.50 [[ 9.98258986e-01 -5.60535341e-02 -1.83575032e-02 3.82780388e+02] [ 5.60584515e-02 9.98427458e-01 -2.47015462e-04 5.93719562e+00] [ 1.83424813e-02 -7.82507798e-04 9.99831456e-01 3.50110715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8592541539999 meters Centerline goodness [0,1] 0.9987745615888443 Centerline is valid? [True, True] Translation: X:382.81, Y:5.94, Z:3.50 [[ 9.98092352e-01 -5.89015227e-02 -1.85004551e-02 3.82811707e+02] [ 5.89070208e-02 9.98263443e-01 -2.48098495e-04 5.94022386e+00] [ 1.84829414e-02 -8.42181486e-04 9.99828821e-01 3.50255791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.88925415399996 meters Centerline goodness [0,1] 0.9988602785985647 Centerline is valid? [True, True] Translation: X:382.84, Y:5.94, Z:3.50 [[ 9.98055991e-01 -5.95493990e-02 -1.83877216e-02 3.82843814e+02] [ 5.95549587e-02 9.98224998e-01 -2.45562704e-04 5.94063498e+00] [ 1.83697064e-02 -8.49994672e-04 9.99830901e-01 3.50326125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91925415399993 meters Centerline goodness [0,1] 0.9986911271084464 Centerline is valid? [True, True] Translation: X:382.88, Y:5.94, Z:3.50 [[ 9.98038773e-01 -5.99134392e-02 -1.81379985e-02 3.82876050e+02] [ 5.99189334e-02 9.98203217e-01 -2.40880356e-04 5.94048634e+00] [ 1.81198404e-02 -8.46401586e-04 9.99835464e-01 3.50390083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.94925415399996 meters Centerline goodness [0,1] 0.9985637646263676 Centerline is valid? [True, True] Translation: X:382.91, Y:5.94, Z:3.50 [[ 9.98057615e-01 -5.98850308e-02 -1.71691404e-02 3.82907443e+02] [ 5.98899680e-02 9.98204959e-01 -2.26919242e-04 5.93720126e+00] [ 1.71519101e-02 -8.01780791e-04 9.99852574e-01 3.50413363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97925415399993 meters Centerline goodness [0,1] 0.9987306691489136 Centerline is valid? [True, True] Translation: X:382.94, Y:5.94, Z:3.51 [[ 9.98059372e-01 -5.97745023e-02 -1.74499026e-02 3.82939609e+02] [ 5.97796053e-02 9.98211574e-01 -2.29499305e-04 5.94224931e+00] [ 1.74324129e-02 -8.14094357e-04 9.99847713e-01 3.50508926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.00925415399996 meters Centerline goodness [0,1] 0.998414644457597 Centerline is valid? [True, True] Translation: X:382.97, Y:5.94, Z:3.51 [[ 9.98067106e-01 -5.94698319e-02 -1.80385893e-02 3.82970651e+02] [ 5.94752571e-02 9.98229752e-01 -2.36038405e-04 5.94105794e+00] [ 1.80206937e-02 -8.37267570e-04 9.99837264e-01 3.50507297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03925415399993 meters Centerline goodness [0,1] 0.9987318227933717 Centerline is valid? [True, True] Translation: X:383.00, Y:5.94, Z:3.51 [[ 9.98056293e-01 -5.95290683e-02 -1.84370567e-02 3.83003153e+02] [ 5.95347681e-02 9.98226204e-01 -2.40050490e-04 5.94349286e+00] [ 1.84186431e-02 -8.58061995e-04 9.99829994e-01 3.50582681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06925415399996 meters Centerline goodness [0,1] 0.9987318227933717 Centerline is valid? [True, True] Translation: X:383.03, Y:5.94, Z:3.51 [[ 9.98060684e-01 -5.94554113e-02 -1.84370744e-02 3.83034877e+02] [ 5.94611237e-02 9.98230594e-01 -2.38689464e-04 5.94384455e+00] [ 1.84186431e-02 -8.58062592e-04 9.99829994e-01 3.50612383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09925415399994 meters Centerline goodness [0,1] 0.9987303468269251 Centerline is valid? [True, True] Translation: X:383.07, Y:5.94, Z:3.51 [[ 9.98007020e-01 -5.99573445e-02 -1.96749847e-02 3.83065719e+02] [ 5.99639730e-02 9.98200510e-01 -2.53411126e-04 5.94343680e+00] [ 1.96547736e-02 -9.26884170e-04 9.99806397e-01 3.50554938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12925415399997 meters Centerline goodness [0,1] 0.9984988159675237 Centerline is valid? [True, True] Translation: X:383.10, Y:5.94, Z:3.50 [[ 9.97975728e-01 -5.98896628e-02 -2.13933113e-02 3.83096731e+02] [ 5.98975256e-02 9.98204494e-01 -2.73626536e-04 5.94251079e+00] [ 2.13712869e-02 -1.00833377e-03 9.99771099e-01 3.50370662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15925415399994 meters Centerline goodness [0,1] 0.9986459898026107 Centerline is valid? [True, True] Translation: X:383.13, Y:5.94, Z:3.51 [[ 9.97906047e-01 -6.10738887e-02 -2.12955960e-02 3.83128992e+02] [ 6.10819894e-02 9.98132715e-01 -2.70468572e-04 5.94252399e+00] [ 2.12723497e-02 -1.03087515e-03 9.99773186e-01 3.50503441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18925415399997 meters Centerline goodness [0,1] 0.9988162928829609 Centerline is valid? [True, True] Translation: X:383.16, Y:5.94, Z:3.50 [[ 9.97877867e-01 -6.10582182e-02 -2.26198295e-02 3.83160058e+02] [ 6.10673863e-02 9.98133605e-01 -2.85863808e-04 5.94246632e+00] [ 2.25950663e-02 -1.09607670e-03 9.99744098e-01 3.50488554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21925415399994 meters Centerline goodness [0,1] 0.9986664126500285 Centerline is valid? [True, True] Translation: X:383.19, Y:5.94, Z:3.50 [[ 9.97911073e-01 -6.02336644e-02 -2.33537341e-02 3.83192200e+02] [ 6.02432472e-02 9.98183683e-01 -2.93635443e-04 5.94358803e+00] [ 2.33290031e-02 -1.11388272e-03 9.99727221e-01 3.50457617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24925415399997 meters Centerline goodness [0,1] 0.9988349679086614 Centerline is valid? [True, True] Translation: X:383.22, Y:5.95, Z:3.51 [[ 9.97976012e-01 -5.92091517e-02 -2.31981781e-02 3.83224134e+02] [ 5.92183694e-02 9.98245010e-01 -2.90025890e-04 5.94751940e+00] [ 2.31746377e-02 -1.08431940e-03 9.99730844e-01 3.50610111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27925415399994 meters Centerline goodness [0,1] 0.9987291366601712 Centerline is valid? [True, True] Translation: X:383.26, Y:5.95, Z:3.51 [[ 9.98094582e-01 -5.70335842e-02 -2.35452045e-02 3.83255270e+02] [ 5.70425040e-02 9.98371708e-01 -2.93169793e-04 5.94960504e+00] [ 2.35235866e-02 -1.05046624e-03 9.99722730e-01 3.50628992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.309254154 meters Centerline goodness [0,1] 0.9988547189819724 Centerline is valid? [True, True] Translation: X:383.29, Y:5.96, Z:3.51 [[ 9.98365265e-01 -5.22903193e-02 -2.30764110e-02 3.83285465e+02] [ 5.22976299e-02 9.98631501e-01 -2.87003236e-04 5.95799643e+00] [ 2.30598384e-02 -9.20307538e-04 9.99733663e-01 3.50829199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.33925415399995 meters Centerline goodness [0,1] 0.9989167374681394 Centerline is valid? [True, True] Translation: X:383.32, Y:5.96, Z:3.51 [[ 9.98549597e-01 -4.85384789e-02 -2.32962989e-02 3.83316516e+02] [ 4.85449219e-02 9.98820958e-01 -2.89223192e-04 5.96173996e+00] [ 2.32828700e-02 -8.42113307e-04 9.99728563e-01 3.50788955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.369254154 meters Centerline goodness [0,1] 0.9989390820938275 Centerline is valid? [True, True] Translation: X:383.35, Y:5.97, Z:3.51 [[ 9.98851726e-01 -4.26185324e-02 -2.18835638e-02 3.83346293e+02] [ 4.26228050e-02 9.99091198e-01 -2.71358963e-04 5.96804264e+00] [ 2.18752409e-02 -6.61691506e-04 9.99760489e-01 3.50991175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.39925415399995 meters Centerline goodness [0,1] 0.9988743283138287 Centerline is valid? [True, True] Translation: X:383.38, Y:5.97, Z:3.51 [[ 9.99032920e-01 -3.84557476e-02 -2.13162181e-02 3.83377401e+02] [ 3.84588591e-02 9.99260150e-01 -2.64109235e-04 5.97195780e+00] [ 2.13106038e-02 -5.55943609e-04 9.99772749e-01 3.51039911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.429254154 meters Centerline goodness [0,1] 0.9989588866461276 Centerline is valid? [True, True] Translation: X:383.41, Y:5.98, Z:3.51 [[ 9.99168456e-01 -3.52068282e-02 -2.05639527e-02 3.83408876e+02] [ 3.52090477e-02 9.99379937e-01 -2.54224899e-04 5.97583335e+00] [ 2.05601522e-02 -4.70023693e-04 9.99788507e-01 3.51182133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.45925415399995 meters Centerline goodness [0,1] 0.9990609527061636 Centerline is valid? [True, True] Translation: X:383.44, Y:5.98, Z:3.51 [[ 9.99420520e-01 -2.78359717e-02 -1.95904021e-02 3.83439479e+02] [ 2.78365774e-02 9.99612458e-01 -2.41826080e-04 5.98423876e+00] [ 1.95895415e-02 -3.03643799e-04 9.99808060e-01 3.51405905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.489254154 meters Centerline goodness [0,1] 0.9992103297406894 Centerline is valid? [True, True] Translation: X:383.47, Y:5.99, Z:3.51 [[ 9.99598734e-01 -2.11953686e-02 -1.87916787e-02 3.83468961e+02] [ 2.11947500e-02 9.99775339e-01 -2.32099674e-04 5.98990606e+00] [ 1.87923764e-02 -1.66278392e-04 9.99823394e-01 3.51484358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.51925415399995 meters Centerline goodness [0,1] 0.9991014889611501 Centerline is valid? [True, True] Translation: X:383.50, Y:5.99, Z:3.51 [[ 9.99646416e-01 -1.89289000e-02 -1.86745713e-02 3.83497753e+02] [ 1.89278459e-02 9.99820825e-01 -2.33208688e-04 5.99206781e+00] [ 1.86756396e-02 -1.20343178e-04 9.99825588e-01 3.51497444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5492541539999 meters Centerline goodness [0,1] 0.9991003534325801 Centerline is valid? [True, True] Translation: X:383.53, Y:5.99, Z:3.51 [[ 9.99667177e-01 -1.73451332e-02 -1.90966396e-02 3.83525885e+02] [ 1.73436410e-02 9.99849558e-01 -2.43766955e-04 5.99335861e+00] [ 1.90979948e-02 -8.75194387e-05 9.99817613e-01 3.51427372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57925415399995 meters Centerline goodness [0,1] 0.9992714962182083 Centerline is valid? [True, True] Translation: X:383.55, Y:5.99, Z:3.51 [[ 9.99674709e-01 -1.70265716e-02 -1.89887345e-02 3.83553147e+02] [ 1.70249508e-02 9.99855035e-01 -2.47024054e-04 5.99420803e+00] [ 1.89901878e-02 -7.63385703e-05 9.99819667e-01 3.51429645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6092541539999 meters Centerline goodness [0,1] 0.999058158700259 Centerline is valid? [True, True] Translation: X:383.58, Y:5.99, Z:3.51 [[ 9.99633168e-01 -1.84790800e-02 -1.98003248e-02 3.83581740e+02] [ 1.84775110e-02 9.99829242e-01 -2.62200761e-04 5.99322033e+00] [ 1.98017889e-02 -1.03756142e-04 9.99803920e-01 3.51372318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63925415399996 meters Centerline goodness [0,1] 0.9989952541793151 Centerline is valid? [True, True] Translation: X:383.61, Y:5.99, Z:3.51 [[ 9.99590372e-01 -2.02743242e-02 -2.02000045e-02 3.83610260e+02] [ 2.02729524e-02 9.99794445e-01 -2.72706025e-04 5.99213196e+00] [ 2.02013813e-02 -1.36919413e-04 9.99795922e-01 3.51338229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66925415399993 meters Centerline goodness [0,1] 0.999016946979249 Centerline is valid? [True, True] Translation: X:383.64, Y:5.99, Z:3.51 [[ 9.99530280e-01 -2.29990537e-02 -2.02549273e-02 3.83639091e+02] [ 2.29981286e-02 9.99735469e-01 -2.78639068e-04 5.99076747e+00] [ 2.02559776e-02 -1.87317235e-04 9.99794809e-01 3.51321212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69925415399996 meters Centerline goodness [0,1] 0.9992102791769828 Centerline is valid? [True, True] Translation: X:383.67, Y:5.99, Z:3.51 [[ 9.99370806e-01 -2.87532930e-02 -2.07663055e-02 3.83667620e+02] [ 2.87534505e-02 9.99586492e-01 -2.91060744e-04 5.98674013e+00] [ 2.07660874e-02 -3.06225328e-04 9.99784315e-01 3.51294580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72925415399993 meters Centerline goodness [0,1] 0.9989535504538174 Centerline is valid? [True, True] Translation: X:383.70, Y:5.98, Z:3.51 [[ 9.99275812e-01 -3.15960878e-02 -2.12023366e-02 3.83696699e+02] [ 3.15968259e-02 9.99500651e-01 -3.00273143e-04 5.98364916e+00] [ 2.12012367e-02 -3.69870849e-04 9.99775160e-01 3.51184625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75925415399996 meters Centerline goodness [0,1] 0.9988697432397851 Centerline is valid? [True, True] Translation: X:383.73, Y:5.98, Z:3.51 [[ 9.99174145e-01 -3.49908331e-02 -2.06559597e-02 3.83726073e+02] [ 3.49922400e-02 9.99387541e-01 -2.93434901e-04 5.98144382e+00] [ 2.06535763e-02 -4.29605732e-04 9.99786600e-01 3.51247164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78925415399993 meters Centerline goodness [0,1] 0.9989110940302331 Centerline is valid? [True, True] Translation: X:383.76, Y:5.98, Z:3.51 [[ 9.99075628e-01 -3.77859741e-02 -2.04965758e-02 3.83757568e+02] [ 3.77879486e-02 9.99285738e-01 -2.91097194e-04 5.98028774e+00] [ 2.04929353e-02 -4.83695441e-04 9.99789881e-01 3.51340737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81925415399996 meters Centerline goodness [0,1] 0.9989120696275439 Centerline is valid? [True, True] Translation: X:383.79, Y:5.98, Z:3.51 [[ 9.98869512e-01 -4.32488739e-02 -1.97289640e-02 3.83788902e+02] [ 4.32517818e-02 9.99064165e-01 -2.79483882e-04 5.97700714e+00] [ 1.97225883e-02 -5.74144916e-04 9.99805326e-01 3.51434564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84925415399994 meters Centerline goodness [0,1] 0.9988501096654671 Centerline is valid? [True, True] Translation: X:383.82, Y:5.97, Z:3.51 [[ 9.98774387e-01 -4.56667220e-02 -1.90859741e-02 3.83821185e+02] [ 4.56699044e-02 9.98956549e-01 -2.69321120e-04 5.97486086e+00] [ 1.90783578e-02 -6.02663574e-04 9.99817810e-01 3.51443125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87925415399997 meters Centerline goodness [0,1] 0.9990212974192039 Centerline is valid? [True, True] Translation: X:383.85, Y:5.97, Z:3.52 [[ 9.98673285e-01 -4.79208628e-02 -1.88483756e-02 3.83853461e+02] [ 4.79243936e-02 9.98850931e-01 -2.64579393e-04 5.97356044e+00] [ 1.88393964e-02 -6.39068601e-04 9.99822319e-01 3.51512330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90925415399994 meters Centerline goodness [0,1] 0.9991941982272361 Centerline is valid? [True, True] Translation: X:383.88, Y:5.97, Z:3.52 [[ 9.98481184e-01 -5.19692789e-02 -1.82898787e-02 3.83883749e+02] [ 5.19732969e-02 9.98648442e-01 -2.55899456e-04 5.96757175e+00] [ 1.82784577e-02 -6.95074502e-04 9.99832693e-01 3.51504215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93925415399997 meters Centerline goodness [0,1] 0.9990651028386878 Centerline is valid? [True, True] Translation: X:383.92, Y:5.97, Z:3.52 [[ 9.98393787e-01 -5.38112253e-02 -1.77256087e-02 3.83916324e+02] [ 5.38153025e-02 9.98550876e-01 -2.47240646e-04 5.96631159e+00] [ 1.77132264e-02 -7.07065469e-04 9.99842858e-01 3.51527958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96925415399994 meters Centerline goodness [0,1] 0.9988952154329905 Centerline is valid? [True, True] Translation: X:383.95, Y:5.97, Z:3.52 [[ 9.98322746e-01 -5.54190565e-02 -1.67458154e-02 3.83948427e+02] [ 5.54229408e-02 9.98462941e-01 -2.32396882e-04 5.96777066e+00] [ 1.67329553e-02 -6.96095242e-04 9.99859752e-01 3.51624033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99925415399997 meters Centerline goodness [0,1] 0.9987889861477012 Centerline is valid? [True, True] Translation: X:383.98, Y:5.97, Z:3.52 [[ 9.98110056e-01 -5.91407243e-02 -1.66940514e-02 3.83980011e+02] [ 5.91451201e-02 9.98249368e-01 -2.30714864e-04 5.96700008e+00] [ 1.66784709e-02 -7.57092848e-04 9.99860618e-01 3.51662225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.02925415399994 meters Centerline goodness [0,1] 0.9992137028221694 Centerline is valid? [True, True] Translation: X:384.01, Y:5.97, Z:3.52 [[ 9.97982710e-01 -6.12345850e-02 -1.67581806e-02 3.84012071e+02] [ 6.12393242e-02 9.98123085e-01 -2.30700759e-04 5.96564075e+00] [ 1.67408538e-02 -7.96024289e-04 9.99859545e-01 3.51691628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.059254154 meters Centerline goodness [0,1] 0.9988523579792999 Centerline is valid? [True, True] Translation: X:384.04, Y:5.96, Z:3.52 [[ 9.97693287e-01 -6.58612372e-02 -1.64438967e-02 3.84043604e+02] [ 6.58664425e-02 9.97828423e-01 -2.25428412e-04 5.96351712e+00] [ 1.64230345e-02 -8.58192564e-04 9.99864765e-01 3.51636008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.08925415399995 meters Centerline goodness [0,1] 0.9988104847274736 Centerline is valid? [True, True] Translation: X:384.07, Y:5.96, Z:3.52 [[ 9.97528680e-01 -6.83090838e-02 -1.64439197e-02 3.84073864e+02] [ 6.83146285e-02 9.97663802e-01 -2.24950270e-04 5.96166275e+00] [ 1.64208696e-02 -8.98965922e-04 9.99864764e-01 3.51631080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.119254154 meters Centerline goodness [0,1] 0.9986624771771899 Centerline is valid? [True, True] Translation: X:384.10, Y:5.96, Z:3.52 [[ 9.97365705e-01 -7.06401826e-02 -1.64807290e-02 3.84104977e+02] [ 7.06460744e-02 9.97501419e-01 -2.25147745e-04 5.96113521e+00] [ 1.64554551e-02 -9.39744171e-04 9.99864158e-01 3.51622672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.14925415399995 meters Centerline goodness [0,1] 0.9988963877923511 Centerline is valid? [True, True] Translation: X:384.14, Y:5.96, Z:3.52 [[ 9.97073133e-01 -7.44591019e-02 -1.73496105e-02 3.84136279e+02] [ 7.44662131e-02 9.97223509e-01 -2.36687296e-04 5.96015979e+00] [ 1.73190629e-02 -1.05596525e-03 9.99849456e-01 3.51588757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.179254154 meters Centerline goodness [0,1] 0.9988547918478146 Centerline is valid? [True, True] Translation: X:384.17, Y:5.96, Z:3.52 [[ 9.96957402e-01 -7.59135506e-02 -1.76938346e-02 3.84168313e+02] [ 7.59211891e-02 9.97113792e-01 -2.40586930e-04 5.95962814e+00] [ 1.76610303e-02 -1.10348204e-03 9.99843423e-01 3.51542730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.20925415399995 meters Centerline goodness [0,1] 0.9987884455969562 Centerline is valid? [True, True] Translation: X:384.20, Y:5.96, Z:3.51 [[ 9.96928016e-01 -7.60130661e-02 -1.88824068e-02 3.84200706e+02] [ 7.60218110e-02 9.97106122e-01 -2.55286734e-04 5.96107329e+00] [ 1.88471685e-02 -1.18097226e-03 9.99821679e-01 3.51336135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.239254154 meters Centerline goodness [0,1] 0.9988759517295498 Centerline is valid? [True, True] Translation: X:384.23, Y:5.96, Z:3.51 [[ 9.96842065e-01 -7.67440454e-02 -2.04021662e-02 3.84232337e+02] [ 7.67544358e-02 9.97049989e-01 -2.74452678e-04 5.95615920e+00] [ 2.03630422e-02 -1.29237078e-03 9.99791816e-01 3.51272952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.26925415399995 meters Centerline goodness [0,1] 0.9987678973531037 Centerline is valid? [True, True] Translation: X:384.26, Y:5.96, Z:3.51 [[ 9.96872552e-01 -7.61451011e-02 -2.11433100e-02 3.84264187e+02] [ 7.61561553e-02 9.97095863e-01 -2.83042034e-04 5.95884049e+00] [ 2.11034592e-02 -1.32803637e-03 9.99776415e-01 3.51266889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2992541539999 meters Centerline goodness [0,1] 0.9990219425072291 Centerline is valid? [True, True] Translation: X:384.30, Y:5.97, Z:3.51 [[ 9.96968153e-01 -7.46531172e-02 -2.19411550e-02 3.84296248e+02] [ 7.46646973e-02 9.97208653e-01 -2.92104015e-04 5.96600337e+00] [ 2.19017161e-02 -1.34701130e-03 9.99759221e-01 3.51267165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.32925415399995 meters Centerline goodness [0,1] 0.9989778099578347 Centerline is valid? [True, True] Translation: X:384.33, Y:5.97, Z:3.51 [[ 9.97216781e-01 -7.13029491e-02 -2.17848883e-02 3.84326164e+02] [ 7.13135831e-02 9.97453903e-01 -2.89336947e-04 5.97045654e+00] [ 2.17500525e-02 -1.26502678e-03 9.99762639e-01 3.51391953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3592541539999 meters Centerline goodness [0,1] 0.9989764367203327 Centerline is valid? [True, True] Translation: X:384.36, Y:5.98, Z:3.52 [[ 9.97391078e-01 -6.89161873e-02 -2.14847935e-02 3.84357996e+02] [ 6.89259981e-02 9.97621735e-01 -2.84424808e-04 5.97523744e+00] [ 2.14532985e-02 -1.19717807e-03 9.99769135e-01 3.51518675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.38925415399996 meters Centerline goodness [0,1] 0.9988065554205826 Centerline is valid? [True, True] Translation: X:384.39, Y:5.98, Z:3.51 [[ 9.97594869e-01 -6.57172448e-02 -2.20390875e-02 3.84388932e+02] [ 6.57268162e-02 9.97837613e-01 -2.90579188e-04 5.97732161e+00] [ 2.20105265e-02 -1.15867875e-03 9.99757068e-01 3.51407992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41925415399993 meters Centerline goodness [0,1] 0.9991036749327756 Centerline is valid? [True, True] Translation: X:384.42, Y:5.99, Z:3.52 [[ 9.97958353e-01 -6.06459957e-02 -2.00296967e-02 3.84419698e+02] [ 6.06528884e-02 9.98158884e-01 -2.63749710e-04 5.98732812e+00] [ 2.00088151e-02 -9.51647734e-04 9.99799351e-01 3.51858365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.44925415399996 meters Centerline goodness [0,1] 0.9992097394275951 Centerline is valid? [True, True] Translation: X:384.45, Y:5.99, Z:3.52 [[ 9.98142150e-01 -5.75612860e-02 -1.99736444e-02 3.84450328e+02] [ 5.75675320e-02 9.98341580e-01 -2.62599092e-04 5.99106198e+00] [ 1.99556353e-02 -8.87722191e-04 9.99800472e-01 3.51958719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47925415399993 meters Centerline goodness [0,1] 0.9990811180442772 Centerline is valid? [True, True] Translation: X:384.48, Y:5.99, Z:3.52 [[ 9.98340866e-01 -5.42512035e-02 -1.92956386e-02 3.84481881e+02] [ 5.42564318e-02 9.98527003e-01 -2.52829291e-04 5.99486668e+00] [ 1.92809325e-02 -7.94502689e-04 9.99813790e-01 3.52064245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.50925415399996 meters Centerline goodness [0,1] 0.999036794451936 Centerline is valid? [True, True] Translation: X:384.51, Y:6.00, Z:3.52 [[ 9.98684444e-01 -4.77403690e-02 -1.87146377e-02 3.84512441e+02] [ 4.77441557e-02 9.98859568e-01 -2.44657260e-04 6.00272377e+00] [ 1.87049750e-02 -6.49179177e-04 9.99824836e-01 3.52145873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53925415399993 meters Centerline goodness [0,1] 0.9990991184230282 Centerline is valid? [True, True] Translation: X:384.54, Y:6.01, Z:3.52 [[ 9.98832658e-01 -4.45238885e-02 -1.87335200e-02 3.84543662e+02] [ 4.45271256e-02 9.99008146e-01 -2.44483398e-04 6.00827913e+00] [ 1.87258244e-02 -5.89951797e-04 9.99824482e-01 3.52224611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56925415399996 meters Centerline goodness [0,1] 0.9993979400950395 Centerline is valid? [True, True] Translation: X:384.58, Y:6.01, Z:3.52 [[ 9.99032001e-01 -3.97470701e-02 -1.88475918e-02 3.84575308e+02] [ 3.97495138e-02 9.99209646e-01 -2.45102341e-04 6.01480517e+00] [ 1.88424376e-02 -5.04317527e-04 9.99822338e-01 3.52385025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59925415399994 meters Centerline goodness [0,1] 0.9995051209226268 Centerline is valid? [True, True] Translation: X:384.61, Y:6.02, Z:3.52 [[ 9.99119262e-01 -3.73618900e-02 -1.90994578e-02 3.84606748e+02] [ 3.73639840e-02 9.99301692e-01 -2.47324460e-04 6.01728323e+00] [ 1.90953610e-02 -4.66525202e-04 9.99817558e-01 3.52388765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62925415399997 meters Centerline goodness [0,1] 0.9994175134295515 Centerline is valid? [True, True] Translation: X:384.64, Y:6.02, Z:3.52 [[ 9.99196999e-01 -3.51059653e-02 -1.93113434e-02 3.84638440e+02] [ 3.51077018e-02 9.99383504e-01 -2.49195071e-04 6.01969791e+00] [ 1.93081862e-02 -4.28981918e-04 9.99813488e-01 3.52387553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65925415399994 meters Centerline goodness [0,1] 0.9993310459420384 Centerline is valid? [True, True] Translation: X:384.67, Y:6.02, Z:3.52 [[ 9.99337309e-01 -3.04962837e-02 -1.98726061e-02 3.84668849e+02] [ 3.04972222e-02 9.99534819e-01 -2.55905382e-04 6.02388209e+00] [ 1.98711659e-02 -3.50323489e-04 9.99802488e-01 3.52337512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68925415399997 meters Centerline goodness [0,1] 0.9996337233102794 Centerline is valid? [True, True] Translation: X:384.70, Y:6.03, Z:3.52 [[ 9.99401479e-01 -2.80443339e-02 -2.02533526e-02 3.84699794e+02] [ 2.80448127e-02 9.99606633e-01 -2.60445587e-04 6.02622501e+00] [ 2.02526896e-02 -3.07711774e-04 9.99794846e-01 3.52347918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71925415399994 meters Centerline goodness [0,1] 0.9994376432928148 Centerline is valid? [True, True] Translation: X:384.73, Y:6.03, Z:3.52 [[ 9.99455923e-01 -2.55583805e-02 -2.08477015e-02 3.84729947e+02] [ 2.55583465e-02 9.99673296e-01 -2.68120122e-04 6.02805764e+00] [ 2.08477431e-02 -2.64858533e-04 9.99782627e-01 3.52292263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74925415399997 meters Centerline goodness [0,1] 0.9994372903365437 Centerline is valid? [True, True] Translation: X:384.76, Y:6.03, Z:3.52 [[ 9.99512836e-01 -2.32359071e-02 -2.08370448e-02 3.84759893e+02] [ 2.32353567e-02 9.99729987e-01 -2.68553356e-04 6.03038978e+00] [ 2.08376586e-02 -2.15733643e-04 9.99782849e-01 3.52303789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77925415399994 meters Centerline goodness [0,1] 0.9993058267169942 Centerline is valid? [True, True] Translation: X:384.79, Y:6.03, Z:3.52 [[ 9.99591931e-01 -1.91995759e-02 -2.11506034e-02 3.84789095e+02] [ 1.91980633e-02 9.99815663e-01 -2.74580672e-04 6.03430313e+00] [ 2.11519764e-02 -1.31581999e-04 9.99776263e-01 3.52350682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.809254154 meters Centerline goodness [0,1] 0.9994150019499936 Centerline is valid? [True, True] Translation: X:384.82, Y:6.04, Z:3.52 [[ 9.99626848e-01 -1.75114020e-02 -2.09646086e-02 3.84816436e+02] [ 1.75094962e-02 9.99846659e-01 -2.74473138e-04 6.03575874e+00] [ 2.09662003e-02 -9.27090173e-05 9.99780181e-01 3.52383236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.83925415399995 meters Centerline goodness [0,1] 0.9995664144644135 Centerline is valid? [True, True] Translation: X:384.84, Y:6.04, Z:3.52 [[ 9.99657667e-01 -1.61480331e-02 -2.05861551e-02 3.84844630e+02] [ 1.61458258e-02 9.99869610e-01 -2.73434071e-04 6.03691568e+00] [ 2.05878863e-02 -5.90400092e-05 9.99788045e-01 3.52419546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.869254154 meters Centerline goodness [0,1] 0.9994151413408426 Centerline is valid? [True, True] Translation: X:384.87, Y:6.04, Z:3.52 [[ 9.99715094e-01 -1.45718194e-02 -1.89048478e-02 3.84872957e+02] [ 1.45695865e-02 9.99893825e-01 -2.55843279e-04 6.03724597e+00] [ 1.89065687e-02 -1.96654274e-05 9.99821255e-01 3.52489411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.89925415399995 meters Centerline goodness [0,1] 0.9993709191088744 Centerline is valid? [True, True] Translation: X:384.90, Y:6.04, Z:3.53 [[ 9.99725498e-01 -1.44761085e-02 -1.84220205e-02 3.84900621e+02] [ 1.44738817e-02 9.99895216e-01 -2.54210203e-04 6.03722516e+00] [ 1.84237701e-02 -1.24977224e-05 9.99830268e-01 3.52593860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.929254154 meters Centerline goodness [0,1] 0.9995666962757545 Centerline is valid? [True, True] Translation: X:384.93, Y:6.04, Z:3.53 [[ 9.99743278e-01 -1.44378508e-02 -1.74621366e-02 3.84929893e+02] [ 1.44357786e-02 9.99895769e-01 -2.44715732e-04 6.03667553e+00] [ 1.74638497e-02 -7.42663057e-06 9.99847495e-01 3.52625267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.95925415399995 meters Centerline goodness [0,1] 0.9993924797674065 Centerline is valid? [True, True] Translation: X:384.96, Y:6.03, Z:3.53 [[ 9.99751238e-01 -1.55513603e-02 -1.59880161e-02 3.84957285e+02] [ 1.55497364e-02 9.99879070e-01 -2.25880277e-04 6.03414514e+00] [ 1.59895954e-02 -2.27853494e-05 9.99872158e-01 3.52691176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.989254154 meters Centerline goodness [0,1] 0.9993924797674065 Centerline is valid? [True, True] Translation: X:384.99, Y:6.03, Z:3.53 [[ 9.99747241e-01 -1.58062936e-02 -1.59879799e-02 3.84985510e+02] [ 1.58046617e-02 9.99875072e-01 -2.28421121e-04 6.03458484e+00] [ 1.59895930e-02 -2.43212278e-05 9.99872158e-01 3.52717651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.01925415399995 meters Centerline goodness [0,1] 0.9994154958543502 Centerline is valid? [True, True] Translation: X:385.01, Y:6.03, Z:3.53 [[ 9.99732407e-01 -1.72813914e-02 -1.53774982e-02 3.85014090e+02] [ 1.72799974e-02 9.99850665e-01 -2.23524721e-04 6.03316884e+00] [ 1.53790646e-02 -4.22582210e-05 9.99881734e-01 3.52733193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0492541539999 meters Centerline goodness [0,1] 0.9992428503439623 Centerline is valid? [True, True] Translation: X:385.04, Y:6.03, Z:3.53 [[ 9.99645352e-01 -2.19928501e-02 -1.50161539e-02 3.85043328e+02] [ 2.19920111e-02 9.99758122e-01 -2.21016256e-04 6.02796144e+00] [ 1.50173826e-02 -1.09297551e-04 9.99887227e-01 3.52739172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07925415399995 meters Centerline goodness [0,1] 0.9992238368332543 Centerline is valid? [True, True] Translation: X:385.07, Y:6.02, Z:3.53 [[ 9.99566802e-01 -2.49424290e-02 -1.56231624e-02 3.85073876e+02] [ 2.49418697e-02 9.99688877e-01 -2.30673059e-04 6.02438667e+00] [ 1.56240552e-02 -1.59097749e-04 9.99877924e-01 3.52676046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1092541539999 meters Centerline goodness [0,1] 0.999182197735979 Centerline is valid? [True, True] Translation: X:385.10, Y:6.02, Z:3.53 [[ 9.99480287e-01 -2.78329806e-02 -1.62628715e-02 3.85104637e+02] [ 2.78327633e-02 9.99612565e-01 -2.39743662e-04 6.01980883e+00] [ 1.62632434e-02 -2.13021588e-04 9.99867722e-01 3.52531032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13925415399996 meters Centerline goodness [0,1] 0.998988834147286 Centerline is valid? [True, True] Translation: X:385.14, Y:6.02, Z:3.53 [[ 9.99361777e-01 -3.22458752e-02 -1.53701405e-02 3.85136333e+02] [ 3.22462153e-02 9.99479930e-01 -2.25766124e-04 6.01655028e+00] [ 1.53694270e-02 -2.70006826e-04 9.99881847e-01 3.52614744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16925415399993 meters Centerline goodness [0,1] 0.999143633989167 Centerline is valid? [True, True] Translation: X:385.17, Y:6.01, Z:3.53 [[ 9.99128217e-01 -3.88802875e-02 -1.52029373e-02 3.85166874e+02] [ 3.88813973e-02 9.99243808e-01 -2.22683557e-04 6.00723659e+00] [ 1.52000990e-02 -3.68622020e-04 9.99884404e-01 3.52518484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19925415399996 meters Centerline goodness [0,1] 0.9991866438356164 Centerline is valid? [True, True] Translation: X:385.20, Y:6.00, Z:3.53 [[ 9.99005206e-01 -4.19685517e-02 -1.50744699e-02 3.85198469e+02] [ 4.19700012e-02 9.99118847e-01 -2.20320985e-04 6.00301338e+00] [ 1.50704336e-02 -4.12573711e-04 9.99886349e-01 3.52502674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22925415399993 meters Centerline goodness [0,1] 0.9989326274442831 Centerline is valid? [True, True] Translation: X:385.23, Y:6.00, Z:3.52 [[ 9.98814206e-01 -4.59282046e-02 -1.61487178e-02 3.85230160e+02] [ 4.59303979e-02 9.98944615e-01 -2.35233084e-04 5.99760846e+00] [ 1.61424786e-02 -5.06762890e-04 9.99869573e-01 3.52403374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25925415399996 meters Centerline goodness [0,1] 0.9989959624874495 Centerline is valid? [True, True] Translation: X:385.26, Y:6.00, Z:3.52 [[ 9.98754932e-01 -4.72198064e-02 -1.60896263e-02 3.85261864e+02] [ 4.72221625e-02 9.98884384e-01 -2.33668726e-04 5.99622671e+00] [ 1.60827103e-02 -5.26409157e-04 9.99870526e-01 3.52458358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28925415399993 meters Centerline goodness [0,1] 0.9990814321114244 Centerline is valid? [True, True] Translation: X:385.29, Y:5.99, Z:3.52 [[ 9.98722172e-01 -4.78592633e-02 -1.62331014e-02 3.85293996e+02] [ 4.78617623e-02 9.98853942e-01 -2.34739410e-04 5.99449703e+00] [ 1.62257318e-02 -5.42505388e-04 9.99868207e-01 3.52442238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31925415399996 meters Centerline goodness [0,1] 0.9988489331315413 Centerline is valid? [True, True] Translation: X:385.32, Y:5.99, Z:3.52 [[ 9.98684636e-01 -4.85168607e-02 -1.65864816e-02 3.85324844e+02] [ 4.85195782e-02 9.98822203e-01 -2.38768103e-04 5.99094327e+00] [ 1.65785304e-02 -5.66315055e-04 9.99862406e-01 3.52414745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34925415399994 meters Centerline goodness [0,1] 0.9987851403482597 Centerline is valid? [True, True] Translation: X:385.36, Y:5.99, Z:3.52 [[ 9.98674096e-01 -4.85013539e-02 -1.72530938e-02 3.85357475e+02] [ 4.85043108e-02 9.98822943e-01 -2.47278974e-04 5.98977443e+00] [ 1.72447793e-02 -5.89898317e-04 9.99851124e-01 3.52424839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37925415399997 meters Centerline goodness [0,1] 0.998745401577817 Centerline is valid? [True, True] Translation: X:385.39, Y:5.99, Z:3.52 [[ 9.98693343e-01 -4.82044696e-02 -1.69686551e-02 3.85389855e+02] [ 4.82073073e-02 9.98837323e-01 -2.41999014e-04 5.99028248e+00] [ 1.69605914e-02 -5.76330366e-04 9.99855993e-01 3.52472757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40925415399994 meters Centerline goodness [0,1] 0.998894581322676 Centerline is valid? [True, True] Translation: X:385.42, Y:5.99, Z:3.52 [[ 9.98720316e-01 -4.74256781e-02 -1.75651533e-02 3.85421341e+02] [ 4.74286186e-02 9.98874599e-01 -2.49365336e-04 5.98673669e+00] [ 1.75572118e-02 -5.84044731e-04 9.99845690e-01 3.52426823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43925415399997 meters Centerline goodness [0,1] 0.9987233227652829 Centerline is valid? [True, True] Translation: X:385.45, Y:5.99, Z:3.52 [[ 9.98740439e-01 -4.69295096e-02 -1.77526398e-02 3.85453126e+02] [ 4.69324543e-02 9.98898034e-01 -2.50938138e-04 5.98637069e+00] [ 1.77448534e-02 -5.82552890e-04 9.99842378e-01 3.52423793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46925415399994 meters Centerline goodness [0,1] 0.9986422843565701 Centerline is valid? [True, True] Translation: X:385.49, Y:5.99, Z:3.52 [[ 9.98812268e-01 -4.50066772e-02 -1.86668533e-02 3.85485423e+02] [ 4.50096225e-02 9.98986519e-01 -2.62534809e-04 5.98579145e+00] [ 1.86597506e-02 -5.77965032e-04 9.99825725e-01 3.52328901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49925415399997 meters Centerline goodness [0,1] 0.9989389470110137 Centerline is valid? [True, True] Translation: X:385.52, Y:5.99, Z:3.53 [[ 9.98847695e-01 -4.42976766e-02 -1.84661213e-02 3.85517555e+02] [ 4.43004622e-02 9.99018219e-01 -2.58387919e-04 5.99061109e+00] [ 1.84594376e-02 -5.59967532e-04 9.99829453e-01 3.52515317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.52925415399994 meters Centerline goodness [0,1] 0.9988968326367822 Centerline is valid? [True, True] Translation: X:385.55, Y:5.99, Z:3.52 [[ 9.98890235e-01 -4.31015781e-02 -1.89882232e-02 3.85548568e+02] [ 4.31043315e-02 9.99070541e-01 -2.64434921e-04 5.98559974e+00] [ 1.89819720e-02 -5.54333207e-04 9.99819672e-01 3.52350561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.559254154 meters Centerline goodness [0,1] 0.9988742087599304 Centerline is valid? [True, True] Translation: X:385.58, Y:5.99, Z:3.52 [[ 9.98996691e-01 -4.01461830e-02 -1.98468181e-02 3.85579829e+02] [ 4.01486269e-02 9.99193681e-01 -2.75459105e-04 5.99076558e+00] [ 1.98418739e-02 -5.21639761e-04 9.99802995e-01 3.52489079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.58925415399995 meters Centerline goodness [0,1] 0.9987469203975873 Centerline is valid? [True, True] Translation: X:385.61, Y:5.99, Z:3.53 [[ 9.99031840e-01 -3.88037935e-02 -2.07279802e-02 3.85610849e+02] [ 3.88061866e-02 9.99246715e-01 -2.86912377e-04 5.99129363e+00] [ 2.07234994e-02 -5.17739270e-04 9.99785111e-01 3.52509516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.619254154 meters Centerline goodness [0,1] 0.9988323213451659 Centerline is valid? [True, True] Translation: X:385.64, Y:5.99, Z:3.53 [[ 9.99090640e-01 -3.68787796e-02 -2.13973782e-02 3.85641075e+02] [ 3.68808963e-02 9.99319625e-01 -2.95823982e-04 5.99264909e+00] [ 2.13937296e-02 -4.93599515e-04 9.99771006e-01 3.52550764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.64925415399995 meters Centerline goodness [0,1] 0.9991504725496443 Centerline is valid? [True, True] Translation: X:385.67, Y:5.99, Z:3.53 [[ 9.99193859e-01 -3.40186959e-02 -2.13157457e-02 3.85671320e+02] [ 3.40201460e-02 9.99421104e-01 -2.94695393e-04 5.99447836e+00] [ 2.13134312e-02 -4.30706954e-04 9.99772750e-01 3.52646227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.679254154 meters Centerline goodness [0,1] 0.9991087533156499 Centerline is valid? [True, True] Translation: X:385.70, Y:6.00, Z:3.53 [[ 9.99231950e-01 -3.24298735e-02 -2.19957666e-02 3.85702226e+02] [ 3.24310329e-02 9.99473929e-01 -3.04096848e-04 5.99549442e+00] [ 2.19940571e-02 -4.09482143e-04 9.99758018e-01 3.52661912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.70925415399995 meters Centerline goodness [0,1] 0.9990242867748436 Centerline is valid? [True, True] Translation: X:385.73, Y:6.00, Z:3.53 [[ 9.99330911e-01 -2.86472919e-02 -2.27390039e-02 3.85731517e+02] [ 2.86474788e-02 9.99589526e-01 -3.17595690e-04 5.99825380e+00] [ 2.27387684e-02 -3.34031942e-04 9.99741385e-01 3.52663388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.739254154 meters Centerline goodness [0,1] 0.9987041679058504 Centerline is valid? [True, True] Translation: X:385.76, Y:6.00, Z:3.53 [[ 9.99371853e-01 -2.69672022e-02 -2.29928145e-02 3.85759403e+02] [ 2.69668675e-02 9.99636275e-01 -3.24675604e-04 5.99918509e+00] [ 2.29932071e-02 -2.95572523e-04 9.99735578e-01 3.52609077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.76925415399995 meters Centerline goodness [0,1] 0.9989586211293647 Centerline is valid? [True, True] Translation: X:385.79, Y:6.00, Z:3.53 [[ 9.99408683e-01 -2.51917456e-02 -2.34021296e-02 3.85787874e+02] [ 2.51908079e-02 9.99682605e-01 -3.34916071e-04 6.00128121e+00] [ 2.34031391e-02 -2.54800521e-04 9.99726077e-01 3.52707261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7992541539999 meters Centerline goodness [0,1] 0.998957890259464 Centerline is valid? [True, True] Translation: X:385.82, Y:6.00, Z:3.53 [[ 9.99463562e-01 -2.32610023e-02 -2.30545762e-02 3.85816641e+02] [ 2.32594422e-02 9.99729406e-01 -3.35854719e-04 6.00326756e+00] [ 2.30561501e-02 -2.00562030e-04 9.99734152e-01 3.52819698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.82925415399995 meters Centerline goodness [0,1] 0.9988740174208626 Centerline is valid? [True, True] Translation: X:385.84, Y:6.01, Z:3.53 [[ 9.99553014e-01 -1.94144657e-02 -2.27343542e-02 3.85844736e+02] [ 1.94118714e-02 9.99811516e-01 -3.34816562e-04 6.00577145e+00] [ 2.27365694e-02 -1.06649456e-04 9.99741485e-01 3.52850957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8592541539999 meters Centerline goodness [0,1] 0.9991068580542265 Centerline is valid? [True, True] Translation: X:385.87, Y:6.01, Z:3.53 [[ 9.99579949e-01 -1.80410979e-02 -2.26813747e-02 3.85872734e+02] [ 1.80380546e-02 9.99837244e-01 -3.38776439e-04 6.00741511e+00] [ 2.26837950e-02 -7.04937392e-05 9.99742687e-01 3.52952850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.88925415399996 meters Centerline goodness [0,1] 0.9988709711778114 Centerline is valid? [True, True] Translation: X:385.90, Y:6.01, Z:3.53 [[ 9.99608026e-01 -1.67067894e-02 -2.24650345e-02 3.85900055e+02] [ 1.67033796e-02 9.99860431e-01 -3.39432402e-04 6.00865245e+00] [ 2.24675699e-02 -3.59426453e-05 9.99747572e-01 3.52986136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91925415399993 meters Centerline goodness [0,1] 0.999211910796822 Centerline is valid? [True, True] Translation: X:385.93, Y:6.01, Z:3.53 [[ 9.99645027e-01 -1.44480538e-02 -2.23846543e-02 3.85927703e+02] [ 1.44439982e-02 9.99895621e-01 -3.42858176e-04 6.01041366e+00] [ 2.23872715e-02 1.94125639e-05 9.99749373e-01 3.53080922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.94925415399996 meters Centerline goodness [0,1] 0.9990397541770694 Centerline is valid? [True, True] Translation: X:385.95, Y:6.01, Z:3.53 [[ 9.99653015e-01 -1.39652084e-02 -2.23343502e-02 3.85954964e+02] [ 1.39609315e-02 9.99902481e-01 -3.47410218e-04 6.01135681e+00] [ 2.23370238e-02 3.54813380e-05 9.99750497e-01 3.53093554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97925415399993 meters Centerline goodness [0,1] 0.9989767422029887 Centerline is valid? [True, True] Translation: X:385.98, Y:6.01, Z:3.53 [[ 9.99661879e-01 -1.33394282e-02 -2.23200894e-02 3.85981500e+02] [ 1.33349229e-02 9.99911024e-01 -3.50681376e-04 6.01230162e+00] [ 2.23227814e-02 5.29261324e-05 9.99750814e-01 3.53101774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.00925415399996 meters Centerline goodness [0,1] 0.9991696120597879 Centerline is valid? [True, True] Translation: X:386.01, Y:6.01, Z:3.53 [[ 9.99680810e-01 -1.24985474e-02 -2.19559727e-02 3.86009784e+02] [ 1.24938808e-02 9.99921887e-01 -3.49707739e-04 6.01283318e+00] [ 2.19586285e-02 7.52808097e-05 9.99758877e-01 3.53247972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03925415399993 meters Centerline goodness [0,1] 0.9991468668685748 Centerline is valid? [True, True] Translation: X:386.04, Y:6.01, Z:3.53 [[ 9.99679900e-01 -1.26589767e-02 -2.19054151e-02 3.86037512e+02] [ 1.26542325e-02 9.99919869e-01 -3.55184879e-04 6.01292081e+00] [ 2.19081561e-02 7.78749695e-05 9.99759985e-01 3.53304035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06925415399996 meters Centerline goodness [0,1] 0.9989991482112436 Centerline is valid? [True, True] Translation: X:386.06, Y:6.01, Z:3.53 [[ 9.99679960e-01 -1.31714923e-02 -2.15983592e-02 3.86064997e+02] [ 1.31668657e-02 9.99913250e-01 -3.56410231e-04 6.01146630e+00] [ 2.16011800e-02 7.19134710e-05 9.99766665e-01 3.53328363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09925415399994 meters Centerline goodness [0,1] 0.9989353320699274 Centerline is valid? [True, True] Translation: X:386.09, Y:6.01, Z:3.53 [[ 9.99683956e-01 -1.35439963e-02 -2.11789472e-02 3.86093276e+02] [ 1.35395525e-02 9.99908274e-01 -3.53207537e-04 6.01074599e+00] [ 2.11817884e-02 6.63424413e-05 9.99775639e-01 3.53243559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12925415399997 meters Centerline goodness [0,1] 0.9991274182220614 Centerline is valid? [True, True] Translation: X:386.12, Y:6.01, Z:3.53 [[ 9.99663181e-01 -1.40781991e-02 -2.18020235e-02 3.86121186e+02] [ 1.40735190e-02 9.99900895e-01 -3.68089626e-04 6.00935111e+00] [ 2.18050449e-02 6.11344545e-05 9.99762240e-01 3.53315295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15925415399994 meters Centerline goodness [0,1] 0.9992141871084209 Centerline is valid? [True, True] Translation: X:386.15, Y:6.01, Z:3.53 [[ 9.99682327e-01 -1.52848735e-02 -2.00403974e-02 3.86150405e+02] [ 1.52810570e-02 9.99883179e-01 -3.43569661e-04 6.00705063e+00] [ 2.00433077e-02 3.72220631e-05 9.99799112e-01 3.53332857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18925415399997 meters Centerline goodness [0,1] 0.9990228151421167 Centerline is valid? [True, True] Translation: X:386.18, Y:6.01, Z:3.53 [[ 9.99680395e-01 -1.60135062e-02 -1.95620726e-02 3.86178048e+02] [ 1.60099459e-02 9.99871775e-01 -3.38607473e-04 6.00609621e+00] [ 1.95649865e-02 2.53115293e-05 9.99808587e-01 3.53249800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21925415399994 meters Centerline goodness [0,1] 0.9987677402906433 Centerline is valid? [True, True] Translation: X:386.21, Y:6.00, Z:3.53 [[ 9.99669222e-01 -1.71322101e-02 -1.91816240e-02 3.86206192e+02] [ 1.71289211e-02 9.99853233e-01 -3.35759447e-04 6.00472396e+00] [ 1.91845610e-02 7.08786191e-06 9.99815959e-01 3.53391455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24925415399997 meters Centerline goodness [0,1] 0.9989186209236249 Centerline is valid? [True, True] Translation: X:386.23, Y:6.00, Z:3.53 [[ 9.99654098e-01 -1.82680331e-02 -1.89199250e-02 3.86234595e+02] [ 1.82649314e-02 9.99833126e-01 -3.36741322e-04 6.00327202e+00] [ 1.89229194e-02 -8.94629047e-06 9.99820945e-01 3.53349320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27925415399994 meters Centerline goodness [0,1] 0.9990052278451542 Centerline is valid? [True, True] Translation: X:386.26, Y:6.00, Z:3.53 [[ 9.99607306e-01 -2.07845369e-02 -1.87946103e-02 3.86262558e+02] [ 2.07818166e-02 9.99783977e-01 -3.40057101e-04 5.99896458e+00] [ 1.87976182e-02 -5.06625836e-05 9.99823308e-01 3.53276983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.309254154 meters Centerline goodness [0,1] 0.9990474980949962 Centerline is valid? [True, True] Translation: X:386.29, Y:6.00, Z:3.53 [[ 9.99594305e-01 -2.22027023e-02 -1.78399766e-02 3.86289885e+02] [ 2.22004107e-02 9.99753487e-01 -3.26512220e-04 5.99717120e+00] [ 1.78428283e-02 -6.96750523e-05 9.99840802e-01 3.53274165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.33925415399995 meters Centerline goodness [0,1] 0.9990488067809508 Centerline is valid? [True, True] Translation: X:386.32, Y:6.00, Z:3.53 [[ 9.99566659e-01 -2.37790271e-02 -1.73508278e-02 3.86317369e+02] [ 2.37770639e-02 9.99717235e-01 -3.19457306e-04 5.99525917e+00] [ 1.73535180e-02 -9.32328699e-05 9.99849412e-01 3.53249273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.369254154 meters Centerline goodness [0,1] 0.9990293515646431 Centerline is valid? [True, True] Translation: X:386.35, Y:5.99, Z:3.53 [[ 9.99483498e-01 -2.73395245e-02 -1.68904492e-02 3.86346153e+02] [ 2.73381260e-02 9.99626194e-01 -3.13729131e-04 5.99216014e+00] [ 1.68927127e-02 -1.48186140e-04 9.99857297e-01 3.53341407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.39925415399995 meters Centerline goodness [0,1] 0.9987551166814365 Centerline is valid? [True, True] Translation: X:386.38, Y:5.99, Z:3.53 [[ 9.99431707e-01 -2.90697732e-02 -1.70649391e-02 3.86376279e+02] [ 2.90685518e-02 9.99577369e-01 -3.19666852e-04 5.99065747e+00] [ 1.70670195e-02 -1.76567878e-04 9.99854332e-01 3.53331637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.429254154 meters Centerline goodness [0,1] 0.9990944890180471 Centerline is valid? [True, True] Translation: X:386.41, Y:5.99, Z:3.53 [[ 9.99288531e-01 -3.36918179e-02 -1.69497449e-02 3.86406845e+02] [ 3.36912717e-02 9.99432237e-01 -3.17852374e-04 5.98577792e+00] [ 1.69508305e-02 -2.53432228e-04 9.99856292e-01 3.53274573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.45925415399995 meters Centerline goodness [0,1] 0.9988630382145489 Centerline is valid? [True, True] Translation: X:386.44, Y:5.98, Z:3.53 [[ 9.99204937e-01 -3.62657657e-02 -1.65616411e-02 3.86438368e+02] [ 3.62656021e-02 9.99342139e-01 -3.10310347e-04 5.98341777e+00] [ 1.65619994e-02 -2.90554254e-04 9.99862798e-01 3.53254550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.489254154 meters Centerline goodness [0,1] 0.9988849851681989 Centerline is valid? [True, True] Translation: X:386.47, Y:5.98, Z:3.53 [[ 9.99111904e-01 -3.87185161e-02 -1.66216901e-02 3.86469063e+02] [ 3.87186984e-02 9.99250102e-01 -3.10958177e-04 5.98057606e+00] [ 1.66212654e-02 -3.32888191e-04 9.99861802e-01 3.53220065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.51925415399995 meters Centerline goodness [0,1] 0.9990108803165183 Centerline is valid? [True, True] Translation: X:386.50, Y:5.98, Z:3.53 [[ 9.98900701e-01 -4.39069610e-02 -1.64185102e-02 3.86500484e+02] [ 4.39078461e-02 9.99035538e-01 -3.06734513e-04 5.97542911e+00] [ 1.64161430e-02 -4.14504101e-04 9.99865160e-01 3.53174489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5492541539999 meters Centerline goodness [0,1] 0.9986155395200537 Centerline is valid? [True, True] Translation: X:386.53, Y:5.97, Z:3.53 [[ 9.98808912e-01 -4.61139937e-02 -1.59454260e-02 3.86533062e+02] [ 4.61151224e-02 9.98936088e-01 -2.97085262e-04 5.97451822e+00] [ 1.59421612e-02 -4.38593863e-04 9.99872819e-01 3.53200094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57925415399995 meters Centerline goodness [0,1] 0.9987430079818993 Centerline is valid? [True, True] Translation: X:386.57, Y:5.97, Z:3.53 [[ 9.98706133e-01 -4.84599342e-02 -1.54173261e-02 3.86565420e+02] [ 4.84612858e-02 9.98825021e-01 -2.86135001e-04 5.97330108e+00] [ 1.54130771e-02 -4.61378665e-04 9.99881105e-01 3.53278986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6092541539999 meters Centerline goodness [0,1] 0.9986763871672585 Centerline is valid? [True, True] Translation: X:386.60, Y:5.97, Z:3.53 [[ 9.98608572e-01 -5.05488102e-02 -1.50245461e-02 3.86596572e+02] [ 5.05503447e-02 9.98721475e-01 -2.77862967e-04 5.97092633e+00] [ 1.50193825e-02 -4.82019643e-04 9.99887087e-01 3.53309553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63925415399996 meters Centerline goodness [0,1] 0.9986379447634215 Centerline is valid? [True, True] Translation: X:386.63, Y:5.97, Z:3.53 [[ 9.98460432e-01 -5.35622054e-02 -1.44172120e-02 3.86628711e+02] [ 5.35639446e-02 9.98564386e-01 -2.65761812e-04 5.97049996e+00] [ 1.44107492e-02 -5.06890091e-04 9.99896031e-01 3.53332998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66925415399993 meters Centerline goodness [0,1] 0.9987212812342781 Centerline is valid? [True, True] Translation: X:386.66, Y:5.97, Z:3.53 [[ 9.98413573e-01 -5.44202915e-02 -1.44488446e-02 3.86660058e+02] [ 5.44221459e-02 9.98517982e-01 -2.65105493e-04 5.96852225e+00] [ 1.44418583e-02 -5.21652206e-04 9.99895575e-01 3.53322883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69925415399996 meters Centerline goodness [0,1] 0.9986585340292188 Centerline is valid? [True, True] Translation: X:386.69, Y:5.97, Z:3.53 [[ 9.98377555e-01 -5.51060278e-02 -1.43381891e-02 3.86691449e+02] [ 5.51079468e-02 9.98480368e-01 -2.61518811e-04 5.96844245e+00] [ 1.43308116e-02 -5.29053649e-04 9.99897169e-01 3.53332222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72925415399993 meters Centerline goodness [0,1] 0.9987212544284426 Centerline is valid? [True, True] Translation: X:386.72, Y:5.97, Z:3.53 [[ 9.98404771e-01 -5.46847778e-02 -1.40530653e-02 3.86723912e+02] [ 5.46865991e-02 9.98503536e-01 -2.54930098e-04 5.97036709e+00] [ 1.40459762e-02 -5.13990921e-04 9.99901218e-01 3.53406275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75925415399996 meters Centerline goodness [0,1] 0.9987193752230596 Centerline is valid? [True, True] Translation: X:386.76, Y:5.97, Z:3.53 [[ 9.98460345e-01 -5.36560314e-02 -1.40702037e-02 3.86756085e+02] [ 5.36577696e-02 9.98559352e-01 -2.54209755e-04 5.97381471e+00] [ 1.40635734e-02 -5.01157388e-04 9.99900977e-01 3.53443156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78925415399993 meters Centerline goodness [0,1] 0.9988667128376252 Centerline is valid? [True, True] Translation: X:386.79, Y:5.98, Z:3.53 [[ 9.98580203e-01 -5.10711788e-02 -1.51430705e-02 3.86787348e+02] [ 5.10729117e-02 9.98694890e-01 -2.72520580e-04 5.97623131e+00] [ 1.51372251e-02 -5.01267045e-04 9.99885300e-01 3.53432046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81925415399996 meters Centerline goodness [0,1] 0.9987604000336163 Centerline is valid? [True, True] Translation: X:386.82, Y:5.98, Z:3.53 [[ 9.98653414e-01 -4.96326646e-02 -1.50982364e-02 3.86818464e+02] [ 4.96342355e-02 9.98767425e-01 -2.70883423e-04 5.97591691e+00] [ 1.50930713e-02 -4.78870765e-04 9.99885978e-01 3.53384029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84925415399994 meters Centerline goodness [0,1] 0.9987617008773034 Centerline is valid? [True, True] Translation: X:386.85, Y:5.98, Z:3.53 [[ 9.98727175e-01 -4.79038326e-02 -1.57877644e-02 3.86850231e+02] [ 4.79053503e-02 9.98851840e-01 -2.82257550e-04 5.98015682e+00] [ 1.57831587e-02 -4.74420098e-04 9.99875326e-01 3.53450317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87925415399997 meters Centerline goodness [0,1] 0.9987617008773034 Centerline is valid? [True, True] Translation: X:386.88, Y:5.98, Z:3.53 [[ 9.98730638e-01 -4.78315555e-02 -1.57877848e-02 3.86881931e+02] [ 4.78330822e-02 9.98855303e-01 -2.81114858e-04 5.98066103e+00] [ 1.57831587e-02 -4.74420385e-04 9.99875326e-01 3.53480000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90925415399994 meters Centerline goodness [0,1] 0.9987368421052631 Centerline is valid? [True, True] Translation: X:386.91, Y:5.98, Z:3.53 [[ 9.98807838e-01 -4.61845423e-02 -1.58079386e-02 3.86914076e+02] [ 4.61858849e-02 9.98932823e-01 -2.80328823e-04 5.98289342e+00] [ 1.58040156e-02 -4.50109007e-04 9.99875007e-01 3.53478800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93925415399997 meters Centerline goodness [0,1] 0.9988825873373953 Centerline is valid? [True, True] Translation: X:386.94, Y:5.99, Z:3.53 [[ 9.98955244e-01 -4.28096181e-02 -1.59924098e-02 3.86944435e+02] [ 4.28105729e-02 9.99083167e-01 -2.82796064e-04 5.98680100e+00] [ 1.59898539e-02 -4.02143616e-04 9.99872073e-01 3.53460755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96925415399994 meters Centerline goodness [0,1] 0.9989056548182755 Centerline is valid? [True, True] Translation: X:386.98, Y:5.99, Z:3.54 [[ 9.99016605e-01 -4.12313139e-02 -1.63034140e-02 3.86976562e+02] [ 4.12321073e-02 9.99149554e-01 -2.87613226e-04 5.99076126e+00] [ 1.63014075e-02 -3.84893727e-04 9.99867049e-01 3.53512715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99925415399997 meters Centerline goodness [0,1] 0.9989265191858385 Centerline is valid? [True, True] Translation: X:387.01, Y:5.99, Z:3.54 [[ 9.99112399e-01 -3.85107068e-02 -1.70686663e-02 3.87007376e+02] [ 3.85111967e-02 9.99258124e-01 -3.00109355e-04 5.99457989e+00] [ 1.70675609e-02 -3.57491788e-04 9.99854275e-01 3.53504832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.02925415399994 meters Centerline goodness [0,1] 0.9988407629887238 Centerline is valid? [True, True] Translation: X:387.04, Y:6.00, Z:3.54 [[ 9.99155986e-01 -3.72372767e-02 -1.73407328e-02 3.87038362e+02] [ 3.72376017e-02 9.99306394e-01 -3.04257281e-04 5.99711282e+00] [ 1.73400349e-02 -3.41726819e-04 9.99849592e-01 3.53532362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.059254154 meters Centerline goodness [0,1] 0.998669510675593 Centerline is valid? [True, True] Translation: X:387.07, Y:6.00, Z:3.54 [[ 9.99206777e-01 -3.59805856e-02 -1.70649902e-02 3.87069586e+02] [ 3.59807277e-02 9.99352439e-01 -2.98801499e-04 5.99990277e+00] [ 1.70646907e-02 -3.15446283e-04 9.99854338e-01 3.53606105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.08925415399995 meters Centerline goodness [0,1] 0.9988813373295622 Centerline is valid? [True, True] Translation: X:387.10, Y:6.00, Z:3.54 [[ 9.99240517e-01 -3.50484444e-02 -1.70292573e-02 3.87099880e+02] [ 3.50484589e-02 9.99385570e-01 -2.97691161e-04 6.00151931e+00] [ 1.70292276e-02 -2.99384154e-04 9.99854947e-01 3.53657565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.119254154 meters Centerline goodness [0,1] 0.9989030461564425 Centerline is valid? [True, True] Translation: X:387.13, Y:6.00, Z:3.54 [[ 9.99234738e-01 -3.52483624e-02 -1.69555966e-02 3.87131629e+02] [ 3.52484131e-02 9.99378538e-01 -2.95955149e-04 6.00359635e+00] [ 1.69554912e-02 -3.01929207e-04 9.99856200e-01 3.53746122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.14925415399995 meters Centerline goodness [0,1] 0.9989438553504288 Centerline is valid? [True, True] Translation: X:387.16, Y:6.00, Z:3.54 [[ 9.99172477e-01 -3.70945256e-02 -1.66840214e-02 3.87162292e+02] [ 3.70948398e-02 9.99311707e-01 -2.90744706e-04 6.00347942e+00] [ 1.66833230e-02 -3.28386993e-04 9.99860770e-01 3.53794886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.179254154 meters Centerline goodness [0,1] 0.9986689765908899 Centerline is valid? [True, True] Translation: X:387.19, Y:6.00, Z:3.54 [[ 9.99115366e-01 -3.87478567e-02 -1.63428611e-02 3.87194006e+02] [ 3.87483881e-02 9.99248959e-01 -2.84252463e-04 6.00363821e+00] [ 1.63416011e-02 -3.49258521e-04 9.99866406e-01 3.53871612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.20925415399995 meters Centerline goodness [0,1] 0.9986499029617754 Centerline is valid? [True, True] Translation: X:387.23, Y:6.00, Z:3.54 [[ 9.99061111e-01 -4.01857506e-02 -1.61864889e-02 3.87225264e+02] [ 4.01864746e-02 9.99192158e-01 -2.80657476e-04 6.00261537e+00] [ 1.61846912e-02 -3.70083956e-04 9.99868951e-01 3.53908985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2392541539999 meters Centerline goodness [0,1] 0.9987977980722587 Centerline is valid? [True, True] Translation: X:387.26, Y:6.00, Z:3.54 [[ 9.99003610e-01 -4.15219061e-02 -1.63621256e-02 3.87257121e+02] [ 4.15228416e-02 9.99137515e-01 -2.82693686e-04 6.00223171e+00] [ 1.63597515e-02 -3.96989937e-04 9.99866091e-01 3.53965812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.26925415399995 meters Centerline goodness [0,1] 0.9987333755541482 Centerline is valid? [True, True] Translation: X:387.29, Y:6.00, Z:3.54 [[ 9.98910783e-01 -4.34830780e-02 -1.69253868e-02 3.87289470e+02] [ 4.34843814e-02 9.99054065e-01 -2.91182295e-04 6.00425561e+00] [ 1.69220380e-02 -4.45124842e-04 9.99856713e-01 3.54120032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2992541539999 meters Centerline goodness [0,1] 0.9988193126713051 Centerline is valid? [True, True] Translation: X:387.32, Y:6.01, Z:3.54 [[ 9.98891334e-01 -4.39438548e-02 -1.68831194e-02 3.87321947e+02] [ 4.39452384e-02 9.99033900e-01 -2.89211873e-04 6.00548552e+00] [ 1.68795177e-02 -4.53041473e-04 9.99857428e-01 3.54225866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.32925415399995 meters Centerline goodness [0,1] 0.9986909060197209 Centerline is valid? [True, True] Translation: X:387.35, Y:6.01, Z:3.54 [[ 9.98873228e-01 -4.43083389e-02 -1.70013570e-02 3.87353106e+02] [ 4.43098138e-02 9.99017796e-01 -2.90117676e-04 6.00607999e+00] [ 1.69975128e-02 -4.63536182e-04 9.99855424e-01 3.54320097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3592541539999 meters Centerline goodness [0,1] 0.9989440337909187 Centerline is valid? [True, True] Translation: X:387.39, Y:6.01, Z:3.54 [[ 9.98851699e-01 -4.45900685e-02 -1.75216829e-02 3.87385583e+02] [ 4.45916980e-02 9.99005251e-01 -2.97874835e-04 6.00647896e+00] [ 1.75175355e-02 -4.83788806e-04 9.99846439e-01 3.54397407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.38925415399996 meters Centerline goodness [0,1] 0.9986889405794037 Centerline is valid? [True, True] Translation: X:387.42, Y:6.01, Z:3.54 [[ 9.98856815e-01 -4.46011855e-02 -1.71987609e-02 3.87417513e+02] [ 4.46027785e-02 9.99004758e-01 -2.91143445e-04 6.00825501e+00] [ 1.71946293e-02 -4.76301908e-04 9.99852048e-01 3.54489345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41925415399993 meters Centerline goodness [0,1] 0.9987950024311354 Centerline is valid? [True, True] Translation: X:387.45, Y:6.01, Z:3.54 [[ 9.98835130e-01 -4.49159706e-02 -1.76334532e-02 3.87448536e+02] [ 4.49177240e-02 9.98990646e-01 -2.96810817e-04 6.00683095e+00] [ 1.76289863e-02 -4.95589512e-04 9.99844475e-01 3.54492662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.44925415399996 meters Centerline goodness [0,1] 0.9988796347186404 Centerline is valid? [True, True] Translation: X:387.48, Y:6.01, Z:3.55 [[ 9.98826144e-01 -4.49794773e-02 -1.79772381e-02 3.87480502e+02] [ 4.49813415e-02 9.98987782e-01 -3.00846458e-04 6.00790345e+00] [ 1.79725731e-02 -5.08146977e-04 9.99838351e-01 3.54544205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47925415399993 meters Centerline goodness [0,1] 0.9986693420635758 Centerline is valid? [True, True] Translation: X:387.51, Y:6.01, Z:3.55 [[ 9.98818575e-01 -4.49589560e-02 -1.84430363e-02 3.87512941e+02] [ 4.49609394e-02 9.98988698e-01 -3.07298183e-04 6.00951873e+00] [ 1.84382006e-02 -5.22281103e-04 9.99829866e-01 3.54621411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.50925415399996 meters Centerline goodness [0,1] 0.9987717849353069 Centerline is valid? [True, True] Translation: X:387.54, Y:6.01, Z:3.55 [[ 9.98821225e-01 -4.47577452e-02 -1.87857810e-02 3.87544635e+02] [ 4.47597936e-02 9.98997730e-01 -3.11616032e-04 6.01194645e+00] [ 1.87808998e-02 -5.29598974e-04 9.99823483e-01 3.54674662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53925415399993 meters Centerline goodness [0,1] 0.9990899278291604 Centerline is valid? [True, True] Translation: X:387.58, Y:6.01, Z:3.55 [[ 9.98873262e-01 -4.28159535e-02 -2.04694846e-02 3.87576394e+02] [ 4.28180108e-02 9.99082831e-01 -3.37962546e-04 6.01411945e+00] [ 2.04651808e-02 -5.38880863e-04 9.99790421e-01 3.54681675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56925415399996 meters Centerline goodness [0,1] 0.9988996804841406 Centerline is valid? [True, True] Translation: X:387.61, Y:6.02, Z:3.55 [[ 9.98928139e-01 -4.11080985e-02 -2.12766665e-02 3.87606367e+02] [ 4.11099542e-02 9.99154567e-01 -3.50350646e-04 6.01559215e+00] [ 2.12730808e-02 -5.24707667e-04 9.99773565e-01 3.54679436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59925415399994 meters Centerline goodness [0,1] 0.9990066785019867 Centerline is valid? [True, True] Translation: X:387.64, Y:6.02, Z:3.55 [[ 9.98981509e-01 -3.89579511e-02 -2.27645207e-02 3.87636778e+02] [ 3.89595219e-02 9.99240719e-01 -3.74666844e-04 6.01794321e+00] [ 2.27618323e-02 -5.12609594e-04 9.99740785e-01 3.54693537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62925415399997 meters Centerline goodness [0,1] 0.998792935496167 Centerline is valid? [True, True] Translation: X:387.67, Y:6.02, Z:3.55 [[ 9.99052948e-01 -3.61695639e-02 -2.41861550e-02 3.87665898e+02] [ 3.61705141e-02 9.99345553e-01 -3.98332755e-04 6.02146189e+00] [ 2.41847339e-02 -4.76870147e-04 9.99707393e-01 3.54652597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65925415399994 meters Centerline goodness [0,1] 0.9989407228507267 Centerline is valid? [True, True] Translation: X:387.70, Y:6.02, Z:3.55 [[ 9.99073464e-01 -3.53552456e-02 -2.45401759e-02 3.87695628e+02] [ 3.53559608e-02 9.99374701e-01 -4.04877943e-04 6.02280240e+00] [ 2.45391455e-02 -4.63138688e-04 9.99698763e-01 3.54670654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68925415399997 meters Centerline goodness [0,1] 0.9989611821323326 Centerline is valid? [True, True] Translation: X:387.72, Y:6.02, Z:3.55 [[ 9.99055919e-01 -3.53312586e-02 -2.52779285e-02 3.87724477e+02] [ 3.53318990e-02 9.99375545e-01 -4.21435565e-04 6.02466552e+00] [ 2.52770334e-02 -4.72079521e-04 9.99680373e-01 3.54766146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71925415399994 meters Centerline goodness [0,1] 0.9989622821321925 Centerline is valid? [True, True] Translation: X:387.75, Y:6.03, Z:3.55 [[ 9.99007891e-01 -3.61031496e-02 -2.60729128e-02 3.87753305e+02] [ 3.61039188e-02 9.99347944e-01 -4.41396986e-04 6.02538738e+00] [ 2.60718476e-02 -5.00375255e-04 9.99659946e-01 3.54798353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74925415399997 meters Centerline goodness [0,1] 0.9987708739510045 Centerline is valid? [True, True] Translation: X:387.78, Y:6.03, Z:3.55 [[ 9.98969061e-01 -3.67510583e-02 -2.66490927e-02 3.87781897e+02] [ 3.67519112e-02 9.99324315e-01 -4.57948599e-04 6.02559006e+00] [ 2.66479164e-02 -5.21928606e-04 9.99644745e-01 3.54799535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77925415399994 meters Centerline goodness [0,1] 0.9987501588781087 Centerline is valid? [True, True] Translation: X:387.81, Y:6.02, Z:3.55 [[ 9.98920797e-01 -3.69139033e-02 -2.81887422e-02 3.87810148e+02] [ 3.69147803e-02 9.99318297e-01 -4.89460517e-04 6.02486695e+00] [ 2.81875937e-02 -5.51648934e-04 9.99602499e-01 3.54719849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.809254154 meters Centerline goodness [0,1] 0.9988560049149419 Centerline is valid? [True, True] Translation: X:387.84, Y:6.03, Z:3.55 [[ 9.98907676e-01 -3.73595481e-02 -2.80663146e-02 3.87837760e+02] [ 3.73604126e-02 9.99301734e-01 -4.93769609e-04 6.02571965e+00] [ 2.80651638e-02 -5.55338839e-04 9.99605941e-01 3.54764225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.83925415399995 meters Centerline goodness [0,1] 0.9988983751032773 Centerline is valid? [True, True] Translation: X:387.87, Y:6.03, Z:3.55 [[ 9.98909512e-01 -3.72896664e-02 -2.80939125e-02 3.87866038e+02] [ 3.72902795e-02 9.99304349e-01 -5.02277061e-04 6.02844657e+00] [ 2.80930987e-02 -5.45900516e-04 9.99605162e-01 3.55041342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.869254154 meters Centerline goodness [0,1] 0.998983180104224 Centerline is valid? [True, True] Translation: X:387.89, Y:6.03, Z:3.55 [[ 9.98946390e-01 -3.66857618e-02 -2.75728826e-02 3.87894585e+02] [ 3.66859184e-02 9.99326720e-01 -5.00357826e-04 6.03081347e+00] [ 2.75726743e-02 -5.11705876e-04 9.99619671e-01 3.55355599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.89925415399995 meters Centerline goodness [0,1] 0.9988165680473373 Centerline is valid? [True, True] Translation: X:387.92, Y:6.03, Z:3.55 [[ 9.98957366e-01 -3.65003187e-02 -2.74209192e-02 3.87922099e+02] [ 3.65002918e-02 9.99333516e-01 -5.01679346e-04 6.02813172e+00] [ 2.74209551e-02 -4.99715274e-04 9.99623850e-01 3.55149046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.929254154 meters Centerline goodness [0,1] 0.9989423361678724 Centerline is valid? [True, True] Translation: X:387.95, Y:6.03, Z:3.56 [[ 9.98950520e-01 -3.66662079e-02 -2.74490111e-02 3.87950472e+02] [ 3.66660906e-02 9.99327444e-01 -5.07760280e-04 6.03171733e+00] [ 2.74491678e-02 -4.99220534e-04 9.99623076e-01 3.55572368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.95925415399995 meters Centerline goodness [0,1] 0.9989445241915055 Centerline is valid? [True, True] Translation: X:387.98, Y:6.03, Z:3.56 [[ 9.98934134e-01 -3.69517495e-02 -2.76615958e-02 3.87978749e+02] [ 3.69516253e-02 9.99316922e-01 -5.15830707e-04 6.03121121e+00] [ 2.76617617e-02 -5.06860025e-04 9.99617212e-01 3.55567468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9892541539999 meters Centerline goodness [0,1] 0.9990705730761918 Centerline is valid? [True, True] Translation: X:388.01, Y:6.03, Z:3.56 [[ 9.98857389e-01 -3.83411983e-02 -2.85283804e-02 3.88007391e+02] [ 3.83414656e-02 9.99264551e-01 -5.37854825e-04 6.03056877e+00] [ 2.85280213e-02 -5.56579650e-04 9.99592838e-01 3.55678051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.01925415399995 meters Centerline goodness [0,1] 0.9991348933386787 Centerline is valid? [True, True] Translation: X:388.04, Y:6.03, Z:3.56 [[ 9.98819883e-01 -3.92623087e-02 -2.85886906e-02 3.88036105e+02] [ 3.92627426e-02 9.99228772e-01 -5.46387804e-04 6.02963582e+00] [ 2.85880947e-02 -5.76727398e-04 9.99591111e-01 3.55690280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0492541539999 meters Centerline goodness [0,1] 0.9988835053718138 Centerline is valid? [True, True] Translation: X:388.06, Y:6.03, Z:3.56 [[ 9.98724860e-01 -4.10992140e-02 -2.93173719e-02 3.88064482e+02] [ 4.11003348e-02 9.99154865e-01 -5.64629762e-04 6.02764855e+00] [ 2.93158006e-02 -6.41044023e-04 9.99569994e-01 3.55728803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07925415399995 meters Centerline goodness [0,1] 0.9988830818511337 Centerline is valid? [True, True] Translation: X:388.09, Y:6.03, Z:3.56 [[ 9.98664028e-01 -4.20091579e-02 -3.00897065e-02 3.88092111e+02] [ 4.20106679e-02 9.99116993e-01 -5.82282626e-04 6.02584718e+00] [ 3.00875983e-02 -6.82583957e-04 9.99547033e-01 3.55660099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1092541539999 meters Centerline goodness [0,1] 0.9988197605800033 Centerline is valid? [True, True] Translation: X:388.12, Y:6.03, Z:3.56 [[ 9.98601088e-01 -4.29848038e-02 -3.07924167e-02 3.88120972e+02] [ 4.29866522e-02 9.99075465e-01 -6.02265956e-04 6.02658645e+00] [ 3.07898363e-02 -7.22239467e-04 9.99525620e-01 3.55784266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13925415399996 meters Centerline goodness [0,1] 0.99909351547348 Centerline is valid? [True, True] Translation: X:388.15, Y:6.02, Z:3.56 [[ 9.98548399e-01 -4.30858992e-02 -3.23218117e-02 3.88148750e+02] [ 4.30878402e-02 9.99071085e-01 -6.36790915e-04 6.02490626e+00] [ 3.23192242e-02 -7.56810509e-04 9.99477311e-01 3.55707937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16925415399993 meters Centerline goodness [0,1] 0.9986497890295358 Centerline is valid? [True, True] Translation: X:388.18, Y:6.03, Z:3.56 [[ 9.98521516e-01 -4.31724680e-02 -3.30290718e-02 3.88177079e+02] [ 4.31743151e-02 9.99067338e-01 -6.57605433e-04 6.02637961e+00] [ 3.30266573e-02 -7.69374377e-04 9.99454175e-01 3.55822676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19925415399996 meters Centerline goodness [0,1] 0.9989234146753356 Centerline is valid? [True, True] Translation: X:388.20, Y:6.03, Z:3.56 [[ 9.98515720e-01 -4.30241446e-02 -3.33957953e-02 3.88203570e+02] [ 4.30257688e-02 9.99073738e-01 -6.70337542e-04 6.02618494e+00] [ 3.33937027e-02 -7.67537194e-04 9.99441980e-01 3.55799472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22925415399993 meters Centerline goodness [0,1] 0.9990716124403933 Centerline is valid? [True, True] Translation: X:388.23, Y:6.03, Z:3.56 [[ 9.98486413e-01 -4.28555393e-02 -3.44715298e-02 3.88231556e+02] [ 4.28570073e-02 9.99080974e-01 -6.96645759e-04 6.02523795e+00] [ 3.44697047e-02 -7.81755280e-04 9.99405437e-01 3.55757027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25925415399996 meters Centerline goodness [0,1] 0.9988656177131693 Centerline is valid? [True, True] Translation: X:388.26, Y:6.03, Z:3.56 [[ 9.98483994e-01 -4.29316500e-02 -3.44468619e-02 3.88259689e+02] [ 4.29328711e-02 9.99077711e-01 -7.04563330e-04 6.02547215e+00] [ 3.44453399e-02 -7.75407470e-04 9.99406282e-01 3.55801979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28925415399993 meters Centerline goodness [0,1] 0.9988826580090231 Centerline is valid? [True, True] Translation: X:388.29, Y:6.03, Z:3.56 [[ 9.98514501e-01 -4.22668719e-02 -3.43846404e-02 3.88288231e+02] [ 4.22673860e-02 9.99106081e-01 -7.12261845e-04 6.02693427e+00] [ 3.43840084e-02 -7.42145088e-04 9.99408420e-01 3.56041479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31925415399996 meters Centerline goodness [0,1] 0.9991338699114858 Centerline is valid? [True, True] Translation: X:388.32, Y:6.03, Z:3.56 [[ 9.98578282e-01 -4.12328310e-02 -3.37826643e-02 3.88317334e+02] [ 4.12324458e-02 9.99149330e-01 -7.08369998e-04 6.02857336e+00] [ 3.37831345e-02 -6.85578981e-04 9.99428952e-01 3.56201075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34925415399994 meters Centerline goodness [0,1] 0.9988410805343673 Centerline is valid? [True, True] Translation: X:388.35, Y:6.03, Z:3.56 [[ 9.98672018e-01 -3.96284940e-02 -3.29208527e-02 3.88345920e+02] [ 3.96269826e-02 9.99214298e-01 -6.98620278e-04 6.02990465e+00] [ 3.29226720e-02 -6.06861532e-04 9.99457718e-01 3.56261085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37925415399997 meters Centerline goodness [0,1] 0.9988174427198817 Centerline is valid? [True, True] Translation: X:388.38, Y:6.03, Z:3.56 [[ 9.98768231e-01 -3.72900674e-02 -3.27333470e-02 3.88375114e+02] [ 3.72870601e-02 9.99304349e-01 -7.02508307e-04 6.03169277e+00] [ 3.27367726e-02 -5.18887299e-04 9.99463874e-01 3.56361502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40925415399994 meters Centerline goodness [0,1] 0.9990287572315358 Centerline is valid? [True, True] Translation: X:388.40, Y:6.03, Z:3.57 [[ 9.98997698e-01 -3.15826769e-02 -3.17196232e-02 3.88402645e+02] [ 3.15768451e-02 9.99501092e-01 -6.84892574e-04 6.03490342e+00] [ 3.17254287e-02 -3.17399522e-04 9.99496571e-01 3.56501017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43925415399997 meters Centerline goodness [0,1] 0.9990712989151083 Centerline is valid? [True, True] Translation: X:388.43, Y:6.04, Z:3.57 [[ 9.99103711e-01 -2.87104261e-02 -3.11044346e-02 3.88431182e+02] [ 2.87032342e-02 9.99587748e-01 -6.77789833e-04 6.03683976e+00] [ 3.11110713e-02 -2.15615533e-04 9.99515910e-01 3.56527306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46925415399994 meters Centerline goodness [0,1] 0.9989842559674962 Centerline is valid? [True, True] Translation: X:388.46, Y:6.04, Z:3.57 [[ 9.99234218e-01 -2.45412722e-02 -3.04746230e-02 3.88459807e+02] [ 2.45321991e-02 9.99698815e-01 -6.71637907e-04 6.03906532e+00] [ 3.04819273e-02 -7.64859399e-05 9.99535315e-01 3.56660276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49925415399997 meters Centerline goodness [0,1] 0.9990254443761785 Centerline is valid? [True, True] Translation: X:388.49, Y:6.04, Z:3.57 [[ 9.99254085e-01 -2.35392134e-02 -3.06133711e-02 3.88487958e+02] [ 2.35293244e-02 9.99722914e-01 -6.83276970e-04 6.03954397e+00] [ 3.06209724e-02 -3.75446377e-05 9.99531067e-01 3.56727377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.52925415399994 meters Centerline goodness [0,1] 0.9992374335402148 Centerline is valid? [True, True] Translation: X:388.51, Y:6.04, Z:3.57 [[ 9.99264800e-01 -2.30335291e-02 -3.06482685e-02 3.88514390e+02] [ 2.30231419e-02 9.99734693e-01 -6.91812197e-04 6.03952506e+00] [ 3.06560721e-02 -1.43158574e-05 9.99529992e-01 3.56642038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.559254154 meters Centerline goodness [0,1] 0.9991560113094484 Centerline is valid? [True, True] Translation: X:388.54, Y:6.04, Z:3.57 [[ 9.99240855e-01 -2.39441567e-02 -3.07309471e-02 3.88541580e+02] [ 2.39339453e-02 9.99713297e-01 -7.00137658e-04 6.03708158e+00] [ 3.07389007e-02 -3.59066541e-05 9.99527448e-01 3.56527151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.58925415399995 meters Centerline goodness [0,1] 0.9991123322413611 Centerline is valid? [True, True] Translation: X:388.57, Y:6.04, Z:3.57 [[ 9.99196912e-01 -2.54890271e-02 -3.09166657e-02 3.88569436e+02] [ 2.54791810e-02 9.99675099e-01 -7.12454118e-04 6.03559799e+00] [ 3.09247806e-02 -7.58493672e-05 9.99521712e-01 3.56538878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.619254154 meters Centerline goodness [0,1] 0.9991546378679967 Centerline is valid? [True, True] Translation: X:388.60, Y:6.03, Z:3.56 [[ 9.99140939e-01 -2.85375688e-02 -3.00498130e-02 3.88597676e+02] [ 2.85295112e-02 9.99592708e-01 -6.96946903e-04 6.03162916e+00] [ 3.00574631e-02 -1.60958293e-04 9.99548159e-01 3.56458431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.64925415399995 meters Centerline goodness [0,1] 0.9989433196669344 Centerline is valid? [True, True] Translation: X:388.63, Y:6.03, Z:3.56 [[ 9.99088681e-01 -3.05485769e-02 -2.98092638e-02 3.88625184e+02] [ 3.05414639e-02 9.99533260e-01 -6.94005596e-04 6.03005513e+00] [ 2.98165515e-02 -2.17045420e-04 9.99555364e-01 3.56433757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.679254154 meters Centerline goodness [0,1] 0.9988823752688626 Centerline is valid? [True, True] Translation: X:388.65, Y:6.03, Z:3.56 [[ 9.99030732e-01 -3.27869101e-02 -2.93703118e-02 3.88652731e+02] [ 3.27807802e-02 9.99462327e-01 -6.90310380e-04 6.02867779e+00] [ 2.93771534e-02 -2.73140455e-04 9.99568361e-01 3.56465455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.70925415399995 meters Centerline goodness [0,1] 0.9989448805604795 Centerline is valid? [True, True] Translation: X:388.68, Y:6.03, Z:3.56 [[ 9.98975661e-01 -3.47269495e-02 -2.90115238e-02 3.88680876e+02] [ 3.47216593e-02 9.99396786e-01 -6.86251006e-04 6.02705944e+00] [ 2.90178550e-02 -3.21780192e-04 9.99578842e-01 3.56425845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7392541539999 meters Centerline goodness [0,1] 0.9990325972660358 Centerline is valid? [True, True] Translation: X:388.71, Y:6.02, Z:3.56 [[ 9.98807131e-01 -3.98240735e-02 -2.82552346e-02 3.88709631e+02] [ 3.98209401e-02 9.99206605e-01 -6.73798351e-04 6.02274545e+00] [ 2.82596504e-02 -4.52155405e-04 9.99600514e-01 3.56402674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.76925415399995 meters Centerline goodness [0,1] 0.998904802021904 Centerline is valid? [True, True] Translation: X:388.74, Y:6.02, Z:3.56 [[ 9.98721906e-01 -4.21498950e-02 -2.78915952e-02 3.88737916e+02] [ 4.21476399e-02 9.99111169e-01 -6.69004812e-04 6.02045428e+00] [ 2.78950028e-02 -5.07415151e-04 9.99610730e-01 3.56372607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7992541539999 meters Centerline goodness [0,1] 0.998904802021904 Centerline is valid? [True, True] Translation: X:388.77, Y:6.02, Z:3.56 [[ 9.98710152e-01 -4.24275814e-02 -2.78914513e-02 3.88765321e+02] [ 4.24252680e-02 9.99099415e-01 -6.74968906e-04 6.02120248e+00] [ 2.78949700e-02 -5.09203999e-04 9.99610730e-01 3.56398313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.82925415399995 meters Centerline goodness [0,1] 0.9987170589101311 Centerline is valid? [True, True] Translation: X:388.79, Y:6.02, Z:3.57 [[ 9.98501068e-01 -4.79866655e-02 -2.63229422e-02 3.88794582e+02] [ 4.79864456e-02 9.98847782e-01 -6.40402936e-04 6.01912262e+00] [ 2.63233432e-02 -6.23701416e-04 9.99653286e-01 3.56609353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8592541539999 meters Centerline goodness [0,1] 0.9990096923725242 Centerline is valid? [True, True] Translation: X:388.82, Y:6.01, Z:3.56 [[ 9.98400722e-01 -5.05856816e-02 -2.52405731e-02 3.88824495e+02] [ 5.05862891e-02 9.98719505e-01 -6.14853867e-04 6.01438215e+00] [ 2.52393555e-02 -6.62956382e-04 9.99681217e-01 3.56438765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.88925415399996 meters Centerline goodness [0,1] 0.9987365229110512 Centerline is valid? [True, True] Translation: X:388.86, Y:6.01, Z:3.57 [[ 9.98285724e-01 -5.32994215e-02 -2.41823314e-02 3.88855213e+02] [ 5.33007703e-02 9.98578330e-01 -5.89238700e-04 6.01414252e+00] [ 2.41793582e-02 -7.00708310e-04 9.99707391e-01 3.56572347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91925415399993 meters Centerline goodness [0,1] 0.9988844688598429 Centerline is valid? [True, True] Translation: X:388.89, Y:6.01, Z:3.57 [[ 9.98073897e-01 -5.82845543e-02 -2.12463160e-02 3.88886780e+02] [ 5.82867322e-02 9.98299749e-01 -5.17262393e-04 6.01329404e+00] [ 2.12403403e-02 -7.22112239e-04 9.99774138e-01 3.56778748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.94925415399996 meters Centerline goodness [0,1] 0.9988868352516173 Centerline is valid? [True, True] Translation: X:388.92, Y:6.01, Z:3.57 [[ 9.97971432e-01 -6.03811120e-02 -2.01777653e-02 3.88918886e+02] [ 6.03835267e-02 9.98175130e-01 -4.90128104e-04 6.01203955e+00] [ 2.01705379e-02 -7.29270782e-04 9.99796288e-01 3.56820174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97925415399993 meters Centerline goodness [0,1] 0.998822193244437 Centerline is valid? [True, True] Translation: X:388.95, Y:6.01, Z:3.57 [[ 9.97819129e-01 -6.31350961e-02 -1.92599647e-02 3.88949820e+02] [ 6.31378277e-02 9.98004708e-01 -4.66817309e-04 6.00855344e+00] [ 1.92510080e-02 -7.50233090e-04 9.99814401e-01 3.56760740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.00925415399996 meters Centerline goodness [0,1] 0.999051813143977 Centerline is valid? [True, True] Translation: X:388.98, Y:6.01, Z:3.57 [[ 9.97489737e-01 -6.85105749e-02 -1.79032357e-02 3.88981353e+02] [ 6.85138102e-02 9.97650074e-01 -4.33308222e-04 6.00619960e+00] [ 1.78908506e-02 -7.94398388e-04 9.99839630e-01 3.56732855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03925415399993 meters Centerline goodness [0,1] 0.9989885154356759 Centerline is valid? [True, True] Translation: X:389.01, Y:6.01, Z:3.57 [[ 9.97297088e-01 -7.13032515e-02 -1.77303557e-02 3.89012592e+02] [ 7.13068762e-02 9.97454333e-01 -4.28484455e-04 6.00599523e+00] [ 1.77157724e-02 -8.36969980e-04 9.99842713e-01 3.56707875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06925415399996 meters Centerline goodness [0,1] 0.998864401076716 Centerline is valid? [True, True] Translation: X:389.04, Y:6.00, Z:3.56 [[ 9.96887746e-01 -7.68220841e-02 -1.76971352e-02 3.89042572e+02] [ 7.68265661e-02 9.97044380e-01 -4.27465138e-04 5.99767844e+00] [ 1.76776680e-02 -9.33475369e-04 9.99843302e-01 3.56485389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09925415399994 meters Centerline goodness [0,1] 0.9989900690119509 Centerline is valid? [True, True] Translation: X:389.07, Y:6.00, Z:3.57 [[ 9.96700651e-01 -7.92636273e-02 -1.74667972e-02 3.89073253e+02] [ 7.92683672e-02 9.96853223e-01 -4.21890605e-04 6.00420447e+00] [ 1.74452737e-02 -9.64065853e-04 9.99847355e-01 3.56603215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12925415399997 meters Centerline goodness [0,1] 0.9985904529484779 Centerline is valid? [True, True] Translation: X:389.10, Y:5.99, Z:3.56 [[ 9.96541323e-01 -8.13399472e-02 -1.70060073e-02 3.89104461e+02] [ 8.13447491e-02 9.96685940e-01 -4.10311717e-04 5.98943200e+00] [ 1.69830231e-02 -9.74456817e-04 9.99855303e-01 3.56400587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15925415399994 meters Centerline goodness [0,1] 0.9991145405097717 Centerline is valid? [True, True] Translation: X:389.14, Y:6.01, Z:3.57 [[ 9.96436486e-01 -8.27284794e-02 -1.64416796e-02 3.89136063e+02] [ 8.27331704e-02 9.96571656e-01 -3.95832415e-04 6.00558535e+00] [ 1.64180584e-02 -9.65850417e-04 9.99864748e-01 3.56636999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18925415399997 meters Centerline goodness [0,1] 0.9990735866933361 Centerline is valid? [True, True] Translation: X:389.17, Y:6.00, Z:3.57 [[ 9.96347197e-01 -8.39849172e-02 -1.54530546e-02 3.89166884e+02] [ 8.39892252e-02 9.96466594e-01 -3.71142893e-04 6.00215528e+00] [ 1.54296231e-02 -9.28102901e-04 9.99880526e-01 3.56582126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21925415399994 meters Centerline goodness [0,1] 0.9993254779621003 Centerline is valid? [True, True] Translation: X:389.20, Y:6.01, Z:3.57 [[ 9.96303122e-01 -8.45805005e-02 -1.50408686e-02 3.89199000e+02] [ 8.45846607e-02 9.96416231e-01 -3.60481698e-04 6.00655095e+00] [ 1.50174553e-02 -9.13077728e-04 9.99886815e-01 3.56582485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24925415399997 meters Centerline goodness [0,1] 0.9991989881956155 Centerline is valid? [True, True] Translation: X:389.23, Y:6.01, Z:3.57 [[ 9.96300950e-01 -8.46138515e-02 -1.49971245e-02 3.89231500e+02] [ 8.46180079e-02 9.96413400e-01 -3.58326507e-04 6.00754628e+00] [ 1.49736552e-02 -9.12025757e-04 9.99887473e-01 3.56550480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27925415399994 meters Centerline goodness [0,1] 0.9990712401055409 Centerline is valid? [True, True] Translation: X:389.26, Y:6.01, Z:3.57 [[ 9.96423113e-01 -8.30528068e-02 -1.55952370e-02 3.89262777e+02] [ 8.30571256e-02 9.96544718e-01 -3.71670896e-04 6.01138997e+00] [ 1.55722194e-02 -9.24954089e-04 9.99878318e-01 3.56537545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.309254154 meters Centerline goodness [0,1] 0.9988367666342371 Centerline is valid? [True, True] Translation: X:389.29, Y:6.01, Z:3.56 [[ 9.96457476e-01 -8.27186844e-02 -1.51696450e-02 3.89294997e+02] [ 8.27227436e-02 9.96572535e-01 -3.60770773e-04 6.01360931e+00] [ 1.51474941e-02 -8.95381924e-04 9.99884869e-01 3.56490558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.33925415399995 meters Centerline goodness [0,1] 0.9989190793099063 Centerline is valid? [True, True] Translation: X:389.33, Y:6.02, Z:3.57 [[ 9.96638160e-01 -8.05480914e-02 -1.49794383e-02 3.89325125e+02] [ 8.05518166e-02 9.96750359e-01 -3.55471884e-04 6.01800147e+00] [ 1.49593931e-02 -8.52344121e-04 9.99887739e-01 3.56526249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.369254154 meters Centerline goodness [0,1] 0.999004764425622 Centerline is valid? [True, True] Translation: X:389.36, Y:6.02, Z:3.57 [[ 9.96729536e-01 -7.94243722e-02 -1.48997243e-02 3.89357299e+02] [ 7.94279411e-02 9.96840548e-01 -3.53014646e-04 6.02125767e+00] [ 1.48806873e-02 -8.31594297e-04 9.99888931e-01 3.56570923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.39925415399995 meters Centerline goodness [0,1] 0.9988532110091743 Centerline is valid? [True, True] Translation: X:389.39, Y:6.03, Z:3.57 [[ 9.96829317e-01 -7.82967982e-02 -1.41747485e-02 3.89389761e+02] [ 7.82999298e-02 9.96929791e-01 -3.34758747e-04 6.02754079e+00] [ 1.41574396e-02 -7.76184479e-04 9.99899477e-01 3.56676901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.429254154 meters Centerline goodness [0,1] 0.9988743522215615 Centerline is valid? [True, True] Translation: X:389.42, Y:6.03, Z:3.57 [[ 9.96997533e-01 -7.64217456e-02 -1.24754454e-02 3.89420328e+02] [ 7.64240357e-02 9.97075363e-01 -2.93754674e-04 6.03223104e+00] [ 1.24614085e-02 -6.60551202e-04 9.99922135e-01 3.56818033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.45925415399995 meters Centerline goodness [0,1] 0.9987702745680059 Centerline is valid? [True, True] Translation: X:389.45, Y:6.04, Z:3.57 [[ 9.97061667e-01 -7.57061611e-02 -1.16880330e-02 3.89452342e+02] [ 7.57081279e-02 9.97129983e-01 -2.74719423e-04 6.03709003e+00] [ 1.16752861e-02 -6.10966889e-04 9.99931655e-01 3.56912572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4892541539999 meters Centerline goodness [0,1] 0.9990861951717103 Centerline is valid? [True, True] Translation: X:389.48, Y:6.04, Z:3.57 [[ 9.97163359e-01 -7.45179382e-02 -1.05977442e-02 3.89483759e+02] [ 7.45194956e-02 9.97219526e-01 -2.48395654e-04 6.03846126e+00] [ 1.05867874e-02 -5.42047507e-04 9.99943811e-01 3.57007118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.51925415399995 meters Centerline goodness [0,1] 0.9988751644806656 Centerline is valid? [True, True] Translation: X:389.51, Y:6.04, Z:3.57 [[ 9.97246665e-01 -7.35366888e-02 -9.56270547e-03 3.89514519e+02] [ 7.35379164e-02 9.97292397e-01 -2.23658807e-04 6.04262903e+00] [ 9.55326059e-03 -4.80178437e-04 9.99954251e-01 3.57064170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5492541539999 meters Centerline goodness [0,1] 0.9992797373159623 Centerline is valid? [True, True] Translation: X:389.55, Y:6.05, Z:3.57 [[ 9.97296840e-01 -7.28573349e-02 -9.53002254e-03 3.89546986e+02] [ 7.28585281e-02 9.97342261e-01 -2.22377860e-04 6.04956801e+00] [ 9.52089608e-03 -4.72566677e-04 9.99954564e-01 3.57080331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57925415399995 meters Centerline goodness [0,1] 0.9989386542135428 Centerline is valid? [True, True] Translation: X:389.58, Y:6.05, Z:3.57 [[ 9.97335877e-01 -7.23669955e-02 -9.17424751e-03 3.89578742e+02] [ 7.23680863e-02 9.97377970e-01 -2.13449848e-04 6.04839439e+00] [ 9.16563908e-03 -4.51041544e-04 9.99957893e-01 3.57101174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6092541539999 meters Centerline goodness [0,1] 0.9991710417242332 Centerline is valid? [True, True] Translation: X:389.61, Y:6.05, Z:3.57 [[ 9.97302960e-01 -7.28247718e-02 -9.13008039e-03 3.89611244e+02] [ 7.28258915e-02 9.97344647e-01 -2.10206238e-04 6.05261965e+00] [ 9.12114502e-03 -4.55266940e-04 9.99958298e-01 3.57071816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63925415399996 meters Centerline goodness [0,1] 0.9992336675394342 Centerline is valid? [True, True] Translation: X:389.64, Y:6.06, Z:3.57 [[ 9.97245102e-01 -7.35743443e-02 -9.43512870e-03 3.89643243e+02] [ 7.35755801e-02 9.97289620e-01 -2.16536640e-04 6.05882543e+00] [ 9.42548746e-03 -4.78254963e-04 9.99955465e-01 3.57060885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66925415399993 meters Centerline goodness [0,1] 0.9993399339933994 Centerline is valid? [True, True] Translation: X:389.67, Y:6.05, Z:3.57 [[ 9.97072768e-01 -7.57154743e-02 -1.06330615e-02 3.89674488e+02] [ 7.57171743e-02 9.97129305e-01 -2.43172911e-04 6.05458231e+00] [ 1.06209491e-02 -5.62644281e-04 9.99943438e-01 3.56956066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69925415399996 meters Centerline goodness [0,1] 0.9992971844784257 Centerline is valid? [True, True] Translation: X:389.71, Y:6.06, Z:3.57 [[ 9.96864747e-01 -7.83097165e-02 -1.13253833e-02 3.89705125e+02] [ 7.83118187e-02 9.96928880e-01 -2.58417763e-04 6.06229446e+00] [ 1.13108383e-02 -6.29303805e-04 9.99935832e-01 3.56956980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72925415399993 meters Centerline goodness [0,1] 0.9989981027903904 Centerline is valid? [True, True] Translation: X:389.74, Y:6.06, Z:3.57 [[ 9.96773442e-01 -7.94936092e-02 -1.11118122e-02 3.89736420e+02] [ 7.94957091e-02 9.96835176e-01 -2.53279014e-04 6.06209966e+00] [ 1.10967793e-02 -6.30879596e-04 9.99938230e-01 3.56952602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75925415399996 meters Centerline goodness [0,1] 0.9995947704054429 Centerline is valid? [True, True] Translation: X:389.77, Y:6.06, Z:3.57 [[ 9.96618730e-01 -8.13149096e-02 -1.17894966e-02 3.89767287e+02] [ 8.13174079e-02 9.96688220e-01 -2.68090572e-04 6.06171161e+00] [ 1.17722521e-02 -6.91507218e-04 9.99930466e-01 3.56970488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78925415399993 meters Centerline goodness [0,1] 0.9994239631336406 Centerline is valid? [True, True] Translation: X:389.80, Y:6.07, Z:3.57 [[ 9.96606745e-01 -8.15190251e-02 -1.13861783e-02 3.89799684e+02] [ 8.15213740e-02 9.96671560e-01 -2.58446590e-04 6.06512428e+00] [ 1.13693484e-02 -6.70647289e-04 9.99935142e-01 3.57018888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81925415399996 meters Centerline goodness [0,1] 0.9995303861506607 Centerline is valid? [True, True] Translation: X:389.83, Y:6.07, Z:3.57 [[ 9.96628984e-01 -8.12103123e-02 -1.16427649e-02 3.89831174e+02] [ 8.12127566e-02 9.96696754e-01 -2.63465539e-04 6.06581828e+00] [ 1.16257021e-02 -6.82963637e-04 9.99932186e-01 3.57074117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84925415399994 meters Centerline goodness [0,1] 0.9994865761043962 Centerline is valid? [True, True] Translation: X:389.86, Y:6.08, Z:3.57 [[ 9.96759880e-01 -7.97126975e-02 -1.07530396e-02 3.89862061e+02] [ 7.97147011e-02 9.96817690e-01 -2.42820363e-04 6.07579871e+00] [ 1.07381760e-02 -6.15141745e-04 9.99942155e-01 3.57184853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87925415399997 meters Centerline goodness [0,1] 0.9994659603101702 Centerline is valid? [True, True] Translation: X:389.89, Y:6.08, Z:3.57 [[ 9.96864337e-01 -7.84690660e-02 -1.02029243e-02 3.89893749e+02] [ 7.84708089e-02 9.96916385e-01 -2.30011418e-04 6.07684482e+00] [ 1.01895112e-02 -5.71341544e-04 9.99947922e-01 3.57247718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90925415399994 meters Centerline goodness [0,1] 0.9994646451668165 Centerline is valid? [True, True] Translation: X:389.92, Y:6.08, Z:3.57 [[ 9.97133324e-01 -7.50883240e-02 -9.32082068e-03 3.89924142e+02] [ 7.50896370e-02 9.97176766e-01 -2.09506685e-04 6.08484141e+00] [ 9.31023733e-03 -4.90990944e-04 9.99956538e-01 3.57341877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93925415399997 meters Centerline goodness [0,1] 0.9997860504920839 Centerline is valid? [True, True] Translation: X:389.96, Y:6.09, Z:3.57 [[ 9.97266457e-01 -7.33186416e-02 -9.16460353e-03 3.89955370e+02] [ 7.33198360e-02 9.97308457e-01 -2.06042657e-04 6.08551946e+00] [ 9.15504338e-03 -4.66467797e-04 9.99957983e-01 3.57381110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96925415399994 meters Centerline goodness [0,1] 0.9995504463425599 Centerline is valid? [True, True] Translation: X:389.99, Y:6.09, Z:3.57 [[ 9.97407401e-01 -7.14388225e-02 -8.65855667e-03 3.89987094e+02] [ 7.14398356e-02 9.97444892e-01 -1.92618139e-04 6.08857909e+00] [ 8.65019353e-03 -4.26447108e-04 9.99962495e-01 3.57402025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99925415399997 meters Centerline goodness [0,1] 0.9994644387317909 Centerline is valid? [True, True] Translation: X:390.02, Y:6.09, Z:3.57 [[ 9.97532034e-01 -6.97102486e-02 -8.38581153e-03 3.90019698e+02] [ 6.97111413e-02 9.97567202e-01 -1.86151433e-04 6.09197092e+00] [ 8.37838721e-03 -3.98892475e-04 9.99964821e-01 3.57441684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.02925415399994 meters Centerline goodness [0,1] 0.9996785461714849 Centerline is valid? [True, True] Translation: X:390.05, Y:6.10, Z:3.58 [[ 9.97710313e-01 -6.70867288e-02 -8.57336794e-03 3.90051166e+02] [ 6.70875723e-02 9.97747073e-01 -1.89485765e-04 6.09724796e+00] [ 8.56676474e-03 -3.86114539e-04 9.99963230e-01 3.57514284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.059254154 meters Centerline goodness [0,1] 0.9996136427053597 Centerline is valid? [True, True] Translation: X:390.08, Y:6.10, Z:3.58 [[ 9.97778195e-01 -6.61162611e-02 -8.20449418e-03 3.90083166e+02] [ 6.61170028e-02 9.97811861e-01 -1.81093763e-04 6.10029579e+00] [ 8.19851484e-03 -3.61765157e-04 9.99966326e-01 3.57545369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.08925415399995 meters Centerline goodness [0,1] 0.9998069953464434 Centerline is valid? [True, True] Translation: X:390.11, Y:6.10, Z:3.58 [[ 9.97835135e-01 -6.52375525e-02 -8.31292492e-03 3.90114085e+02] [ 6.52382880e-02 9.97869697e-01 -1.82951051e-04 6.09862325e+00] [ 8.30715115e-03 -3.59766003e-04 9.99965430e-01 3.57566895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.119254154 meters Centerline goodness [0,1] 0.9998711063372717 Centerline is valid? [True, True] Translation: X:390.15, Y:6.11, Z:3.57 [[ 9.97837642e-01 -6.49849481e-02 -9.84868126e-03 3.90146084e+02] [ 6.49859842e-02 9.97886154e-01 -2.15117050e-04 6.10544122e+00] [ 9.84184203e-03 -4.25374355e-04 9.99951477e-01 3.57472146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.14925415399995 meters Centerline goodness [0,1] 0.999849772512662 Centerline is valid? [True, True] Translation: X:390.18, Y:6.10, Z:3.57 [[ 9.97847594e-01 -6.47220101e-02 -1.05470697e-02 3.90178131e+02] [ 6.47231950e-02 9.97903230e-01 -2.29303027e-04 6.10366001e+00] [ 1.05397959e-02 -4.53830575e-04 9.99944352e-01 3.57403304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.179254154 meters Centerline goodness [0,1] 0.9998067715825407 Centerline is valid? [True, True] Translation: X:390.21, Y:6.11, Z:3.57 [[ 9.97820629e-01 -6.48293985e-02 -1.22939420e-02 3.90210391e+02] [ 6.48310563e-02 9.97896219e-01 -2.64057089e-04 6.10790832e+00] [ 1.22851969e-02 -5.33547637e-04 9.99924392e-01 3.57302401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.20925415399995 meters Centerline goodness [0,1] 0.9998926670101322 Centerline is valid? [True, True] Translation: X:390.24, Y:6.11, Z:3.57 [[ 9.97829489e-01 -6.45792520e-02 -1.28775656e-02 3.90242813e+02] [ 6.45810721e-02 9.97912426e-01 -2.74890758e-04 6.10655346e+00] [ 1.28684350e-02 -5.57352887e-04 9.99917043e-01 3.57257184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2392541539999 meters Centerline goodness [0,1] 0.9996775164466613 Centerline is valid? [True, True] Translation: X:390.27, Y:6.11, Z:3.57 [[ 9.97844751e-01 -6.41555435e-02 -1.37811040e-02 3.90274599e+02] [ 6.41576304e-02 9.97939735e-01 -2.91077625e-04 6.11010303e+00] [ 1.37713855e-02 -5.93712698e-04 9.99904994e-01 3.57264900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.26925415399995 meters Centerline goodness [0,1] 0.9995700681441991 Centerline is valid? [True, True] Translation: X:390.31, Y:6.11, Z:3.57 [[ 9.97916441e-01 -6.27820806e-02 -1.48723811e-02 3.90305911e+02] [ 6.27843744e-02 9.98027066e-01 -3.13083691e-04 6.11201757e+00] [ 1.48626949e-02 -6.21321780e-04 9.99889351e-01 3.57199457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2992541539999 meters Centerline goodness [0,1] 0.9994409924533981 Centerline is valid? [True, True] Translation: X:390.34, Y:6.11, Z:3.57 [[ 9.97998373e-01 -6.13957662e-02 -1.51593727e-02 3.90337674e+02] [ 6.13980039e-02 9.98113312e-01 -3.18184230e-04 6.11431027e+00] [ 1.51503069e-02 -6.13207883e-04 9.99885039e-01 3.57216625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.32925415399995 meters Centerline goodness [0,1] 0.999505269950527 Centerline is valid? [True, True] Translation: X:390.37, Y:6.12, Z:3.57 [[ 9.98089143e-01 -5.99266942e-02 -1.50616571e-02 3.90369581e+02] [ 5.99287525e-02 9.98202607e-01 -3.15045206e-04 6.11678081e+00] [ 1.50534650e-02 -5.88183122e-04 9.99886517e-01 3.57266392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3592541539999 meters Centerline goodness [0,1] 0.9994405474028489 Centerline is valid? [True, True] Translation: X:390.40, Y:6.12, Z:3.57 [[ 9.98292624e-01 -5.66937777e-02 -1.40588965e-02 3.90400557e+02] [ 5.66952622e-02 9.98391487e-01 -2.93263386e-04 6.11901774e+00] [ 1.40529088e-02 -5.04310149e-04 9.99901126e-01 3.57353247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.38925415399996 meters Centerline goodness [0,1] 0.9994174254520347 Centerline is valid? [True, True] Translation: X:390.43, Y:6.12, Z:3.57 [[ 9.98392340e-01 -5.50750388e-02 -1.33968488e-02 3.90432481e+02] [ 5.50762494e-02 9.98482113e-01 -2.78843510e-04 6.12187308e+00] [ 1.33918712e-02 -4.59452963e-04 9.99910219e-01 3.57458179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41925415399993 meters Centerline goodness [0,1] 0.9993089746911981 Centerline is valid? [True, True] Translation: X:390.46, Y:6.13, Z:3.58 [[ 9.98498322e-01 -5.32542331e-02 -1.28486113e-02 3.90464358e+02] [ 5.32552074e-02 9.98580899e-01 -2.66542288e-04 6.12518887e+00] [ 1.28445723e-02 -4.18113431e-04 9.99917418e-01 3.57589794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.44925415399996 meters Centerline goodness [0,1] 0.999417337447938 Centerline is valid? [True, True] Translation: X:390.50, Y:6.13, Z:3.58 [[ 9.98617414e-01 -5.14577450e-02 -1.07406486e-02 3.90496453e+02] [ 5.14583292e-02 9.98675118e-01 -2.22145678e-04 6.12872830e+00] [ 1.07378496e-02 -3.30857290e-04 9.99942293e-01 3.57783921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47925415399993 meters Centerline goodness [0,1] 0.999545837929021 Centerline is valid? [True, True] Translation: X:390.53, Y:6.13, Z:3.58 [[ 9.98679494e-01 -5.03480739e-02 -1.02146380e-02 3.90528392e+02] [ 5.03485515e-02 9.98731685e-01 -2.10554241e-04 6.13083303e+00] [ 1.02122836e-02 -3.04016024e-04 9.99947807e-01 3.57848914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.50925415399996 meters Centerline goodness [0,1] 0.9994805194805195 Centerline is valid? [True, True] Translation: X:390.56, Y:6.13, Z:3.58 [[ 9.98724498e-01 -4.95013300e-02 -9.94962729e-03 3.90559930e+02] [ 4.95017482e-02 9.98774016e-01 -2.04388058e-04 6.13088940e+00] [ 9.94754669e-03 -2.88396584e-04 9.99950480e-01 3.57867800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53925415399993 meters Centerline goodness [0,1] 0.9994600082078753 Centerline is valid? [True, True] Translation: X:390.59, Y:6.13, Z:3.58 [[ 9.98771121e-01 -4.85086740e-02 -1.01565632e-02 3.90591704e+02] [ 4.85090644e-02 9.98822721e-01 -2.08057886e-04 6.13270093e+00] [ 1.01546987e-02 -2.84883168e-04 9.99948399e-01 3.57853901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56925415399996 meters Centerline goodness [0,1] 0.9993299760088183 Centerline is valid? [True, True] Translation: X:390.62, Y:6.13, Z:3.58 [[ 9.98774078e-01 -4.83856409e-02 -1.04485212e-02 3.90624638e+02] [ 4.83860558e-02 9.98828686e-01 -2.13219921e-04 6.13352588e+00] [ 1.04465995e-02 -2.92604200e-04 9.99945390e-01 3.57847460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59925415399994 meters Centerline goodness [0,1] 0.9993533507210139 Centerline is valid? [True, True] Translation: X:390.66, Y:6.13, Z:3.58 [[ 9.98774891e-01 -4.83038425e-02 -1.07450007e-02 3.90656996e+02] [ 4.83042894e-02 9.98832643e-01 -2.18086428e-04 6.13198586e+00] [ 1.07429918e-02 -3.01210373e-04 9.99942247e-01 3.57845051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62925415399997 meters Centerline goodness [0,1] 0.9992439461689673 Centerline is valid? [True, True] Translation: X:390.69, Y:6.13, Z:3.58 [[ 9.98761610e-01 -4.85334879e-02 -1.09428954e-02 3.90689286e+02] [ 4.85339759e-02 9.98821508e-01 -2.21118094e-04 6.13447961e+00] [ 1.09407309e-02 -3.10257956e-04 9.99940100e-01 3.57831491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65925415399994 meters Centerline goodness [0,1] 0.999287795403043 Centerline is valid? [True, True] Translation: X:390.72, Y:6.13, Z:3.58 [[ 9.98689692e-01 -4.99047536e-02 -1.13320012e-02 3.90720025e+02] [ 4.99053741e-02 9.98753924e-01 -2.28187877e-04 6.13165534e+00] [ 1.13292684e-02 -3.37638880e-04 9.99935765e-01 3.57752964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68925415399997 meters Centerline goodness [0,1] 0.999287795403043 Centerline is valid? [True, True] Translation: X:390.75, Y:6.13, Z:3.58 [[ 9.98695169e-01 -4.97950293e-02 -1.13320125e-02 3.90752577e+02] [ 4.97956491e-02 9.98759401e-01 -2.27625699e-04 6.13222014e+00] [ 1.13292887e-02 -3.36956235e-04 9.99935765e-01 3.57783452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71925415399994 meters Centerline goodness [0,1] 0.9992444521198515 Centerline is valid? [True, True] Translation: X:390.78, Y:6.13, Z:3.58 [[ 9.98695434e-01 -4.98139721e-02 -1.12248586e-02 3.90784431e+02] [ 4.98145947e-02 9.98758457e-01 -2.24284415e-04 6.13003789e+00] [ 1.12220949e-02 -3.35169961e-04 9.99936974e-01 3.57733227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74925415399997 meters Centerline goodness [0,1] 0.9992656904669345 Centerline is valid? [True, True] Translation: X:390.82, Y:6.13, Z:3.58 [[ 9.98576532e-01 -5.19465375e-02 -1.21023197e-02 3.90816310e+02] [ 5.19474314e-02 9.98649792e-01 -2.40697176e-04 6.12995784e+00] [ 1.20984825e-02 -3.88329874e-04 9.99926735e-01 3.57747383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77925415399994 meters Centerline goodness [0,1] 0.9993508741561364 Centerline is valid? [True, True] Translation: X:390.85, Y:6.13, Z:3.58 [[ 9.98548227e-01 -5.24766560e-02 -1.21507155e-02 3.90847129e+02] [ 5.24776064e-02 9.98622072e-01 -2.40818289e-04 6.12845783e+00] [ 1.21466100e-02 -3.97171789e-04 9.99926148e-01 3.57758396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.809254154 meters Centerline goodness [0,1] 0.9993304246403732 Centerline is valid? [True, True] Translation: X:390.88, Y:6.13, Z:3.58 [[ 9.98521297e-01 -5.30644648e-02 -1.18060322e-02 3.90879615e+02] [ 5.30654110e-02 9.98591011e-01 -2.33316175e-04 6.12658828e+00] [ 1.18017784e-02 -3.93520780e-04 9.99930279e-01 3.57746470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.83925415399995 meters Centerline goodness [0,1] 0.9993954833973833 Centerline is valid? [True, True] Translation: X:390.91, Y:6.13, Z:3.58 [[ 9.98510158e-01 -5.33086699e-02 -1.16468506e-02 3.90911471e+02] [ 5.33096169e-02 9.98578005e-01 -2.29344727e-04 6.12637216e+00] [ 1.16425149e-02 -3.91886104e-04 9.99932147e-01 3.57772659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.869254154 meters Centerline goodness [0,1] 0.9993530160236365 Centerline is valid? [True, True] Translation: X:390.94, Y:6.13, Z:3.58 [[ 9.98505276e-01 -5.34403914e-02 -1.14602774e-02 3.90942432e+02] [ 5.34413259e-02 9.98570966e-01 -2.24897214e-04 6.12560791e+00] [ 1.14559189e-02 -3.87891366e-04 9.99934304e-01 3.57783578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.89925415399995 meters Centerline goodness [0,1] 0.9992260893866758 Centerline is valid? [True, True] Translation: X:390.97, Y:6.12, Z:3.58 [[ 9.98540759e-01 -5.27768714e-02 -1.14435241e-02 3.90974392e+02] [ 5.27777670e-02 9.98606257e-01 -2.23921996e-04 6.12489562e+00] [ 1.14393926e-02 -3.80368407e-04 9.99934496e-01 3.57796240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.929254154 meters Centerline goodness [0,1] 0.9993343639955338 Centerline is valid? [True, True] Translation: X:391.01, Y:6.12, Z:3.58 [[ 9.98553800e-01 -5.24311405e-02 -1.18862831e-02 3.91005711e+02] [ 5.24320921e-02 9.98624465e-01 -2.31767237e-04 6.12429263e+00] [ 1.18820849e-02 -3.91790633e-04 9.99929329e-01 3.57785874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.95925415399995 meters Centerline goodness [0,1] 0.9994202151645944 Centerline is valid? [True, True] Translation: X:391.04, Y:6.12, Z:3.58 [[ 9.98592864e-01 -5.16672941e-02 -1.19491928e-02 3.91038081e+02] [ 5.16682092e-02 9.98664279e-01 -2.32319726e-04 6.12441762e+00] [ 1.19452353e-02 -3.85400573e-04 9.99928579e-01 3.57752575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9892541539999 meters Centerline goodness [0,1] 0.999269225809225 Centerline is valid? [True, True] Translation: X:391.07, Y:6.12, Z:3.58 [[ 9.98618844e-01 -5.09192341e-02 -1.29474105e-02 3.91070147e+02] [ 5.09202579e-02 9.98702691e-01 -2.50778517e-04 6.12448786e+00] [ 1.29433831e-02 -4.08853328e-04 9.99916147e-01 3.57733213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.01925415399995 meters Centerline goodness [0,1] 0.999226039471987 Centerline is valid? [True, True] Translation: X:391.10, Y:6.13, Z:3.58 [[ 9.98719988e-01 -4.86321189e-02 -1.39033656e-02 3.91102580e+02] [ 4.86330923e-02 9.98816675e-01 -2.68283011e-04 6.12744028e+00] [ 1.38999606e-02 -4.08224059e-04 9.99903308e-01 3.57697652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0492541539999 meters Centerline goodness [0,1] 0.9992262224610424 Centerline is valid? [True, True] Translation: X:391.13, Y:6.13, Z:3.58 [[ 9.98793908e-01 -4.69945911e-02 -1.42210225e-02 3.91134444e+02] [ 4.69954582e-02 9.98895066e-01 -2.73386180e-04 6.13024435e+00] [ 1.42181569e-02 -3.95267018e-04 9.99898839e-01 3.57722420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07925415399995 meters Centerline goodness [0,1] 0.9993756727664155 Centerline is valid? [True, True] Translation: X:391.17, Y:6.13, Z:3.58 [[ 9.98880927e-01 -4.49623579e-02 -1.46724283e-02 3.91165421e+02] [ 4.49630762e-02 9.98988610e-01 -2.81083443e-04 6.13187387e+00] [ 1.46702270e-02 -3.78948624e-04 9.99892315e-01 3.57743335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1092541539999 meters Centerline goodness [0,1] 0.9992470851439142 Centerline is valid? [True, True] Translation: X:391.20, Y:6.14, Z:3.58 [[ 9.99102242e-01 -3.96953220e-02 -1.47983612e-02 3.91197020e+02] [ 3.96954870e-02 9.99211784e-01 -2.82699694e-04 6.13606087e+00] [ 1.47979187e-02 -3.04982255e-04 9.99890458e-01 3.57805376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13925415399996 meters Centerline goodness [0,1] 0.9994393651888908 Centerline is valid? [True, True] Translation: X:391.23, Y:6.14, Z:3.58 [[ 9.99222095e-01 -3.66622249e-02 -1.45287936e-02 3.91229576e+02] [ 3.66620773e-02 9.99327682e-01 -2.76590037e-04 6.13949188e+00] [ 1.45291660e-02 -2.56280876e-04 9.99894413e-01 3.57901106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16925415399993 meters Centerline goodness [0,1] 0.9992683451689262 Centerline is valid? [True, True] Translation: X:391.26, Y:6.14, Z:3.58 [[ 9.99340532e-01 -3.34517897e-02 -1.41236742e-02 3.91260499e+02] [ 3.34513451e-02 9.99440311e-01 -2.67788495e-04 6.14089445e+00] [ 1.41247273e-02 -2.04844001e-04 9.99900220e-01 3.57917390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19925415399996 meters Centerline goodness [0,1] 0.9992020186770764 Centerline is valid? [True, True] Translation: X:391.29, Y:6.14, Z:3.58 [[ 9.99441738e-01 -3.05574858e-02 -1.35074939e-02 3.91292341e+02] [ 3.05568254e-02 9.99532999e-01 -2.55313140e-04 6.14330068e+00] [ 1.35089876e-02 -1.57575526e-04 9.99908737e-01 3.58011329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22925415399993 meters Centerline goodness [0,1] 0.9995470232959448 Centerline is valid? [True, True] Translation: X:391.32, Y:6.15, Z:3.58 [[ 9.99553921e-01 -2.73019575e-02 -1.21062672e-02 3.91324195e+02] [ 2.73011983e-02 9.99627227e-01 -2.28008287e-04 6.14543341e+00] [ 1.21079794e-02 -1.02609023e-04 9.99926690e-01 3.58280273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25925415399996 meters Centerline goodness [0,1] 0.9993524714008202 Centerline is valid? [True, True] Translation: X:391.36, Y:6.15, Z:3.58 [[ 9.99581598e-01 -2.65772351e-02 -1.14139662e-02 3.91356344e+02] [ 2.65765220e-02 9.99646759e-01 -2.14171081e-04 6.14610429e+00] [ 1.14156264e-02 -8.92620514e-05 9.99934836e-01 3.58381611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28925415399993 meters Centerline goodness [0,1] 0.9993096008629989 Centerline is valid? [True, True] Translation: X:391.39, Y:6.15, Z:3.58 [[ 9.99581002e-01 -2.66880863e-02 -1.12056869e-02 3.91388951e+02] [ 2.66874150e-02 9.99643806e-01 -2.09454976e-04 6.14607112e+00] [ 1.12072854e-02 -8.96836011e-05 9.99937192e-01 3.58444685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31925415399996 meters Centerline goodness [0,1] 0.999376209937621 Centerline is valid? [True, True] Translation: X:391.42, Y:6.14, Z:3.58 [[ 9.99552136e-01 -2.75534305e-02 -1.16762549e-02 3.91420502e+02] [ 2.75527722e-02 9.99620327e-01 -2.17269227e-04 6.14443070e+00] [ 1.16778082e-02 -1.04541271e-04 9.99931807e-01 3.58447682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34925415399994 meters Centerline goodness [0,1] 0.99935401907797 Centerline is valid? [True, True] Translation: X:391.45, Y:6.14, Z:3.58 [[ 9.99406067e-01 -3.21000188e-02 -1.25340548e-02 3.91453050e+02] [ 3.20996352e-02 9.99484647e-01 -2.31830853e-04 6.14029841e+00] [ 1.25350371e-02 -1.70645426e-04 9.99921419e-01 3.58368266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37925415399997 meters Centerline goodness [0,1] 0.9992275506919859 Centerline is valid? [True, True] Translation: X:391.49, Y:6.14, Z:3.58 [[ 9.99295676e-01 -3.51332870e-02 -1.31834862e-02 3.91485664e+02] [ 3.51331395e-02 9.99382611e-01 -2.42858029e-04 6.13757720e+00] [ 1.31838792e-02 -2.20490280e-04 9.99913065e-01 3.58348146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40925415399994 meters Centerline goodness [0,1] 0.99950556773722 Centerline is valid? [True, True] Translation: X:391.52, Y:6.13, Z:3.58 [[ 9.99167455e-01 -3.84607318e-02 -1.36077125e-02 3.91516461e+02] [ 3.84608945e-02 9.99260075e-01 -2.49827392e-04 6.13438395e+00] [ 1.36072524e-02 -2.73745397e-04 9.99907380e-01 3.58310707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43925415399997 meters Centerline goodness [0,1] 0.9993788420759526 Centerline is valid? [True, True] Translation: X:391.55, Y:6.13, Z:3.58 [[ 9.98845901e-01 -4.56568697e-02 -1.49102910e-02 3.91547176e+02] [ 4.56578731e-02 9.98957098e-01 -2.73276789e-04 6.12726571e+00] [ 1.49072180e-02 -4.07810776e-04 9.99888798e-01 3.58194981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46925415399994 meters Centerline goodness [0,1] 0.999056199056199 Centerline is valid? [True, True] Translation: X:391.58, Y:6.12, Z:3.58 [[ 9.98661470e-01 -4.93061158e-02 -1.56261163e-02 3.91579043e+02] [ 4.93076721e-02 9.98783596e-01 -2.85891116e-04 6.12454485e+00] [ 1.56212048e-02 -4.84978975e-04 9.99877864e-01 3.58152387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49925415399997 meters Centerline goodness [0,1] 0.9993145109464033 Centerline is valid? [True, True] Translation: X:391.61, Y:6.12, Z:3.58 [[ 9.98474529e-01 -5.27024442e-02 -1.64641107e-02 3.91611199e+02] [ 5.27046501e-02 9.98610099e-01 -3.00182770e-04 6.12396465e+00] [ 1.64570475e-02 -5.68010341e-04 9.99864412e-01 3.58185551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.52925415399994 meters Centerline goodness [0,1] 0.9992928015772667 Centerline is valid? [True, True] Translation: X:391.64, Y:6.12, Z:3.58 [[ 9.98125094e-01 -5.87179771e-02 -1.72770455e-02 3.91641068e+02] [ 5.87213263e-02 9.98274365e-01 -3.13821643e-04 6.11849253e+00] [ 1.72656586e-02 -7.01297772e-04 9.99850691e-01 3.58139072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.559254154 meters Centerline goodness [0,1] 0.9989946309011958 Centerline is valid? [True, True] Translation: X:391.67, Y:6.12, Z:3.58 [[ 9.97971707e-01 -6.13114544e-02 -1.71282946e-02 3.91673026e+02] [ 6.13151466e-02 9.98118408e-01 -3.09999451e-04 6.11742214e+00] [ 1.71150727e-02 -7.40853214e-04 9.99853252e-01 3.58144733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.58925415399995 meters Centerline goodness [0,1] 0.9990162321692081 Centerline is valid? [True, True] Translation: X:391.70, Y:6.11, Z:3.58 [[ 9.97834235e-01 -6.36100159e-02 -1.67512586e-02 3.91704144e+02] [ 6.36138886e-02 9.97974540e-01 -3.02096889e-04 6.11409932e+00] [ 1.67365459e-02 -7.64170077e-04 9.99859642e-01 3.58131360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.619254154 meters Centerline goodness [0,1] 0.9989523646626186 Centerline is valid? [True, True] Translation: X:391.74, Y:6.11, Z:3.58 [[ 9.97688739e-01 -6.58954344e-02 -1.65822774e-02 3.91736412e+02] [ 6.58995614e-02 9.97826217e-01 -2.98012974e-04 6.11340072e+00] [ 1.65658688e-02 -7.95440618e-04 9.99862460e-01 3.58154593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.64925415399995 meters Centerline goodness [0,1] 0.9990817655726153 Centerline is valid? [True, True] Translation: X:391.77, Y:6.11, Z:3.58 [[ 9.97424935e-01 -6.99790158e-02 -1.56983037e-02 3.91766749e+02] [ 6.99832289e-02 9.97548128e-01 -2.81477423e-04 6.10750591e+00] [ 1.56795110e-02 -8.17865381e-04 9.99876734e-01 3.58190645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.679254154 meters Centerline goodness [0,1] 0.998958355477137 Centerline is valid? [True, True] Translation: X:391.80, Y:6.11, Z:3.58 [[ 9.97317433e-01 -7.16191056e-02 -1.51209304e-02 3.91798929e+02] [ 7.16232086e-02 9.97431723e-01 -2.70707557e-04 6.10770399e+00] [ 1.51014835e-02 -8.13028186e-04 9.99885636e-01 3.58253032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.70925415399995 meters Centerline goodness [0,1] 0.9989126958746403 Centerline is valid? [True, True] Translation: X:391.83, Y:6.11, Z:3.58 [[ 9.97226159e-01 -7.30013747e-02 -1.45184942e-02 3.91830044e+02] [ 7.30053168e-02 9.97331518e-01 -2.58991935e-04 6.10501264e+00] [ 1.44986586e-02 -8.01653733e-04 9.99894568e-01 3.58230258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7392541539999 meters Centerline goodness [0,1] 0.9987442266351659 Centerline is valid? [True, True] Translation: X:391.86, Y:6.10, Z:3.58 [[ 9.97103486e-01 -7.47420488e-02 -1.40806656e-02 3.91861073e+02] [ 7.47459401e-02 9.97202578e-01 -2.50439858e-04 6.10290524e+00] [ 1.40599945e-02 -8.02758135e-04 9.99900831e-01 3.58279863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.76925415399995 meters Centerline goodness [0,1] 0.9989996168745477 Centerline is valid? [True, True] Translation: X:391.89, Y:6.10, Z:3.58 [[ 9.96945061e-01 -7.68508899e-02 -1.39458491e-02 3.91892542e+02] [ 7.68549217e-02 9.97042256e-01 -2.47385022e-04 6.10223294e+00] [ 1.39236126e-02 -8.25177869e-04 9.99902721e-01 3.58333411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7992541539999 meters Centerline goodness [0,1] 0.9989992121457317 Centerline is valid? [True, True] Translation: X:391.92, Y:6.10, Z:3.58 [[ 9.96888417e-01 -7.76177823e-02 -1.37464369e-02 3.91923959e+02] [ 7.76217800e-02 9.96982848e-01 -2.43287529e-04 6.10014955e+00] [ 1.37238453e-02 -8.24492384e-04 9.99905484e-01 3.58326972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.82925415399995 meters Centerline goodness [0,1] 0.9989145009897197 Centerline is valid? [True, True] Translation: X:391.96, Y:6.10, Z:3.58 [[ 9.96855187e-01 -7.80885767e-02 -1.34874456e-02 3.91956549e+02] [ 7.80924785e-02 9.96946091e-01 -2.37928515e-04 6.09919718e+00] [ 1.34648357e-02 -8.16087783e-04 9.99909012e-01 3.58339647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8592541539999 meters Centerline goodness [0,1] 0.9989790709545686 Centerline is valid? [True, True] Translation: X:391.99, Y:6.10, Z:3.58 [[ 9.96865212e-01 -7.79613355e-02 -1.34825677e-02 3.91988435e+02] [ 7.79652355e-02 9.96956050e-01 -2.36904449e-04 6.09838830e+00] [ 1.34599968e-02 -8.15009758e-04 9.99909078e-01 3.58356752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.88925415399996 meters Centerline goodness [0,1] 0.9989170365022403 Centerline is valid? [True, True] Translation: X:392.02, Y:6.10, Z:3.58 [[ 9.96931735e-01 -7.70478458e-02 -1.38110705e-02 3.92019440e+02] [ 7.70518685e-02 9.97027056e-01 -2.41400488e-04 6.09708312e+00] [ 1.37886103e-02 -8.23508979e-04 9.99904593e-01 3.58295899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91925415399993 meters Centerline goodness [0,1] 0.9988733232711889 Centerline is valid? [True, True] Translation: X:392.05, Y:6.10, Z:3.58 [[ 9.97004145e-01 -7.59997045e-02 -1.43798633e-02 3.92052030e+02] [ 7.60039822e-02 9.97107483e-01 -2.49571102e-04 6.09760943e+00] [ 1.43572367e-02 -8.44103454e-04 9.99896573e-01 3.58250136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.94925415399996 meters Centerline goodness [0,1] 0.9989579567445718 Centerline is valid? [True, True] Translation: X:392.08, Y:6.10, Z:3.58 [[ 9.97064693e-01 -7.50134237e-02 -1.53291729e-02 3.92084634e+02] [ 7.50181939e-02 9.97182130e-01 -2.64403441e-04 6.10489020e+00] [ 1.53058110e-02 -8.86339526e-04 9.99882466e-01 3.58259452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97925415399993 meters Centerline goodness [0,1] 0.9989367131677441 Centerline is valid? [True, True] Translation: X:392.11, Y:6.10, Z:3.58 [[ 9.97267092e-01 -7.19098046e-02 -1.69507582e-02 3.92114390e+02] [ 7.19152140e-02 9.97410706e-01 -2.91000971e-04 6.10057052e+00] [ 1.69277935e-02 -9.28811709e-04 9.99856283e-01 3.58063584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.00925415399996 meters Centerline goodness [0,1] 0.9988497177548195 Centerline is valid? [True, True] Translation: X:392.15, Y:6.11, Z:3.58 [[ 9.97402690e-01 -6.99559403e-02 -1.71476105e-02 3.92145501e+02] [ 6.99611929e-02 9.97549670e-01 -2.94102489e-04 6.10858081e+00] [ 1.71261674e-02 -9.06328674e-04 9.99852926e-01 3.58138946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03925415399993 meters Centerline goodness [0,1] 0.9986979166666666 Centerline is valid? [True, True] Translation: X:392.18, Y:6.10, Z:3.58 [[ 9.97585728e-01 -6.71766386e-02 -1.76072078e-02 3.92176161e+02] [ 6.71817561e-02 9.97740708e-01 -3.01349578e-04 6.10447079e+00] [ 1.75876717e-02 -8.82261104e-04 9.99844936e-01 3.58070484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06925415399996 meters Centerline goodness [0,1] 0.9988458085752148 Centerline is valid? [True, True] Translation: X:392.21, Y:6.12, Z:3.58 [[ 9.98022343e-01 -6.04182079e-02 -1.73505926e-02 3.92206797e+02] [ 6.04221635e-02 9.98172868e-01 -2.96629283e-04 6.11738669e+00] [ 1.73368126e-02 -7.52317691e-04 9.99849423e-01 3.58256167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09925415399994 meters Centerline goodness [0,1] 0.9989747970952584 Centerline is valid? [True, True] Translation: X:392.24, Y:6.12, Z:3.58 [[ 9.98268991e-01 -5.62565165e-02 -1.71529951e-02 3.92236024e+02] [ 5.62597667e-02 9.98416122e-01 -2.93386577e-04 6.12070073e+00] [ 1.71423317e-02 -6.72144778e-04 9.99852834e-01 3.58310664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12925415399997 meters Centerline goodness [0,1] 0.9990813143614067 Centerline is valid? [True, True] Translation: X:392.27, Y:6.12, Z:3.58 [[ 9.98515137e-01 -5.18772654e-02 -1.66213715e-02 3.92265958e+02] [ 5.18797086e-02 9.98653301e-01 -2.84453121e-04 6.12424995e+00] [ 1.66137441e-02 -5.78281162e-04 9.99861815e-01 3.58401976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15925415399994 meters Centerline goodness [0,1] 0.9991866612444082 Centerline is valid? [True, True] Translation: X:392.30, Y:6.13, Z:3.59 [[ 9.98982248e-01 -4.22739796e-02 -1.57282679e-02 3.92296450e+02] [ 4.22749776e-02 9.99105977e-01 -2.69162679e-04 6.13378672e+00] [ 1.57255850e-02 -3.96023433e-04 9.99876267e-01 3.58588410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18925415399997 meters Centerline goodness [0,1] 0.9990132778480877 Centerline is valid? [True, True] Translation: X:392.33, Y:6.14, Z:3.59 [[ 9.99179202e-01 -3.77168850e-02 -1.47769546e-02 3.92328317e+02] [ 3.77172723e-02 9.99288419e-01 -2.52575318e-04 6.14000869e+00] [ 1.47759659e-02 -3.04978416e-04 9.99890783e-01 3.58703224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21925415399994 meters Centerline goodness [0,1] 0.9991626948344712 Centerline is valid? [True, True] Translation: X:392.36, Y:6.14, Z:3.59 [[ 9.99350666e-01 -3.30830590e-02 -1.42743699e-02 3.92358863e+02] [ 3.30829563e-02 9.99452580e-01 -2.43396123e-04 6.14274742e+00] [ 1.42746081e-02 -2.29000278e-04 9.99898086e-01 3.58735331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24925415399997 meters Centerline goodness [0,1] 0.9993126114321311 Centerline is valid? [True, True] Translation: X:392.39, Y:6.15, Z:3.59 [[ 9.99600857e-01 -2.47135903e-02 -1.36881421e-02 3.92389978e+02] [ 2.47127154e-02 9.99694567e-01 -2.33081282e-04 6.14818724e+00] [ 1.36897215e-02 -1.05282911e-04 9.99906286e-01 3.58787472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27925415399994 meters Centerline goodness [0,1] 0.9994631621894393 Centerline is valid? [True, True] Translation: X:392.42, Y:6.15, Z:3.59 [[ 9.99688270e-01 -2.08863200e-02 -1.36793131e-02 3.92421460e+02] [ 2.08850946e-02 9.99781856e-01 -2.32440631e-04 6.15080551e+00] [ 1.36811839e-02 -5.33255764e-05 9.99906407e-01 3.58815246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.309254154 meters Centerline goodness [0,1] 0.9992265383293228 Centerline is valid? [True, True] Translation: X:392.45, Y:6.15, Z:3.59 [[ 9.99758368e-01 -1.73516588e-02 -1.34954132e-02 3.92452413e+02] [ 1.73501495e-02 9.99849449e-01 -2.28914793e-04 6.15333693e+00] [ 1.34973535e-02 -5.28795795e-06 9.99908907e-01 3.58829916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.33925415399995 meters Centerline goodness [0,1] 0.9990750301152985 Centerline is valid? [True, True] Translation: X:392.48, Y:6.16, Z:3.59 [[ 9.99835063e-01 -1.12654771e-02 -1.42455653e-02 3.92482137e+02] [ 1.12631789e-02 9.99936539e-01 -2.41550010e-04 6.15720381e+00] [ 1.42473824e-02 8.10598185e-05 9.99898498e-01 3.58823551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.369254154 meters Centerline goodness [0,1] 0.999482580200069 Centerline is valid? [True, True] Translation: X:392.51, Y:6.16, Z:3.59 [[ 9.99855916e-01 -8.59608202e-03 -1.46374345e-02 3.92511296e+02] [ 8.59334828e-03 9.99963045e-01 -2.49650274e-04 6.15898810e+00] [ 1.46390395e-02 1.23829731e-04 9.99892836e-01 3.58834969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.39925415399995 meters Centerline goodness [0,1] 0.9991812285880503 Centerline is valid? [True, True] Translation: X:392.54, Y:6.16, Z:3.59 [[ 9.99873600e-01 -6.43791982e-03 -1.45374378e-02 3.92540086e+02] [ 6.43494396e-03 9.99979264e-01 -2.51470632e-04 6.16061171e+00] [ 1.45387553e-02 1.57891249e-04 9.99894294e-01 3.58843479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.429254154 meters Centerline goodness [0,1] 0.99922488965443 Centerline is valid? [True, True] Translation: X:392.57, Y:6.16, Z:3.59 [[ 9.99888196e-01 -2.74676187e-03 -1.46986727e-02 3.92567898e+02] [ 2.74328037e-03 9.99996204e-01 -2.57015391e-04 6.16207885e+00] [ 1.46993229e-02 2.16664076e-04 9.99891936e-01 3.58850617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.45925415399995 meters Centerline goodness [0,1] 0.999504353073011 Centerline is valid? [True, True] Translation: X:392.60, Y:6.16, Z:3.59 [[ 9.99887725e-01 -1.71536562e-03 -1.48860424e-02 3.92597004e+02] [ 1.71164885e-03 9.99998501e-01 -2.62418190e-04 6.16209665e+00] [ 1.48864702e-02 2.36909049e-04 9.99889162e-01 3.58888944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4892541539999 meters Centerline goodness [0,1] 0.9994397638389105 Centerline is valid? [True, True] Translation: X:392.63, Y:6.16, Z:3.59 [[ 9.99887088e-01 -1.20044133e-03 -1.49789997e-02 3.92626138e+02] [ 1.19656677e-03 9.99999248e-01 -2.67625909e-04 6.16161625e+00] [ 1.49793098e-02 2.49672318e-04 9.99887773e-01 3.58871050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.51925415399995 meters Centerline goodness [0,1] 0.9993343354090616 Centerline is valid? [True, True] Translation: X:392.65, Y:6.16, Z:3.59 [[ 9.99887619e-01 -1.20884004e-03 -1.49428196e-02 3.92653823e+02] [ 1.20492968e-03 9.99999237e-01 -2.70689116e-04 6.16075321e+00] [ 1.49431354e-02 2.52653649e-04 9.99888313e-01 3.58845906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5492541539999 meters Centerline goodness [0,1] 0.9994213211024905 Centerline is valid? [True, True] Translation: X:392.68, Y:6.16, Z:3.59 [[ 9.99876276e-01 -2.54895333e-03 -1.55220698e-02 3.92681614e+02] [ 2.54484364e-03 9.99996721e-01 -2.84510260e-04 6.15687721e+00] [ 1.55227441e-02 2.44973818e-04 9.99879485e-01 3.58798692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57925415399995 meters Centerline goodness [0,1] 0.9992949471210341 Centerline is valid? [True, True] Translation: X:392.71, Y:6.15, Z:3.59 [[ 9.99871302e-01 -3.91798051e-03 -1.55572920e-02 3.92710050e+02] [ 3.91399456e-03 9.99992299e-01 -2.86650556e-04 6.15432436e+00] [ 1.55582953e-02 2.25722509e-04 9.99878937e-01 3.58818027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6092541539999 meters Centerline goodness [0,1] 0.9992949471210341 Centerline is valid? [True, True] Translation: X:392.74, Y:6.15, Z:3.59 [[ 9.99870233e-01 -4.18196228e-03 -1.55572502e-02 3.92737441e+02] [ 4.17797324e-03 9.99991231e-01 -2.88902352e-04 6.15493007e+00] [ 1.55583220e-02 2.23867087e-04 9.99878937e-01 3.58843714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63925415399996 meters Centerline goodness [0,1] 0.9994025519566423 Centerline is valid? [True, True] Translation: X:392.77, Y:6.15, Z:3.59 [[ 9.99860346e-01 -6.15635495e-03 -1.55366403e-02 3.92765631e+02] [ 6.15256855e-03 9.99981030e-01 -2.91494389e-04 6.15215112e+00] [ 1.55381401e-02 1.95863436e-04 9.99879257e-01 3.58861320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66925415399993 meters Centerline goodness [0,1] 0.9991068010718387 Centerline is valid? [True, True] Translation: X:392.79, Y:6.14, Z:3.59 [[ 9.99803461e-01 -1.21030683e-02 -1.57020615e-02 3.92793405e+02] [ 1.20999139e-02 9.99926750e-01 -2.95884505e-04 6.14349108e+00] [ 1.57044925e-02 1.05832760e-04 9.99876671e-01 3.58858326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69925415399996 meters Centerline goodness [0,1] 0.9991714467813895 Centerline is valid? [True, True] Translation: X:392.82, Y:6.14, Z:3.59 [[ 9.99750901e-01 -1.59592680e-02 -1.56025054e-02 3.92822208e+02] [ 1.59565894e-02 9.99872642e-01 -2.96162361e-04 6.13807238e+00] [ 1.56052448e-02 4.71258150e-05 9.99878230e-01 3.58877017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72925415399993 meters Centerline goodness [0,1] 0.9989399368202345 Centerline is valid? [True, True] Translation: X:392.85, Y:6.13, Z:3.59 [[ 9.99674421e-01 -2.04954591e-02 -1.51983155e-02 3.92850689e+02] [ 2.04934041e-02 9.99789946e-01 -2.90955825e-04 6.13219755e+00] [ 1.52010863e-02 -2.06041246e-05 9.99884457e-01 3.59038164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75925415399996 meters Centerline goodness [0,1] 0.9988130312215181 Centerline is valid? [True, True] Translation: X:392.88, Y:6.13, Z:3.59 [[ 9.99573042e-01 -2.49833514e-02 -1.51513985e-02 3.92880191e+02] [ 2.49818114e-02 9.99687864e-01 -2.90929053e-04 6.12630524e+00] [ 1.51539376e-02 -8.77045414e-05 9.99885169e-01 3.59045049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78925415399993 meters Centerline goodness [0,1] 0.9988187398485455 Centerline is valid? [True, True] Translation: X:392.91, Y:6.11, Z:3.59 [[ 9.99332530e-01 -3.37170583e-02 -1.40589621e-02 3.92910074e+02] [ 3.37165907e-02 9.99431398e-01 -2.70343538e-04 6.11069843e+00] [ 1.40600834e-02 -2.03857181e-04 9.99901131e-01 3.58996852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81925415399996 meters Centerline goodness [0,1] 0.998867710888847 Centerline is valid? [True, True] Translation: X:392.94, Y:6.11, Z:3.59 [[ 9.99197561e-01 -3.75965676e-02 -1.38105736e-02 3.92941529e+02] [ 3.75964868e-02 9.99292967e-01 -2.65570389e-04 6.10959748e+00] [ 1.38107936e-02 -2.53871762e-04 9.99904594e-01 3.59131763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84925415399994 meters Centerline goodness [0,1] 0.9986305121884416 Centerline is valid? [True, True] Translation: X:392.97, Y:6.10, Z:3.59 [[ 9.99058339e-01 -4.10930515e-02 -1.39210487e-02 3.92973459e+02] [ 4.10933167e-02 9.99155277e-01 -2.67112359e-04 6.10470428e+00] [ 1.39202657e-02 -3.05201234e-04 9.99903062e-01 3.59157926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87925415399997 meters Centerline goodness [0,1] 0.9986757194206798 Centerline is valid? [True, True] Translation: X:393.01, Y:6.10, Z:3.59 [[ 9.98931126e-01 -4.39330123e-02 -1.43699481e-02 3.93005790e+02] [ 4.39336012e-02 9.99034415e-01 -2.74847392e-04 6.10024264e+00] [ 1.43681475e-02 -3.56769952e-04 9.99896709e-01 3.59173582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90925415399994 meters Centerline goodness [0,1] 0.9986330178759201 Centerline is valid? [True, True] Translation: X:393.04, Y:6.09, Z:3.59 [[ 9.98701628e-01 -4.86764014e-02 -1.50221829e-02 3.93036396e+02] [ 4.86775931e-02 9.98814502e-01 -2.86520905e-04 6.09014355e+00] [ 1.50183209e-02 -4.45094811e-04 9.99887120e-01 3.59084499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93925415399997 meters Centerline goodness [0,1] 0.9988864610471468 Centerline is valid? [True, True] Translation: X:393.07, Y:6.09, Z:3.59 [[ 9.98606006e-01 -5.04941712e-02 -1.53747355e-02 3.93067150e+02] [ 5.04956486e-02 9.98724238e-01 -2.92345763e-04 6.08549248e+00] [ 1.53698828e-02 -4.84419006e-04 9.99881759e-01 3.59076184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96925415399994 meters Centerline goodness [0,1] 0.9986770820209147 Centerline is valid? [True, True] Translation: X:393.10, Y:6.08, Z:3.59 [[ 9.98499451e-01 -5.23702119e-02 -1.60064887e-02 3.93099198e+02] [ 5.23720804e-02 9.98627595e-01 -3.02708876e-04 6.08366141e+00] [ 1.60003742e-02 -5.36038464e-04 9.99871842e-01 3.59104445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99925415399997 meters Centerline goodness [0,1] 0.9987002096436058 Centerline is valid? [True, True] Translation: X:393.13, Y:6.08, Z:3.59 [[ 9.98344031e-01 -5.51098438e-02 -1.64954528e-02 3.93130526e+02] [ 5.51122238e-02 9.98480118e-01 -3.10606396e-04 6.07772275e+00] [ 1.64874991e-02 -5.99009042e-04 9.99863893e-01 3.59072006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.02925415399994 meters Centerline goodness [0,1] 0.998573496402274 Centerline is valid? [True, True] Translation: X:393.16, Y:6.08, Z:3.59 [[ 9.98253773e-01 -5.65620308e-02 -1.70335226e-02 3.93162068e+02] [ 5.65648022e-02 9.98398879e-01 -3.19428493e-04 6.07532699e+00] [ 1.70243174e-02 -6.44627139e-04 9.99854868e-01 3.59074460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.059254154 meters Centerline goodness [0,1] 0.9987423492915234 Centerline is valid? [True, True] Translation: X:393.19, Y:6.07, Z:3.59 [[ 9.98194587e-01 -5.74914198e-02 -1.73868750e-02 3.93193796e+02] [ 5.74944638e-02 9.98345772e-01 -3.25147942e-04 6.07349269e+00] [ 1.73768064e-02 -6.75088142e-04 9.99848784e-01 3.59072225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.08925415399995 meters Centerline goodness [0,1] 0.9987213884463821 Centerline is valid? [True, True] Translation: X:393.23, Y:6.07, Z:3.59 [[ 9.98151298e-01 -5.81461322e-02 -1.76922133e-02 3.93225719e+02] [ 5.81494055e-02 9.98307837e-01 -3.29800478e-04 6.07211286e+00] [ 1.76814518e-02 -6.99600913e-04 9.99843426e-01 3.59044822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.119254154 meters Centerline goodness [0,1] 0.9985762442159921 Centerline is valid? [True, True] Translation: X:393.26, Y:6.07, Z:3.59 [[ 9.98049424e-01 -5.94102826e-02 -1.91772383e-02 3.93256586e+02] [ 5.94143813e-02 9.98233342e-01 -3.56457030e-04 6.06971722e+00] [ 1.91645359e-02 -7.83642014e-04 9.99816036e-01 3.58948471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.14925415399995 meters Centerline goodness [0,1] 0.9986593208622243 Centerline is valid? [True, True] Translation: X:393.29, Y:6.08, Z:3.59 [[ 9.98035275e-01 -5.95381726e-02 -1.95139831e-02 3.93289105e+02] [ 5.95424618e-02 9.98225708e-01 -3.61654114e-04 6.07562862e+00] [ 1.95008919e-02 -8.00967032e-04 9.99809519e-01 3.59074533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.179254154 meters Centerline goodness [0,1] 0.9990801906513923 Centerline is valid? [True, True] Translation: X:393.32, Y:6.07, Z:3.59 [[ 9.98022984e-01 -5.95542522e-02 -2.00851754e-02 3.93320825e+02] [ 5.95588252e-02 9.98224729e-01 -3.70957819e-04 6.06862983e+00] [ 2.00716109e-02 -8.26025022e-04 9.99798204e-01 3.58906851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.20925415399995 meters Centerline goodness [0,1] 0.9987438763974376 Centerline is valid? [True, True] Translation: X:393.35, Y:6.07, Z:3.59 [[ 9.98001640e-01 -5.97501454e-02 -2.05583721e-02 3.93352175e+02] [ 5.97549962e-02 9.98213002e-01 -3.78809437e-04 6.06870351e+00] [ 2.05442683e-02 -8.50413009e-04 9.99788583e-01 3.58893084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2392541539999 meters Centerline goodness [0,1] 0.998975516945786 Centerline is valid? [True, True] Translation: X:393.38, Y:6.07, Z:3.59 [[ 9.98016460e-01 -5.93327580e-02 -2.10420763e-02 3.93383304e+02] [ 5.93377621e-02 9.98237888e-01 -3.87023991e-04 6.06925391e+00] [ 2.10279610e-02 -8.62333403e-04 9.99778516e-01 3.58899232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.26925415399995 meters Centerline goodness [0,1] 0.9989950590402814 Centerline is valid? [True, True] Translation: X:393.41, Y:6.08, Z:3.59 [[ 9.98068455e-01 -5.83838945e-02 -2.12292298e-02 3.93414982e+02] [ 5.83887939e-02 9.98293843e-01 -3.89513546e-04 6.07866869e+00] [ 2.12157508e-02 -8.50787943e-04 9.99774559e-01 3.59181734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2992541539999 meters Centerline goodness [0,1] 0.9988041289023162 Centerline is valid? [True, True] Translation: X:393.45, Y:6.08, Z:3.59 [[ 9.98117967e-01 -5.74820939e-02 -2.13619309e-02 3.93445163e+02] [ 5.74868641e-02 9.98346186e-01 -3.91222308e-04 6.07941075e+00] [ 2.13490906e-02 -8.37544404e-04 9.99771731e-01 3.59201926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.32925415399995 meters Centerline goodness [0,1] 0.9989111543857445 Centerline is valid? [True, True] Translation: X:393.48, Y:6.08, Z:3.59 [[ 9.98192048e-01 -5.63158873e-02 -2.10037091e-02 3.93476517e+02] [ 5.63202532e-02 9.98412681e-01 -3.84081696e-04 6.08128461e+00] [ 2.09919994e-02 -7.99546919e-04 9.99779324e-01 3.59279424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3592541539999 meters Centerline goodness [0,1] 0.998890075600511 Centerline is valid? [True, True] Translation: X:393.51, Y:6.08, Z:3.59 [[ 9.98278050e-01 -5.48184596e-02 -2.08775259e-02 3.93508000e+02] [ 5.48224616e-02 9.98496045e-01 -3.81031712e-04 6.08379655e+00] [ 2.08670146e-02 -7.64181768e-04 9.99781968e-01 3.59357769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.38925415399996 meters Centerline goodness [0,1] 0.999057018922487 Centerline is valid? [True, True] Translation: X:393.54, Y:6.09, Z:3.60 [[ 9.98487639e-01 -5.10200538e-02 -2.04789984e-02 3.93539583e+02] [ 5.10231265e-02 9.98697402e-01 -3.72780554e-04 6.09095402e+00] [ 2.04713418e-02 -6.72685748e-04 9.99790214e-01 3.59597217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41925415399993 meters Centerline goodness [0,1] 0.9991185914251537 Centerline is valid? [True, True] Translation: X:393.57, Y:6.09, Z:3.60 [[ 9.98604752e-01 -4.86862360e-02 -2.04499377e-02 3.93570853e+02] [ 4.86888306e-02 9.98813927e-01 -3.71297153e-04 6.09411801e+00] [ 2.04437596e-02 -6.24904449e-04 9.99790809e-01 3.59680428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.44925415399996 meters Centerline goodness [0,1] 0.9989731123079825 Centerline is valid? [True, True] Translation: X:393.60, Y:6.09, Z:3.60 [[ 9.98705765e-01 -4.65160100e-02 -2.05683293e-02 3.93601634e+02] [ 4.65181903e-02 9.98917374e-01 -3.72692619e-04 6.09376999e+00] [ 2.05633976e-02 -5.84591188e-04 9.99788380e-01 3.59644895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47925415399993 meters Centerline goodness [0,1] 0.9988670219462045 Centerline is valid? [True, True] Translation: X:393.63, Y:6.10, Z:3.60 [[ 9.98816159e-01 -4.42402307e-02 -2.02257803e-02 3.93632630e+02] [ 4.42418833e-02 9.99020781e-01 -3.65964981e-04 6.09665145e+00] [ 2.02221652e-02 -5.29294873e-04 9.99795371e-01 3.59687093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.50925415399996 meters Centerline goodness [0,1] 0.9988923719958203 Centerline is valid? [True, True] Translation: X:393.66, Y:6.10, Z:3.60 [[ 9.98911538e-01 -4.20670494e-02 -2.01519793e-02 3.93663377e+02] [ 4.20682512e-02 9.99114673e-01 -3.64470267e-04 6.10252303e+00] [ 2.01494704e-02 -4.83684974e-04 9.99796862e-01 3.59849026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53925415399993 meters Centerline goodness [0,1] 0.9992648757640041 Centerline is valid? [True, True] Translation: X:393.69, Y:6.11, Z:3.60 [[ 9.99047216e-01 -3.89052114e-02 -1.97748340e-02 3.93692989e+02] [ 3.89057534e-02 9.99242821e-01 -3.57453537e-04 6.10511097e+00] [ 1.97737677e-02 -4.12241854e-04 9.99804395e-01 3.59876574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56925415399996 meters Centerline goodness [0,1] 0.9991406053492077 Centerline is valid? [True, True] Translation: X:393.72, Y:6.11, Z:3.60 [[ 9.99111378e-01 -3.73706789e-02 -1.94906608e-02 3.93723402e+02] [ 3.73709169e-02 9.99301401e-01 -3.52143262e-04 6.10821529e+00] [ 1.94902045e-02 -3.76553524e-04 9.99809977e-01 3.59934979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59925415399994 meters Centerline goodness [0,1] 0.9988452655889145 Centerline is valid? [True, True] Translation: X:393.75, Y:6.11, Z:3.60 [[ 9.99150402e-01 -3.60827768e-02 -1.99125108e-02 3.93753507e+02] [ 3.60827696e-02 9.99348740e-01 -3.59764945e-04 6.11029628e+00] [ 1.99125239e-02 -3.59039248e-04 9.99801662e-01 3.59946797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62925415399997 meters Centerline goodness [0,1] 0.9989928661351238 Centerline is valid? [True, True] Translation: X:393.78, Y:6.11, Z:3.60 [[ 9.99202336e-01 -3.46079245e-02 -1.99244437e-02 3.93783890e+02] [ 3.46076242e-02 9.99400912e-01 -3.59980541e-04 6.11277638e+00] [ 1.99249654e-02 -3.29844263e-04 9.99801424e-01 3.59957257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65925415399994 meters Centerline goodness [0,1] 0.9990520528322555 Centerline is valid? [True, True] Translation: X:393.81, Y:6.12, Z:3.60 [[ 9.99282604e-01 -3.17018164e-02 -2.07188701e-02 3.93813855e+02] [ 3.17008585e-02 9.99497331e-01 -3.74750028e-04 6.11769801e+00] [ 2.07203356e-02 -2.82324786e-04 9.99785271e-01 3.59998313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68925415399997 meters Centerline goodness [0,1] 0.999157930192413 Centerline is valid? [True, True] Translation: X:393.84, Y:6.12, Z:3.60 [[ 9.99321709e-01 -3.01758920e-02 -2.11077432e-02 3.93842102e+02] [ 3.01745367e-02 9.99544572e-01 -3.82773630e-04 6.12015624e+00] [ 2.11096806e-02 -2.54402372e-04 9.99777133e-01 3.59996003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71925415399994 meters Centerline goodness [0,1] 0.9992212493685806 Centerline is valid? [True, True] Translation: X:393.87, Y:6.12, Z:3.60 [[ 9.99363980e-01 -2.84267538e-02 -2.15303146e-02 3.93870993e+02] [ 2.84248592e-02 9.99595854e-01 -3.94087729e-04 6.12281110e+00] [ 2.15328158e-02 -2.18159078e-04 9.99768118e-01 3.60028488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74925415399997 meters Centerline goodness [0,1] 0.9991575577599461 Centerline is valid? [True, True] Translation: X:393.90, Y:6.13, Z:3.60 [[ 9.99414144e-01 -2.65426832e-02 -2.16068346e-02 3.93899708e+02] [ 2.65402151e-02 9.99647666e-01 -4.01026410e-04 6.12505211e+00] [ 2.16098661e-02 -1.72658572e-04 9.99766465e-01 3.60032253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77925415399994 meters Centerline goodness [0,1] 0.9991780648696496 Centerline is valid? [True, True] Translation: X:393.93, Y:6.13, Z:3.60 [[ 9.99539870e-01 -2.18141834e-02 -2.10758189e-02 3.93927979e+02] [ 2.18106713e-02 9.99762040e-01 -3.96514941e-04 6.12971356e+00] [ 2.10794534e-02 -6.33452673e-05 9.99777802e-01 3.60171381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.809254154 meters Centerline goodness [0,1] 0.9991994438241304 Centerline is valid? [True, True] Translation: X:393.96, Y:6.13, Z:3.60 [[ 9.99602564e-01 -1.92693746e-02 -2.05767957e-02 3.93955702e+02] [ 1.92654183e-02 9.99814328e-01 -3.90502997e-04 6.13202012e+00] [ 2.05804999e-02 -6.07277886e-06 9.99788199e-01 3.60243592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.83925415399995 meters Centerline goodness [0,1] 0.9990947940130097 Centerline is valid? [True, True] Translation: X:393.98, Y:6.13, Z:3.60 [[ 9.99667590e-01 -1.67791998e-02 -1.95746690e-02 3.93984005e+02] [ 1.67750684e-02 9.99859218e-01 -3.75251744e-04 6.13440662e+00] [ 1.95782097e-02 4.67605944e-05 9.99808327e-01 3.60310822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.869254154 meters Centerline goodness [0,1] 0.9991997809926927 Centerline is valid? [True, True] Translation: X:394.01, Y:6.14, Z:3.60 [[ 9.99713155e-01 -1.45975702e-02 -1.89873349e-02 3.94011946e+02] [ 1.45931870e-02 9.99893446e-01 -3.69390762e-04 6.13685949e+00] [ 1.89907039e-02 9.21990758e-05 9.99819656e-01 3.60399356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.89925415399995 meters Centerline goodness [0,1] 0.9995356788586142 Centerline is valid? [True, True] Translation: X:394.04, Y:6.14, Z:3.60 [[ 9.99754148e-01 -1.27149904e-02 -1.81651222e-02 3.94040038e+02] [ 1.27105753e-02 9.99919153e-01 -3.58496062e-04 6.13894794e+00] [ 1.81682119e-02 1.27518772e-04 9.99834936e-01 3.60458807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.929254154 meters Centerline goodness [0,1] 0.9991982614933435 Centerline is valid? [True, True] Translation: X:394.07, Y:6.14, Z:3.60 [[ 9.99785643e-01 -1.03608039e-02 -1.79254340e-02 3.94069192e+02] [ 1.03560399e-02 9.99946310e-01 -3.58575414e-04 6.14012101e+00] [ 1.79281867e-02 1.72862042e-04 9.99839262e-01 3.60483037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.95925415399995 meters Centerline goodness [0,1] 0.9993042084844396 Centerline is valid? [True, True] Translation: X:394.10, Y:6.14, Z:3.61 [[ 9.99787691e-01 -1.02907240e-02 -1.78514310e-02 3.94097466e+02] [ 1.02859016e-02 9.99947033e-01 -3.61935421e-04 6.13991755e+00] [ 1.78542101e-02 1.78240515e-04 9.99840585e-01 3.60549030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9892541539999 meters Centerline goodness [0,1] 0.9993883663053107 Centerline is valid? [True, True] Translation: X:394.13, Y:6.14, Z:3.61 [[ 9.99784518e-01 -1.11261523e-02 -1.75250460e-02 3.94125329e+02] [ 1.11215439e-02 9.99938089e-01 -3.60402522e-04 6.13926780e+00] [ 1.75279709e-02 1.65419292e-04 9.99846360e-01 3.60569466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.01925415399995 meters Centerline goodness [0,1] 0.999135112329923 Centerline is valid? [True, True] Translation: X:394.15, Y:6.14, Z:3.61 [[ 9.99771987e-01 -1.26244333e-02 -1.72220193e-02 3.94154430e+02] [ 1.26201238e-02 9.99920299e-01 -3.58894248e-04 6.13798728e+00] [ 1.72251775e-02 1.41468400e-04 9.99851626e-01 3.60600539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0492541539999 meters Centerline goodness [0,1] 0.999349218011966 Centerline is valid? [True, True] Translation: X:394.18, Y:6.13, Z:3.61 [[ 9.99690371e-01 -1.80128785e-02 -1.71667655e-02 3.94182303e+02] [ 1.80093373e-02 9.99837754e-01 -3.60864135e-04 6.13379552e+00] [ 1.71704804e-02 5.15903307e-05 9.99852575e-01 3.60642102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07925415399995 meters Centerline goodness [0,1] 0.9992640100935759 Centerline is valid? [True, True] Translation: X:394.21, Y:6.13, Z:3.61 [[ 9.99612340e-01 -2.20510460e-02 -1.69976858e-02 3.94210562e+02] [ 2.20481058e-02 9.99756846e-01 -3.60376992e-04 6.13116013e+00] [ 1.70014995e-02 -1.45294880e-05 9.99855464e-01 3.60682127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1092541539999 meters Centerline goodness [0,1] 0.9992228849869781 Centerline is valid? [True, True] Translation: X:394.24, Y:6.13, Z:3.61 [[ 9.99507966e-01 -2.62729722e-02 -1.71335041e-02 3.94238119e+02] [ 2.62705460e-02 9.99654802e-01 -3.66703228e-04 6.12781537e+00] [ 1.71372240e-02 -8.35837095e-05 9.99853143e-01 3.60683392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13925415399996 meters Centerline goodness [0,1] 0.9990984568936598 Centerline is valid? [True, True] Translation: X:394.27, Y:6.12, Z:3.61 [[ 9.99370322e-01 -3.08140350e-02 -1.75913082e-02 3.94267517e+02] [ 3.08121602e-02 9.99525121e-01 -3.77665140e-04 6.12428058e+00] [ 1.75945919e-02 -1.64598874e-04 9.99845190e-01 3.60672152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16925415399993 meters Centerline goodness [0,1] 0.998974058332112 Centerline is valid? [True, True] Translation: X:394.30, Y:6.12, Z:3.61 [[ 9.99049150e-01 -3.94565308e-02 -1.85466624e-02 3.94297589e+02] [ 3.94559255e-02 9.99221232e-01 -3.98699531e-04 6.11640864e+00] [ 1.85479502e-02 -3.33455304e-04 9.99827916e-01 3.60582270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19925415399996 meters Centerline goodness [0,1] 0.9990796134376438 Centerline is valid? [True, True] Translation: X:394.33, Y:6.11, Z:3.60 [[ 9.98877399e-01 -4.35024039e-02 -1.87478445e-02 3.94328189e+02] [ 4.35024975e-02 9.99053237e-01 -4.03026869e-04 6.11190145e+00] [ 1.87476274e-02 -4.13003628e-04 9.99824162e-01 3.60486966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22925415399993 meters Centerline goodness [0,1] 0.9990586758707248 Centerline is valid? [True, True] Translation: X:394.36, Y:6.11, Z:3.61 [[ 9.98708181e-01 -4.70475369e-02 -1.91963100e-02 3.94359701e+02] [ 4.70482996e-02 9.98892531e-01 -4.12133683e-04 6.11041608e+00] [ 1.91944405e-02 -4.91552461e-04 9.99815649e-01 3.60527086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25925415399996 meters Centerline goodness [0,1] 0.9987451898945959 Centerline is valid? [True, True] Translation: X:394.39, Y:6.11, Z:3.60 [[ 9.98551307e-01 -5.02377868e-02 -1.92731023e-02 3.94390319e+02] [ 5.02391647e-02 9.98737130e-01 -4.12986987e-04 6.10640808e+00] [ 1.92695104e-02 -5.55875864e-04 9.99814171e-01 3.60448397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28925415399993 meters Centerline goodness [0,1] 0.9988915612255568 Centerline is valid? [True, True] Translation: X:394.42, Y:6.11, Z:3.61 [[ 9.98280043e-01 -5.52862997e-02 -1.95033502e-02 3.94421749e+02] [ 5.52886885e-02 9.98470324e-01 -4.17116350e-04 6.10533774e+00] [ 1.94965772e-02 -6.61915724e-04 9.99809705e-01 3.60571643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31925415399996 meters Centerline goodness [0,1] 0.9989743375057563 Centerline is valid? [True, True] Translation: X:394.45, Y:6.10, Z:3.61 [[ 9.98168610e-01 -5.73644012e-02 -1.92029144e-02 3.94452878e+02] [ 5.73671144e-02 9.98353067e-01 -4.09990288e-04 6.10434269e+00] [ 1.91948073e-02 -6.92376352e-04 9.99815523e-01 3.60603932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34925415399994 meters Centerline goodness [0,1] 0.9988691809938642 Centerline is valid? [True, True] Translation: X:394.48, Y:6.10, Z:3.61 [[ 9.98058214e-01 -5.93317267e-02 -1.89617439e-02 3.94484289e+02] [ 5.93347522e-02 9.98238060e-01 -4.03494207e-04 6.09961361e+00] [ 1.89522745e-02 -7.22379671e-04 9.99820129e-01 3.60515082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37925415399997 meters Centerline goodness [0,1] 0.998853760706917 Centerline is valid? [True, True] Translation: X:394.52, Y:6.10, Z:3.61 [[ 9.97954775e-01 -6.10294690e-02 -1.90176322e-02 3.94516573e+02] [ 6.10328521e-02 9.98135676e-01 -4.02997385e-04 6.10153880e+00] [ 1.90067719e-02 -7.58527169e-04 9.99819067e-01 3.60633049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40925415399994 meters Centerline goodness [0,1] 0.9985967116975599 Centerline is valid? [True, True] Translation: X:394.55, Y:6.10, Z:3.61 [[ 9.97742562e-01 -6.45027202e-02 -1.86863280e-02 3.94546748e+02] [ 6.45066068e-02 9.97917202e-01 -3.95309447e-04 6.09780170e+00] [ 1.86729066e-02 -8.10974550e-04 9.99825317e-01 3.60620058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43925415399997 meters Centerline goodness [0,1] 0.998787194446187 Centerline is valid? [True, True] Translation: X:394.58, Y:6.10, Z:3.61 [[ 9.97594507e-01 -6.70451330e-02 -1.76110950e-02 3.94578386e+02] [ 6.70489882e-02 9.97749615e-01 -3.72116572e-04 6.09734602e+00] [ 1.75964118e-02 -8.09584649e-04 9.99844843e-01 3.60814420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46925415399994 meters Centerline goodness [0,1] 0.9986389999790616 Centerline is valid? [True, True] Translation: X:394.61, Y:6.10, Z:3.61 [[ 9.97456205e-01 -6.92446361e-02 -1.69203915e-02 3.94610419e+02] [ 6.92485278e-02 9.97599376e-01 -3.56493017e-04 6.09581564e+00] [ 1.69044573e-02 -8.16126031e-04 9.99856776e-01 3.60876834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49925415399997 meters Centerline goodness [0,1] 0.9986389999790616 Centerline is valid? [True, True] Translation: X:394.64, Y:6.10, Z:3.61 [[ 9.97461177e-01 -6.91729752e-02 -1.69204171e-02 3.94642137e+02] [ 6.91768771e-02 9.97604347e-01 -3.55278492e-04 6.09641962e+00] [ 1.69044573e-02 -8.16125109e-04 9.99856776e-01 3.60906538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.52925415399994 meters Centerline goodness [0,1] 0.9985603405107661 Centerline is valid? [True, True] Translation: X:394.67, Y:6.10, Z:3.61 [[ 9.97329842e-01 -7.11390133e-02 -1.65053512e-02 3.94673967e+02] [ 7.11430118e-02 9.97466066e-01 -3.45523208e-04 6.09510759e+00] [ 1.64881079e-02 -8.29639790e-04 9.99863718e-01 3.60957818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.559254154 meters Centerline goodness [0,1] 0.9984716842876583 Centerline is valid? [True, True] Translation: X:394.71, Y:6.09, Z:3.61 [[ 9.97181473e-01 -7.32332541e-02 -1.63095127e-02 3.94706321e+02] [ 7.32374537e-02 9.97314474e-01 -3.40434248e-04 6.09342271e+00] [ 1.62906442e-02 -8.54992459e-04 9.99866933e-01 3.60994359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.58925415399995 meters Centerline goodness [0,1] 0.9986383442265795 Centerline is valid? [True, True] Translation: X:394.74, Y:6.09, Z:3.61 [[ 9.96880291e-01 -7.71763808e-02 -1.65375694e-02 3.94737787e+02] [ 7.71812548e-02 9.97017019e-01 -3.44269265e-04 6.09104616e+00] [ 1.65148076e-02 -9.33195111e-04 9.99863186e-01 3.60925553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.619254154 meters Centerline goodness [0,1] 0.9985989125888749 Centerline is valid? [True, True] Translation: X:394.77, Y:6.09, Z:3.61 [[ 9.96752923e-01 -7.87081612e-02 -1.69892928e-02 3.94769274e+02] [ 7.87135395e-02 9.96897213e-01 -3.52931292e-04 6.08830054e+00] [ 1.69643572e-02 -9.85502069e-04 9.99855609e-01 3.60850624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.64925415399995 meters Centerline goodness [0,1] 0.9983860149241217 Centerline is valid? [True, True] Translation: X:394.80, Y:6.09, Z:3.61 [[ 9.96634656e-01 -8.01091989e-02 -1.73746602e-02 3.94801225e+02] [ 8.01150546e-02 9.96785558e-01 -3.59871623e-04 6.08834688e+00] [ 1.73476394e-02 -1.03331132e-03 9.99848984e-01 3.60797558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.679254154 meters Centerline goodness [0,1] 0.9982843752615281 Centerline is valid? [True, True] Translation: X:394.83, Y:6.09, Z:3.61 [[ 9.96554633e-01 -8.08996960e-02 -1.82784657e-02 3.94832902e+02] [ 8.09063305e-02 9.96721638e-01 -3.77438034e-04 6.08821536e+00] [ 1.82490769e-02 -1.10270597e-03 9.99832864e-01 3.60733686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.70925415399995 meters Centerline goodness [0,1] 0.9985556392866114 Centerline is valid? [True, True] Translation: X:394.86, Y:6.09, Z:3.60 [[ 9.96532349e-01 -8.06169280e-02 -2.05958185e-02 3.94863978e+02] [ 8.06253154e-02 9.96744390e-01 -4.24154297e-04 6.08801621e+00] [ 2.05629605e-02 -1.23786088e-03 9.99787794e-01 3.60493248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7392541539999 meters Centerline goodness [0,1] 0.9987679585699967 Centerline is valid? [True, True] Translation: X:394.90, Y:6.09, Z:3.61 [[ 9.96568079e-01 -8.02571198e-02 -2.02696308e-02 3.94896276e+02] [ 8.02651945e-02 9.96773457e-01 -4.16192141e-04 6.09337282e+00] [ 2.02376323e-02 -1.21218205e-03 9.99794463e-01 3.60701965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.76925415399995 meters Centerline goodness [0,1] 0.9983677227639894 Centerline is valid? [True, True] Translation: X:394.93, Y:6.10, Z:3.61 [[ 9.96639280e-01 -7.93011401e-02 -2.05298304e-02 3.94928298e+02] [ 7.93092511e-02 9.96849972e-01 -4.20087105e-04 6.09540783e+00] [ 2.04984742e-02 -1.20953016e-03 9.99789153e-01 3.60712896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7992541539999 meters Centerline goodness [0,1] 0.9984898061917946 Centerline is valid? [True, True] Translation: X:394.96, Y:6.10, Z:3.61 [[ 9.96774251e-01 -7.76818466e-02 -2.01649153e-02 3.94958856e+02] [ 7.76893582e-02 9.96977529e-01 -4.11789177e-04 6.09526570e+00] [ 2.01359559e-02 -1.15613848e-03 9.99796583e-01 3.60719674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.82925415399995 meters Centerline goodness [0,1] 0.9985113119325687 Centerline is valid? [True, True] Translation: X:394.99, Y:6.11, Z:3.61 [[ 9.97144964e-01 -7.32432169e-02 -1.83671364e-02 3.94989622e+02] [ 7.32487011e-02 9.97313635e-01 -3.74879157e-04 6.10749042e+00] [ 1.83452530e-02 -9.71560022e-04 9.99831240e-01 3.61015821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8592541539999 meters Centerline goodness [0,1] 0.9986775541048301 Centerline is valid? [True, True] Translation: X:395.02, Y:6.11, Z:3.61 [[ 9.97377468e-01 -7.02041902e-02 -1.75942594e-02 3.95021581e+02] [ 7.02087618e-02 9.97532256e-01 -3.58479998e-04 6.11094595e+00] [ 1.75760080e-02 -8.77731292e-04 9.99845145e-01 3.61116893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.88925415399996 meters Centerline goodness [0,1] 0.9984686706802878 Centerline is valid? [True, True] Translation: X:395.05, Y:6.12, Z:3.61 [[ 9.97613786e-01 -6.70102854e-02 -1.66239725e-02 3.95052753e+02] [ 6.70139388e-02 9.97751982e-01 -3.37823545e-04 6.11782392e+00] [ 1.66092392e-02 -7.77020451e-04 9.99861755e-01 3.61246608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91925415399993 meters Centerline goodness [0,1] 0.9985728676964406 Centerline is valid? [True, True] Translation: X:395.08, Y:6.12, Z:3.61 [[ 9.97849867e-01 -6.34647948e-02 -1.63665323e-02 3.95082836e+02] [ 6.34678675e-02 9.97983827e-01 -3.32122521e-04 6.12038071e+00] [ 1.63546127e-02 -7.07340493e-04 9.99866004e-01 3.61288113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.94925415399996 meters Centerline goodness [0,1] 0.9987621944823245 Centerline is valid? [True, True] Translation: X:395.11, Y:6.13, Z:3.61 [[ 9.98311857e-01 -5.58889350e-02 -1.58070329e-02 3.95113566e+02] [ 5.58908554e-02 9.98436833e-01 -3.20592446e-04 6.13178861e+00] [ 1.58002415e-02 -5.63417350e-04 9.99875010e-01 3.61402092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97925415399993 meters Centerline goodness [0,1] 0.9987396017141417 Centerline is valid? [True, True] Translation: X:395.14, Y:6.14, Z:3.61 [[ 9.98502788e-01 -5.23884757e-02 -1.57362793e-02 3.95144836e+02] [ 5.23899487e-02 9.98626653e-01 -3.18904019e-04 6.13582480e+00] [ 1.57313748e-02 -5.05996312e-04 9.99876126e-01 3.61396096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.00925415399996 meters Centerline goodness [0,1] 0.9987173286792691 Centerline is valid? [True, True] Translation: X:395.18, Y:6.14, Z:3.61 [[ 9.98689218e-01 -4.86078875e-02 -1.60349438e-02 3.95175295e+02] [ 4.86089377e-02 9.98817834e-01 -3.24476107e-04 6.13908383e+00] [ 1.60317599e-02 -4.55390794e-04 9.99871379e-01 3.61364124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03925415399993 meters Centerline goodness [0,1] 0.9986329603768823 Centerline is valid? [True, True] Translation: X:395.21, Y:6.14, Z:3.61 [[ 9.98851523e-01 -4.49707270e-02 -1.65308551e-02 3.95206645e+02] [ 4.49713527e-02 9.98988221e-01 -3.34070255e-04 6.14287171e+00] [ 1.65291529e-02 -4.09728332e-04 9.99863300e-01 3.61263308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06925415399996 meters Centerline goodness [0,1] 0.998928773971308 Centerline is valid? [True, True] Translation: X:395.24, Y:6.15, Z:3.61 [[ 9.99074186e-01 -3.95313415e-02 -1.69718629e-02 3.95237591e+02] [ 3.95312272e-02 9.99218277e-01 -3.42352496e-04 6.15005738e+00] [ 1.69721293e-02 -3.28883027e-04 9.99855909e-01 3.61378464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09925415399994 meters Centerline goodness [0,1] 0.998776861595563 Centerline is valid? [True, True] Translation: X:395.27, Y:6.15, Z:3.61 [[ 9.99167009e-01 -3.71667615e-02 -1.68499414e-02 3.95268584e+02] [ 3.71663230e-02 9.99309036e-01 -3.39278378e-04 6.15355125e+00] [ 1.68509086e-02 -2.87254603e-04 9.99857972e-01 3.61399010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12925415399997 meters Centerline goodness [0,1] 0.9987989380083442 Centerline is valid? [True, True] Translation: X:395.30, Y:6.16, Z:3.61 [[ 9.99246977e-01 -3.50345063e-02 -1.66752226e-02 3.95299527e+02] [ 3.50337901e-02 9.99386072e-01 -3.35156682e-04 6.15691805e+00] [ 1.66767272e-02 -2.49291946e-04 9.99860903e-01 3.61453004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15925415399994 meters Centerline goodness [0,1] 0.9985854533938562 Centerline is valid? [True, True] Translation: X:395.33, Y:6.16, Z:3.61 [[ 9.99305896e-01 -3.32263945e-02 -1.68443781e-02 3.95329817e+02] [ 3.32254208e-02 9.99447826e-01 -3.37727084e-04 6.15903707e+00] [ 1.68462985e-02 -2.22168885e-04 9.99858066e-01 3.61453263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18925415399997 meters Centerline goodness [0,1] 0.9989658083579569 Centerline is valid? [True, True] Translation: X:395.36, Y:6.17, Z:3.62 [[ 9.99428517e-01 -2.95259239e-02 -1.64578287e-02 3.95359865e+02] [ 2.95245025e-02 9.99564003e-01 -3.29383781e-04 6.16511595e+00] [ 1.64603785e-02 -1.56713660e-04 9.99864507e-01 3.61565662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21925415399994 meters Centerline goodness [0,1] 0.9987112313022902 Centerline is valid? [True, True] Translation: X:395.39, Y:6.17, Z:3.62 [[ 9.99482309e-01 -2.76929359e-02 -1.63772938e-02 3.95390067e+02] [ 2.76912824e-02 9.99616469e-01 -3.27771972e-04 6.16784353e+00] [ 1.63800896e-02 -1.25905980e-04 9.99865829e-01 3.61546941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24925415399997 meters Centerline goodness [0,1] 0.998897978213877 Centerline is valid? [True, True] Translation: X:395.42, Y:6.17, Z:3.62 [[ 9.99528757e-01 -2.57572418e-02 -1.66981725e-02 3.95420982e+02] [ 2.57552527e-02 9.99668223e-01 -3.34193975e-04 6.17047627e+00] [ 1.67012403e-02 -9.60291620e-05 9.99860520e-01 3.61557881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27925415399994 meters Centerline goodness [0,1] 0.9988764283140065 Centerline is valid? [True, True] Translation: X:395.45, Y:6.18, Z:3.62 [[ 9.99622347e-01 -2.18784341e-02 -1.66281988e-02 3.95450251e+02] [ 2.18759257e-02 9.99760638e-01 -3.32750120e-04 6.17508667e+00] [ 1.66314987e-02 -3.11327875e-05 9.99861687e-01 3.61552817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.309254154 meters Centerline goodness [0,1] 0.9990454979319122 Centerline is valid? [True, True] Translation: X:395.48, Y:6.18, Z:3.62 [[ 9.99646783e-01 -2.08907657e-02 -1.64281816e-02 3.95478735e+02] [ 2.08881561e-02 9.99781764e-01 -3.30440646e-04 6.17753653e+00] [ 1.64314995e-02 -1.28304934e-05 9.99864994e-01 3.61602038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.33925415399995 meters Centerline goodness [0,1] 0.9990886548121145 Centerline is valid? [True, True] Translation: X:395.51, Y:6.18, Z:3.62 [[ 9.99670222e-01 -2.00804598e-02 -1.60069177e-02 3.95507108e+02] [ 2.00778161e-02 9.99798367e-01 -3.25860939e-04 6.17955634e+00] [ 1.60102336e-02 4.36952770e-06 9.99871828e-01 3.61637159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.369254154 meters Centerline goodness [0,1] 0.998792014580596 Centerline is valid? [True, True] Translation: X:395.54, Y:6.18, Z:3.62 [[ 9.99687050e-01 -1.94309655e-02 -1.57556409e-02 3.95535958e+02] [ 1.94282632e-02 9.99811201e-01 -3.24575722e-04 6.18069855e+00] [ 1.57589731e-02 1.83694072e-05 9.99875820e-01 3.61654023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.39925415399995 meters Centerline goodness [0,1] 0.9988761185800925 Centerline is valid? [True, True] Translation: X:395.56, Y:6.18, Z:3.62 [[ 9.99691471e-01 -1.97497162e-02 -1.50635522e-02 3.95564932e+02] [ 1.97472448e-02 9.99804955e-01 -3.12801666e-04 6.18122950e+00] [ 1.50667918e-02 1.52415056e-05 9.99886489e-01 3.61709983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.429254154 meters Centerline goodness [0,1] 0.9988775942397289 Centerline is valid? [True, True] Translation: X:395.59, Y:6.18, Z:3.62 [[ 9.99674617e-01 -2.07077729e-02 -1.48945585e-02 3.95593831e+02] [ 2.07054359e-02 9.99785571e-01 -3.11105831e-04 6.18125407e+00] [ 1.48978070e-02 2.60627525e-06 9.99889022e-01 3.61759445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.45925415399995 meters Centerline goodness [0,1] 0.998690657205609 Centerline is valid? [True, True] Translation: X:395.62, Y:6.18, Z:3.62 [[ 9.99610711e-01 -2.39923528e-02 -1.42405230e-02 3.95622541e+02] [ 2.39905155e-02 9.99712141e-01 -2.99853155e-04 6.17856687e+00] [ 1.42436179e-02 -4.19010621e-05 9.99898554e-01 3.61755090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4892541539999 meters Centerline goodness [0,1] 0.9988802974605991 Centerline is valid? [True, True] Translation: X:395.65, Y:6.18, Z:3.62 [[ 9.99540014e-01 -2.66747315e-02 -1.44298099e-02 3.95653094e+02] [ 2.66731175e-02 9.99644163e-01 -3.04325109e-04 6.17731217e+00] [ 1.44327931e-02 -8.07028925e-05 9.99895839e-01 3.61822920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.51925415399995 meters Centerline goodness [0,1] 0.9989476564308716 Centerline is valid? [True, True] Translation: X:395.68, Y:6.17, Z:3.62 [[ 9.99447937e-01 -2.98762974e-02 -1.45337093e-02 3.95683195e+02] [ 2.98750028e-02 9.99553596e-01 -3.06227717e-04 6.17354663e+00] [ 1.45363703e-02 -1.28135946e-04 9.99894333e-01 3.61739775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5492541539999 meters Centerline goodness [0,1] 0.9988399316614288 Centerline is valid? [True, True] Translation: X:395.71, Y:6.17, Z:3.62 [[ 9.99187454e-01 -3.75923904e-02 -1.45342460e-02 3.95714782e+02] [ 3.75919217e-02 9.99293127e-01 -3.05542710e-04 6.16561790e+00] [ 1.45354582e-02 -2.41075794e-04 9.99894326e-01 3.61672662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57925415399995 meters Centerline goodness [0,1] 0.9985058293699229 Centerline is valid? [True, True] Translation: X:395.75, Y:6.16, Z:3.62 [[ 9.99020637e-01 -4.16468003e-02 -1.49436156e-02 3.95746500e+02] [ 4.16467676e-02 9.99132348e-01 -3.13519544e-04 6.16487460e+00] [ 1.49437068e-02 -3.09140792e-04 9.99888289e-01 3.61726759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6092541539999 meters Centerline goodness [0,1] 0.9985898892957865 Centerline is valid? [True, True] Translation: X:395.78, Y:6.16, Z:3.62 [[ 9.98856589e-01 -4.52668252e-02 -1.53762503e-02 3.95777353e+02] [ 4.52672307e-02 9.98974862e-01 -3.21848339e-04 6.15701812e+00] [ 1.53750565e-02 -3.74559933e-04 9.99881727e-01 3.61578584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63925415399996 meters Centerline goodness [0,1] 0.9985690837927697 Centerline is valid? [True, True] Translation: X:395.81, Y:6.16, Z:3.62 [[ 9.98684597e-01 -4.88645478e-02 -1.55348682e-02 3.95809773e+02] [ 4.88654090e-02 9.98805320e-01 -3.24365282e-04 6.15961978e+00] [ 1.55321590e-02 -4.35179079e-04 9.99879274e-01 3.61714951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66925415399993 meters Centerline goodness [0,1] 0.9985049798909267 Centerline is valid? [True, True] Translation: X:395.84, Y:6.15, Z:3.62 [[ 9.98378786e-01 -5.46569993e-02 -1.58875064e-02 3.95840025e+02] [ 5.46586519e-02 9.98505044e-01 -3.30504268e-04 6.15478883e+00] [ 1.58818196e-02 -5.38421232e-04 9.99873731e-01 3.61708885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69925415399996 meters Centerline goodness [0,1] 0.9987370813951041 Centerline is valid? [True, True] Translation: X:395.87, Y:6.15, Z:3.62 [[ 9.98250038e-01 -5.69091058e-02 -1.60690651e-02 3.95871738e+02] [ 5.69111057e-02 9.98379194e-01 -3.33168693e-04 6.15344119e+00] [ 1.60619806e-02 -5.81922604e-04 9.99870829e-01 3.61768454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72925415399993 meters Centerline goodness [0,1] 0.9986556316430703 Centerline is valid? [True, True] Translation: X:395.90, Y:6.15, Z:3.62 [[ 9.98152778e-01 -5.86580690e-02 -1.58197233e-02 3.95903878e+02] [ 5.86602422e-02 9.98277952e-01 -3.27019479e-04 6.15247066e+00] [ 1.58116633e-02 -6.01573396e-04 9.99874807e-01 3.61803489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75925415399996 meters Centerline goodness [0,1] 0.9987802826379543 Centerline is valid? [True, True] Translation: X:395.94, Y:6.15, Z:3.62 [[ 9.98064938e-01 -6.00892844e-02 -1.59893091e-02 3.95935768e+02] [ 6.00917066e-02 9.98192806e-01 -3.29346143e-04 6.15188993e+00] [ 1.59802035e-02 -6.32116033e-04 9.99872109e-01 3.61858197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78925415399993 meters Centerline goodness [0,1] 0.9985696556656359 Centerline is valid? [True, True] Translation: X:395.97, Y:6.15, Z:3.62 [[ 9.97979942e-01 -6.14694389e-02 -1.60481502e-02 3.95966845e+02] [ 6.14720740e-02 9.98108749e-01 -3.29501509e-04 6.15000301e+00] [ 1.60380534e-02 -6.57677179e-04 9.99871166e-01 3.61844153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81925415399996 meters Centerline goodness [0,1] 0.9984825812978145 Centerline is valid? [True, True] Translation: X:396.00, Y:6.15, Z:3.62 [[ 9.97903835e-01 -6.29721117e-02 -1.49147313e-02 3.95999187e+02] [ 6.29745684e-02 9.98015085e-01 -3.05341201e-04 6.15106618e+00] [ 1.49043548e-02 -6.34547613e-04 9.99888723e-01 3.61907409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84925415399994 meters Centerline goodness [0,1] 0.9986935816932867 Centerline is valid? [True, True] Translation: X:396.03, Y:6.15, Z:3.62 [[ 9.97877504e-01 -6.34653505e-02 -1.45820529e-02 3.96031737e+02] [ 6.34677670e-02 9.97983845e-01 -2.97463480e-04 6.15127164e+00] [ 1.45715319e-02 -6.28658221e-04 9.99893632e-01 3.61970850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87925415399997 meters Centerline goodness [0,1] 0.9984593305474653 Centerline is valid? [True, True] Translation: X:396.06, Y:6.15, Z:3.62 [[ 9.97884680e-01 -6.34680159e-02 -1.40703907e-02 3.96064235e+02] [ 6.34702815e-02 9.97983688e-01 -2.85920512e-04 6.15053090e+00] [ 1.40601673e-02 -6.07735963e-04 9.99900966e-01 3.62009308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90925415399994 meters Centerline goodness [0,1] 0.9986924520741506 Centerline is valid? [True, True] Translation: X:396.10, Y:6.15, Z:3.62 [[ 9.97902529e-01 -6.32176138e-02 -1.39310848e-02 3.96096786e+02] [ 6.32198271e-02 9.97999586e-01 -2.81893459e-04 6.15316850e+00] [ 1.39210375e-02 -5.99418579e-04 9.99902918e-01 3.62089005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93925415399997 meters Centerline goodness [0,1] 0.9985856624166174 Centerline is valid? [True, True] Translation: X:396.13, Y:6.15, Z:3.62 [[ 9.97913807e-01 -6.30444725e-02 -1.39078620e-02 3.96127961e+02] [ 6.30466747e-02 9.98010540e-01 -2.80478550e-04 6.15395415e+00] [ 1.38978755e-02 -5.96951035e-04 9.99903242e-01 3.62116079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96925415399994 meters Centerline goodness [0,1] 0.9986262865354947 Centerline is valid? [True, True] Translation: X:396.16, Y:6.16, Z:3.62 [[ 9.97944172e-01 -6.24658448e-02 -1.43334353e-02 3.96160433e+02] [ 6.24681371e-02 9.98046917e-01 -2.88164202e-04 6.15523026e+00] [ 1.43234413e-02 -6.07811217e-04 9.99897230e-01 3.62109248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99925415399997 meters Centerline goodness [0,1] 0.998586855648359 Centerline is valid? [True, True] Translation: X:396.19, Y:6.16, Z:3.62 [[ 9.97953998e-01 -6.22632861e-02 -1.45293514e-02 3.96193156e+02] [ 6.22656386e-02 9.98059570e-01 -2.90838564e-04 6.15688889e+00] [ 1.45192668e-02 -6.14435839e-04 9.99894401e-01 3.62112894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.02925415399994 meters Centerline goodness [0,1] 0.9984194887572967 Centerline is valid? [True, True] Translation: X:396.23, Y:6.16, Z:3.62 [[ 9.97989129e-01 -6.15911311e-02 -1.49743244e-02 3.96225562e+02] [ 6.15935765e-02 9.98101269e-01 -2.98263802e-04 6.15788991e+00] [ 1.49642626e-02 -6.24658163e-04 9.99887834e-01 3.62015826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.059254154 meters Centerline goodness [0,1] 0.9986317229765288 Centerline is valid? [True, True] Translation: X:396.26, Y:6.16, Z:3.62 [[ 9.97977291e-01 -6.17403167e-02 -1.51479051e-02 3.96256876e+02] [ 6.17428517e-02 9.98092045e-01 -3.00706148e-04 6.15648219e+00] [ 1.51375693e-02 -6.35176952e-04 9.99885219e-01 3.62061116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.08925415399995 meters Centerline goodness [0,1] 0.9987120476331236 Centerline is valid? [True, True] Translation: X:396.29, Y:6.16, Z:3.62 [[ 9.97988419e-01 -6.15866793e-02 -1.50398349e-02 3.96289192e+02] [ 6.15891747e-02 9.98101540e-01 -2.97635344e-04 6.16051850e+00] [ 1.50296128e-02 -6.29254394e-04 9.99886851e-01 3.62095769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.119254154 meters Centerline goodness [0,1] 0.9984843700663089 Centerline is valid? [True, True] Translation: X:396.32, Y:6.16, Z:3.62 [[ 9.98013517e-01 -6.11229608e-02 -1.52644655e-02 3.96321532e+02] [ 6.11254943e-02 9.98130043e-01 -3.00956884e-04 6.16132352e+00] [ 1.52543169e-02 -6.32688959e-04 9.99883446e-01 3.62085018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.14925415399995 meters Centerline goodness [0,1] 0.9985033726812816 Centerline is valid? [True, True] Translation: X:396.35, Y:6.16, Z:3.62 [[ 9.98039342e-01 -6.06939665e-02 -1.52877395e-02 3.96353163e+02] [ 6.06964791e-02 9.98156224e-01 -3.00005174e-04 6.16133996e+00] [ 1.52777608e-02 -6.28494993e-04 9.99883091e-01 3.62058278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.179254154 meters Centerline goodness [0,1] 0.998586080276875 Centerline is valid? [True, True] Translation: X:396.39, Y:6.17, Z:3.62 [[ 9.98131631e-01 -5.88383263e-02 -1.64711593e-02 3.96385314e+02] [ 5.88410199e-02 9.98267314e-01 -3.21463112e-04 6.16706794e+00] [ 1.64615343e-02 -6.48317313e-04 9.99864290e-01 3.62045388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.20925415399995 meters Centerline goodness [0,1] 0.9986756359049821 Centerline is valid? [True, True] Translation: X:396.42, Y:6.17, Z:3.62 [[ 9.98227112e-01 -5.71093888e-02 -1.67675582e-02 3.96416782e+02] [ 5.71119552e-02 9.98367727e-01 -3.26141145e-04 6.16759827e+00] [ 1.67588147e-02 -6.32065101e-04 9.99859361e-01 3.62001692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2392541539999 meters Centerline goodness [0,1] 0.9988402007507065 Centerline is valid? [True, True] Translation: X:396.45, Y:6.17, Z:3.62 [[ 9.98327403e-01 -5.52778388e-02 -1.69338909e-02 3.96449137e+02] [ 5.52802115e-02 9.98470826e-01 -3.28299742e-04 6.17315481e+00] [ 1.69261438e-02 -6.08358444e-04 9.99856557e-01 3.62082177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.26925415399995 meters Centerline goodness [0,1] 0.9985407325945351 Centerline is valid? [True, True] Translation: X:396.48, Y:6.18, Z:3.62 [[ 9.98448740e-01 -5.30806907e-02 -1.68093203e-02 3.96481314e+02] [ 5.30827383e-02 9.98590065e-01 -3.24648259e-04 6.17664973e+00] [ 1.68028528e-02 -5.68140107e-04 9.99858661e-01 3.62129693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2992541539999 meters Centerline goodness [0,1] 0.9986471060753392 Centerline is valid? [True, True] Translation: X:396.51, Y:6.18, Z:3.62 [[ 9.98715045e-01 -4.78090928e-02 -1.68091921e-02 3.96512243e+02] [ 4.78104106e-02 9.98856376e-01 -3.23682826e-04 6.18267718e+00] [ 1.68054437e-02 -4.80387466e-04 9.99858663e-01 3.62202756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.32925415399995 meters Centerline goodness [0,1] 0.9989005877626961 Centerline is valid? [True, True] Translation: X:396.54, Y:6.19, Z:3.62 [[ 9.98872689e-01 -4.45966807e-02 -1.62630396e-02 3.96542526e+02] [ 4.45974961e-02 9.99004988e-01 -3.12713421e-04 6.18657790e+00] [ 1.62608037e-02 -4.12929949e-04 9.99867699e-01 3.62304509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3592541539999 meters Centerline goodness [0,1] 0.998689273180838 Centerline is valid? [True, True] Translation: X:396.57, Y:6.19, Z:3.62 [[ 9.99014410e-01 -4.13945371e-02 -1.60219052e-02 3.96573284e+02] [ 4.13949233e-02 9.99142815e-01 -3.07674578e-04 6.18902712e+00] [ 1.60209075e-02 -3.55854201e-04 9.99871594e-01 3.62311243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.38925415399996 meters Centerline goodness [0,1] 0.9988361512580147 Centerline is valid? [True, True] Translation: X:396.60, Y:6.20, Z:3.62 [[ 9.99157430e-01 -3.81288069e-02 -1.51862827e-02 3.96604472e+02] [ 3.81287847e-02 9.99272791e-01 -2.91097690e-04 6.19592460e+00] [ 1.51863383e-02 -2.88182084e-04 9.99884639e-01 3.62490319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41925415399993 meters Centerline goodness [0,1] 0.9988361512580147 Centerline is valid? [True, True] Translation: X:396.64, Y:6.20, Z:3.63 [[ 9.99160236e-01 -3.80552198e-02 -1.51862975e-02 3.96636165e+02] [ 3.80552009e-02 9.99275596e-01 -2.90324998e-04 6.19647270e+00] [ 1.51863449e-02 -2.87836408e-04 9.99884639e-01 3.62520003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.44925415399996 meters Centerline goodness [0,1] 0.9987686559242511 Centerline is valid? [True, True] Translation: X:396.67, Y:6.20, Z:3.63 [[ 9.99400773e-01 -3.17644905e-02 -1.37518032e-02 3.96667313e+02] [ 3.17638903e-02 9.99495366e-01 -2.62112577e-04 6.20358398e+00] [ 1.37531894e-02 -1.74855257e-04 9.99905405e-01 3.62704327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47925415399993 meters Centerline goodness [0,1] 0.9988100297492563 Centerline is valid? [True, True] Translation: X:396.70, Y:6.21, Z:3.63 [[ 9.99505485e-01 -2.86665865e-02 -1.29233044e-02 3.96698763e+02] [ 2.86658035e-02 9.99589021e-01 -2.45862219e-04 6.20702505e+00] [ 1.29250412e-02 -1.24716268e-04 9.99916460e-01 3.62770946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.50925415399996 meters Centerline goodness [0,1] 0.9988507459510078 Centerline is valid? [True, True] Translation: X:396.73, Y:6.21, Z:3.63 [[ 9.99575037e-01 -2.61718295e-02 -1.28367187e-02 3.96729917e+02] [ 2.61708573e-02 9.99657455e-01 -2.43743938e-04 6.21048286e+00] [ 1.28387008e-02 -9.23075783e-05 9.99917576e-01 3.62857637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53925415399993 meters Centerline goodness [0,1] 0.9987657736258592 Centerline is valid? [True, True] Translation: X:396.76, Y:6.21, Z:3.63 [[ 9.99626146e-01 -2.42366614e-02 -1.26551413e-02 3.96760533e+02] [ 2.42355665e-02 9.99706247e-01 -2.39891762e-04 6.21287967e+00] [ 1.26572379e-02 -6.69024399e-05 9.99919892e-01 3.62843057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56925415399996 meters Centerline goodness [0,1] 0.9987014645776566 Centerline is valid? [True, True] Translation: X:396.79, Y:6.22, Z:3.63 [[ 9.99685985e-01 -2.15147676e-02 -1.28470481e-02 3.96791939e+02] [ 2.15134184e-02 9.99768530e-01 -2.43225511e-04 6.21627205e+00] [ 1.28493073e-02 -3.32347864e-05 9.99917444e-01 3.62848301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59925415399994 meters Centerline goodness [0,1] 0.9989128812909002 Centerline is valid? [True, True] Translation: X:396.82, Y:6.22, Z:3.63 [[ 9.99700979e-01 -2.06261868e-02 -1.31343902e-02 3.96822182e+02] [ 2.06247045e-02 9.99787257e-01 -2.48312106e-04 6.21767133e+00] [ 1.31367177e-02 -2.26550607e-05 9.99913709e-01 3.62809811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62925415399997 meters Centerline goodness [0,1] 0.9986779256226543 Centerline is valid? [True, True] Translation: X:396.85, Y:6.22, Z:3.63 [[ 9.99698376e-01 -2.07295859e-02 -1.31697241e-02 3.96851174e+02] [ 2.07281037e-02 9.99785119e-01 -2.49050154e-04 6.21859746e+00] [ 1.31720568e-02 -2.40083710e-05 9.99913244e-01 3.62866306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65925415399994 meters Centerline goodness [0,1] 0.9991258182128313 Centerline is valid? [True, True] Translation: X:396.88, Y:6.22, Z:3.63 [[ 9.99697272e-01 -2.07210954e-02 -1.32665431e-02 3.96881298e+02] [ 2.07195882e-02 9.99785295e-01 -2.51054816e-04 6.21933848e+00] [ 1.32688968e-02 -2.38984959e-05 9.99911964e-01 3.62898874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68925415399997 meters Centerline goodness [0,1] 0.9989110010249402 Centerline is valid? [True, True] Translation: X:396.91, Y:6.22, Z:3.63 [[ 9.99681392e-01 -2.14374052e-02 -1.33248469e-02 3.96910427e+02] [ 2.14359475e-02 9.99770192e-01 -2.52231154e-04 6.21972243e+00] [ 1.33271919e-02 -3.34799263e-05 9.99911188e-01 3.62905720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71925415399994 meters Centerline goodness [0,1] 0.9987399355017833 Centerline is valid? [True, True] Translation: X:396.94, Y:6.22, Z:3.63 [[ 9.99675570e-01 -2.19913401e-02 -1.28505000e-02 3.96940838e+02] [ 2.19900279e-02 9.99758160e-01 -2.43418622e-04 6.22027597e+00] [ 1.28527454e-02 -3.92432048e-05 9.99917399e-01 3.62944805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74925415399997 meters Centerline goodness [0,1] 0.9985704836885788 Centerline is valid? [True, True] Translation: X:396.97, Y:6.22, Z:3.63 [[ 9.99657659e-01 -2.25848873e-02 -1.32094071e-02 3.96972638e+02] [ 2.25835544e-02 9.99744928e-01 -2.50076274e-04 6.22084973e+00] [ 1.32116857e-02 -4.83247021e-05 9.99912721e-01 3.62993355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77925415399994 meters Centerline goodness [0,1] 0.9988911161342603 Centerline is valid? [True, True] Translation: X:397.00, Y:6.22, Z:3.63 [[ 9.99642377e-01 -2.31469995e-02 -1.33915954e-02 3.97004085e+02] [ 2.31456867e-02 9.99732071e-01 -2.53030170e-04 6.22111526e+00] [ 1.33938643e-02 -5.70179921e-05 9.99910297e-01 3.63031077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.809254154 meters Centerline goodness [0,1] 0.9989763057433513 Centerline is valid? [True, True] Translation: X:397.04, Y:6.22, Z:3.63 [[ 9.99601218e-01 -2.48430874e-02 -1.34248080e-02 3.97035514e+02] [ 2.48419276e-02 9.99691360e-01 -2.53164673e-04 6.22030680e+00] [ 1.34269540e-02 -8.04343933e-05 9.99909851e-01 3.63017194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.83925415399995 meters Centerline goodness [0,1] 0.9989142698997296 Centerline is valid? [True, True] Translation: X:397.07, Y:6.22, Z:3.63 [[ 9.99583838e-01 -2.54942650e-02 -1.34979191e-02 3.97066283e+02] [ 2.54931597e-02 9.99674964e-01 -2.53967763e-04 6.21960285e+00] [ 1.35000065e-02 -9.02425347e-05 9.99908867e-01 3.62927052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.869254154 meters Centerline goodness [0,1] 0.9987216907769989 Centerline is valid? [True, True] Translation: X:397.10, Y:6.22, Z:3.63 [[ 9.99554273e-01 -2.69137558e-02 -1.29192133e-02 3.97097830e+02] [ 2.69128699e-02 9.99637754e-01 -2.42453372e-04 6.21947424e+00] [ 1.29210587e-02 -1.05347804e-04 9.99916514e-01 3.63060802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.89925415399995 meters Centerline goodness [0,1] 0.9988072417465389 Centerline is valid? [True, True] Translation: X:397.13, Y:6.22, Z:3.63 [[ 9.99537965e-01 -2.76400044e-02 -1.26446070e-02 3.97130130e+02] [ 2.76392212e-02 9.99617936e-01 -2.36719577e-04 6.21901890e+00] [ 1.26463189e-02 -1.12876886e-04 9.99920026e-01 3.63109033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.929254154 meters Centerline goodness [0,1] 0.9986342004737617 Centerline is valid? [True, True] Translation: X:397.16, Y:6.22, Z:3.63 [[ 9.99519947e-01 -2.82835268e-02 -1.26458955e-02 3.97162017e+02] [ 2.82828067e-02 9.99599934e-01 -2.35808260e-04 6.21833578e+00] [ 1.26475058e-02 -1.21966359e-04 9.99920010e-01 3.63143941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.95925415399995 meters Centerline goodness [0,1] 0.9988276170784217 Centerline is valid? [True, True] Translation: X:397.19, Y:6.22, Z:3.63 [[ 9.99525091e-01 -2.80914292e-02 -1.26674164e-02 3.97193195e+02] [ 2.80907016e-02 9.99605351e-01 -2.35393903e-04 6.21860018e+00] [ 1.26690297e-02 -1.20554500e-04 9.99919737e-01 3.63193636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9892541539999 meters Centerline goodness [0,1] 0.9987646432374867 Centerline is valid? [True, True] Translation: X:397.22, Y:6.22, Z:3.63 [[ 9.99538186e-01 -2.76596613e-02 -1.25840368e-02 3.97224357e+02] [ 2.76589149e-02 9.99617392e-01 -2.33384570e-04 6.21877306e+00] [ 1.25856774e-02 -1.14784014e-04 9.99920791e-01 3.63200393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.01925415399995 meters Centerline goodness [0,1] 0.9988927689293927 Centerline is valid? [True, True] Translation: X:397.26, Y:6.22, Z:3.63 [[ 9.99554332e-01 -2.69361717e-02 -1.28677752e-02 3.97256083e+02] [ 2.69353374e-02 9.99637150e-01 -2.38169427e-04 6.21887595e+00] [ 1.28695215e-02 -1.08534584e-04 9.99917178e-01 3.63217086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0492541539999 meters Centerline goodness [0,1] 0.9987449211853049 Centerline is valid? [True, True] Translation: X:397.29, Y:6.22, Z:3.63 [[ 9.99567195e-01 -2.63935529e-02 -1.29923893e-02 3.97287076e+02] [ 2.63926628e-02 9.99651624e-01 -2.39998820e-04 6.21894556e+00] [ 1.29941975e-02 -1.03008803e-04 9.99915567e-01 3.63219533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07925415399995 meters Centerline goodness [0,1] 0.9988114945456089 Centerline is valid? [True, True] Translation: X:397.32, Y:6.22, Z:3.63 [[ 9.99600922e-01 -2.49649401e-02 -1.32192519e-02 3.97317917e+02] [ 2.49638992e-02 9.99688324e-01 -2.43771290e-04 6.21799749e+00] [ 1.32212175e-02 -8.63300657e-05 9.99912592e-01 3.63238320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1092541539999 meters Centerline goodness [0,1] 0.9989380906870553 Centerline is valid? [True, True] Translation: X:397.35, Y:6.22, Z:3.63 [[ 9.99612743e-01 -2.43085253e-02 -1.35447494e-02 3.97349024e+02] [ 2.43073767e-02 9.99704501e-01 -2.49445864e-04 6.21800205e+00] [ 1.35468106e-02 -7.98880620e-05 9.99908235e-01 3.63269932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13925415399996 meters Centerline goodness [0,1] 0.9987683944535282 Centerline is valid? [True, True] Translation: X:397.38, Y:6.22, Z:3.63 [[ 9.99639898e-01 -2.31228557e-02 -1.36164810e-02 3.97380271e+02] [ 2.31215917e-02 9.99732629e-01 -2.50264222e-04 6.21776957e+00] [ 1.36186272e-02 -6.46606130e-05 9.99907260e-01 3.63297703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16925415399993 meters Centerline goodness [0,1] 0.9990028852681602 Centerline is valid? [True, True] Translation: X:397.41, Y:6.22, Z:3.63 [[ 9.99692287e-01 -2.04571076e-02 -1.40298757e-02 3.97410429e+02] [ 2.04555094e-02 9.99790731e-01 -2.57421284e-04 6.21693564e+00] [ 1.40322058e-02 -2.96461832e-05 9.99901543e-01 3.63307551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19925415399996 meters Centerline goodness [0,1] 0.9990043427603008 Centerline is valid? [True, True] Translation: X:397.44, Y:6.22, Z:3.63 [[ 9.99721923e-01 -1.90254934e-02 -1.39322603e-02 3.97440314e+02] [ 1.90237784e-02 9.99818999e-01 -2.55626153e-04 6.21735996e+00] [ 1.39346020e-02 -9.48916307e-06 9.99902909e-01 3.63358428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22925415399993 meters Centerline goodness [0,1] 0.9993648777389648 Centerline is valid? [True, True] Translation: X:397.47, Y:6.22, Z:3.63 [[ 9.99752554e-01 -1.72928581e-02 -1.39924565e-02 3.97470128e+02] [ 1.72909513e-02 9.99850467e-01 -2.57242996e-04 6.21764003e+00] [ 1.39948126e-02 1.52364578e-05 9.99902068e-01 3.63339168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25925415399996 meters Centerline goodness [0,1] 0.999151679674245 Centerline is valid? [True, True] Translation: X:397.50, Y:6.22, Z:3.63 [[ 9.99765311e-01 -1.62860780e-02 -1.42858984e-02 3.97498298e+02] [ 1.62839787e-02 9.99867373e-01 -2.63260905e-04 6.21803238e+00] [ 1.42882912e-02 3.05678555e-05 9.99897917e-01 3.63443221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28925415399993 meters Centerline goodness [0,1] 0.9990903513782234 Centerline is valid? [True, True] Translation: X:397.53, Y:6.22, Z:3.63 [[ 9.99798776e-01 -1.35373120e-02 -1.48036854e-02 3.97527524e+02] [ 1.35347283e-02 9.99908364e-01 -2.74711432e-04 6.21766868e+00] [ 1.48060477e-02 7.42922940e-05 9.99890382e-01 3.63379623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31925415399996 meters Centerline goodness [0,1] 0.999216417120227 Centerline is valid? [True, True] Translation: X:397.56, Y:6.22, Z:3.63 [[ 9.99800726e-01 -1.28351029e-02 -1.52894855e-02 3.97556698e+02] [ 1.28322043e-02 9.99917623e-01 -2.87677139e-04 6.21750692e+00] [ 1.52919184e-02 9.14220107e-05 9.99883068e-01 3.63409809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34925415399994 meters Centerline goodness [0,1] 0.9991123885202249 Centerline is valid? [True, True] Translation: X:397.58, Y:6.22, Z:3.63 [[ 9.99810359e-01 -1.20289947e-02 -1.53150263e-02 3.97584415e+02] [ 1.20259429e-02 9.99927643e-01 -2.91353507e-04 6.21726308e+00] [ 1.53174229e-02 1.07120623e-04 9.99882676e-01 3.63400534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37925415399997 meters Centerline goodness [0,1] 0.9991548700612719 Centerline is valid? [True, True] Translation: X:397.61, Y:6.22, Z:3.63 [[ 9.99815128e-01 -1.18952738e-02 -1.51067278e-02 3.97612262e+02] [ 1.18922450e-02 9.99929243e-01 -2.90310636e-04 6.21644039e+00] [ 1.51091122e-02 1.10604057e-04 9.99885845e-01 3.63479395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40925415399994 meters Centerline goodness [0,1] 0.9991754756871036 Centerline is valid? [True, True] Translation: X:397.64, Y:6.21, Z:3.64 [[ 9.99831659e-01 -1.17743214e-02 -1.40718963e-02 3.97639067e+02] [ 1.17716377e-02 9.99930674e-01 -2.73525406e-04 6.21417601e+00] [ 1.40741413e-02 1.07830095e-04 9.99900949e-01 3.63563150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43925415399997 meters Centerline goodness [0,1] 0.9992404101785036 Centerline is valid? [True, True] Translation: X:397.67, Y:6.21, Z:3.64 [[ 9.99827681e-01 -1.23061486e-02 -1.38984887e-02 3.97667234e+02] [ 1.23035478e-02 9.99924271e-01 -2.72618880e-04 6.21254259e+00] [ 1.39007911e-02 1.01571182e-04 9.99903374e-01 3.63635153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46925415399994 meters Centerline goodness [0,1] 0.9992196891410253 Centerline is valid? [True, True] Translation: X:397.69, Y:6.21, Z:3.64 [[ 9.99820772e-01 -1.26918472e-02 -1.40478085e-02 3.97694190e+02] [ 1.26891816e-02 9.99919450e-01 -2.78867135e-04 6.21105943e+00] [ 1.40502163e-02 1.00561960e-04 9.99901286e-01 3.63684014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49925415399997 meters Centerline goodness [0,1] 0.9991566696886003 Centerline is valid? [True, True] Translation: X:397.72, Y:6.21, Z:3.64 [[ 9.99809534e-01 -1.31387846e-02 -1.44314972e-02 3.97721919e+02] [ 1.31359799e-02 9.99913678e-01 -2.89128584e-04 6.20672216e+00] [ 1.44340502e-02 9.95016587e-05 9.99895819e-01 3.63548046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.52925415399994 meters Centerline goodness [0,1] 0.9991791892915772 Centerline is valid? [True, True] Translation: X:397.75, Y:6.21, Z:3.64 [[ 9.99804304e-01 -1.40429838e-02 -1.39337150e-02 3.97750169e+02] [ 1.40404031e-02 9.99901389e-01 -2.83021700e-04 6.20538985e+00] [ 1.39363155e-02 8.73313372e-05 9.99902881e-01 3.63684330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.559254154 meters Centerline goodness [0,1] 0.9990515533448552 Centerline is valid? [True, True] Translation: X:397.78, Y:6.20, Z:3.64 [[ 9.99800788e-01 -1.42490976e-02 -1.39766580e-02 3.97778239e+02] [ 1.42464648e-02 9.99898473e-01 -2.87919411e-04 6.20296536e+00] [ 1.39793416e-02 8.87440883e-05 9.99902280e-01 3.63689106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.58925415399995 meters Centerline goodness [0,1] 0.9993267410056806 Centerline is valid? [True, True] Translation: X:397.81, Y:6.20, Z:3.64 [[ 9.99786163e-01 -1.45428558e-02 -1.47014988e-02 3.97805798e+02] [ 1.45399086e-02 9.99894243e-01 -3.07340466e-04 6.20120155e+00] [ 1.47044136e-02 9.35162975e-05 9.99891880e-01 3.63678455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.619254154 meters Centerline goodness [0,1] 0.9990338570108376 Centerline is valid? [True, True] Translation: X:397.83, Y:6.20, Z:3.64 [[ 9.99788235e-01 -1.42579998e-02 -1.48389332e-02 3.97834079e+02] [ 1.42549006e-02 9.99898344e-01 -3.14610051e-04 6.19620322e+00] [ 1.48419105e-02 1.03015909e-04 9.99889847e-01 3.63626494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.64925415399995 meters Centerline goodness [0,1] 0.9993489720057962 Centerline is valid? [True, True] Translation: X:397.86, Y:6.19, Z:3.64 [[ 9.99785784e-01 -1.45184173e-02 -1.47513501e-02 3.97862322e+02] [ 1.45153186e-02 9.99894597e-01 -3.17110367e-04 6.19380577e+00] [ 1.47543992e-02 1.02921891e-04 9.99891143e-01 3.63666300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.679254154 meters Centerline goodness [0,1] 0.999350036691477 Centerline is valid? [True, True] Translation: X:397.89, Y:6.19, Z:3.64 [[ 9.99783131e-01 -1.48756083e-02 -1.45742119e-02 3.97888990e+02] [ 1.48725715e-02 9.99889347e-01 -3.16740028e-04 6.19169506e+00] [ 1.45773109e-02 9.99153285e-05 9.99893740e-01 3.63682935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.70925415399995 meters Centerline goodness [0,1] 0.9992863589614424 Centerline is valid? [True, True] Translation: X:397.92, Y:6.19, Z:3.64 [[ 9.99782903e-01 -1.53592197e-02 -1.40798509e-02 3.97917216e+02] [ 1.53563971e-02 9.99882036e-01 -3.08565851e-04 6.18908805e+00] [ 1.40829293e-02 9.22830808e-05 9.99900826e-01 3.63756271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7392541539999 meters Centerline goodness [0,1] 0.99922517956987 Centerline is valid? [True, True] Translation: X:397.95, Y:6.18, Z:3.64 [[ 9.99776114e-01 -1.62014558e-02 -1.36101119e-02 3.97945162e+02] [ 1.61988546e-02 9.99868745e-01 -3.01348380e-04 6.18350186e+00] [ 1.36132078e-02 8.08126891e-05 9.99907333e-01 3.63762590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.76925415399995 meters Centerline goodness [0,1] 0.9992885689774226 Centerline is valid? [True, True] Translation: X:397.97, Y:6.18, Z:3.64 [[ 9.99761417e-01 -1.72007107e-02 -1.34627490e-02 3.97972720e+02] [ 1.71982283e-02 9.99852054e-01 -3.00152270e-04 6.18057624e+00] [ 1.34659201e-02 6.85452291e-05 9.99909328e-01 3.63802156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7992541539999 meters Centerline goodness [0,1] 0.9993722798794777 Centerline is valid? [True, True] Translation: X:398.00, Y:6.17, Z:3.64 [[ 9.99728744e-01 -1.87148165e-02 -1.38634334e-02 3.98000581e+02] [ 1.87122843e-02 9.99824861e-01 -3.12359149e-04 6.17456074e+00] [ 1.38668511e-02 5.28579123e-05 9.99903849e-01 3.63762506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.82925415399995 meters Centerline goodness [0,1] 0.999141810570382 Centerline is valid? [True, True] Translation: X:398.03, Y:6.17, Z:3.64 [[ 9.99716242e-01 -1.95271994e-02 -1.36427563e-02 3.98029209e+02] [ 1.95247961e-02 9.99809325e-01 -3.09343347e-04 6.17189336e+00] [ 1.36461956e-02 4.28835336e-05 9.99906885e-01 3.63750925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8592541539999 meters Centerline goodness [0,1] 0.9992481203007518 Centerline is valid? [True, True] Translation: X:398.06, Y:6.17, Z:3.64 [[ 9.99700293e-01 -2.02440103e-02 -1.37660775e-02 3.98056770e+02] [ 2.02415892e-02 9.99795068e-01 -3.15192271e-04 6.16953867e+00] [ 1.37696371e-02 3.64505197e-05 9.99905193e-01 3.63745598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.88925415399996 meters Centerline goodness [0,1] 0.9994564535685914 Centerline is valid? [True, True] Translation: X:398.08, Y:6.17, Z:3.64 [[ 9.99694713e-01 -2.06426934e-02 -1.35779149e-02 3.98084678e+02] [ 2.06403526e-02 9.99786916e-01 -3.12517248e-04 6.16716009e+00] [ 1.35814728e-02 3.21688897e-05 9.99907767e-01 3.63784653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91925415399993 meters Centerline goodness [0,1] 0.9993519118600129 Centerline is valid? [True, True] Translation: X:398.11, Y:6.16, Z:3.64 [[ 9.99676618e-01 -2.14939453e-02 -1.35893585e-02 3.98113817e+02] [ 2.14916530e-02 9.99768978e-01 -3.14710978e-04 6.16159835e+00] [ 1.35929835e-02 2.25514288e-05 9.99907611e-01 3.63812090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.94925415399996 meters Centerline goodness [0,1] 0.9993937113229637 Centerline is valid? [True, True] Translation: X:398.14, Y:6.16, Z:3.64 [[ 9.99666492e-01 -2.20247081e-02 -1.34839239e-02 3.98142452e+02] [ 2.20224530e-02 9.99757427e-01 -3.15721736e-04 6.15964122e+00] [ 1.34876068e-02 1.86673599e-05 9.99909038e-01 3.63879472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97925415399993 meters Centerline goodness [0,1] 0.9991638621208637 Centerline is valid? [True, True] Translation: X:398.17, Y:6.16, Z:3.64 [[ 9.99659738e-01 -2.24148900e-02 -1.33409368e-02 3.98171148e+02] [ 2.24126718e-02 9.99748755e-01 -3.15774864e-04 6.15778346e+00] [ 1.33446630e-02 1.66613798e-05 9.99910956e-01 3.63942482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.00925415399996 meters Centerline goodness [0,1] 0.9993523721979652 Centerline is valid? [True, True] Translation: X:398.20, Y:6.16, Z:3.64 [[ 9.99660722e-01 -2.24624630e-02 -1.31863289e-02 3.98200458e+02] [ 2.24602555e-02 9.99747687e-01 -3.15487953e-04 6.15599131e+00] [ 1.31900884e-02 1.92125981e-05 9.99913007e-01 3.63959013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03925415399993 meters Centerline goodness [0,1] 0.9993518170033037 Centerline is valid? [True, True] Translation: X:398.23, Y:6.15, Z:3.64 [[ 9.99669285e-01 -2.22739459e-02 -1.28526643e-02 3.98229492e+02] [ 2.22717915e-02 9.99751905e-01 -3.10751361e-04 6.15440215e+00] [ 1.28563973e-02 2.43967322e-05 9.99917353e-01 3.64041707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06925415399996 meters Centerline goodness [0,1] 0.9992687003760969 Centerline is valid? [True, True] Translation: X:398.26, Y:6.15, Z:3.64 [[ 9.99680112e-01 -2.17966917e-02 -1.28288273e-02 3.98258799e+02] [ 2.17944637e-02 9.99762423e-01 -3.13467971e-04 6.15278137e+00] [ 1.28326121e-02 3.37702850e-05 9.99917658e-01 3.63995695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09925415399994 meters Centerline goodness [0,1] 0.9994356895038248 Centerline is valid? [True, True] Translation: X:398.29, Y:6.15, Z:3.64 [[ 9.99721639e-01 -2.00840657e-02 -1.23804012e-02 3.98287832e+02] [ 2.00818287e-02 9.99798293e-01 -3.04990121e-04 6.14955846e+00] [ 1.23840294e-02 5.62841281e-05 9.99923313e-01 3.64143624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12925415399997 meters Centerline goodness [0,1] 0.999497550558975 Centerline is valid? [True, True] Translation: X:398.32, Y:6.15, Z:3.64 [[ 9.99733011e-01 -1.94342571e-02 -1.24986792e-02 3.98316500e+02] [ 1.94319100e-02 9.99811135e-01 -3.09212953e-04 6.14820466e+00] [ 1.25023279e-02 6.62571876e-05 9.99921841e-01 3.64164750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15925415399994 meters Centerline goodness [0,1] 0.999434661529764 Centerline is valid? [True, True] Translation: X:398.35, Y:6.15, Z:3.64 [[ 9.99735812e-01 -1.90568670e-02 -1.28507273e-02 3.98345066e+02] [ 1.90543119e-02 9.99818399e-01 -3.21250553e-04 6.14650535e+00] [ 1.28545157e-02 7.63039157e-05 9.99917374e-01 3.64165790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18925415399997 meters Centerline goodness [0,1] 0.9994984221195845 Centerline is valid? [True, True] Translation: X:398.37, Y:6.14, Z:3.64 [[ 9.99732271e-01 -1.88859587e-02 -1.33681468e-02 3.98373981e+02] [ 1.88831317e-02 9.99821641e-01 -3.37672893e-04 6.14472311e+00] [ 1.33721398e-02 8.51500103e-05 9.99910585e-01 3.64174529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21925415399994 meters Centerline goodness [0,1] 0.9995605223505776 Centerline is valid? [True, True] Translation: X:398.40, Y:6.14, Z:3.64 [[ 9.99705214e-01 -1.91038949e-02 -1.49842304e-02 3.98403020e+02] [ 1.91003063e-02 9.99817499e-01 -3.82579046e-04 6.13903425e+00] [ 1.49888045e-02 9.62628767e-05 9.99887657e-01 3.63971293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24925415399997 meters Centerline goodness [0,1] 0.9996659707724426 Centerline is valid? [True, True] Translation: X:398.43, Y:6.14, Z:3.64 [[ 9.99682519e-01 -2.07160337e-02 -1.43424729e-02 3.98430914e+02] [ 2.07128585e-02 9.99785397e-01 -3.69912238e-04 6.13676856e+00] [ 1.43470581e-02 7.27211859e-05 9.99897073e-01 3.64175241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27925415399994 meters Centerline goodness [0,1] 0.9995814673753819 Centerline is valid? [True, True] Translation: X:398.46, Y:6.13, Z:3.64 [[ 9.99632150e-01 -2.25857062e-02 -1.50149834e-02 3.98459273e+02] [ 2.25823693e-02 9.99744909e-01 -3.91768810e-04 6.13400788e+00] [ 1.50200016e-02 5.25507988e-05 9.99887192e-01 3.64153727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.309254154 meters Centerline goodness [0,1] 0.9995814673753819 Centerline is valid? [True, True] Translation: X:398.49, Y:6.13, Z:3.64 [[ 9.99625505e-01 -2.28780108e-02 -1.50148678e-02 3.98486687e+02] [ 2.28746410e-02 9.99738263e-01 -3.96158167e-04 6.13479460e+00] [ 1.50200012e-02 5.25500970e-05 9.99887192e-01 3.64179473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.33925415399995 meters Centerline goodness [0,1] 0.9995826899803865 Centerline is valid? [True, True] Translation: X:398.51, Y:6.13, Z:3.64 [[ 9.99487083e-01 -2.75729140e-02 -1.62882140e-02 3.98513845e+02] [ 2.75695089e-02 9.99619795e-01 -4.33604156e-04 6.12756104e+00] [ 1.62939769e-02 -1.56763073e-05 9.99867244e-01 3.64111410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.369254154 meters Centerline goodness [0,1] 0.9996654679267375 Centerline is valid? [True, True] Translation: X:398.54, Y:6.12, Z:3.64 [[ 9.99399358e-01 -3.05577755e-02 -1.63446096e-02 3.98542290e+02] [ 3.05546927e-02 9.99533000e-01 -4.38359168e-04 6.12437794e+00] [ 1.63503719e-02 -6.13086525e-05 9.99866322e-01 3.64181242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.39925415399995 meters Centerline goodness [0,1] 0.9995830640622069 Centerline is valid? [True, True] Translation: X:398.57, Y:6.12, Z:3.64 [[ 9.99304503e-01 -3.34350311e-02 -1.65108884e-02 3.98570174e+02] [ 3.34322153e-02 9.99440887e-01 -4.46604293e-04 6.12002460e+00] [ 1.65165892e-02 -1.05701896e-04 9.99863586e-01 3.64129851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.429254154 meters Centerline goodness [0,1] 0.9995818436513413 Centerline is valid? [True, True] Translation: X:398.60, Y:6.12, Z:3.64 [[ 9.99198331e-01 -3.63312741e-02 -1.68147042e-02 3.98598538e+02] [ 3.63287301e-02 9.99339789e-01 -4.56821308e-04 6.11702636e+00] [ 1.68201999e-02 -1.54401764e-04 9.99858519e-01 3.64215446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.45925415399995 meters Centerline goodness [0,1] 0.9994779376448722 Centerline is valid? [True, True] Translation: X:398.63, Y:6.11, Z:3.64 [[ 9.99014382e-01 -4.07925248e-02 -1.74995392e-02 3.98626302e+02] [ 4.07904184e-02 9.99167610e-01 -4.77435387e-04 6.10870229e+00] [ 1.75044486e-02 -2.36848708e-04 9.99846757e-01 3.64068256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4892541539999 meters Centerline goodness [0,1] 0.9996664442961974 Centerline is valid? [True, True] Translation: X:398.65, Y:6.11, Z:3.64 [[ 9.98949979e-01 -4.27986942e-02 -1.63466169e-02 3.98654777e+02] [ 4.27970759e-02 9.99083685e-01 -4.48962421e-04 6.10763758e+00] [ 1.63508533e-02 -2.51096403e-04 9.99866284e-01 3.64364328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.51925415399995 meters Centerline goodness [0,1] 0.9996862318537422 Centerline is valid? [True, True] Translation: X:398.68, Y:6.10, Z:3.64 [[ 9.98895996e-01 -4.41137366e-02 -1.61482833e-02 3.98683772e+02] [ 4.41122852e-02 9.99026480e-01 -4.46235180e-04 6.10385842e+00] [ 1.61522478e-02 -2.66595145e-04 9.99869508e-01 3.64333600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5492541539999 meters Centerline goodness [0,1] 0.9999373001442097 Centerline is valid? [True, True] Translation: X:398.71, Y:6.10, Z:3.65 [[ 9.98861046e-01 -4.49338663e-02 -1.60486274e-02 3.98712972e+02] [ 4.49325265e-02 9.98989925e-01 -4.44231865e-04 6.10488836e+00] [ 1.60523781e-02 -2.77379469e-04 9.99871114e-01 3.64523636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57925415399995 meters Centerline goodness [0,1] 0.9997502237578836 Centerline is valid? [True, True] Translation: X:398.74, Y:6.10, Z:3.64 [[ 9.98845264e-01 -4.51316324e-02 -1.64704009e-02 3.98741788e+02] [ 4.51302358e-02 9.98981007e-01 -4.56654237e-04 6.09990205e+00] [ 1.64742273e-02 -2.87186156e-04 9.99864249e-01 3.64334120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6092541539999 meters Centerline goodness [0,1] 0.999770771250547 Centerline is valid? [True, True] Translation: X:398.77, Y:6.10, Z:3.64 [[ 9.98838567e-01 -4.52714464e-02 -1.64927997e-02 3.98770566e+02] [ 4.52700486e-02 9.98974681e-01 -4.58276399e-04 6.09858420e+00] [ 1.64966362e-02 -2.88885704e-04 9.99863880e-01 3.64360802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63925415399996 meters Centerline goodness [0,1] 0.9998751014800474 Centerline is valid? [True, True] Translation: X:398.80, Y:6.10, Z:3.65 [[ 9.98848151e-01 -4.54146423e-02 -1.54880778e-02 3.98799543e+02] [ 4.54133934e-02 9.98968186e-01 -4.32516815e-04 6.09895767e+00] [ 1.54917396e-02 -2.71347547e-04 9.99879959e-01 3.64535093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66925415399993 meters Centerline goodness [0,1] 0.9998325343827845 Centerline is valid? [True, True] Translation: X:398.83, Y:6.10, Z:3.64 [[ 9.98900565e-01 -4.40546405e-02 -1.60265244e-02 3.98828897e+02] [ 4.40530847e-02 9.99029090e-01 -4.50264206e-04 6.09707706e+00] [ 1.60308004e-02 -2.56248669e-04 9.99871466e-01 3.64434101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69925415399996 meters Centerline goodness [0,1] 0.9999582341394144 Centerline is valid? [True, True] Translation: X:398.86, Y:6.10, Z:3.65 [[ 9.98966224e-01 -4.28336553e-02 -1.52236941e-02 3.98857106e+02] [ 4.28321000e-02 9.99082193e-01 -4.28347932e-04 6.09754622e+00] [ 1.52280694e-02 -2.24157673e-04 9.99884021e-01 3.64568543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72925415399993 meters Centerline goodness [0,1] 0.9999372594947298 Centerline is valid? [True, True] Translation: X:398.89, Y:6.10, Z:3.65 [[ 9.99032967e-01 -4.13269478e-02 -1.50071077e-02 3.98885999e+02] [ 4.13252374e-02 9.99145657e-01 -4.24186767e-04 6.09868422e+00] [ 1.50118168e-02 -1.96395725e-04 9.99887297e-01 3.64644076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75925415399996 meters Centerline goodness [0,1] 0.9999790409121395 Centerline is valid? [True, True] Translation: X:398.91, Y:6.10, Z:3.65 [[ 9.99113407e-01 -3.94019621e-02 -1.48285020e-02 3.98914250e+02] [ 3.94000410e-02 9.99223428e-01 -4.21785094e-04 6.09934102e+00] [ 1.48336057e-02 -1.62832443e-04 9.99889963e-01 3.64657264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78925415399993 meters Centerline goodness [0,1] 0.9999374661274857 Centerline is valid? [True, True] Translation: X:398.94, Y:6.10, Z:3.65 [[ 9.99198276e-01 -3.70365347e-02 -1.52020109e-02 3.98942729e+02] [ 3.70342114e-02 9.99313904e-01 -4.34411087e-04 6.10025963e+00] [ 1.52076699e-02 -1.28931675e-04 9.99884348e-01 3.64584353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81925415399996 meters Centerline goodness [0,1] 0.9998328632612556 Centerline is valid? [True, True] Translation: X:398.97, Y:6.10, Z:3.65 [[ 9.99363445e-01 -3.21997501e-02 -1.53584122e-02 3.98971552e+02] [ 3.21967471e-02 9.99481452e-01 -4.42809319e-04 6.10145887e+00] [ 1.53647065e-02 -5.19634686e-05 9.99881955e-01 3.64603460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.00, Y:6.10, Z:3.65 [[ 9.99441147e-01 -3.01380140e-02 -1.44600630e-02 3.98999527e+02] [ 3.01350939e-02 9.99545747e-01 -4.19839350e-04 6.10288999e+00] [ 1.44661476e-02 -1.61506344e-05 9.99895360e-01 3.64720858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87925415399997 meters Centerline goodness [0,1] 0.9999582245430809 Centerline is valid? [True, True] Translation: X:399.03, Y:6.10, Z:3.65 [[ 9.99477619e-01 -2.85529139e-02 -1.51400069e-02 3.99026988e+02] [ 2.85494854e-02 9.99592282e-01 -4.42581895e-04 6.10350498e+00] [ 1.51464711e-02 1.01112923e-05 9.99885286e-01 3.64664361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90925415399994 meters Centerline goodness [0,1] 0.999874558340825 Centerline is valid? [True, True] Translation: X:399.06, Y:6.10, Z:3.65 [[ 9.99510259e-01 -2.69656579e-02 -1.58774884e-02 3.99055294e+02] [ 2.69616324e-02 9.99636360e-01 -4.67575642e-04 6.10375903e+00] [ 1.58843232e-02 3.92636456e-05 9.99873835e-01 3.64511855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.08, Y:6.10, Z:3.65 [[ 9.99535333e-01 -2.65534539e-02 -1.49677306e-02 3.99082445e+02] [ 2.65498080e-02 9.99647394e-01 -4.42268814e-04 6.10297348e+00] [ 1.49741967e-02 4.46729315e-05 9.99887879e-01 3.64595284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.11, Y:6.10, Z:3.65 [[ 9.99498236e-01 -2.77648646e-02 -1.52443253e-02 3.99110333e+02] [ 2.77611809e-02 9.99614481e-01 -4.53245913e-04 6.10153927e+00] [ 1.52510327e-02 2.98180171e-05 9.99883696e-01 3.64580622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.14, Y:6.10, Z:3.65 [[ 9.99438826e-01 -2.97408329e-02 -1.54115270e-02 3.99137734e+02] [ 2.97372512e-02 9.99557644e-01 -4.61564035e-04 6.09962140e+00] [ 1.54184369e-02 3.00856618e-06 9.99881129e-01 3.64536887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.02925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.17, Y:6.09, Z:3.65 [[ 9.99269296e-01 -3.50693268e-02 -1.51992507e-02 3.99165635e+02] [ 3.50664349e-02 9.99384879e-01 -4.56811479e-04 6.09340494e+00] [ 1.52059214e-02 -7.65058502e-05 9.99884380e-01 3.64560970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.059254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.19, Y:6.09, Z:3.65 [[ 9.99132239e-01 -3.89528695e-02 -1.47459400e-02 3.99194578e+02] [ 3.89505404e-02 9.99241041e-01 -4.45224652e-04 6.08990305e+00] [ 1.47520912e-02 -1.29524028e-04 9.99891174e-01 3.64607468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.08925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.22, Y:6.09, Z:3.65 [[ 9.98964822e-01 -4.31446368e-02 -1.44161463e-02 3.99223192e+02] [ 4.31427976e-02 9.99068820e-01 -4.38690003e-04 6.08769374e+00] [ 1.44216494e-02 -1.83716999e-04 9.99895986e-01 3.64713989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.119254154 meters Centerline goodness [0,1] 0.999874245472837 Centerline is valid? [True, True] Translation: X:399.25, Y:6.08, Z:3.65 [[ 9.98766190e-01 -4.72096608e-02 -1.54060183e-02 3.99251662e+02] [ 4.72079966e-02 9.98884970e-01 -4.71874555e-04 6.08301649e+00] [ 1.54111171e-02 -2.55994906e-04 9.99881209e-01 3.64500174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.14925415399995 meters Centerline goodness [0,1] 0.9999580739156867 Centerline is valid? [True, True] Translation: X:399.28, Y:6.08, Z:3.65 [[ 9.98301532e-01 -5.63204382e-02 -1.49016496e-02 3.99281946e+02] [ 5.63198815e-02 9.98412671e-01 -4.57341648e-04 6.07588837e+00] [ 1.49037535e-02 -3.82694271e-04 9.99888860e-01 3.64620089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.179254154 meters Centerline goodness [0,1] 0.9999582716100899 Centerline is valid? [True, True] Translation: X:399.31, Y:6.07, Z:3.65 [[ 9.98046130e-01 -6.06727264e-02 -1.49245841e-02 3.99310092e+02] [ 6.06726448e-02 9.98157613e-01 -4.58663836e-04 6.07127038e+00] [ 1.49249157e-02 -4.47746326e-04 9.99888517e-01 3.64617869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.20925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.34, Y:6.07, Z:3.65 [[ 9.97772741e-01 -6.51357321e-02 -1.43838018e-02 3.99339513e+02] [ 6.51361049e-02 9.97876291e-01 -4.43050951e-04 6.07072608e+00] [ 1.43821132e-02 -4.94840661e-04 9.99896450e-01 3.64815650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2392541539999 meters Centerline goodness [0,1] 0.9999161302497221 Centerline is valid? [True, True] Translation: X:399.37, Y:6.07, Z:3.65 [[ 9.97539756e-01 -6.85419338e-02 -1.47118677e-02 3.99367913e+02] [ 6.85426799e-02 9.97648082e-01 -4.54093398e-04 6.06654005e+00] [ 1.47083911e-02 -5.55414624e-04 9.99891672e-01 3.64694589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.26925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.40, Y:6.06, Z:3.65 [[ 9.97078887e-01 -7.53321253e-02 -1.26001388e-02 3.99398700e+02] [ 7.53332056e-02 9.97158341e-01 -3.89542827e-04 6.06262704e+00] [ 1.25936786e-02 -5.60803918e-04 9.99920539e-01 3.64986097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.43, Y:6.06, Z:3.65 [[ 9.96857425e-01 -7.83289541e-02 -1.18257708e-02 3.99428541e+02] [ 7.83301144e-02 9.96927409e-01 -3.65737391e-04 6.06262318e+00] [ 1.18180828e-02 -5.61725942e-04 9.99930006e-01 3.65053564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.32925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.46, Y:6.06, Z:3.65 [[ 9.96676024e-01 -8.06479504e-02 -1.15243951e-02 3.99457723e+02] [ 8.06492040e-02 9.96742484e-01 -3.56672003e-04 6.06033275e+00] [ 1.15156190e-02 -5.73946856e-04 9.99933528e-01 3.65126172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3592541539999 meters Centerline goodness [0,1] 0.9999790825611312 Centerline is valid? [True, True] Translation: X:399.49, Y:6.06, Z:3.65 [[ 9.96375326e-01 -8.42775903e-02 -1.15540851e-02 3.99487038e+02] [ 8.42790886e-02 9.96442124e-01 -3.58027066e-04 6.05722335e+00] [ 1.15431507e-02 -6.17038426e-04 9.99933185e-01 3.65153970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.38925415399996 meters Centerline goodness [0,1] 0.9999790856234576 Centerline is valid? [True, True] Translation: X:399.52, Y:6.06, Z:3.65 [[ 9.96353453e-01 -8.45276990e-02 -1.16131374e-02 3.99516811e+02] [ 8.45292246e-02 9.96420935e-01 -3.60289805e-04 6.05717376e+00] [ 1.16020277e-02 -6.22673507e-04 9.99932500e-01 3.65190178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41925415399993 meters Centerline goodness [0,1] 0.9999581957276034 Centerline is valid? [True, True] Translation: X:399.55, Y:6.06, Z:3.65 [[ 9.96360295e-01 -8.44046456e-02 -1.19171447e-02 3.99546295e+02] [ 8.44062381e-02 9.96431357e-01 -3.70167874e-04 6.05944142e+00] [ 1.19058606e-02 -6.37060785e-04 9.99928920e-01 3.65145276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.44925415399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.58, Y:6.06, Z:3.65 [[ 9.96418484e-01 -8.38150230e-02 -1.11913745e-02 3.99575535e+02] [ 8.38163858e-02 9.96481155e-01 -3.48016562e-04 6.06263001e+00] [ 1.11811628e-02 -5.91250428e-04 9.99937314e-01 3.65269933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47925415399993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.60, Y:6.06, Z:3.65 [[ 9.96531936e-01 -8.23940131e-02 -1.16330167e-02 3.99604643e+02] [ 8.23953840e-02 9.96599654e-01 -3.62192470e-04 6.06473018e+00] [ 1.16233029e-02 -5.97570516e-04 9.99932269e-01 3.65312583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.50925415399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.63, Y:6.07, Z:3.65 [[ 9.96862270e-01 -7.83618555e-02 -1.11818696e-02 3.99633024e+02] [ 7.83628642e-02 9.96924842e-01 -3.48574203e-04 6.06968269e+00] [ 1.11747985e-02 -5.28762861e-04 9.99937420e-01 3.65333451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53925415399993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.66, Y:6.08, Z:3.65 [[ 9.97049995e-01 -7.59159542e-02 -1.13170472e-02 3.99663902e+02] [ 7.59168247e-02 9.97114091e-01 -3.53266812e-04 6.07614107e+00] [ 1.13112058e-02 -5.06929612e-04 9.99935898e-01 3.65370450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56925415399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.69, Y:6.08, Z:3.65 [[ 9.97199497e-01 -7.38826494e-02 -1.15981947e-02 3.99693506e+02] [ 7.38834281e-02 9.97266819e-01 -3.61906247e-04 6.07858268e+00] [ 1.15932333e-02 -4.96021658e-04 9.99932673e-01 3.65348999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.72, Y:6.08, Z:3.65 [[ 9.97324782e-01 -7.21053523e-02 -1.20040386e-02 3.99723584e+02] [ 7.21060558e-02 9.97396900e-01 -3.74748220e-04 6.08414645e+00] [ 1.19998123e-02 -4.91818192e-04 9.99927879e-01 3.65335085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.75, Y:6.08, Z:3.65 [[ 9.97425137e-01 -7.06128095e-02 -1.25270758e-02 3.99752824e+02] [ 7.06134574e-02 9.97503678e-01 -3.91134885e-04 6.08427808e+00] [ 1.25234233e-02 -4.94452367e-04 9.99921457e-01 3.65273662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.78, Y:6.09, Z:3.65 [[ 9.97537485e-01 -6.88609872e-02 -1.33090435e-02 3.99782718e+02] [ 6.88615604e-02 9.97626139e-01 -4.15733438e-04 6.09320318e+00] [ 1.33060775e-02 -5.01771813e-04 9.99911344e-01 3.65238805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.81, Y:6.10, Z:3.65 [[ 9.97580735e-01 -6.80721391e-02 -1.41018373e-02 3.99812661e+02] [ 6.80727015e-02 9.97680266e-01 -4.40670249e-04 6.09601060e+00] [ 1.40991222e-02 -5.20346013e-04 9.99900467e-01 3.65239225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.84, Y:6.10, Z:3.65 [[ 9.97592135e-01 -6.77839231e-02 -1.46721598e-02 3.99842502e+02] [ 6.77844928e-02 9.97699881e-01 -4.59040961e-04 6.09946059e+00] [ 1.46695277e-02 -5.36609258e-04 9.99892253e-01 3.65239679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74925415399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.87, Y:6.11, Z:3.65 [[ 9.97623920e-01 -6.70801921e-02 -1.57086826e-02 3.99871934e+02] [ 6.70807486e-02 9.97747428e-01 -4.92069610e-04 6.10513879e+00] [ 1.57063058e-02 -5.62849775e-04 9.99876490e-01 3.65198926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77925415399994 meters Centerline goodness [0,1] 0.9999584303292318 Centerline is valid? [True, True] Translation: X:399.90, Y:6.11, Z:3.65 [[ 9.97621634e-01 -6.69818093e-02 -1.62638714e-02 3.99900966e+02] [ 6.69823810e-02 9.97754028e-01 -5.10192497e-04 6.10718384e+00] [ 1.62615168e-02 -5.80413758e-04 9.99867604e-01 3.65184140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.809254154 meters Centerline goodness [0,1] 0.9998746840995009 Centerline is valid? [True, True] Translation: X:399.93, Y:6.11, Z:3.65 [[ 9.97608446e-01 -6.71332510e-02 -1.64473296e-02 3.99930350e+02] [ 6.71338436e-02 9.97743845e-01 -5.16719968e-04 6.11067362e+00] [ 1.64449109e-02 -5.88688247e-04 9.99864600e-01 3.65241065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.83925415399995 meters Centerline goodness [0,1] 0.9998538469568848 Centerline is valid? [True, True] Translation: X:399.96, Y:6.11, Z:3.65 [[ 9.97577743e-01 -6.74842271e-02 -1.68678642e-02 3.99958451e+02] [ 6.74848890e-02 9.97720155e-01 -5.30609242e-04 6.11272650e+00] [ 1.68652158e-02 -6.09001970e-04 9.99857587e-01 3.65272041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.869254154 meters Centerline goodness [0,1] 0.9995819310604319 Centerline is valid? [True, True] Translation: X:399.99, Y:6.12, Z:3.65 [[ 9.97479236e-01 -6.88852180e-02 -1.70293849e-02 3.99988219e+02] [ 6.88860848e-02 9.97624388e-01 -5.36380658e-04 6.11781166e+00] [ 1.70258784e-02 -6.38059084e-04 9.99854846e-01 3.65342844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.89925415399995 meters Centerline goodness [0,1] 0.9998540450375313 Centerline is valid? [True, True] Translation: X:400.02, Y:6.12, Z:3.65 [[ 9.97437250e-01 -6.95758812e-02 -1.66771939e-02 4.00018163e+02] [ 6.95767989e-02 9.97576459e-01 -5.25882280e-04 6.12142179e+00] [ 1.66733647e-02 -6.35811190e-04 9.99860788e-01 3.65439110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.929254154 meters Centerline goodness [0,1] 0.9998118020994521 Centerline is valid? [True, True] Translation: X:400.05, Y:6.13, Z:3.66 [[ 9.97391701e-01 -7.02650110e-02 -1.65113244e-02 4.00047970e+02] [ 7.02659948e-02 9.97528154e-01 -5.21256544e-04 6.12522605e+00] [ 1.65071371e-02 -6.40287687e-04 9.99863543e-01 3.65518268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.95925415399995 meters Centerline goodness [0,1] 0.9996227917600956 Centerline is valid? [True, True] Translation: X:400.08, Y:6.13, Z:3.66 [[ 9.97366590e-01 -7.07255190e-02 -1.60557465e-02 4.00078191e+02] [ 7.07265034e-02 9.97495616e-01 -5.07213749e-04 6.12796172e+00] [ 1.60514097e-02 -6.29688759e-04 9.99870970e-01 3.65577287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9892541539999 meters Centerline goodness [0,1] 0.9993505269112317 Centerline is valid? [True, True] Translation: X:400.11, Y:6.13, Z:3.66 [[ 9.97391691e-01 -7.00650616e-02 -1.73407303e-02 4.00108208e+02] [ 7.00661129e-02 9.97542200e-01 -5.47659456e-04 6.13249307e+00] [ 1.73364821e-02 -6.68766579e-04 9.99849488e-01 3.65601403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.01925415399995 meters Centerline goodness [0,1] 0.9993090018217224 Centerline is valid? [True, True] Translation: X:400.14, Y:6.14, Z:3.66 [[ 9.97436130e-01 -6.96247373e-02 -1.65397373e-02 4.00137575e+02] [ 6.96256368e-02 9.97573054e-01 -5.22139075e-04 6.13655566e+00] [ 1.65359500e-02 -6.30789364e-04 9.99863073e-01 3.65738169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0492541539999 meters Centerline goodness [0,1] 0.9996435983982893 Centerline is valid? [True, True] Translation: X:400.17, Y:6.14, Z:3.66 [[ 9.97540605e-01 -6.80283372e-02 -1.68785914e-02 4.00168540e+02] [ 6.80290463e-02 9.97683199e-01 -5.32811261e-04 6.14058228e+00] [ 1.68757333e-02 -6.16733609e-04 9.99857404e-01 3.65812404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07925415399995 meters Centerline goodness [0,1] 0.9994977293179582 Centerline is valid? [True, True] Translation: X:400.20, Y:6.14, Z:3.66 [[ 9.97621284e-01 -6.67787715e-02 -1.70988204e-02 4.00199031e+02] [ 6.67793148e-02 9.97767624e-01 -5.39828488e-04 6.14478916e+00] [ 1.70966985e-02 -6.03303122e-04 9.99853659e-01 3.65855277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1092541539999 meters Centerline goodness [0,1] 0.9994138457995771 Centerline is valid? [True, True] Translation: X:400.23, Y:6.15, Z:3.66 [[ 9.97683347e-01 -6.57137092e-02 -1.75968019e-02 4.00228466e+02] [ 6.57141165e-02 9.97838337e-01 -5.55699101e-04 6.14772176e+00] [ 1.75952806e-02 -6.01946552e-04 9.99845010e-01 3.65865722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13925415399996 meters Centerline goodness [0,1] 0.9994558620400987 Centerline is valid? [True, True] Translation: X:400.26, Y:6.15, Z:3.66 [[ 9.97750311e-01 -6.46199784e-02 -1.78486673e-02 4.00259001e+02] [ 6.46202197e-02 9.97909770e-01 -5.63824506e-04 6.15194295e+00] [ 1.78477938e-02 -5.90828726e-04 9.99840541e-01 3.65906964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16925415399993 meters Centerline goodness [0,1] 0.9993513287298598 Centerline is valid? [True, True] Translation: X:400.29, Y:6.16, Z:3.66 [[ 9.97783871e-01 -6.32538651e-02 -2.06469119e-02 4.00288699e+02] [ 6.32538920e-02 9.97997254e-01 -6.52421534e-04 6.15536051e+00] [ 2.06468296e-02 -6.55021852e-04 9.99786617e-01 3.65785176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19925415399996 meters Centerline goodness [0,1] 0.9995404603751514 Centerline is valid? [True, True] Translation: X:400.32, Y:6.16, Z:3.66 [[ 9.97821643e-01 -6.29840392e-02 -1.96208906e-02 4.00318352e+02] [ 6.29840011e-02 9.98014344e-01 -6.20518417e-04 6.15960602e+00] [ 1.96210130e-02 -6.16635489e-04 9.99807299e-01 3.65921514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22925415399993 meters Centerline goodness [0,1] 0.9995404603751514 Centerline is valid? [True, True] Translation: X:400.35, Y:6.16, Z:3.66 [[ 9.97819447e-01 -6.30188251e-02 -1.96208690e-02 4.00347510e+02] [ 6.30187803e-02 9.98012148e-01 -6.21202575e-04 6.16056085e+00] [ 1.96210131e-02 -6.16635221e-04 9.99807299e-01 3.65948850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25925415399996 meters Centerline goodness [0,1] 0.9995195621749211 Centerline is valid? [True, True] Translation: X:400.38, Y:6.17, Z:3.66 [[ 9.97834338e-01 -6.26020644e-02 -2.01894739e-02 4.00377183e+02] [ 6.26019169e-02 9.98038371e-01 -6.39939347e-04 6.16717338e+00] [ 2.01899311e-02 -6.25346310e-04 9.99795967e-01 3.66066014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28925415399993 meters Centerline goodness [0,1] 0.9995820271682341 Centerline is valid? [True, True] Translation: X:400.41, Y:6.17, Z:3.66 [[ 9.97855602e-01 -6.19640349e-02 -2.10868841e-02 4.00405919e+02] [ 6.19637107e-02 9.98078179e-01 -6.69386279e-04 6.17191892e+00] [ 2.10878368e-02 -6.38670739e-04 9.99777423e-01 3.66023857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31925415399996 meters Centerline goodness [0,1] 0.9994776431257836 Centerline is valid? [True, True] Translation: X:400.44, Y:6.18, Z:3.66 [[ 9.97850064e-01 -6.18054836e-02 -2.18021022e-02 4.00436569e+02] [ 6.18050877e-02 9.98087998e-01 -6.92620461e-04 6.17553366e+00] [ 2.18032243e-02 -6.56349468e-04 9.99762066e-01 3.66070807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34925415399994 meters Centerline goodness [0,1] 0.9994771405864391 Centerline is valid? [True, True] Translation: X:400.47, Y:6.17, Z:3.66 [[ 9.97880073e-01 -6.12268321e-02 -2.20597941e-02 4.00465432e+02] [ 6.12262703e-02 9.98123666e-01 -7.01505909e-04 6.17373083e+00] [ 2.20613535e-02 -6.50620148e-04 9.99756407e-01 3.65883972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37925415399997 meters Centerline goodness [0,1] 0.9995614218286621 Centerline is valid? [True, True] Translation: X:400.50, Y:6.18, Z:3.66 [[ 9.97898383e-01 -6.07280668e-02 -2.26035297e-02 4.00495289e+02] [ 6.07273265e-02 9.98154133e-01 -7.19800159e-04 6.18013841e+00] [ 2.26055187e-02 -6.54364515e-04 9.99744248e-01 3.66056454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40925415399994 meters Centerline goodness [0,1] 0.9996454566310038 Centerline is valid? [True, True] Translation: X:400.52, Y:6.19, Z:3.66 [[ 9.97995435e-01 -5.88431462e-02 -2.32936946e-02 4.00524020e+02] [ 5.88418217e-02 9.98267043e-01 -7.42868145e-04 6.18516061e+00] [ 2.32970403e-02 -6.29264408e-04 9.99728389e-01 3.66043328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43925415399997 meters Centerline goodness [0,1] 0.9996445968264587 Centerline is valid? [True, True] Translation: X:400.55, Y:6.19, Z:3.66 [[ 9.98052372e-01 -5.75566854e-02 -2.40559742e-02 4.00553790e+02] [ 5.75548744e-02 9.98342049e-01 -7.68220378e-04 6.18945792e+00] [ 2.40603068e-02 -6.17814401e-04 9.99710318e-01 3.66129124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46925415399994 meters Centerline goodness [0,1] 0.9994997394476289 Centerline is valid? [True, True] Translation: X:400.58, Y:6.19, Z:3.66 [[ 9.98127871e-01 -5.63378374e-02 -2.38076082e-02 4.00581809e+02] [ 5.63356786e-02 9.98411594e-01 -7.61904020e-04 6.19173762e+00] [ 2.38127161e-02 -5.80740127e-04 9.99716268e-01 3.66145462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49925415399997 meters Centerline goodness [0,1] 0.9994772936355273 Centerline is valid? [True, True] Translation: X:400.61, Y:6.20, Z:3.66 [[ 9.98267422e-01 -5.39108977e-02 -2.35747722e-02 4.00610562e+02] [ 5.39079991e-02 9.98545618e-01 -7.58920109e-04 6.19911718e+00] [ 2.35813996e-02 -5.13263579e-04 9.99721788e-01 3.66361467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.52925415399994 meters Centerline goodness [0,1] 0.999267813062215 Centerline is valid? [True, True] Translation: X:400.64, Y:6.20, Z:3.66 [[ 9.98318472e-01 -5.31117846e-02 -2.32242590e-02 4.00639230e+02] [ 5.31086179e-02 9.98588457e-01 -7.53552339e-04 6.20173322e+00] [ 2.32314995e-02 -4.81123079e-04 9.99729997e-01 3.66436905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.559254154 meters Centerline goodness [0,1] 0.9995189894595952 Centerline is valid? [True, True] Translation: X:400.67, Y:6.20, Z:3.67 [[ 9.98379495e-01 -5.21266414e-02 -2.28297380e-02 4.00667921e+02] [ 5.21232534e-02 9.98640382e-01 -7.43840394e-04 6.20387695e+00] [ 2.28374722e-02 -4.47325220e-04 9.99739091e-01 3.66501508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.58925415399995 meters Centerline goodness [0,1] 0.9994572591587517 Centerline is valid? [True, True] Translation: X:400.70, Y:6.21, Z:3.67 [[ 9.98412597e-01 -5.17266818e-02 -2.22853329e-02 4.00696535e+02] [ 5.17232697e-02 9.98661189e-01 -7.29878441e-04 6.20632485e+00] [ 2.22932512e-02 -4.23950453e-04 9.99751385e-01 3.66584303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.619254154 meters Centerline goodness [0,1] 0.9992897578909987 Centerline is valid? [True, True] Translation: X:400.73, Y:6.21, Z:3.67 [[ 9.98471537e-01 -5.05221314e-02 -2.24076772e-02 4.00726460e+02] [ 5.05183141e-02 9.98722863e-01 -7.36756917e-04 6.21012936e+00] [ 2.24162821e-02 -3.96367266e-04 9.99748645e-01 3.66651112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.64925415399995 meters Centerline goodness [0,1] 0.9993313273152792 Centerline is valid? [True, True] Translation: X:400.76, Y:6.21, Z:3.67 [[ 9.98455032e-01 -4.97617294e-02 -2.47248581e-02 4.00755119e+02] [ 4.97568185e-02 9.98761031e-01 -8.14172931e-04 6.21030312e+00] [ 2.47347394e-02 -4.17315217e-04 9.99693962e-01 3.66598762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.679254154 meters Centerline goodness [0,1] 0.9994765932501466 Centerline is valid? [True, True] Translation: X:400.78, Y:6.21, Z:3.67 [[ 9.98528851e-01 -4.92137255e-02 -2.27627717e-02 4.00784054e+02] [ 4.92093304e-02 9.98788203e-01 -7.53525059e-04 6.21368294e+00] [ 2.27722716e-02 -3.67724241e-04 9.99740611e-01 3.66647467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.70925415399995 meters Centerline goodness [0,1] 0.9994577572003587 Centerline is valid? [True, True] Translation: X:400.81, Y:6.22, Z:3.67 [[ 9.98586998e-01 -4.78623254e-02 -2.30912195e-02 4.00813024e+02] [ 4.78573668e-02 9.98853885e-01 -7.67626089e-04 6.21542827e+00] [ 2.31014947e-02 -3.38543529e-04 9.99733068e-01 3.66612421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7392541539999 meters Centerline goodness [0,1] 0.9994148380355277 Centerline is valid? [True, True] Translation: X:400.84, Y:6.22, Z:3.67 [[ 9.98637574e-01 -4.66106384e-02 -2.34615595e-02 4.00841573e+02] [ 4.66050768e-02 9.98913085e-01 -7.84081718e-04 6.21760455e+00] [ 2.34726053e-02 -3.10414318e-04 9.99724432e-01 3.66637805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.76925415399995 meters Centerline goodness [0,1] 0.9996236828901154 Centerline is valid? [True, True] Translation: X:400.87, Y:6.22, Z:3.67 [[ 9.98784784e-01 -4.35140074e-02 -2.31405810e-02 4.00870583e+02] [ 4.35076283e-02 9.99052791e-01 -7.79299071e-04 6.22150596e+00] [ 2.31525725e-02 -2.28439742e-04 9.99731917e-01 3.66705776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7992541539999 meters Centerline goodness [0,1] 0.9995824808985011 Centerline is valid? [True, True] Translation: X:400.90, Y:6.22, Z:3.67 [[ 9.98849396e-01 -4.21173650e-02 -2.29349392e-02 4.00898826e+02] [ 4.21105954e-02 9.99112652e-01 -7.78264448e-04 6.22326102e+00] [ 2.29473663e-02 -1.88434970e-04 9.99736657e-01 3.66704844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.82925415399995 meters Centerline goodness [0,1] 0.999415522064042 Centerline is valid? [True, True] Translation: X:400.93, Y:6.23, Z:3.67 [[ 9.98904905e-01 -4.09261444e-02 -2.26724907e-02 4.00927758e+02] [ 4.09190908e-02 9.99162163e-01 -7.75148064e-04 6.22532650e+00] [ 2.26852187e-02 -1.53438503e-04 9.99742646e-01 3.66765331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8592541539999 meters Centerline goodness [0,1] 0.9995613668643997 Centerline is valid? [True, True] Translation: X:400.96, Y:6.23, Z:3.67 [[ 9.98960906e-01 -3.96631759e-02 -2.24486426e-02 4.00956993e+02] [ 3.96558185e-02 9.99213100e-01 -7.72992050e-04 6.22678589e+00] [ 2.24616371e-02 -1.18030458e-04 9.99747699e-01 3.66834335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.88925415399996 meters Centerline goodness [0,1] 0.999498170412964 Centerline is valid? [True, True] Translation: X:400.98, Y:6.23, Z:3.67 [[ 9.99050419e-01 -3.82457863e-02 -2.08691106e-02 4.00984367e+02] [ 3.82390535e-02 9.99268359e-01 -7.21721832e-04 6.22743293e+00] [ 2.08814447e-02 -7.69785382e-05 9.99781956e-01 3.66895250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91925415399993 meters Centerline goodness [0,1] 0.9996026268456937 Centerline is valid? [True, True] Translation: X:401.01, Y:6.23, Z:3.67 [[ 9.99062235e-01 -3.81698378e-02 -2.04380574e-02 4.01012403e+02] [ 3.81632813e-02 9.99271264e-01 -7.10877286e-04 6.22838063e+00] [ 2.04502976e-02 -6.97726846e-05 9.99790868e-01 3.66940870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.94925415399996 meters Centerline goodness [0,1] 0.9996228944942596 Centerline is valid? [True, True] Translation: X:401.04, Y:6.23, Z:3.67 [[ 9.99047151e-01 -3.87875942e-02 -2.00078328e-02 4.01041057e+02] [ 3.87813265e-02 9.99247475e-01 -7.01317992e-04 6.22888664e+00] [ 2.00199788e-02 -7.52805540e-05 9.99799577e-01 3.67004859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97925415399993 meters Centerline goodness [0,1] 0.9995820359031159 Centerline is valid? [True, True] Translation: X:401.07, Y:6.23, Z:3.67 [[ 9.99026340e-01 -3.94996098e-02 -1.96507839e-02 4.01068606e+02] [ 3.94936367e-02 9.99219582e-01 -6.92096225e-04 6.22878796e+00] [ 1.96627856e-02 -8.46585626e-05 9.99806665e-01 3.66951012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.00925415399996 meters Centerline goodness [0,1] 0.9994982858098503 Centerline is valid? [True, True] Translation: X:401.10, Y:6.23, Z:3.67 [[ 9.98886376e-01 -4.28646731e-02 -1.97136518e-02 4.01096630e+02] [ 4.28592821e-02 9.99080876e-01 -6.96076941e-04 6.22552119e+00] [ 1.97253696e-02 -1.49611188e-04 9.99805425e-01 3.66876038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03925415399993 meters Centerline goodness [0,1] 0.9993951654952343 Centerline is valid? [True, True] Translation: X:401.13, Y:6.22, Z:3.67 [[ 9.98771535e-01 -4.53393797e-02 -1.99940412e-02 4.01125500e+02] [ 4.53342598e-02 9.98971622e-01 -7.09481706e-04 6.22434235e+00] [ 2.00056472e-02 -1.97804925e-04 9.99799847e-01 3.66892297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06925415399996 meters Centerline goodness [0,1] 0.9994358663630095 Centerline is valid? [True, True] Translation: X:401.15, Y:6.22, Z:3.67 [[ 9.98649326e-01 -4.80023335e-02 -1.98821365e-02 4.01154593e+02] [ 4.79977444e-02 9.98847193e-01 -7.08219286e-04 6.22266435e+00] [ 1.98932124e-02 -2.47034993e-04 9.99802080e-01 3.66887008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09925415399994 meters Centerline goodness [0,1] 0.9994365491767357 Centerline is valid? [True, True] Translation: X:401.18, Y:6.22, Z:3.67 [[ 9.98500811e-01 -5.09786308e-02 -1.99326416e-02 4.01184761e+02] [ 5.09745971e-02 9.98699697e-01 -7.10725481e-04 6.22080499e+00] [ 1.99429550e-02 -3.06398406e-04 9.99801073e-01 3.66911096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12925415399997 meters Centerline goodness [0,1] 0.9993525209908517 Centerline is valid? [True, True] Translation: X:401.21, Y:6.22, Z:3.67 [[ 9.98145321e-01 -5.76005184e-02 -1.97002279e-02 4.01213800e+02] [ 5.75978498e-02 9.98339618e-01 -7.03308718e-04 6.21508310e+00] [ 1.97080289e-02 -4.32686460e-04 9.99805684e-01 3.66896640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15925415399994 meters Centerline goodness [0,1] 0.9993102295054554 Centerline is valid? [True, True] Translation: X:401.24, Y:6.21, Z:3.67 [[ 9.97957807e-01 -6.07995581e-02 -1.95864364e-02 4.01244299e+02] [ 6.07975262e-02 9.98149874e-01 -6.99735520e-04 6.21312340e+00] [ 1.95927426e-02 -4.92500354e-04 9.99807922e-01 3.66916828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18925415399997 meters Centerline goodness [0,1] 0.9993104745188993 Centerline is valid? [True, True] Translation: X:401.27, Y:6.21, Z:3.67 [[ 9.97771305e-01 -6.37786177e-02 -1.96140364e-02 4.01274213e+02] [ 6.37771516e-02 9.97963919e-01 -7.00898028e-04 6.21108253e+00] [ 1.96188029e-02 -5.51591430e-04 9.99807381e-01 3.66917011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21925415399994 meters Centerline goodness [0,1] 0.9992504528514022 Centerline is valid? [True, True] Translation: X:401.30, Y:6.21, Z:3.67 [[ 9.97427868e-01 -6.91057892e-02 -1.90272996e-02 4.01303478e+02] [ 6.91053681e-02 9.97609134e-01 -6.80417762e-04 6.20681811e+00] [ 1.90288287e-02 -6.36220906e-04 9.99818733e-01 3.66936191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24925415399997 meters Centerline goodness [0,1] 0.9993943064809206 Centerline is valid? [True, True] Translation: X:401.33, Y:6.21, Z:3.67 [[ 9.97277861e-01 -7.14751626e-02 -1.81154264e-02 4.01333773e+02] [ 7.14751657e-02 9.97442169e-01 -6.48113537e-04 6.20526689e+00] [ 1.81154142e-02 -6.48453823e-04 9.99835692e-01 3.66975179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27925415399994 meters Centerline goodness [0,1] 0.9991683472981683 Centerline is valid? [True, True] Translation: X:401.36, Y:6.20, Z:3.67 [[ 9.97113408e-01 -7.38403308e-02 -1.76764352e-02 4.01364656e+02] [ 7.38407072e-02 9.97269848e-01 -6.32267568e-04 6.20415925e+00] [ 1.76748627e-02 -6.74798007e-04 9.99843560e-01 3.66989124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.309254154 meters Centerline goodness [0,1] 0.9993329164060871 Centerline is valid? [True, True] Translation: X:401.39, Y:6.20, Z:3.67 [[ 9.96942404e-01 -7.62276829e-02 -1.71808984e-02 4.01394017e+02] [ 7.62283927e-02 9.97090194e-01 -6.14520221e-04 6.20303220e+00] [ 1.71777488e-02 -6.97031003e-04 9.99852209e-01 3.67020832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.33925415399995 meters Centerline goodness [0,1] 0.9991459222997604 Centerline is valid? [True, True] Translation: X:401.42, Y:6.20, Z:3.67 [[ 9.96739285e-01 -7.86184262e-02 -1.81642781e-02 4.01424343e+02] [ 7.86196129e-02 9.96904476e-01 -6.49859123e-04 6.20201334e+00] [ 1.81591411e-02 -7.80328398e-04 9.99834805e-01 3.66979385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.369254154 meters Centerline goodness [0,1] 0.9991655192556432 Centerline is valid? [True, True] Translation: X:401.45, Y:6.20, Z:3.67 [[ 9.96383583e-01 -8.31344117e-02 -1.75620618e-02 4.01454473e+02] [ 8.31362194e-02 9.96537994e-01 -6.28382528e-04 6.20090897e+00] [ 1.75535020e-02 -8.33933388e-04 9.99845578e-01 3.66966242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.39925415399995 meters Centerline goodness [0,1] 0.9992055195484005 Centerline is valid? [True, True] Translation: X:401.49, Y:6.20, Z:3.67 [[ 9.96229153e-01 -8.49439783e-02 -1.76633605e-02 4.01485237e+02] [ 8.49460946e-02 9.96385348e-01 -6.31786351e-04 6.20117236e+00] [ 1.76531801e-02 -8.71029513e-04 9.99843791e-01 3.66992648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.429254154 meters Centerline goodness [0,1] 0.9990806326918656 Centerline is valid? [True, True] Translation: X:401.52, Y:6.21, Z:3.67 [[ 9.96064989e-01 -8.67795252e-02 -1.79958754e-02 4.01515847e+02] [ 8.67820327e-02 9.96227115e-01 -6.43016613e-04 6.21408836e+00] [ 1.79837797e-02 -9.21232307e-04 9.99837854e-01 3.67198486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.45925415399995 meters Centerline goodness [0,1] 0.9991231549719201 Centerline is valid? [True, True] Translation: X:401.55, Y:6.21, Z:3.67 [[ 9.95924607e-01 -8.84298849e-02 -1.77294452e-02 4.01546468e+02] [ 8.84325909e-02 9.96081963e-01 -6.32846811e-04 6.21408105e+00] [ 1.77159432e-02 -9.37593065e-04 9.99842621e-01 3.67248641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4892541539999 meters Centerline goodness [0,1] 0.9989975774789074 Centerline is valid? [True, True] Translation: X:401.58, Y:6.22, Z:3.67 [[ 9.95703221e-01 -9.08810657e-02 -1.77687185e-02 4.01577396e+02] [ 9.08841841e-02 9.95861267e-01 -6.33607390e-04 6.21631970e+00] [ 1.77527614e-02 -9.84010562e-04 9.99841923e-01 3.67296116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.51925415399995 meters Centerline goodness [0,1] 0.9993730407523511 Centerline is valid? [True, True] Translation: X:401.61, Y:6.22, Z:3.67 [[ 9.95631644e-01 -9.17906536e-02 -1.70910760e-02 4.01609027e+02] [ 9.17936847e-02 9.95777861e-01 -6.08704580e-04 6.21907678e+00] [ 1.70747885e-02 -9.62807296e-04 9.99853752e-01 3.67392640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5492541539999 meters Centerline goodness [0,1] 0.9990192805275019 Centerline is valid? [True, True] Translation: X:401.64, Y:6.22, Z:3.67 [[ 9.95543259e-01 -9.28127698e-02 -1.67155450e-02 4.01640386e+02] [ 9.28158332e-02 9.95683116e-01 -5.94108737e-04 6.21977587e+00] [ 1.66985268e-02 -9.60006291e-04 9.99860109e-01 3.67427228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57925415399995 meters Centerline goodness [0,1] 0.9990397461589846 Centerline is valid? [True, True] Translation: X:401.67, Y:6.23, Z:3.68 [[ 9.95447813e-01 -9.38256806e-02 -1.67449765e-02 4.01672159e+02] [ 9.38289221e-02 9.95588158e-01 -5.93688199e-04 6.22579972e+00] [ 1.67268035e-02 -9.80177480e-04 9.99859617e-01 3.67512455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6092541539999 meters Centerline goodness [0,1] 0.9990588136869405 Centerline is valid? [True, True] Translation: X:401.70, Y:6.23, Z:3.67 [[ 9.95282330e-01 -9.55237946e-02 -1.69790260e-02 4.01703063e+02] [ 9.55273976e-02 9.95426620e-01 -6.00572216e-04 6.22837432e+00] [ 1.69587434e-02 -1.02422325e-03 9.99855666e-01 3.67459650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63925415399996 meters Centerline goodness [0,1] 0.9988932971392775 Centerline is valid? [True, True] Translation: X:401.74, Y:6.23, Z:3.67 [[ 9.95246940e-01 -9.57707768e-02 -1.76490035e-02 4.01735505e+02] [ 9.57747352e-02 9.95402839e-01 -6.22757893e-04 6.23156052e+00] [ 1.76275102e-02 -1.07053075e-03 9.99844050e-01 3.67445193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66925415399993 meters Centerline goodness [0,1] 0.9990794401322258 Centerline is valid? [True, True] Translation: X:401.77, Y:6.23, Z:3.67 [[ 9.95221012e-01 -9.60047348e-02 -1.78389438e-02 4.01767319e+02] [ 9.60088398e-02 9.95380283e-01 -6.28146275e-04 6.23433626e+00] [ 1.78168380e-02 -1.08755193e-03 9.99840676e-01 3.67418515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69925415399996 meters Centerline goodness [0,1] 0.9988293580283044 Centerline is valid? [True, True] Translation: X:401.80, Y:6.24, Z:3.67 [[ 9.95219825e-01 -9.58076870e-02 -1.89311347e-02 4.01799395e+02] [ 9.58123016e-02 9.95399197e-01 -6.65182192e-04 6.23739122e+00] [ 1.89077658e-02 -1.15183308e-03 9.99820569e-01 3.67378145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72925415399993 meters Centerline goodness [0,1] 0.9988908189104911 Centerline is valid? [True, True] Translation: X:401.83, Y:6.24, Z:3.67 [[ 9.95279504e-01 -9.50325313e-02 -1.96857070e-02 4.01831457e+02] [ 9.50373988e-02 9.95473463e-01 -6.90243074e-04 6.24029722e+00] [ 1.96621945e-02 -1.18389360e-03 9.99805979e-01 3.67360986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75925415399996 meters Centerline goodness [0,1] 0.9988489389309781 Centerline is valid? [True, True] Translation: X:401.86, Y:6.24, Z:3.67 [[ 9.95376931e-01 -9.38996088e-02 -2.01898343e-02 4.01862292e+02] [ 9.39045185e-02 9.95580957e-01 -7.06837457e-04 6.24496408e+00] [ 2.01669863e-02 -1.19234697e-03 9.99795915e-01 3.67369214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78925415399993 meters Centerline goodness [0,1] 0.9991416129302404 Centerline is valid? [True, True] Translation: X:401.89, Y:6.26, Z:3.68 [[ 9.95719956e-01 -9.01215439e-02 -2.04909033e-02 4.01892143e+02] [ 9.01258107e-02 9.95930130e-01 -7.17036018e-04 6.25862339e+00] [ 2.04721284e-02 -1.13279220e-03 9.99789782e-01 3.67572334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81925415399996 meters Centerline goodness [0,1] 0.998869914615771 Centerline is valid? [True, True] Translation: X:401.92, Y:6.26, Z:3.68 [[ 9.95938484e-01 -8.77290267e-02 -2.02522428e-02 4.01922748e+02] [ 8.77327095e-02 9.96143800e-01 -7.08280988e-04 6.25964641e+00] [ 2.02362829e-02 -1.07137985e-03 9.99794651e-01 3.67551682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84925415399994 meters Centerline goodness [0,1] 0.9988284273729576 Centerline is valid? [True, True] Translation: X:401.95, Y:6.26, Z:3.68 [[ 9.96200115e-01 -8.48900935e-02 -1.94680022e-02 4.01953586e+02] [ 8.48929692e-02 9.96389844e-01 -6.80163868e-04 6.26444139e+00] [ 1.94554588e-02 -9.75117184e-04 9.99810249e-01 3.67621352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87925415399997 meters Centerline goodness [0,1] 0.9987454522644587 Centerline is valid? [True, True] Translation: X:401.98, Y:6.28, Z:3.68 [[ 9.96735812e-01 -7.83421994e-02 -1.94992733e-02 4.01982441e+02] [ 7.83438365e-02 9.96926165e-01 -6.81102936e-04 6.27528231e+00] [ 1.94926949e-02 -8.48768191e-04 9.99809639e-01 3.67671319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90925415399994 meters Centerline goodness [0,1] 0.9987444809474983 Centerline is valid? [True, True] Translation: X:402.01, Y:6.28, Z:3.68 [[ 9.97030621e-01 -7.46954954e-02 -1.87222650e-02 4.02014153e+02] [ 7.46963685e-02 9.97206110e-01 -6.53639155e-04 6.28211444e+00] [ 1.87187810e-02 -7.46786957e-04 9.99824509e-01 3.67736299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93925415399997 meters Centerline goodness [0,1] 0.9988269303280406 Centerline is valid? [True, True] Translation: X:402.05, Y:6.30, Z:3.68 [[ 9.97328181e-01 -7.07474159e-02 -1.82016976e-02 4.02045321e+02] [ 7.07476020e-02 9.97494047e-01 -6.34501781e-04 6.29513409e+00] [ 1.82009743e-02 -6.54919948e-04 9.99834134e-01 3.67944501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96925415399994 meters Centerline goodness [0,1] 0.9990569003458032 Centerline is valid? [True, True] Translation: X:402.08, Y:6.30, Z:3.68 [[ 9.97612382e-01 -6.67055995e-02 -1.78857090e-02 4.02075353e+02] [ 6.67051423e-02 9.97772537e-01 -6.22810671e-04 6.29664093e+00] [ 1.78874142e-02 -5.71745127e-04 9.99839844e-01 3.67876935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99925415399997 meters Centerline goodness [0,1] 0.9987424547283702 Centerline is valid? [True, True] Translation: X:402.11, Y:6.31, Z:3.68 [[ 9.97871192e-01 -6.28306485e-02 -1.74754914e-02 4.02106105e+02] [ 6.28296265e-02 9.98024082e-01 -6.08054259e-04 6.30744079e+00] [ 1.74791657e-02 -4.91218766e-04 9.99847107e-01 3.68029012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.02925415399994 meters Centerline goodness [0,1] 0.9988676396577756 Centerline is valid? [True, True] Translation: X:402.14, Y:6.32, Z:3.68 [[ 9.98266343e-01 -5.62981526e-02 -1.71704913e-02 4.02137520e+02] [ 5.62962133e-02 9.98413932e-01 -5.96662901e-04 6.31798163e+00] [ 1.71768487e-02 -3.71005146e-04 9.99852398e-01 3.68095681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.059254154 meters Centerline goodness [0,1] 0.9988876062545913 Centerline is valid? [True, True] Translation: X:402.17, Y:6.32, Z:3.68 [[ 9.98399075e-01 -5.38515835e-02 -1.73000978e-02 4.02169915e+02] [ 5.38492669e-02 9.98548895e-01 -6.00047675e-04 6.32245205e+00] [ 1.73073071e-02 -3.32510543e-04 9.99850162e-01 3.68103722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.08925415399995 meters Centerline goodness [0,1] 0.9987396017141417 Centerline is valid? [True, True] Translation: X:402.20, Y:6.33, Z:3.68 [[ 9.98478020e-01 -5.22048955e-02 -1.77846115e-02 4.02201913e+02] [ 5.22022102e-02 9.98636345e-01 -6.15510290e-04 6.32668145e+00] [ 1.77924921e-02 -3.13822532e-04 9.99841652e-01 3.68122695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.119254154 meters Centerline goodness [0,1] 0.9987396017141417 Centerline is valid? [True, True] Translation: X:402.23, Y:6.33, Z:3.68 [[ 9.98481893e-01 -5.21307500e-02 -1.77846572e-02 4.02233592e+02] [ 5.21280764e-02 9.98640219e-01 -6.14188247e-04 6.32771870e+00] [ 1.77924921e-02 -3.13824127e-04 9.99841652e-01 3.68152369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.14925415399995 meters Centerline goodness [0,1] 0.9990977001846567 Centerline is valid? [True, True] Translation: X:402.27, Y:6.33, Z:3.68 [[ 9.98539982e-01 -5.10055429e-02 -1.77859362e-02 4.02265703e+02] [ 5.10027141e-02 9.98698327e-01 -6.12909363e-04 6.33122179e+00] [ 1.77940465e-02 -2.95116516e-04 9.99841630e-01 3.68128588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1792541539999 meters Centerline goodness [0,1] 0.998887115739963 Centerline is valid? [True, True] Translation: X:402.30, Y:6.33, Z:3.68 [[ 9.98533407e-01 -5.09065840e-02 -1.84270202e-02 4.02297050e+02] [ 5.09035533e-02 9.98703373e-01 -6.33776085e-04 6.33358382e+00] [ 1.84353906e-02 -3.05154214e-04 9.99830007e-01 3.68088356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.20925415399995 meters Centerline goodness [0,1] 0.9988657368509494 Centerline is valid? [True, True] Translation: X:402.33, Y:6.34, Z:3.68 [[ 9.98477363e-01 -5.18926230e-02 -1.87112755e-02 4.02329576e+02] [ 5.18896939e-02 9.98652616e-01 -6.42336846e-04 6.33739880e+00] [ 1.87193967e-02 -3.29563556e-04 9.99824722e-01 3.68078970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2392541539999 meters Centerline goodness [0,1] 0.999033125945855 Centerline is valid? [True, True] Translation: X:402.36, Y:6.34, Z:3.68 [[ 9.98433619e-01 -5.28087118e-02 -1.84810327e-02 4.02361494e+02] [ 5.28060364e-02 9.98604587e-01 -6.33074208e-04 6.33953223e+00] [ 1.84886758e-02 -3.43827511e-04 9.99829011e-01 3.68131763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.26925415399995 meters Centerline goodness [0,1] 0.9990336337471902 Centerline is valid? [True, True] Translation: X:402.39, Y:6.34, Z:3.68 [[ 9.98340526e-01 -5.46697184e-02 -1.80946160e-02 4.02393863e+02] [ 5.46674833e-02 9.98504423e-01 -6.18503894e-04 6.34196026e+00] [ 1.81013675e-02 -3.71709613e-04 9.99836088e-01 3.68172229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2992541539999 meters Centerline goodness [0,1] 0.9988237518116323 Centerline is valid? [True, True] Translation: X:402.43, Y:6.34, Z:3.68 [[ 9.98310275e-01 -5.54290049e-02 -1.74419204e-02 4.02425183e+02] [ 5.54270635e-02 9.98462561e-01 -5.95070605e-04 6.34179487e+00] [ 1.74480887e-02 -3.72689328e-04 9.99847701e-01 3.68143289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.32925415399995 meters Centerline goodness [0,1] 0.9989307279436431 Centerline is valid? [True, True] Translation: X:402.46, Y:6.34, Z:3.68 [[ 9.98282523e-01 -5.60522384e-02 -1.70338206e-02 4.02456941e+02] [ 5.60504955e-02 9.98427767e-01 -5.80088604e-04 6.34337623e+00] [ 1.70395547e-02 -3.75661769e-04 9.99854746e-01 3.68182887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3592541539999 meters Centerline goodness [0,1] 0.9988020931845407 Centerline is valid? [True, True] Translation: X:402.49, Y:6.35, Z:3.68 [[ 9.98255009e-01 -5.66771473e-02 -1.65721816e-02 4.02488620e+02] [ 5.66756034e-02 9.98392487e-01 -5.63175019e-04 6.34656942e+00] [ 1.65774608e-02 -3.77046111e-04 9.99862513e-01 3.68274822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.38925415399996 meters Centerline goodness [0,1] 0.9987174365551608 Centerline is valid? [True, True] Translation: X:402.52, Y:6.35, Z:3.68 [[ 9.98193872e-01 -5.76997635e-02 -1.67251643e-02 4.02519772e+02] [ 5.76983531e-02 9.98333901e-01 -5.67257176e-04 6.34666020e+00] [ 1.67300291e-02 -3.98781797e-04 9.99859964e-01 3.68222240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41925415399993 meters Centerline goodness [0,1] 0.9987808210539592 Centerline is valid? [True, True] Translation: X:402.55, Y:6.35, Z:3.68 [[ 9.98188802e-01 -5.77680940e-02 -1.67917225e-02 4.02552025e+02] [ 5.77667001e-02 9.98329948e-01 -5.68441682e-04 6.35033083e+00] [ 1.67965173e-02 -4.02590276e-04 9.99858848e-01 3.68290617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.44925415399996 meters Centerline goodness [0,1] 0.9986150456405414 Centerline is valid? [True, True] Translation: X:402.58, Y:6.35, Z:3.68 [[ 9.98190808e-01 -5.77364979e-02 -1.67811429e-02 4.02584607e+02] [ 5.77351221e-02 9.98331776e-01 -5.66845711e-04 6.35235714e+00] [ 1.67858758e-02 -4.03041153e-04 9.99859026e-01 3.68341692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47925415399993 meters Centerline goodness [0,1] 0.9986955332533821 Centerline is valid? [True, True] Translation: X:402.62, Y:6.35, Z:3.68 [[ 9.98215083e-01 -5.72811023e-02 -1.68974631e-02 4.02616892e+02] [ 5.72796633e-02 9.98358010e-01 -5.69519712e-04 6.35497061e+00] [ 1.69023404e-02 -3.99377833e-04 9.99857065e-01 3.68376774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.50925415399996 meters Centerline goodness [0,1] 0.9987180295483681 Centerline is valid? [True, True] Translation: X:402.65, Y:6.36, Z:3.68 [[ 9.98234025e-01 -5.68956411e-02 -1.70797423e-02 4.02648527e+02] [ 5.68941364e-02 9.98380052e-01 -5.74383347e-04 6.35764645e+00] [ 1.70847539e-02 -3.98368190e-04 9.99853966e-01 3.68430007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53925415399993 meters Centerline goodness [0,1] 0.9988208540385749 Centerline is valid? [True, True] Translation: X:402.68, Y:6.36, Z:3.68 [[ 9.98237599e-01 -5.68579806e-02 -1.69960802e-02 4.02680872e+02] [ 5.68565067e-02 9.98382198e-01 -5.70305155e-04 6.35918712e+00] [ 1.70010103e-02 -3.97037698e-04 9.99855394e-01 3.68447510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56925415399996 meters Centerline goodness [0,1] 0.998610438554014 Centerline is valid? [True, True] Translation: X:402.71, Y:6.36, Z:3.68 [[ 9.98239954e-01 -5.68666236e-02 -1.68280234e-02 4.02713430e+02] [ 5.68652008e-02 9.98381706e-01 -5.63418741e-04 6.36018668e+00] [ 1.68328304e-02 -3.94501830e-04 9.99858240e-01 3.68478090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59925415399994 meters Centerline goodness [0,1] 0.9986313772555956 Centerline is valid? [True, True] Translation: X:402.75, Y:6.36, Z:3.68 [[ 9.98240089e-01 -5.68956096e-02 -1.67216812e-02 4.02745901e+02] [ 5.68942295e-02 9.98380055e-01 -5.58623845e-04 6.36128104e+00] [ 1.67263763e-02 -3.93726452e-04 9.99860027e-01 3.68490380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62925415399997 meters Centerline goodness [0,1] 0.9986534536809106 Centerline is valid? [True, True] Translation: X:402.78, Y:6.36, Z:3.69 [[ 9.98252110e-01 -5.66875748e-02 -1.67106083e-02 4.02777595e+02] [ 5.66861881e-02 9.98391890e-01 -5.57019213e-04 6.36248269e+00] [ 1.67153118e-02 -3.91215079e-04 9.99860213e-01 3.68512257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65925415399994 meters Centerline goodness [0,1] 0.9988029988029988 Centerline is valid? [True, True] Translation: X:402.81, Y:6.36, Z:3.69 [[ 9.98311558e-01 -5.56312042e-02 -1.67093261e-02 4.02809587e+02] [ 5.56296905e-02 9.98451315e-01 -5.55737093e-04 6.36488549e+00] [ 1.67143650e-02 -3.74735877e-04 9.99860235e-01 3.68545625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68925415399997 meters Centerline goodness [0,1] 0.9990104221496999 Centerline is valid? [True, True] Translation: X:402.84, Y:6.37, Z:3.69 [[ 9.98367607e-01 -5.46303518e-02 -1.66627252e-02 4.02842153e+02] [ 5.46287278e-02 9.98506583e-01 -5.52951754e-04 6.36660869e+00] [ 1.66680487e-02 -3.58214358e-04 9.99861014e-01 3.68567942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71925415399994 meters Centerline goodness [0,1] 0.9988642816581488 Centerline is valid? [True, True] Translation: X:402.87, Y:6.37, Z:3.69 [[ 9.98451512e-01 -5.31474060e-02 -1.64295640e-02 4.02873760e+02] [ 5.31456526e-02 9.98586623e-01 -5.43624288e-04 6.36833262e+00] [ 1.64352350e-02 -3.30377406e-04 9.99864878e-01 3.68571169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74925415399997 meters Centerline goodness [0,1] 0.9987572144752918 Centerline is valid? [True, True] Translation: X:402.91, Y:6.37, Z:3.69 [[ 9.98620852e-01 -4.95611031e-02 -1.73231246e-02 4.02905680e+02] [ 4.95586463e-02 9.98771052e-01 -5.71343857e-04 6.37181809e+00] [ 1.73301518e-02 -2.87954714e-04 9.99849780e-01 3.68545803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77925415399994 meters Centerline goodness [0,1] 0.9986733211194643 Centerline is valid? [True, True] Translation: X:402.94, Y:6.37, Z:3.69 [[ 9.98724479e-01 -4.74194367e-02 -1.73439070e-02 4.02937447e+02] [ 4.74166731e-02 9.98875034e-01 -5.70762598e-04 6.37418493e+00] [ 1.73514609e-02 -2.52355789e-04 9.99849420e-01 3.68532350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.809254154 meters Centerline goodness [0,1] 0.998967703878484 Centerline is valid? [True, True] Translation: X:402.97, Y:6.38, Z:3.69 [[ 9.98831839e-01 -4.49145377e-02 -1.78224875e-02 4.02969088e+02] [ 4.49112443e-02 9.98990810e-01 -5.85195783e-04 6.37587809e+00] [ 1.78307850e-02 -2.15917909e-04 9.99840996e-01 3.68529244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.83925415399995 meters Centerline goodness [0,1] 0.9988422027618726 Centerline is valid? [True, True] Translation: X:403.00, Y:6.38, Z:3.69 [[ 9.98943427e-01 -4.25062015e-02 -1.74714923e-02 4.03000639e+02] [ 4.25026874e-02 9.99096188e-01 -5.72573378e-04 6.37791371e+00] [ 1.74800393e-02 -1.70616965e-04 9.99847198e-01 3.68513260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.869254154 meters Centerline goodness [0,1] 0.9989034162800506 Centerline is valid? [True, True] Translation: X:403.03, Y:6.38, Z:3.69 [[ 9.99049866e-01 -4.00733325e-02 -1.71316593e-02 4.03031682e+02] [ 4.00696092e-02 9.99196733e-01 -5.60674113e-04 6.38031499e+00] [ 1.71403661e-02 -1.26317494e-04 9.99853085e-01 3.68576113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.89925415399995 meters Centerline goodness [0,1] 0.9991775795533624 Centerline is valid? [True, True] Translation: X:403.06, Y:6.38, Z:3.69 [[ 9.99213963e-01 -3.55800606e-02 -1.74790228e-02 4.03062998e+02] [ 3.55755106e-02 9.99366828e-01 -5.71281327e-04 6.38385248e+00] [ 1.74882818e-02 -5.09928824e-05 9.99847067e-01 3.68632913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9292541539999 meters Centerline goodness [0,1] 0.9990735671874342 Centerline is valid? [True, True] Translation: X:403.09, Y:6.39, Z:3.69 [[ 9.99267597e-01 -3.40630505e-02 -1.74349531e-02 4.03094276e+02] [ 3.40583061e-02 9.99419686e-01 -5.69056534e-04 6.38579557e+00] [ 1.74442192e-02 -2.51652159e-05 9.99847838e-01 3.68713212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.95925415399995 meters Centerline goodness [0,1] 0.998921958231166 Centerline is valid? [True, True] Translation: X:403.13, Y:6.39, Z:3.69 [[ 9.99302411e-01 -3.28251533e-02 -1.78101071e-02 4.03125232e+02] [ 3.28200177e-02 9.99461109e-01 -5.80641870e-04 6.38696135e+00] [ 1.78195690e-02 -4.29120801e-06 9.99841219e-01 3.68730323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9892541539999 meters Centerline goodness [0,1] 0.9990694133073897 Centerline is valid? [True, True] Translation: X:403.16, Y:6.39, Z:3.69 [[ 9.99327159e-01 -3.17326106e-02 -1.83921428e-02 4.03156450e+02] [ 3.17269614e-02 9.99496394e-01 -5.98933808e-04 6.38703375e+00] [ 1.84018862e-02 1.50040146e-05 9.99830671e-01 3.68652817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.01925415399995 meters Centerline goodness [0,1] 0.9991768331293005 Centerline is valid? [True, True] Translation: X:403.19, Y:6.39, Z:3.69 [[ 9.99310481e-01 -3.21286122e-02 -1.86095585e-02 4.03186756e+02] [ 3.21229037e-02 9.99483743e-01 -6.05669271e-04 6.38706239e+00] [ 1.86194104e-02 7.45859584e-06 9.99826644e-01 3.68648296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0492541539999 meters Centerline goodness [0,1] 0.9989634455914707 Centerline is valid? [True, True] Translation: X:403.22, Y:6.39, Z:3.69 [[ 9.99284800e-01 -3.29531605e-02 -1.85466344e-02 4.03217166e+02] [ 3.29476326e-02 9.99456897e-01 -6.03621337e-04 6.38630234e+00] [ 1.85564529e-02 -7.87806961e-06 9.99827814e-01 3.68676284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07925415399995 meters Centerline goodness [0,1] 0.9989215478959611 Centerline is valid? [True, True] Translation: X:403.25, Y:6.39, Z:3.69 [[ 9.99244809e-01 -3.43701637e-02 -1.81246665e-02 4.03247857e+02] [ 3.43651176e-02 9.99409171e-01 -5.89887909e-04 6.38532362e+00] [ 1.81342324e-02 -3.34138627e-05 9.99835561e-01 3.68706403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1092541539999 meters Centerline goodness [0,1] 0.99890320811626 Centerline is valid? [True, True] Translation: X:403.28, Y:6.38, Z:3.69 [[ 9.99170988e-01 -3.64346310e-02 -1.81619206e-02 4.03279282e+02] [ 3.64299109e-02 9.99336036e-01 -5.90780693e-04 6.38388027e+00] [ 1.81713866e-02 -7.13462188e-05 9.99834884e-01 3.68741411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13925415399996 meters Centerline goodness [0,1] 0.9989872776758023 Centerline is valid? [True, True] Translation: X:403.31, Y:6.38, Z:3.69 [[ 9.98976938e-01 -4.17053405e-02 -1.74854790e-02 4.03310596e+02] [ 4.17017835e-02 9.99129941e-01 -5.68149592e-04 6.37902173e+00] [ 1.74939604e-02 -1.61607320e-04 9.99846956e-01 3.68829837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16925415399993 meters Centerline goodness [0,1] 0.9991374776480488 Centerline is valid? [True, True] Translation: X:403.34, Y:6.38, Z:3.69 [[ 9.98857584e-01 -4.45388275e-02 -1.73152895e-02 4.03342302e+02] [ 4.45357786e-02 9.99007632e-01 -5.61837552e-04 6.37653926e+00] [ 1.73231300e-02 -2.09954199e-04 9.99849921e-01 3.68857021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19925415399996 meters Centerline goodness [0,1] 0.9990111508520935 Centerline is valid? [True, True] Translation: X:403.37, Y:6.37, Z:3.69 [[ 9.98706350e-01 -4.78979024e-02 -1.70709375e-02 4.03374255e+02] [ 4.78954478e-02 9.98852202e-01 -5.52831012e-04 6.37421454e+00] [ 1.70778229e-02 -2.65504351e-04 9.99854128e-01 3.68898688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22925415399993 meters Centerline goodness [0,1] 0.999117053481332 Centerline is valid? [True, True] Translation: X:403.41, Y:6.37, Z:3.69 [[ 9.98551030e-01 -5.11362797e-02 -1.67607181e-02 4.03406567e+02] [ 5.11343899e-02 9.98691635e-01 -5.41565563e-04 6.37134628e+00] [ 1.67664826e-02 -3.16268244e-04 9.99859383e-01 3.68893008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25925415399996 meters Centerline goodness [0,1] 0.9987184873949579 Centerline is valid? [True, True] Translation: X:403.44, Y:6.36, Z:3.69 [[ 9.98137933e-01 -5.89228011e-02 -1.57724294e-02 4.03436582e+02] [ 5.89221090e-02 9.98262453e-01 -5.08986426e-04 6.36269711e+00] [ 1.57750150e-02 -4.21306145e-04 9.99875478e-01 3.68868160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28925415399993 meters Centerline goodness [0,1] 0.9986766651962946 Centerline is valid? [True, True] Translation: X:403.47, Y:6.36, Z:3.69 [[ 9.97891722e-01 -6.30063627e-02 -1.55663059e-02 4.03468975e+02] [ 6.30061918e-02 9.98013010e-01 -5.01887985e-04 6.36024206e+00] [ 1.55669980e-02 -4.79943790e-04 9.99878712e-01 3.68919992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31925415399996 meters Centerline goodness [0,1] 0.9989705017228339 Centerline is valid? [True, True] Translation: X:403.50, Y:6.36, Z:3.69 [[ 9.97623450e-01 -6.72031087e-02 -1.52050523e-02 4.03500476e+02] [ 6.72034456e-02 9.97739173e-01 -4.89363758e-04 6.35897421e+00] [ 1.52035631e-02 -5.33631144e-04 9.99884277e-01 3.68977803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34925415399994 meters Centerline goodness [0,1] 0.9987207717311524 Centerline is valid? [True, True] Translation: X:403.53, Y:6.35, Z:3.69 [[ 9.97323870e-01 -7.14930668e-02 -1.52918287e-02 4.03530767e+02] [ 7.14939163e-02 9.97440915e-01 -4.91804949e-04 6.35434755e+00] [ 1.52878563e-02 -6.02783910e-04 9.99882952e-01 3.68970004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37925415399997 meters Centerline goodness [0,1] 0.9988519902314805 Centerline is valid? [True, True] Translation: X:403.56, Y:6.34, Z:3.69 [[ 9.96728045e-01 -7.93936919e-02 -1.51606831e-02 4.03560256e+02] [ 7.93954356e-02 9.96843080e-01 -4.87781475e-04 6.34491629e+00] [ 1.51515488e-02 -7.17503564e-04 9.99884951e-01 3.68936485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40925415399994 meters Centerline goodness [0,1] 0.9987834805042264 Centerline is valid? [True, True] Translation: X:403.59, Y:6.35, Z:3.69 [[ 9.96429921e-01 -8.31092589e-02 -1.48412971e-02 4.03591634e+02] [ 8.31113393e-02 9.96540153e-01 -4.77612578e-04 6.34524865e+00] [ 1.48296426e-02 -7.57572619e-04 9.99889748e-01 3.69006596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43925415399997 meters Centerline goodness [0,1] 0.9986811806573163 Centerline is valid? [True, True] Translation: X:403.62, Y:6.34, Z:3.69 [[ 9.96161697e-01 -8.62152011e-02 -1.51265472e-02 4.03622383e+02] [ 8.62177261e-02 9.96276200e-01 -4.86338972e-04 6.33906490e+00] [ 1.51121488e-02 -8.19704250e-04 9.99885469e-01 3.68978425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46925415399994 meters Centerline goodness [0,1] 0.9983895256420983 Centerline is valid? [True, True] Translation: X:403.65, Y:6.34, Z:3.69 [[ 9.95939254e-01 -8.87461195e-02 -1.51369843e-02 4.03652636e+02] [ 8.87489419e-02 9.96053909e-01 -4.86504321e-04 6.33610722e+00] [ 1.51204278e-02 -8.58862592e-04 9.99885311e-01 3.68978739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49925415399997 meters Centerline goodness [0,1] 0.9987237959747269 Centerline is valid? [True, True] Translation: X:403.68, Y:6.34, Z:3.69 [[ 9.95710607e-01 -9.12533192e-02 -1.52715253e-02 4.03683774e+02] [ 9.12564891e-02 9.95827301e-01 -4.90608323e-04 6.34278134e+00] [ 1.52525715e-02 -9.05121872e-04 9.99883263e-01 3.69093200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.52925415399994 meters Centerline goodness [0,1] 0.9988072818581293 Centerline is valid? [True, True] Translation: X:403.72, Y:6.34, Z:3.69 [[ 9.95715842e-01 -9.12332236e-02 -1.50486427e-02 4.03716430e+02] [ 9.12363142e-02 9.95829153e-01 -4.82459760e-04 6.34425928e+00] [ 1.50298935e-02 -8.92589866e-04 9.99886646e-01 3.69130906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.559254154 meters Centerline goodness [0,1] 0.9984749728419822 Centerline is valid? [True, True] Translation: X:403.75, Y:6.34, Z:3.69 [[ 9.95763520e-01 -9.07385148e-02 -1.48839988e-02 4.03747780e+02] [ 9.07415109e-02 9.95874366e-01 -4.75308749e-04 6.34392739e+00] [ 1.48657217e-02 -8.77301431e-04 9.99889114e-01 3.69147069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.58925415399995 meters Centerline goodness [0,1] 0.9987242497124333 Centerline is valid? [True, True] Translation: X:403.78, Y:6.35, Z:3.69 [[ 9.96001605e-01 -8.80735520e-02 -1.49617059e-02 4.03778760e+02] [ 8.80763039e-02 9.96113617e-01 -4.76177255e-04 6.34852059e+00] [ 1.49454976e-02 -8.43498444e-04 9.99887954e-01 3.69185418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.619254154 meters Centerline goodness [0,1] 0.9988892149054784 Centerline is valid? [True, True] Translation: X:403.81, Y:6.35, Z:3.69 [[ 9.96209413e-01 -8.56535543e-02 -1.51747590e-02 4.03809465e+02] [ 8.56561138e-02 9.96324645e-01 -4.82384651e-04 6.35057281e+00] [ 1.51603043e-02 -8.19254754e-04 9.99884740e-01 3.69181748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.64925415399995 meters Centerline goodness [0,1] 0.9988506948072302 Centerline is valid? [True, True] Translation: X:403.84, Y:6.35, Z:3.69 [[ 9.96436313e-01 -8.29533580e-02 -1.52779178e-02 4.03840814e+02] [ 8.29556446e-02 9.96553122e-01 -4.85094097e-04 6.35376278e+00] [ 1.52654968e-02 -7.84024143e-04 9.99883168e-01 3.69167291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6792541539999 meters Centerline goodness [0,1] 0.9986386294139823 Centerline is valid? [True, True] Translation: X:403.87, Y:6.36, Z:3.69 [[ 9.96915869e-01 -7.69379610e-02 -1.54693273e-02 4.03871656e+02] [ 7.69395877e-02 9.97035636e-01 -4.90838254e-04 6.36012493e+00] [ 1.54612347e-02 -7.00879220e-04 9.99880222e-01 3.69134682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.70925415399995 meters Centerline goodness [0,1] 0.9988047056849875 Centerline is valid? [True, True] Translation: X:403.90, Y:6.37, Z:3.69 [[ 9.97162033e-01 -7.35668430e-02 -1.59937443e-02 4.03902810e+02] [ 7.35681525e-02 9.97290063e-01 -5.07257621e-04 6.36562585e+00] [ 1.59877196e-02 -6.70812183e-04 9.99871963e-01 3.69180873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7392541539999 meters Centerline goodness [0,1] 0.9987599831862127 Centerline is valid? [True, True] Translation: X:403.93, Y:6.37, Z:3.69 [[ 9.97428471e-01 -6.98608852e-02 -1.59969656e-02 4.03934385e+02] [ 6.98617309e-02 9.97556556e-01 -5.06635228e-04 6.37046568e+00] [ 1.59932719e-02 -6.12243308e-04 9.99871912e-01 3.69228613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.76925415399995 meters Centerline goodness [0,1] 0.9986565064970506 Centerline is valid? [True, True] Translation: X:403.96, Y:6.37, Z:3.69 [[ 9.97662462e-01 -6.64392809e-02 -1.59822805e-02 4.03964846e+02] [ 6.64396969e-02 9.97790314e-01 -5.05517698e-04 6.37348221e+00] [ 1.59805509e-02 -5.57521838e-04 9.99872147e-01 3.69269640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7992541539999 meters Centerline goodness [0,1] 0.9987183527681479 Centerline is valid? [True, True] Translation: X:404.00, Y:6.38, Z:3.69 [[ 9.97902515e-01 -6.27946828e-02 -1.57288806e-02 4.03995741e+02] [ 6.27946398e-02 9.98026345e-01 -4.97097089e-04 6.37749365e+00] [ 1.57290523e-02 -4.91634958e-04 9.99876170e-01 3.69323495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.82925415399995 meters Centerline goodness [0,1] 0.9986333340341876 Centerline is valid? [True, True] Translation: X:404.03, Y:6.38, Z:3.69 [[ 9.98126164e-01 -5.91021589e-02 -1.58459702e-02 4.04026158e+02] [ 5.91016669e-02 9.98251844e-01 -4.99753203e-04 6.38028704e+00] [ 1.58478055e-02 -4.37706506e-04 9.99874320e-01 3.69357367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8592541539999 meters Centerline goodness [0,1] 0.9989699823425544 Centerline is valid? [True, True] Translation: X:404.06, Y:6.39, Z:3.70 [[ 9.98520335e-01 -5.20197688e-02 -1.58456577e-02 4.04056122e+02] [ 5.20184012e-02 9.98646002e-01 -4.98732123e-04 6.39048391e+00] [ 1.58501466e-02 -3.26271613e-04 9.99874325e-01 3.69554082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.88925415399996 meters Centerline goodness [0,1] 0.9988021435326259 Centerline is valid? [True, True] Translation: X:404.09, Y:6.39, Z:3.70 [[ 9.98708537e-01 -4.84189777e-02 -1.53902506e-02 4.04087748e+02] [ 4.84172670e-02 9.98827079e-01 -4.83954345e-04 6.39360513e+00] [ 1.53956316e-02 -2.61824536e-04 9.99881446e-01 3.69593246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91925415399993 meters Centerline goodness [0,1] 0.9989076548189227 Centerline is valid? [True, True] Translation: X:404.12, Y:6.40, Z:3.70 [[ 9.98887367e-01 -4.46183333e-02 -1.52719748e-02 4.04120349e+02] [ 4.46162234e-02 9.99004086e-01 -4.79007491e-04 6.39784339e+00] [ 1.52781378e-02 -2.02903310e-04 9.99883262e-01 3.69630378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.94925415399996 meters Centerline goodness [0,1] 0.99884237334512 Centerline is valid? [True, True] Translation: X:404.15, Y:6.40, Z:3.70 [[ 9.99037258e-01 -4.12568275e-02 -1.49141123e-02 4.04152436e+02] [ 4.12544594e-02 9.99148563e-01 -4.66534345e-04 6.40195432e+00] [ 1.49206617e-02 -1.49188449e-04 9.99888670e-01 3.69740391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97925415399993 meters Centerline goodness [0,1] 0.9990088152178498 Centerline is valid? [True, True] Translation: X:404.18, Y:6.41, Z:3.70 [[ 9.99277418e-01 -3.49110999e-02 -1.50285095e-02 4.04184625e+02] [ 3.49079943e-02 9.99390420e-01 -4.68999922e-04 6.40747896e+00] [ 1.50357218e-02 -5.59540944e-05 9.99886956e-01 3.69842287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.00925415399996 meters Centerline goodness [0,1] 0.9989685730523923 Centerline is valid? [True, True] Translation: X:404.22, Y:6.41, Z:3.70 [[ 9.99384615e-01 -3.19144893e-02 -1.45553037e-02 4.04215658e+02] [ 3.19112709e-02 9.99490603e-01 -4.53372445e-04 6.40998040e+00] [ 1.45623584e-02 -1.13847931e-05 9.99893963e-01 3.69821689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03925415399993 meters Centerline goodness [0,1] 0.9989685730523923 Centerline is valid? [True, True] Translation: X:404.25, Y:6.41, Z:3.70 [[ 9.99385779e-01 -3.18779977e-02 -1.45553202e-02 4.04246488e+02] [ 3.18747832e-02 9.99491767e-01 -4.52840733e-04 6.41091083e+00] [ 1.45623584e-02 -1.13850877e-05 9.99893963e-01 3.69850575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06925415399996 meters Centerline goodness [0,1] 0.9989669203685353 Centerline is valid? [True, True] Translation: X:404.28, Y:6.41, Z:3.70 [[ 9.99445994e-01 -2.97417348e-02 -1.49376578e-02 4.04277619e+02] [ 2.97381189e-02 9.99557617e-01 -4.64181294e-04 6.41303493e+00] [ 1.49448552e-02 1.97062926e-05 9.99888319e-01 3.69857862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09925415399994 meters Centerline goodness [0,1] 0.9990502722552869 Centerline is valid? [True, True] Translation: X:404.31, Y:6.41, Z:3.70 [[ 9.99495254e-01 -2.78568762e-02 -1.52718971e-02 4.04309073e+02] [ 2.78528852e-02 9.99611921e-01 -4.74003959e-04 6.41485463e+00] [ 1.52791747e-02 4.83983102e-05 9.99883265e-01 3.69868348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12925415399997 meters Centerline goodness [0,1] 0.9990290852294313 Centerline is valid? [True, True] Translation: X:404.34, Y:6.42, Z:3.70 [[ 9.99540209e-01 -2.60014265e-02 -1.55979748e-02 4.04339912e+02] [ 2.59970445e-02 9.99661903e-01 -4.83664817e-04 6.41573325e+00] [ 1.56052772e-02 7.79411867e-05 9.99878227e-01 3.69893112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15925415399994 meters Centerline goodness [0,1] 0.9991782726870483 Centerline is valid? [True, True] Translation: X:404.37, Y:6.42, Z:3.70 [[ 9.99541410e-01 -2.59775981e-02 -1.55606609e-02 4.04369679e+02] [ 2.59732351e-02 9.99662522e-01 -4.82449938e-04 6.41609462e+00] [ 1.55679424e-02 7.80679878e-05 9.99878809e-01 3.69905551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18925415399997 meters Centerline goodness [0,1] 0.9990310689836757 Centerline is valid? [True, True] Translation: X:404.40, Y:6.42, Z:3.70 [[ 9.99527651e-01 -2.67416613e-02 -1.51446105e-02 4.04400278e+02] [ 2.67376137e-02 9.99642376e-01 -4.69714277e-04 6.41520849e+00] [ 1.51517553e-02 6.45616633e-05 9.99885203e-01 3.70002794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21925415399994 meters Centerline goodness [0,1] 0.9991578592782854 Centerline is valid? [True, True] Translation: X:404.43, Y:6.41, Z:3.70 [[ 9.99435371e-01 -3.00790147e-02 -1.49730420e-02 4.04430138e+02] [ 3.00754312e-02 9.99547524e-01 -4.64494684e-04 6.41113685e+00] [ 1.49802386e-02 1.39117235e-05 9.99887790e-01 3.69997549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24925415399997 meters Centerline goodness [0,1] 0.9989901964909328 Centerline is valid? [True, True] Translation: X:404.46, Y:6.41, Z:3.70 [[ 9.99356140e-01 -3.26674255e-02 -1.48373049e-02 4.04461556e+02] [ 3.26641924e-02 9.99466277e-01 -4.60249926e-04 6.40864308e+00] [ 1.48444211e-02 -2.46949945e-05 9.99889815e-01 3.70059200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27925415399994 meters Centerline goodness [0,1] 0.9990947558998758 Centerline is valid? [True, True] Translation: X:404.49, Y:6.41, Z:3.70 [[ 9.99256733e-01 -3.55673346e-02 -1.48642468e-02 4.04492969e+02] [ 3.55644203e-02 9.99367280e-01 -4.60435747e-04 6.40583205e+00] [ 1.48712183e-02 -6.85447993e-05 9.99889415e-01 3.70066398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.309254154 meters Centerline goodness [0,1] 0.9989494253356586 Centerline is valid? [True, True] Translation: X:404.52, Y:6.40, Z:3.70 [[ 9.99144081e-01 -3.86231926e-02 -1.48106232e-02 4.04523886e+02] [ 3.86206474e-02 9.99253840e-01 -4.57936098e-04 6.40177480e+00] [ 1.48172591e-02 -1.14451716e-04 9.99890212e-01 3.70008165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.33925415399995 meters Centerline goodness [0,1] 0.9989082052574116 Centerline is valid? [True, True] Translation: X:404.56, Y:6.40, Z:3.70 [[ 9.99015535e-01 -4.16622623e-02 -1.52386550e-02 4.04556045e+02] [ 4.16599365e-02 9.99131737e-01 -4.70170327e-04 6.39952736e+00] [ 1.52450122e-02 -1.65133939e-04 9.99883774e-01 3.70084002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.369254154 meters Centerline goodness [0,1] 0.9989133614744848 Centerline is valid? [True, True] Translation: X:404.59, Y:6.39, Z:3.70 [[ 9.98746148e-01 -4.76129682e-02 -1.54640814e-02 4.04587548e+02] [ 4.76113019e-02 9.98865825e-01 -4.76101761e-04 6.39256105e+00] [ 1.54692110e-02 -2.60760247e-04 9.99880311e-01 3.70082904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.39925415399995 meters Centerline goodness [0,1] 0.9991602636772053 Centerline is valid? [True, True] Translation: X:404.62, Y:6.39, Z:3.70 [[ 9.98607305e-01 -5.03139246e-02 -1.58732020e-02 4.04619906e+02] [ 5.03125258e-02 9.98733404e-01 -4.87697827e-04 6.38963389e+00] [ 1.58776351e-02 -3.11602274e-04 9.99873894e-01 3.70042073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4292541539999 meters Centerline goodness [0,1] 0.998763439733406 Centerline is valid? [True, True] Translation: X:404.65, Y:6.39, Z:3.70 [[ 9.98456520e-01 -5.33240356e-02 -1.55282279e-02 4.04651767e+02] [ 5.33230766e-02 9.98577199e-01 -4.76081837e-04 6.38729612e+00] [ 1.55315209e-02 -3.52665872e-04 9.99879316e-01 3.70114872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.45925415399995 meters Centerline goodness [0,1] 0.998764113198852 Centerline is valid? [True, True] Translation: X:404.68, Y:6.38, Z:3.70 [[ 9.98341907e-01 -5.54138314e-02 -1.55802708e-02 4.04684488e+02] [ 5.54131356e-02 9.98463398e-01 -4.76692279e-04 6.38412757e+00] [ 1.55827455e-02 -3.87449779e-04 9.99878507e-01 3.70117624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4892541539999 meters Centerline goodness [0,1] 0.9988289418653283 Centerline is valid? [True, True] Translation: X:404.72, Y:6.38, Z:3.70 [[ 9.98251439e-01 -5.71168023e-02 -1.52228673e-02 4.04716008e+02] [ 5.71163511e-02 9.98367421e-01 -4.64757341e-04 6.38095025e+00] [ 1.52245602e-02 -4.05529948e-04 9.99884017e-01 3.70106150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.51925415399995 meters Centerline goodness [0,1] 0.9985967704777263 Centerline is valid? [True, True] Translation: X:404.75, Y:6.37, Z:3.70 [[ 9.98150965e-01 -5.89774891e-02 -1.47073451e-02 4.04747691e+02] [ 5.89772813e-02 9.98259225e-01 -4.48229290e-04 6.37462434e+00] [ 1.47081783e-02 -4.19998729e-04 9.99891741e-01 3.70079206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5492541539999 meters Centerline goodness [0,1] 0.9986815394596404 Centerline is valid? [True, True] Translation: X:404.78, Y:6.38, Z:3.70 [[ 9.98139319e-01 -5.90923923e-02 -1.50329193e-02 4.04779383e+02] [ 5.90922024e-02 9.98252424e-01 -4.57206923e-04 6.37660886e+00] [ 1.50336655e-02 -4.31972101e-04 9.99886895e-01 3.70173721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57925415399995 meters Centerline goodness [0,1] 0.9988503344481605 Centerline is valid? [True, True] Translation: X:404.81, Y:6.37, Z:3.70 [[ 9.98175075e-01 -5.85908025e-02 -1.46163306e-02 4.04811102e+02] [ 5.85905836e-02 9.98281998e-01 -4.43560610e-04 6.37481421e+00] [ 1.46172082e-02 -4.13628192e-04 9.99893077e-01 3.70156462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6092541539999 meters Centerline goodness [0,1] 0.9989971167105428 Centerline is valid? [True, True] Translation: X:404.84, Y:6.38, Z:3.70 [[ 9.98239810e-01 -5.73934812e-02 -1.49421963e-02 4.04842875e+02] [ 5.73931324e-02 9.98351553e-01 -4.52504392e-04 6.37526546e+00] [ 1.49435356e-02 -4.05871550e-04 9.99888257e-01 3.70195184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63925415399996 meters Centerline goodness [0,1] 0.9990181537111701 Centerline is valid? [True, True] Translation: X:404.87, Y:6.38, Z:3.70 [[ 9.98458687e-01 -5.31474959e-02 -1.59873099e-02 4.04874726e+02] [ 5.31465704e-02 9.98586606e-01 -4.83050109e-04 6.37529351e+00] [ 1.59903864e-02 -3.67365110e-04 9.99872078e-01 3.70103794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.66925415399993 meters Centerline goodness [0,1] 0.9988713790076496 Centerline is valid? [True, True] Translation: X:404.91, Y:6.38, Z:3.70 [[ 9.98596580e-01 -5.04274254e-02 -1.61847200e-02 4.04905919e+02] [ 5.04261323e-02 9.98727674e-01 -4.88239325e-04 6.37623620e+00] [ 1.61887485e-02 -3.28578714e-04 9.99868900e-01 3.70122661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69925415399996 meters Centerline goodness [0,1] 0.9988719684151156 Centerline is valid? [True, True] Translation: X:404.94, Y:6.38, Z:3.70 [[ 9.98889949e-01 -4.42775437e-02 -1.60738536e-02 4.04936914e+02] [ 4.42754816e-02 9.99019243e-01 -4.84303767e-04 6.37802158e+00] [ 1.60795329e-02 -2.27911445e-04 9.99870690e-01 3.70153812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.72925415399993 meters Centerline goodness [0,1] 0.9990194442126346 Centerline is valid? [True, True] Translation: X:404.97, Y:6.38, Z:3.70 [[ 9.99027477e-01 -4.11360702e-02 -1.58720903e-02 4.04968517e+02] [ 4.11336723e-02 9.99153538e-01 -4.77642240e-04 6.37925759e+00] [ 1.58783035e-02 -1.75699640e-04 9.99873916e-01 3.70147776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75925415399996 meters Centerline goodness [0,1] 0.9993310477464671 Centerline is valid? [True, True] Translation: X:405.00, Y:6.38, Z:3.70 [[ 9.99134406e-01 -3.83185082e-02 -1.61904285e-02 4.04998948e+02] [ 3.83156510e-02 9.99265567e-01 -4.86746953e-04 6.37948869e+00] [ 1.61971892e-02 -1.34021180e-04 9.99868808e-01 3.70109073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.78925415399993 meters Centerline goodness [0,1] 0.9991230268103233 Centerline is valid? [True, True] Translation: X:405.03, Y:6.38, Z:3.70 [[ 9.99218201e-01 -3.60320478e-02 -1.62689246e-02 4.05029618e+02] [ 3.60288625e-02 9.99350630e-01 -4.88935534e-04 6.38085747e+00] [ 1.62759774e-02 -9.75975623e-05 9.99867533e-01 3.70142001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81925415399996 meters Centerline goodness [0,1] 0.9991636523302737 Centerline is valid? [True, True] Translation: X:405.06, Y:6.38, Z:3.70 [[ 9.99283079e-01 -3.35549024e-02 -1.75327227e-02 4.05060573e+02] [ 3.35508218e-02 9.99436874e-01 -5.26916890e-04 6.38072394e+00] [ 1.75405302e-02 -6.16981223e-05 9.99846151e-01 3.70104473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.84925415399994 meters Centerline goodness [0,1] 0.9992686086847494 Centerline is valid? [True, True] Translation: X:405.09, Y:6.38, Z:3.70 [[ 9.99273528e-01 -3.33592726e-02 -1.84275437e-02 4.05089980e+02] [ 3.33547253e-02 9.99443423e-01 -5.54143593e-04 6.38029695e+00] [ 1.84357731e-02 -6.09046343e-05 9.99830045e-01 3.70066620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87925415399997 meters Centerline goodness [0,1] 0.999226022382596 Centerline is valid? [True, True] Translation: X:405.12, Y:6.38, Z:3.70 [[ 9.99221479e-01 -3.41899958e-02 -1.96845039e-02 4.05118410e+02] [ 3.41849085e-02 9.99415348e-01 -5.94971262e-04 6.37904376e+00] [ 1.96933374e-02 -7.84049003e-05 9.99806064e-01 3.69996579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.90925415399994 meters Centerline goodness [0,1] 0.9991412893226658 Centerline is valid? [True, True] Translation: X:405.15, Y:6.38, Z:3.70 [[ 9.99145941e-01 -3.55952863e-02 -2.09848728e-02 4.05147492e+02] [ 3.55896974e-02 9.99366281e-01 -6.39851594e-04 6.37753496e+00] [ 2.09943500e-02 -1.07540149e-04 9.99779589e-01 3.69971799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93925415399997 meters Centerline goodness [0,1] 0.9989542155570894 Centerline is valid? [True, True] Translation: X:405.18, Y:6.38, Z:3.70 [[ 9.99065256e-01 -3.74977154e-02 -2.15066525e-02 4.05176668e+02] [ 3.74921649e-02 9.99296703e-01 -6.61379920e-04 6.37567818e+00] [ 2.15163271e-02 -1.45569260e-04 9.99768486e-01 3.69957895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.96925415399994 meters Centerline goodness [0,1] 0.9990803252304412 Centerline is valid? [True, True] Translation: X:405.20, Y:6.37, Z:3.70 [[ 9.98927512e-01 -4.08610524e-02 -2.17761350e-02 4.05204972e+02] [ 4.08560827e-02 9.99164815e-01 -6.73252471e-04 6.37028434e+00] [ 2.17854577e-02 -2.17157158e-04 9.99762645e-01 3.69942404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99925415399997 meters Centerline goodness [0,1] 0.9991849018747256 Centerline is valid? [True, True] Translation: X:405.23, Y:6.37, Z:3.70 [[ 9.98845645e-01 -4.27730379e-02 -2.18596517e-02 4.05234133e+02] [ 4.27683990e-02 9.99084782e-01 -6.79888051e-04 6.36863711e+00] [ 2.18687262e-02 -2.55799087e-04 9.99760818e-01 3.70042555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.02925415399994 meters Centerline goodness [0,1] 0.9991228986112561 Centerline is valid? [True, True] Translation: X:405.26, Y:6.37, Z:3.70 [[ 9.98786782e-01 -4.42793033e-02 -2.15477728e-02 4.05262080e+02] [ 4.42750717e-02 9.99019151e-01 -6.73648617e-04 6.36607924e+00] [ 2.15564664e-02 -2.81197851e-04 9.99767593e-01 3.70029444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.059254154 meters Centerline goodness [0,1] 0.9990809591444565 Centerline is valid? [True, True] Translation: X:405.29, Y:6.37, Z:3.70 [[ 9.98703664e-01 -4.59896785e-02 -2.18160616e-02 4.05291129e+02] [ 4.59856607e-02 9.98941864e-01 -6.86069017e-04 6.36577496e+00] [ 2.18245293e-02 -3.18046365e-04 9.99761766e-01 3.70181963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.08925415399995 meters Centerline goodness [0,1] 0.9992491866188371 Centerline is valid? [True, True] Translation: X:405.32, Y:6.36, Z:3.70 [[ 9.98653484e-01 -4.71292017e-02 -2.16807981e-02 4.05319910e+02] [ 4.71253829e-02 9.98888746e-01 -6.87305177e-04 6.36435833e+00] [ 2.16890974e-02 -3.35336204e-04 9.99764708e-01 3.70231324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.119254154 meters Centerline goodness [0,1] 0.9992483714715217 Centerline is valid? [True, True] Translation: X:405.35, Y:6.36, Z:3.70 [[ 9.98593952e-01 -4.83440124e-02 -2.17479794e-02 4.05349146e+02] [ 4.83403377e-02 9.98830681e-01 -6.94956055e-04 6.36174495e+00] [ 2.17561460e-02 -3.57325755e-04 9.99763243e-01 3.70341019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.14925415399995 meters Centerline goodness [0,1] 0.999184884838858 Centerline is valid? [True, True] Translation: X:405.38, Y:6.36, Z:3.70 [[ 9.98582422e-01 -4.87842872e-02 -2.12894126e-02 4.05378052e+02] [ 4.87807517e-02 9.98809275e-01 -6.85663871e-04 6.36142672e+00] [ 2.12975124e-02 -3.53821661e-04 9.99773120e-01 3.70412440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1792541539999 meters Centerline goodness [0,1] 0.9993523316062176 Centerline is valid? [True, True] Translation: X:405.41, Y:6.36, Z:3.70 [[ 9.98624231e-01 -4.81816992e-02 -2.06922614e-02 4.05406395e+02] [ 4.81781693e-02 9.98838533e-01 -6.69358932e-04 6.36087076e+00] [ 2.07004789e-02 -3.28477224e-04 9.99785668e-01 3.70471795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.20925415399995 meters Centerline goodness [0,1] 0.9993533178964057 Centerline is valid? [True, True] Translation: X:405.43, Y:6.36, Z:3.71 [[ 9.98750528e-01 -4.58766047e-02 -1.98171577e-02 4.05434825e+02] [ 4.58728906e-02 9.98947078e-01 -6.42198285e-04 6.36036798e+00] [ 1.98257537e-02 -2.67674430e-04 9.99803415e-01 3.70603621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2392541539999 meters Centerline goodness [0,1] 0.9992498437174412 Centerline is valid? [True, True] Translation: X:405.46, Y:6.36, Z:3.71 [[ 9.98834880e-01 -4.41871565e-02 -1.94004375e-02 4.05464522e+02] [ 4.41832599e-02 9.99023245e-01 -6.29642288e-04 6.36234371e+00] [ 1.94093101e-02 -2.28265893e-04 9.99811596e-01 3.70751965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.26925415399995 meters Centerline goodness [0,1] 0.9993306699575394 Centerline is valid? [True, True] Translation: X:405.49, Y:6.36, Z:3.71 [[ 9.98915895e-01 -4.23446729e-02 -1.93381110e-02 4.05493414e+02] [ 4.23404390e-02 9.99103044e-01 -6.28503210e-04 6.36293865e+00] [ 1.93473794e-02 -1.90962264e-04 9.99812804e-01 3.70779760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2992541539999 meters Centerline goodness [0,1] 0.9993318718029022 Centerline is valid? [True, True] Translation: X:405.52, Y:6.36, Z:3.71 [[ 9.99085051e-01 -3.81482313e-02 -1.93332426e-02 4.05523066e+02] [ 3.81431971e-02 9.99272085e-01 -6.29208209e-04 6.36409899e+00] [ 1.93431729e-02 -1.08799170e-04 9.99812897e-01 3.70832024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.32925415399995 meters Centerline goodness [0,1] 0.9997079073649071 Centerline is valid? [True, True] Translation: X:405.55, Y:6.36, Z:3.71 [[ 9.99148795e-01 -3.65247051e-02 -1.91737290e-02 4.05551783e+02] [ 3.65194011e-02 9.99332748e-01 -6.26813368e-04 6.36475412e+00] [ 1.91838294e-02 -7.39332779e-05 9.99815971e-01 3.70906071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3592541539999 meters Centerline goodness [0,1] 0.9993106473647929 Centerline is valid? [True, True] Translation: X:405.58, Y:6.37, Z:3.71 [[ 9.99186211e-01 -3.55201737e-02 -1.91110664e-02 4.05580982e+02] [ 3.55146272e-02 9.99368958e-01 -6.29647567e-04 6.36519108e+00] [ 1.91213718e-02 -4.95872333e-05 9.99817169e-01 3.70981478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.38925415399996 meters Centerline goodness [0,1] 0.9996868606738758 Centerline is valid? [True, True] Translation: X:405.61, Y:6.37, Z:3.71 [[ 9.99236885e-01 -3.40630267e-02 -1.91143283e-02 4.05608347e+02] [ 3.40571479e-02 9.99419687e-01 -6.33088863e-04 6.36500350e+00] [ 1.91248009e-02 -1.83737617e-05 9.99817104e-01 3.71016104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41925415399993 meters Centerline goodness [0,1] 0.9994354299096688 Centerline is valid? [True, True] Translation: X:405.64, Y:6.36, Z:3.71 [[ 9.99293201e-01 -3.21983201e-02 -1.94001775e-02 4.05636104e+02] [ 3.21918690e-02 9.99481499e-01 -6.44808710e-04 6.36317474e+00] [ 1.94108802e-02 1.98249883e-05 9.99811591e-01 3.70991805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.44925415399996 meters Centerline goodness [0,1] 0.9996660892793789 Centerline is valid? [True, True] Translation: X:405.66, Y:6.36, Z:3.71 [[ 9.99289296e-01 -3.20475581e-02 -1.98458306e-02 4.05664394e+02] [ 3.20406895e-02 9.99486345e-01 -6.64050164e-04 6.36269204e+00] [ 1.98569178e-02 2.77041253e-05 9.99802832e-01 3.71042361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47925415399993 meters Centerline goodness [0,1] 0.999728425494579 Centerline is valid? [True, True] Translation: X:405.69, Y:6.36, Z:3.71 [[ 9.99277987e-01 -3.21175011e-02 -2.02970666e-02 4.05692196e+02] [ 3.21102074e-02 9.99484099e-01 -6.85234856e-04 6.36197790e+00] [ 2.03086034e-02 3.29970882e-05 9.99793759e-01 3.71020300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.50925415399996 meters Centerline goodness [0,1] 0.9995396430140827 Centerline is valid? [True, True] Translation: X:405.72, Y:6.36, Z:3.71 [[ 9.99248846e-01 -3.25351393e-02 -2.10525113e-02 4.05720180e+02] [ 3.25273019e-02 9.99470592e-01 -7.14689207e-04 6.36085479e+00] [ 2.10646185e-02 2.93709744e-05 9.99778116e-01 3.70959217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53925415399993 meters Centerline goodness [0,1] 0.9994776649534077 Centerline is valid? [True, True] Translation: X:405.75, Y:6.36, Z:3.71 [[ 9.99198911e-01 -3.33842166e-02 -2.20687755e-02 4.05749238e+02] [ 3.33757198e-02 9.99442592e-01 -7.53333599e-04 6.35947749e+00] [ 2.20816237e-02 1.61688437e-05 9.99756171e-01 3.70922089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56925415399996 meters Centerline goodness [0,1] 0.9995399799263968 Centerline is valid? [True, True] Translation: X:405.78, Y:6.35, Z:3.71 [[ 9.99055172e-01 -3.69130736e-02 -2.29388020e-02 4.05778292e+02] [ 3.69046872e-02 9.99318479e-01 -7.88964804e-04 6.35429230e+00] [ 2.29522918e-02 -5.83299453e-05 9.99736560e-01 3.70880828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59925415399994 meters Centerline goodness [0,1] 0.9996027929924322 Centerline is valid? [True, True] Translation: X:405.81, Y:6.35, Z:3.71 [[ 9.98936044e-01 -3.97181824e-02 -2.34360068e-02 4.05807088e+02] [ 3.97100573e-02 9.99210915e-01 -8.12159769e-04 6.35196681e+00] [ 2.34497713e-02 -1.19349508e-04 9.99725009e-01 3.70939854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62925415399997 meters Centerline goodness [0,1] 0.9995826986875874 Centerline is valid? [True, True] Translation: X:405.83, Y:6.35, Z:3.71 [[ 9.98797704e-01 -4.30269838e-02 -2.34909503e-02 4.05834791e+02] [ 4.30196474e-02 9.99073892e-01 -8.17810137e-04 6.34907663e+00] [ 2.35043830e-02 -1.93745511e-04 9.99723715e-01 3.70946045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65925415399994 meters Centerline goodness [0,1] 0.9997064804914355 Centerline is valid? [True, True] Translation: X:405.86, Y:6.35, Z:3.71 [[ 9.98624114e-01 -4.69566644e-02 -2.33441581e-02 4.05864002e+02] [ 4.69503891e-02 9.98896888e-01 -8.17133016e-04 6.34596967e+00] [ 2.33567768e-02 -2.80008572e-04 9.99727154e-01 3.70986255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68925415399997 meters Centerline goodness [0,1] 0.999644693391297 Centerline is valid? [True, True] Translation: X:405.89, Y:6.34, Z:3.71 [[ 9.98431907e-01 -5.10685692e-02 -2.29287795e-02 4.05891656e+02] [ 5.10635167e-02 9.98695082e-01 -8.06172832e-04 6.34136519e+00] [ 2.29400295e-02 -3.65915438e-04 9.99736776e-01 3.70955035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71925415399994 meters Centerline goodness [0,1] 0.9995810377694451 Centerline is valid? [True, True] Translation: X:405.92, Y:6.33, Z:3.71 [[ 9.97955975e-01 -6.01015689e-02 -2.17180291e-02 4.05920999e+02] [ 6.00991406e-02 9.98192120e-01 -7.65079041e-04 6.33419853e+00] [ 2.17247480e-02 -5.41719686e-04 9.99763843e-01 3.71252549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74925415399997 meters Centerline goodness [0,1] 0.999582097037068 Centerline is valid? [True, True] Translation: X:405.95, Y:6.33, Z:3.71 [[ 9.97684106e-01 -6.46697996e-02 -2.10770357e-02 4.05949321e+02] [ 6.46685014e-02 9.97906524e-01 -7.43887961e-04 6.32925909e+00] [ 2.10810186e-02 -6.20855119e-04 9.99777578e-01 3.71283235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.77925415399994 meters Centerline goodness [0,1] 0.9996022774847191 Centerline is valid? [True, True] Translation: X:405.98, Y:6.33, Z:3.71 [[ 9.97412445e-01 -6.87960598e-02 -2.08690520e-02 4.05979153e+02] [ 6.87956653e-02 9.97630499e-01 -7.37682371e-04 6.32794297e+00] [ 2.08703524e-02 -6.99926741e-04 9.99781945e-01 3.71373500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.809254154 meters Centerline goodness [0,1] 0.9993718724482318 Centerline is valid? [True, True] Translation: X:406.01, Y:6.32, Z:3.71 [[ 9.96856589e-01 -7.66572182e-02 -2.00153056e-02 4.06009316e+02] [ 7.66584291e-02 9.97057162e-01 -7.07871894e-04 6.32226963e+00] [ 2.00106673e-02 -8.28695122e-04 9.99799423e-01 3.71455345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.83925415399995 meters Centerline goodness [0,1] 0.9995192207194966 Centerline is valid? [True, True] Translation: X:406.04, Y:6.32, Z:3.71 [[ 9.96604264e-01 -7.98783963e-02 -1.99845695e-02 4.06038009e+02] [ 7.98802374e-02 9.96804217e-01 -7.07402715e-04 6.31664035e+00] [ 1.99772093e-02 -8.91371592e-04 9.99800038e-01 3.71392313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.869254154 meters Centerline goodness [0,1] 0.9996231708082987 Centerline is valid? [True, True] Translation: X:406.07, Y:6.32, Z:3.72 [[ 9.96309781e-01 -8.35234294e-02 -1.97650700e-02 4.06067707e+02] [ 8.35259278e-02 9.96505358e-01 -7.00534734e-04 6.31903356e+00] [ 1.97545093e-02 -9.52946206e-04 9.99804407e-01 3.71518280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.89925415399995 meters Centerline goodness [0,1] 0.9995401722264025 Centerline is valid? [True, True] Translation: X:406.10, Y:6.32, Z:3.72 [[ 9.96031067e-01 -8.67443258e-02 -1.99383038e-02 4.06096862e+02] [ 8.67474968e-02 9.96230080e-01 -7.07424165e-04 6.31577726e+00] [ 1.99245030e-02 -1.02498150e-03 9.99800962e-01 3.71523056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9292541539999 meters Centerline goodness [0,1] 0.9995401722264025 Centerline is valid? [True, True] Translation: X:406.13, Y:6.32, Z:3.72 [[ 9.96027859e-01 -8.67811582e-02 -1.99382775e-02 4.06126041e+02] [ 8.67843218e-02 9.96226872e-01 -7.08164960e-04 6.31684341e+00] [ 1.99245032e-02 -1.02497786e-03 9.99800962e-01 3.71550414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.95925415399995 meters Centerline goodness [0,1] 0.9994771296509317 Centerline is valid? [True, True] Translation: X:406.16, Y:6.31, Z:3.71 [[ 9.95440356e-01 -9.31274946e-02 -2.06341260e-02 4.06156463e+02] [ 9.31322342e-02 9.95653479e-01 -7.33231387e-04 6.31361258e+00] [ 2.06127233e-02 -1.19181414e-03 9.99786825e-01 3.71498701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9892541539999 meters Centerline goodness [0,1] 0.9993717803744189 Centerline is valid? [True, True] Translation: X:406.19, Y:6.31, Z:3.71 [[ 9.95175663e-01 -9.59131392e-02 -2.06414529e-02 4.06185577e+02] [ 9.59184660e-02 9.95388923e-01 -7.34121965e-04 6.31312358e+00] [ 2.06166856e-02 -1.24931619e-03 9.99786673e-01 3.71495247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.01925415399995 meters Centerline goodness [0,1] 0.9996444853402484 Centerline is valid? [True, True] Translation: X:406.21, Y:6.31, Z:3.72 [[ 9.94957224e-01 -9.81413382e-02 -2.06978102e-02 4.06214627e+02] [ 9.81471502e-02 9.95171640e-01 -7.37292810e-04 6.31238226e+00] [ 2.06702326e-02 -1.29785627e-03 9.99785506e-01 3.71534973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0492541539999 meters Centerline goodness [0,1] 0.9993510843171732 Centerline is valid? [True, True] Translation: X:406.24, Y:6.31, Z:3.72 [[ 9.94759640e-01 -1.00126381e-01 -2.06873532e-02 4.06244149e+02] [ 1.00132594e-01 9.94973828e-01 -7.37872964e-04 6.31327654e+00] [ 2.06572555e-02 -1.33747210e-03 9.99785722e-01 3.71558396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07925415399995 meters Centerline goodness [0,1] 0.9993944076680519 Centerline is valid? [True, True] Translation: X:406.27, Y:6.31, Z:3.72 [[ 9.94452782e-01 -1.02987002e-01 -2.13855293e-02 4.06273472e+02] [ 1.02994284e-01 9.94681655e-01 -7.63590336e-04 6.31253310e+00] [ 2.13504335e-02 -1.44323274e-03 9.99771012e-01 3.71507902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1092541539999 meters Centerline goodness [0,1] 0.9993944203140661 Centerline is valid? [True, True] Translation: X:406.30, Y:6.32, Z:3.72 [[ 9.94368426e-01 -1.03617806e-01 -2.22437126e-02 4.06303234e+02] [ 1.03625822e-01 9.94616035e-01 -7.95082688e-04 6.31607967e+00] [ 2.22063379e-02 -1.51441788e-03 9.99752262e-01 3.71558722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13925415399996 meters Centerline goodness [0,1] 0.9993943317808734 Centerline is valid? [True, True] Translation: X:406.33, Y:6.32, Z:3.72 [[ 9.94340825e-01 -1.04108725e-01 -2.11588427e-02 4.06331846e+02] [ 1.04116016e-01 9.94564869e-01 -7.59744748e-04 6.31820047e+00] [ 2.11229377e-02 -1.44752919e-03 9.99775838e-01 3.71629047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.16925415399993 meters Centerline goodness [0,1] 0.9992892085127734 Centerline is valid? [True, True] Translation: X:406.36, Y:6.32, Z:3.72 [[ 9.94378824e-01 -1.03713882e-01 -2.13116022e-02 4.06360936e+02] [ 1.03721131e-01 9.94606122e-01 -7.67933249e-04 6.32040335e+00] [ 2.12762954e-02 -1.44684692e-03 9.99772587e-01 3.71601415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19925415399996 meters Centerline goodness [0,1] 0.9993739173988355 Centerline is valid? [True, True] Translation: X:406.39, Y:6.32, Z:3.72 [[ 9.94447968e-01 -1.02967798e-01 -2.16995901e-02 4.06390462e+02] [ 1.02975123e-01 9.94683624e-01 -7.82549386e-04 6.32354453e+00] [ 2.16648043e-02 -1.45631331e-03 9.99764230e-01 3.71608331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.22925415399993 meters Centerline goodness [0,1] 0.9994771077785447 Centerline is valid? [True, True] Translation: X:406.42, Y:6.33, Z:3.72 [[ 9.94570565e-01 -1.01639762e-01 -2.23327272e-02 4.06420449e+02] [ 1.01647173e-01 9.94820186e-01 -8.05981153e-04 6.33000668e+00] [ 2.22989676e-02 -1.46845347e-03 9.99750269e-01 3.71637571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25925415399996 meters Centerline goodness [0,1] 0.9992263298762127 Centerline is valid? [True, True] Translation: X:406.45, Y:6.33, Z:3.72 [[ 9.94619008e-01 -1.01155136e-01 -2.23755764e-02 4.06450387e+02] [ 1.01162440e-01 9.94869593e-01 -8.08186173e-04 6.33386360e+00] [ 2.23425327e-02 -1.45973057e-03 9.99749309e-01 3.71643568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.28925415399993 meters Centerline goodness [0,1] 0.9992267341010261 Centerline is valid? [True, True] Translation: X:406.48, Y:6.34, Z:3.72 [[ 9.94648393e-01 -1.00751802e-01 -2.28833776e-02 4.06480199e+02] [ 1.00759321e-01 9.94910486e-01 -8.27133198e-04 6.33559483e+00] [ 2.28502475e-02 -1.48300688e-03 9.99737799e-01 3.71624342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31925415399996 meters Centerline goodness [0,1] 0.9993321646214208 Centerline is valid? [True, True] Translation: X:406.51, Y:6.34, Z:3.72 [[ 9.94720229e-01 -9.99438978e-02 -2.32998484e-02 4.06510561e+02] [ 9.99514684e-02 9.94991957e-01 -8.42362721e-04 6.34497077e+00] [ 2.32673508e-02 -1.49093882e-03 9.99728167e-01 3.71716552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.34925415399994 meters Centerline goodness [0,1] 0.999267629211132 Centerline is valid? [True, True] Translation: X:406.54, Y:6.35, Z:3.72 [[ 9.94744222e-01 -9.96223907e-02 -2.36497720e-02 4.06541193e+02] [ 9.96301001e-02 9.95024177e-01 -8.55013558e-04 6.34940037e+00] [ 2.36172734e-02 -1.50570936e-03 9.99719939e-01 3.71755870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37925415399997 meters Centerline goodness [0,1] 0.9991830236504179 Centerline is valid? [True, True] Translation: X:406.57, Y:6.35, Z:3.72 [[ 9.94765868e-01 -9.93804862e-02 -2.37568201e-02 4.06572046e+02] [ 9.93881969e-02 9.95048365e-01 -8.58883682e-04 6.35276894e+00] [ 2.37245413e-02 -1.50675934e-03 9.99717398e-01 3.71780491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.40925415399994 meters Centerline goodness [0,1] 0.9992886880478671 Centerline is valid? [True, True] Translation: X:406.60, Y:6.36, Z:3.72 [[ 9.94805237e-01 -9.90919342e-02 -2.33094043e-02 4.06602779e+02] [ 9.90992781e-02 9.95077194e-01 -8.42708196e-04 6.35757745e+00] [ 2.32781622e-02 -1.47161461e-03 9.99727944e-01 3.71896522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43925415399997 meters Centerline goodness [0,1] 0.9993114815664838 Centerline is valid? [True, True] Translation: X:406.63, Y:6.36, Z:3.72 [[ 9.94911227e-01 -9.81813060e-02 -2.26292007e-02 4.06633214e+02] [ 9.81879926e-02 9.95167548e-01 -8.18116698e-04 6.36445143e+00] [ 2.26001699e-02 -1.40796230e-03 9.99743592e-01 3.72050012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.46925415399994 meters Centerline goodness [0,1] 0.9991018464366279 Centerline is valid? [True, True] Translation: X:406.66, Y:6.37, Z:3.72 [[ 9.94948609e-01 -9.78258477e-02 -2.25248624e-02 4.06664058e+02] [ 9.78323929e-02 9.95202573e-01 -8.13859649e-04 6.36865818e+00] [ 2.24964175e-02 -1.39391266e-03 9.99745952e-01 3.72109416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49925415399997 meters Centerline goodness [0,1] 0.9992692195264542 Centerline is valid? [True, True] Translation: X:406.70, Y:6.37, Z:3.72 [[ 9.95025289e-01 -9.70401773e-02 -2.25361500e-02 4.06695153e+02] [ 9.70465471e-02 9.95279512e-01 -8.13435419e-04 6.37342209e+00] [ 2.25087042e-02 -1.37766673e-03 9.99745698e-01 3.72198168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.52925415399994 meters Centerline goodness [0,1] 0.99920719367424 Centerline is valid? [True, True] Translation: X:406.73, Y:6.38, Z:3.72 [[ 9.95081320e-01 -9.63808053e-02 -2.28890003e-02 4.06725824e+02] [ 9.63872219e-02 9.95343570e-01 -8.25323795e-04 6.37696381e+00] [ 2.28619646e-02 -1.38494286e-03 9.99737672e-01 3.72210696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.559254154 meters Centerline goodness [0,1] 0.9991441394426469 Centerline is valid? [True, True] Translation: X:406.76, Y:6.39, Z:3.72 [[ 9.95289713e-01 -9.40186009e-02 -2.36408659e-02 4.06756947e+02] [ 9.40248032e-02 9.95569491e-01 -8.51542572e-04 6.38763496e+00] [ 2.36161857e-02 -1.37529620e-03 9.99720153e-01 3.72354206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.58925415399995 meters Centerline goodness [0,1] 0.9992066640222134 Centerline is valid? [True, True] Translation: X:406.79, Y:6.39, Z:3.72 [[ 9.95411255e-01 -9.28404744e-02 -2.31749725e-02 4.06787913e+02] [ 9.28461361e-02 9.95680119e-01 -8.33905966e-04 6.38727440e+00] [ 2.31522796e-02 -1.32162727e-03 9.99731076e-01 3.72294114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.619254154 meters Centerline goodness [0,1] 0.9988090760937696 Centerline is valid? [True, True] Translation: X:406.82, Y:6.39, Z:3.72 [[ 9.95592906e-01 -9.09409265e-02 -2.29022430e-02 4.06817940e+02] [ 9.09459679e-02 9.95855488e-01 -8.23509970e-04 6.39105703e+00] [ 2.28822151e-02 -1.26298597e-03 9.99737370e-01 3.72340146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.64925415399995 meters Centerline goodness [0,1] 0.9991027647365676 Centerline is valid? [True, True] Translation: X:406.85, Y:6.40, Z:3.72 [[ 9.95782128e-01 -8.88282847e-02 -2.29671228e-02 4.06849407e+02] [ 8.88328153e-02 9.96046209e-01 -8.24932978e-04 6.40008500e+00] [ 2.29495930e-02 -1.21878066e-03 9.99735880e-01 3.72496415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6792541539999 meters Centerline goodness [0,1] 0.9989157631359467 Centerline is valid? [True, True] Translation: X:406.88, Y:6.41, Z:3.73 [[ 9.96208192e-01 -8.38798423e-02 -2.30956911e-02 4.06880044e+02] [ 8.38831129e-02 9.96475256e-01 -8.28861434e-04 6.40970358e+00] [ 2.30838095e-02 -1.11161992e-03 9.99732915e-01 3.72536292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.70925415399995 meters Centerline goodness [0,1] 0.9991428332497073 Centerline is valid? [True, True] Translation: X:406.91, Y:6.42, Z:3.73 [[ 9.96447708e-01 -8.11297835e-02 -2.25814673e-02 4.06911122e+02] [ 8.11322190e-02 9.96703019e-01 -8.09797143e-04 6.41752396e+00] [ 2.25727153e-02 -1.02516405e-03 9.99744678e-01 3.72652653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7392541539999 meters Centerline goodness [0,1] 0.9991229169277033 Centerline is valid? [True, True] Translation: X:406.94, Y:6.42, Z:3.73 [[ 9.96710907e-01 -7.80117840e-02 -2.19437617e-02 4.06941389e+02] [ 7.80133420e-02 9.96952005e-01 -7.86354814e-04 6.42185793e+00] [ 2.19382221e-02 -9.28137762e-04 9.99758897e-01 3.72670351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.76925415399995 meters Centerline goodness [0,1] 0.9988723453129241 Centerline is valid? [True, True] Translation: X:406.97, Y:6.43, Z:3.73 [[ 9.96966013e-01 -7.46304123e-02 -2.21149566e-02 4.06972664e+02] [ 7.46311785e-02 9.97210891e-01 -7.91835760e-04 6.42951987e+00] [ 2.21123706e-02 -8.61031934e-04 9.99755121e-01 3.72737855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7992541539999 meters Centerline goodness [0,1] 0.9991216512955643 Centerline is valid? [True, True] Translation: X:407.00, Y:6.44, Z:3.73 [[ 9.97453531e-01 -6.78601384e-02 -2.19420754e-02 4.07003315e+02] [ 6.78592688e-02 9.97694594e-01 -7.85065663e-04 6.43911251e+00] [ 2.19447647e-02 -7.05906673e-04 9.99758935e-01 3.72731670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.82925415399995 meters Centerline goodness [0,1] 0.9989757096868598 Centerline is valid? [True, True] Translation: X:407.03, Y:6.44, Z:3.73 [[ 9.97702514e-01 -6.43035901e-02 -2.13246800e-02 4.07034610e+02] [ 6.43019699e-02 9.97930196e-01 -7.62362933e-04 6.44438267e+00] [ 2.13295647e-02 -6.10607515e-04 9.99772312e-01 3.72731561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8592541539999 meters Centerline goodness [0,1] 0.9990386825771667 Centerline is valid? [True, True] Translation: X:407.07, Y:6.45, Z:3.73 [[ 9.97903466e-01 -6.11019449e-02 -2.13360023e-02 4.07065650e+02] [ 6.10996087e-02 9.98131383e-01 -7.61973604e-04 6.44935774e+00] [ 2.13426915e-02 -5.43245290e-04 9.99772071e-01 3.72761253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.88925415399996 meters Centerline goodness [0,1] 0.9992260871384049 Centerline is valid? [True, True] Translation: X:407.10, Y:6.45, Z:3.73 [[ 9.98080435e-01 -5.80950879e-02 -2.14570896e-02 4.07096986e+02] [ 5.80920476e-02 9.98310938e-01 -7.65504527e-04 6.45378956e+00] [ 2.14653193e-02 -4.82451182e-04 9.99769477e-01 3.72766032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91925415399993 meters Centerline goodness [0,1] 0.9990170859736077 Centerline is valid? [True, True] Translation: X:407.13, Y:6.46, Z:3.73 [[ 9.98353745e-01 -5.34553907e-02 -2.07923417e-02 4.07127162e+02] [ 5.34515567e-02 9.98570169e-01 -7.40504023e-04 6.45961798e+00] [ 2.08021961e-02 -3.72098066e-04 9.99783542e-01 3.72667710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.94925415399996 meters Centerline goodness [0,1] 0.9992873760767957 Centerline is valid? [True, True] Translation: X:407.16, Y:6.47, Z:3.73 [[ 9.98438240e-01 -5.19279756e-02 -2.06050233e-02 4.07158153e+02] [ 5.19239097e-02 9.98650775e-01 -7.32642741e-04 6.46542042e+00] [ 2.06152671e-02 -3.38394840e-04 9.99787426e-01 3.72837072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97925415399993 meters Centerline goodness [0,1] 0.9990779547359597 Centerline is valid? [True, True] Translation: X:407.19, Y:6.47, Z:3.73 [[ 9.98500644e-01 -5.05175509e-02 -2.10817701e-02 4.07188250e+02] [ 5.05129924e-02 9.98723123e-01 -7.49023034e-04 6.46817058e+00] [ 2.10926901e-02 -3.17003313e-04 9.99777474e-01 3.72813203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.00925415399996 meters Centerline goodness [0,1] 0.9991006629996027 Centerline is valid? [True, True] Translation: X:407.22, Y:6.47, Z:3.73 [[ 9.98531380e-01 -5.03008450e-02 -2.01223322e-02 4.07219846e+02] [ 5.02966592e-02 9.98734067e-01 -7.14377555e-04 6.47022844e+00] [ 2.01327925e-02 -2.98757681e-04 9.99797270e-01 3.72781145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03925415399993 meters Centerline goodness [0,1] 0.999079478650181 Centerline is valid? [True, True] Translation: X:407.25, Y:6.47, Z:3.73 [[ 9.98522947e-01 -5.03642163e-02 -2.03806385e-02 4.07251243e+02] [ 5.03599509e-02 9.98730871e-01 -7.22793189e-04 6.47237608e+00] [ 2.03911757e-02 -3.04642368e-04 9.99792032e-01 3.72825012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06925415399996 meters Centerline goodness [0,1] 0.9989983096475302 Centerline is valid? [True, True] Translation: X:407.28, Y:6.47, Z:3.73 [[ 9.98426454e-01 -5.23433508e-02 -2.01193821e-02 4.07281233e+02] [ 5.23396067e-02 9.98629089e-01 -7.12987315e-04 6.47335993e+00] [ 2.01291204e-02 -3.41175148e-04 9.99797331e-01 3.72827514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09925415399994 meters Centerline goodness [0,1] 0.9989110403752722 Centerline is valid? [True, True] Translation: X:407.31, Y:6.47, Z:3.73 [[ 9.98328225e-01 -5.42311757e-02 -1.99933894e-02 4.07312645e+02] [ 5.42278680e-02 9.98528336e-01 -7.07957069e-04 6.47429301e+00] [ 2.00023592e-02 -3.77425358e-04 9.99799862e-01 3.72868104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12925415399997 meters Centerline goodness [0,1] 0.9987663613933844 Centerline is valid? [True, True] Translation: X:407.34, Y:6.47, Z:3.73 [[ 9.98198040e-01 -5.65063660e-02 -2.01916774e-02 4.07343304e+02] [ 5.65034727e-02 9.98402147e-01 -7.14226324e-04 6.47423141e+00] [ 2.01997725e-02 -4.27960579e-04 9.99795872e-01 3.72878212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15925415399994 meters Centerline goodness [0,1] 0.9987435081253141 Centerline is valid? [True, True] Translation: X:407.37, Y:6.47, Z:3.73 [[ 9.97875206e-01 -6.20520727e-02 -1.98648875e-02 4.07374027e+02] [ 6.20503871e-02 9.98072771e-01 -7.01810050e-04 6.47382917e+00] [ 1.98701521e-02 -5.32305112e-04 9.99802427e-01 3.72980227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18925415399997 meters Centerline goodness [0,1] 0.9987447173521905 Centerline is valid? [True, True] Translation: X:407.41, Y:6.47, Z:3.73 [[ 9.97677632e-01 -6.52351577e-02 -1.95886778e-02 4.07405053e+02] [ 6.52341515e-02 9.97869745e-01 -6.91030571e-04 6.47182273e+00] [ 1.95920284e-02 -5.88425033e-04 9.99807885e-01 3.72939899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21925415399994 meters Centerline goodness [0,1] 0.9988294314381271 Centerline is valid? [True, True] Translation: X:407.44, Y:6.47, Z:3.73 [[ 9.97496657e-01 -6.80479673e-02 -1.92326254e-02 4.07436822e+02] [ 6.80475397e-02 9.97681850e-01 -6.77414155e-04 6.47176654e+00] [ 1.92341379e-02 -6.33014485e-04 9.99814806e-01 3.72973946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24925415399997 meters Centerline goodness [0,1] 0.998662347162713 Centerline is valid? [True, True] Translation: X:407.47, Y:6.47, Z:3.73 [[ 9.97301764e-01 -7.07685058e-02 -1.95194681e-02 4.07468516e+02] [ 7.07686070e-02 9.97492523e-01 -6.86431357e-04 6.47079108e+00] [ 1.95191012e-02 -6.96786361e-04 9.99809241e-01 3.72974470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.27925415399994 meters Centerline goodness [0,1] 0.9988506227534899 Centerline is valid? [True, True] Translation: X:407.50, Y:6.47, Z:3.73 [[ 9.96963911e-01 -7.55841448e-02 -1.87082076e-02 4.07499420e+02] [ 7.55850964e-02 9.97139138e-01 -6.57234490e-04 6.46945770e+00] [ 1.87043625e-02 -7.58822604e-04 9.99824770e-01 3.72997983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.309254154 meters Centerline goodness [0,1] 0.998975987962634 Centerline is valid? [True, True] Translation: X:407.53, Y:6.47, Z:3.73 [[ 9.96815498e-01 -7.74696499e-02 -1.89028177e-02 4.07530195e+02] [ 7.74709697e-02 9.96994387e-01 -6.63545641e-04 6.46887924e+00] [ 1.88974078e-02 -8.02987041e-04 9.99821106e-01 3.73010083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.33925415399995 meters Centerline goodness [0,1] 0.9986021864307769 Centerline is valid? [True, True] Translation: X:407.56, Y:6.47, Z:3.73 [[ 9.96694700e-01 -7.90140891e-02 -1.88798748e-02 4.07561594e+02] [ 7.90157073e-02 9.96873152e-01 -6.61412083e-04 6.46861449e+00] [ 1.88731012e-02 -8.32580744e-04 9.99821541e-01 3.73027836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.369254154 meters Centerline goodness [0,1] 0.998707094298703 Centerline is valid? [True, True] Translation: X:407.59, Y:6.47, Z:3.73 [[ 9.96590242e-01 -8.03879334e-02 -1.85921739e-02 4.07594035e+02] [ 8.03897716e-02 9.96763293e-01 -6.49698972e-04 6.47080405e+00] [ 1.85842244e-02 -8.47136955e-04 9.99826940e-01 3.73082218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.39925415399995 meters Centerline goodness [0,1] 0.9985989711848103 Centerline is valid? [True, True] Translation: X:407.63, Y:6.47, Z:3.73 [[ 9.96487200e-01 -8.16932117e-02 -1.84249451e-02 4.07625532e+02] [ 8.16952613e-02 9.96657148e-01 -6.42671914e-04 6.46955788e+00] [ 1.84158552e-02 -8.64816369e-04 9.99830040e-01 3.73083036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4292541539999 meters Centerline goodness [0,1] 0.9986004052557916 Centerline is valid? [True, True] Translation: X:407.66, Y:6.47, Z:3.73 [[ 9.96304918e-01 -8.40285698e-02 -1.77682501e-02 4.07657275e+02] [ 8.40308723e-02 9.96462960e-01 -6.18298353e-04 6.47269571e+00] [ 1.77573578e-02 -8.77067863e-04 9.99841941e-01 3.73189340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.45925415399995 meters Centerline goodness [0,1] 0.9984936923366597 Centerline is valid? [True, True] Translation: X:407.69, Y:6.46, Z:3.73 [[ 9.96235464e-01 -8.49036950e-02 -1.75003682e-02 4.07688272e+02] [ 8.49060872e-02 9.96388773e-01 -6.07607410e-04 6.46395011e+00] [ 1.74887585e-02 -8.80567735e-04 9.99846672e-01 3.73047540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4892541539999 meters Centerline goodness [0,1] 0.998453080251688 Centerline is valid? [True, True] Translation: X:407.72, Y:6.47, Z:3.73 [[ 9.96178433e-01 -8.56194687e-02 -1.72579449e-02 4.07720301e+02] [ 8.56219183e-02 9.96327521e-01 -5.98252809e-04 6.47438318e+00] [ 1.72457875e-02 -8.81691799e-04 9.99850892e-01 3.73229563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.51925415399995 meters Centerline goodness [0,1] 0.9985167544079552 Centerline is valid? [True, True] Translation: X:407.75, Y:6.47, Z:3.73 [[ 9.96136786e-01 -8.60775629e-02 -1.73826420e-02 4.07751774e+02] [ 8.60801377e-02 9.96288035e-01 -6.01418247e-04 6.47435760e+00] [ 1.73698869e-02 -8.97205379e-04 9.99848730e-01 3.73221841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5492541539999 meters Centerline goodness [0,1] 0.9983701784445652 Centerline is valid? [True, True] Translation: X:407.78, Y:6.48, Z:3.73 [[ 9.96128594e-01 -8.59817367e-02 -1.83020508e-02 4.07784033e+02] [ 8.59845973e-02 9.96296266e-01 -6.32015445e-04 6.47808371e+00] [ 1.82886067e-02 -9.44125811e-04 9.99832304e-01 3.73231598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57925415399995 meters Centerline goodness [0,1] 0.9987027660375779 Centerline is valid? [True, True] Translation: X:407.81, Y:6.48, Z:3.73 [[ 9.96172480e-01 -8.54422767e-02 -1.84393039e-02 4.07814897e+02] [ 8.54451103e-02 9.96342677e-01 -6.35558194e-04 6.47819018e+00] [ 1.84261690e-02 -9.42422777e-04 9.99829780e-01 3.73190958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6092541539999 meters Centerline goodness [0,1] 0.9986827799615288 Centerline is valid? [True, True] Translation: X:407.85, Y:6.48, Z:3.73 [[ 9.96259179e-01 -8.44449835e-02 -1.83491990e-02 4.07846599e+02] [ 8.44476423e-02 9.96427718e-01 -6.31275381e-04 6.48251918e+00] [ 1.83369586e-02 -9.20632703e-04 9.99831440e-01 3.73254518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63925415399996 meters Centerline goodness [0,1] 0.9985140226035998 Centerline is valid? [True, True] Translation: X:407.88, Y:6.48, Z:3.73 [[ 9.96371048e-01 -8.29262806e-02 -1.91824364e-02 4.07877706e+02] [ 8.29289300e-02 9.96555246e-01 -6.58677382e-04 6.48300722e+00] [ 1.91709793e-02 -9.34491851e-04 9.99815783e-01 3.73214445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.66925415399993 meters Centerline goodness [0,1] 0.9989733274666331 Centerline is valid? [True, True] Translation: X:407.91, Y:6.49, Z:3.73 [[ 9.96593328e-01 -8.01572268e-02 -1.94050979e-02 4.07908653e+02] [ 8.01594317e-02 9.96781833e-01 -6.65429536e-04 6.49035379e+00] [ 1.93959881e-02 -8.92338986e-04 9.99811482e-01 3.73263981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69925415399996 meters Centerline goodness [0,1] 0.9987221919644728 Centerline is valid? [True, True] Translation: X:407.94, Y:6.49, Z:3.73 [[ 9.96736211e-01 -7.83312831e-02 -1.95226956e-02 4.07941023e+02] [ 7.83331868e-02 9.96927011e-01 -6.68358218e-04 6.49442130e+00] [ 1.95150560e-02 -8.63098127e-04 9.99809191e-01 3.73296259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.72925415399993 meters Centerline goodness [0,1] 0.9987408977399115 Centerline is valid? [True, True] Translation: X:407.97, Y:6.50, Z:3.73 [[ 9.96990049e-01 -7.45472767e-02 -2.12965975e-02 4.07971273e+02] [ 7.45487014e-02 9.97217108e-01 -7.28106635e-04 6.49884862e+00] [ 2.12916097e-02 -8.61718616e-04 9.99772937e-01 3.73291840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75925415399996 meters Centerline goodness [0,1] 0.9985533681363608 Centerline is valid? [True, True] Translation: X:408.00, Y:6.50, Z:3.73 [[ 9.97117188e-01 -7.30362444e-02 -2.05674607e-02 4.08003304e+02] [ 7.30372728e-02 9.97328965e-01 -7.02176551e-04 6.50475619e+00] [ 2.05638086e-02 -8.02038929e-04 9.99788221e-01 3.73377037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.78925415399993 meters Centerline goodness [0,1] 0.998781742947762 Centerline is valid? [True, True] Translation: X:408.03, Y:6.50, Z:3.73 [[ 9.97257715e-01 -7.09573420e-02 -2.10263275e-02 4.08034740e+02] [ 7.09579839e-02 9.97479048e-01 -7.16484294e-04 6.50482814e+00] [ 2.10241610e-02 -7.77466320e-04 9.99778666e-01 3.73289213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81925415399996 meters Centerline goodness [0,1] 0.9988235046954768 Centerline is valid? [True, True] Translation: X:408.07, Y:6.51, Z:3.73 [[ 9.97407991e-01 -6.87989850e-02 -2.10712848e-02 4.08066834e+02] [ 6.87991772e-02 9.97630272e-01 -7.16665347e-04 6.50869822e+00] [ 2.10706574e-02 -7.34879310e-04 9.99777719e-01 3.73304311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.84925415399994 meters Centerline goodness [0,1] 0.9988235046954768 Centerline is valid? [True, True] Translation: X:408.10, Y:6.51, Z:3.73 [[ 9.97412857e-01 -6.87283873e-02 -2.10713354e-02 4.08098528e+02] [ 6.87285952e-02 9.97635138e-01 -7.15173057e-04 6.50971181e+00] [ 2.10706573e-02 -7.34880481e-04 9.99777719e-01 3.73333999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87925415399997 meters Centerline goodness [0,1] 0.9988678058496698 Centerline is valid? [True, True] Translation: X:408.13, Y:6.52, Z:3.74 [[ 9.97686874e-01 -6.44693838e-02 -2.15545876e-02 4.08130184e+02] [ 6.44686376e-02 9.97919466e-01 -7.30217282e-04 6.51889076e+00] [ 2.15568192e-02 -6.61066700e-04 9.99767406e-01 3.73507442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.90925415399994 meters Centerline goodness [0,1] 0.99888674172408 Centerline is valid? [True, True] Translation: X:408.16, Y:6.52, Z:3.74 [[ 9.97809052e-01 -6.25917844e-02 -2.14327829e-02 4.08162315e+02] [ 6.25906441e-02 9.98039020e-01 -7.24679340e-04 6.52226484e+00] [ 2.14361127e-02 -6.18400083e-04 9.99770029e-01 3.73593508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93925415399997 meters Centerline goodness [0,1] 0.9990752222619222 Centerline is valid? [True, True] Translation: X:408.19, Y:6.52, Z:3.74 [[ 9.97948333e-01 -6.04227207e-02 -2.11711953e-02 4.08193364e+02] [ 6.04211707e-02 9.98172717e-01 -7.13455160e-04 6.52491000e+00] [ 2.11756185e-02 -5.67197020e-04 9.99775611e-01 3.73684618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.96925415399994 meters Centerline goodness [0,1] 0.9988234305403816 Centerline is valid? [True, True] Translation: X:408.23, Y:6.53, Z:3.74 [[ 9.98017941e-01 -5.96783976e-02 -1.99669471e-02 4.08225624e+02] [ 5.96769108e-02 9.98217520e-01 -6.70830196e-04 6.52763052e+00] [ 1.99713905e-02 -5.22065149e-04 9.99800416e-01 3.73793928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99925415399997 meters Centerline goodness [0,1] 0.9989483647071196 Centerline is valid? [True, True] Translation: X:408.26, Y:6.53, Z:3.74 [[ 9.98095743e-01 -5.87546807e-02 -1.87823265e-02 4.08257908e+02] [ 5.87532267e-02 9.98272339e-01 -6.29695138e-04 6.53079157e+00] [ 1.87868746e-02 -4.75026251e-04 9.99823398e-01 3.73910341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.02925415399994 meters Centerline goodness [0,1] 0.9988841870355165 Centerline is valid? [True, True] Translation: X:408.29, Y:6.53, Z:3.74 [[ 9.98104736e-01 -5.87094159e-02 -1.84429014e-02 4.08289588e+02] [ 5.87080277e-02 9.98275006e-01 -6.17143293e-04 6.53121647e+00] [ 1.84473197e-02 -4.66772726e-04 9.99829725e-01 3.73897461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.059254154 meters Centerline goodness [0,1] 0.9986532553343714 Centerline is valid? [True, True] Translation: X:408.32, Y:6.53, Z:3.74 [[ 9.98079095e-01 -5.90994597e-02 -1.85842486e-02 4.08321924e+02] [ 5.90981398e-02 9.98251985e-01 -6.20688110e-04 6.53271520e+00] [ 1.85884454e-02 -4.78798696e-04 9.99827105e-01 3.73936448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.08925415399995 meters Centerline goodness [0,1] 0.9989437437944948 Centerline is valid? [True, True] Translation: X:408.35, Y:6.53, Z:3.74 [[ 9.98010889e-01 -6.01760938e-02 -1.87910203e-02 4.08354053e+02] [ 6.01749610e-02 9.98187649e-01 -6.26216029e-04 6.53414704e+00] [ 1.87946476e-02 -5.05778498e-04 9.99823237e-01 3.73935922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.119254154 meters Centerline goodness [0,1] 0.9987964527027027 Centerline is valid? [True, True] Translation: X:408.38, Y:6.53, Z:3.74 [[ 9.97993453e-01 -6.03632221e-02 -1.91140952e-02 4.08384938e+02] [ 6.03621078e-02 9.98176343e-01 -6.35750425e-04 6.53395996e+00] [ 1.91176136e-02 -5.19292315e-04 9.99817107e-01 3.73891153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.14925415399995 meters Centerline goodness [0,1] 0.998879255656587 Centerline is valid? [True, True] Translation: X:408.42, Y:6.53, Z:3.74 [[ 9.97974204e-01 -6.06550952e-02 -1.91950119e-02 4.08415986e+02] [ 6.06540454e-02 9.98158645e-01 -6.37402564e-04 6.53463273e+00] [ 1.91983288e-02 -5.28143810e-04 9.99815556e-01 3.73907291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1792541539999 meters Centerline goodness [0,1] 0.9988167430853424 Centerline is valid? [True, True] Translation: X:408.45, Y:6.54, Z:3.74 [[ 9.97973598e-01 -6.07241639e-02 -1.90072244e-02 4.08448415e+02] [ 6.07231694e-02 9.98154447e-01 -6.29993042e-04 6.53551118e+00] [ 1.90104013e-02 -5.25462481e-04 9.99819148e-01 3.73965858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.20925415399995 meters Centerline goodness [0,1] 0.9988146141145591 Centerline is valid? [True, True] Translation: X:408.48, Y:6.54, Z:3.74 [[ 9.97950764e-01 -6.11672312e-02 -1.87841109e-02 4.08479404e+02] [ 6.11663598e-02 9.98127392e-01 -6.21452537e-04 6.53549286e+00] [ 1.87869481e-02 -5.28776651e-04 9.99823370e-01 3.74049165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2392541539999 meters Centerline goodness [0,1] 0.9987312059887077 Centerline is valid? [True, True] Translation: X:408.51, Y:6.54, Z:3.74 [[ 9.97926012e-01 -6.16606232e-02 -1.84835769e-02 4.08511607e+02] [ 6.16598846e-02 9.98097032e-01 -6.10395478e-04 6.53587859e+00] [ 1.84860406e-02 -5.30565694e-04 9.99828978e-01 3.74090160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.26925415399995 meters Centerline goodness [0,1] 0.9987517454406973 Centerline is valid? [True, True] Translation: X:408.54, Y:6.54, Z:3.74 [[ 9.97909658e-01 -6.19940716e-02 -1.82496708e-02 4.08543728e+02] [ 6.19934308e-02 9.98076376e-01 -6.01383123e-04 6.53933060e+00] [ 1.82518474e-02 -5.31233675e-04 9.99833280e-01 3.74205956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2992541539999 meters Centerline goodness [0,1] 0.9988601823708206 Centerline is valid? [True, True] Translation: X:408.57, Y:6.54, Z:3.74 [[ 9.97866166e-01 -6.26862746e-02 -1.82632615e-02 4.08574822e+02] [ 6.26857700e-02 9.98033132e-01 -6.00662914e-04 6.53617614e+00] [ 1.82649934e-02 -5.45465412e-04 9.99833032e-01 3.74087574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.32925415399995 meters Centerline goodness [0,1] 0.998877879403794 Centerline is valid? [True, True] Translation: X:408.61, Y:6.54, Z:3.74 [[ 9.97828321e-01 -6.31323283e-02 -1.87869944e-02 4.08606989e+02] [ 6.31318958e-02 9.98005002e-01 -6.16693737e-04 6.53863388e+00] [ 1.87884477e-02 -5.70704096e-04 9.99823319e-01 3.74103338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3592541539999 meters Centerline goodness [0,1] 0.9985861101145884 Centerline is valid? [True, True] Translation: X:408.64, Y:6.54, Z:3.74 [[ 9.97730881e-01 -6.43332709e-02 -1.98574704e-02 4.08638656e+02] [ 6.43330615e-02 9.97928271e-01 -6.50015433e-04 6.53899518e+00] [ 1.98581487e-02 -6.28951394e-04 9.99802610e-01 3.73995032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.38925415399996 meters Centerline goodness [0,1] 0.9987117756377767 Centerline is valid? [True, True] Translation: X:408.67, Y:6.54, Z:3.74 [[ 9.97707034e-01 -6.45443506e-02 -2.03642314e-02 4.08670710e+02] [ 6.45442112e-02 9.97914627e-01 -6.64794340e-04 6.53953409e+00] [ 2.03646731e-02 -6.51123260e-04 9.99792407e-01 3.73970757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41925415399993 meters Centerline goodness [0,1] 0.9987749239607976 Centerline is valid? [True, True] Translation: X:408.70, Y:6.54, Z:3.74 [[ 9.97691583e-01 -6.47067247e-02 -2.06044893e-02 4.08702520e+02] [ 6.47066473e-02 9.97904103e-01 -6.71146841e-04 6.54017468e+00] [ 2.06047322e-02 -6.63649871e-04 9.99787480e-01 3.73947873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.44925415399996 meters Centerline goodness [0,1] 0.9985871536417696 Centerline is valid? [True, True] Translation: X:408.74, Y:6.54, Z:3.74 [[ 9.97669079e-01 -6.50017938e-02 -2.07647453e-02 4.08735062e+02] [ 6.50018102e-02 9.97884918e-01 -6.74871337e-04 6.54039616e+00] [ 2.07646940e-02 -6.76447769e-04 9.99784162e-01 3.73928697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47925415399993 meters Centerline goodness [0,1] 0.9989667896678966 Centerline is valid? [True, True] Translation: X:408.77, Y:6.54, Z:3.74 [[ 9.97674438e-01 -6.50437931e-02 -2.03720483e-02 4.08767200e+02] [ 6.50438474e-02 9.97882188e-01 -6.60645896e-04 6.54279748e+00] [ 2.03718750e-02 -6.65966876e-04 9.99792250e-01 3.74029844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.50925415399996 meters Centerline goodness [0,1] 0.9986500738240878 Centerline is valid? [True, True] Translation: X:408.80, Y:6.54, Z:3.74 [[ 9.97667841e-01 -6.52756723e-02 -1.99490789e-02 4.08798920e+02] [ 6.52757996e-02 9.97867052e-01 -6.45474633e-04 6.54463976e+00] [ 1.99486623e-02 -6.58222791e-04 9.99800789e-01 3.74071363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53925415399993 meters Centerline goodness [0,1] 0.9986502731088006 Centerline is valid? [True, True] Translation: X:408.83, Y:6.55, Z:3.74 [[ 9.97646282e-01 -6.56645951e-02 -1.97498712e-02 4.08831506e+02] [ 6.56648249e-02 9.97841533e-01 -6.37567130e-04 6.54604469e+00] [ 1.97491073e-02 -6.60805355e-04 9.99804749e-01 3.74117962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56925415399996 meters Centerline goodness [0,1] 0.9987993427981632 Centerline is valid? [True, True] Translation: X:408.86, Y:6.55, Z:3.74 [[ 9.97558471e-01 -6.68694381e-02 -2.01388885e-02 4.08863455e+02] [ 6.68699528e-02 9.97761489e-01 -6.48605904e-04 6.54690499e+00] [ 2.01371793e-02 -6.99664211e-04 9.99796982e-01 3.74107266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59925415399994 meters Centerline goodness [0,1] 0.9987143278674704 Centerline is valid? [True, True] Translation: X:408.89, Y:6.55, Z:3.74 [[ 9.97512902e-01 -6.75164398e-02 -2.02371043e-02 4.08894517e+02] [ 6.75171191e-02 9.97717904e-01 -6.50457624e-04 6.54674007e+00] [ 2.02348378e-02 -7.17511106e-04 9.99794997e-01 3.74107630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62925415399997 meters Centerline goodness [0,1] 0.9988629903354178 Centerline is valid? [True, True] Translation: X:408.93, Y:6.55, Z:3.74 [[ 9.97515927e-01 -6.75838218e-02 -1.98595606e-02 4.08926159e+02] [ 6.75845109e-02 9.97713350e-01 -6.37233387e-04 6.54685620e+00] [ 1.98572154e-02 -7.06548234e-04 9.99802576e-01 3.74114194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65925415399994 meters Centerline goodness [0,1] 0.9991582137295341 Centerline is valid? [True, True] Translation: X:408.96, Y:6.55, Z:3.74 [[ 9.97519302e-01 -6.75128392e-02 -1.99313696e-02 4.08957972e+02] [ 6.75135448e-02 9.97718154e-01 -6.38247842e-04 6.54803123e+00] [ 1.99289792e-02 -7.08972874e-04 9.99801147e-01 3.74121524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68925415399997 meters Centerline goodness [0,1] 0.9990532096193903 Centerline is valid? [True, True] Translation: X:408.99, Y:6.55, Z:3.74 [[ 9.97648024e-01 -6.55729951e-02 -1.99650246e-02 4.08990309e+02] [ 6.55733444e-02 9.97847548e-01 -6.37857750e-04 6.55091331e+00] [ 1.99638771e-02 -6.72815914e-04 9.99800476e-01 3.74154274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71925415399994 meters Centerline goodness [0,1] 0.9989896225819352 Centerline is valid? [True, True] Translation: X:409.02, Y:6.55, Z:3.74 [[ 9.97755694e-01 -6.38464565e-02 -2.01793102e-02 4.09021712e+02] [ 6.38464867e-02 9.97959524e-01 -6.43412945e-04 6.55213149e+00] [ 2.01792144e-02 -6.46409128e-04 9.99796170e-01 3.74167594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74925415399997 meters Centerline goodness [0,1] 0.9992846924177397 Centerline is valid? [True, True] Translation: X:409.05, Y:6.56, Z:3.74 [[ 9.97912971e-01 -6.14571400e-02 -1.98172386e-02 4.09053721e+02] [ 6.14567238e-02 9.98109550e-01 -6.30588679e-04 6.55667707e+00] [ 1.98185292e-02 -5.88629936e-04 9.99803420e-01 3.74290483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.77925415399994 meters Centerline goodness [0,1] 0.9988018665657712 Centerline is valid? [True, True] Translation: X:409.08, Y:6.56, Z:3.74 [[ 9.98086853e-01 -5.85622409e-02 -1.98266884e-02 4.09084592e+02] [ 5.85612959e-02 9.98283617e-01 -6.28752424e-04 6.55884186e+00] [ 1.98294793e-02 -5.33527037e-04 9.99803234e-01 3.74323058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.809254154 meters Centerline goodness [0,1] 0.9991156777698236 Centerline is valid? [True, True] Translation: X:409.12, Y:6.57, Z:3.74 [[ 9.98452784e-01 -5.22070660e-02 -1.91431613e-02 4.09116363e+02] [ 5.22050514e-02 9.98636203e-01 -6.05292111e-04 6.56538171e+00] [ 1.91486544e-02 -3.95014126e-04 9.99816570e-01 3.74495896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.83925415399995 meters Centerline goodness [0,1] 0.9991361692265555 Centerline is valid? [True, True] Translation: X:409.15, Y:6.57, Z:3.75 [[ 9.98617150e-01 -4.89537782e-02 -1.91654570e-02 4.09148599e+02] [ 4.89511838e-02 9.98800989e-01 -6.04757246e-04 6.56884704e+00] [ 1.91720825e-02 -3.34250849e-04 9.99816143e-01 3.74595824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.869254154 meters Centerline goodness [0,1] 0.9991139427438239 Centerline is valid? [True, True] Translation: X:409.18, Y:6.57, Z:3.75 [[ 9.98770147e-01 -4.57203268e-02 -1.91793061e-02 4.09180331e+02] [ 4.57171598e-02 9.98954242e-01 -6.03777164e-04 6.57148204e+00] [ 1.91868541e-02 -2.73788796e-04 9.99815878e-01 3.74643507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.89925415399995 meters Centerline goodness [0,1] 0.9995986141625824 Centerline is valid? [True, True] Translation: X:409.21, Y:6.57, Z:3.75 [[ 9.98986331e-01 -4.07098808e-02 -1.92097904e-02 4.09210578e+02] [ 4.07057941e-02 9.99170993e-01 -6.03864842e-04 6.57453363e+00] [ 1.92184486e-02 -1.78697050e-04 9.99815293e-01 3.74619696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9292541539999 meters Centerline goodness [0,1] 0.9995771938354862 Centerline is valid? [True, True] Translation: X:409.24, Y:6.58, Z:3.75 [[ 9.99057297e-01 -3.87068991e-02 -1.96543463e-02 4.09242243e+02] [ 3.87022444e-02 9.99250597e-01 -6.17289522e-04 6.57639157e+00] [ 1.96635106e-02 -1.43959712e-04 9.99806644e-01 3.74638864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.95925415399995 meters Centerline goodness [0,1] 0.9991982276611457 Centerline is valid? [True, True] Translation: X:409.27, Y:6.58, Z:3.75 [[ 9.99111506e-01 -3.68930812e-02 -2.03739700e-02 4.09273579e+02] [ 3.68877176e-02 9.99319212e-01 -6.39135353e-04 6.57769737e+00] [ 2.03836793e-02 -1.12981765e-04 9.99792225e-01 3.74624008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9892541539999 meters Centerline goodness [0,1] 0.9991141296323638 Centerline is valid? [True, True] Translation: X:409.30, Y:6.58, Z:3.75 [[ 9.99125368e-01 -3.64903322e-02 -2.04194474e-02 4.09304287e+02] [ 3.64848717e-02 9.99334000e-01 -6.40019629e-04 6.57850477e+00] [ 2.04292026e-02 -1.05541072e-04 9.99791296e-01 3.74592949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.01925415399995 meters Centerline goodness [0,1] 0.9994929863106304 Centerline is valid? [True, True] Translation: X:409.33, Y:6.58, Z:3.75 [[ 9.99108426e-01 -3.65384585e-02 -2.11493066e-02 4.09334555e+02] [ 3.65326150e-02 9.99332241e-01 -6.62720610e-04 6.57816341e+00] [ 2.11593988e-02 -1.10509730e-04 9.99776109e-01 3.74522081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0492541539999 meters Centerline goodness [0,1] 0.9994498984427894 Centerline is valid? [True, True] Translation: X:409.36, Y:6.58, Z:3.74 [[ 9.99073718e-01 -3.69935335e-02 -2.19814559e-02 4.09364877e+02] [ 3.69873313e-02 9.99315497e-01 -6.88796288e-04 6.57773361e+00] [ 2.19918906e-02 -1.24877125e-04 9.99758141e-01 3.74499899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07925415399995 meters Centerline goodness [0,1] 0.9995345885339538 Centerline is valid? [True, True] Translation: X:409.39, Y:6.58, Z:3.74 [[ 9.99007412e-01 -3.89438492e-02 -2.16233094e-02 4.09394850e+02] [ 3.89382995e-02 9.99241387e-01 -6.77791006e-04 6.57649314e+00] [ 2.16333015e-02 -1.64856659e-04 9.99765959e-01 3.74480764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1092541539999 meters Centerline goodness [0,1] 0.9994503055032876 Centerline is valid? [True, True] Translation: X:409.43, Y:6.57, Z:3.75 [[ 9.98791110e-01 -4.41527817e-02 -2.16067212e-02 4.09425479e+02] [ 4.41484552e-02 9.99024752e-01 -6.77436888e-04 6.57233817e+00] [ 2.16155600e-02 -2.77285422e-04 9.99766318e-01 3.74541755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13925415399996 meters Centerline goodness [0,1] 0.9995350606534511 Centerline is valid? [True, True] Translation: X:409.46, Y:6.57, Z:3.75 [[ 9.98652698e-01 -4.73403671e-02 -2.12527262e-02 4.09455826e+02] [ 4.73369071e-02 9.98878758e-01 -6.66132487e-04 6.56953170e+00] [ 2.12604317e-02 -3.40803322e-04 9.99773913e-01 3.74556965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.16925415399993 meters Centerline goodness [0,1] 0.9993256059009483 Centerline is valid? [True, True] Translation: X:409.49, Y:6.57, Z:3.75 [[ 9.98465589e-01 -5.14217833e-02 -2.05491708e-02 4.09486781e+02] [ 5.14194196e-02 9.98676939e-01 -6.43727118e-04 6.56774643e+00] [ 2.05550846e-02 -4.13887062e-04 9.99788636e-01 3.74695943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19925415399996 meters Centerline goodness [0,1] 0.9993892936865603 Centerline is valid? [True, True] Translation: X:409.52, Y:6.56, Z:3.75 [[ 9.98277094e-01 -5.51458027e-02 -2.00445328e-02 4.09517287e+02] [ 5.51443108e-02 9.98478198e-01 -6.27570965e-04 6.56376096e+00] [ 2.00486369e-02 -4.78852225e-04 9.99798891e-01 3.74666067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.22925415399993 meters Centerline goodness [0,1] 0.9989065062875888 Centerline is valid? [True, True] Translation: X:409.55, Y:6.56, Z:3.75 [[ 9.97782373e-01 -6.40980365e-02 -1.79381439e-02 4.09548151e+02] [ 6.40982895e-02 9.97943432e-01 -5.61435935e-04 6.55617972e+00] [ 1.79372399e-02 -5.89613463e-04 9.99838941e-01 3.74795421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25925415399996 meters Centerline goodness [0,1] 0.9991802761838704 Centerline is valid? [True, True] Translation: X:409.58, Y:6.56, Z:3.75 [[ 9.97513721e-01 -6.83901539e-02 -1.70048270e-02 4.09579448e+02] [ 6.83910092e-02 9.97658452e-01 -5.31906360e-04 6.55583391e+00] [ 1.70013866e-02 -6.32393390e-04 9.99855266e-01 3.74951215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.28925415399993 meters Centerline goodness [0,1] 0.9989079301075269 Centerline is valid? [True, True] Translation: X:409.61, Y:6.55, Z:3.75 [[ 9.97234032e-01 -7.25007135e-02 -1.63686205e-02 4.09609755e+02] [ 7.25020640e-02 9.97368131e-01 -5.11679356e-04 6.55085075e+00] [ 1.63626376e-02 -6.76494705e-04 9.99865894e-01 3.74969228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31925415399996 meters Centerline goodness [0,1] 0.9990126257851726 Centerline is valid? [True, True] Translation: X:409.64, Y:6.55, Z:3.75 [[ 9.96717913e-01 -7.94384746e-02 -1.55862435e-02 4.09640342e+02] [ 7.94405454e-02 9.96839487e-01 -4.87203944e-04 6.54840706e+00] [ 1.55756857e-02 -7.52574786e-04 9.99878408e-01 3.75095015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.34925415399994 meters Centerline goodness [0,1] 0.9990337352434567 Centerline is valid? [True, True] Translation: X:409.67, Y:6.54, Z:3.75 [[ 9.96466115e-01 -8.25902401e-02 -1.53014602e-02 4.09671049e+02] [ 8.25926085e-02 9.96583279e-01 -4.78166881e-04 6.54306581e+00] [ 1.52886713e-02 -7.87310418e-04 9.99882811e-01 3.75104174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37925415399997 meters Centerline goodness [0,1] 0.9989714957390537 Centerline is valid? [True, True] Translation: X:409.70, Y:6.55, Z:3.75 [[ 9.96225373e-01 -8.54613422e-02 -1.52106786e-02 4.09701875e+02] [ 8.54640203e-02 9.96341144e-01 -4.75053781e-04 6.54546929e+00] [ 1.51956236e-02 -8.26705114e-04 9.99884198e-01 3.75193260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.40925415399994 meters Centerline goodness [0,1] 0.9992865087192832 Centerline is valid? [True, True] Translation: X:409.73, Y:6.54, Z:3.75 [[ 9.96057955e-01 -8.74506597e-02 -1.48638066e-02 4.09734220e+02] [ 8.74534464e-02 9.96168500e-01 -4.63649049e-04 6.54435982e+00] [ 1.48474023e-02 -8.38069786e-04 9.99889420e-01 3.75258675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43925415399997 meters Centerline goodness [0,1] 0.9986978346249974 Centerline is valid? [True, True] Translation: X:409.77, Y:6.54, Z:3.75 [[ 9.95757300e-01 -9.09005835e-02 -1.42997621e-02 4.09765250e+02] [ 9.09035278e-02 9.95859604e-01 -4.45302299e-04 6.54407799e+00] [ 1.42810336e-02 -8.56485805e-04 9.99897654e-01 3.75347502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.46925415399994 meters Centerline goodness [0,1] 0.9987432975871313 Centerline is valid? [True, True] Translation: X:409.80, Y:6.54, Z:3.75 [[ 9.95649506e-01 -9.20812036e-02 -1.42517596e-02 4.09796431e+02] [ 9.20842549e-02 9.95751120e-01 -4.43363992e-04 6.54072202e+00] [ 1.42320311e-02 -8.70927529e-04 9.99898340e-01 3.75349042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49925415399997 meters Centerline goodness [0,1] 0.9988872092046696 Centerline is valid? [True, True] Translation: X:409.83, Y:6.54, Z:3.75 [[ 9.95554921e-01 -9.30871150e-02 -1.43244009e-02 4.09828532e+02] [ 9.30903138e-02 9.95657569e-01 -4.44742418e-04 6.54127378e+00] [ 1.43035980e-02 -8.90697476e-04 9.99897302e-01 3.75356712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.52925415399994 meters Centerline goodness [0,1] 0.9988675921654154 Centerline is valid? [True, True] Translation: X:409.86, Y:6.54, Z:3.75 [[ 9.95509701e-01 -9.35874695e-02 -1.42063864e-02 4.09860420e+02] [ 9.35906811e-02 9.95610662e-01 -4.40052255e-04 6.54127831e+00] [ 1.41852131e-02 -8.91509091e-04 9.99898987e-01 3.75326050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.559254154 meters Centerline goodness [0,1] 0.9991194783957735 Centerline is valid? [True, True] Translation: X:409.89, Y:6.54, Z:3.75 [[ 9.95484143e-01 -9.36323191e-02 -1.56304290e-02 4.09892530e+02] [ 9.36362314e-02 9.95606359e-01 -4.82955369e-04 6.54338146e+00] [ 1.56069747e-02 -9.82800052e-04 9.99877721e-01 3.75194016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.58925415399995 meters Centerline goodness [0,1] 0.9987435607488377 Centerline is valid? [True, True] Translation: X:409.92, Y:6.54, Z:3.75 [[ 9.95587141e-01 -9.24094711e-02 -1.63320062e-02 4.09924424e+02] [ 9.24135987e-02 9.95720580e-01 -5.03403918e-04 6.54478283e+00] [ 1.63086340e-02 -1.00811700e-03 9.99866497e-01 3.75093717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.619254154 meters Centerline goodness [0,1] 0.9987416899104503 Centerline is valid? [True, True] Translation: X:409.96, Y:6.55, Z:3.75 [[ 9.95644843e-01 -9.17107712e-02 -1.67475977e-02 4.09956793e+02] [ 9.17150339e-02 9.95785161e-01 -5.14970178e-04 6.54637211e+00] [ 1.67242375e-02 -1.02327909e-03 9.99859617e-01 3.75096756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.64925415399995 meters Centerline goodness [0,1] 0.9988891683433937 Centerline is valid? [True, True] Translation: X:409.99, Y:6.55, Z:3.75 [[ 9.95827968e-01 -8.95685711e-02 -1.74392760e-02 4.09988185e+02] [ 8.95728836e-02 9.95980126e-01 -5.35233049e-04 6.54891029e+00] [ 1.74171123e-02 -1.02908620e-03 9.99847781e-01 3.75053369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6792541539999 meters Centerline goodness [0,1] 0.9985529130489493 Centerline is valid? [True, True] Translation: X:410.02, Y:6.56, Z:3.75 [[ 9.96295585e-01 -8.40186053e-02 -1.83297703e-02 4.10018651e+02] [ 8.40224403e-02 9.96463704e-01 -5.62162077e-04 6.55856073e+00] [ 1.83121829e-02 -9.80032436e-04 9.99831838e-01 3.75133197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.70925415399995 meters Centerline goodness [0,1] 0.998782331205912 Centerline is valid? [True, True] Translation: X:410.05, Y:6.56, Z:3.75 [[ 9.96562051e-01 -8.07435372e-02 -1.85623341e-02 4.10049112e+02] [ 8.07469043e-02 9.96734475e-01 -5.69249205e-04 6.56246973e+00] [ 1.85476815e-02 -9.31558857e-04 9.99827543e-01 3.75173127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7392541539999 meters Centerline goodness [0,1] 0.998782331205912 Centerline is valid? [True, True] Translation: X:410.08, Y:6.56, Z:3.75 [[ 9.96570949e-01 -8.06336236e-02 -1.85623651e-02 4.10081675e+02] [ 8.06369905e-02 9.96743374e-01 -5.68234659e-04 6.56337697e+00] [ 1.85477332e-02 -9.30527106e-04 9.99827543e-01 3.75203644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.76925415399995 meters Centerline goodness [0,1] 0.9987607385158268 Centerline is valid? [True, True] Translation: X:410.11, Y:6.57, Z:3.75 [[ 9.96865226e-01 -7.69184280e-02 -1.85277512e-02 4.10112188e+02] [ 7.69211643e-02 9.97037017e-01 -5.65976537e-04 6.56753711e+00] [ 1.85163878e-02 -8.60973864e-04 9.99828186e-01 3.75259511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7992541539999 meters Centerline goodness [0,1] 0.9988858524280009 Centerline is valid? [True, True] Translation: X:410.14, Y:6.57, Z:3.75 [[ 9.97161250e-01 -7.31161800e-02 -1.79851505e-02 4.10142840e+02] [ 7.31181467e-02 9.97323135e-01 -5.49080405e-04 6.57101946e+00] [ 1.79771533e-02 -7.67519166e-04 9.99838103e-01 3.75293791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.82925415399995 meters Centerline goodness [0,1] 0.9988853134792942 Centerline is valid? [True, True] Translation: X:410.17, Y:6.58, Z:3.75 [[ 9.97723431e-01 -6.53426261e-02 -1.66822095e-02 4.10173207e+02] [ 6.53432352e-02 9.97862717e-01 -5.09143396e-04 6.57851806e+00] [ 1.66798237e-02 -5.82085244e-04 9.99860713e-01 3.75342225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8592541539999 meters Centerline goodness [0,1] 0.9989515621723631 Centerline is valid? [True, True] Translation: X:410.20, Y:6.58, Z:3.75 [[ 9.97967803e-01 -6.17229792e-02 -1.58283709e-02 4.10203283e+02] [ 6.17230745e-02 9.98093196e-01 -4.82964492e-04 6.58223631e+00] [ 1.58279994e-02 -4.94992705e-04 9.99874607e-01 3.75445234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.88925415399996 meters Centerline goodness [0,1] 0.9988833642339457 Centerline is valid? [True, True] Translation: X:410.23, Y:6.59, Z:3.76 [[ 9.98211134e-01 -5.78843671e-02 -1.49643786e-02 4.10234276e+02] [ 5.78840266e-02 9.98323210e-01 -4.56242696e-04 6.58634062e+00] [ 1.49656958e-02 -4.10771949e-04 9.99887923e-01 3.75542002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91925415399993 meters Centerline goodness [0,1] 0.9988629185091599 Centerline is valid? [True, True] Translation: X:410.27, Y:6.59, Z:3.76 [[ 9.98444990e-01 -5.37571373e-02 -1.47571123e-02 4.10265849e+02] [ 5.37563646e-02 9.98553980e-01 -4.49312036e-04 6.59080458e+00] [ 1.47599270e-02 -3.44675359e-04 9.99891007e-01 3.75623650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.94925415399996 meters Centerline goodness [0,1] 0.9987964781149047 Centerline is valid? [True, True] Translation: X:410.30, Y:6.60, Z:3.76 [[ 9.98835702e-01 -4.60449370e-02 -1.43911264e-02 4.10296695e+02] [ 4.60434112e-02 9.98939344e-01 -4.37504639e-04 6.59993519e+00] [ 1.43960072e-02 -2.25621297e-04 9.99896347e-01 3.75683319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97925415399993 meters Centerline goodness [0,1] 0.9988618880013489 Centerline is valid? [True, True] Translation: X:410.33, Y:6.60, Z:3.76 [[ 9.98992756e-01 -4.23747953e-02 -1.47597221e-02 4.10328710e+02] [ 4.23728008e-02 9.99101769e-01 -4.47967750e-04 6.60358217e+00] [ 1.47654470e-02 -1.77894227e-04 9.99890969e-01 3.75697777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.00925415399996 meters Centerline goodness [0,1] 0.999240249873375 Centerline is valid? [True, True] Translation: X:410.36, Y:6.61, Z:3.76 [[ 9.99122149e-01 -3.91445458e-02 -1.49210148e-02 4.10360605e+02] [ 3.91421636e-02 9.99233550e-01 -4.51771531e-04 6.60665452e+00] [ 1.49272630e-02 -1.32665861e-04 9.99888573e-01 3.75729325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03925415399993 meters Centerline goodness [0,1] 0.9990501920722699 Centerline is valid? [True, True] Translation: X:410.39, Y:6.61, Z:3.76 [[ 9.99228527e-01 -3.62264388e-02 -1.51656005e-02 4.10392371e+02] [ 3.62236588e-02 9.99343603e-01 -4.58058356e-04 6.60917265e+00] [ 1.51722397e-02 -9.16485621e-05 9.99884891e-01 3.75742547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06925415399996 meters Centerline goodness [0,1] 0.9992189479017141 Centerline is valid? [True, True] Translation: X:410.42, Y:6.61, Z:3.76 [[ 9.99354414e-01 -3.23973309e-02 -1.55296083e-02 4.10424823e+02] [ 3.23939715e-02 9.99475068e-01 -4.67889445e-04 6.61178366e+00] [ 1.55366146e-02 -3.54783049e-05 9.99879299e-01 3.75766684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09925415399994 meters Centerline goodness [0,1] 0.9991347655425653 Centerline is valid? [True, True] Translation: X:410.46, Y:6.61, Z:3.76 [[ 9.99388410e-01 -3.11296675e-02 -1.59295296e-02 4.10455579e+02] [ 3.11259851e-02 9.99515354e-01 -4.79100890e-04 6.61278660e+00] [ 1.59367236e-02 -1.70144232e-05 9.99873002e-01 3.75732172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12925415399997 meters Centerline goodness [0,1] 0.999282791207864 Centerline is valid? [True, True] Translation: X:410.49, Y:6.61, Z:3.76 [[ 9.99402610e-01 -3.06850694e-02 -1.59012690e-02 4.10486197e+02] [ 3.06813484e-02 9.99529102e-01 -4.77962981e-04 6.61349388e+00] [ 1.59084474e-02 -1.01949231e-05 9.99873453e-01 3.75782549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15925415399994 meters Centerline goodness [0,1] 0.9990305993424935 Centerline is valid? [True, True] Translation: X:410.52, Y:6.61, Z:3.76 [[ 9.99420100e-01 -3.04922859e-02 -1.51553516e-02 4.10518060e+02] [ 3.04888893e-02 9.99535002e-01 -4.55171755e-04 6.61264014e+00] [ 1.51621836e-02 -7.16203698e-06 9.99885047e-01 3.75886365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18925415399997 meters Centerline goodness [0,1] 0.9990735476807109 Centerline is valid? [True, True] Translation: X:410.55, Y:6.61, Z:3.76 [[ 9.99413180e-01 -3.09309601e-02 -1.47163943e-02 4.10549788e+02] [ 3.09278128e-02 9.99521523e-01 -4.41459414e-04 6.61188425e+00] [ 1.47230076e-02 -1.39455320e-05 9.99891611e-01 3.75926311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21925415399994 meters Centerline goodness [0,1] 0.9990730597455127 Centerline is valid? [True, True] Translation: X:410.58, Y:6.61, Z:3.76 [[ 9.99399335e-01 -3.17104922e-02 -1.39790282e-02 4.10581525e+02] [ 3.17077355e-02 9.99497096e-01 -4.18846181e-04 6.61077290e+00] [ 1.39852799e-02 -2.46487335e-05 9.99902201e-01 3.75980235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24925415399997 meters Centerline goodness [0,1] 0.9990944127371901 Centerline is valid? [True, True] Translation: X:410.61, Y:6.61, Z:3.76 [[ 9.99368281e-01 -3.29278216e-02 -1.33715103e-02 4.10611792e+02] [ 3.29254136e-02 9.99457731e-01 -4.00242070e-04 6.60924240e+00] [ 1.33774384e-02 -4.02732775e-05 9.99910517e-01 3.76003493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.27925415399994 meters Centerline goodness [0,1] 0.9990541051835036 Centerline is valid? [True, True] Translation: X:410.64, Y:6.61, Z:3.76 [[ 9.99335949e-01 -3.39995363e-02 -1.31031322e-02 4.10642746e+02] [ 3.39973201e-02 9.99421847e-01 -3.91905357e-04 6.60755802e+00] [ 1.31088811e-02 -5.38262665e-05 9.99914073e-01 3.76003113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.309254154 meters Centerline goodness [0,1] 0.9989320266365121 Centerline is valid? [True, True] Translation: X:410.67, Y:6.60, Z:3.76 [[ 9.99191544e-01 -3.79801749e-02 -1.31819905e-02 4.10673822e+02] [ 3.79782856e-02 9.99278487e-01 -3.93710669e-04 6.60274005e+00] [ 1.31874327e-02 -1.07237030e-04 9.99913036e-01 3.76010978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.33925415399995 meters Centerline goodness [0,1] 0.9990995707255784 Centerline is valid? [True, True] Translation: X:410.71, Y:6.60, Z:3.76 [[ 9.99103046e-01 -4.00266030e-02 -1.38193722e-02 4.10705918e+02] [ 4.00247342e-02 9.99198604e-01 -4.11886225e-04 6.60100764e+00] [ 1.38247838e-02 -1.41599916e-04 9.99904423e-01 3.76037316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.369254154 meters Centerline goodness [0,1] 0.9991608274241598 Centerline is valid? [True, True] Translation: X:410.74, Y:6.60, Z:3.76 [[ 9.99025258e-01 -4.17853840e-02 -1.42308206e-02 4.10738445e+02] [ 4.17835958e-02 9.99126595e-01 -4.23088872e-04 6.59910045e+00] [ 1.42360702e-02 -1.71938384e-04 9.99898647e-01 3.76007922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.39925415399995 meters Centerline goodness [0,1] 0.9989540186603071 Centerline is valid? [True, True] Translation: X:410.77, Y:6.59, Z:3.76 [[ 9.98787918e-01 -4.69294061e-02 -1.48433866e-02 4.10770183e+02] [ 4.69280475e-02 9.98898175e-01 -4.40011592e-04 6.59265582e+00] [ 1.48476812e-02 -2.57092889e-04 9.99889734e-01 3.75993823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4292541539999 meters Centerline goodness [0,1] 0.9989962358845671 Centerline is valid? [True, True] Translation: X:410.80, Y:6.59, Z:3.76 [[ 9.98659894e-01 -4.95315233e-02 -1.50014759e-02 4.10802061e+02] [ 4.95304485e-02 9.98772516e-01 -4.43401862e-04 6.59010012e+00] [ 1.50050242e-02 -3.00222176e-04 9.99887373e-01 3.76005000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.45925415399995 meters Centerline goodness [0,1] 0.998975516945786 Centerline is valid? [True, True] Translation: X:410.83, Y:6.59, Z:3.76 [[ 9.98530059e-01 -5.20513058e-02 -1.51123269e-02 4.10832988e+02] [ 5.20505225e-02 9.98644353e-01 -4.45418832e-04 6.58589385e+00] [ 1.51150245e-02 -3.41840418e-04 9.99885703e-01 3.75990600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4892541539999 meters Centerline goodness [0,1] 0.9990188710754843 Centerline is valid? [True, True] Translation: X:410.86, Y:6.58, Z:3.76 [[ 9.98270643e-01 -5.68463082e-02 -1.49740083e-02 4.10863446e+02] [ 5.68460974e-02 9.98382856e-01 -4.40053543e-04 6.57800350e+00] [ 1.49748086e-02 -4.11921404e-04 9.99887786e-01 3.75992842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.51925415399995 meters Centerline goodness [0,1] 0.9989569425901201 Centerline is valid? [True, True] Translation: X:410.90, Y:6.58, Z:3.76 [[ 9.98153265e-01 -5.89548237e-02 -1.46419952e-02 4.10895867e+02] [ 5.89548568e-02 9.98260557e-01 -4.29747053e-04 6.57645499e+00] [ 1.46418619e-02 -4.34263304e-04 9.99892708e-01 3.76055107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5492541539999 meters Centerline goodness [0,1] 0.9987483049963493 Centerline is valid? [True, True] Translation: X:410.93, Y:6.57, Z:3.76 [[ 9.98052018e-01 -6.06963735e-02 -1.44263343e-02 4.10928446e+02] [ 6.06966024e-02 9.98156172e-01 -4.22373533e-04 6.57373019e+00] [ 1.44253712e-02 -4.54078721e-04 9.99895846e-01 3.76052653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57925415399995 meters Centerline goodness [0,1] 0.9988296516123639 Centerline is valid? [True, True] Translation: X:410.96, Y:6.57, Z:3.76 [[ 9.97979759e-01 -6.18228981e-02 -1.46400113e-02 4.10961109e+02] [ 6.18232707e-02 9.98087020e-01 -4.27552683e-04 6.57135786e+00] [ 1.46384378e-02 -4.78404456e-04 9.99892738e-01 3.75983837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6092541539999 meters Centerline goodness [0,1] 0.9989566596415083 Centerline is valid? [True, True] Translation: X:410.99, Y:6.57, Z:3.76 [[ 9.97863984e-01 -6.36799740e-02 -1.45715846e-02 4.10993631e+02] [ 6.36805563e-02 9.97970243e-01 -4.24489672e-04 6.56809403e+00] [ 1.45690393e-02 -5.04343659e-04 9.99893739e-01 3.76039593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63925415399996 meters Centerline goodness [0,1] 0.9991235575217545 Centerline is valid? [True, True] Translation: X:411.03, Y:6.57, Z:3.76 [[ 9.97861919e-01 -6.37849814e-02 -1.42501503e-02 4.11026102e+02] [ 6.37855638e-02 9.97963542e-01 -4.14088240e-04 6.56692780e+00] [ 1.42475431e-02 -4.95750989e-04 9.99898376e-01 3.76061070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.66925415399993 meters Centerline goodness [0,1] 0.9990815154994259 Centerline is valid? [True, True] Translation: X:411.06, Y:6.57, Z:3.76 [[ 9.97866223e-01 -6.37106324e-02 -1.42813296e-02 4.11057260e+02] [ 6.37112235e-02 9.97968290e-01 -4.14032592e-04 6.56566428e+00] [ 1.42786924e-02 -4.96731844e-04 9.99897931e-01 3.76114103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69925415399996 meters Centerline goodness [0,1] 0.9989585069155141 Centerline is valid? [True, True] Translation: X:411.09, Y:6.57, Z:3.76 [[ 9.97898491e-01 -6.32436637e-02 -1.41010814e-02 4.11089328e+02] [ 6.32442054e-02 9.97997998e-01 -4.07956619e-04 6.56526893e+00] [ 1.40986517e-02 -4.84712396e-04 9.99900492e-01 3.76133007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.72925415399993 meters Centerline goodness [0,1] 0.9989351706858753 Centerline is valid? [True, True] Translation: X:411.12, Y:6.56, Z:3.76 [[ 9.97992262e-01 -6.16999928e-02 -1.43022892e-02 4.11121050e+02] [ 6.17004066e-02 9.98094630e-01 -4.12737726e-04 6.56423571e+00] [ 1.43005040e-02 -4.70548005e-04 9.99897632e-01 3.76166457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75925415399996 meters Centerline goodness [0,1] 0.9988705528016565 Centerline is valid? [True, True] Translation: X:411.15, Y:6.56, Z:3.76 [[ 9.98055691e-01 -6.06994943e-02 -1.41566212e-02 4.11152823e+02] [ 6.06998134e-02 9.98155983e-01 -4.07527303e-04 6.56456392e+00] [ 1.41552529e-02 -4.52569323e-04 9.99899707e-01 3.76196737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.78925415399993 meters Centerline goodness [0,1] 0.9991016212602374 Centerline is valid? [True, True] Translation: X:411.18, Y:6.56, Z:3.76 [[ 9.98137235e-01 -5.93793286e-02 -1.40055711e-02 4.11183896e+02] [ 5.93795238e-02 9.98235398e-01 -4.02268818e-04 6.56402537e+00] [ 1.40047433e-02 -4.30124660e-04 9.99901836e-01 3.76247138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81925415399996 meters Centerline goodness [0,1] 0.9990807479369059 Centerline is valid? [True, True] Translation: X:411.22, Y:6.56, Z:3.76 [[ 9.98243541e-01 -5.75048937e-02 -1.42485134e-02 4.11216294e+02] [ 5.75049172e-02 9.98345140e-01 -4.08391242e-04 6.56418271e+00] [ 1.42484186e-02 -4.11685662e-04 9.99898401e-01 3.76128128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.84925415399994 meters Centerline goodness [0,1] 0.999205203823388 Centerline is valid? [True, True] Translation: X:411.25, Y:6.56, Z:3.76 [[ 9.98263247e-01 -5.71993248e-02 -1.40970530e-02 4.11247436e+02] [ 5.71993302e-02 9.98362697e-01 -4.03140730e-04 6.56365441e+00] [ 1.40970312e-02 -4.03901414e-04 9.99900550e-01 3.76295198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87925415399997 meters Centerline goodness [0,1] 0.9992681957889895 Centerline is valid? [True, True] Translation: X:411.28, Y:6.57, Z:3.76 [[ 9.98385677e-01 -5.49149877e-02 -1.45046170e-02 4.11279436e+02] [ 5.49147653e-02 9.98490960e-01 -4.13915651e-04 6.56520436e+00] [ 1.45054591e-02 -3.83270180e-04 9.99894717e-01 3.76310482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.90925415399994 meters Centerline goodness [0,1] 0.9993314670120754 Centerline is valid? [True, True] Translation: X:411.31, Y:6.57, Z:3.76 [[ 9.98422314e-01 -5.40439570e-02 -1.52359284e-02 4.11311384e+02] [ 5.40436276e-02 9.98538481e-01 -4.33647524e-04 6.56671818e+00] [ 1.52370968e-02 -3.90441476e-04 9.99883832e-01 3.76344852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93925415399997 meters Centerline goodness [0,1] 0.9990385419279324 Centerline is valid? [True, True] Translation: X:411.34, Y:6.57, Z:3.76 [[ 9.98495321e-01 -5.25356465e-02 -1.57194302e-02 4.11342441e+02] [ 5.25351256e-02 9.98618977e-01 -4.46356698e-04 6.56617066e+00] [ 1.57211710e-02 -3.80137168e-04 9.99876342e-01 3.76263671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.96925415399994 meters Centerline goodness [0,1] 0.9988917929952954 Centerline is valid? [True, True] Translation: X:411.37, Y:6.57, Z:3.76 [[ 9.98548675e-01 -5.15305745e-02 -1.56570839e-02 4.11374064e+02] [ 5.15299457e-02 9.98671351e-01 -4.43856223e-04 6.56679690e+00] [ 1.56591533e-02 -3.63596640e-04 9.99877322e-01 3.76300890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99925415399997 meters Centerline goodness [0,1] 0.9990589908199327 Centerline is valid? [True, True] Translation: X:411.40, Y:6.57, Z:3.76 [[ 9.98662303e-01 -4.89901445e-02 -1.65399364e-02 4.11404903e+02] [ 4.89891047e-02 9.98799203e-01 -4.68268843e-04 6.56979970e+00] [ 1.65430159e-02 -3.42634235e-04 9.99863096e-01 3.76383780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.02925415399994 meters Centerline goodness [0,1] 0.9991242884843936 Centerline is valid? [True, True] Translation: X:411.44, Y:6.57, Z:3.76 [[ 9.98722794e-01 -4.78067059e-02 -1.63492769e-02 4.11435198e+02] [ 4.78055391e-02 9.98856555e-01 -4.62398747e-04 6.56938087e+00] [ 1.63526881e-02 -3.19777826e-04 9.99866235e-01 3.76386120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.059254154 meters Centerline goodness [0,1] 0.9991878553133005 Centerline is valid? [True, True] Translation: X:411.47, Y:6.57, Z:3.76 [[ 9.98774194e-01 -4.67774589e-02 -1.61857446e-02 4.11466571e+02] [ 4.67761870e-02 9.98905290e-01 -4.57358766e-04 6.57035317e+00] [ 1.61894200e-02 -3.00309283e-04 9.99868898e-01 3.76467373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.08925415399995 meters Centerline goodness [0,1] 0.9992283950617284 Centerline is valid? [True, True] Translation: X:411.50, Y:6.57, Z:3.77 [[ 9.98914876e-01 -4.40471235e-02 -1.51301810e-02 4.11498179e+02] [ 4.40457069e-02 9.99029426e-01 -4.27008258e-04 6.57149721e+00] [ 1.51343045e-02 -2.39874616e-04 9.99885441e-01 3.76537678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.119254154 meters Centerline goodness [0,1] 0.9990611699908203 Centerline is valid? [True, True] Translation: X:411.53, Y:6.57, Z:3.77 [[ 9.98930751e-01 -4.40097199e-02 -1.41598044e-02 4.11529399e+02] [ 4.40084824e-02 9.99031078e-01 -3.99126293e-04 6.57245651e+00] [ 1.41636501e-02 -2.24451975e-04 9.99899665e-01 3.76761659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.14925415399995 meters Centerline goodness [0,1] 0.9993546372436765 Centerline is valid? [True, True] Translation: X:411.56, Y:6.57, Z:3.77 [[ 9.98962748e-01 -4.33647059e-02 -1.38899240e-02 4.11560937e+02] [ 4.33634609e-02 9.99059286e-01 -3.90931818e-04 6.57180479e+00] [ 1.38938102e-02 -2.11788853e-04 9.99903454e-01 3.76826762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1792541539999 meters Centerline goodness [0,1] 0.9993740872105153 Centerline is valid? [True, True] Translation: X:411.59, Y:6.57, Z:3.77 [[ 9.98947841e-01 -4.36209064e-02 -1.41572458e-02 4.11592074e+02] [ 4.36196487e-02 9.99048131e-01 -3.97753657e-04 6.57168950e+00] [ 1.41611203e-02 -2.20198931e-04 9.99899702e-01 3.76883765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.20925415399995 meters Centerline goodness [0,1] 0.9992690363811035 Centerline is valid? [True, True] Translation: X:411.62, Y:6.57, Z:3.77 [[ 9.98938077e-01 -4.36617686e-02 -1.47094315e-02 4.11623615e+02] [ 4.36604235e-02 9.99046344e-01 -4.12713443e-04 6.57064011e+00] [ 1.47134236e-02 -2.29944835e-04 9.99891725e-01 3.76673483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2392541539999 meters Centerline goodness [0,1] 0.9992701034367701 Centerline is valid? [True, True] Translation: X:411.65, Y:6.57, Z:3.77 [[ 9.98849722e-01 -4.56185164e-02 -1.47710580e-02 4.11654716e+02] [ 4.56173819e-02 9.98958900e-01 -4.13900063e-04 6.56989226e+00] [ 1.47745614e-02 -2.60393031e-04 9.99890816e-01 3.76877097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.26925415399995 meters Centerline goodness [0,1] 0.9993111222444889 Centerline is valid? [True, True] Translation: X:411.69, Y:6.57, Z:3.77 [[ 9.98792666e-01 -4.67682168e-02 -1.50314151e-02 4.11686563e+02] [ 4.67671804e-02 9.98905728e-01 -4.20639765e-04 6.56867587e+00] [ 1.50346392e-02 -2.82844990e-04 9.99886933e-01 3.76845175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2992541539999 meters Centerline goodness [0,1] 0.9995208133672236 Centerline is valid? [True, True] Translation: X:411.72, Y:6.57, Z:3.77 [[ 9.98689179e-01 -4.87884598e-02 -1.54793457e-02 4.11717729e+02] [ 4.87876122e-02 9.98809082e-01 -4.32598952e-04 6.56753198e+00] [ 1.54820169e-02 -3.23168423e-04 9.99880094e-01 3.76900096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.32925415399995 meters Centerline goodness [0,1] 0.9992705901967323 Centerline is valid? [True, True] Translation: X:411.75, Y:6.56, Z:3.77 [[ 9.98465258e-01 -5.28186364e-02 -1.66529640e-02 4.11748682e+02] [ 5.28182239e-02 9.98604035e-01 -4.64893526e-04 6.56388388e+00] [ 1.66542721e-02 -4.15399949e-04 9.99861222e-01 3.76872431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3592541539999 meters Centerline goodness [0,1] 0.9992908688941726 Centerline is valid? [True, True] Translation: X:411.78, Y:6.56, Z:3.77 [[ 9.98344048e-01 -5.50443271e-02 -1.67117667e-02 4.11780471e+02] [ 5.50442308e-02 9.98483808e-01 -4.66090429e-04 6.56203187e+00] [ 1.67120841e-02 -4.54567739e-04 9.99860240e-01 3.76873185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.38925415399996 meters Centerline goodness [0,1] 0.9991455485161721 Centerline is valid? [True, True] Translation: X:411.81, Y:6.56, Z:3.77 [[ 9.98242926e-01 -5.67012271e-02 -1.72055961e-02 4.11811609e+02] [ 5.67013820e-02 9.98391067e-01 -4.79218505e-04 6.56024094e+00] [ 1.72050857e-02 -4.97204593e-04 9.99851858e-01 3.76719157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41925415399993 meters Centerline goodness [0,1] 0.9992073259767621 Centerline is valid? [True, True] Translation: X:411.84, Y:6.55, Z:3.77 [[ 9.98013571e-01 -6.06785438e-02 -1.69418499e-02 4.11841783e+02] [ 6.06792818e-02 9.98157204e-01 -4.70957342e-04 6.55499786e+00] [ 1.69392066e-02 -5.57997468e-04 9.99856366e-01 3.76893366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.44925415399996 meters Centerline goodness [0,1] 0.9992484028560692 Centerline is valid? [True, True] Translation: X:411.87, Y:6.55, Z:3.77 [[ 9.97948381e-01 -6.17359818e-02 -1.69616371e-02 4.11873289e+02] [ 6.17368908e-02 9.98092348e-01 -4.70522953e-04 6.55457448e+00] [ 1.69583284e-02 -5.77601116e-04 9.99856030e-01 3.76972861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47925415399993 meters Centerline goodness [0,1] 0.999145013971723 Centerline is valid? [True, True] Translation: X:411.90, Y:6.55, Z:3.77 [[ 9.97902500e-01 -6.24626536e-02 -1.70004850e-02 4.11903886e+02] [ 6.24636801e-02 9.98047127e-01 -4.71125666e-04 6.55345883e+00] [ 1.69967130e-02 -5.91775379e-04 9.99855370e-01 3.76997697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.50925415399996 meters Centerline goodness [0,1] 0.999226927978939 Centerline is valid? [True, True] Translation: X:411.94, Y:6.55, Z:3.77 [[ 9.97945155e-01 -6.17849632e-02 -1.69730976e-02 4.11935370e+02] [ 6.17858960e-02 9.98089316e-01 -4.69926175e-04 6.55475689e+00] [ 1.69697018e-02 -5.79737495e-04 9.99855836e-01 3.76982614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53925415399993 meters Centerline goodness [0,1] 0.9993733419672884 Centerline is valid? [True, True] Translation: X:411.97, Y:6.55, Z:3.77 [[ 9.98002497e-01 -6.08393790e-02 -1.70172389e-02 4.11965973e+02] [ 6.08401874e-02 9.98147409e-01 -4.70674807e-04 6.55417290e+00] [ 1.70143484e-02 -5.65597368e-04 9.99855086e-01 3.76907590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56925415399996 meters Centerline goodness [0,1] 0.9993324571833865 Centerline is valid? [True, True] Translation: X:412.00, Y:6.56, Z:3.77 [[ 9.98014126e-01 -6.08027979e-02 -1.64567345e-02 4.11997411e+02] [ 6.08035557e-02 9.98149649e-01 -4.54757033e-04 6.55667157e+00] [ 1.64539343e-02 -5.46774030e-04 9.99864475e-01 3.77195928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59925415399994 meters Centerline goodness [0,1] 0.9994569077160881 Centerline is valid? [True, True] Translation: X:412.03, Y:6.56, Z:3.77 [[ 9.98046169e-01 -6.03710895e-02 -1.60989667e-02 4.12027991e+02] [ 6.03717658e-02 9.98175862e-01 -4.44423446e-04 6.55684691e+00] [ 1.60964303e-02 -5.28367932e-04 9.99870304e-01 3.77250097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62925415399997 meters Centerline goodness [0,1] 0.9993527643226991 Centerline is valid? [True, True] Translation: X:412.06, Y:6.56, Z:3.77 [[ 9.98072013e-01 -5.99846043e-02 -1.59406247e-02 4.12059567e+02] [ 5.99852245e-02 9.98199168e-01 -4.39650025e-04 6.55896148e+00] [ 1.59382905e-02 -5.17399564e-04 9.99872844e-01 3.77368877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65925415399994 meters Centerline goodness [0,1] 0.9993527643226991 Centerline is valid? [True, True] Translation: X:412.09, Y:6.56, Z:3.77 [[ 9.98074179e-01 -5.99485466e-02 -1.59406405e-02 4.12090414e+02] [ 5.99491714e-02 9.98201334e-01 -4.39074205e-04 6.55978084e+00] [ 1.59382905e-02 -5.17399563e-04 9.99872844e-01 3.77397778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68925415399997 meters Centerline goodness [0,1] 0.9990381800694184 Centerline is valid? [True, True] Translation: X:412.12, Y:6.56, Z:3.77 [[ 9.98065935e-01 -5.98955394e-02 -1.66407501e-02 4.12121861e+02] [ 5.98962233e-02 9.98204505e-01 -4.57742792e-04 6.56000345e+00] [ 1.66382884e-02 -5.39860595e-04 9.99861428e-01 3.77254771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71925415399994 meters Centerline goodness [0,1] 0.9992474444467672 Centerline is valid? [True, True] Translation: X:412.15, Y:6.56, Z:3.77 [[ 9.98022530e-01 -6.04422218e-02 -1.72559367e-02 4.12152798e+02] [ 6.04430497e-02 9.98171535e-01 -4.74033008e-04 6.56008302e+00] [ 1.72530364e-02 -5.69905820e-04 9.99850993e-01 3.77176332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74925415399997 meters Centerline goodness [0,1] 0.9992489359926563 Centerline is valid? [True, True] Translation: X:412.18, Y:6.56, Z:3.77 [[ 9.97940044e-01 -6.18974106e-02 -1.68635575e-02 4.12183418e+02] [ 6.18984166e-02 9.98082347e-01 -4.62793817e-04 6.55979056e+00] [ 1.68598647e-02 -5.81987022e-04 9.99857693e-01 3.77438114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.77925415399994 meters Centerline goodness [0,1] 0.9991057316363031 Centerline is valid? [True, True] Translation: X:412.21, Y:6.56, Z:3.77 [[ 9.97838907e-01 -6.33969852e-02 -1.72724500e-02 4.12214183e+02] [ 6.33982747e-02 9.97988194e-01 -4.73446146e-04 6.56034575e+00] [ 1.72677163e-02 -6.22620548e-04 9.99850708e-01 3.77437062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.809254154 meters Centerline goodness [0,1] 0.9993735251738468 Centerline is valid? [True, True] Translation: X:412.24, Y:6.56, Z:3.77 [[ 9.97622985e-01 -6.65949680e-02 -1.77056394e-02 4.12244330e+02] [ 6.65968344e-02 9.97779849e-01 -4.84835844e-04 6.55518277e+00] [ 1.76986179e-02 -6.95456157e-04 9.99843125e-01 3.77368748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.83925415399995 meters Centerline goodness [0,1] 0.9992467358553733 Centerline is valid? [True, True] Translation: X:412.28, Y:6.56, Z:3.77 [[ 9.97493691e-01 -6.84613123e-02 -1.78713628e-02 4.12275547e+02] [ 6.84635181e-02 9.97653501e-01 -4.89079208e-04 6.55505500e+00] [ 1.78629107e-02 -7.35682947e-04 9.99840175e-01 3.77422777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.869254154 meters Centerline goodness [0,1] 0.9989970538456716 Centerline is valid? [True, True] Translation: X:412.31, Y:6.56, Z:3.77 [[ 9.97408931e-01 -6.96462370e-02 -1.80229326e-02 4.12306996e+02] [ 6.96486850e-02 9.97571460e-01 -4.92584291e-04 6.55844233e+00] [ 1.80134699e-02 -7.63965589e-04 9.99837452e-01 3.77418038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.89925415399995 meters Centerline goodness [0,1] 0.9991656933088603 Centerline is valid? [True, True] Translation: X:412.34, Y:6.56, Z:3.77 [[ 9.97284845e-01 -7.11105955e-02 -1.91369024e-02 4.12338018e+02] [ 7.11136351e-02 9.97468084e-01 -5.22489781e-04 6.55788196e+00] [ 1.91256039e-02 -8.39823552e-04 9.99816736e-01 3.77261445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9292541539999 meters Centerline goodness [0,1] 0.9991844587106083 Centerline is valid? [True, True] Translation: X:412.37, Y:6.56, Z:3.77 [[ 9.97253191e-01 -7.17049532e-02 -1.85599560e-02 4.12367883e+02] [ 7.17079211e-02 9.97425545e-01 -5.06406274e-04 6.55842481e+00] [ 1.85484861e-02 -8.25880590e-04 9.99827621e-01 3.77466166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.95925415399995 meters Centerline goodness [0,1] 0.9991230268103233 Centerline is valid? [True, True] Translation: X:412.40, Y:6.56, Z:3.77 [[ 9.97279182e-01 -7.10887628e-02 -1.95095042e-02 4.12398781e+02] [ 7.10919352e-02 9.97469626e-01 -5.31772854e-04 6.55946746e+00] [ 1.94979409e-02 -8.56642408e-04 9.99809530e-01 3.77225959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9892541539999 meters Centerline goodness [0,1] 0.9993095945437047 Centerline is valid? [True, True] Translation: X:412.43, Y:6.56, Z:3.77 [[ 9.97305325e-01 -7.06834048e-02 -1.96454673e-02 4.12430217e+02] [ 7.06865571e-02 9.97498433e-01 -5.34766122e-04 6.56259584e+00] [ 1.96341219e-02 -8.55345342e-04 9.99806866e-01 3.77376536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.01925415399995 meters Centerline goodness [0,1] 0.9993932038834952 Centerline is valid? [True, True] Translation: X:412.46, Y:6.56, Z:3.78 [[ 9.97367548e-01 -6.99860172e-02 -1.89718573e-02 4.12461704e+02] [ 6.99888438e-02 9.97547641e-01 -5.15750971e-04 6.56496210e+00] [ 1.89614268e-02 -8.13425076e-04 9.99819885e-01 3.77583824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0492541539999 meters Centerline goodness [0,1] 0.9993304178611035 Centerline is valid? [True, True] Translation: X:412.49, Y:6.57, Z:3.78 [[ 9.97564763e-01 -6.71482661e-02 -1.88587722e-02 4.12492233e+02] [ 6.71505766e-02 9.97742722e-01 -5.11416889e-04 6.56667152e+00] [ 1.88505435e-02 -7.56205961e-04 9.99822027e-01 3.77622174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07925415399995 meters Centerline goodness [0,1] 0.9992065480664829 Centerline is valid? [True, True] Translation: X:412.52, Y:6.57, Z:3.78 [[ 9.97683385e-01 -6.55231392e-02 -1.82915673e-02 4.12522788e+02] [ 6.55250561e-02 9.97850801e-01 -4.95154149e-04 6.56933029e+00] [ 1.82846992e-02 -7.04548909e-04 9.99832573e-01 3.77696451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1092541539999 meters Centerline goodness [0,1] 0.9991851062496082 Centerline is valid? [True, True] Translation: X:412.55, Y:6.57, Z:3.78 [[ 9.97831954e-01 -6.34422373e-02 -1.75064099e-02 4.12553810e+02] [ 6.34436758e-02 9.97985308e-01 -4.73757930e-04 6.57276058e+00] [ 1.75011961e-02 -6.37940193e-04 9.99846639e-01 3.77730571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13925415399996 meters Centerline goodness [0,1] 0.9992062828974851 Centerline is valid? [True, True] Translation: X:412.58, Y:6.58, Z:3.78 [[ 9.98102746e-01 -5.95237239e-02 -1.57427381e-02 4.12584461e+02] [ 5.95244041e-02 9.98226760e-01 -4.25771902e-04 6.57893375e+00] [ 1.57401659e-02 -5.12112997e-04 9.99875985e-01 3.78037003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.16925415399993 meters Centerline goodness [0,1] 0.9991663714232124 Centerline is valid? [True, True] Translation: X:412.61, Y:6.58, Z:3.78 [[ 9.98248039e-01 -5.71859992e-02 -1.51859797e-02 4.12614650e+02] [ 5.71863658e-02 9.98363436e-01 -4.10456894e-04 6.58182721e+00] [ 1.51845992e-02 -4.58693198e-04 9.99884602e-01 3.78087002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19925415399996 meters Centerline goodness [0,1] 0.9990401268701876 Centerline is valid? [True, True] Translation: X:412.65, Y:6.59, Z:3.78 [[ 9.98392986e-01 -5.47181008e-02 -1.47436622e-02 4.12645470e+02] [ 5.47181827e-02 9.98501759e-01 -3.98147271e-04 6.58964948e+00] [ 1.47433585e-02 -4.09238960e-04 9.99891227e-01 3.78221725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.22925415399993 meters Centerline goodness [0,1] 0.9991251822536972 Centerline is valid? [True, True] Translation: X:412.68, Y:6.59, Z:3.78 [[ 9.98518442e-01 -5.23384575e-02 -1.48864647e-02 4.12676542e+02] [ 5.23382848e-02 9.98629332e-01 -4.01454108e-04 6.59264638e+00] [ 1.48870718e-02 -3.78272699e-04 9.99889110e-01 3.78131315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25925415399996 meters Centerline goodness [0,1] 0.999124343257443 Centerline is valid? [True, True] Translation: X:412.71, Y:6.60, Z:3.78 [[ 9.98709000e-01 -4.86811742e-02 -1.45078449e-02 4.12707345e+02] [ 4.86806320e-02 9.98814319e-01 -3.90722449e-04 6.59768474e+00] [ 1.45096641e-02 -3.16033036e-04 9.99894679e-01 3.78241893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.28925415399993 meters Centerline goodness [0,1] 0.9990805942704306 Centerline is valid? [True, True] Translation: X:412.74, Y:6.60, Z:3.78 [[ 9.98782904e-01 -4.68948741e-02 -1.52833831e-02 4.12738829e+02] [ 4.68940721e-02 9.98899783e-01 -4.11037740e-04 6.60049887e+00] [ 1.52858436e-02 -3.06162601e-04 9.99883118e-01 3.78221225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31925415399996 meters Centerline goodness [0,1] 0.9991013208493563 Centerline is valid? [True, True] Translation: X:412.77, Y:6.60, Z:3.78 [[ 9.98855571e-01 -4.52838252e-02 -1.53923285e-02 4.12769987e+02] [ 4.52828291e-02 9.98974121e-01 -4.13413003e-04 6.60369415e+00] [ 1.53952587e-02 -2.84068299e-04 9.99881446e-01 3.78247879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.34925415399994 meters Centerline goodness [0,1] 0.9992896391784886 Centerline is valid? [True, True] Translation: X:412.80, Y:6.61, Z:3.78 [[ 9.98920233e-01 -4.36808145e-02 -1.58225717e-02 4.12801739e+02] [ 4.36795720e-02 9.99045502e-01 -4.24264305e-04 6.60653936e+00] [ 1.58260013e-02 -2.67316964e-04 9.99874725e-01 3.78287143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37925415399997 meters Centerline goodness [0,1] 0.9993519254087051 Centerline is valid? [True, True] Translation: X:412.83, Y:6.61, Z:3.78 [[ 9.99024403e-01 -4.12599089e-02 -1.57436253e-02 4.12833327e+02] [ 4.12583901e-02 9.99148421e-01 -4.21398969e-04 6.60971138e+00] [ 1.57476052e-02 -2.28568779e-04 9.99875973e-01 3.78315155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.40925415399994 meters Centerline goodness [0,1] 0.9992073094413617 Centerline is valid? [True, True] Translation: X:412.86, Y:6.61, Z:3.78 [[ 9.99057316e-01 -4.03332564e-02 -1.60532534e-02 4.12864676e+02] [ 4.03315672e-02 9.99186259e-01 -4.29089413e-04 6.61159493e+00] [ 1.60574968e-02 -2.18767952e-04 9.99871046e-01 3.78337309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43925415399997 meters Centerline goodness [0,1] 0.9990183997827948 Centerline is valid? [True, True] Translation: X:412.90, Y:6.61, Z:3.78 [[ 9.99112194e-01 -3.86291553e-02 -1.68110958e-02 4.12895301e+02] [ 3.86270677e-02 9.99253595e-01 -4.48985236e-04 6.61435661e+00] [ 1.68158918e-02 -2.00776712e-04 9.99858583e-01 3.78304880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.46925415399994 meters Centerline goodness [0,1] 0.9988950736964997 Centerline is valid? [True, True] Translation: X:412.93, Y:6.62, Z:3.78 [[ 9.99155443e-01 -3.74650879e-02 -1.68750939e-02 4.12926020e+02] [ 3.74628207e-02 9.99297921e-01 -4.50557739e-04 6.61581110e+00] [ 1.68801264e-02 -1.82011399e-04 9.99857504e-01 3.78182248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49925415399997 meters Centerline goodness [0,1] 0.9991234111827688 Centerline is valid? [True, True] Translation: X:412.96, Y:6.62, Z:3.78 [[ 9.99178521e-01 -3.70330074e-02 -1.64571866e-02 4.12956113e+02] [ 3.70307952e-02 9.99314028e-01 -4.39233545e-04 6.61759249e+00] [ 1.64621635e-02 -1.70549982e-04 9.99864475e-01 3.78411087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.52925415399994 meters Centerline goodness [0,1] 0.9989981842088786 Centerline is valid? [True, True] Translation: X:412.99, Y:6.62, Z:3.78 [[ 9.99206825e-01 -3.62955915e-02 -1.63814113e-02 4.12986723e+02] [ 3.62933006e-02 9.99341086e-01 -4.37211143e-04 6.61892283e+00] [ 1.63864862e-02 -1.57671125e-04 9.99865720e-01 3.78394627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.559254154 meters Centerline goodness [0,1] 0.9994150947337637 Centerline is valid? [True, True] Translation: X:413.02, Y:6.62, Z:3.78 [[ 9.99220078e-01 -3.60881128e-02 -1.60275977e-02 4.13017412e+02] [ 3.60858931e-02 9.99348601e-01 -4.27768047e-04 6.61987450e+00] [ 1.60325947e-02 -1.50935756e-04 9.99871458e-01 3.78491567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.58925415399995 meters Centerline goodness [0,1] 0.9993101141447506 Centerline is valid? [True, True] Translation: X:413.05, Y:6.62, Z:3.79 [[ 9.99206000e-01 -3.66002597e-02 -1.57413820e-02 4.13048347e+02] [ 3.65981822e-02 9.99329974e-01 -4.20129103e-04 6.62023343e+00] [ 1.57462117e-02 -1.56310447e-04 9.99876009e-01 3.78571060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.619254154 meters Centerline goodness [0,1] 0.9991845269210664 Centerline is valid? [True, True] Translation: X:413.08, Y:6.62, Z:3.79 [[ 9.99165651e-01 -3.76492714e-02 -1.58282467e-02 4.13079023e+02] [ 3.76473043e-02 9.99291000e-01 -4.22329355e-04 6.61964657e+00] [ 1.58329248e-02 -1.73913834e-04 9.99874636e-01 3.78577016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.64925415399995 meters Centerline goodness [0,1] 0.9991430124158689 Centerline is valid? [True, True] Translation: X:413.11, Y:6.62, Z:3.78 [[ 9.99125020e-01 -3.85411075e-02 -1.62412122e-02 4.13109244e+02] [ 3.85391571e-02 9.99256997e-01 -4.33172526e-04 6.61893587e+00] [ 1.62458398e-02 -1.93129118e-04 9.99868009e-01 3.78427790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6792541539999 meters Centerline goodness [0,1] 0.9992696617490557 Centerline is valid? [True, True] Translation: X:413.14, Y:6.62, Z:3.79 [[ 9.99040677e-01 -4.09168024e-02 -1.56057942e-02 4.13139238e+02] [ 4.09152931e-02 9.99162532e-01 -4.16112220e-04 6.61794597e+00] [ 1.56097509e-02 -2.22802611e-04 9.99878136e-01 3.78682018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.70925415399995 meters Centerline goodness [0,1] 0.9992491552997121 Centerline is valid? [True, True] Translation: X:413.17, Y:6.61, Z:3.79 [[ 9.98817146e-01 -4.59199905e-02 -1.59894567e-02 4.13169180e+02] [ 4.59190496e-02 9.98945073e-01 -4.26168555e-04 6.61311859e+00] [ 1.59921586e-02 -3.08556194e-04 9.99872070e-01 3.78554992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7392541539999 meters Centerline goodness [0,1] 0.9992285720242687 Centerline is valid? [True, True] Translation: X:413.20, Y:6.61, Z:3.79 [[ 9.98666128e-01 -4.92541763e-02 -1.54916166e-02 4.13199252e+02] [ 4.92536956e-02 9.98786215e-01 -4.12791291e-04 6.61087151e+00] [ 1.54931448e-02 -3.50778687e-04 9.99879912e-01 3.78760208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.76925415399995 meters Centerline goodness [0,1] 0.9993953924736787 Centerline is valid? [True, True] Translation: X:413.23, Y:6.61, Z:3.79 [[ 9.98373748e-01 -5.48059985e-02 -1.56895141e-02 4.13230353e+02] [ 5.48061948e-02 9.98496924e-01 -4.17781520e-04 6.60778078e+00] [ 1.56888285e-02 -4.42780465e-04 9.99876825e-01 3.78766171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7992541539999 meters Centerline goodness [0,1] 0.9992073921114657 Centerline is valid? [True, True] Translation: X:413.26, Y:6.60, Z:3.79 [[ 9.98232451e-01 -5.73445355e-02 -1.56069628e-02 4.13261104e+02] [ 5.73450459e-02 9.98354333e-01 -4.15185660e-04 6.60452070e+00] [ 1.56050876e-02 -4.80530200e-04 9.99878118e-01 3.78808934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.82925415399995 meters Centerline goodness [0,1] 0.9994157293992446 Centerline is valid? [True, True] Translation: X:413.29, Y:6.61, Z:3.79 [[ 9.98087205e-01 -5.98078363e-02 -1.56510128e-02 4.13292719e+02] [ 5.98086609e-02 9.98209773e-01 -4.15785080e-04 6.60503391e+00] [ 1.56478611e-02 -5.21076347e-04 9.99877429e-01 3.78881772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8592541539999 meters Centerline goodness [0,1] 0.9992502030700019 Centerline is valid? [True, True] Translation: X:413.32, Y:6.60, Z:3.79 [[ 9.97975466e-01 -6.17012042e-02 -1.54249977e-02 4.13324720e+02] [ 6.17022432e-02 9.98094518e-01 -4.08994634e-04 6.60483263e+00] [ 1.54208411e-02 -5.43590347e-04 9.99880944e-01 3.78942165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.88925415399996 meters Centerline goodness [0,1] 0.9990186047482825 Centerline is valid? [True, True] Translation: X:413.36, Y:6.60, Z:3.79 [[ 9.97877849e-01 -6.29705525e-02 -1.65683036e-02 4.13357290e+02] [ 6.29719472e-02 9.98015201e-01 -4.38032705e-04 6.60424677e+00] [ 1.65630020e-02 -6.06235208e-04 9.99862640e-01 3.78774652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91925415399993 meters Centerline goodness [0,1] 0.999207871258234 Centerline is valid? [True, True] Translation: X:413.39, Y:6.60, Z:3.79 [[ 9.97722437e-01 -6.55791003e-02 -1.57899015e-02 4.13389318e+02] [ 6.55807110e-02 9.97847181e-01 -4.16318757e-04 6.60455918e+00] [ 1.57832105e-02 -6.20142400e-04 9.99875245e-01 3.79026459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.94925415399996 meters Centerline goodness [0,1] 0.999207474764328 Centerline is valid? [True, True] Translation: X:413.42, Y:6.60, Z:3.79 [[ 9.97674066e-01 -6.62899680e-02 -1.58776086e-02 4.13420359e+02] [ 6.62917033e-02 9.97800198e-01 -4.17574280e-04 6.60267044e+00] [ 1.58703620e-02 -6.35950686e-04 9.99873856e-01 3.79037665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97925415399993 meters Centerline goodness [0,1] 0.9988935281837161 Centerline is valid? [True, True] Translation: X:413.45, Y:6.60, Z:3.79 [[ 9.97649077e-01 -6.66173759e-02 -1.60761870e-02 4.13452456e+02] [ 6.66192134e-02 9.97778383e-01 -4.21798068e-04 6.60372916e+00] [ 1.60685710e-02 -6.50176480e-04 9.99870681e-01 3.79074868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.00925415399996 meters Centerline goodness [0,1] 0.9991224587869038 Centerline is valid? [True, True] Translation: X:413.48, Y:6.61, Z:3.79 [[ 9.97648133e-01 -6.63098075e-02 -1.73554733e-02 4.13484472e+02] [ 6.63119251e-02 9.97798839e-01 -4.54069703e-04 6.60650635e+00] [ 1.73473804e-02 -6.97873055e-04 9.99849279e-01 3.78868150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03925415399993 meters Centerline goodness [0,1] 0.9992280731035634 Centerline is valid? [True, True] Translation: X:413.52, Y:6.61, Z:3.79 [[ 9.97573976e-01 -6.75021958e-02 -1.70181230e-02 4.13516022e+02] [ 6.75044236e-02 9.97718876e-01 -4.44154686e-04 6.61017159e+00] [ 1.70092840e-02 -7.05721429e-04 9.99855083e-01 3.79138400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06925415399996 meters Centerline goodness [0,1] 0.9991238683299262 Centerline is valid? [True, True] Translation: X:413.55, Y:6.61, Z:3.79 [[ 9.97530279e-01 -6.79308600e-02 -1.78533365e-02 4.13547994e+02] [ 6.79334014e-02 9.97689750e-01 -4.64782349e-04 6.61161233e+00] [ 1.78436639e-02 -7.49203410e-04 9.99840508e-01 3.79139945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09925415399994 meters Centerline goodness [0,1] 0.9989567031820553 Centerline is valid? [True, True] Translation: X:413.58, Y:6.61, Z:3.79 [[ 9.97497269e-01 -6.84117228e-02 -1.78615648e-02 4.13580169e+02] [ 6.84143670e-02 9.97656885e-01 -4.63680095e-04 6.61304277e+00] [ 1.78514342e-02 -7.59468019e-04 9.99840362e-01 3.79153684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12925415399997 meters Centerline goodness [0,1] 0.9992066143310506 Centerline is valid? [True, True] Translation: X:413.61, Y:6.62, Z:3.79 [[ 9.97455340e-01 -6.89698718e-02 -1.80555138e-02 4.13612104e+02] [ 6.89726892e-02 9.97618439e-01 -4.67372896e-04 6.61513374e+00] [ 1.80447482e-02 -7.79153754e-04 9.99836877e-01 3.79205327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15925415399994 meters Centerline goodness [0,1] 0.9990599540421976 Centerline is valid? [True, True] Translation: X:413.64, Y:6.61, Z:3.79 [[ 9.97317280e-01 -7.08167692e-02 -1.85264382e-02 4.13642903e+02] [ 7.08200730e-02 9.97488992e-01 -4.78511068e-04 6.61464116e+00] [ 1.85138048e-02 -8.34816353e-04 9.99828256e-01 3.79123598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18925415399997 meters Centerline goodness [0,1] 0.9990209149237563 Centerline is valid? [True, True] Translation: X:413.68, Y:6.62, Z:3.79 [[ 9.97245456e-01 -7.16406013e-02 -1.92126160e-02 4.13675274e+02] [ 7.16443280e-02 9.97430120e-01 -4.95144812e-04 6.61794692e+00] [ 1.91987143e-02 -8.82694047e-04 9.99815298e-01 3.79169456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21925415399994 meters Centerline goodness [0,1] 0.9990808247508827 Centerline is valid? [True, True] Translation: X:413.71, Y:6.62, Z:3.79 [[ 9.97192394e-01 -7.24103362e-02 -1.90806907e-02 4.13706413e+02] [ 7.24141759e-02 9.97374527e-01 -4.90517906e-04 6.61636588e+00] [ 1.90661135e-02 -8.92571770e-04 9.99817827e-01 3.79124851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24925415399997 meters Centerline goodness [0,1] 0.998914676907664 Centerline is valid? [True, True] Translation: X:413.74, Y:6.62, Z:3.79 [[ 9.97133628e-01 -7.31536432e-02 -1.93150784e-02 4.13738729e+02] [ 7.31577413e-02 9.97320259e-01 -4.95280267e-04 6.62118677e+00] [ 1.92995506e-02 -9.19186899e-04 9.99813324e-01 3.79213464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.27925415399994 meters Centerline goodness [0,1] 0.998768190074535 Centerline is valid? [True, True] Translation: X:413.77, Y:6.62, Z:3.79 [[ 9.97064793e-01 -7.40150494e-02 -1.95849919e-02 4.13770272e+02] [ 7.40194536e-02 9.97256672e-01 -5.00930586e-04 6.62381184e+00] [ 1.95683402e-02 -9.50210144e-04 9.99808070e-01 3.79236819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.309254154 meters Centerline goodness [0,1] 0.9986210066651344 Centerline is valid? [True, True] Translation: X:413.80, Y:6.63, Z:3.79 [[ 9.97060534e-01 -7.40588089e-02 -1.96363152e-02 4.13802405e+02] [ 7.40632699e-02 9.97253419e-01 -5.00958928e-04 6.62738352e+00] [ 1.96194828e-02 -9.54843332e-04 9.99807063e-01 3.79296949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.33925415399995 meters Centerline goodness [0,1] 0.9988295782301551 Centerline is valid? [True, True] Translation: X:413.83, Y:6.63, Z:3.79 [[ 9.97087071e-01 -7.37856715e-02 -1.93144329e-02 4.13834118e+02] [ 7.37899638e-02 9.97273684e-01 -4.91319563e-04 6.63019407e+00] [ 1.92980280e-02 -9.35322921e-04 9.99813338e-01 3.79381349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.369254154 meters Centerline goodness [0,1] 0.9987911377894495 Centerline is valid? [True, True] Translation: X:413.87, Y:6.63, Z:3.79 [[ 9.97196879e-01 -7.22075985e-02 -1.96073020e-02 4.13866858e+02] [ 7.22117501e-02 9.97389200e-01 -4.97112126e-04 6.63195607e+00] [ 1.95920065e-02 -9.20158932e-04 9.99807635e-01 3.79158120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.39925415399995 meters Centerline goodness [0,1] 0.9989355262883263 Centerline is valid? [True, True] Translation: X:413.90, Y:6.64, Z:3.80 [[ 9.97410395e-01 -6.96963535e-02 -1.77460700e-02 4.13897557e+02] [ 6.96993767e-02 9.97567940e-01 -4.48828441e-04 6.63691221e+00] [ 1.77341922e-02 -7.89223864e-04 9.99842425e-01 3.79576376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4292541539999 meters Centerline goodness [0,1] 0.9988123020503418 Centerline is valid? [True, True] Translation: X:413.93, Y:6.64, Z:3.80 [[ 9.97611218e-01 -6.69315518e-02 -1.70887149e-02 4.13929421e+02] [ 6.69339632e-02 9.97757314e-01 -4.31443241e-04 6.64171011e+00] [ 1.70792675e-02 -7.13402799e-04 9.99853884e-01 3.79647183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.45925415399995 meters Centerline goodness [0,1] 0.9989338350580119 Centerline is valid? [True, True] Translation: X:413.96, Y:6.65, Z:3.80 [[ 9.97805292e-01 -6.40266762e-02 -1.68874189e-02 4.13960486e+02] [ 6.40286290e-02 9.97947971e-01 -4.25574854e-04 6.64540491e+00] [ 1.68800136e-02 -6.56637438e-04 9.99857307e-01 3.79682829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4892541539999 meters Centerline goodness [0,1] 0.9989325854454886 Centerline is valid? [True, True] Translation: X:413.99, Y:6.65, Z:3.80 [[ 9.98196242e-01 -5.75941586e-02 -1.69462338e-02 4.13991337e+02] [ 5.75952080e-02 9.98339927e-01 -4.26524424e-04 6.65335677e+00] [ 1.69426671e-02 -5.50266782e-04 9.99856311e-01 3.79777610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.51925415399995 meters Centerline goodness [0,1] 0.9988920015052055 Centerline is valid? [True, True] Translation: X:414.02, Y:6.66, Z:3.80 [[ 9.98369683e-01 -5.44272976e-02 -1.71943141e-02 4.14022456e+02] [ 5.44279177e-02 9.98517609e-01 -4.32240192e-04 6.65932131e+00] [ 1.71923510e-02 -5.04315207e-04 9.99852073e-01 3.79877299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5492541539999 meters Centerline goodness [0,1] 0.9988920015052055 Centerline is valid? [True, True] Translation: X:414.05, Y:6.66, Z:3.80 [[ 9.98373724e-01 -5.43531319e-02 -1.71943374e-02 4.14054150e+02] [ 5.43537570e-02 9.98521649e-01 -4.31309012e-04 6.66005875e+00] [ 1.71923612e-02 -5.03969254e-04 9.99852073e-01 3.79906990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57925415399995 meters Centerline goodness [0,1] 0.9989958789197331 Centerline is valid? [True, True] Translation: X:414.09, Y:6.66, Z:3.80 [[ 9.98551642e-01 -5.08433415e-02 -1.75946976e-02 4.14085752e+02] [ 5.08434722e-02 9.98706537e-01 -4.40180515e-04 6.66393192e+00] [ 1.75943198e-02 -4.55032545e-04 9.99845104e-01 3.79818061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6092541539999 meters Centerline goodness [0,1] 0.9990150467328891 Centerline is valid? [True, True] Translation: X:414.12, Y:6.67, Z:3.80 [[ 9.98679073e-01 -4.84045171e-02 -1.72369494e-02 4.14117147e+02] [ 4.84042934e-02 9.98827732e-01 -4.30428152e-04 6.66772078e+00] [ 1.72375777e-02 -4.04482766e-04 9.99851340e-01 3.79955864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63925415399996 meters Centerline goodness [0,1] 0.9991000230226669 Centerline is valid? [True, True] Translation: X:414.15, Y:6.67, Z:3.80 [[ 9.98863238e-01 -4.41256973e-02 -1.80320714e-02 4.14147486e+02] [ 4.41247649e-02 9.99025927e-01 -4.49763066e-04 6.67212745e+00] [ 1.80343530e-02 -3.46409119e-04 9.99837308e-01 3.79919029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.66925415399993 meters Centerline goodness [0,1] 0.9988896337886534 Centerline is valid? [True, True] Translation: X:414.18, Y:6.67, Z:3.80 [[ 9.98929428e-01 -4.25075765e-02 -1.82511519e-02 4.14178383e+02] [ 4.25063604e-02 9.99096093e-01 -4.54732612e-04 6.67452932e+00] [ 1.82539841e-02 -3.21544253e-04 9.99833330e-01 3.79909438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69925415399996 meters Centerline goodness [0,1] 0.9990163248221013 Centerline is valid? [True, True] Translation: X:414.21, Y:6.68, Z:3.80 [[ 9.98975677e-01 -4.12745791e-02 -1.85473786e-02 4.14209800e+02] [ 4.12731232e-02 9.99147795e-01 -4.61439281e-04 6.67672547e+00] [ 1.85506182e-02 -3.04541625e-04 9.99827876e-01 3.79944469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.72925415399993 meters Centerline goodness [0,1] 0.9989522652026319 Centerline is valid? [True, True] Translation: X:414.24, Y:6.68, Z:3.80 [[ 9.99004258e-01 -4.05681117e-02 -1.85666858e-02 4.14240682e+02] [ 4.05665371e-02 9.99176733e-01 -4.61582974e-04 6.67863329e+00] [ 1.85701260e-02 -2.92062791e-04 9.99827518e-01 3.79994917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75925415399996 meters Centerline goodness [0,1] 0.9989327641408752 Centerline is valid? [True, True] Translation: X:414.27, Y:6.68, Z:3.80 [[ 9.99030660e-01 -3.97748883e-02 -1.88599796e-02 4.14271136e+02] [ 3.97731327e-02 9.99208626e-01 -4.68318034e-04 6.68081958e+00] [ 1.88636816e-02 -2.82256396e-04 9.99822025e-01 3.80009562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.78925415399993 meters Centerline goodness [0,1] 0.9992249523450428 Centerline is valid? [True, True] Translation: X:414.30, Y:6.68, Z:3.80 [[ 9.99034180e-01 -3.98551706e-02 -1.85006285e-02 4.14301931e+02] [ 3.98535113e-02 9.99205428e-01 -4.58515996e-04 6.68351469e+00] [ 1.85042026e-02 -2.79241855e-04 9.99828744e-01 3.80165294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81925415399996 meters Centerline goodness [0,1] 0.9992879730267429 Centerline is valid? [True, True] Translation: X:414.33, Y:6.68, Z:3.80 [[ 9.99015803e-01 -4.03958292e-02 -1.83194505e-02 4.14332541e+02] [ 4.03943025e-02 9.99183714e-01 -4.53514452e-04 6.68365542e+00] [ 1.83228167e-02 -2.86933321e-04 9.99832082e-01 3.80209082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.84925415399994 meters Centerline goodness [0,1] 0.998975559783404 Centerline is valid? [True, True] Translation: X:414.36, Y:6.68, Z:3.80 [[ 9.98988450e-01 -4.11345490e-02 -1.81666117e-02 4.14363754e+02] [ 4.11331787e-02 9.99153572e-01 -4.49239134e-04 6.68369511e+00] [ 1.81697142e-02 -2.98465779e-04 9.99834873e-01 3.80194651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87925415399997 meters Centerline goodness [0,1] 0.9988932509188105 Centerline is valid? [True, True] Translation: X:414.39, Y:6.68, Z:3.80 [[ 9.98971265e-01 -4.17889601e-02 -1.76095180e-02 4.14393656e+02] [ 4.17877826e-02 9.99126414e-01 -4.34984224e-04 6.68247323e+00] [ 1.76123122e-02 -3.01325971e-04 9.99844846e-01 3.80183634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.90925415399994 meters Centerline goodness [0,1] 0.9986417018431061 Centerline is valid? [True, True] Translation: X:414.42, Y:6.68, Z:3.80 [[ 9.98859790e-01 -4.45420477e-02 -1.71792275e-02 4.14424775e+02] [ 4.45413417e-02 9.99007452e-01 -4.23905709e-04 6.68111604e+00] [ 1.71810579e-02 -3.41763475e-04 9.99852336e-01 3.80219168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93925415399997 meters Centerline goodness [0,1] 0.9988932046944827 Centerline is valid? [True, True] Translation: X:414.46, Y:6.68, Z:3.80 [[ 9.98796835e-01 -4.62122656e-02 -1.64106369e-02 4.14456219e+02] [ 4.62118562e-02 9.98931580e-01 -4.04356392e-04 6.68051752e+00] [ 1.64117897e-02 -3.54496110e-04 9.99865255e-01 3.80322841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.96925415399994 meters Centerline goodness [0,1] 0.9987065008762414 Centerline is valid? [True, True] Translation: X:414.49, Y:6.68, Z:3.80 [[ 9.98728524e-01 -4.77986280e-02 -1.60195667e-02 4.14488289e+02] [ 4.77984550e-02 9.98856923e-01 -3.93897739e-04 6.67942074e+00] [ 1.60200829e-02 -3.72313633e-04 9.99871601e-01 3.80354343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99925415399997 meters Centerline goodness [0,1] 0.9988304093567252 Centerline is valid? [True, True] Translation: X:414.52, Y:6.68, Z:3.80 [[ 9.98668266e-01 -4.89845129e-02 -1.61929465e-02 4.14520201e+02] [ 4.89845114e-02 9.98799459e-01 -3.96956975e-04 6.67853674e+00] [ 1.61929510e-02 -3.96775238e-04 9.99868807e-01 3.80258165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.02925415399994 meters Centerline goodness [0,1] 0.9990632416003997 Centerline is valid? [True, True] Translation: X:414.55, Y:6.67, Z:3.80 [[ 9.98501508e-01 -5.25149196e-02 -1.53922879e-02 4.14551171e+02] [ 5.25153527e-02 9.98620046e-01 -3.76329915e-04 6.67466695e+00] [ 1.53908102e-02 -4.32565442e-04 9.99881461e-01 3.80394522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.059254154 meters Centerline goodness [0,1] 0.99897937929598 Centerline is valid? [True, True] Translation: X:414.58, Y:6.67, Z:3.80 [[ 9.98454525e-01 -5.35035077e-02 -1.50311916e-02 4.14583661e+02] [ 5.35040466e-02 9.98567565e-01 -3.66573435e-04 6.67421203e+00] [ 1.50292734e-02 -4.38222673e-04 9.99886958e-01 3.80434943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.08925415399995 meters Centerline goodness [0,1] 0.9990196487422301 Centerline is valid? [True, True] Translation: X:414.61, Y:6.67, Z:3.80 [[ 9.98426131e-01 -5.40378758e-02 -1.50056291e-02 4.14614694e+02] [ 5.40384881e-02 9.98538787e-01 -3.64947212e-04 6.67258679e+00] [ 1.50034236e-02 -4.46508677e-04 9.99887343e-01 3.80441467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.119254154 meters Centerline goodness [0,1] 0.9990192600630178 Centerline is valid? [True, True] Translation: X:414.65, Y:6.67, Z:3.80 [[ 9.98438996e-01 -5.38330578e-02 -1.48853286e-02 4.14646224e+02] [ 5.38336497e-02 9.98549852e-01 -3.61211216e-04 6.67157866e+00] [ 1.48831877e-02 -4.40684200e-04 9.99889142e-01 3.80464754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.14925415399995 meters Centerline goodness [0,1] 0.9989562458249833 Centerline is valid? [True, True] Translation: X:414.68, Y:6.67, Z:3.81 [[ 9.98529434e-01 -5.22134875e-02 -1.45849510e-02 4.14678564e+02] [ 5.22138959e-02 9.98635862e-01 -3.53045298e-04 6.67173549e+00] [ 1.45834888e-02 -4.09010990e-04 9.99893572e-01 3.80510750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1792541539999 meters Centerline goodness [0,1] 0.9988724394980267 Centerline is valid? [True, True] Translation: X:414.71, Y:6.67, Z:3.81 [[ 9.98609726e-01 -5.06915499e-02 -1.44561801e-02 4.14710033e+02] [ 5.06918055e-02 9.98714283e-01 -3.48973232e-04 6.67065901e+00] [ 1.44552835e-02 -3.84321805e-04 9.99895443e-01 3.80538483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.20925415399995 meters Centerline goodness [0,1] 0.9990366492146597 Centerline is valid? [True, True] Translation: X:414.74, Y:6.67, Z:3.81 [[ 9.98824062e-01 -4.63867488e-02 -1.40983557e-02 4.14741511e+02] [ 4.63865728e-02 9.98923506e-01 -3.39661975e-04 6.67431660e+00] [ 1.40989347e-02 -3.14711850e-04 9.99900556e-01 3.80631858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2392541539999 meters Centerline goodness [0,1] 0.9990378984355391 Centerline is valid? [True, True] Translation: X:414.77, Y:6.67, Z:3.81 [[ 9.98939814e-01 -4.39338597e-02 -1.37500732e-02 4.14773712e+02] [ 4.39334691e-02 9.99034404e-01 -3.30607666e-04 6.67491094e+00] [ 1.37513210e-02 -2.73831255e-04 9.99905409e-01 3.80623731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.26925415399995 meters Centerline goodness [0,1] 0.9990164483321475 Centerline is valid? [True, True] Translation: X:414.80, Y:6.67, Z:3.81 [[ 9.99028894e-01 -4.18250142e-02 -1.38541451e-02 4.14804587e+02] [ 4.18244280e-02 9.99124921e-01 -3.32169254e-04 6.67464178e+00] [ 1.38559146e-02 -2.47595014e-04 9.99903972e-01 3.80610481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2992541539999 meters Centerline goodness [0,1] 0.9989541280565608 Centerline is valid? [True, True] Translation: X:414.84, Y:6.68, Z:3.81 [[ 9.99107364e-01 -3.99282295e-02 -1.37917220e-02 4.14836179e+02] [ 3.99274772e-02 9.99202526e-01 -3.29998953e-04 6.67624067e+00] [ 1.37938997e-02 -2.20964281e-04 9.99904835e-01 3.80636870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.32925415399995 meters Centerline goodness [0,1] 0.9989562458249833 Centerline is valid? [True, True] Translation: X:414.87, Y:6.68, Z:3.81 [[ 9.99177152e-01 -3.78170852e-02 -1.46590253e-02 4.14867255e+02] [ 3.78160164e-02 9.99284657e-01 -3.50189897e-04 6.67550947e+00] [ 1.46617822e-02 -2.04444196e-04 9.99892489e-01 3.80540709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3592541539999 meters Centerline goodness [0,1] 0.9991020527491804 Centerline is valid? [True, True] Translation: X:414.90, Y:6.68, Z:3.81 [[ 9.99178069e-01 -3.77564124e-02 -1.47526493e-02 4.14898817e+02] [ 3.77553314e-02 9.99286951e-01 -3.51877754e-04 6.67500982e+00] [ 1.47554156e-02 -2.05402629e-04 9.99891112e-01 3.80563285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.38925415399996 meters Centerline goodness [0,1] 0.9990583015946093 Centerline is valid? [True, True] Translation: X:414.93, Y:6.67, Z:3.80 [[ 9.99162256e-01 -3.78849961e-02 -1.54762392e-02 4.14929690e+02] [ 3.78838294e-02 9.99282082e-01 -3.68657700e-04 6.67294301e+00] [ 1.54790951e-02 -2.17950347e-04 9.99880168e-01 3.80369091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41925415399993 meters Centerline goodness [0,1] 0.9991649792288583 Centerline is valid? [True, True] Translation: X:414.96, Y:6.67, Z:3.81 [[ 9.99124968e-01 -3.90177837e-02 -1.50635517e-02 4.14961359e+02] [ 3.90168127e-02 9.99238490e-01 -3.58450249e-04 6.67155859e+00] [ 1.50660666e-02 -2.29595182e-04 9.99886474e-01 3.80546665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.44925415399996 meters Centerline goodness [0,1] 0.9990818413254873 Centerline is valid? [True, True] Translation: X:414.99, Y:6.67, Z:3.81 [[ 9.98983002e-01 -4.25556900e-02 -1.48988219e-02 4.14991389e+02] [ 4.25551384e-02 9.99094057e-01 -3.54191669e-04 6.66669459e+00] [ 1.49003973e-02 -2.80189971e-04 9.99888944e-01 3.80564599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47925415399993 meters Centerline goodness [0,1] 0.9989343474445234 Centerline is valid? [True, True] Translation: X:415.02, Y:6.66, Z:3.81 [[ 9.98899290e-01 -4.45389810e-02 -1.47135122e-02 4.15021909e+02] [ 4.45386595e-02 9.99007600e-01 -3.49690122e-04 6.66443696e+00] [ 1.47144853e-02 -3.06014893e-04 9.99891689e-01 3.80572188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.50925415399996 meters Centerline goodness [0,1] 0.9990600522193211 Centerline is valid? [True, True] Translation: X:415.05, Y:6.66, Z:3.81 [[ 9.98780889e-01 -4.70104151e-02 -1.50584569e-02 4.15053510e+02] [ 4.70103648e-02 9.98894338e-01 -3.57505441e-04 6.66355208e+00] [ 1.50586138e-02 -3.50833950e-04 9.99886551e-01 3.80624968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53925415399993 meters Centerline goodness [0,1] 0.998811137762019 Centerline is valid? [True, True] Translation: X:415.08, Y:6.66, Z:3.81 [[ 9.98651025e-01 -4.96879980e-02 -1.50742858e-02 4.15083725e+02] [ 4.96882592e-02 9.98764712e-01 -3.57429818e-04 6.66098708e+00] [ 1.50734246e-02 -3.92067365e-04 9.99886313e-01 3.80630878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56925415399996 meters Centerline goodness [0,1] 0.9989134068873287 Centerline is valid? [True, True] Translation: X:415.11, Y:6.66, Z:3.81 [[ 9.98378513e-01 -5.50546554e-02 -1.44682580e-02 4.15114640e+02] [ 5.50554626e-02 9.98483239e-01 -3.42800282e-04 6.65672997e+00] [ 1.44651858e-02 -4.54312201e-04 9.99895271e-01 3.80690434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59925415399994 meters Centerline goodness [0,1] 0.9987680100229693 Centerline is valid? [True, True] Translation: X:415.15, Y:6.65, Z:3.81 [[ 9.98241159e-01 -5.75103777e-02 -1.43925472e-02 4.15145332e+02] [ 5.75114433e-02 9.98344789e-01 -3.40181958e-04 6.65352431e+00] [ 1.43882885e-02 -4.88152530e-04 9.99896364e-01 3.80683293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62925415399997 meters Centerline goodness [0,1] 0.998914291679716 Centerline is valid? [True, True] Translation: X:415.18, Y:6.65, Z:3.81 [[ 9.98116303e-01 -5.96064291e-02 -1.45230502e-02 4.15177135e+02] [ 5.96077576e-02 9.98221818e-01 -3.41759931e-04 6.65198417e+00] [ 1.45175966e-02 -5.24570295e-04 9.99894477e-01 3.80725253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65925415399994 meters Centerline goodness [0,1] 0.9988513428845913 Centerline is valid? [True, True] Translation: X:415.21, Y:6.65, Z:3.81 [[ 9.97997364e-01 -6.16116670e-02 -1.43270225e-02 4.15208238e+02] [ 6.16131806e-02 9.98100047e-01 -3.36132573e-04 6.64937254e+00] [ 1.43205115e-02 -5.47274001e-04 9.99897306e-01 3.80721435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68925415399997 meters Centerline goodness [0,1] 0.998583274303096 Centerline is valid? [True, True] Translation: X:415.24, Y:6.65, Z:3.81 [[ 9.97735282e-01 -6.56381819e-02 -1.46947677e-02 4.15239087e+02] [ 6.56402279e-02 9.97843296e-01 -3.43557231e-04 6.64589111e+00] [ 1.46856259e-02 -6.21788732e-04 9.99891967e-01 3.80559703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71925415399994 meters Centerline goodness [0,1] 0.998790759736469 Centerline is valid? [True, True] Translation: X:415.27, Y:6.65, Z:3.81 [[ 9.97579146e-01 -6.81674846e-02 -1.37492295e-02 4.15271102e+02] [ 6.81695248e-02 9.97673701e-01 -3.20766087e-04 6.64745354e+00] [ 1.37391105e-02 -6.17288881e-04 9.99905423e-01 3.80798107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74925415399997 meters Centerline goodness [0,1] 0.9987280802352009 Centerline is valid? [True, True] Translation: X:415.30, Y:6.64, Z:3.81 [[ 9.97410929e-01 -7.06823306e-02 -1.32456380e-02 4.15301265e+02] [ 7.06844588e-02 9.97498678e-01 -3.07997883e-04 6.64261735e+00] [ 1.32342764e-02 -6.29060297e-04 9.99912225e-01 3.80787081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.77925415399994 meters Centerline goodness [0,1] 0.9987299604413908 Centerline is valid? [True, True] Translation: X:415.33, Y:6.64, Z:3.81 [[ 9.97220430e-01 -7.33603614e-02 -1.30257951e-02 4.15331504e+02] [ 7.33626591e-02 9.97305284e-01 -3.01982296e-04 6.64042504e+00] [ 1.30128478e-02 -6.54464050e-04 9.99915115e-01 3.80837119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.809254154 meters Centerline goodness [0,1] 0.9985891530768911 Centerline is valid? [True, True] Translation: X:415.36, Y:6.64, Z:3.81 [[ 9.96831149e-01 -7.84794218e-02 -1.29862093e-02 4.15362396e+02] [ 7.84821410e-02 9.96915474e-01 -3.00876661e-04 6.64145521e+00] [ 1.29697656e-02 -7.19262280e-04 9.99915630e-01 3.80741350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.83925415399995 meters Centerline goodness [0,1] 0.9987912889444618 Centerline is valid? [True, True] Translation: X:415.39, Y:6.64, Z:3.81 [[ 9.96611184e-01 -8.13329867e-02 -1.22919623e-02 4.15393217e+02] [ 8.13356405e-02 9.96686727e-01 -2.84676999e-04 6.64325445e+00] [ 1.22743893e-02 -7.16062349e-04 9.99924410e-01 3.80918656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.869254154 meters Centerline goodness [0,1] 0.998625 Centerline is valid? [True, True] Translation: X:415.42, Y:6.64, Z:3.81 [[ 9.96409497e-01 -8.36911442e-02 -1.28025892e-02 4.15423079e+02] [ 8.36942234e-02 9.96491440e-01 -2.96008839e-04 6.64138424e+00] [ 1.27824438e-02 -7.76556741e-04 9.99918000e-01 3.80971484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.89925415399995 meters Centerline goodness [0,1] 0.998668829818212 Centerline is valid? [True, True] Translation: X:415.46, Y:6.64, Z:3.81 [[ 9.96249846e-01 -8.56023389e-02 -1.25890700e-02 4.15455160e+02] [ 8.56054817e-02 9.96329071e-01 -2.90001619e-04 6.64205958e+00] [ 1.25676813e-02 -7.88779334e-04 9.99920712e-01 3.80970525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9292541539999 meters Centerline goodness [0,1] 0.9985222495108854 Centerline is valid? [True, True] Translation: X:415.49, Y:6.64, Z:3.81 [[ 9.96032442e-01 -8.80042521e-02 -1.32146467e-02 4.15485983e+02] [ 8.80079374e-02 9.96119727e-01 -3.03511480e-04 6.64243716e+00] [ 1.31900805e-02 -8.60686517e-04 9.99912637e-01 3.80899440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.95925415399995 meters Centerline goodness [0,1] 0.9987068516007925 Centerline is valid? [True, True] Translation: X:415.52, Y:6.64, Z:3.81 [[ 9.95996117e-01 -8.83639197e-02 -1.35481788e-02 4.15518047e+02] [ 8.83678369e-02 9.96087862e-01 -3.10411544e-04 6.64464712e+00] [ 1.35226057e-02 -8.88054563e-04 9.99908171e-01 3.80896384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9892541539999 meters Centerline goodness [0,1] 0.9985420918898654 Centerline is valid? [True, True] Translation: X:415.55, Y:6.65, Z:3.81 [[ 9.96005914e-01 -8.81646061e-02 -1.41145691e-02 4.15550624e+02] [ 8.81688529e-02 9.96105491e-01 -3.22309378e-04 6.64768892e+00] [ 1.40880160e-02 -9.23443318e-04 9.99900333e-01 3.80839576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.01925415399995 meters Centerline goodness [0,1] 0.9986041375861997 Centerline is valid? [True, True] Translation: X:415.58, Y:6.65, Z:3.81 [[ 9.96070670e-01 -8.73020691e-02 -1.48851675e-02 4.15582194e+02] [ 8.73067121e-02 9.96181421e-01 -3.38859618e-04 6.64574738e+00] [ 1.48579105e-02 -9.62046906e-04 9.99889152e-01 3.80682841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0492541539999 meters Centerline goodness [0,1] 0.9987908857803999 Centerline is valid? [True, True] Translation: X:415.61, Y:6.66, Z:3.81 [[ 9.96278325e-01 -8.48130843e-02 -1.53700697e-02 4.15613972e+02] [ 8.48177531e-02 9.96396421e-01 -3.49025262e-04 6.65582048e+00] [ 1.53442844e-02 -9.55928476e-04 9.99881813e-01 3.80848442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07925415399995 meters Centerline goodness [0,1] 0.9986437424362559 Centerline is valid? [True, True] Translation: X:415.65, Y:6.66, Z:3.81 [[ 9.96442512e-01 -8.28900263e-02 -1.52172528e-02 4.15645269e+02] [ 8.28943905e-02 9.96558278e-01 -3.44820040e-04 6.66011521e+00] [ 1.51934614e-02 -9.17831551e-04 9.99884151e-01 3.80887448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1092541539999 meters Centerline goodness [0,1] 0.998705014934102 Centerline is valid? [True, True] Translation: X:415.68, Y:6.66, Z:3.81 [[ 9.96619731e-01 -8.06981908e-02 -1.53920301e-02 4.15676059e+02] [ 8.07024042e-02 9.96738181e-01 -3.48204149e-04 6.66243057e+00] [ 1.53699235e-02 -8.95146706e-04 9.99881475e-01 3.80914488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13925415399996 meters Centerline goodness [0,1] 0.9987889923581242 Centerline is valid? [True, True] Translation: X:415.71, Y:6.67, Z:3.81 [[ 9.97032748e-01 -7.55186103e-02 -1.49210892e-02 4.15706294e+02] [ 7.55219965e-02 9.97144079e-01 -3.37202172e-04 6.67187787e+00] [ 1.49039408e-02 -7.90668841e-04 9.99888617e-01 3.81027660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.16925415399993 meters Centerline goodness [0,1] 0.9985171261487051 Centerline is valid? [True, True] Translation: X:415.74, Y:6.68, Z:3.81 [[ 9.97272064e-01 -7.24241931e-02 -1.42536515e-02 4.15737477e+02] [ 7.24269706e-02 9.97373666e-01 -3.21917479e-04 6.67677495e+00] [ 1.42395313e-02 -7.11309492e-04 9.99898360e-01 3.81080002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19925415399996 meters Centerline goodness [0,1] 0.9986006098834538 Centerline is valid? [True, True] Translation: X:415.77, Y:6.68, Z:3.81 [[ 9.97501307e-01 -6.92309342e-02 -1.40790475e-02 4.15767565e+02] [ 6.92333327e-02 9.97600443e-01 -3.17544405e-04 6.67842190e+00] [ 1.40672479e-02 -6.57988418e-04 9.99900835e-01 3.81143997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.22925415399993 meters Centerline goodness [0,1] 0.9986633249791145 Centerline is valid? [True, True] Translation: X:415.80, Y:6.69, Z:3.81 [[ 9.97737206e-01 -6.58083487e-02 -1.37741841e-02 4.15798493e+02] [ 6.58103235e-02 9.97832103e-01 -3.10337208e-04 6.68597395e+00] [ 1.37647459e-02 -5.96848533e-04 9.99905083e-01 3.81208222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25925415399996 meters Centerline goodness [0,1] 0.9987431922915794 Centerline is valid? [True, True] Translation: X:415.83, Y:6.69, Z:3.81 [[ 9.98147502e-01 -5.92969695e-02 -1.36174343e-02 4.15827559e+02] [ 5.92982983e-02 9.98240261e-01 -3.06518688e-04 6.69310373e+00] [ 1.36116468e-02 -5.01539816e-04 9.99907231e-01 3.81258719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.28925415399993 meters Centerline goodness [0,1] 0.9987851622227342 Centerline is valid? [True, True] Translation: X:415.86, Y:6.70, Z:3.81 [[ 9.98332857e-01 -5.61021845e-02 -1.35665744e-02 4.15859198e+02] [ 5.61032102e-02 9.98424928e-01 -3.05265921e-04 6.69805799e+00] [ 1.35623322e-02 -4.56371379e-04 9.99907923e-01 3.81313672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31925415399996 meters Centerline goodness [0,1] 0.9989725093837153 Centerline is valid? [True, True] Translation: X:415.89, Y:6.70, Z:3.81 [[ 9.98485854e-01 -5.33418619e-02 -1.34404521e-02 4.15889228e+02] [ 5.33426263e-02 9.98576223e-01 -3.01860398e-04 6.70149388e+00] [ 1.34374177e-02 -4.15545677e-04 9.99909627e-01 3.81364456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.34925415399994 meters Centerline goodness [0,1] 0.9988039532492603 Centerline is valid? [True, True] Translation: X:415.92, Y:6.71, Z:3.81 [[ 9.98613133e-01 -5.09322323e-02 -1.33311357e-02 4.15920990e+02] [ 5.09327757e-02 9.98702039e-01 -2.98961874e-04 6.70565237e+00] [ 1.33290592e-02 -3.80444492e-04 9.99911092e-01 3.81411240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37925415399997 meters Centerline goodness [0,1] 0.99872028866931 Centerline is valid? [True, True] Translation: X:415.95, Y:6.71, Z:3.81 [[ 9.98789818e-01 -4.74439025e-02 -1.29605225e-02 4.15952804e+02] [ 4.74441336e-02 9.98873851e-01 -2.89806947e-04 6.71287976e+00] [ 1.29596766e-02 -3.25444536e-04 9.99915967e-01 3.81435811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.40925415399994 meters Centerline goodness [0,1] 0.9989079989079989 Centerline is valid? [True, True] Translation: X:415.98, Y:6.71, Z:3.81 [[ 9.98846182e-01 -4.62599545e-02 -1.28965869e-02 4.15984803e+02] [ 4.62600948e-02 9.98929387e-01 -2.87593033e-04 6.71496229e+00] [ 1.28960836e-02 -3.09336127e-04 9.99916794e-01 3.81469022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43925415399997 meters Centerline goodness [0,1] 0.9990130611902062 Centerline is valid? [True, True] Translation: X:416.02, Y:6.72, Z:3.81 [[ 9.98900821e-01 -4.50509426e-02 -1.29445937e-02 4.16016732e+02] [ 4.50509950e-02 9.98984647e-01 -2.87695956e-04 6.71680587e+00] [ 1.29444114e-02 -2.95787102e-04 9.99916174e-01 3.81483206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.46925415399994 meters Centerline goodness [0,1] 0.9990130611902062 Centerline is valid? [True, True] Translation: X:416.05, Y:6.72, Z:3.82 [[ 9.98904172e-01 -4.49765687e-02 -1.29446151e-02 4.16048422e+02] [ 4.49766274e-02 9.98987998e-01 -2.86731855e-04 6.71745038e+00] [ 1.29444113e-02 -2.95787484e-04 9.99916174e-01 3.81512882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49925415399997 meters Centerline goodness [0,1] 0.9990348705467668 Centerline is valid? [True, True] Translation: X:416.08, Y:6.72, Z:3.81 [[ 9.98959819e-01 -4.35811487e-02 -1.34150198e-02 4.16080620e+02] [ 4.35810997e-02 9.99049849e-01 -2.96124592e-04 6.72052457e+00] [ 1.34151790e-02 -2.88824746e-04 9.99909971e-01 3.81461894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.52925415399994 meters Centerline goodness [0,1] 0.9990336540481493 Centerline is valid? [True, True] Translation: X:416.11, Y:6.72, Z:3.82 [[ 9.98982670e-01 -4.30523109e-02 -1.34209840e-02 4.16112892e+02] [ 4.30522277e-02 9.99072779e-01 -2.95247974e-04 6.72194538e+00] [ 1.34212509e-02 -2.82855650e-04 9.99909891e-01 3.81525303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.559254154 meters Centerline goodness [0,1] 0.9992240421114443 Centerline is valid? [True, True] Translation: X:416.14, Y:6.72, Z:3.82 [[ 9.99008374e-01 -4.24126795e-02 -1.35437448e-02 4.16144299e+02] [ 4.24125488e-02 9.99100139e-01 -2.97004669e-04 6.72216782e+00] [ 1.35441541e-02 -2.77714587e-04 9.99908235e-01 3.81517858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.58925415399995 meters Centerline goodness [0,1] 0.9989093044718517 Centerline is valid? [True, True] Translation: X:416.18, Y:6.72, Z:3.82 [[ 9.99040743e-01 -4.17231888e-02 -1.32954719e-02 4.16176698e+02] [ 4.17230125e-02 9.99129174e-01 -2.90757069e-04 6.72266951e+00] [ 1.32960252e-02 -2.64248984e-04 9.99911569e-01 3.81516182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.619254154 meters Centerline goodness [0,1] 0.9988472984868173 Centerline is valid? [True, True] Translation: X:416.21, Y:6.72, Z:3.81 [[ 9.99105477e-01 -4.00519220e-02 -1.35679901e-02 4.16208466e+02] [ 4.00515981e-02 9.99197569e-01 -2.95700907e-04 6.72352354e+00] [ 1.35689462e-02 -2.47983292e-04 9.99907907e-01 3.81274963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.64925415399995 meters Centerline goodness [0,1] 0.998912111132032 Centerline is valid? [True, True] Translation: X:416.24, Y:6.72, Z:3.81 [[ 9.99115091e-01 -4.00220429e-02 -1.29333546e-02 4.16240997e+02] [ 4.00217581e-02 9.99198769e-01 -2.80936887e-04 6.72432264e+00] [ 1.29342357e-02 -2.36927307e-04 9.99916321e-01 3.81438652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6792541539999 meters Centerline goodness [0,1] 0.9990373548184577 Centerline is valid? [True, True] Translation: X:416.27, Y:6.72, Z:3.82 [[ 9.99111042e-01 -4.01797099e-02 -1.27560219e-02 4.16273541e+02] [ 4.01794578e-02 9.99192441e-01 -2.76146923e-04 6.72468883e+00] [ 1.27568162e-02 -2.36628604e-04 9.99918601e-01 3.81629394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.70925415399995 meters Centerline goodness [0,1] 0.9989548494983278 Centerline is valid? [True, True] Translation: X:416.31, Y:6.72, Z:3.82 [[ 9.99119523e-01 -4.01020688e-02 -1.23289357e-02 4.16306216e+02] [ 4.01018383e-02 9.99195562e-01 -2.66010283e-04 6.72474573e+00] [ 1.23296854e-02 -2.28636919e-04 9.99923960e-01 3.81662686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7392541539999 meters Centerline goodness [0,1] 0.9987033628910825 Centerline is valid? [True, True] Translation: X:416.34, Y:6.72, Z:3.82 [[ 9.99074803e-01 -4.13339288e-02 -1.18762172e-02 4.16338878e+02] [ 4.13338121e-02 9.99145360e-01 -2.55386435e-04 6.72296119e+00] [ 1.18766235e-02 -2.35739179e-04 9.99929443e-01 3.81683906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.76925415399995 meters Centerline goodness [0,1] 0.9989753455594822 Centerline is valid? [True, True] Translation: X:416.37, Y:6.72, Z:3.82 [[ 9.99055738e-01 -4.17822748e-02 -1.19111170e-02 4.16370381e+02] [ 4.17821991e-02 9.99126710e-01 -2.55302553e-04 6.72165354e+00] [ 1.19113822e-02 -2.42611181e-04 9.99929028e-01 3.81724477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7992541539999 meters Centerline goodness [0,1] 0.9988092004930328 Centerline is valid? [True, True] Translation: X:416.40, Y:6.72, Z:3.82 [[ 9.98996390e-01 -4.31682996e-02 -1.19461213e-02 4.16402980e+02] [ 4.31683310e-02 9.99067780e-01 -2.55341984e-04 6.72007724e+00] [ 1.19460075e-02 -2.60608397e-04 9.99928610e-01 3.81745663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.82925415399995 meters Centerline goodness [0,1] 0.998913134353315 Centerline is valid? [True, True] Translation: X:416.44, Y:6.72, Z:3.82 [[ 9.98989676e-01 -4.32102203e-02 -1.23492246e-02 4.16435574e+02] [ 4.32102689e-02 9.99065966e-01 -2.63008936e-04 6.71940541e+00] [ 1.23490546e-02 -2.70870102e-04 9.99923711e-01 3.81741562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8592541539999 meters Centerline goodness [0,1] 0.999080498202792 Centerline is valid? [True, True] Translation: X:416.47, Y:6.72, Z:3.82 [[ 9.98977731e-01 -4.34209208e-02 -1.25744727e-02 4.16467540e+02] [ 4.34209999e-02 9.99056828e-01 -2.66850448e-04 6.71875199e+00] [ 1.25741997e-02 -2.79418523e-04 9.99920903e-01 3.81767610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.88925415399996 meters Centerline goodness [0,1] 0.9988933433558841 Centerline is valid? [True, True] Translation: X:416.50, Y:6.72, Z:3.82 [[ 9.98984642e-01 -4.29895403e-02 -1.34753548e-02 4.16499016e+02] [ 4.29896050e-02 9.99075479e-01 -2.84993081e-04 6.71724047e+00] [ 1.34751483e-02 -2.94596469e-04 9.99909163e-01 3.81543532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91925415399993 meters Centerline goodness [0,1] 0.9987462649142236 Centerline is valid? [True, True] Translation: X:416.53, Y:6.72, Z:3.82 [[ 9.98968256e-01 -4.29950178e-02 -1.46237064e-02 4.16530697e+02] [ 4.29951072e-02 9.99075235e-01 -3.08423632e-04 6.71698226e+00] [ 1.46234436e-02 -3.20642406e-04 9.99893020e-01 3.81667118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.94925415399996 meters Centerline goodness [0,1] 0.998914654254764 Centerline is valid? [True, True] Translation: X:416.56, Y:6.72, Z:3.82 [[ 9.98969342e-01 -4.26962341e-02 -1.54040538e-02 4.16562294e+02] [ 4.26963177e-02 9.99088044e-01 -3.23590397e-04 6.71589793e+00] [ 1.54038220e-02 -3.34439486e-04 9.99881298e-01 3.81639252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97925415399993 meters Centerline goodness [0,1] 0.9990615811315247 Centerline is valid? [True, True] Translation: X:416.59, Y:6.71, Z:3.82 [[ 9.98980721e-01 -4.23516080e-02 -1.56160181e-02 4.16593373e+02] [ 4.23516753e-02 9.99102712e-01 -3.26536091e-04 6.71473345e+00] [ 1.56158354e-02 -3.35161269e-04 9.99878009e-01 3.81598271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.00925415399996 meters Centerline goodness [0,1] 0.9989339242041012 Centerline is valid? [True, True] Translation: X:416.62, Y:6.72, Z:3.82 [[ 9.98981236e-01 -4.21220615e-02 -1.61932759e-02 4.16624981e+02] [ 4.21221165e-02 9.99112413e-01 -3.37827437e-04 6.71515380e+00] [ 1.61931329e-02 -3.44611783e-04 9.99868823e-01 3.81638807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03925415399993 meters Centerline goodness [0,1] 0.9988511749347259 Centerline is valid? [True, True] Translation: X:416.66, Y:6.71, Z:3.82 [[ 9.98997272e-01 -4.16263153e-02 -1.64833165e-02 4.16656798e+02] [ 4.16263150e-02 9.99133190e-01 -3.43263491e-04 6.71443743e+00] [ 1.64833174e-02 -3.43220433e-04 9.99864082e-01 3.81653787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06925415399996 meters Centerline goodness [0,1] 0.9988915380432509 Centerline is valid? [True, True] Translation: X:416.69, Y:6.71, Z:3.82 [[ 9.99040067e-01 -4.06977180e-02 -1.62061908e-02 4.16687285e+02] [ 4.06976081e-02 9.99171452e-01 -3.36712653e-04 6.71313974e+00] [ 1.62064667e-02 -3.23163772e-04 9.99868614e-01 3.81684862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09925415399994 meters Centerline goodness [0,1] 0.9987059609283687 Centerline is valid? [True, True] Translation: X:416.72, Y:6.71, Z:3.82 [[ 9.99075270e-01 -3.98597475e-02 -1.61184939e-02 4.16719006e+02] [ 3.98595435e-02 9.99205237e-01 -3.34044816e-04 6.71393326e+00] [ 1.61189984e-02 -3.08739893e-04 9.99870033e-01 3.81747030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12925415399997 meters Centerline goodness [0,1] 0.9991228070175439 Centerline is valid? [True, True] Translation: X:416.75, Y:6.72, Z:3.82 [[ 9.99187430e-01 -3.67490720e-02 -1.65524889e-02 4.16749640e+02] [ 3.67484360e-02 9.99324489e-01 -3.42687589e-04 6.71501835e+00] [ 1.65539009e-02 -2.65868947e-04 9.99862939e-01 3.81788925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15925415399994 meters Centerline goodness [0,1] 0.9991021277484288 Centerline is valid? [True, True] Translation: X:416.78, Y:6.72, Z:3.82 [[ 9.99244703e-01 -3.52861810e-02 -1.62760468e-02 4.16780068e+02] [ 3.52853740e-02 9.99377221e-01 -3.36838088e-04 6.71547490e+00] [ 1.62777962e-02 -2.37722725e-04 9.99867480e-01 3.81878510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18925415399997 meters Centerline goodness [0,1] 0.9990408073899535 Centerline is valid? [True, True] Translation: X:416.81, Y:6.72, Z:3.82 [[ 9.99305471e-01 -3.34637821e-02 -1.63936121e-02 4.16810261e+02] [ 3.34627211e-02 9.99439909e-01 -3.39098744e-04 6.71628924e+00] [ 1.63957778e-02 -2.09711641e-04 9.99865558e-01 3.81844934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21925415399994 meters Centerline goodness [0,1] 0.9992479318124843 Centerline is valid? [True, True] Translation: X:416.84, Y:6.72, Z:3.82 [[ 9.99336703e-01 -3.28384173e-02 -1.57414202e-02 4.16839634e+02] [ 3.28373596e-02 9.99460655e-01 -3.25725923e-04 6.71642715e+00] [ 1.57436265e-02 -1.91396805e-04 9.99876043e-01 3.82008665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24925415399997 meters Centerline goodness [0,1] 0.9991658672894858 Centerline is valid? [True, True] Translation: X:416.87, Y:6.72, Z:3.82 [[ 9.99335543e-01 -3.29408928e-02 -1.56003246e-02 4.16870387e+02] [ 3.29398638e-02 9.99457283e-01 -3.22977592e-04 6.71524218e+00] [ 1.56024973e-02 -1.91109582e-04 9.99878255e-01 3.82131225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.27925415399994 meters Centerline goodness [0,1] 0.9993545028630921 Centerline is valid? [True, True] Translation: X:416.90, Y:6.71, Z:3.82 [[ 9.99288981e-01 -3.42403293e-02 -1.57839182e-02 4.16901098e+02] [ 3.42394380e-02 9.99413605e-01 -3.26778578e-04 6.71394788e+00] [ 1.57858516e-02 -2.13886258e-04 9.99875373e-01 3.82177375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.309254154 meters Centerline goodness [0,1] 0.9992486695189398 Centerline is valid? [True, True] Translation: X:416.93, Y:6.71, Z:3.82 [[ 9.99191119e-01 -3.67870473e-02 -1.62425498e-02 4.16931164e+02] [ 3.67864377e-02 9.99323093e-01 -3.36400105e-04 6.71199283e+00] [ 1.62439302e-02 -2.61377548e-04 9.99868024e-01 3.82186767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.33925415399995 meters Centerline goodness [0,1] 0.999289832066171 Centerline is valid? [True, True] Translation: X:416.96, Y:6.71, Z:3.82 [[ 9.99081680e-01 -3.93429145e-02 -1.69685525e-02 4.16961508e+02] [ 3.93426147e-02 9.99225718e-01 -3.51616147e-04 6.70909435e+00] [ 1.69692477e-02 -3.16293972e-04 9.99855962e-01 3.82175236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.369254154 meters Centerline goodness [0,1] 0.9989766081871345 Centerline is valid? [True, True] Translation: X:416.99, Y:6.70, Z:3.82 [[ 9.98788528e-01 -4.60434388e-02 -1.73631504e-02 4.16991420e+02] [ 4.60441340e-02 9.98939342e-01 -3.59937640e-04 6.70131312e+00] [ 1.73613068e-02 -4.39969640e-04 9.99849184e-01 3.82056044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.39925415399995 meters Centerline goodness [0,1] 0.9992278959120219 Centerline is valid? [True, True] Translation: X:417.02, Y:6.70, Z:3.82 [[ 9.98618963e-01 -4.95147743e-02 -1.75628611e-02 4.17022289e+02] [ 4.95160215e-02 9.98773263e-01 -3.64101771e-04 6.69787741e+00] [ 1.75593445e-02 -5.06044074e-04 9.99845695e-01 3.82091510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4292541539999 meters Centerline goodness [0,1] 0.99918964406674 Centerline is valid? [True, True] Translation: X:417.05, Y:6.70, Z:3.82 [[ 9.98457648e-01 -5.26672565e-02 -1.75637711e-02 4.17052673e+02] [ 5.26689940e-02 9.98611959e-01 -3.63952288e-04 6.69536445e+00] [ 1.75585602e-02 -5.61675207e-04 9.99845679e-01 3.82138775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.45925415399995 meters Centerline goodness [0,1] 0.9990605231842001 Centerline is valid? [True, True] Translation: X:417.08, Y:6.69, Z:3.82 [[ 9.98137100e-01 -5.82317999e-02 -1.82040461e-02 4.17083011e+02] [ 5.82345904e-02 9.98302855e-01 -3.77219914e-04 6.68788123e+00] [ 1.81951174e-02 -6.83587975e-04 9.99834221e-01 3.82018503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4892541539999 meters Centerline goodness [0,1] 0.99897695005846 Centerline is valid? [True, True] Translation: X:417.11, Y:6.69, Z:3.82 [[ 9.97955445e-01 -6.15646586e-02 -1.71674645e-02 4.17114057e+02] [ 6.15676348e-02 9.98102850e-01 -3.55600950e-04 6.68682558e+00] [ 1.71567877e-02 -7.02086281e-04 9.99852565e-01 3.82259118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.51925415399995 meters Centerline goodness [0,1] 0.9992284755093104 Centerline is valid? [True, True] Translation: X:417.15, Y:6.69, Z:3.82 [[ 9.97822930e-01 -6.37092764e-02 -1.70448793e-02 4.17145364e+02] [ 6.37125301e-02 9.97968231e-01 -3.52617583e-04 6.68634388e+00] [ 1.70327130e-02 -7.34122476e-04 9.99854663e-01 3.82353895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5492541539999 meters Centerline goodness [0,1] 0.9993313971709743 Centerline is valid? [True, True] Translation: X:417.18, Y:6.68, Z:3.82 [[ 9.97678314e-01 -6.59509204e-02 -1.69840298e-02 4.17177238e+02] [ 6.59544875e-02 9.97822571e-01 -3.50624579e-04 6.68447698e+00] [ 1.69701723e-02 -7.70362443e-04 9.99855699e-01 3.82416426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57925415399995 meters Centerline goodness [0,1] 0.9990211596134622 Centerline is valid? [True, True] Translation: X:417.21, Y:6.68, Z:3.83 [[ 9.97474247e-01 -6.92713173e-02 -1.57038458e-02 4.17207785e+02] [ 6.92747860e-02 9.97597564e-01 -3.23632091e-04 6.68034961e+00] [ 1.56885367e-02 -7.65065878e-04 9.99876635e-01 3.82521454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6092541539999 meters Centerline goodness [0,1] 0.9991025400204537 Centerline is valid? [True, True] Translation: X:417.24, Y:6.68, Z:3.83 [[ 9.97390983e-01 -7.05697239e-02 -1.52033454e-02 4.17239413e+02] [ 7.05731327e-02 9.97506559e-01 -3.12841926e-04 6.67749656e+00] [ 1.51875140e-02 -7.60921999e-04 9.99884374e-01 3.82566960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63925415399996 meters Centerline goodness [0,1] 0.9989559188957798 Centerline is valid? [True, True] Translation: X:417.27, Y:6.68, Z:3.83 [[ 9.97331436e-01 -7.15990398e-02 -1.42683146e-02 4.17271567e+02] [ 7.16021589e-02 9.97433228e-01 -2.92782993e-04 6.67762187e+00] [ 1.42526541e-02 -7.29640449e-04 9.99898160e-01 3.82656792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.66925415399993 meters Centerline goodness [0,1] 0.9990619528058033 Centerline is valid? [True, True] Translation: X:417.30, Y:6.68, Z:3.83 [[ 9.97295022e-01 -7.20972697e-02 -1.43046754e-02 4.17303734e+02] [ 7.21004703e-02 9.97397331e-01 -2.92513690e-04 6.67736554e+00] [ 1.42885345e-02 -7.39651378e-04 9.99897640e-01 3.82719738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69925415399996 meters Centerline goodness [0,1] 0.9988515587479903 Centerline is valid? [True, True] Translation: X:417.33, Y:6.67, Z:3.83 [[ 9.97285979e-01 -7.22845074e-02 -1.39866727e-02 4.17334721e+02] [ 7.22875981e-02 9.97383789e-01 -2.85119381e-04 6.67387890e+00] [ 1.39706903e-02 -7.26717414e-04 9.99902141e-01 3.82714044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.72925415399993 meters Centerline goodness [0,1] 0.9991029893401756 Centerline is valid? [True, True] Translation: X:417.37, Y:6.68, Z:3.83 [[ 9.97296970e-01 -7.21218411e-02 -1.40425606e-02 4.17366910e+02] [ 7.21249523e-02 9.97395563e-01 -2.85413149e-04 6.68303541e+00] [ 1.40265721e-02 -7.28177343e-04 9.99901358e-01 3.82824693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75925415399996 meters Centerline goodness [0,1] 0.9991022777093468 Centerline is valid? [True, True] Translation: X:417.40, Y:6.68, Z:3.83 [[ 9.97351661e-01 -7.12638363e-02 -1.45303249e-02 4.17398066e+02] [ 7.12670914e-02 9.97457225e-01 -2.94313382e-04 6.68185541e+00] [ 1.45143514e-02 -7.42000051e-04 9.99894386e-01 3.82678177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.78925415399993 meters Centerline goodness [0,1] 0.9992696160267112 Centerline is valid? [True, True] Translation: X:417.43, Y:6.68, Z:3.83 [[ 9.97361672e-01 -7.11010246e-02 -1.46403502e-02 4.17429632e+02] [ 7.11043236e-02 9.97468840e-01 -2.95726242e-04 6.68341527e+00] [ 1.46243196e-02 -7.46046179e-04 9.99892781e-01 3.82866842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81925415399996 meters Centerline goodness [0,1] 0.9990457619383479 Centerline is valid? [True, True] Translation: X:417.46, Y:6.69, Z:3.83 [[ 9.97389180e-01 -7.05459411e-02 -1.54302637e-02 4.17461503e+02] [ 7.05495547e-02 9.97508227e-01 -3.10695266e-04 6.68565336e+00] [ 1.54137333e-02 -7.78714138e-04 9.99880898e-01 3.82819624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.84925415399994 meters Centerline goodness [0,1] 0.9990393651456615 Centerline is valid? [True, True] Translation: X:417.49, Y:6.69, Z:3.83 [[ 9.97379194e-01 -7.05056320e-02 -1.62387960e-02 4.17493927e+02] [ 7.05096489e-02 9.97511044e-01 -3.25745197e-04 6.68720771e+00] [ 1.62213452e-02 -8.20100320e-04 9.99868089e-01 3.82821969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87925415399997 meters Centerline goodness [0,1] 0.9991231000501085 Centerline is valid? [True, True] Translation: X:417.53, Y:6.69, Z:3.83 [[ 9.97376665e-01 -7.03813544e-02 -1.69190278e-02 4.17525816e+02] [ 7.03857187e-02 9.97519792e-01 -3.38116219e-04 6.68831143e+00] [ 1.69008622e-02 -8.53628704e-04 9.99856806e-01 3.82798320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.90925415399994 meters Centerline goodness [0,1] 0.9990863407948835 Centerline is valid? [True, True] Translation: X:417.56, Y:6.69, Z:3.83 [[ 9.97384639e-01 -7.01020205e-02 -1.75951327e-02 4.17556633e+02] [ 7.01067180e-02 9.97539435e-01 -3.50458868e-04 6.68860118e+00] [ 1.75764066e-02 -8.83994715e-04 9.99845132e-01 3.82798438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93925415399997 meters Centerline goodness [0,1] 0.9989358594499854 Centerline is valid? [True, True] Translation: X:417.59, Y:6.69, Z:3.83 [[ 9.97399400e-01 -6.99017643e-02 -1.75550463e-02 4.17589160e+02] [ 6.99064288e-02 9.97553492e-01 -3.48553664e-04 6.68933318e+00] [ 1.75364623e-02 -8.79563379e-04 9.99845838e-01 3.82797519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.96925415399994 meters Centerline goodness [0,1] 0.9991865340091358 Centerline is valid? [True, True] Translation: X:417.62, Y:6.69, Z:3.83 [[ 9.97440543e-01 -6.93036524e-02 -1.75888533e-02 4.17621614e+02] [ 6.93082650e-02 9.97595230e-01 -3.47922691e-04 6.69439320e+00] [ 1.75706685e-02 -8.72020707e-04 9.99845244e-01 3.82926233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99925415399997 meters Centerline goodness [0,1] 0.998770269706949 Centerline is valid? [True, True] Translation: X:417.65, Y:6.69, Z:3.83 [[ 9.97515884e-01 -6.82987547e-02 -1.72436094e-02 4.17652775e+02] [ 6.83030578e-02 9.97664561e-01 -3.39955945e-04 6.69318790e+00] [ 1.72265566e-02 -8.38679796e-04 9.99851260e-01 3.82842771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.02925415399994 meters Centerline goodness [0,1] 0.9989590056421894 Centerline is valid? [True, True] Translation: X:417.68, Y:6.70, Z:3.83 [[ 9.97606624e-01 -6.68078028e-02 -1.78253026e-02 4.17684297e+02] [ 6.68121791e-02 9.97765508e-01 -3.50561339e-04 6.69679088e+00] [ 1.78088923e-02 -8.41224997e-04 9.99841055e-01 3.82844976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.059254154 meters Centerline goodness [0,1] 0.9989162828501761 Centerline is valid? [True, True] Translation: X:417.71, Y:6.70, Z:3.83 [[ 9.97850362e-01 -6.32472697e-02 -1.71591742e-02 4.17714703e+02] [ 6.32508101e-02 9.97997606e-01 -3.36842752e-04 6.70205279e+00] [ 1.71461191e-02 -7.49213004e-04 9.99852714e-01 3.83030663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.08925415399995 meters Centerline goodness [0,1] 0.9989578339621068 Centerline is valid? [True, True] Translation: X:417.75, Y:6.71, Z:3.83 [[ 9.98004556e-01 -6.06947015e-02 -1.74086023e-02 4.17746635e+02] [ 6.06979717e-02 9.98156120e-01 -3.40951200e-04 6.70526548e+00] [ 1.73971969e-02 -7.16395998e-04 9.99848401e-01 3.83075445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1192541539999 meters Centerline goodness [0,1] 0.9990000208328993 Centerline is valid? [True, True] Translation: X:417.78, Y:6.71, Z:3.83 [[ 9.98168283e-01 -5.79277153e-02 -1.74487482e-02 4.17777590e+02] [ 5.79305928e-02 9.98320555e-01 -3.40916081e-04 6.70852107e+00] [ 1.74391925e-02 -6.70524706e-04 9.99847701e-01 3.83105854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.14925415399995 meters Centerline goodness [0,1] 0.9987489313788861 Centerline is valid? [True, True] Translation: X:417.81, Y:6.71, Z:3.83 [[ 9.98415694e-01 -5.33490199e-02 -1.78880771e-02 4.17807438e+02] [ 5.33513165e-02 9.98575743e-01 -3.49143835e-04 6.71227822e+00] [ 1.78812264e-02 -6.05761777e-04 9.99839935e-01 3.83035604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1792541539999 meters Centerline goodness [0,1] 0.9990235795159448 Centerline is valid? [True, True] Translation: X:417.84, Y:6.72, Z:3.83 [[ 9.98510566e-01 -5.19167604e-02 -1.67720024e-02 4.17838980e+02] [ 5.19185819e-02 9.98651267e-01 -3.27091636e-04 6.71519725e+00] [ 1.67663630e-02 -5.44174123e-04 9.99859287e-01 3.83230970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.20925415399995 meters Centerline goodness [0,1] 0.9990831232157369 Centerline is valid? [True, True] Translation: X:417.87, Y:6.72, Z:3.83 [[ 9.98583814e-01 -5.05041105e-02 -1.67242686e-02 4.17870855e+02] [ 5.05057360e-02 9.98723718e-01 -3.25423715e-04 6.71666474e+00] [ 1.67193590e-02 -5.19708641e-04 9.99860087e-01 3.83224355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2392541539999 meters Centerline goodness [0,1] 0.9989573558544469 Centerline is valid? [True, True] Translation: X:417.90, Y:6.72, Z:3.83 [[ 9.98641320e-01 -4.96872348e-02 -1.57064333e-02 4.17901892e+02] [ 4.96885785e-02 9.98764713e-01 -3.04914721e-04 6.71828096e+00] [ 1.57021817e-02 -4.75929905e-04 9.99876600e-01 3.83370380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.26925415399995 meters Centerline goodness [0,1] 0.9991240875912408 Centerline is valid? [True, True] Translation: X:417.93, Y:6.72, Z:3.83 [[ 9.98770806e-01 -4.72032455e-02 -1.51238783e-02 4.17933275e+02] [ 4.72042150e-02 9.98885217e-01 -2.93067333e-04 6.72278382e+00] [ 1.51208522e-02 -4.21203708e-04 9.99885585e-01 3.83472919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2992541539999 meters Centerline goodness [0,1] 0.9991245257848002 Centerline is valid? [True, True] Translation: X:417.96, Y:6.72, Z:3.84 [[ 9.98830280e-01 -4.63019274e-02 -1.39356517e-02 4.17963356e+02] [ 4.63026685e-02 9.98927420e-01 -2.69635987e-04 6.72358220e+00] [ 1.39331892e-02 -3.75937271e-04 9.99902858e-01 3.83585388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.32925415399995 meters Centerline goodness [0,1] 0.9990178869943163 Centerline is valid? [True, True] Translation: X:417.99, Y:6.73, Z:3.84 [[ 9.98887335e-01 -4.50850650e-02 -1.38358045e-02 4.17994857e+02] [ 4.50856835e-02 9.98983088e-01 -2.67366012e-04 6.72708291e+00] [ 1.38337889e-02 -3.56728179e-04 9.99904245e-01 3.83619320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3592541539999 meters Centerline goodness [0,1] 0.9990178869943163 Centerline is valid? [True, True] Translation: X:418.03, Y:6.73, Z:3.84 [[ 9.98890698e-01 -4.50104824e-02 -1.38358176e-02 4.18026549e+02] [ 4.50111032e-02 9.98986451e-01 -2.66683824e-04 6.72763663e+00] [ 1.38337979e-02 -3.56377425e-04 9.99904245e-01 3.83649006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.38925415399996 meters Centerline goodness [0,1] 0.9989974518568027 Centerline is valid? [True, True] Translation: X:418.06, Y:6.73, Z:3.83 [[ 9.98987880e-01 -4.22024590e-02 -1.55617749e-02 4.18057226e+02] [ 4.22029179e-02 9.99109015e-01 -2.99050267e-04 6.72614229e+00] [ 1.55605303e-02 -3.58004717e-04 9.99878864e-01 3.83352074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41925415399993 meters Centerline goodness [0,1] 0.998936569498311 Centerline is valid? [True, True] Translation: X:418.09, Y:6.73, Z:3.83 [[ 9.99024647e-01 -4.13866590e-02 -1.53915499e-02 4.18087237e+02] [ 4.13870138e-02 9.99143147e-01 -2.95608028e-04 6.72776144e+00] [ 1.53905958e-02 -3.41690581e-04 9.99881499e-01 3.83424010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.44925415399996 meters Centerline goodness [0,1] 0.9988730513179038 Centerline is valid? [True, True] Translation: X:418.12, Y:6.73, Z:3.83 [[ 9.99047348e-01 -4.05706208e-02 -1.60754830e-02 4.18118361e+02] [ 4.05709062e-02 9.99176614e-01 -3.08496663e-04 6.73145453e+00] [ 1.60747626e-02 -3.43994141e-04 9.99870733e-01 3.83455267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47925415399993 meters Centerline goodness [0,1] 0.9989985186421582 Centerline is valid? [True, True] Translation: X:418.15, Y:6.73, Z:3.83 [[ 9.99069052e-01 -3.98708261e-02 -1.64725878e-02 4.18149772e+02] [ 3.98710409e-02 9.99204784e-01 -3.15503005e-04 6.73191223e+00] [ 1.64720679e-02 -3.41569934e-04 9.99864268e-01 3.83420115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.50925415399996 meters Centerline goodness [0,1] 0.9991232647949065 Centerline is valid? [True, True] Translation: X:418.18, Y:6.73, Z:3.83 [[ 9.99068778e-01 -3.93148656e-02 -1.77741023e-02 4.18179797e+02] [ 3.93150435e-02 9.99226807e-01 -3.39549656e-04 6.73145015e+00] [ 1.77737089e-02 -3.59556146e-04 9.99841971e-01 3.83341289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53925415399993 meters Centerline goodness [0,1] 0.9990181947316747 Centerline is valid? [True, True] Translation: X:418.21, Y:6.73, Z:3.83 [[ 9.99052940e-01 -3.91504369e-02 -1.89859296e-02 4.18209827e+02] [ 3.91506217e-02 9.99233255e-01 -3.62092958e-04 6.73220671e+00] [ 1.89855484e-02 -3.81560915e-04 9.99819685e-01 3.83289369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56925415399996 meters Centerline goodness [0,1] 0.9991860586455181 Centerline is valid? [True, True] Translation: X:418.24, Y:6.73, Z:3.83 [[ 9.99048430e-01 -3.95711812e-02 -1.83400205e-02 4.18239551e+02] [ 3.95714185e-02 9.99216683e-01 -3.50104465e-04 6.73293754e+00] [ 1.83395085e-02 -3.75969311e-04 9.99831746e-01 3.83434792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59925415399994 meters Centerline goodness [0,1] 0.9989342806394316 Centerline is valid? [True, True] Translation: X:418.27, Y:6.73, Z:3.83 [[ 9.99018779e-01 -4.00526924e-02 -1.89013296e-02 4.18269496e+02] [ 4.00530233e-02 9.99197490e-01 -3.61205713e-04 6.73154551e+00] [ 1.89006284e-02 -3.96204106e-04 9.99821289e-01 3.83340939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62925415399997 meters Centerline goodness [0,1] 0.9989959209287731 Centerline is valid? [True, True] Translation: X:418.30, Y:6.73, Z:3.84 [[ 9.98938367e-01 -4.21992480e-02 -1.84760048e-02 4.18299538e+02] [ 4.21999274e-02 9.99109124e-01 -3.53276360e-04 6.73177258e+00] [ 1.84744530e-02 -4.26784751e-04 9.99829242e-01 3.83518625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65925415399994 meters Centerline goodness [0,1] 0.9990177433175197 Centerline is valid? [True, True] Translation: X:418.33, Y:6.73, Z:3.83 [[ 9.98866197e-01 -4.32580069e-02 -1.98762354e-02 4.18329436e+02] [ 4.32589991e-02 9.99063819e-01 -3.80236599e-04 6.72956292e+00] [ 1.98740759e-02 -4.80020562e-04 9.99802376e-01 3.83411104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68925415399997 meters Centerline goodness [0,1] 0.9990591875561874 Centerline is valid? [True, True] Translation: X:418.36, Y:6.73, Z:3.84 [[ 9.98814622e-01 -4.50857152e-02 -1.83474504e-02 4.18359258e+02] [ 4.50868627e-02 9.98983009e-01 -3.51314889e-04 6.72929751e+00] [ 1.83446305e-02 -4.76330527e-04 9.99831610e-01 3.83551138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71925415399994 meters Centerline goodness [0,1] 0.9990591285439492 Centerline is valid? [True, True] Translation: X:418.39, Y:6.73, Z:3.84 [[ 9.98632707e-01 -4.88221879e-02 -1.86844758e-02 4.18389936e+02] [ 4.88240248e-02 9.98807332e-01 -3.58112549e-04 6.72718123e+00] [ 1.86796753e-02 -5.54628406e-04 9.99825366e-01 3.83576175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74925415399997 meters Centerline goodness [0,1] 0.9992673532613247 Centerline is valid? [True, True] Translation: X:418.42, Y:6.73, Z:3.84 [[ 9.98531763e-01 -5.08006810e-02 -1.88044764e-02 4.18420285e+02] [ 5.08028920e-02 9.98708634e-01 -3.60412518e-04 6.72599347e+00] [ 1.87985022e-02 -5.95438438e-04 9.99823115e-01 3.83577991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.77925415399994 meters Centerline goodness [0,1] 0.9988921404682274 Centerline is valid? [True, True] Translation: X:418.45, Y:6.72, Z:3.84 [[ 9.98405428e-01 -5.31709602e-02 -1.89591902e-02 4.18451050e+02] [ 5.31736379e-02 9.98585215e-01 -3.63204574e-04 6.72457265e+00] [ 1.89516790e-02 -6.45503698e-04 9.99820192e-01 3.83579787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.809254154 meters Centerline goodness [0,1] 0.9989354151880766 Centerline is valid? [True, True] Translation: X:418.48, Y:6.72, Z:3.84 [[ 9.98297195e-01 -5.51306438e-02 -1.90610244e-02 4.18480824e+02] [ 5.51337103e-02 9.98478914e-01 -3.64985403e-04 6.72286737e+00] [ 1.90521528e-02 -6.86541093e-04 9.99818256e-01 3.83578982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.83925415399995 meters Centerline goodness [0,1] 0.9988709070380128 Centerline is valid? [True, True] Translation: X:418.51, Y:6.72, Z:3.84 [[ 9.98049173e-01 -5.92691930e-02 -1.96216872e-02 4.18511914e+02] [ 5.92732446e-02 9.98241725e-01 -3.75538608e-04 6.71934716e+00] [ 1.96094448e-02 -7.88235068e-04 9.99807406e-01 3.83590850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8692541539999 meters Centerline goodness [0,1] 0.9990182357487519 Centerline is valid? [True, True] Translation: X:418.54, Y:6.72, Z:3.84 [[ 9.97927331e-01 -6.13817457e-02 -1.93215861e-02 4.18543094e+02] [ 6.13860797e-02 9.98114028e-01 -3.69262300e-04 6.72087978e+00] [ 1.93078121e-02 -8.17579483e-04 9.99813253e-01 3.83684108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.89925415399995 meters Centerline goodness [0,1] 0.9987479131886478 Centerline is valid? [True, True] Translation: X:418.57, Y:6.72, Z:3.84 [[ 9.97774576e-01 -6.38239214e-02 -1.92977351e-02 4.18573179e+02] [ 6.38287072e-02 9.97960801e-01 -3.68460191e-04 6.71506375e+00] [ 1.92818997e-02 -8.64109272e-04 9.99813713e-01 3.83604024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9292541539999 meters Centerline goodness [0,1] 0.9987674180541918 Centerline is valid? [True, True] Translation: X:418.60, Y:6.72, Z:3.84 [[ 9.97629082e-01 -6.60432223e-02 -1.93522203e-02 4.18603981e+02] [ 6.60484554e-02 9.97816348e-01 -3.69315676e-04 6.71877582e+00] [ 1.93343526e-02 -9.09744199e-04 9.99812660e-01 3.83738881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.95925415399995 meters Centerline goodness [0,1] 0.998917185515274 Centerline is valid? [True, True] Translation: X:418.63, Y:6.71, Z:3.84 [[ 9.97318694e-01 -7.05974192e-02 -1.92724624e-02 4.18633845e+02] [ 7.06034687e-02 9.97504394e-01 -3.67190532e-04 6.71418702e+00] [ 1.92502886e-02 -9.94496710e-04 9.99814201e-01 3.83692733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9892541539999 meters Centerline goodness [0,1] 0.9988309709204016 Centerline is valid? [True, True] Translation: X:418.66, Y:6.71, Z:3.84 [[ 9.97168311e-01 -7.26528444e-02 -1.94145281e-02 4.18664789e+02] [ 7.26593833e-02 9.97356745e-01 -3.69305554e-04 6.71384677e+00] [ 1.93900417e-02 -1.04238784e-03 9.99811452e-01 3.83732782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.01925415399995 meters Centerline goodness [0,1] 0.9989160795430858 Centerline is valid? [True, True] Translation: X:418.70, Y:6.71, Z:3.84 [[ 9.97071711e-01 -7.41845697e-02 -1.85648384e-02 4.18695172e+02] [ 7.41908194e-02 9.97244001e-01 -3.52815441e-04 6.70712438e+00] [ 1.85398472e-02 -1.02555828e-03 9.99827596e-01 3.83670195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0492541539999 meters Centerline goodness [0,1] 0.9986705166289287 Centerline is valid? [True, True] Translation: X:418.73, Y:6.71, Z:3.84 [[ 9.96875659e-01 -7.68620684e-02 -1.81973127e-02 4.18726354e+02] [ 7.68685262e-02 9.97041178e-01 -3.45351702e-04 6.71208036e+00] [ 1.81700146e-02 -1.05452790e-03 9.99834356e-01 3.83833347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07925415399995 meters Centerline goodness [0,1] 0.9986053869530828 Centerline is valid? [True, True] Translation: X:418.76, Y:6.72, Z:3.84 [[ 9.96822303e-01 -7.76391849e-02 -1.78171968e-02 4.18758272e+02] [ 7.76455164e-02 9.96980973e-01 -3.37182981e-04 6.71712789e+00] [ 1.77895848e-02 -1.04731393e-03 9.99841204e-01 3.83931341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1092541539999 meters Centerline goodness [0,1] 0.9986465664431766 Centerline is valid? [True, True] Translation: X:418.79, Y:6.71, Z:3.84 [[ 9.96752216e-01 -7.83367935e-02 -1.86645875e-02 4.18789427e+02] [ 7.83438868e-02 9.96926332e-01 -3.51975229e-04 6.71393377e+00] [ 1.86347914e-02 -1.11142424e-03 9.99825739e-01 3.83849051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13925415399996 meters Centerline goodness [0,1] 0.9988342076775751 Centerline is valid? [True, True] Translation: X:418.82, Y:6.72, Z:3.84 [[ 9.96757875e-01 -7.85422947e-02 -1.74598361e-02 4.18821182e+02] [ 7.85485518e-02 9.96910235e-01 -3.28176598e-04 6.71870102e+00] [ 1.74316650e-02 -1.04433223e-03 9.99847512e-01 3.83997988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.16925415399993 meters Centerline goodness [0,1] 0.9989172306090578 Centerline is valid? [True, True] Translation: X:418.85, Y:6.72, Z:3.84 [[ 9.96721001e-01 -7.89045106e-02 -1.79255083e-02 4.18852275e+02] [ 7.89111947e-02 9.96881593e-01 -3.35237521e-04 6.71978004e+00] [ 1.78960610e-02 -1.08038500e-03 9.99839269e-01 3.83910288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19925415399996 meters Centerline goodness [0,1] 0.9987279476164658 Centerline is valid? [True, True] Translation: X:418.88, Y:6.72, Z:3.84 [[ 9.96663347e-01 -7.92435695e-02 -1.95609033e-02 4.18884503e+02] [ 7.92516319e-02 9.96854576e-01 -3.63896969e-04 6.72210173e+00] [ 1.95282125e-02 -1.18755074e-03 9.99808601e-01 3.83836190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.22925415399993 meters Centerline goodness [0,1] 0.998791490425687 Centerline is valid? [True, True] Translation: X:418.92, Y:6.72, Z:3.84 [[ 9.96669954e-01 -7.94445660e-02 -1.83728983e-02 4.18915749e+02] [ 7.94517443e-02 9.96838655e-01 -3.40068018e-04 6.72191677e+00] [ 1.83418318e-02 -1.12082324e-03 9.99831146e-01 3.83893821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25925415399996 meters Centerline goodness [0,1] 0.9984977779632372 Centerline is valid? [True, True] Translation: X:418.95, Y:6.72, Z:3.84 [[ 9.96633531e-01 -7.97313259e-02 -1.90924177e-02 4.18947709e+02] [ 7.97391656e-02 9.96815701e-01 -3.51515630e-04 6.72347787e+00] [ 1.90596486e-02 -1.17208120e-03 9.99817661e-01 3.83847580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.28925415399993 meters Centerline goodness [0,1] 0.9985798717707746 Centerline is valid? [True, True] Translation: X:418.98, Y:6.73, Z:3.84 [[ 9.96557261e-01 -8.06047232e-02 -1.94037059e-02 4.18978728e+02] [ 8.06130094e-02 9.96745412e-01 -3.56022324e-04 6.72541830e+00] [ 1.93692519e-02 -1.20939449e-03 9.99811667e-01 3.83807848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31925415399996 meters Centerline goodness [0,1] 0.9985604306190148 Centerline is valid? [True, True] Translation: X:419.01, Y:6.73, Z:3.84 [[ 9.96545551e-01 -8.06834561e-02 -1.96760049e-02 4.19011275e+02] [ 8.06920168e-02 9.96739018e-01 -3.59749495e-04 6.73123995e+00] [ 1.96408677e-02 -1.22918976e-03 9.99806344e-01 3.83860406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.34925415399994 meters Centerline goodness [0,1] 0.9987690124976528 Centerline is valid? [True, True] Translation: X:419.04, Y:6.73, Z:3.84 [[ 9.96567615e-01 -8.03045067e-02 -2.01041054e-02 4.19042848e+02] [ 8.03133932e-02 9.96769595e-01 -3.66283612e-04 6.72913229e+00] [ 2.00685752e-02 -1.24960254e-03 9.99797825e-01 3.83757227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37925415399997 meters Centerline goodness [0,1] 0.9988747186796699 Centerline is valid? [True, True] Translation: X:419.08, Y:6.74, Z:3.84 [[ 9.96609483e-01 -7.97389256e-02 -2.02791282e-02 4.19075019e+02] [ 7.97478775e-02 9.96814998e-01 -3.68161950e-04 6.73707361e+00] [ 2.02438960e-02 -1.25030374e-03 9.99794290e-01 3.83864332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.40925415399994 meters Centerline goodness [0,1] 0.9985165994609615 Centerline is valid? [True, True] Translation: X:419.11, Y:6.74, Z:3.84 [[ 9.96698529e-01 -7.85768278e-02 -2.04383210e-02 4.19106222e+02] [ 7.85856998e-02 9.96907293e-01 -3.69959884e-04 6.74193077e+00] [ 2.04041815e-02 -1.23742128e-03 9.99791047e-01 3.83901612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43925415399997 meters Centerline goodness [0,1] 0.9989351484528334 Centerline is valid? [True, True] Translation: X:419.14, Y:6.75, Z:3.84 [[ 9.96822408e-01 -7.70514887e-02 -2.02028659e-02 4.19137107e+02] [ 7.70598603e-02 9.97026401e-01 -3.64950189e-04 6.74810762e+00] [ 2.01709107e-02 -1.19303950e-03 9.99795835e-01 3.84053173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.46925415399994 meters Centerline goodness [0,1] 0.9988719212851741 Centerline is valid? [True, True] Translation: X:419.17, Y:6.76, Z:3.84 [[ 9.97180015e-01 -7.25629560e-02 -1.91477128e-02 4.19167825e+02] [ 7.25696584e-02 9.97363287e-01 -3.45483194e-04 6.75585130e+00] [ 1.91222950e-02 -1.04503404e-03 9.99816606e-01 3.84228557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49925415399997 meters Centerline goodness [0,1] 0.9987848568016593 Centerline is valid? [True, True] Translation: X:419.20, Y:6.76, Z:3.84 [[ 9.97389941e-01 -6.98495849e-02 -1.82849881e-02 4.19199562e+02] [ 6.98552523e-02 9.97557084e-01 -3.29353937e-04 6.76064931e+00] [ 1.82633246e-02 -9.48808153e-04 9.99832761e-01 3.84363995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.52925415399994 meters Centerline goodness [0,1] 0.9985984143254607 Centerline is valid? [True, True] Translation: X:419.23, Y:6.77, Z:3.84 [[ 9.97620964e-01 -6.67090265e-02 -1.73873057e-02 4.19231438e+02] [ 6.67136938e-02 9.97772111e-01 -3.12108315e-04 6.76528760e+00] [ 1.73693891e-02 -8.48605590e-04 9.99848781e-01 3.84483842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.559254154 meters Centerline goodness [0,1] 0.9986629060900449 Centerline is valid? [True, True] Translation: X:419.26, Y:6.77, Z:3.85 [[ 9.97854114e-01 -6.33063286e-02 -1.67175478e-02 4.19262880e+02] [ 6.33101842e-02 9.97993853e-01 -2.99031492e-04 6.77047942e+00] [ 1.67029405e-02 -7.60001226e-04 9.99860207e-01 3.84578759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.58925415399995 meters Centerline goodness [0,1] 0.9989947854495194 Centerline is valid? [True, True] Translation: X:419.29, Y:6.78, Z:3.85 [[ 9.98239331e-01 -5.71727517e-02 -1.57960508e-02 4.19293103e+02] [ 5.71754355e-02 9.98364107e-01 -2.82020308e-04 6.78015892e+00] [ 1.57863340e-02 -6.21622320e-04 9.99875195e-01 3.84747653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6192541539999 meters Centerline goodness [0,1] 0.9987207180756245 Centerline is valid? [True, True] Translation: X:419.32, Y:6.79, Z:3.85 [[ 9.98375217e-01 -5.47623665e-02 -1.57483289e-02 4.19324051e+02] [ 5.47647393e-02 9.98499246e-01 -2.80866116e-04 6.78567928e+00] [ 1.57400754e-02 -5.82043356e-04 9.99875948e-01 3.84819894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.64925415399995 meters Centerline goodness [0,1] 0.9985744533657576 Centerline is valid? [True, True] Translation: X:419.36, Y:6.79, Z:3.85 [[ 9.98480953e-01 -5.29174032e-02 -1.53471665e-02 4.19355865e+02] [ 5.29194511e-02 9.98598747e-01 -2.72922312e-04 6.78918843e+00] [ 1.53401036e-02 -5.39655895e-04 9.99882188e-01 3.84847093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6792541539999 meters Centerline goodness [0,1] 0.9985494450050454 Centerline is valid? [True, True] Translation: X:419.39, Y:6.79, Z:3.85 [[ 9.98560253e-01 -5.11910434e-02 -1.60280632e-02 4.19387571e+02] [ 5.11930746e-02 9.98688735e-01 -2.83807113e-04 6.79418851e+00] [ 1.60215746e-02 -5.37127332e-04 9.99871502e-01 3.84849771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.70925415399995 meters Centerline goodness [0,1] 0.998550115570498 Centerline is valid? [True, True] Translation: X:419.42, Y:6.80, Z:3.85 [[ 9.98549597e-01 -5.10080455e-02 -1.72302372e-02 4.19419205e+02] [ 5.10103861e-02 9.98698077e-01 -3.03912559e-04 6.79508637e+00] [ 1.72233067e-02 -5.75449288e-04 9.99851502e-01 3.84737734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7392541539999 meters Centerline goodness [0,1] 0.9986126292777264 Centerline is valid? [True, True] Translation: X:419.45, Y:6.80, Z:3.85 [[ 9.98507651e-01 -5.16200843e-02 -1.78279848e-02 4.19450329e+02] [ 5.16227054e-02 9.98666610e-01 -3.13459521e-04 6.79501699e+00] [ 1.78203940e-02 -6.07337077e-04 9.99841020e-01 3.84708826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.76925415399995 meters Centerline goodness [0,1] 0.9988857118829366 Centerline is valid? [True, True] Translation: X:419.48, Y:6.80, Z:3.85 [[ 9.98460218e-01 -5.23527517e-02 -1.83407520e-02 4.19481972e+02] [ 5.23556681e-02 9.98628450e-01 -3.21446249e-04 6.80024263e+00] [ 1.83324253e-02 -6.39291031e-04 9.99831743e-01 3.84805579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7992541539999 meters Centerline goodness [0,1] 0.9987394428337325 Centerline is valid? [True, True] Translation: X:419.51, Y:6.80, Z:3.85 [[ 9.98337669e-01 -5.44786801e-02 -1.88141374e-02 4.19513355e+02] [ 5.44821460e-02 9.98514691e-01 -3.28676968e-04 6.80101482e+00] [ 1.88040985e-02 -6.96903982e-04 9.99822944e-01 3.84753206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.82925415399995 meters Centerline goodness [0,1] 0.9988213752025762 Centerline is valid? [True, True] Translation: X:419.54, Y:6.80, Z:3.85 [[ 9.98315133e-01 -5.48814685e-02 -1.88392879e-02 4.19544480e+02] [ 5.48850350e-02 9.98492627e-01 -3.28071483e-04 6.79988373e+00] [ 1.88288951e-02 -7.06476250e-04 9.99822471e-01 3.84713160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8592541539999 meters Centerline goodness [0,1] 0.9986541332828633 Centerline is valid? [True, True] Translation: X:419.58, Y:6.80, Z:3.85 [[ 9.98268366e-01 -5.58607216e-02 -1.84349792e-02 4.19575595e+02] [ 5.58643216e-02 9.98438318e-01 -3.20035861e-04 6.80094271e+00] [ 1.84240671e-02 -7.10375931e-04 9.99830010e-01 3.84809406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.88925415399996 meters Centerline goodness [0,1] 0.9986549818212387 Centerline is valid? [True, True] Translation: X:419.61, Y:6.80, Z:3.85 [[ 9.98262661e-01 -5.61187079e-02 -1.79541253e-02 4.19607670e+02] [ 5.61221843e-02 9.98423860e-01 -3.10560564e-04 6.80453945e+00] [ 1.79432554e-02 -6.97603718e-04 9.99838763e-01 3.84931836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91925415399993 meters Centerline goodness [0,1] 0.9988017910071262 Centerline is valid? [True, True] Translation: X:419.64, Y:6.81, Z:3.85 [[ 9.98284547e-01 -5.60056329e-02 -1.70684868e-02 4.19640173e+02] [ 5.60087793e-02 9.98430233e-01 -2.94007299e-04 6.80771257e+00] [ 1.70581593e-02 -6.62482164e-04 9.99854280e-01 3.85093510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.94925415399996 meters Centerline goodness [0,1] 0.9988256265072875 Centerline is valid? [True, True] Translation: X:419.67, Y:6.81, Z:3.85 [[ 9.98306425e-01 -5.56345496e-02 -1.70023358e-02 4.19672783e+02] [ 5.56376394e-02 9.98450984e-01 -2.91603356e-04 6.80877314e+00] [ 1.69922221e-02 -6.54860324e-04 9.99855407e-01 3.85140261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97925415399993 meters Centerline goodness [0,1] 0.9989039709973864 Centerline is valid? [True, True] Translation: X:419.70, Y:6.81, Z:3.85 [[ 9.98322219e-01 -5.54526567e-02 -1.66658268e-02 4.19704778e+02] [ 5.54556205e-02 9.98461112e-01 -2.84603419e-04 6.81077915e+00] [ 1.66559620e-02 -6.40087849e-04 9.99861075e-01 3.85210358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.00925415399996 meters Centerline goodness [0,1] 0.9987595138976494 Centerline is valid? [True, True] Translation: X:419.74, Y:6.81, Z:3.85 [[ 9.98344362e-01 -5.51575256e-02 -1.63151219e-02 4.19736377e+02] [ 5.51603441e-02 9.98477471e-01 -2.77540166e-04 6.81136509e+00] [ 1.63055901e-02 -6.22867080e-04 9.99866861e-01 3.85240311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03925415399993 meters Centerline goodness [0,1] 0.9986732652416552 Centerline is valid? [True, True] Translation: X:419.77, Y:6.81, Z:3.85 [[ 9.98351396e-01 -5.50960039e-02 -1.60910108e-02 4.19769014e+02] [ 5.50987538e-02 9.98480873e-01 -2.72717540e-04 6.81162621e+00] [ 1.60815922e-02 -6.14326708e-04 9.99870494e-01 3.85256042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06925415399996 meters Centerline goodness [0,1] 0.9988239247311828 Centerline is valid? [True, True] Translation: X:419.80, Y:6.81, Z:3.85 [[ 9.98347989e-01 -5.53702864e-02 -1.53435235e-02 4.19801293e+02] [ 5.53728359e-02 9.98465714e-01 -2.58948521e-04 6.81246069e+00] [ 1.53343202e-02 -5.91093675e-04 9.99882248e-01 3.85345108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09925415399994 meters Centerline goodness [0,1] 0.9987393633785061 Centerline is valid? [True, True] Translation: X:419.83, Y:6.81, Z:3.85 [[ 9.98354463e-01 -5.54373974e-02 -1.46649585e-02 4.19832141e+02] [ 5.54397475e-02 9.98462004e-01 -2.46539607e-04 6.81203900e+00] [ 1.46560713e-02 -5.66887678e-04 9.99892433e-01 3.85376044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12925415399997 meters Centerline goodness [0,1] 0.9986139403994372 Centerline is valid? [True, True] Translation: X:419.86, Y:6.81, Z:3.85 [[ 9.98359565e-01 -5.54638289e-02 -1.42106432e-02 4.19864736e+02] [ 5.54660507e-02 9.98460545e-01 -2.38037940e-04 6.81429053e+00] [ 1.42019690e-02 -5.50560799e-04 9.99898995e-01 3.85451823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15925415399994 meters Centerline goodness [0,1] 0.9986534253492678 Centerline is valid? [True, True] Translation: X:419.90, Y:6.81, Z:3.85 [[ 9.98401219e-01 -5.47457849e-02 -1.40678900e-02 4.19895895e+02] [ 5.47479045e-02 9.98500181e-01 -2.34692376e-04 6.81323502e+00] [ 1.40596392e-02 -5.35870345e-04 9.99901015e-01 3.85408123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18925415399997 meters Centerline goodness [0,1] 0.9986739912862285 Centerline is valid? [True, True] Translation: X:419.93, Y:6.81, Z:3.85 [[ 9.98445199e-01 -5.40719035e-02 -1.35430061e-02 4.19926866e+02] [ 5.40738196e-02 9.98536915e-01 -2.24926151e-04 6.81043342e+00] [ 1.35353537e-02 -5.07745630e-04 9.99908264e-01 3.85370189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21925415399994 meters Centerline goodness [0,1] 0.9985045075406521 Centerline is valid? [True, True] Translation: X:419.96, Y:6.81, Z:3.85 [[ 9.98512436e-01 -5.27736499e-02 -1.37061251e-02 4.19959325e+02] [ 5.27755102e-02 9.98606376e-01 -2.26177725e-04 6.80992320e+00] [ 1.36989601e-02 -4.97506472e-04 9.99906041e-01 3.85252000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24925415399997 meters Centerline goodness [0,1] 0.9987360171901662 Centerline is valid? [True, True] Translation: X:419.99, Y:6.81, Z:3.85 [[ 9.98519191e-01 -5.28027835e-02 -1.30878084e-02 4.19991098e+02] [ 5.28044940e-02 9.98604846e-01 -2.15074202e-04 6.81427099e+00] [ 1.30809054e-02 -4.76339384e-04 9.99914328e-01 3.85420822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.27925415399994 meters Centerline goodness [0,1] 0.9987360171901662 Centerline is valid? [True, True] Translation: X:420.02, Y:6.81, Z:3.85 [[ 9.98523061e-01 -5.27295432e-02 -1.30878241e-02 4.20022807e+02] [ 5.27312600e-02 9.98608716e-01 -2.14114308e-04 6.81473016e+00] [ 1.30809054e-02 -4.76339383e-04 9.99914328e-01 3.85450510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.309254154 meters Centerline goodness [0,1] 0.9985080899348603 Centerline is valid? [True, True] Translation: X:420.05, Y:6.81, Z:3.85 [[ 9.98625706e-01 -5.09112580e-02 -1.24395999e-02 4.20054388e+02] [ 5.09126789e-02 9.98703088e-01 -2.02632803e-04 6.81381464e+00] [ 1.24337831e-02 -4.30979029e-04 9.99922605e-01 3.85461703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.33925415399995 meters Centerline goodness [0,1] 0.9986931135515693 Centerline is valid? [True, True] Translation: X:420.09, Y:6.81, Z:3.85 [[ 9.98656372e-01 -5.02762850e-02 -1.25596867e-02 4.20086321e+02] [ 5.02776948e-02 9.98735256e-01 -2.03671916e-04 6.81407973e+00] [ 1.25540418e-02 -4.28073839e-04 9.99921103e-01 3.85481982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3692541539999 meters Centerline goodness [0,1] 0.998584497073923 Centerline is valid? [True, True] Translation: X:420.12, Y:6.81, Z:3.85 [[ 9.98693454e-01 -4.94461614e-02 -1.29020147e-02 4.20118591e+02] [ 4.94475922e-02 9.98776698e-01 -2.08280249e-04 6.81440847e+00] [ 1.28965302e-02 -4.29965437e-04 9.99916744e-01 3.85462855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.39925415399995 meters Centerline goodness [0,1] 0.9987346844092031 Centerline is valid? [True, True] Translation: X:420.15, Y:6.82, Z:3.85 [[ 9.98731867e-01 -4.85038615e-02 -1.34919718e-02 4.20150630e+02] [ 4.85053537e-02 9.98822899e-01 -2.16801482e-04 6.81649868e+00] [ 1.34866061e-02 -4.37906317e-04 9.99908956e-01 3.85479630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4292541539999 meters Centerline goodness [0,1] 0.9987339902517249 Centerline is valid? [True, True] Translation: X:420.18, Y:6.82, Z:3.85 [[ 9.98757517e-01 -4.77193239e-02 -1.43627750e-02 4.20182085e+02] [ 4.77209484e-02 9.98860680e-01 -2.29792063e-04 6.81594729e+00] [ 1.43573768e-02 -4.55898695e-04 9.99896824e-01 3.85398673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.45925415399995 meters Centerline goodness [0,1] 0.9989660702228225 Centerline is valid? [True, True] Translation: X:420.21, Y:6.82, Z:3.85 [[ 9.98780134e-01 -4.71101947e-02 -1.47943507e-02 4.20213843e+02] [ 4.71118651e-02 9.98889592e-01 -2.35778376e-04 6.81580781e+00] [ 1.47890305e-02 -4.61498695e-04 9.99890530e-01 3.85358917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4892541539999 meters Centerline goodness [0,1] 0.9985463278978637 Centerline is valid? [True, True] Translation: X:420.25, Y:6.82, Z:3.85 [[ 9.98804498e-01 -4.64118172e-02 -1.53465770e-02 4.20245695e+02] [ 4.64135497e-02 9.98922281e-01 -2.43443403e-04 6.81530594e+00] [ 1.53413363e-02 -4.69136749e-04 9.99882205e-01 3.85242725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.51925415399995 meters Centerline goodness [0,1] 0.9986528584659425 Centerline is valid? [True, True] Translation: X:420.28, Y:6.82, Z:3.85 [[ 9.98795313e-01 -4.65222758e-02 -1.56077237e-02 4.20277630e+02] [ 4.65240990e-02 9.98917137e-01 -2.46448446e-04 6.81522369e+00] [ 1.56022880e-02 -4.79983729e-04 9.99878162e-01 3.85261518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5492541539999 meters Centerline goodness [0,1] 0.9988212759687638 Centerline is valid? [True, True] Translation: X:420.31, Y:6.82, Z:3.85 [[ 9.98779062e-01 -4.65415457e-02 -1.65610671e-02 4.20309918e+02] [ 4.65436219e-02 9.98916224e-01 -2.60252024e-04 6.81635000e+00] [ 1.65552312e-02 -5.10877774e-04 9.99862822e-01 3.85276788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57925415399995 meters Centerline goodness [0,1] 0.9988006817177605 Centerline is valid? [True, True] Translation: X:420.34, Y:6.81, Z:3.85 [[ 9.98761854e-01 -4.69649007e-02 -1.64029789e-02 4.20340944e+02] [ 4.69670123e-02 9.98896408e-01 -2.56686249e-04 6.81438552e+00] [ 1.63969319e-02 -5.14030477e-04 9.99865429e-01 3.85293825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6092541539999 meters Centerline goodness [0,1] 0.9986156847117058 Centerline is valid? [True, True] Translation: X:420.37, Y:6.81, Z:3.85 [[ 9.98746587e-01 -4.74593007e-02 -1.59018873e-02 4.20373174e+02] [ 4.74613634e-02 9.98873044e-01 -2.47863516e-04 6.81417938e+00] [ 1.58957300e-02 -5.07172410e-04 9.99873526e-01 3.85332578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63925415399996 meters Centerline goodness [0,1] 0.9986200263449516 Centerline is valid? [True, True] Translation: X:420.41, Y:6.81, Z:3.85 [[ 9.98709187e-01 -4.83116226e-02 -1.56826829e-02 4.20405043e+02] [ 4.83137514e-02 9.98832179e-01 -2.43315548e-04 6.81290910e+00] [ 1.56761233e-02 -5.14687769e-04 9.99876990e-01 3.85402596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.66925415399993 meters Centerline goodness [0,1] 0.9988247392390187 Centerline is valid? [True, True] Translation: X:420.44, Y:6.81, Z:3.85 [[ 9.98658756e-01 -4.94617865e-02 -1.53042663e-02 4.20437352e+02] [ 4.94639656e-02 9.98775881e-01 -2.36341660e-04 6.81369674e+00] [ 1.52972219e-02 -5.20985034e-04 9.99882855e-01 3.85477237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69925415399996 meters Centerline goodness [0,1] 0.9985514548431792 Centerline is valid? [True, True] Translation: X:420.47, Y:6.81, Z:3.85 [[ 9.98540960e-01 -5.19561361e-02 -1.47143109e-02 4.20468196e+02] [ 5.19584336e-02 9.98649223e-01 -2.26362870e-04 6.81011032e+00] [ 1.47061961e-02 -5.38499949e-04 9.99891713e-01 3.85474700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.72925415399993 meters Centerline goodness [0,1] 0.9987637506547931 Centerline is valid? [True, True] Translation: X:420.50, Y:6.81, Z:3.85 [[ 9.98502983e-01 -5.26832197e-02 -1.47061425e-02 4.20499409e+02] [ 5.26856067e-02 9.98611124e-01 -2.25326780e-04 6.80829433e+00] [ 1.46975884e-02 -5.49812576e-04 9.99891833e-01 3.85485572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75925415399996 meters Centerline goodness [0,1] 0.9989936473992075 Centerline is valid? [True, True] Translation: X:420.53, Y:6.81, Z:3.86 [[ 9.98453641e-01 -5.36822482e-02 -1.44410517e-02 4.20531224e+02] [ 5.36846737e-02 9.98557914e-01 -2.19920723e-04 6.80901286e+00] [ 1.44320323e-02 -5.55682501e-04 9.99895698e-01 3.85552802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.78925415399993 meters Centerline goodness [0,1] 0.9985531254587011 Centerline is valid? [True, True] Translation: X:420.56, Y:6.81, Z:3.86 [[ 9.98424040e-01 -5.44747639e-02 -1.34884176e-02 4.20563247e+02] [ 5.44769649e-02 9.98515007e-01 -2.04462430e-04 6.80923504e+00] [ 1.34795255e-02 -5.30667849e-04 9.99909006e-01 3.85659458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81925415399996 meters Centerline goodness [0,1] 0.9985934121302459 Centerline is valid? [True, True] Translation: X:420.59, Y:6.81, Z:3.86 [[ 9.98431266e-01 -5.44355900e-02 -1.31062073e-02 4.20594004e+02] [ 5.44376794e-02 9.98517151e-01 -1.97541980e-04 6.80632965e+00] [ 1.30975261e-02 -5.16239421e-04 9.99914090e-01 3.85689341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.84925415399994 meters Centerline goodness [0,1] 0.998721763547211 Centerline is valid? [True, True] Translation: X:420.63, Y:6.81, Z:3.86 [[ 9.98442002e-01 -5.44049329e-02 -1.23964685e-02 4.20625742e+02] [ 5.44068156e-02 9.98518835e-01 -1.85561064e-04 6.80661639e+00] [ 1.23882028e-02 -4.89180418e-04 9.99923144e-01 3.85735650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87925415399997 meters Centerline goodness [0,1] 0.9984901862103673 Centerline is valid? [True, True] Translation: X:420.66, Y:6.81, Z:3.86 [[ 9.98446253e-01 -5.42600765e-02 -1.26855766e-02 4.20656553e+02] [ 5.42620474e-02 9.98526712e-01 -1.89022653e-04 6.80547145e+00] [ 1.26771435e-02 -4.99616401e-04 9.99919517e-01 3.85753091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.90925415399994 meters Centerline goodness [0,1] 0.9985117799949694 Centerline is valid? [True, True] Translation: X:420.69, Y:6.81, Z:3.86 [[ 9.98458337e-01 -5.40257783e-02 -1.27343614e-02 4.20688740e+02] [ 5.40277548e-02 9.98539416e-01 -1.89007507e-04 6.80568542e+00] [ 1.27259731e-02 -4.99292836e-04 9.99918897e-01 3.85787401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93925415399997 meters Centerline goodness [0,1] 0.9983852364475202 Centerline is valid? [True, True] Translation: X:420.72, Y:6.80, Z:3.86 [[ 9.98465686e-01 -5.38320522e-02 -1.29763254e-02 4.20720142e+02] [ 5.38340995e-02 9.98549875e-01 -1.91731924e-04 6.80390486e+00] [ 1.29678295e-02 -5.07131048e-04 9.99915786e-01 3.85746191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.96925415399994 meters Centerline goodness [0,1] 0.9985748716336582 Centerline is valid? [True, True] Translation: X:420.75, Y:6.81, Z:3.86 [[ 9.98463119e-01 -5.38790599e-02 -1.29787106e-02 4.20751863e+02] [ 5.38811217e-02 9.98547339e-01 -1.91009648e-04 6.80748253e+00] [ 1.29701483e-02 -5.08591395e-04 9.99915755e-01 3.85804148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99925415399997 meters Centerline goodness [0,1] 0.998719858974628 Centerline is valid? [True, True] Translation: X:420.78, Y:6.81, Z:3.86 [[ 9.98481817e-01 -5.36556638e-02 -1.24551222e-02 4.20784316e+02] [ 5.36575562e-02 9.98559379e-01 -1.82422524e-04 6.80863917e+00] [ 1.24469671e-02 -4.86165846e-04 9.99922415e-01 3.85834360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.02925415399994 meters Centerline goodness [0,1] 0.9987418482249575 Centerline is valid? [True, True] Translation: X:420.82, Y:6.81, Z:3.86 [[ 9.98507231e-01 -5.31041905e-02 -1.27770933e-02 4.20816605e+02] [ 5.31061492e-02 9.98588855e-01 -1.86176501e-04 6.80926885e+00] [ 1.27689497e-02 -4.92643639e-04 9.99918352e-01 3.85824911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.059254154 meters Centerline goodness [0,1] 0.9986577462721 Centerline is valid? [True, True] Translation: X:420.85, Y:6.81, Z:3.86 [[ 9.98530865e-01 -5.25767190e-02 -1.31072794e-02 4.20847952e+02] [ 5.25787469e-02 9.98616763e-01 -1.90068633e-04 6.80590954e+00] [ 1.30991421e-02 -4.99374930e-04 9.99914078e-01 3.85771987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.08925415399995 meters Centerline goodness [0,1] 0.9986344250929642 Centerline is valid? [True, True] Translation: X:420.88, Y:6.81, Z:3.86 [[ 9.98555003e-01 -5.20027652e-02 -1.35505853e-02 4.20880587e+02] [ 5.20048924e-02 9.98646811e-01 -1.95576479e-04 6.81004216e+00] [ 1.35424193e-02 -5.09402856e-04 9.99908167e-01 3.85797688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1192541539999 meters Centerline goodness [0,1] 0.9986152780983153 Centerline is valid? [True, True] Translation: X:420.91, Y:6.81, Z:3.86 [[ 9.98659966e-01 -4.99129545e-02 -1.36736657e-02 4.20913312e+02] [ 4.99149422e-02 9.98753453e-01 -1.96081124e-04 6.81164663e+00] [ 1.36664078e-02 -4.86701863e-04 9.99906492e-01 3.85756585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.14925415399995 meters Centerline goodness [0,1] 0.998554125979632 Centerline is valid? [True, True] Translation: X:420.94, Y:6.81, Z:3.86 [[ 9.98721176e-01 -4.86889796e-02 -1.36159823e-02 4.20944466e+02] [ 4.86908520e-02 9.98813878e-01 -1.94151592e-04 6.81117922e+00] [ 1.36092852e-02 -4.69070474e-04 9.99907279e-01 3.85688380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1792541539999 meters Centerline goodness [0,1] 0.9987625838926174 Centerline is valid? [True, True] Translation: X:420.98, Y:6.81, Z:3.86 [[ 9.98765186e-01 -4.76915571e-02 -1.39146865e-02 4.20975285e+02] [ 4.76934266e-02 9.98862001e-01 -1.97632725e-04 6.81096846e+00] [ 1.39082771e-02 -4.66250396e-04 9.99903167e-01 3.85732144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.20925415399995 meters Centerline goodness [0,1] 0.998677220904109 Centerline is valid? [True, True] Translation: X:421.01, Y:6.81, Z:3.86 [[ 9.98839896e-01 -4.62798191e-02 -1.33056666e-02 4.21007297e+02] [ 4.62814137e-02 9.98928424e-01 -1.88211876e-04 6.81264930e+00] [ 1.33001189e-02 -4.27811528e-04 9.99911458e-01 3.85730479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2392541539999 meters Centerline goodness [0,1] 0.9988463555322497 Centerline is valid? [True, True] Translation: X:421.04, Y:6.82, Z:3.86 [[ 9.98839669e-01 -4.62891823e-02 -1.32900950e-02 4.21039516e+02] [ 4.62907869e-02 9.98927989e-01 -1.87023974e-04 6.81677652e+00] [ 1.32845051e-02 -4.28401992e-04 9.99911665e-01 3.85930822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.26925415399995 meters Centerline goodness [0,1] 0.9987009449577807 Centerline is valid? [True, True] Translation: X:421.07, Y:6.82, Z:3.86 [[ 9.98899082e-01 -4.51231942e-02 -1.28265873e-02 4.21070569e+02] [ 4.51246039e-02 9.98981350e-01 -1.79625365e-04 6.81653569e+00] [ 1.28216268e-02 -3.99367059e-04 9.99917720e-01 3.85935957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2992541539999 meters Centerline goodness [0,1] 0.9988053319919518 Centerline is valid? [True, True] Translation: X:421.10, Y:6.82, Z:3.86 [[ 9.98925638e-01 -4.45108556e-02 -1.28978477e-02 4.21102424e+02] [ 4.45122403e-02 9.99008823e-01 -1.79831557e-04 6.81765748e+00] [ 1.28930681e-02 -3.94473744e-04 9.99916803e-01 3.85982948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.32925415399995 meters Centerline goodness [0,1] 0.9987208522060057 Centerline is valid? [True, True] Translation: X:421.13, Y:6.81, Z:3.86 [[ 9.98980026e-01 -4.35030817e-02 -1.20991175e-02 4.21133562e+02] [ 4.35042361e-02 9.99053228e-01 -1.67890013e-04 6.81481314e+00] [ 1.20949661e-02 -3.58644094e-04 9.99926789e-01 3.85957651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3592541539999 meters Centerline goodness [0,1] 0.9988055823310004 Centerline is valid? [True, True] Translation: X:421.17, Y:6.82, Z:3.86 [[ 9.99026780e-01 -4.23931146e-02 -1.21785106e-02 4.21165837e+02] [ 4.23942106e-02 9.99100947e-01 -1.68260882e-04 6.81943413e+00] [ 1.21746946e-02 -3.48201218e-04 9.99925825e-01 3.86039544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.38925415399996 meters Centerline goodness [0,1] 0.9986149584487535 Centerline is valid? [True, True] Translation: X:421.20, Y:6.82, Z:3.86 [[ 9.99070843e-01 -4.14478963e-02 -1.18120026e-02 4.21198187e+02] [ 4.14488714e-02 9.99140613e-01 -1.62341724e-04 6.82066843e+00] [ 1.18085802e-02 -3.27403294e-04 9.99930223e-01 3.86025082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41925415399993 meters Centerline goodness [0,1] 0.9988470568505786 Centerline is valid? [True, True] Translation: X:421.23, Y:6.82, Z:3.86 [[ 9.99108233e-01 -4.05726520e-02 -1.16875063e-02 4.21229392e+02] [ 4.05735564e-02 9.99176541e-01 -1.59811842e-04 6.82137717e+00] [ 1.16843662e-02 -3.14534370e-04 9.99931686e-01 3.86132903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.44925415399996 meters Centerline goodness [0,1] 0.9986374593858086 Centerline is valid? [True, True] Translation: X:421.26, Y:6.82, Z:3.86 [[ 9.99191041e-01 -3.85699968e-02 -1.13850157e-02 4.21261177e+02] [ 3.85707326e-02 9.99255860e-01 -1.55019567e-04 6.82460183e+00] [ 1.13825228e-02 -2.84234233e-04 9.99935177e-01 3.86206597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47925415399993 meters Centerline goodness [0,1] 0.9986780258519389 Centerline is valid? [True, True] Translation: X:421.29, Y:6.83, Z:3.86 [[ 9.99227799e-01 -3.77276913e-02 -1.09739298e-02 4.21293877e+02] [ 3.77283331e-02 9.99288022e-01 -1.48602505e-04 6.82503357e+00] [ 1.09717230e-02 -2.65540324e-04 9.99939774e-01 3.86214316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.50925415399996 meters Centerline goodness [0,1] 0.9989300100704934 Centerline is valid? [True, True] Translation: X:421.33, Y:6.83, Z:3.86 [[ 9.99253449e-01 -3.71216695e-02 -1.07016996e-02 4.21326305e+02] [ 3.71222552e-02 9.99310721e-01 -1.43974741e-04 6.82567933e+00] [ 1.06996677e-02 -2.53403968e-04 9.99942725e-01 3.86282489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53925415399993 meters Centerline goodness [0,1] 0.9988043546661632 Centerline is valid? [True, True] Translation: X:421.36, Y:6.83, Z:3.86 [[ 9.99266667e-01 -3.68117380e-02 -1.05368305e-02 4.21357515e+02] [ 3.68122973e-02 9.99322188e-01 -1.40929441e-04 6.82533073e+00] [ 1.05348764e-02 -2.47058845e-04 9.99944476e-01 3.86281777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56925415399996 meters Centerline goodness [0,1] 0.9985947102376408 Centerline is valid? [True, True] Translation: X:421.39, Y:6.83, Z:3.86 [[ 9.99268549e-01 -3.68069711e-02 -1.03736644e-02 4.21388346e+02] [ 3.68075254e-02 9.99322364e-01 -1.37549038e-04 6.82502898e+00] [ 1.03716976e-02 -2.44380489e-04 9.99946183e-01 3.86296823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59925415399994 meters Centerline goodness [0,1] 0.9988681618109411 Centerline is valid? [True, True] Translation: X:421.42, Y:6.82, Z:3.86 [[ 9.99253507e-01 -3.72610716e-02 -1.02000986e-02 4.21419789e+02] [ 3.72616367e-02 9.99305535e-01 -1.34702166e-04 6.82375104e+00] [ 1.01980342e-02 -2.45470757e-04 9.99947969e-01 3.86331642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62925415399997 meters Centerline goodness [0,1] 0.9985920228638675 Centerline is valid? [True, True] Translation: X:421.45, Y:6.82, Z:3.86 [[ 9.99231443e-01 -3.78888136e-02 -1.00479355e-02 4.21451495e+02] [ 3.78893990e-02 9.99281930e-01 -1.32159592e-04 6.82322227e+00] [ 1.00457277e-02 -2.48652217e-04 9.99949509e-01 3.86297608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65925415399994 meters Centerline goodness [0,1] 0.9986148131047076 Centerline is valid? [True, True] Translation: X:421.48, Y:6.82, Z:3.86 [[ 9.99204153e-01 -3.85556516e-02 -1.02236123e-02 4.21483396e+02] [ 3.85562984e-02 9.99256421e-01 -1.33896837e-04 6.82223533e+00] [ 1.02211727e-02 -2.60394371e-04 9.99947729e-01 3.86300307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68925415399997 meters Centerline goodness [0,1] 0.9985936483281207 Centerline is valid? [True, True] Translation: X:421.52, Y:6.82, Z:3.86 [[ 9.99169877e-01 -3.94051822e-02 -1.03338056e-02 4.21515855e+02] [ 3.94058961e-02 9.99223277e-01 -1.34596746e-04 6.82113565e+00] [ 1.03310829e-02 -2.72727854e-04 9.99946596e-01 3.86249163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71925415399994 meters Centerline goodness [0,1] 0.998615713746382 Centerline is valid? [True, True] Translation: X:421.55, Y:6.82, Z:3.86 [[ 9.99126030e-01 -4.04102099e-02 -1.06860084e-02 4.21546713e+02] [ 4.04110389e-02 9.99183131e-01 -1.38423239e-04 6.81932469e+00] [ 1.06828731e-02 -2.93530440e-04 9.99942893e-01 3.86289888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74925415399997 meters Centerline goodness [0,1] 0.9985926439389166 Centerline is valid? [True, True] Translation: X:421.58, Y:6.82, Z:3.86 [[ 9.99081522e-01 -4.13465539e-02 -1.12505104e-02 4.21579361e+02] [ 4.13475395e-02 9.99144814e-01 -1.45078612e-04 6.81661443e+00] [ 1.12468876e-02 -3.20235561e-04 9.99936700e-01 3.86073232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.77925415399994 meters Centerline goodness [0,1] 0.9988039783457132 Centerline is valid? [True, True] Translation: X:421.61, Y:6.82, Z:3.86 [[ 9.99052359e-01 -4.20851894e-02 -1.11004647e-02 4.21611961e+02] [ 4.20862030e-02 9.99113973e-01 -1.42369846e-04 6.81633386e+00] [ 1.10966211e-02 -3.24941482e-04 9.99938378e-01 3.86272573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.809254154 meters Centerline goodness [0,1] 0.9986787466968667 Centerline is valid? [True, True] Translation: X:421.64, Y:6.82, Z:3.86 [[ 9.99029916e-01 -4.25428273e-02 -1.13725175e-02 4.21644550e+02] [ 4.25439301e-02 9.99094587e-01 -1.45040064e-04 6.81607386e+00] [ 1.13683911e-02 -3.38932225e-04 9.99935320e-01 3.86263998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.83925415399995 meters Centerline goodness [0,1] 0.9986804348281424 Centerline is valid? [True, True] Translation: X:421.68, Y:6.82, Z:3.86 [[ 9.99037475e-01 -4.23976933e-02 -1.12498614e-02 4.21677075e+02] [ 4.23987723e-02 9.99100758e-01 -1.42677054e-04 6.81757016e+00] [ 1.12457943e-02 -3.34440589e-04 9.99936708e-01 3.86282490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8692541539999 meters Centerline goodness [0,1] 0.9988058075464583 Centerline is valid? [True, True] Translation: X:421.71, Y:6.81, Z:3.86 [[ 9.99037866e-01 -4.23650671e-02 -1.13377111e-02 4.21708007e+02] [ 4.23661700e-02 9.99102141e-01 -1.42988820e-04 6.81326098e+00] [ 1.13335891e-02 -3.37484149e-04 9.99935716e-01 3.86264646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.89925415399995 meters Centerline goodness [0,1] 0.9985325562869481 Centerline is valid? [True, True] Translation: X:421.74, Y:6.82, Z:3.86 [[ 9.99047413e-01 -4.21708947e-02 -1.12197216e-02 4.21739693e+02] [ 4.21719698e-02 9.99110357e-01 -1.40858805e-04 6.81634518e+00] [ 1.12156802e-02 -3.32433136e-04 9.99937047e-01 3.86277463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9292541539999 meters Centerline goodness [0,1] 0.9985340928128664 Centerline is valid? [True, True] Translation: X:421.77, Y:6.81, Z:3.86 [[ 9.99085287e-01 -4.12648815e-02 -1.12159726e-02 4.21771033e+02] [ 4.12659090e-02 9.99148190e-01 -1.39901016e-04 6.81286668e+00] [ 1.12121917e-02 -3.23064255e-04 9.99937089e-01 3.86169833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.95925415399995 meters Centerline goodness [0,1] 0.9987205570820311 Centerline is valid? [True, True] Translation: X:421.80, Y:6.82, Z:3.86 [[ 9.99185720e-01 -3.86932540e-02 -1.14337046e-02 4.21803115e+02] [ 3.86941690e-02 9.99251090e-01 -1.41260278e-04 6.81855498e+00] [ 1.14306076e-02 -3.01272446e-04 9.99934623e-01 3.86248595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9892541539999 meters Centerline goodness [0,1] 0.9987227538265039 Centerline is valid? [True, True] Translation: X:421.83, Y:6.82, Z:3.86 [[ 9.99260141e-01 -3.67746700e-02 -1.12603268e-02 4.21834905e+02] [ 3.67754450e-02 9.99323545e-01 -1.38294892e-04 6.82023549e+00] [ 1.12577955e-02 -2.75910956e-04 9.99936591e-01 3.86300985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.01925415399995 meters Centerline goodness [0,1] 0.9991001548570712 Centerline is valid? [True, True] Translation: X:421.87, Y:6.82, Z:3.86 [[ 9.99355615e-01 -3.39942685e-02 -1.15214418e-02 4.21866650e+02] [ 3.39949047e-02 9.99421996e-01 -1.40673845e-04 6.82218185e+00] [ 1.15195644e-02 -2.51087117e-04 9.99933616e-01 3.86360190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0492541539999 meters Centerline goodness [0,1] 0.9988669268538336 Centerline is valid? [True, True] Translation: X:421.90, Y:6.82, Z:3.86 [[ 9.99444797e-01 -3.11344242e-02 -1.18636468e-02 4.21898480e+02] [ 3.11349053e-02 9.99515181e-01 -1.44180325e-04 6.82463160e+00] [ 1.18623841e-02 -2.25273245e-04 9.99929614e-01 3.86320355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07925415399995 meters Centerline goodness [0,1] 0.999037072701011 Centerline is valid? [True, True] Translation: X:421.93, Y:6.83, Z:3.86 [[ 9.99524035e-01 -2.85797502e-02 -1.16147384e-02 4.21930249e+02] [ 2.85800463e-02 9.99591497e-01 -1.40522022e-04 6.82687677e+00] [ 1.16140098e-02 -1.91494621e-04 9.99932537e-01 3.86436862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1092541539999 meters Centerline goodness [0,1] 0.9993077842804103 Centerline is valid? [True, True] Translation: X:421.96, Y:6.83, Z:3.86 [[ 9.99636189e-01 -2.43959005e-02 -1.15034975e-02 4.21960993e+02] [ 2.43959207e-02 9.99702366e-01 -1.38589195e-04 6.82902433e+00] [ 1.15034547e-02 -1.42099638e-04 9.99933823e-01 3.86490239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13925415399996 meters Centerline goodness [0,1] 0.9991197921032777 Centerline is valid? [True, True] Translation: X:421.99, Y:6.83, Z:3.86 [[ 9.99661586e-01 -2.33374321e-02 -1.14924958e-02 4.21991799e+02] [ 2.33373867e-02 9.99727637e-01 -1.38079029e-04 6.82926579e+00] [ 1.14925881e-02 -1.30172518e-04 9.99933950e-01 3.86486077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.16925415399993 meters Centerline goodness [0,1] 0.9991197921032777 Centerline is valid? [True, True] Translation: X:422.02, Y:6.83, Z:3.87 [[ 9.99662417e-01 -2.33018123e-02 -1.14924987e-02 4.22022643e+02] [ 2.33017673e-02 9.99728467e-01 -1.37835916e-04 6.82960545e+00] [ 1.14925900e-02 -1.30006146e-04 9.99933950e-01 3.86514968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19925415399996 meters Centerline goodness [0,1] 0.9991623212079328 Centerline is valid? [True, True] Translation: X:422.05, Y:6.83, Z:3.86 [[ 9.99680201e-01 -2.24072396e-02 -1.17222816e-02 4.22052813e+02] [ 2.24071353e-02 9.99748919e-01 -1.40251352e-04 6.82910012e+00] [ 1.17224810e-02 -1.22456250e-04 9.99931282e-01 3.86368132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.22925415399993 meters Centerline goodness [0,1] 0.9989947643979058 Centerline is valid? [True, True] Translation: X:422.08, Y:6.83, Z:3.86 [[ 9.99675328e-01 -2.27014151e-02 -1.15708521e-02 4.22083721e+02] [ 2.27013331e-02 9.99742282e-01 -1.38439573e-04 6.82815812e+00] [ 1.15710129e-02 -1.24279143e-04 9.99933046e-01 3.86414806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25925415399996 meters Centerline goodness [0,1] 0.9990984001845135 Centerline is valid? [True, True] Translation: X:422.11, Y:6.83, Z:3.86 [[ 9.99618958e-01 -2.50018292e-02 -1.16981986e-02 4.22114279e+02] [ 2.50019044e-02 9.99687394e-01 -1.39838316e-04 6.82504351e+00] [ 1.16980379e-02 -1.52692212e-04 9.99931564e-01 3.86486525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.28925415399993 meters Centerline goodness [0,1] 0.9988686360779384 Centerline is valid? [True, True] Translation: X:422.14, Y:6.82, Z:3.86 [[ 9.99571607e-01 -2.66816661e-02 -1.20287623e-02 4.22144430e+02] [ 2.66818739e-02 9.99643965e-01 -1.43227723e-04 6.82267531e+00] [ 1.20283012e-02 -1.77783554e-04 9.99927642e-01 3.86380921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31925415399996 meters Centerline goodness [0,1] 0.9988684464188424 Centerline is valid? [True, True] Translation: X:422.18, Y:6.82, Z:3.86 [[ 9.99512561e-01 -2.86641725e-02 -1.23695376e-02 4.22175449e+02] [ 2.86645475e-02 9.99589077e-01 -1.47007303e-04 6.82267960e+00] [ 1.23686685e-02 -2.07631553e-04 9.99923484e-01 3.86408412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.34925415399994 meters Centerline goodness [0,1] 0.9986807664118941 Centerline is valid? [True, True] Translation: X:422.21, Y:6.82, Z:3.86 [[ 9.99368978e-01 -3.27034502e-02 -1.38611061e-02 4.22205514e+02] [ 3.27043149e-02 9.99465057e-01 -1.64344950e-04 6.81776169e+00] [ 1.38590658e-02 -2.89076733e-04 9.99903917e-01 3.86213587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37925415399997 meters Centerline goodness [0,1] 0.9989316910701942 Centerline is valid? [True, True] Translation: X:422.24, Y:6.82, Z:3.86 [[ 9.99289311e-01 -3.51105804e-02 -1.37156725e-02 4.22235710e+02] [ 3.51116547e-02 9.99383383e-01 -1.62541231e-04 6.81543847e+00] [ 1.37129221e-02 -3.19154240e-04 9.99905923e-01 3.86390049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.40925415399994 meters Centerline goodness [0,1] 0.9989101274312542 Centerline is valid? [True, True] Translation: X:422.27, Y:6.81, Z:3.86 [[ 9.99219145e-01 -3.69689160e-02 -1.39427327e-02 4.22267084e+02] [ 3.69702117e-02 9.99316354e-01 -1.64892652e-04 6.81375493e+00] [ 1.39392968e-02 -3.50701887e-04 9.99902782e-01 3.86406604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43925415399997 meters Centerline goodness [0,1] 0.9986806559024942 Centerline is valid? [True, True] Translation: X:422.30, Y:6.81, Z:3.86 [[ 9.99171400e-01 -3.83314198e-02 -1.36826430e-02 4.22297204e+02] [ 3.83328009e-02 9.99265015e-01 -1.61406476e-04 6.81067643e+00] [ 1.36787734e-02 -3.63221295e-04 9.99906375e-01 3.86414300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.46925415399994 meters Centerline goodness [0,1] 0.9987019784360933 Centerline is valid? [True, True] Translation: X:422.33, Y:6.81, Z:3.87 [[ 9.99129057e-01 -3.94575461e-02 -1.35731117e-02 4.22329153e+02] [ 3.94590154e-02 9.99221177e-01 -1.59634542e-04 6.81216044e+00] [ 1.35688394e-02 -3.76086115e-04 9.99907868e-01 3.86526621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49925415399997 meters Centerline goodness [0,1] 0.9987845766974015 Centerline is valid? [True, True] Translation: X:422.36, Y:6.81, Z:3.87 [[ 9.99098133e-01 -4.06672901e-02 -1.22103525e-02 4.22360553e+02] [ 4.06685811e-02 9.99172681e-01 -1.42648424e-04 6.80828835e+00] [ 1.22060517e-02 -3.54057935e-04 9.99925441e-01 3.86646768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.52925415399994 meters Centerline goodness [0,1] 0.9988479503990281 Centerline is valid? [True, True] Translation: X:422.39, Y:6.81, Z:3.87 [[ 9.99103786e-01 -4.06406956e-02 -1.18304324e-02 4.22393081e+02] [ 4.06419202e-02 9.99173766e-01 -1.36976830e-04 6.80736241e+00] [ 1.18262245e-02 -3.43957422e-04 9.99930009e-01 3.86739705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.559254154 meters Centerline goodness [0,1] 0.9987229944732876 Centerline is valid? [True, True] Translation: X:422.42, Y:6.80, Z:3.87 [[ 9.99126326e-01 -4.02805116e-02 -1.11384883e-02 4.22424017e+02] [ 4.02815828e-02 9.99188359e-01 -1.28248316e-04 6.80306183e+00] [ 1.11346138e-02 -3.20539671e-04 9.99937957e-01 3.86783656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.58925415399995 meters Centerline goodness [0,1] 0.998892487723331 Centerline is valid? [True, True] Translation: X:422.46, Y:6.81, Z:3.87 [[ 9.99168837e-01 -3.93583656e-02 -1.06091531e-02 4.22456505e+02] [ 3.93592913e-02 9.99225115e-01 -1.21596400e-04 6.80663316e+00] [ 1.06057181e-02 -2.96073415e-04 9.99943714e-01 3.86869324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6192541539999 meters Centerline goodness [0,1] 0.9988915844068931 Centerline is valid? [True, True] Translation: X:422.49, Y:6.80, Z:3.87 [[ 9.99224768e-01 -3.79600486e-02 -1.04354420e-02 4.22487617e+02] [ 3.79608754e-02 9.99279219e-01 -1.18904541e-04 6.80324912e+00] [ 1.04324340e-02 -2.77326153e-04 9.99945542e-01 3.86804672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.64925415399995 meters Centerline goodness [0,1] 0.9988118316553061 Centerline is valid? [True, True] Translation: X:422.52, Y:6.81, Z:3.87 [[ 9.99358232e-01 -3.42885194e-02 -1.03644011e-02 4.22519287e+02] [ 3.42891432e-02 9.99411948e-01 -1.17554643e-04 6.81021113e+00] [ 1.03623371e-02 -2.37907235e-04 9.99946281e-01 3.86753634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6792541539999 meters Centerline goodness [0,1] 0.9989337236044323 Centerline is valid? [True, True] Translation: X:422.55, Y:6.81, Z:3.87 [[ 9.99408287e-01 -3.29407158e-02 -9.89870569e-03 4.22550142e+02] [ 3.29412239e-02 9.99457284e-01 -1.11751121e-04 6.81097920e+00] [ 9.89701467e-03 -2.14390484e-04 9.99951000e-01 3.86925506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.70925415399995 meters Centerline goodness [0,1] 0.9991428870074214 Centerline is valid? [True, True] Translation: X:422.58, Y:6.81, Z:3.87 [[ 9.99467622e-01 -3.09849981e-02 -1.02177256e-02 4.22581796e+02] [ 3.09854430e-02 9.99519829e-01 -1.14793527e-04 6.81226756e+00] [ 1.02163763e-02 -2.01868343e-04 9.99947791e-01 3.86952137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7392541539999 meters Centerline goodness [0,1] 0.9989553080796473 Centerline is valid? [True, True] Translation: X:422.61, Y:6.81, Z:3.87 [[ 9.99546903e-01 -2.82675878e-02 -1.03408080e-02 4.22613309e+02] [ 2.82679021e-02 9.99600376e-01 -1.15793422e-04 6.81197438e+00] [ 1.03399487e-02 -1.76571990e-04 9.99946526e-01 3.86876719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.76925415399995 meters Centerline goodness [0,1] 0.9989356151518314 Centerline is valid? [True, True] Translation: X:422.64, Y:6.81, Z:3.87 [[ 9.99576097e-01 -2.69260316e-02 -1.10731937e-02 4.22644350e+02] [ 2.69263144e-02 9.99637413e-01 -1.23566619e-04 6.81174097e+00] [ 1.10725058e-02 -1.74646055e-04 9.99938683e-01 3.86746867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7992541539999 meters Centerline goodness [0,1] 0.9990178254236934 Centerline is valid? [True, True] Translation: X:422.68, Y:6.81, Z:3.87 [[ 9.99585923e-01 -2.64286948e-02 -1.13800884e-02 4.22675549e+02] [ 2.64289662e-02 9.99650686e-01 -1.26563370e-04 6.81141156e+00] [ 1.13794581e-02 -1.74253009e-04 9.99935237e-01 3.86833442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.82925415399995 meters Centerline goodness [0,1] 0.998976821883483 Centerline is valid? [True, True] Translation: X:422.71, Y:6.81, Z:3.87 [[ 9.99599807e-01 -2.59414954e-02 -1.12811357e-02 4.22707039e+02] [ 2.59417358e-02 9.99663449e-01 -1.25052839e-04 6.81085724e+00] [ 1.12805831e-02 -1.67649448e-04 9.99936358e-01 3.86843365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8592541539999 meters Centerline goodness [0,1] 0.9990600914844289 Centerline is valid? [True, True] Translation: X:422.74, Y:6.81, Z:3.87 [[ 9.99601125e-01 -2.56769764e-02 -1.17594502e-02 4.22738880e+02] [ 2.56772244e-02 9.99670277e-01 -1.29912371e-04 6.81042851e+00] [ 1.17589086e-02 -1.72089490e-04 9.99930847e-01 3.86829583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.88925415399996 meters Centerline goodness [0,1] 0.9990594235311331 Centerline is valid? [True, True] Translation: X:422.77, Y:6.81, Z:3.87 [[ 9.99601775e-01 -2.53166049e-02 -1.24644258e-02 4.22769629e+02] [ 2.53168608e-02 9.99679467e-01 -1.37283831e-04 6.80909314e+00] [ 1.24639061e-02 -1.78330972e-04 9.99922307e-01 3.86756816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91925415399993 meters Centerline goodness [0,1] 0.9989543686477895 Centerline is valid? [True, True] Translation: X:422.80, Y:6.81, Z:3.87 [[ 9.99608031e-01 -2.43755971e-02 -1.37700541e-02 4.22800491e+02] [ 2.43758227e-02 9.99702854e-01 -1.51477290e-04 6.80846968e+00] [ 1.37696547e-02 -1.84238480e-04 9.99905177e-01 3.86549156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.94925415399996 meters Centerline goodness [0,1] 0.9992063823566267 Centerline is valid? [True, True] Translation: X:422.83, Y:6.81, Z:3.87 [[ 9.99612949e-01 -2.47473810e-02 -1.27090006e-02 4.22829893e+02] [ 2.47476017e-02 9.99693721e-01 -1.39923948e-04 6.80862773e+00] [ 1.27085709e-02 -1.74647496e-04 9.99919228e-01 3.86792574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97925415399993 meters Centerline goodness [0,1] 0.9988117821183632 Centerline is valid? [True, True] Translation: X:422.86, Y:6.81, Z:3.87 [[ 9.99620424e-01 -2.46761087e-02 -1.22514406e-02 4.22859736e+02] [ 2.46763039e-02 9.99695485e-01 -1.35258064e-04 6.80807834e+00] [ 1.22510475e-02 -1.67113548e-04 9.99924939e-01 3.86791752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.00925415399996 meters Centerline goodness [0,1] 0.9987738985868662 Centerline is valid? [True, True] Translation: X:422.89, Y:6.81, Z:3.87 [[ 9.99610783e-01 -2.49665015e-02 -1.24481746e-02 4.22889272e+02] [ 2.49667227e-02 9.99688273e-01 -1.37651801e-04 6.80712206e+00] [ 1.24477308e-02 -1.73191898e-04 9.99922509e-01 3.86809716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03925415399993 meters Centerline goodness [0,1] 0.9990395256091704 Centerline is valid? [True, True] Translation: X:422.92, Y:6.81, Z:3.87 [[ 9.99556188e-01 -2.70725924e-02 -1.24299061e-02 4.22919926e+02] [ 2.70729738e-02 9.99633450e-01 -1.37613247e-04 6.80526877e+00] [ 1.24290755e-02 -1.98962349e-04 9.99922736e-01 3.86838290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06925415399996 meters Centerline goodness [0,1] 0.9989368576848513 Centerline is valid? [True, True] Translation: X:422.95, Y:6.80, Z:3.87 [[ 9.99506017e-01 -2.88626315e-02 -1.24366643e-02 4.22949835e+02] [ 2.88631516e-02 9.99583363e-01 -1.37703481e-04 6.80364663e+00] [ 1.24354572e-02 -2.21325868e-04 9.99922652e-01 3.86869576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09925415399994 meters Centerline goodness [0,1] 0.9987896999290514 Centerline is valid? [True, True] Translation: X:422.98, Y:6.80, Z:3.87 [[ 9.99451635e-01 -3.07852689e-02 -1.21940810e-02 4.22980610e+02] [ 3.07859114e-02 9.99525992e-01 -1.35063626e-04 6.80254950e+00] [ 1.21924589e-02 -2.40416336e-04 9.99925640e-01 3.86909049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12925415399997 meters Centerline goodness [0,1] 0.998812128790247 Centerline is valid? [True, True] Translation: X:423.01, Y:6.80, Z:3.87 [[ 9.99322542e-01 -3.47743985e-02 -1.20498035e-02 4.23010583e+02] [ 3.47753184e-02 9.99395147e-01 -1.33235840e-04 6.79820511e+00] [ 1.20471483e-02 -2.85890176e-04 9.99927390e-01 3.86913359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15925415399994 meters Centerline goodness [0,1] 0.9990620114643043 Centerline is valid? [True, True] Translation: X:423.04, Y:6.80, Z:3.87 [[ 9.99242347e-01 -3.72451674e-02 -1.12929013e-02 4.23041183e+02] [ 3.72461419e-02 9.99306114e-01 -1.24082250e-04 6.79527757e+00] [ 1.12896867e-02 -2.96628764e-04 9.99936225e-01 3.86991621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18925415399997 meters Centerline goodness [0,1] 0.9988521818978651 Centerline is valid? [True, True] Translation: X:423.07, Y:6.80, Z:3.87 [[ 9.99152327e-01 -3.96740699e-02 -1.09815803e-02 4.23073232e+02] [ 3.96751410e-02 9.99212624e-01 -1.20389586e-04 6.79696772e+00] [ 1.09777100e-02 -3.15408210e-04 9.99939693e-01 3.87042550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21925415399994 meters Centerline goodness [0,1] 0.9988107905113601 Centerline is valid? [True, True] Translation: X:423.10, Y:6.79, Z:3.87 [[ 9.99055235e-01 -4.20248322e-02 -1.10702467e-02 4.23103760e+02] [ 4.20260727e-02 9.99116507e-01 -1.20643809e-04 6.78972107e+00] [ 1.10655362e-02 -3.44709162e-04 9.99938716e-01 3.87032069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24925415399997 meters Centerline goodness [0,1] 0.9988535217726638 Centerline is valid? [True, True] Translation: X:423.13, Y:6.79, Z:3.87 [[ 9.98887386e-01 -4.58103672e-02 -1.11982560e-02 4.23134648e+02] [ 4.58118764e-02 9.98950077e-01 -1.21838179e-04 6.78577948e+00] [ 1.11920801e-02 -3.91310498e-04 9.99937290e-01 3.87055662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.27925415399994 meters Centerline goodness [0,1] 0.9988714261829126 Centerline is valid? [True, True] Translation: X:423.17, Y:6.79, Z:3.87 [[ 9.98822853e-01 -4.71534413e-02 -1.13780650e-02 4.23166563e+02] [ 4.71550898e-02 9.98887572e-01 -1.23494414e-04 6.79046885e+00] [ 1.13712309e-02 -4.13184632e-04 9.99935260e-01 3.87098370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.309254154 meters Centerline goodness [0,1] 0.9986843479168842 Centerline is valid? [True, True] Translation: X:423.20, Y:6.78, Z:3.87 [[ 9.98787400e-01 -4.79008059e-02 -1.13685150e-02 4.23197432e+02] [ 4.79025088e-02 9.98852008e-01 -1.22615798e-04 6.78322851e+00] [ 1.13613375e-02 -4.22113278e-04 9.99935369e-01 3.87076858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.33925415399995 meters Centerline goodness [0,1] 0.9988118316553061 Centerline is valid? [True, True] Translation: X:423.23, Y:6.78, Z:3.87 [[ 9.98770689e-01 -4.82485174e-02 -1.13662145e-02 4.23229157e+02] [ 4.82502492e-02 9.98835271e-01 -1.21963253e-04 6.78311075e+00] [ 1.13588604e-02 -4.26609358e-04 9.99935395e-01 3.87107289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3692541539999 meters Centerline goodness [0,1] 0.9988307268285553 Centerline is valid? [True, True] Translation: X:423.26, Y:6.79, Z:3.87 [[ 9.98751380e-01 -4.85357048e-02 -1.18307501e-02 4.23261227e+02] [ 4.85376107e-02 9.98821348e-01 -1.26147026e-04 6.78862257e+00] [ 1.18229284e-02 -4.48246825e-04 9.99930006e-01 3.87102316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.39925415399995 meters Centerline goodness [0,1] 0.9988312149103583 Centerline is valid? [True, True] Translation: X:423.29, Y:6.79, Z:3.87 [[ 9.98731390e-01 -4.87929834e-02 -1.24440982e-02 4.23293592e+02] [ 4.87951233e-02 9.98808800e-01 -1.31783348e-04 6.79146292e+00] [ 1.24357049e-02 -4.75595141e-04 9.99922561e-01 3.87113754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4292541539999 meters Centerline goodness [0,1] 0.9988528761523381 Centerline is valid? [True, True] Translation: X:423.32, Y:6.79, Z:3.87 [[ 9.98712005e-01 -4.90842276e-02 -1.28479628e-02 4.23324394e+02] [ 4.90865440e-02 9.98794520e-01 -1.35176636e-04 6.78775455e+00] [ 1.28391098e-02 -4.95659560e-04 9.99917452e-01 3.87068951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.45925415399995 meters Centerline goodness [0,1] 0.9989163280191726 Centerline is valid? [True, True] Translation: X:423.36, Y:6.79, Z:3.87 [[ 9.98707262e-01 -4.91182099e-02 -1.30845474e-02 4.23356858e+02] [ 4.91206255e-02 9.98792844e-01 -1.36886009e-04 6.79147478e+00] [ 1.30754759e-02 -5.06012100e-04 9.99914384e-01 3.87111546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4892541539999 meters Centerline goodness [0,1] 0.998976116346616 Centerline is valid? [True, True] Translation: X:423.39, Y:6.79, Z:3.87 [[ 9.98690239e-01 -4.95374819e-02 -1.28001512e-02 4.23389365e+02] [ 4.95398397e-02 9.98772139e-01 -1.33001123e-04 6.79331287e+00] [ 1.27910230e-02 -5.01290516e-04 9.99918066e-01 3.87140666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.51925415399995 meters Centerline goodness [0,1] 0.9987043925272705 Centerline is valid? [True, True] Translation: X:423.42, Y:6.79, Z:3.87 [[ 9.98688339e-01 -4.95395366e-02 -1.29397074e-02 4.23420827e+02] [ 4.95419577e-02 9.98772034e-01 -1.33566305e-04 6.79168620e+00] [ 1.29304347e-02 -5.07667327e-04 9.99916270e-01 3.87144867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5492541539999 meters Centerline goodness [0,1] 0.9989134749994776 Centerline is valid? [True, True] Translation: X:423.45, Y:6.80, Z:3.87 [[ 9.98678796e-01 -4.97217255e-02 -1.29774001e-02 4.23453422e+02] [ 4.97241862e-02 9.98762979e-01 -1.33173889e-04 6.79665101e+00] [ 1.29679684e-02 -5.12292719e-04 9.99915781e-01 3.87187739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57925415399995 meters Centerline goodness [0,1] 0.9990817071898153 Centerline is valid? [True, True] Translation: X:423.49, Y:6.80, Z:3.87 [[ 9.98682034e-01 -4.95924560e-02 -1.32205924e-02 4.23485026e+02] [ 4.95950109e-02 9.98769401e-01 -1.34738399e-04 6.79629676e+00] [ 1.32110051e-02 -5.21114604e-04 9.99912595e-01 3.87197059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6092541539999 meters Centerline goodness [0,1] 0.9988313368671481 Centerline is valid? [True, True] Translation: X:423.52, Y:6.80, Z:3.87 [[ 9.98628717e-01 -5.04684910e-02 -1.39146380e-02 4.23516766e+02] [ 5.04714172e-02 9.98725496e-01 -1.41010322e-04 6.79758782e+00] [ 1.39040203e-02 -5.61474541e-04 9.99903177e-01 3.87173888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63925415399996 meters Centerline goodness [0,1] 0.9987889417856844 Centerline is valid? [True, True] Translation: X:423.55, Y:6.80, Z:3.87 [[ 9.98622679e-01 -5.06040074e-02 -1.38556637e-02 4.23548334e+02] [ 5.06069324e-02 9.98718639e-01 -1.39652402e-04 6.79774282e+00] [ 1.38449766e-02 -5.61732581e-04 9.99903996e-01 3.87163217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.66925415399993 meters Centerline goodness [0,1] 0.998641786990409 Centerline is valid? [True, True] Translation: X:423.58, Y:6.80, Z:3.87 [[ 9.98609078e-01 -5.08813190e-02 -1.38202766e-02 4.23580478e+02] [ 5.08842671e-02 9.98704547e-01 -1.38458203e-04 6.79915755e+00] [ 1.38094180e-02 -5.64969029e-04 9.99904486e-01 3.87188031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69925415399996 meters Centerline goodness [0,1] 0.9987266730680917 Centerline is valid? [True, True] Translation: X:423.61, Y:6.80, Z:3.87 [[ 9.98614172e-01 -5.08430436e-02 -1.35911602e-02 4.23612820e+02] [ 5.08459046e-02 9.98706501e-01 -1.35180462e-04 6.79987104e+00] [ 1.35804530e-02 -5.56061709e-04 9.99907627e-01 3.87228797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.72925415399993 meters Centerline goodness [0,1] 0.9988530914398915 Centerline is valid? [True, True] Translation: X:423.64, Y:6.80, Z:3.87 [[ 9.98608335e-01 -5.09144131e-02 -1.37519360e-02 4.23643510e+02] [ 5.09173617e-02 9.98702861e-01 -1.35851299e-04 6.80057358e+00] [ 1.37410147e-02 -5.64550062e-04 9.99905428e-01 3.87270122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75925415399996 meters Centerline goodness [0,1] 0.9986436858359069 Centerline is valid? [True, True] Translation: X:423.68, Y:6.80, Z:3.87 [[ 9.98628071e-01 -5.05243465e-02 -1.37573955e-02 4.23676028e+02] [ 5.05272718e-02 9.98722673e-01 -1.35083293e-04 6.80286111e+00] [ 1.37466477e-02 -5.60225690e-04 9.99905353e-01 3.87302970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.78925415399993 meters Centerline goodness [0,1] 0.9987475472800902 Centerline is valid? [True, True] Translation: X:423.71, Y:6.80, Z:3.87 [[ 9.98666655e-01 -4.98343259e-02 -1.34704471e-02 4.23707181e+02] [ 4.98370795e-02 9.98757352e-01 -1.31392420e-04 6.80352762e+00] [ 1.34602559e-02 -5.40110515e-04 9.99909261e-01 3.87237057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81925415399996 meters Centerline goodness [0,1] 0.9988098718002255 Centerline is valid? [True, True] Translation: X:423.74, Y:6.81, Z:3.87 [[ 9.98697427e-01 -4.93918806e-02 -1.28020211e-02 4.23739415e+02] [ 4.93943405e-02 9.98779347e-01 -1.24158005e-04 6.80528327e+00] [ 1.27925266e-02 -5.08351106e-04 9.99918043e-01 3.87374972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.84925415399994 meters Centerline goodness [0,1] 0.9985591379886402 Centerline is valid? [True, True] Translation: X:423.77, Y:6.81, Z:3.87 [[ 9.98789294e-01 -4.75114615e-02 -1.27517640e-02 4.23770579e+02] [ 4.75137597e-02 9.98870576e-01 -1.22840020e-04 6.80813081e+00] [ 1.27431982e-02 -4.83192954e-04 9.99918685e-01 3.87376788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87925415399997 meters Centerline goodness [0,1] 0.9987463173070896 Centerline is valid? [True, True] Translation: X:423.80, Y:6.81, Z:3.87 [[ 9.98836244e-01 -4.64601674e-02 -1.29464538e-02 4.23802913e+02] [ 4.64624578e-02 9.98920029e-01 -1.23971918e-04 6.80979825e+00] [ 1.29382318e-02 -4.77696418e-04 9.99916183e-01 3.87389051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.90925415399994 meters Centerline goodness [0,1] 0.9986180036434449 Centerline is valid? [True, True] Translation: X:423.83, Y:6.81, Z:3.87 [[ 9.98883047e-01 -4.54464933e-02 -1.29334742e-02 4.23834584e+02] [ 4.54487057e-02 9.98966666e-01 -1.22957637e-04 6.81073694e+00] [ 1.29256976e-02 -4.64989364e-04 9.99916352e-01 3.87394549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93925415399997 meters Centerline goodness [0,1] 0.9987449274149688 Centerline is valid? [True, True] Translation: X:423.87, Y:6.81, Z:3.87 [[ 9.98914597e-01 -4.46357447e-02 -1.33145676e-02 4.23866554e+02] [ 4.46380299e-02 9.99003218e-01 -1.25652079e-04 6.81228809e+00] [ 1.33069044e-02 -4.68820369e-04 9.99911349e-01 3.87422917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.96925415399994 meters Centerline goodness [0,1] 0.998764630750225 Centerline is valid? [True, True] Translation: X:423.90, Y:6.82, Z:3.88 [[ 9.98973469e-01 -4.32762315e-02 -1.33857003e-02 4.23898255e+02] [ 4.32784308e-02 9.99063042e-01 -1.25462726e-04 6.81942164e+00] [ 1.33785880e-02 -4.53978168e-04 9.99910400e-01 3.87509095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99925415399997 meters Centerline goodness [0,1] 0.99880798025848 Centerline is valid? [True, True] Translation: X:423.93, Y:6.81, Z:3.87 [[ 9.98984744e-01 -4.29361926e-02 -1.36368501e-02 4.23930008e+02] [ 4.29384549e-02 9.99077711e-01 -1.26985579e-04 6.81439064e+00] [ 1.36297253e-02 -4.58688617e-04 9.99907006e-01 3.87458918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.02925415399994 meters Centerline goodness [0,1] 0.9987851113298841 Centerline is valid? [True, True] Translation: X:423.96, Y:6.82, Z:3.88 [[ 9.98998480e-01 -4.25825637e-02 -1.37390645e-02 4.23961962e+02] [ 4.25848404e-02 9.99092846e-01 -1.26930376e-04 6.82169444e+00] [ 1.37320061e-02 -4.58272617e-04 9.99905607e-01 3.87548962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.059254154 meters Centerline goodness [0,1] 0.9988699619135312 Centerline is valid? [True, True] Translation: X:423.99, Y:6.82, Z:3.88 [[ 9.99002682e-01 -4.24024971e-02 -1.39882006e-02 4.23994159e+02] [ 4.24048541e-02 9.99100501e-01 -1.28188885e-04 6.82231019e+00] [ 1.39810537e-02 -4.65106564e-04 9.99902152e-01 3.87539786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.08925415399995 meters Centerline goodness [0,1] 0.9988699619135312 Centerline is valid? [True, True] Translation: X:424.03, Y:6.82, Z:3.88 [[ 9.99005791e-01 -4.23291889e-02 -1.39882099e-02 4.24025863e+02] [ 4.23315531e-02 9.99103610e-01 -1.27162513e-04 6.82253907e+00] [ 1.39810537e-02 -4.65106563e-04 9.99902152e-01 3.87569471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1192541539999 meters Centerline goodness [0,1] 0.9985547619546321 Centerline is valid? [True, True] Translation: X:424.06, Y:6.82, Z:3.87 [[ 9.99010278e-01 -4.17825301e-02 -1.52539754e-02 4.24058298e+02] [ 4.17852959e-02 9.99126604e-01 -1.37490664e-04 6.82258661e+00] [ 1.52463974e-02 -5.00037290e-04 9.99883642e-01 3.87428365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.14925415399995 meters Centerline goodness [0,1] 0.9987440867417424 Centerline is valid? [True, True] Translation: X:424.09, Y:6.82, Z:3.87 [[ 9.99013755e-01 -4.13276161e-02 -1.62341003e-02 4.24089269e+02] [ 4.13307143e-02 9.99145510e-01 -1.44759511e-04 6.82271018e+00] [ 1.62262110e-02 -5.26350217e-04 9.99868208e-01 3.87434630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1792541539999 meters Centerline goodness [0,1] 0.9987640873098999 Centerline is valid? [True, True] Translation: X:424.12, Y:6.82, Z:3.87 [[ 9.99021684e-01 -4.08728096e-02 -1.68845322e-02 4.24119567e+02] [ 4.08761185e-02 9.99164211e-01 -1.49235855e-04 6.82237707e+00] [ 1.68765200e-02 -5.41084286e-04 9.99857435e-01 3.87370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.20925415399995 meters Centerline goodness [0,1] 0.9986401673640167 Centerline is valid? [True, True] Translation: X:424.15, Y:6.82, Z:3.87 [[ 9.99047516e-01 -4.01568123e-02 -1.70730956e-02 4.24150544e+02] [ 4.01600963e-02 9.99193247e-01 -1.50597994e-04 6.82401266e+00] [ 1.70653694e-02 -5.35202613e-04 9.99854233e-01 3.87403942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2392541539999 meters Centerline goodness [0,1] 0.9989730262192694 Centerline is valid? [True, True] Translation: X:424.18, Y:6.83, Z:3.88 [[ 9.99108881e-01 -3.87452361e-02 -1.67406945e-02 4.24180657e+02] [ 3.87481982e-02 9.99248996e-01 -1.47503131e-04 6.82644214e+00] [ 1.67338372e-02 -5.01300059e-04 9.99859854e-01 3.87521840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.26925415399995 meters Centerline goodness [0,1] 0.9990574337061706 Centerline is valid? [True, True] Translation: X:424.21, Y:6.83, Z:3.88 [[ 9.99138020e-01 -3.82614072e-02 -1.61022049e-02 4.24211064e+02] [ 3.82640848e-02 9.99267652e-01 -1.41877366e-04 6.82814303e+00] [ 1.60958409e-02 -4.74381064e-04 9.99870341e-01 3.87618663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2992541539999 meters Centerline goodness [0,1] 0.9988704819277109 Centerline is valid? [True, True] Translation: X:424.24, Y:6.83, Z:3.88 [[ 9.99164016e-01 -3.79635276e-02 -1.51670517e-02 4.24242029e+02] [ 3.79658721e-02 9.99279027e-01 -1.33429219e-04 6.82930954e+00] [ 1.51611821e-02 -4.42512670e-04 9.99884965e-01 3.87735521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.32925415399995 meters Centerline goodness [0,1] 0.9988277406794918 Centerline is valid? [True, True] Translation: X:424.27, Y:6.83, Z:3.88 [[ 9.99183645e-01 -3.75421708e-02 -1.49207770e-02 4.24273494e+02] [ 3.75444009e-02 9.99294952e-01 -1.30723247e-04 6.83171134e+00] [ 1.49151648e-02 -4.29575103e-04 9.99888670e-01 3.87719473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3592541539999 meters Centerline goodness [0,1] 0.9990162012810315 Centerline is valid? [True, True] Translation: X:424.30, Y:6.83, Z:3.88 [[ 9.99215602e-01 -3.73436410e-02 -1.31769856e-02 4.24303380e+02] [ 3.73453680e-02 9.99302412e-01 -1.15064666e-04 6.83037035e+00] [ 1.31720904e-02 -3.77124967e-04 9.99913173e-01 3.87916677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.38925415399996 meters Centerline goodness [0,1] 0.9989542811728782 Centerline is valid? [True, True] Translation: X:424.34, Y:6.83, Z:3.88 [[ 9.99232560e-01 -3.69712227e-02 -1.29390764e-02 4.24336023e+02] [ 3.69728622e-02 9.99316264e-01 -1.12550872e-04 6.83135198e+00] [ 1.29343906e-02 -3.65930193e-04 9.99916280e-01 3.87963510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41925415399993 meters Centerline goodness [0,1] 0.998827053180571 Centerline is valid? [True, True] Translation: X:424.37, Y:6.83, Z:3.88 [[ 9.99260830e-01 -3.63752309e-02 -1.24352564e-02 4.24368540e+02] [ 3.63767103e-02 9.99338143e-01 -1.07272474e-04 6.83155861e+00] [ 1.24309280e-02 -3.45160536e-04 9.99922673e-01 3.88007721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.44925415399996 meters Centerline goodness [0,1] 0.9990598558445628 Centerline is valid? [True, True] Translation: X:424.40, Y:6.83, Z:3.88 [[ 9.99296501e-01 -3.56066178e-02 -1.17758943e-02 4.24400688e+02] [ 3.56079009e-02 9.99365833e-01 -1.00750638e-04 6.83126536e+00] [ 1.17720138e-02 -3.18635116e-04 9.99930657e-01 3.88021477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47925415399993 meters Centerline goodness [0,1] 0.9991413792381312 Centerline is valid? [True, True] Translation: X:424.43, Y:6.83, Z:3.88 [[ 9.99346774e-01 -3.44485886e-02 -1.09233571e-02 4.24432855e+02] [ 3.44496317e-02 9.99406431e-01 -9.27030780e-05 6.83077153e+00] [ 1.09200668e-02 -2.83663107e-04 9.99940334e-01 3.88097601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.50925415399996 meters Centerline goodness [0,1] 0.9989985186421582 Centerline is valid? [True, True] Translation: X:424.47, Y:6.83, Z:3.88 [[ 9.99363844e-01 -3.41042749e-02 -1.04310111e-02 4.24465076e+02] [ 3.41052151e-02 9.99418244e-01 -8.77868476e-05 6.83017948e+00] [ 1.04279367e-02 -2.68020877e-04 9.99945592e-01 3.88112709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53925415399993 meters Centerline goodness [0,1] 0.9990390440577409 Centerline is valid? [True, True] Translation: X:424.50, Y:6.83, Z:3.88 [[ 9.99371448e-01 -3.38810024e-02 -1.04300887e-02 4.24497294e+02] [ 3.38819383e-02 9.99425839e-01 -8.70131264e-05 6.82943209e+00] [ 1.04270482e-02 -2.66433187e-04 9.99945601e-01 3.88121235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56925415399996 meters Centerline goodness [0,1] 0.9990215264187867 Centerline is valid? [True, True] Translation: X:424.53, Y:6.83, Z:3.88 [[ 9.99357296e-01 -3.39911914e-02 -1.13838935e-02 4.24528979e+02] [ 3.39923232e-02 9.99422090e-01 -9.41090360e-05 6.82578871e+00] [ 1.13805135e-02 -2.92916435e-04 9.99935197e-01 3.87969534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59925415399994 meters Centerline goodness [0,1] 0.9986395412114363 Centerline is valid? [True, True] Translation: X:424.56, Y:6.83, Z:3.88 [[ 9.99334546e-01 -3.43376732e-02 -1.23040740e-02 4.24560168e+02] [ 3.43390298e-02 9.99410237e-01 -1.01052924e-04 6.82711372e+00] [ 1.23002875e-02 -3.21524286e-04 9.99924297e-01 3.87930706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62925415399997 meters Centerline goodness [0,1] 0.9985398414685023 Centerline is valid? [True, True] Translation: X:424.59, Y:6.82, Z:3.88 [[ 9.99317958e-01 -3.43309883e-02 -1.36015498e-02 4.24590940e+02] [ 3.43326519e-02 9.99410455e-01 -1.11244569e-04 6.82345053e+00] [ 1.35973502e-02 -3.55808579e-04 9.99907488e-01 3.87712849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65925415399994 meters Centerline goodness [0,1] 0.9990994764397906 Centerline is valid? [True, True] Translation: X:424.62, Y:6.82, Z:3.88 [[ 9.99286193e-01 -3.50844217e-02 -1.40066729e-02 4.24622499e+02] [ 3.50862646e-02 9.99384281e-01 -1.14210677e-04 6.82409839e+00] [ 1.40020558e-02 -3.77312681e-04 9.99901895e-01 3.87828618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68925415399997 meters Centerline goodness [0,1] 0.9990149848056167 Centerline is valid? [True, True] Translation: X:424.65, Y:6.82, Z:3.88 [[ 9.99249719e-01 -3.57306942e-02 -1.49438109e-02 4.24654270e+02] [ 3.57328728e-02 9.99361370e-01 -1.21285068e-04 6.82174354e+00] [ 1.49386009e-02 -4.12791224e-04 9.99888328e-01 3.87718566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71925415399994 meters Centerline goodness [0,1] 0.9990576705616283 Centerline is valid? [True, True] Translation: X:424.69, Y:6.82, Z:3.88 [[ 9.99249482e-01 -3.57171636e-02 -1.49918710e-02 4.24686076e+02] [ 3.57193628e-02 9.99361853e-01 -1.21127803e-04 6.82078080e+00] [ 1.49866303e-02 -4.14463185e-04 9.99887608e-01 3.87752963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74925415399997 meters Centerline goodness [0,1] 0.9991831263221833 Centerline is valid? [True, True] Translation: X:424.72, Y:6.82, Z:3.88 [[ 9.99263241e-01 -3.54358147e-02 -1.47403544e-02 4.24716221e+02] [ 3.54379200e-02 9.99371873e-01 -1.18429313e-04 6.81952437e+00] [ 1.47352922e-02 -4.04025438e-04 9.99891348e-01 3.87766618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.77925415399994 meters Centerline goodness [0,1] 0.9990992500733169 Centerline is valid? [True, True] Translation: X:424.75, Y:6.82, Z:3.88 [[ 9.99275724e-01 -3.52192392e-02 -1.44094886e-02 4.24747652e+02] [ 3.52212393e-02 9.99379533e-01 -1.15027088e-04 6.81877622e+00] [ 1.44045991e-02 -3.92576269e-04 9.99896171e-01 3.87835919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.809254154 meters Centerline goodness [0,1] 0.9989542593018635 Centerline is valid? [True, True] Translation: X:424.78, Y:6.82, Z:3.88 [[ 9.99310934e-01 -3.46092672e-02 -1.34110593e-02 4.24778532e+02] [ 3.46109509e-02 9.99400856e-01 -1.06596489e-04 6.81983001e+00] [ 1.34067134e-02 -3.57646480e-04 9.99910062e-01 3.87962071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.83925415399995 meters Centerline goodness [0,1] 0.9990594628487826 Centerline is valid? [True, True] Translation: X:424.81, Y:6.82, Z:3.88 [[ 9.99346995e-01 -3.38298762e-02 -1.26934075e-02 4.24808440e+02] [ 3.38313266e-02 9.99427552e-01 -1.00505915e-04 6.81939591e+00] [ 1.26895413e-02 -3.28994530e-04 9.99919430e-01 3.88046571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8692541539999 meters Centerline goodness [0,1] 0.998769397630569 Centerline is valid? [True, True] Translation: X:424.84, Y:6.82, Z:3.88 [[ 9.99366567e-01 -3.34412433e-02 -1.21716170e-02 4.24839471e+02] [ 3.34425513e-02 9.99440637e-01 -9.61087650e-05 6.81965444e+00] [ 1.21680227e-02 -3.11002040e-04 9.99925919e-01 3.88087578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.89925415399995 meters Centerline goodness [0,1] 0.9987870929965077 Centerline is valid? [True, True] Translation: X:424.87, Y:6.82, Z:3.88 [[ 9.99382017e-01 -3.29904318e-02 -1.21332197e-02 4.24870460e+02] [ 3.29917038e-02 9.99455621e-01 -9.53657633e-05 6.81914938e+00] [ 1.21297608e-02 -3.04988762e-04 9.99926385e-01 3.88066856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9292541539999 meters Centerline goodness [0,1] 0.9990609348914858 Centerline is valid? [True, True] Translation: X:424.90, Y:6.82, Z:3.88 [[ 9.99406195e-01 -3.28209460e-02 -1.04901636e-02 4.24902130e+02] [ 3.28218909e-02 9.99461213e-01 -8.21179082e-05 6.81759325e+00] [ 1.04872068e-02 -2.62237859e-04 9.99944973e-01 3.88158199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.95925415399995 meters Centerline goodness [0,1] 0.9990814388008601 Centerline is valid? [True, True] Translation: X:424.93, Y:6.82, Z:3.88 [[ 9.99414288e-01 -3.27065924e-02 -1.00677976e-02 4.24933934e+02] [ 3.27074605e-02 9.99464965e-01 -7.84578393e-05 6.81734276e+00] [ 1.00649771e-02 -2.50880207e-04 9.99949315e-01 3.88216647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9892541539999 meters Centerline goodness [0,1] 0.9989990198736263 Centerline is valid? [True, True] Translation: X:424.97, Y:6.82, Z:3.88 [[ 9.99416547e-01 -3.27403912e-02 -9.72792817e-03 4.24965474e+02] [ 3.27412066e-02 9.99463860e-01 -7.54585865e-05 6.81651669e+00] [ 9.72518318e-03 -2.43089546e-04 9.99952680e-01 3.88237667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.01925415399995 meters Centerline goodness [0,1] 0.9987878281223875 Centerline is valid? [True, True] Translation: X:425.00, Y:6.82, Z:3.88 [[ 9.99420323e-01 -3.27706621e-02 -9.22503140e-03 4.24996490e+02] [ 3.27713998e-02 9.99462871e-01 -7.12313910e-05 6.81610862e+00] [ 9.22241067e-03 -2.31127092e-04 9.99957446e-01 3.88250473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0492541539999 meters Centerline goodness [0,1] 0.998810914552737 Centerline is valid? [True, True] Translation: X:425.03, Y:6.81, Z:3.88 [[ 9.99425130e-01 -3.26872605e-02 -8.99731720e-03 4.25027692e+02] [ 3.26879615e-02 9.99465603e-01 -6.91739236e-05 6.81248878e+00] [ 8.99477017e-03 -2.24969800e-04 9.99959521e-01 3.88313068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07925415399995 meters Centerline goodness [0,1] 0.999101640029249 Centerline is valid? [True, True] Translation: X:425.06, Y:6.81, Z:3.88 [[ 9.99441165e-01 -3.22329071e-02 -8.85421829e-03 4.25059714e+02] [ 3.22335772e-02 9.99480361e-01 -6.70493295e-05 6.81389559e+00] [ 8.85177849e-03 -2.18391269e-04 9.99960798e-01 3.88313954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1092541539999 meters Centerline goodness [0,1] 0.9987463435018805 Centerline is valid? [True, True] Translation: X:425.09, Y:6.81, Z:3.88 [[ 9.99443123e-01 -3.21047299e-02 -9.09557787e-03 4.25091118e+02] [ 3.21054381e-02 9.99484485e-01 -6.81702700e-05 6.80891967e+00] [ 9.09307756e-03 -2.23885205e-04 9.99958632e-01 3.88303611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13925415399996 meters Centerline goodness [0,1] 0.9990598558445628 Centerline is valid? [True, True] Translation: X:425.12, Y:6.81, Z:3.88 [[ 9.99462453e-01 -3.13116539e-02 -9.71522300e-03 4.25123636e+02] [ 3.13124302e-02 9.99509643e-01 -7.22289057e-05 6.81207536e+00] [ 9.71272068e-03 -2.32017163e-04 9.99952803e-01 3.88266568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.16925415399993 meters Centerline goodness [0,1] 0.9988718741512942 Centerline is valid? [True, True] Translation: X:425.15, Y:6.81, Z:3.88 [[ 9.99481189e-01 -3.03252197e-02 -1.08505500e-02 4.25154003e+02] [ 3.03261395e-02 9.99540054e-01 -7.97910091e-05 6.80980717e+00] [ 1.08479791e-02 -2.49305682e-04 9.99941128e-01 3.88106122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19925415399996 meters Centerline goodness [0,1] 0.9991219451006628 Centerline is valid? [True, True] Translation: X:425.18, Y:6.81, Z:3.88 [[ 9.99493373e-01 -2.95397639e-02 -1.18490245e-02 4.25184745e+02] [ 2.95408141e-02 9.99563571e-01 -8.64188153e-05 6.80881088e+00] [ 1.18464061e-02 -2.63654797e-04 9.99929794e-01 3.88086763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.22925415399993 meters Centerline goodness [0,1] 0.9989762660872472 Centerline is valid? [True, True] Translation: X:425.22, Y:6.81, Z:3.88 [[ 9.99512873e-01 -2.88112229e-02 -1.19971062e-02 4.25215351e+02] [ 2.88122491e-02 9.99584837e-01 -8.73274661e-05 6.80979752e+00] [ 1.19946415e-02 -2.58378687e-04 9.99928028e-01 3.88034677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25925415399996 meters Centerline goodness [0,1] 0.9991032699366033 Centerline is valid? [True, True] Translation: X:425.25, Y:6.81, Z:3.88 [[ 9.99524002e-01 -2.80596791e-02 -1.28227739e-02 4.25245793e+02] [ 2.80607905e-02 9.99606214e-01 -9.32741116e-05 6.80794101e+00] [ 1.28203417e-02 -2.66587459e-04 9.99917781e-01 3.88018258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.28925415399993 meters Centerline goodness [0,1] 0.9990588136869405 Centerline is valid? [True, True] Translation: X:425.28, Y:6.81, Z:3.88 [[ 9.99540321e-01 -2.73128531e-02 -1.31588135e-02 4.25276264e+02] [ 2.73139611e-02 9.99626900e-01 -9.55420466e-05 6.80822530e+00] [ 1.31565134e-02 -2.63921191e-04 9.99913415e-01 3.88005820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31925415399996 meters Centerline goodness [0,1] 0.9990608956968154 Centerline is valid? [True, True] Translation: X:425.31, Y:6.81, Z:3.88 [[ 9.99543938e-01 -2.71150042e-02 -1.32925441e-02 4.25305521e+02] [ 2.71161176e-02 9.99632286e-01 -9.64941575e-05 6.80722578e+00] [ 1.32902727e-02 -2.63992038e-04 9.99911646e-01 3.88017365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.34925415399994 meters Centerline goodness [0,1] 0.998998372355077 Centerline is valid? [True, True] Translation: X:425.34, Y:6.81, Z:3.88 [[ 9.99537846e-01 -2.73204694e-02 -1.33299366e-02 4.25335431e+02] [ 2.73216060e-02 9.99626691e-01 -9.68640619e-05 6.80685216e+00] [ 1.33276068e-02 -2.67375981e-04 9.99911148e-01 3.88081885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37925415399997 meters Centerline goodness [0,1] 0.9990605624099705 Centerline is valid? [True, True] Translation: X:425.36, Y:6.80, Z:3.88 [[ 9.99492807e-01 -2.87594707e-02 -1.36756020e-02 4.25364056e+02] [ 2.87607938e-02 9.99586318e-01 -9.99567763e-05 6.80430340e+00] [ 1.36728193e-02 -2.93415089e-04 9.99906480e-01 3.88079284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.40925415399994 meters Centerline goodness [0,1] 0.9988930197585529 Centerline is valid? [True, True] Translation: X:425.39, Y:6.80, Z:3.88 [[ 9.99449408e-01 -3.00805341e-02 -1.40015038e-02 4.25393275e+02] [ 3.00820409e-02 9.99547428e-01 -1.03027229e-04 6.80487792e+00] [ 1.39982662e-02 -3.18223307e-04 9.99901969e-01 3.88135770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43925415399997 meters Centerline goodness [0,1] 0.9989973890339425 Centerline is valid? [True, True] Translation: X:425.42, Y:6.80, Z:3.88 [[ 9.99394379e-01 -3.13471121e-02 -1.51074319e-02 4.25422711e+02] [ 3.13490022e-02 9.99508493e-01 -1.11746877e-04 6.80311075e+00] [ 1.51035095e-02 -3.61923716e-04 9.99885870e-01 3.88015509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.46925415399994 meters Centerline goodness [0,1] 0.9991230268103233 Centerline is valid? [True, True] Translation: X:425.45, Y:6.80, Z:3.88 [[ 9.99315713e-01 -3.39718422e-02 -1.46294310e-02 4.25452181e+02] [ 3.39738879e-02 9.99422715e-01 -1.08735242e-04 6.80148417e+00] [ 1.46246796e-02 -3.88357812e-04 9.99892978e-01 3.88204550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49925415399997 meters Centerline goodness [0,1] 0.9989141103013344 Centerline is valid? [True, True] Translation: X:425.48, Y:6.80, Z:3.88 [[ 9.99221395e-01 -3.66548242e-02 -1.45954602e-02 4.25481115e+02] [ 3.66571432e-02 9.99327895e-01 -1.08700408e-04 6.79834681e+00] [ 1.45896349e-02 -4.26412100e-04 9.99893475e-01 3.88214969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.52925415399994 meters Centerline goodness [0,1] 0.9989343029087262 Centerline is valid? [True, True] Translation: X:425.51, Y:6.80, Z:3.88 [[ 9.99122337e-01 -3.95266121e-02 -1.38636919e-02 4.25511672e+02] [ 3.95289835e-02 9.99218419e-01 -1.03038960e-04 6.79827729e+00] [ 1.38569290e-02 -4.45069120e-04 9.99903889e-01 3.88301352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.559254154 meters Centerline goodness [0,1] 0.9990412671946645 Centerline is valid? [True, True] Translation: X:425.54, Y:6.79, Z:3.88 [[ 9.98839313e-01 -4.62751835e-02 -1.33653831e-02 4.25541840e+02] [ 4.62779905e-02 9.98928595e-01 -9.93468016e-05 6.79052960e+00] [ 1.33556607e-02 -5.19291582e-04 9.99910674e-01 3.88338677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.58925415399995 meters Centerline goodness [0,1] 0.9988311173265984 Centerline is valid? [True, True] Translation: X:425.57, Y:6.79, Z:3.88 [[ 9.98672244e-01 -4.98518649e-02 -1.29822863e-02 4.25571612e+02] [ 4.98548146e-02 9.98756471e-01 -9.65251678e-05 6.78570360e+00] [ 1.29709544e-02 -5.50832469e-04 9.99915722e-01 3.88377528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6192541539999 meters Centerline goodness [0,1] 0.998811410459588 Centerline is valid? [True, True] Translation: X:425.60, Y:6.78, Z:3.88 [[ 9.98470753e-01 -5.37260444e-02 -1.30256670e-02 4.25602691e+02] [ 5.37293436e-02 9.98555531e-01 -9.67832426e-05 6.78483140e+00] [ 1.30120516e-02 -6.03225299e-04 9.99915158e-01 3.88435702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.64925415399995 meters Centerline goodness [0,1] 0.9987694489634171 Centerline is valid? [True, True] Translation: X:425.63, Y:6.78, Z:3.88 [[ 9.98273596e-01 -5.72766683e-02 -1.30081408e-02 4.25633933e+02] [ 5.72802630e-02 9.98358133e-01 -9.63604051e-05 6.78274219e+00] [ 1.29923024e-02 -6.48915681e-04 9.99915386e-01 3.88476571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6792541539999 meters Centerline goodness [0,1] 0.9986864601142571 Centerline is valid? [True, True] Translation: X:425.66, Y:6.78, Z:3.88 [[ 9.97847664e-01 -6.41872251e-02 -1.34178691e-02 4.25663889e+02] [ 6.41916791e-02 9.97937582e-01 -9.89084719e-05 6.77810698e+00] [ 1.33965445e-02 -7.62619962e-04 9.99909971e-01 3.88494764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.70925415399995 meters Centerline goodness [0,1] 0.9989143596809887 Centerline is valid? [True, True] Translation: X:425.69, Y:6.78, Z:3.89 [[ 9.97662030e-01 -6.69890995e-02 -1.35253619e-02 4.25694659e+02] [ 6.69938881e-02 9.97753381e-01 -9.92299646e-05 6.77630818e+00] [ 1.35016229e-02 -8.07118615e-04 9.99908523e-01 3.88503479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7392541539999 meters Centerline goodness [0,1] 0.9988733569789277 Centerline is valid? [True, True] Translation: X:425.73, Y:6.77, Z:3.89 [[ 9.97494591e-01 -6.93524917e-02 -1.39560870e-02 4.25725093e+02] [ 6.93578258e-02 9.97591841e-01 -1.02018655e-04 6.77388452e+00] [ 1.39295537e-02 -8.66200791e-04 9.99902604e-01 3.88505625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.76925415399995 meters Centerline goodness [0,1] 0.9988115839292788 Centerline is valid? [True, True] Translation: X:425.76, Y:6.77, Z:3.89 [[ 9.97371838e-01 -7.09962773e-02 -1.44549220e-02 4.25756330e+02] [ 7.10021764e-02 9.97476155e-01 -1.05325820e-04 6.77277363e+00] [ 1.44259178e-02 -9.21281918e-04 9.99895517e-01 3.88525340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7992541539999 meters Centerline goodness [0,1] 0.9988098966489195 Centerline is valid? [True, True] Translation: X:425.79, Y:6.78, Z:3.89 [[ 9.97201433e-01 -7.32467169e-02 -1.49740070e-02 4.25787211e+02] [ 7.32533065e-02 9.97313362e-01 -1.08677441e-04 6.78083581e+00] [ 1.49417375e-02 -9.88522222e-04 9.99887877e-01 3.88629572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.82925415399995 meters Centerline goodness [0,1] 0.9988505987335687 Centerline is valid? [True, True] Translation: X:425.82, Y:6.78, Z:3.89 [[ 9.97191503e-01 -7.33193509e-02 -1.52767599e-02 4.25819177e+02] [ 7.33262275e-02 9.97308003e-01 -1.10265351e-04 6.78474556e+00] [ 1.52437195e-02 -1.01023150e-03 9.99883297e-01 3.88705549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8592541539999 meters Centerline goodness [0,1] 0.9987268325262982 Centerline is valid? [True, True] Translation: X:425.85, Y:6.79, Z:3.89 [[ 9.97211750e-01 -7.30012043e-02 -1.54773747e-02 4.25851592e+02] [ 7.30082423e-02 9.97331331e-01 -1.10560066e-04 6.78652383e+00] [ 1.54441417e-02 -1.01972412e-03 9.99880212e-01 3.88730599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.88925415399996 meters Centerline goodness [0,1] 0.9989557226399332 Centerline is valid? [True, True] Translation: X:425.88, Y:6.79, Z:3.89 [[ 9.97359099e-01 -7.07248546e-02 -1.65173275e-02 4.25883300e+02] [ 7.07325782e-02 9.97495308e-01 -1.16852395e-04 6.79183979e+00] [ 1.64842210e-02 -1.05176936e-03 9.99863573e-01 3.88626209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91925415399993 meters Centerline goodness [0,1] 0.9988520381540773 Centerline is valid? [True, True] Translation: X:425.91, Y:6.79, Z:3.89 [[ 9.97440424e-01 -6.95818642e-02 -1.64610015e-02 4.25914050e+02] [ 6.95893930e-02 9.97575713e-01 -1.15674672e-04 6.78931391e+00] [ 1.64291442e-02 -1.03013251e-03 9.99864502e-01 3.88664842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.94925415399996 meters Centerline goodness [0,1] 0.9987743570567951 Centerline is valid? [True, True] Translation: X:425.94, Y:6.79, Z:3.89 [[ 9.97530430e-01 -6.82148818e-02 -1.67263343e-02 4.25944079e+02] [ 6.82224719e-02 9.97670126e-01 -1.17062261e-04 6.79118580e+00] [ 1.66953494e-02 -1.02433870e-03 9.99860098e-01 3.88670565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97925415399993 meters Centerline goodness [0,1] 0.9987743570567951 Centerline is valid? [True, True] Translation: X:425.98, Y:6.79, Z:3.89 [[ 9.97535206e-01 -6.81450124e-02 -1.67263390e-02 4.25975823e+02] [ 6.81526040e-02 9.97674901e-01 -1.16383111e-04 6.79134184e+00] [ 1.66953796e-02 -1.02384731e-03 9.99860098e-01 3.88700300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.00925415399996 meters Centerline goodness [0,1] 0.9986640783184085 Centerline is valid? [True, True] Translation: X:426.01, Y:6.79, Z:3.89 [[ 9.97618299e-01 -6.67919617e-02 -1.72210122e-02 4.26007564e+02] [ 6.67998270e-02 9.97766390e-01 -1.18736594e-04 6.79396723e+00] [ 1.71904779e-02 -1.03190684e-03 9.99851700e-01 3.88693060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03925415399993 meters Centerline goodness [0,1] 0.9987241963482735 Centerline is valid? [True, True] Translation: X:426.04, Y:6.81, Z:3.89 [[ 9.97828975e-01 -6.37060566e-02 -1.66995443e-02 4.26038694e+02] [ 6.37130321e-02 9.97968254e-01 -1.14528250e-04 6.80529825e+00] [ 1.66729112e-02 -9.49698996e-04 9.99860546e-01 3.88830526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.06925415399996 meters Centerline goodness [0,1] 0.9988714261829126 Centerline is valid? [True, True] Translation: X:426.07, Y:6.81, Z:3.89 [[ 9.97927646e-01 -6.22312262e-02 -1.63611746e-02 4.26068906e+02] [ 6.22377385e-02 9.98061347e-01 -1.11334148e-04 6.80644813e+00] [ 1.63363844e-02 -9.07179083e-04 9.99866141e-01 3.88868359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09925415399994 meters Centerline goodness [0,1] 0.9987040675557042 Centerline is valid? [True, True] Translation: X:426.10, Y:6.81, Z:3.89 [[ 9.98022151e-01 -6.06808290e-02 -1.64202195e-02 4.26100784e+02] [ 6.06872010e-02 9.98156827e-01 -1.10403429e-04 6.80889336e+00] [ 1.63966535e-02 -8.86312092e-04 9.99865173e-01 3.88922915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12925415399997 meters Centerline goodness [0,1] 0.9988109641620426 Centerline is valid? [True, True] Translation: X:426.13, Y:6.81, Z:3.89 [[ 9.98126687e-01 -5.90712463e-02 -1.59281057e-02 4.26132176e+02] [ 5.90770494e-02 9.98253420e-01 -1.06358042e-04 6.81166568e+00] [ 1.59065687e-02 -8.34826686e-04 9.99873134e-01 3.88976636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15925415399994 meters Centerline goodness [0,1] 0.9987877267786974 Centerline is valid? [True, True] Translation: X:426.16, Y:6.82, Z:3.89 [[ 9.98331763e-01 -5.54598870e-02 -1.60590142e-02 4.26163040e+02] [ 5.54653273e-02 9.98460608e-01 -1.06762978e-04 6.81953993e+00] [ 1.60402142e-02 -7.84133607e-04 9.99871040e-01 3.89015312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.18925415399997 meters Centerline goodness [0,1] 0.9987041217289524 Centerline is valid? [True, True] Translation: X:426.19, Y:6.82, Z:3.89 [[ 9.98440484e-01 -5.35195628e-02 -1.58825648e-02 4.26193347e+02] [ 5.35246439e-02 9.98566523e-01 -1.05297319e-04 6.82125485e+00] [ 1.58654330e-02 -7.44975521e-04 9.99873859e-01 3.89004311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21925415399994 meters Centerline goodness [0,1] 0.9989132479257665 Centerline is valid? [True, True] Translation: X:426.22, Y:6.82, Z:3.89 [[ 9.98557808e-01 -5.12964852e-02 -1.58422075e-02 4.26224997e+02] [ 5.13012697e-02 9.98683217e-01 -1.04495796e-04 6.82475599e+00] [ 1.58267070e-02 -7.08380266e-04 9.99874499e-01 3.89066812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.24925415399997 meters Centerline goodness [0,1] 0.9988072818581293 Centerline is valid? [True, True] Translation: X:426.26, Y:6.83, Z:3.89 [[ 9.98698530e-01 -4.86991236e-02 -1.51539557e-02 4.26256075e+02] [ 4.87032137e-02 9.98813289e-01 -9.92396612e-05 6.82788989e+00] [ 1.51408052e-02 -6.38935840e-04 9.99885167e-01 3.89090621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.27925415399994 meters Centerline goodness [0,1] 0.9988283783501056 Centerline is valid? [True, True] Translation: X:426.29, Y:6.83, Z:3.89 [[ 9.98946301e-01 -4.35335248e-02 -1.45299480e-02 4.26286778e+02] [ 4.35367456e-02 9.99051822e-01 -9.47222022e-05 6.83363646e+00] [ 1.45202946e-02 -5.37964255e-04 9.99894430e-01 3.89144809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.309254154 meters Centerline goodness [0,1] 0.9988929735149136 Centerline is valid? [True, True] Translation: X:426.32, Y:6.84, Z:3.89 [[ 9.99062187e-01 -4.08147487e-02 -1.44534833e-02 4.26317884e+02] [ 4.08176567e-02 9.99166608e-01 -9.38636130e-05 6.83592178e+00] [ 1.44452689e-02 -4.96181733e-04 9.99895539e-01 3.89169808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.33925415399995 meters Centerline goodness [0,1] 0.9990383811355464 Centerline is valid? [True, True] Translation: X:426.35, Y:6.84, Z:3.89 [[ 9.99154646e-01 -3.85322304e-02 -1.43269332e-02 4.26349550e+02] [ 3.85348608e-02 9.99257252e-01 -9.25159508e-05 6.83874183e+00] [ 1.43198568e-02 -4.59648636e-04 9.99897360e-01 3.89191804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3692541539999 meters Centerline goodness [0,1] 0.9989529892157889 Centerline is valid? [True, True] Translation: X:426.38, Y:6.84, Z:3.89 [[ 9.99221412e-01 -3.66588958e-02 -1.45840818e-02 4.26381116e+02] [ 3.66614301e-02 9.99327739e-01 -9.36321185e-05 6.84102923e+00] [ 1.45777100e-02 -4.41114079e-04 9.99893642e-01 3.89192967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.39925415399995 meters Centerline goodness [0,1] 0.9991205293575677 Centerline is valid? [True, True] Translation: X:426.41, Y:6.84, Z:3.89 [[ 9.99322510e-01 -3.36803566e-02 -1.48375841e-02 4.26412073e+02] [ 3.36826585e-02 9.99432574e-01 -9.48077794e-05 6.84419839e+00] [ 1.48323580e-02 -4.05025728e-04 9.99889912e-01 3.89192717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4292541539999 meters Centerline goodness [0,1] 0.9991196445040664 Centerline is valid? [True, True] Translation: X:426.44, Y:6.84, Z:3.89 [[ 9.99347741e-01 -3.28508374e-02 -1.49971991e-02 4.26443682e+02] [ 3.28531014e-02 9.99460187e-01 -9.54489452e-05 6.84488612e+00] [ 1.49922390e-02 -3.97317816e-04 9.99887531e-01 3.89187710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.45925415399995 meters Centerline goodness [0,1] 0.9988256265072875 Centerline is valid? [True, True] Translation: X:426.47, Y:6.85, Z:3.89 [[ 9.99364390e-01 -3.23141273e-02 -1.50537012e-02 4.26474097e+02] [ 3.23163542e-02 9.99477686e-01 -9.53632378e-05 6.84509762e+00] [ 1.50489200e-02 -3.91178116e-04 9.99886682e-01 3.89153578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4892541539999 meters Centerline goodness [0,1] 0.9988472984868173 Centerline is valid? [True, True] Translation: X:426.51, Y:6.85, Z:3.89 [[ 9.99358213e-01 -3.23876532e-02 -1.53036595e-02 4.26505066e+02] [ 3.23899660e-02 9.99475303e-01 -9.67745690e-05 6.84591275e+00] [ 1.52987641e-02 -3.98972551e-04 9.99882887e-01 3.89141994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.51925415399995 meters Centerline goodness [0,1] 0.9989353929652437 Centerline is valid? [True, True] Translation: X:426.54, Y:6.85, Z:3.89 [[ 9.99315929e-01 -3.33785480e-02 -1.59231636e-02 4.26535977e+02] [ 3.33811775e-02 9.99442688e-01 -1.00692079e-04 6.84533563e+00] [ 1.59176504e-02 -4.30910752e-04 9.99873213e-01 3.89122595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5492541539999 meters Centerline goodness [0,1] 0.9987857726045177 Centerline is valid? [True, True] Translation: X:426.57, Y:6.84, Z:3.89 [[ 9.99274935e-01 -3.46448623e-02 -1.57904633e-02 4.26566717e+02] [ 3.46476061e-02 9.99399586e-01 -9.98529322e-05 6.84420406e+00] [ 1.57844419e-02 -4.47321221e-04 9.99875318e-01 3.89107813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57925415399995 meters Centerline goodness [0,1] 0.9988675921654154 Centerline is valid? [True, True] Translation: X:426.60, Y:6.84, Z:3.89 [[ 9.99224676e-01 -3.60592438e-02 -1.58043794e-02 4.26597369e+02] [ 3.60621745e-02 9.99349543e-01 -9.96009914e-05 6.84023643e+00] [ 1.57976909e-02 -4.70416520e-04 9.99875098e-01 3.89042934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.6092541539999 meters Centerline goodness [0,1] 0.9989513202877577 Centerline is valid? [True, True] Translation: X:426.63, Y:6.84, Z:3.89 [[ 9.99102998e-01 -3.93145198e-02 -1.57343193e-02 4.26628120e+02] [ 3.93178356e-02 9.99226750e-01 -9.86669748e-05 6.84101852e+00] [ 1.57260318e-02 -5.20060908e-04 9.99876203e-01 3.89136543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63925415399996 meters Centerline goodness [0,1] 0.998976928698194 Centerline is valid? [True, True] Translation: X:426.66, Y:6.84, Z:3.89 [[ 9.99056116e-01 -4.06516655e-02 -1.53075098e-02 4.26658372e+02] [ 4.06549623e-02 9.99173241e-01 -9.58813566e-05 6.83550848e+00] [ 1.52987520e-02 -5.26535379e-04 9.99882829e-01 3.89090306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.66925415399993 meters Centerline goodness [0,1] 0.9989732198985792 Centerline is valid? [True, True] Translation: X:426.69, Y:6.84, Z:3.89 [[ 9.99005086e-01 -4.20428250e-02 -1.48741128e-02 4.26689758e+02] [ 4.20460972e-02 9.99115668e-01 -9.27958995e-05 6.83896665e+00] [ 1.48648605e-02 -5.32694817e-04 9.99889370e-01 3.89186219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69925415399996 meters Centerline goodness [0,1] 0.9989131570697043 Centerline is valid? [True, True] Translation: X:426.72, Y:6.83, Z:3.89 [[ 9.98951040e-01 -4.27829087e-02 -1.63230572e-02 4.26721429e+02] [ 4.27869607e-02 9.99084214e-01 -1.01071539e-04 6.83455902e+00] [ 1.63124329e-02 -5.97448487e-04 9.99866765e-01 3.89021707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.72925415399993 meters Centerline goodness [0,1] 0.998636744966443 Centerline is valid? [True, True] Translation: X:426.75, Y:6.84, Z:3.89 [[ 9.98894102e-01 -4.45148757e-02 -1.51327292e-02 4.26753106e+02] [ 4.45185670e-02 9.99008553e-01 -9.30166072e-05 6.83516588e+00] [ 1.51218666e-02 -5.80773680e-04 9.99885489e-01 3.89202073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75925415399996 meters Centerline goodness [0,1] 0.9988470810187612 Centerline is valid? [True, True] Translation: X:426.78, Y:6.84, Z:3.89 [[ 9.98796622e-01 -4.67433752e-02 -1.48447171e-02 4.26784532e+02] [ 4.67471808e-02 9.98906749e-01 -9.07186546e-05 6.83625641e+00] [ 1.48327286e-02 -6.03339187e-04 9.99889807e-01 3.89279857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.78925415399993 meters Centerline goodness [0,1] 0.9985958588314192 Centerline is valid? [True, True] Translation: X:426.82, Y:6.84, Z:3.89 [[ 9.98739630e-01 -4.79042843e-02 -1.49777112e-02 4.26815592e+02] [ 4.79082970e-02 9.98851734e-01 -9.09799903e-05 6.83543846e+00] [ 1.49648711e-02 -6.26691314e-04 9.99887824e-01 3.89288155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81925415399996 meters Centerline goodness [0,1] 0.9987427972760607 Centerline is valid? [True, True] Translation: X:426.85, Y:6.83, Z:3.89 [[ 9.98687909e-01 -4.90740966e-02 -1.46353629e-02 4.26846549e+02] [ 4.90780623e-02 9.98794942e-01 -8.82791852e-05 6.83380111e+00] [ 1.46220586e-02 -6.30111897e-04 9.99892893e-01 3.89317558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.84925415399994 meters Centerline goodness [0,1] 0.9987854420572099 Centerline is valid? [True, True] Translation: X:426.88, Y:6.83, Z:3.89 [[ 9.98569556e-01 -5.15427489e-02 -1.42192160e-02 4.26878104e+02] [ 5.15467517e-02 9.98670579e-01 -8.50931382e-05 6.83418093e+00] [ 1.42046986e-02 -6.47982977e-04 9.99898898e-01 3.89340841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87925415399997 meters Centerline goodness [0,1] 0.9985326178098273 Centerline is valid? [True, True] Translation: X:426.91, Y:6.83, Z:3.89 [[ 9.98509342e-01 -5.26666458e-02 -1.43289182e-02 4.26909993e+02] [ 5.26708363e-02 9.98611925e-01 -8.50319181e-05 6.83378885e+00] [ 1.43135069e-02 -6.69810938e-04 9.99897332e-01 3.89348956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.90925415399994 meters Centerline goodness [0,1] 0.9986623751201772 Centerline is valid? [True, True] Translation: X:426.94, Y:6.83, Z:3.89 [[ 9.98445744e-01 -5.37149843e-02 -1.48592387e-02 4.26942221e+02] [ 5.37196234e-02 9.98556055e-01 -8.70480778e-05 6.83426592e+00] [ 1.48424585e-02 -7.11319921e-04 9.99889592e-01 3.89309755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93925415399997 meters Centerline goodness [0,1] 0.9986380874557378 Centerline is valid? [True, True] Translation: X:426.97, Y:6.84, Z:3.89 [[ 9.98368360e-01 -5.48531819e-02 -1.58665128e-02 4.26974380e+02] [ 5.48586343e-02 9.98494127e-01 -9.17161010e-05 6.83530523e+00] [ 1.58476507e-02 -7.78848768e-04 9.99874115e-01 3.89268123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.96925415399994 meters Centerline goodness [0,1] 0.9985144889632807 Centerline is valid? [True, True] Translation: X:427.01, Y:6.83, Z:3.89 [[ 9.98360501e-01 -5.50745036e-02 -1.55919766e-02 4.27005112e+02] [ 5.50798120e-02 9.98481951e-01 -8.90945510e-05 6.83391350e+00] [ 1.55732140e-02 -7.69854658e-04 9.99878434e-01 3.89245248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99925415399997 meters Centerline goodness [0,1] 0.9987454784954105 Centerline is valid? [True, True] Translation: X:427.04, Y:6.84, Z:3.89 [[ 9.98367196e-01 -5.48891623e-02 -1.58152105e-02 4.27036991e+02] [ 5.48946165e-02 9.98492150e-01 -8.93612472e-05 6.83659380e+00] [ 1.57962685e-02 -7.78954579e-04 9.99874928e-01 3.89290597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.02925415399994 meters Centerline goodness [0,1] 0.9985964471258589 Centerline is valid? [True, True] Translation: X:427.07, Y:6.84, Z:3.89 [[ 9.98404242e-01 -5.41080416e-02 -1.61644496e-02 4.27067818e+02] [ 5.41136549e-02 9.98534779e-01 -9.02440148e-05 6.83573959e+00] [ 1.61456480e-02 -7.84617441e-04 9.99869343e-01 3.89199744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.059254154 meters Centerline goodness [0,1] 0.9988681380871534 Centerline is valid? [True, True] Translation: X:427.10, Y:6.84, Z:3.89 [[ 9.98434234e-01 -5.36226422e-02 -1.59277294e-02 4.27100349e+02] [ 5.36280466e-02 9.98560977e-01 -8.79212688e-05 6.83951139e+00] [ 1.59095236e-02 -7.66389409e-04 9.99873142e-01 3.89346337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.08925415399995 meters Centerline goodness [0,1] 0.9987196171445364 Centerline is valid? [True, True] Translation: X:427.13, Y:6.84, Z:3.89 [[ 9.98527865e-01 -5.19323071e-02 -1.56568932e-02 4.27131840e+02] [ 5.19373362e-02 9.98650342e-01 -8.55069266e-05 6.84289048e+00] [ 1.56402023e-02 -7.27796276e-04 9.99877420e-01 3.89427325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1192541539999 meters Centerline goodness [0,1] 0.9987404219586439 Centerline is valid? [True, True] Translation: X:427.16, Y:6.84, Z:3.89 [[ 9.98593498e-01 -5.07124034e-02 -1.54685951e-02 4.27162357e+02] [ 5.07171733e-02 9.98713053e-01 -8.40235776e-05 6.84060120e+00] [ 1.54529489e-02 -7.00618021e-04 9.99880351e-01 3.89400472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.14925415399995 meters Centerline goodness [0,1] 0.998990366412856 Centerline is valid? [True, True] Translation: X:427.19, Y:6.84, Z:3.89 [[ 9.98672643e-01 -4.90689480e-02 -1.56585825e-02 4.27193506e+02] [ 4.90736403e-02 9.98795160e-01 -8.46592874e-05 6.84404713e+00] [ 1.56438705e-02 -6.83876730e-04 9.99877393e-01 3.89431603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1792541539999 meters Centerline goodness [0,1] 0.9990538466390531 Centerline is valid? [True, True] Translation: X:427.22, Y:6.85, Z:3.90 [[ 9.98822028e-01 -4.56930032e-02 -1.63311109e-02 4.27224670e+02] [ 4.56976668e-02 9.98955312e-01 -8.76879806e-05 6.85307015e+00] [ 1.63180567e-02 -6.58708976e-04 9.99866635e-01 3.89510063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.20925415399995 meters Centerline goodness [0,1] 0.9990527711705643 Centerline is valid? [True, True] Translation: X:427.26, Y:6.85, Z:3.90 [[ 9.98901410e-01 -4.39312818e-02 -1.63099713e-02 4.27255687e+02] [ 4.39357088e-02 9.99034357e-01 -8.69672680e-05 6.85491374e+00] [ 1.62980423e-02 -6.29718424e-04 9.99866980e-01 3.89504793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2392541539999 meters Centerline goodness [0,1] 0.998630252455009 Centerline is valid? [True, True] Translation: X:427.29, Y:6.86, Z:3.90 [[ 9.98961519e-01 -4.23756492e-02 -1.67388259e-02 4.27285850e+02] [ 4.23801022e-02 9.99101556e-01 -8.87636681e-05 6.85655052e+00] [ 1.67275484e-02 -6.20721664e-04 9.99859892e-01 3.89500504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.26925415399995 meters Centerline goodness [0,1] 0.9986925623668839 Centerline is valid? [True, True] Translation: X:427.32, Y:6.86, Z:3.90 [[ 9.99043788e-01 -4.04031598e-02 -1.67060906e-02 4.27316081e+02] [ 4.04073250e-02 9.99183287e-01 -8.82857254e-05 6.85779679e+00] [ 1.66960136e-02 -5.86847128e-04 9.99860440e-01 3.89513135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2992541539999 meters Centerline goodness [0,1] 0.9987984822934233 Centerline is valid? [True, True] Translation: X:427.35, Y:6.86, Z:3.90 [[ 9.99160429e-01 -3.73663972e-02 -1.67984827e-02 4.27346958e+02] [ 3.73701851e-02 9.99301487e-01 -8.84673981e-05 6.86252262e+00] [ 1.67900545e-02 -5.39369285e-04 9.99858892e-01 3.89573149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.32925415399995 meters Centerline goodness [0,1] 0.9988187149305995 Centerline is valid? [True, True] Translation: X:427.38, Y:6.86, Z:3.90 [[ 9.99200596e-01 -3.62104602e-02 -1.69402175e-02 4.27378306e+02] [ 3.62141540e-02 9.99344048e-01 -8.87614912e-05 6.86454947e+00] [ 1.69323197e-02 -5.24785112e-04 9.99856500e-01 3.89616370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3592541539999 meters Centerline goodness [0,1] 0.9987335894296931 Centerline is valid? [True, True] Translation: X:427.41, Y:6.87, Z:3.90 [[ 9.99239982e-01 -3.51510344e-02 -1.68482582e-02 4.27409985e+02] [ 3.51545481e-02 9.99381884e-01 -8.76603343e-05 6.86576678e+00] [ 1.68409253e-02 -5.04699192e-04 9.99858054e-01 3.89664664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.38925415399996 meters Centerline goodness [0,1] 0.9987554843064461 Centerline is valid? [True, True] Translation: X:427.44, Y:6.87, Z:3.90 [[ 9.99278387e-01 -3.42220176e-02 -1.64790470e-02 4.27441493e+02] [ 3.42252627e-02 9.99414140e-01 -8.51395263e-05 6.86714998e+00] [ 1.64723062e-02 -4.78921622e-04 9.99864208e-01 3.89710825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41925415399993 meters Centerline goodness [0,1] 0.9987339368234475 Centerline is valid? [True, True] Translation: X:427.47, Y:6.87, Z:3.90 [[ 9.99363326e-01 -3.19033216e-02 -1.59724916e-02 4.27471049e+02] [ 3.19060777e-02 9.99490868e-01 -8.23079524e-05 6.86922550e+00] [ 1.59669854e-02 -4.27364009e-04 9.99872428e-01 3.89735928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.44925415399996 meters Centerline goodness [0,1] 0.998776526178121 Centerline is valid? [True, True] Translation: X:427.50, Y:6.87, Z:3.90 [[ 9.99415256e-01 -3.02121265e-02 -1.60116417e-02 4.27501538e+02] [ 3.02146765e-02 9.99543429e-01 -8.26818468e-05 6.87119569e+00] [ 1.60068292e-02 -4.01153074e-04 9.99871802e-01 3.89733390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47925415399993 meters Centerline goodness [0,1] 0.9987357774968394 Centerline is valid? [True, True] Translation: X:427.53, Y:6.87, Z:3.90 [[ 9.99477871e-01 -2.84704509e-02 -1.52780529e-02 4.27532109e+02] [ 2.84725691e-02 9.99594571e-01 -7.88936986e-05 6.87375884e+00] [ 1.52741049e-02 -3.56152913e-04 9.99883281e-01 3.89866921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.50925415399996 meters Centerline goodness [0,1] 0.9987976205543602 Centerline is valid? [True, True] Translation: X:427.56, Y:6.87, Z:3.90 [[ 9.99545150e-01 -2.62327340e-02 -1.48773828e-02 4.27561785e+02] [ 2.62344934e-02 9.99655813e-01 -7.69257957e-05 6.87323393e+00] [ 1.48742802e-02 -3.13409795e-04 9.99889323e-01 3.89879390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53925415399993 meters Centerline goodness [0,1] 0.99890320811626 Centerline is valid? [True, True] Translation: X:427.59, Y:6.88, Z:3.90 [[ 9.99615478e-01 -2.38736816e-02 -1.41047579e-02 4.27592547e+02] [ 2.38750258e-02 9.99714948e-01 -7.30937723e-05 6.87801349e+00] [ 1.41024823e-02 -2.63685793e-04 9.99900520e-01 3.90023713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.56925415399996 meters Centerline goodness [0,1] 0.9986917623227549 Centerline is valid? [True, True] Translation: X:427.62, Y:6.88, Z:3.90 [[ 9.99739498e-01 -1.87527455e-02 -1.30103930e-02 4.27621793e+02] [ 1.87534539e-02 9.99824136e-01 -6.75553036e-05 6.88169566e+00] [ 1.30093718e-02 -1.76452101e-04 9.99915359e-01 3.90010355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59925415399994 meters Centerline goodness [0,1] 0.9989225731488328 Centerline is valid? [True, True] Translation: X:427.65, Y:6.88, Z:3.90 [[ 9.99776673e-01 -1.69701553e-02 -1.25943578e-02 4.27651715e+02] [ 1.69706721e-02 9.99855986e-01 -6.58449568e-05 6.88356311e+00] [ 1.25936614e-02 -1.47904464e-04 9.99920686e-01 3.90086967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62925415399997 meters Centerline goodness [0,1] 0.9991125198098256 Centerline is valid? [True, True] Translation: X:427.68, Y:6.88, Z:3.90 [[ 9.99819091e-01 -1.55069797e-02 -1.10144405e-02 4.27680027e+02] [ 1.55072781e-02 9.99879753e-01 -5.83146038e-05 6.88473203e+00] [ 1.10140204e-02 -1.12499939e-04 9.99939338e-01 3.90277995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65925415399994 meters Centerline goodness [0,1] 0.9990500316656111 Centerline is valid? [True, True] Translation: X:427.71, Y:6.88, Z:3.90 [[ 9.99820694e-01 -1.56140870e-02 -1.07135168e-02 4.27709017e+02] [ 1.56143492e-02 9.99878087e-01 -5.91774379e-05 6.88406078e+00] [ 1.07131347e-02 -1.08117766e-04 9.99942607e-01 3.90292371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.68925415399997 meters Centerline goodness [0,1] 0.9989891331817033 Centerline is valid? [True, True] Translation: X:427.74, Y:6.88, Z:3.90 [[ 9.99805569e-01 -1.64745719e-02 -1.08357143e-02 4.27738370e+02] [ 1.64748827e-02 9.99864278e-01 -6.05860719e-05 6.88337886e+00] [ 1.08352418e-02 -1.17942830e-04 9.99941290e-01 3.90279591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71925415399994 meters Centerline goodness [0,1] 0.9990314973892538 Centerline is valid? [True, True] Translation: X:427.77, Y:6.88, Z:3.90 [[ 9.99770539e-01 -1.81758065e-02 -1.13362356e-02 4.27768478e+02] [ 1.81762511e-02 9.99834796e-01 -6.38159967e-05 6.88185422e+00] [ 1.13355227e-02 -1.42248912e-04 9.99935741e-01 3.90242656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.74925415399997 meters Centerline goodness [0,1] 0.9988844688598429 Centerline is valid? [True, True] Translation: X:427.80, Y:6.88, Z:3.90 [[ 9.99666511e-01 -2.26751151e-02 -1.23574534e-02 4.27798212e+02] [ 2.26759811e-02 9.99742864e-01 -7.00510171e-05 6.87620316e+00] [ 1.23558643e-02 -2.10189723e-04 9.99923641e-01 3.90038411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.77925415399994 meters Centerline goodness [0,1] 0.998948851094246 Centerline is valid? [True, True] Translation: X:427.83, Y:6.87, Z:3.90 [[ 9.99578630e-01 -2.59484219e-02 -1.30093373e-02 4.27828153e+02] [ 2.59496584e-02 9.99663248e-01 -7.37764559e-05 6.87270761e+00] [ 1.30068707e-02 -2.63842489e-04 9.99915372e-01 3.90058981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.809254154 meters Centerline goodness [0,1] 0.9989718626072726 Centerline is valid? [True, True] Translation: X:427.86, Y:6.87, Z:3.90 [[ 9.99488568e-01 -2.91593667e-02 -1.31276016e-02 4.27858408e+02] [ 2.91609139e-02 9.99574727e-01 -7.35860084e-05 6.86980975e+00] [ 1.31241645e-02 -3.09264485e-04 9.99913827e-01 3.90023976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.83925415399995 meters Centerline goodness [0,1] 0.9988029233870968 Centerline is valid? [True, True] Translation: X:427.89, Y:6.87, Z:3.90 [[ 9.99384793e-01 -3.23456930e-02 -1.35569670e-02 4.27889269e+02] [ 3.23476370e-02 9.99476675e-01 -7.59153903e-05 6.86656979e+00] [ 1.35523278e-02 -3.62667161e-04 9.99908097e-01 3.90016192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8692541539999 meters Centerline goodness [0,1] 0.9987837356092856 Centerline is valid? [True, True] Translation: X:427.92, Y:6.86, Z:3.90 [[ 9.99181580e-01 -3.79773798e-02 -1.39244312e-02 4.27920732e+02] [ 3.79799817e-02 9.99278497e-01 -7.76261989e-05 6.86102046e+00] [ 1.39173328e-02 -4.51286975e-04 9.99903047e-01 3.89976377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.89925415399995 meters Centerline goodness [0,1] 0.9987837356092856 Centerline is valid? [True, True] Translation: X:427.95, Y:6.86, Z:3.90 [[ 9.99182986e-01 -3.79403475e-02 -1.39244341e-02 4.27951592e+02] [ 3.79429530e-02 9.99279904e-01 -7.71096455e-05 6.86116229e+00] [ 1.39173327e-02 -4.51287503e-04 9.99903047e-01 3.90005278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9292541539999 meters Centerline goodness [0,1] 0.9989310865191147 Centerline is valid? [True, True] Translation: X:427.98, Y:6.86, Z:3.90 [[ 9.99082614e-01 -4.02549493e-02 -1.46105708e-02 4.27981651e+02] [ 4.02580737e-02 9.99189312e-01 -8.03183389e-05 6.85695046e+00] [ 1.46019594e-02 -5.07948779e-04 9.99893257e-01 3.89965129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.95925415399995 meters Centerline goodness [0,1] 0.9988460166593232 Centerline is valid? [True, True] Translation: X:428.01, Y:6.86, Z:3.90 [[ 9.98988263e-01 -4.24465391e-02 -1.48574109e-02 4.28012739e+02] [ 4.24500212e-02 9.99098588e-01 -8.10609341e-05 6.85567369e+00] [ 1.48474590e-02 -5.49718487e-04 9.99889619e-01 3.89991404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9892541539999 meters Centerline goodness [0,1] 0.9986377163935113 Centerline is valid? [True, True] Translation: X:428.04, Y:6.85, Z:3.90 [[ 9.98835563e-01 -4.60464299e-02 -1.43959932e-02 4.28042652e+02] [ 4.60500771e-02 9.98939129e-01 -7.82086324e-05 6.84768288e+00] [ 1.43843221e-02 -5.84819033e-04 9.99896369e-01 3.89964833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.01925415399995 meters Centerline goodness [0,1] 0.9987236090477286 Centerline is valid? [True, True] Translation: X:428.07, Y:6.85, Z:3.90 [[ 9.98833232e-01 -4.63026955e-02 -1.37198564e-02 4.28073552e+02] [ 4.63060354e-02 9.98927297e-01 -7.43074635e-05 6.84537019e+00] [ 1.37085797e-02 -5.61091391e-04 9.99905876e-01 3.89846793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0492541539999 meters Centerline goodness [0,1] 0.998806907378336 Centerline is valid? [True, True] Translation: X:428.10, Y:6.84, Z:3.90 [[ 9.98790858e-01 -4.73624105e-02 -1.31766698e-02 4.28104989e+02] [ 4.73655919e-02 9.98877618e-01 -7.06969849e-05 6.84412101e+00] [ 1.31652289e-02 -5.53509262e-04 9.99913181e-01 3.90101618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07925415399995 meters Centerline goodness [0,1] 0.999056999161777 Centerline is valid? [True, True] Translation: X:428.14, Y:6.85, Z:3.90 [[ 9.98799256e-01 -4.73841974e-02 -1.24411877e-02 4.28137526e+02] [ 4.73870438e-02 9.98876601e-01 -6.60673566e-05 6.84858385e+00] [ 1.24303419e-02 -5.23563081e-04 9.99922603e-01 3.90234148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1092541539999 meters Centerline goodness [0,1] 0.9985979450478164 Centerline is valid? [True, True] Translation: X:428.17, Y:6.85, Z:3.90 [[ 9.98808884e-01 -4.74637290e-02 -1.13140154e-02 4.28169923e+02] [ 4.74660967e-02 9.98872848e-01 -5.93126562e-05 6.84981785e+00] [ 1.13040780e-02 -4.77790143e-04 9.99935993e-01 3.90319100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13925415399996 meters Centerline goodness [0,1] 0.9987031459170014 Centerline is valid? [True, True] Translation: X:428.20, Y:6.85, Z:3.90 [[ 9.98813606e-01 -4.73379791e-02 -1.14235194e-02 4.28201733e+02] [ 4.73403944e-02 9.98878813e-01 -5.90300208e-05 6.84995407e+00] [ 1.14135059e-02 -4.81833928e-04 9.99934748e-01 3.90364083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.16925415399993 meters Centerline goodness [0,1] 0.998826709128622 Centerline is valid? [True, True] Translation: X:428.23, Y:6.85, Z:3.90 [[ 9.98813930e-01 -4.72936958e-02 -1.15775625e-02 4.28233911e+02] [ 4.72961838e-02 9.98880908e-01 -5.89544185e-05 6.84976790e+00] [ 1.15673943e-02 -4.88690029e-04 9.99932976e-01 3.90398373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19925415399996 meters Centerline goodness [0,1] 0.9991192937574703 Centerline is valid? [True, True] Translation: X:428.27, Y:6.85, Z:3.90 [[ 9.98802077e-01 -4.74514668e-02 -1.19486058e-02 4.28265461e+02] [ 4.74541384e-02 9.98873416e-01 -5.99813636e-05 6.84892694e+00] [ 1.19379909e-02 -5.07101284e-04 9.99928611e-01 3.90398086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.22925415399993 meters Centerline goodness [0,1] 0.9986795497893568 Centerline is valid? [True, True] Translation: X:428.30, Y:6.85, Z:3.90 [[ 9.98777553e-01 -4.76823321e-02 -1.30304994e-02 4.28298042e+02] [ 4.76855400e-02 9.98862395e-01 -6.45774496e-05 6.84911583e+00] [ 1.30187550e-02 -5.56867893e-04 9.99915097e-01 3.90353421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25925415399996 meters Centerline goodness [0,1] 0.9987830721134681 Centerline is valid? [True, True] Translation: X:428.33, Y:6.85, Z:3.90 [[ 9.98756661e-01 -4.78272113e-02 -1.40602043e-02 4.28330277e+02] [ 4.78309760e-02 9.98855442e-01 -6.85908256e-05 6.85057204e+00] [ 1.40473920e-02 -6.04007749e-04 9.99901148e-01 3.90314954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.28925415399993 meters Centerline goodness [0,1] 0.998907884235729 Centerline is valid? [True, True] Translation: X:428.36, Y:6.85, Z:3.90 [[ 9.98728626e-01 -4.81844789e-02 -1.48117242e-02 4.28361346e+02] [ 4.81887114e-02 9.98838247e-01 -7.12261652e-05 6.85000132e+00] [ 1.47979486e-02 -6.42622291e-04 9.99890298e-01 3.90321496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31925415399996 meters Centerline goodness [0,1] 0.999137096434735 Centerline is valid? [True, True] Translation: X:428.39, Y:6.85, Z:3.90 [[ 9.98717827e-01 -4.81405285e-02 -1.56585704e-02 4.28393644e+02] [ 4.81452691e-02 9.98840341e-01 -7.42933475e-05 6.85076375e+00] [ 1.56439883e-02 -6.79687995e-04 9.99877394e-01 3.90283167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.34925415399994 meters Centerline goodness [0,1] 0.9987588354089532 Centerline is valid? [True, True] Translation: X:428.43, Y:6.85, Z:3.90 [[ 9.98734636e-01 -4.76854645e-02 -1.59757142e-02 4.28425516e+02] [ 4.76903600e-02 9.98862165e-01 -7.46152280e-05 6.85189190e+00] [ 1.59610945e-02 -6.87366748e-04 9.99872377e-01 3.90270479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37925415399997 meters Centerline goodness [0,1] 0.9990954224166947 Centerline is valid? [True, True] Translation: X:428.46, Y:6.85, Z:3.90 [[ 9.98763784e-01 -4.68559363e-02 -1.65959420e-02 4.28455740e+02] [ 4.68611191e-02 9.98901411e-01 -7.66654316e-05 6.85044915e+00] [ 1.65813021e-02 -7.01133756e-04 9.99862275e-01 3.90244019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.40925415399994 meters Centerline goodness [0,1] 0.9989462814271565 Centerline is valid? [True, True] Translation: X:428.49, Y:6.85, Z:3.90 [[ 9.98796596e-01 -4.59825620e-02 -1.70576813e-02 4.28487604e+02] [ 4.59879201e-02 9.98941993e-01 -7.82090896e-05 6.85240841e+00] [ 1.70432304e-02 -7.06332313e-04 9.99854504e-01 3.90255987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43925415399997 meters Centerline goodness [0,1] 0.9988633971795412 Centerline is valid? [True, True] Translation: X:428.52, Y:6.86, Z:3.90 [[ 9.98841099e-01 -4.48903660e-02 -1.73584224e-02 4.28519236e+02] [ 4.48957642e-02 9.98991674e-01 -7.87784046e-05 6.85589218e+00] [ 1.73444559e-02 -7.00632531e-04 9.99849328e-01 3.90327406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.46925415399994 meters Centerline goodness [0,1] 0.9988646637091857 Centerline is valid? [True, True] Translation: X:428.55, Y:6.85, Z:3.90 [[ 9.98896663e-01 -4.36000804e-02 -1.74496073e-02 4.28549412e+02] [ 4.36053545e-02 9.99048831e-01 -7.82967817e-05 6.85417983e+00] [ 1.74364235e-02 -6.82685918e-04 9.99847741e-01 3.90286134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49925415399997 meters Centerline goodness [0,1] 0.9989042481456507 Centerline is valid? [True, True] Translation: X:428.58, Y:6.86, Z:3.90 [[ 9.98997956e-01 -4.11740169e-02 -1.75437840e-02 4.28580279e+02] [ 4.11789858e-02 9.99151783e-01 -7.80744455e-05 6.85986137e+00] [ 1.75321177e-02 -6.44439021e-04 9.99846093e-01 3.90391424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.52925415399994 meters Centerline goodness [0,1] 0.9991587271541843 Centerline is valid? [True, True] Translation: X:428.61, Y:6.86, Z:3.90 [[ 9.99041765e-01 -3.99801739e-02 -1.78083376e-02 4.28611293e+02] [ 3.99851035e-02 9.99200273e-01 -7.93056634e-05 6.86116010e+00] [ 1.77972665e-02 -6.32838553e-04 9.99841416e-01 3.90431326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.559254154 meters Centerline goodness [0,1] 0.9989051248578767 Centerline is valid? [True, True] Translation: X:428.64, Y:6.86, Z:3.90 [[ 9.99104508e-01 -3.84430830e-02 -1.76723149e-02 4.28642222e+02] [ 3.84476954e-02 9.99260611e-01 -7.88127289e-05 6.86311907e+00] [ 1.76622779e-02 -6.00717626e-04 9.99843829e-01 3.90475909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.58925415399995 meters Centerline goodness [0,1] 0.9988223170911232 Centerline is valid? [True, True] Translation: X:428.67, Y:6.87, Z:3.91 [[ 9.99264173e-01 -3.44079450e-02 -1.69471719e-02 4.28672728e+02] [ 3.44116060e-02 9.99407742e-01 -7.56261378e-05 6.86788761e+00] [ 1.69397370e-02 -5.07608914e-04 9.99856384e-01 3.90538661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6192541539999 meters Centerline goodness [0,1] 0.9990101929070845 Centerline is valid? [True, True] Translation: X:428.70, Y:6.87, Z:3.91 [[ 9.99350165e-01 -3.21702324e-02 -1.62580336e-02 4.28703205e+02] [ 3.21733057e-02 9.99482303e-01 -7.25508832e-05 6.87007488e+00] [ 1.62519509e-02 -4.50570950e-04 9.99867827e-01 3.90671927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.64925415399995 meters Centerline goodness [0,1] 0.9988847270737764 Centerline is valid? [True, True] Translation: X:428.73, Y:6.87, Z:3.91 [[ 9.99445402e-01 -2.91933891e-02 -1.60198244e-02 4.28733745e+02] [ 2.91959908e-02 9.99573704e-01 -7.14878831e-05 6.87318800e+00] [ 1.60150822e-02 -3.96266410e-04 9.99871672e-01 3.90702602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6792541539999 meters Centerline goodness [0,1] 0.9989260897030954 Centerline is valid? [True, True] Translation: X:428.76, Y:6.88, Z:3.91 [[ 9.99525359e-01 -2.66406208e-02 -1.54703999e-02 4.28763252e+02] [ 2.66427398e-02 9.99645017e-01 -6.91497312e-05 6.87547247e+00] [ 1.54667504e-02 -3.43056929e-04 9.99880324e-01 3.90797083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.70925415399995 meters Centerline goodness [0,1] 0.9991356957649092 Centerline is valid? [True, True] Translation: X:428.79, Y:6.88, Z:3.91 [[ 9.99657440e-01 -2.14812254e-02 -1.49519381e-02 4.28793180e+02] [ 2.14826203e-02 9.99769220e-01 -6.73341139e-05 6.88017273e+00] [ 1.49499339e-02 -2.53895760e-04 9.99888211e-01 3.90916472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7392541539999 meters Centerline goodness [0,1] 0.9991564918496025 Centerline is valid? [True, True] Translation: X:428.82, Y:6.88, Z:3.91 [[ 9.99710956e-01 -1.91335308e-02 -1.45572058e-02 4.28821393e+02] [ 1.91345921e-02 9.99816915e-01 -6.63861262e-05 6.88187538e+00] [ 1.45558108e-02 -2.12179256e-04 9.99894036e-01 3.90932148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.76925415399995 meters Centerline goodness [0,1] 0.9991777876162166 Centerline is valid? [True, True] Translation: X:428.85, Y:6.88, Z:3.91 [[ 9.99740415e-01 -1.74972653e-02 -1.45927819e-02 4.28850119e+02] [ 1.74981303e-02 9.99846894e-01 -6.84115685e-05 6.88357513e+00] [ 1.45917447e-02 -1.86952590e-04 9.99893517e-01 3.90954507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7992541539999 meters Centerline goodness [0,1] 0.9992202153891546 Centerline is valid? [True, True] Translation: X:428.88, Y:6.88, Z:3.91 [[ 9.99763320e-01 -1.62776274e-02 -1.44340936e-02 4.28878460e+02] [ 1.62782933e-02 9.99867497e-01 -7.13603226e-05 6.88452664e+00] [ 1.44333426e-02 -1.63618976e-04 9.99895820e-01 3.90972812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.82925415399995 meters Centerline goodness [0,1] 0.999240057417884 Centerline is valid? [True, True] Translation: X:428.91, Y:6.88, Z:3.91 [[ 9.99771638e-01 -1.55276873e-02 -1.46820531e-02 4.28906484e+02] [ 1.55282365e-02 9.99879427e-01 -7.65944255e-05 6.88494483e+00] [ 1.46814722e-02 -1.51409459e-04 9.99892210e-01 3.90913780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8592541539999 meters Centerline goodness [0,1] 0.999049911325057 Centerline is valid? [True, True] Translation: X:428.93, Y:6.88, Z:3.91 [[ 9.99762372e-01 -1.59313480e-02 -1.48792039e-02 4.28934148e+02] [ 1.59318915e-02 9.99873076e-01 -8.20116534e-05 6.88480062e+00] [ 1.48786220e-02 -1.55061698e-04 9.99889295e-01 3.90896765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.88925415399996 meters Centerline goodness [0,1] 0.9990720040494369 Centerline is valid? [True, True] Translation: X:428.96, Y:6.88, Z:3.91 [[ 9.99748180e-01 -1.64459178e-02 -1.52679109e-02 4.28962165e+02] [ 1.64464990e-02 9.99864743e-01 -8.74979760e-05 6.88387365e+00] [ 1.52672848e-02 -1.63627739e-04 9.99883435e-01 3.90830844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91925415399993 meters Centerline goodness [0,1] 0.9991559756920999 Centerline is valid? [True, True] Translation: X:428.99, Y:6.88, Z:3.91 [[ 9.99689105e-01 -1.91961415e-02 -1.59123171e-02 4.28991035e+02] [ 1.91970802e-02 9.99815715e-01 -9.37642886e-05 6.88250289e+00] [ 1.59111847e-02 -2.11734891e-04 9.99873387e-01 3.90864006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.94925415399996 meters Centerline goodness [0,1] 0.9989660920389087 Centerline is valid? [True, True] Translation: X:429.02, Y:6.88, Z:3.91 [[ 9.99645837e-01 -2.05564354e-02 -1.69006955e-02 4.29018567e+02] [ 2.05576336e-02 9.99788664e-01 -1.02847296e-04 6.88069524e+00] [ 1.68992379e-02 -2.44627435e-04 9.99857168e-01 3.90761704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97925415399993 meters Centerline goodness [0,1] 0.9990919074167933 Centerline is valid? [True, True] Translation: X:429.05, Y:6.88, Z:3.91 [[ 9.99604957e-01 -2.28342149e-02 -1.63868280e-02 4.29045862e+02] [ 2.28356213e-02 9.99739228e-01 -1.01311582e-04 6.87793356e+00] [ 1.63848682e-02 -2.72931839e-04 9.99865722e-01 3.90791156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.00925415399996 meters Centerline goodness [0,1] 0.9988613600421719 Centerline is valid? [True, True] Translation: X:429.07, Y:6.88, Z:3.91 [[ 9.99541909e-01 -2.52279677e-02 -1.67189027e-02 4.29074124e+02] [ 2.52297378e-02 9.99681674e-01 -1.05076643e-04 6.87766960e+00] [ 1.67162315e-02 -3.16785022e-04 9.99860224e-01 3.90834820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03925415399993 meters Centerline goodness [0,1] 0.9989051940122534 Centerline is valid? [True, True] Translation: X:429.10, Y:6.87, Z:3.91 [[ 9.99398071e-01 -3.00544621e-02 -1.73270053e-02 4.29103945e+02] [ 3.00570677e-02 9.99548178e-01 -1.10081021e-04 6.87313770e+00] [ 1.73224850e-02 -4.10784211e-04 9.99849870e-01 3.90816123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.06925415399996 meters Centerline goodness [0,1] 0.9990120446471739 Centerline is valid? [True, True] Translation: X:429.13, Y:6.87, Z:3.91 [[ 9.99324049e-01 -3.22583270e-02 -1.76308214e-02 4.29133614e+02] [ 3.22613561e-02 9.99479461e-01 -1.12658194e-04 6.87083602e+00] [ 1.76252780e-02 -4.56212165e-04 9.99844559e-01 3.90776714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09925415399994 meters Centerline goodness [0,1] 0.9991784977040064 Centerline is valid? [True, True] Translation: X:429.16, Y:6.87, Z:3.91 [[ 9.99254370e-01 -3.43061711e-02 -1.77141509e-02 4.29163640e+02] [ 3.43095390e-02 9.99411248e-01 -1.13835632e-04 6.86930691e+00] [ 1.77076269e-02 -4.94013598e-04 9.99843086e-01 3.90833492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12925415399997 meters Centerline goodness [0,1] 0.9990747555462096 Centerline is valid? [True, True] Translation: X:429.19, Y:6.87, Z:3.91 [[ 9.99141618e-01 -3.74233057e-02 -1.77629786e-02 4.29193701e+02] [ 3.74271755e-02 9.99299351e-01 -1.14646026e-04 6.86741077e+00] [ 1.77548234e-02 -5.50270501e-04 9.99842219e-01 3.90875590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15925415399994 meters Centerline goodness [0,1] 0.9992004208311415 Centerline is valid? [True, True] Translation: X:429.22, Y:6.87, Z:3.91 [[ 9.99121971e-01 -3.79151760e-02 -1.78248586e-02 4.29224143e+02] [ 3.79191478e-02 9.99280804e-01 -1.15218540e-04 6.86697419e+00] [ 1.78164075e-02 -5.60786072e-04 9.99841118e-01 3.90937613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.18925415399997 meters Centerline goodness [0,1] 0.9992034878846315 Centerline is valid? [True, True] Translation: X:429.25, Y:6.87, Z:3.91 [[ 9.99113082e-01 -3.81607901e-02 -1.77989652e-02 4.29254341e+02] [ 3.81647894e-02 9.99271452e-01 -1.15051168e-04 6.86709770e+00] [ 1.77903883e-02 -5.64344633e-04 9.99841579e-01 3.91017736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21925415399994 meters Centerline goodness [0,1] 0.9989894311339425 Centerline is valid? [True, True] Translation: X:429.29, Y:6.87, Z:3.91 [[ 9.99144030e-01 -3.71114960e-02 -1.82741533e-02 4.29285064e+02] [ 3.71155364e-02 9.99310974e-01 -1.18122748e-04 6.86787280e+00] [ 1.82659456e-02 -5.60233363e-04 9.99833007e-01 3.91022695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.24925415399997 meters Centerline goodness [0,1] 0.9991790337859173 Centerline is valid? [True, True] Translation: X:429.32, Y:6.87, Z:3.91 [[ 9.99170668e-01 -3.62994903e-02 -1.84478588e-02 4.29315933e+02] [ 3.63034697e-02 9.99340805e-01 -1.19245567e-04 6.86865262e+00] [ 1.84400266e-02 -5.50574610e-04 9.99829817e-01 3.91091425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.27925415399994 meters Centerline goodness [0,1] 0.9993276745945038 Centerline is valid? [True, True] Translation: X:429.35, Y:6.87, Z:3.91 [[ 9.99201734e-01 -3.52507934e-02 -1.87956452e-02 4.29345154e+02] [ 3.52547356e-02 9.99378351e-01 -1.21666711e-04 6.86862464e+00] [ 1.87882497e-02 -5.41065913e-04 9.99823339e-01 3.91095414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.309254154 meters Centerline goodness [0,1] 0.9993690320952341 Centerline is valid? [True, True] Translation: X:429.38, Y:6.87, Z:3.91 [[ 9.99241835e-01 -3.40018022e-02 -1.89639912e-02 4.29375065e+02] [ 3.40055807e-02 9.99421635e-01 -1.23282271e-04 6.86982168e+00] [ 1.89572149e-02 -5.21692731e-04 9.99820160e-01 3.91207636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.33925415399995 meters Centerline goodness [0,1] 0.9992863889180397 Centerline is valid? [True, True] Translation: X:429.40, Y:6.87, Z:3.91 [[ 9.99340191e-01 -3.12126290e-02 -1.85729263e-02 4.29404788e+02] [ 3.12157592e-02 9.99512662e-01 -1.21415759e-04 6.87203276e+00] [ 1.85676647e-02 -4.58432347e-04 9.99827501e-01 3.91359656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3692541539999 meters Centerline goodness [0,1] 0.999179638199411 Centerline is valid? [True, True] Translation: X:429.43, Y:6.87, Z:3.91 [[ 9.99391929e-01 -2.95215033e-02 -1.85540555e-02 4.29434437e+02] [ 2.95243233e-02 9.99564055e-01 -1.21974356e-04 6.87333287e+00] [ 1.85495678e-02 -4.25895747e-04 9.99827851e-01 3.91432163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.39925415399995 meters Centerline goodness [0,1] 0.999327731092437 Centerline is valid? [True, True] Translation: X:429.46, Y:6.87, Z:3.91 [[ 9.99422590e-01 -2.79362135e-02 -1.93404967e-02 4.29463166e+02] [ 2.79389241e-02 9.99609624e-01 -1.30088179e-04 6.87489060e+00] [ 1.93365808e-02 -4.10339605e-04 9.99812947e-01 3.91451034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4292541539999 meters Centerline goodness [0,1] 0.9993267410056806 Centerline is valid? [True, True] Translation: X:429.49, Y:6.88, Z:3.92 [[ 9.99461393e-01 -2.65864304e-02 -1.92375946e-02 4.29492385e+02] [ 2.65887704e-02 9.99646447e-01 -1.34177509e-04 6.87624668e+00] [ 1.92343603e-02 -3.77398744e-04 9.99814931e-01 3.91507803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.45925415399995 meters Centerline goodness [0,1] 0.999116050006314 Centerline is valid? [True, True] Translation: X:429.52, Y:6.88, Z:3.91 [[ 9.99481542e-01 -2.55562788e-02 -1.95837787e-02 4.29520423e+02] [ 2.55584430e-02 9.99673320e-01 -1.39810352e-04 6.87614331e+00] [ 1.95809541e-02 -3.60793027e-04 9.99808210e-01 3.91461081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4892541539999 meters Centerline goodness [0,1] 0.9989495577638186 Centerline is valid? [True, True] Translation: X:429.55, Y:6.88, Z:3.91 [[ 9.99494434e-01 -2.41648664e-02 -2.06624242e-02 4.29548961e+02] [ 2.41669006e-02 9.99707926e-01 -1.51283561e-04 6.87770201e+00] [ 2.06600450e-02 -3.48139675e-04 9.99786498e-01 3.91476187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.51925415399995 meters Centerline goodness [0,1] 0.9990950607151124 Centerline is valid? [True, True] Translation: X:429.58, Y:6.88, Z:3.91 [[ 9.99462302e-01 -2.42442905e-02 -2.20753408e-02 4.29577094e+02] [ 2.42465505e-02 9.99705996e-01 -1.65314615e-04 6.87653978e+00] [ 2.20728585e-02 -3.70025139e-04 9.99756296e-01 3.91346322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5492541539999 meters Centerline goodness [0,1] 0.9991997809926927 Centerline is valid? [True, True] Translation: X:429.61, Y:6.88, Z:3.91 [[ 9.99393289e-01 -2.61937175e-02 -2.29552468e-02 4.29605423e+02] [ 2.61966266e-02 9.99656794e-01 -1.74028655e-04 6.87654880e+00] [ 2.29519269e-02 -4.27426960e-04 9.99736478e-01 3.91469595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57925415399995 meters Centerline goodness [0,1] 0.9992215279092764 Centerline is valid? [True, True] Translation: X:429.63, Y:6.87, Z:3.91 [[ 9.99333888e-01 -2.80273979e-02 -2.33718719e-02 4.29632956e+02] [ 2.80308645e-02 9.99607042e-01 -1.79340468e-04 6.87249743e+00] [ 2.33677141e-02 -4.75912765e-04 9.99726824e-01 3.91258682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6092541539999 meters Centerline goodness [0,1] 0.9992865087192832 Centerline is valid? [True, True] Translation: X:429.66, Y:6.87, Z:3.91 [[ 9.99237414e-01 -3.03221222e-02 -2.45999805e-02 4.29661850e+02] [ 3.03265407e-02 9.99540026e-01 -1.93526769e-04 6.87323018e+00] [ 2.45945332e-02 -5.52653120e-04 9.99697356e-01 3.91383101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63925415399996 meters Centerline goodness [0,1] 0.9992218226176205 Centerline is valid? [True, True] Translation: X:429.69, Y:6.87, Z:3.91 [[ 9.99140303e-01 -3.33653467e-02 -2.46050568e-02 4.29690888e+02] [ 3.33705348e-02 9.99443029e-01 -1.99835013e-04 6.87218399e+00] [ 2.45980200e-02 -6.21420688e-04 9.99697230e-01 3.91428554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.66925415399993 meters Centerline goodness [0,1] 0.9996014766339458 Centerline is valid? [True, True] Translation: X:429.72, Y:6.87, Z:3.91 [[ 9.99040989e-01 -3.59982167e-02 -2.49244825e-02 4.29719940e+02] [ 3.60041998e-02 9.99351617e-01 -2.08818986e-04 6.87066252e+00] [ 2.49158390e-02 -6.88767319e-04 9.99689315e-01 3.91456749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69925415399996 meters Centerline goodness [0,1] 0.99911838790932 Centerline is valid? [True, True] Translation: X:429.75, Y:6.87, Z:3.91 [[ 9.98881003e-01 -4.06278896e-02 -2.42098418e-02 4.29748216e+02] [ 4.06348103e-02 9.99174044e-01 -2.06222975e-04 6.86701485e+00] [ 2.41982240e-02 -7.77770118e-04 9.99706878e-01 3.91454680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.72925415399993 meters Centerline goodness [0,1] 0.9992014458033875 Centerline is valid? [True, True] Translation: X:429.78, Y:6.86, Z:3.91 [[ 9.98802478e-01 -4.25116290e-02 -2.42151163e-02 4.29776288e+02] [ 4.25190574e-02 9.99095634e-01 -2.08261948e-04 6.86379885e+00] [ 2.42020706e-02 -8.21591371e-04 9.99706749e-01 3.91412638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75925415399996 meters Centerline goodness [0,1] 0.9990541449470322 Centerline is valid? [True, True] Translation: X:429.80, Y:6.87, Z:3.92 [[ 9.98729661e-01 -4.44299633e-02 -2.37706094e-02 4.29804948e+02] [ 4.44375585e-02 9.99012142e-01 -2.08874099e-04 6.86592794e+00] [ 2.37564077e-02 -8.47699088e-04 9.99717417e-01 3.91642144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.78925415399993 meters Centerline goodness [0,1] 0.9990541449470322 Centerline is valid? [True, True] Translation: X:429.83, Y:6.87, Z:3.92 [[ 9.98718460e-01 -4.46810793e-02 -2.37705559e-02 4.29833220e+02] [ 4.46886035e-02 9.99000942e-01 -2.14848117e-04 6.86622945e+00] [ 2.37564074e-02 -8.47700166e-04 9.99717417e-01 3.91668691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81925415399996 meters Centerline goodness [0,1] 0.9992225584131786 Centerline is valid? [True, True] Translation: X:429.86, Y:6.87, Z:3.92 [[ 9.98717513e-01 -4.47421095e-02 -2.36954248e-02 4.29862461e+02] [ 4.47495354e-02 9.98998214e-01 -2.17037883e-04 6.86799086e+00] [ 2.36813978e-02 -8.43599715e-04 9.99719200e-01 3.91792936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.84925415399994 meters Centerline goodness [0,1] 0.9989293137110826 Centerline is valid? [True, True] Translation: X:429.89, Y:6.87, Z:3.92 [[ 9.98753584e-01 -4.42896219e-02 -2.30153725e-02 4.29891884e+02] [ 4.42964882e-02 9.99018406e-01 -2.11645351e-04 6.86975032e+00] [ 2.30021544e-02 -8.08118622e-04 9.99735089e-01 3.91924060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87925415399997 meters Centerline goodness [0,1] 0.9994532301480484 Centerline is valid? [True, True] Translation: X:429.92, Y:6.87, Z:3.92 [[ 9.98809678e-01 -4.33860156e-02 -2.22908440e-02 4.29920946e+02] [ 4.33922187e-02 9.99058093e-01 -2.05555952e-04 6.87029385e+00] [ 2.22787664e-02 -7.61937904e-04 9.99751507e-01 3.92029843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.90925415399994 meters Centerline goodness [0,1] 0.9988871624742788 Centerline is valid? [True, True] Translation: X:429.95, Y:6.87, Z:3.92 [[ 9.98853233e-01 -4.26259547e-02 -2.18001680e-02 4.29950702e+02] [ 4.26316983e-02 9.99090836e-01 -2.01425207e-04 6.87117839e+00] [ 2.17889340e-02 -7.28183965e-04 9.99762328e-01 3.92127891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93925415399997 meters Centerline goodness [0,1] 0.9989053322948024 Centerline is valid? [True, True] Translation: X:429.98, Y:6.87, Z:3.92 [[ 9.98939150e-01 -4.08938798e-02 -2.11722794e-02 4.29980223e+02] [ 4.08988959e-02 9.99163271e-01 -1.96219150e-04 6.87382162e+00] [ 2.11625881e-02 -6.69911859e-04 9.99775823e-01 3.92342142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.96925415399994 meters Centerline goodness [0,1] 0.9990343843150427 Centerline is valid? [True, True] Translation: X:430.01, Y:6.87, Z:3.92 [[ 9.98961309e-01 -4.02135980e-02 -2.14282480e-02 4.30009902e+02] [ 4.02185630e-02 9.99190886e-01 -1.99375813e-04 6.87464992e+00] [ 2.14189277e-02 -6.62644620e-04 9.99770369e-01 3.92409891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99925415399997 meters Centerline goodness [0,1] 0.9990529705158154 Centerline is valid? [True, True] Translation: X:430.04, Y:6.87, Z:3.92 [[ 9.98946588e-01 -4.01461642e-02 -2.22261126e-02 4.30039616e+02] [ 4.01514764e-02 9.99193583e-01 -2.07385348e-04 6.87488555e+00] [ 2.22165148e-02 -6.85244347e-04 9.99752948e-01 3.92418370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.02925415399994 meters Centerline goodness [0,1] 0.9989890906027548 Centerline is valid? [True, True] Translation: X:430.07, Y:6.87, Z:3.92 [[ 9.98883291e-01 -4.09428236e-02 -2.35766207e-02 4.30068453e+02] [ 4.09490008e-02 9.99161213e-01 -2.20927023e-04 6.87403757e+00] [ 2.35658903e-02 -7.44758746e-04 9.99722008e-01 3.92375926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.059254154 meters Centerline goodness [0,1] 0.9989460148822699 Centerline is valid? [True, True] Translation: X:430.10, Y:6.87, Z:3.92 [[ 9.98812841e-01 -4.23211255e-02 -2.41211826e-02 4.30096814e+02] [ 4.23278903e-02 9.99103747e-01 -2.30283889e-04 6.87431332e+00] [ 2.41093098e-02 -7.90988266e-04 9.99709015e-01 3.92385011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.08925415399995 meters Centerline goodness [0,1] 0.9992008412197687 Centerline is valid? [True, True] Translation: X:430.13, Y:6.87, Z:3.92 [[ 9.98766043e-01 -4.33830528e-02 -2.41723598e-02 4.30125919e+02] [ 4.33900800e-02 9.99058180e-01 -2.33958961e-04 6.87382711e+00] [ 2.41597436e-02 -8.15170359e-04 9.99707778e-01 3.92390705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1192541539999 meters Centerline goodness [0,1] 0.9989462370123712 Centerline is valid? [True, True] Translation: X:430.15, Y:6.87, Z:3.92 [[ 9.98648550e-01 -4.56693555e-02 -2.48069242e-02 4.30154777e+02] [ 4.56774273e-02 9.98956212e-01 -2.41459338e-04 6.87114134e+00] [ 2.47920583e-02 -8.91983456e-04 9.99692232e-01 3.92293393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.14925415399995 meters Centerline goodness [0,1] 0.9988834348073399 Centerline is valid? [True, True] Translation: X:430.18, Y:6.87, Z:3.92 [[ 9.98577367e-01 -4.68412207e-02 -2.54782690e-02 4.30183819e+02] [ 4.68499991e-02 9.98901904e-01 -2.52598997e-04 6.87203297e+00] [ 2.54621235e-02 -9.41417241e-04 9.99675344e-01 3.92362312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1792541539999 meters Centerline goodness [0,1] 0.9988380936285279 Centerline is valid? [True, True] Translation: X:430.21, Y:6.87, Z:3.92 [[ 9.98536226e-01 -4.73156621e-02 -2.62036892e-02 4.30212285e+02] [ 4.73250232e-02 9.98879509e-01 -2.63139821e-04 6.87144469e+00] [ 2.61867788e-02 -9.77335555e-04 9.99656590e-01 3.92355449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.20925415399995 meters Centerline goodness [0,1] 0.9991353129745234 Centerline is valid? [True, True] Translation: X:430.24, Y:6.87, Z:3.92 [[ 9.98517849e-01 -4.76820151e-02 -2.62398837e-02 4.30241476e+02] [ 4.76914044e-02 9.98862082e-01 -2.68229020e-04 6.87196883e+00] [ 2.62228146e-02 -9.83585443e-04 9.99655639e-01 3.92357112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2392541539999 meters Centerline goodness [0,1] 0.9993883147015398 Centerline is valid? [True, True] Translation: X:430.27, Y:6.88, Z:3.92 [[ 9.98515885e-01 -4.73097958e-02 -2.69779490e-02 4.30270210e+02] [ 4.73193986e-02 9.98879770e-01 -2.82703922e-04 6.87594397e+00] [ 2.69611021e-02 -9.94295963e-04 9.99635989e-01 3.92426623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.26925415399995 meters Centerline goodness [0,1] 0.9989461259590253 Centerline is valid? [True, True] Translation: X:430.30, Y:6.88, Z:3.92 [[ 9.98523238e-01 -4.67721771e-02 -2.76352259e-02 4.30298719e+02] [ 4.67818507e-02 9.98905086e-01 -2.96741809e-04 6.87736603e+00] [ 2.76188469e-02 -9.96523418e-04 9.99618030e-01 3.92439085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2992541539999 meters Centerline goodness [0,1] 0.9990716907886409 Centerline is valid? [True, True] Translation: X:430.33, Y:6.88, Z:3.92 [[ 9.98588334e-01 -4.56803365e-02 -2.71043618e-02 4.30327037e+02] [ 4.56890539e-02 9.98955665e-01 -2.97913296e-04 6.87757665e+00] [ 2.70896646e-02 -9.40879906e-04 9.99632565e-01 3.92384532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.32925415399995 meters Centerline goodness [0,1] 0.9991565452091767 Centerline is valid? [True, True] Translation: X:430.36, Y:6.88, Z:3.93 [[ 9.98780161e-01 -4.22593478e-02 -2.55409073e-02 4.30356974e+02] [ 4.22659058e-02 9.99106357e-01 -2.83267036e-04 6.88209350e+00] [ 2.55300536e-02 -7.96588086e-04 9.99673738e-01 3.92555291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3592541539999 meters Centerline goodness [0,1] 0.998632241230562 Centerline is valid? [True, True] Translation: X:430.39, Y:6.89, Z:3.93 [[ 9.98847644e-01 -4.08519526e-02 -2.51893276e-02 4.30386065e+02] [ 4.08577783e-02 9.99164932e-01 -2.83564873e-04 6.88535824e+00] [ 2.51798770e-02 -7.45941858e-04 9.99682658e-01 3.92639604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.38925415399996 meters Centerline goodness [0,1] 0.9991558510077029 Centerline is valid? [True, True] Translation: X:430.41, Y:6.89, Z:3.93 [[ 9.98947236e-01 -3.87543855e-02 -2.45462157e-02 4.30414963e+02] [ 3.87591348e-02 9.99248543e-01 -2.82430912e-04 6.88781168e+00] [ 2.45387157e-02 -6.69256505e-04 9.99698656e-01 3.92660647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41925415399993 meters Centerline goodness [0,1] 0.9990924823772741 Centerline is valid? [True, True] Translation: X:430.44, Y:6.89, Z:3.93 [[ 9.99028313e-01 -3.70061802e-02 -2.39368445e-02 4.30443582e+02] [ 3.70100514e-02 9.99314854e-01 -2.81422215e-04 6.89078224e+00] [ 2.39308587e-02 -6.04755086e-04 9.99713433e-01 3.92723035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.44925415399996 meters Centerline goodness [0,1] 0.9993444980123488 Centerline is valid? [True, True] Translation: X:430.47, Y:6.89, Z:3.93 [[ 9.99154547e-01 -3.38503712e-02 -2.33311733e-02 4.30472290e+02] [ 3.38531107e-02 9.99426781e-01 -2.77657873e-04 6.89445186e+00] [ 2.33271982e-02 -5.12409665e-04 9.99727753e-01 3.92796782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47925415399993 meters Centerline goodness [0,1] 0.9990496504825663 Centerline is valid? [True, True] Translation: X:430.50, Y:6.90, Z:3.93 [[ 9.99196557e-01 -3.30070286e-02 -2.27326982e-02 4.30500733e+02] [ 3.30093185e-02 9.99455006e-01 -2.74605847e-04 6.89557389e+00] [ 2.27293730e-02 -4.76005660e-04 9.99741541e-01 3.92807949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.50925415399996 meters Centerline goodness [0,1] 0.9991966513043846 Centerline is valid? [True, True] Translation: X:430.53, Y:6.90, Z:3.93 [[ 9.99227782e-01 -3.23323675e-02 -2.23261628e-02 4.30529105e+02] [ 3.23342819e-02 9.99477072e-01 -2.75333611e-04 6.89624483e+00] [ 2.23233901e-02 -4.46779450e-04 9.99750702e-01 3.92825609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53925415399993 meters Centerline goodness [0,1] 0.9991968890016062 Centerline is valid? [True, True] Translation: X:430.56, Y:6.90, Z:3.93 [[ 9.99233382e-01 -3.21933805e-02 -2.22763356e-02 4.30557200e+02] [ 3.21951153e-02 9.99481563e-01 -2.80850583e-04 6.89668163e+00] [ 2.22738282e-02 -4.36553914e-04 9.99751812e-01 3.92833754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.56925415399996 meters Centerline goodness [0,1] 0.9990509132323786 Centerline is valid? [True, True] Translation: X:430.58, Y:6.90, Z:3.93 [[ 9.99219305e-01 -3.27032545e-02 -2.21648037e-02 4.30584500e+02] [ 3.27049932e-02 9.99465008e-01 -2.84140155e-04 6.89586422e+00] [ 2.21622380e-02 -4.40981425e-04 9.99754290e-01 3.92768788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59925415399994 meters Centerline goodness [0,1] 0.999450537838923 Centerline is valid? [True, True] Translation: X:430.61, Y:6.90, Z:3.93 [[ 9.99195662e-01 -3.35536805e-02 -2.19585775e-02 4.30613462e+02] [ 3.35554912e-02 9.99436815e-01 -2.86098271e-04 6.89578193e+00] [ 2.19558104e-02 -4.50962701e-04 9.99758840e-01 3.92797555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62925415399997 meters Centerline goodness [0,1] 0.9994293926201445 Centerline is valid? [True, True] Translation: X:430.64, Y:6.90, Z:3.93 [[ 9.99160744e-01 -3.45291931e-02 -2.20350287e-02 4.30641815e+02] [ 3.45311300e-02 9.99403580e-01 -2.92700500e-04 6.89618244e+00] [ 2.20319933e-02 -4.68439591e-04 9.99757156e-01 3.92857653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65925415399994 meters Centerline goodness [0,1] 0.9989647595706921 Centerline is valid? [True, True] Translation: X:430.67, Y:6.89, Z:3.93 [[ 9.99132587e-01 -3.54316894e-02 -2.18784955e-02 4.30669933e+02] [ 3.54337381e-02 9.99371985e-01 -2.94138178e-04 6.89394155e+00] [ 2.18751773e-02 -4.81353842e-04 9.99760594e-01 3.92757101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.68925415399997 meters Centerline goodness [0,1] 0.9993675822670067 Centerline is valid? [True, True] Translation: X:430.70, Y:6.89, Z:3.93 [[ 9.99069283e-01 -3.71506470e-02 -2.19179531e-02 4.30697798e+02] [ 3.71530620e-02 9.99309542e-01 -2.97153802e-04 6.89063895e+00] [ 2.19138592e-02 -5.17441836e-04 9.99759729e-01 3.92684809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71925415399994 meters Centerline goodness [0,1] 0.9991567230256778 Centerline is valid? [True, True] Translation: X:430.73, Y:6.89, Z:3.93 [[ 9.99033691e-01 -3.81466410e-02 -2.18293003e-02 4.30726458e+02] [ 3.81491786e-02 9.99272010e-01 -3.00328220e-04 6.89163718e+00] [ 2.18248653e-02 -5.32731868e-04 9.99761667e-01 3.92763104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.74925415399997 meters Centerline goodness [0,1] 0.9990511133603239 Centerline is valid? [True, True] Translation: X:430.76, Y:6.89, Z:3.93 [[ 9.99012898e-01 -3.85614730e-02 -2.20509172e-02 4.30756412e+02] [ 3.85641004e-02 9.99256081e-01 -3.06235352e-04 6.89069395e+00] [ 2.20463220e-02 -5.44440717e-04 9.99756802e-01 3.92743853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.77925415399994 meters Centerline goodness [0,1] 0.9990924057579468 Centerline is valid? [True, True] Translation: X:430.79, Y:6.89, Z:3.93 [[ 9.98999036e-01 -3.87162399e-02 -2.24048863e-02 4.30786039e+02] [ 3.87189728e-02 9.99250091e-01 -3.11970666e-04 6.88924136e+00] [ 2.24001630e-02 -5.55835790e-04 9.99748930e-01 3.92705255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.809254154 meters Centerline goodness [0,1] 0.9991160872127284 Centerline is valid? [True, True] Translation: X:430.81, Y:6.89, Z:3.93 [[ 9.98964469e-01 -3.99499148e-02 -2.17713816e-02 4.30814450e+02] [ 3.99527121e-02 9.99201525e-01 -3.06638158e-04 6.88841419e+00] [ 2.17662478e-02 -5.63505115e-04 9.99762928e-01 3.92743693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.83925415399995 meters Centerline goodness [0,1] 0.999283848681439 Centerline is valid? [True, True] Translation: X:430.84, Y:6.89, Z:3.93 [[ 9.98952520e-01 -4.04928453e-02 -2.13118069e-02 4.30844138e+02] [ 4.04955900e-02 9.99179671e-01 -3.02936529e-04 6.88808907e+00] [ 2.13065910e-02 -5.60414987e-04 9.99772832e-01 3.92805988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8692541539999 meters Centerline goodness [0,1] 0.9991145965089805 Centerline is valid? [True, True] Translation: X:430.87, Y:6.89, Z:3.93 [[ 9.98898694e-01 -4.24052923e-02 -2.00795820e-02 4.30873828e+02] [ 4.24081003e-02 9.99100331e-01 -2.86137777e-04 6.88507959e+00] [ 2.00736508e-02 -5.65714275e-04 9.99798344e-01 3.92846623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.89925415399995 meters Centerline goodness [0,1] 0.999009859273616 Centerline is valid? [True, True] Translation: X:430.90, Y:6.88, Z:3.93 [[ 9.98869474e-01 -4.33773179e-02 -1.94469209e-02 4.30904070e+02] [ 4.33801403e-02 9.99058600e-01 -2.76886821e-04 6.88203976e+00] [ 1.94406242e-02 -5.67036364e-04 9.99810852e-01 3.92821297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9292541539999 meters Centerline goodness [0,1] 0.9991775968959554 Centerline is valid? [True, True] Translation: X:430.94, Y:6.88, Z:3.93 [[ 9.98850053e-01 -4.41890793e-02 -1.85983005e-02 4.30935412e+02] [ 4.41918168e-02 9.99023030e-01 -2.63965506e-04 6.88072161e+00] [ 1.85917949e-02 -5.58230728e-04 9.99827002e-01 3.92843884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.95925415399995 meters Centerline goodness [0,1] 0.9992643349588027 Centerline is valid? [True, True] Translation: X:430.97, Y:6.88, Z:3.93 [[ 9.98763134e-01 -4.64085636e-02 -1.78450881e-02 4.30966402e+02] [ 4.64114462e-02 9.98922376e-01 -2.52795174e-04 6.87812092e+00] [ 1.78375897e-02 -5.75733847e-04 9.99840732e-01 3.92880691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9892541539999 meters Centerline goodness [0,1] 0.9990326786390209 Centerline is valid? [True, True] Translation: X:431.00, Y:6.88, Z:3.93 [[ 9.98743865e-01 -4.71350429e-02 -1.69994341e-02 4.30998087e+02] [ 4.71377713e-02 9.98888369e-01 -2.40375388e-04 6.87700208e+00] [ 1.69918671e-02 -5.61241991e-04 9.99855470e-01 3.92947973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.01925415399995 meters Centerline goodness [0,1] 0.9987991404373657 Centerline is valid? [True, True] Translation: X:431.03, Y:6.88, Z:3.93 [[ 9.98731458e-01 -4.76580204e-02 -1.62538293e-02 4.31029288e+02] [ 4.76605931e-02 9.98863562e-01 -2.29259020e-04 6.87601427e+00] [ 1.62462839e-02 -5.45698951e-04 9.99867872e-01 3.93002930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0492541539999 meters Centerline goodness [0,1] 0.9990726494825806 Centerline is valid? [True, True] Translation: X:431.06, Y:6.88, Z:3.93 [[ 9.98738241e-01 -4.77654512e-02 -1.55044454e-02 4.31061427e+02] [ 4.77678169e-02 9.98858443e-01 -2.17922513e-04 6.87543079e+00] [ 1.54971554e-02 -5.22965962e-04 9.99879775e-01 3.93070285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07925415399995 meters Centerline goodness [0,1] 0.9990738012040584 Centerline is valid? [True, True] Translation: X:431.09, Y:6.87, Z:3.93 [[ 9.98752389e-01 -4.77945229e-02 -1.44689165e-02 4.31092983e+02] [ 4.77965992e-02 9.98857069e-01 -2.02459948e-04 6.87249385e+00] [ 1.44620560e-02 -4.89357648e-04 9.99895299e-01 3.93093839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1092541539999 meters Centerline goodness [0,1] 0.9988828699702801 Centerline is valid? [True, True] Translation: X:431.12, Y:6.87, Z:3.93 [[ 9.98767084e-01 -4.76096780e-02 -1.40581400e-02 4.31124081e+02] [ 4.76116302e-02 9.98865904e-01 -1.95973286e-04 6.87097502e+00] [ 1.40515269e-02 -4.73599293e-04 9.99901160e-01 3.93089016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13925415399996 meters Centerline goodness [0,1] 0.9988604229097202 Centerline is valid? [True, True] Translation: X:431.16, Y:6.87, Z:3.93 [[ 9.98778604e-01 -4.73374358e-02 -1.41586831e-02 4.31156150e+02] [ 4.73394005e-02 9.98878843e-01 -1.96537650e-04 6.87013921e+00] [ 1.41521126e-02 -4.73965970e-04 9.99899742e-01 3.93094004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.16925415399993 meters Centerline goodness [0,1] 0.9989256372445755 Centerline is valid? [True, True] Translation: X:431.19, Y:6.87, Z:3.93 [[ 9.98831059e-01 -4.63251931e-02 -1.38018915e-02 4.31187992e+02] [ 4.63269752e-02 9.98926311e-01 -1.90743055e-04 6.87182333e+00] [ 1.37959088e-02 -4.48879797e-04 9.99904731e-01 3.93129879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19925415399996 meters Centerline goodness [0,1] 0.9988009592326139 Centerline is valid? [True, True] Translation: X:431.22, Y:6.87, Z:3.93 [[ 9.98853452e-01 -4.58556132e-02 -1.37493312e-02 4.31219539e+02] [ 4.58573463e-02 9.98947981e-01 -1.89356200e-04 6.86668838e+00] [ 1.37435496e-02 -4.41368746e-04 9.99905456e-01 3.93097941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.22925415399993 meters Centerline goodness [0,1] 0.9989289314516129 Centerline is valid? [True, True] Translation: X:431.25, Y:6.87, Z:3.93 [[ 9.98866904e-01 -4.56454777e-02 -1.34684279e-02 4.31251333e+02] [ 4.56471326e-02 9.98957609e-01 -1.84678534e-04 6.87203997e+00] [ 1.34628183e-02 -4.30325841e-04 9.99909280e-01 3.93204835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25925415399996 meters Centerline goodness [0,1] 0.9989705017228339 Centerline is valid? [True, True] Translation: X:431.28, Y:6.87, Z:3.93 [[ 9.98888413e-01 -4.51740114e-02 -1.34628377e-02 4.31282209e+02] [ 4.51756344e-02 9.98979043e-01 -1.83683054e-04 6.87087570e+00] [ 1.34573904e-02 -4.24713361e-04 9.99909355e-01 3.93204827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.28925415399993 meters Centerline goodness [0,1] 0.9988242210464433 Centerline is valid? [True, True] Translation: X:431.31, Y:6.87, Z:3.93 [[ 9.98852251e-01 -4.57581044e-02 -1.41554650e-02 4.31314004e+02] [ 4.57599701e-02 9.98952445e-01 -1.92235727e-04 6.86973515e+00] [ 1.41494327e-02 -4.55738564e-04 9.99899788e-01 3.93132676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31925415399996 meters Centerline goodness [0,1] 0.9989715389136092 Centerline is valid? [True, True] Translation: X:431.35, Y:6.87, Z:3.93 [[ 9.98816409e-01 -4.64118084e-02 -1.45507772e-02 4.31345752e+02] [ 4.64138636e-02 9.98922277e-01 -1.96605960e-04 6.86865119e+00] [ 1.45442203e-02 -4.78984527e-04 9.99894113e-01 3.93100107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.34925415399994 meters Centerline goodness [0,1] 0.9987837611139071 Centerline is valid? [True, True] Translation: X:431.38, Y:6.87, Z:3.93 [[ 9.98767144e-01 -4.72877306e-02 -1.51017221e-02 4.31377765e+02] [ 4.72900589e-02 9.98881179e-01 -2.03090720e-04 6.86816489e+00] [ 1.50944297e-02 -5.11320989e-04 9.99885942e-01 3.93067183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37925415399997 meters Centerline goodness [0,1] 0.9987825867931657 Centerline is valid? [True, True] Translation: X:431.41, Y:6.87, Z:3.93 [[ 9.98749283e-01 -4.76855663e-02 -1.50318599e-02 4.31410296e+02] [ 4.76879347e-02 9.98862263e-01 -2.01046685e-04 6.86735919e+00] [ 1.50243446e-02 -5.16043118e-04 9.99886995e-01 3.92974358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.40925415399994 meters Centerline goodness [0,1] 0.9989310193045338 Centerline is valid? [True, True] Translation: X:431.44, Y:6.87, Z:3.93 [[ 9.98617777e-01 -5.01817625e-02 -1.56309415e-02 4.31441903e+02] [ 5.01846437e-02 9.98739935e-01 -2.08109099e-04 6.86844211e+00] [ 1.56216888e-02 -5.76611785e-04 9.99877808e-01 3.93101356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43925415399997 meters Centerline goodness [0,1] 0.998705501618123 Centerline is valid? [True, True] Translation: X:431.47, Y:6.87, Z:3.93 [[ 9.98581769e-01 -5.08747171e-02 -1.56912003e-02 4.31472898e+02] [ 5.08777170e-02 9.98704869e-01 -2.08207606e-04 6.86640260e+00] [ 1.56814706e-02 -5.90420128e-04 9.99876864e-01 3.93114855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.46925415399994 meters Centerline goodness [0,1] 0.9989730046948356 Centerline is valid? [True, True] Translation: X:431.50, Y:6.87, Z:3.93 [[ 9.98493597e-01 -5.27736159e-02 -1.50160479e-02 4.31504128e+02] [ 5.27765881e-02 9.98606325e-01 -1.98546125e-04 6.86565410e+00] [ 1.50055984e-02 -5.94248741e-04 9.99887233e-01 3.93214352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49925415399997 meters Centerline goodness [0,1] 0.9988055322715842 Centerline is valid? [True, True] Translation: X:431.54, Y:6.87, Z:3.93 [[ 9.98456154e-01 -5.36770210e-02 -1.42858369e-02 4.31535818e+02] [ 5.36798118e-02 9.98558182e-01 -1.88296886e-04 6.86805051e+00] [ 1.42753466e-02 -5.78854854e-04 9.99897934e-01 3.93326133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.52925415399994 meters Centerline goodness [0,1] 0.9988057074611855 Centerline is valid? [True, True] Translation: X:431.57, Y:6.87, Z:3.93 [[ 9.98415374e-01 -5.46199128e-02 -1.35427865e-02 4.31566951e+02] [ 5.46225172e-02 9.98507060e-01 -1.77775395e-04 6.86555501e+00] [ 1.35322780e-02 -5.62247403e-04 9.99908276e-01 3.93378661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.559254154 meters Centerline goodness [0,1] 0.9989715820845402 Centerline is valid? [True, True] Translation: X:431.60, Y:6.87, Z:3.94 [[ 9.98352687e-01 -5.59266198e-02 -1.28111806e-02 4.31598817e+02] [ 5.59290673e-02 9.98434731e-01 -1.67424683e-04 6.86795288e+00] [ 1.28004911e-02 -5.49368498e-04 9.99917919e-01 3.93506159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.58925415399995 meters Centerline goodness [0,1] 0.9986599664991624 Centerline is valid? [True, True] Translation: X:431.63, Y:6.87, Z:3.94 [[ 9.98289828e-01 -5.71562254e-02 -1.22713032e-02 4.31629765e+02] [ 5.71585739e-02 9.98365100e-01 -1.59541607e-04 6.86691520e+00] [ 1.22603597e-02 -5.42141430e-04 9.99924692e-01 3.93570465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6192541539999 meters Centerline goodness [0,1] 0.9988665939047939 Centerline is valid? [True, True] Translation: X:431.66, Y:6.87, Z:3.94 [[ 9.98094591e-01 -6.06237465e-02 -1.14869097e-02 4.31660789e+02] [ 6.06260401e-02 9.98160539e-01 -1.48761290e-04 6.86606297e+00] [ 1.14747984e-02 -5.47928008e-04 9.99934012e-01 3.93720892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.64925415399995 meters Centerline goodness [0,1] 0.9985289172831204 Centerline is valid? [True, True] Translation: X:431.69, Y:6.87, Z:3.94 [[ 9.97991486e-01 -6.23695945e-02 -1.10917852e-02 4.31693132e+02] [ 6.23718465e-02 9.98052971e-01 -1.43103587e-04 6.86656319e+00] [ 1.10791145e-02 -5.48998963e-04 9.99938474e-01 3.93780594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6792541539999 meters Centerline goodness [0,1] 0.9986999370937304 Centerline is valid? [True, True] Translation: X:431.72, Y:6.86, Z:3.94 [[ 9.97861376e-01 -6.43553165e-02 -1.14484845e-02 4.31724328e+02] [ 6.43578555e-02 9.97926874e-01 -1.46878281e-04 6.86302455e+00] [ 1.14342027e-02 -5.90235748e-04 9.99934453e-01 3.93796004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.70925415399995 meters Centerline goodness [0,1] 0.9986999370937304 Centerline is valid? [True, True] Translation: X:431.76, Y:6.86, Z:3.94 [[ 9.97865959e-01 -6.42842188e-02 -1.14484930e-02 4.31756054e+02] [ 6.42867607e-02 9.97931456e-01 -1.46214971e-04 6.86336634e+00] [ 1.14342106e-02 -5.90083586e-04 9.99934453e-01 3.93825715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7392541539999 meters Centerline goodness [0,1] 0.9985106873911858 Centerline is valid? [True, True] Translation: X:431.79, Y:6.86, Z:3.94 [[ 9.97586058e-01 -6.84497503e-02 -1.16913792e-02 4.31786684e+02] [ 6.84526954e-02 9.97654352e-01 -1.48553048e-04 6.86356648e+00] [ 1.16741238e-02 -6.52111969e-04 9.99931642e-01 3.93791937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.76925415399995 meters Centerline goodness [0,1] 0.9986981900642506 Centerline is valid? [True, True] Translation: X:431.82, Y:6.86, Z:3.94 [[ 9.97433834e-01 -7.05708480e-02 -1.20624268e-02 4.31817583e+02] [ 7.05741422e-02 9.97506525e-01 -1.52876370e-04 6.86243689e+00] [ 1.20431380e-02 -6.98811359e-04 9.99927235e-01 3.93787276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7992541539999 meters Centerline goodness [0,1] 0.9987617268663295 Centerline is valid? [True, True] Translation: X:431.85, Y:6.86, Z:3.94 [[ 9.97280319e-01 -7.26756429e-02 -1.22562545e-02 4.31847431e+02] [ 7.26792044e-02 9.97355358e-01 -1.55159880e-04 6.86041765e+00] [ 1.22351174e-02 -7.36036931e-04 9.99924877e-01 3.93793867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.82925415399995 meters Centerline goodness [0,1] 0.998634883965137 Centerline is valid? [True, True] Translation: X:431.88, Y:6.86, Z:3.94 [[ 9.97017426e-01 -7.61339408e-02 -1.26441975e-02 4.31878635e+02] [ 7.61380098e-02 9.97097276e-01 -1.59952014e-04 6.86136837e+00] [ 1.26196727e-02 -8.03229091e-04 9.99920046e-01 3.93842525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8592541539999 meters Centerline goodness [0,1] 0.9987192407827329 Centerline is valid? [True, True] Translation: X:431.91, Y:6.86, Z:3.94 [[ 9.96908317e-01 -7.74902161e-02 -1.30028197e-02 4.31910270e+02] [ 7.74946438e-02 9.96992755e-01 -1.63736990e-04 6.86116763e+00] [ 1.29764050e-02 -8.44418111e-04 9.99915446e-01 3.93868637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.88925415399996 meters Centerline goodness [0,1] 0.9986351706036746 Centerline is valid? [True, True] Translation: X:431.94, Y:6.86, Z:3.94 [[ 9.96814798e-01 -7.86020089e-02 -1.34900929e-02 4.31942773e+02] [ 7.86068946e-02 9.96905676e-01 -1.68497001e-04 6.86357884e+00] [ 1.34615944e-02 -8.92454011e-04 9.99908990e-01 3.93889878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91925415399993 meters Centerline goodness [0,1] 0.9986351419452377 Centerline is valid? [True, True] Translation: X:431.97, Y:6.86, Z:3.94 [[ 9.96756539e-01 -7.91436293e-02 -1.45838338e-02 4.31974733e+02] [ 7.91494136e-02 9.96862748e-01 -1.81033088e-04 6.86361059e+00] [ 1.45524083e-02 -9.73855981e-04 9.99893634e-01 3.93824812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.94925415399996 meters Centerline goodness [0,1] 0.9985526702185678 Centerline is valid? [True, True] Translation: X:432.01, Y:6.86, Z:3.94 [[ 9.96696722e-01 -7.95565745e-02 -1.63216502e-02 4.32006271e+02] [ 7.95638937e-02 9.96829748e-01 -2.01456736e-04 6.85984902e+00] [ 1.62859336e-02 -1.09782277e-03 9.99866773e-01 3.93649206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97925415399993 meters Centerline goodness [0,1] 0.9985534894446657 Centerline is valid? [True, True] Translation: X:432.04, Y:6.86, Z:3.94 [[ 9.96756034e-01 -7.86885060e-02 -1.68975900e-02 4.32038452e+02] [ 7.86962448e-02 9.96898620e-01 -2.07495149e-04 6.86282276e+00] [ 1.68615116e-02 -1.12295483e-03 9.99857204e-01 3.93647358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.00925415399996 meters Centerline goodness [0,1] 0.9986385153533577 Centerline is valid? [True, True] Translation: X:432.07, Y:6.86, Z:3.94 [[ 9.96847967e-01 -7.74417195e-02 -1.72311074e-02 4.32070011e+02] [ 7.74495980e-02 9.96996246e-01 -2.10623316e-04 6.86415480e+00] [ 1.71956605e-02 -1.12458292e-03 9.99851511e-01 3.93677645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03925415399993 meters Centerline goodness [0,1] 0.998639655100247 Centerline is valid? [True, True] Translation: X:432.10, Y:6.87, Z:3.94 [[ 9.97002586e-01 -7.53701093e-02 -1.74696990e-02 4.32101717e+02] [ 7.53779050e-02 9.97155016e-01 -2.12730178e-04 6.86709039e+00] [ 1.74360315e-02 -1.10473678e-03 9.99847371e-01 3.93719398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.06925415399996 meters Centerline goodness [0,1] 0.998953317981997 Centerline is valid? [True, True] Translation: X:432.13, Y:6.88, Z:3.94 [[ 9.97477080e-01 -6.88168481e-02 -1.74274400e-02 4.32132504e+02] [ 6.88236210e-02 9.97628821e-01 -2.11534158e-04 6.88012796e+00] [ 1.74006736e-02 -9.88419053e-04 9.99848108e-01 3.93896951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09925415399994 meters Centerline goodness [0,1] 0.9989927181919291 Centerline is valid? [True, True] Translation: X:432.16, Y:6.88, Z:3.94 [[ 9.97724563e-01 -6.50863604e-02 -1.75915595e-02 4.32163554e+02] [ 6.50926888e-02 9.97879199e-01 -2.13210058e-04 6.88489904e+00] [ 1.75681284e-02 -9.32356999e-04 9.99845234e-01 3.93947690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12925415399997 meters Centerline goodness [0,1] 0.9989098532494759 Centerline is valid? [True, True] Translation: X:432.19, Y:6.89, Z:3.94 [[ 9.97997006e-01 -6.07926809e-02 -1.74993150e-02 4.32192851e+02] [ 6.07982850e-02 9.98150051e-01 -2.12068772e-04 6.88763694e+00] [ 1.74798344e-02 -8.52284342e-04 9.99846853e-01 3.93934756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15925415399994 meters Centerline goodness [0,1] 0.9990376971674826 Centerline is valid? [True, True] Translation: X:432.22, Y:6.89, Z:3.94 [[ 9.98469279e-01 -5.23544748e-02 -1.78355562e-02 4.32222840e+02] [ 5.23589491e-02 9.98628306e-01 -2.16329603e-04 6.89484106e+00] [ 1.78224171e-02 -7.17852519e-04 9.99840910e-01 3.93902306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.18925415399997 meters Centerline goodness [0,1] 0.9988279860195475 Centerline is valid? [True, True] Translation: X:432.25, Y:6.90, Z:3.94 [[ 9.98683337e-01 -4.80889351e-02 -1.78618996e-02 4.32253187e+02] [ 4.80927410e-02 9.98842851e-01 -2.16661026e-04 6.89932676e+00] [ 1.78516497e-02 -6.42651954e-04 9.99840440e-01 3.93931036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21925415399994 meters Centerline goodness [0,1] 0.9990545225338796 Centerline is valid? [True, True] Translation: X:432.28, Y:6.90, Z:3.94 [[ 9.98891649e-01 -4.36655897e-02 -1.75724151e-02 4.32283297e+02] [ 4.36685895e-02 9.99046049e-01 -2.13149641e-04 6.90262075e+00] [ 1.75649592e-02 -5.54449186e-04 9.99845570e-01 3.93965479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.24925415399997 meters Centerline goodness [0,1] 0.9987617008773034 Centerline is valid? [True, True] Translation: X:432.31, Y:6.91, Z:3.94 [[ 9.99068391e-01 -3.95073603e-02 -1.73643195e-02 4.32314096e+02] [ 3.95096644e-02 9.99219166e-01 -2.10481624e-04 6.91052586e+00] [ 1.73590764e-02 -4.75772896e-04 9.99849207e-01 3.94136350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.27925415399994 meters Centerline goodness [0,1] 0.9989678343479451 Centerline is valid? [True, True] Translation: X:432.34, Y:6.92, Z:3.94 [[ 9.99343165e-01 -3.21323448e-02 -1.67556092e-02 4.32343495e+02] [ 3.21334543e-02 9.99483567e-01 -2.03072512e-04 6.91849654e+00] [ 1.67534813e-02 -3.35476477e-04 9.99859594e-01 3.94337257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.309254154 meters Centerline goodness [0,1] 0.9990312526324657 Centerline is valid? [True, True] Translation: X:432.37, Y:6.92, Z:3.94 [[ 9.99433001e-01 -2.94255941e-02 -1.63649125e-02 4.32374285e+02] [ 2.94262871e-02 9.99566933e-01 -1.98500764e-04 6.92215385e+00] [ 1.63636664e-02 -2.83170398e-04 9.99866066e-01 3.94427580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.33925415399995 meters Centerline goodness [0,1] 0.9987787159672359 Centerline is valid? [True, True] Translation: X:432.40, Y:6.92, Z:3.94 [[ 9.99489534e-01 -2.72179269e-02 -1.67289217e-02 4.32404772e+02] [ 2.72183419e-02 9.99629492e-01 -2.02916071e-04 6.92484782e+00] [ 1.67282465e-02 -2.52521022e-04 9.99860041e-01 3.94452367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3692541539999 meters Centerline goodness [0,1] 0.9990077061121081 Centerline is valid? [True, True] Translation: X:432.43, Y:6.93, Z:3.94 [[ 9.99524893e-01 -2.51871826e-02 -1.77649768e-02 4.32434764e+02] [ 2.51873245e-02 9.99682726e-01 -2.15786749e-04 6.92805753e+00] [ 1.77647755e-02 -2.31768008e-04 9.99842167e-01 3.94468190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.39925415399995 meters Centerline goodness [0,1] 0.9988206802148046 Centerline is valid? [True, True] Translation: X:432.46, Y:6.93, Z:3.94 [[ 9.99518470e-01 -2.51575733e-02 -1.81638370e-02 4.32462967e+02] [ 2.51576963e-02 9.99683470e-01 -2.21767412e-04 6.92849821e+00] [ 1.81636667e-02 -2.35299671e-04 9.99834999e-01 3.94449446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4292541539999 meters Centerline goodness [0,1] 0.9989235964542 Centerline is valid? [True, True] Translation: X:432.49, Y:6.93, Z:3.94 [[ 9.99491942e-01 -2.59893288e-02 -1.84502549e-02 4.32490958e+02] [ 2.59895667e-02 9.99662188e-01 -2.26925685e-04 6.92840464e+00] [ 1.84499198e-02 -2.52703736e-04 9.99829754e-01 3.94438545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.45925415399995 meters Centerline goodness [0,1] 0.9987111496122885 Centerline is valid? [True, True] Translation: X:432.52, Y:6.93, Z:3.94 [[ 9.99441584e-01 -2.73329709e-02 -1.92205559e-02 4.32519445e+02] [ 2.73334139e-02 9.99626344e-01 -2.39706116e-04 6.92809024e+00] [ 1.92199259e-02 -2.85791148e-04 9.99815239e-01 3.94430667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4892541539999 meters Centerline goodness [0,1] 0.9990522524799393 Centerline is valid? [True, True] Translation: X:432.55, Y:6.93, Z:3.94 [[ 9.99331938e-01 -3.08302107e-02 -1.96259137e-02 4.32547620e+02] [ 3.08312826e-02 9.99524572e-01 -2.48027961e-04 6.92519672e+00] [ 1.96242297e-02 -3.57229829e-04 9.99807362e-01 3.94365618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.51925415399995 meters Centerline goodness [0,1] 0.9989474792127144 Centerline is valid? [True, True] Translation: X:432.58, Y:6.92, Z:3.94 [[ 9.99257920e-01 -3.31656758e-02 -1.95869157e-02 4.32576065e+02] [ 3.31671271e-02 9.99449788e-01 -2.50840542e-04 6.92333952e+00] [ 1.95844581e-02 -3.98987326e-04 9.99808126e-01 3.94386256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5492541539999 meters Centerline goodness [0,1] 0.9987151673441877 Centerline is valid? [True, True] Translation: X:432.61, Y:6.92, Z:3.94 [[ 9.99166497e-01 -3.57120897e-02 -1.97726680e-02 4.32605716e+02] [ 3.57140144e-02 9.99362018e-01 -2.55879097e-04 6.92113140e+00] [ 1.97691914e-02 -4.50495528e-04 9.99804469e-01 3.94423281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57925415399995 meters Centerline goodness [0,1] 0.9988664035603325 Centerline is valid? [True, True] Translation: X:432.64, Y:6.92, Z:3.94 [[ 9.98979249e-01 -4.09672483e-02 -1.90300940e-02 4.32635678e+02] [ 4.09699745e-02 9.99160348e-01 -2.46748435e-04 6.91602856e+00] [ 1.90242239e-02 -5.33165898e-04 9.99818881e-01 3.94485553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6092541539999 meters Centerline goodness [0,1] 0.9990329430067063 Centerline is valid? [True, True] Translation: X:432.67, Y:6.91, Z:3.95 [[ 9.98858212e-01 -4.37476544e-02 -1.91941459e-02 4.32665996e+02] [ 4.37509408e-02 9.99042438e-01 -2.48870281e-04 6.91283840e+00] [ 1.91866538e-02 -5.91175817e-04 9.99815744e-01 3.94517965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63925415399996 meters Centerline goodness [0,1] 0.9989683124539426 Centerline is valid? [True, True] Translation: X:432.70, Y:6.91, Z:3.95 [[ 9.98733463e-01 -4.65538679e-02 -1.90842272e-02 4.32696819e+02] [ 4.65576315e-02 9.98915575e-01 -2.47285127e-04 6.91029626e+00] [ 1.90750439e-02 -6.41544485e-04 9.99817849e-01 3.94572900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.66925415399993 meters Centerline goodness [0,1] 0.9989266773297416 Centerline is valid? [True, True] Translation: X:432.73, Y:6.91, Z:3.95 [[ 9.98607351e-01 -4.92920033e-02 -1.88057851e-02 4.32727358e+02] [ 4.92961456e-02 9.98784176e-01 -2.43517087e-04 6.90734842e+00] [ 1.87949240e-02 -6.83874766e-04 9.99823126e-01 3.94621311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69925415399996 meters Centerline goodness [0,1] 0.9988229359340844 Centerline is valid? [True, True] Translation: X:432.76, Y:6.90, Z:3.95 [[ 9.98332209e-01 -5.43121401e-02 -1.95701926e-02 4.32757836e+02] [ 5.43175952e-02 9.98523678e-01 -2.53093017e-04 6.90156341e+00] [ 1.95550468e-02 -8.10334892e-04 9.99808453e-01 3.94632985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.72925415399993 meters Centerline goodness [0,1] 0.9987390189567483 Centerline is valid? [True, True] Translation: X:432.79, Y:6.90, Z:3.95 [[ 9.98202763e-01 -5.66048260e-02 -1.96758142e-02 4.32788859e+02] [ 5.66107908e-02 9.98396291e-01 -2.54143413e-04 6.89856960e+00] [ 1.96586457e-02 -8.60176746e-04 9.99806380e-01 3.94642813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75925415399996 meters Centerline goodness [0,1] 0.9988643294285895 Centerline is valid? [True, True] Translation: X:432.82, Y:6.90, Z:3.95 [[ 9.98096734e-01 -5.84759226e-02 -1.95825666e-02 4.32818837e+02] [ 5.84822087e-02 9.98288419e-01 -2.52001862e-04 6.89505582e+00] [ 1.95637855e-02 -8.93709513e-04 9.99808211e-01 3.94659610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.78925415399993 meters Centerline goodness [0,1] 0.9988040285354595 Centerline is valid? [True, True] Translation: X:432.85, Y:6.89, Z:3.95 [[ 9.97993460e-01 -6.02826842e-02 -1.93662318e-02 4.32850582e+02] [ 6.02891916e-02 9.98180921e-01 -2.48182297e-04 6.89215201e+00] [ 1.93459642e-02 -9.19890148e-04 9.99812426e-01 3.94663738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81925415399996 meters Centerline goodness [0,1] 0.9987403955158081 Centerline is valid? [True, True] Translation: X:432.88, Y:6.89, Z:3.95 [[ 9.97856438e-01 -6.25309849e-02 -1.92978139e-02 4.32881148e+02] [ 6.25378746e-02 9.98042561e-01 -2.46840477e-04 6.88829702e+00] [ 1.92754748e-02 -9.60532905e-04 9.99813749e-01 3.94696150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.84925415399994 meters Centerline goodness [0,1] 0.9985987660775907 Centerline is valid? [True, True] Translation: X:432.91, Y:6.89, Z:3.95 [[ 9.97828359e-01 -6.29880748e-02 -1.92631602e-02 4.32912199e+02] [ 6.29950369e-02 9.98013810e-01 -2.45769080e-04 6.88677845e+00] [ 1.92403804e-02 -9.68248129e-04 9.99814418e-01 3.94700229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87925415399997 meters Centerline goodness [0,1] 0.9990966766102265 Centerline is valid? [True, True] Translation: X:432.94, Y:6.89, Z:3.95 [[ 9.97848828e-01 -6.25597157e-02 -1.95958996e-02 4.32944330e+02] [ 6.25668601e-02 9.98040744e-01 -2.48889414e-04 6.88877983e+00] [ 1.95730767e-02 -9.77699898e-04 9.99807951e-01 3.94718343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.90925415399994 meters Centerline goodness [0,1] 0.998654359664431 Centerline is valid? [True, True] Translation: X:432.98, Y:6.89, Z:3.95 [[ 9.97904882e-01 -6.16861030e-02 -1.95107923e-02 4.32975875e+02] [ 6.16930371e-02 9.98095140e-01 -2.46873879e-04 6.88910797e+00] [ 1.94888557e-02 -9.57323384e-04 9.99809616e-01 3.94699268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93925415399997 meters Centerline goodness [0,1] 0.9988466216499602 Centerline is valid? [True, True] Translation: X:433.01, Y:6.89, Z:3.95 [[ 9.98007585e-01 -6.00525224e-02 -1.93533943e-02 4.33006245e+02] [ 6.00590474e-02 9.98194796e-01 -2.44422398e-04 6.88990591e+00] [ 1.93331356e-02 -9.18411018e-04 9.99812676e-01 3.94703936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.96925415399994 meters Centerline goodness [0,1] 0.9989495136248083 Centerline is valid? [True, True] Translation: X:433.04, Y:6.89, Z:3.95 [[ 9.98120444e-01 -5.81366831e-02 -1.93831241e-02 4.33037807e+02] [ 5.81428770e-02 9.98308242e-01 -2.44321793e-04 6.89260656e+00] [ 1.93645366e-02 -8.83128026e-04 9.99812100e-01 3.94736702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99925415399997 meters Centerline goodness [0,1] 0.9988034008607116 Centerline is valid? [True, True] Translation: X:433.07, Y:6.89, Z:3.95 [[ 9.98237393e-01 -5.61010774e-02 -1.93591205e-02 4.33068548e+02] [ 5.61068861e-02 9.98424738e-01 -2.43392514e-04 6.89252052e+00] [ 1.93422794e-02 -8.43216457e-04 9.99812565e-01 3.94700815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.02925415399994 meters Centerline goodness [0,1] 0.9986735445836404 Centerline is valid? [True, True] Translation: X:433.10, Y:6.90, Z:3.95 [[ 9.98481077e-01 -5.15410608e-02 -1.94694250e-02 4.33098006e+02] [ 5.15460731e-02 9.98670588e-01 -2.44633563e-04 6.89708439e+00] [ 1.94561508e-02 -7.59310423e-04 9.99810423e-01 3.94683708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0592541539999 meters Centerline goodness [0,1] 0.9989066442388562 Centerline is valid? [True, True] Translation: X:433.13, Y:6.90, Z:3.95 [[ 9.98587855e-01 -4.93113056e-02 -1.97659029e-02 4.33129080e+02] [ 4.93160359e-02 9.98783193e-01 -2.48347053e-04 6.89974129e+00] [ 1.97540979e-02 -7.26779626e-04 9.99804605e-01 3.94666179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.08925415399995 meters Centerline goodness [0,1] 0.9988424707986951 Centerline is valid? [True, True] Translation: X:433.16, Y:6.90, Z:3.95 [[ 9.98674174e-01 -4.73778488e-02 -2.01304011e-02 4.33160010e+02] [ 4.73823649e-02 9.98876793e-01 -2.52827042e-04 6.90297836e+00] [ 2.01197689e-02 -7.01334172e-04 9.99797331e-01 3.94701641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1192541539999 meters Centerline goodness [0,1] 0.9989490499411467 Centerline is valid? [True, True] Translation: X:433.19, Y:6.91, Z:3.95 [[ 9.98754638e-01 -4.57094951e-02 -1.99953943e-02 4.33190487e+02] [ 4.57136160e-02 9.98954555e-01 -2.51172663e-04 6.90623918e+00] [ 1.99859712e-02 -6.63201917e-04 9.99800041e-01 3.94734823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.14925415399995 meters Centerline goodness [0,1] 0.9988619359733609 Centerline is valid? [True, True] Translation: X:433.22, Y:6.91, Z:3.95 [[ 9.98847247e-01 -4.33476980e-02 -2.06192457e-02 4.33219748e+02] [ 4.33515703e-02 9.99059845e-01 -2.59361592e-04 6.90636193e+00] [ 2.06111032e-02 -6.34814068e-04 9.99787367e-01 3.94548631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1792541539999 meters Centerline goodness [0,1] 0.9988414223120997 Centerline is valid? [True, True] Translation: X:433.25, Y:6.92, Z:3.95 [[ 9.98883689e-01 -4.22180229e-02 -2.11899584e-02 4.33249781e+02] [ 4.22218523e-02 9.99108224e-01 -2.66841808e-04 6.91757025e+00] [ 2.11823273e-02 -6.28135365e-04 9.99775432e-01 3.94823482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.20925415399995 meters Centerline goodness [0,1] 0.9987761905766674 Centerline is valid? [True, True] Translation: X:433.28, Y:6.91, Z:3.94 [[ 9.98958342e-01 -3.97673051e-02 -2.23783843e-02 4.33279064e+02] [ 3.97709516e-02 9.99208783e-01 -2.82265923e-04 6.91147453e+00] [ 2.23719031e-02 -6.08037741e-04 9.99749533e-01 3.94355227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2392541539999 meters Centerline goodness [0,1] 0.9988820452244347 Centerline is valid? [True, True] Translation: X:433.31, Y:6.92, Z:3.95 [[ 9.98996242e-01 -3.84478464e-02 -2.29841523e-02 4.33308260e+02] [ 3.84513250e-02 9.99260432e-01 -2.90739191e-04 6.92247736e+00] [ 2.29783322e-02 -5.93323751e-04 9.99735787e-01 3.94822572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.26925415399995 meters Centerline goodness [0,1] 0.9990537670584771 Centerline is valid? [True, True] Translation: X:433.34, Y:6.92, Z:3.95 [[ 9.99027218e-01 -3.77472562e-02 -2.27982919e-02 4.33337201e+02] [ 3.77504107e-02 9.99287157e-01 -2.92150371e-04 6.92409016e+00] [ 2.27930682e-02 -5.68778711e-04 9.99740042e-01 3.94865136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2992541539999 meters Centerline goodness [0,1] 0.9989019574719682 Centerline is valid? [True, True] Translation: X:433.37, Y:6.93, Z:3.95 [[ 9.99052802e-01 -3.71535300e-02 -2.26520059e-02 4.33366154e+02] [ 3.71563616e-02 9.99309420e-01 -2.96015341e-04 6.92514647e+00] [ 2.26473609e-02 -5.45931164e-04 9.99743367e-01 3.94885735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.32925415399995 meters Centerline goodness [0,1] 0.9990713773162805 Centerline is valid? [True, True] Translation: X:433.40, Y:6.93, Z:3.95 [[ 9.99076068e-01 -3.68786541e-02 -2.20675213e-02 4.33395328e+02] [ 3.68811526e-02 9.99319616e-01 -2.93894203e-04 6.92592556e+00] [ 2.20633454e-02 -5.20252957e-04 9.99756439e-01 3.94959806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3592541539999 meters Centerline goodness [0,1] 0.9990707693607316 Centerline is valid? [True, True] Translation: X:433.42, Y:6.93, Z:3.95 [[ 9.99117564e-01 -3.64164873e-02 -2.09268360e-02 4.33424326e+02] [ 3.64185244e-02 9.99336585e-01 -2.83878470e-04 6.92662141e+00] [ 2.09232907e-02 -4.78496523e-04 9.99780969e-01 3.95096334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.38925415399996 meters Centerline goodness [0,1] 0.9987550641458474 Centerline is valid? [True, True] Translation: X:433.45, Y:6.92, Z:3.95 [[ 9.99148318e-01 -3.60304590e-02 -2.01108258e-02 4.33453007e+02] [ 3.60322045e-02 9.99350591e-01 -2.75673608e-04 6.91739903e+00] [ 2.01076983e-02 -4.49198567e-04 9.99797719e-01 3.94725338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41925415399993 meters Centerline goodness [0,1] 0.9989442344644102 Centerline is valid? [True, True] Translation: X:433.48, Y:6.93, Z:3.95 [[ 9.99201033e-01 -3.50747855e-02 -1.91586659e-02 4.33482892e+02] [ 3.50761698e-02 9.99384607e-01 -2.63880019e-04 6.92930266e+00] [ 1.91561313e-02 -4.08343431e-04 9.99816421e-01 3.95326995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.44925415399996 meters Centerline goodness [0,1] 0.9986493046029167 Centerline is valid? [True, True] Translation: X:433.51, Y:6.93, Z:3.95 [[ 9.99303885e-01 -3.24254324e-02 -1.84482177e-02 4.33512039e+02] [ 3.24262483e-02 9.99474098e-01 -2.54976313e-04 6.93023512e+00] [ 1.84467834e-02 -3.43407667e-04 9.99829785e-01 3.95367532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47925415399993 meters Centerline goodness [0,1] 0.9987744321183307 Centerline is valid? [True, True] Translation: X:433.54, Y:6.93, Z:3.95 [[ 9.99354587e-01 -3.08190879e-02 -1.84551721e-02 4.33542124e+02] [ 3.08196146e-02 9.99524930e-01 -2.55940250e-04 6.93172488e+00] [ 1.84542925e-02 -3.13006230e-04 9.99829656e-01 3.95435203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.50925415399996 meters Centerline goodness [0,1] 0.9986290968912136 Centerline is valid? [True, True] Translation: X:433.57, Y:6.93, Z:3.95 [[ 9.99410742e-01 -2.92284691e-02 -1.79962800e-02 4.33571714e+02] [ 2.92286939e-02 9.99572719e-01 -2.50591059e-04 6.93383093e+00] [ 1.79959149e-02 -2.75564362e-04 9.99838022e-01 3.95486754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53925415399993 meters Centerline goodness [0,1] 0.9988812664907651 Centerline is valid? [True, True] Translation: X:433.60, Y:6.94, Z:3.96 [[ 9.99486730e-01 -2.67678162e-02 -1.76000167e-02 4.33601318e+02] [ 2.67676386e-02 9.99641652e-01 -2.45706935e-04 6.93572782e+00] [ 1.76002868e-02 -2.25530065e-04 9.99845078e-01 3.95613542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.56925415399996 meters Centerline goodness [0,1] 0.9987551166814365 Centerline is valid? [True, True] Translation: X:433.63, Y:6.93, Z:3.96 [[ 9.99516713e-01 -2.54804923e-02 -1.78068777e-02 4.33630362e+02] [ 2.54800898e-02 9.99675299e-01 -2.49522595e-04 6.93479213e+00] [ 1.78074537e-02 -2.04318837e-04 9.99841414e-01 3.95509131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59925415399994 meters Centerline goodness [0,1] 0.9987551166814365 Centerline is valid? [True, True] Translation: X:433.66, Y:6.94, Z:3.96 [[ 9.99510465e-01 -2.57244533e-02 -1.78068394e-02 4.33658612e+02] [ 2.57240412e-02 9.99669050e-01 -2.52229388e-04 6.93524284e+00] [ 1.78074347e-02 -2.05957958e-04 9.99841414e-01 3.95535617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62925415399997 meters Centerline goodness [0,1] 0.998923641889325 Centerline is valid? [True, True] Translation: X:433.69, Y:6.94, Z:3.96 [[ 9.99505654e-01 -2.60043245e-02 -1.76698011e-02 4.33687590e+02] [ 2.60038848e-02 9.99661809e-01 -2.54684569e-04 6.93614668e+00] [ 1.76704483e-02 -2.04924806e-04 9.99843844e-01 3.95701937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65925415399994 meters Centerline goodness [0,1] 0.9989028841487858 Centerline is valid? [True, True] Translation: X:433.72, Y:6.94, Z:3.96 [[ 9.99486506e-01 -2.64733861e-02 -1.80522510e-02 4.33716546e+02] [ 2.64729191e-02 9.99649496e-01 -2.64881643e-04 6.93551021e+00] [ 1.80529359e-02 -2.13150151e-04 9.99837010e-01 3.95697064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.68925415399997 meters Centerline goodness [0,1] 0.9987978994875256 Centerline is valid? [True, True] Translation: X:433.74, Y:6.93, Z:3.96 [[ 9.99439530e-01 -2.79161459e-02 -1.84747060e-02 4.33744736e+02] [ 2.79158454e-02 9.99610239e-01 -2.74207783e-04 6.93259233e+00] [ 1.84751601e-02 -2.41682939e-04 9.99829290e-01 3.95657352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71925415399994 meters Centerline goodness [0,1] 0.99884149552396 Centerline is valid? [True, True] Translation: X:433.77, Y:6.93, Z:3.96 [[ 9.99401537e-01 -2.90571906e-02 -1.87682676e-02 4.33773715e+02] [ 2.90570243e-02 9.99577716e-01 -2.81615332e-04 6.93152227e+00] [ 1.87685250e-02 -2.63903213e-04 9.99823821e-01 3.95677587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.74925415399997 meters Centerline goodness [0,1] 0.9987555630549872 Centerline is valid? [True, True] Translation: X:433.80, Y:6.93, Z:3.96 [[ 9.99374682e-01 -2.99798993e-02 -1.87470061e-02 4.33802787e+02] [ 2.99798068e-02 9.99550464e-01 -2.86037329e-04 6.93106796e+00] [ 1.87471540e-02 -2.76173154e-04 9.99824219e-01 3.95726305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.77925415399994 meters Centerline goodness [0,1] 0.9989460370994941 Centerline is valid? [True, True] Translation: X:433.83, Y:6.93, Z:3.96 [[ 9.99353253e-01 -3.07365545e-02 -1.86638599e-02 4.33831725e+02] [ 3.07365063e-02 9.99527480e-01 -2.89503979e-04 6.92992014e+00] [ 1.86639392e-02 -2.84345103e-04 9.99825773e-01 3.95757710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8092541539999 meters Centerline goodness [0,1] 0.999032658297058 Centerline is valid? [True, True] Translation: X:433.86, Y:6.93, Z:3.96 [[ 9.99341867e-01 -3.10793009e-02 -1.87058554e-02 4.33860208e+02] [ 3.10792241e-02 9.99516881e-01 -2.94882840e-04 6.92815651e+00] [ 1.87059830e-02 -2.86674703e-04 9.99824987e-01 3.95766825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.83925415399995 meters Centerline goodness [0,1] 0.9988225399495374 Centerline is valid? [True, True] Translation: X:433.89, Y:6.93, Z:3.96 [[ 9.99335485e-01 -3.11622206e-02 -1.89078130e-02 4.33888672e+02] [ 3.11620664e-02 9.99514299e-01 -3.02858034e-04 6.92798351e+00] [ 1.89080672e-02 -2.86549744e-04 9.99821185e-01 3.95791860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8692541539999 meters Centerline goodness [0,1] 0.9989275124597817 Centerline is valid? [True, True] Translation: X:433.92, Y:6.93, Z:3.96 [[ 9.99343195e-01 -3.07060093e-02 -1.92436850e-02 4.33917079e+02] [ 3.07056708e-02 9.99528421e-01 -3.13135517e-04 6.92705108e+00] [ 1.92442252e-02 -2.77960408e-04 9.99814774e-01 3.95680817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.89925415399995 meters Centerline goodness [0,1] 0.9988012366190666 Centerline is valid? [True, True] Translation: X:433.95, Y:6.92, Z:3.96 [[ 9.99333084e-01 -3.14809363e-02 -1.85023799e-02 4.33945381e+02] [ 3.14806989e-02 9.99504314e-01 -3.04160184e-04 6.92467510e+00] [ 1.85027838e-02 -2.78510516e-04 9.99828770e-01 3.95783697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9292541539999 meters Centerline goodness [0,1] 0.9987169239830045 Centerline is valid? [True, True] Translation: X:433.97, Y:6.93, Z:3.96 [[ 9.99293685e-01 -3.27973814e-02 -1.83429251e-02 4.33974435e+02] [ 3.27973121e-02 9.99461977e-01 -3.04686064e-04 6.92505922e+00] [ 1.83430491e-02 -2.97127781e-04 9.99831708e-01 3.95960258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.95925415399995 meters Centerline goodness [0,1] 0.9986350559627055 Centerline is valid? [True, True] Translation: X:434.00, Y:6.92, Z:3.96 [[ 9.99262420e-01 -3.38351141e-02 -1.81604462e-02 4.34002672e+02] [ 3.38351627e-02 9.99427381e-01 -3.04669058e-04 6.92288931e+00] [ 1.81603557e-02 -3.10017312e-04 9.99835039e-01 3.95926649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9892541539999 meters Centerline goodness [0,1] 0.9988471776813599 Centerline is valid? [True, True] Translation: X:434.03, Y:6.92, Z:3.96 [[ 9.99145130e-01 -3.68593104e-02 -1.87189614e-02 4.34031954e+02] [ 3.68598703e-02 9.99320394e-01 -3.15228557e-04 6.92011034e+00] [ 1.87178590e-02 -3.75019411e-04 9.99824735e-01 3.95976475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.01925415399995 meters Centerline goodness [0,1] 0.9989916178231549 Centerline is valid? [True, True] Translation: X:434.06, Y:6.92, Z:3.96 [[ 9.99060572e-01 -3.88723034e-02 -1.91550855e-02 4.34061530e+02] [ 3.88732427e-02 9.99244098e-01 -3.23448258e-04 6.91826735e+00] [ 1.91531793e-02 -4.21475887e-04 9.99816472e-01 3.95980869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0492541539999 meters Centerline goodness [0,1] 0.9987828167299742 Centerline is valid? [True, True] Translation: X:434.09, Y:6.92, Z:3.96 [[ 9.98965792e-01 -4.09709451e-02 -1.97161781e-02 4.34090909e+02] [ 4.09723345e-02 9.99160226e-01 -3.33642900e-04 6.91623247e+00] [ 1.97132906e-02 -4.74519999e-04 9.99805562e-01 3.95964854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07925415399995 meters Centerline goodness [0,1] 0.9989522212908634 Centerline is valid? [True, True] Translation: X:434.12, Y:6.91, Z:3.96 [[ 9.98892636e-01 -4.25572819e-02 -2.00593955e-02 4.34121448e+02] [ 4.25590328e-02 9.99093896e-01 -3.39792995e-04 6.91498156e+00] [ 2.00556803e-02 -5.14291753e-04 9.99798732e-01 3.96017172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1092541539999 meters Centerline goodness [0,1] 0.9988087525340132 Centerline is valid? [True, True] Translation: X:434.15, Y:6.91, Z:3.96 [[ 9.98763270e-01 -4.54962690e-02 -2.00504612e-02 4.34150469e+02] [ 4.54986024e-02 9.98964344e-01 -3.40026670e-04 6.91037914e+00] [ 2.00451658e-02 -5.72661814e-04 9.99798911e-01 3.96056886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13925415399996 meters Centerline goodness [0,1] 0.9988899361189654 Centerline is valid? [True, True] Translation: X:434.18, Y:6.91, Z:3.96 [[ 9.98699743e-01 -4.67178013e-02 -2.04026998e-02 4.34181423e+02] [ 4.67204651e-02 9.98907943e-01 -3.46343542e-04 6.90935653e+00] [ 2.03965993e-02 -6.07330416e-04 9.99791783e-01 3.96124171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.16925415399993 meters Centerline goodness [0,1] 0.9987413731618804 Centerline is valid? [True, True] Translation: X:434.21, Y:6.91, Z:3.96 [[ 9.98647558e-01 -4.78436997e-02 -2.03478497e-02 4.34211810e+02] [ 4.78465826e-02 9.98854637e-01 -3.45412442e-04 6.90889891e+00] [ 2.03410698e-02 -6.28629781e-04 9.99792901e-01 3.96198604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19925415399996 meters Centerline goodness [0,1] 0.9986157427798402 Centerline is valid? [True, True] Translation: X:434.24, Y:6.91, Z:3.96 [[ 9.98625497e-01 -4.85170209e-02 -1.98296385e-02 4.34242579e+02] [ 4.85198913e-02 9.98822160e-01 -3.36615611e-04 6.90817533e+00] [ 1.98226140e-02 -6.25978975e-04 9.99803317e-01 3.96261074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.22925415399993 meters Centerline goodness [0,1] 0.998828280292093 Centerline is valid? [True, True] Translation: X:434.27, Y:6.91, Z:3.96 [[ 9.98524911e-01 -5.03240447e-02 -2.03836578e-02 4.34272919e+02] [ 5.03274539e-02 9.98732711e-01 -3.46020298e-04 6.90801103e+00] [ 2.03752390e-02 -6.80347711e-04 9.99792172e-01 3.96402727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25925415399996 meters Centerline goodness [0,1] 0.9988277897557197 Centerline is valid? [True, True] Translation: X:434.30, Y:6.91, Z:3.96 [[ 9.98470885e-01 -5.12865898e-02 -2.06295202e-02 4.34303140e+02] [ 5.12902870e-02 9.98683726e-01 -3.50193905e-04 6.90758220e+00] [ 2.06203264e-02 -7.08435594e-04 9.99787127e-01 3.96423171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.28925415399993 meters Centerline goodness [0,1] 0.9988694177501414 Centerline is valid? [True, True] Translation: X:434.33, Y:6.91, Z:3.96 [[ 9.98418501e-01 -5.23339807e-02 -2.05341673e-02 4.34333685e+02] [ 5.23378649e-02 9.98629374e-01 -3.48575254e-04 6.90749597e+00] [ 2.05242650e-02 -7.26690494e-04 9.99789091e-01 3.96482191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31925415399996 meters Centerline goodness [0,1] 0.9986996098829649 Centerline is valid? [True, True] Translation: X:434.36, Y:6.90, Z:3.96 [[ 9.98278698e-01 -5.48576478e-02 -2.07431673e-02 4.34363800e+02] [ 5.48621598e-02 9.98493876e-01 -3.51916270e-04 6.90420103e+00] [ 2.07312308e-02 -7.86704444e-04 9.99784775e-01 3.96473021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.34925415399994 meters Centerline goodness [0,1] 0.9987425601475396 Centerline is valid? [True, True] Translation: X:434.39, Y:6.90, Z:3.97 [[ 9.98214945e-01 -5.61051161e-02 -2.04729161e-02 4.34394317e+02] [ 5.61097766e-02 9.98424545e-01 -3.47163303e-04 6.90452634e+00] [ 2.04601396e-02 -8.02187152e-04 9.99790348e-01 3.96541242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37925415399997 meters Centerline goodness [0,1] 0.9987824845711407 Centerline is valid? [True, True] Translation: X:434.43, Y:6.90, Z:3.97 [[ 9.98138147e-01 -5.74778759e-02 -2.04091390e-02 4.34425442e+02] [ 5.74828022e-02 9.98346437e-01 -3.45672404e-04 6.90372645e+00] [ 2.03952597e-02 -8.28145689e-04 9.99791652e-01 3.96538258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.40925415399994 meters Centerline goodness [0,1] 0.99863937034246 Centerline is valid? [True, True] Translation: X:434.46, Y:6.90, Z:3.97 [[ 9.98047592e-01 -5.89236893e-02 -2.07123891e-02 4.34456848e+02] [ 5.89290899e-02 9.98262110e-01 -3.50039096e-04 6.90211351e+00] [ 2.06970188e-02 -8.71206562e-04 9.99785414e-01 3.96531488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43925415399997 meters Centerline goodness [0,1] 0.9988895407308079 Centerline is valid? [True, True] Translation: X:434.49, Y:6.90, Z:3.96 [[ 9.97791099e-01 -6.27470890e-02 -2.18111393e-02 4.34487746e+02] [ 6.27540023e-02 9.98028957e-01 -3.68017223e-04 6.89903222e+00] [ 2.17912406e-02 -1.00153198e-03 9.99762041e-01 3.96482251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.46925415399994 meters Centerline goodness [0,1] 0.9988262418780129 Centerline is valid? [True, True] Translation: X:434.52, Y:6.90, Z:3.96 [[ 9.97642672e-01 -6.48035289e-02 -2.25743702e-02 4.34519310e+02] [ 6.48114748e-02 9.97897454e-01 -3.80234773e-04 6.89778141e+00] [ 2.25515471e-02 -1.08373979e-03 9.99745094e-01 3.96460345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49925415399997 meters Centerline goodness [0,1] 0.9989944274521305 Centerline is valid? [True, True] Translation: X:434.55, Y:6.89, Z:3.96 [[ 9.97473824e-01 -6.70849004e-02 -2.33578158e-02 4.34549354e+02] [ 6.70940398e-02 9.97746579e-01 -3.93076763e-04 6.89262987e+00] [ 2.33315503e-02 -1.17508644e-03 9.99727092e-01 3.96360965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.52925415399994 meters Centerline goodness [0,1] 0.998554822494502 Centerline is valid? [True, True] Translation: X:434.58, Y:6.90, Z:3.96 [[ 9.97294235e-01 -6.88262162e-02 -2.58294385e-02 4.34579949e+02] [ 6.88379837e-02 9.97627758e-01 -4.34365327e-04 6.89717016e+00] [ 2.57980606e-02 -1.34485643e-03 9.99666270e-01 3.96464951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5592541539999 meters Centerline goodness [0,1] 0.9985984143254607 Centerline is valid? [True, True] Translation: X:434.61, Y:6.89, Z:3.96 [[ 9.96984418e-01 -7.37598916e-02 -2.41153182e-02 4.34609010e+02] [ 7.37715870e-02 9.97275082e-01 -4.05517207e-04 6.89198408e+00] [ 2.40795169e-02 -1.37473096e-03 9.99709101e-01 3.96446934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.58925415399995 meters Centerline goodness [0,1] 0.99871897181738 Centerline is valid? [True, True] Translation: X:434.64, Y:6.89, Z:3.97 [[ 9.96842188e-01 -7.56910040e-02 -2.40109322e-02 4.34640097e+02] [ 7.57031673e-02 9.97130316e-01 -4.03311874e-04 6.89448904e+00] [ 2.39725555e-02 -1.41566532e-03 9.99711615e-01 3.96579579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6192541539999 meters Centerline goodness [0,1] 0.9987217367615935 Centerline is valid? [True, True] Translation: X:434.67, Y:6.89, Z:3.97 [[ 9.96670631e-01 -7.85263808e-02 -2.19376758e-02 4.34670379e+02] [ 7.85372294e-02 9.96911114e-01 -3.67943437e-04 6.89273339e+00] [ 2.18988061e-02 -1.35620586e-03 9.99759273e-01 3.96715439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.64925415399995 meters Centerline goodness [0,1] 0.9986019239196211 Centerline is valid? [True, True] Translation: X:434.70, Y:6.89, Z:3.97 [[ 9.96633474e-01 -7.92397481e-02 -2.10423654e-02 4.34701575e+02] [ 7.92499040e-02 9.96854718e-01 -3.52130735e-04 6.89061849e+00] [ 2.10040840e-02 -1.31666016e-03 9.99778523e-01 3.96744014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6792541539999 meters Centerline goodness [0,1] 0.9984094095979573 Centerline is valid? [True, True] Translation: X:434.73, Y:6.89, Z:3.97 [[ 9.96595569e-01 -7.95896467e-02 -2.15118679e-02 4.34733199e+02] [ 7.96003825e-02 9.96826791e-01 -3.58110686e-04 6.89262796e+00] [ 2.14721081e-02 -1.35546139e-03 9.99768529e-01 3.96797054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.70925415399995 meters Centerline goodness [0,1] 0.9984091765395403 Centerline is valid? [True, True] Translation: X:434.77, Y:6.90, Z:3.97 [[ 9.96596008e-01 -7.98773810e-02 -2.03960916e-02 4.34765499e+02] [ 7.98871282e-02 9.96803859e-01 -3.37734775e-04 6.89844836e+00] [ 2.03578802e-02 -1.29280006e-03 9.99791921e-01 3.96955793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7392541539999 meters Centerline goodness [0,1] 0.9983898287363292 Centerline is valid? [True, True] Translation: X:434.80, Y:6.90, Z:3.97 [[ 9.96616547e-01 -7.95582577e-02 -2.06383671e-02 4.34796676e+02] [ 7.95681968e-02 9.96829367e-01 -3.40437196e-04 6.89935662e+00] [ 2.06000150e-02 -1.30287231e-03 9.99786948e-01 3.96903271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.76925415399995 meters Centerline goodness [0,1] 0.9984283319362951 Centerline is valid? [True, True] Translation: X:434.83, Y:6.91, Z:3.97 [[ 9.96639399e-01 -7.91381058e-02 -2.11439974e-02 4.34828675e+02] [ 7.91484737e-02 9.96862778e-01 -3.47368011e-04 6.90942472e+00] [ 2.11051540e-02 -1.32731448e-03 9.99776380e-01 3.97037689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7992541539999 meters Centerline goodness [0,1] 0.9983648827117791 Centerline is valid? [True, True] Translation: X:434.86, Y:6.91, Z:3.97 [[ 9.96662994e-01 -7.87128589e-02 -2.16139282e-02 4.34860244e+02] [ 7.87236238e-02 9.96896417e-01 -3.53681056e-04 6.90978218e+00] [ 2.15746868e-02 -1.34902593e-03 9.99766329e-01 3.97007663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.82925415399995 meters Centerline goodness [0,1] 0.9986631853785901 Centerline is valid? [True, True] Translation: X:434.89, Y:6.91, Z:3.97 [[ 9.96671109e-01 -7.85784678e-02 -2.17284468e-02 4.34891012e+02] [ 7.85893415e-02 9.96907012e-01 -3.54347825e-04 6.90830644e+00] [ 2.16890851e-02 -1.35445609e-03 9.99763847e-01 3.96951683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8592541539999 meters Centerline goodness [0,1] 0.9983919472057472 Centerline is valid? [True, True] Translation: X:434.92, Y:6.92, Z:3.97 [[ 9.96572419e-01 -7.95551733e-02 -2.26801390e-02 4.34923292e+02] [ 7.95673071e-02 9.96829428e-01 -3.68344042e-04 6.91562762e+00] [ 2.26375337e-02 -1.43751607e-03 9.99742705e-01 3.96941450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.88925415399996 meters Centerline goodness [0,1] 0.9984766912900129 Centerline is valid? [True, True] Translation: X:434.95, Y:6.91, Z:3.97 [[ 9.96481851e-01 -8.05330481e-02 -2.32023265e-02 4.34954707e+02] [ 8.05460590e-02 9.96750817e-01 -3.74771716e-04 6.90981368e+00] [ 2.31571194e-02 -1.49540274e-03 9.99730720e-01 3.96774101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91925415399993 meters Centerline goodness [0,1] 0.9986991460523279 Centerline is valid? [True, True] Translation: X:434.99, Y:6.92, Z:3.97 [[ 9.96353672e-01 -8.19207616e-02 -2.38400809e-02 4.34986744e+02] [ 8.19349413e-02 9.96637606e-01 -3.83058960e-04 6.91850289e+00] [ 2.37913017e-02 -1.57167343e-03 9.99715711e-01 3.96953197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.94925415399996 meters Centerline goodness [0,1] 0.9982764419034807 Centerline is valid? [True, True] Translation: X:435.02, Y:6.92, Z:3.97 [[ 9.96078932e-01 -8.50556690e-02 -2.43370907e-02 4.35017230e+02] [ 8.50714015e-02 9.96374781e-01 -3.90055192e-04 6.91943772e+00] [ 2.42820398e-02 -1.68186465e-03 9.99703733e-01 3.96909754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97925415399993 meters Centerline goodness [0,1] 0.998361172392058 Centerline is valid? [True, True] Translation: X:435.05, Y:6.92, Z:3.97 [[ 9.95949192e-01 -8.65329481e-02 -2.44388013e-02 4.35049180e+02] [ 8.65492865e-02 9.96247494e-01 -3.90390886e-04 6.92152947e+00] [ 2.43808762e-02 -1.72635133e-03 9.99701252e-01 3.96916868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.00925415399996 meters Centerline goodness [0,1] 0.9984649353380296 Centerline is valid? [True, True] Translation: X:435.08, Y:6.92, Z:3.97 [[ 9.95853123e-01 -8.75597670e-02 -2.46950500e-02 4.35080597e+02] [ 8.75768023e-02 9.96157693e-01 -3.92930691e-04 6.92140149e+00] [ 2.46345689e-02 -1.77141225e-03 9.99694954e-01 3.96884805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03925415399993 meters Centerline goodness [0,1] 0.9984053713806127 Centerline is valid? [True, True] Translation: X:435.11, Y:6.92, Z:3.97 [[ 9.95837116e-01 -8.78218786e-02 -2.44081051e-02 4.35112993e+02] [ 8.78386379e-02 9.96134642e-01 -3.86744742e-04 6.92338119e+00] [ 2.43477237e-02 -1.75883994e-03 9.99702003e-01 3.96891534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.06925415399996 meters Centerline goodness [0,1] 0.9984282990003982 Centerline is valid? [True, True] Translation: X:435.14, Y:6.93, Z:3.97 [[ 9.95916147e-01 -8.69604893e-02 -2.42673108e-02 4.35144781e+02] [ 8.69768444e-02 9.96210260e-01 -3.82736998e-04 6.92690511e+00] [ 2.42086270e-02 -1.72952016e-03 9.99705432e-01 3.96942440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09925415399994 meters Centerline goodness [0,1] 0.9982563391525389 Centerline is valid? [True, True] Translation: X:435.18, Y:6.93, Z:3.97 [[ 9.96031150e-01 -8.57874091e-02 -2.37164427e-02 4.35176077e+02] [ 8.58027273e-02 9.96312076e-01 -3.72845529e-04 6.93123737e+00] [ 2.36609638e-02 -1.66356971e-03 9.99718656e-01 3.97056749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12925415399997 meters Centerline goodness [0,1] 0.9982342925609063 Centerline is valid? [True, True] Translation: X:435.21, Y:6.93, Z:3.97 [[ 9.96174001e-01 -8.43063423e-02 -2.30173836e-02 4.35206172e+02] [ 8.43203905e-02 9.96438629e-01 -3.61265058e-04 6.93379937e+00] [ 2.29658671e-02 -1.58095191e-03 9.99735000e-01 3.97161853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15925415399994 meters Centerline goodness [0,1] 0.9984070425487319 Centerline is valid? [True, True] Translation: X:435.24, Y:6.94, Z:3.97 [[ 9.96358691e-01 -8.24122789e-02 -2.18534977e-02 4.35237506e+02] [ 8.24245018e-02 9.96597253e-01 -3.42372934e-04 6.93760860e+00] [ 2.18073515e-02 -1.46013741e-03 9.99761125e-01 3.97282160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.18925415399997 meters Centerline goodness [0,1] 0.9984450514814036 Centerline is valid? [True, True] Translation: X:435.27, Y:6.94, Z:3.97 [[ 9.96710979e-01 -7.82145908e-02 -2.12061922e-02 4.35267875e+02] [ 7.82251616e-02 9.96935662e-01 -3.31860145e-04 6.94381453e+00] [ 2.11671656e-02 -1.32808916e-03 9.99775068e-01 3.97442432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21925415399994 meters Centerline goodness [0,1] 0.9985086540077298 Centerline is valid? [True, True] Translation: X:435.30, Y:6.94, Z:3.97 [[ 9.96907876e-01 -7.57231566e-02 -2.09926168e-02 4.35298703e+02] [ 7.57329745e-02 9.97128081e-01 -3.28068097e-04 6.94364718e+00] [ 2.09571701e-02 -1.26277964e-03 9.99779577e-01 3.97415694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.24925415399997 meters Centerline goodness [0,1] 0.998506489408696 Centerline is valid? [True, True] Translation: X:435.33, Y:6.95, Z:3.97 [[ 9.97088762e-01 -7.32733174e-02 -2.10955300e-02 4.35329721e+02] [ 7.32827014e-02 9.97311154e-01 -3.28913468e-04 6.94963490e+00] [ 2.10629080e-02 -1.21798150e-03 9.99777410e-01 3.97466005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.27925415399994 meters Centerline goodness [0,1] 0.9987552217393139 Centerline is valid? [True, True] Translation: X:435.36, Y:6.95, Z:3.97 [[ 9.97273342e-01 -7.05038004e-02 -2.17967060e-02 4.35360552e+02] [ 7.05131768e-02 9.97510790e-01 -3.39053542e-04 6.95179477e+00] [ 2.17663540e-02 -1.19882592e-03 9.99762366e-01 3.97432855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3092541539999 meters Centerline goodness [0,1] 0.9984353856562923 Centerline is valid? [True, True] Translation: X:435.39, Y:6.96, Z:3.97 [[ 9.97619433e-01 -6.48193037e-02 -2.35356269e-02 4.35390751e+02] [ 6.48286680e-02 9.97896342e-01 -3.65705562e-04 6.96049081e+00] [ 2.35098207e-02 -1.16094836e-03 9.99722932e-01 3.97329506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.33925415399995 meters Centerline goodness [0,1] 0.9989211600702304 Centerline is valid? [True, True] Translation: X:435.42, Y:6.96, Z:3.97 [[ 9.97792788e-01 -6.16586347e-02 -2.46529104e-02 4.35421593e+02] [ 6.16679610e-02 9.98096647e-01 -3.82502435e-04 6.96404682e+00] [ 2.46295718e-02 -1.13863655e-03 9.99695998e-01 3.97247250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3692541539999 meters Centerline goodness [0,1] 0.9987703006402917 Centerline is valid? [True, True] Translation: X:435.45, Y:6.97, Z:3.97 [[ 9.97965491e-01 -5.83988145e-02 -2.55823798e-02 4.35453579e+02] [ 5.84078194e-02 9.98292728e-01 -3.95727752e-04 6.96777442e+00] [ 2.55618138e-02 -1.09928838e-03 9.99672639e-01 3.97184348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.39925415399995 meters Centerline goodness [0,1] 0.9986880250544893 Centerline is valid? [True, True] Translation: X:435.48, Y:6.97, Z:3.97 [[ 9.98138346e-01 -5.49619875e-02 -2.64390151e-02 4.35483953e+02] [ 5.49704238e-02 9.98487900e-01 -4.08169619e-04 6.97094091e+00] [ 2.64214705e-02 -1.04595412e-03 9.99650345e-01 3.97125405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4292541539999 meters Centerline goodness [0,1] 0.9987043605700814 Centerline is valid? [True, True] Translation: X:435.51, Y:6.98, Z:3.97 [[ 9.98325379e-01 -5.13872735e-02 -2.65666479e-02 4.35514277e+02] [ 5.13945319e-02 9.98678344e-01 -4.09974720e-04 6.97528328e+00] [ 2.65526034e-02 -9.56092264e-04 9.99646960e-01 3.97155341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.45925415399995 meters Centerline goodness [0,1] 0.9987641957684359 Centerline is valid? [True, True] Translation: X:435.54, Y:6.99, Z:3.97 [[ 9.98699585e-01 -4.38947843e-02 -2.59304211e-02 4.35544687e+02] [ 4.38991755e-02 9.99035886e-01 -4.00162493e-04 6.98706350e+00] [ 2.59229863e-02 -7.38681989e-04 9.99663670e-01 3.97468017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4892541539999 meters Centerline goodness [0,1] 0.9989130434782608 Centerline is valid? [True, True] Translation: X:435.57, Y:6.99, Z:3.98 [[ 9.98873744e-01 -4.00244561e-02 -2.54810809e-02 4.35574060e+02] [ 4.00274227e-02 9.99198504e-01 -3.93822745e-04 6.99109710e+00] [ 2.54764204e-02 -6.26562796e-04 9.99675227e-01 3.97598843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.51925415399995 meters Centerline goodness [0,1] 0.9989130434782608 Centerline is valid? [True, True] Translation: X:435.60, Y:6.99, Z:3.98 [[ 9.98872278e-01 -4.00610366e-02 -2.54810664e-02 4.35603221e+02] [ 4.00639914e-02 9.99197038e-01 -3.94756234e-04 6.99157798e+00] [ 2.54764205e-02 -6.26562167e-04 9.99675227e-01 3.97626175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5492541539999 meters Centerline goodness [0,1] 0.9988271170537181 Centerline is valid? [True, True] Translation: X:435.63, Y:6.99, Z:3.97 [[ 9.99039663e-01 -3.59578174e-02 -2.50357272e-02 4.35631607e+02] [ 3.59593520e-02 9.99353178e-01 -3.89047949e-04 6.99206311e+00] [ 2.50335229e-02 -5.11594196e-04 9.99686481e-01 3.97493422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57925415399995 meters Centerline goodness [0,1] 0.999061213168619 Centerline is valid? [True, True] Translation: X:435.66, Y:7.00, Z:3.98 [[ 9.99314264e-01 -2.85708467e-02 -2.35522330e-02 4.35661279e+02] [ 2.85701361e-02 9.99591723e-01 -3.66730675e-04 7.00225773e+00] [ 2.35530949e-02 -3.06411307e-04 9.99722540e-01 3.97932331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6092541539999 meters Centerline goodness [0,1] 0.9988895295449207 Centerline is valid? [True, True] Translation: X:435.69, Y:7.01, Z:3.98 [[ 9.99412011e-01 -2.53923122e-02 -2.30404499e-02 4.35689605e+02] [ 2.53907025e-02 9.99677538e-01 -3.62452912e-04 7.00549148e+00] [ 2.30422238e-02 -2.22773416e-04 9.99734468e-01 3.98051683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63925415399996 meters Centerline goodness [0,1] 0.9988896006833227 Centerline is valid? [True, True] Translation: X:435.72, Y:7.01, Z:3.98 [[ 9.99470187e-01 -2.29678511e-02 -2.30612994e-02 4.35717827e+02] [ 2.29654567e-02 9.99736191e-01 -3.68699175e-04 7.00610668e+00] [ 2.30636839e-02 -1.61109440e-04 9.99733985e-01 3.97777739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.66925415399993 meters Centerline goodness [0,1] 0.9991229196080949 Centerline is valid? [True, True] Translation: X:435.75, Y:7.01, Z:3.98 [[ 9.99526497e-01 -2.08493365e-02 -2.26293558e-02 4.35746404e+02] [ 2.08463584e-02 9.99782624e-01 -3.67521650e-04 7.00915241e+00] [ 2.26320993e-02 -1.04392034e-04 9.99743856e-01 3.98088676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69925415399996 meters Centerline goodness [0,1] 0.9990382560376149 Centerline is valid? [True, True] Translation: X:435.77, Y:7.01, Z:3.98 [[ 9.99587473e-01 -1.78964450e-02 -2.24633115e-02 4.35774572e+02] [ 1.78926851e-02 9.99839845e-01 -3.68373765e-04 7.01034723e+00] [ 2.24663065e-02 -3.37071595e-05 9.99747600e-01 3.97796294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.72925415399993 meters Centerline goodness [0,1] 0.999209621259052 Centerline is valid? [True, True] Translation: X:435.80, Y:7.01, Z:3.98 [[ 9.99575109e-01 -1.81057459e-02 -2.28425682e-02 4.35802914e+02] [ 1.81018051e-02 9.99836077e-01 -3.79299259e-04 7.01086591e+00] [ 2.28456912e-02 -3.43536188e-05 9.99739003e-01 3.98116695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75925415399996 meters Centerline goodness [0,1] 0.9990820987917859 Centerline is valid? [True, True] Translation: X:435.83, Y:7.01, Z:3.98 [[ 9.99559943e-01 -1.86435530e-02 -2.30724567e-02 4.35831104e+02] [ 1.86395235e-02 9.99826193e-01 -3.89708635e-04 7.01041730e+00] [ 2.30757121e-02 -4.05224576e-05 9.99733719e-01 3.98129651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.78925415399993 meters Centerline goodness [0,1] 0.999083351097847 Centerline is valid? [True, True] Translation: X:435.86, Y:7.01, Z:3.98 [[ 9.99526024e-01 -2.00183969e-02 -2.33878391e-02 4.35859252e+02] [ 2.00144756e-02 9.99799610e-01 -4.01753227e-04 7.00955005e+00] [ 2.33911949e-02 -6.65325301e-05 9.99726386e-01 3.98191686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81925415399996 meters Centerline goodness [0,1] 0.9991476304125468 Centerline is valid? [True, True] Translation: X:435.89, Y:7.01, Z:3.98 [[ 9.99409355e-01 -2.44487332e-02 -2.41495418e-02 4.35888341e+02] [ 2.44456861e-02 9.99701071e-01 -4.21431246e-04 7.00560007e+00] [ 2.41526263e-02 -1.69169791e-04 9.99708268e-01 3.98287447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.84925415399994 meters Centerline goodness [0,1] 0.9991909729614648 Centerline is valid? [True, True] Translation: X:435.92, Y:7.00, Z:3.98 [[ 9.99323383e-01 -2.73664917e-02 -2.45733925e-02 4.35916772e+02] [ 2.73640609e-02 9.99625439e-01 -4.35241190e-04 7.00311641e+00] [ 2.45760993e-02 -2.37481112e-04 9.99697934e-01 3.98309295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87925415399997 meters Centerline goodness [0,1] 0.9987868726854808 Centerline is valid? [True, True] Translation: X:435.94, Y:7.00, Z:3.98 [[ 9.99211643e-01 -3.07465482e-02 -2.51145661e-02 4.35944737e+02] [ 3.07449777e-02 9.99527161e-01 -4.48757965e-04 6.99995620e+00] [ 2.51164887e-02 -3.23742589e-04 9.99684479e-01 3.98289233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.90925415399994 meters Centerline goodness [0,1] 0.9987481434330575 Centerline is valid? [True, True] Translation: X:435.97, Y:7.00, Z:3.98 [[ 9.99108925e-01 -3.41678281e-02 -2.47773055e-02 4.35972195e+02] [ 3.41672882e-02 9.99416029e-01 -4.45262436e-04 6.99616592e+00] [ 2.47780499e-02 -4.01707663e-04 9.99692896e-01 3.98243901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93925415399997 meters Centerline goodness [0,1] 0.9990050172534243 Centerline is valid? [True, True] Translation: X:436.00, Y:6.99, Z:3.98 [[ 9.98870216e-01 -4.06993194e-02 -2.45327588e-02 4.36001990e+02] [ 4.07007202e-02 9.99171284e-01 -4.42430289e-04 6.98881318e+00] [ 2.45304347e-02 -5.56570514e-04 9.99698929e-01 3.98260319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.96925415399994 meters Centerline goodness [0,1] 0.9990467717336045 Centerline is valid? [True, True] Translation: X:436.03, Y:6.99, Z:3.98 [[ 9.98746645e-01 -4.37906157e-02 -2.42388153e-02 4.36031110e+02] [ 4.37928646e-02 9.99040536e-01 -4.38287065e-04 6.98649813e+00] [ 2.42347519e-02 -6.23749419e-04 9.99706101e-01 3.98348416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99925415399997 meters Centerline goodness [0,1] 0.9990480220012693 Centerline is valid? [True, True] Translation: X:436.06, Y:6.98, Z:3.98 [[ 9.98623371e-01 -4.67017575e-02 -2.38811367e-02 4.36061480e+02] [ 4.67047599e-02 9.98908644e-01 -4.32329707e-04 6.98348660e+00] [ 2.38752644e-02 -6.83628206e-04 9.99714712e-01 3.98417553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.02925415399994 meters Centerline goodness [0,1] 0.9988392461431315 Centerline is valid? [True, True] Translation: X:436.09, Y:6.98, Z:3.98 [[ 9.98496534e-01 -4.95608936e-02 -2.34177061e-02 4.36091894e+02] [ 4.95645719e-02 9.98770831e-01 -4.23683712e-04 6.98021527e+00] [ 2.34099199e-02 -7.37641860e-04 9.99725678e-01 3.98419010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0592541539999 meters Centerline goodness [0,1] 0.9987998484019034 Centerline is valid? [True, True] Translation: X:436.12, Y:6.97, Z:3.98 [[ 9.98232413e-01 -5.47988462e-02 -2.30029742e-02 4.36121811e+02] [ 5.48038058e-02 9.98497056e-01 -4.15218405e-04 6.97167957e+00] [ 2.29911555e-02 -8.46166058e-04 9.99735310e-01 3.98369693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.08925415399995 meters Centerline goodness [0,1] 0.9988163679404802 Centerline is valid? [True, True] Translation: X:436.15, Y:6.97, Z:3.98 [[ 9.98083028e-01 -5.75530879e-02 -2.27576434e-02 4.36153513e+02] [ 5.75586802e-02 9.98342041e-01 -4.09770397e-04 6.97038272e+00] [ 2.27434957e-02 -9.00915042e-04 9.99740927e-01 3.98445796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1192541539999 meters Centerline goodness [0,1] 0.9987979755377477 Centerline is valid? [True, True] Translation: X:436.18, Y:6.97, Z:3.98 [[ 9.97916878e-01 -6.04160001e-02 -2.26232722e-02 4.36184472e+02] [ 6.04222798e-02 9.98172822e-01 -4.06509354e-04 6.96855571e+00] [ 2.26064951e-02 -9.61287138e-04 9.99743978e-01 3.98457144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.14925415399995 meters Centerline goodness [0,1] 0.998605476673428 Centerline is valid? [True, True] Translation: X:436.22, Y:6.97, Z:3.98 [[ 9.97722108e-01 -6.35167774e-02 -2.27203346e-02 4.36215734e+02] [ 6.35239325e-02 9.97980232e-01 -4.07404788e-04 6.96637314e+00] [ 2.27003218e-02 -1.03680824e-03 9.99741777e-01 3.98448757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1792541539999 meters Centerline goodness [0,1] 0.9985047909866274 Centerline is valid? [True, True] Translation: X:436.25, Y:6.96, Z:3.98 [[ 9.97251852e-01 -7.05588853e-02 -2.25873437e-02 4.36245459e+02] [ 7.05677609e-02 9.97506906e-01 -4.04880212e-04 6.95861105e+00] [ 2.25595992e-02 -1.19017073e-03 9.99744791e-01 3.98370788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.20925415399995 meters Centerline goodness [0,1] 0.9985691440114468 Centerline is valid? [True, True] Translation: X:436.28, Y:6.96, Z:3.98 [[ 9.96998794e-01 -7.42524310e-02 -2.19084686e-02 4.36276654e+02] [ 7.42616716e-02 9.97238713e-01 -3.92619501e-04 6.95636847e+00] [ 2.18771260e-02 -1.23551833e-03 9.99759904e-01 3.98422349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2392541539999 meters Centerline goodness [0,1] 0.9985253223224066 Centerline is valid? [True, True] Translation: X:436.31, Y:6.95, Z:3.98 [[ 9.96741044e-01 -7.77773653e-02 -2.14002863e-02 4.36307098e+02] [ 7.77869996e-02 9.96969927e-01 -3.83126219e-04 6.94763535e+00] [ 2.13652404e-02 -1.28278643e-03 9.99770914e-01 3.98323244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.26925415399995 meters Centerline goodness [0,1] 0.9984415146792469 Centerline is valid? [True, True] Translation: X:436.34, Y:6.95, Z:3.98 [[ 9.96489412e-01 -8.09370544e-02 -2.14019765e-02 4.36338018e+02] [ 8.09474243e-02 9.96718299e-01 -3.82765609e-04 6.95091371e+00] [ 2.13627215e-02 -1.35101300e-03 9.99770878e-01 3.98452773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2992541539999 meters Centerline goodness [0,1] 0.9984820054394805 Centerline is valid? [True, True] Translation: X:436.37, Y:6.95, Z:3.98 [[ 9.96275579e-01 -8.36878833e-02 -2.07679835e-02 4.36369104e+02] [ 8.36982505e-02 9.96491076e-01 -3.71047356e-04 6.95102071e+00] [ 2.07261624e-02 -1.36857847e-03 9.99784253e-01 3.98492541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.32925415399995 meters Centerline goodness [0,1] 0.9984415803217926 Centerline is valid? [True, True] Translation: X:436.40, Y:6.95, Z:3.98 [[ 9.95974624e-01 -8.69708378e-02 -2.16937984e-02 4.36400525e+02] [ 8.69829391e-02 9.96209726e-01 -3.86950750e-04 6.94891223e+00] [ 2.16452264e-02 -1.50159722e-03 9.99764587e-01 3.98448161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3592541539999 meters Centerline goodness [0,1] 0.9988031496062992 Centerline is valid? [True, True] Translation: X:436.43, Y:6.95, Z:3.98 [[ 9.95941852e-01 -8.73417173e-02 -2.17083221e-02 4.36432465e+02] [ 8.73539499e-02 9.96177263e-01 -3.85944354e-04 6.94865365e+00] [ 2.16590459e-02 -1.51192954e-03 9.99764272e-01 3.98420790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.38925415399996 meters Centerline goodness [0,1] 0.9988243444670711 Centerline is valid? [True, True] Translation: X:436.47, Y:6.95, Z:3.98 [[ 9.96047512e-01 -8.60433793e-02 -2.20429310e-02 4.36465147e+02] [ 8.60557172e-02 9.96290250e-01 -3.90003338e-04 6.95172471e+00] [ 2.19947144e-02 -1.50845838e-03 9.99756949e-01 3.98425585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41925415399993 meters Centerline goodness [0,1] 0.9985878980757477 Centerline is valid? [True, True] Translation: X:436.50, Y:6.95, Z:3.98 [[ 9.96159298e-01 -8.47184947e-02 -2.21230596e-02 4.36497706e+02] [ 8.47306431e-02 9.96403817e-01 -3.89350296e-04 6.95467476e+00] [ 2.20764862e-02 -1.48664615e-03 9.99755179e-01 3.98463147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.44925415399996 meters Centerline goodness [0,1] 0.9984872996197239 Centerline is valid? [True, True] Translation: X:436.53, Y:6.96, Z:3.98 [[ 9.96313503e-01 -8.28516123e-02 -2.22489104e-02 4.36528285e+02] [ 8.28634608e-02 9.96560833e-01 -3.90440640e-04 6.95514267e+00] [ 2.22047414e-02 -1.45462044e-03 9.99752386e-01 3.98447125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47925415399993 meters Centerline goodness [0,1] 0.998527679623086 Centerline is valid? [True, True] Translation: X:436.56, Y:6.96, Z:3.98 [[ 9.96496010e-01 -8.06659370e-02 -2.21067563e-02 4.36559942e+02] [ 8.06771223e-02 9.96740213e-01 -3.86883631e-04 6.95761030e+00] [ 2.20659014e-02 -1.39798149e-03 9.99755541e-01 3.98487344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.50925415399996 meters Centerline goodness [0,1] 0.9986300792446468 Centerline is valid? [True, True] Translation: X:436.59, Y:6.96, Z:3.98 [[ 9.96875935e-01 -7.59978665e-02 -2.15103559e-02 4.36589804e+02] [ 7.60073824e-02 9.97107184e-01 -3.76015157e-04 6.95703929e+00] [ 2.14767067e-02 -1.26010538e-03 9.99768555e-01 3.98433538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53925415399993 meters Centerline goodness [0,1] 0.9986925899371599 Centerline is valid? [True, True] Translation: X:436.62, Y:6.97, Z:3.99 [[ 9.97066861e-01 -7.34022361e-02 -2.16745796e-02 4.36620977e+02] [ 7.34112932e-02 9.97301679e-01 -3.78585229e-04 6.96933741e+00] [ 2.16438836e-02 -1.21368413e-03 9.99765007e-01 3.98644544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.56925415399996 meters Centerline goodness [0,1] 0.9987754671170695 Centerline is valid? [True, True] Translation: X:436.65, Y:6.97, Z:3.99 [[ 9.97277427e-01 -7.04997478e-02 -2.16221701e-02 4.36652893e+02] [ 7.05081032e-02 9.97511136e-01 -3.76637737e-04 6.97298188e+00] [ 2.15949083e-02 -1.14892588e-03 9.99766143e-01 3.98668064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59925415399994 meters Centerline goodness [0,1] 0.9987956389452333 Centerline is valid? [True, True] Translation: X:436.68, Y:6.98, Z:3.99 [[ 9.97482092e-01 -6.75543566e-02 -2.15843743e-02 4.36684447e+02] [ 6.75620209e-02 9.97715006e-01 -3.74777751e-04 6.97659908e+00] [ 2.15603720e-02 -1.08444986e-03 9.99766960e-01 3.98704145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62925415399997 meters Centerline goodness [0,1] 0.9985853637937587 Centerline is valid? [True, True] Translation: X:436.71, Y:6.98, Z:3.99 [[ 9.97924846e-01 -6.08740757e-02 -2.09844923e-02 4.36714421e+02] [ 6.08798562e-02 9.98145035e-01 -3.63851680e-04 6.98422340e+00] [ 2.09677159e-02 -9.14436240e-04 9.99779735e-01 3.98782551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65925415399994 meters Centerline goodness [0,1] 0.998752774548145 Centerline is valid? [True, True] Translation: X:436.75, Y:6.99, Z:3.99 [[ 9.98119201e-01 -5.74898859e-02 -2.12831758e-02 4.36746229e+02] [ 5.74950783e-02 9.98345722e-01 -3.68364862e-04 6.98815957e+00] [ 2.12691447e-02 -8.56005815e-04 9.99773420e-01 3.98814599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.68925415399997 meters Centerline goodness [0,1] 0.9989226414297182 Centerline is valid? [True, True] Translation: X:436.78, Y:6.99, Z:3.99 [[ 9.98306771e-01 -5.42169637e-02 -2.10739708e-02 4.36777733e+02] [ 5.42213463e-02 9.98528875e-01 -3.63794159e-04 6.99176915e+00] [ 2.10626921e-02 -7.79480894e-04 9.99777853e-01 3.98849429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71925415399994 meters Centerline goodness [0,1] 0.9987698833510075 Centerline is valid? [True, True] Translation: X:436.81, Y:7.00, Z:3.99 [[ 9.98654278e-01 -4.78078687e-02 -2.01007874e-02 4.36807136e+02] [ 4.78105613e-02 9.98856361e-01 -3.46859025e-04 6.99807123e+00] [ 2.00943819e-02 -6.14637678e-04 9.99797899e-01 3.98905367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.74925415399997 meters Centerline goodness [0,1] 0.9987315010570824 Centerline is valid? [True, True] Translation: X:436.84, Y:7.00, Z:3.99 [[ 9.98809117e-01 -4.46005525e-02 -1.97772398e-02 4.36838500e+02] [ 4.46025350e-02 9.99004754e-01 -3.41067587e-04 7.00173050e+00] [ 1.97727684e-02 -5.41453616e-04 9.99804353e-01 3.98979451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.77925415399994 meters Centerline goodness [0,1] 0.9987488071254373 Centerline is valid? [True, True] Translation: X:436.87, Y:7.00, Z:3.99 [[ 9.98953414e-01 -4.14061663e-02 -1.94321094e-02 4.36868666e+02] [ 4.14074985e-02 9.99142286e-01 -3.33968366e-04 7.00479526e+00] [ 1.94292706e-02 -4.71016202e-04 9.99811123e-01 3.99035624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8092541539999 meters Centerline goodness [0,1] 0.9988324204984503 Centerline is valid? [True, True] Translation: X:436.90, Y:7.01, Z:3.99 [[ 9.99083263e-01 -3.84517351e-02 -1.88174953e-02 4.36899644e+02] [ 3.84524806e-02 9.99260378e-01 -3.22335362e-04 7.00804176e+00] [ 1.88159718e-02 -4.01539508e-04 9.99822883e-01 3.99095670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.83925415399995 meters Centerline goodness [0,1] 0.999000999000999 Centerline is valid? [True, True] Translation: X:436.93, Y:7.01, Z:3.99 [[ 9.99266769e-01 -3.40361868e-02 -1.75345865e-02 4.36930235e+02] [ 3.40361650e-02 9.99420557e-01 -2.99759409e-04 7.01240626e+00] [ 1.75346289e-02 -2.97270463e-04 9.99846212e-01 3.99181559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8692541539999 meters Centerline goodness [0,1] 0.9989580896893406 Centerline is valid? [True, True] Translation: X:436.96, Y:7.01, Z:3.99 [[ 9.99320696e-01 -3.26446502e-02 -1.71018426e-02 4.36960694e+02] [ 3.26444313e-02 9.99466986e-01 -2.92037154e-04 7.01427187e+00] [ 1.71022605e-02 -2.66441154e-04 9.99853710e-01 3.99211312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.89925415399995 meters Centerline goodness [0,1] 0.998958997238156 Centerline is valid? [True, True] Translation: X:436.99, Y:7.02, Z:3.99 [[ 9.99363804e-01 -3.16197792e-02 -1.64977854e-02 4.36991459e+02] [ 3.16194431e-02 9.99499941e-01 -2.81282979e-04 7.01548058e+00] [ 1.64984296e-02 -2.40546759e-04 9.99863863e-01 3.99240872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9292541539999 meters Centerline goodness [0,1] 0.9991496056296107 Centerline is valid? [True, True] Translation: X:437.02, Y:7.02, Z:3.99 [[ 9.99380495e-01 -3.12956794e-02 -1.60999261e-02 4.37022597e+02] [ 3.12953301e-02 9.99510144e-01 -2.73702991e-04 7.01624561e+00] [ 1.61006052e-02 -2.30319070e-04 9.99870350e-01 3.99275956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.95925415399995 meters Centerline goodness [0,1] 0.9987867952238043 Centerline is valid? [True, True] Translation: X:437.05, Y:7.02, Z:3.99 [[ 9.99378120e-01 -3.18822010e-02 -1.50631636e-02 4.37054191e+02] [ 3.18819694e-02 9.99491608e-01 -2.55576784e-04 7.01585267e+00] [ 1.50636540e-02 -2.24825475e-04 9.99886511e-01 3.99316467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9892541539999 meters Centerline goodness [0,1] 0.9989805021027144 Centerline is valid? [True, True] Translation: X:437.09, Y:7.02, Z:3.99 [[ 9.99354078e-01 -3.27907794e-02 -1.47034441e-02 4.37085164e+02] [ 3.27906645e-02 9.99462211e-01 -2.48961918e-04 7.01731212e+00] [ 1.47037004e-02 -2.33334594e-04 9.99891868e-01 3.99408227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.01925415399995 meters Centerline goodness [0,1] 0.999043753585924 Centerline is valid? [True, True] Translation: X:437.12, Y:7.02, Z:3.99 [[ 9.99323136e-01 -3.36817016e-02 -1.47922957e-02 4.37116285e+02] [ 3.36816909e-02 9.99432580e-01 -2.49922407e-04 7.01658522e+00] [ 1.47923201e-02 -2.48476289e-04 9.99890557e-01 3.99424317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0492541539999 meters Centerline goodness [0,1] 0.9988110403397028 Centerline is valid? [True, True] Translation: X:437.15, Y:7.02, Z:3.99 [[ 9.99285085e-01 -3.49751757e-02 -1.43546837e-02 4.37147407e+02] [ 3.49753064e-02 9.99388148e-01 -2.42015572e-04 7.01576180e+00] [ 1.43543653e-02 -2.60216909e-04 9.99896937e-01 3.99467530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07925415399995 meters Centerline goodness [0,1] 0.9988759040488664 Centerline is valid? [True, True] Translation: X:437.18, Y:7.01, Z:4.00 [[ 9.99222101e-01 -3.72059550e-02 -1.30732448e-02 4.37178269e+02] [ 3.72062634e-02 9.99307583e-01 -2.19705601e-04 7.01231923e+00] [ 1.30723670e-02 -2.66871897e-04 9.99914517e-01 3.99569683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1092541539999 meters Centerline goodness [0,1] 0.9990476190476191 Centerline is valid? [True, True] Translation: X:437.21, Y:7.01, Z:4.00 [[ 9.99184053e-01 -3.84309867e-02 -1.24212731e-02 4.37210632e+02] [ 3.84313743e-02 9.99261220e-01 -2.07573112e-04 7.01357851e+00] [ 1.24200738e-02 -2.69962854e-04 9.99922831e-01 3.99662830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13925415399996 meters Centerline goodness [0,1] 0.9987100866990907 Centerline is valid? [True, True] Translation: X:437.24, Y:7.01, Z:4.00 [[ 9.99131346e-01 -3.98852588e-02 -1.20714135e-02 4.37242191e+02] [ 3.98857427e-02 9.99204227e-01 -2.00753409e-04 7.00896880e+00] [ 1.20698145e-02 -2.80898271e-04 9.99927118e-01 3.99707987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.16925415399993 meters Centerline goodness [0,1] 0.9987125641079758 Centerline is valid? [True, True] Translation: X:437.27, Y:7.01, Z:4.00 [[ 9.99081444e-01 -4.13579487e-02 -1.12155597e-02 4.37274291e+02] [ 4.13584712e-02 9.99144355e-01 -1.85438998e-04 7.00716845e+00] [ 1.12136325e-02 -2.78589741e-04 9.99937086e-01 3.99756699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19925415399996 meters Centerline goodness [0,1] 0.998860999789074 Centerline is valid? [True, True] Translation: X:437.31, Y:7.00, Z:4.00 [[ 9.98896673e-01 -4.56801237e-02 -1.08978510e-02 4.37306820e+02] [ 4.56808821e-02 9.98956068e-01 -1.79444005e-04 7.00458392e+00] [ 1.08946715e-02 -3.18577430e-04 9.99940601e-01 3.99812545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.22925415399993 meters Centerline goodness [0,1] 0.9985662477861179 Centerline is valid? [True, True] Translation: X:437.34, Y:7.00, Z:4.00 [[ 9.98771989e-01 -4.82594737e-02 -1.12043466e-02 4.37338177e+02] [ 4.82604465e-02 9.98834769e-01 -1.83687955e-04 7.00077114e+00] [ 1.12001556e-02 -3.57264387e-04 9.99937212e-01 3.99788667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25925415399996 meters Centerline goodness [0,1] 0.9983551244200759 Centerline is valid? [True, True] Translation: X:437.37, Y:7.00, Z:4.00 [[ 9.98654069e-01 -5.06581363e-02 -1.11267119e-02 4.37370343e+02] [ 5.06592515e-02 9.98715979e-01 -1.81774754e-04 6.99959939e+00] [ 1.11216333e-02 -3.82140799e-04 9.99938080e-01 3.99772768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.28925415399993 meters Centerline goodness [0,1] 0.9986711664205864 Centerline is valid? [True, True] Translation: X:437.40, Y:7.00, Z:4.00 [[ 9.98531358e-01 -5.28416593e-02 -1.19534906e-02 4.37402414e+02] [ 5.28431139e-02 9.98602808e-01 -1.94345367e-04 6.99665228e+00] [ 1.19470588e-02 -4.37599720e-04 9.99928536e-01 3.99739855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31925415399996 meters Centerline goodness [0,1] 0.998650785285127 Centerline is valid? [True, True] Translation: X:437.43, Y:6.99, Z:4.00 [[ 9.98310438e-01 -5.64974892e-02 -1.35758630e-02 4.37433781e+02] [ 5.64997156e-02 9.98402591e-01 -2.19787517e-04 6.99174257e+00] [ 1.35665942e-02 -5.47616224e-04 9.99907820e-01 3.99630984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.34925415399994 meters Centerline goodness [0,1] 0.9985670937289278 Centerline is valid? [True, True] Translation: X:437.46, Y:6.99, Z:4.00 [[ 9.98231963e-01 -5.77193499e-02 -1.41924295e-02 4.37464984e+02] [ 5.77219152e-02 9.98332674e-01 -2.29149923e-04 6.98868583e+00] [ 1.41819925e-02 -5.90469434e-04 9.99899256e-01 3.99554489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37925415399997 meters Centerline goodness [0,1] 0.9985057664786599 Centerline is valid? [True, True] Translation: X:437.50, Y:6.99, Z:4.00 [[ 9.98159343e-01 -5.88375147e-02 -1.46994019e-02 4.37497404e+02] [ 5.88404012e-02 9.98267375e-01 -2.36412180e-04 6.98925986e+00] [ 1.46878433e-02 -6.28941681e-04 9.99891930e-01 3.99570363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.40925415399994 meters Centerline goodness [0,1] 0.9985057664786599 Centerline is valid? [True, True] Translation: X:437.53, Y:6.99, Z:4.00 [[ 9.98163688e-01 -5.87637508e-02 -1.46994194e-02 4.37529120e+02] [ 5.87666452e-02 9.98271720e-01 -2.35325036e-04 6.98970857e+00] [ 1.46878432e-02 -6.28942657e-04 9.99891930e-01 3.99600059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43925415399997 meters Centerline goodness [0,1] 0.9986520072454611 Centerline is valid? [True, True] Translation: X:437.56, Y:6.99, Z:4.00 [[ 9.98122429e-01 -5.92962433e-02 -1.53483844e-02 4.37560244e+02] [ 5.92994780e-02 9.98240208e-01 -2.44662126e-04 6.98722434e+00] [ 1.53358820e-02 -6.65948430e-04 9.99882177e-01 3.99599555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.46925415399994 meters Centerline goodness [0,1] 0.9985514244326412 Centerline is valid? [True, True] Translation: X:437.59, Y:6.99, Z:4.00 [[ 9.98162633e-01 -5.85730160e-02 -1.55099984e-02 4.37592599e+02] [ 5.85762472e-02 9.98282907e-01 -2.46262564e-04 6.98747852e+00] [ 1.54977907e-02 -6.62707413e-04 9.99879682e-01 3.99660526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49925415399997 meters Centerline goodness [0,1] 0.9985504506207853 Centerline is valid? [True, True] Translation: X:437.62, Y:6.99, Z:4.00 [[ 9.98255618e-01 -5.70301020e-02 -1.52737942e-02 4.37624198e+02] [ 5.70330723e-02 9.98372260e-01 -2.41396238e-04 6.98698135e+00] [ 1.52626993e-02 -6.30136260e-04 9.99883320e-01 3.99709791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.52925415399994 meters Centerline goodness [0,1] 0.9987441918874795 Centerline is valid? [True, True] Translation: X:437.66, Y:6.99, Z:4.00 [[ 9.98367840e-01 -5.49904461e-02 -1.54177473e-02 4.37656811e+02] [ 5.49932491e-02 9.98486697e-01 -2.42422618e-04 6.98810343e+00] [ 1.54077465e-02 -6.05845071e-04 9.99881110e-01 3.99793976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5592541539999 meters Centerline goodness [0,1] 0.9986584215491039 Centerline is valid? [True, True] Translation: X:437.69, Y:6.99, Z:4.00 [[ 9.98673338e-01 -4.93438591e-02 -1.47223700e-02 4.37686603e+02] [ 4.93458140e-02 9.98781727e-01 -2.30668730e-04 6.99028851e+00] [ 1.47158162e-02 -4.96124622e-04 9.99891593e-01 3.99873986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.58925415399995 meters Centerline goodness [0,1] 0.9986995553318231 Centerline is valid? [True, True] Translation: X:437.72, Y:6.99, Z:4.00 [[ 9.98835976e-01 -4.59254225e-02 -1.47495247e-02 4.37718047e+02] [ 4.59270152e-02 9.98944771e-01 -2.30895532e-04 6.99307512e+00] [ 1.47445646e-02 -4.46774882e-04 9.99891193e-01 3.99927387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6192541539999 meters Centerline goodness [0,1] 0.9989509022240873 Centerline is valid? [True, True] Translation: X:437.75, Y:6.99, Z:4.00 [[ 9.98988416e-01 -4.24420173e-02 -1.48600033e-02 4.37749102e+02] [ 4.24432570e-02 9.99098852e-01 -2.32074130e-04 6.99495581e+00] [ 1.48564619e-02 -3.98867572e-04 9.99889557e-01 3.99967679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.64925415399995 meters Centerline goodness [0,1] 0.9986138530684252 Centerline is valid? [True, True] Translation: X:437.78, Y:7.00, Z:4.00 [[ 9.99124822e-01 -3.90314158e-02 -1.50379164e-02 4.37779090e+02] [ 3.90323062e-02 9.99237922e-01 -2.34399872e-04 6.99524237e+00] [ 1.50356053e-02 -3.52769826e-04 9.99886897e-01 3.99945768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6792541539999 meters Centerline goodness [0,1] 0.9990549593632526 Centerline is valid? [True, True] Translation: X:437.81, Y:7.00, Z:4.00 [[ 9.99335945e-01 -3.33127542e-02 -1.47624516e-02 4.37809374e+02] [ 3.33129923e-02 9.99444942e-01 -2.29842850e-04 6.99594752e+00] [ 1.47619143e-02 -2.62091215e-04 9.99891003e-01 3.99938566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.70925415399995 meters Centerline goodness [0,1] 0.9990543238415467 Centerline is valid? [True, True] Translation: X:437.84, Y:7.00, Z:4.00 [[ 9.99390401e-01 -3.14539469e-02 -1.51484853e-02 4.37841070e+02] [ 3.14539900e-02 9.99505173e-01 -2.35471036e-04 6.99808597e+00] [ 1.51483960e-02 -2.41152813e-04 9.99885227e-01 4.00025502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7392541539999 meters Centerline goodness [0,1] 0.9991406593867243 Centerline is valid? [True, True] Translation: X:437.87, Y:7.00, Z:4.00 [[ 9.99424662e-01 -3.01505351e-02 -1.55335051e-02 4.37871957e+02] [ 3.01504319e-02 9.99545343e-01 -2.40882130e-04 6.99633807e+00] [ 1.55337054e-02 -2.27598346e-04 9.99879319e-01 3.99962738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.76925415399995 meters Centerline goodness [0,1] 0.9990764839224247 Centerline is valid? [True, True] Translation: X:437.90, Y:7.00, Z:4.00 [[ 9.99386971e-01 -3.00661346e-02 -1.79362527e-02 4.37902719e+02] [ 3.00659905e-02 9.99547877e-01 -2.77750861e-04 6.99620248e+00] [ 1.79364942e-02 -2.61690614e-04 9.99839094e-01 3.99935669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7992541539999 meters Centerline goodness [0,1] 0.9991820641345609 Centerline is valid? [True, True] Translation: X:437.93, Y:6.99, Z:4.00 [[ 9.99342242e-01 -3.11502905e-02 -1.85672707e-02 4.37931877e+02] [ 3.11503138e-02 9.99514670e-01 -2.88028119e-04 6.99455331e+00] [ 1.85672316e-02 -2.90537642e-04 9.99827572e-01 3.99878042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.82925415399995 meters Centerline goodness [0,1] 0.9991602107870924 Centerline is valid? [True, True] Translation: X:437.96, Y:6.99, Z:4.00 [[ 9.99267427e-01 -3.25900738e-02 -2.00622922e-02 4.37960559e+02] [ 3.25903253e-02 9.99468745e-01 -3.14504092e-04 6.99219652e+00] [ 2.00618837e-02 -3.39562934e-04 9.99798682e-01 3.99815850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8592541539999 meters Centerline goodness [0,1] 0.9991816693944353 Centerline is valid? [True, True] Translation: X:437.99, Y:6.99, Z:4.00 [[ 9.99191766e-01 -3.46274592e-02 -2.04145536e-02 4.37988848e+02] [ 3.46280746e-02 9.99400216e-01 -3.23454580e-04 6.98859061e+00] [ 2.04135097e-02 -3.83723534e-04 9.99791549e-01 3.99748223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.88925415399996 meters Centerline goodness [0,1] 0.9990993444065098 Centerline is valid? [True, True] Translation: X:438.02, Y:6.98, Z:4.00 [[ 9.99022633e-01 -3.87546055e-02 -2.12569794e-02 4.38018160e+02] [ 3.87561740e-02 9.99248640e-01 -3.38325830e-04 6.98377690e+00] [ 2.12541194e-02 -4.85844032e-04 9.99773988e-01 3.99783766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91925415399993 meters Centerline goodness [0,1] 0.9988265616159923 Centerline is valid? [True, True] Translation: X:438.05, Y:6.98, Z:4.00 [[ 9.98942973e-01 -4.08151213e-02 -2.11438596e-02 4.38046994e+02] [ 4.08170613e-02 9.99166579e-01 -3.39983758e-04 6.98086853e+00] [ 2.11401143e-02 -5.23405828e-04 9.99776386e-01 3.99817795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.94925415399996 meters Centerline goodness [0,1] 0.9988505747126437 Centerline is valid? [True, True] Translation: X:438.08, Y:6.98, Z:4.00 [[ 9.98862061e-01 -4.28979510e-02 -2.08410307e-02 4.38076963e+02] [ 4.29002318e-02 9.99079304e-01 -3.37847525e-04 6.97960242e+00] [ 2.08363354e-02 -5.56621972e-04 9.99782745e-01 3.99906538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97925415399993 meters Centerline goodness [0,1] 0.9988908653343099 Centerline is valid? [True, True] Translation: X:438.11, Y:6.98, Z:4.00 [[ 9.98738622e-01 -4.60668500e-02 -1.99752632e-02 4.38106680e+02] [ 4.60695691e-02 9.98938181e-01 -3.24268721e-04 6.97557475e+00] [ 1.99689911e-02 -5.96392071e-04 9.99800422e-01 4.00068957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.00925415399996 meters Centerline goodness [0,1] 0.9988277897557197 Centerline is valid? [True, True] Translation: X:438.14, Y:6.98, Z:4.00 [[ 9.98706389e-01 -4.71023739e-02 -1.91550173e-02 4.38138040e+02] [ 4.71050693e-02 9.98889892e-01 -3.10700947e-04 6.97580028e+00] [ 1.91483879e-02 -5.91999396e-04 9.99816478e-01 4.00237911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03925415399993 meters Centerline goodness [0,1] 0.9988721097813146 Centerline is valid? [True, True] Translation: X:438.17, Y:6.97, Z:4.00 [[ 9.98690359e-01 -4.76278439e-02 -1.86856955e-02 4.38168366e+02] [ 4.76305169e-02 9.98864977e-01 -3.02222829e-04 6.97435458e+00] [ 1.86788811e-02 -5.88182311e-04 9.99825361e-01 4.00313698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.06925415399996 meters Centerline goodness [0,1] 0.9988923256980438 Centerline is valid? [True, True] Translation: X:438.20, Y:6.97, Z:4.00 [[ 9.98694224e-01 -4.78634620e-02 -1.78587873e-02 4.38198943e+02] [ 4.78659530e-02 9.98853727e-01 -2.88187338e-04 6.97215175e+00] [ 1.78521099e-02 -5.67016844e-04 9.99840478e-01 4.00374245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09925415399994 meters Centerline goodness [0,1] 0.9988712846452907 Centerline is valid? [True, True] Translation: X:438.23, Y:6.97, Z:4.01 [[ 9.98742793e-01 -4.71904346e-02 -1.69084589e-02 4.38230544e+02] [ 4.71925783e-02 9.98885772e-01 -2.72421284e-04 6.97123878e+00] [ 1.69024747e-02 -5.25874975e-04 9.99857005e-01 4.00516688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12925415399997 meters Centerline goodness [0,1] 0.9990189734705379 Centerline is valid? [True, True] Translation: X:438.26, Y:6.97, Z:4.01 [[ 9.98790740e-01 -4.64403054e-02 -1.61355156e-02 4.38261724e+02] [ 4.64421689e-02 9.98920947e-01 -2.59403019e-04 6.97216694e+00] [ 1.61301513e-02 -4.90279006e-04 9.99869780e-01 4.00630943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15925415399994 meters Centerline goodness [0,1] 0.9991232647949065 Centerline is valid? [True, True] Translation: X:438.29, Y:6.97, Z:4.01 [[ 9.98839261e-01 -4.54995873e-02 -1.58087897e-02 4.38291680e+02] [ 4.55012654e-02 9.98964249e-01 -2.53701882e-04 6.97118514e+00] [ 1.58039591e-02 -4.65912539e-04 9.99875001e-01 4.00687912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.18925415399997 meters Centerline goodness [0,1] 0.9989954796584631 Centerline is valid? [True, True] Translation: X:438.32, Y:6.97, Z:4.01 [[ 9.98888997e-01 -4.45388736e-02 -1.53967838e-02 4.38323521e+02] [ 4.45403590e-02 9.99007555e-01 -2.46594990e-04 6.97320627e+00] [ 1.53924864e-02 -4.39457255e-04 9.99881432e-01 4.00785245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21925415399994 meters Centerline goodness [0,1] 0.9991450496288264 Centerline is valid? [True, True] Translation: X:438.35, Y:6.97, Z:4.01 [[ 9.98953155e-01 -4.30484546e-02 -1.54733676e-02 4.38354860e+02] [ 4.30497875e-02 9.99072898e-01 -2.47081570e-04 6.97244366e+00] [ 1.54696587e-02 -4.19302275e-04 9.99880250e-01 4.00824555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.24925415399997 meters Centerline goodness [0,1] 0.9990601503759399 Centerline is valid? [True, True] Translation: X:438.39, Y:6.97, Z:4.01 [[ 9.98975815e-01 -4.26785592e-02 -1.50286689e-02 4.38386042e+02] [ 4.26797829e-02 9.99088774e-01 -2.39437616e-04 6.97239535e+00] [ 1.50251933e-02 -4.02227940e-04 9.99887035e-01 4.00828427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.27925415399994 meters Centerline goodness [0,1] 0.9989783791672747 Centerline is valid? [True, True] Translation: X:438.42, Y:6.97, Z:4.01 [[ 9.98990977e-01 -4.22865628e-02 -1.51286207e-02 4.38417468e+02] [ 4.22877681e-02 9.99105443e-01 -2.40361382e-04 6.97084241e+00] [ 1.51252514e-02 -3.99636753e-04 9.99885527e-01 4.00781683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3092541539999 meters Centerline goodness [0,1] 0.9990815346720662 Centerline is valid? [True, True] Translation: X:438.45, Y:6.97, Z:4.01 [[ 9.98983646e-01 -4.20984499e-02 -1.61057576e-02 4.38448277e+02] [ 4.20998025e-02 9.99113378e-01 -2.55210901e-04 6.96868365e+00] [ 1.61022219e-02 -4.23097697e-04 9.99870261e-01 4.00730153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.33925415399995 meters Centerline goodness [0,1] 0.9993534932221063 Centerline is valid? [True, True] Translation: X:438.48, Y:6.97, Z:4.01 [[ 9.98984986e-01 -4.19251078e-02 -1.64706913e-02 4.38479020e+02] [ 4.19265038e-02 9.99120664e-01 -2.60690748e-04 6.96778035e+00] [ 1.64671375e-02 -4.30132358e-04 9.99864315e-01 4.00681033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3692541539999 meters Centerline goodness [0,1] 0.9992899358853873 Centerline is valid? [True, True] Translation: X:438.51, Y:6.97, Z:4.01 [[ 9.98978048e-01 -4.17492269e-02 -1.73165317e-02 4.38510497e+02] [ 4.17507517e-02 9.99128020e-01 -2.73608711e-04 6.96860927e+00] [ 1.73128550e-02 -4.49649121e-04 9.99850020e-01 4.00645676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.39925415399995 meters Centerline goodness [0,1] 0.9992480103607462 Centerline is valid? [True, True] Translation: X:438.54, Y:6.97, Z:4.01 [[ 9.98960900e-01 -4.17145338e-02 -1.83580492e-02 4.38540717e+02] [ 4.17162485e-02 9.99129456e-01 -2.89700643e-04 6.96832717e+00] [ 1.83541524e-02 -4.76429326e-04 9.99831435e-01 4.00605076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4292541539999 meters Centerline goodness [0,1] 0.9990808823529411 Centerline is valid? [True, True] Translation: X:438.57, Y:6.97, Z:4.00 [[ 9.98891506e-01 -4.24039950e-02 -2.04367415e-02 4.38570274e+02] [ 4.24062638e-02 9.99100398e-01 -3.22534053e-04 6.96582677e+00] [ 2.04320333e-02 -5.44469324e-04 9.99791096e-01 4.00404858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.45925415399995 meters Centerline goodness [0,1] 0.9990382605059586 Centerline is valid? [True, True] Translation: X:438.60, Y:6.96, Z:4.00 [[ 9.98839044e-01 -4.32817700e-02 -2.11483572e-02 4.38599996e+02] [ 4.32843867e-02 9.99062736e-01 -3.34214832e-04 6.96489527e+00] [ 2.11430010e-02 -5.81566849e-04 9.99776293e-01 4.00353237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4892541539999 meters Centerline goodness [0,1] 0.9992047047989787 Centerline is valid? [True, True] Translation: X:438.63, Y:6.96, Z:4.00 [[ 9.98779972e-01 -4.45419043e-02 -2.13210105e-02 4.38628598e+02] [ 4.45447789e-02 9.99007331e-01 -3.40317641e-04 6.96453687e+00] [ 2.13150042e-02 -6.09837256e-04 9.99772623e-01 4.00374949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.51925415399995 meters Centerline goodness [0,1] 0.9991848166882655 Centerline is valid? [True, True] Translation: X:438.66, Y:6.96, Z:4.00 [[ 9.98713576e-01 -4.60737337e-02 -2.11755514e-02 4.38657687e+02] [ 4.60768456e-02 9.98937840e-01 -3.41185014e-04 6.96286040e+00] [ 2.11687793e-02 -6.34956510e-04 9.99775715e-01 4.00378878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5492541539999 meters Centerline goodness [0,1] 0.9989358594499854 Centerline is valid? [True, True] Translation: X:438.69, Y:6.96, Z:4.00 [[ 9.98572882e-01 -4.95529244e-02 -1.99174954e-02 4.38686531e+02] [ 4.95563452e-02 9.98771278e-01 -3.22090146e-04 6.95869675e+00] [ 1.99089828e-02 -6.65407790e-04 9.99801575e-01 4.00442997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57925415399995 meters Centerline goodness [0,1] 0.99920719367424 Centerline is valid? [True, True] Translation: X:438.72, Y:6.96, Z:4.01 [[ 9.98489095e-01 -5.13923440e-02 -1.94513418e-02 4.38717038e+02] [ 5.13959455e-02 9.98678305e-01 -3.15035405e-04 6.96185210e+00] [ 1.94418234e-02 -6.85160686e-04 9.99810755e-01 4.00632421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6092541539999 meters Centerline goodness [0,1] 0.998873145385113 Centerline is valid? [True, True] Translation: X:438.75, Y:6.96, Z:4.01 [[ 9.98260267e-01 -5.60710500e-02 -1.82339535e-02 4.38746599e+02] [ 5.60749908e-02 9.98426516e-01 -2.95480493e-04 6.95723620e+00] [ 1.82218305e-02 -7.27502338e-04 9.99833704e-01 4.00670901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63925415399996 meters Centerline goodness [0,1] 0.9989575297625253 Centerline is valid? [True, True] Translation: X:438.78, Y:6.96, Z:4.01 [[ 9.98116347e-01 -5.85930611e-02 -1.81827305e-02 4.38778169e+02] [ 5.85974003e-02 9.98281653e-01 -2.94494047e-04 6.95734281e+00] [ 1.81687416e-02 -7.71521417e-04 9.99834637e-01 4.00722986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.66925415399993 meters Centerline goodness [0,1] 0.9988943360801085 Centerline is valid? [True, True] Translation: X:438.81, Y:6.95, Z:4.01 [[ 9.97976205e-01 -6.10379083e-02 -1.78288662e-02 4.38808447e+02] [ 6.10424784e-02 9.98135128e-01 -2.88266326e-04 6.95455298e+00] [ 1.78132128e-02 -8.00635244e-04 9.99841012e-01 4.00701552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69925415399996 meters Centerline goodness [0,1] 0.9988748359135707 Centerline is valid? [True, True] Translation: X:438.84, Y:6.95, Z:4.01 [[ 9.97822832e-01 -6.35636569e-02 -1.75857137e-02 4.38838628e+02] [ 6.35685001e-02 9.97977437e-01 -2.84015751e-04 6.95158054e+00] [ 1.75681986e-02 -8.34500041e-04 9.99845319e-01 4.00722362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.72925415399993 meters Centerline goodness [0,1] 0.9988733569789277 Centerline is valid? [True, True] Translation: X:438.87, Y:6.95, Z:4.01 [[ 9.97551785e-01 -6.78646263e-02 -1.68768862e-02 4.38869456e+02] [ 6.78697077e-02 9.97694156e-01 -2.72146782e-04 6.95172221e+00] [ 1.68564399e-02 -8.73948828e-04 9.99857538e-01 4.00834528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75925415399996 meters Centerline goodness [0,1] 0.9988730042784096 Centerline is valid? [True, True] Translation: X:438.90, Y:6.95, Z:4.01 [[ 9.97426640e-01 -6.98096195e-02 -1.63314171e-02 4.38900060e+02] [ 6.98146573e-02 9.97559946e-01 -2.62143913e-04 6.94886543e+00] [ 1.63098677e-02 -8.78702963e-04 9.99866599e-01 4.00865680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.78925415399993 meters Centerline goodness [0,1] 0.9987701671738859 Centerline is valid? [True, True] Translation: X:438.93, Y:6.95, Z:4.01 [[ 9.97330458e-01 -7.12875836e-02 -1.58125744e-02 4.38931262e+02] [ 7.12925136e-02 9.97455419e-01 -2.52416229e-04 6.94869065e+00] [ 1.57903322e-02 -8.75575784e-04 9.99874942e-01 4.00914511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81925415399996 meters Centerline goodness [0,1] 0.9985868074317303 Centerline is valid? [True, True] Translation: X:438.96, Y:6.95, Z:4.01 [[ 9.97232989e-01 -7.26269428e-02 -1.58648206e-02 4.38963754e+02] [ 7.26320873e-02 9.97358770e-01 -2.52433220e-04 6.94946958e+00] [ 1.58412514e-02 -9.00560302e-04 9.99874114e-01 4.00986586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.84925415399994 meters Centerline goodness [0,1] 0.9987509627995087 Centerline is valid? [True, True] Translation: X:439.00, Y:6.95, Z:4.01 [[ 9.97129008e-01 -7.40740211e-02 -1.57092565e-02 4.38995214e+02] [ 7.40792603e-02 9.97252326e-01 -2.48930982e-04 6.94730959e+00] [ 1.56845319e-02 -9.15513796e-04 9.99876571e-01 4.01015077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87925415399997 meters Centerline goodness [0,1] 0.9989143596809887 Centerline is valid? [True, True] Translation: X:439.03, Y:6.95, Z:4.01 [[ 9.97118753e-01 -7.41869383e-02 -1.58269152e-02 4.39027695e+02] [ 7.41922861e-02 9.97243923e-01 -2.49801377e-04 6.95063550e+00] [ 1.58018270e-02 -9.25153381e-04 9.99874715e-01 4.01055367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.90925415399994 meters Centerline goodness [0,1] 0.9990177843723225 Centerline is valid? [True, True] Translation: X:439.06, Y:6.95, Z:4.01 [[ 9.97131564e-01 -7.39537564e-02 -1.61085844e-02 4.39059403e+02] [ 7.39592853e-02 9.97261230e-01 -2.53047374e-04 6.94892883e+00] [ 1.60831805e-02 -9.39057864e-04 9.99870216e-01 4.01037496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93925415399997 meters Centerline goodness [0,1] 0.9988108649392915 Centerline is valid? [True, True] Translation: X:439.09, Y:6.95, Z:4.01 [[ 9.97184450e-01 -7.30992406e-02 -1.67234504e-02 4.39091700e+02] [ 7.31051008e-02 9.97324208e-01 -2.61460395e-04 6.95199501e+00] [ 1.66978145e-02 -9.61845285e-04 9.99860119e-01 4.00993324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.96925415399994 meters Centerline goodness [0,1] 0.9988508869063786 Centerline is valid? [True, True] Translation: X:439.12, Y:6.95, Z:4.01 [[ 9.97254469e-01 -7.19595595e-02 -1.74741466e-02 4.39123462e+02] [ 7.19658034e-02 9.97407063e-01 -2.72048753e-04 6.95359397e+00] [ 1.74484137e-02 -9.86239164e-04 9.99847278e-01 4.00954263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99925415399997 meters Centerline goodness [0,1] 0.9986224745366505 Centerline is valid? [True, True] Translation: X:439.15, Y:6.96, Z:4.01 [[ 9.97324702e-01 -7.07238862e-02 -1.84816407e-02 4.39154657e+02] [ 7.07306755e-02 9.97495408e-01 -2.86870928e-04 6.95555240e+00] [ 1.84556404e-02 -1.02111547e-03 9.99829159e-01 4.00916824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.02925415399994 meters Centerline goodness [0,1] 0.9988078057350819 Centerline is valid? [True, True] Translation: X:439.19, Y:6.96, Z:4.01 [[ 9.97417023e-01 -6.92257783e-02 -1.91591694e-02 4.39185655e+02] [ 6.92328127e-02 9.97600486e-01 -2.96680843e-04 6.96068961e+00] [ 1.91337346e-02 -1.03052866e-03 9.99816402e-01 4.00915856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0592541539999 meters Centerline goodness [0,1] 0.9988293580283044 Centerline is valid? [True, True] Translation: X:439.22, Y:6.97, Z:4.01 [[ 9.97637491e-01 -6.55663822e-02 -2.05057562e-02 4.39216043e+02] [ 6.55736770e-02 9.97847680e-01 -3.17165004e-04 6.96568601e+00] [ 2.04824166e-02 -1.02822213e-03 9.99789685e-01 4.00865369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.08925415399995 meters Centerline goodness [0,1] 0.9990178869943163 Centerline is valid? [True, True] Translation: X:439.25, Y:6.97, Z:4.01 [[ 9.97780922e-01 -6.32088220e-02 -2.09254943e-02 4.39246671e+02] [ 6.32159102e-02 9.97999822e-01 -3.23236846e-04 6.96766577e+00] [ 2.09040710e-02 -1.00030461e-03 9.99780986e-01 4.00859312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1192541539999 meters Centerline goodness [0,1] 0.999036951742908 Centerline is valid? [True, True] Translation: X:439.28, Y:6.97, Z:4.01 [[ 9.97959450e-01 -6.03493976e-02 -2.08539502e-02 4.39277099e+02] [ 6.03558215e-02 9.98176874e-01 -3.21792330e-04 6.97319015e+00] [ 2.08353508e-02 -9.37521601e-04 9.99782481e-01 4.00950279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.14925415399995 meters Centerline goodness [0,1] 0.9989108579088471 Centerline is valid? [True, True] Translation: X:439.31, Y:6.98, Z:4.01 [[ 9.98325539e-01 -5.41568526e-02 -2.03261845e-02 4.39307823e+02] [ 5.41616755e-02 9.98532130e-01 -3.13565565e-04 6.98309373e+00] [ 2.03133300e-02 -7.87859696e-04 9.99793353e-01 4.01102057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1792541539999 meters Centerline goodness [0,1] 0.9988726278210401 Centerline is valid? [True, True] Translation: X:439.34, Y:6.99, Z:4.01 [[ 9.98519835e-01 -5.06029519e-02 -1.99369267e-02 4.39337580e+02] [ 5.06068855e-02 9.98718603e-01 -3.07491094e-04 6.98686928e+00] [ 1.99269396e-02 -7.01909814e-04 9.99801192e-01 4.01155585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.20925415399995 meters Centerline goodness [0,1] 0.9988271514440697 Centerline is valid? [True, True] Translation: X:439.37, Y:6.99, Z:4.01 [[ 9.98699518e-01 -4.71145195e-02 -1.94806469e-02 4.39368137e+02] [ 4.71176122e-02 9.98889303e-01 -3.00453801e-04 6.99303012e+00] [ 1.94731655e-02 -6.17818499e-04 9.99810189e-01 4.01242386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2392541539999 meters Centerline goodness [0,1] 0.9989287514703411 Centerline is valid? [True, True] Translation: X:439.40, Y:7.00, Z:4.01 [[ 9.98860078e-01 -4.36010021e-02 -1.94292727e-02 4.39398766e+02] [ 4.36034143e-02 9.99048874e-01 -2.99661446e-04 6.99733796e+00] [ 1.94238585e-02 -5.47862771e-04 9.99811189e-01 4.01345939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.26925415399995 meters Centerline goodness [0,1] 0.9990097966922996 Centerline is valid? [True, True] Translation: X:439.43, Y:7.01, Z:4.02 [[ 9.99165021e-01 -3.66473878e-02 -1.80618309e-02 4.39428748e+02] [ 3.66483351e-02 9.99328185e-01 -2.78656303e-04 7.00610791e+00] [ 1.80599087e-02 -3.83512398e-04 9.99836833e-01 4.01510791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2992541539999 meters Centerline goodness [0,1] 0.998842763060997 Centerline is valid? [True, True] Translation: X:439.46, Y:7.01, Z:4.02 [[ 9.99292980e-01 -3.33217104e-02 -1.74127700e-02 4.39459408e+02] [ 3.33220846e-02 9.99444629e-01 -2.68731100e-04 7.01055105e+00] [ 1.74120541e-02 -3.11688694e-04 9.99848350e-01 4.01601174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.32925415399995 meters Centerline goodness [0,1] 0.998842763060997 Centerline is valid? [True, True] Translation: X:439.49, Y:7.01, Z:4.02 [[ 9.99291804e-01 -3.33569510e-02 -1.74127656e-02 4.39488564e+02] [ 3.33573255e-02 9.99443453e-01 -2.69014847e-04 7.01103208e+00] [ 1.74120481e-02 -3.12018960e-04 9.99848350e-01 4.01628491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3592541539999 meters Centerline goodness [0,1] 0.9989918296192056 Centerline is valid? [True, True] Translation: X:439.52, Y:7.02, Z:4.02 [[ 9.99402028e-01 -3.00646026e-02 -1.70794308e-02 4.39519144e+02] [ 3.00644768e-02 9.99547927e-01 -2.64189098e-04 7.01655116e+00] [ 1.70796524e-02 -2.49453030e-04 9.99854101e-01 4.01750300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.38925415399996 meters Centerline goodness [0,1] 0.9990096715059315 Centerline is valid? [True, True] Translation: X:439.55, Y:7.02, Z:4.02 [[ 9.99464073e-01 -2.77459713e-02 -1.73703144e-02 4.39549142e+02] [ 2.77454859e-02 9.99614984e-01 -2.68981787e-04 7.02005740e+00] [ 1.73710897e-02 -2.13110179e-04 9.99849089e-01 4.01807570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41925415399993 meters Centerline goodness [0,1] 0.9989876194292705 Centerline is valid? [True, True] Translation: X:439.58, Y:7.02, Z:4.02 [[ 9.99502033e-01 -2.51268574e-02 -1.90873457e-02 4.39578447e+02] [ 2.51257799e-02 9.99684254e-01 -2.96301306e-04 7.02436916e+00] [ 1.90887640e-02 -1.83430688e-04 9.99817776e-01 4.01721182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.44925415399996 meters Centerline goodness [0,1] 0.9990088361205424 Centerline is valid? [True, True] Translation: X:439.61, Y:7.03, Z:4.02 [[ 9.99502978e-01 -2.54396127e-02 -1.86177945e-02 4.39606620e+02] [ 2.54385855e-02 9.99676344e-01 -2.92038638e-04 7.02570048e+00] [ 1.86191981e-02 -1.81716869e-04 9.99826631e-01 4.01758300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47925415399993 meters Centerline goodness [0,1] 0.9991977706468502 Centerline is valid? [True, True] Translation: X:439.63, Y:7.03, Z:4.02 [[ 9.99479264e-01 -2.59395040e-02 -1.91922559e-02 4.39634571e+02] [ 2.59384249e-02 9.99663496e-01 -3.05197213e-04 7.02603807e+00] [ 1.91937143e-02 -1.92778601e-04 9.99815765e-01 4.01722457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.50925415399996 meters Centerline goodness [0,1] 0.9990754942953796 Centerline is valid? [True, True] Translation: X:439.66, Y:7.03, Z:4.02 [[ 9.99412067e-01 -2.78263569e-02 -2.00303204e-02 4.39662462e+02] [ 2.78255146e-02 9.99612744e-01 -3.20806095e-04 7.02508052e+00] [ 2.00314904e-02 -2.36736491e-04 9.99799322e-01 4.01651630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53925415399993 meters Centerline goodness [0,1] 0.999200387180944 Centerline is valid? [True, True] Translation: X:439.69, Y:7.02, Z:4.02 [[ 9.99371747e-01 -2.87588575e-02 -2.07132495e-02 4.39690968e+02] [ 2.87580807e-02 9.99586345e-01 -3.35431669e-04 7.02475236e+00] [ 2.07143280e-02 -2.60452368e-04 9.99785401e-01 4.01615489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.56925415399996 meters Centerline goodness [0,1] 0.9989249805020973 Centerline is valid? [True, True] Translation: X:439.72, Y:7.02, Z:4.02 [[ 9.99333680e-01 -2.96420753e-02 -2.12965542e-02 4.39718327e+02] [ 2.96413812e-02 9.99560537e-01 -3.48323427e-04 7.02445764e+00] [ 2.12975202e-02 -2.83167949e-04 9.99773142e-01 4.01582605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59925415399994 meters Centerline goodness [0,1] 0.9988842105263158 Centerline is valid? [True, True] Translation: X:439.75, Y:7.02, Z:4.02 [[ 9.99287813e-01 -3.04927219e-02 -2.22274966e-02 4.39746920e+02] [ 3.04920870e-02 9.99534941e-01 -3.67562754e-04 7.02434466e+00] [ 2.22283675e-02 -3.10461781e-04 9.99752871e-01 4.01541983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62925415399997 meters Centerline goodness [0,1] 0.9992432841468029 Centerline is valid? [True, True] Translation: X:439.77, Y:7.02, Z:4.02 [[ 9.99287902e-01 -3.06187398e-02 -2.20495138e-02 4.39773780e+02] [ 3.06180615e-02 9.99531089e-01 -3.68438570e-04 7.02412145e+00] [ 2.20504557e-02 -3.06937163e-04 9.99756812e-01 4.01577620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65925415399994 meters Centerline goodness [0,1] 0.99873795801607 Centerline is valid? [True, True] Translation: X:439.80, Y:7.02, Z:4.02 [[ 9.99274611e-01 -3.10272903e-02 -2.20807181e-02 4.39801378e+02] [ 3.10266042e-02 9.99518489e-01 -3.73739372e-04 7.02453255e+00] [ 2.20816821e-02 -3.11621436e-04 9.99756121e-01 4.01635694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.68925415399997 meters Centerline goodness [0,1] 0.9990323937736643 Centerline is valid? [True, True] Translation: X:439.83, Y:7.02, Z:4.02 [[ 9.99257373e-01 -3.14794791e-02 -2.22203827e-02 4.39828915e+02] [ 3.14787532e-02 9.99504348e-01 -3.82533496e-04 7.02425948e+00] [ 2.22214111e-02 -3.17220526e-04 9.99753024e-01 4.01687733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71925415399994 meters Centerline goodness [0,1] 0.9988873260134781 Centerline is valid? [True, True] Translation: X:439.86, Y:7.02, Z:4.02 [[ 9.99199359e-01 -3.16366501e-02 -2.44900711e-02 4.39857138e+02] [ 3.16357090e-02 9.99499375e-01 -4.25962651e-04 7.02281331e+00] [ 2.44912868e-02 -3.49139155e-04 9.99699982e-01 4.01596887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.74925415399997 meters Centerline goodness [0,1] 0.9990972076422423 Centerline is valid? [True, True] Translation: X:439.89, Y:7.02, Z:4.02 [[ 9.99217752e-01 -3.25648751e-02 -2.24368580e-02 4.39886027e+02] [ 3.25642260e-02 9.99469567e-01 -3.94387834e-04 7.02321130e+00] [ 2.24378000e-02 -3.36559592e-04 9.99748184e-01 4.01833508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.77925415399994 meters Centerline goodness [0,1] 0.9990962779260629 Centerline is valid? [True, True] Translation: X:439.91, Y:7.02, Z:4.02 [[ 9.99201898e-01 -3.30768198e-02 -2.23939892e-02 4.39913396e+02] [ 3.30762212e-02 9.99452753e-01 -3.97229760e-04 7.02214626e+00] [ 2.23948733e-02 -3.43795812e-04 9.99749144e-01 4.01812326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8092541539999 meters Centerline goodness [0,1] 0.9986748001682794 Centerline is valid? [True, True] Translation: X:439.94, Y:7.02, Z:4.02 [[ 9.99160858e-01 -3.32584348e-02 -2.39051569e-02 4.39942337e+02] [ 3.32576927e-02 9.99446718e-01 -4.28722702e-04 7.02249336e+00] [ 2.39061893e-02 -3.66667421e-04 9.99714139e-01 4.01866464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.83925415399995 meters Centerline goodness [0,1] 0.9987399458176701 Centerline is valid? [True, True] Translation: X:439.97, Y:7.02, Z:4.02 [[ 9.99179900e-01 -3.32838078e-02 -2.30589806e-02 4.39969844e+02] [ 3.32830409e-02 9.99445879e-01 -4.17152296e-04 7.02017188e+00] [ 2.30600875e-02 -3.50662804e-04 9.99734019e-01 4.01843470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8692541539999 meters Centerline goodness [0,1] 0.9989503957008208 Centerline is valid? [True, True] Translation: X:440.00, Y:7.02, Z:4.02 [[ 9.99196014e-01 -3.36444717e-02 -2.18031147e-02 4.39998341e+02] [ 3.36437846e-02 9.99433808e-01 -3.98427636e-04 7.02015976e+00] [ 2.18041749e-02 -3.35431992e-04 9.99762204e-01 4.01986065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.89925415399995 meters Centerline goodness [0,1] 0.9989935840986287 Centerline is valid? [True, True] Translation: X:440.03, Y:7.02, Z:4.02 [[ 9.99208131e-01 -3.32660309e-02 -2.18284644e-02 4.40026568e+02] [ 3.32651750e-02 9.99446480e-01 -4.02415449e-04 7.01921421e+00] [ 2.18297687e-02 -3.24030900e-04 9.99761650e-01 4.01972140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9292541539999 meters Centerline goodness [0,1] 0.9989717763088868 Centerline is valid? [True, True] Translation: X:440.05, Y:7.02, Z:4.02 [[ 9.99212809e-01 -3.30965369e-02 -2.18719154e-02 4.40054093e+02] [ 3.30955382e-02 9.99452109e-01 -4.07735058e-04 7.01863891e+00] [ 2.18734266e-02 -3.16448720e-04 9.99760698e-01 4.01993809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.95925415399995 meters Centerline goodness [0,1] 0.9988877696633929 Centerline is valid? [True, True] Translation: X:440.08, Y:7.02, Z:4.02 [[ 9.99223304e-01 -3.25024158e-02 -2.22796272e-02 4.40081538e+02] [ 3.25011329e-02 9.99471610e-01 -4.19776781e-04 7.01568505e+00] [ 2.22814987e-02 -3.04662385e-04 9.99751690e-01 4.01886195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9892541539999 meters Centerline goodness [0,1] 0.9990770844257997 Centerline is valid? [True, True] Translation: X:440.11, Y:7.02, Z:4.02 [[ 9.99236781e-01 -3.21166968e-02 -2.22344963e-02 4.40109014e+02] [ 3.21152165e-02 9.99484084e-01 -4.23741927e-04 7.01577976e+00] [ 2.22366344e-02 -2.90647144e-04 9.99752693e-01 4.01919809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.01925415399995 meters Centerline goodness [0,1] 0.9990136825316881 Centerline is valid? [True, True] Translation: X:440.14, Y:7.02, Z:4.02 [[ 9.99239299e-01 -3.17532466e-02 -2.26396658e-02 4.40137084e+02] [ 3.17514690e-02 9.99495699e-01 -4.38067862e-04 7.01663388e+00] [ 2.26421586e-02 -2.81108023e-04 9.99743594e-01 4.02029771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0492541539999 meters Centerline goodness [0,1] 0.9991192383508787 Centerline is valid? [True, True] Translation: X:440.17, Y:7.02, Z:4.02 [[ 9.99273080e-01 -3.02811443e-02 -2.31595422e-02 4.40166119e+02] [ 3.02787411e-02 9.99541390e-01 -4.54512022e-04 7.01569753e+00] [ 2.31626841e-02 -2.47060152e-04 9.99731679e-01 4.01974699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07925415399995 meters Centerline goodness [0,1] 0.9990162218733647 Centerline is valid? [True, True] Translation: X:440.19, Y:7.01, Z:4.02 [[ 9.99269688e-01 -2.98579700e-02 -2.38451528e-02 4.40193496e+02] [ 2.98552110e-02 9.99554123e-01 -4.71774811e-04 7.01468640e+00] [ 2.38486070e-02 -2.40471800e-04 9.99715553e-01 4.01868182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1092541539999 meters Centerline goodness [0,1] 0.9990779740575428 Centerline is valid? [True, True] Translation: X:440.22, Y:7.02, Z:4.02 [[ 9.99269822e-01 -2.95654610e-02 -2.42013644e-02 4.40221396e+02] [ 2.95624066e-02 9.99562819e-01 -4.84054225e-04 7.01503531e+00] [ 2.42050953e-02 -2.31749797e-04 9.99706987e-01 4.01965648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13925415399996 meters Centerline goodness [0,1] 0.9991840321365805 Centerline is valid? [True, True] Translation: X:440.25, Y:7.01, Z:4.02 [[ 9.99273109e-01 -2.95274819e-02 -2.41118460e-02 4.40248914e+02] [ 2.95242681e-02 9.99563944e-01 -4.89345464e-04 7.01459984e+00] [ 2.41157810e-02 -2.22894842e-04 9.99709147e-01 4.01967255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.16925415399993 meters Centerline goodness [0,1] 0.999245630945895 Centerline is valid? [True, True] Translation: X:440.28, Y:7.01, Z:4.02 [[ 9.99257244e-01 -3.01113232e-02 -2.40472290e-02 4.40277092e+02] [ 3.01081259e-02 9.99546525e-01 -4.95090596e-04 7.01328518e+00] [ 2.40512320e-02 -2.29294134e-04 9.99710701e-01 4.02012854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19925415399996 meters Centerline goodness [0,1] 0.9992884945381493 Centerline is valid? [True, True] Translation: X:440.31, Y:7.01, Z:4.02 [[ 9.99234464e-01 -3.10313053e-02 -2.38231974e-02 4.40305466e+02] [ 3.10282620e-02 9.99518384e-01 -4.97475834e-04 7.01274256e+00] [ 2.38271610e-02 -2.42097410e-04 9.99716064e-01 4.02086633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.22925415399993 meters Centerline goodness [0,1] 0.9992680274385143 Centerline is valid? [True, True] Translation: X:440.33, Y:7.01, Z:4.02 [[ 9.99200578e-01 -3.21588563e-02 -2.37489672e-02 4.40333649e+02] [ 3.21559833e-02 9.99482736e-01 -5.02952696e-04 7.01185875e+00] [ 2.37528571e-02 -2.61120767e-04 9.99717827e-01 4.02132812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25925415399996 meters Centerline goodness [0,1] 0.999081688024377 Centerline is valid? [True, True] Translation: X:440.36, Y:7.01, Z:4.02 [[ 9.99109732e-01 -3.52270864e-02 -2.32119688e-02 4.40362048e+02] [ 3.52250233e-02 9.99379282e-01 -4.97879352e-04 7.00880619e+00] [ 2.32150996e-02 -3.20206037e-04 9.99730442e-01 4.02187363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.28925415399993 meters Centerline goodness [0,1] 0.9992052204467498 Centerline is valid? [True, True] Translation: X:440.39, Y:7.01, Z:4.02 [[ 9.99035963e-01 -3.72617287e-02 -2.32101026e-02 4.40390202e+02] [ 3.72601291e-02 9.99305474e-01 -5.01531347e-04 7.00674808e+00] [ 2.32126705e-02 -3.63763566e-04 9.99730483e-01 4.02113897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31925415399996 meters Centerline goodness [0,1] 0.9990789005421926 Centerline is valid? [True, True] Translation: X:440.42, Y:7.01, Z:4.02 [[ 9.98945742e-01 -3.96829546e-02 -2.30796137e-02 4.40418479e+02] [ 3.96819700e-02 9.99212235e-01 -5.00822614e-04 7.00616133e+00] [ 2.30813065e-02 -4.15549922e-04 9.99733505e-01 4.02212675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.34925415399994 meters Centerline goodness [0,1] 0.9991419362940019 Centerline is valid? [True, True] Translation: X:440.45, Y:7.00, Z:4.02 [[ 9.98761958e-01 -4.42490066e-02 -2.27283184e-02 4.40447821e+02] [ 4.42491971e-02 9.99020402e-01 -4.94783322e-04 7.00257944e+00] [ 2.27279475e-02 -5.11539083e-04 9.99741556e-01 4.02304156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37925415399997 meters Centerline goodness [0,1] 0.9991010014425791 Centerline is valid? [True, True] Translation: X:440.48, Y:7.00, Z:4.02 [[ 9.98630096e-01 -4.68907714e-02 -2.32204133e-02 4.40477037e+02] [ 4.68915890e-02 9.98899854e-01 -5.09582096e-04 7.00053199e+00] [ 2.32187622e-02 -5.79958060e-04 9.99730240e-01 4.02291010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.40925415399994 meters Centerline goodness [0,1] 0.9992895946510656 Centerline is valid? [True, True] Translation: X:440.51, Y:7.00, Z:4.02 [[ 9.98532455e-01 -4.95707472e-02 -2.18100146e-02 4.40505325e+02] [ 4.95720380e-02 9.98770435e-01 -4.81793749e-04 6.99826533e+00] [ 2.18070806e-02 -6.00080175e-04 9.99762017e-01 4.02403143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43925415399997 meters Centerline goodness [0,1] 0.9990592268935672 Centerline is valid? [True, True] Translation: X:440.53, Y:7.00, Z:4.02 [[ 9.98403137e-01 -5.24238507e-02 -2.10455773e-02 4.40534675e+02] [ 5.24256629e-02 9.98624721e-01 -4.65987763e-04 6.99678523e+00] [ 2.10410626e-02 -6.38084695e-04 9.99778409e-01 4.02487943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.46925415399994 meters Centerline goodness [0,1] 0.999059836202574 Centerline is valid? [True, True] Translation: X:440.57, Y:6.99, Z:4.03 [[ 9.98135290e-01 -5.76285433e-02 -2.01219903e-02 4.40565424e+02] [ 5.76312493e-02 9.98337839e-01 -4.45862627e-04 6.99289795e+00] [ 2.01142388e-02 -7.14624219e-04 9.99797433e-01 4.02583637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49925415399997 meters Centerline goodness [0,1] 0.9989565072209701 Centerline is valid? [True, True] Translation: X:440.60, Y:6.99, Z:4.03 [[ 9.97996160e-01 -6.01512507e-02 -1.96339549e-02 4.40596396e+02] [ 6.01543180e-02 9.98188995e-01 -4.34863212e-04 6.99119599e+00] [ 1.96245552e-02 -7.47075350e-04 9.99807141e-01 4.02638807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.52925415399994 meters Centerline goodness [0,1] 0.9988096232562025 Centerline is valid? [True, True] Translation: X:440.63, Y:6.99, Z:4.03 [[ 9.97858213e-01 -6.23743352e-02 -1.97085934e-02 4.40626716e+02] [ 6.23778657e-02 9.98052509e-01 -4.36160997e-04 6.98931526e+00] [ 1.96974164e-02 -7.94153162e-04 9.99805672e-01 4.02641489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5592541539999 meters Centerline goodness [0,1] 0.9989357928343384 Centerline is valid? [True, True] Translation: X:440.66, Y:6.99, Z:4.03 [[ 9.97659767e-01 -6.56862434e-02 -1.89817374e-02 4.40656734e+02] [ 6.56901322e-02 9.97839983e-01 -4.19243790e-04 6.98694958e+00] [ 1.89682751e-02 -8.28650181e-04 9.99819743e-01 4.02754655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.58925415399995 meters Centerline goodness [0,1] 0.9990187481732014 Centerline is valid? [True, True] Translation: X:440.69, Y:6.99, Z:4.03 [[ 9.97582486e-01 -6.68741926e-02 -1.88951245e-02 4.40686751e+02] [ 6.68782796e-02 9.97761055e-01 -4.16215719e-04 6.98604496e+00] [ 1.88806534e-02 -8.48463906e-04 9.99821385e-01 4.02790008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6192541539999 meters Centerline goodness [0,1] 0.9989565072209701 Centerline is valid? [True, True] Translation: X:440.72, Y:6.99, Z:4.03 [[ 9.97531449e-01 -6.76573004e-02 -1.88015434e-02 4.40717819e+02] [ 6.76615005e-02 9.97708249e-01 -4.13371207e-04 6.98564269e+00] [ 1.87864226e-02 -8.59789862e-04 9.99823150e-01 4.02787146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.64925415399995 meters Centerline goodness [0,1] 0.9990608172976583 Centerline is valid? [True, True] Translation: X:440.75, Y:6.99, Z:4.03 [[ 9.97489430e-01 -6.82227919e-02 -1.89865098e-02 4.40749306e+02] [ 6.82271899e-02 9.97669723e-01 -4.16777346e-04 6.98575392e+00] [ 1.89706997e-02 -8.79665212e-04 9.99819653e-01 4.02800686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6792541539999 meters Centerline goodness [0,1] 0.9990179485572201 Centerline is valid? [True, True] Translation: X:440.78, Y:6.99, Z:4.03 [[ 9.97490331e-01 -6.78836578e-02 -2.01208549e-02 4.40780107e+02] [ 6.78885466e-02 9.97692814e-01 -4.40778905e-04 6.98789058e+00] [ 2.01043541e-02 -9.26302901e-04 9.99797458e-01 4.02775871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.70925415399995 meters Centerline goodness [0,1] 0.999206199995822 Centerline is valid? [True, True] Translation: X:440.81, Y:7.00, Z:4.03 [[ 9.97521435e-01 -6.71633871e-02 -2.09777574e-02 4.40810876e+02] [ 6.71685619e-02 9.97741537e-01 -4.58618142e-04 6.99667309e+00] [ 2.09611823e-02 -9.51564372e-04 9.99779837e-01 4.02941054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7392541539999 meters Centerline goodness [0,1] 0.9986615078950121 Centerline is valid? [True, True] Translation: X:440.84, Y:6.99, Z:4.03 [[ 9.97563465e-01 -6.62802440e-02 -2.17729772e-02 4.40841759e+02] [ 6.62856216e-02 9.97800576e-01 -4.75418923e-04 6.99236548e+00] [ 2.17566001e-02 -9.68974781e-04 9.99762828e-01 4.02753470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.76925415399995 meters Centerline goodness [0,1] 0.9991228436573243 Centerline is valid? [True, True] Translation: X:440.87, Y:7.00, Z:4.03 [[ 9.97653204e-01 -6.47663851e-02 -2.22126138e-02 4.40873292e+02] [ 6.47716248e-02 9.97899996e-01 -4.84249833e-04 7.00187437e+00] [ 2.21973303e-02 -9.55633690e-04 9.99753152e-01 4.02989886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7992541539999 meters Centerline goodness [0,1] 0.998806857429929 Centerline is valid? [True, True] Translation: X:440.90, Y:7.01, Z:4.03 [[ 9.97845638e-01 -6.15045638e-02 -2.28313899e-02 4.40903409e+02] [ 6.15092574e-02 9.98106389e-01 -4.97294264e-04 7.00723918e+00] [ 2.28187420e-02 -9.08118928e-04 9.99739206e-01 4.03031836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.82925415399995 meters Centerline goodness [0,1] 0.9988706709051364 Centerline is valid? [True, True] Translation: X:440.93, Y:7.01, Z:4.03 [[ 9.97956136e-01 -5.97734649e-02 -2.25983132e-02 4.40934893e+02] [ 5.97776310e-02 9.98211597e-01 -4.91727134e-04 7.01083634e+00] [ 2.25872905e-02 -8.60151516e-04 9.99744505e-01 4.03092826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8592541539999 meters Centerline goodness [0,1] 0.9989328088053736 Centerline is valid? [True, True] Translation: X:440.96, Y:7.02, Z:4.03 [[ 9.98202526e-01 -5.58129483e-02 -2.18319171e-02 4.40964621e+02] [ 5.58158977e-02 9.98440965e-01 -4.74715485e-04 7.01554255e+00] [ 2.18243757e-02 -7.44705857e-04 9.99761543e-01 4.03206476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.88925415399996 meters Centerline goodness [0,1] 0.9988694177501414 Centerline is valid? [True, True] Translation: X:441.00, Y:7.02, Z:4.03 [[ 9.98328239e-01 -5.36096661e-02 -2.16039484e-02 4.40995606e+02] [ 5.36120437e-02 9.98561730e-01 -4.69534273e-04 7.01993009e+00] [ 2.15980476e-02 -6.89482500e-04 9.99766497e-01 4.03326819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91925415399993 meters Centerline goodness [0,1] 0.9989732198985792 Centerline is valid? [True, True] Translation: X:441.03, Y:7.02, Z:4.03 [[ 9.98460833e-01 -5.09894293e-02 -2.18184223e-02 4.41025857e+02] [ 5.09912331e-02 9.98698988e-01 -4.74022314e-04 7.02295358e+00] [ 2.18142064e-02 -6.39255540e-04 9.99761838e-01 4.03333469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.94925415399996 meters Centerline goodness [0,1] 0.9990161806878363 Centerline is valid? [True, True] Translation: X:441.06, Y:7.03, Z:4.04 [[ 9.98586509e-01 -4.88126765e-02 -2.10310673e-02 4.41056777e+02] [ 4.88138693e-02 9.98807788e-01 -4.56949047e-04 7.02708014e+00] [ 2.10282987e-02 -5.70304614e-04 9.99778718e-01 4.03507316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97925415399993 meters Centerline goodness [0,1] 0.9987023859355378 Centerline is valid? [True, True] Translation: X:441.09, Y:7.03, Z:4.03 [[ 9.98844424e-01 -4.33526433e-02 -2.07452287e-02 4.41086848e+02] [ 4.33526262e-02 9.99059731e-01 -4.50764378e-04 7.03136128e+00] [ 2.07452644e-02 -4.49116659e-04 9.99784693e-01 4.03490657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.00925415399996 meters Centerline goodness [0,1] 0.9987431133083352 Centerline is valid? [True, True] Translation: X:441.12, Y:7.03, Z:4.04 [[ 9.98957087e-01 -4.08677511e-02 -2.03608711e-02 4.41117344e+02] [ 4.08672187e-02 9.99164488e-01 -4.42412832e-04 7.03429884e+00] [ 2.03619397e-02 -3.90140736e-04 9.99792598e-01 4.03542274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03925415399993 meters Centerline goodness [0,1] 0.9989930985295044 Centerline is valid? [True, True] Translation: X:441.15, Y:7.04, Z:4.04 [[ 9.99052966e-01 -3.85240883e-02 -2.02253951e-02 4.41146775e+02] [ 3.85230751e-02 9.99257614e-01 -4.39851897e-04 7.03707029e+00] [ 2.02273250e-02 -3.39709074e-04 9.99795349e-01 4.03580083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.06925415399996 meters Centerline goodness [0,1] 0.999161531044313 Centerline is valid? [True, True] Translation: X:441.18, Y:7.04, Z:4.04 [[ 9.99171875e-01 -3.53977625e-02 -2.00639678e-02 4.41176440e+02] [ 3.53961207e-02 9.99373265e-01 -4.37060004e-04 7.04183556e+00] [ 2.00668640e-02 -2.73488564e-04 9.99798603e-01 4.03659480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09925415399994 meters Centerline goodness [0,1] 0.9988906099552057 Centerline is valid? [True, True] Translation: X:441.21, Y:7.04, Z:4.04 [[ 9.99212807e-01 -3.43431627e-02 -1.98573327e-02 4.41205538e+02] [ 3.43413283e-02 9.99410069e-01 -4.33468188e-04 7.04298728e+00] [ 1.98605049e-02 -2.48800218e-04 9.99802730e-01 4.03653921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12925415399997 meters Centerline goodness [0,1] 0.998845483742312 Centerline is valid? [True, True] Translation: X:441.24, Y:7.04, Z:4.04 [[ 9.99251339e-01 -3.35904932e-02 -1.91947961e-02 4.41235578e+02] [ 3.35886239e-02 9.99435655e-01 -4.19859409e-04 7.04456092e+00] [ 1.91980669e-02 -2.25181711e-04 9.99815675e-01 4.03702289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15925415399994 meters Centerline goodness [0,1] 0.9990138894716966 Centerline is valid? [True, True] Translation: X:441.26, Y:7.05, Z:4.04 [[ 9.99276600e-01 -3.29766533e-02 -1.89424701e-02 4.41264526e+02] [ 3.29747033e-02 9.99456100e-01 -4.15355793e-04 7.04522282e+00] [ 1.89458644e-02 -2.09567008e-04 9.99820489e-01 4.03721055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.18925415399997 meters Centerline goodness [0,1] 0.9991174616516075 Centerline is valid? [True, True] Translation: X:441.29, Y:7.05, Z:4.04 [[ 9.99322811e-01 -3.15503603e-02 -1.89339304e-02 4.41293969e+02] [ 3.15481370e-02 9.99502147e-01 -4.16177373e-04 7.04604741e+00] [ 1.89376346e-02 -1.81434688e-04 9.99820650e-01 4.03765147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21925415399994 meters Centerline goodness [0,1] 0.9991174616516075 Centerline is valid? [True, True] Translation: X:441.32, Y:7.05, Z:4.04 [[ 9.99314725e-01 -3.18054884e-02 -1.89338688e-02 4.41322216e+02] [ 3.18032581e-02 9.99494061e-01 -4.18961036e-04 7.04670816e+00] [ 1.89376147e-02 -1.83484786e-04 9.99820650e-01 4.03791625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.24925415399997 meters Centerline goodness [0,1] 0.9991595932431296 Centerline is valid? [True, True] Translation: X:441.35, Y:7.05, Z:4.04 [[ 9.99323329e-01 -3.15259227e-02 -1.89472787e-02 4.41350994e+02] [ 3.15235476e-02 9.99502920e-01 -4.24085081e-04 7.04758830e+00] [ 1.89512301e-02 -1.73487327e-04 9.99820394e-01 4.03817184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.27925415399994 meters Centerline goodness [0,1] 0.9990356596297771 Centerline is valid? [True, True] Translation: X:441.38, Y:7.05, Z:4.04 [[ 9.99337050e-01 -3.09037716e-02 -1.92462055e-02 4.41379885e+02] [ 3.09011488e-02 9.99522351e-01 -4.33725075e-04 7.04821844e+00] [ 1.92504163e-02 -1.61292322e-04 9.99814681e-01 4.03810455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3092541539999 meters Centerline goodness [0,1] 0.9989719920276933 Centerline is valid? [True, True] Translation: X:441.41, Y:7.05, Z:4.04 [[ 9.99364493e-01 -2.97563326e-02 -1.96257736e-02 4.41408303e+02] [ 2.97533224e-02 9.99557173e-01 -4.45419779e-04 7.04915062e+00] [ 1.96303368e-02 -1.38795258e-04 9.99807297e-01 4.03831501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.33925415399995 meters Centerline goodness [0,1] 0.999056821278112 Centerline is valid? [True, True] Translation: X:441.44, Y:7.05, Z:4.04 [[ 9.99376451e-01 -2.92758589e-02 -1.97391463e-02 4.41437440e+02] [ 2.92726197e-02 9.99571362e-01 -4.53082556e-04 7.04965116e+00] [ 1.97439498e-02 -1.25016486e-04 9.99805061e-01 4.03853160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3692541539999 meters Centerline goodness [0,1] 0.9989722938820026 Centerline is valid? [True, True] Translation: X:441.47, Y:7.05, Z:4.04 [[ 9.99399584e-01 -2.85308288e-02 -1.96586550e-02 4.41465045e+02] [ 2.85274059e-02 9.99592907e-01 -4.54583567e-04 7.04964281e+00] [ 1.96636217e-02 -1.06499802e-04 9.99806647e-01 4.03809838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.39925415399995 meters Centerline goodness [0,1] 0.9992243999580757 Centerline is valid? [True, True] Translation: X:441.49, Y:7.05, Z:4.04 [[ 9.99411230e-01 -2.78574147e-02 -2.00289128e-02 4.41493017e+02] [ 2.78536465e-02 9.99611903e-01 -4.67134036e-04 7.04892399e+00] [ 2.00341528e-02 -9.10192572e-05 9.99799292e-01 4.03842893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4292541539999 meters Centerline goodness [0,1] 0.9992672765716918 Centerline is valid? [True, True] Translation: X:441.52, Y:7.05, Z:4.04 [[ 9.99407950e-01 -2.79085708e-02 -2.01211695e-02 4.41520215e+02] [ 2.79046955e-02 9.99610476e-01 -4.73396974e-04 7.04801407e+00] [ 2.01265436e-02 -8.83584071e-05 9.99797437e-01 4.03767965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.45925415399995 meters Centerline goodness [0,1] 0.999288256227758 Centerline is valid? [True, True] Translation: X:441.55, Y:7.05, Z:4.04 [[ 9.99380414e-01 -2.86045881e-02 -2.05076924e-02 4.41547772e+02] [ 2.86006186e-02 9.99590800e-01 -4.86888568e-04 7.04744714e+00] [ 2.05132279e-02 -9.99457903e-05 9.99789577e-01 4.03825021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4892541539999 meters Centerline goodness [0,1] 0.9992045716199527 Centerline is valid? [True, True] Translation: X:441.58, Y:7.04, Z:4.04 [[ 9.99341124e-01 -2.97634767e-02 -2.07714782e-02 4.41575552e+02] [ 2.97595774e-02 9.99556962e-01 -4.96877526e-04 7.04463549e+00] [ 2.07770645e-02 -1.21600268e-04 9.99784126e-01 4.03780409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.51925415399995 meters Centerline goodness [0,1] 0.9992467516163455 Centerline is valid? [True, True] Translation: X:441.60, Y:7.04, Z:4.04 [[ 9.99287575e-01 -3.18224162e-02 -2.02897991e-02 4.41603307e+02] [ 3.18190383e-02 9.99493526e-01 -4.89376197e-04 7.04360944e+00] [ 2.02950959e-02 -1.56574340e-04 9.99794021e-01 4.03965708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5492541539999 meters Centerline goodness [0,1] 0.9994141401460465 Centerline is valid? [True, True] Translation: X:441.63, Y:7.04, Z:4.04 [[ 9.99234774e-01 -3.31806423e-02 -2.07101866e-02 4.41632042e+02] [ 3.31772962e-02 9.99449354e-01 -5.05231951e-04 7.04202896e+00] [ 2.07155465e-02 -1.82262660e-04 9.99785393e-01 4.03987777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57925415399995 meters Centerline goodness [0,1] 0.9993304038501779 Centerline is valid? [True, True] Translation: X:441.66, Y:7.04, Z:4.04 [[ 9.99189428e-01 -3.45127844e-02 -2.07208775e-02 4.41659395e+02] [ 3.45096346e-02 9.99404235e-01 -5.09672683e-04 7.04037059e+00] [ 2.07261230e-02 -2.05810356e-04 9.99785170e-01 4.03973346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6092541539999 meters Centerline goodness [0,1] 0.9994142994603188 Centerline is valid? [True, True] Translation: X:441.69, Y:7.04, Z:4.04 [[ 9.99103004e-01 -3.66665190e-02 -2.11837987e-02 4.41687907e+02] [ 3.66636157e-02 9.99327525e-01 -5.25548130e-04 7.03779932e+00] [ 2.11888231e-02 -2.51597937e-04 9.99775460e-01 4.04008319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63925415399996 meters Centerline goodness [0,1] 0.9992048212940488 Centerline is valid? [True, True] Translation: X:441.72, Y:7.04, Z:4.04 [[ 9.99056701e-01 -3.78753451e-02 -2.12406860e-02 4.41716155e+02] [ 3.78726263e-02 9.99282434e-01 -5.30396512e-04 7.03643763e+00] [ 2.12455334e-02 -2.74544376e-04 9.99774250e-01 4.04003526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.66925415399993 meters Centerline goodness [0,1] 0.9992241722756914 Centerline is valid? [True, True] Translation: X:441.74, Y:7.04, Z:4.04 [[ 9.99005375e-01 -3.90277603e-02 -2.15660312e-02 4.41744521e+02] [ 3.90251837e-02 9.99238081e-01 -5.40478880e-04 7.03563466e+00] [ 2.15706933e-02 -3.01677022e-04 9.99767280e-01 4.04066634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69925415399996 meters Centerline goodness [0,1] 0.9991851403021249 Centerline is valid? [True, True] Translation: X:441.77, Y:7.03, Z:4.04 [[ 9.98885727e-01 -4.19553254e-02 -2.16114382e-02 4.41772241e+02] [ 4.19533806e-02 9.99119421e-01 -5.43571429e-04 7.03171181e+00] [ 2.16152133e-02 -3.63707149e-04 9.99766298e-01 4.04068210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.72925415399993 meters Centerline goodness [0,1] 0.9993087991956936 Centerline is valid? [True, True] Translation: X:441.80, Y:7.03, Z:4.04 [[ 9.98799602e-01 -4.39500467e-02 -2.16274815e-02 4.41801079e+02] [ 4.39484820e-02 9.99033648e-01 -5.47878775e-04 7.03038813e+00] [ 2.16306610e-02 -4.03273877e-04 9.99765949e-01 4.04119935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75925415399996 meters Centerline goodness [0,1] 0.9992056025922442 Centerline is valid? [True, True] Translation: X:441.83, Y:7.03, Z:4.04 [[ 9.98737555e-01 -4.55101095e-02 -2.12632775e-02 4.41830108e+02] [ 4.55088881e-02 9.98963787e-01 -5.41579881e-04 7.02831043e+00] [ 2.12658916e-02 -4.26771952e-04 9.99773764e-01 4.04150987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.78925415399993 meters Centerline goodness [0,1] 0.999163564886454 Centerline is valid? [True, True] Translation: X:441.86, Y:7.02, Z:4.04 [[ 9.98564464e-01 -4.93101821e-02 -2.09169077e-02 4.41859712e+02] [ 4.93098145e-02 9.98783389e-01 -5.33650038e-04 7.02358398e+00] [ 2.09177743e-02 -4.98524876e-04 9.99781075e-01 4.04198816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81925415399996 meters Centerline goodness [0,1] 0.999165205776776 Centerline is valid? [True, True] Translation: X:441.89, Y:7.02, Z:4.04 [[ 9.98467146e-01 -5.11185326e-02 -2.12191989e-02 4.41889762e+02] [ 5.11185464e-02 9.98692445e-01 -5.42116302e-04 7.02289920e+00] [ 2.12191659e-02 -5.43409288e-04 9.99774700e-01 4.04282692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.84925415399994 meters Centerline goodness [0,1] 0.9991207134782063 Centerline is valid? [True, True] Translation: X:441.92, Y:7.02, Z:4.04 [[ 9.98380933e-01 -5.27573313e-02 -2.12644222e-02 4.41918883e+02] [ 5.27577185e-02 9.98607194e-01 -5.43176254e-04 7.02076455e+00] [ 2.12634615e-02 -5.79565583e-04 9.99773739e-01 4.04306830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87925415399997 meters Centerline goodness [0,1] 0.9989766936763846 Centerline is valid? [True, True] Translation: X:441.95, Y:7.02, Z:4.04 [[ 9.98309466e-01 -5.42694460e-02 -2.08095412e-02 4.41949159e+02] [ 5.42701518e-02 9.98526148e-01 -5.31226533e-04 7.02204051e+00] [ 2.08077004e-02 -5.99008482e-04 9.99783317e-01 4.04443239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.90925415399994 meters Centerline goodness [0,1] 0.9993532774231234 Centerline is valid? [True, True] Translation: X:441.98, Y:7.02, Z:4.04 [[ 9.98224362e-01 -5.58363478e-02 -2.07466805e-02 4.41979114e+02] [ 5.58373831e-02 9.98439736e-01 -5.29830227e-04 7.01594387e+00] [ 2.07438940e-02 -6.29550907e-04 9.99784624e-01 4.04438527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93925415399997 meters Centerline goodness [0,1] 0.9992273961160993 Centerline is valid? [True, True] Translation: X:442.01, Y:7.02, Z:4.04 [[ 9.98222156e-01 -5.59687847e-02 -2.04944428e-02 4.42008357e+02] [ 5.59698154e-02 9.98432324e-01 -5.23749238e-04 7.01507161e+00] [ 2.04916277e-02 -6.24252086e-04 9.99789830e-01 4.04489137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.96925415399994 meters Centerline goodness [0,1] 0.9991651012314757 Centerline is valid? [True, True] Translation: X:442.04, Y:7.02, Z:4.05 [[ 9.98242891e-01 -5.53138968e-02 -2.12486122e-02 4.42037630e+02] [ 5.53148442e-02 9.98468814e-01 -5.43609880e-04 7.01685321e+00] [ 2.12461458e-02 -6.32708975e-04 9.99774075e-01 4.04529861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99925415399997 meters Centerline goodness [0,1] 0.9990813620894837 Centerline is valid? [True, True] Translation: X:442.07, Y:7.02, Z:4.05 [[ 9.98254994e-01 -5.53502053e-02 -2.05747823e-02 4.42068341e+02] [ 5.53510945e-02 9.98466814e-01 -5.26691852e-04 7.01806760e+00] [ 2.05723899e-02 -6.13063950e-04 9.99788178e-01 4.04702284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.02925415399994 meters Centerline goodness [0,1] 0.9993103304144287 Centerline is valid? [True, True] Translation: X:442.10, Y:7.02, Z:4.05 [[ 9.98343560e-01 -5.38140965e-02 -2.03513955e-02 4.42099202e+02] [ 5.38146476e-02 9.98550806e-01 -5.20973395e-04 7.01926462e+00] [ 2.03499381e-02 -5.75092746e-04 9.99792753e-01 4.04899791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0592541539999 meters Centerline goodness [0,1] 0.9993328051374004 Centerline is valid? [True, True] Translation: X:442.13, Y:7.02, Z:4.05 [[ 9.98402958e-01 -5.27360175e-02 -2.02594539e-02 4.42128549e+02] [ 5.27363378e-02 9.98608336e-01 -5.18821618e-04 7.01926490e+00] [ 2.02586202e-02 -5.50416367e-04 9.99794622e-01 4.04977614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.08925415399995 meters Centerline goodness [0,1] 0.9992491083161253 Centerline is valid? [True, True] Translation: X:442.16, Y:7.02, Z:4.05 [[ 9.98447221e-01 -5.18124104e-02 -2.04602175e-02 4.42157612e+02] [ 5.18125356e-02 9.98656691e-01 -5.24339679e-04 7.01978666e+00] [ 2.04599005e-02 -5.36570254e-04 9.99790530e-01 4.04989480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1192541539999 meters Centerline goodness [0,1] 0.9989972843116774 Centerline is valid? [True, True] Translation: X:442.19, Y:7.02, Z:4.05 [[ 9.98560204e-01 -4.89992810e-02 -2.18309233e-02 4.42187467e+02] [ 4.89987380e-02 9.98798683e-01 -5.60101976e-04 7.02114368e+00] [ 2.18321420e-02 -5.10392148e-04 9.99761520e-01 4.04918165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.14925415399995 meters Centerline goodness [0,1] 0.9992476489028214 Centerline is valid? [True, True] Translation: X:442.22, Y:7.02, Z:4.05 [[ 9.98609163e-01 -4.80590626e-02 -2.16810160e-02 4.42217429e+02] [ 4.80582884e-02 9.98844378e-01 -5.57045882e-04 7.02274029e+00] [ 2.16827320e-02 -4.85681398e-04 9.99764784e-01 4.05077035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1792541539999 meters Centerline goodness [0,1] 0.999332985930172 Centerline is valid? [True, True] Translation: X:442.25, Y:7.02, Z:4.05 [[ 9.98658890e-01 -4.69090864e-02 -2.19079881e-02 4.42246344e+02] [ 4.69079968e-02 9.98899055e-01 -5.63908735e-04 7.02348397e+00] [ 2.19103211e-02 -4.64507366e-04 9.99759832e-01 4.05071479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.20925415399995 meters Centerline goodness [0,1] 0.999144318063237 Centerline is valid? [True, True] Translation: X:442.27, Y:7.02, Z:4.05 [[ 9.98695529e-01 -4.58446573e-02 -2.24835017e-02 4.42274597e+02] [ 4.58431539e-02 9.98948480e-01 -5.82557965e-04 7.02402813e+00] [ 2.24865670e-02 -4.48916591e-04 9.99747044e-01 4.05025133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2392541539999 meters Centerline goodness [0,1] 0.9992279281347161 Centerline is valid? [True, True] Translation: X:442.30, Y:7.03, Z:4.05 [[ 9.98790321e-01 -4.34370785e-02 -2.30459326e-02 4.42302732e+02] [ 4.34347745e-02 9.99056084e-01 -6.00763631e-04 7.02547722e+00] [ 2.30502746e-02 -4.00957985e-04 9.99734227e-01 4.05034602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.26925415399995 meters Centerline goodness [0,1] 0.9993327355756199 Centerline is valid? [True, True] Translation: X:442.33, Y:7.03, Z:4.05 [[ 9.98837463e-01 -4.24007157e-02 -2.29325485e-02 4.42331953e+02] [ 4.23980991e-02 9.99100616e-01 -6.00518091e-04 7.02796399e+00] [ 2.29373857e-02 -3.72476498e-04 9.99736834e-01 4.05161580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2992541539999 meters Centerline goodness [0,1] 0.9992901286119926 Centerline is valid? [True, True] Translation: X:442.36, Y:7.03, Z:4.05 [[ 9.98859057e-01 -4.18142037e-02 -2.30685288e-02 4.42361186e+02] [ 4.18112947e-02 9.99125340e-01 -6.08625793e-04 7.02893764e+00] [ 2.30738009e-02 -3.56593672e-04 9.99733701e-01 4.05205289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.32925415399995 meters Centerline goodness [0,1] 0.9992487008786026 Centerline is valid? [True, True] Translation: X:442.39, Y:7.03, Z:4.05 [[ 9.98848579e-01 -4.20345285e-02 -2.31217430e-02 4.42388646e+02] [ 4.20315216e-02 9.99116095e-01 -6.16232473e-04 7.02956903e+00] [ 2.31272086e-02 -3.56319111e-04 9.99732467e-01 4.05235591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3592541539999 meters Centerline goodness [0,1] 0.9992491239779743 Centerline is valid? [True, True] Translation: X:442.42, Y:7.03, Z:4.05 [[ 9.98787652e-01 -4.33788749e-02 -2.32701277e-02 4.42416046e+02] [ 4.33760815e-02 9.99058619e-01 -6.25020954e-04 7.02757634e+00] [ 2.32753343e-02 -3.85103742e-04 9.99729019e-01 4.05209471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.38925415399996 meters Centerline goodness [0,1] 0.9991692627206646 Centerline is valid? [True, True] Translation: X:442.44, Y:7.03, Z:4.05 [[ 9.98715230e-01 -4.57501670e-02 -2.17901547e-02 4.42444799e+02] [ 4.57481854e-02 9.98952830e-01 -5.89680613e-04 7.02648014e+00] [ 2.17943147e-02 -4.07937030e-04 9.99762392e-01 4.05348183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41925415399993 meters Centerline goodness [0,1] 0.9991842369477911 Centerline is valid? [True, True] Translation: X:442.47, Y:7.02, Z:4.05 [[ 9.98504929e-01 -5.02607739e-02 -2.14886410e-02 4.42473995e+02] [ 5.02597767e-02 9.98736006e-01 -5.86815763e-04 7.02273823e+00] [ 2.14909733e-02 -4.94075868e-04 9.99768920e-01 4.05390734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.44925415399996 meters Centerline goodness [0,1] 0.9992307212508057 Centerline is valid? [True, True] Translation: X:442.50, Y:7.02, Z:4.05 [[ 9.98393499e-01 -5.28433331e-02 -2.04451063e-02 4.42502615e+02] [ 5.28429102e-02 9.98602680e-01 -5.61307647e-04 7.02098205e+00] [ 2.04461993e-02 -5.19973010e-04 9.99790819e-01 4.05461778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47925415399993 meters Centerline goodness [0,1] 0.9991440322344934 Centerline is valid? [True, True] Translation: X:442.53, Y:7.02, Z:4.06 [[ 9.98259339e-01 -5.53165405e-02 -2.04541397e-02 4.42532632e+02] [ 5.53166145e-02 9.98468705e-01 -5.62602446e-04 7.01968559e+00] [ 2.04539396e-02 -5.69830616e-04 9.99790634e-01 4.05509247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.50925415399996 meters Centerline goodness [0,1] 0.9991653451297888 Centerline is valid? [True, True] Translation: X:442.56, Y:7.02, Z:4.06 [[ 9.98124887e-01 -5.74870585e-02 -2.10225718e-02 4.42562573e+02] [ 5.74876081e-02 9.98346052e-01 -5.78688339e-04 7.01847194e+00] [ 2.10210686e-02 -6.30934135e-04 9.99778834e-01 4.05507682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53925415399993 meters Centerline goodness [0,1] 0.9990811894420314 Centerline is valid? [True, True] Translation: X:442.59, Y:7.02, Z:4.06 [[ 9.98021654e-01 -5.93945318e-02 -2.06171835e-02 4.42592821e+02] [ 5.93954650e-02 9.98234370e-01 -5.67621079e-04 7.01918912e+00] [ 2.06144947e-02 -6.58069071e-04 9.99787282e-01 4.05638016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.56925415399996 meters Centerline goodness [0,1] 0.9992910906778424 Centerline is valid? [True, True] Translation: X:442.62, Y:7.01, Z:4.06 [[ 9.97804433e-01 -6.31533905e-02 -1.99490099e-02 4.42622463e+02] [ 6.31550105e-02 9.98003579e-01 -5.49412903e-04 7.01271317e+00] [ 1.99438806e-02 -7.11673301e-04 9.99800848e-01 4.05610214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59925415399994 meters Centerline goodness [0,1] 0.9991854296336522 Centerline is valid? [True, True] Translation: X:442.65, Y:7.01, Z:4.06 [[ 9.97711425e-01 -6.47094700e-02 -1.96111482e-02 4.42651907e+02] [ 6.47113257e-02 9.97903879e-01 -5.40618466e-04 7.01166566e+00] [ 1.96050240e-02 -7.29682178e-04 9.99807537e-01 4.05644454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62925415399997 meters Centerline goodness [0,1] 0.9990829703424272 Centerline is valid? [True, True] Translation: X:442.68, Y:7.01, Z:4.06 [[ 9.97614914e-01 -6.58058144e-02 -2.08345506e-02 4.42682564e+02] [ 6.58081408e-02 9.97832129e-01 -5.74681123e-04 7.01056914e+00] [ 2.08272013e-02 -7.97772577e-04 9.99782772e-01 4.05594711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65925415399994 meters Centerline goodness [0,1] 0.9991637222721665 Centerline is valid? [True, True] Translation: X:442.71, Y:7.01, Z:4.06 [[ 9.97532194e-01 -6.73847220e-02 -1.97185511e-02 4.42712232e+02] [ 6.73871119e-02 9.97726757e-01 -5.43983256e-04 7.00965369e+00] [ 1.97103822e-02 -7.86135399e-04 9.99805422e-01 4.05713105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.68925415399997 meters Centerline goodness [0,1] 0.9991236672439335 Centerline is valid? [True, True] Translation: X:442.74, Y:7.01, Z:4.06 [[ 9.97385508e-01 -6.93251197e-02 -2.04003965e-02 4.42741534e+02] [ 6.93280776e-02 9.97593755e-01 -5.63056410e-04 7.00784302e+00] [ 2.03903421e-02 -8.52735969e-04 9.99791732e-01 4.05652774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71925415399994 meters Centerline goodness [0,1] 0.9991852424426014 Centerline is valid? [True, True] Translation: X:442.77, Y:7.02, Z:4.06 [[ 9.97318449e-01 -7.01074503e-02 -2.09965700e-02 4.42772429e+02] [ 7.01107625e-02 9.97539045e-01 -5.79243295e-04 7.01679613e+00] [ 2.09855077e-02 -8.94395510e-04 9.99779380e-01 4.05852621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.74925415399997 meters Centerline goodness [0,1] 0.999124671751907 Centerline is valid? [True, True] Translation: X:442.80, Y:7.02, Z:4.06 [[ 9.97210942e-01 -7.13934956e-02 -2.17556015e-02 4.42803229e+02] [ 7.13973649e-02 9.97447771e-01 -5.99826266e-04 7.01724930e+00] [ 2.17428999e-02 -9.55139300e-04 9.99763139e-01 4.05788706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.77925415399994 meters Centerline goodness [0,1] 0.9993732765104036 Centerline is valid? [True, True] Translation: X:442.83, Y:7.02, Z:4.06 [[ 9.97189436e-01 -7.14721524e-02 -2.24713225e-02 4.42833697e+02] [ 7.14763006e-02 9.97442106e-01 -6.19559495e-04 7.01791508e+00] [ 2.24581244e-02 -9.88348815e-04 9.99747296e-01 4.05754165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8092541539999 meters Centerline goodness [0,1] 0.9993944708928423 Centerline is valid? [True, True] Translation: X:442.86, Y:7.02, Z:4.06 [[ 9.97193270e-01 -7.13491427e-02 -2.26910319e-02 4.42863742e+02] [ 7.13533407e-02 9.97450906e-01 -6.25617130e-04 7.01989265e+00] [ 2.26778276e-02 -9.95219740e-04 9.99742330e-01 4.05761354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.83925415399995 meters Centerline goodness [0,1] 0.9991628121141087 Centerline is valid? [True, True] Translation: X:442.89, Y:7.02, Z:4.06 [[ 9.97188746e-01 -7.07658895e-02 -2.46331961e-02 4.42894249e+02] [ 7.07706600e-02 9.97492382e-01 -6.79164769e-04 7.02200254e+00] [ 2.46194872e-02 -1.06605208e-03 9.99696326e-01 4.05666256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8692541539999 meters Centerline goodness [0,1] 0.9989345923248867 Centerline is valid? [True, True] Translation: X:442.92, Y:7.03, Z:4.06 [[ 9.97270849e-01 -6.97547745e-02 -2.41893653e-02 4.42923277e+02] [ 6.97590647e-02 9.97563646e-01 -6.67464082e-04 7.02529758e+00] [ 2.41769903e-02 -1.02178503e-03 9.99707172e-01 4.05732238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.89925415399995 meters Centerline goodness [0,1] 0.9992468776803832 Centerline is valid? [True, True] Translation: X:442.95, Y:7.03, Z:4.06 [[ 9.97304603e-01 -6.91563030e-02 -2.45139849e-02 4.42953061e+02] [ 6.91605071e-02 9.97605316e-01 -6.77302606e-04 7.02743151e+00] [ 2.45021214e-02 -1.01992262e-03 9.99699258e-01 4.05759525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9292541539999 meters Centerline goodness [0,1] 0.9991005689424364 Centerline is valid? [True, True] Translation: X:442.98, Y:7.03, Z:4.06 [[ 9.97310059e-01 -6.90541948e-02 -2.45797384e-02 4.42982680e+02] [ 6.90583692e-02 9.97612389e-01 -6.79990658e-04 7.02941104e+00] [ 2.45680078e-02 -1.01927513e-03 9.99697641e-01 4.05751059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.95925415399995 meters Centerline goodness [0,1] 0.9992270410294978 Centerline is valid? [True, True] Translation: X:443.01, Y:7.03, Z:4.06 [[ 9.97281059e-01 -6.97331704e-02 -2.38279959e-02 4.43011617e+02] [ 6.97372607e-02 9.97565175e-01 -6.60276729e-04 7.03172665e+00] [ 2.38160221e-02 -1.00321769e-03 9.99715855e-01 4.05819564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9892541539999 meters Centerline goodness [0,1] 0.999036992065652 Centerline is valid? [True, True] Translation: X:443.04, Y:7.03, Z:4.06 [[ 9.97238556e-01 -7.06570014e-02 -2.28659273e-02 4.43040932e+02] [ 7.06609940e-02 9.97500186e-01 -6.34325731e-04 7.03257731e+00] [ 2.28535863e-02 -9.83155075e-04 9.99738339e-01 4.05887346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.01925415399995 meters Centerline goodness [0,1] 0.9989971167105428 Centerline is valid? [True, True] Translation: X:443.07, Y:7.04, Z:4.06 [[ 9.97160155e-01 -7.17395344e-02 -2.29143069e-02 4.43071435e+02] [ 7.17438254e-02 9.97422889e-01 -6.35830978e-04 7.03594277e+00] [ 2.29008684e-02 -1.00993471e-03 9.99737231e-01 4.05988987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0492541539999 meters Centerline goodness [0,1] 0.9989554826714575 Centerline is valid? [True, True] Translation: X:443.10, Y:7.04, Z:4.06 [[ 9.96998966e-01 -7.40841891e-02 -2.24631912e-02 4.43101831e+02] [ 7.40889116e-02 9.97251445e-01 -6.23082839e-04 7.03614403e+00] [ 2.24476105e-02 -1.04306044e-03 9.99747477e-01 4.05958744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07925415399995 meters Centerline goodness [0,1] 0.9988095238095238 Centerline is valid? [True, True] Translation: X:443.13, Y:7.04, Z:4.06 [[ 9.96931341e-01 -7.53221191e-02 -2.13185128e-02 4.43133051e+02] [ 7.53266672e-02 9.97158736e-01 -5.90738454e-04 7.04346227e+00] [ 2.13024370e-02 -1.01692684e-03 9.99772560e-01 4.06240031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1092541539999 meters Centerline goodness [0,1] 0.9987899524326128 Centerline is valid? [True, True] Translation: X:443.16, Y:7.05, Z:4.06 [[ 9.96873343e-01 -7.59924744e-02 -2.16490828e-02 4.43164610e+02] [ 7.59973397e-02 9.97107840e-01 -5.99099838e-04 7.04565039e+00] [ 2.16319973e-02 -1.04804605e-03 9.99765452e-01 4.06224974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13925415399996 meters Centerline goodness [0,1] 0.9987899524326128 Centerline is valid? [True, True] Translation: X:443.20, Y:7.05, Z:4.06 [[ 9.96876129e-01 -7.59559010e-02 -2.16491048e-02 4.43195479e+02] [ 7.59607749e-02 9.97110627e-01 -5.98305612e-04 7.04647365e+00] [ 2.16319973e-02 -1.04804619e-03 9.99765452e-01 4.06253896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.16925415399993 meters Centerline goodness [0,1] 0.9989975356083706 Centerline is valid? [True, True] Translation: X:443.23, Y:7.05, Z:4.06 [[ 9.96821081e-01 -7.67929902e-02 -2.12266128e-02 4.43226919e+02] [ 7.67978813e-02 9.97046510e-01 -5.85859975e-04 7.04731894e+00] [ 2.12089102e-02 -1.04616132e-03 9.99774518e-01 4.06259655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19925415399996 meters Centerline goodness [0,1] 0.9992075408742075 Centerline is valid? [True, True] Translation: X:443.26, Y:7.05, Z:4.06 [[ 9.96706642e-01 -7.82283987e-02 -2.13585574e-02 4.43258137e+02] [ 7.82336963e-02 9.96934874e-01 -5.88714394e-04 7.05124667e+00] [ 2.13391449e-02 -1.08418335e-03 9.99771707e-01 4.06307588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.22925415399993 meters Centerline goodness [0,1] 0.9987270982012437 Centerline is valid? [True, True] Translation: X:443.29, Y:7.05, Z:4.06 [[ 9.96662038e-01 -7.88422418e-02 -2.11821319e-02 4.43289192e+02] [ 7.88476115e-02 9.96886510e-01 -5.82855139e-04 7.05175163e+00] [ 2.11621351e-02 -1.08925091e-03 9.99775464e-01 4.06309773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25925415399996 meters Centerline goodness [0,1] 0.998790658882402 Centerline is valid? [True, True] Translation: X:443.32, Y:7.06, Z:4.06 [[ 9.96646030e-01 -7.90101637e-02 -2.13092875e-02 4.43321488e+02] [ 7.90156663e-02 9.96873203e-01 -5.84945748e-04 7.05658028e+00] [ 2.12888743e-02 -1.10078369e-03 9.99772760e-01 4.06399440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.28925415399993 meters Centerline goodness [0,1] 0.9989761377408166 Centerline is valid? [True, True] Translation: X:443.35, Y:7.06, Z:4.06 [[ 9.96737631e-01 -7.76175822e-02 -2.21270268e-02 4.43353163e+02] [ 7.76232104e-02 9.96982583e-01 -6.05717861e-04 7.06249033e+00] [ 2.21072747e-02 -1.11382907e-03 9.99754984e-01 4.06370691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31925415399996 meters Centerline goodness [0,1] 0.9989757953262823 Centerline is valid? [True, True] Translation: X:443.39, Y:7.07, Z:4.07 [[ 9.96812542e-01 -7.68004802e-02 -2.15972963e-02 4.43385626e+02] [ 7.68056852e-02 9.97045906e-01 -5.89616717e-04 7.06669712e+00] [ 2.15787787e-02 -1.07105780e-03 9.99766577e-01 4.06504607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.34925415399994 meters Centerline goodness [0,1] 0.9989543905142307 Centerline is valid? [True, True] Translation: X:443.42, Y:7.07, Z:4.07 [[ 9.96934798e-01 -7.52583779e-02 -2.13819087e-02 4.43416587e+02] [ 7.52631501e-02 9.97163537e-01 -5.82594245e-04 7.06965522e+00] [ 2.13651048e-02 -1.02846133e-03 9.99771211e-01 4.06540450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37925415399997 meters Centerline goodness [0,1] 0.9987263274382477 Centerline is valid? [True, True] Translation: X:443.45, Y:7.07, Z:4.07 [[ 9.97187962e-01 -7.19060442e-02 -2.11113523e-02 4.43447189e+02] [ 7.19099630e-02 9.97410962e-01 -5.74443065e-04 7.07460410e+00] [ 2.10980001e-02 -9.45288850e-04 9.99776966e-01 4.06506182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.40925415399994 meters Centerline goodness [0,1] 0.9986422125668449 Centerline is valid? [True, True] Translation: X:443.48, Y:7.08, Z:4.07 [[ 9.97315103e-01 -7.01353870e-02 -2.10620979e-02 4.43477693e+02] [ 7.01389052e-02 9.97537070e-01 -5.72544910e-04 7.07755953e+00] [ 2.10503791e-02 -9.06264803e-04 9.99778005e-01 4.06503445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43925415399997 meters Centerline goodness [0,1] 0.9988929735149136 Centerline is valid? [True, True] Translation: X:443.51, Y:7.08, Z:4.07 [[ 9.97442267e-01 -6.83047699e-02 -2.10566271e-02 4.43507739e+02] [ 6.83078870e-02 9.97664125e-01 -5.72017261e-04 7.07997739e+00] [ 2.10465129e-02 -8.67779509e-04 9.99778121e-01 4.06502080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.46925415399994 meters Centerline goodness [0,1] 0.9987015434878217 Centerline is valid? [True, True] Translation: X:443.54, Y:7.09, Z:4.07 [[ 9.97654589e-01 -6.50888992e-02 -2.11838622e-02 4.43538790e+02] [ 6.50913430e-02 9.97879144e-01 -5.74874164e-04 7.08840645e+00] [ 2.11763522e-02 -8.05360193e-04 9.99775432e-01 4.06562521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49925415399997 meters Centerline goodness [0,1] 0.9988098966489195 Centerline is valid? [True, True] Translation: X:443.57, Y:7.09, Z:4.07 [[ 9.97755626e-01 -6.36790375e-02 -2.07048479e-02 4.43570493e+02] [ 6.36810884e-02 9.97970142e-01 -5.60925868e-04 7.09198813e+00] [ 2.06985392e-02 -7.58840305e-04 9.99785474e-01 4.06614277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.52925415399994 meters Centerline goodness [0,1] 0.998889470927187 Centerline is valid? [True, True] Translation: X:443.60, Y:7.10, Z:4.07 [[ 9.97849446e-01 -6.24669016e-02 -1.98587574e-02 4.43601887e+02] [ 6.24685656e-02 9.98046787e-01 -5.37137508e-04 7.09563566e+00] [ 1.98535223e-02 -7.04565725e-04 9.99802651e-01 4.06705486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5592541539999 meters Centerline goodness [0,1] 0.998870174704467 Centerline is valid? [True, True] Translation: X:443.63, Y:7.10, Z:4.07 [[ 9.97916230e-01 -6.16339159e-02 -1.90907750e-02 4.43634019e+02] [ 6.16353210e-02 9.98098603e-01 -5.15338133e-04 7.09825026e+00] [ 1.90862382e-02 -6.62401761e-04 9.99817622e-01 4.06791638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.58925415399995 meters Centerline goodness [0,1] 0.9989106982005572 Centerline is valid? [True, True] Translation: X:443.67, Y:7.10, Z:4.07 [[ 9.97935399e-01 -6.18861724e-02 -1.71767528e-02 4.43665880e+02] [ 6.18873672e-02 9.98083033e-01 -4.62496177e-04 7.10188035e+00] [ 1.71724477e-02 -6.01482702e-04 9.99852362e-01 4.06956291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6192541539999 meters Centerline goodness [0,1] 0.9987446648255084 Centerline is valid? [True, True] Translation: X:443.70, Y:7.10, Z:4.07 [[ 9.97908879e-01 -6.25537826e-02 -1.62755617e-02 4.43697119e+02] [ 6.25549604e-02 9.98041425e-01 -4.37214266e-04 7.10230176e+00] [ 1.62710342e-02 -5.81817117e-04 9.99867449e-01 4.07003424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.64925415399995 meters Centerline goodness [0,1] 0.9987459242538249 Centerline is valid? [True, True] Translation: X:443.73, Y:7.10, Z:4.07 [[ 9.97840388e-01 -6.37535553e-02 -1.58127981e-02 4.43729700e+02] [ 6.37548325e-02 9.97965501e-01 -4.23828403e-04 7.10394374e+00] [ 1.58076476e-02 -5.85229200e-04 9.99874880e-01 4.06976339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6792541539999 meters Centerline goodness [0,1] 0.9987221384280208 Centerline is valid? [True, True] Translation: X:443.76, Y:7.11, Z:4.07 [[ 9.97591068e-01 -6.77665144e-02 -1.48243445e-02 4.43760654e+02] [ 6.77680899e-02 9.97701022e-01 -3.96605285e-04 7.10648217e+00] [ 1.48171402e-02 -6.08967619e-04 9.99890035e-01 4.07110575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.70925415399995 meters Centerline goodness [0,1] 0.9986604433095423 Centerline is valid? [True, True] Translation: X:443.79, Y:7.11, Z:4.07 [[ 9.97464710e-01 -6.95355888e-02 -1.51312124e-02 4.43791534e+02] [ 6.95374408e-02 9.97579260e-01 -4.04328002e-04 7.10601326e+00] [ 1.51226988e-02 -6.48882871e-04 9.99885435e-01 4.07064519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7392541539999 meters Centerline goodness [0,1] 0.9985570287339496 Centerline is valid? [True, True] Translation: X:443.82, Y:7.11, Z:4.07 [[ 9.97330693e-01 -7.13641142e-02 -1.54483900e-02 4.43823646e+02] [ 7.13662784e-02 9.97450091e-01 -4.11840769e-04 7.10760327e+00] [ 1.54383887e-02 -6.91752663e-04 9.99880582e-01 4.07057613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.76925415399995 meters Centerline goodness [0,1] 0.9987440341622708 Centerline is valid? [True, True] Translation: X:443.85, Y:7.11, Z:4.07 [[ 9.97087388e-01 -7.45806378e-02 -1.59520791e-02 4.43854692e+02] [ 7.45833723e-02 9.97214691e-01 -4.24258491e-04 7.10818807e+00] [ 1.59392891e-02 -7.66737063e-04 9.99872667e-01 4.07024010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7992541539999 meters Centerline goodness [0,1] 0.9985095931819136 Centerline is valid? [True, True] Translation: X:443.89, Y:7.11, Z:4.07 [[ 9.97004531e-01 -7.56071917e-02 -1.62947324e-02 4.43886988e+02] [ 7.56101972e-02 9.97137358e-01 -4.32421547e-04 7.11030489e+00] [ 1.62807806e-02 -8.00921686e-04 9.99867139e-01 4.06937655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.82925415399995 meters Centerline goodness [0,1] 0.9984694733310969 Centerline is valid? [True, True] Translation: X:443.92, Y:7.11, Z:4.07 [[ 9.96932700e-01 -7.65663378e-02 -1.62107153e-02 4.43919474e+02] [ 7.65694579e-02 9.97064157e-01 -4.29014118e-04 7.11174463e+00] [ 1.61959713e-02 -8.13547482e-04 9.99868506e-01 4.07034394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8592541539999 meters Centerline goodness [0,1] 0.9984892041043288 Centerline is valid? [True, True] Translation: X:443.95, Y:7.11, Z:4.07 [[ 9.96872544e-01 -7.74880874e-02 -1.55154125e-02 4.43950135e+02] [ 7.74910790e-02 9.96992961e-01 -4.09185688e-04 7.11423143e+00] [ 1.55004641e-02 -7.94400081e-04 9.99879545e-01 4.07163670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.88925415399996 meters Centerline goodness [0,1] 0.9985944154236683 Centerline is valid? [True, True] Translation: X:443.98, Y:7.12, Z:4.07 [[ 9.96893096e-01 -7.73017393e-02 -1.51193754e-02 4.43982581e+02] [ 7.73045823e-02 9.97007444e-01 -3.97178362e-04 7.11584506e+00] [ 1.51048324e-02 -7.72852631e-04 9.99885617e-01 4.07177474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91925415399993 meters Centerline goodness [0,1] 0.9984675777231984 Centerline is valid? [True, True] Translation: X:444.01, Y:7.12, Z:4.07 [[ 9.96954487e-01 -7.66042261e-02 -1.46131079e-02 4.44014835e+02] [ 7.66068220e-02 9.97061306e-01 -3.82857994e-04 7.11767868e+00] [ 1.45994930e-02 -7.37771762e-04 9.99893150e-01 4.07137553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.94925415399996 meters Centerline goodness [0,1] 0.998742428370816 Centerline is valid? [True, True] Translation: X:444.05, Y:7.12, Z:4.07 [[ 9.96971103e-01 -7.64546915e-02 -1.42583437e-02 4.44046988e+02] [ 7.64571619e-02 9.97072798e-01 -3.72563952e-04 7.12042758e+00] [ 1.42450909e-02 -7.18717000e-04 9.99898275e-01 4.07344516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97925415399993 meters Centerline goodness [0,1] 0.9987592791201396 Centerline is valid? [True, True] Translation: X:444.08, Y:7.12, Z:4.07 [[ 9.97113255e-01 -7.45251657e-02 -1.45312258e-02 4.44077469e+02] [ 7.45275384e-02 9.97218884e-01 -3.78922828e-04 7.12447498e+00] [ 1.45190520e-02 -7.05147511e-04 9.99894344e-01 4.07333890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.00925415399996 meters Centerline goodness [0,1] 0.9988633971795412 Centerline is valid? [True, True] Translation: X:444.11, Y:7.13, Z:4.07 [[ 9.97222687e-01 -7.29997831e-02 -1.47629410e-02 4.44109474e+02] [ 7.30020736e-02 9.97331715e-01 -3.84400897e-04 7.13201322e+00] [ 1.47516104e-02 -6.94392010e-04 9.99890948e-01 4.07285779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03925415399993 meters Centerline goodness [0,1] 0.9989249805020973 Centerline is valid? [True, True] Translation: X:444.14, Y:7.14, Z:4.07 [[ 9.97280271e-01 -7.21858616e-02 -1.48749241e-02 4.44141189e+02] [ 7.21881130e-02 9.97390960e-01 -3.86216023e-04 7.13612175e+00] [ 1.48639941e-02 -6.88627079e-04 9.99889288e-01 4.07427466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.06925415399996 meters Centerline goodness [0,1] 0.9989875980764363 Centerline is valid? [True, True] Translation: X:444.17, Y:7.14, Z:4.07 [[ 9.97420139e-01 -7.01373357e-02 -1.52911722e-02 4.44172053e+02] [ 7.01394888e-02 9.97537115e-01 -3.96093199e-04 7.13583241e+00] [ 1.52812927e-02 -6.77443668e-04 9.99883005e-01 4.07377217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09925415399994 meters Centerline goodness [0,1] 0.9987314474184955 Centerline is valid? [True, True] Translation: X:444.20, Y:7.14, Z:4.07 [[ 9.97493120e-01 -6.91627192e-02 -1.49664257e-02 4.44204182e+02] [ 6.91646836e-02 9.97605181e-01 -3.86928962e-04 7.14470893e+00] [ 1.49573449e-02 -6.49189119e-04 9.99887922e-01 4.07425934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12925415399997 meters Centerline goodness [0,1] 0.998941731750164 Centerline is valid? [True, True] Translation: X:444.24, Y:7.15, Z:4.08 [[ 9.97518899e-01 -6.87761307e-02 -1.50296472e-02 4.44236314e+02] [ 6.87780847e-02 9.97631909e-01 -3.87449703e-04 7.14903111e+00] [ 1.50207029e-02 -6.47221945e-04 9.99886973e-01 4.07558536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15925415399994 meters Centerline goodness [0,1] 0.9986648299247642 Centerline is valid? [True, True] Translation: X:444.27, Y:7.15, Z:4.08 [[ 9.97529085e-01 -6.87246674e-02 -1.45823558e-02 4.44268219e+02] [ 6.87265181e-02 9.97635467e-01 -3.74769255e-04 7.15043691e+00] [ 1.45736312e-02 -6.28351308e-04 9.99893602e-01 4.07607064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.18925415399997 meters Centerline goodness [0,1] 0.9986440103394212 Centerline is valid? [True, True] Translation: X:444.30, Y:7.15, Z:4.08 [[ 9.97543709e-01 -6.85939352e-02 -1.41922435e-02 4.44300593e+02] [ 6.85956919e-02 9.97644475e-01 -3.63546579e-04 7.15482518e+00] [ 1.41837504e-02 -6.10873163e-04 9.99899219e-01 4.07685020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21925415399994 meters Centerline goodness [0,1] 0.9988548889878491 Centerline is valid? [True, True] Translation: X:444.33, Y:7.16, Z:4.08 [[ 9.97567598e-01 -6.83160716e-02 -1.38492440e-02 4.44332400e+02] [ 6.83177317e-02 9.97663552e-01 -3.53748705e-04 7.15730966e+00] [ 1.38410527e-02 -5.93260688e-04 9.99904032e-01 4.07764145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.24925415399997 meters Centerline goodness [0,1] 0.9986615110053539 Centerline is valid? [True, True] Translation: X:444.36, Y:7.16, Z:4.08 [[ 9.97659084e-01 -6.71023656e-02 -1.31766976e-02 4.44364523e+02] [ 6.71037750e-02 9.97745945e-01 -3.35627888e-04 7.16139439e+00] [ 1.31695180e-02 -5.49363940e-04 9.99913127e-01 4.07788347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.27925415399994 meters Centerline goodness [0,1] 0.9987259252967532 Centerline is valid? [True, True] Translation: X:444.40, Y:7.16, Z:4.08 [[ 9.97740655e-01 -6.59173109e-02 -1.29805103e-02 4.44396878e+02] [ 6.59185908e-02 9.97824950e-01 -3.29684178e-04 7.16412299e+00] [ 1.29740089e-02 -5.26717638e-04 9.99915695e-01 4.07827245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3092541539999 meters Centerline goodness [0,1] 0.9987238386932108 Centerline is valid? [True, True] Translation: X:444.43, Y:7.17, Z:4.08 [[ 9.97811431e-01 -6.49086139e-02 -1.26182465e-02 4.44428896e+02] [ 6.49097543e-02 9.97891087e-01 -3.19572516e-04 7.16690792e+00] [ 1.26123787e-02 -5.00174171e-04 9.99920336e-01 4.07882830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.33925415399995 meters Centerline goodness [0,1] 0.9989784408453402 Centerline is valid? [True, True] Translation: X:444.46, Y:7.17, Z:4.08 [[ 9.97912060e-01 -6.35277354e-02 -1.16510812e-02 4.44461289e+02] [ 6.35286231e-02 9.97979973e-01 -2.94271277e-04 7.16937070e+00] [ 1.16462401e-02 -4.46520293e-04 9.99932081e-01 4.07974511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3692541539999 meters Centerline goodness [0,1] 0.99904226790959 Centerline is valid? [True, True] Translation: X:444.49, Y:7.18, Z:4.08 [[ 9.98060565e-01 -6.13861064e-02 -1.03370446e-02 4.44493754e+02] [ 6.13866977e-02 9.98114024e-01 -2.60379486e-04 7.17522212e+00] [ 1.03335328e-02 -3.74682533e-04 9.99946537e-01 4.08120073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.39925415399995 meters Centerline goodness [0,1] 0.999021838518298 Centerline is valid? [True, True] Translation: X:444.53, Y:7.18, Z:4.08 [[ 9.98102839e-01 -6.07135242e-02 -1.02269186e-02 4.44526026e+02] [ 6.07140772e-02 9.98155166e-01 -2.56673213e-04 7.17690416e+00] [ 1.02236352e-02 -3.64731664e-04 9.99947671e-01 4.08169379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4292541539999 meters Centerline goodness [0,1] 0.998700080978562 Centerline is valid? [True, True] Translation: X:444.56, Y:7.18, Z:4.08 [[ 9.98124829e-01 -6.02855252e-02 -1.06056996e-02 4.44557418e+02] [ 6.02861042e-02 9.98181103e-01 -2.65388329e-04 7.17719663e+00] [ 1.06024080e-02 -3.74485629e-04 9.99943723e-01 4.08154086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.45925415399995 meters Centerline goodness [0,1] 0.9988928160797172 Centerline is valid? [True, True] Translation: X:444.59, Y:7.18, Z:4.08 [[ 9.98106347e-01 -6.05534357e-02 -1.08167158e-02 4.44589805e+02] [ 6.05540606e-02 9.98164883e-01 -2.70031601e-04 7.18106462e+00] [ 1.08132172e-02 -3.85475808e-04 9.99941461e-01 4.08180271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4892541539999 meters Centerline goodness [0,1] 0.9990001701837985 Centerline is valid? [True, True] Translation: X:444.62, Y:7.18, Z:4.08 [[ 9.98069384e-01 -6.11052279e-02 -1.11200858e-02 4.44620822e+02] [ 6.11059316e-02 9.98131248e-01 -2.76789218e-04 7.17833827e+00] [ 1.11162184e-02 -4.03248356e-04 9.99938132e-01 4.08160885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.51925415399995 meters Centerline goodness [0,1] 0.9990638497053255 Centerline is valid? [True, True] Translation: X:444.65, Y:7.18, Z:4.08 [[ 9.98040104e-01 -6.15870115e-02 -1.10901461e-02 4.44653231e+02] [ 6.15877482e-02 9.98101635e-01 -2.75402748e-04 7.17855521e+00] [ 1.10860542e-02 -4.08154139e-04 9.99938465e-01 4.08127344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5492541539999 meters Centerline goodness [0,1] 0.9988301854687766 Centerline is valid? [True, True] Translation: X:444.69, Y:7.18, Z:4.08 [[ 9.97987910e-01 -6.24490773e-02 -1.09656135e-02 4.44685165e+02] [ 6.24498580e-02 9.98048066e-01 -2.71537866e-04 7.18058549e+00] [ 1.09611667e-02 -4.13809501e-04 9.99939839e-01 4.08056894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57925415399995 meters Centerline goodness [0,1] 0.9988308071682149 Centerline is valid? [True, True] Translation: X:444.72, Y:7.18, Z:4.08 [[ 9.97961681e-01 -6.28086832e-02 -1.12938866e-02 4.44717377e+02] [ 6.28095439e-02 9.98025492e-01 -2.78817792e-04 7.18165710e+00] [ 1.12890989e-02 -4.31114394e-04 9.99936183e-01 4.08160821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6092541539999 meters Centerline goodness [0,1] 0.9992973790107949 Centerline is valid? [True, True] Translation: X:444.75, Y:7.18, Z:4.08 [[ 9.97991141e-01 -6.23229898e-02 -1.13809858e-02 4.44749487e+02] [ 6.23238419e-02 9.98055940e-01 -2.80124457e-04 7.18235678e+00] [ 1.13763187e-02 -4.29745033e-04 9.99935195e-01 4.08179862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63925415399996 meters Centerline goodness [0,1] 0.9991492800782662 Centerline is valid? [True, True] Translation: X:444.78, Y:7.19, Z:4.08 [[ 9.98100086e-01 -6.04081178e-02 -1.21275842e-02 4.44781479e+02] [ 6.04089555e-02 9.98173667e-01 -2.97565243e-04 7.18536718e+00] [ 1.21234106e-02 -4.35614803e-04 9.99926414e-01 4.08018880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.66925415399993 meters Centerline goodness [0,1] 0.9990641682795585 Centerline is valid? [True, True] Translation: X:444.81, Y:7.19, Z:4.08 [[ 9.98140705e-01 -5.96690142e-02 -1.24394926e-02 4.44812858e+02] [ 5.96698492e-02 9.98218121e-01 -3.04340652e-04 7.18680641e+00] [ 1.24354867e-02 -4.38487856e-04 9.99922580e-01 4.08139083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69925415399996 meters Centerline goodness [0,1] 0.9991492981709911 Centerline is valid? [True, True] Translation: X:444.84, Y:7.19, Z:4.08 [[ 9.98196906e-01 -5.85070484e-02 -1.34112488e-02 4.44843701e+02] [ 5.85079247e-02 9.98286890e-01 -3.27341148e-04 7.18776099e+00] [ 1.34074256e-02 -4.57913414e-04 9.99910012e-01 4.08074828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.72925415399993 meters Centerline goodness [0,1] 0.9989160467587672 Centerline is valid? [True, True] Translation: X:444.88, Y:7.19, Z:4.08 [[ 9.98308954e-01 -5.64162920e-02 -1.40155012e-02 4.44875543e+02] [ 5.64170553e-02 9.98407231e-01 -3.41223400e-04 7.19069808e+00] [ 1.40124283e-02 -4.50066933e-04 9.99901720e-01 4.07962178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75925415399996 meters Centerline goodness [0,1] 0.9992544308111793 Centerline is valid? [True, True] Translation: X:444.91, Y:7.19, Z:4.08 [[ 9.98362571e-01 -5.54154540e-02 -1.41882042e-02 4.44907964e+02] [ 5.54161500e-02 9.98463285e-01 -3.44388060e-04 7.19466553e+00] [ 1.41854854e-02 -4.42431505e-04 9.99899283e-01 4.08050104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.78925415399993 meters Centerline goodness [0,1] 0.9989990203177578 Centerline is valid? [True, True] Translation: X:444.94, Y:7.20, Z:4.08 [[ 9.98451939e-01 -5.38806041e-02 -1.38060441e-02 4.44938775e+02] [ 5.38811293e-02 9.98547301e-01 -3.34187505e-04 7.19620948e+00] [ 1.38039943e-02 -4.10215087e-04 9.99904636e-01 4.07897053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81925415399996 meters Centerline goodness [0,1] 0.9991470306002772 Centerline is valid? [True, True] Translation: X:444.97, Y:7.20, Z:4.08 [[ 9.98507784e-01 -5.28454277e-02 -1.37683123e-02 4.44969697e+02] [ 5.28458622e-02 9.98602626e-01 -3.32514584e-04 7.19767828e+00] [ 1.37666446e-02 -3.95579931e-04 9.99905157e-01 4.08159327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.84925415399994 meters Centerline goodness [0,1] 0.9991684080344577 Centerline is valid? [True, True] Translation: X:445.00, Y:7.20, Z:4.08 [[ 9.98708602e-01 -4.93000032e-02 -1.22734591e-02 4.45001346e+02] [ 4.93000884e-02 9.98783968e-01 -2.95795720e-04 7.20212659e+00] [ 1.22731170e-02 -3.09668891e-04 9.99924635e-01 4.08103251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87925415399997 meters Centerline goodness [0,1] 0.999252583924148 Centerline is valid? [True, True] Translation: X:445.03, Y:7.21, Z:4.08 [[ 9.98789256e-01 -4.78235779e-02 -1.15293818e-02 4.45033857e+02] [ 4.78235621e-02 9.98855760e-01 -2.77222803e-04 7.20515163e+00] [ 1.15294472e-02 -2.74488947e-04 9.99933496e-01 4.08313645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.90925415399994 meters Centerline goodness [0,1] 0.9989754535752401 Centerline is valid? [True, True] Translation: X:445.06, Y:7.21, Z:4.08 [[ 9.98839771e-01 -4.68361970e-02 -1.12018960e-02 4.45064552e+02] [ 4.68361287e-02 9.98902550e-01 -2.68576450e-04 7.20684388e+00] [ 1.12021815e-02 -2.56388601e-04 9.99937221e-01 4.08476248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93925415399997 meters Centerline goodness [0,1] 0.9989535281052452 Centerline is valid? [True, True] Translation: X:445.10, Y:7.21, Z:4.08 [[ 9.98919666e-01 -4.52783895e-02 -1.04579084e-02 4.45096247e+02] [ 4.52782504e-02 9.98974383e-01 -2.50179358e-04 7.20881037e+00] [ 1.04585103e-02 -2.23606715e-04 9.99945283e-01 4.08477690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.96925415399994 meters Centerline goodness [0,1] 0.9991663103890551 Centerline is valid? [True, True] Translation: X:445.13, Y:7.21, Z:4.09 [[ 9.98926809e-01 -4.49980400e-02 -1.09729662e-02 4.45128038e+02] [ 4.49978791e-02 9.98987048e-01 -2.61673110e-04 7.21006969e+00] [ 1.09736259e-02 -2.32367921e-04 9.99939761e-01 4.08503340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99925415399997 meters Centerline goodness [0,1] 0.9986749022206074 Centerline is valid? [True, True] Translation: X:445.16, Y:7.21, Z:4.08 [[ 9.98937290e-01 -4.47792615e-02 -1.09136425e-02 4.45160817e+02] [ 4.47790985e-02 9.98996879e-01 -2.59418186e-04 7.21086275e+00] [ 1.09143113e-02 -2.29560572e-04 9.99940411e-01 4.08354966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.02925415399994 meters Centerline goodness [0,1] 0.9986749022206074 Centerline is valid? [True, True] Translation: X:445.19, Y:7.21, Z:4.08 [[ 9.98942154e-01 -4.46706145e-02 -1.09136706e-02 4.45193358e+02] [ 4.46704579e-02 9.99001744e-01 -2.58232240e-04 7.21154153e+00] [ 1.09143113e-02 -2.29559592e-04 9.99940411e-01 4.08385424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0592541539999 meters Centerline goodness [0,1] 0.9989949103973311 Centerline is valid? [True, True] Translation: X:445.23, Y:7.21, Z:4.08 [[ 9.98871239e-01 -4.60038469e-02 -1.18276980e-02 4.45225293e+02] [ 4.60037717e-02 9.98941227e-01 -2.78571224e-04 7.21331290e+00] [ 1.18279905e-02 -2.65861934e-04 9.99930012e-01 4.08468213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.08925415399995 meters Centerline goodness [0,1] 0.9991221872524461 Centerline is valid? [True, True] Translation: X:445.26, Y:7.21, Z:4.08 [[ 9.98840358e-01 -4.66489269e-02 -1.19086761e-02 4.45256435e+02] [ 4.66489090e-02 9.98911308e-01 -2.79426137e-04 7.21263307e+00] [ 1.19087461e-02 -2.76424644e-04 9.99929050e-01 4.08288484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1192541539999 meters Centerline goodness [0,1] 0.9990148205260002 Centerline is valid? [True, True] Translation: X:445.29, Y:7.21, Z:4.08 [[ 9.98751072e-01 -4.83299575e-02 -1.26692954e-02 4.45288108e+02] [ 4.83300920e-02 9.98831375e-01 -2.95723886e-04 7.21231736e+00] [ 1.26687821e-02 -3.16953664e-04 9.99919698e-01 4.08396604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.14925415399995 meters Centerline goodness [0,1] 0.999058622165169 Centerline is valid? [True, True] Translation: X:445.32, Y:7.21, Z:4.08 [[ 9.98573135e-01 -5.15065971e-02 -1.40984033e-02 4.45319587e+02] [ 5.15070919e-02 9.98672575e-01 -3.28244446e-04 7.20934678e+00] [ 1.40965955e-02 -3.98391668e-04 9.99900559e-01 4.08282190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1792541539999 meters Centerline goodness [0,1] 0.9988878432714517 Centerline is valid? [True, True] Translation: X:445.35, Y:7.21, Z:4.08 [[ 9.98501723e-01 -5.26994155e-02 -1.47336573e-02 4.45351070e+02] [ 5.27000978e-02 9.98610326e-01 -3.42206981e-04 7.20797815e+00] [ 1.47312165e-02 -4.34770923e-04 9.99891395e-01 4.08045823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.20925415399995 meters Centerline goodness [0,1] 0.9989747751981033 Centerline is valid? [True, True] Translation: X:445.38, Y:7.21, Z:4.08 [[ 9.98369102e-01 -5.48016029e-02 -1.59975382e-02 4.45383248e+02] [ 5.48026935e-02 9.98497134e-01 -3.70532171e-04 7.20826080e+00] [ 1.59938019e-02 -5.06780313e-04 9.99871963e-01 4.08168392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2392541539999 meters Centerline goodness [0,1] 0.99904 Centerline is valid? [True, True] Translation: X:445.42, Y:7.21, Z:4.08 [[ 9.98340685e-01 -5.52194760e-02 -1.63305510e-02 4.45415839e+02] [ 5.52206878e-02 9.98474103e-01 -3.77050637e-04 7.20831752e+00] [ 1.63264528e-02 -5.25359270e-04 9.99866577e-01 4.08157093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.26925415399995 meters Centerline goodness [0,1] 0.9989108149666838 Centerline is valid? [True, True] Translation: X:445.45, Y:7.21, Z:4.08 [[ 9.98317011e-01 -5.55485433e-02 -1.66584966e-02 4.45447230e+02] [ 5.55498772e-02 9.98455840e-01 -3.82997533e-04 7.20825266e+00] [ 1.66540482e-02 -5.43024488e-04 9.99861164e-01 4.08140770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2992541539999 meters Centerline goodness [0,1] 0.9992532218144576 Centerline is valid? [True, True] Translation: X:445.48, Y:7.20, Z:4.08 [[ 9.98325671e-01 -5.54459301e-02 -1.64803897e-02 4.45478204e+02] [ 5.54472543e-02 9.98461547e-01 -3.76919572e-04 7.20474705e+00] [ 1.64759340e-02 -5.37503872e-04 9.99864118e-01 4.08147015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.32925415399995 meters Centerline goodness [0,1] 0.9988917778440817 Centerline is valid? [True, True] Translation: X:445.51, Y:7.21, Z:4.08 [[ 9.98349151e-01 -5.51507845e-02 -1.60425810e-02 4.45510448e+02] [ 5.51520250e-02 9.98477902e-01 -3.65415161e-04 7.20950895e+00] [ 1.60383156e-02 -5.19968915e-04 9.99871243e-01 4.08252490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3592541539999 meters Centerline goodness [0,1] 0.9990411863720623 Centerline is valid? [True, True] Translation: X:445.54, Y:7.21, Z:4.08 [[ 9.98475227e-01 -5.31492323e-02 -1.49124359e-02 4.45542999e+02] [ 5.31500978e-02 9.98586477e-01 -3.38553907e-04 7.21235019e+00] [ 1.49093507e-02 -4.54559740e-04 9.99888746e-01 4.08457537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.38925415399996 meters Centerline goodness [0,1] 0.9989326046581133 Centerline is valid? [True, True] Translation: X:445.58, Y:7.22, Z:4.09 [[ 9.98587205e-01 -5.12434249e-02 -1.40607894e-02 4.45575699e+02] [ 5.12440228e-02 9.98686111e-01 -3.17994962e-04 7.21509705e+00] [ 1.40586102e-02 -4.02985712e-04 9.99901092e-01 4.08553213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41925415399993 meters Centerline goodness [0,1] 0.9991469578383911 Centerline is valid? [True, True] Translation: X:445.61, Y:7.22, Z:4.09 [[ 9.98691537e-01 -4.92460302e-02 -1.37856007e-02 4.45608269e+02] [ 4.92464319e-02 9.98786610e-01 -3.10525662e-04 7.21828985e+00] [ 1.37841656e-02 -3.68772296e-04 9.99904926e-01 4.08672514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.44925415399996 meters Centerline goodness [0,1] 0.9990394262172605 Centerline is valid? [True, True] Translation: X:445.64, Y:7.22, Z:4.09 [[ 9.98889158e-01 -4.51093030e-02 -1.36235757e-02 4.45638292e+02] [ 4.51093234e-02 9.98982010e-01 -3.05942534e-04 7.22015628e+00] [ 1.36235079e-02 -3.08947604e-04 9.99907148e-01 4.08700523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47925415399993 meters Centerline goodness [0,1] 0.998910861487208 Centerline is valid? [True, True] Translation: X:445.67, Y:7.22, Z:4.09 [[ 9.98971746e-01 -4.33475259e-02 -1.32831589e-02 4.45670353e+02] [ 4.33473956e-02 9.99060016e-01 -2.97856414e-04 7.22213480e+00] [ 1.32835843e-02 -2.78240202e-04 9.99911731e-01 4.08764881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.50925415399996 meters Centerline goodness [0,1] 0.9990177656303383 Centerline is valid? [True, True] Translation: X:445.70, Y:7.22, Z:4.09 [[ 9.99030030e-01 -4.21120879e-02 -1.28674790e-02 4.45702152e+02] [ 4.21118746e-02 9.99112860e-01 -2.87646223e-04 7.22491341e+00] [ 1.28681772e-02 -2.54506449e-04 9.99917169e-01 4.08858964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53925415399993 meters Centerline goodness [0,1] 0.9988717883219448 Centerline is valid? [True, True] Translation: X:445.73, Y:7.23, Z:4.09 [[ 9.99090978e-01 -4.07962432e-02 -1.23646274e-02 4.45733879e+02] [ 4.07959563e-02 9.99167460e-01 -2.75533682e-04 7.22569653e+00] [ 1.23655741e-02 -2.29143584e-04 9.99923517e-01 4.08891573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.56925415399996 meters Centerline goodness [0,1] 0.9991236132783275 Centerline is valid? [True, True] Translation: X:445.77, Y:7.23, Z:4.09 [[ 9.99091989e-01 -4.07158650e-02 -1.25465815e-02 4.45767161e+02] [ 4.07155764e-02 9.99170738e-01 -2.78540505e-04 7.22520014e+00] [ 1.25475181e-02 -2.32553710e-04 9.99921250e-01 4.08934521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59925415399994 meters Centerline goodness [0,1] 0.998975212963556 Centerline is valid? [True, True] Translation: X:445.80, Y:7.23, Z:4.09 [[ 9.99072747e-01 -4.12175550e-02 -1.24402472e-02 4.45799349e+02] [ 4.12173256e-02 9.99150167e-01 -2.74932726e-04 7.22508037e+00] [ 1.24410072e-02 -2.38075927e-04 9.99922579e-01 4.08950451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62925415399997 meters Centerline goodness [0,1] 0.9991257250085295 Centerline is valid? [True, True] Translation: X:445.83, Y:7.22, Z:4.09 [[ 9.99006549e-01 -4.25298082e-02 -1.33090118e-02 4.45830769e+02] [ 4.25296748e-02 9.99095161e-01 -2.93180391e-04 7.22294621e+00] [ 1.33094382e-02 -2.73138812e-04 9.99911388e-01 4.08908729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65925415399994 meters Centerline goodness [0,1] 0.9992751614897564 Centerline is valid? [True, True] Translation: X:445.86, Y:7.22, Z:4.09 [[ 9.98974673e-01 -4.29872693e-02 -1.42019977e-02 4.45862932e+02] [ 4.29871762e-02 9.99075575e-01 -3.11958255e-04 7.22257407e+00] [ 1.42022793e-02 -2.98865383e-04 9.99899098e-01 4.08865998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.68925415399997 meters Centerline goodness [0,1] 0.9992751305830935 Centerline is valid? [True, True] Translation: X:445.89, Y:7.22, Z:4.09 [[ 9.98969265e-01 -4.27645288e-02 -1.52185054e-02 4.45894497e+02] [ 4.27644118e-02 9.99085129e-01 -3.33256590e-04 7.22223206e+00] [ 1.52188340e-02 -3.17897343e-04 9.99884136e-01 4.08810195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71925415399994 meters Centerline goodness [0,1] 0.9993163707833963 Centerline is valid? [True, True] Translation: X:445.93, Y:7.22, Z:4.09 [[ 9.98973211e-01 -4.22658738e-02 -1.63131756e-02 4.45926444e+02] [ 4.22656897e-02 9.99106343e-01 -3.56203271e-04 7.22249456e+00] [ 1.63136525e-02 -3.33650094e-04 9.99866868e-01 4.08770827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.74925415399997 meters Centerline goodness [0,1] 0.9989532822079337 Centerline is valid? [True, True] Translation: X:445.96, Y:7.22, Z:4.09 [[ 9.98997538e-01 -4.14262246e-02 -1.69642719e-02 4.45958595e+02] [ 4.14259252e-02 9.99141510e-01 -3.69201670e-04 7.22294050e+00] [ 1.69650029e-02 -3.33929101e-04 9.99856028e-01 4.08733325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.77925415399994 meters Centerline goodness [0,1] 0.9993383702565416 Centerline is valid? [True, True] Translation: X:445.99, Y:7.22, Z:4.09 [[ 9.99055052e-01 -3.99363490e-02 -1.71491113e-02 4.45991212e+02] [ 3.99358494e-02 9.99202177e-01 -3.71722993e-04 7.22498089e+00] [ 1.71502746e-02 -3.13492592e-04 9.99852874e-01 4.08826362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8092541539999 meters Centerline goodness [0,1] 0.9992304074564966 Centerline is valid? [True, True] Translation: X:446.02, Y:7.22, Z:4.09 [[ 9.99068589e-01 -3.97630604e-02 -1.67586908e-02 4.46022660e+02] [ 3.97625822e-02 9.99209090e-01 -3.61871383e-04 7.22440132e+00] [ 1.67598253e-02 -3.04834489e-04 9.99859498e-01 4.08814619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.83925415399995 meters Centerline goodness [0,1] 0.9994035192365046 Centerline is valid? [True, True] Translation: X:446.05, Y:7.22, Z:4.09 [[ 9.99132110e-01 -3.88853242e-02 -1.49318069e-02 4.46053867e+02] [ 3.88848577e-02 9.99243646e-01 -3.21673050e-04 7.22444963e+00] [ 1.49330216e-02 -2.59227315e-04 9.99888463e-01 4.08965200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8692541539999 meters Centerline goodness [0,1] 0.9991253706508523 Centerline is valid? [True, True] Translation: X:446.09, Y:7.23, Z:4.09 [[ 9.99184051e-01 -3.78527108e-02 -1.40856186e-02 4.46085904e+02] [ 3.78522046e-02 9.99283303e-01 -3.02629351e-04 7.22664078e+00] [ 1.40869788e-02 -2.30789295e-04 9.99900747e-01 4.08941523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.89925415399995 meters Centerline goodness [0,1] 0.9989565809927387 Centerline is valid? [True, True] Translation: X:446.12, Y:7.23, Z:4.09 [[ 9.99222834e-01 -3.71247624e-02 -1.32469065e-02 4.46117032e+02] [ 3.71242621e-02 9.99310617e-01 -2.83749556e-04 7.22715543e+00] [ 1.32483085e-02 -2.08252595e-04 9.99912216e-01 4.09156232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9292541539999 meters Centerline goodness [0,1] 0.9990832533845005 Centerline is valid? [True, True] Translation: X:446.15, Y:7.23, Z:4.09 [[ 9.99278426e-01 -3.56954625e-02 -1.29792804e-02 4.46149209e+02] [ 3.56948716e-02 9.99362697e-01 -2.77254062e-04 7.22857914e+00] [ 1.29809054e-02 -1.86239746e-04 9.99915727e-01 4.09195668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.95925415399995 meters Centerline goodness [0,1] 0.9993825451913045 Centerline is valid? [True, True] Translation: X:446.18, Y:7.23, Z:4.09 [[ 9.99368592e-01 -3.30473404e-02 -1.30495731e-02 4.46179987e+02] [ 3.30465288e-02 9.99453776e-01 -2.77879815e-04 7.22963288e+00] [ 1.30516283e-02 -1.53538732e-04 9.99914812e-01 4.09220231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9892541539999 meters Centerline goodness [0,1] 0.9989777011053607 Centerline is valid? [True, True] Translation: X:446.21, Y:7.23, Z:4.09 [[ 9.99403569e-01 -3.19391404e-02 -1.31300042e-02 4.46211578e+02] [ 3.19382323e-02 9.99489806e-01 -2.78888691e-04 7.22996794e+00] [ 1.31322128e-02 -1.40626770e-04 9.99913759e-01 4.09127060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.01925415399995 meters Centerline goodness [0,1] 0.9994035065294732 Centerline is valid? [True, True] Translation: X:446.24, Y:7.23, Z:4.09 [[ 9.99418469e-01 -3.14185957e-02 -1.32512159e-02 4.46243921e+02] [ 3.14176354e-02 9.99506305e-01 -2.80684370e-04 7.23097816e+00] [ 1.32534926e-02 -1.35800728e-04 9.99912159e-01 4.09225939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0492541539999 meters Centerline goodness [0,1] 0.9990643075876149 Centerline is valid? [True, True] Translation: X:446.28, Y:7.23, Z:4.09 [[ 9.99393842e-01 -3.19946861e-02 -1.37218036e-02 4.46275221e+02] [ 3.19937235e-02 9.99488028e-01 -2.89717553e-04 7.22872154e+00] [ 1.37240478e-02 -1.49469651e-04 9.99905810e-01 4.09157594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07925415399995 meters Centerline goodness [0,1] 0.9990842295815142 Centerline is valid? [True, True] Translation: X:446.31, Y:7.23, Z:4.09 [[ 9.99359312e-01 -3.29150376e-02 -1.40558428e-02 4.46307691e+02] [ 3.29141307e-02 9.99458139e-01 -2.95909790e-04 7.22850177e+00] [ 1.40579664e-02 -1.66915644e-04 9.99901168e-01 4.09183583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1092541539999 meters Centerline goodness [0,1] 0.998915839374163 Centerline is valid? [True, True] Translation: X:446.34, Y:7.23, Z:4.09 [[ 9.99270452e-01 -3.52614212e-02 -1.46695704e-02 4.46339583e+02] [ 3.52607024e-02 9.99378101e-01 -3.07721051e-04 7.22597736e+00] [ 1.46712981e-02 -2.09762802e-04 9.99892349e-01 4.09146661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13925415399996 meters Centerline goodness [0,1] 0.9987899116847826 Centerline is valid? [True, True] Translation: X:446.37, Y:7.22, Z:4.09 [[ 9.99224066e-01 -3.65000767e-02 -1.47989801e-02 4.46371463e+02] [ 3.64994972e-02 9.99333623e-01 -3.09340112e-04 7.22476892e+00] [ 1.48004094e-02 -2.31055249e-04 9.99890441e-01 4.09132876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.16925415399993 meters Centerline goodness [0,1] 0.9989168064906654 Centerline is valid? [True, True] Translation: X:446.40, Y:7.22, Z:4.09 [[ 9.99176272e-01 -3.77667879e-02 -1.48474691e-02 4.46403053e+02] [ 3.77663634e-02 9.99286549e-01 -3.09073000e-04 7.22280695e+00] [ 1.48485488e-02 -2.51916505e-04 9.99889722e-01 4.09141758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19925415399996 meters Centerline goodness [0,1] 0.9990023137829289 Centerline is valid? [True, True] Translation: X:446.44, Y:7.22, Z:4.09 [[ 9.99124911e-01 -3.89547335e-02 -1.52296079e-02 4.46435098e+02] [ 3.89544471e-02 9.99240938e-01 -3.15563860e-04 7.22180843e+00] [ 1.52303404e-02 -2.77973242e-04 9.99883973e-01 4.09140542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.22925415399993 meters Centerline goodness [0,1] 0.9990878622035552 Centerline is valid? [True, True] Translation: X:446.47, Y:7.22, Z:4.09 [[ 9.99032292e-01 -4.11022429e-02 -1.56551702e-02 4.46466701e+02] [ 4.11022203e-02 9.99154894e-01 -3.23334343e-04 7.21894358e+00] [ 1.56552296e-02 -3.20440802e-04 9.99877398e-01 4.09106286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25925415399996 meters Centerline goodness [0,1] 0.9991729052234216 Centerline is valid? [True, True] Translation: X:446.50, Y:7.22, Z:4.09 [[ 9.98986535e-01 -4.20896894e-02 -1.59486966e-02 4.46498424e+02] [ 4.20898057e-02 9.99113777e-01 -3.28518199e-04 7.21848423e+00] [ 1.59483897e-02 -3.43092283e-04 9.99872757e-01 4.09134901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.28925415399993 meters Centerline goodness [0,1] 0.9987274385458864 Centerline is valid? [True, True] Translation: X:446.53, Y:7.22, Z:4.09 [[ 9.98957099e-01 -4.27275209e-02 -1.60957843e-02 4.46530533e+02] [ 4.27277382e-02 9.99086699e-01 -3.30543854e-04 7.21835708e+00] [ 1.60952073e-02 -3.57537329e-04 9.99870400e-01 4.09132750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31925415399996 meters Centerline goodness [0,1] 0.9988971134064349 Centerline is valid? [True, True] Translation: X:446.56, Y:7.22, Z:4.09 [[ 9.98899904e-01 -4.40107806e-02 -1.61874534e-02 4.46562553e+02] [ 4.40111880e-02 9.99030983e-01 -3.31240495e-04 7.21836232e+00] [ 1.61863457e-02 -3.81552958e-04 9.99868920e-01 4.09181400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.34925415399994 meters Centerline goodness [0,1] 0.999004764425622 Centerline is valid? [True, True] Translation: X:446.59, Y:7.22, Z:4.09 [[ 9.98874450e-01 -4.47149608e-02 -1.58241945e-02 4.46594562e+02] [ 4.47154566e-02 9.98999712e-01 -3.22660224e-04 7.21869247e+00] [ 1.58227935e-02 -3.85289027e-04 9.99874738e-01 4.09252879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37925415399997 meters Centerline goodness [0,1] 0.9989198347982633 Centerline is valid? [True, True] Translation: X:446.63, Y:7.22, Z:4.09 [[ 9.98860102e-01 -4.51171279e-02 -1.55865497e-02 4.46626578e+02] [ 4.51176756e-02 9.98981629e-01 -3.16678526e-04 7.21864388e+00] [ 1.55849644e-02 -3.86911346e-04 9.99878472e-01 4.09298700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.40925415399994 meters Centerline goodness [0,1] 0.9988765712105475 Centerline is valid? [True, True] Translation: X:446.66, Y:7.22, Z:4.09 [[ 9.98855881e-01 -4.53860695e-02 -1.50676401e-02 4.46659172e+02] [ 4.53866281e-02 9.98969449e-01 -3.05053302e-04 7.21883179e+00] [ 1.50659573e-02 -3.79165092e-04 9.99886430e-01 4.09338865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43925415399997 meters Centerline goodness [0,1] 0.9987077092557677 Centerline is valid? [True, True] Translation: X:446.69, Y:7.22, Z:4.09 [[ 9.98835413e-01 -4.59411358e-02 -1.47387099e-02 4.46691729e+02] [ 4.59417463e-02 9.98944076e-01 -2.97334772e-04 7.21887760e+00] [ 1.47368068e-02 -3.80133571e-04 9.99891335e-01 4.09414081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.46925415399994 meters Centerline goodness [0,1] 0.9988549375516869 Centerline is valid? [True, True] Translation: X:446.72, Y:7.22, Z:4.09 [[ 9.98828675e-01 -4.61724027e-02 -1.44702463e-02 4.46723532e+02] [ 4.61730304e-02 9.98933415e-01 -2.90879707e-04 7.21973667e+00] [ 1.44682431e-02 -3.77596128e-04 9.99895258e-01 4.09470315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49925415399997 meters Centerline goodness [0,1] 0.9986683013443814 Centerline is valid? [True, True] Translation: X:446.75, Y:7.22, Z:4.09 [[ 9.98837242e-01 -4.59239789e-02 -1.46680462e-02 4.46754697e+02] [ 4.59246116e-02 9.98944865e-01 -2.93874463e-04 7.21967731e+00] [ 1.46660653e-02 -3.80091568e-04 9.99892375e-01 4.09344625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.52925415399994 meters Centerline goodness [0,1] 0.998774017628781 Centerline is valid? [True, True] Translation: X:446.79, Y:7.22, Z:4.10 [[ 9.98800475e-01 -4.69957351e-02 -1.37481376e-02 4.46786192e+02] [ 4.69964021e-02 9.98895021e-01 -2.74730509e-04 7.21884349e+00] [ 1.37458574e-02 -3.71712040e-04 9.99905452e-01 4.09520561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5592541539999 meters Centerline goodness [0,1] 0.998876523582406 Centerline is valid? [True, True] Translation: X:446.82, Y:7.22, Z:4.10 [[ 9.98783189e-01 -4.72944103e-02 -1.39778093e-02 4.46818665e+02] [ 4.72951409e-02 9.98880920e-01 -2.78470756e-04 7.22049927e+00] [ 1.39753371e-02 -3.82950550e-04 9.99902267e-01 4.09592040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.58925415399995 meters Centerline goodness [0,1] 0.998899028180644 Centerline is valid? [True, True] Translation: X:446.85, Y:7.22, Z:4.10 [[ 9.98741933e-01 -4.82752833e-02 -1.35664148e-02 4.46850241e+02] [ 4.82760772e-02 9.98833994e-01 -2.69143182e-04 7.21933998e+00] [ 1.35635893e-02 -3.86128708e-04 9.99907936e-01 4.09648061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6192541539999 meters Centerline goodness [0,1] 0.9988135593220339 Centerline is valid? [True, True] Translation: X:446.88, Y:7.22, Z:4.10 [[ 9.98721530e-01 -4.87194710e-02 -1.34802979e-02 4.46882604e+02] [ 4.87203133e-02 9.98812425e-01 -2.66101928e-04 7.21898384e+00] [ 1.34772533e-02 -3.91002611e-04 9.99909101e-01 4.09692776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.64925415399995 meters Centerline goodness [0,1] 0.9986029380635875 Centerline is valid? [True, True] Translation: X:446.91, Y:7.22, Z:4.10 [[ 9.98700432e-01 -4.92443348e-02 -1.31317483e-02 4.46914154e+02] [ 4.92451906e-02 9.98786686e-01 -2.58367717e-04 7.21806278e+00] [ 1.31285385e-02 -3.88643498e-04 9.99913741e-01 4.09732984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6792541539999 meters Centerline goodness [0,1] 0.998728598067469 Centerline is valid? [True, True] Translation: X:446.95, Y:7.22, Z:4.10 [[ 9.98672289e-01 -4.97993229e-02 -1.31790481e-02 4.46946047e+02] [ 4.98002434e-02 9.98759165e-01 -2.58524469e-04 7.21934932e+00] [ 1.31755694e-02 -3.98138582e-04 9.99913119e-01 4.09814936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.70925415399995 meters Centerline goodness [0,1] 0.9986218886486028 Centerline is valid? [True, True] Translation: X:446.98, Y:7.22, Z:4.10 [[ 9.98672307e-01 -4.97045796e-02 -1.35306457e-02 4.46978736e+02] [ 4.97055545e-02 9.98763880e-01 -2.64441725e-04 7.21930910e+00] [ 1.35270642e-02 -4.08457619e-04 9.99908422e-01 4.09798882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7392541539999 meters Centerline goodness [0,1] 0.998515754208897 Centerline is valid? [True, True] Translation: X:447.01, Y:7.22, Z:4.10 [[ 9.98688213e-01 -4.92431133e-02 -1.40346006e-02 4.47011317e+02] [ 4.92441309e-02 9.98786734e-01 -2.73270250e-04 7.22013828e+00] [ 1.40310296e-02 -4.18209932e-04 9.99901473e-01 4.09759080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.76925415399995 meters Centerline goodness [0,1] 0.9986441539732644 Centerline is valid? [True, True] Translation: X:447.04, Y:7.22, Z:4.10 [[ 9.98727817e-01 -4.78394798e-02 -1.59415379e-02 4.47043917e+02] [ 4.78406338e-02 9.98854934e-01 -3.09171908e-04 7.22122410e+00] [ 1.59380744e-02 -4.53874694e-04 9.99872878e-01 4.09595247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7992541539999 meters Centerline goodness [0,1] 0.9987931910569106 Centerline is valid? [True, True] Translation: X:447.08, Y:7.22, Z:4.10 [[ 9.98745179e-01 -4.74223217e-02 -1.60993813e-02 4.47075918e+02] [ 4.74234634e-02 9.98874826e-01 -3.11060472e-04 7.22367346e+00] [ 1.60960179e-02 -4.52818273e-04 9.99870348e-01 4.09709924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.82925415399995 meters Centerline goodness [0,1] 0.9986858002840368 Centerline is valid? [True, True] Translation: X:447.11, Y:7.22, Z:4.10 [[ 9.98760301e-01 -4.70618470e-02 -1.62186363e-02 4.47107105e+02] [ 4.70629756e-02 9.98891875e-01 -3.12290892e-04 7.22138280e+00] [ 1.62153611e-02 -4.51393542e-04 9.99868420e-01 4.09643020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8592541539999 meters Centerline goodness [0,1] 0.9986248042990733 Centerline is valid? [True, True] Translation: X:447.14, Y:7.22, Z:4.10 [[ 9.98774893e-01 -4.66789688e-02 -1.64252193e-02 4.47139663e+02] [ 4.66800917e-02 9.98909841e-01 -3.15231395e-04 7.22421714e+00] [ 1.64220278e-02 -4.51885540e-04 9.99865047e-01 4.09737594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.88925415399996 meters Centerline goodness [0,1] 0.998731742374601 Centerline is valid? [True, True] Translation: X:447.17, Y:7.23, Z:4.10 [[ 9.98822658e-01 -4.58704006e-02 -1.57862187e-02 4.47172371e+02] [ 4.58713564e-02 9.98947310e-01 -3.01725535e-04 7.22537889e+00] [ 1.57834410e-02 -4.22764966e-04 9.99875344e-01 4.09848228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91925415399993 meters Centerline goodness [0,1] 0.9987307497038416 Centerline is valid? [True, True] Translation: X:447.20, Y:7.23, Z:4.10 [[ 9.98858409e-01 -4.52690460e-02 -1.52509846e-02 4.47203247e+02] [ 4.52698855e-02 9.98974751e-01 -2.90350562e-04 7.22563801e+00] [ 1.52484925e-02 -4.00391229e-04 9.99883655e-01 4.09935552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.94925415399996 meters Centerline goodness [0,1] 0.9987307497038416 Centerline is valid? [True, True] Translation: X:447.23, Y:7.23, Z:4.10 [[ 9.98861656e-01 -4.51973259e-02 -1.52510023e-02 4.47234944e+02] [ 4.51981713e-02 9.98977999e-01 -2.89419225e-04 7.22617871e+00] [ 1.52484968e-02 -4.00227649e-04 9.99883655e-01 4.09965235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97925415399993 meters Centerline goodness [0,1] 0.9988143380406936 Centerline is valid? [True, True] Translation: X:447.27, Y:7.23, Z:4.10 [[ 9.98932051e-01 -4.38355395e-02 -1.46014870e-02 4.47266717e+02] [ 4.38361839e-02 9.99038694e-01 -2.76072616e-04 7.22759178e+00] [ 1.45995523e-02 -3.64295685e-04 9.99893354e-01 4.10076069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.00925415399996 meters Centerline goodness [0,1] 0.9990057118679924 Centerline is valid? [True, True] Translation: X:447.30, Y:7.23, Z:4.10 [[ 9.99133925e-01 -3.92729246e-02 -1.37490670e-02 4.47297948e+02] [ 3.92730750e-02 9.99228482e-01 -2.59161435e-04 7.23119845e+00] [ 1.37486373e-02 -2.81031157e-04 9.99905444e-01 4.10056006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03925415399993 meters Centerline goodness [0,1] 0.9989186438521722 Centerline is valid? [True, True] Translation: X:447.33, Y:7.23, Z:4.10 [[ 9.99220079e-01 -3.75785685e-02 -1.21278698e-02 4.47329190e+02] [ 3.75785662e-02 9.99293650e-01 -2.28152520e-04 7.23302425e+00] [ 1.21278770e-02 -2.27773380e-04 9.99926429e-01 4.10372190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.06925415399996 meters Centerline goodness [0,1] 0.9990471552290003 Centerline is valid? [True, True] Translation: X:447.36, Y:7.24, Z:4.10 [[ 9.99324841e-01 -3.49361016e-02 -1.13724011e-02 4.47361807e+02] [ 3.49359359e-02 9.99389531e-01 -2.13283360e-04 7.23547968e+00] [ 1.13729099e-02 -1.84166115e-04 9.99935309e-01 4.10371636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09925415399994 meters Centerline goodness [0,1] 0.9988359788359789 Centerline is valid? [True, True] Translation: X:447.39, Y:7.24, Z:4.10 [[ 9.99434121e-01 -3.16671465e-02 -1.13415353e-02 4.47394271e+02] [ 3.16667826e-02 9.99498459e-01 -2.11707625e-04 7.23699323e+00] [ 1.13425512e-02 -1.47562107e-04 9.99935660e-01 4.10323728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12925415399997 meters Centerline goodness [0,1] 0.9991323853055697 Centerline is valid? [True, True] Translation: X:447.43, Y:7.24, Z:4.11 [[ 9.99437140e-01 -3.18229268e-02 -1.06162393e-02 4.47426512e+02] [ 3.18226245e-02 9.99493513e-01 -1.97431835e-04 7.23701788e+00] [ 1.06171451e-02 -1.40515888e-04 9.99943627e-01 4.10580509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15925415399994 meters Centerline goodness [0,1] 0.9990675002649146 Centerline is valid? [True, True] Translation: X:447.46, Y:7.24, Z:4.11 [[ 9.99425751e-01 -3.20462417e-02 -1.10094074e-02 4.47458646e+02] [ 3.20459394e-02 9.99486376e-01 -2.03914676e-04 7.23613103e+00] [ 1.10102874e-02 -1.49009224e-04 9.99939374e-01 4.10526959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.18925415399997 meters Centerline goodness [0,1] 0.9990883456654016 Centerline is valid? [True, True] Translation: X:447.49, Y:7.24, Z:4.11 [[ 9.99394646e-01 -3.28361085e-02 -1.14948792e-02 4.47491064e+02] [ 3.28358411e-02 9.99460736e-01 -2.12042222e-04 7.23503920e+00] [ 1.14956431e-02 -1.65530167e-04 9.99933909e-01 4.10502008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21925415399994 meters Centerline goodness [0,1] 0.9985835993488785 Centerline is valid? [True, True] Translation: X:447.52, Y:7.23, Z:4.10 [[ 9.99279265e-01 -3.57261673e-02 -1.28293616e-02 4.47523317e+02] [ 3.57260853e-02 9.99361592e-01 -2.35648194e-04 7.23164111e+00] [ 1.28295900e-02 -2.22864511e-04 9.99917673e-01 4.10300982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.24925415399997 meters Centerline goodness [0,1] 0.9989632262705768 Centerline is valid? [True, True] Translation: X:447.56, Y:7.23, Z:4.10 [[ 9.99204322e-01 -3.75380823e-02 -1.34764960e-02 4.47555724e+02] [ 3.75381703e-02 9.99295164e-01 -2.46512120e-04 7.22984719e+00] [ 1.34762509e-02 -2.59567027e-04 9.99909158e-01 4.10286250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.27925415399994 meters Centerline goodness [0,1] 0.998837528797582 Centerline is valid? [True, True] Translation: X:447.59, Y:7.23, Z:4.10 [[ 9.99037933e-01 -4.13766408e-02 -1.45320828e-02 4.47588246e+02] [ 4.13771653e-02 9.99143563e-01 -2.64697771e-04 7.22550626e+00] [ 1.45305893e-02 -3.36853277e-04 9.99894369e-01 4.10180912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3092541539999 meters Centerline goodness [0,1] 0.9987091313088562 Centerline is valid? [True, True] Translation: X:447.62, Y:7.22, Z:4.10 [[ 9.98964346e-01 -4.28739682e-02 -1.52334515e-02 4.47620611e+02] [ 4.28747362e-02 9.99080418e-01 -2.76316886e-04 7.22314095e+00] [ 1.52312899e-02 -3.77099496e-04 9.99883926e-01 4.10012113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.33925415399995 meters Centerline goodness [0,1] 0.998774458014622 Centerline is valid? [True, True] Translation: X:447.65, Y:7.22, Z:4.10 [[ 9.98874025e-01 -4.49686539e-02 -1.51162979e-02 4.47652690e+02] [ 4.49696665e-02 9.98988316e-01 -2.73084673e-04 7.22209555e+00] [ 1.51132853e-02 -4.06997691e-04 9.99885705e-01 4.10149494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3692541539999 meters Centerline goodness [0,1] 0.9987332418452444 Centerline is valid? [True, True] Translation: X:447.68, Y:7.22, Z:4.10 [[ 9.98735455e-01 -4.80495082e-02 -1.47897327e-02 4.47684714e+02] [ 4.80508308e-02 9.98844856e-01 -2.66108192e-04 7.21898497e+00] [ 1.47854348e-02 -4.44887257e-04 9.99890591e-01 4.10176082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.39925415399995 meters Centerline goodness [0,1] 0.9988593878714911 Centerline is valid? [True, True] Translation: X:447.72, Y:7.22, Z:4.10 [[ 9.98674062e-01 -4.94511388e-02 -1.43074587e-02 4.47716388e+02] [ 4.94525375e-02 9.98776442e-01 -2.56231564e-04 7.21861599e+00] [ 1.43026236e-02 -4.51648321e-04 9.99897610e-01 4.10265768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4292541539999 meters Centerline goodness [0,1] 0.9990718670238572 Centerline is valid? [True, True] Translation: X:447.75, Y:7.22, Z:4.10 [[ 9.98622747e-01 -5.04985760e-02 -1.42303324e-02 4.47747756e+02] [ 5.05000839e-02 9.98724025e-01 -2.53580879e-04 7.21677598e+00] [ 1.42249803e-02 -4.65401345e-04 9.99898712e-01 4.10243512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.45925415399995 meters Centerline goodness [0,1] 0.9987125369354158 Centerline is valid? [True, True] Translation: X:447.78, Y:7.22, Z:4.10 [[ 9.98587006e-01 -5.13628533e-02 -1.36326051e-02 4.47779537e+02] [ 5.13643286e-02 9.98679952e-01 -2.42117655e-04 7.21662938e+00] [ 1.36270453e-02 -4.58454064e-04 9.99907042e-01 4.10264849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4892541539999 meters Centerline goodness [0,1] 0.9992428385142809 Centerline is valid? [True, True] Translation: X:447.81, Y:7.22, Z:4.10 [[ 9.98520760e-01 -5.28487791e-02 -1.27788331e-02 4.47811349e+02] [ 5.28502084e-02 9.98602426e-01 -2.26056897e-04 7.21687241e+00] [ 1.27729206e-02 -4.49641489e-04 9.99918322e-01 4.10454688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.51925415399995 meters Centerline goodness [0,1] 0.998990090260683 Centerline is valid? [True, True] Translation: X:447.84, Y:7.22, Z:4.11 [[ 9.98510581e-01 -5.32128184e-02 -1.20422747e-02 4.47843372e+02] [ 5.32141243e-02 9.98583102e-01 -2.12178971e-04 7.21669680e+00] [ 1.20365027e-02 -4.28956157e-04 9.99927467e-01 4.10516499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5492541539999 meters Centerline goodness [0,1] 0.9993475469871403 Centerline is valid? [True, True] Translation: X:447.88, Y:7.22, Z:4.11 [[ 9.98505727e-01 -5.33529171e-02 -1.18228362e-02 4.47875361e+02] [ 5.33541957e-02 9.98575629e-01 -2.07458020e-04 7.21690207e+00] [ 1.18170646e-02 -4.23649895e-04 9.99930086e-01 4.10565089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57925415399995 meters Centerline goodness [0,1] 0.9991797762261294 Centerline is valid? [True, True] Translation: X:447.91, Y:7.22, Z:4.11 [[ 9.98479755e-01 -5.39082687e-02 -1.14925124e-02 4.47907901e+02] [ 5.39095230e-02 9.98545804e-01 -2.00838331e-04 7.21843635e+00] [ 1.14866269e-02 -4.19022856e-04 9.99933939e-01 4.10578919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6092541539999 meters Centerline goodness [0,1] 0.9989910243205179 Centerline is valid? [True, True] Translation: X:447.94, Y:7.22, Z:4.11 [[ 9.98472545e-01 -5.40027091e-02 -1.16740912e-02 4.47939162e+02] [ 5.40040196e-02 9.98540698e-01 -2.03178452e-04 7.21787663e+00] [ 1.16680274e-02 -4.27579744e-04 9.99931835e-01 4.10549235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63925415399996 meters Centerline goodness [0,1] 0.999117053481332 Centerline is valid? [True, True] Translation: X:447.97, Y:7.22, Z:4.11 [[ 9.98448314e-01 -5.42718972e-02 -1.24709677e-02 4.47971631e+02] [ 5.42734234e-02 9.98526088e-01 -2.16270443e-04 7.21895043e+00] [ 1.24643240e-02 -4.60907251e-04 9.99922211e-01 4.10508972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.66925415399993 meters Centerline goodness [0,1] 0.9991557441060386 Centerline is valid? [True, True] Translation: X:448.00, Y:7.22, Z:4.11 [[ 9.98430662e-01 -5.45643753e-02 -1.26072102e-02 4.48004099e+02] [ 5.45659700e-02 9.98510144e-01 -2.17707012e-04 7.22159308e+00] [ 1.26003063e-02 -4.70559297e-04 9.99920502e-01 4.10543972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69925415399996 meters Centerline goodness [0,1] 0.999303224171787 Centerline is valid? [True, True] Translation: X:448.04, Y:7.22, Z:4.11 [[ 9.98426833e-01 -5.46709811e-02 -1.24476018e-02 4.48035386e+02] [ 5.46725546e-02 9.98504314e-01 -2.14089524e-04 7.22168362e+00] [ 1.24406886e-02 -4.66789465e-04 9.99922503e-01 4.10557278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.72925415399993 meters Centerline goodness [0,1] 0.9993669684117238 Centerline is valid? [True, True] Translation: X:448.07, Y:7.22, Z:4.11 [[ 9.98428006e-01 -5.46312375e-02 -1.25277934e-02 4.48067454e+02] [ 5.46328377e-02 9.98506488e-01 -2.14711665e-04 7.22208786e+00] [ 1.25208130e-02 -4.70054767e-04 9.99921501e-01 4.10601506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75925415399996 meters Centerline goodness [0,1] 0.9991793965408408 Centerline is valid? [True, True] Translation: X:448.10, Y:7.22, Z:4.11 [[ 9.98471198e-01 -5.40487406e-02 -1.15758525e-02 4.48099993e+02] [ 5.40500770e-02 9.98538207e-01 -1.97597677e-04 7.22407882e+00] [ 1.15696109e-02 -4.28380130e-04 9.99932978e-01 4.10666334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.78925415399993 meters Centerline goodness [0,1] 0.9992188654548525 Centerline is valid? [True, True] Translation: X:448.13, Y:7.23, Z:4.11 [[ 9.98513159e-01 -5.32924269e-02 -1.14624897e-02 4.48131774e+02] [ 5.32936971e-02 9.98578862e-01 -1.94821775e-04 7.22624956e+00] [ 1.14565824e-02 -4.16346347e-04 9.99934285e-01 4.10606913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81925415399996 meters Centerline goodness [0,1] 0.999239624036329 Centerline is valid? [True, True] Translation: X:448.16, Y:7.22, Z:4.11 [[ 9.98525536e-01 -5.29733530e-02 -1.18565118e-02 4.48162812e+02] [ 5.29747024e-02 9.98595835e-01 -2.00441146e-04 7.22399762e+00] [ 1.18504814e-02 -4.27949583e-04 9.99929689e-01 4.10718669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.84925415399994 meters Centerline goodness [0,1] 0.9993027236038625 Centerline is valid? [True, True] Translation: X:448.20, Y:7.23, Z:4.11 [[ 9.98586898e-01 -5.16863159e-02 -1.23584928e-02 4.48195290e+02] [ 5.16877034e-02 9.98663276e-01 -2.07327401e-04 7.22757104e+00] [ 1.23526889e-02 -4.31747685e-04 9.99923609e-01 4.10741312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87925415399997 meters Centerline goodness [0,1] 0.9990909859631321 Centerline is valid? [True, True] Translation: X:448.23, Y:7.23, Z:4.11 [[ 9.98604926e-01 -5.12135252e-02 -1.28599200e-02 4.48227296e+02] [ 5.12150005e-02 9.98687628e-01 -2.14790388e-04 7.23156676e+00] [ 1.28540432e-02 -4.44130070e-04 9.99917285e-01 4.10712932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.90925415399994 meters Centerline goodness [0,1] 0.9992811079395285 Centerline is valid? [True, True] Translation: X:448.26, Y:7.23, Z:4.11 [[ 9.98619837e-01 -5.07263957e-02 -1.36108124e-02 4.48259176e+02] [ 5.07280174e-02 9.98712480e-01 -2.26290145e-04 7.23260099e+00] [ 1.36047670e-02 -4.64471699e-04 9.99907343e-01 4.10681419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93925415399997 meters Centerline goodness [0,1] 0.9994293564408749 Centerline is valid? [True, True] Translation: X:448.29, Y:7.23, Z:4.11 [[ 9.98607984e-01 -5.05940435e-02 -1.49109570e-02 4.48291401e+02] [ 5.05959924e-02 9.98719172e-01 -2.46749506e-04 7.23414916e+00] [ 1.49043427e-02 -5.08028642e-04 9.99888795e-01 4.10620073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.96925415399994 meters Centerline goodness [0,1] 0.9991328807393778 Centerline is valid? [True, True] Translation: X:448.32, Y:7.24, Z:4.11 [[ 9.98591173e-01 -5.08658447e-02 -1.51107741e-02 4.48323876e+02] [ 5.08678941e-02 9.98705360e-01 -2.48939230e-04 7.23546791e+00] [ 1.51038735e-02 -5.20064738e-04 9.99885795e-01 4.10624267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9992541539999 meters Centerline goodness [0,1] 0.9993016168627783 Centerline is valid? [True, True] Translation: X:448.36, Y:7.23, Z:4.11 [[ 9.98570635e-01 -5.11995168e-02 -1.53393813e-02 4.48355379e+02] [ 5.12016838e-02 9.98688302e-01 -2.51676694e-04 7.23361505e+00] [ 1.53321464e-02 -5.34085197e-04 9.99882313e-01 4.10589895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.02925415399994 meters Centerline goodness [0,1] 0.9990059852378234 Centerline is valid? [True, True] Translation: X:448.39, Y:7.24, Z:4.11 [[ 9.98542469e-01 -5.17582015e-02 -1.52979264e-02 4.48387244e+02] [ 5.17604368e-02 9.98659499e-01 -2.50043975e-04 7.23883405e+00] [ 1.52903613e-02 -5.42147822e-04 9.99882949e-01 4.10685926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0592541539999 meters Centerline goodness [0,1] 0.9993857754056 Centerline is valid? [True, True] Translation: X:448.42, Y:7.24, Z:4.11 [[ 9.98575980e-01 -5.12249694e-02 -1.49001447e-02 4.48418082e+02] [ 5.12270454e-02 9.98687004e-01 -2.42557962e-04 7.23620007e+00] [ 1.48930059e-02 -5.21077834e-04 9.99888957e-01 4.10707951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.08925415399995 meters Centerline goodness [0,1] 0.9990254030805737 Centerline is valid? [True, True] Translation: X:448.45, Y:7.24, Z:4.11 [[ 9.98689550e-01 -4.92070815e-02 -1.40657694e-02 4.48450528e+02] [ 4.92087430e-02 9.98788490e-01 -2.28153847e-04 7.24094623e+00] [ 1.40599553e-02 -4.64303967e-04 9.99901046e-01 4.10811741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1192541539999 meters Centerline goodness [0,1] 0.998751666208239 Centerline is valid? [True, True] Translation: X:448.48, Y:7.24, Z:4.11 [[ 9.98783360e-01 -4.73555364e-02 -1.37569090e-02 4.48482517e+02] [ 4.73569636e-02 9.98878005e-01 -2.22179313e-04 7.24486262e+00] [ 1.37519952e-02 -4.29576435e-04 9.99905345e-01 4.10731186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.14925415399995 meters Centerline goodness [0,1] 0.9988969496415087 Centerline is valid? [True, True] Translation: X:448.51, Y:7.25, Z:4.11 [[ 9.98847698e-01 -4.60111464e-02 -1.36473735e-02 4.48513866e+02] [ 4.60124379e-02 9.98940843e-01 -2.19506046e-04 7.24704811e+00] [ 1.36430185e-02 -4.08695816e-04 9.99906846e-01 4.10972063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1792541539999 meters Centerline goodness [0,1] 0.9992580344272026 Centerline is valid? [True, True] Translation: X:448.55, Y:7.25, Z:4.11 [[ 9.98944773e-01 -4.39768156e-02 -1.32431407e-02 4.48546267e+02] [ 4.39778633e-02 9.99032483e-01 -2.12226917e-04 7.25174316e+00] [ 1.32396608e-02 -3.70402061e-04 9.99912283e-01 4.11105045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.20925415399995 meters Centerline goodness [0,1] 0.9993628408801292 Centerline is valid? [True, True] Translation: X:448.58, Y:7.25, Z:4.11 [[ 9.99112499e-01 -4.01882923e-02 -1.26141304e-02 4.48577111e+02] [ 4.01889509e-02 9.99192077e-01 -2.01367545e-04 7.25322562e+00] [ 1.26120318e-02 -3.05759837e-04 9.99920418e-01 4.11126422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2392541539999 meters Centerline goodness [0,1] 0.9992577669388187 Centerline is valid? [True, True] Translation: X:448.61, Y:7.26, Z:4.11 [[ 9.99173195e-01 -3.86721097e-02 -1.25456933e-02 4.48609358e+02] [ 3.86726490e-02 9.99251913e-01 -1.99700015e-04 7.25769452e+00] [ 1.25440309e-02 -2.85640292e-04 9.99921280e-01 4.11256682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.26925415399995 meters Centerline goodness [0,1] 0.9992567424081547 Centerline is valid? [True, True] Translation: X:448.64, Y:7.26, Z:4.11 [[ 9.99220734e-01 -3.73983626e-02 -1.26208824e-02 4.48640237e+02] [ 3.73988178e-02 9.99300399e-01 -2.00031044e-04 7.25874143e+00] [ 1.26195336e-02 -2.72130913e-04 9.99920333e-01 4.11290109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2992541539999 meters Centerline goodness [0,1] 0.9994691580847224 Centerline is valid? [True, True] Translation: X:448.67, Y:7.26, Z:4.11 [[ 9.99256801e-01 -3.63032790e-02 -1.29582654e-02 4.48672206e+02] [ 3.63036770e-02 9.99340783e-01 -2.04591052e-04 7.26087436e+00] [ 1.29571505e-02 -2.65993683e-04 9.99916017e-01 4.11262423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.32925415399995 meters Centerline goodness [0,1] 0.9990852815418324 Centerline is valid? [True, True] Translation: X:448.70, Y:7.26, Z:4.11 [[ 9.99256038e-01 -3.60967895e-02 -1.35791466e-02 4.48703427e+02] [ 3.60972203e-02 9.99348260e-01 -2.13442653e-04 7.26057838e+00] [ 1.35780011e-02 -2.76885586e-04 9.99907776e-01 4.11045519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3592541539999 meters Centerline goodness [0,1] 0.99936225845539 Centerline is valid? [True, True] Translation: X:448.74, Y:7.26, Z:4.11 [[ 9.99186541e-01 -3.78262756e-02 -1.39795913e-02 4.48735861e+02] [ 3.78269136e-02 9.99284282e-01 -2.18874340e-04 7.26137950e+00] [ 1.39778650e-02 -3.10108495e-04 9.99902257e-01 4.11244735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.38925415399996 meters Centerline goodness [0,1] 0.99936225845539 Centerline is valid? [True, True] Translation: X:448.77, Y:7.26, Z:4.11 [[ 9.99189282e-01 -3.77537977e-02 -1.39796071e-02 4.48767558e+02] [ 3.77544427e-02 9.99287023e-01 -2.17859536e-04 7.26181402e+00] [ 1.39778650e-02 -3.10109362e-04 9.99902257e-01 4.11274411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41925415399993 meters Centerline goodness [0,1] 0.9994044453897692 Centerline is valid? [True, True] Translation: X:448.80, Y:7.26, Z:4.11 [[ 9.99122280e-01 -3.92681415e-02 -1.45836324e-02 4.48798252e+02] [ 3.92690178e-02 9.99228649e-01 -2.26375245e-04 7.26019400e+00] [ 1.45812727e-02 -3.46508370e-04 9.99893628e-01 4.11226205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.44925415399996 meters Centerline goodness [0,1] 0.9993206521739131 Centerline is valid? [True, True] Translation: X:448.83, Y:7.26, Z:4.11 [[ 9.99089451e-01 -3.99373487e-02 -1.50092451e-02 4.48830317e+02] [ 3.99383637e-02 9.99202118e-01 -2.32225883e-04 7.26062227e+00] [ 1.50065440e-02 -3.67430259e-04 9.99887328e-01 4.11205871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47925415399993 meters Centerline goodness [0,1] 0.9991727122311315 Centerline is valid? [True, True] Translation: X:448.86, Y:7.26, Z:4.11 [[ 9.99046294e-01 -4.08528163e-02 -1.54126666e-02 4.48862313e+02] [ 4.08540130e-02 9.99165098e-01 -2.37337197e-04 7.25997972e+00] [ 1.54094944e-02 -3.92558435e-04 9.99881190e-01 4.11210445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.50925415399996 meters Centerline goodness [0,1] 0.9992561421406104 Centerline is valid? [True, True] Translation: X:448.89, Y:7.26, Z:4.11 [[ 9.99051593e-01 -4.07205385e-02 -1.54192163e-02 4.48894560e+02] [ 4.07217378e-02 9.99170498e-01 -2.36315010e-04 7.26143139e+00] [ 1.54160490e-02 -3.91806397e-04 9.99881089e-01 4.11240871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53925415399993 meters Centerline goodness [0,1] 0.9993413644379289 Centerline is valid? [True, True] Translation: X:448.93, Y:7.26, Z:4.11 [[ 9.99045882e-01 -4.08338773e-02 -1.54893580e-02 4.48925330e+02] [ 4.08351171e-02 9.99165871e-01 -2.36357866e-04 7.26021243e+00] [ 1.54860893e-02 -3.96377395e-04 9.99880005e-01 4.11355299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.56925415399996 meters Centerline goodness [0,1] 0.9994693608982659 Centerline is valid? [True, True] Translation: X:448.96, Y:7.26, Z:4.11 [[ 9.99116214e-01 -3.90074715e-02 -1.56590920e-02 4.48957789e+02] [ 3.90085295e-02 9.99238849e-01 -2.37983368e-04 7.26139734e+00] [ 1.56564562e-02 -3.73065109e-04 9.99877361e-01 4.11144534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59925415399994 meters Centerline goodness [0,1] 0.9993413084588743 Centerline is valid? [True, True] Translation: X:448.99, Y:7.26, Z:4.11 [[ 9.99143946e-01 -3.85725084e-02 -1.49511768e-02 4.48989605e+02] [ 3.85734397e-02 9.99255742e-01 -2.26188434e-04 7.26387742e+00] [ 1.49487739e-02 -3.50723513e-04 9.99888199e-01 4.11488914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62925415399997 meters Centerline goodness [0,1] 0.9995750106247344 Centerline is valid? [True, True] Translation: X:449.02, Y:7.26, Z:4.12 [[ 9.99196616e-01 -3.72459437e-02 -1.47940171e-02 4.49020428e+02] [ 3.72467245e-02 9.99306075e-01 -2.22844617e-04 7.26448652e+00] [ 1.47920513e-02 -3.28363094e-04 9.99890538e-01 4.11518230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65925415399994 meters Centerline goodness [0,1] 0.9991288643365558 Centerline is valid? [True, True] Translation: X:449.05, Y:7.27, Z:4.11 [[ 9.99318236e-01 -3.39825134e-02 -1.44309423e-02 4.49052330e+02] [ 3.39829272e-02 9.99422390e-01 -2.16604699e-04 7.26696555e+00] [ 1.44299676e-02 -2.73948637e-04 9.99895845e-01 4.11416997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.68925415399997 meters Centerline goodness [0,1] 0.9994893399719137 Centerline is valid? [True, True] Translation: X:449.08, Y:7.27, Z:4.12 [[ 9.99378333e-01 -3.23556524e-02 -1.40020944e-02 4.49084231e+02] [ 3.23558942e-02 9.99476389e-01 -2.09328852e-04 7.26927808e+00] [ 1.40015358e-02 -2.43851566e-04 9.99901944e-01 4.11629757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71925415399994 meters Centerline goodness [0,1] 0.9992133183084217 Centerline is valid? [True, True] Translation: X:449.12, Y:7.27, Z:4.12 [[ 9.99489232e-01 -2.85830041e-02 -1.42929234e-02 4.49115303e+02] [ 2.85828842e-02 9.99591403e-01 -2.12701733e-04 7.27145613e+00] [ 1.42931630e-02 -1.95939883e-04 9.99897828e-01 4.11648284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7492541539999 meters Centerline goodness [0,1] 0.9994664731742712 Centerline is valid? [True, True] Translation: X:449.15, Y:7.27, Z:4.12 [[ 9.99537648e-01 -2.66294993e-02 -1.46751476e-02 4.49146511e+02] [ 2.66291731e-02 9.99645357e-01 -2.17670708e-04 7.27399435e+00] [ 1.46757396e-02 -1.73216978e-04 9.99892291e-01 4.11716881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.77925415399994 meters Centerline goodness [0,1] 0.9994244911009272 Centerline is valid? [True, True] Translation: X:449.18, Y:7.28, Z:4.12 [[ 9.99624039e-01 -2.24077443e-02 -1.58010707e-02 4.49177387e+02] [ 2.24068444e-02 9.99748908e-01 -2.34007360e-04 7.27654491e+00] [ 1.58023467e-02 -1.20132750e-04 9.99875128e-01 4.11680898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8092541539999 meters Centerline goodness [0,1] 0.9994658005512939 Centerline is valid? [True, True] Translation: X:449.21, Y:7.28, Z:4.12 [[ 9.99656087e-01 -2.05150490e-02 -1.63352281e-02 4.49207365e+02] [ 2.05138304e-02 9.99789540e-01 -2.42173197e-04 7.27785037e+00] [ 1.63367584e-02 -9.30081884e-05 9.99866542e-01 4.11680009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.83925415399995 meters Centerline goodness [0,1] 0.9994658005512939 Centerline is valid? [True, True] Translation: X:449.24, Y:7.28, Z:4.12 [[ 9.99650790e-01 -2.07716212e-02 -1.63351962e-02 4.49235598e+02] [ 2.07704020e-02 9.99784242e-01 -2.44304627e-04 7.27830609e+00] [ 1.63367464e-02 -9.50692793e-05 9.99866542e-01 4.11706472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8692541539999 meters Centerline goodness [0,1] 0.9993815312433355 Centerline is valid? [True, True] Translation: X:449.26, Y:7.28, Z:4.12 [[ 9.99676155e-01 -1.90690318e-02 -1.68510428e-02 4.49264467e+02] [ 1.90674438e-02 9.99818167e-01 -2.54907526e-04 7.27900419e+00] [ 1.68528396e-02 -6.64813380e-05 9.99857979e-01 4.11588951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.89925415399995 meters Centerline goodness [0,1] 0.9996800682521062 Centerline is valid? [True, True] Translation: X:449.29, Y:7.28, Z:4.12 [[ 9.99679628e-01 -1.83503617e-02 -1.74328617e-02 4.49292941e+02] [ 1.83485079e-02 9.99831617e-01 -2.66291051e-04 7.27995329e+00] [ 1.74348129e-02 -5.36612618e-05 9.99848001e-01 4.11699191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9292541539999 meters Centerline goodness [0,1] 0.9996154421347234 Centerline is valid? [True, True] Translation: X:449.32, Y:7.28, Z:4.12 [[ 9.99693710e-01 -1.75971695e-02 -1.74018956e-02 4.49320643e+02] [ 1.75951261e-02 9.99845157e-01 -2.70534174e-04 7.28059718e+00] [ 1.74039616e-02 -3.57372350e-05 9.99848539e-01 4.11728608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.95925415399995 meters Centerline goodness [0,1] 0.9996151214505645 Centerline is valid? [True, True] Translation: X:449.35, Y:7.28, Z:4.12 [[ 9.99688812e-01 -1.75085532e-02 -1.77688039e-02 4.49348871e+02] [ 1.75063159e-02 9.99846713e-01 -2.81464922e-04 7.28053352e+00] [ 1.77710082e-02 -2.96889601e-05 9.99842083e-01 4.11764480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9892541539999 meters Centerline goodness [0,1] 0.999743128692525 Centerline is valid? [True, True] Translation: X:449.38, Y:7.28, Z:4.12 [[ 9.99668129e-01 -1.79922490e-02 -1.84366465e-02 4.49376347e+02] [ 1.79898218e-02 9.99838126e-01 -2.97507520e-04 7.28008876e+00] [ 1.84390149e-02 -3.42631987e-05 9.99829986e-01 4.11812928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.01925415399995 meters Centerline goodness [0,1] 0.999593678492761 Centerline is valid? [True, True] Translation: X:449.40, Y:7.28, Z:4.12 [[ 9.99656191e-01 -1.87884519e-02 -1.82891839e-02 4.49403827e+02] [ 1.87860999e-02 9.99823481e-01 -3.00413986e-04 7.27903760e+00] [ 1.82915998e-02 -4.32717350e-05 9.99832694e-01 4.11752862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0492541539999 meters Centerline goodness [0,1] 0.9994868505452214 Centerline is valid? [True, True] Translation: X:449.43, Y:7.28, Z:4.12 [[ 9.99588024e-01 -2.15966964e-02 -1.89041007e-02 4.49432195e+02] [ 2.15946161e-02 9.99766760e-01 -3.14189246e-04 7.27575264e+00] [ 1.89064769e-02 -9.41669890e-05 9.99821252e-01 4.11697487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07925415399995 meters Centerline goodness [0,1] 0.9998932604658113 Centerline is valid? [True, True] Translation: X:449.46, Y:7.27, Z:4.12 [[ 9.99536741e-01 -2.38987828e-02 -1.88454444e-02 4.49460369e+02] [ 2.38970925e-02 9.99714374e-01 -3.14915248e-04 7.27393411e+00] [ 1.88475878e-02 -1.35581969e-04 9.99822359e-01 4.11758625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1092541539999 meters Centerline goodness [0,1] 0.9993181769756887 Centerline is valid? [True, True] Translation: X:449.49, Y:7.27, Z:4.12 [[ 9.99455383e-01 -2.69144286e-02 -1.90932341e-02 4.49488891e+02] [ 2.69131794e-02 9.99637723e-01 -3.22421594e-04 7.27209411e+00] [ 1.90949949e-02 -1.91613638e-04 9.99817656e-01 4.11819429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13925415399996 meters Centerline goodness [0,1] 0.9995749564330344 Centerline is valid? [True, True] Translation: X:449.52, Y:7.27, Z:4.12 [[ 9.99262637e-01 -3.36767812e-02 -1.84406292e-02 4.49518005e+02] [ 3.36767146e-02 9.99432729e-01 -3.14234332e-04 7.26621853e+00] [ 1.84407508e-02 -3.07017180e-04 9.99829908e-01 4.11901313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.16925415399993 meters Centerline goodness [0,1] 0.9994284867599432 Centerline is valid? [True, True] Translation: X:449.55, Y:7.26, Z:4.12 [[ 9.99152633e-01 -3.72051985e-02 -1.76008403e-02 4.49549321e+02] [ 3.72056817e-02 9.99307584e-01 -3.00113792e-04 7.26343085e+00] [ 1.75998190e-02 -3.54991777e-04 9.99845048e-01 4.11993129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19925415399996 meters Centerline goodness [0,1] 0.9990300065369124 Centerline is valid? [True, True] Translation: X:449.58, Y:7.26, Z:4.12 [[ 9.98884360e-01 -4.43290745e-02 -1.62778639e-02 4.49579582e+02] [ 4.43304379e-02 9.99016884e-01 -2.77239377e-04 7.25577018e+00] [ 1.62741507e-02 -4.44674759e-04 9.99867468e-01 4.12086625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.22925415399993 meters Centerline goodness [0,1] 0.9995559690446991 Centerline is valid? [True, True] Translation: X:449.61, Y:7.25, Z:4.12 [[ 9.98743801e-01 -4.76537047e-02 -1.54901455e-02 4.49611794e+02] [ 4.76553457e-02 9.98863804e-01 -2.63372906e-04 7.25415412e+00] [ 1.54850963e-02 -4.75146180e-04 9.99879986e-01 4.12202160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25925415399996 meters Centerline goodness [0,1] 0.9990482636098303 Centerline is valid? [True, True] Translation: X:449.64, Y:7.25, Z:4.12 [[ 9.98598616e-01 -5.06231801e-02 -1.54304205e-02 4.49642612e+02] [ 5.06251765e-02 9.98717689e-01 -2.61449078e-04 7.24746861e+00] [ 1.54238693e-02 -5.20085074e-04 9.99880910e-01 4.12085902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.28925415399993 meters Centerline goodness [0,1] 0.999071632028695 Centerline is valid? [True, True] Translation: X:449.67, Y:7.25, Z:4.12 [[ 9.98271480e-01 -5.70640871e-02 -1.40620933e-02 4.49673273e+02] [ 5.70663886e-02 9.98370357e-01 -2.37867916e-04 7.24596471e+00] [ 1.40527508e-02 -5.65016121e-04 9.99901096e-01 4.12302517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31925415399996 meters Centerline goodness [0,1] 0.9990497508235493 Centerline is valid? [True, True] Translation: X:449.71, Y:7.24, Z:4.12 [[ 9.98108545e-01 -5.98313737e-02 -1.41257995e-02 4.49705655e+02] [ 5.98339799e-02 9.98208314e-01 -2.38429206e-04 7.24379418e+00] [ 1.41147561e-02 -6.07224576e-04 9.99900197e-01 4.12311760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.34925415399994 meters Centerline goodness [0,1] 0.9990740935586372 Centerline is valid? [True, True] Translation: X:449.74, Y:7.24, Z:4.12 [[ 9.97974325e-01 -6.20466561e-02 -1.40519957e-02 4.49737508e+02] [ 6.20494716e-02 9.98073047e-01 -2.35951036e-04 7.24214005e+00] [ 1.40395581e-02 -6.36445831e-04 9.99901238e-01 4.12312772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37925415399997 meters Centerline goodness [0,1] 0.9991585501819635 Centerline is valid? [True, True] Translation: X:449.77, Y:7.24, Z:4.12 [[ 9.97838937e-01 -6.41653234e-02 -1.41515769e-02 4.49769890e+02] [ 6.41684121e-02 9.97939056e-01 -2.36163960e-04 7.23997781e+00] [ 1.41375648e-02 -6.72430626e-04 9.99899834e-01 4.12294209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.40925415399994 meters Centerline goodness [0,1] 0.9990121277087668 Centerline is valid? [True, True] Translation: X:449.80, Y:7.24, Z:4.12 [[ 9.97627266e-01 -6.73635731e-02 -1.42122007e-02 4.49800358e+02] [ 6.73670231e-02 9.97728234e-01 -2.36394867e-04 7.23617388e+00] [ 1.41958383e-02 -7.21599689e-04 9.99898974e-01 4.12280331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43925415399997 meters Centerline goodness [0,1] 0.9989698090993188 Centerline is valid? [True, True] Translation: X:449.83, Y:7.24, Z:4.12 [[ 9.97553305e-01 -6.84641416e-02 -1.41444548e-02 4.49832827e+02] [ 6.84676765e-02 9.97653308e-01 -2.34749034e-04 7.23538738e+00] [ 1.41273340e-02 -7.34263281e-04 9.99899935e-01 4.12287277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.46925415399994 meters Centerline goodness [0,1] 0.998906598258968 Centerline is valid? [True, True] Translation: X:449.87, Y:7.24, Z:4.12 [[ 9.97491535e-01 -6.93520911e-02 -1.41747859e-02 4.49865299e+02] [ 6.93557453e-02 9.97591964e-01 -2.34208377e-04 7.23639918e+00] [ 1.41568954e-02 -7.49481970e-04 9.99899505e-01 4.12337212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4992541539999 meters Centerline goodness [0,1] 0.9985503288022355 Centerline is valid? [True, True] Translation: X:449.90, Y:7.24, Z:4.12 [[ 9.97460411e-01 -6.96679752e-02 -1.48020795e-02 4.49896911e+02] [ 6.96720100e-02 9.97569923e-01 -2.43544073e-04 7.23508374e+00] [ 1.47830765e-02 -7.88365057e-04 9.99890414e-01 4.12289610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.52925415399994 meters Centerline goodness [0,1] 0.9986346545676056 Centerline is valid? [True, True] Translation: X:449.93, Y:7.24, Z:4.12 [[ 9.97503513e-01 -6.88831637e-02 -1.55515677e-02 4.49929539e+02] [ 6.88875379e-02 9.97624399e-01 -2.54879720e-04 7.23525589e+00] [ 1.55321803e-02 -8.17065796e-04 9.99879035e-01 4.12252323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5592541539999 meters Centerline goodness [0,1] 0.9984663865546218 Centerline is valid? [True, True] Translation: X:449.96, Y:7.24, Z:4.12 [[ 9.97645004e-01 -6.64371271e-02 -1.70456425e-02 4.49960659e+02] [ 6.64420437e-02 9.97790247e-01 -2.78338621e-04 7.23733102e+00] [ 1.70264679e-02 -8.54864190e-04 9.99854674e-01 4.12101107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.58925415399995 meters Centerline goodness [0,1] 0.9987554843064461 Centerline is valid? [True, True] Translation: X:449.99, Y:7.24, Z:4.12 [[ 9.97743690e-01 -6.46568592e-02 -1.80836727e-02 4.49992256e+02] [ 6.46621193e-02 9.97907172e-01 -2.94297991e-04 7.23670832e+00] [ 1.80648551e-02 -8.75694638e-04 9.99836434e-01 4.12018996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6192541539999 meters Centerline goodness [0,1] 0.9989238462999304 Centerline is valid? [True, True] Translation: X:450.02, Y:7.24, Z:4.12 [[ 9.97879837e-01 -6.24137901e-02 -1.84485945e-02 4.50023824e+02] [ 6.24189041e-02 9.98049994e-01 -2.99044348e-04 7.24326321e+00] [ 1.84312842e-02 -8.53130729e-04 9.99829765e-01 4.12080173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.64925415399995 meters Centerline goodness [0,1] 0.9986306564422348 Centerline is valid? [True, True] Translation: X:450.05, Y:7.25, Z:4.12 [[ 9.98154982e-01 -5.76323443e-02 -1.91087854e-02 4.50054871e+02] [ 5.76369701e-02 9.98337560e-01 -3.09028053e-04 7.24863732e+00] [ 1.90948282e-02 -7.92914600e-04 9.99817363e-01 4.12093840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6792541539999 meters Centerline goodness [0,1] 0.9986876640419947 Centerline is valid? [True, True] Translation: X:450.09, Y:7.25, Z:4.12 [[ 9.98332819e-01 -5.45521539e-02 -1.88585518e-02 4.50085448e+02] [ 5.45561305e-02 9.98510659e-01 -3.03927517e-04 7.25030208e+00] [ 1.88470449e-02 -7.25428800e-04 9.99822116e-01 4.12118134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.70925415399995 meters Centerline goodness [0,1] 0.998750952663223 Centerline is valid? [True, True] Translation: X:450.12, Y:7.25, Z:4.12 [[ 9.98514508e-01 -5.11062996e-02 -1.88924307e-02 4.50117131e+02] [ 5.11097007e-02 9.98692999e-01 -3.03085013e-04 7.25348380e+00] [ 1.88832279e-02 -6.62951698e-04 9.99821476e-01 4.12162603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7392541539999 meters Centerline goodness [0,1] 0.998685967403514 Centerline is valid? [True, True] Translation: X:450.15, Y:7.26, Z:4.12 [[ 9.98865115e-01 -4.38347172e-02 -1.86279033e-02 4.50148204e+02] [ 4.38367726e-02 9.99038662e-01 -2.98169627e-04 7.26323208e+00] [ 1.86230657e-02 -5.18755922e-04 9.99826441e-01 4.12337246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.76925415399995 meters Centerline goodness [0,1] 0.9987487540559455 Centerline is valid? [True, True] Translation: X:450.18, Y:7.27, Z:4.12 [[ 9.99034377e-01 -3.99073759e-02 -1.83770464e-02 4.50179622e+02] [ 3.99087216e-02 9.99203286e-01 -2.93646211e-04 7.26705618e+00] [ 1.83741238e-02 -4.40041768e-04 9.99831085e-01 4.12437141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7992541539999 meters Centerline goodness [0,1] 0.9987683683003482 Centerline is valid? [True, True] Translation: X:450.21, Y:7.27, Z:4.13 [[ 9.99326494e-01 -3.25384440e-02 -1.69649178e-02 4.50208982e+02] [ 3.25385323e-02 9.99470445e-01 -2.70898882e-04 7.27346863e+00] [ 1.69647486e-02 -2.81297095e-04 9.99856049e-01 4.12564871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.82925415399995 meters Centerline goodness [0,1] 0.9987261146496815 Centerline is valid? [True, True] Translation: X:450.24, Y:7.28, Z:4.13 [[ 9.99436502e-01 -2.90861127e-02 -1.67533829e-02 4.50239750e+02] [ 2.90857109e-02 9.99576885e-01 -2.67690642e-04 7.27707367e+00] [ 1.67540804e-02 -2.19744253e-04 9.99859616e-01 4.12638261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8592541539999 meters Centerline goodness [0,1] 0.9986811597285742 Centerline is valid? [True, True] Translation: X:450.27, Y:7.28, Z:4.13 [[ 9.99533125e-01 -2.54523097e-02 -1.69029915e-02 4.50270476e+02] [ 2.54513812e-02 9.99676025e-01 -2.70081133e-04 7.27984494e+00] [ 1.69043895e-02 -1.60249440e-04 9.99857098e-01 4.12569409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.88925415399996 meters Centerline goodness [0,1] 0.9987436918425143 Centerline is valid? [True, True] Translation: X:450.30, Y:7.28, Z:4.13 [[ 9.99613487e-01 -2.28693927e-02 -1.58071965e-02 4.50300469e+02] [ 2.28682540e-02 9.99738455e-01 -2.52805021e-04 7.28244449e+00] [ 1.58088437e-02 -1.08775677e-04 9.99875027e-01 4.12713245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91925415399993 meters Centerline goodness [0,1] 0.9989106986479848 Centerline is valid? [True, True] Translation: X:450.33, Y:7.29, Z:4.13 [[ 9.99697940e-01 -1.90220520e-02 -1.55624828e-02 4.50329817e+02] [ 1.90204735e-02 9.99819063e-01 -2.49447894e-04 7.28546689e+00] [ 1.55644120e-02 -4.66332454e-05 9.99878866e-01 4.12685134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.94925415399996 meters Centerline goodness [0,1] 0.9990821967514034 Centerline is valid? [True, True] Translation: X:450.36, Y:7.29, Z:4.13 [[ 9.99711342e-01 -1.81858446e-02 -1.57005710e-02 4.50358733e+02] [ 1.81841037e-02 9.99834623e-01 -2.53648614e-04 7.28663743e+00] [ 1.57025873e-02 -3.19254138e-05 9.99876706e-01 4.12702003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97925415399993 meters Centerline goodness [0,1] 0.9989538185622477 Centerline is valid? [True, True] Translation: X:450.39, Y:7.29, Z:4.13 [[ 9.99687993e-01 -1.86747542e-02 -1.65882720e-02 4.50387439e+02] [ 1.86728044e-02 9.99825611e-01 -2.72432752e-04 7.28642049e+00] [ 1.65904668e-02 -3.74018072e-05 9.99862368e-01 4.12582640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.00925415399996 meters Centerline goodness [0,1] 0.9990833706380167 Centerline is valid? [True, True] Translation: X:450.42, Y:7.29, Z:4.13 [[ 9.99654003e-01 -2.01781825e-02 -1.68734863e-02 4.50415362e+02] [ 2.01763207e-02 9.99796398e-01 -2.80583901e-04 7.28578266e+00] [ 1.68757125e-02 -5.99580512e-05 9.99857593e-01 4.12544083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03925415399993 meters Centerline goodness [0,1] 0.9992540176478111 Centerline is valid? [True, True] Translation: X:450.44, Y:7.28, Z:4.13 [[ 9.99608423e-01 -2.21951508e-02 -1.70404045e-02 4.50443678e+02] [ 2.21935047e-02 9.99753653e-01 -2.85727047e-04 7.28446578e+00] [ 1.70425484e-02 -9.25711337e-05 9.99854761e-01 4.12545023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.06925415399996 meters Centerline goodness [0,1] 0.9990220048899755 Centerline is valid? [True, True] Translation: X:450.47, Y:7.28, Z:4.12 [[ 9.99449115e-01 -2.82565781e-02 -1.74078028e-02 4.50472896e+02] [ 2.82557451e-02 9.99600684e-01 -2.93855237e-04 7.27936528e+00] [ 1.74091549e-02 -1.98177080e-04 9.99848430e-01 4.12489341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09925415399994 meters Centerline goodness [0,1] 0.9989580675342349 Centerline is valid? [True, True] Translation: X:450.50, Y:7.28, Z:4.12 [[ 9.99339028e-01 -3.18657401e-02 -1.74951653e-02 4.50502641e+02] [ 3.18654344e-02 9.99492124e-01 -2.96313826e-04 7.27645370e+00] [ 1.74957222e-02 -2.61373071e-04 9.99846904e-01 4.12495756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12925415399997 meters Centerline goodness [0,1] 0.9991947446492901 Centerline is valid? [True, True] Translation: X:450.53, Y:7.27, Z:4.13 [[ 9.99084419e-01 -3.90384452e-02 -1.75020955e-02 4.50533371e+02] [ 3.90392331e-02 9.99237635e-01 -2.96773513e-04 7.27023631e+00] [ 1.75003381e-02 -3.86766592e-04 9.99846783e-01 4.12534163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15925415399994 meters Centerline goodness [0,1] 0.9989424480213203 Centerline is valid? [True, True] Translation: X:450.56, Y:7.27, Z:4.12 [[ 9.98953627e-01 -4.22636706e-02 -1.74766337e-02 4.50564019e+02] [ 4.22649519e-02 9.99106394e-01 -2.96194857e-04 7.26610088e+00] [ 1.74735348e-02 -4.42764157e-04 9.99847228e-01 4.12498529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.18925415399997 meters Centerline goodness [0,1] 0.9989009595468572 Centerline is valid? [True, True] Translation: X:450.59, Y:7.26, Z:4.13 [[ 9.98839473e-01 -4.50387745e-02 -1.70650389e-02 4.50594846e+02] [ 4.50404060e-02 9.98985124e-01 -2.88913820e-04 7.26473628e+00] [ 1.70607323e-02 -4.80037754e-04 9.99854340e-01 4.12584266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21925415399994 meters Centerline goodness [0,1] 0.9987742508136439 Centerline is valid? [True, True] Translation: X:450.62, Y:7.26, Z:4.13 [[ 9.98632321e-01 -4.96104855e-02 -1.65011483e-02 4.50624782e+02] [ 4.96126464e-02 9.98768496e-01 -2.78631915e-04 7.25823415e+00] [ 1.64946502e-02 -5.40414801e-04 9.99863808e-01 4.12575620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2492541539999 meters Centerline goodness [0,1] 0.998755405547938 Centerline is valid? [True, True] Translation: X:450.66, Y:7.26, Z:4.13 [[ 9.98558234e-01 -5.11772828e-02 -1.61968667e-02 4.50656312e+02] [ 5.11795882e-02 9.98689429e-01 -2.72404515e-04 7.25530298e+00] [ 1.61895805e-02 -5.56937199e-04 9.99868785e-01 4.12582741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.27925415399994 meters Centerline goodness [0,1] 0.9989633140100707 Centerline is valid? [True, True] Translation: X:450.69, Y:7.26, Z:4.13 [[ 9.98424476e-01 -5.37517429e-02 -1.61032975e-02 4.50687838e+02] [ 5.37543698e-02 9.98554152e-01 -2.69983367e-04 7.25661520e+00] [ 1.60945266e-02 -5.96064605e-04 9.99870297e-01 4.12661551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3092541539999 meters Centerline goodness [0,1] 0.9988172678888232 Centerline is valid? [True, True] Translation: X:450.72, Y:7.25, Z:4.13 [[ 9.98346820e-01 -5.52147712e-02 -1.59673284e-02 4.50718622e+02] [ 5.52175619e-02 9.98474311e-01 -2.66374983e-04 7.25425687e+00] [ 1.59576751e-02 -6.15742328e-04 9.99872479e-01 4.12616483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.33925415399995 meters Centerline goodness [0,1] 0.9990923674434313 Centerline is valid? [True, True] Translation: X:450.75, Y:7.26, Z:4.13 [[ 9.98258694e-01 -5.66660914e-02 -1.63869933e-02 4.50750801e+02] [ 5.66692541e-02 9.98392970e-01 -2.71657642e-04 7.25570707e+00] [ 1.63760527e-02 -6.57454086e-04 9.99865687e-01 4.12653383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3692541539999 meters Centerline goodness [0,1] 0.9989032775129708 Centerline is valid? [True, True] Translation: X:450.78, Y:7.26, Z:4.13 [[ 9.98152052e-01 -5.85098286e-02 -1.64036707e-02 4.50782763e+02] [ 5.85132662e-02 9.98286594e-01 -2.70719537e-04 7.25594593e+00] [ 1.63914043e-02 -6.89613088e-04 9.99865414e-01 4.12709838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.39925415399995 meters Centerline goodness [0,1] 0.9988173677986146 Centerline is valid? [True, True] Translation: X:450.81, Y:7.25, Z:4.13 [[ 9.98060433e-01 -6.01743945e-02 -1.59503402e-02 4.50814300e+02] [ 6.01778788e-02 9.98187635e-01 -2.61861995e-04 7.25402852e+00] [ 1.59371897e-02 -6.98503542e-04 9.99872751e-01 4.12691793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4292541539999 meters Centerline goodness [0,1] 0.9987761389293326 Centerline is valid? [True, True] Translation: X:450.84, Y:7.25, Z:4.13 [[ 9.97866085e-01 -6.32153716e-02 -1.63429658e-02 4.50844842e+02] [ 6.32194586e-02 9.97999614e-01 -2.66947248e-04 7.25123353e+00] [ 1.63271487e-02 -7.66815844e-04 9.99866409e-01 4.12677549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.45925415399995 meters Centerline goodness [0,1] 0.9987315010570824 Centerline is valid? [True, True] Translation: X:450.88, Y:7.25, Z:4.13 [[ 9.97757829e-01 -6.49298986e-02 -1.62303113e-02 4.50875708e+02] [ 6.49341672e-02 9.97889515e-01 -2.64399282e-04 7.24988468e+00] [ 1.62132249e-02 -7.90095295e-04 9.99868245e-01 4.12626711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4892541539999 meters Centerline goodness [0,1] 0.9987337230652343 Centerline is valid? [True, True] Translation: X:450.91, Y:7.25, Z:4.13 [[ 9.97592088e-01 -6.71817385e-02 -1.72232524e-02 4.50906499e+02] [ 6.71868889e-02 9.97740369e-01 -2.80075430e-04 7.25113649e+00] [ 1.72031501e-02 -8.77775711e-04 9.99851630e-01 4.12584054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.51925415399995 meters Centerline goodness [0,1] 0.9987569526377886 Centerline is valid? [True, True] Translation: X:450.94, Y:7.25, Z:4.13 [[ 9.97527390e-01 -6.81220959e-02 -1.72767732e-02 4.50938471e+02] [ 6.81274319e-02 9.97676588e-01 -2.80197930e-04 7.25285486e+00] [ 1.72557198e-02 -8.97517078e-04 9.99850706e-01 4.12603304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5492541539999 meters Centerline goodness [0,1] 0.998944011489155 Centerline is valid? [True, True] Translation: X:450.97, Y:7.25, Z:4.13 [[ 9.97493998e-01 -6.85352999e-02 -1.75680667e-02 4.50970058e+02] [ 6.85409014e-02 9.97648267e-01 -2.83778390e-04 7.25156575e+00] [ 1.75462001e-02 -9.21063885e-04 9.99845629e-01 4.12565228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57925415399995 meters Centerline goodness [0,1] 0.9988357077838227 Centerline is valid? [True, True] Translation: X:451.00, Y:7.26, Z:4.13 [[ 9.97504595e-01 -6.82207511e-02 -1.81799673e-02 4.51002255e+02] [ 6.82267190e-02 9.97669800e-01 -2.92485403e-04 7.25762441e+00] [ 1.81575580e-02 -9.48603990e-04 9.99834688e-01 4.12618530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6092541539999 meters Centerline goodness [0,1] 0.9988594842334255 Centerline is valid? [True, True] Translation: X:451.03, Y:7.26, Z:4.13 [[ 9.97540056e-01 -6.76560457e-02 -1.83438435e-02 4.51033116e+02] [ 6.76620483e-02 9.97708254e-01 -2.93934412e-04 7.25914012e+00] [ 1.83216905e-02 -9.47970675e-04 9.99831694e-01 4.12664450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63925415399996 meters Centerline goodness [0,1] 0.9989206349206349 Centerline is valid? [True, True] Translation: X:451.07, Y:7.26, Z:4.13 [[ 9.97594518e-01 -6.66303600e-02 -1.91199757e-02 4.51065336e+02] [ 6.66367175e-02 9.97777257e-01 -3.05114371e-04 7.26249792e+00] [ 1.90978068e-02 -9.69711997e-04 9.99817150e-01 4.12592849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.66925415399993 meters Centerline goodness [0,1] 0.999003984063745 Centerline is valid? [True, True] Translation: X:451.10, Y:7.26, Z:4.13 [[ 9.97655549e-01 -6.58900391e-02 -1.84907413e-02 4.51097012e+02] [ 6.58958828e-02 9.97826461e-01 -2.93735550e-04 7.26490438e+00] [ 1.84699052e-02 -9.25416822e-04 9.99828988e-01 4.12682651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69925415399996 meters Centerline goodness [0,1] 0.9992790653294036 Centerline is valid? [True, True] Translation: X:451.13, Y:7.27, Z:4.13 [[ 9.97715967e-01 -6.48772249e-02 -1.88094336e-02 4.51129312e+02] [ 6.48831185e-02 9.97892826e-01 -2.97408383e-04 7.26943511e+00] [ 1.87890939e-02 -9.23685615e-04 9.99823043e-01 4.12725599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.72925415399993 meters Centerline goodness [0,1] 0.999469079170914 Centerline is valid? [True, True] Translation: X:451.16, Y:7.27, Z:4.13 [[ 9.97769315e-01 -6.37880999e-02 -1.96843119e-02 4.51160737e+02] [ 6.37943684e-02 9.97963017e-01 -3.09958068e-04 7.27085149e+00] [ 1.96639870e-02 -9.46481598e-04 9.99806197e-01 4.12701716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75925415399996 meters Centerline goodness [0,1] 0.999469079170914 Centerline is valid? [True, True] Translation: X:451.19, Y:7.27, Z:4.13 [[ 9.97773903e-01 -6.37162856e-02 -1.96843316e-02 4.51192462e+02] [ 6.37225649e-02 9.97967604e-01 -3.08703234e-04 7.27128776e+00] [ 1.96639947e-02 -9.46320069e-04 9.99806197e-01 4.12731425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.78925415399993 meters Centerline goodness [0,1] 0.9991485194882602 Centerline is valid? [True, True] Translation: X:451.22, Y:7.28, Z:4.13 [[ 9.97968191e-01 -6.02450257e-02 -2.07370621e-02 4.51222907e+02] [ 6.02512660e-02 9.98183189e-01 -3.24297393e-04 7.27601407e+00] [ 2.07189240e-02 -9.25795759e-04 9.99784911e-01 4.12595706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81925415399996 meters Centerline goodness [0,1] 0.998680345664297 Centerline is valid? [True, True] Translation: X:451.25, Y:7.28, Z:4.13 [[ 9.98121087e-01 -5.71469680e-02 -2.21024931e-02 4.51254334e+02] [ 5.71533136e-02 9.98365354e-01 -3.45006796e-04 7.28222331e+00] [ 2.20860794e-02 -9.18872159e-04 9.99755651e-01 4.12571037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.84925415399994 meters Centerline goodness [0,1] 0.9991445314170837 Centerline is valid? [True, True] Translation: X:451.28, Y:7.29, Z:4.13 [[ 9.98486667e-01 -5.07941954e-02 -2.10790508e-02 4.51283799e+02] [ 5.07985569e-02 9.98708866e-01 -3.28833869e-04 7.29131605e+00] [ 2.10685378e-02 -7.42449128e-04 9.99777758e-01 4.12824290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87925415399997 meters Centerline goodness [0,1] 0.9991041911058974 Centerline is valid? [True, True] Translation: X:451.32, Y:7.30, Z:4.13 [[ 9.98718126e-01 -4.64134699e-02 -2.01963971e-02 4.51315000e+02] [ 4.64165846e-02 9.98922120e-01 -3.14775768e-04 7.29661931e+00] [ 2.01892376e-02 -6.23075509e-04 9.99795982e-01 4.12956402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.90925415399994 meters Centerline goodness [0,1] 0.9994656635390172 Centerline is valid? [True, True] Translation: X:451.35, Y:7.30, Z:4.13 [[ 9.98931542e-01 -4.17746511e-02 -1.97649641e-02 4.51345752e+02] [ 4.17767404e-02 9.99126924e-01 -3.07356829e-04 7.30146550e+00] [ 1.97605475e-02 -5.18687345e-04 9.99804607e-01 4.13062938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93925415399997 meters Centerline goodness [0,1] 0.9995087779249071 Centerline is valid? [True, True] Translation: X:451.38, Y:7.31, Z:4.13 [[ 9.99319534e-01 -3.20442307e-02 -1.82657249e-02 4.51376885e+02] [ 3.20443984e-02 9.99486406e-01 -2.83579227e-04 7.31297434e+00] [ 1.82654308e-02 -3.01927904e-04 9.99833128e-01 4.13285145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.96925415399994 meters Centerline goodness [0,1] 0.9994847463449194 Centerline is valid? [True, True] Translation: X:451.41, Y:7.32, Z:4.13 [[ 9.99470213e-01 -2.72696537e-02 -1.77668020e-02 4.51407380e+02] [ 2.72690609e-02 9.99628092e-01 -2.75672112e-04 7.31921252e+00] [ 1.77677119e-02 -2.08957941e-04 9.99842120e-01 4.13445162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9992541539999 meters Centerline goodness [0,1] 0.9994840484994411 Centerline is valid? [True, True] Translation: X:451.44, Y:7.32, Z:4.14 [[ 9.99589069e-01 -2.30620281e-02 -1.70245632e-02 4.51438138e+02] [ 2.30608735e-02 9.99734028e-01 -2.64155435e-04 7.32380256e+00] [ 1.70261271e-02 -1.28554414e-04 9.99855037e-01 4.13520599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.02925415399994 meters Centerline goodness [0,1] 0.9995475308109971 Centerline is valid? [True, True] Translation: X:451.47, Y:7.33, Z:4.14 [[ 9.99736239e-01 -1.64978079e-02 -1.59773410e-02 4.51467263e+02] [ 1.64959507e-02 9.99863902e-01 -2.48026307e-04 7.32993319e+00] [ 1.59792584e-02 -1.56005415e-05 9.99872323e-01 4.13590196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0592541539999 meters Centerline goodness [0,1] 0.9998274597765604 Centerline is valid? [True, True] Translation: X:451.50, Y:7.33, Z:4.14 [[ 9.99777513e-01 -1.40872323e-02 -1.56995208e-02 4.51496314e+02] [ 1.40851137e-02 9.99900770e-01 -2.45512847e-04 7.33213846e+00] [ 1.57014215e-02 2.43286876e-05 9.99876725e-01 4.13664195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.08925415399995 meters Centerline goodness [0,1] 0.9993960440887815 Centerline is valid? [True, True] Translation: X:451.52, Y:7.33, Z:4.14 [[ 9.99796171e-01 -1.28673564e-02 -1.55578581e-02 4.51522803e+02] [ 1.28650787e-02 9.99917211e-01 -2.46479872e-04 7.33407271e+00] [ 1.55597416e-02 4.62765640e-05 9.99878939e-01 4.13617175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1192541539999 meters Centerline goodness [0,1] 0.9995033791807916 Centerline is valid? [True, True] Translation: X:451.55, Y:7.34, Z:4.14 [[ 9.99787586e-01 -1.21004970e-02 -1.66841595e-02 4.51551425e+02] [ 1.20977185e-02 9.99926784e-01 -2.67457245e-04 7.33527540e+00] [ 1.66861744e-02 6.55601686e-05 9.99860774e-01 4.13604477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.14925415399995 meters Centerline goodness [0,1] 0.9995253710735243 Centerline is valid? [True, True] Translation: X:451.58, Y:7.34, Z:4.14 [[ 9.99771694e-01 -1.27671787e-02 -1.71335742e-02 4.51578799e+02] [ 1.27642879e-02 9.99918495e-01 -2.78070623e-04 7.33554987e+00] [ 1.71357278e-02 5.93092636e-05 9.99853171e-01 4.13562262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1792541539999 meters Centerline goodness [0,1] 0.9994402101365026 Centerline is valid? [True, True] Translation: X:451.61, Y:7.33, Z:4.13 [[ 9.99712275e-01 -1.53201616e-02 -1.84569628e-02 4.51607127e+02] [ 1.53171708e-02 9.99882639e-01 -3.03406639e-04 7.33359953e+00] [ 1.84594449e-02 2.06108902e-05 9.99829610e-01 4.13454220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.20925415399995 meters Centerline goodness [0,1] 0.999892431478852 Centerline is valid? [True, True] Translation: X:451.63, Y:7.33, Z:4.13 [[ 9.99678318e-01 -1.69236334e-02 -1.88905189e-02 4.51634733e+02] [ 1.69206838e-02 9.99856785e-01 -3.15977052e-04 7.33236831e+00] [ 1.88931609e-02 -3.76508807e-06 9.99821508e-01 4.13443618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2392541539999 meters Centerline goodness [0,1] 0.999763735555651 Centerline is valid? [True, True] Translation: X:451.66, Y:7.33, Z:4.13 [[ 9.99613668e-01 -1.99003578e-02 -1.94033807e-02 4.51662268e+02] [ 1.98977285e-02 9.99801967e-01 -3.28576616e-04 7.32877148e+00] [ 1.94060770e-02 -5.76335244e-05 9.99811683e-01 4.13347894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.26925415399995 meters Centerline goodness [0,1] 0.9995718628248491 Centerline is valid? [True, True] Translation: X:451.69, Y:7.33, Z:4.13 [[ 9.99589394e-01 -2.13096647e-02 -1.91557421e-02 4.51690114e+02] [ 2.13072856e-02 9.99772920e-01 -3.28310905e-04 7.32734169e+00] [ 1.91583884e-02 -7.99807692e-05 9.99816458e-01 4.13345798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2992541539999 meters Centerline goodness [0,1] 0.9995930954726517 Centerline is valid? [True, True] Translation: X:451.72, Y:7.33, Z:4.13 [[ 9.99569403e-01 -2.25854885e-02 -1.87324519e-02 4.51717852e+02] [ 2.25833404e-02 9.99744911e-01 -3.26232656e-04 7.32593972e+00] [ 1.87350416e-02 -9.69491563e-05 9.99824479e-01 4.13365414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.32925415399995 meters Centerline goodness [0,1] 0.999251960930988 Centerline is valid? [True, True] Translation: X:451.75, Y:7.32, Z:4.13 [[ 9.99558512e-01 -2.40577700e-02 -1.74357379e-02 4.51746415e+02] [ 2.40560557e-02 9.99710564e-01 -3.08074341e-04 7.32346847e+00] [ 1.74381030e-02 -1.11496754e-04 9.99847939e-01 4.13468006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3592541539999 meters Centerline goodness [0,1] 0.9994232987312572 Centerline is valid? [True, True] Translation: X:451.78, Y:7.32, Z:4.14 [[ 9.99569634e-01 -2.41893334e-02 -1.65958529e-02 4.51775684e+02] [ 2.41877577e-02 9.99707390e-01 -2.95693326e-04 7.32260205e+00] [ 1.65981494e-02 -1.05850399e-04 9.99862236e-01 4.13509677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.38925415399996 meters Centerline goodness [0,1] 0.9993380877140539 Centerline is valid? [True, True] Translation: X:451.81, Y:7.32, Z:4.14 [[ 9.99577898e-01 -2.41408029e-02 -1.61631675e-02 4.51805692e+02] [ 2.41392928e-02 9.99708563e-01 -2.88547919e-04 7.32199986e+00] [ 1.61654227e-02 -1.01741310e-04 9.99869326e-01 4.13599002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41925415399993 meters Centerline goodness [0,1] 0.9992543831618415 Centerline is valid? [True, True] Translation: X:451.84, Y:7.32, Z:4.14 [[ 9.99598778e-01 -2.36529039e-02 -1.55827999e-02 4.51835264e+02] [ 2.36514325e-02 9.99720227e-01 -2.78731988e-04 7.32109348e+00] [ 1.55850330e-02 -8.99353850e-05 9.99878542e-01 4.13595014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.44925415399996 meters Centerline goodness [0,1] 0.9989585768634035 Centerline is valid? [True, True] Translation: X:451.87, Y:7.32, Z:4.14 [[ 9.99642457e-01 -2.24812461e-02 -1.44758789e-02 4.51865518e+02] [ 2.24798490e-02 9.99747263e-01 -2.59241828e-04 7.31847846e+00] [ 1.44780483e-02 -6.62664328e-05 9.99895185e-01 4.13645432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47925415399993 meters Centerline goodness [0,1] 0.9992565371625209 Centerline is valid? [True, True] Translation: X:451.90, Y:7.32, Z:4.14 [[ 9.99669222e-01 -2.19362611e-02 -1.34256018e-02 4.51895262e+02] [ 2.19350105e-02 9.99759370e-01 -2.40412018e-04 7.31689322e+00] [ 1.34276449e-02 -5.41582211e-05 9.99909844e-01 4.13669252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.50925415399996 meters Centerline goodness [0,1] 0.999427578018996 Centerline is valid? [True, True] Translation: X:451.93, Y:7.31, Z:4.14 [[ 9.99685924e-01 -2.17361975e-02 -1.24736312e-02 4.51925540e+02] [ 2.17351030e-02 9.99763740e-01 -2.23320333e-04 7.31348096e+00] [ 1.24755383e-02 -4.78654656e-05 9.99922176e-01 4.13774120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53925415399993 meters Centerline goodness [0,1] 0.9994053181547872 Centerline is valid? [True, True] Translation: X:451.96, Y:7.31, Z:4.14 [[ 9.99678479e-01 -2.21919736e-02 -1.22660468e-02 4.51956417e+02] [ 2.21909495e-02 9.99753726e-01 -2.19603867e-04 7.31144474e+00] [ 1.22678994e-02 -5.26619654e-05 9.99924745e-01 4.13766251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.56925415399996 meters Centerline goodness [0,1] 0.9994073823230613 Centerline is valid? [True, True] Translation: X:451.99, Y:7.31, Z:4.14 [[ 9.99658666e-01 -2.28910337e-02 -1.25917459e-02 4.51987031e+02] [ 2.28900106e-02 9.99737964e-01 -2.25377589e-04 7.30845774e+00] [ 1.25936056e-02 -6.29245389e-05 9.99920695e-01 4.13711777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59925415399994 meters Centerline goodness [0,1] 0.9996833305184935 Centerline is valid? [True, True] Translation: X:452.02, Y:7.30, Z:4.14 [[ 9.99595723e-01 -2.49240418e-02 -1.36814891e-02 4.52017471e+02] [ 2.49230269e-02 9.99689343e-01 -2.44701636e-04 7.30235371e+00] [ 1.36833378e-02 -9.63814116e-05 9.99906374e-01 4.13564050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62925415399997 meters Centerline goodness [0,1] 0.9994091331138685 Centerline is valid? [True, True] Translation: X:452.05, Y:7.30, Z:4.13 [[ 9.99549768e-01 -2.61732656e-02 -1.46704170e-02 4.52047589e+02] [ 2.61722332e-02 9.99657414e-01 -2.62389204e-04 7.29942303e+00] [ 1.46722587e-02 -1.21686507e-04 9.99892349e-01 4.13461019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65925415399994 meters Centerline goodness [0,1] 0.9996627603068882 Centerline is valid? [True, True] Translation: X:452.08, Y:7.29, Z:4.13 [[ 9.99474363e-01 -2.81296518e-02 -1.61158579e-02 4.52077418e+02] [ 2.81286583e-02 9.99604269e-01 -2.88359671e-04 7.29377684e+00] [ 1.61175918e-02 -1.65109362e-04 9.99870090e-01 4.13308483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.68925415399997 meters Centerline goodness [0,1] 0.9997046164233269 Centerline is valid? [True, True] Translation: X:452.11, Y:7.29, Z:4.13 [[ 9.99454599e-01 -2.86728683e-02 -1.63820104e-02 4.52107859e+02] [ 2.86719120e-02 9.99588833e-01 -2.93288193e-04 7.29171805e+00] [ 1.63836841e-02 -1.76575328e-04 9.99865763e-01 4.13281567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71925415399994 meters Centerline goodness [0,1] 0.9991985320481724 Centerline is valid? [True, True] Translation: X:452.14, Y:7.29, Z:4.13 [[ 9.99436076e-01 -2.90392195e-02 -1.68598195e-02 4.52138213e+02] [ 2.90382587e-02 9.99578255e-01 -3.01842440e-04 7.29006987e+00] [ 1.68614742e-02 -1.87907577e-04 9.99857818e-01 4.13248525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7492541539999 meters Centerline goodness [0,1] 0.9993663935118695 Centerline is valid? [True, True] Translation: X:452.17, Y:7.29, Z:4.13 [[ 9.99440647e-01 -2.83251572e-02 -1.77785971e-02 4.52167856e+02] [ 2.83239733e-02 9.99598745e-01 -3.18434732e-04 7.28753639e+00] [ 1.77804831e-02 -1.85303897e-04 9.99841898e-01 4.13208330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.77925415399994 meters Centerline goodness [0,1] 0.9995562036391301 Centerline is valid? [True, True] Translation: X:452.20, Y:7.29, Z:4.13 [[ 9.99458637e-01 -2.76258549e-02 -1.78674204e-02 4.52197810e+02] [ 2.76245395e-02 9.99618318e-01 -3.20473151e-04 7.28700496e+00] [ 1.78694540e-02 -1.73279601e-04 9.99840314e-01 4.13251080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8092541539999 meters Centerline goodness [0,1] 0.999409020874227 Centerline is valid? [True, True] Translation: X:452.23, Y:7.29, Z:4.13 [[ 9.99462086e-01 -2.74173282e-02 -1.79952345e-02 4.52226931e+02] [ 2.74159178e-02 9.99624060e-01 -3.25115655e-04 7.28632115e+00] [ 1.79973832e-02 -1.68415099e-04 9.99838020e-01 4.13264289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.83925415399995 meters Centerline goodness [0,1] 0.9992828517190466 Centerline is valid? [True, True] Translation: X:452.26, Y:7.29, Z:4.13 [[ 9.99469472e-01 -2.73487999e-02 -1.76866570e-02 4.52255495e+02] [ 2.73473539e-02 9.99625939e-01 -3.23654393e-04 7.28570434e+00] [ 1.76888926e-02 -1.60200583e-04 9.99843526e-01 4.13298120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8692541539999 meters Centerline goodness [0,1] 0.9991990894912111 Centerline is valid? [True, True] Translation: X:452.28, Y:7.28, Z:4.13 [[ 9.99477272e-01 -2.76317212e-02 -1.67830433e-02 4.52284542e+02] [ 2.76304180e-02 9.99618159e-01 -3.09567050e-04 7.28286004e+00] [ 1.67851887e-02 -1.54317271e-04 9.99859107e-01 4.13395352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.89925415399995 meters Centerline goodness [0,1] 0.9991793620065651 Centerline is valid? [True, True] Translation: X:452.31, Y:7.28, Z:4.13 [[ 9.99462890e-01 -2.85016592e-02 -1.61736469e-02 4.52313829e+02] [ 2.85005519e-02 9.99593732e-01 -2.98999398e-04 7.28114856e+00] [ 1.61755981e-02 -1.62119061e-04 9.99869153e-01 4.13446034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9292541539999 meters Centerline goodness [0,1] 0.9992436974789916 Centerline is valid? [True, True] Translation: X:452.34, Y:7.28, Z:4.14 [[ 9.99445442e-01 -2.94240542e-02 -1.55895412e-02 4.52343165e+02] [ 2.94231298e-02 9.99567004e-01 -2.88702428e-04 7.27689488e+00] [ 1.55912858e-02 -1.70150769e-04 9.99878434e-01 4.13518463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.95925415399995 meters Centerline goodness [0,1] 0.9992043884259453 Centerline is valid? [True, True] Translation: X:452.37, Y:7.28, Z:4.14 [[ 9.99440929e-01 -2.95921424e-02 -1.55607055e-02 4.52373506e+02] [ 2.95912370e-02 9.99562042e-01 -2.88475535e-04 7.27590549e+00] [ 1.55624272e-02 -1.72146267e-04 9.99878883e-01 4.13542552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9892541539999 meters Centerline goodness [0,1] 0.9991800004205126 Centerline is valid? [True, True] Translation: X:452.40, Y:7.28, Z:4.14 [[ 9.99455094e-01 -2.92303017e-02 -1.53330877e-02 4.52404285e+02] [ 2.92293800e-02 9.99572690e-01 -2.84255793e-04 7.27696776e+00] [ 1.53348446e-02 -1.64075747e-04 9.99882401e-01 4.13684571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.01925415399995 meters Centerline goodness [0,1] 0.9986569012192819 Centerline is valid? [True, True] Translation: X:452.43, Y:7.28, Z:4.14 [[ 9.99493422e-01 -2.79943876e-02 -1.51397824e-02 4.52434436e+02] [ 2.79933472e-02 9.99608070e-01 -2.80672160e-04 7.27537463e+00] [ 1.51417059e-02 -1.43283207e-04 9.99885348e-01 4.13749221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0492541539999 meters Centerline goodness [0,1] 0.9992659857810959 Centerline is valid? [True, True] Translation: X:452.47, Y:7.28, Z:4.14 [[ 9.99533834e-01 -2.68261523e-02 -1.45764429e-02 4.52465259e+02] [ 2.68250637e-02 9.99640107e-01 -2.70228569e-04 7.27531697e+00] [ 1.45784462e-02 -1.20911412e-04 9.99893721e-01 4.13842819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07925415399995 meters Centerline goodness [0,1] 0.9992037048678779 Centerline is valid? [True, True] Translation: X:452.49, Y:7.27, Z:4.14 [[ 9.99609392e-01 -2.50030556e-02 -1.24864396e-02 4.52494441e+02] [ 2.50021131e-02 9.99687371e-01 -2.31596182e-04 7.27309142e+00] [ 1.24883266e-02 -8.06816574e-05 9.99922015e-01 4.13982715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1092541539999 meters Centerline goodness [0,1] 0.9993718987500785 Centerline is valid? [True, True] Translation: X:452.53, Y:7.27, Z:4.14 [[ 9.99633243e-01 -2.45168320e-02 -1.15023575e-02 4.52525021e+02] [ 2.45159969e-02 9.99699415e-01 -2.13619394e-04 7.27192923e+00] [ 1.15041373e-02 -6.84507120e-05 9.99933823e-01 4.14049661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13925415399996 meters Centerline goodness [0,1] 0.9991632149282457 Centerline is valid? [True, True] Translation: X:452.56, Y:7.27, Z:4.14 [[ 9.99663870e-01 -2.38594551e-02 -1.01426097e-02 4.52555555e+02] [ 2.38587734e-02 9.99715321e-01 -1.88218411e-04 7.26951504e+00] [ 1.01442131e-02 -5.38350823e-05 9.99948545e-01 4.14130149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.16925415399993 meters Centerline goodness [0,1] 0.99951897939977 Centerline is valid? [True, True] Translation: X:452.59, Y:7.27, Z:4.14 [[ 9.99658576e-01 -2.41790577e-02 -9.90481158e-03 4.52586412e+02] [ 2.41784234e-02 9.99707642e-01 -1.83795873e-04 7.26779048e+00] [ 9.90635985e-03 -5.57496081e-05 9.99950929e-01 4.14126956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19925415399996 meters Centerline goodness [0,1] 0.9993090596930551 Centerline is valid? [True, True] Translation: X:452.62, Y:7.27, Z:4.14 [[ 9.99637951e-01 -2.48757880e-02 -1.02548817e-02 4.52618273e+02] [ 2.48751468e-02 9.99690548e-01 -1.90084926e-04 7.26673145e+00] [ 1.02564368e-02 -6.50755820e-05 9.99947399e-01 4.14091007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.22925415399993 meters Centerline goodness [0,1] 0.9993092187892489 Centerline is valid? [True, True] Translation: X:452.65, Y:7.26, Z:4.14 [[ 9.99563269e-01 -2.72904764e-02 -1.13358362e-02 4.52648342e+02] [ 2.72898538e-02 9.99627541e-01 -2.09625514e-04 7.26109919e+00] [ 1.13373348e-02 -9.98193483e-05 9.99935725e-01 4.13921977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25925415399996 meters Centerline goodness [0,1] 0.9993309778177333 Centerline is valid? [True, True] Translation: X:452.68, Y:7.26, Z:4.14 [[ 9.99510250e-01 -2.89809710e-02 -1.18052269e-02 4.52680156e+02] [ 2.89804214e-02 9.99579956e-01 -2.17659000e-04 7.25912991e+00] [ 1.18065761e-02 -1.24568048e-04 9.99930292e-01 4.13906682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.28925415399993 meters Centerline goodness [0,1] 0.9991216880319538 Centerline is valid? [True, True] Translation: X:452.71, Y:7.26, Z:4.14 [[ 9.99461279e-01 -3.01688571e-02 -1.29225655e-02 4.52710514e+02] [ 3.01683033e-02 9.99544805e-01 -2.37833182e-04 7.25624754e+00] [ 1.29238584e-02 -1.52146821e-04 9.99916472e-01 4.13805775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31925415399996 meters Centerline goodness [0,1] 0.99897523841392 Centerline is valid? [True, True] Translation: X:452.74, Y:7.25, Z:4.14 [[ 9.99340728e-01 -3.38201281e-02 -1.32026108e-02 4.52740541e+02] [ 3.38198708e-02 9.99427915e-01 -2.42818670e-04 7.25177350e+00] [ 1.32032700e-02 -2.03852005e-04 9.99912812e-01 4.13790034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.34925415399994 meters Centerline goodness [0,1] 0.9989969490533707 Centerline is valid? [True, True] Translation: X:452.77, Y:7.25, Z:4.14 [[ 9.99290306e-01 -3.49828265e-02 -1.39672976e-02 4.52770601e+02] [ 3.49826532e-02 9.99387887e-01 -2.56803424e-04 7.24913805e+00] [ 1.39677318e-02 -2.31991958e-04 9.99902420e-01 4.13705024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37925415399997 meters Centerline goodness [0,1] 0.9992262004350009 Centerline is valid? [True, True] Translation: X:452.80, Y:7.25, Z:4.14 [[ 9.99206666e-01 -3.77683983e-02 -1.26327375e-02 4.52801178e+02] [ 3.77684808e-02 9.99286489e-01 -2.32120423e-04 7.24576264e+00] [ 1.26324907e-02 -2.45183031e-04 9.99920177e-01 4.13860781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.40925415399994 meters Centerline goodness [0,1] 0.9992242536061724 Centerline is valid? [True, True] Translation: X:452.83, Y:7.24, Z:4.14 [[ 9.99174638e-01 -3.87433861e-02 -1.22062582e-02 4.52831638e+02] [ 3.87435365e-02 9.99249162e-01 -2.24235084e-04 7.24380123e+00] [ 1.22057810e-02 -2.48863603e-04 9.99925476e-01 4.13919121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43925415399997 meters Centerline goodness [0,1] 0.9993721222268732 Centerline is valid? [True, True] Translation: X:452.86, Y:7.24, Z:4.14 [[ 9.99142509e-01 -3.96998887e-02 -1.17543452e-02 4.52861915e+02] [ 3.97000966e-02 9.99211617e-01 -2.15737303e-04 7.24207195e+00] [ 1.17536430e-02 -2.51096327e-04 9.99930892e-01 4.13973041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.46925415399994 meters Centerline goodness [0,1] 0.9993932292756413 Centerline is valid? [True, True] Translation: X:452.89, Y:7.24, Z:4.14 [[ 9.99096891e-01 -4.10825714e-02 -1.08454685e-02 4.52893356e+02] [ 4.10828320e-02 9.99155724e-01 -1.98856397e-04 7.24289766e+00] [ 1.08444815e-02 -2.46885753e-04 9.99941166e-01 4.14029830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4992541539999 meters Centerline goodness [0,1] 0.9991627770684639 Centerline is valid? [True, True] Translation: X:452.93, Y:7.24, Z:4.14 [[ 9.99076849e-01 -4.15243115e-02 -1.10082752e-02 4.52925157e+02] [ 4.15246118e-02 9.99137461e-01 -2.01378070e-04 7.24240038e+00] [ 1.10071422e-02 -2.55922188e-04 9.99939387e-01 4.14029778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.52925415399994 meters Centerline goodness [0,1] 0.9992250984334422 Centerline is valid? [True, True] Translation: X:452.96, Y:7.24, Z:4.14 [[ 9.99041805e-01 -4.24692380e-02 -1.05752776e-02 4.52956364e+02] [ 4.24695757e-02 9.99097742e-01 -1.92737855e-04 7.24085518e+00] [ 1.05739214e-02 -2.56574378e-04 9.99944062e-01 4.14031950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5592541539999 meters Centerline goodness [0,1] 0.9991620228767755 Centerline is valid? [True, True] Translation: X:452.99, Y:7.24, Z:4.14 [[ 9.99034475e-01 -4.27147003e-02 -1.02748094e-02 4.52988995e+02] [ 4.27150377e-02 9.99087279e-01 -1.86702508e-04 7.24098581e+00] [ 1.02734063e-02 -2.52366629e-04 9.99947195e-01 4.14103252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.58925415399995 meters Centerline goodness [0,1] 0.9991221836726163 Centerline is valid? [True, True] Translation: X:453.02, Y:7.24, Z:4.14 [[ 9.99008891e-01 -4.33734554e-02 -9.99896262e-03 4.53021552e+02] [ 4.33738150e-02 9.99058897e-01 -1.80980829e-04 7.24052415e+00] [ 9.99740233e-03 -2.52891698e-04 9.99949993e-01 4.14141843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6192541539999 meters Centerline goodness [0,1] 0.9992686545332972 Centerline is valid? [True, True] Translation: X:453.05, Y:7.24, Z:4.14 [[ 9.98938358e-01 -4.51319475e-02 -9.23388746e-03 4.53053580e+02] [ 4.51323351e-02 9.98981003e-01 -1.66510918e-04 7.23902761e+00] [ 9.23199312e-03 -2.50412759e-04 9.99957353e-01 4.14199395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.64925415399995 meters Centerline goodness [0,1] 0.9992686545332972 Centerline is valid? [True, True] Translation: X:453.09, Y:7.24, Z:4.14 [[ 9.98941693e-01 -4.50580669e-02 -9.23389971e-03 4.53085273e+02] [ 4.50584576e-02 9.98984338e-01 -1.65828617e-04 7.23953768e+00] [ 9.23199311e-03 -2.50412159e-04 9.99957353e-01 4.14229074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6792541539999 meters Centerline goodness [0,1] 0.9991653451297888 Centerline is valid? [True, True] Translation: X:453.12, Y:7.24, Z:4.14 [[ 9.98887625e-01 -4.61906084e-02 -9.48366218e-03 4.53116466e+02] [ 4.61910784e-02 9.98932608e-01 -1.69588821e-04 7.23858470e+00] [ 9.48137280e-03 -2.68660409e-04 9.99955015e-01 4.14261579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.70925415399995 meters Centerline goodness [0,1] 0.9992280731035634 Centerline is valid? [True, True] Translation: X:453.15, Y:7.23, Z:4.14 [[ 9.98843122e-01 -4.70296715e-02 -1.00313006e-02 4.53147555e+02] [ 4.70302515e-02 9.98893450e-01 -1.78202937e-04 7.23489345e+00] [ 1.00285813e-02 -2.93777811e-04 9.99949669e-01 4.14262326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7392541539999 meters Centerline goodness [0,1] 0.9992702099710169 Centerline is valid? [True, True] Translation: X:453.18, Y:7.24, Z:4.14 [[ 9.98740749e-01 -4.88923773e-02 -1.12450966e-02 4.53179983e+02] [ 4.88932321e-02 9.98803991e-01 -1.99053450e-04 7.23953785e+00] [ 1.12413795e-02 -3.51006325e-04 9.99936752e-01 4.14199539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.76925415399995 meters Centerline goodness [0,1] 0.9992281053114699 Centerline is valid? [True, True] Translation: X:453.21, Y:7.24, Z:4.14 [[ 9.98676778e-01 -5.00976662e-02 -1.16153859e-02 4.53210864e+02] [ 5.00986695e-02 9.98744252e-01 -2.04760273e-04 7.23746146e+00] [ 1.16110579e-02 -3.77426050e-04 9.99932518e-01 4.14151524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7992541539999 meters Centerline goodness [0,1] 0.9989993954680954 Centerline is valid? [True, True] Translation: X:453.24, Y:7.24, Z:4.14 [[ 9.98559700e-01 -5.21705813e-02 -1.25202303e-02 4.53243070e+02] [ 5.21719197e-02 9.98638094e-01 -2.19917655e-04 7.23769753e+00] [ 1.25146522e-02 -4.33603544e-04 9.99921595e-01 4.14054249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.82925415399995 meters Centerline goodness [0,1] 0.9990825496778498 Centerline is valid? [True, True] Translation: X:453.28, Y:7.24, Z:4.14 [[ 9.98511023e-01 -5.30124760e-02 -1.28613223e-02 4.53275694e+02] [ 5.30139704e-02 9.98593745e-01 -2.24945756e-04 7.23759697e+00] [ 1.28551609e-02 -4.57218943e-04 9.99917264e-01 4.14054825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8592541539999 meters Centerline goodness [0,1] 0.9989378098054734 Centerline is valid? [True, True] Translation: X:453.31, Y:7.24, Z:4.14 [[ 9.98480901e-01 -5.35008689e-02 -1.31737181e-02 4.53307802e+02] [ 5.35024922e-02 9.98567690e-01 -2.29423998e-04 7.23866112e+00] [ 1.31671236e-02 -4.75751268e-04 9.99913196e-01 4.14057078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.88925415399996 meters Centerline goodness [0,1] 0.9989571601384891 Centerline is valid? [True, True] Translation: X:453.34, Y:7.24, Z:4.14 [[ 9.98461997e-01 -5.37772079e-02 -1.34778820e-02 4.53339113e+02] [ 5.37789449e-02 9.98552838e-01 -2.33784928e-04 7.23784359e+00] [ 1.34709496e-02 -4.91400906e-04 9.99909142e-01 4.14067663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91925415399993 meters Centerline goodness [0,1] 0.9988516786370469 Centerline is valid? [True, True] Translation: X:453.37, Y:7.24, Z:4.14 [[ 9.98463307e-01 -5.35323486e-02 -1.43287542e-02 4.53371611e+02] [ 5.35342997e-02 9.98565981e-01 -2.47632015e-04 7.24127475e+00] [ 1.43214628e-02 -5.19828339e-04 9.99897307e-01 4.14055580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.94925415399996 meters Centerline goodness [0,1] 0.9989984559529275 Centerline is valid? [True, True] Translation: X:453.40, Y:7.24, Z:4.14 [[ 9.98462883e-01 -5.33333010e-02 -1.50807937e-02 4.53403359e+02] [ 5.33354569e-02 9.98576618e-01 -2.59485390e-04 7.24396823e+00] [ 1.50731672e-02 -5.45254495e-04 9.99886245e-01 4.14088655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97925415399993 meters Centerline goodness [0,1] 0.9992704381540001 Centerline is valid? [True, True] Translation: X:453.43, Y:7.25, Z:4.14 [[ 9.98485246e-01 -5.26072728e-02 -1.61148192e-02 4.53434368e+02] [ 5.26096581e-02 9.98615115e-01 -2.76163103e-04 7.24521823e+00] [ 1.61070302e-02 -5.72050345e-04 9.99870110e-01 4.14019437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.00925415399996 meters Centerline goodness [0,1] 0.9989766295607861 Centerline is valid? [True, True] Translation: X:453.47, Y:7.25, Z:4.14 [[ 9.98483711e-01 -5.26117262e-02 -1.61952025e-02 4.53466016e+02] [ 5.26141484e-02 9.98614878e-01 -2.76771953e-04 7.24720545e+00] [ 1.61873316e-02 -5.75744501e-04 9.99868811e-01 4.14058619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03925415399993 meters Centerline goodness [0,1] 0.9991027272916971 Centerline is valid? [True, True] Translation: X:453.50, Y:7.25, Z:4.14 [[ 9.98506530e-01 -5.22996208e-02 -1.57942800e-02 4.53497748e+02] [ 5.23018945e-02 9.98631283e-01 -2.69349185e-04 7.24965390e+00] [ 1.57867490e-02 -5.57123848e-04 9.99875226e-01 4.14123011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.06925415399996 meters Centerline goodness [0,1] 0.9989142463408014 Centerline is valid? [True, True] Translation: X:453.53, Y:7.25, Z:4.14 [[ 9.98597239e-01 -5.07338493e-02 -1.51535999e-02 4.53528208e+02] [ 5.07357689e-02 9.98712078e-01 -2.57984157e-04 7.25268730e+00] [ 1.51471717e-02 -5.11207273e-04 9.99885144e-01 4.14226341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09925415399994 meters Centerline goodness [0,1] 0.9990607780931708 Centerline is valid? [True, True] Translation: X:453.56, Y:7.26, Z:4.14 [[ 9.98688702e-01 -4.90757521e-02 -1.45755753e-02 4.53559926e+02] [ 4.90773582e-02 9.98794950e-01 -2.47689514e-04 7.25601756e+00] [ 1.45701666e-02 -4.67966013e-04 9.99893740e-01 4.14330909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12925415399997 meters Centerline goodness [0,1] 0.9989345923248867 Centerline is valid? [True, True] Translation: X:453.59, Y:7.26, Z:4.14 [[ 9.98779719e-01 -4.73785099e-02 -1.39409690e-02 4.53591100e+02] [ 4.73798232e-02 9.98876918e-01 -2.36243214e-04 7.25837716e+00] [ 1.39365050e-02 -4.24565714e-04 9.99902792e-01 4.14388144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15925415399994 meters Centerline goodness [0,1] 0.9990379990379991 Centerline is valid? [True, True] Translation: X:453.62, Y:7.26, Z:4.14 [[ 9.98931173e-01 -4.43051499e-02 -1.31744073e-02 4.53622773e+02] [ 4.43060625e-02 9.99017979e-01 -2.22729082e-04 7.26411949e+00] [ 1.31713379e-02 -3.61215092e-04 9.99913189e-01 4.14469541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.18925415399997 meters Centerline goodness [0,1] 0.9988926497012244 Centerline is valid? [True, True] Translation: X:453.65, Y:7.27, Z:4.14 [[ 9.98976386e-01 -4.32055169e-02 -1.33964296e-02 4.53653730e+02] [ 4.32063714e-02 9.99066143e-01 -2.25755737e-04 7.26507281e+00] [ 1.33936732e-02 -3.53286465e-04 9.99910238e-01 4.14481332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21925415399994 meters Centerline goodness [0,1] 0.9989968232737001 Centerline is valid? [True, True] Translation: X:453.69, Y:7.27, Z:4.14 [[ 9.99008043e-01 -4.22650250e-02 -1.40213131e-02 4.53685131e+02] [ 4.22658785e-02 9.99106371e-01 -2.35579263e-04 7.26811395e+00] [ 1.40187400e-02 -3.57277537e-04 9.99901669e-01 4.14478074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2492541539999 meters Centerline goodness [0,1] 0.9988928116317449 Centerline is valid? [True, True] Translation: X:453.72, Y:7.27, Z:4.14 [[ 9.98994577e-01 -4.24459395e-02 -1.44283509e-02 4.53716173e+02] [ 4.24468712e-02 9.99098696e-01 -2.41796136e-04 7.26731773e+00] [ 1.44256098e-02 -3.70885323e-04 9.99895877e-01 4.14418373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.27925415399994 meters Centerline goodness [0,1] 0.9989555699454807 Centerline is valid? [True, True] Translation: X:453.75, Y:7.27, Z:4.14 [[ 9.98959500e-01 -4.29146402e-02 -1.54353847e-02 4.53747196e+02] [ 4.29157742e-02 9.99078660e-01 -2.57910674e-04 7.26989493e+00] [ 1.54322316e-02 -4.04779166e-04 9.99880834e-01 4.14441946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3092541539999 meters Centerline goodness [0,1] 0.9989353262911779 Centerline is valid? [True, True] Translation: X:453.78, Y:7.27, Z:4.14 [[ 9.98932666e-01 -4.36288584e-02 -1.51674723e-02 4.53778748e+02] [ 4.36300439e-02 9.99047724e-01 -2.52887690e-04 7.27093920e+00] [ 1.51640619e-02 -4.09139707e-04 9.99884935e-01 4.14467644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.33925415399995 meters Centerline goodness [0,1] 0.9988938976542282 Centerline is valid? [True, True] Translation: X:453.81, Y:7.27, Z:4.14 [[ 9.98858493e-01 -4.50846131e-02 -1.57825519e-02 4.53809966e+02] [ 4.50860876e-02 9.98983071e-01 -2.62551767e-04 7.27194244e+00] [ 1.57783392e-02 -4.49321453e-04 9.99875413e-01 4.14487125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3692541539999 meters Centerline goodness [0,1] 0.9989981632993822 Centerline is valid? [True, True] Translation: X:453.84, Y:7.27, Z:4.14 [[ 9.98831092e-01 -4.55456567e-02 -1.61877486e-02 4.53841428e+02] [ 4.55472781e-02 9.98962148e-01 -2.68691877e-04 7.27262516e+00] [ 1.61831859e-02 -4.68930088e-04 9.99868934e-01 4.14463551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.39925415399995 meters Centerline goodness [0,1] 0.998956855545356 Centerline is valid? [True, True] Translation: X:453.87, Y:7.27, Z:4.15 [[ 9.98783847e-01 -4.62438699e-02 -1.70976884e-02 4.53872377e+02] [ 4.62457920e-02 9.98930051e-01 -2.83150545e-04 7.27462817e+00] [ 1.70924887e-02 -5.07889950e-04 9.99853784e-01 4.14513368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4292541539999 meters Centerline goodness [0,1] 0.998913134353315 Centerline is valid? [True, True] Translation: X:453.90, Y:7.28, Z:4.15 [[ 9.98771372e-01 -4.62755349e-02 -1.77291269e-02 4.53903903e+02] [ 4.62776185e-02 9.98928574e-01 -2.92942247e-04 7.27719011e+00] [ 1.77236875e-02 -5.27879442e-04 9.99842784e-01 4.14543495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.45925415399995 meters Centerline goodness [0,1] 0.9988292111810332 Centerline is valid? [True, True] Translation: X:453.93, Y:7.28, Z:4.14 [[ 9.98770783e-01 -4.60811649e-02 -1.82605953e-02 4.53934508e+02] [ 4.60833523e-02 9.98937553e-01 -3.01202895e-04 7.27737352e+00] [ 1.82550742e-02 -5.40676797e-04 9.99833216e-01 4.14491503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4892541539999 meters Centerline goodness [0,1] 0.9988728866624922 Centerline is valid? [True, True] Translation: X:453.97, Y:7.28, Z:4.15 [[ 9.98772205e-01 -4.59461337e-02 -1.85212096e-02 4.53965305e+02] [ 4.59483641e-02 9.98943770e-01 -3.05327086e-04 7.28001660e+00] [ 1.85156755e-02 -5.46067074e-04 9.99828421e-01 4.14508311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.51925415399995 meters Centerline goodness [0,1] 0.9987876507598086 Centerline is valid? [True, True] Translation: X:454.00, Y:7.28, Z:4.15 [[ 9.98751349e-01 -4.64509292e-02 -1.83862380e-02 4.53996833e+02] [ 4.64532187e-02 9.98920421e-01 -3.02772764e-04 7.28052855e+00] [ 1.83804527e-02 -5.51705231e-04 9.99830913e-01 4.14530554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5492541539999 meters Centerline goodness [0,1] 0.9988903776903107 Centerline is valid? [True, True] Translation: X:454.03, Y:7.28, Z:4.15 [[ 9.98700735e-01 -4.79808958e-02 -1.71660879e-02 4.54028406e+02] [ 4.79831275e-02 9.98848107e-01 -2.82075498e-04 7.28165116e+00] [ 1.71598486e-02 -5.41973578e-04 9.99852612e-01 4.14648275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57925415399995 meters Centerline goodness [0,1] 0.9989944695827049 Centerline is valid? [True, True] Translation: X:454.06, Y:7.28, Z:4.15 [[ 9.98658899e-01 -4.90294975e-02 -1.66286728e-02 4.54059550e+02] [ 4.90317469e-02 9.98797183e-01 -2.72641890e-04 7.28309442e+00] [ 1.66220390e-02 -5.43056625e-04 9.99861697e-01 4.14752658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6092541539999 meters Centerline goodness [0,1] 0.998996088929789 Centerline is valid? [True, True] Translation: X:454.09, Y:7.28, Z:4.15 [[ 9.98623459e-01 -4.99219386e-02 -1.60930941e-02 4.54090371e+02] [ 4.99241793e-02 9.98752976e-01 -2.62730777e-04 7.28256341e+00] [ 1.60861417e-02 -5.41065400e-04 9.99870463e-01 4.14801415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63925415399996 meters Centerline goodness [0,1] 0.998767212018638 Centerline is valid? [True, True] Translation: X:454.12, Y:7.28, Z:4.15 [[ 9.98536152e-01 -5.18347272e-02 -1.54503659e-02 4.54121159e+02] [ 5.18370494e-02 9.98655525e-01 -2.50404635e-04 7.28239999e+00] [ 1.54425730e-02 -5.50863303e-04 9.99880605e-01 4.14818983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.66925415399993 meters Centerline goodness [0,1] 0.9988317757009346 Centerline is valid? [True, True] Translation: X:454.15, Y:7.28, Z:4.15 [[ 9.98475595e-01 -5.30019207e-02 -1.54039774e-02 4.54153049e+02] [ 5.30043927e-02 9.98594248e-01 -2.48023080e-04 7.28331804e+00] [ 1.53954689e-02 -5.68833475e-04 9.99881321e-01 4.14859868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69925415399996 meters Centerline goodness [0,1] 0.9987661033963526 Centerline is valid? [True, True] Translation: X:454.18, Y:7.28, Z:4.15 [[ 9.98320398e-01 -5.59301434e-02 -1.51063890e-02 4.54184547e+02] [ 5.59328688e-02 9.98434502e-01 -2.42353362e-04 7.28248344e+00] [ 1.50962949e-02 -6.02997370e-04 9.99885863e-01 4.14895577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.72925415399993 meters Centerline goodness [0,1] 0.9986242548046859 Centerline is valid? [True, True] Translation: X:454.22, Y:7.28, Z:4.15 [[ 9.98245261e-01 -5.72888860e-02 -1.49794229e-02 4.54216475e+02] [ 5.72917296e-02 9.98357451e-01 -2.39575183e-04 7.28202532e+00] [ 1.49685435e-02 -6.19042258e-04 9.99887773e-01 4.14911672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75925415399996 meters Centerline goodness [0,1] 0.9989127025614218 Centerline is valid? [True, True] Translation: X:454.25, Y:7.28, Z:4.15 [[ 9.98152494e-01 -5.86964966e-02 -1.56946068e-02 4.54248097e+02] [ 5.86998084e-02 9.98275648e-01 -2.49963584e-04 7.28137321e+00] [ 1.56822158e-02 -6.71768638e-04 9.99876801e-01 4.14897091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.78925415399993 meters Centerline goodness [0,1] 0.9987449274149688 Centerline is valid? [True, True] Translation: X:454.28, Y:7.28, Z:4.15 [[ 9.97994656e-01 -6.12355930e-02 -1.60271564e-02 4.54278979e+02] [ 6.12393854e-02 9.98123075e-01 -2.54511397e-04 7.28035180e+00] [ 1.60126597e-02 -7.27492191e-04 9.99871524e-01 4.14883074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81925415399996 meters Centerline goodness [0,1] 0.9987698338233147 Centerline is valid? [True, True] Translation: X:454.31, Y:7.28, Z:4.15 [[ 9.97940283e-01 -6.21358853e-02 -1.59475344e-02 4.54309655e+02] [ 6.21397637e-02 9.98067426e-01 -2.52688007e-04 7.27890616e+00] [ 1.59324156e-02 -7.38808478e-04 9.99872798e-01 4.14866517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.84925415399994 meters Centerline goodness [0,1] 0.9986601628739507 Centerline is valid? [True, True] Translation: X:454.34, Y:7.28, Z:4.15 [[ 9.97908425e-01 -6.27561191e-02 -1.55062518e-02 4.54340730e+02] [ 6.27598704e-02 9.98028626e-01 -2.45056797e-04 7.27933774e+00] [ 1.54910620e-02 -7.28626112e-04 9.99879741e-01 4.14909695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87925415399997 meters Centerline goodness [0,1] 0.9986631853785901 Centerline is valid? [True, True] Translation: X:454.37, Y:7.28, Z:4.15 [[ 9.97931693e-01 -6.24177147e-02 -1.53741646e-02 4.54373075e+02] [ 6.24213761e-02 9.98049855e-01 -2.42072206e-04 7.28176833e+00] [ 1.53592924e-02 -7.18104986e-04 9.99881781e-01 4.14963715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.90925415399994 meters Centerline goodness [0,1] 0.9987461601153532 Centerline is valid? [True, True] Translation: X:454.41, Y:7.28, Z:4.15 [[ 9.97993931e-01 -6.14148610e-02 -1.53729682e-02 4.54405640e+02] [ 6.14184194e-02 9.98112078e-01 -2.40986103e-04 7.28331573e+00] [ 1.53587454e-02 -7.03680742e-04 9.99881800e-01 4.14984039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93925415399997 meters Centerline goodness [0,1] 0.9986794944350122 Centerline is valid? [True, True] Translation: X:454.44, Y:7.29, Z:4.15 [[ 9.98138655e-01 -5.90098220e-02 -1.53969625e-02 4.54436170e+02] [ 5.90131176e-02 9.98257178e-01 -2.40607760e-04 7.28675030e+00] [ 1.53843266e-02 -6.68462852e-04 9.99881431e-01 4.15003313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.96925415399994 meters Centerline goodness [0,1] 0.9987015434878217 Centerline is valid? [True, True] Translation: X:454.47, Y:7.29, Z:4.15 [[ 9.98236770e-01 -5.73581342e-02 -1.52772896e-02 4.54467966e+02] [ 5.73611927e-02 9.98353463e-01 -2.38273390e-04 7.28949639e+00] [ 1.52658019e-02 -6.38470297e-04 9.99883267e-01 4.15038609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9992541539999 meters Centerline goodness [0,1] 0.998574214245277 Centerline is valid? [True, True] Translation: X:454.50, Y:7.29, Z:4.15 [[ 9.98307253e-01 -5.61506681e-02 -1.51569013e-02 4.54500313e+02] [ 5.61535529e-02 9.98422117e-01 -2.35518644e-04 7.29303855e+00] [ 1.51462100e-02 -6.15993890e-04 9.99885100e-01 4.15098078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.02925415399994 meters Centerline goodness [0,1] 0.9983843555257139 Centerline is valid? [True, True] Translation: X:454.53, Y:7.29, Z:4.15 [[ 9.98422908e-01 -5.41135566e-02 -1.49472328e-02 4.54531095e+02] [ 5.41161466e-02 9.98534621e-01 -2.31429234e-04 7.29391254e+00] [ 1.49378529e-02 -5.77822392e-04 9.99888257e-01 4.15080037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0592541539999 meters Centerline goodness [0,1] 0.998658224663508 Centerline is valid? [True, True] Translation: X:454.56, Y:7.30, Z:4.15 [[ 9.98460345e-01 -5.33731639e-02 -1.51077996e-02 4.54562809e+02] [ 5.33757365e-02 9.98574472e-01 -2.33169100e-04 7.30127016e+00] [ 1.50987079e-02 -5.73579828e-04 9.99885843e-01 4.15164376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.08925415399995 meters Centerline goodness [0,1] 0.9984879984879985 Centerline is valid? [True, True] Translation: X:454.60, Y:7.30, Z:4.15 [[ 9.98535539e-01 -5.19891568e-02 -1.49634280e-02 4.54595141e+02] [ 5.19915416e-02 9.98647499e-01 -2.29851167e-04 7.30375634e+00] [ 1.49551397e-02 -5.48457129e-04 9.99888015e-01 4.15202916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1192541539999 meters Centerline goodness [0,1] 0.9984546631583344 Centerline is valid? [True, True] Translation: X:454.63, Y:7.30, Z:4.15 [[ 9.98597149e-01 -5.07886905e-02 -1.49747613e-02 4.54626443e+02] [ 5.07909590e-02 9.98709280e-01 -2.29029946e-04 7.29761676e+00] [ 1.49670652e-02 -5.31873834e-04 9.99887846e-01 4.15097709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.14925415399995 meters Centerline goodness [0,1] 0.9988045302013423 Centerline is valid? [True, True] Translation: X:454.66, Y:7.30, Z:4.15 [[ 9.98670103e-01 -4.93073733e-02 -1.50601370e-02 4.54657464e+02] [ 4.93095100e-02 9.98783520e-01 -2.29635300e-04 7.29998055e+00] [ 1.50531394e-02 -5.13278067e-04 9.99886563e-01 4.15152670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1792541539999 meters Centerline goodness [0,1] 0.9986982720611393 Centerline is valid? [True, True] Translation: X:454.69, Y:7.30, Z:4.15 [[ 9.98878115e-01 -4.48226683e-02 -1.52787461e-02 4.54687274e+02] [ 4.48243481e-02 9.98994857e-01 -2.32659430e-04 7.30459315e+00] [ 1.52738172e-02 -4.52461424e-04 9.99883246e-01 4.15138095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.20925415399995 meters Centerline goodness [0,1] 0.9987798207598771 Centerline is valid? [True, True] Translation: X:454.72, Y:7.31, Z:4.15 [[ 9.99005267e-01 -4.18584045e-02 -1.53737215e-02 4.54718920e+02] [ 4.18597596e-02 9.99123469e-01 -2.33777234e-04 7.31378980e+00] [ 1.53700315e-02 -4.09995598e-04 9.99881790e-01 4.15219632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2392541539999 meters Centerline goodness [0,1] 0.9990329430067063 Centerline is valid? [True, True] Translation: X:454.75, Y:7.32, Z:4.15 [[ 9.99209594e-01 -3.69500970e-02 -1.46586905e-02 4.54749191e+02] [ 3.69508096e-02 9.99317061e-01 -2.22319337e-04 7.31653437e+00] [ 1.46568942e-02 -3.19506867e-04 9.99892531e-01 4.15324108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.26925415399995 meters Centerline goodness [0,1] 0.9988201832929527 Centerline is valid? [True, True] Translation: X:454.78, Y:7.32, Z:4.15 [[ 9.99292492e-01 -3.45285886e-02 -1.49094707e-02 4.54780152e+02] [ 3.45290620e-02 9.99403669e-01 -2.25746164e-04 7.32015018e+00] [ 1.49083745e-02 -2.89223592e-04 9.99888822e-01 4.15377315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2992541539999 meters Centerline goodness [0,1] 0.9989891544698326 Centerline is valid? [True, True] Translation: X:454.81, Y:7.32, Z:4.15 [[ 9.99375531e-01 -3.21109660e-02 -1.47456465e-02 4.54811157e+02] [ 3.21111738e-02 9.99484278e-01 -2.22730707e-04 7.32229290e+00] [ 1.47451939e-02 -2.50908398e-04 9.99891252e-01 4.15419121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.32925415399995 meters Centerline goodness [0,1] 0.999052112735392 Centerline is valid? [True, True] Translation: X:454.84, Y:7.32, Z:4.15 [[ 9.99437015e-01 -3.00316657e-02 -1.49583770e-02 4.54842613e+02] [ 3.00316550e-02 9.99548923e-01 -2.25393318e-04 7.32390634e+00] [ 1.49583985e-02 -2.23958391e-04 9.99888092e-01 4.15448755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3592541539999 meters Centerline goodness [0,1] 0.9987344175156616 Centerline is valid? [True, True] Translation: X:454.87, Y:7.33, Z:4.15 [[ 9.99531337e-01 -2.63857300e-02 -1.55209717e-02 4.54873006e+02] [ 2.63852844e-02 9.99651821e-01 -2.33516286e-04 7.32628704e+00] [ 1.55217291e-02 -1.76118408e-04 9.99879515e-01 4.15344893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.38925415399996 meters Centerline goodness [0,1] 0.9988829406061628 Centerline is valid? [True, True] Translation: X:454.90, Y:7.33, Z:4.15 [[ 9.99552252e-01 -2.55823262e-02 -1.55190391e-02 4.54902833e+02] [ 2.55817822e-02 9.99672705e-01 -2.33597999e-04 7.32714396e+00] [ 1.55199358e-02 -1.63511273e-04 9.99879545e-01 4.15470652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41925415399993 meters Centerline goodness [0,1] 0.99883995612925 Centerline is valid? [True, True] Translation: X:454.93, Y:7.33, Z:4.15 [[ 9.99552968e-01 -2.49094606e-02 -1.65342718e-02 4.54932920e+02] [ 2.49087438e-02 9.99689698e-01 -2.49315576e-04 7.32647983e+00] [ 1.65353515e-02 -1.62643817e-04 9.99863269e-01 4.15281791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.44925415399996 meters Centerline goodness [0,1] 0.9987763713080169 Centerline is valid? [True, True] Translation: X:454.96, Y:7.33, Z:4.15 [[ 9.99519570e-01 -2.61370932e-02 -1.66577675e-02 4.54962106e+02] [ 2.61364998e-02 9.99658351e-01 -2.53363536e-04 7.32585126e+00] [ 1.66586986e-02 -1.82133924e-04 9.99861218e-01 4.15363053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47925415399993 meters Centerline goodness [0,1] 0.9989881316272108 Centerline is valid? [True, True] Translation: X:454.99, Y:7.32, Z:4.15 [[ 9.99478858e-01 -2.75853939e-02 -1.67648188e-02 4.54990432e+02] [ 2.75849498e-02 9.99619430e-01 -2.57779732e-04 7.32382349e+00] [ 1.67655496e-02 -2.04811292e-04 9.99859427e-01 4.15345658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.50925415399996 meters Centerline goodness [0,1] 0.998820456651782 Centerline is valid? [True, True] Translation: X:455.02, Y:7.32, Z:4.15 [[ 9.99338777e-01 -3.20725035e-02 -1.71278285e-02 4.55019722e+02] [ 3.20726828e-02 9.99485504e-01 -2.64292380e-04 7.31954941e+00] [ 1.71274929e-02 -2.85217787e-04 9.99853273e-01 4.15417388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53925415399993 meters Centerline goodness [0,1] 0.9988643533123028 Centerline is valid? [True, True] Translation: X:455.05, Y:7.32, Z:4.15 [[ 9.99250772e-01 -3.49250436e-02 -1.66773898e-02 4.55049753e+02] [ 3.49255980e-02 9.99389882e-01 -2.58094622e-04 7.31731800e+00] [ 1.66762286e-02 -3.24566562e-04 9.99860889e-01 4.15492385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.56925415399996 meters Centerline goodness [0,1] 0.9988643533123028 Centerline is valid? [True, True] Translation: X:455.08, Y:7.32, Z:4.16 [[ 9.99250772e-01 -3.49250467e-02 -1.66773845e-02 4.55079755e+02] [ 3.49255956e-02 9.99389882e-01 -2.58432934e-04 7.31778308e+00] [ 1.66762351e-02 -3.24228279e-04 9.99860889e-01 4.15520503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59925415399994 meters Centerline goodness [0,1] 0.9985947397122362 Centerline is valid? [True, True] Translation: X:455.11, Y:7.31, Z:4.15 [[ 9.99036207e-01 -4.06955644e-02 -1.64477180e-02 4.55109171e+02] [ 4.06968776e-02 9.99171506e-01 -2.55000610e-04 7.31098895e+00] [ 1.64444686e-02 -4.14615923e-04 9.99864695e-01 4.15439603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62925415399997 meters Centerline goodness [0,1] 0.9987606343871442 Centerline is valid? [True, True] Translation: X:455.14, Y:7.31, Z:4.16 [[ 9.98912868e-01 -4.36106442e-02 -1.64679487e-02 4.55139317e+02] [ 4.36123588e-02 9.99048496e-01 -2.55163126e-04 7.30782353e+00] [ 1.64634072e-02 -4.63320356e-04 9.99864362e-01 4.15553996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65925415399994 meters Centerline goodness [0,1] 0.9986564218835285 Centerline is valid? [True, True] Translation: X:455.17, Y:7.30, Z:4.16 [[ 9.98695258e-01 -4.81567905e-02 -1.69913064e-02 4.55170549e+02] [ 4.81592827e-02 9.98839634e-01 -2.62706211e-04 7.30255419e+00] [ 1.69842413e-02 -5.55925679e-04 9.99855603e-01 4.15548270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.68925415399997 meters Centerline goodness [0,1] 0.9986363445642596 Centerline is valid? [True, True] Translation: X:455.20, Y:7.30, Z:4.16 [[ 9.98592245e-01 -5.01612733e-02 -1.72445688e-02 4.55202203e+02] [ 5.01641464e-02 9.98740951e-01 -2.66184142e-04 7.30015838e+00] [ 1.72362092e-02 -5.99249655e-04 9.99851266e-01 4.15553549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71925415399994 meters Centerline goodness [0,1] 0.9985319099851093 Centerline is valid? [True, True] Translation: X:455.23, Y:7.30, Z:4.16 [[ 9.98507392e-01 -5.18657581e-02 -1.71152367e-02 4.55233797e+02] [ 5.18688485e-02 9.98653871e-01 -2.63596013e-04 7.29883370e+00] [ 1.71058690e-02 -6.24545052e-04 9.99853489e-01 4.15610822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7492541539999 meters Centerline goodness [0,1] 0.9988476848941965 Centerline is valid? [True, True] Translation: X:455.26, Y:7.30, Z:4.16 [[ 9.98428511e-01 -5.33508333e-02 -1.71521779e-02 4.55263967e+02] [ 5.33541670e-02 9.98575617e-01 -2.63509871e-04 7.29663827e+00] [ 1.71418051e-02 -6.52044396e-04 9.99852856e-01 4.15665180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.77925415399994 meters Centerline goodness [0,1] 0.9987026846058882 Centerline is valid? [True, True] Translation: X:455.29, Y:7.29, Z:4.16 [[ 9.98291524e-01 -5.58909940e-02 -1.70361547e-02 4.55294213e+02] [ 5.58946633e-02 9.98436637e-01 -2.61066058e-04 7.29202195e+00] [ 1.70241122e-02 -6.91610095e-04 9.99854840e-01 4.15635834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8092541539999 meters Centerline goodness [0,1] 0.9986800201139792 Centerline is valid? [True, True] Translation: X:455.33, Y:7.29, Z:4.16 [[ 9.98211045e-01 -5.71821915e-02 -1.74615626e-02 4.55325423e+02] [ 5.71862543e-02 9.98363491e-01 -2.66972466e-04 7.29137268e+00] [ 1.74482527e-02 -7.32066494e-04 9.99847500e-01 4.15676904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.83925415399995 meters Centerline goodness [0,1] 0.9987451898945959 Centerline is valid? [True, True] Translation: X:455.36, Y:7.30, Z:4.16 [[ 9.98116328e-01 -5.86153962e-02 -1.81116355e-02 4.55357497e+02] [ 5.86200202e-02 9.98280330e-01 -2.75941699e-04 7.29509253e+00] [ 1.80966639e-02 -7.86282527e-04 9.99835933e-01 4.15754686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8692541539999 meters Centerline goodness [0,1] 0.9988494445955275 Centerline is valid? [True, True] Translation: X:455.39, Y:7.30, Z:4.16 [[ 9.98088408e-01 -5.89733364e-02 -1.84844777e-02 4.55389184e+02] [ 5.89782363e-02 9.98259229e-01 -2.80418385e-04 7.29590697e+00] [ 1.84688377e-02 -8.10299553e-04 9.99829108e-01 4.15785533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.89925415399995 meters Centerline goodness [0,1] 0.9986209202223244 Centerline is valid? [True, True] Translation: X:455.42, Y:7.29, Z:4.16 [[ 9.98057177e-01 -5.94732477e-02 -1.85689198e-02 4.55419750e+02] [ 5.94782916e-02 9.98229560e-01 -2.81009973e-04 7.28588934e+00] [ 1.85527572e-02 -8.23983603e-04 9.99827543e-01 4.15578683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9292541539999 meters Centerline goodness [0,1] 0.998828010547905 Centerline is valid? [True, True] Translation: X:455.45, Y:7.29, Z:4.16 [[ 9.98047617e-01 -5.94319502e-02 -1.92041227e-02 4.55450807e+02] [ 5.94373477e-02 9.98231996e-01 -2.90093327e-04 7.29301269e+00] [ 1.91874105e-02 -8.51915164e-04 9.99815542e-01 4.15721314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.95925415399995 meters Centerline goodness [0,1] 0.9987445072190835 Centerline is valid? [True, True] Translation: X:455.48, Y:7.30, Z:4.16 [[ 9.98053406e-01 -5.92379622e-02 -1.95003320e-02 4.55482036e+02] [ 5.92435045e-02 9.98243518e-01 -2.93855894e-04 7.29511558e+00] [ 1.94834875e-02 -8.61984133e-04 9.99809807e-01 4.15777751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9892541539999 meters Centerline goodness [0,1] 0.9988068324541572 Centerline is valid? [True, True] Translation: X:455.51, Y:7.30, Z:4.16 [[ 9.98031664e-01 -5.93887924e-02 -2.01436871e-02 4.55513098e+02] [ 5.93947523e-02 9.98234527e-01 -3.02803973e-04 7.29536018e+00] [ 2.01261071e-02 -8.94221351e-04 9.99797049e-01 4.15781076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.01925415399995 meters Centerline goodness [0,1] 0.9986167002012073 Centerline is valid? [True, True] Translation: X:455.54, Y:7.29, Z:4.16 [[ 9.98017585e-01 -5.95005230e-02 -2.05082343e-02 4.55543390e+02] [ 5.95067354e-02 9.98227857e-01 -3.07735032e-04 7.29373764e+00] [ 2.04902012e-02 -9.13253102e-04 9.99789637e-01 4.15718169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0492541539999 meters Centerline goodness [0,1] 0.9987455309540237 Centerline is valid? [True, True] Translation: X:455.57, Y:7.29, Z:4.16 [[ 9.97978019e-01 -6.00598344e-02 -2.08011935e-02 4.55574622e+02] [ 6.00663590e-02 9.98194338e-01 -3.11549831e-04 7.29446038e+00] [ 2.07823452e-02 -9.38532072e-04 9.99783583e-01 4.15763626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07925415399995 meters Centerline goodness [0,1] 0.998993225244877 Centerline is valid? [True, True] Translation: X:455.61, Y:7.29, Z:4.16 [[ 9.97910857e-01 -6.10296441e-02 -2.11967815e-02 4.55605541e+02] [ 6.10366494e-02 9.98135475e-01 -3.16920511e-04 7.29483122e+00] [ 2.11766011e-02 -9.77522101e-04 9.99775273e-01 4.15767366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1092541539999 meters Centerline goodness [0,1] 0.9989092587154423 Centerline is valid? [True, True] Translation: X:455.64, Y:7.29, Z:4.16 [[ 9.97738669e-01 -6.33120145e-02 -2.25640680e-02 4.55635290e+02] [ 6.33205394e-02 9.97993184e-01 -3.37184194e-04 7.29129958e+00] [ 2.25401339e-02 -1.09234725e-03 9.99745342e-01 4.15634126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13925415399996 meters Centerline goodness [0,1] 0.9986372308530935 Centerline is valid? [True, True] Translation: X:455.67, Y:7.29, Z:4.16 [[ 9.97639029e-01 -6.47260177e-02 -2.29545509e-02 4.55666794e+02] [ 6.47352246e-02 9.97902417e-01 -3.42545805e-04 7.29085673e+00] [ 2.29285734e-02 -1.14423094e-03 9.99736451e-01 4.15588679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.16925415399993 meters Centerline goodness [0,1] 0.9986572111955017 Centerline is valid? [True, True] Translation: X:455.70, Y:7.29, Z:4.16 [[ 9.97506329e-01 -6.64710782e-02 -2.37217056e-02 4.55698383e+02] [ 6.64814233e-02 9.97787600e-01 -3.53142175e-04 7.29386029e+00] [ 2.36926975e-02 -1.22479120e-03 9.99718538e-01 4.15668100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19925415399996 meters Centerline goodness [0,1] 0.9988456533601981 Centerline is valid? [True, True] Translation: X:455.73, Y:7.29, Z:4.16 [[ 9.97493836e-01 -6.67249740e-02 -2.35334798e-02 4.55729961e+02] [ 6.67352457e-02 9.97770657e-01 -3.49500565e-04 7.29459614e+00] [ 2.35043360e-02 -1.22188790e-03 9.99722988e-01 4.15711591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.22925415399993 meters Centerline goodness [0,1] 0.9989316686916083 Centerline is valid? [True, True] Translation: X:455.76, Y:7.30, Z:4.16 [[ 9.97603839e-01 -6.53128626e-02 -2.28212564e-02 4.55760409e+02] [ 6.53221840e-02 9.97864168e-01 -3.37569846e-04 7.29659914e+00] [ 2.27945617e-02 -1.15397333e-03 9.99739504e-01 4.15848068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25925415399996 meters Centerline goodness [0,1] 0.998720503408495 Centerline is valid? [True, True] Translation: X:455.79, Y:7.30, Z:4.16 [[ 9.97705301e-01 -6.40042128e-02 -2.20815164e-02 4.55792073e+02] [ 6.40126505e-02 9.97949034e-01 -3.25232573e-04 7.30205295e+00] [ 2.20570442e-02 -1.08901013e-03 9.99756121e-01 4.16042108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.28925415399993 meters Centerline goodness [0,1] 0.998659489349224 Centerline is valid? [True, True] Translation: X:455.82, Y:7.30, Z:4.16 [[ 9.97829137e-01 -6.22699278e-02 -2.14352575e-02 4.55822637e+02] [ 6.22774948e-02 9.98058823e-01 -3.14992400e-04 7.30336171e+00] [ 2.14132624e-02 -1.02062554e-03 9.99770189e-01 4.16097855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31925415399996 meters Centerline goodness [0,1] 0.9987392839132627 Centerline is valid? [True, True] Translation: X:455.85, Y:7.31, Z:4.16 [[ 9.98062191e-01 -5.83566356e-02 -2.15954914e-02 4.55853580e+02] [ 5.83634105e-02 9.98295353e-01 -3.16953341e-04 7.30877760e+00] [ 2.15771751e-02 -9.44047384e-04 9.99766740e-01 4.16154017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.34925415399994 meters Centerline goodness [0,1] 0.9986990914622632 Centerline is valid? [True, True] Translation: X:455.89, Y:7.31, Z:4.16 [[ 9.98178706e-01 -5.66784861e-02 -2.06596187e-02 4.55885219e+02] [ 5.66843435e-02 9.98392104e-01 -3.02442329e-04 7.31121282e+00] [ 2.06435422e-02 -8.69185431e-04 9.99786522e-01 4.16284953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37925415399997 meters Centerline goodness [0,1] 0.9988010601152665 Centerline is valid? [True, True] Translation: X:455.92, Y:7.32, Z:4.16 [[ 9.98278278e-01 -5.48871198e-02 -2.06853347e-02 4.55916692e+02] [ 5.48926270e-02 9.98492217e-01 -3.01893090e-04 7.31583514e+00] [ 2.06707158e-02 -8.34099049e-04 9.99785990e-01 4.16377199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.40925415399994 meters Centerline goodness [0,1] 0.9988229854134264 Centerline is valid? [True, True] Translation: X:455.95, Y:7.32, Z:4.16 [[ 9.98418841e-01 -5.21980324e-02 -2.08610582e-02 4.55947812e+02] [ 5.22030636e-02 9.98636444e-01 -3.03683475e-04 7.32093790e+00] [ 2.08484647e-02 -7.85807848e-04 9.99782338e-01 4.16435372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43925415399997 meters Centerline goodness [0,1] 0.9990551181102362 Centerline is valid? [True, True] Translation: X:455.98, Y:7.32, Z:4.16 [[ 9.98479485e-01 -5.12664240e-02 -2.02601053e-02 4.55978605e+02] [ 5.12709928e-02 9.98684734e-01 -2.94200591e-04 7.32130645e+00] [ 2.02485405e-02 -7.45002460e-04 9.99794700e-01 4.16464512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.46925415399994 meters Centerline goodness [0,1] 0.9987600613664545 Centerline is valid? [True, True] Translation: X:456.01, Y:7.32, Z:4.17 [[ 9.98526947e-01 -5.04429764e-02 -1.99860580e-02 4.56009534e+02] [ 5.04472721e-02 9.98726684e-01 -2.89499036e-04 7.32446274e+00] [ 1.99752127e-02 -7.19169520e-04 9.99800217e-01 4.16523674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4992541539999 meters Centerline goodness [0,1] 0.9990979840993476 Centerline is valid? [True, True] Translation: X:456.04, Y:7.33, Z:4.17 [[ 9.98537095e-01 -5.03832803e-02 -1.96263762e-02 4.56040875e+02] [ 5.03874251e-02 9.98729707e-01 -2.83579222e-04 7.32643824e+00] [ 1.96157326e-02 -7.05758186e-04 9.99807344e-01 4.16560986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.52925415399994 meters Centerline goodness [0,1] 0.9989889841396887 Centerline is valid? [True, True] Translation: X:456.07, Y:7.33, Z:4.17 [[ 9.98511592e-01 -5.07104369e-02 -2.00761724e-02 4.56072138e+02] [ 5.07148548e-02 9.98713132e-01 -2.89337291e-04 7.32712941e+00] [ 2.00650095e-02 -7.29253533e-04 9.99798411e-01 4.16593684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5592541539999 meters Centerline goodness [0,1] 0.999094774956844 Centerline is valid? [True, True] Translation: X:456.10, Y:7.33, Z:4.17 [[ 9.98493944e-01 -5.10219686e-02 -2.01644118e-02 4.56102924e+02] [ 5.10265077e-02 9.98697257e-01 -2.89679249e-04 7.32680778e+00] [ 2.01529228e-02 -7.39676539e-04 9.99796636e-01 4.16570709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.58925415399995 meters Centerline goodness [0,1] 0.9987147612827104 Centerline is valid? [True, True] Translation: X:456.13, Y:7.33, Z:4.17 [[ 9.98396517e-01 -5.24580262e-02 -2.12732274e-02 4.56134560e+02] [ 5.24634244e-02 9.98622800e-01 -3.04647148e-04 7.32846049e+00] [ 2.12599111e-02 -8.11907705e-04 9.99773653e-01 4.16525528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6192541539999 meters Centerline goodness [0,1] 0.9989050787501053 Centerline is valid? [True, True] Translation: X:456.17, Y:7.33, Z:4.17 [[ 9.98360766e-01 -5.30352628e-02 -2.15184054e-02 4.56165667e+02] [ 5.30409369e-02 9.98592291e-01 -3.07373076e-04 7.33168948e+00] [ 2.15044154e-02 -8.34487166e-04 9.99768405e-01 4.16601556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.64925415399995 meters Centerline goodness [0,1] 0.9989459482249768 Centerline is valid? [True, True] Translation: X:456.20, Y:7.33, Z:4.16 [[ 9.98282647e-01 -5.41655920e-02 -2.23124281e-02 4.56195733e+02] [ 5.41719879e-02 9.98531569e-01 -3.18119692e-04 7.33120041e+00] [ 2.22968950e-02 -8.91135217e-04 9.99750996e-01 4.16472814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6792541539999 meters Centerline goodness [0,1] 0.9987562451251133 Centerline is valid? [True, True] Translation: X:456.23, Y:7.33, Z:4.17 [[ 9.98271867e-01 -5.43012256e-02 -2.24645769e-02 4.56226602e+02] [ 5.43077582e-02 9.98524194e-01 -3.19633597e-04 7.33380263e+00] [ 2.24487801e-02 -9.00919584e-04 9.99747588e-01 4.16535801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.70925415399995 meters Centerline goodness [0,1] 0.9988616480806122 Centerline is valid? [True, True] Translation: X:456.26, Y:7.33, Z:4.17 [[ 9.98282951e-01 -5.42478028e-02 -2.20980973e-02 4.56258132e+02] [ 5.42541337e-02 9.98527111e-01 -3.13378924e-04 7.33468613e+00] [ 2.20825494e-02 -8.86072291e-04 9.99755758e-01 4.16562091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7392541539999 meters Centerline goodness [0,1] 0.9987335894296931 Centerline is valid? [True, True] Translation: X:456.29, Y:7.34, Z:4.17 [[ 9.98416297e-01 -5.21473621e-02 -2.11080449e-02 4.56290065e+02] [ 5.21526934e-02 9.98639078e-01 -2.98204930e-04 7.33807056e+00] [ 2.10948691e-02 -8.03108730e-04 9.99777156e-01 4.16645873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.76925415399995 meters Centerline goodness [0,1] 0.9986690609485581 Centerline is valid? [True, True] Translation: X:456.32, Y:7.34, Z:4.17 [[ 9.98539595e-01 -4.99417307e-02 -2.06034176e-02 4.56321283e+02] [ 4.99463600e-02 9.98751860e-01 -2.90162760e-04 7.34134608e+00] [ 2.05921929e-02 -7.39326708e-04 9.99787685e-01 4.16748926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7992541539999 meters Centerline goodness [0,1] 0.9989001924663184 Centerline is valid? [True, True] Translation: X:456.35, Y:7.34, Z:4.17 [[ 9.98677332e-01 -4.74687680e-02 -1.97560940e-02 4.56351567e+02] [ 4.74725511e-02 9.98872504e-01 -2.77710982e-04 7.34299328e+00] [ 1.97470017e-02 -6.60528520e-04 9.99804791e-01 4.16808171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.82925415399995 meters Centerline goodness [0,1] 0.9988147646461226 Centerline is valid? [True, True] Translation: X:456.38, Y:7.35, Z:4.17 [[ 9.98921828e-01 -4.22074660e-02 -1.93316039e-02 4.56381764e+02] [ 4.22101070e-02 9.99108719e-01 -2.71578008e-04 7.34935742e+00] [ 1.93258366e-02 -5.44703867e-04 9.99813090e-01 4.16906163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8592541539999 meters Centerline goodness [0,1] 0.998664008821783 Centerline is valid? [True, True] Translation: X:456.41, Y:7.35, Z:4.17 [[ 9.99076770e-01 -3.82017964e-02 -1.96527335e-02 4.56412481e+02] [ 3.82037509e-02 9.99269932e-01 -2.76115628e-04 7.35475287e+00] [ 1.96489338e-02 -4.74947425e-04 9.99806828e-01 4.16919519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.88925415399996 meters Centerline goodness [0,1] 0.9987485948204552 Centerline is valid? [True, True] Translation: X:456.44, Y:7.36, Z:4.17 [[ 9.99124837e-01 -3.68370942e-02 -1.98138365e-02 4.56442036e+02] [ 3.68388137e-02 9.99321182e-01 -2.78326310e-04 7.35563787e+00] [ 1.98106392e-02 -4.51835502e-04 9.99803648e-01 4.16849925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91925415399993 meters Centerline goodness [0,1] 0.9988334605921778 Centerline is valid? [True, True] Translation: X:456.47, Y:7.36, Z:4.17 [[ 9.99184116e-01 -3.57315085e-02 -1.88245140e-02 4.56472247e+02] [ 3.57328656e-02 9.99361342e-01 -2.64363748e-04 7.35987299e+00] [ 1.88219377e-02 -4.08505771e-04 9.99822768e-01 4.16983453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.94925415399996 meters Centerline goodness [0,1] 0.9988963409457509 Centerline is valid? [True, True] Translation: X:456.50, Y:7.36, Z:4.17 [[ 9.99181128e-01 -3.56411570e-02 -1.91515404e-02 4.56502509e+02] [ 3.56425451e-02 9.99364566e-01 -2.68956373e-04 7.36116170e+00] [ 1.91489568e-02 -4.13873512e-04 9.99816556e-01 4.17024086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97925415399993 meters Centerline goodness [0,1] 0.9988520652197019 Centerline is valid? [True, True] Translation: X:456.53, Y:7.36, Z:4.17 [[ 9.99174991e-01 -3.58309423e-02 -1.91175322e-02 4.56533128e+02] [ 3.58323603e-02 9.99357779e-01 -2.68478775e-04 7.36236967e+00] [ 1.91148743e-02 -4.16769022e-04 9.99817207e-01 4.17016514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.00925415399996 meters Centerline goodness [0,1] 0.9988324948523637 Centerline is valid? [True, True] Translation: X:456.56, Y:7.36, Z:4.17 [[ 9.99162808e-01 -3.60685422e-02 -1.93065768e-02 4.56563149e+02] [ 3.60700440e-02 9.99349228e-01 -2.70551351e-04 7.36151160e+00] [ 1.93037710e-02 -4.26064225e-04 9.99813574e-01 4.16964073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03925415399993 meters Centerline goodness [0,1] 0.9988748779348703 Centerline is valid? [True, True] Translation: X:456.59, Y:7.36, Z:4.17 [[ 9.99105882e-01 -3.71629138e-02 -2.01582374e-02 4.56593479e+02] [ 3.71647852e-02 9.99309111e-01 -2.81913177e-04 7.36432279e+00] [ 2.01547870e-02 -4.67515448e-04 9.99796762e-01 4.16973092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.06925415399996 meters Centerline goodness [0,1] 0.998703203724569 Centerline is valid? [True, True] Translation: X:456.62, Y:7.37, Z:4.17 [[ 9.99064304e-01 -3.78934048e-02 -2.08472226e-02 4.56624299e+02] [ 3.78955788e-02 9.99281662e-01 -2.90898278e-04 7.36515678e+00] [ 2.08432704e-02 -4.99391483e-04 9.99782631e-01 4.16938811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09925415399994 meters Centerline goodness [0,1] 0.9987035069075452 Centerline is valid? [True, True] Translation: X:456.65, Y:7.37, Z:4.17 [[ 9.98977884e-01 -3.93197872e-02 -2.22966533e-02 4.56654116e+02] [ 3.93226420e-02 9.99226518e-01 -3.10555922e-04 7.36591558e+00] [ 2.22916182e-02 -5.66524816e-04 9.99751350e-01 4.16810180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12925415399997 meters Centerline goodness [0,1] 0.9987027348900515 Centerline is valid? [True, True] Translation: X:456.68, Y:7.37, Z:4.17 [[ 9.98931195e-01 -4.02767845e-02 -2.26770313e-02 4.56684286e+02] [ 4.02799840e-02 9.99188382e-01 -3.15853966e-04 7.36679375e+00] [ 2.26713478e-02 -5.97914078e-04 9.99742793e-01 4.16776187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15925415399994 meters Centerline goodness [0,1] 0.9987234857349531 Centerline is valid? [True, True] Translation: X:456.72, Y:7.37, Z:4.17 [[ 9.98891613e-01 -4.11343853e-02 -2.28803151e-02 4.56715105e+02] [ 4.11378672e-02 9.99153429e-01 -3.18685377e-04 7.36786535e+00] [ 2.28740542e-02 -6.22915216e-04 9.99738161e-01 4.16812335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.18925415399997 meters Centerline goodness [0,1] 0.9989342882110962 Centerline is valid? [True, True] Translation: X:456.75, Y:7.37, Z:4.17 [[ 9.98852348e-01 -4.20850955e-02 -2.28655111e-02 4.56745145e+02] [ 4.20888218e-02 9.99113822e-01 -3.18479182e-04 7.36884880e+00] [ 2.28586514e-02 -6.44268745e-04 9.99738499e-01 4.16874141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21925415399994 meters Centerline goodness [0,1] 0.9987421651814267 Centerline is valid? [True, True] Translation: X:456.77, Y:7.37, Z:4.17 [[ 9.98771051e-01 -4.43519419e-02 -2.21199757e-02 4.56774350e+02] [ 4.43559792e-02 9.99015742e-01 -3.08326677e-04 7.36940498e+00] [ 2.21118788e-02 -6.73205420e-04 9.99755276e-01 4.16902882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2492541539999 meters Centerline goodness [0,1] 0.9987641957684359 Centerline is valid? [True, True] Translation: X:456.81, Y:7.37, Z:4.17 [[ 9.98748099e-01 -4.52567359e-02 -2.13087388e-02 4.56806037e+02] [ 4.52606937e-02 9.98975166e-01 -2.96750910e-04 7.36999960e+00] [ 2.13003309e-02 -6.68068894e-04 9.99772899e-01 4.16956319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.27925415399994 meters Centerline goodness [0,1] 0.9987660362104547 Centerline is valid? [True, True] Translation: X:456.84, Y:7.37, Z:4.17 [[ 9.98719622e-01 -4.59211316e-02 -2.12218178e-02 4.56837624e+02] [ 4.59252233e-02 9.98944837e-01 -2.94771771e-04 7.37115748e+00] [ 2.12129616e-02 -6.80222371e-04 9.99774748e-01 4.17050417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3092541539999 meters Centerline goodness [0,1] 0.9987244626799039 Centerline is valid? [True, True] Translation: X:456.87, Y:7.37, Z:4.17 [[ 9.98719553e-01 -4.63620036e-02 -2.02439923e-02 4.56868507e+02] [ 4.63658318e-02 9.98924487e-01 -2.80471479e-04 7.37336970e+00] [ 2.02352229e-02 -6.58517194e-04 9.99795030e-01 4.17173308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.33925415399995 meters Centerline goodness [0,1] 0.998829463468619 Centerline is valid? [True, True] Translation: X:456.90, Y:7.37, Z:4.17 [[ 9.98734858e-01 -4.63679709e-02 -1.94600596e-02 4.56900725e+02] [ 4.63715299e-02 9.98924226e-01 -2.68557771e-04 7.37445613e+00] [ 1.94515774e-02 -6.34174726e-04 9.99810599e-01 4.17240209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3692541539999 meters Centerline goodness [0,1] 0.9987013539981265 Centerline is valid? [True, True] Translation: X:456.93, Y:7.38, Z:4.17 [[ 9.98766613e-01 -4.60107492e-02 -1.86618211e-02 4.56932214e+02] [ 4.60139780e-02 9.98940763e-01 -2.56563334e-04 7.37687904e+00] [ 1.86538585e-02 -6.02457731e-04 9.99825820e-01 4.17343053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.39925415399995 meters Centerline goodness [0,1] 0.9988282165455824 Centerline is valid? [True, True] Translation: X:456.96, Y:7.38, Z:4.17 [[ 9.98797388e-01 -4.56108374e-02 -1.79841432e-02 4.56964809e+02] [ 4.56137879e-02 9.98959119e-01 -2.46311077e-04 7.37829775e+00] [ 1.79766583e-02 -5.74310035e-04 9.99838242e-01 4.17433069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4292541539999 meters Centerline goodness [0,1] 0.99865820412336 Centerline is valid? [True, True] Translation: X:457.00, Y:7.38, Z:4.17 [[ 9.98834939e-01 -4.48705530e-02 -1.77594565e-02 4.56997182e+02] [ 4.48733356e-02 9.98992655e-01 -2.41981931e-04 7.37900253e+00] [ 1.77524245e-02 -5.55226045e-04 9.99842259e-01 4.17403434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.45925415399995 meters Centerline goodness [0,1] 0.99865820412336 Centerline is valid? [True, True] Translation: X:457.03, Y:7.38, Z:4.17 [[ 9.98838109e-01 -4.47999251e-02 -1.77594736e-02 4.57028887e+02] [ 4.48027188e-02 9.98995825e-01 -2.40726902e-04 7.37937002e+00] [ 1.77524245e-02 -5.55225496e-04 9.99842259e-01 4.17433118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4892541539999 meters Centerline goodness [0,1] 0.9989133908596995 Centerline is valid? [True, True] Translation: X:457.06, Y:7.38, Z:4.18 [[ 9.98809018e-01 -4.56438988e-02 -1.72388922e-02 4.57061165e+02] [ 4.56466773e-02 9.98957620e-01 -2.32474886e-04 7.38016615e+00] [ 1.72315338e-02 -5.54700138e-04 9.99851372e-01 4.17528739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.51925415399995 meters Centerline goodness [0,1] 0.9988927689293927 Centerline is valid? [True, True] Translation: X:457.09, Y:7.38, Z:4.18 [[ 9.98788192e-01 -4.60753892e-02 -1.72975620e-02 4.57093530e+02] [ 4.60782728e-02 9.98937805e-01 -2.32021160e-04 7.38366077e+00] [ 1.72898790e-02 -5.65301784e-04 9.99850359e-01 4.17627506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5492541539999 meters Centerline goodness [0,1] 0.9986805703341136 Centerline is valid? [True, True] Translation: X:457.12, Y:7.38, Z:4.18 [[ 9.98738182e-01 -4.71871433e-02 -1.71877013e-02 4.57124919e+02] [ 4.71901739e-02 9.98885897e-01 -2.29431481e-04 7.38354365e+00] [ 1.71793786e-02 -5.81948632e-04 9.99852254e-01 4.17633963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57925415399995 meters Centerline goodness [0,1] 0.998977483330848 Centerline is valid? [True, True] Translation: X:457.16, Y:7.38, Z:4.18 [[ 9.98732552e-01 -4.73883115e-02 -1.69599023e-02 4.57156875e+02] [ 4.73913092e-02 9.98876375e-01 -2.25331073e-04 7.38495634e+00] [ 1.69515237e-02 -5.78706494e-04 9.99856145e-01 4.17707955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6092541539999 meters Centerline goodness [0,1] 0.9988909742364784 Centerline is valid? [True, True] Translation: X:457.19, Y:7.39, Z:4.18 [[ 9.98709641e-01 -4.77820167e-02 -1.72026807e-02 4.57189405e+02] [ 4.77851812e-02 9.98857610e-01 -2.27284573e-04 7.38731629e+00] [ 1.71938887e-02 -5.95041920e-04 9.99851997e-01 4.17767405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63925415399996 meters Centerline goodness [0,1] 0.9987202457128231 Centerline is valid? [True, True] Translation: X:457.22, Y:7.39, Z:4.18 [[ 9.98664497e-01 -4.83280003e-02 -1.82654671e-02 4.57221057e+02] [ 4.83316899e-02 9.98831312e-01 -2.39641383e-04 7.38815544e+00] [ 1.82557019e-02 -6.43479552e-04 9.99833144e-01 4.17673646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.66925415399993 meters Centerline goodness [0,1] 0.9989780058338834 Centerline is valid? [True, True] Translation: X:457.25, Y:7.39, Z:4.18 [[ 9.98645309e-01 -4.84589901e-02 -1.89545073e-02 4.57253156e+02] [ 4.84630200e-02 9.98824947e-01 -2.46941472e-04 7.38958206e+00] [ 1.89442013e-02 -6.71985723e-04 9.99820317e-01 4.17662779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69925415399996 meters Centerline goodness [0,1] 0.9988913052748284 Centerline is valid? [True, True] Translation: X:457.28, Y:7.39, Z:4.18 [[ 9.98623018e-01 -4.86917344e-02 -1.95239103e-02 4.57284411e+02] [ 4.86960793e-02 9.98813610e-01 -2.53091927e-04 7.38746041e+00] [ 1.95130708e-02 -6.97994460e-04 9.99809358e-01 4.17566797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.72925415399993 meters Centerline goodness [0,1] 0.998830658020623 Centerline is valid? [True, True] Translation: X:457.32, Y:7.39, Z:4.18 [[ 9.98596690e-01 -4.91124450e-02 -1.98145843e-02 4.57316094e+02] [ 4.91170377e-02 9.98792997e-01 -2.55105175e-04 7.39135717e+00] [ 1.98031968e-02 -7.18486498e-04 9.99803639e-01 4.17649461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75925415399996 meters Centerline goodness [0,1] 0.9988264914227192 Centerline is valid? [True, True] Translation: X:457.35, Y:7.39, Z:4.18 [[ 9.98531877e-01 -5.02932353e-02 -2.01166690e-02 4.57347083e+02] [ 5.02982428e-02 9.98734209e-01 -2.57284779e-04 7.39146545e+00] [ 2.01041452e-02 -7.54926049e-04 9.99797606e-01 4.17542691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.78925415399993 meters Centerline goodness [0,1] 0.9988906666666667 Centerline is valid? [True, True] Translation: X:457.38, Y:7.39, Z:4.18 [[ 9.98412111e-01 -5.27886000e-02 -1.96626433e-02 4.57378960e+02] [ 5.27938919e-02 9.98605399e-01 -2.50218012e-04 7.39286854e+00] [ 1.96484304e-02 -7.88246772e-04 9.99806640e-01 4.17684841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81925415399996 meters Centerline goodness [0,1] 0.998677587236584 Centerline is valid? [True, True] Translation: X:457.41, Y:7.39, Z:4.18 [[ 9.98359184e-01 -5.39496416e-02 -1.91931462e-02 4.57410013e+02] [ 5.39549211e-02 9.98543343e-01 -2.43029348e-04 7.39236315e+00] [ 1.91782997e-02 -7.92934106e-04 9.99815765e-01 4.17713493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.84925415399994 meters Centerline goodness [0,1] 0.99891190714941 Centerline is valid? [True, True] Translation: X:457.44, Y:7.39, Z:4.18 [[ 9.98306686e-01 -5.52278693e-02 -1.82658987e-02 4.57441541e+02] [ 5.52328898e-02 9.98473472e-01 -2.29894648e-04 7.39176087e+00] [ 1.82507118e-02 -7.79373003e-04 9.99833138e-01 4.17773683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87925415399997 meters Centerline goodness [0,1] 0.9991247171341958 Centerline is valid? [True, True] Translation: X:457.47, Y:7.39, Z:4.18 [[ 9.98204294e-01 -5.74936409e-02 -1.68127619e-02 4.57472836e+02] [ 5.74982363e-02 9.98345586e-01 -2.10327999e-04 7.39174560e+00] [ 1.67970391e-02 -7.56753844e-04 9.99858633e-01 4.17916182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.90925415399994 meters Centerline goodness [0,1] 0.9990594472114748 Centerline is valid? [True, True] Translation: X:457.51, Y:7.39, Z:4.18 [[ 9.98169361e-01 -5.81767096e-02 -1.65347257e-02 4.57505025e+02] [ 5.81812647e-02 9.98306014e-01 -2.05823204e-04 7.39489781e+00] [ 1.65186902e-02 -7.56564837e-04 9.99863271e-01 4.18021388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93925415399997 meters Centerline goodness [0,1] 0.9992101274470038 Centerline is valid? [True, True] Translation: X:457.54, Y:7.39, Z:4.18 [[ 9.98127156e-01 -5.90695768e-02 -1.59048661e-02 4.57536140e+02] [ 5.90739208e-02 9.98253592e-01 -1.96956355e-04 7.39413681e+00] [ 1.58887239e-02 -7.42975316e-04 9.99873490e-01 4.18106010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.96925415399994 meters Centerline goodness [0,1] 0.9991049547149707 Centerline is valid? [True, True] Translation: X:457.57, Y:7.40, Z:4.18 [[ 9.98125028e-01 -5.91942461e-02 -1.55714502e-02 4.57567868e+02] [ 5.91984398e-02 9.98246216e-01 -1.91874227e-04 7.39551994e+00] [ 1.55554991e-02 -7.30291091e-04 9.99878739e-01 4.18169938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.9992541539999 meters Centerline goodness [0,1] 0.9991255758403003 Centerline is valid? [True, True] Translation: X:457.60, Y:7.40, Z:4.18 [[ 9.98112954e-01 -5.94887833e-02 -1.52189174e-02 4.57600049e+02] [ 5.94928401e-02 9.98228715e-01 -1.86435923e-04 7.39905873e+00] [ 1.52030512e-02 -7.19332508e-04 9.99884168e-01 4.18274780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.02925415399994 meters Centerline goodness [0,1] 0.9989294278862624 Centerline is valid? [True, True] Translation: X:457.63, Y:7.40, Z:4.18 [[ 9.98091821e-01 -5.99618076e-02 -1.47410367e-02 4.57631589e+02] [ 5.99656793e-02 9.98200423e-01 -1.79613382e-04 7.39716783e+00] [ 1.47252790e-02 -7.04685629e-04 9.99891329e-01 4.18298095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0592541539999 meters Centerline goodness [0,1] 0.9990796823834086 Centerline is valid? [True, True] Translation: X:457.66, Y:7.40, Z:4.18 [[ 9.98015673e-01 -6.12941740e-02 -1.44132280e-02 4.57664181e+02] [ 6.12980264e-02 9.98119493e-01 -1.74756174e-04 7.39637722e+00] [ 1.43968354e-02 -7.09093032e-04 9.99896109e-01 4.18369792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.08925415399995 meters Centerline goodness [0,1] 0.9991858771102923 Centerline is valid? [True, True] Translation: X:457.70, Y:7.40, Z:4.18 [[ 9.97994395e-01 -6.16818469e-02 -1.42315591e-02 4.57696582e+02] [ 6.16856563e-02 9.98095612e-01 -1.71549966e-04 7.39622913e+00] [ 1.42150382e-02 -7.06677160e-04 9.99898712e-01 4.18440681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1192541539999 meters Centerline goodness [0,1] 0.9991219992719018 Centerline is valid? [True, True] Translation: X:457.73, Y:7.39, Z:4.18 [[ 9.97950032e-01 -6.22809652e-02 -1.47246530e-02 4.57727958e+02] [ 6.22851226e-02 9.98058381e-01 -1.76522251e-04 7.39464864e+00] [ 1.47070573e-02 -7.40966433e-04 9.99891571e-01 4.18403886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.14925415399995 meters Centerline goodness [0,1] 0.9990997363513601 Centerline is valid? [True, True] Translation: X:457.76, Y:7.39, Z:4.18 [[ 9.97905876e-01 -6.24395118e-02 -1.68869783e-02 4.57759842e+02] [ 6.24450213e-02 9.98048385e-01 -2.01353655e-04 7.39456391e+00] [ 1.68665938e-02 -8.53575721e-04 9.99857385e-01 4.18237696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1792541539999 meters Centerline goodness [0,1] 0.9992283123620073 Centerline is valid? [True, True] Translation: X:457.79, Y:7.40, Z:4.18 [[ 9.97946261e-01 -6.16321903e-02 -1.74566371e-02 4.57791975e+02] [ 6.16379763e-02 9.98098551e-01 -2.06904005e-04 7.39692627e+00] [ 1.74361961e-02 -8.69512705e-04 9.99847600e-01 4.18202963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.20925415399995 meters Centerline goodness [0,1] 0.9990550842907764 Centerline is valid? [True, True] Translation: X:457.82, Y:7.40, Z:4.18 [[ 9.98005278e-01 -6.04385751e-02 -1.82385026e-02 4.57822893e+02] [ 6.04447133e-02 9.98171524e-01 -2.15017808e-04 7.39711121e+00] [ 1.82181493e-02 -8.87832153e-04 9.99833642e-01 4.18108099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2392541539999 meters Centerline goodness [0,1] 0.9991405058123295 Centerline is valid? [True, True] Translation: X:457.85, Y:7.41, Z:4.18 [[ 9.98254932e-01 -5.58018982e-02 -1.93193783e-02 4.57853991e+02] [ 5.58079336e-02 9.98441497e-01 -2.27011149e-04 7.40528943e+00] [ 1.93019367e-02 -8.51559585e-04 9.99813338e-01 4.18117918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.26925415399995 meters Centerline goodness [0,1] 0.9992469555488618 Centerline is valid? [True, True] Translation: X:457.89, Y:7.41, Z:4.18 [[ 9.98428587e-01 -5.25687659e-02 -1.94134229e-02 4.57885102e+02] [ 5.25742614e-02 9.98616991e-01 -2.27538415e-04 7.40863644e+00] [ 1.93985354e-02 -7.93465513e-04 9.99811516e-01 4.18172144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2992541539999 meters Centerline goodness [0,1] 0.9993542276562769 Centerline is valid? [True, True] Translation: X:457.92, Y:7.42, Z:4.18 [[ 9.98864059e-01 -4.41896767e-02 -1.78287480e-02 4.57915117e+02] [ 4.41929843e-02 9.99022991e-01 -2.08610693e-04 7.41830461e+00] [ 1.78205475e-02 -5.79531855e-04 9.99841033e-01 4.18444276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.32925415399995 meters Centerline goodness [0,1] 0.9992018981880931 Centerline is valid? [True, True] Translation: X:457.95, Y:7.42, Z:4.19 [[ 9.99081906e-01 -3.93574114e-02 -1.69215546e-02 4.57947009e+02] [ 3.93597078e-02 9.99225087e-01 -1.97438621e-04 7.42387237e+00] [ 1.69162125e-02 -4.68770089e-04 9.99856801e-01 4.18600301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3592541539999 meters Centerline goodness [0,1] 0.9992882715783117 Centerline is valid? [True, True] Translation: X:457.98, Y:7.43, Z:4.19 [[ 9.99284584e-01 -3.41438356e-02 -1.62640550e-02 4.57977189e+02] [ 3.41452787e-02 9.99416862e-01 -1.89031820e-04 7.42693815e+00] [ 1.62610250e-02 -3.66444105e-04 9.99867714e-01 4.18659550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.38925415399996 meters Centerline goodness [0,1] 0.999285667900513 Centerline is valid? [True, True] Translation: X:458.01, Y:7.44, Z:4.19 [[ 9.99588251e-01 -2.44313020e-02 -1.50479226e-02 4.58008051e+02] [ 2.44314408e-02 9.99701493e-01 -1.74634477e-04 7.43535626e+00] [ 1.50476972e-02 -1.93079858e-04 9.99886758e-01 4.18777884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41925415399993 meters Centerline goodness [0,1] 0.9992845373341428 Centerline is valid? [True, True] Translation: X:458.04, Y:7.44, Z:4.19 [[ 9.99682161e-01 -2.03836272e-02 -1.48352241e-02 4.58039085e+02] [ 2.03833219e-02 9.99792224e-01 -1.71801882e-04 7.43909979e+00] [ 1.48356436e-02 -1.30643872e-04 9.99889937e-01 4.18813494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.44925415399996 meters Centerline goodness [0,1] 0.9994794265015292 Centerline is valid? [True, True] Translation: X:458.07, Y:7.44, Z:4.19 [[ 9.99750791e-01 -1.68046886e-02 -1.46955182e-02 4.58069246e+02] [ 1.68040059e-02 9.99858788e-01 -1.69943517e-04 7.44187357e+00] [ 1.46962989e-02 -7.70424099e-05 9.99892001e-01 4.18805153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47925415399993 meters Centerline goodness [0,1] 0.9995225487217327 Centerline is valid? [True, True] Translation: X:458.10, Y:7.44, Z:4.19 [[ 9.99789676e-01 -1.30304350e-02 -1.58370434e-02 4.58097742e+02] [ 1.30291395e-02 9.99915100e-01 -1.84981266e-04 7.44489544e+00] [ 1.58381092e-02 -2.14006862e-05 9.99874569e-01 4.18738891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.50925415399996 meters Centerline goodness [0,1] 0.9994997172314787 Centerline is valid? [True, True] Translation: X:458.13, Y:7.45, Z:4.19 [[ 9.99780993e-01 -1.30186571e-02 -1.63854079e-02 4.58125347e+02] [ 1.30171946e-02 9.99915254e-01 -1.95912266e-04 7.44518430e+00] [ 1.63865698e-02 -1.74226822e-05 9.99865731e-01 4.18655071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53925415399993 meters Centerline goodness [0,1] 0.9995011711633556 Centerline is valid? [True, True] Translation: X:458.15, Y:7.44, Z:4.19 [[ 9.99735537e-01 -1.53891598e-02 -1.70888519e-02 4.58153893e+02] [ 1.53878326e-02 9.99881578e-01 -2.09157236e-04 7.44314951e+00] [ 1.70900470e-02 -5.38584720e-05 9.99853953e-01 4.18608394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.56925415399996 meters Centerline goodness [0,1] 0.9995224969070823 Centerline is valid? [True, True] Translation: X:458.18, Y:7.44, Z:4.19 [[ 9.99690166e-01 -1.79886310e-02 -1.72041293e-02 4.58182319e+02] [ 1.79875947e-02 9.99838187e-01 -2.14989563e-04 7.44148655e+00] [ 1.72052128e-02 -9.45379512e-05 9.99851975e-01 4.18590198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59925415399994 meters Centerline goodness [0,1] 0.9993066839995667 Centerline is valid? [True, True] Translation: X:458.21, Y:7.44, Z:4.19 [[ 9.99621888e-01 -2.13928295e-02 -1.72750480e-02 4.58210686e+02] [ 2.13922165e-02 9.99771136e-01 -2.20291759e-04 7.43913598e+00] [ 1.72758070e-02 -1.49343103e-04 9.99850751e-01 4.18577078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62925415399997 meters Centerline goodness [0,1] 0.9993503540570389 Centerline is valid? [True, True] Translation: X:458.24, Y:7.44, Z:4.19 [[ 9.99532156e-01 -2.53512434e-02 -1.71109320e-02 4.58239313e+02] [ 2.53511479e-02 9.99678583e-01 -2.22521424e-04 7.43630221e+00] [ 1.71110734e-02 -2.11364448e-04 9.99853573e-01 4.18582380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65925415399994 meters Centerline goodness [0,1] 0.9993073892905069 Centerline is valid? [True, True] Translation: X:458.27, Y:7.43, Z:4.19 [[ 9.99284354e-01 -3.37512216e-02 -1.70773071e-02 4.58270056e+02] [ 3.37523119e-02 9.99430203e-01 -2.24454392e-04 7.42941084e+00] [ 1.70751522e-02 -3.52104836e-04 9.99854147e-01 4.18571573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.68925415399997 meters Centerline goodness [0,1] 0.9992029641118435 Centerline is valid? [True, True] Translation: X:458.30, Y:7.42, Z:4.19 [[ 9.99115500e-01 -3.82582056e-02 -1.74506917e-02 4.58300748e+02] [ 3.82600336e-02 9.99267791e-01 -2.29215325e-04 7.42471716e+00] [ 1.74466835e-02 -4.38651469e-04 9.99847699e-01 4.18547301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71925415399994 meters Centerline goodness [0,1] 0.9992899408284024 Centerline is valid? [True, True] Translation: X:458.33, Y:7.42, Z:4.19 [[ 9.98751882e-01 -4.66748116e-02 -1.77803445e-02 4.58330873e+02] [ 4.66780423e-02 9.98909959e-01 -2.33491018e-04 7.41629671e+00] [ 1.77718614e-02 -5.96752081e-04 9.99841890e-01 4.18535624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7492541539999 meters Centerline goodness [0,1] 0.9991415756379166 Centerline is valid? [True, True] Translation: X:458.36, Y:7.41, Z:4.19 [[ 9.98574390e-01 -5.04583520e-02 -1.74109606e-02 4.58361801e+02] [ 5.04620243e-02 9.98725954e-01 -2.28626696e-04 7.41476330e+00] [ 1.74003144e-02 -6.50291553e-04 9.99848392e-01 4.18629760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.77925415399994 meters Centerline goodness [0,1] 0.9992701356688992 Centerline is valid? [True, True] Translation: X:458.39, Y:7.41, Z:4.19 [[ 9.98407620e-01 -5.38061108e-02 -1.69448274e-02 4.58391948e+02] [ 5.38100730e-02 9.98551164e-01 -2.22343694e-04 7.41121519e+00] [ 1.69322405e-02 -6.89812759e-04 9.99856401e-01 4.18653744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8092541539999 meters Centerline goodness [0,1] 0.9990356178474991 Centerline is valid? [True, True] Translation: X:458.42, Y:7.41, Z:4.19 [[ 9.98088789e-01 -5.96345254e-02 -1.62016506e-02 4.58422239e+02] [ 5.96389143e-02 9.98219993e-01 -2.12561575e-04 7.40863398e+00] [ 1.61854875e-02 -7.54093523e-04 9.99868722e-01 4.18760785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.83925415399995 meters Centerline goodness [0,1] 0.9992289899768697 Centerline is valid? [True, True] Translation: X:458.45, Y:7.41, Z:4.19 [[ 9.97958137e-01 -6.18780390e-02 -1.58323936e-02 4.58453848e+02] [ 6.18825243e-02 9.98083419e-01 -2.06917356e-04 7.40713191e+00] [ 1.58148532e-02 -7.73253624e-04 9.99874638e-01 4.18798047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8692541539999 meters Centerline goodness [0,1] 0.9990794262470563 Centerline is valid? [True, True] Translation: X:458.48, Y:7.40, Z:4.19 [[ 9.97741265e-01 -6.54296074e-02 -1.52096753e-02 4.58483948e+02] [ 6.54341743e-02 9.97856868e-01 -1.97722754e-04 7.40277077e+00] [ 1.51900159e-02 -7.97956393e-04 9.99884307e-01 4.18820133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.89925415399995 meters Centerline goodness [0,1] 0.9988665041276359 Centerline is valid? [True, True] Translation: X:458.52, Y:7.41, Z:4.19 [[ 9.97667195e-01 -6.65504031e-02 -1.52056779e-02 4.58516157e+02] [ 6.65551040e-02 9.97782731e-01 -1.97230756e-04 7.40819059e+00] [ 1.51850886e-02 -8.15244817e-04 9.99884368e-01 4.18908730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9292541539999 meters Centerline goodness [0,1] 0.9988872959150921 Centerline is valid? [True, True] Translation: X:458.55, Y:7.40, Z:4.19 [[ 9.97626747e-01 -6.71790941e-02 -1.50944854e-02 4.58547013e+02] [ 6.71838137e-02 9.97740596e-01 -1.94766509e-04 7.40291842e+00] [ 1.50734651e-02 -8.19800818e-04 9.99886053e-01 4.18871059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.95925415399995 meters Centerline goodness [0,1] 0.9989300464359847 Centerline is valid? [True, True] Translation: X:458.58, Y:7.41, Z:4.19 [[ 9.97631347e-01 -6.70586181e-02 -1.53243689e-02 4.58580299e+02] [ 6.70634868e-02 9.97748691e-01 -1.96530581e-04 7.40918830e+00] [ 1.53030481e-02 -8.31640546e-04 9.99882556e-01 4.18966708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9892541539999 meters Centerline goodness [0,1] 0.999057714958775 Centerline is valid? [True, True] Translation: X:458.61, Y:7.41, Z:4.19 [[ 9.97648459e-01 -6.66642225e-02 -1.59196286e-02 4.58611778e+02] [ 6.66694500e-02 9.97775097e-01 -2.02708411e-04 7.40873320e+00] [ 1.58977223e-02 -8.59121147e-04 9.99873254e-01 4.18954078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.01925415399995 meters Centerline goodness [0,1] 0.9989724487829941 Centerline is valid? [True, True] Translation: X:458.64, Y:7.41, Z:4.19 [[ 9.97715550e-01 -6.55502716e-02 -1.63353507e-02 4.58642882e+02] [ 6.55556417e-02 9.97848894e-01 -2.07087438e-04 7.40772642e+00] [ 1.63137863e-02 -8.64260043e-04 9.99866548e-01 4.18822912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0492541539999 meters Centerline goodness [0,1] 0.9991640588159644 Centerline is valid? [True, True] Translation: X:458.68, Y:7.41, Z:4.19 [[ 9.97757252e-01 -6.47511852e-02 -1.69631880e-02 4.58675053e+02] [ 6.47568794e-02 9.97901048e-01 -2.13960706e-04 7.41150098e+00] [ 1.69414373e-02 -8.85002275e-04 9.99856092e-01 4.18832968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07925415399995 meters Centerline goodness [0,1] 0.9992058211165726 Centerline is valid? [True, True] Translation: X:458.71, Y:7.41, Z:4.19 [[ 9.97781367e-01 -6.43157578e-02 -1.71996188e-02 4.58706857e+02] [ 6.43215692e-02 9.97929201e-01 -2.15672239e-04 7.41363809e+00] [ 1.71778730e-02 -8.91112731e-04 9.99852052e-01 4.18826601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1092541539999 meters Centerline goodness [0,1] 0.9989954689236556 Centerline is valid? [True, True] Translation: X:458.74, Y:7.41, Z:4.19 [[ 9.97812383e-01 -6.36398401e-02 -1.79002722e-02 4.58737915e+02] [ 6.36460614e-02 9.97972509e-01 -2.22493756e-04 7.41355255e+00] [ 1.78781391e-02 -9.17274801e-04 9.99839753e-01 4.18774799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13925415399996 meters Centerline goodness [0,1] 0.9994418085403294 Centerline is valid? [True, True] Translation: X:458.77, Y:7.42, Z:4.19 [[ 9.97841294e-01 -6.28037267e-02 -1.91949164e-02 4.58770635e+02] [ 6.28107716e-02 9.98025426e-01 -2.36239272e-04 7.41583031e+00] [ 1.91718513e-02 -9.69918205e-04 9.99815733e-01 4.18748709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.16925415399993 meters Centerline goodness [0,1] 0.9991594465278676 Centerline is valid? [True, True] Translation: X:458.80, Y:7.42, Z:4.19 [[ 9.97859517e-01 -6.24867360e-02 -1.92818933e-02 4.58802778e+02] [ 6.24938159e-02 9.98045323e-01 -2.35750590e-04 7.41769629e+00] [ 1.92589347e-02 -9.69753119e-04 9.99814059e-01 4.18707023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19925415399996 meters Centerline goodness [0,1] 0.9991165506690513 Centerline is valid? [True, True] Translation: X:458.83, Y:7.42, Z:4.19 [[ 9.97905895e-01 -6.15565015e-02 -1.98650728e-02 4.58833960e+02] [ 6.15638751e-02 9.98103117e-01 -2.40726171e-04 7.41896438e+00] [ 1.98422093e-02 -9.82748795e-04 9.99802641e-01 4.18595774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.22925415399993 meters Centerline goodness [0,1] 0.9993751481329857 Centerline is valid? [True, True] Translation: X:458.87, Y:7.42, Z:4.19 [[ 9.97925363e-01 -6.10967015e-02 -2.03017788e-02 4.58865197e+02] [ 6.11043470e-02 9.98131354e-01 -2.44104556e-04 7.42078683e+00] [ 2.02787559e-02 -9.96928807e-04 9.99793868e-01 4.18618011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25925415399996 meters Centerline goodness [0,1] 0.9993516737622371 Centerline is valid? [True, True] Translation: X:458.90, Y:7.42, Z:4.19 [[ 9.97941025e-01 -6.08129439e-02 -2.03837076e-02 4.58897601e+02] [ 6.08206183e-02 9.98148683e-01 -2.43807178e-04 7.42350370e+00] [ 2.03607976e-02 -9.96444515e-04 9.99792201e-01 4.18699122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.28925415399993 meters Centerline goodness [0,1] 0.9993073892905069 Centerline is valid? [True, True] Translation: X:458.93, Y:7.43, Z:4.19 [[ 9.98007755e-01 -5.97524751e-02 -2.02524492e-02 4.58930218e+02] [ 5.97598679e-02 9.98212753e-01 -2.40515809e-04 7.42885678e+00] [ 2.02306245e-02 -9.70247049e-04 9.99794869e-01 4.18768684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31925415399996 meters Centerline goodness [0,1] 0.9993083623316835 Centerline is valid? [True, True] Translation: X:458.96, Y:7.43, Z:4.19 [[ 9.98070884e-01 -5.88394554e-02 -1.98098072e-02 4.58961149e+02] [ 5.88463778e-02 9.98267023e-01 -2.33806234e-04 7.42966321e+00] [ 1.97892343e-02 -9.32380202e-04 9.99803739e-01 4.18822480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.34925415399994 meters Centerline goodness [0,1] 0.99930809314796 Centerline is valid? [True, True] Translation: X:458.99, Y:7.43, Z:4.19 [[ 9.98110341e-01 -5.82981399e-02 -1.94183738e-02 4.58992884e+02] [ 5.83047125e-02 9.98298807e-01 -2.27981370e-04 7.43218032e+00] [ 1.93986303e-02 -9.04632141e-04 9.99811420e-01 4.18910318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37925415399997 meters Centerline goodness [0,1] 0.99930809314796 Centerline is valid? [True, True] Translation: X:459.02, Y:7.43, Z:4.19 [[ 9.98114479e-01 -5.82272444e-02 -1.94183900e-02 4.59024612e+02] [ 5.82338304e-02 9.98302945e-01 -2.26602074e-04 7.43248808e+00] [ 1.93986303e-02 -9.04632417e-04 9.99811420e-01 4.18940019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.40925415399994 meters Centerline goodness [0,1] 0.9992630164303984 Centerline is valid? [True, True] Translation: X:459.06, Y:7.43, Z:4.19 [[ 9.98169555e-01 -5.74819429e-02 -1.87980246e-02 4.59056891e+02] [ 5.74880074e-02 9.98346173e-01 -2.18051853e-04 7.43435274e+00] [ 1.87794700e-02 -8.63008259e-04 9.99823278e-01 4.19039389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43925415399997 meters Centerline goodness [0,1] 0.9993492972410203 Centerline is valid? [True, True] Translation: X:459.09, Y:7.44, Z:4.19 [[ 9.98327682e-01 -5.50959786e-02 -1.75006192e-02 4.59087973e+02] [ 5.51008846e-02 9.98480772e-01 -2.02094583e-04 7.43976407e+00] [ 1.74851664e-02 -7.62542984e-04 9.99846832e-01 4.19239039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.46925415399994 meters Centerline goodness [0,1] 0.9994358128634667 Centerline is valid? [True, True] Translation: X:459.12, Y:7.44, Z:4.19 [[ 9.98423469e-01 -5.35464948e-02 -1.68329695e-02 4.59120090e+02] [ 5.35508282e-02 9.98565106e-01 -1.93524600e-04 7.44298915e+00] [ 1.68191785e-02 -7.08199954e-04 9.99858297e-01 4.19340413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.4992541539999 meters Centerline goodness [0,1] 0.9992842580141413 Centerline is valid? [True, True] Translation: X:459.15, Y:7.45, Z:4.19 [[ 9.98640266e-01 -4.94187671e-02 -1.65953054e-02 4.59151034e+02] [ 4.94224231e-02 9.98777947e-01 -1.89996949e-04 7.44802837e+00] [ 1.65844145e-02 -6.30441601e-04 9.99862270e-01 4.19413888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.52925415399994 meters Centerline goodness [0,1] 0.9993260283502914 Centerline is valid? [True, True] Translation: X:459.18, Y:7.45, Z:4.19 [[ 9.98758267e-01 -4.70241584e-02 -1.64515421e-02 4.59182379e+02] [ 4.70274339e-02 9.98893581e-01 -1.87921750e-04 7.45177497e+00] [ 1.64421767e-02 -5.85985408e-04 9.99864647e-01 4.19487905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5592541539999 meters Centerline goodness [0,1] 0.9993460347909491 Centerline is valid? [True, True] Translation: X:459.21, Y:7.46, Z:4.20 [[ 9.98989802e-01 -4.19529985e-02 -1.61034309e-02 4.59212480e+02] [ 4.19554958e-02 9.99119464e-01 -1.82873823e-04 7.45658607e+00] [ 1.60969234e-02 -4.92938343e-04 9.99870315e-01 4.19607578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.58925415399995 meters Centerline goodness [0,1] 0.9994106604967914 Centerline is valid? [True, True] Translation: X:459.24, Y:7.46, Z:4.20 [[ 9.99084331e-01 -3.96389928e-02 -1.61012265e-02 4.59244216e+02] [ 3.96412134e-02 9.99213962e-01 -1.81344328e-04 7.45824509e+00] [ 1.60957587e-02 -4.57093881e-04 9.99870350e-01 4.19695111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6192541539999 meters Centerline goodness [0,1] 0.9994754327679665 Centerline is valid? [True, True] Translation: X:459.28, Y:7.46, Z:4.20 [[ 9.99173715e-01 -3.74425769e-02 -1.58094972e-02 4.59276958e+02] [ 3.74444627e-02 9.99298695e-01 -1.76813565e-04 7.46148912e+00] [ 1.58050302e-02 -4.15310660e-04 9.99875006e-01 4.19798552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.64925415399995 meters Centerline goodness [0,1] 0.9993227596452134 Centerline is valid? [True, True] Translation: X:459.31, Y:7.46, Z:4.20 [[ 9.99311042e-01 -3.40151056e-02 -1.48463665e-02 4.59307284e+02] [ 3.40164038e-02 9.99421261e-01 -1.65149978e-04 7.46450315e+00] [ 1.48433919e-02 -3.39983799e-04 9.99889773e-01 4.19940594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6792541539999 meters Centerline goodness [0,1] 0.9993885661877102 Centerline is valid? [True, True] Translation: X:459.34, Y:7.46, Z:4.20 [[ 9.99375826e-01 -3.21369195e-02 -1.46689169e-02 4.59338986e+02] [ 3.21379925e-02 9.99483428e-01 -1.62638753e-04 7.46283690e+00] [ 1.46665661e-02 -3.08892303e-04 9.99892392e-01 4.19917686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.70925415399995 meters Centerline goodness [0,1] 0.9993867717915024 Centerline is valid? [True, True] Translation: X:459.37, Y:7.47, Z:4.20 [[ 9.99427038e-01 -3.05390561e-02 -1.45932348e-02 4.59371516e+02] [ 3.05399628e-02 9.99533534e-01 -1.60768124e-04 7.46766527e+00] [ 1.45913372e-02 -2.85000837e-04 9.99893500e-01 4.20034657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7392541539999 meters Centerline goodness [0,1] 0.9994528343182315 Centerline is valid? [True, True] Translation: X:459.40, Y:7.47, Z:4.20 [[ 9.99532597e-01 -2.69963173e-02 -1.43452338e-02 4.59403415e+02] [ 2.69968420e-02 9.99635507e-01 -1.57101108e-04 7.46920976e+00] [ 1.43442462e-02 -2.30248332e-04 9.99897089e-01 4.20080034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.76925415399995 meters Centerline goodness [0,1] 0.9994752148339273 Centerline is valid? [True, True] Translation: X:459.44, Y:7.47, Z:4.20 [[ 9.99574569e-01 -2.55025120e-02 -1.41528096e-02 4.59435082e+02] [ 2.55028826e-02 9.99674737e-01 -1.54321237e-04 7.47020590e+00] [ 1.41521418e-02 -2.06681858e-04 9.99899832e-01 4.20123644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7992541539999 meters Centerline goodness [0,1] 0.9994961775207553 Centerline is valid? [True, True] Translation: X:459.47, Y:7.47, Z:4.20 [[ 9.99612013e-01 -2.39966246e-02 -1.41416417e-02 4.59466516e+02] [ 2.39968511e-02 9.99712022e-01 -1.53693272e-04 7.47117160e+00] [ 1.41412573e-02 -1.85721230e-04 9.99899990e-01 4.20180149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.82925415399995 meters Centerline goodness [0,1] 0.999539312039312 Centerline is valid? [True, True] Translation: X:459.50, Y:7.47, Z:4.20 [[ 9.99648919e-01 -2.19658754e-02 -1.48168457e-02 4.59496652e+02] [ 2.19659076e-02 9.99758707e-01 -1.60582769e-04 7.47163379e+00] [ 1.48167979e-02 -1.64939073e-04 9.99890212e-01 4.20197434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8592541539999 meters Centerline goodness [0,1] 0.9994525107855375 Centerline is valid? [True, True] Translation: X:459.53, Y:7.47, Z:4.20 [[ 9.99649612e-01 -2.16484904e-02 -1.52314405e-02 4.59526693e+02] [ 2.16484903e-02 9.99765630e-01 -1.64904851e-04 7.47194267e+00] [ 1.52314407e-02 -1.64890622e-04 9.99883981e-01 4.20224621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.88925415399996 meters Centerline goodness [0,1] 0.9994739841318546 Centerline is valid? [True, True] Translation: X:459.56, Y:7.47, Z:4.20 [[ 9.99646205e-01 -2.15991576e-02 -1.55222614e-02 4.59557214e+02] [ 2.15991569e-02 9.99766697e-01 -1.67708205e-04 7.47116954e+00] [ 1.55222624e-02 -1.67618890e-04 9.99879508e-01 4.20208189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91925415399993 meters Centerline goodness [0,1] 0.9991917868064657 Centerline is valid? [True, True] Translation: X:459.59, Y:7.47, Z:4.20 [[ 9.99633615e-01 -2.16074485e-02 -1.63019726e-02 4.59586590e+02] [ 2.16074578e-02 9.99766516e-01 -1.75583437e-04 7.46770964e+00] [ 1.63019603e-02 -1.76725080e-04 9.99867099e-01 4.20119595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.94925415399996 meters Centerline goodness [0,1] 0.9993235428895629 Centerline is valid? [True, True] Translation: X:459.62, Y:7.47, Z:4.20 [[ 9.99630620e-01 -2.18455545e-02 -1.61677184e-02 4.59615867e+02] [ 2.18455928e-02 9.99761341e-01 -1.74258877e-04 7.46613613e+00] [ 1.61676666e-02 -1.78998883e-04 9.99869279e-01 4.20148830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97925415399993 meters Centerline goodness [0,1] 0.9993669228082431 Centerline is valid? [True, True] Translation: X:459.65, Y:7.47, Z:4.20 [[ 9.99637415e-01 -2.19074535e-02 -1.56557240e-02 4.59646012e+02] [ 2.19074910e-02 9.99759988e-01 -1.69122727e-04 7.46551759e+00] [ 1.56556715e-02 -1.73916228e-04 9.99877427e-01 4.20231954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.00925415399996 meters Centerline goodness [0,1] 0.9994775908230121 Centerline is valid? [True, True] Translation: X:459.68, Y:7.46, Z:4.20 [[ 9.99635943e-01 -2.18973128e-02 -1.57635185e-02 4.59676160e+02] [ 2.18973442e-02 9.99760210e-01 -1.70624776e-04 7.46495060e+00] [ 1.57634747e-02 -1.74616531e-04 9.99875733e-01 4.20333936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03925415399993 meters Centerline goodness [0,1] 0.9990864401618306 Centerline is valid? [True, True] Translation: X:459.71, Y:7.46, Z:4.20 [[ 9.99632986e-01 -2.17532000e-02 -1.61459775e-02 4.59705669e+02] [ 2.17532122e-02 9.99763356e-01 -1.74888990e-04 7.46116700e+00] [ 1.61459611e-02 -1.76402072e-04 9.99869630e-01 4.20234760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.06925415399996 meters Centerline goodness [0,1] 0.9990883240356856 Centerline is valid? [True, True] Translation: X:459.74, Y:7.46, Z:4.20 [[ 9.99616610e-01 -2.29437819e-02 -1.54989107e-02 4.59735538e+02] [ 2.29439339e-02 9.99736739e-01 -1.68031687e-04 7.45893641e+00] [ 1.54986858e-02 -1.87638718e-04 9.99879871e-01 4.20363217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09925415399994 meters Centerline goodness [0,1] 0.9992423750459987 Centerline is valid? [True, True] Translation: X:459.77, Y:7.45, Z:4.20 [[ 9.99565657e-01 -2.50170659e-02 -1.55770361e-02 4.59766211e+02] [ 2.50174714e-02 9.99687000e-01 -1.68857913e-04 7.45335392e+00] [ 1.55763849e-02 -2.20913485e-04 9.99878656e-01 4.20350005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12925415399997 meters Centerline goodness [0,1] 0.9991566838213035 Centerline is valid? [True, True] Translation: X:459.80, Y:7.45, Z:4.20 [[ 9.99524581e-01 -2.65986458e-02 -1.55924179e-02 4.59796244e+02] [ 2.65992497e-02 9.99646163e-01 -1.68691113e-04 7.44952309e+00] [ 1.55913877e-02 -2.46135702e-04 9.99878417e-01 4.20311924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15925415399994 meters Centerline goodness [0,1] 0.9990940270497638 Centerline is valid? [True, True] Translation: X:459.83, Y:7.45, Z:4.20 [[ 9.99470268e-01 -2.84410706e-02 -1.58205293e-02 4.59827168e+02] [ 2.84419329e-02 9.99595432e-01 -1.70534377e-04 7.44543880e+00] [ 1.58189790e-02 -2.79522393e-04 9.99874833e-01 4.20290489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.18925415399997 meters Centerline goodness [0,1] 0.9988587178879821 Centerline is valid? [True, True] Translation: X:459.86, Y:7.44, Z:4.20 [[ 9.99337996e-01 -3.27414793e-02 -1.58607788e-02 4.59858548e+02] [ 3.27428938e-02 9.99463793e-01 -1.70561935e-04 7.43909954e+00] [ 1.58578586e-02 -3.48878773e-04 9.99874195e-01 4.20288913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21925415399994 meters Centerline goodness [0,1] 0.9990333805902822 Centerline is valid? [True, True] Translation: X:459.89, Y:7.44, Z:4.20 [[ 9.99253637e-01 -3.50659983e-02 -1.62032179e-02 4.59890325e+02] [ 3.50677974e-02 9.99384921e-01 -1.73164122e-04 7.43585645e+00] [ 1.61993238e-02 -3.95176285e-04 9.99868704e-01 4.20321280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.2492541539999 meters Centerline goodness [0,1] 0.9990553885787892 Centerline is valid? [True, True] Translation: X:459.92, Y:7.43, Z:4.20 [[ 9.99152777e-01 -3.77860572e-02 -1.63077427e-02 4.59922046e+02] [ 3.77882644e-02 9.99285754e-01 -1.72888994e-04 7.43316019e+00] [ 1.63026278e-02 -4.43498775e-04 9.99867005e-01 4.20367674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.27925415399994 meters Centerline goodness [0,1] 0.9987799918666125 Centerline is valid? [True, True] Translation: X:459.95, Y:7.42, Z:4.20 [[ 9.98903522e-01 -4.37268177e-02 -1.67247939e-02 4.59952551e+02] [ 4.37299820e-02 9.99043371e-01 -1.76640223e-04 7.42466376e+00] [ 1.67165184e-02 -5.54928397e-04 9.99860115e-01 4.20305300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3092541539999 meters Centerline goodness [0,1] 0.9988267167267529 Centerline is valid? [True, True] Translation: X:459.98, Y:7.42, Z:4.20 [[ 9.98760594e-01 -4.69354181e-02 -1.65632591e-02 4.59984120e+02] [ 4.69389715e-02 9.98897744e-01 -1.74371250e-04 7.41769087e+00] [ 1.65531863e-02 -6.03307215e-04 9.99862805e-01 4.20256843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.33925415399995 meters Centerline goodness [0,1] 0.9987442533628469 Centerline is valid? [True, True] Translation: X:460.01, Y:7.41, Z:4.20 [[ 9.98402919e-01 -5.38271068e-02 -1.71538066e-02 4.60014477e+02] [ 5.38319428e-02 9.98549994e-01 -1.80033885e-04 7.41164015e+00] [ 1.71386242e-02 -7.43676382e-04 9.99852846e-01 4.20256149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3692541539999 meters Centerline goodness [0,1] 0.9985975648626251 Centerline is valid? [True, True] Translation: X:460.04, Y:7.41, Z:4.20 [[ 9.98223630e-01 -5.69293901e-02 -1.75678204e-02 4.60044265e+02] [ 5.69349551e-02 9.98377873e-01 -1.83619905e-04 7.40602565e+00] [ 1.75497765e-02 -8.16929337e-04 9.99845657e-01 4.20170098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.39925415399995 meters Centerline goodness [0,1] 0.9987025141447229 Centerline is valid? [True, True] Translation: X:460.08, Y:7.40, Z:4.20 [[ 9.98050720e-01 -5.97477561e-02 -1.80268369e-02 4.60075087e+02] [ 5.97540926e-02 9.98213110e-01 -1.87405669e-04 7.40360225e+00] [ 1.80058220e-02 -8.90136920e-04 9.99837486e-01 4.20175724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4292541539999 meters Centerline goodness [0,1] 0.9985654311090484 Centerline is valid? [True, True] Translation: X:460.10, Y:7.40, Z:4.20 [[ 9.97749245e-01 -6.43924546e-02 -1.87097635e-02 4.60104795e+02] [ 6.44000954e-02 9.97924140e-01 -1.94458454e-04 7.39704564e+00] [ 1.86834463e-02 -1.01088978e-03 9.99824938e-01 4.20127335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.45925415399995 meters Centerline goodness [0,1] 0.9985418735867797 Centerline is valid? [True, True] Translation: X:460.14, Y:7.40, Z:4.20 [[ 9.97655318e-01 -6.57841838e-02 -1.88761132e-02 4.60136643e+02] [ 6.57922245e-02 9.97833325e-01 -1.95391027e-04 7.39629009e+00] [ 1.88480684e-02 -1.04696858e-03 9.99821811e-01 4.20156314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4892541539999 meters Centerline goodness [0,1] 0.998562215879057 Centerline is valid? [True, True] Translation: X:460.17, Y:7.39, Z:4.20 [[ 9.97603563e-01 -6.63900220e-02 -1.94806774e-02 4.60168084e+02] [ 6.63987415e-02 9.97793149e-01 -1.99584332e-04 7.39397937e+00] [ 1.94509368e-02 -1.09438642e-03 9.99810214e-01 4.20122953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.51925415399995 meters Centerline goodness [0,1] 0.9985785509706163 Centerline is valid? [True, True] Translation: X:460.20, Y:7.39, Z:4.20 [[ 9.97606536e-01 -6.61395200e-02 -2.01683903e-02 4.60199832e+02] [ 6.61488524e-02 9.97809745e-01 -2.04779825e-04 7.39230573e+00] [ 2.01377604e-02 -1.12982618e-03 9.99796576e-01 4.20073336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5492541539999 meters Centerline goodness [0,1] 0.9985798465386408 Centerline is valid? [True, True] Translation: X:460.23, Y:7.39, Z:4.20 [[ 9.97665989e-01 -6.52282162e-02 -2.01954003e-02 4.60231793e+02] [ 6.52374172e-02 9.97869750e-01 -2.03586348e-04 7.39475226e+00] [ 2.01656586e-02 -1.11438458e-03 9.99796031e-01 4.20134747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57925415399995 meters Centerline goodness [0,1] 0.9986412755026219 Centerline is valid? [True, True] Translation: X:460.26, Y:7.39, Z:4.20 [[ 9.97826509e-01 -6.28172744e-02 -1.99059614e-02 4.60262054e+02] [ 6.28257524e-02 9.98024491e-01 -1.99797398e-04 7.39186626e+00] [ 1.98791877e-02 -1.05124386e-03 9.99801837e-01 4.20115973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6092541539999 meters Centerline goodness [0,1] 0.998575589429598 Centerline is valid? [True, True] Translation: X:460.29, Y:7.40, Z:4.20 [[ 9.97952144e-01 -6.09438836e-02 -1.94257820e-02 4.60293969e+02] [ 6.09516174e-02 9.98140703e-01 -1.94251910e-04 7.39857483e+00] [ 1.94015021e-02 -9.90178719e-04 9.99811283e-01 4.20310601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63925415399996 meters Centerline goodness [0,1] 0.9984737031776652 Centerline is valid? [True, True] Translation: X:460.32, Y:7.40, Z:4.20 [[ 9.98061890e-01 -5.91810922e-02 -1.92370012e-02 4.60324121e+02] [ 5.91883631e-02 9.98246814e-01 -1.91670241e-04 7.39569093e+00] [ 1.92146184e-02 -9.47307851e-04 9.99814933e-01 4.20259952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.66925415399993 meters Centerline goodness [0,1] 0.9986400917938039 Centerline is valid? [True, True] Translation: X:460.35, Y:7.40, Z:4.20 [[ 9.98320607e-01 -5.45736446e-02 -1.94340574e-02 4.60354821e+02] [ 5.45802008e-02 9.98509371e-01 -1.93286312e-04 7.39904879e+00] [ 1.94156367e-02 -8.67753045e-04 9.99811122e-01 4.20299275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69925415399996 meters Centerline goodness [0,1] 0.9987027624779363 Centerline is valid? [True, True] Translation: X:460.39, Y:7.41, Z:4.20 [[ 9.98464724e-01 -5.19030436e-02 -1.93460153e-02 4.60386393e+02] [ 5.19090540e-02 9.98651798e-01 -1.91693541e-04 7.40627401e+00] [ 1.93298824e-02 -8.12834112e-04 9.99812830e-01 4.20439540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.72925415399993 meters Centerline goodness [0,1] 0.9986374281456248 Centerline is valid? [True, True] Translation: X:460.42, Y:7.41, Z:4.20 [[ 9.98610130e-01 -4.88190033e-02 -1.98623730e-02 4.60416851e+02] [ 4.88247444e-02 9.98807342e-01 -1.96080284e-04 7.40600999e+00] [ 1.98482565e-02 -7.73967528e-04 9.99802704e-01 4.20366571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75925415399996 meters Centerline goodness [0,1] 0.9986581469648562 Centerline is valid? [True, True] Translation: X:460.45, Y:7.41, Z:4.20 [[ 9.98878638e-01 -4.27238358e-02 -2.03995021e-02 4.60446920e+02] [ 4.27286256e-02 9.99086695e-01 -2.01204242e-04 7.41095922e+00] [ 2.03894674e-02 -6.70664070e-04 9.99791888e-01 4.20329104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.78925415399993 meters Centerline goodness [0,1] 0.9987689172839769 Centerline is valid? [True, True] Translation: X:460.48, Y:7.42, Z:4.20 [[ 9.99009475e-01 -3.95047054e-02 -2.04803970e-02 4.60478416e+02] [ 3.95088658e-02 9.99219200e-01 -2.01595883e-04 7.41693139e+00] [ 2.04723699e-02 -6.07761061e-04 9.99790234e-01 4.20489989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81925415399996 meters Centerline goodness [0,1] 0.9987625874722649 Centerline is valid? [True, True] Translation: X:460.51, Y:7.42, Z:4.21 [[ 9.99228217e-01 -3.31533904e-02 -2.10671109e-02 4.60507750e+02] [ 3.31563849e-02 9.99450154e-01 -2.07229219e-04 7.42224675e+00] [ 2.10623976e-02 -4.91439957e-04 9.99778042e-01 4.20507797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.84925415399994 meters Centerline goodness [0,1] 0.9988289400843163 Centerline is valid? [True, True] Translation: X:460.54, Y:7.42, Z:4.21 [[ 9.99319691e-01 -3.00048571e-02 -2.14444479e-02 4.60537726e+02] [ 3.00072225e-02 9.99549660e-01 -2.11540326e-04 7.42494285e+00] [ 2.14411378e-02 -4.32091906e-04 9.99770019e-01 4.20543913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87925415399997 meters Centerline goodness [0,1] 0.9987386424371993 Centerline is valid? [True, True] Translation: X:460.57, Y:7.43, Z:4.21 [[ 9.99398753e-01 -2.72795148e-02 -2.14000153e-02 4.60566607e+02] [ 2.72811737e-02 9.99627777e-01 -2.14475779e-04 7.42833385e+00] [ 2.13979005e-02 -3.69470708e-04 9.99770970e-01 4.20614364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.90925415399994 meters Centerline goodness [0,1] 0.9989318978039818 Centerline is valid? [True, True] Translation: X:460.60, Y:7.43, Z:4.21 [[ 9.99474309e-01 -2.44902818e-02 -2.12445559e-02 4.60595843e+02] [ 2.44911774e-02 9.99700022e-01 -2.18060951e-04 7.43099118e+00] [ 2.12435234e-02 -3.02357871e-04 9.99774285e-01 4.20705720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93925415399997 meters Centerline goodness [0,1] 0.9989741836211318 Centerline is valid? [True, True] Translation: X:460.62, Y:7.44, Z:4.21 [[ 9.99619388e-01 -1.85184287e-02 -2.04486357e-02 4.60624740e+02] [ 1.85179077e-02 9.99828506e-01 -2.14849994e-04 7.43646474e+00] [ 2.04491075e-02 -1.63897728e-04 9.99790882e-01 4.20894139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.96925415399994 meters Centerline goodness [0,1] 0.9988869386531958 Centerline is valid? [True, True] Translation: X:460.65, Y:7.44, Z:4.21 [[ 9.99719171e-01 -1.27528426e-02 -1.99736037e-02 4.60653033e+02] [ 1.27510935e-02 9.99918678e-01 -2.14929318e-04 7.44120736e+00] [ 1.99747204e-02 -3.98163300e-05 9.99800485e-01 4.21018075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.9992541539999 meters Centerline goodness [0,1] 0.9989738766086622 Centerline is valid? [True, True] Translation: X:460.68, Y:7.44, Z:4.21 [[ 9.99745105e-01 -1.04248595e-02 -2.00261542e-02 4.60680996e+02] [ 1.04225232e-02 9.99945660e-01 -2.21031673e-04 7.44306415e+00] [ 2.00273702e-02 1.22522761e-05 9.99799432e-01 4.21057128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.02925415399994 meters Centerline goodness [0,1] 0.9989724487829941 Centerline is valid? [True, True] Translation: X:460.71, Y:7.44, Z:4.21 [[ 9.99768894e-01 -8.29467110e-03 -1.98332171e-02 4.60708427e+02] [ 8.29184485e-03 9.99965597e-01 -2.24733521e-04 7.44431008e+00] [ 1.98343989e-02 6.02276247e-05 9.99803277e-01 4.21101239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0592541539999 meters Centerline goodness [0,1] 0.9989503224009768 Centerline is valid? [True, True] Translation: X:460.74, Y:7.45, Z:4.21 [[ 9.99796177e-01 -4.67219209e-03 -1.96411564e-02 4.60735753e+02] [ 4.66864858e-03 9.99989076e-01 -2.26261999e-04 7.44621822e+00] [ 1.96419990e-02 1.34518224e-04 9.99807068e-01 4.21111482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.08925415399995 meters Centerline goodness [0,1] 0.9989082969432315 Centerline is valid? [True, True] Translation: X:460.76, Y:7.45, Z:4.21 [[ 9.99814157e-01 -3.68814004e-03 -1.89222071e-02 4.60763159e+02] [ 3.68460643e-03 9.99993187e-01 -2.21604419e-04 7.44686016e+00] [ 1.89228955e-02 1.51842350e-04 9.99820934e-01 4.21197237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1192541539999 meters Centerline goodness [0,1] 0.9991220368744512 Centerline is valid? [True, True] Translation: X:460.79, Y:7.45, Z:4.21 [[ 9.99831565e-01 -3.09412525e-03 -1.80905335e-02 4.60789607e+02] [ 3.09073091e-03 9.99995200e-01 -2.15586688e-04 7.44785867e+00] [ 1.80911137e-02 1.59637405e-04 9.99836330e-01 4.21241127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.14925415399995 meters Centerline goodness [0,1] 0.9989529690805359 Centerline is valid? [True, True] Translation: X:460.82, Y:7.45, Z:4.21 [[ 9.99844765e-01 -3.32207944e-03 -1.73034526e-02 4.60817477e+02] [ 3.31894923e-03 9.99994470e-01 -2.09614855e-04 7.44734994e+00] [ 1.73040533e-02 1.52153034e-04 9.99850262e-01 4.21365370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1792541539999 meters Centerline goodness [0,1] 0.998998529756451 Centerline is valid? [True, True] Translation: X:460.85, Y:7.44, Z:4.21 [[ 9.99856424e-01 -5.71384112e-03 -1.59525126e-02 4.60846393e+02] [ 5.71143787e-03 9.99983670e-01 -1.96204880e-04 7.44357681e+00] [ 1.59533732e-02 1.05064925e-04 9.99872731e-01 4.21494261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.20925415399995 meters Centerline goodness [0,1] 0.9990805482498343 Centerline is valid? [True, True] Translation: X:460.87, Y:7.44, Z:4.22 [[ 9.99841622e-01 -8.44819545e-03 -1.56639369e-02 4.60874771e+02] [ 8.44619612e-03 9.99964311e-01 -1.93790098e-04 7.44100629e+00] [ 1.56650150e-02 6.14587232e-05 9.99877294e-01 4.21528739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2392541539999 meters Centerline goodness [0,1] 0.9989323083493488 Centerline is valid? [True, True] Translation: X:460.90, Y:7.44, Z:4.22 [[ 9.99814728e-01 -1.17890465e-02 -1.52160288e-02 4.60903709e+02] [ 1.17875301e-02 9.99930507e-01 -1.89347009e-04 7.43777868e+00] [ 1.52172036e-02 9.95253134e-06 9.99884212e-01 4.21536421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.26925415399995 meters Centerline goodness [0,1] 0.9989323083493488 Centerline is valid? [True, True] Translation: X:460.93, Y:7.44, Z:4.22 [[ 9.99811217e-01 -1.20831797e-02 -1.52159984e-02 4.60931096e+02] [ 1.20816606e-02 9.99926996e-01 -1.91754833e-04 7.43818423e+00] [ 1.52172046e-02 7.88410410e-06 9.99884212e-01 4.21562102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2992541539999 meters Centerline goodness [0,1] 0.9988318749469034 Centerline is valid? [True, True] Translation: X:460.96, Y:7.43, Z:4.22 [[ 9.99675548e-01 -2.07712882e-02 -1.47428813e-02 4.60958959e+02] [ 2.07707602e-02 9.99784247e-01 -1.88952118e-04 7.42932717e+00] [ 1.47436253e-02 -1.17330040e-04 9.99891300e-01 4.21527700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.32925415399995 meters Centerline goodness [0,1] 0.9989581339967256 Centerline is valid? [True, True] Translation: X:460.99, Y:7.42, Z:4.22 [[ 9.99552928e-01 -2.57310274e-02 -1.52268786e-02 4.60988800e+02] [ 2.57310228e-02 9.99668883e-01 -1.96244848e-04 7.42427164e+00] [ 1.52268863e-02 -1.95646047e-04 9.99884045e-01 4.21507209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3592541539999 meters Centerline goodness [0,1] 0.9987718629568458 Centerline is valid? [True, True] Translation: X:461.02, Y:7.41, Z:4.21 [[ 9.99243698e-01 -3.54546049e-02 -1.59688210e-02 4.61018821e+02] [ 3.54558332e-02 9.99371223e-01 -2.06274987e-04 7.41397583e+00] [ 1.59660935e-02 -3.60068872e-04 9.99872469e-01 4.21366971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.38925415399996 meters Centerline goodness [0,1] 0.998710113975175 Centerline is valid? [True, True] Translation: X:461.05, Y:7.41, Z:4.21 [[ 9.99083964e-01 -3.96220668e-02 -1.61655635e-02 4.61048961e+02] [ 3.96238762e-02 9.99214644e-01 -2.08467630e-04 7.40902783e+00] [ 1.61611277e-02 -4.32265621e-04 9.99869307e-01 4.21344801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.41925415399993 meters Centerline goodness [0,1] 0.9986045331529093 Centerline is valid? [True, True] Translation: X:461.08, Y:7.41, Z:4.21 [[ 9.98926235e-01 -4.27998525e-02 -1.77355621e-02 4.61080299e+02] [ 4.28025501e-02 9.99083525e-01 -2.27636226e-04 7.40503578e+00] [ 1.77290507e-02 -5.31735490e-04 9.99842687e-01 4.21243592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.44925415399996 meters Centerline goodness [0,1] 0.9985861101145884 Centerline is valid? [True, True] Translation: X:461.11, Y:7.40, Z:4.21 [[ 9.98787421e-01 -4.64509553e-02 -1.63093783e-02 4.61111916e+02] [ 4.64537315e-02 9.98920421e-01 -2.08781614e-04 7.40245081e+00] [ 1.63014691e-02 -5.49103030e-04 9.99866971e-01 4.21393930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.47925415399993 meters Centerline goodness [0,1] 0.9983512650869814 Centerline is valid? [True, True] Translation: X:461.14, Y:7.40, Z:4.21 [[ 9.98580181e-01 -5.06222953e-02 -1.65833052e-02 4.61143324e+02] [ 5.06257498e-02 9.98717672e-01 -2.11695488e-04 7.39748831e+00] [ 1.65727564e-02 -6.28147339e-04 9.99862465e-01 4.21382813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.50925415399996 meters Centerline goodness [0,1] 0.9984376319567604 Centerline is valid? [True, True] Translation: X:461.17, Y:7.39, Z:4.21 [[ 9.98478695e-01 -5.25559384e-02 -1.66783839e-02 4.61174689e+02] [ 5.25597139e-02 9.98617760e-01 -2.12188639e-04 7.39335118e+00] [ 1.66664821e-02 -6.64745251e-04 9.99860884e-01 4.21335163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.53925415399993 meters Centerline goodness [0,1] 0.998858592263792 Centerline is valid? [True, True] Translation: X:461.21, Y:7.39, Z:4.21 [[ 9.98470510e-01 -5.28100360e-02 -1.63627795e-02 4.61206911e+02] [ 5.28137199e-02 9.98604360e-01 -2.07200273e-04 7.39244321e+00] [ 1.63508852e-02 -6.57295891e-04 9.99866099e-01 4.21383758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.56925415399996 meters Centerline goodness [0,1] 0.9986274468399603 Centerline is valid? [True, True] Translation: X:461.24, Y:7.39, Z:4.21 [[ 9.98465119e-01 -5.29210215e-02 -1.63331207e-02 4.61239538e+02] [ 5.29247253e-02 9.98598483e-01 -2.05692407e-04 7.39174196e+00] [ 1.63211150e-02 -6.59049232e-04 9.99866585e-01 4.21393771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.59925415399994 meters Centerline goodness [0,1] 0.9985390332211141 Centerline is valid? [True, True] Translation: X:461.27, Y:7.39, Z:4.21 [[ 9.98475244e-01 -5.26578530e-02 -1.65631253e-02 4.61271980e+02] [ 5.26616449e-02 9.98612391e-01 -2.07435023e-04 7.39169168e+00] [ 1.65510652e-02 -6.65122686e-04 9.99862801e-01 4.21397272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.62925415399997 meters Centerline goodness [0,1] 0.9985600542097238 Centerline is valid? [True, True] Translation: X:461.30, Y:7.40, Z:4.22 [[ 9.98550967e-01 -5.12429859e-02 -1.64353835e-02 4.61303725e+02] [ 5.12465471e-02 9.98686011e-01 -2.04680593e-04 7.39668779e+00] [ 1.64242760e-02 -6.37872650e-04 9.99864909e-01 4.21506818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.65925415399994 meters Centerline goodness [0,1] 0.9986444698606346 Centerline is valid? [True, True] Translation: X:461.34, Y:7.40, Z:4.22 [[ 9.98601530e-01 -5.01329769e-02 -1.67830139e-02 4.61336122e+02] [ 5.01365548e-02 9.98742351e-01 -2.07763259e-04 7.39961041e+00] [ 1.67723225e-02 -6.33969788e-04 9.99859134e-01 4.21560702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.68925415399997 meters Centerline goodness [0,1] 0.9987280320535923 Centerline is valid? [True, True] Translation: X:461.37, Y:7.40, Z:4.22 [[ 9.98724053e-01 -4.74654267e-02 -1.72423540e-02 4.61367248e+02] [ 4.74688236e-02 9.98872697e-01 -2.12438794e-04 7.40184363e+00] [ 1.72330001e-02 -6.06306525e-04 9.99851317e-01 4.21561770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.71925415399994 meters Centerline goodness [0,1] 0.9985390332211141 Centerline is valid? [True, True] Translation: X:461.40, Y:7.40, Z:4.22 [[ 9.98782418e-01 -4.59794059e-02 -1.78766769e-02 4.61399497e+02] [ 4.59828373e-02 9.98942206e-01 -2.19262395e-04 7.40296189e+00] [ 1.78678486e-02 -6.03024899e-04 9.99840175e-01 4.21537446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.7492541539999 meters Centerline goodness [0,1] 0.9986852986704553 Centerline is valid? [True, True] Translation: X:461.43, Y:7.40, Z:4.22 [[ 9.98853407e-01 -4.42401124e-02 -1.82943728e-02 4.61431046e+02] [ 4.42434497e-02 9.99020754e-01 -2.22476664e-04 7.40404210e+00] [ 1.82863005e-02 -5.87184587e-04 9.99832619e-01 4.21533025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.77925415399994 meters Centerline goodness [0,1] 0.9986234646336298 Centerline is valid? [True, True] Translation: X:461.46, Y:7.41, Z:4.22 [[ 9.98970111e-01 -4.13681869e-02 -1.86384280e-02 4.61462504e+02] [ 4.13711818e-02 9.99143821e-01 -2.25035137e-04 7.40786803e+00] [ 1.86317794e-02 -5.46290416e-04 9.99826264e-01 4.21551411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8092541539999 meters Centerline goodness [0,1] 0.9986430615922824 Centerline is valid? [True, True] Translation: X:461.49, Y:7.41, Z:4.22 [[ 9.99043514e-01 -3.87200323e-02 -2.03178619e-02 4.61493803e+02] [ 3.87230601e-02 9.99249951e-01 -2.44532290e-04 7.41106499e+00] [ 2.03120908e-02 -5.42471388e-04 9.99793541e-01 4.21546341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.83925415399995 meters Centerline goodness [0,1] 0.9987077366324888 Centerline is valid? [True, True] Translation: X:461.52, Y:7.41, Z:4.21 [[ 9.99065447e-01 -3.77205577e-02 -2.11043273e-02 4.61523819e+02] [ 3.77236251e-02 9.99288179e-01 -2.52892510e-04 7.41186126e+00] [ 2.10988440e-02 -5.43475561e-04 9.99777247e-01 4.21478004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8692541539999 meters Centerline goodness [0,1] 0.9987481168707165 Centerline is valid? [True, True] Translation: X:461.55, Y:7.41, Z:4.21 [[ 9.99087764e-01 -3.67140064e-02 -2.18110363e-02 4.61553961e+02] [ 3.67170515e-02 9.99325668e-01 -2.60973201e-04 7.41418236e+00] [ 2.18059098e-02 -5.40101812e-04 9.99762077e-01 4.21491322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.89925415399995 meters Centerline goodness [0,1] 0.9987707697524585 Centerline is valid? [True, True] Translation: X:461.58, Y:7.41, Z:4.21 [[ 9.99113212e-01 -3.57611851e-02 -2.22244967e-02 4.61583086e+02] [ 3.57640969e-02 9.99360225e-01 -2.66565067e-04 7.41479658e+00] [ 2.22198107e-02 -5.28510374e-04 9.99752970e-01 4.21418327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9292541539999 meters Centerline goodness [0,1] 0.9987063663740086 Centerline is valid? [True, True] Translation: X:461.61, Y:7.42, Z:4.21 [[ 9.99116339e-01 -3.52141848e-02 -2.29456332e-02 4.61611962e+02] [ 3.52170578e-02 9.99379648e-01 -2.78998597e-04 7.41603328e+00] [ 2.29412236e-02 -5.29325634e-04 9.99736675e-01 4.21389429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.95925415399995 meters Centerline goodness [0,1] 0.9987918353504738 Centerline is valid? [True, True] Translation: X:461.64, Y:7.42, Z:4.21 [[ 9.99150442e-01 -3.36494080e-02 -2.37930924e-02 4.61640926e+02] [ 3.36519071e-02 9.99433571e-01 -2.95471411e-04 7.41938528e+00] [ 2.37895577e-02 -5.05462544e-04 9.99716861e-01 4.21401734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9892541539999 meters Centerline goodness [0,1] 0.998750317715835 Centerline is valid? [True, True] Translation: X:461.67, Y:7.42, Z:4.21 [[ 9.99174518e-01 -3.28177611e-02 -2.39431901e-02 4.61668726e+02] [ 3.28199634e-02 9.99461235e-01 -3.01086024e-04 7.42080595e+00] [ 2.39401713e-02 -4.84977139e-04 9.99713275e-01 4.21405172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.01925415399995 meters Centerline goodness [0,1] 0.998872987858039 Centerline is valid? [True, True] Translation: X:461.70, Y:7.42, Z:4.21 [[ 9.99244021e-01 -3.07633488e-02 -2.37698098e-02 4.61697583e+02] [ 3.07648316e-02 9.99526605e-01 -3.03393165e-04 7.42435618e+00] [ 2.37678907e-02 -4.28110390e-04 9.99717412e-01 4.21477191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0492541539999 meters Centerline goodness [0,1] 0.9987676879275911 Centerline is valid? [True, True] Translation: X:461.73, Y:7.43, Z:4.22 [[ 9.99289640e-01 -2.97087715e-02 -2.31862743e-02 4.61726608e+02] [ 2.97097641e-02 9.99558522e-01 -3.01740498e-04 7.42638950e+00] [ 2.31850024e-02 -3.87332587e-04 9.99731117e-01 4.21539095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07925415399995 meters Centerline goodness [0,1] 0.9988113431822041 Centerline is valid? [True, True] Translation: X:461.76, Y:7.43, Z:4.22 [[ 9.99340193e-01 -2.84583668e-02 -2.25676607e-02 4.61755212e+02] [ 2.84588617e-02 9.99594920e-01 -2.99300140e-04 7.42818878e+00] [ 2.25670366e-02 -3.43147274e-04 9.99745273e-01 4.21629550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1092541539999 meters Centerline goodness [0,1] 0.9989593730753711 Centerline is valid? [True, True] Translation: X:461.78, Y:7.43, Z:4.22 [[ 9.99435286e-01 -2.59160723e-02 -2.13884768e-02 4.61782944e+02] [ 2.59158642e-02 9.99664086e-01 -2.86955677e-04 7.43120725e+00] [ 2.13887289e-02 -2.67507232e-04 9.99771199e-01 4.21750557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13925415399996 meters Centerline goodness [0,1] 0.9988743761282787 Centerline is valid? [True, True] Translation: X:461.81, Y:7.43, Z:4.22 [[ 9.99469862e-01 -2.51747066e-02 -2.06453288e-02 4.61811523e+02] [ 2.51742807e-02 9.99683038e-01 -2.80564292e-04 7.43266227e+00] [ 2.06458482e-02 -2.39315748e-04 9.99786823e-01 4.21847609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.16925415399993 meters Centerline goodness [0,1] 0.9988944403104072 Centerline is valid? [True, True] Translation: X:461.84, Y:7.43, Z:4.22 [[ 9.99526171e-01 -2.44752847e-02 -1.86652946e-02 4.61840783e+02] [ 2.44747363e-02 9.99700416e-01 -2.57848291e-04 7.43362639e+00] [ 1.86660137e-02 -1.99102048e-04 9.99825755e-01 4.22006390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19925415399996 meters Centerline goodness [0,1] 0.9987683944535282 Centerline is valid? [True, True] Translation: X:461.87, Y:7.43, Z:4.22 [[ 9.99530651e-01 -2.51448919e-02 -1.74989392e-02 4.61869813e+02] [ 2.51444412e-02 9.99683798e-01 -2.45809674e-04 7.43452700e+00] [ 1.74995869e-02 -1.94306744e-04 9.99846852e-01 4.22154609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.22925415399993 meters Centerline goodness [0,1] 0.9988103836512725 Centerline is valid? [True, True] Translation: X:461.90, Y:7.43, Z:4.22 [[ 9.99524072e-01 -2.58866376e-02 -1.67782800e-02 4.61898456e+02] [ 2.58862805e-02 9.99664866e-01 -2.38498656e-04 7.43278024e+00] [ 1.67788309e-02 -1.95942114e-04 9.99859206e-01 4.22119609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25925415399996 meters Centerline goodness [0,1] 0.9988337326915329 Centerline is valid? [True, True] Translation: X:461.93, Y:7.43, Z:4.22 [[ 9.99466077e-01 -2.83780053e-02 -1.61941223e-02 4.61927138e+02] [ 2.83779838e-02 9.99597237e-01 -2.31170142e-04 7.43004194e+00] [ 1.61941600e-02 -2.28509825e-04 9.99868840e-01 4.22119446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.28925415399993 meters Centerline goodness [0,1] 0.9987902455589278 Centerline is valid? [True, True] Translation: X:461.96, Y:7.43, Z:4.22 [[ 9.99419504e-01 -2.99618366e-02 -1.62155339e-02 4.61957209e+02] [ 2.99620156e-02 9.99551011e-01 -2.31957936e-04 7.43140600e+00] [ 1.62152032e-02 -2.54026792e-04 9.99868493e-01 4.22225746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31925415399996 meters Centerline goodness [0,1] 0.9987699355276553 Centerline is valid? [True, True] Translation: X:461.99, Y:7.43, Z:4.22 [[ 9.99372903e-01 -3.15164211e-02 -1.61404782e-02 4.61987910e+02] [ 3.15168011e-02 9.99503196e-01 -2.30884290e-04 7.43063797e+00] [ 1.61397362e-02 -2.77956738e-04 9.99869707e-01 4.22213796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.34925415399994 meters Centerline goodness [0,1] 0.998729916809551 Centerline is valid? [True, True] Translation: X:462.02, Y:7.43, Z:4.22 [[ 9.99287265e-01 -3.40621365e-02 -1.62705959e-02 4.62019687e+02] [ 3.40628641e-02 9.99419665e-01 -2.32494050e-04 7.42852966e+00] [ 1.62690728e-02 -3.21894754e-04 9.99867598e-01 4.22183206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37925415399997 meters Centerline goodness [0,1] 0.9986470202735556 Centerline is valid? [True, True] Translation: X:462.05, Y:7.42, Z:4.22 [[ 9.99251052e-01 -3.50435765e-02 -1.64098174e-02 4.62049678e+02] [ 3.50444649e-02 9.99385727e-01 -2.33502815e-04 7.42381462e+00] [ 1.64079201e-02 -3.41745337e-04 9.99865323e-01 4.22069057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.40925415399994 meters Centerline goodness [0,1] 0.9984329669864261 Centerline is valid? [True, True] Translation: X:462.08, Y:7.42, Z:4.22 [[ 9.99162745e-01 -3.66228080e-02 -1.82367484e-02 4.62079526e+02] [ 3.66241854e-02 9.99329076e-01 -2.58558474e-04 7.42228554e+00] [ 1.82339821e-02 -4.09564061e-04 9.99833663e-01 4.21943414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.43925415399997 meters Centerline goodness [0,1] 0.9986878584580221 Centerline is valid? [True, True] Translation: X:462.11, Y:7.42, Z:4.22 [[ 9.99119476e-01 -3.82247476e-02 -1.72956930e-02 4.62109333e+02] [ 3.82262263e-02 9.99269081e-01 -2.45216300e-04 7.42106614e+00] [ 1.72924245e-02 -4.16148693e-04 9.99850388e-01 4.22001416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.46925415399994 meters Centerline goodness [0,1] 0.9988357077838227 Centerline is valid? [True, True] Translation: X:462.14, Y:7.43, Z:4.22 [[ 9.99074979e-01 -3.92902127e-02 -1.74775907e-02 4.62140522e+02] [ 3.92918908e-02 9.99227745e-01 -2.47495519e-04 7.42627807e+00] [ 1.74738177e-02 -4.39461006e-04 9.99847225e-01 4.22169201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.4992541539999 meters Centerline goodness [0,1] 0.9986251824277164 Centerline is valid? [True, True] Translation: X:462.17, Y:7.43, Z:4.22 [[ 9.99043616e-01 -4.01983890e-02 -1.72029908e-02 4.62172042e+02] [ 4.02001602e-02 9.99191617e-01 -2.42975863e-04 7.42563478e+00] [ 1.71988514e-02 -4.48819500e-04 9.99851988e-01 4.22184908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.52925415399994 meters Centerline goodness [0,1] 0.9985629754860524 Centerline is valid? [True, True] Translation: X:462.20, Y:7.42, Z:4.22 [[ 9.99005207e-01 -4.15895563e-02 -1.60905505e-02 4.62203595e+02] [ 4.15912953e-02 9.99134682e-01 -2.26689822e-04 7.42496674e+00] [ 1.60860550e-02 -4.42762525e-04 9.99870513e-01 4.22215072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5592541539999 meters Centerline goodness [0,1] 0.9987099230183571 Centerline is valid? [True, True] Translation: X:462.23, Y:7.42, Z:4.22 [[ 9.99001565e-01 -4.16926389e-02 -1.60498021e-02 4.62234661e+02] [ 4.16943939e-02 9.99130385e-01 -2.25399436e-04 7.42190063e+00] [ 1.60452424e-02 -4.44012379e-04 9.99871168e-01 4.22121139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.58925415399995 meters Centerline goodness [0,1] 0.9986682731942419 Centerline is valid? [True, True] Translation: X:462.27, Y:7.42, Z:4.22 [[ 9.99028850e-01 -4.12273782e-02 -1.55454404e-02 4.62266846e+02] [ 4.12289832e-02 9.99149700e-01 -2.17356984e-04 7.42497362e+00] [ 1.55411832e-02 -4.23776804e-04 9.99879139e-01 4.22162914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6192541539999 meters Centerline goodness [0,1] 0.9986453879693519 Centerline is valid? [True, True] Translation: X:462.30, Y:7.43, Z:4.22 [[ 9.99054145e-01 -4.07227808e-02 -1.52469938e-02 4.62298639e+02] [ 4.07242830e-02 9.99170400e-01 -2.12072840e-04 7.42584264e+00] [ 1.52429811e-02 -4.09050642e-04 9.99883735e-01 4.22172075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.64925415399995 meters Centerline goodness [0,1] 0.998771186440678 Centerline is valid? [True, True] Translation: X:462.33, Y:7.43, Z:4.22 [[ 9.99104503e-01 -3.95738355e-02 -1.49700652e-02 4.62330852e+02] [ 3.95751710e-02 9.99216575e-01 -2.07134852e-04 7.42759593e+00] [ 1.49665344e-02 -3.85493527e-04 9.99887921e-01 4.22222077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6792541539999 meters Centerline goodness [0,1] 0.9985613641652739 Centerline is valid? [True, True] Translation: X:462.36, Y:7.43, Z:4.22 [[ 9.99138346e-01 -3.89398159e-02 -1.43616414e-02 4.62361955e+02] [ 3.89409929e-02 9.99241492e-01 -1.97785140e-04 7.42770289e+00] [ 1.43584497e-02 -3.61641859e-04 9.99896847e-01 4.22253099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.70925415399995 meters Centerline goodness [0,1] 0.9987489132509171 Centerline is valid? [True, True] Translation: X:462.39, Y:7.43, Z:4.22 [[ 9.99158657e-01 -3.85236874e-02 -1.40678489e-02 4.62394556e+02] [ 3.85247873e-02 9.99257626e-01 -1.92898823e-04 7.42847352e+00] [ 1.40648365e-02 -3.49224359e-04 9.99901024e-01 4.22281486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7392541539999 meters Centerline goodness [0,1] 0.9985407017321236 Centerline is valid? [True, True] Translation: X:462.43, Y:7.43, Z:4.22 [[ 9.99139199e-01 -3.89205806e-02 -1.43544562e-02 4.62426970e+02] [ 3.89217818e-02 9.99242241e-01 -1.95776208e-04 7.42930574e+00] [ 1.43511987e-02 -3.63093328e-04 9.99896950e-01 4.22270149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.76925415399995 meters Centerline goodness [0,1] 0.9987068051727793 Centerline is valid? [True, True] Translation: X:462.46, Y:7.43, Z:4.22 [[ 9.99100235e-01 -3.98826723e-02 -1.44254253e-02 4.62457878e+02] [ 3.98840039e-02 9.99204297e-01 -1.95480602e-04 7.42811336e+00] [ 1.44217433e-02 -3.80039005e-04 9.99895929e-01 4.22216777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7992541539999 meters Centerline goodness [0,1] 0.9987712385068429 Centerline is valid? [True, True] Translation: X:462.49, Y:7.43, Z:4.22 [[ 9.99053017e-01 -4.10396409e-02 -1.44504835e-02 4.62489875e+02] [ 4.10411188e-02 9.99157439e-01 -1.94385298e-04 7.42693775e+00] [ 1.44462856e-02 -3.98862791e-04 9.99895567e-01 4.22196817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.82925415399995 meters Centerline goodness [0,1] 0.9986241056686846 Centerline is valid? [True, True] Translation: X:462.52, Y:7.43, Z:4.22 [[ 9.98919928e-01 -4.40556937e-02 -1.47673180e-02 4.62521701e+02] [ 4.40575806e-02 9.99028974e-01 -1.97683313e-04 7.42564557e+00] [ 1.47616876e-02 -4.53142501e-04 9.99890938e-01 4.22141467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8592541539999 meters Centerline goodness [0,1] 0.9985377948250652 Centerline is valid? [True, True] Translation: X:462.55, Y:7.43, Z:4.22 [[ 9.98851238e-01 -4.54061729e-02 -1.53128910e-02 4.62553618e+02] [ 4.54083747e-02 9.98968487e-01 -2.04048291e-04 7.42618308e+00] [ 1.53063606e-02 -4.91519603e-04 9.99882730e-01 4.22134818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.88925415399996 meters Centerline goodness [0,1] 0.9987295672058948 Centerline is valid? [True, True] Translation: X:462.59, Y:7.43, Z:4.22 [[ 9.98797740e-01 -4.63783096e-02 -1.58784992e-02 4.62585300e+02] [ 4.63808165e-02 9.98923809e-01 -2.10531940e-04 7.42802959e+00] [ 1.58711750e-02 -5.26178933e-04 9.99873907e-01 4.22137075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.91925415399993 meters Centerline goodness [0,1] 0.9986641504633066 Centerline is valid? [True, True] Translation: X:462.62, Y:7.42, Z:4.22 [[ 9.98728404e-01 -4.77034593e-02 -1.63081294e-02 4.62616645e+02] [ 4.77062951e-02 9.98861383e-01 -2.15315046e-04 7.42397023e+00] [ 1.62998319e-02 -5.62959180e-04 9.99866990e-01 4.21991455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.94925415399996 meters Centerline goodness [0,1] 0.998664631819916 Centerline is valid? [True, True] Translation: X:462.65, Y:7.42, Z:4.22 [[ 9.98719683e-01 -4.78059916e-02 -1.65403393e-02 4.62648530e+02] [ 4.78089396e-02 9.98856475e-01 -2.17369269e-04 7.42462594e+00] [ 1.65318166e-02 -5.73685115e-04 9.99863176e-01 4.22022334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.97925415399993 meters Centerline goodness [0,1] 0.9986013393235569 Centerline is valid? [True, True] Translation: X:462.68, Y:7.43, Z:4.22 [[ 9.98727903e-01 -4.78022823e-02 -1.60473572e-02 4.62680245e+02] [ 4.78050744e-02 9.98856662e-01 -2.09783554e-04 7.43087114e+00] [ 1.60390378e-02 -5.57628417e-04 9.99871211e-01 4.22175074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.00925415399996 meters Centerline goodness [0,1] 0.9987893976722454 Centerline is valid? [True, True] Translation: X:462.71, Y:7.43, Z:4.22 [[ 9.98770928e-01 -4.70763226e-02 -1.55065242e-02 4.62712526e+02] [ 4.70788594e-02 9.98891155e-01 -2.01603006e-04 7.43328067e+00] [ 1.54988206e-02 -5.28674248e-04 9.99879746e-01 4.22264087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.03925415399993 meters Centerline goodness [0,1] 0.9985116516414356 Centerline is valid? [True, True] Translation: X:462.74, Y:7.43, Z:4.22 [[ 9.98833328e-01 -4.59182040e-02 -1.49499524e-02 4.62743494e+02] [ 4.59204468e-02 9.98945081e-01 -1.93395865e-04 7.43441519e+00] [ 1.49430619e-02 -4.93338261e-04 9.99888225e-01 4.22319253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.06925415399996 meters Centerline goodness [0,1] 0.9986409004034827 Centerline is valid? [True, True] Translation: X:462.78, Y:7.44, Z:4.22 [[ 9.99014842e-01 -4.20687305e-02 -1.41268266e-02 4.62775277e+02] [ 4.20703599e-02 9.99114634e-01 -1.81952003e-04 7.44090659e+00] [ 1.41219737e-02 -4.12547928e-04 9.99900195e-01 4.22446206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.09925415399994 meters Centerline goodness [0,1] 0.9987445740062985 Centerline is valid? [True, True] Translation: X:462.81, Y:7.44, Z:4.22 [[ 9.99182107e-01 -3.82039589e-02 -1.32504428e-02 4.62806034e+02] [ 3.82050622e-02 9.99269906e-01 -1.69947158e-04 7.44489414e+00] [ 1.32472614e-02 -3.36425831e-04 9.99912195e-01 4.22481469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.12925415399997 meters Centerline goodness [0,1] 0.9987443068147959 Centerline is valid? [True, True] Translation: X:462.84, Y:7.45, Z:4.23 [[ 9.99250529e-01 -3.65378455e-02 -1.27814812e-02 4.62837593e+02] [ 3.65387424e-02 9.99332224e-01 -1.63411401e-04 7.44679846e+00] [ 1.27789168e-02 -3.03730322e-04 9.99918300e-01 4.22545110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.15925415399994 meters Centerline goodness [0,1] 0.9986989164747035 Centerline is valid? [True, True] Translation: X:462.87, Y:7.45, Z:4.23 [[ 9.99314065e-01 -3.48561308e-02 -1.25079612e-02 4.62869526e+02] [ 3.48568673e-02 9.99392302e-01 -1.59184987e-04 7.44943967e+00] [ 1.25059087e-02 -2.76912545e-04 9.99921760e-01 4.22601683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.18925415399997 meters Centerline goodness [0,1] 0.9986989164747035 Centerline is valid? [True, True] Translation: X:462.90, Y:7.45, Z:4.23 [[ 9.99316585e-01 -3.47838147e-02 -1.25079726e-02 4.62901224e+02] [ 3.47845568e-02 9.99394822e-01 -1.58280197e-04 7.44978046e+00] [ 1.25059086e-02 -2.76912257e-04 9.99921760e-01 4.22631358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.21925415399994 meters Centerline goodness [0,1] 0.9989541311818317 Centerline is valid? [True, True] Translation: X:462.93, Y:7.45, Z:4.23 [[ 9.99356083e-01 -3.36974668e-02 -1.23247864e-02 4.62933519e+02] [ 3.36981156e-02 9.99432045e-01 -1.55077877e-04 7.45225685e+00] [ 1.23230122e-02 -2.60344057e-04 9.99924035e-01 4.22672803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.2492541539999 meters Centerline goodness [0,1] 0.9988508926861448 Centerline is valid? [True, True] Translation: X:462.97, Y:7.45, Z:4.23 [[ 9.99377784e-01 -3.29599388e-02 -1.25573383e-02 4.62965679e+02] [ 3.29605659e-02 9.99456641e-01 -1.57074395e-04 7.45385449e+00] [ 1.25556923e-02 -2.56920316e-04 9.99921141e-01 4.22633371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.27925415399994 meters Centerline goodness [0,1] 0.9988486386217778 Centerline is valid? [True, True] Translation: X:463.00, Y:7.45, Z:4.23 [[ 9.99362877e-01 -3.32656997e-02 -1.29318475e-02 4.62997423e+02] [ 3.32664027e-02 9.99446507e-01 -1.60795488e-04 7.45492162e+00] [ 1.29300388e-02 -2.69503004e-04 9.99916367e-01 4.22639403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3092541539999 meters Centerline goodness [0,1] 0.9988048488987536 Centerline is valid? [True, True] Translation: X:463.03, Y:7.45, Z:4.23 [[ 9.99261096e-01 -3.55664158e-02 -1.45702518e-02 4.63028166e+02] [ 3.55675669e-02 9.99367258e-01 -1.80199883e-04 7.45450363e+00] [ 1.45674416e-02 -3.38161673e-04 9.99893832e-01 4.22525136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.33925415399995 meters Centerline goodness [0,1] 0.998824560278686 Centerline is valid? [True, True] Translation: X:463.06, Y:7.45, Z:4.23 [[ 9.99190165e-01 -3.71625513e-02 -1.54259144e-02 4.63059956e+02] [ 3.71640423e-02 9.99309160e-01 -1.90093635e-04 7.45409874e+00] [ 1.54223219e-02 -3.83349644e-04 9.99880995e-01 4.22527535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3692541539999 meters Centerline goodness [0,1] 0.9989536621823617 Centerline is valid? [True, True] Translation: X:463.09, Y:7.45, Z:4.22 [[ 9.99121899e-01 -3.87634705e-02 -1.59004787e-02 4.63092406e+02] [ 3.87652729e-02 9.99248325e-01 -1.94958222e-04 7.45317910e+00] [ 1.58960840e-02 -4.21599368e-04 9.99873560e-01 4.22491445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.39925415399995 meters Centerline goodness [0,1] 0.9987805138957232 Centerline is valid? [True, True] Translation: X:463.12, Y:7.45, Z:4.22 [[ 9.99064218e-01 -4.01862075e-02 -1.59924011e-02 4.63124328e+02] [ 4.01882312e-02 9.99192108e-01 -1.94943684e-04 7.45270350e+00] [ 1.59873150e-02 -4.47945052e-04 9.99872094e-01 4.22491997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4292541539999 meters Centerline goodness [0,1] 0.9987398009312658 Centerline is valid? [True, True] Translation: X:463.16, Y:7.45, Z:4.22 [[ 9.99003654e-01 -4.14803976e-02 -1.64643771e-02 4.63155184e+02] [ 4.14827421e-02 9.99139201e-01 -1.99236449e-04 7.45193983e+00] [ 1.64584690e-02 -4.83949569e-04 9.99864433e-01 4.22427673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.45925415399995 meters Centerline goodness [0,1] 0.9989105823044389 Centerline is valid? [True, True] Translation: X:463.19, Y:7.45, Z:4.22 [[ 9.98977989e-01 -4.19837202e-02 -1.67434744e-02 4.63187485e+02] [ 4.19862417e-02 9.99118169e-01 -2.01054082e-04 7.45243632e+00] [ 1.67371505e-02 -5.02146960e-04 9.99859798e-01 4.22451216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4892541539999 meters Centerline goodness [0,1] 0.9986143679386058 Centerline is valid? [True, True] Translation: X:463.22, Y:7.45, Z:4.22 [[ 9.98956848e-01 -4.21359884e-02 -1.76004115e-02 4.63219015e+02] [ 4.21388181e-02 9.99111743e-01 -2.10218153e-04 7.45234134e+00] [ 1.75936356e-02 -5.31661676e-04 9.99845079e-01 4.22378025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.51925415399995 meters Centerline goodness [0,1] 0.9989306185302421 Centerline is valid? [True, True] Translation: X:463.25, Y:7.45, Z:4.22 [[ 9.98930415e-01 -4.30720104e-02 -1.68174827e-02 4.63251000e+02] [ 4.30747429e-02 9.99071833e-01 -1.99883614e-04 7.45317892e+00] [ 1.68104826e-02 -5.24738922e-04 9.99858556e-01 4.22492772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5492541539999 meters Centerline goodness [0,1] 0.9985665076274631 Centerline is valid? [True, True] Translation: X:463.28, Y:7.45, Z:4.23 [[ 9.98922057e-01 -4.33280858e-02 -1.66553574e-02 4.63283197e+02] [ 4.33308205e-02 9.99060760e-01 -1.96814758e-04 7.45362714e+00] [ 1.66482416e-02 -5.25087700e-04 9.99861271e-01 4.22507902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57925415399995 meters Centerline goodness [0,1] 0.9988035210665756 Centerline is valid? [True, True] Translation: X:463.31, Y:7.45, Z:4.22 [[ 9.98931490e-01 -4.33198989e-02 -1.61016789e-02 4.63314085e+02] [ 4.33224757e-02 9.99061123e-01 -1.88900920e-04 7.45359784e+00] [ 1.60947446e-02 -5.08865516e-04 9.99870342e-01 4.22496792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6092541539999 meters Centerline goodness [0,1] 0.9988005226294258 Centerline is valid? [True, True] Translation: X:463.35, Y:7.46, Z:4.23 [[ 9.98937984e-01 -4.30263427e-02 -1.64814652e-02 4.63346697e+02] [ 4.30290280e-02 9.99073804e-01 -1.91811584e-04 7.45504412e+00] [ 1.64744531e-02 -5.17573552e-04 9.99864153e-01 4.22550468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63925415399996 meters Centerline goodness [0,1] 0.9987999571413265 Centerline is valid? [True, True] Translation: X:463.38, Y:7.46, Z:4.23 [[ 9.98946390e-01 -4.27755384e-02 -1.66241700e-02 4.63379192e+02] [ 4.27782553e-02 9.99084573e-01 -1.92301303e-04 7.46164032e+00] [ 1.66171776e-02 -5.19054296e-04 9.99861790e-01 4.22705027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.66925415399993 meters Centerline goodness [0,1] 0.9988655093434938 Centerline is valid? [True, True] Translation: X:463.41, Y:7.46, Z:4.23 [[ 9.98952537e-01 -4.22477701e-02 -1.75771282e-02 4.63410003e+02] [ 4.22507465e-02 9.99107018e-01 -2.02147962e-04 7.45871956e+00] [ 1.75699724e-02 -5.40710567e-04 9.99845490e-01 4.22562033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69925415399996 meters Centerline goodness [0,1] 0.9986722915819003 Centerline is valid? [True, True] Translation: X:463.44, Y:7.46, Z:4.23 [[ 9.98940868e-01 -4.21798468e-02 -1.83848475e-02 4.63442388e+02] [ 4.21831125e-02 9.99109874e-01 -2.10306149e-04 7.45966577e+00] [ 1.83773534e-02 -5.65446684e-04 9.99830962e-01 4.22549055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.72925415399993 meters Centerline goodness [0,1] 0.9989924109248381 Centerline is valid? [True, True] Translation: X:463.47, Y:7.46, Z:4.23 [[ 9.98909002e-01 -4.27711768e-02 -1.87465483e-02 4.63472783e+02] [ 4.27746910e-02 9.99084721e-01 -2.13660611e-04 7.46041552e+00] [ 1.87385285e-02 -5.88450305e-04 9.99824245e-01 4.22520547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75925415399996 meters Centerline goodness [0,1] 0.998862612129276 Centerline is valid? [True, True] Translation: X:463.51, Y:7.47, Z:4.23 [[ 9.98893041e-01 -4.30308746e-02 -1.90009840e-02 4.63505116e+02] [ 4.30345482e-02 9.99073561e-01 -2.15692920e-04 7.46807929e+00] [ 1.89926622e-02 -6.02244606e-04 9.99819442e-01 4.22747950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.78925415399993 meters Centerline goodness [0,1] 0.9990563002680966 Centerline is valid? [True, True] Translation: X:463.54, Y:7.46, Z:4.23 [[ 9.98860622e-01 -4.37023522e-02 -1.91718878e-02 4.63536432e+02] [ 4.37062396e-02 9.99044402e-01 -2.16393465e-04 7.46009333e+00] [ 1.91630241e-02 -6.21784211e-04 9.99816179e-01 4.22508696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81925415399996 meters Centerline goodness [0,1] 0.9990992536673243 Centerline is valid? [True, True] Translation: X:463.57, Y:7.47, Z:4.23 [[ 9.98833023e-01 -4.44929150e-02 -1.87875424e-02 4.63568084e+02] [ 4.44968101e-02 9.99009504e-01 -2.10860173e-04 7.46884687e+00] [ 1.87783152e-02 -6.25371602e-04 9.99823476e-01 4.22800217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.84925415399994 meters Centerline goodness [0,1] 0.9991196048958557 Centerline is valid? [True, True] Translation: X:463.60, Y:7.47, Z:4.23 [[ 9.98766801e-01 -4.58308391e-02 -1.90895488e-02 4.63600565e+02] [ 4.58351315e-02 9.98948995e-01 -2.12837515e-04 7.47106553e+00] [ 1.90792401e-02 -6.62396936e-04 9.99817755e-01 4.22864319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87925415399997 meters Centerline goodness [0,1] 0.9990331313652185 Centerline is valid? [True, True] Translation: X:463.63, Y:7.47, Z:4.23 [[ 9.98737103e-01 -4.64223625e-02 -1.92136218e-02 4.63632769e+02] [ 4.64268475e-02 9.98921670e-01 -2.12798079e-04 7.47257077e+00] [ 1.92027817e-02 -6.79498550e-04 9.99815379e-01 4.22909602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.90925415399994 meters Centerline goodness [0,1] 0.999095724066658 Centerline is valid? [True, True] Translation: X:463.66, Y:7.47, Z:4.23 [[ 9.98687381e-01 -4.72613463e-02 -1.97453917e-02 4.63664236e+02] [ 4.72662723e-02 9.98882302e-01 -2.17403019e-04 7.47252012e+00] [ 1.97335970e-02 -7.16173408e-04 9.99805017e-01 4.22908030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9392541539999 meters Centerline goodness [0,1] 0.9991611460036135 Centerline is valid? [True, True] Translation: X:463.70, Y:7.47, Z:4.23 [[ 9.98674641e-01 -4.75926182e-02 -1.95934659e-02 4.63696789e+02] [ 4.75975571e-02 9.98866571e-01 -2.14467779e-04 7.47437181e+00] [ 1.95814652e-02 -7.18417580e-04 9.99808007e-01 4.22963976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.96925415399994 meters Centerline goodness [0,1] 0.9990965021726972 Centerline is valid? [True, True] Translation: X:463.73, Y:7.47, Z:4.23 [[ 9.98657132e-01 -4.80835940e-02 -1.92847321e-02 4.63728482e+02] [ 4.80884932e-02 9.98843057e-01 -2.09868410e-04 7.47464520e+00] [ 1.92725120e-02 -7.17787122e-04 9.99814010e-01 4.22985029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9992541539999 meters Centerline goodness [0,1] 0.9991373733017037 Centerline is valid? [True, True] Translation: X:463.76, Y:7.47, Z:4.23 [[ 9.98570838e-01 -4.98737990e-02 -1.92064168e-02 4.63759418e+02] [ 4.98790092e-02 9.98755246e-01 -2.07968973e-04 7.47450469e+00] [ 1.91928817e-02 -7.50325287e-04 9.99815518e-01 4.22996078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.02925415399994 meters Centerline goodness [0,1] 0.9990095172473192 Centerline is valid? [True, True] Translation: X:463.79, Y:7.47, Z:4.23 [[ 9.98533011e-01 -5.04814177e-02 -1.95819495e-02 4.63791515e+02] [ 5.04869750e-02 9.98724697e-01 -2.10781890e-04 7.47420092e+00] [ 1.95676171e-02 -7.78160716e-04 9.99808233e-01 4.22949515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0592541539999 meters Centerline goodness [0,1] 0.9991389331381582 Centerline is valid? [True, True] Translation: X:463.82, Y:7.47, Z:4.23 [[ 9.98380131e-01 -5.36708262e-02 -1.88827194e-02 4.63821430e+02] [ 5.36765910e-02 9.98558352e-01 -2.01764023e-04 7.47337788e+00] [ 1.88663260e-02 -8.12122811e-04 9.99821685e-01 4.22995655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.08925415399995 meters Centerline goodness [0,1] 0.9993105379958201 Centerline is valid? [True, True] Translation: X:463.85, Y:7.48, Z:4.23 [[ 9.98335379e-01 -5.44977049e-02 -1.88804371e-02 4.63853065e+02] [ 5.45036415e-02 9.98513552e-01 -2.00382916e-04 7.47628572e+00] [ 1.88632927e-02 -8.29003218e-04 9.99821729e-01 4.23081190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1192541539999 meters Centerline goodness [0,1] 0.9992033759634845 Centerline is valid? [True, True] Translation: X:463.88, Y:7.47, Z:4.23 [[ 9.98274563e-01 -5.57245231e-02 -1.85114493e-02 4.63884383e+02] [ 5.57304590e-02 9.98445831e-01 -1.95454865e-04 7.47315312e+00] [ 1.84935710e-02 -8.36533945e-04 9.99828629e-01 4.23068301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.14925415399995 meters Centerline goodness [0,1] 0.9991164364372993 Centerline is valid? [True, True] Translation: X:463.92, Y:7.47, Z:4.23 [[ 9.98269794e-01 -5.57186639e-02 -1.87842487e-02 4.63915566e+02] [ 5.57247941e-02 9.98446147e-01 -1.97318256e-04 7.47285702e+00] [ 1.87660550e-02 -8.49771535e-04 9.99823541e-01 4.22935155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1792541539999 meters Centerline goodness [0,1] 0.9992027580262874 Centerline is valid? [True, True] Translation: X:463.95, Y:7.48, Z:4.23 [[ 9.98280241e-01 -5.53939278e-02 -1.91852582e-02 4.63947785e+02] [ 5.54002864e-02 9.98464205e-01 -2.00300911e-04 7.47910066e+00] [ 1.91668891e-02 -8.62912359e-04 9.99815926e-01 4.23033824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.20925415399995 meters Centerline goodness [0,1] 0.9991801156468456 Centerline is valid? [True, True] Translation: X:463.98, Y:7.48, Z:4.23 [[ 9.98354942e-01 -5.37525376e-02 -1.99518015e-02 4.63979550e+02] [ 5.37591175e-02 9.98553912e-01 -2.06804466e-04 7.47765618e+00] [ 1.99340657e-02 -8.66126980e-04 9.99800922e-01 4.22885244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2392541539999 meters Centerline goodness [0,1] 0.9998704019698901 Centerline is valid? [True, True] Translation: X:464.01, Y:7.48, Z:4.23 [[ 9.98389353e-01 -5.33338773e-02 -1.93441845e-02 4.64011430e+02] [ 5.33400110e-02 9.98576388e-01 -1.99107592e-04 7.48417175e+00] [ 1.93272651e-02 -8.33032112e-04 9.99812864e-01 4.23170253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.26925415399995 meters Centerline goodness [0,1] 0.9995244065891306 Centerline is valid? [True, True] Translation: X:464.04, Y:7.49, Z:4.23 [[ 9.98533924e-01 -5.06902084e-02 -1.89869621e-02 4.64042787e+02] [ 5.06956598e-02 9.98714129e-01 -1.94405097e-04 7.48638146e+00] [ 1.89724018e-02 -7.68436488e-04 9.99819712e-01 4.23123283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2992541539999 meters Centerline goodness [0,1] 0.9997837837837837 Centerline is valid? [True, True] Translation: X:464.07, Y:7.49, Z:4.23 [[ 9.98596610e-01 -4.94916915e-02 -1.88516207e-02 4.64074989e+02] [ 4.94968718e-02 9.98774260e-01 -1.91982116e-04 7.48896638e+00] [ 1.88380150e-02 -7.41383561e-04 9.99822274e-01 4.23193472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.32925415399995 meters Centerline goodness [0,1] 0.999826806087766 Centerline is valid? [True, True] Translation: X:464.11, Y:7.48, Z:4.23 [[ 9.98665013e-01 -4.81082228e-02 -1.88093287e-02 4.64106580e+02] [ 4.81131718e-02 9.98841873e-01 -1.89588178e-04 7.48469108e+00] [ 1.87966659e-02 -7.15641384e-04 9.99823071e-01 4.23102791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3592541539999 meters Centerline goodness [0,1] 0.9997391701262851 Centerline is valid? [True, True] Translation: X:464.14, Y:7.50, Z:4.23 [[ 9.98808368e-01 -4.53029336e-02 -1.81517908e-02 4.64138247e+02] [ 4.53071108e-02 9.98973089e-01 -1.81256870e-04 7.49511211e+00] [ 1.81413620e-02 -6.41364316e-04 9.99835226e-01 4.23434066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.38925415399996 meters Centerline goodness [0,1] 0.9995664990462979 Centerline is valid? [True, True] Translation: X:464.17, Y:7.50, Z:4.23 [[ 9.98883220e-01 -4.36390405e-02 -1.81092809e-02 4.64170395e+02] [ 4.36429458e-02 9.99047177e-01 -1.79681432e-04 7.49680076e+00] [ 1.80998671e-02 -6.10861597e-04 9.99835997e-01 4.23444834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.41925415399993 meters Centerline goodness [0,1] 0.9995656988990467 Centerline is valid? [True, True] Translation: X:464.20, Y:7.50, Z:4.23 [[ 9.98957576e-01 -4.20029563e-02 -1.78749369e-02 4.64202598e+02] [ 4.20065228e-02 9.99117321e-01 -1.76058705e-04 7.49840298e+00] [ 1.78665540e-02 -5.74988765e-04 9.99840215e-01 4.23455199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.44925415399996 meters Centerline goodness [0,1] 0.9997171761122593 Centerline is valid? [True, True] Translation: X:464.23, Y:7.50, Z:4.23 [[ 9.99076041e-01 -3.90261139e-02 -1.80007615e-02 4.64233951e+02] [ 3.90292662e-02 9.99238052e-01 -1.76290394e-04 7.50125899e+00] [ 1.79939258e-02 -5.26429003e-04 9.99837958e-01 4.23436903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.47925415399993 meters Centerline goodness [0,1] 0.9995009005490094 Centerline is valid? [True, True] Translation: X:464.27, Y:7.50, Z:4.23 [[ 9.99145309e-01 -3.71792037e-02 -1.80653922e-02 4.64265881e+02] [ 3.71820947e-02 9.99308491e-01 -1.75944213e-04 7.50243999e+00] [ 1.80594413e-02 -4.95915286e-04 9.99836792e-01 4.23358333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.50925415399996 meters Centerline goodness [0,1] 0.9995205195824162 Centerline is valid? [True, True] Translation: X:464.30, Y:7.50, Z:4.23 [[ 9.99171920e-01 -3.64835393e-02 -1.80118051e-02 4.64297859e+02] [ 3.64863238e-02 9.99334137e-01 -1.74112441e-04 7.50434476e+00] [ 1.80061640e-02 -4.83216292e-04 9.99837759e-01 4.23454587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.53925415399993 meters Centerline goodness [0,1] 0.9994772266875775 Centerline is valid? [True, True] Translation: X:464.33, Y:7.51, Z:4.23 [[ 9.99270643e-01 -3.36467295e-02 -1.80576612e-02 4.64328594e+02] [ 3.36490833e-02 9.99433694e-01 -1.73558975e-04 7.50620192e+00] [ 1.80532747e-02 -4.34191356e-04 9.99836932e-01 4.23491737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.56925415399996 meters Centerline goodness [0,1] 0.9995865250696379 Centerline is valid? [True, True] Translation: X:464.36, Y:7.51, Z:4.24 [[ 9.99325936e-01 -3.19140925e-02 -1.81428830e-02 4.64359729e+02] [ 3.19161950e-02 9.99490533e-01 -1.73724875e-04 7.50721891e+00] [ 1.81391841e-02 -4.05444020e-04 9.99835389e-01 4.23508788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.59925415399994 meters Centerline goodness [0,1] 0.9996519166340339 Centerline is valid? [True, True] Translation: X:464.39, Y:7.51, Z:4.24 [[ 9.99380063e-01 -3.01620288e-02 -1.81587916e-02 4.64391304e+02] [ 3.01638578e-02 9.99544952e-01 -1.73222331e-04 7.50794428e+00] [ 1.81557532e-02 -3.74624264e-04 9.99835101e-01 4.23505789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.62925415399997 meters Centerline goodness [0,1] 0.9994775453338267 Centerline is valid? [True, True] Translation: X:464.42, Y:7.51, Z:4.23 [[ 9.99486244e-01 -2.63062198e-02 -1.83092906e-02 4.64421427e+02] [ 2.63074388e-02 9.99653884e-01 -1.74315379e-04 7.50649245e+00] [ 1.83075390e-02 -3.07444718e-04 9.99832356e-01 4.23293546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.65925415399994 meters Centerline goodness [0,1] 0.9996082613332172 Centerline is valid? [True, True] Translation: X:464.45, Y:7.51, Z:4.23 [[ 9.99510035e-01 -2.51618889e-02 -1.86163930e-02 4.64450997e+02] [ 2.51629445e-02 9.99683347e-01 -1.77573023e-04 7.50847611e+00] [ 1.86149662e-02 -2.90957246e-04 9.99826684e-01 4.23485227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.6892541539999 meters Centerline goodness [0,1] 0.999630257949454 Centerline is valid? [True, True] Translation: X:464.48, Y:7.51, Z:4.24 [[ 9.99572856e-01 -2.21715250e-02 -1.90401993e-02 4.64480350e+02] [ 2.21720736e-02 9.99754153e-01 -1.82311691e-04 7.50966745e+00] [ 1.90395604e-02 -2.39926883e-04 9.99818702e-01 4.23556392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.71925415399994 meters Centerline goodness [0,1] 0.9997389545128239 Centerline is valid? [True, True] Translation: X:464.51, Y:7.51, Z:4.24 [[ 9.99588036e-01 -2.09526047e-02 -1.96149582e-02 4.64509611e+02] [ 2.09529172e-02 9.99780446e-01 -1.89605646e-04 7.51046810e+00] [ 1.96146244e-02 -2.21463060e-04 9.99807590e-01 4.23591737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.7492541539999 meters Centerline goodness [0,1] 0.9997602911373096 Centerline is valid? [True, True] Translation: X:464.54, Y:7.51, Z:4.24 [[ 9.99595442e-01 -1.92946559e-02 -2.08966292e-02 4.64536602e+02] [ 1.92945886e-02 9.99813821e-01 -2.04857171e-04 7.51025472e+00] [ 2.08966913e-02 -1.98417568e-04 9.99781621e-01 4.23533959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.77925415399994 meters Centerline goodness [0,1] 0.9997609371264643 Centerline is valid? [True, True] Translation: X:464.56, Y:7.51, Z:4.24 [[ 9.99581680e-01 -1.94246282e-02 -2.14277527e-02 4.64564075e+02] [ 1.94244866e-02 9.99811304e-01 -2.14762612e-04 7.51016017e+00] [ 2.14278810e-02 -2.01550323e-04 9.99770376e-01 4.23575941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8092541539999 meters Centerline goodness [0,1] 0.999630964268658 Centerline is valid? [True, True] Translation: X:464.59, Y:7.51, Z:4.24 [[ 9.99570521e-01 -1.96846267e-02 -2.17091712e-02 4.64591546e+02] [ 1.96844062e-02 9.99806218e-01 -2.23867489e-04 7.50959608e+00] [ 2.17093711e-02 -2.03560802e-04 9.99764303e-01 4.23631341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.83925415399995 meters Centerline goodness [0,1] 0.9996103811770818 Centerline is valid? [True, True] Translation: X:464.62, Y:7.51, Z:4.24 [[ 9.99555508e-01 -2.03980365e-02 -2.17417932e-02 4.64619144e+02] [ 2.03978463e-02 9.99791916e-01 -2.30539143e-04 7.50912986e+00] [ 2.17419716e-02 -2.13049086e-04 9.99763593e-01 4.23778417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8692541539999 meters Centerline goodness [0,1] 0.9995451296380532 Centerline is valid? [True, True] Translation: X:464.65, Y:7.51, Z:4.24 [[ 9.99525407e-01 -2.29969364e-02 -2.04963965e-02 4.64647003e+02] [ 2.29972396e-02 9.99735504e-01 -2.20945178e-04 7.50510081e+00] [ 2.04960563e-02 -2.50520221e-04 9.99789902e-01 4.23870704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.89925415399995 meters Centerline goodness [0,1] 0.9996541213601677 Centerline is valid? [True, True] Translation: X:464.68, Y:7.50, Z:4.24 [[ 9.99483970e-01 -2.47699782e-02 -2.04509597e-02 4.64675483e+02] [ 2.47705756e-02 9.99693137e-01 -2.24145917e-04 7.50414376e+00] [ 2.04502361e-02 -2.82551791e-04 9.99790832e-01 4.24030819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9292541539999 meters Centerline goodness [0,1] 0.9995897923053673 Centerline is valid? [True, True] Translation: X:464.70, Y:7.50, Z:4.24 [[ 9.99358812e-01 -2.94319056e-02 -2.03893975e-02 4.64703129e+02] [ 2.94334001e-02 9.99566718e-01 -2.26861580e-04 7.50022152e+00] [ 2.03872401e-02 -3.73413176e-04 9.99792089e-01 4.24117451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.95925415399995 meters Centerline goodness [0,1] 0.999373812402833 Centerline is valid? [True, True] Translation: X:464.73, Y:7.50, Z:4.24 [[ 9.99264474e-01 -3.22596770e-02 -2.07322011e-02 4.64732845e+02] [ 3.22618040e-02 9.99479426e-01 -2.31950084e-04 7.49820441e+00] [ 2.07288910e-02 -4.37078728e-04 9.99785038e-01 4.24117865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9892541539999 meters Centerline goodness [0,1] 0.999245722167148 Centerline is valid? [True, True] Translation: X:464.76, Y:7.49, Z:4.24 [[ 9.98996574e-01 -3.91413886e-02 -2.17668763e-02 4.64763034e+02] [ 3.91453526e-02 9.99233497e-01 -2.44109617e-04 7.49274865e+00] [ 2.17597468e-02 -6.08207379e-04 9.99763044e-01 4.24083702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.01925415399995 meters Centerline goodness [0,1] 0.9994192674166004 Centerline is valid? [True, True] Translation: X:464.79, Y:7.49, Z:4.24 [[ 9.98827018e-01 -4.29103502e-02 -2.24341093e-02 4.64794622e+02] [ 4.29155173e-02 9.99078673e-01 -2.51292971e-04 7.48916814e+00] [ 2.24242233e-02 -7.11773200e-04 9.99748292e-01 4.24070004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0492541539999 meters Centerline goodness [0,1] 0.9989923893236146 Centerline is valid? [True, True] Translation: X:464.83, Y:7.49, Z:4.24 [[ 9.98648535e-01 -4.69638763e-02 -2.22597811e-02 4.64826048e+02] [ 4.69699870e-02 9.98896270e-01 -2.48529860e-04 7.48589478e+00] [ 2.22468843e-02 -7.97347650e-04 9.99752189e-01 4.24065946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07925415399995 meters Centerline goodness [0,1] 0.9989923893236146 Centerline is valid? [True, True] Translation: X:464.86, Y:7.49, Z:4.24 [[ 9.98651980e-01 -4.68905467e-02 -2.22597955e-02 4.64857763e+02] [ 4.68966678e-02 9.98899715e-01 -2.47240707e-04 7.48618851e+00] [ 2.22468966e-02 -7.97002813e-04 9.99752189e-01 4.24095647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1092541539999 meters Centerline goodness [0,1] 0.9991418887029647 Centerline is valid? [True, True] Translation: X:464.89, Y:7.48, Z:4.24 [[ 9.98443511e-01 -5.10451150e-02 -2.24711359e-02 4.64887746e+02] [ 5.10524189e-02 9.98695944e-01 -2.48893851e-04 7.47884955e+00] [ 2.24545371e-02 -8.98699391e-04 9.99747461e-01 4.23980931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13925415399996 meters Centerline goodness [0,1] 0.9990995819487619 Centerline is valid? [True, True] Translation: X:464.92, Y:7.48, Z:4.24 [[ 9.98027423e-01 -5.85805508e-02 -2.25739303e-02 4.64918172e+02] [ 5.85898455e-02 9.98282108e-01 -2.49988776e-04 7.47644509e+00] [ 2.25497952e-02 -1.07310743e-03 9.99745145e-01 4.24071222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.16925415399993 meters Centerline goodness [0,1] 0.9990794262470563 Centerline is valid? [True, True] Translation: X:464.95, Y:7.47, Z:4.24 [[ 9.97828957e-01 -6.18659280e-02 -2.25827324e-02 4.64949691e+02] [ 6.18760807e-02 9.98083808e-01 -2.49569777e-04 7.47368827e+00] [ 2.25548994e-02 -1.14830302e-03 9.99744946e-01 4.24067606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19925415399996 meters Centerline goodness [0,1] 0.9990581385392585 Centerline is valid? [True, True] Translation: X:464.98, Y:7.47, Z:4.24 [[ 9.97446766e-01 -6.78643515e-02 -2.22346089e-02 4.64980476e+02] [ 6.78756871e-02 9.97693756e-01 -2.45345284e-04 7.46821750e+00] [ 2.21999806e-02 -1.26447049e-03 9.99752750e-01 4.24028116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.22925415399993 meters Centerline goodness [0,1] 0.9989943297314646 Centerline is valid? [True, True] Translation: X:465.01, Y:7.47, Z:4.24 [[ 9.97293243e-01 -7.00962737e-02 -2.21968531e-02 4.65010470e+02] [ 7.01081478e-02 9.97539367e-01 -2.43747685e-04 7.46526370e+00] [ 2.21593206e-02 -1.31309234e-03 9.99753590e-01 4.24009526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25925415399996 meters Centerline goodness [0,1] 0.9988663344099592 Centerline is valid? [True, True] Translation: X:465.04, Y:7.46, Z:4.24 [[ 9.97150493e-01 -7.20769427e-02 -2.22667409e-02 4.65041600e+02] [ 7.20894173e-02 9.97398144e-01 -2.42998680e-04 7.46322248e+00] [ 2.22263207e-02 -1.36289013e-03 9.99752036e-01 4.24036661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.28925415399993 meters Centerline goodness [0,1] 0.9990393646998549 Centerline is valid? [True, True] Translation: X:465.07, Y:7.46, Z:4.24 [[ 9.96963757e-01 -7.47282659e-02 -2.18850032e-02 4.65073096e+02] [ 7.47409727e-02 9.97202953e-01 -2.37905010e-04 7.45977129e+00] [ 2.18415681e-02 -1.39852375e-03 9.99760466e-01 4.24071515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31925415399996 meters Centerline goodness [0,1] 0.9989534610538007 Centerline is valid? [True, True] Translation: X:465.11, Y:7.46, Z:4.24 [[ 9.96923778e-01 -7.53194060e-02 -2.16787558e-02 4.65105239e+02] [ 7.53320406e-02 9.97158477e-01 -2.34410958e-04 7.46324966e+00] [ 2.16348108e-02 -1.39941505e-03 9.99764961e-01 4.24202735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.34925415399994 meters Centerline goodness [0,1] 0.9991893333333334 Centerline is valid? [True, True] Translation: X:465.14, Y:7.46, Z:4.24 [[ 9.96945790e-01 -7.52565579e-02 -2.08696672e-02 4.65137390e+02] [ 7.52682848e-02 9.97163294e-01 -2.24135810e-04 7.46129438e+00] [ 2.08273338e-02 -1.34737280e-03 9.99782180e-01 4.24209582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37925415399997 meters Centerline goodness [0,1] 0.9991244180583436 Centerline is valid? [True, True] Translation: X:465.17, Y:7.46, Z:4.24 [[ 9.96974713e-01 -7.47341079e-02 -2.13596396e-02 4.65169734e+02] [ 7.47463068e-02 9.97202556e-01 -2.27798064e-04 7.46146665e+00] [ 2.13169115e-02 -1.36944527e-03 9.99771831e-01 4.24204373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.40925415399994 meters Centerline goodness [0,1] 0.999018771331058 Centerline is valid? [True, True] Translation: X:465.20, Y:7.46, Z:4.24 [[ 9.97169018e-01 -7.19868000e-02 -2.17221150e-02 4.65199763e+02] [ 7.19987826e-02 9.97404693e-01 -2.30957599e-04 7.46062614e+00] [ 2.16823654e-02 -1.33366207e-03 9.99764020e-01 4.24095907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4392541539999 meters Centerline goodness [0,1] 0.9991664707516724 Centerline is valid? [True, True] Translation: X:465.23, Y:7.46, Z:4.24 [[ 9.97292972e-01 -7.00022143e-02 -2.25037181e-02 4.65230861e+02] [ 7.00145825e-02 9.97545939e-01 -2.38784242e-04 7.46443724e+00] [ 2.24652080e-02 -1.33745058e-03 9.99746731e-01 4.24123721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.46925415399994 meters Centerline goodness [0,1] 0.9991661499647218 Centerline is valid? [True, True] Translation: X:465.26, Y:7.46, Z:4.24 [[ 9.97436572e-01 -6.75535273e-02 -2.35967496e-02 4.65261212e+02] [ 6.75664890e-02 9.97714743e-01 -2.48467995e-04 7.46472472e+00] [ 2.35596098e-02 -1.34651845e-03 9.99721527e-01 4.24017180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4992541539999 meters Centerline goodness [0,1] 0.9989948889031458 Centerline is valid? [True, True] Translation: X:465.29, Y:7.47, Z:4.24 [[ 9.97800324e-01 -6.13832246e-02 -2.50322385e-02 4.65290833e+02] [ 6.13958957e-02 9.98113458e-01 -2.62777640e-04 7.46874230e+00] [ 2.50011443e-02 -1.27467709e-03 9.99686610e-01 4.23818777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.52925415399994 meters Centerline goodness [0,1] 0.9989947384181033 Centerline is valid? [True, True] Translation: X:465.32, Y:7.47, Z:4.24 [[ 9.97987276e-01 -5.78064107e-02 -2.60732625e-02 4.65322130e+02] [ 5.78189510e-02 9.98327048e-01 -2.73303117e-04 7.47231456e+00] [ 2.60454418e-02 -1.23477565e-03 9.99659997e-01 4.23833012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5592541539999 meters Centerline goodness [0,1] 0.9989708404802744 Centerline is valid? [True, True] Translation: X:465.35, Y:7.48, Z:4.24 [[ 9.98409190e-01 -4.91377661e-02 -2.76508444e-02 4.65351511e+02] [ 4.91485519e-02 9.98791438e-01 -2.89832372e-04 7.47941721e+00] [ 2.76316684e-02 -1.06962766e-03 9.99617600e-01 4.23749290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.58925415399995 meters Centerline goodness [0,1] 0.9990555102391276 Centerline is valid? [True, True] Translation: X:465.38, Y:7.48, Z:4.24 [[ 9.98627348e-01 -4.41203067e-02 -2.82279691e-02 4.65381270e+02] [ 4.41295317e-02 9.99025774e-01 -2.96383429e-04 7.48378424e+00] [ 2.82135452e-02 -9.49710461e-04 9.99601468e-01 4.23767025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6192541539999 meters Centerline goodness [0,1] 0.999333017771849 Centerline is valid? [True, True] Translation: X:465.41, Y:7.49, Z:4.24 [[ 9.99046377e-01 -3.27125910e-02 -2.89175187e-02 4.65410434e+02] [ 3.27174805e-02 9.99464594e-01 -3.04180638e-04 7.49359515e+00] [ 2.89119867e-02 -6.42217791e-04 9.99581755e-01 4.23794127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.64925415399995 meters Centerline goodness [0,1] 0.9994173625946786 Centerline is valid? [True, True] Translation: X:465.44, Y:7.50, Z:4.24 [[ 9.99237331e-01 -2.65578112e-02 -2.86258561e-02 4.65439863e+02] [ 2.65600535e-02 9.99647174e-01 -3.01960666e-04 7.49911318e+00] [ 2.86237756e-02 -4.58573900e-04 9.99590151e-01 4.23840324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6792541539999 meters Centerline goodness [0,1] 0.9991573215790497 Centerline is valid? [True, True] Translation: X:465.47, Y:7.50, Z:4.24 [[ 9.99375642e-01 -2.04336885e-02 -2.88234289e-02 4.65467479e+02] [ 2.04333582e-02 9.99791170e-01 -3.06031026e-04 7.50459073e+00] [ 2.88236630e-02 -2.83119493e-04 9.99584472e-01 4.23857547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.70925415399995 meters Centerline goodness [0,1] 0.9993724981066753 Centerline is valid? [True, True] Translation: X:465.50, Y:7.52, Z:4.24 [[ 9.99586823e-01 -8.47259060e-03 -2.74663222e-02 4.65496028e+02] [ 8.46762883e-03 9.99964105e-01 -2.96955577e-04 7.51534811e+00] [ 2.74678523e-02 6.42582603e-05 9.99622685e-01 4.24328197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7392541539999 meters Centerline goodness [0,1] 0.9994569113462082 Centerline is valid? [True, True] Translation: X:465.52, Y:7.52, Z:4.24 [[ 9.99642351e-01 -2.59707569e-03 -2.66162594e-02 4.65524192e+02] [ 2.59023214e-03 9.99996603e-01 -2.91593181e-04 7.52120267e+00] [ 2.66169263e-02 2.22546603e-04 9.99645682e-01 4.24243327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.76925415399995 meters Centerline goodness [0,1] 0.9996532142702328 Centerline is valid? [True, True] Translation: X:465.55, Y:7.53, Z:4.25 [[ 9.99691836e-01 7.85537701e-03 -2.35483847e-02 4.65553288e+02] [-7.86366762e-03 9.99969047e-01 -2.59485022e-04 7.52736005e+00] [ 2.35456174e-02 4.44581728e-04 9.99722665e-01 4.24777576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7992541539999 meters Centerline goodness [0,1] 0.9996318194615901 Centerline is valid? [True, True] Translation: X:465.58, Y:7.53, Z:4.25 [[ 9.99673879e-01 1.21293211e-02 -2.24725263e-02 4.65580494e+02] [-1.21379927e-02 9.99926301e-01 -2.49510020e-04 7.53462509e+00] [ 2.24678437e-02 5.22200010e-04 9.99747430e-01 4.24687512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.82925415399995 meters Centerline goodness [0,1] 0.9995664708560033 Centerline is valid? [True, True] Translation: X:465.61, Y:7.53, Z:4.25 [[ 9.99652415e-01 1.52531360e-02 -2.15032787e-02 4.65609595e+02] [-1.52618828e-02 9.99883501e-01 -2.42708798e-04 7.53349824e+00] [ 2.14970715e-02 5.70804956e-04 9.99768748e-01 4.25022052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8592541539999 meters Centerline goodness [0,1] 0.99958776307225 Centerline is valid? [True, True] Translation: X:465.64, Y:7.53, Z:4.25 [[ 9.99630191e-01 1.72713333e-02 -2.10043462e-02 4.65637986e+02] [-1.72801931e-02 9.99850657e-01 -2.40364056e-04 7.53468881e+00] [ 2.09970580e-02 6.03234325e-04 9.99779355e-01 4.25080596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.88925415399996 meters Centerline goodness [0,1] 0.9995239846809616 Centerline is valid? [True, True] Translation: X:465.67, Y:7.53, Z:4.25 [[ 9.99632261e-01 1.78058817e-02 -2.04522080e-02 4.65666395e+02] [-1.78144657e-02 9.99841282e-01 -2.37579475e-04 7.53345783e+00] [ 2.04447315e-02 6.01837264e-04 9.99790803e-01 4.25124854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.91925415399993 meters Centerline goodness [0,1] 0.9995247866940274 Centerline is valid? [True, True] Translation: X:465.69, Y:7.53, Z:4.25 [[ 9.99649090e-01 1.66436809e-02 -2.06078962e-02 4.65694751e+02] [-1.66522547e-02 9.99861312e-01 -2.44500352e-04 7.53163539e+00] [ 2.06009687e-02 5.87582490e-04 9.99787605e-01 4.25182006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.94925415399996 meters Centerline goodness [0,1] 0.999589641692404 Centerline is valid? [True, True] Translation: X:465.72, Y:7.53, Z:4.25 [[ 9.99675646e-01 1.48970294e-02 -2.06562611e-02 4.65723541e+02] [-1.49053779e-02 9.99888877e-01 -2.50252238e-04 7.52850964e+00] [ 2.06502377e-02 5.58060446e-04 9.99786605e-01 4.25213297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.97925415399993 meters Centerline goodness [0,1] 0.9994411966987621 Centerline is valid? [True, True] Translation: X:465.75, Y:7.52, Z:4.25 [[ 9.99723492e-01 1.05583795e-02 -2.10109603e-02 4.65752396e+02] [-1.05661279e-02 9.99944144e-01 -2.57794663e-04 7.52271230e+00] [ 2.10070648e-02 4.79727874e-04 9.99779212e-01 4.25143652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.00925415399996 meters Centerline goodness [0,1] 0.9994214079074253 Centerline is valid? [True, True] Translation: X:465.78, Y:7.52, Z:4.25 [[ 9.99731549e-01 7.99573713e-03 -2.17462214e-02 4.65781626e+02] [-8.00351056e-03 9.99967935e-01 -2.70449829e-04 7.51913364e+00] [ 2.17433617e-02 4.44423339e-04 9.99763486e-01 4.25173968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.03925415399993 meters Centerline goodness [0,1] 0.9993122716526972 Centerline is valid? [True, True] Translation: X:465.81, Y:7.51, Z:4.25 [[ 9.99760932e-01 2.56005261e-03 -2.17146233e-02 4.65810471e+02] [-2.56658949e-03 9.99996669e-01 -2.73171950e-04 7.51165650e+00] [ 2.17138516e-02 3.28839167e-04 9.99764172e-01 4.25181921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.06925415399996 meters Centerline goodness [0,1] 0.9992932710840793 Centerline is valid? [True, True] Translation: X:465.84, Y:7.51, Z:4.25 [[ 9.99769992e-01 -3.84680607e-04 -2.14432901e-02 4.65839269e+02] [ 3.78949700e-04 9.99999891e-01 -2.71321540e-04 7.50720621e+00] [ 2.14433921e-02 2.63133206e-04 9.99770029e-01 4.25250093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.09925415399994 meters Centerline goodness [0,1] 0.9991864522897086 Centerline is valid? [True, True] Translation: X:465.87, Y:7.50, Z:4.25 [[ 9.99770085e-01 -3.62098587e-03 -2.11344455e-02 4.65868325e+02] [ 3.61610915e-03 9.99993426e-01 -2.68959558e-04 7.50299541e+00] [ 2.11352805e-02 1.92473259e-04 9.99776606e-01 4.25299333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.12925415399997 meters Centerline goodness [0,1] 0.9991253146733797 Centerline is valid? [True, True] Translation: X:465.90, Y:7.49, Z:4.25 [[ 9.99740083e-01 -9.67747825e-03 -2.06425180e-02 4.65896045e+02] [ 9.67408164e-03 9.99953170e-01 -2.64399590e-04 7.49389146e+00] [ 2.06441100e-02 6.46334638e-05 9.99786886e-01 4.25365996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.15925415399994 meters Centerline goodness [0,1] 0.9992322129329466 Centerline is valid? [True, True] Translation: X:465.92, Y:7.49, Z:4.25 [[ 9.99713293e-01 -1.29069535e-02 -2.01678641e-02 4.65924664e+02] [ 1.29043357e-02 9.99916702e-01 -2.59943784e-04 7.48942452e+00] [ 2.01695392e-02 -3.83632127e-07 9.99796574e-01 4.25437413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.1892541539999 meters Centerline goodness [0,1] 0.9989817564700891 Centerline is valid? [True, True] Translation: X:465.95, Y:7.48, Z:4.25 [[ 9.99624944e-01 -1.85384592e-02 -2.01568318e-02 4.65953197e+02] [ 1.85369593e-02 9.99828142e-01 -2.61270327e-04 7.48015004e+00] [ 2.01582112e-02 -1.12474033e-04 9.99796796e-01 4.25468900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.21925415399994 meters Centerline goodness [0,1] 0.9990680335507922 Centerline is valid? [True, True] Translation: X:465.98, Y:7.48, Z:4.25 [[ 9.99569603e-01 -2.12471376e-02 -2.02278857e-02 4.65981031e+02] [ 2.12461383e-02 9.99774240e-01 -2.64330165e-04 7.47507098e+00] [ 2.02289353e-02 -1.65548059e-04 9.99795360e-01 4.25461434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.2492541539999 meters Centerline goodness [0,1] 0.9990478810062839 Centerline is valid? [True, True] Translation: X:466.01, Y:7.47, Z:4.25 [[ 9.99501453e-01 -2.41310498e-02 -2.03602263e-02 4.66010113e+02] [ 2.41305536e-02 9.99708779e-01 -2.70081857e-04 7.46983898e+00] [ 2.03608143e-02 -2.21356325e-04 9.99792673e-01 4.25442250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.27925415399994 meters Centerline goodness [0,1] 0.9988598213720149 Centerline is valid? [True, True] Translation: X:466.04, Y:7.46, Z:4.25 [[ 9.99433409e-01 -2.70317207e-02 -2.00535919e-02 4.66039332e+02] [ 2.70317220e-02 9.99634539e-01 -2.71052368e-04 7.46483714e+00] [ 2.00535901e-02 -2.71184328e-04 9.99798870e-01 4.25469302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3092541539999 meters Centerline goodness [0,1] 0.9991374232096272 Centerline is valid? [True, True] Translation: X:466.07, Y:7.45, Z:4.25 [[ 9.99253880e-01 -3.27397843e-02 -2.04887606e-02 4.66068341e+02] [ 3.27409175e-02 9.99463833e-01 -2.80223468e-04 7.45276760e+00] [ 2.04869497e-02 -3.90806433e-04 9.99790044e-01 4.25348816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.33925415399995 meters Centerline goodness [0,1] 0.9986945444591835 Centerline is valid? [True, True] Translation: X:466.10, Y:7.45, Z:4.25 [[ 9.99129024e-01 -3.60547726e-02 -2.10058697e-02 4.66097325e+02] [ 3.60566196e-02 9.99349706e-01 -2.90931813e-04 7.44788845e+00] [ 2.10026992e-02 -4.66722234e-04 9.99779310e-01 4.25283738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3692541539999 meters Centerline goodness [0,1] 0.9991805001050641 Centerline is valid? [True, True] Translation: X:466.13, Y:7.44, Z:4.25 [[ 9.98900154e-01 -4.15419281e-02 -2.17428128e-02 4.66125928e+02] [ 4.15451341e-02 9.99136582e-01 -3.04429491e-04 7.43664520e+00] [ 2.17366863e-02 -5.99213408e-04 9.99763551e-01 4.25203740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.39925415399995 meters Centerline goodness [0,1] 0.9989693323797905 Centerline is valid? [True, True] Translation: X:466.16, Y:7.43, Z:4.25 [[ 9.98801827e-01 -4.37015315e-02 -2.20246868e-02 4.66155456e+02] [ 4.37053212e-02 9.99044418e-01 -3.09491238e-04 7.43325483e+00] [ 2.20171656e-02 -6.53475596e-04 9.99757379e-01 4.25211947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4292541539999 meters Centerline goodness [0,1] 0.9988895407308079 Centerline is valid? [True, True] Translation: X:466.19, Y:7.43, Z:4.25 [[ 9.98715071e-01 -4.55025204e-02 -2.23098120e-02 4.66185217e+02] [ 4.55068402e-02 9.98963978e-01 -3.14282758e-04 7.42937613e+00] [ 2.23009992e-02 -7.01370124e-04 9.99751056e-01 4.25207257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.45925415399995 meters Centerline goodness [0,1] 0.9988657606755025 Centerline is valid? [True, True] Translation: X:466.21, Y:7.42, Z:4.25 [[ 9.98629113e-01 -4.69236412e-02 -2.31962648e-02 4.66213831e+02] [ 4.69286696e-02 9.98898189e-01 -3.27830549e-04 7.42380626e+00] [ 2.31860899e-02 -7.61188719e-04 9.99730877e-01 4.25131960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4892541539999 meters Centerline goodness [0,1] 0.9989917025522529 Centerline is valid? [True, True] Translation: X:466.24, Y:7.42, Z:4.25 [[ 9.98609161e-01 -4.69898893e-02 -2.39101255e-02 4.66243018e+02] [ 4.69952269e-02 9.98895056e-01 -3.38937097e-04 7.42394974e+00] [ 2.38996328e-02 -7.85196084e-04 9.99714055e-01 4.25195343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.51925415399995 meters Centerline goodness [0,1] 0.9991217063989962 Centerline is valid? [True, True] Translation: X:466.27, Y:7.42, Z:4.25 [[ 9.98610073e-01 -4.65107051e-02 -2.47926778e-02 4.66270913e+02] [ 4.65162547e-02 9.98917471e-01 -3.53146270e-04 7.42010717e+00] [ 2.47822640e-02 -8.00607090e-04 9.99692552e-01 4.25101306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5492541539999 meters Centerline goodness [0,1] 0.9989925067690951 Centerline is valid? [True, True] Translation: X:466.30, Y:7.42, Z:4.25 [[ 9.98628640e-01 -4.61419430e-02 -2.47338061e-02 4.66299564e+02] [ 4.61472354e-02 9.98934585e-01 -3.57073285e-04 7.42478822e+00] [ 2.47239304e-02 -7.84813164e-04 9.99694009e-01 4.25354131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57925415399995 meters Centerline goodness [0,1] 0.9990981732765671 Centerline is valid? [True, True] Translation: X:466.33, Y:7.42, Z:4.25 [[ 9.98653742e-01 -4.55908597e-02 -2.47422045e-02 4.66328095e+02] [ 4.55958300e-02 9.98959903e-01 -3.63531090e-04 7.42491352e+00] [ 2.47330439e-02 -7.65099667e-04 9.99693799e-01 4.25346432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6092541539999 meters Centerline goodness [0,1] 0.9988051065970693 Centerline is valid? [True, True] Translation: X:466.36, Y:7.43, Z:4.25 [[ 9.98645774e-01 -4.57654973e-02 -2.47413945e-02 4.66357104e+02] [ 4.57703643e-02 9.98951919e-01 -3.69844280e-04 7.42548686e+00] [ 2.47323896e-02 -7.63079212e-04 9.99693816e-01 4.25441101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63925415399996 meters Centerline goodness [0,1] 0.9990767552142348 Centerline is valid? [True, True] Translation: X:466.39, Y:7.43, Z:4.25 [[ 9.98606971e-01 -4.60107471e-02 -2.58288296e-02 4.66385236e+02] [ 4.60160383e-02 9.98940625e-01 -3.89790414e-04 7.42519503e+00] [ 2.58194018e-02 -7.99292988e-04 9.99666304e-01 4.25428182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.66925415399993 meters Centerline goodness [0,1] 0.9989510342801997 Centerline is valid? [True, True] Translation: X:466.41, Y:7.42, Z:4.25 [[ 9.98559650e-01 -4.66883358e-02 -2.64353054e-02 4.66413244e+02] [ 4.66940346e-02 9.98909158e-01 -4.02014460e-04 7.42459781e+00] [ 2.64252380e-02 -8.32935644e-04 9.99650445e-01 4.25372891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69925415399996 meters Centerline goodness [0,1] 0.9988709306458695 Centerline is valid? [True, True] Translation: X:466.44, Y:7.43, Z:4.25 [[ 9.98485639e-01 -4.79494873e-02 -2.69680262e-02 4.66442103e+02] [ 4.79557218e-02 9.98849376e-01 -4.15894855e-04 7.42532907e+00] [ 2.69569381e-02 -8.78006124e-04 9.99636210e-01 4.25425806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.72925415399993 meters Centerline goodness [0,1] 0.9989722723268594 Centerline is valid? [True, True] Translation: X:466.47, Y:7.42, Z:4.25 [[ 9.98346768e-01 -5.02835834e-02 -2.78440771e-02 4.66470444e+02] [ 5.02910315e-02 9.98734512e-01 -4.33172849e-04 7.42356588e+00] [ 2.78306222e-02 -9.67850644e-04 9.99612185e-01 4.25400549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75925415399996 meters Centerline goodness [0,1] 0.9987641908592015 Centerline is valid? [True, True] Translation: X:466.50, Y:7.42, Z:4.25 [[ 9.98254766e-01 -5.12896290e-02 -2.92710637e-02 4.66497835e+02] [ 5.12981824e-02 9.98683276e-01 -4.59144813e-04 7.42205304e+00] [ 2.92560711e-02 -1.04320887e-03 9.99571405e-01 4.25208334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.78925415399993 meters Centerline goodness [0,1] 0.9990775294561617 Centerline is valid? [True, True] Translation: X:466.53, Y:7.42, Z:4.26 [[ 9.98144331e-01 -5.39378520e-02 -2.82595555e-02 4.66526231e+02] [ 5.39467110e-02 9.98543715e-01 -4.49385168e-04 7.42362853e+00] [ 2.82426404e-02 -1.07595881e-03 9.99600518e-01 4.25576578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81925415399996 meters Centerline goodness [0,1] 0.9989311985246349 Centerline is valid? [True, True] Translation: X:466.55, Y:7.42, Z:4.26 [[ 9.98107797e-01 -5.46281853e-02 -2.82238853e-02 4.66554939e+02] [ 5.46370996e-02 9.98506174e-01 -4.55825825e-04 7.42414749e+00] [ 2.82066246e-02 -1.08710792e-03 9.99601523e-01 4.25601057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.84925415399994 meters Centerline goodness [0,1] 0.9990162836451923 Centerline is valid? [True, True] Translation: X:466.58, Y:7.43, Z:4.26 [[ 9.98121323e-01 -5.44923118e-02 -2.80073647e-02 4.66583926e+02] [ 5.45008420e-02 9.98513619e-01 -4.59270857e-04 7.42566467e+00] [ 2.79907619e-02 -1.06801693e-03 9.99607611e-01 4.25677536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87925415399997 meters Centerline goodness [0,1] 0.9991189427312775 Centerline is valid? [True, True] Translation: X:466.61, Y:7.43, Z:4.26 [[ 9.98237472e-01 -5.24937662e-02 -2.76831078e-02 4.66612338e+02] [ 5.25012328e-02 9.98620754e-01 -4.57556073e-04 7.42904056e+00] [ 2.76689449e-02 -9.96647669e-04 9.99616645e-01 4.25820330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.90925415399994 meters Centerline goodness [0,1] 0.9989303242585679 Centerline is valid? [True, True] Translation: X:466.64, Y:7.43, Z:4.26 [[ 9.98319372e-01 -5.09835324e-02 -2.75519633e-02 4.66640914e+02] [ 5.09902104e-02 9.98699047e-01 -4.60600617e-04 7.43243236e+00] [ 2.75396026e-02 -9.45053889e-04 9.99620266e-01 4.25923803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9392541539999 meters Centerline goodness [0,1] 0.9991196260506844 Centerline is valid? [True, True] Translation: X:466.67, Y:7.44, Z:4.26 [[ 9.98453163e-01 -4.87233470e-02 -2.67827804e-02 4.66670122e+02] [ 4.87287245e-02 9.98811948e-01 -4.52230420e-04 7.43606057e+00] [ 2.67729952e-02 -8.53559833e-04 9.99641175e-01 4.26058982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.96925415399994 meters Centerline goodness [0,1] 0.9989915330798159 Centerline is valid? [True, True] Translation: X:466.70, Y:7.44, Z:4.26 [[ 9.98711689e-01 -4.37569210e-02 -2.56961959e-02 4.66699001e+02] [ 4.37601840e-02 9.99041969e-01 -4.35602255e-04 7.44195083e+00] [ 2.56906388e-02 -6.89429196e-04 9.99669703e-01 4.26198272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9992541539999 meters Centerline goodness [0,1] 0.9989915330798159 Centerline is valid? [True, True] Translation: X:466.73, Y:7.44, Z:4.26 [[ 9.98699313e-01 -4.40385264e-02 -2.56961115e-02 4.66726422e+02] [ 4.40417556e-02 9.99029594e-01 -4.40537675e-04 7.44250333e+00] [ 2.56905765e-02 -6.91737190e-04 9.99669703e-01 4.26223972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.02925415399994 meters Centerline goodness [0,1] 0.9990761736793483 Centerline is valid? [True, True] Translation: X:466.75, Y:7.45, Z:4.26 [[ 9.98795640e-01 -4.18388890e-02 -2.56276694e-02 4.66754690e+02] [ 4.18412045e-02 9.99124174e-01 -4.46111573e-04 7.44704370e+00] [ 2.56238888e-02 -6.26718260e-04 9.99671458e-01 4.26374915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0592541539999 meters Centerline goodness [0,1] 0.9990750472987177 Centerline is valid? [True, True] Translation: X:466.78, Y:7.45, Z:4.26 [[ 9.98971597e-01 -3.78576359e-02 -2.49508946e-02 4.66782372e+02] [ 3.78584970e-02 9.99283014e-01 -4.38030164e-04 7.45134086e+00] [ 2.49495879e-02 -5.07023675e-04 9.99688582e-01 4.26407433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.08925415399995 meters Centerline goodness [0,1] 0.9988427387114421 Centerline is valid? [True, True] Translation: X:466.81, Y:7.45, Z:4.27 [[ 9.99016384e-01 -3.68147014e-02 -2.47172283e-02 4.66810992e+02] [ 3.68151125e-02 9.99321998e-01 -4.38573019e-04 7.45448872e+00] [ 2.47166159e-02 -4.71825907e-04 9.99694386e-01 4.26554164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1192541539999 meters Centerline goodness [0,1] 0.9993071593533487 Centerline is valid? [True, True] Translation: X:466.84, Y:7.46, Z:4.27 [[ 9.99058523e-01 -3.56076502e-02 -2.47823044e-02 4.66838537e+02] [ 3.56076008e-02 9.99365750e-01 -4.43418002e-04 7.45628687e+00] [ 2.47823753e-02 -4.39437867e-04 9.99692773e-01 4.26585654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.14925415399995 meters Centerline goodness [0,1] 0.9989690721649485 Centerline is valid? [True, True] Translation: X:466.87, Y:7.46, Z:4.27 [[ 9.99087575e-01 -3.50571768e-02 -2.43928844e-02 4.66866747e+02] [ 3.50568554e-02 9.99385222e-01 -4.40936703e-04 7.45894376e+00] [ 2.43933462e-02 -4.14603440e-04 9.99702352e-01 4.26617888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1792541539999 meters Centerline goodness [0,1] 0.9990737427109867 Centerline is valid? [True, True] Translation: X:466.90, Y:7.46, Z:4.27 [[ 9.99059609e-01 -3.53878342e-02 -2.50519211e-02 4.66895494e+02] [ 3.53874434e-02 9.99373563e-01 -4.59070451e-04 7.46088556e+00] [ 2.50524732e-02 -4.27884696e-04 9.99686046e-01 4.26680505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.20925415399995 meters Centerline goodness [0,1] 0.9990101929070845 Centerline is valid? [True, True] Translation: X:466.92, Y:7.46, Z:4.27 [[ 9.99042223e-01 -3.60401290e-02 -2.48142272e-02 4.66922885e+02] [ 3.60398564e-02 9.99350248e-01 -4.58349632e-04 7.46158590e+00] [ 2.48146231e-02 -4.36390550e-04 9.99691975e-01 4.26683756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2392541539999 meters Centerline goodness [0,1] 0.9990553957891644 Centerline is valid? [True, True] Translation: X:466.95, Y:7.46, Z:4.27 [[ 9.98921050e-01 -3.89010750e-02 -2.53661712e-02 4.66950807e+02] [ 3.89016376e-02 9.99242934e-01 -4.71476635e-04 7.46064817e+00] [ 2.53653083e-02 -5.15817665e-04 9.99678116e-01 4.26633975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.26925415399995 meters Centerline goodness [0,1] 0.9989904088844018 Centerline is valid? [True, True] Translation: X:466.98, Y:7.46, Z:4.27 [[ 9.98833272e-01 -4.09972027e-02 -2.55210336e-02 4.66979140e+02] [ 4.09983226e-02 9.99159100e-01 -4.79581187e-04 7.46171563e+00] [ 2.55192344e-02 -5.67297921e-04 9.99674170e-01 4.26753334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2992541539999 meters Centerline goodness [0,1] 0.9990319254161668 Centerline is valid? [True, True] Translation: X:467.01, Y:7.46, Z:4.27 [[ 9.98657730e-01 -4.51551609e-02 -2.53722088e-02 4.67007454e+02] [ 4.51575216e-02 9.98979763e-01 -4.80204916e-04 7.45815606e+00] [ 2.53680069e-02 -6.66185716e-04 9.99677958e-01 4.26663477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.32925415399995 meters Centerline goodness [0,1] 0.9988634211024815 Centerline is valid? [True, True] Translation: X:467.04, Y:7.46, Z:4.27 [[ 9.98553739e-01 -4.76368172e-02 -2.49231562e-02 4.67036260e+02] [ 4.76397554e-02 9.98864469e-01 -4.76189186e-04 7.46029611e+00] [ 2.49175393e-02 -7.11832571e-04 9.99689256e-01 4.26866756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3592541539999 meters Centerline goodness [0,1] 0.9989063683015058 Centerline is valid? [True, True] Translation: X:467.07, Y:7.46, Z:4.27 [[ 9.98465968e-01 -4.97967537e-02 -2.42073035e-02 4.67065097e+02] [ 4.98000799e-02 9.98759098e-01 -4.65800868e-04 7.45859562e+00] [ 2.42004600e-02 -7.40439334e-04 9.99706852e-01 4.26906778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.38925415399996 meters Centerline goodness [0,1] 0.9990109635739989 Centerline is valid? [True, True] Translation: X:467.09, Y:7.45, Z:4.27 [[ 9.98319021e-01 -5.32997030e-02 -2.27656257e-02 4.67094451e+02] [ 5.33035347e-02 9.98578260e-01 -4.38909332e-04 7.45332251e+00] [ 2.27566527e-02 -7.75316788e-04 9.99740733e-01 4.26889609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.41925415399993 meters Centerline goodness [0,1] 0.9990329836658328 Centerline is valid? [True, True] Translation: X:467.12, Y:7.45, Z:4.27 [[ 9.98252797e-01 -5.48145518e-02 -2.20616890e-02 4.67124659e+02] [ 5.48185160e-02 9.98496244e-01 -4.25493406e-04 7.45311319e+00] [ 2.20518368e-02 -7.84639069e-04 9.99756521e-01 4.26981079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.44925415399996 meters Centerline goodness [0,1] 0.9989908758356809 Centerline is valid? [True, True] Translation: X:467.16, Y:7.46, Z:4.27 [[ 9.98178884e-01 -5.64899457e-02 -2.11613355e-02 4.67156029e+02] [ 5.64939776e-02 9.98402857e-01 -4.07706879e-04 7.45992528e+00] [ 2.11505692e-02 -7.88523617e-04 9.99775991e-01 4.27274823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.47925415399993 meters Centerline goodness [0,1] 0.9991366603495473 Centerline is valid? [True, True] Translation: X:467.19, Y:7.46, Z:4.27 [[ 9.98142720e-01 -5.70156194e-02 -2.14552814e-02 4.67187210e+02] [ 5.70199021e-02 9.98372957e-01 -4.12596171e-04 7.46130449e+00] [ 2.14438972e-02 -8.11548182e-04 9.99769724e-01 4.27315481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.50925415399996 meters Centerline goodness [0,1] 0.9993271939783861 Centerline is valid? [True, True] Translation: X:467.22, Y:7.46, Z:4.27 [[ 9.98140578e-01 -5.70961380e-02 -2.13405370e-02 4.67218228e+02] [ 5.71004095e-02 9.98368357e-01 -4.09627156e-04 7.46206283e+00] [ 2.13291050e-02 -8.09687917e-04 9.99772181e-01 4.27356626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.53925415399993 meters Centerline goodness [0,1] 0.9988029988029988 Centerline is valid? [True, True] Translation: X:467.25, Y:7.46, Z:4.27 [[ 9.98127034e-01 -5.71409749e-02 -2.18479406e-02 4.67249456e+02] [ 5.71454800e-02 9.98365774e-01 -4.18581552e-04 7.46273560e+00] [ 2.18361543e-02 -8.30713491e-04 9.99761218e-01 4.27320351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.56925415399996 meters Centerline goodness [0,1] 0.9988611439176649 Centerline is valid? [True, True] Translation: X:467.28, Y:7.46, Z:4.27 [[ 9.98100873e-01 -5.72230860e-02 -2.28071648e-02 4.67281220e+02] [ 5.72280357e-02 9.98361038e-01 -4.36139763e-04 7.46379982e+00] [ 2.27947419e-02 -8.69897761e-04 9.99739788e-01 4.27239075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.59925415399994 meters Centerline goodness [0,1] 0.9987138128070508 Centerline is valid? [True, True] Translation: X:467.31, Y:7.46, Z:4.27 [[ 9.98095377e-01 -5.70337584e-02 -2.35110441e-02 4.67312362e+02] [ 5.70389858e-02 9.98371851e-01 -4.48765050e-04 7.46468633e+00] [ 2.34983594e-02 -8.93135790e-04 9.99723476e-01 4.27227422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.62925415399997 meters Centerline goodness [0,1] 0.9989436322149919 Centerline is valid? [True, True] Translation: X:467.34, Y:7.47, Z:4.27 [[ 9.98116908e-01 -5.66170391e-02 -2.36040050e-02 4.67342243e+02] [ 5.66222052e-02 9.98395575e-01 -4.49962596e-04 7.46584094e+00] [ 2.35916096e-02 -8.87395538e-04 9.99721285e-01 4.27258412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.65925415399994 meters Centerline goodness [0,1] 0.9989672252081357 Centerline is valid? [True, True] Translation: X:467.37, Y:7.47, Z:4.27 [[ 9.98162760e-01 -5.57866228e-02 -2.36422696e-02 4.67373824e+02] [ 5.57915886e-02 9.98442335e-01 -4.50036562e-04 7.46726251e+00] [ 2.36305488e-02 -8.69830039e-04 9.99720381e-01 4.27287368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.6892541539999 meters Centerline goodness [0,1] 0.9989232783008909 Centerline is valid? [True, True] Translation: X:467.40, Y:7.47, Z:4.27 [[ 9.98232191e-01 -5.44660315e-02 -2.37895659e-02 4.67404843e+02] [ 5.44706985e-02 9.98515267e-01 -4.52268074e-04 7.46896493e+00] [ 2.37788780e-02 -8.44365721e-04 9.99716886e-01 4.27288196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.71925415399994 meters Centerline goodness [0,1] 0.9988398337798216 Centerline is valid? [True, True] Translation: X:467.44, Y:7.47, Z:4.27 [[ 9.98426685e-01 -5.01384508e-02 -2.51055838e-02 4.67435205e+02] [ 5.01422865e-02 9.98741970e-01 -4.77117698e-04 7.47472532e+00] [ 2.50979221e-02 -7.82484331e-04 9.99684691e-01 4.27286050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.7492541539999 meters Centerline goodness [0,1] 0.9988186401704533 Centerline is valid? [True, True] Translation: X:467.46, Y:7.48, Z:4.27 [[ 9.98566164e-01 -4.70523704e-02 -2.55282328e-02 4.67464839e+02] [ 4.70553219e-02 9.98892167e-01 -4.85422756e-04 7.47827544e+00] [ 2.55227921e-02 -7.16512471e-04 9.99673984e-01 4.27274464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.77925415399994 meters Centerline goodness [0,1] 0.9989429622426113 Centerline is valid? [True, True] Translation: X:467.49, Y:7.49, Z:4.28 [[ 9.98820587e-01 -4.12346974e-02 -2.56346202e-02 4.67494134e+02] [ 4.12357396e-02 9.99149326e-01 -4.88186183e-04 7.48819380e+00] [ 2.56329437e-02 -5.69452115e-04 9.99671260e-01 4.27551390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8092541539999 meters Centerline goodness [0,1] 0.9989409920786207 Centerline is valid? [True, True] Translation: X:467.52, Y:7.49, Z:4.27 [[ 9.98909145e-01 -3.91317720e-02 -2.54798982e-02 4.67522463e+02] [ 3.91320074e-02 9.99233930e-01 -4.89571725e-04 7.48822142e+00] [ 2.54795366e-02 -5.08041894e-04 9.99675215e-01 4.27358691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.83925415399995 meters Centerline goodness [0,1] 0.9988364221037488 Centerline is valid? [True, True] Translation: X:467.55, Y:7.49, Z:4.27 [[ 9.99053708e-01 -3.60262668e-02 -2.43679534e-02 4.67550175e+02] [ 3.60254745e-02 9.99350761e-01 -4.71654165e-04 7.49214254e+00] [ 2.43691247e-02 -4.06659240e-04 9.99702946e-01 4.27444335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8692541539999 meters Centerline goodness [0,1] 0.9987514548725003 Centerline is valid? [True, True] Translation: X:467.58, Y:7.49, Z:4.27 [[ 9.99079011e-01 -3.55460424e-02 -2.40334766e-02 4.67578914e+02] [ 3.55450344e-02 9.99367965e-01 -4.69275277e-04 7.49380907e+00] [ 2.40349675e-02 -3.85427671e-04 9.99711044e-01 4.27471015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.89925415399995 meters Centerline goodness [0,1] 0.9986645752077328 Centerline is valid? [True, True] Translation: X:467.61, Y:7.50, Z:4.27 [[ 9.99112157e-01 -3.49324413e-02 -2.35504155e-02 4.67607892e+02] [ 3.49311781e-02 9.99389612e-01 -4.65141022e-04 7.49518253e+00] [ 2.35522891e-02 -3.57915707e-04 9.99722542e-01 4.27485076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9292541539999 meters Centerline goodness [0,1] 0.9987704570507928 Centerline is valid? [True, True] Translation: X:467.64, Y:7.50, Z:4.28 [[ 9.99132189e-01 -3.45102485e-02 -2.33219073e-02 4.67635506e+02] [ 3.45088065e-02 9.99404286e-01 -4.64404802e-04 7.49676146e+00] [ 2.33240408e-02 -3.40809400e-04 9.99727899e-01 4.27533391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.95925415399995 meters Centerline goodness [0,1] 0.9987922449412014 Centerline is valid? [True, True] Translation: X:467.66, Y:7.50, Z:4.28 [[ 9.99126853e-01 -3.46883961e-02 -2.32861750e-02 4.67664694e+02] [ 3.46869052e-02 9.99398119e-01 -4.68059404e-04 7.49910545e+00] [ 2.32883957e-02 -3.40074627e-04 9.99728731e-01 4.27703759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9892541539999 meters Centerline goodness [0,1] 0.9986000636334712 Centerline is valid? [True, True] Translation: X:467.69, Y:7.50, Z:4.28 [[ 9.99128257e-01 -3.49533197e-02 -2.28252459e-02 4.67692855e+02] [ 3.49518822e-02 9.99388890e-01 -4.62040016e-04 7.49830993e+00] [ 2.28274470e-02 -3.36148072e-04 9.99739363e-01 4.27605267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.01925415399995 meters Centerline goodness [0,1] 0.9987051031671903 Centerline is valid? [True, True] Translation: X:467.72, Y:7.50, Z:4.28 [[ 9.99113453e-01 -3.54694318e-02 -2.26765672e-02 4.67721162e+02] [ 3.54680515e-02 9.99370703e-01 -4.63188325e-04 7.50279108e+00] [ 2.26787259e-02 -3.41515966e-04 9.99742746e-01 4.28042874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0492541539999 meters Centerline goodness [0,1] 0.9987064761016159 Centerline is valid? [True, True] Translation: X:467.75, Y:7.50, Z:4.28 [[ 9.99108565e-01 -3.61287169e-02 -2.18355460e-02 4.67751004e+02] [ 3.61275344e-02 9.99347087e-01 -4.48761951e-04 7.50306942e+00] [ 2.18375024e-02 -3.40502529e-04 9.99761475e-01 4.28127136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07925415399995 meters Centerline goodness [0,1] 0.998898678414097 Centerline is valid? [True, True] Translation: X:467.78, Y:7.50, Z:4.28 [[ 9.99029240e-01 -3.86185520e-02 -2.11940046e-02 4.67781043e+02] [ 3.86179816e-02 9.99253952e-01 -4.36344309e-04 7.50185818e+00] [ 2.11950438e-02 -3.82548956e-04 9.99775287e-01 4.28263707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1092541539999 meters Centerline goodness [0,1] 0.9987720969619985 Centerline is valid? [True, True] Translation: X:467.81, Y:7.50, Z:4.28 [[ 9.98858970e-01 -4.27137989e-02 -2.13609334e-02 4.67810387e+02] [ 4.27141432e-02 9.99087237e-01 -4.40348431e-04 7.49775802e+00] [ 2.13602449e-02 -4.72567988e-04 9.99771732e-01 4.28220128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13925415399996 meters Centerline goodness [0,1] 0.9987278432702908 Centerline is valid? [True, True] Translation: X:467.84, Y:7.50, Z:4.28 [[ 9.98746764e-01 -4.51059610e-02 -2.16876305e-02 4.67842098e+02] [ 4.51068857e-02 9.98982067e-01 -4.46799915e-04 7.49728666e+00] [ 2.16857073e-02 -5.32021501e-04 9.99764696e-01 4.28262946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.16925415399993 meters Centerline goodness [0,1] 0.9985808392112008 Centerline is valid? [True, True] Translation: X:467.87, Y:7.49, Z:4.28 [[ 9.98624850e-01 -4.76414207e-02 -2.18792861e-02 4.67872062e+02] [ 4.76429775e-02 9.98864327e-01 -4.50397717e-04 7.49342105e+00] [ 2.18758960e-02 -5.92615985e-04 9.99760518e-01 4.28156660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19925415399996 meters Centerline goodness [0,1] 0.9986254440872949 Centerline is valid? [True, True] Translation: X:467.90, Y:7.49, Z:4.28 [[ 9.98401192e-01 -5.19765100e-02 -2.22149171e-02 4.67902650e+02] [ 5.19791867e-02 9.98648064e-01 -4.57306873e-04 7.48947625e+00] [ 2.22086532e-02 -6.98137597e-04 9.99753114e-01 4.28122904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.22925415399993 meters Centerline goodness [0,1] 0.9987083112758073 Centerline is valid? [True, True] Translation: X:467.93, Y:7.49, Z:4.28 [[ 9.98339974e-01 -5.32515524e-02 -2.19446767e-02 4.67934077e+02] [ 5.32544822e-02 9.98580871e-01 -4.51281954e-04 7.49035117e+00] [ 2.19375658e-02 -7.18119579e-04 9.99759085e-01 4.28204527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25925415399996 meters Centerline goodness [0,1] 0.9986895225211896 Centerline is valid? [True, True] Translation: X:467.97, Y:7.49, Z:4.28 [[ 9.98268979e-01 -5.44715778e-02 -2.21786543e-02 4.67965815e+02] [ 5.44748894e-02 9.98515037e-01 -4.55272533e-04 7.48999569e+00] [ 2.21705193e-02 -7.53695294e-04 9.99753920e-01 4.28268104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.28925415399993 meters Centerline goodness [0,1] 0.9987109044801352 Centerline is valid? [True, True] Translation: X:468.00, Y:7.48, Z:4.28 [[ 9.98229849e-01 -5.53952590e-02 -2.16456616e-02 4.67996631e+02] [ 5.53986472e-02 9.98464217e-01 -4.43539850e-04 7.48411991e+00] [ 2.16369886e-02 -7.56385656e-04 9.99765607e-01 4.28174976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31925415399996 meters Centerline goodness [0,1] 0.9984571162869341 Centerline is valid? [True, True] Translation: X:468.03, Y:7.49, Z:4.28 [[ 9.98256354e-01 -5.51379686e-02 -2.10726492e-02 4.68027434e+02] [ 5.51411384e-02 9.98478477e-01 -4.31040566e-04 7.48711384e+00] [ 2.10643534e-02 -7.31680883e-04 9.99777854e-01 4.28324509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.34925415399994 meters Centerline goodness [0,1] 0.9987575546991808 Centerline is valid? [True, True] Translation: X:468.06, Y:7.49, Z:4.28 [[ 9.98324286e-01 -5.39708095e-02 -2.08751266e-02 4.68059077e+02] [ 5.39736809e-02 9.98542268e-01 -4.26247361e-04 7.48867994e+00] [ 2.08677012e-02 -7.01174329e-04 9.99782000e-01 4.28380800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37925415399997 meters Centerline goodness [0,1] 0.9987134601594466 Centerline is valid? [True, True] Translation: X:468.09, Y:7.49, Z:4.28 [[ 9.98383427e-01 -5.27788153e-02 -2.10933512e-02 4.68090122e+02] [ 5.27815021e-02 9.98605993e-01 -4.29718408e-04 7.48810791e+00] [ 2.10866270e-02 -6.84315027e-04 9.99777418e-01 4.28343898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.40925415399994 meters Centerline goodness [0,1] 0.998588165879973 Centerline is valid? [True, True] Translation: X:468.12, Y:7.49, Z:4.28 [[ 9.98473241e-01 -5.11030850e-02 -2.09681311e-02 4.68121085e+02] [ 5.11053905e-02 9.98693175e-01 -4.26233022e-04 7.49175586e+00] [ 2.09625112e-02 -6.46002261e-04 9.99780054e-01 4.28412211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4392541539999 meters Centerline goodness [0,1] 0.9988585681371409 Centerline is valid? [True, True] Translation: X:468.15, Y:7.49, Z:4.28 [[ 9.98708241e-01 -4.60721064e-02 -2.14292142e-02 4.68151210e+02] [ 4.60733694e-02 9.98937964e-01 -4.35030900e-04 7.49401768e+00] [ 2.14264983e-02 -5.52847156e-04 9.99770273e-01 4.28351925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.46925415399994 meters Centerline goodness [0,1] 0.9987747945668476 Centerline is valid? [True, True] Translation: X:468.18, Y:7.50, Z:4.28 [[ 9.98844755e-01 -4.28439367e-02 -2.17612479e-02 4.68181348e+02] [ 4.28444983e-02 9.99081656e-01 -4.40637420e-04 7.49621024e+00] [ 2.17601422e-02 -4.92221374e-04 9.99763099e-01 4.28345582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4992541539999 meters Centerline goodness [0,1] 0.9988193873463622 Centerline is valid? [True, True] Translation: X:468.21, Y:7.50, Z:4.28 [[ 9.99002621e-01 -3.90968703e-02 -2.15684260e-02 4.68211865e+02] [ 3.90965645e-02 9.99235342e-01 -4.36015610e-04 7.49983681e+00] [ 2.15689804e-02 -4.07670619e-04 9.99767279e-01 4.28415543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.52925415399994 meters Centerline goodness [0,1] 0.9987533806626099 Centerline is valid? [True, True] Translation: X:468.24, Y:7.50, Z:4.29 [[ 9.99129311e-01 -3.55001310e-02 -2.19171210e-02 4.68242614e+02] [ 3.54989501e-02 9.99369615e-01 -4.43064639e-04 7.50392547e+00] [ 2.19190336e-02 -3.35355916e-04 9.99759693e-01 4.28519952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5592541539999 meters Centerline goodness [0,1] 0.9989836968028796 Centerline is valid? [True, True] Translation: X:468.27, Y:7.51, Z:4.28 [[ 9.99355125e-01 -2.86934681e-02 -2.15874693e-02 4.68271626e+02] [ 2.86907249e-02 9.99588241e-01 -4.36843274e-04 7.50812388e+00] [ 2.15911150e-02 -1.82798578e-04 9.99766868e-01 4.28466068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.58925415399995 meters Centerline goodness [0,1] 0.998792961057112 Centerline is valid? [True, True] Translation: X:468.30, Y:7.51, Z:4.29 [[ 9.99481447e-01 -2.36952561e-02 -2.18030068e-02 4.68300343e+02] [ 2.36911927e-02 9.99719225e-01 -4.44685302e-04 7.51290670e+00] [ 2.18074220e-02 -7.20845263e-05 9.99762187e-01 4.28644492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6192541539999 meters Centerline goodness [0,1] 0.9988994010201706 Centerline is valid? [True, True] Translation: X:468.33, Y:7.51, Z:4.29 [[ 9.99527414e-01 -2.17330593e-02 -2.17398785e-02 4.68327070e+02] [ 2.17284705e-02 9.99763809e-01 -4.47299000e-04 7.51449790e+00] [ 2.17444649e-02 -2.52866945e-05 9.99763561e-01 4.28636752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.64925415399995 meters Centerline goodness [0,1] 0.9990245557487595 Centerline is valid? [True, True] Translation: X:468.35, Y:7.52, Z:4.29 [[ 9.99552453e-01 -2.05322295e-02 -2.17559455e-02 4.68354468e+02] [ 2.05272445e-02 9.99789192e-01 -4.52452802e-04 7.51591554e+00] [ 2.17606490e-02 5.66069511e-06 9.99763209e-01 4.28736965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6792541539999 meters Centerline goodness [0,1] 0.999046084707678 Centerline is valid? [True, True] Translation: X:468.38, Y:7.52, Z:4.29 [[ 9.99573373e-01 -1.96389260e-02 -2.16191008e-02 4.68381514e+02] [ 1.96336793e-02 9.99807137e-01 -4.54941237e-04 7.51741512e+00] [ 2.16238658e-02 3.02846560e-05 9.99766176e-01 4.28656283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.70925415399995 meters Centerline goodness [0,1] 0.9988346470039834 Centerline is valid? [True, True] Translation: X:468.41, Y:7.52, Z:4.29 [[ 9.99573616e-01 -1.97814704e-02 -2.14774021e-02 4.68409100e+02] [ 1.97762090e-02 9.99804327e-01 -4.57361094e-04 7.51850473e+00] [ 2.14822468e-02 3.24244899e-05 9.99769229e-01 4.28728602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7392541539999 meters Centerline goodness [0,1] 0.9990035406110204 Centerline is valid? [True, True] Translation: X:468.44, Y:7.52, Z:4.29 [[ 9.99560914e-01 -2.05945892e-02 -2.13035487e-02 4.68436125e+02] [ 2.05895099e-02 9.99787909e-01 -4.57761749e-04 7.51838324e+00] [ 2.13084578e-02 1.89311255e-05 9.99772949e-01 4.28760652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.76925415399995 meters Centerline goodness [0,1] 0.9988997270476715 Centerline is valid? [True, True] Translation: X:468.46, Y:7.51, Z:4.29 [[ 9.99476135e-01 -2.46261914e-02 -2.10001477e-02 4.68463252e+02] [ 2.46220723e-02 9.99696727e-01 -4.54722251e-04 7.51479083e+00] [ 2.10049770e-02 -6.25831175e-05 9.99779369e-01 4.28739712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7992541539999 meters Centerline goodness [0,1] 0.9988560533841754 Centerline is valid? [True, True] Translation: X:468.49, Y:7.51, Z:4.29 [[ 9.99392619e-01 -2.77094054e-02 -2.11324850e-02 4.68492430e+02] [ 2.77058194e-02 9.99616013e-01 -4.62509281e-04 7.51313562e+00] [ 2.11371862e-02 -1.23264450e-04 9.99776577e-01 4.28838995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.82925415399995 meters Centerline goodness [0,1] 0.9987539598732841 Centerline is valid? [True, True] Translation: X:468.52, Y:7.51, Z:4.29 [[ 9.99285992e-01 -3.13411114e-02 -2.11007255e-02 4.68520830e+02] [ 3.13382723e-02 9.99508727e-01 -4.65284505e-04 7.51126666e+00] [ 2.11049419e-02 -1.96307995e-04 9.99777247e-01 4.28896656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8592541539999 meters Centerline goodness [0,1] 0.9987116940167691 Centerline is valid? [True, True] Translation: X:468.55, Y:7.51, Z:4.29 [[ 9.98988739e-01 -3.95119499e-02 -2.14547326e-02 4.68550680e+02] [ 3.95108699e-02 9.99219028e-01 -4.74398694e-04 7.50647435e+00] [ 2.14567215e-02 -3.73776196e-04 9.99769708e-01 4.28938852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.88925415399996 meters Centerline goodness [0,1] 0.9987116940167691 Centerline is valid? [True, True] Translation: X:468.58, Y:7.51, Z:4.29 [[ 9.98988739e-01 -3.95119531e-02 -2.14547251e-02 4.68580679e+02] [ 3.95108657e-02 9.99219028e-01 -4.74740428e-04 7.50713830e+00] [ 2.14567275e-02 -3.73434420e-04 9.99769708e-01 4.28966971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.91925415399993 meters Centerline goodness [0,1] 0.9988423246121787 Centerline is valid? [True, True] Translation: X:468.61, Y:7.50, Z:4.29 [[ 9.98820531e-01 -4.35357700e-02 -2.14984371e-02 4.68610176e+02] [ 4.35356049e-02 9.99051763e-01 -4.75927729e-04 7.50464796e+00] [ 2.14987714e-02 -4.60581077e-04 9.99768769e-01 4.28979686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.94925415399996 meters Centerline goodness [0,1] 0.9985496889187826 Centerline is valid? [True, True] Translation: X:468.64, Y:7.50, Z:4.29 [[ 9.98437285e-01 -5.16344599e-02 -2.13745320e-02 4.68639907e+02] [ 5.16361421e-02 9.98665852e-01 -4.73569052e-04 7.49900746e+00] [ 2.13704677e-02 -6.30869371e-04 9.99771426e-01 4.28999035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.97925415399993 meters Centerline goodness [0,1] 0.9986512118018968 Centerline is valid? [True, True] Translation: X:468.67, Y:7.50, Z:4.29 [[ 9.98250215e-01 -5.53769173e-02 -2.07341655e-02 4.68670887e+02] [ 5.53793072e-02 9.98465283e-01 -4.59341394e-04 7.49612147e+00] [ 2.07277813e-02 -6.89706077e-04 9.99784919e-01 4.29035891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.00925415399996 meters Centerline goodness [0,1] 0.998716411000989 Centerline is valid? [True, True] Translation: X:468.70, Y:7.49, Z:4.29 [[ 9.98081795e-01 -5.86279761e-02 -1.98869457e-02 4.68702606e+02] [ 5.86308297e-02 9.98279636e-01 -4.40032045e-04 7.49443455e+00] [ 1.98785311e-02 -7.26800155e-04 9.99802138e-01 4.29115904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.03925415399993 meters Centerline goodness [0,1] 0.9984659675961922 Centerline is valid? [True, True] Translation: X:468.73, Y:7.49, Z:4.29 [[ 9.97791047e-01 -6.36975526e-02 -1.88586435e-02 4.68733458e+02] [ 6.37010316e-02 9.97968940e-01 -4.16784942e-04 7.49078364e+00] [ 1.88468886e-02 -7.85450760e-04 9.99822073e-01 4.29132242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.06925415399996 meters Centerline goodness [0,1] 0.9983656707035997 Centerline is valid? [True, True] Translation: X:468.76, Y:7.49, Z:4.29 [[ 9.97655026e-01 -6.59544004e-02 -1.82883958e-02 4.68764498e+02] [ 6.59580699e-02 9.97822314e-01 -4.03117658e-04 7.48653608e+00] [ 1.82751568e-02 -8.04094931e-04 9.99832672e-01 4.29231286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.09925415399994 meters Centerline goodness [0,1] 0.9984468790664484 Centerline is valid? [True, True] Translation: X:468.80, Y:7.49, Z:4.29 [[ 9.97538788e-01 -6.77171520e-02 -1.81866513e-02 4.68796446e+02] [ 6.77211021e-02 9.97704211e-01 -3.99282565e-04 7.49036144e+00] [ 1.81719369e-02 -8.33320227e-04 9.99834529e-01 4.29365551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.12925415399997 meters Centerline goodness [0,1] 0.9983830323393532 Centerline is valid? [True, True] Translation: X:468.83, Y:7.49, Z:4.29 [[ 9.97385833e-01 -7.01094992e-02 -1.74973524e-02 4.68828440e+02] [ 7.01135450e-02 9.97538944e-01 -3.82877089e-04 7.48956155e+00] [ 1.74811338e-02 -8.44925223e-04 9.99846836e-01 4.29423158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.15925415399994 meters Centerline goodness [0,1] 0.9986762759229298 Centerline is valid? [True, True] Translation: X:468.86, Y:7.49, Z:4.29 [[ 9.97324914e-01 -7.07978026e-02 -1.81848249e-02 4.68861034e+02] [ 7.08023117e-02 9.97490288e-01 -3.96545140e-04 7.48968045e+00] [ 1.81672607e-02 -8.92043293e-04 9.99834564e-01 4.29455005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.1892541539999 meters Centerline goodness [0,1] 0.9987003458756943 Centerline is valid? [True, True] Translation: X:468.89, Y:7.49, Z:4.29 [[ 9.97291388e-01 -7.12333373e-02 -1.83220734e-02 4.68893483e+02] [ 7.12380130e-02 9.97459266e-01 -3.98181331e-04 7.48947466e+00] [ 1.83038857e-02 -9.08125292e-04 9.99832057e-01 4.29450785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.21925415399994 meters Centerline goodness [0,1] 0.9986351706036746 Centerline is valid? [True, True] Translation: X:468.93, Y:7.49, Z:4.29 [[ 9.97251378e-01 -7.17214491e-02 -1.85936115e-02 4.68925731e+02] [ 7.17263747e-02 9.97424265e-01 -4.02700943e-04 7.49048963e+00] [ 1.85746016e-02 -9.32058274e-04 9.99827043e-01 4.29476943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.2492541539999 meters Centerline goodness [0,1] 0.998658224663508 Centerline is valid? [True, True] Translation: X:468.96, Y:7.49, Z:4.29 [[ 9.97202897e-01 -7.23513662e-02 -1.87526739e-02 4.68957241e+02] [ 7.23565104e-02 9.97378750e-01 -4.04928855e-04 7.48792747e+00] [ 1.87328156e-02 -9.53081817e-04 9.99824071e-01 4.29465939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.27925415399994 meters Centerline goodness [0,1] 0.9983851009836203 Centerline is valid? [True, True] Translation: X:468.99, Y:7.49, Z:4.30 [[ 9.97194673e-01 -7.25296847e-02 -1.84994222e-02 4.68989516e+02] [ 7.25347432e-02 9.97365807e-01 -3.98277747e-04 7.49202966e+00] [ 1.84795781e-02 -9.44690390e-04 9.99828792e-01 4.29583399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3092541539999 meters Centerline goodness [0,1] 0.9985521235521235 Centerline is valid? [True, True] Translation: X:469.02, Y:7.49, Z:4.30 [[ 9.97167184e-01 -7.29793931e-02 -1.82102957e-02 4.69021734e+02] [ 7.29843937e-02 9.97333006e-01 -3.90724285e-04 7.49443690e+00] [ 1.81902438e-02 -9.39449955e-04 9.99834102e-01 4.29722012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.33925415399995 meters Centerline goodness [0,1] 0.9983190805370538 Centerline is valid? [True, True] Translation: X:469.05, Y:7.50, Z:4.30 [[ 9.97171631e-01 -7.27223064e-02 -1.89790290e-02 4.69053706e+02] [ 7.27277189e-02 9.97351751e-01 -4.05790267e-04 7.49688111e+00] [ 1.89582778e-02 -9.75658943e-04 9.99819800e-01 4.29621046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3692541539999 meters Centerline goodness [0,1] 0.998547857563768 Centerline is valid? [True, True] Translation: X:469.09, Y:7.50, Z:4.30 [[ 9.97128044e-01 -7.30894358e-02 -1.98393111e-02 4.69086309e+02] [ 7.30954524e-02 9.97324860e-01 -4.22686810e-04 7.49865923e+00] [ 1.98171321e-02 -1.02869055e-03 9.99803092e-01 4.29691371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.39925415399995 meters Centerline goodness [0,1] 0.9984017160522386 Centerline is valid? [True, True] Translation: X:469.12, Y:7.50, Z:4.30 [[ 9.97157216e-01 -7.23920728e-02 -2.09015371e-02 4.69118044e+02] [ 7.23986314e-02 9.97375677e-01 -4.43741343e-04 7.50210481e+00] [ 2.08788081e-02 -1.07076280e-03 9.99781441e-01 4.29595297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4292541539999 meters Centerline goodness [0,1] 0.998588165879973 Centerline is valid? [True, True] Translation: X:469.15, Y:7.50, Z:4.30 [[ 9.97187584e-01 -7.17347540e-02 -2.17036204e-02 4.69148937e+02] [ 7.17417008e-02 9.97423139e-01 -4.59378899e-04 7.50405070e+00] [ 2.16806466e-02 -1.09896770e-03 9.99764343e-01 4.29608170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.45925415399995 meters Centerline goodness [0,1] 0.9985895924553722 Centerline is valid? [True, True] Translation: X:469.18, Y:7.51, Z:4.30 [[ 9.97268681e-01 -7.06725562e-02 -2.14608246e-02 4.69181294e+02] [ 7.06791332e-02 9.97499000e-01 -4.52835485e-04 7.50854801e+00] [ 2.14391541e-02 -1.06523383e-03 9.99769587e-01 4.29702842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4892541539999 meters Centerline goodness [0,1] 0.9984596881395986 Centerline is valid? [True, True] Translation: X:469.21, Y:7.51, Z:4.30 [[ 9.97509104e-01 -6.75024542e-02 -2.04696472e-02 4.69212288e+02] [ 6.75077933e-02 9.97718654e-01 -4.30850810e-04 7.51014418e+00] [ 2.04520324e-02 -9.52083109e-04 9.99790382e-01 4.29780270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.51925415399995 meters Centerline goodness [0,1] 0.9985856922719692 Centerline is valid? [True, True] Translation: X:469.24, Y:7.52, Z:4.30 [[ 9.97651867e-01 -6.56045783e-02 -1.96670305e-02 4.69243630e+02] [ 6.56091526e-02 9.97845313e-01 -4.13247751e-04 7.51682716e+00] [ 1.96517652e-02 -8.78059817e-04 9.99806500e-01 4.30003347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5492541539999 meters Centerline goodness [0,1] 0.9986083289404323 Centerline is valid? [True, True] Translation: X:469.27, Y:7.52, Z:4.30 [[ 9.97884532e-01 -6.20436571e-02 -1.94176648e-02 4.69274030e+02] [ 6.20474533e-02 9.98073117e-01 -4.07482250e-04 7.52173086e+00] [ 1.94055309e-02 -7.98196414e-04 9.99811376e-01 4.30129488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57925415399995 meters Centerline goodness [0,1] 0.9985042870083634 Centerline is valid? [True, True] Translation: X:469.31, Y:7.53, Z:4.30 [[ 9.98005209e-01 -6.00945667e-02 -1.93454307e-02 4.69306015e+02] [ 6.00979865e-02 9.98192400e-01 -4.05067108e-04 7.52586649e+00] [ 1.93348042e-02 -7.58362350e-04 9.99812778e-01 4.30120148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6092541539999 meters Centerline goodness [0,1] 0.9985634612134527 Centerline is valid? [True, True] Translation: X:469.34, Y:7.53, Z:4.30 [[ 9.98082916e-01 -5.88464401e-02 -1.91726400e-02 4.69338688e+02] [ 5.88495993e-02 9.98266780e-01 -3.99873315e-04 7.52921074e+00] [ 1.91629407e-02 -7.29195457e-04 9.99816108e-01 4.30280944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63925415399996 meters Centerline goodness [0,1] 0.9986260542391511 Centerline is valid? [True, True] Translation: X:469.37, Y:7.53, Z:4.30 [[ 9.98227207e-01 -5.61488617e-02 -1.97420384e-02 4.69370119e+02] [ 5.61517095e-02 9.98422164e-01 -4.10481874e-04 7.53323991e+00] [ 1.97339368e-02 -6.98795033e-04 9.99805023e-01 4.30256713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.66925415399993 meters Centerline goodness [0,1] 0.9988803447693088 Centerline is valid? [True, True] Translation: X:469.40, Y:7.53, Z:4.30 [[ 9.98313647e-01 -5.43815376e-02 -2.03103639e-02 4.69401083e+02] [ 5.43842227e-02 9.98519995e-01 -4.20522233e-04 7.53455356e+00] [ 2.03031731e-02 -6.84750269e-04 9.99793635e-01 4.30226864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69925415399996 meters Centerline goodness [0,1] 0.9986897717666948 Centerline is valid? [True, True] Translation: X:469.43, Y:7.54, Z:4.30 [[ 9.98379879e-01 -5.29888691e-02 -2.07315554e-02 4.69433610e+02] [ 5.29914098e-02 9.98594877e-01 -4.27171680e-04 7.53821859e+00] [ 2.07250604e-02 -6.72114738e-04 9.99784987e-01 4.30280544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.72925415399993 meters Centerline goodness [0,1] 0.9986451298770032 Centerline is valid? [True, True] Translation: X:469.46, Y:7.54, Z:4.30 [[ 9.98511254e-01 -5.01248325e-02 -2.15122640e-02 4.69464782e+02] [ 5.01269290e-02 9.98742757e-01 -4.42106086e-04 7.54166468e+00] [ 2.15073783e-02 -6.36895826e-04 9.99768487e-01 4.30278568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75925415399996 meters Centerline goodness [0,1] 0.9988377990026203 Centerline is valid? [True, True] Translation: X:469.50, Y:7.54, Z:4.30 [[ 9.98555321e-01 -4.92086363e-02 -2.15819837e-02 4.69495693e+02] [ 4.92105543e-02 9.98788329e-01 -4.42536169e-04 7.54239121e+00] [ 2.15776100e-02 -6.20164533e-04 9.99766984e-01 4.30259933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.78925415399993 meters Centerline goodness [0,1] 0.9987113674292837 Centerline is valid? [True, True] Translation: X:469.53, Y:7.55, Z:4.30 [[ 9.98667308e-01 -4.69000170e-02 -2.15405673e-02 4.69527040e+02] [ 4.69014115e-02 9.98899426e-01 -4.40736560e-04 7.54641326e+00] [ 2.15375309e-02 -5.70133819e-04 9.99767878e-01 4.30423519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81925415399996 meters Centerline goodness [0,1] 0.9985819205452198 Centerline is valid? [True, True] Translation: X:469.56, Y:7.55, Z:4.30 [[ 9.98720563e-01 -4.58091770e-02 -2.14186129e-02 4.69557268e+02] [ 4.58103170e-02 9.98950060e-01 -4.37682702e-04 7.54633558e+00] [ 2.14161745e-02 -5.44070731e-04 9.99770499e-01 4.30378202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.84925415399994 meters Centerline goodness [0,1] 0.9988577472236911 Centerline is valid? [True, True] Translation: X:469.59, Y:7.55, Z:4.30 [[ 9.98787694e-01 -4.43793547e-02 -2.12982661e-02 4.69588902e+02] [ 4.43801697e-02 9.99014620e-01 -4.34630382e-04 7.54844231e+00] [ 2.12965678e-02 -5.11117185e-04 9.99773072e-01 4.30439085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87925415399997 meters Centerline goodness [0,1] 0.9987285172391871 Centerline is valid? [True, True] Translation: X:469.62, Y:7.55, Z:4.31 [[ 9.98946251e-01 -4.05639119e-02 -2.14699092e-02 4.69620156e+02] [ 4.05638761e-02 9.99176852e-01 -4.37347151e-04 7.55272525e+00] [ 2.14699768e-02 -4.34016440e-04 9.99769399e-01 4.30540545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.90925415399994 meters Centerline goodness [0,1] 0.9985582223729964 Centerline is valid? [True, True] Translation: X:469.65, Y:7.55, Z:4.31 [[ 9.99028362e-01 -3.85054895e-02 -2.14396487e-02 4.69650587e+02] [ 3.85049875e-02 9.99258313e-01 -4.36382970e-04 7.55490961e+00] [ 2.14405503e-02 -3.89574441e-04 9.99770049e-01 4.30591747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9392541539999 meters Centerline goodness [0,1] 0.9984940397912866 Centerline is valid? [True, True] Translation: X:469.68, Y:7.56, Z:4.31 [[ 9.99106373e-01 -3.64665250e-02 -2.13693005e-02 4.69680210e+02] [ 3.64655553e-02 9.99334816e-01 -4.35171974e-04 7.55641517e+00] [ 2.13709552e-02 -3.44460318e-04 9.99771556e-01 4.30610053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.96925415399994 meters Centerline goodness [0,1] 0.998748355891213 Centerline is valid? [True, True] Translation: X:469.71, Y:7.56, Z:4.31 [[ 9.99246223e-01 -3.22043326e-02 -2.16763913e-02 4.69709615e+02] [ 3.22023235e-02 9.99481273e-01 -4.41824255e-04 7.55908432e+00] [ 2.16793758e-02 -2.56538948e-04 9.99764942e-01 4.30604395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9992541539999 meters Centerline goodness [0,1] 0.9985348452032106 Centerline is valid? [True, True] Translation: X:469.74, Y:7.56, Z:4.31 [[ 9.99303455e-01 -3.07849189e-02 -2.10925094e-02 4.69739297e+02] [ 3.07826879e-02 9.99526008e-01 -4.30518911e-04 7.56149336e+00] [ 2.10957653e-02 -2.19065100e-04 9.99777436e-01 4.30764514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.02925415399994 meters Centerline goodness [0,1] 0.9986609135545306 Centerline is valid? [True, True] Translation: X:469.77, Y:7.56, Z:4.31 [[ 9.99355464e-01 -2.96523473e-02 -2.02335251e-02 4.69768330e+02] [ 2.96500436e-02 9.99560255e-01 -4.13909184e-04 7.56227610e+00] [ 2.02369009e-02 -1.86282496e-04 9.99795196e-01 4.30782527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0592541539999 meters Centerline goodness [0,1] 0.998937391082586 Centerline is valid? [True, True] Translation: X:469.80, Y:7.56, Z:4.31 [[ 9.99382016e-01 -2.91385077e-02 -1.96604353e-02 4.69797903e+02] [ 2.91362160e-02 9.99575369e-01 -4.03054308e-04 7.56239691e+00] [ 1.96638312e-02 -1.70025462e-04 9.99806634e-01 4.30872379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.08925415399995 meters Centerline goodness [0,1] 0.9986416792240592 Centerline is valid? [True, True] Translation: X:469.83, Y:7.56, Z:4.31 [[ 9.99362151e-01 -2.97474340e-02 -1.97580936e-02 4.69827711e+02] [ 2.97452244e-02 9.99557431e-01 -4.05771868e-04 7.56221214e+00] [ 1.97614199e-02 -1.82195881e-04 9.99804707e-01 4.30897256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1192541539999 meters Centerline goodness [0,1] 0.9988970198324318 Centerline is valid? [True, True] Translation: X:469.86, Y:7.56, Z:4.31 [[ 9.99250837e-01 -3.31761812e-02 -1.99275341e-02 4.69856515e+02] [ 3.31745970e-02 9.99449487e-01 -4.10161000e-04 7.55893174e+00] [ 1.99301714e-02 -2.51234193e-04 9.99801343e-01 4.30859552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.14925415399995 meters Centerline goodness [0,1] 0.9988568525339769 Centerline is valid? [True, True] Translation: X:469.89, Y:7.56, Z:4.31 [[ 9.99155949e-01 -3.55875003e-02 -2.05163372e-02 4.69886621e+02] [ 3.55863145e-02 9.99366517e-01 -4.22999879e-04 7.55685955e+00] [ 2.05183940e-02 -3.07457983e-04 9.99789428e-01 4.30866775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1792541539999 meters Centerline goodness [0,1] 0.9987942122186495 Centerline is valid? [True, True] Translation: X:469.92, Y:7.55, Z:4.31 [[ 9.99037351e-01 -3.87075857e-02 -2.06420361e-02 4.69915805e+02] [ 3.87070434e-02 9.99250511e-01 -4.25963767e-04 7.55375998e+00] [ 2.06430532e-02 -3.73438473e-04 9.99786840e-01 4.30812574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.20925415399995 meters Centerline goodness [0,1] 0.9987530908552952 Centerline is valid? [True, True] Translation: X:469.95, Y:7.55, Z:4.31 [[ 9.98739414e-01 -4.54833248e-02 -2.12332436e-02 4.69946619e+02] [ 4.54842772e-02 9.98964959e-01 -4.38336412e-04 7.54827396e+00] [ 2.12312033e-02 -5.27994888e-04 9.99774453e-01 4.30836587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2392541539999 meters Centerline goodness [0,1] 0.9987533279803913 Centerline is valid? [True, True] Translation: X:469.98, Y:7.55, Z:4.31 [[ 9.98572418e-01 -4.88585460e-02 -2.15862898e-02 4.69977164e+02] [ 4.88603230e-02 9.98805522e-01 -4.45406657e-04 7.54503427e+00] [ 2.15822673e-02 -6.09942287e-04 9.99766890e-01 4.30812817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.26925415399995 meters Centerline goodness [0,1] 0.9988604229097202 Centerline is valid? [True, True] Translation: X:470.01, Y:7.54, Z:4.31 [[ 9.98410872e-01 -5.20927944e-02 -2.14958328e-02 4.70007551e+02] [ 5.20953197e-02 9.98642019e-01 -4.42864797e-04 7.54137150e+00] [ 2.14897119e-02 -6.77671253e-04 9.99768840e-01 4.30824399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2992541539999 meters Centerline goodness [0,1] 0.9984836039679029 Centerline is valid? [True, True] Translation: X:470.04, Y:7.53, Z:4.31 [[ 9.98094814e-01 -5.76946358e-02 -2.18648316e-02 4.70037797e+02] [ 5.76986137e-02 9.98333946e-01 -4.49410076e-04 7.53476143e+00] [ 2.18543321e-02 -8.13016604e-04 9.99760835e-01 4.30707351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.32925415399995 meters Centerline goodness [0,1] 0.9985893548930437 Centerline is valid? [True, True] Translation: X:470.07, Y:7.53, Z:4.31 [[ 9.97914951e-01 -6.05108305e-02 -2.24541587e-02 4.70068691e+02] [ 6.05157540e-02 9.98167136e-01 -4.60790367e-04 7.53307996e+00] [ 2.24408861e-02 -8.99000746e-04 9.99747767e-01 4.30753366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3592541539999 meters Centerline goodness [0,1] 0.9986730696322508 Centerline is valid? [True, True] Translation: X:470.10, Y:7.53, Z:4.31 [[ 9.97782522e-01 -6.23806579e-02 -2.32097343e-02 4.70099674e+02] [ 6.23864328e-02 9.98051956e-01 -4.75888781e-04 7.53086251e+00] [ 2.31942070e-02 -9.73139023e-04 9.99730505e-01 4.30651051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.38925415399996 meters Centerline goodness [0,1] 0.9984655484087948 Centerline is valid? [True, True] Translation: X:470.13, Y:7.53, Z:4.30 [[ 9.97568869e-01 -6.50926442e-02 -2.48857370e-02 4.70129662e+02] [ 6.51001303e-02 9.97878606e-01 -5.10079864e-04 7.52659479e+00] [ 2.48661470e-02 -1.11122493e-03 9.99690172e-01 4.30446246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.41925415399993 meters Centerline goodness [0,1] 0.9985243275149676 Centerline is valid? [True, True] Translation: X:470.16, Y:7.53, Z:4.31 [[ 9.97454039e-01 -6.70903853e-02 -2.41727008e-02 4.70161274e+02] [ 6.70980458e-02 9.97746264e-01 -4.94959029e-04 7.52674785e+00] [ 2.41514289e-02 -1.12824210e-03 9.99707675e-01 4.30647223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.44925415399996 meters Centerline goodness [0,1] 0.9986113448914324 Centerline is valid? [True, True] Translation: X:470.19, Y:7.53, Z:4.31 [[ 9.97394086e-01 -6.79895976e-02 -2.41340578e-02 4.70193279e+02] [ 6.79975283e-02 9.97685368e-01 -4.92837389e-04 7.52671986e+00] [ 2.41117041e-02 -1.14950318e-03 9.99708610e-01 4.30693900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.47925415399993 meters Centerline goodness [0,1] 0.9985298750393784 Centerline is valid? [True, True] Translation: X:470.22, Y:7.53, Z:4.31 [[ 9.97344848e-01 -6.91565427e-02 -2.28172277e-02 4.70224853e+02] [ 6.91639816e-02 9.97605197e-01 -4.63932437e-04 7.52576610e+00] [ 2.27946689e-02 -1.11542969e-03 9.99739546e-01 4.30834618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.50925415399996 meters Centerline goodness [0,1] 0.9986318957715056 Centerline is valid? [True, True] Translation: X:470.26, Y:7.53, Z:4.31 [[ 9.97338324e-01 -6.93159130e-02 -2.26179417e-02 4.70256577e+02] [ 6.93233065e-02 9.97594141e-01 -4.57966683e-04 7.53061794e+00] [ 2.25952705e-02 -1.11120278e-03 9.99744077e-01 4.31045150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.53925415399993 meters Centerline goodness [0,1] 0.9984621218505099 Centerline is valid? [True, True] Translation: X:470.29, Y:7.53, Z:4.31 [[ 9.97338789e-01 -6.95478371e-02 -2.18732194e-02 4.70288705e+02] [ 6.95548408e-02 9.97578032e-01 -4.41349115e-04 7.53200563e+00] [ 2.18509380e-02 -1.08121370e-03 9.99760655e-01 4.31122008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.56925415399996 meters Centerline goodness [0,1] 0.9987995956532727 Centerline is valid? [True, True] Translation: X:470.32, Y:7.54, Z:4.31 [[ 9.97369137e-01 -6.94167973e-02 -2.08833311e-02 4.70320525e+02] [ 6.94231834e-02 9.97587212e-01 -4.19893679e-04 7.53603579e+00] [ 2.08620917e-02 -1.03099833e-03 9.99781831e-01 4.31324831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.59925415399994 meters Centerline goodness [0,1] 0.9985654613729379 Centerline is valid? [True, True] Translation: X:470.35, Y:7.54, Z:4.31 [[ 9.97406651e-01 -6.87143570e-02 -2.14081649e-02 4.70351831e+02] [ 6.87209359e-02 9.97635830e-01 -4.29088563e-04 7.53659348e+00] [ 2.13870369e-02 -1.04321334e-03 9.99770727e-01 4.31216298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.62925415399997 meters Centerline goodness [0,1] 0.998439707339701 Centerline is valid? [True, True] Translation: X:470.38, Y:7.54, Z:4.31 [[ 9.97396293e-01 -6.89463006e-02 -2.11433560e-02 4.70383488e+02] [ 6.89528085e-02 9.97619833e-01 -4.21939150e-04 7.53881143e+00] [ 2.11221224e-02 -1.03705323e-03 9.99776365e-01 4.31362067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.65925415399994 meters Centerline goodness [0,1] 0.9985831200964325 Centerline is valid? [True, True] Translation: X:470.42, Y:7.54, Z:4.31 [[ 9.97392301e-01 -6.87695171e-02 -2.18940878e-02 4.70415019e+02] [ 6.87765097e-02 9.97631998e-01 -4.34335716e-04 7.53996451e+00] [ 2.18721116e-02 -1.07259584e-03 9.99760201e-01 4.31340460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.6892541539999 meters Centerline goodness [0,1] 0.9987562975610784 Centerline is valid? [True, True] Translation: X:470.45, Y:7.54, Z:4.31 [[ 9.97393778e-01 -6.87184185e-02 -2.19870440e-02 4.70446092e+02] [ 6.87254977e-02 9.97635513e-01 -4.34386391e-04 7.54020845e+00] [ 2.19649063e-02 -1.07781626e-03 9.99758161e-01 4.31327364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.71925415399994 meters Centerline goodness [0,1] 0.9986709141157359 Centerline is valid? [True, True] Translation: X:470.48, Y:7.54, Z:4.31 [[ 9.97394849e-01 -6.84661105e-02 -2.27136053e-02 4.70477167e+02] [ 6.84736484e-02 9.97652825e-01 -4.46623023e-04 7.54107730e+00] [ 2.26908710e-02 -1.10982392e-03 9.99741913e-01 4.31313048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.7492541539999 meters Centerline goodness [0,1] 0.9988595805790796 Centerline is valid? [True, True] Translation: X:470.51, Y:7.54, Z:4.31 [[ 9.97404934e-01 -6.82995168e-02 -2.27721962e-02 4.70508898e+02] [ 6.83070973e-02 9.97664243e-01 -4.45708165e-04 7.54247397e+00] [ 2.27494475e-02 -1.11095110e-03 9.99740581e-01 4.31351166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.77925415399994 meters Centerline goodness [0,1] 0.9983940495308934 Centerline is valid? [True, True] Translation: X:470.54, Y:7.54, Z:4.31 [[ 9.97419097e-01 -6.77061559e-02 -2.38960577e-02 4.70540845e+02] [ 6.77143747e-02 9.97704639e-01 -4.65994438e-04 7.54363339e+00] [ 2.38727583e-02 -1.15331486e-03 9.99714340e-01 4.31245451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8092541539999 meters Centerline goodness [0,1] 0.9983940495308934 Centerline is valid? [True, True] Translation: X:470.57, Y:7.54, Z:4.31 [[ 9.97423839e-01 -6.76362508e-02 -2.38960903e-02 4.70572569e+02] [ 6.76444895e-02 9.97709380e-01 -4.64320139e-04 7.54418598e+00] [ 2.38727583e-02 -1.15331485e-03 9.99714340e-01 4.31275157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.83925415399995 meters Centerline goodness [0,1] 0.9985615163310205 Centerline is valid? [True, True] Translation: X:470.60, Y:7.55, Z:4.31 [[ 9.97501199e-01 -6.64563913e-02 -2.39772154e-02 4.70603390e+02] [ 6.64643801e-02 9.97788690e-01 -4.64474415e-04 7.54618456e+00] [ 2.39550617e-02 -1.13031697e-03 9.99712397e-01 4.31304353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8692541539999 meters Centerline goodness [0,1] 0.9985198968156637 Centerline is valid? [True, True] Translation: X:470.63, Y:7.55, Z:4.31 [[ 9.97603570e-01 -6.47984032e-02 -2.42545751e-02 4.70634510e+02] [ 6.48061134e-02 9.97897764e-01 -4.68842193e-04 7.54834192e+00] [ 2.42339665e-02 -1.10412610e-03 9.99705705e-01 4.31300418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.89925415399995 meters Centerline goodness [0,1] 0.998431073230717 Centerline is valid? [True, True] Translation: X:470.67, Y:7.56, Z:4.31 [[ 9.97952784e-01 -5.92589973e-02 -2.40543479e-02 4.70665038e+02] [ 5.92649859e-02 9.98242178e-01 -4.64484593e-04 7.55611920e+00] [ 2.40395896e-02 -9.62046898e-04 9.99710544e-01 4.31390046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9292541539999 meters Centerline goodness [0,1] 0.9986436367489668 Centerline is valid? [True, True] Translation: X:470.69, Y:7.56, Z:4.31 [[ 9.98179141e-01 -5.54540798e-02 -2.37328483e-02 4.70694835e+02] [ 5.54588378e-02 9.98460869e-01 -4.58170212e-04 7.55880725e+00] [ 2.37217277e-02 -8.58860233e-04 9.99718231e-01 4.31394277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.95925415399995 meters Centerline goodness [0,1] 0.9987279781212237 Centerline is valid? [True, True] Translation: X:470.73, Y:7.56, Z:4.31 [[ 9.98424820e-01 -5.09318931e-02 -2.35334222e-02 4.70725712e+02] [ 5.09353221e-02 9.98701851e-01 -4.54083499e-04 7.56411720e+00] [ 2.35259996e-02 -7.45314204e-04 9.99722948e-01 4.31460054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9892541539999 meters Centerline goodness [0,1] 0.998725817069804 Centerline is valid? [True, True] Translation: X:470.76, Y:7.57, Z:4.32 [[ 9.98661307e-01 -4.67263992e-02 -2.21864340e-02 4.70755797e+02] [ 4.67284128e-02 9.98907539e-01 -4.27945498e-04 7.56926149e+00] [ 2.21821925e-02 -6.09364237e-04 9.99753759e-01 4.31621743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.01925415399995 meters Centerline goodness [0,1] 0.9987047457267226 Centerline is valid? [True, True] Translation: X:470.79, Y:7.58, Z:4.32 [[ 9.99098139e-01 -3.70353071e-02 -2.07676249e-02 4.70786783e+02] [ 3.70349825e-02 9.99313890e-01 -4.00368470e-04 7.58343268e+00] [ 2.07682038e-02 -3.69121232e-04 9.99784249e-01 4.32034814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0492541539999 meters Centerline goodness [0,1] 0.9988334605921778 Centerline is valid? [True, True] Translation: X:470.82, Y:7.59, Z:4.32 [[ 9.99267411e-01 -3.31500468e-02 -1.91236778e-02 4.70816979e+02] [ 3.31490665e-02 9.99450351e-01 -3.68338688e-04 7.58709749e+00] [ 1.91253769e-02 -2.65863220e-04 9.99817058e-01 4.32196203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07925415399995 meters Centerline goodness [0,1] 0.9986375731772219 Centerline is valid? [True, True] Translation: X:470.85, Y:7.59, Z:4.32 [[ 9.99497997e-01 -2.62285856e-02 -1.77711753e-02 4.70847289e+02] [ 2.62266478e-02 9.99655964e-01 -3.42129557e-04 7.59304424e+00] [ 1.77740350e-02 -1.24120549e-04 9.99842022e-01 4.32259665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1092541539999 meters Centerline goodness [0,1] 0.9988924859430908 Centerline is valid? [True, True] Translation: X:470.88, Y:7.60, Z:4.32 [[ 9.99567082e-01 -2.41190269e-02 -1.68499439e-02 4.70877748e+02] [ 2.41169851e-02 9.99709091e-01 -3.24394067e-04 7.59558445e+00] [ 1.68528662e-02 -8.21162154e-05 9.99857977e-01 4.32383808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13925415399996 meters Centerline goodness [0,1] 0.9989331057292222 Centerline is valid? [True, True] Translation: X:470.91, Y:7.60, Z:4.32 [[ 9.99601640e-01 -2.22916356e-02 -1.73102188e-02 4.70906929e+02] [ 2.22892017e-02 9.99751509e-01 -3.33546337e-04 7.59724386e+00] [ 1.73133526e-02 -5.24174917e-05 9.99850111e-01 4.32332116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.16925415399993 meters Centerline goodness [0,1] 0.9989338791871895 Centerline is valid? [True, True] Translation: X:470.94, Y:7.60, Z:4.32 [[ 9.99602148e-01 -2.19988661e-02 -1.76520859e-02 4.70935587e+02] [ 2.19962753e-02 9.99757995e-01 -3.40935093e-04 7.59807292e+00] [ 1.76553142e-02 -4.74806912e-05 9.99844132e-01 4.32281724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19925415399996 meters Centerline goodness [0,1] 0.9989561586638831 Centerline is valid? [True, True] Translation: X:470.96, Y:7.60, Z:4.32 [[ 9.99567667e-01 -2.29778188e-02 -1.83439100e-02 4.70964684e+02] [ 2.29751343e-02 9.99735973e-01 -3.57099613e-04 7.59774807e+00] [ 1.83472721e-02 -6.45085694e-05 9.99831673e-01 4.32220199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.22925415399993 meters Centerline goodness [0,1] 0.9989110010249402 Centerline is valid? [True, True] Translation: X:470.99, Y:7.60, Z:4.32 [[ 9.99519817e-01 -2.45213590e-02 -1.89430285e-02 4.70993589e+02] [ 2.45186815e-02 9.99699302e-01 -3.73619758e-04 7.59665812e+00] [ 1.89464941e-02 -9.10177306e-05 9.99820495e-01 4.32109973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25925415399996 meters Centerline goodness [0,1] 0.9986334130509054 Centerline is valid? [True, True] Translation: X:471.02, Y:7.60, Z:4.32 [[ 9.99458619e-01 -2.64193453e-02 -1.96083374e-02 4.71022798e+02] [ 2.64167830e-02 9.99650940e-01 -3.89728652e-04 7.59536352e+00] [ 1.96117893e-02 -1.28471533e-04 9.99807662e-01 4.32024933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.28925415399993 meters Centerline goodness [0,1] 0.9989088341641884 Centerline is valid? [True, True] Translation: X:471.05, Y:7.59, Z:4.32 [[ 9.99315963e-01 -3.05983099e-02 -2.07689586e-02 4.71052076e+02] [ 3.05963132e-02 9.99531737e-01 -4.13963710e-04 7.59289937e+00] [ 2.07718998e-02 -2.21773019e-04 9.99784216e-01 4.32043945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31925415399996 meters Centerline goodness [0,1] 0.9989542427864094 Centerline is valid? [True, True] Translation: X:471.08, Y:7.59, Z:4.32 [[ 9.99252816e-01 -3.23839599e-02 -2.10971462e-02 4.71081076e+02] [ 3.23822772e-02 9.99475468e-01 -4.21469048e-04 7.59142144e+00] [ 2.10997289e-02 -2.62019504e-04 9.99777342e-01 4.32025667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.34925415399994 meters Centerline goodness [0,1] 0.998953952564951 Centerline is valid? [True, True] Translation: X:471.11, Y:7.59, Z:4.32 [[ 9.99207961e-01 -3.38707858e-02 -2.08859171e-02 4.71110843e+02] [ 3.38694454e-02 9.99426178e-01 -4.18011486e-04 7.59076483e+00] [ 2.08880906e-02 -2.89714023e-04 9.99781778e-01 4.32098759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37925415399997 meters Centerline goodness [0,1] 0.9987017962032859 Centerline is valid? [True, True] Translation: X:471.14, Y:7.59, Z:4.32 [[ 9.99117033e-01 -3.63276780e-02 -2.11057758e-02 4.71141567e+02] [ 3.63268499e-02 9.99339873e-01 -4.22756755e-04 7.58855890e+00] [ 2.11072011e-02 -3.44322877e-04 9.99777159e-01 4.32147269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.40925415399994 meters Centerline goodness [0,1] 0.9986804580087686 Centerline is valid? [True, True] Translation: X:471.17, Y:7.59, Z:4.32 [[ 9.99093313e-01 -3.71077870e-02 -2.08701501e-02 4.71172064e+02] [ 3.71071474e-02 9.99311205e-01 -4.18037081e-04 7.58828292e+00] [ 2.08712873e-02 -3.56773684e-04 9.99782107e-01 4.32202611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4392541539999 meters Centerline goodness [0,1] 0.9986586897741063 Centerline is valid? [True, True] Translation: X:471.20, Y:7.59, Z:4.32 [[ 9.99071874e-01 -3.79272310e-02 -2.04185295e-02 4.71202735e+02] [ 3.79267940e-02 9.99280437e-01 -4.08787986e-04 7.58701926e+00] [ 2.04193413e-02 -3.66000783e-04 9.99791437e-01 4.32206296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.46925415399994 meters Centerline goodness [0,1] 0.9987656160214528 Centerline is valid? [True, True] Translation: X:471.23, Y:7.59, Z:4.32 [[ 9.99053668e-01 -3.85527766e-02 -2.01358301e-02 4.71233746e+02] [ 3.85524900e-02 9.99256495e-01 -4.02562822e-04 7.58648955e+00] [ 2.01363790e-02 -3.74104525e-04 9.99797173e-01 4.32260845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4992541539999 meters Centerline goodness [0,1] 0.9986414485554778 Centerline is valid? [True, True] Translation: X:471.26, Y:7.58, Z:4.32 [[ 9.99041898e-01 -3.92527843e-02 -1.93521291e-02 4.71264943e+02] [ 3.92526642e-02 9.99229243e-01 -3.86197400e-04 7.58487256e+00] [ 1.93523727e-02 -3.73795243e-04 9.99812655e-01 4.32286384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.52925415399994 meters Centerline goodness [0,1] 0.9986865798114607 Centerline is valid? [True, True] Translation: X:471.30, Y:7.58, Z:4.32 [[ 9.99036307e-01 -3.94351644e-02 -1.92698241e-02 4.71296061e+02] [ 3.94350928e-02 9.99222060e-01 -3.83847745e-04 7.58482241e+00] [ 1.92699705e-02 -3.76429469e-04 9.99814246e-01 4.32327509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5592541539999 meters Centerline goodness [0,1] 0.9989623041084287 Centerline is valid? [True, True] Translation: X:471.33, Y:7.58, Z:4.32 [[ 9.99020770e-01 -4.02414492e-02 -1.83882158e-02 4.71327638e+02] [ 4.02415326e-02 9.99189915e-01 -3.65626787e-04 7.58450518e+00] [ 1.83880331e-02 -3.74701230e-04 9.99830856e-01 4.32438691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.58925415399995 meters Centerline goodness [0,1] 0.9986450438243638 Centerline is valid? [True, True] Translation: X:471.36, Y:7.58, Z:4.32 [[ 9.98962155e-01 -4.15266594e-02 -1.87122814e-02 4.71359664e+02] [ 4.15269906e-02 9.99137314e-01 -3.71032745e-04 7.58327315e+00] [ 1.87115463e-02 -4.06417064e-04 9.99824841e-01 4.32466390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6192541539999 meters Centerline goodness [0,1] 0.9988790186125212 Centerline is valid? [True, True] Translation: X:471.39, Y:7.58, Z:4.32 [[ 9.98915377e-01 -4.24833185e-02 -1.90587601e-02 4.71391849e+02] [ 4.24838631e-02 9.99097082e-01 -3.76490165e-04 7.58235353e+00] [ 1.90575462e-02 -4.33607940e-04 9.99818294e-01 4.32471424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.64925415399995 meters Centerline goodness [0,1] 0.9987103594080339 Centerline is valid? [True, True] Translation: X:471.42, Y:7.58, Z:4.32 [[ 9.98854405e-01 -4.39442054e-02 -1.89416241e-02 4.71423296e+02] [ 4.39450286e-02 9.99033881e-01 -3.72971732e-04 7.57901783e+00] [ 1.89397142e-02 -4.59845756e-04 9.99820522e-01 4.32418863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6792541539999 meters Centerline goodness [0,1] 0.9986896610026207 Centerline is valid? [True, True] Translation: X:471.46, Y:7.58, Z:4.33 [[ 9.98791535e-01 -4.54692703e-02 -1.86551454e-02 4.71455371e+02] [ 4.54703568e-02 9.98965621e-01 -3.66136612e-04 7.58104122e+00] [ 1.86524969e-02 -4.82561969e-04 9.99825911e-01 4.32562036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.70925415399995 meters Centerline goodness [0,1] 0.9987496821225735 Centerline is valid? [True, True] Translation: X:471.49, Y:7.58, Z:4.33 [[ 9.98650988e-01 -4.84615993e-02 -1.86460900e-02 4.71487243e+02] [ 4.84632285e-02 9.98824901e-01 -3.64747714e-04 7.57846396e+00] [ 1.86418552e-02 -5.39394053e-04 9.99826080e-01 4.32599187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7392541539999 meters Centerline goodness [0,1] 0.9987100594218529 Centerline is valid? [True, True] Translation: X:471.52, Y:7.58, Z:4.33 [[ 9.98609411e-01 -4.91615588e-02 -1.90364429e-02 4.71518112e+02] [ 4.91634042e-02 9.98790680e-01 -3.71320327e-04 7.57752054e+00] [ 1.90316764e-02 -5.65092363e-04 9.99818722e-01 4.32563754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.76925415399995 meters Centerline goodness [0,1] 0.9986047101602469 Centerline is valid? [True, True] Translation: X:471.55, Y:7.58, Z:4.33 [[ 9.98565487e-01 -4.98991416e-02 -1.94176237e-02 4.71550573e+02] [ 4.99012254e-02 9.98754086e-01 -3.77497593e-04 7.57726499e+00] [ 1.94122678e-02 -5.92007148e-04 9.99811389e-01 4.32621974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7992541539999 meters Centerline goodness [0,1] 0.9986247170090768 Centerline is valid? [True, True] Translation: X:471.58, Y:7.58, Z:4.33 [[ 9.98551348e-01 -4.96999202e-02 -2.06185085e-02 4.71581703e+02] [ 4.97022550e-02 9.98763999e-01 -3.99509068e-04 7.57681761e+00] [ 2.06128796e-02 -6.25856049e-04 9.99787336e-01 4.32558496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.82925415399995 meters Centerline goodness [0,1] 0.9986690047113008 Centerline is valid? [True, True] Translation: X:471.61, Y:7.58, Z:4.33 [[ 9.98576265e-01 -4.89439978e-02 -2.12114966e-02 4.71612980e+02] [ 4.89463187e-02 9.98801326e-01 -4.10052035e-04 7.57816399e+00] [ 2.12061405e-02 -6.28756444e-04 9.99774927e-01 4.32579660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8592541539999 meters Centerline goodness [0,1] 0.9986882471173173 Centerline is valid? [True, True] Translation: X:471.64, Y:7.58, Z:4.33 [[ 9.98639954e-01 -4.73439185e-02 -2.18356504e-02 4.71643936e+02] [ 4.73460132e-02 9.98878460e-01 -4.21326514e-04 7.57968593e+00] [ 2.18311081e-02 -6.13077504e-04 9.99761485e-01 4.32535576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.88925415399996 meters Centerline goodness [0,1] 0.9987310449844553 Centerline is valid? [True, True] Translation: X:471.67, Y:7.58, Z:4.33 [[ 9.98682957e-01 -4.65407386e-02 -2.15942139e-02 4.71674919e+02] [ 4.65426163e-02 9.98916219e-01 -4.15897737e-04 7.58159775e+00] [ 2.15901666e-02 -5.89701227e-04 9.99766731e-01 4.32648744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.91925415399993 meters Centerline goodness [0,1] 0.9986673435715192 Centerline is valid? [True, True] Translation: X:471.71, Y:7.58, Z:4.33 [[ 9.98804630e-01 -4.38049893e-02 -2.16895010e-02 4.71705496e+02] [ 4.38062510e-02 9.99039958e-01 -4.17175996e-04 7.58354664e+00] [ 2.16869525e-02 -5.33458406e-04 9.99764668e-01 4.32701484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.94925415399996 meters Centerline goodness [0,1] 0.9986442401389654 Centerline is valid? [True, True] Translation: X:471.74, Y:7.59, Z:4.33 [[ 9.98863981e-01 -4.24555070e-02 -2.16397121e-02 4.71736576e+02] [ 4.24564594e-02 9.99098232e-01 -4.15622786e-04 7.58526363e+00] [ 2.16378436e-02 -5.03594928e-04 9.99765748e-01 4.32760777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.97925415399993 meters Centerline goodness [0,1] 0.9987694918850112 Centerline is valid? [True, True] Translation: X:471.77, Y:7.59, Z:4.33 [[ 9.98923690e-01 -4.10896819e-02 -2.15197531e-02 4.71766835e+02] [ 4.10903313e-02 9.99155351e-01 -4.12186290e-04 7.58658400e+00] [ 2.15185131e-02 -4.72511135e-04 9.99768338e-01 4.32805775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.00925415399996 meters Centerline goodness [0,1] 0.9986639238224503 Centerline is valid? [True, True] Translation: X:471.80, Y:7.59, Z:4.33 [[ 9.99020952e-01 -3.81833088e-02 -2.23421673e-02 4.71797054e+02] [ 3.81832969e-02 9.99270661e-01 -4.27293228e-04 7.58931725e+00] [ 2.23421878e-02 -4.26222720e-04 9.99750291e-01 4.32762910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.03925415399993 meters Centerline goodness [0,1] 0.9988543788187373 Centerline is valid? [True, True] Translation: X:471.83, Y:7.59, Z:4.33 [[ 9.99026554e-01 -3.81966497e-02 -2.20671658e-02 4.71827937e+02] [ 3.81966412e-02 9.99270153e-01 -4.22033832e-04 7.59264354e+00] [ 2.20671804e-02 -4.21268609e-04 9.99756401e-01 4.33006112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.06925415399996 meters Centerline goodness [0,1] 0.9989197661611454 Centerline is valid? [True, True] Translation: X:471.86, Y:7.59, Z:4.33 [[ 9.99060754e-01 -3.69191945e-02 -2.26844050e-02 4.71858213e+02] [ 3.69188620e-02 9.99318172e-01 -4.33596999e-04 7.59098943e+00] [ 2.26849462e-02 -4.04292671e-04 9.99742582e-01 4.32802613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.09925415399994 meters Centerline goodness [0,1] 0.9986864128477299 Centerline is valid? [True, True] Translation: X:471.89, Y:7.59, Z:4.33 [[ 9.99071934e-01 -3.58148791e-02 -2.39283499e-02 4.71888040e+02] [ 3.58141842e-02 9.99358362e-01 -4.57727141e-04 7.59400927e+00] [ 2.39293900e-02 -3.99671990e-04 9.99713571e-01 4.32909362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.12925415399997 meters Centerline goodness [0,1] 0.9989407677315482 Centerline is valid? [True, True] Translation: X:471.92, Y:7.59, Z:4.33 [[ 9.99058862e-01 -3.67159362e-02 -2.30939289e-02 4.71917939e+02] [ 3.67155102e-02 9.99325660e-01 -4.42596106e-04 7.59495669e+00] [ 2.30946061e-02 -4.05725820e-04 9.99733202e-01 4.33084509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.15925415399994 meters Centerline goodness [0,1] 0.9990051436191605 Centerline is valid? [True, True] Translation: X:471.95, Y:7.60, Z:4.33 [[ 9.99071864e-01 -3.66597876e-02 -2.26157075e-02 4.71947721e+02] [ 3.66593462e-02 9.99327726e-01 -4.34248060e-04 7.59556648e+00] [ 2.26164230e-02 -3.95232033e-04 9.99744138e-01 4.33142964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.1892541539999 meters Centerline goodness [0,1] 0.9987538546022895 Centerline is valid? [True, True] Translation: X:471.98, Y:7.59, Z:4.33 [[ 9.99068605e-01 -3.70242499e-02 -2.21613893e-02 4.71977592e+02] [ 3.70239093e-02 9.99314289e-01 -4.25810055e-04 7.59253291e+00] [ 2.21619583e-02 -3.95087809e-04 9.99754316e-01 4.33017055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.21925415399994 meters Centerline goodness [0,1] 0.9987522734001607 Centerline is valid? [True, True] Translation: X:472.01, Y:7.60, Z:4.33 [[ 9.99067485e-01 -3.74012438e-02 -2.15710078e-02 4.72008370e+02] [ 3.74010097e-02 9.99300252e-01 -4.14431582e-04 7.59731666e+00] [ 2.15714138e-02 -3.92732353e-04 9.99767233e-01 4.33411473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.2492541539999 meters Centerline goodness [0,1] 0.9986059185096001 Centerline is valid? [True, True] Translation: X:472.04, Y:7.60, Z:4.33 [[ 9.99022973e-01 -3.92146756e-02 -2.03791192e-02 4.72038378e+02] [ 3.92148477e-02 9.99230725e-01 -3.91329812e-04 7.59587297e+00] [ 2.03787880e-02 -4.08216585e-04 9.99792248e-01 4.33463094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.27925415399994 meters Centerline goodness [0,1] 0.9985841081994928 Centerline is valid? [True, True] Translation: X:472.07, Y:7.60, Z:4.34 [[ 9.98984007e-01 -4.05363874e-02 -1.96914998e-02 4.72069543e+02] [ 4.05368155e-02 9.99177974e-01 -3.77574824e-04 7.59614518e+00] [ 1.96906184e-02 -4.21039485e-04 9.99806032e-01 4.33528379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3092541539999 meters Centerline goodness [0,1] 0.9985001795559687 Centerline is valid? [True, True] Translation: X:472.10, Y:7.59, Z:4.34 [[ 9.98915833e-01 -4.24649545e-02 -1.90758149e-02 4.72099578e+02] [ 4.24657242e-02 9.99097858e-01 -3.64901590e-04 7.59457541e+00] [ 1.90741013e-02 -4.45562318e-04 9.99817973e-01 4.33532147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.33925415399995 meters Centerline goodness [0,1] 0.9985435356200528 Centerline is valid? [True, True] Translation: X:472.13, Y:7.59, Z:4.34 [[ 9.98784181e-01 -4.59701021e-02 -1.78019631e-02 4.72130595e+02] [ 4.59713427e-02 9.98942701e-01 -3.39744092e-04 7.59390660e+00] [ 1.77987592e-02 -4.79049121e-04 9.99841475e-01 4.33674089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3692541539999 meters Centerline goodness [0,1] 0.9984784446322907 Centerline is valid? [True, True] Translation: X:472.16, Y:7.59, Z:4.34 [[ 9.98476378e-01 -5.27116573e-02 -1.63218868e-02 4.72161132e+02] [ 5.27136069e-02 9.98609623e-01 -3.11051022e-04 7.58979205e+00] [ 1.63155893e-02 -5.49808429e-04 9.99866741e-01 4.33736567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.39925415399995 meters Centerline goodness [0,1] 0.9986720067453626 Centerline is valid? [True, True] Translation: X:472.19, Y:7.59, Z:4.34 [[ 9.98267957e-01 -5.66520883e-02 -1.58627607e-02 4.72192244e+02] [ 5.66544343e-02 9.98393802e-01 -3.01802482e-04 7.58792069e+00] [ 1.58543797e-02 -5.97415986e-04 9.99874133e-01 4.33788573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4292541539999 meters Centerline goodness [0,1] 0.998229416972303 Centerline is valid? [True, True] Translation: X:472.22, Y:7.58, Z:4.34 [[ 9.98110115e-01 -5.92767156e-02 -1.62008883e-02 4.72223187e+02] [ 5.92795198e-02 9.98241376e-01 -3.07498060e-04 7.58462752e+00] [ 1.61906245e-02 -6.53463953e-04 9.99868710e-01 4.33642202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.45925415399995 meters Centerline goodness [0,1] 0.9985248872592405 Centerline is valid? [True, True] Translation: X:472.25, Y:7.58, Z:4.34 [[ 9.97812756e-01 -6.43517295e-02 -1.51181956e-02 4.72254005e+02] [ 6.43547590e-02 9.97927043e-01 -2.86524330e-04 7.58343288e+00] [ 1.51052946e-02 -6.87030205e-04 9.99885672e-01 4.33817773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4892541539999 meters Centerline goodness [0,1] 0.9984804676782812 Centerline is valid? [True, True] Translation: X:472.28, Y:7.58, Z:4.34 [[ 9.97559010e-01 -6.82138054e-02 -1.49297987e-02 4.72283715e+02] [ 6.82171938e-02 9.97670454e-01 -2.82785065e-04 7.58060116e+00] [ 1.49143089e-02 -7.36374183e-04 9.99888504e-01 4.33813777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.51925415399995 meters Centerline goodness [0,1] 0.9983990225611425 Centerline is valid? [True, True] Translation: X:472.31, Y:7.58, Z:4.34 [[ 9.97135592e-01 -7.39768668e-02 -1.57490793e-02 4.72314248e+02] [ 7.39813542e-02 9.97259580e-01 -2.98284443e-04 7.57601372e+00] [ 1.57279864e-02 -8.67708179e-04 9.99875931e-01 4.33712412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5492541539999 meters Centerline goodness [0,1] 0.9981708086287372 Centerline is valid? [True, True] Translation: X:472.34, Y:7.57, Z:4.34 [[ 9.96895183e-01 -7.70156199e-02 -1.63886457e-02 4.72344265e+02] [ 7.70208889e-02 9.97029431e-01 -3.10369303e-04 7.57380506e+00] [ 1.63638654e-02 -9.52862395e-04 9.99865649e-01 4.33688045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57925415399995 meters Centerline goodness [0,1] 0.9984419412569744 Centerline is valid? [True, True] Translation: X:472.37, Y:7.57, Z:4.34 [[ 9.96601874e-01 -8.04372290e-02 -1.77357714e-02 4.72374598e+02] [ 8.04439489e-02 9.96759078e-01 -3.35366511e-04 7.57147250e+00] [ 1.77052671e-02 -1.09250859e-03 9.99842653e-01 4.33605010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6092541539999 meters Centerline goodness [0,1] 0.9984615060380619 Centerline is valid? [True, True] Translation: X:472.41, Y:7.57, Z:4.34 [[ 9.96545815e-01 -8.09896222e-02 -1.83608059e-02 4.72406528e+02] [ 8.09969401e-02 9.96714290e-01 -3.45956026e-04 7.57108558e+00] [ 1.83284964e-02 -1.14240806e-03 9.99831366e-01 4.33556928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63925415399996 meters Centerline goodness [0,1] 0.9983148315884819 Centerline is valid? [True, True] Translation: X:472.44, Y:7.57, Z:4.34 [[ 9.96529929e-01 -8.11804196e-02 -1.83804245e-02 4.72438760e+02] [ 8.11878093e-02 9.96698761e-01 -3.45032931e-04 7.57151794e+00] [ 1.83477563e-02 -1.14843076e-03 9.99831006e-01 4.33541588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.66925415399993 meters Centerline goodness [0,1] 0.9984424987371612 Centerline is valid? [True, True] Translation: X:472.47, Y:7.57, Z:4.34 [[ 9.96568206e-01 -8.06530816e-02 -1.86250042e-02 4.72470592e+02] [ 8.06606019e-02 9.96741564e-01 -3.48312174e-04 7.57192796e+00] [ 1.85924083e-02 -1.15518721e-03 9.99826479e-01 4.33530865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69925415399996 meters Centerline goodness [0,1] 0.9984424987371612 Centerline is valid? [True, True] Translation: X:472.50, Y:7.57, Z:4.34 [[ 9.96576661e-01 -8.05485350e-02 -1.86250344e-02 4.72503186e+02] [ 8.05560675e-02 9.96750019e-01 -3.46688159e-04 7.57243721e+00] [ 1.85924287e-02 -1.15485820e-03 9.99826479e-01 4.33561385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.72925415399993 meters Centerline goodness [0,1] 0.998587808785094 Centerline is valid? [True, True] Translation: X:472.53, Y:7.58, Z:4.34 [[ 9.96778639e-01 -7.81498874e-02 -1.80260671e-02 4.72534534e+02] [ 7.81565746e-02 9.96941040e-01 -3.34286335e-04 7.57567069e+00] [ 1.79970505e-02 -1.07564618e-03 9.99837461e-01 4.33613998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75925415399996 meters Centerline goodness [0,1] 0.9987534070020495 Centerline is valid? [True, True] Translation: X:472.57, Y:7.58, Z:4.34 [[ 9.96916699e-01 -7.64737145e-02 -1.75745721e-02 4.72565537e+02] [ 7.64798219e-02 9.97071076e-01 -3.25309600e-04 7.57921476e+00] [ 1.75479752e-02 -1.01979357e-03 9.99845502e-01 4.33690317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.78925415399993 meters Centerline goodness [0,1] 0.9985230197915348 Centerline is valid? [True, True] Translation: X:472.60, Y:7.58, Z:4.34 [[ 9.97082206e-01 -7.44110313e-02 -1.70315075e-02 4.72597206e+02] [ 7.44164817e-02 9.97227200e-01 -3.14390739e-04 7.58214294e+00] [ 1.70076767e-02 -9.53951458e-04 9.99854904e-01 4.33728879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81925415399996 meters Centerline goodness [0,1] 0.9986475635011199 Centerline is valid? [True, True] Translation: X:472.63, Y:7.59, Z:4.34 [[ 9.97252659e-01 -7.21420909e-02 -1.68122772e-02 4.72628097e+02] [ 7.21470963e-02 9.97393955e-01 -3.09399682e-04 7.59418591e+00] [ 1.67907843e-02 -9.04407323e-04 9.99858616e-01 4.33880279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.84925415399994 meters Centerline goodness [0,1] 0.9987517454406973 Centerline is valid? [True, True] Translation: X:472.66, Y:7.60, Z:4.34 [[ 9.97597281e-01 -6.74226635e-02 -1.59326371e-02 4.72659017e+02] [ 6.74265654e-02 9.97724197e-01 -2.92758553e-04 7.60104958e+00] [ 1.59161161e-02 -7.82227861e-04 9.99873025e-01 4.33940718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87925415399997 meters Centerline goodness [0,1] 0.9986653956148713 Centerline is valid? [True, True] Translation: X:472.69, Y:7.61, Z:4.34 [[ 9.97808800e-01 -6.41526914e-02 -1.61873934e-02 4.72690688e+02] [ 6.41562988e-02 9.97939818e-01 -2.96885807e-04 7.60501831e+00] [ 1.61730905e-02 -7.42287979e-04 9.99868931e-01 4.33858356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.90925415399994 meters Centerline goodness [0,1] 0.9985997072115078 Centerline is valid? [True, True] Translation: X:472.72, Y:7.61, Z:4.34 [[ 9.98076453e-01 -6.03002598e-02 -1.43969720e-02 4.72721369e+02] [ 6.03027210e-02 9.98180100e-01 -2.63489198e-04 7.61123278e+00] [ 1.43866594e-02 -6.05194220e-04 9.99896324e-01 4.34041109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9392541539999 meters Centerline goodness [0,1] 0.9988754747406166 Centerline is valid? [True, True] Translation: X:472.75, Y:7.61, Z:4.34 [[ 9.98201394e-01 -5.82255599e-02 -1.42745237e-02 4.72752779e+02] [ 5.82277740e-02 9.98303290e-01 -2.60808009e-04 7.61331444e+00] [ 1.42654897e-02 -5.70834824e-04 9.99898080e-01 4.34055125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.96925415399994 meters Centerline goodness [0,1] 0.9989152628892292 Centerline is valid? [True, True] Translation: X:472.78, Y:7.62, Z:4.34 [[ 9.98319634e-01 -5.61928380e-02 -1.41517990e-02 4.72783795e+02] [ 5.61948210e-02 9.98419789e-01 -2.57796845e-04 7.61613180e+00] [ 1.41439225e-02 -5.37894162e-04 9.99899825e-01 4.34080634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9992541539999 meters Centerline goodness [0,1] 0.9989558472553699 Centerline is valid? [True, True] Translation: X:472.82, Y:7.62, Z:4.34 [[ 9.98496433e-01 -5.27901716e-02 -1.47672203e-02 4.72815393e+02] [ 5.27919714e-02 9.98605496e-01 -2.68184994e-04 7.62183329e+00] [ 1.47607849e-02 -5.11808913e-04 9.99890923e-01 4.34070005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.02925415399994 meters Centerline goodness [0,1] 0.9988306331589913 Centerline is valid? [True, True] Translation: X:472.85, Y:7.62, Z:4.34 [[ 9.98585074e-01 -5.10605606e-02 -1.48549224e-02 4.72848048e+02] [ 5.10622055e-02 9.98695439e-01 -2.68780258e-04 7.62447107e+00] [ 1.48492674e-02 -4.90125148e-04 9.99889623e-01 4.34046286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0592541539999 meters Centerline goodness [0,1] 0.9990409411564118 Centerline is valid? [True, True] Translation: X:472.88, Y:7.63, Z:4.34 [[ 9.98643507e-01 -4.97169410e-02 -1.54716315e-02 4.72879948e+02] [ 4.97185844e-02 9.98763228e-01 -2.78634454e-04 7.62686469e+00] [ 1.54663494e-02 -4.90971128e-04 9.99880268e-01 4.34053321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.08925415399995 meters Centerline goodness [0,1] 0.9991253146733797 Centerline is valid? [True, True] Translation: X:472.91, Y:7.63, Z:4.34 [[ 9.98764717e-01 -4.67344626e-02 -1.68799011e-02 4.72911088e+02] [ 4.67360123e-02 9.98907230e-01 -3.02873128e-04 7.63040234e+00] [ 1.68756099e-02 -4.86400273e-04 9.99857478e-01 4.33888601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1192541539999 meters Centerline goodness [0,1] 0.9989978036974646 Centerline is valid? [True, True] Translation: X:472.94, Y:7.63, Z:4.34 [[ 9.98830723e-01 -4.51152638e-02 -1.73723942e-02 4.72942400e+02] [ 4.51166867e-02 9.98981676e-01 -3.10203531e-04 7.63218531e+00] [ 1.73686984e-02 -4.73944050e-04 9.99849040e-01 4.33822640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.14925415399995 meters Centerline goodness [0,1] 0.9990790713612611 Centerline is valid? [True, True] Translation: X:472.98, Y:7.63, Z:4.34 [[ 9.98906563e-01 -4.34040259e-02 -1.73715154e-02 4.72975122e+02] [ 4.34052224e-02 9.99057502e-01 -3.08330388e-04 7.63431779e+00] [ 1.73685255e-02 -4.46021239e-04 9.99849056e-01 4.33821221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1792541539999 meters Centerline goodness [0,1] 0.9991011620690393 Centerline is valid? [True, True] Translation: X:473.01, Y:7.64, Z:4.34 [[ 9.99038439e-01 -4.04682493e-02 -1.68676909e-02 4.73007640e+02] [ 4.04689837e-02 9.99180751e-01 -2.97928347e-04 7.64026379e+00] [ 1.68659287e-02 -3.84976440e-04 9.99857686e-01 4.34010120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.20925415399995 meters Centerline goodness [0,1] 0.9990564014582887 Centerline is valid? [True, True] Translation: X:473.04, Y:7.64, Z:4.34 [[ 9.99102924e-01 -3.92023833e-02 -1.60162405e-02 4.73039079e+02] [ 3.92029014e-02 9.99231231e-01 -2.81732701e-04 7.63980552e+00] [ 1.60149723e-02 -3.46403130e-04 9.99871692e-01 4.34030971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2392541539999 meters Centerline goodness [0,1] 0.9990773126193593 Centerline is valid? [True, True] Translation: X:473.07, Y:7.64, Z:4.34 [[ 9.99152537e-01 -3.80929750e-02 -1.55927162e-02 4.73071400e+02] [ 3.80933457e-02 9.99274148e-01 -2.73336139e-04 7.64440775e+00] [ 1.55918103e-02 -3.20874230e-04 9.99878389e-01 4.34204418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.26925415399995 meters Centerline goodness [0,1] 0.9992068935951299 Centerline is valid? [True, True] Translation: X:473.10, Y:7.65, Z:4.34 [[ 9.99232675e-01 -3.64677193e-02 -1.42886732e-02 4.73102142e+02] [ 3.64678774e-02 9.99334795e-01 -2.49577064e-04 7.64541776e+00] [ 1.42882698e-02 -2.71692024e-04 9.99897881e-01 4.34273373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2992541539999 meters Centerline goodness [0,1] 0.9991637003044989 Centerline is valid? [True, True] Translation: X:473.13, Y:7.64, Z:4.34 [[ 9.99246994e-01 -3.61871869e-02 -1.39975683e-02 4.73133050e+02] [ 3.61873216e-02 9.99344995e-01 -2.43739759e-04 7.64247650e+00] [ 1.39972201e-02 -2.62978285e-04 9.99902000e-01 4.34203601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.32925415399995 meters Centerline goodness [0,1] 0.9990977249779802 Centerline is valid? [True, True] Translation: X:473.17, Y:7.65, Z:4.34 [[ 9.99217740e-01 -3.70076200e-02 -1.39407335e-02 4.73165016e+02] [ 3.70078451e-02 9.99314946e-01 -2.41908485e-04 7.64583475e+00] [ 1.39401358e-02 -2.74197256e-04 9.99902794e-01 4.34312000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3592541539999 meters Centerline goodness [0,1] 0.9991415203674293 Centerline is valid? [True, True] Translation: X:473.20, Y:7.65, Z:4.34 [[ 9.99168095e-01 -3.81290847e-02 -1.44669034e-02 4.73196730e+02] [ 3.81294591e-02 9.99272776e-01 -2.50040562e-04 7.64576844e+00] [ 1.44659166e-02 -3.01782650e-04 9.99895318e-01 4.34306151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.38925415399996 meters Centerline goodness [0,1] 0.9991635747528256 Centerline is valid? [True, True] Translation: X:473.23, Y:7.64, Z:4.34 [[ 9.99039725e-01 -4.07925532e-02 -1.59873555e-02 4.73227468e+02] [ 4.07933740e-02 9.99167566e-01 -2.74899352e-04 7.64253285e+00] [ 1.59852609e-02 -3.77542799e-04 9.99872156e-01 4.34178206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.41925415399993 meters Centerline goodness [0,1] 0.9992499410667981 Centerline is valid? [True, True] Translation: X:473.26, Y:7.64, Z:4.34 [[ 9.98945879e-01 -4.26713287e-02 -1.69200554e-02 4.73259837e+02] [ 4.26725482e-02 9.99089070e-01 -2.89120854e-04 7.64279615e+00] [ 1.69169796e-02 -4.33205796e-04 9.99856804e-01 4.34210114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.44925415399996 meters Centerline goodness [0,1] 0.9989938991758536 Centerline is valid? [True, True] Translation: X:473.29, Y:7.64, Z:4.34 [[ 9.98858041e-01 -4.44050892e-02 -1.76295767e-02 4.73291550e+02] [ 4.44067099e-02 9.99013491e-01 -2.99717369e-04 7.64133894e+00] [ 1.76254940e-02 -4.83496397e-04 9.99844542e-01 4.34089693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.47925415399993 meters Centerline goodness [0,1] 0.9991429734536027 Centerline is valid? [True, True] Translation: X:473.32, Y:7.64, Z:4.34 [[ 9.98764863e-01 -4.64879595e-02 -1.75390185e-02 4.73323417e+02] [ 4.64899111e-02 9.98918716e-01 -2.96656708e-04 7.64121437e+00] [ 1.75338448e-02 -5.19097113e-04 9.99846136e-01 4.34225677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.50925415399996 meters Centerline goodness [0,1] 0.9990562597859426 Centerline is valid? [True, True] Translation: X:473.36, Y:7.64, Z:4.34 [[ 9.98690990e-01 -4.80281312e-02 -1.75955996e-02 4.73355939e+02] [ 4.80303570e-02 9.98845832e-01 -2.96319788e-04 7.64044661e+00] [ 1.75895230e-02 -5.49191026e-04 9.99845142e-01 4.34257292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.53925415399993 meters Centerline goodness [0,1] 0.9989724707796378 Centerline is valid? [True, True] Translation: X:473.39, Y:7.64, Z:4.34 [[ 9.98638140e-01 -4.89280981e-02 -1.81081677e-02 4.73388282e+02] [ 4.89306277e-02 9.98802133e-01 -3.03599428e-04 7.63943397e+00] [ 1.81013311e-02 -5.82858046e-04 9.99835988e-01 4.34220576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.56925415399996 meters Centerline goodness [0,1] 0.9990774709832443 Centerline is valid? [True, True] Translation: X:473.42, Y:7.64, Z:4.34 [[ 9.98628859e-01 -4.95382150e-02 -1.69223781e-02 4.73420408e+02] [ 4.95405318e-02 9.98772074e-01 -2.82519746e-04 7.63971486e+00] [ 1.69155942e-02 -5.56211238e-04 9.99856766e-01 4.34370941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.59925415399994 meters Centerline goodness [0,1] 0.9990788543518776 Centerline is valid? [True, True] Translation: X:473.45, Y:7.64, Z:4.34 [[ 9.98676895e-01 -4.86204671e-02 -1.67484480e-02 4.73453052e+02] [ 4.86226304e-02 9.98817182e-01 -2.78259076e-04 7.64066096e+00] [ 1.67421667e-02 -5.36462686e-04 9.99859696e-01 4.34409912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.62925415399997 meters Centerline goodness [0,1] 0.9991429734536027 Centerline is valid? [True, True] Translation: X:473.48, Y:7.64, Z:4.34 [[ 9.98756456e-01 -4.69429743e-02 -1.67898266e-02 4.73484353e+02] [ 4.69449426e-02 9.98897440e-01 -2.77090809e-04 7.64091815e+00] [ 1.67843223e-02 -5.11451214e-04 9.99859003e-01 4.34418042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.65925415399994 meters Centerline goodness [0,1] 0.9992289569500964 Centerline is valid? [True, True] Translation: X:473.52, Y:7.65, Z:4.35 [[ 9.98975311e-01 -4.23756678e-02 -1.58943865e-02 4.73515775e+02] [ 4.23768768e-02 9.99101663e-01 -2.60876816e-04 7.64655170e+00] [ 1.58911628e-02 -4.12944960e-04 9.99873642e-01 4.34534732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.6892541539999 meters Centerline goodness [0,1] 0.999056543088106 Centerline is valid? [True, True] Translation: X:473.55, Y:7.65, Z:4.35 [[ 9.99100190e-01 -3.95062538e-02 -1.54294047e-02 4.73548301e+02] [ 3.95070650e-02 9.99219259e-01 -2.52338747e-04 7.64848339e+00] [ 1.54273273e-02 -3.57458806e-04 9.99880928e-01 4.34577579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.71925415399994 meters Centerline goodness [0,1] 0.9989924973204716 Centerline is valid? [True, True] Translation: X:473.58, Y:7.65, Z:4.35 [[ 9.99208108e-01 -3.67698253e-02 -1.52031883e-02 4.73579692e+02] [ 3.67703144e-02 9.99323713e-01 -2.47455299e-04 7.64918612e+00] [ 1.52020055e-02 -3.11766672e-04 9.99884394e-01 4.34605342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.7492541539999 meters Centerline goodness [0,1] 0.9992283123620073 Centerline is valid? [True, True] Translation: X:473.61, Y:7.65, Z:4.35 [[ 9.99297403e-01 -3.43162303e-02 -1.50697208e-02 4.73611755e+02] [ 3.43164460e-02 9.99410987e-01 -2.44346994e-04 7.65165229e+00] [ 1.50692296e-02 -2.72963943e-04 9.99886415e-01 4.34655232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.77925415399994 meters Centerline goodness [0,1] 0.9989713918354227 Centerline is valid? [True, True] Translation: X:473.64, Y:7.65, Z:4.35 [[ 9.99388432e-01 -3.06972828e-02 -1.67463132e-02 4.73643125e+02] [ 3.06970707e-02 9.99528697e-01 -2.69774545e-04 7.65242164e+00] [ 1.67467019e-02 -2.44453201e-04 9.99859734e-01 4.34502506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8092541539999 meters Centerline goodness [0,1] 0.9988636850906908 Centerline is valid? [True, True] Translation: X:473.67, Y:7.65, Z:4.34 [[ 9.99389884e-01 -3.01942021e-02 -1.75547901e-02 4.73674042e+02] [ 3.01939198e-02 9.99544020e-01 -2.81187815e-04 7.65280148e+00] [ 1.75552757e-02 -2.49031666e-04 9.99845863e-01 4.34482830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.83925415399995 meters Centerline goodness [0,1] 0.9992493780561036 Centerline is valid? [True, True] Translation: X:473.71, Y:7.65, Z:4.35 [[ 9.99373119e-01 -3.05923731e-02 -1.78178303e-02 4.73705603e+02] [ 3.05921570e-02 9.99531910e-01 -2.84758233e-04 7.65302560e+00] [ 1.78182014e-02 -2.60506138e-04 9.99841209e-01 4.34526271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8692541539999 meters Centerline goodness [0,1] 0.9991208508448409 Centerline is valid? [True, True] Translation: X:473.74, Y:7.65, Z:4.34 [[ 9.99334206e-01 -3.11396069e-02 -1.90123456e-02 4.73736908e+02] [ 3.11394732e-02 9.99515003e-01 -3.03146140e-04 7.65267754e+00] [ 1.90125645e-02 -2.89090119e-04 9.99819203e-01 4.34448217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.89925415399995 meters Centerline goodness [0,1] 0.9991846543363515 Centerline is valid? [True, True] Translation: X:473.77, Y:7.65, Z:4.34 [[ 9.99215849e-01 -3.33821161e-02 -2.12913647e-02 4.73767161e+02] [ 3.33824655e-02 9.99442593e-01 -3.39107999e-04 7.65043325e+00] [ 2.12908169e-02 -3.71916161e-04 9.99773256e-01 4.34274428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9292541539999 meters Centerline goodness [0,1] 0.9991648106904232 Centerline is valid? [True, True] Translation: X:473.80, Y:7.65, Z:4.34 [[ 9.99151393e-01 -3.46418431e-02 -2.22808495e-02 4.73796810e+02] [ 3.46425373e-02 9.99399704e-01 -3.54940400e-04 7.64853469e+00] [ 2.22797701e-02 -4.17225963e-04 9.99751688e-01 4.34183975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.95925415399995 meters Centerline goodness [0,1] 0.9988643911636776 Centerline is valid? [True, True] Translation: X:473.83, Y:7.65, Z:4.34 [[ 9.99051350e-01 -3.69671593e-02 -2.30179979e-02 4.73827141e+02] [ 3.69685158e-02 9.99316364e-01 -3.66737970e-04 7.64838057e+00] [ 2.30158192e-02 -4.84551154e-04 9.99734984e-01 4.34247628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9892541539999 meters Centerline goodness [0,1] 0.9990797808594418 Centerline is valid? [True, True] Translation: X:473.86, Y:7.65, Z:4.34 [[ 9.99008306e-01 -3.80679788e-02 -2.30918388e-02 4.73857091e+02] [ 3.80696322e-02 9.99275021e-01 -3.68161650e-04 7.64675922e+00] [ 2.30891129e-02 -5.11301263e-04 9.99733280e-01 4.34239737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.01925415399995 meters Centerline goodness [0,1] 0.9989720746959054 Centerline is valid? [True, True] Translation: X:473.89, Y:7.65, Z:4.34 [[ 9.98972177e-01 -3.92435050e-02 -2.26833935e-02 4.73887903e+02] [ 3.92454048e-02 9.99229537e-01 -3.61577725e-04 7.64729193e+00] [ 2.26801064e-02 -5.29012873e-04 9.99742633e-01 4.34343673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0492541539999 meters Centerline goodness [0,1] 0.9990176397727758 Centerline is valid? [True, True] Translation: X:473.92, Y:7.65, Z:4.34 [[ 9.98941346e-01 -4.01669632e-02 -2.24232677e-02 4.73919363e+02] [ 4.01690663e-02 9.99192834e-01 -3.56801344e-04 7.64707335e+00] [ 2.24195000e-02 -5.44298110e-04 9.99748503e-01 4.34404666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07925415399995 meters Centerline goodness [0,1] 0.9990801745529221 Centerline is valid? [True, True] Translation: X:473.95, Y:7.65, Z:4.35 [[ 9.98879536e-01 -4.22245176e-02 -2.13719968e-02 4.73950193e+02] [ 4.22269100e-02 9.99107989e-01 -3.39534057e-04 7.64846728e+00] [ 2.13672694e-02 -5.63319763e-04 9.99771535e-01 4.34681606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1092541539999 meters Centerline goodness [0,1] 0.9991669870562604 Centerline is valid? [True, True] Translation: X:473.98, Y:7.65, Z:4.35 [[ 9.98831267e-01 -4.34810130e-02 -2.11069277e-02 4.73980989e+02] [ 4.34836440e-02 9.99054083e-01 -3.34504036e-04 7.64703232e+00] [ 2.11015069e-02 -5.83693041e-04 9.99777168e-01 4.34685453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13925415399996 meters Centerline goodness [0,1] 0.9989316695867698 Centerline is valid? [True, True] Translation: X:474.01, Y:7.65, Z:4.35 [[ 9.98785553e-01 -4.46989267e-02 -2.07225586e-02 4.74012981e+02] [ 4.47017520e-02 9.99000324e-01 -3.27087808e-04 7.64637770e+00] [ 2.07164632e-02 -5.99644099e-04 9.99785211e-01 4.34736322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.16925415399993 meters Centerline goodness [0,1] 0.998740204556616 Centerline is valid? [True, True] Translation: X:474.04, Y:7.64, Z:4.35 [[ 9.98593120e-01 -4.87908029e-02 -2.07662533e-02 4.74042938e+02] [ 4.87945379e-02 9.98808784e-01 -3.27102203e-04 7.64126104e+00] [ 2.07574758e-02 -6.86637725e-04 9.99784305e-01 4.34538294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19925415399996 meters Centerline goodness [0,1] 0.9988043130137717 Centerline is valid? [True, True] Translation: X:474.07, Y:7.64, Z:4.35 [[ 9.98433233e-01 -5.23459734e-02 -1.97731661e-02 4.74072990e+02] [ 5.23500556e-02 9.98628747e-01 -3.11459466e-04 7.63667875e+00] [ 1.97623557e-02 -7.24154862e-04 9.99804443e-01 4.34611449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.22925415399993 meters Centerline goodness [0,1] 0.9991035792798754 Centerline is valid? [True, True] Translation: X:474.10, Y:7.63, Z:4.35 [[ 9.98253795e-01 -5.57040677e-02 -1.96575122e-02 4.74103322e+02] [ 5.57087555e-02 9.98447014e-01 -3.09468924e-04 7.63309648e+00] [ 1.96442231e-02 -7.86167017e-04 9.99806725e-01 4.34630640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25925415399996 meters Centerline goodness [0,1] 0.9989119535766859 Centerline is valid? [True, True] Translation: X:474.13, Y:7.64, Z:4.35 [[ 9.98047181e-01 -5.91890388e-02 -1.99620341e-02 4.74134228e+02] [ 5.91945757e-02 9.98246414e-01 -3.13914742e-04 7.63833523e+00] [ 1.99456093e-02 -8.68342414e-04 9.99800689e-01 4.34746802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.28925415399993 meters Centerline goodness [0,1] 0.9989339701085218 Centerline is valid? [True, True] Translation: X:474.16, Y:7.63, Z:4.35 [[ 9.97599934e-01 -6.66194489e-02 -1.88738306e-02 4.74164993e+02] [ 6.66257280e-02 9.97777994e-01 -2.96612421e-04 7.63419684e+00] [ 1.88516530e-02 -9.61582171e-04 9.99821829e-01 4.34936624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31925415399996 meters Centerline goodness [0,1] 0.998891919536311 Centerline is valid? [True, True] Translation: X:474.20, Y:7.63, Z:4.35 [[ 9.97403663e-01 -6.96641334e-02 -1.82439419e-02 4.74196335e+02] [ 6.96705145e-02 9.97570016e-01 -2.86359459e-04 7.63351526e+00] [ 1.82195584e-02 -9.85448845e-04 9.99833524e-01 4.35030831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.34925415399994 meters Centerline goodness [0,1] 0.9989142930131563 Centerline is valid? [True, True] Translation: X:474.23, Y:7.63, Z:4.35 [[ 9.97023695e-01 -7.51011275e-02 -1.74233022e-02 4.74226049e+02] [ 7.51077779e-02 9.97175384e-01 -2.73273757e-04 7.62676281e+00] [ 1.73946113e-02 -1.03616510e-03 9.99848165e-01 4.35076017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37925415399997 meters Centerline goodness [0,1] 0.9988105099938401 Centerline is valid? [True, True] Translation: X:474.26, Y:7.63, Z:4.35 [[ 9.96852780e-01 -7.72744336e-02 -1.76973636e-02 4.74257409e+02] [ 7.72816388e-02 9.97009263e-01 -2.77421134e-04 7.62555268e+00] [ 1.76658730e-02 -1.09113323e-03 9.99843351e-01 4.35074131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.40925415399994 meters Centerline goodness [0,1] 0.9987658261517183 Centerline is valid? [True, True] Translation: X:474.29, Y:7.62, Z:4.35 [[ 9.96684341e-01 -7.92426514e-02 -1.84641803e-02 4.74288995e+02] [ 7.92508435e-02 9.96854664e-01 -2.88768453e-04 7.62427430e+00] [ 1.84289870e-02 -1.17549087e-03 9.99829481e-01 4.35012234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4392541539999 meters Centerline goodness [0,1] 0.998934946534316 Centerline is valid? [True, True] Translation: X:474.32, Y:7.62, Z:4.35 [[ 9.96437463e-01 -8.18234041e-02 -2.04282338e-02 4.74320470e+02] [ 8.18339878e-02 9.96645924e-01 -3.18724468e-04 7.62158024e+00] [ 2.03857951e-02 -1.35413484e-03 9.99791271e-01 4.34801961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.46925415399994 meters Centerline goodness [0,1] 0.9988093213131485 Centerline is valid? [True, True] Translation: X:474.35, Y:7.62, Z:4.35 [[ 9.96373388e-01 -8.23849475e-02 -2.12789101e-02 4.74353072e+02] [ 8.23965841e-02 9.96599565e-01 -3.30805246e-04 7.62107588e+00] [ 2.12338060e-02 -1.42370396e-03 9.99773524e-01 4.34698144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4992541539999 meters Centerline goodness [0,1] 0.9989780275932549 Centerline is valid? [True, True] Translation: X:474.39, Y:7.62, Z:4.35 [[ 9.96319157e-01 -8.29569257e-02 -2.15936500e-02 4.74385141e+02] [ 8.29690767e-02 9.96552066e-01 -3.34134983e-04 7.62398167e+00] [ 2.15469153e-02 -1.45870012e-03 9.99766774e-01 4.34817252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.52925415399994 meters Centerline goodness [0,1] 0.9989136917440573 Centerline is valid? [True, True] Translation: X:474.42, Y:7.63, Z:4.35 [[ 9.96376791e-01 -8.23534342e-02 -2.12415123e-02 4.74417335e+02] [ 8.23650881e-02 9.96602170e-01 -3.27145566e-04 7.62570842e+00] [ 2.11962788e-02 -1.42359878e-03 9.99774320e-01 4.34792487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5592541539999 meters Centerline goodness [0,1] 0.9990410637799135 Centerline is valid? [True, True] Translation: X:474.45, Y:7.63, Z:4.35 [[ 9.96551181e-01 -8.03371067e-02 -2.07772124e-02 4.74448676e+02] [ 8.03478429e-02 9.96766835e-01 -3.18895298e-04 7.63122804e+00] [ 2.07356554e-02 -1.35160871e-03 9.99784080e-01 4.35015779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.58925415399995 meters Centerline goodness [0,1] 0.9991040764521427 Centerline is valid? [True, True] Translation: X:474.48, Y:7.63, Z:4.35 [[ 9.96742291e-01 -7.80667936e-02 -2.02578555e-02 4.74479709e+02] [ 7.80765476e-02 9.96947319e-01 -3.10178987e-04 7.62635446e+00] [ 2.02202294e-02 -1.27249491e-03 9.99794740e-01 4.34873161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6192541539999 meters Centerline goodness [0,1] 0.9991040764521427 Centerline is valid? [True, True] Translation: X:474.51, Y:7.63, Z:4.35 [[ 9.96750485e-01 -7.79621003e-02 -2.02578783e-02 4.74512308e+02] [ 7.79718630e-02 9.96955512e-01 -3.08688449e-04 7.62675388e+00] [ 2.02202694e-02 -1.27185915e-03 9.99794740e-01 4.34903692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.64925415399995 meters Centerline goodness [0,1] 0.9990596683193709 Centerline is valid? [True, True] Translation: X:474.54, Y:7.64, Z:4.35 [[ 9.97182965e-01 -7.22869306e-02 -2.00183472e-02 4.74543025e+02] [ 7.22953471e-02 9.97383221e-01 -3.03876490e-04 7.63941201e+00] [ 1.99879300e-02 -1.14421290e-03 9.99799567e-01 4.35215513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6792541539999 meters Centerline goodness [0,1] 0.9990794459549143 Centerline is valid? [True, True] Translation: X:474.57, Y:7.64, Z:4.35 [[ 9.97456978e-01 -6.86250092e-02 -1.92402085e-02 4.74572915e+02] [ 6.86321077e-02 9.97641994e-01 -2.91904031e-04 7.64119697e+00] [ 1.92148719e-02 -1.02933435e-03 9.99814847e-01 4.35255903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.70925415399995 meters Centerline goodness [0,1] 0.9988697673426737 Centerline is valid? [True, True] Translation: X:474.60, Y:7.65, Z:4.35 [[ 9.98020841e-01 -6.02895162e-02 -1.78766810e-02 4.74603706e+02] [ 6.02943119e-02 9.98180606e-01 -2.71079638e-04 7.64839733e+00] [ 1.78604996e-02 -8.07319053e-04 9.99840163e-01 4.35353645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7392541539999 meters Centerline goodness [0,1] 0.9992725405451667 Centerline is valid? [True, True] Translation: X:474.63, Y:7.65, Z:4.35 [[ 9.98286576e-01 -5.58464167e-02 -1.74668328e-02 4.74633420e+02] [ 5.58503185e-02 9.98439118e-01 -2.64716845e-04 7.64777552e+00] [ 1.74543526e-02 -7.11264904e-04 9.99847408e-01 4.35325915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.76925415399995 meters Centerline goodness [0,1] 0.9993581377436402 Centerline is valid? [True, True] Translation: X:474.66, Y:7.66, Z:4.36 [[ 9.98540224e-01 -5.13143938e-02 -1.68598461e-02 4.74664072e+02] [ 5.13173862e-02 9.98682362e-01 -2.55381721e-04 7.65838221e+00] [ 1.68507357e-02 -6.10194315e-04 9.99857830e-01 4.35524559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7992541539999 meters Centerline goodness [0,1] 0.9993786956894335 Centerline is valid? [True, True] Translation: X:474.69, Y:7.66, Z:4.36 [[ 9.98758200e-01 -4.69374374e-02 -1.67013363e-02 4.74694491e+02] [ 4.69397675e-02 9.98897690e-01 -2.52678636e-04 7.66160948e+00] [ 1.66947863e-02 -5.31591982e-04 9.99860491e-01 4.35539315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.82925415399995 meters Centerline goodness [0,1] 0.9993340637150652 Centerline is valid? [True, True] Translation: X:474.72, Y:7.67, Z:4.36 [[ 9.99130107e-01 -3.85076175e-02 -1.60060100e-02 4.74724750e+02] [ 3.85086790e-02 9.99258236e-01 -2.41995261e-04 7.67057950e+00] [ 1.60034560e-02 -3.74585551e-04 9.99871866e-01 4.35672199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8592541539999 meters Centerline goodness [0,1] 0.9992697908165457 Centerline is valid? [True, True] Translation: X:474.75, Y:7.67, Z:4.36 [[ 9.99273324e-01 -3.45782056e-02 -1.60366008e-02 4.74754955e+02] [ 3.45787673e-02 9.99401946e-01 -2.42336001e-04 7.67279652e+00] [ 1.60353896e-02 -3.12365987e-04 9.99871376e-01 4.35651590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.88925415399996 meters Centerline goodness [0,1] 0.9992267210825905 Centerline is valid? [True, True] Translation: X:474.79, Y:7.67, Z:4.36 [[ 9.99381309e-01 -3.12183069e-02 -1.61992888e-02 4.74785422e+02] [ 3.12184436e-02 9.99512556e-01 -2.44500046e-04 7.67486569e+00] [ 1.61990255e-02 -2.61367808e-04 9.99868753e-01 4.35600068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.91925415399993 meters Centerline goodness [0,1] 0.9991159029649596 Centerline is valid? [True, True] Translation: X:474.82, Y:7.68, Z:4.35 [[ 9.99533228e-01 -2.51981157e-02 -1.72737209e-02 4.74816756e+02] [ 2.51973802e-02 9.99682462e-01 -2.60252755e-04 7.67962295e+00] [ 1.72747937e-02 -1.75121237e-04 9.99850764e-01 4.35471133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.94925415399996 meters Centerline goodness [0,1] 0.9991590477833362 Centerline is valid? [True, True] Translation: X:474.85, Y:7.68, Z:4.35 [[ 9.99562743e-01 -2.34639016e-02 -1.79935723e-02 4.74847268e+02] [ 2.34628289e-02 9.99724673e-01 -2.70745322e-04 7.68168465e+00] [ 1.79949709e-02 -1.51553171e-04 9.99838066e-01 4.35499549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.97925415399993 meters Centerline goodness [0,1] 0.9993081230676093 Centerline is valid? [True, True] Translation: X:474.88, Y:7.68, Z:4.35 [[ 9.99595267e-01 -2.19425672e-02 -1.81059711e-02 4.74877160e+02] [ 2.19412258e-02 9.99759225e-01 -2.72753936e-04 7.68319035e+00] [ 1.81075965e-02 -1.24623657e-04 9.99836036e-01 4.35462533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.00925415399996 meters Centerline goodness [0,1] 0.9992225461613217 Centerline is valid? [True, True] Translation: X:474.91, Y:7.68, Z:4.35 [[ 9.99609970e-01 -2.12696763e-02 -1.80972037e-02 4.74905920e+02] [ 2.12682113e-02 9.99773769e-01 -2.73434116e-04 7.68400270e+00] [ 1.80989254e-02 -1.11567683e-04 9.99836195e-01 4.35476943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.03925415399993 meters Centerline goodness [0,1] 0.9992872108343953 Centerline is valid? [True, True] Translation: X:474.93, Y:7.68, Z:4.36 [[ 9.99611419e-01 -2.12138251e-02 -1.80827039e-02 4.74934225e+02] [ 2.12123036e-02 9.99774956e-01 -2.75962536e-04 7.68406541e+00] [ 1.80844887e-02 -1.07720501e-04 9.99836456e-01 4.35580514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.06925415399996 meters Centerline goodness [0,1] 0.9992013469176309 Centerline is valid? [True, True] Translation: X:474.96, Y:7.68, Z:4.36 [[ 9.99610994e-01 -2.19239283e-02 -1.72395350e-02 4.74963162e+02] [ 2.19225766e-02 9.99759636e-01 -2.67408184e-04 7.68303611e+00] [ 1.72412538e-02 -1.10630865e-04 9.99851352e-01 4.35535998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.09925415399994 meters Centerline goodness [0,1] 0.9992018637559861 Centerline is valid? [True, True] Translation: X:474.99, Y:7.68, Z:4.36 [[ 9.99568607e-01 -2.44331502e-02 -1.62979056e-02 4.74991649e+02] [ 2.44322325e-02 9.99701456e-01 -2.55447621e-04 7.68028364e+00] [ 1.62992814e-02 -1.42856797e-04 9.99867148e-01 4.35583133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.12925415399997 meters Centerline goodness [0,1] 0.999289038262668 Centerline is valid? [True, True] Translation: X:475.02, Y:7.68, Z:4.35 [[ 9.99544344e-01 -2.55715614e-02 -1.60374156e-02 4.75021807e+02] [ 2.55708112e-02 9.99672982e-01 -2.51865482e-04 7.67903878e+00] [ 1.60386117e-02 -1.58339009e-04 9.99871361e-01 4.35491529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.15925415399994 meters Centerline goodness [0,1] 0.999266798930389 Centerline is valid? [True, True] Translation: X:475.05, Y:7.68, Z:4.36 [[ 9.99489825e-01 -2.78025909e-02 -1.57195799e-02 4.75052649e+02] [ 2.78021478e-02 9.99613415e-01 -2.46760359e-04 7.67813063e+00] [ 1.57203635e-02 -1.90403615e-04 9.99876409e-01 4.35666071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.1892541539999 meters Centerline goodness [0,1] 0.9991812285880503 Centerline is valid? [True, True] Translation: X:475.08, Y:7.68, Z:4.36 [[ 9.99345607e-01 -3.27545333e-02 -1.53459784e-02 4.75084412e+02] [ 3.27547063e-02 9.99463392e-01 -2.40129842e-04 7.67589411e+00] [ 1.53456089e-02 -2.62680312e-04 9.99882215e-01 4.35732323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.21925415399994 meters Centerline goodness [0,1] 0.9990112842557765 Centerline is valid? [True, True] Translation: X:475.12, Y:7.67, Z:4.36 [[ 9.99260561e-01 -3.52185963e-02 -1.54266726e-02 4.75115966e+02] [ 3.52190846e-02 9.99379587e-01 -2.40103183e-04 7.67317786e+00] [ 1.54255578e-02 -3.03387647e-04 9.99880973e-01 4.35572139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.2492541539999 meters Centerline goodness [0,1] 0.9989920003431488 Centerline is valid? [True, True] Translation: X:475.15, Y:7.67, Z:4.35 [[ 9.99142869e-01 -3.84075403e-02 -1.54398505e-02 4.75147502e+02] [ 3.84084233e-02 9.99262096e-01 -2.39445422e-04 7.67016840e+00] [ 1.54376539e-02 -3.53780127e-04 9.99880770e-01 4.35491857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.27925415399994 meters Centerline goodness [0,1] 0.9990157059100441 Centerline is valid? [True, True] Translation: X:475.18, Y:7.66, Z:4.36 [[ 9.98802374e-01 -4.64253571e-02 -1.54435897e-02 4.75178302e+02] [ 4.64272076e-02 9.98921647e-01 -2.38874931e-04 7.66339329e+00] [ 1.54380259e-02 -4.78413894e-04 9.99880712e-01 4.35725925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3092541539999 meters Centerline goodness [0,1] 0.9990381532542482 Centerline is valid? [True, True] Translation: X:475.21, Y:7.66, Z:4.36 [[ 9.98634896e-01 -5.00720051e-02 -1.48707351e-02 4.75210695e+02] [ 5.00741330e-02 9.98745477e-01 -2.29450277e-04 7.66032621e+00] [ 1.48635685e-02 -5.15502115e-04 9.99889398e-01 4.35759198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.33925415399995 meters Centerline goodness [0,1] 0.998721881390593 Centerline is valid? [True, True] Translation: X:475.24, Y:7.65, Z:4.36 [[ 9.98273408e-01 -5.69298564e-02 -1.44635456e-02 4.75241335e+02] [ 5.69325975e-02 9.98377999e-01 -2.22486026e-04 7.65320618e+00] [ 1.44527519e-02 -6.01345340e-04 9.99895373e-01 4.35606642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3692541539999 meters Centerline goodness [0,1] 0.998721881390593 Centerline is valid? [True, True] Translation: X:475.27, Y:7.65, Z:4.36 [[ 9.98279675e-01 -5.68198556e-02 -1.44635548e-02 4.75273900e+02] [ 5.68225938e-02 9.98384267e-01 -2.21888245e-04 7.65361681e+00] [ 1.44527932e-02 -6.00350175e-04 9.99895373e-01 4.35637151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.39925415399995 meters Centerline goodness [0,1] 0.9989356267029973 Centerline is valid? [True, True] Translation: X:475.30, Y:7.65, Z:4.36 [[ 9.97881174e-01 -6.33957711e-02 -1.46334901e-02 4.75304381e+02] [ 6.33992950e-02 9.97988216e-01 -2.23427679e-04 7.64995224e+00] [ 1.46182151e-02 -7.04798682e-04 9.99892900e-01 4.35886503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4292541539999 meters Centerline goodness [0,1] 0.9988718603661132 Centerline is valid? [True, True] Translation: X:475.33, Y:7.64, Z:4.36 [[ 9.97574246e-01 -6.80710888e-02 -1.45585458e-02 4.75334745e+02] [ 6.80750737e-02 9.97680177e-01 -2.22246152e-04 7.64430556e+00] [ 1.45399011e-02 -7.69367042e-04 9.99893994e-01 4.35835324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.45925415399995 meters Centerline goodness [0,1] 0.9989177948478547 Centerline is valid? [True, True] Translation: X:475.37, Y:7.64, Z:4.36 [[ 9.97469905e-01 -6.94603799e-02 -1.51342230e-02 4.75365441e+02] [ 6.94648488e-02 9.97584373e-01 -2.30828627e-04 7.64059391e+00] [ 1.51136978e-02 -8.21051906e-04 9.99885444e-01 4.35789249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4892541539999 meters Centerline goodness [0,1] 0.9987685252027687 Centerline is valid? [True, True] Translation: X:475.40, Y:7.64, Z:4.36 [[ 9.97405664e-01 -7.03679954e-02 -1.51751999e-02 4.75397640e+02] [ 7.03726050e-02 9.97520748e-01 -2.30675542e-04 7.64180657e+00] [ 1.51538089e-02 -8.37841255e-04 9.99884823e-01 4.35666517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.51925415399995 meters Centerline goodness [0,1] 0.9987487275195114 Centerline is valid? [True, True] Translation: X:475.43, Y:7.64, Z:4.36 [[ 9.97355504e-01 -7.11078312e-02 -1.50224793e-02 4.75430036e+02] [ 7.11124488e-02 9.97468279e-01 -2.27247467e-04 7.64008110e+00] [ 1.50006057e-02 -8.41638781e-04 9.99887130e-01 4.35616131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5492541539999 meters Centerline goodness [0,1] 0.9989188501653523 Centerline is valid? [True, True] Translation: X:475.46, Y:7.64, Z:4.36 [[ 9.97274090e-01 -7.21634461e-02 -1.53891857e-02 4.75461503e+02] [ 7.21684332e-02 9.97392432e-01 -2.31756335e-04 7.63765727e+00] [ 1.53657817e-02 -8.79488833e-04 9.99881553e-01 4.35879618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57925415399995 meters Centerline goodness [0,1] 0.9984933367286308 Centerline is valid? [True, True] Translation: X:475.49, Y:7.64, Z:4.36 [[ 9.97311522e-01 -7.17323919e-02 -1.49730722e-02 4.75493684e+02] [ 7.17370779e-02 9.97423552e-01 -2.24586452e-04 7.63734461e+00] [ 1.49506050e-02 -8.50141792e-04 9.99887872e-01 4.35831144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6092541539999 meters Centerline goodness [0,1] 0.9986189606085072 Centerline is valid? [True, True] Translation: X:475.53, Y:7.64, Z:4.36 [[ 9.97309468e-01 -7.16461277e-02 -1.55131639e-02 4.75526874e+02] [ 7.16511688e-02 9.97429725e-01 -2.31322242e-04 7.63875335e+00] [ 1.54898641e-02 -8.80836461e-04 9.99879637e-01 4.35963985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63925415399996 meters Centerline goodness [0,1] 0.9988288652769202 Centerline is valid? [True, True] Translation: X:475.56, Y:7.64, Z:4.36 [[ 9.97412798e-01 -6.99531486e-02 -1.65610190e-02 4.75559167e+02] [ 6.99586879e-02 9.97549859e-01 -2.45329654e-04 7.64307315e+00] [ 1.65376038e-02 -9.13892226e-04 9.99862827e-01 4.35986286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.66925415399993 meters Centerline goodness [0,1] 0.9985518974402657 Centerline is valid? [True, True] Translation: X:475.59, Y:7.64, Z:4.36 [[ 9.97462232e-01 -6.90205118e-02 -1.74718489e-02 4.75590025e+02] [ 6.90265552e-02 9.97614790e-01 -2.57646272e-04 7.64233384e+00] [ 1.74479577e-02 -9.49029114e-04 9.99847322e-01 4.35869964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69925415399996 meters Centerline goodness [0,1] 0.998766770853267 Centerline is valid? [True, True] Translation: X:475.62, Y:7.64, Z:4.36 [[ 9.97585180e-01 -6.65940111e-02 -1.97242803e-02 4.75621052e+02] [ 6.66012596e-02 9.97779629e-01 -2.89903705e-04 7.64127042e+00] [ 1.96997910e-02 -1.02445828e-03 9.99805415e-01 4.35634641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.72925415399993 meters Centerline goodness [0,1] 0.9988288652769202 Centerline is valid? [True, True] Translation: X:475.65, Y:7.64, Z:4.36 [[ 9.97672780e-01 -6.50924385e-02 -2.02977291e-02 4.75653534e+02] [ 6.50998278e-02 9.97878712e-01 -2.97202843e-04 7.64479227e+00] [ 2.02740174e-02 -1.02486748e-03 9.99793936e-01 4.35626184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75925415399996 meters Centerline goodness [0,1] 0.9986789115936162 Centerline is valid? [True, True] Translation: X:475.68, Y:7.65, Z:4.36 [[ 9.97782174e-01 -6.31060849e-02 -2.11744235e-02 4.75684598e+02] [ 6.31137043e-02 9.98006295e-01 -3.08905284e-04 7.64904555e+00] [ 2.11517017e-02 -1.02817612e-03 9.99775749e-01 4.35564639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.78925415399993 meters Centerline goodness [0,1] 0.9989771782906092 Centerline is valid? [True, True] Translation: X:475.71, Y:7.65, Z:4.36 [[ 9.98045584e-01 -5.85090213e-02 -2.19477993e-02 4.75714208e+02] [ 5.85161063e-02 9.98286413e-01 -3.19829471e-04 7.65076472e+00] [ 2.19289028e-02 -9.65095366e-04 9.99759067e-01 4.35624961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81925415399996 meters Centerline goodness [0,1] 0.9989122320571612 Centerline is valid? [True, True] Translation: X:475.75, Y:7.66, Z:4.36 [[ 9.98236536e-01 -5.53426037e-02 -2.14712640e-02 4.75746057e+02] [ 5.53486673e-02 9.98467039e-01 -3.12216339e-04 7.65807856e+00] [ 2.14556282e-02 -8.76740089e-04 9.99769417e-01 4.35858383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.84925415399994 meters Centerline goodness [0,1] 0.9990827840703057 Centerline is valid? [True, True] Translation: X:475.78, Y:7.66, Z:4.36 [[ 9.98456657e-01 -5.14462162e-02 -2.09186695e-02 4.75776959e+02] [ 5.14511371e-02 9.98675467e-01 -3.03253203e-04 7.66021736e+00] [ 2.09065633e-02 -7.73504152e-04 9.99781135e-01 4.35946865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87925415399997 meters Centerline goodness [0,1] 0.9988471638094831 Centerline is valid? [True, True] Translation: X:475.81, Y:7.67, Z:4.36 [[ 9.98667493e-01 -4.74630166e-02 -2.02608348e-02 4.75808706e+02] [ 4.74668330e-02 9.98872772e-01 -2.92776114e-04 7.66721946e+00] [ 2.02518923e-02 -6.69331674e-04 9.99794685e-01 4.36191104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.90925415399994 meters Centerline goodness [0,1] 0.9989294966493245 Centerline is valid? [True, True] Translation: X:475.84, Y:7.67, Z:4.36 [[ 9.99047549e-01 -3.95495628e-02 -1.84343809e-02 4.75839328e+02] [ 3.95513884e-02 9.99217502e-01 -2.65680200e-04 7.67426615e+00] [ 1.84304636e-02 -4.63678207e-04 9.99830037e-01 4.36499330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9392541539999 meters Centerline goodness [0,1] 0.9991433405435505 Centerline is valid? [True, True] Translation: X:475.87, Y:7.68, Z:4.37 [[ 9.99186029e-01 -3.63259473e-02 -1.75415221e-02 4.75870941e+02] [ 3.63271131e-02 9.99339921e-01 -2.52285203e-04 7.67725931e+00] [ 1.75391079e-02 -3.85153008e-04 9.99846104e-01 4.36605072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.96925415399994 meters Centerline goodness [0,1] 0.9990792685538092 Centerline is valid? [True, True] Translation: X:475.90, Y:7.68, Z:4.37 [[ 9.99290097e-01 -3.35190437e-02 -1.71981432e-02 4.75902757e+02] [ 3.35197620e-02 9.99438024e-01 -2.46573108e-04 7.67959007e+00] [ 1.71967431e-02 -3.30079602e-04 9.99852071e-01 4.36675836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9992541539999 meters Centerline goodness [0,1] 0.9990129602609218 Centerline is valid? [True, True] Translation: X:475.93, Y:7.68, Z:4.37 [[ 9.99439589e-01 -2.91489474e-02 -1.64574208e-02 4.75934529e+02] [ 2.91490274e-02 9.99575049e-01 -2.35061436e-04 7.68368166e+00] [ 1.64572790e-02 -2.44788106e-04 9.99864540e-01 4.36758241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.02925415399994 meters Centerline goodness [0,1] 0.999104248421771 Centerline is valid? [True, True] Translation: X:475.97, Y:7.68, Z:4.37 [[ 9.99485653e-01 -2.74797909e-02 -1.65315156e-02 4.75965034e+02] [ 2.74796543e-02 9.99622335e-01 -2.35461844e-04 7.68416158e+00] [ 1.65317427e-02 -2.18939599e-04 9.99863317e-01 4.36755935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0592541539999 meters Centerline goodness [0,1] 0.999099601251983 Centerline is valid? [True, True] Translation: X:476.00, Y:7.69, Z:4.37 [[ 9.99552473e-01 -2.48124470e-02 -1.67091680e-02 4.75996262e+02] [ 2.48119421e-02 9.99692108e-01 -2.37555667e-04 7.68714768e+00] [ 1.67099177e-02 -1.77137555e-04 9.99860364e-01 4.36834230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.08925415399995 meters Centerline goodness [0,1] 0.9989299319436716 Centerline is valid? [True, True] Translation: X:476.03, Y:7.69, Z:4.37 [[ 9.99569418e-01 -2.37230743e-02 -1.72683013e-02 4.76026622e+02] [ 2.37223785e-02 9.99718555e-01 -2.45158999e-04 7.68868199e+00] [ 1.72692571e-02 -1.64591742e-04 9.99850862e-01 4.36851619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1192541539999 meters Centerline goodness [0,1] 0.9990777875479873 Centerline is valid? [True, True] Translation: X:476.06, Y:7.69, Z:4.37 [[ 9.99589523e-01 -2.24760625e-02 -1.77654589e-02 4.76056184e+02] [ 2.24751238e-02 9.99747371e-01 -2.52518663e-04 7.68995045e+00] [ 1.77666465e-02 -1.46865878e-04 9.99842150e-01 4.36862255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.14925415399995 meters Centerline goodness [0,1] 0.9991425692911191 Centerline is valid? [True, True] Translation: X:476.09, Y:7.69, Z:4.37 [[ 9.99617882e-01 -2.06471806e-02 -1.83788949e-02 4.76085244e+02] [ 2.06458517e-02 9.99786817e-01 -2.62067223e-04 7.69126843e+00] [ 1.83803878e-02 -1.17480855e-04 9.99831060e-01 4.36889286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1792541539999 meters Centerline goodness [0,1] 0.9991205679843848 Centerline is valid? [True, True] Translation: X:476.11, Y:7.69, Z:4.37 [[ 9.99626643e-01 -2.01376907e-02 -1.84674641e-02 4.76113491e+02] [ 2.01362379e-02 9.99797210e-01 -2.64635731e-04 7.69141620e+00] [ 1.84690482e-02 -1.07328323e-04 9.99829427e-01 4.36716899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.20925415399995 meters Centerline goodness [0,1] 0.9991001606855918 Centerline is valid? [True, True] Translation: X:476.14, Y:7.69, Z:4.37 [[ 9.99605106e-01 -2.11941119e-02 -1.84510424e-02 4.76141293e+02] [ 2.11927776e-02 9.99775372e-01 -2.67868696e-04 7.69191040e+00] [ 1.84525750e-02 -1.23265922e-04 9.99829729e-01 4.36977416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2392541539999 meters Centerline goodness [0,1] 0.9991424038420308 Centerline is valid? [True, True] Translation: X:476.17, Y:7.69, Z:4.37 [[ 9.99558176e-01 -2.30785228e-02 -1.87305790e-02 4.76169526e+02] [ 2.30774188e-02 9.99733643e-01 -2.75112335e-04 7.68841847e+00] [ 1.87319392e-02 -1.57262632e-04 9.99824529e-01 4.36886863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.26925415399995 meters Centerline goodness [0,1] 0.9990795641843441 Centerline is valid? [True, True] Translation: X:476.20, Y:7.69, Z:4.37 [[ 9.99506398e-01 -2.49246448e-02 -1.91238876e-02 4.76198738e+02] [ 2.49237764e-02 9.99689314e-01 -2.83790149e-04 7.68701930e+00] [ 1.91250194e-02 -1.92989428e-04 9.99817081e-01 4.36924161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2992541539999 meters Centerline goodness [0,1] 0.9992084884268173 Centerline is valid? [True, True] Translation: X:476.23, Y:7.68, Z:4.37 [[ 9.99451445e-01 -2.69991013e-02 -1.91796388e-02 4.76227855e+02] [ 2.69985538e-02 9.99635431e-01 -2.87525666e-04 7.68444865e+00] [ 1.91804094e-02 -2.30454568e-04 9.99816012e-01 4.36873725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.32925415399995 meters Centerline goodness [0,1] 0.9989541311818317 Centerline is valid? [True, True] Translation: X:476.26, Y:7.68, Z:4.37 [[ 9.99281021e-01 -3.23996287e-02 -1.96902527e-02 4.76257093e+02] [ 3.24000782e-02 9.99474936e-01 -2.96269093e-04 7.68072612e+00] [ 1.96895130e-02 -3.41909644e-04 9.99806084e-01 4.36902503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3592541539999 meters Centerline goodness [0,1] 0.9989125335835217 Centerline is valid? [True, True] Translation: X:476.29, Y:7.68, Z:4.37 [[ 9.99194171e-01 -3.48775667e-02 -1.98636369e-02 4.76287832e+02] [ 3.48785069e-02 9.99391515e-01 -2.99208474e-04 7.67659355e+00] [ 1.98619858e-02 -3.93846634e-04 9.99802654e-01 4.36706171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.38925415399996 meters Centerline goodness [0,1] 0.9989123248523107 Centerline is valid? [True, True] Translation: X:476.32, Y:7.67, Z:4.37 [[ 9.98945062e-01 -4.15150129e-02 -1.96282144e-02 4.76318362e+02] [ 4.15172180e-02 9.99137745e-01 -2.95313676e-04 7.66989448e+00] [ 1.96235498e-02 -5.19906715e-04 9.99807304e-01 4.36845163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.41925415399993 meters Centerline goodness [0,1] 0.9988529430507467 Centerline is valid? [True, True] Translation: X:476.35, Y:7.67, Z:4.37 [[ 9.98795250e-01 -4.48665427e-02 -1.98756459e-02 4.76349889e+02] [ 4.48694775e-02 9.98992813e-01 -2.98487504e-04 7.66982871e+00] [ 1.98690195e-02 -5.93681946e-04 9.99802415e-01 4.36984982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.44925415399996 meters Centerline goodness [0,1] 0.9990260427694262 Centerline is valid? [True, True] Translation: X:476.38, Y:7.66, Z:4.37 [[ 9.98631075e-01 -4.84441456e-02 -1.97266336e-02 4.76380374e+02] [ 4.84477441e-02 9.98825675e-01 -2.95722956e-04 7.66230037e+00] [ 1.97177942e-02 -6.60392762e-04 9.99805367e-01 4.36922149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.47925415399993 meters Centerline goodness [0,1] 0.9988146392058083 Centerline is valid? [True, True] Translation: X:476.41, Y:7.66, Z:4.37 [[ 9.98214529e-01 -5.63414750e-02 -1.98341185e-02 4.76411014e+02] [ 5.63466727e-02 9.98411220e-01 -2.97133646e-04 7.65712034e+00] [ 1.98193474e-02 -8.20983464e-04 9.99803240e-01 4.37089689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.50925415399996 meters Centerline goodness [0,1] 0.9988146392058083 Centerline is valid? [True, True] Translation: X:476.44, Y:7.66, Z:4.37 [[ 9.98218528e-01 -5.62705775e-02 -1.98341301e-02 4.76442730e+02] [ 5.62757766e-02 9.98415219e-01 -2.96363290e-04 7.65753234e+00] [ 1.98193738e-02 -8.20345744e-04 9.99803240e-01 4.37119403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.53925415399993 meters Centerline goodness [0,1] 0.9989420900069822 Centerline is valid? [True, True] Translation: X:476.47, Y:7.66, Z:4.37 [[ 9.98007695e-01 -5.99339435e-02 -1.97120212e-02 4.76473740e+02] [ 5.99398085e-02 9.98201950e-01 -2.93686900e-04 7.65702354e+00] [ 1.96941798e-02 -8.88432991e-04 9.99805656e-01 4.37264898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.56925415399996 meters Centerline goodness [0,1] 0.9988587370022826 Centerline is valid? [True, True] Translation: X:476.50, Y:7.65, Z:4.37 [[ 9.97819195e-01 -6.30133766e-02 -1.96511762e-02 4.76503592e+02] [ 6.30198046e-02 9.98012234e-01 -2.92608330e-04 7.65169814e+00] [ 1.96305525e-02 -9.46443078e-04 9.99806854e-01 4.37246077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.59925415399994 meters Centerline goodness [0,1] 0.9987530381485786 Centerline is valid? [True, True] Translation: X:476.54, Y:7.65, Z:4.37 [[ 9.97663154e-01 -6.53735750e-02 -1.98627245e-02 4.76535036e+02] [ 6.53806162e-02 9.97860355e-01 -2.95378694e-04 7.64940500e+00] [ 1.98395353e-02 -1.00394873e-03 9.99802673e-01 4.37285684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.62925415399997 meters Centerline goodness [0,1] 0.9987525635875425 Centerline is valid? [True, True] Translation: X:476.57, Y:7.64, Z:4.37 [[ 9.97581888e-01 -6.63871434e-02 -2.05699770e-02 4.76566639e+02] [ 6.63949297e-02 9.97793376e-01 -3.04938339e-04 7.64347908e+00] [ 2.05448307e-02 -1.06154121e-03 9.99788369e-01 4.37190367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.65925415399994 meters Centerline goodness [0,1] 0.9986048576320629 Centerline is valid? [True, True] Translation: X:476.60, Y:7.64, Z:4.37 [[ 9.97677715e-01 -6.48374869e-02 -2.08632799e-02 4.76599420e+02] [ 6.48451908e-02 9.97895288e-01 -3.07758632e-04 7.64415672e+00] [ 2.08393230e-02 -1.04583944e-03 9.99782291e-01 4.37197321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.6892541539999 meters Centerline goodness [0,1] 0.998775363695868 Centerline is valid? [True, True] Translation: X:476.63, Y:7.65, Z:4.37 [[ 9.98047670e-01 -5.88457691e-02 -2.09290150e-02 4.76629308e+02] [ 5.88522202e-02 9.98266658e-01 -3.08088184e-04 7.64686585e+00] [ 2.09108675e-02 -9.24232304e-04 9.99780917e-01 4.37287445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.71925415399994 meters Centerline goodness [0,1] 0.9989629629629629 Centerline is valid? [True, True] Translation: X:476.66, Y:7.65, Z:4.38 [[ 9.98301789e-01 -5.44100142e-02 -2.08107828e-02 4.76660339e+02] [ 5.44154315e-02 9.98518336e-01 -3.06292710e-04 7.65406176e+00] [ 2.07966136e-02 -8.26655169e-04 9.99783385e-01 4.37503566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.7492541539999 meters Centerline goodness [0,1] 0.9987723568631601 Centerline is valid? [True, True] Translation: X:476.69, Y:7.66, Z:4.38 [[ 9.98760625e-01 -4.50774532e-02 -2.11006498e-02 4.76689640e+02] [ 4.50809408e-02 9.98983289e-01 -3.10600442e-04 7.66092361e+00] [ 2.10931976e-02 -6.41021653e-04 9.99777308e-01 4.37655072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.77925415399994 meters Centerline goodness [0,1] 0.9988126788932471 Centerline is valid? [True, True] Translation: X:476.72, Y:7.66, Z:4.38 [[ 9.98967156e-01 -4.04175288e-02 -2.07616132e-02 4.76721110e+02] [ 4.04199044e-02 9.99182735e-01 -3.05370341e-04 7.66456355e+00] [ 2.07569878e-02 -5.34127482e-04 9.99784408e-01 4.37695067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8092541539999 meters Centerline goodness [0,1] 0.9989613582889968 Centerline is valid? [True, True] Translation: X:476.75, Y:7.67, Z:4.38 [[ 9.99107273e-01 -3.65800740e-02 -2.11318345e-02 4.76752012e+02] [ 3.65816889e-02 9.99330618e-01 -3.10265763e-04 7.66813833e+00] [ 2.11290388e-02 -4.63049415e-04 9.99776650e-01 4.37735073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.83925415399995 meters Centerline goodness [0,1] 0.9987909640470888 Centerline is valid? [True, True] Translation: X:476.78, Y:7.67, Z:4.38 [[ 9.99218886e-01 -3.33453714e-02 -2.12062188e-02 4.76781974e+02] [ 3.33462731e-02 9.99443810e-01 -3.11190189e-04 7.67028235e+00] [ 2.12048008e-02 -3.96201249e-04 9.99775074e-01 4.37716520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8692541539999 meters Centerline goodness [0,1] 0.998876928292931 Centerline is valid? [True, True] Translation: X:476.81, Y:7.67, Z:4.38 [[ 9.99334229e-01 -2.98232106e-02 -2.10160823e-02 4.76811489e+02] [ 2.98233132e-02 9.99555138e-01 -3.08604747e-04 7.67229221e+00] [ 2.10159367e-02 -3.18369920e-04 9.99779090e-01 4.37756418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.89925415399995 meters Centerline goodness [0,1] 0.9990486660183502 Centerline is valid? [True, True] Translation: X:476.84, Y:7.67, Z:4.38 [[ 9.99357653e-01 -2.92684087e-02 -2.06795215e-02 4.76841398e+02] [ 2.92683773e-02 9.99571543e-01 -3.04241703e-04 7.67403087e+00] [ 2.06795659e-02 -3.01209764e-04 9.99786110e-01 4.37909363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9292541539999 meters Centerline goodness [0,1] 0.9989198576753643 Centerline is valid? [True, True] Translation: X:476.87, Y:7.67, Z:4.38 [[ 9.99361850e-01 -2.93682762e-02 -2.03321829e-02 4.76870091e+02] [ 2.93682473e-02 9.99568615e-01 -3.00072349e-04 7.67303496e+00] [ 2.03322245e-02 -2.97239719e-04 9.99793235e-01 4.37831047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.95925415399995 meters Centerline goodness [0,1] 0.9990692361390223 Centerline is valid? [True, True] Translation: X:476.90, Y:7.67, Z:4.38 [[ 9.99278087e-01 -3.21386278e-02 -2.02586535e-02 4.76899238e+02] [ 3.21391422e-02 9.99483359e-01 -3.00272959e-04 7.66894202e+00] [ 2.02578374e-02 -3.51039558e-04 9.99794727e-01 4.37765995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9892541539999 meters Centerline goodness [0,1] 0.9988575538959528 Centerline is valid? [True, True] Translation: X:476.93, Y:7.67, Z:4.38 [[ 9.99203871e-01 -3.42967675e-02 -2.03802922e-02 4.76929065e+02] [ 3.42977151e-02 9.99411614e-01 -3.03143291e-04 7.66969504e+00] [ 2.03786975e-02 -3.96095504e-04 9.99792254e-01 4.37919170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.01925415399995 meters Centerline goodness [0,1] 0.998794747637071 Centerline is valid? [True, True] Translation: X:476.96, Y:7.67, Z:4.38 [[ 9.99108639e-01 -3.67714038e-02 -2.07314077e-02 4.76959482e+02] [ 3.67729096e-02 9.99323600e-01 -3.08709962e-04 7.66852037e+00] [ 2.07287367e-02 -4.53919392e-04 9.99785034e-01 4.37931951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0492541539999 meters Centerline goodness [0,1] 0.9987156272371247 Centerline is valid? [True, True] Translation: X:476.99, Y:7.66, Z:4.38 [[ 9.98848846e-01 -4.29887402e-02 -2.12826601e-02 4.76989290e+02] [ 4.29917325e-02 9.99075378e-01 -3.17134413e-04 7.66298932e+00] [ 2.12766149e-02 -5.98209086e-04 9.99773448e-01 4.37888859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07925415399995 meters Centerline goodness [0,1] 0.9987960205310183 Centerline is valid? [True, True] Translation: X:477.02, Y:7.66, Z:4.38 [[ 9.98689847e-01 -4.65432229e-02 -2.12677451e-02 4.77020246e+02] [ 4.65470171e-02 9.98916050e-01 -3.16866460e-04 7.66147753e+00] [ 2.12594399e-02 -6.73498779e-04 9.99773766e-01 4.37933921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1092541539999 meters Centerline goodness [0,1] 0.9986463334672899 Centerline is valid? [True, True] Translation: X:477.05, Y:7.66, Z:4.38 [[ 9.98530098e-01 -4.99338992e-02 -2.10772309e-02 4.77051272e+02] [ 4.99383879e-02 9.98752251e-01 -3.13648358e-04 7.65921694e+00] [ 2.10665935e-02 -7.39375607e-04 9.99777801e-01 4.37978010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13925415399996 meters Centerline goodness [0,1] 0.9986703530951225 Centerline is valid? [True, True] Translation: X:477.08, Y:7.65, Z:4.38 [[ 9.98171009e-01 -5.67700725e-02 -2.07796846e-02 4.77081328e+02] [ 5.67759223e-02 9.98386899e-01 -3.08806161e-04 7.65325604e+00] [ 2.07636958e-02 -8.71544399e-04 9.99784031e-01 4.38042124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.16925415399993 meters Centerline goodness [0,1] 0.9986292703500632 Centerline is valid? [True, True] Translation: X:477.11, Y:7.65, Z:4.38 [[ 9.97994670e-01 -5.99692705e-02 -2.02564993e-02 4.77111450e+02] [ 5.99755096e-02 9.98199804e-01 -2.99912701e-04 7.65044314e+00] [ 2.02380192e-02 -9.15582590e-04 9.99794771e-01 4.38098141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19925415399996 meters Centerline goodness [0,1] 0.9988184407637937 Centerline is valid? [True, True] Translation: X:477.14, Y:7.65, Z:4.38 [[ 9.97818208e-01 -6.29969081e-02 -1.97538081e-02 4.77141518e+02] [ 6.30034660e-02 9.98013266e-01 -2.90801915e-04 7.64779397e+00] [ 1.97328822e-02 -9.54390931e-04 9.99804832e-01 4.38176653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.22925415399993 meters Centerline goodness [0,1] 0.9986286919831223 Centerline is valid? [True, True] Translation: X:477.17, Y:7.64, Z:4.38 [[ 9.97478198e-01 -6.85689596e-02 -1.83178070e-02 4.77171998e+02] [ 6.85755494e-02 9.97645890e-01 -2.68880918e-04 7.64482119e+00] [ 1.82931217e-02 -9.87950824e-04 9.99832179e-01 4.38352416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25925415399996 meters Centerline goodness [0,1] 0.9985493230174082 Centerline is valid? [True, True] Translation: X:477.20, Y:7.64, Z:4.38 [[ 9.97357950e-01 -7.04296860e-02 -1.77982851e-02 4.77203993e+02] [ 7.04362138e-02 9.97516251e-01 -2.60617582e-04 7.64318448e+00] [ 1.77724339e-02 -9.93714799e-04 9.99841564e-01 4.38272780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.28925415399993 meters Centerline goodness [0,1] 0.9983991574512902 Centerline is valid? [True, True] Translation: X:477.24, Y:7.64, Z:4.38 [[ 9.97208100e-01 -7.25969254e-02 -1.74840325e-02 4.77235557e+02] [ 7.26035732e-02 9.97360845e-01 -2.55065689e-04 7.64226099e+00] [ 1.74564064e-02 -1.01504966e-03 9.99847110e-01 4.38312754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31925415399996 meters Centerline goodness [0,1] 0.9984209196563921 Centerline is valid? [True, True] Translation: X:477.27, Y:7.64, Z:4.39 [[ 9.96884008e-01 -7.68627906e-02 -1.77309084e-02 4.77266272e+02] [ 7.68703061e-02 9.97041067e-01 -2.58298893e-04 7.64165223e+00] [ 1.76982974e-02 -1.10548632e-03 9.99842762e-01 4.38522120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.34925415399994 meters Centerline goodness [0,1] 0.9984831886744754 Centerline is valid? [True, True] Translation: X:477.30, Y:7.64, Z:4.39 [[ 9.96752154e-01 -7.84907878e-02 -1.80094312e-02 4.77298632e+02] [ 7.84988177e-02 9.96914172e-01 -2.61702731e-04 7.64074807e+00] [ 1.79743985e-02 -1.15286630e-03 9.99837783e-01 4.38533969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37925415399997 meters Centerline goodness [0,1] 0.9985450404858299 Centerline is valid? [True, True] Translation: X:477.33, Y:7.64, Z:4.39 [[ 9.96649449e-01 -7.97259563e-02 -1.82660518e-02 4.77331005e+02] [ 7.97344477e-02 9.96816105e-01 -2.64088410e-04 7.64423550e+00] [ 1.82289493e-02 -1.19322998e-03 9.99833127e-01 4.38617937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.40925415399994 meters Centerline goodness [0,1] 0.998524980508671 Centerline is valid? [True, True] Translation: X:477.36, Y:7.64, Z:4.39 [[ 9.96468360e-01 -8.19894287e-02 -1.81256942e-02 4.77362556e+02] [ 8.19981812e-02 9.96632445e-01 -2.61046351e-04 7.64256425e+00] [ 1.80860579e-02 -1.22614953e-03 9.99835682e-01 4.38630288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4392541539999 meters Centerline goodness [0,1] 0.9983782303755344 Centerline is valid? [True, True] Translation: X:477.39, Y:7.64, Z:4.39 [[ 9.96416802e-01 -8.25611561e-02 -1.83633647e-02 4.77394346e+02] [ 8.25702550e-02 9.96585211e-01 -2.63452352e-04 7.64296466e+00] [ 1.83224086e-02 -1.25375936e-03 9.99831344e-01 4.38684592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.46925415399994 meters Centerline goodness [0,1] 0.9986315501378976 Centerline is valid? [True, True] Translation: X:477.43, Y:7.64, Z:4.39 [[ 9.96412425e-01 -8.27017006e-02 -1.79640634e-02 4.77426773e+02] [ 8.27104543e-02 9.96573587e-01 -2.56403733e-04 7.64335325e+00] [ 1.79237162e-02 -1.23033198e-03 9.99838600e-01 4.38699375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4992541539999 meters Centerline goodness [0,1] 0.9984410550265442 Centerline is valid? [True, True] Translation: X:477.46, Y:7.65, Z:4.39 [[ 9.96481294e-01 -8.19492821e-02 -1.75882267e-02 4.77459265e+02] [ 8.19575795e-02 9.96635787e-01 -2.49736595e-04 7.64598039e+00] [ 1.75495219e-02 -1.19263064e-03 9.99845284e-01 4.38768828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.52925415399994 meters Centerline goodness [0,1] 0.9985474295819123 Centerline is valid? [True, True] Translation: X:477.49, Y:7.65, Z:4.39 [[ 9.96583942e-01 -8.06712935e-02 -1.76801918e-02 4.77490081e+02] [ 8.06794985e-02 9.96740064e-01 -2.49865326e-04 7.64677693e+00] [ 1.76427125e-02 -1.17741724e-03 9.99843662e-01 4.38774510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5592541539999 meters Centerline goodness [0,1] 0.9984827411809332 Centerline is valid? [True, True] Translation: X:477.52, Y:7.63, Z:4.39 [[ 9.96717122e-01 -7.90052019e-02 -1.76962633e-02 4.77521263e+02] [ 7.90131751e-02 9.96873541e-01 -2.49256326e-04 7.63353667e+00] [ 1.76606292e-02 -1.14979990e-03 9.99843378e-01 4.38571562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.58925415399995 meters Centerline goodness [0,1] 0.9985861697862373 Centerline is valid? [True, True] Translation: X:477.55, Y:7.65, Z:4.39 [[ 9.97097502e-01 -7.36517446e-02 -1.92870768e-02 4.77551621e+02] [ 7.36602256e-02 9.97283359e-01 -2.71280946e-04 7.65266082e+00] [ 1.92546610e-02 -1.15019687e-03 9.99813950e-01 4.38611430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6192541539999 meters Centerline goodness [0,1] 0.9986916518949945 Centerline is valid? [True, True] Translation: X:477.58, Y:7.66, Z:4.39 [[ 9.97317627e-01 -7.05947742e-02 -1.93372618e-02 4.77582621e+02] [ 7.06027303e-02 9.97504476e-01 -2.71802199e-04 7.65746475e+00] [ 1.93081931e-02 -1.09419036e-03 9.99812981e-01 4.38746418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.64925415399995 meters Centerline goodness [0,1] 0.9985825505627486 Centerline is valid? [True, True] Translation: X:477.61, Y:7.66, Z:4.39 [[ 9.97810834e-01 -6.30942556e-02 -1.98155087e-02 4.77612491e+02] [ 6.31011379e-02 9.98007099e-01 -2.78365857e-04 7.66431281e+00] [ 1.97935816e-02 -9.72624679e-04 9.99803615e-01 4.38720176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6792541539999 meters Centerline goodness [0,1] 0.998689300890007 Centerline is valid? [True, True] Translation: X:477.64, Y:7.67, Z:4.39 [[ 9.98064404e-01 -5.88446754e-02 -2.01183752e-02 4.77643445e+02] [ 5.88509128e-02 9.98266743e-01 -2.82389134e-04 7.67015696e+00] [ 2.01001220e-02 -9.02142201e-04 9.99797565e-01 4.38769970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.70925415399995 meters Centerline goodness [0,1] 0.9988125026506637 Centerline is valid? [True, True] Translation: X:477.67, Y:7.67, Z:4.39 [[ 9.98302652e-01 -5.45651915e-02 -2.03581563e-02 4.77673623e+02] [ 5.45706946e-02 9.98509869e-01 -2.85537911e-04 7.67434285e+00] [ 2.03434004e-02 -8.25905475e-04 9.99792710e-01 4.38834266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7392541539999 meters Centerline goodness [0,1] 0.9988149652954122 Centerline is valid? [True, True] Translation: X:477.70, Y:7.68, Z:4.39 [[ 9.98753019e-01 -4.56509240e-02 -2.02089252e-02 4.77704284e+02] [ 4.56545237e-02 9.98957248e-01 -2.83444994e-04 7.68408096e+00] [ 2.02007918e-02 -6.39537309e-04 9.99795739e-01 4.38939563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.76925415399995 meters Centerline goodness [0,1] 0.9988733951194626 Centerline is valid? [True, True] Translation: X:477.74, Y:7.69, Z:4.39 [[ 9.98960113e-01 -4.11472098e-02 -1.96366828e-02 4.77735694e+02] [ 4.11497465e-02 9.99152953e-01 -2.75034381e-04 7.69121558e+00] [ 1.96313665e-02 -5.33296144e-04 9.99807144e-01 4.39106784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7992541539999 meters Centerline goodness [0,1] 0.9986599166170339 Centerline is valid? [True, True] Translation: X:477.77, Y:7.69, Z:4.39 [[ 9.99132265e-01 -3.68965996e-02 -1.93224532e-02 4.77767214e+02] [ 3.68982751e-02 9.99318990e-01 -2.69918561e-04 7.69499118e+00] [ 1.93192535e-02 -4.43280852e-04 9.99813268e-01 4.39125015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.82925415399995 meters Centerline goodness [0,1] 0.998805409787107 Centerline is valid? [True, True] Translation: X:477.80, Y:7.70, Z:4.39 [[ 9.99392526e-01 -2.91820074e-02 -1.90522580e-02 4.77797141e+02] [ 2.91822413e-02 9.99574072e-01 -2.65801395e-04 7.70148936e+00] [ 1.90518998e-02 -2.90347664e-04 9.99818454e-01 4.39169187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8592541539999 meters Centerline goodness [0,1] 0.9990388106884251 Centerline is valid? [True, True] Translation: X:477.83, Y:7.71, Z:4.39 [[ 9.99492054e-01 -2.58797916e-02 -1.85975835e-02 4.77827899e+02] [ 2.58794429e-02 9.99665037e-01 -2.59458151e-04 7.70507394e+00] [ 1.85980687e-02 -2.21968741e-04 9.99827016e-01 4.39221197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.88925415399996 meters Centerline goodness [0,1] 0.9989517595464755 Centerline is valid? [True, True] Translation: X:477.86, Y:7.71, Z:4.39 [[ 9.99634775e-01 -2.00044772e-02 -1.81697116e-02 4.77857171e+02] [ 2.00031680e-02 9.99799884e-01 -2.53807896e-04 7.71078950e+00] [ 1.81711529e-02 -1.09736596e-04 9.99834885e-01 4.39274001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.91925415399993 meters Centerline goodness [0,1] 0.9989962198065053 Centerline is valid? [True, True] Translation: X:477.88, Y:7.71, Z:4.39 [[ 9.99672783e-01 -1.78328481e-02 -1.83389144e-02 4.77884872e+02] [ 1.78311280e-02 9.99840980e-01 -2.57320455e-04 7.71309482e+00] [ 1.83405869e-02 -6.97672746e-05 9.99831795e-01 4.39263982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.94925415399996 meters Centerline goodness [0,1] 0.9989932526507443 Centerline is valid? [True, True] Translation: X:477.91, Y:7.71, Z:4.39 [[ 9.99697050e-01 -1.60989378e-02 -1.86180827e-02 4.77912376e+02] [ 1.60967983e-02 9.99870403e-01 -2.64781049e-04 7.71462030e+00] [ 1.86199326e-02 -3.49906886e-05 9.99826633e-01 4.39169038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.97925415399993 meters Centerline goodness [0,1] 0.9988639043107329 Centerline is valid? [True, True] Translation: X:477.94, Y:7.72, Z:4.39 [[ 9.99697544e-01 -1.58432391e-02 -1.88099218e-02 4.77938865e+02] [ 1.58409228e-02 9.99874488e-01 -2.72143142e-04 7.71590291e+00] [ 1.88118726e-02 -2.59056888e-05 9.99823041e-01 4.39295717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.00925415399996 meters Centerline goodness [0,1] 0.9991854757464687 Centerline is valid? [True, True] Translation: X:477.97, Y:7.72, Z:4.39 [[ 9.99686702e-01 -1.56870384e-02 -1.95042264e-02 4.77966498e+02] [ 1.56844630e-02 9.99876951e-01 -2.85017884e-04 7.71582593e+00] [ 1.95062975e-02 -2.09847286e-05 9.99809734e-01 4.39218562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.03925415399993 meters Centerline goodness [0,1] 0.9990838393522957 Centerline is valid? [True, True] Translation: X:478.00, Y:7.72, Z:4.39 [[ 9.99649637e-01 -1.70213202e-02 -2.02701299e-02 4.77995361e+02] [ 1.70187394e-02 9.99855126e-01 -2.99827396e-04 7.71570876e+00] [ 2.02722967e-02 -4.52497114e-05 9.99794495e-01 4.39275041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.06925415399996 meters Centerline goodness [0,1] 0.9989941360270513 Centerline is valid? [True, True] Translation: X:478.02, Y:7.71, Z:4.39 [[ 9.99610818e-01 -1.84309449e-02 -2.09406752e-02 4.78022842e+02] [ 1.84284268e-02 9.99830133e-01 -3.13231880e-04 7.71493908e+00] [ 2.09428912e-02 -7.27937231e-05 9.99780671e-01 4.39188885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.09925415399994 meters Centerline goodness [0,1] 0.9988897666374874 Centerline is valid? [True, True] Translation: X:478.05, Y:7.71, Z:4.39 [[ 9.99517973e-01 -2.27682955e-02 -2.11051320e-02 4.78051371e+02] [ 2.27666232e-02 9.99740756e-01 -3.19538080e-04 7.71242946e+00] [ 2.11069360e-02 -1.61108535e-04 9.99777211e-01 4.39313780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.12925415399997 meters Centerline goodness [0,1] 0.9988891737161412 Centerline is valid? [True, True] Translation: X:478.08, Y:7.71, Z:4.39 [[ 9.99457708e-01 -2.50954026e-02 -2.13192340e-02 4.78078951e+02] [ 2.50941508e-02 9.99685039e-01 -3.26279886e-04 7.71015318e+00] [ 2.13207074e-02 -2.08885126e-04 9.99772666e-01 4.39285881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.15925415399994 meters Centerline goodness [0,1] 0.9990411250799063 Centerline is valid? [True, True] Translation: X:478.11, Y:7.71, Z:4.39 [[ 9.99396061e-01 -2.76715669e-02 -2.10189855e-02 4.78107567e+02] [ 2.76708392e-02 9.99617036e-01 -3.25516718e-04 7.70896028e+00] [ 2.10199436e-02 -2.56292843e-04 9.99779024e-01 4.39379187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.1892541539999 meters Centerline goodness [0,1] 0.9988493010569383 Centerline is valid? [True, True] Translation: X:478.14, Y:7.71, Z:4.39 [[ 9.99338969e-01 -2.95490503e-02 -2.11772922e-02 4.78136057e+02] [ 2.95486679e-02 9.99563288e-01 -3.31039966e-04 7.70664173e+00] [ 2.11778258e-02 -2.94939637e-04 9.99775681e-01 4.39267348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.21925415399994 meters Centerline goodness [0,1] 0.9988081556208233 Centerline is valid? [True, True] Translation: X:478.17, Y:7.70, Z:4.39 [[ 9.99233622e-01 -3.32751261e-02 -2.06139382e-02 4.78165168e+02] [ 3.32755333e-02 9.99446164e-01 -3.23350155e-04 7.70375171e+00] [ 2.06132810e-02 -3.62837440e-04 9.99787458e-01 4.39436207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.2492541539999 meters Centerline goodness [0,1] 0.9987237844046454 Centerline is valid? [True, True] Translation: X:478.20, Y:7.70, Z:4.40 [[ 9.99191237e-01 -3.46994167e-02 -2.03180087e-02 4.78195405e+02] [ 3.47000962e-02 9.99397719e-01 -3.19215754e-04 7.70312949e+00] [ 2.03168482e-02 -3.86079274e-04 9.99793517e-01 4.39564012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.27925415399994 meters Centerline goodness [0,1] 0.9990642677895453 Centerline is valid? [True, True] Translation: X:478.23, Y:7.70, Z:4.40 [[ 9.99166457e-01 -3.56959111e-02 -1.98038554e-02 4.78225949e+02] [ 3.56967561e-02 9.99362619e-01 -3.10945295e-04 7.70162813e+00] [ 1.98023323e-02 -3.96247288e-04 9.99803836e-01 4.39635207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3092541539999 meters Centerline goodness [0,1] 0.9989375491383523 Centerline is valid? [True, True] Translation: X:478.26, Y:7.70, Z:4.40 [[ 9.99147448e-01 -3.61668555e-02 -1.99082025e-02 4.78257478e+02] [ 3.61678140e-02 9.99345682e-01 -3.12023324e-04 7.70024752e+00] [ 1.99064611e-02 -4.08278858e-04 9.99801763e-01 4.39578207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.33925415399995 meters Centerline goodness [0,1] 0.9989600797979583 Centerline is valid? [True, True] Translation: X:478.29, Y:7.70, Z:4.40 [[ 9.99119286e-01 -3.71354144e-02 -1.95349149e-02 4.78287313e+02] [ 3.71365289e-02 9.99310154e-01 -3.05835717e-04 7.69883288e+00] [ 1.95327962e-02 -4.19892568e-04 9.99809129e-01 4.39765807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3692541539999 meters Centerline goodness [0,1] 0.9989593730753711 Centerline is valid? [True, True] Translation: X:478.32, Y:7.70, Z:4.40 [[ 9.99129126e-01 -3.70915397e-02 -1.91103820e-02 4.78318302e+02] [ 3.70926050e-02 9.99311788e-01 -2.98831129e-04 7.69800319e+00] [ 1.91083141e-02 -4.10282965e-04 9.99817335e-01 4.39841432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.39925415399995 meters Centerline goodness [0,1] 0.9989798954392826 Centerline is valid? [True, True] Translation: X:478.35, Y:7.70, Z:4.40 [[ 9.99137919e-01 -3.68767464e-02 -1.90663276e-02 4.78349188e+02] [ 3.68777810e-02 9.99319739e-01 -2.97444385e-04 7.69692324e+00] [ 1.90643263e-02 -4.05935890e-04 9.99818177e-01 4.39766115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4292541539999 meters Centerline goodness [0,1] 0.9989798954392826 Centerline is valid? [True, True] Translation: X:478.38, Y:7.70, Z:4.40 [[ 9.99139265e-01 -3.68402415e-02 -1.90663384e-02 4.78380038e+02] [ 3.68412828e-02 9.99321085e-01 -2.96747933e-04 7.69737426e+00] [ 1.90643263e-02 -4.05935855e-04 9.99818177e-01 4.39795009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.45925415399995 meters Centerline goodness [0,1] 0.9988117215184501 Centerline is valid? [True, True] Translation: X:478.41, Y:7.70, Z:4.40 [[ 9.99141815e-01 -3.68072612e-02 -1.89963051e-02 4.78411618e+02] [ 3.68083021e-02 9.99322301e-01 -2.94966413e-04 7.69669041e+00] [ 1.89942882e-02 -4.04508458e-04 9.99819510e-01 4.39846420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4892541539999 meters Centerline goodness [0,1] 0.9988513815327675 Centerline is valid? [True, True] Translation: X:478.44, Y:7.70, Z:4.40 [[ 9.99144662e-01 -3.61214768e-02 -2.01291781e-02 4.78441524e+02] [ 3.61225177e-02 9.99347320e-01 -3.12001570e-04 7.69530973e+00] [ 2.01273102e-02 -4.15381890e-04 9.99797339e-01 4.39785688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.51925415399995 meters Centerline goodness [0,1] 0.9987047182231282 Centerline is valid? [True, True] Translation: X:478.47, Y:7.70, Z:4.40 [[ 9.99159867e-01 -3.53637877e-02 -2.07114188e-02 4.78472741e+02] [ 3.53647391e-02 9.99374421e-01 -3.20443872e-04 7.69511137e+00] [ 2.07097943e-02 -4.12279266e-04 9.99785444e-01 4.39760954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5492541539999 meters Centerline goodness [0,1] 0.9987458549443075 Centerline is valid? [True, True] Translation: X:478.50, Y:7.70, Z:4.40 [[ 9.99199579e-01 -3.35030770e-02 -2.18574007e-02 4.78502905e+02] [ 3.35036995e-02 9.99438536e-01 -3.37818523e-04 7.69534045e+00] [ 2.18564465e-02 -3.94755660e-04 9.99761041e-01 4.39706991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57925415399995 meters Centerline goodness [0,1] 0.9988308817277443 Centerline is valid? [True, True] Translation: X:478.53, Y:7.70, Z:4.40 [[ 9.99233483e-01 -3.20159670e-02 -2.25260756e-02 4.78532113e+02] [ 3.20162398e-02 9.99487288e-01 -3.48628293e-04 7.69609015e+00] [ 2.25256879e-02 -3.72839174e-04 9.99746195e-01 4.39725335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6092541539999 meters Centerline goodness [0,1] 0.9989220493743659 Centerline is valid? [True, True] Translation: X:478.56, Y:7.70, Z:4.40 [[ 9.99282063e-01 -3.02554459e-02 -2.28027766e-02 4.78560629e+02] [ 3.02552406e-02 9.99542143e-01 -3.54079732e-04 7.69649633e+00] [ 2.28030490e-02 -3.36077966e-04 9.99739920e-01 4.39684808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63925415399996 meters Centerline goodness [0,1] 0.9989799387963277 Centerline is valid? [True, True] Translation: X:478.59, Y:7.70, Z:4.40 [[ 9.99392214e-01 -2.59459498e-02 -2.32811160e-02 4.78589782e+02] [ 2.59444772e-02 9.99663319e-01 -3.65348736e-04 7.69877541e+00] [ 2.32827570e-02 -2.38889703e-04 9.99728891e-01 4.39715086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.66925415399993 meters Centerline goodness [0,1] 0.9989593730753711 Centerline is valid? [True, True] Translation: X:478.62, Y:7.70, Z:4.40 [[ 9.99442095e-01 -2.37216475e-02 -2.35113091e-02 4.78618072e+02] [ 2.37193935e-02 9.99718585e-01 -3.74779111e-04 7.70015089e+00] [ 2.35135830e-02 -1.83103972e-04 9.99723501e-01 4.39795270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69925415399996 meters Centerline goodness [0,1] 0.9990037940609169 Centerline is valid? [True, True] Translation: X:478.65, Y:7.70, Z:4.40 [[ 9.99505622e-01 -2.11781957e-02 -2.32377983e-02 4.78645467e+02] [ 2.11752080e-02 9.99775710e-01 -3.74654231e-04 7.70106826e+00] [ 2.32405208e-02 -1.17596204e-04 9.99729896e-01 4.39747559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.72925415399993 meters Centerline goodness [0,1] 0.9988324452841404 Centerline is valid? [True, True] Translation: X:478.67, Y:7.70, Z:4.40 [[ 9.99586425e-01 -1.71725648e-02 -2.30668939e-02 4.78673460e+02] [ 1.71684979e-02 9.99852540e-01 -3.74351599e-04 7.70288364e+00] [ 2.30699210e-02 -2.18271428e-05 9.99733854e-01 4.39806034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75925415399996 meters Centerline goodness [0,1] 0.9989192625556262 Centerline is valid? [True, True] Translation: X:478.70, Y:7.70, Z:4.40 [[ 9.99619734e-01 -1.55706712e-02 -2.27583479e-02 4.78700782e+02] [ 1.55662419e-02 9.99878770e-01 -3.71772670e-04 7.70409367e+00] [ 2.27613776e-02 1.73693490e-05 9.99740926e-01 4.39887047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.78925415399993 meters Centerline goodness [0,1] 0.9990256508017199 Centerline is valid? [True, True] Translation: X:478.73, Y:7.70, Z:4.40 [[ 9.99684169e-01 -1.31506002e-02 -2.14155008e-02 4.78729063e+02] [ 1.31460365e-02 9.99913525e-01 -3.53874726e-04 7.70442982e+00] [ 2.14183025e-02 7.22340067e-05 9.99770599e-01 4.40057124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81925415399996 meters Centerline goodness [0,1] 0.9988584474885844 Centerline is valid? [True, True] Translation: X:478.76, Y:7.70, Z:4.40 [[ 9.99702402e-01 -1.23119778e-02 -2.10599766e-02 4.78755559e+02] [ 1.23073004e-02 9.99924200e-01 -3.51699468e-04 7.70456763e+00] [ 2.10627104e-02 9.24033450e-05 9.99778152e-01 4.40071073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.84925415399994 meters Centerline goodness [0,1] 0.9990065945214744 Centerline is valid? [True, True] Translation: X:478.78, Y:7.70, Z:4.40 [[ 9.99725404e-01 -1.17442098e-02 -2.02778168e-02 4.78783504e+02] [ 1.17396697e-02 9.99931029e-01 -3.42923919e-04 7.70295107e+00] [ 2.02804456e-02 1.04774883e-04 9.99794325e-01 4.40243582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.8792541539999 meters Centerline goodness [0,1] 0.9988807467319917 Centerline is valid? [True, True] Translation: X:478.81, Y:7.70, Z:4.40 [[ 9.99730960e-01 -1.20904896e-02 -1.97946135e-02 4.78810940e+02] [ 1.20861172e-02 9.99926902e-01 -3.40511306e-04 7.70201553e+00] [ 1.97972835e-02 1.01179676e-04 9.99804009e-01 4.40332120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.90925415399994 meters Centerline goodness [0,1] 0.9991770415699515 Centerline is valid? [True, True] Translation: X:478.84, Y:7.70, Z:4.40 [[ 9.99728084e-01 -1.38021107e-02 -1.87952036e-02 4.78839940e+02] [ 1.37983757e-02 9.99904744e-01 -3.28393538e-04 7.69932650e+00] [ 1.87979458e-02 6.89609616e-05 9.99823301e-01 4.40468590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9392541539999 meters Centerline goodness [0,1] 0.9988822809903413 Centerline is valid? [True, True] Translation: X:478.87, Y:7.70, Z:4.41 [[ 9.99718024e-01 -1.52094578e-02 -1.82358103e-02 4.78867898e+02] [ 1.52061120e-02 9.99884329e-01 -3.22127938e-04 7.69813394e+00] [ 1.82386003e-02 4.47413333e-05 9.99833662e-01 4.40523664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.96925415399994 meters Centerline goodness [0,1] 0.999198447519406 Centerline is valid? [True, True] Translation: X:478.90, Y:7.70, Z:4.41 [[ 9.99697916e-01 -1.68258740e-02 -1.79155303e-02 4.78895295e+02] [ 1.68228508e-02 9.99858435e-01 -3.19453809e-04 7.69658288e+00] [ 1.79183691e-02 1.79670147e-05 9.99839453e-01 4.40547875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9992541539999 meters Centerline goodness [0,1] 0.9989449918764375 Centerline is valid? [True, True] Translation: X:478.92, Y:7.69, Z:4.41 [[ 9.99676144e-01 -1.88074970e-02 -1.71430729e-02 4.78922936e+02] [ 1.88049492e-02 9.99823123e-01 -3.09817302e-04 7.69436800e+00] [ 1.71458676e-02 -1.26576505e-05 9.99852999e-01 4.40588905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.02925415399994 meters Centerline goodness [0,1] 0.9991153611222277 Centerline is valid? [True, True] Translation: X:478.95, Y:7.69, Z:4.41 [[ 9.99591544e-01 -2.27369586e-02 -1.73140269e-02 4.78951501e+02] [ 2.27348663e-02 9.99741479e-01 -3.17694244e-04 7.68893792e+00] [ 1.73167743e-02 -7.60676069e-05 9.99850051e-01 4.40601927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0592541539999 meters Centerline goodness [0,1] 0.9989080676998026 Centerline is valid? [True, True] Translation: X:478.98, Y:7.69, Z:4.40 [[ 9.99561929e-01 -2.42956214e-02 -1.69018854e-02 4.78979842e+02] [ 2.42937993e-02 9.99704813e-01 -3.13144901e-04 7.68650404e+00] [ 1.69045042e-02 -9.76032910e-05 9.99857104e-01 4.40451783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.08925415399995 meters Centerline goodness [0,1] 0.9989479664190881 Centerline is valid? [True, True] Translation: X:479.01, Y:7.69, Z:4.41 [[ 9.99514162e-01 -2.61452642e-02 -1.69665820e-02 4.79008179e+02] [ 2.61436478e-02 9.99658146e-01 -3.17104171e-04 7.68514434e+00] [ 1.69690727e-02 -1.26618234e-04 9.99856007e-01 4.40605834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1192541539999 meters Centerline goodness [0,1] 0.998758286856782 Centerline is valid? [True, True] Translation: X:479.04, Y:7.68, Z:4.41 [[ 9.99470924e-01 -2.79810679e-02 -1.65810629e-02 4.79037101e+02] [ 2.79797320e-02 9.99608442e-01 -3.12585992e-04 7.68193750e+00] [ 1.65833169e-02 -1.51513086e-04 9.99862476e-01 4.40548078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.14925415399995 meters Centerline goodness [0,1] 0.998800530291871 Centerline is valid? [True, True] Translation: X:479.07, Y:7.68, Z:4.41 [[ 9.99454289e-01 -2.87745906e-02 -1.62218250e-02 4.79066796e+02] [ 2.87734066e-02 9.99585913e-01 -3.06423652e-04 7.68096351e+00] [ 1.62239249e-02 -1.60500733e-04 9.99868371e-01 4.40671333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1792541539999 meters Centerline goodness [0,1] 0.9989495577638186 Centerline is valid? [True, True] Translation: X:479.10, Y:7.68, Z:4.41 [[ 9.99433262e-01 -2.94278752e-02 -1.63448567e-02 4.79097507e+02] [ 2.94267578e-02 9.99566891e-01 -3.08914183e-04 7.67879190e+00] [ 1.63468683e-02 -1.72237030e-04 9.99866366e-01 4.40726011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.20925415399995 meters Centerline goodness [0,1] 0.9990530502304245 Centerline is valid? [True, True] Translation: X:479.13, Y:7.68, Z:4.41 [[ 9.99427712e-01 -2.96150331e-02 -1.63461873e-02 4.79126931e+02] [ 2.96139385e-02 9.99561363e-01 -3.09065685e-04 7.67676463e+00] [ 1.63481703e-02 -1.75186176e-04 9.99866344e-01 4.40689616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2392541539999 meters Centerline goodness [0,1] 0.9991597344760944 Centerline is valid? [True, True] Translation: X:479.16, Y:7.67, Z:4.41 [[ 9.99411279e-01 -3.07447769e-02 -1.52267482e-02 4.79157533e+02] [ 3.07439558e-02 9.99527251e-01 -2.88057796e-04 7.67194594e+00] [ 1.52284060e-02 -1.80242261e-04 9.99884025e-01 4.40823796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.26925415399995 meters Centerline goodness [0,1] 0.9989726817200243 Centerline is valid? [True, True] Translation: X:479.19, Y:7.67, Z:4.41 [[ 9.99413481e-01 -3.07326590e-02 -1.51062138e-02 4.79188983e+02] [ 3.07318526e-02 9.99527624e-01 -2.85567588e-04 7.67146478e+00] [ 1.51078542e-02 -1.78841837e-04 9.99885854e-01 4.40836354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2992541539999 meters Centerline goodness [0,1] 0.9991401728042949 Centerline is valid? [True, True] Translation: X:479.22, Y:7.67, Z:4.41 [[ 9.99433604e-01 -3.03445240e-02 -1.45492775e-02 4.79219212e+02] [ 3.03437410e-02 9.99539485e-01 -2.74615370e-04 7.66815764e+00] [ 1.45509104e-02 -1.67019679e-04 9.99894116e-01 4.40830414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.32925415399995 meters Centerline goodness [0,1] 0.9992462153730187 Centerline is valid? [True, True] Translation: X:479.25, Y:7.67, Z:4.41 [[ 9.99441722e-01 -3.00177047e-02 -1.46690704e-02 4.79250151e+02] [ 3.00168790e-02 9.99549354e-01 -2.76508682e-04 7.66770408e+00] [ 1.46707600e-02 -1.63965397e-04 9.99892365e-01 4.40855571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3592541539999 meters Centerline goodness [0,1] 0.9992462153730187 Centerline is valid? [True, True] Translation: X:479.28, Y:7.67, Z:4.41 [[ 9.99442835e-01 -2.99806262e-02 -1.46690806e-02 4.79280992e+02] [ 2.99798044e-02 9.99550467e-01 -2.75964984e-04 7.66825591e+00] [ 1.46707600e-02 -1.63964942e-04 9.99892365e-01 4.40884459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.38925415399996 meters Centerline goodness [0,1] 0.9993103015863064 Centerline is valid? [True, True] Translation: X:479.31, Y:7.66, Z:4.41 [[ 9.99484827e-01 -2.86223908e-02 -1.45203386e-02 4.79311106e+02] [ 2.86214487e-02 9.99590285e-01 -2.72727820e-04 7.66403888e+00] [ 1.45221955e-02 -1.43005806e-04 9.99894537e-01 4.40809282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.41925415399993 meters Centerline goodness [0,1] 0.9991634249383026 Centerline is valid? [True, True] Translation: X:479.34, Y:7.66, Z:4.41 [[ 9.99511645e-01 -2.76485280e-02 -1.45612570e-02 4.79341472e+02] [ 2.76474798e-02 9.99617698e-01 -2.73323452e-04 7.66334902e+00] [ 1.45632472e-02 -1.29392085e-04 9.99893942e-01 4.40725623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.44925415399996 meters Centerline goodness [0,1] 0.9992895798073508 Centerline is valid? [True, True] Translation: X:479.37, Y:7.66, Z:4.41 [[ 9.99560454e-01 -2.61721286e-02 -1.39254542e-02 4.79370804e+02] [ 2.61710255e-02 9.99657446e-01 -2.61473300e-04 7.66115124e+00] [ 1.39275273e-02 -1.03085047e-04 9.99903002e-01 4.40893241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.47925415399993 meters Centerline goodness [0,1] 0.9992265562941595 Centerline is valid? [True, True] Translation: X:479.40, Y:7.66, Z:4.41 [[ 9.99582202e-01 -2.52663575e-02 -1.40368232e-02 4.79401080e+02] [ 2.52651449e-02 9.99680750e-01 -2.63738863e-04 7.66035529e+00] [ 1.40390057e-02 -9.10136983e-05 9.99901444e-01 4.40922979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.50925415399996 meters Centerline goodness [0,1] 0.9992263622297495 Centerline is valid? [True, True] Translation: X:479.43, Y:7.66, Z:4.41 [[ 9.99614294e-01 -2.39565193e-02 -1.40480511e-02 4.79430590e+02] [ 2.39551730e-02 9.99712999e-01 -2.64122249e-04 7.65742536e+00] [ 1.40503467e-02 -7.25031194e-05 9.99901286e-01 4.40931895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.53925415399993 meters Centerline goodness [0,1] 0.9993109784106569 Centerline is valid? [True, True] Translation: X:479.46, Y:7.65, Z:4.41 [[ 9.99636564e-01 -2.32136581e-02 -1.37064526e-02 4.79459736e+02] [ 2.32122980e-02 9.99730525e-01 -2.58334638e-04 7.65291486e+00] [ 1.37087559e-02 -5.99175120e-05 9.99906029e-01 4.40920201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.56925415399996 meters Centerline goodness [0,1] 0.9993109784106569 Centerline is valid? [True, True] Translation: X:479.49, Y:7.65, Z:4.41 [[ 9.99635737e-01 -2.32492467e-02 -1.37064375e-02 4.79488886e+02] [ 2.32478790e-02 9.99729698e-01 -2.59132755e-04 7.65349629e+00] [ 1.37087573e-02 -5.96072379e-05 9.99906029e-01 4.40947529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.59925415399994 meters Centerline goodness [0,1] 0.9993318439020316 Centerline is valid? [True, True] Translation: X:479.52, Y:7.65, Z:4.41 [[ 9.99641347e-01 -2.29904771e-02 -1.37337630e-02 4.79518593e+02] [ 2.29890726e-02 9.99735683e-01 -2.60142901e-04 7.65163852e+00] [ 1.37361138e-02 -5.56768767e-05 9.99905654e-01 4.40983524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.6292541539999 meters Centerline goodness [0,1] 0.9992274606422517 Centerline is valid? [True, True] Translation: X:479.55, Y:7.65, Z:4.41 [[ 9.99643890e-01 -2.32184193e-02 -1.31529161e-02 4.79548690e+02] [ 2.32171448e-02 9.99730415e-01 -2.49604937e-04 7.64715190e+00] [ 1.31551657e-02 -5.58571062e-05 9.99913466e-01 4.40968055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.65925415399994 meters Centerline goodness [0,1] 0.9993742308253896 Centerline is valid? [True, True] Translation: X:479.58, Y:7.65, Z:4.41 [[ 9.99638354e-01 -2.34699255e-02 -1.31271976e-02 4.79578547e+02] [ 2.34686715e-02 9.99724542e-01 -2.49591413e-04 7.64516621e+00] [ 1.31294395e-02 -5.85767373e-05 9.99913803e-01 4.40981856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.6892541539999 meters Centerline goodness [0,1] 0.9992684558147312 Centerline is valid? [True, True] Translation: X:479.61, Y:7.64, Z:4.41 [[ 9.99622861e-01 -2.43920841e-02 -1.26159437e-02 4.79607739e+02] [ 2.43909923e-02 9.99702467e-01 -2.40417641e-04 7.64296565e+00] [ 1.26180543e-02 -6.73884159e-05 9.99920387e-01 4.41066241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.71925415399994 meters Centerline goodness [0,1] 0.9992057686278608 Centerline is valid? [True, True] Translation: X:479.64, Y:7.64, Z:4.41 [[ 9.99572695e-01 -2.63635085e-02 -1.26250919e-02 4.79636930e+02] [ 2.63625644e-02 9.99652418e-01 -2.41224723e-04 7.63601774e+00] [ 1.26270632e-02 -9.17081519e-05 9.99920271e-01 4.40965818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.7492541539999 meters Centerline goodness [0,1] 0.9994569757727653 Centerline is valid? [True, True] Translation: X:479.67, Y:7.63, Z:4.41 [[ 9.99521432e-01 -2.83695026e-02 -1.23319703e-02 4.79666834e+02] [ 2.83687540e-02 9.99597498e-01 -2.35664099e-04 7.63262256e+00] [ 1.23336924e-02 -1.14291315e-04 9.99923931e-01 4.41077659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.77925415399994 meters Centerline goodness [0,1] 0.9992682722863355 Centerline is valid? [True, True] Translation: X:479.70, Y:7.62, Z:4.41 [[ 9.99366033e-01 -3.33879073e-02 -1.23603768e-02 4.79696431e+02] [ 3.33875362e-02 9.99442453e-01 -2.36426616e-04 7.62387993e+00] [ 1.23613791e-02 -1.76405799e-04 9.99923580e-01 4.41120575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8092541539999 meters Centerline goodness [0,1] 0.9994362668336987 Centerline is valid? [True, True] Translation: X:479.73, Y:7.62, Z:4.41 [[ 9.99265633e-01 -3.62077235e-02 -1.25377815e-02 4.79726645e+02] [ 3.62075615e-02 9.99344262e-01 -2.39987314e-04 7.62025643e+00] [ 1.25382494e-02 -2.14151420e-04 9.99921370e-01 4.41178374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.83925415399995 meters Centerline goodness [0,1] 0.9992880475751738 Centerline is valid? [True, True] Translation: X:479.76, Y:7.61, Z:4.41 [[ 9.99135875e-01 -3.96959592e-02 -1.23180199e-02 4.79757163e+02] [ 3.96960684e-02 9.99211773e-01 -2.35728249e-04 7.61454118e+00] [ 1.23176679e-02 -2.53452410e-04 9.99924103e-01 4.41191772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8692541539999 meters Centerline goodness [0,1] 0.9992470824444724 Centerline is valid? [True, True] Translation: X:479.79, Y:7.61, Z:4.41 [[ 9.99005244e-01 -4.28017066e-02 -1.25114612e-02 4.79788100e+02] [ 4.28020665e-02 9.99083543e-01 -2.39117422e-04 7.61003939e+00] [ 1.25102297e-02 -2.96636839e-04 9.99921700e-01 4.41211474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.89925415399995 meters Centerline goodness [0,1] 0.9996027099364336 Centerline is valid? [True, True] Translation: X:479.82, Y:7.60, Z:4.41 [[ 9.98701671e-01 -4.93046142e-02 -1.28073225e-02 4.79818828e+02] [ 4.93055319e-02 9.98783713e-01 -2.44276043e-04 7.60025431e+00] [ 1.28037891e-02 -3.87512957e-04 9.99917953e-01 4.41240988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9292541539999 meters Centerline goodness [0,1] 0.9992472556194459 Centerline is valid? [True, True] Translation: X:479.85, Y:7.60, Z:4.41 [[ 9.98557858e-01 -5.21572371e-02 -1.27210840e-02 4.79850256e+02] [ 5.21583772e-02 9.98638796e-01 -2.42353163e-04 7.59809245e+00] [ 1.27164085e-02 -4.21507444e-04 9.99919054e-01 4.41233795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.95925415399995 meters Centerline goodness [0,1] 0.9993126002457975 Centerline is valid? [True, True] Translation: X:479.88, Y:7.59, Z:4.41 [[ 9.98282128e-01 -5.72480488e-02 -1.24681417e-02 4.79880404e+02] [ 5.72495445e-02 9.98359872e-01 -2.37211448e-04 7.59055520e+00] [ 1.24612723e-02 -4.76991485e-04 9.99922242e-01 4.41306585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9892541539999 meters Centerline goodness [0,1] 0.9991446572370343 Centerline is valid? [True, True] Translation: X:479.91, Y:7.59, Z:4.41 [[ 9.98152760e-01 -5.94726314e-02 -1.24126726e-02 4.79911251e+02] [ 5.94742862e-02 9.98229810e-01 -2.36103362e-04 7.58792321e+00] [ 1.24047415e-02 -5.02567618e-04 9.99922932e-01 4.41364482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.01925415399995 meters Centerline goodness [0,1] 0.9991639844501108 Centerline is valid? [True, True] Translation: X:479.94, Y:7.58, Z:4.41 [[ 9.98017941e-01 -6.15917944e-02 -1.29089333e-02 4.79941883e+02] [ 6.15937640e-02 9.98101271e-01 -2.45313243e-04 7.58490186e+00] [ 1.28995320e-02 -5.50282773e-04 9.99916646e-01 4.41230780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0492541539999 meters Centerline goodness [0,1] 0.999185157327316 Centerline is valid? [True, True] Translation: X:479.97, Y:7.58, Z:4.41 [[ 9.97762460e-01 -6.55834187e-02 -1.29957402e-02 4.79972382e+02] [ 6.55857557e-02 9.97846906e-01 -2.46738904e-04 7.58080759e+00] [ 1.29839411e-02 -6.06148624e-04 9.99915521e-01 4.41352216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07925415399995 meters Centerline goodness [0,1] 0.9992063160533021 Centerline is valid? [True, True] Translation: X:480.00, Y:7.58, Z:4.41 [[ 9.97654854e-01 -6.68171734e-02 -1.48410978e-02 4.80003879e+02] [ 6.68203630e-02 9.97764982e-01 -2.81407393e-04 7.57883178e+00] [ 1.48267305e-02 -7.10940091e-04 9.99889825e-01 4.41088234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1092541539999 meters Centerline goodness [0,1] 0.9992908393125313 Centerline is valid? [True, True] Translation: X:480.03, Y:7.58, Z:4.41 [[ 9.97428970e-01 -7.01545967e-02 -1.46212967e-02 4.80033455e+02] [ 7.01580535e-02 9.97535849e-01 -2.77003209e-04 7.57530982e+00] [ 1.46047007e-02 -7.49510692e-04 9.99893065e-01 4.41277257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13925415399996 meters Centerline goodness [0,1] 0.9992491239779743 Centerline is valid? [True, True] Translation: X:480.06, Y:7.58, Z:4.41 [[ 9.97325330e-01 -7.16009457e-02 -1.46796239e-02 4.80064383e+02] [ 7.16045872e-02 9.97433058e-01 -2.78050032e-04 7.58292236e+00] [ 1.46618508e-02 -7.73822071e-04 9.99892210e-01 4.41353958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.16925415399993 meters Centerline goodness [0,1] 0.999457145839858 Centerline is valid? [True, True] Translation: X:480.10, Y:7.58, Z:4.41 [[ 9.97244319e-01 -7.27060903e-02 -1.47509921e-02 4.80095097e+02] [ 7.27098959e-02 9.97353094e-01 -2.78861705e-04 7.58164171e+00] [ 1.47322226e-02 -7.94449851e-04 9.99891159e-01 4.41353283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19925415399996 meters Centerline goodness [0,1] 0.999206962038525 Centerline is valid? [True, True] Translation: X:480.13, Y:7.59, Z:4.41 [[ 9.97148047e-01 -7.39728949e-02 -1.49593713e-02 4.80126677e+02] [ 7.39769647e-02 9.97259911e-01 -2.81877855e-04 7.58516970e+00] [ 1.49392326e-02 -8.25574927e-04 9.99888063e-01 4.41413403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.22925415399993 meters Centerline goodness [0,1] 0.9991439786203441 Centerline is valid? [True, True] Translation: X:480.16, Y:7.59, Z:4.41 [[ 9.97003906e-01 -7.59994163e-02 -1.43979141e-02 4.80158014e+02] [ 7.60034128e-02 9.97107521e-01 -2.70182694e-04 7.58528574e+00] [ 1.43768021e-02 -8.24917404e-04 9.99896308e-01 4.41442808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25925415399996 meters Centerline goodness [0,1] 0.9991011893564098 Centerline is valid? [True, True] Translation: X:480.19, Y:7.58, Z:4.41 [[ 9.96944249e-01 -7.67296979e-02 -1.46532264e-02 4.80188822e+02] [ 7.67339256e-02 9.97051568e-01 -2.74325379e-04 7.58496283e+00] [ 1.46310713e-02 -8.50912479e-04 9.99892598e-01 4.41462740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.28925415399993 meters Centerline goodness [0,1] 0.999187076602397 Centerline is valid? [True, True] Translation: X:480.22, Y:7.59, Z:4.41 [[ 9.96874178e-01 -7.75378722e-02 -1.51575653e-02 4.80221022e+02] [ 7.75425037e-02 9.96989007e-01 -2.82801020e-04 7.58633804e+00] [ 1.51338538e-02 -8.93438529e-04 9.99885078e-01 4.41465769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31925415399996 meters Centerline goodness [0,1] 0.999187076602397 Centerline is valid? [True, True] Translation: X:480.25, Y:7.59, Z:4.41 [[ 9.96877028e-01 -7.75012131e-02 -1.51575821e-02 4.80251911e+02] [ 7.75058540e-02 9.96991857e-01 -2.81897372e-04 7.58688186e+00] [ 1.51338333e-02 -8.93784332e-04 9.99885078e-01 4.41494700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.34925415399994 meters Centerline goodness [0,1] 0.9992896837003301 Centerline is valid? [True, True] Translation: X:480.28, Y:7.59, Z:4.41 [[ 9.96863304e-01 -7.75586854e-02 -1.57544843e-02 4.80284234e+02] [ 7.75637194e-02 9.96987354e-01 -2.92163238e-04 7.58930775e+00] [ 1.57296814e-02 -9.30729586e-04 9.99875848e-01 4.41395514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.3792541539999 meters Centerline goodness [0,1] 0.9991660238100202 Centerline is valid? [True, True] Translation: X:480.32, Y:7.59, Z:4.42 [[ 9.96862642e-01 -7.77140260e-02 -1.50134053e-02 4.80315091e+02] [ 7.77186282e-02 9.96975294e-01 -2.77544796e-04 7.59073660e+00] [ 1.49895633e-02 -8.90147224e-04 9.99887254e-01 4.41614363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.40925415399994 meters Centerline goodness [0,1] 0.9989785921247368 Centerline is valid? [True, True] Translation: X:480.35, Y:7.60, Z:4.42 [[ 9.96856213e-01 -7.77649458e-02 -1.51757572e-02 4.80346835e+02] [ 7.77696659e-02 9.96971314e-01 -2.79760847e-04 7.59574732e+00] [ 1.51515502e-02 -9.01332229e-04 9.99884802e-01 4.41734155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4392541539999 meters Centerline goodness [0,1] 0.9988325306981883 Centerline is valid? [True, True] Translation: X:480.38, Y:7.59, Z:4.42 [[ 9.96868357e-01 -7.73403529e-02 -1.64908788e-02 4.80377747e+02] [ 7.73458879e-02 9.97004274e-01 -3.02844410e-04 7.59386098e+00] [ 1.64648987e-02 -9.73605653e-04 9.99863970e-01 4.41529735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.46925415399994 meters Centerline goodness [0,1] 0.9990623827978498 Centerline is valid? [True, True] Translation: X:480.41, Y:7.60, Z:4.42 [[ 9.96873255e-01 -7.74235982e-02 -1.57892301e-02 4.80409314e+02] [ 7.74286979e-02 9.96997850e-01 -2.88984073e-04 7.60039200e+00] [ 1.57642027e-02 -9.34459034e-04 9.99875301e-01 4.41782981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4992541539999 meters Centerline goodness [0,1] 0.9992295358474065 Centerline is valid? [True, True] Translation: X:480.44, Y:7.60, Z:4.42 [[ 9.96894646e-01 -7.68169389e-02 -1.73269069e-02 4.80440704e+02] [ 7.68230199e-02 9.97044695e-01 -3.15357844e-04 7.60059102e+00] [ 1.72999254e-02 -1.01672676e-03 9.99849828e-01 4.41600050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.52925415399994 meters Centerline goodness [0,1] 0.9989805259653795 Centerline is valid? [True, True] Translation: X:480.47, Y:7.60, Z:4.42 [[ 9.96913352e-01 -7.65498080e-02 -1.74325734e-02 4.80471189e+02] [ 7.65559461e-02 9.97065237e-01 -3.15939465e-04 7.60008617e+00] [ 1.74055981e-02 -1.01960288e-03 9.99847991e-01 4.41588455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5592541539999 meters Centerline goodness [0,1] 0.9989990198736263 Centerline is valid? [True, True] Translation: X:480.50, Y:7.61, Z:4.42 [[ 9.96985645e-01 -7.57944973e-02 -1.65776547e-02 4.80501952e+02] [ 7.57999510e-02 9.97123000e-01 -3.00017965e-04 7.61010003e+00] [ 1.65527005e-02 -9.57471813e-04 9.99862536e-01 4.41865093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.58925415399995 meters Centerline goodness [0,1] 0.9990827600583698 Centerline is valid? [True, True] Translation: X:480.53, Y:7.61, Z:4.42 [[ 9.97069646e-01 -7.47029258e-02 -1.64801075e-02 4.80532362e+02] [ 7.47081746e-02 9.97205395e-01 -2.97778122e-04 7.61018756e+00] [ 1.64562970e-02 -9.34293224e-04 9.99864149e-01 4.41874730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6192541539999 meters Centerline goodness [0,1] 0.9992071440494075 Centerline is valid? [True, True] Translation: X:480.56, Y:7.61, Z:4.42 [[ 9.97187901e-01 -7.31254622e-02 -1.63998806e-02 4.80563466e+02] [ 7.31304543e-02 9.97322340e-01 -2.95903169e-04 7.61475986e+00] [ 1.63776054e-02 -9.04259660e-04 9.99865469e-01 4.41927190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.64925415399995 meters Centerline goodness [0,1] 0.998624168768631 Centerline is valid? [True, True] Translation: X:480.59, Y:7.62, Z:4.42 [[ 9.97495692e-01 -6.85130638e-02 -1.75586020e-02 4.80593397e+02] [ 6.85180800e-02 9.97649825e-01 -3.16449286e-04 7.62047539e+00] [ 1.75390172e-02 -8.87424900e-04 9.99845786e-01 4.41729885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6792541539999 meters Centerline goodness [0,1] 0.9988111873527019 Centerline is valid? [True, True] Translation: X:480.62, Y:7.63, Z:4.42 [[ 9.97682485e-01 -6.57902455e-02 -1.73580882e-02 4.80624033e+02] [ 6.57947390e-02 9.97833130e-01 -3.12697659e-04 7.62602011e+00] [ 1.73410479e-02 -8.30097907e-04 9.99849288e-01 4.41841742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.70925415399995 meters Centerline goodness [0,1] 0.9991239597021463 Centerline is valid? [True, True] Translation: X:480.65, Y:7.64, Z:4.42 [[ 9.98137084e-01 -5.87809429e-02 -1.63451238e-02 4.80654854e+02] [ 5.87839934e-02 9.98270683e-01 -2.94173431e-04 7.63720517e+00] [ 1.63341497e-02 -6.67206241e-04 9.99866366e-01 4.42104228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7392541539999 meters Centerline goodness [0,1] 0.999039686019081 Centerline is valid? [True, True] Translation: X:480.69, Y:7.64, Z:4.42 [[ 9.98362518e-01 -5.49639752e-02 -1.58506869e-02 4.80686005e+02] [ 5.49663677e-02 9.98488166e-01 -2.85003539e-04 7.64201229e+00] [ 1.58423882e-02 -5.86717835e-04 9.99874329e-01 4.42169875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.76925415399995 meters Centerline goodness [0,1] 0.9989572906239573 Centerline is valid? [True, True] Translation: X:480.72, Y:7.65, Z:4.42 [[ 9.98557954e-01 -5.13157729e-02 -1.57703801e-02 4.80717201e+02] [ 5.13176929e-02 9.98682339e-01 -2.83172935e-04 7.64701230e+00] [ 1.57641314e-02 -5.26534938e-04 9.99875600e-01 4.42211259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7992541539999 meters Centerline goodness [0,1] 0.9990811318784588 Centerline is valid? [True, True] Translation: X:480.75, Y:7.66, Z:4.42 [[ 9.98897272e-01 -4.43869565e-02 -1.52983266e-02 4.80746969e+02] [ 4.43879560e-02 9.99014331e-01 -2.74378900e-04 7.65555302e+00] [ 1.52954264e-02 -4.04985112e-04 9.99882936e-01 4.42298427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.82925415399995 meters Centerline goodness [0,1] 0.9990644296139213 Centerline is valid? [True, True] Translation: X:480.78, Y:7.66, Z:4.42 [[ 9.99018224e-01 -4.15739955e-02 -1.53032886e-02 4.80777659e+02] [ 4.15746689e-02 9.99135362e-01 -2.74267117e-04 7.65964443e+00] [ 1.53014591e-02 -3.62231306e-04 9.99882860e-01 4.42307998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8592541539999 meters Centerline goodness [0,1] 0.9990808055485919 Centerline is valid? [True, True] Translation: X:480.81, Y:7.66, Z:4.42 [[ 9.99114843e-01 -3.88926342e-02 -1.60278957e-02 4.80809253e+02] [ 3.88930369e-02 9.99243338e-01 -2.86697257e-04 7.66385028e+00] [ 1.60269184e-02 -3.36930054e-04 9.99871504e-01 4.42300608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.88925415399996 meters Centerline goodness [0,1] 0.9992269764332274 Centerline is valid? [True, True] Translation: X:480.84, Y:7.67, Z:4.42 [[ 9.99210322e-01 -3.58653553e-02 -1.70999883e-02 4.80839076e+02] [ 3.58653764e-02 9.99356584e-01 -3.05537271e-04 7.66875845e+00] [ 1.70999441e-02 -3.08001521e-04 9.99853738e-01 4.42226364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.91925415399993 meters Centerline goodness [0,1] 0.9988299206017551 Centerline is valid? [True, True] Translation: X:480.87, Y:7.67, Z:4.42 [[ 9.99219000e-01 -3.54398285e-02 -1.74759710e-02 4.80869625e+02] [ 3.54397855e-02 9.99371765e-01 -3.12255215e-04 7.67058212e+00] [ 1.74760583e-02 -3.07333321e-04 9.99847235e-01 4.42199410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.94925415399996 meters Centerline goodness [0,1] 0.998914654254764 Centerline is valid? [True, True] Translation: X:480.90, Y:7.67, Z:4.42 [[ 9.99212373e-01 -3.52957181e-02 -1.81340918e-02 4.80899094e+02] [ 3.52956429e-02 9.99376862e-01 -3.24302640e-04 7.67207417e+00] [ 1.81342383e-02 -3.16007219e-04 9.99835511e-01 4.42176206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.97925415399993 meters Centerline goodness [0,1] 0.9989169374323086 Centerline is valid? [True, True] Translation: X:480.93, Y:7.68, Z:4.42 [[ 9.99188756e-01 -3.54749199e-02 -1.90620048e-02 4.80928897e+02] [ 3.54748565e-02 9.99370511e-01 -3.41577185e-04 7.67849602e+00] [ 1.90621229e-02 -3.34921803e-04 9.99818245e-01 4.42371892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.00925415399996 meters Centerline goodness [0,1] 0.9990194237549811 Centerline is valid? [True, True] Translation: X:480.96, Y:7.68, Z:4.42 [[ 9.99186162e-01 -3.54084902e-02 -1.93197609e-02 4.80957993e+02] [ 3.54083922e-02 9.99372866e-01 -3.47254496e-04 7.67857656e+00] [ 1.93199406e-02 -3.37109782e-04 9.99813296e-01 4.42321455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.03925415399993 meters Centerline goodness [0,1] 0.9988942207385771 Centerline is valid? [True, True] Translation: X:480.99, Y:7.68, Z:4.42 [[ 9.99204993e-01 -3.51902188e-02 -1.87357856e-02 4.80986674e+02] [ 3.51900670e-02 9.99380581e-01 -3.37891088e-04 7.68081081e+00] [ 1.87360707e-02 -3.21691086e-04 9.99824413e-01 4.42377825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.06925415399996 meters Centerline goodness [0,1] 0.9987278149700723 Centerline is valid? [True, True] Translation: X:481.02, Y:7.68, Z:4.43 [[ 9.99216636e-01 -3.48961840e-02 -1.86646668e-02 4.81016727e+02] [ 3.48959666e-02 9.99390893e-01 -3.37437812e-04 7.68447083e+00] [ 1.86650733e-02 -3.14148114e-04 9.99825743e-01 4.42508695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.09925415399994 meters Centerline goodness [0,1] 0.9989355040701315 Centerline is valid? [True, True] Translation: X:481.05, Y:7.69, Z:4.43 [[ 9.99235844e-01 -3.46009061e-02 -1.81797816e-02 4.81046676e+02] [ 3.46006418e-02 9.99401164e-01 -3.29173274e-04 7.68504042e+00] [ 1.81802846e-02 -3.00110376e-04 9.99834680e-01 4.42537777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.1292541539999 meters Centerline goodness [0,1] 0.9989986231067718 Centerline is valid? [True, True] Translation: X:481.08, Y:7.69, Z:4.43 [[ 9.99255737e-01 -3.43857876e-02 -1.74811044e-02 4.81075959e+02] [ 3.43855022e-02 9.99408594e-01 -3.16986042e-04 7.68698851e+00] [ 1.74816658e-02 -2.84346434e-04 9.99847144e-01 4.42604478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.15925415399994 meters Centerline goodness [0,1] 0.998810567171654 Centerline is valid? [True, True] Translation: X:481.11, Y:7.69, Z:4.43 [[ 9.99259770e-01 -3.44769158e-02 -1.70661888e-02 4.81106782e+02] [ 3.44766514e-02 9.99405456e-01 -3.09797523e-04 7.68845810e+00] [ 1.70667230e-02 -2.78816839e-04 9.99854314e-01 4.42627629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.1892541539999 meters Centerline goodness [0,1] 0.9991649443644183 Centerline is valid? [True, True] Translation: X:481.14, Y:7.69, Z:4.43 [[ 9.99235277e-01 -3.51776097e-02 -1.70703441e-02 4.81137090e+02] [ 3.51774473e-02 9.99381034e-01 -3.09872953e-04 7.68887436e+00] [ 1.70706787e-02 -2.90855144e-04 9.99854243e-01 4.42652352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.21925415399994 meters Centerline goodness [0,1] 0.9991230817413091 Centerline is valid? [True, True] Translation: X:481.17, Y:7.69, Z:4.43 [[ 9.99213536e-01 -3.58962818e-02 -1.68453785e-02 4.81167544e+02] [ 3.58962257e-02 9.99355476e-01 -3.05789219e-04 7.68903718e+00] [ 1.68454980e-02 -2.99136783e-04 9.99858060e-01 4.42673865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.2492541539999 meters Centerline goodness [0,1] 0.9990002499375156 Centerline is valid? [True, True] Translation: X:481.20, Y:7.69, Z:4.43 [[ 9.99126370e-01 -3.83781350e-02 -1.65413375e-02 4.81198308e+02] [ 3.83784209e-02 9.99263232e-01 -3.00270053e-04 7.68673634e+00] [ 1.65406742e-02 -3.34822686e-04 9.99863138e-01 4.42594584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.27925415399994 meters Centerline goodness [0,1] 0.9991651535073989 Centerline is valid? [True, True] Translation: X:481.23, Y:7.69, Z:4.43 [[ 9.99070164e-01 -3.97243868e-02 -1.67565274e-02 4.81229882e+02] [ 3.97248740e-02 9.99210609e-01 -3.03903743e-04 7.68634177e+00] [ 1.67553723e-02 -3.62029777e-04 9.99859553e-01 4.42584041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3092541539999 meters Centerline goodness [0,1] 0.9991226054440243 Centerline is valid? [True, True] Translation: X:481.26, Y:7.69, Z:4.43 [[ 9.98972975e-01 -4.17448018e-02 -1.76172281e-02 4.81261550e+02] [ 4.17456661e-02 9.99128219e-01 -3.18843419e-04 7.68533149e+00] [ 1.76151798e-02 -4.16926965e-04 9.99844754e-01 4.42568730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.33925415399995 meters Centerline goodness [0,1] 0.9989766509335449 Centerline is valid? [True, True] Translation: X:481.29, Y:7.69, Z:4.43 [[ 9.98956343e-01 -4.20604603e-02 -1.78084997e-02 4.81292887e+02] [ 4.20614055e-02 9.99114976e-01 -3.21639509e-04 7.68502562e+00] [ 1.78062670e-02 -4.27746699e-04 9.99841364e-01 4.42533862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3692541539999 meters Centerline goodness [0,1] 0.999021016892666 Centerline is valid? [True, True] Translation: X:481.32, Y:7.68, Z:4.42 [[ 9.98940719e-01 -4.20060446e-02 -1.87864994e-02 4.81323086e+02] [ 4.20070972e-02 9.99117255e-01 -3.38763176e-04 7.68287086e+00] [ 1.87841458e-02 -4.50761975e-04 9.99823461e-01 4.42419806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.39925415399995 meters Centerline goodness [0,1] 0.998996004936309 Centerline is valid? [True, True] Translation: X:481.35, Y:7.68, Z:4.42 [[ 9.98951877e-01 -4.13911509e-02 -1.95427973e-02 4.81353551e+02] [ 4.13921758e-02 9.99142915e-01 -3.52221480e-04 7.68454078e+00] [ 1.95406263e-02 -4.57066594e-04 9.99808959e-01 4.42405086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4292541539999 meters Centerline goodness [0,1] 0.9990179485572201 Centerline is valid? [True, True] Translation: X:481.38, Y:7.69, Z:4.42 [[ 9.99071396e-01 -3.86332890e-02 -1.90739116e-02 4.81383875e+02] [ 3.86337630e-02 9.99253378e-01 -3.43770713e-04 7.68550647e+00] [ 1.90729516e-02 -3.93445493e-04 9.99818017e-01 4.42498806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.45925415399995 meters Centerline goodness [0,1] 0.999100832252938 Centerline is valid? [True, True] Translation: X:481.41, Y:7.69, Z:4.43 [[ 9.99163147e-01 -3.61948954e-02 -1.90508531e-02 4.81413936e+02] [ 3.61949110e-02 9.99344690e-01 -3.44095679e-04 7.68702080e+00] [ 1.90508234e-02 -3.45736210e-04 9.99818457e-01 4.42532242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4892541539999 meters Centerline goodness [0,1] 0.9990581636283723 Centerline is valid? [True, True] Translation: X:481.44, Y:7.69, Z:4.43 [[ 9.99367096e-01 -3.05854771e-02 -1.81641418e-02 4.81443549e+02] [ 3.05845466e-02 9.99532129e-01 -3.29084797e-04 7.69009593e+00] [ 1.81657085e-02 -2.26665523e-04 9.99834964e-01 4.42615989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.51925415399995 meters Centerline goodness [0,1] 0.9989763088622404 Centerline is valid? [True, True] Translation: X:481.47, Y:7.69, Z:4.43 [[ 9.99452283e-01 -2.76051585e-02 -1.82507447e-02 4.81471828e+02] [ 2.76037071e-02 9.99618890e-01 -3.31481884e-04 7.69132841e+00] [ 1.82529398e-02 -1.72487887e-04 9.99833386e-01 4.42594335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5492541539999 meters Centerline goodness [0,1] 0.9989543030429782 Centerline is valid? [True, True] Translation: X:481.50, Y:7.69, Z:4.43 [[ 9.99541205e-01 -2.52549457e-02 -1.67202369e-02 4.81500623e+02] [ 2.52533603e-02 9.99681036e-01 -3.05982923e-04 7.69345465e+00] [ 1.67226314e-02 -1.16399628e-04 9.99860160e-01 4.42727674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57925415399995 meters Centerline goodness [0,1] 0.9991219818124804 Centerline is valid? [True, True] Translation: X:481.53, Y:7.70, Z:4.43 [[ 9.99663296e-01 -2.06685006e-02 -1.56878326e-02 4.81528894e+02] [ 2.06664804e-02 9.99786383e-01 -2.90900421e-04 7.69516346e+00] [ 1.56904939e-02 -3.34098107e-05 9.99876896e-01 4.42815897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6092541539999 meters Centerline goodness [0,1] 0.9993936099029775 Centerline is valid? [True, True] Translation: X:481.56, Y:7.70, Z:4.43 [[ 9.99704008e-01 -1.90406129e-02 -1.51443816e-02 4.81556302e+02] [ 1.90385003e-02 9.99818711e-01 -2.83666184e-04 7.69519320e+00] [ 1.51470373e-02 -4.74409297e-06 9.99885277e-01 4.42810645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63925415399996 meters Centerline goodness [0,1] 0.9992884498671075 Centerline is valid? [True, True] Translation: X:481.58, Y:7.69, Z:4.43 [[ 9.99726111e-01 -1.75275015e-02 -1.55077183e-02 4.81584081e+02] [ 1.75250625e-02 9.99846381e-01 -2.93163689e-04 7.69373548e+00] [ 1.55104745e-02 2.13096610e-05 9.99879705e-01 4.42858247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.66925415399993 meters Centerline goodness [0,1] 0.999224887399183 Centerline is valid? [True, True] Translation: X:481.61, Y:7.69, Z:4.43 [[ 9.99728682e-01 -1.76543418e-02 -1.51949361e-02 4.81610939e+02] [ 1.76519555e-02 9.99844150e-01 -2.91161812e-04 7.69255030e+00] [ 1.51977082e-02 2.28624795e-05 9.99884508e-01 4.42815747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69925415399996 meters Centerline goodness [0,1] 0.9991846121680953 Centerline is valid? [True, True] Translation: X:481.64, Y:7.69, Z:4.43 [[ 9.99707786e-01 -1.86485315e-02 -1.53809784e-02 4.81638865e+02] [ 1.86461470e-02 9.99826101e-01 -2.98434932e-04 7.69091109e+00] [ 1.53838690e-02 1.15517419e-05 9.99881661e-01 4.42854342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.72925415399993 meters Centerline goodness [0,1] 0.9993517492315092 Centerline is valid? [True, True] Translation: X:481.67, Y:7.69, Z:4.43 [[ 9.99675867e-01 -1.98196366e-02 -1.59794714e-02 4.81666947e+02] [ 1.98171570e-02 9.99803572e-01 -3.13523584e-04 7.68846286e+00] [ 1.59825465e-02 -3.24573265e-06 9.99872271e-01 4.42756798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75925415399996 meters Centerline goodness [0,1] 0.9993110215671127 Centerline is valid? [True, True] Translation: X:481.70, Y:7.68, Z:4.43 [[ 9.99562344e-01 -2.52431882e-02 -1.54240548e-02 4.81695134e+02] [ 2.52415023e-02 9.99681336e-01 -3.03997445e-04 7.68127248e+00] [ 1.54268136e-02 -8.54619165e-05 9.99880996e-01 4.42732791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.78925415399993 meters Centerline goodness [0,1] 0.9995616140951507 Centerline is valid? [True, True] Translation: X:481.72, Y:7.67, Z:4.43 [[ 9.99363362e-01 -3.21782190e-02 -1.54088852e-02 4.81723764e+02] [ 3.21773407e-02 9.99482129e-01 -3.04981676e-04 7.67287992e+00] [ 1.54107191e-02 -1.91029434e-04 9.99881230e-01 4.42724530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81925415399996 meters Centerline goodness [0,1] 0.9992900841459086 Centerline is valid? [True, True] Translation: X:481.75, Y:7.67, Z:4.43 [[ 9.99247798e-01 -3.55348579e-02 -1.55278083e-02 4.81753870e+02] [ 3.55343569e-02 9.99368408e-01 -3.08248025e-04 7.66886051e+00] [ 1.55289546e-02 -2.43754523e-04 9.99879389e-01 4.42641729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.84925415399994 meters Centerline goodness [0,1] 0.9992478375329071 Centerline is valid? [True, True] Translation: X:481.78, Y:7.67, Z:4.43 [[ 9.99111893e-01 -3.93909282e-02 -1.49592826e-02 4.81783186e+02] [ 3.93908888e-02 9.99223834e-01 -2.97392986e-04 7.66508152e+00] [ 1.49593863e-02 -2.92130570e-04 9.99888059e-01 4.42747370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.8792541539999 meters Centerline goodness [0,1] 0.9991220735785953 Centerline is valid? [True, True] Translation: X:481.81, Y:7.66, Z:4.43 [[ 9.98975798e-01 -4.28451535e-02 -1.45481556e-02 4.81814057e+02] [ 4.28454812e-02 9.99081669e-01 -2.89291812e-04 7.66159672e+00] [ 1.45471903e-02 -3.34327210e-04 9.99894128e-01 4.42778858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.90925415399994 meters Centerline goodness [0,1] 0.9992673225873979 Centerline is valid? [True, True] Translation: X:481.85, Y:7.66, Z:4.43 [[ 9.98841032e-01 -4.60106547e-02 -1.41284072e-02 4.81845502e+02] [ 4.60112850e-02 9.98940881e-01 -2.80608171e-04 7.65938032e+00] [ 1.41263545e-02 -3.69783214e-04 9.99900150e-01 4.42860539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9392541539999 meters Centerline goodness [0,1] 0.9990593842101962 Centerline is valid? [True, True] Translation: X:481.88, Y:7.65, Z:4.43 [[ 9.98568508e-01 -5.16562064e-02 -1.38770090e-02 4.81876912e+02] [ 5.16573659e-02 9.98664829e-01 -2.75116110e-04 7.65338254e+00] [ 1.38726922e-02 -4.42127446e-04 9.99903672e-01 4.42909619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.96925415399994 meters Centerline goodness [0,1] 0.999100945053107 Centerline is valid? [True, True] Translation: X:481.91, Y:7.65, Z:4.43 [[ 9.98449800e-01 -5.39083830e-02 -1.38521777e-02 4.81908483e+02] [ 5.39097618e-02 9.98545774e-01 -2.74117393e-04 7.65239972e+00] [ 1.38468108e-02 -4.73075146e-04 9.99904016e-01 4.42968997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9992541539999 meters Centerline goodness [0,1] 0.9990167569716115 Centerline is valid? [True, True] Translation: X:481.94, Y:7.65, Z:4.43 [[ 9.98342627e-01 -5.61125750e-02 -1.27819371e-02 4.81940071e+02] [ 5.61139351e-02 9.98424340e-01 -2.52490306e-04 7.65005601e+00] [ 1.27759650e-02 -4.65172952e-04 9.99918276e-01 4.43048313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.02925415399994 meters Centerline goodness [0,1] 0.9992479161008628 Centerline is valid? [True, True] Translation: X:481.97, Y:7.64, Z:4.43 [[ 9.98123116e-01 -6.02441001e-02 -1.09951388e-02 4.81970540e+02] [ 6.02453603e-02 9.98183575e-01 -2.16865970e-04 7.64439519e+00] [ 1.09882319e-02 -4.45947162e-04 9.99939528e-01 4.43193819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0592541539999 meters Centerline goodness [0,1] 0.9989969071303185 Centerline is valid? [True, True] Translation: X:482.00, Y:7.64, Z:4.43 [[ 9.98003821e-01 -6.22893267e-02 -1.04121407e-02 4.82002660e+02] [ 6.22905703e-02 9.98058036e-01 -2.05126178e-04 7.64413837e+00] [ 1.04046979e-02 -4.43861474e-04 9.99945771e-01 4.43225003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.08925415399995 meters Centerline goodness [0,1] 0.9990608760982532 Centerline is valid? [True, True] Translation: X:482.03, Y:7.64, Z:4.43 [[ 9.97878048e-01 -6.43067016e-02 -1.02004596e-02 4.82033677e+02] [ 6.43080078e-02 9.97930078e-01 -2.00226969e-04 7.64210820e+00] [ 1.01922214e-02 -4.56169139e-04 9.99947954e-01 4.43259824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1192541539999 meters Centerline goodness [0,1] 0.9989766295607861 Centerline is valid? [True, True] Translation: X:482.06, Y:7.64, Z:4.43 [[ 9.97698114e-01 -6.69542407e-02 -1.07519179e-02 4.82064748e+02] [ 6.69558515e-02 9.97755917e-01 -2.10479261e-04 7.63855492e+00] [ 1.07418822e-02 -5.09909059e-04 9.99942174e-01 4.43062488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.14925415399995 meters Centerline goodness [0,1] 0.9989974309167241 Centerline is valid? [True, True] Translation: X:482.10, Y:7.64, Z:4.43 [[ 9.97603180e-01 -6.83900921e-02 -1.05209917e-02 4.82096733e+02] [ 6.83917168e-02 9.97658524e-01 -2.05706010e-04 7.63895677e+00] [ 1.05104253e-02 -5.14335718e-04 9.99944632e-01 4.43156867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1792541539999 meters Centerline goodness [0,1] 0.9990803444528049 Centerline is valid? [True, True] Translation: X:482.13, Y:7.64, Z:4.43 [[ 9.97533067e-01 -6.92582069e-02 -1.14490388e-02 4.82128616e+02] [ 6.92601983e-02 9.97598604e-01 -2.22942546e-04 7.63915251e+00] [ 1.14369858e-02 -5.70570138e-04 9.99934433e-01 4.43065263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.20925415399995 meters Centerline goodness [0,1] 0.9989982051175021 Centerline is valid? [True, True] Translation: X:482.16, Y:7.64, Z:4.43 [[ 9.97549670e-01 -6.89190149e-02 -1.20343202e-02 4.82160102e+02] [ 6.89212034e-02 9.97622079e-01 -2.33267843e-04 7.63767415e+00] [ 1.20217801e-02 -5.96723569e-04 9.99927558e-01 4.42996484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2392541539999 meters Centerline goodness [0,1] 0.9989982051175021 Centerline is valid? [True, True] Translation: X:482.19, Y:7.64, Z:4.43 [[ 9.97554650e-01 -6.88468910e-02 -1.20343470e-02 4.82191818e+02] [ 6.88490910e-02 9.97627059e-01 -2.31877692e-04 7.63822278e+00] [ 1.20217542e-02 -5.97243180e-04 9.99927558e-01 4.43026179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.26925415399995 meters Centerline goodness [0,1] 0.9989346368364981 Centerline is valid? [True, True] Translation: X:482.22, Y:7.64, Z:4.43 [[ 9.97614665e-01 -6.77767214e-02 -1.30880065e-02 4.82223776e+02] [ 6.77792449e-02 9.97700311e-01 -2.51166548e-04 7.64174276e+00] [ 1.30749314e-02 -6.36527766e-04 9.99914317e-01 4.42935637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2992541539999 meters Centerline goodness [0,1] 0.9989774410985204 Centerline is valid? [True, True] Translation: X:482.25, Y:7.64, Z:4.43 [[ 9.97774053e-01 -6.52432466e-02 -1.37934107e-02 4.82254312e+02] [ 6.52458193e-02 9.97869187e-01 -2.63888156e-04 7.64476037e+00] [ 1.37812364e-02 -6.36661627e-04 9.99904832e-01 4.42942063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.32925415399995 meters Centerline goodness [0,1] 0.9990822052105713 Centerline is valid? [True, True] Translation: X:482.29, Y:7.65, Z:4.43 [[ 9.97871560e-01 -6.39475702e-02 -1.27694494e-02 4.82286092e+02] [ 6.39496736e-02 9.97953095e-01 -2.43947149e-04 7.64880189e+00] [ 1.27589114e-02 -5.73174201e-04 9.99918437e-01 4.43106874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3592541539999 meters Centerline goodness [0,1] 0.9991033073361972 Centerline is valid? [True, True] Translation: X:482.32, Y:7.65, Z:4.43 [[ 9.98025377e-01 -6.15790855e-02 -1.23839536e-02 4.82317714e+02] [ 6.15808901e-02 9.98102068e-01 -2.35909001e-04 7.65169611e+00] [ 1.23749768e-02 -5.27171716e-04 9.99923288e-01 4.43180343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.38925415399996 meters Centerline goodness [0,1] 0.9990607192803023 Centerline is valid? [True, True] Translation: X:482.35, Y:7.66, Z:4.43 [[ 9.98339429e-01 -5.60456164e-02 -1.33144321e-02 4.82347990e+02] [ 5.60472184e-02 9.98428087e-01 -2.53075039e-04 7.65759530e+00] [ 1.33076867e-02 -4.93582093e-04 9.99911327e-01 4.43083804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.41925415399993 meters Centerline goodness [0,1] 0.9990641572215868 Centerline is valid? [True, True] Translation: X:482.38, Y:7.66, Z:4.43 [[ 9.98474468e-01 -5.36743057e-02 -1.29539513e-02 4.82377925e+02] [ 5.36756236e-02 9.98558394e-01 -2.46157568e-04 7.65998216e+00] [ 1.29484891e-02 -4.49529367e-04 9.99916064e-01 4.43180517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.44925415399996 meters Centerline goodness [0,1] 0.9988520860726734 Centerline is valid? [True, True] Translation: X:482.41, Y:7.66, Z:4.43 [[ 9.98628569e-01 -5.05854939e-02 -1.34940247e-02 4.82409613e+02] [ 5.05866479e-02 9.98719643e-01 -2.56012360e-04 7.66460405e+00] [ 1.34896981e-02 -4.26956220e-04 9.99908919e-01 4.43142476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.47925415399993 meters Centerline goodness [0,1] 0.9990816688581388 Centerline is valid? [True, True] Translation: X:482.44, Y:7.67, Z:4.43 [[ 9.98767657e-01 -4.78801985e-02 -1.30634203e-02 4.82440841e+02] [ 4.78810571e-02 9.98853014e-01 -2.47200518e-04 7.66885223e+00] [ 1.30602727e-02 -3.78594491e-04 9.99914639e-01 4.43220944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.50925415399996 meters Centerline goodness [0,1] 0.9992062497388979 Centerline is valid? [True, True] Translation: X:482.47, Y:7.68, Z:4.43 [[ 9.98971720e-01 -4.31450104e-02 -1.39287879e-02 4.82472241e+02] [ 4.31455341e-02 9.99068763e-01 -2.63033170e-04 7.67542561e+00] [ 1.39271655e-02 -3.38202296e-04 9.99902955e-01 4.43241952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.53925415399993 meters Centerline goodness [0,1] 0.9992293753775019 Centerline is valid? [True, True] Translation: X:482.50, Y:7.68, Z:4.43 [[ 9.99047973e-01 -4.12986267e-02 -1.40559655e-02 4.82503563e+02] [ 4.12989848e-02 9.99146798e-01 -2.64908508e-04 7.67826862e+00] [ 1.40549133e-02 -3.15840799e-04 9.99901175e-01 4.43268879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.56925415399996 meters Centerline goodness [0,1] 0.9993527643226991 Centerline is valid? [True, True] Translation: X:482.53, Y:7.68, Z:4.43 [[ 9.99111056e-01 -3.95838111e-02 -1.44989326e-02 4.82534446e+02] [ 3.95840183e-02 9.99216208e-01 -2.72802863e-04 7.68155669e+00] [ 1.44983671e-02 -3.01365658e-04 9.99894848e-01 4.43296257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.59925415399994 meters Centerline goodness [0,1] 0.9991855317016123 Centerline is valid? [True, True] Translation: X:482.57, Y:7.68, Z:4.43 [[ 9.99114359e-01 -3.93329889e-02 -1.49470363e-02 4.82565073e+02] [ 3.93331852e-02 9.99226111e-01 -2.80953563e-04 7.68294145e+00] [ 1.49465197e-02 -3.07209810e-04 9.99888247e-01 4.43319539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.6292541539999 meters Centerline goodness [0,1] 0.9992704533611256 Centerline is valid? [True, True] Translation: X:482.60, Y:7.69, Z:4.43 [[ 9.99101264e-01 -3.96102036e-02 -1.50896060e-02 4.82596685e+02] [ 3.96104410e-02 9.99215158e-01 -2.83252263e-04 7.68500882e+00] [ 1.50889828e-02 -3.14708256e-04 9.99886105e-01 4.43346027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.65925415399994 meters Centerline goodness [0,1] 0.9992900989685556 Centerline is valid? [True, True] Translation: X:482.63, Y:7.69, Z:4.43 [[ 9.99087724e-01 -4.00431558e-02 -1.48413094e-02 4.82627926e+02] [ 4.00434411e-02 9.99197901e-01 -2.78059419e-04 7.68586771e+00] [ 1.48405396e-02 -3.16491348e-04 9.99889823e-01 4.43424903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.6892541539999 meters Centerline goodness [0,1] 0.9993112947658402 Centerline is valid? [True, True] Translation: X:482.66, Y:7.69, Z:4.44 [[ 9.99071020e-01 -4.05555112e-02 -1.45721701e-02 4.82658345e+02] [ 4.05558469e-02 9.99177236e-01 -2.72591837e-04 7.68652704e+00] [ 1.45712358e-02 -3.18648096e-04 9.99893783e-01 4.43511660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.71925415399994 meters Centerline goodness [0,1] 0.9993095800991694 Centerline is valid? [True, True] Translation: X:482.69, Y:7.69, Z:4.44 [[ 9.99052491e-01 -4.12412364e-02 -1.39025089e-02 4.82689429e+02] [ 4.12416128e-02 9.99149169e-01 -2.59738128e-04 7.68877765e+00] [ 1.39013921e-02 -3.13869863e-04 9.99903322e-01 4.43630255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.7492541539999 meters Centerline goodness [0,1] 0.9991700556062744 Centerline is valid? [True, True] Translation: X:482.72, Y:7.69, Z:4.44 [[ 9.99034374e-01 -4.18992065e-02 -1.32202535e-02 4.82719842e+02] [ 4.18996097e-02 9.99121795e-01 -2.46594179e-04 7.68860383e+00] [ 1.32189755e-02 -3.07567398e-04 9.99912578e-01 4.43644426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.77925415399994 meters Centerline goodness [0,1] 0.9989751741158263 Centerline is valid? [True, True] Translation: X:482.75, Y:7.69, Z:4.44 [[ 9.98981453e-01 -4.33419722e-02 -1.25511192e-02 4.82750919e+02] [ 4.33424536e-02 9.99060247e-01 -2.33780826e-04 7.68920288e+00] [ 1.25494568e-02 -3.10453593e-04 9.99921204e-01 4.43687135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8092541539999 meters Centerline goodness [0,1] 0.9989539967783101 Centerline is valid? [True, True] Translation: X:482.78, Y:7.69, Z:4.44 [[ 9.98989515e-01 -4.30845906e-02 -1.27932665e-02 4.82782950e+02] [ 4.30850793e-02 9.99071379e-01 -2.37541038e-04 7.69033700e+00] [ 1.27916208e-02 -3.13897895e-04 9.99918135e-01 4.43637550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.83925415399995 meters Centerline goodness [0,1] 0.9990602681368249 Centerline is valid? [True, True] Translation: X:482.81, Y:7.70, Z:4.44 [[ 9.99031705e-01 -4.23739104e-02 -1.18365378e-02 4.82814810e+02] [ 4.23742881e-02 9.99101782e-01 -2.18991959e-04 7.69590892e+00] [ 1.18351856e-02 -2.82784954e-04 9.99929922e-01 4.43846900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8692541539999 meters Centerline goodness [0,1] 0.9990809399477807 Centerline is valid? [True, True] Translation: X:482.85, Y:7.70, Z:4.44 [[ 9.99069074e-01 -4.14908052e-02 -1.18109605e-02 4.82846039e+02] [ 4.14911291e-02 9.99138849e-01 -2.17714239e-04 7.69651285e+00] [ 1.18098226e-02 -2.72538523e-04 9.99930224e-01 4.43852740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.89925415399995 meters Centerline goodness [0,1] 0.9992693720774883 Centerline is valid? [True, True] Translation: X:482.88, Y:7.70, Z:4.44 [[ 9.99117429e-01 -4.02570756e-02 -1.19887879e-02 4.82877760e+02] [ 4.02573283e-02 9.99189321e-01 -2.20339946e-04 7.70111002e+00] [ 1.19879391e-02 -2.62491090e-04 9.99928108e-01 4.43902469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9292541539999 meters Centerline goodness [0,1] 0.9991228986112561 Centerline is valid? [True, True] Translation: X:482.91, Y:7.70, Z:4.44 [[ 9.99202402e-01 -3.77090989e-02 -1.31370988e-02 4.82908762e+02] [ 3.77091923e-02 9.99288726e-01 -2.40684346e-04 7.70455647e+00] [ 1.31368307e-02 -2.54897007e-04 9.99913676e-01 4.43835167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.95925415399995 meters Centerline goodness [0,1] 0.9992906173715287 Centerline is valid? [True, True] Translation: X:482.94, Y:7.71, Z:4.44 [[ 9.99238935e-01 -3.65191034e-02 -1.37078578e-02 4.82939954e+02] [ 3.65191025e-02 9.99332924e-01 -2.50457758e-04 7.70738115e+00] [ 1.37078601e-02 -2.50331521e-04 9.99906012e-01 4.43865938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9892541539999 meters Centerline goodness [0,1] 0.9991432989259894 Centerline is valid? [True, True] Translation: X:482.97, Y:7.71, Z:4.44 [[ 9.99329027e-01 -3.42034987e-02 -1.31002235e-02 4.82970919e+02] [ 3.42033041e-02 9.99414867e-01 -2.38965721e-04 7.71258494e+00] [ 1.31007316e-02 -2.09265547e-04 9.99914160e-01 4.43922947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.01925415399995 meters Centerline goodness [0,1] 0.9993325128804155 Centerline is valid? [True, True] Translation: X:483.00, Y:7.71, Z:4.44 [[ 9.99350305e-01 -3.35011410e-02 -1.32906744e-02 4.83001188e+02] [ 3.35008820e-02 9.99438659e-01 -2.42189924e-04 7.71326327e+00] [ 1.32913274e-02 -2.03216739e-04 9.99911646e-01 4.43913681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0492541539999 meters Centerline goodness [0,1] 0.9991226421006455 Centerline is valid? [True, True] Translation: X:483.03, Y:7.71, Z:4.44 [[ 9.99366268e-01 -3.28295475e-02 -1.37580316e-02 4.83032996e+02] [ 3.28292110e-02 9.99460945e-01 -2.50362861e-04 7.71490041e+00] [ 1.37588346e-02 -2.01461126e-04 9.99905322e-01 4.43862373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07925415399995 meters Centerline goodness [0,1] 0.9991018464366279 Centerline is valid? [True, True] Translation: X:483.06, Y:7.72, Z:4.44 [[ 9.99361524e-01 -3.28835031e-02 -1.39721308e-02 4.83064750e+02] [ 3.28831687e-02 9.99459170e-01 -2.53732281e-04 7.71565548e+00] [ 1.39729179e-02 -2.05877655e-04 9.99902353e-01 4.43898543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1092541539999 meters Centerline goodness [0,1] 0.9991022964509395 Centerline is valid? [True, True] Translation: X:483.10, Y:7.72, Z:4.44 [[ 9.99327661e-01 -3.33499531e-02 -1.52317773e-02 4.83095795e+02] [ 3.33496189e-02 9.99443709e-01 -2.76012017e-04 7.71726296e+00] [ 1.52325090e-02 -2.32147525e-04 9.99883952e-01 4.43816348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13925415399996 meters Centerline goodness [0,1] 0.9990167569716115 Centerline is valid? [True, True] Translation: X:483.13, Y:7.72, Z:4.44 [[ 9.99283818e-01 -3.41354111e-02 -1.63286276e-02 4.83126377e+02] [ 3.41351379e-02 9.99417183e-01 -2.95517676e-04 7.71784011e+00] [ 1.63291986e-02 -2.62073924e-04 9.99866635e-01 4.43774954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.16925415399993 meters Centerline goodness [0,1] 0.9991418285331547 Centerline is valid? [True, True] Translation: X:483.16, Y:7.72, Z:4.44 [[ 9.99241220e-01 -3.49471390e-02 -1.71954003e-02 4.83156840e+02] [ 3.49469563e-02 9.99389120e-01 -3.11204644e-04 7.71806997e+00] [ 1.71957717e-02 -2.89958396e-04 9.99852100e-01 4.43744642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19925415399996 meters Centerline goodness [0,1] 0.9991859057320586 Centerline is valid? [True, True] Translation: X:483.19, Y:7.72, Z:4.44 [[ 9.99122469e-01 -3.76828817e-02 -1.82836601e-02 4.83186845e+02] [ 3.76831270e-02 9.99289684e-01 -3.31225937e-04 7.71750096e+00] [ 1.82831544e-02 -3.58050208e-04 9.99832785e-01 4.43696821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.22925415399993 meters Centerline goodness [0,1] 0.9993748046264458 Centerline is valid? [True, True] Translation: X:483.22, Y:7.72, Z:4.44 [[ 9.99054073e-01 -3.93954343e-02 -1.84108174e-02 4.83216630e+02] [ 3.93959643e-02 9.99223622e-01 -3.34038318e-04 7.71653901e+00] [ 1.84096832e-02 -3.91589562e-04 9.99830451e-01 4.43694034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25925415399996 meters Centerline goodness [0,1] 0.9990392046285272 Centerline is valid? [True, True] Translation: X:483.25, Y:7.72, Z:4.44 [[ 9.98863437e-01 -4.36247109e-02 -1.92020424e-02 4.83246737e+02] [ 4.36260614e-02 9.99047869e-01 -3.48754983e-04 7.71595550e+00] [ 1.91989739e-02 -4.89350879e-04 9.99815563e-01 4.43774177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.28925415399993 meters Centerline goodness [0,1] 0.999039726113187 Centerline is valid? [True, True] Translation: X:483.28, Y:7.71, Z:4.44 [[ 9.98774068e-01 -4.56640414e-02 -1.91090540e-02 4.83276907e+02] [ 4.56657519e-02 9.98956715e-01 -3.47059687e-04 7.71359106e+00] [ 1.91049659e-02 -5.25995102e-04 9.99817345e-01 4.43723142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31925415399996 meters Centerline goodness [0,1] 0.9989971167105428 Centerline is valid? [True, True] Translation: X:483.31, Y:7.71, Z:4.44 [[ 9.98678881e-01 -4.79131739e-02 -1.85693437e-02 4.83307147e+02] [ 4.79151806e-02 9.98851351e-01 -3.37088938e-04 7.71302696e+00] [ 1.85641650e-02 -5.53109854e-04 9.99827518e-01 4.43809274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.34925415399994 meters Centerline goodness [0,1] 0.9991863812742521 Centerline is valid? [True, True] Translation: X:483.34, Y:7.71, Z:4.44 [[ 9.98583718e-01 -4.99756740e-02 -1.82480221e-02 4.83337377e+02] [ 4.99779558e-02 9.98750266e-01 -3.31255993e-04 7.71208366e+00] [ 1.82417717e-02 -5.81212001e-04 9.99833436e-01 4.43803873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.3792541539999 meters Centerline goodness [0,1] 0.9991447642886943 Centerline is valid? [True, True] Translation: X:483.37, Y:7.71, Z:4.44 [[ 9.98339536e-01 -5.50237400e-02 -1.70458118e-02 4.83368551e+02] [ 5.50264680e-02 9.98484848e-01 -3.09292533e-04 7.71056643e+00] [ 1.70370033e-02 -6.29191856e-04 9.99854662e-01 4.44007042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.40925415399994 meters Centerline goodness [0,1] 0.9991239597021463 Centerline is valid? [True, True] Translation: X:483.40, Y:7.71, Z:4.44 [[ 9.98206990e-01 -5.74122022e-02 -1.69305641e-02 4.83399913e+02] [ 5.74152440e-02 9.98350337e-01 -3.06753370e-04 7.71044586e+00] [ 1.69202458e-02 -6.65869114e-04 9.99856621e-01 4.43997487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4392541539999 meters Centerline goodness [0,1] 0.9988953270248864 Centerline is valid? [True, True] Translation: X:483.43, Y:7.71, Z:4.44 [[ 9.98050491e-01 -6.03358099e-02 -1.59627012e-02 4.83431458e+02] [ 6.03388961e-02 9.98177907e-01 -2.88649879e-04 7.70972738e+00] [ 1.59510316e-02 -6.75084613e-04 9.99872546e-01 4.44143998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.46925415399994 meters Centerline goodness [0,1] 0.9990405673167171 Centerline is valid? [True, True] Translation: X:483.46, Y:7.70, Z:4.44 [[ 9.97695884e-01 -6.59694625e-02 -1.58415110e-02 4.83461618e+02] [ 6.59732183e-02 9.97821353e-01 -2.85952903e-04 7.70497420e+00] [ 1.58258621e-02 -7.59821429e-04 9.99874475e-01 4.44184867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4992541539999 meters Centerline goodness [0,1] 0.9988536651451677 Centerline is valid? [True, True] Translation: X:483.49, Y:7.71, Z:4.44 [[ 9.97521020e-01 -6.85973581e-02 -1.56913017e-02 4.83492975e+02] [ 6.86013747e-02 9.97644111e-01 -2.82772837e-04 7.70722378e+00] [ 1.56737322e-02 -7.94373016e-04 9.99876844e-01 4.44275674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.52925415399994 meters Centerline goodness [0,1] 0.9988339406559084 Centerline is valid? [True, True] Translation: X:483.52, Y:7.71, Z:4.44 [[ 9.97339789e-01 -7.11263725e-02 -1.59494413e-02 4.83524354e+02] [ 7.11308543e-02 9.97466951e-01 -2.86830836e-04 7.70692916e+00] [ 1.59294418e-02 -8.48429577e-04 9.99872758e-01 4.44261132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5592541539999 meters Centerline goodness [0,1] 0.999166215033143 Centerline is valid? [True, True] Translation: X:483.56, Y:7.71, Z:4.44 [[ 9.97190004e-01 -7.31573981e-02 -1.61273306e-02 4.83556771e+02] [ 7.31622588e-02 9.97320009e-01 -2.89180330e-04 7.70663855e+00] [ 1.61052652e-02 -8.91544205e-04 9.99869904e-01 4.44304703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.58925415399995 meters Centerline goodness [0,1] 0.9989375664020999 Centerline is valid? [True, True] Translation: X:483.59, Y:7.71, Z:4.44 [[ 9.96906599e-01 -7.69784843e-02 -1.58601986e-02 4.83586815e+02] [ 7.69836846e-02 9.97032312e-01 -2.83293072e-04 7.70586639e+00] [ 1.58349380e-02 -9.38559796e-04 9.99874179e-01 4.44408506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6192541539999 meters Centerline goodness [0,1] 0.9984593604263824 Centerline is valid? [True, True] Translation: X:483.62, Y:7.71, Z:4.44 [[ 9.96824731e-01 -7.80278980e-02 -1.58777585e-02 4.83618062e+02] [ 7.80332576e-02 9.96950716e-01 -2.82650744e-04 7.70561218e+00] [ 1.58513973e-02 -9.57239963e-04 9.99873900e-01 4.44394698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.64925415399995 meters Centerline goodness [0,1] 0.998957942561794 Centerline is valid? [True, True] Translation: X:483.65, Y:7.71, Z:4.44 [[ 9.96816289e-01 -7.78767561e-02 -1.71025500e-02 4.83650215e+02] [ 7.78829717e-02 9.96962462e-01 -3.03326576e-04 7.71021347e+00] [ 1.70742225e-02 -1.02963655e-03 9.99853695e-01 4.44328187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6792541539999 meters Centerline goodness [0,1] 0.9988123020503418 Centerline is valid? [True, True] Translation: X:483.68, Y:7.71, Z:4.44 [[ 9.96881642e-01 -7.72390300e-02 -1.61593161e-02 4.83681348e+02] [ 7.72445121e-02 9.97012138e-01 -2.85559009e-04 7.70992036e+00] [ 1.61330906e-02 -9.63549956e-04 9.99869389e-01 4.44407933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.70925415399995 meters Centerline goodness [0,1] 0.9991437283321498 Centerline is valid? [True, True] Translation: X:483.71, Y:7.72, Z:4.44 [[ 9.96968817e-01 -7.59921037e-02 -1.66846473e-02 4.83713070e+02] [ 7.59977921e-02 9.97107943e-01 -2.93756514e-04 7.71741956e+00] [ 1.66587175e-02 -9.75130270e-04 9.99860758e-01 4.44453396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7392541539999 meters Centerline goodness [0,1] 0.9989750240555578 Centerline is valid? [True, True] Translation: X:483.74, Y:7.71, Z:4.44 [[ 9.97090661e-01 -7.42388029e-02 -1.72862492e-02 4.83743312e+02] [ 7.42446615e-02 9.97240010e-01 -3.03474973e-04 7.71480830e+00] [ 1.72610689e-02 -9.80819658e-04 9.99850536e-01 4.44329900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.76925415399995 meters Centerline goodness [0,1] 0.998911450701277 Centerline is valid? [True, True] Translation: X:483.77, Y:7.73, Z:4.44 [[ 9.97436533e-01 -6.90336532e-02 -1.88339623e-02 4.83773347e+02] [ 6.90396879e-02 9.97613859e-01 -3.30376834e-04 7.72694033e+00] [ 1.88118289e-02 -9.70760953e-04 9.99822571e-01 4.44372869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7992541539999 meters Centerline goodness [0,1] 0.9988895872616803 Centerline is valid? [True, True] Translation: X:483.80, Y:7.73, Z:4.44 [[ 9.97641579e-01 -6.58638550e-02 -1.93192234e-02 4.83803789e+02] [ 6.58696170e-02 9.97828181e-01 -3.38624014e-04 7.72976086e+00] [ 1.92995686e-02 -9.34724452e-04 9.99813309e-01 4.44352900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.82925415399995 meters Centerline goodness [0,1] 0.9994338435730761 Centerline is valid? [True, True] Translation: X:483.83, Y:7.74, Z:4.44 [[ 9.98086560e-01 -5.85531671e-02 -1.98681883e-02 4.83832767e+02] [ 5.85578151e-02 9.98283958e-01 -3.48256387e-04 7.73868767e+00] [ 1.98544851e-02 -8.15847674e-04 9.99802547e-01 4.44410117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8592541539999 meters Centerline goodness [0,1] 0.998866570115232 Centerline is valid? [True, True] Translation: X:483.86, Y:7.74, Z:4.44 [[ 9.98308088e-01 -5.46614055e-02 -1.98265370e-02 4.83863448e+02] [ 5.46652714e-02 9.98504676e-01 -3.47335767e-04 7.74367221e+00] [ 1.98158757e-02 -7.37074917e-04 9.99803375e-01 4.44455449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.88925415399996 meters Centerline goodness [0,1] 0.999642684490405 Centerline is valid? [True, True] Translation: X:483.89, Y:7.75, Z:4.45 [[ 9.98546732e-01 -5.02531530e-02 -1.94690879e-02 4.83894546e+02] [ 5.02560569e-02 9.98736308e-01 -3.40390508e-04 7.75245147e+00] [ 1.94615907e-02 -6.38543761e-04 9.99810401e-01 4.44686927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.91925415399993 meters Centerline goodness [0,1] 0.9990751445086705 Centerline is valid? [True, True] Translation: X:483.93, Y:7.76, Z:4.45 [[ 9.98935200e-01 -4.23681444e-02 -1.82594101e-02 4.83925149e+02] [ 4.23693909e-02 9.99101963e-01 -3.18758118e-04 7.76254751e+00] [ 1.82565177e-02 -4.55221381e-04 9.99833232e-01 4.44901998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.94925415399996 meters Centerline goodness [0,1] 0.9992647522214987 Centerline is valid? [True, True] Translation: X:483.96, Y:7.77, Z:4.45 [[ 9.99095923e-01 -3.86829438e-02 -1.76342254e-02 4.83956777e+02] [ 3.86835430e-02 9.99251464e-01 -3.07249074e-04 7.76690528e+00] [ 1.76329109e-02 -3.75183022e-04 9.99844458e-01 4.44984631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.97925415399993 meters Centerline goodness [0,1] 0.9990735671874342 Centerline is valid? [True, True] Translation: X:483.99, Y:7.77, Z:4.45 [[ 9.99230417e-01 -3.52204103e-02 -1.72654457e-02 4.83988530e+02] [ 3.52204838e-02 9.99379521e-01 -2.99908550e-04 7.77184049e+00] [ 1.72652957e-02 -3.08419603e-04 9.99850896e-01 4.45103871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.00925415399996 meters Centerline goodness [0,1] 0.9991789646533757 Centerline is valid? [True, True] Translation: X:484.02, Y:7.78, Z:4.45 [[ 9.99432177e-01 -2.95555193e-02 -1.61800733e-02 4.84019032e+02] [ 2.95548514e-02 9.99563121e-01 -2.80444275e-04 7.77723079e+00] [ 1.61812932e-02 -1.97914629e-04 9.99869055e-01 4.45102784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.03925415399993 meters Centerline goodness [0,1] 0.9991164591046786 Centerline is valid? [True, True] Translation: X:484.05, Y:7.78, Z:4.45 [[ 9.99486059e-01 -2.74652725e-02 -1.65310774e-02 4.84049485e+02] [ 2.74642924e-02 9.99622744e-01 -2.86353654e-04 7.78066811e+00] [ 1.65327057e-02 -1.67807857e-04 9.99863311e-01 4.45141253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.06925415399996 meters Centerline goodness [0,1] 0.999010505484326 Centerline is valid? [True, True] Translation: X:484.08, Y:7.78, Z:4.45 [[ 9.99556755e-01 -2.46279417e-02 -1.67259606e-02 4.84078671e+02] [ 2.46265389e-02 9.99696679e-01 -2.89862172e-04 7.78410393e+00] [ 1.67280260e-02 -1.22168827e-04 9.99860069e-01 4.45144968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.09925415399994 meters Centerline goodness [0,1] 0.9992421690804985 Centerline is valid? [True, True] Translation: X:484.11, Y:7.79, Z:4.45 [[ 9.99573127e-01 -2.38032093e-02 -1.69402103e-02 4.84107825e+02] [ 2.38016443e-02 9.99716658e-01 -2.94021910e-04 7.78531048e+00] [ 1.69424091e-02 -1.09308460e-04 9.99856461e-01 4.45197303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.1292541539999 meters Centerline goodness [0,1] 0.9992421690804985 Centerline is valid? [True, True] Translation: X:484.14, Y:7.79, Z:4.45 [[ 9.99572262e-01 -2.38395391e-02 -1.69401996e-02 4.84136974e+02] [ 2.38379689e-02 9.99715792e-01 -2.94637992e-04 7.78584647e+00] [ 1.69424091e-02 -1.09307987e-04 9.99856461e-01 4.45224625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.15925415399994 meters Centerline goodness [0,1] 0.9990309056818422 Centerline is valid? [True, True] Translation: X:484.17, Y:7.79, Z:4.45 [[ 9.99586544e-01 -2.33992772e-02 -1.67097039e-02 4.84165228e+02] [ 2.33976756e-02 9.99726194e-01 -2.91362177e-04 7.78603707e+00] [ 1.67119463e-02 -9.97265191e-05 9.99860341e-01 4.45209558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.1892541539999 meters Centerline goodness [0,1] 0.9991144284901006 Centerline is valid? [True, True] Translation: X:484.19, Y:7.79, Z:4.45 [[ 9.99588316e-01 -2.33987628e-02 -1.66041144e-02 4.84193868e+02] [ 2.33971666e-02 9.99726207e-01 -2.90408747e-04 7.78604271e+00] [ 1.66063635e-02 -9.82000411e-05 9.99862100e-01 4.45240549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.21925415399994 meters Centerline goodness [0,1] 0.9990960309451732 Centerline is valid? [True, True] Translation: X:484.22, Y:7.78, Z:4.45 [[ 9.99575062e-01 -2.42382564e-02 -1.61926914e-02 4.84224013e+02] [ 2.42368366e-02 9.99706204e-01 -2.83948593e-04 7.78469098e+00] [ 1.61948165e-02 -1.08631684e-04 9.99868849e-01 4.45331210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.2492541539999 meters Centerline goodness [0,1] 0.9992638088427075 Centerline is valid? [True, True] Translation: X:484.25, Y:7.78, Z:4.45 [[ 9.99555638e-01 -2.51341771e-02 -1.60249734e-02 4.84252513e+02] [ 2.51328904e-02 9.99684079e-01 -2.81712853e-04 7.78353523e+00] [ 1.60269914e-02 -1.21166230e-04 9.99871552e-01 4.45331525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.27925415399994 meters Centerline goodness [0,1] 0.9994316627023386 Centerline is valid? [True, True] Translation: X:484.28, Y:7.78, Z:4.45 [[ 9.99531935e-01 -2.60033014e-02 -1.61164244e-02 4.84281636e+02] [ 2.60021026e-02 9.99661848e-01 -2.83957341e-04 7.78228154e+00] [ 1.61183584e-02 -1.35236489e-04 9.99870082e-01 4.45341442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3092541539999 meters Centerline goodness [0,1] 0.9990515733344574 Centerline is valid? [True, True] Translation: X:484.31, Y:7.78, Z:4.45 [[ 9.99474915e-01 -2.81787592e-02 -1.59953480e-02 4.84311636e+02] [ 2.81778504e-02 9.99602886e-01 -2.82233464e-04 7.78018607e+00] [ 1.59969490e-02 -1.68629257e-04 9.99872026e-01 4.45352570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.33925415399995 meters Centerline goodness [0,1] 0.9990746193320434 Centerline is valid? [True, True] Translation: X:484.34, Y:7.78, Z:4.45 [[ 9.99445369e-01 -2.93532393e-02 -1.57270901e-02 4.84342473e+02] [ 2.93525007e-02 9.99569084e-01 -2.77837222e-04 7.77863639e+00] [ 1.57284685e-02 -1.83946300e-04 9.99876283e-01 4.45311883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3692541539999 meters Centerline goodness [0,1] 0.9993474783194409 Centerline is valid? [True, True] Translation: X:484.37, Y:7.78, Z:4.45 [[ 9.99399970e-01 -3.09236029e-02 -1.56022474e-02 4.84372723e+02] [ 3.09230673e-02 9.99521730e-01 -2.75631730e-04 7.77660182e+00] [ 1.56033088e-02 -2.07003003e-04 9.99878240e-01 4.45265435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.39925415399995 meters Centerline goodness [0,1] 0.9992198701189171 Centerline is valid? [True, True] Translation: X:484.40, Y:7.77, Z:4.45 [[ 9.99344697e-01 -3.25897322e-02 -1.57507187e-02 4.84403683e+02] [ 3.25893969e-02 9.99468786e-01 -2.78020938e-04 7.77434558e+00] [ 1.57514124e-02 -2.35467675e-04 9.99875911e-01 4.45243661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4292541539999 meters Centerline goodness [0,1] 0.9989672034398449 Centerline is valid? [True, True] Translation: X:484.43, Y:7.77, Z:4.45 [[ 9.99224886e-01 -3.63187142e-02 -1.51848024e-02 4.84434364e+02] [ 3.63188396e-02 9.99340217e-01 -2.67595661e-04 7.76883810e+00] [ 1.51845025e-02 -2.84106159e-04 9.99884668e-01 4.45186455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.45925415399995 meters Centerline goodness [0,1] 0.998781333389364 Centerline is valid? [True, True] Translation: X:484.46, Y:7.77, Z:4.45 [[ 9.99164089e-01 -3.81343812e-02 -1.47272316e-02 4.84464441e+02] [ 3.81347029e-02 9.99272574e-01 -2.59083778e-04 7.76666074e+00] [ 1.47263987e-02 -3.02751396e-04 9.99891515e-01 4.45214555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4892541539999 meters Centerline goodness [0,1] 0.9987398134923968 Centerline is valid? [True, True] Translation: X:484.50, Y:7.76, Z:4.45 [[ 9.99104303e-01 -3.96975241e-02 -1.46526215e-02 4.84496236e+02] [ 3.96980263e-02 9.99211690e-01 -2.56692753e-04 7.76464047e+00] [ 1.46512608e-02 -3.25217322e-04 9.99892612e-01 4.45271243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.51925415399995 meters Centerline goodness [0,1] 0.9984211191107742 Centerline is valid? [True, True] Translation: X:484.53, Y:7.76, Z:4.45 [[ 9.98978365e-01 -4.28659122e-02 -1.43087499e-02 4.84526934e+02] [ 4.28667316e-02 9.99080768e-01 -2.49568738e-04 7.75996614e+00] [ 1.43062948e-02 -3.64055571e-04 9.99897593e-01 4.45291190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5492541539999 meters Centerline goodness [0,1] 0.9984451821658192 Centerline is valid? [True, True] Translation: X:484.56, Y:7.76, Z:4.45 [[ 9.98912068e-01 -4.43572138e-02 -1.43915999e-02 4.84558579e+02] [ 4.43582023e-02 9.99015659e-01 -2.50674924e-04 7.75791610e+00] [ 1.43885529e-02 -3.87983293e-04 9.99896404e-01 4.45288447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57925415399995 meters Centerline goodness [0,1] 0.9984239724300243 Centerline is valid? [True, True] Translation: X:484.59, Y:7.75, Z:4.45 [[ 9.98815465e-01 -4.62738037e-02 -1.50466465e-02 4.84589467e+02] [ 4.62751096e-02 9.98928699e-01 -2.61548429e-04 7.75328797e+00] [ 1.50426298e-02 -4.35046599e-04 9.99886759e-01 4.45242294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6092541539999 meters Centerline goodness [0,1] 0.9982800931266649 Centerline is valid? [True, True] Translation: X:484.62, Y:7.75, Z:4.45 [[ 9.98791607e-01 -4.66905462e-02 -1.53401108e-02 4.84620828e+02] [ 4.66919608e-02 9.98909300e-01 -2.66115751e-04 7.75170435e+00] [ 1.53358044e-02 -4.50465674e-04 9.99882298e-01 4.45186153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63925415399996 meters Centerline goodness [0,1] 0.9986331616023552 Centerline is valid? [True, True] Translation: X:484.65, Y:7.76, Z:4.45 [[ 9.98763808e-01 -4.73345095e-02 -1.51756320e-02 4.84652825e+02] [ 4.73359795e-02 9.98878990e-01 -2.62519295e-04 7.75531242e+00] [ 1.51710462e-02 -4.56158636e-04 9.99884809e-01 4.45367448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.66925415399993 meters Centerline goodness [0,1] 0.9989066672273501 Centerline is valid? [True, True] Translation: X:484.69, Y:7.76, Z:4.45 [[ 9.98749396e-01 -4.76210555e-02 -1.52275668e-02 4.84685161e+02] [ 4.76225861e-02 9.98865367e-01 -2.62284989e-04 7.75558419e+00] [ 1.52227794e-02 -4.63219137e-04 9.99884019e-01 4.45462592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69925415399996 meters Centerline goodness [0,1] 0.9988876062545913 Centerline is valid? [True, True] Translation: X:484.72, Y:7.75, Z:4.45 [[ 9.98765868e-01 -4.74414084e-02 -1.46987472e-02 4.84716697e+02] [ 4.74428294e-02 9.98873923e-01 -2.52200443e-04 7.75101713e+00] [ 1.46941600e-02 -4.45460961e-04 9.99891936e-01 4.45430845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.72925415399993 meters Centerline goodness [0,1] 0.9990163042340777 Centerline is valid? [True, True] Translation: X:484.75, Y:7.75, Z:4.46 [[ 9.98773897e-01 -4.72514374e-02 -1.47649690e-02 4.84748741e+02] [ 4.72528641e-02 9.98882928e-01 -2.52411882e-04 7.75412368e+00] [ 1.47604023e-02 -4.45584673e-04 9.99890960e-01 4.45548736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75925415399996 meters Centerline goodness [0,1] 0.9988662131519275 Centerline is valid? [True, True] Translation: X:484.78, Y:7.75, Z:4.46 [[ 9.98858756e-01 -4.55978866e-02 -1.42132891e-02 4.84781127e+02] [ 4.55990560e-02 9.98959793e-01 -2.41953815e-04 7.75426367e+00] [ 1.42095369e-02 -4.06434877e-04 9.99898957e-01 4.45588599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.78925415399993 meters Centerline goodness [0,1] 0.9991416129302404 Centerline is valid? [True, True] Translation: X:484.81, Y:7.75, Z:4.46 [[ 9.98903824e-01 -4.44979261e-02 -1.45287760e-02 4.84813003e+02] [ 4.44990463e-02 9.99009396e-01 -2.46326156e-04 7.75484193e+00] [ 1.45253447e-02 -4.00460535e-04 9.99894421e-01 4.45608272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81925415399996 meters Centerline goodness [0,1] 0.9987244097781309 Centerline is valid? [True, True] Translation: X:484.84, Y:7.75, Z:4.46 [[ 9.98943412e-01 -4.34423507e-02 -1.49940387e-02 4.84843878e+02] [ 4.34434377e-02 9.99055856e-01 -2.53365867e-04 7.75032887e+00] [ 1.49908890e-02 -3.98294424e-04 9.99887551e-01 4.45502144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.84925415399994 meters Centerline goodness [0,1] 0.9988694650895007 Centerline is valid? [True, True] Translation: X:484.88, Y:7.76, Z:4.46 [[ 9.98999281e-01 -4.20638616e-02 -1.52009369e-02 4.84875211e+02] [ 4.20648305e-02 9.99114850e-01 -2.56123637e-04 7.75536158e+00] [ 1.51982554e-02 -3.83557507e-04 9.99884426e-01 4.45607791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.8792541539999 meters Centerline goodness [0,1] 0.9989948485990703 Centerline is valid? [True, True] Translation: X:484.91, Y:7.75, Z:4.46 [[ 9.99009334e-01 -4.17228330e-02 -1.54776085e-02 4.84906572e+02] [ 4.17238072e-02 9.99129149e-01 -2.60104498e-04 7.75366103e+00] [ 1.54749821e-02 -3.85937930e-04 9.99880181e-01 4.45593815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.90925415399994 meters Centerline goodness [0,1] 0.9988480710426004 Centerline is valid? [True, True] Translation: X:484.94, Y:7.76, Z:4.46 [[ 9.99016180e-01 -4.18584698e-02 -1.46472288e-02 4.84937695e+02] [ 4.18593667e-02 9.99123482e-01 -2.45470347e-04 7.75640340e+00] [ 1.46446653e-02 -3.67894874e-04 9.99892693e-01 4.45672624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9392541539999 meters Centerline goodness [0,1] 0.9986601067727415 Centerline is valid? [True, True] Translation: X:484.97, Y:7.75, Z:4.46 [[ 9.98909281e-01 -4.39538983e-02 -1.57576627e-02 4.84968649e+02] [ 4.39552085e-02 9.99033468e-01 -2.63349256e-04 7.75465844e+00] [ 1.57540076e-02 -4.29569332e-04 9.99875806e-01 4.45619697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.96925415399994 meters Centerline goodness [0,1] 0.9983245371533886 Centerline is valid? [True, True] Translation: X:485.00, Y:7.75, Z:4.46 [[ 9.98828780e-01 -4.55543002e-02 -1.63056188e-02 4.85000322e+02] [ 4.55559312e-02 9.98961753e-01 -2.71584497e-04 7.75350248e+00] [ 1.63010614e-02 -4.71551238e-04 9.99867018e-01 4.45572843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9992541539999 meters Centerline goodness [0,1] 0.9984349894622624 Centerline is valid? [True, True] Translation: X:485.03, Y:7.75, Z:4.46 [[ 9.98725812e-01 -4.75578319e-02 -1.68820799e-02 4.85031642e+02] [ 4.75598800e-02 9.98868349e-01 -2.80372298e-04 7.75285133e+00] [ 1.68763092e-02 -5.22894642e-04 9.99857448e-01 4.45551634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.02925415399994 meters Centerline goodness [0,1] 0.9984914515588333 Centerline is valid? [True, True] Translation: X:485.06, Y:7.75, Z:4.45 [[ 9.98539219e-01 -5.10165988e-02 -1.77970407e-02 4.85061840e+02] [ 5.10194329e-02 9.98697617e-01 -2.95048383e-04 7.74914998e+00] [ 1.77889145e-02 -6.13377542e-04 9.99841577e-01 4.45447572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0592541539999 meters Centerline goodness [0,1] 0.9983659446097122 Centerline is valid? [True, True] Translation: X:485.09, Y:7.75, Z:4.45 [[ 9.98469056e-01 -5.24157062e-02 -1.76674146e-02 4.85092711e+02] [ 5.24187235e-02 9.98625151e-01 -2.92578613e-04 7.74924451e+00] [ 1.76584603e-02 -6.33972630e-04 9.99843876e-01 4.45480367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.08925415399995 meters Centerline goodness [0,1] 0.9981785826441956 Centerline is valid? [True, True] Translation: X:485.12, Y:7.75, Z:4.45 [[ 9.98459225e-01 -5.25271789e-02 -1.78905353e-02 4.85124008e+02] [ 5.25303021e-02 9.98619287e-01 -2.95641063e-04 7.74832291e+00] [ 1.78813628e-02 -6.44609676e-04 9.99839908e-01 4.45319477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1192541539999 meters Centerline goodness [0,1] 0.998619333514633 Centerline is valid? [True, True] Translation: X:485.15, Y:7.75, Z:4.46 [[ 9.98421362e-01 -5.32506637e-02 -1.78648120e-02 4.85154790e+02] [ 5.32539103e-02 9.98580960e-01 -2.94280099e-04 7.75042057e+00] [ 1.78551318e-02 -6.57555560e-04 9.99840368e-01 4.45578851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.14925415399995 meters Centerline goodness [0,1] 0.9988469843399509 Centerline is valid? [True, True] Translation: X:485.19, Y:7.75, Z:4.46 [[ 9.98436290e-01 -5.30678098e-02 -1.75722044e-02 4.85186227e+02] [ 5.30709360e-02 9.98590703e-01 -2.88694563e-04 7.75251741e+00] [ 1.75627603e-02 -6.44330208e-04 9.99845555e-01 4.45697741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1792541539999 meters Centerline goodness [0,1] 0.9987261678534884 Centerline is valid? [True, True] Translation: X:485.22, Y:7.75, Z:4.46 [[ 9.98550408e-01 -5.13629825e-02 -1.60912078e-02 4.85217491e+02] [ 5.13653918e-02 9.98679892e-01 -2.63806653e-04 7.75491668e+00] [ 1.60835156e-02 -5.63106952e-04 9.99870493e-01 4.45824017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.20925415399995 meters Centerline goodness [0,1] 0.9986567884651709 Centerline is valid? [True, True] Translation: X:485.25, Y:7.75, Z:4.46 [[ 9.98618887e-01 -5.01740231e-02 -1.55847830e-02 4.85248424e+02] [ 5.01761488e-02 9.98740351e-01 -2.54838146e-04 7.75342645e+00] [ 1.55779379e-02 -5.27498206e-04 9.99878517e-01 4.45839962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2392541539999 meters Centerline goodness [0,1] 0.9987632582903618 Centerline is valid? [True, True] Translation: X:485.28, Y:7.76, Z:4.46 [[ 9.98771094e-01 -4.76150678e-02 -1.37516351e-02 4.85279807e+02] [ 4.76164888e-02 9.98865667e-01 -2.24254271e-04 7.75902757e+00] [ 1.37467140e-02 -4.30825894e-04 9.99905417e-01 4.45924162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.26925415399995 meters Centerline goodness [0,1] 0.9988478297301827 Centerline is valid? [True, True] Translation: X:485.31, Y:7.76, Z:4.46 [[ 9.98803182e-01 -4.70908095e-02 -1.32158394e-02 4.85312085e+02] [ 4.70920842e-02 9.98890529e-01 -2.14898990e-04 7.76169956e+00] [ 1.32112966e-02 -4.07719626e-04 9.99912644e-01 4.46088010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2992541539999 meters Centerline goodness [0,1] 0.9987848568016593 Centerline is valid? [True, True] Translation: X:485.34, Y:7.76, Z:4.46 [[ 9.98864943e-01 -4.59240887e-02 -1.26413644e-02 4.85344700e+02] [ 4.59251739e-02 9.98944862e-01 -2.04584246e-04 7.76284408e+00] [ 1.26374214e-02 -3.76204827e-04 9.99920074e-01 4.46122911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.32925415399995 meters Centerline goodness [0,1] 0.9988042292523286 Centerline is valid? [True, True] Translation: X:485.38, Y:7.76, Z:4.46 [[ 9.98952128e-01 -4.40540440e-02 -1.24050992e-02 4.85377260e+02] [ 4.40549590e-02 9.99029089e-01 -1.99624572e-04 7.76492040e+00] [ 1.24018492e-02 -3.47090747e-04 9.99923034e-01 4.46130007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3592541539999 meters Centerline goodness [0,1] 0.9988664511524413 Centerline is valid? [True, True] Translation: X:485.41, Y:7.76, Z:4.46 [[ 9.99015156e-01 -4.25813746e-02 -1.24717517e-02 4.85408856e+02] [ 4.25822008e-02 9.99092947e-01 -1.99411198e-04 7.76396570e+00] [ 1.24689303e-02 -3.31859826e-04 9.99922205e-01 4.46105218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.38925415399996 meters Centerline goodness [0,1] 0.9987812309567337 Centerline is valid? [True, True] Translation: X:485.44, Y:7.77, Z:4.46 [[ 9.99134855e-01 -3.95571564e-02 -1.28363888e-02 4.85440249e+02] [ 3.95578010e-02 9.99217263e-01 -2.03778728e-04 7.76588750e+00] [ 1.28344021e-02 -3.04176883e-04 9.99917589e-01 4.46085069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.41925415399993 meters Centerline goodness [0,1] 0.9992851285717289 Centerline is valid? [True, True] Translation: X:485.47, Y:7.77, Z:4.46 [[ 9.99210619e-01 -3.73985049e-02 -1.33974368e-02 4.85471176e+02] [ 3.73990221e-02 9.99300389e-01 -2.12017682e-04 7.77037703e+00] [ 1.33959929e-02 -2.89200715e-04 9.99910228e-01 4.46144466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.44925415399996 meters Centerline goodness [0,1] 0.9992635455023672 Centerline is valid? [True, True] Translation: X:485.50, Y:7.77, Z:4.46 [[ 9.99292924e-01 -3.50643551e-02 -1.35699493e-02 4.85501096e+02] [ 3.50646764e-02 9.99385022e-01 -2.14318829e-04 7.77188885e+00] [ 1.35691191e-02 -2.61658592e-04 9.99907901e-01 4.46129564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.47925415399993 meters Centerline goodness [0,1] 0.9988857821599008 Centerline is valid? [True, True] Translation: X:485.53, Y:7.77, Z:4.46 [[ 9.99368539e-01 -3.25958721e-02 -1.41432869e-02 4.85532865e+02] [ 3.25959803e-02 9.99468585e-01 -2.22931829e-04 7.77414449e+00] [ 1.41430376e-02 -2.38223244e-04 9.99899954e-01 4.46135813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.50925415399996 meters Centerline goodness [0,1] 0.9992637004312612 Centerline is valid? [True, True] Translation: X:485.56, Y:7.78, Z:4.46 [[ 9.99504637e-01 -2.78098107e-02 -1.47341494e-02 4.85563554e+02] [ 2.78094161e-02 9.99613217e-01 -2.31708619e-04 7.77782494e+00] [ 1.47348942e-02 -1.78154253e-04 9.99891420e-01 4.46140733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.53925415399993 meters Centerline goodness [0,1] 0.9988413246818909 Centerline is valid? [True, True] Translation: X:485.59, Y:7.78, Z:4.46 [[ 9.99551215e-01 -2.59264903e-02 -1.50061559e-02 4.85592728e+02] [ 2.59258672e-02 9.99663840e-01 -2.36088737e-04 7.77948228e+00] [ 1.50072324e-02 -1.53064820e-04 9.99887373e-01 4.46082891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.56925415399996 meters Centerline goodness [0,1] 0.9987152214663325 Centerline is valid? [True, True] Translation: X:485.62, Y:7.78, Z:4.46 [[ 9.99579234e-01 -2.44007090e-02 -1.56831120e-02 4.85621923e+02] [ 2.43998342e-02 9.99702249e-01 -2.47149114e-04 7.78120862e+00] [ 1.56844730e-02 -1.35620211e-04 9.99876982e-01 4.46061100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.59925415399994 meters Centerline goodness [0,1] 0.9987140297248867 Centerline is valid? [True, True] Translation: X:485.65, Y:7.78, Z:4.46 [[ 9.99591437e-01 -2.33043484e-02 -1.65489007e-02 4.85651943e+02] [ 2.33032137e-02 9.99728409e-01 -2.61419828e-04 7.78232786e+00] [ 1.65504984e-02 -1.24329549e-04 9.99863023e-01 4.46039199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.6292541539999 meters Centerline goodness [0,1] 0.9992654620243867 Centerline is valid? [True, True] Translation: X:485.68, Y:7.78, Z:4.46 [[ 9.99588733e-01 -2.24657360e-02 -1.78229043e-02 4.85680769e+02] [ 2.24642414e-02 9.99747607e-01 -2.84083533e-04 7.78318587e+00] [ 1.78247881e-02 -1.16411326e-04 9.99841119e-01 4.46010286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.65925415399994 meters Centerline goodness [0,1] 0.9991983460613476 Centerline is valid? [True, True] Translation: X:485.71, Y:7.78, Z:4.46 [[ 9.99575472e-01 -2.31123264e-02 -1.77396668e-02 4.85708582e+02] [ 2.31108618e-02 9.99732867e-01 -2.87591480e-04 7.78319692e+00] [ 1.77415748e-02 -1.22509597e-04 9.99842598e-01 4.46018843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.6892541539999 meters Centerline goodness [0,1] 0.9994730851915862 Centerline is valid? [True, True] Translation: X:485.74, Y:7.78, Z:4.46 [[ 9.99555308e-01 -2.42420943e-02 -1.73639648e-02 4.85736404e+02] [ 2.42407747e-02 9.99706108e-01 -2.86499690e-04 7.78269071e+00] [ 1.73658071e-02 -1.34543673e-04 9.99849194e-01 4.46066729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.71925415399994 meters Centerline goodness [0,1] 0.9995596376446905 Centerline is valid? [True, True] Translation: X:485.76, Y:7.78, Z:4.46 [[ 9.99517423e-01 -2.58708581e-02 -1.71935843e-02 4.85764210e+02] [ 2.58697467e-02 9.99665281e-01 -2.87084160e-04 7.78119876e+00] [ 1.71952564e-02 -1.57848051e-04 9.99852138e-01 4.46063711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.7492541539999 meters Centerline goodness [0,1] 0.9997261197488729 Centerline is valid? [True, True] Translation: X:485.79, Y:7.78, Z:4.46 [[ 9.99402424e-01 -3.04547775e-02 -1.63493476e-02 4.85792625e+02] [ 3.04543437e-02 9.99536121e-01 -2.75566964e-04 7.77814307e+00] [ 1.63501558e-02 -2.22506358e-04 9.99866303e-01 4.46270557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.77925415399994 meters Centerline goodness [0,1] 0.9994321647142947 Centerline is valid? [True, True] Translation: X:485.82, Y:7.78, Z:4.46 [[ 9.99311405e-01 -3.36286099e-02 -1.56790223e-02 4.85822586e+02] [ 3.36285618e-02 9.99434364e-01 -2.66789166e-04 7.77644934e+00] [ 1.56791254e-02 -2.60657513e-04 9.99877041e-01 4.46354471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8092541539999 meters Centerline goodness [0,1] 0.9993060666596573 Centerline is valid? [True, True] Translation: X:485.85, Y:7.77, Z:4.46 [[ 9.99100380e-01 -3.92445423e-02 -1.60715813e-02 4.85853636e+02] [ 3.92452142e-02 9.99229572e-01 -2.73698119e-04 7.77091384e+00] [ 1.60699405e-02 -3.57280756e-04 9.99870806e-01 4.46241838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.83925415399995 meters Centerline goodness [0,1] 0.9991419362940019 Centerline is valid? [True, True] Translation: X:485.88, Y:7.77, Z:4.46 [[ 9.98947812e-01 -4.33038147e-02 -1.51012537e-02 4.85883888e+02] [ 4.33048754e-02 9.99061871e-01 -2.56907353e-04 7.76801922e+00] [ 1.50982118e-02 -3.97320871e-04 9.99885937e-01 4.46480742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8692541539999 meters Centerline goodness [0,1] 0.9991177211998992 Centerline is valid? [True, True] Translation: X:485.91, Y:7.77, Z:4.47 [[ 9.98797280e-01 -4.67760415e-02 -1.46967857e-02 4.85914881e+02] [ 4.67774273e-02 9.98905306e-01 -2.49639400e-04 7.76621719e+00] [ 1.46923744e-02 -4.38138671e-04 9.99891965e-01 4.46512644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.89925415399995 meters Centerline goodness [0,1] 0.9991396134556062 Centerline is valid? [True, True] Translation: X:485.95, Y:7.76, Z:4.47 [[ 9.98648674e-01 -4.98816812e-02 -1.45822858e-02 4.85947084e+02] [ 4.98833873e-02 9.98755018e-01 -2.46926866e-04 7.76332433e+00] [ 1.45764482e-02 -4.80820623e-04 9.99893642e-01 4.46553924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9292541539999 meters Centerline goodness [0,1] 0.9990967335363933 Centerline is valid? [True, True] Translation: X:485.98, Y:7.76, Z:4.47 [[ 9.98500617e-01 -5.27989580e-02 -1.44494677e-02 4.85978834e+02] [ 5.28009522e-02 9.98605027e-01 -2.43711794e-04 7.76166142e+00] [ 1.44421788e-02 -5.19599273e-04 9.99895571e-01 4.46613036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.95925415399995 meters Centerline goodness [0,1] 0.9989090298757972 Centerline is valid? [True, True] Translation: X:486.01, Y:7.76, Z:4.47 [[ 9.98231243e-01 -5.75962328e-02 -1.47329704e-02 4.86008775e+02] [ 5.75988413e-02 9.98339778e-01 -2.47564314e-04 7.75700570e+00] [ 1.47227692e-02 -6.01475592e-04 9.99891433e-01 4.46685893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9892541539999 meters Centerline goodness [0,1] 0.9992037215540003 Centerline is valid? [True, True] Translation: X:486.04, Y:7.75, Z:4.47 [[ 9.98125102e-01 -5.94070518e-02 -1.47337330e-02 4.86040361e+02] [ 5.94098758e-02 9.98233643e-01 -2.46327438e-04 7.75452797e+00] [ 1.47223415e-02 -6.29463648e-04 9.99891422e-01 4.46691176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.01925415399995 meters Centerline goodness [0,1] 0.9991623913726312 Centerline is valid? [True, True] Translation: X:486.07, Y:7.75, Z:4.47 [[ 9.98037157e-01 -6.08166673e-02 -1.49387251e-02 4.86072831e+02] [ 6.08197491e-02 9.98148735e-01 -2.48352200e-04 7.75302587e+00] [ 1.49261735e-02 -6.60704787e-04 9.99888380e-01 4.46724557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0492541539999 meters Centerline goodness [0,1] 0.9991623913726312 Centerline is valid? [True, True] Translation: X:486.10, Y:7.75, Z:4.47 [[ 9.98041589e-01 -6.07438994e-02 -1.49387431e-02 4.86104546e+02] [ 6.07469893e-02 9.98153166e-01 -2.47263126e-04 7.75349036e+00] [ 1.49261735e-02 -6.60704785e-04 9.99888380e-01 4.46754255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07925415399995 meters Centerline goodness [0,1] 0.9989132024996342 Centerline is valid? [True, True] Translation: X:486.14, Y:7.75, Z:4.47 [[ 9.97909851e-01 -6.28311409e-02 -1.51055626e-02 4.86136318e+02] [ 6.28345540e-02 9.98023926e-01 -2.49020341e-04 7.75189328e+00] [ 1.50913591e-02 -7.00651438e-04 9.99885873e-01 4.46796963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1092541539999 meters Centerline goodness [0,1] 0.9994128255672524 Centerline is valid? [True, True] Translation: X:486.17, Y:7.75, Z:4.47 [[ 9.97896021e-01 -6.30152074e-02 -1.52517431e-02 4.86168225e+02] [ 6.30187226e-02 9.98012313e-01 -2.50488155e-04 7.75158329e+00] [ 1.52372120e-02 -7.11184234e-04 9.99883654e-01 4.46842003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13925415399996 meters Centerline goodness [0,1] 0.9989138381201045 Centerline is valid? [True, True] Translation: X:486.20, Y:7.75, Z:4.47 [[ 9.97882852e-01 -6.31245037e-02 -1.56560249e-02 4.86200763e+02] [ 6.31282393e-02 9.98005391e-01 -2.55969458e-04 7.75377930e+00] [ 1.56409552e-02 -7.32909756e-04 9.99877404e-01 4.46853556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.16925415399993 meters Centerline goodness [0,1] 0.9986610598548087 Centerline is valid? [True, True] Translation: X:486.23, Y:7.76, Z:4.47 [[ 9.97926338e-01 -6.21010492e-02 -1.69258165e-02 4.86232583e+02] [ 6.21052908e-02 9.98069565e-01 -2.75425220e-04 7.75598728e+00] [ 1.69102465e-02 -7.76328671e-04 9.99856710e-01 4.46805869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19925415399996 meters Centerline goodness [0,1] 0.9989341470041171 Centerline is valid? [True, True] Translation: X:486.26, Y:7.76, Z:4.47 [[ 9.97982454e-01 -6.12236756e-02 -1.68131838e-02 4.86263694e+02] [ 6.12277551e-02 9.98123784e-01 -2.72492851e-04 7.75588443e+00] [ 1.67983216e-02 -7.57490416e-04 9.99858611e-01 4.46811444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.22925415399993 meters Centerline goodness [0,1] 0.9988536890370988 Centerline is valid? [True, True] Translation: X:486.30, Y:7.76, Z:4.47 [[ 9.98164202e-01 -5.81135627e-02 -1.70598824e-02 4.86295657e+02] [ 5.81173255e-02 9.98309722e-01 -2.75548426e-04 7.75877816e+00] [ 1.70470596e-02 -7.16432164e-04 9.99854432e-01 4.46797956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25925415399996 meters Centerline goodness [0,1] 0.9989563329715287 Centerline is valid? [True, True] Translation: X:486.33, Y:7.76, Z:4.47 [[ 9.98258651e-01 -5.64046273e-02 -1.72680177e-02 4.86325921e+02] [ 5.64082385e-02 9.98407749e-01 -2.78253540e-04 7.75802832e+00] [ 1.72562174e-02 -6.96289455e-04 9.99850858e-01 4.46733400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.28925415399993 meters Centerline goodness [0,1] 0.9988928578889098 Centerline is valid? [True, True] Translation: X:486.36, Y:7.76, Z:4.47 [[ 9.98358678e-01 -5.45975842e-02 -1.72931866e-02 4.86357737e+02] [ 5.46009456e-02 9.98508217e-01 -2.78063449e-04 7.76286128e+00] [ 1.72825705e-02 -6.66617286e-04 9.99850423e-01 4.46817333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31925415399996 meters Centerline goodness [0,1] 0.9989756882747663 Centerline is valid? [True, True] Translation: X:486.39, Y:7.77, Z:4.47 [[ 9.98511748e-01 -5.13993352e-02 -1.82317936e-02 4.86389575e+02] [ 5.14025574e-02 9.98677972e-01 -2.92148806e-04 7.76721177e+00] [ 1.82227069e-02 -6.45446805e-04 9.99833744e-01 4.46836680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.34925415399994 meters Centerline goodness [0,1] 0.9988926728370557 Centerline is valid? [True, True] Translation: X:486.42, Y:7.77, Z:4.47 [[ 9.98582246e-01 -4.98289232e-02 -1.87236840e-02 4.86419902e+02] [ 4.98320587e-02 9.98757566e-01 -2.99351331e-04 7.76850112e+00] [ 1.87153374e-02 -6.34112797e-04 9.99824652e-01 4.46848312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.3792541539999 meters Centerline goodness [0,1] 0.9987886382623224 Centerline is valid? [True, True] Translation: X:486.45, Y:7.77, Z:4.47 [[ 9.98623524e-01 -4.89379824e-02 -1.88714454e-02 4.86449782e+02] [ 4.89410150e-02 9.98801625e-01 -3.01380615e-04 7.76914127e+00] [ 1.88635793e-02 -6.22621921e-04 9.99821873e-01 4.46829797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.40925415399994 meters Centerline goodness [0,1] 0.9985760056959773 Centerline is valid? [True, True] Translation: X:486.48, Y:7.77, Z:4.47 [[ 9.98684301e-01 -4.76876652e-02 -1.88561252e-02 4.86480701e+02] [ 4.76904798e-02 9.98862116e-01 -3.00630443e-04 7.77298559e+00] [ 1.88490055e-02 -5.99022753e-04 9.99822162e-01 4.46950579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4392541539999 meters Centerline goodness [0,1] 0.9987040675557042 Centerline is valid? [True, True] Translation: X:486.51, Y:7.77, Z:4.47 [[ 9.98697073e-01 -4.76139904e-02 -1.83593249e-02 4.86511228e+02] [ 4.76166614e-02 9.98865641e-01 -2.91877143e-04 7.77135119e+00] [ 1.83523963e-02 -5.82712910e-04 9.99831411e-01 4.46975821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.46925415399994 meters Centerline goodness [0,1] 0.99870390500878 Centerline is valid? [True, True] Translation: X:486.54, Y:7.77, Z:4.47 [[ 9.98703728e-01 -4.76466568e-02 -1.79069575e-02 4.86542269e+02] [ 4.76492176e-02 9.98864091e-01 -2.83866899e-04 7.77453298e+00] [ 1.79001421e-02 -5.69753584e-04 9.99839617e-01 4.47118690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4992541539999 meters Centerline goodness [0,1] 0.9988490834519126 Centerline is valid? [True, True] Translation: X:486.57, Y:7.77, Z:4.47 [[ 9.98712737e-01 -4.76428635e-02 -1.74076361e-02 4.86572796e+02] [ 4.76452911e-02 9.98864280e-01 -2.75481263e-04 7.77285657e+00] [ 1.74009906e-02 -5.54265242e-04 9.99848438e-01 4.47152245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.52925415399994 meters Centerline goodness [0,1] 0.9988499738630423 Centerline is valid? [True, True] Translation: X:486.60, Y:7.77, Z:4.47 [[ 9.98718288e-01 -4.77970294e-02 -1.66500964e-02 4.86602807e+02] [ 4.77992813e-02 9.98856926e-01 -2.62908137e-04 7.77274846e+00] [ 1.66436304e-02 -5.33291478e-04 9.99861343e-01 4.47224463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5592541539999 meters Centerline goodness [0,1] 0.998766000167322 Centerline is valid? [True, True] Translation: X:486.63, Y:7.77, Z:4.47 [[ 9.98697524e-01 -4.81901121e-02 -1.67621289e-02 4.86633989e+02] [ 4.81924632e-02 9.98838033e-01 -2.63878003e-04 7.77346700e+00] [ 1.67553682e-02 -5.44273973e-04 9.99859471e-01 4.47301048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.58925415399995 meters Centerline goodness [0,1] 0.9986196222784598 Centerline is valid? [True, True] Translation: X:486.67, Y:7.78, Z:4.47 [[ 9.98668050e-01 -4.86346357e-02 -1.72278218e-02 4.86665598e+02] [ 4.86372067e-02 9.98816474e-01 -2.69968447e-04 7.77818911e+00] [ 1.72205620e-02 -5.68304264e-04 9.99851554e-01 4.47379075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6192541539999 meters Centerline goodness [0,1] 0.9990155418708894 Centerline is valid? [True, True] Translation: X:486.70, Y:7.78, Z:4.47 [[ 9.98533328e-01 -5.14656573e-02 -1.68070985e-02 4.86696303e+02] [ 5.14685249e-02 9.98674583e-01 -2.62175912e-04 7.77679135e+00] [ 1.67983151e-02 -6.03245180e-04 9.99858716e-01 4.47460379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.64925415399995 meters Centerline goodness [0,1] 0.9985361773316604 Centerline is valid? [True, True] Translation: X:486.73, Y:7.78, Z:4.47 [[ 9.98447462e-01 -5.27220686e-02 -1.79735689e-02 4.86728055e+02] [ 5.27255601e-02 9.98609001e-01 -2.79885088e-04 7.77514025e+00] [ 1.79633238e-02 -6.68215930e-04 9.99838423e-01 4.47344440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6792541539999 meters Centerline goodness [0,1] 0.9988501421642415 Centerline is valid? [True, True] Translation: X:486.76, Y:7.77, Z:4.47 [[ 9.98277043e-01 -5.61873892e-02 -1.69092642e-02 4.86758664e+02] [ 5.61909832e-02 9.98420004e-01 -2.62864714e-04 7.77341977e+00] [ 1.68973173e-02 -6.87736370e-04 9.99856994e-01 4.47453590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.70925415399995 meters Centerline goodness [0,1] 0.9988108153217058 Centerline is valid? [True, True] Translation: X:486.79, Y:7.77, Z:4.47 [[ 9.97905646e-01 -6.22505618e-02 -1.75838013e-02 4.86788702e+02] [ 6.22553883e-02 9.98060215e-01 -2.73298071e-04 7.77024348e+00] [ 1.75667055e-02 -8.21960692e-04 9.99845356e-01 4.47476722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7392541539999 meters Centerline goodness [0,1] 0.998811534371677 Centerline is valid? [True, True] Translation: X:486.82, Y:7.77, Z:4.48 [[ 9.97717419e-01 -6.52239367e-02 -1.74868378e-02 4.86819953e+02] [ 6.52291682e-02 9.97870273e-01 -2.71643365e-04 7.76904415e+00] [ 1.74673132e-02 -8.69628564e-04 9.99847057e-01 4.47522511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.76925415399995 meters Centerline goodness [0,1] 0.9987282128262864 Centerline is valid? [True, True] Translation: X:486.85, Y:7.77, Z:4.48 [[ 9.97559818e-01 -6.76823790e-02 -1.71319855e-02 4.86851467e+02] [ 6.76877718e-02 9.97706517e-01 -2.65543000e-04 7.76763301e+00] [ 1.71106662e-02 -8.94730899e-04 9.99853202e-01 4.47572857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7992541539999 meters Centerline goodness [0,1] 0.9986003760183831 Centerline is valid? [True, True] Translation: X:486.88, Y:7.77, Z:4.48 [[ 9.97397868e-01 -6.99457266e-02 -1.74667678e-02 4.86882326e+02] [ 6.99516866e-02 9.97550344e-01 -2.70262276e-04 7.76682488e+00] [ 1.74428840e-02 -9.52270851e-04 9.99847408e-01 4.47616986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.82925415399995 meters Centerline goodness [0,1] 0.9983701443884907 Centerline is valid? [True, True] Translation: X:486.91, Y:7.77, Z:4.48 [[ 9.97219252e-01 -7.24698286e-02 -1.73748970e-02 4.86912783e+02] [ 7.24761130e-02 9.97370112e-01 -2.68542864e-04 7.76547822e+00] [ 1.73486642e-02 -9.91468885e-04 9.99849009e-01 4.47634401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8592541539999 meters Centerline goodness [0,1] 0.9986245988413287 Centerline is valid? [True, True] Translation: X:486.94, Y:7.77, Z:4.48 [[ 9.97185318e-01 -7.29344627e-02 -1.73783210e-02 4.86943539e+02] [ 7.29408297e-02 9.97336234e-01 -2.68026930e-04 7.76543183e+00] [ 1.73515776e-02 -1.00031663e-03 9.99848950e-01 4.47666312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.88925415399996 meters Centerline goodness [0,1] 0.9987894978503151 Centerline is valid? [True, True] Translation: X:486.98, Y:7.77, Z:4.48 [[ 9.97221466e-01 -7.24826690e-02 -1.71933499e-02 4.86975660e+02] [ 7.24888515e-02 9.97369188e-01 -2.64170691e-04 7.76809546e+00] [ 1.71672652e-02 -9.82889502e-04 9.99852149e-01 4.47672901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.91925415399993 meters Centerline goodness [0,1] 0.998683303028403 Centerline is valid? [True, True] Translation: X:487.01, Y:7.77, Z:4.48 [[ 9.97249848e-01 -7.20632916e-02 -1.73096042e-02 4.87006911e+02] [ 7.20695131e-02 9.97399576e-01 -2.64915185e-04 7.76901642e+00] [ 1.72836826e-02 -9.83308120e-04 9.99850142e-01 4.47686916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.94925415399996 meters Centerline goodness [0,1] 0.9986641898520173 Centerline is valid? [True, True] Translation: X:487.04, Y:7.77, Z:4.48 [[ 9.97319659e-01 -7.10477882e-02 -1.74845268e-02 4.87037663e+02] [ 7.10539960e-02 9.97472435e-01 -2.66708140e-04 7.77085039e+00] [ 1.74592825e-02 -9.76352223e-04 9.99847098e-01 4.47696031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.97925415399993 meters Centerline goodness [0,1] 0.9988725807461846 Centerline is valid? [True, True] Translation: X:487.07, Y:7.78, Z:4.48 [[ 9.97398118e-01 -6.99429231e-02 -1.74637415e-02 4.87069908e+02] [ 6.99489652e-02 9.97550536e-01 -2.65357928e-04 7.77899095e+00] [ 1.74395246e-02 -9.56903149e-04 9.99847462e-01 4.47808526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.00925415399996 meters Centerline goodness [0,1] 0.9988919551764509 Centerline is valid? [True, True] Translation: X:487.10, Y:7.78, Z:4.48 [[ 9.97499389e-01 -6.85295722e-02 -1.72819663e-02 4.87099974e+02] [ 6.85352912e-02 9.97648658e-01 -2.61811248e-04 7.77572890e+00] [ 1.72592723e-02 -9.23268034e-04 9.99850621e-01 4.47747260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.03925415399993 meters Centerline goodness [0,1] 0.9987659227342133 Centerline is valid? [True, True] Translation: X:487.13, Y:7.78, Z:4.48 [[ 9.97700891e-01 -6.54909081e-02 -1.74319830e-02 4.87130013e+02] [ 6.54962671e-02 9.97852779e-01 -2.63920626e-04 7.77942702e+00] [ 1.74118371e-02 -8.78415972e-04 9.99848017e-01 4.47711103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.06925415399996 meters Centerline goodness [0,1] 0.9988046054149278 Centerline is valid? [True, True] Translation: X:487.16, Y:7.79, Z:4.48 [[ 9.97825955e-01 -6.35349139e-02 -1.75122342e-02 4.87161624e+02] [ 6.35400295e-02 9.97979256e-01 -2.64700187e-04 7.79119277e+00] [ 1.74936641e-02 -8.48603160e-04 9.99846614e-01 4.47890324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.09925415399994 meters Centerline goodness [0,1] 0.9988460650819294 Centerline is valid? [True, True] Translation: X:487.19, Y:7.79, Z:4.48 [[ 9.97946221e-01 -6.15984524e-02 -1.75775895e-02 4.87192441e+02] [ 6.16033204e-02 9.98100677e-01 -2.64894778e-04 7.79376326e+00] [ 1.75605211e-02 -8.18487135e-04 9.99845467e-01 4.47920846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.1292541539999 meters Centerline goodness [0,1] 0.9989926124916051 Centerline is valid? [True, True] Translation: X:487.22, Y:7.80, Z:4.48 [[ 9.98232442e-01 -5.69401409e-02 -1.70238503e-02 4.87222620e+02] [ 5.69440363e-02 9.98377339e-01 -2.56228743e-04 7.80384684e+00] [ 1.70108161e-02 -7.13630904e-04 9.99855051e-01 4.48029523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.15925415399994 meters Centerline goodness [0,1] 0.9988267582912572 Centerline is valid? [True, True] Translation: X:487.25, Y:7.81, Z:4.48 [[ 9.98365927e-01 -5.44768669e-02 -1.72553271e-02 4.87252708e+02] [ 5.44805040e-02 9.98514801e-01 -2.59570902e-04 7.80614616e+00] [ 1.72438401e-02 -6.80932171e-04 9.99851082e-01 4.48011988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.1892541539999 meters Centerline goodness [0,1] 0.9988856884553119 Centerline is valid? [True, True] Translation: X:487.28, Y:7.81, Z:4.48 [[ 9.98503156e-01 -5.20967966e-02 -1.66544956e-02 4.87284555e+02] [ 5.20998642e-02 9.98641849e-01 -2.49926623e-04 7.81081836e+00] [ 1.66448967e-02 -6.18144441e-04 9.99861273e-01 4.48008724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.21925415399994 meters Centerline goodness [0,1] 0.9988866014033024 Centerline is valid? [True, True] Translation: X:487.31, Y:7.82, Z:4.48 [[ 9.98760769e-01 -4.70511990e-02 -1.62206665e-02 4.87313821e+02] [ 4.70534511e-02 9.98892343e-01 -2.42984691e-04 7.81532570e+00] [ 1.62141323e-02 -5.20554760e-04 9.99868407e-01 4.47972137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.2492541539999 meters Centerline goodness [0,1] 0.9991176285216076 Centerline is valid? [True, True] Translation: X:487.34, Y:7.82, Z:4.48 [[ 9.98891279e-01 -4.42581319e-02 -1.60446381e-02 4.87344135e+02] [ 4.42599746e-02 9.99020018e-01 -2.40395535e-04 7.81757651e+00] [ 1.60395541e-02 -4.70006274e-04 9.99871248e-01 4.47986979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.27925415399994 meters Centerline goodness [0,1] 0.9987808466809602 Centerline is valid? [True, True] Translation: X:487.38, Y:7.82, Z:4.48 [[ 9.99001173e-01 -4.18551305e-02 -1.56462453e-02 4.87375693e+02] [ 4.18565943e-02 9.99123601e-01 -2.34040466e-04 7.82069734e+00] [ 1.56423287e-02 -4.21091841e-04 9.99877563e-01 4.48020479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3092541539999 meters Centerline goodness [0,1] 0.9989466366106979 Centerline is valid? [True, True] Translation: X:487.41, Y:7.83, Z:4.48 [[ 9.99218895e-01 -3.66731364e-02 -1.47201082e-02 4.87405685e+02] [ 3.66738760e-02 9.99327263e-01 -2.19778423e-04 7.82576832e+00] [ 1.47182654e-02 -3.20236669e-04 9.99891629e-01 4.48066593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.33925415399995 meters Centerline goodness [0,1] 0.998905954134231 Centerline is valid? [True, True] Translation: X:487.44, Y:7.83, Z:4.48 [[ 9.99301732e-01 -3.44007012e-02 -1.45821943e-02 4.87436853e+02] [ 3.44011903e-02 9.99408080e-01 -2.17368432e-04 7.82945660e+00] [ 1.45810405e-02 -2.84428192e-04 9.99893651e-01 4.48144208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3692541539999 meters Centerline goodness [0,1] 0.9990939547820223 Centerline is valid? [True, True] Translation: X:487.47, Y:7.83, Z:4.48 [[ 9.99421053e-01 -3.06106462e-02 -1.48508508e-02 4.87467078e+02] [ 3.06107417e-02 9.99531357e-01 -2.20937929e-04 7.83196290e+00] [ 1.48506541e-02 -2.33785539e-04 9.99889696e-01 4.48099285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.39925415399995 meters Centerline goodness [0,1] 0.9990939547820223 Centerline is valid? [True, True] Translation: X:487.50, Y:7.83, Z:4.48 [[ 9.99422097e-01 -3.05765197e-02 -1.48508560e-02 4.87497923e+02] [ 3.05766166e-02 9.99532402e-01 -2.20585913e-04 7.83238892e+00] [ 1.48506565e-02 -2.33630494e-04 9.99889696e-01 4.48128179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4292541539999 meters Centerline goodness [0,1] 0.9991765028822399 Centerline is valid? [True, True] Translation: X:487.53, Y:7.83, Z:4.48 [[ 9.99491630e-01 -2.83016673e-02 -1.46798520e-02 4.87528526e+02] [ 2.83015213e-02 9.99599408e-01 -2.17729726e-04 7.83446269e+00] [ 1.46801335e-02 -1.97843105e-04 9.99892221e-01 4.48138726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.45925415399995 meters Centerline goodness [0,1] 0.9993255632600586 Centerline is valid? [True, True] Translation: X:487.56, Y:7.84, Z:4.48 [[ 9.99520599e-01 -2.72879535e-02 -1.46266829e-02 4.87560211e+02] [ 2.72877027e-02 9.99627598e-01 -2.16753579e-04 7.83578755e+00] [ 1.46271506e-02 -1.82478907e-04 9.99893001e-01 4.48174714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4892541539999 meters Centerline goodness [0,1] 0.9990521925944648 Centerline is valid? [True, True] Translation: X:487.59, Y:7.84, Z:4.48 [[ 9.99525320e-01 -2.68597029e-02 -1.50894231e-02 4.87590560e+02] [ 2.68593940e-02 9.99639196e-01 -2.23165339e-04 7.83550989e+00] [ 1.50899729e-02 -1.82233353e-04 9.99886123e-01 4.48136601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.51925415399995 meters Centerline goodness [0,1] 0.999052092768521 Centerline is valid? [True, True] Translation: X:487.62, Y:7.84, Z:4.48 [[ 9.99540380e-01 -2.62613386e-02 -1.51450255e-02 4.87621445e+02] [ 2.62609612e-02 9.99655096e-01 -2.23821605e-04 7.83752708e+00] [ 1.51456798e-02 -1.74004196e-04 9.99885282e-01 4.48211774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5492541539999 meters Centerline goodness [0,1] 0.9992834562697577 Centerline is valid? [True, True] Translation: X:487.65, Y:7.84, Z:4.48 [[ 9.99539072e-01 -2.63971983e-02 -1.49943923e-02 4.87651466e+02] [ 2.63968438e-02 9.99651518e-01 -2.21595463e-04 7.83882268e+00] [ 1.49950165e-02 -1.74311307e-04 9.99887553e-01 4.48282492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57925415399995 meters Centerline goodness [0,1] 0.9988634211024815 Centerline is valid? [True, True] Translation: X:487.68, Y:7.84, Z:4.48 [[ 9.99532828e-01 -2.66255105e-02 -1.50069208e-02 4.87681532e+02] [ 2.66251826e-02 9.99645462e-01 -2.21679111e-04 7.83844143e+00] [ 1.50075026e-02 -1.77986457e-04 9.99887365e-01 4.48262091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6092541539999 meters Centerline goodness [0,1] 0.9989453701750686 Centerline is valid? [True, True] Translation: X:487.71, Y:7.84, Z:4.48 [[ 9.99489200e-01 -2.83170111e-02 -1.48150471e-02 4.87712410e+02] [ 2.83168797e-02 9.99598973e-01 -2.18678393e-04 7.83702552e+00] [ 1.48152982e-02 -2.00949214e-04 9.99890227e-01 4.48272131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63925415399996 meters Centerline goodness [0,1] 0.9990092331042624 Centerline is valid? [True, True] Translation: X:487.74, Y:7.84, Z:4.48 [[ 9.99442546e-01 -2.99700399e-02 -1.47103243e-02 4.87743431e+02] [ 2.99700922e-02 9.99550772e-01 -2.16940507e-04 7.83625789e+00] [ 1.47102177e-02 -2.24050203e-04 9.99891774e-01 4.48297650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.66925415399993 meters Centerline goodness [0,1] 0.9990105888049176 Centerline is valid? [True, True] Translation: X:487.77, Y:7.83, Z:4.48 [[ 9.99302429e-01 -3.44179915e-02 -1.44933221e-02 4.87773752e+02] [ 3.44185181e-02 9.99407485e-01 -2.13171146e-04 7.83214997e+00] [ 1.44920715e-02 -2.85816225e-04 9.99894944e-01 4.48284342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69925415399996 meters Centerline goodness [0,1] 0.9991978214519431 Centerline is valid? [True, True] Translation: X:487.81, Y:7.83, Z:4.48 [[ 9.99197785e-01 -3.73101947e-02 -1.45511632e-02 4.87805515e+02] [ 3.73110424e-02 9.99303678e-01 -2.13305071e-04 7.83143503e+00] [ 1.45489894e-02 -3.29785114e-04 9.99894103e-01 4.48340005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.72925415399993 meters Centerline goodness [0,1] 0.9989043174108178 Centerline is valid? [True, True] Translation: X:487.84, Y:7.83, Z:4.48 [[ 9.99083166e-01 -4.02306249e-02 -1.46398419e-02 4.87836547e+02] [ 4.02318080e-02 9.99190350e-01 -2.13809023e-04 7.82865054e+00] [ 1.46365904e-02 -3.75374312e-04 9.99892809e-01 4.48327781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75925415399996 meters Centerline goodness [0,1] 0.9988603267063442 Centerline is valid? [True, True] Translation: X:487.87, Y:7.83, Z:4.48 [[ 9.98960213e-01 -4.30519796e-02 -1.50006355e-02 4.87867791e+02] [ 4.30535503e-02 9.99072742e-01 -2.18360571e-04 7.82716404e+00] [ 1.49961269e-02 -4.27697091e-04 9.99887460e-01 4.48343847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.78925415399993 meters Centerline goodness [0,1] 0.9988603267063442 Centerline is valid? [True, True] Translation: X:487.90, Y:7.82, Z:4.48 [[ 9.98672067e-01 -4.91293021e-02 -1.55052966e-02 4.87898641e+02] [ 4.91317187e-02 9.98792282e-01 -2.25254680e-04 7.82250725e+00] [ 1.54976372e-02 -5.36846316e-04 9.99879760e-01 4.48302299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81925415399996 meters Centerline goodness [0,1] 0.9986907954473467 Centerline is valid? [True, True] Translation: X:487.93, Y:7.82, Z:4.48 [[ 9.98529839e-01 -5.20740015e-02 -1.50485712e-02 4.87930715e+02] [ 5.20766201e-02 9.98643068e-01 -2.18062944e-04 7.81981613e+00] [ 1.50395067e-02 -5.65936367e-04 9.99886740e-01 4.48261313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.84925415399994 meters Centerline goodness [0,1] 0.9986511833758351 Centerline is valid? [True, True] Translation: X:487.96, Y:7.82, Z:4.48 [[ 9.98375135e-01 -5.48669020e-02 -1.53854914e-02 4.87961326e+02] [ 5.48699837e-02 9.98493483e-01 -2.22069885e-04 7.81706778e+00] [ 1.53744972e-02 -6.22492611e-04 9.99881612e-01 4.48255133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.8792541539999 meters Centerline goodness [0,1] 0.9987986595569793 Centerline is valid? [True, True] Translation: X:487.99, Y:7.81, Z:4.48 [[ 9.98057483e-01 -6.04545481e-02 -1.50501595e-02 4.87990904e+02] [ 6.04581377e-02 9.98170710e-01 -2.16772062e-04 7.81139729e+00] [ 1.50357332e-02 -6.93553636e-04 9.99886716e-01 4.48220877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.90925415399994 meters Centerline goodness [0,1] 0.9985669729410773 Centerline is valid? [True, True] Translation: X:488.02, Y:7.81, Z:4.48 [[ 9.97870631e-01 -6.34593586e-02 -1.50702937e-02 4.88022145e+02] [ 6.34633060e-02 9.97984149e-01 -2.16632519e-04 7.80850900e+00] [ 1.50536616e-02 -7.40239433e-04 9.99886413e-01 4.48162331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9392541539999 meters Centerline goodness [0,1] 0.9985669729410773 Centerline is valid? [True, True] Translation: X:488.05, Y:7.81, Z:4.48 [[ 9.97874990e-01 -6.33907781e-02 -1.50703039e-02 4.88053869e+02] [ 6.33947285e-02 9.97988508e-01 -2.15919476e-04 7.80889761e+00] [ 1.50536774e-02 -7.39917181e-04 9.99886413e-01 4.48192044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.96925415399994 meters Centerline goodness [0,1] 0.9986933063564323 Centerline is valid? [True, True] Translation: X:488.09, Y:7.81, Z:4.48 [[ 9.97689360e-01 -6.61560357e-02 -1.54699460e-02 4.88085202e+02] [ 6.61605434e-02 9.97808967e-01 -2.20775825e-04 7.80692464e+00] [ 1.54506564e-02 -8.03234339e-04 9.99880309e-01 4.48207335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9992541539999 meters Centerline goodness [0,1] 0.9988239741274308 Centerline is valid? [True, True] Translation: X:488.12, Y:7.81, Z:4.48 [[ 9.97490195e-01 -6.89695761e-02 -1.60158728e-02 4.88116012e+02] [ 6.89747765e-02 9.97618378e-01 -2.28113992e-04 7.81176123e+00] [ 1.59934620e-02 -8.77149777e-04 9.99871712e-01 4.48275624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.02925415399994 meters Centerline goodness [0,1] 0.9986126584407121 Centerline is valid? [True, True] Translation: X:488.15, Y:7.81, Z:4.48 [[ 9.97166733e-01 -7.34955964e-02 -1.60282130e-02 4.88145899e+02] [ 7.35013925e-02 9.97295088e-01 -2.27963755e-04 7.80748393e+00] [ 1.60016124e-02 -9.50778099e-04 9.99871514e-01 4.48207121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0592541539999 meters Centerline goodness [0,1] 0.9987806416347812 Centerline is valid? [True, True] Translation: X:488.18, Y:7.81, Z:4.48 [[ 9.97050323e-01 -7.51202087e-02 -1.57355444e-02 4.88178136e+02] [ 7.51260072e-02 9.97174024e-01 -2.23126154e-04 7.80663453e+00] [ 1.57078374e-02 -9.59680616e-04 9.99876164e-01 4.48272168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.08925415399995 meters Centerline goodness [0,1] 0.9985904529484779 Centerline is valid? [True, True] Translation: X:488.21, Y:7.80, Z:4.48 [[ 9.96986382e-01 -7.60536685e-02 -1.52968183e-02 4.88209254e+02] [ 7.60592725e-02 9.97103275e-01 -2.15925346e-04 7.79665677e+00] [ 1.52689296e-02 -9.48190245e-04 9.99882974e-01 4.48216170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1192541539999 meters Centerline goodness [0,1] 0.9982553862322648 Centerline is valid? [True, True] Translation: X:488.24, Y:7.80, Z:4.48 [[ 9.96981166e-01 -7.62286561e-02 -1.47562484e-02 4.88241877e+02] [ 7.62339025e-02 9.97089940e-01 -2.07442345e-04 7.79910418e+00] [ 1.47291199e-02 -9.18110295e-04 9.99891099e-01 4.48212563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.14925415399995 meters Centerline goodness [0,1] 0.9987377721678763 Centerline is valid? [True, True] Translation: X:488.27, Y:7.81, Z:4.48 [[ 9.97057424e-01 -7.51957812e-02 -1.49026037e-02 4.88273799e+02] [ 7.52010330e-02 9.97168372e-01 -2.08448632e-04 7.81381299e+00] [ 1.48760796e-02 -9.12855941e-04 9.99888928e-01 4.48437120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1792541539999 meters Centerline goodness [0,1] 0.998649931441831 Centerline is valid? [True, True] Translation: X:488.30, Y:7.81, Z:4.48 [[ 9.97134704e-01 -7.40515576e-02 -1.54515044e-02 4.88304721e+02] [ 7.40570829e-02 9.97253981e-01 -2.15068626e-04 7.81315876e+00] [ 1.54250004e-02 -9.29840950e-04 9.99880595e-01 4.48409315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.20925415399995 meters Centerline goodness [0,1] 0.9986075949367088 Centerline is valid? [True, True] Translation: X:488.33, Y:7.81, Z:4.48 [[ 9.97250330e-01 -7.23198228e-02 -1.61747667e-02 4.88334807e+02] [ 7.23256710e-02 9.97381044e-01 -2.23878145e-04 7.81492811e+00] [ 1.61485966e-02 -9.46588302e-04 9.99869155e-01 4.48380245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2392541539999 meters Centerline goodness [0,1] 0.9985634612134527 Centerline is valid? [True, True] Translation: X:488.37, Y:7.83, Z:4.48 [[ 9.97521614e-01 -6.81907794e-02 -1.73391822e-02 4.88365711e+02] [ 6.81968990e-02 9.97671853e-01 -2.38793766e-04 7.82551545e+00] [ 1.73150975e-02 -9.44276512e-04 9.99849637e-01 4.48339751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.26925415399995 meters Centerline goodness [0,1] 0.9985634308651103 Centerline is valid? [True, True] Translation: X:488.40, Y:7.82, Z:4.48 [[ 9.97665136e-01 -6.60272906e-02 -1.74549017e-02 4.88396020e+02] [ 6.60331676e-02 9.97817400e-01 -2.40064832e-04 7.82443856e+00] [ 1.74326555e-02 -9.13098136e-04 9.99847623e-01 4.48270380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2992541539999 meters Centerline goodness [0,1] 0.9987320371935756 Centerline is valid? [True, True] Translation: X:488.43, Y:7.83, Z:4.48 [[ 9.97802850e-01 -6.37306446e-02 -1.81074132e-02 4.88427550e+02] [ 6.37366009e-02 9.97966725e-01 -2.48554978e-04 7.82796962e+00] [ 1.80864364e-02 -9.06096105e-04 9.99836016e-01 4.48277884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.32925415399995 meters Centerline goodness [0,1] 0.9987294326916969 Centerline is valid? [True, True] Translation: X:488.46, Y:7.84, Z:4.48 [[ 9.98026849e-01 -6.00921564e-02 -1.82027658e-02 4.88458318e+02] [ 6.00975811e-02 9.98192476e-01 -2.49352952e-04 7.83821921e+00] [ 1.81848480e-02 -8.45081250e-04 9.99834285e-01 4.48380757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3592541539999 meters Centerline goodness [0,1] 0.9986635270158467 Centerline is valid? [True, True] Translation: X:488.49, Y:7.84, Z:4.48 [[ 9.98127458e-01 -5.84199125e-02 -1.81298721e-02 4.88490768e+02] [ 5.84250334e-02 9.98291768e-01 -2.47529453e-04 7.84323613e+00] [ 1.81133628e-02 -8.12172443e-04 9.99835610e-01 4.48470537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.38925415399996 meters Centerline goodness [0,1] 0.9986414197163964 Centerline is valid? [True, True] Translation: X:488.52, Y:7.85, Z:4.49 [[ 9.98221096e-01 -5.68703216e-02 -1.79000174e-02 4.88521789e+02] [ 5.68750849e-02 9.98381273e-01 -2.43265859e-04 7.84606822e+00] [ 1.78848767e-02 -7.75231895e-04 9.99839752e-01 4.48531306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.41925415399993 meters Centerline goodness [0,1] 0.9987024589466519 Centerline is valid? [True, True] Translation: X:488.55, Y:7.85, Z:4.49 [[ 9.98416369e-01 -5.35461483e-02 -1.72500284e-02 4.88553109e+02] [ 5.35500897e-02 9.98565137e-01 -2.33667180e-04 7.85195972e+00] [ 1.72377890e-02 -6.90443432e-04 9.99851180e-01 4.48660168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.44925415399996 meters Centerline goodness [0,1] 0.9986841546754955 Centerline is valid? [True, True] Translation: X:488.58, Y:7.86, Z:4.49 [[ 9.98536361e-01 -5.13935545e-02 -1.68475083e-02 4.88584302e+02] [ 5.13970180e-02 9.98678274e-01 -2.27625124e-04 7.85547154e+00] [ 1.68369389e-02 -6.38619724e-04 9.99858045e-01 4.48748563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.47925415399993 meters Centerline goodness [0,1] 0.9986368767438393 Centerline is valid? [True, True] Translation: X:488.62, Y:7.86, Z:4.49 [[ 9.98643549e-01 -4.92786866e-02 -1.68128692e-02 4.88615955e+02] [ 4.92818509e-02 9.98784886e-01 -2.26306676e-04 7.85838507e+00] [ 1.68035917e-02 -6.02569609e-04 9.99858628e-01 4.48816004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.50925415399996 meters Centerline goodness [0,1] 0.9990615735704993 Centerline is valid? [True, True] Translation: X:488.65, Y:7.87, Z:4.49 [[ 9.98890176e-01 -4.41294346e-02 -1.64623695e-02 4.88646094e+02] [ 4.41317802e-02 9.99025694e-01 -2.20948441e-04 7.86750311e+00] [ 1.64560804e-02 -5.05810445e-04 9.99864462e-01 4.48957727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.53925415399993 meters Centerline goodness [0,1] 0.9988931695791916 Centerline is valid? [True, True] Translation: X:488.68, Y:7.87, Z:4.49 [[ 9.99007692e-01 -4.14724314e-02 -1.62378807e-02 4.88676998e+02] [ 4.14743668e-02 9.99139545e-01 -2.17692181e-04 7.86922947e+00] [ 1.62329369e-02 -4.55979656e-04 9.99868133e-01 4.48974362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.56925415399996 meters Centerline goodness [0,1] 0.998954889623547 Centerline is valid? [True, True] Translation: X:488.71, Y:7.87, Z:4.49 [[ 9.99111930e-01 -3.89752925e-02 -1.60086839e-02 4.88709026e+02] [ 3.89768660e-02 9.99240090e-01 -2.13819431e-04 7.87452409e+00] [ 1.60048524e-02 -4.10338782e-04 9.99871830e-01 4.49081779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.59925415399994 meters Centerline goodness [0,1] 0.9989329918907384 Centerline is valid? [True, True] Translation: X:488.74, Y:7.88, Z:4.49 [[ 9.99283009e-01 -3.42757937e-02 -1.60822150e-02 4.88739618e+02] [ 3.42767880e-02 9.99412355e-01 -2.13893494e-04 7.87961016e+00] [ 1.60800957e-02 -3.37506539e-04 9.99870650e-01 4.49085048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.6292541539999 meters Centerline goodness [0,1] 0.9991040573403303 Centerline is valid? [True, True] Translation: X:488.77, Y:7.88, Z:4.49 [[ 9.99333888e-01 -3.23884528e-02 -1.68157401e-02 4.88771643e+02] [ 3.23892878e-02 9.99475305e-01 -2.22755546e-04 7.88333067e+00] [ 1.68141316e-02 -3.22042679e-04 9.99858581e-01 4.49110708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.65925415399994 meters Centerline goodness [0,1] 0.9995085680099141 Centerline is valid? [True, True] Translation: X:488.80, Y:7.89, Z:4.49 [[ 9.99432111e-01 -2.85571706e-02 -1.78869503e-02 4.88803322e+02] [ 2.85575207e-02 9.99592123e-01 -2.35900459e-04 7.88740232e+00] [ 1.78863913e-02 -2.75040460e-04 9.99839988e-01 4.49090341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.6892541539999 meters Centerline goodness [0,1] 0.9995940431168943 Centerline is valid? [True, True] Translation: X:488.83, Y:7.89, Z:4.49 [[ 9.99475230e-01 -2.69217528e-02 -1.80134136e-02 4.88833344e+02] [ 2.69218515e-02 9.99637513e-01 -2.37063185e-04 7.88906266e+00] [ 1.80132661e-02 -2.48015664e-04 9.99837717e-01 4.49096317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.71925415399994 meters Centerline goodness [0,1] 0.9994866639573932 Centerline is valid? [True, True] Translation: X:488.86, Y:7.89, Z:4.49 [[ 9.99519837e-01 -2.51240390e-02 -1.81349999e-02 4.88863021e+02] [ 2.51238476e-02 9.99684318e-01 -2.38422320e-04 7.88925026e+00] [ 1.81352651e-02 -2.17313134e-04 9.99835519e-01 4.49023435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.7492541539999 meters Centerline goodness [0,1] 0.9996791581108829 Centerline is valid? [True, True] Translation: X:488.89, Y:7.89, Z:4.49 [[ 9.99552184e-01 -2.43166703e-02 -1.74393505e-02 4.88892497e+02] [ 2.43163666e-02 9.99704287e-01 -2.29493186e-04 7.89222701e+00] [ 1.74397740e-02 -1.94671225e-04 9.99847897e-01 4.49229875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.77925415399994 meters Centerline goodness [0,1] 0.9995937740528521 Centerline is valid? [True, True] Translation: X:488.92, Y:7.89, Z:4.49 [[ 9.99562425e-01 -2.38480748e-02 -1.74993768e-02 4.88922187e+02] [ 2.38476863e-02 9.99715577e-01 -2.30905064e-04 7.89275452e+00] [ 1.74999062e-02 -1.86515623e-04 9.99846848e-01 4.49256212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8092541539999 meters Centerline goodness [0,1] 0.9994455462435758 Centerline is valid? [True, True] Translation: X:488.95, Y:7.89, Z:4.49 [[ 9.99550936e-01 -2.42382817e-02 -1.76190880e-02 4.88952189e+02] [ 2.42379373e-02 9.99706191e-01 -2.33119420e-04 7.89307715e+00] [ 1.76195618e-02 -1.94035617e-04 9.99844745e-01 4.49280779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.83925415399995 meters Centerline goodness [0,1] 0.9992745118958711 Centerline is valid? [True, True] Translation: X:488.98, Y:7.89, Z:4.49 [[ 9.99519495e-01 -2.52742831e-02 -1.79440716e-02 4.88981789e+02] [ 2.52740809e-02 9.99680531e-01 -2.38083018e-04 7.89295512e+00] [ 1.79443564e-02 -2.15551299e-04 9.99838964e-01 4.49293341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8692541539999 meters Centerline goodness [0,1] 0.9993608181527645 Centerline is valid? [True, True] Translation: X:489.01, Y:7.89, Z:4.49 [[ 9.99454903e-01 -2.77414881e-02 -1.78971079e-02 4.89011324e+02] [ 2.77416734e-02 9.99615097e-01 -2.37958468e-04 7.88794847e+00] [ 1.78968206e-02 -2.58666966e-04 9.99839806e-01 4.49103771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.89925415399995 meters Centerline goodness [0,1] 0.9995309368470428 Centerline is valid? [True, True] Translation: X:489.04, Y:7.89, Z:4.49 [[ 9.99423771e-01 -2.91223624e-02 -1.74360038e-02 4.89042056e+02] [ 2.91227455e-02 9.99575816e-01 -2.31993887e-04 7.89014294e+00] [ 1.74353639e-02 -2.75924095e-04 9.99847954e-01 4.49332092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9292541539999 meters Centerline goodness [0,1] 0.9992338143276721 Centerline is valid? [True, True] Translation: X:489.07, Y:7.88, Z:4.49 [[ 9.99359110e-01 -3.12240584e-02 -1.75050890e-02 4.89072494e+02] [ 3.12247694e-02 9.99512361e-01 -2.32764522e-04 7.88396576e+00] [ 1.75038207e-02 -3.13977022e-04 9.99846747e-01 4.49149676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.95925415399995 meters Centerline goodness [0,1] 0.9992544149287433 Centerline is valid? [True, True] Translation: X:489.10, Y:7.89, Z:4.49 [[ 9.99297490e-01 -3.34433285e-02 -1.69135835e-02 4.89103216e+02] [ 3.34443151e-02 9.99440557e-01 -2.24593380e-04 7.88722214e+00] [ 1.69116325e-02 -3.41227617e-04 9.99856930e-01 4.49414785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9892541539999 meters Centerline goodness [0,1] 0.9991702304206294 Centerline is valid? [True, True] Translation: X:489.13, Y:7.88, Z:4.49 [[ 9.99145530e-01 -3.81984802e-02 -1.57824649e-02 4.89134901e+02] [ 3.81999401e-02 9.99270094e-01 -2.09062880e-04 7.88225046e+00] [ 1.57789310e-02 -3.94004970e-04 9.99875427e-01 4.49458833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.01925415399995 meters Centerline goodness [0,1] 0.9991089234947171 Centerline is valid? [True, True] Translation: X:489.17, Y:7.88, Z:4.50 [[ 9.99056399e-01 -4.07583836e-02 -1.50021795e-02 4.89166247e+02] [ 4.07600029e-02 9.99168946e-01 -1.97930891e-04 7.87977361e+00] [ 1.49977792e-02 -4.13744756e-04 9.99887441e-01 4.49530331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0492541539999 meters Centerline goodness [0,1] 0.9989605871621908 Centerline is valid? [True, True] Translation: X:489.20, Y:7.87, Z:4.50 [[ 9.98875630e-01 -4.47939469e-02 -1.55234590e-02 4.89196792e+02] [ 4.47961809e-02 9.98996126e-01 -2.03951802e-04 7.87425488e+00] [ 1.55170112e-02 -4.91669194e-04 9.99879483e-01 4.49534064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07925415399995 meters Centerline goodness [0,1] 0.9992793556591776 Centerline is valid? [True, True] Translation: X:489.23, Y:7.87, Z:4.50 [[ 9.98799257e-01 -4.63923291e-02 -1.57415581e-02 4.89228867e+02] [ 4.63948397e-02 9.98923158e-01 -2.05855735e-04 7.87406322e+00] [ 1.57341570e-02 -5.24718508e-04 9.99876073e-01 4.49569118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1092541539999 meters Centerline goodness [0,1] 0.9988351406302948 Centerline is valid? [True, True] Translation: X:489.26, Y:7.87, Z:4.50 [[ 9.98731419e-01 -4.76897770e-02 -1.61628660e-02 4.89260441e+02] [ 4.76926111e-02 9.98862038e-01 -2.10277971e-04 7.87135891e+00] [ 1.61545014e-02 -5.60838067e-04 9.99869350e-01 4.49519011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13925415399996 meters Centerline goodness [0,1] 0.9986866910970366 Centerline is valid? [True, True] Translation: X:489.29, Y:7.87, Z:4.49 [[ 9.98699557e-01 -4.81012816e-02 -1.68956188e-02 4.89291975e+02] [ 4.81044534e-02 9.98842287e-01 -2.18863396e-04 7.86924121e+00] [ 1.68865861e-02 -5.94175731e-04 9.99857235e-01 4.49475324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.16925415399993 meters Centerline goodness [0,1] 0.9988791134421792 Centerline is valid? [True, True] Translation: X:489.32, Y:7.87, Z:4.49 [[ 9.98758525e-01 -4.66434507e-02 -1.74870623e-02 4.89324116e+02] [ 4.66466446e-02 9.98911427e-01 -2.25418814e-04 7.86877459e+00] [ 1.74785406e-02 -5.90573816e-04 9.99847064e-01 4.49468488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19925415399996 meters Centerline goodness [0,1] 0.9987938294855788 Centerline is valid? [True, True] Translation: X:489.36, Y:7.87, Z:4.49 [[ 9.98850645e-01 -4.45654164e-02 -1.76440292e-02 4.89356131e+02] [ 4.45683666e-02 9.99006311e-01 -2.26164955e-04 7.87057139e+00] [ 1.76365756e-02 -5.60460549e-04 9.99844306e-01 4.49484094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.22925415399993 meters Centerline goodness [0,1] 0.9989191480343329 Centerline is valid? [True, True] Translation: X:489.39, Y:7.87, Z:4.50 [[ 9.98968537e-01 -4.17352455e-02 -1.78894370e-02 4.89387866e+02] [ 4.17378456e-02 9.99128570e-01 -2.28155426e-04 7.87258980e+00] [ 1.78833698e-02 -5.18746470e-04 9.99839945e-01 4.49561082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25925415399996 meters Centerline goodness [0,1] 0.9986652825152009 Centerline is valid? [True, True] Translation: X:489.42, Y:7.87, Z:4.50 [[ 9.99104155e-01 -3.82718169e-02 -1.80597537e-02 4.89419610e+02] [ 3.82739189e-02 9.99267259e-01 -2.29355023e-04 7.87455988e+00] [ 1.80552984e-02 -4.62067991e-04 9.99836883e-01 4.49584521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.28925415399993 meters Centerline goodness [0,1] 0.9990454169406674 Centerline is valid? [True, True] Translation: X:489.45, Y:7.88, Z:4.50 [[ 9.99264054e-01 -3.40017617e-02 -1.77547536e-02 4.89449721e+02] [ 3.40031308e-02 9.99421701e-01 -2.24849894e-04 7.87690765e+00] [ 1.77521314e-02 -3.79032794e-04 9.99842347e-01 4.49628953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31925415399996 meters Centerline goodness [0,1] 0.9988958019238529 Centerline is valid? [True, True] Translation: X:489.48, Y:7.88, Z:4.50 [[ 9.99518573e-01 -2.55130300e-02 -1.76552518e-02 4.89479675e+02] [ 2.55130627e-02 9.99674464e-01 -2.23423395e-04 7.88233204e+00] [ 1.76552046e-02 -2.27123715e-04 9.99844109e-01 4.49668566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.34925415399994 meters Centerline goodness [0,1] 0.9990632318501171 Centerline is valid? [True, True] Translation: X:489.51, Y:7.88, Z:4.50 [[ 9.99607032e-01 -2.15690387e-02 -1.79041333e-02 4.89509821e+02] [ 2.15684370e-02 9.99767349e-01 -2.26722508e-04 7.88493392e+00] [ 1.79048580e-02 -1.59530758e-04 9.99839682e-01 4.49705084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.3792541539999 meters Centerline goodness [0,1] 0.9988723644177784 Centerline is valid? [True, True] Translation: X:489.54, Y:7.89, Z:4.50 [[ 9.99727839e-01 -1.54832853e-02 -1.74503772e-02 4.89538810e+02] [ 1.54817494e-02 9.99880126e-01 -2.23115416e-04 7.88805635e+00] [ 1.74517399e-02 -4.71076734e-05 9.99847706e-01 4.49685528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.40925415399994 meters Centerline goodness [0,1] 0.9988511616032678 Centerline is valid? [True, True] Translation: X:489.57, Y:7.89, Z:4.50 [[ 9.99749187e-01 -1.33929446e-02 -1.79497098e-02 4.89566571e+02] [ 1.33908957e-02 9.99910310e-01 -2.34337778e-04 7.88853150e+00] [ 1.79512384e-02 -6.08368913e-06 9.99838864e-01 4.49675844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4392541539999 meters Centerline goodness [0,1] 0.9990239141044412 Centerline is valid? [True, True] Translation: X:489.59, Y:7.89, Z:4.50 [[ 9.99757045e-01 -1.28540066e-02 -1.79060391e-02 4.89594926e+02] [ 1.28517887e-02 9.99917384e-01 -2.38932443e-04 7.88871876e+00] [ 1.79076310e-02 8.74976301e-06 9.99839645e-01 4.49788158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.46925415399994 meters Centerline goodness [0,1] 0.9988314530350352 Centerline is valid? [True, True] Translation: X:489.62, Y:7.89, Z:4.50 [[ 9.99771688e-01 -1.24834410e-02 -1.73417050e-02 4.89622512e+02] [ 1.24812197e-02 9.99922079e-01 -2.36322009e-04 7.88792547e+00] [ 1.73433039e-02 1.98224244e-05 9.99849593e-01 4.49783616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4992541539999 meters Centerline goodness [0,1] 0.9987714987714987 Centerline is valid? [True, True] Translation: X:489.65, Y:7.88, Z:4.50 [[ 9.99750643e-01 -1.45208256e-02 -1.69646093e-02 4.89650044e+02] [ 1.45189106e-02 9.99894567e-01 -2.36045358e-04 7.88429315e+00] [ 1.69662483e-02 -1.03211480e-05 9.99856063e-01 4.49800195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.52925415399994 meters Centerline goodness [0,1] 0.9988157922561273 Centerline is valid? [True, True] Translation: X:489.68, Y:7.88, Z:4.50 [[ 9.99712869e-01 -1.68955728e-02 -1.69917162e-02 4.89677649e+02] [ 1.68939364e-02 9.99857259e-01 -2.39851541e-04 7.88157061e+00] [ 1.69933432e-02 -4.72742987e-05 9.99855602e-01 4.49772948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5592541539999 meters Centerline goodness [0,1] 0.9987700137843283 Centerline is valid? [True, True] Translation: X:489.71, Y:7.88, Z:4.50 [[ 9.99639714e-01 -2.03423094e-02 -1.75109214e-02 4.89706343e+02] [ 2.03410487e-02 9.99793068e-01 -2.50122163e-04 7.87827009e+00] [ 1.75123859e-02 -1.06158458e-04 9.99846641e-01 4.49758302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.58925415399995 meters Centerline goodness [0,1] 0.9986882193635748 Centerline is valid? [True, True] Translation: X:489.74, Y:7.87, Z:4.50 [[ 9.99394411e-01 -2.92036983e-02 -1.89196941e-02 4.89735311e+02] [ 2.92037554e-02 9.99573442e-01 -2.73330915e-04 7.86864912e+00] [ 1.89196060e-02 -2.79360728e-04 9.99820969e-01 4.49626566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6192541539999 meters Centerline goodness [0,1] 0.9985430127961484 Centerline is valid? [True, True] Translation: X:489.76, Y:7.86, Z:4.50 [[ 9.99223104e-01 -3.42269414e-02 -1.95372907e-02 4.89764560e+02] [ 3.42279411e-02 9.99414012e-01 -2.83318816e-04 7.86373670e+00] [ 1.95355393e-02 -3.85622531e-04 9.99809089e-01 4.49594351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.64925415399995 meters Centerline goodness [0,1] 0.9987558254781637 Centerline is valid? [True, True] Translation: X:489.79, Y:7.85, Z:4.50 [[ 9.98818233e-01 -4.45071223e-02 -1.95257023e-02 4.89793637e+02] [ 4.45100681e-02 9.99008895e-01 -2.83906287e-04 7.85310666e+00] [ 1.95189862e-02 -5.85519565e-04 9.99809315e-01 4.49570660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6792541539999 meters Centerline goodness [0,1] 0.9984830608461149 Centerline is valid? [True, True] Translation: X:489.82, Y:7.85, Z:4.50 [[ 9.98609013e-01 -4.90914337e-02 -1.92371937e-02 4.89823682e+02] [ 4.90951501e-02 9.98794067e-01 -2.79321158e-04 7.84767828e+00] [ 1.92277072e-02 -6.65520287e-04 9.99814909e-01 4.49589660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.70925415399995 meters Centerline goodness [0,1] 0.998547582461532 Centerline is valid? [True, True] Translation: X:489.86, Y:7.84, Z:4.50 [[ 9.98402046e-01 -5.34145046e-02 -1.84457262e-02 4.89855147e+02] [ 5.34186742e-02 9.98572168e-01 -2.66945807e-04 7.84356055e+00] [ 1.84336475e-02 -7.18826997e-04 9.99829827e-01 4.49698699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7392541539999 meters Centerline goodness [0,1] 0.9983166400134669 Centerline is valid? [True, True] Translation: X:489.89, Y:7.84, Z:4.50 [[ 9.98210151e-01 -5.72021402e-02 -1.74473572e-02 4.89886058e+02] [ 5.72064558e-02 9.98362338e-01 -2.52046929e-04 7.83933218e+00] [ 1.74332019e-02 -7.46505663e-04 9.99847752e-01 4.49704383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.76925415399995 meters Centerline goodness [0,1] 0.9984495799199647 Centerline is valid? [True, True] Translation: X:489.92, Y:7.83, Z:4.50 [[ 9.97820874e-01 -6.39476169e-02 -1.62543915e-02 4.89915552e+02] [ 6.39522559e-02 9.97952932e-01 -2.34760885e-04 7.83110852e+00] [ 1.62361301e-02 -8.05255694e-04 9.99867861e-01 4.49899592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7992541539999 meters Centerline goodness [0,1] 0.9982152230971129 Centerline is valid? [True, True] Translation: X:489.95, Y:7.83, Z:4.50 [[ 9.97660815e-01 -6.65166060e-02 -1.57619496e-02 4.89946626e+02] [ 6.65212875e-02 9.97784980e-01 -2.27670184e-04 7.82906796e+00] [ 1.57421805e-02 -8.21367561e-04 9.99875747e-01 4.49938736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.82925415399995 meters Centerline goodness [0,1] 0.9983627891356366 Centerline is valid? [True, True] Translation: X:489.98, Y:7.83, Z:4.50 [[ 9.97531269e-01 -6.84582298e-02 -1.56472894e-02 4.89977846e+02] [ 6.84630891e-02 9.97653625e-01 -2.25532227e-04 7.82644324e+00] [ 1.56260145e-02 -8.46286320e-04 9.99877548e-01 4.49995381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8592541539999 meters Centerline goodness [0,1] 0.9983627891356366 Centerline is valid? [True, True] Translation: X:490.01, Y:7.83, Z:4.50 [[ 9.97535945e-01 -6.83900559e-02 -1.56473025e-02 4.90009578e+02] [ 6.83949210e-02 9.97658300e-01 -2.24622556e-04 7.82683194e+00] [ 1.56260232e-02 -8.46126944e-04 9.99877548e-01 4.50025098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.88925415399996 meters Centerline goodness [0,1] 0.9983429817937747 Centerline is valid? [True, True] Translation: X:490.04, Y:7.82, Z:4.50 [[ 9.97324986e-01 -7.14844293e-02 -1.52593946e-02 4.90040796e+02] [ 7.14894282e-02 9.97441334e-01 -2.18329893e-04 7.82344211e+00] [ 1.52359581e-02 -8.73139539e-04 9.99883545e-01 4.50051565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.91925415399993 meters Centerline goodness [0,1] 0.9983831002477846 Centerline is valid? [True, True] Translation: X:490.07, Y:7.82, Z:4.50 [[ 9.97268459e-01 -7.23330252e-02 -1.49517500e-02 4.90072318e+02] [ 7.23379297e-02 9.97380157e-01 -2.13246033e-04 7.82167847e+00] [ 1.49280035e-02 -8.68915097e-04 9.99888194e-01 4.50092048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.94925415399996 meters Centerline goodness [0,1] 0.9983818430177577 Centerline is valid? [True, True] Translation: X:490.10, Y:7.82, Z:4.50 [[ 9.97265533e-01 -7.23921602e-02 -1.48604064e-02 4.90103691e+02] [ 7.23970336e-02 9.97375870e-01 -2.10458206e-04 7.82006118e+00] [ 1.48366462e-02 -8.65966624e-04 9.99889556e-01 4.49988622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.97925415399993 meters Centerline goodness [0,1] 0.9985096557514693 Centerline is valid? [True, True] Translation: X:490.14, Y:7.83, Z:4.50 [[ 9.97262151e-01 -7.24640785e-02 -1.47363336e-02 4.90136149e+02] [ 7.24688995e-02 9.97370651e-01 -2.07282412e-04 7.82996198e+00] [ 1.47126071e-02 -8.61210971e-04 9.99891393e-01 4.50229602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.00925415399996 meters Centerline goodness [0,1] 0.9982384028185555 Centerline is valid? [True, True] Translation: X:490.17, Y:7.83, Z:4.50 [[ 9.97305292e-01 -7.18285697e-02 -1.49268673e-02 4.90168397e+02] [ 7.18334616e-02 9.97416618e-01 -2.08862381e-04 7.83130182e+00] [ 1.49033078e-02 -8.63948989e-04 9.99888566e-01 4.50245040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.03925415399993 meters Centerline goodness [0,1] 0.9984486047925533 Centerline is valid? [True, True] Translation: X:490.20, Y:7.83, Z:4.50 [[ 9.97365683e-01 -7.09306325e-02 -1.51835602e-02 4.90199640e+02] [ 7.09356058e-02 9.97480875e-01 -2.11438658e-04 7.83121716e+00] [ 1.51603083e-02 -8.66173376e-04 9.99884701e-01 4.50239681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.06925415399996 meters Centerline goodness [0,1] 0.9985533984653444 Centerline is valid? [True, True] Translation: X:490.23, Y:7.84, Z:4.50 [[ 9.97509022e-01 -6.86701663e-02 -1.61294672e-02 4.90231486e+02] [ 6.86754989e-02 9.97639026e-01 -2.23694891e-04 7.83548911e+00] [ 1.61067471e-02 -8.84561536e-04 9.99869887e-01 4.50199095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.09925415399994 meters Centerline goodness [0,1] 0.9985090298194036 Centerline is valid? [True, True] Translation: X:490.26, Y:7.83, Z:4.50 [[ 9.97612514e-01 -6.69998588e-02 -1.67419043e-02 4.90261944e+02] [ 6.70053809e-02 9.97752587e-01 -2.31518645e-04 7.83433257e+00] [ 1.67197901e-02 -8.90831779e-04 9.99859818e-01 4.50114716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.1292541539999 meters Centerline goodness [0,1] 0.9985492925172929 Centerline is valid? [True, True] Translation: X:490.29, Y:7.84, Z:4.50 [[ 9.97793399e-01 -6.35695722e-02 -1.91635734e-02 4.90293786e+02] [ 6.35761905e-02 9.97976953e-01 -2.64290659e-04 7.83805283e+00] [ 1.91416055e-02 -9.54639519e-04 9.99816327e-01 4.49927176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.15925415399994 meters Centerline goodness [0,1] 0.998592969045319 Centerline is valid? [True, True] Translation: X:490.33, Y:7.84, Z:4.50 [[ 9.97912413e-01 -6.14539513e-02 -1.98551829e-02 4.90325271e+02] [ 6.14606560e-02 9.98109470e-01 -2.72940173e-04 7.84053302e+00] [ 1.98344193e-02 -9.47942178e-04 9.99802829e-01 4.49881753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.1892541539999 meters Centerline goodness [0,1] 0.9988430065001999 Centerline is valid? [True, True] Translation: X:490.36, Y:7.84, Z:4.50 [[ 9.98058620e-01 -5.88244623e-02 -2.04614936e-02 4.90357204e+02] [ 5.88310502e-02 9.98267914e-01 -2.80355089e-04 7.84328800e+00] [ 2.04425443e-02 -9.23960344e-04 9.99790602e-01 4.49896198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.21925415399994 meters Centerline goodness [0,1] 0.998671670743021 Centerline is valid? [True, True] Translation: X:490.39, Y:7.85, Z:4.50 [[ 9.98205227e-01 -5.63073597e-02 -2.03913125e-02 4.90387949e+02] [ 5.63133960e-02 9.98413103e-01 -2.78522640e-04 7.84650246e+00] [ 2.03746364e-02 -8.70281298e-04 9.99792037e-01 4.49908662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.2492541539999 meters Centerline goodness [0,1] 0.9986069777749635 Centerline is valid? [True, True] Translation: X:490.42, Y:7.86, Z:4.50 [[ 9.98546331e-01 -5.02253110e-02 -1.95612539e-02 4.90418042e+02] [ 5.02297048e-02 9.98737656e-01 -2.66953810e-04 7.85733752e+00] [ 1.95499687e-02 -7.15990261e-04 9.99808625e-01 4.50151474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.27925415399994 meters Centerline goodness [0,1] 0.9985203035491577 Centerline is valid? [True, True] Translation: X:490.45, Y:7.86, Z:4.50 [[ 9.98724022e-01 -4.66614083e-02 -1.93142648e-02 4.90449765e+02] [ 4.66650353e-02 9.98910559e-01 -2.63105467e-04 7.86342515e+00] [ 1.93054999e-02 -6.38531098e-04 9.99813428e-01 4.50301277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3092541539999 meters Centerline goodness [0,1] 0.9983955751651924 Centerline is valid? [True, True] Translation: X:490.48, Y:7.87, Z:4.50 [[ 9.98901811e-01 -4.29092552e-02 -1.88140328e-02 4.90479859e+02] [ 4.29120446e-02 9.99078821e-01 -2.55609235e-04 7.86580580e+00] [ 1.88076698e-02 -5.52020089e-04 9.99822968e-01 4.50321391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.33925415399995 meters Centerline goodness [0,1] 0.9987345776652958 Centerline is valid? [True, True] Translation: X:490.51, Y:7.87, Z:4.50 [[ 9.99078770e-01 -3.87888972e-02 -1.83584494e-02 4.90510634e+02] [ 3.87908641e-02 9.99247320e-01 -2.49084835e-04 7.87149659e+00] [ 1.83542931e-02 -4.63284746e-04 9.99831438e-01 4.50480856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3692541539999 meters Centerline goodness [0,1] 0.9985222714798395 Centerline is valid? [True, True] Translation: X:490.54, Y:7.88, Z:4.51 [[ 9.99366905e-01 -3.11346445e-02 -1.72169566e-02 4.90541181e+02] [ 3.11352440e-02 9.99515154e-01 -2.33291391e-04 7.87919530e+00] [ 1.72158725e-02 -3.02910450e-04 9.99851750e-01 4.50604631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.39925415399995 meters Centerline goodness [0,1] 0.9987964018750792 Centerline is valid? [True, True] Translation: X:490.57, Y:7.88, Z:4.51 [[ 9.99485564e-01 -2.75390581e-02 -1.64379919e-02 4.90571755e+02] [ 2.75391211e-02 9.99620702e-01 -2.22572006e-04 7.88289750e+00] [ 1.64378864e-02 -2.30230342e-04 9.99864862e-01 4.50687076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4292541539999 meters Centerline goodness [0,1] 0.9986877473702034 Centerline is valid? [True, True] Translation: X:490.60, Y:7.89, Z:4.51 [[ 9.99581914e-01 -2.39598687e-02 -1.61839720e-02 4.90601473e+02] [ 2.39594620e-02 9.99712907e-01 -2.19047442e-04 7.88532962e+00] [ 1.61845740e-02 -1.68803401e-04 9.99869007e-01 4.50627903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.45925415399995 meters Centerline goodness [0,1] 0.9986218302094818 Centerline is valid? [True, True] Translation: X:490.63, Y:7.89, Z:4.51 [[ 9.99703095e-01 -1.87284628e-02 -1.55874118e-02 4.90630539e+02] [ 1.87274478e-02 9.99824604e-01 -2.11085958e-04 7.88988640e+00] [ 1.55886312e-02 -8.08891561e-05 9.99878487e-01 4.50699841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4892541539999 meters Centerline goodness [0,1] 0.9986474205887947 Centerline is valid? [True, True] Translation: X:490.66, Y:7.89, Z:4.51 [[ 9.99734950e-01 -1.70611183e-02 -1.54579290e-02 4.90657953e+02] [ 1.70599073e-02 9.99854447e-01 -2.10215861e-04 7.89221989e+00] [ 1.54592656e-02 -5.35506922e-05 9.99880497e-01 4.50827591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.51925415399995 meters Centerline goodness [0,1] 0.9987297554779295 Centerline is valid? [True, True] Translation: X:490.69, Y:7.89, Z:4.51 [[ 9.99753530e-01 -1.48574713e-02 -1.64965188e-02 4.90686452e+02] [ 1.48557475e-02 9.99889622e-01 -2.27041114e-04 7.89446832e+00] [ 1.64980712e-02 -1.80829629e-05 9.99863897e-01 4.50829510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5492541539999 meters Centerline goodness [0,1] 0.9988160676532769 Centerline is valid? [True, True] Translation: X:490.71, Y:7.89, Z:4.51 [[ 9.99753555e-01 -1.44655939e-02 -1.68396823e-02 4.90713833e+02] [ 1.44636855e-02 9.99895368e-01 -2.35119450e-04 7.89495663e+00] [ 1.68413215e-02 -8.50236195e-06 9.99858175e-01 4.50773771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57925415399995 meters Centerline goodness [0,1] 0.9989837828682728 Centerline is valid? [True, True] Translation: X:490.74, Y:7.90, Z:4.51 [[ 9.99744876e-01 -1.47731661e-02 -1.70861491e-02 4.90741484e+02] [ 1.47711868e-02 9.99890871e-01 -2.42046481e-04 7.89517134e+00] [ 1.70878603e-02 -1.03979713e-05 9.99853992e-01 4.50844016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6092541539999 meters Centerline goodness [0,1] 0.9988986317617656 Centerline is valid? [True, True] Translation: X:490.77, Y:7.89, Z:4.51 [[ 9.99724989e-01 -1.56301634e-02 -1.74827055e-02 4.90769249e+02] [ 1.56281592e-02 9.99877841e-01 -2.51260016e-04 7.89360686e+00] [ 1.74844971e-02 -2.20315892e-05 9.99847134e-01 4.50733685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63925415399996 meters Centerline goodness [0,1] 0.9987086667513443 Centerline is valid? [True, True] Translation: X:490.80, Y:7.89, Z:4.51 [[ 9.99697285e-01 -1.70463670e-02 -1.77414697e-02 4.90796977e+02] [ 1.70444677e-02 9.99854699e-01 -2.58266190e-04 7.89282535e+00] [ 1.77432943e-02 -4.42058992e-05 9.99842574e-01 4.50792075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.66925415399993 meters Centerline goodness [0,1] 0.9987297016916139 Centerline is valid? [True, True] Translation: X:490.83, Y:7.89, Z:4.51 [[ 9.99684665e-01 -1.80519249e-02 -1.74555984e-02 4.90825041e+02] [ 1.80501520e-02 9.99837049e-01 -2.59122025e-04 7.89225920e+00] [ 1.74574316e-02 -5.60358894e-05 9.99847606e-01 4.50829218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69925415399996 meters Centerline goodness [0,1] 0.9988788763379447 Centerline is valid? [True, True] Translation: X:490.85, Y:7.89, Z:4.51 [[ 9.99649823e-01 -1.99777139e-02 -1.73528588e-02 4.90852492e+02] [ 1.99761638e-02 9.99800422e-01 -2.62679279e-04 7.89097419e+00] [ 1.73546433e-02 -8.40562548e-05 9.99849393e-01 4.50885162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.72925415399993 meters Centerline goodness [0,1] 0.9988788763379447 Centerline is valid? [True, True] Translation: X:490.88, Y:7.89, Z:4.51 [[ 9.99643866e-01 -2.02736778e-02 -1.73527799e-02 4.90879883e+02] [ 2.02720831e-02 9.99794464e-01 -2.67815075e-04 7.89145627e+00] [ 1.73546429e-02 -8.40572987e-05 9.99849393e-01 4.50910909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75925415399996 meters Centerline goodness [0,1] 0.9988389766106561 Centerline is valid? [True, True] Translation: X:490.91, Y:7.89, Z:4.51 [[ 9.99615998e-01 -2.15796495e-02 -1.73832090e-02 4.90907461e+02] [ 2.15781856e-02 9.99767127e-01 -2.71796869e-04 7.88873872e+00] [ 1.73850262e-02 -1.03405612e-04 9.99848864e-01 4.50906002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.78925415399993 meters Centerline goodness [0,1] 0.9987127814471712 Centerline is valid? [True, True] Translation: X:490.94, Y:7.89, Z:4.51 [[ 9.99602928e-01 -2.23321085e-02 -1.71832160e-02 4.90935754e+02] [ 2.23307406e-02 9.99750601e-01 -2.71498366e-04 7.88744443e+00] [ 1.71849937e-02 -1.12323378e-04 9.99852321e-01 4.50923585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81925415399996 meters Centerline goodness [0,1] 0.9987763971224236 Centerline is valid? [True, True] Translation: X:490.96, Y:7.89, Z:4.51 [[ 9.99568758e-01 -2.38103238e-02 -1.71862495e-02 4.90964339e+02] [ 2.38090983e-02 9.99716485e-01 -2.75937003e-04 7.88641259e+00] [ 1.71879471e-02 -1.33371097e-04 9.99852267e-01 4.50973358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.84925415399994 meters Centerline goodness [0,1] 0.9987771968291449 Centerline is valid? [True, True] Translation: X:490.99, Y:7.88, Z:4.51 [[ 9.99495997e-01 -2.66767409e-02 -1.72076847e-02 4.90993105e+02] [ 2.66758857e-02 9.99644096e-01 -2.79270742e-04 7.88200694e+00] [ 1.72090105e-02 -1.79900243e-04 9.99851898e-01 4.50959696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.8792541539999 meters Centerline goodness [0,1] 0.9988392461431315 Centerline is valid? [True, True] Translation: X:491.02, Y:7.88, Z:4.51 [[ 9.99448566e-01 -2.84949388e-02 -1.70470423e-02 4.91022506e+02] [ 2.84943476e-02 9.99593915e-01 -2.77616912e-04 7.88056484e+00] [ 1.70480304e-02 -2.08280524e-04 9.99854650e-01 4.51037612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.90925415399994 meters Centerline goodness [0,1] 0.9988648069120646 Centerline is valid? [True, True] Translation: X:491.05, Y:7.88, Z:4.51 [[ 9.99346425e-01 -3.21862265e-02 -1.64551049e-02 4.91052078e+02] [ 3.21861684e-02 9.99481855e-01 -2.68431217e-04 7.87528039e+00] [ 1.64552186e-02 -2.61371000e-04 9.99864570e-01 4.51019019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9392541539999 meters Centerline goodness [0,1] 0.9988660703036412 Centerline is valid? [True, True] Translation: X:491.08, Y:7.87, Z:4.51 [[ 9.99291100e-01 -3.39554033e-02 -1.62581713e-02 4.91082309e+02] [ 3.39555780e-02 9.99423308e-01 -2.65384762e-04 7.87267948e+00] [ 1.62578065e-02 -2.86858970e-04 9.99867792e-01 4.51045750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.96925415399994 meters Centerline goodness [0,1] 0.9987427445885632 Centerline is valid? [True, True] Translation: X:491.11, Y:7.87, Z:4.51 [[ 9.99227077e-01 -3.55460508e-02 -1.67846957e-02 4.91113515e+02] [ 3.55464657e-02 9.99367987e-01 -2.73717749e-04 7.87045995e+00] [ 1.67838171e-02 -3.23130423e-04 9.99859090e-01 4.51038649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9992541539999 meters Centerline goodness [0,1] 0.9986546142526802 Centerline is valid? [True, True] Translation: X:491.14, Y:7.87, Z:4.51 [[ 9.99179325e-01 -3.67829428e-02 -1.69614633e-02 4.91144904e+02] [ 3.67835548e-02 9.99323218e-01 -2.75993514e-04 7.86933391e+00] [ 1.69601359e-02 -3.48135901e-04 9.99856106e-01 4.51065384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.02925415399994 meters Centerline goodness [0,1] 0.998696904096345 Centerline is valid? [True, True] Translation: X:491.18, Y:7.87, Z:4.51 [[ 9.99152129e-01 -3.73038298e-02 -1.74197373e-02 4.91176346e+02] [ 3.73045657e-02 9.99303902e-01 -2.82810640e-04 7.86760481e+00] [ 1.74181614e-02 -3.67264883e-04 9.99848225e-01 4.51038817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0592541539999 meters Centerline goodness [0,1] 0.9987613889238779 Centerline is valid? [True, True] Translation: X:491.21, Y:7.87, Z:4.51 [[ 9.99154361e-01 -3.68786021e-02 -1.81805176e-02 4.91207970e+02] [ 3.68793456e-02 9.99319682e-01 -2.94485370e-04 7.86736382e+00] [ 1.81790093e-02 -3.76249250e-04 9.99834677e-01 4.51072101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.08925415399995 meters Centerline goodness [0,1] 0.9987639837432438 Centerline is valid? [True, True] Translation: X:491.24, Y:7.87, Z:4.51 [[ 9.99183665e-01 -3.59784438e-02 -1.83726577e-02 4.91238201e+02] [ 3.59790678e-02 9.99352500e-01 -2.96686809e-04 7.86597469e+00] [ 1.83714358e-02 -3.64586485e-04 9.99831164e-01 4.51023270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1192541539999 meters Centerline goodness [0,1] 0.9989936262998994 Centerline is valid? [True, True] Translation: X:491.27, Y:7.87, Z:4.51 [[ 9.99220762e-01 -3.46267362e-02 -1.89435551e-02 4.91268268e+02] [ 3.46271683e-02 9.99400253e-01 -3.05297602e-04 7.86861650e+00] [ 1.89427652e-02 -3.50901969e-04 9.99820508e-01 4.51154289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.14925415399995 meters Centerline goodness [0,1] 0.9988229854134264 Centerline is valid? [True, True] Translation: X:491.30, Y:7.87, Z:4.51 [[ 9.99280583e-01 -3.24663049e-02 -1.96024148e-02 4.91297426e+02] [ 3.24663484e-02 9.99472779e-01 -3.16104113e-04 7.86735588e+00] [ 1.96023427e-02 -3.20542125e-04 9.99807804e-01 4.51075966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1792541539999 meters Centerline goodness [0,1] 0.9986991733456422 Centerline is valid? [True, True] Translation: X:491.33, Y:7.87, Z:4.51 [[ 9.99300324e-01 -3.16006913e-02 -2.00064805e-02 4.91327157e+02] [ 3.16005520e-02 9.99500526e-01 -3.23181951e-04 7.86863508e+00] [ 2.00067005e-02 -3.09260000e-04 9.99799798e-01 4.51135926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.20925415399995 meters Centerline goodness [0,1] 0.9988025713205327 Centerline is valid? [True, True] Translation: X:491.36, Y:7.87, Z:4.51 [[ 9.99312539e-01 -3.07942589e-02 -2.06437152e-02 4.91356228e+02] [ 3.07939188e-02 9.99525699e-01 -3.34435258e-04 7.86842969e+00] [ 2.06442226e-02 -3.01495543e-04 9.99786840e-01 4.51134860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2392541539999 meters Centerline goodness [0,1] 0.9991176285216076 Centerline is valid? [True, True] Translation: X:491.38, Y:7.87, Z:4.51 [[ 9.99296750e-01 -3.08455804e-02 -2.13203300e-02 4.91384967e+02] [ 3.08451529e-02 9.99524114e-01 -3.48979821e-04 7.86804291e+00] [ 2.13209484e-02 -3.08894437e-04 9.99772635e-01 4.51181875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.26925415399995 meters Centerline goodness [0,1] 0.9989073334734188 Centerline is valid? [True, True] Translation: X:491.41, Y:7.87, Z:4.51 [[ 9.99276927e-01 -3.12854198e-02 -2.16066190e-02 4.91412578e+02] [ 3.12849538e-02 9.99510441e-01 -3.59669054e-04 7.86753084e+00] [ 2.16072937e-02 -3.16553091e-04 9.99766485e-01 4.51200831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2992541539999 meters Centerline goodness [0,1] 0.9988673071275748 Centerline is valid? [True, True] Translation: X:491.44, Y:7.87, Z:4.51 [[ 9.99266171e-01 -3.16739724e-02 -2.15378429e-02 4.91440782e+02] [ 3.16735173e-02 9.99498203e-01 -3.62348638e-04 7.86501292e+00] [ 2.15385123e-02 -3.20096504e-04 9.99767968e-01 4.51034908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.32925415399995 meters Centerline goodness [0,1] 0.9990559110458408 Centerline is valid? [True, True] Translation: X:491.47, Y:7.87, Z:4.51 [[ 9.99224598e-01 -3.29001297e-02 -2.16283135e-02 4.91469949e+02] [ 3.28998731e-02 9.99458585e-01 -3.67785409e-04 7.86592780e+00] [ 2.16287038e-02 -3.44068541e-04 9.99766013e-01 4.51254500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3592541539999 meters Centerline goodness [0,1] 0.9989291338582678 Centerline is valid? [True, True] Translation: X:491.50, Y:7.87, Z:4.51 [[ 9.99196808e-01 -3.37773893e-02 -2.15598344e-02 4.91498344e+02] [ 3.37772204e-02 9.99429318e-01 -3.72095263e-04 7.86643891e+00] [ 2.15600989e-02 -3.56434878e-04 9.99767491e-01 4.51369436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.38925415399996 meters Centerline goodness [0,1] 0.9988482157815379 Centerline is valid? [True, True] Translation: X:491.53, Y:7.86, Z:4.51 [[ 9.99158297e-01 -3.47352745e-02 -2.18210666e-02 4.91526532e+02] [ 3.47352567e-02 9.99396477e-01 -3.79954990e-04 7.86480730e+00] [ 2.18210949e-02 -3.78325169e-04 9.99761820e-01 4.51305859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.41925415399993 meters Centerline goodness [0,1] 0.9988688730624214 Centerline is valid? [True, True] Translation: X:491.56, Y:7.87, Z:4.51 [[ 9.99091699e-01 -3.66890255e-02 -2.16723753e-02 4.91555705e+02] [ 3.66893838e-02 9.99326645e-01 -3.81224108e-04 7.86552349e+00] [ 2.16717689e-02 -4.14268253e-04 9.99765054e-01 4.51449912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.44925415399996 meters Centerline goodness [0,1] 0.9987238226741145 Centerline is valid? [True, True] Translation: X:491.58, Y:7.86, Z:4.51 [[ 9.99038245e-01 -3.79480467e-02 -2.19665799e-02 4.91583919e+02] [ 3.79486448e-02 9.99279615e-01 -3.89772008e-04 7.86273304e+00] [ 2.19655466e-02 -4.44204794e-04 9.99758630e-01 4.51340388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.47925415399993 meters Centerline goodness [0,1] 0.9988472018444771 Centerline is valid? [True, True] Translation: X:491.61, Y:7.86, Z:4.52 [[ 9.99009119e-01 -3.89073947e-02 -2.16100471e-02 4.91613491e+02] [ 3.89081736e-02 9.99242716e-01 -3.84566838e-04 7.86411291e+00] [ 2.16086447e-02 -4.56621687e-04 9.99766402e-01 4.51520483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.50925415399996 meters Centerline goodness [0,1] 0.9988491797790425 Centerline is valid? [True, True] Translation: X:491.64, Y:7.86, Z:4.52 [[ 9.98945997e-01 -4.11059909e-02 -2.04252977e-02 4.91643461e+02] [ 4.11071311e-02 9.99154678e-01 -3.64209233e-04 7.86196431e+00] [ 2.04230029e-02 -4.75800035e-04 9.99791316e-01 4.51602748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.53925415399993 meters Centerline goodness [0,1] 0.9990169009370816 Centerline is valid? [True, True] Translation: X:491.67, Y:7.86, Z:4.52 [[ 9.98922353e-01 -4.19423775e-02 -1.98738664e-02 4.91672842e+02] [ 4.19436119e-02 9.99119916e-01 -3.54897554e-04 7.86080890e+00] [ 1.98712610e-02 -4.79066641e-04 9.99802432e-01 4.51629249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.56925415399996 meters Centerline goodness [0,1] 0.998807431584233 Centerline is valid? [True, True] Translation: X:491.70, Y:7.86, Z:4.52 [[ 9.98892003e-01 -4.28042774e-02 -1.95591521e-02 4.91703668e+02] [ 4.28056348e-02 9.99083358e-01 -3.49443918e-04 7.86008175e+00] [ 1.95561811e-02 -4.88185188e-04 9.99808640e-01 4.51684371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.59925415399994 meters Centerline goodness [0,1] 0.9985996739539356 Centerline is valid? [True, True] Translation: X:491.73, Y:7.86, Z:4.52 [[ 9.98886128e-01 -4.35606710e-02 -1.81375837e-02 4.91733563e+02] [ 4.35619656e-02 9.99050675e-01 -3.23891133e-04 7.85908284e+00] [ 1.81344741e-02 -4.66578437e-04 9.99835448e-01 4.51822578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.6292541539999 meters Centerline goodness [0,1] 0.9987227805695142 Centerline is valid? [True, True] Translation: X:491.77, Y:7.86, Z:4.52 [[ 9.98869075e-01 -4.41702410e-02 -1.75943423e-02 4.91765125e+02] [ 4.41715617e-02 9.99023911e-01 -3.13734228e-04 7.86024882e+00] [ 1.75910264e-02 -4.63790157e-04 9.99845158e-01 4.51939974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.65925415399994 meters Centerline goodness [0,1] 0.9988067075596123 Centerline is valid? [True, True] Translation: X:491.80, Y:7.86, Z:4.52 [[ 9.98858948e-01 -4.44734870e-02 -1.74043588e-02 4.91796767e+02] [ 4.44748363e-02 9.99010457e-01 -3.09713892e-04 7.86250019e+00] [ 1.74009105e-02 -4.64695514e-04 9.99848485e-01 4.52068788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.6892541539999 meters Centerline goodness [0,1] 0.9988272251308901 Centerline is valid? [True, True] Translation: X:491.83, Y:7.86, Z:4.52 [[ 9.98790969e-01 -4.58064500e-02 -1.78429172e-02 4.91828234e+02] [ 4.58080955e-02 9.98950208e-01 -3.16687321e-04 7.85804122e+00] [ 1.78386922e-02 -5.01045619e-04 9.99840752e-01 4.51970303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.71925415399994 meters Centerline goodness [0,1] 0.9987657161984059 Centerline is valid? [True, True] Translation: X:491.86, Y:7.86, Z:4.52 [[ 9.98759425e-01 -4.63533709e-02 -1.81927724e-02 4.91859445e+02] [ 4.63551879e-02 9.98924969e-01 -3.22040215e-04 7.86080401e+00] [ 1.81881423e-02 -5.21688684e-04 9.99834446e-01 4.51994349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.7492541539999 meters Centerline goodness [0,1] 0.9987657161984059 Centerline is valid? [True, True] Translation: X:491.89, Y:7.86, Z:4.52 [[ 9.98761130e-01 -4.63166120e-02 -1.81927843e-02 4.91890298e+02] [ 4.63184350e-02 9.98926674e-01 -3.21371345e-04 7.86131973e+00] [ 1.81881423e-02 -5.21688087e-04 9.99834446e-01 4.52023247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.77925415399994 meters Centerline goodness [0,1] 0.9987454522644587 Centerline is valid? [True, True] Translation: X:491.92, Y:7.86, Z:4.52 [[ 9.98688152e-01 -4.78671881e-02 -1.81853794e-02 4.91922000e+02] [ 4.78692787e-02 9.98853558e-01 -3.20570364e-04 7.86126388e+00] [ 1.81798758e-02 -5.50371173e-04 9.99834581e-01 4.52077490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8092541539999 meters Centerline goodness [0,1] 0.9988287459215259 Centerline is valid? [True, True] Translation: X:491.95, Y:7.86, Z:4.52 [[ 9.98613588e-01 -4.92599016e-02 -1.85570605e-02 4.91953958e+02] [ 4.92623379e-02 9.98785821e-01 -3.26087647e-04 7.86086600e+00] [ 1.85505920e-02 -5.88528631e-04 9.99827750e-01 4.52065037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.83925415399995 meters Centerline goodness [0,1] 0.9987671089750287 Centerline is valid? [True, True] Translation: X:491.98, Y:7.86, Z:4.52 [[ 9.98433262e-01 -5.26065175e-02 -1.90676543e-02 4.91984532e+02] [ 5.26097162e-02 9.98615094e-01 -3.34168077e-04 7.85861032e+00] [ 1.90588268e-02 -6.69499360e-04 9.99818140e-01 4.51987694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8692541539999 meters Centerline goodness [0,1] 0.9987210935698262 Centerline is valid? [True, True] Translation: X:492.02, Y:7.86, Z:4.52 [[ 9.98330235e-01 -5.43436049e-02 -1.95835191e-02 4.92016216e+02] [ 5.43473237e-02 9.98522033e-01 -3.42656876e-04 7.85843814e+00] [ 1.95731965e-02 -7.22227134e-04 9.99808166e-01 4.51991847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.89925415399995 meters Centerline goodness [0,1] 0.9986401673640167 Centerline is valid? [True, True] Translation: X:492.05, Y:7.86, Z:4.52 [[ 9.98130311e-01 -5.79908580e-02 -1.93116986e-02 4.92047855e+02] [ 5.79951693e-02 9.98316807e-01 -3.37194309e-04 7.85745365e+00] [ 1.92987475e-02 -7.83421369e-04 9.99813455e-01 4.51987060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9292541539999 meters Centerline goodness [0,1] 0.9988716384228012 Centerline is valid? [True, True] Translation: X:492.08, Y:7.86, Z:4.52 [[ 9.98047181e-01 -5.93651000e-02 -1.94321959e-02 4.92079199e+02] [ 5.93697428e-02 9.98236004e-01 -3.38395350e-04 7.85600916e+00] [ 1.94180065e-02 -8.15949949e-04 9.99811120e-01 4.51982369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.95925415399995 meters Centerline goodness [0,1] 0.9985585359739283 Centerline is valid? [True, True] Translation: X:492.11, Y:7.86, Z:4.52 [[ 9.97985409e-01 -6.04053676e-02 -1.93988199e-02 4.92111737e+02] [ 6.04102151e-02 9.98173578e-01 -3.36552275e-04 7.85818187e+00] [ 1.93837191e-02 -8.36012624e-04 9.99811769e-01 4.52040007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9892541539999 meters Centerline goodness [0,1] 0.9987452686170769 Centerline is valid? [True, True] Translation: X:492.14, Y:7.86, Z:4.52 [[ 9.97957372e-01 -6.08067306e-02 -1.95863590e-02 4.92142909e+02] [ 6.08117742e-02 9.98149194e-01 -3.38536290e-04 7.85658738e+00] [ 1.95706937e-02 -8.53236455e-04 9.99808112e-01 4.52030181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.01925415399995 meters Centerline goodness [0,1] 0.9985990297758448 Centerline is valid? [True, True] Translation: X:492.17, Y:7.86, Z:4.52 [[ 9.97984709e-01 -6.05825739e-02 -1.88751870e-02 4.92174726e+02] [ 6.05872404e-02 9.98162853e-01 -3.25046133e-04 7.85994162e+00] [ 1.88602026e-02 -8.19204421e-04 9.99821795e-01 4.52154225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0492541539999 meters Centerline goodness [0,1] 0.9984955807685075 Centerline is valid? [True, True] Translation: X:492.21, Y:7.86, Z:4.52 [[ 9.98043248e-01 -5.99099956e-02 -1.79016313e-02 4.92206287e+02] [ 5.99141154e-02 9.98203489e-01 -3.06581856e-04 7.86129540e+00] [ 1.78878382e-02 -7.66578453e-04 9.99839706e-01 4.52244612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07925415399995 meters Centerline goodness [0,1] 0.9985345838218054 Centerline is valid? [True, True] Translation: X:492.24, Y:7.87, Z:4.52 [[ 9.98212519e-01 -5.76057263e-02 -1.59168961e-02 4.92238065e+02] [ 5.76087134e-02 9.98339202e-01 -2.71152514e-04 7.86783202e+00] [ 1.59060813e-02 -6.46284072e-04 9.99873281e-01 4.52487069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1092541539999 meters Centerline goodness [0,1] 0.9988473951129553 Centerline is valid? [True, True] Translation: X:492.27, Y:7.87, Z:4.52 [[ 9.98330532e-01 -5.56838257e-02 -1.53447026e-02 4.92269158e+02] [ 5.56863892e-02 9.98448275e-01 -2.60494728e-04 7.86855006e+00] [ 1.53353972e-02 -5.94431243e-04 9.99882229e-01 4.52484192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13925415399996 meters Centerline goodness [0,1] 0.9988064826835295 Centerline is valid? [True, True] Translation: X:492.30, Y:7.87, Z:4.53 [[ 9.98438325e-01 -5.37067240e-02 -1.53785411e-02 4.92300599e+02] [ 5.37090850e-02 9.98556592e-01 -2.59734567e-04 7.87021744e+00] [ 1.53702931e-02 -5.66638425e-04 9.99881710e-01 4.52568305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.16925415399993 meters Centerline goodness [0,1] 0.9987213348425774 Centerline is valid? [True, True] Translation: X:492.33, Y:7.87, Z:4.53 [[ 9.98552998e-01 -5.16380372e-02 -1.50141359e-02 4.92333340e+02] [ 5.16400804e-02 9.98665729e-01 -2.51833947e-04 7.87353840e+00] [ 1.50071072e-02 -5.23861642e-04 9.99887250e-01 4.52604243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19925415399996 meters Centerline goodness [0,1] 0.9989287964713296 Centerline is valid? [True, True] Translation: X:492.36, Y:7.87, Z:4.53 [[ 9.98679540e-01 -4.91304788e-02 -1.50124161e-02 4.92363597e+02] [ 4.91322528e-02 9.98792250e-01 -2.50848837e-04 7.87448472e+00] [ 1.50066091e-02 -4.87076220e-04 9.99887276e-01 4.52580383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.22925415399993 meters Centerline goodness [0,1] 0.9988257250099604 Centerline is valid? [True, True] Translation: X:492.39, Y:7.88, Z:4.52 [[ 9.98928535e-01 -4.36501461e-02 -1.53768021e-02 4.92394746e+02] [ 4.36513645e-02 9.99046792e-01 -2.56541408e-04 7.88187274e+00] [ 1.53733428e-02 -4.14951859e-04 9.99881737e-01 4.52465742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25925415399996 meters Centerline goodness [0,1] 0.9986577181208054 Centerline is valid? [True, True] Translation: X:492.43, Y:7.88, Z:4.53 [[ 9.99029542e-01 -4.10133178e-02 -1.60586975e-02 4.92425435e+02] [ 4.10143160e-02 9.99158523e-01 -2.67311084e-04 7.88460105e+00] [ 1.60561478e-02 -3.91584824e-04 9.99871015e-01 4.52519993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.28925415399993 meters Centerline goodness [0,1] 0.9988438820339268 Centerline is valid? [True, True] Translation: X:492.46, Y:7.89, Z:4.52 [[ 9.99218281e-01 -3.55698064e-02 -1.72515616e-02 4.92456941e+02] [ 3.55701589e-02 9.99367141e-01 -2.86508189e-04 7.89060122e+00] [ 1.72508349e-02 -3.27356569e-04 9.99851140e-01 4.52480984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31925415399996 meters Centerline goodness [0,1] 0.9990137032295973 Centerline is valid? [True, True] Translation: X:492.49, Y:7.89, Z:4.52 [[ 9.99297616e-01 -3.29734266e-02 -1.78052959e-02 4.92487954e+02] [ 3.29733993e-02 9.99456186e-01 -2.95190188e-04 7.89335371e+00] [ 1.78053466e-02 -2.92118280e-04 9.99841430e-01 4.52445153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.34925415399994 meters Centerline goodness [0,1] 0.9990106512861533 Centerline is valid? [True, True] Translation: X:492.52, Y:7.90, Z:4.52 [[ 9.99359223e-01 -3.08719267e-02 -1.81126152e-02 4.92518527e+02] [ 3.08715594e-02 9.99523315e-01 -2.99949127e-04 7.89555297e+00] [ 1.81132412e-02 -2.59407751e-04 9.99835908e-01 4.52487327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.3792541539999 meters Centerline goodness [0,1] 0.9990517332209462 Centerline is valid? [True, True] Translation: X:492.55, Y:7.90, Z:4.52 [[ 9.99461973e-01 -2.72402175e-02 -1.82684068e-02 4.92547848e+02] [ 2.72392375e-02 9.99628897e-01 -3.02516759e-04 7.89952584e+00] [ 1.82698680e-02 -1.95263477e-04 9.99833073e-01 4.52468959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.40925415399994 meters Centerline goodness [0,1] 0.998883975573805 Centerline is valid? [True, True] Translation: X:492.58, Y:7.90, Z:4.52 [[ 9.99479637e-01 -2.62978985e-02 -1.86781912e-02 4.92577082e+02] [ 2.62966655e-02 9.99654134e-01 -3.11661833e-04 7.90140357e+00] [ 1.86799271e-02 -1.79674489e-04 9.99825499e-01 4.52495875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4392541539999 meters Centerline goodness [0,1] 0.999220396123051 Centerline is valid? [True, True] Translation: X:492.61, Y:7.90, Z:4.53 [[ 9.99507398e-01 -2.54502190e-02 -1.83642908e-02 4.92605378e+02] [ 2.54488022e-02 9.99676078e-01 -3.10882335e-04 7.90281318e+00] [ 1.83662543e-02 -1.56620011e-04 9.99831314e-01 4.52552355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.46925415399994 meters Centerline goodness [0,1] 0.9989905999621475 Centerline is valid? [True, True] Translation: X:492.63, Y:7.90, Z:4.53 [[ 9.99528120e-01 -2.51387199e-02 -1.76516990e-02 4.92633761e+02] [ 2.51373138e-02 9.99683962e-01 -3.01564568e-04 7.90397497e+00] [ 1.76537013e-02 -1.42294030e-04 9.99844151e-01 4.52590304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4992541539999 meters Centerline goodness [0,1] 0.9989472797709281 Centerline is valid? [True, True] Translation: X:492.66, Y:7.90, Z:4.53 [[ 9.99502850e-01 -2.61879306e-02 -1.75568838e-02 4.92662427e+02] [ 2.61866565e-02 9.99657025e-01 -3.02501703e-04 7.90427126e+00] [ 1.75587841e-02 -1.57404770e-04 9.99845820e-01 4.52631572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.52925415399994 meters Centerline goodness [0,1] 0.9990315993347508 Centerline is valid? [True, True] Translation: X:492.69, Y:7.90, Z:4.53 [[ 9.99408846e-01 -2.93631488e-02 -1.78819438e-02 4.92690787e+02] [ 2.93622843e-02 9.99568787e-01 -3.10946773e-04 7.90223879e+00] [ 1.78833632e-02 -2.14291763e-04 9.99840057e-01 4.52604883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5592541539999 meters Centerline goodness [0,1] 0.9990104429846723 Centerline is valid? [True, True] Translation: X:492.72, Y:7.90, Z:4.53 [[ 9.99328183e-01 -3.19988836e-02 -1.78676685e-02 4.92720106e+02] [ 3.19984274e-02 9.99487871e-01 -3.11494728e-04 7.90067268e+00] [ 1.78684854e-02 -2.60451832e-04 9.99840312e-01 4.52626627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.58925415399995 meters Centerline goodness [0,1] 0.9987787159672359 Centerline is valid? [True, True] Translation: X:492.75, Y:7.90, Z:4.53 [[ 9.99226675e-01 -3.51570412e-02 -1.76078001e-02 4.92750079e+02] [ 3.51570818e-02 9.99381751e-01 -3.07330416e-04 7.90031756e+00] [ 1.76077189e-02 -3.11946120e-04 9.99844923e-01 4.52720862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6192541539999 meters Centerline goodness [0,1] 0.9988424951595252 Centerline is valid? [True, True] Translation: X:492.78, Y:7.90, Z:4.53 [[ 9.99108219e-01 -3.82006840e-02 -1.79854009e-02 4.92780809e+02] [ 3.82012213e-02 9.99270018e-01 -3.13812446e-04 7.89783647e+00] [ 1.79842597e-02 -3.73531684e-04 9.99838200e-01 4.52682060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.64925415399995 meters Centerline goodness [0,1] 0.9987806929027918 Centerline is valid? [True, True] Translation: X:492.81, Y:7.89, Z:4.53 [[ 9.98858306e-01 -4.46274885e-02 -1.70432177e-02 4.92811448e+02] [ 4.46289108e-02 9.99003590e-01 -2.97070352e-04 7.89250951e+00] [ 1.70394932e-02 -4.63889055e-04 9.99854710e-01 4.52820057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6792541539999 meters Centerline goodness [0,1] 0.9989119745569435 Centerline is valid? [True, True] Translation: X:492.84, Y:7.89, Z:4.53 [[ 9.98746961e-01 -4.70375030e-02 -1.70874492e-02 4.92842562e+02] [ 4.70392926e-02 9.98892996e-01 -2.97395510e-04 7.89067249e+00] [ 1.70825221e-02 -5.06758662e-04 9.99853955e-01 4.52901595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.70925415399995 meters Centerline goodness [0,1] 0.9989495577638186 Centerline is valid? [True, True] Translation: X:492.87, Y:7.89, Z:4.53 [[ 9.98657945e-01 -4.89494474e-02 -1.69192178e-02 4.92874034e+02] [ 4.89514884e-02 9.98801114e-01 -2.93734985e-04 7.88689246e+00] [ 1.69133117e-02 -5.34880117e-04 9.99856817e-01 4.52893153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7392541539999 meters Centerline goodness [0,1] 0.9987211740041929 Centerline is valid? [True, True] Translation: X:492.91, Y:7.89, Z:4.53 [[ 9.98623551e-01 -4.96633345e-02 -1.68688046e-02 4.92906431e+02] [ 4.96654829e-02 9.98765866e-01 -2.91805772e-04 7.89041882e+00] [ 1.68624783e-02 -5.46393210e-04 9.99857669e-01 4.53036741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.76925415399995 meters Centerline goodness [0,1] 0.9987381703470032 Centerline is valid? [True, True] Translation: X:492.94, Y:7.89, Z:4.53 [[ 9.98684067e-01 -4.84682317e-02 -1.67620338e-02 4.92938017e+02] [ 4.84702125e-02 9.98824587e-01 -2.88300106e-04 7.89064137e+00] [ 1.67563049e-02 -5.24538618e-04 9.99859466e-01 4.53069611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7992541539999 meters Centerline goodness [0,1] 0.9987036882161077 Centerline is valid? [True, True] Translation: X:492.97, Y:7.89, Z:4.53 [[ 9.98804900e-01 -4.58795307e-02 -1.68475636e-02 4.92969712e+02] [ 4.58811912e-02 9.98946862e-01 -2.88149636e-04 7.89185997e+00] [ 1.68430409e-02 -4.85181018e-04 9.99858028e-01 4.52893450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.82925415399995 meters Centerline goodness [0,1] 0.9988033506182689 Centerline is valid? [True, True] Translation: X:493.00, Y:7.90, Z:4.53 [[ 9.99029963e-01 -4.06453025e-02 -1.69438311e-02 4.93000616e+02] [ 4.06462427e-02 9.99173558e-01 -2.89027645e-04 7.89554735e+00] [ 1.69415756e-02 -3.99955792e-04 9.99856401e-01 4.53158329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8592541539999 meters Centerline goodness [0,1] 0.9989719704598858 Centerline is valid? [True, True] Translation: X:493.03, Y:7.90, Z:4.53 [[ 9.99180667e-01 -3.67060592e-02 -1.70487401e-02 4.93031881e+02] [ 3.67064485e-02 9.99326049e-01 -2.90188154e-04 7.89910346e+00] [ 1.70479018e-02 -3.35848308e-04 9.99854618e-01 4.53235910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.88925415399996 meters Centerline goodness [0,1] 0.9988877463222178 Centerline is valid? [True, True] Translation: X:493.06, Y:7.90, Z:4.53 [[ 9.99323085e-01 -3.26965411e-02 -1.68614298e-02 4.93062339e+02] [ 3.26963594e-02 9.99465290e-01 -2.86524138e-04 7.89866211e+00] [ 1.68617822e-02 -2.64977185e-04 9.99857795e-01 4.53118732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.91925415399993 meters Centerline goodness [0,1] 0.9990322512780595 Centerline is valid? [True, True] Translation: X:493.09, Y:7.91, Z:4.53 [[ 9.99543069e-01 -2.48036998e-02 -1.72751053e-02 4.93092765e+02] [ 2.48023333e-02 9.99692332e-01 -2.93380172e-04 7.90677075e+00] [ 1.72770672e-02 -1.35216801e-04 9.99850731e-01 4.53284576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.94925415399996 meters Centerline goodness [0,1] 0.9990972076422423 Centerline is valid? [True, True] Translation: X:493.12, Y:7.91, Z:4.53 [[ 9.99608096e-01 -2.17594102e-02 -1.76119855e-02 4.93120999e+02] [ 2.17574816e-02 9.99763233e-01 -3.01131572e-04 7.90899066e+00] [ 1.76143680e-02 -8.21788942e-05 9.99844852e-01 4.53270771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.97925415399993 meters Centerline goodness [0,1] 0.9990970559825291 Centerline is valid? [True, True] Translation: X:493.15, Y:7.91, Z:4.53 [[ 9.99653977e-01 -1.91296102e-02 -1.80550151e-02 4.93149039e+02] [ 1.91270655e-02 9.99817012e-01 -3.13630961e-04 7.91125318e+00] [ 1.80577109e-02 -3.18170203e-05 9.99836946e-01 4.53343406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.00925415399996 meters Centerline goodness [0,1] 0.9992852487964851 Centerline is valid? [True, True] Translation: X:493.18, Y:7.91, Z:4.53 [[ 9.99697614e-01 -1.56925880e-02 -1.89320587e-02 4.93178005e+02] [ 1.56890725e-02 9.99876863e-01 -3.34210110e-04 7.91235610e+00] [ 1.89349721e-02 3.70826083e-05 9.99820717e-01 4.53320748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.03925415399993 meters Centerline goodness [0,1] 0.9990954224166947 Centerline is valid? [True, True] Translation: X:493.21, Y:7.91, Z:4.53 [[ 9.99703998e-01 -1.49187530e-02 -1.92183977e-02 4.93205636e+02] [ 1.49148848e-02 9.99888708e-01 -3.44605259e-04 7.91230882e+00] [ 1.92213999e-02 5.78630678e-05 9.99815250e-01 4.53312722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.06925415399996 meters Centerline goodness [0,1] 0.9994950876233354 Centerline is valid? [True, True] Translation: X:493.23, Y:7.91, Z:4.53 [[ 9.99697421e-01 -1.45625070e-02 -1.98242010e-02 4.93233463e+02] [ 1.45582357e-02 9.99893959e-01 -3.59764388e-04 7.91092355e+00] [ 1.98273379e-02 7.10501405e-05 9.99803416e-01 4.53272649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.09925415399994 meters Centerline goodness [0,1] 0.9993272647003174 Centerline is valid? [True, True] Translation: X:493.26, Y:7.91, Z:4.53 [[ 9.99683293e-01 -1.51233235e-02 -2.01146640e-02 4.93260570e+02] [ 1.51189700e-02 9.99885634e-01 -3.68498071e-04 7.90981597e+00] [ 2.01179365e-02 6.42683632e-05 9.99797612e-01 4.53264332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.1292541539999 meters Centerline goodness [0,1] 0.9992239932885906 Centerline is valid? [True, True] Translation: X:493.29, Y:7.91, Z:4.53 [[ 9.99663300e-01 -1.61532350e-02 -2.03066226e-02 4.93288527e+02] [ 1.61489082e-02 9.99869527e-01 -3.77049757e-04 7.90845231e+00] [ 2.03100637e-02 4.89930213e-05 9.99793728e-01 4.53282170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.15925415399994 meters Centerline goodness [0,1] 0.9993075082889159 Centerline is valid? [True, True] Translation: X:493.32, Y:7.91, Z:4.53 [[ 9.99649612e-01 -1.71477637e-02 -2.01645217e-02 4.93315074e+02] [ 1.71436025e-02 9.99852966e-01 -3.79221215e-04 7.90684720e+00] [ 2.01680597e-02 3.33957950e-05 9.99796603e-01 4.53286664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.1892541539999 meters Centerline goodness [0,1] 0.999204221812699 Centerline is valid? [True, True] Translation: X:493.34, Y:7.90, Z:4.53 [[ 9.99625220e-01 -1.89402194e-02 -1.97658328e-02 4.93343396e+02] [ 1.89365175e-02 9.99820618e-01 -3.74456226e-04 7.90262222e+00] [ 1.97693795e-02 1.98480941e-08 9.99804567e-01 4.53334833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.21925415399994 meters Centerline goodness [0,1] 0.9992240746566006 Centerline is valid? [True, True] Translation: X:493.37, Y:7.90, Z:4.53 [[ 9.99611064e-01 -2.02141943e-02 -1.92121670e-02 4.93370976e+02] [ 2.02108636e-02 9.99795672e-01 -3.67532991e-04 7.90083154e+00] [ 1.92156708e-02 -2.09044435e-05 9.99815362e-01 4.53398141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.2492541539999 meters Centerline goodness [0,1] 0.9993932546656624 Centerline is valid? [True, True] Translation: X:493.40, Y:7.90, Z:4.53 [[ 9.99566932e-01 -2.27231633e-02 -1.86977678e-02 4.93399277e+02] [ 2.27203511e-02 9.99741794e-01 -3.62849274e-04 7.89592300e+00] [ 1.87011850e-02 -6.21277136e-05 9.99825116e-01 4.53494173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.27925415399994 meters Centerline goodness [0,1] 0.999205120696147 Centerline is valid? [True, True] Translation: X:493.43, Y:7.89, Z:4.54 [[ 9.99542638e-01 -2.44746464e-02 -1.77624905e-02 4.93425943e+02] [ 2.44723229e-02 9.99700447e-01 -3.48191643e-04 7.89305788e+00] [ 1.77656915e-02 -8.66570097e-05 9.99842174e-01 4.53538192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3092541539999 meters Centerline goodness [0,1] 0.9991835709351253 Centerline is valid? [True, True] Translation: X:493.45, Y:7.89, Z:4.54 [[ 9.99491872e-01 -2.63094257e-02 -1.79947646e-02 4.93454288e+02] [ 2.63072802e-02 9.99653840e-01 -3.55975714e-04 7.88997357e+00] [ 1.79979011e-02 -1.17598483e-04 9.99838018e-01 4.53614704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.33925415399995 meters Centerline goodness [0,1] 0.9992914304768256 Centerline is valid? [True, True] Translation: X:493.48, Y:7.88, Z:4.54 [[ 9.99399787e-01 -3.01695258e-02 -1.70254172e-02 4.93482711e+02] [ 3.01681175e-02 9.99544781e-01 -3.39597098e-04 7.88298212e+00] [ 1.70279124e-02 -1.74231518e-04 9.99854999e-01 4.53699262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3692541539999 meters Centerline goodness [0,1] 0.9992690974397528 Centerline is valid? [True, True] Translation: X:493.51, Y:7.88, Z:4.54 [[ 9.99355771e-01 -3.17412990e-02 -1.67491400e-02 4.93512546e+02] [ 3.17401393e-02 9.99496099e-01 -3.35128513e-04 7.87984266e+00] [ 1.67513375e-02 -1.96707423e-04 9.99859667e-01 4.53666247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.39925415399995 meters Centerline goodness [0,1] 0.9993537492964206 Centerline is valid? [True, True] Translation: X:493.54, Y:7.88, Z:4.54 [[ 9.99254112e-01 -3.42864605e-02 -1.77667716e-02 4.93542601e+02] [ 3.42855491e-02 9.99412014e-01 -3.55983791e-04 7.87551599e+00] [ 1.77685304e-02 -2.53425252e-04 9.99842095e-01 4.53680500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4292541539999 meters Centerline goodness [0,1] 0.9992279120237052 Centerline is valid? [True, True] Translation: X:493.57, Y:7.87, Z:4.54 [[ 9.99198164e-01 -3.66607960e-02 -1.60939286e-02 4.93570931e+02] [ 3.66603458e-02 9.99327731e-01 -3.23095577e-04 7.87070008e+00] [ 1.60949541e-02 -2.67172480e-04 9.99870432e-01 4.53746851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.45925415399995 meters Centerline goodness [0,1] 0.999185684755601 Centerline is valid? [True, True] Translation: X:493.60, Y:7.87, Z:4.54 [[ 9.99153006e-01 -3.76980571e-02 -1.64962515e-02 4.93601791e+02] [ 3.76977164e-02 9.99289133e-01 -3.31718773e-04 7.87126817e+00] [ 1.64970300e-02 -2.90433200e-04 9.99863873e-01 4.53827665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4892541539999 meters Centerline goodness [0,1] 0.9992067965015551 Centerline is valid? [True, True] Translation: X:493.63, Y:7.87, Z:4.54 [[ 9.99092153e-01 -3.92287406e-02 -1.66125189e-02 4.93631723e+02] [ 3.92286095e-02 9.99230206e-01 -3.33883434e-04 7.86763630e+00] [ 1.66128285e-02 -3.18105698e-04 9.99861947e-01 4.53847930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.51925415399995 meters Centerline goodness [0,1] 0.9991865000730064 Centerline is valid? [True, True] Translation: X:493.66, Y:7.86, Z:4.54 [[ 9.98994438e-01 -4.14802903e-02 -1.70146715e-02 4.93662505e+02] [ 4.14804791e-02 9.99139256e-01 -3.41966018e-04 7.86254384e+00] [ 1.70142111e-02 -3.64154575e-04 9.99855182e-01 4.53846779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5492541539999 meters Centerline goodness [0,1] 0.9991244527829893 Centerline is valid? [True, True] Translation: X:493.69, Y:7.86, Z:4.54 [[ 9.98956545e-01 -4.23544465e-02 -1.70857086e-02 4.93692777e+02] [ 4.23547647e-02 9.99102575e-01 -3.43393744e-04 7.86236987e+00] [ 1.70849197e-02 -3.80625739e-04 9.99853970e-01 4.53905924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57925415399995 meters Centerline goodness [0,1] 0.9989588755856325 Centerline is valid? [True, True] Translation: X:493.72, Y:7.86, Z:4.54 [[ 9.98922368e-01 -4.30961603e-02 -1.72285936e-02 4.93723165e+02] [ 4.30965966e-02 9.99070850e-01 -3.46120840e-04 7.86028652e+00] [ 1.72275022e-02 -3.96745900e-04 9.99851517e-01 4.53907682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6092541539999 meters Centerline goodness [0,1] 0.9992908393125313 Centerline is valid? [True, True] Translation: X:493.75, Y:7.86, Z:4.54 [[ 9.98903794e-01 -4.34168285e-02 -1.74982442e-02 4.93753859e+02] [ 4.34173308e-02 9.99056961e-01 -3.51363115e-04 7.85929588e+00] [ 1.74969977e-02 -4.08749107e-04 9.99846832e-01 4.53964871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63925415399996 meters Centerline goodness [0,1] 0.999124215443001 Centerline is valid? [True, True] Translation: X:493.78, Y:7.86, Z:4.54 [[ 9.98874383e-01 -4.38743538e-02 -1.80279658e-02 4.93783865e+02] [ 4.38749643e-02 9.99036965e-01 -3.61843243e-04 7.85638277e+00] [ 1.80264798e-02 -4.29540408e-04 9.99837418e-01 4.53990714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.66925415399993 meters Centerline goodness [0,1] 0.999124215443001 Centerline is valid? [True, True] Translation: X:493.81, Y:7.86, Z:4.54 [[ 9.98874383e-01 -4.38743522e-02 -1.80279692e-02 4.93813867e+02] [ 4.38749658e-02 9.99036965e-01 -3.61673975e-04 7.85698459e+00] [ 1.80264758e-02 -4.29709661e-04 9.99837418e-01 4.54018822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69925415399996 meters Centerline goodness [0,1] 0.9992294877134528 Centerline is valid? [True, True] Translation: X:493.84, Y:7.86, Z:4.54 [[ 9.98889077e-01 -4.36217839e-02 -1.78256163e-02 4.93844846e+02] [ 4.36223435e-02 9.99048029e-01 -3.57614407e-04 7.85589040e+00] [ 1.78242466e-02 -4.20378033e-04 9.99841047e-01 4.54018642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.72925415399993 meters Centerline goodness [0,1] 0.9992481831091805 Centerline is valid? [True, True] Translation: X:493.88, Y:7.86, Z:4.54 [[ 9.98891064e-01 -4.33332863e-02 -1.84083721e-02 4.93875284e+02] [ 4.33338343e-02 9.99060580e-01 -3.69305553e-04 7.85519658e+00] [ 1.84070821e-02 -4.28809329e-04 9.99830483e-01 4.54030915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75925415399996 meters Centerline goodness [0,1] 0.9993304598903628 Centerline is valid? [True, True] Translation: X:493.90, Y:7.85, Z:4.54 [[ 9.98969072e-01 -4.13914569e-02 -1.86424534e-02 4.93904695e+02] [ 4.13916778e-02 9.99142927e-01 -3.74168063e-04 7.85251576e+00] [ 1.86419629e-02 -3.97860104e-04 9.99826144e-01 4.54013670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.78925415399993 meters Centerline goodness [0,1] 0.9993325268032206 Centerline is valid? [True, True] Translation: X:493.93, Y:7.85, Z:4.54 [[ 9.99012857e-01 -4.02646611e-02 -1.87635178e-02 4.93933752e+02] [ 4.02646719e-02 9.99188978e-01 -3.77363972e-04 7.85225757e+00] [ 1.87634946e-02 -3.78515428e-04 9.99823878e-01 4.54038504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8192541539999 meters Centerline goodness [0,1] 0.9994991548237651 Centerline is valid? [True, True] Translation: X:493.96, Y:7.85, Z:4.54 [[ 9.99054230e-01 -3.92610178e-02 -1.86873526e-02 4.93963133e+02] [ 3.92608360e-02 9.99228925e-01 -3.76741637e-04 7.85304145e+00] [ 1.86877346e-02 -3.57295760e-04 9.99825305e-01 4.54134835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.84925415399994 meters Centerline goodness [0,1] 0.9993939393939394 Centerline is valid? [True, True] Translation: X:493.99, Y:7.86, Z:4.54 [[ 9.99115160e-01 -3.75797391e-02 -1.88854606e-02 4.93992618e+02] [ 3.75792405e-02 9.99293578e-01 -3.81405096e-04 7.85529016e+00] [ 1.88864526e-02 -3.28633653e-04 9.99821581e-01 4.54360318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8792541539999 meters Centerline goodness [0,1] 0.999623745819398 Centerline is valid? [True, True] Translation: X:494.02, Y:7.85, Z:4.54 [[ 9.99135683e-01 -3.71390182e-02 -1.86702899e-02 4.94021063e+02] [ 3.71384383e-02 9.99310059e-01 -3.77903302e-04 7.85431981e+00] [ 1.86714435e-02 -3.15808736e-04 9.99825624e-01 4.54363313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.90925415399994 meters Centerline goodness [0,1] 0.9994778613199666 Centerline is valid? [True, True] Translation: X:494.05, Y:7.85, Z:4.54 [[ 9.99121423e-01 -3.72986385e-02 -1.91100198e-02 4.94049933e+02] [ 3.72980032e-02 9.99304111e-01 -3.89781942e-04 7.85362950e+00] [ 1.91112597e-02 -3.23326091e-04 9.99817311e-01 4.54390332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9392541539999 meters Centerline goodness [0,1] 0.9992474287147755 Centerline is valid? [True, True] Translation: X:494.08, Y:7.85, Z:4.54 [[ 9.99064971e-01 -3.76907975e-02 -2.11798907e-02 4.94078867e+02] [ 3.76899864e-02 9.99289384e-01 -4.37615733e-04 7.85167732e+00] [ 2.11813340e-02 -3.61063243e-04 9.99775585e-01 4.54367262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.96925415399994 meters Centerline goodness [0,1] 0.9993121990871006 Centerline is valid? [True, True] Translation: X:494.11, Y:7.85, Z:4.54 [[ 9.99055385e-01 -3.86964247e-02 -1.97717883e-02 4.94106357e+02] [ 3.86958112e-02 9.99250951e-01 -4.13751922e-04 7.85117628e+00] [ 1.97729890e-02 -3.51724301e-04 9.99804433e-01 4.54458780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9992541539999 meters Centerline goodness [0,1] 0.9995194417166378 Centerline is valid? [True, True] Translation: X:494.14, Y:7.85, Z:4.55 [[ 9.99015760e-01 -3.95775701e-02 -2.00281744e-02 4.94135329e+02] [ 3.95770071e-02 9.99216433e-01 -4.24629723e-04 7.85137101e+00] [ 2.00292868e-02 -3.68443418e-04 9.99799326e-01 4.54543875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.02925415399994 meters Centerline goodness [0,1] 0.9993946983928199 Centerline is valid? [True, True] Translation: X:494.16, Y:7.85, Z:4.55 [[ 9.98923399e-01 -4.18332346e-02 -2.00505306e-02 4.94164066e+02] [ 4.18330202e-02 9.99124523e-01 -4.30301470e-04 7.84902047e+00] [ 2.00509777e-02 -4.08936045e-04 9.99798875e-01 4.54541638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0592541539999 meters Centerline goodness [0,1] 0.9993096956385316 Centerline is valid? [True, True] Translation: X:494.19, Y:7.85, Z:4.55 [[ 9.98838100e-01 -4.31298249e-02 -2.15004317e-02 4.94192946e+02] [ 4.31297551e-02 9.99069370e-01 -4.67168887e-04 7.84784412e+00] [ 2.15005717e-02 -4.60682271e-04 9.99768730e-01 4.54514105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.08925415399995 meters Centerline goodness [0,1] 0.9994349573078855 Centerline is valid? [True, True] Translation: X:494.22, Y:7.85, Z:4.55 [[ 9.98758379e-01 -4.46917881e-02 -2.20078131e-02 4.94221575e+02] [ 4.46919672e-02 9.99000698e-01 -4.83953090e-04 7.84658105e+00] [ 2.20074493e-02 -5.00220255e-04 9.99757682e-01 4.54522061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1192541539999 meters Centerline goodness [0,1] 0.9993097389558233 Centerline is valid? [True, True] Translation: X:494.25, Y:7.84, Z:4.54 [[ 9.98589877e-01 -4.81856858e-02 -2.22799597e-02 4.94250180e+02] [ 4.81866679e-02 9.98838226e-01 -4.93098335e-04 7.84276361e+00] [ 2.22778357e-02 -5.81194014e-04 9.99751649e-01 4.54470242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.14925415399995 meters Centerline goodness [0,1] 0.9993733550570247 Centerline is valid? [True, True] Translation: X:494.28, Y:7.84, Z:4.55 [[ 9.98470055e-01 -5.09110162e-02 -2.15781897e-02 4.94278648e+02] [ 5.09124942e-02 9.98703002e-01 -4.81218695e-04 7.84244179e+00] [ 2.15747021e-02 -6.18116999e-04 9.99767048e-01 4.54560203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1792541539999 meters Centerline goodness [0,1] 0.9993730014420967 Centerline is valid? [True, True] Translation: X:494.31, Y:7.84, Z:4.55 [[ 9.98341206e-01 -5.32818890e-02 -2.18145859e-02 4.94307311e+02] [ 5.32838967e-02 9.98579284e-01 -4.89617407e-04 7.84005256e+00] [ 2.18096813e-02 -6.73560911e-04 9.99761914e-01 4.54546546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.20925415399995 meters Centerline goodness [0,1] 0.999310445702823 Centerline is valid? [True, True] Translation: X:494.34, Y:7.84, Z:4.55 [[ 9.98015809e-01 -5.88924257e-02 -2.22738949e-02 4.94337860e+02] [ 5.88959024e-02 9.98264004e-01 -5.00450288e-04 7.83739953e+00] [ 2.22647003e-02 -8.12383844e-04 9.99751781e-01 4.54645940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2392541539999 meters Centerline goodness [0,1] 0.9992690974397528 Centerline is valid? [True, True] Translation: X:494.37, Y:7.84, Z:4.55 [[ 9.97814748e-01 -6.20452659e-02 -2.27181519e-02 4.94366886e+02] [ 6.20496819e-02 9.98072931e-01 -5.11162164e-04 7.83572109e+00] [ 2.27060876e-02 -8.99608951e-04 9.99741779e-01 4.54672263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.26925415399995 meters Centerline goodness [0,1] 0.9993116251903461 Centerline is valid? [True, True] Translation: X:494.40, Y:7.83, Z:4.55 [[ 9.97359015e-01 -6.86089506e-02 -2.38286869e-02 4.94396518e+02] [ 6.86156586e-02 9.97643024e-01 -5.36967757e-04 7.83026459e+00] [ 2.38093641e-02 -1.09947142e-03 9.99715912e-01 4.54642321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2992541539999 meters Centerline goodness [0,1] 0.9992896985397037 Centerline is valid? [True, True] Translation: X:494.43, Y:7.83, Z:4.55 [[ 9.97108165e-01 -7.21292675e-02 -2.39306315e-02 4.94427033e+02] [ 7.21370398e-02 9.97394584e-01 -5.39447862e-04 7.83016726e+00] [ 2.39071923e-02 -1.18839705e-03 9.99713476e-01 4.54713999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.32925415399995 meters Centerline goodness [0,1] 0.9992281697192207 Centerline is valid? [True, True] Translation: X:494.46, Y:7.83, Z:4.55 [[ 9.96819924e-01 -7.57791648e-02 -2.46486918e-02 4.94456582e+02] [ 7.57885165e-02 9.97123759e-01 -5.55912462e-04 7.82592409e+00] [ 2.46199228e-02 -1.31394316e-03 9.99696020e-01 4.54689879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3592541539999 meters Centerline goodness [0,1] 0.9991856337439966 Centerline is valid? [True, True] Translation: X:494.49, Y:7.83, Z:4.55 [[ 9.96550146e-01 -7.91999071e-02 -2.48028321e-02 4.94487208e+02] [ 7.92104277e-02 9.96857761e-01 -5.59560223e-04 7.82949744e+00] [ 2.47692128e-02 -1.40701312e-03 9.99692206e-01 4.54840814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.38925415399996 meters Centerline goodness [0,1] 0.9992271701896566 Centerline is valid? [True, True] Translation: X:494.52, Y:7.83, Z:4.55 [[ 9.96021644e-01 -8.53707081e-02 -2.55485268e-02 4.94518056e+02] [ 8.53838894e-02 9.96347961e-01 -5.76513897e-04 7.82867945e+00] [ 2.55044400e-02 -1.60721227e-03 9.99673417e-01 4.54951116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.41925415399993 meters Centerline goodness [0,1] 0.9992887178092509 Centerline is valid? [True, True] Translation: X:494.55, Y:7.83, Z:4.55 [[ 9.95793296e-01 -8.79271444e-02 -2.57784644e-02 4.94547786e+02] [ 8.79413995e-02 9.96125480e-01 -5.82376753e-04 7.82772264e+00] [ 2.57297920e-02 -1.68706737e-03 9.99667511e-01 4.54949356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.44925415399996 meters Centerline goodness [0,1] 0.9989969071303185 Centerline is valid? [True, True] Translation: X:494.58, Y:7.82, Z:4.55 [[ 9.95413483e-01 -9.20061629e-02 -2.62081065e-02 4.94577630e+02] [ 9.20222854e-02 9.95756771e-01 -5.92796949e-04 7.82194495e+00] [ 2.61514405e-02 -1.82165178e-03 9.99656333e-01 4.54837403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.47925415399993 meters Centerline goodness [0,1] 0.9991431019708654 Centerline is valid? [True, True] Translation: X:494.61, Y:7.83, Z:4.55 [[ 9.95299966e-01 -9.32501388e-02 -2.61225694e-02 4.94607469e+02] [ 9.32665611e-02 9.95640999e-01 -5.91680235e-04 7.82758388e+00] [ 2.60638753e-02 -1.84746289e-03 9.99658572e-01 4.54999744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.50925415399996 meters Centerline goodness [0,1] 0.9989973262032086 Centerline is valid? [True, True] Translation: X:494.64, Y:7.83, Z:4.55 [[ 9.95218492e-01 -9.41324208e-02 -2.60622611e-02 4.94637128e+02] [ 9.41490514e-02 9.95557937e-01 -5.90960023e-04 7.82813031e+00] [ 2.60021194e-02 -1.86560282e-03 9.99660147e-01 4.55055132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.53925415399993 meters Centerline goodness [0,1] 0.999081553843906 Centerline is valid? [True, True] Translation: X:494.67, Y:7.83, Z:4.55 [[ 9.95207206e-01 -9.42953378e-02 -2.59038014e-02 4.94666879e+02] [ 9.43118096e-02 9.95542534e-01 -5.87833423e-04 7.83105241e+00] [ 2.58437660e-02 -1.85801832e-03 9.99664267e-01 4.55125291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.5692541539999 meters Centerline goodness [0,1] 0.9988119802413556 Centerline is valid? [True, True] Translation: X:494.70, Y:7.83, Z:4.55 [[ 9.95251657e-01 -9.38632075e-02 -2.57650295e-02 4.94696952e+02] [ 9.38793547e-02 9.95583409e-01 -5.84851808e-04 7.83354832e+00] [ 2.57061320e-02 -1.83672961e-03 9.99667855e-01 4.55137597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.59925415399994 meters Centerline goodness [0,1] 0.9989150844982266 Centerline is valid? [True, True] Translation: X:494.73, Y:7.84, Z:4.55 [[ 9.95381821e-01 -9.22512510e-02 -2.65468922e-02 4.94726086e+02] [ 9.22678346e-02 9.95734043e-01 -6.02176188e-04 7.83847567e+00] [ 2.64891958e-02 -1.85002903e-03 9.99647388e-01 4.55104365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.6292541539999 meters Centerline goodness [0,1] 0.9989763088622404 Centerline is valid? [True, True] Translation: X:494.76, Y:7.84, Z:4.55 [[ 9.95506009e-01 -9.08731281e-02 -2.66432089e-02 4.94755834e+02] [ 9.08893311e-02 9.95860815e-01 -6.04736766e-04 7.84152339e+00] [ 2.65878821e-02 -1.81956436e-03 9.99644824e-01 4.55099648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.65925415399994 meters Centerline goodness [0,1] 0.9987903814469541 Centerline is valid? [True, True] Translation: X:494.79, Y:7.85, Z:4.55 [[ 9.95628611e-01 -8.95444931e-02 -2.65603431e-02 4.94786051e+02] [ 8.95601162e-02 9.95981236e-01 -6.03184026e-04 7.85298071e+00] [ 2.65076151e-02 -1.77820014e-03 9.99647030e-01 4.55311331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.6892541539999 meters Centerline goodness [0,1] 0.9990203026639429 Centerline is valid? [True, True] Translation: X:494.82, Y:7.85, Z:4.55 [[ 9.95792749e-01 -8.77494351e-02 -2.63976648e-02 4.94815937e+02] [ 8.77642393e-02 9.96141094e-01 -5.99489610e-04 7.85459261e+00] [ 2.63484036e-02 -1.71980356e-03 9.99651341e-01 4.55275391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.71925415399994 meters Centerline goodness [0,1] 0.9990408873876692 Centerline is valid? [True, True] Translation: X:494.85, Y:7.87, Z:4.55 [[ 9.96138840e-01 -8.35517903e-02 -2.69538526e-02 4.94846862e+02] [ 8.35657007e-02 9.96502082e-01 -6.11891131e-04 7.86623860e+00] [ 2.69106949e-02 -1.64288906e-03 9.99636492e-01 4.55388399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.7492541539999 meters Centerline goodness [0,1] 0.9991458511281015 Centerline is valid? [True, True] Translation: X:494.88, Y:7.86, Z:4.55 [[ 9.96363645e-01 -8.08857217e-02 -2.67766244e-02 4.94876561e+02] [ 8.08984849e-02 9.96722161e-01 -6.08068078e-04 7.86207088e+00] [ 2.67380390e-02 -1.56033142e-03 9.99641257e-01 4.55135784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.77925415399994 meters Centerline goodness [0,1] 0.9988957413117759 Centerline is valid? [True, True] Translation: X:494.91, Y:7.88, Z:4.55 [[ 9.96816186e-01 -7.52299611e-02 -2.64186442e-02 4.94906417e+02] [ 7.52403993e-02 9.97165243e-01 -6.00132193e-04 7.87790149e+00] [ 2.63889017e-02 -1.38952785e-03 9.99650787e-01 4.55393371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8092541539999 meters Centerline goodness [0,1] 0.9988957413117759 Centerline is valid? [True, True] Translation: X:494.94, Y:7.88, Z:4.55 [[ 9.96816186e-01 -7.52299612e-02 -2.64186439e-02 4.94936454e+02] [ 7.52403990e-02 9.97165243e-01 -6.00144712e-04 7.87858384e+00] [ 2.63889023e-02 -1.38951535e-03 9.99650787e-01 4.55421517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.83925415399995 meters Centerline goodness [0,1] 0.9990185432676244 Centerline is valid? [True, True] Translation: X:494.97, Y:7.89, Z:4.56 [[ 9.97296499e-01 -6.85268651e-02 -2.65285229e-02 4.94967211e+02] [ 6.85350308e-02 9.97648529e-01 -6.02364622e-04 7.88887849e+00] [ 2.65074200e-02 -1.21739701e-03 9.99647875e-01 4.55516594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8692541539999 meters Centerline goodness [0,1] 0.9991441037095797 Centerline is valid? [True, True] Translation: X:495.00, Y:7.89, Z:4.56 [[ 9.97544829e-01 -6.49846440e-02 -2.61019031e-02 4.94996869e+02] [ 6.49913425e-02 9.97885652e-01 -5.92529425e-04 7.89322945e+00] [ 2.60852199e-02 -1.10532306e-03 9.99659112e-01 4.55541627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.89925415399995 meters Centerline goodness [0,1] 0.9990812278137399 Centerline is valid? [True, True] Translation: X:495.03, Y:7.90, Z:4.56 [[ 9.98008821e-01 -5.79346321e-02 -2.49393575e-02 4.95026569e+02] [ 5.79385410e-02 9.98319991e-01 -5.66429895e-04 7.90211507e+00] [ 2.49302750e-02 -8.79647954e-04 9.99688805e-01 4.55603174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9292541539999 meters Centerline goodness [0,1] 0.9989321384451099 Centerline is valid? [True, True] Translation: X:495.06, Y:7.91, Z:4.56 [[ 9.98221315e-01 -5.43573238e-02 -2.44844189e-02 4.95056645e+02] [ 5.43600055e-02 9.98521247e-01 -5.56539249e-04 7.90807692e+00] [ 2.44784645e-02 -7.75423803e-04 9.99700057e-01 4.55692470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.95925415399995 meters Centerline goodness [0,1] 0.9991002113457071 Centerline is valid? [True, True] Translation: X:495.09, Y:7.91, Z:4.56 [[ 9.98423714e-01 -5.08011603e-02 -2.38606146e-02 4.95085918e+02] [ 5.08026823e-02 9.98708563e-01 -5.42780101e-04 7.91148917e+00] [ 2.38573740e-02 -6.70258698e-04 9.99715148e-01 4.55705668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9892541539999 meters Centerline goodness [0,1] 0.9990141583639224 Centerline is valid? [True, True] Translation: X:495.12, Y:7.92, Z:4.56 [[ 9.98816015e-01 -4.35552994e-02 -2.16680209e-02 4.95115992e+02] [ 4.35548466e-02 9.99050916e-01 -4.93053846e-04 7.92173231e+00] [ 2.16689313e-02 -4.51277250e-04 9.99765099e-01 4.55930471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.01925415399995 meters Centerline goodness [0,1] 0.9990582227617094 Centerline is valid? [True, True] Translation: X:495.15, Y:7.92, Z:4.56 [[ 9.98957411e-01 -4.02608179e-02 -2.15210937e-02 4.95145347e+02] [ 4.02596021e-02 9.99189133e-01 -4.89932143e-04 7.92478669e+00] [ 2.15233680e-02 -3.77009323e-04 9.99768274e-01 4.55908366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0492541539999 meters Centerline goodness [0,1] 0.999140587335192 Centerline is valid? [True, True] Translation: X:495.18, Y:7.93, Z:4.56 [[ 9.99090006e-01 -3.72366232e-02 -2.07988765e-02 4.95175461e+02] [ 3.72348247e-02 9.99306431e-01 -4.73864096e-04 7.92837239e+00] [ 2.08020961e-02 -3.01009637e-04 9.99783568e-01 4.55923943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07925415399995 meters Centerline goodness [0,1] 0.9990761348843069 Centerline is valid? [True, True] Translation: X:495.20, Y:7.93, Z:4.56 [[ 9.99242829e-01 -3.30800593e-02 -2.04811598e-02 4.95204597e+02] [ 3.30774347e-02 9.99452683e-01 -4.66994460e-04 7.93254188e+00] [ 2.04853983e-02 -2.10823361e-04 9.99790130e-01 4.55780955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1092541539999 meters Centerline goodness [0,1] 0.9991818753933291 Centerline is valid? [True, True] Translation: X:495.23, Y:7.94, Z:4.56 [[ 9.99271149e-01 -3.23251430e-02 -2.03041038e-02 4.95233052e+02] [ 3.23223488e-02 9.99477388e-01 -4.65859526e-04 7.93590243e+00] [ 2.03085516e-02 -1.90756343e-04 9.99793742e-01 4.55885664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13925415399996 meters Centerline goodness [0,1] 0.9992643040316139 Centerline is valid? [True, True] Translation: X:495.26, Y:7.94, Z:4.56 [[ 9.99271553e-01 -3.24142960e-02 -2.01414087e-02 4.95261708e+02] [ 3.24114620e-02 9.99474501e-01 -4.67213970e-04 7.93770573e+00] [ 2.01459688e-02 -1.85938873e-04 9.99797032e-01 4.55934673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.16925415399993 meters Centerline goodness [0,1] 0.9991825955734407 Centerline is valid? [True, True] Translation: X:495.29, Y:7.94, Z:4.56 [[ 9.99214680e-01 -3.44961821e-02 -1.94945123e-02 4.95290043e+02] [ 3.44938275e-02 9.99404806e-01 -4.57126670e-04 7.93746592e+00] [ 1.94986784e-02 -2.15672663e-04 9.99809859e-01 4.55914551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19925415399996 meters Centerline goodness [0,1] 0.9989494915539121 Centerline is valid? [True, True] Translation: X:495.32, Y:7.94, Z:4.56 [[ 9.99169607e-01 -3.62877420e-02 -1.85282770e-02 4.95319823e+02] [ 3.62858745e-02 9.99341355e-01 -4.37079888e-04 7.93680217e+00] [ 1.85319341e-02 -2.35597794e-04 9.99828241e-01 4.55895675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.22925415399993 meters Centerline goodness [0,1] 0.9989489173849064 Centerline is valid? [True, True] Translation: X:495.35, Y:7.94, Z:4.56 [[ 9.99015161e-01 -4.09434786e-02 -1.70979710e-02 4.95350639e+02] [ 4.09425644e-02 9.99161420e-01 -4.03652616e-04 7.93571229e+00] [ 1.71001600e-02 -2.96779698e-04 9.99853738e-01 4.55958482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25925415399996 meters Centerline goodness [0,1] 0.9989902389767755 Centerline is valid? [True, True] Translation: X:495.38, Y:7.94, Z:4.56 [[ 9.98943466e-01 -4.29967035e-02 -1.62245278e-02 4.95381461e+02] [ 4.29961531e-02 9.99075164e-01 -3.82905019e-04 7.93520908e+00] [ 1.62259865e-02 -3.15091815e-04 9.99868300e-01 4.55999155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.28925415399993 meters Centerline goodness [0,1] 0.9988868352516173 Centerline is valid? [True, True] Translation: X:495.41, Y:7.93, Z:4.56 [[ 9.98840250e-01 -4.55339808e-02 -1.56464353e-02 4.95412815e+02] [ 4.55337927e-02 9.98962731e-01 -3.68449316e-04 7.93412951e+00] [ 1.56469827e-02 -3.44419535e-04 9.99877519e-01 4.56025393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3192541539999 meters Centerline goodness [0,1] 0.9988661893463792 Centerline is valid? [True, True] Translation: X:495.44, Y:7.93, Z:4.56 [[ 9.98748040e-01 -4.76583721e-02 -1.51997739e-02 4.95444594e+02] [ 4.76584595e-02 9.98863626e-01 -3.56677093e-04 7.93321238e+00] [ 1.51994999e-02 -3.68167260e-04 9.99884413e-01 4.56038282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.34925415399994 meters Centerline goodness [0,1] 0.9988229854134264 Centerline is valid? [True, True] Translation: X:495.48, Y:7.93, Z:4.56 [[ 9.98553221e-01 -5.18649297e-02 -1.41948706e-02 4.95477063e+02] [ 5.18654423e-02 9.98654027e-01 -3.32263675e-04 7.93144165e+00] [ 1.41929975e-02 -4.04440278e-04 9.99899193e-01 4.56020498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3792541539999 meters Centerline goodness [0,1] 0.9989287514703411 Centerline is valid? [True, True] Translation: X:495.51, Y:7.93, Z:4.56 [[ 9.98451897e-01 -5.38341203e-02 -1.39891831e-02 4.95508155e+02] [ 5.38348242e-02 9.98549801e-01 -3.26522101e-04 7.92892209e+00] [ 1.39864740e-02 -4.27088601e-04 9.99902093e-01 4.55980880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.40925415399994 meters Centerline goodness [0,1] 0.998636573394303 Centerline is valid? [True, True] Translation: X:495.54, Y:7.93, Z:4.56 [[ 9.98375648e-01 -5.53804008e-02 -1.33819562e-02 4.95540490e+02] [ 5.53811939e-02 9.98465235e-01 -3.11578450e-04 7.92805389e+00] [ 1.33786734e-02 -4.30036376e-04 9.99910409e-01 4.55984848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4392541539999 meters Centerline goodness [0,1] 0.9986773597581458 Centerline is valid? [True, True] Translation: X:495.57, Y:7.93, Z:4.56 [[ 9.98249675e-01 -5.79709095e-02 -1.17029910e-02 4.95572315e+02] [ 5.79717026e-02 9.98318190e-01 -2.71740067e-04 7.93062388e+00] [ 1.16990618e-02 -4.07177880e-04 9.99931481e-01 4.56060127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.46925415399994 meters Centerline goodness [0,1] 0.9985725381531163 Centerline is valid? [True, True] Translation: X:495.60, Y:7.93, Z:4.56 [[ 9.98215645e-01 -5.87574139e-02 -1.06345189e-02 4.95603393e+02] [ 5.87581207e-02 9.98272219e-01 -2.46234717e-04 7.92986237e+00] [ 1.06306129e-02 -3.79068998e-04 9.99943422e-01 4.56047449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4992541539999 meters Centerline goodness [0,1] 0.9984907242427419 Centerline is valid? [True, True] Translation: X:495.64, Y:7.93, Z:4.56 [[ 9.98147693e-01 -5.98671594e-02 -1.08215366e-02 4.95635546e+02] [ 5.98679633e-02 9.98206274e-01 -2.49936578e-04 7.93058102e+00] [ 1.08170888e-02 -3.98389740e-04 9.99941414e-01 4.56063366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.52925415399994 meters Centerline goodness [0,1] 0.9987633619786208 Centerline is valid? [True, True] Translation: X:495.67, Y:7.93, Z:4.56 [[ 9.98039667e-01 -6.17479817e-02 -1.01985509e-02 4.95668062e+02] [ 6.17488009e-02 9.98091694e-01 -2.34842961e-04 7.93227902e+00] [ 1.01935901e-02 -3.95365701e-04 9.99947966e-01 4.56082751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5592541539999 meters Centerline goodness [0,1] 0.9987633619786208 Centerline is valid? [True, True] Translation: X:495.70, Y:7.93, Z:4.56 [[ 9.98046551e-01 -6.16366134e-02 -1.01985690e-02 4.95700612e+02] [ 6.16374348e-02 9.98098578e-01 -2.34055393e-04 7.93293751e+00] [ 1.01936036e-02 -3.95015456e-04 9.99947966e-01 4.56113233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.58925415399995 meters Centerline goodness [0,1] 0.9985966235180763 Centerline is valid? [True, True] Translation: X:495.73, Y:7.93, Z:4.56 [[ 9.97989359e-01 -6.25238589e-02 -1.03925942e-02 4.95731979e+02] [ 6.25247716e-02 9.98043384e-01 -2.37386018e-04 7.93153102e+00] [ 1.03871022e-02 -4.12885857e-04 9.99945967e-01 4.56085203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6192541539999 meters Centerline goodness [0,1] 0.9986389144819499 Centerline is valid? [True, True] Translation: X:495.76, Y:7.93, Z:4.56 [[ 9.97935492e-01 -6.34106539e-02 -1.01903732e-02 4.95763893e+02] [ 6.34115833e-02 9.97987433e-01 -2.32200108e-04 7.93172381e+00] [ 1.01845883e-02 -4.14466968e-04 9.99948050e-01 4.56055592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.64925415399995 meters Centerline goodness [0,1] 0.998719858974628 Centerline is valid? [True, True] Translation: X:495.79, Y:7.93, Z:4.56 [[ 9.97812481e-01 -6.52767334e-02 -1.04499418e-02 4.95794880e+02] [ 6.52778207e-02 9.97867100e-01 -2.37366319e-04 7.93110576e+00] [ 1.04431477e-02 -4.45302354e-04 9.99945370e-01 4.55971626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6792541539999 meters Centerline goodness [0,1] 0.9986576899683298 Centerline is valid? [True, True] Translation: X:495.83, Y:7.94, Z:4.56 [[ 9.97775753e-01 -6.58590705e-02 -1.03018953e-02 4.95827422e+02] [ 6.58601640e-02 9.97828835e-01 -2.33439243e-04 7.93519814e+00] [ 1.02949023e-02 -4.45564498e-04 9.99946907e-01 4.55982715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.70925415399995 meters Centerline goodness [0,1] 0.9986583934261278 Centerline is valid? [True, True] Translation: X:495.86, Y:7.93, Z:4.56 [[ 9.97775419e-01 -6.58563282e-02 -1.03517197e-02 4.95858424e+02] [ 6.58574407e-02 9.97829015e-01 -2.33738824e-04 7.93349867e+00] [ 1.03446394e-02 -4.48518911e-04 9.99946392e-01 4.55955094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7392541539999 meters Centerline goodness [0,1] 0.9986559986559986 Centerline is valid? [True, True] Translation: X:495.89, Y:7.94, Z:4.56 [[ 9.97823572e-01 -6.51695894e-02 -1.00520993e-02 4.95891055e+02] [ 6.51706166e-02 9.97874110e-01 -2.25682848e-04 7.93690252e+00] [ 1.00454373e-02 -4.29909844e-04 9.99949451e-01 4.55985976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.76925415399995 meters Centerline goodness [0,1] 0.9985498108448928 Centerline is valid? [True, True] Translation: X:495.92, Y:7.94, Z:4.56 [[ 9.97894549e-01 -6.40655825e-02 -1.01029483e-02 4.95923423e+02] [ 6.40665726e-02 9.97945601e-01 -2.25939449e-04 7.93922958e+00] [ 1.00966677e-02 -4.21797524e-04 9.99948938e-01 4.56005945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7992541539999 meters Centerline goodness [0,1] 0.9986145223250834 Centerline is valid? [True, True] Translation: X:495.96, Y:7.94, Z:4.56 [[ 9.97991668e-01 -6.25608822e-02 -9.93818664e-03 4.95956061e+02] [ 6.25617729e-02 9.98041069e-01 -2.21540113e-04 7.94172657e+00] [ 9.93257817e-03 -4.00655389e-04 9.99950590e-01 4.56024153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.82925415399995 meters Centerline goodness [0,1] 0.9986548121991718 Centerline is valid? [True, True] Translation: X:495.99, Y:7.95, Z:4.56 [[ 9.98124732e-01 -6.04689648e-02 -9.51443807e-03 4.95986235e+02] [ 6.04696958e-02 9.98170011e-01 -2.11091563e-04 7.94529331e+00] [ 9.50979124e-03 -3.64639466e-04 9.99954714e-01 4.56066764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8592541539999 meters Centerline goodness [0,1] 0.9984870453256005 Centerline is valid? [True, True] Translation: X:496.02, Y:7.95, Z:4.56 [[ 9.98173747e-01 -5.96342803e-02 -9.63965169e-03 4.96018793e+02] [ 5.96349936e-02 9.98220227e-01 -2.13680738e-04 7.94952835e+00] [ 9.63523800e-03 -3.61570064e-04 9.99953515e-01 4.56087741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.88925415399996 meters Centerline goodness [0,1] 0.9984439724961625 Centerline is valid? [True, True] Translation: X:496.05, Y:7.95, Z:4.56 [[ 9.98221331e-01 -5.87900691e-02 -9.89457382e-03 4.96051259e+02] [ 5.87907880e-02 9.98270302e-01 -2.18444733e-04 7.95139691e+00] [ 9.89030158e-03 -3.63653600e-04 9.99951024e-01 4.56043161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.91925415399993 meters Centerline goodness [0,1] 0.9986324138946748 Centerline is valid? [True, True] Translation: X:496.08, Y:7.95, Z:4.56 [[ 9.98223335e-01 -5.87292060e-02 -1.00525598e-02 4.96083866e+02] [ 5.87299524e-02 9.98273882e-01 -2.21190671e-04 7.95294661e+00] [ 1.00481983e-02 -3.69588671e-04 9.99949447e-01 4.56093369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.94925415399996 meters Centerline goodness [0,1] 0.9987359639328376 Centerline is valid? [True, True] Translation: X:496.12, Y:7.96, Z:4.56 [[ 9.98230695e-01 -5.84559336e-02 -1.08803862e-02 4.96115838e+02] [ 5.84568063e-02 9.98289910e-01 -2.38077091e-04 7.95560635e+00] [ 1.08756968e-02 -3.98376771e-04 9.99940779e-01 4.56043397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.97925415399993 meters Centerline goodness [0,1] 0.9985254465790361 Centerline is valid? [True, True] Translation: X:496.15, Y:7.96, Z:4.56 [[ 9.98213296e-01 -5.86682437e-02 -1.13248477e-02 4.96147223e+02] [ 5.86692230e-02 9.98277447e-01 -2.46012202e-04 7.95693605e+00] [ 1.13197731e-02 -4.18847363e-04 9.99935842e-01 4.56041376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.00925415399996 meters Centerline goodness [0,1] 0.9985877790190334 Centerline is valid? [True, True] Translation: X:496.18, Y:7.96, Z:4.56 [[ 9.98189225e-01 -5.90210799e-02 -1.16096529e-02 4.96179478e+02] [ 5.90221405e-02 9.98256642e-01 -2.51544989e-04 7.96080611e+00] [ 1.16042596e-02 -4.34137066e-04 9.99932574e-01 4.56079624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.03925415399993 meters Centerline goodness [0,1] 0.99871632996633 Centerline is valid? [True, True] Translation: X:496.21, Y:7.96, Z:4.56 [[ 9.98168494e-01 -5.93658950e-02 -1.16339263e-02 4.96210443e+02] [ 5.93669945e-02 9.98236193e-01 -2.51123558e-04 7.95901444e+00] [ 1.16283145e-02 -4.40007615e-04 9.99932292e-01 4.56097543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.0692541539999 meters Centerline goodness [0,1] 0.998634224239368 Centerline is valid? [True, True] Translation: X:496.24, Y:7.97, Z:4.56 [[ 9.98169958e-01 -5.93799152e-02 -1.14350856e-02 4.96243257e+02] [ 5.93809940e-02 9.98235362e-01 -2.45457440e-04 7.96673210e+00] [ 1.14294821e-02 -4.34018508e-04 9.99934587e-01 4.56200476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.09925415399994 meters Centerline goodness [0,1] 0.9986512970728931 Centerline is valid? [True, True] Translation: X:496.28, Y:7.97, Z:4.56 [[ 9.98179056e-01 -5.93806479e-02 -1.06070811e-02 4.96275847e+02] [ 5.93815878e-02 9.98235331e-01 -2.26587635e-04 7.96882114e+00] [ 1.06018181e-02 -4.03690287e-04 9.99943718e-01 4.56282106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.1292541539999 meters Centerline goodness [0,1] 0.9987335359675785 Centerline is valid? [True, True] Translation: X:496.31, Y:7.97, Z:4.56 [[ 9.98208053e-01 -5.89520374e-02 -1.02635531e-02 4.96307752e+02] [ 5.89529057e-02 9.98260741e-01 -2.18182034e-04 7.97290317e+00] [ 1.02585644e-02 -3.87275213e-04 9.99947305e-01 4.56446011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.15925415399994 meters Centerline goodness [0,1] 0.9984394111940613 Centerline is valid? [True, True] Translation: X:496.34, Y:7.98, Z:4.57 [[ 9.98247580e-01 -5.84107144e-02 -9.48456464e-03 4.96340075e+02] [ 5.84114376e-02 9.98292574e-01 -2.00973991e-04 7.97587030e+00] [ 9.48010948e-03 -3.53385255e-04 9.99955000e-01 4.56505543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.1892541539999 meters Centerline goodness [0,1] 0.9985008445945946 Centerline is valid? [True, True] Translation: X:496.37, Y:7.98, Z:4.57 [[ 9.98322331e-01 -5.72657151e-02 -8.55347886e-03 4.96371196e+02] [ 5.72662663e-02 9.98358924e-01 -1.80658400e-04 7.97521485e+00] [ 8.54978749e-03 -3.09470483e-04 9.99963402e-01 4.56638030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.21925415399994 meters Centerline goodness [0,1] 0.998712835770505 Centerline is valid? [True, True] Translation: X:496.40, Y:7.98, Z:4.57 [[ 9.98371541e-01 -5.65053772e-02 -7.83630241e-03 4.96403311e+02] [ 5.65058194e-02 9.98402256e-01 -1.65144683e-04 7.97985486e+00] [ 7.83311357e-03 -2.77920936e-04 9.99969282e-01 4.56721588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.2492541539999 meters Centerline goodness [0,1] 0.9986083582844854 Centerline is valid? [True, True] Translation: X:496.43, Y:7.98, Z:4.57 [[ 9.98435002e-01 -5.54181284e-02 -7.50851407e-03 4.96434310e+02] [ 5.54185077e-02 9.98463201e-01 -1.57681907e-04 7.98134446e+00] [ 7.50571343e-03 -2.58675510e-04 9.99971798e-01 4.56786418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.27925415399994 meters Centerline goodness [0,1] 0.9989231418918919 Centerline is valid? [True, True] Translation: X:496.46, Y:7.99, Z:4.57 [[ 9.98628370e-01 -5.18772418e-02 -7.08035414e-03 4.96464410e+02] [ 5.18774919e-02 9.98653445e-01 -1.48454837e-04 7.98546137e+00] [ 7.07852148e-03 -2.19059803e-04 9.99974923e-01 4.56852724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3092541539999 meters Centerline goodness [0,1] 0.9988802028311853 Centerline is valid? [True, True] Translation: X:496.50, Y:7.99, Z:4.57 [[ 9.98742763e-01 -4.95526189e-02 -7.57836723e-03 4.96497100e+02] [ 4.95528454e-02 9.98771491e-01 -1.57980014e-04 7.98839008e+00] [ 7.57688546e-03 -2.17748264e-04 9.99971271e-01 4.56857429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.33925415399995 meters Centerline goodness [0,1] 0.9986068895643364 Centerline is valid? [True, True] Translation: X:496.53, Y:7.99, Z:4.57 [[ 9.98859092e-01 -4.70802198e-02 -7.99795978e-03 4.96529167e+02] [ 4.70803992e-02 9.98891089e-01 -1.65945777e-04 7.99291090e+00] [ 7.99690352e-03 -2.10790691e-04 9.99968002e-01 4.56826809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3692541539999 meters Centerline goodness [0,1] 0.9987970115233633 Centerline is valid? [True, True] Translation: X:496.56, Y:7.99, Z:4.57 [[ 9.98977960e-01 -4.44176346e-02 -8.37310345e-03 4.96559953e+02] [ 4.44177434e-02 9.99013030e-01 -1.73062713e-04 7.99430942e+00] [ 8.37252648e-03 -1.99028525e-04 9.99964930e-01 4.56836205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.39925415399995 meters Centerline goodness [0,1] 0.9989215478959611 Centerline is valid? [True, True] Translation: X:496.59, Y:8.00, Z:4.57 [[ 9.99181366e-01 -3.93204596e-02 -9.51313857e-03 4.96590903e+02] [ 3.93203746e-02 9.99226636e-01 -1.96037328e-04 8.00197680e+00] [ 9.51348973e-03 -1.78183327e-04 9.99954730e-01 4.56786840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4292541539999 meters Centerline goodness [0,1] 0.998921958231166 Centerline is valid? [True, True] Translation: X:496.62, Y:8.00, Z:4.57 [[ 9.99259998e-01 -3.71372166e-02 -1.00141631e-02 4.96623448e+02] [ 3.71370170e-02 9.99310162e-01 -2.05946939e-04 8.00472929e+00] [ 1.00149032e-02 -1.66101606e-04 9.99949836e-01 4.56803826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.45925415399995 meters Centerline goodness [0,1] 0.9988590263691683 Centerline is valid? [True, True] Translation: X:496.65, Y:8.01, Z:4.57 [[ 9.99329863e-01 -3.50840254e-02 -1.04372607e-02 4.96654807e+02] [ 3.50837049e-02 9.99384354e-01 -2.13858022e-04 8.00613280e+00] [ 1.04383381e-02 -1.52463067e-04 9.99945507e-01 4.56791696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4892541539999 meters Centerline goodness [0,1] 0.9987315815064584 Centerline is valid? [True, True] Translation: X:496.69, Y:8.01, Z:4.57 [[ 9.99387404e-01 -3.33713034e-02 -1.05438829e-02 4.96687255e+02] [ 3.33708875e-02 9.99443014e-01 -2.15428714e-04 8.00813231e+00] [ 1.05451992e-02 -1.36561986e-04 9.99944389e-01 4.56779038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.51925415399995 meters Centerline goodness [0,1] 0.9988980949757369 Centerline is valid? [True, True] Translation: X:496.72, Y:8.01, Z:4.57 [[ 9.99440607e-01 -3.15376566e-02 -1.11287524e-02 4.96719209e+02] [ 3.15370892e-02 9.99502557e-01 -2.26518910e-04 8.01014224e+00] [ 1.11303604e-02 -1.24576260e-04 9.99938048e-01 4.56727338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5492541539999 meters Centerline goodness [0,1] 0.9988154415653093 Centerline is valid? [True, True] Translation: X:496.75, Y:8.01, Z:4.57 [[ 9.99429879e-01 -3.16863834e-02 -1.16572200e-02 4.96751218e+02] [ 3.16857813e-02 9.99497852e-01 -2.36381745e-04 8.01080942e+00] [ 1.16588565e-02 -1.33121146e-04 9.99932024e-01 4.56740401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57925415399995 meters Centerline goodness [0,1] 0.9985591388735856 Centerline is valid? [True, True] Translation: X:496.78, Y:8.01, Z:4.57 [[ 9.99425846e-01 -3.17535273e-02 -1.18191266e-02 4.96783169e+02] [ 3.17529234e-02 9.99495720e-01 -2.38787239e-04 8.01070117e+00] [ 1.18207488e-02 -1.36641682e-04 9.99930123e-01 4.56607733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6092541539999 meters Centerline goodness [0,1] 0.9987521678439998 Centerline is valid? [True, True] Translation: X:496.82, Y:8.01, Z:4.57 [[ 9.99304542e-01 -3.52991481e-02 -1.20167903e-02 4.96815716e+02] [ 3.52987908e-02 9.99376774e-01 -2.41893931e-04 8.00964813e+00] [ 1.20178398e-02 -1.82452465e-04 9.99927767e-01 4.56701641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63925415399996 meters Centerline goodness [0,1] 0.9986471346735155 Centerline is valid? [True, True] Translation: X:496.85, Y:8.01, Z:4.57 [[ 9.99233158e-01 -3.71952657e-02 -1.22314662e-02 4.96847452e+02] [ 3.71950479e-02 9.99307995e-01 -2.45369151e-04 8.00857752e+00] [ 1.22321285e-02 -2.09768978e-04 9.99925163e-01 4.56694598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.66925415399993 meters Centerline goodness [0,1] 0.9989447246786687 Centerline is valid? [True, True] Translation: X:496.88, Y:8.01, Z:4.57 [[ 9.99014052e-01 -4.25969240e-02 -1.25070444e-02 4.96879352e+02] [ 4.25971279e-02 9.99092299e-01 -2.50206782e-04 8.00537461e+00] [ 1.25063498e-02 -2.82804078e-04 9.99921753e-01 4.56742913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69925415399996 meters Centerline goodness [0,1] 0.9986727341676147 Centerline is valid? [True, True] Translation: X:496.91, Y:8.00, Z:4.57 [[ 9.98897589e-01 -4.52390803e-02 -1.25312277e-02 4.96911764e+02] [ 4.52395021e-02 9.98976138e-01 -2.49949587e-04 8.00373058e+00] [ 1.25297049e-02 -3.17232461e-04 9.99921450e-01 4.56777869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.72925415399993 meters Centerline goodness [0,1] 0.9986953960104369 Centerline is valid? [True, True] Translation: X:496.94, Y:8.00, Z:4.57 [[ 9.98753910e-01 -4.83136455e-02 -1.25067767e-02 4.96943466e+02] [ 4.83143170e-02 9.98832151e-01 -2.48614783e-04 8.00250363e+00] [ 1.25041822e-02 -3.55951388e-04 9.99921756e-01 4.56846751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75925415399996 meters Centerline goodness [0,1] 0.9986303679042522 Centerline is valid? [True, True] Translation: X:496.97, Y:8.00, Z:4.57 [[ 9.98453093e-01 -5.43295701e-02 -1.18202536e-02 4.96973652e+02] [ 5.43305987e-02 9.98522975e-01 -2.34312523e-04 7.99800141e+00] [ 1.18155249e-02 -4.08251391e-04 9.99930111e-01 4.56895358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.78925415399993 meters Centerline goodness [0,1] 0.9986318093794729 Centerline is valid? [True, True] Translation: X:497.01, Y:8.00, Z:4.57 [[ 9.98313946e-01 -5.69311869e-02 -1.13183962e-02 4.97005547e+02] [ 5.69323054e-02 9.98378016e-01 -2.23620789e-04 7.99609934e+00] [ 1.13127690e-02 -4.21138637e-04 9.99935920e-01 4.56936415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8192541539999 meters Centerline goodness [0,1] 0.998505326091533 Centerline is valid? [True, True] Translation: X:497.04, Y:7.99, Z:4.57 [[ 9.98185342e-01 -5.90910806e-02 -1.15873887e-02 4.97038064e+02] [ 5.90924059e-02 9.98252491e-01 -2.28265820e-04 7.99468395e+00] [ 1.15806281e-02 -4.56875080e-04 9.99932838e-01 4.56950317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.84925415399994 meters Centerline goodness [0,1] 0.9984441687866619 Centerline is valid? [True, True] Translation: X:497.07, Y:7.99, Z:4.57 [[ 9.97963439e-01 -6.27764323e-02 -1.13178579e-02 4.97068318e+02] [ 6.27779409e-02 9.98027495e-01 -2.22273729e-04 7.99142401e+00] [ 1.13094869e-02 -4.88690758e-04 9.99935926e-01 4.56936330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8792541539999 meters Centerline goodness [0,1] 0.9986518368722616 Centerline is valid? [True, True] Translation: X:497.10, Y:7.99, Z:4.57 [[ 9.97884906e-01 -6.40125254e-02 -1.13186493e-02 4.97100466e+02] [ 6.40141169e-02 9.97948968e-01 -2.21988976e-04 7.99048743e+00] [ 1.13096445e-02 -5.03033892e-04 9.99935917e-01 4.56967764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.90925415399994 meters Centerline goodness [0,1] 0.998338625896406 Centerline is valid? [True, True] Translation: X:497.13, Y:7.99, Z:4.57 [[ 9.97816929e-01 -6.51026381e-02 -1.10915265e-02 4.97133033e+02] [ 6.51042420e-02 9.97878445e-01 -2.16775668e-04 7.99045709e+00] [ 1.10821079e-02 -5.05802995e-04 9.99938464e-01 4.56984221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9392541539999 meters Centerline goodness [0,1] 0.9983565107458913 Centerline is valid? [True, True] Translation: X:497.17, Y:7.99, Z:4.57 [[ 9.97757140e-01 -6.60095162e-02 -1.11101005e-02 4.97165636e+02] [ 6.60111902e-02 9.97818859e-01 -2.16365258e-04 7.99015333e+00] [ 1.11001500e-02 -5.17510980e-04 9.99938258e-01 4.56871025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.96925415399994 meters Centerline goodness [0,1] 0.998527617685415 Centerline is valid? [True, True] Translation: X:497.20, Y:7.99, Z:4.57 [[ 9.97709837e-01 -6.67297153e-02 -1.10556126e-02 4.97198138e+02] [ 6.67314255e-02 9.97770951e-01 -2.14538370e-04 7.99336101e+00] [ 1.10452852e-02 -5.23709746e-04 9.99938862e-01 4.57082928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9992541539999 meters Centerline goodness [0,1] 0.9985870642569434 Centerline is valid? [True, True] Translation: X:497.23, Y:7.99, Z:4.57 [[ 9.97721095e-01 -6.65932408e-02 -1.08607861e-02 4.97230404e+02] [ 6.65948917e-02 9.97780074e-01 -2.09968438e-04 7.98912928e+00] [ 1.08506584e-02 -5.13782931e-04 9.99940998e-01 4.57101258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.02925415399994 meters Centerline goodness [0,1] 0.9986931410986046 Centerline is valid? [True, True] Translation: X:497.26, Y:7.99, Z:4.57 [[ 9.97762691e-01 -6.59731003e-02 -1.08241834e-02 4.97262675e+02] [ 6.59747138e-02 9.97821273e-01 -2.08332754e-04 7.98963346e+00] [ 1.08143448e-02 -5.06255753e-04 9.99941395e-01 4.57108545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0592541539999 meters Centerline goodness [0,1] 0.9985060494476591 Centerline is valid? [True, True] Translation: X:497.29, Y:7.99, Z:4.57 [[ 9.97875474e-01 -6.42852335e-02 -1.05804650e-02 4.97294514e+02] [ 6.42866878e-02 9.97931451e-01 -2.02944791e-04 7.99151729e+00] [ 1.05716252e-02 -4.77669422e-04 9.99944005e-01 4.57154946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.08925415399995 meters Centerline goodness [0,1] 0.9985231755944218 Centerline is valid? [True, True] Translation: X:497.33, Y:7.99, Z:4.57 [[ 9.97968919e-01 -6.28172702e-02 -1.05842700e-02 4.97327137e+02] [ 6.28186508e-02 9.98024938e-01 -2.02287750e-04 7.99274753e+00] [ 1.05760726e-02 -4.63012676e-04 9.99943965e-01 4.57196778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1192541539999 meters Centerline goodness [0,1] 0.9987766035984729 Centerline is valid? [True, True] Translation: X:497.36, Y:8.00, Z:4.57 [[ 9.98161175e-01 -5.96572134e-02 -1.07371027e-02 4.97357349e+02] [ 5.96584604e-02 9.98218827e-01 -2.04394273e-04 7.99557229e+00] [ 1.07301717e-02 -4.36540591e-04 9.99942335e-01 4.57216610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.14925415399995 meters Centerline goodness [0,1] 0.9987130530179962 Centerline is valid? [True, True] Translation: X:497.39, Y:8.00, Z:4.57 [[ 9.98276643e-01 -5.76415147e-02 -1.10090612e-02 4.97389226e+02] [ 5.76427063e-02 9.98337255e-01 -2.09299249e-04 8.00094714e+00] [ 1.10028203e-02 -4.25653531e-04 9.99939377e-01 4.57219846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1792541539999 meters Centerline goodness [0,1] 0.9986268379246239 Centerline is valid? [True, True] Translation: X:497.42, Y:8.01, Z:4.57 [[ 9.98390985e-01 -5.55213903e-02 -1.15245540e-02 4.97421879e+02] [ 5.55225649e-02 9.98457409e-01 -2.18245977e-04 8.00537938e+00] [ 1.15188936e-02 -4.21977981e-04 9.99933566e-01 4.57199683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.20925415399995 meters Centerline goodness [0,1] 0.9988586163894232 Centerline is valid? [True, True] Translation: X:497.45, Y:8.01, Z:4.57 [[ 9.98600763e-01 -5.11734335e-02 -1.33340225e-02 4.97453787e+02] [ 5.11746342e-02 9.98689688e-01 -2.51355881e-04 8.01269589e+00] [ 1.33294135e-02 -4.31359548e-04 9.99911066e-01 4.57090130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2392541539999 meters Centerline goodness [0,1] 0.998646447983419 Centerline is valid? [True, True] Translation: X:497.49, Y:8.01, Z:4.57 [[ 9.98690812e-01 -4.91325495e-02 -1.42356780e-02 4.97485217e+02] [ 4.91337224e-02 9.98792173e-01 -2.67555524e-04 8.01489868e+00] [ 1.42316294e-02 -4.32246606e-04 9.99898632e-01 4.57036320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.26925415399995 meters Centerline goodness [0,1] 0.998664631819916 Centerline is valid? [True, True] Translation: X:497.52, Y:8.01, Z:4.57 [[ 9.98774681e-01 -4.72447098e-02 -1.47334136e-02 4.97516470e+02] [ 4.72457727e-02 9.98883257e-01 -2.76111752e-04 8.01387519e+00] [ 1.47300050e-02 -4.20318082e-04 9.99891419e-01 4.56957622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2992541539999 meters Centerline goodness [0,1] 0.9988783780923962 Centerline is valid? [True, True] Translation: X:497.55, Y:8.02, Z:4.57 [[ 9.98912277e-01 -4.41646388e-02 -1.49581907e-02 4.97548545e+02] [ 4.41654026e-02 9.99024193e-01 -2.79430680e-04 8.02233548e+00] [ 1.49559354e-02 -3.81507780e-04 9.99888081e-01 4.57067424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.32925415399995 meters Centerline goodness [0,1] 0.999026228328288 Centerline is valid? [True, True] Translation: X:497.58, Y:8.03, Z:4.57 [[ 9.98975761e-01 -4.28286056e-02 -1.45993028e-02 4.97580780e+02] [ 4.28292056e-02 9.99082372e-01 -2.71698876e-04 8.02617906e+00] [ 1.45975426e-02 -3.53855952e-04 9.99893388e-01 4.57177122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3592541539999 meters Centerline goodness [0,1] 0.9988756655847599 Centerline is valid? [True, True] Translation: X:497.61, Y:8.03, Z:4.57 [[ 9.99024534e-01 -4.17307140e-02 -1.44405242e-02 4.97611517e+02] [ 4.17312002e-02 9.99128838e-01 -2.67787347e-04 8.02593175e+00] [ 1.44391191e-02 -3.35094277e-04 9.99895694e-01 4.57182987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.38925415399996 meters Centerline goodness [0,1] 0.9987480106100796 Centerline is valid? [True, True] Translation: X:497.64, Y:8.03, Z:4.57 [[ 9.99076130e-01 -4.04683582e-02 -1.44637080e-02 4.97643957e+02] [ 4.04687262e-02 9.99180770e-01 -2.67350699e-04 8.02750345e+00] [ 1.44626782e-02 -3.18224139e-04 9.99895359e-01 4.57259113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.41925415399993 meters Centerline goodness [0,1] 0.9988964112141598 Centerline is valid? [True, True] Translation: X:497.68, Y:8.03, Z:4.57 [[ 9.99133556e-01 -3.91629343e-02 -1.40855266e-02 4.97676553e+02] [ 3.91631687e-02 9.99232795e-01 -2.59293143e-04 8.03192191e+00] [ 1.40848748e-02 -2.92565375e-04 9.99900760e-01 4.57375838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.44925415399996 meters Centerline goodness [0,1] 0.9987707958037512 Centerline is valid? [True, True] Translation: X:497.71, Y:8.04, Z:4.58 [[ 9.99218658e-01 -3.72364316e-02 -1.32484304e-02 4.97709069e+02] [ 3.72364842e-02 9.99306452e-01 -2.42786635e-04 8.03542353e+00] [ 1.32482825e-02 -2.50728033e-04 9.99912206e-01 4.57502440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.47925415399993 meters Centerline goodness [0,1] 0.9987707958037512 Centerline is valid? [True, True] Translation: X:497.74, Y:8.04, Z:4.58 [[ 9.99221406e-01 -3.71626229e-02 -1.32484483e-02 4.97740763e+02] [ 3.71626820e-02 9.99309200e-01 -2.41807431e-04 8.03594421e+00] [ 1.32482824e-02 -2.50728710e-04 9.99912206e-01 4.57532114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.50925415399996 meters Centerline goodness [0,1] 0.9990444845525003 Centerline is valid? [True, True] Translation: X:497.77, Y:8.04, Z:4.58 [[ 9.99245836e-01 -3.65449520e-02 -1.31235009e-02 4.97773153e+02] [ 3.65449694e-02 9.99331981e-01 -2.38565922e-04 8.03677665e+00] [ 1.31234525e-02 -2.41211934e-04 9.99913855e-01 4.57565885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.53925415399993 meters Centerline goodness [0,1] 0.9989576242341729 Centerline is valid? [True, True] Translation: X:497.81, Y:8.04, Z:4.58 [[ 9.99260867e-01 -3.62535974e-02 -1.27826269e-02 4.97805005e+02] [ 3.62536018e-02 9.99342595e-01 -2.31448069e-04 8.03796157e+00] [ 1.27826143e-02 -2.32139267e-04 9.99918272e-01 4.57598037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.5692541539999 meters Centerline goodness [0,1] 0.9987644590247747 Centerline is valid? [True, True] Translation: X:497.84, Y:8.04, Z:4.58 [[ 9.99267031e-01 -3.62842928e-02 -1.22004059e-02 4.97836526e+02] [ 3.62843090e-02 9.99341483e-01 -2.20089879e-04 8.03846631e+00] [ 1.22003575e-02 -2.22754737e-04 9.99925548e-01 4.57643452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.59925415399994 meters Centerline goodness [0,1] 0.9988506970309673 Centerline is valid? [True, True] Translation: X:497.87, Y:8.04, Z:4.58 [[ 9.99268248e-01 -3.62315691e-02 -1.22572892e-02 4.97868335e+02] [ 3.62315905e-02 9.99343396e-01 -2.20386383e-04 8.03918141e+00] [ 1.22572260e-02 -2.23875970e-04 9.99924852e-01 4.57684356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.6292541539999 meters Centerline goodness [0,1] 0.9989145009897197 Centerline is valid? [True, True] Translation: X:497.90, Y:8.04, Z:4.58 [[ 9.99273818e-01 -3.59685239e-02 -1.25738767e-02 4.97899130e+02] [ 3.59685366e-02 9.99352897e-01 -2.25200616e-04 8.03888747e+00] [ 1.25738403e-02 -2.27226866e-04 9.99920920e-01 4.57551861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.65925415399994 meters Centerline goodness [0,1] 0.9989988923915821 Centerline is valid? [True, True] Translation: X:497.93, Y:8.04, Z:4.58 [[ 9.99237504e-01 -3.68752498e-02 -1.28306743e-02 4.97931287e+02] [ 3.68753477e-02 9.99319847e-01 -2.29028156e-04 8.03936193e+00] [ 1.28303929e-02 -2.44282052e-04 9.99917657e-01 4.57706797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.6892541539999 meters Centerline goodness [0,1] 0.9988721724512162 Centerline is valid? [True, True] Translation: X:497.96, Y:8.04, Z:4.58 [[ 9.99228198e-01 -3.70314066e-02 -1.31027790e-02 4.97963237e+02] [ 3.70315348e-02 9.99314070e-01 -2.32920468e-04 8.04003527e+00] [ 1.31024168e-02 -2.52475317e-04 9.99914128e-01 4.57737236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.71925415399994 meters Centerline goodness [0,1] 0.9990210683124069 Centerline is valid? [True, True] Translation: X:497.99, Y:8.04, Z:4.58 [[ 9.99209650e-01 -3.74357496e-02 -1.33656623e-02 4.97994987e+02] [ 3.74359324e-02 9.99299002e-01 -2.36601904e-04 8.04062257e+00] [ 1.33651503e-02 -2.63941123e-04 9.99910648e-01 4.57754715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.7492541539999 meters Centerline goodness [0,1] 0.9988508682328907 Centerline is valid? [True, True] Translation: X:498.03, Y:8.04, Z:4.58 [[ 9.99197806e-01 -3.75827343e-02 -1.38305149e-02 4.98026670e+02] [ 3.75829574e-02 9.99293481e-01 -2.43865546e-04 8.04020608e+00] [ 1.38299085e-02 -2.76121734e-04 9.99904324e-01 4.57762992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.77925415399994 meters Centerline goodness [0,1] 0.9986798679867986 Centerline is valid? [True, True] Translation: X:498.06, Y:8.04, Z:4.58 [[ 9.99200614e-01 -3.75928341e-02 -1.35982621e-02 4.98058157e+02] [ 3.75930608e-02 9.99293102e-01 -2.39032119e-04 8.03884824e+00] [ 1.35976355e-02 -2.72359256e-04 9.99907511e-01 4.57730666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8092541539999 meters Centerline goodness [0,1] 0.9989116749535861 Centerline is valid? [True, True] Translation: X:498.09, Y:8.04, Z:4.58 [[ 9.99202428e-01 -3.74531990e-02 -1.38479552e-02 4.98089960e+02] [ 3.74534324e-02 9.99298345e-01 -2.42576129e-04 8.04081706e+00] [ 1.38473240e-02 -2.76270798e-04 9.99904083e-01 4.57752813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.83925415399995 meters Centerline goodness [0,1] 0.9988669887553978 Centerline is valid? [True, True] Translation: X:498.12, Y:8.04, Z:4.58 [[ 9.99204235e-01 -3.70936916e-02 -1.46613431e-02 4.98120819e+02] [ 3.70939294e-02 9.99311751e-01 -2.55811438e-04 8.04095652e+00] [ 1.46607414e-02 -2.88238952e-04 9.99892484e-01 4.57697862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8692541539999 meters Centerline goodness [0,1] 0.9989118142829709 Centerline is valid? [True, True] Translation: X:498.15, Y:8.04, Z:4.58 [[ 9.99192920e-01 -3.70225586e-02 -1.55832756e-02 4.98152973e+02] [ 3.70228341e-02 9.99314383e-01 -2.70903534e-04 8.04190687e+00] [ 1.55826210e-02 -3.06252134e-04 9.99878537e-01 4.57701982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.89925415399995 meters Centerline goodness [0,1] 0.9988459319099827 Centerline is valid? [True, True] Translation: X:498.18, Y:8.04, Z:4.58 [[ 9.99195259e-01 -3.68769859e-02 -1.57772489e-02 4.98184802e+02] [ 3.68772684e-02 9.99319765e-01 -2.73120478e-04 8.04227190e+00] [ 1.57765885e-02 -3.08921154e-04 9.99875494e-01 4.57684085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9292541539999 meters Centerline goodness [0,1] 0.9991041719989762 Centerline is valid? [True, True] Translation: X:498.22, Y:8.04, Z:4.58 [[ 9.99175574e-01 -3.70430968e-02 -1.66126689e-02 4.98215897e+02] [ 3.70434514e-02 9.99313615e-01 -2.86473850e-04 8.04157231e+00] [ 1.66118781e-02 -3.29152919e-04 9.99861959e-01 4.57638517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.95925415399995 meters Centerline goodness [0,1] 0.9990186457311089 Centerline is valid? [True, True] Translation: X:498.25, Y:8.04, Z:4.58 [[ 9.99153410e-01 -3.75532064e-02 -1.67994270e-02 4.98248377e+02] [ 3.75536586e-02 9.99294571e-01 -2.88654249e-04 8.04144043e+00] [ 1.67984160e-02 -3.42470068e-04 9.99858838e-01 4.57658707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9892541539999 meters Centerline goodness [0,1] 0.9991925716592652 Centerline is valid? [True, True] Translation: X:498.28, Y:8.04, Z:4.58 [[ 9.99129878e-01 -3.81006435e-02 -1.69654627e-02 4.98280230e+02] [ 3.81012043e-02 9.99273843e-01 -2.90288864e-04 8.04171575e+00] [ 1.69642034e-02 -3.56368284e-04 9.99856034e-01 4.57729727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.01925415399995 meters Centerline goodness [0,1] 0.9994242210990979 Centerline is valid? [True, True] Translation: X:498.31, Y:8.04, Z:4.58 [[ 9.99090420e-01 -3.89662153e-02 -1.73195263e-02 4.98311126e+02] [ 3.89669574e-02 9.99240456e-01 -2.94748769e-04 8.04008649e+00] [ 1.73178566e-02 -3.80408571e-04 9.99849962e-01 4.57778131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0492541539999 meters Centerline goodness [0,1] 0.9995949604553497 Centerline is valid? [True, True] Translation: X:498.34, Y:8.04, Z:4.58 [[ 9.98983993e-01 -4.15831468e-02 -1.73730840e-02 4.98341775e+02] [ 4.15843100e-02 9.99134955e-01 -2.94447508e-04 8.03787492e+00] [ 1.73702996e-02 -4.28299365e-04 9.99849033e-01 4.57859738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.07925415399995 meters Centerline goodness [0,1] 0.999573624405739 Centerline is valid? [True, True] Translation: X:498.37, Y:8.04, Z:4.58 [[ 9.98932334e-01 -4.27946553e-02 -1.74014229e-02 4.98373071e+02] [ 4.27960161e-02 9.99083787e-01 -2.94350871e-04 8.03638181e+00] [ 1.73980761e-02 -4.50674971e-04 9.99848540e-01 4.57897713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1092541539999 meters Centerline goodness [0,1] 0.9991057931827375 Centerline is valid? [True, True] Translation: X:498.41, Y:8.04, Z:4.58 [[ 9.98875435e-01 -4.41067014e-02 -1.73914960e-02 4.98405402e+02] [ 4.41082772e-02 9.99026713e-01 -2.93149913e-04 8.03513647e+00] [ 1.73874990e-02 -4.74288682e-04 9.99848714e-01 4.57912794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13925415399996 meters Centerline goodness [0,1] 0.9991280862556621 Centerline is valid? [True, True] Translation: X:498.44, Y:8.03, Z:4.58 [[ 9.98787387e-01 -4.61126479e-02 -1.72446709e-02 4.98436335e+02] [ 4.61145138e-02 9.98936118e-01 -2.89635887e-04 8.03213064e+00] [ 1.72396804e-02 -5.05944941e-04 9.99851258e-01 4.57965817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.16925415399993 meters Centerline goodness [0,1] 0.9994261180071417 Centerline is valid? [True, True] Translation: X:498.47, Y:8.04, Z:4.58 [[ 9.98764998e-01 -4.67655723e-02 -1.67767730e-02 4.98468654e+02] [ 4.67674472e-02 9.98905765e-01 -2.80771160e-04 8.03559637e+00] [ 1.67715457e-02 -5.04182441e-04 9.99859221e-01 4.58129891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19925415399996 meters Centerline goodness [0,1] 0.9992131008081667 Centerline is valid? [True, True] Translation: X:498.50, Y:8.03, Z:4.58 [[ 9.98699813e-01 -4.77558035e-02 -1.78344224e-02 4.98500990e+02] [ 4.77581040e-02 9.98858887e-01 -2.97129862e-04 8.03433450e+00] [ 1.78282610e-02 -5.54994662e-04 9.99840910e-01 4.58117482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.22925415399993 meters Centerline goodness [0,1] 0.9993199447455106 Centerline is valid? [True, True] Translation: X:498.53, Y:8.03, Z:4.58 [[ 9.98693055e-01 -4.76875918e-02 -1.83868230e-02 4.98532659e+02] [ 4.76900475e-02 9.98862136e-01 -3.05141865e-04 8.02887459e+00] [ 1.83804528e-02 -5.72125400e-04 9.99830902e-01 4.57969757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25925415399996 meters Centerline goodness [0,1] 0.9994056211259235 Centerline is valid? [True, True] Translation: X:498.56, Y:8.03, Z:4.58 [[ 9.98688950e-01 -4.74444178e-02 -1.92200060e-02 4.98564961e+02] [ 4.74470799e-02 9.98873703e-01 -3.17733185e-04 8.03409952e+00] [ 1.92134332e-02 -5.94616539e-04 9.99815228e-01 4.58109288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.28925415399993 meters Centerline goodness [0,1] 0.9993405377808032 Centerline is valid? [True, True] Translation: X:498.60, Y:8.04, Z:4.58 [[ 9.98755163e-01 -4.55741095e-02 -2.02762023e-02 4.98596819e+02] [ 4.55767176e-02 9.98960786e-01 -3.33701842e-04 8.03623720e+00] [ 2.02703392e-02 -5.90836310e-04 9.99794361e-01 4.58188324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3192541539999 meters Centerline goodness [0,1] 0.9995550187527812 Centerline is valid? [True, True] Translation: X:498.63, Y:8.03, Z:4.58 [[ 9.98814531e-01 -4.42246317e-02 -2.03399823e-02 4.98627758e+02] [ 4.42269983e-02 9.99021452e-01 -3.33686107e-04 8.03184233e+00] [ 2.03348358e-02 -5.66285830e-04 9.99793065e-01 4.58061664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.34925415399994 meters Centerline goodness [0,1] 0.9992130505987196 Centerline is valid? [True, True] Translation: X:498.66, Y:8.04, Z:4.58 [[ 9.98877260e-01 -4.28923717e-02 -2.01112808e-02 4.98658805e+02] [ 4.28944297e-02 9.99079556e-01 -3.29230313e-04 8.03764903e+00] [ 2.01068910e-02 -5.33801250e-04 9.99797694e-01 4.58306363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3792541539999 meters Centerline goodness [0,1] 0.998915516618113 Centerline is valid? [True, True] Translation: X:498.69, Y:8.04, Z:4.59 [[ 9.99030375e-01 -3.96096174e-02 -1.92194465e-02 4.98689857e+02] [ 3.96109025e-02 9.99215131e-01 -3.13966834e-04 8.04159082e+00] [ 1.92167979e-02 -4.47637218e-04 9.99815240e-01 4.58531929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.40925415399994 meters Centerline goodness [0,1] 0.9993623804463337 Centerline is valid? [True, True] Translation: X:498.72, Y:8.04, Z:4.59 [[ 9.99100305e-01 -3.80157135e-02 -1.87985861e-02 4.98720520e+02] [ 3.80166701e-02 9.99277058e-01 -3.06599415e-04 8.04175315e+00] [ 1.87966514e-02 -4.08336075e-04 9.99823244e-01 4.58560314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4392541539999 meters Centerline goodness [0,1] 0.9996808646440577 Centerline is valid? [True, True] Translation: X:498.75, Y:8.04, Z:4.59 [[ 9.99168573e-01 -3.59976977e-02 -1.91397111e-02 4.98752307e+02] [ 3.59983323e-02 9.99351801e-01 -3.11489138e-04 8.04375242e+00] [ 1.91385176e-02 -3.77767521e-04 9.99816770e-01 4.58670390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.46925415399994 meters Centerline goodness [0,1] 0.9993842233782779 Centerline is valid? [True, True] Translation: X:498.78, Y:8.05, Z:4.59 [[ 9.99221783e-01 -3.43307965e-02 -1.94222959e-02 4.98783100e+02] [ 3.43311447e-02 9.99410463e-01 -3.15595514e-04 8.04681012e+00] [ 1.94216804e-02 -3.51439738e-04 9.99811320e-01 4.58761843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4992541539999 meters Centerline goodness [0,1] 0.999340411498117 Centerline is valid? [True, True] Translation: X:498.81, Y:8.05, Z:4.59 [[ 9.99270187e-01 -3.27172423e-02 -1.97148394e-02 4.98814090e+02] [ 3.27172946e-02 9.99464595e-01 -3.19973567e-04 8.04786220e+00] [ 1.97147526e-02 -3.25276161e-04 9.99805592e-01 4.58758474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.52925415399994 meters Centerline goodness [0,1] 0.999594951820585 Centerline is valid? [True, True] Translation: X:498.84, Y:8.05, Z:4.59 [[ 9.99320338e-01 -3.05597099e-02 -2.06147129e-02 4.98844833e+02] [ 3.05593155e-02 9.99532899e-01 -3.34223232e-04 8.04920058e+00] [ 2.06152975e-02 -2.95975444e-04 9.99787438e-01 4.58789348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5592541539999 meters Centerline goodness [0,1] 0.9993827160493827 Centerline is valid? [True, True] Translation: X:498.87, Y:8.05, Z:4.59 [[ 9.99318803e-01 -2.99509785e-02 -2.15608331e-02 4.98874857e+02] [ 2.99503959e-02 9.99551325e-01 -3.50005827e-04 8.04952955e+00] [ 2.15616423e-02 -2.95988082e-04 9.99767477e-01 4.58790229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.58925415399995 meters Centerline goodness [0,1] 0.9995309068423633 Centerline is valid? [True, True] Translation: X:498.90, Y:8.05, Z:4.59 [[ 9.99275304e-01 -3.01335076e-02 -2.32559254e-02 4.98903622e+02] [ 3.01328476e-02 9.99545831e-01 -3.78887574e-04 8.04779288e+00] [ 2.32567805e-02 -3.22154260e-04 9.99729473e-01 4.58748518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6192541539999 meters Centerline goodness [0,1] 0.9995737516250719 Centerline is valid? [True, True] Translation: X:498.93, Y:8.05, Z:4.59 [[ 9.99241945e-01 -3.10993732e-02 -2.34171995e-02 4.98932083e+02] [ 3.10988706e-02 9.99516239e-01 -3.85725320e-04 8.04749287e+00] [ 2.34178669e-02 -3.42815538e-04 9.99725705e-01 4.58836043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.64925415399995 meters Centerline goodness [0,1] 0.9994679379402813 Centerline is valid? [True, True] Translation: X:498.96, Y:8.04, Z:4.59 [[ 9.99134242e-01 -3.39149854e-02 -2.40944138e-02 4.98960050e+02] [ 3.39151817e-02 9.99424634e-01 -4.00614425e-04 8.04380689e+00] [ 2.40941376e-02 -4.16898833e-04 9.99709607e-01 4.58850686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6792541539999 meters Centerline goodness [0,1] 0.9993406359672445 Centerline is valid? [True, True] Translation: X:498.99, Y:8.04, Z:4.59 [[ 9.99076945e-01 -3.56586458e-02 -2.39524198e-02 4.98987987e+02] [ 3.56592901e-02 9.99363925e-01 -4.00360604e-04 8.04156479e+00] [ 2.39514606e-02 -4.54135237e-04 9.99713019e-01 4.58884246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.70925415399995 meters Centerline goodness [0,1] 0.9991300473169387 Centerline is valid? [True, True] Translation: X:499.02, Y:8.04, Z:4.59 [[ 9.98998607e-01 -3.79548688e-02 -2.36899111e-02 4.99017738e+02] [ 3.79561124e-02 9.99279328e-01 -3.97314204e-04 8.04169501e+00] [ 2.36879184e-02 -5.02260591e-04 9.99719276e-01 4.59096081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7392541539999 meters Centerline goodness [0,1] 0.9990009140573518 Centerline is valid? [True, True] Translation: X:499.05, Y:8.04, Z:4.59 [[ 9.98812063e-01 -4.28515977e-02 -2.31992271e-02 4.99047322e+02] [ 4.28540903e-02 9.99081265e-01 -3.89931882e-04 8.03643381e+00] [ 2.31946224e-02 -6.04713105e-04 9.99730786e-01 4.59178773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.76925415399995 meters Centerline goodness [0,1] 0.9992989165073295 Centerline is valid? [True, True] Translation: X:499.08, Y:8.03, Z:4.59 [[ 9.98716630e-01 -4.52559109e-02 -2.27375380e-02 4.99077589e+02] [ 4.52589201e-02 9.98975217e-01 -3.82508905e-04 8.03392252e+00] [ 2.27315477e-02 -6.47058411e-04 9.99741396e-01 4.59235207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7992541539999 meters Centerline goodness [0,1] 0.9994272501644004 Centerline is valid? [True, True] Translation: X:499.11, Y:8.03, Z:4.59 [[ 9.98587359e-01 -4.80504587e-02 -2.26812629e-02 4.99107517e+02] [ 4.80541730e-02 9.98844658e-01 -3.81562200e-04 8.02866177e+00] [ 2.26733925e-02 -7.08906141e-04 9.99742674e-01 4.59192249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.82925415399995 meters Centerline goodness [0,1] 0.9989400941196421 Centerline is valid? [True, True] Translation: X:499.14, Y:8.03, Z:4.59 [[ 9.98435771e-01 -5.10706092e-02 -2.27553127e-02 4.99138756e+02] [ 5.10751421e-02 9.98694740e-01 -3.82325185e-04 8.02746763e+00] [ 2.27451367e-02 -7.80503689e-04 9.99740991e-01 4.59292890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8592541539999 meters Centerline goodness [0,1] 0.9989821882951654 Centerline is valid? [True, True] Translation: X:499.17, Y:8.02, Z:4.59 [[ 9.98082720e-01 -5.76849779e-02 -2.24349673e-02 4.99169727e+02] [ 5.76910610e-02 9.98334413e-01 -3.76531678e-04 8.02278248e+00] [ 2.24193202e-02 -9.18487308e-04 9.99748234e-01 4.59373660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.88925415399996 meters Centerline goodness [0,1] 0.9990256714394645 Centerline is valid? [True, True] Translation: X:499.20, Y:8.02, Z:4.59 [[ 9.97876136e-01 -6.10856056e-02 -2.26222387e-02 4.99200415e+02] [ 6.10926695e-02 9.98132026e-01 -3.79373935e-04 8.01961930e+00] [ 2.26031552e-02 -1.00348476e-03 9.99744012e-01 4.59392875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.91925415399993 meters Centerline goodness [0,1] 0.9986466197212882 Centerline is valid? [True, True] Translation: X:499.23, Y:8.01, Z:4.59 [[ 9.97440014e-01 -6.78586469e-02 -2.25526674e-02 4.99230437e+02] [ 6.78673931e-02 9.97694279e-01 -3.78236308e-04 8.01232076e+00] [ 2.25263339e-02 -1.15332272e-03 9.99745585e-01 4.59382940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.94925415399996 meters Centerline goodness [0,1] 0.9983714388443561 Centerline is valid? [True, True] Translation: X:499.26, Y:8.01, Z:4.59 [[ 9.97220559e-01 -7.08362986e-02 -2.30949086e-02 4.99261723e+02] [ 7.08462750e-02 9.97487171e-01 -3.86972635e-04 8.01072999e+00] [ 2.30642868e-02 -1.25029118e-03 9.99733202e-01 4.59392603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.97925415399993 meters Centerline goodness [0,1] 0.9985842877065461 Centerline is valid? [True, True] Translation: X:499.29, Y:8.01, Z:4.59 [[ 9.97021027e-01 -7.36595505e-02 -2.28766769e-02 4.99293355e+02] [ 7.36700989e-02 9.97282593e-01 -3.82478098e-04 8.00890451e+00] [ 2.28426848e-02 -1.30398834e-03 9.99738221e-01 4.59448236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.00925415399996 meters Centerline goodness [0,1] 0.998588076623185 Centerline is valid? [True, True] Translation: X:499.32, Y:8.00, Z:4.59 [[ 9.96718302e-01 -7.75109366e-02 -2.33384025e-02 4.99323496e+02] [ 7.75229750e-02 9.96990490e-01 -3.89856677e-04 8.00200081e+00] [ 2.32983835e-02 -1.42068511e-03 9.99727546e-01 4.59372809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.03925415399993 meters Centerline goodness [0,1] 0.9987768873892873 Centerline is valid? [True, True] Translation: X:499.36, Y:8.00, Z:4.59 [[ 9.96624514e-01 -7.86664878e-02 -2.34768202e-02 4.99355690e+02] [ 7.86790131e-02 9.96899925e-01 -3.91133043e-04 8.00331540e+00] [ 2.34348094e-02 -1.45732027e-03 9.99724305e-01 4.59450003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.0692541539999 meters Centerline goodness [0,1] 0.9987345509765049 Centerline is valid? [True, True] Translation: X:499.39, Y:8.00, Z:4.59 [[ 9.96586091e-01 -7.92809716e-02 -2.30367192e-02 4.99387040e+02] [ 7.92932279e-02 9.96851262e-01 -3.82369271e-04 8.00046868e+00] [ 2.29944972e-02 -1.44559193e-03 9.99734546e-01 4.59414342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.09925415399994 meters Centerline goodness [0,1] 0.9984200547714346 Centerline is valid? [True, True] Translation: X:499.42, Y:8.00, Z:4.59 [[ 9.96614149e-01 -7.87747781e-02 -2.35535938e-02 4.99419604e+02] [ 7.87874872e-02 9.96891358e-01 -3.89370504e-04 8.00256643e+00] [ 2.35110467e-02 -1.46767631e-03 9.99722500e-01 4.59470084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.1292541539999 meters Centerline goodness [0,1] 0.9984424659552524 Centerline is valid? [True, True] Translation: X:499.45, Y:8.00, Z:4.59 [[ 9.96714710e-01 -7.72663431e-02 -2.42837093e-02 4.99450624e+02] [ 7.72794374e-02 9.97009392e-01 -4.00175158e-04 8.00007169e+00] [ 2.42420063e-02 -1.47777093e-03 9.99705027e-01 4.59341315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.15925415399994 meters Centerline goodness [0,1] 0.9985245452437662 Centerline is valid? [True, True] Translation: X:499.48, Y:8.00, Z:4.59 [[ 9.96846139e-01 -7.55937425e-02 -2.41528877e-02 4.99481570e+02] [ 7.56062282e-02 9.97137674e-01 -3.97133161e-04 8.00367218e+00] [ 2.41137751e-02 -1.43022808e-03 9.99708198e-01 4.59396032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.1892541539999 meters Centerline goodness [0,1] 0.9987162219042007 Centerline is valid? [True, True] Translation: X:499.51, Y:8.01, Z:4.59 [[ 9.97004458e-01 -7.32421257e-02 -2.48535936e-02 4.99512787e+02] [ 7.32546418e-02 9.97313186e-01 -4.07721447e-04 8.00808566e+00] [ 2.48166790e-02 -1.41414100e-03 9.99691019e-01 4.59430164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.21925415399994 meters Centerline goodness [0,1] 0.9989455703410025 Centerline is valid? [True, True] Translation: X:499.54, Y:8.01, Z:4.59 [[ 9.97374175e-01 -6.78297447e-02 -2.53747889e-02 4.99542082e+02] [ 6.78410472e-02 9.97696055e-01 -4.16171686e-04 8.01022441e+00] [ 2.53445556e-02 -1.30637336e-03 9.99677922e-01 4.59316668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.2492541539999 meters Centerline goodness [0,1] 0.9989877475273624 Centerline is valid? [True, True] Translation: X:499.57, Y:8.02, Z:4.59 [[ 9.97587526e-01 -6.46723019e-02 -2.52313370e-02 4.99573560e+02] [ 6.46824878e-02 9.97905810e-01 -4.13089051e-04 8.01587168e+00] [ 2.52052132e-02 -1.21993316e-03 9.99681554e-01 4.59419713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.27925415399994 meters Centerline goodness [0,1] 0.9990718082862206 Centerline is valid? [True, True] Translation: X:499.60, Y:8.02, Z:4.59 [[ 9.98008912e-01 -5.84871361e-02 -2.36107077e-02 4.99602732e+02] [ 5.84943327e-02 9.98287666e-01 -3.86318814e-04 8.02006334e+00] [ 2.35928729e-02 -9.95542970e-04 9.99721154e-01 4.59485656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3092541539999 meters Centerline goodness [0,1] 0.9992391580015216 Centerline is valid? [True, True] Translation: X:499.63, Y:8.02, Z:4.60 [[ 9.98232318e-01 -5.49153620e-02 -2.27275494e-02 4.99634702e+02] [ 5.49211175e-02 9.98490627e-01 -3.71343534e-04 8.02243033e+00] [ 2.27136376e-02 -8.77535297e-04 9.99741627e-01 4.59555775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.33925415399995 meters Centerline goodness [0,1] 0.9991131194965898 Centerline is valid? [True, True] Translation: X:499.67, Y:8.02, Z:4.60 [[ 9.98432095e-01 -5.13539039e-02 -2.22739255e-02 4.99665685e+02] [ 5.13585676e-02 9.98680212e-01 -3.62997815e-04 8.02437706e+00] [ 2.22631700e-02 -7.81528241e-04 9.99751839e-01 4.59601450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3692541539999 meters Centerline goodness [0,1] 0.9991131194965898 Centerline is valid? [True, True] Translation: X:499.70, Y:8.02, Z:4.60 [[ 9.98433907e-01 -5.13186702e-02 -2.22739384e-02 4.99696547e+02] [ 5.13233428e-02 9.98682023e-01 -3.62204956e-04 8.02484777e+00] [ 2.22631698e-02 -7.81535269e-04 9.99751839e-01 4.59630355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.39925415399995 meters Centerline goodness [0,1] 0.9989641029977591 Centerline is valid? [True, True] Translation: X:499.73, Y:8.03, Z:4.60 [[ 9.98814563e-01 -4.40780776e-02 -2.06541152e-02 4.99727653e+02] [ 4.40805571e-02 9.99027924e-01 -3.35428216e-04 8.03243594e+00] [ 2.06488229e-02 -5.75414318e-04 9.99786625e-01 4.59735555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4292541539999 meters Centerline goodness [0,1] 0.9992813966267913 Centerline is valid? [True, True] Translation: X:499.76, Y:8.04, Z:4.60 [[ 9.98981243e-01 -4.02710284e-02 -2.03646943e-02 4.99758291e+02] [ 4.02726504e-02 9.99188673e-01 -3.30621834e-04 8.03626674e+00] [ 2.03614863e-02 -4.89855203e-04 9.99792563e-01 4.59789052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.45925415399995 meters Centerline goodness [0,1] 0.9992596353175107 Centerline is valid? [True, True] Translation: X:499.79, Y:8.04, Z:4.60 [[ 9.99141315e-01 -3.63614948e-02 -1.98613957e-02 4.99789333e+02] [ 3.63622657e-02 9.99338622e-01 -3.22443328e-04 8.04162907e+00] [ 1.98599843e-02 -4.00038895e-04 9.99802691e-01 4.59889482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4892541539999 meters Centerline goodness [0,1] 0.9993192937672836 Centerline is valid? [True, True] Translation: X:499.82, Y:8.05, Z:4.60 [[ 9.99397193e-01 -2.88447752e-02 -1.93191596e-02 4.99819203e+02] [ 2.88440969e-02 9.99583873e-01 -3.13818710e-04 8.04723946e+00] [ 1.93201724e-02 -2.43614172e-04 9.99813318e-01 4.59880201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.51925415399995 meters Centerline goodness [0,1] 0.9996810478640838 Centerline is valid? [True, True] Translation: X:499.85, Y:8.05, Z:4.60 [[ 9.99497393e-01 -2.51663876e-02 -1.92772964e-02 4.99847635e+02] [ 2.51650130e-02 9.99683262e-01 -3.13921384e-04 8.04923687e+00] [ 1.92790908e-02 -1.71349809e-04 9.99814126e-01 4.59852088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5492541539999 meters Centerline goodness [0,1] 0.9997875053123672 Centerline is valid? [True, True] Translation: X:499.88, Y:8.05, Z:4.60 [[ 9.99564347e-01 -2.23202929e-02 -1.93111428e-02 4.99876332e+02] [ 2.23183223e-02 9.99750865e-01 -3.17585692e-04 8.05128219e+00] [ 1.93134203e-02 -1.13544973e-04 9.99813472e-01 4.59863517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57925415399995 meters Centerline goodness [0,1] 0.9994676660349637 Centerline is valid? [True, True] Translation: X:499.90, Y:8.05, Z:4.60 [[ 9.99655207e-01 -1.85248228e-02 -1.86090686e-02 4.99904573e+02] [ 1.85222479e-02 9.99828400e-01 -3.10729403e-04 8.05441089e+00] [ 1.86116315e-02 -3.40595161e-05 9.99826788e-01 4.59865458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6092541539999 meters Centerline goodness [0,1] 0.9997014861724131 Centerline is valid? [True, True] Translation: X:499.93, Y:8.06, Z:4.60 [[ 9.99681299e-01 -1.74544763e-02 -1.82384427e-02 4.99931953e+02] [ 1.74517608e-02 9.99847659e-01 -3.08045837e-04 8.05541702e+00] [ 1.82410410e-02 -1.03452776e-05 9.99833618e-01 4.59869330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63925415399996 meters Centerline goodness [0,1] 0.9998084331963986 Centerline is valid? [True, True] Translation: X:499.96, Y:8.06, Z:4.60 [[ 9.99705884e-01 -1.70334196e-02 -1.72628939e-02 4.99959538e+02] [ 1.70308648e-02 9.99854921e-01 -2.95002666e-04 8.05538650e+00] [ 1.72654143e-02 9.13889616e-07 9.99850942e-01 4.59918847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.66925415399993 meters Centerline goodness [0,1] 0.9997872249882974 Centerline is valid? [True, True] Translation: X:499.99, Y:8.05, Z:4.60 [[ 9.99705261e-01 -1.79558059e-02 -1.63395320e-02 4.99987873e+02] [ 1.79535648e-02 9.99838781e-01 -2.83846771e-04 8.05466057e+00] [ 1.63419945e-02 -9.58973764e-06 9.99866461e-01 4.59959917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69925415399996 meters Centerline goodness [0,1] 0.9996390658174098 Centerline is valid? [True, True] Translation: X:500.02, Y:8.05, Z:4.60 [[ 9.99689581e-01 -1.94070683e-02 -1.56239444e-02 5.00015665e+02] [ 1.94051267e-02 9.99811665e-01 -2.75875094e-04 8.05329360e+00] [ 1.56263558e-02 -2.73951639e-05 9.99877901e-01 4.59996865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.72925415399993 meters Centerline goodness [0,1] 0.9991310429603882 Centerline is valid? [True, True] Translation: X:500.04, Y:8.05, Z:4.60 [[ 9.99632627e-01 -2.28824287e-02 -1.45260531e-02 5.00043994e+02] [ 2.28810733e-02 9.99738160e-01 -2.59517830e-04 8.04836228e+00] [ 1.45281880e-02 -7.29491957e-05 9.99894458e-01 4.59962216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75925415399996 meters Centerline goodness [0,1] 0.99904495097415 Centerline is valid? [True, True] Translation: X:500.07, Y:8.05, Z:4.60 [[ 9.99573806e-01 -2.54291620e-02 -1.43374928e-02 5.00074115e+02] [ 2.54280888e-02 9.99676621e-01 -2.57174039e-04 8.04645538e+00] [ 1.43393961e-02 -1.07510607e-04 9.99897180e-01 4.60036781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.78925415399993 meters Centerline goodness [0,1] 0.9991729227637104 Centerline is valid? [True, True] Translation: X:500.10, Y:8.04, Z:4.60 [[ 9.99506809e-01 -2.81939246e-02 -1.38290065e-02 5.00104384e+02] [ 2.81931861e-02 9.99602462e-01 -2.48389087e-04 8.04436980e+00] [ 1.38305120e-02 -1.41617171e-04 9.99904344e-01 4.60073910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8192541539999 meters Centerline goodness [0,1] 0.9991323118598154 Centerline is valid? [True, True] Translation: X:500.14, Y:8.04, Z:4.60 [[ 9.99416253e-01 -3.11235547e-02 -1.40882371e-02 5.00136179e+02] [ 3.11230817e-02 9.99515528e-01 -2.52871397e-04 8.04186919e+00] [ 1.40892820e-02 -1.85745570e-04 9.99900724e-01 4.60089984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.84925415399994 meters Centerline goodness [0,1] 0.9993663132102573 Centerline is valid? [True, True] Translation: X:500.17, Y:8.04, Z:4.60 [[ 9.99308187e-01 -3.45493743e-02 -1.37654389e-02 5.00167022e+02] [ 3.45492545e-02 9.99402966e-01 -2.46578430e-04 8.03871025e+00] [ 1.37657396e-02 -2.29177810e-04 9.99905221e-01 4.60132789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8792541539999 meters Centerline goodness [0,1] 0.9991744634012107 Centerline is valid? [True, True] Translation: X:500.20, Y:8.03, Z:4.60 [[ 9.99013895e-01 -4.23156161e-02 -1.34397060e-02 5.00197298e+02] [ 4.23162129e-02 9.99104239e-01 -2.40094614e-04 8.02962649e+00] [ 1.34378270e-02 -3.28859604e-04 9.99909654e-01 4.60102103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.90925415399994 meters Centerline goodness [0,1] 0.9988395645202127 Centerline is valid? [True, True] Translation: X:500.23, Y:8.03, Z:4.60 [[ 9.98831399e-01 -4.64966692e-02 -1.31869788e-02 5.00229002e+02] [ 4.64976220e-02 9.98918373e-01 -2.34492693e-04 8.02850152e+00] [ 1.31836186e-02 -3.78944492e-04 9.99913021e-01 4.60134275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9392541539999 meters Centerline goodness [0,1] 0.9987560877906854 Centerline is valid? [True, True] Translation: X:500.26, Y:8.02, Z:4.60 [[ 9.98452144e-01 -5.41177337e-02 -1.28291618e-02 5.00258963e+02] [ 5.41192748e-02 9.98534452e-01 -2.27263156e-04 8.01644048e+00] [ 1.28226590e-02 -4.67393550e-04 9.99917677e-01 4.60135380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.96925415399994 meters Centerline goodness [0,1] 0.9986753574432295 Centerline is valid? [True, True] Translation: X:500.29, Y:8.02, Z:4.60 [[ 9.98271920e-01 -5.73127211e-02 -1.29779113e-02 5.00290515e+02] [ 5.73145678e-02 9.98356143e-01 -2.29893930e-04 8.01795142e+00] [ 1.29697533e-02 -5.14326722e-04 9.99915757e-01 4.60224346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9992541539999 meters Centerline goodness [0,1] 0.9988213752025762 Centerline is valid? [True, True] Translation: X:500.32, Y:8.01, Z:4.60 [[ 9.98149381e-01 -5.93827842e-02 -1.30957388e-02 5.00321389e+02] [ 5.93848532e-02 9.98235136e-01 -2.31157037e-04 8.01197152e+00] [ 1.30863533e-02 -5.46959271e-04 9.99914220e-01 4.60118869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.02925415399994 meters Centerline goodness [0,1] 0.9987162489214386 Centerline is valid? [True, True] Translation: X:500.35, Y:8.01, Z:4.60 [[ 9.97822979e-01 -6.45899483e-02 -1.33207021e-02 5.00352002e+02] [ 6.45925691e-02 9.97911692e-01 -2.33838981e-04 8.01174023e+00] [ 1.33079880e-02 -6.27088459e-04 9.99911248e-01 4.60210914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0592541539999 meters Centerline goodness [0,1] 0.9984638047138047 Centerline is valid? [True, True] Translation: X:500.38, Y:8.01, Z:4.60 [[ 9.97703332e-01 -6.63785140e-02 -1.34890064e-02 5.00383708e+02] [ 6.63813699e-02 9.97794296e-01 -2.36392510e-04 8.01084896e+00] [ 1.34749450e-02 -6.59569129e-04 9.99908991e-01 4.60199265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.08925415399995 meters Centerline goodness [0,1] 0.9986148712459862 Centerline is valid? [True, True] Translation: X:500.41, Y:8.01, Z:4.60 [[ 9.97509839e-01 -6.90872894e-02 -1.41798310e-02 5.00414016e+02] [ 6.90907274e-02 9.97610350e-01 -2.47858928e-04 8.00742932e+00] [ 1.41630701e-02 -7.32453118e-04 9.99899430e-01 4.60132019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1192541539999 meters Centerline goodness [0,1] 0.9985074940615081 Centerline is valid? [True, True] Translation: X:500.45, Y:8.01, Z:4.60 [[ 9.97435237e-01 -7.01611890e-02 -1.41547063e-02 5.00446445e+02] [ 7.01647301e-02 9.97535388e-01 -2.46893664e-04 8.00720350e+00] [ 1.41371428e-02 -7.46900707e-04 9.99899787e-01 4.60116139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.14925415399995 meters Centerline goodness [0,1] 0.9987193483372523 Centerline is valid? [True, True] Translation: X:500.48, Y:8.01, Z:4.60 [[ 9.97381423e-01 -7.08588860e-02 -1.44677346e-02 5.00478351e+02] [ 7.08626743e-02 9.97486049e-01 -2.51270573e-04 8.00656773e+00] [ 1.44491681e-02 -7.74609761e-04 9.99895305e-01 4.60109718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1792541539999 meters Centerline goodness [0,1] 0.9986350559627055 Centerline is valid? [True, True] Translation: X:500.51, Y:8.01, Z:4.60 [[ 9.97303002e-01 -7.19279420e-02 -1.45977376e-02 5.00510947e+02] [ 7.19319286e-02 9.97409512e-01 -2.52447466e-04 8.00668160e+00] [ 1.45780804e-02 -7.98276803e-04 9.99893415e-01 4.60108456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.20925415399995 meters Centerline goodness [0,1] 0.9985671541152177 Centerline is valid? [True, True] Translation: X:500.54, Y:8.01, Z:4.60 [[ 9.97160445e-01 -7.37868906e-02 -1.50512765e-02 5.00542880e+02] [ 7.37913553e-02 9.97273668e-01 -2.59267460e-04 8.00583409e+00] [ 1.50293722e-02 -8.52122835e-04 9.99886690e-01 4.60084172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2392541539999 meters Centerline goodness [0,1] 0.998716059776889 Centerline is valid? [True, True] Translation: X:500.57, Y:8.00, Z:4.60 [[ 9.97105047e-01 -7.45390599e-02 -1.50151504e-02 5.00573858e+02] [ 7.45436057e-02 9.97217722e-01 -2.57472883e-04 8.00484034e+00] [ 1.49925658e-02 -8.62555938e-04 9.99887233e-01 4.60068762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.26925415399995 meters Centerline goodness [0,1] 0.9986735166547354 Centerline is valid? [True, True] Translation: X:500.61, Y:8.00, Z:4.60 [[ 9.97003824e-01 -7.58371344e-02 -1.52349336e-02 5.00605776e+02] [ 7.58419887e-02 9.97119815e-01 -2.59709745e-04 8.00406226e+00] [ 1.52107498e-02 -8.96516053e-04 9.99883908e-01 4.60058812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2992541539999 meters Centerline goodness [0,1] 0.9985039088016521 Centerline is valid? [True, True] Translation: X:500.64, Y:8.00, Z:4.60 [[ 9.96783096e-01 -7.86486813e-02 -1.54222080e-02 5.00636300e+02] [ 7.86540030e-02 9.96901941e-01 -2.62112281e-04 8.00236464e+00] [ 1.53950439e-02 -9.51749302e-04 9.99881036e-01 4.60043042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.32925415399995 meters Centerline goodness [0,1] 0.998777016341592 Centerline is valid? [True, True] Translation: X:500.67, Y:8.00, Z:4.60 [[ 9.96640887e-01 -8.03754877e-02 -1.57074219e-02 5.00667996e+02] [ 8.03812297e-02 9.96764158e-01 -2.66454609e-04 8.00157483e+00] [ 1.56780116e-02 -9.97022327e-04 9.99876595e-01 4.60022597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3592541539999 meters Centerline goodness [0,1] 0.9985434126364231 Centerline is valid? [True, True] Translation: X:500.70, Y:8.00, Z:4.60 [[ 9.96362999e-01 -8.36139571e-02 -1.64158584e-02 5.00698429e+02] [ 8.36206768e-02 9.96497619e-01 -2.77832285e-04 8.00057266e+00] [ 1.63815944e-02 -1.09588338e-03 9.99865212e-01 4.59982386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.38925415399996 meters Centerline goodness [0,1] 0.9987959696668849 Centerline is valid? [True, True] Translation: X:500.73, Y:8.00, Z:4.60 [[ 9.96260903e-01 -8.47111185e-02 -1.69776454e-02 5.00730496e+02] [ 8.47184765e-02 9.96404886e-01 -2.86642136e-04 8.00078929e+00] [ 1.69408906e-02 -1.15274990e-03 9.99855828e-01 4.59981801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.41925415399993 meters Centerline goodness [0,1] 0.9986268379246239 Centerline is valid? [True, True] Translation: X:500.76, Y:8.00, Z:4.60 [[ 9.96026519e-01 -8.72246925e-02 -1.79729241e-02 5.00761687e+02] [ 8.72333609e-02 9.96187858e-01 -3.02606869e-04 8.00197699e+00] [ 1.79308036e-02 -1.26643411e-03 9.99838428e-01 4.59943889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.44925415399996 meters Centerline goodness [0,1] 0.9987751826667229 Centerline is valid? [True, True] Translation: X:500.79, Y:8.01, Z:4.60 [[ 9.95956725e-01 -8.80265665e-02 -1.79311103e-02 5.00793352e+02] [ 8.80353382e-02 9.96117307e-01 -3.01106823e-04 8.01186656e+00] [ 1.78879947e-02 -1.27868199e-03 9.99839179e-01 4.60092243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.47925415399993 meters Centerline goodness [0,1] 0.9986667513173767 Centerline is valid? [True, True] Translation: X:500.83, Y:8.01, Z:4.60 [[ 9.95886134e-01 -8.89047128e-02 -1.75145692e-02 5.00825695e+02] [ 8.89132391e-02 9.96039332e-01 -2.92828255e-04 8.01376706e+00] [ 1.74712336e-02 -1.26565348e-03 9.99846565e-01 4.60193320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.50925415399996 meters Centerline goodness [0,1] 0.9986272729192626 Centerline is valid? [True, True] Translation: X:500.86, Y:8.02, Z:4.60 [[ 9.95797017e-01 -8.99920074e-02 -1.70217240e-02 5.00857775e+02] [ 9.00002396e-02 9.95941703e-01 -2.83339597e-04 8.01545754e+00] [ 1.69781431e-02 -1.24981052e-03 9.99855080e-01 4.60292928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.53925415399993 meters Centerline goodness [0,1] 0.9984997675696234 Centerline is valid? [True, True] Translation: X:500.89, Y:8.02, Z:4.60 [[ 9.95679360e-01 -9.15822668e-02 -1.53395086e-02 5.00890088e+02] [ 9.15891560e-02 9.95796848e-01 -2.54264348e-04 8.01694160e+00] [ 1.52983204e-02 -1.15176688e-03 9.99882310e-01 4.60474511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.5692541539999 meters Centerline goodness [0,1] 0.9984988159675237 Centerline is valid? [True, True] Translation: X:500.92, Y:8.02, Z:4.61 [[ 9.95655525e-01 -9.19574741e-02 -1.46252908e-02 5.00921328e+02] [ 9.19637972e-02 9.95762322e-01 -2.41034093e-04 8.01756759e+00] [ 1.45854784e-02 -1.10501035e-03 9.99893016e-01 4.60586432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.59925415399994 meters Centerline goodness [0,1] 0.9988160175905958 Centerline is valid? [True, True] Translation: X:500.95, Y:8.02, Z:4.61 [[ 9.95674643e-01 -9.20047096e-02 -1.29281783e-02 5.00953915e+02] [ 9.20096741e-02 9.95758091e-01 -2.11520216e-04 8.02209177e+00] [ 1.28927990e-02 -9.78912159e-04 9.99916405e-01 4.60753868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.6292541539999 meters Centerline goodness [0,1] 0.9990070352608117 Centerline is valid? [True, True] Translation: X:500.99, Y:8.02, Z:4.61 [[ 9.95725587e-01 -9.15595765e-02 -1.21408315e-02 5.00985159e+02] [ 9.15639385e-02 9.95799180e-01 -1.97252567e-04 8.02292530e+00] [ 1.21078904e-02 -9.15252917e-04 9.99926278e-01 4.60768038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.65925415399994 meters Centerline goodness [0,1] 0.9987522734001607 Centerline is valid? [True, True] Translation: X:501.02, Y:8.02, Z:4.61 [[ 9.95694368e-01 -9.19434870e-02 -1.17949284e-02 5.01017144e+02] [ 9.19476484e-02 9.95763824e-01 -1.90122470e-04 8.02499476e+00] [ 1.17624435e-02 -8.95212056e-04 9.99930419e-01 4.60930595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.6892541539999 meters Centerline goodness [0,1] 0.9988596046629499 Centerline is valid? [True, True] Translation: X:501.05, Y:8.03, Z:4.61 [[ 9.95729920e-01 -9.16217369e-02 -1.12864064e-02 5.01048968e+02] [ 9.16255357e-02 9.95793517e-01 -1.81126441e-04 8.02985853e+00] [ 1.12555254e-02 -8.53770014e-04 9.99936290e-01 4.60984262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.71925415399994 meters Centerline goodness [0,1] 0.9989849862550222 Centerline is valid? [True, True] Translation: X:501.08, Y:8.03, Z:4.61 [[ 9.95738681e-01 -9.15329211e-02 -1.12340566e-02 5.01081208e+02] [ 9.15366888e-02 9.95801688e-01 -1.79420826e-04 8.02998210e+00] [ 1.12033154e-02 -8.49672086e-04 9.99936880e-01 4.61010849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.7492541539999 meters Centerline goodness [0,1] 0.9991127447873757 Centerline is valid? [True, True] Translation: X:501.11, Y:8.03, Z:4.61 [[ 9.95653984e-01 -9.23787148e-02 -1.18032515e-02 5.01112585e+02] [ 9.23829475e-02 9.95723534e-01 -1.87285402e-04 8.02940022e+00] [ 1.17700764e-02 -9.03947704e-04 9.99930322e-01 4.60971494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.77925415399994 meters Centerline goodness [0,1] 0.9987543018812153 Centerline is valid? [True, True] Translation: X:501.14, Y:8.03, Z:4.61 [[ 9.95570734e-01 -9.32101523e-02 -1.22793284e-02 5.01143421e+02] [ 9.32148129e-02 9.95646002e-01 -1.93481496e-04 8.02853034e+00] [ 1.22438987e-02 -9.51990788e-04 9.99924587e-01 4.60968569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8092541539999 meters Centerline goodness [0,1] 0.9990091704437651 Centerline is valid? [True, True] Translation: X:501.18, Y:8.03, Z:4.61 [[ 9.95530813e-01 -9.36044854e-02 -1.25140244e-02 5.01175444e+02] [ 9.36093639e-02 9.95608984e-01 -1.96614548e-04 8.02862676e+00] [ 1.24774792e-02 -9.75694027e-04 9.99921677e-01 4.60737545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.83925415399995 meters Centerline goodness [0,1] 0.999131024543258 Centerline is valid? [True, True] Translation: X:501.21, Y:8.03, Z:4.61 [[ 9.95312748e-01 -9.57277397e-02 -1.37380410e-02 5.01206267e+02] [ 9.57338330e-02 9.95406945e-01 -2.14918446e-04 8.03460603e+00] [ 1.36955151e-02 -1.10128426e-03 9.99905606e-01 4.60916143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8692541539999 meters Centerline goodness [0,1] 0.9990691179892949 Centerline is valid? [True, True] Translation: X:501.24, Y:8.03, Z:4.61 [[ 9.95061327e-01 -9.81412361e-02 -1.48745908e-02 5.01236079e+02] [ 9.81486542e-02 9.95171738e-01 -2.32238968e-04 8.03209086e+00] [ 1.48255646e-02 -1.22882905e-03 9.99889340e-01 4.60796547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.89925415399995 meters Centerline goodness [0,1] 0.998623901767757 Centerline is valid? [True, True] Translation: X:501.27, Y:8.03, Z:4.61 [[ 9.94962464e-01 -9.90308091e-02 -1.55754603e-02 5.01267628e+02] [ 9.90390627e-02 9.95083517e-01 -2.42437015e-04 8.03140862e+00] [ 1.55228925e-02 -1.30136326e-03 9.99878666e-01 4.60765024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9292541539999 meters Centerline goodness [0,1] 0.998477382790196 Centerline is valid? [True, True] Translation: X:501.30, Y:8.03, Z:4.61 [[ 9.94893645e-01 -9.96542550e-02 -1.59895057e-02 5.01299233e+02] [ 9.96630573e-02 9.95021213e-01 -2.47370162e-04 8.03300813e+00] [ 1.59345489e-02 -1.34745602e-03 9.99872129e-01 4.60761980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.95925415399995 meters Centerline goodness [0,1] 0.9972105407747089 Centerline is valid? [True, True] Translation: X:501.33, Y:8.03, Z:4.61 [[ 9.94929945e-01 -9.92455512e-02 -1.62703926e-02 5.01330162e+02] [ 9.92546355e-02 9.95062036e-01 -2.50216660e-04 8.02779892e+00] [ 1.62148829e-02 -1.36596384e-03 9.99867597e-01 4.60730913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9892541539999 meters Centerline goodness [0,1] 0.9987953335024093 Centerline is valid? [True, True] Translation: X:501.36, Y:8.04, Z:4.61 [[ 9.95033245e-01 -9.81907752e-02 -1.63527781e-02 5.01362012e+02] [ 9.81998383e-02 9.95166684e-01 -2.49771275e-04 8.03515438e+00] [ 1.62982652e-02 -1.35730944e-03 9.99866253e-01 4.60859683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.01925415399995 meters Centerline goodness [0,1] 0.9990474174428451 Centerline is valid? [True, True] Translation: X:501.39, Y:8.04, Z:4.61 [[ 9.95358340e-01 -9.49285373e-02 -1.58224039e-02 5.01391383e+02] [ 9.49366184e-02 9.95483290e-01 -2.41286538e-04 8.03804051e+00] [ 1.57738437e-02 -1.26195895e-03 9.99874789e-01 4.60954829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0492541539999 meters Centerline goodness [0,1] 0.9984556147922484 Centerline is valid? [True, True] Translation: X:501.42, Y:8.04, Z:4.61 [[ 9.95542096e-01 -9.30903488e-02 -1.51697666e-02 5.01423274e+02] [ 9.30975673e-02 9.95656964e-01 -2.31166842e-04 8.04080137e+00] [ 1.51254031e-02 -1.18213204e-03 9.99884906e-01 4.61087633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07925415399995 meters Centerline goodness [0,1] 0.9985605114418171 Centerline is valid? [True, True] Translation: X:501.45, Y:8.04, Z:4.61 [[ 9.95745928e-01 -9.09885693e-02 -1.45302132e-02 5.01453898e+02] [ 9.09949775e-02 9.95851327e-01 -2.20862227e-04 8.04327482e+00] [ 1.44900281e-02 -1.10225376e-03 9.99894406e-01 4.61182222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1092541539999 meters Centerline goodness [0,1] 0.9990473166084471 Centerline is valid? [True, True] Translation: X:501.48, Y:8.05, Z:4.61 [[ 9.96122453e-01 -8.69611625e-02 -1.33347318e-02 5.01484558e+02] [ 8.69662025e-02 9.96211242e-01 -2.02540660e-04 8.05173141e+00] [ 1.33018229e-02 -9.57915687e-04 9.99911068e-01 4.61400379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13925415399996 meters Centerline goodness [0,1] 0.9987934209690734 Centerline is valid? [True, True] Translation: X:501.52, Y:8.05, Z:4.61 [[ 9.96282988e-01 -8.51479736e-02 -1.30395775e-02 5.01516109e+02] [ 8.51526409e-02 9.96367898e-01 -1.97858481e-04 8.05394243e+00] [ 1.30090637e-02 -9.13231422e-04 9.99914962e-01 4.61452427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.16925415399993 meters Centerline goodness [0,1] 0.9984766740717232 Centerline is valid? [True, True] Translation: X:501.55, Y:8.05, Z:4.61 [[ 9.96405518e-01 -8.37133918e-02 -1.29657827e-02 5.01546768e+02] [ 8.37178928e-02 9.96489476e-01 -1.96180398e-04 8.04904641e+00] [ 1.29366889e-02 -8.89992775e-04 9.99915921e-01 4.61451269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19925415399996 meters Centerline goodness [0,1] 0.9987086394140187 Centerline is valid? [True, True] Translation: X:501.58, Y:8.05, Z:4.61 [[ 9.96625019e-01 -8.10271804e-02 -1.31593112e-02 5.01577861e+02] [ 8.10315868e-02 9.96711514e-01 -1.98862781e-04 8.05195732e+00] [ 1.31321503e-02 -8.68128245e-04 9.99913393e-01 4.61436517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.22925415399993 meters Centerline goodness [0,1] 0.9989195144170674 Centerline is valid? [True, True] Translation: X:501.61, Y:8.06, Z:4.61 [[ 9.96730292e-01 -7.96516732e-02 -1.35770384e-02 5.01609699e+02] [ 7.96562426e-02 9.96822372e-01 -2.04748916e-04 8.06160148e+00] [ 1.35502042e-02 -8.77416420e-04 9.99907807e-01 4.61474729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25925415399996 meters Centerline goodness [0,1] 0.9984328674290555 Centerline is valid? [True, True] Translation: X:501.64, Y:8.05, Z:4.61 [[ 9.96831023e-01 -7.82989257e-02 -1.40424031e-02 5.01641124e+02] [ 7.83036907e-02 9.96929530e-01 -2.11008447e-04 8.05442371e+00] [ 1.40158080e-02 -8.89232221e-04 9.99901378e-01 4.61350150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.28925415399993 meters Centerline goodness [0,1] 0.9984328674290555 Centerline is valid? [True, True] Translation: X:501.67, Y:8.05, Z:4.61 [[ 9.96838750e-01 -7.82004986e-02 -1.40424173e-02 5.01673720e+02] [ 7.82052672e-02 9.96937256e-01 -2.10060336e-04 8.05480587e+00] [ 1.40158358e-02 -8.88794712e-04 9.99901378e-01 4.61380675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3192541539999 meters Centerline goodness [0,1] 0.9987932166070332 Centerline is valid? [True, True] Translation: X:501.70, Y:8.07, Z:4.61 [[ 9.97081203e-01 -7.48364678e-02 -1.51187559e-02 5.01704428e+02] [ 7.48416267e-02 9.97195407e-01 -2.25063168e-04 8.06884157e+00] [ 1.50931969e-02 -9.07106031e-04 9.99885680e-01 4.61397992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.34925415399994 meters Centerline goodness [0,1] 0.9986886910175334 Centerline is valid? [True, True] Translation: X:501.73, Y:8.07, Z:4.61 [[ 9.97249170e-01 -7.25465541e-02 -1.52016702e-02 5.01734971e+02] [ 7.25515088e-02 9.97364641e-01 -2.26025741e-04 8.06929602e+00] [ 1.51780057e-02 -8.77500126e-04 9.99884422e-01 4.61367736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3792541539999 meters Centerline goodness [0,1] 0.9988114945456089 Centerline is valid? [True, True] Translation: X:501.77, Y:8.08, Z:4.61 [[ 9.97600196e-01 -6.73330552e-02 -1.61278938e-02 5.01765640e+02] [ 6.73379562e-02 9.97730195e-01 -2.39582472e-04 8.07691965e+00] [ 1.61074185e-02 -8.47011887e-04 9.99869908e-01 4.61372527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.40925415399994 meters Centerline goodness [0,1] 0.9988320485867788 Centerline is valid? [True, True] Translation: X:501.80, Y:8.08, Z:4.61 [[ 9.97799670e-01 -6.42771644e-02 -1.62562031e-02 5.01796282e+02] [ 6.42817440e-02 9.97931761e-01 -2.41192823e-04 8.07724891e+00] [ 1.62380846e-02 -8.04314969e-04 9.99867830e-01 4.61338503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4392541539999 meters Centerline goodness [0,1] 0.998701934330645 Centerline is valid? [True, True] Translation: X:501.83, Y:8.08, Z:4.61 [[ 9.97991998e-01 -6.12119641e-02 -1.62808795e-02 5.01827587e+02] [ 6.12161599e-02 9.98124503e-01 -2.40987196e-04 8.08091151e+00] [ 1.62650961e-02 -7.56149630e-04 9.99867429e-01 4.61372616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.46925415399994 meters Centerline goodness [0,1] 0.9988954970263382 Centerline is valid? [True, True] Translation: X:501.86, Y:8.09, Z:4.61 [[ 9.98395936e-01 -5.43137289e-02 -1.59866612e-02 5.01856905e+02] [ 5.43168947e-02 9.98523720e-01 -2.36424693e-04 8.08716383e+00] [ 1.59759016e-02 -6.32300343e-04 9.99872177e-01 4.61452623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4992541539999 meters Centerline goodness [0,1] 0.9992756247736327 Centerline is valid? [True, True] Translation: X:501.89, Y:8.09, Z:4.62 [[ 9.98582257e-01 -5.08926507e-02 -1.56017662e-02 5.01887507e+02] [ 5.08952498e-02 9.98703970e-01 -2.30674372e-04 8.09002732e+00] [ 1.55932855e-02 -5.63708452e-04 9.99878258e-01 4.61501241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.52925415399994 meters Centerline goodness [0,1] 0.9991468122773713 Centerline is valid? [True, True] Translation: X:501.92, Y:8.10, Z:4.62 [[ 9.98920057e-01 -4.40363164e-02 -1.48162826e-02 5.01918689e+02] [ 4.40379126e-02 9.99029837e-01 -2.18667019e-04 8.09770557e+00] [ 1.48115376e-02 -4.34047285e-04 9.99890209e-01 4.61567541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5592541539999 meters Centerline goodness [0,1] 0.9993386948823517 Centerline is valid? [True, True] Translation: X:501.95, Y:8.10, Z:4.62 [[ 9.99056028e-01 -4.07321467e-02 -1.50978518e-02 5.01949756e+02] [ 4.07334326e-02 9.99170025e-01 -2.22460888e-04 8.10164738e+00] [ 1.50943823e-02 -3.92736438e-04 9.99885996e-01 4.61610806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.58925415399995 meters Centerline goodness [0,1] 0.9991897827338436 Centerline is valid? [True, True] Translation: X:501.98, Y:8.10, Z:4.62 [[ 9.99169410e-01 -3.77553540e-02 -1.53305005e-02 5.01982224e+02] [ 3.77563412e-02 9.99286950e-01 -2.25137694e-04 8.10462768e+00] [ 1.53280692e-02 -3.53872909e-04 9.99882456e-01 4.61603526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6192541539999 meters Centerline goodness [0,1] 0.9994870808488812 Centerline is valid? [True, True] Translation: X:502.01, Y:8.11, Z:4.62 [[ 9.99248099e-01 -3.53630397e-02 -1.58962954e-02 5.02014422e+02] [ 3.53638165e-02 9.99374478e-01 -2.32310426e-04 8.10673899e+00] [ 1.58945671e-02 -3.30017922e-04 9.99873619e-01 4.61609276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.64925415399995 meters Centerline goodness [0,1] 0.9992309828466451 Centerline is valid? [True, True] Translation: X:502.05, Y:8.11, Z:4.62 [[ 9.99330708e-01 -3.25908300e-02 -1.66124392e-02 5.02045455e+02] [ 3.25913222e-02 9.99468733e-01 -2.41173073e-04 8.10838019e+00] [ 1.66114736e-02 -3.00409699e-04 9.99861975e-01 4.61540291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6792541539999 meters Centerline goodness [0,1] 0.9991658646134103 Centerline is valid? [True, True] Translation: X:502.08, Y:8.11, Z:4.62 [[ 9.99319233e-01 -3.25203128e-02 -1.74212513e-02 5.02076982e+02] [ 3.25208701e-02 9.99471025e-01 -2.51379842e-04 8.10989365e+00] [ 1.74202109e-02 -3.15345542e-04 9.99848207e-01 4.61646110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.70925415399995 meters Centerline goodness [0,1] 0.9995075895437711 Centerline is valid? [True, True] Translation: X:502.11, Y:8.11, Z:4.62 [[ 9.99295645e-01 -3.31297622e-02 -1.76247900e-02 5.02108662e+02] [ 3.31304386e-02 9.99451004e-01 -2.53682992e-04 8.10920175e+00] [ 1.76235186e-02 -3.30412715e-04 9.99844639e-01 4.61720774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7392541539999 meters Centerline goodness [0,1] 0.9993802624268069 Centerline is valid? [True, True] Translation: X:502.14, Y:8.11, Z:4.62 [[ 9.99254687e-01 -3.42970329e-02 -1.77139523e-02 5.02139444e+02] [ 3.42979238e-02 9.99411621e-01 -2.53591931e-04 8.10774456e+00] [ 1.77122272e-02 -3.54148860e-04 9.99843063e-01 4.61742649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.76925415399995 meters Centerline goodness [0,1] 0.9991684789561213 Centerline is valid? [True, True] Translation: X:502.17, Y:8.10, Z:4.62 [[ 9.99146415e-01 -3.73190739e-02 -1.77123882e-02 5.02171200e+02] [ 3.73204652e-02 9.99303317e-01 -2.52106349e-04 8.10485573e+00] [ 1.77094567e-02 -4.09143414e-04 9.99843092e-01 4.61885514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7992541539999 meters Centerline goodness [0,1] 0.9990408185015454 Centerline is valid? [True, True] Translation: X:502.20, Y:8.10, Z:4.62 [[ 9.99087270e-01 -3.89610353e-02 -1.75118598e-02 5.02203102e+02] [ 3.89626633e-02 9.99240636e-01 -2.48335613e-04 8.10285013e+00] [ 1.75082374e-02 -4.34199750e-04 9.99846625e-01 4.61945736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.82925415399995 meters Centerline goodness [0,1] 0.9988937582436285 Centerline is valid? [True, True] Translation: X:502.24, Y:8.10, Z:4.62 [[ 9.98994216e-01 -4.11746871e-02 -1.77539197e-02 5.02235299e+02] [ 4.11767327e-02 9.99151847e-01 -2.50472846e-04 8.09951768e+00] [ 1.77491748e-02 -4.80827481e-04 9.99842355e-01 4.61901724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8592541539999 meters Centerline goodness [0,1] 0.9988515769549776 Centerline is valid? [True, True] Translation: X:502.27, Y:8.10, Z:4.62 [[ 9.98922340e-01 -4.28361344e-02 -1.78668333e-02 5.02266150e+02] [ 4.28385032e-02 9.99081979e-01 -2.50299238e-04 8.09652618e+00] [ 1.78611530e-02 -5.15358892e-04 9.99840344e-01 4.62073319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.88925415399996 meters Centerline goodness [0,1] 0.9988113431822041 Centerline is valid? [True, True] Translation: X:502.30, Y:8.09, Z:4.62 [[ 9.98892546e-01 -4.34359496e-02 -1.80831099e-02 5.02297389e+02] [ 4.34385044e-02 9.99056071e-01 -2.51668557e-04 8.09471655e+00] [ 1.80769722e-02 -5.34113404e-04 9.99836456e-01 4.62140469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.91925415399993 meters Centerline goodness [0,1] 0.9991062308478039 Centerline is valid? [True, True] Translation: X:502.33, Y:8.09, Z:4.62 [[ 9.98873057e-01 -4.39885859e-02 -1.78218935e-02 5.02329971e+02] [ 4.39911746e-02 9.99031889e-01 -2.46941216e-04 8.09493321e+00] [ 1.78155025e-02 -5.37343101e-04 9.99841147e-01 4.62292140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.94925415399996 meters Centerline goodness [0,1] 0.9991289198606271 Centerline is valid? [True, True] Translation: X:502.36, Y:8.09, Z:4.62 [[ 9.98867653e-01 -4.43418012e-02 -1.72399656e-02 5.02361102e+02] [ 4.43442946e-02 9.99016280e-01 -2.37808758e-04 8.09216806e+00] [ 1.72335512e-02 -5.26954637e-04 9.99851352e-01 4.62458229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.97925415399993 meters Centerline goodness [0,1] 0.9990034772283946 Centerline is valid? [True, True] Translation: X:502.39, Y:8.09, Z:4.63 [[ 9.98866872e-01 -4.44267288e-02 -1.70657149e-02 5.02392760e+02] [ 4.44291998e-02 9.99012508e-01 -2.34504177e-04 8.09058541e+00] [ 1.70592809e-02 -5.23977605e-04 9.99854343e-01 4.62538175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.00925415399996 meters Centerline goodness [0,1] 0.9987900144349156 Centerline is valid? [True, True] Translation: X:502.42, Y:8.09, Z:4.63 [[ 9.98845582e-01 -4.48340604e-02 -1.72456095e-02 5.02424586e+02] [ 4.48366627e-02 9.98994303e-01 -2.35914452e-04 8.09065760e+00] [ 1.72388426e-02 -5.37593466e-04 9.99851256e-01 4.62633320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.03925415399993 meters Centerline goodness [0,1] 0.998749814591147 Centerline is valid? [True, True] Translation: X:502.46, Y:8.09, Z:4.63 [[ 9.98800715e-01 -4.54804084e-02 -1.81291025e-02 5.02455475e+02] [ 4.54834118e-02 9.98965064e-01 -2.46831623e-04 8.08674979e+00] [ 1.81215660e-02 -5.78037834e-04 9.99835624e-01 4.62644570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.0692541539999 meters Centerline goodness [0,1] 0.9987707958037512 Centerline is valid? [True, True] Translation: X:502.49, Y:8.09, Z:4.63 [[ 9.98772330e-01 -4.59215196e-02 -1.85754419e-02 5.02487258e+02] [ 4.59247704e-02 9.98944869e-01 -2.51756043e-04 8.08525887e+00] [ 1.85674034e-02 -6.01625937e-04 9.99827430e-01 4.62635455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.09925415399994 meters Centerline goodness [0,1] 0.9987294595968151 Centerline is valid? [True, True] Translation: X:502.52, Y:8.08, Z:4.63 [[ 9.98747835e-01 -4.61351530e-02 -1.93471027e-02 5.02519495e+02] [ 4.61387462e-02 9.98935007e-01 -2.60841740e-04 8.08371192e+00] [ 1.93385321e-02 -6.32135937e-04 9.99812793e-01 4.62627055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.1292541539999 meters Centerline goodness [0,1] 0.9985813200076228 Centerline is valid? [True, True] Translation: X:502.55, Y:8.08, Z:4.62 [[ 9.98716304e-01 -4.61016787e-02 -2.09852146e-02 5.02549511e+02] [ 4.61059180e-02 9.98936517e-01 -2.82022490e-04 8.08047901e+00] [ 2.09758989e-02 -6.85882125e-04 9.99779746e-01 4.62497945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.15925415399994 meters Centerline goodness [0,1] 0.9986055650630665 Centerline is valid? [True, True] Translation: X:502.58, Y:8.08, Z:4.63 [[ 9.98713520e-01 -4.56865553e-02 -2.20009720e-02 5.02580612e+02] [ 4.56911281e-02 9.98955571e-01 -2.95058670e-04 8.08208837e+00] [ 2.19914737e-02 -7.10570145e-04 9.99757906e-01 4.62551565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.1892541539999 meters Centerline goodness [0,1] 0.9986270989544831 Centerline is valid? [True, True] Translation: X:502.61, Y:8.08, Z:4.63 [[ 9.98785764e-01 -4.32597146e-02 -2.35710517e-02 5.02611986e+02] [ 4.32643088e-02 9.99063612e-01 -3.15256862e-04 8.08274981e+00] [ 2.35626180e-02 -7.04911194e-04 9.99722114e-01 4.62508662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.21925415399994 meters Centerline goodness [0,1] 0.9986059185096001 Centerline is valid? [True, True] Translation: X:502.64, Y:8.08, Z:4.63 [[ 9.98840076e-01 -4.15803857e-02 -2.42811392e-02 5.02642697e+02] [ 4.15847737e-02 9.99134927e-01 -3.24411675e-04 8.08337909e+00] [ 2.42736234e-02 -6.85690296e-04 9.99705117e-01 4.62528340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.2492541539999 meters Centerline goodness [0,1] 0.9989643000570692 Centerline is valid? [True, True] Translation: X:502.67, Y:8.08, Z:4.63 [[ 9.98920047e-01 -3.94958531e-02 -2.44707250e-02 5.02672476e+02] [ 3.94996785e-02 9.99219530e-01 -3.27208900e-04 8.08422002e+00] [ 2.44645497e-02 -6.39730242e-04 9.99700493e-01 4.62572363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.27925415399994 meters Centerline goodness [0,1] 0.9988571670440837 Centerline is valid? [True, True] Translation: X:502.70, Y:8.09, Z:4.63 [[ 9.98992000e-01 -3.72010896e-02 -2.51209823e-02 5.02702420e+02] [ 3.72043781e-02 9.99307621e-01 -3.36618537e-04 8.08566252e+00] [ 2.51161117e-02 -5.98331301e-04 9.99684362e-01 4.62624797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3092541539999 meters Centerline goodness [0,1] 0.9988798241535275 Centerline is valid? [True, True] Translation: X:502.73, Y:8.09, Z:4.63 [[ 9.99150730e-01 -3.25068438e-02 -2.53204435e-02 5.02730920e+02] [ 3.25086491e-02 9.99471396e-01 -3.40442199e-04 8.08783627e+00] [ 2.53181257e-02 -4.82980339e-04 9.99679328e-01 4.62629297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.33925415399995 meters Centerline goodness [0,1] 0.9987954607890789 Centerline is valid? [True, True] Translation: X:502.76, Y:8.09, Z:4.63 [[ 9.99224752e-01 -3.03410427e-02 -2.50861598e-02 5.02758720e+02] [ 3.03420701e-02 9.99539516e-01 -3.39772345e-04 8.08899652e+00] [ 2.50849170e-02 -4.21657081e-04 9.99685235e-01 4.62636722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3692541539999 meters Centerline goodness [0,1] 0.9988571912300008 Centerline is valid? [True, True] Translation: X:502.79, Y:8.09, Z:4.63 [[ 9.99317114e-01 -2.69044703e-02 -2.53269498e-02 5.02787956e+02] [ 2.69043300e-02 9.99637953e-01 -3.46357634e-04 8.09188772e+00] [ 2.53270988e-02 -3.35283505e-04 9.99679161e-01 4.62854275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.39925415399995 meters Centerline goodness [0,1] 0.9989874485813732 Centerline is valid? [True, True] Translation: X:502.82, Y:8.09, Z:4.63 [[ 9.99349112e-01 -2.59683249e-02 -2.50399239e-02 5.02816053e+02] [ 2.59678283e-02 9.99662720e-01 -3.45052722e-04 8.09101476e+00] [ 2.50404389e-02 -3.05404313e-04 9.99686392e-01 4.62731595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4292541539999 meters Centerline goodness [0,1] 0.9991981938260924 Centerline is valid? [True, True] Translation: X:502.85, Y:8.09, Z:4.63 [[ 9.99412663e-01 -2.41567831e-02 -2.43059276e-02 5.02845146e+02] [ 2.41556662e-02 9.99708152e-01 -3.39601276e-04 8.09277558e+00] [ 2.43070377e-02 -2.47724059e-04 9.99704510e-01 4.63046021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.45925415399995 meters Centerline goodness [0,1] 0.9989462370123712 Centerline is valid? [True, True] Translation: X:502.87, Y:8.09, Z:4.63 [[ 9.99394633e-01 -2.43654035e-02 -2.48333281e-02 5.02873073e+02] [ 2.43641271e-02 9.99703088e-01 -3.54009431e-04 8.09227960e+00] [ 2.48345804e-02 -2.51247236e-04 9.99691543e-01 4.63068407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4892541539999 meters Centerline goodness [0,1] 0.9989877475273624 Centerline is valid? [True, True] Translation: X:502.90, Y:8.09, Z:4.63 [[ 9.99380417e-01 -2.46220313e-02 -2.51503075e-02 5.02900448e+02] [ 2.46206966e-02 9.99696799e-01 -3.62771007e-04 8.09121332e+00] [ 2.51516140e-02 -2.56671850e-04 9.99683615e-01 4.63017975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.51925415399995 meters Centerline goodness [0,1] 0.998800580771416 Centerline is valid? [True, True] Translation: X:502.93, Y:8.09, Z:4.63 [[ 9.99312566e-01 -2.69627594e-02 -2.54441715e-02 5.02929196e+02] [ 2.69620259e-02 9.99636389e-01 -3.71958284e-04 8.08747767e+00] [ 2.54449488e-02 -3.14323825e-04 9.99676175e-01 4.62949868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5492541539999 meters Centerline goodness [0,1] 0.9989910243205179 Centerline is valid? [True, True] Translation: X:502.96, Y:8.09, Z:4.63 [[ 9.99259679e-01 -2.88635215e-02 -2.54360070e-02 5.02957625e+02] [ 2.88632398e-02 9.99583298e-01 -3.78292622e-04 8.08549755e+00] [ 2.54363266e-02 -3.56153005e-04 9.99676381e-01 4.62958463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57925415399995 meters Centerline goodness [0,1] 0.9989684862008715 Centerline is valid? [True, True] Translation: X:502.99, Y:8.08, Z:4.63 [[ 9.99175638e-01 -3.13256606e-02 -2.58214668e-02 5.02986493e+02] [ 3.13260220e-02 9.99509143e-01 -3.90611247e-04 8.08348101e+00] [ 2.58210283e-02 -4.18594594e-04 9.99666494e-01 4.62974290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6092541539999 meters Centerline goodness [0,1] 0.998950307559885 Centerline is valid? [True, True] Translation: X:503.01, Y:8.08, Z:4.63 [[ 9.99036995e-01 -3.61736248e-02 -2.48304468e-02 5.03014815e+02] [ 3.61753635e-02 9.99345385e-01 -3.79313001e-04 8.07865141e+00] [ 2.48279135e-02 -5.19302718e-04 9.99691605e-01 4.63061819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63925415399996 meters Centerline goodness [0,1] 0.9987170858921511 Centerline is valid? [True, True] Translation: X:503.04, Y:8.08, Z:4.63 [[ 9.98937200e-01 -3.92115754e-02 -2.42264763e-02 5.03042296e+02] [ 3.92140513e-02 9.99230764e-01 -3.73056940e-04 8.07506156e+00] [ 2.42224686e-02 -5.77357828e-04 9.99706426e-01 4.63038444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.66925415399993 meters Centerline goodness [0,1] 0.9988031747364885 Centerline is valid? [True, True] Translation: X:503.07, Y:8.07, Z:4.63 [[ 9.98812934e-01 -4.25464419e-02 -2.37175918e-02 5.03071344e+02] [ 4.25496392e-02 9.99094285e-01 -3.70064489e-04 8.07199181e+00] [ 2.37118554e-02 -6.39549777e-04 9.99718630e-01 4.63093108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69925415399996 meters Centerline goodness [0,1] 0.998869204673954 Centerline is valid? [True, True] Translation: X:503.10, Y:8.07, Z:4.63 [[ 9.98584512e-01 -4.83281628e-02 -2.22117517e-02 5.03101358e+02] [ 4.83323421e-02 9.98831248e-01 -3.48958137e-04 8.06846599e+00] [ 2.22026562e-02 -7.25081790e-04 9.99753228e-01 4.63278886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.72925415399993 meters Centerline goodness [0,1] 0.9989935840986287 Centerline is valid? [True, True] Translation: X:503.13, Y:8.06, Z:4.63 [[ 9.98464610e-01 -5.09165382e-02 -2.18157798e-02 5.03131497e+02] [ 5.09211880e-02 9.98702616e-01 -3.42679595e-04 8.06342137e+00] [ 2.18049244e-02 -7.68731974e-04 9.99761949e-01 4.63206858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75925415399996 meters Centerline goodness [0,1] 0.9987408448930768 Centerline is valid? [True, True] Translation: X:503.16, Y:8.06, Z:4.63 [[ 9.98304370e-01 -5.38269707e-02 -2.21594834e-02 5.03161908e+02] [ 5.38324983e-02 9.98549919e-01 -3.47435482e-04 8.05963465e+00] [ 2.21460517e-02 -8.46053992e-04 9.99754388e-01 4.63167065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.78925415399993 meters Centerline goodness [0,1] 0.9990357000607928 Centerline is valid? [True, True] Translation: X:503.19, Y:8.06, Z:4.63 [[ 9.98015158e-01 -5.92862456e-02 -2.12340664e-02 5.03192890e+02] [ 5.92925655e-02 9.98240593e-01 -3.32381866e-04 8.05770598e+00] [ 2.12164127e-02 -9.27300132e-04 9.99774477e-01 4.63308564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8192541539999 meters Centerline goodness [0,1] 0.9989112455769351 Centerline is valid? [True, True] Translation: X:503.22, Y:8.06, Z:4.63 [[ 9.97829235e-01 -6.22432447e-02 -2.15080294e-02 5.03224542e+02] [ 6.22504272e-02 9.98060505e-01 -3.36063249e-04 8.05535269e+00] [ 2.14872323e-02 -1.00355028e-03 9.99768619e-01 4.63338741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.84925415399994 meters Centerline goodness [0,1] 0.9988075313807532 Centerline is valid? [True, True] Translation: X:503.25, Y:8.05, Z:4.63 [[ 9.97658683e-01 -6.51171205e-02 -2.09024374e-02 5.03254361e+02] [ 6.51245599e-02 9.97877090e-01 -3.25319724e-04 8.05241212e+00] [ 2.08792473e-02 -1.03670399e-03 9.99781467e-01 4.63372844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8792541539999 meters Centerline goodness [0,1] 0.9986193623964522 Centerline is valid? [True, True] Translation: X:503.29, Y:8.05, Z:4.63 [[ 9.97234765e-01 -7.12317776e-02 -2.11862573e-02 5.03285410e+02] [ 7.12408132e-02 9.97459091e-01 -3.28915775e-04 8.04785911e+00] [ 2.11558542e-02 -1.18131995e-03 9.99775492e-01 4.63376689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.90925415399994 meters Centerline goodness [0,1] 0.9990585380141429 Centerline is valid? [True, True] Translation: X:503.32, Y:8.05, Z:4.63 [[ 9.97009831e-01 -7.41955719e-02 -2.15966146e-02 5.03316727e+02] [ 7.42056640e-02 9.97242903e-01 -3.34818534e-04 8.04549477e+00] [ 2.15619127e-02 -1.26877376e-03 9.99766710e-01 4.63380312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9392541539999 meters Centerline goodness [0,1] 0.9986208049483847 Centerline is valid? [True, True] Translation: X:503.35, Y:8.04, Z:4.63 [[ 9.96597136e-01 -7.95122002e-02 -2.17246301e-02 5.03346129e+02] [ 7.95236790e-02 9.96832920e-01 -3.36393165e-04 8.03960122e+00] [ 2.16825739e-02 -1.39237405e-03 9.99763936e-01 4.63264702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.96925415399994 meters Centerline goodness [0,1] 0.9985966235180763 Centerline is valid? [True, True] Translation: X:503.38, Y:8.04, Z:4.63 [[ 9.96438110e-01 -8.12688102e-02 -2.25049428e-02 5.03377345e+02] [ 8.12815868e-02 9.96691117e-01 -3.47946036e-04 8.03965729e+00] [ 2.24587537e-02 -1.48253077e-03 9.99746671e-01 4.63274064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9992541539999 meters Centerline goodness [0,1] 0.9984920834380497 Centerline is valid? [True, True] Translation: X:503.41, Y:8.04, Z:4.63 [[ 9.96331928e-01 -8.28342533e-02 -2.14750051e-02 5.03409149e+02] [ 8.28462700e-02 9.96562284e-01 -3.31026509e-04 8.04202079e+00] [ 2.14286005e-02 -1.44931179e-03 9.99769331e-01 4.63385216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.02925415399994 meters Centerline goodness [0,1] 0.9983232378277546 Centerline is valid? [True, True] Translation: X:503.44, Y:8.04, Z:4.63 [[ 9.96215326e-01 -8.43064879e-02 -2.11528055e-02 5.03441155e+02] [ 8.43185060e-02 9.96438801e-01 -3.24678691e-04 8.04175442e+00] [ 2.11048486e-02 -1.46012307e-03 9.99776202e-01 4.63412375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0592541539999 meters Centerline goodness [0,1] 0.9987218171150783 Centerline is valid? [True, True] Translation: X:503.47, Y:8.04, Z:4.63 [[ 9.96248211e-01 -8.39690960e-02 -2.09449976e-02 5.03472128e+02] [ 8.39808323e-02 9.96467319e-01 -3.20171644e-04 8.03838255e+00] [ 2.08978902e-02 -1.44000791e-03 9.99780578e-01 4.63384484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.08925415399995 meters Centerline goodness [0,1] 0.9986582809224319 Centerline is valid? [True, True] Translation: X:503.50, Y:8.04, Z:4.63 [[ 9.96463323e-01 -8.14213484e-02 -2.07703966e-02 5.03503143e+02] [ 8.14323536e-02 9.96678821e-01 -3.16788568e-04 8.04396012e+00] [ 2.07272077e-02 -1.37571409e-03 9.99784222e-01 4.63421530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1192541539999 meters Centerline goodness [0,1] 0.9986163522012579 Centerline is valid? [True, True] Translation: X:503.53, Y:8.05, Z:4.63 [[ 9.96638001e-01 -7.93404727e-02 -2.04397585e-02 5.03534443e+02] [ 7.93507059e-02 9.96846713e-01 -3.11181183e-04 8.04597373e+00] [ 2.03999954e-02 -1.31177428e-03 9.99791038e-01 4.63439144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.14925415399995 meters Centerline goodness [0,1] 0.9986337936397839 Centerline is valid? [True, True] Translation: X:503.57, Y:8.05, Z:4.63 [[ 9.96831562e-01 -7.69446369e-02 -2.01583600e-02 5.03566142e+02] [ 7.69541242e-02 9.97034588e-01 -3.05802034e-04 8.05098830e+00] [ 2.01221120e-02 -1.24643582e-03 9.99796753e-01 4.63485297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1792541539999 meters Centerline goodness [0,1] 0.9986337936397839 Centerline is valid? [True, True] Translation: X:503.60, Y:8.05, Z:4.64 [[ 9.96837162e-01 -7.68720514e-02 -2.01583819e-02 5.03597889e+02] [ 7.68815531e-02 9.97040187e-01 -3.04354786e-04 8.05140617e+00] [ 2.01221133e-02 -1.24641555e-03 9.99796753e-01 4.63515024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.20925415399995 meters Centerline goodness [0,1] 0.9984704354020869 Centerline is valid? [True, True] Translation: X:503.63, Y:8.06, Z:4.64 [[ 9.97196900e-01 -7.21145311e-02 -1.99458677e-02 5.03627760e+02] [ 7.21228948e-02 9.97395708e-01 -3.00645939e-04 8.05524414e+00] [ 1.99156038e-02 -1.13875052e-03 9.99801016e-01 4.63533231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2392541539999 meters Centerline goodness [0,1] 0.9988224904327347 Centerline is valid? [True, True] Translation: X:503.66, Y:8.06, Z:4.64 [[ 9.97368444e-01 -6.96446915e-02 -2.01445511e-02 5.03659463e+02] [ 6.96527290e-02 9.97571253e-01 -3.03216415e-04 8.06057783e+00] [ 2.01167425e-02 -1.10070448e-03 9.99797032e-01 4.63568425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.26925415399995 meters Centerline goodness [0,1] 0.998887536207548 Centerline is valid? [True, True] Translation: X:503.69, Y:8.07, Z:4.64 [[ 9.97539773e-01 -6.71010946e-02 -2.02939471e-02 5.03691442e+02] [ 6.71087493e-02 9.97745620e-01 -3.04361343e-04 8.06538230e+00] [ 2.02686198e-02 -1.05828886e-03 9.99794010e-01 4.63598606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2992541539999 meters Centerline goodness [0,1] 0.998717840928199 Centerline is valid? [True, True] Translation: X:503.72, Y:8.07, Z:4.64 [[ 9.97703493e-01 -6.46006140e-02 -2.03593111e-02 5.03722057e+02] [ 6.46078173e-02 9.97910686e-01 -3.04432510e-04 8.06668650e+00] [ 2.03364406e-02 -1.01163727e-03 9.99792681e-01 4.63559007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.32925415399995 meters Centerline goodness [0,1] 0.9987564810521435 Centerline is valid? [True, True] Translation: X:503.75, Y:8.07, Z:4.64 [[ 9.98080013e-01 -5.85641032e-02 -2.01626596e-02 5.03751883e+02] [ 5.85699419e-02 9.98283262e-01 -3.01329874e-04 8.07259236e+00] [ 2.01456927e-02 -8.80174478e-04 9.99796668e-01 4.63519748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3592541539999 meters Centerline goodness [0,1] 0.9988620079237966 Centerline is valid? [True, True] Translation: X:503.78, Y:8.08, Z:4.64 [[ 9.98285780e-01 -5.50347459e-02 -1.99167678e-02 5.03783145e+02] [ 5.50397462e-02 9.98484120e-01 -2.97428157e-04 8.07953325e+00] [ 1.99029453e-02 -7.99295547e-04 9.99801597e-01 4.63593633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.38925415399996 meters Centerline goodness [0,1] 0.9988198849387815 Centerline is valid? [True, True] Translation: X:503.81, Y:8.09, Z:4.64 [[ 9.98680996e-01 -4.70956874e-02 -2.04514965e-02 5.03812464e+02] [ 4.70993003e-02 9.98890166e-01 -3.05248209e-04 8.08765715e+00] [ 2.04431746e-02 -6.58405592e-04 9.99790800e-01 4.63553837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.41925415399993 meters Centerline goodness [0,1] 0.9988416907103594 Centerline is valid? [True, True] Translation: X:503.84, Y:8.10, Z:4.64 [[ 9.98891134e-01 -4.26403519e-02 -1.99575491e-02 5.03843562e+02] [ 4.26429086e-02 9.99090333e-01 -2.97638328e-04 8.09583786e+00] [ 1.99520858e-02 -5.53739655e-04 9.99800784e-01 4.63722739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.44925415399996 meters Centerline goodness [0,1] 0.9988616960728515 Centerline is valid? [True, True] Translation: X:503.87, Y:8.10, Z:4.64 [[ 9.99076633e-01 -3.85099175e-02 -1.90491015e-02 5.03874212e+02] [ 3.85115024e-02 9.99258117e-01 -2.83766930e-04 8.10097708e+00] [ 1.90458971e-02 -4.50104609e-04 9.99818509e-01 4.63814089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.47925415399993 meters Centerline goodness [0,1] 0.9988819508902202 Centerline is valid? [True, True] Translation: X:503.91, Y:8.11, Z:4.64 [[ 9.99389145e-01 -3.04941212e-02 -1.70717627e-02 5.03905259e+02] [ 3.04942272e-02 9.99534911e-01 -2.54169288e-04 8.11020620e+00] [ 1.70715735e-02 -2.66576184e-04 9.99854235e-01 4.64053279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.50925415399996 meters Centerline goodness [0,1] 0.999006489525863 Centerline is valid? [True, True] Translation: X:503.93, Y:8.11, Z:4.64 [[ 9.99507487e-01 -2.70660673e-02 -1.58811759e-02 5.03934332e+02] [ 2.70657269e-02 9.99633628e-01 -2.36401873e-04 8.11314712e+00] [ 1.58817560e-02 -1.93550128e-04 9.99873858e-01 4.64156587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.53925415399993 meters Centerline goodness [0,1] 0.999091331727315 Centerline is valid? [True, True] Translation: X:503.97, Y:8.12, Z:4.64 [[ 9.99600368e-01 -2.39793290e-02 -1.49698609e-02 5.03965030e+02] [ 2.39786780e-02 9.99712445e-01 -2.22997553e-04 8.11642792e+00] [ 1.49709035e-02 -1.36049037e-04 9.99887920e-01 4.64257696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.5692541539999 meters Centerline goodness [0,1] 0.9991742186838316 Centerline is valid? [True, True] Translation: X:504.00, Y:8.12, Z:4.64 [[ 9.99698875e-01 -1.98902446e-02 -1.43714403e-02 5.03995028e+02] [ 1.98892221e-02 9.99802167e-01 -2.14083221e-04 8.12077492e+00] [ 1.43728553e-02 -7.18180139e-05 9.99896703e-01 4.64329689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.59925415399994 meters Centerline goodness [0,1] 0.999195494770716 Centerline is valid? [True, True] Translation: X:504.02, Y:8.12, Z:4.64 [[ 9.99722115e-01 -1.86890654e-02 -1.43670171e-02 5.04024431e+02] [ 1.86879169e-02 9.99825343e-01 -2.14197918e-04 8.12204015e+00] [ 1.43685109e-02 -5.43512252e-05 9.99896766e-01 4.64319725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.6292541539999 meters Centerline goodness [0,1] 0.999156989609897 Centerline is valid? [True, True] Translation: X:504.05, Y:8.12, Z:4.64 [[ 9.99724217e-01 -1.83382322e-02 -1.46696359e-02 5.04053889e+02] [ 1.83369892e-02 9.99831839e-01 -2.19248858e-04 8.12261017e+00] [ 1.46711897e-02 -4.98085620e-05 9.99892371e-01 4.64319093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.65925415399994 meters Centerline goodness [0,1] 0.9990899278291604 Centerline is valid? [True, True] Translation: X:504.08, Y:8.12, Z:4.64 [[ 9.99669229e-01 -2.08843445e-02 -1.50092451e-02 5.04082531e+02] [ 2.08833031e-02 9.99781894e-01 -2.26126420e-04 8.12030904e+00] [ 1.50106940e-02 -8.73909915e-05 9.99887329e-01 4.64220120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.6892541539999 meters Centerline goodness [0,1] 0.998857698897891 Centerline is valid? [True, True] Translation: X:504.11, Y:8.12, Z:4.64 [[ 9.99608898e-01 -2.33071567e-02 -1.54540543e-02 5.04111700e+02] [ 2.33062987e-02 9.99728344e-01 -2.35641049e-04 8.11775771e+00] [ 1.54553482e-02 -1.24627916e-04 9.99880551e-01 4.64126021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.71925415399994 meters Centerline goodness [0,1] 0.9988388540545106 Centerline is valid? [True, True] Translation: X:504.14, Y:8.11, Z:4.64 [[ 9.99430950e-01 -2.95852134e-02 -1.62015760e-02 5.04141755e+02] [ 2.95850822e-02 9.99562235e-01 -2.47824755e-04 8.11251691e+00] [ 1.62018155e-02 -2.31641228e-04 9.99868715e-01 4.64044944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.7492541539999 meters Centerline goodness [0,1] 0.9987953335024093 Centerline is valid? [True, True] Translation: X:504.17, Y:8.11, Z:4.64 [[ 9.99318245e-01 -3.29505631e-02 -1.66525148e-02 5.04172580e+02] [ 3.29508858e-02 9.99456940e-01 -2.55073855e-04 8.10932869e+00] [ 1.66518763e-02 -2.93815156e-04 9.99861305e-01 4.63986776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.77925415399994 meters Centerline goodness [0,1] 0.9989000063461172 Centerline is valid? [True, True] Translation: X:504.20, Y:8.11, Z:4.64 [[ 9.99198641e-01 -3.62753558e-02 -1.69167175e-02 5.04202391e+02] [ 3.62761651e-02 9.99341770e-01 -2.59120763e-04 8.10606892e+00] [ 1.69149821e-02 -3.54760522e-04 9.99856869e-01 4.63967580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8092541539999 meters Centerline goodness [0,1] 0.998797848782031 Centerline is valid? [True, True] Translation: X:504.23, Y:8.10, Z:4.64 [[ 9.99005644e-01 -4.10419619e-02 -1.74149379e-02 5.04233647e+02] [ 4.10435483e-02 9.99157323e-01 -2.66456514e-04 8.10183522e+00] [ 1.74111986e-02 -4.48579284e-04 9.99848313e-01 4.63929575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.83925415399995 meters Centerline goodness [0,1] 0.9986701285542398 Centerline is valid? [True, True] Translation: X:504.26, Y:8.10, Z:4.64 [[ 9.98970727e-01 -4.19916914e-02 -1.71518328e-02 5.04264599e+02] [ 4.19933915e-02 9.99117854e-01 -2.61182104e-04 8.09866591e+00] [ 1.71476699e-02 -4.59350354e-04 9.99852862e-01 4.63888108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8692541539999 meters Centerline goodness [0,1] 0.9986739354648593 Centerline is valid? [True, True] Translation: X:504.30, Y:8.10, Z:4.64 [[ 9.98987297e-01 -4.19263888e-02 -1.63266036e-02 5.04297221e+02] [ 4.19279460e-02 9.99120606e-01 -2.47056821e-04 8.09855467e+00] [ 1.63226043e-02 -4.37734329e-04 9.99866682e-01 4.64001814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.89925415399995 meters Centerline goodness [0,1] 0.9988007069516917 Centerline is valid? [True, True] Translation: X:504.33, Y:8.10, Z:4.64 [[ 9.99029197e-01 -4.12661237e-02 -1.54197889e-02 5.04328427e+02] [ 4.12674494e-02 9.99148109e-01 -2.32342643e-04 8.09754392e+00] [ 1.54162408e-02 -4.04218272e-04 9.99881081e-01 4.64061433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9292541539999 meters Centerline goodness [0,1] 0.9989265869675029 Centerline is valid? [True, True] Translation: X:504.36, Y:8.10, Z:4.64 [[ 9.99078365e-01 -4.03410078e-02 -1.46636874e-02 5.04361039e+02] [ 4.03421199e-02 9.99185901e-01 -2.20068919e-04 8.09741392e+00] [ 1.46606275e-02 -3.71698138e-04 9.99892458e-01 4.64125883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.95925415399995 meters Centerline goodness [0,1] 0.9986103215210662 Centerline is valid? [True, True] Translation: X:504.39, Y:8.10, Z:4.64 [[ 9.99195646e-01 -3.81572523e-02 -1.23323055e-02 5.04392722e+02] [ 3.81578811e-02 9.99271706e-01 -1.84394718e-04 8.09625441e+00] [ 1.23303599e-02 -2.86328246e-04 9.99923937e-01 4.64159368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9892541539999 meters Centerline goodness [0,1] 0.9987622723839893 Centerline is valid? [True, True] Translation: X:504.42, Y:8.10, Z:4.64 [[ 9.99241714e-01 -3.69191682e-02 -1.23681695e-02 5.04424836e+02] [ 3.69197128e-02 9.99318218e-01 -1.84366019e-04 8.09560565e+00] [ 1.23665438e-02 -2.72403051e-04 9.99923494e-01 4.64166204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.01925415399995 meters Centerline goodness [0,1] 0.9986150456405414 Centerline is valid? [True, True] Translation: X:504.46, Y:8.09, Z:4.64 [[ 9.99248508e-01 -3.69052856e-02 -1.18498655e-02 5.04455909e+02] [ 3.69057940e-02 9.99318734e-01 -1.75840320e-04 8.09304975e+00] [ 1.18482820e-02 -2.61620518e-04 9.99929772e-01 4.64153894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0492541539999 meters Centerline goodness [0,1] 0.9989314672421379 Centerline is valid? [True, True] Translation: X:504.49, Y:8.09, Z:4.64 [[ 9.99246958e-01 -3.68143676e-02 -1.22563954e-02 5.04487693e+02] [ 3.68149137e-02 9.99322085e-01 -1.81134942e-04 8.09066305e+00] [ 1.22547549e-02 -2.70219598e-04 9.99924871e-01 4.64044583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07925415399995 meters Centerline goodness [0,1] 0.998972724795069 Centerline is valid? [True, True] Translation: X:504.52, Y:8.09, Z:4.64 [[ 9.99215959e-01 -3.72966538e-02 -1.32825980e-02 5.04519402e+02] [ 3.72973502e-02 9.99304193e-01 -1.95367272e-04 8.09032098e+00] [ 1.32806424e-02 -3.00191612e-04 9.99911763e-01 4.64006744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1092541539999 meters Centerline goodness [0,1] 0.998910652561014 Centerline is valid? [True, True] Translation: X:504.55, Y:8.09, Z:4.64 [[ 9.99157058e-01 -3.82979527e-02 -1.47797216e-02 5.04550291e+02] [ 3.82989373e-02 9.99266303e-01 -2.16523731e-04 8.08648549e+00] [ 1.47771702e-02 -3.49706416e-04 9.99890751e-01 4.63800671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13925415399996 meters Centerline goodness [0,1] 0.9989313105066846 Centerline is valid? [True, True] Translation: X:504.58, Y:8.09, Z:4.64 [[ 9.99142156e-01 -3.83817149e-02 -1.55498118e-02 5.04581601e+02] [ 3.83828268e-02 9.99263082e-01 -2.27044549e-04 8.08571779e+00] [ 1.55470672e-02 -3.69995950e-04 9.99879069e-01 4.63758194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.16925415399993 meters Centerline goodness [0,1] 0.9989736070381232 Centerline is valid? [True, True] Translation: X:504.61, Y:8.08, Z:4.64 [[ 9.99116781e-01 -3.88119889e-02 -1.61024031e-02 5.04612969e+02] [ 3.88132467e-02 9.99246455e-01 -2.34512225e-04 8.08449084e+00] [ 1.60993711e-02 -3.90681444e-04 9.99870320e-01 4.63778668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19925415399996 meters Centerline goodness [0,1] 0.9988473468019113 Centerline is valid? [True, True] Translation: X:504.64, Y:8.08, Z:4.64 [[ 9.99110772e-01 -3.88938680e-02 -1.62767518e-02 5.04644711e+02] [ 3.88951737e-02 9.99243268e-01 -2.36455220e-04 8.08304083e+00] [ 1.62736313e-02 -3.96842130e-04 9.99867497e-01 4.63772853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.22925415399993 meters Centerline goodness [0,1] 0.9988079553296945 Centerline is valid? [True, True] Translation: X:504.68, Y:8.08, Z:4.64 [[ 9.99115192e-01 -3.85503107e-02 -1.68138601e-02 5.04675109e+02] [ 3.85516637e-02 9.99256579e-01 -2.43772729e-04 8.08090030e+00] [ 1.68107578e-02 -4.04645243e-04 9.99858607e-01 4.63825642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25925415399996 meters Centerline goodness [0,1] 0.9990994764397906 Centerline is valid? [True, True] Translation: X:504.71, Y:8.08, Z:4.64 [[ 9.99128864e-01 -3.82498048e-02 -1.66873177e-02 5.04705026e+02] [ 3.82511005e-02 9.99268130e-01 -2.41640325e-04 8.08034722e+00] [ 1.66843475e-02 -3.96878443e-04 9.99860728e-01 4.63878653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.28925415399993 meters Centerline goodness [0,1] 0.9989546746947651 Centerline is valid? [True, True] Translation: X:504.74, Y:8.08, Z:4.64 [[ 9.99177957e-01 -3.66025005e-02 -1.74260577e-02 5.04735124e+02] [ 3.66036661e-02 9.99329829e-01 -2.52163443e-04 8.08021382e+00] [ 1.74236091e-02 -3.85901443e-04 9.99848123e-01 4.63880190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3192541539999 meters Centerline goodness [0,1] 0.9990366492146597 Centerline is valid? [True, True] Translation: X:504.77, Y:8.08, Z:4.64 [[ 9.99199760e-01 -3.56880712e-02 -1.80610660e-02 5.04765928e+02] [ 3.56891741e-02 9.99362904e-01 -2.61352319e-04 8.08070265e+00] [ 1.80588866e-02 -3.83441356e-04 9.99836851e-01 4.63897927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.34925415399994 meters Centerline goodness [0,1] 0.9990169009370816 Centerline is valid? [True, True] Translation: X:504.80, Y:8.08, Z:4.64 [[ 9.99221051e-01 -3.47725073e-02 -1.86591650e-02 5.04795121e+02] [ 3.47735219e-02 9.99395182e-01 -2.70173992e-04 8.07947645e+00] [ 1.86572743e-02 -3.78881343e-04 9.99825866e-01 4.63835154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3792541539999 meters Centerline goodness [0,1] 0.9990573547278897 Centerline is valid? [True, True] Translation: X:504.82, Y:8.08, Z:4.64 [[ 9.99255437e-01 -3.35256801e-02 -1.90945340e-02 5.04824240e+02] [ 3.35265085e-02 9.99437790e-01 -2.76819365e-04 8.07812469e+00] [ 1.90930794e-02 -3.63559801e-04 9.99817644e-01 4.63796628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.40925415399994 meters Centerline goodness [0,1] 0.9990591088715579 Centerline is valid? [True, True] Translation: X:504.85, Y:8.08, Z:4.64 [[ 9.99252545e-01 -3.36094488e-02 -1.90985893e-02 5.04853933e+02] [ 3.36102829e-02 9.99434976e-01 -2.77398962e-04 8.07936204e+00] [ 1.90971214e-02 -3.64717372e-04 9.99817567e-01 4.63968031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4392541539999 meters Centerline goodness [0,1] 0.9989337904793761 Centerline is valid? [True, True] Translation: X:504.88, Y:8.08, Z:4.64 [[ 9.99238875e-01 -3.43088883e-02 -1.85626031e-02 5.04882916e+02] [ 3.43097813e-02 9.99411210e-01 -2.70451866e-04 8.07784603e+00] [ 1.85609526e-02 -3.66632836e-04 9.99827663e-01 4.63979041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.46925415399994 meters Centerline goodness [0,1] 0.998849949815992 Centerline is valid? [True, True] Translation: X:504.91, Y:8.08, Z:4.64 [[ 9.99195100e-01 -3.55675807e-02 -1.85499324e-02 5.04912161e+02] [ 3.55686736e-02 9.99367198e-01 -2.71111549e-04 8.07713191e+00] [ 1.85478367e-02 -3.88903160e-04 9.99827898e-01 4.64053920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4992541539999 meters Centerline goodness [0,1] 0.9988722982144722 Centerline is valid? [True, True] Translation: X:504.94, Y:8.08, Z:4.64 [[ 9.99149664e-01 -3.71089159e-02 -1.79687838e-02 5.04941186e+02] [ 3.71101920e-02 9.99311145e-01 -2.62529236e-04 8.07515083e+00] [ 1.79661480e-02 -4.04519017e-04 9.99838514e-01 4.64070301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.52925415399994 meters Centerline goodness [0,1] 0.9990807287314056 Centerline is valid? [True, True] Translation: X:504.97, Y:8.07, Z:4.64 [[ 9.99017192e-01 -4.08337411e-02 -1.72411151e-02 5.04971792e+02] [ 4.08354776e-02 9.99165852e-01 -2.51462414e-04 8.07137491e+00] [ 1.72370016e-02 -4.52833895e-04 9.99851329e-01 4.64158057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5592541539999 meters Centerline goodness [0,1] 0.998725316058928 Centerline is valid? [True, True] Translation: X:505.00, Y:8.07, Z:4.64 [[ 9.98945879e-01 -4.27310084e-02 -1.67687646e-02 5.05003313e+02] [ 4.27329226e-02 9.99086502e-01 -2.44306557e-04 8.06995936e+00] [ 1.67638858e-02 -4.72529293e-04 9.99859365e-01 4.64238907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.58925415399995 meters Centerline goodness [0,1] 0.9990596200865149 Centerline is valid? [True, True] Translation: X:505.03, Y:8.07, Z:4.64 [[ 9.98819608e-01 -4.59856611e-02 -1.56432188e-02 5.05034960e+02] [ 4.59877342e-02 9.98941979e-01 -2.27361166e-04 8.06836983e+00] [ 1.56371233e-02 -4.92303397e-04 9.99877612e-01 4.64422131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6192541539999 meters Centerline goodness [0,1] 0.999061130815773 Centerline is valid? [True, True] Translation: X:505.07, Y:8.07, Z:4.64 [[ 9.98755209e-01 -4.75733326e-02 -1.49936535e-02 5.05067035e+02] [ 4.75754270e-02 9.98867625e-01 -2.17170502e-04 8.06732482e+00] [ 1.49870066e-02 -4.96429299e-04 9.99887565e-01 4.64463072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.64925415399995 meters Centerline goodness [0,1] 0.9989356151518314 Centerline is valid? [True, True] Translation: X:505.10, Y:8.06, Z:4.64 [[ 9.98706067e-01 -4.87263246e-02 -1.45580345e-02 5.05097855e+02] [ 4.87284409e-02 9.98812042e-01 -2.09518314e-04 8.06417141e+00] [ 1.45509493e-02 -5.00143115e-04 9.99894004e-01 4.64463659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6792541539999 meters Centerline goodness [0,1] 0.9987489835491337 Centerline is valid? [True, True] Translation: X:505.13, Y:8.07, Z:4.65 [[ 9.98597358e-01 -5.11009833e-02 -1.38565919e-02 5.05129690e+02] [ 5.11031482e-02 9.98693361e-01 -1.98025413e-04 8.06528144e+00] [ 1.38486056e-02 -5.10367815e-04 9.99903973e-01 4.64537333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.70925415399995 meters Centerline goodness [0,1] 0.9988088770008776 Centerline is valid? [True, True] Translation: X:505.16, Y:8.07, Z:4.65 [[ 9.98539009e-01 -5.22048312e-02 -1.39464718e-02 5.05161473e+02] [ 5.22071439e-02 9.98636257e-01 -1.98443734e-04 8.06542183e+00] [ 1.39378122e-02 -5.29951652e-04 9.99902724e-01 4.64586360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7392541539999 meters Centerline goodness [0,1] 0.9986869528970405 Centerline is valid? [True, True] Translation: X:505.19, Y:8.06, Z:4.65 [[ 9.98443029e-01 -5.38622420e-02 -1.45043697e-02 5.05192621e+02] [ 5.38649326e-02 9.98548210e-01 -2.05372554e-04 8.06228357e+00] [ 1.44943742e-02 -5.76224100e-04 9.99894785e-01 4.64502222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.76925415399995 meters Centerline goodness [0,1] 0.9988725101265294 Centerline is valid? [True, True] Translation: X:505.23, Y:8.06, Z:4.65 [[ 9.98375309e-01 -5.49258576e-02 -1.51621803e-02 5.05225040e+02] [ 5.49289350e-02 9.98490244e-01 -2.13718150e-04 8.06470574e+00] [ 1.51510278e-02 -6.19471493e-04 9.99885025e-01 4.64516446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7992541539999 meters Centerline goodness [0,1] 0.9985817969466922 Centerline is valid? [True, True] Translation: X:505.26, Y:8.06, Z:4.64 [[ 9.98322214e-01 -5.57986230e-02 -1.54683825e-02 5.05256056e+02] [ 5.58019466e-02 9.98441834e-01 -2.16998788e-04 8.06263906e+00] [ 1.54563884e-02 -6.46531142e-04 9.99880334e-01 4.64470515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.82925415399995 meters Centerline goodness [0,1] 0.9986629060900449 Centerline is valid? [True, True] Translation: X:505.29, Y:8.07, Z:4.64 [[ 9.98251912e-01 -5.68121737e-02 -1.62940722e-02 5.05288015e+02] [ 5.68160136e-02 9.98384640e-01 -2.27531587e-04 8.06549317e+00] [ 1.62806779e-02 -6.98630384e-04 9.99867217e-01 4.64498632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8592541539999 meters Centerline goodness [0,1] 0.9987281863102808 Centerline is valid? [True, True] Translation: X:505.32, Y:8.07, Z:4.64 [[ 9.98126223e-01 -5.89757326e-02 -1.63066253e-02 5.05320246e+02] [ 5.89798861e-02 9.98259146e-01 -2.26502058e-04 8.06548243e+00] [ 1.62915959e-02 -7.35685258e-04 9.99867012e-01 4.64499030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.88925415399996 meters Centerline goodness [0,1] 0.9988530675230429 Centerline is valid? [True, True] Translation: X:505.35, Y:8.06, Z:4.64 [[ 9.98067057e-01 -5.98666849e-02 -1.66772093e-02 5.05351293e+02] [ 5.98711786e-02 9.98206085e-01 -2.30141255e-04 8.06408721e+00] [ 1.66610696e-02 -7.68787769e-04 9.99860899e-01 4.64488945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.91925415399993 meters Centerline goodness [0,1] 0.9986458897545936 Centerline is valid? [True, True] Translation: X:505.38, Y:8.06, Z:4.65 [[ 9.97982981e-01 -6.10819939e-02 -1.72904358e-02 5.05383051e+02] [ 6.10870388e-02 9.98132415e-01 -2.36718099e-04 8.06428284e+00] [ 1.72726037e-02 -8.19980890e-04 9.99850481e-01 4.64500226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.94925415399996 meters Centerline goodness [0,1] 0.9986631853785901 Centerline is valid? [True, True] Translation: X:505.42, Y:8.07, Z:4.65 [[ 9.97969639e-01 -6.12624737e-02 -1.74215207e-02 5.05415072e+02] [ 6.12676504e-02 9.98121345e-01 -2.36932524e-04 8.06657711e+00] [ 1.74033067e-02 -8.30924173e-04 9.99848206e-01 4.64532795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.97925415399993 meters Centerline goodness [0,1] 0.9985800200467758 Centerline is valid? [True, True] Translation: X:505.45, Y:8.07, Z:4.65 [[ 9.97965206e-01 -6.12301753e-02 -1.77851847e-02 5.05446271e+02] [ 6.12355861e-02 9.98123312e-01 -2.40704106e-04 8.06570152e+00] [ 1.77665458e-02 -8.48871886e-04 9.99841802e-01 4.64502219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.00925415399996 meters Centerline goodness [0,1] 0.9987482005382737 Centerline is valid? [True, True] Translation: X:505.48, Y:8.07, Z:4.65 [[ 9.98041976e-01 -5.97729047e-02 -1.84231863e-02 5.05477954e+02] [ 5.97784822e-02 9.98211637e-01 -2.48300108e-04 8.07103969e+00] [ 1.84050806e-02 -8.53496183e-04 9.99830248e-01 4.64576814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.03925415399993 meters Centerline goodness [0,1] 0.9987054205295247 Centerline is valid? [True, True] Translation: X:505.51, Y:8.07, Z:4.65 [[ 9.98135878e-01 -5.82875011e-02 -1.80924522e-02 5.05508454e+02] [ 5.82926488e-02 9.98299508e-01 -2.43173352e-04 8.07267455e+00] [ 1.80758601e-02 -8.11936913e-04 9.99836289e-01 4.64631425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.0692541539999 meters Centerline goodness [0,1] 0.9986656102748008 Centerline is valid? [True, True] Translation: X:505.54, Y:8.08, Z:4.65 [[ 9.98406335e-01 -5.39633089e-02 -1.65151804e-02 5.05539131e+02] [ 5.39670120e-02 9.98542694e-01 -2.21686993e-04 8.07871426e+00] [ 1.65030757e-02 -6.69941242e-04 9.99863591e-01 4.64762127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.09925415399994 meters Centerline goodness [0,1] 0.9986656102748008 Centerline is valid? [True, True] Translation: X:505.57, Y:8.08, Z:4.65 [[ 9.98410290e-01 -5.38900780e-02 -1.65151897e-02 5.05570843e+02] [ 5.38937826e-02 9.98546650e-01 -2.20991313e-04 8.07907914e+00] [ 1.65030966e-02 -6.69426043e-04 9.99863591e-01 4.64791832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.1292541539999 meters Centerline goodness [0,1] 0.9989178615278963 Centerline is valid? [True, True] Translation: X:505.60, Y:8.08, Z:4.65 [[ 9.98570540e-01 -5.09467452e-02 -1.61649502e-02 5.05602264e+02] [ 5.09499241e-02 9.98701186e-01 -2.15381807e-04 8.08259765e+00] [ 1.61549280e-02 -6.08529060e-04 9.99869315e-01 4.64857109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.15925415399994 meters Centerline goodness [0,1] 0.9987664903514457 Centerline is valid? [True, True] Translation: X:505.63, Y:8.09, Z:4.65 [[ 9.98912963e-01 -4.42262647e-02 -1.47285550e-02 5.05631888e+02] [ 4.42281783e-02 9.99021436e-01 -1.95930226e-04 8.09003115e+00] [ 1.47228075e-02 -4.55699916e-04 9.99891510e-01 4.64984152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.1892541539999 meters Centerline goodness [0,1] 0.9989133614744848 Centerline is valid? [True, True] Translation: X:505.66, Y:8.09, Z:4.65 [[ 9.99069069e-01 -4.06726370e-02 -1.43781541e-02 5.05662529e+02] [ 4.06740955e-02 9.99172448e-01 -1.91090927e-04 8.09412541e+00] [ 1.43740276e-02 -3.93905380e-04 9.99896611e-01 4.65058413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.21925415399994 meters Centerline goodness [0,1] 0.9988076561029181 Centerline is valid? [True, True] Translation: X:505.69, Y:8.10, Z:4.65 [[ 9.99191312e-01 -3.75692680e-02 -1.43273166e-02 5.05694406e+02] [ 3.75704060e-02 9.99293965e-01 -1.89812692e-04 8.09880843e+00] [ 1.43243321e-02 -3.48623908e-04 9.99897341e-01 4.65105332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.2492541539999 meters Centerline goodness [0,1] 0.9984724198543568 Centerline is valid? [True, True] Translation: X:505.73, Y:8.10, Z:4.65 [[ 9.99360212e-01 -3.23485459e-02 -1.52557835e-02 5.05725171e+02] [ 3.23492395e-02 9.99476606e-01 -2.01366541e-04 8.10425054e+00] [ 1.52543126e-02 -2.92275285e-04 9.99883603e-01 4.64964026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.27925415399994 meters Centerline goodness [0,1] 0.9987009449577807 Centerline is valid? [True, True] Translation: X:505.76, Y:8.11, Z:4.65 [[ 9.99391514e-01 -3.11469586e-02 -1.56993112e-02 5.05756616e+02] [ 3.11475538e-02 9.99514776e-01 -2.06656503e-04 8.10723365e+00] [ 1.56981302e-02 -2.82464384e-04 9.99876737e-01 4.64971993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3092541539999 meters Centerline goodness [0,1] 0.9989518698641623 Centerline is valid? [True, True] Translation: X:505.79, Y:8.11, Z:4.65 [[ 9.99388417e-01 -3.00263890e-02 -1.79222771e-02 5.05787560e+02] [ 3.00269942e-02 9.99549060e-01 -2.35389855e-04 8.11256355e+00] [ 1.79212631e-02 -3.02906216e-04 9.99839355e-01 4.64890717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.33925415399995 meters Centerline goodness [0,1] 0.99888671833974 Centerline is valid? [True, True] Translation: X:505.82, Y:8.11, Z:4.65 [[ 9.99354701e-01 -3.06142296e-02 -1.87869901e-02 5.05816998e+02] [ 3.06149952e-02 9.99531221e-01 -2.46919770e-04 8.11444109e+00] [ 1.87857424e-02 -3.28403179e-04 9.99823478e-01 4.64844856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3692541539999 meters Centerline goodness [0,1] 0.998761232888217 Centerline is valid? [True, True] Translation: X:505.85, Y:8.11, Z:4.65 [[ 9.99305684e-01 -3.16425672e-02 -1.96697373e-02 5.05845710e+02] [ 3.16435872e-02 9.99499183e-01 -2.59461250e-04 8.11480410e+00] [ 1.96680964e-02 -3.63139946e-04 9.99806498e-01 4.64784961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.39925415399995 meters Centerline goodness [0,1] 0.9989300549658037 Centerline is valid? [True, True] Translation: X:505.87, Y:8.12, Z:4.65 [[ 9.99210045e-01 -3.41543673e-02 -2.03166237e-02 5.05874911e+02] [ 3.41559513e-02 9.99416479e-01 -2.69136464e-04 8.11612464e+00] [ 2.03139607e-02 -4.25009750e-04 9.99793560e-01 4.64803335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4292541539999 meters Centerline goodness [0,1] 0.9987615709158079 Centerline is valid? [True, True] Translation: X:505.90, Y:8.12, Z:4.65 [[ 9.99159469e-01 -3.54781321e-02 -2.05343141e-02 5.05904341e+02] [ 3.54800104e-02 9.99370349e-01 -2.72952320e-04 8.11637227e+00] [ 2.05310685e-02 -4.55834781e-04 9.99789111e-01 4.64816921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.45925415399995 meters Centerline goodness [0,1] 0.998532710084474 Centerline is valid? [True, True] Translation: X:505.93, Y:8.12, Z:4.65 [[ 9.99062960e-01 -3.80377931e-02 -2.06477053e-02 5.05934224e+02] [ 3.80402271e-02 9.99276171e-01 -2.75010830e-04 8.11612471e+00] [ 2.06432207e-02 -5.10690267e-04 9.99786776e-01 4.64871645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4892541539999 meters Centerline goodness [0,1] 0.9985513027777194 Centerline is valid? [True, True] Translation: X:505.96, Y:8.12, Z:4.65 [[ 9.99015782e-01 -3.90432446e-02 -2.10497619e-02 5.05964795e+02] [ 3.90459937e-02 9.99237375e-01 -2.80539909e-04 8.11637441e+00] [ 2.10446620e-02 -5.41645076e-04 9.99778390e-01 4.64943936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.51925415399995 meters Centerline goodness [0,1] 0.9986357435197817 Centerline is valid? [True, True] Translation: X:506.00, Y:8.12, Z:4.65 [[ 9.98979609e-01 -4.04232886e-02 -2.01419403e-02 5.05995438e+02] [ 4.04260859e-02 9.99182496e-01 -2.68440951e-04 8.11662523e+00] [ 2.01363255e-02 -5.46092774e-04 9.99797095e-01 4.65040446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5492541539999 meters Centerline goodness [0,1] 0.998426188227888 Centerline is valid? [True, True] Translation: X:506.03, Y:8.12, Z:4.65 [[ 9.98946810e-01 -4.14159159e-02 -1.97482503e-02 5.06027179e+02] [ 4.14188061e-02 9.99141839e-01 -2.62815270e-04 8.11708741e+00] [ 1.97421878e-02 -5.55410474e-04 9.99804950e-01 4.65107980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57925415399995 meters Centerline goodness [0,1] 0.9985293190747316 Centerline is valid? [True, True] Translation: X:506.06, Y:8.11, Z:4.65 [[ 9.98876285e-01 -4.33615383e-02 -1.91296941e-02 5.06057607e+02] [ 4.33646164e-02 9.99059280e-01 -2.54075492e-04 8.11492405e+00] [ 1.91227155e-02 -5.75761860e-04 9.99816978e-01 4.65082712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6092541539999 meters Centerline goodness [0,1] 0.9986159169550173 Centerline is valid? [True, True] Translation: X:506.09, Y:8.12, Z:4.65 [[ 9.98850935e-01 -4.44255138e-02 -1.79773144e-02 5.06088625e+02] [ 4.44284126e-02 9.99012542e-01 -2.38301761e-04 8.11639321e+00] [ 1.79701493e-02 -5.60675607e-04 9.99838367e-01 4.65178881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63925415399996 meters Centerline goodness [0,1] 0.9986553491890074 Centerline is valid? [True, True] Translation: X:506.12, Y:8.12, Z:4.65 [[ 9.98809458e-01 -4.53083143e-02 -1.80782628e-02 5.06120689e+02] [ 4.53114079e-02 9.98972882e-01 -2.38658019e-04 8.11844751e+00] [ 1.80705075e-02 -5.80777653e-04 9.99836546e-01 4.65231402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.66925415399993 meters Centerline goodness [0,1] 0.9986132997163567 Centerline is valid? [True, True] Translation: X:506.15, Y:8.12, Z:4.65 [[ 9.98818073e-01 -4.47497217e-02 -1.89715556e-02 5.06152310e+02] [ 4.47530519e-02 9.98998049e-01 -2.49194216e-04 8.11670962e+00] [ 1.89636984e-02 -6.00135324e-04 9.99819993e-01 4.65131518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69925415399996 meters Centerline goodness [0,1] 0.9987181642430865 Centerline is valid? [True, True] Translation: X:506.18, Y:8.12, Z:4.65 [[ 9.98898424e-01 -4.28469089e-02 -1.91332186e-02 5.06183596e+02] [ 4.28499642e-02 9.99081487e-01 -2.50437931e-04 8.12324437e+00] [ 1.91263750e-02 -5.69695680e-04 9.99816912e-01 4.65285835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.72925415399993 meters Centerline goodness [0,1] 0.9988861568207132 Centerline is valid? [True, True] Translation: X:506.21, Y:8.13, Z:4.65 [[ 9.98981179e-01 -4.07725049e-02 -1.93444212e-02 5.06214617e+02] [ 4.07752533e-02 9.99168312e-01 -2.52489596e-04 8.12520190e+00] [ 1.93386273e-02 -5.36541320e-04 9.99812847e-01 4.65297252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75925415399996 meters Centerline goodness [0,1] 0.9986737679725491 Centerline is valid? [True, True] Translation: X:506.25, Y:8.13, Z:4.65 [[ 9.99056862e-01 -3.86015557e-02 -1.98822956e-02 5.06246091e+02] [ 3.86040442e-02 9.99254553e-01 -2.58773204e-04 8.12764932e+00] [ 1.98774634e-02 -5.09007871e-04 9.99802294e-01 4.65302847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.78925415399993 meters Centerline goodness [0,1] 0.9987561140158543 Centerline is valid? [True, True] Translation: X:506.28, Y:8.13, Z:4.65 [[ 9.99167358e-01 -3.57604766e-02 -1.96412749e-02 5.06276560e+02] [ 3.57623631e-02 9.99360289e-01 -2.55297620e-04 8.12980287e+00] [ 1.96378398e-02 -4.47333358e-04 9.99807059e-01 4.65326252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8192541539999 meters Centerline goodness [0,1] 0.9987554843064461 Centerline is valid? [True, True] Translation: X:506.31, Y:8.14, Z:4.65 [[ 9.99376021e-01 -2.92368705e-02 -1.98185262e-02 5.06306441e+02] [ 2.92375051e-02 9.99572460e-01 -2.57791779e-04 8.13503235e+00] [ 1.98175900e-02 -3.21813338e-04 9.99803560e-01 4.65361091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.84925415399994 meters Centerline goodness [0,1] 0.9989020502100885 Centerline is valid? [True, True] Translation: X:506.34, Y:8.14, Z:4.65 [[ 9.99455382e-01 -2.64122392e-02 -1.97821332e-02 5.06335547e+02] [ 2.64122627e-02 9.99651102e-01 -2.60130755e-04 8.13739270e+00] [ 1.97821019e-02 -2.62501815e-04 9.99804281e-01 4.65401014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8792541539999 meters Centerline goodness [0,1] 0.9987942122186495 Centerline is valid? [True, True] Translation: X:506.36, Y:8.14, Z:4.65 [[ 9.99589410e-01 -2.05996858e-02 -1.99164348e-02 5.06364334e+02] [ 2.05984548e-02 9.99787794e-01 -2.66973195e-04 8.14208347e+00] [ 1.99177080e-02 -1.43384203e-04 9.99801612e-01 4.65417764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.90925415399994 meters Centerline goodness [0,1] 0.9988225894621757 Centerline is valid? [True, True] Translation: X:506.39, Y:8.14, Z:4.65 [[ 9.99625422e-01 -1.81805238e-02 -2.04568881e-02 5.06392034e+02] [ 1.81786374e-02 9.99834716e-01 -2.78184802e-04 8.14379668e+00] [ 2.04585644e-02 -9.37977495e-05 9.99790697e-01 4.65345340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9392541539999 meters Centerline goodness [0,1] 0.9988154415653093 Centerline is valid? [True, True] Translation: X:506.42, Y:8.15, Z:4.65 [[ 9.99641533e-01 -1.69941233e-02 -2.06882910e-02 5.06420322e+02] [ 1.69918441e-02 9.99855587e-01 -2.85963381e-04 8.14577088e+00] [ 2.06901631e-02 -6.56713432e-05 9.99785934e-01 4.65486776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.96925415399994 meters Centerline goodness [0,1] 0.9989441452856087 Centerline is valid? [True, True] Translation: X:506.45, Y:8.15, Z:4.65 [[ 9.99638879e-01 -1.65073224e-02 -2.12042411e-02 5.06448628e+02] [ 1.65047355e-02 9.99863743e-01 -2.97008870e-04 8.14631654e+00] [ 2.12062547e-02 -5.30687777e-05 9.99775121e-01 4.65487500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9992541539999 meters Centerline goodness [0,1] 0.9987747686847775 Centerline is valid? [True, True] Translation: X:506.48, Y:8.14, Z:4.65 [[ 9.99570965e-01 -1.94071066e-02 -2.19374065e-02 5.06475931e+02] [ 1.94049751e-02 9.99811658e-01 -3.10052668e-04 8.14432703e+00] [ 2.19392920e-02 -1.15775182e-04 9.99759298e-01 4.65464536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.02925415399994 meters Centerline goodness [0,1] 0.9986269539501479 Centerline is valid? [True, True] Translation: X:506.50, Y:8.14, Z:4.66 [[ 9.99519442e-01 -2.17608617e-02 -2.20760270e-02 5.06504421e+02] [ 2.17591734e-02 9.99763191e-01 -3.16708277e-04 8.14334082e+00] [ 2.20776911e-02 -1.63800020e-04 9.99756245e-01 4.65555261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0592541539999 meters Centerline goodness [0,1] 0.9987985835932889 Centerline is valid? [True, True] Translation: X:506.53, Y:8.14, Z:4.66 [[ 9.99455201e-01 -2.46789213e-02 -2.19146566e-02 5.06531704e+02] [ 2.46778626e-02 9.99695404e-01 -3.18784676e-04 8.14140596e+00] [ 2.19158488e-02 -2.22195883e-04 9.99759794e-01 4.65517504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.08925415399995 meters Centerline goodness [0,1] 0.9987993427981632 Centerline is valid? [True, True] Translation: X:506.56, Y:8.14, Z:4.66 [[ 9.99254100e-01 -3.19711936e-02 -2.16584139e-02 5.06560238e+02] [ 3.19718253e-02 9.99488720e-01 -3.17187702e-04 8.13556971e+00] [ 2.16574812e-02 -3.75507914e-04 9.99765379e-01 4.65572960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1192541539999 meters Centerline goodness [0,1] 0.9987996209329262 Centerline is valid? [True, True] Translation: X:506.59, Y:8.13, Z:4.66 [[ 9.99125079e-01 -3.60824168e-02 -2.11455807e-02 5.06588441e+02] [ 3.60839113e-02 9.99348715e-01 -3.10997192e-04 8.13195164e+00] [ 2.11430304e-02 -4.52290163e-04 9.99776359e-01 4.65610335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.14925415399995 meters Centerline goodness [0,1] 0.9988019421148875 Centerline is valid? [True, True] Translation: X:506.62, Y:8.13, Z:4.66 [[ 9.98830348e-01 -4.37090113e-02 -2.06750694e-02 5.06619120e+02] [ 4.37120588e-02 9.99044125e-01 -3.04719983e-04 8.12826786e+00] [ 2.06686256e-02 -5.99386281e-04 9.99786201e-01 4.65763660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1792541539999 meters Centerline goodness [0,1] 0.998507274409217 Centerline is valid? [True, True] Translation: X:506.65, Y:8.13, Z:4.66 [[ 9.98690294e-01 -4.69201677e-02 -2.04008336e-02 5.06648914e+02] [ 4.69238039e-02 9.98898426e-01 -3.00678153e-04 8.12550866e+00] [ 2.03924685e-02 -6.57000364e-04 9.99791836e-01 4.65788237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.20925415399995 meters Centerline goodness [0,1] 0.9985521539333152 Centerline is valid? [True, True] Translation: X:506.68, Y:8.12, Z:4.66 [[ 9.98588086e-01 -4.92163804e-02 -1.99895684e-02 5.06679108e+02] [ 4.92203348e-02 9.98787901e-01 -2.94422598e-04 8.12236586e+00] [ 1.99798295e-02 -6.89886350e-04 9.99800145e-01 4.65809797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2392541539999 meters Centerline goodness [0,1] 0.9984671916010499 Centerline is valid? [True, True] Translation: X:506.71, Y:8.12, Z:4.66 [[ 9.98513238e-01 -5.09514412e-02 -1.93717122e-02 5.06710377e+02] [ 5.09554911e-02 9.98700885e-01 -2.84796409e-04 8.12209954e+00] [ 1.93610569e-02 -7.02722123e-04 9.99812310e-01 4.65943564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.26925415399995 meters Centerline goodness [0,1] 0.9985754985754985 Centerline is valid? [True, True] Translation: X:506.74, Y:8.12, Z:4.66 [[ 9.98452147e-01 -5.26818946e-02 -1.78305674e-02 5.06742149e+02] [ 5.26856148e-02 9.98611114e-01 -2.61368269e-04 8.12124861e+00] [ 1.78195722e-02 -6.78450696e-04 9.99840989e-01 4.66134164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2992541539999 meters Centerline goodness [0,1] 0.9986357148854 Centerline is valid? [True, True] Translation: X:506.77, Y:8.12, Z:4.66 [[ 9.98442320e-01 -5.30578355e-02 -1.72568600e-02 5.06773756e+02] [ 5.30613920e-02 9.98591220e-01 -2.52039434e-04 8.11891227e+00] [ 1.72459216e-02 -6.64026177e-04 9.99851058e-01 4.66166081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.32925415399995 meters Centerline goodness [0,1] 0.9985531254587011 Centerline is valid? [True, True] Translation: X:506.81, Y:8.12, Z:4.66 [[ 9.98440070e-01 -5.33193706e-02 -1.65671605e-02 5.06806276e+02] [ 5.33227013e-02 9.98577304e-01 -2.40938963e-04 8.12363995e+00] [ 1.65564371e-02 -6.42842634e-04 9.99862726e-01 4.66337194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3592541539999 meters Centerline goodness [0,1] 0.9984909456740443 Centerline is valid? [True, True] Translation: X:506.84, Y:8.12, Z:4.66 [[ 9.98462920e-01 -5.28731089e-02 -1.66202088e-02 5.06837386e+02] [ 5.28764177e-02 9.98601035e-01 -2.40597284e-04 8.12045341e+00] [ 1.66096788e-02 -6.38589638e-04 9.99861846e-01 4.66264838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.38925415399996 meters Centerline goodness [0,1] 0.998403428427377 Centerline is valid? [True, True] Translation: X:506.87, Y:8.12, Z:4.66 [[ 9.98478497e-01 -5.25016470e-02 -1.68602290e-02 5.06869094e+02] [ 5.25050177e-02 9.98620631e-01 -2.42976494e-04 8.12442495e+00] [ 1.68497292e-02 -6.42639817e-04 9.99857827e-01 4.66361074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.41925415399993 meters Centerline goodness [0,1] 0.9986145804907743 Centerline is valid? [True, True] Translation: X:506.90, Y:8.12, Z:4.66 [[ 9.98527608e-01 -5.15516137e-02 -1.68833672e-02 5.06899986e+02] [ 5.15548771e-02 9.98670134e-01 -2.42183772e-04 8.12053243e+00] [ 1.68733996e-02 -6.28592739e-04 9.99857436e-01 4.66260675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.44925415399996 meters Centerline goodness [0,1] 0.9984891724022159 Centerline is valid? [True, True] Translation: X:506.93, Y:8.12, Z:4.66 [[ 9.98538402e-01 -5.13062617e-02 -1.69919721e-02 5.06932037e+02] [ 5.13095500e-02 9.98682768e-01 -2.42667328e-04 8.12279939e+00] [ 1.69820401e-02 -6.29537797e-04 9.99855597e-01 4.66296493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.47925415399993 meters Centerline goodness [0,1] 0.9986144932404064 Centerline is valid? [True, True] Translation: X:506.96, Y:8.12, Z:4.66 [[ 9.98546897e-01 -5.07259157e-02 -1.81927494e-02 5.06963890e+02] [ 5.07296139e-02 9.98712391e-01 -2.58455705e-04 8.12450761e+00] [ 1.81824346e-02 -6.64831010e-04 9.99834465e-01 4.66266750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.50925415399996 meters Centerline goodness [0,1] 0.9985719086021505 Centerline is valid? [True, True] Translation: X:507.00, Y:8.13, Z:4.66 [[ 9.98555376e-01 -5.02816574e-02 -1.89450686e-02 5.06996225e+02] [ 5.02856150e-02 9.98734842e-01 -2.67720951e-04 8.12666233e+00] [ 1.89345616e-02 -6.85330232e-04 9.99820490e-01 4.66253149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.53925415399993 meters Centerline goodness [0,1] 0.9984453454904515 Centerline is valid? [True, True] Translation: X:507.03, Y:8.13, Z:4.66 [[ 9.98573030e-01 -4.98376723e-02 -1.91861743e-02 5.07028703e+02] [ 4.98416771e-02 9.98757095e-01 -2.69690398e-04 8.12739245e+00] [ 1.91757684e-02 -6.86965545e-04 9.99815892e-01 4.66227209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.5692541539999 meters Centerline goodness [0,1] 0.9988655462184874 Centerline is valid? [True, True] Translation: X:507.06, Y:8.13, Z:4.66 [[ 9.98600704e-01 -4.88189260e-02 -2.03309151e-02 5.07060317e+02] [ 4.88232355e-02 9.98807394e-01 -2.84636014e-04 8.12872545e+00] [ 2.03205639e-02 -7.08383329e-04 9.99793265e-01 4.66187501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.59925415399994 meters Centerline goodness [0,1] 0.9984870135328234 Centerline is valid? [True, True] Translation: X:507.09, Y:8.12, Z:4.66 [[ 9.98617433e-01 -4.82316112e-02 -2.09029816e-02 5.07091525e+02] [ 4.82360591e-02 9.98835921e-01 -2.91648057e-04 8.12266266e+00] [ 2.08927156e-02 -7.17032623e-04 9.99781466e-01 4.65947840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.6292541539999 meters Centerline goodness [0,1] 0.9987190794170762 Centerline is valid? [True, True] Translation: X:507.12, Y:8.13, Z:4.66 [[ 9.98648143e-01 -4.74444536e-02 -2.12346259e-02 5.07123000e+02] [ 4.74488864e-02 9.98873624e-01 -2.95317550e-04 8.13044599e+00] [ 2.12247189e-02 -7.12641028e-04 9.99774476e-01 4.66182344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.65925415399994 meters Centerline goodness [0,1] 0.9984678350299087 Centerline is valid? [True, True] Translation: X:507.15, Y:8.13, Z:4.66 [[ 9.98666747e-01 -4.70510036e-02 -2.12351603e-02 5.07154219e+02] [ 4.70553642e-02 9.98892239e-01 -2.94555731e-04 8.13189373e+00] [ 2.12254959e-02 -7.05065185e-04 9.99774465e-01 4.66232684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.6892541539999 meters Centerline goodness [0,1] 0.998715708360528 Centerline is valid? [True, True] Translation: X:507.18, Y:8.13, Z:4.66 [[ 9.98728119e-01 -4.61513255e-02 -2.03026728e-02 5.07184749e+02] [ 4.61551480e-02 9.98934244e-01 -2.80516369e-04 8.13299846e+00] [ 2.02939813e-02 -6.56913285e-04 9.99793840e-01 4.66316385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.71925415399994 meters Centerline goodness [0,1] 0.9986949291683331 Centerline is valid? [True, True] Translation: X:507.22, Y:8.14, Z:4.66 [[ 9.98759212e-01 -4.56852491e-02 -1.98215893e-02 5.07215813e+02] [ 4.56888213e-02 9.98955683e-01 -2.72838731e-04 8.13533390e+00] [ 1.98133540e-02 -6.33124856e-04 9.99803496e-01 4.66407991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.7492541539999 meters Centerline goodness [0,1] 0.9987375597029057 Centerline is valid? [True, True] Translation: X:507.25, Y:8.14, Z:4.66 [[ 9.98803049e-01 -4.48952591e-02 -1.94135171e-02 5.07247384e+02] [ 4.48985502e-02 9.98991516e-01 -2.66522589e-04 8.13734990e+00] [ 1.94059045e-02 -6.05435198e-04 9.99811504e-01 4.66493330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.77925415399994 meters Centerline goodness [0,1] 0.9986956979068055 Centerline is valid? [True, True] Translation: X:507.28, Y:8.14, Z:4.66 [[ 9.98848382e-01 -4.39685582e-02 -1.92009245e-02 5.07277576e+02] [ 4.39716165e-02 9.99032746e-01 -2.63087234e-04 8.13695970e+00] [ 1.91939199e-02 -5.81511430e-04 9.99815611e-01 4.66485550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8092541539999 meters Centerline goodness [0,1] 0.9987154920086757 Centerline is valid? [True, True] Translation: X:507.31, Y:8.14, Z:4.67 [[ 9.98929681e-01 -4.22690722e-02 -1.87834564e-02 5.07308618e+02] [ 4.22717082e-02 9.99106119e-01 -2.56858909e-04 8.14147549e+00] [ 1.87775234e-02 -5.37424799e-04 9.99823542e-01 4.66569998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.83925415399995 meters Centerline goodness [0,1] 0.9986537652503156 Centerline is valid? [True, True] Translation: X:507.34, Y:8.14, Z:4.67 [[ 9.98971483e-01 -4.13344076e-02 -1.86398039e-02 5.07339988e+02] [ 4.13368534e-02 9.99145235e-01 -2.54221421e-04 8.14306411e+00] [ 1.86343794e-02 -5.16550892e-04 9.99826231e-01 4.66601224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8692541539999 meters Centerline goodness [0,1] 0.9986753574432295 Centerline is valid? [True, True] Translation: X:507.37, Y:8.14, Z:4.67 [[ 9.98995569e-01 -4.07614275e-02 -1.86107092e-02 5.07370802e+02] [ 4.07637819e-02 9.99168780e-01 -2.52986808e-04 8.14376499e+00] [ 1.86055517e-02 -5.05910192e-04 9.99826774e-01 4.66627736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.89925415399995 meters Centerline goodness [0,1] 0.9985274318411309 Centerline is valid? [True, True] Translation: X:507.40, Y:8.15, Z:4.67 [[ 9.99031426e-01 -3.99186298e-02 -1.85125003e-02 5.07402125e+02] [ 3.99208304e-02 9.99202814e-01 -2.50811935e-04 8.14722655e+00] [ 1.85077545e-02 -4.88465380e-04 9.99828598e-01 4.66689794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9292541539999 meters Centerline goodness [0,1] 0.9985255086994986 Centerline is valid? [True, True] Translation: X:507.43, Y:8.15, Z:4.67 [[ 9.99037584e-01 -4.01549704e-02 -1.76489051e-02 5.07433242e+02] [ 4.01570183e-02 9.99193353e-01 -2.38481191e-04 8.14763132e+00] [ 1.76442449e-02 -4.70475733e-04 9.99844218e-01 4.66768204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.95925415399995 meters Centerline goodness [0,1] 0.9986512402267602 Centerline is valid? [True, True] Translation: X:507.46, Y:8.15, Z:4.67 [[ 9.98985304e-01 -4.13815212e-02 -1.77745008e-02 5.07464949e+02] [ 4.13838040e-02 9.99143295e-01 -2.39524494e-04 8.14883073e+00] [ 1.77691852e-02 -4.96295007e-04 9.99841992e-01 4.66878261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9892541539999 meters Centerline goodness [0,1] 0.9986512402267602 Centerline is valid? [True, True] Translation: X:507.50, Y:8.15, Z:4.67 [[ 9.98988357e-01 -4.13077360e-02 -1.77745138e-02 5.07496650e+02] [ 4.13100243e-02 9.99146348e-01 -2.38558836e-04 8.14919834e+00] [ 1.77691948e-02 -4.95948097e-04 9.99841992e-01 4.66907951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.01925415399995 meters Centerline goodness [0,1] 0.998714273670011 Centerline is valid? [True, True] Translation: X:507.53, Y:8.15, Z:4.67 [[ 9.98947681e-01 -4.22795015e-02 -1.77756716e-02 5.07528971e+02] [ 4.22819671e-02 9.99105690e-01 -2.37266214e-04 8.14890753e+00] [ 1.77698061e-02 -5.14573825e-04 9.99841972e-01 4.66940379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0492541539999 meters Centerline goodness [0,1] 0.998440825098502 Centerline is valid? [True, True] Translation: X:507.56, Y:8.15, Z:4.67 [[ 9.98907849e-01 -4.33541556e-02 -1.74219870e-02 5.07560895e+02] [ 4.33567094e-02 9.99059629e-01 -2.31277718e-04 8.14928050e+00] [ 1.74156307e-02 -5.24334897e-04 9.99848199e-01 4.66969806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07925415399995 meters Centerline goodness [0,1] 0.9987360438171476 Centerline is valid? [True, True] Translation: X:507.59, Y:8.15, Z:4.67 [[ 9.98801635e-01 -4.58653487e-02 -1.70781460e-02 5.07591589e+02] [ 4.58681857e-02 9.98947475e-01 -2.25751649e-04 8.14789195e+00] [ 1.70705250e-02 -5.57862457e-04 9.99854132e-01 4.66977522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1092541539999 meters Centerline goodness [0,1] 0.9986301369863013 Centerline is valid? [True, True] Translation: X:507.62, Y:8.15, Z:4.67 [[ 9.98732781e-01 -4.72280146e-02 -1.73881345e-02 5.07624198e+02] [ 4.72311782e-02 9.98883959e-01 -2.28910178e-04 8.14793402e+00] [ 1.73795396e-02 -5.92641980e-04 9.99848789e-01 4.66977635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13925415399996 meters Centerline goodness [0,1] 0.9985448256954257 Centerline is valid? [True, True] Translation: X:507.66, Y:8.15, Z:4.67 [[ 9.98669459e-01 -4.84707250e-02 -1.76039645e-02 5.07656789e+02] [ 4.84741835e-02 9.98824409e-01 -2.30440715e-04 8.14852187e+00] [ 1.75944391e-02 -6.23203703e-04 9.99845012e-01 4.66988077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.16925415399993 meters Centerline goodness [0,1] 0.9987113946512316 Centerline is valid? [True, True] Translation: X:507.69, Y:8.15, Z:4.67 [[ 9.98526193e-01 -5.10946823e-02 -1.82968423e-02 5.07688488e+02] [ 5.10988807e-02 9.98693570e-01 -2.38285999e-04 8.14732534e+00] [ 1.82851139e-02 -6.97013351e-04 9.99832570e-01 4.66893944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19925415399996 meters Centerline goodness [0,1] 0.9987802826379543 Centerline is valid? [True, True] Translation: X:507.72, Y:8.14, Z:4.67 [[ 9.98440429e-01 -5.25385567e-02 -1.88788397e-02 5.07719936e+02] [ 5.25433043e-02 9.98618617e-01 -2.44800984e-04 8.14492639e+00] [ 1.88656222e-02 -7.47537418e-04 9.99821749e-01 4.66806506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.22925415399993 meters Centerline goodness [0,1] 0.9986277076383904 Centerline is valid? [True, True] Translation: X:507.75, Y:8.15, Z:4.67 [[ 9.98340271e-01 -5.41559746e-02 -1.95916852e-02 5.07752109e+02] [ 5.41614236e-02 9.98532161e-01 -2.52759316e-04 8.14582807e+00] [ 1.95766162e-02 -8.08773756e-04 9.99808033e-01 4.66800017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25925415399996 meters Centerline goodness [0,1] 0.9986034110626772 Centerline is valid? [True, True] Translation: X:507.78, Y:8.15, Z:4.67 [[ 9.98159242e-01 -5.75019296e-02 -1.92783860e-02 5.07783561e+02] [ 5.75078486e-02 9.98345024e-01 -2.47674876e-04 8.14660553e+00] [ 1.92607225e-02 -8.61439535e-04 9.99814124e-01 4.66862663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.28925415399993 meters Centerline goodness [0,1] 0.998606742521796 Centerline is valid? [True, True] Translation: X:507.82, Y:8.15, Z:4.67 [[ 9.98080934e-01 -5.88989731e-02 -1.91144099e-02 5.07816012e+02] [ 5.89050679e-02 9.98263559e-01 -2.44495963e-04 8.14647037e+00] [ 1.90956194e-02 -8.81908853e-04 9.99817273e-01 4.66912222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3192541539999 meters Centerline goodness [0,1] 0.99867197875166 Centerline is valid? [True, True] Translation: X:507.85, Y:8.14, Z:4.67 [[ 9.97958762e-01 -6.13447961e-02 -1.77517865e-02 5.07846617e+02] [ 6.13504556e-02 9.98116261e-01 -2.26106030e-04 8.14386725e+00] [ 1.77322172e-02 -8.63435694e-04 9.99842399e-01 4.66977127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.34925415399994 meters Centerline goodness [0,1] 0.9986706617150574 Centerline is valid? [True, True] Translation: X:507.88, Y:8.15, Z:4.67 [[ 9.97926408e-01 -6.19529243e-02 -1.74561880e-02 5.07878351e+02] [ 6.19585060e-02 9.98078702e-01 -2.21403548e-04 8.14567904e+00] [ 1.74363660e-02 -8.60614881e-04 9.99847605e-01 4.67064367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3792541539999 meters Centerline goodness [0,1] 0.9989017951425554 Centerline is valid? [True, True] Translation: X:507.91, Y:8.15, Z:4.67 [[ 9.97926899e-01 -6.19959955e-02 -1.72742890e-02 5.07910353e+02] [ 6.20014898e-02 9.98076033e-01 -2.17830799e-04 8.14701968e+00] [ 1.72545585e-02 -8.53652438e-04 9.99850765e-01 4.67150868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.40925415399994 meters Centerline goodness [0,1] 0.9985200219882447 Centerline is valid? [True, True] Translation: X:507.94, Y:8.15, Z:4.67 [[ 9.97953482e-01 -6.16043694e-02 -1.71391160e-02 5.07942164e+02] [ 6.16097419e-02 9.98100292e-01 -2.14864312e-04 8.14873026e+00] [ 1.71197932e-02 -8.41511922e-04 9.99853091e-01 4.67185799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4392541539999 meters Centerline goodness [0,1] 0.9988785204934509 Centerline is valid? [True, True] Translation: X:507.97, Y:8.15, Z:4.67 [[ 9.98061976e-01 -5.98114326e-02 -1.71721757e-02 5.07974866e+02] [ 5.98165855e-02 9.98209362e-01 -2.13858872e-04 8.15236526e+00] [ 1.71542178e-02 -8.13736507e-04 9.99852524e-01 4.67252881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.46925415399994 meters Centerline goodness [0,1] 0.9985612424094958 Centerline is valid? [True, True] Translation: X:508.01, Y:8.15, Z:4.67 [[ 9.98134490e-01 -5.84684471e-02 -1.75778215e-02 5.08005770e+02] [ 5.84736743e-02 9.98288927e-01 -2.16881409e-04 8.15224626e+00] [ 1.75604253e-02 -8.11362992e-04 9.99845475e-01 4.67271473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4992541539999 meters Centerline goodness [0,1] 0.9985588945873776 Centerline is valid? [True, True] Translation: X:508.04, Y:8.16, Z:4.67 [[ 9.98287396e-01 -5.56491046e-02 -1.80403099e-02 5.08037721e+02] [ 5.56541837e-02 9.98450080e-01 -2.20777870e-04 8.15732655e+00] [ 1.80246350e-02 -7.83618956e-04 9.99837236e-01 4.67350828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.52925415399994 meters Centerline goodness [0,1] 0.9985981903912323 Centerline is valid? [True, True] Translation: X:508.07, Y:8.16, Z:4.67 [[ 9.98366327e-01 -5.41236303e-02 -1.83114498e-02 5.08070083e+02] [ 5.41286285e-02 9.98533946e-01 -2.22921511e-04 8.15928470e+00] [ 1.82966696e-02 -7.68616336e-04 9.99832306e-01 4.67385284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5592541539999 meters Centerline goodness [0,1] 0.9986009538950715 Centerline is valid? [True, True] Translation: X:508.10, Y:8.16, Z:4.67 [[ 9.98439411e-01 -5.25046376e-02 -1.90264362e-02 5.08102310e+02] [ 5.25097674e-02 9.98620384e-01 -2.30211496e-04 8.16165647e+00] [ 1.90122742e-02 -7.69221510e-04 9.99818954e-01 4.67381885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.58925415399995 meters Centerline goodness [0,1] 0.9986205140176999 Centerline is valid? [True, True] Translation: X:508.13, Y:8.16, Z:4.67 [[ 9.98527889e-01 -5.06052323e-02 -1.95234410e-02 5.08134538e+02] [ 5.06102993e-02 9.98718450e-01 -2.34784072e-04 8.16384632e+00] [ 1.95103020e-02 -7.53648748e-04 9.99809372e-01 4.67394611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6192541539999 meters Centerline goodness [0,1] 0.9988960597826086 Centerline is valid? [True, True] Translation: X:508.17, Y:8.17, Z:4.67 [[ 9.98683461e-01 -4.70203637e-02 -2.05044052e-02 5.08165910e+02] [ 4.70252216e-02 9.98893672e-01 -2.45447594e-04 8.16983820e+00] [ 2.04932616e-02 -7.19099746e-04 9.99789732e-01 4.67443219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.64925415399995 meters Centerline goodness [0,1] 0.9989607414791406 Centerline is valid? [True, True] Translation: X:508.20, Y:8.17, Z:4.67 [[ 9.98747228e-01 -4.52406904e-02 -2.13835103e-02 5.08197041e+02] [ 4.52455886e-02 9.98975861e-01 -2.54939846e-04 8.16926282e+00] [ 2.13731443e-02 -7.12889046e-04 9.99771314e-01 4.67337993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6792541539999 meters Centerline goodness [0,1] 0.998896270668393 Centerline is valid? [True, True] Translation: X:508.23, Y:8.17, Z:4.67 [[ 9.98869983e-01 -4.18038263e-02 -2.26096552e-02 5.08228056e+02] [ 4.18084407e-02 9.99125609e-01 -2.68776460e-04 8.17378394e+00] [ 2.26011214e-02 -6.76801689e-04 9.99744333e-01 4.67278997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.70925415399995 meters Centerline goodness [0,1] 0.9990656190273943 Centerline is valid? [True, True] Translation: X:508.26, Y:8.18, Z:4.67 [[ 9.98933675e-01 -4.00141982e-02 -2.30299305e-02 5.08258952e+02] [ 4.00185126e-02 9.99198901e-01 -2.73689014e-04 8.17578098e+00] [ 2.30224327e-02 -6.48226391e-04 9.99734739e-01 4.67273821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7392541539999 meters Centerline goodness [0,1] 0.9990231471650032 Centerline is valid? [True, True] Translation: X:508.29, Y:8.18, Z:4.67 [[ 9.99053903e-01 -3.67995312e-02 -2.31752760e-02 5.08289565e+02] [ 3.68030345e-02 9.99322501e-01 -2.75474504e-04 8.18255741e+00] [ 2.31697121e-02 -5.77706605e-04 9.99731379e-01 4.67454660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.76925415399995 meters Centerline goodness [0,1] 0.9989383161694447 Centerline is valid? [True, True] Translation: X:508.32, Y:8.18, Z:4.67 [[ 9.99120768e-01 -3.50680725e-02 -2.29765396e-02 5.08319165e+02] [ 3.50710528e-02 9.99384784e-01 -2.73361973e-04 8.18205086e+00] [ 2.29719903e-02 -5.32689807e-04 9.99735967e-01 4.67348278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7992541539999 meters Centerline goodness [0,1] 0.9990659760550225 Centerline is valid? [True, True] Translation: X:508.35, Y:8.19, Z:4.68 [[ 9.99181229e-01 -3.35403230e-02 -2.26256186e-02 5.08348675e+02] [ 3.35428065e-02 9.99437245e-01 -2.69844817e-04 8.18679537e+00] [ 2.26219367e-02 -4.89302873e-04 9.99743972e-01 4.67579627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.82925415399995 meters Centerline goodness [0,1] 0.9988742326727416 Centerline is valid? [True, True] Translation: X:508.38, Y:8.19, Z:4.68 [[ 9.99281448e-01 -3.11434770e-02 -2.16025595e-02 5.08378042e+02] [ 3.11451642e-02 9.99514838e-01 -2.58421945e-04 8.19062577e+00] [ 2.16001269e-02 -4.14579007e-04 9.99766604e-01 4.67736716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8592541539999 meters Centerline goodness [0,1] 0.9991066870852475 Centerline is valid? [True, True] Translation: X:508.41, Y:8.19, Z:4.68 [[ 9.99318164e-01 -3.02817325e-02 -2.11239937e-02 5.08408147e+02] [ 3.02831417e-02 9.99541328e-01 -2.53247306e-04 8.19206861e+00] [ 2.11219735e-02 -3.86626261e-04 9.99776831e-01 4.67794643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.88925415399996 meters Centerline goodness [0,1] 0.9989788103140158 Centerline is valid? [True, True] Translation: X:508.44, Y:8.19, Z:4.68 [[ 9.99333308e-01 -3.00041277e-02 -2.08012643e-02 5.08437719e+02] [ 3.00054217e-02 9.99549705e-01 -2.49967768e-04 8.19328299e+00] [ 2.07993976e-02 -3.74349591e-04 9.99783599e-01 4.67855655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.91925415399993 meters Centerline goodness [0,1] 0.99919279462996 Centerline is valid? [True, True] Translation: X:508.47, Y:8.19, Z:4.68 [[ 9.99340292e-01 -3.01215397e-02 -2.02897251e-02 5.08467029e+02] [ 3.01227801e-02 9.99546176e-01 -2.44557811e-04 8.19309691e+00] [ 2.02878836e-02 -3.66786452e-04 9.99794112e-01 4.67874306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.94925415399996 meters Centerline goodness [0,1] 0.9990243695518463 Centerline is valid? [True, True] Translation: X:508.50, Y:8.19, Z:4.68 [[ 9.99326298e-01 -3.12586333e-02 -1.92314316e-02 5.08496612e+02] [ 3.12599449e-02 9.99511261e-01 -2.32486441e-04 8.19208516e+00] [ 1.92292997e-02 -3.68843679e-04 9.99815032e-01 4.67927366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.97925415399993 meters Centerline goodness [0,1] 0.9989383837954903 Centerline is valid? [True, True] Translation: X:508.53, Y:8.19, Z:4.68 [[ 9.99322091e-01 -3.16175008e-02 -1.88597839e-02 5.08526787e+02] [ 3.16188197e-02 9.99499974e-01 -2.28328056e-04 8.19223104e+00] [ 1.88575727e-02 -3.68150836e-04 9.99822112e-01 4.68013914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0092541539999 meters Centerline goodness [0,1] 0.999001996007984 Centerline is valid? [True, True] Translation: X:508.56, Y:8.19, Z:4.68 [[ 9.99327351e-01 -3.18375457e-02 -1.81993509e-02 5.08556859e+02] [ 3.18388131e-02 9.99492992e-01 -2.20172698e-04 8.19176685e+00] [ 1.81971334e-02 -3.59421132e-04 9.99834354e-01 4.68071161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.03925415399993 meters Centerline goodness [0,1] 0.9989786799438274 Centerline is valid? [True, True] Translation: X:508.59, Y:8.19, Z:4.68 [[ 9.99346529e-01 -3.11956222e-02 -1.82578421e-02 5.08587911e+02] [ 3.11967996e-02 9.99513237e-01 -2.20395916e-04 8.19243369e+00] [ 1.82558302e-02 -3.49334347e-04 9.99833287e-01 4.68107243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0692541539999 meters Centerline goodness [0,1] 0.9990448496168786 Centerline is valid? [True, True] Translation: X:508.62, Y:8.19, Z:4.68 [[ 9.99379642e-01 -3.00399509e-02 -1.83829395e-02 5.08618865e+02] [ 3.00409582e-02 9.99548644e-01 -2.21408790e-04 8.19405970e+00] [ 1.83812934e-02 -3.30969681e-04 9.99830995e-01 4.68185546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.09925415399994 meters Centerline goodness [0,1] 0.9989803071824613 Centerline is valid? [True, True] Translation: X:508.65, Y:8.19, Z:4.68 [[ 9.99451057e-01 -2.73535393e-02 -1.86914300e-02 5.08648651e+02] [ 2.73541112e-02 9.99625781e-01 -2.25119485e-04 8.19451074e+00] [ 1.86905931e-02 -2.86291547e-04 9.99825275e-01 4.68107544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.1292541539999 meters Centerline goodness [0,1] 0.9988531379420198 Centerline is valid? [True, True] Translation: X:508.68, Y:8.20, Z:4.68 [[ 9.99479126e-01 -2.61084263e-02 -1.89690787e-02 5.08678573e+02] [ 2.61087813e-02 9.99659081e-01 -2.28978237e-04 8.19502025e+00] [ 1.89685901e-02 -2.66400561e-04 9.99820045e-01 4.68081182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.15925415399994 meters Centerline goodness [0,1] 0.998873083710744 Centerline is valid? [True, True] Translation: X:508.71, Y:8.20, Z:4.68 [[ 9.99498421e-01 -2.48277384e-02 -1.96593580e-02 5.08708037e+02] [ 2.48278581e-02 9.99691713e-01 -2.38023348e-04 8.19528347e+00] [ 1.96592068e-02 -2.50195791e-04 9.99806708e-01 4.68070398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.1892541539999 meters Centerline goodness [0,1] 0.9989788972089857 Centerline is valid? [True, True] Translation: X:508.74, Y:8.20, Z:4.68 [[ 9.99535014e-01 -2.33448119e-02 -1.96156935e-02 5.08737064e+02] [ 2.33445890e-02 9.99727449e-01 -2.40372963e-04 8.19565534e+00] [ 1.96159587e-02 -2.17659112e-04 9.99807565e-01 4.67988578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.21925415399994 meters Centerline goodness [0,1] 0.9989785495403473 Centerline is valid? [True, True] Translation: X:508.76, Y:8.19, Z:4.68 [[ 9.99523003e-01 -2.34023169e-02 -2.01518764e-02 5.08764923e+02] [ 2.34020261e-02 9.99726104e-01 -2.50282527e-04 8.19487017e+00] [ 2.01522140e-02 -2.21431594e-04 9.99796899e-01 4.67954366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.2492541539999 meters Centerline goodness [0,1] 0.9989994252017116 Centerline is valid? [True, True] Translation: X:508.79, Y:8.19, Z:4.68 [[ 9.99503474e-01 -2.43490404e-02 -1.99982247e-02 5.08792997e+02] [ 2.43488662e-02 9.99703491e-01 -2.52241789e-04 8.19452702e+00] [ 1.99984369e-02 -2.34817554e-04 9.99799984e-01 4.67990917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.27925415399994 meters Centerline goodness [0,1] 0.9988715961591688 Centerline is valid? [True, True] Translation: X:508.82, Y:8.19, Z:4.68 [[ 9.99464568e-01 -2.55849930e-02 -2.03957173e-02 5.08820876e+02] [ 2.55849932e-02 9.99672616e-01 -2.60975496e-04 8.19279417e+00] [ 2.03957171e-02 -2.60988527e-04 9.99791952e-01 4.67917081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3092541539999 meters Centerline goodness [0,1] 0.9989995103987057 Centerline is valid? [True, True] Translation: X:508.85, Y:8.19, Z:4.68 [[ 9.99420842e-01 -2.74390601e-02 -2.01265562e-02 5.08849509e+02] [ 2.74393646e-02 9.99623436e-01 -2.61076160e-04 8.19252081e+00] [ 2.01261409e-02 -2.91334959e-04 9.99797406e-01 4.68001439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.33925415399995 meters Centerline goodness [0,1] 0.9987679496983601 Centerline is valid? [True, True] Translation: X:508.88, Y:8.19, Z:4.68 [[ 9.99309764e-01 -3.15031186e-02 -1.96862497e-02 5.08878574e+02] [ 3.15041416e-02 9.99503588e-01 -2.58238924e-04 8.18841881e+00] [ 1.96846125e-02 -3.62137718e-04 9.99806174e-01 4.67983236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3692541539999 meters Centerline goodness [0,1] 0.9988742326727416 Centerline is valid? [True, True] Translation: X:508.91, Y:8.19, Z:4.68 [[ 9.99242945e-01 -3.38769697e-02 -1.91281776e-02 5.08908575e+02] [ 3.38783575e-02 9.99425932e-01 -2.51580235e-04 8.18676418e+00] [ 1.91257195e-02 -3.96641462e-04 9.99817008e-01 4.68045525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.39925415399995 meters Centerline goodness [0,1] 0.9987714987714987 Centerline is valid? [True, True] Translation: X:508.94, Y:8.18, Z:4.68 [[ 9.99083105e-01 -3.88087995e-02 -1.80783465e-02 5.08938789e+02] [ 3.88108490e-02 9.99246547e-01 -2.37592676e-04 8.18244311e+00] [ 1.80739460e-02 -4.64261150e-04 9.99836545e-01 4.68116126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4292541539999 meters Centerline goodness [0,1] 0.9986218886486028 Centerline is valid? [True, True] Translation: X:508.97, Y:8.18, Z:4.68 [[ 9.98977960e-01 -4.17110891e-02 -1.74132225e-02 5.08970361e+02] [ 4.17134421e-02 9.99129590e-01 -2.28222608e-04 8.18033801e+00] [ 1.74075853e-02 -4.98376093e-04 9.99848352e-01 4.68177404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.45925415399995 meters Centerline goodness [0,1] 0.998878710305287 Centerline is valid? [True, True] Translation: X:509.00, Y:8.17, Z:4.68 [[ 9.98697672e-01 -4.82827049e-02 -1.64845511e-02 5.09000658e+02] [ 4.82857125e-02 9.98833541e-01 -2.15741921e-04 8.17447850e+00] [ 1.64757391e-02 -5.80507340e-04 9.99864097e-01 4.68271904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4892541539999 meters Centerline goodness [0,1] 0.9987938039614017 Centerline is valid? [True, True] Translation: X:509.03, Y:8.17, Z:4.68 [[ 9.98531695e-01 -5.17583063e-02 -1.59853447e-02 5.09031551e+02] [ 5.17615840e-02 9.98659449e-01 -2.08902058e-04 8.17122623e+00] [ 1.59747280e-02 -6.18831437e-04 9.99872204e-01 4.68298744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.51925415399995 meters Centerline goodness [0,1] 0.9988782831382674 Centerline is valid? [True, True] Translation: X:509.06, Y:8.17, Z:4.68 [[ 9.98360341e-01 -5.51112486e-02 -1.54718951e-02 5.09062502e+02] [ 5.51147292e-02 9.98480008e-01 -2.01666059e-04 8.16951859e+00] [ 1.54594920e-02 -6.51393913e-04 9.99880283e-01 4.68343821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5492541539999 meters Centerline goodness [0,1] 0.9987739398807762 Centerline is valid? [True, True] Translation: X:509.09, Y:8.17, Z:4.68 [[ 9.98197399e-01 -5.80292792e-02 -1.53151902e-02 5.09093496e+02] [ 5.80330396e-02 9.98314643e-01 -1.99143904e-04 8.17271115e+00] [ 1.53009348e-02 -6.90002113e-04 9.99882696e-01 4.68438846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57925415399995 meters Centerline goodness [0,1] 0.9985431973650875 Centerline is valid? [True, True] Translation: X:509.12, Y:8.17, Z:4.68 [[ 9.97937482e-01 -6.24613051e-02 -1.48110405e-02 5.09123229e+02] [ 6.24653160e-02 9.98047117e-01 -1.92103850e-04 8.16660955e+00] [ 1.47941153e-02 -7.33468690e-04 9.99890292e-01 4.68384061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6092541539999 meters Centerline goodness [0,1] 0.9983959138014732 Centerline is valid? [True, True] Translation: X:509.16, Y:8.17, Z:4.68 [[ 9.97847549e-01 -6.39260014e-02 -1.46196598e-02 5.09155665e+02] [ 6.39300718e-02 9.97954363e-01 -1.89234119e-04 8.16738070e+00] [ 1.46018502e-02 -7.45809097e-04 9.99893109e-01 4.68431094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63925415399996 meters Centerline goodness [0,1] 0.9987962493664471 Centerline is valid? [True, True] Translation: X:509.19, Y:8.17, Z:4.68 [[ 9.97780609e-01 -6.49612044e-02 -1.46252428e-02 5.09186287e+02] [ 6.49654017e-02 9.97887499e-01 -1.88421862e-04 8.16590110e+00] [ 1.46065871e-02 -7.62131097e-04 9.99893028e-01 4.68484859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.66925415399993 meters Centerline goodness [0,1] 0.998646791415583 Centerline is valid? [True, True] Translation: X:509.22, Y:8.17, Z:4.69 [[ 9.97793306e-01 -6.47536877e-02 -1.46791616e-02 5.09218405e+02] [ 6.47579045e-02 9.97900986e-01 -1.88378012e-04 8.16807844e+00] [ 1.46605480e-02 -7.62629427e-04 9.99892238e-01 4.68541659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69925415399996 meters Centerline goodness [0,1] 0.998648990965127 Centerline is valid? [True, True] Translation: X:509.25, Y:8.17, Z:4.69 [[ 9.97843700e-01 -6.39835506e-02 -1.46306330e-02 5.09249828e+02] [ 6.39876713e-02 9.97950672e-01 -1.86775252e-04 8.16757343e+00] [ 1.46126005e-02 -7.49807624e-04 9.99892949e-01 4.68565704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.72925415399993 meters Centerline goodness [0,1] 0.9988386088645818 Centerline is valid? [True, True] Translation: X:509.28, Y:8.17, Z:4.69 [[ 9.98003304e-01 -6.15519514e-02 -1.41690730e-02 5.09280881e+02] [ 6.15555813e-02 9.98103641e-01 -1.80207682e-04 8.17098639e+00] [ 1.41532955e-02 -6.92337661e-04 9.99899597e-01 4.68627568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7592541539999 meters Centerline goodness [0,1] 0.9987322515212982 Centerline is valid? [True, True] Translation: X:509.31, Y:8.17, Z:4.69 [[ 9.98134278e-01 -5.93803897e-02 -1.42103084e-02 5.09312753e+02] [ 5.93838298e-02 9.98235207e-01 -1.80119409e-04 8.17403319e+00] [ 1.41959257e-02 -6.64079180e-04 9.99899012e-01 4.68651807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.78925415399993 meters Centerline goodness [0,1] 0.9987950279046169 Centerline is valid? [True, True] Translation: X:509.34, Y:8.18, Z:4.69 [[ 9.98432037e-01 -5.39426418e-02 -1.49552513e-02 5.09342197e+02] [ 5.39458498e-02 9.98543845e-01 -1.89117230e-04 8.17814886e+00] [ 1.49436756e-02 -6.17953038e-04 9.99888146e-01 4.68609220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8192541539999 meters Centerline goodness [0,1] 0.9987521150592217 Centerline is valid? [True, True] Translation: X:509.37, Y:8.18, Z:4.69 [[ 9.98602750e-01 -5.07290445e-02 -1.48023908e-02 5.09374194e+02] [ 5.07318365e-02 9.98712294e-01 -1.87053694e-04 8.18213581e+00] [ 1.47928187e-02 -5.64160136e-04 9.99890421e-01 4.68600155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.84925415399994 meters Centerline goodness [0,1] 0.9988571912300008 Centerline is valid? [True, True] Translation: X:509.41, Y:8.19, Z:4.69 [[ 9.98773895e-01 -4.69926358e-02 -1.55691470e-02 5.09405993e+02] [ 4.69952851e-02 9.98895092e-01 -1.95859426e-04 8.18581936e+00] [ 1.55611485e-02 -5.36057221e-04 9.99878774e-01 4.68599422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8792541539999 meters Centerline goodness [0,1] 0.9988338810558677 Centerline is valid? [True, True] Translation: X:509.44, Y:8.19, Z:4.69 [[ 9.98944559e-01 -4.31490900e-02 -1.57456335e-02 5.09437523e+02] [ 4.31513346e-02 9.99068528e-01 -1.97323144e-04 8.19078713e+00] [ 1.57394812e-02 -4.82330220e-04 9.99876010e-01 4.68612218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.90925415399994 meters Centerline goodness [0,1] 0.9988338810558677 Centerline is valid? [True, True] Translation: X:509.47, Y:8.19, Z:4.69 [[ 9.98947737e-01 -4.30754461e-02 -1.57456438e-02 5.09469228e+02] [ 4.30776944e-02 9.99071706e-01 -1.96505720e-04 8.19112465e+00] [ 1.57394917e-02 -4.81987086e-04 9.99876010e-01 4.68641910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9392541539999 meters Centerline goodness [0,1] 0.9987887545421704 Centerline is valid? [True, True] Translation: X:509.50, Y:8.20, Z:4.69 [[ 9.99239790e-01 -3.55114640e-02 -1.60865504e-02 5.09499121e+02] [ 3.55128424e-02 9.99369200e-01 -2.00054712e-04 8.19879318e+00] [ 1.60835073e-02 -3.71376500e-04 9.99870583e-01 4.68664930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.96925415399994 meters Centerline goodness [0,1] 0.9986817485967001 Centerline is valid? [True, True] Translation: X:509.53, Y:8.20, Z:4.69 [[ 9.99360786e-01 -3.18773756e-02 -1.61818351e-02 5.09530336e+02] [ 3.18782982e-02 9.99491738e-01 -2.00990126e-04 8.20289885e+00] [ 1.61800175e-02 -3.14987715e-04 9.99869045e-01 4.68752791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9992541539999 meters Centerline goodness [0,1] 0.9990843075874699 Centerline is valid? [True, True] Translation: X:509.56, Y:8.21, Z:4.69 [[ 9.99540371e-01 -2.58088882e-02 -1.59043398e-02 5.09560886e+02] [ 2.58090185e-02 9.99666872e-01 -1.97087645e-04 8.20795695e+00] [ 1.59041283e-02 -2.13478343e-04 9.99873499e-01 4.68808288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.02925415399994 meters Centerline goodness [0,1] 0.9990831556503198 Centerline is valid? [True, True] Translation: X:509.59, Y:8.21, Z:4.69 [[ 9.99609442e-01 -2.30935049e-02 -1.57370167e-02 5.09591579e+02] [ 2.30932987e-02 9.99733295e-01 -1.94845916e-04 8.21087240e+00] [ 1.57373193e-02 -1.68649812e-04 9.99876146e-01 4.68839463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0592541539999 meters Centerline goodness [0,1] 0.9990406140070355 Centerline is valid? [True, True] Translation: X:509.62, Y:8.22, Z:4.69 [[ 9.99689908e-01 -1.86932907e-02 -1.64514030e-02 5.09621921e+02] [ 1.86924696e-02 9.99825260e-01 -2.03691000e-04 8.21633659e+00] [ 1.64523359e-02 -1.03889513e-04 9.99864646e-01 4.68919004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.08925415399995 meters Centerline goodness [0,1] 0.9990376184263992 Centerline is valid? [True, True] Translation: X:509.65, Y:8.22, Z:4.69 [[ 9.99722015e-01 -1.69428591e-02 -1.63961328e-02 5.09650526e+02] [ 1.69418003e-02 9.99856457e-01 -2.03483334e-04 8.21810686e+00] [ 1.63972268e-02 -7.43532397e-05 9.99865554e-01 4.68878751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1192541539999 meters Centerline goodness [0,1] 0.9991020844468199 Centerline is valid? [True, True] Translation: X:509.68, Y:8.22, Z:4.69 [[ 9.99744337e-01 -1.56496607e-02 -1.63201692e-02 5.09679103e+02] [ 1.56483999e-02 9.99877535e-01 -2.04955169e-04 8.22045262e+00] [ 1.63213780e-02 -5.04817640e-05 9.99866796e-01 4.68984512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.14925415399995 meters Centerline goodness [0,1] 0.9991016427104723 Centerline is valid? [True, True] Translation: X:509.71, Y:8.22, Z:4.69 [[ 9.99785360e-01 -1.32005275e-02 -1.59681014e-02 5.09707190e+02] [ 1.31989399e-02 9.99912869e-01 -2.04814348e-04 8.22231932e+00] [ 1.59694138e-02 -5.99162415e-06 9.99872481e-01 4.69041914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1792541539999 meters Centerline goodness [0,1] 0.9992090975161387 Centerline is valid? [True, True] Translation: X:509.73, Y:8.22, Z:4.69 [[ 9.99789804e-01 -1.28419537e-02 -1.59822630e-02 5.09734901e+02] [ 1.28402424e-02 9.99917539e-01 -2.09687620e-04 8.22312563e+00] [ 1.59836379e-02 4.42741271e-06 9.99872253e-01 4.69079312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.20925415399995 meters Centerline goodness [0,1] 0.9991233321929525 Centerline is valid? [True, True] Translation: X:509.76, Y:8.22, Z:4.69 [[ 9.99787861e-01 -1.23074007e-02 -1.65154573e-02 5.09761632e+02] [ 1.23054294e-02 9.99924261e-01 -2.20980109e-04 8.22350101e+00] [ 1.65169262e-02 1.77034361e-05 9.99863586e-01 4.69082554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2392541539999 meters Centerline goodness [0,1] 0.999336713952543 Centerline is valid? [True, True] Translation: X:509.79, Y:8.22, Z:4.69 [[ 9.99770755e-01 -1.30997086e-02 -1.69362318e-02 5.09789294e+02] [ 1.30976790e-02 9.99914195e-01 -2.30757809e-04 8.22361923e+00] [ 1.69378014e-02 8.87958295e-06 9.99856545e-01 4.69118275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.26925415399995 meters Centerline goodness [0,1] 0.9989096506606234 Centerline is valid? [True, True] Translation: X:509.82, Y:8.22, Z:4.69 [[ 9.99755840e-01 -1.43175420e-02 -1.68305890e-02 5.09816836e+02] [ 1.43156279e-02 9.99897499e-01 -2.34207021e-04 8.22320033e+00] [ 1.68322171e-02 -6.79061228e-06 9.99858328e-01 4.69125870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2992541539999 meters Centerline goodness [0,1] 0.9991233134475164 Centerline is valid? [True, True] Translation: X:509.85, Y:8.22, Z:4.69 [[ 9.99697802e-01 -1.74408058e-02 -1.73240783e-02 5.09845729e+02] [ 1.74391631e-02 9.99847896e-01 -2.45902831e-04 8.22045960e+00] [ 1.73257320e-02 -5.62889064e-05 9.99849897e-01 4.69182440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.32925415399995 meters Centerline goodness [0,1] 0.9989971621823458 Centerline is valid? [True, True] Translation: X:509.87, Y:8.22, Z:4.69 [[ 9.99665776e-01 -1.92903284e-02 -1.72110514e-02 5.09873326e+02] [ 1.92889220e-02 9.99813921e-01 -2.47729815e-04 8.21871023e+00] [ 1.72126276e-02 -8.43356115e-05 9.99851848e-01 4.69180936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3592541539999 meters Centerline goodness [0,1] 0.9991481023980917 Centerline is valid? [True, True] Translation: X:509.90, Y:8.22, Z:4.69 [[ 9.99629458e-01 -2.11632801e-02 -1.71190368e-02 5.09901823e+02] [ 2.11621077e-02 9.99776026e-01 -2.49653832e-04 8.21720584e+00] [ 1.71204861e-02 -1.12713576e-04 9.99853427e-01 4.69242583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.38925415399996 meters Centerline goodness [0,1] 0.9989389019757645 Centerline is valid? [True, True] Translation: X:509.93, Y:8.21, Z:4.69 [[ 9.99558303e-01 -2.47104166e-02 -1.65104389e-02 5.09930000e+02] [ 2.47097657e-02 9.99694637e-01 -2.43450642e-04 8.21308283e+00] [ 1.65114130e-02 -1.64625967e-04 9.99863664e-01 4.69254585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.41925415399993 meters Centerline goodness [0,1] 0.9989363512593601 Centerline is valid? [True, True] Translation: X:509.96, Y:8.21, Z:4.69 [[ 9.99521547e-01 -2.61712022e-02 -1.64847158e-02 5.09960883e+02] [ 2.61707439e-02 9.99657458e-01 -2.43559222e-04 8.21234077e+00] [ 1.64854434e-02 -1.87974587e-04 9.99864088e-01 4.69342750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.44925415399996 meters Centerline goodness [0,1] 0.9988103331067301 Centerline is valid? [True, True] Translation: X:509.99, Y:8.21, Z:4.69 [[ 9.99489772e-01 -2.76316918e-02 -1.60214146e-02 5.09991687e+02] [ 2.76314465e-02 9.99618151e-01 -2.36714014e-04 8.20998637e+00] [ 1.60218376e-02 -2.06101623e-04 9.99871621e-01 4.69402304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.47925415399993 meters Centerline goodness [0,1] 0.9988544031228123 Centerline is valid? [True, True] Translation: X:510.02, Y:8.21, Z:4.69 [[ 9.99473574e-01 -2.83641427e-02 -1.57495978e-02 5.10022451e+02] [ 2.83639984e-02 9.99597634e-01 -2.32580508e-04 8.20729889e+00] [ 1.57498577e-02 -2.14263496e-04 9.99875940e-01 4.69346185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5092541539999 meters Centerline goodness [0,1] 0.9987281399046105 Centerline is valid? [True, True] Translation: X:510.05, Y:8.21, Z:4.69 [[ 9.99449502e-01 -2.89729367e-02 -1.61636171e-02 5.10053996e+02] [ 2.89728712e-02 9.99580170e-01 -2.38266946e-04 8.20723367e+00] [ 1.61637344e-02 -2.30170615e-04 9.99869332e-01 4.69385192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.53925415399993 meters Centerline goodness [0,1] 0.998918414522936 Centerline is valid? [True, True] Translation: X:510.08, Y:8.20, Z:4.69 [[ 9.99408227e-01 -2.99712337e-02 -1.68795968e-02 5.10083964e+02] [ 2.99713224e-02 9.99550728e-01 -2.47772029e-04 8.20408186e+00] [ 1.68794393e-02 -2.58278434e-04 9.99857499e-01 4.69324779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5692541539999 meters Centerline goodness [0,1] 0.9987736547203722 Centerline is valid? [True, True] Translation: X:510.12, Y:8.20, Z:4.69 [[ 9.99386082e-01 -3.06417153e-02 -1.69865725e-02 5.10115264e+02] [ 3.06419213e-02 9.99530395e-01 -2.48198977e-04 8.20299768e+00] [ 1.69862008e-02 -2.72454617e-04 9.99855687e-01 4.69338032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.59925415399994 meters Centerline goodness [0,1] 0.998878947479747 Centerline is valid? [True, True] Translation: X:510.15, Y:8.20, Z:4.69 [[ 9.99344099e-01 -3.17959910e-02 -1.73316431e-02 5.10146459e+02] [ 3.17963902e-02 9.99494335e-01 -2.52598772e-04 8.20021285e+00] [ 1.73309107e-02 -2.98650595e-04 9.99849764e-01 4.69279288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.6292541539999 meters Centerline goodness [0,1] 0.9987523525555626 Centerline is valid? [True, True] Translation: X:510.18, Y:8.20, Z:4.69 [[ 9.99309374e-01 -3.24933302e-02 -1.80266307e-02 5.10176451e+02] [ 3.24938848e-02 9.99471900e-01 -2.62214151e-04 8.19857947e+00] [ 1.80256311e-02 -3.23722204e-04 9.99837473e-01 4.69256270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.65925415399994 meters Centerline goodness [0,1] 0.9989222088378875 Centerline is valid? [True, True] Translation: X:510.21, Y:8.20, Z:4.69 [[ 9.99295829e-01 -3.30003818e-02 -1.78555338e-02 5.10207524e+02] [ 3.30010154e-02 9.99455285e-01 -2.59244330e-04 8.19786959e+00] [ 1.78543628e-02 -3.30188968e-04 9.99840544e-01 4.69279507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.6892541539999 meters Centerline goodness [0,1] 0.9989639058634471 Centerline is valid? [True, True] Translation: X:510.24, Y:8.20, Z:4.69 [[ 9.99303037e-01 -3.30145280e-02 -1.74206918e-02 5.10238921e+02] [ 3.30151443e-02 9.99454820e-01 -2.52294780e-04 8.19584998e+00] [ 1.74195238e-02 -3.23027713e-04 9.99848216e-01 4.69305895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.71925415399994 meters Centerline goodness [0,1] 0.9989434536387457 Centerline is valid? [True, True] Translation: X:510.27, Y:8.19, Z:4.69 [[ 9.99320835e-01 -3.26530952e-02 -1.70775912e-02 5.10269276e+02] [ 3.26536429e-02 9.99466697e-01 -2.46842116e-04 8.19449765e+00] [ 1.70765438e-02 -3.10971096e-04 9.99854137e-01 4.69308690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.7492541539999 meters Centerline goodness [0,1] 0.9988367912357506 Centerline is valid? [True, True] Translation: X:510.30, Y:8.20, Z:4.69 [[ 9.99361953e-01 -3.15649699e-02 -1.67134446e-02 5.10300463e+02] [ 3.15653498e-02 9.99501661e-01 -2.41137786e-04 8.19515811e+00] [ 1.67127271e-02 -2.86581796e-04 9.99860292e-01 4.69399495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.77925415399994 meters Centerline goodness [0,1] 0.9988783543553712 Centerline is valid? [True, True] Translation: X:510.33, Y:8.20, Z:4.69 [[ 9.99448442e-01 -2.87471119e-02 -1.66257281e-02 5.10330509e+02] [ 2.87471060e-02 9.99586688e-01 -2.39394316e-04 8.19534915e+00] [ 1.66257384e-02 -2.38679291e-04 9.99861754e-01 4.69413767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8092541539999 meters Centerline goodness [0,1] 0.9990056277239453 Centerline is valid? [True, True] Translation: X:510.36, Y:8.20, Z:4.69 [[ 9.99495867e-01 -2.70531538e-02 -1.66174003e-02 5.10361346e+02] [ 2.70529166e-02 9.99633974e-01 -2.39102631e-04 8.19604116e+00] [ 1.66177864e-02 -2.10567052e-04 9.99861893e-01 4.69439789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.83925415399995 meters Centerline goodness [0,1] 0.9988994941905991 Centerline is valid? [True, True] Translation: X:510.39, Y:8.20, Z:4.69 [[ 9.99580881e-01 -2.39724247e-02 -1.62291601e-02 5.10390567e+02] [ 2.39717905e-02 9.99712608e-01 -2.33639442e-04 8.19636935e+00] [ 1.62300968e-02 -1.55500506e-04 9.99868271e-01 4.69494637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8692541539999 meters Centerline goodness [0,1] 0.9988998434392586 Centerline is valid? [True, True] Translation: X:510.42, Y:8.20, Z:4.69 [[ 9.99610243e-01 -2.27994017e-02 -1.61105198e-02 5.10419993e+02] [ 2.27986178e-02 9.99740051e-01 -2.32339435e-04 8.19637101e+00] [ 1.61116291e-02 -1.35048705e-04 9.99870190e-01 4.69463325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.89925415399995 meters Centerline goodness [0,1] 0.9988164930151954 Centerline is valid? [True, True] Translation: X:510.45, Y:8.20, Z:4.70 [[ 9.99621913e-01 -2.24722226e-02 -1.58439484e-02 5.10449969e+02] [ 2.24714145e-02 9.99747460e-01 -2.29057449e-04 8.19628755e+00] [ 1.58450946e-02 -1.27065087e-04 9.99874451e-01 4.69539978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9292541539999 meters Centerline goodness [0,1] 0.9986489054022673 Centerline is valid? [True, True] Translation: X:510.48, Y:8.19, Z:4.70 [[ 9.99602061e-01 -2.30869755e-02 -1.62083611e-02 5.10480076e+02] [ 2.30862010e-02 9.99733451e-01 -2.34917077e-04 8.19415537e+00] [ 1.62094643e-02 -1.39365887e-04 9.99868608e-01 4.69503719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.95925415399995 meters Centerline goodness [0,1] 0.9989453924194807 Centerline is valid? [True, True] Translation: X:510.51, Y:8.19, Z:4.69 [[ 9.99565480e-01 -2.41644306e-02 -1.68799337e-02 5.10508996e+02] [ 2.41637314e-02 9.99707984e-01 -2.45405069e-04 8.19264142e+00] [ 1.68809345e-02 -1.62583748e-04 9.99857494e-01 4.69468713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9892541539999 meters Centerline goodness [0,1] 0.9989445019104516 Centerline is valid? [True, True] Translation: X:510.54, Y:8.19, Z:4.69 [[ 9.99491836e-01 -2.66342307e-02 -1.75124863e-02 5.10538219e+02] [ 2.66338405e-02 9.99645224e-01 -2.55552229e-04 8.18904421e+00] [ 1.75130798e-02 -2.11002401e-04 9.99846612e-01 4.69429207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.01925415399995 meters Centerline goodness [0,1] 0.9989458148850938 Centerline is valid? [True, True] Translation: X:510.57, Y:8.19, Z:4.69 [[ 9.99458108e-01 -2.78815095e-02 -1.74960229e-02 5.10567780e+02] [ 2.78812972e-02 9.99611208e-01 -2.56104885e-04 8.18831238e+00] [ 1.74963612e-02 -2.31845710e-04 9.99846900e-01 4.69470518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0492541539999 meters Centerline goodness [0,1] 0.9988177922269839 Centerline is valid? [True, True] Translation: X:510.60, Y:8.19, Z:4.69 [[ 9.99409199e-01 -2.92454171e-02 -1.80543145e-02 5.10597068e+02] [ 2.92454014e-02 9.99572227e-01 -2.64951326e-04 8.18675644e+00] [ 1.80543399e-02 -2.63210880e-04 9.99836972e-01 4.69480917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07925415399995 meters Centerline goodness [0,1] 0.9988205311822068 Centerline is valid? [True, True] Translation: X:510.63, Y:8.18, Z:4.69 [[ 9.99347307e-01 -3.12816152e-02 -1.80671178e-02 5.10627059e+02] [ 3.12819201e-02 9.99510566e-01 -2.65800624e-04 8.18315756e+00] [ 1.80665898e-02 -2.99546999e-04 9.99836741e-01 4.69458061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1092541539999 meters Centerline goodness [0,1] 0.9991787053026155 Centerline is valid? [True, True] Translation: X:510.66, Y:8.18, Z:4.70 [[ 9.99329754e-01 -3.21276879e-02 -1.75457866e-02 5.10657740e+02] [ 3.21281000e-02 9.99483726e-01 -2.58462703e-04 8.18170676e+00] [ 1.75450319e-02 -3.05423317e-04 9.99846027e-01 4.69504020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13925415399996 meters Centerline goodness [0,1] 0.9990746777144539 Centerline is valid? [True, True] Translation: X:510.69, Y:8.18, Z:4.70 [[ 9.99297566e-01 -3.33064045e-02 -1.71772549e-02 5.10687637e+02] [ 3.33069711e-02 9.99445137e-01 -2.53175259e-04 8.18010592e+00] [ 1.71761562e-02 -3.19124911e-04 9.99852428e-01 4.69550341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.16925415399993 meters Centerline goodness [0,1] 0.9987616488959785 Centerline is valid? [True, True] Translation: X:510.72, Y:8.18, Z:4.70 [[ 9.99240152e-01 -3.56645863e-02 -1.57211952e-02 5.10718180e+02] [ 3.56653501e-02 9.99363762e-01 -2.31869500e-04 8.17767282e+00] [ 1.57194623e-02 -3.29008617e-04 9.99876387e-01 4.69688518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19925415399996 meters Centerline goodness [0,1] 0.9988870456311292 Centerline is valid? [True, True] Translation: X:510.75, Y:8.18, Z:4.70 [[ 9.99212871e-01 -3.69625318e-02 -1.44017434e-02 5.10749497e+02] [ 3.69633102e-02 9.99316601e-01 -2.12221666e-04 8.17623783e+00] [ 1.43997455e-02 -3.20281487e-04 9.99896267e-01 4.69770853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.22925415399993 meters Centerline goodness [0,1] 0.9987624281579057 Centerline is valid? [True, True] Translation: X:510.78, Y:8.17, Z:4.70 [[ 9.99142252e-01 -3.93953145e-02 -1.27580881e-02 5.10781242e+02] [ 3.93961322e-02 9.99223653e-01 -1.87322321e-04 8.17230742e+00] [ 1.27555630e-02 -3.15457679e-04 9.99918595e-01 4.69824765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2592541539999 meters Centerline goodness [0,1] 0.9987424810848197 Centerline is valid? [True, True] Translation: X:510.81, Y:8.17, Z:4.70 [[ 9.99099799e-01 -4.06236621e-02 -1.22192574e-02 5.10813908e+02] [ 4.06245185e-02 9.99174468e-01 -1.78220379e-04 8.17043334e+00] [ 1.22164100e-02 -3.18341505e-04 9.99925326e-01 4.69848152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.28925415399993 meters Centerline goodness [0,1] 0.9987005637876469 Centerline is valid? [True, True] Translation: X:510.85, Y:8.17, Z:4.70 [[ 9.99043187e-01 -4.20403754e-02 -1.20547443e-02 5.10845428e+02] [ 4.20413220e-02 9.99115857e-01 -1.74984477e-04 8.16815631e+00] [ 1.20514426e-02 -3.31980338e-04 9.99927324e-01 4.69846027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3192541539999 meters Centerline goodness [0,1] 0.998871237458194 Centerline is valid? [True, True] Translation: X:510.88, Y:8.17, Z:4.70 [[ 9.98988954e-01 -4.34119956e-02 -1.16819911e-02 5.10877338e+02] [ 4.34129861e-02 9.99057198e-01 -1.68897448e-04 8.16723852e+00] [ 1.16783095e-02 -3.38423432e-04 9.99931749e-01 4.69875410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.34925415399994 meters Centerline goodness [0,1] 0.9988757963109464 Centerline is valid? [True, True] Translation: X:510.91, Y:8.16, Z:4.70 [[ 9.98808204e-01 -4.71460905e-02 -1.26260673e-02 5.10908030e+02] [ 4.71475606e-02 9.98887919e-01 -1.81367819e-04 8.16003433e+00] [ 1.26205769e-02 -4.14136606e-04 9.99920272e-01 4.69752101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3792541539999 meters Centerline goodness [0,1] 0.9988711666701507 Centerline is valid? [True, True] Translation: X:510.94, Y:8.16, Z:4.70 [[ 9.98609792e-01 -5.10112638e-02 -1.32791018e-02 5.10939190e+02] [ 5.10132499e-02 9.98697959e-01 -1.89328996e-04 8.15914950e+00] [ 1.32714697e-02 -4.88344348e-04 9.99911811e-01 4.69757186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.40925415399994 meters Centerline goodness [0,1] 0.9989981214777708 Centerline is valid? [True, True] Translation: X:510.97, Y:8.16, Z:4.70 [[ 9.98521673e-01 -5.25986141e-02 -1.37059673e-02 5.10971697e+02] [ 5.26008887e-02 9.98615596e-01 -1.94732605e-04 8.15739105e+00] [ 1.36972354e-02 -5.26501334e-04 9.99906050e-01 4.69739373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4392541539999 meters Centerline goodness [0,1] 0.9989780808775991 Centerline is valid? [True, True] Translation: X:511.00, Y:8.15, Z:4.70 [[ 9.98445428e-01 -5.38437603e-02 -1.44074976e-02 5.11003199e+02] [ 5.38464178e-02 9.98549209e-01 -2.03687243e-04 8.15356886e+00] [ 1.43975626e-02 -5.72421540e-04 9.99896186e-01 4.69672948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.46925415399994 meters Centerline goodness [0,1] 0.998874343366964 Centerline is valid? [True, True] Translation: X:511.03, Y:8.15, Z:4.70 [[ 9.98383561e-01 -5.47782582e-02 -1.51527854e-02 5.11034907e+02] [ 5.47813182e-02 9.98498353e-01 -2.13362047e-04 8.15304651e+00] [ 1.51417189e-02 -6.17072398e-04 9.99885167e-01 4.69654848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4992541539999 meters Centerline goodness [0,1] 0.9985371868012455 Centerline is valid? [True, True] Translation: X:511.07, Y:8.15, Z:4.69 [[ 9.98340862e-01 -5.53250331e-02 -1.59582230e-02 5.11067430e+02] [ 5.53285132e-02 9.98468180e-01 -2.23682136e-04 8.15268140e+00] [ 1.59461531e-02 -6.59633735e-04 9.99872634e-01 4.69460424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.52925415399994 meters Centerline goodness [0,1] 0.9986406223858123 Centerline is valid? [True, True] Translation: X:511.10, Y:8.15, Z:4.70 [[ 9.98390665e-01 -5.43612510e-02 -1.61534926e-02 5.11099728e+02] [ 5.43647102e-02 9.98521120e-01 -2.25220474e-04 8.15427187e+00] [ 1.61418468e-02 -6.53321926e-04 9.99869498e-01 4.69584979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5592541539999 meters Centerline goodness [0,1] 0.9986008144512896 Centerline is valid? [True, True] Translation: X:511.13, Y:8.16, Z:4.70 [[ 9.98436777e-01 -5.35571717e-02 -1.59884909e-02 5.11131663e+02] [ 5.35604765e-02 9.98564583e-01 -2.21741369e-04 8.15508972e+00] [ 1.59774166e-02 -6.34956455e-04 9.99872151e-01 4.69681159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.58925415399995 meters Centerline goodness [0,1] 0.9988503344481605 Centerline is valid? [True, True] Translation: X:511.16, Y:8.16, Z:4.70 [[ 9.98511174e-01 -5.19252991e-02 -1.67092354e-02 5.11163403e+02] [ 5.19286994e-02 9.98650768e-01 -2.30607518e-04 8.15602372e+00] [ 1.66986652e-02 -6.37424680e-04 9.99860364e-01 4.69710276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6192541539999 meters Centerline goodness [0,1] 0.9987675210461449 Centerline is valid? [True, True] Translation: X:511.20, Y:8.16, Z:4.70 [[ 9.98617558e-01 -4.99802667e-02 -1.62771837e-02 5.11195151e+02] [ 4.99832496e-02 9.98750031e-01 -2.23761314e-04 8.15761200e+00] [ 1.62680213e-02 -5.90134557e-04 9.99867493e-01 4.69731959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.64925415399995 meters Centerline goodness [0,1] 0.9989109491497026 Centerline is valid? [True, True] Translation: X:511.23, Y:8.16, Z:4.70 [[ 9.98818556e-01 -4.59254403e-02 -1.58854206e-02 5.11225844e+02] [ 4.59277808e-02 9.98944739e-01 -2.17636812e-04 8.16064434e+00] [ 1.58786524e-02 -5.12202431e-04 9.99873795e-01 4.69840522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6792541539999 meters Centerline goodness [0,1] 0.9987834294703724 Centerline is valid? [True, True] Translation: X:511.26, Y:8.16, Z:4.70 [[ 9.98928095e-01 -4.36593591e-02 -1.53792269e-02 5.11257108e+02] [ 4.36612929e-02 9.99046369e-01 -2.10157529e-04 8.16235625e+00] [ 1.53737361e-02 -4.61544670e-04 9.99881711e-01 4.69918210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.70925415399995 meters Centerline goodness [0,1] 0.9988664511524413 Centerline is valid? [True, True] Translation: X:511.29, Y:8.17, Z:4.70 [[ 9.99071256e-01 -4.04096181e-02 -1.49562238e-02 5.11287977e+02] [ 4.04110909e-02 9.99183117e-01 -2.03853583e-04 8.16510560e+00] [ 1.49522440e-02 -4.00733066e-04 9.99888129e-01 4.70021438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7392541539999 meters Centerline goodness [0,1] 0.9989290214195716 Centerline is valid? [True, True] Translation: X:511.32, Y:8.17, Z:4.70 [[ 9.99132703e-01 -3.89417632e-02 -1.47438728e-02 5.11319677e+02] [ 3.89430423e-02 9.99241412e-01 -2.00441233e-04 8.16706609e+00] [ 1.47404938e-02 -3.73903871e-04 9.99891283e-01 4.70097046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.76925415399995 meters Centerline goodness [0,1] 0.9987816149903369 Centerline is valid? [True, True] Translation: X:511.35, Y:8.17, Z:4.70 [[ 9.99243820e-01 -3.60698384e-02 -1.45173708e-02 5.11350530e+02] [ 3.60707830e-02 9.99349218e-01 -1.96856594e-04 8.16945665e+00] [ 1.45150237e-02 -3.26945196e-04 9.99894598e-01 4.70162932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7992541539999 meters Centerline goodness [0,1] 0.9987816149903369 Centerline is valid? [True, True] Translation: X:511.38, Y:8.17, Z:4.70 [[ 9.99245073e-01 -3.60351281e-02 -1.45173777e-02 5.11381378e+02] [ 3.60360763e-02 9.99350470e-01 -1.96350056e-04 8.16984211e+00] [ 1.45150237e-02 -3.26947503e-04 9.99894598e-01 4.70191825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.82925415399995 meters Centerline goodness [0,1] 0.9989699173831698 Centerline is valid? [True, True] Translation: X:511.41, Y:8.17, Z:4.70 [[ 9.99311867e-01 -3.44339459e-02 -1.37875441e-02 5.11412388e+02] [ 3.44346526e-02 9.99406934e-01 -1.86202864e-04 8.17137043e+00] [ 1.37857788e-02 -2.88694558e-04 9.99904930e-01 4.70240481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8592541539999 meters Centerline goodness [0,1] 0.9989725524732129 Centerline is valid? [True, True] Translation: X:511.44, Y:8.17, Z:4.70 [[ 9.99359885e-01 -3.28810531e-02 -1.40945803e-02 5.11442737e+02] [ 3.28816375e-02 9.99459235e-01 -1.90339825e-04 8.17291932e+00] [ 1.40932170e-02 -2.73234894e-04 9.99900648e-01 4.70256364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.88925415399996 meters Centerline goodness [0,1] 0.9989303691275168 Centerline is valid? [True, True] Translation: X:511.47, Y:8.18, Z:4.70 [[ 9.99466289e-01 -2.94183566e-02 -1.42019990e-02 5.11472974e+02] [ 2.94186038e-02 9.99567161e-01 -1.91546561e-04 8.17633876e+00] [ 1.42014868e-02 -2.26358652e-04 9.99899128e-01 4.70303722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.91925415399993 meters Centerline goodness [0,1] 0.9987604000336163 Centerline is valid? [True, True] Translation: X:511.50, Y:8.18, Z:4.70 [[ 9.99510950e-01 -2.76387931e-02 -1.46273258e-02 5.11504475e+02] [ 2.76388700e-02 9.99617954e-01 -1.96929692e-04 8.17994538e+00] [ 1.46271804e-02 -2.07449373e-04 9.99892996e-01 4.70396499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.94925415399996 meters Centerline goodness [0,1] 0.9990137446228098 Centerline is valid? [True, True] Translation: X:511.53, Y:8.18, Z:4.70 [[ 9.99587277e-01 -2.43159063e-02 -1.52974520e-02 5.11534290e+02] [ 2.43156052e-02 9.99704311e-01 -2.05705029e-04 8.18141371e+00] [ 1.52979306e-02 -1.66346674e-04 9.99882966e-01 4.70334648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.97925415399993 meters Centerline goodness [0,1] 0.9990124390653892 Centerline is valid? [True, True] Translation: X:511.56, Y:8.18, Z:4.70 [[ 9.99607472e-01 -2.28824658e-02 -1.61645976e-02 5.11564334e+02] [ 2.28819357e-02 9.99738151e-01 -2.17767010e-04 8.18305329e+00] [ 1.61653479e-02 -1.52195751e-04 9.99869321e-01 4.70316045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0092541539999 meters Centerline goodness [0,1] 0.9990992312043069 Centerline is valid? [True, True] Translation: X:511.59, Y:8.18, Z:4.70 [[ 9.99617418e-01 -2.20105698e-02 -1.67496861e-02 5.11592721e+02] [ 2.20098444e-02 9.99757728e-01 -2.27668495e-04 8.18432399e+00] [ 1.67506392e-02 -1.41076592e-04 9.99859688e-01 4.70300820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.03925415399993 meters Centerline goodness [0,1] 0.9991175729052861 Centerline is valid? [True, True] Translation: X:511.62, Y:8.19, Z:4.70 [[ 9.99617150e-01 -2.12921806e-02 -1.76690650e-02 5.11621220e+02] [ 2.12911829e-02 9.99773287e-01 -2.44595108e-04 8.18692817e+00] [ 1.76702672e-02 -1.31693831e-04 9.99843860e-01 4.70469396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0692541539999 meters Centerline goodness [0,1] 0.9989719704598858 Centerline is valid? [True, True] Translation: X:511.65, Y:8.19, Z:4.71 [[ 9.99617245e-01 -2.16516274e-02 -1.72212328e-02 5.11649580e+02] [ 2.16506514e-02 9.99765568e-01 -2.43129721e-04 8.18705850e+00] [ 1.72224597e-02 -1.29814246e-04 9.99851674e-01 4.70513922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.09925415399994 meters Centerline goodness [0,1] 0.9989098075391002 Centerline is valid? [True, True] Translation: X:511.68, Y:8.19, Z:4.70 [[ 9.99587475e-01 -2.32768755e-02 -1.68246054e-02 5.11677467e+02] [ 2.32761162e-02 9.99729045e-01 -2.40975391e-04 8.18547380e+00] [ 1.68256559e-02 -1.50735487e-04 9.99858427e-01 4.70493033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.1292541539999 meters Centerline goodness [0,1] 0.9989735855380297 Centerline is valid? [True, True] Translation: X:511.71, Y:8.18, Z:4.70 [[ 9.99555426e-01 -2.48036129e-02 -1.65448061e-02 5.11706120e+02] [ 2.48030426e-02 9.99692328e-01 -2.39695854e-04 8.18469341e+00] [ 1.65456611e-02 -1.70772239e-04 9.99863097e-01 4.70498113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.15925415399994 meters Centerline goodness [0,1] 0.9989937739764795 Centerline is valid? [True, True] Translation: X:511.73, Y:8.18, Z:4.70 [[ 9.99504118e-01 -2.65472205e-02 -1.69340844e-02 5.11734924e+02] [ 2.65468238e-02 9.99647540e-01 -2.48254235e-04 8.18357077e+00] [ 1.69347063e-02 -2.01415025e-04 9.99856577e-01 4.70495520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.1892541539999 meters Centerline goodness [0,1] 0.9989541718086553 Centerline is valid? [True, True] Translation: X:511.76, Y:8.18, Z:4.70 [[ 9.99368452e-01 -3.07993996e-02 -1.77226758e-02 5.11764108e+02] [ 3.07995859e-02 9.99525546e-01 -2.62501382e-04 8.18043800e+00] [ 1.77223521e-02 -2.83515475e-04 9.99842907e-01 4.70419727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.21925415399994 meters Centerline goodness [0,1] 0.9988907956971245 Centerline is valid? [True, True] Translation: X:511.79, Y:8.18, Z:4.70 [[ 9.99285579e-01 -3.32013954e-02 -1.80554146e-02 5.11792383e+02] [ 3.32019279e-02 9.99448627e-01 -2.70351843e-04 8.17849074e+00] [ 1.80544354e-02 -3.29315877e-04 9.99836951e-01 4.70403456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.2492541539999 meters Centerline goodness [0,1] 0.9989947222920331 Centerline is valid? [True, True] Translation: X:511.82, Y:8.18, Z:4.70 [[ 9.99197974e-01 -3.58522208e-02 -1.78333021e-02 5.11822085e+02] [ 3.58531476e-02 9.99357033e-01 -2.67845323e-04 8.17770925e+00] [ 1.78314387e-02 -3.71749510e-04 9.99840938e-01 4.70487729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.27925415399994 meters Centerline goodness [0,1] 0.9989988528522266 Centerline is valid? [True, True] Translation: X:511.85, Y:8.17, Z:4.71 [[ 9.99105520e-01 -3.83942193e-02 -1.77212986e-02 5.11851806e+02] [ 3.83955252e-02 9.99262584e-01 -2.66663373e-04 8.17481814e+00] [ 1.77184690e-02 -4.13993718e-04 9.99842930e-01 4.70521191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3092541539999 meters Centerline goodness [0,1] 0.9989527260540813 Centerline is valid? [True, True] Translation: X:511.88, Y:8.17, Z:4.71 [[ 9.98870365e-01 -4.42289884e-02 -1.73721179e-02 5.11882382e+02] [ 4.42311219e-02 9.99021291e-01 -2.61578414e-04 8.17092400e+00] [ 1.73666850e-02 -5.07105338e-04 9.99849059e-01 4.70624431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.33925415399995 meters Centerline goodness [0,1] 0.9989741872003685 Centerline is valid? [True, True] Translation: X:511.91, Y:8.17, Z:4.71 [[ 9.98742951e-01 -4.70178671e-02 -1.73734703e-02 5.11913855e+02] [ 4.70204276e-02 9.98893894e-01 -2.61302807e-04 8.16918879e+00] [ 1.73665393e-02 -5.55933666e-04 9.99849036e-01 4.70673148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3692541539999 meters Centerline goodness [0,1] 0.9988495889895208 Centerline is valid? [True, True] Translation: X:511.94, Y:8.16, Z:4.71 [[ 9.98464340e-01 -5.25851714e-02 -1.74287606e-02 5.11943746e+02] [ 5.25886085e-02 9.98616228e-01 -2.61362442e-04 8.16450821e+00] [ 1.74183869e-02 -6.55593188e-04 9.99848073e-01 4.70659588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.39925415399995 meters Centerline goodness [0,1] 0.9987237425726002 Centerline is valid? [True, True] Translation: X:511.98, Y:8.16, Z:4.71 [[ 9.98330375e-01 -5.47990978e-02 -1.82625780e-02 5.11975094e+02] [ 5.48032569e-02 9.98497135e-01 -2.73023985e-04 8.16337821e+00] [ 1.82500932e-02 -7.28280615e-04 9.99833188e-01 4.70697300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4292541539999 meters Centerline goodness [0,1] 0.9988938514839086 Centerline is valid? [True, True] Translation: X:512.01, Y:8.16, Z:4.71 [[ 9.98202556e-01 -5.71395236e-02 -1.80757505e-02 5.12006312e+02] [ 5.71439958e-02 9.98365910e-01 -2.69415436e-04 8.16108271e+00] [ 1.80616074e-02 -7.63989432e-04 9.99836584e-01 4.70663732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.45925415399995 meters Centerline goodness [0,1] 0.9988316782107987 Centerline is valid? [True, True] Translation: X:512.04, Y:8.16, Z:4.71 [[ 9.97900929e-01 -6.18700643e-02 -1.91266896e-02 5.12036584e+02] [ 6.18759490e-02 9.98083807e-01 -2.84539118e-04 8.15737672e+00] [ 1.91076436e-02 -8.99540220e-04 9.99817028e-01 4.70580303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4892541539999 meters Centerline goodness [0,1] 0.998625343664084 Centerline is valid? [True, True] Translation: X:512.07, Y:8.15, Z:4.71 [[ 9.97771577e-01 -6.39401360e-02 -1.90666941e-02 5.12066947e+02] [ 6.39463707e-02 9.97953296e-01 -2.83130647e-04 8.15454538e+00] [ 1.90457737e-02 -9.36746178e-04 9.99818174e-01 4.70542549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.51925415399995 meters Centerline goodness [0,1] 0.9985371868012455 Centerline is valid? [True, True] Translation: X:512.10, Y:8.15, Z:4.71 [[ 9.97625172e-01 -6.60683793e-02 -1.94675394e-02 5.12098166e+02] [ 6.60753000e-02 9.97814598e-01 -2.88214105e-04 8.15483325e+00] [ 1.94440369e-02 -9.98793863e-04 9.99810448e-01 4.70585534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5492541539999 meters Centerline goodness [0,1] 0.9986627664020058 Centerline is valid? [True, True] Translation: X:512.13, Y:8.15, Z:4.71 [[ 9.97406084e-01 -6.94354134e-02 -1.89690835e-02 5.12128740e+02] [ 6.94426004e-02 9.97585909e-01 -2.80341191e-04 8.15217213e+00] [ 1.89427560e-02 -1.03764847e-03 9.99820031e-01 4.70648490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57925415399995 meters Centerline goodness [0,1] 0.998539811009825 Centerline is valid? [True, True] Translation: X:512.16, Y:8.16, Z:4.71 [[ 9.97322273e-01 -7.06993841e-02 -1.87051192e-02 5.12160820e+02] [ 7.07066098e-02 9.97497117e-01 -2.75597939e-04 8.15583603e+00] [ 1.86777871e-02 -1.04771560e-03 9.99825006e-01 4.70790752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6092541539999 meters Centerline goodness [0,1] 0.9988727454909819 Centerline is valid? [True, True] Translation: X:512.19, Y:8.16, Z:4.71 [[ 9.97260505e-01 -7.15139342e-02 -1.89008405e-02 5.12193319e+02] [ 7.15214842e-02 9.97439021e-01 -2.77083088e-04 8.15903977e+00] [ 1.88722511e-02 -1.07549214e-03 9.99821325e-01 4.70872841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63925415399996 meters Centerline goodness [0,1] 0.9986229056690383 Centerline is valid? [True, True] Translation: X:512.22, Y:8.16, Z:4.71 [[ 9.97191942e-01 -7.25771958e-02 -1.84602480e-02 5.12224258e+02] [ 7.25846011e-02 9.97362223e-01 -2.69438186e-04 8.15794547e+00] [ 1.84311090e-02 -1.07124815e-03 9.99829559e-01 4.70861074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.66925415399993 meters Centerline goodness [0,1] 0.9985818265240151 Centerline is valid? [True, True] Translation: X:512.26, Y:8.16, Z:4.71 [[ 9.97169044e-01 -7.28353692e-02 -1.86790575e-02 5.12255731e+02] [ 7.28430155e-02 9.97343382e-01 -2.71603874e-04 8.15780481e+00] [ 1.86492168e-02 -1.08980390e-03 9.99825494e-01 4.70863497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69925415399996 meters Centerline goodness [0,1] 0.9985561530896231 Centerline is valid? [True, True] Translation: X:512.29, Y:8.16, Z:4.71 [[ 9.97175477e-01 -7.24325828e-02 -1.98642759e-02 5.12287953e+02] [ 7.24411764e-02 9.97372645e-01 -2.87556230e-04 8.16053812e+00] [ 1.98329138e-02 -1.15224749e-03 9.99802644e-01 4.70775195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.72925415399993 meters Centerline goodness [0,1] 0.9984932194876946 Centerline is valid? [True, True] Translation: X:512.32, Y:8.17, Z:4.71 [[ 9.97192438e-01 -7.20426592e-02 -2.04229429e-02 5.12319802e+02] [ 7.20516921e-02 9.97400856e-01 -2.94152678e-04 8.16573641e+00] [ 2.03910523e-02 -1.17818077e-03 9.99791387e-01 4.70818968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7592541539999 meters Centerline goodness [0,1] 0.9987845257554802 Centerline is valid? [True, True] Translation: X:512.35, Y:8.16, Z:4.71 [[ 9.97257664e-01 -7.11272508e-02 -2.04466737e-02 5.12351042e+02] [ 7.11361393e-02 9.97466573e-01 -2.93205429e-04 8.16347887e+00] [ 2.04157285e-02 -1.16209607e-03 9.99790902e-01 4.70754067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.78925415399993 meters Centerline goodness [0,1] 0.998532710084474 Centerline is valid? [True, True] Translation: X:512.38, Y:8.17, Z:4.71 [[ 9.97298426e-01 -7.03798249e-02 -2.10363968e-02 5.12383413e+02] [ 7.03890965e-02 9.97519566e-01 -3.00301598e-04 8.16925438e+00] [ 2.10053526e-02 -1.18124266e-03 9.99778665e-01 4.70834278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8192541539999 meters Centerline goodness [0,1] 0.9987629211834022 Centerline is valid? [True, True] Translation: X:512.41, Y:8.18, Z:4.71 [[ 9.97466519e-01 -6.77409505e-02 -2.17188164e-02 5.12414715e+02] [ 6.77502350e-02 9.97702265e-01 -3.08887285e-04 8.17945915e+00] [ 2.16898367e-02 -1.16335019e-03 9.99764071e-01 4.70898322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.84925415399994 meters Centerline goodness [0,1] 0.998636487592037 Centerline is valid? [True, True] Translation: X:512.45, Y:8.18, Z:4.71 [[ 9.97555891e-01 -6.62120364e-02 -2.23206260e-02 5.12446477e+02] [ 6.62214906e-02 9.97804898e-01 -3.16125501e-04 8.17667864e+00] [ 2.22925613e-02 -1.16275227e-03 9.99750814e-01 4.70756405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8792541539999 meters Centerline goodness [0,1] 0.998616555222504 Centerline is valid? [True, True] Translation: X:512.48, Y:8.18, Z:4.71 [[ 9.97681013e-01 -6.41256415e-02 -2.28144312e-02 5.12477087e+02] [ 6.41350016e-02 9.97941180e-01 -3.21944031e-04 8.17999661e+00] [ 2.27881053e-02 -1.14200614e-03 9.99739665e-01 4.70772184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.90925415399994 meters Centerline goodness [0,1] 0.9986946543992252 Centerline is valid? [True, True] Translation: X:512.51, Y:8.19, Z:4.71 [[ 9.97993335e-01 -5.91676599e-02 -2.25497499e-02 5.12508182e+02] [ 5.91755536e-02 9.98247541e-01 -3.17651340e-04 8.19433103e+00] [ 2.25290271e-02 -1.01738001e-03 9.99745672e-01 4.70962421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9392541539999 meters Centerline goodness [0,1] 0.9987391514489251 Centerline is valid? [True, True] Translation: X:512.54, Y:8.20, Z:4.71 [[ 9.98180456e-01 -5.59222802e-02 -2.25493939e-02 5.12539480e+02] [ 5.59293618e-02 9.98434678e-01 -3.16991004e-04 8.20038779e+00] [ 2.25318237e-02 -9.44758986e-04 9.99745680e-01 4.71061926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.96925415399994 meters Centerline goodness [0,1] 0.9987570835703301 Centerline is valid? [True, True] Translation: X:512.57, Y:8.20, Z:4.71 [[ 9.98379822e-01 -5.24635874e-02 -2.20295985e-02 5.12570392e+02] [ 5.24695231e-02 9.98622478e-01 -3.08882347e-04 8.20378952e+00] [ 2.20154573e-02 -8.47500623e-04 9.99757271e-01 4.71082330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9992541539999 meters Centerline goodness [0,1] 0.9985879278367897 Centerline is valid? [True, True] Translation: X:512.60, Y:8.21, Z:4.71 [[ 9.98765403e-01 -4.47096335e-02 -2.16499085e-02 5.12600324e+02] [ 4.47135545e-02 9.98999803e-01 -3.03179684e-04 8.21426740e+00] [ 2.16418094e-02 -6.65238983e-04 9.99765567e-01 4.71178857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.02925415399994 meters Centerline goodness [0,1] 0.9987134872930508 Centerline is valid? [True, True] Translation: X:512.63, Y:8.22, Z:4.71 [[ 9.98954105e-01 -4.05987412e-02 -2.10342198e-02 5.12631116e+02] [ 4.06015366e-02 9.99175374e-01 -2.94317328e-04 8.21999552e+00] [ 2.10288234e-02 -5.60012144e-04 9.99778713e-01 4.71236990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0592541539999 meters Centerline goodness [0,1] 0.998752880001691 Centerline is valid? [True, True] Translation: X:512.66, Y:8.23, Z:4.71 [[ 9.99255438e-01 -3.29576727e-02 -2.00589554e-02 5.12661724e+02] [ 3.29586830e-02 9.99456676e-01 -2.80314562e-04 8.23077725e+00] [ 2.00572954e-02 -3.81010901e-04 9.99798760e-01 4.71387922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.08925415399995 meters Centerline goodness [0,1] 0.9987283016468493 Centerline is valid? [True, True] Translation: X:512.69, Y:8.24, Z:4.71 [[ 9.99364292e-01 -2.94083106e-02 -2.01535120e-02 5.12691801e+02] [ 2.94086084e-02 9.99567434e-01 -2.81662787e-04 8.23536386e+00] [ 2.01530775e-02 -3.11203010e-04 9.99796858e-01 4.71475428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1192541539999 meters Centerline goodness [0,1] 0.9987095409350539 Centerline is valid? [True, True] Translation: X:512.72, Y:8.24, Z:4.71 [[ 9.99434401e-01 -2.62083129e-02 -2.10713699e-02 5.12720167e+02] [ 2.62079084e-02 9.99656470e-01 -2.95391634e-04 8.23886640e+00] [ 2.10718730e-02 -2.57011973e-04 9.99777930e-01 4.71484472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.14925415399995 meters Centerline goodness [0,1] 0.9988323213451659 Centerline is valid? [True, True] Translation: X:512.75, Y:8.24, Z:4.72 [[ 9.99515917e-01 -2.41050524e-02 -1.96692305e-02 5.12749172e+02] [ 2.41042301e-02 9.99709412e-01 -2.78916050e-04 8.24269566e+00] [ 1.96702381e-02 -1.95330626e-04 9.99806503e-01 4.71509917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1792541539999 meters Centerline goodness [0,1] 0.9989991268979322 Centerline is valid? [True, True] Translation: X:512.78, Y:8.25, Z:4.71 [[ 9.99595636e-01 -2.04880874e-02 -1.97180836e-02 5.12776926e+02] [ 2.04864914e-02 9.99790090e-01 -2.82956326e-04 8.24702210e+00] [ 1.97197418e-02 -1.21112440e-04 9.99805540e-01 4.71408832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.20925415399995 meters Centerline goodness [0,1] 0.9989569807786458 Centerline is valid? [True, True] Translation: X:512.80, Y:8.25, Z:4.71 [[ 9.99591846e-01 -1.98313211e-02 -2.05635502e-02 5.12804916e+02] [ 1.98293613e-02 9.99803334e-01 -2.99220254e-04 8.24890561e+00] [ 2.05654400e-02 -1.08663941e-04 9.99788503e-01 4.71423589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2392541539999 meters Centerline goodness [0,1] 0.9990825296577622 Centerline is valid? [True, True] Translation: X:512.83, Y:8.25, Z:4.71 [[ 9.99596240e-01 -1.94766046e-02 -2.06886207e-02 5.12831614e+02] [ 1.94744399e-02 9.99810308e-01 -3.06115670e-04 8.25029621e+00] [ 2.06906584e-02 -9.69072289e-05 9.99785921e-01 4.71369664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.26925415399995 meters Centerline goodness [0,1] 0.9991464299432375 Centerline is valid? [True, True] Translation: X:512.86, Y:8.25, Z:4.71 [[ 9.99581047e-01 -1.98532232e-02 -2.10613274e-02 5.12859663e+02] [ 1.98509514e-02 9.99802900e-01 -3.16952659e-04 8.25156608e+00] [ 2.10634687e-02 -1.01267514e-04 9.99778135e-01 4.71352195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2992541539999 meters Centerline goodness [0,1] 0.9989106753812637 Centerline is valid? [True, True] Translation: X:512.89, Y:8.25, Z:4.71 [[ 9.99565564e-01 -2.07316245e-02 -2.09495574e-02 5.12887468e+02] [ 2.07294420e-02 9.99785070e-01 -3.21357777e-04 8.25226433e+00] [ 2.09517170e-02 -1.13054469e-04 9.99780482e-01 4.71422933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.32925415399995 meters Centerline goodness [0,1] 0.998995189738108 Centerline is valid? [True, True] Translation: X:512.92, Y:8.25, Z:4.71 [[ 9.99535968e-01 -2.18502265e-02 -2.12229986e-02 5.12916452e+02] [ 2.18481140e-02 9.99761247e-01 -3.31429125e-04 8.25218831e+00] [ 2.12251733e-02 -1.32407162e-04 9.99774712e-01 4.71483789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3592541539999 meters Centerline goodness [0,1] 0.9989093008832525 Centerline is valid? [True, True] Translation: X:512.94, Y:8.25, Z:4.71 [[ 9.99531861e-01 -2.25457932e-02 -2.06820240e-02 5.12943435e+02] [ 2.25438391e-02 9.99745802e-01 -3.27657787e-04 8.25232773e+00] [ 2.06841539e-02 -1.38747822e-04 9.99786050e-01 4.71468580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.38925415399996 meters Centerline goodness [0,1] 0.9989935760171306 Centerline is valid? [True, True] Translation: X:512.97, Y:8.25, Z:4.72 [[ 9.99520034e-01 -2.31628118e-02 -2.05714991e-02 5.12971671e+02] [ 2.31609016e-02 9.99731696e-01 -3.31133315e-04 8.25300345e+00] [ 2.05736496e-02 -1.45480084e-04 9.99788329e-01 4.71548813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.41925415399993 meters Centerline goodness [0,1] 0.9988038533011513 Centerline is valid? [True, True] Translation: X:513.00, Y:8.25, Z:4.71 [[ 9.99475451e-01 -2.47283826e-02 -2.09124543e-02 5.12999410e+02] [ 2.47266700e-02 9.99694191e-01 -3.40507008e-04 8.25219500e+00] [ 2.09144793e-02 -1.76766962e-04 9.99781253e-01 4.71449164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.44925415399996 meters Centerline goodness [0,1] 0.999188519689075 Centerline is valid? [True, True] Translation: X:513.03, Y:8.25, Z:4.72 [[ 9.99456763e-01 -2.57098259e-02 -2.06199643e-02 5.13027493e+02] [ 2.57082836e-02 9.99669430e-01 -3.39917974e-04 8.25252550e+00] [ 2.06218872e-02 -1.90370573e-04 9.99787328e-01 4.71504945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.47925415399993 meters Centerline goodness [0,1] 0.9990822555171384 Centerline is valid? [True, True] Translation: X:513.06, Y:8.25, Z:4.72 [[ 9.99418010e-01 -2.70309126e-02 -2.08079623e-02 5.13055749e+02] [ 2.70295484e-02 9.99634575e-01 -3.46855985e-04 8.25189475e+00] [ 2.08097344e-02 -2.15775707e-04 9.99783431e-01 4.71508867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5092541539999 meters Centerline goodness [0,1] 0.9991037896893138 Centerline is valid? [True, True] Translation: X:513.08, Y:8.25, Z:4.71 [[ 9.99373116e-01 -2.86590236e-02 -2.07854386e-02 5.13084713e+02] [ 2.86579362e-02 9.99589216e-01 -3.50237713e-04 8.25114414e+00] [ 2.07869378e-02 -2.45649621e-04 9.99783898e-01 4.71495293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.53925415399993 meters Centerline goodness [0,1] 0.9990188341189771 Centerline is valid? [True, True] Translation: X:513.11, Y:8.25, Z:4.72 [[ 9.99274424e-01 -3.18946723e-02 -2.08171774e-02 5.13113600e+02] [ 3.18941730e-02 9.99491188e-01 -3.56077471e-04 8.24878119e+00] [ 2.08179424e-02 -3.08127547e-04 9.99783236e-01 4.71512362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5692541539999 meters Centerline goodness [0,1] 0.9993172896398703 Centerline is valid? [True, True] Translation: X:513.14, Y:8.25, Z:4.72 [[ 9.99221028e-01 -3.34184261e-02 -2.09892071e-02 5.13143259e+02] [ 3.34181996e-02 9.99441391e-01 -3.61638859e-04 8.24730357e+00] [ 2.09895677e-02 -3.40064360e-04 9.99779637e-01 4.71531937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.59925415399994 meters Centerline goodness [0,1] 0.9990620536761101 Centerline is valid? [True, True] Translation: X:513.17, Y:8.25, Z:4.72 [[ 9.99159742e-01 -3.47424747e-02 -2.17432930e-02 5.13172793e+02] [ 3.47425316e-02 9.99396226e-01 -3.75249038e-04 8.24679388e+00] [ 2.17432020e-02 -3.80483312e-04 9.99763516e-01 4.71537978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.6292541539999 meters Centerline goodness [0,1] 0.9992770879401258 Centerline is valid? [True, True] Translation: X:513.20, Y:8.25, Z:4.72 [[ 9.99133997e-01 -3.56994265e-02 -2.13730316e-02 5.13201803e+02] [ 3.56996842e-02 9.99362495e-01 -3.69613840e-04 8.24546551e+00] [ 2.13726012e-02 -3.93716725e-04 9.99771502e-01 4.71504811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.65925415399994 meters Centerline goodness [0,1] 0.9992341566149723 Centerline is valid? [True, True] Translation: X:513.23, Y:8.25, Z:4.72 [[ 9.99146952e-01 -3.51346645e-02 -2.17007536e-02 5.13231390e+02] [ 3.51347907e-02 9.99382512e-01 -3.75573638e-04 8.24549867e+00] [ 2.17005493e-02 -3.87198179e-04 9.99764440e-01 4.71505340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.6892541539999 meters Centerline goodness [0,1] 0.9992785911309144 Centerline is valid? [True, True] Translation: X:513.26, Y:8.25, Z:4.72 [[ 9.99245472e-01 -3.19888029e-02 -2.20273131e-02 5.13261564e+02] [ 3.19881696e-02 9.99488175e-01 -3.81190795e-04 8.24729829e+00] [ 2.20282328e-02 -3.23710252e-04 9.99757297e-01 4.71532767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.71925415399994 meters Centerline goodness [0,1] 0.9992785911309144 Centerline is valid? [True, True] Translation: X:513.29, Y:8.25, Z:4.72 [[ 9.99237572e-01 -3.22346766e-02 -2.20272588e-02 5.13289806e+02] [ 3.22340344e-02 9.99480275e-01 -3.84305907e-04 8.24783860e+00] [ 2.20281987e-02 -3.26014518e-04 9.99757297e-01 4.71559229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.7492541539999 meters Centerline goodness [0,1] 0.9991261535838359 Centerline is valid? [True, True] Translation: X:513.32, Y:8.25, Z:4.72 [[ 9.99304701e-01 -2.95379125e-02 -2.27514158e-02 5.13319567e+02] [ 2.95364633e-02 9.99563624e-01 -3.99812255e-04 8.25075663e+00] [ 2.27532972e-02 -2.72462092e-04 9.99741073e-01 4.71713858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.77925415399994 meters Centerline goodness [0,1] 0.9993807256187405 Centerline is valid? [True, True] Translation: X:513.35, Y:8.25, Z:4.72 [[ 9.99393345e-01 -2.69832411e-02 -2.20192515e-02 5.13347993e+02] [ 2.69811848e-02 9.99635865e-01 -3.90525019e-04 8.25253205e+00] [ 2.20217711e-02 -2.03817389e-04 9.99757471e-01 4.71771416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8092541539999 meters Centerline goodness [0,1] 0.9992526956336073 Centerline is valid? [True, True] Translation: X:513.38, Y:8.26, Z:4.72 [[ 9.99541208e-01 -2.14422147e-02 -2.13916956e-02 5.13375630e+02] [ 2.14389317e-02 9.99770086e-01 -3.82819030e-04 8.25606943e+00] [ 2.13949859e-02 -7.59717054e-05 9.99771098e-01 4.71823726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.83925415399995 meters Centerline goodness [0,1] 0.9995090191055609 Centerline is valid? [True, True] Translation: X:513.40, Y:8.26, Z:4.72 [[ 9.99597098e-01 -1.88822865e-02 -2.11920123e-02 5.13403014e+02] [ 1.88783976e-02 9.99821714e-01 -3.83568840e-04 8.25790890e+00] [ 2.11954767e-02 -1.66569343e-05 9.99775351e-01 4.71892694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8692541539999 meters Centerline goodness [0,1] 0.9995093961306286 Centerline is valid? [True, True] Translation: X:513.43, Y:8.26, Z:4.72 [[ 9.99625082e-01 -1.71673015e-02 -2.13302473e-02 5.13430688e+02] [ 1.71628366e-02 9.99852631e-01 -3.92383299e-04 8.25916588e+00] [ 2.13338401e-02 2.61486373e-05 9.99772407e-01 4.71958729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.89925415399995 meters Centerline goodness [0,1] 0.999083409715857 Centerline is valid? [True, True] Translation: X:513.46, Y:8.26, Z:4.72 [[ 9.99655251e-01 -1.45061110e-02 -2.18849566e-02 5.13458646e+02] [ 1.45006731e-02 9.99894777e-01 -4.07156261e-04 8.26012977e+00] [ 2.18885601e-02 8.96692928e-05 9.99760413e-01 4.71781409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9292541539999 meters Centerline goodness [0,1] 0.9987844667647623 Centerline is valid? [True, True] Translation: X:513.49, Y:8.26, Z:4.72 [[ 9.99642701e-01 -1.46069422e-02 -2.23854145e-02 5.13486084e+02] [ 1.46011625e-02 9.99893308e-01 -4.21626423e-04 8.26005270e+00] [ 2.23891848e-02 9.46227020e-05 9.99749326e-01 4.71858195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.95925415399995 meters Centerline goodness [0,1] 0.9990830383417921 Centerline is valid? [True, True] Translation: X:513.51, Y:8.26, Z:4.72 [[ 9.99625343e-01 -1.47458902e-02 -2.30593160e-02 5.13514684e+02] [ 1.47396477e-02 9.99891268e-01 -4.40665771e-04 8.26005511e+00] [ 2.30633067e-02 1.00614478e-04 9.99734002e-01 4.71831502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9892541539999 meters Centerline goodness [0,1] 0.999255746698705 Centerline is valid? [True, True] Translation: X:513.54, Y:8.26, Z:4.72 [[ 9.99601859e-01 -1.55146991e-02 -2.35672961e-02 5.13542225e+02] [ 1.55082370e-02 9.99879636e-01 -4.56955166e-04 8.26003372e+00] [ 2.35715489e-02 9.12860206e-05 9.99722148e-01 4.71792292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.01925415399995 meters Centerline goodness [0,1] 0.9992132513980735 Centerline is valid? [True, True] Translation: X:513.57, Y:8.26, Z:4.72 [[ 9.99541126e-01 -1.76951616e-02 -2.45849310e-02 5.13569822e+02] [ 1.76886850e-02 9.99843427e-01 -4.80900040e-04 8.25764287e+00] [ 2.45895913e-02 4.58042668e-05 9.99697629e-01 4.71696329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0492541539999 meters Centerline goodness [0,1] 0.9991705480763096 Centerline is valid? [True, True] Translation: X:513.60, Y:8.26, Z:4.72 [[ 9.99486950e-01 -2.01419298e-02 -2.49025972e-02 5.13596304e+02] [ 2.01359676e-02 9.99797131e-01 -4.90181663e-04 8.25600427e+00] [ 2.49074185e-02 -1.15077158e-05 9.99689762e-01 4.71709050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07925415399995 meters Centerline goodness [0,1] 0.9989792880534173 Centerline is valid? [True, True] Translation: X:513.62, Y:8.25, Z:4.72 [[ 9.99449089e-01 -2.24491637e-02 -2.44449171e-02 5.13623861e+02] [ 2.24439716e-02 9.99747984e-01 -4.86778199e-04 8.25401176e+00] [ 2.44496843e-02 -6.21309972e-05 9.99701060e-01 4.71745515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1092541539999 meters Centerline goodness [0,1] 0.9991939418365399 Centerline is valid? [True, True] Translation: X:513.65, Y:8.25, Z:4.72 [[ 9.99342936e-01 -2.76869310e-02 -2.33908222e-02 5.13652278e+02] [ 2.76835218e-02 9.99616628e-01 -4.69612191e-04 8.24863012e+00] [ 2.33948569e-02 -1.78236711e-04 9.99726287e-01 4.71895326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13925415399996 meters Centerline goodness [0,1] 0.9989825334916059 Centerline is valid? [True, True] Translation: X:513.68, Y:8.25, Z:4.72 [[ 9.99272046e-01 -3.06958548e-02 -2.26526473e-02 5.13681534e+02] [ 3.06933351e-02 9.99528743e-01 -4.58991348e-04 8.24636507e+00] [ 2.26560612e-02 -2.36628071e-04 9.99743290e-01 4.71978102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.16925415399993 meters Centerline goodness [0,1] 0.9989008433913209 Centerline is valid? [True, True] Translation: X:513.71, Y:8.24, Z:4.72 [[ 9.99147920e-01 -3.53962702e-02 -2.12258647e-02 5.13710714e+02] [ 3.53950059e-02 9.99373306e-01 -4.35364184e-04 8.24185652e+00] [ 2.12279729e-02 -3.16296389e-04 9.99774611e-01 4.72173628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19925415399996 meters Centerline goodness [0,1] 0.9989870639626902 Centerline is valid? [True, True] Translation: X:513.74, Y:8.24, Z:4.72 [[ 9.99099107e-01 -3.70571618e-02 -2.06818885e-02 5.13740859e+02] [ 3.70562600e-02 9.99313090e-01 -4.26971823e-04 8.23987193e+00] [ 2.06835043e-02 -3.39806270e-04 9.99786016e-01 4.72256369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.22925415399993 meters Centerline goodness [0,1] 0.9991353312103254 Centerline is valid? [True, True] Translation: X:513.77, Y:8.24, Z:4.72 [[ 9.99076544e-01 -3.80309676e-02 -1.99926143e-02 5.13769982e+02] [ 3.80303092e-02 9.99276501e-01 -4.13269288e-04 8.23756132e+00] [ 1.99938667e-02 -3.47437652e-04 9.99800042e-01 4.72284268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2592541539999 meters Centerline goodness [0,1] 0.9990534685120525 Centerline is valid? [True, True] Translation: X:513.80, Y:8.24, Z:4.72 [[ 9.99086987e-01 -3.81780252e-02 -1.91736935e-02 5.13801710e+02] [ 3.81774504e-02 9.99270897e-01 -3.96144385e-04 8.23667650e+00] [ 1.91748379e-02 -3.36220034e-04 9.99816089e-01 4.72394788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.28925415399993 meters Centerline goodness [0,1] 0.9992206260268779 Centerline is valid? [True, True] Translation: X:513.83, Y:8.23, Z:4.72 [[ 9.99160630e-01 -3.66597617e-02 -1.82783488e-02 5.13831041e+02] [ 3.66589884e-02 9.99327762e-01 -3.77480223e-04 8.23217291e+00] [ 1.82798998e-02 -2.92902400e-04 9.99832866e-01 4.72429469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3192541539999 meters Centerline goodness [0,1] 0.999263824327451 Centerline is valid? [True, True] Translation: X:513.86, Y:8.23, Z:4.73 [[ 9.99197505e-01 -3.57821754e-02 -1.79994840e-02 5.13861974e+02] [ 3.57812775e-02 9.99359576e-01 -3.72035833e-04 8.23358207e+00] [ 1.80012690e-02 -2.72307257e-04 9.99837927e-01 4.72603362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.34925415399994 meters Centerline goodness [0,1] 0.9991800693787449 Centerline is valid? [True, True] Translation: X:513.89, Y:8.23, Z:4.73 [[ 9.99306371e-01 -3.27500436e-02 -1.77260049e-02 5.13892802e+02] [ 3.27486931e-02 9.99463550e-01 -3.66539424e-04 8.23221974e+00] [ 1.77285000e-02 -2.14218313e-04 9.99842815e-01 4.72700415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3792541539999 meters Centerline goodness [0,1] 0.9993271798322154 Centerline is valid? [True, True] Translation: X:513.92, Y:8.23, Z:4.73 [[ 9.99347026e-01 -3.13669052e-02 -1.79343079e-02 5.13923442e+02] [ 3.13653000e-02 9.99507919e-01 -3.70846726e-04 8.23199281e+00] [ 1.79371151e-02 -1.91910377e-04 9.99839099e-01 4.72739364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.40925415399994 meters Centerline goodness [0,1] 0.999221724406302 Centerline is valid? [True, True] Translation: X:513.95, Y:8.23, Z:4.73 [[ 9.99373498e-01 -3.03681355e-02 -1.81765637e-02 5.13952560e+02] [ 3.03663185e-02 9.99538766e-01 -3.76016276e-04 8.23099305e+00] [ 1.81795990e-02 -1.76174622e-04 9.99834722e-01 4.72710063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4392541539999 meters Centerline goodness [0,1] 0.9991562783437744 Centerline is valid? [True, True] Translation: X:513.98, Y:8.23, Z:4.73 [[ 9.99391023e-01 -2.95683259e-02 -1.85282994e-02 5.13982587e+02] [ 2.95662911e-02 9.99562748e-01 -3.83803285e-04 8.23033153e+00] [ 1.85315462e-02 -1.64243535e-04 9.99828263e-01 4.72731286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.46925415399994 meters Centerline goodness [0,1] 0.9991175543649543 Centerline is valid? [True, True] Translation: X:514.01, Y:8.23, Z:4.73 [[ 9.99375477e-01 -2.89426606e-02 -2.02726126e-02 5.14011395e+02] [ 2.89400761e-02 9.99581060e-01 -4.20909847e-04 8.22613822e+00] [ 2.02763018e-02 -1.66043973e-04 9.99794401e-01 4.72528926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4992541539999 meters Centerline goodness [0,1] 0.9992646286374619 Centerline is valid? [True, True] Translation: X:514.04, Y:8.22, Z:4.73 [[ 9.99347760e-01 -2.91273728e-02 -2.13459935e-02 5.14040246e+02] [ 2.91244724e-02 9.99575693e-01 -4.46807622e-04 8.22485323e+00] [ 2.13499506e-02 -1.75174604e-04 9.99772048e-01 4.72527315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.52925415399994 meters Centerline goodness [0,1] 0.999200605856614 Centerline is valid? [True, True] Translation: X:514.07, Y:8.22, Z:4.72 [[ 9.99327651e-01 -2.95670967e-02 -2.16802207e-02 5.14068256e+02] [ 2.95641185e-02 9.99562781e-01 -4.57943931e-04 8.22293011e+00] [ 2.16842818e-02 -1.83320582e-04 9.99764852e-01 4.72428379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5592541539999 meters Centerline goodness [0,1] 0.9990969611693303 Centerline is valid? [True, True] Translation: X:514.10, Y:8.22, Z:4.72 [[ 9.99268522e-01 -3.13409788e-02 -2.19126493e-02 5.14097097e+02] [ 3.13382638e-02 9.99508727e-01 -4.67365885e-04 8.22018489e+00] [ 2.19165319e-02 -2.19680367e-04 9.99759780e-01 4.72473923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.58925415399995 meters Centerline goodness [0,1] 0.9995392477171818 Centerline is valid? [True, True] Translation: X:514.13, Y:8.22, Z:4.73 [[ 9.99225605e-01 -3.28737900e-02 -2.16218328e-02 5.14125156e+02] [ 3.28714304e-02 9.99459481e-01 -4.64631520e-04 8.21815076e+00] [ 2.16254200e-02 -2.46468860e-04 9.99766113e-01 4.72545895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6192541539999 meters Centerline goodness [0,1] 0.9995169082125603 Centerline is valid? [True, True] Translation: X:514.15, Y:8.22, Z:4.73 [[ 9.99157322e-01 -3.51165965e-02 -2.12478357e-02 5.14153135e+02] [ 3.51147715e-02 9.99383181e-01 -4.59097585e-04 8.21524413e+00] [ 2.12508515e-02 -2.87402181e-04 9.99774134e-01 4.72547508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.64925415399995 meters Centerline goodness [0,1] 0.9989937528824787 Centerline is valid? [True, True] Translation: X:514.18, Y:8.21, Z:4.73 [[ 9.98964034e-01 -4.08183339e-02 -2.01177250e-02 5.14182041e+02] [ 4.08177725e-02 9.99166511e-01 -4.38700053e-04 8.21101949e+00] [ 2.01188641e-02 -3.82915145e-04 9.99797522e-01 4.72740300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6792541539999 meters Centerline goodness [0,1] 0.9990129782855223 Centerline is valid? [True, True] Translation: X:514.21, Y:8.21, Z:4.73 [[ 9.98836279e-01 -4.40051667e-02 -1.97391128e-02 5.14212669e+02] [ 4.40052013e-02 9.99031208e-01 -4.32814175e-04 8.20834432e+00] [ 1.97390357e-02 -4.36313130e-04 9.99805071e-01 4.72761145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.70925415399995 meters Centerline goodness [0,1] 0.9992022504933451 Centerline is valid? [True, True] Translation: X:514.24, Y:8.20, Z:4.73 [[ 9.98694635e-01 -4.72172925e-02 -1.94821469e-02 5.14243244e+02] [ 4.72179404e-02 9.98884520e-01 -4.26993542e-04 8.20470632e+00] [ 1.94805764e-02 -4.93470690e-04 9.99810114e-01 4.72761540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7392541539999 meters Centerline goodness [0,1] 0.9992447763698917 Centerline is valid? [True, True] Translation: X:514.27, Y:8.20, Z:4.73 [[ 9.98357073e-01 -5.43161378e-02 -1.82458517e-02 5.14274248e+02] [ 5.43178959e-02 9.98523613e-01 -3.99572501e-04 8.19926186e+00] [ 1.82406170e-02 -5.92160243e-04 9.99833451e-01 4.72883339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.76925415399995 meters Centerline goodness [0,1] 0.9989935629966662 Centerline is valid? [True, True] Translation: X:514.31, Y:8.20, Z:4.73 [[ 9.98158354e-01 -5.80079100e-02 -1.77477519e-02 5.14305224e+02] [ 5.80101618e-02 9.98315917e-01 -3.88342999e-04 8.19624764e+00] [ 1.77403902e-02 -6.41922154e-04 9.99842421e-01 4.72951247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7992541539999 meters Centerline goodness [0,1] 0.9991201424531266 Centerline is valid? [True, True] Translation: X:514.34, Y:8.19, Z:4.73 [[ 9.97948372e-01 -6.15778986e-02 -1.75273653e-02 5.14336127e+02] [ 6.15806540e-02 9.98102037e-01 -3.82975321e-04 8.19369487e+00] [ 1.75176819e-02 -6.97157023e-04 9.99846311e-01 4.73016089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.82925415399995 meters Centerline goodness [0,1] 0.9988696307460437 Centerline is valid? [True, True] Translation: X:514.37, Y:8.19, Z:4.73 [[ 9.97493026e-01 -6.86113002e-02 -1.73249219e-02 5.14366144e+02] [ 6.86150598e-02 9.97643138e-01 -3.78023384e-04 8.18659033e+00] [ 1.73100261e-02 -8.11674861e-04 9.99849841e-01 4.73007353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8592541539999 meters Centerline goodness [0,1] 0.9991025774809559 Centerline is valid? [True, True] Translation: X:514.40, Y:8.18, Z:4.73 [[ 9.97231255e-01 -7.23923711e-02 -1.70049332e-02 5.14397461e+02] [ 7.23965484e-02 9.97375858e-01 -3.70620604e-04 8.18313468e+00] [ 1.69871399e-02 -8.61504019e-04 9.99855337e-01 4.73029374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.88925415399996 meters Centerline goodness [0,1] 0.9989340801738912 Centerline is valid? [True, True] Translation: X:514.43, Y:8.18, Z:4.73 [[ 9.96977883e-01 -7.58059403e-02 -1.69870705e-02 5.14428297e+02] [ 7.58106115e-02 9.97122166e-01 -3.69722814e-04 8.18044160e+00] [ 1.69662118e-02 -9.19194735e-04 9.99855641e-01 4.73020620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.91925415399993 meters Centerline goodness [0,1] 0.9987039321027656 Centerline is valid? [True, True] Translation: X:514.46, Y:8.17, Z:4.73 [[ 9.96537589e-01 -8.13157268e-02 -1.73374005e-02 5.14457637e+02] [ 8.13214343e-02 9.96687856e-01 -3.76717886e-04 8.17400984e+00] [ 1.73106097e-02 -1.03448874e-03 9.99849625e-01 4.73016398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.94925415399996 meters Centerline goodness [0,1] 0.9988501181242291 Centerline is valid? [True, True] Translation: X:514.49, Y:8.17, Z:4.73 [[ 9.96381392e-01 -8.30448207e-02 -1.81019277e-02 5.14487999e+02] [ 8.30513400e-02 9.96545193e-01 -3.92615994e-04 8.17244725e+00] [ 1.80719938e-02 -1.11219408e-03 9.99836070e-01 4.73009227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.97925415399993 meters Centerline goodness [0,1] 0.9987470503476935 Centerline is valid? [True, True] Translation: X:514.52, Y:8.17, Z:4.73 [[ 9.96286155e-01 -8.40681783e-02 -1.86128394e-02 5.14520469e+02] [ 8.40752641e-02 9.96459326e-01 -4.02872168e-04 8.17310604e+00] [ 1.85808061e-02 -1.16350343e-03 9.99826685e-01 4.73019545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0092541539999 meters Centerline goodness [0,1] 0.9989967603720347 Centerline is valid? [True, True] Translation: X:514.55, Y:8.17, Z:4.73 [[ 9.96219375e-01 -8.46851076e-02 -1.93749905e-02 5.14553017e+02] [ 8.46929290e-02 9.96407012e-01 -4.17973844e-04 8.17358774e+00] [ 1.93407726e-02 -1.22453105e-03 9.99812200e-01 4.73009697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.03925415399993 meters Centerline goodness [0,1] 0.9987895231138474 Centerline is valid? [True, True] Translation: X:514.58, Y:8.18, Z:4.73 [[ 9.96278608e-01 -8.38848946e-02 -1.98055321e-02 5.14584679e+02] [ 8.38929386e-02 9.96474683e-01 -4.25818570e-04 8.18079747e+00] [ 1.97714310e-02 -1.23731035e-03 9.99803761e-01 4.73101503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0692541539999 meters Centerline goodness [0,1] 0.9985561530896231 Centerline is valid? [True, True] Translation: X:514.62, Y:8.18, Z:4.73 [[ 9.96378835e-01 -8.26048280e-02 -2.01410082e-02 5.14616607e+02] [ 8.26129167e-02 9.96581617e-01 -4.31526920e-04 8.18392497e+00] [ 2.01078047e-02 -1.23394314e-03 9.99797056e-01 4.73148853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.09925415399994 meters Centerline goodness [0,1] 0.9984919886899152 Centerline is valid? [True, True] Translation: X:514.65, Y:8.19, Z:4.73 [[ 9.96609567e-01 -7.97411302e-02 -2.02663142e-02 5.14647718e+02] [ 7.97487522e-02 9.96814902e-01 -4.33104912e-04 8.18895783e+00] [ 2.02363003e-02 -1.18457677e-03 9.99794523e-01 4.73138768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.1292541539999 meters Centerline goodness [0,1] 0.9986608357222071 Centerline is valid? [True, True] Translation: X:514.68, Y:8.19, Z:4.73 [[ 9.96751782e-01 -7.78634655e-02 -2.05710134e-02 5.14679378e+02] [ 7.78709402e-02 9.96963352e-01 -4.38630241e-04 8.19209398e+00] [ 2.05426997e-02 -1.16467868e-03 9.99788298e-01 4.73173189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.15925415399994 meters Centerline goodness [0,1] 0.9985768997342152 Centerline is valid? [True, True] Translation: X:514.71, Y:8.19, Z:4.73 [[ 9.96920892e-01 -7.56059977e-02 -2.07958665e-02 5.14709661e+02] [ 7.56131628e-02 9.97137129e-01 -4.42674881e-04 8.19042922e+00] [ 2.07697995e-02 -1.13112940e-03 9.99783645e-01 4.73061811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.1892541539999 meters Centerline goodness [0,1] 0.9987434554973822 Centerline is valid? [True, True] Translation: X:514.74, Y:8.20, Z:4.73 [[ 9.97182079e-01 -7.18428125e-02 -2.15988779e-02 5.14739689e+02] [ 7.18496654e-02 9.97415367e-01 -4.59585136e-04 8.19662893e+00] [ 2.15760706e-02 -1.09358209e-03 9.99766611e-01 4.73104780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.21925415399994 meters Centerline goodness [0,1] 0.9988683752802867 Centerline is valid? [True, True] Translation: X:514.77, Y:8.20, Z:4.73 [[ 9.97327095e-01 -6.97244890e-02 -2.18440400e-02 5.14770971e+02] [ 6.97310017e-02 9.97565723e-01 -4.64338453e-04 8.20494118e+00] [ 2.18232413e-02 -1.06010947e-03 9.99761283e-01 4.73223936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.2492541539999 meters Centerline goodness [0,1] 0.9987836845968334 Centerline is valid? [True, True] Translation: X:514.80, Y:8.21, Z:4.73 [[ 9.97469686e-01 -6.76096370e-02 -2.19809357e-02 5.14802611e+02] [ 6.76157417e-02 9.97711328e-01 -4.66227547e-04 8.20902262e+00] [ 2.19621500e-02 -1.02120943e-03 9.99758281e-01 4.73239420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.27925415399994 meters Centerline goodness [0,1] 0.9983622391130895 Centerline is valid? [True, True] Translation: X:514.83, Y:8.21, Z:4.73 [[ 9.97650199e-01 -6.48735150e-02 -2.20342383e-02 5.14833890e+02] [ 6.48790046e-02 9.97893029e-01 -4.66386918e-04 8.21190182e+00] [ 2.20180690e-02 -9.64268447e-04 9.99757108e-01 4.73202832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3092541539999 meters Centerline goodness [0,1] 0.9987004003605341 Centerline is valid? [True, True] Translation: X:514.86, Y:8.22, Z:4.73 [[ 9.97923599e-01 -6.12466118e-02 -1.99334853e-02 5.14864056e+02] [ 6.12503880e-02 9.98122343e-01 -4.21605863e-04 8.21810426e+00] [ 1.99218790e-02 -8.00203271e-04 9.99801219e-01 4.73490681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.33925415399995 meters Centerline goodness [0,1] 0.9985119047619048 Centerline is valid? [True, True] Translation: X:514.90, Y:8.22, Z:4.74 [[ 9.98070450e-01 -5.90143959e-02 -1.93048586e-02 5.14895249e+02] [ 5.90175277e-02 9.98256863e-01 -4.07943953e-04 8.22176133e+00] [ 1.92952821e-02 -7.32168223e-04 9.99813561e-01 4.73592060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3692541539999 meters Centerline goodness [0,1] 0.9988051817381461 Centerline is valid? [True, True] Translation: X:514.93, Y:8.23, Z:4.74 [[ 9.98232635e-01 -5.62643109e-02 -1.91294192e-02 5.14926348e+02] [ 5.62668951e-02 9.98415682e-01 -4.03536987e-04 8.22525602e+00] [ 1.91218168e-02 -6.73529232e-04 9.99816934e-01 4.73619407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.39925415399995 meters Centerline goodness [0,1] 0.9988254787222887 Centerline is valid? [True, True] Translation: X:514.96, Y:8.23, Z:4.74 [[ 9.98461098e-01 -5.21999540e-02 -1.87243465e-02 5.14957232e+02] [ 5.22017285e-02 9.98636482e-01 -3.94315920e-04 8.23084341e+00] [ 1.87193988e-02 -5.83734145e-04 9.99824606e-01 4.73706987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4292541539999 meters Centerline goodness [0,1] 0.9988479745297641 Centerline is valid? [True, True] Translation: X:514.99, Y:8.23, Z:4.74 [[ 9.98564828e-01 -5.01310942e-02 -1.88456435e-02 5.14988967e+02] [ 5.01325397e-02 9.98742495e-01 -3.96017927e-04 8.23490363e+00] [ 1.88417978e-02 -5.49330399e-04 9.99822327e-01 4.73763846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.45925415399995 meters Centerline goodness [0,1] 0.9987004276012409 Centerline is valid? [True, True] Translation: X:515.02, Y:8.24, Z:4.74 [[ 9.98665089e-01 -4.81637888e-02 -1.86624995e-02 5.15019865e+02] [ 4.81648785e-02 9.98839322e-01 -3.91340034e-04 8.23814366e+00] [ 1.86596868e-02 -5.08059391e-04 9.99825764e-01 4.73814914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4892541539999 meters Centerline goodness [0,1] 0.9988667604037691 Centerline is valid? [True, True] Translation: X:515.05, Y:8.24, Z:4.74 [[ 9.98754165e-01 -4.63786039e-02 -1.84158544e-02 5.15050005e+02] [ 4.63793707e-02 9.98923824e-01 -3.85679907e-04 8.24067425e+00] [ 1.84139230e-02 -4.68916327e-04 9.99830339e-01 4.73820473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.51925415399995 meters Centerline goodness [0,1] 0.9990140963248867 Centerline is valid? [True, True] Translation: X:515.08, Y:8.25, Z:4.74 [[ 9.98916783e-01 -4.30538646e-02 -1.76529037e-02 5.15079994e+02] [ 4.30540556e-02 9.99072676e-01 -3.69398760e-04 8.24550705e+00] [ 1.76524378e-02 -3.91030475e-04 9.99844107e-01 4.73899428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5492541539999 meters Centerline goodness [0,1] 0.998991998991999 Centerline is valid? [True, True] Translation: X:515.11, Y:8.25, Z:4.74 [[ 9.98998203e-01 -4.12729253e-02 -1.72955223e-02 5.15111176e+02] [ 4.12728494e-02 9.99147848e-01 -3.61486105e-04 8.24889986e+00] [ 1.72957035e-02 -3.52711517e-04 9.99850356e-01 4.73975918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57925415399995 meters Centerline goodness [0,1] 0.9989259992418819 Centerline is valid? [True, True] Translation: X:515.14, Y:8.25, Z:4.74 [[ 9.99055352e-01 -3.98420320e-02 -1.73497987e-02 5.15141419e+02] [ 3.98417479e-02 9.99205937e-01 -3.62158685e-04 8.25162403e+00] [ 1.73504510e-02 -3.29429733e-04 9.99849415e-01 4.74014988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6092541539999 meters Centerline goodness [0,1] 0.9989259992418819 Centerline is valid? [True, True] Translation: X:515.17, Y:8.25, Z:4.74 [[ 9.99056706e-01 -3.98080768e-02 -1.73498077e-02 5.15172263e+02] [ 3.98077951e-02 9.99207290e-01 -3.61726786e-04 8.25223479e+00] [ 1.73504540e-02 -3.29272017e-04 9.99849415e-01 4.74043883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63925415399996 meters Centerline goodness [0,1] 0.998758130038519 Centerline is valid? [True, True] Translation: X:515.20, Y:8.26, Z:4.74 [[ 9.99121380e-01 -3.82193090e-02 -1.71974293e-02 5.15203204e+02] [ 3.82188070e-02 9.99269330e-01 -3.57967850e-04 8.25558351e+00] [ 1.71985450e-02 -2.99611901e-04 9.99852049e-01 4.74076725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.66925415399993 meters Centerline goodness [0,1] 0.9989466144187419 Centerline is valid? [True, True] Translation: X:515.23, Y:8.26, Z:4.74 [[ 9.99212925e-01 -3.55535036e-02 -1.75920082e-02 5.15234599e+02] [ 3.55525762e-02 9.99367740e-01 -3.65558227e-04 8.26186430e+00] [ 1.75938824e-02 -2.60170707e-04 9.99845182e-01 4.74136655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69925415399996 meters Centerline goodness [0,1] 0.9988407874214897 Centerline is valid? [True, True] Translation: X:515.27, Y:8.26, Z:4.74 [[ 9.99251158e-01 -3.45474028e-02 -1.74241072e-02 5.15265523e+02] [ 3.45463510e-02 9.99403031e-01 -3.61444354e-04 8.26370173e+00] [ 1.74261926e-02 -2.40765635e-04 9.99848123e-01 4.74146051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.72925415399993 meters Centerline goodness [0,1] 0.9988390011187808 Centerline is valid? [True, True] Translation: X:515.30, Y:8.27, Z:4.74 [[ 9.99302047e-01 -3.31485976e-02 -1.72217896e-02 5.15295566e+02] [ 3.31473705e-02 9.99450411e-01 -3.56774218e-04 8.26584913e+00] [ 1.72241512e-02 -2.14331833e-04 9.99851630e-01 4.74109749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7592541539999 meters Centerline goodness [0,1] 0.9987134330246978 Centerline is valid? [True, True] Translation: X:515.33, Y:8.27, Z:4.74 [[ 9.99305779e-01 -3.29638734e-02 -1.73592115e-02 5.15325920e+02] [ 3.29626042e-02 9.99456521e-01 -3.59311427e-04 8.26507016e+00] [ 1.73616215e-02 -2.13142832e-04 9.99849253e-01 4.74020670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.78925415399993 meters Centerline goodness [0,1] 0.9990482434804678 Centerline is valid? [True, True] Translation: X:515.36, Y:8.27, Z:4.74 [[ 9.99308004e-01 -3.30924504e-02 -1.69824131e-02 5.15356257e+02] [ 3.30912570e-02 9.99452273e-01 -3.51350279e-04 8.26804049e+00] [ 1.69847384e-02 -2.10862251e-04 9.99855727e-01 4.74183621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8192541539999 meters Centerline goodness [0,1] 0.9989217075078758 Centerline is valid? [True, True] Translation: X:515.39, Y:8.27, Z:4.74 [[ 9.99305030e-01 -3.33874250e-02 -1.65752074e-02 5.15387226e+02] [ 3.33863328e-02 9.99442462e-01 -3.42674686e-04 8.26892731e+00] [ 1.65774071e-02 -2.10948852e-04 9.99862563e-01 4.74232649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.84925415399994 meters Centerline goodness [0,1] 0.9989224365610936 Centerline is valid? [True, True] Translation: X:515.42, Y:8.27, Z:4.74 [[ 9.99254605e-01 -3.48859077e-02 -1.65289936e-02 5.15418224e+02] [ 3.48850360e-02 9.99391274e-01 -3.41145342e-04 8.26889069e+00] [ 1.65308332e-02 -2.35723484e-04 9.99863329e-01 4.74247377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8792541539999 meters Centerline goodness [0,1] 0.9987754154086523 Centerline is valid? [True, True] Translation: X:515.45, Y:8.27, Z:4.74 [[ 9.99219143e-01 -3.59379198e-02 -1.64186027e-02 5.15448692e+02] [ 3.59372090e-02 9.99353993e-01 -3.38421914e-04 8.26842437e+00] [ 1.64201584e-02 -2.51881103e-04 9.99865148e-01 4.74211708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.90925415399994 meters Centerline goodness [0,1] 0.9989427163730943 Centerline is valid? [True, True] Translation: X:515.48, Y:8.27, Z:4.74 [[ 9.99184719e-01 -3.68063685e-02 -1.65887873e-02 5.15479711e+02] [ 3.68057694e-02 9.99322380e-01 -3.41518682e-04 8.26801669e+00] [ 1.65901164e-02 -2.69322830e-04 9.99862338e-01 4.74195069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9392541539999 meters Centerline goodness [0,1] 0.9986055945237894 Centerline is valid? [True, True] Translation: X:515.51, Y:8.27, Z:4.74 [[ 9.99100461e-01 -3.87595852e-02 -1.72035861e-02 5.15510450e+02] [ 3.87592383e-02 9.99248516e-01 -3.53709090e-04 8.26629172e+00] [ 1.72043675e-02 -3.13406981e-04 9.99851945e-01 4.74104132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.96925415399994 meters Centerline goodness [0,1] 0.9989021197533992 Centerline is valid? [True, True] Translation: X:515.54, Y:8.27, Z:4.74 [[ 9.99073682e-01 -3.94087878e-02 -1.72836581e-02 5.15542048e+02] [ 3.94085423e-02 9.99223119e-01 -3.54927380e-04 8.26657073e+00] [ 1.72842180e-02 -3.26525167e-04 9.99850563e-01 4.74109809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9992541539999 meters Centerline goodness [0,1] 0.9988206553786538 Centerline is valid? [True, True] Translation: X:515.57, Y:8.27, Z:4.74 [[ 9.99052089e-01 -3.98478731e-02 -1.75234381e-02 5.15572372e+02] [ 3.98477010e-02 9.99205700e-01 -3.59119266e-04 8.26675659e+00] [ 1.75238293e-02 -3.39489868e-04 9.99846388e-01 4.74139082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.02925415399994 meters Centerline goodness [0,1] 0.9988389030800735 Centerline is valid? [True, True] Translation: X:515.60, Y:8.27, Z:4.74 [[ 9.99055306e-01 -3.97917846e-02 -1.74673721e-02 5.15603106e+02] [ 3.97916156e-02 9.99207936e-01 -3.57365232e-04 8.26721866e+00] [ 1.74677571e-02 -3.38027327e-04 9.99847370e-01 4.74148939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0592541539999 meters Centerline goodness [0,1] 0.9986716987497101 Centerline is valid? [True, True] Translation: X:515.63, Y:8.27, Z:4.74 [[ 9.99084619e-01 -3.89702252e-02 -1.76421666e-02 5.15634572e+02] [ 3.89699329e-02 9.99240319e-01 -3.60480900e-04 8.27186964e+00] [ 1.76428122e-02 -3.27363126e-04 9.99844300e-01 4.74219779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.08925415399995 meters Centerline goodness [0,1] 0.9988198103266597 Centerline is valid? [True, True] Translation: X:515.66, Y:8.27, Z:4.74 [[ 9.99109805e-01 -3.85402748e-02 -1.71535721e-02 5.15664867e+02] [ 3.85399493e-02 9.99256999e-01 -3.49675816e-04 8.26857057e+00] [ 1.71543036e-02 -3.11733263e-04 9.99852806e-01 4.74181032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1192541539999 meters Centerline goodness [0,1] 0.9986093845473125 Centerline is valid? [True, True] Translation: X:515.70, Y:8.27, Z:4.74 [[ 9.99149978e-01 -3.74988645e-02 -1.71218428e-02 5.15695882e+02] [ 3.74983995e-02 9.99296627e-01 -3.48316906e-04 8.26970066e+00] [ 1.71228613e-02 -2.94020874e-04 9.99853350e-01 4.74178658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.14925415399995 meters Centerline goodness [0,1] 0.9987800004206895 Centerline is valid? [True, True] Translation: X:515.73, Y:8.27, Z:4.74 [[ 9.99239153e-01 -3.48565891e-02 -1.74966840e-02 5.15726910e+02] [ 3.48557064e-02 9.99392292e-01 -3.55496406e-04 8.27498804e+00] [ 1.74984426e-02 -2.54633353e-04 9.99846858e-01 4.74350549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1792541539999 meters Centerline goodness [0,1] 0.998948099215282 Centerline is valid? [True, True] Translation: X:515.76, Y:8.28, Z:4.74 [[ 9.99293994e-01 -3.34180006e-02 -1.71682914e-02 5.15757764e+02] [ 3.34169440e-02 9.99441437e-01 -3.48496272e-04 8.27647525e+00] [ 1.71703479e-02 -2.25461601e-04 9.99852553e-01 4.74371911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.20925415399995 meters Centerline goodness [0,1] 0.9990529904457258 Centerline is valid? [True, True] Translation: X:515.79, Y:8.28, Z:4.74 [[ 9.99398744e-01 -3.02600627e-02 -1.69256690e-02 5.15788423e+02] [ 3.02585829e-02 9.99542045e-01 -3.43571321e-04 8.27984480e+00] [ 1.69283143e-02 -1.68782012e-04 9.99856692e-01 4.74484318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2392541539999 meters Centerline goodness [0,1] 0.9990544231981509 Centerline is valid? [True, True] Translation: X:515.82, Y:8.28, Z:4.75 [[ 9.99437547e-01 -2.86744441e-02 -1.73886571e-02 5.15818852e+02] [ 2.86726511e-02 9.99588793e-01 -3.52463945e-04 8.28088464e+00] [ 1.73916135e-02 -1.46313199e-04 9.99848744e-01 4.74510495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.26925415399995 meters Centerline goodness [0,1] 0.998907356432939 Centerline is valid? [True, True] Translation: X:515.85, Y:8.28, Z:4.75 [[ 9.99478595e-01 -2.70363056e-02 -1.76515355e-02 5.15848822e+02] [ 2.70342077e-02 9.99634445e-01 -3.57495232e-04 8.28207611e+00] [ 1.76547483e-02 -1.19886447e-04 9.99844136e-01 4.74529944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2992541539999 meters Centerline goodness [0,1] 0.999222231564786 Centerline is valid? [True, True] Translation: X:515.88, Y:8.28, Z:4.75 [[ 9.99519197e-01 -2.56185509e-02 -1.74660957e-02 5.15877528e+02] [ 2.56162647e-02 9.99671787e-01 -3.54640642e-04 8.28276872e+00] [ 1.74694484e-02 -9.29460007e-05 9.99847393e-01 4.74511314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.32925415399995 meters Centerline goodness [0,1] 0.9993069119778212 Centerline is valid? [True, True] Translation: X:515.91, Y:8.28, Z:4.75 [[ 9.99566774e-01 -2.34830426e-02 -1.77429139e-02 5.15906095e+02] [ 2.34803274e-02 9.99724234e-01 -3.61364589e-04 8.28385110e+00] [ 1.77465070e-02 -5.54013911e-05 9.99842517e-01 4.74554801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3592541539999 meters Centerline goodness [0,1] 0.9992863290023299 Centerline is valid? [True, True] Translation: X:515.93, Y:8.28, Z:4.75 [[ 9.99574398e-01 -2.30074206e-02 -1.79354555e-02 5.15934516e+02] [ 2.30045219e-02 9.99735293e-01 -3.67944356e-04 8.28476447e+00] [ 1.79391734e-02 -4.48088224e-05 9.99839079e-01 4.74589774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.38925415399996 meters Centerline goodness [0,1] 0.9991604223075793 Centerline is valid? [True, True] Translation: X:515.96, Y:8.28, Z:4.75 [[ 9.99567492e-01 -2.32101483e-02 -1.80587515e-02 5.15962704e+02] [ 2.32071787e-02 9.99730607e-01 -3.74018505e-04 8.28494060e+00] [ 1.80625676e-02 -4.52359345e-05 9.99836857e-01 4.74638927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.41925415399993 meters Centerline goodness [0,1] 0.9992657085912094 Centerline is valid? [True, True] Translation: X:515.99, Y:8.28, Z:4.75 [[ 9.99545326e-01 -2.36994834e-02 -1.86406787e-02 5.15991820e+02] [ 2.36963372e-02 9.99719126e-01 -3.89671362e-04 8.28485351e+00] [ 1.86446780e-02 -5.22216185e-05 9.99826172e-01 4.74671819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.44925415399996 meters Centerline goodness [0,1] 0.9988045051280438 Centerline is valid? [True, True] Translation: X:516.02, Y:8.28, Z:4.75 [[ 9.99484219e-01 -2.50219302e-02 -2.01295316e-02 5.16019328e+02] [ 2.50184502e-02 9.99686899e-01 -4.24734858e-04 8.28282426e+00] [ 2.01338567e-02 -7.90938958e-05 9.99797290e-01 4.74503953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.47925415399993 meters Centerline goodness [0,1] 0.9989722938820026 Centerline is valid? [True, True] Translation: X:516.05, Y:8.28, Z:4.75 [[ 9.99430456e-01 -2.68178401e-02 -2.04833430e-02 5.16048365e+02] [ 2.68145301e-02 9.99640331e-01 -4.36283327e-04 8.28170927e+00] [ 2.04876760e-02 -1.13216373e-04 9.99790099e-01 4.74630013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5092541539999 meters Centerline goodness [0,1] 0.999244094488189 Centerline is valid? [True, True] Translation: X:516.08, Y:8.28, Z:4.75 [[ 9.99382494e-01 -2.80983156e-02 -2.10977521e-02 5.16076006e+02] [ 2.80950156e-02 9.99605155e-01 -4.52864761e-04 8.28015750e+00] [ 2.11021465e-02 -1.40156559e-04 9.99777315e-01 4.74593275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.53925415399993 meters Centerline goodness [0,1] 0.9989943010392223 Centerline is valid? [True, True] Translation: X:516.10, Y:8.28, Z:4.75 [[ 9.99289015e-01 -3.12037916e-02 -2.11609815e-02 5.16104708e+02] [ 3.12010867e-02 9.99513023e-01 -4.58051780e-04 8.27737310e+00] [ 2.11649695e-02 -2.02519506e-04 9.99775976e-01 4.74669727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5692541539999 meters Centerline goodness [0,1] 0.9990136825316881 Centerline is valid? [True, True] Translation: X:516.13, Y:8.28, Z:4.75 [[ 9.99233532e-01 -3.28851435e-02 -2.12347830e-02 5.16133031e+02] [ 3.28827261e-02 9.99459110e-01 -4.63093603e-04 8.27513186e+00] [ 2.12385262e-02 -2.35518897e-04 9.99774409e-01 4.74625819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.59925415399994 meters Centerline goodness [0,1] 0.9992874358168291 Centerline is valid? [True, True] Translation: X:516.16, Y:8.27, Z:4.75 [[ 9.99174876e-01 -3.45009880e-02 -2.14300779e-02 5.16161662e+02] [ 3.44988166e-02 9.99404628e-01 -4.71124555e-04 8.27364781e+00] [ 2.14335733e-02 -2.68576509e-04 9.99770239e-01 4.74646499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.6292541539999 meters Centerline goodness [0,1] 0.9989937317875935 Centerline is valid? [True, True] Translation: X:516.19, Y:8.27, Z:4.75 [[ 9.99036346e-01 -3.82355573e-02 -2.15504581e-02 5.16190206e+02] [ 3.82341156e-02 9.99268694e-01 -4.79070764e-04 8.27032526e+00] [ 2.15530157e-02 -3.45353602e-04 9.99767647e-01 4.74817807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.65925415399994 meters Centerline goodness [0,1] 0.9990995518700004 Centerline is valid? [True, True] Translation: X:516.22, Y:8.27, Z:4.75 [[ 9.98955795e-01 -4.01026812e-02 -2.18882449e-02 5.16219116e+02] [ 4.01015760e-02 9.99195488e-01 -4.89593614e-04 8.26828273e+00] [ 2.18902696e-02 -3.88670740e-04 9.99760304e-01 4.74814282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.6892541539999 meters Centerline goodness [0,1] 0.9989951431920951 Centerline is valid? [True, True] Translation: X:516.25, Y:8.26, Z:4.75 [[ 9.98785638e-01 -4.41569415e-02 -2.18498198e-02 5.16248839e+02] [ 4.41567956e-02 9.99024493e-01 -4.89379709e-04 8.26390861e+00] [ 2.18501146e-02 -4.76032602e-04 9.99761144e-01 4.74880174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.71925415399994 meters Centerline goodness [0,1] 0.9988487461799305 Centerline is valid? [True, True] Translation: X:516.28, Y:8.26, Z:4.75 [[ 9.98706242e-01 -4.61400943e-02 -2.13760259e-02 5.16279095e+02] [ 4.61404061e-02 9.98934850e-01 -4.78880753e-04 8.26175262e+00] [ 2.13753528e-02 -5.08037319e-04 9.99771392e-01 4.74955942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.7492541539999 meters Centerline goodness [0,1] 0.9987866870280108 Centerline is valid? [True, True] Translation: X:516.31, Y:8.26, Z:4.75 [[ 9.98620477e-01 -4.82465082e-02 -2.07223995e-02 5.16309150e+02] [ 4.82472502e-02 9.98835315e-01 -4.64433882e-04 8.25985616e+00] [ 2.07206717e-02 -5.36005607e-04 9.99785160e-01 4.75034290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.77925415399994 meters Centerline goodness [0,1] 0.9988898663650454 Centerline is valid? [True, True] Translation: X:516.34, Y:8.25, Z:4.75 [[ 9.98417200e-01 -5.25185534e-02 -2.01220598e-02 5.16339905e+02] [ 5.25201202e-02 9.98619764e-01 -4.50951480e-04 8.25414048e+00] [ 2.01179699e-02 -6.06575284e-04 9.99797429e-01 4.75105397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8092541539999 meters Centerline goodness [0,1] 0.9987863823732502 Centerline is valid? [True, True] Translation: X:516.37, Y:8.25, Z:4.75 [[ 9.98306893e-01 -5.46540107e-02 -1.99069610e-02 5.16371536e+02] [ 5.46559786e-02 9.98505145e-01 -4.45611722e-04 8.25240556e+00] [ 1.99015575e-02 -6.43177180e-04 9.99801738e-01 4.75180201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.83925415399995 meters Centerline goodness [0,1] 0.9987888153361038 Centerline is valid? [True, True] Translation: X:516.40, Y:8.25, Z:4.75 [[ 9.98200465e-01 -5.66080072e-02 -1.97829715e-02 5.16402387e+02] [ 5.66103498e-02 9.98396250e-01 -4.42028682e-04 8.25066990e+00] [ 1.97762669e-02 -6.78687697e-04 9.99804200e-01 4.75165707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8692541539999 meters Centerline goodness [0,1] 0.9987047714548342 Centerline is valid? [True, True] Translation: X:516.43, Y:8.25, Z:4.75 [[ 9.98088881e-01 -5.82153518e-02 -2.07257855e-02 5.16432715e+02] [ 5.82182828e-02 9.98303770e-01 -4.62439757e-04 8.24768898e+00] [ 2.07175509e-02 -7.45063660e-04 9.99785091e-01 4.75008793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.89925415399995 meters Centerline goodness [0,1] 0.9987444546748138 Centerline is valid? [True, True] Translation: X:516.46, Y:8.24, Z:4.75 [[ 9.97887384e-01 -6.16863194e-02 -2.03854496e-02 5.16462719e+02] [ 6.16898811e-02 9.98095262e-01 -4.54688719e-04 8.24294578e+00] [ 2.03746687e-02 -8.03847826e-04 9.99792092e-01 4.75103185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9292541539999 meters Centerline goodness [0,1] 0.998642240929125 Centerline is valid? [True, True] Translation: X:516.49, Y:8.24, Z:4.75 [[ 9.97821793e-01 -6.26000278e-02 -2.08063935e-02 5.16493011e+02] [ 6.26039405e-02 9.98038342e-01 -4.63888312e-04 8.24146589e+00] [ 2.07946179e-02 -8.39684355e-04 9.99783416e-01 4.75104748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.95925415399995 meters Centerline goodness [0,1] 0.9984314217593173 Centerline is valid? [True, True] Translation: X:516.52, Y:8.24, Z:4.75 [[ 9.97780552e-01 -6.32493861e-02 -2.08203275e-02 5.16524539e+02] [ 6.32534561e-02 9.97997387e-01 -4.63667595e-04 8.24042201e+00] [ 2.08079591e-02 -8.54319163e-04 9.99783126e-01 4.75126098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9892541539999 meters Centerline goodness [0,1] 0.9987881573723909 Centerline is valid? [True, True] Translation: X:516.55, Y:8.24, Z:4.75 [[ 9.97766731e-01 -6.34421714e-02 -2.08959492e-02 5.16554550e+02] [ 6.34463236e-02 9.97985144e-01 -4.64854878e-04 8.23949118e+00] [ 2.08833383e-02 -8.61954425e-04 9.99781548e-01 4.75139568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.01925415399995 meters Centerline goodness [0,1] 0.9986221582012902 Centerline is valid? [True, True] Translation: X:516.59, Y:8.24, Z:4.75 [[ 9.97801881e-01 -6.30206754e-02 -2.04890427e-02 5.16586367e+02] [ 6.30245928e-02 9.98011870e-01 -4.55111971e-04 8.23979185e+00] [ 2.04769893e-02 -8.37201993e-04 9.99789974e-01 4.75239663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0492541539999 meters Centerline goodness [0,1] 0.9985383169764043 Centerline is valid? [True, True] Translation: X:516.62, Y:8.24, Z:4.75 [[ 9.97842829e-01 -6.23262971e-02 -2.06184541e-02 5.16617679e+02] [ 6.23301332e-02 9.98055482e-01 -4.57164635e-04 8.24079971e+00] [ 2.06068545e-02 -8.28972538e-04 9.99787313e-01 4.75255080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07925415399995 meters Centerline goodness [0,1] 0.9986212371263239 Centerline is valid? [True, True] Translation: X:516.65, Y:8.24, Z:4.75 [[ 9.97894887e-01 -6.15444043e-02 -2.04470425e-02 5.16648401e+02] [ 6.15480227e-02 9.98104021e-01 -4.52886140e-04 8.24174080e+00] [ 2.04361479e-02 -8.06542272e-04 9.99790835e-01 4.75335535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1092541539999 meters Centerline goodness [0,1] 0.9987075524796231 Centerline is valid? [True, True] Translation: X:516.68, Y:8.25, Z:4.76 [[ 9.98015579e-01 -5.94769142e-02 -2.06736497e-02 5.16679904e+02] [ 5.94801861e-02 9.98229382e-01 -4.57144238e-04 8.25281344e+00] [ 2.06642340e-02 -7.73435457e-04 9.99786173e-01 4.75569696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13925415399996 meters Centerline goodness [0,1] 0.9987032272907909 Centerline is valid? [True, True] Translation: X:516.71, Y:8.25, Z:4.75 [[ 9.98066761e-01 -5.84369149e-02 -2.11628929e-02 5.16710166e+02] [ 5.84401374e-02 9.98290806e-01 -4.66677967e-04 8.24539365e+00] [ 2.11539926e-02 -7.70986602e-04 9.99775932e-01 4.75276306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.16925415399993 meters Centerline goodness [0,1] 0.9985379811608429 Centerline is valid? [True, True] Translation: X:516.74, Y:8.25, Z:4.75 [[ 9.98110056e-01 -5.75713308e-02 -2.14908798e-02 5.16740958e+02] [ 5.75744670e-02 9.98341102e-01 -4.73291394e-04 8.24673661e+00] [ 2.14824767e-02 -7.64929050e-04 9.99768932e-01 4.75251175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19925415399996 meters Centerline goodness [0,1] 0.9987458193979933 Centerline is valid? [True, True] Translation: X:516.77, Y:8.26, Z:4.76 [[ 9.98196678e-01 -5.60542884e-02 -2.14780981e-02 5.16772130e+02] [ 5.60570795e-02 9.98427454e-01 -4.72568418e-04 8.25910568e+00] [ 2.14708123e-02 -7.32283230e-04 9.99769207e-01 4.75670840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.22925415399993 meters Centerline goodness [0,1] 0.9986831103678929 Centerline is valid? [True, True] Translation: X:516.80, Y:8.26, Z:4.76 [[ 9.98240135e-01 -5.52578438e-02 -2.15221422e-02 5.16803008e+02] [ 5.52604786e-02 9.98471860e-01 -4.72744485e-04 8.26157939e+00] [ 2.15153762e-02 -7.17411360e-04 9.99768260e-01 4.75757654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2592541539999 meters Centerline goodness [0,1] 0.9988508148767238 Centerline is valid? [True, True] Translation: X:516.83, Y:8.26, Z:4.76 [[ 9.98288884e-01 -5.42043256e-02 -2.19361616e-02 5.16834629e+02] [ 5.42068268e-02 9.98529613e-01 -4.81017312e-04 8.26275653e+00] [ 2.19299802e-02 -7.08895477e-04 9.99759258e-01 4.75790109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.28925415399993 meters Centerline goodness [0,1] 0.9987015434878217 Centerline is valid? [True, True] Translation: X:516.87, Y:8.26, Z:4.76 [[ 9.98355563e-01 -5.31652621e-02 -2.14388753e-02 5.16865813e+02] [ 5.31674286e-02 9.98585502e-01 -4.69326231e-04 8.26428237e+00] [ 2.14335019e-02 -6.71295419e-04 9.99770051e-01 4.75875321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3192541539999 meters Centerline goodness [0,1] 0.9988717091516924 Centerline is valid? [True, True] Translation: X:516.90, Y:8.25, Z:4.76 [[ 9.98401114e-01 -5.24864884e-02 -2.09853134e-02 5.16896116e+02] [ 5.24884259e-02 9.98621427e-01 -4.58845441e-04 8.25331502e+00] [ 2.09804668e-02 -6.43374269e-04 9.99779679e-01 4.75500552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.34925415399994 meters Centerline goodness [0,1] 0.9986604433095423 Centerline is valid? [True, True] Translation: X:516.93, Y:8.27, Z:4.76 [[ 9.98449255e-01 -5.15658306e-02 -2.09773956e-02 5.16927430e+02] [ 5.15675760e-02 9.98669402e-01 -4.58084089e-04 8.26557492e+00] [ 2.09731046e-02 -6.24379726e-04 9.99779845e-01 4.75952672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3792541539999 meters Centerline goodness [0,1] 0.9985164444815914 Centerline is valid? [True, True] Translation: X:516.96, Y:8.27, Z:4.76 [[ 9.98505673e-01 -5.05984039e-02 -2.06451554e-02 5.16958458e+02] [ 5.05999030e-02 9.98718903e-01 -4.50090436e-04 8.26757971e+00] [ 2.06414808e-02 -5.95225008e-04 9.99786765e-01 4.76030253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.40925415399994 meters Centerline goodness [0,1] 0.9987454522644587 Centerline is valid? [True, True] Translation: X:516.99, Y:8.27, Z:4.76 [[ 9.98595173e-01 -4.91584607e-02 -1.97768966e-02 5.16989536e+02] [ 4.91595681e-02 9.98790845e-01 -4.30455502e-04 8.27007768e+00] [ 1.97741438e-02 -5.42372907e-04 9.99804325e-01 4.76128797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4392541539999 meters Centerline goodness [0,1] 0.9990182972679422 Centerline is valid? [True, True] Translation: X:517.02, Y:8.27, Z:4.76 [[ 9.98643132e-01 -4.83530125e-02 -1.93359982e-02 5.17021392e+02] [ 4.83539372e-02 9.98830176e-01 -4.19979663e-04 8.27106314e+00] [ 1.93336858e-02 -5.15561838e-04 9.99812954e-01 4.76162431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.46925415399994 meters Centerline goodness [0,1] 0.99893381276916 Centerline is valid? [True, True] Translation: X:517.05, Y:8.27, Z:4.76 [[ 9.98662408e-01 -4.78809553e-02 -1.95143281e-02 5.17053089e+02] [ 4.78818243e-02 9.98852918e-01 -4.22968624e-04 8.27209390e+00] [ 1.95121957e-02 -5.11978765e-04 9.99809488e-01 4.76202383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4992541539999 meters Centerline goodness [0,1] 0.998849252013809 Centerline is valid? [True, True] Translation: X:517.08, Y:8.27, Z:4.76 [[ 9.98668619e-01 -4.77373608e-02 -1.95482262e-02 5.17083612e+02] [ 4.77382232e-02 9.98859792e-01 -4.22791375e-04 8.27245109e+00] [ 1.95461201e-02 -5.10969108e-04 9.99808826e-01 4.76213232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.52925415399994 meters Centerline goodness [0,1] 0.998849252013809 Centerline is valid? [True, True] Translation: X:517.11, Y:8.27, Z:4.76 [[ 9.98670326e-01 -4.77016377e-02 -1.95482454e-02 5.17114460e+02] [ 4.77025107e-02 9.98861498e-01 -4.21902272e-04 8.27308642e+00] [ 1.95461151e-02 -5.11159105e-04 9.99808826e-01 4.76242124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5592541539999 meters Centerline goodness [0,1] 0.9987898261940034 Centerline is valid? [True, True] Translation: X:517.14, Y:8.27, Z:4.76 [[ 9.98677317e-01 -4.74833361e-02 -1.97218035e-02 5.17144349e+02] [ 4.74841924e-02 9.98871899e-01 -4.25126174e-04 8.27355258e+00] [ 1.97197417e-02 -5.11910045e-04 9.99805416e-01 4.76223189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.58925415399995 meters Centerline goodness [0,1] 0.9987892957040871 Centerline is valid? [True, True] Translation: X:517.18, Y:8.28, Z:4.76 [[ 9.98670111e-01 -4.74928608e-02 -2.00608256e-02 5.17175326e+02] [ 4.74937599e-02 9.98871441e-01 -4.31880254e-04 8.27538090e+00] [ 2.00586971e-02 -5.21458135e-04 9.99798668e-01 4.76264459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6192541539999 meters Centerline goodness [0,1] 0.998913906178203 Centerline is valid? [True, True] Translation: X:517.21, Y:8.28, Z:4.76 [[ 9.98646699e-01 -4.75634772e-02 -2.10353654e-02 5.17206546e+02] [ 4.75644979e-02 9.98868066e-01 -4.52082477e-04 8.27735099e+00] [ 2.10330574e-02 -5.49065922e-04 9.99778630e-01 4.76277944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.64925415399995 meters Centerline goodness [0,1] 0.9988524932192782 Centerline is valid? [True, True] Translation: X:517.24, Y:8.28, Z:4.76 [[ 9.98662740e-01 -4.70866903e-02 -2.13441982e-02 5.17237411e+02] [ 4.70876444e-02 9.98890657e-01 -4.58157156e-04 8.27589672e+00] [ 2.13420932e-02 -5.47503532e-04 9.99772082e-01 4.76194772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6792541539999 meters Centerline goodness [0,1] 0.9990581439156097 Centerline is valid? [True, True] Translation: X:517.27, Y:8.28, Z:4.76 [[ 9.98667511e-01 -4.67308530e-02 -2.18959079e-02 5.17267796e+02] [ 4.67317755e-02 9.98907363e-01 -4.69825978e-04 8.27824734e+00] [ 2.18939390e-02 -5.54034713e-04 9.99760145e-01 4.76265332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.70925415399995 meters Centerline goodness [0,1] 0.999058005903163 Centerline is valid? [True, True] Translation: X:517.30, Y:8.28, Z:4.76 [[ 9.98761091e-01 -4.46611160e-02 -2.19469468e-02 5.17298622e+02] [ 4.46615434e-02 9.99002064e-01 -4.70921132e-04 8.28063518e+00] [ 2.19460770e-02 -5.09846814e-04 9.99759026e-01 4.76324279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7392541539999 meters Centerline goodness [0,1] 0.9990795749309681 Centerline is valid? [True, True] Translation: X:517.33, Y:8.28, Z:4.76 [[ 9.98837352e-01 -4.23288478e-02 -2.30697343e-02 5.17328403e+02] [ 4.23286928e-02 9.99103617e-01 -4.95258792e-04 8.28081013e+00] [ 2.30700188e-02 -4.81828717e-04 9.99733736e-01 4.76144042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.76925415399995 meters Centerline goodness [0,1] 0.9990179280371098 Centerline is valid? [True, True] Translation: X:517.36, Y:8.28, Z:4.76 [[ 9.98922335e-01 -4.08885682e-02 -2.19611675e-02 5.17358431e+02] [ 4.08880712e-02 9.99163622e-01 -4.71845500e-04 8.28414282e+00] [ 2.19620927e-02 -4.26612772e-04 9.99758713e-01 4.76408305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7992541539999 meters Centerline goodness [0,1] 0.9989536027457464 Centerline is valid? [True, True] Translation: X:517.39, Y:8.29, Z:4.76 [[ 9.98993142e-01 -3.93525933e-02 -2.15424295e-02 5.17388244e+02] [ 3.93517499e-02 9.99225313e-01 -4.63229629e-04 8.28562908e+00] [ 2.15439701e-02 -3.84969074e-04 9.99767828e-01 4.76454516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.82925415399995 meters Centerline goodness [0,1] 0.9989309744901168 Centerline is valid? [True, True] Translation: X:517.42, Y:8.29, Z:4.77 [[ 9.99157468e-01 -3.54664584e-02 -2.06515062e-02 5.17417394e+02] [ 3.54648415e-02 9.99370826e-01 -4.44644927e-04 8.29133660e+00] [ 2.06542828e-02 -2.88132095e-04 9.99786636e-01 4.76664103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8592541539999 meters Centerline goodness [0,1] 0.9990611895771181 Centerline is valid? [True, True] Translation: X:517.45, Y:8.29, Z:4.77 [[ 9.99218149e-01 -3.38885586e-02 -2.03631344e-02 5.17447231e+02] [ 3.38866439e-02 9.99425586e-01 -4.39173692e-04 8.29239985e+00] [ 2.03663205e-02 -2.51207961e-04 9.99792553e-01 4.76638412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.88925415399996 meters Centerline goodness [0,1] 0.9993300253334171 Centerline is valid? [True, True] Translation: X:517.48, Y:8.29, Z:4.77 [[ 9.99249636e-01 -3.28244783e-02 -2.05601121e-02 5.17475885e+02] [ 3.28222797e-02 9.99461105e-01 -4.44464222e-04 8.29220822e+00] [ 2.05636217e-02 -2.30699039e-04 9.99788520e-01 4.76551000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.91925415399993 meters Centerline goodness [0,1] 0.9992246437552389 Centerline is valid? [True, True] Translation: X:517.50, Y:8.29, Z:4.77 [[ 9.99267056e-01 -3.22880472e-02 -2.05628769e-02 5.17504392e+02] [ 3.22856636e-02 9.99478582e-01 -4.47968614e-04 8.29336386e+00] [ 2.05666191e-02 -2.16245850e-04 9.99788461e-01 4.76621000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.94925415399996 meters Centerline goodness [0,1] 0.9991413073072654 Centerline is valid? [True, True] Translation: X:517.53, Y:8.29, Z:4.77 [[ 9.99255324e-01 -3.27628415e-02 -2.03812069e-02 5.17533169e+02] [ 3.27604934e-02 9.99463130e-01 -4.49173030e-04 8.29345112e+00] [ 2.03849810e-02 -2.18859853e-04 9.99792181e-01 4.76638389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.97925415399993 meters Centerline goodness [0,1] 0.9990593842101962 Centerline is valid? [True, True] Translation: X:517.56, Y:8.29, Z:4.77 [[ 9.99251070e-01 -3.31173415e-02 -2.00135256e-02 5.17562264e+02] [ 3.31150463e-02 9.99451447e-01 -4.46171242e-04 8.29431384e+00] [ 2.00173231e-02 -2.16911735e-04 9.99799610e-01 4.76746489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0092541539999 meters Centerline goodness [0,1] 0.9990987403324181 Centerline is valid? [True, True] Translation: X:517.59, Y:8.29, Z:4.77 [[ 9.99234554e-01 -3.36181764e-02 -2.00030984e-02 5.17591905e+02] [ 3.36159273e-02 9.99434724e-01 -4.48766774e-04 8.29462591e+00] [ 2.00068778e-02 -2.23999432e-04 9.99799817e-01 4.76781700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.03925415399993 meters Centerline goodness [0,1] 0.9989939426966528 Centerline is valid? [True, True] Translation: X:517.62, Y:8.29, Z:4.77 [[ 9.99213254e-01 -3.34762759e-02 -2.12652948e-02 5.17620940e+02] [ 3.34737079e-02 9.99439485e-01 -4.76799236e-04 8.29396193e+00] [ 2.12693368e-02 -2.35404152e-04 9.99773754e-01 4.76673485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0692541539999 meters Centerline goodness [0,1] 0.9993291545250623 Centerline is valid? [True, True] Translation: X:517.65, Y:8.29, Z:4.77 [[ 9.99186626e-01 -3.43800428e-02 -2.10736594e-02 5.17649383e+02] [ 3.43776698e-02 9.99408800e-01 -4.74977165e-04 8.29384973e+00] [ 2.10775304e-02 -2.49872473e-04 9.99777813e-01 4.76788398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.09925415399994 meters Centerline goodness [0,1] 0.9989725093837153 Centerline is valid? [True, True] Translation: X:517.68, Y:8.29, Z:4.77 [[ 9.99174165e-01 -3.47318576e-02 -2.10876036e-02 5.17678593e+02] [ 3.47294460e-02 9.99396635e-01 -4.80680532e-04 8.29370343e+00] [ 2.10915750e-02 -2.52077222e-04 9.99777516e-01 4.76778902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.1292541539999 meters Centerline goodness [0,1] 0.9990580256217031 Centerline is valid? [True, True] Translation: X:517.71, Y:8.29, Z:4.77 [[ 9.99193351e-01 -3.46130668e-02 -2.03613316e-02 5.17707293e+02] [ 3.46107310e-02 9.99400760e-01 -4.67208661e-04 8.29239064e+00] [ 2.03653018e-02 -2.37888783e-04 9.99792577e-01 4.76786208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.15925415399994 meters Centerline goodness [0,1] 0.9990991368473979 Centerline is valid? [True, True] Translation: X:517.74, Y:8.29, Z:4.77 [[ 9.99211214e-01 -3.42716131e-02 -2.00600913e-02 5.17735647e+02] [ 3.42692526e-02 9.99412530e-01 -4.61515386e-04 8.29252927e+00] [ 2.00641235e-02 -2.26292988e-04 9.99798670e-01 4.76818840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.1892541539999 meters Centerline goodness [0,1] 0.9990584198192166 Centerline is valid? [True, True] Translation: X:517.76, Y:8.29, Z:4.77 [[ 9.99242753e-01 -3.35104651e-02 -1.97729242e-02 5.17764838e+02] [ 3.35080055e-02 9.99438345e-01 -4.55776576e-04 8.29323855e+00] [ 1.97770919e-02 -2.07119812e-04 9.99804393e-01 4.76879275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.21925415399994 meters Centerline goodness [0,1] 0.9990778387894538 Centerline is valid? [True, True] Translation: X:517.79, Y:8.29, Z:4.77 [[ 9.99288233e-01 -3.22299453e-02 -1.96025105e-02 5.17793703e+02] [ 3.22272645e-02 9.99480464e-01 -4.52724455e-04 8.29382481e+00] [ 1.96069176e-02 -1.79333068e-04 9.99807750e-01 4.76895286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.2492541539999 meters Centerline goodness [0,1] 0.9989325854454886 Centerline is valid? [True, True] Translation: X:517.82, Y:8.30, Z:4.77 [[ 9.99405368e-01 -2.84162080e-02 -1.95302152e-02 5.17822940e+02] [ 2.84127630e-02 9.99596173e-01 -4.53909468e-04 8.29631670e+00] [ 1.95352267e-02 -1.01267815e-04 9.99809164e-01 4.76854005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.27925415399994 meters Centerline goodness [0,1] 0.9991830749895266 Centerline is valid? [True, True] Translation: X:517.85, Y:8.30, Z:4.77 [[ 9.99463668e-01 -2.67176796e-02 -1.89351839e-02 5.17851183e+02] [ 2.67140516e-02 9.99643017e-01 -4.44564397e-04 8.29788599e+00] [ 1.89403021e-02 -6.15095151e-05 9.99820614e-01 4.76989276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3092541539999 meters Centerline goodness [0,1] 0.9991833144867446 Centerline is valid? [True, True] Translation: X:517.88, Y:8.30, Z:4.77 [[ 9.99526521e-01 -2.44965485e-02 -1.86186136e-02 5.17879368e+02] [ 2.44925977e-02 9.99699914e-01 -4.40232921e-04 8.29928879e+00] [ 1.86238106e-02 -1.59937311e-05 9.99826562e-01 4.76999197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.33925415399995 meters Centerline goodness [0,1] 0.9993307679437845 Centerline is valid? [True, True] Translation: X:517.91, Y:8.30, Z:4.77 [[ 9.99633345e-01 -2.05783996e-02 -1.75984483e-02 5.17907096e+02] [ 2.05742077e-02 9.99788241e-01 -4.19238531e-04 8.30018410e+00] [ 1.76033489e-02 5.70106846e-05 9.99845047e-01 4.77107217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3692541539999 meters Centerline goodness [0,1] 0.9991844416562108 Centerline is valid? [True, True] Translation: X:517.93, Y:8.30, Z:4.77 [[ 9.99676670e-01 -1.88291930e-02 -1.70885088e-02 5.17934928e+02] [ 1.88249018e-02 9.99822711e-01 -4.11955162e-04 8.30039691e+00] [ 1.70932360e-02 9.01324638e-05 9.99853896e-01 4.77161747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.39925415399995 meters Centerline goodness [0,1] 0.9992885987487707 Centerline is valid? [True, True] Translation: X:517.96, Y:8.30, Z:4.77 [[ 9.99707579e-01 -1.75992622e-02 -1.65838229e-02 5.17962990e+02] [ 1.75949721e-02 9.99845115e-01 -4.04574864e-04 8.30065255e+00] [ 1.65883746e-02 1.12664656e-04 9.99862397e-01 4.77203643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4292541539999 meters Centerline goodness [0,1] 0.9992665856418423 Centerline is valid? [True, True] Translation: X:517.99, Y:8.30, Z:4.77 [[ 9.99728661e-01 -1.65364573e-02 -1.64057734e-02 5.17991295e+02] [ 1.65320607e-02 9.99863255e-01 -4.03585662e-04 8.30056630e+00] [ 1.64102038e-02 1.32254913e-04 9.99865335e-01 4.77220569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.45925415399995 meters Centerline goodness [0,1] 0.999164386137166 Centerline is valid? [True, True] Translation: X:518.02, Y:8.30, Z:4.77 [[ 9.99740137e-01 -1.58901145e-02 -1.63451323e-02 5.18019343e+02] [ 1.58856168e-02 9.99873734e-01 -4.04975712e-04 8.29832946e+00] [ 1.63495035e-02 1.45217966e-04 9.99866327e-01 4.77147801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4892541539999 meters Centerline goodness [0,1] 0.9992879581151832 Centerline is valid? [True, True] Translation: X:518.05, Y:8.30, Z:4.77 [[ 9.99724451e-01 -1.63721850e-02 -1.68218162e-02 5.18046392e+02] [ 1.63674170e-02 9.99865956e-01 -4.21085203e-04 8.29726624e+00] [ 1.68264555e-02 1.45639493e-04 9.99858415e-01 4.77118102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.51925415399995 meters Centerline goodness [0,1] 0.9995604763599071 Centerline is valid? [True, True] Translation: X:518.07, Y:8.30, Z:4.77 [[ 9.99707044e-01 -1.71401643e-02 -1.70892276e-02 5.18074257e+02] [ 1.71352854e-02 9.99853087e-01 -4.31887351e-04 8.29554630e+00] [ 1.70941196e-02 1.38932035e-04 9.99853875e-01 4.77069143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5492541539999 meters Centerline goodness [0,1] 0.9996024688774976 Centerline is valid? [True, True] Translation: X:518.10, Y:8.29, Z:4.77 [[ 9.99674301e-01 -1.84366641e-02 -1.76460266e-02 5.18102481e+02] [ 1.84315735e-02 9.99830022e-01 -4.51087977e-04 8.29350093e+00] [ 1.76513437e-02 1.25697021e-04 9.99844195e-01 4.77003173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57925415399995 meters Centerline goodness [0,1] 0.9993942558746737 Centerline is valid? [True, True] Translation: X:518.13, Y:8.29, Z:4.77 [[ 9.99621824e-01 -2.07267913e-02 -1.80723214e-02 5.18130454e+02] [ 2.07217624e-02 9.99785173e-01 -4.65499316e-04 8.28884664e+00] [ 1.80780872e-02 9.08329267e-05 9.99836574e-01 4.76911358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6092541539999 meters Centerline goodness [0,1] 0.9993514508671729 Centerline is valid? [True, True] Translation: X:518.16, Y:8.29, Z:4.77 [[ 9.99581812e-01 -2.26389436e-02 -1.79910705e-02 5.18158331e+02] [ 2.26342113e-02 9.99743705e-01 -4.66642131e-04 8.28720041e+00] [ 1.79970238e-02 5.92332951e-05 9.99838039e-01 4.76945810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63925415399996 meters Centerline goodness [0,1] 0.9993724768339365 Centerline is valid? [True, True] Translation: X:518.19, Y:8.29, Z:4.77 [[ 9.99552455e-01 -2.42966175e-02 -1.74517803e-02 5.18186025e+02] [ 2.42923608e-02 9.99704793e-01 -4.55891826e-04 8.28534892e+00] [ 1.74577051e-02 3.17428490e-05 9.99847602e-01 4.77012160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.66925415399993 meters Centerline goodness [0,1] 0.9993951150324344 Centerline is valid? [True, True] Translation: X:518.21, Y:8.28, Z:4.77 [[ 9.99512429e-01 -2.64297959e-02 -1.66243658e-02 5.18213615e+02] [ 2.64261822e-02 9.99650672e-01 -4.37045113e-04 8.28313078e+00] [ 1.66301095e-02 -2.48649846e-06 9.99861710e-01 4.77129373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69925415399996 meters Centerline goodness [0,1] 0.9993519118600129 Centerline is valid? [True, True] Translation: X:518.24, Y:8.28, Z:4.77 [[ 9.99396649e-01 -3.13997696e-02 -1.48455884e-02 5.18241403e+02] [ 3.13973951e-02 9.99506903e-01 -3.93047470e-04 8.27635147e+00] [ 1.48506097e-02 -7.33024791e-05 9.99889721e-01 4.77301771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.72925415399993 meters Centerline goodness [0,1] 0.9992068792786776 Centerline is valid? [True, True] Translation: X:518.27, Y:8.27, Z:4.77 [[ 9.99307026e-01 -3.42824239e-02 -1.44976904e-02 5.18271183e+02] [ 3.42804502e-02 9.99412179e-01 -3.84701332e-04 8.27288323e+00] [ 1.45023569e-02 -1.12552610e-04 9.99894829e-01 4.77369479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7592541539999 meters Centerline goodness [0,1] 0.9992897875629269 Centerline is valid? [True, True] Translation: X:518.30, Y:8.27, Z:4.77 [[ 9.99206100e-01 -3.75249109e-02 -1.33809803e-02 5.18301857e+02] [ 3.75235182e-02 9.99295682e-01 -3.55214790e-04 8.26897225e+00] [ 1.33848852e-02 -1.47168671e-04 9.99910408e-01 4.77465176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.78925415399993 meters Centerline goodness [0,1] 0.9993094356205663 Centerline is valid? [True, True] Translation: X:518.33, Y:8.27, Z:4.78 [[ 9.99098327e-01 -4.05676881e-02 -1.25217930e-02 5.18332838e+02] [ 4.05667081e-02 9.99176777e-01 -3.32353941e-04 8.26514315e+00] [ 1.25249676e-02 -1.75913656e-04 9.99921544e-01 4.77587266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8192541539999 meters Centerline goodness [0,1] 0.9994356305261177 Centerline is valid? [True, True] Translation: X:518.36, Y:8.26, Z:4.78 [[ 9.98868345e-01 -4.61621542e-02 -1.14492402e-02 5.18363396e+02] [ 4.61617048e-02 9.98933934e-01 -3.03660567e-04 8.25697709e+00] [ 1.14510522e-02 -2.25199517e-04 9.99934409e-01 4.77675067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.84925415399994 meters Centerline goodness [0,1] 0.9992273961160993 Centerline is valid? [True, True] Translation: X:518.39, Y:8.25, Z:4.78 [[ 9.98739698e-01 -4.88340190e-02 -1.15867806e-02 5.18394084e+02] [ 4.88337432e-02 9.98806874e-01 -3.06895324e-04 8.25328487e+00] [ 1.15879431e-02 -2.59317327e-04 9.99932824e-01 4.77701766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8792541539999 meters Centerline goodness [0,1] 0.9993096523158027 Centerline is valid? [True, True] Translation: X:518.43, Y:8.26, Z:4.78 [[ 9.98611450e-01 -5.14191406e-02 -1.14561861e-02 5.18426096e+02] [ 5.14190445e-02 9.98677120e-01 -3.03128630e-04 8.25577663e+00] [ 1.14566175e-02 -2.86358420e-04 9.99934330e-01 4.77772125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.90925415399994 meters Centerline goodness [0,1] 0.9992890301534858 Centerline is valid? [True, True] Translation: X:518.46, Y:8.25, Z:4.78 [[ 9.98368189e-01 -5.58418526e-02 -1.19434473e-02 5.18456573e+02] [ 5.58420735e-02 9.98439564e-01 -3.15248487e-04 8.24929634e+00] [ 1.19424144e-02 -3.52212800e-04 9.99928625e-01 4.77693971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9392541539999 meters Centerline goodness [0,1] 0.9990800367985281 Centerline is valid? [True, True] Translation: X:518.49, Y:8.24, Z:4.78 [[ 9.98229831e-01 -5.82477819e-02 -1.20166618e-02 5.18487889e+02] [ 5.82481835e-02 9.98302083e-01 -3.16861919e-04 8.24229907e+00] [ 1.20147151e-02 -3.83647704e-04 9.99927747e-01 4.77623849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.96925415399994 meters Centerline goodness [0,1] 0.9992050541818334 Centerline is valid? [True, True] Translation: X:518.52, Y:8.24, Z:4.78 [[ 9.98128556e-01 -5.98317685e-02 -1.26311453e-02 5.18520321e+02] [ 5.98323488e-02 9.98208385e-01 -3.32282847e-04 8.24376262e+00] [ 1.26283962e-02 -4.24090094e-04 9.99920169e-01 4.77555349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9992541539999 meters Centerline goodness [0,1] 0.9992272993066578 Centerline is valid? [True, True] Translation: X:518.55, Y:8.24, Z:4.78 [[ 9.97987667e-01 -6.20571915e-02 -1.30200098e-02 5.18552427e+02] [ 6.20580100e-02 9.98072486e-01 -3.41532979e-04 8.24169339e+00] [ 1.30161081e-02 -4.67150198e-04 9.99915178e-01 4.77703803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.02925415399994 meters Centerline goodness [0,1] 0.9992048046539854 Centerline is valid? [True, True] Translation: X:518.58, Y:8.24, Z:4.78 [[ 9.97848832e-01 -6.41594827e-02 -1.34636593e-02 5.18583443e+02] [ 6.41605615e-02 9.97939526e-01 -3.52236027e-04 8.23800093e+00] [ 1.34585171e-02 -5.12357633e-04 9.99909299e-01 4.77715469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0592541539999 meters Centerline goodness [0,1] 0.9993097967037564 Centerline is valid? [True, True] Translation: X:518.62, Y:8.24, Z:4.78 [[ 9.97857776e-01 -6.39979020e-02 -1.35693378e-02 5.18615355e+02] [ 6.39989941e-02 9.97949900e-01 -3.54176156e-04 8.23901066e+00] [ 1.35641858e-02 -5.15006538e-04 9.99907870e-01 4.77768989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.08925415399995 meters Centerline goodness [0,1] 0.9995612752266745 Centerline is valid? [True, True] Translation: X:518.65, Y:8.24, Z:4.78 [[ 9.98010070e-01 -6.15626911e-02 -1.36357946e-02 5.18646038e+02] [ 6.15635774e-02 9.98103101e-01 -3.55142990e-04 8.23805887e+00] [ 1.36317925e-02 -4.85032017e-04 9.99906965e-01 4.77814344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1192541539999 meters Centerline goodness [0,1] 0.9993312714202123 Centerline is valid? [True, True] Translation: X:518.68, Y:8.24, Z:4.78 [[ 9.98124254e-01 -5.96891466e-02 -1.36080339e-02 5.18677589e+02] [ 5.96898597e-02 9.98216908e-01 -3.54101053e-04 8.23939659e+00] [ 1.36049055e-02 -4.58824784e-04 9.99907344e-01 4.77841696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.14925415399995 meters Centerline goodness [0,1] 0.9995188485837413 Centerline is valid? [True, True] Translation: X:518.71, Y:8.24, Z:4.78 [[ 9.98274172e-01 -5.71011548e-02 -1.37162773e-02 5.18708553e+02] [ 5.71016421e-02 9.98368307e-01 -3.56422612e-04 8.24446402e+00] [ 1.37142487e-02 -4.27414472e-04 9.99905864e-01 4.77930665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1792541539999 meters Centerline goodness [0,1] 0.9995610826627652 Centerline is valid? [True, True] Translation: X:518.74, Y:8.25, Z:4.78 [[ 9.98414903e-01 -5.44102043e-02 -1.43948464e-02 5.18738836e+02] [ 5.44104681e-02 9.98518583e-01 -3.73595712e-04 8.24546482e+00] [ 1.43938490e-02 -4.10226803e-04 9.99896319e-01 4.77918621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.20925415399995 meters Centerline goodness [0,1] 0.9995403259506895 Centerline is valid? [True, True] Translation: X:518.77, Y:8.25, Z:4.78 [[ 9.98563827e-01 -5.14214617e-02 -1.50371542e-02 5.18770565e+02] [ 5.14214184e-02 9.98676968e-01 -3.89771052e-04 8.24908918e+00] [ 1.50373022e-02 -3.84020525e-04 9.99886860e-01 4.77946918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2392541539999 meters Centerline goodness [0,1] 0.9994982648325459 Centerline is valid? [True, True] Translation: X:518.80, Y:8.25, Z:4.78 [[ 9.98812956e-01 -4.59089081e-02 -1.62804032e-02 5.18799794e+02] [ 4.59081325e-02 9.98945577e-01 -4.21560691e-04 8.25271000e+00] [ 1.62825902e-02 -3.26342628e-04 9.99867377e-01 4.77925536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.26925415399995 meters Centerline goodness [0,1] 0.9996656636576395 Centerline is valid? [True, True] Translation: X:518.83, Y:8.26, Z:4.78 [[ 9.98922576e-01 -4.34692967e-02 -1.62514121e-02 5.18830398e+02] [ 4.34681983e-02 9.99054722e-01 -4.20980761e-04 8.25512718e+00] [ 1.62543498e-02 -2.85892419e-04 9.99867848e-01 4.77985751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2992541539999 meters Centerline goodness [0,1] 0.9996443440239335 Centerline is valid? [True, True] Translation: X:518.86, Y:8.26, Z:4.78 [[ 9.99002091e-01 -4.15658350e-02 -1.63433329e-02 5.18861071e+02] [ 4.15644695e-02 9.99135734e-01 -4.23361900e-04 8.25713737e+00] [ 1.63468053e-02 -2.56362537e-04 9.99866349e-01 4.78040887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.32925415399995 meters Centerline goodness [0,1] 0.9996031580266511 Centerline is valid? [True, True] Translation: X:518.89, Y:8.26, Z:4.78 [[ 9.99061160e-01 -4.01665847e-02 -1.62309410e-02 5.18890574e+02] [ 4.01650538e-02 9.99192970e-01 -4.20420516e-04 8.25827258e+00] [ 1.62347290e-02 -2.31890807e-04 9.99868181e-01 4.78088601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3592541539999 meters Centerline goodness [0,1] 0.9994978659302034 Centerline is valid? [True, True] Translation: X:518.92, Y:8.26, Z:4.78 [[ 9.99099692e-01 -3.92758717e-02 -1.60378362e-02 5.18919787e+02] [ 3.92742610e-02 9.99228382e-01 -4.15496070e-04 8.25895072e+00] [ 1.60417801e-02 -2.14752171e-04 9.99871299e-01 4.78120706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.38925415399996 meters Centerline goodness [0,1] 0.9994566239628833 Centerline is valid? [True, True] Translation: X:518.95, Y:8.26, Z:4.78 [[ 9.99138354e-01 -3.83435398e-02 -1.58846910e-02 5.18949273e+02] [ 3.83418357e-02 9.99264597e-01 -4.11922080e-04 8.25880425e+00] [ 1.58888039e-02 -1.97481065e-04 9.99873745e-01 4.78097186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.41925415399993 meters Centerline goodness [0,1] 0.9994566239628833 Centerline is valid? [True, True] Translation: X:518.98, Y:8.26, Z:4.78 [[ 9.99137002e-01 -3.83787408e-02 -1.58846765e-02 5.18978422e+02] [ 3.83770322e-02 9.99263245e-01 -4.12481681e-04 8.25959200e+00] [ 1.58888039e-02 -1.97481032e-04 9.99873745e-01 4.78124509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.44925415399996 meters Centerline goodness [0,1] 0.9995399510675227 Centerline is valid? [True, True] Translation: X:519.01, Y:8.26, Z:4.78 [[ 9.99128042e-01 -3.87888502e-02 -1.54460909e-02 5.19008393e+02] [ 3.87872790e-02 9.99247410e-01 -4.01398230e-04 8.25930553e+00] [ 1.54500361e-02 -1.98063611e-04 9.99880621e-01 4.78330261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.47925415399993 meters Centerline goodness [0,1] 0.9995412939680157 Centerline is valid? [True, True] Translation: X:519.04, Y:8.26, Z:4.78 [[ 9.99123016e-01 -3.89633194e-02 -1.53316200e-02 5.19037555e+02] [ 3.89617924e-02 9.99240622e-01 -3.98389721e-04 8.25858875e+00] [ 1.53355001e-02 -1.99307055e-04 9.99882384e-01 4.78240867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5092541539999 meters Centerline goodness [0,1] 0.9995400472496916 Centerline is valid? [True, True] Translation: X:519.07, Y:8.26, Z:4.78 [[ 9.99075625e-01 -4.00284205e-02 -1.56723337e-02 5.19067064e+02] [ 4.00269527e-02 9.99198517e-01 -4.07443208e-04 8.25717340e+00] [ 1.56760819e-02 -2.20249183e-04 9.99877098e-01 4.78345105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.53925415399993 meters Centerline goodness [0,1] 0.9996040676835876 Centerline is valid? [True, True] Translation: X:519.10, Y:8.26, Z:4.78 [[ 9.99067516e-01 -4.01361463e-02 -1.59119089e-02 5.19096603e+02] [ 4.01346383e-02 9.99194195e-01 -4.14220178e-04 8.25722985e+00] [ 1.59157122e-02 -2.24784783e-04 9.99873312e-01 4.78355334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5692541539999 meters Centerline goodness [0,1] 0.9995203936942197 Centerline is valid? [True, True] Translation: X:519.13, Y:8.26, Z:4.78 [[ 9.99064246e-01 -4.00144290e-02 -1.64158011e-02 5.19126329e+02] [ 4.00128002e-02 9.99199076e-01 -4.27785473e-04 8.25694693e+00] [ 1.64197709e-02 -2.29457000e-04 9.99865160e-01 4.78343591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.59925415399994 meters Centerline goodness [0,1] 0.9994785800692446 Centerline is valid? [True, True] Translation: X:519.16, Y:8.26, Z:4.78 [[ 9.99062708e-01 -3.99028997e-02 -1.67769013e-02 5.19156137e+02] [ 3.99011758e-02 9.99203535e-01 -4.37605573e-04 8.25708335e+00] [ 1.67810008e-02 -2.32222678e-04 9.99859162e-01 4.78318886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.6292541539999 meters Centerline goodness [0,1] 0.9996238873333612 Centerline is valid? [True, True] Translation: X:519.19, Y:8.26, Z:4.78 [[ 9.99083829e-01 -3.89435000e-02 -1.77456196e-02 5.19185898e+02] [ 3.89414088e-02 9.99241388e-01 -4.63505155e-04 8.25803717e+00] [ 1.77502081e-02 -2.27958921e-04 9.99842427e-01 4.78405266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.65925415399994 meters Centerline goodness [0,1] 0.9994587618135643 Centerline is valid? [True, True] Translation: X:519.21, Y:8.26, Z:4.78 [[ 9.99111364e-01 -3.80148050e-02 -1.82032052e-02 5.19214745e+02] [ 3.80124357e-02 9.99277153e-01 -4.76269549e-04 8.25787623e+00] [ 1.82081523e-02 -2.16101847e-04 9.99834194e-01 4.78286699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.6892541539999 meters Centerline goodness [0,1] 0.9996039273727877 Centerline is valid? [True, True] Translation: X:519.24, Y:8.26, Z:4.79 [[ 9.99138922e-01 -3.75201184e-02 -1.77103324e-02 5.19243135e+02] [ 3.75177525e-02 9.99295853e-01 -4.65938868e-04 8.25832740e+00] [ 1.77153438e-02 -1.98914208e-04 9.99843051e-01 4.78517295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.71925415399994 meters Centerline goodness [0,1] 0.9995834201208081 Centerline is valid? [True, True] Translation: X:519.27, Y:8.26, Z:4.79 [[ 9.99235225e-01 -3.53165182e-02 -1.67841968e-02 5.19270636e+02] [ 3.53140343e-02 9.99376166e-01 -4.44440639e-04 8.25836616e+00] [ 1.67894224e-02 -1.48616960e-04 9.99859037e-01 4.78613400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.7492541539999 meters Centerline goodness [0,1] 0.9995407385758721 Centerline is valid? [True, True] Translation: X:519.30, Y:8.26, Z:4.79 [[ 9.99269869e-01 -3.42882852e-02 -1.68535654e-02 5.19299229e+02] [ 3.42855891e-02 9.99411976e-01 -4.48970612e-04 8.25947378e+00] [ 1.68590496e-02 -1.29191614e-04 9.99857868e-01 4.78723339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.77925415399994 meters Centerline goodness [0,1] 0.9995619615777727 Centerline is valid? [True, True] Translation: X:519.33, Y:8.26, Z:4.79 [[ 9.99321723e-01 -3.27857475e-02 -1.67686966e-02 5.19326818e+02] [ 3.27828171e-02 9.99462398e-01 -4.49680274e-04 8.26021899e+00] [ 1.67744248e-02 -1.00349849e-04 9.99859294e-01 4.78754542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8092541539999 meters Centerline goodness [0,1] 0.9994582994770507 Centerline is valid? [True, True] Translation: X:519.36, Y:8.26, Z:4.79 [[ 9.99368012e-01 -3.13592564e-02 -1.67383949e-02 5.19356009e+02] [ 3.13560909e-02 9.99508175e-01 -4.51588068e-04 8.26190655e+00] [ 1.67443240e-02 -7.35479617e-05 9.99859801e-01 4.78897517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.83925415399995 meters Centerline goodness [0,1] 0.9995211226550625 Centerline is valid? [True, True] Translation: X:519.38, Y:8.26, Z:4.79 [[ 9.99449554e-01 -2.74715554e-02 -1.85984577e-02 5.19383552e+02] [ 2.74669087e-02 9.99622586e-01 -5.05287844e-04 8.26216918e+00] [ 1.86053194e-02 -5.83242920e-06 9.99826906e-01 4.78712287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8692541539999 meters Centerline goodness [0,1] 0.9995829945163779 Centerline is valid? [True, True] Translation: X:519.41, Y:8.26, Z:4.79 [[ 9.99493156e-01 -2.60870067e-02 -1.82455216e-02 5.19410992e+02] [ 2.60822419e-02 9.99659676e-01 -4.99102882e-04 8.26307909e+00] [ 1.82523323e-02 2.29658080e-05 9.99833412e-01 4.78869299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.89925415399995 meters Centerline goodness [0,1] 0.9996452642781128 Centerline is valid? [True, True] Translation: X:519.44, Y:8.26, Z:4.79 [[ 9.99534772e-01 -2.42781624e-02 -1.84610760e-02 5.19438641e+02] [ 2.42728766e-02 9.99705240e-01 -5.10368113e-04 8.26385787e+00] [ 1.84680252e-02 6.20272542e-05 9.99829450e-01 4.78897140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9292541539999 meters Centerline goodness [0,1] 0.9997907643378737 Centerline is valid? [True, True] Translation: X:519.47, Y:8.26, Z:4.79 [[ 9.99596484e-01 -2.09580593e-02 -1.91736619e-02 5.19467639e+02] [ 2.09516452e-02 9.99780347e-01 -5.35366619e-04 8.26365691e+00] [ 1.91806706e-02 1.33430829e-04 9.99816025e-01 4.78984648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.95925415399995 meters Centerline goodness [0,1] 0.9996234624717597 Centerline is valid? [True, True] Translation: X:519.50, Y:8.26, Z:4.79 [[ 9.99615931e-01 -1.99748986e-02 -1.92092177e-02 5.19495914e+02] [ 1.99682164e-02 9.99800470e-01 -5.39621805e-04 8.26408792e+00] [ 1.92161638e-02 1.55840736e-04 9.99815340e-01 4.79000572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9892541539999 meters Centerline goodness [0,1] 0.9997070945875264 Centerline is valid? [True, True] Translation: X:519.52, Y:8.26, Z:4.79 [[ 9.99614493e-01 -1.96091884e-02 -1.96556493e-02 5.19524265e+02] [ 1.96020529e-02 9.99807707e-01 -5.55640629e-04 8.26354279e+00] [ 1.96627653e-02 1.70135347e-04 9.99806655e-01 4.79097799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.01925415399995 meters Centerline goodness [0,1] 0.9998746448270098 Centerline is valid? [True, True] Translation: X:519.55, Y:8.26, Z:4.79 [[ 9.99587394e-01 -2.03744602e-02 -2.02465732e-02 5.19551115e+02] [ 2.03669687e-02 9.99792406e-01 -5.76170069e-04 8.26183663e+00] [ 2.02541093e-02 1.63571015e-04 9.99794851e-01 4.79068777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0492541539999 meters Centerline goodness [0,1] 0.9998534399732004 Centerline is valid? [True, True] Translation: X:519.58, Y:8.26, Z:4.79 [[ 9.99554721e-01 -2.18816904e-02 -2.02867149e-02 5.19579111e+02] [ 2.18743935e-02 9.99760558e-01 -5.81545081e-04 8.26004276e+00] [ 2.02945826e-02 1.37526546e-04 9.99794034e-01 4.79075614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07925415399995 meters Centerline goodness [0,1] 0.9998956833781895 Centerline is valid? [True, True] Translation: X:519.61, Y:8.26, Z:4.79 [[ 9.99497862e-01 -2.38893143e-02 -2.08164430e-02 5.19606686e+02] [ 2.38819434e-02 9.99714604e-01 -6.02648733e-04 8.25777301e+00] [ 2.08248990e-02 1.05209006e-04 9.99783133e-01 4.79143603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1092541539999 meters Centerline goodness [0,1] 0.9999582184340269 Centerline is valid? [True, True] Translation: X:519.63, Y:8.25, Z:4.79 [[ 9.99400626e-01 -2.79990585e-02 -2.03578587e-02 5.19634611e+02] [ 2.79927891e-02 9.99607949e-01 -5.92920176e-04 8.25179379e+00] [ 2.03664786e-02 2.26915519e-05 9.99792582e-01 4.78999331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13925415399996 meters Centerline goodness [0,1] 0.9998955766258719 Centerline is valid? [True, True] Translation: X:519.66, Y:8.25, Z:4.79 [[ 9.99332660e-01 -3.04876536e-02 -2.01181057e-02 5.19661193e+02] [ 3.04819931e-02 9.99535143e-01 -5.88026330e-04 8.24929431e+00] [ 2.01266812e-02 -2.56060416e-05 9.99797438e-01 4.79101944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.16925415399993 meters Centerline goodness [0,1] 0.9999372634308539 Centerline is valid? [True, True] Translation: X:519.69, Y:8.25, Z:4.79 [[ 9.99251367e-01 -3.30640532e-02 -2.00866721e-02 5.19689065e+02] [ 3.30588476e-02 9.99453232e-01 -5.91244858e-04 8.24700403e+00] [ 2.00952383e-02 -7.32400007e-05 9.99798068e-01 4.79225824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19925415399996 meters Centerline goodness [0,1] 0.9998750234331063 Centerline is valid? [True, True] Translation: X:519.72, Y:8.24, Z:4.79 [[ 9.99176016e-01 -3.55833550e-02 -1.95221412e-02 5.19716679e+02] [ 3.55788112e-02 9.99366705e-01 -5.80133194e-04 8.24498937e+00] [ 1.95304210e-02 -1.14919402e-04 9.99809257e-01 4.79310812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.22925415399993 meters Centerline goodness [0,1] 0.9999372253609542 Centerline is valid? [True, True] Translation: X:519.74, Y:8.24, Z:4.79 [[ 9.98994602e-01 -4.04805759e-02 -1.92641652e-02 5.19744329e+02] [ 4.04769839e-02 9.99180305e-01 -5.76499800e-04 8.23890255e+00] [ 1.92717115e-02 -2.03835116e-04 9.99814263e-01 4.79270469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2592541539999 meters Centerline goodness [0,1] 0.9999162724494495 Centerline is valid? [True, True] Translation: X:519.77, Y:8.24, Z:4.79 [[ 9.98877515e-01 -4.31439777e-02 -1.95526683e-02 5.19772758e+02] [ 4.31407435e-02 9.99068832e-01 -5.87373391e-04 8.23700045e+00] [ 1.95598031e-02 -2.56802575e-04 9.99808656e-01 4.79332528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.28925415399993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.80, Y:8.23, Z:4.80 [[ 9.98762409e-01 -4.62433828e-02 -1.83084648e-02 5.19801735e+02] [ 4.62410105e-02 9.98930159e-01 -5.53117786e-04 8.23492463e+00] [ 1.83144557e-02 -2.94168660e-04 9.99832233e-01 4.79606872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.83, Y:8.23, Z:4.80 [[ 9.98623393e-01 -4.92418174e-02 -1.80710546e-02 5.19829270e+02] [ 4.92399392e-02 9.98786828e-01 -5.49136190e-04 8.23198346e+00] [ 1.80761718e-02 -3.41437386e-04 9.99836554e-01 4.79626106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.34925415399994 meters Centerline goodness [0,1] 0.999832572935415 Centerline is valid? [True, True] Translation: X:519.86, Y:8.23, Z:4.79 [[ 9.98276161e-01 -5.56056464e-02 -1.87808172e-02 5.19858611e+02] [ 5.56047166e-02 9.98452697e-01 -5.72102926e-04 8.22588446e+00] [ 1.87835697e-02 -4.73185305e-04 9.99823461e-01 4.79410792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3792541539999 meters Centerline goodness [0,1] 0.9998537797923673 Centerline is valid? [True, True] Translation: X:519.89, Y:8.22, Z:4.79 [[ 9.98060894e-01 -5.93080125e-02 -1.88947426e-02 5.19888642e+02] [ 5.93077181e-02 9.98239582e-01 -5.76428269e-04 8.22400723e+00] [ 1.88956668e-02 -5.45293553e-04 9.99821312e-01 4.79485944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.40925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.92, Y:8.22, Z:4.80 [[ 9.97823756e-01 -6.35014669e-02 -1.77571151e-02 5.19918131e+02] [ 6.35018588e-02 9.97981573e-01 -5.42345649e-04 8.22163997e+00] [ 1.77557134e-02 -5.86444441e-04 9.99842183e-01 4.79746732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.95, Y:8.22, Z:4.80 [[ 9.97187429e-01 -7.26453505e-02 -1.84359815e-02 5.19948643e+02] [ 7.26473260e-02 9.97357533e-01 -5.63425406e-04 8.21630221e+00] [ 1.84281953e-02 -7.77484026e-04 9.99829884e-01 4.79748031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.46925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.98, Y:8.21, Z:4.80 [[ 9.96815056e-01 -7.75341417e-02 -1.86601255e-02 5.19978869e+02] [ 7.75370170e-02 9.96989311e-01 -5.70441925e-04 8.21399328e+00] [ 1.86481743e-02 -8.78225365e-04 9.99825722e-01 4.79758241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.01, Y:8.21, Z:4.80 [[ 9.96436887e-01 -8.22052567e-02 -1.88633742e-02 5.20007896e+02] [ 8.22090196e-02 9.96614943e-01 -5.77181568e-04 8.21071310e+00] [ 1.88469680e-02 -9.75614498e-04 9.99821904e-01 4.79770252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.52925415399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.04, Y:8.21, Z:4.80 [[ 9.95703925e-01 -9.07148187e-02 -1.85611242e-02 5.20038643e+02] [ 9.07199286e-02 9.95876283e-01 -5.68256733e-04 8.20747085e+00] [ 1.85361326e-02 -1.11804840e-03 9.99827566e-01 4.79848163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.07, Y:8.21, Z:4.80 [[ 9.95365686e-01 -9.43655805e-02 -1.85010344e-02 5.20068740e+02] [ 9.43712814e-02 9.95536911e-01 -5.66628674e-04 8.20822553e+00] [ 1.84719329e-02 -1.18196358e-03 9.99828681e-01 4.79931845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.58925415399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.10, Y:8.21, Z:4.80 [[ 9.95075854e-01 -9.73604226e-02 -1.85739660e-02 5.20099039e+02] [ 9.73666797e-02 9.95248414e-01 -5.69304200e-04 8.20860543e+00] [ 1.85411379e-02 -1.24198453e-03 9.99827327e-01 4.79965613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6192541539999 meters Centerline goodness [0,1] 0.9999581834908422 Centerline is valid? [True, True] Translation: X:520.13, Y:8.20, Z:4.80 [[ 9.94746335e-01 -1.00642617e-01 -1.87294589e-02 5.20128690e+02] [ 1.00649550e-01 9.94921775e-01 -5.74512235e-04 8.20483420e+00] [ 1.86921669e-02 -1.31361767e-03 9.99824423e-01 4.79845052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.64925415399995 meters Centerline goodness [0,1] 0.9998744796133973 Centerline is valid? [True, True] Translation: X:520.16, Y:8.21, Z:4.80 [[ 9.94660881e-01 -1.01553346e-01 -1.83479932e-02 5.20157414e+02] [ 1.01560106e-01 9.94829244e-01 -5.65372137e-04 8.21176244e+00] [ 1.83105357e-02 -1.30107060e-03 9.99831502e-01 4.80039078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6792541539999 meters Centerline goodness [0,1] 0.999832702482277 Centerline is valid? [True, True] Translation: X:520.19, Y:8.21, Z:4.80 [[ 9.94705071e-01 -1.01120826e-01 -1.83412106e-02 5.20186564e+02] [ 1.01127458e-01 9.94873316e-01 -5.67928053e-04 8.21454213e+00] [ 1.83046104e-02 -1.28987909e-03 9.99831625e-01 4.80049516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.70925415399995 meters Centerline goodness [0,1] 0.9998114669962503 Centerline is valid? [True, True] Translation: X:520.22, Y:8.22, Z:4.80 [[ 9.94809846e-01 -1.00173156e-01 -1.78524336e-02 5.20216224e+02] [ 1.00179275e-01 9.94969249e-01 -5.53450282e-04 8.22100310e+00] [ 1.78180633e-02 -1.23786607e-03 9.99840479e-01 4.80150076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7392541539999 meters Centerline goodness [0,1] 0.9997489644784737 Centerline is valid? [True, True] Translation: X:520.25, Y:8.23, Z:4.80 [[ 9.95117852e-01 -9.69969186e-02 -1.82224937e-02 5.20245154e+02] [ 9.70027514e-02 9.95283953e-01 -5.65614132e-04 8.22670227e+00] [ 1.81914184e-02 -1.20477931e-03 9.99833797e-01 4.80100735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.76925415399995 meters Centerline goodness [0,1] 0.9996646124177252 Centerline is valid? [True, True] Translation: X:520.27, Y:8.23, Z:4.80 [[ 9.95333043e-01 -9.48885047e-02 -1.75586364e-02 5.20274805e+02] [ 9.48935848e-02 9.95487273e-01 -5.45498569e-04 8.23386709e+00] [ 1.75311606e-02 -1.12324920e-03 9.99845686e-01 4.80223676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7992541539999 meters Centerline goodness [0,1] 0.9995613577023499 Centerline is valid? [True, True] Translation: X:520.30, Y:8.24, Z:4.80 [[ 9.95540754e-01 -9.27067823e-02 -1.74372869e-02 5.20304014e+02] [ 9.27114534e-02 9.95692871e-01 -5.42052145e-04 8.23736712e+00] [ 1.74124342e-02 -1.07700121e-03 9.99847812e-01 4.80236169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.82925415399995 meters Centerline goodness [0,1] 0.9994361962037211 Centerline is valid? [True, True] Translation: X:520.33, Y:8.24, Z:4.80 [[ 9.95739754e-01 -9.05564729e-02 -1.73743236e-02 5.20334919e+02] [ 9.05607837e-02 9.95890784e-01 -5.40120758e-04 8.24235653e+00] [ 1.73518402e-02 -1.03561265e-03 9.99848909e-01 4.80251771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8592541539999 meters Centerline goodness [0,1] 0.9994988096729733 Centerline is valid? [True, True] Translation: X:520.36, Y:8.25, Z:4.80 [[ 9.96102587e-01 -8.63669811e-02 -1.78992059e-02 5.20364072e+02] [ 8.63708823e-02 9.96262898e-01 -5.56428595e-04 8.25036092e+00] [ 1.78803718e-02 -9.91710246e-04 9.99839642e-01 4.80200423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.88925415399996 meters Centerline goodness [0,1] 0.9994561238364188 Centerline is valid? [True, True] Translation: X:520.39, Y:8.26, Z:4.80 [[ 9.96241316e-01 -8.46614385e-02 -1.83216129e-02 5.20394799e+02] [ 8.46652380e-02 9.96409290e-01 -5.69582777e-04 8.25747585e+00] [ 1.83040470e-02 -9.83761820e-04 9.99831983e-01 4.80244783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.91925415399993 meters Centerline goodness [0,1] 0.9993951024154186 Centerline is valid? [True, True] Translation: X:520.42, Y:8.26, Z:4.80 [[ 9.96356901e-01 -8.31804343e-02 -1.88133483e-02 5.20424802e+02] [ 8.31841807e-02 9.96534019e-01 -5.84692377e-04 8.26070066e+00] [ 1.87967765e-02 -9.82410679e-04 9.99822842e-01 4.80242276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.94925415399996 meters Centerline goodness [0,1] 0.9993731324571118 Centerline is valid? [True, True] Translation: X:520.46, Y:8.26, Z:4.80 [[ 9.96468336e-01 -8.19215514e-02 -1.84313803e-02 5.20455316e+02] [ 8.19249324e-02 9.96638338e-01 -5.72821348e-04 8.26496418e+00] [ 1.84163466e-02 -9.39191246e-04 9.99829964e-01 4.80276415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.97925415399993 meters Centerline goodness [0,1] 0.9993940660259089 Centerline is valid? [True, True] Translation: X:520.49, Y:8.27, Z:4.80 [[ 9.96603445e-01 -7.99875293e-02 -1.95849197e-02 5.20485909e+02] [ 7.99909736e-02 9.96795402e-01 -6.08713124e-04 8.27463164e+00] [ 1.95708474e-02 -9.59971200e-04 9.99808012e-01 4.80155765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0092541539999 meters Centerline goodness [0,1] 0.9994986631016043 Centerline is valid? [True, True] Translation: X:520.52, Y:8.28, Z:4.80 [[ 9.96629416e-01 -8.00035425e-02 -1.81449800e-02 5.20517566e+02] [ 8.00065066e-02 9.96794182e-01 -5.63669614e-04 8.27932249e+00] [ 1.81319061e-02 -8.89946747e-04 9.99835207e-01 4.80338119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.03925415399993 meters Centerline goodness [0,1] 0.9992701795358342 Centerline is valid? [True, True] Translation: X:520.55, Y:8.28, Z:4.80 [[ 9.96617444e-01 -8.00061349e-02 -1.87800072e-02 5.20547936e+02] [ 8.00093207e-02 9.96793945e-01 -5.82866157e-04 8.28125851e+00] [ 1.87664304e-02 -9.21681042e-04 9.99823470e-01 4.80345476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0692541539999 meters Centerline goodness [0,1] 0.9992926540037864 Centerline is valid? [True, True] Translation: X:520.58, Y:8.29, Z:4.80 [[ 9.96566864e-01 -8.06392684e-02 -1.87561864e-02 5.20578112e+02] [ 8.06425643e-02 9.96742915e-01 -5.81786675e-04 8.28634285e+00] [ 1.87420107e-02 -9.32757644e-04 9.99823918e-01 4.80361921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.09925415399994 meters Centerline goodness [0,1] 0.9990395657166719 Centerline is valid? [True, True] Translation: X:520.61, Y:8.29, Z:4.80 [[ 9.96546095e-01 -8.07418681e-02 -1.94069995e-02 5.20609751e+02] [ 8.07454266e-02 9.96734576e-01 -6.01437610e-04 8.28980375e+00] [ 1.93921886e-02 -9.67666153e-04 9.99811486e-01 4.80240838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.1292541539999 meters Centerline goodness [0,1] 0.9993108345167488 Centerline is valid? [True, True] Translation: X:520.64, Y:8.29, Z:4.80 [[ 9.96498270e-01 -8.16823778e-02 -1.78658289e-02 5.20640223e+02] [ 8.16855523e-02 9.96657998e-01 -5.53212695e-04 8.29238986e+00] [ 1.78513090e-02 -9.08104612e-04 9.99840240e-01 4.80490911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.15925415399994 meters Centerline goodness [0,1] 0.9991882610053076 Centerline is valid? [True, True] Translation: X:520.67, Y:8.30, Z:4.81 [[ 9.96455714e-01 -8.22087725e-02 -1.78248939e-02 5.20672680e+02] [ 8.22120305e-02 9.96614709e-01 -5.51154823e-04 8.29813958e+00] [ 1.78098612e-02 -9.16219351e-04 9.99840972e-01 4.80564545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.1892541539999 meters Centerline goodness [0,1] 0.999291873203649 Centerline is valid? [True, True] Translation: X:520.70, Y:8.30, Z:4.81 [[ 9.96323125e-01 -8.37048143e-02 -1.82684081e-02 5.20704916e+02] [ 8.37085122e-02 9.96490124e-01 -5.63500870e-04 8.30397452e+00] [ 1.82514560e-02 -9.67792316e-04 9.99832960e-01 4.80614027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.21925415399994 meters Centerline goodness [0,1] 0.9993538839909127 Centerline is valid? [True, True] Translation: X:520.74, Y:8.30, Z:4.81 [[ 9.96239542e-01 -8.46544118e-02 -1.84500957e-02 5.20736399e+02] [ 8.46583683e-02 9.96409875e-01 -5.67900482e-04 8.30434285e+00] [ 1.84319328e-02 -9.96190080e-04 9.99829621e-01 4.80630704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.2492541539999 meters Centerline goodness [0,1] 0.9990838677438161 Centerline is valid? [True, True] Translation: X:520.77, Y:8.31, Z:4.81 [[ 9.95947462e-01 -8.81300682e-02 -1.79372186e-02 5.20767006e+02] [ 8.81343812e-02 9.96108441e-01 -5.51456827e-04 8.30696612e+00] [ 1.79160148e-02 -1.03166364e-03 9.99838963e-01 4.80697768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.27925415399994 meters Centerline goodness [0,1] 0.9989819451081423 Centerline is valid? [True, True] Translation: X:520.80, Y:8.31, Z:4.81 [[ 9.95774621e-01 -9.00805673e-02 -1.78436258e-02 5.20797398e+02] [ 9.00851530e-02 9.95933916e-01 -5.48262111e-04 8.30693394e+00] [ 1.78204599e-02 -1.06150027e-03 9.99840640e-01 4.80739745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3092541539999 meters Centerline goodness [0,1] 0.9990611504037054 Centerline is valid? [True, True] Translation: X:520.83, Y:8.31, Z:4.81 [[ 9.95594074e-01 -9.21587150e-02 -1.72977088e-02 5.20828546e+02] [ 9.21633444e-02 9.95743760e-01 -5.31044724e-04 8.30968656e+00] [ 1.72730260e-02 -1.06550971e-03 9.99850242e-01 4.80812232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.33925415399995 meters Centerline goodness [0,1] 0.9990611504037054 Centerline is valid? [True, True] Translation: X:520.86, Y:8.31, Z:4.81 [[ 9.95600656e-01 -9.20875808e-02 -1.72977364e-02 5.20860277e+02] [ 9.20922151e-02 9.95750342e-01 -5.30145109e-04 8.31059571e+00] [ 1.72730467e-02 -1.06517404e-03 9.99850242e-01 4.80841963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3692541539999 meters Centerline goodness [0,1] 0.9989773770765507 Centerline is valid? [True, True] Translation: X:520.89, Y:8.31, Z:4.81 [[ 9.95417054e-01 -9.40483772e-02 -1.73144779e-02 5.20890796e+02] [ 9.40533299e-02 9.95567020e-01 -5.29847414e-04 8.30913317e+00] [ 1.72875544e-02 -1.10106515e-03 9.99849953e-01 4.80842617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.39925415399995 meters Centerline goodness [0,1] 0.9987473903966597 Centerline is valid? [True, True] Translation: X:520.92, Y:8.31, Z:4.81 [[ 9.95051841e-01 -9.78446615e-02 -1.72700793e-02 5.20921494e+02] [ 9.78501612e-02 9.95201018e-01 -5.28293400e-04 8.31413753e+00] [ 1.72388912e-02 -1.16420073e-03 9.99850721e-01 4.80936367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4292541539999 meters Centerline goodness [0,1] 0.9988117078052035 Centerline is valid? [True, True] Translation: X:520.95, Y:8.32, Z:4.81 [[ 9.94948315e-01 -9.89057398e-02 -1.71902899e-02 5.20952953e+02] [ 9.89113605e-02 9.95096109e-01 -5.25032035e-04 8.31529064e+00] [ 1.71579193e-02 -1.17793523e-03 9.99852098e-01 4.80952281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.45925415399995 meters Centerline goodness [0,1] 0.9987695516162669 Centerline is valid? [True, True] Translation: X:520.99, Y:8.32, Z:4.81 [[ 9.94872097e-01 -9.95743897e-02 -1.77327641e-02 5.20985307e+02] [ 9.95805041e-02 9.95029362e-01 -5.40047214e-04 8.31733324e+00] [ 1.76983959e-02 -1.22855969e-03 9.99842616e-01 4.80942579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4892541539999 meters Centerline goodness [0,1] 0.9985997324862064 Centerline is valid? [True, True] Translation: X:521.02, Y:8.32, Z:4.81 [[ 9.94841972e-01 -9.97945635e-02 -1.81795306e-02 5.21016208e+02] [ 9.98010558e-02 9.95007259e-01 -5.52041615e-04 8.31876946e+00] [ 1.81438557e-02 -1.26514218e-03 9.99834586e-01 4.80922026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.51925415399995 meters Centerline goodness [0,1] 0.9986864327265903 Centerline is valid? [True, True] Translation: X:521.05, Y:8.32, Z:4.81 [[ 9.94875137e-01 -9.93511791e-02 -1.87830804e-02 5.21047880e+02] [ 9.93580627e-02 9.95051583e-01 -5.68690083e-04 8.32341401e+00] [ 1.87466339e-02 -1.30047486e-03 9.99823421e-01 4.80898926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5492541539999 meters Centerline goodness [0,1] 0.9987899524326128 Centerline is valid? [True, True] Translation: X:521.08, Y:8.33, Z:4.81 [[ 9.94908573e-01 -9.90056095e-02 -1.88366732e-02 5.21080267e+02] [ 9.90124954e-02 9.95086027e-01 -5.69003926e-04 8.32971400e+00] [ 1.88004449e-02 -1.29895914e-03 9.99822412e-01 4.80932902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57925415399995 meters Centerline goodness [0,1] 0.9989771849625315 Centerline is valid? [True, True] Translation: X:521.11, Y:8.34, Z:4.81 [[ 9.95031916e-01 -9.76440936e-02 -1.94194848e-02 5.21112658e+02] [ 9.76511853e-02 9.95220530e-01 -5.85006965e-04 8.34248983e+00] [ 1.93837925e-02 -1.31423511e-03 9.99811253e-01 4.81084716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6092541539999 meters Centerline goodness [0,1] 0.9987063389391979 Centerline is valid? [True, True] Translation: X:521.14, Y:8.34, Z:4.81 [[ 9.95124441e-01 -9.66640498e-02 -1.95808196e-02 5.21143998e+02] [ 9.66711155e-02 9.95316206e-01 -5.87593405e-04 8.34105077e+00] [ 1.95459063e-02 -1.30817112e-03 9.99808105e-01 4.81037167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63925415399996 meters Centerline goodness [0,1] 0.9987513267153649 Centerline is valid? [True, True] Translation: X:521.18, Y:8.35, Z:4.81 [[ 9.95222906e-01 -9.55441936e-02 -2.00667429e-02 5.21176395e+02] [ 9.55514337e-02 9.95424313e-01 -5.99888195e-04 8.34799178e+00] [ 2.00322396e-02 -1.32038358e-03 9.99798463e-01 4.81111513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.66925415399993 meters Centerline goodness [0,1] 0.9988506707903205 Centerline is valid? [True, True] Translation: X:521.21, Y:8.35, Z:4.81 [[ 9.95352793e-01 -9.42017599e-02 -1.99711269e-02 5.21208630e+02] [ 9.42086944e-02 9.95552293e-01 -5.95405601e-04 8.35465045e+00] [ 1.99383894e-02 -1.28881516e-03 9.99800380e-01 4.81204714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69925415399996 meters Centerline goodness [0,1] 0.9987480438184664 Centerline is valid? [True, True] Translation: X:521.24, Y:8.36, Z:4.81 [[ 9.95645090e-01 -9.10926714e-02 -1.98237319e-02 5.21238465e+02] [ 9.10989036e-02 9.95841675e-01 -5.90326046e-04 8.35784435e+00] [ 1.97950727e-02 -1.21816501e-03 9.99803316e-01 4.81234728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.72925415399993 meters Centerline goodness [0,1] 0.9986854185794174 Centerline is valid? [True, True] Translation: X:521.27, Y:8.37, Z:4.81 [[ 9.95819218e-01 -8.92200026e-02 -1.95927650e-02 5.21269790e+02] [ 8.92257366e-02 9.96011259e-01 -5.83067703e-04 8.36527571e+00] [ 1.95666358e-02 -1.16754886e-03 9.99807873e-01 4.81334557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7592541539999 meters Centerline goodness [0,1] 0.9988276670574443 Centerline is valid? [True, True] Translation: X:521.30, Y:8.37, Z:4.81 [[ 9.95998791e-01 -8.72072715e-02 -1.95269219e-02 5.21299917e+02] [ 8.72125919e-02 9.96189554e-01 -5.80572594e-04 8.36516428e+00] [ 1.95031457e-02 -1.12474387e-03 9.99809163e-01 4.81297350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.78925415399993 meters Centerline goodness [0,1] 0.9986619836092993 Centerline is valid? [True, True] Translation: X:521.33, Y:8.37, Z:4.81 [[ 9.96183854e-01 -8.49761477e-02 -1.99194298e-02 5.21331177e+02] [ 8.49812510e-02 9.96382375e-01 -5.91672708e-04 8.37357493e+00] [ 1.98976468e-02 -1.10336326e-03 9.99801413e-01 4.81361079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8192541539999 meters Centerline goodness [0,1] 0.9988283048081349 Centerline is valid? [True, True] Translation: X:521.36, Y:8.38, Z:4.81 [[ 9.96566293e-01 -8.03566000e-02 -1.99609810e-02 5.21361791e+02] [ 8.03608127e-02 9.96765664e-01 -5.92283697e-04 8.38164587e+00] [ 1.99440144e-02 -1.01383069e-03 9.99800584e-01 4.81421699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.84925415399994 meters Centerline goodness [0,1] 0.9987428236181536 Centerline is valid? [True, True] Translation: X:521.39, Y:8.38, Z:4.81 [[ 9.96775223e-01 -7.76449587e-02 -2.02587198e-02 5.21392673e+02] [ 7.76487524e-02 9.96980597e-01 -6.00470143e-04 8.38211532e+00] [ 2.02441740e-02 -9.74530558e-04 9.99794591e-01 4.81353288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8792541539999 meters Centerline goodness [0,1] 0.9986811530490486 Centerline is valid? [True, True] Translation: X:521.42, Y:8.39, Z:4.81 [[ 9.97019070e-01 -7.43309984e-02 -2.06851611e-02 5.21423786e+02] [ 7.43342576e-02 9.97233194e-01 -6.12350572e-04 8.38752109e+00] [ 2.06734459e-02 -9.27090895e-04 9.99785852e-01 4.81378331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.90925415399994 meters Centerline goodness [0,1] 0.9988090263267865 Centerline is valid? [True, True] Translation: X:521.45, Y:8.40, Z:4.81 [[ 9.97505447e-01 -6.73416501e-02 -2.11656733e-02 5.21453795e+02] [ 6.73434998e-02 9.97729653e-01 -6.26171449e-04 8.39578634e+00] [ 2.11597873e-02 -8.00761085e-04 9.99775786e-01 4.81416067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9392541539999 meters Centerline goodness [0,1] 0.9988682092555332 Centerline is valid? [True, True] Translation: X:521.49, Y:8.40, Z:4.82 [[ 9.97727004e-01 -6.38664847e-02 -2.14918201e-02 5.21485132e+02] [ 6.38675971e-02 9.97958179e-01 -6.35330858e-04 8.40175890e+00] [ 2.14885140e-02 -7.38744152e-04 9.99768822e-01 4.81528832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.96925415399994 meters Centerline goodness [0,1] 0.9986153071500503 Centerline is valid? [True, True] Translation: X:521.52, Y:8.41, Z:4.82 [[ 9.97922172e-01 -6.05965181e-02 -2.18952256e-02 5.21516304e+02] [ 6.05969043e-02 9.98162110e-01 -6.46442325e-04 8.40801927e+00] [ 2.18941567e-02 -6.81683758e-04 9.99760062e-01 4.81667559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9992541539999 meters Centerline goodness [0,1] 0.9988456775872563 Centerline is valid? [True, True] Translation: X:521.55, Y:8.41, Z:4.82 [[ 9.98133146e-01 -5.70044721e-02 -2.19251863e-02 5.21546621e+02] [ 5.70040062e-02 9.98373740e-01 -6.46747458e-04 8.40956919e+00] [ 2.19263978e-02 -6.04283384e-04 9.99759405e-01 4.81612329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0292541539999 meters Centerline goodness [0,1] 0.998846500702586 Centerline is valid? [True, True] Translation: X:521.58, Y:8.42, Z:4.82 [[ 9.98458279e-01 -5.10180814e-02 -2.18682709e-02 5.21578082e+02] [ 5.10162007e-02 9.98697618e-01 -6.44241596e-04 8.41618529e+00] [ 2.18726580e-02 -4.72387743e-04 9.99760653e-01 4.81681936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.059254154 meters Centerline goodness [0,1] 0.9986571548468317 Centerline is valid? [True, True] Translation: X:521.61, Y:8.42, Z:4.82 [[ 9.98575719e-01 -4.86729121e-02 -2.18513495e-02 5.21608992e+02] [ 4.86704936e-02 9.98814682e-01 -6.42802565e-04 8.42082817e+00] [ 2.18567358e-02 -4.21628936e-04 9.99761024e-01 4.81814369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.089254154 meters Centerline goodness [0,1] 0.9988854306864065 Centerline is valid? [True, True] Translation: X:521.64, Y:8.42, Z:4.82 [[ 9.98680222e-01 -4.64242366e-02 -2.19682519e-02 5.21640635e+02] [ 4.64212660e-02 9.98921743e-01 -6.45437924e-04 8.42439100e+00] [ 2.19745285e-02 -3.75207978e-04 9.99758460e-01 4.81907654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1192541539999 meters Centerline goodness [0,1] 0.9988460650819294 Centerline is valid? [True, True] Translation: X:521.67, Y:8.42, Z:4.82 [[ 9.98751884e-01 -4.47291162e-02 -2.22256530e-02 5.21671374e+02] [ 4.47256689e-02 9.98999094e-01 -6.52416352e-04 8.42438613e+00] [ 2.22325892e-02 -3.42455138e-04 9.99752767e-01 4.81675306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1492541539999 meters Centerline goodness [0,1] 0.9987633101366648 Centerline is valid? [True, True] Translation: X:521.70, Y:8.43, Z:4.82 [[ 9.98780213e-01 -4.44725088e-02 -2.14541795e-02 5.21701698e+02] [ 4.44692411e-02 9.99010556e-01 -6.29605189e-04 8.42761944e+00] [ 2.14609519e-02 -3.25213876e-04 9.99769634e-01 4.81909951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.179254154 meters Centerline goodness [0,1] 0.9988671645548376 Centerline is valid? [True, True] Translation: X:521.73, Y:8.43, Z:4.82 [[ 9.98746063e-01 -4.52659544e-02 -2.13844579e-02 5.21733066e+02] [ 4.52628989e-02 9.98974913e-01 -6.27127862e-04 8.42799982e+00] [ 2.13909245e-02 -3.41581073e-04 9.99771130e-01 4.81927087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.209254154 meters Centerline goodness [0,1] 0.9992041051418997 Centerline is valid? [True, True] Translation: X:521.76, Y:8.43, Z:4.82 [[ 9.98678012e-01 -4.65927076e-02 -2.17105404e-02 5.21764781e+02] [ 4.65898885e-02 9.98913899e-01 -6.35908698e-04 8.42768705e+00] [ 2.17165893e-02 -3.76423625e-04 9.99764096e-01 4.81992962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2392541539999 meters Centerline goodness [0,1] 0.9989732844421163 Centerline is valid? [True, True] Translation: X:521.80, Y:8.42, Z:4.82 [[ 9.98453006e-01 -5.11464924e-02 -2.18089878e-02 5.21795056e+02] [ 5.11447454e-02 9.98691047e-01 -6.38235572e-04 8.42370397e+00] [ 2.18130844e-02 -4.78166903e-04 9.99761952e-01 4.81986836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2692541539999 meters Centerline goodness [0,1] 0.9988282312569312 Centerline is valid? [True, True] Translation: X:521.83, Y:8.42, Z:4.82 [[ 9.98279712e-01 -5.46577029e-02 -2.12167941e-02 5.21826723e+02] [ 5.46568540e-02 9.98505004e-01 -6.20328189e-04 8.42119627e+00] [ 2.12189808e-02 -5.40382174e-04 9.99774706e-01 4.82026906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.299254154 meters Centerline goodness [0,1] 0.9988290153273529 Centerline is valid? [True, True] Translation: X:521.86, Y:8.42, Z:4.82 [[ 9.98110355e-01 -5.76480583e-02 -2.12701879e-02 5.21858840e+02] [ 5.76479094e-02 9.98336784e-01 -6.20671867e-04 8.42127726e+00] [ 2.12705915e-02 -6.06682845e-04 9.99773571e-01 4.82160644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.329254154 meters Centerline goodness [0,1] 0.9988094989452578 Centerline is valid? [True, True] Translation: X:521.89, Y:8.42, Z:4.82 [[ 9.97639529e-01 -6.55891188e-02 -2.03331898e-02 5.21889187e+02] [ 6.55906440e-02 9.97846439e-01 -5.92600754e-04 8.41579637e+00] [ 2.03282692e-02 -7.42465077e-04 9.99793084e-01 4.82284442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3592541539999 meters Centerline goodness [0,1] 0.9989352596087601 Centerline is valid? [True, True] Translation: X:521.92, Y:8.41, Z:4.82 [[ 9.97387807e-01 -6.92869591e-02 -2.04176305e-02 5.21919464e+02] [ 6.92892918e-02 9.97596432e-01 -5.94015605e-04 8.40926253e+00] [ 2.04097128e-02 -8.22259232e-04 9.99791362e-01 4.82183367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3892541539999 meters Centerline goodness [0,1] 0.9988306535811234 Centerline is valid? [True, True] Translation: X:521.95, Y:8.41, Z:4.82 [[ 9.97144533e-01 -7.26898530e-02 -2.04686694e-02 5.21951091e+02] [ 7.26929383e-02 9.97354192e-01 -5.94256787e-04 8.40794105e+00] [ 2.04577097e-02 -8.95367816e-04 9.99790318e-01 4.82194401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.419254154 meters Centerline goodness [0,1] 0.998437695288089 Centerline is valid? [True, True] Translation: X:521.98, Y:8.41, Z:4.82 [[ 9.96894584e-01 -7.60046898e-02 -2.06028165e-02 5.21981980e+02] [ 7.60085332e-02 9.97106988e-01 -5.97604479e-04 8.40749303e+00] [ 2.05886330e-02 -9.70241190e-04 9.99787561e-01 4.82200199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.449254154 meters Centerline goodness [0,1] 0.9985211414288689 Centerline is valid? [True, True] Translation: X:522.01, Y:8.40, Z:4.82 [[ 9.96474843e-01 -8.12195205e-02 -2.10065750e-02 5.22012325e+02] [ 8.12246773e-02 9.96695631e-01 -6.09029322e-04 8.40383460e+00] [ 2.09866266e-02 -1.09936988e-03 9.99779152e-01 4.82168688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4792541539999 meters Centerline goodness [0,1] 0.9985817377883452 Centerline is valid? [True, True] Translation: X:522.04, Y:8.40, Z:4.82 [[ 9.96309794e-01 -8.31609238e-02 -2.12380491e-02 5.22043458e+02] [ 8.31666624e-02 9.96535463e-01 -6.14432040e-04 8.40083785e+00] [ 2.12155659e-02 -1.15413300e-03 9.99774258e-01 4.82158630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5092541539999 meters Centerline goodness [0,1] 0.9985841592404431 Centerline is valid? [True, True] Translation: X:522.08, Y:8.40, Z:4.82 [[ 9.96175630e-01 -8.47279232e-02 -2.13375873e-02 5.22076010e+02] [ 8.47341136e-02 9.96403408e-01 -6.15458436e-04 8.40050788e+00] [ 2.13129912e-02 -1.19491685e-03 9.99772138e-01 4.82194258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5392541539999 meters Centerline goodness [0,1] 0.9984761189044756 Centerline is valid? [True, True] Translation: X:522.11, Y:8.40, Z:4.82 [[ 9.96083336e-01 -8.58601565e-02 -2.11192179e-02 5.22108486e+02] [ 8.58665075e-02 9.96306466e-01 -6.07591566e-04 8.40086288e+00] [ 2.10933812e-02 -1.20822165e-03 9.99776780e-01 4.82240101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.569254154 meters Centerline goodness [0,1] 0.99870811801967 Centerline is valid? [True, True] Translation: X:522.14, Y:8.40, Z:4.82 [[ 9.95939803e-01 -8.77827667e-02 -1.99523271e-02 5.22139410e+02] [ 8.77888599e-02 9.96138941e-01 -5.71982026e-04 8.39537875e+00] [ 1.99255001e-02 -1.18193238e-03 9.99800769e-01 4.82325654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5992541539999 meters Centerline goodness [0,1] 0.998582151793161 Centerline is valid? [True, True] Translation: X:522.17, Y:8.39, Z:4.82 [[ 9.95861998e-01 -8.86207728e-02 -2.01305608e-02 5.22170124e+02] [ 8.86271978e-02 9.96064702e-01 -5.74515135e-04 8.39324952e+00] [ 2.01022550e-02 -1.21197741e-03 9.99797195e-01 4.82324211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6292541539999 meters Centerline goodness [0,1] 0.9986013986013986 Centerline is valid? [True, True] Translation: X:522.20, Y:8.40, Z:4.82 [[ 9.95781657e-01 -8.95252070e-02 -2.01029471e-02 5.22202335e+02] [ 8.95318375e-02 9.95983797e-01 -5.71757192e-04 8.39745278e+00] [ 2.00733963e-02 -1.23050847e-03 9.99797752e-01 4.82425719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6592541539999 meters Centerline goodness [0,1] 0.998604195745922 Centerline is valid? [True, True] Translation: X:522.23, Y:8.39, Z:4.82 [[ 9.95599530e-01 -9.13713670e-02 -2.08050143e-02 5.22232801e+02] [ 9.13788898e-02 9.95816022e-01 -5.90794573e-04 8.39071321e+00] [ 2.07719483e-02 -1.31294431e-03 9.99783378e-01 4.82302827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.689254154 meters Centerline goodness [0,1] 0.9985614210657994 Centerline is valid? [True, True] Translation: X:522.27, Y:8.39, Z:4.82 [[ 9.95486908e-01 -9.24305429e-02 -2.15037493e-02 5.22265123e+02] [ 9.24388485e-02 9.95718177e-01 -6.09577817e-04 8.39349986e+00] [ 2.14680177e-02 -1.38095509e-03 9.99768582e-01 4.82368931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7192541539999 meters Centerline goodness [0,1] 0.998540724217724 Centerline is valid? [True, True] Translation: X:522.30, Y:8.39, Z:4.82 [[ 9.95402210e-01 -9.33015676e-02 -2.16623624e-02 5.22296562e+02] [ 9.33102308e-02 9.95636894e-01 -6.12724224e-04 8.38847306e+00] [ 2.16250154e-02 -1.41141299e-03 9.99765156e-01 4.82268124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7492541539999 meters Centerline goodness [0,1] 0.9986223882777766 Centerline is valid? [True, True] Translation: X:522.33, Y:8.39, Z:4.82 [[ 9.95300115e-01 -9.41744680e-02 -2.25577188e-02 5.22328116e+02] [ 9.41841137e-02 9.95554593e-01 -6.36809161e-04 8.39246416e+00] [ 2.25174117e-02 -1.49076252e-03 9.99745339e-01 4.82336884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7792541539999 meters Centerline goodness [0,1] 0.9983547836228082 Centerline is valid? [True, True] Translation: X:522.36, Y:8.39, Z:4.82 [[ 9.95118126e-01 -9.56185387e-02 -2.44338116e-02 5.22358435e+02] [ 9.56303225e-02 9.95416680e-01 -6.88437582e-04 8.39089872e+00] [ 2.43876510e-02 -1.65153656e-03 9.99701213e-01 4.82219162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.809254154 meters Centerline goodness [0,1] 0.9983740176356549 Centerline is valid? [True, True] Translation: X:522.39, Y:8.39, Z:4.82 [[ 9.95070441e-01 -9.59606215e-02 -2.50274985e-02 5.22390878e+02] [ 9.59731334e-02 9.95383676e-01 -7.03543709e-04 8.39216731e+00] [ 2.49794760e-02 -1.70189191e-03 9.99686516e-01 4.82228808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.839254154 meters Centerline goodness [0,1] 0.9983329513013399 Centerline is valid? [True, True] Translation: X:522.42, Y:8.39, Z:4.82 [[ 9.95041373e-01 -9.61501273e-02 -2.54522997e-02 5.22421614e+02] [ 9.61631976e-02 9.95365326e-01 -7.12806967e-04 8.39130585e+00] [ 2.54028731e-02 -1.73830211e-03 9.99675784e-01 4.82200002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8692541539999 meters Centerline goodness [0,1] 0.9984974017572051 Centerline is valid? [True, True] Translation: X:522.45, Y:8.39, Z:4.82 [[ 9.95040401e-01 -9.61333036e-02 -2.55536284e-02 5.22453797e+02] [ 9.61465319e-02 9.95366935e-01 -7.13326949e-04 8.39404557e+00] [ 2.55038113e-02 -1.74710361e-03 9.99673198e-01 4.82264130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8992541539999 meters Centerline goodness [0,1] 0.9984555662228158 Centerline is valid? [True, True] Translation: X:522.48, Y:8.40, Z:4.82 [[ 9.95150844e-01 -9.50257876e-02 -2.53948315e-02 5.22484779e+02] [ 9.50385313e-02 9.95473343e-01 -7.07383580e-04 8.39537937e+00] [ 2.53470975e-02 -1.70953412e-03 9.99677249e-01 4.82318128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.929254154 meters Centerline goodness [0,1] 0.9986211795182485 Centerline is valid? [True, True] Translation: X:522.52, Y:8.40, Z:4.82 [[ 9.95258089e-01 -9.40434119e-02 -2.48429696e-02 5.22517208e+02] [ 9.40553494e-02 9.95566731e-01 -6.90124960e-04 8.40214119e+00] [ 2.47977357e-02 -1.64976173e-03 9.99691128e-01 4.82475319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.959254154 meters Centerline goodness [0,1] 0.9984576907044602 Centerline is valid? [True, True] Translation: X:522.55, Y:8.41, Z:4.83 [[ 9.95552096e-01 -9.11535089e-02 -2.38130430e-02 5.22548091e+02] [ 9.11636789e-02 9.95835703e-01 -6.60436552e-04 8.40902028e+00] [ 2.37740796e-02 -1.51338562e-03 9.99716211e-01 4.82699413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9892541539999 meters Centerline goodness [0,1] 0.998496177785204 Centerline is valid? [True, True] Translation: X:522.58, Y:8.41, Z:4.83 [[ 9.95714744e-01 -8.95511586e-02 -2.30811383e-02 5.22579599e+02] [ 8.95602994e-02 9.95981197e-01 -6.39463669e-04 8.41207673e+00] [ 2.30456445e-02 -1.43043026e-03 9.99733391e-01 4.82812306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0192541539999 meters Centerline goodness [0,1] 0.9983895256420983 Centerline is valid? [True, True] Translation: X:522.61, Y:8.42, Z:4.83 [[ 9.95893572e-01 -8.77474240e-02 -2.22796456e-02 5.22610496e+02] [ 8.77555092e-02 9.96141853e-01 -6.16436940e-04 8.41747321e+00] [ 2.22477782e-02 -1.34125606e-03 9.99751588e-01 4.82960884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.049254154 meters Centerline goodness [0,1] 0.9984532095901005 Centerline is valid? [True, True] Translation: X:522.64, Y:8.41, Z:4.83 [[ 9.96043015e-01 -8.62431401e-02 -2.14576994e-02 5.22641422e+02] [ 8.62503085e-02 9.96273322e-01 -5.92904642e-04 8.41446673e+00] [ 2.14288674e-02 -1.26017467e-03 9.99769581e-01 4.82933223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.079254154 meters Centerline goodness [0,1] 0.9986818153286046 Centerline is valid? [True, True] Translation: X:522.67, Y:8.42, Z:4.83 [[ 9.96171328e-01 -8.49932409e-02 -2.04654471e-02 5.22673493e+02] [ 8.49995220e-02 9.96380832e-01 -5.64335340e-04 8.42116148e+00] [ 2.04393439e-02 -1.17737853e-03 9.99790402e-01 4.83083609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1092541539999 meters Centerline goodness [0,1] 0.9984939444014475 Centerline is valid? [True, True] Translation: X:522.70, Y:8.42, Z:4.83 [[ 9.96345716e-01 -8.30173015e-02 -2.00833890e-02 5.22703985e+02] [ 8.30229676e-02 9.96547481e-01 -5.52923950e-04 8.42402600e+00] [ 2.00599529e-02 -1.11647914e-03 9.99798156e-01 4.83090998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1392541539999 meters Centerline goodness [0,1] 0.9985372785021732 Centerline is valid? [True, True] Translation: X:522.74, Y:8.43, Z:4.83 [[ 9.96411921e-01 -8.20709796e-02 -2.06793951e-02 5.22736584e+02] [ 8.20768091e-02 9.96625845e-01 -5.68118045e-04 8.42696645e+00] [ 2.06562457e-02 -1.13121917e-03 9.99785997e-01 4.83144864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.169254154 meters Centerline goodness [0,1] 0.9988068324541572 Centerline is valid? [True, True] Translation: X:522.77, Y:8.43, Z:4.83 [[ 9.96454519e-01 -8.13944234e-02 -2.12917917e-02 5.22768733e+02] [ 8.14004869e-02 9.96681303e-01 -5.83188324e-04 8.42885740e+00] [ 2.12685990e-02 -1.15204157e-03 9.99773134e-01 4.83122376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.199254154 meters Centerline goodness [0,1] 0.9985755284161133 Centerline is valid? [True, True] Translation: X:522.80, Y:8.43, Z:4.83 [[ 9.96471286e-01 -8.09447871e-02 -2.22017443e-02 5.22800501e+02] [ 8.09513053e-02 9.96717873e-01 -6.06471653e-04 8.42712223e+00] [ 2.21779660e-02 -1.19292859e-03 9.99753327e-01 4.83000735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2292541539999 meters Centerline goodness [0,1] 0.9985755284161133 Centerline is valid? [True, True] Translation: X:522.83, Y:8.43, Z:4.83 [[ 9.96476943e-01 -8.08751087e-02 -2.22017872e-02 5.22832226e+02] [ 8.08816446e-02 9.96723529e-01 -6.04897915e-04 8.42792223e+00] [ 2.21779648e-02 -1.19295023e-03 9.99753327e-01 4.83030447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2592541539999 meters Centerline goodness [0,1] 0.998803877953582 Centerline is valid? [True, True] Translation: X:522.86, Y:8.43, Z:4.83 [[ 9.96606398e-01 -7.89408133e-02 -2.33245490e-02 5.22863608e+02] [ 7.89475265e-02 9.96878571e-01 -6.34312333e-04 8.43137892e+00] [ 2.33018162e-02 -1.20925572e-03 9.99727744e-01 4.83007722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2892541539999 meters Centerline goodness [0,1] 0.9989308176100629 Centerline is valid? [True, True] Translation: X:522.90, Y:8.44, Z:4.83 [[ 9.96730861e-01 -7.74107683e-02 -2.31335867e-02 5.22895679e+02] [ 7.74169921e-02 9.96998603e-01 -6.27771632e-04 8.44023418e+00] [ 2.31127499e-02 -1.16521334e-03 9.99732186e-01 4.83221175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.319254154 meters Centerline goodness [0,1] 0.9988055072403026 Centerline is valid? [True, True] Translation: X:522.93, Y:8.44, Z:4.83 [[ 9.97079280e-01 -7.27129841e-02 -2.33608911e-02 5.22925668e+02] [ 7.27180607e-02 9.97352336e-01 -6.33237417e-04 8.44470277e+00] [ 2.33450839e-02 -1.06737079e-03 9.99726897e-01 4.83266012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3492541539999 meters Centerline goodness [0,1] 0.9985100623255618 Centerline is valid? [True, True] Translation: X:522.96, Y:8.45, Z:4.83 [[ 9.97301982e-01 -6.96327571e-02 -2.32386578e-02 5.22955779e+02] [ 6.96369519e-02 9.97572202e-01 -6.29668904e-04 8.44734666e+00] [ 2.32260847e-02 -9.90299251e-04 9.99729748e-01 4.83294100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3792541539999 meters Centerline goodness [0,1] 0.9988237518116323 Centerline is valid? [True, True] Translation: X:522.99, Y:8.45, Z:4.83 [[ 9.97567855e-01 -6.56506549e-02 -2.34172257e-02 5.22987401e+02] [ 6.56538410e-02 9.97842258e-01 -6.33568242e-04 8.45223824e+00] [ 2.34082915e-02 -9.05403501e-04 9.99725578e-01 4.83432342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4092541539999 meters Centerline goodness [0,1] 0.9988863206555999 Centerline is valid? [True, True] Translation: X:523.02, Y:8.45, Z:4.83 [[ 9.97842770e-01 -6.14198292e-02 -2.31821309e-02 5.23018373e+02] [ 6.14218345e-02 9.98111700e-01 -6.26203444e-04 8.45446741e+00] [ 2.31768174e-02 -7.99036427e-04 9.99731062e-01 4.83402739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.439254154 meters Centerline goodness [0,1] 0.9988440035310437 Centerline is valid? [True, True] Translation: X:523.05, Y:8.46, Z:4.84 [[ 9.98327056e-01 -5.30116809e-02 -2.30835664e-02 5.23048534e+02] [ 5.30114326e-02 9.98593711e-01 -6.23113706e-04 8.46345352e+00] [ 2.30841365e-02 -6.01621654e-04 9.99733345e-01 4.83543614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4692541539999 meters Centerline goodness [0,1] 0.998907356432939 Centerline is valid? [True, True] Translation: X:523.08, Y:8.47, Z:4.84 [[ 9.98544026e-01 -4.88747281e-02 -2.28273849e-02 5.23080293e+02] [ 4.88734225e-02 9.98804791e-01 -6.15423091e-04 8.46711630e+00] [ 2.28301801e-02 -5.01125378e-04 9.99739232e-01 4.83590565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4992541539999 meters Centerline goodness [0,1] 0.9989304812834224 Centerline is valid? [True, True] Translation: X:523.11, Y:8.47, Z:4.84 [[ 9.98720549e-01 -4.52081170e-02 -2.26603225e-02 5.23110633e+02] [ 4.52059034e-02 9.98977504e-01 -6.10193565e-04 8.46989590e+00] [ 2.26647381e-02 -4.14967498e-04 9.99743036e-01 4.83594270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5292541539999 meters Centerline goodness [0,1] 0.9993493955674949 Centerline is valid? [True, True] Translation: X:523.14, Y:8.47, Z:4.84 [[ 9.98860829e-01 -4.19074047e-02 -2.28213411e-02 5.23141540e+02] [ 4.19043127e-02 9.99121440e-01 -6.13897997e-04 8.47247286e+00] [ 2.28270180e-02 -3.43113950e-04 9.99739371e-01 4.83653945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.559254154 meters Centerline goodness [0,1] 0.9990318642926296 Centerline is valid? [True, True] Translation: X:523.17, Y:8.48, Z:4.84 [[ 9.99046351e-01 -3.74032291e-02 -2.25252517e-02 5.23171558e+02] [ 3.73990794e-02 9.99300226e-01 -6.05612736e-04 8.47576967e+00] [ 2.25321410e-02 -2.37388484e-04 9.99746091e-01 4.83769524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.589254154 meters Centerline goodness [0,1] 0.9989924221751086 Centerline is valid? [True, True] Translation: X:523.20, Y:8.48, Z:4.84 [[ 9.99078163e-01 -3.63041431e-02 -2.29092465e-02 5.23201712e+02] [ 3.62995617e-02 9.99340764e-01 -6.15936799e-04 8.47627092e+00] [ 2.29165050e-02 -2.16226602e-04 9.99737359e-01 4.83783821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6192541539999 meters Centerline goodness [0,1] 0.9992860592570817 Centerline is valid? [True, True] Translation: X:523.23, Y:8.48, Z:4.84 [[ 9.99114424e-01 -3.52631837e-02 -2.29537578e-02 5.23231037e+02] [ 3.52582986e-02 9.99378042e-01 -6.17621156e-04 8.47622575e+00] [ 2.29612608e-02 -1.92236243e-04 9.99736337e-01 4.83729809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6492541539999 meters Centerline goodness [0,1] 0.9990757079237039 Centerline is valid? [True, True] Translation: X:523.26, Y:8.48, Z:4.84 [[ 9.99159020e-01 -3.43152177e-02 -2.24436919e-02 5.23260978e+02] [ 3.43102899e-02 9.99411046e-01 -6.04711433e-04 8.47524564e+00] [ 2.24512244e-02 -1.65846694e-04 9.99747926e-01 4.83879882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.679254154 meters Centerline goodness [0,1] 0.9992454886508918 Centerline is valid? [True, True] Translation: X:523.29, Y:8.47, Z:4.84 [[ 9.99170525e-01 -3.40428144e-02 -2.23461249e-02 5.23289307e+02] [ 3.40378375e-02 9.99420363e-01 -6.03146649e-04 8.47439325e+00] [ 2.23537050e-02 -1.57967413e-04 9.99750112e-01 4.83877932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.709254154 meters Centerline goodness [0,1] 0.9990353967455124 Centerline is valid? [True, True] Translation: X:523.32, Y:8.47, Z:4.84 [[ 9.99175680e-01 -3.40522503e-02 -2.20998889e-02 5.23318548e+02] [ 3.40473631e-02 9.99420042e-01 -5.97479491e-04 8.47347274e+00] [ 2.21074174e-02 -1.55455967e-04 9.99755589e-01 4.83909374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7392541539999 meters Centerline goodness [0,1] 0.9992461048751885 Centerline is valid? [True, True] Translation: X:523.35, Y:8.47, Z:4.84 [[ 9.99201590e-01 -3.38686883e-02 -2.11918462e-02 5.23348329e+02] [ 3.38641370e-02 9.99426281e-01 -5.73691323e-04 8.47221116e+00] [ 2.11991182e-02 -1.44410302e-04 9.99775263e-01 4.83945288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7692541539999 meters Centerline goodness [0,1] 0.9990791896869244 Centerline is valid? [True, True] Translation: X:523.38, Y:8.47, Z:4.84 [[ 9.99221578e-01 -3.36898135e-02 -2.05239960e-02 5.23378551e+02] [ 3.36854958e-02 9.99432328e-01 -5.56149130e-04 8.46973640e+00] [ 2.05310817e-02 -1.35644771e-04 9.99789206e-01 4.84097162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.799254154 meters Centerline goodness [0,1] 0.9989358594499854 Centerline is valid? [True, True] Translation: X:523.41, Y:8.47, Z:4.84 [[ 9.99242151e-01 -3.34404335e-02 -1.99213810e-02 5.23408499e+02] [ 3.34363089e-02 9.99440704e-01 -5.40181794e-04 8.46886935e+00] [ 1.99283029e-02 -1.26325030e-04 9.99801404e-01 4.84115221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.829254154 meters Centerline goodness [0,1] 0.9987444809474983 Centerline is valid? [True, True] Translation: X:523.44, Y:8.47, Z:4.84 [[ 9.99254052e-01 -3.31313565e-02 -1.98406772e-02 5.23439407e+02] [ 3.31272010e-02 9.99450999e-01 -5.38164763e-04 8.46830076e+00] [ 1.98476147e-02 -1.19502780e-04 9.99803010e-01 4.84200216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8592541539999 meters Centerline goodness [0,1] 0.9992254066615027 Centerline is valid? [True, True] Translation: X:523.47, Y:8.47, Z:4.84 [[ 9.99262438e-01 -3.29035457e-02 -1.97974031e-02 5.23468677e+02] [ 3.28993560e-02 9.99458525e-01 -5.37372346e-04 8.46729960e+00] [ 1.98043648e-02 -1.14345813e-04 9.99803868e-01 4.84302257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8892541539999 meters Centerline goodness [0,1] 0.9990380593893768 Centerline is valid? [True, True] Translation: X:523.50, Y:8.46, Z:4.84 [[ 9.99291518e-01 -3.23946618e-02 -1.91585123e-02 5.23498443e+02] [ 3.23906349e-02 9.99475150e-01 -5.20539296e-04 8.46394445e+00] [ 1.91653197e-02 -1.00385875e-04 9.99816323e-01 4.84326729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.919254154 meters Centerline goodness [0,1] 0.9988725572072824 Centerline is valid? [True, True] Translation: X:523.53, Y:8.46, Z:4.84 [[ 9.99304312e-01 -3.19874526e-02 -1.91753864e-02 5.23528304e+02] [ 3.19833336e-02 9.99488266e-01 -5.21522640e-04 8.46276209e+00] [ 1.91822559e-02 -9.21329582e-05 9.99815999e-01 4.84368239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.949254154 meters Centerline goodness [0,1] 0.999456771551544 Centerline is valid? [True, True] Translation: X:523.56, Y:8.46, Z:4.84 [[ 9.99344421e-01 -3.06914927e-02 -1.92031245e-02 5.23557434e+02] [ 3.06871126e-02 9.99528903e-01 -5.22792716e-04 8.45905434e+00] [ 1.92101232e-02 -6.68384581e-05 9.99815466e-01 4.84364633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9792541539999 meters Centerline goodness [0,1] 0.9992676598593907 Centerline is valid? [True, True] Translation: X:523.59, Y:8.46, Z:4.84 [[ 9.99350534e-01 -3.01989521e-02 -1.96604394e-02 5.23587496e+02] [ 3.01942551e-02 9.99543906e-01 -5.35775285e-04 8.45794227e+00] [ 1.96676523e-02 -5.82050041e-05 9.99806571e-01 4.84353718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0092541539999 meters Centerline goodness [0,1] 0.9989758167339005 Centerline is valid? [True, True] Translation: X:523.62, Y:8.46, Z:4.84 [[ 9.99364238e-01 -2.97937726e-02 -1.95819021e-02 5.23616061e+02] [ 2.97890153e-02 9.99556066e-01 -5.34654960e-04 8.45672551e+00] [ 1.95891384e-02 -4.90105345e-05 9.99808113e-01 4.84330832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0392541539999 meters Centerline goodness [0,1] 0.9993723980669861 Centerline is valid? [True, True] Translation: X:523.64, Y:8.46, Z:4.84 [[ 9.99358564e-01 -2.92508445e-02 -2.06603256e-02 5.23644939e+02] [ 2.92453623e-02 9.99572102e-01 -5.67504902e-04 8.45571808e+00] [ 2.06680851e-02 -3.70778232e-05 9.99786392e-01 4.84277252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.069254154 meters Centerline goodness [0,1] 0.9991832973844575 Centerline is valid? [True, True] Translation: X:523.67, Y:8.45, Z:4.84 [[ 9.99384263e-01 -2.82374043e-02 -2.08264966e-02 5.23672845e+02] [ 2.82314958e-02 9.99601245e-01 -5.77721787e-04 8.45264195e+00] [ 2.08345053e-02 -1.05970870e-05 9.99782938e-01 4.84440454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0992541539999 meters Centerline goodness [0,1] 0.9993103448275862 Centerline is valid? [True, True] Translation: X:523.70, Y:8.45, Z:4.84 [[ 9.99393333e-01 -2.76873539e-02 -2.11276044e-02 5.23701147e+02] [ 2.76810687e-02 9.99616632e-01 -5.89933977e-04 8.45152096e+00] [ 2.11358385e-02 4.74141347e-06 9.99776613e-01 4.84441243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1292541539999 meters Centerline goodness [0,1] 0.9991009262550442 Centerline is valid? [True, True] Translation: X:523.73, Y:8.45, Z:4.84 [[ 9.99384255e-01 -2.76320750e-02 -2.16235957e-02 5.23728630e+02] [ 2.76254357e-02 9.99618161e-01 -6.05751268e-04 8.45052198e+00] [ 2.16320771e-02 8.01702765e-06 9.99765999e-01 4.84404039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1592541539999 meters Centerline goodness [0,1] 0.9990789005421926 Centerline is valid? [True, True] Translation: X:523.76, Y:8.45, Z:4.85 [[ 9.99381716e-01 -2.77701059e-02 -2.15640220e-02 5.23756503e+02] [ 2.77634403e-02 9.99614336e-01 -6.08487136e-04 8.44925360e+00] [ 2.15726033e-02 9.41948188e-06 9.99767284e-01 4.84546228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.189254154 meters Centerline goodness [0,1] 0.9993726474278545 Centerline is valid? [True, True] Translation: X:523.78, Y:8.45, Z:4.85 [[ 9.99364333e-01 -2.76515504e-02 -2.25016096e-02 5.23784513e+02] [ 2.76441713e-02 9.99617623e-01 -6.38990533e-04 8.44633525e+00] [ 2.25106746e-02 1.65459978e-05 9.99746603e-01 4.84599745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2192541539999 meters Centerline goodness [0,1] 0.9995611010094677 Centerline is valid? [True, True] Translation: X:523.81, Y:8.45, Z:4.85 [[ 9.99359966e-01 -2.80024794e-02 -2.22602516e-02 5.23812659e+02] [ 2.79952430e-02 9.99607854e-01 -6.36702657e-04 8.44505842e+00] [ 2.22693516e-02 1.31139918e-05 9.99752007e-01 4.84655225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2492541539999 meters Centerline goodness [0,1] 0.9996029672970431 Centerline is valid? [True, True] Translation: X:523.84, Y:8.44, Z:4.85 [[ 9.99340143e-01 -2.84227894e-02 -2.26146642e-02 5.23840789e+02] [ 2.84152771e-02 9.99595991e-01 -6.53523086e-04 8.44385090e+00] [ 2.26241026e-02 1.04899046e-05 9.99744042e-01 4.84787021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2792541539999 meters Centerline goodness [0,1] 0.9994146300671085 Centerline is valid? [True, True] Translation: X:523.87, Y:8.44, Z:4.85 [[ 9.99326358e-01 -2.87436750e-02 -2.28173366e-02 5.23867567e+02] [ 2.87360076e-02 9.99586815e-01 -6.63913066e-04 8.44061050e+00] [ 2.28269921e-02 7.78666662e-06 9.99739430e-01 4.84771027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.309254154 meters Centerline goodness [0,1] 0.9994986002590566 Centerline is valid? [True, True] Translation: X:523.90, Y:8.44, Z:4.85 [[ 9.99317802e-01 -2.88709613e-02 -2.30303840e-02 5.23895561e+02] [ 2.88630644e-02 9.99583147e-01 -6.75294807e-04 8.43942998e+00] [ 2.30402802e-02 1.01066643e-05 9.99734537e-01 4.84921691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.339254154 meters Centerline goodness [0,1] 0.9994561124592084 Centerline is valid? [True, True] Translation: X:523.92, Y:8.44, Z:4.85 [[ 9.99306323e-01 -2.89702542e-02 -2.34008044e-02 5.23922554e+02] [ 2.89619981e-02 9.99580274e-01 -6.91720274e-04 8.43859328e+00] [ 2.34110218e-02 1.35063908e-05 9.99725924e-01 4.84906282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3692541539999 meters Centerline goodness [0,1] 0.9990623241857849 Centerline is valid? [True, True] Translation: X:523.95, Y:8.44, Z:4.85 [[ 9.99292491e-01 -2.89505484e-02 -2.40079749e-02 5.23951367e+02] [ 2.89417210e-02 9.99580845e-01 -7.15143737e-04 8.43799005e+00] [ 2.40186156e-02 1.98056557e-05 9.99711511e-01 4.84948902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3992541539999 meters Centerline goodness [0,1] 0.999582158153139 Centerline is valid? [True, True] Translation: X:523.98, Y:8.43, Z:4.85 [[ 9.99297834e-01 -2.87378434e-02 -2.40410997e-02 5.23978159e+02] [ 2.87288076e-02 9.99586982e-01 -7.21217982e-04 8.43486800e+00] [ 2.40518966e-02 3.00394387e-05 9.99710711e-01 4.85049915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.429254154 meters Centerline goodness [0,1] 0.9994989143143478 Centerline is valid? [True, True] Translation: X:524.01, Y:8.43, Z:4.85 [[ 9.99292980e-01 -2.86635800e-02 -2.43298007e-02 5.24006432e+02] [ 2.86541521e-02 9.99589114e-01 -7.36111808e-04 8.43344146e+00] [ 2.43409035e-02 3.84415525e-05 9.99703716e-01 4.85334402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.459254154 meters Centerline goodness [0,1] 0.999623848034606 Centerline is valid? [True, True] Translation: X:524.03, Y:8.43, Z:4.85 [[ 9.99294362e-01 -2.84803752e-02 -2.44876842e-02 5.24033070e+02] [ 2.84706540e-02 9.99594351e-01 -7.45604777e-04 8.43231670e+00] [ 2.44989859e-02 4.78982636e-05 9.99699854e-01 4.85194117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4892541539999 meters Centerline goodness [0,1] 0.9994362786036413 Centerline is valid? [True, True] Translation: X:524.06, Y:8.43, Z:4.85 [[ 9.99307828e-01 -2.84660346e-02 -2.39489172e-02 5.24061073e+02] [ 2.84566103e-02 9.99594759e-01 -7.34297465e-04 8.43098279e+00] [ 2.39601147e-02 5.22842004e-05 9.99712914e-01 4.85254080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5192541539999 meters Centerline goodness [0,1] 0.9996657614372259 Centerline is valid? [True, True] Translation: X:524.09, Y:8.43, Z:4.86 [[ 9.99331149e-01 -2.79744942e-02 -2.35516962e-02 5.24089547e+02] [ 2.79650869e-02 9.99608635e-01 -7.28758355e-04 8.42680696e+00] [ 2.35628655e-02 6.96456932e-05 9.99722355e-01 4.85590193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.549254154 meters Centerline goodness [0,1] 0.9995607889067827 Centerline is valid? [True, True] Translation: X:524.12, Y:8.43, Z:4.86 [[ 9.99310264e-01 -2.80871866e-02 -2.42920882e-02 5.24118168e+02] [ 2.80770500e-02 9.99605474e-01 -7.58321640e-04 8.42567695e+00] [ 2.43038035e-02 7.57484217e-05 9.99704616e-01 4.85656355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.579254154 meters Centerline goodness [0,1] 0.9997279879477737 Centerline is valid? [True, True] Translation: X:524.15, Y:8.42, Z:4.86 [[ 9.99303068e-01 -2.85196791e-02 -2.40833290e-02 5.24145849e+02] [ 2.85096814e-02 9.99593229e-01 -7.58451980e-04 8.42397289e+00] [ 2.40951634e-02 7.13153546e-05 9.99709667e-01 4.85671235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6092541539999 meters Centerline goodness [0,1] 0.9997916623262985 Centerline is valid? [True, True] Translation: X:524.17, Y:8.42, Z:4.86 [[ 9.99237907e-01 -3.01822392e-02 -2.47515195e-02 5.24174400e+02] [ 3.01720092e-02 9.99544412e-01 -7.86746539e-04 8.41958382e+00] [ 2.47639888e-02 3.93438888e-05 9.99693325e-01 4.85732945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6392541539999 meters Centerline goodness [0,1] 0.9997274918771617 Centerline is valid? [True, True] Translation: X:524.20, Y:8.42, Z:4.86 [[ 9.99162230e-01 -3.23924943e-02 -2.50112962e-02 5.24202288e+02] [ 3.23825574e-02 9.99475225e-01 -8.02327660e-04 8.41730715e+00] [ 2.50241603e-02 -8.27424291e-06 9.99686847e-01 4.85803506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.669254154 meters Centerline goodness [0,1] 0.9997492896540198 Centerline is valid? [True, True] Translation: X:524.23, Y:8.41, Z:4.86 [[ 9.99102470e-01 -3.43830063e-02 -2.47399308e-02 5.24229539e+02] [ 3.43737786e-02 9.99408728e-01 -7.98285290e-04 8.41455714e+00] [ 2.47527502e-02 -5.28360971e-05 9.99693602e-01 4.85794604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.699254154 meters Centerline goodness [0,1] 0.99951897939977 Centerline is valid? [True, True] Translation: X:524.26, Y:8.41, Z:4.86 [[ 9.98884847e-01 -4.03037565e-02 -2.45900436e-02 5.24257961e+02] [ 4.02963541e-02 9.99187454e-01 -7.96679218e-04 8.40729361e+00] [ 2.46021722e-02 -1.95098304e-04 9.99697302e-01 4.85859039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7292541539999 meters Centerline goodness [0,1] 0.9996868868200225 Centerline is valid? [True, True] Translation: X:524.29, Y:8.40, Z:4.86 [[ 9.98743219e-01 -4.39469944e-02 -2.40965641e-02 5.24286731e+02] [ 4.39408283e-02 9.99033827e-01 -7.85574661e-04 8.40384709e+00] [ 2.41078063e-02 -2.74235620e-04 9.99709327e-01 4.85910777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7592541539999 meters Centerline goodness [0,1] 0.9995608531994982 Centerline is valid? [True, True] Translation: X:524.31, Y:8.40, Z:4.86 [[ 9.98566225e-01 -4.78099442e-02 -2.40770538e-02 5.24314888e+02] [ 4.78048073e-02 9.98856385e-01 -7.89221060e-04 8.40003912e+00] [ 2.40872515e-02 -3.62909422e-04 9.99709794e-01 4.85894254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7892541539999 meters Centerline goodness [0,1] 0.9995611193546364 Centerline is valid? [True, True] Translation: X:524.34, Y:8.40, Z:4.86 [[ 9.98380309e-01 -5.13350307e-02 -2.45249567e-02 5.24343922e+02] [ 5.13306416e-02 9.98681386e-01 -8.08880974e-04 8.39655984e+00] [ 2.45341417e-02 -4.51310927e-04 9.99698891e-01 4.85896599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.819254154 meters Centerline goodness [0,1] 0.9997706422018349 Centerline is valid? [True, True] Translation: X:524.37, Y:8.39, Z:4.86 [[ 9.98014094e-01 -5.76841511e-02 -2.53062751e-02 5.24373361e+02] [ 5.76814364e-02 9.98334688e-01 -8.37839027e-04 8.38909459e+00] [ 2.53124623e-02 -6.23527140e-04 9.99679394e-01 4.85840186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8492541539999 meters Centerline goodness [0,1] 0.999604141925537 Centerline is valid? [True, True] Translation: X:524.40, Y:8.39, Z:4.86 [[ 9.97833091e-01 -6.08029349e-02 -2.51421009e-02 5.24402507e+02] [ 6.08011305e-02 9.98149549e-01 -8.36925721e-04 8.38867800e+00] [ 2.51464642e-02 -6.93555981e-04 9.99683537e-01 4.85995104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8792541539999 meters Centerline goodness [0,1] 0.9996033071655253 Centerline is valid? [True, True] Translation: X:524.43, Y:8.38, Z:4.86 [[ 9.97698015e-01 -6.29699263e-02 -2.51686289e-02 5.24430879e+02] [ 6.29687103e-02 9.98015147e-01 -8.41639369e-04 8.38307142e+00] [ 2.51716709e-02 -7.45134178e-04 9.99682866e-01 4.85801762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9092541539999 meters Centerline goodness [0,1] 0.9996447527897354 Centerline is valid? [True, True] Translation: X:524.46, Y:8.39, Z:4.86 [[ 9.97564966e-01 -6.51122912e-02 -2.49905664e-02 5.24459639e+02] [ 6.51116424e-02 9.97877632e-01 -8.40542979e-04 8.38515667e+00] [ 2.49922568e-02 -7.88680591e-04 9.99687334e-01 4.86024538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.939254154 meters Centerline goodness [0,1] 0.9998330864403597 Centerline is valid? [True, True] Translation: X:524.49, Y:8.38, Z:4.86 [[ 9.97361108e-01 -6.83286634e-02 -2.45359769e-02 5.24488753e+02] [ 6.83289309e-02 9.97662503e-01 -8.28460769e-04 8.38242401e+00] [ 2.45352318e-02 -8.50242520e-04 9.99698604e-01 4.86168380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9692541539999 meters Centerline goodness [0,1] 0.999770699574752 Centerline is valid? [True, True] Translation: X:524.52, Y:8.38, Z:4.86 [[ 9.97264717e-01 -6.99333854e-02 -2.39249885e-02 5.24517080e+02] [ 6.99340561e-02 9.97551288e-01 -8.09695006e-04 8.38176290e+00] [ 2.39230278e-02 -8.65691228e-04 9.99713429e-01 4.86249752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9992541539999 meters Centerline goodness [0,1] 0.9995835242180667 Centerline is valid? [True, True] Translation: X:524.55, Y:8.38, Z:4.86 [[ 9.97154292e-01 -7.15467127e-02 -2.37568191e-02 5.24546204e+02] [ 7.15477212e-02 9.97436850e-01 -8.08628975e-04 8.38125506e+00] [ 2.37537816e-02 -8.93418418e-04 9.99717440e-01 4.86320316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0292541539999 meters Centerline goodness [0,1] 0.9993753383583892 Centerline is valid? [True, True] Translation: X:524.57, Y:8.38, Z:4.86 [[ 9.97030996e-01 -7.29043399e-02 -2.47820511e-02 5.24574989e+02] [ 7.29057719e-02 9.97338474e-01 -8.46931323e-04 8.37808243e+00] [ 2.47778380e-02 -9.62337784e-04 9.99692519e-01 4.86277928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.059254154 meters Centerline goodness [0,1] 0.9998330481238783 Centerline is valid? [True, True] Translation: X:524.60, Y:8.38, Z:4.86 [[ 9.96997030e-01 -7.38569514e-02 -2.32824490e-02 5.24604097e+02] [ 7.38583795e-02 9.97268419e-01 -7.99750118e-04 8.37811081e+00] [ 2.32779182e-02 -9.22255459e-04 9.99728607e-01 4.86301283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.089254154 meters Centerline goodness [0,1] 0.9994368664747841 Centerline is valid? [True, True] Translation: X:524.63, Y:8.38, Z:4.86 [[ 9.97020400e-01 -7.34538213e-02 -2.35554097e-02 5.24633406e+02] [ 7.34551011e-02 9.97298194e-01 -8.12083814e-04 8.37894897e+00] [ 2.35514182e-02 -9.20600871e-04 9.99722203e-01 4.86299667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1192541539999 meters Centerline goodness [0,1] 0.9992697379402437 Centerline is valid? [True, True] Translation: X:524.66, Y:8.38, Z:4.86 [[ 9.97081182e-01 -7.26527012e-02 -2.34670222e-02 5.24661741e+02] [ 7.26537238e-02 9.97356897e-01 -8.10151036e-04 8.37927609e+00] [ 2.34638561e-02 -8.97180197e-04 9.99724283e-01 4.86265064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1492541539999 meters Centerline goodness [0,1] 0.9992697379402437 Centerline is valid? [True, True] Translation: X:524.69, Y:8.38, Z:4.86 [[ 9.97062620e-01 -7.29070450e-02 -2.34668798e-02 5.24690027e+02] [ 7.29080413e-02 9.97338335e-01 -8.14260051e-04 8.38029946e+00] [ 2.34637841e-02 -8.99055982e-04 9.99724283e-01 4.86291586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.179254154 meters Centerline goodness [0,1] 0.9993523721979652 Centerline is valid? [True, True] Translation: X:524.72, Y:8.38, Z:4.86 [[ 9.97172934e-01 -7.13587341e-02 -2.35386927e-02 5.24718568e+02] [ 7.13591646e-02 9.97450346e-01 -8.22747194e-04 8.38139270e+00] [ 2.35373874e-02 -8.59280213e-04 9.99722588e-01 4.86279577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.209254154 meters Centerline goodness [0,1] 0.9993120270185752 Centerline is valid? [True, True] Translation: X:524.75, Y:8.39, Z:4.86 [[ 9.97503484e-01 -6.62842220e-02 -2.43557451e-02 5.24748609e+02] [ 6.62831055e-02 9.97800491e-01 -8.54035421e-04 8.38529204e+00] [ 2.43587835e-02 -7.62471114e-04 9.99702990e-01 4.86298127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2392541539999 meters Centerline goodness [0,1] 0.9994360784477537 Centerline is valid? [True, True] Translation: X:524.78, Y:8.39, Z:4.86 [[ 9.97669577e-01 -6.43186689e-02 -2.27711288e-02 5.24777912e+02] [ 6.43171058e-02 9.97929189e-01 -8.01776106e-04 8.38700382e+00] [ 2.27755432e-02 -6.64665471e-04 9.99740383e-01 4.86303993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2692541539999 meters Centerline goodness [0,1] 0.9994370191204988 Centerline is valid? [True, True] Translation: X:524.81, Y:8.39, Z:4.86 [[ 9.97891543e-01 -6.05284321e-02 -2.34259991e-02 5.24805381e+02] [ 6.05256518e-02 9.98166298e-01 -8.28348930e-04 8.38947658e+00] [ 2.34331815e-02 -5.91271476e-04 9.99725230e-01 4.86334263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.299254154 meters Centerline goodness [0,1] 0.999603745646416 Centerline is valid? [True, True] Translation: X:524.83, Y:8.39, Z:4.86 [[ 9.98047157e-01 -5.86530020e-02 -2.14871526e-02 5.24833524e+02] [ 5.86501492e-02 9.98278306e-01 -7.63468904e-04 8.39123643e+00] [ 2.14949381e-02 -4.98246739e-04 9.99768833e-01 4.86345819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.329254154 meters Centerline goodness [0,1] 0.999727970871958 Centerline is valid? [True, True] Translation: X:524.86, Y:8.40, Z:4.86 [[ 9.98336409e-01 -5.31248004e-02 -2.24091518e-02 5.24862454e+02] [ 5.31201860e-02 9.98587805e-01 -8.01553556e-04 8.39540676e+00] [ 2.24200881e-02 -3.90158215e-04 9.99748562e-01 4.86391844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3592541539999 meters Centerline goodness [0,1] 0.9997492215418695 Centerline is valid? [True, True] Translation: X:524.89, Y:8.40, Z:4.86 [[ 9.98409423e-01 -5.25105608e-02 -2.05247423e-02 5.24890400e+02] [ 5.25064906e-02 9.98620310e-01 -7.37526590e-04 8.39642798e+00] [ 2.05351524e-02 -3.41328691e-04 9.99789073e-01 4.86408427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3892541539999 meters Centerline goodness [0,1] 0.9998534614498943 Centerline is valid? [True, True] Translation: X:524.92, Y:8.40, Z:4.86 [[ 9.98480262e-01 -5.13472840e-02 -2.00155875e-02 5.24919516e+02] [ 5.13431047e-02 9.98680811e-01 -7.22967961e-04 8.39745527e+00] [ 2.00263056e-02 -3.05793167e-04 9.99799407e-01 4.86454622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.419254154 meters Centerline goodness [0,1] 0.9997908606085957 Centerline is valid? [True, True] Translation: X:524.95, Y:8.40, Z:4.86 [[ 9.98498779e-01 -5.09393260e-02 -2.01338677e-02 5.24948041e+02] [ 5.09349162e-02 9.98701706e-01 -7.32107116e-04 8.39830380e+00] [ 2.01450210e-02 -2.94508800e-04 9.99797025e-01 4.86490244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.449254154 meters Centerline goodness [0,1] 0.9999372503085193 Centerline is valid? [True, True] Translation: X:524.98, Y:8.40, Z:4.87 [[ 9.98460688e-01 -5.19862698e-02 -1.93308696e-02 5.24975764e+02] [ 5.19823337e-02 9.98647755e-01 -7.06379834e-04 8.39712917e+00] [ 1.93414516e-02 -2.99571222e-04 9.99812892e-01 4.86522676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.00, Y:8.40, Z:4.87 [[ 9.98368298e-01 -5.40113080e-02 -1.85342720e-02 5.25004127e+02] [ 5.40079736e-02 9.98540272e-01 -6.80762027e-04 8.39781711e+00] [ 1.85439859e-02 -3.21347249e-04 9.99827994e-01 4.86631554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5092541539999 meters Centerline goodness [0,1] 0.9998534154206977 Centerline is valid? [True, True] Translation: X:525.03, Y:8.40, Z:4.87 [[ 9.98264693e-01 -5.60123380e-02 -1.81719585e-02 5.25033106e+02] [ 5.60094109e-02 9.98430016e-01 -6.70384378e-04 8.39605485e+00] [ 1.81809786e-02 -3.48579632e-04 9.99834652e-01 4.86619279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.06, Y:8.39, Z:4.87 [[ 9.98053598e-01 -5.98582825e-02 -1.74929270e-02 5.25061914e+02] [ 5.98561418e-02 9.98206804e-01 -6.46391218e-04 8.39076679e+00] [ 1.75002506e-02 -4.01926039e-04 9.99846778e-01 4.86543217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.569254154 meters Centerline goodness [0,1] 0.9999582454748533 Centerline is valid? [True, True] Translation: X:525.09, Y:8.39, Z:4.87 [[ 9.97951267e-01 -6.15679457e-02 -1.73970056e-02 5.25091824e+02] [ 6.15660744e-02 9.98102802e-01 -6.43625749e-04 8.39464211e+00] [ 1.74036267e-02 -4.28758208e-04 9.99848453e-01 4.86716734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5992541539999 meters Centerline goodness [0,1] 0.9998744822392368 Centerline is valid? [True, True] Translation: X:525.12, Y:8.39, Z:4.87 [[ 9.97880407e-01 -6.25701747e-02 -1.78792182e-02 5.25121843e+02] [ 6.25683500e-02 9.98040462e-01 -6.61970217e-04 8.39296686e+00] [ 1.78856028e-02 -4.58106074e-04 9.99839935e-01 4.86746223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.15, Y:8.39, Z:4.87 [[ 9.97714546e-01 -6.56817771e-02 -1.58615651e-02 5.25151809e+02] [ 6.56807276e-02 9.97840517e-01 -5.87652774e-04 8.39306049e+00] [ 1.58659103e-02 -4.55489413e-04 9.99874025e-01 4.86823123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6592541539999 meters Centerline goodness [0,1] 0.9998955155263928 Centerline is valid? [True, True] Translation: X:525.18, Y:8.39, Z:4.87 [[ 9.97555530e-01 -6.83804069e-02 -1.43904240e-02 5.25181326e+02] [ 6.83798177e-02 9.97659218e-01 -5.33546455e-04 8.39059483e+00] [ 1.43932233e-02 -4.51772352e-04 9.99896310e-01 4.86882984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.689254154 meters Centerline goodness [0,1] 0.9998120771736407 Centerline is valid? [True, True] Translation: X:525.21, Y:8.39, Z:4.87 [[ 9.97475825e-01 -6.96129286e-02 -1.40006921e-02 5.25212516e+02] [ 6.96124923e-02 9.97573973e-01 -5.19088529e-04 8.39244570e+00] [ 1.40028613e-02 -4.56844814e-04 9.99901851e-01 4.86966578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7192541539999 meters Centerline goodness [0,1] 0.9997909393096815 Centerline is valid? [True, True] Translation: X:525.24, Y:8.39, Z:4.87 [[ 9.97530778e-01 -6.85124083e-02 -1.54401251e-02 5.25244136e+02] [ 6.85117554e-02 9.97650145e-01 -5.71849938e-04 8.39308674e+00] [ 1.54430218e-02 -4.87392158e-04 9.99880631e-01 4.87035625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7492541539999 meters Centerline goodness [0,1] 0.9997488278633624 Centerline is valid? [True, True] Translation: X:525.27, Y:8.39, Z:4.87 [[ 9.97473993e-01 -6.95773194e-02 -1.43048679e-02 5.25274429e+02] [ 6.95768729e-02 9.97576452e-01 -5.29482579e-04 8.39305105e+00] [ 1.43070393e-02 -4.67142872e-04 9.99897540e-01 4.87037513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7792541539999 meters Centerline goodness [0,1] 0.9997073517423023 Centerline is valid? [True, True] Translation: X:525.30, Y:8.39, Z:4.87 [[ 9.97461870e-01 -6.98038973e-02 -1.40439763e-02 5.25304326e+02] [ 6.98034933e-02 9.97560626e-01 -5.19547298e-04 8.39295803e+00] [ 1.40459842e-02 -4.62089986e-04 9.99901244e-01 4.86933423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.809254154 meters Centerline goodness [0,1] 0.999979079497908 Centerline is valid? [True, True] Translation: X:525.34, Y:8.39, Z:4.87 [[ 9.97445058e-01 -7.02669022e-02 -1.28809132e-02 5.25335430e+02] [ 7.02666091e-02 9.97528134e-01 -4.75882701e-04 8.39395662e+00] [ 1.28825121e-02 -4.30431242e-04 9.99916924e-01 4.86877579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.839254154 meters Centerline goodness [0,1] 0.9999161091420062 Centerline is valid? [True, True] Translation: X:525.37, Y:8.40, Z:4.87 [[ 9.97517021e-01 -6.93122399e-02 -1.24742618e-02 5.25366356e+02] [ 6.93118959e-02 9.97594932e-01 -4.60417525e-04 8.39690785e+00] [ 1.24761729e-02 -4.05340418e-04 9.99922087e-01 4.86891701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.40, Y:8.40, Z:4.87 [[ 9.97762904e-01 -6.55183000e-02 -1.32868556e-02 5.25396946e+02] [ 6.55175804e-02 9.97851295e-01 -4.89900290e-04 8.40010536e+00] [ 1.32904035e-02 -3.81718295e-04 9.99911606e-01 4.86871826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8992541539999 meters Centerline goodness [0,1] 0.9998953821689369 Centerline is valid? [True, True] Translation: X:525.43, Y:8.40, Z:4.87 [[ 9.97991241e-01 -6.19124423e-02 -1.34288170e-02 5.25426412e+02] [ 6.19113869e-02 9.98081527e-01 -4.94692270e-04 8.40251754e+00] [ 1.34336818e-02 -3.37698131e-04 9.99909707e-01 4.86925137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.929254154 meters Centerline goodness [0,1] 0.9999161741900331 Centerline is valid? [True, True] Translation: X:525.46, Y:8.41, Z:4.87 [[ 9.98147318e-01 -5.95268567e-02 -1.25891031e-02 5.25457258e+02] [ 5.95257435e-02 9.98226663e-01 -4.63437117e-04 8.40562884e+00] [ 1.25943653e-02 -2.86797205e-04 9.99920647e-01 4.86965181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.959254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.49, Y:8.41, Z:4.87 [[ 9.98279904e-01 -5.75673458e-02 -1.11011203e-02 5.25488707e+02] [ 5.75663631e-02 9.98341598e-01 -4.08302098e-04 8.40937257e+00] [ 1.11062151e-02 -2.31451344e-04 9.99938297e-01 4.86994547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.52, Y:8.41, Z:4.87 [[ 9.98586204e-01 -5.22960014e-02 -9.52478273e-03 5.25519516e+02] [ 5.22950410e-02 9.98631617e-01 -3.50024377e-04 8.41260194e+00] [ 9.53005405e-03 -1.48569389e-04 9.99954577e-01 4.87072922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0192541539999 meters Centerline goodness [0,1] 0.9999791009216493 Centerline is valid? [True, True] Translation: X:525.55, Y:8.42, Z:4.87 [[ 9.98730152e-01 -4.95405158e-02 -9.15538326e-03 5.25550728e+02] [ 4.95395157e-02 9.98772108e-01 -3.36128281e-04 8.41527892e+00] [ 9.16079341e-03 -1.17851804e-04 9.99958032e-01 4.87096924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.049254154 meters Centerline goodness [0,1] 0.9999163144901461 Centerline is valid? [True, True] Translation: X:525.58, Y:8.42, Z:4.87 [[ 9.98858820e-01 -4.67614083e-02 -9.71738966e-03 5.25580947e+02] [ 4.67601536e-02 9.98906082e-01 -3.56403228e-04 8.41688824e+00] [ 9.72342555e-03 -9.83901251e-05 9.99952722e-01 4.87098268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.079254154 meters Centerline goodness [0,1] 0.9999790825611312 Centerline is valid? [True, True] Translation: X:525.61, Y:8.42, Z:4.87 [[ 9.98921941e-01 -4.55348633e-02 -9.02955691e-03 5.25612165e+02] [ 4.55337311e-02 9.98962747e-01 -3.31034862e-04 8.41969891e+00] [ 9.03526460e-03 -8.04714293e-05 9.99959178e-01 4.87044873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1092541539999 meters Centerline goodness [0,1] 0.9999582018432988 Centerline is valid? [True, True] Translation: X:525.64, Y:8.42, Z:4.87 [[ 9.98986010e-01 -4.42637198e-02 -8.22646455e-03 5.25643585e+02] [ 4.42627390e-02 9.99019879e-01 -3.01341896e-04 8.41907435e+00] [ 8.23174013e-03 -6.30895155e-05 9.99966117e-01 4.86971833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.67, Y:8.42, Z:4.87 [[ 9.98966109e-01 -4.47570357e-02 -7.96995852e-03 5.25674949e+02] [ 4.47561344e-02 9.98997900e-01 -2.91498227e-04 8.42015286e+00] [ 7.97501842e-03 -6.55076844e-05 9.99968197e-01 4.86968276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.169254154 meters Centerline goodness [0,1] 0.9997705848002002 Centerline is valid? [True, True] Translation: X:525.71, Y:8.42, Z:4.87 [[ 9.98937638e-01 -4.52764839e-02 -8.58115398e-03 5.25706099e+02] [ 4.52754605e-02 9.98974491e-01 -3.13585063e-04 8.41852192e+00] [ 8.58655196e-03 -7.52637755e-05 9.99963132e-01 4.87040044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.199254154 meters Centerline goodness [0,1] 0.9998958289928747 Centerline is valid? [True, True] Translation: X:525.74, Y:8.42, Z:4.87 [[ 9.98725007e-01 -4.99998775e-02 -6.95511661e-03 5.25737145e+02] [ 4.99993256e-02 9.98749219e-01 -2.53315366e-04 8.41604774e+00] [ 6.95908302e-03 -9.47587500e-05 9.99975781e-01 4.87040562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2292541539999 meters Centerline goodness [0,1] 0.9998957138387736 Centerline is valid? [True, True] Translation: X:525.77, Y:8.41, Z:4.87 [[ 9.98600823e-01 -5.23586956e-02 -7.41372097e-03 5.25769423e+02] [ 5.23581338e-02 9.98628336e-01 -2.69980722e-04 8.41439748e+00] [ 7.41768767e-03 -1.18565623e-04 9.99972482e-01 4.87089406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2592541539999 meters Centerline goodness [0,1] 0.9997709430897694 Centerline is valid? [True, True] Translation: X:525.80, Y:8.41, Z:4.87 [[ 9.98416889e-01 -5.57936018e-02 -7.12663620e-03 5.25800453e+02] [ 5.57931740e-02 9.98442314e-01 -2.58980072e-04 8.41215000e+00] [ 7.12998457e-03 -1.39047576e-04 9.99974572e-01 4.87131067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2892541539999 meters Centerline goodness [0,1] 0.9999165240619391 Centerline is valid? [True, True] Translation: X:525.83, Y:8.41, Z:4.87 [[ 9.98208054e-01 -5.94608829e-02 -6.71448762e-03 5.25831443e+02] [ 5.94605881e-02 9.98230624e-01 -2.43709233e-04 8.40936017e+00] [ 6.71709833e-03 -1.55974863e-04 9.99977428e-01 4.87135509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.319254154 meters Centerline goodness [0,1] 0.999874728578587 Centerline is valid? [True, True] Translation: X:525.86, Y:8.40, Z:4.87 [[ 9.97712120e-01 -6.73312084e-02 -6.08554552e-03 5.25861450e+02] [ 6.73311152e-02 9.97730661e-01 -2.20419601e-04 8.40302564e+00] [ 6.08657648e-03 -1.89831259e-04 9.99981459e-01 4.87094457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3492541539999 meters Centerline goodness [0,1] 0.999916340744149 Centerline is valid? [True, True] Translation: X:525.89, Y:8.40, Z:4.87 [[ 9.97478298e-01 -7.06846307e-02 -6.38179723e-03 5.25893065e+02] [ 7.06845960e-02 9.97498689e-01 -2.31256052e-04 8.40090883e+00] [ 6.38218062e-03 -2.20421866e-04 9.99979609e-01 4.87076900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3792541539999 meters Centerline goodness [0,1] 0.9998955809873862 Centerline is valid? [True, True] Translation: X:525.92, Y:8.40, Z:4.87 [[ 9.97245669e-01 -7.38737416e-02 -6.61401541e-03 5.25924485e+02] [ 7.38737761e-02 9.97267571e-01 -2.39423875e-04 8.39960096e+00] [ 6.61363022e-03 -2.49837871e-04 9.99978098e-01 4.87050559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4092541539999 meters Centerline goodness [0,1] 0.9999791423327216 Centerline is valid? [True, True] Translation: X:525.96, Y:8.40, Z:4.87 [[ 9.97037347e-01 -7.66068974e-02 -6.92184500e-03 5.25955754e+02] [ 7.66070028e-02 9.97061334e-01 -2.50302958e-04 8.39810331e+00] [ 6.92067895e-03 -2.80700403e-04 9.99976012e-01 4.87040312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.439254154 meters Centerline goodness [0,1] 0.9998123240538004 Centerline is valid? [True, True] Translation: X:525.99, Y:8.39, Z:4.87 [[ 9.96673926e-01 -8.11731734e-02 -7.21119024e-03 5.25985919e+02] [ 8.11734088e-02 9.96699960e-01 -2.60519998e-04 8.39453002e+00] [ 7.20854026e-03 -3.25703404e-04 9.99973965e-01 4.87043808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4692541539999 meters Centerline goodness [0,1] 0.9998958658752474 Centerline is valid? [True, True] Translation: X:526.02, Y:8.39, Z:4.87 [[ 9.96512799e-01 -8.31036478e-02 -7.48499109e-03 5.26016879e+02] [ 8.31039590e-02 9.96540847e-01 -2.69974455e-04 8.39418446e+00] [ 7.48153522e-03 -3.52999392e-04 9.99971951e-01 4.87068098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4992541539999 meters Centerline goodness [0,1] 0.9998328213487138 Centerline is valid? [True, True] Translation: X:526.05, Y:8.39, Z:4.87 [[ 9.96351458e-01 -8.50120187e-02 -7.53184184e-03 5.26047157e+02] [ 8.50123892e-02 9.96379857e-01 -2.71529097e-04 8.39275739e+00] [ 7.52765873e-03 -3.69761458e-04 9.99971598e-01 4.87105674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5292541539999 meters Centerline goodness [0,1] 0.9997908081082777 Centerline is valid? [True, True] Translation: X:526.08, Y:8.39, Z:4.87 [[ 9.96015477e-01 -8.87923298e-02 -8.31217816e-03 5.26077910e+02] [ 8.87929137e-02 9.96050063e-01 -2.99496997e-04 8.39125638e+00] [ 8.30593862e-03 -4.39758875e-04 9.99965408e-01 4.87148175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.559254154 meters Centerline goodness [0,1] 0.9997706517659815 Centerline is valid? [True, True] Translation: X:526.11, Y:8.39, Z:4.87 [[ 9.95855379e-01 -9.05509370e-02 -8.52014051e-03 5.26109313e+02] [ 9.05516158e-02 9.95891716e-01 -3.06851854e-04 8.39163707e+00] [ 8.51292308e-03 -4.65932421e-04 9.99963656e-01 4.87200332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.589254154 meters Centerline goodness [0,1] 0.999687604131956 Centerline is valid? [True, True] Translation: X:526.14, Y:8.39, Z:4.87 [[ 9.95718754e-01 -9.19897852e-02 -9.05772015e-03 5.26139251e+02] [ 9.19906146e-02 9.95759821e-01 -3.25891140e-04 8.39127976e+00] [ 9.04929244e-03 -5.08729324e-04 9.99958925e-01 4.87231656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6192541539999 meters Centerline goodness [0,1] 0.9996037869625057 Centerline is valid? [True, True] Translation: X:526.17, Y:8.39, Z:4.87 [[ 9.95455775e-01 -9.47388998e-02 -9.60942885e-03 5.26168961e+02] [ 9.47399689e-02 9.95501994e-01 -3.44918287e-04 8.39126339e+00] [ 9.59888275e-03 -5.67046090e-04 9.99953769e-01 4.87319417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6492541539999 meters Centerline goodness [0,1] 0.9994799142898749 Centerline is valid? [True, True] Translation: X:526.20, Y:8.39, Z:4.87 [[ 9.95334313e-01 -9.59625637e-02 -1.00395172e-02 5.26199482e+02] [ 9.59637926e-02 9.95384760e-01 -3.60355765e-04 8.39178816e+00] [ 1.00277631e-02 -6.04755691e-04 9.99949538e-01 4.87364599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.679254154 meters Centerline goodness [0,1] 0.9997292456366893 Centerline is valid? [True, True] Translation: X:526.23, Y:8.39, Z:4.87 [[ 9.95181166e-01 -9.76486283e-02 -8.89902408e-03 5.26229995e+02] [ 9.76496610e-02 9.95220800e-01 -3.19419207e-04 8.39301327e+00] [ 8.88768471e-03 -5.51106706e-04 9.99960352e-01 4.87408323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.709254154 meters Centerline goodness [0,1] 0.9996248124062032 Centerline is valid? [True, True] Translation: X:526.26, Y:8.39, Z:4.87 [[ 9.95058032e-01 -9.87606542e-02 -1.02881550e-02 5.26260684e+02] [ 9.87620937e-02 9.95111005e-01 -3.69280302e-04 8.39396457e+00] [ 1.02743266e-02 -6.48624394e-04 9.99947007e-01 4.87380138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7392541539999 meters Centerline goodness [0,1] 0.9993343595290594 Centerline is valid? [True, True] Translation: X:526.29, Y:8.40, Z:4.87 [[ 9.94829041e-01 -1.00673343e-01 -1.34185729e-02 5.26289747e+02] [ 1.00675965e-01 9.94919152e-01 -4.81649481e-04 8.39650553e+00] [ 1.33988844e-02 -8.71768881e-04 9.99909851e-01 4.87235329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7692541539999 meters Centerline goodness [0,1] 0.999438622754491 Centerline is valid? [True, True] Translation: X:526.32, Y:8.40, Z:4.87 [[ 9.94742335e-01 -1.01630776e-01 -1.26044639e-02 5.26319371e+02] [ 1.01633165e-01 9.94821841e-01 -4.52549791e-04 8.39919426e+00] [ 1.25851890e-02 -8.30861120e-04 9.99920458e-01 4.87238532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.799254154 meters Centerline goodness [0,1] 0.9993749088408727 Centerline is valid? [True, True] Translation: X:526.35, Y:8.40, Z:4.87 [[ 9.94709248e-01 -1.01832211e-01 -1.35540392e-02 5.26349301e+02] [ 1.01834986e-01 9.94801185e-01 -4.87114816e-04 8.40198755e+00] [ 1.35331782e-02 -8.95737775e-04 9.99908021e-01 4.87252562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.829254154 meters Centerline goodness [0,1] 0.9991919777897484 Centerline is valid? [True, True] Translation: X:526.38, Y:8.41, Z:4.87 [[ 9.94728617e-01 -1.01496134e-01 -1.46120712e-02 5.26379084e+02] [ 1.01499315e-01 9.94835470e-01 -5.25643948e-04 8.40564527e+00] [ 1.45899576e-02 -9.60242150e-04 9.99893100e-01 4.87283481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8592541539999 meters Centerline goodness [0,1] 0.9990850869167429 Centerline is valid? [True, True] Translation: X:526.41, Y:8.41, Z:4.87 [[ 9.94817003e-01 -1.00892569e-01 -1.26419833e-02 5.26407436e+02] [ 1.00894896e-01 9.94896986e-01 -4.55199696e-04 8.41304619e+00] [ 1.26233974e-02 -8.22671199e-04 9.99919983e-01 4.87418418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8892541539999 meters Centerline goodness [0,1] 0.9991895261845386 Centerline is valid? [True, True] Translation: X:526.44, Y:8.42, Z:4.88 [[ 9.94939688e-01 -9.96860540e-02 -1.25581883e-02 5.26436764e+02] [ 9.96882477e-02 9.95018617e-01 -4.52740198e-04 8.41758100e+00] [ 1.25407631e-02 -8.01454599e-04 9.99921040e-01 4.87500824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.919254154 meters Centerline goodness [0,1] 0.999209634143805 Centerline is valid? [True, True] Translation: X:526.47, Y:8.42, Z:4.88 [[ 9.95057928e-01 -9.85038425e-02 -1.25184774e-02 5.26466672e+02] [ 9.85059247e-02 9.95136362e-01 -4.51660464e-04 8.42332029e+00] [ 1.25020823e-02 -7.83715863e-04 9.99921539e-01 4.87566590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.949254154 meters Centerline goodness [0,1] 0.9990666611357697 Centerline is valid? [True, True] Translation: X:526.50, Y:8.43, Z:4.88 [[ 9.95208350e-01 -9.70054615e-02 -1.22589365e-02 5.26496247e+02] [ 9.70073440e-02 9.95283567e-01 -4.42378811e-04 8.42841299e+00] [ 1.22440312e-02 -7.48947780e-04 9.99924759e-01 4.87615650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9792541539999 meters Centerline goodness [0,1] 0.9989396428051646 Centerline is valid? [True, True] Translation: X:526.53, Y:8.44, Z:4.88 [[ 9.95498008e-01 -9.39488314e-02 -1.25432376e-02 5.26525273e+02] [ 9.39505625e-02 9.95576761e-01 -4.52473572e-04 8.43781513e+00] [ 1.25302653e-02 -7.28007691e-04 9.99921228e-01 4.87607444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0092541539999 meters Centerline goodness [0,1] 0.9989408979524027 Centerline is valid? [True, True] Translation: X:526.56, Y:8.44, Z:4.88 [[ 9.95614611e-01 -9.26011382e-02 -1.32881522e-02 5.26555451e+02] [ 9.26029592e-02 9.95702999e-01 -4.79502127e-04 8.44308964e+00] [ 1.32754555e-02 -7.53122895e-04 9.99911594e-01 4.87580924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0392541539999 meters Centerline goodness [0,1] 0.9989408979524027 Centerline is valid? [True, True] Translation: X:526.59, Y:8.44, Z:4.88 [[ 9.95614611e-01 -9.26011382e-02 -1.32881522e-02 5.26585479e+02] [ 9.26029592e-02 9.95702999e-01 -4.79502127e-04 8.44417318e+00] [ 1.32754555e-02 -7.53122895e-04 9.99911594e-01 4.87609072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.069254154 meters Centerline goodness [0,1] 0.9991475737036883 Centerline is valid? [True, True] Translation: X:526.62, Y:8.45, Z:4.88 [[ 9.95735654e-01 -9.12485440e-02 -1.35724415e-02 5.26615472e+02] [ 9.12503186e-02 9.95827866e-01 -4.89760689e-04 8.44927117e+00] [ 1.35605054e-02 -7.50817434e-04 9.99907770e-01 4.87597225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0992541539999 meters Centerline goodness [0,1] 0.9989824313660339 Centerline is valid? [True, True] Translation: X:526.65, Y:8.45, Z:4.88 [[ 9.95828519e-01 -9.01267213e-02 -1.42385116e-02 5.26645969e+02] [ 9.01285601e-02 9.95930007e-01 -5.13795786e-04 8.45400833e+00] [ 1.42268677e-02 -7.71644056e-04 9.99898495e-01 4.87576408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1292541539999 meters Centerline goodness [0,1] 0.9988376919883769 Centerline is valid? [True, True] Translation: X:526.68, Y:8.46, Z:4.88 [[ 9.95995350e-01 -8.80792602e-02 -1.53397398e-02 5.26675765e+02] [ 8.80811524e-02 9.96113148e-01 -5.53533533e-04 8.46225048e+00] [ 1.53288713e-02 -7.99825130e-04 9.99882186e-01 4.87514764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1592541539999 meters Centerline goodness [0,1] 0.9986542443064182 Centerline is valid? [True, True] Translation: X:526.71, Y:8.47, Z:4.88 [[ 9.96096816e-01 -8.68764572e-02 -1.56081299e-02 5.26705821e+02] [ 8.68782689e-02 9.96218776e-01 -5.63218375e-04 8.46692955e+00] [ 1.55980425e-02 -7.94987279e-04 9.99878027e-01 4.87523847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.189254154 meters Centerline goodness [0,1] 0.9988790633951924 Centerline is valid? [True, True] Translation: X:526.74, Y:8.47, Z:4.88 [[ 9.96211652e-01 -8.54342671e-02 -1.62274349e-02 5.26735905e+02] [ 8.54360347e-02 9.96343486e-01 -5.85565955e-04 8.47210405e+00] [ 1.62181264e-02 -8.03060063e-04 9.99868155e-01 4.87550946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2192541539999 meters Centerline goodness [0,1] 0.998715265546323 Centerline is valid? [True, True] Translation: X:526.77, Y:8.48, Z:4.88 [[ 9.96366480e-01 -8.36586765e-02 -1.59707062e-02 5.26766768e+02] [ 8.36601626e-02 9.96494177e-01 -5.76201780e-04 8.47764420e+00] [ 1.59629200e-02 -7.62003737e-04 9.99872294e-01 4.87599852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2492541539999 meters Centerline goodness [0,1] 0.9987790745799189 Centerline is valid? [True, True] Translation: X:526.80, Y:8.49, Z:4.88 [[ 9.96723255e-01 -7.91270458e-02 -1.67828557e-02 5.26795974e+02] [ 7.91280480e-02 9.96864276e-01 -6.05363593e-04 8.48812752e+00] [ 1.67781300e-02 -7.24614643e-04 9.99858975e-01 4.87583628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2792541539999 meters Centerline goodness [0,1] 0.9988186038799536 Centerline is valid? [True, True] Translation: X:526.83, Y:8.49, Z:4.88 [[ 9.96919965e-01 -7.64463155e-02 -1.75084271e-02 5.26826624e+02] [ 7.64469954e-02 9.97073447e-01 -6.31426622e-04 8.49429521e+00] [ 1.75054580e-02 -7.08984840e-04 9.99846516e-01 4.87562755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.309254154 meters Centerline goodness [0,1] 0.9988400513691537 Centerline is valid? [True, True] Translation: X:526.86, Y:8.50, Z:4.88 [[ 9.97122272e-01 -7.37655358e-02 -1.74877249e-02 5.26856806e+02] [ 7.37658048e-02 9.97275392e-01 -6.30540929e-04 8.50053662e+00] [ 1.74865899e-02 -6.61269694e-04 9.99846879e-01 4.87577936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.339254154 meters Centerline goodness [0,1] 0.9987338882085556 Centerline is valid? [True, True] Translation: X:526.89, Y:8.51, Z:4.88 [[ 9.97297331e-01 -7.12326304e-02 -1.79984795e-02 5.26886904e+02] [ 7.12325035e-02 9.97459528e-01 -6.48956803e-04 8.50659182e+00] [ 1.79989818e-02 -6.34873869e-04 9.99837804e-01 4.87577698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3692541539999 meters Centerline goodness [0,1] 0.9987752729688214 Centerline is valid? [True, True] Translation: X:526.92, Y:8.53, Z:4.88 [[ 9.97648031e-01 -6.61540404e-02 -1.79457102e-02 5.26917372e+02] [ 6.61530958e-02 9.97809275e-01 -6.46910942e-04 8.52594460e+00] [ 1.79491919e-02 -5.41774861e-04 9.99838753e-01 4.87815901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3992541539999 meters Centerline goodness [0,1] 0.9988383911717729 Centerline is valid? [True, True] Translation: X:526.95, Y:8.52, Z:4.88 [[ 9.97775683e-01 -6.42035491e-02 -1.79329364e-02 5.26948323e+02] [ 6.42022990e-02 9.97936695e-01 -6.46010513e-04 8.52208842e+00] [ 1.79374115e-02 -5.06762163e-04 9.99838983e-01 4.87581990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.429254154 meters Centerline goodness [0,1] 0.9990466913974261 Centerline is valid? [True, True] Translation: X:526.98, Y:8.53, Z:4.88 [[ 9.97855875e-01 -6.27533682e-02 -1.85921220e-02 5.26979700e+02] [ 6.27517874e-02 9.98028940e-01 -6.68980078e-04 8.53375791e+00] [ 1.85974565e-02 -4.99143184e-04 9.99826928e-01 4.87796755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.459254154 meters Centerline goodness [0,1] 0.9990656340192272 Centerline is valid? [True, True] Translation: X:527.01, Y:8.54, Z:4.88 [[ 9.97923493e-01 -6.13355034e-02 -1.96636224e-02 5.27011951e+02] [ 6.13334841e-02 9.98117080e-01 -7.06322949e-04 8.54202388e+00] [ 1.96699200e-02 -5.01182207e-04 9.99806403e-01 4.87931263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4892541539999 meters Centerline goodness [0,1] 0.998919278410508 Centerline is valid? [True, True] Translation: X:527.04, Y:8.54, Z:4.88 [[ 9.97929785e-01 -6.11057074e-02 -2.00558227e-02 5.27043301e+02] [ 6.11035813e-02 9.98131171e-01 -7.19368999e-04 8.54437525e+00] [ 2.00622994e-02 -5.07602845e-04 9.99798603e-01 4.87977735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5192541539999 meters Centerline goodness [0,1] 0.9989195254223201 Centerline is valid? [True, True] Translation: X:527.07, Y:8.55, Z:4.88 [[ 9.97921708e-01 -6.09640975e-02 -2.08720835e-02 5.27074610e+02] [ 6.09617792e-02 9.98139821e-01 -7.47910668e-04 8.54686882e+00] [ 2.08788533e-02 -5.26043054e-04 9.99781875e-01 4.88028878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.549254154 meters Centerline goodness [0,1] 0.9991060105199693 Centerline is valid? [True, True] Translation: X:527.11, Y:8.55, Z:4.88 [[ 9.97938219e-01 -6.08430861e-02 -2.04310902e-02 5.27105219e+02] [ 6.08408497e-02 9.98147211e-01 -7.31602100e-04 8.54859717e+00] [ 2.04377486e-02 -5.12951191e-04 9.99790996e-01 4.88077159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.579254154 meters Centerline goodness [0,1] 0.9990853341648477 Centerline is valid? [True, True] Translation: X:527.14, Y:8.55, Z:4.88 [[ 9.97903031e-01 -6.07597043e-02 -2.23114024e-02 5.27135290e+02] [ 6.07570359e-02 9.98152266e-01 -7.98076007e-04 8.55037530e+00] [ 2.23186677e-02 -5.59172211e-04 9.99750751e-01 4.88191239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6092541539999 meters Centerline goodness [0,1] 0.9990248153373724 Centerline is valid? [True, True] Translation: X:527.17, Y:8.55, Z:4.88 [[ 9.97942378e-01 -6.06502394e-02 -2.07980448e-02 5.27166913e+02] [ 6.06479144e-02 9.98158944e-01 -7.43099782e-04 8.55155944e+00] [ 2.08048237e-02 -5.19787280e-04 9.99783421e-01 4.88241504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6392541539999 meters Centerline goodness [0,1] 0.9988561445833246 Centerline is valid? [True, True] Translation: X:527.20, Y:8.55, Z:4.88 [[ 9.97935612e-01 -6.06036966e-02 -2.12533841e-02 5.27198370e+02] [ 6.06012734e-02 9.98161766e-01 -7.58649529e-04 8.55256848e+00] [ 2.12602924e-02 -5.30898759e-04 9.99773833e-01 4.88300646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.669254154 meters Centerline goodness [0,1] 0.9990434005032545 Centerline is valid? [True, True] Translation: X:527.23, Y:8.55, Z:4.88 [[ 9.97913711e-01 -6.08344783e-02 -2.16192204e-02 5.27228240e+02] [ 6.08320364e-02 9.98147719e-01 -7.71186188e-04 8.55310203e+00] [ 2.16260903e-02 -5.45563934e-04 9.99765980e-01 4.88349292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.699254154 meters Centerline goodness [0,1] 0.9988123762891968 Centerline is valid? [True, True] Translation: X:527.26, Y:8.55, Z:4.88 [[ 9.97870075e-01 -6.13381930e-02 -2.22022531e-02 5.27259978e+02] [ 6.13357554e-02 9.98116876e-01 -7.91399103e-04 8.55405239e+00] [ 2.22089865e-02 -5.72078483e-04 9.99753186e-01 4.88404146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7292541539999 meters Centerline goodness [0,1] 0.9989218775916404 Centerline is valid? [True, True] Translation: X:527.29, Y:8.55, Z:4.88 [[ 9.97854321e-01 -6.15567957e-02 -2.23050468e-02 5.27290269e+02] [ 6.15544017e-02 9.98103414e-01 -7.94539052e-04 8.55461816e+00] [ 2.23116526e-02 -5.80139584e-04 9.99750896e-01 4.88449578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7592541539999 meters Centerline goodness [0,1] 0.9989587454965743 Centerline is valid? [True, True] Translation: X:527.32, Y:8.55, Z:4.88 [[ 9.97675193e-01 -6.38403373e-02 -2.38457564e-02 5.27321598e+02] [ 6.38382681e-02 9.97959897e-01 -8.48786131e-04 8.55363508e+00] [ 2.38512954e-02 -6.75458922e-04 9.99715289e-01 4.88458597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7892541539999 meters Centerline goodness [0,1] 0.9989805895936922 Centerline is valid? [True, True] Translation: X:527.35, Y:8.55, Z:4.88 [[ 9.97547469e-01 -6.55133448e-02 -2.46383694e-02 5.27352450e+02] [ 6.55116595e-02 9.97851419e-01 -8.76435501e-04 8.55316128e+00] [ 2.46428501e-02 -7.39814454e-04 9.99696045e-01 4.88492545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.819254154 meters Centerline goodness [0,1] 0.9988534500729622 Centerline is valid? [True, True] Translation: X:527.38, Y:8.55, Z:4.89 [[ 9.97410936e-01 -6.73435236e-02 -2.52244989e-02 5.27382802e+02] [ 6.73423458e-02 9.97729524e-01 -8.97128918e-04 8.55191551e+00] [ 2.52276431e-02 -8.03870735e-04 9.99681409e-01 4.88514844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8492541539999 meters Centerline goodness [0,1] 0.998814919539274 Centerline is valid? [True, True] Translation: X:527.41, Y:8.55, Z:4.89 [[ 9.97253456e-01 -6.94033926e-02 -2.58594952e-02 5.27413287e+02] [ 6.94028465e-02 9.97588291e-01 -9.19713053e-04 8.55061685e+00] [ 2.58609608e-02 -8.77535554e-04 9.99665164e-01 4.88531324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8792541539999 meters Centerline goodness [0,1] 0.99889571830399 Centerline is valid? [True, True] Translation: X:527.44, Y:8.55, Z:4.89 [[ 9.97066600e-01 -7.11629984e-02 -2.81784000e-02 5.27442767e+02] [ 7.11630439e-02 9.97464193e-01 -1.00248881e-03 8.54864454e+00] [ 2.81782851e-02 -1.00571261e-03 9.99602407e-01 4.88531247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9092541539999 meters Centerline goodness [0,1] 0.9990630660642529 Centerline is valid? [True, True] Translation: X:527.47, Y:8.55, Z:4.89 [[ 9.96744109e-01 -7.52764527e-02 -2.88900962e-02 5.27473329e+02] [ 7.52782209e-02 9.97162039e-01 -1.02796253e-03 8.54510989e+00] [ 2.88854887e-02 -1.15017946e-03 9.99582065e-01 4.88613060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.939254154 meters Centerline goodness [0,1] 0.9989165538076883 Centerline is valid? [True, True] Translation: X:527.50, Y:8.55, Z:4.89 [[ 9.96612180e-01 -7.72267125e-02 -2.82877473e-02 5.27503169e+02] [ 7.72291742e-02 9.97012859e-01 -1.00714051e-03 8.54552204e+00] [ 2.82810260e-02 -1.18091087e-03 9.99599314e-01 4.88713225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9692541539999 meters Centerline goodness [0,1] 0.9990424845444517 Centerline is valid? [True, True] Translation: X:527.53, Y:8.55, Z:4.89 [[ 9.96389812e-01 -7.99488347e-02 -2.85574159e-02 5.27533451e+02] [ 7.99524505e-02 9.96798160e-01 -1.01704649e-03 8.55018117e+00] [ 2.85472913e-02 -1.26986062e-03 9.99591636e-01 4.89044864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9992541539999 meters Centerline goodness [0,1] 0.9989369684842421 Centerline is valid? [True, True] Translation: X:527.56, Y:8.55, Z:4.89 [[ 9.96309862e-01 -8.04990590e-02 -2.97751721e-02 5.27564283e+02] [ 8.05032461e-02 9.96753783e-01 -1.06006195e-03 8.54970916e+00] [ 2.97638494e-02 -1.34084784e-03 9.99556059e-01 4.89079045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0292541539999 meters Centerline goodness [0,1] 0.998875046873047 Centerline is valid? [True, True] Translation: X:527.59, Y:8.55, Z:4.89 [[ 9.96299504e-01 -8.08602718e-02 -2.91361297e-02 5.27594938e+02] [ 8.08644395e-02 9.96724569e-01 -1.03715189e-03 8.54984877e+00] [ 2.91245607e-02 -1.32276288e-03 9.99574915e-01 4.89081217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.059254154 meters Centerline goodness [0,1] 0.9989393340681738 Centerline is valid? [True, True] Translation: X:527.63, Y:8.55, Z:4.89 [[ 9.96376929e-01 -7.98448804e-02 -2.92883877e-02 5.27625453e+02] [ 7.98486542e-02 9.96806453e-01 -1.04257179e-03 8.55107192e+00] [ 2.92780979e-02 -1.29984387e-03 9.99570459e-01 4.89150178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.089254154 meters Centerline goodness [0,1] 0.9989582465205433 Centerline is valid? [True, True] Translation: X:527.65, Y:8.55, Z:4.89 [[ 9.96503614e-01 -7.83144093e-02 -2.91101589e-02 5.27654729e+02] [ 7.83174935e-02 9.96927930e-01 -1.03595023e-03 8.55267410e+00] [ 2.91018603e-02 -1.24750653e-03 9.99575673e-01 4.89187794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1192541539999 meters Centerline goodness [0,1] 0.999083638787071 Centerline is valid? [True, True] Translation: X:527.68, Y:8.56, Z:4.89 [[ 9.96863148e-01 -7.34828929e-02 -2.93960699e-02 5.27683808e+02] [ 7.34839246e-02 9.97295852e-01 -1.04666709e-03 8.55661729e+00] [ 2.93934907e-02 -1.11675473e-03 9.99567294e-01 4.89218142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1492541539999 meters Centerline goodness [0,1] 0.9990412072451383 Centerline is valid? [True, True] Translation: X:527.71, Y:8.56, Z:4.89 [[ 9.97059533e-01 -7.03061095e-02 -3.04850435e-02 5.27713492e+02] [ 7.03057053e-02 9.97524901e-01 -1.08647170e-03 8.56008441e+00] [ 3.04859756e-02 -1.05999551e-03 9.99534633e-01 4.89261138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.179254154 meters Centerline goodness [0,1] 0.9991668749479297 Centerline is valid? [True, True] Translation: X:527.74, Y:8.56, Z:4.89 [[ 9.97281352e-01 -6.74710668e-02 -2.96236256e-02 5.27743156e+02] [ 6.74694065e-02 9.97720784e-01 -1.05674636e-03 8.56321022e+00] [ 2.96274068e-02 -9.44814995e-04 9.99560565e-01 4.89257006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.209254154 meters Centerline goodness [0,1] 0.999145726549152 Centerline is valid? [True, True] Translation: X:527.77, Y:8.57, Z:4.90 [[ 9.97720914e-01 -6.08066252e-02 -2.92494908e-02 5.27773166e+02] [ 6.08021253e-02 9.98149293e-01 -1.04405002e-03 8.57105497e+00] [ 2.92588437e-02 -7.36760668e-04 9.99571597e-01 4.89532876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2392541539999 meters Centerline goodness [0,1] 0.9991658498946886 Centerline is valid? [True, True] Translation: X:527.80, Y:8.57, Z:4.89 [[ 9.97912804e-01 -5.76264491e-02 -2.91415323e-02 5.27801911e+02] [ 5.76205928e-02 9.98338010e-01 -1.04137288e-03 8.57148598e+00] [ 2.91531100e-02 -6.39953033e-04 9.99574753e-01 4.89368771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2692541539999 meters Centerline goodness [0,1] 0.999206199995822 Centerline is valid? [True, True] Translation: X:527.83, Y:8.57, Z:4.89 [[ 9.98083608e-01 -5.47493959e-02 -2.88377233e-02 5.27829681e+02] [ 5.47424017e-02 9.98499977e-01 -1.03256156e-03 8.57447204e+00] [ 2.88509981e-02 -5.48063461e-04 9.99583573e-01 4.89382301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.299254154 meters Centerline goodness [0,1] 0.9992470194519975 Centerline is valid? [True, True] Translation: X:527.86, Y:8.58, Z:4.90 [[ 9.98380512e-01 -4.93138396e-02 -2.83636825e-02 5.27858517e+02] [ 4.93048230e-02 9.98783259e-01 -1.01760401e-03 8.58096936e+00] [ 2.83793533e-02 -3.82510335e-04 9.99597152e-01 4.89563112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.329254154 meters Centerline goodness [0,1] 0.9991474673542378 Centerline is valid? [True, True] Translation: X:527.89, Y:8.58, Z:4.90 [[ 9.98494140e-01 -4.70873097e-02 -2.81467171e-02 5.27886827e+02] [ 4.70773976e-02 9.98890729e-01 -1.01509137e-03 8.58448001e+00] [ 2.81632927e-02 -3.11511409e-04 9.99603287e-01 4.89757675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3592541539999 meters Centerline goodness [0,1] 0.9992698902749385 Centerline is valid? [True, True] Translation: X:527.91, Y:8.58, Z:4.89 [[ 9.98629198e-01 -4.43897049e-02 -2.77358663e-02 5.27914654e+02] [ 4.43789318e-02 9.99014265e-01 -1.00416507e-03 8.58435821e+00] [ 2.77531007e-02 -2.28099563e-04 9.99614782e-01 4.89400608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3892541539999 meters Centerline goodness [0,1] 0.9995615957913196 Centerline is valid? [True, True] Translation: X:527.94, Y:8.59, Z:4.90 [[ 9.98691645e-01 -4.33930648e-02 -2.70562558e-02 5.27943384e+02] [ 4.33823156e-02 9.99058059e-01 -9.84428286e-04 8.58616236e+00] [ 2.70734878e-02 -1.90622723e-04 9.99633428e-01 4.89537954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.419254154 meters Centerline goodness [0,1] 0.9994369017080649 Centerline is valid? [True, True] Translation: X:527.97, Y:8.59, Z:4.90 [[ 9.98772692e-01 -4.20840050e-02 -2.61160039e-02 5.27972093e+02] [ 4.20733880e-02 9.99114065e-01 -9.56131107e-04 8.58729460e+00] [ 2.61331047e-02 -1.43831125e-04 9.99658462e-01 4.89603605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.449254154 meters Centerline goodness [0,1] 0.9995616598480421 Centerline is valid? [True, True] Translation: X:528.00, Y:8.59, Z:4.90 [[ 9.98916471e-01 -3.96563393e-02 -2.43569038e-02 5.28000308e+02] [ 3.96462511e-02 9.99213376e-01 -8.97131610e-04 8.58793457e+00] [ 2.43733210e-02 -6.95003830e-05 9.99702924e-01 4.89675107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4792541539999 meters Centerline goodness [0,1] 0.9994559075879965 Centerline is valid? [True, True] Translation: X:528.03, Y:8.59, Z:4.90 [[ 9.98956975e-01 -3.90493773e-02 -2.36666158e-02 5.28028894e+02] [ 3.90395576e-02 9.99237281e-01 -8.76982217e-04 8.58880022e+00] [ 2.36828104e-02 -4.78667088e-05 9.99719522e-01 4.89740065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5092541539999 meters Centerline goodness [0,1] 0.9995611652108497 Centerline is valid? [True, True] Translation: X:528.06, Y:8.59, Z:4.90 [[ 9.99002720e-01 -3.83214142e-02 -2.29136139e-02 5.28058044e+02] [ 3.83119021e-02 9.99265465e-01 -8.54136551e-04 8.58942470e+00] [ 2.29295148e-02 -2.45793963e-05 9.99737084e-01 4.89801334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5392541539999 meters Centerline goodness [0,1] 0.9995404891701652 Centerline is valid? [True, True] Translation: X:528.09, Y:8.59, Z:4.90 [[ 9.99058419e-01 -3.76859316e-02 -2.14952746e-02 5.28086756e+02] [ 3.76773030e-02 9.99289633e-01 -8.06412573e-04 8.58817236e+00] [ 2.15103955e-02 -4.23070313e-06 9.99768625e-01 4.90308591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.569254154 meters Centerline goodness [0,1] 0.999435618729097 Centerline is valid? [True, True] Translation: X:528.12, Y:8.59, Z:4.90 [[ 9.99089820e-01 -3.74114229e-02 -2.04918542e-02 5.28115010e+02] [ 3.74034625e-02 9.99299948e-01 -7.71732630e-04 8.58726149e+00] [ 2.05063804e-02 4.56391515e-06 9.99789722e-01 4.90170013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5992541539999 meters Centerline goodness [0,1] 0.9995195922800568 Centerline is valid? [True, True] Translation: X:528.14, Y:8.59, Z:4.90 [[ 9.99091238e-01 -3.78371358e-02 -1.96226985e-02 5.28143750e+02] [ 3.78298984e-02 9.99283919e-01 -7.40025849e-04 8.58594284e+00] [ 1.96366475e-02 -2.97135067e-06 9.99807182e-01 4.90206424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6292541539999 meters Centerline goodness [0,1] 0.9994361726564621 Centerline is valid? [True, True] Translation: X:528.17, Y:8.58, Z:4.90 [[ 9.99052189e-01 -3.93991741e-02 -1.85048377e-02 5.28173578e+02] [ 3.93929911e-02 9.99223551e-01 -6.98659818e-04 8.58188209e+00] [ 1.85179963e-02 -3.09632879e-05 9.99828527e-01 4.90385995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6592541539999 meters Centerline goodness [0,1] 0.9994156318480643 Centerline is valid? [True, True] Translation: X:528.20, Y:8.58, Z:4.90 [[ 9.99029653e-01 -4.00432933e-02 -1.83381289e-02 5.28202739e+02] [ 4.00373204e-02 9.99197945e-01 -6.92873965e-04 8.57972787e+00] [ 1.83511657e-02 -4.20079074e-05 9.99831602e-01 4.90255312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.689254154 meters Centerline goodness [0,1] 0.9995395948434622 Centerline is valid? [True, True] Translation: X:528.23, Y:8.58, Z:4.90 [[ 9.98948356e-01 -4.20633876e-02 -1.82442583e-02 5.28233729e+02] [ 4.20578095e-02 9.99114941e-01 -6.89498412e-04 8.57810948e+00] [ 1.82571136e-02 -7.85402327e-05 9.99833322e-01 4.90366386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7192541539999 meters Centerline goodness [0,1] 0.9995190799790904 Centerline is valid? [True, True] Translation: X:528.26, Y:8.58, Z:4.90 [[ 9.98883488e-01 -4.35556994e-02 -1.82941970e-02 5.28264683e+02] [ 4.35503439e-02 9.99050995e-01 -6.91224167e-04 8.57504246e+00] [ 1.83069425e-02 -1.06266164e-04 9.99832408e-01 4.90222113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7492541539999 meters Centerline goodness [0,1] 0.9996856993190152 Centerline is valid? [True, True] Translation: X:528.30, Y:8.57, Z:4.90 [[ 9.98710081e-01 -4.72505277e-02 -1.85893017e-02 5.28295023e+02] [ 4.72456411e-02 9.98883054e-01 -7.02202333e-04 8.57023081e+00] [ 1.86017179e-02 -1.76966926e-04 9.99826957e-01 4.90308146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7792541539999 meters Centerline goodness [0,1] 0.9996237930025499 Centerline is valid? [True, True] Translation: X:528.33, Y:8.57, Z:4.90 [[ 9.98629283e-01 -4.88825715e-02 -1.87096217e-02 5.28325196e+02] [ 4.88779108e-02 9.98804511e-01 -7.06579979e-04 8.56729617e+00] [ 1.87217940e-02 -2.08875761e-04 9.99824710e-01 4.90275710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.809254154 meters Centerline goodness [0,1] 0.9996021858838802 Centerline is valid? [True, True] Translation: X:528.36, Y:8.56, Z:4.90 [[ 9.98549505e-01 -5.06012686e-02 -1.83955709e-02 5.28356142e+02] [ 5.05970577e-02 9.98718907e-01 -6.94554893e-04 8.56472668e+00] [ 1.84071498e-02 -2.37214319e-04 9.99830546e-01 4.90296088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.839254154 meters Centerline goodness [0,1] 0.9996230524375942 Centerline is valid? [True, True] Translation: X:528.39, Y:8.56, Z:4.90 [[ 9.98412449e-01 -5.33289489e-02 -1.81274456e-02 5.28386033e+02] [ 5.33253065e-02 9.98576959e-01 -6.84586321e-04 8.55873011e+00] [ 1.81381578e-02 -2.83152087e-04 9.99835450e-01 4.90328628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8692541539999 meters Centerline goodness [0,1] 0.9994986316822996 Centerline is valid? [True, True] Translation: X:528.42, Y:8.56, Z:4.90 [[ 9.98334801e-01 -5.48636007e-02 -1.78216451e-02 5.28416268e+02] [ 5.48603217e-02 9.98493812e-01 -6.73200344e-04 8.55668320e+00] [ 1.78317365e-02 -3.05621849e-04 9.99840955e-01 4.90350696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8992541539999 meters Centerline goodness [0,1] 0.999686041400674 Centerline is valid? [True, True] Translation: X:528.45, Y:8.55, Z:4.90 [[ 9.98197058e-01 -5.75921348e-02 -1.69049844e-02 5.28445637e+02] [ 5.75895732e-02 9.98340139e-01 -6.38705092e-04 8.55438781e+00] [ 1.69137089e-02 -3.35997295e-04 9.99856897e-01 4.90359566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.929254154 meters Centerline goodness [0,1] 0.9993302637086647 Centerline is valid? [True, True] Translation: X:528.48, Y:8.55, Z:4.90 [[ 9.98170198e-01 -5.80926827e-02 -1.67778562e-02 5.28477209e+02] [ 5.80902318e-02 9.98311136e-01 -6.33806231e-04 8.55280513e+00] [ 1.67863402e-02 -3.41983064e-04 9.99859041e-01 4.90436864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.959254154 meters Centerline goodness [0,1] 0.9993302637086647 Centerline is valid? [True, True] Translation: X:528.51, Y:8.55, Z:4.90 [[ 9.98172206e-01 -5.80581600e-02 -1.67778781e-02 5.28508036e+02] [ 5.80557139e-02 9.98313144e-01 -6.33225902e-04 8.55393683e+00] [ 1.67863402e-02 -3.41983196e-04 9.99859041e-01 4.90465756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9892541539999 meters Centerline goodness [0,1] 0.9996864417408755 Centerline is valid? [True, True] Translation: X:528.54, Y:8.55, Z:4.90 [[ 9.97910056e-01 -6.26581140e-02 -1.57949750e-02 5.28538131e+02] [ 6.26565267e-02 9.98034972e-01 -5.95824283e-04 8.54778063e+00] [ 1.58012706e-02 -3.95079228e-04 9.99875074e-01 4.90353944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0192541539999 meters Centerline goodness [0,1] 0.9996029838895042 Centerline is valid? [True, True] Translation: X:528.57, Y:8.55, Z:4.90 [[ 9.97798075e-01 -6.45836068e-02 -1.50982945e-02 5.28569168e+02] [ 6.45823781e-02 9.97912217e-01 -5.69446511e-04 8.54511992e+00] [ 1.51035495e-02 -4.06891133e-04 9.99885852e-01 4.90359151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.049254154 meters Centerline goodness [0,1] 0.9995607521596352 Centerline is valid? [True, True] Translation: X:528.60, Y:8.54, Z:4.90 [[ 9.97697585e-01 -6.62220099e-02 -1.46346665e-02 5.28600210e+02] [ 6.62210351e-02 9.97804826e-01 -5.51717537e-04 8.54246938e+00] [ 1.46390767e-02 -4.18675510e-04 9.99892755e-01 4.90354810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.079254154 meters Centerline goodness [0,1] 0.9995395370254092 Centerline is valid? [True, True] Translation: X:528.63, Y:8.54, Z:4.90 [[ 9.97448204e-01 -7.00278303e-02 -1.38990221e-02 5.28630461e+02] [ 7.00273264e-02 9.97544936e-01 -5.23524371e-04 8.53626072e+00] [ 1.39015604e-02 -4.51122913e-04 9.99903267e-01 4.90354808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1092541539999 meters Centerline goodness [0,1] 0.9994769765057846 Centerline is valid? [True, True] Translation: X:528.66, Y:8.53, Z:4.90 [[ 9.97355417e-01 -7.12464078e-02 -1.43569174e-02 5.28661062e+02] [ 7.12460070e-02 9.97458628e-01 -5.40028395e-04 8.53407161e+00] [ 1.43589062e-02 -4.84272794e-04 9.99896788e-01 4.90381177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1392541539999 meters Centerline goodness [0,1] 0.9995817037207454 Centerline is valid? [True, True] Translation: X:528.69, Y:8.53, Z:4.90 [[ 9.97208619e-01 -7.34095056e-02 -1.36387230e-02 5.28691677e+02] [ 7.34093489e-02 9.97301762e-01 -5.12796279e-04 8.53174405e+00] [ 1.36395666e-02 -4.89844905e-04 9.99906857e-01 4.90366685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.169254154 meters Centerline goodness [0,1] 0.9993933054393306 Centerline is valid? [True, True] Translation: X:528.72, Y:8.53, Z:4.90 [[ 9.97157323e-01 -7.40157025e-02 -1.41049562e-02 5.28722393e+02] [ 7.40155977e-02 9.97256943e-01 -5.30167002e-04 8.52988039e+00] [ 1.41055062e-02 -5.15326858e-04 9.99900380e-01 4.90408235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.199254154 meters Centerline goodness [0,1] 0.9994983067854007 Centerline is valid? [True, True] Translation: X:528.75, Y:8.53, Z:4.90 [[ 9.96969302e-01 -7.66061655e-02 -1.35538140e-02 5.28752394e+02] [ 7.66063077e-02 9.97061289e-01 -5.09451063e-04 8.52584605e+00] [ 1.35530104e-02 -5.30400578e-04 9.99908013e-01 4.90372144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2292541539999 meters Centerline goodness [0,1] 0.9995604303596098 Centerline is valid? [True, True] Translation: X:528.78, Y:8.52, Z:4.90 [[ 9.96982401e-01 -7.63591784e-02 -1.39774317e-02 5.28782941e+02] [ 7.63593065e-02 9.97080228e-01 -5.25299552e-04 8.52484101e+00] [ 1.39767322e-02 -5.43592579e-04 9.99902173e-01 4.90395945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2592541539999 meters Centerline goodness [0,1] 0.999372988337583 Centerline is valid? [True, True] Translation: X:528.81, Y:8.53, Z:4.90 [[ 9.97039931e-01 -7.55365944e-02 -1.43387203e-02 5.28813357e+02] [ 7.55366465e-02 9.97142881e-01 -5.38723266e-04 8.52591277e+00] [ 1.43384462e-02 -5.45970238e-04 9.99897050e-01 4.90463272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2892541539999 meters Centerline goodness [0,1] 0.9993524263123812 Centerline is valid? [True, True] Translation: X:528.84, Y:8.53, Z:4.90 [[ 9.97066266e-01 -7.54367870e-02 -1.29673299e-02 5.28842423e+02] [ 7.54368204e-02 9.97150464e-01 -4.87256052e-04 8.52552693e+00] [ 1.29671361e-02 -4.92387563e-04 9.99915802e-01 4.90417789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.319254154 meters Centerline goodness [0,1] 0.999395984337249 Centerline is valid? [True, True] Translation: X:528.87, Y:8.53, Z:4.90 [[ 9.97167184e-01 -7.41612475e-02 -1.25585460e-02 5.28872778e+02] [ 7.41611759e-02 9.97246157e-01 -4.72040520e-04 8.52748859e+00] [ 1.25589689e-02 -4.60653224e-04 9.99921027e-01 4.90411357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3492541539999 meters Centerline goodness [0,1] 0.9996230050684874 Centerline is valid? [True, True] Translation: X:528.90, Y:8.54, Z:4.90 [[ 9.97285120e-01 -7.26202778e-02 -1.21936631e-02 5.28903703e+02] [ 7.26200965e-02 9.97359570e-01 -4.58219705e-04 8.54029412e+00] [ 1.21947426e-02 -4.28529298e-04 9.99925550e-01 4.90481058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3792541539999 meters Centerline goodness [0,1] 0.9994356777092696 Centerline is valid? [True, True] Translation: X:528.93, Y:8.53, Z:4.90 [[ 9.97516602e-01 -6.93007343e-02 -1.25712785e-02 5.28934423e+02] [ 6.93002863e-02 9.97595734e-01 -4.71771566e-04 8.53168395e+00] [ 1.25737479e-02 -4.00593230e-04 9.99920867e-01 4.90330797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4092541539999 meters Centerline goodness [0,1] 0.9995178601375146 Centerline is valid? [True, True] Translation: X:528.97, Y:8.54, Z:4.90 [[ 9.97620104e-01 -6.77287743e-02 -1.29205459e-02 5.28965216e+02] [ 6.77281818e-02 9.97703693e-01 -4.83916550e-04 8.54295574e+00] [ 1.29236514e-02 -3.92320201e-04 9.99916409e-01 4.90483630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.439254154 meters Centerline goodness [0,1] 0.9994761106454317 Centerline is valid? [True, True] Translation: X:529.00, Y:8.53, Z:4.90 [[ 9.97685710e-01 -6.70960458e-02 -1.10156500e-02 5.28995546e+02] [ 6.70955801e-02 9.97746467e-01 -4.12249931e-04 8.53458256e+00] [ 1.10184862e-02 -3.27805560e-04 9.99939241e-01 4.90397225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4692541539999 meters Centerline goodness [0,1] 0.9996228312798592 Centerline is valid? [True, True] Translation: X:529.03, Y:8.55, Z:4.91 [[ 9.97759821e-01 -6.58519348e-02 -1.17840256e-02 5.29027115e+02] [ 6.58513194e-02 9.97829349e-01 -4.40646845e-04 8.54529421e+00] [ 1.17874640e-02 -3.36333917e-04 9.99930469e-01 4.90507096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4992541539999 meters Centerline goodness [0,1] 0.999707125224886 Centerline is valid? [True, True] Translation: X:529.06, Y:8.54, Z:4.90 [[ 9.97752230e-01 -6.64253328e-02 -8.84092451e-03 5.29057859e+02] [ 6.64250132e-02 9.97791365e-01 -3.30099324e-04 8.54487004e+00] [ 8.84332510e-03 -2.57901191e-04 9.99960864e-01 4.90462607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5292541539999 meters Centerline goodness [0,1] 0.999811538058842 Centerline is valid? [True, True] Translation: X:529.09, Y:8.54, Z:4.90 [[ 9.97722582e-01 -6.69235350e-02 -8.41961416e-03 5.29089455e+02] [ 6.69232648e-02 9.97758076e-01 -3.14144779e-04 8.54462989e+00] [ 8.42176170e-03 -2.50038728e-04 9.99964505e-01 4.90499853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.559254154 meters Centerline goodness [0,1] 0.9995813797722706 Centerline is valid? [True, True] Translation: X:529.12, Y:8.54, Z:4.91 [[ 9.97610625e-01 -6.86312183e-02 -7.92437963e-03 5.29120471e+02] [ 6.86310396e-02 9.97642067e-01 -2.94802815e-04 8.54321914e+00] [ 7.92592714e-03 -2.49759991e-04 9.99968558e-01 4.90557035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.589254154 meters Centerline goodness [0,1] 0.9997071190979269 Centerline is valid? [True, True] Translation: X:529.15, Y:8.53, Z:4.91 [[ 9.97523011e-01 -7.00264513e-02 -6.64364075e-03 5.29151527e+02] [ 7.00263587e-02 9.97545111e-01 -2.46834057e-04 8.53248580e+00] [ 6.64461626e-03 -2.19007318e-04 9.99977900e-01 4.90647048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6192541539999 meters Centerline goodness [0,1] 0.999707962201965 Centerline is valid? [True, True] Translation: X:529.18, Y:8.53, Z:4.91 [[ 9.97458961e-01 -7.09179808e-02 -6.80151262e-03 5.29181772e+02] [ 7.09179059e-02 9.97482124e-01 -2.52480556e-04 8.53119929e+00] [ 6.80229267e-03 -2.30510039e-04 9.99976838e-01 4.90626881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6492541539999 meters Centerline goodness [0,1] 0.9998327759197324 Centerline is valid? [True, True] Translation: X:529.21, Y:8.54, Z:4.91 [[ 9.97408583e-01 -7.16831458e-02 -6.13553772e-03 5.29213628e+02] [ 7.16831003e-02 9.97427432e-01 -2.27600606e-04 8.54200969e+00] [ 6.13606875e-03 -2.12803568e-04 9.99981152e-01 4.90517731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.679254154 meters Centerline goodness [0,1] 0.9995816162165554 Centerline is valid? [True, True] Translation: X:529.25, Y:8.53, Z:4.91 [[ 9.97384028e-01 -7.20362345e-02 -5.99016392e-03 5.29245312e+02] [ 7.20361990e-02 9.97401994e-01 -2.21951932e-04 8.53098121e+00] [ 5.99059001e-03 -2.10137328e-04 9.99982034e-01 4.90570600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.709254154 meters Centerline goodness [0,1] 0.9994353590698063 Centerline is valid? [True, True] Translation: X:529.28, Y:8.53, Z:4.90 [[ 9.97380185e-01 -7.19979834e-02 -7.00406124e-03 5.29275464e+02] [ 7.19979422e-02 9.97404747e-01 -2.58340903e-04 8.53158662e+00] [ 7.00448395e-03 -2.46613899e-04 9.99975438e-01 4.90486883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7392541539999 meters Centerline goodness [0,1] 0.9996236671545056 Centerline is valid? [True, True] Translation: X:529.31, Y:8.53, Z:4.91 [[ 9.97362866e-01 -7.23347043e-02 -5.91650977e-03 5.29306313e+02] [ 7.23346812e-02 9.97380392e-01 -2.18161881e-04 8.53258975e+00] [ 5.91679151e-03 -2.10382289e-04 9.99982474e-01 4.90524103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7692541539999 meters Centerline goodness [0,1] 0.999121541067955 Centerline is valid? [True, True] Translation: X:529.34, Y:8.53, Z:4.91 [[ 9.97389069e-01 -7.19920547e-02 -5.67349817e-03 5.29338020e+02] [ 7.19920281e-02 9.97405186e-01 -2.09177533e-04 8.53444015e+00] [ 5.67383562e-03 -1.99815255e-04 9.99983884e-01 4.90525939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.799254154 meters Centerline goodness [0,1] 0.9995621898845015 Centerline is valid? [True, True] Translation: X:529.37, Y:8.54, Z:4.91 [[ 9.97531777e-01 -7.00254958e-02 -5.17525677e-03 5.29368360e+02] [ 7.00254472e-02 9.97545187e-01 -1.90822726e-04 8.53811978e+00] [ 5.17591494e-03 -1.72047936e-04 9.99986590e-01 4.90596015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.829254154 meters Centerline goodness [0,1] 0.9995402971352153 Centerline is valid? [True, True] Translation: X:529.40, Y:8.56, Z:4.90 [[ 9.97649558e-01 -6.83602039e-02 -4.71619880e-03 5.29399640e+02] [ 6.83601458e-02 9.97660694e-01 -1.73714514e-04 8.55912598e+00] [ 4.71704133e-03 -1.49093829e-04 9.99988864e-01 4.90425856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8592541539999 meters Centerline goodness [0,1] 0.9995822367046832 Centerline is valid? [True, True] Translation: X:529.43, Y:8.56, Z:4.91 [[ 9.97816392e-01 -6.58946986e-02 -4.50950760e-03 5.29431521e+02] [ 6.58946217e-02 9.97826574e-01 -1.65794503e-04 8.56157858e+00] [ 4.51063149e-03 -1.31719824e-04 9.99989818e-01 4.90515219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8892541539999 meters Centerline goodness [0,1] 0.9996874869786241 Centerline is valid? [True, True] Translation: X:529.46, Y:8.57, Z:4.91 [[ 9.98057718e-01 -6.22472088e-02 -2.46504389e-03 5.29462648e+02] [ 6.22471750e-02 9.98060760e-01 -9.05062577e-05 8.56738541e+00] [ 2.46589734e-03 -6.31115490e-05 9.99996958e-01 4.90663163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.919254154 meters Centerline goodness [0,1] 0.9996667777407531 Centerline is valid? [True, True] Translation: X:529.49, Y:8.57, Z:4.91 [[ 9.98186892e-01 -6.01457350e-02 -2.32787374e-03 5.29493425e+02] [ 6.01456990e-02 9.98189605e-01 -8.55287731e-05 8.56877778e+00] [ 2.32880356e-03 -5.46378933e-05 9.99997287e-01 4.90793394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.949254154 meters Centerline goodness [0,1] 0.9995620163931007 Centerline is valid? [True, True] Translation: X:529.53, Y:8.58, Z:4.91 [[ 9.98306371e-01 -5.81181963e-02 -2.58162488e-03 5.29525539e+02] [ 5.81181455e-02 9.98309708e-01 -9.47847999e-05 8.57535585e+00] [ 2.58276990e-03 -5.54149805e-05 9.99996663e-01 4.90737329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9792541539999 meters Centerline goodness [0,1] 0.9996667152706897 Centerline is valid? [True, True] Translation: X:529.56, Y:8.58, Z:4.91 [[ 9.98426820e-01 -5.59869383e-02 -3.05749189e-03 5.29556319e+02] [ 5.59868584e-02 9.98431500e-01 -1.11783403e-04 8.57777968e+00] [ 3.05895463e-03 -5.95718183e-05 9.99995320e-01 4.90790879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0092541539999 meters Centerline goodness [0,1] 0.999415765972541 Centerline is valid? [True, True] Translation: X:529.59, Y:8.58, Z:4.91 [[ 9.98522269e-01 -5.42548539e-02 -3.11287069e-03 5.29588420e+02] [ 5.42547629e-02 9.98527119e-01 -1.13737156e-04 8.58184050e+00] [ 3.11445659e-03 -5.53189781e-05 9.99995149e-01 4.90733165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0392541539999 meters Centerline goodness [0,1] 0.9992912827781715 Centerline is valid? [True, True] Translation: X:529.62, Y:8.59, Z:4.91 [[ 9.98684931e-01 -5.11420514e-02 -3.59164596e-03 5.29620329e+02] [ 5.11419114e-02 9.98691388e-01 -1.30866624e-04 8.58639445e+00] [ 3.59363868e-03 -5.29891147e-05 9.99993541e-01 4.90714330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.069254154 meters Centerline goodness [0,1] 0.999083428809499 Centerline is valid? [True, True] Translation: X:529.65, Y:8.59, Z:4.91 [[ 9.98719773e-01 -5.04382893e-02 -3.84622820e-03 5.29651873e+02] [ 5.04381237e-02 9.98727178e-01 -1.40092745e-04 8.58819593e+00] [ 3.84839868e-03 -5.40831398e-05 9.99992593e-01 4.90738152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0992541539999 meters Centerline goodness [0,1] 0.998709731124615 Centerline is valid? [True, True] Translation: X:529.68, Y:8.59, Z:4.91 [[ 9.98740161e-01 -5.00360964e-02 -3.80517582e-03 5.29683603e+02] [ 5.00359343e-02 9.98747409e-01 -1.37844934e-04 8.59007604e+00] [ 3.80730671e-03 -5.27242555e-05 9.99992751e-01 4.90733416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1292541539999 meters Centerline goodness [0,1] 0.998814352574103 Centerline is valid? [True, True] Translation: X:529.72, Y:8.59, Z:4.91 [[ 9.98734811e-01 -5.01264113e-02 -4.01504959e-03 5.29715887e+02] [ 5.01262329e-02 9.98742880e-01 -1.45124479e-04 8.59157599e+00] [ 4.01727676e-03 -5.63184411e-05 9.99991929e-01 4.90746971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1592541539999 meters Centerline goodness [0,1] 0.9978953071601233 Centerline is valid? [True, True] Translation: X:529.75, Y:8.59, Z:4.91 [[ 9.98710407e-01 -5.05885623e-02 -4.28014430e-03 5.29747438e+02] [ 5.05883657e-02 9.98719577e-01 -1.54265915e-04 8.59238627e+00] [ 4.28246799e-03 -6.24585298e-05 9.99990828e-01 4.90776109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.189254154 meters Centerline goodness [0,1] 0.9984208776595744 Centerline is valid? [True, True] Translation: X:529.78, Y:8.59, Z:4.91 [[ 9.98624786e-01 -5.22373838e-02 -4.44883609e-03 5.29779071e+02] [ 5.22371888e-02 9.98634693e-01 -1.60087725e-04 8.59331605e+00] [ 4.45112462e-03 -7.25271209e-05 9.99990091e-01 4.90815202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2192541539999 meters Centerline goodness [0,1] 0.998437727831358 Centerline is valid? [True, True] Translation: X:529.81, Y:8.59, Z:4.91 [[ 9.98581440e-01 -5.30819831e-02 -4.17264530e-03 5.29811467e+02] [ 5.30818194e-02 9.98590155e-01 -1.50051098e-04 8.59404486e+00] [ 4.17472753e-03 -7.16533630e-05 9.99991283e-01 4.90876884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2492541539999 meters Centerline goodness [0,1] 0.9978621391062497 Centerline is valid? [True, True] Translation: X:529.84, Y:8.59, Z:4.91 [[ 9.98526708e-01 -5.41133401e-02 -4.02004842e-03 5.29842331e+02] [ 5.41131980e-02 9.98534797e-01 -1.44211392e-04 8.59407363e+00] [ 4.02196200e-03 -7.35387502e-05 9.99991909e-01 4.90912094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2792541539999 meters Centerline goodness [0,1] 0.9979811434636918 Centerline is valid? [True, True] Translation: X:529.87, Y:8.59, Z:4.91 [[ 9.98438830e-01 -5.57234173e-02 -3.84744311e-03 5.29874404e+02] [ 5.57232994e-02 9.98446240e-01 -1.37930821e-04 8.59362986e+00] [ 3.84915109e-03 -7.66767373e-05 9.99992589e-01 4.90904813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.309254154 meters Centerline goodness [0,1] 0.9981061394380853 Centerline is valid? [True, True] Translation: X:529.91, Y:8.59, Z:4.91 [[ 9.98351491e-01 -5.72459774e-02 -4.14719880e-03 5.29906738e+02] [ 5.72458549e-02 9.98360100e-01 -1.48339603e-04 8.59370748e+00] [ 4.14888965e-03 -8.93148766e-05 9.99991389e-01 4.90928720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.339254154 meters Centerline goodness [0,1] 0.9980639923392385 Centerline is valid? [True, True] Translation: X:529.94, Y:8.60, Z:4.91 [[ 9.98301127e-01 -5.80975866e-02 -4.41938232e-03 5.29938580e+02] [ 5.80974572e-02 9.98310904e-01 -1.57762231e-04 8.59783477e+00] [ 4.42108317e-03 -9.92606622e-05 9.99990222e-01 4.90836325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3692541539999 meters Centerline goodness [0,1] 0.9985203709492549 Centerline is valid? [True, True] Translation: X:529.97, Y:8.60, Z:4.91 [[ 9.98243846e-01 -5.90365175e-02 -4.89010677e-03 5.29970488e+02] [ 5.90363724e-02 9.98255817e-01 -1.74129069e-04 8.59847818e+00] [ 4.89185750e-03 -1.14870892e-04 9.99988028e-01 4.90826992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3992541539999 meters Centerline goodness [0,1] 0.9982333257123854 Centerline is valid? [True, True] Translation: X:530.00, Y:8.60, Z:4.91 [[ 9.98138821e-01 -6.08263216e-02 -4.36482978e-03 5.30002783e+02] [ 6.08262242e-02 9.98148359e-01 -1.55173900e-04 8.59834516e+00] [ 4.36618634e-03 -1.10611021e-04 9.99990462e-01 4.90888298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.429254154 meters Centerline goodness [0,1] 0.9982333624308933 Centerline is valid? [True, True] Translation: X:530.04, Y:8.60, Z:4.91 [[ 9.98089015e-01 -6.16666866e-02 -3.94188895e-03 5.30035329e+02] [ 6.16666146e-02 9.98096793e-01 -1.39915664e-04 8.59934382e+00] [ 3.94301485e-03 -1.03434659e-04 9.99992221e-01 4.90941245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.459254154 meters Centerline goodness [0,1] 0.9981289759261569 Centerline is valid? [True, True] Translation: X:530.07, Y:8.60, Z:4.91 [[ 9.98081828e-01 -6.18230626e-02 -3.25174097e-03 5.30066777e+02] [ 6.18230152e-02 9.98087121e-01 -1.15183765e-04 8.59930276e+00] [ 3.25264180e-03 -8.60696087e-05 9.99994706e-01 4.90969587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4892541539999 meters Centerline goodness [0,1] 0.9983930881923285 Centerline is valid? [True, True] Translation: X:530.10, Y:8.60, Z:4.91 [[ 9.98081855e-01 -6.18719139e-02 -2.11576274e-03 5.30098537e+02] [ 6.18718935e-02 9.98084096e-01 -7.51474586e-05 8.60108107e+00] [ 2.11635866e-03 -5.59029322e-05 9.99997759e-01 4.90932815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5192541539999 meters Centerline goodness [0,1] 0.9982952891771651 Centerline is valid? [True, True] Translation: X:530.13, Y:8.60, Z:4.91 [[ 9.98065971e-01 -6.20993208e-02 -2.82698272e-03 5.30130057e+02] [ 6.20992862e-02 9.98069972e-01 -1.00083352e-04 8.60180373e+00] [ 2.82774167e-03 -7.56638209e-05 9.99995999e-01 4.91091462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.549254154 meters Centerline goodness [0,1] 0.9980830138356392 Centerline is valid? [True, True] Translation: X:530.16, Y:8.60, Z:4.91 [[ 9.98122550e-01 -6.11903196e-02 -2.66822098e-03 5.30162514e+02] [ 6.11902865e-02 9.98126114e-01 -9.41389910e-05 8.60481661e+00] [ 2.66898144e-03 -6.93069564e-05 9.99996436e-01 4.91048067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.579254154 meters Centerline goodness [0,1] 0.9984560495733272 Centerline is valid? [True, True] Translation: X:530.19, Y:8.61, Z:4.91 [[ 9.98257182e-01 -5.89848337e-02 -1.84060444e-03 5.30194239e+02] [ 5.89848140e-02 9.98258878e-01 -6.50136532e-05 8.60671437e+00] [ 1.84123454e-03 -4.36673640e-05 9.99998304e-01 4.90937919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6092541539999 meters Centerline goodness [0,1] 0.9983576225026507 Centerline is valid? [True, True] Translation: X:530.22, Y:8.61, Z:4.91 [[ 9.98488579e-01 -5.49355802e-02 -1.62455610e-03 5.30224865e+02] [ 5.49355600e-02 9.98489900e-01 -5.70576603e-05 8.60999822e+00] [ 1.62523736e-03 -3.22744771e-05 9.99998679e-01 4.90829237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6392541539999 meters Centerline goodness [0,1] 0.9988306291632734 Centerline is valid? [True, True] Translation: X:530.26, Y:8.61, Z:4.91 [[ 9.98531961e-01 -5.40872667e-02 -2.91397019e-03 5.30256047e+02] [ 5.40871991e-02 9.98536211e-01 -1.02076471e-04 8.61260995e+00] [ 2.91522579e-03 -5.56818665e-05 9.99995749e-01 4.90964250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.669254154 meters Centerline goodness [0,1] 0.9989589406179729 Centerline is valid? [True, True] Translation: X:530.29, Y:8.62, Z:4.91 [[ 9.98636200e-01 -5.21041971e-02 -3.30037191e-03 5.30288672e+02] [ 5.21040993e-02 9.98641652e-01 -1.15674306e-04 8.61588281e+00] [ 3.30191598e-03 -5.64463563e-05 9.99994547e-01 4.90957029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.699254154 meters Centerline goodness [0,1] 0.9990430223849547 Centerline is valid? [True, True] Translation: X:530.32, Y:8.62, Z:4.91 [[ 9.98746699e-01 -4.99542800e-02 -3.09856482e-03 5.30320619e+02] [ 4.99541848e-02 9.98751505e-01 -1.08143133e-04 8.61899905e+00] [ 3.10009849e-03 -4.67786826e-05 9.99995194e-01 4.90840023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7292541539999 meters Centerline goodness [0,1] 0.9987900786448881 Centerline is valid? [True, True] Translation: X:530.35, Y:8.62, Z:4.91 [[ 9.98822302e-01 -4.84245963e-02 -3.01129192e-03 5.30351467e+02] [ 4.84245004e-02 9.98826840e-01 -1.04776433e-04 8.62072003e+00] [ 3.01283295e-03 -4.11672681e-05 9.99995461e-01 4.90746890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7592541539999 meters Centerline goodness [0,1] 0.9989999583315972 Centerline is valid? [True, True] Translation: X:530.38, Y:8.62, Z:4.91 [[ 9.98818910e-01 -4.84200028e-02 -4.03597929e-03 5.30382300e+02] [ 4.84198322e-02 9.98827062e-01 -1.40032071e-04 8.62198446e+00] [ 4.03802569e-03 -5.55547592e-05 9.99991846e-01 4.90739068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7892541539999 meters Centerline goodness [0,1] 0.9989153108051732 Centerline is valid? [True, True] Translation: X:530.41, Y:8.62, Z:4.91 [[ 9.98720673e-01 -5.03361790e-02 -4.82556038e-03 5.30413252e+02] [ 5.03359592e-02 9.98732328e-01 -1.67063267e-04 8.62137405e+00] [ 4.82785248e-03 -7.60496717e-05 9.99988343e-01 4.90945073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.819254154 meters Centerline goodness [0,1] 0.9988522777070595 Centerline is valid? [True, True] Translation: X:530.45, Y:8.62, Z:4.91 [[ 9.98711284e-01 -5.05566537e-02 -4.44927720e-03 5.30445574e+02] [ 5.05564694e-02 9.98721192e-01 -1.53946953e-04 8.62399110e+00] [ 4.45137048e-03 -7.11911883e-05 9.99990090e-01 4.90740244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8492541539999 meters Centerline goodness [0,1] 0.9988522777070595 Centerline is valid? [True, True] Translation: X:530.48, Y:8.63, Z:4.91 [[ 9.98715094e-01 -5.04813269e-02 -4.44928879e-03 5.30477246e+02] [ 5.04811434e-02 9.98725002e-01 -1.53611061e-04 8.62502554e+00] [ 4.45137044e-03 -7.11915004e-05 9.99990090e-01 4.90769917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8792541539999 meters Centerline goodness [0,1] 0.9989768432482095 Centerline is valid? [True, True] Translation: X:530.51, Y:8.62, Z:4.91 [[ 9.98616455e-01 -5.23843495e-02 -4.58872565e-03 5.30508201e+02] [ 5.23841765e-02 9.98626994e-01 -1.57964537e-04 8.62417361e+00] [ 4.59070017e-03 -8.26306283e-05 9.99989459e-01 4.90875564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9092541539999 meters Centerline goodness [0,1] 0.9987902300648687 Centerline is valid? [True, True] Translation: X:530.54, Y:8.62, Z:4.91 [[ 9.98529766e-01 -5.40312028e-02 -4.35149513e-03 5.30540501e+02] [ 5.40310635e-02 9.98539244e-01 -1.49665739e-04 8.62382390e+00] [ 4.35322528e-03 -8.56702145e-05 9.99990521e-01 4.90892038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.939254154 meters Centerline goodness [0,1] 0.998959958398336 Centerline is valid? [True, True] Translation: X:530.57, Y:8.62, Z:4.91 [[ 9.98272079e-01 -5.85472512e-02 -5.00761827e-03 5.30572365e+02] [ 5.85471261e-02 9.98284631e-01 -1.71681764e-04 8.62243050e+00] [ 5.00907986e-03 -1.21796547e-04 9.99987447e-01 4.91201025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9692541539999 meters Centerline goodness [0,1] 0.998833649220003 Centerline is valid? [True, True] Translation: X:530.60, Y:8.62, Z:4.91 [[ 9.98196352e-01 -5.98613131e-02 -4.54589332e-03 5.30604100e+02] [ 5.98612233e-02 9.98206697e-01 -1.55935185e-04 8.62198776e+00] [ 4.54707564e-03 -1.16468802e-04 9.99989655e-01 4.91183149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9992541539999 meters Centerline goodness [0,1] 0.9988754451363002 Centerline is valid? [True, True] Translation: X:530.64, Y:8.62, Z:4.91 [[ 9.97977224e-01 -6.33803002e-02 -4.93951840e-03 5.30636498e+02] [ 6.33802414e-02 9.97989437e-01 -1.68603941e-04 8.62134469e+00] [ 4.94027336e-03 -1.44804976e-04 9.99987786e-01 4.91343199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0292541539999 meters Centerline goodness [0,1] 0.9987084678679304 Centerline is valid? [True, True] Translation: X:530.67, Y:8.62, Z:4.91 [[ 9.97934275e-01 -6.40907477e-02 -4.42246456e-03 5.30668291e+02] [ 6.40907078e-02 9.97944066e-01 -1.50886389e-04 8.62077889e+00] [ 4.42304269e-03 -1.32864185e-04 9.99990209e-01 4.91168333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.059254154 meters Centerline goodness [0,1] 0.998713399323497 Centerline is valid? [True, True] Translation: X:530.70, Y:8.62, Z:4.91 [[ 9.97791425e-01 -6.61793900e-02 -5.70620673e-03 5.30699889e+02] [ 6.61793642e-02 9.97807724e-01 -1.93539122e-04 8.61937871e+00] [ 5.70650545e-03 -1.84521457e-04 9.99983701e-01 4.91429141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.089254154 meters Centerline goodness [0,1] 0.9987094356903479 Centerline is valid? [True, True] Translation: X:530.73, Y:8.62, Z:4.91 [[ 9.97733383e-01 -6.70559818e-02 -5.62073102e-03 5.30731659e+02] [ 6.70559720e-02 9.97749197e-01 -1.90409889e-04 8.62028663e+00] [ 5.62084798e-03 -1.86925279e-04 9.99984185e-01 4.91232480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1192541539999 meters Centerline goodness [0,1] 0.9986029733730896 Centerline is valid? [True, True] Translation: X:530.76, Y:8.62, Z:4.91 [[ 9.97602816e-01 -6.88499691e-02 -6.95007299e-03 5.30762459e+02] [ 6.88500029e-02 9.97626995e-01 -2.34675620e-04 8.61857290e+00] [ 6.94973785e-03 -2.44399486e-04 9.99975820e-01 4.91324233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1492541539999 meters Centerline goodness [0,1] 0.9987722656900283 Centerline is valid? [True, True] Translation: X:530.79, Y:8.62, Z:4.91 [[ 9.97585256e-01 -6.90523122e-02 -7.44547313e-03 5.30794834e+02] [ 6.90523583e-02 9.97613005e-01 -2.51175146e-04 8.62209907e+00] [ 7.44504505e-03 -2.63558856e-04 9.99972251e-01 4.91424888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.179254154 meters Centerline goodness [0,1] 0.9986476083473774 Centerline is valid? [True, True] Translation: X:530.83, Y:8.62, Z:4.91 [[ 9.97649691e-01 -6.80645716e-02 -7.89355456e-03 5.30826514e+02] [ 6.80645975e-02 9.97680881e-01 -2.65667085e-04 8.62130856e+00] [ 7.89333098e-03 -2.72228928e-04 9.99968810e-01 4.91468461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.209254154 meters Centerline goodness [0,1] 0.998750416527824 Centerline is valid? [True, True] Translation: X:530.86, Y:8.62, Z:4.92 [[ 9.97747445e-01 -6.66180211e-02 -7.87874007e-03 5.30858515e+02] [ 6.66180065e-02 9.97778518e-01 -2.64589951e-04 8.62309962e+00] [ 7.87886405e-03 -2.60872009e-04 9.99968927e-01 4.91513778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2392541539999 meters Centerline goodness [0,1] 0.9988964540779145 Centerline is valid? [True, True] Translation: X:530.89, Y:8.63, Z:4.91 [[ 9.97901959e-01 -6.42170705e-02 -8.23704169e-03 5.30890800e+02] [ 6.42169777e-02 9.97935922e-01 -2.76014200e-04 8.62664328e+00] [ 8.23776461e-03 -2.53522812e-04 9.99966037e-01 4.91404506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2692541539999 meters Centerline goodness [0,1] 0.9988112865216575 Centerline is valid? [True, True] Translation: X:530.92, Y:8.63, Z:4.92 [[ 9.98206432e-01 -5.91349202e-02 -9.32635498e-03 5.30921460e+02] [ 5.91345867e-02 9.98249970e-01 -3.11758384e-04 8.63178982e+00] [ 9.32846939e-03 -2.40310923e-04 9.99956460e-01 4.91527264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.299254154 meters Centerline goodness [0,1] 0.9990202209714405 Centerline is valid? [True, True] Translation: X:530.95, Y:8.63, Z:4.91 [[ 9.98380238e-01 -5.60237080e-02 -9.91185312e-03 5.30952588e+02] [ 5.60231817e-02 9.98429413e-01 -3.30956252e-04 8.63480918e+00] [ 9.91482709e-03 -2.24873367e-04 9.99950822e-01 4.91418040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.329254154 meters Centerline goodness [0,1] 0.9991654322017985 Centerline is valid? [True, True] Translation: X:530.98, Y:8.64, Z:4.92 [[ 9.98643891e-01 -5.11301967e-02 -9.80212855e-03 5.30983354e+02] [ 5.11294497e-02 9.98691981e-01 -3.26951230e-04 8.64178832e+00] [ 9.80602426e-03 -1.74669590e-04 9.99951905e-01 4.91657650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3592541539999 meters Centerline goodness [0,1] 0.9991266738750728 Centerline is valid? [True, True] Translation: X:531.01, Y:8.64, Z:4.92 [[ 9.98749310e-01 -4.90385569e-02 -9.74857901e-03 5.31014587e+02] [ 4.90377222e-02 9.98796874e-01 -3.24778931e-04 8.64397202e+00] [ 9.75277694e-03 -1.53675376e-04 9.99952429e-01 4.91710654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3892541539999 meters Centerline goodness [0,1] 0.9989583333333333 Centerline is valid? [True, True] Translation: X:531.05, Y:8.65, Z:4.91 [[ 9.98850778e-01 -4.67682010e-02 -1.04813655e-02 5.31045519e+02] [ 4.67671247e-02 9.98905759e-01 -3.47896734e-04 8.64526467e+00] [ 1.04861668e-02 -1.42686404e-04 9.99945008e-01 4.91455906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4192541539999 meters Centerline goodness [0,1] 0.9993734597552316 Centerline is valid? [True, True] Translation: X:531.08, Y:8.65, Z:4.92 [[ 9.98878157e-01 -4.62355874e-02 -1.02322191e-02 5.31077982e+02] [ 4.62345393e-02 9.98930554e-01 -3.39083764e-04 8.64863578e+00] [ 1.02369540e-02 -1.34378571e-04 9.99947592e-01 4.91762344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.449254154 meters Centerline goodness [0,1] 0.9990411472881144 Centerline is valid? [True, True] Translation: X:531.11, Y:8.65, Z:4.92 [[ 9.98855807e-01 -4.64182988e-02 -1.15073227e-02 5.31108911e+02] [ 4.64169953e-02 9.98922078e-01 -3.80468281e-04 8.64739270e+00] [ 1.15125794e-02 -1.54102394e-04 9.99933716e-01 4.91628846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4792541539999 meters Centerline goodness [0,1] 0.9989384730663559 Centerline is valid? [True, True] Translation: X:531.14, Y:8.65, Z:4.92 [[ 9.98785811e-01 -4.77984115e-02 -1.19254227e-02 5.31140651e+02] [ 4.77971177e-02 9.98856987e-01 -3.93641034e-04 8.64694916e+00] [ 1.19306072e-02 -1.76837752e-04 9.99928812e-01 4.91537525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5092541539999 meters Centerline goodness [0,1] 0.9993121990871006 Centerline is valid? [True, True] Translation: X:531.17, Y:8.65, Z:4.92 [[ 9.98653251e-01 -5.04835662e-02 -1.19621920e-02 5.31173197e+02] [ 5.04824650e-02 9.98724870e-01 -3.94181748e-04 8.64870333e+00] [ 1.19668384e-02 -2.10230056e-04 9.99928373e-01 4.91881514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5392541539999 meters Centerline goodness [0,1] 0.9991043905690244 Centerline is valid? [True, True] Translation: X:531.20, Y:8.65, Z:4.92 [[ 9.98500726e-01 -5.33364393e-02 -1.23095486e-02 5.31203589e+02] [ 5.33354993e-02 9.98576567e-01 -4.04868425e-04 8.64744174e+00] [ 1.23136211e-02 -2.52274506e-04 9.99924153e-01 4.91917837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.569254154 meters Centerline goodness [0,1] 0.9991445144597921 Centerline is valid? [True, True] Translation: X:531.23, Y:8.64, Z:4.92 [[ 9.98096913e-01 -6.03785817e-02 -1.25291316e-02 5.31234725e+02] [ 6.03781649e-02 9.98175489e-01 -4.11860436e-04 8.64305395e+00] [ 1.25311396e-02 -3.45409347e-04 9.99921423e-01 4.91976645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5992541539999 meters Centerline goodness [0,1] 0.9992915043030695 Centerline is valid? [True, True] Translation: X:531.27, Y:8.64, Z:4.92 [[ 9.97868923e-01 -6.40226362e-02 -1.25981688e-02 5.31265314e+02] [ 6.40225092e-02 9.97948369e-01 -4.13792113e-04 8.64004810e+00] [ 1.25988140e-02 -3.93656086e-04 9.99920554e-01 4.92005490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6292541539999 meters Centerline goodness [0,1] 0.9988523735002608 Centerline is valid? [True, True] Translation: X:531.30, Y:8.64, Z:4.92 [[ 9.97617128e-01 -6.77589838e-02 -1.29917797e-02 5.31296523e+02] [ 6.77591733e-02 9.97701615e-01 -4.26091774e-04 8.63810877e+00] [ 1.29907912e-02 -4.55235801e-04 9.99915512e-01 4.91995316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6592541539999 meters Centerline goodness [0,1] 0.9988724865846783 Centerline is valid? [True, True] Translation: X:531.33, Y:8.63, Z:4.92 [[ 9.97156457e-01 -7.38995420e-02 -1.47600390e-02 5.31327584e+02] [ 7.39004642e-02 9.97265505e-01 -4.83676197e-04 8.63381693e+00] [ 1.47554212e-02 -6.08472892e-04 9.99890948e-01 4.91765129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.689254154 meters Centerline goodness [0,1] 0.9991021652433549 Centerline is valid? [True, True] Translation: X:531.36, Y:8.63, Z:4.92 [[ 9.96934432e-01 -7.70259423e-02 -1.37383864e-02 5.31357395e+02] [ 7.70270380e-02 9.97028903e-01 -4.50151454e-04 8.63241959e+00] [ 1.37322417e-02 -6.09455729e-04 9.99905523e-01 4.91984602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7192541539999 meters Centerline goodness [0,1] 0.9989124751646973 Centerline is valid? [True, True] Translation: X:531.39, Y:8.63, Z:4.92 [[ 9.96731111e-01 -7.95893076e-02 -1.38792999e-02 5.31387405e+02] [ 7.95906739e-02 9.96827527e-01 -4.54768620e-04 8.63077910e+00] [ 1.38714629e-02 -6.51380801e-04 9.99903574e-01 4.91990615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7492541539999 meters Centerline goodness [0,1] 0.9987253426947509 Centerline is valid? [True, True] Translation: X:531.42, Y:8.63, Z:4.92 [[ 9.96546135e-01 -8.18654118e-02 -1.39232214e-02 5.31418485e+02] [ 8.18670094e-02 9.96643158e-01 -4.56127941e-04 8.62979657e+00] [ 1.39138244e-02 -6.85299959e-04 9.99902963e-01 4.92001646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7792541539999 meters Centerline goodness [0,1] 0.9988929041422095 Centerline is valid? [True, True] Translation: X:531.45, Y:8.63, Z:4.92 [[ 9.96333965e-01 -8.44692521e-02 -1.35490390e-02 5.31449828e+02] [ 8.44710092e-02 9.96425839e-01 -4.43564062e-04 8.62894441e+00] [ 1.35380800e-02 -7.02563054e-04 9.99908109e-01 4.92031462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.809254154 meters Centerline goodness [0,1] 0.998642240929125 Centerline is valid? [True, True] Translation: X:531.48, Y:8.63, Z:4.92 [[ 9.95916740e-01 -8.93533403e-02 -1.28773856e-02 5.31479861e+02] [ 8.93553378e-02 9.95999722e-01 -4.21314132e-04 8.62543521e+00] [ 1.28635183e-02 -7.31069346e-04 9.99916994e-01 4.92096137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.839254154 meters Centerline goodness [0,1] 0.998768292937517 Centerline is valid? [True, True] Translation: X:531.51, Y:8.63, Z:4.92 [[ 9.95721115e-01 -9.15474228e-02 -1.25908671e-02 5.31510571e+02] [ 9.15495061e-02 9.95800441e-01 -4.12012289e-04 8.62537076e+00] [ 1.25757097e-02 -7.42438331e-04 9.99920647e-01 4.92148372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8692541539999 meters Centerline goodness [0,1] 0.9986020697713236 Centerline is valid? [True, True] Translation: X:531.54, Y:8.62, Z:4.92 [[ 9.95544908e-01 -9.32962178e-02 -1.36437175e-02 5.31540749e+02] [ 9.32988312e-02 9.95638051e-01 -4.46217304e-04 8.62419606e+00] [ 1.36258347e-02 -8.28713531e-04 9.99906821e-01 4.92035265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8992541539999 meters Centerline goodness [0,1] 0.998536636354134 Centerline is valid? [True, True] Translation: X:531.57, Y:8.62, Z:4.92 [[ 9.95354237e-01 -9.52944512e-02 -1.37444796e-02 5.31571742e+02] [ 9.52972963e-02 9.95448755e-01 -4.49277723e-04 8.62458268e+00] [ 1.37247387e-02 -8.62621256e-04 9.99905439e-01 4.92049078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.929254154 meters Centerline goodness [0,1] 0.9987255557412669 Centerline is valid? [True, True] Translation: X:531.60, Y:8.64, Z:4.92 [[ 9.95073921e-01 -9.81853185e-02 -1.36943601e-02 5.31602318e+02] [ 9.81884201e-02 9.95167742e-01 -4.47301381e-04 8.63842297e+00] [ 1.36721039e-02 -8.99529647e-04 9.99906128e-01 4.92253513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.959254154 meters Centerline goodness [0,1] 0.99854254721106 Centerline is valid? [True, True] Translation: X:531.63, Y:8.64, Z:4.92 [[ 9.94975890e-01 -9.91083575e-02 -1.41602182e-02 5.31633828e+02] [ 9.91117764e-02 9.95076199e-01 -4.61847074e-04 8.63606091e+00] [ 1.41362690e-02 -9.43917675e-04 9.99899632e-01 4.92206445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9892541539999 meters Centerline goodness [0,1] 0.9984587507550039 Centerline is valid? [True, True] Translation: X:531.67, Y:8.64, Z:4.92 [[ 9.94951862e-01 -9.92991707e-02 -1.45074488e-02 5.31665925e+02] [ 9.93027927e-02 9.95057150e-01 -4.72259627e-04 8.64123047e+00] [ 1.44826356e-02 -9.70754580e-04 9.99894650e-01 4.92236945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0192541539999 meters Centerline goodness [0,1] 0.9984775808133473 Centerline is valid? [True, True] Translation: X:531.70, Y:8.63, Z:4.92 [[ 9.94993832e-01 -9.88564561e-02 -1.46518143e-02 5.31697266e+02] [ 9.88601172e-02 9.95101226e-01 -4.75973861e-04 8.62997505e+00] [ 1.46270915e-02 -9.74889025e-04 9.99892543e-01 4.92134909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.049254154 meters Centerline goodness [0,1] 0.9986415315164688 Centerline is valid? [True, True] Translation: X:531.73, Y:8.65, Z:4.92 [[ 9.95105992e-01 -9.74961146e-02 -1.60801669e-02 5.31728935e+02] [ 9.75003645e-02 9.95235353e-01 -5.21326101e-04 8.64867116e+00] [ 1.60543778e-02 -1.04904741e-03 9.99870570e-01 4.92159070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.079254154 meters Centerline goodness [0,1] 0.9986235375086029 Centerline is valid? [True, True] Translation: X:531.76, Y:8.65, Z:4.92 [[ 9.95216660e-01 -9.64113123e-02 -1.57689380e-02 5.31760710e+02] [ 9.64152793e-02 9.95341064e-01 -5.10240320e-04 8.65250901e+00] [ 1.57446645e-02 -1.01256689e-03 9.99875532e-01 4.92252675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1092541539999 meters Centerline goodness [0,1] 0.9987684986119518 Centerline is valid? [True, True] Translation: X:531.79, Y:8.66, Z:4.92 [[ 9.95348471e-01 -9.51311261e-02 -1.52147677e-02 5.31790884e+02] [ 9.51346788e-02 9.95464289e-01 -4.91737527e-04 8.65617191e+00] [ 1.51925375e-02 -9.58001843e-04 9.99884128e-01 4.92310666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1392541539999 meters Centerline goodness [0,1] 0.9987488009342287 Centerline is valid? [True, True] Translation: X:531.82, Y:8.66, Z:4.92 [[ 9.95473051e-01 -9.38398516e-02 -1.50826490e-02 5.31821959e+02] [ 9.38432008e-02 9.95586870e-01 -4.87098383e-04 8.66129279e+00] [ 1.50617965e-02 -9.30510741e-04 9.99886132e-01 4.92374871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1692541539999 meters Centerline goodness [0,1] 0.998795330868608 Centerline is valid? [True, True] Translation: X:531.85, Y:8.67, Z:4.92 [[ 9.95751480e-01 -9.09425484e-02 -1.44375836e-02 5.31851572e+02] [ 9.09453183e-02 9.95855779e-01 -4.65945181e-04 8.66868980e+00] [ 1.44201253e-02 -8.49065035e-04 9.99895664e-01 4.92440574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.199254154 meters Centerline goodness [0,1] 0.9989384951607868 Centerline is valid? [True, True] Translation: X:531.88, Y:8.68, Z:4.93 [[ 9.95849750e-01 -8.97913892e-02 -1.48587148e-02 5.31883704e+02] [ 8.97942015e-02 9.95960226e-01 -4.79122460e-04 8.68088307e+00] [ 1.48417100e-02 -8.57092447e-04 9.99889488e-01 4.92540878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2292541539999 meters Centerline goodness [0,1] 0.9990422054261144 Centerline is valid? [True, True] Translation: X:531.92, Y:8.69, Z:4.93 [[ 9.95938916e-01 -8.87523756e-02 -1.51225642e-02 5.31915788e+02] [ 8.87551867e-02 9.96053352e-01 -4.86477464e-04 8.68576347e+00] [ 1.51060568e-02 -8.57704172e-04 9.99885529e-01 4.92556590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2592541539999 meters Centerline goodness [0,1] 0.9988574040219378 Centerline is valid? [True, True] Translation: X:531.95, Y:8.69, Z:4.93 [[ 9.96081380e-01 -8.71864701e-02 -1.48460262e-02 5.31946808e+02] [ 8.71890281e-02 9.96191672e-01 -4.76089496e-04 8.68920940e+00] [ 1.48309962e-02 -8.20186711e-04 9.99889678e-01 4.92554201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2892541539999 meters Centerline goodness [0,1] 0.9987121967431041 Centerline is valid? [True, True] Translation: X:531.98, Y:8.70, Z:4.93 [[ 9.96069260e-01 -8.72855875e-02 -1.50750123e-02 5.31979009e+02] [ 8.72882635e-02 9.96182979e-01 -4.81628993e-04 8.69505070e+00] [ 1.50595099e-02 -8.36135808e-04 9.99886250e-01 4.92592376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.319254154 meters Centerline goodness [0,1] 0.9986261734768219 Centerline is valid? [True, True] Translation: X:532.01, Y:8.70, Z:4.93 [[ 9.96063095e-01 -8.73816026e-02 -1.49253804e-02 5.32010677e+02] [ 8.73842528e-02 9.96174566e-01 -4.75752382e-04 8.69981144e+00] [ 1.49098564e-02 -8.30363827e-04 9.99888497e-01 4.92638551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3492541539999 meters Centerline goodness [0,1] 0.9984854143325449 Centerline is valid? [True, True] Translation: X:532.04, Y:8.70, Z:4.93 [[ 9.96030297e-01 -8.77170090e-02 -1.51450993e-02 5.32041285e+02] [ 8.77197903e-02 9.96145073e-01 -4.81837670e-04 8.70222298e+00] [ 1.51289814e-02 -8.48600018e-04 9.99885190e-01 4.92651863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3792541539999 meters Centerline goodness [0,1] 0.9986095834976239 Centerline is valid? [True, True] Translation: X:532.07, Y:8.71, Z:4.93 [[ 9.95933311e-01 -8.87904380e-02 -1.52675649e-02 5.32072948e+02] [ 8.87934005e-02 9.96049947e-01 -4.85060791e-04 8.70730969e+00] [ 1.52503260e-02 -8.72570805e-04 9.99883326e-01 4.92673862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4092541539999 meters Centerline goodness [0,1] 0.9986265165546376 Centerline is valid? [True, True] Translation: X:532.10, Y:8.71, Z:4.92 [[ 9.95908932e-01 -8.87654784e-02 -1.69141723e-02 5.32104372e+02] [ 8.87691277e-02 9.96052084e-01 -5.36393214e-04 8.70930796e+00] [ 1.68950098e-02 -9.67257527e-04 9.99856801e-01 4.92497317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.439254154 meters Centerline goodness [0,1] 0.9983605876981821 Centerline is valid? [True, True] Translation: X:532.14, Y:8.71, Z:4.93 [[ 9.95924457e-01 -8.89389358e-02 -1.49780683e-02 5.32136706e+02] [ 8.89418311e-02 9.96036709e-01 -4.74034882e-04 8.70988286e+00] [ 1.49608661e-02 -8.60073893e-04 9.99887710e-01 4.92707084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4692541539999 meters Centerline goodness [0,1] 0.9985887431512536 Centerline is valid? [True, True] Translation: X:532.17, Y:8.72, Z:4.93 [[ 9.95968033e-01 -8.83748156e-02 -1.54132487e-02 5.32168535e+02] [ 8.83778345e-02 9.96086905e-01 -4.86498581e-04 8.71762074e+00] [ 1.53959294e-02 -8.77652508e-04 9.99881090e-01 4.92772105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4992541539999 meters Centerline goodness [0,1] 0.9987741788036816 Centerline is valid? [True, True] Translation: X:532.20, Y:8.72, Z:4.93 [[ 9.96234320e-01 -8.53674113e-02 -1.51520496e-02 5.32198678e+02] [ 8.53700013e-02 9.96349204e-01 -4.76966597e-04 8.72375379e+00] [ 1.51374499e-02 -8.18359997e-04 9.99885087e-01 4.92806942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5292541539999 meters Centerline goodness [0,1] 0.9986271736417339 Centerline is valid? [True, True] Translation: X:532.23, Y:8.73, Z:4.93 [[ 9.96417727e-01 -8.31933757e-02 -1.51846950e-02 5.32229448e+02] [ 8.31957435e-02 9.96533111e-01 -4.76783440e-04 8.72776040e+00] [ 1.51717166e-02 -7.88226518e-04 9.99884592e-01 4.92852355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.559254154 meters Centerline goodness [0,1] 0.9989169825467572 Centerline is valid? [True, True] Translation: X:532.26, Y:8.74, Z:4.93 [[ 9.96607744e-01 -8.08639102e-02 -1.52981305e-02 5.32260811e+02] [ 8.08660481e-02 9.96724863e-01 -4.79800573e-04 8.73533652e+00] [ 1.52868256e-02 -7.58926388e-04 9.99882862e-01 4.92935833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.589254154 meters Centerline goodness [0,1] 0.9987300133244503 Centerline is valid? [True, True] Translation: X:532.29, Y:8.74, Z:4.93 [[ 9.97004886e-01 -7.57297598e-02 -1.56927076e-02 5.32289900e+02] [ 7.57313779e-02 9.97128134e-01 -4.91969332e-04 8.74244160e+00] [ 1.56848970e-02 -6.97934542e-04 9.99876741e-01 4.92873674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6192541539999 meters Centerline goodness [0,1] 0.999061130815773 Centerline is valid? [True, True] Translation: X:532.32, Y:8.75, Z:4.93 [[ 9.97210371e-01 -7.29882161e-02 -1.56267846e-02 5.32321762e+02] [ 7.29894865e-02 9.97332590e-01 -4.89782648e-04 8.74758853e+00] [ 1.56208499e-02 -6.52174645e-04 9.99877774e-01 4.92882345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6492541539999 meters Centerline goodness [0,1] 0.9990395055541635 Centerline is valid? [True, True] Translation: X:532.35, Y:8.75, Z:4.93 [[ 9.97372152e-01 -7.06724920e-02 -1.59433120e-02 5.32352616e+02] [ 7.06735305e-02 9.97499375e-01 -4.98982026e-04 8.75369735e+00] [ 1.59387081e-02 -6.29099370e-04 9.99872773e-01 4.92918037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.679254154 meters Centerline goodness [0,1] 0.998872933711805 Centerline is valid? [True, True] Translation: X:532.38, Y:8.76, Z:4.93 [[ 9.97509135e-01 -6.86514751e-02 -1.62018621e-02 5.32384901e+02] [ 6.86522944e-02 9.97640520e-01 -5.06269360e-04 8.75805216e+00] [ 1.61983902e-02 -6.07286693e-04 9.99868613e-01 4.92880484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.709254154 meters Centerline goodness [0,1] 0.9985118423810522 Centerline is valid? [True, True] Translation: X:532.42, Y:8.77, Z:4.93 [[ 9.97744739e-01 -6.49687383e-02 -1.68670913e-02 5.32415648e+02] [ 6.49691165e-02 9.97887136e-01 -5.26110974e-04 8.76873841e+00] [ 1.68656342e-02 -5.70915565e-04 9.99857602e-01 4.92907498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7392541539999 meters Centerline goodness [0,1] 0.9989942378208486 Centerline is valid? [True, True] Translation: X:532.45, Y:8.77, Z:4.93 [[ 9.97872729e-01 -6.30076671e-02 -1.67346878e-02 5.32446805e+02] [ 6.30077872e-02 9.98012900e-01 -5.20590571e-04 8.77201451e+00] [ 1.67342355e-02 -5.34932514e-04 9.99859830e-01 4.92956986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7692541539999 meters Centerline goodness [0,1] 0.9989942378208486 Centerline is valid? [True, True] Translation: X:532.48, Y:8.77, Z:4.93 [[ 9.97877203e-01 -6.29367561e-02 -1.67347455e-02 5.32478497e+02] [ 6.29368975e-02 9.98017374e-01 -5.18728933e-04 8.77293449e+00] [ 1.67342139e-02 -5.35605187e-04 9.99859830e-01 4.92986652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.799254154 meters Centerline goodness [0,1] 0.9988062577226748 Centerline is valid? [True, True] Translation: X:532.51, Y:8.77, Z:4.93 [[ 9.97958632e-01 -6.16236431e-02 -1.67658918e-02 5.32509250e+02] [ 6.16236265e-02 9.98099324e-01 -5.18105208e-04 8.77417642e+00] [ 1.67659528e-02 -5.16127488e-04 9.99859308e-01 4.92942461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.829254154 meters Centerline goodness [0,1] 0.9989095789297098 Centerline is valid? [True, True] Translation: X:532.54, Y:8.78, Z:4.93 [[ 9.98033670e-01 -6.04700638e-02 -1.64974514e-02 5.32541366e+02] [ 6.04699172e-02 9.98169891e-01 -5.08178083e-04 8.77701721e+00] [ 1.64979888e-02 -4.90420681e-04 9.99863779e-01 4.93027214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8592541539999 meters Centerline goodness [0,1] 0.9987635693029884 Centerline is valid? [True, True] Translation: X:532.57, Y:8.78, Z:4.93 [[ 9.98195713e-01 -5.78321800e-02 -1.61479951e-02 5.32572287e+02] [ 5.78317102e-02 9.98326223e-01 -4.96450439e-04 8.78090916e+00] [ 1.61496777e-02 -4.38311472e-04 9.99869489e-01 4.93010673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8892541539999 meters Centerline goodness [0,1] 0.9987407127565798 Centerline is valid? [True, True] Translation: X:532.60, Y:8.79, Z:4.93 [[ 9.98285218e-01 -5.60856261e-02 -1.67638316e-02 5.32604637e+02] [ 5.60848904e-02 9.98425871e-01 -5.14382509e-04 8.78667191e+00] [ 1.67662927e-02 -4.26697205e-04 9.99859345e-01 4.93030695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9192541539999 meters Centerline goodness [0,1] 0.9986343390200857 Centerline is valid? [True, True] Translation: X:532.63, Y:8.79, Z:4.93 [[ 9.98473868e-01 -5.22110353e-02 -1.79984165e-02 5.32634899e+02] [ 5.22095862e-02 9.98635998e-01 -5.50707223e-04 8.79142431e+00] [ 1.80026196e-02 -3.89823107e-04 9.99837864e-01 4.92855674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.949254154 meters Centerline goodness [0,1] 0.9986526315789473 Centerline is valid? [True, True] Translation: X:532.67, Y:8.79, Z:4.93 [[ 9.98575085e-01 -4.97056237e-02 -1.94203665e-02 5.32666944e+02] [ 4.97034958e-02 9.98763842e-01 -5.92527189e-04 8.79406744e+00] [ 1.94258118e-02 -3.73577215e-04 9.99811231e-01 4.92663607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9792541539999 meters Centerline goodness [0,1] 0.9988646398385266 Centerline is valid? [True, True] Translation: X:532.70, Y:8.80, Z:4.93 [[ 9.98656903e-01 -4.82092030e-02 -1.89806003e-02 5.32698596e+02] [ 4.82069243e-02 9.98837203e-01 -5.77844540e-04 8.79744649e+00] [ 1.89863871e-02 -3.37927921e-04 9.99819685e-01 4.92778948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0092541539999 meters Centerline goodness [0,1] 0.9986321260969296 Centerline is valid? [True, True] Translation: X:532.73, Y:8.80, Z:4.93 [[ 9.98760580e-01 -4.60285909e-02 -1.89386754e-02 5.32730836e+02] [ 4.60259543e-02 9.98940079e-01 -5.75299399e-04 8.80031086e+00] [ 1.89450821e-02 -2.97084246e-04 9.99820482e-01 4.92776387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0392541539999 meters Centerline goodness [0,1] 0.9990333900691336 Centerline is valid? [True, True] Translation: X:532.76, Y:8.80, Z:4.93 [[ 9.98945016e-01 -4.23430153e-02 -1.77742279e-02 5.32761080e+02] [ 4.23401225e-02 9.99103109e-01 -5.39199589e-04 8.80263874e+00] [ 1.77811177e-02 -2.13932246e-04 9.99841881e-01 4.92754990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.069254154 meters Centerline goodness [0,1] 0.9988234799781504 Centerline is valid? [True, True] Translation: X:532.79, Y:8.81, Z:4.93 [[ 9.99010386e-01 -4.10539039e-02 -1.71121583e-02 5.32792126e+02] [ 4.10510404e-02 9.99156916e-01 -5.18713274e-04 8.80571138e+00] [ 1.71190265e-02 -1.84271954e-04 9.99853442e-01 4.92933140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0992541539999 meters Centerline goodness [0,1] 0.9990117122610762 Centerline is valid? [True, True] Translation: X:532.82, Y:8.81, Z:4.93 [[ 9.99081889e-01 -3.93643629e-02 -1.69064053e-02 5.32822994e+02] [ 3.93613352e-02 9.99224911e-01 -5.11930288e-04 8.80725211e+00] [ 1.69134531e-02 -1.53998405e-04 9.99856945e-01 4.92908060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1292541539999 meters Centerline goodness [0,1] 0.9989901327554649 Centerline is valid? [True, True] Translation: X:532.85, Y:8.81, Z:4.93 [[ 9.99139403e-01 -3.78617432e-02 -1.69393758e-02 5.32853911e+02] [ 3.78584971e-02 9.99282979e-01 -5.12380549e-04 8.80841154e+00] [ 1.69466295e-02 -1.29359712e-04 9.99856387e-01 4.92846185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1592541539999 meters Centerline goodness [0,1] 0.9989692673383959 Centerline is valid? [True, True] Translation: X:532.88, Y:8.81, Z:4.93 [[ 9.99203818e-01 -3.68354415e-02 -1.53258148e-02 5.32884467e+02] [ 3.68326693e-02 9.99321340e-01 -4.63205681e-04 8.80981941e+00] [ 1.53324761e-02 -1.01653782e-04 9.99882446e-01 4.93057848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.189254154 meters Centerline goodness [0,1] 0.9992859992859993 Centerline is valid? [True, True] Translation: X:532.92, Y:8.81, Z:4.93 [[ 9.99233773e-01 -3.58759190e-02 -1.56456023e-02 5.32915455e+02] [ 3.58729193e-02 9.99356248e-01 -4.72418302e-04 8.81051774e+00] [ 1.56524789e-02 -8.91971078e-05 9.99877488e-01 4.93011396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2192541539999 meters Centerline goodness [0,1] 0.9989891757570653 Centerline is valid? [True, True] Translation: X:532.95, Y:8.81, Z:4.93 [[ 9.99252509e-01 -3.52619935e-02 -1.58434585e-02 5.32948070e+02] [ 3.52588540e-02 9.99378099e-01 -4.77530676e-04 8.81081064e+00] [ 1.58504441e-02 -8.14484641e-05 9.99874371e-01 4.92969477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2492541539999 meters Centerline goodness [0,1] 0.999135677544481 Centerline is valid? [True, True] Translation: X:532.98, Y:8.81, Z:4.93 [[ 9.99276007e-01 -3.50663061e-02 -1.47585902e-02 5.32980121e+02] [ 3.50635743e-02 9.99384985e-01 -4.43894139e-04 8.81083470e+00] [ 1.47650792e-02 -7.39161628e-05 9.99890988e-01 4.93209129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2792541539999 meters Centerline goodness [0,1] 0.9991777009361559 Centerline is valid? [True, True] Translation: X:533.01, Y:8.81, Z:4.93 [[ 9.99276545e-01 -3.50305547e-02 -1.48069705e-02 5.33011844e+02] [ 3.50278168e-02 9.99386239e-01 -4.44288324e-04 8.81038131e+00] [ 1.48134463e-02 -7.46889499e-05 9.99890272e-01 4.93222630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.309254154 meters Centerline goodness [0,1] 0.9991784630940344 Centerline is valid? [True, True] Translation: X:533.04, Y:8.81, Z:4.93 [[ 9.99276181e-01 -3.50720775e-02 -1.47331079e-02 5.33044056e+02] [ 3.50693869e-02 9.99384783e-01 -4.41019151e-04 8.80994423e+00] [ 1.47395113e-02 -7.59811282e-05 9.99891365e-01 4.93283880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.339254154 meters Centerline goodness [0,1] 0.9991153238546604 Centerline is valid? [True, True] Translation: X:533.08, Y:8.81, Z:4.93 [[ 9.99278009e-01 -3.50610605e-02 -1.46349655e-02 5.33075154e+02] [ 3.50584185e-02 9.99385169e-01 -4.37121214e-04 8.80769275e+00] [ 1.46412934e-02 -7.62731301e-05 9.99892808e-01 4.93125960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3692541539999 meters Centerline goodness [0,1] 0.9989682690080643 Centerline is valid? [True, True] Translation: X:533.11, Y:8.81, Z:4.93 [[ 9.99283014e-01 -3.47711581e-02 -1.49807956e-02 5.33106910e+02] [ 3.47683710e-02 9.99395298e-01 -4.46527384e-04 8.80691137e+00] [ 1.49872630e-02 -7.46506316e-05 9.99887682e-01 4.93268777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3992541539999 meters Centerline goodness [0,1] 0.9992631268684997 Centerline is valid? [True, True] Translation: X:533.14, Y:8.81, Z:4.93 [[ 9.99296529e-01 -3.48115784e-02 -1.39499168e-02 5.33138365e+02] [ 3.48091767e-02 9.99393891e-01 -4.15007194e-04 8.80627401e+00] [ 1.39559086e-02 -7.08698682e-05 9.99902609e-01 4.93367465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.429254154 meters Centerline goodness [0,1] 0.9990938784111263 Centerline is valid? [True, True] Translation: X:533.17, Y:8.81, Z:4.93 [[ 9.99309823e-01 -3.46166880e-02 -1.34744829e-02 5.33170823e+02] [ 3.46144379e-02 9.99400661e-01 -4.00242412e-04 8.80546583e+00] [ 1.34802622e-02 -6.64454791e-05 9.99909135e-01 4.93391407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.459254154 meters Centerline goodness [0,1] 0.9994316866277968 Centerline is valid? [True, True] Translation: X:533.20, Y:8.80, Z:4.93 [[ 9.99330052e-01 -3.40150077e-02 -1.35065288e-02 5.33201752e+02] [ 3.40127078e-02 9.99421320e-01 -4.00019775e-04 8.80290731e+00] [ 1.35123195e-02 -5.96418340e-05 9.99908703e-01 4.93234798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4892541539999 meters Centerline goodness [0,1] 0.9990107554040117 Centerline is valid? [True, True] Translation: X:533.23, Y:8.80, Z:4.93 [[ 9.99348799e-01 -3.33545854e-02 -1.37640805e-02 5.33233619e+02] [ 3.33521546e-02 9.99443580e-01 -4.06173159e-04 8.80187262e+00] [ 1.37699696e-02 -5.31530814e-05 9.99905188e-01 4.93352836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5192541539999 meters Centerline goodness [0,1] 0.9988666890530558 Centerline is valid? [True, True] Translation: X:533.26, Y:8.80, Z:4.93 [[ 9.99357646e-01 -3.30017386e-02 -1.39707204e-02 5.33264855e+02] [ 3.29992132e-02 9.99455293e-01 -4.11311781e-04 8.79925290e+00] [ 1.39766845e-02 -4.99752088e-05 9.99902320e-01 4.93130496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.549254154 meters Centerline goodness [0,1] 0.9990340801713458 Centerline is valid? [True, True] Translation: X:533.30, Y:8.80, Z:4.93 [[ 9.99363756e-01 -3.31254880e-02 -1.32206281e-02 5.33296448e+02] [ 3.31232452e-02 9.99451199e-01 -3.88625977e-04 8.79822745e+00] [ 1.32262461e-02 -4.95313913e-05 9.99912528e-01 4.93242554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.579254154 meters Centerline goodness [0,1] 0.9991408394627104 Centerline is valid? [True, True] Translation: X:533.33, Y:8.80, Z:4.93 [[ 9.99358107e-01 -3.32592536e-02 -1.33115366e-02 5.33327618e+02] [ 3.32569974e-02 9.99446757e-01 -3.90877428e-04 8.79870586e+00] [ 1.33171724e-02 -5.20752120e-05 9.99911321e-01 4.93420843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6092541539999 meters Centerline goodness [0,1] 0.9993718592964824 Centerline is valid? [True, True] Translation: X:533.36, Y:8.79, Z:4.93 [[ 9.99315901e-01 -3.46877369e-02 -1.28254215e-02 5.33358812e+02] [ 3.46857668e-02 9.99398197e-01 -3.76084034e-04 8.79337508e+00] [ 1.28307486e-02 -6.90328227e-05 9.99917680e-01 4.93354189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6392541539999 meters Centerline goodness [0,1] 0.9992261842518039 Centerline is valid? [True, True] Translation: X:533.39, Y:8.79, Z:4.93 [[ 9.99244568e-01 -3.68233293e-02 -1.24232282e-02 5.33391007e+02] [ 3.68216547e-02 9.99321787e-01 -3.63572807e-04 8.79218618e+00] [ 1.24281906e-02 -9.41456669e-05 9.99922763e-01 4.93484768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6692541539999 meters Centerline goodness [0,1] 0.999314413927785 Centerline is valid? [True, True] Translation: X:533.42, Y:8.79, Z:4.93 [[ 9.99165181e-01 -3.89780608e-02 -1.22332431e-02 5.33423244e+02] [ 3.89766093e-02 9.99240059e-01 -3.57136806e-04 8.78953774e+00] [ 1.22378671e-02 -1.19971675e-04 9.99925107e-01 4.93488054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.699254154 meters Centerline goodness [0,1] 0.9989158083482758 Centerline is valid? [True, True] Translation: X:533.46, Y:8.78, Z:4.93 [[ 9.98920304e-01 -4.47805747e-02 -1.23663486e-02 5.33455637e+02] [ 4.47795471e-02 9.98996828e-01 -3.60116140e-04 8.78197605e+00] [ 1.23700693e-02 -1.94032167e-04 9.99923469e-01 4.93364949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7292541539999 meters Centerline goodness [0,1] 0.9989376991814035 Centerline is valid? [True, True] Translation: X:533.49, Y:8.78, Z:4.93 [[ 9.98759488e-01 -4.84370831e-02 -1.15470345e-02 5.33488213e+02] [ 4.84364406e-02 9.98826210e-01 -3.35462089e-04 8.77871436e+00] [ 1.15497295e-02 -2.24251307e-04 9.99933275e-01 4.93444897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7592541539999 meters Centerline goodness [0,1] 0.9992920648801715 Centerline is valid? [True, True] Translation: X:533.52, Y:8.77, Z:4.93 [[ 9.98592309e-01 -5.19244340e-02 -1.08283624e-02 5.33519837e+02] [ 5.19240816e-02 9.98650986e-01 -3.13865704e-04 8.77341459e+00] [ 1.08300520e-02 -2.48828892e-04 9.99941322e-01 4.93466609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7892541539999 meters Centerline goodness [0,1] 0.9990844777361632 Centerline is valid? [True, True] Translation: X:533.55, Y:8.77, Z:4.93 [[ 9.98230299e-01 -5.85953259e-02 -1.01419002e-02 5.33551354e+02] [ 5.85953658e-02 9.98281772e-01 -2.93464148e-04 8.76829580e+00] [ 1.01416697e-02 -3.01323547e-04 9.99948527e-01 4.93416151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.819254154 meters Centerline goodness [0,1] 0.9986910178894222 Centerline is valid? [True, True] Translation: X:533.58, Y:8.76, Z:4.93 [[ 9.98062202e-01 -6.14218315e-02 -9.95991347e-03 5.33582905e+02] [ 6.14220145e-02 9.98111844e-01 -2.87795762e-04 8.76450461e+00] [ 9.95878454e-03 -3.24519878e-04 9.99950357e-01 4.93341833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8492541539999 meters Centerline goodness [0,1] 0.998876638235906 Centerline is valid? [True, True] Translation: X:533.62, Y:8.76, Z:4.93 [[ 9.97862782e-01 -6.46933446e-02 -9.19993425e-03 5.33615344e+02] [ 6.46936477e-02 9.97905137e-01 -2.64950495e-04 8.76192351e+00] [ 9.19780218e-03 -3.30793068e-04 9.99957645e-01 4.93460851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8792541539999 meters Centerline goodness [0,1] 0.9987504685742846 Centerline is valid? [True, True] Translation: X:533.65, Y:8.76, Z:4.93 [[ 9.97679350e-01 -6.75215896e-02 -8.76073150e-03 5.33647415e+02] [ 6.75219788e-02 9.97717755e-01 -2.51691925e-04 8.76084971e+00] [ 8.75773201e-03 -3.40434090e-04 9.99961592e-01 4.93487766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9092541539999 meters Centerline goodness [0,1] 0.9988957873244718 Centerline is valid? [True, True] Translation: X:533.68, Y:8.75, Z:4.93 [[ 9.97347885e-01 -7.22614936e-02 -8.68752538e-03 5.33677736e+02] [ 7.22620613e-02 9.97385649e-01 -2.48944002e-04 8.75410277e+00] [ 8.68280221e-03 -3.79494718e-04 9.99962232e-01 4.93457932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.939254154 meters Centerline goodness [0,1] 0.9984822022621423 Centerline is valid? [True, True] Translation: X:533.71, Y:8.75, Z:4.93 [[ 9.97186419e-01 -7.44640189e-02 -8.62297134e-03 5.33709127e+02] [ 7.44646658e-02 9.97223622e-01 -2.46454476e-04 8.75149161e+00] [ 8.61738271e-03 -3.96345623e-04 9.99962791e-01 4.93486301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9692541539999 meters Centerline goodness [0,1] 0.9985412411953486 Centerline is valid? [True, True] Translation: X:533.74, Y:8.75, Z:4.94 [[ 9.97076085e-01 -7.60395997e-02 -7.56701626e-03 5.33740580e+02] [ 7.60401450e-02 9.97104734e-01 -2.16023897e-04 8.74894883e+00] [ 7.56153410e-03 -3.60004752e-04 9.99971346e-01 4.93513077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9992541539999 meters Centerline goodness [0,1] 0.9986258016157241 Centerline is valid? [True, True] Translation: X:533.77, Y:8.75, Z:4.94 [[ 9.96856567e-01 -7.88490013e-02 -7.73426584e-03 5.33772147e+02] [ 7.88496630e-02 9.96886494e-01 -2.19806363e-04 8.74697781e+00] [ 7.72751667e-03 -3.90728838e-04 9.99970066e-01 4.93544849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0292541539999 meters Centerline goodness [0,1] 0.9984587828550007 Centerline is valid? [True, True] Translation: X:533.80, Y:8.75, Z:4.94 [[ 9.96793425e-01 -7.96327890e-02 -7.84129125e-03 5.33803279e+02] [ 7.96334954e-02 9.96824186e-01 -2.22589469e-04 8.74523008e+00] [ 7.83411418e-03 -4.02553711e-04 9.99969232e-01 4.93500261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.059254154 meters Centerline goodness [0,1] 0.9983555712828626 Centerline is valid? [True, True] Translation: X:533.83, Y:8.74, Z:4.93 [[ 9.96747412e-01 -8.01411603e-02 -8.48471848e-03 5.33834359e+02] [ 8.01420100e-02 9.96783427e-01 -2.40358235e-04 8.74387470e+00] [ 8.47668935e-03 -4.40405944e-04 9.99963975e-01 4.93425039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.089254154 meters Centerline goodness [0,1] 0.9985209565869511 Centerline is valid? [True, True] Translation: X:533.87, Y:8.75, Z:4.93 [[ 9.96698720e-01 -8.07690777e-02 -8.24725489e-03 5.33866698e+02] [ 8.07699053e-02 9.96732747e-01 -2.33229236e-04 8.74575971e+00] [ 8.23914672e-03 -4.33670715e-04 9.99965964e-01 4.93481277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1192541539999 meters Centerline goodness [0,1] 0.9984758961939161 Centerline is valid? [True, True] Translation: X:533.90, Y:8.75, Z:4.93 [[ 9.96684387e-01 -8.08306438e-02 -9.30803540e-03 5.33897859e+02] [ 8.08317075e-02 9.96727729e-01 -2.62482503e-04 8.74541275e+00] [ 9.29879362e-03 -4.90772182e-04 9.99956645e-01 4.93365966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1492541539999 meters Centerline goodness [0,1] 0.9983298887288365 Centerline is valid? [True, True] Translation: X:533.93, Y:8.75, Z:4.93 [[ 9.96745292e-01 -7.99971789e-02 -9.96365051e-03 5.33929904e+02] [ 7.99983619e-02 9.96794956e-01 -2.80397360e-04 8.75311118e+00] [ 9.95414757e-03 -5.17590971e-04 9.99950322e-01 4.93225857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.179254154 meters Centerline goodness [0,1] 0.9980629439086875 Centerline is valid? [True, True] Translation: X:533.96, Y:8.75, Z:4.93 [[ 9.96799697e-01 -7.93526222e-02 -9.67083628e-03 5.33960937e+02] [ 7.93537131e-02 9.96846485e-01 -2.71464055e-04 8.74794438e+00] [ 9.66188054e-03 -4.96821480e-04 9.99953200e-01 4.93304274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.209254154 meters Centerline goodness [0,1] 0.9983974358974359 Centerline is valid? [True, True] Translation: X:533.99, Y:8.75, Z:4.93 [[ 9.97022407e-01 -7.63776254e-02 -1.06197047e-02 5.33990957e+02] [ 7.63787789e-02 9.97078830e-01 -2.97508159e-04 8.75138065e+00] [ 1.06114057e-02 -5.14497772e-04 9.99943565e-01 4.93142798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2392541539999 meters Centerline goodness [0,1] 0.9985211722313636 Centerline is valid? [True, True] Translation: X:534.02, Y:8.76, Z:4.93 [[ 9.97134572e-01 -7.51110441e-02 -8.99869626e-03 5.34023487e+02] [ 7.51118217e-02 9.97175085e-01 -2.51991459e-04 8.75957638e+00] [ 8.99220305e-03 -4.24639074e-04 9.99959479e-01 4.93401679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2692541539999 meters Centerline goodness [0,1] 0.9983953653148835 Centerline is valid? [True, True] Translation: X:534.05, Y:8.76, Z:4.93 [[ 9.97309697e-01 -7.26797246e-02 -9.54077935e-03 5.34054848e+02] [ 7.26804962e-02 9.97355240e-01 -2.66280251e-04 8.76447643e+00] [ 9.53489946e-03 -4.27864701e-04 9.99954450e-01 4.93292181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.299254154 meters Centerline goodness [0,1] 0.9983555712828626 Centerline is valid? [True, True] Translation: X:534.09, Y:8.77, Z:4.93 [[ 9.97438332e-01 -7.09330985e-02 -9.23414639e-03 5.34087313e+02] [ 7.09337496e-02 9.97480996e-01 -2.57402255e-04 8.76928937e+00] [ 9.22914387e-03 -3.98269751e-04 9.99957331e-01 4.93409728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.329254154 meters Centerline goodness [0,1] 0.9983942610472755 Centerline is valid? [True, True] Translation: X:534.12, Y:8.77, Z:4.94 [[ 9.97680099e-01 -6.76414245e-02 -7.68488910e-03 5.34117928e+02] [ 6.76417830e-02 9.97709649e-01 -2.13557541e-04 8.77385278e+00] [ 7.68173334e-03 -3.06757492e-04 9.99970448e-01 4.93578281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3592541539999 meters Centerline goodness [0,1] 0.9982910258013422 Centerline is valid? [True, True] Translation: X:534.15, Y:8.78, Z:4.94 [[ 9.97798367e-01 -6.58818896e-02 -7.61545084e-03 5.34150552e+02] [ 6.58821917e-02 9.97827386e-01 -2.11451796e-04 8.77959391e+00] [ 7.61283624e-03 -2.90736335e-04 9.99970980e-01 4.93567484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3892541539999 meters Centerline goodness [0,1] 0.9982696437133863 Centerline is valid? [True, True] Translation: X:534.18, Y:8.78, Z:4.94 [[ 9.97901495e-01 -6.43093665e-02 -7.54397405e-03 5.34182112e+02] [ 6.43096240e-02 9.97929972e-01 -2.08690814e-04 8.77891998e+00] [ 7.54177859e-03 -2.76897260e-04 9.99971522e-01 4.93606450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4192541539999 meters Centerline goodness [0,1] 0.9985194144388372 Centerline is valid? [True, True] Translation: X:534.21, Y:8.78, Z:4.93 [[ 9.98051145e-01 -6.18733502e-02 -8.09939317e-03 5.34214363e+02] [ 6.18735708e-02 9.98083970e-01 -2.23580541e-04 8.78417028e+00] [ 8.09770817e-03 -2.77993561e-04 9.99967174e-01 4.93402722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.449254154 meters Centerline goodness [0,1] 0.9986252291284786 Centerline is valid? [True, True] Translation: X:534.24, Y:8.79, Z:4.94 [[ 9.98221210e-01 -5.90914163e-02 -7.91326802e-03 5.34244822e+02] [ 5.90915446e-02 9.98252544e-01 -2.17792405e-04 8.78717962e+00] [ 7.91230959e-03 -2.50202232e-04 9.99968666e-01 4.93583116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4792541539999 meters Centerline goodness [0,1] 0.9985817969466922 Centerline is valid? [True, True] Translation: X:534.28, Y:8.79, Z:4.94 [[ 9.98316434e-01 -5.73970718e-02 -8.35902813e-03 5.34276955e+02] [ 5.73971566e-02 9.98351398e-01 -2.29953657e-04 8.79292969e+00] [ 8.35844608e-03 -2.50217932e-04 9.99965036e-01 4.93554914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5092541539999 meters Centerline goodness [0,1] 0.9987886635617468 Centerline is valid? [True, True] Translation: X:534.31, Y:8.79, Z:4.94 [[ 9.98420157e-01 -5.54593659e-02 -9.02489670e-03 5.34308394e+02] [ 5.54593922e-02 9.98460913e-01 -2.47537028e-04 8.79483015e+00] [ 9.02473485e-03 -2.53369328e-04 9.99959244e-01 4.93529512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5392541539999 meters Centerline goodness [0,1] 0.9985799903940527 Centerline is valid? [True, True] Translation: X:534.34, Y:8.79, Z:4.94 [[ 9.98500659e-01 -5.38759398e-02 -9.68592654e-03 5.34339739e+02] [ 5.38759013e-02 9.98547604e-01 -2.65092397e-04 8.79442272e+00] [ 9.68614083e-03 -2.57143088e-04 9.99953055e-01 4.93526264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.569254154 meters Centerline goodness [0,1] 0.9988087525340132 Centerline is valid? [True, True] Translation: X:534.37, Y:8.80, Z:4.94 [[ 9.98581546e-01 -5.23026383e-02 -9.96649290e-03 5.34372269e+02] [ 5.23025250e-02 9.98631249e-01 -2.72188030e-04 8.79996356e+00] [ 9.96708741e-03 -2.49470800e-04 9.99950296e-01 4.93527824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5992541539999 meters Centerline goodness [0,1] 0.9987260880461114 Centerline is valid? [True, True] Translation: X:534.40, Y:8.80, Z:4.93 [[ 9.98747846e-01 -4.87862395e-02 -1.10744621e-02 5.34404852e+02] [ 4.87858959e-02 9.98809214e-01 -3.01327948e-04 8.80262075e+00] [ 1.10759755e-02 -2.39326917e-04 9.99938631e-01 4.93378123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6292541539999 meters Centerline goodness [0,1] 0.9989175912241627 Centerline is valid? [True, True] Translation: X:534.44, Y:8.81, Z:4.94 [[ 9.98812513e-01 -4.77354344e-02 -9.74127898e-03 5.34436511e+02] [ 4.77351263e-02 9.98859994e-01 -2.64269656e-04 8.80530486e+00] [ 9.74278889e-03 -2.01045343e-04 9.99952518e-01 4.93588134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6592541539999 meters Centerline goodness [0,1] 0.9989175912241627 Centerline is valid? [True, True] Translation: X:534.47, Y:8.81, Z:4.94 [[ 9.98817791e-01 -4.76248618e-02 -9.74129875e-03 5.34469041e+02] [ 4.76245555e-02 9.98865272e-01 -2.63538885e-04 8.80609673e+00] [ 9.74279603e-03 -2.00697695e-04 9.99952518e-01 4.93618600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.689254154 meters Centerline goodness [0,1] 0.9990592858934694 Centerline is valid? [True, True] Translation: X:534.50, Y:8.81, Z:4.94 [[ 9.98882560e-01 -4.61608642e-02 -1.01393067e-02 5.34501513e+02] [ 4.61604686e-02 9.98934000e-01 -2.73169629e-04 8.80789262e+00] [ 1.01411079e-02 -1.95170769e-04 9.99948559e-01 4.93649418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7192541539999 meters Centerline goodness [0,1] 0.9988947050113658 Centerline is valid? [True, True] Translation: X:534.53, Y:8.81, Z:4.94 [[ 9.98942621e-01 -4.49468391e-02 -9.66545706e-03 5.34533246e+02] [ 4.49464293e-02 9.98989365e-01 -2.59723580e-04 8.80942105e+00] [ 9.66736256e-03 -1.74978829e-04 9.99953255e-01 4.93689030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7492541539999 meters Centerline goodness [0,1] 0.9991454950918072 Centerline is valid? [True, True] Translation: X:534.56, Y:8.81, Z:4.94 [[ 9.99033296e-01 -4.27954599e-02 -1.00509492e-02 5.34564209e+02] [ 4.27949160e-02 9.99083842e-01 -2.69277520e-04 8.80981494e+00] [ 1.00532648e-02 -1.61112316e-04 9.99949452e-01 4.93706178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7792541539999 meters Centerline goodness [0,1] 0.99868624098094 Centerline is valid? [True, True] Translation: X:534.60, Y:8.81, Z:4.94 [[ 9.99053168e-01 -4.19099734e-02 -1.16757117e-02 5.34596779e+02] [ 4.19091976e-02 9.99121375e-01 -3.11211579e-04 8.81111586e+00] [ 1.16784960e-02 -1.78402796e-04 9.99931788e-01 4.93572825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.809254154 meters Centerline goodness [0,1] 0.9987899019403297 Centerline is valid? [True, True] Translation: X:534.63, Y:8.81, Z:4.94 [[ 9.99033344e-01 -4.26082035e-02 -1.08129326e-02 5.34627691e+02] [ 4.26075867e-02 9.99091843e-01 -2.87506058e-04 8.81110750e+00] [ 1.08153629e-02 -1.73484825e-04 9.99941497e-01 4.93697170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.839254154 meters Centerline goodness [0,1] 0.9989803138136263 Centerline is valid? [True, True] Translation: X:534.66, Y:8.81, Z:4.94 [[ 9.98948200e-01 -4.44886513e-02 -1.11019949e-02 5.34658525e+02] [ 4.44881253e-02 9.99009870e-01 -2.94454654e-04 8.80880275e+00] [ 1.11041024e-02 -1.99761995e-04 9.99938328e-01 4.93689912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8692541539999 meters Centerline goodness [0,1] 0.998853760706917 Centerline is valid? [True, True] Translation: X:534.69, Y:8.81, Z:4.94 [[ 9.98860504e-01 -4.61578136e-02 -1.21305416e-02 5.34690196e+02] [ 4.61573260e-02 9.98934131e-01 -3.20311069e-04 8.80645064e+00] [ 1.21323969e-02 -2.39967288e-04 9.99926371e-01 4.93623552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8992541539999 meters Centerline goodness [0,1] 0.9985609710317213 Centerline is valid? [True, True] Translation: X:534.72, Y:8.80, Z:4.94 [[ 9.98753652e-01 -4.80325721e-02 -1.35652248e-02 5.34721049e+02] [ 4.80321457e-02 9.98845726e-01 -3.57419487e-04 8.80450477e+00] [ 1.35667346e-02 -2.94592834e-04 9.99907924e-01 4.93554926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.929254154 meters Centerline goodness [0,1] 0.9988115591509945 Centerline is valid? [True, True] Translation: X:534.75, Y:8.80, Z:4.94 [[ 9.98648229e-01 -5.05105167e-02 -1.22638287e-02 5.34753111e+02] [ 5.05103628e-02 9.98723485e-01 -3.22483186e-04 8.80448186e+00] [ 1.22644625e-02 -2.97403173e-04 9.99924744e-01 4.93737367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.959254154 meters Centerline goodness [0,1] 0.9987285839343032 Centerline is valid? [True, True] Translation: X:534.78, Y:8.80, Z:4.94 [[ 9.98409007e-01 -5.49078548e-02 -1.28289982e-02 5.34783473e+02] [ 5.49080589e-02 9.98491358e-01 -3.36583717e-04 8.79947507e+00] [ 1.28281249e-02 -3.68367174e-04 9.99917648e-01 4.93750530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9892541539999 meters Centerline goodness [0,1] 0.9987251029322632 Centerline is valid? [True, True] Translation: X:534.82, Y:8.80, Z:4.94 [[ 9.98281040e-01 -5.69931609e-02 -1.36654345e-02 5.34815955e+02] [ 5.69935943e-02 9.98374480e-01 -3.58035760e-04 8.80008186e+00] [ 1.36636266e-02 -4.21421918e-04 9.99906559e-01 4.93772571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0192541539999 meters Centerline goodness [0,1] 0.9990605624099705 Centerline is valid? [True, True] Translation: X:534.85, Y:8.80, Z:4.94 [[ 9.98192019e-01 -5.84336675e-02 -1.40783582e-02 5.34848568e+02] [ 5.84342856e-02 9.98291189e-01 -3.67792135e-04 8.79955868e+00] [ 1.40757924e-02 -4.55531629e-04 9.99900827e-01 4.93793675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.049254154 meters Centerline goodness [0,1] 0.9989770354906055 Centerline is valid? [True, True] Translation: X:534.88, Y:8.80, Z:4.94 [[ 9.98126612e-01 -5.94154585e-02 -1.45969236e-02 5.34879722e+02] [ 5.94162427e-02 9.98233222e-01 -3.80322427e-04 8.79689195e+00] [ 1.45937311e-02 -4.87684420e-04 9.99893387e-01 4.93757948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.079254154 meters Centerline goodness [0,1] 0.9990606016324656 Centerline is valid? [True, True] Translation: X:534.91, Y:8.80, Z:4.94 [[ 9.98135674e-01 -5.91093731e-02 -1.52071812e-02 5.34911802e+02] [ 5.91102036e-02 9.98251385e-01 -3.95248674e-04 8.79693552e+00] [ 1.52039526e-02 -5.04387777e-04 9.99884286e-01 4.93780311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1092541539999 meters Centerline goodness [0,1] 0.9991027834578308 Centerline is valid? [True, True] Translation: X:534.94, Y:8.80, Z:4.94 [[ 9.98225822e-01 -5.75739035e-02 -1.51806967e-02 5.34944088e+02] [ 5.75745707e-02 9.98341131e-01 -3.93445863e-04 8.79762553e+00] [ 1.51781661e-02 -4.81274274e-04 9.99884689e-01 4.93824504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1392541539999 meters Centerline goodness [0,1] 0.9991666145800779 Centerline is valid? [True, True] Translation: X:534.98, Y:8.80, Z:4.94 [[ 9.98485231e-01 -5.28958176e-02 -1.51418868e-02 5.34975914e+02] [ 5.28959590e-02 9.98599952e-01 -3.91440848e-04 8.79995571e+00] [ 1.51413930e-02 -4.10096716e-04 9.99885278e-01 4.93939809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1692541539999 meters Centerline goodness [0,1] 0.9989995831596499 Centerline is valid? [True, True] Translation: X:535.01, Y:8.80, Z:4.94 [[ 9.98650889e-01 -4.97271741e-02 -1.49536211e-02 5.35007207e+02] [ 4.97269675e-02 9.98762775e-01 -3.85866303e-04 8.80201568e+00] [ 1.49543081e-02 -3.58252503e-04 9.99888114e-01 4.94012193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.199254154 meters Centerline goodness [0,1] 0.9990405673167171 Centerline is valid? [True, True] Translation: X:535.04, Y:8.80, Z:4.94 [[ 9.98823448e-01 -4.62465733e-02 -1.45936650e-02 5.35038819e+02] [ 4.62460127e-02 9.98930010e-01 -3.76054821e-04 8.80457405e+00] [ 1.45954412e-02 -2.99286445e-04 9.99893436e-01 4.94066852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2292541539999 meters Centerline goodness [0,1] 0.9991439964924734 Centerline is valid? [True, True] Translation: X:535.07, Y:8.81, Z:4.94 [[ 9.98999335e-01 -4.23290577e-02 -1.44422774e-02 5.35069106e+02] [ 4.23281057e-02 9.99103695e-01 -3.71723379e-04 8.80598343e+00] [ 1.44450674e-02 -2.39962836e-04 9.99895636e-01 4.94103567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2592541539999 meters Centerline goodness [0,1] 0.999145726549152 Centerline is valid? [True, True] Translation: X:535.10, Y:8.81, Z:4.94 [[ 9.99161608e-01 -3.83857840e-02 -1.42342406e-02 5.35100700e+02] [ 3.83844639e-02 9.99262978e-01 -3.66031024e-04 8.80845034e+00] [ 1.42378000e-02 -1.80649545e-04 9.99898621e-01 4.94153560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2892541539999 meters Centerline goodness [0,1] 0.9992274283805228 Centerline is valid? [True, True] Translation: X:535.13, Y:8.81, Z:4.94 [[ 9.99386728e-01 -3.16170522e-02 -1.50509280e-02 5.35130673e+02] [ 3.16148154e-02 9.99500052e-01 -3.86583867e-04 8.81147373e+00] [ 1.50556260e-02 -8.94855251e-05 9.99886654e-01 4.94099263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.319254154 meters Centerline goodness [0,1] 0.9993323736204127 Centerline is valid? [True, True] Translation: X:535.16, Y:8.81, Z:4.94 [[ 9.99457798e-01 -2.90338028e-02 -1.55289621e-02 5.35160840e+02] [ 2.90311124e-02 9.99578429e-01 -3.98693426e-04 8.81289280e+00] [ 1.55339911e-02 -5.23457891e-05 9.99879339e-01 4.94140954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3492541539999 meters Centerline goodness [0,1] 0.9994580962504429 Centerline is valid? [True, True] Translation: X:535.19, Y:8.81, Z:4.94 [[ 9.99501944e-01 -2.71093004e-02 -1.61539324e-02 5.35190143e+02] [ 2.71061358e-02 9.99632475e-01 -4.14862651e-04 8.81311747e+00] [ 1.61592421e-02 -2.32146590e-05 9.99869431e-01 4.94062034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3792541539999 meters Centerline goodness [0,1] 0.9993533718529025 Centerline is valid? [True, True] Translation: X:535.22, Y:8.81, Z:4.94 [[ 9.99514656e-01 -2.61352166e-02 -1.69529391e-02 5.35219300e+02] [ 2.61315548e-02 9.99658417e-01 -4.37519612e-04 8.81280077e+00] [ 1.69585830e-02 -5.69939328e-06 9.99856193e-01 4.94060564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4092541539999 meters Centerline goodness [0,1] 0.9993313971709743 Centerline is valid? [True, True] Translation: X:535.25, Y:8.81, Z:4.94 [[ 9.99484387e-01 -2.61762590e-02 -1.85947459e-02 5.35247027e+02] [ 2.61717956e-02 9.99657343e-01 -4.83383307e-04 8.80932299e+00] [ 1.86010275e-02 -3.52382174e-06 9.99826986e-01 4.93909442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.439254154 meters Centerline goodness [0,1] 0.9992892828027342 Centerline is valid? [True, True] Translation: X:535.28, Y:8.81, Z:4.94 [[ 9.99448380e-01 -2.73895264e-02 -1.87816206e-02 5.35275383e+02] [ 2.73851179e-02 9.99624836e-01 -4.91923096e-04 8.80735114e+00] [ 1.87880480e-02 -2.26851524e-05 9.99823489e-01 4.93954535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4692541539999 meters Centerline goodness [0,1] 0.9993320670437705 Centerline is valid? [True, True] Translation: X:535.30, Y:8.80, Z:4.94 [[ 9.99394721e-01 -2.88127676e-02 -1.94939908e-02 5.35303199e+02] [ 2.88082045e-02 9.99584825e-01 -5.14916231e-04 8.80466762e+00] [ 1.95007335e-02 -4.69823098e-05 9.99809842e-01 4.93782649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4992541539999 meters Centerline goodness [0,1] 0.9994576327756686 Centerline is valid? [True, True] Translation: X:535.33, Y:8.80, Z:4.94 [[ 9.99333547e-01 -3.08432644e-02 -1.95232028e-02 5.35330846e+02] [ 3.08389911e-02 9.99524230e-01 -5.19983470e-04 8.80211555e+00] [ 1.95299522e-02 -8.24389519e-05 9.99809269e-01 4.93899472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5292541539999 meters Centerline goodness [0,1] 0.9994358427881903 Centerline is valid? [True, True] Translation: X:535.36, Y:8.80, Z:4.94 [[ 9.99242381e-01 -3.32478271e-02 -2.02298496e-02 5.35359784e+02] [ 3.32436177e-02 9.99447130e-01 -5.44426919e-04 8.79916497e+00] [ 2.02367662e-02 -1.28498936e-04 9.99795207e-01 4.93906395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.559254154 meters Centerline goodness [0,1] 0.9994562830674 Centerline is valid? [True, True] Translation: X:535.39, Y:8.79, Z:4.94 [[ 9.99086384e-01 -3.75436291e-02 -2.04174787e-02 5.35388283e+02] [ 3.75401682e-02 9.99294967e-01 -5.52897196e-04 8.79226915e+00] [ 2.04238415e-02 -2.14083524e-04 9.99791389e-01 4.93943165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.589254154 meters Centerline goodness [0,1] 0.9994359252914387 Centerline is valid? [True, True] Translation: X:535.42, Y:8.79, Z:4.94 [[ 9.98992214e-01 -4.01297204e-02 -2.01038029e-02 5.35416924e+02] [ 4.01268168e-02 9.99194445e-01 -5.47967194e-04 8.78909275e+00] [ 2.01095980e-02 -2.59286656e-04 9.99797748e-01 4.93972346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6192541539999 meters Centerline goodness [0,1] 0.9994799575645372 Centerline is valid? [True, True] Translation: X:535.45, Y:8.79, Z:4.94 [[ 9.98910852e-01 -4.24038359e-02 -1.94685264e-02 5.35445012e+02] [ 4.24014820e-02 9.99100510e-01 -5.33863286e-04 8.78566833e+00] [ 1.94736525e-02 -2.92212542e-04 9.99810328e-01 4.94010998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6492541539999 meters Centerline goodness [0,1] 0.999415960952818 Centerline is valid? [True, True] Translation: X:535.47, Y:8.78, Z:4.94 [[ 9.98715878e-01 -4.74142801e-02 -1.78460640e-02 5.35474426e+02] [ 4.74130764e-02 9.98875247e-01 -4.90781528e-04 8.77921934e+00] [ 1.78492616e-02 -3.55985490e-04 9.99840626e-01 4.94227263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.679254154 meters Centerline goodness [0,1] 0.9993526426796416 Centerline is valid? [True, True] Translation: X:535.50, Y:8.78, Z:4.94 [[ 9.98582560e-01 -5.01882897e-02 -1.77202073e-02 5.35503775e+02] [ 5.01875243e-02 9.98739693e-01 -4.88171086e-04 8.77520662e+00] [ 1.77223748e-02 -4.01854200e-04 9.99842866e-01 4.94259469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.709254154 meters Centerline goodness [0,1] 0.9993327355756199 Centerline is valid? [True, True] Translation: X:535.53, Y:8.77, Z:4.94 [[ 9.98424646e-01 -5.33541931e-02 -1.73653517e-02 5.35534756e+02] [ 5.33539336e-02 9.98575550e-01 -4.78562243e-04 8.77179665e+00] [ 1.73661489e-02 -4.48701482e-04 9.99849096e-01 4.94313704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7392541539999 meters Centerline goodness [0,1] 0.9991669963972594 Centerline is valid? [True, True] Translation: X:535.57, Y:8.77, Z:4.94 [[ 9.98247770e-01 -5.66984947e-02 -1.69313284e-02 5.35565218e+02] [ 5.66987286e-02 9.98391224e-01 -4.66601233e-04 8.76878595e+00] [ 1.69305453e-02 -4.94201155e-04 9.99856546e-01 4.94377192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7692541539999 meters Centerline goodness [0,1] 0.9997081083335071 Centerline is valid? [True, True] Translation: X:535.60, Y:8.76, Z:4.94 [[ 9.97765250e-01 -6.46665421e-02 -1.68149769e-02 5.35595482e+02] [ 6.46679005e-02 9.97906733e-01 -4.63503649e-04 8.75907614e+00] [ 1.68097519e-02 -6.24921420e-04 9.99858511e-01 4.94377523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.799254154 meters Centerline goodness [0,1] 0.9993745700168866 Centerline is valid? [True, True] Translation: X:535.63, Y:8.75, Z:4.94 [[ 9.97441827e-01 -6.93665943e-02 -1.72649023e-02 5.35625698e+02] [ 6.93687267e-02 9.97590975e-01 -4.76046302e-04 8.75340832e+00] [ 1.72563325e-02 -7.22815798e-04 9.99850837e-01 4.94343149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.829254154 meters Centerline goodness [0,1] 0.9991874322860238 Centerline is valid? [True, True] Translation: X:535.66, Y:8.75, Z:4.94 [[ 9.97108789e-01 -7.39306764e-02 -1.75589949e-02 5.35656500e+02] [ 7.39335881e-02 9.97263050e-01 -4.84155335e-04 8.74856911e+00] [ 1.75467307e-02 -8.15443953e-04 9.99845712e-01 4.94284007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8592541539999 meters Centerline goodness [0,1] 0.9992898913951546 Centerline is valid? [True, True] Translation: X:535.69, Y:8.74, Z:4.94 [[ 9.96379970e-01 -8.30698622e-02 -1.80652573e-02 5.35687148e+02] [ 8.30744397e-02 9.96543220e-01 -4.98204539e-04 8.74487225e+00] [ 1.80441954e-02 -1.00436010e-03 9.99836686e-01 4.94322163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8892541539999 meters Centerline goodness [0,1] 0.9994572704880391 Centerline is valid? [True, True] Translation: X:535.72, Y:8.74, Z:4.94 [[ 9.96028938e-01 -8.72057299e-02 -1.79308312e-02 5.35716912e+02] [ 8.72109029e-02 9.96189748e-01 -4.94738995e-04 8.73573574e+00] [ 1.79056543e-02 -1.07098962e-03 9.99839107e-01 4.94244565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9192541539999 meters Centerline goodness [0,1] 0.9993117687543015 Centerline is valid? [True, True] Translation: X:535.75, Y:8.74, Z:4.94 [[ 9.95718186e-01 -9.06533807e-02 -1.80902992e-02 5.35747682e+02] [ 9.06592116e-02 9.95881850e-01 -4.99207052e-04 8.73922989e+00] [ 1.80610554e-02 -1.14298272e-03 9.99836233e-01 4.94336371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.949254154 meters Centerline goodness [0,1] 0.9991429228421514 Centerline is valid? [True, True] Translation: X:535.78, Y:8.74, Z:4.94 [[ 9.95436877e-01 -9.37140089e-02 -1.79752298e-02 5.35777616e+02] [ 9.37202614e-02 9.95598446e-01 -4.96091521e-04 8.73738126e+00] [ 1.79426016e-02 -1.19081544e-03 9.99838309e-01 4.94331898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9792541539999 meters Centerline goodness [0,1] 0.9991865000730064 Centerline is valid? [True, True] Translation: X:535.81, Y:8.74, Z:4.94 [[ 9.95133139e-01 -9.69382855e-02 -1.76919321e-02 5.35808172e+02] [ 9.69448465e-02 9.95289635e-01 -4.88442358e-04 8.73528550e+00] [ 1.76559454e-02 -1.22907646e-03 9.99843366e-01 4.94318889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0092541539999 meters Centerline goodness [0,1] 0.9993115102960506 Centerline is valid? [True, True] Translation: X:535.84, Y:8.74, Z:4.94 [[ 9.95082172e-01 -9.74836491e-02 -1.75615538e-02 5.35838995e+02] [ 9.74902008e-02 9.95236367e-01 -4.84693935e-04 8.73532431e+00] [ 1.75251468e-02 -1.22976912e-03 9.99845667e-01 4.94298012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0392541539999 meters Centerline goodness [0,1] 0.9992684558147312 Centerline is valid? [True, True] Translation: X:535.87, Y:8.74, Z:4.94 [[ 9.95088679e-01 -9.74014824e-02 -1.76485698e-02 5.35869931e+02] [ 9.74080893e-02 9.95244406e-01 -4.86924619e-04 8.73709323e+00] [ 1.76120675e-02 -1.23458028e-03 9.99844133e-01 4.94324416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.069254154 meters Centerline goodness [0,1] 0.9991845951201154 Centerline is valid? [True, True] Translation: X:535.90, Y:8.74, Z:4.94 [[ 9.95250833e-01 -9.58234593e-02 -1.71360619e-02 5.35899178e+02] [ 9.58294527e-02 9.95397655e-01 -4.72924866e-04 8.73968977e+00] [ 1.71025131e-02 -1.17146056e-03 9.99853055e-01 4.94296435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0992541539999 meters Centerline goodness [0,1] 0.9991216512955643 Centerline is valid? [True, True] Translation: X:535.93, Y:8.74, Z:4.94 [[ 9.95359100e-01 -9.46848653e-02 -1.71767042e-02 5.35929271e+02] [ 9.46907156e-02 9.95506627e-01 -4.74216016e-04 8.74304900e+00] [ 1.71444239e-02 -1.15445919e-03 9.99852357e-01 4.94308650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1292541539999 meters Centerline goodness [0,1] 0.9991853275401069 Centerline is valid? [True, True] Translation: X:535.96, Y:8.75, Z:4.94 [[ 9.95543450e-01 -9.27177118e-02 -1.72239835e-02 5.35960302e+02] [ 9.27233036e-02 9.95691801e-01 -4.75381162e-04 8.74748335e+00] [ 1.71938554e-02 -1.12380205e-03 9.99851543e-01 4.94338156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1592541539999 meters Centerline goodness [0,1] 0.9992469249435194 Centerline is valid? [True, True] Translation: X:535.99, Y:8.75, Z:4.94 [[ 9.95736780e-01 -9.07277470e-02 -1.66355262e-02 5.35991251e+02] [ 9.07326913e-02 9.95875177e-01 -4.58849519e-04 8.75120090e+00] [ 1.66085380e-02 -1.05249272e-03 9.99861515e-01 4.94385130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.189254154 meters Centerline goodness [0,1] 0.9991643163062781 Centerline is valid? [True, True] Translation: X:536.02, Y:8.76, Z:4.94 [[ 9.95899436e-01 -8.88016392e-02 -1.72795473e-02 5.36022242e+02] [ 8.88066932e-02 9.96048766e-01 -4.76140210e-04 8.76200608e+00] [ 1.72535538e-02 -1.06035169e-03 9.99850584e-01 4.94465247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2192541539999 meters Centerline goodness [0,1] 0.9991649792288583 Centerline is valid? [True, True] Translation: X:536.05, Y:8.76, Z:4.95 [[ 9.96264850e-01 -8.50009902e-02 -1.52046223e-02 5.36052337e+02] [ 8.50044666e-02 9.96380482e-01 -4.18652622e-04 8.76239092e+00] [ 1.51851748e-02 -8.75371919e-04 9.99884315e-01 4.94515086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2492541539999 meters Centerline goodness [0,1] 0.9989762446984101 Centerline is valid? [True, True] Translation: X:536.08, Y:8.77, Z:4.95 [[ 9.96452175e-01 -8.28188386e-02 -1.49700889e-02 5.36083325e+02] [ 8.28219661e-02 9.96564274e-01 -4.11985996e-04 8.77245604e+00] [ 1.49527760e-02 -8.29327857e-04 9.99887857e-01 4.94618780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2792541539999 meters Centerline goodness [0,1] 0.999436443331246 Centerline is valid? [True, True] Translation: X:536.12, Y:8.78, Z:4.95 [[ 9.96619222e-01 -8.08092694e-02 -1.48320020e-02 5.36115191e+02] [ 8.08121272e-02 9.96729268e-01 -4.07533066e-04 8.77769248e+00] [ 1.48164229e-02 -7.92450344e-04 9.99889917e-01 4.94657104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.309254154 meters Centerline goodness [0,1] 0.9992703164741692 Centerline is valid? [True, True] Translation: X:536.15, Y:8.78, Z:4.95 [[ 9.96748439e-01 -7.91867605e-02 -1.48998909e-02 5.36146698e+02] [ 7.91894748e-02 9.96859499e-01 -4.08662728e-04 8.78181905e+00] [ 1.48854584e-02 -7.72580598e-04 9.99888907e-01 4.94673852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.339254154 meters Centerline goodness [0,1] 0.999081074307673 Centerline is valid? [True, True] Translation: X:536.18, Y:8.79, Z:4.95 [[ 9.96986458e-01 -7.60018837e-02 -1.55472519e-02 5.36177012e+02] [ 7.60044601e-02 9.97107387e-01 -4.25936222e-04 8.78785978e+00] [ 1.55346516e-02 -7.57007839e-04 9.99879043e-01 4.94652767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3692541539999 meters Centerline goodness [0,1] 0.9991221102796706 Centerline is valid? [True, True] Translation: X:536.21, Y:8.79, Z:4.95 [[ 9.97088401e-01 -7.47700233e-02 -1.49721159e-02 5.36208079e+02] [ 7.47722880e-02 9.97200550e-01 -4.09243857e-04 8.79071461e+00] [ 1.49608014e-02 -7.11447061e-04 9.99887828e-01 4.94650665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3992541539999 meters Centerline goodness [0,1] 0.9990591875561874 Centerline is valid? [True, True] Translation: X:536.24, Y:8.80, Z:4.95 [[ 9.97196641e-01 -7.32409147e-02 -1.53175599e-02 5.36239848e+02] [ 7.32431319e-02 9.97314028e-01 -4.16938697e-04 8.79534038e+00] [ 1.53069543e-02 -7.06136191e-04 9.99882592e-01 4.94686213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.429254154 meters Centerline goodness [0,1] 0.9988723453129241 Centerline is valid? [True, True] Translation: X:536.27, Y:8.80, Z:4.95 [[ 9.97451117e-01 -6.97327579e-02 -1.51198983e-02 5.36271217e+02] [ 6.97345311e-02 9.97565500e-01 -4.10559992e-04 8.80353223e+00] [ 1.51117183e-02 -6.44865491e-04 9.99885604e-01 4.94723852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.459254154 meters Centerline goodness [0,1] 0.9990395657166719 Centerline is valid? [True, True] Translation: X:536.30, Y:8.80, Z:4.95 [[ 9.97616623e-01 -6.73516401e-02 -1.49943294e-02 5.36302188e+02] [ 6.73531262e-02 9.97729117e-01 -4.06427415e-04 8.80435646e+00] [ 1.49876525e-02 -6.04456212e-04 9.99887496e-01 4.94719850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4892541539999 meters Centerline goodness [0,1] 0.9989360592468969 Centerline is valid? [True, True] Translation: X:536.33, Y:8.82, Z:4.95 [[ 9.97948471e-01 -6.23261147e-02 -1.46391488e-02 5.36332778e+02] [ 6.23269975e-02 9.98055704e-01 -3.96365425e-04 8.81691952e+00] [ 1.46353899e-02 -5.16861920e-04 9.99892763e-01 4.94866387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5192541539999 meters Centerline goodness [0,1] 0.9988932740295267 Centerline is valid? [True, True] Translation: X:536.36, Y:8.82, Z:4.95 [[ 9.98103259e-01 -6.00862736e-02 -1.33986421e-02 5.36364592e+02] [ 6.00868176e-02 9.98193089e-01 -3.62319182e-04 8.82134991e+00] [ 1.33962024e-02 -4.43449808e-04 9.99910169e-01 4.94897134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.549254154 meters Centerline goodness [0,1] 0.9990403671638678 Centerline is valid? [True, True] Translation: X:536.40, Y:8.83, Z:4.95 [[ 9.98243945e-01 -5.77595549e-02 -1.31476125e-02 5.36396816e+02] [ 5.77598897e-02 9.98330441e-01 -3.54566271e-04 8.82633683e+00] [ 1.31461414e-02 -4.05461017e-04 9.99913504e-01 4.94952505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.579254154 meters Centerline goodness [0,1] 0.9990403671638678 Centerline is valid? [True, True] Translation: X:536.43, Y:8.83, Z:4.95 [[ 9.98248270e-01 -5.76847632e-02 -1.31476391e-02 5.36428507e+02] [ 5.76851045e-02 9.98334765e-01 -3.53579980e-04 8.82713182e+00] [ 1.31461413e-02 -4.05462330e-04 9.99913504e-01 4.94982187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6092541539999 meters Centerline goodness [0,1] 0.9989358150404808 Centerline is valid? [True, True] Translation: X:536.46, Y:8.83, Z:4.95 [[ 9.98378901e-01 -5.54696298e-02 -1.27549808e-02 5.36460515e+02] [ 5.54697824e-02 9.98460308e-01 -3.42083829e-04 8.83162581e+00] [ 1.27543173e-02 -3.65986730e-04 9.99918593e-01 4.94960402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6392541539999 meters Centerline goodness [0,1] 0.9988575938850116 Centerline is valid? [True, True] Translation: X:536.49, Y:8.83, Z:4.95 [[ 9.98494057e-01 -5.33497475e-02 -1.27836620e-02 5.36492146e+02] [ 5.33497394e-02 9.98575830e-01 -3.41891167e-04 8.83394009e+00] [ 1.27836957e-02 -3.40628737e-04 9.99918227e-01 4.94951124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6692541539999 meters Centerline goodness [0,1] 0.9988943591455274 Centerline is valid? [True, True] Translation: X:536.52, Y:8.84, Z:4.95 [[ 9.98595282e-01 -5.15231452e-02 -1.23623601e-02 5.36524017e+02] [ 5.15230088e-02 9.98671753e-01 -3.29725874e-04 8.83816253e+00] [ 1.23629283e-02 -3.07683284e-04 9.99923529e-01 4.94948916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.699254154 meters Centerline goodness [0,1] 0.9989560932835042 Centerline is valid? [True, True] Translation: X:536.56, Y:8.84, Z:4.95 [[ 9.98679334e-01 -5.00261930e-02 -1.17033570e-02 5.36555925e+02] [ 5.00259777e-02 9.98747868e-01 -3.11320299e-04 8.84121709e+00] [ 1.17042770e-02 -2.74562728e-04 9.99931465e-01 4.94968647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7292541539999 meters Centerline goodness [0,1] 0.9989978704747589 Centerline is valid? [True, True] Translation: X:536.59, Y:8.85, Z:4.95 [[ 9.98783511e-01 -4.82172775e-02 -1.03244041e-02 5.36587602e+02] [ 4.82170204e-02 9.98836845e-01 -2.73958469e-04 8.84586626e+00] [ 1.03256047e-02 -2.24186800e-04 9.99946664e-01 4.95011472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7592541539999 meters Centerline goodness [0,1] 0.9988723688606749 Centerline is valid? [True, True] Translation: X:536.62, Y:8.85, Z:4.95 [[ 9.98815791e-01 -4.76545430e-02 -9.80098320e-03 5.36619586e+02] [ 4.76542909e-02 9.98863855e-01 -2.59383394e-04 8.84767043e+00] [ 9.80220866e-03 -2.07982675e-04 9.99951936e-01 4.95063819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7892541539999 meters Centerline goodness [0,1] 0.9990834479023455 Centerline is valid? [True, True] Translation: X:536.65, Y:8.85, Z:4.95 [[ 9.98836189e-01 -4.73403302e-02 -9.22823226e-03 5.36651573e+02] [ 4.73400992e-02 9.98878799e-01 -2.43593434e-04 8.85065164e+00] [ 9.22941735e-03 -1.93555493e-04 9.99957389e-01 4.95095659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.819254154 meters Centerline goodness [0,1] 0.9989767577839497 Centerline is valid? [True, True] Translation: X:536.68, Y:8.85, Z:4.95 [[ 9.98843452e-01 -4.73030704e-02 -8.61270130e-03 5.36682838e+02] [ 4.73028726e-02 9.98880567e-01 -2.26784496e-04 8.85058188e+00] [ 8.61378756e-03 -1.80883303e-04 9.99962884e-01 4.95135501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8492541539999 meters Centerline goodness [0,1] 0.9988724159532262 Centerline is valid? [True, True] Translation: X:536.71, Y:8.85, Z:4.95 [[ 9.98842236e-01 -4.74052581e-02 -8.18098594e-03 5.36713602e+02] [ 4.74050910e-02 9.98875724e-01 -2.14451870e-04 8.85171927e+00] [ 8.18195439e-03 -1.73616798e-04 9.99966512e-01 4.95160149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8792541539999 meters Centerline goodness [0,1] 0.9987273903156489 Centerline is valid? [True, True] Translation: X:536.75, Y:8.85, Z:4.95 [[ 9.98808914e-01 -4.81724902e-02 -7.75656148e-03 5.36746048e+02] [ 4.81723702e-02 9.98839017e-01 -2.02407439e-04 8.85463685e+00] [ 7.75730671e-03 -1.71485596e-04 9.99969897e-01 4.95074094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9092541539999 meters Centerline goodness [0,1] 0.9989358372456963 Centerline is valid? [True, True] Translation: X:536.78, Y:8.86, Z:4.95 [[ 9.98790966e-01 -4.85926115e-02 -7.44069401e-03 5.36778669e+02] [ 4.85925166e-02 9.98818667e-01 -1.93642428e-04 8.85519863e+00] [ 7.44131366e-03 -1.68153739e-04 9.99972299e-01 4.95084772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.939254154 meters Centerline goodness [0,1] 0.9989372343085772 Centerline is valid? [True, True] Translation: X:536.81, Y:8.86, Z:4.95 [[ 9.98756931e-01 -4.93182299e-02 -7.23224377e-03 5.36811004e+02] [ 4.93181630e-02 9.98783101e-01 -1.87705503e-04 8.85599865e+00] [ 7.23270016e-03 -1.69208804e-04 9.99973829e-01 4.95084115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9692541539999 meters Centerline goodness [0,1] 0.998998998998999 Centerline is valid? [True, True] Translation: X:536.84, Y:8.86, Z:4.95 [[ 9.98724639e-01 -5.00295664e-02 -6.79252883e-03 5.36843298e+02] [ 5.00295269e-02 9.98747724e-01 -1.75843159e-04 8.85786526e+00] [ 6.79282006e-03 -1.64208108e-04 9.99976915e-01 4.95037760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9992541539999 meters Centerline goodness [0,1] 0.998957399336906 Centerline is valid? [True, True] Translation: X:536.87, Y:8.86, Z:4.95 [[ 9.98621629e-01 -5.20061907e-02 -7.08504152e-03 5.36874707e+02] [ 5.20062016e-02 9.98646745e-01 -1.82812708e-04 8.85697622e+00] [ 7.08496104e-03 -1.85905373e-04 9.99974884e-01 4.94973969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0292541539999 meters Centerline goodness [0,1] 0.9990190963163936 Centerline is valid? [True, True] Translation: X:536.91, Y:8.86, Z:4.95 [[ 9.98564974e-01 -5.30569041e-02 -7.27726659e-03 5.36905879e+02] [ 5.30569457e-02 9.98591471e-01 -1.87468490e-04 8.85578444e+00] [ 7.27696285e-03 -1.98910071e-04 9.99973503e-01 4.94999262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.059254154 meters Centerline goodness [0,1] 0.9989762446984101 Centerline is valid? [True, True] Translation: X:536.94, Y:8.86, Z:4.95 [[ 9.98514541e-01 -5.40388362e-02 -6.96530320e-03 5.36937781e+02] [ 5.40389039e-02 9.98538815e-01 -1.78617324e-04 8.85881296e+00] [ 6.96477788e-03 -1.98045355e-04 9.99975726e-01 4.94975052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.089254154 meters Centerline goodness [0,1] 0.9988724394980267 Centerline is valid? [True, True] Translation: X:536.97, Y:8.86, Z:4.95 [[ 9.98397066e-01 -5.61741356e-02 -6.91126505e-03 5.36969629e+02] [ 5.61742569e-02 9.98420964e-01 -1.76721876e-04 8.85893404e+00] [ 6.91027911e-03 -2.11796576e-04 9.99976101e-01 4.94939316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1192541539999 meters Centerline goodness [0,1] 0.9988731218697829 Centerline is valid? [True, True] Translation: X:537.00, Y:8.86, Z:4.95 [[ 9.98358249e-01 -5.69199762e-02 -6.39718465e-03 5.37000414e+02] [ 5.69200985e-02 9.98378724e-01 -1.63096235e-04 8.85864586e+00] [ 6.39609648e-03 -2.01299909e-04 9.99979525e-01 4.94952018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1492541539999 meters Centerline goodness [0,1] 0.9989756026174399 Centerline is valid? [True, True] Translation: X:537.03, Y:8.86, Z:4.95 [[ 9.98314030e-01 -5.77103321e-02 -6.21407956e-03 5.37032340e+02] [ 5.77104644e-02 9.98333350e-01 -1.58158975e-04 8.86064774e+00] [ 6.21285027e-03 -2.00725093e-04 9.99980680e-01 4.94973660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.179254154 meters Centerline goodness [0,1] 0.9987473380934486 Centerline is valid? [True, True] Translation: X:537.06, Y:8.86, Z:4.95 [[ 9.98242249e-01 -5.89126695e-02 -6.45826374e-03 5.37063143e+02] [ 5.89128399e-02 9.98263117e-01 -1.64023133e-04 8.86058856e+00] [ 6.45670953e-03 -2.16739837e-04 9.99979132e-01 4.94961788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.209254154 meters Centerline goodness [0,1] 0.9987902552978475 Centerline is valid? [True, True] Translation: X:537.09, Y:8.86, Z:4.95 [[ 9.98220324e-01 -5.92533023e-02 -6.72539335e-03 5.37094808e+02] [ 5.92535007e-02 9.98242953e-01 -1.69918149e-04 8.86210477e+00] [ 6.72364473e-03 -2.28887350e-04 9.99977370e-01 4.94968734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2392541539999 meters Centerline goodness [0,1] 0.9987248364236888 Centerline is valid? [True, True] Translation: X:537.13, Y:8.86, Z:4.95 [[ 9.98198786e-01 -5.96131191e-02 -6.74241575e-03 5.37125913e+02] [ 5.96133333e-02 9.98221529e-01 -1.69378015e-04 8.86185705e+00] [ 6.74052171e-03 -2.32864948e-04 9.99977255e-01 4.94941261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2692541539999 meters Centerline goodness [0,1] 0.9986654711512396 Centerline is valid? [True, True] Translation: X:537.16, Y:8.86, Z:4.95 [[ 9.98191154e-01 -5.97517437e-02 -6.64454704e-03 5.37158243e+02] [ 5.97519621e-02 9.98213242e-01 -1.65812744e-04 8.86252052e+00] [ 6.64258244e-03 -2.31511909e-04 9.99977911e-01 4.94950473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.299254154 meters Centerline goodness [0,1] 0.9986621234609194 Centerline is valid? [True, True] Translation: X:537.19, Y:8.86, Z:4.95 [[ 9.98185865e-01 -5.97918085e-02 -7.06535241e-03 5.37191420e+02] [ 5.97920598e-02 9.98210839e-01 -1.75842057e-04 8.86459707e+00] [ 7.06322527e-03 -2.46928918e-04 9.99975025e-01 4.94904717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.329254154 meters Centerline goodness [0,1] 0.9986411623288387 Centerline is valid? [True, True] Translation: X:537.22, Y:8.87, Z:4.95 [[ 9.98184716e-01 -5.97365414e-02 -7.66929502e-03 5.37224130e+02] [ 5.97368431e-02 9.98214142e-01 -1.89933464e-04 8.86575520e+00] [ 7.66694472e-03 -2.68550793e-04 9.99970572e-01 4.94891637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3592541539999 meters Centerline goodness [0,1] 0.998808926780341 Centerline is valid? [True, True] Translation: X:537.26, Y:8.87, Z:4.95 [[ 9.98199829e-01 -5.94339955e-02 -8.04376718e-03 5.37256019e+02] [ 5.94343255e-02 9.98232198e-01 -1.98217054e-04 8.86682856e+00] [ 8.04132823e-03 -2.80215648e-04 9.99967629e-01 4.94887902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3892541539999 meters Centerline goodness [0,1] 0.9988071570576541 Centerline is valid? [True, True] Translation: X:537.29, Y:8.87, Z:4.95 [[ 9.98212635e-01 -5.91736890e-02 -8.36724710e-03 5.37288347e+02] [ 5.91740423e-02 9.98247660e-01 -2.05548794e-04 8.86800752e+00] [ 8.36474791e-03 -2.89942430e-04 9.99964973e-01 4.94908842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4192541539999 meters Centerline goodness [0,1] 0.9989547402529528 Centerline is valid? [True, True] Translation: X:537.32, Y:8.87, Z:4.95 [[ 9.98268225e-01 -5.81845772e-02 -8.66634466e-03 5.37319710e+02] [ 5.81849248e-02 9.98305800e-01 -2.12231474e-04 8.87023722e+00] [ 8.66401073e-03 -2.92386675e-04 9.99962424e-01 4.94916130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.449254154 meters Centerline goodness [0,1] 0.9989325854454886 Centerline is valid? [True, True] Translation: X:537.35, Y:8.87, Z:4.95 [[ 9.98335351e-01 -5.70378328e-02 -8.55643068e-03 5.37352083e+02] [ 5.70381333e-02 9.98371979e-01 -2.09097801e-04 8.87243914e+00] [ 8.55442711e-03 -2.79293107e-04 9.99963371e-01 4.94928248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4792541539999 meters Centerline goodness [0,1] 0.9989133160578451 Centerline is valid? [True, True] Translation: X:537.38, Y:8.87, Z:4.95 [[ 9.98414029e-01 -5.56403852e-02 -8.57752225e-03 5.37382918e+02] [ 5.56406411e-02 9.98450838e-01 -2.08986100e-04 8.87357447e+00] [ 8.57586234e-03 -2.68604183e-04 9.99963191e-01 4.94952203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5092541539999 meters Centerline goodness [0,1] 0.998703254413118 Centerline is valid? [True, True] Translation: X:537.41, Y:8.88, Z:4.95 [[ 9.98498323e-01 -5.41159906e-02 -8.51816679e-03 5.37414961e+02] [ 5.41161912e-02 9.98534624e-01 -2.07105477e-04 8.87551451e+00] [ 8.51689219e-03 -2.54176271e-04 9.99963698e-01 4.94963747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5392541539999 meters Centerline goodness [0,1] 0.9987686271235965 Centerline is valid? [True, True] Translation: X:537.45, Y:8.88, Z:4.95 [[ 9.98674837e-01 -5.07544867e-02 -8.51774609e-03 5.37445138e+02] [ 5.07545699e-02 9.98711135e-01 -2.06529525e-04 8.87909757e+00] [ 8.51725016e-03 -2.26058699e-04 9.99963702e-01 4.94977408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.569254154 meters Centerline goodness [0,1] 0.998872933711805 Centerline is valid? [True, True] Translation: X:537.48, Y:8.88, Z:4.95 [[ 9.98772117e-01 -4.87385272e-02 -8.87776572e-03 5.37477767e+02] [ 4.87385465e-02 9.98811548e-01 -2.14301212e-04 8.88224323e+00] [ 8.87765965e-03 -2.18651322e-04 9.99960569e-01 4.95010553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5992541539999 meters Centerline goodness [0,1] 0.9991654844362847 Centerline is valid? [True, True] Translation: X:537.51, Y:8.89, Z:4.95 [[ 9.98967851e-01 -4.44828183e-02 -9.19305912e-03 5.37508570e+02] [ 4.44826665e-02 9.99010132e-01 -2.21081990e-04 8.88687109e+00] [ 9.19379355e-03 -1.88077982e-04 9.99957718e-01 4.95045444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6292541539999 meters Centerline goodness [0,1] 0.9989338796329201 Centerline is valid? [True, True] Translation: X:537.54, Y:8.89, Z:4.95 [[ 9.99062211e-01 -4.22519733e-02 -9.45877868e-03 5.37541162e+02] [ 4.22517159e-02 9.99106972e-01 -2.27133180e-04 8.88964884e+00] [ 9.45992854e-03 -1.72729453e-04 9.99955239e-01 4.95077948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6592541539999 meters Centerline goodness [0,1] 0.9991863812742521 Centerline is valid? [True, True] Translation: X:537.57, Y:8.90, Z:4.95 [[ 9.99148517e-01 -4.01575997e-02 -9.46619108e-03 5.37572877e+02] [ 4.01572554e-02 9.99193346e-01 -2.26512379e-04 8.89501446e+00] [ 9.46765134e-03 -1.53816746e-04 9.99955169e-01 4.95107732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.689254154 meters Centerline goodness [0,1] 0.9992478846756503 Centerline is valid? [True, True] Translation: X:537.60, Y:8.90, Z:4.95 [[ 9.99232788e-01 -3.80268970e-02 -9.36962357e-03 5.37604937e+02] [ 3.80264725e-02 9.99276707e-01 -2.23516951e-04 8.89721690e+00] [ 9.37134624e-03 -1.32948267e-04 9.99956079e-01 4.95151403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7192541539999 meters Centerline goodness [0,1] 0.9990188710754843 Centerline is valid? [True, True] Translation: X:537.64, Y:8.90, Z:4.95 [[ 9.99290439e-01 -3.64722717e-02 -9.40170754e-03 5.37636519e+02] [ 3.64717821e-02 9.99334658e-01 -2.23581294e-04 8.89852632e+00] [ 9.40360671e-03 -1.19474380e-04 9.99955778e-01 4.95149618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7492541539999 meters Centerline goodness [0,1] 0.9991409654710024 Centerline is valid? [True, True] Translation: X:537.67, Y:8.90, Z:4.95 [[ 9.99376829e-01 -3.40534247e-02 -9.29077639e-03 5.37669149e+02] [ 3.40528468e-02 9.99420009e-01 -2.20437804e-04 8.90065603e+00] [ 9.29289448e-03 -9.60769509e-05 9.99956816e-01 4.95166277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7792541539999 meters Centerline goodness [0,1] 0.9992685169704063 Centerline is valid? [True, True] Translation: X:537.70, Y:8.90, Z:4.95 [[ 9.99375986e-01 -3.41409998e-02 -9.05705048e-03 5.37701190e+02] [ 3.41404615e-02 9.99417022e-01 -2.14076280e-04 8.90157507e+00] [ 9.05907919e-03 -9.52691898e-05 9.99958961e-01 4.95248319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.809254154 meters Centerline goodness [0,1] 0.9992055693767901 Centerline is valid? [True, True] Translation: X:537.73, Y:8.90, Z:4.95 [[ 9.99374017e-01 -3.41952015e-02 -9.06989508e-03 5.37732938e+02] [ 3.41946700e-02 9.99415168e-01 -2.13714416e-04 8.90214475e+00] [ 9.07189872e-03 -9.65614344e-05 9.99958845e-01 4.95283265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.839254154 meters Centerline goodness [0,1] 0.9991425822911875 Centerline is valid? [True, True] Translation: X:537.76, Y:8.90, Z:4.95 [[ 9.99315839e-01 -3.59462111e-02 -8.70193648e-03 5.37764622e+02] [ 3.59457936e-02 9.99353720e-01 -2.04419684e-04 8.90069100e+00] [ 8.70366071e-03 -1.08518185e-04 9.99962117e-01 4.95326608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8692541539999 meters Centerline goodness [0,1] 0.9992055195484005 Centerline is valid? [True, True] Translation: X:537.80, Y:8.90, Z:4.95 [[ 9.99262555e-01 -3.74709859e-02 -8.38283072e-03 5.37797107e+02] [ 3.74706557e-02 9.99297709e-01 -1.96498943e-04 8.89944405e+00] [ 8.38430655e-03 -1.17756128e-04 9.99964844e-01 4.95356657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8992541539999 meters Centerline goodness [0,1] 0.9992670464064333 Centerline is valid? [True, True] Translation: X:537.83, Y:8.90, Z:4.95 [[ 9.99177687e-01 -3.97452429e-02 -8.01657837e-03 5.37829244e+02] [ 3.97450184e-02 9.99209837e-01 -1.87372315e-04 8.89800646e+00] [ 8.01769112e-03 -1.31400818e-04 9.99967849e-01 4.95388573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.929254154 meters Centerline goodness [0,1] 0.9991218349467874 Centerline is valid? [True, True] Translation: X:537.86, Y:8.90, Z:4.95 [[ 9.99072537e-01 -4.22794416e-02 -8.15563270e-03 5.37861289e+02] [ 4.22792985e-02 9.99105813e-01 -1.90034316e-04 8.89748556e+00] [ 8.15637458e-03 -1.54956363e-04 9.99966724e-01 4.95400165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.959254154 meters Centerline goodness [0,1] 0.9991867206072487 Centerline is valid? [True, True] Translation: X:537.89, Y:8.89, Z:4.95 [[ 9.98780337e-01 -4.86900050e-02 -8.19277568e-03 5.37893016e+02] [ 4.86900814e-02 9.98813917e-01 -1.90249498e-04 8.89291725e+00] [ 8.19232162e-03 -2.08889457e-04 9.99966421e-01 4.95351026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9892541539999 meters Centerline goodness [0,1] 0.9993123424118027 Centerline is valid? [True, True] Translation: X:537.92, Y:8.89, Z:4.95 [[ 9.98607362e-01 -5.20869271e-02 -8.38380534e-03 5.37923749e+02] [ 5.20871293e-02 9.98642525e-01 -1.94370149e-04 8.88872959e+00] [ 8.38254868e-03 -2.42588891e-04 9.99964836e-01 4.95388187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0192541539999 meters Centerline goodness [0,1] 0.9991860586455181 Centerline is valid? [True, True] Translation: X:537.96, Y:8.89, Z:4.95 [[ 9.98420802e-01 -5.55097663e-02 -8.63525071e-03 5.37955457e+02] [ 5.55101114e-02 9.98458105e-01 -1.99885433e-04 8.88757122e+00] [ 8.63303165e-03 -2.79773955e-04 9.99962696e-01 4.95388131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.049254154 meters Centerline goodness [0,1] 0.9990200984071387 Centerline is valid? [True, True] Translation: X:537.99, Y:8.89, Z:4.95 [[ 9.98223836e-01 -5.89594512e-02 -8.54140430e-03 5.37987468e+02] [ 5.89599188e-02 9.98260331e-01 -1.97270612e-04 8.88707475e+00] [ 8.53817606e-03 -3.06680277e-04 9.99963502e-01 4.95367015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.079254154 meters Centerline goodness [0,1] 0.9989165538076883 Centerline is valid? [True, True] Translation: X:538.02, Y:8.88, Z:4.95 [[ 9.97763825e-01 -6.61904497e-02 -9.28298366e-03 5.38017623e+02] [ 6.61913213e-02 9.97806927e-01 -2.13648810e-04 8.87842318e+00] [ 9.27676691e-03 -4.01281900e-04 9.99956889e-01 4.95308115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1092541539999 meters Centerline goodness [0,1] 0.999123831775701 Centerline is valid? [True, True] Translation: X:538.05, Y:8.88, Z:4.95 [[ 9.97532384e-01 -6.95311684e-02 -9.72416708e-03 5.38048356e+02] [ 6.95322819e-02 9.97579677e-01 -2.23936633e-04 8.87966445e+00] [ 9.71620203e-03 -4.52759484e-04 9.99952694e-01 4.95277828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1392541539999 meters Centerline goodness [0,1] 0.9989978077043533 Centerline is valid? [True, True] Translation: X:538.08, Y:8.88, Z:4.95 [[ 9.97275382e-01 -7.30365463e-02 -1.03670306e-02 5.38078820e+02] [ 7.30380059e-02 9.97329130e-01 -2.38248292e-04 8.87689999e+00] [ 1.03567424e-02 -5.19588083e-04 9.99946233e-01 4.95247779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1692541539999 meters Centerline goodness [0,1] 0.9989153560552334 Centerline is valid? [True, True] Translation: X:538.11, Y:8.87, Z:4.95 [[ 9.96819971e-01 -7.88962928e-02 -1.11946841e-02 5.38109906e+02] [ 7.88983652e-02 9.96882632e-01 -2.57082966e-04 8.87405703e+00] [ 1.11800690e-02 -6.26976837e-04 9.99937305e-01 4.95229674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.199254154 meters Centerline goodness [0,1] 0.9988523974460627 Centerline is valid? [True, True] Translation: X:538.14, Y:8.87, Z:4.95 [[ 9.96641275e-01 -8.11570570e-02 -1.09408134e-02 5.38141220e+02] [ 8.11591730e-02 9.96701121e-01 -2.51180301e-04 8.87367125e+00] [ 1.09251060e-02 -6.37610708e-04 9.99940116e-01 4.95269821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2292541539999 meters Centerline goodness [0,1] 0.9988115591509945 Centerline is valid? [True, True] Translation: X:538.17, Y:8.87, Z:4.95 [[ 9.96504935e-01 -8.27479765e-02 -1.14318026e-02 5.38173256e+02] [ 8.27503966e-02 9.96570270e-01 -2.61957086e-04 8.87361357e+00] [ 1.14142710e-02 -6.84944670e-04 9.99934620e-01 4.95210991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2592541539999 meters Centerline goodness [0,1] 0.9990399866432924 Centerline is valid? [True, True] Translation: X:538.20, Y:8.87, Z:4.95 [[ 9.96368784e-01 -8.43587775e-02 -1.15257179e-02 5.38204949e+02] [ 8.43613540e-02 9.96435192e-01 -2.63322516e-04 8.87432302e+00] [ 1.15068445e-02 -7.09958830e-04 9.99933542e-01 4.95314104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2892541539999 meters Centerline goodness [0,1] 0.9988713318284425 Centerline is valid? [True, True] Translation: X:538.24, Y:8.87, Z:4.95 [[ 9.96335425e-01 -8.47344971e-02 -1.16527182e-02 5.38237032e+02] [ 8.47371640e-02 9.96403303e-01 -2.65558478e-04 8.87460078e+00] [ 1.16333089e-02 -7.22832978e-04 9.99932070e-01 4.95263764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.319254154 meters Centerline goodness [0,1] 0.9988919551764509 Centerline is valid? [True, True] Translation: X:538.27, Y:8.88, Z:4.95 [[ 9.96271386e-01 -8.56106403e-02 -1.06837621e-02 5.38269085e+02] [ 8.56129397e-02 9.96328443e-01 -2.42778534e-04 8.87879762e+00] [ 1.06653205e-02 -6.72794973e-04 9.99942898e-01 4.95475832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3492541539999 meters Centerline goodness [0,1] 0.9982840521480737 Centerline is valid? [True, True] Translation: X:538.30, Y:8.88, Z:4.96 [[ 9.96310539e-01 -8.51766642e-02 -1.04998024e-02 5.38299883e+02] [ 8.51788685e-02 9.96365648e-01 -2.37888547e-04 8.88050073e+00] [ 1.04819050e-02 -6.57350420e-04 9.99944847e-01 4.95540035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3792541539999 meters Centerline goodness [0,1] 0.99843174974908 Centerline is valid? [True, True] Translation: X:538.33, Y:8.88, Z:4.96 [[ 9.96365181e-01 -8.45857253e-02 -1.00836978e-02 5.38332098e+02] [ 8.45877335e-02 9.96416009e-01 -2.27936666e-04 8.88371392e+00] [ 1.00668381e-02 -6.25848986e-04 9.99949132e-01 4.95655920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4092541539999 meters Centerline goodness [0,1] 0.998262471477318 Centerline is valid? [True, True] Translation: X:538.36, Y:8.89, Z:4.96 [[ 9.96438489e-01 -8.37746682e-02 -9.59909905e-03 5.38363453e+02] [ 8.37764565e-02 9.96484550e-01 -2.16350139e-04 8.88594186e+00] [ 9.58347855e-03 -5.88598899e-04 9.99953904e-01 4.95726725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.439254154 meters Centerline goodness [0,1] 0.998636744966443 Centerline is valid? [True, True] Translation: X:538.39, Y:8.89, Z:4.96 [[ 9.96595028e-01 -8.19098192e-02 -9.44096993e-03 5.38393449e+02] [ 8.19114703e-02 9.96639587e-01 -2.12307302e-04 8.89098795e+00] [ 9.42663442e-03 -5.61739326e-04 9.99955411e-01 4.95763747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4692541539999 meters Centerline goodness [0,1] 0.998636744966443 Centerline is valid? [True, True] Translation: X:538.43, Y:8.89, Z:4.96 [[ 9.96603412e-01 -8.18077418e-02 -9.44097374e-03 5.38426030e+02] [ 8.18093898e-02 9.96647971e-01 -2.12138002e-04 8.89161799e+00] [ 9.42668185e-03 -5.60942844e-04 9.99955411e-01 4.95794270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4992541539999 meters Centerline goodness [0,1] 0.9985735861721765 Centerline is valid? [True, True] Translation: X:538.46, Y:8.90, Z:4.96 [[ 9.96672799e-01 -8.08710488e-02 -1.01590150e-02 5.38458334e+02] [ 8.08729196e-02 9.96724395e-01 -2.27185312e-04 8.89576823e+00] [ 1.01441108e-02 -5.95159785e-04 9.99948370e-01 4.95811052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5292541539999 meters Centerline goodness [0,1] 0.9984469116628539 Centerline is valid? [True, True] Translation: X:538.49, Y:8.90, Z:4.96 [[ 9.96760914e-01 -7.96805905e-02 -1.08942196e-02 5.38491051e+02] [ 7.96826800e-02 9.96820250e-01 -2.42810274e-04 8.89850529e+00] [ 1.08789259e-02 -6.26056820e-04 9.99940627e-01 4.95754813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.559254154 meters Centerline goodness [0,1] 0.998443481553153 Centerline is valid? [True, True] Translation: X:538.52, Y:8.90, Z:4.96 [[ 9.96869821e-01 -7.82079420e-02 -1.15792313e-02 5.38522884e+02] [ 7.82102146e-02 9.96936857e-01 -2.57121547e-04 8.90276346e+00] [ 1.15638714e-02 -6.49297451e-04 9.99932925e-01 4.95721968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.589254154 meters Centerline goodness [0,1] 0.9986949566388819 Centerline is valid? [True, True] Translation: X:538.55, Y:8.92, Z:4.96 [[ 9.97145970e-01 -7.44491447e-02 -1.25395337e-02 5.38553037e+02] [ 7.44515200e-02 9.97224596e-01 -2.77927631e-04 8.91734861e+00] [ 1.25254229e-02 -6.56452925e-04 9.99921338e-01 4.95686306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6192541539999 meters Centerline goodness [0,1] 0.9987368686975011 Centerline is valid? [True, True] Translation: X:538.58, Y:8.92, Z:4.96 [[ 9.97318437e-01 -7.20592405e-02 -1.27828651e-02 5.38583453e+02] [ 7.20615178e-02 9.97400149e-01 -2.82953923e-04 8.92071165e+00] [ 1.27700210e-02 -6.38957500e-04 9.99918256e-01 4.95712118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6492541539999 meters Centerline goodness [0,1] 0.9986742424242424 Centerline is valid? [True, True] Translation: X:538.61, Y:8.93, Z:4.96 [[ 9.97524547e-01 -6.91527577e-02 -1.27543485e-02 5.38614619e+02] [ 6.91548021e-02 9.97605901e-01 -2.81198241e-04 8.92704245e+00] [ 1.27432589e-02 -6.01522297e-04 9.99918620e-01 4.95779980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.679254154 meters Centerline goodness [0,1] 0.9990324141267537 Centerline is valid? [True, True] Translation: X:538.64, Y:8.94, Z:4.96 [[ 9.97999362e-01 -6.19750965e-02 -1.25044060e-02 5.38643552e+02] [ 6.19765024e-02 9.98077571e-01 -2.75414422e-04 8.93632205e+00] [ 1.24974360e-02 -5.00115929e-04 9.99921779e-01 4.95881373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.709254154 meters Centerline goodness [0,1] 0.9987771452667088 Centerline is valid? [True, True] Translation: X:538.67, Y:8.95, Z:4.96 [[ 9.98255786e-01 -5.77427731e-02 -1.22946244e-02 5.38674784e+02] [ 5.77438110e-02 9.98331397e-01 -2.70845263e-04 8.94790458e+00] [ 1.22897489e-02 -4.39565616e-04 9.99924382e-01 4.95996850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7392541539999 meters Centerline goodness [0,1] 0.9990734111106432 Centerline is valid? [True, True] Translation: X:538.71, Y:8.95, Z:4.96 [[ 9.98517293e-01 -5.31881047e-02 -1.15862671e-02 5.38705479e+02] [ 5.31887249e-02 9.98584445e-01 -2.54824689e-04 8.95040097e+00] [ 1.15834198e-02 -3.61811916e-04 9.99932844e-01 4.96075394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7692541539999 meters Centerline goodness [0,1] 0.9988811484061643 Centerline is valid? [True, True] Translation: X:538.74, Y:8.96, Z:4.96 [[ 9.98966311e-01 -4.43811875e-02 -9.82956349e-03 5.38735679e+02] [ 4.43812106e-02 9.99014645e-01 -2.15884842e-04 8.96159208e+00] [ 9.82945911e-03 -2.20586243e-04 9.99951665e-01 4.96254822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.799254154 meters Centerline goodness [0,1] 0.9991764333227748 Centerline is valid? [True, True] Translation: X:538.77, Y:8.97, Z:4.96 [[ 9.99142423e-01 -4.03305931e-02 -9.37349468e-03 5.38766585e+02] [ 4.03304371e-02 9.99186376e-01 -2.05738660e-04 8.96636358e+00] [ 9.37416574e-03 -1.72474915e-04 9.99956047e-01 4.96336919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.829254154 meters Centerline goodness [0,1] 0.9990899470899471 Centerline is valid? [True, True] Translation: X:538.80, Y:8.97, Z:4.96 [[ 9.99267038e-01 -3.72521959e-02 -8.81256753e-03 5.38797477e+02] [ 3.72519488e-02 9.99305887e-01 -1.92232874e-04 8.96959361e+00] [ 8.81361171e-03 -1.36193340e-04 9.99961150e-01 4.96391037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8592541539999 meters Centerline goodness [0,1] 0.9987497351133715 Centerline is valid? [True, True] Translation: X:538.83, Y:8.98, Z:4.96 [[ 9.99426414e-01 -3.27326007e-02 -8.68450313e-03 5.38829167e+02] [ 3.27321939e-02 9.99464140e-01 -1.89011844e-04 8.97762874e+00] [ 8.68603630e-03 -9.53594104e-05 9.99962271e-01 4.96290959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8892541539999 meters Centerline goodness [0,1] 0.9990042794796831 Centerline is valid? [True, True] Translation: X:538.86, Y:8.98, Z:4.96 [[ 9.99445274e-01 -3.19166661e-02 -9.51160034e-03 5.38861300e+02] [ 3.19161484e-02 9.99490529e-01 -2.06254195e-04 8.97962170e+00] [ 9.51333740e-03 -9.74338678e-05 9.99954742e-01 4.96223674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9192541539999 meters Centerline goodness [0,1] 0.9991313375283375 Centerline is valid? [True, True] Translation: X:538.89, Y:8.98, Z:4.96 [[ 9.99436152e-01 -3.18605729e-02 -1.05963304e-02 5.38893457e+02] [ 3.18599363e-02 9.99492317e-01 -2.28918132e-04 8.98048211e+00] [ 1.05982443e-02 -1.08809355e-04 9.99943831e-01 4.96178104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.949254154 meters Centerline goodness [0,1] 0.999235798590473 Centerline is valid? [True, True] Translation: X:538.93, Y:8.98, Z:4.96 [[ 9.99385794e-01 -3.30732800e-02 -1.15841808e-02 5.38925173e+02] [ 3.30726108e-02 9.99452920e-01 -2.49384561e-04 8.98120343e+00] [ 1.15860913e-02 -1.33887716e-04 9.99932870e-01 4.96144030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9792541539999 meters Centerline goodness [0,1] 0.9994691355403138 Centerline is valid? [True, True] Translation: X:538.96, Y:8.98, Z:4.96 [[ 9.99234471e-01 -3.67948416e-02 -1.32895326e-02 5.38956679e+02] [ 3.67943008e-02 9.99322820e-01 -2.85274683e-04 8.97876851e+00] [ 1.32910298e-02 -2.03922763e-04 9.99911650e-01 4.96025221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0092541539999 meters Centerline goodness [0,1] 0.9991315031350618 Centerline is valid? [True, True] Translation: X:538.99, Y:8.98, Z:4.96 [[ 9.99133365e-01 -3.93460349e-02 -1.35796764e-02 5.38987916e+02] [ 3.93457161e-02 9.99225615e-01 -2.90739106e-04 8.97697227e+00] [ 1.35805999e-02 -2.43814950e-04 9.99907750e-01 4.95993065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0392541539999 meters Centerline goodness [0,1] 0.9992586473491347 Centerline is valid? [True, True] Translation: X:539.02, Y:8.98, Z:4.96 [[ 9.99049060e-01 -4.15056282e-02 -1.33513854e-02 5.39020457e+02] [ 4.15055234e-02 9.99138234e-01 -2.85058050e-04 8.97550545e+00] [ 1.33517112e-02 -2.69369263e-04 9.99910826e-01 4.96020783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.069254154 meters Centerline goodness [0,1] 0.9990467717336045 Centerline is valid? [True, True] Translation: X:539.05, Y:8.97, Z:4.96 [[ 9.98900876e-01 -4.49954397e-02 -1.31320440e-02 5.39052442e+02] [ 4.49956521e-02 9.98987144e-01 -2.79431332e-04 8.97287893e+00] [ 1.31313163e-02 -3.11760681e-04 9.99913732e-01 4.96131375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0992541539999 meters Centerline goodness [0,1] 0.999025382431459 Centerline is valid? [True, True] Translation: X:539.08, Y:8.97, Z:4.96 [[ 9.98875884e-01 -4.56564413e-02 -1.27458857e-02 5.39083823e+02] [ 4.56567059e-02 9.98957152e-01 -2.70370953e-04 8.97192237e+00] [ 1.27449379e-02 -3.11868132e-04 9.99918731e-01 4.96178260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1292541539999 meters Centerline goodness [0,1] 0.9991744983489967 Centerline is valid? [True, True] Translation: X:539.12, Y:8.97, Z:4.96 [[ 9.98877838e-01 -4.57503832e-02 -1.22461140e-02 5.39116073e+02] [ 4.57506430e-02 9.98952858e-01 -2.59075905e-04 8.97135995e+00] [ 1.22451434e-02 -3.01482412e-04 9.99924980e-01 4.96243392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1592541539999 meters Centerline goodness [0,1] 0.9990904283447911 Centerline is valid? [True, True] Translation: X:539.15, Y:8.97, Z:4.96 [[ 9.98931357e-01 -4.46937185e-02 -1.17734745e-02 5.39147889e+02] [ 4.46938949e-02 9.99000698e-01 -2.48258215e-04 8.97036499e+00] [ 1.17728048e-02 -2.78209517e-04 9.99930659e-01 4.96286727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.189254154 meters Centerline goodness [0,1] 0.9991106405505559 Centerline is valid? [True, True] Translation: X:539.18, Y:8.97, Z:4.96 [[ 9.98969986e-01 -4.39242292e-02 -1.13854534e-02 5.39179762e+02] [ 4.39243532e-02 9.99034831e-01 -2.39280714e-04 8.97043748e+00] [ 1.13849747e-02 -2.61064426e-04 9.99935155e-01 4.96320060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2192541539999 meters Centerline goodness [0,1] 0.9988162678616724 Centerline is valid? [True, True] Translation: X:539.21, Y:8.97, Z:4.96 [[ 9.99005653e-01 -4.30872853e-02 -1.14538287e-02 5.39211238e+02] [ 4.30873667e-02 9.99071279e-01 -2.39776456e-04 8.96974151e+00] [ 1.14535227e-02 -2.53977284e-04 9.99934374e-01 4.96324520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2492541539999 meters Centerline goodness [0,1] 0.9990048065725115 Centerline is valid? [True, True] Translation: X:539.24, Y:8.97, Z:4.96 [[ 9.99051337e-01 -4.20252865e-02 -1.14149763e-02 5.39243983e+02] [ 4.20253134e-02 9.99116518e-01 -2.37616802e-04 8.96895262e+00] [ 1.14148773e-02 -2.42326572e-04 9.99934819e-01 4.96352146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2792541539999 meters Centerline goodness [0,1] 0.9988171179924803 Centerline is valid? [True, True] Translation: X:539.28, Y:8.97, Z:4.96 [[ 9.99069639e-01 -4.15456308e-02 -1.15679495e-02 5.39276108e+02] [ 4.15456379e-02 9.99136578e-01 -2.39797818e-04 8.96875743e+00] [ 1.15679240e-02 -2.41023122e-04 9.99933060e-01 4.96369324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.309254154 meters Centerline goodness [0,1] 0.9990482636098303 Centerline is valid? [True, True] Translation: X:539.31, Y:8.97, Z:4.96 [[ 9.99112612e-01 -4.03512382e-02 -1.20733315e-02 5.39307272e+02] [ 4.03511690e-02 9.99185529e-01 -2.49423345e-04 8.96574982e+00] [ 1.20735627e-02 -2.37971032e-04 9.99927084e-01 4.96387493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.339254154 meters Centerline goodness [0,1] 0.9990072659682325 Centerline is valid? [True, True] Translation: X:539.34, Y:8.96, Z:4.96 [[ 9.99130374e-01 -3.97299128e-02 -1.26503138e-02 5.39339311e+02] [ 3.97297966e-02 9.99210426e-01 -2.60586030e-04 8.96488343e+00] [ 1.26506785e-02 -2.42234976e-04 9.99919948e-01 4.96341260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3692541539999 meters Centerline goodness [0,1] 0.9991544770440517 Centerline is valid? [True, True] Translation: X:539.37, Y:8.97, Z:4.96 [[ 9.99166521e-01 -3.86684697e-02 -1.30771950e-02 5.39371995e+02] [ 3.86682683e-02 9.99252067e-01 -2.68348571e-04 8.96552457e+00] [ 1.30777907e-02 -2.37547575e-04 9.99914454e-01 4.96333150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3992541539999 meters Centerline goodness [0,1] 0.9988801318486277 Centerline is valid? [True, True] Translation: X:539.40, Y:8.97, Z:4.96 [[ 9.99207670e-01 -3.73693240e-02 -1.36954433e-02 5.39403845e+02] [ 3.73689983e-02 9.99301496e-01 -2.79777000e-04 8.96558733e+00] [ 1.36963320e-02 -2.32229672e-04 9.99906174e-01 4.96311426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.429254154 meters Centerline goodness [0,1] 0.999048484976635 Centerline is valid? [True, True] Translation: X:539.44, Y:8.96, Z:4.96 [[ 9.99301643e-01 -3.42228240e-02 -1.50008418e-02 5.39435634e+02] [ 3.42220963e-02 9.99414206e-01 -3.05280266e-04 8.96416381e+00] [ 1.50025020e-02 -2.08293182e-04 9.99887434e-01 4.96257967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.459254154 meters Centerline goodness [0,1] 0.9988803920740209 Centerline is valid? [True, True] Translation: X:539.47, Y:8.96, Z:4.96 [[ 9.99361832e-01 -3.21883260e-02 -1.54867528e-02 5.39466667e+02] [ 3.21873288e-02 9.99481804e-01 -3.13706835e-04 8.96377423e+00] [ 1.54888253e-02 -1.84970567e-04 9.99880024e-01 4.96204770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4892541539999 meters Centerline goodness [0,1] 0.9991337784162935 Centerline is valid? [True, True] Translation: X:539.50, Y:8.97, Z:4.96 [[ 9.99426070e-01 -3.00024561e-02 -1.57284317e-02 5.39497749e+02] [ 3.00011790e-02 9.99549813e-01 -3.17191913e-04 8.96519217e+00] [ 1.57308675e-02 -1.54861628e-04 9.99876250e-01 4.96268079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5192541539999 meters Centerline goodness [0,1] 0.9989825334916059 Centerline is valid? [True, True] Translation: X:539.53, Y:8.97, Z:4.96 [[ 9.99530740e-01 -2.60089395e-02 -1.61813118e-02 5.39528330e+02] [ 2.60070703e-02 9.99661706e-01 -3.25972789e-04 8.96539704e+00] [ 1.61843160e-02 -9.50086908e-05 9.99869021e-01 4.96315582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.549254154 meters Centerline goodness [0,1] 0.998984513835999 Centerline is valid? [True, True] Translation: X:539.56, Y:8.97, Z:4.96 [[ 9.99570116e-01 -2.42678967e-02 -1.64515345e-02 5.39558258e+02] [ 2.42657244e-02 9.99705489e-01 -3.31674046e-04 8.96570052e+00] [ 1.64547383e-02 -6.76769373e-05 9.99864609e-01 4.96334062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.579254154 meters Centerline goodness [0,1] 0.998900471528556 Centerline is valid? [True, True] Translation: X:539.59, Y:8.97, Z:4.96 [[ 9.99594809e-01 -2.31385858e-02 -1.65778141e-02 5.39587555e+02] [ 2.31362147e-02 9.99732266e-01 -3.34826323e-04 8.96556035e+00] [ 1.65811230e-02 -4.88572106e-05 9.99862523e-01 4.96367969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6092541539999 meters Centerline goodness [0,1] 0.9990075803965456 Centerline is valid? [True, True] Translation: X:539.62, Y:8.96, Z:4.96 [[ 9.99602332e-01 -2.27086608e-02 -1.67181097e-02 5.39615921e+02] [ 2.27061751e-02 9.99742124e-01 -3.38508904e-04 8.96468201e+00] [ 1.67214856e-02 -4.12300363e-05 9.99860185e-01 4.96338066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6392541539999 meters Centerline goodness [0,1] 0.99934559118448 Centerline is valid? [True, True] Translation: X:539.64, Y:8.96, Z:4.96 [[ 9.99569700e-01 -2.36348068e-02 -1.73726958e-02 5.39644985e+02] [ 2.36322160e-02 9.99720657e-01 -3.54441214e-04 8.96094334e+00] [ 1.73762200e-02 -5.62666015e-05 9.99849021e-01 4.96362248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6692541539999 meters Centerline goodness [0,1] 0.9991356046550852 Centerline is valid? [True, True] Translation: X:539.67, Y:8.96, Z:4.96 [[ 9.99517144e-01 -2.53235536e-02 -1.80054421e-02 5.39673694e+02] [ 2.53209608e-02 9.99679304e-01 -3.71999352e-04 8.95892517e+00] [ 1.80090881e-02 -8.40953628e-05 9.99837820e-01 4.96417308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.699254154 meters Centerline goodness [0,1] 0.9990098175536173 Centerline is valid? [True, True] Translation: X:539.70, Y:8.96, Z:4.96 [[ 9.99462913e-01 -2.71929814e-02 -1.82873276e-02 5.39702570e+02] [ 2.71905326e-02 9.99630196e-01 -3.82581399e-04 8.95635916e+00] [ 1.82909684e-02 -1.14866258e-04 9.99832700e-01 4.96414594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7292541539999 meters Centerline goodness [0,1] 0.9989057699591768 Centerline is valid? [True, True] Translation: X:539.73, Y:8.95, Z:4.96 [[ 9.99298592e-01 -3.23041228e-02 -1.89411593e-02 5.39730814e+02] [ 3.23023490e-02 9.99478063e-01 -3.99669480e-04 8.94961818e+00] [ 1.89441842e-02 -2.12454790e-04 9.99820520e-01 4.96396191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7592541539999 meters Centerline goodness [0,1] 0.9992641029414857 Centerline is valid? [True, True] Translation: X:539.76, Y:8.95, Z:4.96 [[ 9.99205366e-01 -3.49414946e-02 -1.91762743e-02 5.39759988e+02] [ 3.49401348e-02 9.99389325e-01 -4.06047699e-04 8.94683739e+00] [ 1.91787517e-02 -2.64296570e-04 9.99816036e-01 4.96463105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7892541539999 meters Centerline goodness [0,1] 0.9991197921032777 Centerline is valid? [True, True] Translation: X:539.79, Y:8.94, Z:4.96 [[ 9.99107143e-01 -3.77391597e-02 -1.89914067e-02 5.39789933e+02] [ 3.77383181e-02 9.99287575e-01 -4.02822463e-04 8.94258989e+00] [ 1.89930790e-02 -3.14240949e-04 9.99819566e-01 4.96451193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.819254154 meters Centerline goodness [0,1] 0.999162619326746 Centerline is valid? [True, True] Translation: X:539.82, Y:8.94, Z:4.97 [[ 9.98919816e-01 -4.28358818e-02 -1.80080240e-02 5.39820471e+02] [ 4.28359498e-02 9.99082046e-01 -3.82126562e-04 8.93698623e+00] [ 1.80078622e-02 -3.89677017e-04 9.99837769e-01 4.96628760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8492541539999 meters Centerline goodness [0,1] 0.9990174558377757 Centerline is valid? [True, True] Translation: X:539.85, Y:8.93, Z:4.97 [[ 9.98847478e-01 -4.47067212e-02 -1.74649802e-02 5.39850886e+02] [ 4.47070736e-02 9.99000070e-01 -3.70455661e-04 8.93347014e+00] [ 1.74640783e-02 -4.10779452e-04 9.99847407e-01 4.96617183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8792541539999 meters Centerline goodness [0,1] 0.9991218900271795 Centerline is valid? [True, True] Translation: X:539.88, Y:8.93, Z:4.97 [[ 9.98791478e-01 -4.62063011e-02 -1.67499746e-02 5.39882587e+02] [ 4.62068432e-02 9.98931830e-01 -3.54851285e-04 8.93357660e+00] [ 1.67484792e-02 -4.19541010e-04 9.99859646e-01 4.96750531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9092541539999 meters Centerline goodness [0,1] 0.9992695702986414 Centerline is valid? [True, True] Translation: X:539.91, Y:8.93, Z:4.97 [[ 9.98760371e-01 -4.69746777e-02 -1.64651359e-02 5.39913921e+02] [ 4.69753179e-02 9.98895990e-01 -3.48080388e-04 8.93047397e+00] [ 1.64633092e-02 -4.25806097e-04 9.99864380e-01 4.96778604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.939254154 meters Centerline goodness [0,1] 0.9991028770524295 Centerline is valid? [True, True] Translation: X:539.95, Y:8.93, Z:4.97 [[ 9.98774462e-01 -4.68996882e-02 -1.58111962e-02 5.39946151e+02] [ 4.69002845e-02 9.98899521e-01 -3.33282852e-04 8.92957371e+00] [ 1.58094272e-02 -4.08675199e-04 9.99874940e-01 4.96888260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9692541539999 meters Centerline goodness [0,1] 0.9990601503759399 Centerline is valid? [True, True] Translation: X:539.98, Y:8.93, Z:4.97 [[ 9.98821352e-01 -4.59562388e-02 -1.56183103e-02 5.39977976e+02] [ 4.59567214e-02 9.98943378e-01 -3.28194038e-04 8.92951293e+00] [ 1.56168902e-02 -3.89959123e-04 9.99877973e-01 4.96894212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9992541539999 meters Centerline goodness [0,1] 0.9990172914880716 Centerline is valid? [True, True] Translation: X:540.01, Y:8.93, Z:4.97 [[ 9.98894216e-01 -4.43364209e-02 -1.56405679e-02 5.40009694e+02] [ 4.43367180e-02 9.99016590e-01 -3.27917584e-04 8.92957732e+00] [ 1.56397255e-02 -3.65896471e-04 9.99877625e-01 4.96963635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0292541539999 meters Centerline goodness [0,1] 0.999080478986855 Centerline is valid? [True, True] Translation: X:540.04, Y:8.93, Z:4.97 [[ 9.99104123e-01 -3.97302751e-02 -1.45759193e-02 5.40041247e+02] [ 3.97300506e-02 9.99210403e-01 -3.05082209e-04 8.93195927e+00] [ 1.45765312e-02 -2.74293117e-04 9.99893719e-01 4.97118438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.059254154 meters Centerline goodness [0,1] 0.999100945053107 Centerline is valid? [True, True] Translation: X:540.07, Y:8.93, Z:4.97 [[ 9.99215400e-01 -3.70563355e-02 -1.39790028e-02 5.40071462e+02] [ 3.70558733e-02 9.99313153e-01 -2.92165387e-04 8.93203602e+00] [ 1.39802279e-02 -2.26068001e-04 9.99902246e-01 4.97134968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.089254154 meters Centerline goodness [0,1] 0.9991015086296962 Centerline is valid? [True, True] Translation: X:540.10, Y:8.94, Z:4.97 [[ 9.99432795e-01 -3.07767281e-02 -1.36704686e-02 5.40103000e+02] [ 3.07757032e-02 9.99526275e-01 -2.85388887e-04 8.93528043e+00] [ 1.36727759e-02 -1.35491271e-04 9.99906514e-01 4.97223536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1192541539999 meters Centerline goodness [0,1] 0.999122880294044 Centerline is valid? [True, True] Translation: X:540.13, Y:8.94, Z:4.97 [[ 9.99523671e-01 -2.77036697e-02 -1.35991868e-02 5.40132978e+02] [ 2.77023757e-02 9.99616175e-01 -2.83557397e-04 8.93673833e+00] [ 1.36018227e-02 -9.33074518e-05 9.99907487e-01 4.97238059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1492541539999 meters Centerline goodness [0,1] 0.9992253742279912 Centerline is valid? [True, True] Translation: X:540.16, Y:8.94, Z:4.97 [[ 9.99584719e-01 -2.51581752e-02 -1.40518991e-02 5.40163906e+02] [ 2.51565421e-02 9.99683481e-01 -2.92996926e-04 8.93829134e+00] [ 1.40548227e-02 -6.06219417e-05 9.99901224e-01 4.97218989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.179254154 meters Centerline goodness [0,1] 0.999120216175454 Centerline is valid? [True, True] Translation: X:540.19, Y:8.94, Z:4.97 [[ 9.99628498e-01 -2.30535708e-02 -1.45395848e-02 5.40193705e+02] [ 2.30515969e-02 9.99734231e-01 -3.03355178e-04 8.93943864e+00] [ 1.45427140e-02 -3.19181662e-05 9.99894249e-01 4.97189812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.209254154 meters Centerline goodness [0,1] 0.9992896243366345 Centerline is valid? [True, True] Translation: X:540.22, Y:8.94, Z:4.97 [[ 9.99664296e-01 -2.06543073e-02 -1.56427153e-02 5.40222757e+02] [ 2.06516979e-02 9.99786677e-01 -3.28346529e-04 8.93946387e+00] [ 1.56461601e-02 5.18767084e-06 9.99877591e-01 4.97065321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2392541539999 meters Centerline goodness [0,1] 0.9994143607119701 Centerline is valid? [True, True] Translation: X:540.25, Y:8.94, Z:4.97 [[ 9.99659304e-01 -2.03895595e-02 -1.62954551e-02 5.40250509e+02] [ 2.03866188e-02 9.99792111e-01 -3.46576923e-04 8.93956255e+00] [ 1.62991340e-02 1.42496159e-05 9.99867160e-01 4.97034687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2692541539999 meters Centerline goodness [0,1] 0.9990796711916167 Centerline is valid? [True, True] Translation: X:540.28, Y:8.94, Z:4.97 [[ 9.99642964e-01 -2.07517346e-02 -1.68318108e-02 5.40278370e+02] [ 2.07485893e-02 9.99784660e-01 -3.61498262e-04 8.93908238e+00] [ 1.68356880e-02 1.21328637e-05 9.99858270e-01 4.96976126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.299254154 meters Centerline goodness [0,1] 0.9992704229462406 Centerline is valid? [True, True] Translation: X:540.31, Y:8.94, Z:4.97 [[ 9.99625829e-01 -2.14750248e-02 -1.69418119e-02 5.40305701e+02] [ 2.14719138e-02 9.99769385e-01 -3.65527449e-04 8.93818609e+00] [ 1.69457546e-02 1.61755374e-06 9.99856410e-01 4.96965035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.329254154 meters Centerline goodness [0,1] 0.99941499697052 Centerline is valid? [True, True] Translation: X:540.33, Y:8.93, Z:4.97 [[ 9.99561829e-01 -2.41035794e-02 -1.71804152e-02 5.40333895e+02] [ 2.41007392e-02 9.99709466e-01 -3.72369545e-04 8.93446722e+00] [ 1.71843992e-02 -4.18543237e-05 9.99852336e-01 4.96979122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3592541539999 meters Centerline goodness [0,1] 0.9993117113359057 Centerline is valid? [True, True] Translation: X:540.36, Y:8.93, Z:4.97 [[ 9.99504694e-01 -2.63597102e-02 -1.71910306e-02 5.40362246e+02] [ 2.63571745e-02 9.99652519e-01 -3.74092559e-04 8.93267611e+00] [ 1.71949180e-02 -7.91997245e-05 9.99852153e-01 4.97042755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3892541539999 meters Centerline goodness [0,1] 0.9993117113359057 Centerline is valid? [True, True] Translation: X:540.39, Y:8.93, Z:4.97 [[ 9.99497288e-01 -2.66390988e-02 -1.71909648e-02 5.40389655e+02] [ 2.66365528e-02 9.99645113e-01 -3.77095349e-04 8.93335852e+00] [ 1.71949094e-02 -8.10022633e-05 9.99852153e-01 4.97068458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4192541539999 meters Centerline goodness [0,1] 0.9993947868188743 Centerline is valid? [True, True] Translation: X:540.42, Y:8.93, Z:4.97 [[ 9.99402718e-01 -2.98796812e-02 -1.73612446e-02 5.40418441e+02] [ 2.98774922e-02 9.99553494e-01 -3.85504842e-04 8.93175963e+00] [ 1.73650115e-02 -1.33435865e-04 9.99849208e-01 4.97172879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.449254154 meters Centerline goodness [0,1] 0.9994152535293627 Centerline is valid? [True, True] Translation: X:540.45, Y:8.92, Z:4.97 [[ 9.99146267e-01 -3.76416163e-02 -1.70248566e-02 5.40447034e+02] [ 3.76405909e-02 9.99291269e-01 -3.80779031e-04 8.92479747e+00] [ 1.70271237e-02 -2.60371712e-04 9.99854994e-01 4.97234555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4792541539999 meters Centerline goodness [0,1] 0.9992087619206264 Centerline is valid? [True, True] Translation: X:540.48, Y:8.92, Z:4.97 [[ 9.98955117e-01 -4.23652228e-02 -1.71424007e-02 5.40476871e+02] [ 4.23648648e-02 9.99102132e-01 -3.84192959e-04 8.92112307e+00] [ 1.71432856e-02 -3.42443968e-04 9.99852984e-01 4.97292300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5092541539999 meters Centerline goodness [0,1] 0.9992484499279765 Centerline is valid? [True, True] Translation: X:540.51, Y:8.92, Z:4.97 [[ 9.98752068e-01 -4.72055773e-02 -1.63076598e-02 5.40507559e+02] [ 4.72058928e-02 9.98885113e-01 -3.65801874e-04 8.91776766e+00] [ 1.63067465e-02 -4.04472263e-04 9.99866954e-01 4.97375211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5392541539999 meters Centerline goodness [0,1] 0.9992901878914405 Centerline is valid? [True, True] Translation: X:540.54, Y:8.91, Z:4.97 [[ 9.98504455e-01 -5.23201015e-02 -1.58574821e-02 5.40538338e+02] [ 5.23210459e-02 9.98630253e-01 -3.55585421e-04 8.91465077e+00] [ 1.58543656e-02 -4.74626424e-04 9.99874199e-01 4.97465270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.569254154 meters Centerline goodness [0,1] 0.9989378540486504 Centerline is valid? [True, True] Translation: X:540.57, Y:8.91, Z:4.97 [[ 9.97942376e-01 -6.23538935e-02 -1.49333685e-02 5.40568778e+02] [ 6.23558547e-02 9.98053924e-01 -3.34704193e-04 8.90703573e+00] [ 1.49251771e-02 -5.97167458e-04 9.99888435e-01 4.97477515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5992541539999 meters Centerline goodness [0,1] 0.9991865849080215 Centerline is valid? [True, True] Translation: X:540.60, Y:8.91, Z:4.98 [[ 9.97641877e-01 -6.71043309e-02 -1.44116028e-02 5.40599488e+02] [ 6.71066548e-02 9.97745756e-01 -3.22812381e-04 8.90507908e+00] [ 1.44007777e-02 -6.45063307e-04 9.99896095e-01 4.97655519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6292541539999 meters Centerline goodness [0,1] 0.9989571601384891 Centerline is valid? [True, True] Translation: X:540.63, Y:8.90, Z:4.98 [[ 9.97323167e-01 -7.17567110e-02 -1.40525683e-02 5.40630744e+02] [ 7.17593875e-02 9.97421923e-01 -3.14320520e-04 8.90213929e+00] [ 1.40388943e-02 -6.94924556e-04 9.99901208e-01 4.97726763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6592541539999 meters Centerline goodness [0,1] 0.9993319554915346 Centerline is valid? [True, True] Translation: X:540.66, Y:8.90, Z:4.98 [[ 9.97014961e-01 -7.59621977e-02 -1.38171230e-02 5.40662326e+02] [ 7.59651926e-02 9.97110422e-01 -3.08717012e-04 8.89916655e+00] [ 1.38006482e-02 -7.41824933e-04 9.99904491e-01 4.97778726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.689254154 meters Centerline goodness [0,1] 0.9989153334306752 Centerline is valid? [True, True] Translation: X:540.69, Y:8.89, Z:4.98 [[ 9.96425139e-01 -8.32537757e-02 -1.43440193e-02 5.40693448e+02] [ 8.32577619e-02 9.96527994e-01 -3.20065875e-04 8.89391219e+00] [ 1.43208635e-02 -8.75329262e-04 9.99897068e-01 4.97694687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7192541539999 meters Centerline goodness [0,1] 0.9991017526268513 Centerline is valid? [True, True] Translation: X:540.72, Y:8.89, Z:4.98 [[ 9.96153987e-01 -8.63717928e-02 -1.47359132e-02 5.40724898e+02] [ 8.63763443e-02 9.96262525e-01 -3.28493084e-04 8.89162838e+00] [ 1.47092107e-02 -9.45604619e-04 9.99891367e-01 4.97664228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7492541539999 meters Centerline goodness [0,1] 0.999122587114565 Centerline is valid? [True, True] Translation: X:540.76, Y:8.89, Z:4.98 [[ 9.95770246e-01 -9.05408368e-02 -1.56196501e-02 5.40755186e+02] [ 9.05464671e-02 9.95892171e-01 -3.47806301e-04 8.89101592e+00] [ 1.55869779e-02 -1.06796897e-03 9.99877945e-01 4.97750789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7792541539999 meters Centerline goodness [0,1] 0.9989133841813812 Centerline is valid? [True, True] Translation: X:540.79, Y:8.89, Z:4.98 [[ 9.95665862e-01 -9.15953334e-02 -1.61178987e-02 5.40787271e+02] [ 9.16014750e-02 9.95795683e-01 -3.58360630e-04 8.89298169e+00] [ 1.60829581e-02 -1.11961585e-03 9.99870034e-01 4.97766870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.809254154 meters Centerline goodness [0,1] 0.99885131889476 Centerline is valid? [True, True] Translation: X:540.82, Y:8.89, Z:4.98 [[ 9.95643634e-01 -9.18221821e-02 -1.62000433e-02 5.40818909e+02] [ 9.18284409e-02 9.95774778e-01 -3.58669411e-04 8.89229056e+00] [ 1.61645284e-02 -1.13051781e-03 9.99868706e-01 4.97764049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.839254154 meters Centerline goodness [0,1] 0.9990181331996323 Centerline is valid? [True, True] Translation: X:540.85, Y:8.90, Z:4.98 [[ 9.95666844e-01 -9.15964791e-02 -1.60505982e-02 5.40851144e+02] [ 9.16026193e-02 9.95795579e-01 -3.53759855e-04 8.89516728e+00] [ 1.60155179e-02 -1.11804988e-03 9.99871118e-01 4.97805984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8692541539999 meters Centerline goodness [0,1] 0.9988092004930328 Centerline is valid? [True, True] Translation: X:540.88, Y:8.90, Z:4.98 [[ 9.95854591e-01 -8.94354092e-02 -1.65813728e-02 5.40883049e+02] [ 8.94416828e-02 9.95991994e-01 -3.64333398e-04 8.89998543e+00] [ 1.65474988e-02 -1.12024280e-03 9.99862453e-01 4.97780664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8992541539999 meters Centerline goodness [0,1] 0.9990814004467734 Centerline is valid? [True, True] Translation: X:540.91, Y:8.90, Z:4.98 [[ 9.96001911e-01 -8.76520395e-02 -1.72427930e-02 5.40913876e+02] [ 8.76585721e-02 9.96150507e-01 -3.78026903e-04 8.90136070e+00] [ 1.72095518e-02 -1.13496309e-03 9.99851261e-01 4.97749765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.929254154 meters Centerline goodness [0,1] 0.999207094418362 Centerline is valid? [True, True] Translation: X:540.95, Y:8.91, Z:4.98 [[ 9.96185976e-01 -8.54186351e-02 -1.78089127e-02 5.40945031e+02] [ 8.54252604e-02 9.96344505e-01 -3.89763071e-04 8.90633870e+00] [ 1.77771054e-02 -1.13305450e-03 9.99841333e-01 4.97742005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.959254154 meters Centerline goodness [0,1] 0.9992473185724142 Centerline is valid? [True, True] Translation: X:540.98, Y:8.91, Z:4.98 [[ 9.96382349e-01 -8.30207845e-02 -1.81594290e-02 5.40975396e+02] [ 8.30272860e-02 9.96547195e-01 -3.96913338e-04 8.90900797e+00] [ 1.81296801e-02 -1.11225066e-03 9.99835025e-01 4.97694061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9892541539999 meters Centerline goodness [0,1] 0.9991648571905796 Centerline is valid? [True, True] Translation: X:541.01, Y:8.92, Z:4.98 [[ 9.96815246e-01 -7.74055228e-02 -1.91768104e-02 5.41006184e+02] [ 7.74117447e-02 9.96999121e-01 -4.18780503e-04 8.91684263e+00] [ 1.91516791e-02 -1.06706356e-03 9.99816020e-01 4.97655252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0192541539999 meters Centerline goodness [0,1] 0.9989759665621735 Centerline is valid? [True, True] Translation: X:541.04, Y:8.92, Z:4.98 [[ 9.97022525e-01 -7.47134792e-02 -1.90782669e-02 5.41036640e+02] [ 7.47191525e-02 9.97204530e-01 -4.16274221e-04 8.91833015e+00] [ 1.90560355e-02 -1.01047716e-03 9.99817907e-01 4.97662059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.049254154 meters Centerline goodness [0,1] 0.9989762019180544 Centerline is valid? [True, True] Translation: X:541.07, Y:8.92, Z:4.98 [[ 9.97259464e-01 -7.15077258e-02 -1.89790915e-02 5.41066958e+02] [ 7.15127644e-02 9.97439599e-01 -4.13939151e-04 8.92327350e+00] [ 1.89600973e-02 -9.44442565e-04 9.99819795e-01 4.97744947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.079254154 meters Centerline goodness [0,1] 0.998807606217183 Centerline is valid? [True, True] Translation: X:541.10, Y:8.94, Z:4.98 [[ 9.97740178e-01 -6.47945350e-02 -1.77821464e-02 5.41096862e+02] [ 6.47978937e-02 9.97898333e-01 -3.87832520e-04 8.93735492e+00] [ 1.77699037e-02 -7.65289548e-04 9.99841810e-01 4.97972852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1092541539999 meters Centerline goodness [0,1] 0.9989337458970124 Centerline is valid? [True, True] Translation: X:541.13, Y:8.94, Z:4.98 [[ 9.97984833e-01 -6.10140410e-02 -1.74229926e-02 5.41127452e+02] [ 6.10166952e-02 9.98136673e-01 -3.79699709e-04 8.94161087e+00] [ 1.74136949e-02 -6.84158881e-04 9.99848136e-01 4.98047285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1392541539999 meters Centerline goodness [0,1] 0.9988078057350819 Centerline is valid? [True, True] Translation: X:541.16, Y:8.95, Z:4.98 [[ 9.98252344e-01 -5.66420196e-02 -1.68504903e-02 5.41158715e+02] [ 5.66438904e-02 9.98394379e-01 -3.66613726e-04 8.94735321e+00] [ 1.68442006e-02 -5.88504317e-04 9.99857953e-01 4.98055922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1692541539999 meters Centerline goodness [0,1] 0.9988921173101445 Centerline is valid? [True, True] Translation: X:541.19, Y:8.95, Z:4.98 [[ 9.98498505e-01 -5.23767434e-02 -1.60440528e-02 5.41189674e+02] [ 5.23778984e-02 9.98627275e-01 -3.48496729e-04 8.94959613e+00] [ 1.60402819e-02 -4.92380304e-04 9.99871225e-01 4.98173372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.199254154 meters Centerline goodness [0,1] 0.9991000230226669 Centerline is valid? [True, True] Translation: X:541.22, Y:8.96, Z:4.98 [[ 9.98929147e-01 -4.39363751e-02 -1.44967269e-02 5.41220587e+02] [ 4.39364353e-02 9.99034279e-01 -3.14482152e-04 8.96303317e+00] [ 1.44965443e-02 -3.22789114e-04 9.99894867e-01 4.98361885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2292541539999 meters Centerline goodness [0,1] 0.9987221384280208 Centerline is valid? [True, True] Translation: X:541.25, Y:8.97, Z:4.98 [[ 9.99100212e-01 -4.01378425e-02 -1.37011168e-02 5.41251403e+02] [ 4.01375436e-02 9.99194120e-01 -2.96902015e-04 8.96737001e+00] [ 1.37019923e-02 -2.53294305e-04 9.99906091e-01 4.98422436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2592541539999 meters Centerline goodness [0,1] 0.9990574534486731 Centerline is valid? [True, True] Translation: X:541.28, Y:8.97, Z:4.99 [[ 9.99225599e-01 -3.69706280e-02 -1.34675406e-02 5.41282885e+02] [ 3.69700581e-02 9.99316331e-01 -2.91353009e-04 8.97233377e+00] [ 1.34691048e-02 -2.06768375e-04 9.99909266e-01 4.98502280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2892541539999 meters Centerline goodness [0,1] 0.9988269303280406 Centerline is valid? [True, True] Translation: X:541.31, Y:8.98, Z:4.98 [[ 9.99303973e-01 -3.47539542e-02 -1.35547805e-02 5.41313048e+02] [ 3.47531788e-02 9.99395883e-01 -2.92817475e-04 8.97503073e+00] [ 1.35567684e-02 -1.78458045e-04 9.99908087e-01 4.98438901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.319254154 meters Centerline goodness [0,1] 0.9994547094230406 Centerline is valid? [True, True] Translation: X:541.34, Y:8.98, Z:4.99 [[ 9.99366591e-01 -3.30211307e-02 -1.32673189e-02 5.41344423e+02] [ 3.30202393e-02 9.99454642e-01 -2.86298447e-04 8.97904868e+00] [ 1.32695373e-02 -1.51972941e-04 9.99911944e-01 4.98538096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3492541539999 meters Centerline goodness [0,1] 0.9991187578682333 Centerline is valid? [True, True] Translation: X:541.38, Y:8.98, Z:4.99 [[ 9.99342619e-01 -3.36279992e-02 -1.35457491e-02 5.41376065e+02] [ 3.36271325e-02 9.99434405e-01 -2.91805480e-04 8.98066513e+00] [ 1.35479006e-02 -1.63891048e-04 9.99908210e-01 4.98571883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3792541539999 meters Centerline goodness [0,1] 0.9991416309012876 Centerline is valid? [True, True] Translation: X:541.41, Y:8.98, Z:4.99 [[ 9.99312960e-01 -3.42437658e-02 -1.41764823e-02 5.41406019e+02] [ 3.42428848e-02 9.99413494e-01 -3.04946835e-04 8.98140758e+00] [ 1.41786103e-02 -1.80706327e-04 9.99899462e-01 4.98552911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4092541539999 meters Centerline goodness [0,1] 0.9991815835309424 Centerline is valid? [True, True] Translation: X:541.44, Y:8.98, Z:4.99 [[ 9.99197281e-01 -3.72526053e-02 -1.47321569e-02 5.41437098e+02] [ 3.72519862e-02 9.99305854e-01 -3.16529921e-04 8.98176637e+00] [ 1.47337222e-02 -2.32526268e-04 9.99891426e-01 4.98526625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.439254154 meters Centerline goodness [0,1] 0.9989953745369304 Centerline is valid? [True, True] Translation: X:541.47, Y:8.98, Z:4.99 [[ 9.99128627e-01 -3.89223264e-02 -1.50678535e-02 5.41468731e+02] [ 3.89218770e-02 9.99242204e-01 -3.23187897e-04 8.98236126e+00] [ 1.50690144e-02 -2.63562862e-04 9.99886421e-01 4.98567515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4692541539999 meters Centerline goodness [0,1] 0.9990353765177092 Centerline is valid? [True, True] Translation: X:541.50, Y:8.98, Z:4.99 [[ 9.99046157e-01 -4.08486643e-02 -1.54325398e-02 5.41499971e+02] [ 4.08484332e-02 9.99165300e-01 -3.30322654e-04 8.98161418e+00] [ 1.54331515e-02 -3.00387495e-04 9.99880857e-01 4.98547913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4992541539999 meters Centerline goodness [0,1] 0.9990359627797804 Centerline is valid? [True, True] Translation: X:541.53, Y:8.98, Z:4.99 [[ 9.98998925e-01 -4.21518471e-02 -1.49789489e-02 5.41532244e+02] [ 4.21517894e-02 9.99111167e-01 -3.19706024e-04 8.98122412e+00] [ 1.49791113e-02 -3.12003524e-04 9.99887758e-01 4.98571406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5292541539999 meters Centerline goodness [0,1] 0.9986358007849392 Centerline is valid? [True, True] Translation: X:541.56, Y:8.98, Z:4.98 [[ 9.98925635e-01 -4.37872809e-02 -1.51739589e-02 5.41564519e+02] [ 4.37874271e-02 9.99040819e-01 -3.22759346e-04 8.98098674e+00] [ 1.51735371e-02 -3.42016036e-04 9.99884817e-01 4.98478851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.559254154 meters Centerline goodness [0,1] 0.9989089154199626 Centerline is valid? [True, True] Translation: X:541.60, Y:8.98, Z:4.99 [[ 9.98914254e-01 -4.41786494e-02 -1.47837566e-02 5.41596926e+02] [ 4.41788465e-02 9.99023589e-01 -3.13408631e-04 8.98152426e+00] [ 1.47831676e-02 -3.40060966e-04 9.99890665e-01 4.98638828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.589254154 meters Centerline goodness [0,1] 0.9986975063549085 Centerline is valid? [True, True] Translation: X:541.63, Y:8.98, Z:4.99 [[ 9.98931096e-01 -4.39410210e-02 -1.43475486e-02 5.41628767e+02] [ 4.39411967e-02 9.99034073e-01 -3.03148581e-04 8.98239118e+00] [ 1.43470106e-02 -3.27623911e-04 9.99897023e-01 4.98662885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6192541539999 meters Centerline goodness [0,1] 0.9989710421872703 Centerline is valid? [True, True] Translation: X:541.66, Y:8.98, Z:4.99 [[ 9.98965632e-01 -4.31743416e-02 -1.42703059e-02 5.41660830e+02] [ 4.31744519e-02 9.99067503e-01 -3.00489214e-04 8.98389645e+00] [ 1.42699723e-02 -3.15934238e-04 9.99898129e-01 4.98697284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6492541539999 meters Centerline goodness [0,1] 0.9986791345186179 Centerline is valid? [True, True] Translation: X:541.69, Y:8.99, Z:4.99 [[ 9.99030369e-01 -4.16733414e-02 -1.42005105e-02 5.41693085e+02] [ 4.16733137e-02 9.99131246e-01 -2.97986924e-04 8.98627548e+00] [ 1.42005918e-02 -2.94084340e-04 9.99899123e-01 4.98757786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.679254154 meters Centerline goodness [0,1] 0.9989090298757972 Centerline is valid? [True, True] Translation: X:541.72, Y:8.99, Z:4.99 [[ 9.99056141e-01 -4.11238453e-02 -1.39877350e-02 5.41724279e+02] [ 4.11237776e-02 9.99154017e-01 -2.92590679e-04 8.98546248e+00] [ 1.39879341e-02 -2.82913991e-04 9.99902124e-01 4.98740172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.709254154 meters Centerline goodness [0,1] 0.9987639578488676 Centerline is valid? [True, True] Translation: X:541.76, Y:8.99, Z:4.99 [[ 9.99080162e-01 -4.05179364e-02 -1.40402068e-02 5.41756682e+02] [ 4.05178203e-02 9.99178773e-01 -2.92839091e-04 8.98672910e+00] [ 1.40405418e-02 -2.76308850e-04 9.99901389e-01 4.98749237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7392541539999 meters Centerline goodness [0,1] 0.9988036268995046 Centerline is valid? [True, True] Translation: X:541.79, Y:8.99, Z:4.99 [[ 9.99066656e-01 -4.07039365e-02 -1.44570757e-02 5.41788477e+02] [ 4.07038483e-02 9.99171210e-01 -3.00473114e-04 8.98777890e+00] [ 1.44573243e-02 -2.88265947e-04 9.99895446e-01 4.98745035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7692541539999 meters Centerline goodness [0,1] 0.998785721762797 Centerline is valid? [True, True] Translation: X:541.82, Y:8.99, Z:4.99 [[ 9.99070898e-01 -4.05635334e-02 -1.45581682e-02 5.41820257e+02] [ 4.05634445e-02 9.99176919e-01 -3.01509986e-04 8.98803807e+00] [ 1.45584159e-02 -2.89299594e-04 9.99893979e-01 4.98682327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.799254154 meters Centerline goodness [0,1] 0.9988269549006054 Centerline is valid? [True, True] Translation: X:541.85, Y:8.99, Z:4.99 [[ 9.99075887e-01 -4.04000900e-02 -1.46698437e-02 5.41852840e+02] [ 4.03999979e-02 9.99183541e-01 -3.02744766e-04 8.98942742e+00] [ 1.46700973e-02 -2.90196660e-04 9.99892346e-01 4.98765033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.829254154 meters Centerline goodness [0,1] 0.9987423492915234 Centerline is valid? [True, True] Translation: X:541.88, Y:8.99, Z:4.99 [[ 9.99093356e-01 -3.99901903e-02 -1.46030840e-02 5.41883888e+02] [ 3.99900696e-02 9.99200032e-01 -3.00386300e-04 8.98873198e+00] [ 1.46034145e-02 -2.83864388e-04 9.99893324e-01 4.98729583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8592541539999 meters Centerline goodness [0,1] 0.998743429181763 Centerline is valid? [True, True] Translation: X:541.91, Y:8.99, Z:4.99 [[ 9.99192900e-01 -3.73957410e-02 -1.46665513e-02 5.41914838e+02] [ 3.73953503e-02 9.99300504e-01 -3.00978453e-04 8.99147700e+00] [ 1.46675474e-02 -2.47725288e-04 9.99892395e-01 4.98748220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8892541539999 meters Centerline goodness [0,1] 0.9989736070381232 Centerline is valid? [True, True] Translation: X:541.95, Y:8.99, Z:4.99 [[ 9.99270408e-01 -3.52521191e-02 -1.46948892e-02 5.41946642e+02] [ 3.52515045e-02 9.99378427e-01 -3.00926874e-04 8.99285326e+00] [ 1.46963636e-02 -2.17309634e-04 9.99891979e-01 4.98759432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9192541539999 meters Centerline goodness [0,1] 0.9989135204028332 Centerline is valid? [True, True] Translation: X:541.98, Y:8.99, Z:4.99 [[ 9.99345058e-01 -3.29376815e-02 -1.49854948e-02 5.41977567e+02] [ 3.29367930e-02 9.99457390e-01 -3.06153230e-04 8.99489075e+00] [ 1.49874475e-02 -1.87621423e-04 9.99887664e-01 4.98758711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.949254154 meters Centerline goodness [0,1] 0.9990991557203611 Centerline is valid? [True, True] Translation: X:542.01, Y:9.00, Z:4.99 [[ 9.99411673e-01 -3.05670650e-02 -1.55551367e-02 5.42008474e+02] [ 3.05658296e-02 9.99532706e-01 -3.17209820e-04 8.99711010e+00] [ 1.55575641e-02 -1.58432463e-04 9.99878961e-01 4.98771315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9792541539999 meters Centerline goodness [0,1] 0.9989529453646891 Centerline is valid? [True, True] Translation: X:542.04, Y:9.00, Z:4.99 [[ 9.99528423e-01 -2.61237484e-02 -1.61394185e-02 5.42038841e+02] [ 2.61218450e-02 9.99658712e-01 -3.28769126e-04 9.00055144e+00] [ 1.61424990e-02 -9.29773041e-05 9.99869697e-01 4.98782280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0092541539999 meters Centerline goodness [0,1] 0.9991195153141443 Centerline is valid? [True, True] Translation: X:542.07, Y:9.00, Z:4.99 [[ 9.99569144e-01 -2.43829425e-02 -1.63400830e-02 5.42068587e+02] [ 2.43807547e-02 9.99702690e-01 -3.33109509e-04 9.00215375e+00] [ 1.63433471e-02 -6.54175699e-05 9.99866436e-01 4.98782346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0392541539999 meters Centerline goodness [0,1] 0.9990554354442602 Centerline is valid? [True, True] Translation: X:542.10, Y:9.00, Z:4.99 [[ 9.99589603e-01 -2.33551209e-02 -1.65880905e-02 5.42097331e+02] [ 2.33527125e-02 9.99727231e-01 -3.38899288e-04 9.00266233e+00] [ 1.65914808e-02 -4.86167037e-05 9.99862351e-01 4.98717978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.069254154 meters Centerline goodness [0,1] 0.9991614783137329 Centerline is valid? [True, True] Translation: X:542.13, Y:9.00, Z:4.99 [[ 9.99595685e-01 -2.28663791e-02 -1.68995372e-02 5.42126346e+02] [ 2.28637708e-02 9.99738529e-01 -3.47561109e-04 9.00321515e+00] [ 1.69030659e-02 -3.89665605e-05 9.99857132e-01 4.98722630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0992541539999 meters Centerline goodness [0,1] 0.9990764063811923 Centerline is valid? [True, True] Translation: X:542.16, Y:9.00, Z:4.99 [[ 9.99563543e-01 -2.37757596e-02 -1.75338601e-02 5.42155359e+02] [ 2.37730154e-02 9.99717315e-01 -3.64951704e-04 9.00204582e+00] [ 1.75375805e-02 -5.20403075e-05 9.99846203e-01 4.98808063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1292541539999 meters Centerline goodness [0,1] 0.9990121692343261 Centerline is valid? [True, True] Translation: X:542.18, Y:9.00, Z:4.99 [[ 9.99514389e-01 -2.52724940e-02 -1.82287546e-02 5.42182797e+02] [ 2.52697182e-02 9.99680596e-01 -3.82635552e-04 9.00097520e+00] [ 1.82326024e-02 -7.81857499e-05 9.99833769e-01 4.98819583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1592541539999 meters Centerline goodness [0,1] 0.9989285714285714 Centerline is valid? [True, True] Translation: X:542.21, Y:9.00, Z:4.99 [[ 9.99458775e-01 -2.70529600e-02 -1.87161553e-02 5.42211263e+02] [ 2.70502865e-02 9.99633996e-01 -3.96032188e-04 8.99966174e+00] [ 1.87200189e-02 -1.10459517e-04 9.99824759e-01 4.98790785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.189254154 meters Centerline goodness [0,1] 0.9992639791390658 Centerline is valid? [True, True] Translation: X:542.24, Y:9.00, Z:4.99 [[ 9.99382261e-01 -2.92269540e-02 -1.95161908e-02 5.42238731e+02] [ 2.92243970e-02 9.99572789e-01 -4.16266932e-04 8.99801165e+00] [ 1.95200194e-02 -1.54339119e-04 9.99809454e-01 4.98808286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2192541539999 meters Centerline goodness [0,1] 0.9992653540993242 Centerline is valid? [True, True] Translation: X:542.27, Y:9.00, Z:4.99 [[ 9.99268126e-01 -3.20454896e-02 -2.08877766e-02 5.42267545e+02] [ 3.20430986e-02 9.99486387e-01 -4.49235906e-04 8.99618926e+00] [ 2.08914444e-02 -2.20401965e-04 9.99781726e-01 4.98802725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2492541539999 meters Centerline goodness [0,1] 0.9988245172124265 Centerline is valid? [True, True] Translation: X:542.30, Y:8.99, Z:4.99 [[ 9.99021103e-01 -3.85230752e-02 -2.17441713e-02 5.42296015e+02] [ 3.85219447e-02 9.99257643e-01 -4.71006459e-04 8.99041997e+00] [ 2.17461740e-02 -3.67082374e-04 9.99763457e-01 4.98713229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2792541539999 meters Centerline goodness [0,1] 0.9988245172124265 Centerline is valid? [True, True] Translation: X:542.32, Y:8.99, Z:4.99 [[ 9.99011734e-01 -3.87653215e-02 -2.17440902e-02 5.42324269e+02] [ 3.87641674e-02 9.99248274e-01 -4.74727944e-04 8.99109031e+00] [ 2.17461476e-02 -3.68632767e-04 9.99763457e-01 4.98739723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.309254154 meters Centerline goodness [0,1] 0.9988249118683902 Centerline is valid? [True, True] Translation: X:542.35, Y:8.99, Z:4.99 [[ 9.98862525e-01 -4.23068775e-02 -2.19950937e-02 5.42353440e+02] [ 4.23064348e-02 9.99104564e-01 -4.85657581e-04 8.98944657e+00] [ 2.19959451e-02 -4.45428838e-04 9.99757961e-01 4.98824295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.339254154 meters Centerline goodness [0,1] 0.9990344045844791 Centerline is valid? [True, True] Translation: X:542.38, Y:8.98, Z:4.99 [[ 9.98571261e-01 -4.88047670e-02 -2.17607754e-02 5.42383313e+02] [ 4.88058150e-02 9.98808169e-01 -4.83246032e-04 8.98457265e+00] [ 2.17584249e-02 -5.79496776e-04 9.99763090e-01 4.98967447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3692541539999 meters Centerline goodness [0,1] 0.9988524213908653 Centerline is valid? [True, True] Translation: X:542.41, Y:8.98, Z:4.99 [[ 9.98423153e-01 -5.19732720e-02 -2.12129080e-02 5.42413440e+02] [ 5.19749751e-02 9.98648276e-01 -4.71411012e-04 8.97889766e+00] [ 2.12087348e-02 -6.31872698e-04 9.99774870e-01 4.98895260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3992541539999 meters Centerline goodness [0,1] 0.9988277897557197 Centerline is valid? [True, True] Translation: X:542.44, Y:8.98, Z:4.99 [[ 9.98272898e-01 -5.49428722e-02 -2.07966932e-02 5.42443250e+02] [ 5.49451527e-02 9.98489267e-01 -4.62161537e-04 8.97563935e+00] [ 2.07906674e-02 -6.81314146e-04 9.99783619e-01 4.98951141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.429254154 meters Centerline goodness [0,1] 0.9989962568745948 Centerline is valid? [True, True] Translation: X:542.47, Y:8.97, Z:4.99 [[ 9.98142380e-01 -5.74538628e-02 -2.02692739e-02 5.42473560e+02] [ 5.74565459e-02 9.98347907e-01 -4.50440784e-04 8.97351217e+00] [ 2.02616667e-02 -7.14998432e-04 9.99794456e-01 4.99032229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.459254154 meters Centerline goodness [0,1] 0.9988481916609077 Centerline is valid? [True, True] Translation: X:542.50, Y:8.97, Z:4.99 [[ 9.97800529e-01 -6.31755970e-02 -2.00735601e-02 5.42503744e+02] [ 6.31793914e-02 9.98002087e-01 -4.45735726e-04 8.96764022e+00] [ 2.00616145e-02 -8.23479967e-04 9.99798406e-01 4.99068977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4892541539999 meters Centerline goodness [0,1] 0.9988742494996664 Centerline is valid? [True, True] Translation: X:542.53, Y:8.96, Z:4.99 [[ 9.97619746e-01 -6.60355285e-02 -1.98532714e-02 5.42534172e+02] [ 6.60398146e-02 9.97816892e-01 -4.40364504e-04 8.96478181e+00] [ 1.98390093e-02 -8.71790040e-04 9.99802807e-01 4.99076955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5192541539999 meters Centerline goodness [0,1] 0.9988093248663101 Centerline is valid? [True, True] Translation: X:542.57, Y:8.96, Z:4.99 [[ 9.97403839e-01 -6.91719411e-02 -2.00205824e-02 5.42565637e+02] [ 6.91769403e-02 9.97604307e-01 -4.43571449e-04 8.96295938e+00] [ 2.00033019e-02 -9.42542765e-04 9.99799470e-01 4.99115787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.549254154 meters Centerline goodness [0,1] 0.9988512949039264 Centerline is valid? [True, True] Translation: X:542.60, Y:8.97, Z:4.99 [[ 9.97206747e-01 -7.19842752e-02 -1.99240293e-02 5.42596795e+02] [ 7.19897997e-02 9.97405271e-01 -4.40750169e-04 8.96940018e+00] [ 1.99040589e-02 -9.94807837e-04 9.99801400e-01 4.99330081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.579254154 meters Centerline goodness [0,1] 0.9988723924074422 Centerline is valid? [True, True] Translation: X:542.63, Y:8.97, Z:4.99 [[ 9.96754854e-01 -7.79790868e-02 -1.99755762e-02 5.42626758e+02] [ 7.79858478e-02 9.96954368e-01 -4.41485398e-04 8.96510341e+00] [ 1.99491646e-02 -1.11775953e-03 9.99800371e-01 4.99385458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6092541539999 meters Centerline goodness [0,1] 0.9986420139977019 Centerline is valid? [True, True] Translation: X:542.66, Y:8.96, Z:4.99 [[ 9.96547514e-01 -8.06311039e-02 -1.97908619e-02 5.42657804e+02] [ 8.06382663e-02 9.96743337e-01 -4.37158580e-04 8.96359122e+00] [ 1.97616583e-02 -1.16025150e-03 9.99804046e-01 4.99430624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6392541539999 meters Centerline goodness [0,1] 0.9984751639720935 Centerline is valid? [True, True] Translation: X:542.69, Y:8.96, Z:5.00 [[ 9.96327516e-01 -8.31526567e-02 -2.04234152e-02 5.42689246e+02] [ 8.31608236e-02 9.96536038e-01 -4.50568178e-04 8.96480112e+00] [ 2.03901352e-02 -1.24951455e-03 9.99791319e-01 4.99511688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6692541539999 meters Centerline goodness [0,1] 0.9987057178047304 Centerline is valid? [True, True] Translation: X:542.72, Y:8.96, Z:4.99 [[ 9.95989712e-01 -8.65233727e-02 -2.27640059e-02 5.42719568e+02] [ 8.65344063e-02 9.96248736e-01 -5.01771623e-04 8.96344199e+00] [ 2.27220270e-02 -1.47011036e-03 9.99740741e-01 4.99347561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.699254154 meters Centerline goodness [0,1] 0.9987871690853583 Centerline is valid? [True, True] Translation: X:542.75, Y:8.96, Z:4.99 [[ 9.95814623e-01 -8.85837151e-02 -2.24980539e-02 5.42751055e+02] [ 8.85950270e-02 9.96067606e-01 -4.95404051e-04 8.96342685e+00] [ 2.24534674e-02 -1.49988509e-03 9.99746764e-01 4.99490339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7292541539999 meters Centerline goodness [0,1] 0.9984989993328885 Centerline is valid? [True, True] Translation: X:542.78, Y:8.96, Z:4.99 [[ 9.95707631e-01 -8.97040447e-02 -2.27925009e-02 5.42783595e+02] [ 8.97159762e-02 9.95967265e-01 -5.00602137e-04 8.96456010e+00] [ 2.27454908e-02 -1.54639810e-03 9.99740092e-01 4.99492069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7592541539999 meters Centerline goodness [0,1] 0.9984804962324633 Centerline is valid? [True, True] Translation: X:542.82, Y:8.97, Z:5.00 [[ 9.95657342e-01 -9.01245079e-02 -2.33244470e-02 5.42815488e+02] [ 9.01371569e-02 9.95929231e-01 -5.10608678e-04 8.96692836e+00] [ 2.32755169e-02 -1.59400806e-03 9.99727818e-01 4.99505578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7892541539999 meters Centerline goodness [0,1] 0.9987881573723909 Centerline is valid? [True, True] Translation: X:542.85, Y:8.97, Z:5.00 [[ 9.95666893e-01 -8.96563109e-02 -2.46816379e-02 5.42847859e+02] [ 8.96703773e-02 9.95971352e-01 -5.38501484e-04 8.97196284e+00] [ 2.46304843e-02 -1.67704368e-03 9.99695217e-01 4.99563377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.819254154 meters Centerline goodness [0,1] 0.9986004637269442 Centerline is valid? [True, True] Translation: X:542.88, Y:8.97, Z:5.00 [[ 9.95741078e-01 -8.87707049e-02 -2.48890874e-02 5.42880186e+02] [ 8.87847785e-02 9.96050687e-01 -5.41221439e-04 8.97452823e+00] [ 2.48388372e-02 -1.67085569e-03 9.99690072e-01 4.99594723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8492541539999 meters Centerline goodness [0,1] 0.9983937921108075 Centerline is valid? [True, True] Translation: X:542.91, Y:8.98, Z:5.00 [[ 9.95853261e-01 -8.73711775e-02 -2.53487573e-02 5.42911536e+02] [ 8.73853566e-02 9.96174431e-01 -5.49953229e-04 8.97730877e+00] [ 2.52998339e-02 -1.66743748e-03 9.99678517e-01 4.99611850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8792541539999 meters Centerline goodness [0,1] 0.9986405939558716 Centerline is valid? [True, True] Translation: X:542.94, Y:8.98, Z:5.00 [[ 9.96024392e-01 -8.53880080e-02 -2.53830494e-02 5.42942679e+02] [ 8.54016073e-02 9.96346457e-01 -5.49790416e-04 8.98009343e+00] [ 2.53372569e-02 -1.62014855e-03 9.99677647e-01 4.99654288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9092541539999 meters Centerline goodness [0,1] 0.9987281597931696 Centerline is valid? [True, True] Translation: X:542.97, Y:8.99, Z:5.00 [[ 9.96463424e-01 -7.99114468e-02 -2.59770134e-02 5.42971996e+02] [ 7.99238370e-02 9.96800814e-01 -5.62612501e-04 8.98693015e+00] [ 2.59388673e-02 -1.51555980e-03 9.99662382e-01 4.99704813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.939254154 meters Centerline goodness [0,1] 0.9986170190474195 Centerline is valid? [True, True] Translation: X:543.00, Y:8.99, Z:5.00 [[ 9.96720187e-01 -7.67526751e-02 -2.56494912e-02 5.43002826e+02] [ 7.67637135e-02 9.97049158e-01 -5.55459864e-04 8.99149342e+00] [ 2.56164366e-02 -1.41531213e-03 9.99670843e-01 4.99754490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9692541539999 meters Centerline goodness [0,1] 0.9985990590695243 Centerline is valid? [True, True] Translation: X:543.03, Y:9.00, Z:5.00 [[ 9.96988885e-01 -7.32617825e-02 -2.54140775e-02 5.43033531e+02] [ 7.32714983e-02 9.97311880e-01 -5.49955591e-04 8.99676712e+00] [ 2.53860522e-02 -1.31382793e-03 9.99676859e-01 4.99854173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9992541539999 meters Centerline goodness [0,1] 0.9988703637846997 Centerline is valid? [True, True] Translation: X:543.06, Y:9.01, Z:5.00 [[ 9.97505817e-01 -6.60116527e-02 -2.49921426e-02 5.43063157e+02] [ 6.60187808e-02 9.97818234e-01 -5.40685065e-04 9.00610657e+00] [ 2.49733071e-02 -1.11061429e-03 9.99687501e-01 4.99967097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0292541539999 meters Centerline goodness [0,1] 0.9987004003605341 Centerline is valid? [True, True] Translation: X:543.09, Y:9.02, Z:5.00 [[ 9.97738330e-01 -6.25155162e-02 -2.46988785e-02 5.43094541e+02] [ 6.25214292e-02 9.98043479e-01 -5.33502167e-04 9.01679984e+00] [ 2.46839068e-02 -1.01191362e-03 9.99694794e-01 5.00227426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.059254154 meters Centerline goodness [0,1] 0.998845992446496 Centerline is valid? [True, True] Translation: X:543.13, Y:9.02, Z:5.00 [[ 9.97970240e-01 -5.89808539e-02 -2.40137333e-02 5.43125434e+02] [ 5.89854463e-02 9.98258709e-01 -5.17660739e-04 9.01531590e+00] [ 2.40024505e-02 -8.99850765e-04 9.99711495e-01 5.00058371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.089254154 meters Centerline goodness [0,1] 0.9987436133679538 Centerline is valid? [True, True] Translation: X:543.16, Y:9.03, Z:5.00 [[ 9.98174950e-01 -5.54135155e-02 -2.40023360e-02 5.43156480e+02] [ 5.54170946e-02 9.98463158e-01 -5.16535579e-04 9.02519667e+00] [ 2.39940712e-02 -8.14546847e-04 9.99711769e-01 5.00297027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1192541539999 meters Centerline goodness [0,1] 0.9985282677711667 Centerline is valid? [True, True] Translation: X:543.19, Y:9.03, Z:5.00 [[ 9.98519434e-01 -4.89799525e-02 -2.36622937e-02 5.43186962e+02] [ 4.89816370e-02 9.98799550e-01 -5.08745921e-04 9.03354378e+00] [ 2.36588066e-02 -6.51025190e-04 9.99719879e-01 5.00371475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1492541539999 meters Centerline goodness [0,1] 0.998927918269534 Centerline is valid? [True, True] Translation: X:543.22, Y:9.04, Z:5.00 [[ 9.98692407e-01 -4.54181940e-02 -2.34662319e-02 5.43217804e+02] [ 4.54188822e-02 9.98967903e-01 -5.03927203e-04 9.03603778e+00] [ 2.34648999e-02 -5.62541748e-04 9.99724503e-01 5.00354738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.179254154 meters Centerline goodness [0,1] 0.9991571672390905 Centerline is valid? [True, True] Translation: X:543.25, Y:9.04, Z:5.00 [[ 9.98835028e-01 -4.23865750e-02 -2.30643651e-02 5.43248446e+02] [ 4.23864396e-02 9.99101168e-01 -4.94960222e-04 9.04107614e+00] [ 2.30646138e-02 -4.83232712e-04 9.99733860e-01 5.00488428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.209254154 meters Centerline goodness [0,1] 0.9989893247425936 Centerline is valid? [True, True] Translation: X:543.28, Y:9.04, Z:5.01 [[ 9.98955573e-01 -3.95694765e-02 -2.28477548e-02 5.43278496e+02] [ 3.95686072e-02 9.99216736e-01 -4.90311774e-04 9.04477912e+00] [ 2.28492603e-02 -4.14254154e-04 9.99738836e-01 5.00513555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2392541539999 meters Centerline goodness [0,1] 0.9989449250896814 Centerline is valid? [True, True] Translation: X:543.31, Y:9.05, Z:5.01 [[ 9.99161819e-01 -3.34930293e-02 -2.35345840e-02 5.43307601e+02] [ 3.34904095e-02 9.99438911e-01 -5.05564365e-04 9.05113274e+00] [ 2.35383119e-02 -2.83042245e-04 9.99722895e-01 5.00504431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2692541539999 meters Centerline goodness [0,1] 0.9990117953785664 Centerline is valid? [True, True] Translation: X:543.34, Y:9.05, Z:5.00 [[ 9.99255248e-01 -3.05975590e-02 -2.35104151e-02 5.43336473e+02] [ 3.05940514e-02 9.99531763e-01 -5.08956209e-04 9.05435329e+00] [ 2.35149795e-02 -2.10701684e-04 9.99723462e-01 5.00489797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.299254154 meters Centerline goodness [0,1] 0.9991751094566298 Centerline is valid? [True, True] Translation: X:543.36, Y:9.06, Z:5.00 [[ 9.99334097e-01 -2.77290290e-02 -2.37163140e-02 5.43364695e+02] [ 2.77245100e-02 9.99615467e-01 -5.19391840e-04 9.05737522e+00] [ 2.37215965e-02 -1.38477209e-04 9.99718594e-01 5.00426727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.329254154 meters Centerline goodness [0,1] 0.9992363821483116 Centerline is valid? [True, True] Translation: X:543.39, Y:9.06, Z:5.01 [[ 9.99494746e-01 -2.16672491e-02 -2.32547253e-02 5.43393707e+02] [ 2.16611275e-02 9.99765238e-01 -5.15130847e-04 9.06274864e+00] [ 2.32604274e-02 1.11470046e-05 9.99729440e-01 5.00544011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3592541539999 meters Centerline goodness [0,1] 0.9988306082963025 Centerline is valid? [True, True] Translation: X:543.42, Y:9.07, Z:5.01 [[ 9.99554971e-01 -1.91266694e-02 -2.28917137e-02 5.43421486e+02] [ 1.91199270e-02 9.99817066e-01 -5.13392058e-04 9.06512436e+00] [ 2.28973455e-02 7.54756888e-05 9.99737819e-01 5.00604868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3892541539999 meters Centerline goodness [0,1] 0.999170653907496 Centerline is valid? [True, True] Translation: X:543.45, Y:9.07, Z:5.01 [[ 9.99598070e-01 -1.70617558e-02 -2.26405518e-02 5.43449148e+02] [ 1.70544828e-02 9.99854429e-01 -5.14301510e-04 9.06730274e+00] [ 2.26460309e-02 1.27971896e-04 9.99743538e-01 5.00646402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4192541539999 meters Centerline goodness [0,1] 0.999000999000999 Centerline is valid? [True, True] Translation: X:543.48, Y:9.07, Z:5.01 [[ 9.99638604e-01 -1.53830731e-02 -2.20459346e-02 5.43476691e+02] [ 1.53756857e-02 9.99881660e-01 -5.04565829e-04 9.06935061e+00] [ 2.20510874e-02 1.65412119e-04 9.99756832e-01 5.00663184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.449254154 meters Centerline goodness [0,1] 0.9992362525458248 Centerline is valid? [True, True] Translation: X:543.50, Y:9.07, Z:5.01 [[ 9.99649078e-01 -1.45629550e-02 -2.21278458e-02 5.43504973e+02] [ 1.45552228e-02 9.99893937e-01 -5.10458596e-04 9.06970349e+00] [ 2.21329327e-02 1.88203738e-04 9.99755019e-01 5.00777725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4792541539999 meters Centerline goodness [0,1] 0.9989819724284199 Centerline is valid? [True, True] Translation: X:543.53, Y:9.07, Z:5.01 [[ 9.99625152e-01 -1.57414128e-02 -2.24000901e-02 5.43532617e+02] [ 1.57336472e-02 9.99876082e-01 -5.22884807e-04 9.06889695e+00] [ 2.24055453e-02 1.70253689e-04 9.99748950e-01 5.00814167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5092541539999 meters Centerline goodness [0,1] 0.9991302318674559 Centerline is valid? [True, True] Translation: X:543.56, Y:9.07, Z:5.01 [[ 9.99580018e-01 -1.77022073e-02 -2.29438372e-02 5.43560135e+02] [ 1.76944845e-02 9.99843295e-01 -5.39584082e-04 9.06810102e+00] [ 2.29497936e-02 1.33378095e-04 9.99736610e-01 5.00811836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5392541539999 meters Centerline goodness [0,1] 0.9990254237288135 Centerline is valid? [True, True] Translation: X:543.59, Y:9.06, Z:5.01 [[ 9.99431531e-01 -2.36410399e-02 -2.40357096e-02 5.43588175e+02] [ 2.36342221e-02 9.99720512e-01 -5.67726380e-04 9.06331526e+00] [ 2.40424135e-02 -6.61652675e-07 9.99710939e-01 5.00818955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.569254154 meters Centerline goodness [0,1] 0.9986673435715192 Centerline is valid? [True, True] Translation: X:543.62, Y:9.06, Z:5.01 [[ 9.99320479e-01 -2.79790694e-02 -2.39948478e-02 5.43615887e+02] [ 2.79733974e-02 9.99608504e-01 -5.72075753e-04 9.06054724e+00] [ 2.40014601e-02 -9.95303980e-05 9.99711919e-01 5.00875444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5992541539999 meters Centerline goodness [0,1] 0.9987097865860107 Centerline is valid? [True, True] Translation: X:543.64, Y:9.06, Z:5.01 [[ 9.99195322e-01 -3.21484200e-02 -2.39830822e-02 5.43644157e+02] [ 3.21438561e-02 9.99483087e-01 -5.75882134e-04 9.05714600e+00] [ 2.39891987e-02 -1.95490009e-04 9.99712199e-01 5.00862897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6292541539999 meters Centerline goodness [0,1] 0.9987115035275231 Centerline is valid? [True, True] Translation: X:543.67, Y:9.05, Z:5.01 [[ 9.99051702e-01 -3.64051297e-02 -2.38822915e-02 5.43673149e+02] [ 3.64017093e-02 9.99337071e-01 -5.78085659e-04 9.05429471e+00] [ 2.38875046e-02 -2.91818773e-04 9.99714610e-01 5.00997137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6592541539999 meters Centerline goodness [0,1] 0.999135677544481 Centerline is valid? [True, True] Translation: X:543.70, Y:9.05, Z:5.01 [[ 9.98924398e-01 -3.98385404e-02 -2.37262893e-02 5.43701835e+02] [ 3.98360564e-02 9.99206062e-01 -5.77520666e-04 9.05004437e+00] [ 2.37304597e-02 -3.68262317e-04 9.99718325e-01 5.00979437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.689254154 meters Centerline goodness [0,1] 0.9989690721649485 Centerline is valid? [True, True] Translation: X:543.73, Y:9.05, Z:5.01 [[ 9.98680534e-01 -4.55194614e-02 -2.37733154e-02 5.43731636e+02] [ 4.55185510e-02 9.98963325e-01 -5.79714063e-04 9.04518136e+00] [ 2.37750585e-02 -5.03177722e-04 9.99717207e-01 5.01151641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7192541539999 meters Centerline goodness [0,1] 0.9990948511766935 Centerline is valid? [True, True] Translation: X:543.76, Y:9.04, Z:5.01 [[ 9.98591795e-01 -4.74339903e-02 -2.37580213e-02 5.43761692e+02] [ 4.74336206e-02 9.98874224e-01 -5.79422570e-04 9.04148494e+00] [ 2.37587594e-02 -5.48322342e-04 9.99717570e-01 5.01084091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7492541539999 meters Centerline goodness [0,1] 0.9989052631578947 Centerline is valid? [True, True] Translation: X:543.79, Y:9.04, Z:5.01 [[ 9.98531389e-01 -4.86698833e-02 -2.37972049e-02 5.43793319e+02] [ 4.86698797e-02 9.98814751e-01 -5.79680137e-04 9.04149653e+00] [ 2.37972122e-02 -5.79378285e-04 9.99716638e-01 5.01207403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7792541539999 meters Centerline goodness [0,1] 0.9987592008412197 Centerline is valid? [True, True] Translation: X:543.83, Y:9.04, Z:5.01 [[ 9.98428096e-01 -5.04817225e-02 -2.43502034e-02 5.43825017e+02] [ 5.04822790e-02 9.98724781e-01 -5.92253408e-04 9.03816772e+00] [ 2.43490495e-02 -6.37931320e-04 9.99703314e-01 5.01204198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.809254154 meters Centerline goodness [0,1] 0.9989710637940448 Centerline is valid? [True, True] Translation: X:543.86, Y:9.04, Z:5.01 [[ 9.98400502e-01 -5.10352516e-02 -2.43277948e-02 5.43855177e+02] [ 5.10359796e-02 9.98696640e-01 -5.91366439e-04 9.03736538e+00] [ 2.43262674e-02 -6.51172288e-04 9.99703860e-01 5.01248456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.839254154 meters Centerline goodness [0,1] 0.9988231338264963 Centerline is valid? [True, True] Translation: X:543.88, Y:9.04, Z:5.01 [[ 9.98387990e-01 -5.14392893e-02 -2.39879274e-02 5.43884913e+02] [ 5.14401072e-02 9.98675911e-01 -5.83371727e-04 9.03587543e+00] [ 2.39861734e-02 -6.51510228e-04 9.99712078e-01 5.01254947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8692541539999 meters Centerline goodness [0,1] 0.9987400781151569 Centerline is valid? [True, True] Translation: X:543.92, Y:9.03, Z:5.01 [[ 9.98414767e-01 -5.12305641e-02 -2.33105581e-02 5.43915287e+02] [ 5.12312756e-02 9.98686655e-01 -5.67064572e-04 9.03384916e+00] [ 2.33089943e-02 -6.28063984e-04 9.99728111e-01 5.01351154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8992541539999 meters Centerline goodness [0,1] 0.9987624541164132 Centerline is valid? [True, True] Translation: X:543.95, Y:9.03, Z:5.01 [[ 9.98450688e-01 -5.04375613e-02 -2.35005547e-02 5.43945822e+02] [ 5.04380650e-02 9.98727027e-01 -5.71686525e-04 9.03368332e+00] [ 2.34994736e-02 -6.14521699e-04 9.99723660e-01 5.01333373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.929254154 meters Centerline goodness [0,1] 0.9987422702022849 Centerline is valid? [True, True] Translation: X:543.97, Y:9.03, Z:5.01 [[ 9.98494000e-01 -4.94550513e-02 -2.37472211e-02 5.43974970e+02] [ 4.94552819e-02 9.98776172e-01 -5.77943011e-04 9.03379382e+00] [ 2.37467408e-02 -5.97352885e-04 9.99717828e-01 5.01369642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.959254154 meters Centerline goodness [0,1] 0.9987879041190362 Centerline is valid? [True, True] Translation: X:544.01, Y:9.04, Z:5.01 [[ 9.98544165e-01 -4.80101630e-02 -2.45881160e-02 5.44005619e+02] [ 4.80099684e-02 9.98846677e-01 -5.98580640e-04 9.03511192e+00] [ 2.45884959e-02 -5.82765467e-04 9.99697487e-01 5.01385289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9892541539999 meters Centerline goodness [0,1] 0.9987814614059414 Centerline is valid? [True, True] Translation: X:544.04, Y:9.04, Z:5.01 [[ 9.98578994e-01 -4.68303335e-02 -2.54344617e-02 5.44036459e+02] [ 4.68297430e-02 9.98902694e-01 -6.19184341e-04 9.03633219e+00] [ 2.54355490e-02 -5.72784831e-04 9.99676300e-01 5.01388548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0192541539999 meters Centerline goodness [0,1] 0.9988931815808708 Centerline is valid? [True, True] Translation: X:544.07, Y:9.04, Z:5.01 [[ 9.98666116e-01 -4.42698031e-02 -2.65739325e-02 5.44065745e+02] [ 4.42682445e-02 9.99019471e-01 -6.47232160e-04 9.03615199e+00] [ 2.65765288e-02 -5.30012514e-04 9.99646641e-01 5.01241160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.049254154 meters Centerline goodness [0,1] 0.9988873960869931 Centerline is valid? [True, True] Translation: X:544.09, Y:9.04, Z:5.01 [[ 9.98650061e-01 -4.42944361e-02 -2.71304185e-02 5.44094293e+02] [ 4.42926920e-02 9.99018375e-01 -6.65528204e-04 9.03711157e+00] [ 2.71332658e-02 -5.37049487e-04 9.99631681e-01 5.01308272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.079254154 meters Centerline goodness [0,1] 0.9988689678284183 Centerline is valid? [True, True] Translation: X:544.12, Y:9.04, Z:5.01 [[ 9.98640235e-01 -4.43788593e-02 -2.73532234e-02 5.44122730e+02] [ 4.43769242e-02 9.99014629e-01 -6.78078277e-04 9.03695845e+00] [ 2.73563627e-02 -5.36695672e-04 9.99625601e-01 5.01299213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1092541539999 meters Centerline goodness [0,1] 0.9988099214965759 Centerline is valid? [True, True] Translation: X:544.15, Y:9.03, Z:5.01 [[ 9.98623951e-01 -4.45573327e-02 -2.76558945e-02 5.44151009e+02] [ 4.45553089e-02 9.99006681e-01 -6.89705952e-04 9.03371279e+00] [ 2.76591548e-02 -5.43460038e-04 9.99617265e-01 5.01047742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1392541539999 meters Centerline goodness [0,1] 0.9994545721538106 Centerline is valid? [True, True] Translation: X:544.18, Y:9.03, Z:5.01 [[ 9.98550208e-01 -4.60130744e-02 -2.79334609e-02 5.44180103e+02] [ 4.60114260e-02 9.98940667e-01 -7.02105730e-04 9.03327238e+00] [ 2.79361761e-02 -5.84170546e-04 9.99609538e-01 5.01177426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1692541539999 meters Centerline goodness [0,1] 0.9989334114104066 Centerline is valid? [True, True] Translation: X:544.21, Y:9.03, Z:5.01 [[ 9.98491389e-01 -4.72856099e-02 -2.79108960e-02 5.44208674e+02] [ 4.72842656e-02 9.98881222e-01 -7.08531478e-04 9.03360051e+00] [ 2.79131732e-02 -6.12283639e-04 9.99610164e-01 5.01262898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.199254154 meters Centerline goodness [0,1] 0.9989334114104066 Centerline is valid? [True, True] Translation: X:544.24, Y:9.03, Z:5.01 [[ 9.98479460e-01 -4.75369213e-02 -2.79107165e-02 5.44236929e+02] [ 4.75354789e-02 9.98869294e-01 -7.15553673e-04 9.03436810e+00] [ 2.79131729e-02 -6.12283632e-04 9.99610164e-01 5.01289436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2292541539999 meters Centerline goodness [0,1] 0.998992379872788 Centerline is valid? [True, True] Translation: X:544.27, Y:9.03, Z:5.01 [[ 9.98428773e-01 -4.87837784e-02 -2.75704378e-02 5.44265751e+02] [ 4.87826540e-02 9.98809163e-01 -7.13790011e-04 9.03453071e+00] [ 2.75724273e-02 -6.32290643e-04 9.99619608e-01 5.01380828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2592541539999 meters Centerline goodness [0,1] 0.9992880773901754 Centerline is valid? [True, True] Translation: X:544.29, Y:9.03, Z:5.02 [[ 9.98334150e-01 -5.09371686e-02 -2.70985336e-02 5.44294164e+02] [ 5.09366885e-02 9.98701633e-01 -7.08447244e-04 9.03366846e+00] [ 2.70994361e-02 -6.73042488e-04 9.99632516e-01 5.01539357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2892541539999 meters Centerline goodness [0,1] 0.9992023677084864 Centerline is valid? [True, True] Translation: X:544.32, Y:9.03, Z:5.02 [[ 9.98294155e-01 -5.19486816e-02 -2.66479610e-02 5.44323471e+02] [ 5.19484978e-02 9.98649520e-01 -6.99649051e-04 9.03324895e+00] [ 2.66483193e-02 -6.85865983e-04 9.99644635e-01 5.01627699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.319254154 meters Centerline goodness [0,1] 0.9991847996488368 Centerline is valid? [True, True] Translation: X:544.35, Y:9.03, Z:5.02 [[ 9.98275946e-01 -5.27032304e-02 -2.58361094e-02 5.44353183e+02] [ 5.27032860e-02 9.98609985e-01 -6.79259012e-04 9.03283167e+00] [ 2.58359960e-02 -6.83559932e-04 9.99665961e-01 5.01693138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3492541539999 meters Centerline goodness [0,1] 0.9990416666666667 Centerline is valid? [True, True] Translation: X:544.38, Y:9.03, Z:5.02 [[ 9.98240316e-01 -5.35092245e-02 -2.55545345e-02 5.44383815e+02] [ 5.35095341e-02 9.98567112e-01 -6.72190986e-04 9.03237530e+00] [ 2.55538861e-02 -6.96403091e-04 9.99673204e-01 5.01759673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3792541539999 meters Centerline goodness [0,1] 0.9991465090136975 Centerline is valid? [True, True] Translation: X:544.41, Y:9.03, Z:5.02 [[ 9.98204854e-01 -5.46732425e-02 -2.44521084e-02 5.44413994e+02] [ 5.46738746e-02 9.98504058e-01 -6.43192575e-04 9.03202147e+00] [ 2.44506948e-02 -6.94853555e-04 9.99700796e-01 5.01934266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4092541539999 meters Centerline goodness [0,1] 0.9989946591266101 Centerline is valid? [True, True] Translation: X:544.44, Y:9.03, Z:5.02 [[ 9.98185100e-01 -5.54002606e-02 -2.36075783e-02 5.44444650e+02] [ 5.54010528e-02 9.98463989e-01 -6.20977907e-04 9.03172963e+00] [ 2.36057191e-02 -6.88033798e-04 9.99721109e-01 5.01979234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.439254154 meters Centerline goodness [0,1] 0.9992462785000942 Centerline is valid? [True, True] Translation: X:544.47, Y:9.03, Z:5.02 [[ 9.98188367e-01 -5.56036171e-02 -2.29830694e-02 5.44474757e+02] [ 5.56044217e-02 9.98452694e-01 -6.04550716e-04 9.03264067e+00] [ 2.29811228e-02 -6.74504793e-04 9.99735672e-01 5.02100465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4692541539999 meters Centerline goodness [0,1] 0.9991858717434869 Centerline is valid? [True, True] Translation: X:544.50, Y:9.03, Z:5.02 [[ 9.98206456e-01 -5.53701225e-02 -2.27600655e-02 5.44504801e+02] [ 5.53708565e-02 9.98465678e-01 -5.98438746e-04 9.03138793e+00] [ 2.27582799e-02 -6.62878900e-04 9.99740777e-01 5.02075089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4992541539999 meters Centerline goodness [0,1] 0.9992469722007238 Centerline is valid? [True, True] Translation: X:544.54, Y:9.03, Z:5.02 [[ 9.98256384e-01 -5.43637974e-02 -2.29949985e-02 5.44536584e+02] [ 5.43642953e-02 9.98520986e-01 -6.03945324e-04 9.03188730e+00] [ 2.29938214e-02 -6.47214616e-04 9.99735398e-01 5.02150956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5292541539999 meters Centerline goodness [0,1] 0.9993714381495139 Centerline is valid? [True, True] Translation: X:544.57, Y:9.03, Z:5.02 [[ 9.98329345e-01 -5.29990175e-02 -2.30135217e-02 5.44567296e+02] [ 5.29991674e-02 9.98594374e-01 -6.03843479e-04 9.03213780e+00] [ 2.30131764e-02 -6.16862824e-04 9.99734971e-01 5.02163845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.559254154 meters Centerline goodness [0,1] 0.9989964037802125 Centerline is valid? [True, True] Translation: X:544.60, Y:9.03, Z:5.02 [[ 9.98418179e-01 -5.12799121e-02 -2.30544921e-02 5.44597628e+02] [ 5.12796085e-02 9.98684152e-01 -6.04748909e-04 9.03348977e+00] [ 2.30551674e-02 -5.78433026e-04 9.99734027e-01 5.02170474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.589254154 meters Centerline goodness [0,1] 0.9991657803082442 Centerline is valid? [True, True] Translation: X:544.63, Y:9.04, Z:5.02 [[ 9.98643266e-01 -4.68123714e-02 -2.28085146e-02 5.44627249e+02] [ 4.68109041e-02 9.98903589e-01 -5.98535329e-04 9.03602056e+00] [ 2.28115259e-02 -4.69963911e-04 9.99739673e-01 5.02218080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6192541539999 meters Centerline goodness [0,1] 0.9992267017785859 Centerline is valid? [True, True] Translation: X:544.66, Y:9.04, Z:5.02 [[ 9.98760959e-01 -4.41559872e-02 -2.29520207e-02 5.44656777e+02] [ 4.41537852e-02 9.99024564e-01 -6.02952963e-04 9.03835863e+00] [ 2.29562565e-02 -4.11212713e-04 9.99736386e-01 5.02284236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6492541539999 meters Centerline goodness [0,1] 0.9993512880071986 Centerline is valid? [True, True] Translation: X:544.69, Y:9.04, Z:5.02 [[ 9.98894744e-01 -4.12283715e-02 -2.25723757e-02 5.44686230e+02] [ 4.12254764e-02 9.99149692e-01 -5.93779978e-04 9.04064587e+00] [ 2.25776628e-02 -3.37433243e-04 9.99745035e-01 5.02320799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.679254154 meters Centerline goodness [0,1] 0.9992244649856421 Centerline is valid? [True, True] Translation: X:544.72, Y:9.04, Z:5.02 [[ 9.99022659e-01 -3.82784487e-02 -2.21017640e-02 5.44716141e+02] [ 3.82749336e-02 9.99267077e-01 -5.82198916e-04 9.04363687e+00] [ 2.21078508e-02 -2.64313642e-04 9.99755557e-01 5.02446256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.709254154 meters Centerline goodness [0,1] 0.9993105033325672 Centerline is valid? [True, True] Translation: X:544.74, Y:9.05, Z:5.02 [[ 9.99251691e-01 -3.22697813e-02 -2.13241578e-02 5.44744507e+02] [ 3.22651198e-02 9.99479187e-01 -5.62707124e-04 9.04567097e+00] [ 2.13312104e-02 -1.25740462e-04 9.99772456e-01 5.02378311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7392541539999 meters Centerline goodness [0,1] 0.9993939140611938 Centerline is valid? [True, True] Translation: X:544.77, Y:9.05, Z:5.02 [[ 9.99324301e-01 -2.99938964e-02 -2.12439912e-02 5.44771987e+02] [ 2.99887226e-02 9.99550079e-01 -5.62148476e-04 9.04707584e+00] [ 2.12512941e-02 -7.53115264e-05 9.99774163e-01 5.02329894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7692541539999 meters Centerline goodness [0,1] 0.9993087557603687 Centerline is valid? [True, True] Translation: X:544.80, Y:9.05, Z:5.02 [[ 9.99376456e-01 -2.79348715e-02 -2.15949520e-02 5.44800189e+02] [ 2.79289534e-02 9.99609745e-01 -5.75659252e-04 9.04859613e+00] [ 2.16026054e-02 -2.78241046e-05 9.99766636e-01 5.02311261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.799254154 meters Centerline goodness [0,1] 0.9997694596973634 Centerline is valid? [True, True] Translation: X:544.83, Y:9.05, Z:5.02 [[ 9.99407654e-01 -2.75362437e-02 -2.06421269e-02 5.44828881e+02] [ 2.75306420e-02 9.99620806e-01 -5.55554312e-04 9.04899790e+00] [ 2.06495974e-02 -1.30657736e-05 9.99786774e-01 5.02435131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.829254154 meters Centerline goodness [0,1] 0.999331536838587 Centerline is valid? [True, True] Translation: X:544.86, Y:9.05, Z:5.02 [[ 9.99406716e-01 -2.77658434e-02 -2.03782523e-02 5.44857221e+02] [ 2.77603204e-02 9.99614455e-01 -5.53912008e-04 9.04767173e+00] [ 2.03857754e-02 -1.21234321e-05 9.99792188e-01 5.02421799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8592541539999 meters Centerline goodness [0,1] 0.9992477903842537 Centerline is valid? [True, True] Translation: X:544.88, Y:9.05, Z:5.03 [[ 9.99364735e-01 -2.95118340e-02 -1.99794486e-02 5.44884858e+02] [ 2.95067587e-02 9.99564430e-01 -5.48838008e-04 9.04696015e+00] [ 1.99869434e-02 -4.10394183e-05 9.99800240e-01 5.02511643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8892541539999 meters Centerline goodness [0,1] 0.9991226054440243 Centerline is valid? [True, True] Translation: X:544.91, Y:9.04, Z:5.02 [[ 9.99245336e-01 -3.31075017e-02 -2.03138527e-02 5.44912847e+02] [ 3.31029102e-02 9.99451790e-01 -5.62337874e-04 9.04291200e+00] [ 2.03213341e-02 -1.10534144e-04 9.99793494e-01 5.02468811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9192541539999 meters Centerline goodness [0,1] 0.9992505152707514 Centerline is valid? [True, True] Translation: X:544.94, Y:9.04, Z:5.03 [[ 9.99115279e-01 -3.74276047e-02 -1.91789758e-02 5.44942052e+02] [ 3.74242359e-02 9.99299325e-01 -5.34656563e-04 9.04056166e+00] [ 1.91855485e-02 -1.83574974e-04 9.99815924e-01 5.02569194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.949254154 meters Centerline goodness [0,1] 0.9990190553711936 Centerline is valid? [True, True] Translation: X:544.97, Y:9.04, Z:5.02 [[ 9.98992957e-01 -4.04208395e-02 -1.94737432e-02 5.44970673e+02] [ 4.04178731e-02 9.99182715e-01 -5.46046011e-04 9.03518443e+00] [ 1.94798993e-02 -2.41591164e-04 9.99810220e-01 5.02337370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9792541539999 meters Centerline goodness [0,1] 0.9989596337910944 Centerline is valid? [True, True] Translation: X:545.00, Y:9.03, Z:5.02 [[ 9.98790536e-01 -4.55792556e-02 -1.84389876e-02 5.45000312e+02] [ 4.55774574e-02 9.98960673e-01 -5.17963022e-04 9.03076424e+00] [ 1.84434318e-02 -3.23065606e-04 9.99829853e-01 5.02426508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0092541539999 meters Centerline goodness [0,1] 0.9991457977415725 Centerline is valid? [True, True] Translation: X:545.03, Y:9.03, Z:5.03 [[ 9.98382549e-01 -5.40695056e-02 -1.75719829e-02 5.45031276e+02] [ 5.40691853e-02 9.98537070e-01 -4.93662577e-04 9.02849527e+00] [ 1.75729684e-02 -4.57238700e-04 9.99845479e-01 5.02729100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0392541539999 meters Centerline goodness [0,1] 0.9990637093753901 Centerline is valid? [True, True] Translation: X:545.06, Y:9.02, Z:5.03 [[ 9.98163163e-01 -5.81263908e-02 -1.70769852e-02 5.45061873e+02] [ 5.81266883e-02 9.98309100e-01 -4.79351751e-04 9.02495120e+00] [ 1.70759727e-02 -5.14157333e-04 9.99854063e-01 5.02737865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.069254154 meters Centerline goodness [0,1] 0.9988524932192782 Centerline is valid? [True, True] Translation: X:545.09, Y:9.02, Z:5.03 [[ 9.97980179e-01 -6.12851140e-02 -1.67241379e-02 5.45093670e+02] [ 6.12858519e-02 9.98120145e-01 -4.68866596e-04 9.02202776e+00] [ 1.67214335e-02 -5.57033467e-04 9.99860032e-01 5.02758736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0992541539999 meters Centerline goodness [0,1] 0.9991459578811424 Centerline is valid? [True, True] Translation: X:545.12, Y:9.02, Z:5.03 [[ 9.97730876e-01 -6.53900274e-02 -1.60388325e-02 5.45124794e+02] [ 6.53912456e-02 9.97859601e-01 -4.49028914e-04 9.01990992e+00] [ 1.60338650e-02 -6.00789226e-04 9.99871269e-01 5.02802258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1292541539999 meters Centerline goodness [0,1] 0.998897280652477 Centerline is valid? [True, True] Translation: X:545.15, Y:9.01, Z:5.03 [[ 9.97328704e-01 -7.12816255e-02 -1.59495155e-02 5.45154611e+02] [ 7.12835843e-02 9.97455990e-01 -4.46381077e-04 9.01381936e+00] [ 1.59407585e-02 -6.91749972e-04 9.99872699e-01 5.02747280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1592541539999 meters Centerline goodness [0,1] 0.9987715755064649 Centerline is valid? [True, True] Translation: X:545.19, Y:9.01, Z:5.03 [[ 9.97159351e-01 -7.36944678e-02 -1.55677265e-02 5.45186338e+02] [ 7.36966362e-02 9.97280611e-01 -4.35126497e-04 9.01254115e+00] [ 1.55574582e-02 -7.13398619e-04 9.99878721e-01 5.02735969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.189254154 meters Centerline goodness [0,1] 0.9986882651786458 Centerline is valid? [True, True] Translation: X:545.22, Y:9.01, Z:5.03 [[ 9.97081264e-01 -7.45603189e-02 -1.64228823e-02 5.45218481e+02] [ 7.45628736e-02 9.97216210e-01 -4.57549287e-04 9.01108363e+00] [ 1.64112794e-02 -7.68323472e-04 9.99865031e-01 5.02672114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2192541539999 meters Centerline goodness [0,1] 0.998731966906415 Centerline is valid? [True, True] Translation: X:545.25, Y:9.01, Z:5.03 [[ 9.96868025e-01 -7.73777597e-02 -1.63347266e-02 5.45249346e+02] [ 7.73806775e-02 9.97001517e-01 -4.54285324e-04 9.01186031e+00] [ 1.63208988e-02 -8.11129699e-04 9.99866476e-01 5.02740023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2492541539999 meters Centerline goodness [0,1] 0.9989145862903899 Centerline is valid? [True, True] Translation: X:545.28, Y:9.01, Z:5.03 [[ 9.96741765e-01 -7.90405808e-02 -1.60761089e-02 5.45281398e+02] [ 7.90436334e-02 9.96871057e-01 -4.46424445e-04 9.01192157e+00] [ 1.60610933e-02 -8.25744167e-04 9.99870671e-01 5.02755429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2792541539999 meters Centerline goodness [0,1] 0.9986882651786458 Centerline is valid? [True, True] Translation: X:545.31, Y:9.01, Z:5.03 [[ 9.96514821e-01 -8.19087343e-02 -1.57851368e-02 5.45311573e+02] [ 8.19120468e-02 9.96639466e-01 -4.37661231e-04 9.00875241e+00] [ 1.57679386e-02 -8.56856963e-04 9.99875311e-01 5.02710457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.309254154 meters Centerline goodness [0,1] 0.9986257157730348 Centerline is valid? [True, True] Translation: X:545.34, Y:9.01, Z:5.03 [[ 9.96474985e-01 -8.23684785e-02 -1.59071493e-02 5.45343854e+02] [ 8.23719084e-02 9.96601563e-01 -4.40567942e-04 9.00827344e+00] [ 1.58893788e-02 -8.71287315e-04 9.99873376e-01 5.02673119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.339254154 meters Centerline goodness [0,1] 0.9985619307642608 Centerline is valid? [True, True] Translation: X:545.37, Y:9.01, Z:5.03 [[ 9.96296392e-01 -8.46591872e-02 -1.50440080e-02 5.45373813e+02] [ 8.46625249e-02 9.96409596e-01 -4.16017687e-04 9.00678910e+00] [ 1.50252136e-02 -8.59186780e-04 9.99886746e-01 5.02737096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3692541539999 meters Centerline goodness [0,1] 0.9986840456197519 Centerline is valid? [True, True] Translation: X:545.41, Y:9.01, Z:5.03 [[ 9.96193809e-01 -8.58769188e-02 -1.49348446e-02 5.45406312e+02] [ 8.58803505e-02 9.96305372e-01 -4.12597735e-04 9.00774748e+00] [ 1.49150985e-02 -8.71582377e-04 9.99888384e-01 5.02765812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3992541539999 meters Centerline goodness [0,1] 0.9987674695523199 Centerline is valid? [True, True] Translation: X:545.44, Y:9.01, Z:5.03 [[ 9.96081727e-01 -8.72953469e-02 -1.41674460e-02 5.45437874e+02] [ 8.72985906e-02 9.96182114e-01 -3.90499184e-04 9.00868830e+00] [ 1.41474451e-02 -8.47828971e-04 9.99899560e-01 5.02853178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.429254154 meters Centerline goodness [0,1] 0.9986002590565328 Centerline is valid? [True, True] Translation: X:545.47, Y:9.01, Z:5.03 [[ 9.96046962e-01 -8.76692833e-02 -1.43019547e-02 5.45468858e+02] [ 8.76726383e-02 9.96149263e-01 -3.93435000e-04 9.00891032e+00] [ 1.42813738e-02 -8.62010366e-04 9.99897644e-01 5.02836294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.459254154 meters Centerline goodness [0,1] 0.9985153587186082 Centerline is valid? [True, True] Translation: X:545.50, Y:9.01, Z:5.03 [[ 9.96036706e-01 -8.77734894e-02 -1.43768636e-02 5.45500971e+02] [ 8.77769027e-02 9.96140080e-01 -3.94641059e-04 9.00992271e+00] [ 1.43560091e-02 -8.68879578e-04 9.99896570e-01 5.02835517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4892541539999 meters Centerline goodness [0,1] 0.9984545986133155 Centerline is valid? [True, True] Translation: X:545.53, Y:9.02, Z:5.03 [[ 9.96018015e-01 -8.78953590e-02 -1.49171013e-02 5.45533435e+02] [ 8.78990636e-02 9.96129303e-01 -4.08381406e-04 9.01781915e+00] [ 1.48952565e-02 -9.04443996e-04 9.99888650e-01 5.02827535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5192541539999 meters Centerline goodness [0,1] 0.9986200551977921 Centerline is valid? [True, True] Translation: X:545.56, Y:9.02, Z:5.03 [[ 9.96056961e-01 -8.74342148e-02 -1.50262856e-02 5.45564818e+02] [ 8.74379365e-02 9.96169885e-01 -4.10373364e-04 9.01909998e+00] [ 1.50046139e-02 -9.05112161e-04 9.99887015e-01 5.02835688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.549254154 meters Centerline goodness [0,1] 0.998682366720348 Centerline is valid? [True, True] Translation: X:545.60, Y:9.02, Z:5.03 [[ 9.96086704e-01 -8.70710600e-02 -1.51627064e-02 5.45596816e+02] [ 8.70748220e-02 9.96201689e-01 -4.13154063e-04 9.02493376e+00] [ 1.51410875e-02 -9.08752692e-04 9.99884954e-01 5.02869551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.579254154 meters Centerline goodness [0,1] 0.9985141158989599 Centerline is valid? [True, True] Translation: X:545.63, Y:9.03, Z:5.03 [[ 9.96260568e-01 -8.49991644e-02 -1.54926465e-02 5.45628275e+02] [ 8.50028569e-02 9.96380619e-01 -4.21200551e-04 9.02971573e+00] [ 1.54723744e-02 -8.97293716e-04 9.99879893e-01 5.02821483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6092541539999 meters Centerline goodness [0,1] 0.9984532095901005 Centerline is valid? [True, True] Translation: X:545.66, Y:9.03, Z:5.03 [[ 9.96417370e-01 -8.32967588e-02 -1.46313007e-02 5.45658887e+02] [ 8.32998768e-02 9.96524447e-01 -3.97249036e-04 9.03335533e+00] [ 1.46135384e-02 -8.22959703e-04 9.99892878e-01 5.02961044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6392541539999 meters Centerline goodness [0,1] 0.9987487226543763 Centerline is valid? [True, True] Translation: X:545.69, Y:9.04, Z:5.03 [[ 9.96489058e-01 -8.25224231e-02 -1.41282435e-02 5.45690853e+02] [ 8.25252626e-02 9.96588899e-01 -3.82896688e-04 9.03725897e+00] [ 1.41116482e-02 -7.84384645e-04 9.99900118e-01 5.03084274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6692541539999 meters Centerline goodness [0,1] 0.9985612110849302 Centerline is valid? [True, True] Translation: X:545.72, Y:9.04, Z:5.03 [[ 9.96607704e-01 -8.11388691e-02 -1.37684071e-02 5.45722874e+02] [ 8.11414479e-02 9.96702527e-01 -3.72140642e-04 9.04031816e+00] [ 1.37532013e-02 -7.46310260e-04 9.99905142e-01 5.03146282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.699254154 meters Centerline goodness [0,1] 0.9988520621138754 Centerline is valid? [True, True] Translation: X:545.75, Y:9.05, Z:5.03 [[ 9.96871819e-01 -7.79722452e-02 -1.29191939e-02 5.45754224e+02] [ 7.79742613e-02 9.96955312e-01 -3.48339297e-04 9.04729998e+00] [ 1.29070198e-02 -6.60114974e-04 9.99916483e-01 5.03229084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7292541539999 meters Centerline goodness [0,1] 0.9985782684145602 Centerline is valid? [True, True] Translation: X:545.79, Y:9.05, Z:5.03 [[ 9.97038369e-01 -7.58311838e-02 -1.28110302e-02 5.45785300e+02] [ 7.58329983e-02 9.97120473e-01 -3.44774499e-04 9.05042281e+00] [ 1.28002852e-02 -6.27745427e-04 9.99917876e-01 5.03185866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7592541539999 meters Centerline goodness [0,1] 0.9986454100239658 Centerline is valid? [True, True] Translation: X:545.82, Y:9.05, Z:5.03 [[ 9.97102144e-01 -7.49195161e-02 -1.32053220e-02 5.45816865e+02] [ 7.49213763e-02 9.97189381e-01 -3.54480625e-04 9.05086235e+00] [ 1.31947644e-02 -6.35907505e-04 9.99912743e-01 5.03229247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7892541539999 meters Centerline goodness [0,1] 0.998414255012832 Centerline is valid? [True, True] Translation: X:545.85, Y:9.05, Z:5.03 [[ 9.97254991e-01 -7.28468776e-02 -1.32595730e-02 5.45848242e+02] [ 7.28485897e-02 9.97342949e-01 -3.54467831e-04 9.05469899e+00] [ 1.32501635e-02 -6.12446377e-04 9.99912025e-01 5.03154482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.819254154 meters Centerline goodness [0,1] 0.9986835231428273 Centerline is valid? [True, True] Translation: X:545.88, Y:9.06, Z:5.03 [[ 9.97391183e-01 -7.08493484e-02 -1.38274529e-02 5.45879813e+02] [ 7.08510270e-02 9.97486840e-01 -3.69047819e-04 9.06014020e+00] [ 1.38188491e-02 -6.11604199e-04 9.99904328e-01 5.03244107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8492541539999 meters Centerline goodness [0,1] 0.9987259017900035 Centerline is valid? [True, True] Translation: X:545.91, Y:9.06, Z:5.03 [[ 9.97475435e-01 -6.95442015e-02 -1.43652420e-02 5.45911709e+02] [ 6.95458910e-02 9.97578680e-01 -3.82506764e-04 9.06256512e+00] [ 1.43570603e-02 -6.17502452e-04 9.99896741e-01 5.03251405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8792541539999 meters Centerline goodness [0,1] 0.9987885876603033 Centerline is valid? [True, True] Translation: X:545.94, Y:9.07, Z:5.03 [[ 9.97568666e-01 -6.81994374e-02 -1.43385469e-02 5.45943435e+02] [ 6.82009969e-02 9.97671529e-01 -3.80752933e-04 9.06669772e+00] [ 1.43311271e-02 -5.98075997e-04 9.99897125e-01 5.03276589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9092541539999 meters Centerline goodness [0,1] 0.998771345272803 Centerline is valid? [True, True] Translation: X:545.97, Y:9.07, Z:5.03 [[ 9.97794646e-01 -6.48334490e-02 -1.42291313e-02 5.45973554e+02] [ 6.48346541e-02 9.97895949e-01 -3.77074173e-04 9.06990088e+00] [ 1.42236395e-02 -5.46298216e-04 9.99898690e-01 5.03320089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.939254154 meters Centerline goodness [0,1] 0.9987639060568603 Centerline is valid? [True, True] Translation: X:546.01, Y:9.07, Z:5.03 [[ 9.97901517e-01 -6.32693281e-02 -1.37679115e-02 5.46006078e+02] [ 6.32703164e-02 9.97996360e-01 -3.64217500e-04 9.07414980e+00] [ 1.37633693e-02 -5.07646919e-04 9.99905151e-01 5.03408900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9692541539999 meters Centerline goodness [0,1] 0.9986613399150788 Centerline is valid? [True, True] Translation: X:546.04, Y:9.08, Z:5.03 [[ 9.98018965e-01 -6.14152979e-02 -1.36494421e-02 5.46036911e+02] [ 6.14161126e-02 9.98112184e-01 -3.59865249e-04 9.07524710e+00] [ 1.36457757e-02 -4.79143330e-04 9.99906777e-01 5.03437224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9992541539999 meters Centerline goodness [0,1] 0.9988475883166408 Centerline is valid? [True, True] Translation: X:546.07, Y:9.08, Z:5.03 [[ 9.98123149e-01 -5.97029684e-02 -1.36284634e-02 5.46068581e+02] [ 5.97036324e-02 9.98216083e-01 -3.58488242e-04 9.08014843e+00] [ 1.36255542e-02 -4.55853358e-04 9.99907064e-01 5.03499534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0292541539999 meters Centerline goodness [0,1] 0.9989535589460246 Centerline is valid? [True, True] Translation: X:546.10, Y:9.08, Z:5.04 [[ 9.98215858e-01 -5.81293374e-02 -1.36411701e-02 5.46100326e+02] [ 5.81298697e-02 9.98308965e-01 -3.57812418e-04 9.08321361e+00] [ 1.36389018e-02 -4.35785411e-04 9.99906891e-01 5.03558166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.059254154 meters Centerline goodness [0,1] 0.9988483363695374 Centerline is valid? [True, True] Translation: X:546.13, Y:9.09, Z:5.04 [[ 9.98405415e-01 -5.47000987e-02 -1.39472529e-02 5.46131592e+02] [ 5.47003331e-02 9.98502749e-01 -3.64957661e-04 9.08720170e+00] [ 1.39463335e-02 -3.98543672e-04 9.99902666e-01 5.03562450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.089254154 meters Centerline goodness [0,1] 0.9988483363695374 Centerline is valid? [True, True] Translation: X:546.16, Y:9.09, Z:5.04 [[ 9.98409464e-01 -5.46261439e-02 -1.39472708e-02 5.46163285e+02] [ 5.46263807e-02 9.98506798e-01 -3.64269576e-04 9.08797145e+00] [ 1.39463434e-02 -3.98198735e-04 9.99902666e-01 5.03592139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1192541539999 meters Centerline goodness [0,1] 0.9985151413752719 Centerline is valid? [True, True] Translation: X:546.19, Y:9.09, Z:5.04 [[ 9.98542983e-01 -5.20674458e-02 -1.41736119e-02 5.46194135e+02] [ 5.20674465e-02 9.98643502e-01 -3.69210129e-04 9.08941926e+00] [ 1.41736093e-02 -3.69311597e-04 9.99899481e-01 5.03506546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1492541539999 meters Centerline goodness [0,1] 0.9987455834082499 Centerline is valid? [True, True] Translation: X:546.23, Y:9.09, Z:5.04 [[ 9.98644840e-01 -5.00633879e-02 -1.42175892e-02 5.46225910e+02] [ 5.00631980e-02 9.98745984e-01 -3.69485809e-04 9.09152193e+00] [ 1.42182578e-02 -3.42792885e-04 9.99898857e-01 5.03586444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.179254154 meters Centerline goodness [0,1] 0.9988739443228026 Centerline is valid? [True, True] Translation: X:546.26, Y:9.10, Z:5.04 [[ 9.98839896e-01 -4.58423429e-02 -1.47425126e-02 5.46257756e+02] [ 4.58416938e-02 9.98948644e-01 -3.82130813e-04 9.09561232e+00] [ 1.47445308e-02 -2.94134248e-04 9.99891250e-01 5.03640519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.209254154 meters Centerline goodness [0,1] 0.9988741556167126 Centerline is valid? [True, True] Translation: X:546.29, Y:9.10, Z:5.04 [[ 9.98931914e-01 -4.37953327e-02 -1.47309407e-02 5.46289955e+02] [ 4.37944754e-02 9.99040489e-01 -3.80929390e-04 9.09768170e+00] [ 1.47334891e-02 -2.64611297e-04 9.99891421e-01 5.03686460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2392541539999 meters Centerline goodness [0,1] 0.9987261412521405 Centerline is valid? [True, True] Translation: X:546.32, Y:9.10, Z:5.04 [[ 9.98999666e-01 -4.22098115e-02 -1.47648187e-02 5.46321737e+02] [ 4.22087916e-02 9.99108739e-01 -3.80826961e-04 9.09964210e+00] [ 1.47677341e-02 -2.42759151e-04 9.99890922e-01 5.03737064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2692541539999 meters Centerline goodness [0,1] 0.9988731924128289 Centerline is valid? [True, True] Translation: X:546.35, Y:9.10, Z:5.04 [[ 9.99075097e-01 -4.02286727e-02 -1.51856646e-02 5.46352702e+02] [ 4.02273845e-02 9.99190475e-01 -3.90402511e-04 9.10039810e+00] [ 1.51890768e-02 -2.20838143e-04 9.99884615e-01 5.03775479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.299254154 meters Centerline goodness [0,1] 0.9989154239232454 Centerline is valid? [True, True] Translation: X:546.39, Y:9.10, Z:5.04 [[ 9.99093958e-01 -3.97815426e-02 -1.51225980e-02 5.46385009e+02] [ 3.97802386e-02 9.99208378e-01 -3.87148660e-04 9.10112142e+00] [ 1.51260279e-02 -2.14782668e-04 9.99885572e-01 5.03827780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.329254154 meters Centerline goodness [0,1] 0.9990407673860912 Centerline is valid? [True, True] Translation: X:546.42, Y:9.10, Z:5.04 [[ 9.99081254e-01 -4.01014509e-02 -1.51169144e-02 5.46417662e+02] [ 4.01002015e-02 9.99195589e-01 -3.85870840e-04 9.10069238e+00] [ 1.51202282e-02 -2.20674991e-04 9.99885658e-01 5.03864607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3592541539999 meters Centerline goodness [0,1] 0.9987700902628671 Centerline is valid? [True, True] Translation: X:546.45, Y:9.10, Z:5.04 [[ 9.99090702e-01 -3.99193060e-02 -1.49739286e-02 5.46448814e+02] [ 3.99180806e-02 9.99202883e-01 -3.80825938e-04 9.09822105e+00] [ 1.49771949e-02 -2.17250835e-04 9.99887812e-01 5.03643608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3892541539999 meters Centerline goodness [0,1] 0.9988742729679585 Centerline is valid? [True, True] Translation: X:546.48, Y:9.10, Z:5.04 [[ 9.98946865e-01 -4.34158191e-02 -1.48400803e-02 5.46480786e+02] [ 4.34150244e-02 9.99057053e-01 -3.75860742e-04 9.09643735e+00] [ 1.48424052e-02 -2.68817541e-04 9.99889809e-01 5.03853039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4192541539999 meters Centerline goodness [0,1] 0.9987693719625389 Centerline is valid? [True, True] Translation: X:546.51, Y:9.10, Z:5.04 [[ 9.98867421e-01 -4.52518907e-02 -1.47017822e-02 5.46512682e+02] [ 4.52513252e-02 9.98975565e-01 -3.71285035e-04 9.09508592e+00] [ 1.47035226e-02 -2.94410605e-04 9.99891854e-01 5.03854981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.449254154 meters Centerline goodness [0,1] 0.9987718823504923 Centerline is valid? [True, True] Translation: X:546.54, Y:9.09, Z:5.04 [[ 9.98778666e-01 -4.70308427e-02 -1.51418962e-02 5.46544507e+02] [ 4.70304644e-02 9.98893383e-01 -3.81266189e-04 9.09358749e+00] [ 1.51430712e-02 -3.31329874e-04 9.99885282e-01 5.03870561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4792541539999 meters Centerline goodness [0,1] 0.9988750234370117 Centerline is valid? [True, True] Translation: X:546.58, Y:9.09, Z:5.04 [[ 9.98582145e-01 -5.09545764e-02 -1.54055512e-02 5.46576046e+02] [ 5.09546672e-02 9.98700892e-01 -3.86874105e-04 9.08864721e+00] [ 1.54052507e-02 -3.98659159e-04 9.99881253e-01 5.03868835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5092541539999 meters Centerline goodness [0,1] 0.9988549777241121 Centerline is valid? [True, True] Translation: X:546.61, Y:9.09, Z:5.04 [[ 9.98488805e-01 -5.27141880e-02 -1.55345134e-02 5.46607883e+02] [ 5.27145081e-02 9.98609548e-01 -3.89149239e-04 9.08720139e+00] [ 1.55334271e-02 -4.30333075e-04 9.99879256e-01 5.03933723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5392541539999 meters Centerline goodness [0,1] 0.9988122773019942 Centerline is valid? [True, True] Translation: X:546.64, Y:9.09, Z:5.04 [[ 9.98395311e-01 -5.44900035e-02 -1.54156453e-02 5.46640342e+02] [ 5.44905474e-02 9.98514212e-01 -3.85053816e-04 9.08653999e+00] [ 1.54137226e-02 -4.55571030e-04 9.99881098e-01 5.04014132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.569254154 meters Centerline goodness [0,1] 0.9987064469017317 Centerline is valid? [True, True] Translation: X:546.67, Y:9.08, Z:5.04 [[ 9.98319815e-01 -5.58234908e-02 -1.55333442e-02 5.46672031e+02] [ 5.58242204e-02 9.98440537e-01 -3.86960196e-04 9.08495455e+00] [ 1.55307220e-02 -4.80826796e-04 9.99879275e-01 5.03986937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5992541539999 meters Centerline goodness [0,1] 0.9985184876053752 Centerline is valid? [True, True] Translation: X:546.70, Y:9.08, Z:5.04 [[ 9.98196875e-01 -5.79749012e-02 -1.55534559e-02 5.46703031e+02] [ 5.79759068e-02 9.98317908e-01 -3.86607562e-04 9.08154672e+00] [ 1.55497071e-02 -5.15815252e-04 9.99878963e-01 5.04058871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6292541539999 meters Centerline goodness [0,1] 0.9987090594873717 Centerline is valid? [True, True] Translation: X:546.74, Y:9.08, Z:5.04 [[ 9.98155651e-01 -5.87336491e-02 -1.53510618e-02 5.46735226e+02] [ 5.87347326e-02 9.98273553e-01 -3.80641950e-04 9.08063261e+00] [ 1.53469155e-02 -5.21700595e-04 9.99882093e-01 5.04105028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6592541539999 meters Centerline goodness [0,1] 0.9986643292428417 Centerline is valid? [True, True] Translation: X:546.77, Y:9.08, Z:5.04 [[ 9.98141058e-01 -5.89441194e-02 -1.54925246e-02 5.46766338e+02] [ 5.89452695e-02 9.98261143e-01 -3.82784140e-04 9.07937643e+00] [ 1.54881481e-02 -5.31138469e-04 9.99879910e-01 5.04118151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.689254154 meters Centerline goodness [0,1] 0.9988127473443033 Centerline is valid? [True, True] Translation: X:546.80, Y:9.08, Z:5.04 [[ 9.98120422e-01 -5.91486481e-02 -1.60331094e-02 5.46798921e+02] [ 5.91499314e-02 9.98249032e-01 -3.94570437e-04 9.07834459e+00] [ 1.60283742e-02 -5.54528509e-04 9.99871384e-01 5.04100603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7192541539999 meters Centerline goodness [0,1] 0.99864192887886 Centerline is valid? [True, True] Translation: X:546.83, Y:9.08, Z:5.04 [[ 9.98124903e-01 -5.90465343e-02 -1.61302739e-02 5.46830630e+02] [ 5.90478369e-02 9.98255076e-01 -3.95909370e-04 9.07603173e+00] [ 1.61255049e-02 -5.57290780e-04 9.99869820e-01 5.04067136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7492541539999 meters Centerline goodness [0,1] 0.9986853911483003 Centerline is valid? [True, True] Translation: X:546.86, Y:9.08, Z:5.04 [[ 9.98140266e-01 -5.87666070e-02 -1.62017155e-02 5.46862692e+02] [ 5.87679007e-02 9.98271595e-01 -3.96655243e-04 9.07748395e+00] [ 1.61970224e-02 -5.56223238e-04 9.99868665e-01 5.04107666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7792541539999 meters Centerline goodness [0,1] 0.9988919088438218 Centerline is valid? [True, True] Translation: X:546.89, Y:9.07, Z:5.04 [[ 9.98195051e-01 -5.76536878e-02 -1.68134859e-02 5.46893803e+02] [ 5.76549504e-02 9.98336486e-01 -4.10025261e-04 9.07425966e+00] [ 1.68091559e-02 -5.60095510e-04 9.99858559e-01 5.03960815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.809254154 meters Centerline goodness [0,1] 0.9989338350580119 Centerline is valid? [True, True] Translation: X:546.93, Y:9.08, Z:5.04 [[ 9.98308680e-01 -5.56612190e-02 -1.67812111e-02 5.46925602e+02] [ 5.56622205e-02 9.98449574e-01 -4.07747184e-04 9.07829527e+00] [ 1.67778888e-02 -5.27021922e-04 9.99859102e-01 5.04215932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.839254154 meters Centerline goodness [0,1] 0.9988935743810279 Centerline is valid? [True, True] Translation: X:546.96, Y:9.08, Z:5.04 [[ 9.98401544e-01 -5.38896532e-02 -1.70370972e-02 5.46958051e+02] [ 5.38904452e-02 9.98546769e-01 -4.12941919e-04 9.07901973e+00] [ 1.70345916e-02 -5.05854903e-04 9.99854773e-01 5.04252274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8692541539999 meters Centerline goodness [0,1] 0.9987676240208877 Centerline is valid? [True, True] Translation: X:546.99, Y:9.08, Z:5.04 [[ 9.98526662e-01 -5.15381266e-02 -1.69801744e-02 5.46988289e+02] [ 5.15385953e-02 9.98670919e-01 -4.10286250e-04 9.07973566e+00] [ 1.69787518e-02 -4.65452577e-04 9.99855742e-01 5.04272543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8992541539999 meters Centerline goodness [0,1] 0.9990603662483556 Centerline is valid? [True, True] Translation: X:547.02, Y:9.08, Z:5.04 [[ 9.98654404e-01 -4.89893044e-02 -1.70126456e-02 5.47020041e+02] [ 4.89894249e-02 9.98799213e-01 -4.09916864e-04 9.08172218e+00] [ 1.70122986e-02 -4.24074444e-04 9.99855190e-01 5.04322088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.929254154 meters Centerline goodness [0,1] 0.9990193214539081 Centerline is valid? [True, True] Translation: X:547.05, Y:9.08, Z:5.04 [[ 9.98907443e-01 -4.35414266e-02 -1.69724555e-02 5.47051278e+02] [ 4.35407739e-02 9.99051567e-01 -4.08155115e-04 9.08319651e+00] [ 1.69741299e-02 -3.31284663e-04 9.99855874e-01 5.04438046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.959254154 meters Centerline goodness [0,1] 0.9991227520521336 Centerline is valid? [True, True] Translation: X:547.08, Y:9.08, Z:5.04 [[ 9.99028836e-01 -4.06627884e-02 -1.69682925e-02 5.47081475e+02] [ 4.06617362e-02 9.99172887e-01 -4.07150207e-04 9.08328390e+00] [ 1.69708137e-02 -2.83205437e-04 9.99855945e-01 5.04443551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9892541539999 meters Centerline goodness [0,1] 0.9990192395976796 Centerline is valid? [True, True] Translation: X:547.11, Y:9.09, Z:5.04 [[ 9.99129775e-01 -3.80405761e-02 -1.71057779e-02 5.47111975e+02] [ 3.80391345e-02 9.99276166e-01 -4.09752897e-04 9.08582979e+00] [ 1.71089834e-02 -2.41292667e-04 9.99853602e-01 5.04498565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0192541539999 meters Centerline goodness [0,1] 0.999123594098867 Centerline is valid? [True, True] Translation: X:547.14, Y:9.09, Z:5.05 [[ 9.99300297e-01 -3.27837497e-02 -1.80039762e-02 5.47141222e+02] [ 3.27812941e-02 9.99462456e-01 -4.31576260e-04 9.08826880e+00] [ 1.80084469e-02 -1.58919354e-04 9.99837822e-01 5.04524043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.049254154 meters Centerline goodness [0,1] 0.9990811894420314 Centerline is valid? [True, True] Translation: X:547.17, Y:9.09, Z:5.05 [[ 9.99361513e-01 -3.06070606e-02 -1.84329803e-02 5.47170555e+02] [ 3.06041041e-02 9.99531487e-01 -4.42524484e-04 9.08942059e+00] [ 1.84378886e-02 -1.21882910e-04 9.99830000e-01 5.04530089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.079254154 meters Centerline goodness [0,1] 0.999226750261233 Centerline is valid? [True, True] Translation: X:547.20, Y:9.09, Z:5.05 [[ 9.99399891e-01 -2.88985744e-02 -1.90979151e-02 5.47199418e+02] [ 2.88950351e-02 9.99582345e-01 -4.61299840e-04 9.09042376e+00] [ 1.91032697e-02 -9.08119191e-05 9.99817512e-01 5.04562654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1092541539999 meters Centerline goodness [0,1] 0.9990166952592159 Centerline is valid? [True, True] Translation: X:547.23, Y:9.09, Z:5.04 [[ 9.99433162e-01 -2.71365511e-02 -1.99239050e-02 5.47227385e+02] [ 2.71322806e-02 9.99631734e-01 -4.84673350e-04 9.09092884e+00] [ 1.99297201e-02 -5.61823625e-05 9.99801382e-01 5.04458253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1392541539999 meters Centerline goodness [0,1] 0.9993505133040017 Centerline is valid? [True, True] Translation: X:547.26, Y:9.09, Z:5.05 [[ 9.99459130e-01 -2.63549261e-02 -1.96688859e-02 5.47255227e+02] [ 2.63505389e-02 9.99652648e-01 -4.82232479e-04 9.09067240e+00] [ 1.96747631e-02 -3.63140889e-05 9.99806432e-01 5.04635536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1692541539999 meters Centerline goodness [0,1] 0.9993133297265804 Centerline is valid? [True, True] Translation: X:547.28, Y:9.09, Z:5.05 [[ 9.99458559e-01 -2.65676404e-02 -1.94100165e-02 5.47281783e+02] [ 2.65633187e-02 9.99647017e-01 -4.80484362e-04 9.09041633e+00] [ 1.94159304e-02 -3.53702456e-05 9.99811492e-01 5.04701227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.199254154 meters Centerline goodness [0,1] 0.9991015649484967 Centerline is valid? [True, True] Translation: X:547.31, Y:9.09, Z:5.05 [[ 9.99446932e-01 -2.72753480e-02 -1.90232759e-02 5.47309462e+02] [ 2.72712389e-02 9.99627958e-01 -4.75434369e-04 9.09014738e+00] [ 1.90291660e-02 -4.36168789e-05 9.99818928e-01 5.04814387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2292541539999 meters Centerline goodness [0,1] 0.9993726605466218 Centerline is valid? [True, True] Translation: X:547.34, Y:9.09, Z:5.05 [[ 9.99400496e-01 -2.90375082e-02 -1.88539597e-02 5.47336048e+02] [ 2.90336997e-02 9.99578320e-01 -4.75748630e-04 9.08840856e+00] [ 1.88598240e-02 -7.19367896e-05 9.99822135e-01 5.04911637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2592541539999 meters Centerline goodness [0,1] 0.9991441037095797 Centerline is valid? [True, True] Translation: X:547.36, Y:9.09, Z:5.05 [[ 9.99360020e-01 -3.05800936e-02 -1.85582357e-02 5.47364001e+02] [ 3.05765874e-02 9.99532315e-01 -4.72717244e-04 9.08721730e+00] [ 1.85640121e-02 -9.50328022e-05 9.99827669e-01 5.04943581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2892541539999 meters Centerline goodness [0,1] 0.9993741133272136 Centerline is valid? [True, True] Translation: X:547.39, Y:9.09, Z:5.05 [[ 9.99314375e-01 -3.19511995e-02 -1.87056523e-02 5.47392950e+02] [ 3.19477861e-02 9.99489423e-01 -4.81355804e-04 9.08573151e+00] [ 1.87114815e-02 -1.16578404e-04 9.99824918e-01 5.04949804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.319254154 meters Centerline goodness [0,1] 0.9994568396423498 Centerline is valid? [True, True] Translation: X:547.42, Y:9.08, Z:5.05 [[ 9.99197110e-01 -3.50948002e-02 -1.93258967e-02 5.47420794e+02] [ 3.50916829e-02 9.99383972e-01 -5.00504627e-04 9.08169473e+00] [ 1.93315565e-02 -1.78075460e-04 9.99813112e-01 5.04917489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3492541539999 meters Centerline goodness [0,1] 0.9993542742876187 Centerline is valid? [True, True] Translation: X:547.45, Y:9.08, Z:5.05 [[ 9.99127528e-01 -3.67340456e-02 -1.98694138e-02 5.47448864e+02] [ 3.67310405e-02 9.99325054e-01 -5.16293113e-04 9.07988560e+00] [ 1.98749685e-02 -2.13981581e-04 9.99802450e-01 5.04842989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3792541539999 meters Centerline goodness [0,1] 0.9994154732579016 Centerline is valid? [True, True] Translation: X:547.48, Y:9.08, Z:5.05 [[ 9.99053681e-01 -3.84076095e-02 -2.04107517e-02 5.47477232e+02] [ 3.84047518e-02 9.99262124e-01 -5.32110352e-04 9.07849940e+00] [ 2.04161282e-02 -2.52263047e-04 9.99791537e-01 5.04828102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4092541539999 meters Centerline goodness [0,1] 0.9993116969798098 Centerline is valid? [True, True] Translation: X:547.51, Y:9.08, Z:5.05 [[ 9.98962894e-01 -4.05431651e-02 -2.07216990e-02 5.47506301e+02] [ 4.05406048e-02 9.99177744e-01 -5.43797373e-04 9.07743693e+00] [ 2.07267077e-02 -2.96836812e-04 9.99785135e-01 5.04872718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.439254154 meters Centerline goodness [0,1] 0.9993108633003382 Centerline is valid? [True, True] Translation: X:547.53, Y:9.07, Z:5.05 [[ 9.98877990e-01 -4.23659471e-02 -2.11633465e-02 5.47533899e+02] [ 4.23636143e-02 9.99102103e-01 -5.58743945e-04 9.07454729e+00] [ 2.11680157e-02 -3.38438819e-04 9.99775875e-01 5.04774575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4692541539999 meters Centerline goodness [0,1] 0.9992073425114727 Centerline is valid? [True, True] Translation: X:547.56, Y:9.07, Z:5.05 [[ 9.98720757e-01 -4.58129882e-02 -2.14013750e-02 5.47562256e+02] [ 4.58113611e-02 9.98949948e-01 -5.66549851e-04 9.06998443e+00] [ 2.14048578e-02 -4.14601022e-04 9.99770804e-01 5.04723659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4992541539999 meters Centerline goodness [0,1] 0.9992075408742075 Centerline is valid? [True, True] Translation: X:547.59, Y:9.07, Z:5.05 [[ 9.98665050e-01 -4.73314869e-02 -2.06844916e-02 5.47590621e+02] [ 4.73302623e-02 9.98879144e-01 -5.49027611e-04 9.06879353e+00] [ 2.06872936e-02 -4.30707726e-04 9.99785902e-01 5.04845665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5292541539999 meters Centerline goodness [0,1] 0.9992075243477717 Centerline is valid? [True, True] Translation: X:547.62, Y:9.07, Z:5.05 [[ 9.98637890e-01 -4.78943692e-02 -2.07000874e-02 5.47618990e+02] [ 4.78932363e-02 9.98852309e-01 -5.50761928e-04 9.06802312e+00] [ 2.07027084e-02 -4.41382444e-04 9.99785579e-01 5.04881562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.559254154 meters Centerline goodness [0,1] 0.9991034382102124 Centerline is valid? [True, True] Translation: X:547.65, Y:9.07, Z:5.05 [[ 9.98670907e-01 -4.72098391e-02 -2.06797161e-02 5.47648071e+02] [ 4.72085441e-02 9.98884903e-01 -5.51075106e-04 9.07206837e+00] [ 2.06826724e-02 -4.25916613e-04 9.99786000e-01 5.05142478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.589254154 meters Centerline goodness [0,1] 0.9992914452433052 Centerline is valid? [True, True] Translation: X:547.68, Y:9.08, Z:5.05 [[ 9.98727811e-01 -4.61288143e-02 -2.03688894e-02 5.47677661e+02] [ 4.61273182e-02 9.98935421e-01 -5.43521426e-04 9.07502679e+00] [ 2.03722772e-02 -3.96732282e-04 9.99792385e-01 5.05288530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6192541539999 meters Centerline goodness [0,1] 0.9993730407523511 Centerline is valid? [True, True] Translation: X:547.71, Y:9.08, Z:5.05 [[ 9.98809863e-01 -4.43264859e-02 -2.03474950e-02 5.47707150e+02] [ 4.43246081e-02 9.99017034e-01 -5.43493823e-04 9.07555286e+00] [ 2.03515853e-02 -3.59047751e-04 9.99792821e-01 5.05280294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6492541539999 meters Centerline goodness [0,1] 0.9993734074105017 Centerline is valid? [True, True] Translation: X:547.74, Y:9.08, Z:5.05 [[ 9.99014283e-01 -3.96373300e-02 -1.99835899e-02 5.47736521e+02] [ 3.96345698e-02 9.99214099e-01 -5.34320481e-04 9.07830197e+00] [ 1.99890638e-02 -2.58247195e-04 9.99800165e-01 5.05338160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.679254154 meters Centerline goodness [0,1] 0.9993736036581546 Centerline is valid? [True, True] Translation: X:547.77, Y:9.08, Z:5.05 [[ 9.99118811e-01 -3.70536476e-02 -1.97136588e-02 5.47765410e+02] [ 3.70504005e-02 9.99313258e-01 -5.30048621e-04 9.08070299e+00] [ 1.97197609e-02 -2.00817406e-04 9.99805526e-01 5.05343575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.709254154 meters Centerline goodness [0,1] 0.999377502956861 Centerline is valid? [True, True] Translation: X:547.79, Y:9.08, Z:5.05 [[ 9.99215997e-01 -3.44172961e-02 -1.95663340e-02 5.47792858e+02] [ 3.44135192e-02 9.99407539e-01 -5.29801640e-04 9.08282112e+00] [ 1.95729761e-02 -1.43960138e-04 9.99808421e-01 5.05392133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7392541539999 meters Centerline goodness [0,1] 0.9993310477464671 Centerline is valid? [True, True] Translation: X:547.82, Y:9.08, Z:5.05 [[ 9.99298312e-01 -3.20148003e-02 -1.94405921e-02 5.47821952e+02] [ 3.20105447e-02 9.99487391e-01 -5.30122659e-04 9.08474116e+00] [ 1.94475984e-02 -9.25532635e-05 9.99810873e-01 5.05399141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7692541539999 meters Centerline goodness [0,1] 0.9993735382559304 Centerline is valid? [True, True] Translation: X:547.85, Y:9.09, Z:5.05 [[ 9.99389471e-01 -2.88706166e-02 -1.96767117e-02 5.47850331e+02] [ 2.88655471e-02 9.99583157e-01 -5.41665096e-04 9.08724229e+00] [ 1.96841478e-02 -2.66446547e-05 9.99806248e-01 5.05435671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.799254154 meters Centerline goodness [0,1] 0.9993735905788023 Centerline is valid? [True, True] Translation: X:547.88, Y:9.09, Z:5.05 [[ 9.99409429e-01 -2.82963690e-02 -1.94963555e-02 5.47877287e+02] [ 2.82912096e-02 9.99599578e-01 -5.40451817e-04 9.08819803e+00] [ 1.95038416e-02 -1.14428378e-05 9.99809782e-01 5.05442478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.829254154 meters Centerline goodness [0,1] 0.9995197527770817 Centerline is valid? [True, True] Translation: X:547.91, Y:9.09, Z:5.05 [[ 9.99401782e-01 -2.83306355e-02 -1.98356604e-02 5.47905399e+02] [ 2.83252197e-02 9.99598607e-01 -5.53986222e-04 9.08846491e+00] [ 1.98433933e-02 -8.19462151e-06 9.99803100e-01 5.05344099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8592541539999 meters Centerline goodness [0,1] 0.9993116395494368 Centerline is valid? [True, True] Translation: X:547.93, Y:9.09, Z:5.05 [[ 9.99389791e-01 -2.92184513e-02 -1.91397151e-02 5.47933697e+02] [ 2.92135068e-02 9.99573050e-01 -5.37940419e-04 9.08791437e+00] [ 1.91472612e-02 -2.15260340e-05 9.99816674e-01 5.05396462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8892541539999 meters Centerline goodness [0,1] 0.9994782862747553 Centerline is valid? [True, True] Translation: X:547.96, Y:9.08, Z:5.06 [[ 9.99294300e-01 -3.26719940e-02 -1.85322123e-02 5.47961702e+02] [ 3.26678896e-02 9.99466125e-01 -5.24239346e-04 9.08451032e+00] [ 1.85394464e-02 -8.15388769e-05 9.99828126e-01 5.05544403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9192541539999 meters Centerline goodness [0,1] 0.9994566693833198 Centerline is valid? [True, True] Translation: X:547.99, Y:9.08, Z:5.06 [[ 9.99217113e-01 -3.50596090e-02 -1.83299147e-02 5.47989955e+02] [ 3.50559332e-02 9.99385216e-01 -5.21909671e-04 9.08270519e+00] [ 1.83369437e-02 -1.21071191e-04 9.99831857e-01 5.05572612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.949254154 meters Centerline goodness [0,1] 0.9992683334726984 Centerline is valid? [True, True] Translation: X:548.02, Y:9.08, Z:5.06 [[ 9.99113097e-01 -3.79165689e-02 -1.83126276e-02 5.48018568e+02] [ 3.79133221e-02 9.99280894e-01 -5.24566885e-04 9.08193180e+00] [ 1.83193486e-02 -1.70190903e-04 9.99832172e-01 5.05666294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9792541539999 meters Centerline goodness [0,1] 0.9993526291609238 Centerline is valid? [True, True] Translation: X:548.05, Y:9.08, Z:5.06 [[ 9.98897259e-01 -4.33465066e-02 -1.80373453e-02 5.48047550e+02] [ 4.33441574e-02 9.99060064e-01 -5.21343187e-04 9.07733828e+00] [ 1.80429897e-02 -2.61045251e-04 9.99837178e-01 5.05750595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0092541539999 meters Centerline goodness [0,1] 0.9993526291609238 Centerline is valid? [True, True] Translation: X:548.08, Y:9.08, Z:5.06 [[ 9.98895651e-01 -4.33835840e-02 -1.80372652e-02 5.48076697e+02] [ 4.33811911e-02 9.99058456e-01 -5.24099202e-04 9.07821455e+00] [ 1.80430196e-02 -2.58957636e-04 9.99837178e-01 5.05777959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0392541539999 meters Centerline goodness [0,1] 0.9992902027097555 Centerline is valid? [True, True] Translation: X:548.11, Y:9.08, Z:5.06 [[ 9.98785756e-01 -4.60978225e-02 -1.73782596e-02 5.48105707e+02] [ 4.60960009e-02 9.98936886e-01 -5.05581052e-04 9.07617610e+00] [ 1.73830907e-02 -2.96101118e-04 9.99848859e-01 5.05850646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.069254154 meters Centerline goodness [0,1] 0.999581966013837 Centerline is valid? [True, True] Translation: X:548.14, Y:9.07, Z:5.06 [[ 9.98586590e-01 -5.02671076e-02 -1.72638152e-02 5.48135533e+02] [ 5.02659252e-02 9.98735743e-01 -5.02684324e-04 9.07078345e+00] [ 1.72672578e-02 -3.65807816e-04 9.99850843e-01 5.05791329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0992541539999 meters Centerline goodness [0,1] 0.9994780684356667 Centerline is valid? [True, True] Translation: X:548.17, Y:9.07, Z:5.06 [[ 9.98471791e-01 -5.23261512e-02 -1.77779956e-02 5.48166485e+02] [ 5.23252243e-02 9.98629963e-01 -5.17612317e-04 9.06946829e+00] [ 1.77807238e-02 -4.13416310e-04 9.99841825e-01 5.05690738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1292541539999 meters Centerline goodness [0,1] 0.9995399799263968 Centerline is valid? [True, True] Translation: X:548.20, Y:9.07, Z:5.06 [[ 9.98362533e-01 -5.45077702e-02 -1.73538482e-02 5.48196630e+02] [ 5.45072184e-02 9.98513249e-01 -5.05140828e-04 9.06758394e+00] [ 1.73555814e-02 -4.41596317e-04 9.99849283e-01 5.05835724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1592541539999 meters Centerline goodness [0,1] 0.9994366784894638 Centerline is valid? [True, True] Translation: X:548.23, Y:9.07, Z:5.06 [[ 9.98261031e-01 -5.61455107e-02 -1.79609285e-02 5.48226882e+02] [ 5.61451835e-02 9.98422478e-01 -5.22866047e-04 9.06573339e+00] [ 1.79619513e-02 -4.86462825e-04 9.99838553e-01 5.05708039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.189254154 meters Centerline goodness [0,1] 0.9995617147389072 Centerline is valid? [True, True] Translation: X:548.26, Y:9.06, Z:5.06 [[ 9.98068870e-01 -5.97550254e-02 -1.69666547e-02 5.48257298e+02] [ 5.97552543e-02 9.98212936e-01 -4.93921440e-04 9.06227073e+00] [ 1.69658485e-02 -5.20879151e-04 9.99855934e-01 5.05938706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2192541539999 meters Centerline goodness [0,1] 0.999583541562552 Centerline is valid? [True, True] Translation: X:548.29, Y:9.06, Z:5.06 [[ 9.97990766e-01 -6.11306546e-02 -1.66575744e-02 5.48287396e+02] [ 6.11310731e-02 9.98129629e-01 -4.84534355e-04 9.06038809e+00] [ 1.66560385e-02 -5.34734588e-04 9.99861136e-01 5.05994050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2492541539999 meters Centerline goodness [0,1] 0.9994376054489783 Centerline is valid? [True, True] Translation: X:548.32, Y:9.06, Z:5.06 [[ 9.97904142e-01 -6.26988385e-02 -1.60056255e-02 5.48318272e+02] [ 6.26994394e-02 9.98032346e-01 -4.64748531e-04 9.05888181e+00] [ 1.60032712e-02 -5.39769265e-04 9.99871794e-01 5.06053355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2792541539999 meters Centerline goodness [0,1] 0.9994986421558387 Centerline is valid? [True, True] Translation: X:548.35, Y:9.06, Z:5.06 [[ 9.97840197e-01 -6.36799305e-02 -1.61185375e-02 5.48349014e+02] [ 6.36806775e-02 9.97970216e-01 -4.67422720e-04 9.05738823e+00] [ 1.61155858e-02 -5.60026211e-04 9.99869979e-01 5.05961125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.309254154 meters Centerline goodness [0,1] 0.9993947741881626 Centerline is valid? [True, True] Translation: X:548.38, Y:9.06, Z:5.06 [[ 9.97789537e-01 -6.47139751e-02 -1.51043496e-02 5.48380232e+02] [ 6.47147548e-02 9.97903707e-01 -4.37654799e-04 9.05693356e+00] [ 1.51010089e-02 -5.40786902e-04 9.99885827e-01 5.06183010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.339254154 meters Centerline goodness [0,1] 0.9994774902813193 Centerline is valid? [True, True] Translation: X:548.41, Y:9.06, Z:5.06 [[ 9.97728022e-01 -6.57091036e-02 -1.48696924e-02 5.48410263e+02] [ 6.57099758e-02 9.97838671e-01 -4.30433961e-04 9.05503602e+00] [ 1.48658376e-02 -5.47631105e-04 9.99889347e-01 5.06238445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3692541539999 meters Centerline goodness [0,1] 0.9995403835708018 Centerline is valid? [True, True] Translation: X:548.44, Y:9.05, Z:5.06 [[ 9.97733315e-01 -6.56592539e-02 -1.47341287e-02 5.48441950e+02] [ 6.56601100e-02 9.97841956e-01 -4.26162094e-04 9.05495293e+00] [ 1.47303133e-02 -5.42248396e-04 9.99891356e-01 5.06262112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3992541539999 meters Centerline goodness [0,1] 0.9994978659302034 Centerline is valid? [True, True] Translation: X:548.47, Y:9.06, Z:5.06 [[ 9.97744471e-01 -6.53722085e-02 -1.52461251e-02 5.48473330e+02] [ 6.53730999e-02 9.97860794e-01 -4.40430825e-04 9.05642724e+00] [ 1.52423025e-02 -5.57249041e-04 9.99883674e-01 5.06279067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.429254154 meters Centerline goodness [0,1] 0.9993303337867532 Centerline is valid? [True, True] Translation: X:548.50, Y:9.06, Z:5.06 [[ 9.97749893e-01 -6.51279432e-02 -1.59217225e-02 5.48503635e+02] [ 6.51288917e-02 9.97876754e-01 -4.59491826e-04 9.05510570e+00] [ 1.59178425e-02 -5.78506218e-04 9.99873136e-01 5.06149778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.459254154 meters Centerline goodness [0,1] 0.9994985269228358 Centerline is valid? [True, True] Translation: X:548.53, Y:9.06, Z:5.06 [[ 9.97748515e-01 -6.50466456e-02 -1.63350929e-02 5.48534543e+02] [ 6.50476357e-02 9.97882049e-01 -4.71254738e-04 9.05655039e+00] [ 1.63311495e-02 -5.92365459e-04 9.99866462e-01 5.06218163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4892541539999 meters Centerline goodness [0,1] 0.9994783298207541 Centerline is valid? [True, True] Translation: X:548.56, Y:9.06, Z:5.06 [[ 9.97744726e-01 -6.50911438e-02 -1.63891628e-02 5.48564494e+02] [ 6.50921529e-02 9.97879145e-01 -4.72423548e-04 9.05600115e+00] [ 1.63851543e-02 -5.95447787e-04 9.99865577e-01 5.06208990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5192541539999 meters Centerline goodness [0,1] 0.9993726080682602 Centerline is valid? [True, True] Translation: X:548.60, Y:9.06, Z:5.06 [[ 9.97734583e-01 -6.53858139e-02 -1.58239294e-02 5.48595897e+02] [ 6.53868034e-02 9.97859889e-01 -4.55389771e-04 9.06287514e+00] [ 1.58198405e-02 -5.80318037e-04 9.99874690e-01 5.06376208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.549254154 meters Centerline goodness [0,1] 0.9994982018901062 Centerline is valid? [True, True] Translation: X:548.63, Y:9.06, Z:5.06 [[ 9.97668343e-01 -6.63073704e-02 -1.61619863e-02 5.48627064e+02] [ 6.63085331e-02 9.97799059e-01 -4.64515621e-04 9.06363172e+00] [ 1.61572155e-02 -6.08245070e-04 9.99869279e-01 5.06469234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.579254154 meters Centerline goodness [0,1] 0.9994981599197056 Centerline is valid? [True, True] Translation: X:548.66, Y:9.06, Z:5.06 [[ 9.97635404e-01 -6.68816451e-02 -1.58254975e-02 5.48657754e+02] [ 6.68828392e-02 9.97760733e-01 -4.54387042e-04 9.06369898e+00] [ 1.58204502e-02 -6.05141607e-04 9.99874666e-01 5.06499107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6092541539999 meters Centerline goodness [0,1] 0.9993314949444305 Centerline is valid? [True, True] Translation: X:548.69, Y:9.06, Z:5.07 [[ 9.97619540e-01 -6.72134958e-02 -1.54142450e-02 5.48688627e+02] [ 6.72146741e-02 9.97738439e-01 -4.42190235e-04 9.06424318e+00] [ 1.54091059e-02 -5.94925834e-04 9.99881096e-01 5.06521029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6392541539999 meters Centerline goodness [0,1] 0.9994983277591973 Centerline is valid? [True, True] Translation: X:548.72, Y:9.06, Z:5.07 [[ 9.97566745e-01 -6.80245458e-02 -1.52725440e-02 5.48719345e+02] [ 6.80258043e-02 9.97683466e-01 -4.37678144e-04 9.06463934e+00] [ 1.52669375e-02 -6.02313928e-04 9.99883272e-01 5.06649183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6692541539999 meters Centerline goodness [0,1] 0.9993321785587579 Centerline is valid? [True, True] Translation: X:548.75, Y:9.07, Z:5.07 [[ 9.97579366e-01 -6.78650304e-02 -1.51573506e-02 5.48750284e+02] [ 6.78662574e-02 9.97694333e-01 -4.33998946e-04 9.06535382e+00] [ 1.51518562e-02 -5.95724264e-04 9.99885027e-01 5.06684879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.699254154 meters Centerline goodness [0,1] 0.9993731848477884 Centerline is valid? [True, True] Translation: X:548.78, Y:9.07, Z:5.07 [[ 9.97601206e-01 -6.75504156e-02 -1.51253292e-02 5.48781632e+02] [ 6.75516094e-02 9.97715687e-01 -4.32538281e-04 9.06626943e+00] [ 1.51199964e-02 -5.90239620e-04 9.99885512e-01 5.06671819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7292541539999 meters Centerline goodness [0,1] 0.9993940786861955 Centerline is valid? [True, True] Translation: X:548.81, Y:9.07, Z:5.07 [[ 9.97600981e-01 -6.75454854e-02 -1.51621485e-02 5.48811929e+02] [ 6.75466948e-02 9.97716020e-01 -4.32914023e-04 9.06726257e+00] [ 1.51567599e-02 -5.92277564e-04 9.99884954e-01 5.06725295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7592541539999 meters Centerline goodness [0,1] 0.9993104168843381 Centerline is valid? [True, True] Translation: X:548.84, Y:9.07, Z:5.07 [[ 9.97600472e-01 -6.74713595e-02 -1.55213928e-02 5.48843323e+02] [ 6.74726300e-02 9.97721027e-01 -4.42392063e-04 9.06840925e+00] [ 1.55158688e-02 -6.05938665e-04 9.99879438e-01 5.06679052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7892541539999 meters Centerline goodness [0,1] 0.9991862284820031 Centerline is valid? [True, True] Translation: X:548.88, Y:9.07, Z:5.07 [[ 9.97568897e-01 -6.79703617e-02 -1.53728596e-02 5.48875032e+02] [ 6.79716755e-02 9.97687155e-01 -4.37621778e-04 9.06994612e+00] [ 1.53670499e-02 -6.08361152e-04 9.99881735e-01 5.06764227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.819254154 meters Centerline goodness [0,1] 0.9993316345712018 Centerline is valid? [True, True] Translation: X:548.91, Y:9.07, Z:5.07 [[ 9.97504964e-01 -6.87552697e-02 -1.60174685e-02 5.48905623e+02] [ 6.87568043e-02 9.97633347e-01 -4.55514668e-04 9.07113409e+00] [ 1.60108798e-02 -6.46931806e-04 9.99871608e-01 5.06775318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8492541539999 meters Centerline goodness [0,1] 0.9992896391784886 Centerline is valid? [True, True] Translation: X:548.94, Y:9.07, Z:5.07 [[ 9.97450941e-01 -6.94895490e-02 -1.62117853e-02 5.48935841e+02] [ 6.94912225e-02 9.97582457e-01 -4.60758599e-04 9.07180549e+00] [ 1.62046105e-02 -6.66992681e-04 9.99868474e-01 5.06787874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8792541539999 meters Centerline goodness [0,1] 0.9994151924643372 Centerline is valid? [True, True] Translation: X:548.97, Y:9.07, Z:5.07 [[ 9.97413216e-01 -6.99580596e-02 -1.65150120e-02 5.48967554e+02] [ 6.99598672e-02 9.97549697e-01 -4.68967285e-04 9.07323151e+00] [ 1.65073532e-02 -6.87633877e-04 9.99863508e-01 5.06709288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9092541539999 meters Centerline goodness [0,1] 0.9992699664184552 Centerline is valid? [True, True] Translation: X:549.00, Y:9.07, Z:5.07 [[ 9.97354731e-01 -7.08337387e-02 -1.63132638e-02 5.48997341e+02] [ 7.08356244e-02 9.97487895e-01 -4.62920645e-04 9.07353591e+00] [ 1.63050736e-02 -6.93864131e-04 9.99866823e-01 5.06853220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.939254154 meters Centerline goodness [0,1] 0.9990606016324656 Centerline is valid? [True, True] Translation: X:549.03, Y:9.08, Z:5.07 [[ 9.97314082e-01 -7.14791873e-02 -1.59795986e-02 5.49028379e+02] [ 7.14810832e-02 9.97441853e-01 -4.53208588e-04 9.08269021e+00] [ 1.59711154e-02 -6.90247713e-04 9.99872215e-01 5.06992116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9692541539999 meters Centerline goodness [0,1] 0.998998560430619 Centerline is valid? [True, True] Translation: X:549.06, Y:9.09, Z:5.07 [[ 9.97345342e-01 -7.09312925e-02 -1.64627318e-02 5.49060827e+02] [ 7.09332449e-02 9.97480956e-01 -4.66026320e-04 9.08564635e+00] [ 1.64543173e-02 -7.02965808e-04 9.99864371e-01 5.06914473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9992541539999 meters Centerline goodness [0,1] 0.9992471611702461 Centerline is valid? [True, True] Translation: X:549.09, Y:9.09, Z:5.07 [[ 9.97386447e-01 -7.05184273e-02 -1.57297931e-02 5.49092038e+02] [ 7.05201726e-02 9.97510254e-01 -4.44375613e-04 9.08809040e+00] [ 1.57219666e-02 -6.66053509e-04 9.99876180e-01 5.07173001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0292541539999 meters Centerline goodness [0,1] 0.9991854126198383 Centerline is valid? [True, True] Translation: X:549.12, Y:9.09, Z:5.07 [[ 9.97542104e-01 -6.82829251e-02 -1.57223709e-02 5.49122898e+02] [ 6.82844007e-02 9.97665798e-01 -4.43584905e-04 9.09188445e+00] [ 1.57159609e-02 -6.31098052e-04 9.99876297e-01 5.07251005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.059254154 meters Centerline goodness [0,1] 0.9990405272928269 Centerline is valid? [True, True] Translation: X:549.15, Y:9.09, Z:5.07 [[ 9.97664329e-01 -6.64503701e-02 -1.58188114e-02 5.49154722e+02] [ 6.64516449e-02 9.97789547e-01 -4.45606994e-04 9.09397574e+00] [ 1.58134554e-02 -6.06619835e-04 9.99874775e-01 5.07183109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.089254154 meters Centerline goodness [0,1] 0.9992068130583619 Centerline is valid? [True, True] Translation: X:549.19, Y:9.10, Z:5.07 [[ 9.97772659e-01 -6.47132077e-02 -1.61839854e-02 5.49185736e+02] [ 6.47143263e-02 9.97903727e-01 -4.55128853e-04 9.09640430e+00] [ 1.61795122e-02 -5.93220588e-04 9.99868927e-01 5.07146279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1192541539999 meters Centerline goodness [0,1] 0.9989562894000752 Centerline is valid? [True, True] Translation: X:549.22, Y:9.10, Z:5.07 [[ 9.97928667e-01 -6.22187122e-02 -1.63464620e-02 5.49216653e+02] [ 6.22195287e-02 9.98062383e-01 -4.59109615e-04 9.10164244e+00] [ 1.63433540e-02 -5.58910515e-04 9.99866282e-01 5.07334198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1492541539999 meters Centerline goodness [0,1] 0.998978315262719 Centerline is valid? [True, True] Translation: X:549.25, Y:9.10, Z:5.07 [[ 9.98018089e-01 -6.06432741e-02 -1.68013953e-02 5.49246749e+02] [ 6.06439216e-02 9.98159352e-01 -4.71411670e-04 9.10430516e+00] [ 1.67990578e-02 -5.48425124e-04 9.99858735e-01 5.07343519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.179254154 meters Centerline goodness [0,1] 0.999017435297069 Centerline is valid? [True, True] Translation: X:549.28, Y:9.11, Z:5.07 [[ 9.98109068e-01 -5.91907657e-02 -1.65753137e-02 5.49278469e+02] [ 5.91912048e-02 9.98246555e-01 -4.64527580e-04 9.10709571e+00] [ 1.65737456e-02 -5.17463599e-04 9.99862512e-01 5.07381140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.209254154 meters Centerline goodness [0,1] 0.9991013771916992 Centerline is valid? [True, True] Translation: X:549.31, Y:9.11, Z:5.07 [[ 9.98258940e-01 -5.66394719e-02 -1.64638807e-02 5.49308737e+02] [ 5.66395685e-02 9.98394585e-01 -4.60794038e-04 9.11120352e+00] [ 1.64635485e-02 -4.72515333e-04 9.99864355e-01 5.07435304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2392541539999 meters Centerline goodness [0,1] 0.9991231000501085 Centerline is valid? [True, True] Translation: X:549.34, Y:9.11, Z:5.08 [[ 9.98320769e-01 -5.55577440e-02 -1.64006094e-02 5.49339727e+02] [ 5.55577006e-02 9.98455373e-01 -4.58619676e-04 9.11295703e+00] [ 1.64007565e-02 -4.53330602e-04 9.99865396e-01 5.07500411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2692541539999 meters Centerline goodness [0,1] 0.9991640543364682 Centerline is valid? [True, True] Translation: X:549.37, Y:9.11, Z:5.08 [[ 9.98362268e-01 -5.48116093e-02 -1.63850275e-02 5.49369584e+02] [ 5.48114728e-02 9.98496616e-01 -4.57743042e-04 9.11418546e+00] [ 1.63854841e-02 -4.41094106e-04 9.99865652e-01 5.07540659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.299254154 meters Centerline goodness [0,1] 0.9993102871713414 Centerline is valid? [True, True] Translation: X:549.40, Y:9.12, Z:5.08 [[ 9.98399239e-01 -5.41700815e-02 -1.62653750e-02 5.49401114e+02] [ 5.41698683e-02 9.98531632e-01 -4.54007723e-04 9.11608568e+00] [ 1.62660851e-02 -4.27812259e-04 9.99867607e-01 5.07619101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.329254154 meters Centerline goodness [0,1] 0.9992475388249065 Centerline is valid? [True, True] Translation: X:549.43, Y:9.12, Z:5.08 [[ 9.98474374e-01 -5.27193973e-02 -1.64191712e-02 5.49432324e+02] [ 5.27189935e-02 9.98609282e-01 -4.57719890e-04 9.12297809e+00] [ 1.64204675e-02 -4.08580602e-04 9.99865092e-01 5.07818626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3592541539999 meters Centerline goodness [0,1] 0.9992699816452528 Centerline is valid? [True, True] Translation: X:549.46, Y:9.12, Z:5.08 [[ 9.98507614e-01 -5.20756920e-02 -1.64519625e-02 5.49463952e+02] [ 5.20752093e-02 9.98643061e-01 -4.58026204e-04 9.12483801e+00] [ 1.64534902e-02 -3.99396739e-04 9.99864552e-01 5.07888620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3892541539999 meters Centerline goodness [0,1] 0.9992900544987576 Centerline is valid? [True, True] Translation: X:549.49, Y:9.13, Z:5.08 [[ 9.98543379e-01 -5.14771539e-02 -1.61623626e-02 5.49494462e+02] [ 5.14766227e-02 9.98674099e-01 -4.49162972e-04 9.12588144e+00] [ 1.61640545e-02 -3.83475130e-04 9.99869280e-01 5.07886647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4192541539999 meters Centerline goodness [0,1] 0.9992674912622171 Centerline is valid? [True, True] Translation: X:549.53, Y:9.13, Z:5.08 [[ 9.98561624e-01 -5.11026365e-02 -1.62235296e-02 5.49525582e+02] [ 5.11020663e-02 9.98693334e-01 -4.49972219e-04 9.12805645e+00] [ 1.62253256e-02 -3.79730896e-04 9.99868289e-01 5.07929390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.449254154 meters Centerline goodness [0,1] 0.9991646130069755 Centerline is valid? [True, True] Translation: X:549.56, Y:9.12, Z:5.08 [[ 9.98588236e-01 -5.04509041e-02 -1.66204780e-02 5.49556334e+02] [ 5.04502236e-02 9.98726471e-01 -4.60492424e-04 9.12317493e+00] [ 1.66225436e-02 -3.78664514e-04 9.99861764e-01 5.07696687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4792541539999 meters Centerline goodness [0,1] 0.9992270410294978 Centerline is valid? [True, True] Translation: X:549.59, Y:9.13, Z:5.08 [[ 9.98589284e-01 -5.00477943e-02 -1.77386853e-02 5.49587202e+02] [ 5.00469644e-02 9.98746745e-01 -4.90977839e-04 9.12930190e+00] [ 1.77410265e-02 -3.97482142e-04 9.99842537e-01 5.07712128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5092541539999 meters Centerline goodness [0,1] 0.9991669443518827 Centerline is valid? [True, True] Translation: X:549.62, Y:9.12, Z:5.08 [[ 9.98585361e-01 -5.04397419e-02 -1.68258234e-02 5.49616915e+02] [ 5.04390540e-02 9.98727032e-01 -4.65518367e-04 9.12343765e+00] [ 1.68278853e-02 -3.83818791e-04 9.99858327e-01 5.07667325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5392541539999 meters Centerline goodness [0,1] 0.999146722164412 Centerline is valid? [True, True] Translation: X:549.65, Y:9.13, Z:5.08 [[ 9.98552961e-01 -5.14215270e-02 -1.57419755e-02 5.49647708e+02] [ 5.14210479e-02 9.98676968e-01 -4.35460867e-04 9.12921155e+00] [ 1.57435404e-02 -3.74638138e-04 9.99875993e-01 5.08018361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.569254154 meters Centerline goodness [0,1] 0.9991856167387083 Centerline is valid? [True, True] Translation: X:549.68, Y:9.13, Z:5.08 [[ 9.98523409e-01 -5.20224116e-02 -1.56419173e-02 5.49679044e+02] [ 5.20220211e-02 9.98645844e-01 -4.32125363e-04 9.12936674e+00] [ 1.56432160e-02 -3.82236863e-04 9.99877564e-01 5.08060927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5992541539999 meters Centerline goodness [0,1] 0.9993731717509402 Centerline is valid? [True, True] Translation: X:549.71, Y:9.13, Z:5.08 [[ 9.98497587e-01 -5.25512991e-02 -1.55218948e-02 5.49711221e+02] [ 5.25509909e-02 9.98618150e-01 -4.28010908e-04 9.13071620e+00] [ 1.55229384e-02 -3.88323092e-04 9.99879437e-01 5.08122571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6292541539999 meters Centerline goodness [0,1] 0.999332902499531 Centerline is valid? [True, True] Translation: X:549.74, Y:9.13, Z:5.08 [[ 9.98431081e-01 -5.36494527e-02 -1.60347411e-02 5.49742274e+02] [ 5.36492828e-02 9.98559743e-01 -4.41057258e-04 9.12888332e+00] [ 1.60353094e-02 -4.19887085e-04 9.99871338e-01 5.08085595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6592541539999 meters Centerline goodness [0,1] 0.9993735251738468 Centerline is valid? [True, True] Translation: X:549.77, Y:9.13, Z:5.08 [[ 9.98427259e-01 -5.37119466e-02 -1.60634488e-02 5.49773372e+02] [ 5.37117966e-02 9.98556382e-01 -4.41074003e-04 9.12955362e+00] [ 1.60639502e-02 -4.22416386e-04 9.99870877e-01 5.08031293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.689254154 meters Centerline goodness [0,1] 0.9994361373318854 Centerline is valid? [True, True] Translation: X:549.80, Y:9.13, Z:5.08 [[ 9.98411669e-01 -5.41108389e-02 -1.56893483e-02 5.49804961e+02] [ 5.41107541e-02 9.98534847e-01 -4.30223573e-04 9.12984961e+00] [ 1.56896408e-02 -4.19422233e-04 9.99876822e-01 5.08191585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7192541539999 meters Centerline goodness [0,1] 0.9992898023979613 Centerline is valid? [True, True] Translation: X:549.84, Y:9.13, Z:5.08 [[ 9.98424742e-01 -5.39629433e-02 -1.53634386e-02 5.49836406e+02] [ 5.39628549e-02 9.98542855e-01 -4.20609690e-04 9.12878979e+00] [ 1.53637492e-02 -4.09107885e-04 9.99881887e-01 5.08166107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7492541539999 meters Centerline goodness [0,1] 0.9991656062913286 Centerline is valid? [True, True] Translation: X:549.87, Y:9.13, Z:5.08 [[ 9.98474933e-01 -5.31549723e-02 -1.49116372e-02 5.49868050e+02] [ 5.31548096e-02 9.98586201e-01 -4.07530453e-04 9.12993618e+00] [ 1.49122174e-02 -3.85716294e-04 9.99888732e-01 5.08228447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7792541539999 meters Centerline goodness [0,1] 0.9992277669943439 Centerline is valid? [True, True] Translation: X:549.90, Y:9.13, Z:5.08 [[ 9.98518551e-01 -5.22554842e-02 -1.51680021e-02 5.49899392e+02] [ 5.22552207e-02 9.98633677e-01 -4.13973946e-04 9.13135787e+00] [ 1.51689101e-02 -3.79246631e-04 9.99884874e-01 5.08275262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.809254154 meters Centerline goodness [0,1] 0.9992693720774883 Centerline is valid? [True, True] Translation: X:549.93, Y:9.13, Z:5.08 [[ 9.98580675e-01 -5.11576366e-02 -1.48166199e-02 5.49931012e+02] [ 5.11572723e-02 9.98690528e-01 -4.03844169e-04 9.13263997e+00] [ 1.48178777e-02 -3.54706877e-04 9.99890146e-01 5.08312019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.839254154 meters Centerline goodness [0,1] 0.9993316624895572 Centerline is valid? [True, True] Translation: X:549.96, Y:9.13, Z:5.08 [[ 9.98636986e-01 -5.00823346e-02 -1.46945492e-02 5.49961803e+02] [ 5.00818679e-02 9.98745036e-01 -3.99976170e-04 9.13321735e+00] [ 1.46961398e-02 -3.36499473e-04 9.99891949e-01 5.08348382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8692541539999 meters Centerline goodness [0,1] 0.9994158756649629 Centerline is valid? [True, True] Translation: X:549.99, Y:9.13, Z:5.08 [[ 9.98726391e-01 -4.81766314e-02 -1.49869559e-02 5.49991955e+02] [ 4.81759382e-02 9.98838782e-01 -4.07481384e-04 9.13402347e+00] [ 1.49891839e-02 -3.15048251e-04 9.99887606e-01 5.08328384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8992541539999 meters Centerline goodness [0,1] 0.9994158756649629 Centerline is valid? [True, True] Translation: X:550.02, Y:9.13, Z:5.08 [[ 9.98728136e-01 -4.81404368e-02 -1.49869661e-02 5.50022793e+02] [ 4.81397452e-02 9.98840527e-01 -4.07107267e-04 9.13483147e+00] [ 1.49891874e-02 -3.14879247e-04 9.99887606e-01 5.08357279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.929254154 meters Centerline goodness [0,1] 0.9993524263123812 Centerline is valid? [True, True] Translation: X:550.05, Y:9.14, Z:5.08 [[ 9.98768079e-01 -4.72178246e-02 -1.52578100e-02 5.50053827e+02] [ 4.72170088e-02 9.98884569e-01 -4.13905037e-04 9.13524353e+00] [ 1.52603347e-02 -3.07033012e-04 9.99883507e-01 5.08271924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.959254154 meters Centerline goodness [0,1] 0.9994567488508149 Centerline is valid? [True, True] Translation: X:550.09, Y:9.14, Z:5.08 [[ 9.98774473e-01 -4.69940655e-02 -1.55277416e-02 5.50085629e+02] [ 4.69932024e-02 9.98895121e-01 -4.20651216e-04 9.13636647e+00] [ 1.55303534e-02 -3.09562607e-04 9.99879349e-01 5.08386410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9892541539999 meters Centerline goodness [0,1] 0.9993945088213801 Centerline is valid? [True, True] Translation: X:550.12, Y:9.13, Z:5.08 [[ 9.98763017e-01 -4.72328939e-02 -1.55399385e-02 5.50115933e+02] [ 4.72320656e-02 9.98883855e-01 -4.20516363e-04 9.13397046e+00] [ 1.55424558e-02 -3.13987202e-04 9.99879159e-01 5.08340034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0192541539999 meters Centerline goodness [0,1] 0.9993321785587579 Centerline is valid? [True, True] Translation: X:550.15, Y:9.14, Z:5.08 [[ 9.98723957e-01 -4.79730977e-02 -1.57810096e-02 5.50147499e+02] [ 4.79723423e-02 9.98848573e-01 -4.26627910e-04 9.13521855e+00] [ 1.57833056e-02 -3.30968479e-04 9.99875381e-01 5.08375868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.049254154 meters Centerline goodness [0,1] 0.999310791336856 Centerline is valid? [True, True] Translation: X:550.18, Y:9.13, Z:5.08 [[ 9.98611491e-01 -5.01850475e-02 -1.60172278e-02 5.50177652e+02] [ 5.01845612e-02 9.98739867e-01 -4.32543356e-04 9.13226667e+00] [ 1.60187512e-02 -3.71874786e-04 9.99871622e-01 5.08294678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.079254154 meters Centerline goodness [0,1] 0.9993738912657831 Centerline is valid? [True, True] Translation: X:550.21, Y:9.13, Z:5.08 [[ 9.98523962e-01 -5.21335940e-02 -1.52310673e-02 5.50209325e+02] [ 5.21333866e-02 9.98640046e-01 -4.10935400e-04 9.13231972e+00] [ 1.52317772e-02 -3.83718274e-04 9.99883916e-01 5.08467371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1092541539999 meters Centerline goodness [0,1] 0.9992694940724662 Centerline is valid? [True, True] Translation: X:550.24, Y:9.13, Z:5.08 [[ 9.98418613e-01 -5.40480371e-02 -1.54623083e-02 5.50239746e+02] [ 5.40480599e-02 9.98538248e-01 -4.16714205e-04 9.13070201e+00] [ 1.54622288e-02 -4.19652544e-04 9.99880365e-01 5.08491708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1392541539999 meters Centerline goodness [0,1] 0.9992493901294802 Centerline is valid? [True, True] Translation: X:550.27, Y:9.13, Z:5.09 [[ 9.98156658e-01 -5.85538306e-02 -1.59603914e-02 5.50270615e+02] [ 5.85544349e-02 9.98284125e-01 -4.29841036e-04 9.12803585e+00] [ 1.59581742e-02 -5.05503007e-04 9.99872532e-01 5.08517180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1692541539999 meters Centerline goodness [0,1] 0.9992896985397037 Centerline is valid? [True, True] Translation: X:550.30, Y:9.13, Z:5.09 [[ 9.98013859e-01 -6.09234463e-02 -1.60209499e-02 5.50300554e+02] [ 6.09243628e-02 9.98142292e-01 -4.31300223e-04 9.12618111e+00] [ 1.60174639e-02 -5.45622564e-04 9.99871563e-01 5.08532103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.199254154 meters Centerline goodness [0,1] 0.999166145507609 Centerline is valid? [True, True] Translation: X:550.33, Y:9.13, Z:5.09 [[ 9.97868733e-01 -6.33538257e-02 -1.56296281e-02 5.50331720e+02] [ 6.33549994e-02 9.97990966e-01 -4.20531622e-04 9.12682968e+00] [ 1.56248699e-02 -5.70579721e-04 9.99877761e-01 5.08573059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2292541539999 meters Centerline goodness [0,1] 0.9993746482396348 Centerline is valid? [True, True] Translation: X:550.36, Y:9.13, Z:5.09 [[ 9.97729364e-01 -6.56597623e-02 -1.49970809e-02 5.50362793e+02] [ 6.56611111e-02 9.97841899e-01 -4.02965981e-04 9.12586727e+00] [ 1.49911744e-02 -5.82674004e-04 9.99887456e-01 5.08598577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2592541539999 meters Centerline goodness [0,1] 0.9994996455822874 Centerline is valid? [True, True] Translation: X:550.39, Y:9.12, Z:5.09 [[ 9.97473413e-01 -6.95002808e-02 -1.47139872e-02 5.50392830e+02] [ 6.95020065e-02 9.97581734e-01 -3.94660594e-04 9.12097618e+00] [ 1.47058339e-02 -6.28988185e-04 9.99891666e-01 5.08502436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2892541539999 meters Centerline goodness [0,1] 0.999311309138719 Centerline is valid? [True, True] Translation: X:550.42, Y:9.12, Z:5.09 [[ 9.97329051e-01 -7.16835281e-02 -1.40084479e-02 5.50424015e+02] [ 7.16853177e-02 9.97427228e-01 -3.74976495e-04 9.12087812e+00] [ 1.39992870e-02 -6.30225088e-04 9.99901807e-01 5.08693697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.319254154 meters Centerline goodness [0,1] 0.9990822434974866 Centerline is valid? [True, True] Translation: X:550.46, Y:9.12, Z:5.09 [[ 9.97212332e-01 -7.32326694e-02 -1.43017886e-02 5.50455687e+02] [ 7.32347026e-02 9.97314661e-01 -3.82207758e-04 9.12144807e+00] [ 1.42913735e-02 -6.66244941e-04 9.99897651e-01 5.08724762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3492541539999 meters Centerline goodness [0,1] 0.9993321785587579 Centerline is valid? [True, True] Translation: X:550.49, Y:9.12, Z:5.09 [[ 9.97131451e-01 -7.44042208e-02 -1.38881909e-02 5.50487526e+02] [ 7.44062631e-02 9.97227943e-01 -3.70314470e-04 9.12300899e+00] [ 1.38772450e-02 -6.64116182e-04 9.99903486e-01 5.08803054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3792541539999 meters Centerline goodness [0,1] 0.9992275735370869 Centerline is valid? [True, True] Translation: X:550.52, Y:9.12, Z:5.09 [[ 9.96942795e-01 -7.68580986e-02 -1.40675563e-02 5.50518194e+02] [ 7.68604511e-02 9.97041790e-01 -3.74144474e-04 9.12229236e+00] [ 1.40546976e-02 -7.08238087e-04 9.99900977e-01 5.08811549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4092541539999 meters Centerline goodness [0,1] 0.9991464201694669 Centerline is valid? [True, True] Translation: X:550.55, Y:9.12, Z:5.09 [[ 9.96844656e-01 -7.80935193e-02 -1.42173580e-02 5.50549886e+02] [ 7.80960583e-02 9.96945767e-01 -3.77366620e-04 9.12341838e+00] [ 1.42034048e-02 -7.34143722e-04 9.99898857e-01 5.08810291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.439254154 meters Centerline goodness [0,1] 0.9990418862344046 Centerline is valid? [True, True] Translation: X:550.58, Y:9.12, Z:5.09 [[ 9.96692445e-01 -7.96540645e-02 -1.61058764e-02 5.50580534e+02] [ 7.96575397e-02 9.96822198e-01 -4.26654542e-04 9.12298553e+00] [ 1.60886799e-02 -8.57711128e-04 9.99870201e-01 5.08562038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4692541539999 meters Centerline goodness [0,1] 0.9990859422066186 Centerline is valid? [True, True] Translation: X:550.61, Y:9.12, Z:5.09 [[ 9.96629029e-01 -8.05955451e-02 -1.53276480e-02 5.50611525e+02] [ 8.05988134e-02 9.96746541e-01 -4.05385956e-04 9.12241166e+00] [ 1.53104524e-02 -8.31370829e-04 9.99882443e-01 5.08758917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4992541539999 meters Centerline goodness [0,1] 0.9991030641830584 Centerline is valid? [True, True] Translation: X:550.64, Y:9.13, Z:5.09 [[ 9.96592656e-01 -8.08776904e-02 -1.61825925e-02 5.50643573e+02] [ 8.08813875e-02 9.96723642e-01 -4.26959002e-04 9.12579979e+00] [ 1.61641040e-02 -8.83366330e-04 9.99868962e-01 5.08595918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5292541539999 meters Centerline goodness [0,1] 0.9989373450294835 Centerline is valid? [True, True] Translation: X:550.68, Y:9.13, Z:5.09 [[ 9.96578228e-01 -8.11083142e-02 -1.59146824e-02 5.50675033e+02] [ 8.11119356e-02 9.96704910e-01 -4.18854772e-04 9.12544191e+00] [ 1.58962147e-02 -8.73449146e-04 9.99873266e-01 5.08655341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.559254154 meters Centerline goodness [0,1] 0.9989587888632057 Centerline is valid? [True, True] Translation: X:550.71, Y:9.13, Z:5.09 [[ 9.96569443e-01 -8.12538537e-02 -1.57212351e-02 5.50706556e+02] [ 8.12574190e-02 9.96693063e-01 -4.12916287e-04 9.12761182e+00] [ 1.57027970e-02 -8.65967232e-04 9.99876328e-01 5.08813052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.589254154 meters Centerline goodness [0,1] 0.9990189529932371 Centerline is valid? [True, True] Translation: X:550.74, Y:9.13, Z:5.09 [[ 9.96598179e-01 -8.07401598e-02 -1.65256451e-02 5.50739047e+02] [ 8.07440498e-02 9.96734775e-01 -4.32779828e-04 9.13478893e+00] [ 1.65066279e-02 -9.03039924e-04 9.99863349e-01 5.08813854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6192541539999 meters Centerline goodness [0,1] 0.9990830658942191 Centerline is valid? [True, True] Translation: X:550.77, Y:9.13, Z:5.09 [[ 9.96635282e-01 -8.03504812e-02 -1.61837919e-02 5.50770609e+02] [ 8.03541821e-02 9.96766285e-01 -4.22504410e-04 9.13152527e+00] [ 1.61654066e-02 -8.79352562e-04 9.99868945e-01 5.08881763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6492541539999 meters Centerline goodness [0,1] 0.9990825688073395 Centerline is valid? [True, True] Translation: X:550.80, Y:9.13, Z:5.09 [[ 9.96705009e-01 -7.94697867e-02 -1.62381605e-02 5.50800699e+02] [ 7.94734119e-02 9.96836896e-01 -4.22945468e-04 9.13342651e+00] [ 1.62204089e-02 -8.68950153e-04 9.99868063e-01 5.08895966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.679254154 meters Centerline goodness [0,1] 0.9992713342910082 Centerline is valid? [True, True] Translation: X:550.83, Y:9.14, Z:5.09 [[ 9.96849516e-01 -7.74015537e-02 -1.73217331e-02 5.50832430e+02] [ 7.74053861e-02 9.96999601e-01 -4.50094358e-04 9.13867616e+00] [ 1.73045990e-02 -8.92119096e-04 9.99849866e-01 5.08943047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.709254154 meters Centerline goodness [0,1] 0.9990211799987504 Centerline is valid? [True, True] Translation: X:550.86, Y:9.15, Z:5.09 [[ 9.96938922e-01 -7.61872975e-02 -1.75579558e-02 5.50864490e+02] [ 7.61910666e-02 9.97093132e-01 -4.55135485e-04 9.14891877e+00] [ 1.75415927e-02 -8.84017099e-04 9.99845744e-01 5.09064957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7392541539999 meters Centerline goodness [0,1] 0.9991458511281015 Centerline is valid? [True, True] Translation: X:550.90, Y:9.15, Z:5.09 [[ 9.97037829e-01 -7.47114969e-02 -1.82690690e-02 5.50895823e+02] [ 7.47153527e-02 9.97204790e-01 -4.72356914e-04 9.15070501e+00] [ 1.82532936e-02 -8.94022222e-04 9.99832995e-01 5.09022283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7692541539999 meters Centerline goodness [0,1] 0.9988720155411193 Centerline is valid? [True, True] Translation: X:550.93, Y:9.16, Z:5.09 [[ 9.97225786e-01 -7.22354989e-02 -1.79656634e-02 5.50927636e+02] [ 7.22388443e-02 9.97387254e-01 -4.63528436e-04 9.15848352e+00] [ 1.79522069e-02 -8.35576256e-04 9.99838497e-01 5.09137641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.799254154 meters Centerline goodness [0,1] 0.9989992911645749 Centerline is valid? [True, True] Translation: X:550.96, Y:9.16, Z:5.09 [[ 9.97331397e-01 -7.05394163e-02 -1.88221970e-02 5.50959446e+02] [ 7.05428072e-02 9.97508635e-01 -4.84556186e-04 9.16246801e+00] [ 1.88094844e-02 -8.44507516e-04 9.99822729e-01 5.09097633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.829254154 meters Centerline goodness [0,1] 0.9990601896328474 Centerline is valid? [True, True] Translation: X:550.99, Y:9.17, Z:5.09 [[ 9.97434698e-01 -6.92803525e-02 -1.80071336e-02 5.50990529e+02] [ 6.92832660e-02 9.97596920e-01 -4.62754582e-04 9.16609807e+00] [ 1.79959209e-02 -7.86025552e-04 9.99837751e-01 5.09264418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8592541539999 meters Centerline goodness [0,1] 0.9991460112476568 Centerline is valid? [True, True] Translation: X:551.02, Y:9.17, Z:5.09 [[ 9.97571855e-01 -6.73585065e-02 -1.76982027e-02 5.51020997e+02] [ 6.73610276e-02 9.97728563e-01 -4.54324521e-04 9.16945487e+00] [ 1.76886050e-02 -7.38947766e-04 9.99843271e-01 5.09312477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8892541539999 meters Centerline goodness [0,1] 0.9988933202480633 Centerline is valid? [True, True] Translation: X:551.05, Y:9.18, Z:5.09 [[ 9.97834319e-01 -6.32708597e-02 -1.79852858e-02 5.51051961e+02] [ 6.32728091e-02 9.97996162e-01 -4.61195554e-04 9.17933773e+00] [ 1.79784264e-02 -6.77782805e-04 9.99838145e-01 5.09396760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9192541539999 meters Centerline goodness [0,1] 0.9990397060665526 Centerline is valid? [True, True] Translation: X:551.08, Y:9.18, Z:5.09 [[ 9.97972233e-01 -6.11063988e-02 -1.78165798e-02 5.51082864e+02] [ 6.11079819e-02 9.98131057e-01 -4.56052142e-04 9.18246624e+00] [ 1.78111494e-02 -6.33607864e-04 9.99841168e-01 5.09391071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.949254154 meters Centerline goodness [0,1] 0.999207127506416 Centerline is valid? [True, True] Translation: X:551.11, Y:9.18, Z:5.09 [[ 9.98109437e-01 -5.85926838e-02 -1.85593594e-02 5.51113716e+02] [ 5.85939839e-02 9.98281784e-01 -4.74188697e-04 9.18417441e+00] [ 1.85552544e-02 -6.14174593e-04 9.99827648e-01 5.09284696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9792541539999 meters Centerline goodness [0,1] 0.998962569507843 Centerline is valid? [True, True] Translation: X:551.14, Y:9.19, Z:5.09 [[ 9.98248055e-01 -5.63754495e-02 -1.79618670e-02 5.51144558e+02] [ 5.63763201e-02 9.98409485e-01 -4.58284735e-04 9.18930249e+00] [ 1.79591344e-02 -5.55142116e-04 9.99838568e-01 5.09386275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0092541539999 meters Centerline goodness [0,1] 0.9989987693206233 Centerline is valid? [True, True] Translation: X:551.18, Y:9.20, Z:5.10 [[ 9.98512206e-01 -5.15709682e-02 -1.77146497e-02 5.51175685e+02] [ 5.15710706e-02 9.98669225e-01 -4.51336421e-04 9.19991400e+00] [ 1.77143514e-02 -4.62898526e-04 9.99842981e-01 5.09523285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0392541539999 meters Centerline goodness [0,1] 0.9988528282996829 Centerline is valid? [True, True] Translation: X:551.21, Y:9.20, Z:5.09 [[ 9.98635229e-01 -4.88148510e-02 -1.85685324e-02 5.51206011e+02] [ 4.88145078e-02 9.98807750e-01 -4.71996224e-04 9.20226017e+00] [ 1.85694345e-02 -4.35061715e-04 9.99827479e-01 5.09404276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.069254154 meters Centerline goodness [0,1] 0.9988307512423268 Centerline is valid? [True, True] Translation: X:551.24, Y:9.21, Z:5.09 [[ 9.98755919e-01 -4.61281130e-02 -1.89423217e-02 5.51237560e+02] [ 4.61272940e-02 9.98935454e-01 -4.80384651e-04 9.20794908e+00] [ 1.89443160e-02 -3.93971029e-04 9.99820463e-01 5.09453504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0992541539999 meters Centerline goodness [0,1] 0.9990809591444565 Centerline is valid? [True, True] Translation: X:551.27, Y:9.22, Z:5.10 [[ 9.98944041e-01 -4.26955983e-02 -1.69672887e-02 5.51268102e+02] [ 4.26944562e-02 9.99088084e-01 -4.29702843e-04 9.21506138e+00] [ 1.69701623e-02 -2.95160068e-04 9.99855953e-01 5.09695001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1292541539999 meters Centerline goodness [0,1] 0.9991023714094857 Centerline is valid? [True, True] Translation: X:551.30, Y:9.22, Z:5.10 [[ 9.99000101e-01 -4.12644128e-02 -1.72059892e-02 5.51298857e+02] [ 4.12630371e-02 9.99148223e-01 -4.35109897e-04 9.21780737e+00] [ 1.72092881e-02 -2.75296539e-04 9.99851871e-01 5.09694204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1592541539999 meters Centerline goodness [0,1] 0.9988305559036044 Centerline is valid? [True, True] Translation: X:551.33, Y:9.22, Z:5.10 [[ 9.99036153e-01 -4.03467297e-02 -1.72889220e-02 5.51329853e+02] [ 4.03452143e-02 9.99185705e-01 -4.36574675e-04 9.22067387e+00] [ 1.72924581e-02 -2.61371379e-04 9.99850440e-01 5.09687662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.189254154 meters Centerline goodness [0,1] 0.9988498776688066 Centerline is valid? [True, True] Translation: X:551.36, Y:9.22, Z:5.10 [[ 9.99049946e-01 -3.97080614e-02 -1.79575936e-02 5.51360728e+02] [ 3.97063354e-02 9.99211290e-01 -4.52790275e-04 9.22402967e+00] [ 1.79614096e-02 -2.60670133e-04 9.99838647e-01 5.09627714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2192541539999 meters Centerline goodness [0,1] 0.9987695259546602 Centerline is valid? [True, True] Translation: X:551.39, Y:9.22, Z:5.10 [[ 9.99042835e-01 -4.00605423e-02 -1.75660497e-02 5.51390855e+02] [ 4.00589597e-02 9.99197220e-01 -4.42092309e-04 9.22490182e+00] [ 1.75696585e-02 -2.62008522e-04 9.99845607e-01 5.09632003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2492541539999 meters Centerline goodness [0,1] 0.9987066897515593 Centerline is valid? [True, True] Translation: X:551.42, Y:9.23, Z:5.10 [[ 9.99007327e-01 -4.08772350e-02 -1.77034385e-02 5.51421963e+02] [ 4.08757712e-02 9.99164137e-01 -4.44679226e-04 9.22664073e+00] [ 1.77068181e-02 -2.79403895e-04 9.99843183e-01 5.09703258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2792541539999 meters Centerline goodness [0,1] 0.9987475211355809 Centerline is valid? [True, True] Translation: X:551.45, Y:9.23, Z:5.10 [[ 9.98895841e-01 -4.38399338e-02 -1.68866619e-02 5.51453533e+02] [ 4.38390353e-02 9.99038518e-01 -4.23560609e-04 9.22701786e+00] [ 1.68889946e-02 -3.17202037e-04 9.99857320e-01 5.09715731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.309254154 meters Centerline goodness [0,1] 0.9984997186972557 Centerline is valid? [True, True] Translation: X:551.49, Y:9.23, Z:5.10 [[ 9.98816878e-01 -4.53795676e-02 -1.74797000e-02 5.51486190e+02] [ 4.53788571e-02 9.98969753e-01 -4.37484893e-04 9.22685886e+00] [ 1.74815444e-02 -3.56241511e-04 9.99847123e-01 5.09650058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.339254154 meters Centerline goodness [0,1] 0.9986863231645016 Centerline is valid? [True, True] Translation: X:551.52, Y:9.23, Z:5.10 [[ 9.98706781e-01 -4.78352952e-02 -1.72206075e-02 5.51518256e+02] [ 4.78349922e-02 9.98855159e-01 -4.29737937e-04 9.22755611e+00] [ 1.72214493e-02 -3.94565434e-04 9.99851622e-01 5.09768229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3692541539999 meters Centerline goodness [0,1] 0.9986025654395662 Centerline is valid? [True, True] Translation: X:551.55, Y:9.23, Z:5.10 [[ 9.98485865e-01 -5.22775104e-02 -1.71183986e-02 5.51549936e+02] [ 5.22778824e-02 9.98632486e-01 -4.26064273e-04 9.22619966e+00] [ 1.71172625e-02 -4.69494476e-04 9.99853379e-01 5.09801696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3992541539999 meters Centerline goodness [0,1] 0.9987274965058306 Centerline is valid? [True, True] Translation: X:551.58, Y:9.22, Z:5.10 [[ 9.98374271e-01 -5.42383930e-02 -1.75217775e-02 5.51581568e+02] [ 5.42391018e-02 9.98527882e-01 -4.35116669e-04 9.22028450e+00] [ 1.75195834e-02 -5.15956185e-04 9.99846387e-01 5.09649212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.429254154 meters Centerline goodness [0,1] 0.9984361968306923 Centerline is valid? [True, True] Translation: X:551.61, Y:9.23, Z:5.10 [[ 9.98290297e-01 -5.54122996e-02 -1.86000218e-02 5.51613892e+02] [ 5.54133251e-02 9.98463395e-01 -4.60648886e-04 9.22517062e+00] [ 1.85969666e-02 -5.70827743e-04 9.99826899e-01 5.09686281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.459254154 meters Centerline goodness [0,1] 0.9986436292308334 Centerline is valid? [True, True] Translation: X:551.65, Y:9.23, Z:5.10 [[ 9.98168184e-01 -5.79710192e-02 -1.73100142e-02 5.51645826e+02] [ 5.79723130e-02 9.98318100e-01 -4.27459163e-04 9.22553927e+00] [ 1.73056807e-02 -5.76825424e-04 9.99850079e-01 5.09879762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4892541539999 meters Centerline goodness [0,1] 0.9985805535841022 Centerline is valid? [True, True] Translation: X:551.68, Y:9.22, Z:5.10 [[ 9.98143740e-01 -5.83563969e-02 -1.74242498e-02 5.51677008e+02] [ 5.83577865e-02 9.98295640e-01 -4.29131250e-04 9.22377132e+00] [ 1.74195952e-02 -5.88505980e-04 9.99848094e-01 5.09837428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5192541539999 meters Centerline goodness [0,1] 0.9984987176546634 Centerline is valid? [True, True] Translation: X:551.71, Y:9.22, Z:5.10 [[ 9.98175454e-01 -5.78316044e-02 -1.73571011e-02 5.51708310e+02] [ 5.78329204e-02 9.98326185e-01 -4.26536662e-04 9.22451996e+00] [ 1.73527158e-02 -5.78053420e-04 9.99849263e-01 5.09875990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.549254154 meters Centerline goodness [0,1] 0.9984167326361402 Centerline is valid? [True, True] Translation: X:551.74, Y:9.23, Z:5.10 [[ 9.98237966e-01 -5.68107004e-02 -1.71320642e-02 5.51740427e+02] [ 5.68118503e-02 9.98384814e-01 -4.19950787e-04 9.22887521e+00] [ 1.71282505e-02 -5.54093449e-04 9.99853147e-01 5.09946428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.579254154 meters Centerline goodness [0,1] 0.9986853911483003 Centerline is valid? [True, True] Translation: X:551.77, Y:9.23, Z:5.10 [[ 9.98457675e-01 -5.27186362e-02 -1.74073470e-02 5.51771776e+02] [ 5.27192194e-02 9.98609284e-01 -4.25702243e-04 9.23306597e+00] [ 1.74055808e-02 -4.92656074e-04 9.99848390e-01 5.09897870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6092541539999 meters Centerline goodness [0,1] 0.9987517163899639 Centerline is valid? [True, True] Translation: X:551.80, Y:9.24, Z:5.10 [[ 9.98569985e-01 -5.08132774e-02 -1.66131188e-02 5.51802777e+02] [ 5.08135573e-02 9.98708074e-01 -4.05539632e-04 9.23518662e+00] [ 1.66122627e-02 -4.39211962e-04 9.99861910e-01 5.10063631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6392541539999 meters Centerline goodness [0,1] 0.998914676907664 Centerline is valid? [True, True] Translation: X:551.83, Y:9.24, Z:5.10 [[ 9.98705057e-01 -4.81814446e-02 -1.63327402e-02 5.51834576e+02] [ 4.81813781e-02 9.98838524e-01 -3.97796295e-04 9.23821041e+00] [ 1.63329365e-02 -3.89652757e-04 9.99866533e-01 5.10134809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6692541539999 meters Centerline goodness [0,1] 0.9988078057350819 Centerline is valid? [True, True] Translation: X:551.87, Y:9.24, Z:5.10 [[ 9.98904616e-01 -4.36866161e-02 -1.67644571e-02 5.51865545e+02] [ 4.36859267e-02 9.99045231e-01 -4.07504793e-04 9.24253706e+00] [ 1.67662535e-02 -3.25312427e-04 9.99859384e-01 5.10078768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.699254154 meters Centerline goodness [0,1] 0.998766000167322 Centerline is valid? [True, True] Translation: X:551.90, Y:9.25, Z:5.10 [[ 9.98986540e-01 -4.16447703e-02 -1.70764872e-02 5.51896880e+02] [ 4.16437677e-02 9.99132436e-01 -4.14454879e-04 9.24507054e+00] [ 1.70789321e-02 -2.97094420e-04 9.99854100e-01 5.10096277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7292541539999 meters Centerline goodness [0,1] 0.9987023316170622 Centerline is valid? [True, True] Translation: X:551.93, Y:9.25, Z:5.10 [[ 9.99031345e-01 -4.03867769e-02 -1.74722423e-02 5.51928213e+02] [ 4.03855488e-02 9.99184081e-01 -4.23267365e-04 9.24718505e+00] [ 1.74750808e-02 -2.82768731e-04 9.99847259e-01 5.10118445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7592541539999 meters Centerline goodness [0,1] 0.9986392279188561 Centerline is valid? [True, True] Translation: X:551.96, Y:9.25, Z:5.10 [[ 9.99079262e-01 -3.85781727e-02 -1.87710887e-02 5.51959190e+02] [ 3.85764528e-02 9.99255549e-01 -4.53842388e-04 9.24857795e+00] [ 1.87746229e-02 -2.70697498e-04 9.99823705e-01 5.09945401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7892541539999 meters Centerline goodness [0,1] 0.9989106982005572 Centerline is valid? [True, True] Translation: X:551.99, Y:9.25, Z:5.10 [[ 9.99145761e-01 -3.69328003e-02 -1.85395742e-02 5.51989546e+02] [ 3.69308487e-02 9.99317723e-01 -4.47745278e-04 9.25032839e+00] [ 1.85434615e-02 -2.37319412e-04 9.99828027e-01 5.10022516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.819254154 meters Centerline goodness [0,1] 0.9989106982005572 Centerline is valid? [True, True] Translation: X:552.02, Y:9.25, Z:5.10 [[ 9.99147070e-01 -3.68973731e-02 -1.85395861e-02 5.52020385e+02] [ 3.68954245e-02 9.99319032e-01 -4.47251969e-04 9.25104207e+00] [ 1.85434636e-02 -2.37155403e-04 9.99828027e-01 5.10051409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8492541539999 meters Centerline goodness [0,1] 0.9987008632972928 Centerline is valid? [True, True] Translation: X:552.05, Y:9.25, Z:5.10 [[ 9.99179614e-01 -3.58035450e-02 -1.89263197e-02 5.52051345e+02] [ 3.58013310e-02 9.99358823e-01 -4.55903279e-04 9.25221845e+00] [ 1.89305075e-02 -2.22058172e-04 9.99820777e-01 5.10048455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8792541539999 meters Centerline goodness [0,1] 0.9987648893633947 Centerline is valid? [True, True] Translation: X:552.08, Y:9.25, Z:5.10 [[ 9.99218843e-01 -3.47376026e-02 -1.88414957e-02 5.52081327e+02] [ 3.47352251e-02 9.99396447e-01 -4.53529314e-04 9.25338213e+00] [ 1.88458783e-02 -2.01288555e-04 9.99822380e-01 5.10048854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9092541539999 meters Centerline goodness [0,1] 0.998869228353052 Centerline is valid? [True, True] Translation: X:552.11, Y:9.26, Z:5.10 [[ 9.99259999e-01 -3.33879949e-02 -1.90970469e-02 5.52111499e+02] [ 3.33853061e-02 9.99442450e-01 -4.59680631e-04 9.25560278e+00] [ 1.91017472e-02 -1.78220291e-04 9.99817529e-01 5.10127171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.939254154 meters Centerline goodness [0,1] 0.9989932463610051 Centerline is valid? [True, True] Translation: X:552.14, Y:9.26, Z:5.10 [[ 9.99370957e-01 -2.99027460e-02 -1.90660891e-02 5.52141076e+02] [ 2.98994283e-02 9.99552807e-01 -4.59108635e-04 9.25828794e+00] [ 1.90712915e-02 -1.11245329e-04 9.99818120e-01 5.10134409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9692541539999 meters Centerline goodness [0,1] 0.9991192014092778 Centerline is valid? [True, True] Translation: X:552.17, Y:9.26, Z:5.10 [[ 9.99419873e-01 -2.84489804e-02 -1.87235707e-02 5.52170257e+02] [ 2.84454809e-02 9.99595243e-01 -4.53254855e-04 9.26035322e+00] [ 1.87288869e-02 -7.96090646e-05 9.99824596e-01 5.10317570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9992541539999 meters Centerline goodness [0,1] 0.9990986269783042 Centerline is valid? [True, True] Translation: X:552.20, Y:9.26, Z:5.10 [[ 9.99473286e-01 -2.67692352e-02 -1.83455454e-02 5.52199484e+02] [ 2.67655465e-02 9.99641639e-01 -4.46618116e-04 9.26149030e+00] [ 1.83509267e-02 -4.46456722e-05 9.99831607e-01 5.10362832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0292541539999 meters Centerline goodness [0,1] 0.9992455835201911 Centerline is valid? [True, True] Translation: X:552.23, Y:9.26, Z:5.10 [[ 9.99558258e-01 -2.42041048e-02 -1.72467345e-02 5.52228946e+02] [ 2.42004523e-02 9.99707038e-01 -4.20482902e-04 9.26200234e+00] [ 1.72518593e-02 2.91838036e-06 9.99851176e-01 5.10454456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.059254154 meters Centerline goodness [0,1] 0.9990585774058578 Centerline is valid? [True, True] Translation: X:552.26, Y:9.26, Z:5.10 [[ 9.99571682e-01 -2.37015522e-02 -1.71664929e-02 5.52257964e+02] [ 2.36978462e-02 9.99719079e-01 -4.19304654e-04 9.26221356e+00] [ 1.71716086e-02 1.23161508e-05 9.99852557e-01 5.10472933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.089254154 meters Centerline goodness [0,1] 0.9990159335022298 Centerline is valid? [True, True] Translation: X:552.29, Y:9.26, Z:5.11 [[ 9.99578824e-01 -2.41204907e-02 -1.61361974e-02 5.52286518e+02] [ 2.41172349e-02 9.99709059e-01 -3.96360084e-04 9.26179689e+00] [ 1.61410631e-02 7.03268372e-06 9.99869725e-01 5.10587638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1192541539999 meters Centerline goodness [0,1] 0.9990561684634423 Centerline is valid? [True, True] Translation: X:552.32, Y:9.26, Z:5.11 [[ 9.99543164e-01 -2.60855439e-02 -1.52645712e-02 5.52315438e+02] [ 2.60828200e-02 9.99659714e-01 -3.77539825e-04 9.25875773e+00] [ 1.52692252e-02 -2.07757108e-05 9.99883418e-01 5.10655296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1492541539999 meters Centerline goodness [0,1] 0.9989948485990703 Centerline is valid? [True, True] Translation: X:552.35, Y:9.26, Z:5.11 [[ 9.99501329e-01 -2.79101389e-02 -1.47687822e-02 5.52346340e+02] [ 2.79077809e-02 9.99610435e-01 -3.65770031e-04 9.25680960e+00] [ 1.47732375e-02 -4.65763053e-05 9.99890869e-01 5.10696401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.179254154 meters Centerline goodness [0,1] 0.9989109947643979 Centerline is valid? [True, True] Translation: X:552.38, Y:9.25, Z:5.11 [[ 9.99433606e-01 -3.02314390e-02 -1.47826517e-02 5.52377134e+02] [ 3.02293305e-02 9.99542922e-01 -3.66113530e-04 9.25422504e+00] [ 1.47869630e-02 -8.09634987e-05 9.99890664e-01 5.10682118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.209254154 meters Centerline goodness [0,1] 0.9990173736697957 Centerline is valid? [True, True] Translation: X:552.41, Y:9.25, Z:5.11 [[ 9.99335440e-01 -3.29687160e-02 -1.55480339e-02 5.52407276e+02] [ 3.29667200e-02 9.99456376e-01 -3.84728513e-04 9.25080605e+00] [ 1.55522656e-02 -1.28094842e-04 9.99879048e-01 5.10657893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2392541539999 meters Centerline goodness [0,1] 0.9990389838298583 Centerline is valid? [True, True] Translation: X:552.44, Y:9.25, Z:5.11 [[ 9.99233640e-01 -3.57673472e-02 -1.59006470e-02 5.52439025e+02] [ 3.57656261e-02 9.99360128e-01 -3.92688253e-04 9.24689011e+00] [ 1.59045180e-02 -1.76309282e-04 9.99873500e-01 5.10522843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2692541539999 meters Centerline goodness [0,1] 0.9992059180005851 Centerline is valid? [True, True] Translation: X:552.47, Y:9.24, Z:5.11 [[ 9.98933718e-01 -4.31643820e-02 -1.63787412e-02 5.52470616e+02] [ 4.31635594e-02 9.99067938e-01 -4.03886119e-04 9.24009442e+00] [ 1.63809087e-02 -3.03509306e-04 9.99865778e-01 5.10555571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.299254154 meters Centerline goodness [0,1] 0.9992693415723769 Centerline is valid? [True, True] Translation: X:552.50, Y:9.24, Z:5.11 [[ 9.98772812e-01 -4.66628915e-02 -1.65965408e-02 5.52500669e+02] [ 4.66625355e-02 9.98910627e-01 -4.08907110e-04 9.23636857e+00] [ 1.65975417e-02 -3.66031370e-04 9.99862184e-01 5.10558496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.329254154 meters Centerline goodness [0,1] 0.9992910167653682 Centerline is valid? [True, True] Translation: X:552.53, Y:9.23, Z:5.10 [[ 9.98463293e-01 -5.28438828e-02 -1.66906203e-02 5.52531306e+02] [ 5.28443876e-02 9.98602675e-01 -4.11092430e-04 9.22736079e+00] [ 1.66890218e-02 -4.71544911e-04 9.99860617e-01 5.10429811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3592541539999 meters Centerline goodness [0,1] 0.998998226025253 Centerline is valid? [True, True] Translation: X:552.56, Y:9.22, Z:5.10 [[ 9.98297779e-01 -5.60203558e-02 -1.62254064e-02 5.52562493e+02] [ 5.60212586e-02 9.98429496e-01 -3.99226946e-04 9.22389486e+00] [ 1.62222892e-02 -5.10420314e-04 9.99868280e-01 5.10472759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3892541539999 meters Centerline goodness [0,1] 0.9992696160267112 Centerline is valid? [True, True] Translation: X:552.59, Y:9.22, Z:5.11 [[ 9.98162489e-01 -5.84958232e-02 -1.58077484e-02 5.52594265e+02] [ 5.84970006e-02 9.98287509e-01 -3.88280930e-04 9.22190769e+00] [ 1.58033905e-02 -5.37138407e-04 9.99874974e-01 5.10579765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4192541539999 meters Centerline goodness [0,1] 0.99912416065396 Centerline is valid? [True, True] Translation: X:552.63, Y:9.22, Z:5.11 [[ 9.98035189e-01 -6.06700099e-02 -1.56496548e-02 5.52625150e+02] [ 6.06714509e-02 9.98157717e-01 -3.83116184e-04 9.21765343e+00] [ 1.56440674e-02 -5.67123832e-04 9.99877463e-01 5.10583084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.449254154 meters Centerline goodness [0,1] 0.9994165937408843 Centerline is valid? [True, True] Translation: X:552.66, Y:9.21, Z:5.11 [[ 9.97784677e-01 -6.46729235e-02 -1.55932792e-02 5.52655761e+02] [ 6.46748619e-02 9.97906317e-01 -3.80467240e-04 9.21168156e+00] [ 1.55852378e-02 -6.28868798e-04 9.99878345e-01 5.10566188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4792541539999 meters Centerline goodness [0,1] 0.9992285076836465 Centerline is valid? [True, True] Translation: X:552.69, Y:9.21, Z:5.11 [[ 9.97662253e-01 -6.65530766e-02 -1.55150543e-02 5.52687438e+02] [ 6.65552341e-02 9.97782671e-01 -3.77810330e-04 9.21061745e+00] [ 1.55057968e-02 -6.55680967e-04 9.99879563e-01 5.10605724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5092541539999 meters Centerline goodness [0,1] 0.9993529264423479 Centerline is valid? [True, True] Translation: X:552.72, Y:9.21, Z:5.11 [[ 9.97539200e-01 -6.85480189e-02 -1.47211762e-02 5.52719705e+02] [ 6.85501963e-02 9.97647605e-01 -3.57234228e-04 9.21285576e+00] [ 1.47110339e-02 -6.52784372e-04 9.99891574e-01 5.10693930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5392541539999 meters Centerline goodness [0,1] 0.9989364364364365 Centerline is valid? [True, True] Translation: X:552.75, Y:9.21, Z:5.11 [[ 9.97283851e-01 -7.20050460e-02 -1.54982138e-02 5.52751090e+02] [ 7.20078907e-02 9.97403992e-01 -3.75129747e-04 9.21035683e+00] [ 1.54849916e-02 -7.41882848e-04 9.99879825e-01 5.10533493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.569254154 meters Centerline goodness [0,1] 0.9992080528520517 Centerline is valid? [True, True] Translation: X:552.78, Y:9.21, Z:5.11 [[ 9.97099037e-01 -7.46582739e-02 -1.48207011e-02 5.52781719e+02] [ 7.46611740e-02 9.97208895e-01 -3.58291334e-04 9.20836633e+00] [ 1.48060844e-02 -7.49279002e-04 9.99890103e-01 5.10764635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5992541539999 meters Centerline goodness [0,1] 0.9991245075354888 Centerline is valid? [True, True] Translation: X:552.81, Y:9.20, Z:5.11 [[ 9.96936922e-01 -7.67957189e-02 -1.48051321e-02 5.52812913e+02] [ 7.67988550e-02 9.97046543e-01 -3.57437957e-04 9.19871533e+00] [ 1.47888555e-02 -7.80674098e-04 9.99890334e-01 5.10670300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6292541539999 meters Centerline goodness [0,1] 0.999001373111971 Centerline is valid? [True, True] Translation: X:552.84, Y:9.20, Z:5.11 [[ 9.96577824e-01 -8.13027578e-02 -1.49165198e-02 5.52843642e+02] [ 8.13064527e-02 9.96689085e-01 -3.59573612e-04 9.20314620e+00] [ 1.48963668e-02 -8.54466223e-04 9.99888678e-01 5.10740677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6592541539999 meters Centerline goodness [0,1] 0.9990611699908203 Centerline is valid? [True, True] Translation: X:552.87, Y:9.20, Z:5.11 [[ 9.96382087e-01 -8.36690321e-02 -1.49073936e-02 5.52874488e+02] [ 8.36729886e-02 9.96493202e-01 -3.59199807e-04 9.20433290e+00] [ 1.48851703e-02 -8.89445922e-04 9.99888814e-01 5.10889013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.689254154 meters Centerline goodness [0,1] 0.9990846110637236 Centerline is valid? [True, True] Translation: X:552.91, Y:9.20, Z:5.11 [[ 9.96280393e-01 -8.47230447e-02 -1.57284436e-02 5.52906627e+02] [ 8.47275904e-02 9.96404081e-01 -3.78323110e-04 9.20342180e+00] [ 1.57039381e-02 -9.55717234e-04 9.99876229e-01 5.10705718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7192541539999 meters Centerline goodness [0,1] 0.9988938283973035 Centerline is valid? [True, True] Translation: X:552.94, Y:9.20, Z:5.11 [[ 9.96137845e-01 -8.63853474e-02 -1.57151443e-02 5.52937841e+02] [ 8.63901123e-02 9.96261314e-01 -3.76671556e-04 9.20241429e+00] [ 1.56889292e-02 -9.82416287e-04 9.99876439e-01 5.10744789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7492541539999 meters Centerline goodness [0,1] 0.999019526034713 Centerline is valid? [True, True] Translation: X:552.97, Y:9.20, Z:5.11 [[ 9.95952802e-01 -8.85322450e-02 -1.54937853e-02 5.52968926e+02] [ 8.85371512e-02 9.96072806e-01 -3.70333761e-04 9.20294563e+00] [ 1.54657247e-02 -1.00294066e-03 9.99879896e-01 5.10943664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7792541539999 meters Centerline goodness [0,1] 0.9985622304182035 Centerline is valid? [True, True] Translation: X:553.00, Y:9.20, Z:5.11 [[ 9.95962617e-01 -8.81480978e-02 -1.69816849e-02 5.53001028e+02] [ 8.81539491e-02 9.96106780e-01 -4.05143585e-04 9.20418143e+00] [ 1.69512841e-02 -1.09349472e-03 9.99855719e-01 5.10750166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.809254154 meters Centerline goodness [0,1] 0.9986644686045784 Centerline is valid? [True, True] Translation: X:553.03, Y:9.20, Z:5.11 [[ 9.95976616e-01 -8.79810719e-02 -1.70267740e-02 5.53032316e+02] [ 8.79869491e-02 9.96121545e-01 -4.05099243e-04 9.20263449e+00] [ 1.69963775e-02 -1.09466452e-03 9.99854952e-01 5.10790353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.839254154 meters Centerline goodness [0,1] 0.9988122773019942 Centerline is valid? [True, True] Translation: X:553.06, Y:9.21, Z:5.11 [[ 9.96005775e-01 -8.77759817e-02 -1.63668139e-02 5.53064155e+02] [ 8.77814008e-02 9.96139686e-01 -3.88390199e-04 9.20715041e+00] [ 1.63377242e-02 -1.04986297e-03 9.99865979e-01 5.11021576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8692541539999 meters Centerline goodness [0,1] 0.998789371516834 Centerline is valid? [True, True] Translation: X:553.10, Y:9.21, Z:5.11 [[ 9.96229496e-01 -8.49706170e-02 -1.75153020e-02 5.53095313e+02] [ 8.49764095e-02 9.96382877e-01 -4.14619724e-04 9.21385902e+00] [ 1.74871775e-02 -1.07533108e-03 9.99846509e-01 5.11059430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8992541539999 meters Centerline goodness [0,1] 0.9985607308983959 Centerline is valid? [True, True] Translation: X:553.13, Y:9.21, Z:5.11 [[ 9.96377750e-01 -8.30483181e-02 -1.82854306e-02 5.53126165e+02] [ 8.30543213e-02 9.96544928e-01 -4.32170168e-04 9.21256622e+00] [ 1.82581441e-02 -1.08807928e-03 9.99832714e-01 5.11029643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.929254154 meters Centerline goodness [0,1] 0.9987070403737071 Centerline is valid? [True, True] Translation: X:553.16, Y:9.22, Z:5.11 [[ 9.96560516e-01 -8.07753259e-02 -1.85063221e-02 5.53157581e+02] [ 8.07811002e-02 9.96731771e-01 -4.36534632e-04 9.22273813e+00] [ 1.84811004e-02 -1.05992788e-03 9.99828648e-01 5.11183912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.959254154 meters Centerline goodness [0,1] 0.9988098718002255 Centerline is valid? [True, True] Translation: X:553.19, Y:9.23, Z:5.11 [[ 9.96963233e-01 -7.57151867e-02 -1.82077609e-02 5.53188309e+02] [ 7.57199446e-02 9.97129032e-01 -4.28942512e-04 9.22988884e+00] [ 1.81879644e-02 -9.51050731e-04 9.99834133e-01 5.11313418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9892541539999 meters Centerline goodness [0,1] 0.9988747890229418 Centerline is valid? [True, True] Translation: X:553.22, Y:9.23, Z:5.11 [[ 9.97191147e-01 -7.26643986e-02 -1.81576602e-02 5.53219656e+02] [ 7.26686325e-02 9.97356048e-01 -4.27393987e-04 9.23494157e+00] [ 1.81407086e-02 -8.93298835e-04 9.99835045e-01 5.11436296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0192541539999 meters Centerline goodness [0,1] 0.9986874453102212 Centerline is valid? [True, True] Translation: X:553.25, Y:9.24, Z:5.12 [[ 9.97408722e-01 -6.97202630e-02 -1.77461363e-02 5.53250605e+02] [ 6.97238536e-02 9.97566244e-01 -4.17051979e-04 9.23847601e+00] [ 1.77320235e-02 -8.21357732e-04 9.99842438e-01 5.11507425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.049254154 meters Centerline goodness [0,1] 0.998876404494382 Centerline is valid? [True, True] Translation: X:553.28, Y:9.24, Z:5.12 [[ 9.97629734e-01 -6.65359285e-02 -1.75466299e-02 5.53280725e+02] [ 6.65389560e-02 9.97783743e-01 -4.11867307e-04 9.24113579e+00] [ 1.75351460e-02 -7.56643360e-04 9.99845961e-01 5.11575713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.079254154 meters Centerline goodness [0,1] 0.9987873212344234 Centerline is valid? [True, True] Translation: X:553.31, Y:9.25, Z:5.12 [[ 9.97996031e-01 -6.07930757e-02 -1.75534387e-02 5.53311361e+02] [ 6.07952241e-02 9.98150175e-01 -4.11702099e-04 9.25036802e+00] [ 1.75459965e-02 -6.56288176e-04 9.99845842e-01 5.11670313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1092541539999 meters Centerline goodness [0,1] 0.9988741556167126 Centerline is valid? [True, True] Translation: X:553.34, Y:9.25, Z:5.12 [[ 9.98204063e-01 -5.73784422e-02 -1.72151896e-02 5.53341664e+02] [ 5.73800177e-02 9.98352328e-01 -4.02814064e-04 9.25263328e+00] [ 1.72099374e-02 -5.85717247e-04 9.99851727e-01 5.11661080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1392541539999 meters Centerline goodness [0,1] 0.9989137700534759 Centerline is valid? [True, True] Translation: X:553.37, Y:9.26, Z:5.12 [[ 9.98345284e-01 -5.45616905e-02 -1.81580683e-02 5.53373083e+02] [ 5.45630018e-02 9.98510240e-01 -4.23564131e-04 9.25710318e+00] [ 1.81541275e-02 -5.67895463e-04 9.99835039e-01 5.11711526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1692541539999 meters Centerline goodness [0,1] 0.9988943360801085 Centerline is valid? [True, True] Translation: X:553.40, Y:9.26, Z:5.12 [[ 9.98477382e-01 -5.18727774e-02 -1.87651957e-02 5.53404203e+02] [ 5.18737168e-02 9.98653557e-01 -4.37020589e-04 9.26099236e+00] [ 1.87625989e-02 -5.37065270e-04 9.99823823e-01 5.11711817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.199254154 meters Centerline goodness [0,1] 0.9991212469923633 Centerline is valid? [True, True] Translation: X:553.43, Y:9.27, Z:5.12 [[ 9.98683540e-01 -4.75354902e-02 -1.92760023e-02 5.53434744e+02] [ 4.75356879e-02 9.98869440e-01 -4.48193240e-04 9.26546167e+00] [ 1.92755147e-02 -4.68694818e-04 9.99814100e-01 5.11721124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2292541539999 meters Centerline goodness [0,1] 0.9988915612255568 Centerline is valid? [True, True] Translation: X:553.47, Y:9.27, Z:5.12 [[ 9.98758079e-01 -4.59911464e-02 -1.91602044e-02 5.53465365e+02] [ 4.59910677e-02 9.98941752e-01 -4.44978403e-04 9.26710592e+00] [ 1.91603932e-02 -4.36772482e-04 9.99816327e-01 5.11713869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2592541539999 meters Centerline goodness [0,1] 0.999247412982126 Centerline is valid? [True, True] Translation: X:553.50, Y:9.27, Z:5.12 [[ 9.98813168e-01 -4.46984218e-02 -1.93469960e-02 5.53496714e+02] [ 4.46981096e-02 9.99000439e-01 -4.48777615e-04 9.26997305e+00] [ 1.93477172e-02 -4.16529157e-04 9.99812729e-01 5.11843193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2892541539999 meters Centerline goodness [0,1] 0.9990606408516857 Centerline is valid? [True, True] Translation: X:553.53, Y:9.27, Z:5.12 [[ 9.98916290e-01 -4.24937057e-02 -1.89876485e-02 5.53526854e+02] [ 4.24930166e-02 9.99096667e-01 -4.39928541e-04 9.27162734e+00] [ 1.89891905e-02 -3.67390676e-04 9.99819622e-01 5.11899764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.319254154 meters Centerline goodness [0,1] 0.999121908385775 Centerline is valid? [True, True] Translation: X:553.56, Y:9.27, Z:5.12 [[ 9.98945639e-01 -4.18795870e-02 -1.88071726e-02 5.53557006e+02] [ 4.18788054e-02 9.99122603e-01 -4.35577924e-04 9.27253419e+00] [ 1.88089131e-02 -3.52503253e-04 9.99823035e-01 5.11951893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3492541539999 meters Centerline goodness [0,1] 0.9990385821176274 Centerline is valid? [True, True] Translation: X:553.59, Y:9.27, Z:5.12 [[ 9.98931961e-01 -4.13296856e-02 -2.06589891e-02 5.53588380e+02] [ 4.13286337e-02 9.99145493e-01 -4.78050478e-04 9.27373285e+00] [ 2.06610935e-02 -3.76267892e-04 9.99786466e-01 5.11960198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3792541539999 meters Centerline goodness [0,1] 0.9992295839753467 Centerline is valid? [True, True] Translation: X:553.62, Y:9.27, Z:5.12 [[ 9.98968054e-01 -4.13126150e-02 -1.88704876e-02 5.53618470e+02] [ 4.13117434e-02 9.99146210e-01 -4.36175865e-04 9.27363339e+00] [ 1.88723957e-02 -3.43846985e-04 9.99821841e-01 5.12026987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4092541539999 meters Centerline goodness [0,1] 0.9990387227551042 Centerline is valid? [True, True] Translation: X:553.65, Y:9.28, Z:5.12 [[ 9.98963617e-01 -4.12585194e-02 -1.92204622e-02 5.53650101e+02] [ 4.12576155e-02 9.99148444e-01 -4.43725409e-04 9.27520807e+00] [ 1.92224023e-02 -3.49724898e-04 9.99815171e-01 5.12143264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.439254154 meters Centerline goodness [0,1] 0.9992264431017541 Centerline is valid? [True, True] Translation: X:553.68, Y:9.28, Z:5.12 [[ 9.98948563e-01 -4.15016654e-02 -1.94776895e-02 5.53680880e+02] [ 4.15007938e-02 9.99138370e-01 -4.49125921e-04 9.27511162e+00] [ 1.94795465e-02 -3.59685884e-04 9.99810191e-01 5.12140903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4692541539999 meters Centerline goodness [0,1] 0.9991435315744397 Centerline is valid? [True, True] Translation: X:553.71, Y:9.28, Z:5.12 [[ 9.98919879e-01 -4.17801740e-02 -2.03345072e-02 5.53712074e+02] [ 4.17792938e-02 9.99126754e-01 -4.68296462e-04 9.27576725e+00] [ 2.03363157e-02 -3.81770704e-04 9.99793123e-01 5.12177276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4992541539999 meters Centerline goodness [0,1] 0.999081688024377 Centerline is valid? [True, True] Translation: X:553.74, Y:9.27, Z:5.12 [[ 9.98866181e-01 -4.27522858e-02 -2.09426331e-02 5.53742688e+02] [ 4.27515776e-02 9.99085617e-01 -4.81730878e-04 9.27314998e+00] [ 2.09440786e-02 -4.14145921e-04 9.99780563e-01 5.12095907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5292541539999 meters Centerline goodness [0,1] 0.9988733099649474 Centerline is valid? [True, True] Translation: X:553.77, Y:9.27, Z:5.12 [[ 9.98837451e-01 -4.31161334e-02 -2.15579541e-02 5.53773258e+02] [ 4.31154716e-02 9.99069973e-01 -4.95707488e-04 9.27284298e+00] [ 2.15592776e-02 -4.34350155e-04 9.99767477e-01 5.12113244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.559254154 meters Centerline goodness [0,1] 0.9990209557138691 Centerline is valid? [True, True] Translation: X:553.80, Y:9.27, Z:5.12 [[ 9.98789007e-01 -4.32086668e-02 -2.35272114e-02 5.53803681e+02] [ 4.32079045e-02 9.99065956e-01 -5.40988944e-04 9.27315620e+00] [ 2.35286113e-02 -4.76227691e-04 9.99723050e-01 5.12145661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.589254154 meters Centerline goodness [0,1] 0.9989602395608052 Centerline is valid? [True, True] Translation: X:553.83, Y:9.27, Z:5.12 [[ 9.98795406e-01 -4.39570525e-02 -2.18062940e-02 5.53833791e+02] [ 4.39565657e-02 9.99033317e-01 -5.01877660e-04 9.27408097e+00] [ 2.18072753e-02 -4.57256694e-04 9.99762089e-01 5.12246122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6192541539999 meters Centerline goodness [0,1] 0.9992287328288829 Centerline is valid? [True, True] Translation: X:553.86, Y:9.27, Z:5.12 [[ 9.98754175e-01 -4.47510474e-02 -2.20780829e-02 5.53863366e+02] [ 4.47507294e-02 9.98998055e-01 -5.08716297e-04 9.27231212e+00] [ 2.20787274e-02 -4.79927786e-04 9.99756120e-01 5.12162080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6492541539999 meters Centerline goodness [0,1] 0.9991233013964557 Centerline is valid? [True, True] Translation: X:553.89, Y:9.27, Z:5.12 [[ 9.98748785e-01 -4.48585560e-02 -2.21037122e-02 5.53894114e+02] [ 4.48582598e-02 9.98993232e-01 -5.09478631e-04 9.27263336e+00] [ 2.21043134e-02 -4.82692900e-04 9.99755553e-01 5.12219559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.679254154 meters Centerline goodness [0,1] 0.9990398463754201 Centerline is valid? [True, True] Translation: X:553.92, Y:9.27, Z:5.12 [[ 9.98732235e-01 -4.50138234e-02 -2.25317077e-02 5.53923731e+02] [ 4.50135497e-02 9.98986241e-01 -5.19585190e-04 9.27179561e+00] [ 2.25322545e-02 -4.95305666e-04 9.99745994e-01 5.12175225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.709254154 meters Centerline goodness [0,1] 0.9990398463754201 Centerline is valid? [True, True] Translation: X:553.95, Y:9.27, Z:5.12 [[ 9.98732235e-01 -4.50138250e-02 -2.25317037e-02 5.53953732e+02] [ 4.50135475e-02 9.98986241e-01 -5.19756839e-04 9.27248774e+00] [ 2.25322583e-02 -4.95134006e-04 9.99745994e-01 5.12203341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7392541539999 meters Centerline goodness [0,1] 0.9989354596309593 Centerline is valid? [True, True] Translation: X:553.98, Y:9.27, Z:5.12 [[ 9.98736611e-01 -4.47696164e-02 -2.28224326e-02 5.53983749e+02] [ 4.47692684e-02 9.98997215e-01 -5.26438620e-04 9.26938360e+00] [ 2.28231151e-02 -4.95970090e-04 9.99739396e-01 5.12090848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7692541539999 meters Centerline goodness [0,1] 0.9988754217168562 Centerline is valid? [True, True] Translation: X:554.01, Y:9.27, Z:5.12 [[ 9.98764347e-01 -4.43163167e-02 -2.24909496e-02 5.54013798e+02] [ 4.43158540e-02 9.99017435e-01 -5.19235076e-04 9.26941037e+00] [ 2.24918613e-02 -4.78112154e-04 9.99746912e-01 5.12099188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.799254154 meters Centerline goodness [0,1] 0.9989772063120982 Centerline is valid? [True, True] Translation: X:554.04, Y:9.27, Z:5.12 [[ 9.98803435e-01 -4.34603991e-02 -2.24252521e-02 5.54043348e+02] [ 4.34597057e-02 9.99055046e-01 -5.18511069e-04 9.27038151e+00] [ 2.24265960e-02 -4.56704220e-04 9.99748388e-01 5.12173669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.829254154 meters Centerline goodness [0,1] 0.999163179916318 Centerline is valid? [True, True] Translation: X:554.07, Y:9.27, Z:5.12 [[ 9.98848707e-01 -4.24663463e-02 -2.23130135e-02 5.54072459e+02] [ 4.24653993e-02 9.99097805e-01 -5.16477457e-04 9.27045263e+00] [ 2.23148157e-02 -4.31648188e-04 9.99750900e-01 5.12146170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8592541539999 meters Centerline goodness [0,1] 0.9990392246961026 Centerline is valid? [True, True] Translation: X:554.10, Y:9.27, Z:5.12 [[ 9.98949536e-01 -3.98458945e-02 -2.26302814e-02 5.54101778e+02] [ 3.98442337e-02 9.99205766e-01 -5.24461404e-04 9.27242172e+00] [ 2.26332053e-02 -3.77775747e-04 9.99743765e-01 5.12230280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8892541539999 meters Centerline goodness [0,1] 0.999247491638796 Centerline is valid? [True, True] Translation: X:554.13, Y:9.27, Z:5.12 [[ 9.98987833e-01 -3.86148232e-02 -2.30695566e-02 5.54131489e+02] [ 3.86127497e-02 9.99254106e-01 -5.35488834e-04 9.27481730e+00] [ 2.30730270e-02 -3.55832186e-04 9.99733719e-01 5.12351115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9192541539999 meters Centerline goodness [0,1] 0.9991010014425791 Centerline is valid? [True, True] Translation: X:554.16, Y:9.27, Z:5.12 [[ 9.99030944e-01 -3.74372815e-02 -2.31435120e-02 5.54159524e+02] [ 3.74348415e-02 9.99298925e-01 -5.38816961e-04 9.27406375e+00] [ 2.31474586e-02 -3.28078889e-04 9.99732008e-01 5.12257369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.949254154 meters Centerline goodness [0,1] 0.9990598558445628 Centerline is valid? [True, True] Translation: X:554.19, Y:9.27, Z:5.12 [[ 9.99050761e-01 -3.70381897e-02 -2.29292113e-02 5.54188242e+02] [ 3.70355936e-02 9.99313802e-01 -5.38010917e-04 9.27409711e+00] [ 2.29334042e-02 -3.11696735e-04 9.99736946e-01 5.12283870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9792541539999 meters Centerline goodness [0,1] 0.9991436210209709 Centerline is valid? [True, True] Translation: X:554.22, Y:9.27, Z:5.12 [[ 9.99043826e-01 -3.75290283e-02 -2.24277758e-02 5.54215723e+02] [ 3.75265360e-02 9.99295490e-01 -5.32135044e-04 9.27194411e+00] [ 2.24319457e-02 -3.10010503e-04 9.99748324e-01 5.12296054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0092541539999 meters Centerline goodness [0,1] 0.999079478650181 Centerline is valid? [True, True] Translation: X:554.24, Y:9.27, Z:5.12 [[ 9.98984646e-01 -3.90547696e-02 -2.24588799e-02 5.54244826e+02] [ 3.90525260e-02 9.99237014e-01 -5.38651007e-04 9.27053062e+00] [ 2.24627810e-02 -3.38971906e-04 9.99747622e-01 5.12301130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0392541539999 meters Centerline goodness [0,1] 0.999225844248232 Centerline is valid? [True, True] Translation: X:554.27, Y:9.27, Z:5.12 [[ 9.98923158e-01 -4.06465157e-02 -2.23693047e-02 5.54273842e+02] [ 4.06445648e-02 9.99173521e-01 -5.42046219e-04 9.27002762e+00] [ 2.23728493e-02 -3.67728136e-04 9.99749629e-01 5.12435897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.069254154 meters Centerline goodness [0,1] 0.9990388031009048 Centerline is valid? [True, True] Translation: X:554.30, Y:9.27, Z:5.12 [[ 9.98717516e-01 -4.51149965e-02 -2.29773741e-02 5.54302736e+02] [ 4.51140404e-02 9.98981686e-01 -5.60240958e-04 9.26582871e+00] [ 2.29792512e-02 -4.77079728e-04 9.99735828e-01 5.12374414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0992541539999 meters Centerline goodness [0,1] 0.9992058184250125 Centerline is valid? [True, True] Translation: X:554.33, Y:9.26, Z:5.12 [[ 9.98624180e-01 -4.69312410e-02 -2.33924354e-02 5.54331815e+02] [ 4.69307443e-02 9.98897983e-01 -5.70523777e-04 9.26312946e+00] [ 2.33934320e-02 -5.28085566e-04 9.99726197e-01 5.12299109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1292541539999 meters Centerline goodness [0,1] 0.9990400868095407 Centerline is valid? [True, True] Translation: X:554.36, Y:9.26, Z:5.12 [[ 9.98518820e-01 -4.90518447e-02 -2.35389753e-02 5.54361025e+02] [ 4.90519210e-02 9.98796065e-01 -5.74505520e-04 9.26442027e+00] [ 2.35388164e-02 -5.80977380e-04 9.99722755e-01 5.12449110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1592541539999 meters Centerline goodness [0,1] 0.9992274929012861 Centerline is valid? [True, True] Translation: X:554.39, Y:9.26, Z:5.12 [[ 9.98432947e-01 -5.07035503e-02 -2.36812051e-02 5.54391113e+02] [ 5.07040670e-02 9.98713554e-01 -5.79019444e-04 9.26291846e+00] [ 2.36800988e-02 -6.22621316e-04 9.99719393e-01 5.12455112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.189254154 meters Centerline goodness [0,1] 0.9994366079626075 Centerline is valid? [True, True] Translation: X:554.42, Y:9.26, Z:5.13 [[ 9.98287270e-01 -5.33298106e-02 -2.40511495e-02 5.54421070e+02] [ 5.33310837e-02 9.98576711e-01 -5.88949999e-04 9.26036861e+00] [ 2.40483264e-02 -6.94732579e-04 9.99710556e-01 5.12508799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2192541539999 meters Centerline goodness [0,1] 0.9989766509335449 Centerline is valid? [True, True] Translation: X:554.45, Y:9.26, Z:5.13 [[ 9.98236905e-01 -5.44321051e-02 -2.36691312e-02 5.54451065e+02] [ 5.44336272e-02 9.98517222e-01 -5.80454402e-04 9.25962985e+00] [ 2.36656305e-02 -7.08965659e-04 9.99719678e-01 5.12555588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2492541539999 meters Centerline goodness [0,1] 0.9989151297671701 Centerline is valid? [True, True] Translation: X:554.48, Y:9.26, Z:5.13 [[ 9.98203623e-01 -5.51842596e-02 -2.33286372e-02 5.54481715e+02] [ 5.51859355e-02 9.98475931e-01 -5.72440751e-04 9.25973775e+00] [ 2.33246724e-02 -7.16000235e-04 9.99727686e-01 5.12669640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2792541539999 meters Centerline goodness [0,1] 0.9992488106168099 Centerline is valid? [True, True] Translation: X:554.51, Y:9.26, Z:5.13 [[ 9.98177361e-01 -5.61565988e-02 -2.20996023e-02 5.54512376e+02] [ 5.61583405e-02 9.98421728e-01 -5.42282554e-04 9.25860532e+00] [ 2.20951759e-02 -6.99782825e-04 9.99755627e-01 5.12819084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.309254154 meters Centerline goodness [0,1] 0.9991239048811014 Centerline is valid? [True, True] Translation: X:554.54, Y:9.26, Z:5.13 [[ 9.98171263e-01 -5.64060356e-02 -2.17367964e-02 5.54543237e+02] [ 5.64077797e-02 9.98407671e-01 -5.33379981e-04 9.25881333e+00] [ 2.17322701e-02 -6.93719852e-04 9.99763586e-01 5.12871213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.339254154 meters Centerline goodness [0,1] 0.9990394654416371 Centerline is valid? [True, True] Translation: X:554.57, Y:9.26, Z:5.13 [[ 9.98157266e-01 -5.66449601e-02 -2.17582406e-02 5.54573455e+02] [ 5.66467643e-02 9.98394140e-01 -5.33906182e-04 9.25980446e+00] [ 2.17535430e-02 -6.99611594e-04 9.99763119e-01 5.12935298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3692541539999 meters Centerline goodness [0,1] 0.9990406673618353 Centerline is valid? [True, True] Translation: X:554.60, Y:9.26, Z:5.13 [[ 9.98175512e-01 -5.63752056e-02 -2.16213758e-02 5.54604392e+02] [ 5.63769239e-02 9.98409416e-01 -5.30547778e-04 9.25911969e+00] [ 2.16168949e-02 -6.89366861e-04 9.99766090e-01 5.12936959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3992541539999 meters Centerline goodness [0,1] 0.9991240693236564 Centerline is valid? [True, True] Translation: X:554.63, Y:9.26, Z:5.13 [[ 9.98193909e-01 -5.63686745e-02 -2.07723910e-02 5.54634368e+02] [ 5.63702546e-02 9.98409803e-01 -5.09924559e-04 9.25803282e+00] [ 2.07681026e-02 -6.61941381e-04 9.99784101e-01 5.12910710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.429254154 meters Centerline goodness [0,1] 0.9988327497081875 Centerline is valid? [True, True] Translation: X:554.66, Y:9.26, Z:5.13 [[ 9.98187926e-01 -5.60927750e-02 -2.17822336e-02 5.54664876e+02] [ 5.60944431e-02 9.98425324e-01 -5.34894482e-04 9.25967223e+00] [ 2.17779373e-02 -6.87937049e-04 9.99762596e-01 5.12959427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.459254154 meters Centerline goodness [0,1] 0.9989564201035231 Centerline is valid? [True, True] Translation: X:554.70, Y:9.26, Z:5.13 [[ 9.98187266e-01 -5.63902591e-02 -2.10314154e-02 5.54695408e+02] [ 5.63918801e-02 9.98408578e-01 -5.16457047e-04 9.26097515e+00] [ 2.10270687e-02 -6.70480206e-04 9.99778682e-01 5.12979611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4892541539999 meters Centerline goodness [0,1] 0.9989353040646333 Centerline is valid? [True, True] Translation: X:554.73, Y:9.26, Z:5.13 [[ 9.98191226e-01 -5.62008265e-02 -2.13481619e-02 5.54726074e+02] [ 5.62024581e-02 9.98419255e-01 -5.24016865e-04 9.25969554e+00] [ 2.13438661e-02 -6.76750139e-04 9.99771965e-01 5.12875458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5192541539999 meters Centerline goodness [0,1] 0.999103886631239 Centerline is valid? [True, True] Translation: X:554.76, Y:9.26, Z:5.13 [[ 9.98193325e-01 -5.61148406e-02 -2.14758229e-02 5.54756597e+02] [ 5.61164756e-02 9.98424090e-01 -5.26978826e-04 9.26159834e+00] [ 2.14715503e-02 -6.79120745e-04 9.99769229e-01 5.12917420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.549254154 meters Centerline goodness [0,1] 0.9990214653036581 Centerline is valid? [True, True] Translation: X:554.79, Y:9.26, Z:5.13 [[ 9.98187347e-01 -5.61331872e-02 -2.17044996e-02 5.54787438e+02] [ 5.61348616e-02 9.98423053e-01 -5.32590150e-04 9.26334709e+00] [ 2.17001688e-02 -6.86754333e-04 9.99764288e-01 5.12983289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.579254154 meters Centerline goodness [0,1] 0.999062089664228 Centerline is valid? [True, True] Translation: X:554.82, Y:9.26, Z:5.13 [[ 9.98194673e-01 -5.59345373e-02 -2.18797086e-02 5.54817488e+02] [ 5.59361862e-02 9.98434201e-01 -5.37116385e-04 9.26089595e+00] [ 2.18754927e-02 -6.87720738e-04 9.99760466e-01 5.12883810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6092541539999 meters Centerline goodness [0,1] 0.9988519183400827 Centerline is valid? [True, True] Translation: X:554.85, Y:9.26, Z:5.13 [[ 9.98231987e-01 -5.55535358e-02 -2.11353799e-02 5.54847432e+02] [ 5.55549855e-02 9.98455494e-01 -5.19008149e-04 9.26462494e+00] [ 2.11315689e-02 -6.56085188e-04 9.99776488e-01 5.13012512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6392541539999 meters Centerline goodness [0,1] 0.9992701795358342 Centerline is valid? [True, True] Translation: X:554.88, Y:9.27, Z:5.13 [[ 9.98274304e-01 -5.50178992e-02 -2.05290991e-02 5.54878255e+02] [ 5.50191537e-02 9.98485172e-01 -5.04120095e-04 9.26572579e+00] [ 2.05257367e-02 -6.26243522e-04 9.99789129e-01 5.13053339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6692541539999 meters Centerline goodness [0,1] 0.999248496993988 Centerline is valid? [True, True] Translation: X:554.91, Y:9.27, Z:5.13 [[ 9.98316252e-01 -5.43899675e-02 -2.01591945e-02 5.54909540e+02] [ 5.43910574e-02 9.98519588e-01 -4.94633567e-04 9.26852633e+00] [ 2.01562537e-02 -6.02679175e-04 9.99796660e-01 5.13156298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.699254154 meters Centerline goodness [0,1] 0.9991452991452991 Centerline is valid? [True, True] Translation: X:554.94, Y:9.27, Z:5.13 [[ 9.98393633e-01 -5.31523426e-02 -1.96209479e-02 5.54940403e+02] [ 5.31531503e-02 9.98586256e-01 -4.80707059e-04 9.27001690e+00] [ 1.96187596e-02 -5.62980325e-04 9.99807375e-01 5.13138266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7292541539999 meters Centerline goodness [0,1] 0.9992264269287058 Centerline is valid? [True, True] Translation: X:554.97, Y:9.27, Z:5.13 [[ 9.98443161e-01 -5.23719567e-02 -1.91945876e-02 5.54971692e+02] [ 5.23725990e-02 9.98627503e-01 -4.69561478e-04 9.27106655e+00] [ 1.91928349e-02 -5.36439991e-04 9.99815657e-01 5.13164329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7592541539999 meters Centerline goodness [0,1] 0.9992485440541048 Centerline is valid? [True, True] Translation: X:555.00, Y:9.27, Z:5.13 [[ 9.98500790e-01 -5.14288276e-02 -1.87415961e-02 5.55002740e+02] [ 5.14292866e-02 9.98676534e-01 -4.57801853e-04 9.27205546e+00] [ 1.87403364e-02 -5.06751404e-04 9.99824256e-01 5.13203148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7892541539999 meters Centerline goodness [0,1] 0.9991858207553078 Centerline is valid? [True, True] Translation: X:555.03, Y:9.27, Z:5.13 [[ 9.98536349e-01 -5.07151853e-02 -1.87917327e-02 5.55033294e+02] [ 5.07155386e-02 9.98713034e-01 -4.58062903e-04 9.27212762e+00] [ 1.87907791e-02 -4.95640385e-04 9.99823315e-01 5.13212635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.819254154 meters Centerline goodness [0,1] 0.9995403931727495 Centerline is valid? [True, True] Translation: X:555.06, Y:9.27, Z:5.13 [[ 9.98609410e-01 -4.95958401e-02 -1.78745309e-02 5.55064272e+02] [ 4.95959937e-02 9.98769267e-01 -4.34966737e-04 9.27381036e+00] [ 1.78741047e-02 -4.52143247e-04 9.99840143e-01 5.13307570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8492541539999 meters Centerline goodness [0,1] 0.9991858377520771 Centerline is valid? [True, True] Translation: X:555.10, Y:9.28, Z:5.13 [[ 9.98634996e-01 -4.92283004e-02 -1.74562091e-02 5.55095685e+02] [ 4.92283987e-02 9.98787457e-01 -4.24331168e-04 9.27561926e+00] [ 1.74559318e-02 -4.35589268e-04 9.99847539e-01 5.13399849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8792541539999 meters Centerline goodness [0,1] 0.9994158756649629 Centerline is valid? [True, True] Translation: X:555.13, Y:9.28, Z:5.13 [[ 9.98661337e-01 -4.89017284e-02 -1.68569257e-02 5.55126908e+02] [ 4.89017836e-02 9.98803508e-01 -4.09167281e-04 9.27666645e+00] [ 1.68567655e-02 -4.15714187e-04 9.99857828e-01 5.13451422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9092541539999 meters Centerline goodness [0,1] 0.9992701643172909 Centerline is valid? [True, True] Translation: X:555.16, Y:9.28, Z:5.13 [[ 9.98660323e-01 -4.89946058e-02 -1.66459334e-02 5.55157904e+02] [ 4.89946846e-02 9.98798958e-01 -4.03321667e-04 9.27639400e+00] [ 1.66457015e-02 -4.12780908e-04 9.99861366e-01 5.13485940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.939254154 meters Centerline goodness [0,1] 0.9991456731470484 Centerline is valid? [True, True] Translation: X:555.19, Y:9.28, Z:5.14 [[ 9.98627237e-01 -4.98394256e-02 -1.61143997e-02 5.55189054e+02] [ 4.98396211e-02 9.98757158e-01 -3.89715972e-04 9.27670028e+00] [ 1.61137953e-02 -4.13954593e-04 9.99870079e-01 5.13534940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9692541539999 meters Centerline goodness [0,1] 0.9989983514534337 Centerline is valid? [True, True] Translation: X:555.22, Y:9.28, Z:5.14 [[ 9.98601517e-01 -5.05123137e-02 -1.56049906e-02 5.55220844e+02] [ 5.05125909e-02 9.98723353e-01 -3.76632281e-04 9.27661465e+00] [ 1.56040931e-02 -4.12142941e-04 9.99878164e-01 5.13566538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9992541539999 meters Centerline goodness [0,1] 0.9990191167877118 Centerline is valid? [True, True] Translation: X:555.25, Y:9.28, Z:5.14 [[ 9.98557938e-01 -5.13293225e-02 -1.57271919e-02 5.55251884e+02] [ 5.13297195e-02 9.98681689e-01 -3.78685507e-04 9.27736041e+00] [ 1.57258963e-02 -4.29132931e-04 9.99876248e-01 5.13599192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0292541539999 meters Centerline goodness [0,1] 0.9992287649817614 Centerline is valid? [True, True] Translation: X:555.28, Y:9.28, Z:5.14 [[ 9.98508162e-01 -5.24170049e-02 -1.52940389e-02 5.55283725e+02] [ 5.24175195e-02 9.98625189e-01 -3.67491274e-04 9.27933001e+00] [ 1.52922753e-02 -4.34732547e-04 9.99882972e-01 5.13656270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.059254154 meters Centerline goodness [0,1] 0.9991239779743033 Centerline is valid? [True, True] Translation: X:555.31, Y:9.28, Z:5.14 [[ 9.98387913e-01 -5.45151217e-02 -1.58011710e-02 5.55314544e+02] [ 5.45159486e-02 9.98512828e-01 -3.78721469e-04 9.27532008e+00] [ 1.57983180e-02 -4.83304892e-04 9.99875082e-01 5.13537666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.089254154 meters Centerline goodness [0,1] 0.9991451387585747 Centerline is valid? [True, True] Translation: X:555.35, Y:9.28, Z:5.14 [[ 9.98305189e-01 -5.59045865e-02 -1.61687092e-02 5.55345971e+02] [ 5.59056439e-02 9.98435982e-01 -3.86943761e-04 9.27552235e+00] [ 1.61650530e-02 -5.17634136e-04 9.99869203e-01 5.13538888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1192541539999 meters Centerline goodness [0,1] 0.9990811318784588 Centerline is valid? [True, True] Translation: X:555.38, Y:9.28, Z:5.14 [[ 9.98222401e-01 -5.73852404e-02 -1.60925925e-02 5.55377843e+02] [ 5.73864932e-02 9.98351963e-01 -3.84301759e-04 9.28094642e+00] [ 1.60881246e-02 -5.39878827e-04 9.99870432e-01 5.13636247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1492541539999 meters Centerline goodness [0,1] 0.9991439786203441 Centerline is valid? [True, True] Translation: X:555.41, Y:9.28, Z:5.14 [[ 9.98121636e-01 -5.91003665e-02 -1.61352662e-02 5.55408520e+02] [ 5.91018651e-02 9.98251883e-01 -3.84368520e-04 9.27860382e+00] [ 1.61297762e-02 -5.69977789e-04 9.99869744e-01 5.13602337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.179254154 meters Centerline goodness [0,1] 0.9993106905627271 Centerline is valid? [True, True] Translation: X:555.44, Y:9.28, Z:5.14 [[ 9.98008897e-01 -6.10939628e-02 -1.56770536e-02 5.55440080e+02] [ 6.10956336e-02 9.98131847e-01 -3.72776038e-04 9.27740714e+00] [ 1.56705409e-02 -5.85765722e-04 9.99877038e-01 5.13643611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.209254154 meters Centerline goodness [0,1] 0.9989772276607736 Centerline is valid? [True, True] Translation: X:555.47, Y:9.28, Z:5.14 [[ 9.97739620e-01 -6.56229186e-02 -1.44666501e-02 5.55470470e+02] [ 6.56248261e-02 9.97844309e-01 -3.43330010e-04 9.27530805e+00] [ 1.44579948e-02 -6.06817445e-04 9.99895294e-01 5.13694788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2392541539999 meters Centerline goodness [0,1] 0.9989367025268951 Centerline is valid? [True, True] Translation: X:555.50, Y:9.28, Z:5.14 [[ 9.97621996e-01 -6.75038967e-02 -1.39132104e-02 5.55502813e+02] [ 6.75058531e-02 9.97718824e-01 -3.29511428e-04 9.27714658e+00] [ 1.39037152e-02 -6.10495289e-04 9.99903152e-01 5.13741713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2692541539999 meters Centerline goodness [0,1] 0.9991649443644183 Centerline is valid? [True, True] Translation: X:555.53, Y:9.28, Z:5.14 [[ 9.97507489e-01 -6.92332050e-02 -1.36224900e-02 5.55534757e+02] [ 6.92352546e-02 9.97600309e-01 -3.21649340e-04 9.27821310e+00] [ 1.36120690e-02 -6.22308937e-04 9.99907158e-01 5.13770719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.299254154 meters Centerline goodness [0,1] 0.9988529000771685 Centerline is valid? [True, True] Translation: X:555.57, Y:9.28, Z:5.14 [[ 9.97310748e-01 -7.22035157e-02 -1.25667896e-02 5.55565134e+02] [ 7.22055038e-02 9.97389732e-01 -2.96030416e-04 9.27755713e+00] [ 1.25553613e-02 -6.12157058e-04 9.99920991e-01 5.13793260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.329254154 meters Centerline goodness [0,1] 0.9988515827278043 Centerline is valid? [True, True] Translation: X:555.60, Y:9.28, Z:5.14 [[ 9.97276708e-01 -7.27497407e-02 -1.21096321e-02 5.55597666e+02] [ 7.27516313e-02 9.97350048e-01 -2.84897098e-04 9.27968492e+00] [ 1.20982683e-02 -5.96874249e-04 9.99926635e-01 5.13812945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3592541539999 meters Centerline goodness [0,1] 0.9987479393167922 Centerline is valid? [True, True] Translation: X:555.63, Y:9.28, Z:5.14 [[ 9.97169267e-01 -7.42513768e-02 -1.18400107e-02 5.55628622e+02] [ 7.42532993e-02 9.97239375e-01 -2.77750798e-04 9.27937504e+00] [ 1.18279483e-02 -6.02195301e-04 9.99929866e-01 5.13832641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3892541539999 meters Centerline goodness [0,1] 0.9987494007545282 Centerline is valid? [True, True] Translation: X:555.66, Y:9.28, Z:5.14 [[ 9.97061148e-01 -7.57196620e-02 -1.16447007e-02 5.55660094e+02] [ 7.57216300e-02 9.97128959e-01 -2.72423610e-04 9.28026517e+00] [ 1.16318962e-02 -6.10132724e-04 9.99932161e-01 5.13811270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4192541539999 meters Centerline goodness [0,1] 0.9989365029715358 Centerline is valid? [True, True] Translation: X:555.69, Y:9.29, Z:5.14 [[ 9.97025154e-01 -7.61240411e-02 -1.20819330e-02 5.55691865e+02] [ 7.61262044e-02 9.97098151e-01 -2.81411477e-04 9.28533911e+00] [ 1.20682952e-02 -6.39177379e-04 9.99926971e-01 5.13859267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.449254154 meters Centerline goodness [0,1] 0.9988299206017551 Centerline is valid? [True, True] Translation: X:555.72, Y:9.29, Z:5.14 [[ 9.97010587e-01 -7.63714990e-02 -1.17168079e-02 5.55723116e+02] [ 7.63735597e-02 9.97079237e-01 -2.72115763e-04 9.28591553e+00] [ 1.17033678e-02 -6.23552032e-04 9.99931319e-01 5.13872954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4792541539999 meters Centerline goodness [0,1] 0.9986416450723062 Centerline is valid? [True, True] Translation: X:555.76, Y:9.29, Z:5.14 [[ 9.96993186e-01 -7.66048313e-02 -1.16742008e-02 5.55755655e+02] [ 7.66069009e-02 9.97061337e-01 -2.70449877e-04 9.28980766e+00] [ 1.16606120e-02 -6.24687661e-04 9.99931818e-01 5.13956781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5092541539999 meters Centerline goodness [0,1] 0.9987471549978075 Centerline is valid? [True, True] Translation: X:555.79, Y:9.29, Z:5.14 [[ 9.96994777e-01 -7.65780484e-02 -1.17139388e-02 5.55788053e+02] [ 7.65801409e-02 9.97063393e-01 -2.70469751e-04 9.28716053e+00] [ 1.17002516e-02 -6.27398155e-04 9.99931353e-01 5.13990974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5392541539999 meters Centerline goodness [0,1] 0.9986437424362559 Centerline is valid? [True, True] Translation: X:555.82, Y:9.29, Z:5.14 [[ 9.97000305e-01 -7.64934707e-02 -1.17957585e-02 5.55820415e+02] [ 7.64955991e-02 9.97069882e-01 -2.71289410e-04 9.29018002e+00] [ 1.17819474e-02 -6.31847986e-04 9.99930391e-01 5.14008169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.569254154 meters Centerline goodness [0,1] 0.9990620114643043 Centerline is valid? [True, True] Translation: X:555.85, Y:9.30, Z:5.14 [[ 9.97036025e-01 -7.59460001e-02 -1.23032734e-02 5.55852573e+02] [ 7.59482872e-02 9.97111718e-01 -2.81903094e-04 9.29908649e+00] [ 1.22891475e-02 -6.53345004e-04 9.99924272e-01 5.14069566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5992541539999 meters Centerline goodness [0,1] 0.9989363477100192 Centerline is valid? [True, True] Translation: X:555.88, Y:9.30, Z:5.14 [[ 9.97100589e-01 -7.50330212e-02 -1.26673248e-02 5.55884228e+02] [ 7.50353841e-02 9.97180830e-01 -2.89303849e-04 9.30175550e+00] [ 1.26533208e-02 -6.62032540e-04 9.99919724e-01 5.14071900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6292541539999 meters Centerline goodness [0,1] 0.9989363477100192 Centerline is valid? [True, True] Translation: X:555.92, Y:9.30, Z:5.14 [[ 9.97108728e-01 -7.49247829e-02 -1.26673483e-02 5.55916797e+02] [ 7.49271502e-02 9.97188969e-01 -2.88268672e-04 9.30240310e+00] [ 1.26533385e-02 -6.61693102e-04 9.99919724e-01 5.14102400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6592541539999 meters Centerline goodness [0,1] 0.9987700133422281 Centerline is valid? [True, True] Translation: X:555.95, Y:9.31, Z:5.14 [[ 9.97330495e-01 -7.17901712e-02 -1.33437369e-02 5.55948064e+02] [ 7.17925344e-02 9.97419541e-01 -3.02440215e-04 9.31345369e+00] [ 1.33310162e-02 -6.56347844e-04 9.99910923e-01 5.14134525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.689254154 meters Centerline goodness [0,1] 0.9991025025568241 Centerline is valid? [True, True] Translation: X:555.98, Y:9.32, Z:5.14 [[ 9.97496998e-01 -6.94221936e-02 -1.34275268e-02 5.55979439e+02] [ 6.94243793e-02 9.97587171e-01 -3.03833605e-04 9.31750776e+00] [ 1.34162213e-02 -6.29124605e-04 9.99909801e-01 5.14171589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7192541539999 meters Centerline goodness [0,1] 0.9987490617963473 Centerline is valid? [True, True] Translation: X:556.01, Y:9.32, Z:5.14 [[ 9.97688269e-01 -6.65860053e-02 -1.35801887e-02 5.56011220e+02] [ 6.65879868e-02 9.97780510e-01 -3.06696906e-04 9.32334783e+00] [ 1.35704693e-02 -5.98289517e-04 9.99907738e-01 5.14203939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7492541539999 meters Centerline goodness [0,1] 0.998557149429133 Centerline is valid? [True, True] Translation: X:556.04, Y:9.33, Z:5.14 [[ 9.98057005e-01 -6.08501538e-02 -1.33967829e-02 5.56041597e+02] [ 6.08515745e-02 9.98146780e-01 -3.01930339e-04 9.33291451e+00] [ 1.33903283e-02 -5.13871645e-04 9.99910213e-01 5.14249056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7792541539999 meters Centerline goodness [0,1] 0.9988108401310162 Centerline is valid? [True, True] Translation: X:556.07, Y:9.34, Z:5.14 [[ 9.98211268e-01 -5.82194982e-02 -1.35924440e-02 5.56072153e+02] [ 5.82207215e-02 9.98303688e-01 -3.06017738e-04 9.33701697e+00] [ 1.35872031e-02 -4.85891540e-04 9.99907572e-01 5.14278284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.809254154 meters Centerline goodness [0,1] 0.9986181483187471 Centerline is valid? [True, True] Translation: X:556.10, Y:9.35, Z:5.14 [[ 9.98506646e-01 -5.30656195e-02 -1.29814134e-02 5.56103198e+02] [ 5.30663031e-02 9.98590948e-01 -2.92028280e-04 9.34533640e+00] [ 1.29786186e-02 -3.97283440e-04 9.99915695e-01 5.14353057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.839254154 meters Centerline goodness [0,1] 0.9986380874557378 Centerline is valid? [True, True] Translation: X:556.13, Y:9.35, Z:5.14 [[ 9.98624763e-01 -5.07572796e-02 -1.31256019e-02 5.56134828e+02] [ 5.07577851e-02 9.98710949e-01 -2.94823656e-04 9.34827885e+00] [ 1.31236467e-02 -3.71808275e-04 9.99913812e-01 5.14414344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8692541539999 meters Centerline goodness [0,1] 0.9987427972760607 Centerline is valid? [True, True] Translation: X:556.17, Y:9.35, Z:5.14 [[ 9.98753567e-01 -4.82797044e-02 -1.26642099e-02 5.56167001e+02] [ 4.82799874e-02 9.98833801e-01 -2.83560751e-04 9.35286855e+00] [ 1.26631311e-02 -3.28220582e-04 9.99919765e-01 5.14473133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8992541539999 meters Centerline goodness [0,1] 0.9989099675086469 Centerline is valid? [True, True] Translation: X:556.20, Y:9.36, Z:5.15 [[ 9.98862342e-01 -4.60759590e-02 -1.22893146e-02 5.56199689e+02] [ 4.60760701e-02 9.98937896e-01 -2.74245426e-04 9.35645474e+00] [ 1.22888982e-02 -2.92309891e-04 9.99924446e-01 5.14525897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.929254154 meters Centerline goodness [0,1] 0.9987597485863235 Centerline is valid? [True, True] Translation: X:556.23, Y:9.36, Z:5.15 [[ 9.98956760e-01 -4.38663854e-02 -1.26937866e-02 5.56231646e+02] [ 4.38663397e-02 9.99037369e-01 -2.82162845e-04 9.36048714e+00] [ 1.26939447e-02 -2.74961475e-04 9.99919391e-01 5.14567278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.959254154 meters Centerline goodness [0,1] 0.9986751067275136 Centerline is valid? [True, True] Translation: X:556.26, Y:9.36, Z:5.15 [[ 9.99056149e-01 -4.14332054e-02 -1.30422742e-02 5.56262893e+02] [ 4.14329615e-02 9.99141244e-01 -2.89018644e-04 9.36341542e+00] [ 1.30430490e-02 -2.51634191e-04 9.99914904e-01 5.14567099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9892541539999 meters Centerline goodness [0,1] 0.9985258813123868 Centerline is valid? [True, True] Translation: X:556.29, Y:9.37, Z:5.15 [[ 9.99175734e-01 -3.82368044e-02 -1.36308406e-02 5.56294092e+02] [ 3.82362509e-02 9.99268682e-01 -3.01311591e-04 9.36903141e+00] [ 1.36323933e-02 -2.20129011e-04 9.99907050e-01 5.14586575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0192541539999 meters Centerline goodness [0,1] 0.9986074480430425 Centerline is valid? [True, True] Translation: X:556.33, Y:9.37, Z:5.15 [[ 9.99220764e-01 -3.69196307e-02 -1.39572896e-02 5.56326271e+02] [ 3.69189335e-02 9.99318216e-01 -3.07689406e-04 9.37307457e+00] [ 1.39591335e-02 -2.07838603e-04 9.99902545e-01 5.14640080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.049254154 meters Centerline goodness [0,1] 0.9987766810090273 Centerline is valid? [True, True] Translation: X:556.36, Y:9.37, Z:5.15 [[ 9.99243871e-01 -3.61006175e-02 -1.44371717e-02 5.56356990e+02] [ 3.60998003e-02 9.99348139e-01 -3.17289267e-04 9.37378530e+00] [ 1.44392150e-02 -2.04129660e-04 9.99895728e-01 5.14617135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.079254154 meters Centerline goodness [0,1] 0.9987530645024939 Centerline is valid? [True, True] Translation: X:556.39, Y:9.38, Z:5.15 [[ 9.99220716e-01 -3.64432422e-02 -1.51608165e-02 5.56388551e+02] [ 3.64423930e-02 9.99335700e-01 -3.32361830e-04 9.37541300e+00] [ 1.51628576e-02 -2.20393609e-04 9.99885013e-01 5.14566170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1092541539999 meters Centerline goodness [0,1] 0.9986465624801742 Centerline is valid? [True, True] Translation: X:556.42, Y:9.38, Z:5.15 [[ 9.99182091e-01 -3.71637913e-02 -1.59374431e-02 5.56420909e+02] [ 3.71629602e-02 9.99309158e-01 -3.48409777e-04 9.37722312e+00] [ 1.59393811e-02 -2.44157754e-04 9.99872930e-01 5.14600084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1392541539999 meters Centerline goodness [0,1] 0.9987315010570824 Centerline is valid? [True, True] Translation: X:556.45, Y:9.38, Z:5.15 [[ 9.99138216e-01 -3.82228433e-02 -1.61814719e-02 5.56453454e+02] [ 3.82221442e-02 9.99269205e-01 -3.52576426e-04 9.37732224e+00] [ 1.61831231e-02 -2.66217973e-04 9.99869009e-01 5.14599926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1692541539999 meters Centerline goodness [0,1] 0.9987584958862025 Centerline is valid? [True, True] Translation: X:556.48, Y:9.37, Z:5.15 [[ 9.99011542e-01 -4.14137218e-02 -1.61506181e-02 5.56484908e+02] [ 4.14134588e-02 9.99142033e-01 -3.50873705e-04 9.37340212e+00] [ 1.61512924e-02 -3.18326075e-04 9.99869509e-01 5.14530267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.199254154 meters Centerline goodness [0,1] 0.9985628236288704 Centerline is valid? [True, True] Translation: X:556.52, Y:9.38, Z:5.15 [[ 9.98928006e-01 -4.33764292e-02 -1.61655523e-02 5.56516784e+02] [ 4.33764387e-02 9.99058738e-01 -3.50204676e-04 9.37632620e+00] [ 1.61655269e-02 -3.51374829e-04 9.99869268e-01 5.14712941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2292541539999 meters Centerline goodness [0,1] 0.998481301018794 Centerline is valid? [True, True] Translation: X:556.55, Y:9.37, Z:5.15 [[ 9.98843286e-01 -4.53922105e-02 -1.58630743e-02 5.56548134e+02] [ 4.53924898e-02 9.98969171e-01 -3.42633243e-04 9.37463342e+00] [ 1.58622751e-02 -3.77827524e-04 9.99874115e-01 5.14745475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2592541539999 meters Centerline goodness [0,1] 0.9986071541627097 Centerline is valid? [True, True] Translation: X:556.58, Y:9.37, Z:5.15 [[ 9.98738149e-01 -4.75621530e-02 -1.61230259e-02 5.56580561e+02] [ 4.75627402e-02 9.98868192e-01 -3.47248977e-04 9.37380568e+00] [ 1.61212937e-02 -4.20044494e-04 9.99869955e-01 5.14818984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2892541539999 meters Centerline goodness [0,1] 0.9984643540820834 Centerline is valid? [True, True] Translation: X:556.61, Y:9.37, Z:5.15 [[ 9.98524022e-01 -5.19364428e-02 -1.58866077e-02 5.56610580e+02] [ 5.19375855e-02 9.98650275e-01 -3.40918574e-04 9.37000735e+00] [ 1.58828713e-02 -4.84696662e-04 9.99873742e-01 5.14857377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.319254154 meters Centerline goodness [0,1] 0.9984816212910437 Centerline is valid? [True, True] Translation: X:556.64, Y:9.37, Z:5.15 [[ 9.98404914e-01 -5.41342762e-02 -1.60345858e-02 5.56642054e+02] [ 5.41357425e-02 9.98533527e-01 -3.42905355e-04 9.36762026e+00] [ 1.60296345e-02 -5.25685819e-04 9.99871379e-01 5.14837622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3492541539999 meters Centerline goodness [0,1] 0.9986917623227549 Centerline is valid? [True, True] Translation: X:556.67, Y:9.37, Z:5.15 [[ 9.98271097e-01 -5.64629718e-02 -1.63324850e-02 5.56674234e+02] [ 5.64648204e-02 9.98404529e-01 -3.48293478e-04 9.36585953e+00] [ 1.63260927e-02 -5.74519519e-04 9.99866555e-01 5.14851754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3792541539999 meters Centerline goodness [0,1] 0.9986491620583393 Centerline is valid? [True, True] Translation: X:556.71, Y:9.36, Z:5.15 [[ 9.98147979e-01 -5.86224828e-02 -1.62485768e-02 5.56706777e+02] [ 5.86246163e-02 9.98280038e-01 -3.45386823e-04 9.36471841e+00] [ 1.62408773e-02 -6.07819420e-04 9.99867924e-01 5.14849042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4092541539999 meters Centerline goodness [0,1] 0.9985657639416181 Centerline is valid? [True, True] Translation: X:556.74, Y:9.37, Z:5.15 [[ 9.97887281e-01 -6.28186691e-02 -1.65767940e-02 5.56737469e+02] [ 6.28214808e-02 9.98024718e-01 -3.51568805e-04 9.36694591e+00] [ 1.65661352e-02 -6.90552704e-04 9.99862534e-01 5.14896144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.439254154 meters Centerline goodness [0,1] 0.9988200341347269 Centerline is valid? [True, True] Translation: X:556.77, Y:9.37, Z:5.15 [[ 9.97787534e-01 -6.43671112e-02 -1.66406734e-02 5.56769168e+02] [ 6.43701693e-02 9.97926028e-01 -3.52337960e-04 9.36679721e+00] [ 1.66288401e-02 -7.19604538e-04 9.99861472e-01 5.14933897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4692541539999 meters Centerline goodness [0,1] 0.9984438416083107 Centerline is valid? [True, True] Translation: X:556.80, Y:9.37, Z:5.15 [[ 9.97706659e-01 -6.56244589e-02 -1.65787107e-02 5.56800985e+02] [ 6.56276829e-02 9.97844118e-01 -3.50092123e-04 9.36639364e+00] [ 1.65659436e-02 -7.38733129e-04 9.99862502e-01 5.14962414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4992541539999 meters Centerline goodness [0,1] 0.9985683306314083 Centerline is valid? [True, True] Translation: X:556.83, Y:9.36, Z:5.15 [[ 9.97626727e-01 -6.69547288e-02 -1.60617142e-02 5.56831929e+02] [ 6.69579483e-02 9.97755741e-01 -3.37840714e-04 9.36387949e+00] [ 1.60482876e-02 -7.38420503e-04 9.99870945e-01 5.15004872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5292541539999 meters Centerline goodness [0,1] 0.9983470382692026 Centerline is valid? [True, True] Translation: X:556.86, Y:9.36, Z:5.15 [[ 9.97610409e-01 -6.72375203e-02 -1.58930108e-02 5.56863268e+02] [ 6.72407320e-02 9.97736725e-01 -3.32800687e-04 9.36388586e+00] [ 1.58794172e-02 -7.36652249e-04 9.99873643e-01 5.15022198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.559254154 meters Centerline goodness [0,1] 0.9984455414347232 Centerline is valid? [True, True] Translation: X:556.90, Y:9.37, Z:5.15 [[ 9.97620974e-01 -6.70199337e-02 -1.61468756e-02 5.56895281e+02] [ 6.70232366e-02 9.97751358e-01 -3.37112997e-04 9.36509952e+00] [ 1.61331603e-02 -7.45904867e-04 9.99869574e-01 5.15032655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.589254154 meters Centerline goodness [0,1] 0.9986770820209147 Centerline is valid? [True, True] Translation: X:556.93, Y:9.37, Z:5.15 [[ 9.97641289e-01 -6.66213455e-02 -1.65364590e-02 5.56927884e+02] [ 6.66247751e-02 9.97778042e-01 -3.44038965e-04 9.36623695e+00] [ 1.65226360e-02 -7.58510382e-04 9.99863204e-01 5.15027481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6192541539999 meters Centerline goodness [0,1] 0.9984629637427885 Centerline is valid? [True, True] Translation: X:556.96, Y:9.37, Z:5.15 [[ 9.97730785e-01 -6.52065735e-02 -1.67744746e-02 5.56960176e+02] [ 6.52099235e-02 9.97871507e-01 -3.47762374e-04 9.37024197e+00] [ 1.67614467e-02 -7.46888981e-04 9.99859238e-01 5.15033838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6492541539999 meters Centerline goodness [0,1] 0.9982795879403311 Centerline is valid? [True, True] Translation: X:556.99, Y:9.37, Z:5.15 [[ 9.97798748e-01 -6.40916575e-02 -1.70269568e-02 5.56990962e+02] [ 6.40949662e-02 9.97943742e-01 -3.51879655e-04 9.37104606e+00] [ 1.70144975e-02 -7.40237143e-04 9.99854969e-01 5.15043338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.679254154 meters Centerline goodness [0,1] 0.9987377190583384 Centerline is valid? [True, True] Translation: X:557.02, Y:9.37, Z:5.15 [[ 9.97884783e-01 -6.27612410e-02 -1.69406947e-02 5.57022651e+02] [ 6.27643428e-02 9.98028314e-01 -3.49042131e-04 9.37023482e+00] [ 1.69291992e-02 -7.14967735e-04 9.99856435e-01 5.15026792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.709254154 meters Centerline goodness [0,1] 0.9985257881768211 Centerline is valid? [True, True] Translation: X:557.05, Y:9.37, Z:5.15 [[ 9.97980914e-01 -6.12443223e-02 -1.68293976e-02 5.57054736e+02] [ 6.12471885e-02 9.98122569e-01 -3.45536610e-04 9.37494538e+00] [ 1.68189638e-02 -6.85914347e-04 9.99858316e-01 5.15089567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7392541539999 meters Centerline goodness [0,1] 0.9988643294285895 Centerline is valid? [True, True] Translation: X:557.09, Y:9.38, Z:5.15 [[ 9.98211492e-01 -5.73300446e-02 -1.69435505e-02 5.57086310e+02] [ 5.73324080e-02 9.98355085e-01 -3.46623279e-04 9.37951176e+00] [ 1.69355518e-02 -6.25411212e-04 9.99856388e-01 5.15130250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7692541539999 meters Centerline goodness [0,1] 0.9988003788277386 Centerline is valid? [True, True] Translation: X:557.12, Y:9.38, Z:5.15 [[ 9.98356686e-01 -5.47791236e-02 -1.68278041e-02 5.57116313e+02] [ 5.47811069e-02 9.98498329e-01 -3.43419516e-04 9.38179542e+00] [ 1.68213465e-02 -5.78990564e-04 9.99858344e-01 5.15131435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.799254154 meters Centerline goodness [0,1] 0.9989256146116413 Centerline is valid? [True, True] Translation: X:557.15, Y:9.39, Z:5.15 [[ 9.98496005e-01 -5.18211365e-02 -1.78968467e-02 5.57147409e+02] [ 5.18229142e-02 9.98656223e-01 -3.64741343e-04 9.38621959e+00] [ 1.78916987e-02 -5.63273979e-04 9.99839772e-01 5.15156173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.829254154 meters Centerline goodness [0,1] 0.9987553530367277 Centerline is valid? [True, True] Translation: X:557.18, Y:9.39, Z:5.15 [[ 9.98775046e-01 -4.61019470e-02 -1.79727095e-02 5.57177561e+02] [ 4.61028234e-02 9.98936633e-01 -3.65783386e-04 9.38942884e+00] [ 1.79704612e-02 -4.63257336e-04 9.99838411e-01 5.15031051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8592541539999 meters Centerline goodness [0,1] 0.9991143164420826 Centerline is valid? [True, True] Translation: X:557.21, Y:9.39, Z:5.15 [[ 9.98899638e-01 -4.32319418e-02 -1.81799795e-02 5.57208847e+02] [ 4.32323722e-02 9.99064976e-01 -3.69518192e-04 9.39360485e+00] [ 1.81789557e-02 -4.16852051e-04 9.99834662e-01 5.15069710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8892541539999 meters Centerline goodness [0,1] 0.9988402741170269 Centerline is valid? [True, True] Translation: X:557.24, Y:9.40, Z:5.15 [[ 9.99017120e-01 -4.03000736e-02 -1.84580108e-02 5.57240707e+02] [ 4.03000323e-02 9.99187554e-01 -3.74346971e-04 9.39666570e+00] [ 1.84581009e-02 -3.69879400e-04 9.99829566e-01 5.15079309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9192541539999 meters Centerline goodness [0,1] 0.9987115851726687 Centerline is valid? [True, True] Translation: X:557.27, Y:9.40, Z:5.15 [[ 9.99111641e-01 -3.79015805e-02 -1.84227928e-02 5.57272513e+02] [ 3.79011498e-02 9.99281424e-01 -3.72652742e-04 9.39949087e+00] [ 1.84236787e-02 -3.25923337e-04 9.99830217e-01 5.15124660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.949254154 meters Centerline goodness [0,1] 0.9987749239607976 Centerline is valid? [True, True] Translation: X:557.30, Y:9.40, Z:5.15 [[ 9.99284421e-01 -3.35431119e-02 -1.74787367e-02 5.57304246e+02] [ 3.35420738e-02 9.99437244e-01 -3.52631871e-04 9.40467827e+00] [ 1.74807288e-02 -2.33893543e-04 9.99847173e-01 5.15256152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9792541539999 meters Centerline goodness [0,1] 0.9988182911646163 Centerline is valid? [True, True] Translation: X:557.33, Y:9.41, Z:5.15 [[ 9.99351300e-01 -3.17594687e-02 -1.69798408e-02 5.57334162e+02] [ 3.17582426e-02 9.99495521e-01 -3.41918695e-04 9.40551913e+00] [ 1.69821340e-02 -1.97553011e-04 9.99855774e-01 5.15270376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0092541539999 meters Centerline goodness [0,1] 0.9989224593281217 Centerline is valid? [True, True] Translation: X:557.37, Y:9.41, Z:5.15 [[ 9.99407462e-01 -3.02181150e-02 -1.64799874e-02 5.57365136e+02] [ 3.02167575e-02 9.99543315e-01 -3.31425711e-04 9.40743950e+00] [ 1.64824763e-02 -1.66742455e-04 9.99864141e-01 5.15344438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0392541539999 meters Centerline goodness [0,1] 0.9986483917974277 Centerline is valid? [True, True] Translation: X:557.40, Y:9.41, Z:5.15 [[ 9.99479606e-01 -2.76540618e-02 -1.66063482e-02 5.57395102e+02] [ 2.76523374e-02 9.99617545e-01 -3.33489618e-04 9.40937856e+00] [ 1.66092194e-02 -1.25888273e-04 9.99862049e-01 5.15367420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.069254154 meters Centerline goodness [0,1] 0.998794059154572 Centerline is valid? [True, True] Translation: X:557.43, Y:9.41, Z:5.15 [[ 9.99510056e-01 -2.66638574e-02 -1.63916951e-02 5.57425735e+02] [ 2.66620469e-02 9.99644450e-01 -3.29010866e-04 9.41037829e+00] [ 1.63946398e-02 -1.08186475e-04 9.99865593e-01 5.15375138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0992541539999 meters Centerline goodness [0,1] 0.9990696887686062 Centerline is valid? [True, True] Translation: X:557.46, Y:9.41, Z:5.15 [[ 9.99533062e-01 -2.57520274e-02 -1.64466245e-02 5.57456330e+02] [ 2.57500814e-02 9.99668357e-01 -3.30113399e-04 9.41122104e+00] [ 1.64496712e-02 -9.35426639e-05 9.99864691e-01 5.15399580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1292541539999 meters Centerline goodness [0,1] 0.9991314479398369 Centerline is valid? [True, True] Translation: X:557.49, Y:9.41, Z:5.15 [[ 9.99548736e-01 -2.52816784e-02 -1.62222607e-02 5.57486904e+02] [ 2.52797231e-02 9.99680364e-01 -3.25610012e-04 9.41175111e+00] [ 1.62253074e-02 -8.46311830e-05 9.99868357e-01 5.15429962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1592541539999 meters Centerline goodness [0,1] 0.9989626995215716 Centerline is valid? [True, True] Translation: X:557.52, Y:9.41, Z:5.15 [[ 9.99550507e-01 -2.50948101e-02 -1.64022816e-02 5.57516614e+02] [ 2.50927866e-02 9.99685072e-01 -3.29195949e-04 9.41201156e+00] [ 1.64053772e-02 -8.25309733e-05 9.99865419e-01 5.15429517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.189254154 meters Centerline goodness [0,1] 0.9988989349312893 Centerline is valid? [True, True] Translation: X:557.55, Y:9.41, Z:5.15 [[ 9.99557182e-01 -2.50499788e-02 -1.60604395e-02 5.57546682e+02] [ 2.50480335e-02 9.99686197e-01 -3.22299418e-04 9.41096253e+00] [ 1.60634733e-02 -8.01257279e-05 9.99870971e-01 5.15430579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2192541539999 meters Centerline goodness [0,1] 0.9988359295631561 Centerline is valid? [True, True] Translation: X:557.58, Y:9.41, Z:5.15 [[ 9.99552426e-01 -2.52661053e-02 -1.60178522e-02 5.57575879e+02] [ 2.52641961e-02 9.99680758e-01 -3.21565768e-04 9.41027221e+00] [ 1.60208633e-02 -8.32563152e-05 9.99871654e-01 5.15415482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2492541539999 meters Centerline goodness [0,1] 0.998898491781054 Centerline is valid? [True, True] Translation: X:557.61, Y:9.41, Z:5.15 [[ 9.99544382e-01 -2.55436071e-02 -1.60795866e-02 5.57606028e+02] [ 2.55417163e-02 9.99673705e-01 -3.22976098e-04 9.41008889e+00] [ 1.60825899e-02 -8.78712954e-05 9.99870663e-01 5.15435602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2792541539999 meters Centerline goodness [0,1] 0.999089040950787 Centerline is valid? [True, True] Translation: X:557.64, Y:9.41, Z:5.15 [[ 9.99541235e-01 -2.57993031e-02 -1.58655474e-02 5.57636404e+02] [ 2.57974946e-02 9.99667138e-01 -3.18676885e-04 9.40993143e+00] [ 1.58684880e-02 -9.07606849e-05 9.99874083e-01 5.15473851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.309254154 meters Centerline goodness [0,1] 0.9986666666666667 Centerline is valid? [True, True] Translation: X:557.67, Y:9.41, Z:5.15 [[ 9.99493576e-01 -2.71258344e-02 -1.66367345e-02 5.57666271e+02] [ 2.71240293e-02 9.99632020e-01 -3.34174630e-04 9.40797976e+00] [ 1.66396773e-02 -1.17249878e-04 9.99861544e-01 5.15388202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.339254154 meters Centerline goodness [0,1] 0.9984749316896486 Centerline is valid? [True, True] Translation: X:557.70, Y:9.41, Z:5.15 [[ 9.99475205e-01 -2.76413290e-02 -1.68899965e-02 5.57696464e+02] [ 2.76395420e-02 9.99617897e-01 -3.39271738e-04 9.40770194e+00] [ 1.68929207e-02 -1.27738077e-04 9.99857296e-01 5.15390797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3692541539999 meters Centerline goodness [0,1] 0.998687941761544 Centerline is valid? [True, True] Translation: X:557.73, Y:9.41, Z:5.15 [[ 9.99453599e-01 -2.80797787e-02 -1.74364166e-02 5.57726310e+02] [ 2.80779383e-02 9.99605676e-01 -3.50393655e-04 9.40688211e+00] [ 1.74393799e-02 -1.39376429e-04 9.99847913e-01 5.15371096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3992541539999 meters Centerline goodness [0,1] 0.9987539861882537 Centerline is valid? [True, True] Translation: X:557.76, Y:9.40, Z:5.15 [[ 9.99427038e-01 -2.88381216e-02 -1.77188986e-02 5.57756715e+02] [ 2.88363373e-02 9.99584083e-01 -3.56242313e-04 9.40472243e+00] [ 1.77218024e-02 -1.54909938e-04 9.99842945e-01 5.15310414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.429254154 meters Centerline goodness [0,1] 0.9988175675675676 Centerline is valid? [True, True] Translation: X:557.79, Y:9.40, Z:5.15 [[ 9.99425918e-01 -2.89791641e-02 -1.75511239e-02 5.57786407e+02] [ 2.89774326e-02 9.99580004e-01 -3.53016608e-04 9.40384802e+00] [ 1.75539827e-02 -1.55772563e-04 9.99845905e-01 5.15302022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.459254154 meters Centerline goodness [0,1] 0.9984596231351944 Centerline is valid? [True, True] Translation: X:557.82, Y:9.40, Z:5.15 [[ 9.99447969e-01 -2.81625009e-02 -1.76247191e-02 5.57815878e+02] [ 2.81606256e-02 9.99603348e-01 -3.54624801e-04 9.40280330e+00] [ 1.76277154e-02 -1.41894079e-04 9.99844610e-01 5.15342344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4892541539999 meters Centerline goodness [0,1] 0.9986683857876604 Centerline is valid? [True, True] Translation: X:557.85, Y:9.40, Z:5.15 [[ 9.99470154e-01 -2.80388252e-02 -1.65298282e-02 5.57846818e+02] [ 2.80371594e-02 9.99606826e-01 -3.32550542e-04 9.40269050e+00] [ 1.65326535e-02 -1.31075088e-04 9.99863318e-01 5.15432817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5192541539999 meters Centerline goodness [0,1] 0.9986683857876604 Centerline is valid? [True, True] Translation: X:557.88, Y:9.40, Z:5.15 [[ 9.99470154e-01 -2.80388252e-02 -1.65298282e-02 5.57876813e+02] [ 2.80371594e-02 9.99606826e-01 -3.32550542e-04 9.40329394e+00] [ 1.65326535e-02 -1.31075088e-04 9.99863318e-01 5.15460921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.549254154 meters Centerline goodness [0,1] 0.9986478778019563 Centerline is valid? [True, True] Translation: X:557.91, Y:9.40, Z:5.15 [[ 9.99494004e-01 -2.71121063e-02 -1.66333800e-02 5.57907751e+02] [ 2.71102913e-02 9.99632393e-01 -3.34633818e-04 9.40334667e+00] [ 1.66363381e-02 -1.16471283e-04 9.99861600e-01 5.15488692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.579254154 meters Centerline goodness [0,1] 0.9986883303714987 Centerline is valid? [True, True] Translation: X:557.94, Y:9.40, Z:5.15 [[ 9.99526595e-01 -2.61290610e-02 -1.62436804e-02 5.57937082e+02] [ 2.61271982e-02 9.99658573e-01 -3.26916741e-04 9.40297374e+00] [ 1.62466764e-02 -9.76398815e-05 9.99868009e-01 5.15480282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6092541539999 meters Centerline goodness [0,1] 0.9986506146028801 Centerline is valid? [True, True] Translation: X:557.97, Y:9.40, Z:5.16 [[ 9.99557503e-01 -2.47519158e-02 -1.64967029e-02 5.57967669e+02] [ 2.47498042e-02 9.99693622e-01 -3.32179070e-04 9.40346310e+00] [ 1.64998707e-02 -7.62580849e-05 9.99863865e-01 5.15509924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6392541539999 meters Centerline goodness [0,1] 0.9987114218720294 Centerline is valid? [True, True] Translation: X:558.00, Y:9.40, Z:5.15 [[ 9.99607694e-01 -2.19849925e-02 -1.73527623e-02 5.57997211e+02] [ 2.19822398e-02 9.99758300e-01 -3.49382605e-04 9.40358429e+00] [ 1.73562493e-02 -3.22070410e-05 9.99849368e-01 5.15435137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6692541539999 meters Centerline goodness [0,1] 0.9987367357251137 Centerline is valid? [True, True] Translation: X:558.03, Y:9.40, Z:5.15 [[ 9.99634902e-01 -2.06666564e-02 -1.74055040e-02 5.58026027e+02] [ 2.06636533e-02 9.99786422e-01 -3.52383239e-04 9.40400561e+00] [ 1.74090691e-02 -7.40671499e-06 9.99848451e-01 5.15457939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.699254154 meters Centerline goodness [0,1] 0.9988402985704045 Centerline is valid? [True, True] Translation: X:558.05, Y:9.40, Z:5.15 [[ 9.99667773e-01 -1.95021221e-02 -1.68526477e-02 5.58054914e+02] [ 1.94990725e-02 9.99809815e-01 -3.45271213e-04 9.40429769e+00] [ 1.68561761e-02 1.65455059e-05 9.99857924e-01 5.15489888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7292541539999 meters Centerline goodness [0,1] 0.9990305993424935 Centerline is valid? [True, True] Translation: X:558.08, Y:9.40, Z:5.16 [[ 9.99694419e-01 -1.85494401e-02 -1.63397315e-02 5.58083083e+02] [ 1.85463763e-02 9.99827944e-01 -3.39031098e-04 9.40445385e+00] [ 1.63432090e-02 3.58846873e-05 9.99866440e-01 5.15580602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7592541539999 meters Centerline goodness [0,1] 0.9990706908568653 Centerline is valid? [True, True] Translation: X:558.11, Y:9.40, Z:5.16 [[ 9.99752849e-01 -1.58416352e-02 -1.55975316e-02 5.58110593e+02] [ 1.58384647e-02 9.99874510e-01 -3.26787829e-04 9.40431125e+00] [ 1.56007511e-02 7.96661100e-05 9.99878298e-01 5.15570299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7892541539999 meters Centerline goodness [0,1] 0.9989439445782115 Centerline is valid? [True, True] Translation: X:558.14, Y:9.40, Z:5.16 [[ 9.99765819e-01 -1.49000092e-02 -1.56938673e-02 5.58138746e+02] [ 1.48966414e-02 9.99888984e-01 -3.31478168e-04 9.40429116e+00] [ 1.56970640e-02 9.76146292e-05 9.99876789e-01 5.15646669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.819254154 meters Centerline goodness [0,1] 0.9988601583113457 Centerline is valid? [True, True] Translation: X:558.17, Y:9.41, Z:5.16 [[ 9.99775098e-01 -1.40555464e-02 -1.58806339e-02 5.58166699e+02] [ 1.40519387e-02 9.99901209e-01 -3.38738050e-04 9.40506898e+00] [ 1.58838262e-02 1.15508173e-04 9.99873837e-01 5.15620189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8492541539999 meters Centerline goodness [0,1] 0.9989881102959778 Centerline is valid? [True, True] Translation: X:558.20, Y:9.40, Z:5.16 [[ 9.99782290e-01 -1.29484142e-02 -1.63618742e-02 5.58195742e+02] [ 1.29443929e-02 9.99916156e-01 -3.51657801e-04 9.40349763e+00] [ 1.63650557e-02 1.39786714e-04 9.99866074e-01 5.15610100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8792541539999 meters Centerline goodness [0,1] 0.9989873631357988 Centerline is valid? [True, True] Translation: X:558.22, Y:9.40, Z:5.16 [[ 9.99774274e-01 -1.33375894e-02 -1.65381129e-02 5.58223516e+02] [ 1.33334593e-02 9.99911041e-01 -3.59974480e-04 9.40266349e+00] [ 1.65414429e-02 1.39382969e-04 9.99863171e-01 5.15586064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9092541539999 meters Centerline goodness [0,1] 0.9990925589836661 Centerline is valid? [True, True] Translation: X:558.25, Y:9.40, Z:5.16 [[ 9.99760169e-01 -1.41244758e-02 -1.67363123e-02 5.58251123e+02] [ 1.41202739e-02 9.99900236e-01 -3.69213815e-04 9.40159359e+00] [ 1.67398575e-02 1.32803952e-04 9.99859870e-01 5.15585431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.939254154 meters Centerline goodness [0,1] 0.9990519330032656 Centerline is valid? [True, True] Translation: X:558.28, Y:9.40, Z:5.16 [[ 9.99742721e-01 -1.52011513e-02 -1.68350090e-02 5.58278959e+02] [ 1.51969694e-02 9.99884449e-01 -3.76319373e-04 9.40019362e+00] [ 1.68387842e-02 1.20381437e-04 9.99858210e-01 5.15604162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9692541539999 meters Centerline goodness [0,1] 0.9989688335192239 Centerline is valid? [True, True] Translation: X:558.31, Y:9.40, Z:5.16 [[ 9.99688979e-01 -1.87342139e-02 -1.64613074e-02 5.58307513e+02] [ 1.87306206e-02 9.99824497e-01 -3.72452706e-04 9.39556864e+00] [ 1.64653960e-02 6.40063614e-05 9.99864434e-01 5.15631913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9992541539999 meters Centerline goodness [0,1] 0.9988426413029755 Centerline is valid? [True, True] Translation: X:558.33, Y:9.39, Z:5.16 [[ 9.99643691e-01 -2.12995561e-02 -1.60878875e-02 5.58334969e+02] [ 2.12963872e-02 9.99773138e-01 -3.68287857e-04 9.39330825e+00] [ 1.60920822e-02 2.55427511e-05 9.99870514e-01 5.15631097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0292541539999 meters Centerline goodness [0,1] 0.9990330446481124 Centerline is valid? [True, True] Translation: X:558.36, Y:9.39, Z:5.16 [[ 9.99591641e-01 -2.39681838e-02 -1.55588619e-02 5.58364254e+02] [ 2.39654780e-02 9.99712722e-01 -3.60358832e-04 9.39092341e+00] [ 1.55630293e-02 -1.26638869e-05 9.99878889e-01 5.15712134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.059254154 meters Centerline goodness [0,1] 0.9990980597797587 Centerline is valid? [True, True] Translation: X:558.39, Y:9.39, Z:5.16 [[ 9.99534311e-01 -2.65621751e-02 -1.50203682e-02 5.58393655e+02] [ 2.65599090e-02 9.99647162e-01 -3.50360905e-04 9.38831068e+00] [ 1.50243747e-02 -4.87418661e-05 9.99887127e-01 5.15785935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.089254154 meters Centerline goodness [0,1] 0.9989731983822636 Centerline is valid? [True, True] Translation: X:558.42, Y:9.38, Z:5.16 [[ 9.99368702e-01 -3.22641046e-02 -1.48736344e-02 5.58423587e+02] [ 3.22625060e-02 9.99479369e-01 -3.47470019e-04 9.38226781e+00] [ 1.48771015e-02 -1.32610058e-04 9.99889321e-01 5.15816876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1192541539999 meters Centerline goodness [0,1] 0.9989546528402082 Centerline is valid? [True, True] Translation: X:558.45, Y:9.38, Z:5.16 [[ 9.99274662e-01 -3.49945268e-02 -1.50177281e-02 5.58453624e+02] [ 3.49932018e-02 9.99387489e-01 -3.51079485e-04 9.37824775e+00] [ 1.50208154e-02 -1.74693555e-04 9.99887166e-01 5.15757460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1492541539999 meters Centerline goodness [0,1] 0.9988720391026444 Centerline is valid? [True, True] Translation: X:558.48, Y:9.38, Z:5.16 [[ 9.99156881e-01 -3.79546874e-02 -1.56514687e-02 5.58484840e+02] [ 3.79536175e-02 9.99279435e-01 -3.65491522e-04 9.37557492e+00] [ 1.56540629e-02 -2.28846487e-04 9.99877441e-01 5.15750091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.179254154 meters Centerline goodness [0,1] 0.9990398864561374 Centerline is valid? [True, True] Translation: X:558.52, Y:9.37, Z:5.16 [[ 9.98917849e-01 -4.37336081e-02 -1.58272833e-02 5.58516178e+02] [ 4.37332482e-02 9.99043176e-01 -3.69016766e-04 9.37002893e+00] [ 1.58282778e-02 -3.23561075e-04 9.99874673e-01 5.15779889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.209254154 meters Centerline goodness [0,1] 0.9988539517826259 Centerline is valid? [True, True] Translation: X:558.55, Y:9.36, Z:5.16 [[ 9.98791370e-01 -4.66178590e-02 -1.55747712e-02 5.58547340e+02] [ 4.66178715e-02 9.98912730e-01 -3.62442656e-04 9.36400058e+00] [ 1.55747335e-02 -3.64058086e-04 9.99878640e-01 5.15705999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2392541539999 meters Centerline goodness [0,1] 0.998729325500979 Centerline is valid? [True, True] Translation: X:558.58, Y:9.36, Z:5.16 [[ 9.98648159e-01 -4.95911195e-02 -1.55748351e-02 5.58578958e+02] [ 4.95915050e-02 9.98769519e-01 -3.61700666e-04 9.36315097e+00] [ 1.55736077e-02 -4.11167810e-04 9.99878639e-01 5.15818654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2692541539999 meters Centerline goodness [0,1] 0.9989792942548849 Centerline is valid? [True, True] Translation: X:558.61, Y:9.36, Z:5.16 [[ 9.98380261e-01 -5.47859600e-02 -1.53412365e-02 5.58609451e+02] [ 5.47869533e-02 9.98498004e-01 -3.55837495e-04 9.35642622e+00] [ 1.53376889e-02 -4.85238478e-04 9.99882253e-01 5.15874965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.299254154 meters Centerline goodness [0,1] 0.9989583767343028 Centerline is valid? [True, True] Translation: X:558.64, Y:9.36, Z:5.16 [[ 9.98253438e-01 -5.70811415e-02 -1.52255073e-02 5.58642003e+02] [ 5.70823955e-02 9.98369409e-01 -3.52557837e-04 9.35582685e+00] [ 1.52208052e-02 -5.17166358e-04 9.99884023e-01 5.15933638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.329254154 meters Centerline goodness [0,1] 0.9989181091877497 Centerline is valid? [True, True] Translation: X:558.67, Y:9.35, Z:5.16 [[ 9.98147111e-01 -5.88851707e-02 -1.53258187e-02 5.58672659e+02] [ 5.88866676e-02 9.98264612e-01 -3.53972187e-04 9.35321394e+00] [ 1.53200662e-02 -5.49170074e-04 9.99882490e-01 5.15923013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3592541539999 meters Centerline goodness [0,1] 0.9986902286902287 Centerline is valid? [True, True] Translation: X:558.70, Y:9.35, Z:5.16 [[ 9.98055213e-01 -6.03184060e-02 -1.57315615e-02 5.58704605e+02] [ 6.03201738e-02 9.98179015e-01 -3.62527799e-04 9.35208859e+00] [ 1.57247817e-02 -5.87107765e-04 9.99876186e-01 5.15937191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3892541539999 meters Centerline goodness [0,1] 0.9989599367641553 Centerline is valid? [True, True] Translation: X:558.74, Y:9.35, Z:5.16 [[ 9.97938164e-01 -6.21242522e-02 -1.61244801e-02 5.58736037e+02] [ 6.21263620e-02 9.98068223e-01 -3.70514127e-04 9.34802941e+00] [ 1.61163491e-02 -6.32005101e-04 9.99869923e-01 5.15886512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4192541539999 meters Centerline goodness [0,1] 0.9988785046728972 Centerline is valid? [True, True] Translation: X:558.77, Y:9.35, Z:5.16 [[ 9.97933694e-01 -6.21426756e-02 -1.63288169e-02 5.58768342e+02] [ 6.21448583e-02 9.98067070e-01 -3.74189625e-04 9.34867544e+00] [ 1.63205076e-02 -6.41335579e-04 9.99866606e-01 5.15939964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.449254154 meters Centerline goodness [0,1] 0.9988571191089685 Centerline is valid? [True, True] Translation: X:558.80, Y:9.35, Z:5.16 [[ 9.97960498e-01 -6.16671684e-02 -1.64925475e-02 5.58799826e+02] [ 6.16693480e-02 9.98096563e-01 -3.76872967e-04 9.34791818e+00] [ 1.64843957e-02 -6.40980319e-04 9.99863918e-01 5.15919962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4792541539999 meters Centerline goodness [0,1] 0.9988570478585233 Centerline is valid? [True, True] Translation: X:558.83, Y:9.35, Z:5.16 [[ 9.98021462e-01 -6.06402994e-02 -1.66106786e-02 5.58832051e+02] [ 6.06423852e-02 9.98159485e-01 -3.78553942e-04 9.34859184e+00] [ 1.66030620e-02 -6.29506212e-04 9.99861961e-01 5.15937212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5092541539999 meters Centerline goodness [0,1] 0.9988970970762667 Centerline is valid? [True, True] Translation: X:558.86, Y:9.35, Z:5.16 [[ 9.98165092e-01 -5.81434437e-02 -1.69053188e-02 5.58863216e+02] [ 5.81452626e-02 9.98308059e-01 -3.84321249e-04 9.35366887e+00] [ 1.68990618e-02 -5.99348146e-04 9.99857021e-01 5.15998812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5392541539999 meters Centerline goodness [0,1] 0.998855192223633 Centerline is valid? [True, True] Translation: X:558.89, Y:9.36, Z:5.16 [[ 9.98251939e-01 -5.66487704e-02 -1.68517873e-02 5.58894945e+02] [ 5.66503777e-02 9.98394005e-01 -3.82353420e-04 9.35517673e+00] [ 1.68463832e-02 -5.72975072e-04 9.99857925e-01 5.16009635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.569254154 meters Centerline goodness [0,1] 0.9989177714416533 Centerline is valid? [True, True] Translation: X:558.93, Y:9.36, Z:5.16 [[ 9.98337241e-01 -5.51253753e-02 -1.68507228e-02 5.58926743e+02] [ 5.51267811e-02 9.98479290e-01 -3.81414388e-04 9.35667948e+00] [ 1.68461233e-02 -5.48145916e-04 9.99857944e-01 5.16024914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5992541539999 meters Centerline goodness [0,1] 0.9990414270234225 Centerline is valid? [True, True] Translation: X:558.96, Y:9.36, Z:5.16 [[ 9.98417138e-01 -5.35879745e-02 -1.70747667e-02 5.58958607e+02] [ 5.35892092e-02 9.98562992e-01 -3.85557978e-04 9.35815005e+00] [ 1.70708913e-02 -5.30075548e-04 9.99854141e-01 5.16035067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6292541539999 meters Centerline goodness [0,1] 0.9988350080093199 Centerline is valid? [True, True] Translation: X:558.99, Y:9.36, Z:5.16 [[ 9.98526143e-01 -5.14413949e-02 -1.73010220e-02 5.58989335e+02] [ 5.14423543e-02 9.98675889e-01 -3.89875350e-04 9.36034215e+00] [ 1.72981692e-02 -5.00704572e-04 9.99850250e-01 5.16060242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6592541539999 meters Centerline goodness [0,1] 0.99891768134041 Centerline is valid? [True, True] Translation: X:559.02, Y:9.36, Z:5.16 [[ 9.98565720e-01 -5.06723113e-02 -1.72863951e-02 5.59020919e+02] [ 5.06731644e-02 9.98715214e-01 -3.88934779e-04 9.36144010e+00] [ 1.72838940e-02 -4.87579405e-04 9.99850503e-01 5.16101581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.689254154 meters Centerline goodness [0,1] 0.9990207313261799 Centerline is valid? [True, True] Translation: X:559.05, Y:9.36, Z:5.16 [[ 9.98580670e-01 -5.03908461e-02 -1.72455440e-02 5.59052268e+02] [ 5.03916638e-02 9.98729458e-01 -3.87407592e-04 9.36278300e+00] [ 1.72431546e-02 -4.82173920e-04 9.99851209e-01 5.16127005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7192541539999 meters Centerline goodness [0,1] 0.9990193623768987 Centerline is valid? [True, True] Translation: X:559.08, Y:9.36, Z:5.16 [[ 9.98584607e-01 -5.03796752e-02 -1.70491019e-02 5.59083850e+02] [ 5.03804852e-02 9.98730024e-01 -3.82258700e-04 9.36231488e+00] [ 1.70467080e-02 -4.77224373e-04 9.99854580e-01 5.16114907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7492541539999 meters Centerline goodness [0,1] 0.9990398062913561 Centerline is valid? [True, True] Translation: X:559.12, Y:9.36, Z:5.16 [[ 9.98573652e-01 -5.06617703e-02 -1.68536852e-02 5.59115470e+02] [ 5.06626146e-02 9.98715754e-01 -3.77128832e-04 9.36256651e+00] [ 1.68511469e-02 -4.77260842e-04 9.99857895e-01 5.16130593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7792541539999 meters Centerline goodness [0,1] 0.9989156953103823 Centerline is valid? [True, True] Translation: X:559.15, Y:9.36, Z:5.16 [[ 9.98540754e-01 -5.08397764e-02 -1.82120962e-02 5.59146326e+02] [ 5.08408040e-02 9.98706687e-01 -4.06868219e-04 9.36416973e+00] [ 1.82092273e-02 -5.19643114e-04 9.99834063e-01 5.16184607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.809254154 meters Centerline goodness [0,1] 0.9988736154857012 Centerline is valid? [True, True] Translation: X:559.18, Y:9.36, Z:5.16 [[ 9.98522302e-01 -5.14495514e-02 -1.74972924e-02 5.59176545e+02] [ 5.14506014e-02 9.98675464e-01 -3.90442667e-04 9.36362964e+00] [ 1.74942047e-02 -5.10380508e-04 9.99846834e-01 5.16170020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.839254154 meters Centerline goodness [0,1] 0.9990398864561374 Centerline is valid? [True, True] Translation: X:559.21, Y:9.37, Z:5.16 [[ 9.98420130e-01 -5.30327335e-02 -1.85680547e-02 5.59208121e+02] [ 5.30341988e-02 9.98592611e-01 -4.13832856e-04 9.36512598e+00] [ 1.85638689e-02 -5.71562851e-04 9.99827513e-01 5.16262442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8692541539999 meters Centerline goodness [0,1] 0.9990615028467748 Centerline is valid? [True, True] Translation: X:559.24, Y:9.36, Z:5.16 [[ 9.98357809e-01 -5.41619271e-02 -1.86593195e-02 5.59238538e+02] [ 5.41636133e-02 9.98531988e-01 -4.15363161e-04 9.36229496e+00] [ 1.86544243e-02 -5.95975111e-04 9.99825813e-01 5.16178385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8992541539999 meters Centerline goodness [0,1] 0.9990415668298781 Centerline is valid? [True, True] Translation: X:559.27, Y:9.36, Z:5.16 [[ 9.98268796e-01 -5.56658223e-02 -1.89928294e-02 5.59270016e+02] [ 5.56678507e-02 9.98449254e-01 -4.22287700e-04 9.36242009e+00] [ 1.89868833e-02 -6.35733356e-04 9.99819531e-01 5.16238355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.929254154 meters Centerline goodness [0,1] 0.9987480960627622 Centerline is valid? [True, True] Translation: X:559.30, Y:9.36, Z:5.16 [[ 9.98149766e-01 -5.76021422e-02 -1.94688703e-02 5.59300812e+02] [ 5.76046513e-02 9.98339380e-01 -4.32364274e-04 9.36405168e+00] [ 1.94614450e-02 -6.89933184e-04 9.99810370e-01 5.16325326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.959254154 meters Centerline goodness [0,1] 0.9991456197382679 Centerline is valid? [True, True] Translation: X:559.33, Y:9.36, Z:5.16 [[ 9.97888928e-01 -6.18984494e-02 -1.96537247e-02 5.59332027e+02] [ 6.19018489e-02 9.98082146e-01 -4.35927997e-04 9.36371392e+00] [ 1.96430150e-02 -7.81594173e-04 9.99806752e-01 5.16393860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9892541539999 meters Centerline goodness [0,1] 0.9987744843487111 Centerline is valid? [True, True] Translation: X:559.36, Y:9.36, Z:5.16 [[ 9.97739327e-01 -6.43169219e-02 -1.94825101e-02 5.59363017e+02] [ 6.43207363e-02 9.97929184e-01 -4.31424937e-04 9.35941128e+00] [ 1.94699134e-02 -8.22679771e-04 9.99810105e-01 5.16354008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0192541539999 meters Centerline goodness [0,1] 0.9989774624373957 Centerline is valid? [True, True] Translation: X:559.39, Y:9.36, Z:5.16 [[ 9.97585843e-01 -6.67244779e-02 -1.92439575e-02 5.59393788e+02] [ 6.67286562e-02 9.97771069e-01 -4.25632349e-04 9.35949889e+00] [ 1.92294641e-02 -8.59518619e-04 9.99814727e-01 5.16453115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.049254154 meters Centerline goodness [0,1] 0.998809722686268 Centerline is valid? [True, True] Translation: X:559.43, Y:9.36, Z:5.17 [[ 9.97326428e-01 -7.06076954e-02 -1.88294949e-02 5.59425210e+02] [ 7.06123956e-02 9.97503743e-01 -4.15952124e-04 9.36356606e+00] [ 1.88118611e-02 -9.14755700e-04 9.99822623e-01 5.16638626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.079254154 meters Centerline goodness [0,1] 0.9987899776771744 Centerline is valid? [True, True] Translation: X:559.46, Y:9.36, Z:5.17 [[ 9.97220645e-01 -7.21047097e-02 -1.87588779e-02 5.59456529e+02] [ 7.21096552e-02 9.97396625e-01 -4.13521995e-04 9.35682590e+00] [ 1.87398584e-02 -9.40323544e-04 9.99823951e-01 5.16566122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1092541539999 meters Centerline goodness [0,1] 0.9986247421391511 Centerline is valid? [True, True] Translation: X:559.49, Y:9.36, Z:5.17 [[ 9.97119603e-01 -7.34641356e-02 -1.88551888e-02 5.59488904e+02] [ 7.34693975e-02 9.97297386e-01 -4.14418936e-04 9.36312868e+00] [ 1.88346754e-02 -9.72054115e-04 9.99822139e-01 5.16683727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1392541539999 meters Centerline goodness [0,1] 0.9985597094370342 Centerline is valid? [True, True] Translation: X:559.52, Y:9.36, Z:5.17 [[ 9.96961276e-01 -7.56464038e-02 -1.85966482e-02 5.59520657e+02] [ 7.56519230e-02 9.97134204e-01 -4.07538886e-04 9.36417567e+00] [ 1.85741829e-02 -1.00057171e-03 9.99826984e-01 5.16776477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1692541539999 meters Centerline goodness [0,1] 0.9986447039199333 Centerline is valid? [True, True] Translation: X:559.55, Y:9.36, Z:5.17 [[ 9.96894243e-01 -7.66175240e-02 -1.82105134e-02 5.59551911e+02] [ 7.66229961e-02 9.97060057e-01 -3.98077244e-04 9.36312100e+00] [ 1.81874752e-02 -9.98503184e-04 9.99834096e-01 5.16818428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.199254154 meters Centerline goodness [0,1] 0.9984989680405278 Centerline is valid? [True, True] Translation: X:559.58, Y:9.36, Z:5.17 [[ 9.96819242e-01 -7.76406941e-02 -1.79811604e-02 5.59584103e+02] [ 7.76462156e-02 9.96980898e-01 -3.91921289e-04 9.36468120e+00] [ 1.79573025e-02 -1.00549438e-03 9.99838249e-01 5.16896229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2292541539999 meters Centerline goodness [0,1] 0.9988114600275241 Centerline is valid? [True, True] Translation: X:559.62, Y:9.36, Z:5.17 [[ 9.96744343e-01 -7.85834123e-02 -1.80377819e-02 5.59615279e+02] [ 7.85891434e-02 9.96907013e-01 -3.91993374e-04 9.36340016e+00] [ 1.80127954e-02 -1.02685665e-03 9.99837229e-01 5.16926369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2592541539999 meters Centerline goodness [0,1] 0.9987078757059792 Centerline is valid? [True, True] Translation: X:559.65, Y:9.37, Z:5.17 [[ 9.96630262e-01 -8.00159606e-02 -1.80434476e-02 5.59646806e+02] [ 8.00219472e-02 9.96793025e-01 -3.91121313e-04 9.36922667e+00] [ 1.80168786e-02 -1.05406847e-03 9.99837127e-01 5.17022161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2892541539999 meters Centerline goodness [0,1] 0.9987699364119671 Centerline is valid? [True, True] Translation: X:559.68, Y:9.37, Z:5.17 [[ 9.96608798e-01 -8.02548150e-02 -1.81677599e-02 5.59678443e+02] [ 8.02609524e-02 9.96773809e-01 -3.92249162e-04 9.37233502e+00] [ 1.81406271e-02 -1.06724274e-03 9.99834876e-01 5.17085798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.319254154 meters Centerline goodness [0,1] 0.9984392558371832 Centerline is valid? [True, True] Translation: X:559.71, Y:9.37, Z:5.17 [[ 9.96576392e-01 -8.06539157e-02 -1.81780402e-02 5.59710609e+02] [ 8.06601583e-02 9.96741584e-01 -3.90700100e-04 9.37406600e+00] [ 1.81503201e-02 -1.07688111e-03 9.99834689e-01 5.17127140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3492541539999 meters Centerline goodness [0,1] 0.9986432045421337 Centerline is valid? [True, True] Translation: X:559.74, Y:9.38, Z:5.17 [[ 9.96566993e-01 -8.08017379e-02 -1.80362759e-02 5.59742604e+02] [ 8.08079320e-02 9.96729617e-01 -3.86300563e-04 9.37636477e+00] [ 1.80085041e-02 -1.07249976e-03 9.99837259e-01 5.17131941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3792541539999 meters Centerline goodness [0,1] 0.9986678877695446 Centerline is valid? [True, True] Translation: X:559.77, Y:9.38, Z:5.17 [[ 9.96537651e-01 -8.09690604e-02 -1.88870916e-02 5.59773334e+02] [ 8.09759069e-02 9.96715978e-01 -4.03248393e-04 9.37793496e+00] [ 1.88577167e-02 -1.12754717e-03 9.99821542e-01 5.17056969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4092541539999 meters Centerline goodness [0,1] 0.9984569188422721 Centerline is valid? [True, True] Translation: X:559.81, Y:9.38, Z:5.17 [[ 9.96538741e-01 -8.08468345e-02 -1.93475275e-02 5.59805354e+02] [ 8.08540207e-02 9.96725869e-01 -4.11800495e-04 9.37973185e+00] [ 1.93174739e-02 -1.15395024e-03 9.99812734e-01 5.17025662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.439254154 meters Centerline goodness [0,1] 0.9984569188422721 Centerline is valid? [True, True] Translation: X:559.84, Y:9.38, Z:5.17 [[ 9.96544727e-01 -8.07730080e-02 -1.93475579e-02 5.59837092e+02] [ 8.07802081e-02 9.96731854e-01 -4.10367747e-04 9.38034525e+00] [ 1.93174739e-02 -1.15394994e-03 9.99812734e-01 5.17055385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4692541539999 meters Centerline goodness [0,1] 0.998559649305918 Centerline is valid? [True, True] Translation: X:559.87, Y:9.38, Z:5.17 [[ 9.96535956e-01 -8.07354225e-02 -1.99469142e-02 5.59869475e+02] [ 8.07430981e-02 9.96734857e-01 -4.21585845e-04 9.38216120e+00] [ 1.99158216e-02 -1.19045020e-03 9.99800952e-01 5.17009283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4992541539999 meters Centerline goodness [0,1] 0.9986845402154848 Centerline is valid? [True, True] Translation: X:559.90, Y:9.39, Z:5.17 [[ 9.96548105e-01 -8.03891404e-02 -2.07234507e-02 5.59900427e+02] [ 8.03973786e-02 9.96762796e-01 -4.36659256e-04 9.38553734e+00] [ 2.06914673e-02 -1.23095916e-03 9.99785151e-01 5.16998310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5292541539999 meters Centerline goodness [0,1] 0.998641786990409 Centerline is valid? [True, True] Translation: X:559.93, Y:9.39, Z:5.17 [[ 9.96594597e-01 -7.96961813e-02 -2.11596034e-02 5.59932692e+02] [ 7.97046435e-02 9.96818425e-01 -4.44473930e-04 9.38807642e+00] [ 2.11277054e-02 -1.24355833e-03 9.99776012e-01 5.17019818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.559254154 meters Centerline goodness [0,1] 0.9985189820609095 Centerline is valid? [True, True] Translation: X:559.96, Y:9.39, Z:5.17 [[ 9.96594619e-01 -7.99405644e-02 -2.02156254e-02 5.59964253e+02] [ 7.99483770e-02 9.96798916e-01 -4.22722978e-04 9.38978128e+00] [ 2.01847062e-02 -1.19492300e-03 9.99795554e-01 5.17068079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.589254154 meters Centerline goodness [0,1] 0.998452530322041 Centerline is valid? [True, True] Translation: X:560.00, Y:9.39, Z:5.17 [[ 9.96627653e-01 -7.95935867e-02 -1.99545069e-02 5.59995954e+02] [ 7.96011661e-02 9.96826706e-01 -4.15419022e-04 9.39268125e+00] [ 1.99242500e-02 -1.17438393e-03 9.99800803e-01 5.17128285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6192541539999 meters Centerline goodness [0,1] 0.9985982383831621 Centerline is valid? [True, True] Translation: X:560.03, Y:9.40, Z:5.17 [[ 9.96796126e-01 -7.76192181e-02 -1.93065006e-02 5.60026835e+02] [ 7.76259632e-02 9.96982472e-01 -4.00927885e-04 9.39739415e+00] [ 1.92793624e-02 -1.09904234e-03 9.99813532e-01 5.17242564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6492541539999 meters Centerline goodness [0,1] 0.998409942046572 Centerline is valid? [True, True] Translation: X:560.06, Y:9.40, Z:5.17 [[ 9.96943468e-01 -7.59116630e-02 -1.84700241e-02 5.60058735e+02] [ 7.59175586e-02 9.97114024e-01 -3.82762670e-04 9.40118010e+00] [ 1.84457762e-02 -1.02060640e-03 9.99829341e-01 5.17349020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.679254154 meters Centerline goodness [0,1] 0.998430601184373 Centerline is valid? [True, True] Translation: X:560.09, Y:9.41, Z:5.17 [[ 9.97121535e-01 -7.37009604e-02 -1.77992289e-02 5.60090619e+02] [ 7.37061023e-02 9.97279938e-01 -3.67843492e-04 9.40526010e+00] [ 1.77779243e-02 -9.45127116e-04 9.99841514e-01 5.17457069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.709254154 meters Centerline goodness [0,1] 0.9984497098443424 Centerline is valid? [True, True] Translation: X:560.12, Y:9.42, Z:5.18 [[ 9.97315145e-01 -7.12743278e-02 -1.68068688e-02 5.60121674e+02] [ 7.12785828e-02 9.97456387e-01 -3.46483187e-04 9.41726797e+00] [ 1.67888139e-02 -8.52416856e-04 9.99858695e-01 5.17655786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7392541539999 meters Centerline goodness [0,1] 0.9982992125984252 Centerline is valid? [True, True] Translation: X:560.15, Y:9.42, Z:5.18 [[ 9.97742860e-01 -6.52490118e-02 -1.58666648e-02 5.60151371e+02] [ 6.52520471e-02 9.97868761e-01 -3.26875924e-04 9.42491162e+00] [ 1.58541775e-02 -7.09194238e-04 9.99874063e-01 5.17721267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7692541539999 meters Centerline goodness [0,1] 0.9985933825999328 Centerline is valid? [True, True] Translation: X:560.18, Y:9.42, Z:5.18 [[ 9.97959992e-01 -6.18810521e-02 -1.57031531e-02 5.60182398e+02] [ 6.18836101e-02 9.98083320e-01 -3.23429211e-04 9.42334711e+00] [ 1.56930694e-02 -6.48998393e-04 9.99876646e-01 5.17644236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.799254154 meters Centerline goodness [0,1] 0.9984861546224848 Centerline is valid? [True, True] Translation: X:560.21, Y:9.43, Z:5.18 [[ 9.98139319e-01 -5.88903626e-02 -1.58058291e-02 5.60213995e+02] [ 5.88925908e-02 9.98264272e-01 -3.24843902e-04 9.43447551e+00] [ 1.57975247e-02 -6.06606756e-04 9.99875027e-01 5.17746062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.829254154 meters Centerline goodness [0,1] 0.9986744934671464 Centerline is valid? [True, True] Translation: X:560.24, Y:9.44, Z:5.18 [[ 9.98442747e-01 -5.34007126e-02 -1.61383041e-02 5.60244268e+02] [ 5.34023277e-02 9.98573023e-01 -3.31148183e-04 9.44195992e+00] [ 1.61329587e-02 -5.31190503e-04 9.99869714e-01 5.17728699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8592541539999 meters Centerline goodness [0,1] 0.9985689934552495 Centerline is valid? [True, True] Translation: X:560.28, Y:9.45, Z:5.18 [[ 9.98536193e-01 -5.15134964e-02 -1.64872829e-02 5.60276746e+02] [ 5.15149341e-02 9.98672167e-01 -3.37772458e-04 9.44650338e+00] [ 1.64827903e-02 -5.12063265e-04 9.99864018e-01 5.17738181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8892541539999 meters Centerline goodness [0,1] 0.9986289233884577 Centerline is valid? [True, True] Translation: X:560.31, Y:9.45, Z:5.18 [[ 9.98615838e-01 -4.98858311e-02 -1.66677139e-02 5.60308639e+02] [ 4.98870949e-02 9.98754806e-01 -3.40207861e-04 9.44959947e+00] [ 1.66639309e-02 -4.91766868e-04 9.99861026e-01 5.17751552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9192541539999 meters Centerline goodness [0,1] 0.9986724265093246 Centerline is valid? [True, True] Translation: X:560.34, Y:9.45, Z:5.18 [[ 9.98672541e-01 -4.85988744e-02 -1.70676564e-02 5.60341248e+02] [ 4.86000363e-02 9.98818260e-01 -3.46936348e-04 9.45187591e+00] [ 1.70643476e-02 -4.83012918e-04 9.99854277e-01 5.17731878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.949254154 meters Centerline goodness [0,1] 0.9986501592390272 Centerline is valid? [True, True] Translation: X:560.37, Y:9.46, Z:5.18 [[ 9.98703864e-01 -4.75963104e-02 -1.80328211e-02 5.60372914e+02] [ 4.75974724e-02 9.98866531e-01 -3.64991642e-04 9.45530412e+00] [ 1.80297537e-02 -4.93798140e-04 9.99837329e-01 5.17677774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9792541539999 meters Centerline goodness [0,1] 0.9987125912793888 Centerline is valid? [True, True] Translation: X:560.40, Y:9.46, Z:5.18 [[ 9.98700580e-01 -4.75171598e-02 -1.84192879e-02 5.60404300e+02] [ 4.75183811e-02 9.98870295e-01 -3.71601348e-04 9.45627017e+00] [ 1.84161370e-02 -5.04136262e-04 9.99830281e-01 5.17652624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0092541539999 meters Centerline goodness [0,1] 0.9986481919567421 Centerline is valid? [True, True] Translation: X:560.44, Y:9.46, Z:5.18 [[ 9.98698643e-01 -4.73760034e-02 -1.88821422e-02 5.60436082e+02] [ 4.73772851e-02 9.98876994e-01 -3.79695661e-04 9.45847715e+00] [ 1.88789259e-02 -5.15383095e-04 9.99821644e-01 5.17693862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0392541539999 meters Centerline goodness [0,1] 0.9985843475321163 Centerline is valid? [True, True] Translation: X:560.47, Y:9.46, Z:5.18 [[ 9.98696546e-01 -4.74808331e-02 -1.87291240e-02 5.60467415e+02] [ 4.74821354e-02 9.98872017e-01 -3.75400807e-04 9.45945706e+00] [ 1.87258222e-02 -5.14387313e-04 9.99824524e-01 5.17672784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.069254154 meters Centerline goodness [0,1] 0.9985871834341986 Centerline is valid? [True, True] Translation: X:560.50, Y:9.46, Z:5.18 [[ 9.98682194e-01 -4.78443880e-02 -1.85685292e-02 5.60499908e+02] [ 4.78457532e-02 9.98854667e-01 -3.70976928e-04 9.46182664e+00] [ 1.85650113e-02 -5.17937215e-04 9.99827521e-01 5.17742668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0992541539999 meters Centerline goodness [0,1] 0.9988861100018915 Centerline is valid? [True, True] Translation: X:560.53, Y:9.46, Z:5.18 [[ 9.98682156e-01 -4.79277647e-02 -1.83543278e-02 5.60532150e+02] [ 4.79291375e-02 9.98850672e-01 -3.65340617e-04 9.46269392e+00] [ 1.83507426e-02 -5.14847947e-04 9.99831478e-01 5.17770146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1292541539999 meters Centerline goodness [0,1] 0.9986725663716814 Centerline is valid? [True, True] Translation: X:560.56, Y:9.46, Z:5.18 [[ 9.98633896e-01 -4.88912231e-02 -1.84388116e-02 5.60564610e+02] [ 4.88927979e-02 9.98803965e-01 -3.65652198e-04 9.46417151e+00] [ 1.84346353e-02 -5.36372408e-04 9.99829924e-01 5.17802050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1592541539999 meters Centerline goodness [0,1] 0.9987578424354709 Centerline is valid? [True, True] Translation: X:560.60, Y:9.47, Z:5.18 [[ 9.98613636e-01 -4.92735624e-02 -1.85181322e-02 5.60596411e+02] [ 4.92752421e-02 9.98785170e-01 -3.65844973e-04 9.46519290e+00] [ 1.85136623e-02 -5.47147668e-04 9.99828458e-01 5.17830004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.189254154 meters Centerline goodness [0,1] 0.9983574451955272 Centerline is valid? [True, True] Translation: X:560.63, Y:9.47, Z:5.18 [[ 9.98570865e-01 -5.02293779e-02 -1.82547784e-02 5.60628393e+02] [ 5.02311942e-02 9.98737552e-01 -3.59294888e-04 9.46548980e+00] [ 1.82497799e-02 -5.58177914e-04 9.99833303e-01 5.17855806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2192541539999 meters Centerline goodness [0,1] 0.998630252455009 Centerline is valid? [True, True] Translation: X:560.66, Y:9.46, Z:5.18 [[ 9.98516025e-01 -5.13513970e-02 -1.81323297e-02 5.60660786e+02] [ 5.13533980e-02 9.98680480e-01 -3.55550762e-04 9.46497538e+00] [ 1.81266618e-02 -5.76133610e-04 9.99835533e-01 5.17867125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2492541539999 meters Centerline goodness [0,1] 0.9987141381563692 Centerline is valid? [True, True] Translation: X:560.69, Y:9.46, Z:5.18 [[ 9.98391619e-01 -5.36976056e-02 -1.81863336e-02 5.60692414e+02] [ 5.37000287e-02 9.98557049e-01 -3.55433027e-04 9.46418831e+00] [ 1.81791775e-02 -6.21745279e-04 9.99834552e-01 5.17916928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2792541539999 meters Centerline goodness [0,1] 0.9986950665095133 Centerline is valid? [True, True] Translation: X:560.72, Y:9.46, Z:5.18 [[ 9.98343962e-01 -5.45799505e-02 -1.81759010e-02 5.60723117e+02] [ 5.45825465e-02 9.98509199e-01 -3.53596649e-04 9.46356284e+00] [ 1.81681036e-02 -6.39075884e-04 9.99834742e-01 5.17950790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.309254154 meters Centerline goodness [0,1] 0.9987342039197485 Centerline is valid? [True, True] Translation: X:560.75, Y:9.46, Z:5.18 [[ 9.98286264e-01 -5.57281992e-02 -1.78578376e-02 5.60754300e+02] [ 5.57309176e-02 9.98445765e-01 -3.45783751e-04 9.46278224e+00] [ 1.78493522e-02 -6.50042508e-04 9.99840476e-01 5.17971318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.339254154 meters Centerline goodness [0,1] 0.9986716427351509 Centerline is valid? [True, True] Translation: X:560.79, Y:9.46, Z:5.18 [[ 9.98240431e-01 -5.65107181e-02 -1.79605172e-02 5.60786852e+02] [ 5.65136147e-02 9.98401768e-01 -3.46637166e-04 9.46367746e+00] [ 1.79514008e-02 -6.68986514e-04 9.99838637e-01 5.18006282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3692541539999 meters Centerline goodness [0,1] 0.9984167194426853 Centerline is valid? [True, True] Translation: X:560.82, Y:9.46, Z:5.18 [[ 9.98196380e-01 -5.72291343e-02 -1.81331922e-02 5.60818414e+02] [ 5.72322263e-02 9.98360832e-01 -3.48804920e-04 9.46301346e+00] [ 1.81234306e-02 -6.89627149e-04 9.99835519e-01 5.18014985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3992541539999 meters Centerline goodness [0,1] 0.9986505007907222 Centerline is valid? [True, True] Translation: X:560.85, Y:9.46, Z:5.18 [[ 9.98228236e-01 -5.67052114e-02 -1.80251867e-02 5.60849606e+02] [ 5.67081989e-02 9.98390735e-01 -3.45755576e-04 9.46155192e+00] [ 1.80157855e-02 -6.77032892e-04 9.99837473e-01 5.17971492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.429254154 meters Centerline goodness [0,1] 0.9986314925153168 Centerline is valid? [True, True] Translation: X:560.88, Y:9.46, Z:5.18 [[ 9.98292838e-01 -5.55564706e-02 -1.80246610e-02 5.60881858e+02] [ 5.55592910e-02 9.98455330e-01 -3.44631462e-04 9.46343575e+00] [ 1.80159653e-02 -6.57394265e-04 9.99837483e-01 5.18020742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.459254154 meters Centerline goodness [0,1] 0.998631665368503 Centerline is valid? [True, True] Translation: X:560.91, Y:9.46, Z:5.18 [[ 9.98353100e-01 -5.44318470e-02 -1.81180158e-02 5.60913377e+02] [ 5.44345322e-02 9.98517282e-01 -3.45293765e-04 9.46343664e+00] [ 1.81099468e-02 -6.41520610e-04 9.99835796e-01 5.18046146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4892541539999 meters Centerline goodness [0,1] 0.9987539598732841 Centerline is valid? [True, True] Translation: X:560.94, Y:9.47, Z:5.18 [[ 9.98548067e-01 -5.08510871e-02 -1.77742864e-02 5.60944710e+02] [ 5.08531187e-02 9.98706086e-01 -3.37948306e-04 9.47133998e+00] [ 1.77684730e-02 -5.66420268e-04 9.99841968e-01 5.18231674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5192541539999 meters Centerline goodness [0,1] 0.998710604747511 Centerline is valid? [True, True] Translation: X:560.98, Y:9.47, Z:5.18 [[ 9.98664118e-01 -4.86545984e-02 -1.73985386e-02 5.60976200e+02] [ 4.86562256e-02 9.98815530e-01 -3.30021191e-04 9.47276269e+00] [ 1.73939876e-02 -5.16966895e-04 9.99848580e-01 5.18270809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.549254154 meters Centerline goodness [0,1] 0.998793574195187 Centerline is valid? [True, True] Translation: X:561.01, Y:9.48, Z:5.18 [[ 9.98763028e-01 -4.65255246e-02 -1.75439140e-02 5.61008544e+02] [ 4.65268706e-02 9.98916984e-01 -3.31655744e-04 9.47518319e+00] [ 1.75403441e-02 -4.85017922e-04 9.99846039e-01 5.18333335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.579254154 meters Centerline goodness [0,1] 0.9987326264205145 Centerline is valid? [True, True] Translation: X:561.04, Y:9.48, Z:5.18 [[ 9.98861500e-01 -4.43563568e-02 -1.75561476e-02 5.61040435e+02] [ 4.43573925e-02 9.99015672e-01 -3.30594680e-04 9.47682583e+00] [ 1.75535306e-02 -4.48526633e-04 9.99845824e-01 5.18366677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6092541539999 meters Centerline goodness [0,1] 0.9987309376255843 Centerline is valid? [True, True] Translation: X:561.07, Y:9.48, Z:5.18 [[ 9.98941149e-01 -4.26001520e-02 -1.73725908e-02 5.61072162e+02] [ 4.26009227e-02 9.99092115e-01 -3.25874750e-04 9.47795697e+00] [ 1.73707008e-02 -4.14558702e-04 9.99849032e-01 5.18370646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6392541539999 meters Centerline goodness [0,1] 0.9987736806495264 Centerline is valid? [True, True] Translation: X:561.10, Y:9.48, Z:5.18 [[ 9.99067697e-01 -3.92047962e-02 -1.80754149e-02 5.61103185e+02] [ 3.92051090e-02 9.99231127e-01 -3.37185866e-04 9.48028428e+00] [ 1.80747365e-02 -3.71777103e-04 9.99836569e-01 5.18361648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6692541539999 meters Centerline goodness [0,1] 0.998645617302239 Centerline is valid? [True, True] Translation: X:561.14, Y:9.48, Z:5.18 [[ 9.99100112e-01 -3.83180351e-02 -1.81849803e-02 5.61135041e+02] [ 3.83182362e-02 9.99265530e-01 -3.37504443e-04 9.48150706e+00] [ 1.81845565e-02 -3.59615645e-04 9.99834583e-01 5.18384390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.699254154 meters Centerline goodness [0,1] 0.9986035588092165 Centerline is valid? [True, True] Translation: X:561.17, Y:9.48, Z:5.18 [[ 9.99127440e-01 -3.74600764e-02 -1.84689128e-02 5.61166921e+02] [ 3.74601590e-02 9.99298064e-01 -3.41604758e-04 9.48357078e+00] [ 1.84687453e-02 -3.50541723e-04 9.99829377e-01 5.18465401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7292541539999 meters Centerline goodness [0,1] 0.998921958231166 Centerline is valid? [True, True] Translation: X:561.20, Y:9.48, Z:5.18 [[ 9.99135530e-01 -3.72459385e-02 -1.84643625e-02 5.61198623e+02] [ 3.72460032e-02 9.99306069e-01 -3.40506687e-04 9.48371537e+00] [ 1.84642320e-02 -3.47511373e-04 9.99829461e-01 5.18483773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7592541539999 meters Centerline goodness [0,1] 0.998709841162412 Centerline is valid? [True, True] Translation: X:561.23, Y:9.48, Z:5.18 [[ 9.99095213e-01 -3.78428457e-02 -1.94081000e-02 5.61229824e+02] [ 3.78430593e-02 9.99283631e-01 -3.56391372e-04 9.48231448e+00] [ 1.94076835e-02 -3.78392965e-04 9.99811582e-01 5.18469822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7892541539999 meters Centerline goodness [0,1] 0.9987532752937199 Centerline is valid? [True, True] Translation: X:561.26, Y:9.48, Z:5.19 [[ 9.99063574e-01 -3.86558648e-02 -1.94344835e-02 5.61260912e+02] [ 3.86562608e-02 9.99252504e-01 -3.55434900e-04 9.48216714e+00] [ 1.94336960e-02 -3.96162400e-04 9.99811069e-01 5.18512835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.819254154 meters Centerline goodness [0,1] 0.9989012150026413 Centerline is valid? [True, True] Translation: X:561.29, Y:9.48, Z:5.19 [[ 9.99012195e-01 -3.97778294e-02 -1.98080478e-02 5.61292110e+02] [ 3.97784755e-02 9.99208458e-01 -3.61544890e-04 9.48313428e+00] [ 1.98067504e-02 -4.26746191e-04 9.99803736e-01 5.18656903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8492541539999 meters Centerline goodness [0,1] 0.9987980008856836 Centerline is valid? [True, True] Translation: X:561.32, Y:9.48, Z:5.19 [[ 9.98884861e-01 -4.27119899e-02 -2.01176559e-02 5.61323853e+02] [ 4.27132700e-02 9.99087305e-01 -3.66250746e-04 9.48076246e+00] [ 2.01149379e-02 -4.93448544e-04 9.99797552e-01 5.18719207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8792541539999 meters Centerline goodness [0,1] 0.998735271178938 Centerline is valid? [True, True] Translation: X:561.36, Y:9.48, Z:5.19 [[ 9.98826724e-01 -4.40242956e-02 -2.01751512e-02 5.61355961e+02] [ 4.40258771e-02 9.99030324e-01 -3.65978363e-04 9.48021194e+00] [ 2.01716998e-02 -5.22679758e-04 9.99796394e-01 5.18779504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9092541539999 meters Centerline goodness [0,1] 0.9986949016966278 Centerline is valid? [True, True] Translation: X:561.39, Y:9.48, Z:5.19 [[ 9.98748561e-01 -4.55812854e-02 -2.05829786e-02 5.61386692e+02] [ 4.55832850e-02 9.98960472e-01 -3.72255389e-04 9.47829800e+00] [ 2.05785500e-02 -5.66450247e-04 9.99788079e-01 5.18773330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.939254154 meters Centerline goodness [0,1] 0.9987147342028192 Centerline is valid? [True, True] Translation: X:561.42, Y:9.48, Z:5.19 [[ 9.98679648e-01 -4.70629554e-02 -2.05922109e-02 5.61418945e+02] [ 4.70652957e-02 9.98891746e-01 -3.71243863e-04 9.47897095e+00] [ 2.05868613e-02 -5.98424803e-04 9.99787889e-01 5.18882320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9692541539999 meters Centerline goodness [0,1] 0.9988831289248535 Centerline is valid? [True, True] Translation: X:561.45, Y:9.48, Z:5.19 [[ 9.98549347e-01 -4.96480081e-02 -2.08393356e-02 5.61450960e+02] [ 4.96509997e-02 9.98766558e-01 -3.74142206e-04 9.47762125e+00] [ 2.08322069e-02 -6.61094388e-04 9.99782767e-01 5.19017590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9992541539999 meters Centerline goodness [0,1] 0.9984624133791099 Centerline is valid? [True, True] Translation: X:561.48, Y:9.48, Z:5.19 [[ 9.98491484e-01 -5.08044099e-02 -2.08247210e-02 5.61482533e+02] [ 5.08076762e-02 9.98708387e-01 -3.72548135e-04 9.47556137e+00] [ 2.08167506e-02 -6.86069542e-04 9.99783073e-01 5.19031566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0292541539999 meters Centerline goodness [0,1] 0.9987351645340136 Centerline is valid? [True, True] Translation: X:561.51, Y:9.48, Z:5.19 [[ 9.98447406e-01 -5.17064559e-02 -2.07176362e-02 5.61514721e+02] [ 5.17099107e-02 9.98662079e-01 -3.69276398e-04 9.47628633e+00] [ 2.07090117e-02 -7.02604058e-04 9.99785299e-01 5.19143613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.059254154 meters Centerline goodness [0,1] 0.9986336787673681 Centerline is valid? [True, True] Translation: X:561.55, Y:9.48, Z:5.19 [[ 9.98420781e-01 -5.21873769e-02 -2.07947613e-02 5.61546660e+02] [ 5.21909936e-02 9.98637053e-01 -3.69114273e-04 9.47547015e+00] [ 2.07856822e-02 -7.16767892e-04 9.99783697e-01 5.19230480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.089254154 meters Centerline goodness [0,1] 0.9987367357251137 Centerline is valid? [True, True] Translation: X:561.58, Y:9.48, Z:5.19 [[ 9.98418332e-01 -5.20654386e-02 -2.12137956e-02 5.61579075e+02] [ 5.20692091e-02 9.98643408e-01 -3.74954858e-04 9.47735767e+00] [ 2.12045393e-02 -7.30223753e-04 9.99774892e-01 5.19342828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1192541539999 meters Centerline goodness [0,1] 0.9986099703039111 Centerline is valid? [True, True] Translation: X:561.61, Y:9.48, Z:5.19 [[ 9.98425395e-01 -5.13924408e-02 -2.24843711e-02 5.61609860e+02] [ 5.13965397e-02 9.98678246e-01 -3.95927890e-04 9.47726601e+00] [ 2.24750000e-02 -7.60314411e-04 9.99747116e-01 5.19408628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1492541539999 meters Centerline goodness [0,1] 0.9986937468397101 Centerline is valid? [True, True] Translation: X:561.64, Y:9.48, Z:5.20 [[ 9.98460586e-01 -5.06840955e-02 -2.25295524e-02 5.61641927e+02] [ 5.06880649e-02 9.98714456e-01 -3.95205085e-04 9.47921345e+00] [ 2.25206203e-02 -7.47382715e-04 9.99746099e-01 5.19533036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.179254154 meters Centerline goodness [0,1] 0.9985299676592885 Centerline is valid? [True, True] Translation: X:561.67, Y:9.48, Z:5.20 [[ 9.98507157e-01 -4.96797349e-02 -2.27020222e-02 5.61673447e+02] [ 4.96835394e-02 9.98764932e-01 -3.96768583e-04 9.47956379e+00] [ 2.26936950e-02 -7.31740543e-04 9.99742197e-01 5.19568798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.209254154 meters Centerline goodness [0,1] 0.9987181373064072 Centerline is valid? [True, True] Translation: X:561.70, Y:9.48, Z:5.20 [[ 9.98548413e-01 -4.84526569e-02 -2.35246200e-02 5.61704539e+02] [ 4.84564335e-02 9.98825213e-01 -4.09811554e-04 9.47945430e+00] [ 2.35168400e-02 -7.30702505e-04 9.99723174e-01 5.19556793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2392541539999 meters Centerline goodness [0,1] 0.9988197108291531 Centerline is valid? [True, True] Translation: X:561.74, Y:9.48, Z:5.20 [[ 9.98644162e-01 -4.55781439e-02 -2.51489523e-02 5.61736143e+02] [ 4.55815785e-02 9.98960524e-01 -4.36969614e-04 9.48169730e+00] [ 2.51427268e-02 -7.09951787e-04 9.99683620e-01 5.19605772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2692541539999 meters Centerline goodness [0,1] 0.9987582345884284 Centerline is valid? [True, True] Translation: X:561.77, Y:9.48, Z:5.20 [[ 9.98708937e-01 -4.40599430e-02 -2.52820314e-02 5.61766223e+02] [ 4.40629367e-02 9.99028661e-01 -4.38934869e-04 9.48331590e+00] [ 2.52768134e-02 -6.75632371e-04 9.99680262e-01 5.19635527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2992541539999 meters Centerline goodness [0,1] 0.9988392216453506 Centerline is valid? [True, True] Translation: X:561.80, Y:9.48, Z:5.20 [[ 9.98767635e-01 -4.22681326e-02 -2.60118460e-02 5.61797183e+02] [ 4.22707026e-02 9.99106092e-01 -4.51299744e-04 9.48468263e+00] [ 2.60076694e-02 -6.48795429e-04 9.99661533e-01 5.19635250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.329254154 meters Centerline goodness [0,1] 0.9988392216453506 Centerline is valid? [True, True] Translation: X:561.83, Y:9.49, Z:5.20 [[ 9.98767635e-01 -4.22681310e-02 -2.60118490e-02 5.61827191e+02] [ 4.22707055e-02 9.99106092e-01 -4.51127754e-04 9.48520298e+00] [ 2.60076651e-02 -6.48967407e-04 9.99661533e-01 5.19663360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3592541539999 meters Centerline goodness [0,1] 0.99858637859735 Centerline is valid? [True, True] Translation: X:561.86, Y:9.49, Z:5.20 [[ 9.98827579e-01 -4.09182581e-02 -2.58681794e-02 5.61857326e+02] [ 4.09203518e-02 9.99162311e-01 -4.48636068e-04 9.48652852e+00] [ 2.58648673e-02 -6.10424923e-04 9.99665262e-01 5.19702575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3892541539999 meters Centerline goodness [0,1] 0.9987339902517249 Centerline is valid? [True, True] Translation: X:561.89, Y:9.49, Z:5.20 [[ 9.98919259e-01 -3.84513488e-02 -2.61114526e-02 5.61886477e+02] [ 3.84526319e-02 9.99260321e-01 -4.53159281e-04 9.48788872e+00] [ 2.61095631e-02 -5.51384542e-04 9.99658935e-01 5.19693483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4192541539999 meters Centerline goodness [0,1] 0.9988391236438854 Centerline is valid? [True, True] Translation: X:561.92, Y:9.49, Z:5.20 [[ 9.98933408e-01 -3.77578338e-02 -2.65780425e-02 5.61915569e+02] [ 3.77588887e-02 9.99286772e-01 -4.62353528e-04 9.48816601e+00] [ 2.65765438e-02 -5.41696965e-04 9.99646635e-01 5.19704132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.449254154 meters Centerline goodness [0,1] 0.9988591709975916 Centerline is valid? [True, True] Translation: X:561.94, Y:9.49, Z:5.20 [[ 9.98931347e-01 -3.76318817e-02 -2.68329001e-02 5.61944286e+02] [ 3.76327796e-02 9.99291525e-01 -4.71704757e-04 9.48881066e+00] [ 2.68316407e-02 -5.38595946e-04 9.99639822e-01 5.19769373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4792541539999 meters Centerline goodness [0,1] 0.9989647158250581 Centerline is valid? [True, True] Translation: X:561.97, Y:9.49, Z:5.20 [[ 9.98911707e-01 -3.80047224e-02 -2.70378147e-02 5.61972761e+02] [ 3.80055861e-02 9.99277410e-01 -4.82128256e-04 9.48872619e+00] [ 2.70366006e-02 -5.45984434e-04 9.99634295e-01 5.19779999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5092541539999 meters Centerline goodness [0,1] 0.9989643438378458 Centerline is valid? [True, True] Translation: X:562.00, Y:9.49, Z:5.20 [[ 9.98866901e-01 -3.92976853e-02 -2.68440970e-02 5.62001508e+02] [ 3.92988185e-02 9.99227385e-01 -4.85553892e-04 9.48886979e+00] [ 2.68424380e-02 -5.69937583e-04 9.99639514e-01 5.19969686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5392541539999 meters Centerline goodness [0,1] 0.9988393196302705 Centerline is valid? [True, True] Translation: X:562.03, Y:9.49, Z:5.20 [[ 9.98825603e-01 -4.05788704e-02 -2.64720441e-02 5.62029788e+02] [ 4.05803334e-02 9.99176163e-01 -4.82169036e-04 9.48603824e+00] [ 2.64698013e-02 -5.92641595e-04 9.99649438e-01 5.19841452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.569254154 meters Centerline goodness [0,1] 0.998839074636947 Centerline is valid? [True, True] Translation: X:562.06, Y:9.49, Z:5.20 [[ 9.98782119e-01 -4.17693458e-02 -2.62602548e-02 5.62058966e+02] [ 4.17711599e-02 9.99127089e-01 -4.79707169e-04 9.48564362e+00] [ 2.62573690e-02 -6.17798360e-04 9.99655025e-01 5.19909062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5992541539999 meters Centerline goodness [0,1] 0.999071632028695 Centerline is valid? [True, True] Translation: X:562.09, Y:9.49, Z:5.20 [[ 9.98722928e-01 -4.32070455e-02 -2.61852070e-02 5.62088758e+02] [ 4.32093149e-02 9.99065926e-01 -4.79408549e-04 9.48500933e+00] [ 2.61814619e-02 -6.52648546e-04 9.99656994e-01 5.19949050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6292541539999 meters Centerline goodness [0,1] 0.9985634915605129 Centerline is valid? [True, True] Translation: X:562.12, Y:9.48, Z:5.20 [[ 9.98566625e-01 -4.67218554e-02 -2.61106114e-02 5.62118217e+02] [ 4.67252962e-02 9.98907662e-01 -4.78655855e-04 9.48194770e+00] [ 2.61044534e-02 -7.42056288e-04 9.99658945e-01 5.19967290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6592541539999 meters Centerline goodness [0,1] 0.9986495326116773 Centerline is valid? [True, True] Translation: X:562.15, Y:9.48, Z:5.20 [[ 9.98507343e-01 -4.80261927e-02 -2.60109873e-02 5.62148217e+02] [ 4.80300378e-02 9.98845778e-01 -4.77273228e-04 9.47997007e+00] [ 2.60038864e-02 -7.72747879e-04 9.99661543e-01 5.19933671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.689254154 meters Centerline goodness [0,1] 0.998816868080791 Centerline is valid? [True, True] Translation: X:562.18, Y:9.48, Z:5.20 [[ 9.98384591e-01 -5.05115571e-02 -2.60151997e-02 5.62179855e+02] [ 5.05162581e-02 9.98723125e-01 -4.76891510e-04 9.48377483e+00] [ 2.60060701e-02 -8.38069408e-04 9.99661434e-01 5.20241566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7192541539999 meters Centerline goodness [0,1] 0.998734604352961 Centerline is valid? [True, True] Translation: X:562.21, Y:9.48, Z:5.20 [[ 9.98201554e-01 -5.43934983e-02 -2.51993043e-02 5.62211390e+02] [ 5.43991673e-02 9.98519163e-01 -4.61006330e-04 9.48182279e+00] [ 2.51870640e-02 -9.10643934e-04 9.99682341e-01 5.20301653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7492541539999 meters Centerline goodness [0,1] 0.9987986595569793 Centerline is valid? [True, True] Translation: X:562.24, Y:9.48, Z:5.20 [[ 9.98116420e-01 -5.59879231e-02 -2.50791615e-02 5.62242106e+02] [ 5.59940641e-02 9.98430997e-01 -4.57872295e-04 9.48054757e+00] [ 2.50654475e-02 -9.47274322e-04 9.99685364e-01 5.20316112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7792541539999 meters Centerline goodness [0,1] 0.9987141110502129 Centerline is valid? [True, True] Translation: X:562.27, Y:9.48, Z:5.20 [[ 9.98036841e-01 -5.75626443e-02 -2.46780597e-02 5.62273307e+02] [ 5.75690933e-02 9.98341423e-01 -4.49638929e-04 9.47986820e+00] [ 2.46630117e-02 -9.71937307e-04 9.99695349e-01 5.20355330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.809254154 meters Centerline goodness [0,1] 0.9988208788663593 Centerline is valid? [True, True] Translation: X:562.31, Y:9.48, Z:5.20 [[ 9.97960085e-01 -5.88987068e-02 -2.46294835e-02 5.62305657e+02] [ 5.89055728e-02 9.98263459e-01 -4.47281304e-04 9.47920166e+00] [ 2.46130577e-02 -1.00444495e-03 9.99696548e-01 5.20424505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.839254154 meters Centerline goodness [0,1] 0.9986496180951175 Centerline is valid? [True, True] Translation: X:562.34, Y:9.48, Z:5.20 [[ 9.97900448e-01 -6.03386792e-02 -2.35359442e-02 5.62337994e+02] [ 6.03453884e-02 9.98177466e-01 -4.25721802e-04 9.47832477e+00] [ 2.35187366e-02 -9.95457718e-04 9.99722901e-01 5.20492471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8692541539999 meters Centerline goodness [0,1] 0.9988861334117943 Centerline is valid? [True, True] Translation: X:562.37, Y:9.48, Z:5.21 [[ 9.97899808e-01 -6.03154868e-02 -2.36223595e-02 5.62370448e+02] [ 6.03222801e-02 9.98178862e-01 -4.25542440e-04 9.47932784e+00] [ 2.36050068e-02 -1.00030587e-03 9.99720863e-01 5.20536116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8992541539999 meters Centerline goodness [0,1] 0.9987776349343506 Centerline is valid? [True, True] Translation: X:562.40, Y:9.48, Z:5.20 [[ 9.97930814e-01 -5.98935580e-02 -2.33848598e-02 5.62401351e+02] [ 5.99001337e-02 9.98204287e-01 -4.19807867e-04 9.47762056e+00] [ 2.33680111e-02 -9.81817024e-04 9.99726449e-01 5.20447532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.929254154 meters Centerline goodness [0,1] 0.9987564810521435 Centerline is valid? [True, True] Translation: X:562.43, Y:9.48, Z:5.21 [[ 9.97919715e-01 -5.99005015e-02 -2.38363677e-02 5.62433653e+02] [ 5.99073737e-02 9.98203849e-01 -4.26319944e-04 9.48092530e+00] [ 2.38190908e-02 -1.00254111e-03 9.99715783e-01 5.20527262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.959254154 meters Centerline goodness [0,1] 0.9987742508136439 Centerline is valid? [True, True] Translation: X:562.47, Y:9.48, Z:5.20 [[ 9.97989615e-01 -5.85059793e-02 -2.43675879e-02 5.62465021e+02] [ 5.85127837e-02 9.98286565e-01 -4.34289189e-04 9.47991126e+00] [ 2.43512441e-02 -9.92399299e-04 9.99702972e-01 5.20358908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9892541539999 meters Centerline goodness [0,1] 0.9989230281913208 Centerline is valid? [True, True] Translation: X:562.50, Y:9.48, Z:5.20 [[ 9.98040767e-01 -5.74891626e-02 -2.46905699e-02 5.62495903e+02] [ 5.74958992e-02 9.98345647e-01 -4.37573737e-04 9.48039058e+00] [ 2.46748787e-02 -9.82890086e-04 9.99695046e-01 5.20331418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0192541539999 meters Centerline goodness [0,1] 0.9989215478959611 Centerline is valid? [True, True] Translation: X:562.53, Y:9.48, Z:5.20 [[ 9.98118323e-01 -5.60774389e-02 -2.48018891e-02 5.62527395e+02] [ 5.60838444e-02 9.98425967e-01 -4.37805199e-04 9.48341719e+00] [ 2.47874011e-02 -9.54003897e-04 9.99692290e-01 5.20361827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0492541539999 meters Centerline goodness [0,1] 0.9988582785377508 Centerline is valid? [True, True] Translation: X:562.56, Y:9.49, Z:5.20 [[ 9.98261092e-01 -5.33458239e-02 -2.50801730e-02 5.62558249e+02] [ 5.33515354e-02 9.98575695e-01 -4.41829931e-04 9.48592394e+00] [ 2.50680209e-02 -8.97004106e-04 9.99685345e-01 5.20324768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.079254154 meters Centerline goodness [0,1] 0.999025382431459 Centerline is valid? [True, True] Translation: X:562.59, Y:9.49, Z:5.21 [[ 9.98356916e-01 -5.14865412e-02 -2.51516356e-02 5.62589881e+02] [ 5.14917262e-02 9.98673323e-01 -4.41887710e-04 9.49195622e+00] [ 2.51410188e-02 -8.53939484e-04 9.99683550e-01 5.20524208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1092541539999 meters Centerline goodness [0,1] 0.9989850291804111 Centerline is valid? [True, True] Translation: X:562.62, Y:9.49, Z:5.21 [[ 9.98440173e-01 -4.96455999e-02 -2.55447846e-02 5.62621574e+02] [ 4.96503829e-02 9.98766559e-01 -4.47376937e-04 9.49498833e+00] [ 2.55354869e-02 -8.21629230e-04 9.99673579e-01 5.20608305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1392541539999 meters Centerline goodness [0,1] 0.9987699616143193 Centerline is valid? [True, True] Translation: X:562.65, Y:9.50, Z:5.21 [[ 9.98655336e-01 -4.53677088e-02 -2.50856515e-02 5.62652300e+02] [ 4.53709863e-02 9.98970110e-01 -4.38795020e-04 9.50018121e+00] [ 2.50797231e-02 -6.99955760e-04 9.99685209e-01 5.20690467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1692541539999 meters Centerline goodness [0,1] 0.9987495761275008 Centerline is valid? [True, True] Translation: X:562.68, Y:9.50, Z:5.21 [[ 9.98754100e-01 -4.32264359e-02 -2.49343884e-02 5.62682961e+02] [ 4.32290077e-02 9.99065094e-01 -4.36129603e-04 9.50317365e+00] [ 2.49299295e-02 -6.42302640e-04 9.99688995e-01 5.20735931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.199254154 meters Centerline goodness [0,1] 0.9988554472233997 Centerline is valid? [True, True] Translation: X:562.71, Y:9.51, Z:5.21 [[ 9.98850260e-01 -4.11407851e-02 -2.46088132e-02 5.62713470e+02] [ 4.11426575e-02 9.99153190e-01 -4.30434937e-04 9.50618334e+00] [ 2.46056826e-02 -5.82531923e-04 9.99697065e-01 5.20789272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2292541539999 meters Centerline goodness [0,1] 0.9989409023511968 Centerline is valid? [True, True] Translation: X:562.74, Y:9.51, Z:5.21 [[ 9.99029048e-01 -3.75101220e-02 -2.31074223e-02 5.62744063e+02] [ 3.75108019e-02 9.99296140e-01 -4.04173976e-04 9.51096330e+00] [ 2.31063185e-02 -4.62996398e-04 9.99732906e-01 5.20868517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2592541539999 meters Centerline goodness [0,1] 0.9989401390537561 Centerline is valid? [True, True] Translation: X:562.77, Y:9.51, Z:5.21 [[ 9.99095613e-01 -3.60316857e-02 -2.25759330e-02 5.62774556e+02] [ 3.60319573e-02 9.99350560e-01 -3.94877649e-04 9.51302988e+00] [ 2.25754994e-02 -4.18934526e-04 9.99745053e-01 5.20927298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2892541539999 meters Centerline goodness [0,1] 0.9987921169739351 Centerline is valid? [True, True] Translation: X:562.81, Y:9.52, Z:5.21 [[ 9.99158141e-01 -3.45404027e-02 -2.21352499e-02 5.62805189e+02] [ 3.45402980e-02 9.99403231e-01 -3.87169623e-04 9.51503852e+00] [ 2.21354133e-02 -3.77714447e-04 9.99754910e-01 5.20971732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.319254154 meters Centerline goodness [0,1] 0.9990015719930323 Centerline is valid? [True, True] Translation: X:562.83, Y:9.52, Z:5.21 [[ 9.99257384e-01 -3.17918433e-02 -2.17705905e-02 5.62834582e+02] [ 3.17910851e-02 9.99494463e-01 -3.81012205e-04 9.51841266e+00] [ 2.17716977e-02 -3.11381435e-04 9.99762920e-01 5.20989797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3492541539999 meters Centerline goodness [0,1] 0.9988326187545103 Centerline is valid? [True, True] Translation: X:562.86, Y:9.52, Z:5.21 [[ 9.99303398e-01 -3.03913222e-02 -2.16584155e-02 5.62864492e+02] [ 3.03902300e-02 9.99538038e-01 -3.79646953e-04 9.52052525e+00] [ 2.16599481e-02 -2.78821739e-04 9.99765357e-01 5.21011723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3792541539999 meters Centerline goodness [0,1] 0.998895121536631 Centerline is valid? [True, True] Translation: X:562.89, Y:9.52, Z:5.21 [[ 9.99343504e-01 -2.93695572e-02 -2.12129494e-02 5.62894088e+02] [ 2.93682635e-02 9.99568590e-01 -3.72577585e-04 9.52264786e+00] [ 2.12147404e-02 -2.50654498e-04 9.99774911e-01 5.21064197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4092541539999 meters Centerline goodness [0,1] 0.9988320485867788 Centerline is valid? [True, True] Translation: X:562.92, Y:9.52, Z:5.21 [[ 9.99390623e-01 -2.80991504e-02 -2.07079590e-02 5.62923269e+02] [ 2.80976400e-02 9.99605117e-01 -3.63947000e-04 9.52421569e+00] [ 2.07100083e-02 -2.18119557e-04 9.99785501e-01 5.21110531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.439254154 meters Centerline goodness [0,1] 0.99908557332426 Centerline is valid? [True, True] Translation: X:562.95, Y:9.53, Z:5.21 [[ 9.99465427e-01 -2.57069175e-02 -2.01993674e-02 5.62952889e+02] [ 2.57049851e-02 9.99669509e-01 -3.55341689e-04 9.52727184e+00] [ 2.02018265e-02 -1.64072706e-04 9.99795909e-01 5.21297189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4692541539999 meters Centerline goodness [0,1] 0.998894792773645 Centerline is valid? [True, True] Translation: X:562.98, Y:9.53, Z:5.21 [[ 9.99485892e-01 -2.52804267e-02 -1.97193029e-02 5.62981364e+02] [ 2.52784842e-02 9.99680388e-01 -3.47802747e-04 9.52714516e+00] [ 1.97217930e-02 -1.50850148e-04 9.99805495e-01 5.21172329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4992541539999 meters Centerline goodness [0,1] 0.9990228981689961 Centerline is valid? [True, True] Translation: X:563.01, Y:9.53, Z:5.21 [[ 9.99523207e-01 -2.40484018e-02 -1.93657459e-02 5.63010588e+02] [ 2.40462420e-02 9.99710788e-01 -3.44408220e-04 9.52805493e+00] [ 1.93684276e-02 -1.21429404e-04 9.99812407e-01 5.21252328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5292541539999 meters Centerline goodness [0,1] 0.9988517967254944 Centerline is valid? [True, True] Translation: X:563.04, Y:9.53, Z:5.21 [[ 9.99518764e-01 -2.42465154e-02 -1.93480562e-02 5.63038845e+02] [ 2.42443061e-02 9.99706003e-01 -3.48774759e-04 9.52824407e+00] [ 1.93508245e-02 -1.20473280e-04 9.99812748e-01 5.21286136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.559254154 meters Centerline goodness [0,1] 0.9987704570507928 Centerline is valid? [True, True] Translation: X:563.07, Y:9.53, Z:5.21 [[ 9.99519200e-01 -2.43211408e-02 -1.92314869e-02 5.63067945e+02] [ 2.43188798e-02 9.99704191e-01 -3.51458105e-04 9.52861083e+00] [ 1.92343459e-02 -1.16399094e-04 9.99814996e-01 5.21310327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.589254154 meters Centerline goodness [0,1] 0.9988957315778297 Centerline is valid? [True, True] Translation: X:563.10, Y:9.53, Z:5.21 [[ 9.99516846e-01 -2.44482393e-02 -1.91926510e-02 5.63096955e+02] [ 2.44459562e-02 9.99701090e-01 -3.53596010e-04 9.52845921e+00] [ 1.91955589e-02 -1.15757537e-04 9.99815742e-01 5.21319071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6192541539999 meters Centerline goodness [0,1] 0.9990246591607829 Centerline is valid? [True, True] Translation: X:563.13, Y:9.53, Z:5.21 [[ 9.99469274e-01 -2.61490082e-02 -1.94267914e-02 5.63125871e+02] [ 2.61469703e-02 9.99658045e-01 -3.58937575e-04 9.52603943e+00] [ 1.94295341e-02 -1.49204660e-04 9.99811218e-01 5.21192617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6492541539999 meters Centerline goodness [0,1] 0.9991094902892036 Centerline is valid? [True, True] Translation: X:563.16, Y:9.53, Z:5.21 [[ 9.99427677e-01 -2.75552082e-02 -1.96221316e-02 5.63155833e+02] [ 2.75533834e-02 9.99620267e-01 -3.63397463e-04 9.52585060e+00] [ 1.96246939e-02 -1.77466630e-04 9.99807401e-01 5.21309135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.679254154 meters Centerline goodness [0,1] 0.9988565620632702 Centerline is valid? [True, True] Translation: X:563.19, Y:9.53, Z:5.21 [[ 9.99387872e-01 -2.90256605e-02 -1.95292520e-02 5.63185601e+02] [ 2.90241201e-02 9.99578646e-01 -3.62369294e-04 9.52569600e+00] [ 1.95315412e-02 -2.04671876e-04 9.99809220e-01 5.21428812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.709254154 meters Centerline goodness [0,1] 0.9987498675707173 Centerline is valid? [True, True] Translation: X:563.22, Y:9.52, Z:5.21 [[ 9.99333025e-01 -3.09258810e-02 -1.94189401e-02 5.63215242e+02] [ 3.09247094e-02 9.99521652e-01 -3.60689987e-04 9.52427445e+00] [ 1.94208058e-02 -2.40075665e-04 9.99811370e-01 5.21435809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7392541539999 meters Centerline goodness [0,1] 0.9989832231825114 Centerline is valid? [True, True] Translation: X:563.25, Y:9.52, Z:5.22 [[ 9.99179366e-01 -3.54163584e-02 -1.96539056e-02 5.63246094e+02] [ 3.54160298e-02 9.99372589e-01 -3.64893161e-04 9.52145978e+00] [ 1.96544977e-02 -3.31469591e-04 9.99806777e-01 5.21527404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7692541539999 meters Centerline goodness [0,1] 0.9988137603795967 Centerline is valid? [True, True] Translation: X:563.28, Y:9.52, Z:5.22 [[ 9.99108354e-01 -3.76948622e-02 -1.90156381e-02 5.63276413e+02] [ 3.76949804e-02 9.99289230e-01 -3.52340282e-04 9.51958231e+00] [ 1.90154037e-02 -3.64767986e-04 9.99819124e-01 5.21525786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7992541539999 meters Centerline goodness [0,1] 0.9988806521785043 Centerline is valid? [True, True] Translation: X:563.31, Y:9.52, Z:5.22 [[ 9.99035399e-01 -3.96663367e-02 -1.88375480e-02 5.63308148e+02] [ 3.96668191e-02 9.99212901e-01 -3.48179955e-04 9.51797969e+00] [ 1.88365320e-02 -3.99381508e-04 9.99822497e-01 5.21533443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.829254154 meters Centerline goodness [0,1] 0.9988178171838716 Centerline is valid? [True, True] Translation: X:563.34, Y:9.52, Z:5.22 [[ 9.98960516e-01 -4.16799311e-02 -1.84572599e-02 5.63339873e+02] [ 4.16807532e-02 9.99130922e-01 -3.40317040e-04 9.51611261e+00] [ 1.84554035e-02 -4.29349209e-04 9.99829592e-01 5.21554267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8592541539999 meters Centerline goodness [0,1] 0.998648620114445 Centerline is valid? [True, True] Translation: X:563.37, Y:9.51, Z:5.22 [[ 9.98759607e-01 -4.67839943e-02 -1.70441958e-02 5.63369848e+02] [ 4.67854458e-02 9.98904912e-01 -3.13787140e-04 9.51041613e+00] [ 1.70402111e-02 -4.84022377e-04 9.99854688e-01 5.21555558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8892541539999 meters Centerline goodness [0,1] 0.9989002157269151 Centerline is valid? [True, True] Translation: X:563.40, Y:9.51, Z:5.22 [[ 9.98620042e-01 -4.98522062e-02 -1.65157582e-02 5.63402244e+02] [ 4.98539969e-02 9.98756470e-01 -3.03532436e-04 9.51030946e+00] [ 1.65103521e-02 -5.20262983e-04 9.99863559e-01 5.21690015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9192541539999 meters Centerline goodness [0,1] 0.9987737584304108 Centerline is valid? [True, True] Translation: X:563.43, Y:9.51, Z:5.22 [[ 9.98481123e-01 -5.27112860e-02 -1.60302124e-02 5.63432973e+02] [ 5.27133555e-02 9.98609641e-01 -2.93695770e-04 9.50705661e+00] [ 1.60234058e-02 -5.51756605e-04 9.99871465e-01 5.21705338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.949254154 meters Centerline goodness [0,1] 0.9985657639416181 Centerline is valid? [True, True] Translation: X:563.46, Y:9.50, Z:5.22 [[ 9.98130510e-01 -5.90438460e-02 -1.57895127e-02 5.63462385e+02] [ 5.90466533e-02 9.98255182e-01 -2.88744525e-04 9.50078543e+00] [ 1.57790115e-02 -6.44113163e-04 9.99875296e-01 5.21661415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9792541539999 meters Centerline goodness [0,1] 0.9987956134975806 Centerline is valid? [True, True] Translation: X:563.49, Y:9.50, Z:5.22 [[ 9.97921950e-01 -6.25597667e-02 -1.54291113e-02 5.63493950e+02] [ 6.25628743e-02 9.98040985e-01 -2.81648279e-04 9.49888128e+00] [ 1.54165053e-02 -6.84226551e-04 9.99880925e-01 5.21671468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0092541539999 meters Centerline goodness [0,1] 0.9987136229439055 Centerline is valid? [True, True] Translation: X:563.52, Y:9.50, Z:5.22 [[ 9.97723482e-01 -6.57099671e-02 -1.51675293e-02 5.63523752e+02] [ 6.57133384e-02 9.97838504e-01 -2.76544972e-04 9.49509675e+00] [ 1.51529165e-02 -7.20793574e-04 9.99884928e-01 5.21652097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0392541539999 meters Centerline goodness [0,1] 0.9987137314439946 Centerline is valid? [True, True] Translation: X:563.55, Y:9.49, Z:5.22 [[ 9.97333148e-01 -7.15908059e-02 -1.41897565e-02 5.63553115e+02] [ 7.15943489e-02 9.97433798e-01 -2.58788301e-04 9.48919983e+00] [ 1.41718696e-02 -7.57808224e-04 9.99899287e-01 5.21659596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.069254154 meters Centerline goodness [0,1] 0.9986509274873524 Centerline is valid? [True, True] Translation: X:563.58, Y:9.49, Z:5.22 [[ 9.97187818e-01 -7.37391074e-02 -1.33790832e-02 5.63584085e+02] [ 7.37424490e-02 9.97277289e-01 -2.44064099e-04 9.48704470e+00] [ 1.33606529e-02 -7.43228616e-04 9.99910466e-01 5.21681273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0992541539999 meters Centerline goodness [0,1] 0.9982931557653405 Centerline is valid? [True, True] Translation: X:563.62, Y:9.49, Z:5.22 [[ 9.97054877e-01 -7.56418627e-02 -1.26444020e-02 5.63616427e+02] [ 7.56450045e-02 9.97134785e-01 -2.30283580e-04 9.48631349e+00] [ 1.26255922e-02 -7.26880483e-04 9.99920030e-01 5.21705945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1292541539999 meters Centerline goodness [0,1] 0.998400841662283 Centerline is valid? [True, True] Translation: X:563.65, Y:9.49, Z:5.22 [[ 9.96962280e-01 -7.69920467e-02 -1.17659153e-02 5.63648396e+02] [ 7.69948698e-02 9.97031466e-01 -2.13517706e-04 9.48528962e+00] [ 1.17474269e-02 -6.93046014e-04 9.99930756e-01 5.21722846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1592541539999 meters Centerline goodness [0,1] 0.9985048224739923 Centerline is valid? [True, True] Translation: X:563.68, Y:9.48, Z:5.22 [[ 9.96870227e-01 -7.83169094e-02 -1.07801807e-02 5.63679918e+02] [ 7.83193646e-02 9.96928302e-01 -1.94876952e-04 9.48206433e+00] [ 1.07623294e-02 -6.50029871e-04 9.99941873e-01 5.21694645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.189254154 meters Centerline goodness [0,1] 0.9985726879644011 Centerline is valid? [True, True] Translation: X:563.71, Y:9.48, Z:5.22 [[ 9.96853596e-01 -7.85368147e-02 -1.07180500e-02 5.63712288e+02] [ 7.85392666e-02 9.96911002e-01 -1.92596003e-04 9.48333183e+00] [ 1.07000679e-02 -6.49797769e-04 9.99942542e-01 5.21659441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2192541539999 meters Centerline goodness [0,1] 0.9986518368722616 Centerline is valid? [True, True] Translation: X:563.74, Y:9.49, Z:5.22 [[ 9.96878826e-01 -7.81945861e-02 -1.08725718e-02 5.63744074e+02] [ 7.81970972e-02 9.96937900e-01 -1.94614938e-04 9.49354731e+00] [ 1.08544967e-02 -6.56196042e-04 9.99940873e-01 5.21662988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2492541539999 meters Centerline goodness [0,1] 0.9986518368722616 Centerline is valid? [True, True] Translation: X:563.78, Y:9.49, Z:5.22 [[ 9.96887492e-01 -7.80840227e-02 -1.08725871e-02 5.63776665e+02] [ 7.80865365e-02 9.96946566e-01 -1.93757349e-04 9.49403720e+00] [ 1.08545177e-02 -6.55848390e-04 9.99940873e-01 5.21693504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2792541539999 meters Centerline goodness [0,1] 0.9986530569293908 Centerline is valid? [True, True] Translation: X:563.81, Y:9.49, Z:5.22 [[ 9.97062498e-01 -7.57613700e-02 -1.12511746e-02 5.63806980e+02] [ 7.57639272e-02 9.97125763e-01 -1.99393954e-04 9.48534080e+00] [ 1.12339424e-02 -6.53624939e-04 9.99936684e-01 5.21529525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.309254154 meters Centerline goodness [0,1] 0.9986958076526641 Centerline is valid? [True, True] Translation: X:563.84, Y:9.50, Z:5.22 [[ 9.97205558e-01 -7.38209239e-02 -1.14693264e-02 5.63838448e+02] [ 7.38234566e-02 9.97271305e-01 -2.02967692e-04 9.49915955e+00] [ 1.14530134e-02 -6.44304810e-04 9.99934205e-01 5.21526069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.339254154 meters Centerline goodness [0,1] 0.998609413846867 Centerline is valid? [True, True] Translation: X:563.87, Y:9.50, Z:5.22 [[ 9.97396682e-01 -7.11407391e-02 -1.17836072e-02 5.63869611e+02] [ 7.11432333e-02 9.97466088e-01 -2.07909421e-04 9.50300228e+00] [ 1.17685394e-02 -6.30955748e-04 9.99930549e-01 5.21512760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3692541539999 meters Centerline goodness [0,1] 0.9986931686444787 Centerline is valid? [True, True] Translation: X:563.90, Y:9.51, Z:5.22 [[ 9.97627881e-01 -6.78462012e-02 -1.16405977e-02 5.63901394e+02] [ 6.78484170e-02 9.97695620e-01 -2.04913477e-04 9.50868989e+00] [ 1.16276760e-02 -5.85368730e-04 9.99932225e-01 5.21533272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3992541539999 meters Centerline goodness [0,1] 0.9987990139272245 Centerline is valid? [True, True] Translation: X:563.93, Y:9.52, Z:5.22 [[ 9.98170078e-01 -5.95064638e-02 -1.07459819e-02 5.63931198e+02] [ 5.95078748e-02 9.98227818e-01 -1.88678064e-04 9.51516976e+00] [ 1.07381656e-02 -4.51137745e-04 9.99942242e-01 5.21600521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.429254154 meters Centerline goodness [0,1] 0.9987543018812153 Centerline is valid? [True, True] Translation: X:563.96, Y:9.52, Z:5.22 [[ 9.98452606e-01 -5.47331970e-02 -9.83216545e-03 5.63961861e+02] [ 5.47341470e-02 9.98500948e-01 -1.72636236e-04 9.52061569e+00] [ 9.82687546e-03 -3.65786090e-04 9.99951648e-01 5.21654820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.459254154 meters Centerline goodness [0,1] 0.998903023015421 Centerline is valid? [True, True] Translation: X:563.99, Y:9.53, Z:5.22 [[ 9.98736526e-01 -4.94192389e-02 -9.11538031e-03 5.63991351e+02] [ 4.94198356e-02 9.98778081e-01 -1.59907989e-04 9.52515134e+00] [ 9.11214458e-03 -2.90774647e-04 9.99958441e-01 5.21731430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4892541539999 meters Centerline goodness [0,1] 0.9986910994764397 Centerline is valid? [True, True] Translation: X:564.02, Y:9.53, Z:5.22 [[ 9.99004390e-01 -4.38405474e-02 -8.26050817e-03 5.64023179e+02] [ 4.38408513e-02 9.99038517e-01 -1.44362921e-04 9.53104489e+00] [ 8.25889478e-03 -2.17928518e-04 9.99965871e-01 5.21788095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5192541539999 meters Centerline goodness [0,1] 0.9986927002066377 Centerline is valid? [True, True] Translation: X:564.05, Y:9.54, Z:5.22 [[ 9.99438156e-01 -3.27757769e-02 -7.00861372e-03 5.64052471e+02] [ 3.27757271e-02 9.99462724e-01 -1.21998862e-04 9.54032124e+00] [ 7.00884677e-03 -1.07782093e-04 9.99975432e-01 5.21856684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5492541539999 meters Centerline goodness [0,1] 0.9989211600702304 Centerline is valid? [True, True] Translation: X:564.08, Y:9.54, Z:5.22 [[ 9.99590444e-01 -2.78180024e-02 -6.71582206e-03 5.64083509e+02] [ 2.78178427e-02 9.99613002e-01 -1.17211117e-04 9.54468795e+00] [ 6.71648363e-03 -6.96565692e-05 9.99977442e-01 5.21889506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.579254154 meters Centerline goodness [0,1] 0.9989618204161194 Centerline is valid? [True, True] Translation: X:564.12, Y:9.55, Z:5.22 [[ 9.99718223e-01 -2.28446930e-02 -6.44936660e-03 5.64116136e+02] [ 2.28444437e-02 9.99739025e-01 -1.12331931e-04 9.54893487e+00] [ 6.45024967e-03 -3.50319137e-05 9.99979196e-01 5.21887746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6092541539999 meters Centerline goodness [0,1] 0.9987689172839769 Centerline is valid? [True, True] Translation: X:564.15, Y:9.56, Z:5.22 [[ 9.99860393e-01 -1.54088791e-02 -6.46219824e-03 5.64148156e+02] [ 1.54084775e-02 9.99881276e-01 -1.11924005e-04 9.55538092e+00] [ 6.46315565e-03 1.23357434e-05 9.99979114e-01 5.21823840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6392541539999 meters Centerline goodness [0,1] 0.9990241832838354 Centerline is valid? [True, True] Translation: X:564.18, Y:9.56, Z:5.22 [[ 9.99898151e-01 -1.26120898e-02 -6.68005918e-03 5.64179967e+02] [ 1.26116017e-02 9.99920464e-01 -1.15185632e-04 9.55799214e+00] [ 6.68098061e-03 3.09276549e-05 9.99977682e-01 5.21823982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6692541539999 meters Centerline goodness [0,1] 0.9989166684368163 Centerline is valid? [True, True] Translation: X:564.21, Y:9.56, Z:5.22 [[ 9.99916994e-01 -1.07695872e-02 -7.07251179e-03 5.64209873e+02] [ 1.07689988e-02 9.99942005e-01 -1.21275443e-04 9.55996371e+00] [ 7.07340770e-03 4.51015060e-05 9.99974982e-01 5.21804511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.699254154 meters Centerline goodness [0,1] 0.9990640289300149 Centerline is valid? [True, True] Translation: X:564.24, Y:9.56, Z:5.22 [[ 9.99926484e-01 -9.63638125e-03 -7.35974882e-03 5.64240379e+02] [ 9.63571466e-03 9.99953567e-01 -1.26026448e-04 9.56099728e+00] [ 7.36062152e-03 5.51007431e-05 9.99972909e-01 5.21757028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7292541539999 meters Centerline goodness [0,1] 0.9988327178572944 Centerline is valid? [True, True] Translation: X:564.27, Y:9.56, Z:5.22 [[ 9.99929716e-01 -8.97168760e-03 -7.75064780e-03 5.64270965e+02] [ 8.97092835e-03 9.99959752e-01 -1.32720101e-04 9.56101869e+00] [ 7.75152657e-03 6.31802670e-05 9.99969954e-01 5.21660213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7592541539999 meters Centerline goodness [0,1] 0.9990017628443387 Centerline is valid? [True, True] Translation: X:564.30, Y:9.56, Z:5.22 [[ 9.99923176e-01 -9.41350032e-03 -8.06406154e-03 5.64300156e+02] [ 9.41269318e-03 9.99955690e-01 -1.38039507e-04 9.56092705e+00] [ 8.06500365e-03 6.21243654e-05 9.99967475e-01 5.21667587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7892541539999 meters Centerline goodness [0,1] 0.9991295486391236 Centerline is valid? [True, True] Translation: X:564.33, Y:9.56, Z:5.22 [[ 9.99914671e-01 -1.03428369e-02 -7.97975547e-03 5.64329988e+02] [ 1.03420738e-02 9.99946510e-01 -1.36883597e-04 9.56064241e+00] [ 7.98074440e-03 5.43446962e-05 9.99968152e-01 5.21693588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.819254154 meters Centerline goodness [0,1] 0.9992793709332146 Centerline is valid? [True, True] Translation: X:564.36, Y:9.56, Z:5.22 [[ 9.99910354e-01 -1.12557933e-02 -7.25192053e-03 5.64360620e+02] [ 1.12551848e-02 9.99936651e-01 -1.24706973e-04 9.55986417e+00] [ 7.25286480e-03 4.30740874e-05 9.99973697e-01 5.21735634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8492541539999 meters Centerline goodness [0,1] 0.9991523268627617 Centerline is valid? [True, True] Translation: X:564.39, Y:9.56, Z:5.22 [[ 9.99891163e-01 -1.35759342e-02 -5.77545959e-03 5.64391243e+02] [ 1.35755867e-02 9.99907843e-01 -9.93823417e-05 9.55724247e+00] [ 5.77627654e-03 2.09662732e-05 9.99983317e-01 5.21775236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8792541539999 meters Centerline goodness [0,1] 0.9990233545647559 Centerline is valid? [True, True] Translation: X:564.42, Y:9.56, Z:5.22 [[ 9.99881827e-01 -1.45011630e-02 -5.10367754e-03 5.64422022e+02] [ 1.45009032e-02 9.99894853e-01 -8.79033302e-05 9.55584575e+00] [ 5.10441560e-03 1.38850086e-05 9.99986972e-01 5.21817441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9092541539999 meters Centerline goodness [0,1] 0.998833361615476 Centerline is valid? [True, True] Translation: X:564.45, Y:9.55, Z:5.22 [[ 9.99864436e-01 -1.57099518e-02 -4.93012209e-03 5.64453976e+02] [ 1.57097249e-02 9.99876591e-01 -8.47485608e-05 9.55444427e+00] [ 4.93084506e-03 7.28621046e-06 9.99987843e-01 5.21831578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.939254154 meters Centerline goodness [0,1] 0.9990248452471805 Centerline is valid? [True, True] Translation: X:564.49, Y:9.55, Z:5.22 [[ 9.99834583e-01 -1.76023444e-02 -4.57868832e-03 5.64485092e+02] [ 1.76021688e-02 9.99845067e-01 -7.86518814e-05 9.55092320e+00] [ 4.57936338e-03 -1.95597357e-06 9.99989515e-01 5.21846287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9692541539999 meters Centerline goodness [0,1] 0.9986854659175236 Centerline is valid? [True, True] Translation: X:564.52, Y:9.55, Z:5.22 [[ 9.99816986e-01 -1.86804789e-02 -4.12713677e-03 5.64517250e+02] [ 1.86803481e-02 9.99825505e-01 -7.02410726e-05 9.54896317e+00] [ 4.12772874e-03 -6.86813384e-06 9.99991481e-01 5.21871534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9992541539999 meters Centerline goodness [0,1] 0.9988158172975259 Centerline is valid? [True, True] Translation: X:564.55, Y:9.55, Z:5.22 [[ 9.99796290e-01 -1.98089547e-02 -3.87096663e-03 5.64549493e+02] [ 1.98088490e-02 9.99803783e-01 -6.56566443e-05 9.54709802e+00] [ 3.87150767e-03 -1.10361240e-05 9.99992506e-01 5.21861662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0292541539999 meters Centerline goodness [0,1] 0.9988352639715381 Centerline is valid? [True, True] Translation: X:564.58, Y:9.55, Z:5.22 [[ 9.99773722e-01 -2.09733808e-02 -3.55281375e-03 5.64582090e+02] [ 2.09732998e-02 9.99780034e-01 -6.00576374e-05 9.54536478e+00] [ 3.55329187e-03 -1.44701803e-05 9.99993687e-01 5.21910532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.059254154 meters Centerline goodness [0,1] 0.9990263726029717 Centerline is valid? [True, True] Translation: X:564.61, Y:9.54, Z:5.22 [[ 9.99746682e-01 -2.22693660e-02 -3.26289233e-03 5.64613428e+02] [ 2.22693055e-02 9.99752007e-01 -5.48632479e-05 9.54088572e+00] [ 3.26330492e-03 -1.78129960e-05 9.99994675e-01 5.21899421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.089254154 meters Centerline goodness [0,1] 0.9987729022976347 Centerline is valid? [True, True] Translation: X:564.65, Y:9.54, Z:5.22 [[ 9.99736332e-01 -2.27161470e-02 -3.35322007e-03 5.64645567e+02] [ 2.27160860e-02 9.99741955e-01 -5.62997930e-05 9.53894351e+00] [ 3.35363370e-03 -1.98870868e-05 9.99994376e-01 5.21853694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1192541539999 meters Centerline goodness [0,1] 0.9988806994572448 Centerline is valid? [True, True] Translation: X:564.68, Y:9.54, Z:5.22 [[ 9.99733738e-01 -2.27873559e-02 -3.63163768e-03 5.64677395e+02] [ 2.27872859e-02 9.99740334e-01 -6.06541531e-05 9.53703355e+00] [ 3.63207681e-03 -2.21171629e-05 9.99993404e-01 5.21820560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1492541539999 meters Centerline goodness [0,1] 0.9987567168896849 Centerline is valid? [True, True] Translation: X:564.71, Y:9.53, Z:5.22 [[ 9.99751411e-01 -2.19613212e-02 -3.84919917e-03 5.64708753e+02] [ 2.19612380e-02 9.99758821e-01 -6.38642237e-05 9.53333588e+00] [ 3.84967337e-03 -2.06848314e-05 9.99992590e-01 5.21746172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.179254154 meters Centerline goodness [0,1] 0.9987757772758934 Centerline is valid? [True, True] Translation: X:564.74, Y:9.53, Z:5.22 [[ 9.99771093e-01 -2.08941461e-02 -4.60387095e-03 5.64740776e+02] [ 2.08940171e-02 9.99781693e-01 -7.61232128e-05 9.53202413e+00] [ 4.60445643e-03 -2.00875706e-05 9.99989399e-01 5.21709158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.209254154 meters Centerline goodness [0,1] 0.9988193126713051 Centerline is valid? [True, True] Translation: X:564.77, Y:9.53, Z:5.22 [[ 9.99796792e-01 -1.96203994e-02 -4.62752233e-03 5.64772171e+02] [ 1.96202574e-02 9.99807501e-01 -7.60878971e-05 9.53082604e+00] [ 4.62812441e-03 -1.47207439e-05 9.99989290e-01 5.21703627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2392541539999 meters Centerline goodness [0,1] 0.9987177600739916 Centerline is valid? [True, True] Translation: X:564.80, Y:9.53, Z:5.22 [[ 9.99847138e-01 -1.67125832e-02 -5.13721610e-03 5.64804768e+02] [ 1.67123711e-02 9.99860335e-01 -8.42157763e-05 9.52830519e+00] [ 5.13790607e-03 -1.65215895e-06 9.99986801e-01 5.21648836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2692541539999 meters Centerline goodness [0,1] 0.9990747360894983 Centerline is valid? [True, True] Translation: X:564.84, Y:9.53, Z:5.22 [[ 9.99868601e-01 -1.52405386e-02 -5.52326925e-03 5.64836780e+02] [ 1.52402734e-02 9.99883856e-01 -9.00909995e-05 9.52735386e+00] [ 5.52400080e-03 5.90302801e-06 9.99984743e-01 5.21647376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2992541539999 meters Centerline goodness [0,1] 0.9990167569716115 Centerline is valid? [True, True] Translation: X:564.87, Y:9.53, Z:5.22 [[ 9.99884550e-01 -1.40483515e-02 -5.79052716e-03 5.64868282e+02] [ 1.40480431e-02 9.99901317e-01 -9.39306988e-05 9.52617893e+00] [ 5.79127530e-03 1.25742792e-05 9.99983230e-01 5.21678843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.329254154 meters Centerline goodness [0,1] 0.9990769488965343 Centerline is valid? [True, True] Translation: X:564.90, Y:9.52, Z:5.22 [[ 9.99895040e-01 -1.32079800e-02 -5.95471950e-03 5.64899439e+02] [ 1.32076413e-02 9.99912771e-01 -9.61936284e-05 9.52451470e+00] [ 5.95547060e-03 1.75357327e-05 9.99982266e-01 5.21666372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3592541539999 meters Centerline goodness [0,1] 0.9988911669944349 Centerline is valid? [True, True] Translation: X:564.93, Y:9.52, Z:5.22 [[ 9.99891504e-01 -1.32877183e-02 -6.35736377e-03 5.64930245e+02] [ 1.32873359e-02 9.99911714e-01 -1.02397155e-04 9.51936897e+00] [ 6.35816313e-03 1.79136178e-05 9.99979787e-01 5.21629413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3892541539999 meters Centerline goodness [0,1] 0.9989534932395663 Centerline is valid? [True, True] Translation: X:564.96, Y:9.52, Z:5.22 [[ 9.99877113e-01 -1.41607026e-02 -6.72564511e-03 5.64961238e+02] [ 1.41602948e-02 9.99899732e-01 -1.08246607e-04 9.51649343e+00] [ 6.72650359e-03 1.29961871e-05 9.99977377e-01 5.21607528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4192541539999 meters Centerline goodness [0,1] 0.9988700801406123 Centerline is valid? [True, True] Translation: X:564.99, Y:9.51, Z:5.22 [[ 9.99862275e-01 -1.50416436e-02 -7.01291105e-03 5.64992908e+02] [ 1.50412237e-02 9.99886868e-01 -1.12613125e-04 9.51340111e+00] [ 7.01381155e-03 7.11485186e-06 9.99975403e-01 5.21579922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.449254154 meters Centerline goodness [0,1] 0.9990596593877338 Centerline is valid? [True, True] Translation: X:565.02, Y:9.51, Z:5.22 [[ 9.99799639e-01 -1.82691541e-02 -8.18045246e-03 5.65023068e+02] [ 1.82686933e-02 9.99833105e-01 -1.31051192e-04 9.50577990e+00] [ 8.18148138e-03 -1.84212425e-05 9.99966531e-01 5.21507282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4792541539999 meters Centerline goodness [0,1] 0.9989562458249833 Centerline is valid? [True, True] Translation: X:565.05, Y:9.50, Z:5.21 [[ 9.99754593e-01 -2.03698405e-02 -8.70764820e-03 5.65054072e+02] [ 2.03694030e-02 9.99792513e-01 -1.38940549e-04 9.50195449e+00] [ 8.70867167e-03 -3.84631434e-05 9.99962078e-01 5.21485757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5092541539999 meters Centerline goodness [0,1] 0.999122532121592 Centerline is valid? [True, True] Translation: X:565.09, Y:9.50, Z:5.21 [[ 9.99700163e-01 -2.28037015e-02 -8.92047136e-03 5.65085918e+02] [ 2.28033420e-02 9.99739960e-01 -1.42025871e-04 9.49749870e+00] [ 8.92139040e-03 -6.14332725e-05 9.99960202e-01 5.21487551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5392541539999 meters Centerline goodness [0,1] 0.9990614441246403 Centerline is valid? [True, True] Translation: X:565.12, Y:9.49, Z:5.21 [[ 9.99633876e-01 -2.54590082e-02 -9.16257711e-03 5.65116956e+02] [ 2.54587433e-02 9.99675863e-01 -1.45562986e-04 9.49422472e+00] [ 9.16331307e-03 -8.77580067e-05 9.99958012e-01 5.21490069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.569254154 meters Centerline goodness [0,1] 0.9991460646075021 Centerline is valid? [True, True] Translation: X:565.15, Y:9.48, Z:5.21 [[ 9.99479463e-01 -3.09839014e-02 -8.98890809e-03 5.65148555e+02] [ 3.09838727e-02 9.99519874e-01 -1.42486070e-04 9.48465432e+00] [ 8.98900706e-03 -1.36099283e-04 9.99959589e-01 5.21484211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5992541539999 meters Centerline goodness [0,1] 0.9989800803446912 Centerline is valid? [True, True] Translation: X:565.18, Y:9.48, Z:5.22 [[ 9.99400336e-01 -3.34946683e-02 -8.77931908e-03 5.65179825e+02] [ 3.34947419e-02 9.99438884e-01 -1.38691536e-04 9.48006369e+00] [ 8.77903829e-03 -1.55452660e-04 9.99961451e-01 5.21518537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6292541539999 meters Centerline goodness [0,1] 0.9991037558881154 Centerline is valid? [True, True] Translation: X:565.21, Y:9.48, Z:5.22 [[ 9.99332448e-01 -3.55642195e-02 -8.35736326e-03 5.65211651e+02] [ 3.55643619e-02 9.99367379e-01 -1.31613158e-04 9.47689816e+00] [ 8.35675693e-03 -1.65698992e-04 9.99965068e-01 5.21554049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6592541539999 meters Centerline goodness [0,1] 0.99879327563249 Centerline is valid? [True, True] Translation: X:565.24, Y:9.47, Z:5.22 [[ 9.99269065e-01 -3.74054504e-02 -7.88468779e-03 5.65242451e+02] [ 3.74056381e-02 9.99300157e-01 -1.23711370e-04 9.46784407e+00] [ 7.88379722e-03 -1.71310833e-04 9.99968908e-01 5.21627598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.689254154 meters Centerline goodness [0,1] 0.9991668923000021 Centerline is valid? [True, True] Translation: X:565.28, Y:9.47, Z:5.22 [[ 9.99192046e-01 -3.94994666e-02 -7.41934549e-03 5.65275005e+02] [ 3.94996977e-02 9.99219576e-01 -1.15436363e-04 9.46869551e+00] [ 7.41811493e-03 -1.77718809e-04 9.99972470e-01 5.21611342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7192541539999 meters Centerline goodness [0,1] 0.9990438180759956 Centerline is valid? [True, True] Translation: X:565.31, Y:9.47, Z:5.22 [[ 9.99193465e-01 -3.94523070e-02 -7.47896268e-03 5.65306699e+02] [ 3.94525449e-02 9.99221439e-01 -1.15772105e-04 9.46587080e+00] [ 7.47770732e-03 -1.79385380e-04 9.99972025e-01 5.21630930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7492541539999 meters Centerline goodness [0,1] 0.9991258013487636 Centerline is valid? [True, True] Translation: X:565.34, Y:9.46, Z:5.22 [[ 9.99247500e-01 -3.79575968e-02 -7.97833049e-03 5.65339209e+02] [ 3.79578236e-02 9.99279335e-01 -1.23055232e-04 9.46363052e+00] [ 7.97725167e-03 -1.79877428e-04 9.99968165e-01 5.21604255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7792541539999 meters Centerline goodness [0,1] 0.9989590056421894 Centerline is valid? [True, True] Translation: X:565.37, Y:9.46, Z:5.22 [[ 9.99306861e-01 -3.64363805e-02 -7.62808480e-03 5.65371754e+02] [ 3.64365475e-02 9.99335962e-01 -1.17123172e-04 9.46265545e+00] [ 7.62728700e-03 -1.60899085e-04 9.99970899e-01 5.21620730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.809254154 meters Centerline goodness [0,1] 0.9991703826609977 Centerline is valid? [True, True] Translation: X:565.40, Y:9.46, Z:5.22 [[ 9.99371650e-01 -3.45233303e-02 -8.02771736e-03 5.65404143e+02] [ 3.45234586e-02 9.99403880e-01 -1.22638022e-04 9.46236853e+00] [ 8.02716575e-03 -1.54583606e-04 9.99967770e-01 5.21648703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.839254154 meters Centerline goodness [0,1] 0.9991264195682017 Centerline is valid? [True, True] Translation: X:565.44, Y:9.46, Z:5.22 [[ 9.99441228e-01 -3.24736584e-02 -7.91787570e-03 5.65435017e+02] [ 3.24737237e-02 9.99472582e-01 -1.20341131e-04 9.46175729e+00] [ 7.91760759e-03 -1.36849020e-04 9.99968646e-01 5.21666417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8692541539999 meters Centerline goodness [0,1] 0.9992089595736708 Centerline is valid? [True, True] Translation: X:565.47, Y:9.46, Z:5.22 [[ 9.99521756e-01 -2.99590175e-02 -7.66268571e-03 5.65466511e+02] [ 2.99590068e-02 9.99551121e-01 -1.16198532e-04 9.46192448e+00] [ 7.66272729e-03 -1.13423493e-04 9.99970634e-01 5.21629841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8992541539999 meters Centerline goodness [0,1] 0.9994174676486498 Centerline is valid? [True, True] Translation: X:565.50, Y:9.46, Z:5.22 [[ 9.99629084e-01 -2.56893707e-02 -9.04159708e-03 5.65497502e+02] [ 2.56891847e-02 9.99669969e-01 -1.36725753e-04 9.46199843e+00] [ 9.04212547e-03 -9.55962188e-05 9.99959115e-01 5.21605971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.929254154 meters Centerline goodness [0,1] 0.9995206635683471 Centerline is valid? [True, True] Translation: X:565.53, Y:9.46, Z:5.22 [[ 9.99675174e-01 -2.35783711e-02 -9.67507218e-03 5.65528752e+02] [ 2.35780628e-02 9.99721988e-01 -1.45937828e-04 9.46228505e+00] [ 9.67582337e-03 -8.22290364e-05 9.99953185e-01 5.21578788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.959254154 meters Centerline goodness [0,1] 0.9993753253513795 Centerline is valid? [True, True] Translation: X:565.56, Y:9.46, Z:5.22 [[ 9.99712452e-01 -2.15601621e-02 -1.04963292e-02 5.65559097e+02] [ 2.15596919e-02 9.99767550e-01 -1.57962912e-04 9.46231479e+00] [ 1.04972951e-02 -6.83801341e-05 9.99944900e-01 5.21560019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9892541539999 meters Centerline goodness [0,1] 0.999479686979687 Centerline is valid? [True, True] Translation: X:565.59, Y:9.46, Z:5.21 [[ 9.99757718e-01 -1.90159333e-02 -1.10859912e-02 5.65588684e+02] [ 1.90152520e-02 9.99819180e-01 -1.66867500e-04 9.46044590e+00] [ 1.10871597e-02 -4.39758449e-05 9.99938535e-01 5.21459668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0192541539999 meters Centerline goodness [0,1] 0.9993951024154186 Centerline is valid? [True, True] Translation: X:565.62, Y:9.46, Z:5.21 [[ 9.99758936e-01 -1.84830011e-02 -1.18510605e-02 5.65617794e+02] [ 1.84821755e-02 9.99829174e-01 -1.79186919e-04 9.45922883e+00] [ 1.18523480e-02 -3.98896573e-05 9.99929758e-01 5.21427354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0492541539999 meters Centerline goodness [0,1] 0.9996464520422593 Centerline is valid? [True, True] Translation: X:565.65, Y:9.46, Z:5.22 [[ 9.99740868e-01 -1.92112873e-02 -1.22116394e-02 5.65646284e+02] [ 1.92104267e-02 9.99815445e-01 -1.87781847e-04 9.45837095e+00] [ 1.22129932e-02 -4.68576161e-05 9.99925418e-01 5.21502567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.079254154 meters Centerline goodness [0,1] 0.9996664512497655 Centerline is valid? [True, True] Translation: X:565.68, Y:9.45, Z:5.21 [[ 9.99692014e-01 -2.09851442e-02 -1.32476494e-02 5.65675417e+02] [ 2.09842405e-02 9.99779785e-01 -2.07227567e-04 9.45399929e+00] [ 1.32490808e-02 -7.08281182e-05 9.99912225e-01 5.21494506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1092541539999 meters Centerline goodness [0,1] 0.9996870631923727 Centerline is valid? [True, True] Translation: X:565.70, Y:9.45, Z:5.22 [[ 9.99644273e-01 -2.29416413e-02 -1.36017502e-02 5.65704513e+02] [ 2.29408228e-02 9.99736801e-01 -2.16219635e-04 9.45168683e+00] [ 1.36031306e-02 -9.58926202e-05 9.99907469e-01 5.21523656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1392541539999 meters Centerline goodness [0,1] 0.9996870631923727 Centerline is valid? [True, True] Translation: X:565.73, Y:9.45, Z:5.22 [[ 9.99638526e-01 -2.31907744e-02 -1.36016956e-02 5.65732778e+02] [ 2.31899329e-02 9.99731053e-01 -2.19606003e-04 9.45218950e+00] [ 1.36031303e-02 -9.58957879e-05 9.99907469e-01 5.21550184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1692541539999 meters Centerline goodness [0,1] 0.9996452864833285 Centerline is valid? [True, True] Translation: X:565.76, Y:9.45, Z:5.22 [[ 9.99580851e-01 -2.54905688e-02 -1.37242090e-02 5.65761475e+02] [ 2.54898816e-02 9.99675055e-01 -2.25017750e-04 9.44965803e+00] [ 1.37254852e-02 -1.24905029e-04 9.99905793e-01 5.21592660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.199254154 meters Centerline goodness [0,1] 0.9995408535949076 Centerline is valid? [True, True] Translation: X:565.79, Y:9.45, Z:5.22 [[ 9.99522751e-01 -2.77522415e-02 -1.35677084e-02 5.65789496e+02] [ 2.77517396e-02 9.99614821e-01 -2.25299730e-04 9.44610956e+00] [ 1.35687349e-02 -1.51335303e-04 9.99907929e-01 5.21530126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2292541539999 meters Centerline goodness [0,1] 0.9995415902650442 Centerline is valid? [True, True] Translation: X:565.82, Y:9.44, Z:5.22 [[ 9.99347931e-01 -3.34605409e-02 -1.35685156e-02 5.65817806e+02] [ 3.34605441e-02 9.99440013e-01 -2.26847869e-04 9.43896827e+00] [ 1.35685078e-02 -2.27309965e-04 9.99907918e-01 5.21610877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2592541539999 meters Centerline goodness [0,1] 0.9996451828351979 Centerline is valid? [True, True] Translation: X:565.85, Y:9.44, Z:5.22 [[ 9.99241804e-01 -3.65448597e-02 -1.34272414e-02 5.65847734e+02] [ 3.65451315e-02 9.99331978e-01 -2.25203429e-04 9.43805184e+00] [ 1.34265017e-02 -2.65667622e-04 9.99909825e-01 5.21806469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2892541539999 meters Centerline goodness [0,1] 0.9996040924339981 Centerline is valid? [True, True] Translation: X:565.88, Y:9.43, Z:5.22 [[ 9.99145661e-01 -3.91483524e-02 -1.32421349e-02 5.65877180e+02] [ 3.91488421e-02 9.99233366e-01 -2.22336324e-04 9.43471598e+00] [ 1.32406871e-02 -2.96267873e-04 9.99912294e-01 5.21866484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.319254154 meters Centerline goodness [0,1] 0.9997082786355775 Centerline is valid? [True, True] Translation: X:565.91, Y:9.43, Z:5.22 [[ 9.99055160e-01 -4.17957222e-02 -1.19123961e-02 5.65906618e+02] [ 4.17963041e-02 9.99126133e-01 -2.00207145e-04 9.43129783e+00] [ 1.19103540e-02 -2.97876149e-04 9.99929025e-01 5.21946616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3492541539999 meters Centerline goodness [0,1] 0.9996658870698296 Centerline is valid? [True, True] Translation: X:565.94, Y:9.43, Z:5.22 [[ 9.98846728e-01 -4.66736220e-02 -1.12599538e-02 5.65937448e+02] [ 4.66744498e-02 9.98910136e-01 -1.89399928e-04 9.42568017e+00] [ 1.12565219e-02 -3.36370648e-04 9.99936587e-01 5.22049089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3792541539999 meters Centerline goodness [0,1] 0.9996452198593401 Centerline is valid? [True, True] Translation: X:565.97, Y:9.42, Z:5.22 [[ 9.98731726e-01 -4.90536385e-02 -1.13437108e-02 5.65967525e+02] [ 4.90546324e-02 9.98796079e-01 -1.90774214e-04 9.42266972e+00] [ 1.13394120e-02 -3.65929303e-04 9.99935640e-01 5.22078768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4092541539999 meters Centerline goodness [0,1] 0.9993950014603413 Centerline is valid? [True, True] Translation: X:566.00, Y:9.42, Z:5.22 [[ 9.98613015e-01 -5.13321154e-02 -1.17072608e-02 5.65998550e+02] [ 5.13333329e-02 9.98681556e-01 -1.96678836e-04 9.41916807e+00] [ 1.17019214e-02 -4.04566671e-04 9.99931448e-01 5.21957995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.439254154 meters Centerline goodness [0,1] 0.9994776103809265 Centerline is valid? [True, True] Translation: X:566.03, Y:9.41, Z:5.22 [[ 9.98313369e-01 -5.67151579e-02 -1.24019241e-02 5.66028498e+02] [ 5.67169426e-02 9.98390277e-01 -2.08042072e-04 9.41396030e+00] [ 1.23937596e-02 -4.95708035e-04 9.99923072e-01 5.22001418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4692541539999 meters Centerline goodness [0,1] 0.9994991861775385 Centerline is valid? [True, True] Translation: X:566.06, Y:9.42, Z:5.22 [[ 9.98189385e-01 -5.87554563e-02 -1.28742849e-02 5.66059867e+02] [ 5.87575562e-02 9.98272259e-01 -2.15405804e-04 9.41570009e+00] [ 1.28646977e-02 -5.41445730e-04 9.99917100e-01 5.21940522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4992541539999 meters Centerline goodness [0,1] 0.9994360666694515 Centerline is valid? [True, True] Translation: X:566.09, Y:9.42, Z:5.22 [[ 9.98047297e-01 -6.10792405e-02 -1.30736286e-02 5.66090903e+02] [ 6.10816102e-02 9.98132751e-01 -2.18330522e-04 9.41505881e+00] [ 1.30625523e-02 -5.80654098e-04 9.99914513e-01 5.21975300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5292541539999 meters Centerline goodness [0,1] 0.9994577006507592 Centerline is valid? [True, True] Translation: X:566.12, Y:9.42, Z:5.22 [[ 9.97916682e-01 -6.31752471e-02 -1.30837595e-02 5.66122302e+02] [ 6.31778043e-02 9.98002263e-01 -2.18193478e-04 9.41532297e+00] [ 1.30714060e-02 -6.08864286e-04 9.99914380e-01 5.22106387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.559254154 meters Centerline goodness [0,1] 0.9995408535949076 Centerline is valid? [True, True] Translation: X:566.15, Y:9.41, Z:5.22 [[ 9.97739732e-01 -6.57136288e-02 -1.40409094e-02 5.66153828e+02] [ 6.57168322e-02 9.97838285e-01 -2.33616598e-04 9.41498170e+00] [ 1.40259087e-02 -6.89635524e-04 9.99901394e-01 5.22078078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.589254154 meters Centerline goodness [0,1] 0.9994991025587511 Centerline is valid? [True, True] Translation: X:566.18, Y:9.41, Z:5.22 [[ 9.97699427e-01 -6.62788360e-02 -1.42467365e-02 5.66184301e+02] [ 6.62822002e-02 9.97800889e-01 -2.36424881e-04 9.41286589e+00] [ 1.42310763e-02 -7.08424071e-04 9.99898482e-01 5.22078633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6192541539999 meters Centerline goodness [0,1] 0.9995192006187679 Centerline is valid? [True, True] Translation: X:566.22, Y:9.42, Z:5.22 [[ 9.97687556e-01 -6.63023606e-02 -1.49511501e-02 5.66215889e+02] [ 6.63060795e-02 9.97799300e-01 -2.47373622e-04 9.41526449e+00] [ 1.49346485e-02 -7.44550561e-04 9.99888195e-01 5.22044346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6492541539999 meters Centerline goodness [0,1] 0.9994777522456654 Centerline is valid? [True, True] Translation: X:566.25, Y:9.42, Z:5.22 [[ 9.97789416e-01 -6.47214561e-02 -1.50802736e-02 5.66245941e+02] [ 6.47250646e-02 9.97903103e-01 -2.49168363e-04 9.41875810e+00] [ 1.50647784e-02 -7.27454129e-04 9.99886255e-01 5.22114687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.679254154 meters Centerline goodness [0,1] 0.9996452198593401 Centerline is valid? [True, True] Translation: X:566.28, Y:9.42, Z:5.22 [[ 9.97863211e-01 -6.34745636e-02 -1.54916764e-02 5.66276347e+02] [ 6.34782235e-02 9.97983191e-01 -2.55857391e-04 9.42006055e+00] [ 1.54766731e-02 -7.28073420e-04 9.99879964e-01 5.22132306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.709254154 meters Centerline goodness [0,1] 0.9993324432576769 Centerline is valid? [True, True] Translation: X:566.31, Y:9.42, Z:5.22 [[ 9.97957512e-01 -6.19405186e-02 -1.56261347e-02 5.66306676e+02] [ 6.19440573e-02 9.98079590e-01 -2.57910747e-04 9.42380552e+00] [ 1.56121012e-02 -7.10562217e-04 9.99877871e-01 5.22059370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7392541539999 meters Centerline goodness [0,1] 0.9994572478289914 Centerline is valid? [True, True] Translation: X:566.34, Y:9.43, Z:5.22 [[ 9.98036842e-01 -6.06052682e-02 -1.57944374e-02 5.66336749e+02] [ 6.06087166e-02 9.98161568e-01 -2.60688598e-04 9.42895426e+00] [ 1.57811995e-02 -6.97103758e-04 9.99875226e-01 5.22208412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7692541539999 meters Centerline goodness [0,1] 0.9992902916066546 Centerline is valid? [True, True] Translation: X:566.37, Y:9.43, Z:5.22 [[ 9.98211466e-01 -5.76010212e-02 -1.59997111e-02 5.66367636e+02] [ 5.76041765e-02 9.98339466e-01 -2.63956759e-04 9.43465164e+00] [ 1.59883472e-02 -6.58165521e-04 9.99871962e-01 5.22186585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7992541539999 meters Centerline goodness [0,1] 0.9993741133272136 Centerline is valid? [True, True] Translation: X:566.40, Y:9.44, Z:5.22 [[ 9.98287200e-01 -5.64543795e-02 -1.53482549e-02 5.66398058e+02] [ 5.64571519e-02 9.98404991e-01 -2.52939543e-04 9.43578661e+00] [ 1.53380539e-02 -6.14012450e-04 9.99882177e-01 5.22267286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.829254154 meters Centerline goodness [0,1] 0.9991671524943783 Centerline is valid? [True, True] Translation: X:566.43, Y:9.44, Z:5.22 [[ 9.98357199e-01 -5.51673490e-02 -1.54747371e-02 5.66428669e+02] [ 5.51700156e-02 9.98476942e-01 -2.54854492e-04 9.43911261e+00] [ 1.54652278e-02 -5.99305669e-04 9.99880227e-01 5.22303045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8592541539999 meters Centerline goodness [0,1] 0.9992908393125313 Centerline is valid? [True, True] Translation: X:566.46, Y:9.45, Z:5.22 [[ 9.98500938e-01 -5.26536711e-02 -1.49488146e-02 5.66458926e+02] [ 5.26558781e-02 9.98612687e-01 -2.46193039e-04 9.44544836e+00] [ 1.49410389e-02 -5.41318979e-04 9.99888230e-01 5.22383744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8892541539999 meters Centerline goodness [0,1] 0.9992910167653682 Centerline is valid? [True, True] Translation: X:566.49, Y:9.45, Z:5.22 [[ 9.98584790e-01 -5.10791120e-02 -1.48101983e-02 5.66489904e+02] [ 5.10811067e-02 9.98694478e-01 -2.43812608e-04 9.45044216e+00] [ 1.48033170e-02 -5.13053756e-04 9.99890293e-01 5.22474607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9192541539999 meters Centerline goodness [0,1] 0.9992483714715217 Centerline is valid? [True, True] Translation: X:566.52, Y:9.45, Z:5.22 [[ 9.98680072e-01 -4.91689002e-02 -1.48503654e-02 5.66519996e+02] [ 4.91706987e-02 9.98790360e-01 -2.44208038e-04 9.45339265e+00] [ 1.48444092e-02 -4.86317143e-04 9.99889697e-01 5.22477416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.949254154 meters Centerline goodness [0,1] 0.999145245689745 Centerline is valid? [True, True] Translation: X:566.55, Y:9.46, Z:5.23 [[ 9.98776137e-01 -4.71901477e-02 -1.48093853e-02 5.66550448e+02] [ 4.71917274e-02 9.98885820e-01 -2.42968397e-04 9.45638820e+00] [ 1.48043507e-02 -4.56209439e-04 9.99890306e-01 5.22510345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9792541539999 meters Centerline goodness [0,1] 0.9992902175274518 Centerline is valid? [True, True] Translation: X:566.58, Y:9.47, Z:5.23 [[ 9.98971474e-01 -4.28266248e-02 -1.48954560e-02 5.66581368e+02] [ 4.28277489e-02 9.99082441e-01 -2.43661161e-04 9.46614462e+00] [ 1.48922237e-02 -3.94528298e-04 9.99889027e-01 5.22608086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0092541539999 meters Centerline goodness [0,1] 0.998997723998246 Centerline is valid? [True, True] Translation: X:566.61, Y:9.47, Z:5.23 [[ 9.99073578e-01 -4.03145363e-02 -1.50573378e-02 5.66612084e+02] [ 4.03154006e-02 9.99186973e-01 -2.46261724e-04 9.46982317e+00] [ 1.50550238e-02 -3.61009025e-04 9.99886602e-01 5.22561092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0392541539999 meters Centerline goodness [0,1] 0.9990184407827413 Centerline is valid? [True, True] Translation: X:566.64, Y:9.47, Z:5.23 [[ 9.99182113e-01 -3.73994650e-02 -1.53747918e-02 5.66642200e+02] [ 3.74000211e-02 9.99300343e-01 -2.51453662e-04 9.47441324e+00] [ 1.53734390e-02 -3.23769537e-04 9.99881769e-01 5.22607825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.069254154 meters Centerline goodness [0,1] 0.9992487949418859 Centerline is valid? [True, True] Translation: X:566.67, Y:9.48, Z:5.23 [[ 9.99289153e-01 -3.45946660e-02 -1.49798803e-02 5.66671574e+02] [ 3.45948799e-02 9.99401388e-01 -2.44923379e-04 9.47793047e+00] [ 1.49793862e-02 -2.73477883e-04 9.99887765e-01 5.22650737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0992541539999 meters Centerline goodness [0,1] 0.9991850211058637 Centerline is valid? [True, True] Translation: X:566.70, Y:9.49, Z:5.23 [[ 9.99459559e-01 -2.96661057e-02 -1.41602568e-02 5.66701276e+02] [ 2.96658039e-02 9.99559846e-01 -2.31409593e-04 9.48546217e+00] [ 1.41608891e-02 -1.88790870e-04 9.99899712e-01 5.22772373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1292541539999 meters Centerline goodness [0,1] 0.9991020902503707 Centerline is valid? [True, True] Translation: X:566.73, Y:9.49, Z:5.23 [[ 9.99527957e-01 -2.72962470e-02 -1.40988598e-02 5.66731339e+02] [ 2.72957109e-02 9.99627376e-01 -2.30491989e-04 9.48919943e+00] [ 1.40998978e-02 -1.54455214e-04 9.99900580e-01 5.22819367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1592541539999 meters Centerline goodness [0,1] 0.9992884945381493 Centerline is valid? [True, True] Translation: X:566.76, Y:9.49, Z:5.23 [[ 9.99609754e-01 -2.41242299e-02 -1.40840551e-02 5.66760874e+02] [ 2.41233753e-02 9.99708962e-01 -2.30590185e-04 9.49392583e+00] [ 1.40855189e-02 -1.09254747e-04 9.99900788e-01 5.22859740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.189254154 meters Centerline goodness [0,1] 0.9992482302086161 Centerline is valid? [True, True] Translation: X:566.79, Y:9.50, Z:5.23 [[ 9.99624285e-01 -2.35377348e-02 -1.40450966e-02 5.66790001e+02] [ 2.35368057e-02 9.99722944e-01 -2.31467266e-04 9.49553916e+00] [ 1.40466535e-02 -9.91964087e-05 9.99901336e-01 5.22880527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2192541539999 meters Centerline goodness [0,1] 0.9992474759087774 Centerline is valid? [True, True] Translation: X:566.82, Y:9.50, Z:5.23 [[ 9.99624802e-01 -2.33989881e-02 -1.42387725e-02 5.66818826e+02] [ 2.33979671e-02 9.99726202e-01 -2.38313008e-04 9.49702189e+00] [ 1.42404502e-02 -9.49347367e-05 9.99898595e-01 5.22941589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2492541539999 meters Centerline goodness [0,1] 0.9992692958099334 Centerline is valid? [True, True] Translation: X:566.85, Y:9.50, Z:5.23 [[ 9.99631313e-01 -2.33907436e-02 -1.37881044e-02 5.66847689e+02] [ 2.33897495e-02 9.99726395e-01 -2.33369203e-04 9.49725423e+00] [ 1.37897906e-02 -8.92171470e-05 9.99904912e-01 5.22900360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2792541539999 meters Centerline goodness [0,1] 0.9992494996664443 Centerline is valid? [True, True] Translation: X:566.88, Y:9.50, Z:5.23 [[ 9.99615353e-01 -2.39737666e-02 -1.39429354e-02 5.66876146e+02] [ 2.39727831e-02 9.99712583e-01 -2.37687856e-04 9.49819893e+00] [ 1.39446263e-02 -9.66545376e-05 9.99902764e-01 5.22960205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.309254154 meters Centerline goodness [0,1] 0.9992680580534526 Centerline is valid? [True, True] Translation: X:566.90, Y:9.50, Z:5.23 [[ 9.99585144e-01 -2.51649258e-02 -1.40094784e-02 5.66904930e+02] [ 2.51639993e-02 9.99683307e-01 -2.42435846e-04 9.49846158e+00] [ 1.40111426e-02 -1.10199234e-04 9.99901833e-01 5.22949852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.339254154 meters Centerline goodness [0,1] 0.9991233196960841 Centerline is valid? [True, True] Translation: X:566.93, Y:9.50, Z:5.23 [[ 9.99554926e-01 -2.60812461e-02 -1.44816653e-02 5.66933467e+02] [ 2.60803110e-02 9.99659819e-01 -2.53456536e-04 9.49834254e+00] [ 1.44833494e-02 -1.24342605e-04 9.99895103e-01 5.22943117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3692541539999 meters Centerline goodness [0,1] 0.9989753027039461 Centerline is valid? [True, True] Translation: X:566.96, Y:9.50, Z:5.23 [[ 9.99531726e-01 -2.66679108e-02 -1.50050618e-02 5.66963528e+02] [ 2.66669597e-02 9.99644339e-01 -2.63500976e-04 9.49830941e+00] [ 1.50067521e-02 -1.36761793e-04 9.99887383e-01 5.22916391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3992541539999 meters Centerline goodness [0,1] 0.9991864491635029 Centerline is valid? [True, True] Translation: X:566.99, Y:9.50, Z:5.23 [[ 9.99504895e-01 -2.80439882e-02 -1.42653549e-02 5.66992721e+02] [ 2.80432459e-02 9.99606679e-01 -2.52108679e-04 9.49879212e+00] [ 1.42668142e-02 -1.48062998e-04 9.99898213e-01 5.23000540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.429254154 meters Centerline goodness [0,1] 0.9991860586455181 Centerline is valid? [True, True] Translation: X:567.02, Y:9.50, Z:5.23 [[ 9.99437156e-01 -3.02205219e-02 -1.45633736e-02 5.67022751e+02] [ 3.02199403e-02 9.99543239e-01 -2.60049178e-04 9.49723322e+00] [ 1.45645804e-02 -1.80201469e-04 9.99893915e-01 5.22976389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.459254154 meters Centerline goodness [0,1] 0.999248465617302 Centerline is valid? [True, True] Translation: X:567.05, Y:9.49, Z:5.23 [[ 9.99389841e-01 -3.16513182e-02 -1.47695656e-02 5.67051941e+02] [ 3.16508695e-02 9.99498951e-01 -2.64184444e-04 9.49341513e+00] [ 1.47705271e-02 -2.03446343e-04 9.99890889e-01 5.22848535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4892541539999 meters Centerline goodness [0,1] 0.9990177433175197 Centerline is valid? [True, True] Translation: X:567.08, Y:9.49, Z:5.23 [[ 9.99233216e-01 -3.58053925e-02 -1.58415115e-02 5.67081881e+02] [ 3.58053914e-02 9.99358741e-01 -2.83778375e-04 9.49381867e+00] [ 1.58415138e-02 -2.83650743e-04 9.99874475e-01 5.22898339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5192541539999 meters Centerline goodness [0,1] 0.999249530956848 Centerline is valid? [True, True] Translation: X:567.11, Y:9.49, Z:5.23 [[ 9.99172602e-01 -3.74115945e-02 -1.59525249e-02 5.67112481e+02] [ 3.74117926e-02 9.99299893e-01 -2.86108450e-04 9.49358750e+00] [ 1.59520602e-02 -3.10940830e-04 9.99872709e-01 5.22928419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5492541539999 meters Centerline goodness [0,1] 0.9991033260348243 Centerline is valid? [True, True] Translation: X:567.14, Y:9.49, Z:5.23 [[ 9.99093245e-01 -3.93771704e-02 -1.61902977e-02 5.67141819e+02] [ 3.93776317e-02 9.99224358e-01 -2.90418509e-04 9.49108378e+00] [ 1.61891756e-02 -3.47380409e-04 9.99868886e-01 5.22891704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.579254154 meters Centerline goodness [0,1] 0.9993320670437705 Centerline is valid? [True, True] Translation: X:567.17, Y:9.49, Z:5.23 [[ 9.99030891e-01 -4.09516258e-02 -1.61320742e-02 5.67172673e+02] [ 4.09522879e-02 9.99161061e-01 -2.89436469e-04 9.49208148e+00] [ 1.61303933e-02 -3.71489373e-04 9.99869828e-01 5.22981942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6092541539999 meters Centerline goodness [0,1] 0.9993733550570247 Centerline is valid? [True, True] Translation: X:567.20, Y:9.49, Z:5.23 [[ 9.98981778e-01 -4.21953720e-02 -1.59674248e-02 5.67203503e+02] [ 4.21961814e-02 9.99109303e-01 -2.86361354e-04 9.49156612e+00] [ 1.59652857e-02 -3.87694577e-04 9.99872472e-01 5.23013025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6392541539999 meters Centerline goodness [0,1] 0.9994997498749375 Centerline is valid? [True, True] Translation: X:567.23, Y:9.49, Z:5.23 [[ 9.98893656e-01 -4.38782784e-02 -1.69162822e-02 5.67234269e+02] [ 4.38794335e-02 9.99036788e-01 -3.03059067e-04 9.48967801e+00] [ 1.69132860e-02 -4.39553101e-04 9.99856864e-01 5.22997029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6692541539999 meters Centerline goodness [0,1] 0.9993948373364496 Centerline is valid? [True, True] Translation: X:567.27, Y:9.49, Z:5.23 [[ 9.98889202e-01 -4.43608818e-02 -1.58894351e-02 5.67265108e+02] [ 4.43619643e-02 9.99015483e-01 -2.84502916e-04 9.49068456e+00] [ 1.58864125e-02 -4.20699664e-04 9.99873714e-01 5.23131755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.699254154 meters Centerline goodness [0,1] 0.9993102295054554 Centerline is valid? [True, True] Translation: X:567.30, Y:9.49, Z:5.23 [[ 9.98876608e-01 -4.45397497e-02 -1.61781610e-02 5.67296050e+02] [ 4.45408994e-02 9.99007520e-01 -2.89420853e-04 9.49164012e+00] [ 1.61749952e-02 -4.31494121e-04 9.99869083e-01 5.23182038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7292541539999 meters Centerline goodness [0,1] 0.9994581075448103 Centerline is valid? [True, True] Translation: X:567.33, Y:9.49, Z:5.23 [[ 9.98916806e-01 -4.41668793e-02 -1.46458497e-02 5.67326261e+02] [ 4.41677875e-02 9.99024093e-01 -2.61598068e-04 9.49284564e+00] [ 1.46431107e-02 -3.85560072e-04 9.99892710e-01 5.23337572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7592541539999 meters Centerline goodness [0,1] 0.9993529264423479 Centerline is valid? [True, True] Translation: X:567.36, Y:9.49, Z:5.23 [[ 9.98928460e-01 -4.38901069e-02 -1.46830171e-02 5.67356236e+02] [ 4.38909970e-02 9.99036292e-01 -2.61773968e-04 9.49294907e+00] [ 1.46803562e-02 -3.82958791e-04 9.99892164e-01 5.23407379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7892541539999 meters Centerline goodness [0,1] 0.9993117256914028 Centerline is valid? [True, True] Translation: X:567.39, Y:9.49, Z:5.23 [[ 9.98927981e-01 -4.39980180e-02 -1.43896661e-02 5.67386894e+02] [ 4.39988932e-02 9.99031547e-01 -2.55910361e-04 9.49277957e+00] [ 1.43869900e-02 -3.77493362e-04 9.99896431e-01 5.23418639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.819254154 meters Centerline goodness [0,1] 0.9996244366549825 Centerline is valid? [True, True] Translation: X:567.42, Y:9.50, Z:5.24 [[ 9.98920700e-01 -4.42369148e-02 -1.41608647e-02 5.67417720e+02] [ 4.42377911e-02 9.99020998e-01 -2.51503813e-04 9.49589546e+00] [ 1.41581270e-02 -3.75213011e-04 9.99899698e-01 5.23526386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8492541539999 meters Centerline goodness [0,1] 0.999436443331246 Centerline is valid? [True, True] Translation: X:567.45, Y:9.50, Z:5.24 [[ 9.98912580e-01 -4.44591249e-02 -1.40372376e-02 5.67449202e+02] [ 4.44600149e-02 9.99011134e-01 -2.48802222e-04 9.49668564e+00] [ 1.40344182e-02 -3.75564125e-04 9.99901442e-01 5.23577828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8792541539999 meters Centerline goodness [0,1] 0.99943631391052 Centerline is valid? [True, True] Translation: X:567.48, Y:9.50, Z:5.24 [[ 9.98889185e-01 -4.49525181e-02 -1.41303802e-02 5.67480285e+02] [ 4.49534766e-02 9.98989050e-01 -2.49939728e-04 9.49755911e+00] [ 1.41273305e-02 -3.85547623e-04 9.99900130e-01 5.23595765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9092541539999 meters Centerline goodness [0,1] 0.9993531829657605 Centerline is valid? [True, True] Translation: X:567.51, Y:9.50, Z:5.24 [[ 9.98880780e-01 -4.52560832e-02 -1.37504429e-02 5.67511372e+02] [ 4.52570264e-02 9.98975346e-01 -2.42730198e-04 9.49909307e+00] [ 1.37473385e-02 -3.79845629e-04 9.99905429e-01 5.23644837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.939254154 meters Centerline goodness [0,1] 0.9993736690467243 Centerline is valid? [True, True] Translation: X:567.54, Y:9.50, Z:5.24 [[ 9.98836458e-01 -4.62411211e-02 -1.36926540e-02 5.67542564e+02] [ 4.62421602e-02 9.98930230e-01 -2.40870977e-04 9.50046456e+00] [ 1.36891442e-02 -3.92587189e-04 9.99906222e-01 5.23710084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9692541539999 meters Centerline goodness [0,1] 0.9994772280540337 Centerline is valid? [True, True] Translation: X:567.57, Y:9.50, Z:5.24 [[ 9.98812221e-01 -4.67736689e-02 -1.36517957e-02 5.67573685e+02] [ 4.67747695e-02 9.98905433e-01 -2.38844855e-04 9.50137311e+00] [ 1.36480245e-02 -3.99998436e-04 9.99906781e-01 5.23715401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9992541539999 meters Centerline goodness [0,1] 0.999480260285649 Centerline is valid? [True, True] Translation: X:567.61, Y:9.50, Z:5.24 [[ 9.98768437e-01 -4.75814387e-02 -1.40576151e-02 5.67605855e+02] [ 4.75826977e-02 9.98867272e-01 -2.45084805e-04 9.50213613e+00] [ 1.40533531e-02 -4.24116280e-04 9.99901157e-01 5.23705505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0292541539999 meters Centerline goodness [0,1] 0.9994786126926526 Centerline is valid? [True, True] Translation: X:567.64, Y:9.50, Z:5.24 [[ 9.98638334e-01 -5.02251988e-02 -1.41034421e-02 5.67637164e+02] [ 5.02267413e-02 9.98737811e-01 -2.45036743e-04 9.50328165e+00] [ 1.40979479e-02 -4.63666853e-04 9.99900511e-01 5.23738029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.059254154 meters Centerline goodness [0,1] 0.9994786126926526 Centerline is valid? [True, True] Translation: X:567.67, Y:9.50, Z:5.24 [[ 9.98641979e-01 -5.01526712e-02 -1.41034539e-02 5.67668862e+02] [ 5.01542161e-02 9.98741455e-01 -2.44354191e-04 9.50377072e+00] [ 1.40979591e-02 -4.63325323e-04 9.99900511e-01 5.23767720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.089254154 meters Centerline goodness [0,1] 0.9994988410699743 Centerline is valid? [True, True] Translation: X:567.70, Y:9.50, Z:5.24 [[ 9.98563401e-01 -5.17490838e-02 -1.38984190e-02 5.67699851e+02] [ 5.17507546e-02 9.98660003e-01 -2.39643270e-04 9.50366516e+00] [ 1.38921965e-02 -4.79954671e-04 9.99903384e-01 5.23823143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1192541539999 meters Centerline goodness [0,1] 0.9991873137594032 Centerline is valid? [True, True] Translation: X:567.73, Y:9.50, Z:5.24 [[ 9.98502787e-01 -5.29746877e-02 -1.36332890e-02 5.67730985e+02] [ 5.29764260e-02 9.98595736e-01 -2.33853615e-04 9.50338789e+00] [ 1.36265326e-02 -4.88739438e-04 9.99907035e-01 5.23875079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1492541539999 meters Centerline goodness [0,1] 0.9991040546735008 Centerline is valid? [True, True] Translation: X:567.76, Y:9.51, Z:5.24 [[ 9.98385707e-01 -5.52898045e-02 -1.30006533e-02 5.67763051e+02] [ 5.52915908e-02 9.98470225e-01 -2.22263203e-04 9.50515548e+00] [ 1.29930541e-02 -4.96922395e-04 9.99915463e-01 5.23918135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.179254154 meters Centerline goodness [0,1] 0.9993945973028266 Centerline is valid? [True, True] Translation: X:567.79, Y:9.51, Z:5.24 [[ 9.98313520e-01 -5.67618933e-02 -1.21738782e-02 5.67793877e+02] [ 5.67635783e-02 9.98387627e-01 -2.07352438e-04 9.50579277e+00] [ 1.21660191e-02 -4.84030147e-04 9.99925874e-01 5.24121807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.209254154 meters Centerline goodness [0,1] 0.9992069454879372 Centerline is valid? [True, True] Translation: X:567.82, Y:9.50, Z:5.24 [[ 9.98234641e-01 -5.82619895e-02 -1.15386939e-02 5.67824881e+02] [ 5.82636100e-02 9.98301214e-01 -1.95946559e-04 9.50454662e+00] [ 1.15305084e-02 -4.76685321e-04 9.99933408e-01 5.24148836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2392541539999 meters Centerline goodness [0,1] 0.9993120126756453 Centerline is valid? [True, True] Translation: X:567.86, Y:9.51, Z:5.24 [[ 9.98011186e-01 -6.20739325e-02 -1.09772060e-02 5.67856294e+02] [ 6.20756350e-02 9.98071431e-01 -1.85885530e-04 9.50892526e+00] [ 1.09675743e-02 -4.95901194e-04 9.99939731e-01 5.24276765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2692541539999 meters Centerline goodness [0,1] 0.9993330137357483 Centerline is valid? [True, True] Translation: X:567.89, Y:9.51, Z:5.24 [[ 9.97871875e-01 -6.42713203e-02 -1.09963106e-02 5.67888509e+02] [ 6.42731668e-02 9.97932325e-01 -1.85753066e-04 9.51316331e+00] [ 1.09855124e-02 -5.21409943e-04 9.99939521e-01 5.24323900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2992541539999 meters Centerline goodness [0,1] 0.9987497916319387 Centerline is valid? [True, True] Translation: X:567.92, Y:9.51, Z:5.24 [[ 9.97731941e-01 -6.64302935e-02 -1.08622904e-02 5.67920364e+02] [ 6.64322313e-02 9.97790923e-01 -1.82715283e-04 9.51389104e+00] [ 1.08504325e-02 -5.39305311e-04 9.99940987e-01 5.24282873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.329254154 meters Centerline goodness [0,1] 0.9983554343526865 Centerline is valid? [True, True] Translation: X:567.95, Y:9.51, Z:5.24 [[ 9.97404591e-01 -7.11679874e-02 -1.09178476e-02 5.67950365e+02] [ 7.11702336e-02 9.97464167e-01 -1.83142540e-04 9.50933501e+00] [ 1.09031956e-02 -5.94358553e-04 9.99940382e-01 5.24375852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3592541539999 meters Centerline goodness [0,1] 0.9986882105526174 Centerline is valid? [True, True] Translation: X:567.98, Y:9.52, Z:5.25 [[ 9.97285808e-01 -7.28922350e-02 -1.03797609e-02 5.67982539e+02] [ 7.28943578e-02 9.97339652e-01 -1.74158872e-04 9.51713512e+00] [ 1.03648420e-02 -5.82939836e-04 9.99946114e-01 5.24516552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3892541539999 meters Centerline goodness [0,1] 0.9985209873971461 Centerline is valid? [True, True] Translation: X:568.01, Y:9.52, Z:5.24 [[ 9.97216483e-01 -7.37929976e-02 -1.06714154e-02 5.68014366e+02] [ 7.37953016e-02 9.97273394e-01 -1.78237327e-04 9.51818498e+00] [ 1.06554713e-02 -6.09759118e-04 9.99943043e-01 5.24490211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4192541539999 meters Centerline goodness [0,1] 0.9986246848236054 Centerline is valid? [True, True] Translation: X:568.05, Y:9.52, Z:5.25 [[ 9.97135504e-01 -7.49080751e-02 -1.04674416e-02 5.68046839e+02] [ 7.49103610e-02 9.97190256e-01 -1.74066912e-04 9.52025239e+00] [ 1.04510697e-02 -6.10551527e-04 9.99945200e-01 5.24606061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.449254154 meters Centerline goodness [0,1] 0.9982242092508252 Centerline is valid? [True, True] Translation: X:568.08, Y:9.53, Z:5.25 [[ 9.97123564e-01 -7.50306234e-02 -1.07239404e-02 5.68078713e+02] [ 7.50330385e-02 9.97181033e-01 -1.77520893e-04 9.52719270e+00] [ 1.07070295e-02 -6.27639570e-04 9.99942481e-01 5.24574649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4792541539999 meters Centerline goodness [0,1] 0.9985173429114373 Centerline is valid? [True, True] Translation: X:568.11, Y:9.53, Z:5.25 [[ 9.97157710e-01 -7.45744666e-02 -1.07308232e-02 5.68109488e+02] [ 7.45768669e-02 9.97215252e-01 -1.76849891e-04 9.52576564e+00] [ 1.07141291e-02 -6.23923944e-04 9.99942407e-01 5.24629299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5092541539999 meters Centerline goodness [0,1] 0.9982655214929054 Centerline is valid? [True, True] Translation: X:568.14, Y:9.53, Z:5.25 [[ 9.97202670e-01 -7.39797147e-02 -1.06694065e-02 5.68141870e+02] [ 7.39820603e-02 9.97259557e-01 -1.75219142e-04 9.52820073e+00] [ 1.06531303e-02 -6.14615679e-04 9.99943065e-01 5.24640607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5392541539999 meters Centerline goodness [0,1] 0.9988270040426468 Centerline is valid? [True, True] Translation: X:568.17, Y:9.53, Z:5.25 [[ 9.97391294e-01 -7.11968493e-02 -1.19002333e-02 5.68171919e+02] [ 7.11995821e-02 9.97462070e-01 -1.94405354e-04 9.53292803e+00] [ 1.18838724e-02 -6.53393430e-04 9.99929171e-01 5.24597940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.569254154 meters Centerline goodness [0,1] 0.9987221116581125 Centerline is valid? [True, True] Translation: X:568.20, Y:9.54, Z:5.25 [[ 9.97499757e-01 -6.95673712e-02 -1.24344871e-02 5.68204105e+02] [ 6.95702444e-02 9.97577035e-01 -2.01856960e-04 9.54013723e+00] [ 1.24184014e-02 -6.63718039e-04 9.99922668e-01 5.24566419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5992541539999 meters Centerline goodness [0,1] 0.9987834805042264 Centerline is valid? [True, True] Translation: X:568.23, Y:9.54, Z:5.25 [[ 9.97620765e-01 -6.76407489e-02 -1.33243146e-02 5.68234894e+02] [ 6.76438884e-02 9.97709506e-01 -2.15424520e-04 9.54290335e+00] [ 1.33083668e-02 -6.86396478e-04 9.99911204e-01 5.24573422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6292541539999 meters Centerline goodness [0,1] 0.9986342816321385 Centerline is valid? [True, True] Translation: X:568.27, Y:9.55, Z:5.25 [[ 9.97750915e-01 -6.55686938e-02 -1.39233150e-02 5.68266297e+02] [ 6.55719280e-02 9.97847820e-01 -2.24583357e-04 9.54927318e+00] [ 1.39080752e-02 -6.88900361e-04 9.99903041e-01 5.24606204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6592541539999 meters Centerline goodness [0,1] 0.9987792043780257 Centerline is valid? [True, True] Translation: X:568.30, Y:9.56, Z:5.25 [[ 9.98038317e-01 -6.08839824e-02 -1.45828081e-02 5.68297225e+02] [ 6.08870380e-02 9.98144636e-01 -2.34760097e-04 9.55839766e+00] [ 1.45700448e-02 -6.53604421e-04 9.99893638e-01 5.24611266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.689254154 meters Centerline goodness [0,1] 0.9987157624371039 Centerline is valid? [True, True] Translation: X:568.33, Y:9.56, Z:5.25 [[ 9.98180775e-01 -5.83340650e-02 -1.52406194e-02 5.68328086e+02] [ 5.83371120e-02 9.98296910e-01 -2.44949003e-04 9.56168705e+00] [ 1.52289521e-02 -6.44590332e-04 9.99883825e-01 5.24513810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7192541539999 meters Centerline goodness [0,1] 0.9989898777331173 Centerline is valid? [True, True] Translation: X:568.36, Y:9.57, Z:5.25 [[ 9.98318782e-01 -5.60338915e-02 -1.48260892e-02 5.68359682e+02] [ 5.60365312e-02 9.98428691e-01 -2.37645367e-04 9.56546136e+00] [ 1.48161090e-02 -5.93556776e-04 9.99890059e-01 5.24637988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7492541539999 meters Centerline goodness [0,1] 0.9985679989891758 Centerline is valid? [True, True] Translation: X:568.39, Y:9.57, Z:5.25 [[ 9.98541586e-01 -5.20047694e-02 -1.44984608e-02 5.68391315e+02] [ 5.20068811e-02 9.98646700e-01 -2.31600595e-04 9.57234953e+00] [ 1.44908843e-02 -5.22756899e-04 9.99894865e-01 5.24634901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7792541539999 meters Centerline goodness [0,1] 0.9986728180496746 Centerline is valid? [True, True] Translation: X:568.42, Y:9.58, Z:5.25 [[ 9.98658160e-01 -4.97743112e-02 -1.42967836e-02 5.68423213e+02] [ 4.97761488e-02 9.98760373e-01 -2.27499730e-04 9.57530968e+00] [ 1.42903846e-02 -4.84444368e-04 9.99897770e-01 5.24665657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.809254154 meters Centerline goodness [0,1] 0.9986947368421053 Centerline is valid? [True, True] Translation: X:568.45, Y:9.58, Z:5.25 [[ 9.98765109e-01 -4.75511991e-02 -1.43923705e-02 5.68454370e+02] [ 4.75528448e-02 9.98868698e-01 -2.28046596e-04 9.57773161e+00] [ 1.43869322e-02 -4.56633175e-04 9.99896398e-01 5.24649941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.839254154 meters Centerline goodness [0,1] 0.9988428847934023 Centerline is valid? [True, True] Translation: X:568.49, Y:9.58, Z:5.25 [[ 9.98864141e-01 -4.53648867e-02 -1.45758590e-02 5.68487092e+02] [ 4.53663566e-02 9.98970390e-01 -2.29953871e-04 9.58158100e+00] [ 1.45712834e-02 -4.31560941e-04 9.99893740e-01 5.24657857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8692541539999 meters Centerline goodness [0,1] 0.9989237100348212 Centerline is valid? [True, True] Translation: X:568.52, Y:9.59, Z:5.25 [[ 9.99060195e-01 -4.07731749e-02 -1.47062955e-02 5.68518318e+02] [ 4.07741897e-02 9.99168360e-01 -2.30947052e-04 9.58652116e+00] [ 1.47034816e-02 -3.68907275e-04 9.99891830e-01 5.24597056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8992541539999 meters Centerline goodness [0,1] 0.9994299467950342 Centerline is valid? [True, True] Translation: X:568.55, Y:9.59, Z:5.25 [[ 9.99162383e-01 -3.82660096e-02 -1.44998045e-02 5.68549588e+02] [ 3.82667474e-02 9.99267534e-01 -2.26658047e-04 9.58770023e+00] [ 1.44978572e-02 -3.28392162e-04 9.99894847e-01 5.24626696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.929254154 meters Centerline goodness [0,1] 0.9993241102545147 Centerline is valid? [True, True] Translation: X:568.58, Y:9.59, Z:5.25 [[ 9.99238751e-01 -3.63460260e-02 -1.41733983e-02 5.68582128e+02] [ 3.63465607e-02 9.99339221e-01 -2.19945087e-04 9.59014956e+00] [ 1.41720270e-02 -2.95376629e-04 9.99899528e-01 5.24662110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.959254154 meters Centerline goodness [0,1] 0.9995776848684489 Centerline is valid? [True, True] Translation: X:568.61, Y:9.59, Z:5.25 [[ 9.99319336e-01 -3.42298016e-02 -1.37544362e-02 5.68613442e+02] [ 3.42301163e-02 9.99413955e-01 -2.12609862e-04 9.59182550e+00] [ 1.37536531e-02 -2.58350805e-04 9.99905381e-01 5.24699262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9892541539999 meters Centerline goodness [0,1] 0.9994514420743928 Centerline is valid? [True, True] Translation: X:568.64, Y:9.59, Z:5.25 [[ 9.99436350e-01 -3.07448783e-02 -1.34808969e-02 5.68644603e+02] [ 3.07448714e-02 9.99527243e-01 -2.07810801e-04 9.59277153e+00] [ 1.34809128e-02 -2.06774773e-04 9.99909107e-01 5.24677259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0192541539999 meters Centerline goodness [0,1] 0.9994503752246062 Centerline is valid? [True, True] Translation: X:568.68, Y:9.59, Z:5.25 [[ 9.99478661e-01 -2.91605922e-02 -1.38587572e-02 5.68676038e+02] [ 2.91604423e-02 9.99574721e-01 -2.12936083e-04 9.59308319e+00] [ 1.38590727e-02 -1.91302419e-04 9.99903940e-01 5.24655496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0492541539999 meters Centerline goodness [0,1] 0.9994510482866372 Centerline is valid? [True, True] Translation: X:568.71, Y:9.59, Z:5.25 [[ 9.99513408e-01 -2.71202372e-02 -1.54090709e-02 5.68707698e+02] [ 2.71198188e-02 9.99632162e-01 -2.36149076e-04 9.59217773e+00] [ 1.54098073e-02 -1.81857043e-04 9.99881245e-01 5.24517761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.079254154 meters Centerline goodness [0,1] 0.9992605113036129 Centerline is valid? [True, True] Translation: X:568.74, Y:9.59, Z:5.24 [[ 9.99530811e-01 -2.62483236e-02 -1.57855489e-02 5.68738052e+02] [ 2.62477833e-02 9.99655438e-01 -2.41439866e-04 9.59071120e+00] [ 1.57864472e-02 -1.73009083e-04 9.99875371e-01 5.24419928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1092541539999 meters Centerline goodness [0,1] 0.9993471072639583 Centerline is valid? [True, True] Translation: X:568.77, Y:9.59, Z:5.24 [[ 9.99548297e-01 -2.56447474e-02 -1.56700249e-02 5.68768492e+02] [ 2.56441436e-02 9.99671106e-01 -2.39500220e-04 9.58910134e+00] [ 1.56710130e-02 -1.62452331e-04 9.99877189e-01 5.24400338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1392541539999 meters Centerline goodness [0,1] 0.9995996375666393 Centerline is valid? [True, True] Translation: X:568.80, Y:9.59, Z:5.24 [[ 9.99552660e-01 -2.55806026e-02 -1.54955494e-02 5.68797867e+02] [ 2.55800010e-02 9.99672750e-01 -2.37059131e-04 9.58712340e+00] [ 1.54965426e-02 -1.59423083e-04 9.99879909e-01 5.24387502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1692541539999 meters Centerline goodness [0,1] 0.9989478557299777 Centerline is valid? [True, True] Translation: X:568.83, Y:9.58, Z:5.24 [[ 9.99542738e-01 -2.61435669e-02 -1.51930524e-02 5.68828036e+02] [ 2.61430451e-02 9.99658185e-01 -2.32982939e-04 9.58226828e+00] [ 1.51939502e-02 -1.64316249e-04 9.99884552e-01 5.24346971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.199254154 meters Centerline goodness [0,1] 0.9991586209797859 Centerline is valid? [True, True] Translation: X:568.86, Y:9.58, Z:5.24 [[ 9.99516614e-01 -2.68319140e-02 -1.57030491e-02 5.68857594e+02] [ 2.68314342e-02 9.99639943e-01 -2.41273654e-04 9.57943290e+00] [ 1.57038690e-02 -1.80178303e-04 9.99876670e-01 5.24318092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2292541539999 meters Centerline goodness [0,1] 0.9992436974789916 Centerline is valid? [True, True] Translation: X:568.89, Y:9.57, Z:5.24 [[ 9.99433315e-01 -2.92556411e-02 -1.66479897e-02 5.68887290e+02] [ 2.92554306e-02 9.99571935e-01 -2.56234662e-04 9.57330112e+00] [ 1.66483596e-02 -2.30954649e-04 9.99861380e-01 5.24205283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2592541539999 meters Centerline goodness [0,1] 0.9987853657515026 Centerline is valid? [True, True] Translation: X:568.92, Y:9.57, Z:5.24 [[ 9.99362653e-01 -3.09422402e-02 -1.78006982e-02 5.68917333e+02] [ 3.09422580e-02 9.99521136e-01 -2.74486999e-04 9.56969603e+00] [ 1.78006673e-02 -2.76481739e-04 9.99841517e-01 5.24098963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2892541539999 meters Centerline goodness [0,1] 0.9991190905658794 Centerline is valid? [True, True] Translation: X:568.95, Y:9.57, Z:5.24 [[ 9.99286250e-01 -3.30592087e-02 -1.82778574e-02 5.68946728e+02] [ 3.30595725e-02 9.99453343e-01 -2.82332861e-04 9.56547813e+00] [ 1.82771993e-02 -3.22126805e-04 9.99832906e-01 5.24101286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.319254154 meters Centerline goodness [0,1] 0.9987651737128506 Centerline is valid? [True, True] Translation: X:568.98, Y:9.56, Z:5.24 [[ 9.99213908e-01 -3.51253525e-02 -1.83786781e-02 5.68975800e+02] [ 3.51260704e-02 9.99382849e-01 -2.83844234e-04 9.56118947e+00] [ 1.83773058e-02 -3.61949637e-04 9.99831058e-01 5.24043639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3492541539999 meters Centerline goodness [0,1] 0.9988899826167089 Centerline is valid? [True, True] Translation: X:569.01, Y:9.56, Z:5.24 [[ 9.99137422e-01 -3.71956587e-02 -1.84633492e-02 5.69005331e+02] [ 3.71967380e-02 9.99307921e-01 -2.85075808e-04 9.55715551e+00] [ 1.84611747e-02 -4.01946455e-04 9.99829497e-01 5.24037019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3792541539999 meters Centerline goodness [0,1] 0.9991006253790968 Centerline is valid? [True, True] Translation: X:569.04, Y:9.55, Z:5.24 [[ 9.98979451e-01 -4.12974880e-02 -1.82913686e-02 5.69035309e+02] [ 4.12992224e-02 9.99146783e-01 -2.83068183e-04 9.55024454e+00] [ 1.82874521e-02 -4.72640003e-04 9.99832659e-01 5.24087731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4092541539999 meters Centerline goodness [0,1] 0.9991025400204537 Centerline is valid? [True, True] Translation: X:569.07, Y:9.55, Z:5.24 [[ 9.98920863e-01 -4.27678618e-02 -1.81112915e-02 5.69065437e+02] [ 4.27698005e-02 9.99084914e-01 -2.80458489e-04 9.54650429e+00] [ 1.81067128e-02 -4.94460490e-04 9.99835938e-01 5.24106126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.439254154 meters Centerline goodness [0,1] 0.9990809591444565 Centerline is valid? [True, True] Translation: X:569.10, Y:9.54, Z:5.24 [[ 9.98834984e-01 -4.49047789e-02 -1.76701775e-02 5.69095385e+02] [ 4.49069742e-02 9.98991136e-01 -2.72735402e-04 9.53941309e+00] [ 1.76645978e-02 -5.21096543e-04 9.99843833e-01 5.24122131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4692541539999 meters Centerline goodness [0,1] 0.9991021839896438 Centerline is valid? [True, True] Translation: X:569.13, Y:9.54, Z:5.24 [[ 9.98795780e-01 -4.57557092e-02 -1.77032664e-02 5.69125816e+02] [ 4.57580608e-02 9.98952514e-01 -2.72421956e-04 9.53635007e+00] [ 1.76971873e-02 -5.37973238e-04 9.99843248e-01 5.24134055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4992541539999 meters Centerline goodness [0,1] 0.9990388231852564 Centerline is valid? [True, True] Translation: X:569.16, Y:9.53, Z:5.24 [[ 9.98765047e-01 -4.65514738e-02 -1.73592050e-02 5.69156417e+02] [ 4.65538549e-02 9.98915746e-01 -2.67127460e-04 9.53362449e+00] [ 1.73528184e-02 -5.41340340e-04 9.99849282e-01 5.24157733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5292541539999 meters Centerline goodness [0,1] 0.998811112965126 Centerline is valid? [True, True] Translation: X:569.19, Y:9.53, Z:5.24 [[ 9.98732201e-01 -4.72322813e-02 -1.74098095e-02 5.69185834e+02] [ 4.72347772e-02 9.98883779e-01 -2.68044129e-04 9.52859815e+00] [ 1.74030367e-02 -5.54644173e-04 9.99848402e-01 5.24159237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.559254154 meters Centerline goodness [0,1] 0.9990611699908203 Centerline is valid? [True, True] Translation: X:569.22, Y:9.53, Z:5.24 [[ 9.98739416e-01 -4.69642691e-02 -1.77182323e-02 5.69216640e+02] [ 4.69668093e-02 9.98896413e-01 -2.72956131e-04 9.53206686e+00] [ 1.77114979e-02 -5.59556789e-04 9.99842983e-01 5.24268940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.589254154 meters Centerline goodness [0,1] 0.9989157857425826 Centerline is valid? [True, True] Translation: X:569.25, Y:9.53, Z:5.24 [[ 9.98740896e-01 -4.68413182e-02 -1.79586508e-02 5.69246141e+02] [ 4.68439083e-02 9.98902183e-01 -2.76639541e-04 9.52565910e+00] [ 1.79518937e-02 -5.64962169e-04 9.99838692e-01 5.24190851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6192541539999 meters Centerline goodness [0,1] 0.9990193419158303 Centerline is valid? [True, True] Translation: X:569.28, Y:9.53, Z:5.24 [[ 9.98758519e-01 -4.64269178e-02 -1.80544339e-02 5.69276991e+02] [ 4.64294683e-02 9.98921532e-01 -2.78092731e-04 9.52998155e+00] [ 1.80478737e-02 -5.60510281e-04 9.99836967e-01 5.24345317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6492541539999 meters Centerline goodness [0,1] 0.9991656062913286 Centerline is valid? [True, True] Translation: X:569.31, Y:9.53, Z:5.24 [[ 9.98802712e-01 -4.53748632e-02 -1.82828785e-02 5.69307008e+02] [ 4.53773026e-02 9.98969880e-01 -2.81611467e-04 9.52779892e+00] [ 1.82768230e-02 -5.48353413e-04 9.99832815e-01 5.24352981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.679254154 meters Centerline goodness [0,1] 0.9989554172063678 Centerline is valid? [True, True] Translation: X:569.34, Y:9.53, Z:5.24 [[ 9.98816325e-01 -4.49363541e-02 -1.86191310e-02 5.69337242e+02] [ 4.49388081e-02 9.98989700e-01 -2.86790770e-04 9.52867387e+00] [ 1.86132074e-02 -5.50270250e-04 9.99826608e-01 5.24402341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.709254154 meters Centerline goodness [0,1] 0.9990601111157525 Centerline is valid? [True, True] Translation: X:569.37, Y:9.53, Z:5.24 [[ 9.98830920e-01 -4.44691791e-02 -1.89548507e-02 5.69368108e+02] [ 4.44716384e-02 9.99010605e-01 -2.91961867e-04 9.52778927e+00] [ 1.89490802e-02 -5.51332728e-04 9.99820298e-01 5.24409102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7392541539999 meters Centerline goodness [0,1] 0.9991220001672381 Centerline is valid? [True, True] Translation: X:569.40, Y:9.53, Z:5.24 [[ 9.98823817e-01 -4.44174078e-02 -1.94441774e-02 5.69399074e+02] [ 4.44199859e-02 9.99012900e-01 -2.99498973e-04 9.52695092e+00] [ 1.94382870e-02 -5.64563379e-04 9.99810899e-01 5.24380949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7692541539999 meters Centerline goodness [0,1] 0.9990822243544283 Centerline is valid? [True, True] Translation: X:569.43, Y:9.53, Z:5.24 [[ 9.98810540e-01 -4.44993778e-02 -1.99326707e-02 5.69428966e+02] [ 4.45020957e-02 9.99009244e-01 -3.07410688e-04 9.52533619e+00] [ 1.99266018e-02 -5.80000583e-04 9.99801277e-01 5.24359854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7992541539999 meters Centerline goodness [0,1] 0.9990812661822434 Centerline is valid? [True, True] Translation: X:569.46, Y:9.53, Z:5.24 [[ 9.98774318e-01 -4.49210953e-02 -2.07835871e-02 5.69458125e+02] [ 4.49241210e-02 9.98990350e-01 -3.21524157e-04 9.52549500e+00] [ 2.07770462e-02 -6.12554311e-04 9.99783946e-01 5.24401630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.829254154 meters Centerline goodness [0,1] 0.999080229106568 Centerline is valid? [True, True] Translation: X:569.49, Y:9.52, Z:5.24 [[ 9.98751608e-01 -4.52636945e-02 -2.11287215e-02 5.69487741e+02] [ 4.52668779e-02 9.98974876e-01 -3.27823574e-04 9.52499578e+00] [ 2.11219004e-02 -6.29016934e-04 9.99776710e-01 5.24394659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8592541539999 meters Centerline goodness [0,1] 0.9991046889314567 Centerline is valid? [True, True] Translation: X:569.52, Y:9.52, Z:5.24 [[ 9.98722783e-01 -4.58550261e-02 -2.12160371e-02 5.69516291e+02] [ 4.58582967e-02 9.98947900e-01 -3.32593802e-04 9.52359099e+00] [ 2.12089668e-02 -6.40762319e-04 9.99774859e-01 5.24426577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8892541539999 meters Centerline goodness [0,1] 0.9992086795360363 Centerline is valid? [True, True] Translation: X:569.55, Y:9.52, Z:5.24 [[ 9.98720925e-01 -4.60966945e-02 -2.07751825e-02 5.69545161e+02] [ 4.60997722e-02 9.98936786e-01 -3.31003538e-04 9.52291143e+00] [ 2.07683522e-02 -6.27151024e-04 9.99784118e-01 5.24493438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9192541539999 meters Centerline goodness [0,1] 0.9992497186444916 Centerline is valid? [True, True] Translation: X:569.57, Y:9.52, Z:5.24 [[ 9.98724323e-01 -4.60163841e-02 -2.07898903e-02 5.69574207e+02] [ 4.60193854e-02 9.98940491e-01 -3.34283498e-04 9.52043810e+00] [ 2.07832457e-02 -6.22880914e-04 9.99783811e-01 5.24490770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.949254154 meters Centerline goodness [0,1] 0.9992497186444916 Centerline is valid? [True, True] Translation: X:569.60, Y:9.52, Z:5.25 [[ 9.98712953e-01 -4.62625126e-02 -2.07898364e-02 5.69602485e+02] [ 4.62654980e-02 9.98929121e-01 -3.37611663e-04 9.52094849e+00] [ 2.07831917e-02 -6.24674992e-04 9.99783811e-01 5.24517275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9792541539999 meters Centerline goodness [0,1] 0.9993324711085152 Centerline is valid? [True, True] Translation: X:569.63, Y:9.52, Z:5.25 [[ 9.98751169e-01 -4.59988825e-02 -1.94988459e-02 5.69632396e+02] [ 4.60014089e-02 9.98941324e-01 -3.19178570e-04 9.52230249e+00] [ 1.94928848e-02 -5.78194414e-04 9.99809828e-01 5.24729815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0092541539999 meters Centerline goodness [0,1] 0.999331117660584 Centerline is valid? [True, True] Translation: X:569.66, Y:9.52, Z:5.25 [[ 9.98763880e-01 -4.60691584e-02 -1.86640034e-02 5.69662183e+02] [ 4.60714729e-02 9.98938099e-01 -3.06177281e-04 9.52313082e+00] [ 1.86582894e-02 -5.54079318e-04 9.99825765e-01 5.24886977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0392541539999 meters Centerline goodness [0,1] 0.9989787198566039 Centerline is valid? [True, True] Translation: X:569.69, Y:9.52, Z:5.25 [[ 9.98781556e-01 -4.60613715e-02 -1.77131019e-02 5.69691964e+02] [ 4.60634495e-02 9.98938474e-01 -2.90877559e-04 9.52241717e+00] [ 1.77076972e-02 -5.25403433e-04 9.99843068e-01 5.24954895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.069254154 meters Centerline goodness [0,1] 0.9992288614243138 Centerline is valid? [True, True] Translation: X:569.72, Y:9.52, Z:5.25 [[ 9.98793326e-01 -4.59416954e-02 -1.73566298e-02 5.69722879e+02] [ 4.59436730e-02 9.98943991e-01 -2.84995699e-04 9.52341458e+00] [ 1.73513942e-02 -5.12775522e-04 9.99849322e-01 5.25017418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0992541539999 meters Centerline goodness [0,1] 0.9992070778732994 Centerline is valid? [True, True] Translation: X:569.75, Y:9.52, Z:5.25 [[ 9.98742289e-01 -4.75170475e-02 -1.59991006e-02 5.69753656e+02] [ 4.75189351e-02 9.98870303e-01 -2.62365906e-04 9.52118096e+00] [ 1.59934933e-02 -4.98224296e-04 9.99871972e-01 5.25152620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1292541539999 meters Centerline goodness [0,1] 0.9992690821760468 Centerline is valid? [True, True] Translation: X:569.78, Y:9.52, Z:5.25 [[ 9.98686564e-01 -4.88327874e-02 -1.55082417e-02 5.69783290e+02] [ 4.88347261e-02 9.98806841e-01 -2.53880806e-04 9.51919163e+00] [ 1.55021356e-02 -5.03793388e-04 9.99879708e-01 5.25174975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1592541539999 meters Centerline goodness [0,1] 0.9991854976818011 Centerline is valid? [True, True] Translation: X:569.81, Y:9.52, Z:5.25 [[ 9.98611249e-01 -5.04443547e-02 -1.51967335e-02 5.69814550e+02] [ 5.04464053e-02 9.98726739e-01 -2.48608710e-04 9.52063505e+00] [ 1.51899250e-02 -5.18357122e-04 9.99884492e-01 5.25218035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.189254154 meters Centerline goodness [0,1] 0.9990836197021764 Centerline is valid? [True, True] Translation: X:569.84, Y:9.52, Z:5.25 [[ 9.98507535e-01 -5.25423633e-02 -1.48997852e-02 5.69844771e+02] [ 5.25445767e-02 9.98618550e-01 -2.43153608e-04 9.51603130e+00] [ 1.48919777e-02 -5.40112195e-04 9.99888962e-01 5.25173163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2192541539999 meters Centerline goodness [0,1] 0.9992688073202833 Centerline is valid? [True, True] Translation: X:569.88, Y:9.51, Z:5.25 [[ 9.98244927e-01 -5.74557022e-02 -1.43495197e-02 5.69875848e+02] [ 5.74582699e-02 9.98347882e-01 -2.33605802e-04 9.51426684e+00] [ 1.43392346e-02 -5.91302767e-04 9.99897013e-01 5.25182089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2492541539999 meters Centerline goodness [0,1] 0.9992284755093104 Centerline is valid? [True, True] Translation: X:569.91, Y:9.51, Z:5.25 [[ 9.98077374e-01 -6.03186495e-02 -1.42553868e-02 5.69906849e+02] [ 6.03214802e-02 9.98178975e-01 -2.31712227e-04 9.51334944e+00] [ 1.42434040e-02 -6.28639304e-04 9.99898360e-01 5.25207229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2792541539999 meters Centerline goodness [0,1] 0.9991466688867151 Centerline is valid? [True, True] Translation: X:569.94, Y:9.51, Z:5.25 [[ 9.97890896e-01 -6.33000064e-02 -1.43829596e-02 5.69936885e+02] [ 6.33031993e-02 9.97994314e-01 -2.33618238e-04 9.50828119e+00] [ 1.43688999e-02 -6.77361843e-04 9.99896533e-01 5.25184522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.309254154 meters Centerline goodness [0,1] 0.9990832760380857 Centerline is valid? [True, True] Translation: X:569.97, Y:9.50, Z:5.25 [[ 9.97539007e-01 -6.85947815e-02 -1.45150379e-02 5.69966118e+02] [ 6.85985913e-02 9.97644314e-01 -2.35834663e-04 9.50427419e+00] [ 1.44970220e-02 -7.60456875e-04 9.99894623e-01 5.25122752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.339254154 meters Centerline goodness [0,1] 0.9991648048775396 Centerline is valid? [True, True] Translation: X:570.00, Y:9.51, Z:5.25 [[ 9.97361509e-01 -7.11917850e-02 -1.42038774e-02 5.69997151e+02] [ 7.11956964e-02 9.97462340e-01 -2.30730260e-04 9.51228615e+00] [ 1.41842588e-02 -7.81133459e-04 9.99899093e-01 5.25287550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3692541539999 meters Centerline goodness [0,1] 0.9990021619823716 Centerline is valid? [True, True] Translation: X:570.03, Y:9.51, Z:5.25 [[ 9.97219357e-01 -7.31761551e-02 -1.40997938e-02 5.70027360e+02] [ 7.31802153e-02 9.97318707e-01 -2.28454636e-04 9.51113589e+00] [ 1.40787056e-02 -8.04006564e-04 9.99900567e-01 5.25323062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3992541539999 meters Centerline goodness [0,1] 0.9987696029362696 Centerline is valid? [True, True] Translation: X:570.06, Y:9.50, Z:5.25 [[ 9.97166400e-01 -7.39568652e-02 -1.37678419e-02 5.70058463e+02] [ 7.39608204e-02 9.97261123e-01 -2.22361187e-04 9.50135054e+00] [ 1.37465786e-02 -7.96549775e-04 9.99905194e-01 5.25181601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.429254154 meters Centerline goodness [0,1] 0.9989797193187023 Centerline is valid? [True, True] Translation: X:570.09, Y:9.52, Z:5.26 [[ 9.97073293e-01 -7.54592975e-02 -1.22777181e-02 5.70089782e+02] [ 7.54625652e-02 9.97148616e-01 -1.97566360e-04 9.51617960e+00] [ 1.22576179e-02 -7.29519964e-04 9.99924606e-01 5.25521447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.459254154 meters Centerline goodness [0,1] 0.9988965230064543 Centerline is valid? [True, True] Translation: X:570.12, Y:9.52, Z:5.26 [[ 9.97085427e-01 -7.54531289e-02 -1.12905529e-02 5.70122205e+02] [ 7.54559028e-02 9.97149123e-01 -1.80708990e-04 9.52126586e+00] [ 1.12720000e-02 -6.71756562e-04 9.99936243e-01 5.25587846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4892541539999 meters Centerline goodness [0,1] 0.9986671942356151 Centerline is valid? [True, True] Translation: X:570.15, Y:9.52, Z:5.26 [[ 9.97110595e-01 -7.50749065e-02 -1.15853683e-02 5.70153796e+02] [ 7.50778114e-02 9.97177661e-01 -1.84586360e-04 9.51928211e+00] [ 1.15665283e-02 -6.85751081e-04 9.99932870e-01 5.25507094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5192541539999 meters Centerline goodness [0,1] 0.998812821527503 Centerline is valid? [True, True] Translation: X:570.19, Y:9.52, Z:5.26 [[ 9.97100551e-01 -7.51812299e-02 -1.17589714e-02 5.70185977e+02] [ 7.51842382e-02 9.97169642e-01 -1.86652699e-04 9.52143216e+00] [ 1.17397221e-02 -6.97977800e-04 9.99930843e-01 5.25585947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5492541539999 meters Centerline goodness [0,1] 0.9989163957656081 Centerline is valid? [True, True] Translation: X:570.22, Y:9.53, Z:5.25 [[ 9.97083535e-01 -7.52520786e-02 -1.27101719e-02 5.70217737e+02] [ 7.52556112e-02 9.97164256e-01 -2.00787650e-04 9.52543905e+00] [ 1.26892388e-02 -7.56309692e-04 9.99919202e-01 5.25386517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.579254154 meters Centerline goodness [0,1] 0.9984162707343502 Centerline is valid? [True, True] Translation: X:570.25, Y:9.53, Z:5.25 [[ 9.96982797e-01 -7.64952443e-02 -1.31825814e-02 5.70249539e+02] [ 7.64991656e-02 9.97069624e-01 -2.07270548e-04 9.52975548e+00] [ 1.31598067e-02 -8.01811309e-04 9.99913085e-01 5.25462616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6092541539999 meters Centerline goodness [0,1] 0.9985833628466073 Centerline is valid? [True, True] Translation: X:570.28, Y:9.53, Z:5.25 [[ 9.96909040e-01 -7.73512864e-02 -1.37529876e-02 5.70280667e+02] [ 7.73556488e-02 9.97003539e-01 -2.15279131e-04 9.52772084e+00] [ 1.37284295e-02 -8.49257571e-04 9.99905400e-01 5.25434767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6392541539999 meters Centerline goodness [0,1] 0.9985633081391717 Centerline is valid? [True, True] Translation: X:570.31, Y:9.53, Z:5.25 [[ 9.96795045e-01 -7.87363981e-02 -1.41498052e-02 5.70312261e+02] [ 7.87411660e-02 9.96895070e-01 -2.20706922e-04 9.52908009e+00] [ 1.41232487e-02 -8.94172596e-04 9.99899862e-01 5.25471502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6692541539999 meters Centerline goodness [0,1] 0.9984993434627649 Centerline is valid? [True, True] Translation: X:570.34, Y:9.54, Z:5.26 [[ 9.96584210e-01 -8.13130273e-02 -1.44257928e-02 5.70342759e+02] [ 8.13182604e-02 9.96688161e-01 -2.24408454e-04 9.53668981e+00] [ 1.43962642e-02 -9.49438453e-04 9.99895918e-01 5.25613730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.699254154 meters Centerline goodness [0,1] 0.9986260876805862 Centerline is valid? [True, True] Translation: X:570.37, Y:9.54, Z:5.26 [[ 9.96481298e-01 -8.25908541e-02 -1.42749050e-02 5.70373639e+02] [ 8.25961203e-02 9.96583078e-01 -2.21259280e-04 9.53787410e+00] [ 1.42444027e-02 -9.58571034e-04 9.99898084e-01 5.25664513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7292541539999 meters Centerline goodness [0,1] 0.9983559477232997 Centerline is valid? [True, True] Translation: X:570.41, Y:9.54, Z:5.26 [[ 9.96421469e-01 -8.33032996e-02 -1.43114394e-02 5.70405406e+02] [ 8.33086911e-02 9.96523765e-01 -2.20061826e-04 9.53893948e+00] [ 1.42800213e-02 -9.72992954e-04 9.99897562e-01 5.25701688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7592541539999 meters Centerline goodness [0,1] 0.99856169095116 Centerline is valid? [True, True] Translation: X:570.44, Y:9.54, Z:5.26 [[ 9.96373465e-01 -8.39195888e-02 -1.40506812e-02 5.70437198e+02] [ 8.39248659e-02 9.96472062e-01 -2.14676312e-04 9.54254901e+00] [ 1.40191268e-02 -9.65303753e-04 9.99901261e-01 5.25700878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7892541539999 meters Centerline goodness [0,1] 0.9985195070584065 Centerline is valid? [True, True] Translation: X:570.47, Y:9.54, Z:5.26 [[ 9.96418903e-01 -8.33061947e-02 -1.44722747e-02 5.70468556e+02] [ 8.33117429e-02 9.96523510e-01 -2.20139613e-04 9.54420193e+00] [ 1.44403010e-02 -9.86359156e-04 9.99895247e-01 5.25709726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.819254154 meters Centerline goodness [0,1] 0.9985385305969059 Centerline is valid? [True, True] Translation: X:570.50, Y:9.55, Z:5.26 [[ 9.96541297e-01 -8.18242820e-02 -1.44993005e-02 5.70500188e+02] [ 8.18297062e-02 9.96646302e-01 -2.19765363e-04 9.54813179e+00] [ 1.44686564e-02 -9.67468242e-04 9.99894855e-01 5.25719784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8492541539999 meters Centerline goodness [0,1] 0.9985589875321095 Centerline is valid? [True, True] Translation: X:570.53, Y:9.55, Z:5.26 [[ 9.96709428e-01 -7.96939068e-02 -1.48053207e-02 5.70531181e+02] [ 7.96993390e-02 9.96818923e-01 -2.23691720e-04 9.55299578e+00] [ 1.47760507e-02 -9.57018624e-04 9.99890370e-01 5.25711619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8792541539999 meters Centerline goodness [0,1] 0.9986215538847117 Centerline is valid? [True, True] Translation: X:570.56, Y:9.56, Z:5.26 [[ 9.97139121e-01 -7.41385867e-02 -1.47324160e-02 5.70561476e+02] [ 7.41433661e-02 9.97247568e-01 -2.22257001e-04 9.56430488e+00] [ 1.47083438e-02 -8.70689762e-04 9.99891447e-01 5.25904759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9092541539999 meters Centerline goodness [0,1] 0.9987468409950082 Centerline is valid? [True, True] Translation: X:570.59, Y:9.57, Z:5.26 [[ 9.97375755e-01 -7.08966896e-02 -1.46718533e-02 5.70592177e+02] [ 7.09010815e-02 9.97483327e-01 -2.21252744e-04 9.56985618e+00] [ 1.46506151e-02 -8.19578145e-04 9.99892338e-01 5.25993131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.939254154 meters Centerline goodness [0,1] 0.998620343659852 Centerline is valid? [True, True] Translation: X:570.62, Y:9.57, Z:5.26 [[ 9.97594538e-01 -6.77678078e-02 -1.45829070e-02 5.70623054e+02] [ 6.77718170e-02 9.97700823e-01 -2.19651021e-04 9.57476254e+00] [ 1.45642636e-02 -7.69187448e-04 9.99893640e-01 5.26072298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9692541539999 meters Centerline goodness [0,1] 0.9984910089281972 Centerline is valid? [True, True] Translation: X:570.65, Y:9.58, Z:5.26 [[ 9.97945203e-01 -6.23980877e-02 -1.45551025e-02 5.70652288e+02] [ 6.24015130e-02 9.98051102e-01 -2.19140266e-04 9.58295845e+00] [ 1.45404100e-02 -6.89570440e-04 9.99894045e-01 5.26109406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9992541539999 meters Centerline goodness [0,1] 0.998803802648423 Centerline is valid? [True, True] Translation: X:570.68, Y:9.59, Z:5.26 [[ 9.98052383e-01 -6.05257340e-02 -1.51021905e-02 5.70684862e+02] [ 6.05292133e-02 9.98166400e-01 -2.27013614e-04 9.58730969e+00] [ 1.50882393e-02 -6.87552233e-04 9.99885930e-01 5.26149785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0292541539999 meters Centerline goodness [0,1] 0.9985938844466831 Centerline is valid? [True, True] Translation: X:570.72, Y:9.59, Z:5.26 [[ 9.98149351e-01 -5.88422953e-02 -1.53446390e-02 5.70717165e+02] [ 5.88457081e-02 9.98267063e-01 -2.29392102e-04 9.59250094e+00] [ 1.53315456e-02 -6.73998567e-04 9.99882238e-01 5.26089714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.059254154 meters Centerline goodness [0,1] 0.9985744832501782 Centerline is valid? [True, True] Translation: X:570.75, Y:9.60, Z:5.26 [[ 9.98196685e-01 -5.79530170e-02 -1.56469210e-02 5.70749732e+02] [ 5.79564744e-02 9.98319084e-01 -2.32777123e-04 9.59525540e+00] [ 1.56341100e-02 -6.74483023e-04 9.99877552e-01 5.26189536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.089254154 meters Centerline goodness [0,1] 0.9986127459223137 Centerline is valid? [True, True] Translation: X:570.78, Y:9.60, Z:5.26 [[ 9.98259907e-01 -5.66548669e-02 -1.63519119e-02 5.70780469e+02] [ 5.66584865e-02 9.98393588e-01 -2.42197067e-04 9.59938479e+00] [ 1.63393656e-02 -6.84698958e-04 9.99866269e-01 5.26109269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1192541539999 meters Centerline goodness [0,1] 0.9986136201319161 Centerline is valid? [True, True] Translation: X:570.81, Y:9.60, Z:5.26 [[ 9.98302416e-01 -5.58256678e-02 -1.66066850e-02 5.70812717e+02] [ 5.58293034e-02 9.98440298e-01 -2.44957764e-04 9.60217551e+00] [ 1.65944585e-02 -6.82597729e-04 9.99862069e-01 5.26105729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1492541539999 meters Centerline goodness [0,1] 0.9985291336597256 Centerline is valid? [True, True] Translation: X:570.84, Y:9.60, Z:5.26 [[ 9.98337800e-01 -5.50651276e-02 -1.70137984e-02 5.70844380e+02] [ 5.50688540e-02 9.98482528e-01 -2.49758608e-04 9.60442881e+00] [ 1.70017334e-02 -6.87586921e-04 9.99855224e-01 5.26074502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.179254154 meters Centerline goodness [0,1] 0.9988243197850185 Centerline is valid? [True, True] Translation: X:570.88, Y:9.61, Z:5.26 [[ 9.98387078e-01 -5.40668156e-02 -1.73211678e-02 5.70875417e+02] [ 5.40705567e-02 9.98537085e-01 -2.52603000e-04 9.60660852e+00] [ 1.73094858e-02 -6.84369613e-04 9.99849945e-01 5.26093258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.209254154 meters Centerline goodness [0,1] 0.9986938293972655 Centerline is valid? [True, True] Translation: X:570.91, Y:9.61, Z:5.26 [[ 9.98456126e-01 -5.27495890e-02 -1.74024488e-02 5.70906351e+02] [ 5.27531934e-02 9.98607549e-01 -2.52186946e-04 9.61094897e+00] [ 1.73915195e-02 -6.66237146e-04 9.99848534e-01 5.26088751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2392541539999 meters Centerline goodness [0,1] 0.9989260897030954 Centerline is valid? [True, True] Translation: X:570.94, Y:9.61, Z:5.26 [[ 9.98466555e-01 -5.25202702e-02 -1.74974056e-02 5.70938501e+02] [ 5.25238969e-02 9.98619636e-01 -2.52529342e-04 9.61287590e+00] [ 1.74865157e-02 -6.66889825e-04 9.99846877e-01 5.26141564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2692541539999 meters Centerline goodness [0,1] 0.9986904912769822 Centerline is valid? [True, True] Translation: X:570.97, Y:9.62, Z:5.26 [[ 9.98441356e-01 -5.32353802e-02 -1.67586387e-02 5.70969642e+02] [ 5.32388304e-02 9.98581779e-01 -2.40512827e-04 9.61530366e+00] [ 1.67476750e-02 -6.52072368e-04 9.99859535e-01 5.26214062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2992541539999 meters Centerline goodness [0,1] 0.9985637039540385 Centerline is valid? [True, True] Translation: X:571.00, Y:9.62, Z:5.26 [[ 9.98406070e-01 -5.39574373e-02 -1.65503495e-02 5.71001940e+02] [ 5.39609246e-02 9.98543020e-01 -2.36111292e-04 9.61642816e+00] [ 1.65389759e-02 -6.57337214e-04 9.99863006e-01 5.26280079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.329254154 meters Centerline goodness [0,1] 0.9985203973789897 Centerline is valid? [True, True] Translation: X:571.03, Y:9.62, Z:5.26 [[ 9.98357039e-01 -5.49883773e-02 -1.61090214e-02 5.71034179e+02] [ 5.49918320e-02 9.98486778e-01 -2.28760776e-04 9.61745948e+00] [ 1.60972240e-02 -6.57479666e-04 9.99870215e-01 5.26342208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3592541539999 meters Centerline goodness [0,1] 0.9989014935462746 Centerline is valid? [True, True] Translation: X:571.07, Y:9.63, Z:5.27 [[ 9.98317692e-01 -5.57853071e-02 -1.58046064e-02 5.71066186e+02] [ 5.57887492e-02 9.98442570e-01 -2.23354997e-04 9.62627329e+00] [ 1.57924517e-02 -6.58739976e-04 9.99875074e-01 5.26503674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3892541539999 meters Centerline goodness [0,1] 0.9987101685238831 Centerline is valid? [True, True] Translation: X:571.10, Y:9.63, Z:5.27 [[ 9.98200630e-01 -5.79213290e-02 -1.55119661e-02 5.71098341e+02] [ 5.79249196e-02 9.98320918e-01 -2.18097894e-04 9.62718090e+00] [ 1.54985528e-02 -6.80823933e-04 9.99879658e-01 5.26529672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4192541539999 meters Centerline goodness [0,1] 0.9988795399771679 Centerline is valid? [True, True] Translation: X:571.13, Y:9.63, Z:5.27 [[ 9.98130675e-01 -5.89845509e-02 -1.59993343e-02 5.71129071e+02] [ 5.89885220e-02 9.98258636e-01 -2.24006962e-04 9.62742392e+00] [ 1.59846866e-02 -7.20188863e-04 9.99871977e-01 5.26551606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.449254154 meters Centerline goodness [0,1] 0.9986884413606363 Centerline is valid? [True, True] Translation: X:571.16, Y:9.62, Z:5.26 [[ 9.98067873e-01 -6.01049454e-02 -1.57453756e-02 5.71160525e+02] [ 6.01089461e-02 9.98191798e-01 -2.19464268e-04 9.61864613e+00] [ 1.57300956e-02 -7.27397696e-04 9.99876010e-01 5.26463789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4792541539999 meters Centerline goodness [0,1] 0.9988775704695144 Centerline is valid? [True, True] Translation: X:571.19, Y:9.63, Z:5.27 [[ 9.97922023e-01 -6.22814806e-02 -1.65122067e-02 5.71192823e+02] [ 6.22862027e-02 9.98058303e-01 -2.28644810e-04 9.62803455e+00] [ 1.64943854e-02 -8.00312964e-04 9.99863638e-01 5.26588610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5092541539999 meters Centerline goodness [0,1] 0.9989192167500212 Centerline is valid? [True, True] Translation: X:571.22, Y:9.63, Z:5.27 [[ 9.97825051e-01 -6.35077575e-02 -1.76616134e-02 5.71224921e+02] [ 6.35133745e-02 9.97980958e-01 -2.43264979e-04 9.62960521e+00] [ 1.76414031e-02 -8.79012779e-04 9.99843992e-01 5.26598441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5392541539999 meters Centerline goodness [0,1] 0.9987716548773773 Centerline is valid? [True, True] Translation: X:571.26, Y:9.62, Z:5.26 [[ 9.97742199e-01 -6.46837341e-02 -1.80698308e-02 5.71255857e+02] [ 6.46898241e-02 9.97905389e-01 -2.47895827e-04 9.61767770e+00] [ 1.80480164e-02 -9.21598050e-04 9.99836697e-01 5.26382686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.569254154 meters Centerline goodness [0,1] 0.9988371601336209 Centerline is valid? [True, True] Translation: X:571.29, Y:9.62, Z:5.26 [[ 9.97612087e-01 -6.64746985e-02 -1.87413707e-02 5.71286595e+02] [ 6.64815767e-02 9.97787620e-01 -2.56474464e-04 9.61701256e+00] [ 1.87169567e-02 -9.90093849e-04 9.99824332e-01 5.26335677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5992541539999 meters Centerline goodness [0,1] 0.998814513738939 Centerline is valid? [True, True] Translation: X:571.32, Y:9.63, Z:5.27 [[ 9.97586270e-01 -6.68256449e-02 -1.88670834e-02 5.71318454e+02] [ 6.68326961e-02 9.97764163e-01 -2.57251194e-04 9.62800321e+00] [ 1.88420906e-02 -1.00430779e-03 9.99821968e-01 5.26563145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6292541539999 meters Centerline goodness [0,1] 0.9987081197848279 Centerline is valid? [True, True] Translation: X:571.35, Y:9.63, Z:5.27 [[ 9.97569941e-01 -6.70824035e-02 -1.88192410e-02 5.71350873e+02] [ 6.70894894e-02 9.97746929e-01 -2.55278765e-04 9.63342004e+00] [ 1.87939646e-02 -1.00791484e-03 9.99822870e-01 5.26719385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6592541539999 meters Centerline goodness [0,1] 0.9985812298831103 Centerline is valid? [True, True] Translation: X:571.38, Y:9.63, Z:5.27 [[ 9.97612692e-01 -6.65211443e-02 -1.85433143e-02 5.71382563e+02] [ 6.65279515e-02 9.97784530e-01 -2.50221011e-04 9.62963208e+00] [ 1.85188772e-02 -9.84025061e-04 9.99828027e-01 5.26696778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.689254154 meters Centerline goodness [0,1] 0.99891946863281 Centerline is valid? [True, True] Translation: X:571.41, Y:9.63, Z:5.27 [[ 9.97817827e-01 -6.35228273e-02 -1.80120550e-02 5.71412734e+02] [ 6.35287743e-02 9.97979978e-01 -2.42404908e-04 9.63318537e+00] [ 1.79910685e-02 -9.02407836e-04 9.99837740e-01 5.26808482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7192541539999 meters Centerline goodness [0,1] 0.9990456598731788 Centerline is valid? [True, True] Translation: X:571.44, Y:9.64, Z:5.27 [[ 9.97966728e-01 -6.11712754e-02 -1.79020854e-02 5.71444175e+02] [ 6.11767780e-02 9.98126918e-01 -2.40623026e-04 9.64026239e+00] [ 1.78832725e-02 -8.55058126e-04 9.99839716e-01 5.26926402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7492541539999 meters Centerline goodness [0,1] 0.9988115197690953 Centerline is valid? [True, True] Translation: X:571.48, Y:9.64, Z:5.27 [[ 9.98106491e-01 -5.88027182e-02 -1.80463863e-02 5.71475321e+02] [ 5.88079351e-02 9.98269286e-01 -2.41922139e-04 9.64329067e+00] [ 1.80293788e-02 -8.19806655e-04 9.99837121e-01 5.26949406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7792541539999 meters Centerline goodness [0,1] 0.9989803288439478 Centerline is valid? [True, True] Translation: X:571.51, Y:9.65, Z:5.27 [[ 9.98259516e-01 -5.61341298e-02 -1.80803508e-02 5.71506915e+02] [ 5.61389438e-02 9.98422937e-01 -2.41581988e-04 9.64728676e+00] [ 1.80653980e-02 -7.73850282e-04 9.99836508e-01 5.26977833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.809254154 meters Centerline goodness [0,1] 0.9989994039001958 Centerline is valid? [True, True] Translation: X:571.54, Y:9.65, Z:5.27 [[ 9.98508501e-01 -5.11055728e-02 -1.92092389e-02 5.71537147e+02] [ 5.11100880e-02 9.98692993e-01 -2.56135693e-04 9.65448504e+00] [ 1.91972223e-02 -7.26032224e-04 9.99815453e-01 5.26938563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.839254154 meters Centerline goodness [0,1] 0.9990207140272072 Centerline is valid? [True, True] Translation: X:571.57, Y:9.66, Z:5.27 [[ 9.98610582e-01 -4.88353646e-02 -1.97992952e-02 5.71569015e+02] [ 4.88397307e-02 9.98806594e-01 -2.63254309e-04 9.65673618e+00] [ 1.97885227e-02 -7.04103707e-04 9.99803940e-01 5.26925050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8692541539999 meters Centerline goodness [0,1] 0.9990207140272072 Centerline is valid? [True, True] Translation: X:571.60, Y:9.66, Z:5.27 [[ 9.98614082e-01 -4.87637454e-02 -1.97993140e-02 5.71600727e+02] [ 4.87681256e-02 9.98810093e-01 -2.61833759e-04 9.65709466e+00] [ 1.97885227e-02 -7.04104553e-04 9.99803940e-01 5.26954739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8992541539999 meters Centerline goodness [0,1] 0.9990625932080617 Centerline is valid? [True, True] Translation: X:571.63, Y:9.66, Z:5.27 [[ 9.98719463e-01 -4.64318728e-02 -2.00876819e-02 5.71632665e+02] [ 4.64359396e-02 9.98921235e-01 -2.64195537e-04 9.65941246e+00] [ 2.00782791e-02 -6.68933157e-04 9.99798187e-01 5.26921800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.929254154 meters Centerline goodness [0,1] 0.9991056218057922 Centerline is valid? [True, True] Translation: X:571.66, Y:9.66, Z:5.27 [[ 9.98809789e-01 -4.43137967e-02 -2.03787401e-02 5.71663589e+02] [ 4.43175678e-02 9.99017458e-01 -2.66751884e-04 9.65817911e+00] [ 2.03705380e-02 -6.36701804e-04 9.99792296e-01 5.26807744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.959254154 meters Centerline goodness [0,1] 0.9994019394250074 Centerline is valid? [True, True] Translation: X:571.70, Y:9.67, Z:5.27 [[ 9.99008767e-01 -3.94865218e-02 -2.05499121e-02 5.71695446e+02] [ 3.94893584e-02 9.99219955e-01 -2.67898033e-04 9.66569181e+00] [ 2.05444606e-02 -5.43870363e-04 9.99788792e-01 5.26935031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9892541539999 meters Centerline goodness [0,1] 0.9993807520659392 Centerline is valid? [True, True] Translation: X:571.73, Y:9.67, Z:5.27 [[ 9.99118715e-01 -3.67251820e-02 -2.03237213e-02 5.71726702e+02] [ 3.67274032e-02 9.99325286e-01 -2.64081293e-04 9.66855771e+00] [ 2.03197070e-02 -4.82588945e-04 9.99793417e-01 5.26971211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0192541539999 meters Centerline goodness [0,1] 0.9990369181380417 Centerline is valid? [True, True] Translation: X:571.76, Y:9.67, Z:5.27 [[ 9.99227883e-01 -3.35638466e-02 -2.04231890e-02 5.71758142e+02] [ 3.35654441e-02 9.99436487e-01 -2.64665277e-04 9.67169069e+00] [ 2.04205634e-02 -4.21052484e-04 9.99791390e-01 5.26994780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0492541539999 meters Centerline goodness [0,1] 0.9992930439812335 Centerline is valid? [True, True] Translation: X:571.79, Y:9.68, Z:5.27 [[ 9.99430792e-01 -2.73263255e-02 -1.97829283e-02 5.71788493e+02] [ 2.73266088e-02 9.99626526e-01 -2.56054600e-04 9.67900330e+00] [ 1.97825369e-02 -2.84691491e-04 9.99804266e-01 5.27212909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.079254154 meters Centerline goodness [0,1] 0.999378655753862 Centerline is valid? [True, True] Translation: X:571.82, Y:9.68, Z:5.27 [[ 9.99512449e-01 -2.45971107e-02 -1.92314121e-02 5.71818578e+02] [ 2.45968698e-02 9.99697420e-01 -2.49099593e-04 9.68211705e+00] [ 1.92317202e-02 -2.24054396e-04 9.99815028e-01 5.27311256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1092541539999 meters Centerline goodness [0,1] 0.9995058545493608 Centerline is valid? [True, True] Translation: X:571.85, Y:9.68, Z:5.27 [[ 9.99574829e-01 -2.21335040e-02 -1.89807856e-02 5.71846758e+02] [ 2.21328119e-02 9.99755009e-01 -2.46556680e-04 9.68323270e+00] [ 1.89815926e-02 -1.73646306e-04 9.99819818e-01 5.27320070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1392541539999 meters Centerline goodness [0,1] 0.9997207843811079 Centerline is valid? [True, True] Translation: X:571.88, Y:9.68, Z:5.27 [[ 9.99629971e-01 -1.96304798e-02 -1.88299071e-02 5.71875918e+02] [ 1.96293005e-02 9.99807296e-01 -2.47474618e-04 9.68493731e+00] [ 1.88311366e-02 -1.22234859e-04 9.99822671e-01 5.27346527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1692541539999 meters Centerline goodness [0,1] 0.9999355988236052 Centerline is valid? [True, True] Translation: X:571.90, Y:9.69, Z:5.27 [[ 9.99626712e-01 -2.00056405e-02 -1.86067228e-02 5.71903452e+02] [ 2.00044608e-02 9.99799860e-01 -2.49539964e-04 9.68513514e+00] [ 1.86079910e-02 -1.22770643e-04 9.99826849e-01 5.27431445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.199254154 meters Centerline goodness [0,1] 0.9997205322785219 Centerline is valid? [True, True] Translation: X:571.93, Y:9.68, Z:5.27 [[ 9.99608376e-01 -2.11142440e-02 -1.83652795e-02 5.71932348e+02] [ 2.11131902e-02 9.99777060e-01 -2.51292127e-04 9.68429069e+00] [ 1.83664910e-02 -1.36555924e-04 9.99831312e-01 5.27450814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2292541539999 meters Centerline goodness [0,1] 0.9998927866883952 Centerline is valid? [True, True] Translation: X:571.96, Y:9.68, Z:5.27 [[ 9.99564833e-01 -2.32173944e-02 -1.81961016e-02 5.71960861e+02] [ 2.32166239e-02 9.99730426e-01 -2.53613441e-04 9.68295259e+00] [ 1.81970846e-02 -1.68948971e-04 9.99834405e-01 5.27475166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2592541539999 meters Centerline goodness [0,1] 0.9997430351827662 Centerline is valid? [True, True] Translation: X:571.99, Y:9.68, Z:5.27 [[ 9.99437529e-01 -2.83304836e-02 -1.79446415e-02 5.71989344e+02] [ 2.83305073e-02 9.99598579e-01 -2.52941104e-04 9.67519809e+00] [ 1.79446041e-02 -2.55581965e-04 9.99838950e-01 5.27312152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2892541539999 meters Centerline goodness [0,1] 0.999700553975146 Centerline is valid? [True, True] Translation: X:572.02, Y:9.67, Z:5.27 [[ 9.99329922e-01 -3.19476427e-02 -1.78621188e-02 5.72020061e+02] [ 3.19482347e-02 9.99489493e-01 -2.52284784e-04 9.67495662e+00] [ 1.78610600e-02 -3.18547429e-04 9.99840428e-01 5.27466526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.319254154 meters Centerline goodness [0,1] 0.9994865211810012 Centerline is valid? [True, True] Translation: X:572.05, Y:9.67, Z:5.27 [[ 9.99200264e-01 -3.56840757e-02 -1.80410170e-02 5.72051175e+02] [ 3.56852939e-02 9.99363045e-01 -2.54497657e-04 9.67184714e+00] [ 1.80386072e-02 -3.89504867e-04 9.99837215e-01 5.27447318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3492541539999 meters Centerline goodness [0,1] 0.9996373720136519 Centerline is valid? [True, True] Translation: X:572.08, Y:9.66, Z:5.27 [[ 9.98864000e-01 -4.36883531e-02 -1.90273019e-02 5.72081418e+02] [ 4.36911657e-02 9.99045049e-01 -2.68053370e-04 9.66118344e+00] [ 1.90208426e-02 -5.63576140e-04 9.99818929e-01 5.27246300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3792541539999 meters Centerline goodness [0,1] 0.9997868985210757 Centerline is valid? [True, True] Translation: X:572.11, Y:9.66, Z:5.27 [[ 9.98666767e-01 -4.74682672e-02 -2.02842600e-02 5.72112109e+02] [ 4.74722464e-02 9.98872517e-01 -2.85573303e-04 9.65855473e+00] [ 2.02749455e-02 -6.77746820e-04 9.99794212e-01 5.27279915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4092541539999 meters Centerline goodness [0,1] 0.9997870618798177 Centerline is valid? [True, True] Translation: X:572.14, Y:9.66, Z:5.27 [[ 9.98480512e-01 -5.13156532e-02 -2.00840977e-02 5.72143396e+02] [ 5.13203419e-02 9.98682203e-01 -2.82226812e-04 9.65520292e+00] [ 2.00721136e-02 -7.48924789e-04 9.99798254e-01 5.27274612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.439254154 meters Centerline goodness [0,1] 0.9993620007655991 Centerline is valid? [True, True] Translation: X:572.17, Y:9.65, Z:5.27 [[ 9.98280309e-01 -5.49981405e-02 -2.02886408e-02 5.72173694e+02] [ 5.50036949e-02 9.98486110e-01 -2.84588886e-04 9.65094986e+00] [ 2.02735779e-02 -8.31850728e-04 9.99794124e-01 5.27226188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4692541539999 meters Centerline goodness [0,1] 0.9992774105795592 Centerline is valid? [True, True] Translation: X:572.20, Y:9.65, Z:5.27 [[ 9.97911187e-01 -6.14868853e-02 -1.98147752e-02 5.72204026e+02] [ 6.14934628e-02 9.98107448e-01 -2.77753294e-04 9.64576855e+00] [ 1.97943529e-02 -9.41306026e-04 9.99803629e-01 5.27318360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4992541539999 meters Centerline goodness [0,1] 0.9993834771886559 Centerline is valid? [True, True] Translation: X:572.24, Y:9.64, Z:5.27 [[ 9.97776859e-01 -6.38243012e-02 -1.91780788e-02 5.72236471e+02] [ 6.38309068e-02 9.97960692e-01 -2.68125301e-04 9.64304047e+00] [ 1.91560817e-02 -9.56624938e-04 9.99816048e-01 5.27361760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5292541539999 meters Centerline goodness [0,1] 0.9994048884165782 Centerline is valid? [True, True] Translation: X:572.27, Y:9.64, Z:5.27 [[ 9.97662742e-01 -6.56437435e-02 -1.89724252e-02 5.72267690e+02] [ 6.56505577e-02 9.97842640e-01 -2.64117065e-04 9.64041221e+00] [ 1.89488325e-02 -9.82050540e-04 9.99819972e-01 5.27374842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.559254154 meters Centerline goodness [0,1] 0.9994051286409315 Centerline is valid? [True, True] Translation: X:572.30, Y:9.64, Z:5.27 [[ 9.97580927e-01 -6.68610077e-02 -1.90236380e-02 5.72299698e+02] [ 6.68681012e-02 9.97761789e-01 -2.63686024e-04 9.63885986e+00] [ 1.89986894e-02 -1.00902640e-03 9.99818999e-01 5.27409272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.589254154 meters Centerline goodness [0,1] 0.9993840795174581 Centerline is valid? [True, True] Translation: X:572.33, Y:9.65, Z:5.28 [[ 9.97534250e-01 -6.77445744e-02 -1.83328127e-02 5.72331244e+02] [ 6.77513309e-02 9.97702207e-01 -2.53001613e-04 9.64568057e+00] [ 1.83078272e-02 -9.89694685e-04 9.99831908e-01 5.27623786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6192541539999 meters Centerline goodness [0,1] 0.9992777022433719 Centerline is valid? [True, True] Translation: X:572.36, Y:9.64, Z:5.28 [[ 9.97557510e-01 -6.73906819e-02 -1.83714696e-02 5.72362374e+02] [ 6.73974256e-02 9.97726177e-01 -2.52528835e-04 9.64347029e+00] [ 1.83467143e-02 -9.86277723e-04 9.99831198e-01 5.27635257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6492541539999 meters Centerline goodness [0,1] 0.999172782420566 Centerline is valid? [True, True] Translation: X:572.39, Y:9.65, Z:5.28 [[ 9.97628597e-01 -6.64814090e-02 -1.78158591e-02 5.72394163e+02] [ 6.64876260e-02 9.97787220e-01 -2.43785785e-04 9.64673573e+00] [ 1.77926438e-02 -9.41326507e-04 9.99841255e-01 5.27700948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.679254154 meters Centerline goodness [0,1] 0.9989819940192148 Centerline is valid? [True, True] Translation: X:572.43, Y:9.65, Z:5.28 [[ 9.97835479e-01 -6.32809100e-02 -1.78852801e-02 5.72425029e+02] [ 6.32866802e-02 9.97995359e-01 -2.43754885e-04 9.64871549e+00] [ 1.78648516e-02 -8.88672732e-04 9.99840016e-01 5.27740825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.709254154 meters Centerline goodness [0,1] 0.9989583333333333 Centerline is valid? [True, True] Translation: X:572.46, Y:9.65, Z:5.28 [[ 9.97940774e-01 -6.15005802e-02 -1.82178331e-02 5.72456766e+02] [ 6.15062884e-02 9.98106665e-01 -2.47334424e-04 9.64932756e+00] [ 1.81985519e-02 -8.73686191e-04 9.99834011e-01 5.27746350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7392541539999 meters Centerline goodness [0,1] 0.9989366679426651 Centerline is valid? [True, True] Translation: X:572.49, Y:9.65, Z:5.28 [[ 9.98059989e-01 -5.95353098e-02 -1.82155416e-02 5.72488033e+02] [ 5.95407075e-02 9.98225848e-01 -2.46344295e-04 9.65206202e+00] [ 1.81978906e-02 -8.38699850e-04 9.99834053e-01 5.27792748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7692541539999 meters Centerline goodness [0,1] 0.9991282716390619 Centerline is valid? [True, True] Translation: X:572.52, Y:9.66, Z:5.28 [[ 9.98166491e-01 -5.75806107e-02 -1.86582308e-02 5.72519838e+02] [ 5.75859514e-02 9.98340521e-01 -2.51352032e-04 9.65597028e+00] [ 1.86417409e-02 -8.23560799e-04 9.99825888e-01 5.27851659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7992541539999 meters Centerline goodness [0,1] 0.9989996594585391 Centerline is valid? [True, True] Translation: X:572.55, Y:9.66, Z:5.28 [[ 9.98361213e-01 -5.37247016e-02 -1.97115434e-02 5.72550519e+02] [ 5.37299330e-02 9.98555469e-01 -2.64492537e-04 9.65929370e+00] [ 1.96972792e-02 -7.95040813e-04 9.99805674e-01 5.27646773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.829254154 meters Centerline goodness [0,1] 0.9990845610150728 Centerline is valid? [True, True] Translation: X:572.58, Y:9.66, Z:5.28 [[ 9.98391078e-01 -5.30120227e-02 -2.01241303e-02 5.72582558e+02] [ 5.30173525e-02 9.98593555e-01 -2.68952841e-04 9.66154338e+00] [ 2.01100845e-02 -7.98407991e-04 9.99797453e-01 5.27744320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8592541539999 meters Centerline goodness [0,1] 0.9988703936571538 Centerline is valid? [True, True] Translation: X:572.61, Y:9.67, Z:5.28 [[ 9.98428802e-01 -5.18589397e-02 -2.12268276e-02 5.72614388e+02] [ 5.18646418e-02 9.98654084e-01 -2.82175872e-04 9.66550523e+00] [ 2.12128914e-02 -8.19189294e-04 9.99774646e-01 5.27754315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8892541539999 meters Centerline goodness [0,1] 0.9991257622926351 Centerline is valid? [True, True] Translation: X:572.65, Y:9.67, Z:5.28 [[ 9.98543058e-01 -4.86264647e-02 -2.33929312e-02 5.72645852e+02] [ 4.86325334e-02 9.98816690e-01 -3.09751290e-04 9.67056183e+00] [ 2.33803122e-02 -8.28357506e-04 9.99726300e-01 5.27652659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9192541539999 meters Centerline goodness [0,1] 0.9992100937213125 Centerline is valid? [True, True] Translation: X:572.68, Y:9.68, Z:5.28 [[ 9.98608877e-01 -4.66577652e-02 -2.45634519e-02 5.72676891e+02] [ 4.66638840e-02 9.98910595e-01 -3.24350136e-04 9.67615561e+00] [ 2.45518259e-02 -8.22327146e-04 9.99698220e-01 5.27792748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.949254154 meters Centerline goodness [0,1] 0.9991003148897886 Centerline is valid? [True, True] Translation: X:572.71, Y:9.68, Z:5.28 [[ 9.98779099e-01 -4.23172007e-02 -2.54865650e-02 5.72706888e+02] [ 4.23223856e-02 9.99103950e-01 -3.36185444e-04 9.67904670e+00] [ 2.54779541e-02 -7.42877236e-04 9.99675108e-01 5.27696348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9792541539999 meters Centerline goodness [0,1] 0.9991017003529035 Centerline is valid? [True, True] Translation: X:572.74, Y:9.68, Z:5.28 [[ 9.98885963e-01 -3.98885520e-02 -2.52138300e-02 5.72736929e+02] [ 3.98928533e-02 9.99203908e-01 -3.32587881e-04 9.68433500e+00] [ 2.52070239e-02 -6.73634257e-04 9.99682026e-01 5.27927533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0092541539999 meters Centerline goodness [0,1] 0.9989954474533524 Centerline is valid? [True, True] Translation: X:572.77, Y:9.69, Z:5.28 [[ 9.98995946e-01 -3.71278202e-02 -2.50724073e-02 5.72766778e+02] [ 3.71312045e-02 9.99310344e-01 -3.30722417e-04 9.68529234e+00] [ 2.50673949e-02 -6.00578329e-04 9.99685583e-01 5.27921422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0392541539999 meters Centerline goodness [0,1] 0.999162604942778 Centerline is valid? [True, True] Translation: X:572.80, Y:9.69, Z:5.28 [[ 9.99127650e-01 -3.39688871e-02 -2.42910329e-02 5.72796190e+02] [ 3.39711182e-02 9.99422763e-01 -3.20920206e-04 9.68889638e+00] [ 2.42879125e-02 -5.04553299e-04 9.99704878e-01 5.28044403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.069254154 meters Centerline goodness [0,1] 0.9992055823939882 Centerline is valid? [True, True] Translation: X:572.83, Y:9.70, Z:5.28 [[ 9.99366055e-01 -2.69410449e-02 -2.32737637e-02 5.72825898e+02] [ 2.69411692e-02 9.99636973e-01 -3.08269492e-04 9.69695474e+00] [ 2.32736198e-02 -3.18948338e-04 9.99729082e-01 5.28390551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0992541539999 meters Centerline goodness [0,1] 0.9993552408175547 Centerline is valid? [True, True] Translation: X:572.86, Y:9.70, Z:5.29 [[ 9.99475451e-01 -2.32218222e-02 -2.25736647e-02 5.72855065e+02] [ 2.32209160e-02 9.99730312e-01 -3.02302363e-04 9.70070108e+00] [ 2.25745969e-02 -2.22037381e-04 9.99745137e-01 5.28523878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1292541539999 meters Centerline goodness [0,1] 0.9993119167419258 Centerline is valid? [True, True] Translation: X:572.88, Y:9.70, Z:5.29 [[ 9.99556095e-01 -1.98226003e-02 -2.22413558e-02 5.72882667e+02] [ 1.98207958e-02 9.99803503e-01 -3.01599529e-04 9.70412318e+00] [ 2.22429640e-02 -1.39375726e-04 9.99752585e-01 5.28634950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1592541539999 meters Centerline goodness [0,1] 0.9992235689945218 Centerline is valid? [True, True] Translation: X:572.91, Y:9.71, Z:5.29 [[ 9.99660942e-01 -1.35593633e-02 -2.22293654e-02 5.72910724e+02] [ 1.35559502e-02 9.99908068e-01 -3.04228322e-04 9.70906689e+00] [ 2.22314469e-02 2.78500166e-06 9.99752851e-01 5.28734555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.189254154 meters Centerline goodness [0,1] 0.9992885784503945 Centerline is valid? [True, True] Translation: X:572.94, Y:9.71, Z:5.29 [[ 9.99679630e-01 -1.11634058e-02 -2.27159687e-02 5.72938834e+02] [ 1.11591563e-02 9.99937685e-01 -3.13829918e-04 9.71044641e+00] [ 2.27180565e-02 6.02383319e-05 9.99741910e-01 5.28580443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2192541539999 meters Centerline goodness [0,1] 0.9992251232269312 Centerline is valid? [True, True] Translation: X:572.97, Y:9.71, Z:5.29 [[ 9.99689682e-01 -1.06468600e-02 -2.25207448e-02 5.72967048e+02] [ 1.06424450e-02 9.99943318e-01 -3.15891070e-04 9.71069291e+00] [ 2.25228315e-02 7.61172563e-05 9.99746326e-01 5.28775980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2492541539999 meters Centerline goodness [0,1] 0.9994399931076074 Centerline is valid? [True, True] Translation: X:573.00, Y:9.71, Z:5.29 [[ 9.99676939e-01 -1.09459365e-02 -2.29391262e-02 5.72995265e+02] [ 1.09412926e-02 9.99940089e-01 -3.27946407e-04 9.70866187e+00] [ 2.29413416e-02 7.68567685e-05 9.99736810e-01 5.28786135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2792541539999 meters Centerline goodness [0,1] 0.9993109685198742 Centerline is valid? [True, True] Translation: X:573.02, Y:9.71, Z:5.29 [[ 9.99648329e-01 -1.24095448e-02 -2.34354784e-02 5.73023305e+02] [ 1.24049523e-02 9.99922997e-01 -3.41335956e-04 9.70682305e+00] [ 2.34379096e-02 5.04999268e-05 9.99725293e-01 5.28770407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.309254154 meters Centerline goodness [0,1] 0.9992471985030005 Centerline is valid? [True, True] Translation: X:573.05, Y:9.70, Z:5.29 [[ 9.99610814e-01 -1.45571618e-02 -2.37972609e-02 5.73051082e+02] [ 1.45528839e-02 9.99894039e-01 -3.52946624e-04 9.70449230e+00] [ 2.37998772e-02 6.49048610e-06 9.99716743e-01 5.28771924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.339254154 meters Centerline goodness [0,1] 0.9993128033329038 Centerline is valid? [True, True] Translation: X:573.08, Y:9.70, Z:5.29 [[ 9.99510684e-01 -1.92160792e-02 -2.46806596e-02 5.73080333e+02] [ 1.92128087e-02 9.99815349e-01 -3.69655017e-04 9.69787406e+00] [ 2.46832056e-02 -1.04710652e-04 9.99695318e-01 5.28838409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3692541539999 meters Centerline goodness [0,1] 0.9995714408159767 Centerline is valid? [True, True] Translation: X:573.11, Y:9.69, Z:5.29 [[ 9.99451235e-01 -2.15696756e-02 -2.51391881e-02 5.73108037e+02] [ 2.15669600e-02 9.99767334e-01 -3.79181174e-04 9.69346066e+00] [ 2.51415179e-02 -1.63202772e-04 9.99683889e-01 5.28686199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3992541539999 meters Centerline goodness [0,1] 0.9991000835636691 Centerline is valid? [True, True] Translation: X:573.14, Y:9.69, Z:5.29 [[ 9.99382234e-01 -2.46619294e-02 -2.50387753e-02 5.73136478e+02] [ 2.46600829e-02 9.99695821e-01 -3.82567696e-04 9.69028926e+00] [ 2.50405939e-02 -2.35126915e-04 9.99686408e-01 5.28841312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.429254154 meters Centerline goodness [0,1] 0.998867012975908 Centerline is valid? [True, True] Translation: X:573.16, Y:9.69, Z:5.29 [[ 9.99325268e-01 -2.70939162e-02 -2.47977622e-02 5.73163966e+02] [ 2.70927669e-02 9.99632850e-01 -3.82375732e-04 9.68527912e+00] [ 2.47990178e-02 -2.89722262e-04 9.99692415e-01 5.28698436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.459254154 meters Centerline goodness [0,1] 0.9988943697907807 Centerline is valid? [True, True] Translation: X:573.19, Y:9.68, Z:5.29 [[ 9.99191892e-01 -3.16828112e-02 -2.47338399e-02 5.73192425e+02] [ 3.16830226e-02 9.99497893e-01 -3.83435088e-04 9.67795077e+00] [ 2.47335692e-02 -4.00517578e-04 9.99693998e-01 5.28902016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4892541539999 meters Centerline goodness [0,1] 0.998935739979992 Centerline is valid? [True, True] Translation: X:573.22, Y:9.67, Z:5.29 [[ 9.99123572e-01 -3.40294180e-02 -2.43739112e-02 5.73221680e+02] [ 3.40302185e-02 9.99420731e-01 -3.82065348e-04 9.67403722e+00] [ 2.43727936e-02 -4.47719029e-04 9.99702839e-01 5.28973404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5192541539999 meters Centerline goodness [0,1] 0.998851723478002 Centerline is valid? [True, True] Translation: X:573.25, Y:9.67, Z:5.29 [[ 9.99062028e-01 -3.59180514e-02 -2.41859198e-02 5.73249905e+02] [ 3.59193175e-02 9.99354620e-01 -3.82223152e-04 9.66820432e+00] [ 2.41840394e-02 -4.86877096e-04 9.99707405e-01 5.28884698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5492541539999 meters Centerline goodness [0,1] 0.9989608076009501 Centerline is valid? [True, True] Translation: X:573.28, Y:9.67, Z:5.29 [[ 9.99015147e-01 -3.73413600e-02 -2.39658060e-02 5.73279017e+02] [ 3.73429185e-02 9.99302437e-01 -3.82664193e-04 9.66647459e+00] [ 2.39633775e-02 -5.12665815e-04 9.99712706e-01 5.29079051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.579254154 meters Centerline goodness [0,1] 0.9988973706530958 Centerline is valid? [True, True] Translation: X:573.31, Y:9.66, Z:5.29 [[ 9.98981699e-01 -3.84276059e-02 -2.36407499e-02 5.73308512e+02] [ 3.84293658e-02 9.99261247e-01 -3.80035058e-04 9.66133393e+00] [ 2.36378891e-02 -5.28850958e-04 9.99720446e-01 5.29197472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6092541539999 meters Centerline goodness [0,1] 0.9992586630517665 Centerline is valid? [True, True] Translation: X:573.34, Y:9.66, Z:5.30 [[ 9.98992346e-01 -3.79570766e-02 -2.39489589e-02 5.73338536e+02] [ 3.79587402e-02 9.99279233e-01 -3.85298085e-04 9.66373373e+00] [ 2.39463221e-02 -5.24162471e-04 9.99713108e-01 5.29513355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6392541539999 meters Centerline goodness [0,1] 0.9991959543809906 Centerline is valid? [True, True] Translation: X:573.37, Y:9.66, Z:5.29 [[ 9.99028280e-01 -3.70327675e-02 -2.38970797e-02 5.73367338e+02] [ 3.70341411e-02 9.99313927e-01 -3.85236126e-04 9.65758567e+00] [ 2.38949509e-02 -5.00146039e-04 9.99714350e-01 5.29200330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6692541539999 meters Centerline goodness [0,1] 0.9990112964638072 Centerline is valid? [True, True] Translation: X:573.40, Y:9.66, Z:5.29 [[ 9.99164300e-01 -3.35684890e-02 -2.33207803e-02 5.73397123e+02] [ 3.35688313e-02 9.99436337e-01 -3.76908602e-04 9.65850588e+00] [ 2.33202875e-02 -4.06257720e-04 9.99727963e-01 5.29435604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.699254154 meters Centerline goodness [0,1] 0.9987573453526822 Centerline is valid? [True, True] Translation: X:573.43, Y:9.65, Z:5.29 [[ 9.99212836e-01 -3.20195033e-02 -2.34192316e-02 5.73425449e+02] [ 3.20193377e-02 9.99487177e-01 -3.82156457e-04 9.65497604e+00] [ 2.34194582e-02 -3.68012648e-04 9.99725659e-01 5.29184687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7292541539999 meters Centerline goodness [0,1] 0.9988188395098184 Centerline is valid? [True, True] Translation: X:573.45, Y:9.66, Z:5.30 [[ 9.99257261e-01 -3.02473877e-02 -2.38751400e-02 5.73453981e+02] [ 3.02465657e-02 9.99542390e-01 -3.95632568e-04 9.65907212e+00] [ 2.38761813e-02 -3.26802273e-04 9.99714870e-01 5.29632591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7592541539999 meters Centerline goodness [0,1] 0.9988188395098184 Centerline is valid? [True, True] Translation: X:573.48, Y:9.66, Z:5.30 [[ 9.99248233e-01 -3.05442645e-02 -2.38750269e-02 5.73481379e+02] [ 3.05433661e-02 9.99533362e-01 -4.02375312e-04 9.65959298e+00] [ 2.38761761e-02 -3.27150869e-04 9.99714870e-01 5.29658331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7892541539999 meters Centerline goodness [0,1] 0.9989253202966959 Centerline is valid? [True, True] Translation: X:573.51, Y:9.66, Z:5.30 [[ 9.99307400e-01 -2.84921361e-02 -2.39357345e-02 5.73509585e+02] [ 2.84905458e-02 9.99593979e-01 -4.07526940e-04 9.65840681e+00] [ 2.39376274e-02 -2.74697453e-04 9.99713416e-01 5.29623351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.819254154 meters Centerline goodness [0,1] 0.99896687680533 Centerline is valid? [True, True] Translation: X:573.54, Y:9.66, Z:5.30 [[ 9.99428788e-01 -2.39521858e-02 -2.38409445e-02 5.73538866e+02] [ 2.39492131e-02 9.99713092e-01 -4.10252298e-04 9.65655294e+00] [ 2.38439308e-02 -1.60953903e-04 9.99715680e-01 5.29684132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8492541539999 meters Centerline goodness [0,1] 0.9985257881768211 Centerline is valid? [True, True] Translation: X:573.57, Y:9.66, Z:5.30 [[ 9.99494668e-01 -2.15672142e-02 -2.33508855e-02 5.73566522e+02] [ 2.15636300e-02 9.99767396e-01 -4.05308163e-04 9.65594095e+00] [ 2.33541954e-02 -9.84265090e-05 9.99727249e-01 5.29657304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8792541539999 meters Centerline goodness [0,1] 0.99903204764009 Centerline is valid? [True, True] Translation: X:573.59, Y:9.66, Z:5.30 [[ 9.99554239e-01 -1.88991015e-02 -2.31116475e-02 5.73594135e+02] [ 1.88947654e-02 9.99821396e-01 -4.05994020e-04 9.65590453e+00] [ 2.31151926e-02 -3.08761147e-05 9.99732808e-01 5.29679350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9092541539999 meters Centerline goodness [0,1] 0.9992435226628003 Centerline is valid? [True, True] Translation: X:573.62, Y:9.66, Z:5.30 [[ 9.99631414e-01 -1.26570148e-02 -2.40174238e-02 5.73623083e+02] [ 1.26503728e-02 9.99919889e-01 -4.28473392e-04 9.65541427e+00] [ 2.40209229e-02 1.24486098e-04 9.99711448e-01 5.29660127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.939254154 meters Centerline goodness [0,1] 0.9991178509168049 Centerline is valid? [True, True] Translation: X:573.65, Y:9.66, Z:5.30 [[ 9.99662777e-01 -9.90796249e-03 -2.40034383e-02 5.73651631e+02] [ 9.90038922e-03 9.99950896e-01 -4.34328622e-04 9.65521498e+00] [ 2.40065629e-02 1.96538775e-04 9.99711782e-01 5.29589404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9692541539999 meters Centerline goodness [0,1] 0.9990327803360037 Centerline is valid? [True, True] Translation: X:573.68, Y:9.65, Z:5.30 [[ 9.99679335e-01 -7.55096144e-03 -2.41704483e-02 5.73680288e+02] [ 7.54244576e-03 9.99971457e-01 -4.43465387e-04 9.65495711e+00] [ 2.41731070e-02 2.61018888e-04 9.99707754e-01 5.29586830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9992541539999 meters Centerline goodness [0,1] 0.9988890053453516 Centerline is valid? [True, True] Translation: X:573.71, Y:9.65, Z:5.30 [[ 9.99685779e-01 -6.03750181e-03 -2.43288144e-02 5.73709395e+02] [ 6.02827729e-03 9.99981727e-01 -4.52484272e-04 9.65433609e+00] [ 2.43311017e-02 3.05681253e-04 9.99703908e-01 5.29539280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0292541539999 meters Centerline goodness [0,1] 0.9993073774792738 Centerline is valid? [True, True] Translation: X:573.74, Y:9.65, Z:5.29 [[ 9.99677886e-01 -5.63318355e-03 -2.47465359e-02 5.73737414e+02] [ 5.62340618e-03 9.99984081e-01 -4.64673815e-04 9.64937198e+00] [ 2.47487596e-02 3.25364314e-04 9.99693650e-01 5.29450015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.059254154 meters Centerline goodness [0,1] 0.999287987937678 Centerline is valid? [True, True] Translation: X:573.77, Y:9.65, Z:5.29 [[ 9.99672154e-01 -7.23482548e-03 -2.45609808e-02 5.73766113e+02] [ 7.22555559e-03 9.99973787e-01 -4.66150030e-04 9.64609517e+00] [ 2.45637095e-02 2.88530472e-04 9.99698225e-01 5.29470743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.089254154 meters Centerline goodness [0,1] 0.9992034377947804 Centerline is valid? [True, True] Translation: X:573.79, Y:9.64, Z:5.29 [[ 9.99642906e-01 -9.83515235e-03 -2.48461460e-02 5.73794725e+02] [ 9.82638429e-03 9.99951607e-01 -4.74965134e-04 9.64210757e+00] [ 2.48496150e-02 2.30647748e-04 9.99691174e-01 5.29498905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1192541539999 meters Centerline goodness [0,1] 0.999080132962599 Centerline is valid? [True, True] Translation: X:573.82, Y:9.63, Z:5.30 [[ 9.99538300e-01 -1.67535454e-02 -2.53476894e-02 5.73823228e+02] [ 1.67465987e-02 9.99859648e-01 -4.86322425e-04 9.63210736e+00] [ 2.53522794e-02 6.16103070e-05 9.99678577e-01 5.29509454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1492541539999 meters Centerline goodness [0,1] 0.9993315228744516 Centerline is valid? [True, True] Translation: X:573.85, Y:9.63, Z:5.30 [[ 9.99461602e-01 -2.10497789e-02 -2.51676787e-02 5.73851559e+02] [ 2.10441666e-02 9.99778428e-01 -4.87863359e-04 9.62692825e+00] [ 2.51723717e-02 -4.20321286e-05 9.99683125e-01 5.29575808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.179254154 meters Centerline goodness [0,1] 0.9991654496140204 Centerline is valid? [True, True] Translation: X:573.88, Y:9.62, Z:5.30 [[ 9.99369939e-01 -2.54050077e-02 -2.47852855e-02 5.73880186e+02] [ 2.54007488e-02 9.99677230e-01 -4.86698828e-04 9.62148851e+00] [ 2.47896502e-02 -1.43172633e-04 9.99692679e-01 5.29617914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.209254154 meters Centerline goodness [0,1] 0.9990413271366942 Centerline is valid? [True, True] Translation: X:573.91, Y:9.61, Z:5.30 [[ 9.99160043e-01 -3.32893894e-02 -2.38961328e-02 5.73907885e+02] [ 3.32876029e-02 9.99445702e-01 -4.72648190e-04 9.60981280e+00] [ 2.38986214e-02 -3.23193794e-04 9.99714335e-01 5.29712046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2392541539999 meters Centerline goodness [0,1] 0.9989384067775442 Centerline is valid? [True, True] Translation: X:573.94, Y:9.61, Z:5.30 [[ 9.99036242e-01 -3.70302278e-02 -2.35658633e-02 5.73936419e+02] [ 3.70294317e-02 9.99314065e-01 -4.70307174e-04 9.60552369e+00] [ 2.35671142e-02 -4.02776613e-04 9.99722176e-01 5.29887456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2692541539999 meters Centerline goodness [0,1] 0.999187449215576 Centerline is valid? [True, True] Translation: X:573.96, Y:9.60, Z:5.30 [[ 9.98866215e-01 -4.20239937e-02 -2.23666613e-02 5.73963980e+02] [ 4.20244360e-02 9.99116482e-01 -4.50465410e-04 9.59647142e+00] [ 2.23658303e-02 -4.89991645e-04 9.99749733e-01 5.30036390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2992541539999 meters Centerline goodness [0,1] 0.9988770587256696 Centerline is valid? [True, True] Translation: X:573.99, Y:9.59, Z:5.30 [[ 9.98803355e-01 -4.37033968e-02 -2.19515849e-02 5.73991464e+02] [ 4.37041744e-02 9.99044417e-01 -4.44551865e-04 9.59258198e+00] [ 2.19500368e-02 -5.15356001e-04 9.99758936e-01 5.30057999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.329254154 meters Centerline goodness [0,1] 0.9991465090136975 Centerline is valid? [True, True] Translation: X:574.02, Y:9.59, Z:5.30 [[ 9.98758984e-01 -4.47324022e-02 -2.18975949e-02 5.74019829e+02] [ 4.47333413e-02 9.98998863e-01 -4.47191184e-04 9.59093890e+00] [ 2.18956763e-02 -5.32916374e-04 9.99760119e-01 5.30140459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3592541539999 meters Centerline goodness [0,1] 0.9991028770524295 Centerline is valid? [True, True] Translation: X:574.05, Y:9.59, Z:5.30 [[ 9.98722613e-01 -4.52913587e-02 -2.24016569e-02 5.74048901e+02] [ 4.52923602e-02 9.98973667e-01 -4.62926235e-04 9.58949535e+00] [ 2.23996319e-02 -5.52289016e-04 9.99748944e-01 5.30248643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3892541539999 meters Centerline goodness [0,1] 0.9991045211270538 Centerline is valid? [True, True] Translation: X:574.08, Y:9.59, Z:5.30 [[ 9.98722339e-01 -4.51009612e-02 -2.27945932e-02 5.74076620e+02] [ 4.51018556e-02 9.98982281e-01 -4.75128387e-04 9.58767204e+00] [ 2.27928234e-02 -5.53557117e-04 9.99740057e-01 5.30209977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4192541539999 meters Centerline goodness [0,1] 0.999271819411214 Centerline is valid? [True, True] Translation: X:574.10, Y:9.59, Z:5.30 [[ 9.98726393e-01 -4.49001560e-02 -2.30123647e-02 5.74104282e+02] [ 4.49008993e-02 9.98991328e-01 -4.84664000e-04 9.58678440e+00] [ 2.30109142e-02 -5.49229141e-04 9.99735063e-01 5.30223799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.449254154 meters Centerline goodness [0,1] 0.9992056690148206 Centerline is valid? [True, True] Translation: X:574.13, Y:9.59, Z:5.30 [[ 9.98747512e-01 -4.45133679e-02 -2.28466216e-02 5.74132440e+02] [ 4.45139146e-02 9.99008647e-01 -4.84887615e-04 9.58545077e+00] [ 2.28455565e-02 -5.32712264e-04 9.99738864e-01 5.30212455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4792541539999 meters Centerline goodness [0,1] 0.9993722930136213 Centerline is valid? [True, True] Translation: X:574.16, Y:9.58, Z:5.30 [[ 9.98784342e-01 -4.37834891e-02 -2.26460447e-02 5.74160269e+02] [ 4.37837954e-02 9.99040913e-01 -4.82542353e-04 9.58458957e+00] [ 2.26454526e-02 -5.09574043e-04 9.99743429e-01 5.30214831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5092541539999 meters Centerline goodness [0,1] 0.9992682722863355 Centerline is valid? [True, True] Translation: X:574.19, Y:9.58, Z:5.30 [[ 9.98869508e-01 -4.19668670e-02 -2.23268577e-02 5.74189348e+02] [ 4.19666256e-02 9.99118898e-01 -4.79570661e-04 9.58365202e+00] [ 2.23273115e-02 -4.57954367e-04 9.99750610e-01 5.30231100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5392541539999 meters Centerline goodness [0,1] 0.9995600435766362 Centerline is valid? [True, True] Translation: X:574.22, Y:9.58, Z:5.30 [[ 9.98907394e-01 -4.08511505e-02 -2.26980365e-02 5.74218275e+02] [ 4.08504912e-02 9.99165149e-01 -4.92911645e-04 9.58392222e+00] [ 2.26992230e-02 -4.34852853e-04 9.99742245e-01 5.30232524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.569254154 meters Centerline goodness [0,1] 0.9993723718069416 Centerline is valid? [True, True] Translation: X:574.25, Y:9.58, Z:5.30 [[ 9.98965264e-01 -3.93695798e-02 -2.27692289e-02 5.74245957e+02] [ 3.93684561e-02 9.99224638e-01 -4.97772818e-04 9.58411204e+00] [ 2.27711716e-02 -3.99131634e-04 9.99740624e-01 5.30171160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5992541539999 meters Centerline goodness [0,1] 0.9993291685883191 Centerline is valid? [True, True] Translation: X:574.27, Y:9.59, Z:5.30 [[ 9.99094028e-01 -3.53061923e-02 -2.37612096e-02 5.74274868e+02] [ 3.53037219e-02 9.99376492e-01 -5.23579441e-04 9.58537275e+00] [ 2.37648799e-02 -3.15754043e-04 9.99717525e-01 5.30053817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6292541539999 meters Centerline goodness [0,1] 0.9993505133040017 Centerline is valid? [True, True] Translation: X:574.30, Y:9.59, Z:5.30 [[ 9.99164005e-01 -3.29521151e-02 -2.41960484e-02 5.74303533e+02] [ 3.29487230e-02 9.99456898e-01 -5.38960445e-04 9.58796665e+00] [ 2.42006673e-02 -2.58719018e-04 9.99707087e-01 5.30221135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6592541539999 meters Centerline goodness [0,1] 0.9993713459483247 Centerline is valid? [True, True] Translation: X:574.33, Y:9.59, Z:5.30 [[ 9.99238411e-01 -3.02567556e-02 -2.46399476e-02 5.74332045e+02] [ 3.02522679e-02 9.99542141e-01 -5.54959722e-04 9.58967829e+00] [ 2.46454572e-02 -1.90877224e-04 9.99696236e-01 5.30292996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.689254154 meters Centerline goodness [0,1] 0.9995592679650772 Centerline is valid? [True, True] Translation: X:574.36, Y:9.59, Z:5.30 [[ 9.99392900e-01 -2.50221104e-02 -2.42430328e-02 5.74361132e+02] [ 2.50160796e-02 9.99686896e-01 -5.52057046e-04 9.59183759e+00] [ 2.42492559e-02 -5.47437450e-05 9.99705942e-01 5.30394411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7192541539999 meters Centerline goodness [0,1] 0.9996847348620189 Centerline is valid? [True, True] Translation: X:574.39, Y:9.59, Z:5.30 [[ 9.99448411e-01 -2.29936148e-02 -2.39618098e-02 5.74387701e+02] [ 2.29870150e-02 9.99735612e-01 -5.50876255e-04 9.59271676e+00] [ 2.39681412e-02 -2.38083027e-07 9.99712723e-01 5.30399415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7492541539999 meters Centerline goodness [0,1] 0.9996438448001341 Centerline is valid? [True, True] Translation: X:574.42, Y:9.59, Z:5.31 [[ 9.99494824e-01 -2.13539843e-02 -2.35394258e-02 5.74415891e+02] [ 2.13470217e-02 9.99771977e-01 -5.47054684e-04 9.59338819e+00] [ 2.35457401e-02 4.42816910e-05 9.99722760e-01 5.30547188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7792541539999 meters Centerline goodness [0,1] 0.9997271887853605 Centerline is valid? [True, True] Translation: X:574.44, Y:9.59, Z:5.31 [[ 9.99529976e-01 -2.02728484e-02 -2.29965042e-02 5.74443658e+02] [ 2.02657675e-02 9.99794482e-01 -5.40948055e-04 9.59369470e+00] [ 2.30027446e-02 7.46519893e-05 9.99735399e-01 5.30621545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.809254154 meters Centerline goodness [0,1] 0.9995185565068134 Centerline is valid? [True, True] Translation: X:574.47, Y:9.59, Z:5.31 [[ 9.99552368e-01 -1.91018533e-02 -2.30256817e-02 5.74471626e+02] [ 1.90943544e-02 9.99817537e-01 -5.45512119e-04 9.59229553e+00] [ 2.30319007e-02 1.05607404e-04 9.99734725e-01 5.30626969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.839254154 meters Centerline goodness [0,1] 0.9996640349403662 Centerline is valid? [True, True] Translation: X:574.50, Y:9.59, Z:5.31 [[ 9.99553313e-01 -2.02585798e-02 -2.19718919e-02 5.74500479e+02] [ 2.02519456e-02 9.99794771e-01 -5.24433204e-04 9.59132638e+00] [ 2.19780069e-02 7.92253861e-05 9.99758451e-01 5.30731891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8692541539999 meters Centerline goodness [0,1] 0.9996230050684874 Centerline is valid? [True, True] Translation: X:574.53, Y:9.59, Z:5.31 [[ 9.99531456e-01 -2.13575730e-02 -2.19253953e-02 5.74527570e+02] [ 2.13511474e-02 9.99771899e-01 -5.27148059e-04 9.58980048e+00] [ 2.19316527e-02 5.87687196e-05 9.99759471e-01 5.30729311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8992541539999 meters Centerline goodness [0,1] 0.9996015685616625 Centerline is valid? [True, True] Translation: X:574.55, Y:9.58, Z:5.31 [[ 9.99425902e-01 -2.56381149e-02 -2.21484403e-02 5.74554938e+02] [ 2.56325291e-02 9.99671289e-01 -5.36104616e-04 9.58409112e+00] [ 2.21549046e-02 -3.19237020e-05 9.99754549e-01 5.30686971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.929254154 meters Centerline goodness [0,1] 0.9995821494233662 Centerline is valid? [True, True] Translation: X:574.58, Y:9.58, Z:5.31 [[ 9.99335491e-01 -2.90285520e-02 -2.20435733e-02 5.74583401e+02] [ 2.90237373e-02 9.99578578e-01 -5.38387090e-04 9.58085271e+00] [ 2.20499122e-02 -1.01757553e-04 9.99756866e-01 5.30704556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.959254154 meters Centerline goodness [0,1] 0.9996226019498899 Centerline is valid? [True, True] Translation: X:574.61, Y:9.58, Z:5.31 [[ 9.99210606e-01 -3.31421109e-02 -2.19035627e-02 5.74612204e+02] [ 3.31382300e-02 9.99450632e-01 -5.40223395e-04 9.57717755e+00] [ 2.19094337e-02 -1.86048352e-04 9.99759942e-01 5.30757787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9892541539999 meters Centerline goodness [0,1] 0.9995814761336765 Centerline is valid? [True, True] Translation: X:574.64, Y:9.57, Z:5.31 [[ 9.99064156e-01 -3.74318916e-02 -2.16717599e-02 5.74639623e+02] [ 3.74290255e-02 9.99299144e-01 -5.38003119e-04 9.57274848e+00] [ 2.16767096e-02 -2.73653223e-04 9.99764995e-01 5.30758385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0192541539999 meters Centerline goodness [0,1] 0.9995182338032299 Centerline is valid? [True, True] Translation: X:574.67, Y:9.56, Z:5.31 [[ 9.98667271e-01 -4.69214499e-02 -2.14955631e-02 5.74669240e+02] [ 4.69208017e-02 9.98898470e-01 -5.34785113e-04 9.56308925e+00] [ 2.14969780e-02 -4.74516667e-04 9.99768801e-01 5.30758103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0492541539999 meters Centerline goodness [0,1] 0.9995196926032661 Centerline is valid? [True, True] Translation: X:574.70, Y:9.56, Z:5.31 [[ 9.98421161e-01 -5.20436133e-02 -2.11340262e-02 5.74698855e+02] [ 5.20441206e-02 9.98644648e-01 -5.26378930e-04 9.56302381e+00] [ 2.11327768e-02 -5.74353944e-04 9.99776513e-01 5.31009752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.079254154 meters Centerline goodness [0,1] 0.9994557595294413 Centerline is valid? [True, True] Translation: X:574.73, Y:9.56, Z:5.31 [[ 9.98159801e-01 -5.69645504e-02 -2.07858513e-02 5.74728268e+02] [ 5.69660866e-02 9.98375979e-01 -5.18676571e-04 9.55867425e+00] [ 2.07816408e-02 -6.66366502e-04 9.99783816e-01 5.31007890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1092541539999 meters Centerline goodness [0,1] 0.9994151069518716 Centerline is valid? [True, True] Translation: X:574.76, Y:9.55, Z:5.31 [[ 9.97611952e-01 -6.63345035e-02 -1.92386884e-02 5.74758232e+02] [ 6.63375454e-02 9.97797123e-01 -4.80728988e-04 9.54975223e+00] [ 1.92281969e-02 -7.96666383e-04 9.99814804e-01 5.31084211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1392541539999 meters Centerline goodness [0,1] 0.9995416762150788 Centerline is valid? [True, True] Translation: X:574.79, Y:9.55, Z:5.31 [[ 9.97351388e-01 -7.02879045e-02 -1.87034682e-02 5.74788105e+02] [ 7.02914667e-02 9.97526386e-01 -4.67693826e-04 9.54780746e+00] [ 1.86900763e-02 -8.48239130e-04 9.99824965e-01 5.31193089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1692541539999 meters Centerline goodness [0,1] 0.9994982333632999 Centerline is valid? [True, True] Translation: X:574.82, Y:9.54, Z:5.31 [[ 9.97116927e-01 -7.37746079e-02 -1.77521883e-02 5.74818086e+02] [ 7.37783597e-02 9.97274564e-01 -4.44376276e-04 9.54492744e+00] [ 1.77365896e-02 -8.66632228e-04 9.99842319e-01 5.31248740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.199254154 meters Centerline goodness [0,1] 0.9995826725648944 Centerline is valid? [True, True] Translation: X:574.85, Y:9.54, Z:5.31 [[ 9.96748273e-01 -7.86949978e-02 -1.73198558e-02 5.74848518e+02] [ 7.86993015e-02 9.96898306e-01 -4.34019098e-04 9.54179971e+00] [ 1.73002901e-02 -9.30452769e-04 9.99849906e-01 5.31277078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2292541539999 meters Centerline goodness [0,1] 0.9994152413173778 Centerline is valid? [True, True] Translation: X:574.88, Y:9.54, Z:5.31 [[ 9.96590825e-01 -8.04023829e-02 -1.84982494e-02 5.74878170e+02] [ 8.04075794e-02 9.96761961e-01 -4.63879427e-04 9.54000956e+00] [ 1.84756483e-02 -1.02510147e-03 9.99828785e-01 5.31226970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2592541539999 meters Centerline goodness [0,1] 0.9993737213477517 Centerline is valid? [True, True] Translation: X:574.91, Y:9.54, Z:5.31 [[ 9.96472741e-01 -8.16491518e-02 -1.93776408e-02 5.74907999e+02] [ 8.16550834e-02 9.96660529e-01 -4.86231326e-04 9.54305253e+00] [ 1.93526301e-02 -1.09776661e-03 9.99812118e-01 5.31262047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2892541539999 meters Centerline goodness [0,1] 0.9995615957913196 Centerline is valid? [True, True] Translation: X:574.94, Y:9.54, Z:5.31 [[ 9.96348728e-01 -8.34187352e-02 -1.81803830e-02 5.74936917e+02] [ 8.34242420e-02 9.96514018e-01 -4.56620517e-04 9.54369571e+00] [ 1.81550972e-02 -1.06173140e-03 9.99834619e-01 5.31264212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.319254154 meters Centerline goodness [0,1] 0.9993944961790621 Centerline is valid? [True, True] Translation: X:574.97, Y:9.54, Z:5.31 [[ 9.96334404e-01 -8.35688812e-02 -1.82755881e-02 5.74966256e+02] [ 8.35744618e-02 9.96501429e-01 -4.59521235e-04 9.54261029e+00] [ 1.82500513e-02 -1.06953562e-03 9.99832882e-01 5.31243002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3492541539999 meters Centerline goodness [0,1] 0.9994158269178611 Centerline is valid? [True, True] Translation: X:575.00, Y:9.55, Z:5.31 [[ 9.96334915e-01 -8.36250787e-02 -1.79884013e-02 5.74996793e+02] [ 8.36304913e-02 9.96496732e-01 -4.52468562e-04 9.54591744e+00] [ 1.79632208e-02 -1.05356861e-03 9.99838093e-01 5.31291309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3792541539999 meters Centerline goodness [0,1] 0.9994153145816367 Centerline is valid? [True, True] Translation: X:575.03, Y:9.55, Z:5.31 [[ 9.96351684e-01 -8.35293109e-02 -1.74978967e-02 5.75026862e+02] [ 8.35344175e-02 9.96504795e-01 -4.40130729e-04 9.54884293e+00] [ 1.74735018e-02 -1.02315162e-03 9.99846803e-01 5.31317693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4092541539999 meters Centerline goodness [0,1] 0.9993965122570442 Centerline is valid? [True, True] Translation: X:575.06, Y:9.55, Z:5.31 [[ 9.96343124e-01 -8.36438816e-02 -1.74379275e-02 5.75057510e+02] [ 8.36489707e-02 9.96495187e-01 -4.38622303e-04 9.55055681e+00] [ 1.74134989e-02 -1.02164638e-03 9.99847852e-01 5.31314598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.439254154 meters Centerline goodness [0,1] 0.9994171402402214 Centerline is valid? [True, True] Translation: X:575.09, Y:9.55, Z:5.31 [[ 9.96295651e-01 -8.41909276e-02 -1.75175283e-02 5.75088689e+02] [ 8.41961526e-02 9.96449103e-01 -4.40330507e-04 9.55241612e+00] [ 1.74923972e-02 -1.03620912e-03 9.99846459e-01 5.31323313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4692541539999 meters Centerline goodness [0,1] 0.9994160340368733 Centerline is valid? [True, True] Translation: X:575.12, Y:9.56, Z:5.31 [[ 9.96264366e-01 -8.45281765e-02 -1.76720396e-02 5.75119491e+02] [ 8.45335614e-02 9.96420534e-01 -4.43407436e-04 9.55606624e+00] [ 1.76462636e-02 -1.05212942e-03 9.99843739e-01 5.31308856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4992541539999 meters Centerline goodness [0,1] 0.9992713191205863 Centerline is valid? [True, True] Translation: X:575.15, Y:9.56, Z:5.31 [[ 9.96156626e-01 -8.55665999e-02 -1.87171956e-02 5.75150091e+02] [ 8.55728369e-02 9.96331807e-01 -4.68905531e-04 9.55650602e+00] [ 1.86886600e-02 -1.13458018e-03 9.99824708e-01 5.31147308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5292541539999 meters Centerline goodness [0,1] 0.9992068627246352 Centerline is valid? [True, True] Translation: X:575.18, Y:9.56, Z:5.31 [[ 9.96090133e-01 -8.61525052e-02 -1.95497652e-02 5.75181103e+02] [ 8.61594328e-02 9.96281242e-01 -4.89216035e-04 9.56208863e+00] [ 1.95192116e-02 -1.19709342e-03 9.99808765e-01 5.31167401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.559254154 meters Centerline goodness [0,1] 0.9992706661943362 Centerline is valid? [True, True] Translation: X:575.21, Y:9.57, Z:5.31 [[ 9.96027366e-01 -8.66992693e-02 -2.03156002e-02 5.75212468e+02] [ 8.67068793e-02 9.96233737e-01 -5.07616870e-04 9.56792741e+00] [ 2.02830963e-02 -1.25590200e-03 9.99793488e-01 5.31206135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.589254154 meters Centerline goodness [0,1] 0.9992485597395007 Centerline is valid? [True, True] Translation: X:575.24, Y:9.57, Z:5.31 [[ 9.95954227e-01 -8.74349215e-02 -2.07439546e-02 5.75243421e+02] [ 8.74430310e-02 9.96169387e-01 -5.17539774e-04 9.57269160e+00] [ 2.07097436e-02 -1.29846834e-03 9.99784687e-01 5.31186478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6192541539999 meters Centerline goodness [0,1] 0.999083027675892 Centerline is valid? [True, True] Translation: X:575.27, Y:9.57, Z:5.31 [[ 9.95935383e-01 -8.77381303e-02 -2.03650102e-02 5.75273793e+02] [ 8.77460203e-02 9.96142750e-01 -5.07541694e-04 9.57143521e+00] [ 2.03309880e-02 -1.28146987e-03 9.99792483e-01 5.31167812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6492541539999 meters Centerline goodness [0,1] 0.9991656411005194 Centerline is valid? [True, True] Translation: X:575.31, Y:9.58, Z:5.31 [[ 9.95960405e-01 -8.75525602e-02 -1.99353959e-02 5.75305034e+02] [ 8.75600947e-02 9.96159116e-01 -4.96277776e-04 9.57787929e+00] [ 1.99022768e-02 -1.25127214e-03 9.99801147e-01 5.31314654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.679254154 meters Centerline goodness [0,1] 0.9991656411005194 Centerline is valid? [True, True] Translation: X:575.34, Y:9.58, Z:5.31 [[ 9.95963614e-01 -8.75160531e-02 -1.99354141e-02 5.75335927e+02] [ 8.75235949e-02 9.96162324e-01 -4.95546743e-04 9.57861686e+00] [ 1.99022767e-02 -1.25127258e-03 9.99801147e-01 5.31343598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.709254154 meters Centerline goodness [0,1] 0.9990625781184901 Centerline is valid? [True, True] Translation: X:575.37, Y:9.58, Z:5.31 [[ 9.96098025e-01 -8.62965134e-02 -1.84833943e-02 5.75366193e+02] [ 8.63027960e-02 9.96268848e-01 -4.58968703e-04 9.58273833e+00] [ 1.84540373e-02 -1.13799079e-03 9.99829062e-01 5.31454670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7392541539999 meters Centerline goodness [0,1] 0.9991453704089716 Centerline is valid? [True, True] Translation: X:575.40, Y:9.59, Z:5.32 [[ 9.96196993e-01 -8.53032613e-02 -1.77455383e-02 5.75397126e+02] [ 8.53089036e-02 9.96354454e-01 -4.40169354e-04 9.59154762e+00] [ 1.77183940e-02 -1.07535703e-03 9.99842439e-01 5.31606124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7692541539999 meters Centerline goodness [0,1] 0.9992499374947912 Centerline is valid? [True, True] Translation: X:575.43, Y:9.59, Z:5.32 [[ 9.96356100e-01 -8.35515682e-02 -1.71364138e-02 5.75428522e+02] [ 8.35565823e-02 9.96502944e-01 -4.24431310e-04 9.59493771e+00] [ 1.71119487e-02 -1.00897545e-03 9.99853071e-01 5.31650318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7992541539999 meters Centerline goodness [0,1] 0.9989414475186285 Centerline is valid? [True, True] Translation: X:575.46, Y:9.59, Z:5.32 [[ 9.96524894e-01 -8.15800340e-02 -1.68176539e-02 5.75459440e+02] [ 8.15845938e-02 9.96666334e-01 -4.15916803e-04 9.59034730e+00] [ 1.67955200e-02 -9.57590017e-04 9.99858487e-01 5.31579248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.829254154 meters Centerline goodness [0,1] 0.9992485440541048 Centerline is valid? [True, True] Translation: X:575.49, Y:9.61, Z:5.32 [[ 9.96939966e-01 -7.64751010e-02 -1.61945469e-02 5.75489313e+02] [ 7.64786630e-02 9.97071138e-01 -4.00151098e-04 9.60778397e+00] [ 1.61777169e-02 -8.39610677e-04 9.99868780e-01 5.31742746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8592541539999 meters Centerline goodness [0,1] 0.9991660585843845 Centerline is valid? [True, True] Translation: X:575.52, Y:9.61, Z:5.32 [[ 9.97158612e-01 -7.35713936e-02 -1.61849495e-02 5.75520606e+02] [ 7.35745744e-02 9.97289638e-01 -3.99633849e-04 9.61266824e+00] [ 1.61704840e-02 -7.92302436e-04 9.99868935e-01 5.31758633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8892541539999 meters Centerline goodness [0,1] 0.9990204660080864 Centerline is valid? [True, True] Translation: X:575.55, Y:9.62, Z:5.32 [[ 9.97350915e-01 -7.08879462e-02 -1.63111033e-02 5.75551658e+02] [ 7.08908285e-02 9.97483999e-01 -4.02148305e-04 9.61729303e+00] [ 1.62985720e-02 -7.55224643e-04 9.99866884e-01 5.31785435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9192541539999 meters Centerline goodness [0,1] 0.9988530914398915 Centerline is valid? [True, True] Translation: X:575.58, Y:9.62, Z:5.32 [[ 9.97555778e-01 -6.80713884e-02 -1.57720140e-02 5.75583335e+02] [ 6.80737426e-02 9.97680217e-01 -3.88170467e-04 9.62192042e+00] [ 1.57618496e-02 -6.86438328e-04 9.99875539e-01 5.31823119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.949254154 meters Centerline goodness [0,1] 0.9990386022112149 Centerline is valid? [True, True] Translation: X:575.61, Y:9.63, Z:5.32 [[ 9.97855023e-01 -6.35951991e-02 -1.55242876e-02 5.75613354e+02] [ 6.35969470e-02 9.97975592e-01 -3.81562193e-04 9.62937513e+00] [ 1.55171256e-02 -6.06553543e-04 9.99879418e-01 5.31890955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9792541539999 meters Centerline goodness [0,1] 0.998829455906022 Centerline is valid? [True, True] Translation: X:575.65, Y:9.63, Z:5.32 [[ 9.97957116e-01 -6.18422288e-02 -1.60353959e-02 5.75645542e+02] [ 6.18438755e-02 9.98085758e-01 -3.93642285e-04 9.63365512e+00] [ 1.60290440e-02 -5.98852908e-04 9.99871347e-01 5.31890515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0092541539999 meters Centerline goodness [0,1] 0.9990190963163936 Centerline is valid? [True, True] Translation: X:575.68, Y:9.63, Z:5.32 [[ 9.98048507e-01 -6.02111135e-02 -1.65468896e-02 5.75676507e+02] [ 6.02126610e-02 9.98185489e-01 -4.05113212e-04 9.63489064e+00] [ 1.65412575e-02 -5.92009621e-04 9.99863009e-01 5.31822800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0392541539999 meters Centerline goodness [0,1] 0.9992474759087774 Centerline is valid? [True, True] Translation: X:575.71, Y:9.64, Z:5.32 [[ 9.98182535e-01 -5.77741783e-02 -1.71397469e-02 5.75708341e+02] [ 5.77754960e-02 9.98329513e-01 -4.18692742e-04 9.64078519e+00] [ 1.71353048e-02 -5.72325598e-04 9.99853016e-01 5.31774313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.069254154 meters Centerline goodness [0,1] 0.9989128616825557 Centerline is valid? [True, True] Translation: X:575.74, Y:9.64, Z:5.32 [[ 9.98218511e-01 -5.71360875e-02 -1.71834740e-02 5.75740044e+02] [ 5.71373307e-02 9.98366240e-01 -4.18987464e-04 9.64286343e+00] [ 1.71793397e-02 -5.63576797e-04 9.99852265e-01 5.31756827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0992541539999 meters Centerline goodness [0,1] 0.9991632499372437 Centerline is valid? [True, True] Translation: X:575.77, Y:9.65, Z:5.32 [[ 9.98249655e-01 -5.65855291e-02 -1.71960378e-02 5.75772071e+02] [ 5.65867082e-02 9.98397601e-01 -4.18383775e-04 9.64762625e+00] [ 1.71921574e-02 -5.55415714e-04 9.99852050e-01 5.31817143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1292541539999 meters Centerline goodness [0,1] 0.9991029706275033 Centerline is valid? [True, True] Translation: X:575.80, Y:9.65, Z:5.32 [[ 9.98301839e-01 -5.56707965e-02 -1.71522749e-02 5.75802953e+02] [ 5.56718540e-02 9.98449033e-01 -4.16197681e-04 9.65023915e+00] [ 1.71488423e-02 -5.39408031e-04 9.99852802e-01 5.31831943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1592541539999 meters Centerline goodness [0,1] 0.9988295782301551 Centerline is valid? [True, True] Translation: X:575.83, Y:9.65, Z:5.32 [[ 9.98324816e-01 -5.52631714e-02 -1.71331279e-02 5.75834461e+02] [ 5.52641801e-02 9.98471681e-01 -4.14936325e-04 9.65210179e+00] [ 1.71298737e-02 -5.32607034e-04 9.99853131e-01 5.31877840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.189254154 meters Centerline goodness [0,1] 0.9989569643490415 Centerline is valid? [True, True] Translation: X:575.87, Y:9.66, Z:5.32 [[ 9.98350116e-01 -5.48820262e-02 -1.68822059e-02 5.75866998e+02] [ 5.48829662e-02 9.98492711e-01 -4.07965392e-04 9.65543772e+00] [ 1.68791495e-02 -5.19253240e-04 9.99857402e-01 5.31942672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2192541539999 meters Centerline goodness [0,1] 0.998788410519939 Centerline is valid? [True, True] Translation: X:575.90, Y:9.65, Z:5.32 [[ 9.98396808e-01 -5.41916483e-02 -1.63425799e-02 5.75897835e+02] [ 5.41924542e-02 9.98530432e-01 -3.93861599e-04 9.65429749e+00] [ 1.63399073e-02 -4.92414349e-04 9.99866374e-01 5.31904211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2492541539999 meters Centerline goodness [0,1] 0.9987263274382477 Centerline is valid? [True, True] Translation: X:575.93, Y:9.66, Z:5.32 [[ 9.98416099e-01 -5.38481422e-02 -1.62993836e-02 5.75930137e+02] [ 5.38489145e-02 9.98549018e-01 -3.91813700e-04 9.65557629e+00] [ 1.62968319e-02 -4.86511008e-04 9.99867079e-01 5.31938508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2792541539999 meters Centerline goodness [0,1] 0.9988300428287893 Centerline is valid? [True, True] Translation: X:575.96, Y:9.66, Z:5.32 [[ 9.98436021e-01 -5.36633942e-02 -1.56765121e-02 5.75961119e+02] [ 5.36640992e-02 9.98558973e-01 -3.75986702e-04 9.65663949e+00] [ 1.56740985e-02 -4.65867233e-04 9.99877045e-01 5.31978102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.309254154 meters Centerline goodness [0,1] 0.9988319462695284 Centerline is valid? [True, True] Translation: X:575.99, Y:9.66, Z:5.32 [[ 9.98412244e-01 -5.43700301e-02 -1.47272118e-02 5.75992645e+02] [ 5.43707378e-02 9.98520755e-01 -3.52631006e-04 9.65634104e+00] [ 1.47245992e-02 -4.48658257e-04 9.99891487e-01 5.32063551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.339254154 meters Centerline goodness [0,1] 0.9985190747345807 Centerline is valid? [True, True] Translation: X:576.02, Y:9.66, Z:5.32 [[ 9.98379579e-01 -5.51165085e-02 -1.41557981e-02 5.76024520e+02] [ 5.51172485e-02 9.98479832e-01 -3.38150685e-04 9.65563498e+00] [ 1.41529166e-02 -4.42625901e-04 9.99899744e-01 5.32123031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3692541539999 meters Centerline goodness [0,1] 0.9987685500198284 Centerline is valid? [True, True] Translation: X:576.06, Y:9.66, Z:5.32 [[ 9.98339174e-01 -5.59168437e-02 -1.38636562e-02 5.76056332e+02] [ 5.59176435e-02 9.98435330e-01 -3.30236631e-04 9.65520687e+00] [ 1.38604300e-02 -4.45534822e-04 9.99903840e-01 5.32122973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3992541539999 meters Centerline goodness [0,1] 0.9987896241574323 Centerline is valid? [True, True] Translation: X:576.09, Y:9.66, Z:5.32 [[ 9.98239801e-01 -5.78192010e-02 -1.31999952e-02 5.76088354e+02] [ 5.78201039e-02 9.98326969e-01 -3.13539576e-04 9.65779205e+00] [ 1.31960398e-02 -4.50237410e-04 9.99912827e-01 5.32141728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.429254154 meters Centerline goodness [0,1] 0.998893435777518 Centerline is valid? [True, True] Translation: X:576.12, Y:9.65, Z:5.32 [[ 9.98188279e-01 -5.87544039e-02 -1.29645276e-02 5.76119463e+02] [ 5.87553648e-02 9.98272364e-01 -3.07081207e-04 9.65191839e+00] [ 1.29601720e-02 -4.55210690e-04 9.99915910e-01 5.32082078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.459254154 meters Centerline goodness [0,1] 0.9986433178184551 Centerline is valid? [True, True] Translation: X:576.15, Y:9.65, Z:5.32 [[ 9.98147152e-01 -5.93796686e-02 -1.32784534e-02 5.76150170e+02] [ 5.93807405e-02 9.98235358e-01 -3.13865304e-04 9.65102427e+00] [ 1.32736589e-02 -4.75200635e-04 9.99911788e-01 5.32033969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4892541539999 meters Centerline goodness [0,1] 0.9988547631441957 Centerline is valid? [True, True] Translation: X:576.18, Y:9.66, Z:5.32 [[ 9.98095017e-01 -6.01701664e-02 -1.36341145e-02 5.76181684e+02] [ 6.01713777e-02 9.98188009e-01 -3.21718238e-04 9.65684592e+00] [ 1.36287674e-02 -4.99278081e-04 9.99906999e-01 5.32035037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5192541539999 meters Centerline goodness [0,1] 0.9987912637545848 Centerline is valid? [True, True] Translation: X:576.21, Y:9.66, Z:5.32 [[ 9.98051802e-01 -6.06728598e-02 -1.45397819e-02 5.76214254e+02] [ 6.06743043e-02 9.98157559e-01 -3.42161084e-04 9.65910569e+00] [ 1.45337531e-02 -5.40696664e-04 9.99894233e-01 5.31979886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5492541539999 meters Centerline goodness [0,1] 0.9987073638562255 Centerline is valid? [True, True] Translation: X:576.25, Y:9.65, Z:5.32 [[ 9.98046776e-01 -6.06789955e-02 -1.48556903e-02 5.76246032e+02] [ 6.06805192e-02 9.98157179e-01 -3.48579225e-04 9.65055111e+00] [ 1.48494654e-02 -5.53552631e-04 9.99889587e-01 5.31810219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.579254154 meters Centerline goodness [0,1] 0.9987696029362696 Centerline is valid? [True, True] Translation: X:576.28, Y:9.66, Z:5.32 [[ 9.98063953e-01 -6.03382644e-02 -1.50877626e-02 5.76277840e+02] [ 6.03398116e-02 9.98177831e-01 -3.53071398e-04 9.66078090e+00] [ 1.50815739e-02 -5.58004920e-04 9.99886111e-01 5.31968820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6092541539999 meters Centerline goodness [0,1] 0.9986888657648283 Centerline is valid? [True, True] Translation: X:576.31, Y:9.66, Z:5.32 [[ 9.98074636e-01 -6.02186085e-02 -1.48573033e-02 5.76308840e+02] [ 6.02201103e-02 9.98185062e-01 -3.46687043e-04 9.66118441e+00] [ 1.48512152e-02 -5.48688897e-04 9.99889564e-01 5.31986369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6392541539999 meters Centerline goodness [0,1] 0.9988529957665117 Centerline is valid? [True, True] Translation: X:576.34, Y:9.66, Z:5.32 [[ 9.98091208e-01 -5.99772518e-02 -1.47197294e-02 5.76341039e+02] [ 5.99787130e-02 9.98199598e-01 -3.42566984e-04 9.66226545e+00] [ 1.47137742e-02 -5.40957329e-04 9.99891600e-01 5.32008051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6692541539999 meters Centerline goodness [0,1] 0.99872945783258 Centerline is valid? [True, True] Translation: X:576.37, Y:9.66, Z:5.32 [[ 9.98113952e-01 -5.96617209e-02 -1.44574500e-02 5.76373511e+02] [ 5.96631127e-02 9.98218513e-01 -3.35409966e-04 9.66328793e+00] [ 1.44517054e-02 -5.27799102e-04 9.99895429e-01 5.32028656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.699254154 meters Centerline goodness [0,1] 0.9987725211167977 Centerline is valid? [True, True] Translation: X:576.41, Y:9.67, Z:5.32 [[ 9.98122303e-01 -5.94693870e-02 -1.46717835e-02 5.76405371e+02] [ 5.94708157e-02 9.98229987e-01 -3.39288429e-04 9.66537313e+00] [ 1.46659915e-02 -5.33891582e-04 9.99892306e-01 5.32007328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7292541539999 meters Centerline goodness [0,1] 0.9990634170707848 Centerline is valid? [True, True] Translation: X:576.44, Y:9.67, Z:5.32 [[ 9.98123731e-01 -5.93855939e-02 -1.49120609e-02 5.76437545e+02] [ 5.93870771e-02 9.98234971e-01 -3.43724142e-04 9.66565273e+00] [ 1.49061530e-02 -5.42504489e-04 9.99888750e-01 5.32039984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7592541539999 meters Centerline goodness [0,1] 0.9988529479238357 Centerline is valid? [True, True] Translation: X:576.47, Y:9.66, Z:5.32 [[ 9.98095979e-01 -5.99137230e-02 -1.46547497e-02 5.76468320e+02] [ 5.99152252e-02 9.98203412e-01 -3.36914401e-04 9.66302706e+00] [ 1.46486070e-02 -5.41769721e-04 9.99892557e-01 5.31991569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7892541539999 meters Centerline goodness [0,1] 0.9986855008659002 Centerline is valid? [True, True] Translation: X:576.50, Y:9.67, Z:5.32 [[ 9.98035459e-01 -6.07799194e-02 -1.51994988e-02 5.76500149e+02] [ 6.07816476e-02 9.98151026e-01 -3.48652963e-04 9.66517198e+00] [ 1.51925864e-02 -5.75882559e-04 9.99884420e-01 5.32047662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.819254154 meters Centerline goodness [0,1] 0.9988133899575319 Centerline is valid? [True, True] Translation: X:576.53, Y:9.67, Z:5.32 [[ 9.98019099e-01 -6.09916944e-02 -1.54237347e-02 5.76532412e+02] [ 6.09935167e-02 9.98138100e-01 -3.52661510e-04 9.66561027e+00] [ 1.54165266e-02 -5.88784896e-04 9.99880985e-01 5.32010034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8492541539999 meters Centerline goodness [0,1] 0.9987913141332889 Centerline is valid? [True, True] Translation: X:576.56, Y:9.67, Z:5.32 [[ 9.97995860e-01 -6.12440564e-02 -1.59194555e-02 5.76563169e+02] [ 6.12460467e-02 9.98122633e-01 -3.62935964e-04 9.66533865e+00] [ 1.59117965e-02 -6.12795127e-04 9.99873212e-01 5.31982804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8792541539999 meters Centerline goodness [0,1] 0.9988761004849418 Centerline is valid? [True, True] Translation: X:576.60, Y:9.67, Z:5.32 [[ 9.98003379e-01 -6.11290524e-02 -1.58900496e-02 5.76595604e+02] [ 6.11310364e-02 9.98129684e-01 -3.61282974e-04 9.66742093e+00] [ 1.58824151e-02 -6.10813573e-04 9.99873680e-01 5.32021389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9092541539999 meters Centerline goodness [0,1] 0.9989578339621068 Centerline is valid? [True, True] Translation: X:576.63, Y:9.67, Z:5.32 [[ 9.98032738e-01 -6.07221911e-02 -1.56035173e-02 5.76626616e+02] [ 6.07240703e-02 9.98154528e-01 -3.53761025e-04 9.66655529e+00] [ 1.55962026e-02 -5.94443997e-04 9.99878195e-01 5.32058964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.939254154 meters Centerline goodness [0,1] 0.998977398418098 Centerline is valid? [True, True] Translation: X:576.66, Y:9.67, Z:5.32 [[ 9.98069014e-01 -6.02842759e-02 -1.49682472e-02 5.76658231e+02] [ 6.02859677e-02 9.98181090e-01 -3.38575281e-04 9.66648631e+00] [ 1.49614321e-02 -5.64453770e-04 9.99887912e-01 5.32106432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9692541539999 meters Centerline goodness [0,1] 0.9987894473200868 Centerline is valid? [True, True] Translation: X:576.69, Y:9.67, Z:5.32 [[ 9.98214353e-01 -5.81980145e-02 -1.34572393e-02 5.76689281e+02] [ 5.81992006e-02 9.98304944e-01 -3.03799607e-04 9.67314739e+00] [ 1.34521090e-02 -4.79943438e-04 9.99909401e-01 5.32281460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9992541539999 meters Centerline goodness [0,1] 0.998939069293337 Centerline is valid? [True, True] Translation: X:576.72, Y:9.67, Z:5.32 [[ 9.98329513e-01 -5.63249124e-02 -1.28719866e-02 5.76721318e+02] [ 5.63258496e-02 9.98412397e-01 -2.89994636e-04 9.67494071e+00] [ 1.28678849e-02 -4.35515376e-04 9.99917110e-01 5.32289910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0292541539999 meters Centerline goodness [0,1] 0.998914269010732 Centerline is valid? [True, True] Translation: X:576.75, Y:9.68, Z:5.32 [[ 9.98463007e-01 -5.39699850e-02 -1.26041734e-02 5.76753884e+02] [ 5.39707085e-02 9.98542479e-01 -2.82986525e-04 9.67684179e+00] [ 1.26010753e-02 -3.97704592e-04 9.99920524e-01 5.32295363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.059254154 meters Centerline goodness [0,1] 0.9990187276864939 Centerline is valid? [True, True] Translation: X:576.78, Y:9.68, Z:5.32 [[ 9.98779792e-01 -4.78921457e-02 -1.20527554e-02 5.76783227e+02] [ 4.78923742e-02 9.98852465e-01 -2.69833987e-04 9.68074584e+00] [ 1.20518473e-02 -3.07730337e-04 9.99927326e-01 5.32244105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.089254154 meters Centerline goodness [0,1] 0.9989348815838938 Centerline is valid? [True, True] Translation: X:576.81, Y:9.68, Z:5.32 [[ 9.98917433e-01 -4.49225989e-02 -1.20797872e-02 5.76814048e+02] [ 4.49226111e-02 9.98990433e-01 -2.70462687e-04 9.68301919e+00] [ 1.20797417e-02 -2.72485687e-04 9.99927000e-01 5.32245025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1192541539999 meters Centerline goodness [0,1] 0.9990593252226264 Centerline is valid? [True, True] Translation: X:576.85, Y:9.69, Z:5.32 [[ 9.99057665e-01 -4.17593022e-02 -1.18297271e-02 5.76845884e+02] [ 4.17590997e-02 9.99127673e-01 -2.64235115e-04 9.68572457e+00] [ 1.18304420e-02 -2.30012639e-04 9.99929991e-01 5.32245912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1492541539999 meters Centerline goodness [0,1] 0.9990820137280674 Centerline is valid? [True, True] Translation: X:576.88, Y:9.69, Z:5.32 [[ 9.99161263e-01 -3.92047712e-02 -1.18218388e-02 5.76878345e+02] [ 3.92043983e-02 9.99231177e-01 -2.63377752e-04 9.68783564e+00] [ 1.18230755e-02 -2.00311228e-04 9.99930085e-01 5.32265292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.179254154 meters Centerline goodness [0,1] 0.999185718759787 Centerline is valid? [True, True] Translation: X:576.91, Y:9.69, Z:5.32 [[ 9.99294706e-01 -3.56933263e-02 -1.16651703e-02 5.76909180e+02] [ 3.56927326e-02 9.99362778e-01 -2.59145304e-04 9.68958786e+00] [ 1.16669867e-02 -1.57399273e-04 9.99931926e-01 5.32282420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.209254154 meters Centerline goodness [0,1] 0.9991222570532915 Centerline is valid? [True, True] Translation: X:576.94, Y:9.69, Z:5.32 [[ 9.99322154e-01 -3.50202124e-02 -1.13497958e-02 5.76941425e+02] [ 3.50196123e-02 9.99386594e-01 -2.51669858e-04 9.69151926e+00] [ 1.13516473e-02 -1.45966186e-04 9.99935557e-01 5.32299803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2392541539999 meters Centerline goodness [0,1] 0.9991440501043841 Centerline is valid? [True, True] Translation: X:576.97, Y:9.69, Z:5.32 [[ 9.99318783e-01 -3.50623395e-02 -1.15153162e-02 5.76973835e+02] [ 3.50617345e-02 9.99385116e-01 -2.54475628e-04 9.69135975e+00] [ 1.15171581e-02 -1.49444683e-04 9.99933664e-01 5.32295876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2692541539999 meters Centerline goodness [0,1] 0.9991230451214165 Centerline is valid? [True, True] Translation: X:577.01, Y:9.69, Z:5.32 [[ 9.99282991e-01 -3.59191009e-02 -1.19717444e-02 5.77005379e+02] [ 3.59185188e-02 9.99354687e-01 -2.63699966e-04 9.69005704e+00] [ 1.19734908e-02 -1.66496436e-04 9.99928301e-01 5.32224540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2992541539999 meters Centerline goodness [0,1] 0.9992075243477717 Centerline is valid? [True, True] Translation: X:577.04, Y:9.69, Z:5.32 [[ 9.99162174e-01 -3.88146654e-02 -1.29757960e-02 5.77036615e+02] [ 3.88142346e-02 9.99246403e-01 -2.85124728e-04 9.68747610e+00] [ 1.29770845e-02 -2.18759748e-04 9.99915770e-01 5.32056058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.329254154 meters Centerline goodness [0,1] 0.9990403871829105 Centerline is valid? [True, True] Translation: X:577.07, Y:9.69, Z:5.32 [[ 9.99055746e-01 -4.13210611e-02 -1.34233433e-02 5.77068240e+02] [ 4.13208340e-02 9.99145886e-01 -2.94379531e-04 9.68515956e+00] [ 1.34240423e-02 -2.60562177e-04 9.99909860e-01 5.32003253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3592541539999 meters Centerline goodness [0,1] 0.9991653625456443 Centerline is valid? [True, True] Translation: X:577.10, Y:9.68, Z:5.32 [[ 9.98799242e-01 -4.67556917e-02 -1.46280254e-02 5.77099452e+02] [ 4.67560141e-02 9.98906288e-01 -3.20141182e-04 9.68052747e+00] [ 1.46269950e-02 -3.64191392e-04 9.99892953e-01 5.31856773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3892541539999 meters Centerline goodness [0,1] 0.9992078547455755 Centerline is valid? [True, True] Translation: X:577.13, Y:9.68, Z:5.32 [[ 9.98666226e-01 -4.94358812e-02 -1.48950396e-02 5.77130867e+02] [ 4.94365189e-02 9.98777215e-01 -3.25609438e-04 9.67854734e+00] [ 1.48929229e-02 -4.11183757e-04 9.99889010e-01 5.31825909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4192541539999 meters Centerline goodness [0,1] 0.9991232098868523 Centerline is valid? [True, True] Translation: X:577.16, Y:9.68, Z:5.32 [[ 9.98540096e-01 -5.19633303e-02 -1.47475360e-02 5.77161740e+02] [ 5.19642387e-02 9.98648894e-01 -3.21851711e-04 9.67626995e+00] [ 1.47443350e-02 -4.44962641e-04 9.99891197e-01 5.31815978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.449254154 meters Centerline goodness [0,1] 0.9990411472881144 Centerline is valid? [True, True] Translation: X:577.19, Y:9.67, Z:5.32 [[ 9.98325758e-01 -5.61185889e-02 -1.40137508e-02 5.77191762e+02] [ 5.61198224e-02 9.98423994e-01 -3.05513790e-04 9.67218091e+00] [ 1.40088100e-02 -4.81446917e-04 9.99901756e-01 5.31886974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4792541539999 meters Centerline goodness [0,1] 0.999124343257443 Centerline is valid? [True, True] Translation: X:577.22, Y:9.67, Z:5.32 [[ 9.98257349e-01 -5.74400942e-02 -1.35240741e-02 5.77224320e+02] [ 5.74413683e-02 9.98348838e-01 -2.94531193e-04 9.67358930e+00] [ 1.35186616e-02 -4.82823396e-04 9.99908502e-01 5.32022795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5092541539999 meters Centerline goodness [0,1] 0.9989163957656081 Centerline is valid? [True, True] Translation: X:577.26, Y:9.67, Z:5.32 [[ 9.98220832e-01 -5.82641925e-02 -1.26670701e-02 5.77255983e+02] [ 5.82653894e-02 9.98301091e-01 -2.74846809e-04 9.67087647e+00] [ 1.26615637e-02 -4.63693963e-04 9.99919732e-01 5.32078806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5392541539999 meters Centerline goodness [0,1] 0.9991236489588114 Centerline is valid? [True, True] Translation: X:577.29, Y:9.67, Z:5.32 [[ 9.98220408e-01 -5.85158210e-02 -1.14854264e-02 5.77286965e+02] [ 5.85168339e-02 9.98286391e-01 -2.48138089e-04 9.67085511e+00] [ 1.14802648e-02 -4.24394281e-04 9.99934010e-01 5.32214485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.569254154 meters Centerline goodness [0,1] 0.9991236489588114 Centerline is valid? [True, True] Translation: X:577.32, Y:9.67, Z:5.32 [[ 9.98224501e-01 -5.84459627e-02 -1.14854402e-02 5.77318665e+02] [ 5.84469783e-02 9.98290484e-01 -2.47496022e-04 9.67147418e+00] [ 1.14802708e-02 -4.24232680e-04 9.99934010e-01 5.32244177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5992541539999 meters Centerline goodness [0,1] 0.9986436009265249 Centerline is valid? [True, True] Translation: X:577.35, Y:9.67, Z:5.32 [[ 9.98245650e-01 -5.81131090e-02 -1.13353165e-02 5.77351354e+02] [ 5.81140863e-02 9.98309919e-01 -2.43424119e-04 9.67243413e+00] [ 1.13303051e-02 -4.15744497e-04 9.99935724e-01 5.32302182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6292541539999 meters Centerline goodness [0,1] 0.9987919938350031 Centerline is valid? [True, True] Translation: X:577.38, Y:9.68, Z:5.32 [[ 9.98285830e-01 -5.75175459e-02 -1.08228149e-02 5.77383325e+02] [ 5.75184123e-02 9.98344419e-01 -2.31450073e-04 9.67603569e+00] [ 1.08182093e-02 -3.91457799e-04 9.99941405e-01 5.32348036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6592541539999 meters Centerline goodness [0,1] 0.9986660274714968 Centerline is valid? [True, True] Translation: X:577.41, Y:9.67, Z:5.32 [[ 9.98424966e-01 -5.50920895e-02 -1.06042163e-02 5.77414030e+02] [ 5.50927922e-02 9.98481213e-01 -2.26059445e-04 9.67469522e+00] [ 1.06005648e-02 -3.58512489e-04 9.99943748e-01 5.32370775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.689254154 meters Centerline goodness [0,1] 0.9989154465440288 Centerline is valid? [True, True] Translation: X:577.45, Y:9.68, Z:5.32 [[ 9.98507819e-01 -5.35569625e-02 -1.06670831e-02 5.77446371e+02] [ 5.35575907e-02 9.98564737e-01 -2.26960062e-04 9.68161768e+00] [ 1.06639284e-02 -3.44681877e-04 9.99943079e-01 5.32393923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7192541539999 meters Centerline goodness [0,1] 0.9988541427946416 Centerline is valid? [True, True] Translation: X:577.48, Y:9.68, Z:5.32 [[ 9.98625349e-01 -5.12655028e-02 -1.09206474e-02 5.77479091e+02] [ 5.12660338e-02 9.98685006e-01 -2.31495847e-04 9.68344493e+00] [ 1.09181546e-02 -3.28680657e-04 9.99940341e-01 5.32404237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7492541539999 meters Centerline goodness [0,1] 0.9988720626631854 Centerline is valid? [True, True] Translation: X:577.51, Y:9.69, Z:5.32 [[ 9.98727588e-01 -4.91898867e-02 -1.11157694e-02 5.77511023e+02] [ 4.91903196e-02 9.98789396e-01 -2.34620777e-04 9.68532697e+00] [ 1.11138536e-02 -3.12466008e-04 9.99938190e-01 5.32384531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7792541539999 meters Centerline goodness [0,1] 0.9986219280479403 Centerline is valid? [True, True] Translation: X:577.54, Y:9.69, Z:5.32 [[ 9.98952124e-01 -4.43442999e-02 -1.13241537e-02 5.77541822e+02] [ 4.43444468e-02 9.99016273e-01 -2.38245470e-04 9.68853899e+00] [ 1.13235786e-02 -2.64167511e-04 9.99935851e-01 5.32389090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.809254154 meters Centerline goodness [0,1] 0.9990612874963495 Centerline is valid? [True, True] Translation: X:577.57, Y:9.69, Z:5.32 [[ 9.99009341e-01 -4.27264653e-02 -1.24412944e-02 5.77574291e+02] [ 4.27265246e-02 9.99086771e-01 -2.61150146e-04 9.68981934e+00] [ 1.24410907e-02 -2.70681836e-04 9.99922570e-01 5.32307941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.839254154 meters Centerline goodness [0,1] 0.9989352373794312 Centerline is valid? [True, True] Translation: X:577.61, Y:9.69, Z:5.32 [[ 9.99063960e-01 -4.13102683e-02 -1.28322123e-02 5.77605987e+02] [ 4.13102251e-02 9.99146332e-01 -2.68535826e-04 9.69079675e+00] [ 1.28323512e-02 -2.61817115e-04 9.99917628e-01 5.32261461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8692541539999 meters Centerline goodness [0,1] 0.9989987693206233 Centerline is valid? [True, True] Translation: X:577.64, Y:9.69, Z:5.32 [[ 9.99150404e-01 -3.88980539e-02 -1.36166131e-02 5.77636015e+02] [ 3.88977903e-02 9.99243154e-01 -2.84292881e-04 9.69113793e+00] [ 1.36173658e-02 -2.45604813e-04 9.99907249e-01 5.32170100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8992541539999 meters Centerline goodness [0,1] 0.999166753463181 Centerline is valid? [True, True] Translation: X:577.67, Y:9.69, Z:5.32 [[ 9.99167909e-01 -3.82579506e-02 -1.41357559e-02 5.77667537e+02] [ 3.82576147e-02 9.99267866e-01 -2.94269513e-04 9.69185214e+00] [ 1.41366647e-02 -2.46775648e-04 9.99900042e-01 5.32172892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.929254154 meters Centerline goodness [0,1] 0.999207474764328 Centerline is valid? [True, True] Translation: X:577.70, Y:9.69, Z:5.32 [[ 9.99177860e-01 -3.78567264e-02 -1.45076390e-02 5.77697768e+02] [ 3.78563395e-02 9.99283146e-01 -3.01381402e-04 9.69217734e+00] [ 1.45086484e-02 -2.48072481e-04 9.99894713e-01 5.32163453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.959254154 meters Centerline goodness [0,1] 0.9992901286119926 Centerline is valid? [True, True] Translation: X:577.73, Y:9.69, Z:5.32 [[ 9.99170873e-01 -3.76938583e-02 -1.53863509e-02 5.77727899e+02] [ 3.76934177e-02 9.99289300e-01 -3.18739519e-04 9.69137398e+00] [ 1.53874304e-02 -2.61488908e-04 9.99881572e-01 5.32102783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9892541539999 meters Centerline goodness [0,1] 0.998808777429467 Centerline is valid? [True, True] Translation: X:577.76, Y:9.69, Z:5.32 [[ 9.99166503e-01 -3.77088162e-02 -1.56314908e-02 5.77758734e+02] [ 3.77083714e-02 9.99288734e-01 -3.23293231e-04 9.69099445e+00] [ 1.56325636e-02 -2.66414294e-04 9.99877769e-01 5.32109514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0192541539999 meters Centerline goodness [0,1] 0.9990396058208239 Centerline is valid? [True, True] Translation: X:577.79, Y:9.69, Z:5.32 [[ 9.99107813e-01 -3.90713022e-02 -1.60316048e-02 5.77789490e+02] [ 3.90710097e-02 9.99236382e-01 -3.31568458e-04 9.69018490e+00] [ 1.60323175e-02 -2.95098348e-04 9.99871431e-01 5.32106080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0492541539999 meters Centerline goodness [0,1] 0.9991858377520771 Centerline is valid? [True, True] Translation: X:577.82, Y:9.69, Z:5.32 [[ 9.98986551e-01 -4.18462211e-02 -1.65759988e-02 5.77819727e+02] [ 4.18462902e-02 9.99124002e-01 -3.42827711e-04 9.68883011e+00] [ 1.65758243e-02 -3.51163784e-04 9.99862550e-01 5.32195385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.079254154 meters Centerline goodness [0,1] 0.9992687156557531 Centerline is valid? [True, True] Translation: X:577.85, Y:9.69, Z:5.32 [[ 9.98917479e-01 -4.36595212e-02 -1.60535427e-02 5.77850361e+02] [ 4.36598200e-02 9.99046400e-01 -3.32022182e-04 9.68885554e+00] [ 1.60527300e-02 -3.69232024e-04 9.99871078e-01 5.32281294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1092541539999 meters Centerline goodness [0,1] 0.9990389637522198 Centerline is valid? [True, True] Translation: X:577.88, Y:9.69, Z:5.32 [[ 9.98799090e-01 -4.63760146e-02 -1.58001202e-02 5.77880321e+02] [ 4.63766437e-02 9.98923971e-01 -3.26780853e-04 9.68520685e+00] [ 1.57982736e-02 -4.06368125e-04 9.99875117e-01 5.32323662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1392541539999 meters Centerline goodness [0,1] 0.9989986231067718 Centerline is valid? [True, True] Translation: X:577.91, Y:9.68, Z:5.32 [[ 9.98504143e-01 -5.26122354e-02 -1.48805248e-02 5.77911109e+02] [ 5.26134865e-02 9.98614904e-01 -3.07659544e-04 9.68154172e+00] [ 1.48761005e-02 -4.75716963e-04 9.99889232e-01 5.32487703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1692541539999 meters Centerline goodness [0,1] 0.9991865340091358 Centerline is valid? [True, True] Translation: X:577.94, Y:9.68, Z:5.33 [[ 9.98292622e-01 -5.65904804e-02 -1.44691901e-02 5.77942259e+02] [ 5.65920844e-02 9.98397339e-01 -2.98892101e-04 9.67880638e+00] [ 1.44629153e-02 -5.20459844e-04 9.99895271e-01 5.32547050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.199254154 meters Centerline goodness [0,1] 0.9990821477742083 Centerline is valid? [True, True] Translation: X:577.97, Y:9.67, Z:5.33 [[ 9.98078398e-01 -6.03091662e-02 -1.42238107e-02 5.77972528e+02] [ 6.03110968e-02 9.98179586e-01 -2.93563730e-04 9.67455287e+00] [ 1.42156220e-02 -5.64854006e-04 9.99898793e-01 5.32617546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2292541539999 meters Centerline goodness [0,1] 0.9988139825218477 Centerline is valid? [True, True] Translation: X:578.00, Y:9.67, Z:5.33 [[ 9.97849467e-01 -6.41432090e-02 -1.34940447e-02 5.78002386e+02] [ 6.41452987e-02 9.97940531e-01 -2.78339020e-04 9.67061865e+00] [ 1.34841077e-02 -5.87839085e-04 9.99908912e-01 5.32685147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2592541539999 meters Centerline goodness [0,1] 0.9990428630878069 Centerline is valid? [True, True] Translation: X:578.03, Y:9.67, Z:5.33 [[ 9.97379588e-01 -7.12220146e-02 -1.27036521e-02 5.78033239e+02] [ 7.12244394e-02 9.97460280e-01 -2.62025498e-04 9.66711167e+00] [ 1.26900503e-02 -6.43471614e-04 9.99919271e-01 5.32864832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2892541539999 meters Centerline goodness [0,1] 0.9988959943341597 Centerline is valid? [True, True] Translation: X:578.06, Y:9.67, Z:5.33 [[ 9.97153182e-01 -7.42929238e-02 -1.28877439e-02 5.78064277e+02] [ 7.42956775e-02 9.97236222e-01 -2.65637408e-04 9.66555553e+00] [ 1.28718600e-02 -6.92622480e-04 9.99916914e-01 5.32931992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.319254154 meters Centerline goodness [0,1] 0.9988534978737597 Centerline is valid? [True, True] Translation: X:578.10, Y:9.66, Z:5.33 [[ 9.96947187e-01 -7.69427828e-02 -1.32708270e-02 5.78095809e+02] [ 7.69459442e-02 9.97035229e-01 -2.72964538e-04 9.66431716e+00] [ 1.32524847e-02 -7.49005085e-04 9.99911901e-01 5.33004396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3492541539999 meters Centerline goodness [0,1] 0.9986027694361028 Centerline is valid? [True, True] Translation: X:578.13, Y:9.66, Z:5.33 [[ 9.96767724e-01 -7.92326248e-02 -1.32776653e-02 5.78125834e+02] [ 7.92359963e-02 9.96855848e-01 -2.72765165e-04 9.66225572e+00] [ 1.32575302e-02 -7.80185524e-04 9.99911811e-01 5.33034082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3792541539999 meters Centerline goodness [0,1] 0.9986230780464398 Centerline is valid? [True, True] Translation: X:578.16, Y:9.66, Z:5.33 [[ 9.96563079e-01 -8.16110380e-02 -1.42009612e-02 5.78156808e+02] [ 8.16151366e-02 9.96663877e-01 -2.91645898e-04 9.66107645e+00] [ 1.41773866e-02 -8.68369853e-04 9.99899119e-01 5.33001253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4092541539999 meters Centerline goodness [0,1] 0.9986465664431766 Centerline is valid? [True, True] Translation: X:578.19, Y:9.66, Z:5.33 [[ 9.96458972e-01 -8.27743553e-02 -1.47621990e-02 5.78188307e+02] [ 8.27789184e-02 9.96567890e-01 -3.02708397e-04 9.66040641e+00] [ 1.47365900e-02 -9.20362366e-04 9.99890987e-01 5.33058392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.439254154 meters Centerline goodness [0,1] 0.9983366600133067 Centerline is valid? [True, True] Translation: X:578.22, Y:9.67, Z:5.33 [[ 9.96438815e-01 -8.29456388e-02 -1.51561214e-02 5.78220075e+02] [ 8.29504827e-02 9.96553622e-01 -3.09845553e-04 9.66620762e+00] [ 1.51295880e-02 -9.48465449e-04 9.99885091e-01 5.33204210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4692541539999 meters Centerline goodness [0,1] 0.998335691104269 Centerline is valid? [True, True] Translation: X:578.25, Y:9.66, Z:5.33 [[ 9.96508329e-01 -8.20109731e-02 -1.56636425e-02 5.78250935e+02] [ 8.20160484e-02 9.96630958e-01 -3.19165739e-04 9.66413183e+00] [ 1.56370461e-02 -9.66618741e-04 9.99877267e-01 5.33186944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4992541539999 meters Centerline goodness [0,1] 0.9987296959600167 Centerline is valid? [True, True] Translation: X:578.28, Y:9.67, Z:5.33 [[ 9.96593591e-01 -8.08729392e-02 -1.61487669e-02 5.78282033e+02] [ 8.08781975e-02 9.96723938e-01 -3.28273937e-04 9.67096964e+00] [ 1.61224110e-02 -9.78927459e-04 9.99869546e-01 5.33275149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5292541539999 meters Centerline goodness [0,1] 0.9985394149313525 Centerline is valid? [True, True] Translation: X:578.31, Y:9.67, Z:5.33 [[ 9.96720943e-01 -7.92202998e-02 -1.64774236e-02 5.78313265e+02] [ 7.92255594e-02 9.96856659e-01 -3.34342687e-04 9.67329673e+00] [ 1.64521162e-02 -9.72186743e-04 9.99864182e-01 5.33287228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.559254154 meters Centerline goodness [0,1] 0.9986469608659451 Centerline is valid? [True, True] Translation: X:578.34, Y:9.67, Z:5.33 [[ 9.96972923e-01 -7.56663426e-02 -1.78772203e-02 5.78343416e+02] [ 7.56719712e-02 9.97132700e-01 -3.62371719e-04 9.67238550e+00] [ 1.78533802e-02 -9.91529704e-04 9.99840124e-01 5.33185714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.589254154 meters Centerline goodness [0,1] 0.9986247707951326 Centerline is valid? [True, True] Translation: X:578.37, Y:9.68, Z:5.33 [[ 9.97103002e-01 -7.37338341e-02 -1.86795578e-02 5.78374584e+02] [ 7.37396475e-02 9.97277455e-01 -3.78304694e-04 9.67850224e+00] [ 1.86565957e-02 -1.00021526e-03 9.99825450e-01 5.33227846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6192541539999 meters Centerline goodness [0,1] 0.9986237671247159 Centerline is valid? [True, True] Translation: X:578.41, Y:9.69, Z:5.33 [[ 9.97221640e-01 -7.19821851e-02 -1.91720102e-02 5.78406358e+02] [ 7.19880032e-02 9.97405423e-01 -3.87393938e-04 9.68571175e+00] [ 1.91501524e-02 -9.93837111e-04 9.99816125e-01 5.33311690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6492541539999 meters Centerline goodness [0,1] 0.9986231929407348 Centerline is valid? [True, True] Translation: X:578.44, Y:9.69, Z:5.33 [[ 9.97431540e-01 -6.88742333e-02 -1.96637593e-02 5.78438337e+02] [ 6.88797737e-02 9.97624889e-01 -3.96195629e-04 9.69045047e+00] [ 1.96443434e-02 -9.59257274e-04 9.99806571e-01 5.33343088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.679254154 meters Centerline goodness [0,1] 0.9987892957040871 Centerline is valid? [True, True] Translation: X:578.47, Y:9.69, Z:5.33 [[ 9.97524429e-01 -6.73711748e-02 -2.01528805e-02 5.78469676e+02] [ 6.73767075e-02 9.97727526e-01 -4.05096372e-04 9.69233875e+00] [ 2.01343755e-02 -9.53741211e-04 9.99796828e-01 5.33367684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.709254154 meters Centerline goodness [0,1] 0.9987681129160229 Centerline is valid? [True, True] Translation: X:578.50, Y:9.69, Z:5.33 [[ 9.97624831e-01 -6.59220955e-02 -1.99743438e-02 5.78501380e+02] [ 6.59272590e-02 9.97824351e-01 -4.00592140e-04 9.69435101e+00] [ 1.99572945e-02 -9.17213070e-04 9.99800413e-01 5.33412876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7392541539999 meters Centerline goodness [0,1] 0.9987902805297737 Centerline is valid? [True, True] Translation: X:578.53, Y:9.70, Z:5.33 [[ 9.97789561e-01 -6.34334837e-02 -1.98036834e-02 5.78531673e+02] [ 6.34380838e-02 9.97985697e-01 -3.96474151e-04 9.69631021e+00] [ 1.97889426e-02 -8.60709961e-04 9.99803809e-01 5.33482483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7692541539999 meters Centerline goodness [0,1] 0.9986422976501306 Centerline is valid? [True, True] Translation: X:578.56, Y:9.70, Z:5.34 [[ 9.97891183e-01 -6.18480593e-02 -1.96978494e-02 5.78563101e+02] [ 6.18523126e-02 9.98085235e-01 -3.93821147e-04 9.69925171e+00] [ 1.96844897e-02 -8.25366889e-04 9.99805901e-01 5.33558210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7992541539999 meters Centerline goodness [0,1] 0.9987480176946832 Centerline is valid? [True, True] Translation: X:578.59, Y:9.70, Z:5.34 [[ 9.98000195e-01 -6.00709527e-02 -1.96746176e-02 5.78594541e+02] [ 6.00748650e-02 9.98193797e-01 -3.92656192e-04 9.70321510e+00] [ 1.96626685e-02 -7.90079039e-04 9.99806359e-01 5.33663486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.829254154 meters Centerline goodness [0,1] 0.9986452406261073 Centerline is valid? [True, True] Translation: X:578.62, Y:9.71, Z:5.34 [[ 9.98242503e-01 -5.59335480e-02 -1.95791590e-02 5.78624630e+02] [ 5.59366342e-02 9.98434244e-01 -3.90416425e-04 9.70578231e+00] [ 1.95703402e-02 -7.05461986e-04 9.99808234e-01 5.33637315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8592541539999 meters Centerline goodness [0,1] 0.9990601111157525 Centerline is valid? [True, True] Translation: X:578.66, Y:9.71, Z:5.34 [[ 9.98364325e-01 -5.35923239e-02 -1.99132287e-02 5.78655953e+02] [ 5.35950588e-02 9.98562673e-01 -3.96695433e-04 9.71077057e+00] [ 1.99058667e-02 -6.71204093e-04 9.99801633e-01 5.33780555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8892541539999 meters Centerline goodness [0,1] 0.9989973471476615 Centerline is valid? [True, True] Translation: X:578.69, Y:9.71, Z:5.34 [[ 9.98496309e-01 -5.10726668e-02 -1.99174134e-02 5.78686846e+02] [ 5.10749164e-02 9.98694746e-01 -3.96059832e-04 9.71330571e+00] [ 1.99116439e-02 -6.21815945e-04 9.99801550e-01 5.33787182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9192541539999 meters Centerline goodness [0,1] 0.9988709778586213 Centerline is valid? [True, True] Translation: X:578.72, Y:9.72, Z:5.34 [[ 9.98744063e-01 -4.56891818e-02 -2.05619915e-02 5.78717024e+02] [ 4.56904465e-02 9.98955563e-01 -4.08529801e-04 9.71629065e+00] [ 2.05591812e-02 -5.31469858e-04 9.99788496e-01 5.33692679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.949254154 meters Centerline goodness [0,1] 0.9990791704162568 Centerline is valid? [True, True] Translation: X:578.75, Y:9.72, Z:5.34 [[ 9.98846361e-01 -4.32665965e-02 -2.08314237e-02 5.78746978e+02] [ 4.32673599e-02 9.99063443e-01 -4.14271380e-04 9.71928061e+00] [ 2.08298380e-02 -4.87527245e-04 9.99782917e-01 5.33679207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9792541539999 meters Centerline goodness [0,1] 0.9989139288623405 Centerline is valid? [True, True] Translation: X:578.78, Y:9.72, Z:5.34 [[ 9.98934746e-01 -4.09975641e-02 -2.11795619e-02 5.78777603e+02] [ 4.09978367e-02 9.99159146e-01 -4.21517308e-04 9.72409592e+00] [ 2.11790342e-02 -4.47247936e-04 9.99775599e-01 5.33800454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0092541539999 meters Centerline goodness [0,1] 0.9988517985010751 Centerline is valid? [True, True] Translation: X:578.81, Y:9.73, Z:5.34 [[ 9.98983798e-01 -3.97361917e-02 -2.12698327e-02 5.78807591e+02] [ 3.97361716e-02 9.99210117e-01 -4.23747470e-04 9.72654465e+00] [ 2.12698701e-02 -4.21864864e-04 9.99773682e-01 5.33875994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0392541539999 meters Centerline goodness [0,1] 0.9989551770974819 Centerline is valid? [True, True] Translation: X:578.84, Y:9.73, Z:5.34 [[ 9.99032047e-01 -3.85673226e-02 -2.11549165e-02 5.78837394e+02] [ 3.85670245e-02 9.99255926e-01 -4.22227245e-04 9.72767908e+00] [ 2.11554598e-02 -3.94063634e-04 9.99776121e-01 5.33857077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.069254154 meters Centerline goodness [0,1] 0.9992480103607462 Centerline is valid? [True, True] Translation: X:578.87, Y:9.73, Z:5.34 [[ 9.99013037e-01 -3.91678063e-02 -2.09484064e-02 5.78866201e+02] [ 3.91676257e-02 9.99232566e-01 -4.19072771e-04 9.72727776e+00] [ 2.09487441e-02 -4.01840181e-04 9.99780470e-01 5.33847701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0992541539999 meters Centerline goodness [0,1] 0.9991440858419273 Centerline is valid? [True, True] Translation: X:578.90, Y:9.73, Z:5.34 [[ 9.98992888e-01 -3.98394995e-02 -2.06403710e-02 5.78895769e+02] [ 3.98394487e-02 9.99206008e-01 -4.13819260e-04 9.72721965e+00] [ 2.06404691e-02 -4.08898504e-04 9.99786879e-01 5.33889104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1292541539999 meters Centerline goodness [0,1] 0.9990585183170492 Centerline is valid? [True, True] Translation: X:578.93, Y:9.73, Z:5.34 [[ 9.98882961e-01 -4.29052187e-02 -1.97983164e-02 5.78925294e+02] [ 4.29057597e-02 9.99079045e-01 -3.97644142e-04 9.72591306e+00] [ 1.97971441e-02 -4.52261850e-04 9.99803915e-01 5.33937703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1592541539999 meters Centerline goodness [0,1] 0.9991007006169612 Centerline is valid? [True, True] Translation: X:578.96, Y:9.73, Z:5.34 [[ 9.98806917e-01 -4.49143895e-02 -1.91687133e-02 5.78955741e+02] [ 4.49152599e-02 9.98990726e-01 -3.85331129e-04 9.72503479e+00] [ 1.91666738e-02 -4.76096345e-04 9.99816189e-01 5.33976931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.189254154 meters Centerline goodness [0,1] 0.9992272993066578 Centerline is valid? [True, True] Translation: X:578.99, Y:9.72, Z:5.34 [[ 9.98700221e-01 -4.72029079e-02 -1.92289825e-02 5.78986155e+02] [ 4.72042111e-02 9.98885185e-01 -3.86361387e-04 9.72267887e+00] [ 1.92257831e-02 -5.21829746e-04 9.99815031e-01 5.33994377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2192541539999 meters Centerline goodness [0,1] 0.998828574416902 Centerline is valid? [True, True] Translation: X:579.02, Y:9.72, Z:5.34 [[ 9.98420655e-01 -5.28414871e-02 -1.90780722e-02 5.79017212e+02] [ 5.28438046e-02 9.98602717e-01 -3.82982815e-04 9.71783165e+00] [ 1.90716521e-02 -6.25779966e-04 9.99817924e-01 5.33970797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2492541539999 meters Centerline goodness [0,1] 0.9989979541564027 Centerline is valid? [True, True] Translation: X:579.05, Y:9.71, Z:5.34 [[ 9.98278343e-01 -5.55282156e-02 -1.88935889e-02 5.79047728e+02] [ 5.55309754e-02 9.98456893e-01 -3.78940604e-04 9.71492004e+00] [ 1.88854760e-02 -6.70891222e-04 9.99821428e-01 5.33948800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2792541539999 meters Centerline goodness [0,1] 0.9986032354903269 Centerline is valid? [True, True] Translation: X:579.08, Y:9.71, Z:5.34 [[ 9.98101930e-01 -5.86117451e-02 -1.88997405e-02 5.79079153e+02] [ 5.86150684e-02 9.98280587e-01 -3.78546045e-04 9.71453879e+00] [ 1.88894313e-02 -7.29982046e-04 9.99821312e-01 5.34003196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.309254154 meters Centerline goodness [0,1] 0.9983495936657822 Centerline is valid? [True, True] Translation: X:579.11, Y:9.71, Z:5.34 [[ 9.97719054e-01 -6.44105522e-02 -2.01982905e-02 5.79109425e+02] [ 6.44155421e-02 9.97923081e-01 -4.04144036e-04 9.71006547e+00] [ 2.01823715e-02 -8.97861628e-04 9.99795912e-01 5.33978590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.339254154 meters Centerline goodness [0,1] 0.9985353810101686 Centerline is valid? [True, True] Translation: X:579.14, Y:9.71, Z:5.34 [[ 9.97548056e-01 -6.71650060e-02 -1.96656531e-02 5.79140315e+02] [ 6.71702745e-02 9.97741449e-01 -3.93259448e-04 9.70952225e+00] [ 1.96476505e-02 -9.28652122e-04 9.99806535e-01 5.34045979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3692541539999 meters Centerline goodness [0,1] 0.99860183639399 Centerline is valid? [True, True] Translation: X:579.17, Y:9.71, Z:5.34 [[ 9.97394894e-01 -6.93381267e-02 -1.98909682e-02 5.79171326e+02] [ 6.93439551e-02 9.97592732e-01 -3.97394505e-04 9.70871560e+00] [ 1.98706398e-02 -9.82959151e-04 9.99802076e-01 5.34086896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3992541539999 meters Centerline goodness [0,1] 0.9986454947070101 Centerline is valid? [True, True] Translation: X:579.20, Y:9.70, Z:5.34 [[ 9.97160464e-01 -7.31407513e-02 -1.79287417e-02 5.79201251e+02] [ 7.31461017e-02 9.97321172e-01 -3.58034996e-04 9.70255684e+00] [ 1.79069006e-02 -9.54399221e-04 9.99839203e-01 5.34130861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.429254154 meters Centerline goodness [0,1] 0.998662486938349 Centerline is valid? [True, True] Translation: X:579.23, Y:9.70, Z:5.34 [[ 9.97116911e-01 -7.38422263e-02 -1.74697397e-02 5.79232994e+02] [ 7.38474211e-02 9.97269491e-01 -3.48433734e-04 9.70158403e+00] [ 1.74477676e-02 -9.42666058e-04 9.99847332e-01 5.34192687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.459254154 meters Centerline goodness [0,1] 0.9988510549404638 Centerline is valid? [True, True] Translation: X:579.26, Y:9.71, Z:5.34 [[ 9.97099346e-01 -7.40764857e-02 -1.74805061e-02 5.79264580e+02] [ 7.40817395e-02 9.97252112e-01 -3.47690551e-04 9.70614702e+00] [ 1.74582273e-02 -9.48304280e-04 9.99847144e-01 5.34301487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4892541539999 meters Centerline goodness [0,1] 0.9988510549404638 Centerline is valid? [True, True] Translation: X:579.30, Y:9.71, Z:5.34 [[ 9.97104869e-01 -7.40021042e-02 -1.74805285e-02 5.79296308e+02] [ 7.40073663e-02 9.97257635e-01 -3.46560502e-04 9.70671722e+00] [ 1.74582368e-02 -9.48130715e-04 9.99847144e-01 5.34331203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5192541539999 meters Centerline goodness [0,1] 0.9983502485068705 Centerline is valid? [True, True] Translation: X:579.33, Y:9.71, Z:5.34 [[ 9.97126116e-01 -7.37637695e-02 -1.72746790e-02 5.79327957e+02] [ 7.37689020e-02 9.97275305e-01 -3.40786880e-04 9.70614161e+00] [ 1.72527485e-02 -9.34526604e-04 9.99850724e-01 5.34368408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5492541539999 meters Centerline goodness [0,1] 0.9988503344481605 Centerline is valid? [True, True] Translation: X:579.36, Y:9.71, Z:5.34 [[ 9.97261755e-01 -7.18726285e-02 -1.74159868e-02 5.79359079e+02] [ 7.18775837e-02 9.97413403e-01 -3.42078162e-04 9.71009969e+00] [ 1.73955247e-02 -9.10677583e-04 9.99848272e-01 5.34445594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.579254154 meters Centerline goodness [0,1] 0.9985794267569148 Centerline is valid? [True, True] Translation: X:579.39, Y:9.71, Z:5.34 [[ 9.97349653e-01 -7.08272117e-02 -1.66486251e-02 5.79389996e+02] [ 7.08316067e-02 9.97488234e-01 -3.26269527e-04 9.71021751e+00] [ 1.66299164e-02 -8.53844068e-04 9.99861349e-01 5.34470020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6092541539999 meters Centerline goodness [0,1] 0.998914291679716 Centerline is valid? [True, True] Translation: X:579.42, Y:9.71, Z:5.35 [[ 9.97445581e-01 -6.95145264e-02 -1.64329941e-02 5.79422644e+02] [ 6.95186496e-02 9.97580600e-01 -3.20884753e-04 9.71312197e+00] [ 1.64155423e-02 -8.22334484e-04 9.99864918e-01 5.34522472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6392541539999 meters Centerline goodness [0,1] 0.9987060689540028 Centerline is valid? [True, True] Translation: X:579.45, Y:9.72, Z:5.34 [[ 9.97607234e-01 -6.67351415e-02 -1.80617742e-02 5.79453970e+02] [ 6.67396912e-02 9.97770359e-01 -3.51425118e-04 9.71624017e+00] [ 1.80449553e-02 -8.54852991e-04 9.99836811e-01 5.34454010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6692541539999 meters Centerline goodness [0,1] 0.9985426989215972 Centerline is valid? [True, True] Translation: X:579.49, Y:9.72, Z:5.34 [[ 9.97655301e-01 -6.61244196e-02 -1.76482885e-02 5.79485090e+02] [ 6.61286819e-02 9.97811044e-01 -3.42589347e-04 9.71587007e+00] [ 1.76323107e-02 -8.25271979e-04 9.99844198e-01 5.34458605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.699254154 meters Centerline goodness [0,1] 0.998707094298703 Centerline is valid? [True, True] Translation: X:579.52, Y:9.72, Z:5.34 [[ 9.97736714e-01 -6.42970580e-02 -1.96808795e-02 5.79516311e+02] [ 6.43020264e-02 9.97930411e-01 -3.80924640e-04 9.71611040e+00] [ 1.96646405e-02 -8.85457933e-04 9.99806240e-01 5.34371425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7292541539999 meters Centerline goodness [0,1] 0.9987696799082473 Centerline is valid? [True, True] Translation: X:579.55, Y:9.72, Z:5.35 [[ 9.97802828e-01 -6.37667762e-02 -1.79809420e-02 5.79548483e+02] [ 6.37708570e-02 9.97964507e-01 -3.46922301e-04 9.72321368e+00] [ 1.79664640e-02 -8.00500027e-04 9.99838270e-01 5.34571483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7592541539999 meters Centerline goodness [0,1] 0.9987479131886478 Centerline is valid? [True, True] Translation: X:579.58, Y:9.72, Z:5.34 [[ 9.97895178e-01 -6.20311142e-02 -1.89038240e-02 5.79579937e+02] [ 6.20353378e-02 9.98073887e-01 -3.63461760e-04 9.72113956e+00] [ 1.88899590e-02 -8.10008367e-04 9.99821241e-01 5.34472240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7892541539999 meters Centerline goodness [0,1] 0.9987278680319492 Centerline is valid? [True, True] Translation: X:579.61, Y:9.73, Z:5.35 [[ 9.97954230e-01 -6.09781365e-02 -1.92099246e-02 5.79611678e+02] [ 6.09823277e-02 9.98138778e-01 -3.68077603e-04 9.72962770e+00] [ 1.91966154e-02 -8.04141316e-04 9.99815405e-01 5.34612034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.819254154 meters Centerline goodness [0,1] 0.9987497134760049 Centerline is valid? [True, True] Translation: X:579.64, Y:9.73, Z:5.35 [[ 9.97996374e-01 -6.00689648e-02 -1.98735069e-02 5.79642822e+02] [ 6.00732969e-02 9.98193897e-01 -3.79475747e-04 9.72717630e+00] [ 1.98604080e-02 -8.15151662e-04 9.99802430e-01 5.34513118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8492541539999 meters Centerline goodness [0,1] 0.9987700646237232 Centerline is valid? [True, True] Translation: X:579.67, Y:9.73, Z:5.34 [[ 9.98068064e-01 -5.85651129e-02 -2.07428781e-02 5.79674398e+02] [ 5.85695279e-02 9.98283254e-01 -3.95127963e-04 9.73007303e+00] [ 2.07304086e-02 -8.20535978e-04 9.99784765e-01 5.34468305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8792541539999 meters Centerline goodness [0,1] 0.9990414469982705 Centerline is valid? [True, True] Translation: X:579.71, Y:9.73, Z:5.35 [[ 9.98120699e-01 -5.77529034e-02 -2.04858970e-02 5.79705743e+02] [ 5.77570539e-02 9.98330592e-01 -3.89498959e-04 9.73469818e+00] [ 2.04741924e-02 -7.94438086e-04 9.99790066e-01 5.34580570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9092541539999 meters Centerline goodness [0,1] 0.9989367690287072 Centerline is valid? [True, True] Translation: X:579.74, Y:9.74, Z:5.35 [[ 9.98184034e-01 -5.67539003e-02 -2.01898215e-02 5.79737129e+02] [ 5.67577425e-02 9.98387907e-01 -3.83128093e-04 9.73731548e+00] [ 2.01790176e-02 -7.63496343e-04 9.99796091e-01 5.34659206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.939254154 meters Centerline goodness [0,1] 0.9988519183400827 Centerline is valid? [True, True] Translation: X:579.77, Y:9.74, Z:5.35 [[ 9.98344260e-01 -5.43371764e-02 -1.88735405e-02 5.79768264e+02] [ 5.43401153e-02 9.98522420e-01 -3.57469506e-04 9.74058256e+00] [ 1.88650772e-02 -6.68712737e-04 9.99821815e-01 5.34797191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9692541539999 meters Centerline goodness [0,1] 0.9988298717037903 Centerline is valid? [True, True] Translation: X:579.80, Y:9.74, Z:5.35 [[ 9.98426791e-01 -5.29704072e-02 -1.83869224e-02 5.79799534e+02] [ 5.29729774e-02 9.98595886e-01 -3.47580103e-04 9.74237894e+00] [ 1.83795165e-02 -6.26976737e-04 9.99830886e-01 5.34883864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9992541539999 meters Centerline goodness [0,1] 0.9988499979090871 Centerline is valid? [True, True] Translation: X:579.83, Y:9.74, Z:5.35 [[ 9.98497830e-01 -5.16260921e-02 -1.83529424e-02 5.79830234e+02] [ 5.16284353e-02 9.98666303e-01 -3.46429326e-04 9.74322818e+00] [ 1.83463500e-02 -6.01624770e-04 9.99831511e-01 5.34931932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0292541539999 meters Centerline goodness [0,1] 0.9988102444217162 Centerline is valid? [True, True] Translation: X:579.86, Y:9.74, Z:5.35 [[ 9.98548146e-01 -5.05096194e-02 -1.87183850e-02 5.79861901e+02] [ 5.05118706e-02 9.98723398e-01 -3.52809945e-04 9.74493130e+00] [ 1.87123094e-02 -5.93202924e-04 9.99824733e-01 5.34978817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.059254154 meters Centerline goodness [0,1] 0.9990168186762614 Centerline is valid? [True, True] Translation: X:579.89, Y:9.75, Z:5.35 [[ 9.98578304e-01 -5.05164222e-02 -1.70135581e-02 5.79892025e+02] [ 5.05182905e-02 9.98723085e-01 -3.20225208e-04 9.74526856e+00] [ 1.70080098e-02 -5.39725922e-04 9.99855208e-01 5.35011294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.089254154 meters Centerline goodness [0,1] 0.9989543467804337 Centerline is valid? [True, True] Translation: X:579.92, Y:9.75, Z:5.35 [[ 9.98569358e-01 -5.07302260e-02 -1.69021049e-02 5.79923801e+02] [ 5.07321126e-02 9.98712247e-01 -3.17409013e-04 9.74596015e+00] [ 1.68964414e-02 -5.40524576e-04 9.99857099e-01 5.35030946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1192541539999 meters Centerline goodness [0,1] 0.9988299694956333 Centerline is valid? [True, True] Translation: X:579.95, Y:9.74, Z:5.35 [[ 9.98564180e-01 -5.07367700e-02 -1.71859964e-02 5.79954911e+02] [ 5.07387490e-02 9.98711909e-01 -3.21137179e-04 9.74441960e+00] [ 1.71801527e-02 -5.51319873e-04 9.99852258e-01 5.34976739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1492541539999 meters Centerline goodness [0,1] 0.9988510549404638 Centerline is valid? [True, True] Translation: X:579.99, Y:9.74, Z:5.35 [[ 9.98477267e-01 -5.28586636e-02 -1.57832053e-02 5.79986116e+02] [ 5.28606168e-02 9.98601857e-01 -2.93694742e-04 9.74436494e+00] [ 1.57766624e-02 -5.41062443e-04 9.99875394e-01 5.35068738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.179254154 meters Centerline goodness [0,1] 0.9986857750797923 Centerline is valid? [True, True] Translation: X:580.02, Y:9.74, Z:5.35 [[ 9.98432452e-01 -5.37371541e-02 -1.56511129e-02 5.80017599e+02] [ 5.37391930e-02 9.98554963e-01 -2.90567630e-04 9.74266917e+00] [ 1.56441107e-02 -5.50966023e-04 9.99877472e-01 5.35086181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.209254154 meters Centerline goodness [0,1] 0.9988094243462278 Centerline is valid? [True, True] Translation: X:580.05, Y:9.74, Z:5.35 [[ 9.98388583e-01 -5.45633491e-02 -1.55909730e-02 5.80049347e+02] [ 5.45654877e-02 9.98510152e-01 -2.88505187e-04 9.74389673e+00] [ 1.55834866e-02 -5.62688759e-04 9.99878412e-01 5.35149364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2392541539999 meters Centerline goodness [0,1] 0.9988066825775657 Centerline is valid? [True, True] Translation: X:580.08, Y:9.74, Z:5.35 [[ 9.98352340e-01 -5.52861354e-02 -1.53638450e-02 5.80080435e+02] [ 5.52883127e-02 9.98470391e-01 -2.83319970e-04 9.74117925e+00] [ 1.53560080e-02 -5.66587912e-04 9.99881929e-01 5.35111670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2692541539999 meters Centerline goodness [0,1] 0.9986815670517328 Centerline is valid? [True, True] Translation: X:580.11, Y:9.74, Z:5.35 [[ 9.98279769e-01 -5.64197439e-02 -1.59472827e-02 5.80112217e+02] [ 5.64222499e-02 9.98406953e-01 -2.93089820e-04 9.74350393e+00] [ 1.59384139e-02 -6.07195929e-04 9.99872791e-01 5.35137427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2992541539999 meters Centerline goodness [0,1] 0.9987037153191578 Centerline is valid? [True, True] Translation: X:580.14, Y:9.74, Z:5.35 [[ 9.98273252e-01 -5.63904887e-02 -1.64507454e-02 5.80143192e+02] [ 5.63931691e-02 9.98408594e-01 -3.01277150e-04 9.74304638e+00] [ 1.64415548e-02 -6.26952749e-04 9.99864632e-01 5.35120423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.329254154 meters Centerline goodness [0,1] 0.998952638304112 Centerline is valid? [True, True] Translation: X:580.18, Y:9.74, Z:5.35 [[ 9.98259653e-01 -5.65187666e-02 -1.68313595e-02 5.80175523e+02] [ 5.65216082e-02 9.98401329e-01 -3.07208109e-04 9.74413734e+00] [ 1.68218147e-02 -6.44662049e-04 9.99858295e-01 5.35118974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3592541539999 meters Centerline goodness [0,1] 0.9987657161984059 Centerline is valid? [True, True] Translation: X:580.21, Y:9.74, Z:5.35 [[ 9.98291965e-01 -5.57213888e-02 -1.75578877e-02 5.80206589e+02] [ 5.57243778e-02 9.98446139e-01 -3.19341574e-04 9.74454451e+00] [ 1.75483994e-02 -6.59606241e-04 9.99845797e-01 5.35101841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3892541539999 meters Centerline goodness [0,1] 0.9990609152945595 Centerline is valid? [True, True] Translation: X:580.24, Y:9.75, Z:5.35 [[ 9.98342710e-01 -5.47676595e-02 -1.76730729e-02 5.80237413e+02] [ 5.47705524e-02 9.98498915e-01 -3.20648959e-04 9.74627471e+00] [ 1.76641053e-02 -6.47846417e-04 9.99843768e-01 5.35075245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4192541539999 meters Centerline goodness [0,1] 0.998807431584233 Centerline is valid? [True, True] Translation: X:580.27, Y:9.75, Z:5.35 [[ 9.98380993e-01 -5.41476507e-02 -1.74190903e-02 5.80268517e+02] [ 5.41503773e-02 9.98532742e-01 -3.15439651e-04 9.74773842e+00] [ 1.74106123e-02 -6.28321361e-04 9.99848226e-01 5.35099780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.449254154 meters Centerline goodness [0,1] 0.998620084049426 Centerline is valid? [True, True] Translation: X:580.30, Y:9.75, Z:5.35 [[ 9.98418689e-01 -5.34475726e-02 -1.74206614e-02 5.80299436e+02] [ 5.34502038e-02 9.98570467e-01 -3.14864403e-04 9.74864220e+00] [ 1.74125868e-02 -6.16771399e-04 9.99848199e-01 5.35120574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4792541539999 meters Centerline goodness [0,1] 0.9990381398461023 Centerline is valid? [True, True] Translation: X:580.33, Y:9.75, Z:5.35 [[ 9.98512268e-01 -5.18208272e-02 -1.69662035e-02 5.80330522e+02] [ 5.18230982e-02 9.98656234e-01 -3.06068940e-04 9.75201039e+00] [ 1.69592656e-02 -5.73627638e-04 9.99856017e-01 5.35189680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5092541539999 meters Centerline goodness [0,1] 0.9989330543933055 Centerline is valid? [True, True] Translation: X:580.36, Y:9.75, Z:5.35 [[ 9.98552951e-01 -5.10917218e-02 -1.67821205e-02 5.80361914e+02] [ 5.10938529e-02 9.98693810e-01 -3.02033686e-04 9.75268749e+00] [ 1.67756313e-02 -5.55866567e-04 9.99859125e-01 5.35214056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5392541539999 meters Centerline goodness [0,1] 0.9990386624869384 Centerline is valid? [True, True] Translation: X:580.39, Y:9.75, Z:5.35 [[ 9.98595132e-01 -5.03049636e-02 -1.66484875e-02 5.80393485e+02] [ 5.03069639e-02 9.98733758e-01 -2.98888635e-04 9.75401325e+00] [ 1.66424421e-02 -5.39066123e-04 9.99861360e-01 5.35271742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.569254154 meters Centerline goodness [0,1] 0.9988099214965759 Centerline is valid? [True, True] Translation: X:580.42, Y:9.76, Z:5.35 [[ 9.98605471e-01 -5.01686552e-02 -1.64383450e-02 5.80424646e+02] [ 5.01705961e-02 9.98740619e-01 -2.94553092e-04 9.75533580e+00] [ 1.64324202e-02 -5.30579241e-04 9.99864838e-01 5.35359268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5992541539999 meters Centerline goodness [0,1] 0.9990171065289222 Centerline is valid? [True, True] Translation: X:580.46, Y:9.76, Z:5.35 [[ 9.98610620e-01 -4.99907418e-02 -1.66659791e-02 5.80455496e+02] [ 4.99927238e-02 9.98749538e-01 -2.97931004e-04 9.75649595e+00] [ 1.66600327e-02 -5.35660626e-04 9.99861069e-01 5.35410194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6292541539999 meters Centerline goodness [0,1] 0.9989761805265357 Centerline is valid? [True, True] Translation: X:580.49, Y:9.76, Z:5.35 [[ 9.98599965e-01 -5.00347840e-02 -1.71648223e-02 5.80486345e+02] [ 5.00369089e-02 9.98747322e-01 -3.05917827e-04 9.75698872e+00] [ 1.71586269e-02 -5.53385121e-04 9.99852627e-01 5.35431505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6592541539999 meters Centerline goodness [0,1] 0.998913134353315 Centerline is valid? [True, True] Translation: X:580.52, Y:9.76, Z:5.35 [[ 9.98569558e-01 -5.04879676e-02 -1.76012072e-02 5.80518085e+02] [ 5.04902866e-02 9.98724503e-01 -3.12882384e-04 9.75715496e+00] [ 1.75945537e-02 -5.76255174e-04 9.99845038e-01 5.35418266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.689254154 meters Centerline goodness [0,1] 0.9988092999937331 Centerline is valid? [True, True] Translation: X:580.55, Y:9.76, Z:5.35 [[ 9.98535156e-01 -5.08573508e-02 -1.84681601e-02 5.80548020e+02] [ 5.08599760e-02 9.98705740e-01 -3.27811497e-04 9.75663964e+00] [ 1.84609291e-02 -6.11958874e-04 9.99829395e-01 5.35383224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7192541539999 meters Centerline goodness [0,1] 0.9993525480367585 Centerline is valid? [True, True] Translation: X:580.58, Y:9.76, Z:5.36 [[ 9.98403919e-01 -5.30339595e-02 -1.94168223e-02 5.80579417e+02] [ 5.30372828e-02 9.98592474e-01 -3.44123395e-04 9.76175434e+00] [ 1.94077429e-02 -6.86241349e-04 9.99811417e-01 5.35587985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7492541539999 meters Centerline goodness [0,1] 0.9986814566764337 Centerline is valid? [True, True] Translation: X:580.61, Y:9.76, Z:5.36 [[ 9.98342980e-01 -5.37087254e-02 -2.06559052e-02 5.80611013e+02] [ 5.37126467e-02 9.98556367e-01 -3.65315473e-04 9.76166544e+00] [ 2.06457062e-02 -7.44773198e-04 9.99786577e-01 5.35576323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7792541539999 meters Centerline goodness [0,1] 0.9988511029411765 Centerline is valid? [True, True] Translation: X:580.64, Y:9.76, Z:5.36 [[ 9.98231662e-01 -5.55783171e-02 -2.10855194e-02 5.80640821e+02] [ 5.55828492e-02 9.98454009e-01 -3.71516960e-04 9.76183615e+00] [ 2.10735697e-02 -8.01133253e-04 9.99777607e-01 5.35622661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.809254154 meters Centerline goodness [0,1] 0.9990810934987365 Centerline is valid? [True, True] Translation: X:580.67, Y:9.76, Z:5.36 [[ 9.98221158e-01 -5.55512853e-02 -2.16465997e-02 5.80672548e+02] [ 5.55560839e-02 9.98455496e-01 -3.80091483e-04 9.76491461e+00] [ 2.16342810e-02 -8.23184949e-04 9.99765613e-01 5.35727123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.839254154 meters Centerline goodness [0,1] 0.998911496273968 Centerline is valid? [True, True] Translation: X:580.70, Y:9.76, Z:5.36 [[ 9.98243652e-01 -5.49978304e-02 -2.20193163e-02 5.80702664e+02] [ 5.50026871e-02 9.98486132e-01 -3.85466114e-04 9.76494448e+00] [ 2.20071818e-02 -8.26332464e-04 9.99757471e-01 5.35717787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8692541539999 meters Centerline goodness [0,1] 0.9992680274385143 Centerline is valid? [True, True] Translation: X:580.73, Y:9.77, Z:5.36 [[ 9.98408058e-01 -5.17983671e-02 -2.23221748e-02 5.80733181e+02] [ 5.18025735e-02 9.98657269e-01 -3.90151822e-04 9.76908155e+00] [ 2.23124113e-02 -7.66815379e-04 9.99750753e-01 5.35856668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8992541539999 meters Centerline goodness [0,1] 0.9990155624908363 Centerline is valid? [True, True] Translation: X:580.76, Y:9.77, Z:5.36 [[ 9.98529412e-01 -4.93903301e-02 -2.23519456e-02 5.80764546e+02] [ 4.93939557e-02 9.98779297e-01 -3.90198024e-04 9.77313593e+00] [ 2.23439326e-02 -7.14426809e-04 9.99750088e-01 5.36003448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.929254154 meters Centerline goodness [0,1] 0.9992247737177338 Centerline is valid? [True, True] Translation: X:580.79, Y:9.77, Z:5.36 [[ 9.98664274e-01 -4.67674125e-02 -2.19653772e-02 5.80794125e+02] [ 4.67702823e-02 9.98905598e-01 -3.83339998e-04 9.77361918e+00] [ 2.19592661e-02 -6.44498933e-04 9.99758659e-01 5.35993882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.959254154 meters Centerline goodness [0,1] 0.9990578875745839 Centerline is valid? [True, True] Translation: X:580.83, Y:9.78, Z:5.36 [[ 9.98922475e-01 -4.14832575e-02 -2.08093133e-02 5.80825152e+02] [ 4.14846860e-02 9.99139074e-01 -3.63218114e-04 9.78190210e+00] [ 2.08064655e-02 -5.00441088e-04 9.99783397e-01 5.36356077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9892541539999 meters Centerline goodness [0,1] 0.9991203635830523 Centerline is valid? [True, True] Translation: X:580.86, Y:9.78, Z:5.36 [[ 9.99012972e-01 -3.94347739e-02 -2.04445914e-02 5.80855461e+02] [ 3.94357256e-02 9.99222046e-01 -3.56767141e-04 9.78461564e+00] [ 2.04427555e-02 -4.49832296e-04 9.99790924e-01 5.36460429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0192541539999 meters Centerline goodness [0,1] 0.9995389290579483 Centerline is valid? [True, True] Translation: X:580.89, Y:9.79, Z:5.37 [[ 9.99098124e-01 -3.74614351e-02 -1.99895090e-02 5.80885918e+02] [ 3.74619502e-02 9.99297994e-01 -3.48825752e-04 9.78614929e+00] [ 1.99885438e-02 -4.00334836e-04 9.99800129e-01 5.36524142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0492541539999 meters Centerline goodness [0,1] 0.9994559645121467 Centerline is valid? [True, True] Translation: X:580.92, Y:9.79, Z:5.36 [[ 9.99138665e-01 -3.57808535e-02 -2.10156602e-02 5.80916259e+02] [ 3.57810513e-02 9.99359586e-01 -3.66732543e-04 9.78693707e+00] [ 2.10153235e-02 -3.85545753e-04 9.99779079e-01 5.36494772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.079254154 meters Centerline goodness [0,1] 0.9995394020601289 Centerline is valid? [True, True] Translation: X:580.94, Y:9.79, Z:5.36 [[ 9.99119185e-01 -3.57986979e-02 -2.18930917e-02 5.80944669e+02] [ 3.57989020e-02 9.99358941e-01 -3.82724729e-04 9.78653560e+00] [ 2.18927580e-02 -4.01361023e-04 9.99760244e-01 5.36457675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1092541539999 meters Centerline goodness [0,1] 0.9992254553066778 Centerline is valid? [True, True] Translation: X:580.97, Y:9.79, Z:5.36 [[ 9.99058706e-01 -3.67027953e-02 -2.31215749e-02 5.80973584e+02] [ 3.67032355e-02 9.99326127e-01 -4.05477665e-04 9.78567581e+00] [ 2.31208761e-02 -4.43540619e-04 9.99732578e-01 5.36380204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1392541539999 meters Centerline goodness [0,1] 0.9994556797722229 Centerline is valid? [True, True] Translation: X:581.00, Y:9.78, Z:5.36 [[ 9.98982326e-01 -3.80813302e-02 -2.41686603e-02 5.81001990e+02] [ 3.80821701e-02 9.99274520e-01 -4.25679182e-04 9.78457241e+00] [ 2.41673368e-02 -4.95149051e-04 9.99707805e-01 5.36326219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1692541539999 meters Centerline goodness [0,1] 0.9989965716197007 Centerline is valid? [True, True] Translation: X:581.03, Y:9.78, Z:5.36 [[ 9.98771328e-01 -4.20211378e-02 -2.62689607e-02 5.81030104e+02] [ 4.20234351e-02 9.99116517e-01 -4.64833856e-04 9.78082645e+00] [ 2.62652854e-02 -6.39649239e-04 9.99654803e-01 5.36218605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.199254154 meters Centerline goodness [0,1] 0.999121541067955 Centerline is valid? [True, True] Translation: X:581.06, Y:9.78, Z:5.36 [[ 9.98638179e-01 -4.45070829e-02 -2.72195975e-02 5.81058779e+02] [ 4.45103313e-02 9.99008805e-01 -4.86837761e-04 9.77994211e+00] [ 2.72142853e-02 -7.25378527e-04 9.99629360e-01 5.36273912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2292541539999 meters Centerline goodness [0,1] 0.9991421696830213 Centerline is valid? [True, True] Translation: X:581.09, Y:9.78, Z:5.36 [[ 9.98502918e-01 -4.71042943e-02 -2.78048137e-02 5.81086188e+02] [ 4.71085440e-02 9.98889650e-01 -5.02552530e-04 9.77767450e+00] [ 2.77976131e-02 -8.08044124e-04 9.99613245e-01 5.36269545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2592541539999 meters Centerline goodness [0,1] 0.9992061004909641 Centerline is valid? [True, True] Translation: X:581.12, Y:9.78, Z:5.36 [[ 9.98260301e-01 -5.17661742e-02 -2.82247351e-02 5.81115336e+02] [ 5.17723269e-02 9.98658782e-01 -5.13232896e-04 9.77578178e+00] [ 2.82134477e-02 -9.48920187e-04 9.99601471e-01 5.36449862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2892541539999 meters Centerline goodness [0,1] 0.9991224587869038 Centerline is valid? [True, True] Translation: X:581.14, Y:9.77, Z:5.36 [[ 9.98147587e-01 -5.41544584e-02 -2.77252545e-02 5.81144374e+02] [ 5.41612652e-02 9.98532073e-01 -5.05945330e-04 9.77293126e+00] [ 2.77119550e-02 -9.96626752e-04 9.99615453e-01 5.36462142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.319254154 meters Centerline goodness [0,1] 0.9990611112270233 Centerline is valid? [True, True] Translation: X:581.17, Y:9.77, Z:5.36 [[ 9.98016134e-01 -5.66362740e-02 -2.74977852e-02 5.81172798e+02] [ 5.66438690e-02 9.98394320e-01 -5.03281807e-04 9.76926436e+00] [ 2.74821366e-02 -1.05529758e-03 9.99621738e-01 5.36441834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3492541539999 meters Centerline goodness [0,1] 0.999269204267847 Centerline is valid? [True, True] Translation: X:581.20, Y:9.76, Z:5.37 [[ 9.97747480e-01 -6.15378830e-02 -2.67030889e-02 5.81201602e+02] [ 6.15467674e-02 9.98104080e-01 -4.89832783e-04 9.76454605e+00] [ 2.66826053e-02 -1.15475938e-03 9.99643289e-01 5.36519234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3792541539999 meters Centerline goodness [0,1] 0.999269204267847 Centerline is valid? [True, True] Translation: X:581.23, Y:9.77, Z:5.37 [[ 9.97745337e-01 -6.15726258e-02 -2.67030718e-02 5.81230783e+02] [ 6.15814978e-02 9.98101938e-01 -4.90763150e-04 9.76511430e+00] [ 2.66826053e-02 -1.15475851e-03 9.99643289e-01 5.36546584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4092541539999 meters Centerline goodness [0,1] 0.9988926728370557 Centerline is valid? [True, True] Translation: X:581.26, Y:9.77, Z:5.37 [[ 9.97595116e-01 -6.41056301e-02 -2.63524646e-02 5.81260722e+02] [ 6.41151356e-02 9.97942390e-01 -4.84945300e-04 9.76580841e+00] [ 2.63293292e-02 -1.20581278e-03 9.99652596e-01 5.36702659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.439254154 meters Centerline goodness [0,1] 0.9988728160811572 Centerline is valid? [True, True] Translation: X:581.29, Y:9.76, Z:5.37 [[ 9.97437397e-01 -6.65690663e-02 -2.62144802e-02 5.81290765e+02] [ 6.65793168e-02 9.97781019e-01 -4.82572775e-04 9.76385332e+00] [ 2.61884352e-02 -1.26400605e-03 9.99656225e-01 5.36741208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4692541539999 meters Centerline goodness [0,1] 0.9989330767138763 Centerline is valid? [True, True] Translation: X:581.32, Y:9.76, Z:5.37 [[ 9.97279698e-01 -6.91445103e-02 -2.55390174e-02 5.81321571e+02] [ 6.91550811e-02 9.97605811e-01 -4.70138427e-04 9.76233804e+00] [ 2.55103796e-02 -1.29729331e-03 9.99673716e-01 5.36837173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4992541539999 meters Centerline goodness [0,1] 0.9987925722374885 Centerline is valid? [True, True] Translation: X:581.35, Y:9.76, Z:5.37 [[ 9.96933361e-01 -7.44344250e-02 -2.41534713e-02 5.81352072e+02] [ 7.44454277e-02 9.97224990e-01 -4.44583923e-04 9.75860303e+00] [ 2.41195375e-02 -1.35489495e-03 9.99708164e-01 5.36953149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5292541539999 meters Centerline goodness [0,1] 0.9987473642456001 Centerline is valid? [True, True] Translation: X:581.38, Y:9.75, Z:5.37 [[ 9.96753203e-01 -7.69590313e-02 -2.36719042e-02 5.81382183e+02] [ 7.69703318e-02 9.97033289e-01 -4.34745579e-04 9.75499999e+00] [ 2.36351341e-02 -1.38870027e-03 9.99719687e-01 5.36982130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.559254154 meters Centerline goodness [0,1] 0.998576065333473 Centerline is valid? [True, True] Translation: X:581.41, Y:9.75, Z:5.37 [[ 9.96603575e-01 -7.87869672e-02 -2.39567825e-02 5.81412964e+02] [ 7.87990887e-02 9.96890421e-01 -4.39094931e-04 9.75482256e+00] [ 2.39168820e-02 -1.45016906e-03 9.99712899e-01 5.37025995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.589254154 meters Centerline goodness [0,1] 0.9987659227342133 Centerline is valid? [True, True] Translation: X:581.44, Y:9.75, Z:5.37 [[ 9.96429428e-01 -8.12819701e-02 -2.28393440e-02 5.81444604e+02] [ 8.12936537e-02 9.96690106e-01 -4.17984803e-04 9.75356904e+00] [ 2.27977229e-02 -1.44020137e-03 9.99739061e-01 5.37106199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6192541539999 meters Centerline goodness [0,1] 0.9982426778242678 Centerline is valid? [True, True] Translation: X:581.48, Y:9.75, Z:5.37 [[ 9.96192092e-01 -8.44163552e-02 -2.17989547e-02 5.81475070e+02] [ 8.44277567e-02 9.96429523e-01 -3.98415277e-04 9.75109121e+00] [ 2.17547548e-02 -1.44353869e-03 9.99762295e-01 5.37159321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6492541539999 meters Centerline goodness [0,1] 0.9987648893633947 Centerline is valid? [True, True] Translation: X:581.51, Y:9.75, Z:5.37 [[ 9.96103751e-01 -8.54621581e-02 -2.17608911e-02 5.81506124e+02] [ 8.54737810e-02 9.96340341e-01 -3.97130555e-04 9.75031767e+00] [ 2.17151933e-02 -1.46440240e-03 9.99763125e-01 5.37165145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.679254154 meters Centerline goodness [0,1] 0.9982255438186297 Centerline is valid? [True, True] Translation: X:581.54, Y:9.75, Z:5.37 [[ 9.96048905e-01 -8.61779685e-02 -2.14461248e-02 5.81537608e+02] [ 8.61894381e-02 9.96278690e-01 -3.90655473e-04 9.74975330e+00] [ 2.13999830e-02 -1.45931749e-03 9.99769929e-01 5.37129215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.709254154 meters Centerline goodness [0,1] 0.998202829498673 Centerline is valid? [True, True] Translation: X:581.57, Y:9.75, Z:5.37 [[ 9.96075206e-01 -8.57525943e-02 -2.19243360e-02 5.81568605e+02] [ 8.57645180e-02 9.96315356e-01 -3.97576936e-04 9.74914167e+00] [ 2.18776459e-02 -1.48431358e-03 9.99759554e-01 5.36997263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7392541539999 meters Centerline goodness [0,1] 0.998496177785204 Centerline is valid? [True, True] Translation: X:581.60, Y:9.75, Z:5.37 [[ 9.96196258e-01 -8.42631531e-02 -2.21976614e-02 5.81600192e+02] [ 8.42750421e-02 9.96442450e-01 -4.00994055e-04 9.75150650e+00] [ 2.21524811e-02 -1.47124007e-03 9.99753521e-01 5.36952427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7692541539999 meters Centerline goodness [0,1] 0.9989351706858753 Centerline is valid? [True, True] Translation: X:581.63, Y:9.75, Z:5.37 [[ 9.96290865e-01 -8.30344613e-02 -2.25785619e-02 5.81630791e+02] [ 8.30464602e-02 9.96545593e-01 -4.07330376e-04 9.75381546e+00] [ 2.25343888e-02 -1.46925011e-03 9.99744989e-01 5.36932699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7992541539999 meters Centerline goodness [0,1] 0.9986421842033799 Centerline is valid? [True, True] Translation: X:581.66, Y:9.76, Z:5.37 [[ 9.96640890e-01 -7.86042241e-02 -2.29850472e-02 5.81660385e+02] [ 7.86154840e-02 9.96904927e-01 -4.14717466e-04 9.76060774e+00] [ 2.29465054e-02 -1.39365623e-03 9.99735723e-01 5.36856747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.829254154 meters Centerline goodness [0,1] 0.9990591678862638 Centerline is valid? [True, True] Translation: X:581.69, Y:9.76, Z:5.37 [[ 9.96858306e-01 -7.58510744e-02 -2.28063934e-02 5.81689806e+02] [ 7.58614558e-02 9.97118283e-01 -4.10879822e-04 9.76473218e+00] [ 2.27718375e-02 -1.32053724e-03 9.99739816e-01 5.36886780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8592541539999 meters Centerline goodness [0,1] 0.9988287214239401 Centerline is valid? [True, True] Translation: X:581.72, Y:9.78, Z:5.37 [[ 9.97085069e-01 -7.28810816e-02 -2.25768411e-02 5.81720549e+02] [ 7.28905187e-02 9.97339866e-01 -4.05739068e-04 9.78224595e+00] [ 2.25463544e-02 -1.24108129e-03 9.99745028e-01 5.37180922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8892541539999 meters Centerline goodness [0,1] 0.9987862553886075 Centerline is valid? [True, True] Translation: X:581.75, Y:9.79, Z:5.37 [[ 9.97545823e-01 -6.65975526e-02 -2.16124194e-02 5.81750225e+02] [ 6.66047311e-02 9.97779364e-01 -3.88311831e-04 9.78830130e+00] [ 2.15902867e-02 -1.05213054e-03 9.99766349e-01 5.37185292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9192541539999 meters Centerline goodness [0,1] 0.9991010954093151 Centerline is valid? [True, True] Translation: X:581.78, Y:9.79, Z:5.37 [[ 9.97709027e-01 -6.43272410e-02 -2.09452456e-02 5.81781970e+02] [ 6.43334936e-02 9.97928384e-01 -3.75857278e-04 9.79323372e+00] [ 2.09260329e-02 -9.72484621e-04 9.99780554e-01 5.37315832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.949254154 meters Centerline goodness [0,1] 0.9991823385118561 Centerline is valid? [True, True] Translation: X:581.81, Y:9.80, Z:5.37 [[ 9.97907699e-01 -6.15616221e-02 -1.97583312e-02 5.81813131e+02] [ 6.15666620e-02 9.98102911e-01 -3.53687322e-04 9.79744650e+00] [ 1.97426214e-02 -8.63507194e-04 9.99804723e-01 5.37407474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9792541539999 meters Centerline goodness [0,1] 0.9995176579146045 Centerline is valid? [True, True] Translation: X:581.84, Y:9.81, Z:5.38 [[ 9.98290052e-01 -5.56645288e-02 -1.78446836e-02 5.81844094e+02] [ 5.56677056e-02 9.98449300e-01 -3.19033131e-04 9.80592456e+00] [ 1.78347707e-02 -6.74884993e-04 9.99840720e-01 5.37566083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0092541539999 meters Centerline goodness [0,1] 0.9993284365162645 Centerline is valid? [True, True] Translation: X:581.88, Y:9.81, Z:5.38 [[ 9.98466248e-01 -5.26223324e-02 -1.72058835e-02 5.81875486e+02] [ 5.26248413e-02 9.98614306e-01 -3.07229078e-04 9.81051279e+00] [ 1.71982085e-02 -5.98699024e-04 9.99851921e-01 5.37640297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0392541539999 meters Centerline goodness [0,1] 0.9992016471280306 Centerline is valid? [True, True] Translation: X:581.91, Y:9.81, Z:5.38 [[ 9.98656202e-01 -4.92959862e-02 -1.59904674e-02 5.81907288e+02] [ 4.92977381e-02 9.98784087e-01 -2.84836531e-04 9.81466244e+00] [ 1.59850657e-02 -5.03840106e-04 9.99872104e-01 5.37683027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.069254154 meters Centerline goodness [0,1] 0.9993902695429124 Centerline is valid? [True, True] Translation: X:581.94, Y:9.82, Z:5.38 [[ 9.98818006e-01 -4.61722075e-02 -1.51894313e-02 5.81938844e+02] [ 4.61734380e-02 9.98933402e-01 -2.69860386e-04 9.81829421e+00] [ 1.51856903e-02 -4.31806852e-04 9.99884598e-01 5.37711126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0992541539999 meters Centerline goodness [0,1] 0.9990734696456022 Centerline is valid? [True, True] Translation: X:581.97, Y:9.82, Z:5.38 [[ 9.99035644e-01 -4.13433479e-02 -1.47820890e-02 5.81969870e+02] [ 4.13439929e-02 9.99144937e-01 -2.62086577e-04 9.82261765e+00] [ 1.47802849e-02 -3.49316751e-04 9.99890705e-01 5.37638755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1292541539999 meters Centerline goodness [0,1] 0.9992849782338963 Centerline is valid? [True, True] Translation: X:582.00, Y:9.82, Z:5.38 [[ 9.99106760e-01 -3.94233512e-02 -1.52145045e-02 5.82001418e+02] [ 3.94238223e-02 9.99222543e-01 -2.69077204e-04 9.82110883e+00] [ 1.52132838e-02 -3.30977067e-04 9.99884217e-01 5.37520487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1592541539999 meters Centerline goodness [0,1] 0.9991571672390905 Centerline is valid? [True, True] Translation: X:582.03, Y:9.83, Z:5.38 [[ 9.99187227e-01 -3.74355036e-02 -1.49488855e-02 5.82032236e+02] [ 3.74357465e-02 9.99299002e-01 -2.63674534e-04 9.82655909e+00] [ 1.49482772e-02 -2.96162462e-04 9.99888224e-01 5.37564398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.189254154 meters Centerline goodness [0,1] 0.999304531085353 Centerline is valid? [True, True] Translation: X:582.06, Y:9.83, Z:5.38 [[ 9.99215946e-01 -3.66257364e-02 -1.50348968e-02 5.82064027e+02] [ 3.66259017e-02 9.99329012e-01 -2.64445433e-04 9.82723301e+00] [ 1.50344941e-02 -2.86428559e-04 9.99886935e-01 5.37560169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2192541539999 meters Centerline goodness [0,1] 0.999409345005801 Centerline is valid? [True, True] Translation: X:582.10, Y:9.83, Z:5.38 [[ 9.99230446e-01 -3.62983361e-02 -1.48642681e-02 5.82096133e+02] [ 3.62984773e-02 9.99340959e-01 -2.60380822e-04 9.82852363e+00] [ 1.48639233e-02 -2.79369854e-04 9.99889487e-01 5.37589701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2492541539999 meters Centerline goodness [0,1] 0.9991971774449115 Centerline is valid? [True, True] Translation: X:582.13, Y:9.83, Z:5.38 [[ 9.99233326e-01 -3.64348827e-02 -1.43268805e-02 5.82127011e+02] [ 3.64350411e-02 9.99335992e-01 -2.50043113e-04 9.82831502e+00] [ 1.43264776e-02 -2.72149068e-04 9.99897334e-01 5.37615095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2792541539999 meters Centerline goodness [0,1] 0.9991975334713012 Centerline is valid? [True, True] Translation: X:582.16, Y:9.83, Z:5.38 [[ 9.99225739e-01 -3.67084964e-02 -1.41566161e-02 5.82159694e+02] [ 3.67086904e-02 9.99325979e-01 -2.46227660e-04 9.82832863e+00] [ 1.41561129e-02 -2.73633824e-04 9.99899760e-01 5.37643413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.309254154 meters Centerline goodness [0,1] 0.9992187335036635 Centerline is valid? [True, True] Translation: X:582.19, Y:9.83, Z:5.38 [[ 9.99194202e-01 -3.76361210e-02 -1.39452348e-02 5.82192321e+02] [ 3.76364133e-02 9.99291470e-01 -2.41565116e-04 9.82725961e+00] [ 1.39444458e-02 -2.83478159e-04 9.99902731e-01 5.37610765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.339254154 meters Centerline goodness [0,1] 0.9987536703352415 Centerline is valid? [True, True] Translation: X:582.22, Y:9.83, Z:5.38 [[ 9.99186814e-01 -3.80245979e-02 -1.34104716e-02 5.82224221e+02] [ 3.80249157e-02 9.99276765e-01 -2.31375665e-04 9.82675879e+00] [ 1.34095707e-02 -2.78744539e-04 9.99910049e-01 5.37606371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3692541539999 meters Centerline goodness [0,1] 0.9987115035275231 Centerline is valid? [True, True] Translation: X:582.26, Y:9.83, Z:5.38 [[ 9.99155502e-01 -3.90651282e-02 -1.27357351e-02 5.82255273e+02] [ 3.90655095e-02 9.99236628e-01 -2.18929451e-04 9.82523223e+00] [ 1.27345655e-02 -2.78783414e-04 9.99918873e-01 5.37621502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3992541539999 meters Centerline goodness [0,1] 0.9988806048957696 Centerline is valid? [True, True] Translation: X:582.29, Y:9.83, Z:5.38 [[ 9.99147302e-01 -3.94752562e-02 -1.20985109e-02 5.82287703e+02] [ 3.94756383e-02 9.99220512e-01 -2.07317732e-04 9.82505362e+00] [ 1.20972641e-02 -2.70455487e-04 9.99926789e-01 5.37645241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.429254154 meters Centerline goodness [0,1] 0.9988812664907651 Centerline is valid? [True, True] Translation: X:582.32, Y:9.82, Z:5.38 [[ 9.99092200e-01 -4.09943671e-02 -1.15861361e-02 5.82319202e+02] [ 4.09948282e-02 9.99159339e-01 -1.97799121e-04 9.82346851e+00] [ 1.15845047e-02 -2.77352098e-04 9.99932859e-01 5.37743892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.459254154 meters Centerline goodness [0,1] 0.9988627269280991 Centerline is valid? [True, True] Translation: X:582.35, Y:9.82, Z:5.38 [[ 9.99075529e-01 -4.15490845e-02 -1.10344912e-02 5.82351832e+02] [ 4.15495428e-02 9.99136427e-01 -1.87803730e-04 9.82332380e+00] [ 1.10327652e-02 -2.70847952e-04 9.99939101e-01 5.37800103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4892541539999 meters Centerline goodness [0,1] 0.9987999747363102 Centerline is valid? [True, True] Translation: X:582.38, Y:9.82, Z:5.38 [[ 9.99047595e-01 -4.23169974e-02 -1.06383273e-02 5.82382785e+02] [ 4.23174751e-02 9.99104198e-01 -1.80292839e-04 9.82185306e+00] [ 1.06364269e-02 -2.70066023e-04 9.99943395e-01 5.37848555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5192541539999 meters Centerline goodness [0,1] 0.9987589137339868 Centerline is valid? [True, True] Translation: X:582.42, Y:9.82, Z:5.38 [[ 9.99007384e-01 -4.33028977e-02 -1.04453996e-02 5.82415370e+02] [ 4.33034235e-02 9.99061951e-01 -1.75923877e-04 9.82070251e+00] [ 1.04432193e-02 -2.76572311e-04 9.99945430e-01 5.37862977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5492541539999 meters Centerline goodness [0,1] 0.9989949538306916 Centerline is valid? [True, True] Translation: X:582.45, Y:9.82, Z:5.38 [[ 9.98903672e-01 -4.55975883e-02 -1.05978382e-02 5.82446918e+02] [ 4.55982663e-02 9.98959842e-01 -1.77774907e-04 9.81633437e+00] [ 1.05949209e-02 -3.05663043e-04 9.99943826e-01 5.37827485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.579254154 meters Centerline goodness [0,1] 0.9987818452943524 Centerline is valid? [True, True] Translation: X:582.48, Y:9.82, Z:5.38 [[ 9.98836726e-01 -4.71154941e-02 -1.02627897e-02 5.82478716e+02] [ 4.71162154e-02 9.98889400e-01 -1.71622912e-04 9.81958210e+00] [ 1.02594779e-02 -3.12120543e-04 9.99947321e-01 5.37838360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6092541539999 meters Centerline goodness [0,1] 0.9988881896370884 Centerline is valid? [True, True] Translation: X:582.51, Y:9.81, Z:5.38 [[ 9.98768349e-01 -4.85118062e-02 -1.04110855e-02 5.82510251e+02] [ 4.85126328e-02 9.98822554e-01 -1.73276832e-04 9.81085755e+00] [ 1.04072329e-02 -3.32005752e-04 9.99945788e-01 5.37810367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6392541539999 meters Centerline goodness [0,1] 0.9988466216499602 Centerline is valid? [True, True] Translation: X:582.54, Y:9.81, Z:5.38 [[ 9.98639062e-01 -5.11745185e-02 -1.00594912e-02 5.82541861e+02] [ 5.11754359e-02 9.98689665e-01 -1.66359228e-04 9.80589650e+00] [ 1.00548233e-02 -3.48666023e-04 9.99949388e-01 5.37845340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6692541539999 meters Centerline goodness [0,1] 0.9987011898776604 Centerline is valid? [True, True] Translation: X:582.57, Y:9.81, Z:5.38 [[ 9.98601560e-01 -5.19484434e-02 -9.81240168e-03 5.82573927e+02] [ 5.19493583e-02 9.98649707e-01 -1.61790678e-04 9.81154195e+00] [ 9.80755684e-03 -3.48183546e-04 9.99951844e-01 5.37903705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.699254154 meters Centerline goodness [0,1] 0.9989321384451099 Centerline is valid? [True, True] Translation: X:582.61, Y:9.81, Z:5.38 [[ 9.98590265e-01 -5.22691457e-02 -9.24226848e-03 5.82605834e+02] [ 5.22699769e-02 9.98632979e-01 -1.51760040e-04 9.81128627e+00] [ 9.23756647e-03 -3.31547061e-04 9.99957278e-01 5.37919251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7292541539999 meters Centerline goodness [0,1] 0.9991623562917513 Centerline is valid? [True, True] Translation: X:582.64, Y:9.81, Z:5.38 [[ 9.98581599e-01 -5.24247440e-02 -9.29715763e-03 5.82637971e+02] [ 5.24255982e-02 9.98624821e-01 -1.51975834e-04 9.80998868e+00] [ 9.29233967e-03 -3.35648778e-04 9.99956769e-01 5.37959095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7592541539999 meters Centerline goodness [0,1] 0.9987651220226883 Centerline is valid? [True, True] Translation: X:582.67, Y:9.81, Z:5.38 [[ 9.98627516e-01 -5.16599488e-02 -8.62175039e-03 5.82668855e+02] [ 5.16606600e-02 9.98664687e-01 -1.40342117e-04 9.80784532e+00] [ 8.61748772e-03 -3.05255816e-04 9.99962822e-01 5.37952221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7892541539999 meters Centerline goodness [0,1] 0.9989545654128421 Centerline is valid? [True, True] Translation: X:582.70, Y:9.81, Z:5.38 [[ 9.98661298e-01 -5.09778797e-02 -8.76742894e-03 5.82701405e+02] [ 5.09785931e-02 9.98699736e-01 -1.42238822e-04 9.80819440e+00] [ 8.76328001e-03 -3.04902786e-04 9.99961555e-01 5.37975520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.819254154 meters Centerline goodness [0,1] 0.9989964247632189 Centerline is valid? [True, True] Translation: X:582.73, Y:9.81, Z:5.38 [[ 9.98705652e-01 -5.01213421e-02 -8.65288206e-03 5.82733926e+02] [ 5.01220102e-02 9.98743092e-01 -1.39764995e-04 9.80792677e+00] [ 8.64901139e-03 -2.94115752e-04 9.99962553e-01 5.37974702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8492541539999 meters Centerline goodness [0,1] 0.999080478986855 Centerline is valid? [True, True] Translation: X:582.77, Y:9.81, Z:5.38 [[ 9.98776426e-01 -4.86738378e-02 -8.74693513e-03 5.82766561e+02] [ 4.86744704e-02 9.98814686e-01 -1.40662817e-04 9.80939269e+00] [ 8.74341386e-03 -2.85261729e-04 9.99961735e-01 5.37952425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8792541539999 meters Centerline goodness [0,1] 0.9987045008149108 Centerline is valid? [True, True] Translation: X:582.80, Y:9.81, Z:5.38 [[ 9.98840935e-01 -4.74199627e-02 -8.25432615e-03 5.82799011e+02] [ 4.74204894e-02 9.98875007e-01 -1.32008693e-04 9.80879153e+00] [ 8.25129994e-03 -2.59568500e-04 9.99965924e-01 5.37796969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9092541539999 meters Centerline goodness [0,1] 0.998828035075236 Centerline is valid? [True, True] Translation: X:582.83, Y:9.81, Z:5.38 [[ 9.98855516e-01 -4.70269246e-02 -8.72509389e-03 5.82829942e+02] [ 4.70275041e-02 9.98893585e-01 -1.38849519e-04 9.80601994e+00] [ 8.72196999e-03 -2.71628781e-04 9.99961926e-01 5.37920405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.939254154 meters Centerline goodness [0,1] 0.9988489389309781 Centerline is valid? [True, True] Translation: X:582.86, Y:9.81, Z:5.38 [[ 9.98896589e-01 -4.60971690e-02 -8.98085310e-03 5.82862572e+02] [ 4.60977499e-02 9.98936924e-01 -1.42420792e-04 9.80586360e+00] [ 8.97787096e-03 -2.71733477e-04 9.99959661e-01 5.37932369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9692541539999 meters Centerline goodness [0,1] 0.9989527699235522 Centerline is valid? [True, True] Translation: X:582.90, Y:9.81, Z:5.38 [[ 9.99016774e-01 -4.34782955e-02 -8.66735454e-03 5.82895222e+02] [ 4.34787430e-02 9.99054343e-01 -1.36885276e-04 9.80832978e+00] [ 8.66510973e-03 -2.40094994e-04 9.99962428e-01 5.37935767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9992541539999 meters Centerline goodness [0,1] 0.9989946591266101 Centerline is valid? [True, True] Translation: X:582.93, Y:9.81, Z:5.38 [[ 9.99083289e-01 -4.18782396e-02 -8.87659706e-03 5.82926943e+02] [ 4.18786532e-02 9.99122695e-01 -1.39362582e-04 9.80870660e+00] [ 8.87464583e-03 -2.32505102e-04 9.99960593e-01 5.37974101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0292541539999 meters Centerline goodness [0,1] 0.9988276670574443 Centerline is valid? [True, True] Translation: X:582.96, Y:9.81, Z:5.38 [[ 9.99164892e-01 -3.99880866e-02 -8.39479126e-03 5.82958875e+02] [ 3.99883945e-02 9.99200136e-01 -1.31236834e-04 9.81055588e+00] [ 8.39332448e-03 -2.04566988e-04 9.99964755e-01 5.37868260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.059254154 meters Centerline goodness [0,1] 0.9990565246561557 Centerline is valid? [True, True] Translation: X:582.99, Y:9.81, Z:5.38 [[ 9.99226766e-01 -3.83212649e-02 -8.79496543e-03 5.82990933e+02] [ 3.83215442e-02 9.99265450e-01 -1.36823644e-04 9.81227836e+00] [ 8.79374835e-03 -2.00318809e-04 9.99961314e-01 5.38038886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.089254154 meters Centerline goodness [0,1] 0.9988486256777408 Centerline is valid? [True, True] Translation: X:583.02, Y:9.81, Z:5.38 [[ 9.99258029e-01 -3.75193875e-02 -8.69984999e-03 5.83022463e+02] [ 3.75196357e-02 9.99295882e-01 -1.34741604e-04 9.81168536e+00] [ 8.69877968e-03 -1.91773572e-04 9.99962147e-01 5.38069075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1192541539999 meters Centerline goodness [0,1] 0.9989127252958642 Centerline is valid? [True, True] Translation: X:583.05, Y:9.81, Z:5.38 [[ 9.99265346e-01 -3.75284963e-02 -7.77049381e-03 5.83053307e+02] [ 3.75287022e-02 9.99295543e-01 -1.19359467e-04 9.80927730e+00] [ 7.76949921e-03 -1.72344769e-04 9.99969802e-01 5.38107464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1492541539999 meters Centerline goodness [0,1] 0.9986847873739588 Centerline is valid? [True, True] Translation: X:583.09, Y:9.81, Z:5.38 [[ 9.99226254e-01 -3.86252115e-02 -7.41529463e-03 5.83085923e+02] [ 3.86254318e-02 9.99253753e-01 -1.13560419e-04 9.80825815e+00] [ 7.41414729e-03 -1.72946405e-04 9.99972500e-01 5.38152614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.179254154 meters Centerline goodness [0,1] 0.9989134749994776 Centerline is valid? [True, True] Translation: X:583.12, Y:9.81, Z:5.38 [[ 9.99171705e-01 -4.01418300e-02 -6.67357445e-03 5.83118087e+02] [ 4.01420450e-02 9.99193978e-01 -1.01781168e-04 9.80613112e+00] [ 6.67228109e-03 -1.66194062e-04 9.99977726e-01 5.38120242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.209254154 meters Centerline goodness [0,1] 0.9991022589669715 Centerline is valid? [True, True] Translation: X:583.15, Y:9.80, Z:5.38 [[ 9.98927505e-01 -4.58427717e-02 -6.50235709e-03 5.83148114e+02] [ 4.58431008e-02 9.98948648e-01 -9.84985091e-05 9.79995385e+00] [ 6.50003627e-03 -1.99695342e-04 9.99978855e-01 5.38292912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2392541539999 meters Centerline goodness [0,1] 0.998997200518113 Centerline is valid? [True, True] Translation: X:583.18, Y:9.80, Z:5.38 [[ 9.98764040e-01 -4.93130408e-02 -6.21422897e-03 5.83179777e+02] [ 4.93134074e-02 9.98783349e-01 -9.43077235e-05 9.79675634e+00] [ 6.21131903e-03 -2.12253642e-04 9.99980687e-01 5.38288284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2692541539999 meters Centerline goodness [0,1] 0.9987692949520234 Centerline is valid? [True, True] Translation: X:583.21, Y:9.79, Z:5.38 [[ 9.98560893e-01 -5.31865352e-02 -6.88010388e-03 5.83210065e+02] [ 5.31870800e-02 9.98584560e-01 -1.03886514e-04 9.79039155e+00] [ 6.87589087e-03 -2.62195625e-04 9.99976326e-01 5.38329208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2992541539999 meters Centerline goodness [0,1] 0.9987692949520234 Centerline is valid? [True, True] Translation: X:583.24, Y:9.79, Z:5.38 [[ 9.98564654e-01 -5.31158746e-02 -6.88010381e-03 5.83241772e+02] [ 5.31164177e-02 9.98588321e-01 -1.03892063e-04 9.79080613e+00] [ 6.87590963e-03 -2.61703526e-04 9.99976326e-01 5.38358909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.329254154 meters Centerline goodness [0,1] 0.9988755856324831 Centerline is valid? [True, True] Translation: X:583.27, Y:9.79, Z:5.38 [[ 9.98326929e-01 -5.73785336e-02 -7.14466522e-03 5.83272683e+02] [ 5.73792329e-02 9.98352449e-01 -1.07239595e-04 9.79004597e+00] [ 7.13904727e-03 -3.02895234e-04 9.99974471e-01 5.38306778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3592541539999 meters Centerline goodness [0,1] 0.9984178203393359 Centerline is valid? [True, True] Translation: X:583.30, Y:9.78, Z:5.38 [[ 9.97838047e-01 -6.52300066e-02 -8.01736662e-03 5.83303183e+02] [ 6.52311414e-02 9.97870174e-01 -1.20156142e-04 9.77930163e+00] [ 8.00812881e-03 -4.03085605e-04 9.99967853e-01 5.38288494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3892541539999 meters Centerline goodness [0,1] 0.998520185914671 Centerline is valid? [True, True] Translation: X:583.33, Y:9.78, Z:5.38 [[ 9.97605656e-01 -6.86188704e-02 -8.62586559e-03 5.83334364e+02] [ 6.86203109e-02 9.97642840e-01 -1.29202552e-04 9.77545276e+00] [ 8.61439878e-03 -4.63016382e-04 9.99962788e-01 5.38193516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4192541539999 meters Centerline goodness [0,1] 0.9986889476203359 Centerline is valid? [True, True] Translation: X:583.37, Y:9.78, Z:5.38 [[ 9.97419026e-01 -7.12063320e-02 -9.21653224e-03 5.83365786e+02] [ 7.12080882e-02 9.97461473e-01 -1.37878093e-04 9.77655580e+00] [ 9.20295361e-03 -5.18769408e-04 9.99957517e-01 5.38337435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.449254154 meters Centerline goodness [0,1] 0.9984166336798683 Centerline is valid? [True, True] Translation: X:583.40, Y:9.77, Z:5.38 [[ 9.97277272e-01 -7.31149984e-02 -9.60414646e-03 5.83398118e+02] [ 7.31169973e-02 9.97323360e-01 -1.43300597e-04 9.77479538e+00] [ 9.58891704e-03 -5.59315922e-04 9.99953869e-01 5.38381520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4792541539999 meters Centerline goodness [0,1] 0.9984821707038154 Centerline is valid? [True, True] Translation: X:583.43, Y:9.77, Z:5.38 [[ 9.97171121e-01 -7.45804596e-02 -9.35475247e-03 5.83429427e+02] [ 7.45824265e-02 9.97214843e-01 -1.38907435e-04 9.77154707e+00] [ 9.33905779e-03 -5.59185657e-04 9.99956234e-01 5.38452461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5092541539999 meters Centerline goodness [0,1] 0.998587863936537 Centerline is valid? [True, True] Translation: X:583.46, Y:9.77, Z:5.38 [[ 9.97207002e-01 -7.40820661e-02 -9.48910660e-03 5.83460682e+02] [ 7.40840725e-02 9.97251989e-01 -1.40373804e-04 9.76904511e+00] [ 9.47342962e-03 -5.63009921e-04 9.99954968e-01 5.38485419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5392541539999 meters Centerline goodness [0,1] 0.9984180837999292 Centerline is valid? [True, True] Translation: X:583.49, Y:9.77, Z:5.38 [[ 9.97278329e-01 -7.30884142e-02 -9.69628307e-03 5.83492662e+02] [ 7.30904676e-02 9.97325305e-01 -1.42895325e-04 9.77210033e+00] [ 9.68079246e-03 -5.66199454e-04 9.99952980e-01 5.38423868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.569254154 meters Centerline goodness [0,1] 0.9987089519605189 Centerline is valid? [True, True] Translation: X:583.52, Y:9.78, Z:5.38 [[ 9.97474663e-01 -7.01692621e-02 -1.09805433e-02 5.83524386e+02] [ 7.01717286e-02 9.97534913e-01 -1.60960081e-04 9.77630703e+00] [ 1.09647698e-02 -6.09970104e-04 9.99939699e-01 5.38446902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5992541539999 meters Centerline goodness [0,1] 0.9986686082795923 Centerline is valid? [True, True] Translation: X:583.55, Y:9.77, Z:5.38 [[ 9.97610765e-01 -6.81523181e-02 -1.13147464e-02 5.83554555e+02] [ 6.81548142e-02 9.97674744e-01 -1.65283007e-04 9.77359773e+00] [ 1.12997011e-02 -6.06266331e-04 9.99935973e-01 5.38421306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6292541539999 meters Centerline goodness [0,1] 0.9984811917443409 Centerline is valid? [True, True] Translation: X:583.59, Y:9.78, Z:5.38 [[ 9.97909676e-01 -6.34112157e-02 -1.24617722e-02 5.83585725e+02] [ 6.34138779e-02 9.97987298e-01 -1.81787865e-04 9.78354146e+00] [ 1.24482177e-02 -6.08841429e-04 9.99922333e-01 5.38377193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6592541539999 meters Centerline goodness [0,1] 0.9987524690716291 Centerline is valid? [True, True] Translation: X:583.62, Y:9.79, Z:5.38 [[ 9.98068315e-01 -6.07030196e-02 -1.32205367e-02 5.83616327e+02] [ 6.07057832e-02 9.98155685e-01 -1.92527006e-04 9.78577536e+00] [ 1.32078409e-02 -6.10407932e-04 9.99912586e-01 5.38405995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.689254154 meters Centerline goodness [0,1] 0.9987510148004746 Centerline is valid? [True, True] Translation: X:583.65, Y:9.79, Z:5.38 [[ 9.98215432e-01 -5.80698505e-02 -1.39227721e-02 5.83647814e+02] [ 5.80726674e-02 9.98312338e-01 -2.02215084e-04 9.78947512e+00] [ 1.39110178e-02 -6.06678297e-04 9.99903053e-01 5.38433244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7192541539999 meters Centerline goodness [0,1] 0.9989605853983037 Centerline is valid? [True, True] Translation: X:583.68, Y:9.79, Z:5.38 [[ 9.98487977e-01 -5.29202775e-02 -1.48729416e-02 5.83677390e+02] [ 5.29229273e-02 9.98598577e-01 -2.15641222e-04 9.79270158e+00] [ 1.48635101e-02 -5.71804441e-04 9.99889368e-01 5.38424128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7492541539999 meters Centerline goodness [0,1] 0.9986865148861647 Centerline is valid? [True, True] Translation: X:583.71, Y:9.80, Z:5.38 [[ 9.98588548e-01 -5.09145287e-02 -1.51202549e-02 5.83708974e+02] [ 5.09170409e-02 9.98702862e-01 -2.19016756e-04 9.79618794e+00] [ 1.51117929e-02 -5.51171011e-04 9.99885658e-01 5.38435394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7792541539999 meters Centerline goodness [0,1] 0.9988528043718582 Centerline is valid? [True, True] Translation: X:583.74, Y:9.80, Z:5.38 [[ 9.98699529e-01 -4.86866382e-02 -1.51282134e-02 5.83740075e+02] [ 4.86889061e-02 9.98813968e-01 -2.18578997e-04 9.79835327e+00] [ 1.51209127e-02 -5.18281419e-04 9.99885538e-01 5.38489067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.809254154 meters Centerline goodness [0,1] 0.9986852265375545 Centerline is valid? [True, True] Translation: X:583.77, Y:9.80, Z:5.39 [[ 9.98795058e-01 -4.66377330e-02 -1.52758977e-02 5.83770643e+02] [ 4.66398185e-02 9.98911747e-01 -2.19898423e-04 9.80071790e+00] [ 1.52695292e-02 -4.92831637e-04 9.99883292e-01 5.38526783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.839254154 meters Centerline goodness [0,1] 0.9986426095309694 Centerline is valid? [True, True] Translation: X:583.80, Y:9.81, Z:5.39 [[ 9.98984979e-01 -4.20258385e-02 -1.62123566e-02 5.83802376e+02] [ 4.20275995e-02 9.99116423e-01 -2.32218354e-04 9.80750911e+00] [ 1.62077910e-02 -4.49383785e-04 9.99868544e-01 5.38501199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8692541539999 meters Centerline goodness [0,1] 0.9985598296842061 Centerline is valid? [True, True] Translation: X:583.83, Y:9.81, Z:5.39 [[ 9.99061611e-01 -4.02292643e-02 -1.60469143e-02 5.83833431e+02] [ 4.02307700e-02 9.99190389e-01 -2.29104313e-04 9.81039631e+00] [ 1.60431392e-02 -4.16690394e-04 9.99871214e-01 5.38624663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8992541539999 meters Centerline goodness [0,1] 0.9987903814469541 Centerline is valid? [True, True] Translation: X:583.86, Y:9.82, Z:5.39 [[ 9.99202562e-01 -3.59866008e-02 -1.72975062e-02 5.83864494e+02] [ 3.59877237e-02 9.99352202e-01 -2.46453340e-04 9.81573133e+00] [ 1.72951700e-02 -3.76241067e-04 9.99850357e-01 5.38541850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.929254154 meters Centerline goodness [0,1] 0.9988301405920325 Centerline is valid? [True, True] Translation: X:583.89, Y:9.82, Z:5.39 [[ 9.99252017e-01 -3.42455614e-02 -1.79624017e-02 5.83894972e+02] [ 3.42464943e-02 9.99413384e-01 -2.55751655e-04 9.81821032e+00] [ 1.79606230e-02 -3.59588930e-04 9.99838630e-01 5.38584641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.959254154 meters Centerline goodness [0,1] 0.9987892957040871 Centerline is valid? [True, True] Translation: X:583.92, Y:9.82, Z:5.38 [[ 9.99298185e-01 -3.27122782e-02 -1.82495069e-02 5.83924141e+02] [ 3.27129799e-02 9.99464753e-01 -2.60155481e-04 9.81917838e+00] [ 1.82482492e-02 -3.37022852e-04 9.99833430e-01 5.38495897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9892541539999 meters Centerline goodness [0,1] 0.9988931353507507 Centerline is valid? [True, True] Translation: X:583.95, Y:9.82, Z:5.39 [[ 9.99326470e-01 -3.15413379e-02 -1.87549942e-02 5.83953335e+02] [ 3.15418601e-02 9.99502396e-01 -2.68040410e-04 9.82250510e+00] [ 1.87541160e-02 -3.23707528e-04 9.99824074e-01 5.38583364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0192541539999 meters Centerline goodness [0,1] 0.9986826973340304 Centerline is valid? [True, True] Translation: X:583.98, Y:9.82, Z:5.39 [[ 9.99333818e-01 -3.05581047e-02 -1.99530168e-02 5.83981876e+02] [ 3.05584815e-02 9.99532940e-01 -2.86083823e-04 9.82441781e+00] [ 1.99524397e-02 -3.23840655e-04 9.99800878e-01 5.38595869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0492541539999 meters Centerline goodness [0,1] 0.9988310685286075 Centerline is valid? [True, True] Translation: X:584.01, Y:9.83, Z:5.39 [[ 9.99318912e-01 -3.08408004e-02 -2.02622133e-02 5.84010956e+02] [ 3.08411804e-02 9.99524254e-01 -2.93809495e-04 9.82651620e+00] [ 2.02616350e-02 -3.31301191e-04 9.99794657e-01 5.38694996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.079254154 meters Centerline goodness [0,1] 0.9987901291224264 Centerline is valid? [True, True] Translation: X:584.04, Y:9.82, Z:5.39 [[ 9.99295914e-01 -3.14157759e-02 -2.05115710e-02 5.84038356e+02] [ 3.14162160e-02 9.99506344e-01 -3.00856143e-04 9.82447952e+00] [ 2.05108970e-02 -3.43751631e-04 9.99789570e-01 5.38595574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1092541539999 meters Centerline goodness [0,1] 0.9986421842033799 Centerline is valid? [True, True] Translation: X:584.07, Y:9.82, Z:5.39 [[ 9.99221467e-01 -3.36053063e-02 -2.06674497e-02 5.84065814e+02] [ 3.36061745e-02 9.99435106e-01 -3.05400093e-04 9.82218036e+00] [ 2.06660378e-02 -3.89391592e-04 9.99786359e-01 5.38635522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1392541539999 meters Centerline goodness [0,1] 0.998913179785144 Centerline is valid? [True, True] Translation: X:584.09, Y:9.83, Z:5.39 [[ 9.99159868e-01 -3.53462572e-02 -2.07412865e-02 5.84094126e+02] [ 3.53474221e-02 9.99375036e-01 -3.10564005e-04 9.82523717e+00] [ 2.07393012e-02 -4.22847917e-04 9.99784828e-01 5.38930119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1692541539999 meters Centerline goodness [0,1] 0.9988291622237555 Centerline is valid? [True, True] Translation: X:584.12, Y:9.82, Z:5.39 [[ 9.98999027e-01 -3.95081227e-02 -2.09774167e-02 5.84122733e+02] [ 3.95101672e-02 9.99219118e-01 -3.17147847e-04 9.82224517e+00] [ 2.09735658e-02 -5.11990852e-04 9.99779899e-01 5.38972267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.199254154 meters Centerline goodness [0,1] 0.9988298717037903 Centerline is valid? [True, True] Translation: X:584.15, Y:9.82, Z:5.39 [[ 9.98892430e-01 -4.20769113e-02 -2.10581752e-02 5.84152278e+02] [ 4.20795221e-02 9.99114214e-01 -3.19307512e-04 9.82149270e+00] [ 2.10529576e-02 -5.67164091e-04 9.99778201e-01 5.39054151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2292541539999 meters Centerline goodness [0,1] 0.998789927186998 Centerline is valid? [True, True] Translation: X:584.18, Y:9.82, Z:5.39 [[ 9.98772996e-01 -4.47779356e-02 -2.11527765e-02 5.84182092e+02] [ 4.47811586e-02 9.98996769e-01 -3.21518112e-04 9.81973051e+00] [ 2.11459523e-02 -6.26122232e-04 9.99776203e-01 5.39035459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2592541539999 meters Centerline goodness [0,1] 0.9989775051124744 Centerline is valid? [True, True] Translation: X:584.21, Y:9.82, Z:5.39 [[ 9.98635170e-01 -4.76366056e-02 -2.14137976e-02 5.84211625e+02] [ 4.76405531e-02 9.98864491e-01 -3.26050947e-04 9.81623174e+00] [ 2.14050140e-02 -6.94559221e-04 9.99770645e-01 5.38994900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2892541539999 meters Centerline goodness [0,1] 0.9986643292428417 Centerline is valid? [True, True] Translation: X:584.24, Y:9.81, Z:5.39 [[ 9.98344091e-01 -5.30043059e-02 -2.23521931e-02 5.84242113e+02] [ 5.30099464e-02 9.98593926e-01 -3.40516576e-04 9.81480788e+00] [ 2.23388131e-02 -8.44935844e-04 9.99750101e-01 5.39049688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.319254154 meters Centerline goodness [0,1] 0.9987267793780004 Centerline is valid? [True, True] Translation: X:584.27, Y:9.81, Z:5.39 [[ 9.98195577e-01 -5.55213056e-02 -2.28686330e-02 5.84271827e+02] [ 5.55278636e-02 9.98457077e-01 -3.48631220e-04 9.81035682e+00] [ 2.28527050e-02 -9.21844193e-04 9.99738418e-01 5.38963249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3492541539999 meters Centerline goodness [0,1] 0.9987909865966272 Centerline is valid? [True, True] Translation: X:584.30, Y:9.81, Z:5.39 [[ 9.97922488e-01 -6.01171555e-02 -2.31653798e-02 5.84302972e+02] [ 6.01251223e-02 9.98190786e-01 -3.53074200e-04 9.81034705e+00] [ 2.31446945e-02 -1.04048061e-03 9.99731584e-01 5.39087523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3792541539999 meters Centerline goodness [0,1] 0.9986227045075126 Centerline is valid? [True, True] Translation: X:584.33, Y:9.81, Z:5.39 [[ 9.97794140e-01 -6.21335469e-02 -2.33725728e-02 5.84333658e+02] [ 6.21422188e-02 9.98067241e-01 -3.55801292e-04 9.80802311e+00] [ 2.33495065e-02 -1.09740709e-03 9.99726761e-01 5.39064189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4092541539999 meters Centerline goodness [0,1] 0.9986444778111445 Centerline is valid? [True, True] Translation: X:584.36, Y:9.81, Z:5.39 [[ 9.97653054e-01 -6.41455854e-02 -2.39526074e-02 5.84364880e+02] [ 6.41552885e-02 9.97939861e-01 -3.63928557e-04 9.80642165e+00] [ 2.39266062e-02 -1.17361201e-03 9.99713029e-01 5.39064034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.439254154 meters Centerline goodness [0,1] 0.9986436858359069 Centerline is valid? [True, True] Translation: X:584.40, Y:9.81, Z:5.39 [[ 9.97508687e-01 -6.62764156e-02 -2.41631069e-02 5.84395561e+02] [ 6.62869284e-02 9.97800536e-01 -3.66509686e-04 9.80816214e+00] [ 2.41342519e-02 -1.23610154e-03 9.99707962e-01 5.39159459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4692541539999 meters Centerline goodness [0,1] 0.9986637994028854 Centerline is valid? [True, True] Translation: X:584.43, Y:9.81, Z:5.39 [[ 9.97249901e-01 -7.00498942e-02 -2.42001558e-02 5.84425215e+02] [ 7.00615511e-02 9.97542603e-01 -3.66896752e-04 9.80523415e+00] [ 2.41663875e-02 -1.32961270e-03 9.99707066e-01 5.39162418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4992541539999 meters Centerline goodness [0,1] 0.9985185494303718 Centerline is valid? [True, True] Translation: X:584.46, Y:9.80, Z:5.39 [[ 9.97138127e-01 -7.17405778e-02 -2.38504853e-02 5.84455091e+02] [ 7.17524122e-02 9.97422409e-01 -3.60329084e-04 9.80090249e+00] [ 2.38148587e-02 -1.35203198e-03 9.99715472e-01 5.39063587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5292541539999 meters Centerline goodness [0,1] 0.9985378284663909 Centerline is valid? [True, True] Translation: X:584.49, Y:9.80, Z:5.39 [[ 9.96927047e-01 -7.45363535e-02 -2.40996900e-02 5.84486154e+02] [ 7.45492768e-02 9.97217265e-01 -3.62997723e-04 9.80319854e+00] [ 2.40596835e-02 -1.43473221e-03 9.99709494e-01 5.39177309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.559254154 meters Centerline goodness [0,1] 0.9985419400529068 Centerline is valid? [True, True] Translation: X:584.52, Y:9.80, Z:5.39 [[ 9.96831822e-01 -7.59288018e-02 -2.36883015e-02 5.84516273e+02] [ 7.59416892e-02 9.97112197e-01 -3.56373655e-04 9.80076872e+00] [ 2.36469534e-02 -1.44368503e-03 9.99719329e-01 5.39160348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.589254154 meters Centerline goodness [0,1] 0.9985179618844845 Centerline is valid? [True, True] Translation: X:584.55, Y:9.80, Z:5.39 [[ 9.96726708e-01 -7.71837921e-02 -2.40526688e-02 5.84547822e+02] [ 7.71974601e-02 9.97015758e-01 -3.61153053e-04 9.80233760e+00] [ 2.40087650e-02 -1.49683405e-03 9.99710627e-01 5.39202279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6192541539999 meters Centerline goodness [0,1] 0.9986000835770998 Centerline is valid? [True, True] Translation: X:584.58, Y:9.80, Z:5.39 [[ 9.96656595e-01 -7.80028367e-02 -2.43143745e-02 5.84578925e+02] [ 7.80170680e-02 9.96951957e-01 -3.64202363e-04 9.80294979e+00] [ 2.42686720e-02 -1.53395152e-03 9.99704296e-01 5.39237391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6492541539999 meters Centerline goodness [0,1] 0.998454824497296 Centerline is valid? [True, True] Translation: X:584.61, Y:9.81, Z:5.39 [[ 9.96552972e-01 -7.90322906e-02 -2.52204338e-02 5.84609650e+02] [ 7.90479472e-02 9.96870744e-01 -3.77137447e-04 9.80505841e+00] [ 2.51713186e-02 -1.61778608e-03 9.99681843e-01 5.39241891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.679254154 meters Centerline goodness [0,1] 0.9985178381312235 Centerline is valid? [True, True] Translation: X:584.64, Y:9.80, Z:5.39 [[ 9.96562773e-01 -7.89536240e-02 -2.50791540e-02 5.84641095e+02] [ 7.89691063e-02 9.96876994e-01 -3.74005730e-04 9.80406215e+00] [ 2.50303608e-02 -1.60775819e-03 9.99685399e-01 5.39242234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.709254154 meters Centerline goodness [0,1] 0.9985587768401705 Centerline is valid? [True, True] Translation: X:584.67, Y:9.81, Z:5.39 [[ 9.96599417e-01 -7.84795769e-02 -2.51109038e-02 5.84673297e+02] [ 7.84949896e-02 9.96914438e-01 -3.72843358e-04 9.80719906e+00] [ 2.50626832e-02 -1.59950466e-03 9.99684602e-01 5.39300297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7392541539999 meters Centerline goodness [0,1] 0.9984390934254616 Centerline is valid? [True, True] Translation: X:584.70, Y:9.81, Z:5.39 [[ 9.96752719e-01 -7.67391602e-02 -2.43950555e-02 5.84704177e+02] [ 7.67532160e-02 9.97050056e-01 -3.61026364e-04 9.80807921e+00] [ 2.43507963e-02 -1.51254495e-03 9.99702331e-01 5.39335785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7692541539999 meters Centerline goodness [0,1] 0.9983760149906309 Centerline is valid? [True, True] Translation: X:584.74, Y:9.81, Z:5.39 [[ 9.96843632e-01 -7.55588890e-02 -2.43644606e-02 5.84735602e+02] [ 7.55725793e-02 9.97140239e-01 -3.59712964e-04 9.81185579e+00] [ 2.43219636e-02 -1.48270755e-03 9.99703078e-01 5.39398137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7992541539999 meters Centerline goodness [0,1] 0.9984705635868426 Centerline is valid? [True, True] Translation: X:584.77, Y:9.82, Z:5.40 [[ 9.97081813e-01 -7.21280438e-02 -2.50080677e-02 5.84766536e+02] [ 7.21414074e-02 9.97394346e-01 -3.68590604e-04 9.82243577e+00] [ 2.49694910e-02 -1.43660221e-03 9.99687181e-01 5.39556741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.829254154 meters Centerline goodness [0,1] 0.9983645398695825 Centerline is valid? [True, True] Translation: X:584.80, Y:9.83, Z:5.40 [[ 9.97269728e-01 -6.94787728e-02 -2.50158030e-02 5.84798013e+02] [ 6.94913325e-02 9.97582487e-01 -3.67955885e-04 9.82578640e+00] [ 2.49808921e-02 -1.37143022e-03 9.99686988e-01 5.39561981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8592541539999 meters Centerline goodness [0,1] 0.9984283319362951 Centerline is valid? [True, True] Translation: X:584.83, Y:9.82, Z:5.39 [[ 9.97471699e-01 -6.64109556e-02 -2.52941774e-02 5.84827488e+02] [ 6.64228145e-02 9.97791497e-01 -3.71990217e-04 9.82436526e+00] [ 2.52630194e-02 -1.30906074e-03 9.99679982e-01 5.39421338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8892541539999 meters Centerline goodness [0,1] 0.9984465204156607 Centerline is valid? [True, True] Translation: X:584.86, Y:9.84, Z:5.40 [[ 9.97947865e-01 -5.88340944e-02 -2.52706856e-02 5.84857712e+02] [ 5.88435053e-02 9.98267150e-01 -3.71705690e-04 9.83851882e+00] [ 2.52487643e-02 -1.11607283e-03 9.99680576e-01 5.39670558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9192541539999 meters Centerline goodness [0,1] 0.9985502069632088 Centerline is valid? [True, True] Translation: X:584.89, Y:9.84, Z:5.40 [[ 9.98208740e-01 -5.43612906e-02 -2.49832355e-02 5.84888376e+02] [ 5.43690987e-02 9.98520839e-01 -3.67127852e-04 9.84469807e+00] [ 2.49662389e-02 -9.91845767e-04 9.99687803e-01 5.39783705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.949254154 meters Centerline goodness [0,1] 0.9985081212834359 Centerline is valid? [True, True] Translation: X:584.92, Y:9.85, Z:5.40 [[ 9.98449979e-01 -4.95943435e-02 -2.52594466e-02 5.84918636e+02] [ 4.96008062e-02 9.98769054e-01 -3.71013089e-04 9.84999727e+00] [ 2.52467538e-02 -8.82450906e-04 9.99680860e-01 5.39883857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9792541539999 meters Centerline goodness [0,1] 0.9986963012805686 Centerline is valid? [True, True] Translation: X:584.95, Y:9.86, Z:5.40 [[ 9.98901250e-01 -4.06096714e-02 -2.33912020e-02 5.84948308e+02] [ 4.06127443e-02 9.99174903e-01 -3.43869212e-04 9.85855978e+00] [ 2.33858664e-02 -6.06489520e-04 9.99726329e-01 5.39994478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0092541539999 meters Centerline goodness [0,1] 0.9987176792095859 Centerline is valid? [True, True] Translation: X:584.98, Y:9.86, Z:5.40 [[ 9.99074295e-01 -3.64377249e-02 -2.28657985e-02 5.84978223e+02] [ 3.64395464e-02 9.99335802e-01 -3.37136860e-04 9.86271218e+00] [ 2.28628956e-02 -4.96394556e-04 9.99738487e-01 5.40068654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0392541539999 meters Centerline goodness [0,1] 0.9987364164771292 Centerline is valid? [True, True] Translation: X:585.01, Y:9.87, Z:5.40 [[ 9.99230114e-01 -3.24399834e-02 -2.20641632e-02 5.85008088e+02] [ 3.24406833e-02 9.99473609e-01 -3.26302263e-04 9.86660265e+00] [ 2.20631341e-02 -3.89725484e-04 9.99756503e-01 5.40124536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.069254154 meters Centerline goodness [0,1] 0.9990520128926247 Centerline is valid? [True, True] Translation: X:585.04, Y:9.87, Z:5.40 [[ 9.99329437e-01 -2.94136134e-02 -2.18063094e-02 5.85036653e+02] [ 2.94135021e-02 9.99567276e-01 -3.25910085e-04 9.87000793e+00] [ 2.18064594e-02 -3.15708385e-04 9.99762161e-01 5.40165944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0992541539999 meters Centerline goodness [0,1] 0.9989022356393422 Centerline is valid? [True, True] Translation: X:585.06, Y:9.87, Z:5.40 [[ 9.99457639e-01 -2.50844429e-02 -2.13353814e-02 5.85064991e+02] [ 2.50832375e-02 9.99685314e-01 -3.24148065e-04 9.87408596e+00] [ 2.13367985e-02 -2.11188180e-04 9.99772322e-01 5.40178344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1292541539999 meters Centerline goodness [0,1] 0.9987999747363102 Centerline is valid? [True, True] Translation: X:585.09, Y:9.88, Z:5.40 [[ 9.99480564e-01 -2.38322312e-02 -2.16939572e-02 5.85092737e+02] [ 2.38306036e-02 9.99715955e-01 -3.33579031e-04 9.87528805e+00] [ 2.16957451e-02 -1.83574335e-04 9.99764603e-01 5.40133390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1592541539999 meters Centerline goodness [0,1] 0.9989463480423146 Centerline is valid? [True, True] Translation: X:585.12, Y:9.88, Z:5.40 [[ 9.99481119e-01 -2.35059535e-02 -2.20218886e-02 5.85120955e+02] [ 2.35040872e-02 9.99723682e-01 -3.43613520e-04 9.87716689e+00] [ 2.20238805e-02 -1.74169163e-04 9.99757430e-01 5.40242707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.189254154 meters Centerline goodness [0,1] 0.9989463480423146 Centerline is valid? [True, True] Translation: X:585.15, Y:9.88, Z:5.40 [[ 9.99474085e-01 -2.38032320e-02 -2.20217851e-02 5.85148350e+02] [ 2.38012936e-02 9.99716648e-01 -3.50158741e-04 9.87766202e+00] [ 2.20238801e-02 -1.74172386e-04 9.99757430e-01 5.40268455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2192541539999 meters Centerline goodness [0,1] 0.9990293105995062 Centerline is valid? [True, True] Translation: X:585.18, Y:9.88, Z:5.40 [[ 9.99439818e-01 -2.40984818e-02 -2.32231063e-02 5.85176439e+02] [ 2.40963080e-02 9.99709572e-01 -3.73472744e-04 9.87699175e+00] [ 2.32253618e-02 -1.86327591e-04 9.99730238e-01 5.40175867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2492541539999 meters Centerline goodness [0,1] 0.9991776315789473 Centerline is valid? [True, True] Translation: X:585.20, Y:9.88, Z:5.40 [[ 9.99422762e-01 -2.55228750e-02 -2.24215342e-02 5.85203735e+02] [ 2.55211512e-02 9.99674216e-01 -3.63071066e-04 9.87601971e+00] [ 2.24234962e-02 -2.09361876e-04 9.99748540e-01 5.40219917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2792541539999 meters Centerline goodness [0,1] 0.9989878969341711 Centerline is valid? [True, True] Translation: X:585.23, Y:9.87, Z:5.40 [[ 9.99364255e-01 -2.85814802e-02 -2.13116326e-02 5.85232613e+02] [ 2.85805279e-02 9.99591432e-01 -3.49327808e-04 9.87392844e+00] [ 2.13129096e-02 -2.59991985e-04 9.99772820e-01 5.40357848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.309254154 meters Centerline goodness [0,1] 0.9992209542257969 Centerline is valid? [True, True] Translation: X:585.26, Y:9.87, Z:5.40 [[ 9.99321736e-01 -3.03830642e-02 -2.08071598e-02 5.85261141e+02] [ 3.03824361e-02 9.99538287e-01 -3.46377935e-04 9.87207005e+00] [ 2.08080769e-02 -2.86029206e-04 9.99783448e-01 5.40395468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.339254154 meters Centerline goodness [0,1] 0.9991803623218865 Centerline is valid? [True, True] Translation: X:585.29, Y:9.87, Z:5.40 [[ 9.99267374e-01 -3.23853701e-02 -2.03937058e-02 5.85289575e+02] [ 3.23850772e-02 9.99475406e-01 -3.44707805e-04 9.87036831e+00] [ 2.03941709e-02 -3.15996474e-04 9.99791967e-01 5.40426285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3692541539999 meters Centerline goodness [0,1] 0.9988649023605827 Centerline is valid? [True, True] Translation: X:585.32, Y:9.87, Z:5.40 [[ 9.99165479e-01 -3.52419290e-02 -2.06483077e-02 5.85318648e+02] [ 3.52421793e-02 9.99378740e-01 -3.51872685e-04 9.86644158e+00] [ 2.06478804e-02 -3.76112322e-04 9.99786739e-01 5.40399405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3992541539999 meters Centerline goodness [0,1] 0.9989063222984057 Centerline is valid? [True, True] Translation: X:585.35, Y:9.87, Z:5.40 [[ 9.99125811e-01 -3.62686113e-02 -2.07894386e-02 5.85348146e+02] [ 3.62690715e-02 9.99341998e-01 -3.55036555e-04 9.86531061e+00] [ 2.07886358e-02 -3.99287448e-04 9.99783813e-01 5.40446876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.429254154 meters Centerline goodness [0,1] 0.9991159569765728 Centerline is valid? [True, True] Translation: X:585.38, Y:9.86, Z:5.40 [[ 9.99099889e-01 -3.70956606e-02 -2.05748269e-02 5.85377659e+02] [ 3.70962713e-02 9.99311634e-01 -3.52112616e-04 9.86348600e+00] [ 2.05737258e-02 -4.11453686e-04 9.99788254e-01 5.40434131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.459254154 meters Centerline goodness [0,1] 0.9988438577314387 Centerline is valid? [True, True] Translation: X:585.41, Y:9.86, Z:5.40 [[ 9.99086609e-01 -3.77289561e-02 -2.00617632e-02 5.85407870e+02] [ 3.77296576e-02 9.99287924e-01 -3.43662114e-04 9.86161519e+00] [ 2.00604437e-02 -4.13575243e-04 9.99798684e-01 5.40449256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4892541539999 meters Centerline goodness [0,1] 0.9989076089239948 Centerline is valid? [True, True] Translation: X:585.44, Y:9.86, Z:5.41 [[ 9.99072017e-01 -3.86149457e-02 -1.90785338e-02 5.85438191e+02] [ 3.86157416e-02 9.99254081e-01 -3.26819192e-04 9.85877661e+00] [ 1.90769229e-02 -4.10215823e-04 9.99817935e-01 5.40536276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5192541539999 meters Centerline goodness [0,1] 0.9988257496330467 Centerline is valid? [True, True] Translation: X:585.47, Y:9.86, Z:5.41 [[ 9.99068513e-01 -3.86816659e-02 -1.91268232e-02 5.85469675e+02] [ 3.86824849e-02 9.99251499e-01 -3.27288722e-04 9.85767832e+00] [ 1.91251668e-02 -4.12889192e-04 9.99817012e-01 5.40557879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5492541539999 meters Centerline goodness [0,1] 0.9989919143127166 Centerline is valid? [True, True] Translation: X:585.50, Y:9.85, Z:5.41 [[ 9.99011775e-01 -4.04235536e-02 -1.84772751e-02 5.85500116e+02] [ 4.04246248e-02 9.99182541e-01 -3.15676717e-04 9.85331974e+00] [ 1.84749315e-02 -4.31572156e-04 9.99829231e-01 5.40614237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.579254154 meters Centerline goodness [0,1] 0.9991172019505633 Centerline is valid? [True, True] Translation: X:585.53, Y:9.85, Z:5.41 [[ 9.98995439e-01 -4.08781344e-02 -1.83600502e-02 5.85531826e+02] [ 4.08792778e-02 9.99164044e-01 -3.13177135e-04 9.85272461e+00] [ 1.83575041e-02 -4.37683063e-04 9.99831391e-01 5.40688845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6092541539999 meters Centerline goodness [0,1] 0.9988455564417951 Centerline is valid? [True, True] Translation: X:585.56, Y:9.85, Z:5.41 [[ 9.98966734e-01 -4.15246120e-02 -1.84708225e-02 5.85562034e+02] [ 4.15258891e-02 9.99137379e-01 -3.14559014e-04 9.85081168e+00] [ 1.84679511e-02 -4.52783334e-04 9.99829350e-01 5.40650224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6392541539999 meters Centerline goodness [0,1] 0.9992439833676341 Centerline is valid? [True, True] Translation: X:585.59, Y:9.85, Z:5.41 [[ 9.98935531e-01 -4.21819984e-02 -1.86677176e-02 5.85593723e+02] [ 4.21834271e-02 9.99109833e-01 -3.17408687e-04 9.84714343e+00] [ 1.86644891e-02 -4.70397486e-04 9.99825693e-01 5.40639756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6692541539999 meters Centerline goodness [0,1] 0.9988654985503592 Centerline is valid? [True, True] Translation: X:585.62, Y:9.85, Z:5.41 [[ 9.98950152e-01 -4.19729975e-02 -1.83537656e-02 5.85623807e+02] [ 4.19743492e-02 9.99118640e-01 -3.11741416e-04 9.84575345e+00] [ 1.83506740e-02 -4.58973229e-04 9.99831507e-01 5.40636848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.699254154 meters Centerline goodness [0,1] 0.9991817380722589 Centerline is valid? [True, True] Translation: X:585.65, Y:9.85, Z:5.41 [[ 9.98984161e-01 -4.12625855e-02 -1.81120429e-02 5.85654237e+02] [ 4.12637851e-02 9.99148240e-01 -3.07635721e-04 9.84549033e+00] [ 1.81093096e-02 -4.40048234e-04 9.99835916e-01 5.40699853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7292541539999 meters Centerline goodness [0,1] 0.9989296283081831 Centerline is valid? [True, True] Translation: X:585.68, Y:9.84, Z:5.41 [[ 9.99122130e-01 -3.78785546e-02 -1.78936853e-02 5.85684248e+02] [ 3.78791830e-02 9.99282280e-01 -3.03926885e-04 9.84396246e+00] [ 1.78923549e-02 -3.74138103e-04 9.99839849e-01 5.40688883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7592541539999 meters Centerline goodness [0,1] 0.9990547608544962 Centerline is valid? [True, True] Translation: X:585.71, Y:9.84, Z:5.41 [[ 9.99216487e-01 -3.53656089e-02 -1.77675222e-02 5.85714518e+02] [ 3.53658314e-02 9.99374388e-01 -3.01783986e-04 9.84437525e+00] [ 1.77670794e-02 -3.26815659e-04 9.99842100e-01 5.40709546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7892541539999 meters Centerline goodness [0,1] 0.999013786012548 Centerline is valid? [True, True] Translation: X:585.74, Y:9.84, Z:5.41 [[ 9.99310899e-01 -3.25682515e-02 -1.78054945e-02 5.85744017e+02] [ 3.25680283e-02 9.99469475e-01 -3.02577201e-04 9.84417179e+00] [ 1.78059027e-02 -2.77521156e-04 9.99841424e-01 5.40669327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.819254154 meters Centerline goodness [0,1] 0.9988858524280009 Centerline is valid? [True, True] Translation: X:585.77, Y:9.85, Z:5.41 [[ 9.99380962e-01 -3.01337528e-02 -1.81562839e-02 5.85773766e+02] [ 3.01331104e-02 9.99545847e-01 -3.09017386e-04 9.84592498e+00] [ 1.81573500e-02 -2.38279215e-04 9.99835113e-01 5.40749435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8492541539999 meters Centerline goodness [0,1] 0.9990764063811923 Centerline is valid? [True, True] Translation: X:585.80, Y:9.85, Z:5.41 [[ 9.99498872e-01 -2.54844718e-02 -1.87762133e-02 5.85802560e+02] [ 2.54829487e-02 9.99675206e-01 -3.20407394e-04 9.84602199e+00] [ 1.87782803e-02 -1.58226453e-04 9.99823660e-01 5.40725939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8792541539999 meters Centerline goodness [0,1] 0.9991194783957735 Centerline is valid? [True, True] Translation: X:585.83, Y:9.85, Z:5.41 [[ 9.99536928e-01 -2.38668415e-02 -1.88760256e-02 5.85831585e+02] [ 2.38649602e-02 9.99715138e-01 -3.24949892e-04 9.84602623e+00] [ 1.88784041e-02 -1.25676185e-04 9.99821779e-01 5.40741858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9092541539999 meters Centerline goodness [0,1] 0.9989764371657754 Centerline is valid? [True, True] Translation: X:585.86, Y:9.84, Z:5.41 [[ 9.99573898e-01 -2.13648842e-02 -1.98888044e-02 5.85859859e+02] [ 2.13621922e-02 9.99771742e-01 -3.47821701e-04 9.84454249e+00] [ 1.98916958e-02 -7.71949704e-05 9.99802138e-01 5.40719279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.939254154 meters Centerline goodness [0,1] 0.9989525285959693 Centerline is valid? [True, True] Translation: X:585.89, Y:9.84, Z:5.41 [[ 9.99564818e-01 -2.09806617e-02 -2.07361071e-02 5.85888193e+02] [ 2.09775734e-02 9.99779879e-01 -3.66465764e-04 9.84324600e+00] [ 2.07392314e-02 -6.86869252e-05 9.99784917e-01 5.40763619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9692541539999 meters Centerline goodness [0,1] 0.9993295480734983 Centerline is valid? [True, True] Translation: X:585.91, Y:9.84, Z:5.41 [[ 9.99542594e-01 -2.20061715e-02 -2.07444484e-02 5.85914732e+02] [ 2.20032363e-02 9.99757831e-01 -3.69754970e-04 9.84122873e+00] [ 2.07475616e-02 -8.68591587e-05 9.99784742e-01 5.40774078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9992541539999 meters Centerline goodness [0,1] 0.9992471296819123 Centerline is valid? [True, True] Translation: X:585.94, Y:9.84, Z:5.41 [[ 9.99492281e-01 -2.40702494e-02 -2.08759036e-02 5.85942811e+02] [ 2.40676664e-02 9.99710261e-01 -3.75002446e-04 9.83601204e+00] [ 2.08788814e-02 -1.27622233e-04 9.99782004e-01 5.40807158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0292541539999 meters Centerline goodness [0,1] 0.9989554826714575 Centerline is valid? [True, True] Translation: X:585.97, Y:9.83, Z:5.41 [[ 9.99431695e-01 -2.67657924e-02 -2.04909497e-02 5.85971408e+02] [ 2.67637944e-02 9.99641716e-01 -3.71784037e-04 9.83355518e+00] [ 2.04935592e-02 -1.76842814e-04 9.99789969e-01 5.40982562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.059254154 meters Centerline goodness [0,1] 0.9992469722007238 Centerline is valid? [True, True] Translation: X:586.00, Y:9.83, Z:5.41 [[ 9.99354837e-01 -2.98738134e-02 -1.99365329e-02 5.86000385e+02] [ 2.98724385e-02 9.99553652e-01 -3.66831267e-04 9.82979027e+00] [ 1.99385929e-02 -2.28958254e-04 9.99801180e-01 5.41025353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.089254154 meters Centerline goodness [0,1] 0.9992902323445295 Centerline is valid? [True, True] Translation: X:586.03, Y:9.83, Z:5.41 [[ 9.99234502e-01 -3.36370785e-02 -1.99738938e-02 5.86029532e+02] [ 3.36363465e-02 9.99434069e-01 -3.72698262e-04 9.82570570e+00] [ 1.99751264e-02 -2.99435850e-04 9.99800432e-01 5.41073814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1192541539999 meters Centerline goodness [0,1] 0.9991438892485018 Centerline is valid? [True, True] Translation: X:586.06, Y:9.82, Z:5.41 [[ 9.98929319e-01 -4.19040805e-02 -1.96026561e-02 5.86059088e+02] [ 4.19049080e-02 9.99121536e-01 -3.68724034e-04 9.81724831e+00] [ 1.96008869e-02 -4.53118251e-04 9.99807781e-01 5.41147541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1492541539999 meters Centerline goodness [0,1] 0.9993940786861955 Centerline is valid? [True, True] Translation: X:586.09, Y:9.81, Z:5.41 [[ 9.98726022e-01 -4.65325561e-02 -1.95206340e-02 5.86087586e+02] [ 4.65342388e-02 9.98916628e-01 -3.68265649e-04 9.81225574e+00] [ 1.95166222e-02 -5.40581357e-04 9.99809386e-01 5.41123813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.179254154 meters Centerline goodness [0,1] 0.9991457087491926 Centerline is valid? [True, True] Translation: X:586.12, Y:9.80, Z:5.41 [[ 9.98268473e-01 -5.57553505e-02 -1.87455888e-02 5.86118319e+02] [ 5.57585158e-02 9.98444221e-01 -3.54167438e-04 9.80368606e+00] [ 1.87361715e-02 -6.91672019e-04 9.99824223e-01 5.41185682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.209254154 meters Centerline goodness [0,1] 0.9993323457614388 Centerline is valid? [True, True] Translation: X:586.15, Y:9.80, Z:5.41 [[ 9.97997170e-01 -6.06000916e-02 -1.81459830e-02 5.86148619e+02] [ 6.06038535e-02 9.98161838e-01 -3.43024263e-04 9.79883072e+00] [ 1.81334151e-02 -7.57379253e-04 9.99835289e-01 5.41236016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2392541539999 meters Centerline goodness [0,1] 0.9992692805545117 Centerline is valid? [True, True] Translation: X:586.18, Y:9.79, Z:5.41 [[ 9.97742289e-01 -6.47847654e-02 -1.76991226e-02 5.86178748e+02] [ 6.47889982e-02 9.97898930e-01 -3.34745296e-04 9.79242770e+00] [ 1.76836219e-02 -8.12718885e-04 9.99843302e-01 5.41258217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2692541539999 meters Centerline goodness [0,1] 0.9991647525579453 Centerline is valid? [True, True] Translation: X:586.21, Y:9.79, Z:5.41 [[ 9.97226443e-01 -7.24646516e-02 -1.69792440e-02 5.86209149e+02] [ 7.24696571e-02 9.97370566e-01 -3.21108302e-04 9.78613475e+00] [ 1.69578672e-02 -9.10262303e-04 9.99855791e-01 5.41369954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2992541539999 meters Centerline goodness [0,1] 0.999144978311645 Centerline is valid? [True, True] Translation: X:586.24, Y:9.78, Z:5.41 [[ 9.96978426e-01 -7.57674637e-02 -1.71262829e-02 5.86240694e+02] [ 7.57730473e-02 9.97125038e-01 -3.23579684e-04 9.78261138e+00] [ 1.71015623e-02 -9.75108677e-04 9.99853282e-01 5.41401491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.329254154 meters Centerline goodness [0,1] 0.9991265467401477 Centerline is valid? [True, True] Translation: X:586.27, Y:9.78, Z:5.41 [[ 9.96582023e-01 -8.08738782e-02 -1.68430408e-02 5.86270941e+02] [ 8.08800110e-02 9.96723795e-01 -3.17867433e-04 9.77928722e+00] [ 1.68135667e-02 -1.04548435e-03 9.99858095e-01 5.41475372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3592541539999 meters Centerline goodness [0,1] 0.9987728530127499 Centerline is valid? [True, True] Translation: X:586.30, Y:9.77, Z:5.41 [[ 9.96438749e-01 -8.26634324e-02 -1.66305608e-02 5.86301331e+02] [ 8.26696624e-02 9.96576956e-01 -3.13691452e-04 9.77251500e+00] [ 1.65995645e-02 -1.06226853e-03 9.99861653e-01 5.41416114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3892541539999 meters Centerline goodness [0,1] 0.9989785921247368 Centerline is valid? [True, True] Translation: X:586.33, Y:9.77, Z:5.41 [[ 9.96303723e-01 -8.41546473e-02 -1.72304245e-02 5.86332265e+02] [ 8.41615625e-02 9.96452069e-01 -3.24682992e-04 9.77472930e+00] [ 1.71966157e-02 -1.12665657e-03 9.99851492e-01 5.41484633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4192541539999 meters Centerline goodness [0,1] 0.9990618159074325 Centerline is valid? [True, True] Translation: X:586.36, Y:9.77, Z:5.42 [[ 9.96227723e-01 -8.49905944e-02 -1.75192143e-02 5.86363249e+02] [ 8.49978803e-02 9.96381078e-01 -3.29649848e-04 9.77485734e+00] [ 1.74838308e-02 -1.16068977e-03 9.99846472e-01 5.41514344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.449254154 meters Centerline goodness [0,1] 0.9988187262968106 Centerline is valid? [True, True] Translation: X:586.39, Y:9.77, Z:5.41 [[ 9.96174815e-01 -8.55069186e-02 -1.80084908e-02 5.86394522e+02] [ 8.55147134e-02 9.96336850e-01 -3.38185291e-04 9.77349304e+00] [ 1.79714402e-02 -1.20309926e-03 9.99837777e-01 5.41476490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4792541539999 meters Centerline goodness [0,1] 0.9988726513569938 Centerline is valid? [True, True] Translation: X:586.43, Y:9.77, Z:5.41 [[ 9.96169849e-01 -8.55936473e-02 -1.78706164e-02 5.86426294e+02] [ 8.56013486e-02 9.96329412e-01 -3.34946987e-04 9.77327905e+00] [ 1.78336901e-02 -1.19608478e-03 9.99840252e-01 5.41499722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5092541539999 meters Centerline goodness [0,1] 0.9988969593539928 Centerline is valid? [True, True] Translation: X:586.46, Y:9.77, Z:5.41 [[ 9.96200695e-01 -8.51361215e-02 -1.83307574e-02 5.86457670e+02] [ 8.51441598e-02 9.96368584e-01 -3.42899184e-04 9.77340182e+00] [ 1.82933839e-02 -1.21916054e-03 9.99831919e-01 5.41482891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5392541539999 meters Centerline goodness [0,1] 0.9988328713449074 Centerline is valid? [True, True] Translation: X:586.49, Y:9.78, Z:5.42 [[ 9.96379170e-01 -8.31669222e-02 -1.76582391e-02 5.86488048e+02] [ 8.31740791e-02 9.96534979e-01 -3.29993799e-04 9.77612823e+00] [ 1.76244975e-02 -1.13990883e-03 9.99844027e-01 5.41500832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.569254154 meters Centerline goodness [0,1] 0.9989762874751906 Centerline is valid? [True, True] Translation: X:586.52, Y:9.78, Z:5.42 [[ 9.96477073e-01 -8.19428795e-02 -1.78551697e-02 5.86518929e+02] [ 8.19500070e-02 9.96636386e-01 -3.33358653e-04 9.78223062e+00] [ 1.78224281e-02 -1.13104702e-03 9.99840528e-01 5.41581587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5992541539999 meters Centerline goodness [0,1] 0.9989355262883263 Centerline is valid? [True, True] Translation: X:586.55, Y:9.79, Z:5.42 [[ 9.96566690e-01 -8.07147903e-02 -1.84378593e-02 5.86549945e+02] [ 8.07221943e-02 9.96736580e-01 -3.43535840e-04 9.78650903e+00] [ 1.84054172e-02 -1.14598808e-03 9.99829949e-01 5.41614842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6292541539999 meters Centerline goodness [0,1] 0.9989794430675025 Centerline is valid? [True, True] Translation: X:586.58, Y:9.78, Z:5.42 [[ 9.96690561e-01 -7.92115578e-02 -1.82607605e-02 5.86580138e+02] [ 7.92185782e-02 9.96857212e-01 -3.39719704e-04 9.78363016e+00] [ 1.82302806e-02 -1.10799606e-03 9.99833201e-01 5.41517730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6592541539999 meters Centerline goodness [0,1] 0.999083409715857 Centerline is valid? [True, True] Translation: X:586.61, Y:9.79, Z:5.42 [[ 9.96722080e-01 -7.88166877e-02 -1.82489624e-02 5.86611357e+02] [ 7.88236423e-02 9.96888519e-01 -3.38994033e-04 9.79134231e+00] [ 1.82188995e-02 -1.10056685e-03 9.99833416e-01 5.41619722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.689254154 meters Centerline goodness [0,1] 0.9990622264827241 Centerline is valid? [True, True] Translation: X:586.64, Y:9.79, Z:5.42 [[ 9.96757158e-01 -7.83427005e-02 -1.83735992e-02 5.86642931e+02] [ 7.83496859e-02 9.96925880e-01 -3.40454943e-04 9.79260184e+00] [ 1.83437887e-02 -1.10021483e-03 9.99831133e-01 5.41624428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7192541539999 meters Centerline goodness [0,1] 0.9991867545249812 Centerline is valid? [True, True] Translation: X:586.67, Y:9.80, Z:5.42 [[ 9.96792082e-01 -7.79717107e-02 -1.80542962e-02 5.86674091e+02] [ 7.79784098e-02 9.96954992e-01 -3.33704310e-04 9.79618523e+00] [ 1.80253403e-02 -1.07521150e-03 9.99836952e-01 5.41676536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7492541539999 meters Centerline goodness [0,1] 0.9991242884843936 Centerline is valid? [True, True] Translation: X:586.71, Y:9.80, Z:5.42 [[ 9.96819337e-01 -7.78325245e-02 -1.71262292e-02 5.86705000e+02] [ 7.78385448e-02 9.96965928e-01 -3.15794380e-04 9.79700175e+00] [ 1.70988461e-02 -1.01829082e-03 9.99853286e-01 5.41729672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7792541539999 meters Centerline goodness [0,1] 0.9989805259653795 Centerline is valid? [True, True] Translation: X:586.74, Y:9.80, Z:5.42 [[ 9.96829707e-01 -7.78175770e-02 -1.65819300e-02 5.86736925e+02] [ 7.78232355e-02 9.96967126e-01 -3.04731767e-04 9.79841724e+00] [ 1.65553525e-02 -9.86693763e-04 9.99862464e-01 5.41782868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.809254154 meters Centerline goodness [0,1] 0.9989575080271882 Centerline is valid? [True, True] Translation: X:586.77, Y:9.80, Z:5.42 [[ 9.96850161e-01 -7.76808922e-02 -1.59823442e-02 5.86769519e+02] [ 7.76861516e-02 9.96977821e-01 -2.92447673e-04 9.80338040e+00] [ 1.59567603e-02 -9.50080304e-04 9.99872231e-01 5.41840252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.839254154 meters Centerline goodness [0,1] 0.9990191986644408 Centerline is valid? [True, True] Translation: X:586.80, Y:9.81, Z:5.42 [[ 9.96875052e-01 -7.74048165e-02 -1.57678338e-02 5.86801484e+02] [ 7.74099222e-02 9.96999309e-01 -2.87189722e-04 9.80867137e+00] [ 1.57427492e-02 -9.34294516e-04 9.99875639e-01 5.41891690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8692541539999 meters Centerline goodness [0,1] 0.9990207721315916 Centerline is valid? [True, True] Translation: X:586.83, Y:9.81, Z:5.42 [[ 9.96899235e-01 -7.70356278e-02 -1.60445515e-02 5.86833133e+02] [ 7.70408919e-02 9.97027892e-01 -2.90648308e-04 9.80834889e+00] [ 1.60192556e-02 -9.46339480e-04 9.99871236e-01 5.41860677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8992541539999 meters Centerline goodness [0,1] 0.9991038492799533 Centerline is valid? [True, True] Translation: X:586.86, Y:9.81, Z:5.42 [[ 9.97030634e-01 -7.53507709e-02 -1.58800383e-02 5.86864542e+02] [ 7.53557375e-02 9.97156673e-01 -2.86230126e-04 9.81338774e+00] [ 1.58564538e-02 -9.11271793e-04 9.99873863e-01 5.41842513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.929254154 meters Centerline goodness [0,1] 0.9990417864433613 Centerline is valid? [True, True] Translation: X:586.90, Y:9.81, Z:5.42 [[ 9.97109093e-01 -7.44799752e-02 -1.50395849e-02 5.86895328e+02] [ 7.44843408e-02 9.97222147e-01 -2.70436787e-04 9.81432847e+00] [ 1.50179492e-02 -8.50558584e-04 9.99886862e-01 5.41855783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.959254154 meters Centerline goodness [0,1] 0.9990627733577706 Centerline is valid? [True, True] Translation: X:586.93, Y:9.82, Z:5.42 [[ 9.97221378e-01 -7.29832987e-02 -1.49318948e-02 5.86925362e+02] [ 7.29874439e-02 9.97332824e-01 -2.67885740e-04 9.81645682e+00] [ 1.49116200e-02 -8.22699449e-04 9.99888477e-01 5.41867918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9892541539999 meters Centerline goodness [0,1] 0.9989994371834157 Centerline is valid? [True, True] Translation: X:586.96, Y:9.82, Z:5.42 [[ 9.97352282e-01 -7.12068100e-02 -1.47653470e-02 5.86957222e+02] [ 7.12106758e-02 9.97461262e-01 -2.64440751e-04 9.81953682e+00] [ 1.47466916e-02 -7.87709751e-04 9.99890951e-01 5.41881680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0192541539999 meters Centerline goodness [0,1] 0.9987897756911841 Centerline is valid? [True, True] Translation: X:586.99, Y:9.83, Z:5.42 [[ 9.97644282e-01 -6.70922031e-02 -1.43011579e-02 5.86988325e+02] [ 6.70954161e-02 9.97746531e-01 -2.55548975e-04 9.82791454e+00] [ 1.42860760e-02 -7.04595167e-04 9.99897701e-01 5.41929913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0492541539999 meters Centerline goodness [0,1] 0.9989165763813651 Centerline is valid? [True, True] Translation: X:587.02, Y:9.83, Z:5.42 [[ 9.97791133e-01 -6.48420151e-02 -1.44349324e-02 5.87019637e+02] [ 6.48450588e-02 9.97895311e-01 -2.57578482e-04 9.83206173e+00] [ 1.44212533e-02 -6.79024514e-04 9.99895778e-01 5.41981644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.079254154 meters Centerline goodness [0,1] 0.999019975812169 Centerline is valid? [True, True] Translation: X:587.05, Y:9.84, Z:5.42 [[ 9.97929483e-01 -6.26139472e-02 -1.47051292e-02 5.87051368e+02] [ 6.26168744e-02 9.98037604e-01 -2.61727709e-04 9.83523589e+00] [ 1.46926598e-02 -6.59603432e-04 9.99891839e-01 5.42019196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1092541539999 meters Centerline goodness [0,1] 0.999019975812169 Centerline is valid? [True, True] Translation: X:587.08, Y:9.84, Z:5.42 [[ 9.97934071e-01 -6.25407811e-02 -1.47051461e-02 5.87083082e+02] [ 6.25437143e-02 9.98042191e-01 -2.60777977e-04 9.83573840e+00] [ 1.46926655e-02 -6.59475228e-04 9.99891839e-01 5.42048896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1392541539999 meters Centerline goodness [0,1] 0.9989788262754251 Centerline is valid? [True, True] Translation: X:587.11, Y:9.84, Z:5.42 [[ 9.98203864e-01 -5.82376684e-02 -1.40505842e-02 5.87112545e+02] [ 5.82399286e-02 9.98302584e-01 -2.48598810e-04 9.84113719e+00] [ 1.40412123e-02 -5.70152728e-04 9.99901255e-01 5.42074172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1692541539999 meters Centerline goodness [0,1] 0.9990215264187867 Centerline is valid? [True, True] Translation: X:587.14, Y:9.84, Z:5.42 [[ 9.98323993e-01 -5.61922008e-02 -1.38434879e-02 5.87143750e+02] [ 5.61941985e-02 9.98419828e-01 -2.44938950e-04 9.84444584e+00] [ 1.38353764e-02 -5.33395275e-04 9.99904144e-01 5.42124293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.199254154 meters Centerline goodness [0,1] 0.9989769714178341 Centerline is valid? [True, True] Translation: X:587.17, Y:9.85, Z:5.42 [[ 9.98538956e-01 -5.23076686e-02 -1.35595420e-02 5.87174667e+02] [ 5.23092341e-02 9.98630906e-01 -2.39422840e-04 9.85357151e+00] [ 1.35535014e-02 -4.70216225e-04 9.99908037e-01 5.42227895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2292541539999 meters Centerline goodness [0,1] 0.9990221168050267 Centerline is valid? [True, True] Translation: X:587.21, Y:9.85, Z:5.42 [[ 9.98623176e-01 -5.06574570e-02 -1.36225904e-02 5.87206210e+02] [ 5.06588918e-02 9.98715985e-01 -2.39943387e-04 9.85317572e+00] [ 1.36172537e-02 -4.50492304e-04 9.99907179e-01 5.42188731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2592541539999 meters Centerline goodness [0,1] 0.9990604251054411 Centerline is valid? [True, True] Translation: X:587.24, Y:9.86, Z:5.42 [[ 9.98691575e-01 -4.91219618e-02 -1.42187045e-02 5.87238024e+02] [ 4.91233824e-02 9.98792687e-01 -2.49536234e-04 9.85872986e+00] [ 1.42137958e-02 -4.49261124e-04 9.99898878e-01 5.42230577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2892541539999 meters Centerline goodness [0,1] 0.9991443716348762 Centerline is valid? [True, True] Translation: X:587.27, Y:9.86, Z:5.42 [[ 9.98753218e-01 -4.78059031e-02 -1.43737435e-02 5.87269168e+02] [ 4.78072327e-02 9.98856549e-01 -2.51277002e-04 9.85999901e+00] [ 1.43693203e-02 -4.36205186e-04 9.99896661e-01 5.42207929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.319254154 meters Centerline goodness [0,1] 0.9990204455930473 Centerline is valid? [True, True] Translation: X:587.30, Y:9.86, Z:5.42 [[ 9.98810010e-01 -4.64022062e-02 -1.50133060e-02 5.87301327e+02] [ 4.64035128e-02 9.98922743e-01 -2.61500782e-04 9.86414594e+00] [ 1.50092670e-02 -4.35480539e-04 9.99887260e-01 5.42206606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3492541539999 meters Centerline goodness [0,1] 0.9988314344142565 Centerline is valid? [True, True] Translation: X:587.33, Y:9.87, Z:5.42 [[ 9.98828671e-01 -4.60003962e-02 -1.50083165e-02 5.87333616e+02] [ 4.60016732e-02 9.98941329e-01 -2.60308844e-04 9.86554908e+00] [ 1.50044019e-02 -4.30403734e-04 9.99887335e-01 5.42183437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3792541539999 meters Centerline goodness [0,1] 0.9990430821077156 Centerline is valid? [True, True] Translation: X:587.36, Y:9.86, Z:5.42 [[ 9.98847683e-01 -4.55385117e-02 -1.51508862e-02 5.87364662e+02] [ 4.55397754e-02 9.98962492e-01 -2.61769351e-04 9.86431376e+00] [ 1.51470876e-02 -4.28500243e-04 9.99885184e-01 5.42153785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4092541539999 meters Centerline goodness [0,1] 0.9990016431290168 Centerline is valid? [True, True] Translation: X:587.40, Y:9.87, Z:5.42 [[ 9.98895940e-01 -4.43077412e-02 -1.56116977e-02 5.87396017e+02] [ 4.43089445e-02 9.99017840e-01 -2.68978086e-04 9.86936215e+00] [ 1.56082823e-02 -4.23056726e-04 9.99878094e-01 5.42196309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.439254154 meters Centerline goodness [0,1] 0.9989141783253289 Centerline is valid? [True, True] Translation: X:587.43, Y:9.87, Z:5.42 [[ 9.98930031e-01 -4.34476698e-02 -1.58458971e-02 5.87426591e+02] [ 4.34488085e-02 9.99055617e-01 -2.72556578e-04 9.87070650e+00] [ 1.58427744e-02 -4.16220397e-04 9.99874409e-01 5.42198649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4692541539999 meters Centerline goodness [0,1] 0.9989384509710051 Centerline is valid? [True, True] Translation: X:587.46, Y:9.87, Z:5.42 [[ 9.99001782e-01 -4.15422671e-02 -1.64219489e-02 5.87457135e+02] [ 4.15432377e-02 9.99136667e-01 -2.82167901e-04 9.87261065e+00] [ 1.64194932e-02 -4.00334693e-04 9.99865111e-01 5.42139960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4992541539999 meters Centerline goodness [0,1] 0.9991243250005213 Centerline is valid? [True, True] Translation: X:587.49, Y:9.87, Z:5.42 [[ 9.99034309e-01 -4.06846665e-02 -1.65893940e-02 5.87488415e+02] [ 4.06855458e-02 9.99171960e-01 -2.84626891e-04 9.87346323e+00] [ 1.65872372e-02 -3.90596520e-04 9.99862346e-01 5.42157722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5292541539999 meters Centerline goodness [0,1] 0.9990815921851844 Centerline is valid? [True, True] Translation: X:587.52, Y:9.87, Z:5.42 [[ 9.99061056e-01 -3.99959464e-02 -1.66532430e-02 5.87519345e+02] [ 3.99967423e-02 9.99199769e-01 -2.85394841e-04 9.87456173e+00] [ 1.66513312e-02 -3.80948599e-04 9.99861284e-01 5.42192662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.559254154 meters Centerline goodness [0,1] 0.9989981005656557 Centerline is valid? [True, True] Translation: X:587.55, Y:9.88, Z:5.42 [[ 9.99117584e-01 -3.87384737e-02 -1.62291189e-02 5.87549649e+02] [ 3.87390658e-02 9.99249322e-01 -2.78008150e-04 9.87586201e+00] [ 1.62277057e-02 -3.50938073e-04 9.99868261e-01 5.42246183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.589254154 meters Centerline goodness [0,1] 0.9989375 Centerline is valid? [True, True] Translation: X:587.58, Y:9.88, Z:5.42 [[ 9.99139057e-01 -3.82061336e-02 -1.61689984e-02 5.87580230e+02] [ 3.82066542e-02 9.99269821e-01 -2.76817480e-04 9.87686757e+00] [ 1.61677682e-02 -3.41184173e-04 9.99869235e-01 5.42306632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6192541539999 meters Centerline goodness [0,1] 0.999061130815773 Centerline is valid? [True, True] Translation: X:587.61, Y:9.88, Z:5.42 [[ 9.99156199e-01 -3.77193391e-02 -1.62524546e-02 5.87611384e+02] [ 3.77198047e-02 9.99288316e-01 -2.77998907e-04 9.88009210e+00] [ 1.62513739e-02 -3.35275081e-04 9.99867881e-01 5.42425569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6492541539999 meters Centerline goodness [0,1] 0.9988942668780773 Centerline is valid? [True, True] Translation: X:587.64, Y:9.88, Z:5.42 [[ 9.99201523e-01 -3.63670984e-02 -1.65454188e-02 5.87641846e+02] [ 3.63674034e-02 9.99338447e-01 -2.82539610e-04 9.87894352e+00] [ 1.65447483e-02 -3.19399913e-04 9.99863075e-01 5.42301778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.679254154 meters Centerline goodness [0,1] 0.9992491396391698 Centerline is valid? [True, True] Translation: X:587.67, Y:9.88, Z:5.42 [[ 9.99232695e-01 -3.53057663e-02 -1.69565406e-02 5.87672185e+02] [ 3.53059368e-02 9.99376509e-01 -2.89389075e-04 9.88010847e+00] [ 1.69561854e-02 -3.09499524e-04 9.99856186e-01 5.42340617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.709254154 meters Centerline goodness [0,1] 0.9991239231555453 Centerline is valid? [True, True] Translation: X:587.70, Y:9.88, Z:5.42 [[ 9.99276849e-01 -3.41443639e-02 -1.67314603e-02 5.87702747e+02] [ 3.41443673e-02 9.99416870e-01 -2.85547740e-04 9.88371469e+00] [ 1.67314535e-02 -2.85943880e-04 9.99859979e-01 5.42445509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7392541539999 meters Centerline goodness [0,1] 0.9990192600630178 Centerline is valid? [True, True] Translation: X:587.73, Y:9.89, Z:5.42 [[ 9.99354522e-01 -3.16642187e-02 -1.69680934e-02 5.87731880e+02] [ 3.16638658e-02 9.99498532e-01 -2.89520077e-04 9.88544533e+00] [ 1.69687519e-02 -2.47942235e-04 9.99855990e-01 5.42461031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7692541539999 meters Centerline goodness [0,1] 0.9991219267436026 Centerline is valid? [True, True] Translation: X:587.76, Y:9.89, Z:5.43 [[ 9.99382643e-01 -3.05396637e-02 -1.73684199e-02 5.87762311e+02] [ 3.05391257e-02 9.99533528e-01 -2.96267258e-04 9.88779915e+00] [ 1.73693659e-02 -2.34332004e-04 9.99849114e-01 5.42577812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7992541539999 meters Centerline goodness [0,1] 0.9992471769134254 Centerline is valid? [True, True] Translation: X:587.79, Y:9.89, Z:5.43 [[ 9.99442376e-01 -2.87732812e-02 -1.69421439e-02 5.87792052e+02] [ 2.87725166e-02 9.99585944e-01 -2.88930271e-04 9.88870936e+00] [ 1.69434423e-02 -1.98698960e-04 9.99856430e-01 5.42630837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.829254154 meters Centerline goodness [0,1] 0.9991207686993657 Centerline is valid? [True, True] Translation: X:587.82, Y:9.89, Z:5.43 [[ 9.99451684e-01 -2.84089650e-02 -1.70077322e-02 5.87820222e+02] [ 2.84081341e-02 9.99596365e-01 -2.90499312e-04 9.88867920e+00] [ 1.70091201e-02 -1.92817912e-04 9.99855316e-01 5.42632859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8592541539999 meters Centerline goodness [0,1] 0.9991634424343825 Centerline is valid? [True, True] Translation: X:587.85, Y:9.89, Z:5.43 [[ 9.99448155e-01 -2.84670221e-02 -1.71176475e-02 5.87850253e+02] [ 2.84661730e-02 9.99594713e-01 -2.93310065e-04 9.88925609e+00] [ 1.71190596e-02 -1.94125710e-04 9.99853439e-01 5.42689316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8892541539999 meters Centerline goodness [0,1] 0.9989745521513478 Centerline is valid? [True, True] Translation: X:587.88, Y:9.89, Z:5.43 [[ 9.99428214e-01 -2.90084561e-02 -1.73710688e-02 5.87879615e+02] [ 2.90076524e-02 9.99579145e-01 -2.98278976e-04 9.88904006e+00] [ 1.73724107e-02 -2.05785503e-04 9.99849067e-01 5.42705995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9192541539999 meters Centerline goodness [0,1] 0.9989336344247899 Centerline is valid? [True, True] Translation: X:587.91, Y:9.89, Z:5.43 [[ 9.99341702e-01 -3.14997300e-02 -1.79980486e-02 5.87908001e+02] [ 3.14992567e-02 9.99503727e-01 -3.09852476e-04 9.88621625e+00] [ 1.79988769e-02 -2.57276651e-04 9.99837974e-01 5.42693338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.949254154 meters Centerline goodness [0,1] 0.9988698909654061 Centerline is valid? [True, True] Translation: X:587.94, Y:9.88, Z:5.43 [[ 9.99281241e-01 -3.32500002e-02 -1.82054477e-02 5.87936263e+02] [ 3.32497886e-02 9.99447023e-01 -3.14394593e-04 9.88445370e+00] [ 1.82058341e-02 -2.91158668e-04 9.99834218e-01 5.42708158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9792541539999 meters Centerline goodness [0,1] 0.9989731123079825 Centerline is valid? [True, True] Translation: X:587.97, Y:9.88, Z:5.43 [[ 9.99215651e-01 -3.53420899e-02 -1.78611016e-02 5.87966109e+02] [ 3.53422063e-02 9.99375221e-01 -3.09231756e-04 9.88297832e+00] [ 1.78608713e-02 -3.22261528e-04 9.99840430e-01 5.42754357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0092541539999 meters Centerline goodness [0,1] 0.9989528795811519 Centerline is valid? [True, True] Translation: X:588.00, Y:9.88, Z:5.43 [[ 9.99038123e-01 -4.00641221e-02 -1.78239724e-02 5.87995851e+02] [ 4.00649805e-02 9.99197029e-01 -3.09065216e-04 9.87815362e+00] [ 1.78220427e-02 -4.05349174e-04 9.99841093e-01 5.42786492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0392541539999 meters Centerline goodness [0,1] 0.9988498776688066 Centerline is valid? [True, True] Translation: X:588.03, Y:9.87, Z:5.43 [[ 9.98944614e-01 -4.22503466e-02 -1.80157180e-02 5.88026435e+02] [ 4.22515786e-02 9.99106954e-01 -3.12406262e-04 9.87447972e+00] [ 1.80128284e-02 -4.49115973e-04 9.99837655e-01 5.42698092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.069254154 meters Centerline goodness [0,1] 0.9991214859437751 Centerline is valid? [True, True] Translation: X:588.06, Y:9.87, Z:5.43 [[ 9.98820936e-01 -4.51530504e-02 -1.78308630e-02 5.88057157e+02] [ 4.51547222e-02 9.98979958e-01 -3.09041003e-04 9.87442668e+00] [ 1.78266289e-02 -4.96471042e-04 9.99840970e-01 5.42892929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0992541539999 meters Centerline goodness [0,1] 0.9990614245489624 Centerline is valid? [True, True] Translation: X:588.09, Y:9.87, Z:5.43 [[ 9.98580620e-01 -5.02918659e-02 -1.75349002e-02 5.88088070e+02] [ 5.02942764e-02 9.98734396e-01 -3.03766933e-04 9.86973102e+00] [ 1.75279850e-02 -5.78569345e-04 9.99846206e-01 5.42918287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1292541539999 meters Centerline goodness [0,1] 0.9989972424166458 Centerline is valid? [True, True] Translation: X:588.12, Y:9.87, Z:5.43 [[ 9.98458559e-01 -5.26545283e-02 -1.75501235e-02 5.88119141e+02] [ 5.26573157e-02 9.98612595e-01 -3.03566357e-04 9.86956416e+00] [ 1.75417585e-02 -6.21043966e-04 9.99845939e-01 5.42998251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1592541539999 meters Centerline goodness [0,1] 0.9989352818371607 Centerline is valid? [True, True] Translation: X:588.15, Y:9.87, Z:5.43 [[ 9.98221223e-01 -5.69574780e-02 -1.76135184e-02 5.88150735e+02] [ 5.69609656e-02 9.98376360e-01 -3.04017909e-04 9.86623801e+00] [ 1.76022364e-02 -6.99805884e-04 9.99844824e-01 5.43030481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.189254154 meters Centerline goodness [0,1] 0.9992073755788244 Centerline is valid? [True, True] Translation: X:588.18, Y:9.87, Z:5.43 [[ 9.98114524e-01 -5.88528526e-02 -1.74281213e-02 5.88181931e+02] [ 5.88565666e-02 9.98266405e-01 -3.00182801e-04 9.86508148e+00] [ 1.74155746e-02 -7.26142569e-04 9.99848074e-01 5.43091735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2192541539999 meters Centerline goodness [0,1] 0.999085410214305 Centerline is valid? [True, True] Translation: X:588.21, Y:9.86, Z:5.43 [[ 9.98003620e-01 -6.07477121e-02 -1.72768814e-02 5.88213145e+02] [ 6.07516650e-02 9.98152868e-01 -2.96436449e-04 9.86266766e+00] [ 1.72629766e-02 -7.53754662e-04 9.99850700e-01 5.43108416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2492541539999 meters Centerline goodness [0,1] 0.9991035129782133 Centerline is valid? [True, True] Translation: X:588.25, Y:9.86, Z:5.43 [[ 9.97888927e-01 -6.26096603e-02 -1.72545475e-02 5.88245428e+02] [ 6.26139069e-02 9.98037781e-01 -2.94535596e-04 9.86131554e+00] [ 1.72391311e-02 -7.86460823e-04 9.99851086e-01 5.43153011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2792541539999 meters Centerline goodness [0,1] 0.9991075320146946 Centerline is valid? [True, True] Translation: X:588.28, Y:9.86, Z:5.43 [[ 9.97608141e-01 -6.68852053e-02 -1.74460877e-02 5.88276360e+02] [ 6.68902133e-02 9.97760297e-01 -2.96969599e-04 9.86098109e+00] [ 1.74268766e-02 -8.70713241e-04 9.99847761e-01 5.43243290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.309254154 meters Centerline goodness [0,1] 0.9991033634297392 Centerline is valid? [True, True] Translation: X:588.31, Y:9.86, Z:5.43 [[ 9.97450841e-01 -6.92120947e-02 -1.73639444e-02 5.88306881e+02] [ 6.92174128e-02 9.97601555e-01 -2.95249349e-04 9.85833612e+00] [ 1.73427327e-02 -9.07390593e-04 9.99849192e-01 5.43264218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.339254154 meters Centerline goodness [0,1] 0.9989169599900027 Centerline is valid? [True, True] Translation: X:588.34, Y:9.86, Z:5.43 [[ 9.97280393e-01 -7.15837231e-02 -1.75382036e-02 5.88336887e+02] [ 7.15895303e-02 9.97434134e-01 -2.97292422e-04 9.85582282e+00] [ 1.75144843e-02 -9.59067858e-04 9.99846150e-01 5.43255602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3692541539999 meters Centerline goodness [0,1] 0.9988748124687448 Centerline is valid? [True, True] Translation: X:588.37, Y:9.86, Z:5.43 [[ 9.97105456e-01 -7.39750310e-02 -1.75614701e-02 5.88368488e+02] [ 7.39812436e-02 9.97259589e-01 -2.96528413e-04 9.85666762e+00] [ 1.75352802e-02 -1.00354930e-03 9.99845742e-01 5.43313314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3992541539999 meters Centerline goodness [0,1] 0.9986687190581187 Centerline is valid? [True, True] Translation: X:588.40, Y:9.85, Z:5.43 [[ 9.96763405e-01 -7.84134422e-02 -1.77213380e-02 5.88398408e+02] [ 7.84204711e-02 9.96920328e-01 -2.99003293e-04 9.85327114e+00] [ 1.76902079e-02 -1.09168013e-03 9.99842920e-01 5.43311743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.429254154 meters Centerline goodness [0,1] 0.9986664444074013 Centerline is valid? [True, True] Translation: X:588.43, Y:9.85, Z:5.43 [[ 9.96608020e-01 -8.03370158e-02 -1.78443077e-02 5.88428246e+02] [ 8.03444471e-02 9.96767114e-01 -3.01219989e-04 9.84711982e+00] [ 1.78108182e-02 -1.13349278e-03 9.99840732e-01 5.43272543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.459254154 meters Centerline goodness [0,1] 0.9987500260411242 Centerline is valid? [True, True] Translation: X:588.46, Y:9.85, Z:5.43 [[ 9.96422436e-01 -8.24446770e-02 -1.85796979e-02 5.88459167e+02] [ 8.24531068e-02 9.96594896e-01 -3.13181286e-04 9.85408159e+00] [ 1.85422522e-02 -1.21989295e-03 9.99827333e-01 5.43372189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4892541539999 meters Centerline goodness [0,1] 0.9987277088330379 Centerline is valid? [True, True] Translation: X:588.49, Y:9.85, Z:5.43 [[ 9.96386850e-01 -8.28026040e-02 -1.88937693e-02 5.88490603e+02] [ 8.28114041e-02 9.96565186e-01 -3.17481213e-04 9.85234231e+00] [ 1.88551610e-02 -1.24828546e-03 9.99821446e-01 5.43368098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5192541539999 meters Centerline goodness [0,1] 0.9987522615259842 Centerline is valid? [True, True] Translation: X:588.52, Y:9.85, Z:5.43 [[ 9.96382273e-01 -8.28018603e-02 -1.91368105e-02 5.88521942e+02] [ 8.28109084e-02 9.96565227e-01 -3.20511568e-04 9.85276957e+00] [ 1.90976189e-02 -1.26538462e-03 9.99816823e-01 5.43422952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5492541539999 meters Centerline goodness [0,1] 0.9987916666666666 Centerline is valid? [True, True] Translation: X:588.55, Y:9.85, Z:5.43 [[ 9.96413983e-01 -8.23241627e-02 -1.95424168e-02 5.88554263e+02] [ 8.23335312e-02 9.96604778e-01 -3.26061716e-04 9.85440649e+00] [ 1.95029087e-02 -1.28410373e-03 9.99808976e-01 5.43415960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.579254154 meters Centerline goodness [0,1] 0.9987721379367756 Centerline is valid? [True, True] Translation: X:588.59, Y:9.86, Z:5.44 [[ 9.96448626e-01 -8.19690253e-02 -1.92669266e-02 5.88586009e+02] [ 8.19780916e-02 9.96634080e-01 -3.20102917e-04 9.85660774e+00] [ 1.92283142e-02 -1.26049976e-03 9.99814324e-01 5.43536765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6092541539999 meters Centerline goodness [0,1] 0.9988771054273238 Centerline is valid? [True, True] Translation: X:588.62, Y:9.86, Z:5.44 [[ 9.96492815e-01 -8.13019606e-02 -1.98005487e-02 5.88617992e+02] [ 8.13114333e-02 9.96688689e-01 -3.27541999e-04 9.85894755e+00] [ 1.97616127e-02 -1.28361774e-03 9.99803896e-01 5.43563272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6392541539999 meters Centerline goodness [0,1] 0.9988738738738738 Centerline is valid? [True, True] Translation: X:588.65, Y:9.87, Z:5.44 [[ 9.96613753e-01 -7.96221256e-02 -2.05266542e-02 5.88648932e+02] [ 7.96319737e-02 9.96824275e-01 -3.38456282e-04 9.86662320e+00] [ 2.04884158e-02 -1.29726780e-03 9.99789249e-01 5.43646561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6692541539999 meters Centerline goodness [0,1] 0.9985615710146136 Centerline is valid? [True, True] Translation: X:588.68, Y:9.87, Z:5.44 [[ 9.96707248e-01 -7.84527785e-02 -2.04895743e-02 5.88679416e+02] [ 7.84623560e-02 9.96917020e-01 -3.37304267e-04 9.86604778e+00] [ 2.04528678e-02 -1.27146666e-03 9.99790010e-01 5.43637767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.699254154 meters Centerline goodness [0,1] 0.9986645800730308 Centerline is valid? [True, True] Translation: X:588.71, Y:9.87, Z:5.44 [[ 9.96845753e-01 -7.66118446e-02 -2.07164038e-02 5.88711071e+02] [ 7.66212559e-02 9.97060213e-01 -3.40239313e-04 9.87499989e+00] [ 2.06815683e-02 -1.24815076e-03 9.99785334e-01 5.43786320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7292541539999 meters Centerline goodness [0,1] 0.9986011065873265 Centerline is valid? [True, True] Translation: X:588.74, Y:9.88, Z:5.44 [[ 9.97116172e-01 -7.33033400e-02 -1.96458707e-02 5.88741749e+02] [ 7.33111767e-02 9.97309063e-01 -3.21976367e-04 9.88299587e+00] [ 1.96166069e-02 -1.11921406e-03 9.99806949e-01 5.44042902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7592541539999 meters Centerline goodness [0,1] 0.998561271085719 Centerline is valid? [True, True] Translation: X:588.77, Y:9.89, Z:5.44 [[ 9.97279815e-01 -7.11188049e-02 -1.93671206e-02 5.88773587e+02] [ 7.11260239e-02 9.97467287e-01 -3.16689412e-04 9.88657261e+00] [ 1.93405919e-02 -1.06167833e-03 9.99812390e-01 5.44117738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7892541539999 meters Centerline goodness [0,1] 0.9986834130948151 Centerline is valid? [True, True] Translation: X:588.80, Y:9.89, Z:5.44 [[ 9.97591930e-01 -6.65257860e-02 -1.96127910e-02 5.88803557e+02] [ 6.65323141e-02 9.97784219e-01 -3.20189163e-04 9.89354238e+00] [ 1.95906342e-02 -9.85466247e-04 9.99807599e-01 5.44194331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.819254154 meters Centerline goodness [0,1] 0.9984736335884247 Centerline is valid? [True, True] Translation: X:588.83, Y:9.90, Z:5.44 [[ 9.97735657e-01 -6.42291357e-02 -1.99543646e-02 5.88833662e+02] [ 6.42354388e-02 9.97934719e-01 -3.25577499e-04 9.89765940e+00] [ 1.99340648e-02 -9.56937086e-04 9.99800839e-01 5.44230331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8492541539999 meters Centerline goodness [0,1] 0.9987012714970989 Centerline is valid? [True, True] Translation: X:588.87, Y:9.90, Z:5.44 [[ 9.97877028e-01 -6.18266068e-02 -2.04672484e-02 5.88865301e+02] [ 6.18327498e-02 9.98086469e-01 -3.33168858e-04 9.90341551e+00] [ 2.04486824e-02 -9.33084699e-04 9.99790468e-01 5.44281319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8792541539999 meters Centerline goodness [0,1] 0.9987237959747269 Centerline is valid? [True, True] Translation: X:588.89, Y:9.91, Z:5.44 [[ 9.98136163e-01 -5.71773362e-02 -2.13296167e-02 5.88894591e+02] [ 5.71829779e-02 9.98363655e-01 -3.45819475e-04 9.91004236e+00] [ 2.13144871e-02 -8.74516078e-04 9.99772438e-01 5.44212183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9092541539999 meters Centerline goodness [0,1] 0.9986784972626015 Centerline is valid? [True, True] Translation: X:588.92, Y:9.91, Z:5.44 [[ 9.98255863e-01 -5.48382129e-02 -2.18632671e-02 5.88924861e+02] [ 5.48436003e-02 9.98494895e-01 -3.53565370e-04 9.91408764e+00] [ 2.18497495e-02 -8.46111577e-04 9.99760908e-01 5.44207078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.939254154 meters Centerline goodness [0,1] 0.9986424961363352 Centerline is valid? [True, True] Translation: X:588.96, Y:9.92, Z:5.44 [[ 9.98402351e-01 -5.19862953e-02 -2.21397945e-02 5.88956593e+02] [ 5.19911377e-02 9.98647482e-01 -3.57223930e-04 9.91853567e+00] [ 2.21284208e-02 -7.94419892e-04 9.99754821e-01 5.44228502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9692541539999 meters Centerline goodness [0,1] 0.9986122500473097 Centerline is valid? [True, True] Translation: X:588.99, Y:9.93, Z:5.44 [[ 9.98645827e-01 -4.66669984e-02 -2.29935366e-02 5.88987363e+02] [ 4.66708288e-02 9.98910255e-01 -3.70314395e-04 9.92984338e+00] [ 2.29857609e-02 -7.03314482e-04 9.99735545e-01 5.44415648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9992541539999 meters Centerline goodness [0,1] 0.9986122500473097 Centerline is valid? [True, True] Translation: X:589.02, Y:9.93, Z:5.44 [[ 9.98647554e-01 -4.66300303e-02 -2.29935468e-02 5.89018221e+02] [ 4.66338655e-02 9.98911981e-01 -3.69678213e-04 9.93031079e+00] [ 2.29857675e-02 -7.03099725e-04 9.99735545e-01 5.44444555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0292541539999 meters Centerline goodness [0,1] 0.9985694149327835 Centerline is valid? [True, True] Translation: X:589.05, Y:9.93, Z:5.44 [[ 9.98758169e-01 -4.41889974e-02 -2.30098438e-02 5.89049582e+02] [ 4.41922104e-02 9.99022979e-01 -3.69091000e-04 9.93392217e+00] [ 2.30036725e-02 -6.48223210e-04 9.99735170e-01 5.44492461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.059254154 meters Centerline goodness [0,1] 0.9985897408911996 Centerline is valid? [True, True] Translation: X:589.08, Y:9.94, Z:5.45 [[ 9.98951757e-01 -3.96659475e-02 -2.28473371e-02 5.89080220e+02] [ 3.96679408e-02 9.99212850e-01 -3.66141978e-04 9.94007977e+00] [ 2.28438762e-02 -5.40548641e-04 9.99738898e-01 5.44577205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.089254154 meters Centerline goodness [0,1] 0.9989488952889487 Centerline is valid? [True, True] Translation: X:589.11, Y:9.94, Z:5.45 [[ 9.99031338e-01 -3.76503383e-02 -2.27780276e-02 5.89110342e+02] [ 3.76517903e-02 9.99290853e-01 -3.65275272e-04 9.94299911e+00] [ 2.27756273e-02 -4.92712074e-04 9.99740480e-01 5.44582318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1192541539999 meters Centerline goodness [0,1] 0.99890560875513 Centerline is valid? [True, True] Translation: X:589.14, Y:9.95, Z:5.45 [[ 9.99092113e-01 -3.60674179e-02 -2.26735848e-02 5.89141157e+02] [ 3.60684454e-02 9.99349256e-01 -3.63770001e-04 9.94534722e+00] [ 2.26719503e-02 -4.54361217e-04 9.99742855e-01 5.44594016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1492541539999 meters Centerline goodness [0,1] 0.9989069659898264 Centerline is valid? [True, True] Translation: X:589.17, Y:9.95, Z:5.45 [[ 9.99142105e-01 -3.44855344e-02 -2.29303754e-02 5.89170839e+02] [ 3.44861632e-02 9.99405108e-01 -3.68135173e-04 9.94822825e+00] [ 2.29294296e-02 -4.22961317e-04 9.99736997e-01 5.44567184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.179254154 meters Centerline goodness [0,1] 0.9985256639777585 Centerline is valid? [True, True] Translation: X:589.20, Y:9.95, Z:5.45 [[ 9.99136735e-01 -3.46648542e-02 -2.28939473e-02 5.89200241e+02] [ 3.46655132e-02 9.99398903e-01 -3.68203113e-04 9.94923281e+00] [ 2.28929495e-02 -4.25745175e-04 9.99737831e-01 5.44550750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.209254154 meters Centerline goodness [0,1] 0.9986929206898005 Centerline is valid? [True, True] Translation: X:589.23, Y:9.95, Z:5.44 [[ 9.99092596e-01 -3.59473056e-02 -2.28424280e-02 5.89228568e+02] [ 3.59482725e-02 9.99353584e-01 -3.68426802e-04 9.94904853e+00] [ 2.28409063e-02 -4.53053338e-04 9.99739010e-01 5.44477469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2392541539999 meters Centerline goodness [0,1] 0.9985233313644418 Centerline is valid? [True, True] Translation: X:589.26, Y:9.95, Z:5.45 [[ 9.99040701e-01 -3.72757672e-02 -2.29824709e-02 5.89257953e+02] [ 3.72770742e-02 9.99304899e-01 -3.71694134e-04 9.95228789e+00] [ 2.29803510e-02 -4.85381706e-04 9.99735799e-01 5.44681453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2692541539999 meters Centerline goodness [0,1] 0.9986709141157359 Centerline is valid? [True, True] Translation: X:589.29, Y:9.95, Z:5.45 [[ 9.98990354e-01 -3.87316231e-02 -2.27625725e-02 5.89287485e+02] [ 3.87332693e-02 9.99249517e-01 -3.68729411e-04 9.95014549e+00] [ 2.27597711e-02 -5.13311727e-04 9.99740831e-01 5.44574803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2992541539999 meters Centerline goodness [0,1] 0.998799469239032 Centerline is valid? [True, True] Translation: X:589.32, Y:9.95, Z:5.45 [[ 9.98835631e-01 -4.23230315e-02 -2.31547508e-02 5.89317947e+02] [ 4.23256951e-02 9.99103796e-01 -3.75257710e-04 9.95058007e+00] [ 2.31498814e-02 -6.05220150e-04 9.99731822e-01 5.44691027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.329254154 meters Centerline goodness [0,1] 0.9988214744196814 Centerline is valid? [True, True] Translation: X:589.35, Y:9.95, Z:5.45 [[ 9.98769212e-01 -4.39051394e-02 -2.30737854e-02 5.89348083e+02] [ 4.39082120e-02 9.99035500e-01 -3.73697819e-04 9.94961318e+00] [ 2.30679380e-02 -6.39890787e-04 9.99733695e-01 5.44719832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3592541539999 meters Centerline goodness [0,1] 0.9988024203714598 Centerline is valid? [True, True] Translation: X:589.38, Y:9.95, Z:5.45 [[ 9.98687358e-01 -4.58758501e-02 -2.27808642e-02 5.89378917e+02] [ 4.58793763e-02 9.98946919e-01 -3.68120003e-04 9.94605422e+00] [ 2.27737619e-02 -6.77535048e-04 9.99740415e-01 5.44638084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3892541539999 meters Centerline goodness [0,1] 0.9986903253062949 Centerline is valid? [True, True] Translation: X:589.41, Y:9.95, Z:5.45 [[ 9.98666546e-01 -4.61135893e-02 -2.32091776e-02 5.89410534e+02] [ 4.61173362e-02 9.98935960e-01 -3.74063382e-04 9.95013191e+00] [ 2.32017315e-02 -6.96780859e-04 9.99730561e-01 5.44816494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4192541539999 meters Centerline goodness [0,1] 0.9984631902486264 Centerline is valid? [True, True] Translation: X:589.44, Y:9.95, Z:5.45 [[ 9.98649742e-01 -4.66977310e-02 -2.27599553e-02 5.89442162e+02] [ 4.67015044e-02 9.98908822e-01 -3.66004202e-04 9.95050203e+00] [ 2.27522117e-02 -6.97414149e-04 9.99740892e-01 5.44877493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.449254154 meters Centerline goodness [0,1] 0.9988422271339858 Centerline is valid? [True, True] Translation: X:589.47, Y:9.95, Z:5.45 [[ 9.98693819e-01 -4.59850496e-02 -2.22717713e-02 5.89473231e+02] [ 4.59885036e-02 9.98941905e-01 -3.57347943e-04 9.95226897e+00] [ 2.22646383e-02 -6.67364253e-04 9.99751889e-01 5.44987851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4792541539999 meters Centerline goodness [0,1] 0.9986270989544831 Centerline is valid? [True, True] Translation: X:589.50, Y:9.95, Z:5.45 [[ 9.98769081e-01 -4.46977505e-02 -2.15042568e-02 5.89504765e+02] [ 4.47006890e-02 9.99000365e-01 -3.44255774e-04 9.95351412e+00] [ 2.14981479e-02 -6.17423073e-04 9.99768697e-01 5.45039112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5092541539999 meters Centerline goodness [0,1] 0.9987546962725316 Centerline is valid? [True, True] Translation: X:589.53, Y:9.95, Z:5.45 [[ 9.98848018e-01 -4.31417323e-02 -2.10101687e-02 5.89534841e+02] [ 4.31442168e-02 9.99068799e-01 -3.35227148e-04 9.95461503e+00] [ 2.10050662e-02 -5.71626300e-04 9.99779206e-01 5.45068913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5392541539999 meters Centerline goodness [0,1] 0.9987759839611692 Centerline is valid? [True, True] Translation: X:589.57, Y:9.96, Z:5.45 [[ 9.99059184e-01 -3.85980540e-02 -1.97721075e-02 5.89566294e+02] [ 3.85993841e-02 9.99254717e-01 -3.14498075e-04 9.95853785e+00] [ 1.97695107e-02 -4.48988982e-04 9.99804463e-01 5.45217388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.569254154 meters Centerline goodness [0,1] 0.9985641588715978 Centerline is valid? [True, True] Translation: X:589.60, Y:9.96, Z:5.45 [[ 9.99152051e-01 -3.63812104e-02 -1.92765615e-02 5.89597740e+02] [ 3.63820756e-02 9.99337906e-01 -3.05919523e-04 9.96055604e+00] [ 1.92749283e-02 -3.95661198e-04 9.99814143e-01 5.45293616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5992541539999 meters Centerline goodness [0,1] 0.9986911547392865 Centerline is valid? [True, True] Translation: X:589.63, Y:9.96, Z:5.45 [[ 9.99295482e-01 -3.22907047e-02 -1.91271924e-02 5.89627652e+02] [ 3.22908174e-02 9.99478470e-01 -3.03034528e-04 9.96351472e+00] [ 1.91270022e-02 -3.14811641e-04 9.99817013e-01 5.45320365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6292541539999 meters Centerline goodness [0,1] 0.9989233237628778 Centerline is valid? [True, True] Translation: X:589.66, Y:9.96, Z:5.45 [[ 9.99348089e-01 -3.06774436e-02 -1.90339314e-02 5.89658132e+02] [ 3.06772659e-02 9.99529296e-01 -3.01388703e-04 9.96484191e+00] [ 1.90342179e-02 -2.82716748e-04 9.99818793e-01 5.45335023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6592541539999 meters Centerline goodness [0,1] 0.9988811247862526 Centerline is valid? [True, True] Translation: X:589.69, Y:9.97, Z:5.45 [[ 9.99375193e-01 -2.94096639e-02 -1.96034396e-02 5.89689001e+02] [ 2.94092315e-02 9.99567407e-01 -3.10406459e-04 9.96607038e+00] [ 1.96040882e-02 -2.66309578e-04 9.99807786e-01 5.45347205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.689254154 meters Centerline goodness [0,1] 0.998796325625594 Centerline is valid? [True, True] Translation: X:589.72, Y:9.96, Z:5.45 [[ 9.99380278e-01 -2.90206901e-02 -1.99213497e-02 5.89718720e+02] [ 2.90201625e-02 9.99578777e-01 -3.15633605e-04 9.96496391e+00] [ 1.99221183e-02 -2.62682806e-04 9.99801500e-01 5.45257308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7192541539999 meters Centerline goodness [0,1] 0.9989240733317862 Centerline is valid? [True, True] Translation: X:589.75, Y:9.96, Z:5.45 [[ 9.99353148e-01 -2.96895122e-02 -2.02933001e-02 5.89748179e+02] [ 2.96890909e-02 9.99559130e-01 -3.22102143e-04 9.96372500e+00] [ 2.02939165e-02 -2.80595842e-04 9.99794018e-01 5.45240446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7492541539999 meters Centerline goodness [0,1] 0.9988406163704968 Centerline is valid? [True, True] Translation: X:589.78, Y:9.96, Z:5.45 [[ 9.99312664e-01 -3.07075354e-02 -2.07664852e-02 5.89777676e+02] [ 3.07072981e-02 9.99528365e-01 -3.30380839e-04 9.96256970e+00] [ 2.07668362e-02 -3.07528895e-04 9.99784299e-01 5.45243696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7792541539999 meters Centerline goodness [0,1] 0.9988201335777342 Centerline is valid? [True, True] Translation: X:589.81, Y:9.96, Z:5.45 [[ 9.99187852e-01 -3.39520681e-02 -2.17000859e-02 5.89806791e+02] [ 3.39525514e-02 9.99423386e-01 -3.46262825e-04 9.95929817e+00] [ 2.16993296e-02 -3.90791673e-04 9.99764465e-01 5.45145682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.809254154 meters Centerline goodness [0,1] 0.9986935541648229 Centerline is valid? [True, True] Translation: X:589.84, Y:9.96, Z:5.45 [[ 9.99119470e-01 -3.55841996e-02 -2.22272371e-02 5.89835484e+02] [ 3.55850836e-02 9.99366587e-01 -3.55884440e-04 9.95704144e+00] [ 2.22258220e-02 -4.35387018e-04 9.99752881e-01 5.45047128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.839254154 meters Centerline goodness [0,1] 0.9988422271339858 Centerline is valid? [True, True] Translation: X:589.86, Y:9.96, Z:5.45 [[ 9.99045226e-01 -3.75820472e-02 -2.22761538e-02 5.89864771e+02] [ 3.75834096e-02 9.99293430e-01 -3.57643306e-04 9.95770783e+00] [ 2.22738551e-02 -4.79911976e-04 9.99751792e-01 5.45166489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8692541539999 meters Centerline goodness [0,1] 0.9989285264086726 Centerline is valid? [True, True] Translation: X:589.89, Y:9.95, Z:5.45 [[ 9.98915257e-01 -4.11062211e-02 -2.18766733e-02 5.89893955e+02] [ 4.11083622e-02 9.99154632e-01 -3.52022671e-04 9.95187205e+00] [ 2.18726497e-02 -5.47673391e-04 9.99760615e-01 5.45016621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8992541539999 meters Centerline goodness [0,1] 0.998840494160307 Centerline is valid? [True, True] Translation: X:589.92, Y:9.95, Z:5.45 [[ 9.98841102e-01 -4.33855622e-02 -2.08361871e-02 5.89924469e+02] [ 4.33879930e-02 9.99058241e-01 -3.35604789e-04 9.95042815e+00] [ 2.08311249e-02 -5.68824485e-04 9.99782847e-01 5.45112927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.929254154 meters Centerline goodness [0,1] 0.9986320685228445 Centerline is valid? [True, True] Translation: X:589.96, Y:9.95, Z:5.45 [[ 9.98654977e-01 -4.82959822e-02 -1.88609429e-02 5.89955183e+02] [ 4.82988516e-02 9.98832883e-01 -3.03620540e-04 9.94879462e+00] [ 1.88535937e-02 -6.07749720e-04 9.99822070e-01 5.45332465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.959254154 meters Centerline goodness [0,1] 0.9985692042250558 Centerline is valid? [True, True] Translation: X:589.99, Y:9.95, Z:5.45 [[ 9.98544574e-01 -5.10773469e-02 -1.73158487e-02 5.89986219e+02] [ 5.10801929e-02 9.98694516e-01 -2.78169606e-04 9.94532402e+00] [ 1.73074513e-02 -6.06732143e-04 9.99850031e-01 5.45375087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9892541539999 meters Centerline goodness [0,1] 0.9985066778841097 Centerline is valid? [True, True] Translation: X:590.02, Y:9.94, Z:5.46 [[ 9.98209730e-01 -5.78492047e-02 -1.51922753e-02 5.90016970e+02] [ 5.78521852e-02 9.98325130e-01 -2.43588804e-04 9.94377092e+00] [ 1.51809217e-02 -6.35753613e-04 9.99884561e-01 5.45551101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0192541539999 meters Centerline goodness [0,1] 0.9984032942560612 Centerline is valid? [True, True] Translation: X:590.05, Y:9.94, Z:5.46 [[ 9.98056193e-01 -6.05956617e-02 -1.45602568e-02 5.90048911e+02] [ 6.05986972e-02 9.98162183e-01 -2.33031174e-04 9.94338370e+00] [ 1.45476184e-02 -6.49754384e-04 9.99893967e-01 5.45570897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0492541539999 meters Centerline goodness [0,1] 0.9983840842794485 Centerline is valid? [True, True] Translation: X:590.08, Y:9.94, Z:5.46 [[ 9.97797519e-01 -6.49345358e-02 -1.35505111e-02 5.90080310e+02] [ 6.49375746e-02 9.97889305e-01 -2.16076140e-04 9.94190701e+00] [ 1.35359409e-02 -6.64337091e-04 9.99908164e-01 5.45704857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.079254154 meters Centerline goodness [0,1] 0.9984885380804434 Centerline is valid? [True, True] Translation: X:590.11, Y:9.94, Z:5.46 [[ 9.97374186e-01 -7.13434452e-02 -1.24437423e-02 5.90111265e+02] [ 7.13465091e-02 9.97451571e-01 -1.98100102e-04 9.93945841e+00] [ 1.24261634e-02 -6.90237642e-04 9.99922554e-01 5.45742917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1092541539999 meters Centerline goodness [0,1] 0.9985946218064353 Centerline is valid? [True, True] Translation: X:590.14, Y:9.94, Z:5.46 [[ 9.97179040e-01 -7.40515635e-02 -1.22608185e-02 5.90141277e+02] [ 7.40547423e-02 9.97254159e-01 -1.95156245e-04 9.93621629e+00] [ 1.22416039e-02 -7.13366038e-04 9.99924814e-01 5.45742811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1392541539999 meters Centerline goodness [0,1] 0.9984666764687349 Centerline is valid? [True, True] Translation: X:590.17, Y:9.94, Z:5.46 [[ 9.97011603e-01 -7.63037094e-02 -1.20667634e-02 5.90172106e+02] [ 7.63069533e-02 9.97084356e-01 -1.92018358e-04 9.93572100e+00] [ 1.20462327e-02 -7.29333417e-04 9.99927176e-01 5.45736041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1692541539999 meters Centerline goodness [0,1] 0.9984670628504231 Centerline is valid? [True, True] Translation: X:590.20, Y:9.93, Z:5.46 [[ 9.96775800e-01 -7.93090458e-02 -1.21688277e-02 5.90201961e+02] [ 7.93125699e-02 9.96849777e-01 -1.93470783e-04 9.93464772e+00] [ 1.21458372e-02 -7.72294007e-04 9.99925938e-01 5.45709163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.199254154 meters Centerline goodness [0,1] 0.9985077450135564 Centerline is valid? [True, True] Translation: X:590.23, Y:9.94, Z:5.46 [[ 9.96701684e-01 -8.02059194e-02 -1.23597390e-02 5.90234092e+02] [ 8.02096265e-02 9.96777998e-01 -1.96284901e-04 9.93812934e+00] [ 1.23356591e-02 -7.95732558e-04 9.99923596e-01 5.45738151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2292541539999 meters Centerline goodness [0,1] 0.9982802374111281 Centerline is valid? [True, True] Translation: X:590.27, Y:9.93, Z:5.46 [[ 9.96688529e-01 -8.02436153e-02 -1.31506156e-02 5.90265272e+02] [ 8.02478277e-02 9.96774921e-01 -2.07900242e-04 9.93070797e+00] [ 1.31248865e-02 -8.48096551e-04 9.99913505e-01 5.45595687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2592541539999 meters Centerline goodness [0,1] 0.9985469401507813 Centerline is valid? [True, True] Translation: X:590.30, Y:9.94, Z:5.46 [[ 9.96769843e-01 -7.92313003e-02 -1.31255638e-02 5.90297354e+02] [ 7.92354196e-02 9.96855910e-01 -2.06713823e-04 9.94214141e+00] [ 1.31006740e-02 -8.33963446e-04 9.99913835e-01 5.45636870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2892541539999 meters Centerline goodness [0,1] 0.9982502371666491 Centerline is valid? [True, True] Translation: X:590.33, Y:9.95, Z:5.46 [[ 9.97048516e-01 -7.55618290e-02 -1.35892079e-02 5.90327171e+02] [ 7.55659145e-02 9.97140786e-01 -2.13304429e-04 9.94671746e+00] [ 1.35664711e-02 -8.14206059e-04 9.99907640e-01 5.45635769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.319254154 meters Centerline goodness [0,1] 0.9982915357195588 Centerline is valid? [True, True] Translation: X:590.36, Y:9.95, Z:5.46 [[ 9.97279059e-01 -7.24447151e-02 -1.36470300e-02 5.90357392e+02] [ 7.24485445e-02 9.97372128e-01 -2.14212039e-04 9.94829430e+00] [ 1.36266859e-02 -7.75078278e-04 9.99906852e-01 5.45642315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3492541539999 meters Centerline goodness [0,1] 0.998458224212216 Centerline is valid? [True, True] Translation: X:590.39, Y:9.96, Z:5.46 [[ 9.97532933e-01 -6.88775538e-02 -1.35620608e-02 5.90388542e+02] [ 6.88810079e-02 9.97624860e-01 -2.12804544e-04 9.95634660e+00] [ 1.35445064e-02 -7.21888874e-04 9.99908008e-01 5.45685076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3792541539999 meters Centerline goodness [0,1] 0.9987509791053624 Centerline is valid? [True, True] Translation: X:590.42, Y:9.97, Z:5.46 [[ 9.98079419e-01 -6.04203788e-02 -1.36693759e-02 5.90419285e+02] [ 6.04230992e-02 9.98172832e-01 -2.14267456e-04 9.97058079e+00] [ 1.36573458e-02 -6.12090120e-04 9.99906547e-01 5.45805133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4092541539999 meters Centerline goodness [0,1] 0.9989801555262823 Centerline is valid? [True, True] Translation: X:590.45, Y:9.98, Z:5.46 [[ 9.98328202e-01 -5.62320678e-02 -1.33699789e-02 5.90450087e+02] [ 5.62342979e-02 9.98417578e-01 -2.09383973e-04 9.97811317e+00] [ 1.33605961e-02 -5.42817454e-04 9.99910596e-01 5.45867998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.439254154 meters Centerline goodness [0,1] 0.9989571583629514 Centerline is valid? [True, True] Translation: X:590.48, Y:9.99, Z:5.46 [[ 9.98773617e-01 -4.78341282e-02 -1.27733439e-02 5.90480111e+02] [ 4.78354796e-02 9.98855208e-01 -1.99873332e-04 9.98850620e+00] [ 1.27682818e-02 -4.11390821e-04 9.99918398e-01 5.45950241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4692541539999 meters Centerline goodness [0,1] 0.9989366000978328 Centerline is valid? [True, True] Translation: X:590.51, Y:9.99, Z:5.46 [[ 9.98961449e-01 -4.38348983e-02 -1.24308105e-02 5.90510938e+02] [ 4.38358703e-02 9.99038727e-01 -1.94393726e-04 9.99323936e+00] [ 1.24273823e-02 -3.50723558e-04 9.99922716e-01 5.45992218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4992541539999 meters Centerline goodness [0,1] 0.9988296627300777 Centerline is valid? [True, True] Translation: X:590.54, Y:10.00, Z:5.46 [[ 9.99131764e-01 -3.99020829e-02 -1.19809354e-02 5.90542146e+02] [ 3.99027083e-02 9.99203552e-01 -1.86935248e-04 9.99821176e+00] [ 1.19788523e-02 -2.91298826e-04 9.99928209e-01 5.46073632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5292541539999 meters Centerline goodness [0,1] 0.9990821967514034 Centerline is valid? [True, True] Translation: X:590.57, Y:10.00, Z:5.46 [[ 9.99275911e-01 -3.63360652e-02 -1.12846519e-02 5.90574334e+02] [ 3.63363978e-02 9.99339600e-01 -1.75612956e-04 1.00034309e+01] [ 1.12835806e-02 -2.34557803e-04 9.99936311e-01 5.46175030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.559254154 meters Centerline goodness [0,1] 0.9989302066840686 Centerline is valid? [True, True] Translation: X:590.60, Y:10.01, Z:5.46 [[ 9.99480832e-01 -3.03062003e-02 -1.09361745e-02 5.90604482e+02] [ 3.03061593e-02 9.99540648e-01 -1.69503145e-04 1.00110146e+01] [ 1.09362880e-02 -1.62018304e-04 9.99940184e-01 5.46241341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.589254154 meters Centerline goodness [0,1] 0.9992718082714014 Centerline is valid? [True, True] Translation: X:590.64, Y:10.01, Z:5.46 [[ 9.99551448e-01 -2.78293506e-02 -1.10648019e-02 5.90636896e+02] [ 2.78291602e-02 9.99612679e-01 -1.71203816e-04 1.00140869e+01] [ 1.10652808e-02 -1.36797122e-04 9.99938769e-01 5.46247698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6192541539999 meters Centerline goodness [0,1] 0.9991845493562231 Centerline is valid? [True, True] Translation: X:590.67, Y:10.02, Z:5.46 [[ 9.99657802e-01 -2.34488873e-02 -1.15943319e-02 5.90667650e+02] [ 2.34483950e-02 9.99725033e-01 -1.78412342e-04 1.00193355e+01] [ 1.15953274e-02 -9.35171857e-05 9.99932768e-01 5.46221584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6492541539999 meters Centerline goodness [0,1] 0.9991214160202289 Centerline is valid? [True, True] Translation: X:590.70, Y:10.02, Z:5.46 [[ 9.99689755e-01 -2.16718038e-02 -1.22771090e-02 5.90699402e+02] [ 2.16711348e-02 9.99765136e-01 -1.87538428e-04 1.00219664e+01] [ 1.22782899e-02 -7.85786403e-05 9.99924616e-01 5.46209022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.679254154 meters Centerline goodness [0,1] 0.9990326949119752 Centerline is valid? [True, True] Translation: X:590.73, Y:10.02, Z:5.46 [[ 9.99717298e-01 -2.02343634e-02 -1.24857701e-02 5.90730734e+02] [ 2.02335649e-02 9.99795262e-01 -1.90279506e-04 1.00245860e+01] [ 1.24870640e-02 -6.24059261e-05 9.99922032e-01 5.46237216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.709254154 meters Centerline goodness [0,1] 0.9991830592282059 Centerline is valid? [True, True] Translation: X:590.76, Y:10.03, Z:5.46 [[ 9.99752664e-01 -1.83961321e-02 -1.24976977e-02 5.90761734e+02] [ 1.83951942e-02 9.99830776e-01 -1.90005030e-04 1.00273940e+01] [ 1.24990781e-02 -3.99395408e-05 9.99921883e-01 5.46246263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7392541539999 meters Centerline goodness [0,1] 0.999200656757691 Centerline is valid? [True, True] Translation: X:590.79, Y:10.03, Z:5.46 [[ 9.99751178e-01 -1.83880996e-02 -1.26277366e-02 5.90791964e+02] [ 1.83871465e-02 9.99830924e-01 -1.91577336e-04 1.00283338e+01] [ 1.26291243e-02 -4.06583754e-05 9.99920249e-01 5.46279591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7692541539999 meters Centerline goodness [0,1] 0.9993091984543315 Centerline is valid? [True, True] Translation: X:590.82, Y:10.03, Z:5.46 [[ 9.99730884e-01 -1.95819691e-02 -1.24380898e-02 5.90822292e+02] [ 1.95811396e-02 9.99808253e-01 -1.88478072e-04 1.00284109e+01] [ 1.24393956e-02 -5.51246229e-05 9.99922626e-01 5.46315646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7992541539999 meters Centerline goodness [0,1] 0.9992020186770764 Centerline is valid? [True, True] Translation: X:590.85, Y:10.03, Z:5.46 [[ 9.99711831e-01 -2.08038729e-02 -1.19771965e-02 5.90853600e+02] [ 2.08031945e-02 9.99783574e-01 -1.81239801e-04 1.00282937e+01] [ 1.19783748e-02 -6.79763752e-05 9.99928254e-01 5.46357053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.829254154 meters Centerline goodness [0,1] 0.9993318677529204 Centerline is valid? [True, True] Translation: X:590.88, Y:10.03, Z:5.46 [[ 9.99680730e-01 -2.24656837e-02 -1.15642018e-02 5.90884632e+02] [ 2.24651670e-02 9.99747611e-01 -1.74590325e-04 1.00277723e+01] [ 1.15652054e-02 -8.52571403e-05 9.99933117e-01 5.46422282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8592541539999 meters Centerline goodness [0,1] 0.9991822505326131 Centerline is valid? [True, True] Translation: X:590.92, Y:10.03, Z:5.47 [[ 9.99600259e-01 -2.63074675e-02 -1.03556183e-02 5.90915564e+02] [ 2.63072629e-02 9.99653892e-01 -1.55993013e-04 1.00253556e+01] [ 1.03561379e-02 -1.16497317e-04 9.99946367e-01 5.46507445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8892541539999 meters Centerline goodness [0,1] 0.9991836033171486 Centerline is valid? [True, True] Translation: X:590.95, Y:10.02, Z:5.47 [[ 9.99546307e-01 -2.85510243e-02 -9.59264958e-03 5.90947692e+02] [ 2.85509566e-02 9.99592328e-01 -1.44022427e-04 1.00239745e+01] [ 9.59285092e-03 -1.29922238e-04 9.99953979e-01 5.46580668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9192541539999 meters Centerline goodness [0,1] 0.9991836033171486 Centerline is valid? [True, True] Translation: X:590.98, Y:10.02, Z:5.47 [[ 9.99548309e-01 -2.84808568e-02 -9.59265965e-03 5.90979386e+02] [ 2.84807924e-02 9.99594330e-01 -1.43348789e-04 1.00243855e+01] [ 9.59285089e-03 -1.29922508e-04 9.99953979e-01 5.46610338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.949254154 meters Centerline goodness [0,1] 0.9991842167407312 Centerline is valid? [True, True] Translation: X:591.01, Y:10.02, Z:5.47 [[ 9.99376454e-01 -3.44002968e-02 -7.95755236e-03 5.91011443e+02] [ 3.44004435e-02 9.99408123e-01 -1.18471698e-04 1.00216439e+01] [ 7.95691792e-03 -1.55345505e-04 9.99968331e-01 5.46733459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9792541539999 meters Centerline goodness [0,1] 0.9991219428620379 Centerline is valid? [True, True] Translation: X:591.04, Y:10.02, Z:5.47 [[ 9.99279783e-01 -3.72370287e-02 -7.30201798e-03 5.91043034e+02] [ 3.72372317e-02 9.99306448e-01 -1.08197297e-04 1.00186536e+01] [ 7.30098259e-03 -1.63787564e-04 9.99973334e-01 5.46796751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0092541539999 meters Centerline goodness [0,1] 0.9990365263563568 Centerline is valid? [True, True] Translation: X:591.08, Y:10.02, Z:5.47 [[ 9.99159191e-01 -4.04308237e-02 -6.80137562e-03 5.91075200e+02] [ 4.04310757e-02 9.99182325e-01 -1.00489681e-04 1.00172676e+01] [ 6.79987718e-03 -1.74581744e-04 9.99976865e-01 5.46892764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0392541539999 meters Centerline goodness [0,1] 0.9990379887551575 Centerline is valid? [True, True] Translation: X:591.10, Y:10.01, Z:5.47 [[ 9.98906339e-01 -4.64091489e-02 -5.68472862e-03 5.91104953e+02] [ 4.64094233e-02 9.98922499e-01 -8.37173560e-05 1.00087156e+01] [ 5.68248857e-03 -1.80199179e-04 9.99983838e-01 5.47019321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.069254154 meters Centerline goodness [0,1] 0.9992091989398991 Centerline is valid? [True, True] Translation: X:591.14, Y:10.01, Z:5.47 [[ 9.98762434e-01 -4.94213378e-02 -5.57967400e-03 5.91136846e+02] [ 4.94216516e-02 9.98778000e-01 -8.17235867e-05 1.00129883e+01] [ 5.57689452e-03 -1.94134256e-04 9.99984430e-01 5.46987492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0992541539999 meters Centerline goodness [0,1] 0.9990414314623496 Centerline is valid? [True, True] Translation: X:591.17, Y:10.00, Z:5.47 [[ 9.98488532e-01 -5.46902211e-02 -5.44337721e-03 5.91167203e+02] [ 5.46906000e-02 9.98503346e-01 -7.93270520e-05 1.00002740e+01] [ 5.43956877e-03 -2.18494414e-04 9.99985182e-01 5.47056981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1292541539999 meters Centerline goodness [0,1] 0.9989129276350848 Centerline is valid? [True, True] Translation: X:591.20, Y:10.00, Z:5.47 [[ 9.98367846e-01 -5.68517976e-02 -5.43290067e-03 5.91199633e+02] [ 5.68522093e-02 9.98382602e-01 -7.87525126e-05 9.99793698e+00] [ 5.42859073e-03 -2.30248429e-04 9.99985239e-01 5.47073720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1592541539999 meters Centerline goodness [0,1] 0.9989766767577709 Centerline is valid? [True, True] Translation: X:591.23, Y:10.01, Z:5.47 [[ 9.98259986e-01 -5.87438023e-02 -5.11523029e-03 5.91231630e+02] [ 5.87441935e-02 9.98273066e-01 -7.38772236e-05 1.00057607e+01] [ 5.11073645e-03 -2.26741402e-04 9.99986914e-01 5.46990377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.189254154 meters Centerline goodness [0,1] 0.9989136917440573 Centerline is valid? [True, True] Translation: X:591.26, Y:10.00, Z:5.47 [[ 9.98149248e-01 -6.06209164e-02 -4.81484831e-03 5.91262369e+02] [ 6.06212850e-02 9.98160836e-01 -6.94694985e-05 1.00014339e+01] [ 4.81020432e-03 -2.22541364e-04 9.99988406e-01 5.47035932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2192541539999 meters Centerline goodness [0,1] 0.9988911397803604 Centerline is valid? [True, True] Translation: X:591.30, Y:10.01, Z:5.47 [[ 9.98156432e-01 -6.05103176e-02 -4.71577097e-03 5.91295475e+02] [ 6.05106731e-02 9.98167548e-01 -6.73779965e-05 1.00054022e+01] [ 4.71120661e-03 -2.18100695e-04 9.99988878e-01 5.47029632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2492541539999 meters Centerline goodness [0,1] 0.9989358985272836 Centerline is valid? [True, True] Translation: X:591.33, Y:10.01, Z:5.47 [[ 9.98205602e-01 -5.97101240e-02 -4.50305174e-03 5.91326801e+02] [ 5.97104413e-02 9.98215738e-01 -6.40541845e-05 1.00050434e+01] [ 4.49884180e-03 -2.04939961e-04 9.99989859e-01 5.47106163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2792541539999 meters Centerline goodness [0,1] 0.9988269419442904 Centerline is valid? [True, True] Translation: X:591.36, Y:10.01, Z:5.47 [[ 9.98262326e-01 -5.87695367e-02 -4.29767751e-03 5.91357901e+02] [ 5.87698177e-02 9.98271559e-01 -6.09904323e-05 1.00058406e+01] [ 4.29383360e-03 -1.91689273e-04 9.99990763e-01 5.47158107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.309254154 meters Centerline goodness [0,1] 0.9988510393838167 Centerline is valid? [True, True] Translation: X:591.39, Y:10.01, Z:5.47 [[ 9.98344182e-01 -5.73663992e-02 -4.24160126e-03 5.91390614e+02] [ 5.73666675e-02 9.98353175e-01 -5.84952687e-05 1.00081610e+01] [ 4.23797175e-03 -1.84928118e-04 9.99991003e-01 5.47201263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.339254154 meters Centerline goodness [0,1] 0.9989965198454214 Centerline is valid? [True, True] Translation: X:591.42, Y:10.01, Z:5.47 [[ 9.98487595e-01 -5.47870443e-02 -4.57200958e-03 5.91421650e+02] [ 5.47873324e-02 9.98498044e-01 -6.23118948e-05 1.00112727e+01] [ 4.56855651e-03 -1.88270555e-04 9.99989546e-01 5.47255718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3692541539999 meters Centerline goodness [0,1] 0.9990394467213115 Centerline is valid? [True, True] Translation: X:591.45, Y:10.02, Z:5.47 [[ 9.98578034e-01 -5.31301976e-02 -4.36934547e-03 5.91454056e+02] [ 5.31304447e-02 9.98587579e-01 -5.95999974e-05 1.00160874e+01] [ 4.36634067e-03 -1.72630019e-04 9.99990453e-01 5.47243245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3992541539999 meters Centerline goodness [0,1] 0.99899501785447 Centerline is valid? [True, True] Translation: X:591.48, Y:10.02, Z:5.47 [[ 9.98757527e-01 -4.96093142e-02 -4.72413220e-03 5.91484231e+02] [ 4.96095668e-02 9.98768685e-01 -6.37685624e-05 1.00195086e+01] [ 4.72147882e-03 -1.70672821e-04 9.99988839e-01 5.47305458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.429254154 meters Centerline goodness [0,1] 0.9990579167112729 Centerline is valid? [True, True] Translation: X:591.52, Y:10.02, Z:5.47 [[ 9.98853938e-01 -4.75820954e-02 -5.17253345e-03 5.91515991e+02] [ 4.75823705e-02 9.98867315e-01 -6.99363130e-05 1.00212361e+01] [ 5.17000231e-03 -1.76265241e-04 9.99986620e-01 5.47317899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.459254154 meters Centerline goodness [0,1] 0.9990586624449104 Centerline is valid? [True, True] Translation: X:591.55, Y:10.02, Z:5.47 [[ 9.98955822e-01 -4.54157855e-02 -4.96716298e-03 5.91547450e+02] [ 4.54160125e-02 9.98968158e-01 -6.71384500e-05 1.00221974e+01] [ 4.96508680e-03 -1.58520391e-04 9.99987661e-01 5.47355959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4892541539999 meters Centerline goodness [0,1] 0.999185981748854 Centerline is valid? [True, True] Translation: X:591.58, Y:10.03, Z:5.47 [[ 9.99148683e-01 -4.07364210e-02 -6.51555226e-03 5.91578901e+02] [ 4.07367231e-02 9.99169911e-01 -8.63924800e-05 1.00281893e+01] [ 6.51366309e-03 -1.79103316e-04 9.99978770e-01 5.47242047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5192541539999 meters Centerline goodness [0,1] 0.9993127590576208 Centerline is valid? [True, True] Translation: X:591.61, Y:10.03, Z:5.47 [[ 9.99251360e-01 -3.80772852e-02 -6.84402580e-03 5.91610625e+02] [ 3.80775574e-02 9.99274783e-01 -9.05721183e-05 1.00303852e+01] [ 6.84251113e-03 -1.70099473e-04 9.99976575e-01 5.47228574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5492541539999 meters Centerline goodness [0,1] 0.9989679194977208 Centerline is valid? [True, True] Translation: X:591.64, Y:10.04, Z:5.47 [[ 9.99445552e-01 -3.20317500e-02 -9.08602988e-03 5.91642407e+02] [ 3.20319880e-02 9.99486837e-01 -1.19370425e-04 1.00373210e+01] [ 9.08519091e-03 -1.71739359e-04 9.99958714e-01 5.46966555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.579254154 meters Centerline goodness [0,1] 0.9990977831242481 Centerline is valid? [True, True] Translation: X:591.67, Y:10.04, Z:5.47 [[ 9.99525465e-01 -2.93136521e-02 -9.46327955e-03 5.91674720e+02] [ 2.93137936e-02 9.99570251e-01 -1.23780776e-04 1.00402750e+01] [ 9.46284117e-03 -1.53682585e-04 9.99955215e-01 5.46993853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6092541539999 meters Centerline goodness [0,1] 0.9991591384403096 Centerline is valid? [True, True] Translation: X:591.71, Y:10.04, Z:5.47 [[ 9.99595369e-01 -2.67564050e-02 -9.65362967e-03 5.91707159e+02] [ 2.67564400e-02 9.99641974e-01 -1.25552082e-04 1.00429876e+01] [ 9.65353275e-03 -1.32795483e-04 9.99953395e-01 5.47042803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6392541539999 meters Centerline goodness [0,1] 0.9992648171773304 Centerline is valid? [True, True] Translation: X:591.74, Y:10.05, Z:5.47 [[ 9.99715423e-01 -2.13827478e-02 -1.05760063e-02 5.91738706e+02] [ 2.13824979e-02 9.99771359e-01 -1.36713997e-04 1.00474889e+01] [ 1.05765115e-02 -8.94663420e-05 9.99944063e-01 5.46995559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6692541539999 meters Centerline goodness [0,1] 0.9992209141274239 Centerline is valid? [True, True] Translation: X:591.77, Y:10.05, Z:5.47 [[ 9.99763966e-01 -1.88026731e-02 -1.08845031e-02 5.91769485e+02] [ 1.88022640e-02 9.99823212e-01 -1.39926344e-04 1.00496740e+01] [ 1.08852099e-02 -6.47599848e-05 9.99940752e-01 5.47002596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.699254154 meters Centerline goodness [0,1] 0.9994156476571799 Centerline is valid? [True, True] Translation: X:591.80, Y:10.05, Z:5.47 [[ 9.99799614e-01 -1.66629922e-02 -1.10940051e-02 5.91800418e+02] [ 1.66624418e-02 9.99861162e-01 -1.42048990e-04 1.00517066e+01] [ 1.10948318e-02 -4.28326890e-05 9.99938450e-01 5.46997138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7292541539999 meters Centerline goodness [0,1] 0.9997399107026745 Centerline is valid? [True, True] Translation: X:591.83, Y:10.05, Z:5.47 [[ 9.99839889e-01 -1.27500125e-02 -1.25551908e-02 5.91831405e+02] [ 1.27490051e-02 9.99918715e-01 -1.60273486e-04 1.00544548e+01] [ 1.25562138e-02 1.81632474e-07 9.99921168e-01 5.46885139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7592541539999 meters Centerline goodness [0,1] 0.9994357883772406 Centerline is valid? [True, True] Translation: X:591.86, Y:10.06, Z:5.47 [[ 9.99843807e-01 -1.07656571e-02 -1.40165008e-02 5.91861387e+02] [ 1.07642094e-02 9.99942048e-01 -1.78723764e-04 1.00558956e+01] [ 1.40176126e-02 2.78192985e-05 9.99901748e-01 5.46743820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7892541539999 meters Centerline goodness [0,1] 0.999501560332871 Centerline is valid? [True, True] Translation: X:591.89, Y:10.06, Z:5.47 [[ 9.99854174e-01 -9.40854974e-03 -1.42516550e-02 5.91889678e+02] [ 9.40689106e-03 9.99955737e-01 -1.83417782e-04 1.00568541e+01] [ 1.42527498e-02 4.93272690e-05 9.99898423e-01 5.46753259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.819254154 meters Centerline goodness [0,1] 0.9995663486556808 Centerline is valid? [True, True] Translation: X:591.92, Y:10.06, Z:5.47 [[ 9.99841250e-01 -8.92467908e-03 -1.54215741e-02 5.91918235e+02] [ 8.92261246e-03 9.99960172e-01 -2.02808955e-04 1.00563576e+01] [ 1.54227699e-02 6.51760296e-05 9.99881060e-01 5.46676939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8492541539999 meters Centerline goodness [0,1] 0.9996106087483234 Centerline is valid? [True, True] Translation: X:591.95, Y:10.05, Z:5.47 [[ 9.99812775e-01 -1.00480119e-02 -1.65364223e-02 5.91946565e+02] [ 1.00457373e-02 9.99949516e-01 -2.20615223e-04 1.00538237e+01] [ 1.65378042e-02 5.44533641e-05 9.99863240e-01 5.46689036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8792541539999 meters Centerline goodness [0,1] 0.999718997903292 Centerline is valid? [True, True] Translation: X:591.97, Y:10.05, Z:5.47 [[ 9.99786455e-01 -1.12659751e-02 -1.73240549e-02 5.91973966e+02] [ 1.12636284e-02 9.99936536e-01 -2.33029807e-04 1.00524364e+01] [ 1.73255808e-02 3.78483281e-05 9.99849900e-01 5.46755802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9092541539999 meters Centerline goodness [0,1] 0.9998270606800839 Centerline is valid? [True, True] Translation: X:592.00, Y:10.05, Z:5.47 [[ 9.99757600e-01 -1.22852692e-02 -1.82705775e-02 5.92001587e+02] [ 1.22827590e-02 9.99924533e-01 -2.49602004e-04 1.00508612e+01] [ 1.82722651e-02 2.51284004e-05 9.99833048e-01 5.46705153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.939254154 meters Centerline goodness [0,1] 0.9997408375267262 Centerline is valid? [True, True] Translation: X:592.03, Y:10.05, Z:5.47 [[ 9.99679898e-01 -1.40293576e-02 -2.10541786e-02 5.92029307e+02] [ 1.40263113e-02 9.99901584e-01 -2.92359014e-04 1.00467967e+01] [ 2.10562082e-02 -3.04703429e-06 9.99778293e-01 5.46512157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9692541539999 meters Centerline goodness [0,1] 0.999676256663717 Centerline is valid? [True, True] Translation: X:592.06, Y:10.04, Z:5.47 [[ 9.99651135e-01 -1.46560704e-02 -2.19728884e-02 5.92057743e+02] [ 1.46528052e-02 9.99892594e-01 -3.09603609e-04 1.00446630e+01] [ 2.19750659e-02 -1.24688541e-05 9.99758519e-01 5.46504190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9992541539999 meters Centerline goodness [0,1] 0.9996551947072387 Centerline is valid? [True, True] Translation: X:592.09, Y:10.04, Z:5.46 [[ 9.99606231e-01 -1.47039747e-02 -2.38993014e-02 5.92086958e+02] [ 1.46999763e-02 9.99891891e-01 -3.42987324e-04 1.00428356e+01] [ 2.39017609e-02 -8.46689751e-06 9.99714312e-01 5.46375142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0292541539999 meters Centerline goodness [0,1] 0.9996119686125722 Centerline is valid? [True, True] Translation: X:592.12, Y:10.04, Z:5.46 [[ 9.99583885e-01 -1.53888311e-02 -2.43975434e-02 5.92115173e+02] [ 1.53847031e-02 9.99881585e-01 -3.56904725e-04 1.00380983e+01] [ 2.44001467e-02 -1.85927498e-05 9.99702272e-01 5.46446807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.059254154 meters Centerline goodness [0,1] 0.999570308303792 Centerline is valid? [True, True] Translation: X:592.14, Y:10.04, Z:5.46 [[ 9.99570797e-01 -1.54847660e-02 -2.48685217e-02 5.92142812e+02] [ 1.54803272e-02 9.99880104e-01 -3.71006279e-04 1.00359277e+01] [ 2.48712850e-02 -1.41258112e-05 9.99690662e-01 5.46420670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.089254154 meters Centerline goodness [0,1] 0.999849704777241 Centerline is valid? [True, True] Translation: X:592.17, Y:10.03, Z:5.46 [[ 9.99550849e-01 -1.55130045e-02 -2.56407104e-02 5.92170437e+02] [ 1.55081868e-02 9.99879666e-01 -3.86749442e-04 1.00309525e+01] [ 2.56436245e-02 -1.10651916e-05 9.99671148e-01 5.46378432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1192541539999 meters Centerline goodness [0,1] 0.9997642166634514 Centerline is valid? [True, True] Translation: X:592.20, Y:10.03, Z:5.46 [[ 9.99540977e-01 -1.58647576e-02 -2.58097761e-02 5.92198191e+02] [ 1.58598488e-02 9.99874147e-01 -3.94895223e-04 1.00283991e+01] [ 2.58127928e-02 -1.46251899e-05 9.99666794e-01 5.46446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1492541539999 meters Centerline goodness [0,1] 0.9998500845951214 Centerline is valid? [True, True] Translation: X:592.23, Y:10.03, Z:5.46 [[ 9.99529823e-01 -1.64837689e-02 -2.58538037e-02 5.92226184e+02] [ 1.64788566e-02 9.99864133e-01 -4.03060623e-04 1.00255954e+01] [ 2.58569349e-02 -2.31700099e-05 9.99665653e-01 5.46476785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1792541539999 meters Centerline goodness [0,1] 0.9994877158530598 Centerline is valid? [True, True] Translation: X:592.26, Y:10.02, Z:5.46 [[ 9.99478980e-01 -1.81404703e-02 -2.66963024e-02 5.92255152e+02] [ 1.81356319e-02 9.99835446e-01 -4.23368888e-04 1.00189334e+01] [ 2.66995896e-02 -6.10060107e-05 9.99643501e-01 5.46443280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.209254154 meters Centerline goodness [0,1] 0.9995531914893617 Centerline is valid? [True, True] Translation: X:592.28, Y:10.02, Z:5.46 [[ 9.99460848e-01 -1.91445040e-02 -2.66739632e-02 5.92282508e+02] [ 1.91399104e-02 9.99816724e-01 -4.27538908e-04 1.00151375e+01] [ 2.66772595e-02 -8.32288669e-05 9.99644095e-01 5.46342709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2392541539999 meters Centerline goodness [0,1] 0.9995739876882442 Centerline is valid? [True, True] Translation: X:592.31, Y:10.01, Z:5.46 [[ 9.99417002e-01 -2.03240282e-02 -2.74333599e-02 5.92311099e+02] [ 2.03194577e-02 9.99793439e-01 -4.45390470e-04 1.00113693e+01] [ 2.74367454e-02 -1.12300188e-04 9.99623535e-01 5.46268392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2692541539999 meters Centerline goodness [0,1] 0.9996605782897389 Centerline is valid? [True, True] Translation: X:592.34, Y:10.00, Z:5.46 [[ 9.99322564e-01 -2.37984737e-02 -2.80721384e-02 5.92340314e+02] [ 2.37948565e-02 9.99716755e-01 -4.62947483e-04 1.00033329e+01] [ 2.80752046e-02 -2.05338640e-04 9.99605793e-01 5.46397821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2992541539999 meters Centerline goodness [0,1] 0.9995548961424332 Centerline is valid? [True, True] Translation: X:592.37, Y:10.00, Z:5.46 [[ 9.99273260e-01 -2.54734620e-02 -2.83558636e-02 5.92368550e+02] [ 2.54703273e-02 9.99675467e-01 -4.71789862e-04 9.99874152e+00] [ 2.83586793e-02 -2.50786134e-04 9.99597780e-01 5.46219032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.329254154 meters Centerline goodness [0,1] 0.9994929220367631 Centerline is valid? [True, True] Translation: X:592.40, Y:9.99, Z:5.46 [[ 9.99188340e-01 -2.84135987e-02 -2.85539522e-02 5.92396048e+02] [ 2.84115162e-02 9.99596197e-01 -4.78722829e-04 9.99042870e+00] [ 2.85560242e-02 -3.32926806e-04 9.99592138e-01 5.46171428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3592541539999 meters Centerline goodness [0,1] 0.9990084388185654 Centerline is valid? [True, True] Translation: X:592.43, Y:9.99, Z:5.46 [[ 9.99133838e-01 -3.00456819e-02 -2.87894210e-02 5.92425146e+02] [ 3.00440609e-02 9.99548456e-01 -4.88965623e-04 9.98775291e+00] [ 2.87911126e-02 -3.76409019e-04 9.99585379e-01 5.46278956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3892541539999 meters Centerline goodness [0,1] 0.999387668918919 Centerline is valid? [True, True] Translation: X:592.45, Y:9.98, Z:5.46 [[ 9.99088013e-01 -3.15357267e-02 -2.87861146e-02 5.92453987e+02] [ 3.15345144e-02 9.99502540e-01 -4.96197522e-04 9.98429544e+00] [ 2.87874426e-02 -4.12011150e-04 9.99585471e-01 5.46403379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4192541539999 meters Centerline goodness [0,1] 0.9995576339737108 Centerline is valid? [True, True] Translation: X:592.48, Y:9.98, Z:5.46 [[ 9.99093275e-01 -3.13748566e-02 -2.87792561e-02 5.92482444e+02] [ 3.13733482e-02 9.99507608e-01 -5.04065786e-04 9.97871086e+00] [ 2.87809004e-02 -3.99292886e-04 9.99585664e-01 5.46436239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.449254154 meters Centerline goodness [0,1] 0.999304955875229 Centerline is valid? [True, True] Translation: X:592.51, Y:9.98, Z:5.46 [[ 9.99119744e-01 -3.05364408e-02 -2.87621652e-02 5.92510050e+02] [ 3.05344591e-02 9.99533586e-01 -5.08209623e-04 9.97707602e+00] [ 2.87642690e-02 -3.70474889e-04 9.99586154e-01 5.46448930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4792541539999 meters Centerline goodness [0,1] 0.9994324631101021 Centerline is valid? [True, True] Translation: X:592.54, Y:9.98, Z:5.47 [[ 9.99223976e-01 -2.71074713e-02 -2.85767505e-02 5.92538066e+02] [ 2.71040405e-02 9.99632489e-01 -5.07469942e-04 9.97545014e+00] [ 2.85800045e-02 -2.67469271e-04 9.99591472e-01 5.46516441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5092541539999 meters Centerline goodness [0,1] 0.9993273071263401 Centerline is valid? [True, True] Translation: X:592.57, Y:9.98, Z:5.46 [[ 9.99285486e-01 -2.42492329e-02 -2.89912351e-02 5.92567164e+02] [ 2.42443346e-02 9.99705927e-01 -5.20508846e-04 9.97569424e+00] [ 2.89953315e-02 -1.82736268e-04 9.99579530e-01 5.46428152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5392541539999 meters Centerline goodness [0,1] 0.9993690188242718 Centerline is valid? [True, True] Translation: X:592.60, Y:9.98, Z:5.47 [[ 9.99422380e-01 -2.06861701e-02 -2.69627302e-02 5.92596175e+02] [ 2.06804614e-02 9.99786016e-01 -4.90592039e-04 9.97554049e+00] [ 2.69671091e-02 -6.72930380e-05 9.99636319e-01 5.46844448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.569254154 meters Centerline goodness [0,1] 0.9994116287377335 Centerline is valid? [True, True] Translation: X:592.62, Y:9.98, Z:5.47 [[ 9.99465937e-01 -1.88911119e-02 -2.66639631e-02 5.92624247e+02] [ 1.88847887e-02 9.99821547e-01 -4.88962863e-04 9.97552760e+00] [ 2.66684419e-02 -1.48415821e-05 9.99644334e-01 5.46932843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5992541539999 meters Centerline goodness [0,1] 0.9993067809427779 Centerline is valid? [True, True] Translation: X:592.65, Y:9.98, Z:5.47 [[ 9.99502286e-01 -1.75332429e-02 -2.62252827e-02 5.92651766e+02] [ 1.75265071e-02 9.99846281e-01 -4.86698823e-04 9.97506343e+00] [ 2.62297848e-02 2.68189834e-05 9.99655940e-01 5.47149448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6292541539999 meters Centerline goodness [0,1] 0.9994545149378986 Centerline is valid? [True, True] Translation: X:592.68, Y:9.97, Z:5.47 [[ 9.99530902e-01 -1.68726856e-02 -2.55595263e-02 5.92679642e+02] [ 1.68659454e-02 9.99857645e-01 -4.79278011e-04 9.97331528e+00] [ 2.55639745e-02 4.79676069e-05 9.99673187e-01 5.47297608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6592541539999 meters Centerline goodness [0,1] 0.9995383485468471 Centerline is valid? [True, True] Translation: X:592.71, Y:9.97, Z:5.47 [[ 9.99517761e-01 -1.75386555e-02 -2.56250245e-02 5.92706815e+02] [ 1.75320138e-02 9.99846185e-01 -4.83846580e-04 9.97288128e+00] [ 2.56295690e-02 3.43549670e-05 9.99671508e-01 5.47215865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.689254154 meters Centerline goodness [0,1] 0.9990135169171355 Centerline is valid? [True, True] Translation: X:592.73, Y:9.97, Z:5.47 [[ 9.99471448e-01 -2.01461126e-02 -2.55138910e-02 5.92734934e+02] [ 2.01402348e-02 9.99797046e-01 -4.87350971e-04 9.96962569e+00] [ 2.55185311e-02 -2.67623755e-05 9.99674349e-01 5.47278047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7192541539999 meters Centerline goodness [0,1] 0.9990975108088822 Centerline is valid? [True, True] Translation: X:592.76, Y:9.97, Z:5.47 [[ 9.99429007e-01 -2.10269505e-02 -2.64485938e-02 5.92763908e+02] [ 2.10207641e-02 9.99778908e-01 -5.11945675e-04 9.96740803e+00] [ 2.64535109e-02 -4.43162928e-05 9.99650044e-01 5.47150888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7492541539999 meters Centerline goodness [0,1] 0.9989720782898739 Centerline is valid? [True, True] Translation: X:592.79, Y:9.97, Z:5.47 [[ 9.99404174e-01 -2.39591164e-02 -2.48446804e-02 5.92792581e+02] [ 2.39544193e-02 9.99712933e-01 -4.86700051e-04 9.96527765e+00] [ 2.48492092e-02 -1.08729829e-04 9.99691205e-01 5.47385133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7792541539999 meters Centerline goodness [0,1] 0.999266139685069 Centerline is valid? [True, True] Translation: X:592.82, Y:9.96, Z:5.48 [[ 9.99326981e-01 -2.78260752e-02 -2.39017721e-02 5.92820277e+02] [ 2.78226833e-02 9.99612762e-01 -4.74515896e-04 9.96275152e+00] [ 2.39057203e-02 -1.90814898e-04 9.99714199e-01 5.47754772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.809254154 meters Centerline goodness [0,1] 0.999266139685069 Centerline is valid? [True, True] Translation: X:592.85, Y:9.96, Z:5.48 [[ 9.99319029e-01 -2.81103316e-02 -2.39016358e-02 5.92847686e+02] [ 2.81068585e-02 9.99604808e-01 -4.81311133e-04 9.96337786e+00] [ 2.39057199e-02 -1.90816522e-04 9.99714199e-01 5.47780520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.839254154 meters Centerline goodness [0,1] 0.9988911669944349 Centerline is valid? [True, True] Translation: X:592.88, Y:9.96, Z:5.48 [[ 9.99261113e-01 -2.93422000e-02 -2.48246481e-02 5.92876008e+02] [ 2.93386668e-02 9.99569400e-01 -5.06612269e-04 9.96316932e+00] [ 2.48288237e-02 -2.22084138e-04 9.99691693e-01 5.47834465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8692541539999 meters Centerline goodness [0,1] 0.9991620579855874 Centerline is valid? [True, True] Translation: X:592.90, Y:9.96, Z:5.48 [[ 9.99160668e-01 -3.42216870e-02 -2.25129932e-02 5.92904697e+02] [ 3.42198944e-02 9.99414220e-01 -4.64974763e-04 9.96089938e+00] [ 2.25157178e-02 -3.05807757e-04 9.99746442e-01 5.48152680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8992541539999 meters Centerline goodness [0,1] 0.9994136002848227 Centerline is valid? [True, True] Translation: X:592.93, Y:9.96, Z:5.48 [[ 9.99095371e-01 -3.63818235e-02 -2.20182317e-02 5.92932438e+02] [ 3.63805419e-02 9.99337904e-01 -4.58902434e-04 9.95910033e+00] [ 2.20203492e-02 -3.42547904e-04 9.99757464e-01 5.48158315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9292541539999 meters Centerline goodness [0,1] 0.9991617770326907 Centerline is valid? [True, True] Translation: X:592.96, Y:9.96, Z:5.48 [[ 9.99002754e-01 -3.85884449e-02 -2.24594879e-02 5.92961031e+02] [ 3.85875635e-02 9.99255111e-01 -4.72787597e-04 9.95879237e+00] [ 2.24610022e-02 -3.94340803e-04 9.99747642e-01 5.48217160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.959254154 meters Centerline goodness [0,1] 0.9989329204502657 Centerline is valid? [True, True] Translation: X:592.99, Y:9.95, Z:5.48 [[ 9.98763886e-01 -4.45608028e-02 -2.20234970e-02 5.92989744e+02] [ 4.45613396e-02 9.99006541e-01 -4.66628509e-04 9.95364354e+00] [ 2.20224109e-02 -5.15344824e-04 9.99757344e-01 5.48153093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9892541539999 meters Centerline goodness [0,1] 0.9987454260324098 Centerline is valid? [True, True] Translation: X:593.02, Y:9.95, Z:5.48 [[ 9.98633975e-01 -4.73933793e-02 -2.20011532e-02 5.93019240e+02] [ 4.73945805e-02 9.98876136e-01 -4.67125122e-04 9.95410189e+00] [ 2.19985655e-02 -5.76248406e-04 9.99757836e-01 5.48248126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0192541539999 meters Centerline goodness [0,1] 0.9985384390529085 Centerline is valid? [True, True] Translation: X:593.05, Y:9.95, Z:5.48 [[ 9.98384655e-01 -5.25129127e-02 -2.16904094e-02 5.93049396e+02] [ 5.25152976e-02 9.98620014e-01 -4.60030421e-04 9.95051290e+00] [ 2.16846345e-02 -6.79790993e-04 9.99764630e-01 5.48282639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0492541539999 meters Centerline goodness [0,1] 0.9985568476533088 Centerline is valid? [True, True] Translation: X:593.08, Y:9.95, Z:5.48 [[ 9.98260690e-01 -5.48311099e-02 -2.16597497e-02 5.93079917e+02] [ 5.48340468e-02 9.98495376e-01 -4.58745332e-04 9.95097695e+00] [ 2.16523134e-02 -7.29744294e-04 9.99765295e-01 5.48402717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.079254154 meters Centerline goodness [0,1] 0.9988506707903205 Centerline is valid? [True, True] Translation: X:593.11, Y:9.95, Z:5.48 [[ 9.98158229e-01 -5.68047556e-02 -2.12924573e-02 5.93110284e+02] [ 5.68080467e-02 9.98385017e-01 -4.50751021e-04 9.94895352e+00] [ 2.12836752e-02 -7.59662069e-04 9.99773188e-01 5.48400781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1092541539999 meters Centerline goodness [0,1] 0.9988737329495683 Centerline is valid? [True, True] Translation: X:593.14, Y:9.95, Z:5.49 [[ 9.98012567e-01 -5.96217880e-02 -2.03999845e-02 5.93140207e+02] [ 5.96254190e-02 9.98220729e-01 -4.30749223e-04 9.94734306e+00] [ 2.03893694e-02 -7.86464483e-04 9.99791806e-01 5.48500611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1392541539999 meters Centerline goodness [0,1] 0.9986447886912828 Centerline is valid? [True, True] Translation: X:593.17, Y:9.95, Z:5.49 [[ 9.98007797e-01 -5.99106430e-02 -1.97775860e-02 5.93170601e+02] [ 5.99141396e-02 9.98203448e-01 -4.16228773e-04 9.94740150e+00] [ 1.97669911e-02 -7.69557489e-04 9.99804318e-01 5.48555975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1692541539999 meters Centerline goodness [0,1] 0.9985426685820166 Centerline is valid? [True, True] Translation: X:593.20, Y:9.95, Z:5.49 [[ 9.98115184e-01 -5.84102042e-02 -1.88235830e-02 5.93201825e+02] [ 5.84131210e-02 9.98292418e-01 -3.95298169e-04 9.95211535e+00] [ 1.88145297e-02 -7.04991128e-04 9.99822743e-01 5.48714576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.199254154 meters Centerline goodness [0,1] 0.9986235375086029 Centerline is valid? [True, True] Translation: X:593.23, Y:9.95, Z:5.49 [[ 9.98226594e-01 -5.64639925e-02 -1.88542833e-02 5.93232717e+02] [ 5.64665848e-02 9.98404411e-01 -3.95267772e-04 9.95334226e+00] [ 1.88465180e-02 -6.70070186e-04 9.99822164e-01 5.48737709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2292541539999 meters Centerline goodness [0,1] 0.9991224037778428 Centerline is valid? [True, True] Translation: X:593.26, Y:9.96, Z:5.49 [[ 9.98359338e-01 -5.39913551e-02 -1.90674006e-02 5.93263956e+02] [ 5.39935691e-02 9.98541204e-01 -3.99048127e-04 9.95857744e+00] [ 1.90611303e-02 -6.31123586e-04 9.99818121e-01 5.48817071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2592541539999 meters Centerline goodness [0,1] 0.9987467624697134 Centerline is valid? [True, True] Translation: X:593.29, Y:9.96, Z:5.49 [[ 9.98484346e-01 -5.14915036e-02 -1.94328384e-02 5.93294088e+02] [ 5.14933520e-02 9.98673255e-01 -4.05578723e-04 9.96039451e+00] [ 1.94279398e-02 -5.95697982e-04 9.99811082e-01 5.48722753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2892541539999 meters Centerline goodness [0,1] 0.998536391577979 Centerline is valid? [True, True] Translation: X:593.33, Y:9.97, Z:5.49 [[ 9.98720135e-01 -4.66516569e-02 -1.95375468e-02 5.93325181e+02] [ 4.66526201e-02 9.98911091e-01 -4.06725927e-04 9.96619282e+00] [ 1.95352467e-02 -5.05272378e-04 9.99809041e-01 5.48712399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.319254154 meters Centerline goodness [0,1] 0.9989745521513478 Centerline is valid? [True, True] Translation: X:593.36, Y:9.97, Z:5.49 [[ 9.98830665e-01 -4.43913988e-02 -1.91496028e-02 5.93356037e+02] [ 4.43919213e-02 9.99014113e-01 -3.98006385e-04 9.97032198e+00] [ 1.91483915e-02 -4.52546678e-04 9.99816550e-01 5.48829424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3492541539999 meters Centerline goodness [0,1] 0.9988711902671517 Centerline is valid? [True, True] Translation: X:593.39, Y:9.97, Z:5.49 [[ 9.98949060e-01 -4.19221490e-02 -1.85286238e-02 5.93387663e+02] [ 4.19222260e-02 9.99120803e-01 -3.84430684e-04 9.97375176e+00] [ 1.85284497e-02 -3.92734486e-04 9.99828256e-01 5.48869262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3792541539999 meters Centerline goodness [0,1] 0.9989954376124901 Centerline is valid? [True, True] Translation: X:593.42, Y:9.98, Z:5.49 [[ 9.98963363e-01 -4.17032206e-02 -1.82493879e-02 5.93419350e+02] [ 4.17032709e-02 9.99129969e-01 -3.77970314e-04 9.97524465e+00] [ 1.82492730e-02 -3.83480673e-04 9.99833395e-01 5.48901217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4092541539999 meters Centerline goodness [0,1] 0.998661899684292 Centerline is valid? [True, True] Translation: X:593.45, Y:9.98, Z:5.49 [[ 9.98950088e-01 -4.19850552e-02 -1.83296474e-02 5.93450482e+02] [ 4.19851658e-02 9.99118162e-01 -3.78954687e-04 9.97643424e+00] [ 1.83293941e-02 -3.91016468e-04 9.99831926e-01 5.48903856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.439254154 meters Centerline goodness [0,1] 0.9987049067323961 Centerline is valid? [True, True] Translation: X:593.48, Y:9.98, Z:5.49 [[ 9.98872961e-01 -4.37488679e-02 -1.84077182e-02 5.93480771e+02] [ 4.37492882e-02 9.99042469e-01 -3.80056122e-04 9.97536224e+00] [ 1.84067192e-02 -4.25696783e-04 9.99830491e-01 5.48737857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4692541539999 meters Centerline goodness [0,1] 0.9986817325800377 Centerline is valid? [True, True] Translation: X:593.51, Y:9.98, Z:5.49 [[ 9.98813836e-01 -4.51031412e-02 -1.83473915e-02 5.93511959e+02] [ 4.51037961e-02 9.98982234e-01 -3.78316833e-04 9.97560847e+00] [ 1.83457814e-02 -4.49668917e-04 9.99831601e-01 5.48707697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4992541539999 meters Centerline goodness [0,1] 0.9984729950215454 Centerline is valid? [True, True] Translation: X:593.54, Y:9.97, Z:5.49 [[ 9.98777127e-01 -4.60092593e-02 -1.80941362e-02 5.93542309e+02] [ 4.60100592e-02 9.98940907e-01 -3.72299042e-04 9.97392725e+00] [ 1.80921021e-02 -4.60668513e-04 9.99836218e-01 5.48631033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5292541539999 meters Centerline goodness [0,1] 0.9990154593824626 Centerline is valid? [True, True] Translation: X:593.57, Y:9.97, Z:5.49 [[ 9.98730526e-01 -4.74359596e-02 -1.69459509e-02 5.93573920e+02] [ 4.74368790e-02 9.98874177e-01 -3.47930553e-04 9.97497394e+00] [ 1.69433772e-02 -4.56374160e-04 9.99856347e-01 5.48657907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.559254154 meters Centerline goodness [0,1] 0.9989521114953369 Centerline is valid? [True, True] Translation: X:593.61, Y:9.98, Z:5.49 [[ 9.98751938e-01 -4.73769751e-02 -1.58109979e-02 5.93606502e+02] [ 4.73777805e-02 9.98876990e-01 -3.23835504e-04 9.97532810e+00] [ 1.58085844e-02 -4.25658652e-04 9.99874946e-01 5.48699572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.589254154 meters Centerline goodness [0,1] 0.9989125661348 Centerline is valid? [True, True] Translation: X:593.64, Y:9.97, Z:5.49 [[ 9.98810962e-01 -4.65429448e-02 -1.45057592e-02 5.93637891e+02] [ 4.65435480e-02 9.98916218e-01 -2.96192377e-04 9.97303812e+00] [ 1.45038237e-02 -3.79309305e-04 9.99894742e-01 5.48638176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6192541539999 meters Centerline goodness [0,1] 0.9988668555240793 Centerline is valid? [True, True] Translation: X:593.67, Y:9.98, Z:5.49 [[ 9.98857864e-01 -4.57389470e-02 -1.38172202e-02 5.93670171e+02] [ 4.57394286e-02 9.98953365e-01 -2.81315402e-04 9.97862372e+00] [ 1.38156257e-02 -3.50997657e-04 9.99904498e-01 5.48742586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6492541539999 meters Centerline goodness [0,1] 0.9988072069809781 Centerline is valid? [True, True] Translation: X:593.70, Y:9.98, Z:5.49 [[ 9.98953384e-01 -4.37173188e-02 -1.34510920e-02 5.93702682e+02] [ 4.37176053e-02 9.99043891e-01 -2.72880632e-04 9.98018365e+00] [ 1.34501609e-02 -3.15454498e-04 9.99909493e-01 5.48734637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6792541539999 meters Centerline goodness [0,1] 0.9993900900143013 Centerline is valid? [True, True] Translation: X:593.73, Y:9.98, Z:5.49 [[ 9.99010454e-01 -4.28261632e-02 -1.20013578e-02 5.93734306e+02] [ 4.28263361e-02 9.99082502e-01 -2.42706506e-04 9.98013473e+00] [ 1.20007407e-02 -2.71507845e-04 9.99927952e-01 5.48722594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.709254154 meters Centerline goodness [0,1] 0.9987632842140567 Centerline is valid? [True, True] Translation: X:593.77, Y:9.98, Z:5.49 [[ 9.99051674e-01 -4.19362084e-02 -1.17092600e-02 5.93766642e+02] [ 4.19363198e-02 9.99120258e-01 -2.36125449e-04 9.98081214e+00] [ 1.17088610e-02 -2.55141744e-04 9.99931416e-01 5.48701835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7392541539999 meters Centerline goodness [0,1] 0.9988662369564761 Centerline is valid? [True, True] Translation: X:593.80, Y:9.98, Z:5.49 [[ 9.99147731e-01 -3.99386553e-02 -1.04266515e-02 5.93799114e+02] [ 3.99386420e-02 9.99202112e-01 -2.09576797e-04 9.98257297e+00] [ 1.04267025e-02 -2.07028122e-04 9.99945619e-01 5.48741019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7692541539999 meters Centerline goodness [0,1] 0.9986154523904425 Centerline is valid? [True, True] Translation: X:593.83, Y:9.98, Z:5.49 [[ 9.99212259e-01 -3.85412984e-02 -9.45669948e-03 5.93831051e+02] [ 3.85412308e-02 9.99256993e-01 -1.89451689e-04 9.98380084e+00] [ 9.45697479e-03 -1.75170387e-04 9.99955266e-01 5.48789434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7992541539999 meters Centerline goodness [0,1] 0.9992058350226755 Centerline is valid? [True, True] Translation: X:593.86, Y:9.98, Z:5.49 [[ 9.99348589e-01 -3.50876995e-02 -8.44100276e-03 5.93862789e+02] [ 3.50875271e-02 9.99384229e-01 -1.68559330e-04 9.98441684e+00] [ 8.44171940e-03 -1.27724384e-04 9.99964360e-01 5.48813224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.829254154 meters Centerline goodness [0,1] 0.9991637222721665 Centerline is valid? [True, True] Translation: X:593.90, Y:9.99, Z:5.49 [[ 9.99420625e-01 -3.30819133e-02 -8.00002785e-03 5.93895413e+02] [ 3.30816982e-02 9.99452638e-01 -1.59245920e-04 9.98695420e+00] [ 8.00091710e-03 -1.05500850e-04 9.99967987e-01 5.48777746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8592541539999 meters Centerline goodness [0,1] 0.9991415050881528 Centerline is valid? [True, True] Translation: X:593.93, Y:9.99, Z:5.49 [[ 9.99528800e-01 -2.95307514e-02 -8.37333513e-03 5.93927642e+02] [ 2.95303988e-02 9.99563869e-01 -1.65771218e-04 9.98997394e+00] [ 8.37457860e-03 -8.15748189e-05 9.99964929e-01 5.48686336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8892541539999 meters Centerline goodness [0,1] 0.9991023339317774 Centerline is valid? [True, True] Translation: X:593.96, Y:9.99, Z:5.49 [[ 9.99565228e-01 -2.80676993e-02 -9.03102008e-03 5.93958927e+02] [ 2.80672359e-02 9.99606022e-01 -1.78078110e-04 9.99086871e+00] [ 9.03246030e-03 -7.54750835e-05 9.99959204e-01 5.48642097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9192541539999 meters Centerline goodness [0,1] 0.9988296760710553 Centerline is valid? [True, True] Translation: X:593.99, Y:9.99, Z:5.49 [[ 9.99592560e-01 -2.69225953e-02 -9.48097379e-03 5.93991218e+02] [ 2.69220452e-02 9.99637519e-01 -1.85666426e-04 9.99159996e+00] [ 9.48253574e-03 -6.96564277e-05 9.99955037e-01 5.48604793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.949254154 meters Centerline goodness [0,1] 0.9990591875561874 Centerline is valid? [True, True] Translation: X:594.02, Y:9.99, Z:5.48 [[ 9.99602376e-01 -2.61062069e-02 -1.06562239e-02 5.94022834e+02] [ 2.61054745e-02 9.99659172e-01 -2.07841166e-04 9.99126512e+00] [ 1.06580179e-02 -7.04272574e-05 9.99943199e-01 5.48446063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9792541539999 meters Centerline goodness [0,1] 0.9990589514628077 Centerline is valid? [True, True] Translation: X:594.05, Y:9.99, Z:5.48 [[ 9.99592282e-01 -2.61498933e-02 -1.14653039e-02 5.94054209e+02] [ 2.61490556e-02 9.99658030e-01 -2.22999338e-04 9.99128202e+00] [ 1.14672145e-02 -7.68984505e-05 9.99934246e-01 5.48375458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0092541539999 meters Centerline goodness [0,1] 0.9991845098695216 Centerline is valid? [True, True] Translation: X:594.09, Y:9.99, Z:5.48 [[ 9.99542094e-01 -2.78785408e-02 -1.17639235e-02 5.94085693e+02] [ 2.78777834e-02 9.99611313e-01 -2.28389529e-04 9.99035643e+00] [ 1.17657182e-02 -9.96671642e-05 9.99930777e-01 5.48350655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0392541539999 meters Centerline goodness [0,1] 0.998998978123501 Centerline is valid? [True, True] Translation: X:594.12, Y:9.99, Z:5.48 [[ 9.99506915e-01 -2.90233814e-02 -1.19821141e-02 5.94117401e+02] [ 2.90226831e-02 9.99578726e-01 -2.32192908e-04 9.98962722e+00] [ 1.19838054e-02 -1.15674683e-04 9.99928185e-01 5.48348765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.069254154 meters Centerline goodness [0,1] 0.9990183382764527 Centerline is valid? [True, True] Translation: X:594.15, Y:9.99, Z:5.48 [[ 9.99459641e-01 -3.05183405e-02 -1.22088589e-02 5.94148723e+02] [ 3.05177325e-02 9.99534198e-01 -2.36143299e-04 9.98905888e+00] [ 1.22103787e-02 -1.36570992e-04 9.99925441e-01 5.48364001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0992541539999 meters Centerline goodness [0,1] 0.9988093248663101 Centerline is valid? [True, True] Translation: X:594.18, Y:9.99, Z:5.48 [[ 9.99331984e-01 -3.42752096e-02 -1.26805628e-02 5.94180389e+02] [ 3.42748620e-02 9.99412414e-01 -2.44790796e-04 9.98617065e+00] [ 1.26815022e-02 -1.89997270e-04 9.99919568e-01 5.48361844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1292541539999 meters Centerline goodness [0,1] 0.9989978286286955 Centerline is valid? [True, True] Translation: X:594.21, Y:9.99, Z:5.48 [[ 9.99263710e-01 -3.63024020e-02 -1.24166965e-02 5.94211778e+02] [ 3.63022308e-02 9.99340828e-01 -2.39251918e-04 9.98505931e+00] [ 1.24171971e-02 -2.11678022e-04 9.99922881e-01 5.48402412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1592541539999 meters Centerline goodness [0,1] 0.998956681412236 Centerline is valid? [True, True] Translation: X:594.24, Y:9.98, Z:5.48 [[ 9.99178479e-01 -3.87324169e-02 -1.19233963e-02 5.94243165e+02] [ 3.87324370e-02 9.99249591e-01 -2.29323000e-04 9.98347077e+00] [ 1.19233311e-02 -2.32687591e-04 9.99928887e-01 5.48428816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.189254154 meters Centerline goodness [0,1] 0.9990606996743759 Centerline is valid? [True, True] Translation: X:594.27, Y:9.98, Z:5.49 [[ 9.98974035e-01 -4.38124001e-02 -1.14608571e-02 5.94274155e+02] [ 4.38127578e-02 9.99039736e-01 -2.19982662e-04 9.97947569e+00] [ 1.14594896e-02 -2.82374790e-04 9.99934298e-01 5.48555688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2192541539999 meters Centerline goodness [0,1] 0.9990601111157525 Centerline is valid? [True, True] Translation: X:594.31, Y:9.98, Z:5.49 [[ 9.98869846e-01 -4.62675492e-02 -1.08786611e-02 5.94305422e+02] [ 4.62680238e-02 9.98929040e-01 -2.08171968e-04 9.97759516e+00] [ 1.08766421e-02 -2.95397450e-04 9.99940804e-01 5.48634195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2492541539999 meters Centerline goodness [0,1] 0.9988934126735567 Centerline is valid? [True, True] Translation: X:594.34, Y:9.98, Z:5.49 [[ 9.98751967e-01 -4.88397107e-02 -1.04494617e-02 5.94337804e+02] [ 4.88402993e-02 9.98806581e-01 -1.98998515e-04 9.97623382e+00] [ 1.04467102e-02 -3.11604681e-04 9.99945383e-01 5.48707894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2792541539999 meters Centerline goodness [0,1] 0.9988923951432572 Centerline is valid? [True, True] Translation: X:594.37, Y:9.97, Z:5.49 [[ 9.98449525e-01 -5.46589436e-02 -1.05330936e-02 5.94368830e+02] [ 5.46598724e-02 9.98505012e-01 -1.99886110e-04 9.97320305e+00] [ 1.05282724e-02 -3.76161363e-04 9.99944505e-01 5.48804770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.309254154 meters Centerline goodness [0,1] 0.9990410473430757 Centerline is valid? [True, True] Translation: X:594.40, Y:9.97, Z:5.49 [[ 9.98294758e-01 -5.73728134e-02 -1.07673529e-02 5.94399516e+02] [ 5.73739454e-02 9.98352738e-01 -2.03978157e-04 9.97043044e+00] [ 1.07613190e-02 -4.14135190e-04 9.99942010e-01 5.48854442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.339254154 meters Centerline goodness [0,1] 0.9984191696480572 Centerline is valid? [True, True] Translation: X:594.43, Y:9.97, Z:5.49 [[ 9.98109752e-01 -6.04765597e-02 -1.09320099e-02 5.94431190e+02] [ 6.04779263e-02 9.98169514e-01 -2.05830259e-04 9.96862728e+00] [ 1.09244469e-02 -4.55704097e-04 9.99940223e-01 5.48891874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3692541539999 meters Centerline goodness [0,1] 0.998767907112726 Centerline is valid? [True, True] Translation: X:594.46, Y:9.96, Z:5.49 [[ 9.97714453e-01 -6.66820524e-02 -1.09258817e-02 5.94462008e+02] [ 6.66837925e-02 9.97774138e-01 -2.05370631e-04 9.96445332e+00] [ 1.09152567e-02 -5.23677982e-04 9.99940290e-01 5.48904243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3992541539999 meters Centerline goodness [0,1] 0.9986853911483003 Centerline is valid? [True, True] Translation: X:594.49, Y:9.96, Z:5.49 [[ 9.97498510e-01 -6.97577195e-02 -1.14273019e-02 5.94493074e+02] [ 6.97598251e-02 9.97563793e-01 -2.14724793e-04 9.96221275e+00] [ 1.14144413e-02 -5.82978919e-04 9.99934683e-01 5.48934417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4292541539999 meters Centerline goodness [0,1] 0.9985773165679854 Centerline is valid? [True, True] Translation: X:594.52, Y:9.96, Z:5.49 [[ 9.97286086e-01 -7.27391611e-02 -1.13787989e-02 5.94524328e+02] [ 7.27414450e-02 9.97350809e-01 -2.13571084e-04 9.96184212e+00] [ 1.13641893e-02 -6.14718806e-04 9.99935237e-01 5.48972731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.459254154 meters Centerline goodness [0,1] 0.9986405370924225 Centerline is valid? [True, True] Translation: X:594.55, Y:9.96, Z:5.49 [[ 9.96960173e-01 -7.69467025e-02 -1.22318690e-02 5.94554826e+02] [ 7.69496622e-02 9.97034953e-01 -2.29191792e-04 9.95969367e+00] [ 1.22132365e-02 -7.12743100e-04 9.99925162e-01 5.48984166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4892541539999 meters Centerline goodness [0,1] 0.9987241162936624 Centerline is valid? [True, True] Translation: X:594.59, Y:9.96, Z:5.49 [[ 9.96851420e-01 -7.82911246e-02 -1.25597160e-02 5.94586882e+02] [ 7.82943552e-02 9.96930258e-01 -2.35027668e-04 9.95942021e+00] [ 1.25395615e-02 -7.49067203e-04 9.99921096e-01 5.48987643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5192541539999 meters Centerline goodness [0,1] 0.9986225895316805 Centerline is valid? [True, True] Translation: X:594.62, Y:9.96, Z:5.49 [[ 9.96787150e-01 -7.89805254e-02 -1.33211750e-02 5.94619210e+02] [ 7.89842345e-02 9.96875834e-01 -2.48262111e-04 9.96170090e+00] [ 1.32991653e-02 -8.04698324e-04 9.99911238e-01 5.49013999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5492541539999 meters Centerline goodness [0,1] 0.9983914769166493 Centerline is valid? [True, True] Translation: X:594.65, Y:9.97, Z:5.49 [[ 9.96802826e-01 -7.86690706e-02 -1.39751045e-02 5.94651196e+02] [ 7.86731372e-02 9.96900431e-01 -2.59382056e-04 9.96704180e+00] [ 1.39521930e-02 -8.40912547e-04 9.99902310e-01 5.49015927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.579254154 meters Centerline goodness [0,1] 0.998975366985906 Centerline is valid? [True, True] Translation: X:594.68, Y:9.97, Z:5.49 [[ 9.96888847e-01 -7.74536715e-02 -1.46135491e-02 5.94683703e+02] [ 7.74580060e-02 9.96995579e-01 -2.70008057e-04 9.97052247e+00] [ 1.45905570e-02 -8.62768355e-04 9.99893180e-01 5.49052023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6092541539999 meters Centerline goodness [0,1] 0.9986831378942748 Centerline is valid? [True, True] Translation: X:594.71, Y:9.98, Z:5.49 [[ 9.97181416e-01 -7.34337911e-02 -1.53851326e-02 5.94713950e+02] [ 7.34381327e-02 9.97299734e-01 -2.83340712e-04 9.97540454e+00] [ 1.53643955e-02 -8.47313319e-04 9.99881602e-01 5.49029492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6392541539999 meters Centerline goodness [0,1] 0.998788410519939 Centerline is valid? [True, True] Translation: X:594.75, Y:9.98, Z:5.49 [[ 9.97346348e-01 -7.10919291e-02 -1.56907707e-02 5.94745379e+02] [ 7.10961595e-02 9.97469424e-01 -2.88736693e-04 9.98040612e+00] [ 1.56715908e-02 -8.27583049e-04 9.99876851e-01 5.49072473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6692541539999 meters Centerline goodness [0,1] 0.9988306779979537 Centerline is valid? [True, True] Translation: X:594.78, Y:9.98, Z:5.49 [[ 9.97514014e-01 -6.85948070e-02 -1.61414109e-02 5.94775752e+02] [ 6.85989657e-02 9.97644272e-01 -2.96549879e-04 9.98223279e+00] [ 1.61237279e-02 -8.11471433e-04 9.99869675e-01 5.49066608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.699254154 meters Centerline goodness [0,1] 0.9986192179752714 Centerline is valid? [True, True] Translation: X:594.81, Y:9.99, Z:5.49 [[ 9.97640477e-01 -6.67326633e-02 -1.61316592e-02 5.94806836e+02] [ 6.67365808e-02 9.97770585e-01 -2.95953172e-04 9.98705448e+00] [ 1.61154448e-02 -7.81316916e-04 9.99869833e-01 5.49124323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7292541539999 meters Centerline goodness [0,1] 0.9986192179752714 Centerline is valid? [True, True] Translation: X:594.84, Y:9.99, Z:5.49 [[ 9.97645294e-01 -6.66606057e-02 -1.61316744e-02 5.94838556e+02] [ 6.66645271e-02 9.97775402e-01 -2.95125157e-04 9.98757315e+00] [ 1.61154611e-02 -7.80980220e-04 9.99869833e-01 5.49154034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7592541539999 meters Centerline goodness [0,1] 0.9987865854934204 Centerline is valid? [True, True] Translation: X:594.87, Y:10.00, Z:5.49 [[ 9.97825531e-01 -6.37182525e-02 -1.68580746e-02 5.94869879e+02] [ 6.37221328e-02 9.97967632e-01 -3.07429261e-04 9.99555746e+00] [ 1.68434017e-02 -7.67471704e-04 9.99857845e-01 5.49199040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7892541539999 meters Centerline goodness [0,1] 0.9985552763819096 Centerline is valid? [True, True] Translation: X:594.90, Y:10.00, Z:5.49 [[ 9.97866757e-01 -6.29756251e-02 -1.72048218e-02 5.94902024e+02] [ 6.29795727e-02 9.98014767e-01 -3.12807247e-04 9.99993339e+00] [ 1.71903654e-02 -7.71412372e-04 9.99851937e-01 5.49203081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.819254154 meters Centerline goodness [0,1] 0.9987850349826134 Centerline is valid? [True, True] Translation: X:594.93, Y:10.00, Z:5.49 [[ 9.97945133e-01 -6.14478321e-02 -1.81569871e-02 5.94933538e+02] [ 6.14519990e-02 9.98109986e-01 -3.28880864e-04 1.00022268e+01] [ 1.81428791e-02 -7.87578095e-04 9.99835094e-01 5.49138980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8492541539999 meters Centerline goodness [0,1] 0.9989101731148091 Centerline is valid? [True, True] Translation: X:594.97, Y:10.01, Z:5.49 [[ 9.97976585e-01 -6.07882226e-02 -1.86420843e-02 5.94965937e+02] [ 6.07925233e-02 9.98150367e-01 -3.36440821e-04 1.00057876e+01] [ 1.86280550e-02 -7.97539284e-04 9.99826165e-01 5.49192813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8792541539999 meters Centerline goodness [0,1] 0.9987244364518423 Centerline is valid? [True, True] Translation: X:595.00, Y:10.01, Z:5.49 [[ 9.98051859e-01 -5.93192370e-02 -1.93317303e-02 5.94998116e+02] [ 5.93236150e-02 9.98238743e-01 -3.47425304e-04 1.00093049e+01] [ 1.93182912e-02 -8.00079656e-04 9.99813064e-01 5.49249426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9092541539999 meters Centerline goodness [0,1] 0.9989127480293558 Centerline is valid? [True, True] Translation: X:595.03, Y:10.01, Z:5.49 [[ 9.98182740e-01 -5.72478711e-02 -1.88122009e-02 5.95029788e+02] [ 5.72516722e-02 9.98359721e-01 -3.36883648e-04 1.00147958e+01] [ 1.88006295e-02 -7.40758515e-04 9.99822978e-01 5.49359354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.939254154 meters Centerline goodness [0,1] 0.9989293137110826 Centerline is valid? [True, True] Translation: X:595.06, Y:10.02, Z:5.49 [[ 9.98274932e-01 -5.55405438e-02 -1.90369982e-02 5.95061906e+02] [ 5.55441501e-02 9.98456174e-01 -3.39661512e-04 1.00184592e+01] [ 1.90264733e-02 -7.18318311e-04 9.99818722e-01 5.49442013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9692541539999 meters Centerline goodness [0,1] 0.9986575210286746 Centerline is valid? [True, True] Translation: X:595.09, Y:10.02, Z:5.49 [[ 9.98365395e-01 -5.39548771e-02 -1.88523185e-02 5.95093761e+02] [ 5.39581544e-02 9.98543141e-01 -3.35149438e-04 1.00211664e+01] [ 1.88429362e-02 -6.82634710e-04 9.99822223e-01 5.49479704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9992541539999 meters Centerline goodness [0,1] 0.9989695491251682 Centerline is valid? [True, True] Translation: X:595.12, Y:10.02, Z:5.49 [[ 9.98571695e-01 -5.00781503e-02 -1.86211889e-02 5.95124557e+02] [ 5.00806902e-02 9.98745120e-01 -3.30187177e-04 1.00243674e+01] [ 1.86143567e-02 -6.02846423e-04 9.99826556e-01 5.49459167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0292541539999 meters Centerline goodness [0,1] 0.9987171938088829 Centerline is valid? [True, True] Translation: X:595.15, Y:10.03, Z:5.49 [[ 9.98683924e-01 -4.78144821e-02 -1.85525104e-02 5.95154505e+02] [ 4.78166225e-02 9.98856077e-01 -3.28464835e-04 1.00269618e+01] [ 1.85469932e-02 -5.59085839e-04 9.99827833e-01 5.49460253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.059254154 meters Centerline goodness [0,1] 0.9988206802148046 Centerline is valid? [True, True] Translation: X:595.19, Y:10.03, Z:5.50 [[ 9.98771418e-01 -4.57890860e-02 -1.89476485e-02 5.95186146e+02] [ 4.57909675e-02 9.98950987e-01 -3.34768758e-04 1.00323510e+01] [ 1.89431009e-02 -5.33273690e-04 9.99820421e-01 5.49566690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.089254154 meters Centerline goodness [0,1] 0.9985028046054574 Centerline is valid? [True, True] Translation: X:595.22, Y:10.04, Z:5.49 [[ 9.98951484e-01 -4.15141078e-02 -1.93005767e-02 5.95216263e+02] [ 4.15152763e-02 9.99137811e-01 -3.40300881e-04 1.00361028e+01] [ 1.92980632e-02 -4.61324703e-04 9.99813669e-01 5.49488373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1192541539999 meters Centerline goodness [0,1] 0.9985443652166576 Centerline is valid? [True, True] Translation: X:595.25, Y:10.04, Z:5.50 [[ 9.99021823e-01 -3.94219909e-02 -2.00325774e-02 5.95247187e+02] [ 3.94228366e-02 9.99222556e-01 -3.52843930e-04 1.00390935e+01] [ 2.00309130e-02 -4.37242239e-04 9.99799266e-01 5.49524272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1492541539999 meters Centerline goodness [0,1] 0.9983541873272425 Centerline is valid? [True, True] Translation: X:595.28, Y:10.04, Z:5.50 [[ 9.99082935e-01 -3.75985308e-02 -2.04850959e-02 5.95277325e+02] [ 3.75990355e-02 9.99292841e-01 -3.60648216e-04 1.00437897e+01] [ 2.04841695e-02 -4.09902368e-04 9.99790093e-01 5.49630848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1792541539999 meters Centerline goodness [0,1] 0.9979535864978903 Centerline is valid? [True, True] Translation: X:595.31, Y:10.05, Z:5.50 [[ 9.99159692e-01 -3.46629735e-02 -2.18720941e-02 5.95306386e+02] [ 3.46628484e-02 9.99398989e-01 -3.84953777e-04 1.00464413e+01] [ 2.18722924e-02 -3.73518785e-04 9.99760703e-01 5.49541469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.209254154 meters Centerline goodness [0,1] 0.998521772183976 Centerline is valid? [True, True] Translation: X:595.34, Y:10.05, Z:5.50 [[ 9.99198810e-01 -3.32348990e-02 -2.22975209e-02 5.95335692e+02] [ 3.32344054e-02 9.99447507e-01 -3.92809351e-04 1.00482050e+01] [ 2.22982567e-02 -3.48550214e-04 9.99751302e-01 5.49541567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2392541539999 meters Centerline goodness [0,1] 0.9980571862989399 Centerline is valid? [True, True] Translation: X:595.36, Y:10.05, Z:5.50 [[ 9.99196456e-01 -3.28092269e-02 -2.30216824e-02 5.95364066e+02] [ 3.28085015e-02 9.99461572e-01 -4.09313767e-04 1.00505128e+01] [ 2.30227162e-02 -3.46322035e-04 9.99734882e-01 5.49573271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2692541539999 meters Centerline goodness [0,1] 0.9984816212910437 Centerline is valid? [True, True] Translation: X:595.39, Y:10.05, Z:5.50 [[ 9.99183581e-01 -3.31820660e-02 -2.30460912e-02 5.95392563e+02] [ 3.31813060e-02 9.99449263e-01 -4.15481892e-04 1.00510190e+01] [ 2.30471854e-02 -3.49556722e-04 9.99734317e-01 5.49609551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2992541539999 meters Centerline goodness [0,1] 0.9982925801011805 Centerline is valid? [True, True] Translation: X:595.42, Y:10.05, Z:5.50 [[ 9.99164007e-01 -3.41177027e-02 -2.25226595e-02 5.95421628e+02] [ 3.41170900e-02 9.99417758e-01 -4.11564821e-04 1.00509920e+01] [ 2.25235875e-02 -3.57186847e-04 9.99746248e-01 5.49629332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.329254154 meters Centerline goodness [0,1] 0.9985700767532331 Centerline is valid? [True, True] Translation: X:595.45, Y:10.05, Z:5.50 [[ 9.99083280e-01 -3.67127197e-02 -2.20176048e-02 5.95450055e+02] [ 3.67126996e-02 9.99325779e-01 -4.05259159e-04 1.00488441e+01] [ 2.20176382e-02 -4.03438062e-04 9.99757501e-01 5.49683052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3592541539999 meters Centerline goodness [0,1] 0.998401077169065 Centerline is valid? [True, True] Translation: X:595.48, Y:10.05, Z:5.50 [[ 9.99024070e-01 -3.85948247e-02 -2.14789786e-02 5.95479491e+02] [ 3.85952208e-02 9.99254848e-01 -3.96255764e-04 1.00485583e+01] [ 2.14782669e-02 -4.33116875e-04 9.99769222e-01 5.49761611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3892541539999 meters Centerline goodness [0,1] 0.9983822509822048 Centerline is valid? [True, True] Translation: X:595.51, Y:10.05, Z:5.50 [[ 9.98939486e-01 -4.07730437e-02 -2.13883761e-02 5.95510367e+02] [ 4.07739283e-02 9.99168320e-01 -3.94916654e-04 1.00471775e+01] [ 2.13866898e-02 -4.77590274e-04 9.99771165e-01 5.49808558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4192541539999 meters Centerline goodness [0,1] 0.9980894394289314 Centerline is valid? [True, True] Translation: X:595.54, Y:10.04, Z:5.50 [[ 9.98710505e-01 -4.58353769e-02 -2.18276230e-02 5.95540645e+02] [ 4.58375110e-02 9.98948828e-01 -4.02806788e-04 1.00426818e+01] [ 2.18231412e-02 -5.98236539e-04 9.99761668e-01 5.49770353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.449254154 meters Centerline goodness [0,1] 0.9984721001297668 Centerline is valid? [True, True] Translation: X:595.57, Y:10.04, Z:5.50 [[ 9.98584909e-01 -4.83314304e-02 -2.21867581e-02 5.95571924e+02] [ 4.83342649e-02 9.98831133e-01 -4.08793409e-04 1.00438604e+01] [ 2.21805823e-02 -6.64165713e-04 9.99753760e-01 5.49888449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4792541539999 meters Centerline goodness [0,1] 0.9985546711353163 Centerline is valid? [True, True] Translation: X:595.60, Y:10.04, Z:5.50 [[ 9.98443868e-01 -5.09583537e-02 -2.26514420e-02 5.95601763e+02] [ 5.09619915e-02 9.98700506e-01 -4.17002773e-04 1.00416853e+01] [ 2.26432564e-02 -7.38008735e-04 9.99743336e-01 5.49863861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5092541539999 meters Centerline goodness [0,1] 0.9983709613416595 Centerline is valid? [True, True] Translation: X:595.63, Y:10.04, Z:5.50 [[ 9.98194399e-01 -5.56349527e-02 -2.26427488e-02 5.95631978e+02] [ 5.56398075e-02 9.98450819e-01 -4.16023468e-04 1.00358454e+01] [ 2.26308165e-02 -8.44565888e-04 9.99743534e-01 5.49818462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5392541539999 meters Centerline goodness [0,1] 0.998242935135022 Centerline is valid? [True, True] Translation: X:595.66, Y:10.04, Z:5.50 [[ 9.98057226e-01 -5.80011857e-02 -2.27516107e-02 5.95663628e+02] [ 5.80067254e-02 9.98316105e-01 -4.16951779e-04 1.00365364e+01] [ 2.27374830e-02 -9.03604697e-04 9.99741062e-01 5.49940560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.569254154 meters Centerline goodness [0,1] 0.9983041621304748 Centerline is valid? [True, True] Translation: X:595.69, Y:10.03, Z:5.50 [[ 9.97783771e-01 -6.25431149e-02 -2.27135316e-02 5.95694781e+02] [ 6.25498237e-02 9.98041756e-01 -4.15665659e-04 1.00331220e+01] [ 2.26950500e-02 -1.00598295e-03 9.99741928e-01 5.49989061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5992541539999 meters Centerline goodness [0,1] 0.9981393987540244 Centerline is valid? [True, True] Translation: X:595.73, Y:10.03, Z:5.50 [[ 9.97659406e-01 -6.45699107e-02 -2.25041365e-02 5.95726440e+02] [ 6.45770309e-02 9.97912641e-01 -4.10939871e-04 1.00313820e+01] [ 2.24836967e-02 -1.04327229e-03 9.99746665e-01 5.49991360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6292541539999 meters Centerline goodness [0,1] 0.9986815118663932 Centerline is valid? [True, True] Translation: X:595.76, Y:10.03, Z:5.50 [[ 9.97496988e-01 -6.71810762e-02 -2.20558830e-02 5.95757038e+02] [ 6.71885777e-02 9.97740214e-01 -4.01591305e-04 1.00268179e+01] [ 2.20330208e-02 -1.08131729e-03 9.99756659e-01 5.49983838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6592541539999 meters Centerline goodness [0,1] 0.9985978570232714 Centerline is valid? [True, True] Translation: X:595.79, Y:10.03, Z:5.50 [[ 9.97461745e-01 -6.78065553e-02 -2.17333432e-02 5.95788989e+02] [ 6.78140173e-02 9.97697902e-01 -3.94322966e-04 1.00295533e+01] [ 2.17100486e-02 -1.08050324e-03 9.99763725e-01 5.50089160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.689254154 meters Centerline goodness [0,1] 0.9985984436448833 Centerline is valid? [True, True] Translation: X:595.82, Y:10.03, Z:5.50 [[ 9.97472268e-01 -6.76706841e-02 -2.16737716e-02 5.95820276e+02] [ 6.76781029e-02 9.97707132e-01 -3.91870292e-04 1.00274321e+01] [ 2.16505947e-02 -1.07596000e-03 9.99765019e-01 5.50081669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7192541539999 meters Centerline goodness [0,1] 0.998595976529757 Centerline is valid? [True, True] Translation: X:595.85, Y:10.03, Z:5.50 [[ 9.97537344e-01 -6.67322589e-02 -2.15882764e-02 5.95852506e+02] [ 6.67394303e-02 9.97770363e-01 -3.88923292e-04 1.00290493e+01] [ 2.15660961e-02 -1.05282376e-03 9.99766870e-01 5.50148906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7492541539999 meters Centerline goodness [0,1] 0.9984704354020869 Centerline is valid? [True, True] Translation: X:595.88, Y:10.03, Z:5.50 [[ 9.97749740e-01 -6.36498780e-02 -2.10748612e-02 5.95883212e+02] [ 6.36560489e-02 9.97971825e-01 -3.78587576e-04 1.00296260e+01] [ 2.10562148e-02 -9.63806741e-04 9.99777829e-01 5.50232233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7792541539999 meters Centerline goodness [0,1] 0.9988679957235393 Centerline is valid? [True, True] Translation: X:595.91, Y:10.03, Z:5.50 [[ 9.97893268e-01 -6.16094079e-02 -2.03299473e-02 5.95914654e+02] [ 6.16147421e-02 9.98099940e-01 -3.64484784e-04 1.00330889e+01] [ 2.03137749e-02 -8.88907547e-04 9.99793259e-01 5.50397104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.809254154 meters Centerline goodness [0,1] 0.9984044339939536 Centerline is valid? [True, True] Translation: X:595.94, Y:10.04, Z:5.51 [[ 9.98261100e-01 -5.58498536e-02 -1.88565752e-02 5.95944992e+02] [ 5.58534245e-02 9.98438922e-01 -3.37637197e-04 1.00379506e+01] [ 1.88459956e-02 -7.16154218e-04 9.99822142e-01 5.50581593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.839254154 meters Centerline goodness [0,1] 0.998675273881868 Centerline is valid? [True, True] Translation: X:595.98, Y:10.04, Z:5.51 [[ 9.98456298e-01 -5.24430856e-02 -1.82960168e-02 5.95976261e+02] [ 5.24458839e-02 9.98623714e-01 -3.27168054e-04 1.00410149e+01] [ 1.82879940e-02 -6.32887768e-04 9.99832560e-01 5.50690056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8692541539999 meters Centerline goodness [0,1] 0.9985893251921255 Centerline is valid? [True, True] Translation: X:596.01, Y:10.04, Z:5.51 [[ 9.98630725e-01 -4.91444549e-02 -1.79303521e-02 5.96007553e+02] [ 4.91466225e-02 9.98791523e-01 -3.20000050e-04 1.00440737e+01] [ 1.79244099e-02 -5.61654363e-04 9.99839187e-01 5.50732562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8992541539999 meters Centerline goodness [0,1] 0.9989060922248402 Centerline is valid? [True, True] Translation: X:596.04, Y:10.05, Z:5.51 [[ 9.98924889e-01 -4.26363326e-02 -1.81991378e-02 5.96037681e+02] [ 4.26374924e-02 9.99090556e-01 -3.24460846e-04 1.00486754e+01] [ 1.81964205e-02 -4.51853585e-04 9.99834329e-01 5.50711240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9292541539999 meters Centerline goodness [0,1] 0.9990313954222906 Centerline is valid? [True, True] Translation: X:596.07, Y:10.05, Z:5.51 [[ 9.99018384e-01 -4.01800051e-02 -1.86503583e-02 5.96068739e+02] [ 4.01808012e-02 9.99192370e-01 -3.32186423e-04 1.00513039e+01] [ 1.86486429e-02 -4.17525996e-04 9.99826012e-01 5.50715468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.959254154 meters Centerline goodness [0,1] 0.9990081877268506 Centerline is valid? [True, True] Translation: X:596.10, Y:10.05, Z:5.51 [[ 9.99115835e-01 -3.77346410e-02 -1.85376509e-02 5.96100084e+02] [ 3.77350186e-02 9.99287726e-01 -3.29545226e-04 1.00535780e+01] [ 1.85368823e-02 -3.70264748e-04 9.99828109e-01 5.50704018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9892541539999 meters Centerline goodness [0,1] 0.9990512934033268 Centerline is valid? [True, True] Translation: X:596.13, Y:10.06, Z:5.51 [[ 9.99240783e-01 -3.34191281e-02 -2.00254875e-02 5.96130509e+02] [ 3.34187130e-02 9.99441376e-01 -3.55467309e-04 1.00558874e+01] [ 2.00261802e-02 -3.14028587e-04 9.99799407e-01 5.50620076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0192541539999 meters Centerline goodness [0,1] 0.999156402901974 Centerline is valid? [True, True] Translation: X:596.16, Y:10.06, Z:5.51 [[ 9.99280504e-01 -3.20329007e-02 -2.03068364e-02 5.96159876e+02] [ 3.20321835e-02 9.99486773e-01 -3.60668000e-04 1.00574956e+01] [ 2.03079676e-02 -2.90063810e-04 9.99793730e-01 5.50588792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0492541539999 meters Centerline goodness [0,1] 0.9994085340092944 Centerline is valid? [True, True] Translation: X:596.19, Y:10.06, Z:5.51 [[ 9.99313665e-01 -3.06139252e-02 -2.08563411e-02 5.96189658e+02] [ 3.06128447e-02 9.99531248e-01 -3.71148135e-04 1.00592875e+01] [ 2.08579270e-02 -2.67578529e-04 9.99782414e-01 5.50613416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.079254154 meters Centerline goodness [0,1] 0.9991544234224712 Centerline is valid? [True, True] Translation: X:596.22, Y:10.06, Z:5.51 [[ 9.99378286e-01 -2.83973435e-02 -2.08957521e-02 5.96218521e+02] [ 2.83957098e-02 9.99596690e-01 -3.74945641e-04 1.00602257e+01] [ 2.08979721e-02 -2.18637179e-04 9.99781590e-01 5.50609207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1092541539999 meters Centerline goodness [0,1] 0.9991112051634747 Centerline is valid? [True, True] Translation: X:596.25, Y:10.06, Z:5.51 [[ 9.99403022e-01 -2.78861418e-02 -2.03951458e-02 5.96247127e+02] [ 2.78843802e-02 9.99611086e-01 -3.70806806e-04 1.00606758e+01] [ 2.03975542e-02 -1.98120556e-04 9.99791929e-01 5.50671631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1392541539999 meters Centerline goodness [0,1] 0.9993437486769127 Centerline is valid? [True, True] Translation: X:596.28, Y:10.06, Z:5.51 [[ 9.99436518e-01 -2.75148433e-02 -1.92244542e-02 5.96276178e+02] [ 2.75131207e-02 9.99621380e-01 -3.54137684e-04 1.00621130e+01] [ 1.92269195e-02 -1.74986595e-04 9.99815130e-01 5.50878033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1692541539999 meters Centerline goodness [0,1] 0.9990716124403933 Centerline is valid? [True, True] Translation: X:596.30, Y:10.06, Z:5.51 [[ 9.99465827e-01 -2.80329554e-02 -1.67992030e-02 5.96304569e+02] [ 2.80316468e-02 9.99606987e-01 -3.13408995e-04 1.00612208e+01] [ 1.68013864e-02 -1.57667744e-04 9.99858834e-01 5.51052553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.199254154 meters Centerline goodness [0,1] 0.9993448166543379 Centerline is valid? [True, True] Translation: X:596.34, Y:10.06, Z:5.51 [[ 9.99464808e-01 -2.86999076e-02 -1.56975648e-02 5.96335374e+02] [ 2.86988126e-02 9.99588061e-01 -2.95063249e-04 1.00598281e+01] [ 1.56995666e-02 -1.55596137e-04 9.99876742e-01 5.51090096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2292541539999 meters Centerline goodness [0,1] 0.9991577883522129 Centerline is valid? [True, True] Translation: X:596.37, Y:10.06, Z:5.51 [[ 9.99440938e-01 -3.00848020e-02 -1.45848204e-02 5.96365842e+02] [ 3.00840041e-02 9.99547336e-01 -2.74147268e-04 1.00586875e+01] [ 1.45864661e-02 -1.64775795e-04 9.99893598e-01 5.51142626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2592541539999 meters Centerline goodness [0,1] 0.9991365512593716 Centerline is valid? [True, True] Translation: X:596.40, Y:10.05, Z:5.51 [[ 9.99344811e-01 -3.36407675e-02 -1.33509198e-02 5.96396109e+02] [ 3.36404171e-02 9.99433970e-01 -2.50883159e-04 1.00537579e+01] [ 1.33518027e-02 -1.98411729e-04 9.99910841e-01 5.51128616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2892541539999 meters Centerline goodness [0,1] 0.9990728448911647 Centerline is valid? [True, True] Translation: X:596.43, Y:10.05, Z:5.51 [[ 9.99275471e-01 -3.58458262e-02 -1.27910265e-02 5.96427498e+02] [ 3.58456918e-02 9.99357308e-01 -2.39847330e-04 1.00509941e+01] [ 1.27914033e-02 -2.18829640e-04 9.99918163e-01 5.51142105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.319254154 meters Centerline goodness [0,1] 0.9991366967068138 Centerline is valid? [True, True] Translation: X:596.46, Y:10.05, Z:5.51 [[ 9.99170775e-01 -3.88293151e-02 -1.22493736e-02 5.96459903e+02] [ 3.88294299e-02 9.99245827e-01 -2.28549225e-04 1.00497441e+01] [ 1.22490099e-02 -2.47276488e-04 9.99924947e-01 5.51186017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3492541539999 meters Centerline goodness [0,1] 0.9991584085505691 Centerline is valid? [True, True] Translation: X:596.49, Y:10.04, Z:5.51 [[ 9.98953323e-01 -4.42714270e-02 -1.15021578e-02 5.96490620e+02] [ 4.42718965e-02 9.99019496e-01 -2.13924713e-04 1.00434464e+01] [ 1.15003507e-02 -2.95521538e-04 9.99933825e-01 5.51183139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3792541539999 meters Centerline goodness [0,1] 0.998821077451001 Centerline is valid? [True, True] Translation: X:596.52, Y:10.04, Z:5.51 [[ 9.98848617e-01 -4.65493849e-02 -1.16014782e-02 5.96523209e+02] [ 4.65500200e-02 9.98915937e-01 -2.15435090e-04 1.00421011e+01] [ 1.15989299e-02 -3.24862001e-04 9.99932677e-01 5.51203598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4092541539999 meters Centerline goodness [0,1] 0.9989689203122698 Centerline is valid? [True, True] Translation: X:596.55, Y:10.04, Z:5.51 [[ 9.98575611e-01 -5.18867977e-02 -1.24301398e-02 5.96554308e+02] [ 5.18879507e-02 9.98652887e-01 -2.29941428e-04 1.00382205e+01] [ 1.24253259e-02 -4.15360578e-04 9.99922716e-01 5.51088001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.439254154 meters Centerline goodness [0,1] 0.9990964678195458 Centerline is valid? [True, True] Translation: X:596.59, Y:10.04, Z:5.51 [[ 9.98456357e-01 -5.39675090e-02 -1.31305421e-02 5.96586614e+02] [ 5.39689848e-02 9.98542583e-01 -2.42177413e-04 1.00368195e+01] [ 1.31244751e-02 -4.66838447e-04 9.99913761e-01 5.51041642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4692541539999 meters Centerline goodness [0,1] 0.9993277875808756 Centerline is valid? [True, True] Translation: X:596.62, Y:10.04, Z:5.51 [[ 9.98356264e-01 -5.56587748e-02 -1.36700776e-02 5.96618474e+02] [ 5.56605457e-02 9.98449719e-01 -2.51173851e-04 1.00352988e+01] [ 1.36628652e-02 -5.10122993e-04 9.99906529e-01 5.51015917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4992541539999 meters Centerline goodness [0,1] 0.9989292013101537 Centerline is valid? [True, True] Translation: X:596.65, Y:10.03, Z:5.51 [[ 9.98240870e-01 -5.76629341e-02 -1.37895110e-02 5.96649326e+02] [ 5.76649364e-02 9.98335961e-01 -2.52686471e-04 1.00330691e+01] [ 1.37811353e-02 -5.42929310e-04 9.99904888e-01 5.51040756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5292541539999 meters Centerline goodness [0,1] 0.9989923375669151 Centerline is valid? [True, True] Translation: X:596.68, Y:10.03, Z:5.51 [[ 9.98238821e-01 -5.77652761e-02 -1.35066050e-02 5.96681892e+02] [ 5.77672150e-02 9.98330050e-01 -2.46869454e-04 1.00330069e+01] [ 1.34983101e-02 -5.33804283e-04 9.99908751e-01 5.51089867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.559254154 meters Centerline goodness [0,1] 0.9988466216499602 Centerline is valid? [True, True] Translation: X:596.71, Y:10.04, Z:5.51 [[ 9.98259504e-01 -5.73554348e-02 -1.37228203e-02 5.96714017e+02] [ 5.73574113e-02 9.98353677e-01 -2.49819383e-04 1.00353443e+01] [ 1.37145567e-02 -5.37720877e-04 9.99905806e-01 5.51146705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.589254154 meters Centerline goodness [0,1] 0.9989521993335988 Centerline is valid? [True, True] Translation: X:596.74, Y:10.04, Z:5.51 [[ 9.98310882e-01 -5.64955700e-02 -1.35511472e-02 5.96744868e+02] [ 5.64974305e-02 9.98402714e-01 -2.45791056e-04 1.00350329e+01] [ 1.35433882e-02 -5.20229111e-04 9.99908149e-01 5.51144876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6192541539999 meters Centerline goodness [0,1] 0.9989521993335988 Centerline is valid? [True, True] Translation: X:596.78, Y:10.04, Z:5.51 [[ 9.98314908e-01 -5.64243790e-02 -1.35511618e-02 5.96776575e+02] [ 5.64262439e-02 9.98406740e-01 -2.44983806e-04 1.00355438e+01] [ 1.35433943e-02 -5.20070174e-04 9.99908149e-01 5.51174569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6492541539999 meters Centerline goodness [0,1] 0.9989728970591318 Centerline is valid? [True, True] Translation: X:596.81, Y:10.04, Z:5.51 [[ 9.98395424e-01 -5.49621808e-02 -1.36284854e-02 5.96808831e+02] [ 5.49639443e-02 9.98488310e-01 -2.45404524e-04 1.00377876e+01] [ 1.36213713e-02 -5.04064557e-04 9.99907098e-01 5.51212980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6792541539999 meters Centerline goodness [0,1] 0.9988460408711343 Centerline is valid? [True, True] Translation: X:596.84, Y:10.04, Z:5.51 [[ 9.98581383e-01 -5.14714334e-02 -1.36349892e-02 5.96840154e+02] [ 5.14728847e-02 9.98674362e-01 -2.44697844e-04 1.00421319e+01] [ 1.36295091e-02 -4.57481515e-04 9.99907009e-01 5.51274199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.709254154 meters Centerline goodness [0,1] 0.9986991187578682 Centerline is valid? [True, True] Translation: X:596.87, Y:10.04, Z:5.51 [[ 9.98659521e-01 -4.98625019e-02 -1.38885678e-02 5.96872347e+02] [ 4.98638615e-02 9.98755993e-01 -2.48586752e-04 1.00446580e+01] [ 1.38836855e-02 -4.44284096e-04 9.99903518e-01 5.51317591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7392541539999 meters Centerline goodness [0,1] 0.9986972326700426 Centerline is valid? [True, True] Translation: X:596.90, Y:10.05, Z:5.51 [[ 9.98778588e-01 -4.73704491e-02 -1.40489670e-02 5.96903887e+02] [ 4.73716081e-02 9.98877304e-01 -2.50456603e-04 1.00484877e+01] [ 1.40450585e-02 -4.15371465e-04 9.99901277e-01 5.51325848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7692541539999 meters Centerline goodness [0,1] 0.9989717763088868 Centerline is valid? [True, True] Translation: X:596.93, Y:10.05, Z:5.51 [[ 9.98815222e-01 -4.64927596e-02 -1.43727571e-02 5.96934778e+02] [ 4.64938953e-02 9.98918542e-01 -2.55293382e-04 1.00491763e+01] [ 1.43690829e-02 -4.13254549e-04 9.99896674e-01 5.51288413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7992541539999 meters Centerline goodness [0,1] 0.9986346832465132 Centerline is valid? [True, True] Translation: X:596.97, Y:10.05, Z:5.51 [[ 9.98806285e-01 -4.63292541e-02 -1.54791784e-02 5.96966918e+02] [ 4.63305665e-02 9.98926125e-01 -2.73996411e-04 1.00514711e+01] [ 1.54752497e-02 -4.43489765e-04 9.99880153e-01 5.51197264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.829254154 meters Centerline goodness [0,1] 0.9987812053458855 Centerline is valid? [True, True] Translation: X:597.00, Y:10.05, Z:5.51 [[ 9.98793631e-01 -4.62537004e-02 -1.64886997e-02 5.96999466e+02] [ 4.62551988e-02 9.98929613e-01 -2.90687919e-04 1.00524450e+01] [ 1.64844958e-02 -4.72350842e-04 9.99864010e-01 5.51186347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8592541539999 meters Centerline goodness [0,1] 0.9988035515627296 Centerline is valid? [True, True] Translation: X:597.03, Y:10.05, Z:5.51 [[ 9.98783643e-01 -4.64349407e-02 -1.65840324e-02 5.97030799e+02] [ 4.64365051e-02 9.98921201e-01 -2.90945335e-04 1.00530022e+01] [ 1.65796516e-02 -4.79513063e-04 9.99862433e-01 5.51170342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8892541539999 meters Centerline goodness [0,1] 0.9986784418199744 Centerline is valid? [True, True] Translation: X:597.06, Y:10.06, Z:5.51 [[ 9.98769605e-01 -4.62828696e-02 -1.78093078e-02 5.97063208e+02] [ 4.62846791e-02 9.98928242e-01 -3.10784165e-04 1.00554521e+01] [ 1.78046045e-02 -5.13896322e-04 9.99841353e-01 5.51161026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9192541539999 meters Centerline goodness [0,1] 0.9988883761902765 Centerline is valid? [True, True] Translation: X:597.09, Y:10.06, Z:5.51 [[ 9.98797711e-01 -4.57221780e-02 -1.76809068e-02 5.97094926e+02] [ 4.57238899e-02 9.98954069e-01 -3.07628879e-04 1.00572786e+01] [ 1.76764792e-02 -5.01180815e-04 9.99843633e-01 5.51200180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.949254154 meters Centerline goodness [0,1] 0.9988044800536935 Centerline is valid? [True, True] Translation: X:597.13, Y:10.06, Z:5.51 [[ 9.98841741e-01 -4.47234084e-02 -1.77480428e-02 5.97126219e+02] [ 4.47249864e-02 9.98999290e-01 -3.08198339e-04 1.00594812e+01] [ 1.77440659e-02 -4.85939610e-04 9.99842444e-01 5.51238113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9792541539999 meters Centerline goodness [0,1] 0.9987814614059414 Centerline is valid? [True, True] Translation: X:597.16, Y:10.06, Z:5.51 [[ 9.98911600e-01 -4.31620784e-02 -1.76819167e-02 5.97156218e+02] [ 4.31634082e-02 9.99067979e-01 -3.06598109e-04 1.00617105e+01] [ 1.76786702e-02 -4.56947380e-04 9.99843616e-01 5.51286950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0092541539999 meters Centerline goodness [0,1] 0.9988236529776284 Centerline is valid? [True, True] Translation: X:597.19, Y:10.07, Z:5.51 [[ 9.99086172e-01 -3.88298802e-02 -1.78623137e-02 5.97186649e+02] [ 3.88305507e-02 9.99245762e-01 -3.09426330e-04 1.00672614e+01] [ 1.78608562e-02 -3.84459909e-04 9.99840408e-01 5.51359502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0392541539999 meters Centerline goodness [0,1] 0.9988032752466932 Centerline is valid? [True, True] Translation: X:597.22, Y:10.07, Z:5.51 [[ 9.99198147e-01 -3.60149500e-02 -1.74924809e-02 5.97217997e+02] [ 3.60151691e-02 9.99351198e-01 -3.02599179e-04 1.00710487e+01] [ 1.74920298e-02 -3.27638118e-04 9.99846949e-01 5.51418513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.069254154 meters Centerline goodness [0,1] 0.9989269031687918 Centerline is valid? [True, True] Translation: X:597.25, Y:10.07, Z:5.51 [[ 9.99295977e-01 -3.32048520e-02 -1.74638986e-02 5.97248532e+02] [ 3.32046561e-02 9.99448528e-01 -3.01259652e-04 1.00744152e+01] [ 1.74642710e-02 -2.78835189e-04 9.99847449e-01 5.51462825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0992541539999 meters Centerline goodness [0,1] 0.9989044789954915 Centerline is valid? [True, True] Translation: X:597.28, Y:10.08, Z:5.52 [[ 9.99446209e-01 -2.86098466e-02 -1.69927046e-02 5.97278662e+02] [ 2.86090073e-02 9.99590636e-01 -2.92526243e-04 1.00815637e+01] [ 1.69941175e-02 -1.93780165e-04 9.99855571e-01 5.51569992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1292541539999 meters Centerline goodness [0,1] 0.9988632775497316 Centerline is valid? [True, True] Translation: X:597.31, Y:10.08, Z:5.52 [[ 9.99495857e-01 -2.68256698e-02 -1.69827829e-02 5.97309396e+02] [ 2.68245740e-02 9.99640114e-01 -2.92355444e-04 1.00839582e+01] [ 1.69845137e-02 -1.63347861e-04 9.99855739e-01 5.51615471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1592541539999 meters Centerline goodness [0,1] 0.9989041788717257 Centerline is valid? [True, True] Translation: X:597.34, Y:10.09, Z:5.52 [[ 9.99522574e-01 -2.58407702e-02 -1.69375005e-02 5.97338751e+02] [ 2.58395345e-02 9.99666061e-01 -2.91835079e-04 1.00860270e+01] [ 1.69393857e-02 -1.45961380e-04 9.99856508e-01 5.51655042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.189254154 meters Centerline goodness [0,1] 0.9987988620798651 Centerline is valid? [True, True] Translation: X:597.37, Y:10.09, Z:5.52 [[ 9.99532671e-01 -2.55601213e-02 -1.67666375e-02 5.97368429e+02] [ 2.55588634e-02 9.99673277e-01 -2.89334092e-04 1.00874637e+01] [ 1.67685549e-02 -1.39337321e-04 9.99859388e-01 5.51648473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2192541539999 meters Centerline goodness [0,1] 0.9987340436754932 Centerline is valid? [True, True] Translation: X:597.40, Y:10.09, Z:5.52 [[ 9.99516095e-01 -2.61497434e-02 -1.68453543e-02 5.97398064e+02] [ 2.61485527e-02 9.99658026e-01 -2.90977806e-04 1.00871854e+01] [ 1.68472027e-02 -1.49644634e-04 9.99858065e-01 5.51624697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2492541539999 meters Centerline goodness [0,1] 0.9987981276093282 Centerline is valid? [True, True] Translation: X:597.43, Y:10.09, Z:5.52 [[ 9.99476795e-01 -2.73262851e-02 -1.73034996e-02 5.97427976e+02] [ 2.73251976e-02 9.99626552e-01 -2.99319183e-04 1.00870544e+01] [ 1.73052169e-02 -1.73658967e-04 9.99850238e-01 5.51647594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2792541539999 meters Centerline goodness [0,1] 0.9990091495551714 Centerline is valid? [True, True] Translation: X:597.46, Y:10.08, Z:5.52 [[ 9.99385364e-01 -3.03158436e-02 -1.76023744e-02 5.97457338e+02] [ 3.03151738e-02 9.99540343e-01 -3.04945739e-04 1.00845274e+01] [ 1.76035280e-02 -2.28860730e-04 9.99845020e-01 5.51592014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.309254154 meters Centerline goodness [0,1] 0.9990111924598165 Centerline is valid? [True, True] Translation: X:597.49, Y:10.08, Z:5.52 [[ 9.99317655e-01 -3.25415818e-02 -1.74719474e-02 5.97486829e+02] [ 3.25412569e-02 9.99470347e-01 -3.02974146e-04 1.00831621e+01] [ 1.74725526e-02 -2.65791716e-04 9.99847308e-01 5.51577644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.339254154 meters Centerline goodness [0,1] 0.9990766970936943 Centerline is valid? [True, True] Translation: X:597.52, Y:10.08, Z:5.52 [[ 9.99249639e-01 -3.45243384e-02 -1.75564597e-02 5.97517058e+02] [ 3.45243135e-02 9.99403812e-01 -3.04594231e-04 1.00817278e+01] [ 1.75565087e-02 -3.01759044e-04 9.99845827e-01 5.51568447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3692541539999 meters Centerline goodness [0,1] 0.9990136825316881 Centerline is valid? [True, True] Translation: X:597.55, Y:10.08, Z:5.52 [[ 9.99088199e-01 -3.89348135e-02 -1.75171542e-02 5.97547203e+02] [ 3.89354685e-02 9.99241681e-01 -3.03780297e-04 1.00782355e+01] [ 1.75156983e-02 -3.78535296e-04 9.99846517e-01 5.51570156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3992541539999 meters Centerline goodness [0,1] 0.9990329430067063 Centerline is valid? [True, True] Translation: X:597.58, Y:10.08, Z:5.52 [[ 9.99017464e-01 -4.09214411e-02 -1.70159288e-02 5.97578920e+02] [ 4.09223538e-02 9.99162286e-01 -2.94693672e-04 1.00767180e+01] [ 1.70137336e-02 -4.01927733e-04 9.99855175e-01 5.51608963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4292541539999 meters Centerline goodness [0,1] 0.9989914059380975 Centerline is valid? [True, True] Translation: X:597.61, Y:10.07, Z:5.52 [[ 9.98877401e-01 -4.43377241e-02 -1.66764262e-02 5.97610398e+02] [ 4.43390853e-02 9.99016498e-01 -2.88282933e-04 1.00738664e+01] [ 1.66728067e-02 -4.51458174e-04 9.99860897e-01 5.51672947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.459254154 meters Centerline goodness [0,1] 0.9990343437736166 Centerline is valid? [True, True] Translation: X:597.64, Y:10.07, Z:5.52 [[ 9.98816159e-01 -4.57847870e-02 -1.64327108e-02 5.97641465e+02] [ 4.57863129e-02 9.98951217e-01 -2.83548499e-04 1.00731740e+01] [ 1.64284586e-02 -4.69180414e-04 9.99864934e-01 5.51707009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4892541539999 meters Centerline goodness [0,1] 0.9988238259262371 Centerline is valid? [True, True] Translation: X:597.67, Y:10.07, Z:5.52 [[ 9.98759134e-01 -4.72429690e-02 -1.57573731e-02 5.97672489e+02] [ 4.72445627e-02 9.98883315e-01 -2.71304262e-04 1.00720837e+01] [ 1.57525943e-02 -4.73482590e-04 9.99875808e-01 5.51742299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5192541539999 meters Centerline goodness [0,1] 0.9989947854495194 Centerline is valid? [True, True] Translation: X:597.70, Y:10.07, Z:5.52 [[ 9.98613315e-01 -5.03052082e-02 -1.55187729e-02 5.97703130e+02] [ 5.03071316e-02 9.98733759e-01 -2.66659360e-04 1.00692158e+01] [ 1.55125368e-02 -5.14415364e-04 9.99879541e-01 5.51748500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5492541539999 meters Centerline goodness [0,1] 0.9988457260383219 Centerline is valid? [True, True] Translation: X:597.74, Y:10.07, Z:5.52 [[ 9.98484906e-01 -5.27737457e-02 -1.55828098e-02 5.97735162e+02] [ 5.27759935e-02 9.98606340e-01 -2.67221912e-04 1.00675983e+01] [ 1.55751950e-02 -5.55581225e-04 9.99878545e-01 5.51754445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.579254154 meters Centerline goodness [0,1] 0.9988669981746082 Centerline is valid? [True, True] Translation: X:597.77, Y:10.07, Z:5.52 [[ 9.98352406e-01 -5.53058264e-02 -1.52885425e-02 5.97767503e+02] [ 5.53083009e-02 9.98469290e-01 -2.61233582e-04 1.00653201e+01] [ 1.52795879e-02 -5.84780134e-04 9.99883089e-01 5.51765017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6092541539999 meters Centerline goodness [0,1] 0.9988027725267801 Centerline is valid? [True, True] Translation: X:597.80, Y:10.06, Z:5.52 [[ 9.97985140e-01 -6.16822997e-02 -1.48645055e-02 5.97797354e+02] [ 6.16853520e-02 9.98095613e-01 -2.53497340e-04 1.00585639e+01] [ 1.48518340e-02 -6.63935675e-04 9.99889485e-01 5.51742138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6392541539999 meters Centerline goodness [0,1] 0.9986371165579855 Centerline is valid? [True, True] Translation: X:597.83, Y:10.07, Z:5.52 [[ 9.97779392e-01 -6.49651943e-02 -1.46903875e-02 5.97828633e+02] [ 6.49685315e-02 9.97887282e-01 -2.50455310e-04 1.00717901e+01] [ 1.46756217e-02 -7.04513757e-04 9.99892059e-01 5.51923110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6692541539999 meters Centerline goodness [0,1] 0.9984266504436846 Centerline is valid? [True, True] Translation: X:597.86, Y:10.05, Z:5.52 [[ 9.97561217e-01 -6.82668071e-02 -1.45348227e-02 5.97859034e+02] [ 6.82704284e-02 9.97666822e-01 -2.47466259e-04 1.00530068e+01] [ 1.45178041e-02 -7.45435832e-04 9.99894333e-01 5.51760877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.699254154 meters Centerline goodness [0,1] 0.9983054038787422 Centerline is valid? [True, True] Translation: X:597.89, Y:10.05, Z:5.52 [[ 9.97371197e-01 -7.10213292e-02 -1.43758987e-02 5.97889128e+02] [ 7.10251616e-02 9.97474494e-01 -2.44435685e-04 1.00501513e+01] [ 1.43569524e-02 -7.77257417e-04 9.99896632e-01 5.51755072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7292541539999 meters Centerline goodness [0,1] 0.9985934121302459 Centerline is valid? [True, True] Translation: X:597.92, Y:10.07, Z:5.52 [[ 9.97037698e-01 -7.53899060e-02 -1.52378427e-02 5.97918986e+02] [ 7.53947304e-02 9.97153733e-01 -2.58421287e-04 1.00689074e+01] [ 1.52139541e-02 -8.91197281e-04 9.99883864e-01 5.51938175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7592541539999 meters Centerline goodness [0,1] 0.996356936476697 Centerline is valid? [True, True] Translation: X:597.95, Y:10.05, Z:5.52 [[ 9.96973693e-01 -7.61842710e-02 -1.54729479e-02 5.97950443e+02] [ 7.61893524e-02 9.97093333e-01 -2.61660594e-04 1.00469803e+01] [ 1.54479076e-02 -9.18005153e-04 9.99880253e-01 5.51725955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7892541539999 meters Centerline goodness [0,1] 0.9986998825700386 Centerline is valid? [True, True] Translation: X:597.98, Y:10.07, Z:5.52 [[ 9.97002412e-01 -7.58198782e-02 -1.54122470e-02 5.97982675e+02] [ 7.58249015e-02 9.97121115e-01 -2.59006166e-04 1.00734162e+01] [ 1.53875147e-02 -9.10402336e-04 9.99881191e-01 5.52015716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.819254154 meters Centerline goodness [0,1] 0.9962745139077838 Centerline is valid? [True, True] Translation: X:598.01, Y:10.05, Z:5.52 [[ 9.97098446e-01 -7.46060854e-02 -1.51202080e-02 5.98014266e+02] [ 7.46107983e-02 9.97212698e-01 -2.52947618e-04 1.00520819e+01] [ 1.50969348e-02 -8.75917109e-04 9.99885651e-01 5.51844659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8492541539999 meters Centerline goodness [0,1] 0.9985951227694952 Centerline is valid? [True, True] Translation: X:598.04, Y:10.08, Z:5.52 [[ 9.97326928e-01 -7.14039122e-02 -1.55074250e-02 5.98044134e+02] [ 7.14084918e-02 9.97447122e-01 -2.58902981e-04 1.00764385e+01] [ 1.54863231e-02 -8.49150916e-04 9.99879719e-01 5.52093111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8792541539999 meters Centerline goodness [0,1] 0.9985703773783244 Centerline is valid? [True, True] Translation: X:598.08, Y:10.08, Z:5.52 [[ 9.97465722e-01 -6.94029131e-02 -1.56642471e-02 5.98075159e+02] [ 6.94073433e-02 9.97588368e-01 -2.61296027e-04 1.00839912e+01] [ 1.56446054e-02 -8.26579943e-04 9.99877274e-01 5.52185897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9092541539999 meters Centerline goodness [0,1] 0.9987194558737089 Centerline is valid? [True, True] Translation: X:598.11, Y:10.09, Z:5.52 [[ 9.97622317e-01 -6.70805290e-02 -1.58087239e-02 5.98107016e+02] [ 6.70847633e-02 9.97747245e-01 -2.62894172e-04 1.00876848e+01] [ 1.57907458e-02 -7.98255407e-04 9.99875000e-01 5.52224088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.939254154 meters Centerline goodness [0,1] 0.9985916973200211 Centerline is valid? [True, True] Translation: X:598.14, Y:10.09, Z:5.52 [[ 9.97781448e-01 -6.47263980e-02 -1.55780409e-02 5.98138174e+02] [ 6.47302374e-02 9.97902766e-01 -2.58155955e-04 1.00926161e+01] [ 1.55620796e-02 -7.50787064e-04 9.99878622e-01 5.52288769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9692541539999 meters Centerline goodness [0,1] 0.9988628466738265 Centerline is valid? [True, True] Translation: X:598.17, Y:10.10, Z:5.52 [[ 9.97926533e-01 -6.25278738e-02 -1.52610604e-02 5.98169249e+02] [ 6.25313103e-02 9.98042971e-01 -2.52361322e-04 1.00968426e+01] [ 1.52469737e-02 -7.02456045e-04 9.99883511e-01 5.52370009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9992541539999 meters Centerline goodness [0,1] 0.9985443345077109 Centerline is valid? [True, True] Translation: X:598.20, Y:10.10, Z:5.52 [[ 9.98227206e-01 -5.77304908e-02 -1.44788183e-02 5.98199256e+02] [ 5.77330847e-02 9.98332026e-01 -2.39106089e-04 1.01023144e+01] [ 1.44684717e-02 -5.97224640e-04 9.99895148e-01 5.52404981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0292541539999 meters Centerline goodness [0,1] 0.9987320103975147 Centerline is valid? [True, True] Translation: X:598.23, Y:10.11, Z:5.53 [[ 9.98368158e-01 -5.53471416e-02 -1.40610947e-02 5.98230679e+02] [ 5.53493545e-02 9.98467023e-01 -2.32033620e-04 1.01104586e+01] [ 1.40523818e-02 -5.46617539e-04 9.99901111e-01 5.52545920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.059254154 meters Centerline goodness [0,1] 0.998819462011974 Centerline is valid? [True, True] Translation: X:598.26, Y:10.11, Z:5.53 [[ 9.98665484e-01 -5.00114531e-02 -1.28881837e-02 5.98260574e+02] [ 5.00128723e-02 9.98748551e-01 -2.12360122e-04 1.01129721e+01] [ 1.28826752e-02 -4.32498361e-04 9.99916921e-01 5.52572090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.089254154 meters Centerline goodness [0,1] 0.9988578680203045 Centerline is valid? [True, True] Translation: X:598.29, Y:10.12, Z:5.53 [[ 9.98811769e-01 -4.70667787e-02 -1.26399664e-02 5.98292398e+02] [ 4.70679110e-02 9.98891670e-01 -2.08050033e-04 1.01183327e+01] [ 1.26357494e-02 -3.87133992e-04 9.99920091e-01 5.52649376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1192541539999 meters Centerline goodness [0,1] 0.9986653673417507 Centerline is valid? [True, True] Translation: X:598.32, Y:10.12, Z:5.53 [[ 9.98942954e-01 -4.42789091e-02 -1.23431641e-02 5.98323067e+02] [ 4.42797850e-02 9.99019149e-01 -2.02447127e-04 1.01217668e+01] [ 1.23400214e-02 -3.44319521e-04 9.99923800e-01 5.52704011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1492541539999 meters Centerline goodness [0,1] 0.9988103078328483 Centerline is valid? [True, True] Translation: X:598.35, Y:10.13, Z:5.53 [[ 9.99169007e-01 -3.90826959e-02 -1.15688894e-02 5.98354788e+02] [ 3.90831225e-02 9.99235945e-01 -1.89288795e-04 1.01307002e+01] [ 1.15674481e-02 -2.63016825e-04 9.99933060e-01 5.52818084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1792541539999 meters Centerline goodness [0,1] 0.9989379327923871 Centerline is valid? [True, True] Translation: X:598.39, Y:10.13, Z:5.53 [[ 9.99271719e-01 -3.63545003e-02 -1.15923447e-02 5.98385816e+02] [ 3.63547564e-02 9.99338930e-01 -1.88702120e-04 1.01304580e+01] [ 1.15915416e-02 -2.32872178e-04 9.99932789e-01 5.52827867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.209254154 meters Centerline goodness [0,1] 0.9989819508367092 Centerline is valid? [True, True] Translation: X:598.42, Y:10.14, Z:5.53 [[ 9.99383245e-01 -3.30655957e-02 -1.18235361e-02 5.98418011e+02] [ 3.30656495e-02 9.99453164e-01 -1.90991711e-04 1.01352847e+01] [ 1.18233858e-02 -2.00078985e-04 9.99930081e-01 5.52830257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2392541539999 meters Centerline goodness [0,1] 0.999214137037509 Centerline is valid? [True, True] Translation: X:598.45, Y:10.14, Z:5.53 [[ 9.99420950e-01 -3.18036836e-02 -1.20950227e-02 5.98450570e+02] [ 3.18036581e-02 9.99494117e-01 -1.94494532e-04 1.01367945e+01] [ 1.20950896e-02 -1.90284055e-04 9.99926834e-01 5.52825172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2692541539999 meters Centerline goodness [0,1] 0.9992564265986829 Centerline is valid? [True, True] Translation: X:598.48, Y:10.14, Z:5.53 [[ 9.99434523e-01 -3.10312683e-02 -1.29497325e-02 5.98483048e+02] [ 3.10311872e-02 9.99518395e-01 -2.07242902e-04 1.01374454e+01] [ 1.29499269e-02 -1.94719864e-04 9.99916127e-01 5.52795694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2992541539999 meters Centerline goodness [0,1] 0.9991711298138231 Centerline is valid? [True, True] Translation: X:598.51, Y:10.14, Z:5.53 [[ 9.99440882e-01 -3.04498537e-02 -1.38105088e-02 5.98513763e+02] [ 3.04497194e-02 9.99536276e-01 -2.20044082e-04 1.01374455e+01] [ 1.38108049e-02 -2.00605068e-04 9.99904606e-01 5.52741079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.329254154 meters Centerline goodness [0,1] 0.9991704245724495 Centerline is valid? [True, True] Translation: X:598.55, Y:10.14, Z:5.53 [[ 9.99434449e-01 -2.98360918e-02 -1.55109502e-02 5.98545183e+02] [ 2.98358689e-02 9.99554781e-01 -2.45828538e-04 1.01371406e+01] [ 1.55113790e-02 -2.17093166e-04 9.99879668e-01 5.52653040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3592541539999 meters Centerline goodness [0,1] 0.9991683016292758 Centerline is valid? [True, True] Translation: X:598.58, Y:10.14, Z:5.53 [[ 9.99427273e-01 -2.97272721e-02 -1.61683440e-02 5.98576137e+02] [ 2.97270384e-02 9.99558021e-01 -2.54837286e-04 1.01371743e+01] [ 1.61687736e-02 -2.25945651e-04 9.99869251e-01 5.52646138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3892541539999 meters Centerline goodness [0,1] 0.999147594084303 Centerline is valid? [True, True] Translation: X:598.61, Y:10.14, Z:5.53 [[ 9.99434529e-01 -2.94961845e-02 -1.61430063e-02 5.98606414e+02] [ 2.94959288e-02 9.99564868e-01 -2.53983731e-04 1.01361139e+01] [ 1.61434735e-02 -2.22312853e-04 9.99869661e-01 5.52709968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4192541539999 meters Centerline goodness [0,1] 0.9988287405766856 Centerline is valid? [True, True] Translation: X:598.64, Y:10.14, Z:5.53 [[ 9.99430878e-01 -2.99811667e-02 -1.54612391e-02 5.98637639e+02] [ 2.99809959e-02 9.99550439e-01 -2.42883877e-04 1.01355139e+01] [ 1.54615703e-02 -2.20797699e-04 9.99880438e-01 5.52778377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.449254154 meters Centerline goodness [0,1] 0.9988503299978709 Centerline is valid? [True, True] Translation: X:598.67, Y:10.13, Z:5.53 [[ 9.99410232e-01 -3.05786248e-02 -1.56248468e-02 5.98669155e+02] [ 3.05785320e-02 9.99532337e-01 -2.44901707e-04 1.01344612e+01] [ 1.56250284e-02 -2.33027606e-04 9.99877895e-01 5.52850302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4792541539999 meters Centerline goodness [0,1] 0.9988307077407148 Centerline is valid? [True, True] Translation: X:598.70, Y:10.13, Z:5.53 [[ 9.99352574e-01 -3.26571135e-02 -1.50978483e-02 5.98699694e+02] [ 3.26572703e-02 9.99466581e-01 -2.36224600e-04 1.01308993e+01] [ 1.50975092e-02 -2.56982849e-04 9.99885993e-01 5.52901342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5092541539999 meters Centerline goodness [0,1] 0.998635859834598 Centerline is valid? [True, True] Translation: X:598.73, Y:10.13, Z:5.53 [[ 9.99319824e-01 -3.38942387e-02 -1.45282409e-02 5.98731497e+02] [ 3.38945220e-02 9.99425390e-01 -2.26798672e-04 1.01286936e+01] [ 1.45275800e-02 -2.65783372e-04 9.99894434e-01 5.52931776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5392541539999 meters Centerline goodness [0,1] 0.998635859834598 Centerline is valid? [True, True] Translation: X:598.76, Y:10.13, Z:5.53 [[ 9.99322170e-01 -3.38249830e-02 -1.45282565e-02 5.98763191e+02] [ 3.38252735e-02 9.99427736e-01 -2.25793312e-04 1.01291223e+01] [ 1.45275800e-02 -2.65781988e-04 9.99894434e-01 5.52961449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.569254154 meters Centerline goodness [0,1] 0.9989152167439486 Centerline is valid? [True, True] Translation: X:598.80, Y:10.13, Z:5.53 [[ 9.99284665e-01 -3.50500121e-02 -1.42005410e-02 5.98795446e+02] [ 3.50504271e-02 9.99385521e-01 -2.19731497e-04 1.01274671e+01] [ 1.41995167e-02 -2.78160712e-04 9.99899143e-01 5.53012295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5992541539999 meters Centerline goodness [0,1] 0.9989589308857586 Centerline is valid? [True, True] Translation: X:598.83, Y:10.13, Z:5.53 [[ 9.99227196e-01 -3.66652809e-02 -1.41657134e-02 5.98827392e+02] [ 3.66658700e-02 9.99327557e-01 -2.18211880e-04 1.01269839e+01] [ 1.41641885e-02 -3.01354960e-04 9.99899637e-01 5.53055808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6292541539999 meters Centerline goodness [0,1] 0.9987496026279538 Centerline is valid? [True, True] Translation: X:598.86, Y:10.13, Z:5.53 [[ 9.99110090e-01 -3.98007138e-02 -1.39617855e-02 5.98859746e+02] [ 3.98016057e-02 9.99207579e-01 -2.14088802e-04 1.01252161e+01] [ 1.39592427e-02 -3.41803197e-04 9.99902507e-01 5.53075991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6592541539999 meters Centerline goodness [0,1] 0.9988125026506637 Centerline is valid? [True, True] Translation: X:598.89, Y:10.12, Z:5.53 [[ 9.99030855e-01 -4.17389570e-02 -1.39717991e-02 5.98892209e+02] [ 4.17400539e-02 9.99128481e-01 -2.13215580e-04 1.01236513e+01] [ 1.39685218e-02 -3.70174703e-04 9.99902367e-01 5.53102218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.689254154 meters Centerline goodness [0,1] 0.998771316597818 Centerline is valid? [True, True] Translation: X:598.92, Y:10.12, Z:5.53 [[ 9.98846822e-01 -4.60464761e-02 -1.35921898e-02 5.98923840e+02] [ 4.60479238e-02 9.98939210e-01 -2.06596795e-04 1.01193266e+01] [ 1.35872844e-02 -4.19533568e-04 9.99907601e-01 5.53066088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7192541539999 meters Centerline goodness [0,1] 0.9989669639280669 Centerline is valid? [True, True] Translation: X:598.96, Y:10.12, Z:5.53 [[ 9.98742531e-01 -4.82244157e-02 -1.37026160e-02 5.98955029e+02] [ 4.82261029e-02 9.98836423e-01 -2.07462736e-04 1.01170702e+01] [ 1.36966767e-02 -4.53621910e-04 9.99906093e-01 5.53062194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7492541539999 meters Centerline goodness [0,1] 0.998921000296196 Centerline is valid? [True, True] Translation: X:598.99, Y:10.11, Z:5.53 [[ 9.98624321e-01 -5.06311803e-02 -1.36363226e-02 5.98986159e+02] [ 5.06330922e-02 9.98717301e-01 -2.05223538e-04 1.01139413e+01] [ 1.36292220e-02 -4.85507963e-04 9.99907000e-01 5.53030702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7792541539999 meters Centerline goodness [0,1] 0.9988174926621196 Centerline is valid? [True, True] Translation: X:599.02, Y:10.11, Z:5.53 [[ 9.98384064e-01 -5.50788924e-02 -1.39848420e-02 5.99017155e+02] [ 5.50813473e-02 9.98481848e-01 -2.09862135e-04 1.01129697e+01] [ 1.39751699e-02 -5.60780929e-04 9.99902185e-01 5.52998858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.809254154 meters Centerline goodness [0,1] 0.9987974683544304 Centerline is valid? [True, True] Translation: X:599.05, Y:10.11, Z:5.53 [[ 9.98257362e-01 -5.71430336e-02 -1.47279526e-02 5.99048118e+02] [ 5.71459935e-02 9.98365808e-01 -2.20139515e-04 1.01060849e+01] [ 1.47164637e-02 -6.21887592e-04 9.99891514e-01 5.52886670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.839254154 meters Centerline goodness [0,1] 0.9986723145982171 Centerline is valid? [True, True] Translation: X:599.08, Y:10.11, Z:5.53 [[ 9.98009298e-01 -6.12128549e-02 -1.51798607e-02 5.99078845e+02] [ 6.12164895e-02 9.98124487e-01 -2.25542668e-04 1.01075213e+01] [ 1.51651968e-02 -7.04164106e-04 9.99884754e-01 5.52831229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8692541539999 meters Centerline goodness [0,1] 0.9987364164771292 Centerline is valid? [True, True] Translation: X:599.11, Y:10.11, Z:5.53 [[ 9.97881150e-01 -6.32156668e-02 -1.53944871e-02 5.99111240e+02] [ 6.32196523e-02 9.97999611e-01 -2.28103997e-04 1.01077263e+01] [ 1.53781119e-02 -7.45613441e-04 9.99881472e-01 5.52835358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8992541539999 meters Centerline goodness [0,1] 0.9986738796387901 Centerline is valid? [True, True] Translation: X:599.14, Y:10.11, Z:5.53 [[ 9.97757967e-01 -6.50965746e-02 -1.55395062e-02 5.99141828e+02] [ 6.51008777e-02 9.97878662e-01 -2.29311233e-04 1.01056398e+01] [ 1.55214690e-02 -7.82838380e-04 9.99879228e-01 5.52828385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9292541539999 meters Centerline goodness [0,1] 0.9985246385364415 Centerline is valid? [True, True] Translation: X:599.17, Y:10.10, Z:5.53 [[ 9.97543187e-01 -6.83420472e-02 -1.53933143e-02 5.99171578e+02] [ 6.83466603e-02 9.97661607e-01 -2.26806182e-04 1.01029962e+01] [ 1.53728191e-02 -8.25832661e-04 9.99881490e-01 5.52805756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.959254154 meters Centerline goodness [0,1] 0.9985889389663452 Centerline is valid? [True, True] Translation: X:599.20, Y:10.10, Z:5.53 [[ 9.97450892e-01 -6.96332554e-02 -1.55861406e-02 5.99203800e+02] [ 6.96381490e-02 9.97572291e-01 -2.29192924e-04 1.01022601e+01] [ 1.55642615e-02 -8.56781298e-04 9.99878502e-01 5.52800301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9892541539999 meters Centerline goodness [0,1] 0.9984810767478165 Centerline is valid? [True, True] Translation: X:599.23, Y:10.10, Z:5.53 [[ 9.97370838e-01 -7.07314974e-02 -1.57628025e-02 5.99234681e+02] [ 7.07366539e-02 9.97494999e-01 -2.30865902e-04 1.00976239e+01] [ 1.57396461e-02 -8.84748985e-04 9.99875733e-01 5.52717284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0192541539999 meters Centerline goodness [0,1] 0.9988816913890237 Centerline is valid? [True, True] Translation: X:599.27, Y:10.10, Z:5.53 [[ 9.97179067e-01 -7.30186447e-02 -1.73834705e-02 5.99265897e+02] [ 7.30252743e-02 9.97330058e-01 -2.53934357e-04 1.01023941e+01] [ 1.73555996e-02 -1.01621468e-03 9.99848864e-01 5.52721480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0492541539999 meters Centerline goodness [0,1] 0.9985667010939443 Centerline is valid? [True, True] Translation: X:599.30, Y:10.10, Z:5.53 [[ 9.97125710e-01 -7.36413786e-02 -1.78119415e-02 5.99297731e+02] [ 7.36484554e-02 9.97284231e-01 -2.59226046e-04 1.01023204e+01] [ 1.77826581e-02 -1.05334102e-03 9.99841321e-01 5.52689874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.079254154 meters Centerline goodness [0,1] 0.9988368158362236 Centerline is valid? [True, True] Translation: X:599.33, Y:10.10, Z:5.53 [[ 9.97073987e-01 -7.42202973e-02 -1.82978402e-02 5.99330225e+02] [ 7.42278875e-02 9.97241270e-01 -2.64936761e-04 1.01034767e+01] [ 1.82670251e-02 -1.09404847e-03 9.99832545e-01 5.52701619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1092541539999 meters Centerline goodness [0,1] 0.9988386333882343 Centerline is valid? [True, True] Translation: X:599.36, Y:10.11, Z:5.53 [[ 9.97084033e-01 -7.40737754e-02 -1.83441269e-02 5.99363200e+02] [ 7.40814103e-02 9.97252162e-01 -2.63918573e-04 1.01051767e+01] [ 1.83132697e-02 -1.09580980e-03 9.99831698e-01 5.52722592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1392541539999 meters Centerline goodness [0,1] 0.9987148966650515 Centerline is valid? [True, True] Translation: X:599.39, Y:10.10, Z:5.53 [[ 9.97140826e-01 -7.33634262e-02 -1.81102297e-02 5.99394592e+02] [ 7.33707781e-02 9.97304699e-01 -2.59045238e-04 1.01039093e+01] [ 1.80804217e-02 -1.07045706e-03 9.99835963e-01 5.52725005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1692541539999 meters Centerline goodness [0,1] 0.9986516664559896 Centerline is valid? [True, True] Translation: X:599.43, Y:10.11, Z:5.53 [[ 9.97267835e-01 -7.16428746e-02 -1.80045347e-02 5.99426509e+02] [ 7.16498791e-02 9.97429812e-01 -2.56550798e-04 1.01076462e+01] [ 1.79766397e-02 -1.03417287e-03 9.99837872e-01 5.52806637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.199254154 meters Centerline goodness [0,1] 0.9988366436110583 Centerline is valid? [True, True] Translation: X:599.46, Y:10.12, Z:5.53 [[ 9.97638159e-01 -6.63995705e-02 -1.75841090e-02 5.99457068e+02] [ 6.64054484e-02 9.97792691e-01 -2.50045933e-04 1.01156440e+01] [ 1.75618984e-02 -9.18225280e-04 9.99845356e-01 5.52978866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2292541539999 meters Centerline goodness [0,1] 0.9986877751439215 Centerline is valid? [True, True] Translation: X:599.49, Y:10.12, Z:5.53 [[ 9.97867714e-01 -6.29734297e-02 -1.71573088e-02 5.99486792e+02] [ 6.29785207e-02 9.98014853e-01 -2.43958942e-04 1.01155545e+01] [ 1.71386120e-02 -8.37103177e-04 9.99852773e-01 5.53015147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2592541539999 meters Centerline goodness [0,1] 0.9988136849909968 Centerline is valid? [True, True] Translation: X:599.52, Y:10.12, Z:5.53 [[ 9.98125754e-01 -5.89114825e-02 -1.65655428e-02 5.99517975e+02] [ 5.89156721e-02 9.98262935e-01 -2.35420093e-04 1.01200646e+01] [ 1.65506363e-02 -7.40991232e-04 9.99862754e-01 5.53092968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2892541539999 meters Centerline goodness [0,1] 0.9988551074926854 Centerline is valid? [True, True] Translation: X:599.55, Y:10.13, Z:5.53 [[ 9.98633484e-01 -4.97382450e-02 -1.60397045e-02 5.99548899e+02] [ 4.97409951e-02 9.98762125e-01 -2.27683308e-04 1.01295052e+01] [ 1.60311739e-02 -5.70458689e-04 9.99871330e-01 5.53236522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.319254154 meters Centerline goodness [0,1] 0.9988768568946153 Centerline is valid? [True, True] Translation: X:599.58, Y:10.14, Z:5.53 [[ 9.98867504e-01 -4.48607069e-02 -1.58501387e-02 5.99580490e+02] [ 4.48627868e-02 9.98993133e-01 -2.24495932e-04 1.01372279e+01] [ 1.58442507e-02 -4.86839700e-04 9.99874353e-01 5.53373988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3492541539999 meters Centerline goodness [0,1] 0.9990652220097727 Centerline is valid? [True, True] Translation: X:599.61, Y:10.15, Z:5.53 [[ 9.99256009e-01 -3.55802095e-02 -1.48820894e-02 5.99610510e+02] [ 3.55810206e-02 9.99366773e-01 -2.10355107e-04 1.01454523e+01] [ 1.48801502e-02 -3.19321326e-04 9.99889233e-01 5.53496562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3792541539999 meters Centerline goodness [0,1] 0.9991054313099041 Centerline is valid? [True, True] Translation: X:599.64, Y:10.15, Z:5.54 [[ 9.99409158e-01 -3.12121988e-02 -1.43921613e-02 5.99641917e+02] [ 3.12125062e-02 9.99512750e-01 -2.03317895e-04 1.01500248e+01] [ 1.43914948e-02 -2.46017658e-04 9.99896407e-01 5.53574917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4092541539999 meters Centerline goodness [0,1] 0.9991052026076953 Centerline is valid? [True, True] Translation: X:599.67, Y:10.15, Z:5.54 [[ 9.99524428e-01 -2.72721340e-02 -1.43926566e-02 5.99673466e+02] [ 2.72720405e-02 9.99628028e-01 -2.02800955e-04 1.01543761e+01] [ 1.43928338e-02 -1.89812605e-04 9.99896400e-01 5.53641770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.439254154 meters Centerline goodness [0,1] 0.9990842490842491 Centerline is valid? [True, True] Translation: X:599.70, Y:10.16, Z:5.54 [[ 9.99621311e-01 -2.35100705e-02 -1.43007146e-02 5.99703967e+02] [ 2.35096030e-02 9.99723591e-01 -2.00820061e-04 1.01574424e+01] [ 1.43014831e-02 -1.35460111e-04 9.99897719e-01 5.53680577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4692541539999 meters Centerline goodness [0,1] 0.9991243619588663 Centerline is valid? [True, True] Translation: X:599.73, Y:10.16, Z:5.54 [[ 9.99741851e-01 -1.75295277e-02 -1.44549733e-02 5.99734757e+02] [ 1.75284345e-02 9.99846345e-01 -2.02327889e-04 1.01625014e+01] [ 1.44562990e-02 -5.10973952e-05 9.99895501e-01 5.53656034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4992541539999 meters Centerline goodness [0,1] 0.9991887968576552 Centerline is valid? [True, True] Translation: X:599.76, Y:10.16, Z:5.54 [[ 9.99772639e-01 -1.53331973e-02 -1.48176858e-02 5.99764461e+02] [ 1.53318044e-02 9.99882439e-01 -2.07602304e-04 1.01647218e+01] [ 1.48191270e-02 -1.96267564e-05 9.99890191e-01 5.53656163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5292541539999 meters Centerline goodness [0,1] 0.999211457312135 Centerline is valid? [True, True] Translation: X:599.79, Y:10.17, Z:5.54 [[ 9.99794105e-01 -1.33170251e-02 -1.53102687e-02 5.99792076e+02] [ 1.33152881e-02 9.99911324e-01 -2.15388627e-04 1.01665179e+01] [ 1.53117794e-02 1.14836411e-05 9.99882768e-01 5.53621118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.559254154 meters Centerline goodness [0,1] 0.9991856153961552 Centerline is valid? [True, True] Translation: X:599.82, Y:10.17, Z:5.54 [[ 9.99807230e-01 -1.10314378e-02 -1.62422534e-02 5.99820835e+02] [ 1.10291383e-02 9.99939151e-01 -2.31145369e-04 1.01683485e+01] [ 1.62438149e-02 5.19627518e-05 9.99868059e-01 5.53519372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.589254154 meters Centerline goodness [0,1] 0.9994215938303342 Centerline is valid? [True, True] Translation: X:599.85, Y:10.17, Z:5.53 [[ 9.99798865e-01 -1.06351840e-02 -1.70035957e-02 5.99848861e+02] [ 1.06325524e-02 9.99943443e-01 -2.45166732e-04 1.01692911e+01] [ 1.70052414e-02 6.43257983e-05 9.99855398e-01 5.53448033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6192541539999 meters Centerline goodness [0,1] 0.9990776886448458 Centerline is valid? [True, True] Translation: X:599.88, Y:10.17, Z:5.53 [[ 9.99786892e-01 -1.06610307e-02 -1.76780390e-02 5.99876322e+02] [ 1.06581324e-02 9.99943167e-01 -2.58154734e-04 1.01701140e+01] [ 1.76797865e-02 6.96848383e-05 9.99843698e-01 5.53474647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6492541539999 meters Centerline goodness [0,1] 0.9991839364329432 Centerline is valid? [True, True] Translation: X:599.90, Y:10.17, Z:5.54 [[ 9.99791780e-01 -1.10576803e-02 -1.71500832e-02 5.99904180e+02] [ 1.10549273e-02 9.99938860e-01 -2.55324984e-04 1.01702828e+01] [ 1.71518579e-02 6.56788982e-05 9.99852894e-01 5.53516772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6792541539999 meters Centerline goodness [0,1] 0.9991420175457412 Centerline is valid? [True, True] Translation: X:599.93, Y:10.17, Z:5.54 [[ 9.99788472e-01 -1.16549099e-02 -1.69462087e-02 5.99931704e+02] [ 1.16522245e-02 9.99932077e-01 -2.57195850e-04 1.01701104e+01] [ 1.69480552e-02 5.96804182e-05 9.99856370e-01 5.53565153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.709254154 meters Centerline goodness [0,1] 0.9992301770592764 Centerline is valid? [True, True] Translation: X:599.96, Y:10.17, Z:5.54 [[ 9.99787749e-01 -1.29365377e-02 -1.60344528e-02 5.99959492e+02] [ 1.29342474e-02 9.99916319e-01 -2.46536397e-04 1.01690327e+01] [ 1.60363003e-02 3.90904909e-05 9.99871410e-01 5.53550836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7392541539999 meters Centerline goodness [0,1] 0.9992717770781127 Centerline is valid? [True, True] Translation: X:599.99, Y:10.17, Z:5.54 [[ 9.99774908e-01 -1.42893247e-02 -1.56827305e-02 5.99987462e+02] [ 1.42872583e-02 9.99897902e-01 -2.43804715e-04 1.01684084e+01] [ 1.56846132e-02 1.96866152e-05 9.99876989e-01 5.53652343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7692541539999 meters Centerline goodness [0,1] 0.999293906196508 Centerline is valid? [True, True] Translation: X:600.01, Y:10.17, Z:5.54 [[ 9.99759420e-01 -1.55163091e-02 -1.55031279e-02 6.00014865e+02] [ 1.55143821e-02 9.99879615e-01 -2.44564792e-04 1.01675611e+01] [ 1.55050563e-02 3.98450579e-06 9.99879789e-01 5.53651102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7992541539999 meters Centerline goodness [0,1] 0.9991658824535888 Centerline is valid? [True, True] Translation: X:600.04, Y:10.16, Z:5.54 [[ 9.99708363e-01 -1.89594027e-02 -1.49576289e-02 6.00042378e+02] [ 1.89579512e-02 9.99820253e-01 -2.38834040e-04 1.01640073e+01] [ 1.49594685e-02 -4.48016132e-05 9.99888100e-01 5.53668631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.829254154 meters Centerline goodness [0,1] 0.9991246797608881 Centerline is valid? [True, True] Translation: X:600.07, Y:10.16, Z:5.54 [[ 9.99666248e-01 -2.10858357e-02 -1.49258217e-02 6.00072204e+02] [ 2.10845835e-02 9.99777666e-01 -2.41270263e-04 1.01619310e+01] [ 1.49275905e-02 -7.35149948e-05 9.99888575e-01 5.53648792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8592541539999 meters Centerline goodness [0,1] 0.9992308021024743 Centerline is valid? [True, True] Translation: X:600.10, Y:10.16, Z:5.54 [[ 9.99615119e-01 -2.35596511e-02 -1.46477597e-02 6.00101807e+02] [ 2.35587029e-02 9.99722427e-01 -2.37302995e-04 1.01594999e+01] [ 1.46492847e-02 -1.07870558e-04 9.99892688e-01 5.53639637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8892541539999 meters Centerline goodness [0,1] 0.9990205889241383 Centerline is valid? [True, True] Translation: X:600.13, Y:10.15, Z:5.54 [[ 9.99464703e-01 -2.93839417e-02 -1.43836955e-02 6.00132282e+02] [ 2.93836255e-02 9.99568181e-01 -2.33358805e-04 1.01532177e+01] [ 1.43843413e-02 -1.89411233e-04 9.99896522e-01 5.53578803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9192541539999 meters Centerline goodness [0,1] 0.9989577572637938 Centerline is valid? [True, True] Translation: X:600.16, Y:10.15, Z:5.54 [[ 9.99370274e-01 -3.23855075e-02 -1.44994513e-02 6.00163216e+02] [ 3.23855034e-02 9.99475424e-01 -2.35144123e-04 1.01502869e+01] [ 1.44994605e-02 -2.34575984e-04 9.99894850e-01 5.53560151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.949254154 meters Centerline goodness [0,1] 0.9988497667582593 Centerline is valid? [True, True] Translation: X:600.20, Y:10.15, Z:5.54 [[ 9.99276000e-01 -3.51635695e-02 -1.45257826e-02 6.00195529e+02] [ 3.51638666e-02 9.99381532e-01 -2.35027081e-04 1.01478792e+01] [ 1.45250633e-02 -2.75925761e-04 9.99894468e-01 5.53557232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9792541539999 meters Centerline goodness [0,1] 0.9991273810790677 Centerline is valid? [True, True] Translation: X:600.23, Y:10.14, Z:5.54 [[ 9.99061945e-01 -4.07048788e-02 -1.47764239e-02 6.00227074e+02] [ 4.07058051e-02 9.99171147e-01 -2.38192405e-04 1.01429312e+01] [ 1.47738720e-02 -3.63517266e-04 9.99890794e-01 5.53530093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0092541539999 meters Centerline goodness [0,1] 0.9987681851969842 Centerline is valid? [True, True] Translation: X:600.26, Y:10.14, Z:5.54 [[ 9.98954645e-01 -4.31557014e-02 -1.50732564e-02 6.00259433e+02] [ 4.31569557e-02 9.99068275e-01 -2.42203759e-04 1.01407961e+01] [ 1.50696648e-02 -4.08565290e-04 9.99886363e-01 5.53510751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0392541539999 meters Centerline goodness [0,1] 0.9990460442635462 Centerline is valid? [True, True] Translation: X:600.29, Y:10.14, Z:5.53 [[ 9.98854914e-01 -4.52752140e-02 -1.54601638e-02 6.00290672e+02] [ 4.52768078e-02 9.98974449e-01 -2.47089624e-04 1.01360722e+01] [ 1.54554957e-02 -4.53180180e-04 9.99880454e-01 5.53458923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.069254154 meters Centerline goodness [0,1] 0.9987908101571947 Centerline is valid? [True, True] Translation: X:600.32, Y:10.14, Z:5.54 [[ 9.98713770e-01 -4.83445004e-02 -1.52844648e-02 6.00322793e+02] [ 4.83464382e-02 9.98830598e-01 -2.42903873e-04 1.01352002e+01] [ 1.52783342e-02 -4.96357989e-04 9.99883156e-01 5.53504094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0992541539999 meters Centerline goodness [0,1] 0.99904673134771 Centerline is valid? [True, True] Translation: X:600.35, Y:10.13, Z:5.54 [[ 9.98697065e-01 -4.87136830e-02 -1.52035912e-02 6.00354970e+02] [ 4.87156601e-02 9.98812658e-01 -2.40494106e-04 1.01349122e+01] [ 1.51972547e-02 -5.00472222e-04 9.99884390e-01 5.53525459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1292541539999 meters Centerline goodness [0,1] 0.9987937529098065 Centerline is valid? [True, True] Translation: X:600.39, Y:10.13, Z:5.54 [[ 9.98673516e-01 -4.91774728e-02 -1.52572952e-02 6.00386836e+02] [ 4.91795354e-02 9.98789926e-01 -2.40205016e-04 1.01349443e+01] [ 1.52506455e-02 -5.10460304e-04 9.99883572e-01 5.53542822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1592541539999 meters Centerline goodness [0,1] 0.9986873584146677 Centerline is valid? [True, True] Translation: X:600.42, Y:10.13, Z:5.54 [[ 9.98693561e-01 -4.87710127e-02 -1.52498745e-02 6.00417813e+02] [ 4.87730415e-02 9.98809858e-01 -2.39065742e-04 1.01340310e+01] [ 1.52433845e-02 -5.05029345e-04 9.99883685e-01 5.53534232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.189254154 meters Centerline goodness [0,1] 0.9985587113183553 Centerline is valid? [True, True] Translation: X:600.45, Y:10.14, Z:5.54 [[ 9.98726734e-01 -4.82006464e-02 -1.48865478e-02 6.00450193e+02] [ 4.82025300e-02 9.98837555e-01 -2.32457330e-04 1.01359014e+01] [ 1.48804476e-02 -4.85407916e-04 9.99889162e-01 5.53598920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2192541539999 meters Centerline goodness [0,1] 0.9985825205746081 Centerline is valid? [True, True] Translation: X:600.48, Y:10.14, Z:5.54 [[ 9.98814813e-01 -4.63983789e-02 -1.47023404e-02 6.00481032e+02] [ 4.64000418e-02 9.98922912e-01 -2.28170505e-04 1.01364686e+01] [ 1.46970915e-02 -4.54289131e-04 9.99891889e-01 5.53626428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2492541539999 meters Centerline goodness [0,1] 0.9989000994140914 Centerline is valid? [True, True] Translation: X:600.51, Y:10.14, Z:5.54 [[ 9.98851665e-01 -4.55977159e-02 -1.47037084e-02 6.00513603e+02] [ 4.55993170e-02 9.98959784e-01 -2.26524917e-04 1.01375166e+01] [ 1.46987424e-02 -4.44214272e-04 9.99891869e-01 5.53658024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2792541539999 meters Centerline goodness [0,1] 0.9987949514809412 Centerline is valid? [True, True] Translation: X:600.55, Y:10.14, Z:5.54 [[ 9.98863411e-01 -4.51762567e-02 -1.51984313e-02 6.00545974e+02] [ 4.51779356e-02 9.98978929e-01 -2.33029434e-04 1.01379335e+01] [ 1.51934400e-02 -4.53869175e-04 9.99884470e-01 5.53666680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.309254154 meters Centerline goodness [0,1] 0.9992365117068205 Centerline is valid? [True, True] Translation: X:600.58, Y:10.14, Z:5.54 [[ 9.98853650e-01 -4.50908726e-02 -1.60685748e-02 6.00577651e+02] [ 4.50927577e-02 9.98982774e-01 -2.45163669e-04 1.01410186e+01] [ 1.60632841e-02 -4.79693723e-04 9.99870862e-01 5.53662310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.339254154 meters Centerline goodness [0,1] 0.9988979548585355 Centerline is valid? [True, True] Translation: X:600.61, Y:10.14, Z:5.54 [[ 9.98834146e-01 -4.54541293e-02 -1.62564285e-02 6.00609313e+02] [ 4.54561316e-02 9.98966305e-01 -2.46498638e-04 1.01404109e+01] [ 1.62508287e-02 -4.92743097e-04 9.99867825e-01 5.53569673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3692541539999 meters Centerline goodness [0,1] 0.9985799970328296 Centerline is valid? [True, True] Translation: X:600.64, Y:10.14, Z:5.54 [[ 9.98796230e-01 -4.61660433e-02 -1.65767366e-02 6.00641535e+02] [ 4.61682510e-02 9.98933647e-01 -2.49685924e-04 1.01405311e+01] [ 1.65705869e-02 -5.15933575e-04 9.99862565e-01 5.53540723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3992541539999 meters Centerline goodness [0,1] 0.9988564894225271 Centerline is valid? [True, True] Translation: X:600.67, Y:10.14, Z:5.53 [[ 9.98689678e-01 -4.81402936e-02 -1.73619967e-02 6.00672927e+02] [ 4.81430334e-02 9.98840418e-01 -2.60369624e-04 1.01392429e+01] [ 1.73543983e-02 -5.75830731e-04 9.99849235e-01 5.53474002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4292541539999 meters Centerline goodness [0,1] 0.9988564894225271 Centerline is valid? [True, True] Translation: X:600.70, Y:10.14, Z:5.54 [[ 9.98693129e-01 -4.80686435e-02 -1.73620129e-02 6.00704633e+02] [ 4.80713911e-02 9.98843869e-01 -2.59289375e-04 1.01396556e+01] [ 1.73544038e-02 -5.75665594e-04 9.99849235e-01 5.53503692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.459254154 meters Centerline goodness [0,1] 0.9988550346670059 Centerline is valid? [True, True] Translation: X:600.74, Y:10.14, Z:5.54 [[ 9.98650687e-01 -4.90595884e-02 -1.70282970e-02 6.00736979e+02] [ 4.90623959e-02 9.98795683e-01 -2.53098424e-04 1.01393817e+01] [ 1.70202064e-02 -5.82692134e-04 9.99854976e-01 5.53507732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4892541539999 meters Centerline goodness [0,1] 0.9985404547858276 Centerline is valid? [True, True] Translation: X:600.77, Y:10.14, Z:5.54 [[ 9.98603012e-01 -5.00001540e-02 -1.70882560e-02 6.00769439e+02] [ 5.00031398e-02 9.98749029e-01 -2.52759227e-04 1.01403323e+01] [ 1.70795171e-02 -6.02060327e-04 9.99853953e-01 5.53541741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5192541539999 meters Centerline goodness [0,1] 0.9989613582889968 Centerline is valid? [True, True] Translation: X:600.80, Y:10.14, Z:5.54 [[ 9.98522365e-01 -5.17081336e-02 -1.67139272e-02 6.00800669e+02] [ 5.17112520e-02 9.98662048e-01 -2.45838136e-04 1.01392386e+01] [ 1.67042766e-02 -6.18823226e-04 9.99860282e-01 5.53648097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5492541539999 meters Centerline goodness [0,1] 0.9986647733293771 Centerline is valid? [True, True] Translation: X:600.83, Y:10.14, Z:5.54 [[ 9.98482062e-01 -5.26641551e-02 -1.61263147e-02 6.00833187e+02] [ 5.26672045e-02 9.98612092e-01 -2.35833062e-04 1.01398207e+01] [ 1.61163528e-02 -6.13852832e-04 9.99869935e-01 5.53689888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.579254154 meters Centerline goodness [0,1] 0.9988983984408101 Centerline is valid? [True, True] Translation: X:600.86, Y:10.14, Z:5.54 [[ 9.98461304e-01 -5.31318717e-02 -1.58754296e-02 6.00864692e+02] [ 5.31349016e-02 9.98587317e-01 -2.31177977e-04 1.01399650e+01] [ 1.58652856e-02 -6.12717127e-04 9.99873951e-01 5.53782905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6092541539999 meters Centerline goodness [0,1] 0.9987698572610235 Centerline is valid? [True, True] Translation: X:600.90, Y:10.14, Z:5.54 [[ 9.98410838e-01 -5.43346585e-02 -1.49513671e-02 6.00896398e+02] [ 5.43374918e-02 9.98522604e-01 -2.16968775e-04 1.01418359e+01] [ 1.49410669e-02 -5.95795811e-04 9.99888199e-01 5.53863807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6392541539999 meters Centerline goodness [0,1] 0.9987686820652174 Centerline is valid? [True, True] Translation: X:600.93, Y:10.14, Z:5.54 [[ 9.98391210e-01 -5.47883985e-02 -1.46021375e-02 6.00928260e+02] [ 5.47911617e-02 9.98497814e-01 -2.11057142e-04 1.01422339e+01] [ 1.45917658e-02 -5.89350482e-04 9.99893361e-01 5.53908651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6692541539999 meters Centerline goodness [0,1] 0.9988747107157264 Centerline is valid? [True, True] Translation: X:600.96, Y:10.14, Z:5.54 [[ 9.98347054e-01 -5.56329561e-02 -1.44268329e-02 6.00959858e+02] [ 5.56357578e-02 9.98451110e-01 -2.07383487e-04 1.01426475e+01] [ 1.44160247e-02 -5.95607090e-04 9.99895906e-01 5.53884067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.699254154 meters Centerline goodness [0,1] 0.998684294293657 Centerline is valid? [True, True] Translation: X:600.99, Y:10.14, Z:5.54 [[ 9.98331194e-01 -5.59244782e-02 -1.43971911e-02 6.00991975e+02] [ 5.59273167e-02 9.98434822e-01 -2.05697150e-04 1.01431933e+01] [ 1.43861604e-02 -5.99842386e-04 9.99896334e-01 5.53874003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7292541539999 meters Centerline goodness [0,1] 0.9984088257133765 Centerline is valid? [True, True] Translation: X:601.02, Y:10.14, Z:5.54 [[ 9.98304111e-01 -5.63700167e-02 -1.45369818e-02 6.01024317e+02] [ 5.63729723e-02 9.98409758e-01 -2.06693894e-04 1.01449291e+01] [ 1.45255159e-02 -6.13149511e-04 9.99894311e-01 5.53891646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7592541539999 meters Centerline goodness [0,1] 0.9986825609315569 Centerline is valid? [True, True] Translation: X:601.06, Y:10.15, Z:5.54 [[ 9.98309433e-01 -5.63087014e-02 -1.44085203e-02 6.01056229e+02] [ 5.63116140e-02 9.98413221e-01 -2.03801856e-04 1.01462375e+01] [ 1.43971330e-02 -6.07909720e-04 9.99896171e-01 5.54000169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7892541539999 meters Centerline goodness [0,1] 0.9987442266351659 Centerline is valid? [True, True] Translation: X:601.09, Y:10.15, Z:5.54 [[ 9.98337403e-01 -5.59553180e-02 -1.38359372e-02 6.01086948e+02] [ 5.59579835e-02 9.98433106e-01 -1.94712888e-04 1.01474558e+01] [ 1.38251530e-02 -5.79841988e-04 9.99904260e-01 5.54068497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.819254154 meters Centerline goodness [0,1] 0.9987442800893902 Centerline is valid? [True, True] Translation: X:601.12, Y:10.15, Z:5.54 [[ 9.98371188e-01 -5.55228117e-02 -1.31220903e-02 6.01119177e+02] [ 5.55251810e-02 9.98457270e-01 -1.83973213e-04 1.01491437e+01] [ 1.31120612e-02 -5.44932886e-04 9.99913885e-01 5.54167747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8492541539999 meters Centerline goodness [0,1] 0.9988691162036444 Centerline is valid? [True, True] Translation: X:601.15, Y:10.16, Z:5.54 [[ 9.98444603e-01 -5.42279825e-02 -1.29499253e-02 6.01151178e+02] [ 5.42301926e-02 9.98528444e-01 -1.80679982e-04 1.01614293e+01] [ 1.29406667e-02 -5.21877993e-04 9.99916130e-01 5.54332045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8792541539999 meters Centerline goodness [0,1] 0.9989338791871895 Centerline is valid? [True, True] Translation: X:601.18, Y:10.15, Z:5.54 [[ 9.98497664e-01 -5.32496616e-02 -1.29184991e-02 6.01182494e+02] [ 5.32517908e-02 9.98581101e-01 -1.79351288e-04 1.01538798e+01] [ 1.29097194e-02 -5.08851367e-04 9.99916537e-01 5.54275906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9092541539999 meters Centerline goodness [0,1] 0.9988287655188569 Centerline is valid? [True, True] Translation: X:601.21, Y:10.16, Z:5.54 [[ 9.98580993e-01 -5.15291026e-02 -1.34444359e-02 6.01213939e+02] [ 5.15312673e-02 9.98671364e-01 -1.85595402e-04 1.01574335e+01] [ 1.34361367e-02 -5.07476780e-04 9.99909602e-01 5.54261402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.939254154 meters Centerline goodness [0,1] 0.9988050529190851 Centerline is valid? [True, True] Translation: X:601.25, Y:10.17, Z:5.54 [[ 9.98631955e-01 -5.03785749e-02 -1.40077364e-02 6.01246440e+02] [ 5.03808355e-02 9.98730061e-01 -1.91677368e-04 1.01672748e+01] [ 1.39996039e-02 -5.14306318e-04 9.99901868e-01 5.54326195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9692541539999 meters Centerline goodness [0,1] 0.999060351087003 Centerline is valid? [True, True] Translation: X:601.28, Y:10.17, Z:5.54 [[ 9.98679956e-01 -4.93487836e-02 -1.42493228e-02 6.01278226e+02] [ 4.93510364e-02 9.98781476e-01 -1.93701383e-04 1.01707396e+01] [ 1.42415186e-02 -5.09773160e-04 9.99898454e-01 5.54353289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9992541539999 meters Centerline goodness [0,1] 0.9988020109102578 Centerline is valid? [True, True] Translation: X:601.31, Y:10.17, Z:5.54 [[ 9.98768171e-01 -4.75224453e-02 -1.42743743e-02 6.01309030e+02] [ 4.75245331e-02 9.98870052e-01 -1.93103474e-04 1.01728340e+01] [ 1.42674217e-02 -4.85517370e-04 9.99898097e-01 5.54318633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0292541539999 meters Centerline goodness [0,1] 0.9990158743742245 Centerline is valid? [True, True] Translation: X:601.34, Y:10.18, Z:5.54 [[ 9.98806226e-01 -4.67200967e-02 -1.42603030e-02 6.01341193e+02] [ 4.67221109e-02 9.98907907e-01 -1.92054936e-04 1.01774515e+01] [ 1.42537022e-02 -4.74445792e-04 9.99898298e-01 5.54368433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.059254154 meters Centerline goodness [0,1] 0.9990571899976429 Centerline is valid? [True, True] Translation: X:601.37, Y:10.18, Z:5.54 [[ 9.98842128e-01 -4.60277681e-02 -1.39945899e-02 6.01372121e+02] [ 4.60296571e-02 9.98940056e-01 -1.87253091e-04 1.01765097e+01] [ 1.39883752e-02 -4.57129897e-04 9.99902053e-01 5.54384183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.089254154 meters Centerline goodness [0,1] 0.9991844093406593 Centerline is valid? [True, True] Translation: X:601.40, Y:10.18, Z:5.54 [[ 9.98860544e-01 -4.55259794e-02 -1.43177823e-02 6.01404447e+02] [ 4.55279266e-02 9.98963048e-01 -1.90083091e-04 1.01789887e+01] [ 1.43115892e-02 -4.61992443e-04 9.99897477e-01 5.54430628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1192541539999 meters Centerline goodness [0,1] 0.9992276832643254 Centerline is valid? [True, True] Translation: X:601.44, Y:10.18, Z:5.55 [[ 9.98916543e-01 -4.43913382e-02 -1.39695660e-02 6.01437120e+02] [ 4.43930955e-02 9.99014124e-01 -1.84422083e-04 1.01826353e+01] [ 1.39639805e-02 -4.35930008e-04 9.99902404e-01 5.54502413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1492541539999 meters Centerline goodness [0,1] 0.999204283963096 Centerline is valid? [True, True] Translation: X:601.47, Y:10.19, Z:5.55 [[ 9.98965379e-01 -4.30216603e-02 -1.47413593e-02 6.01469429e+02] [ 4.30234867e-02 9.99074042e-01 -1.93362173e-04 1.01893695e+01] [ 1.47360282e-02 -4.41062557e-04 9.99891322e-01 5.54580548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1792541539999 meters Centerline goodness [0,1] 0.9992032044103712 Centerline is valid? [True, True] Translation: X:601.50, Y:10.19, Z:5.55 [[ 9.99007063e-01 -4.18867771e-02 -1.51784835e-02 6.01502122e+02] [ 4.18886020e-02 9.99122268e-01 -1.97807148e-04 1.01918293e+01] [ 1.51734464e-02 -4.38194717e-04 9.99884781e-01 5.54584323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.209254154 meters Centerline goodness [0,1] 0.9992672571711817 Centerline is valid? [True, True] Translation: X:601.53, Y:10.19, Z:5.55 [[ 9.99052170e-01 -4.06144865e-02 -1.56596839e-02 6.01534073e+02] [ 4.06162953e-02 9.99174797e-01 -2.02643877e-04 1.01944046e+01] [ 1.56549917e-02 -4.33586539e-04 9.99877359e-01 5.54609713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2392541539999 meters Centerline goodness [0,1] 0.9992444847385917 Centerline is valid? [True, True] Translation: X:601.57, Y:10.20, Z:5.55 [[ 9.99097531e-01 -3.92685146e-02 -1.61897162e-02 6.01566532e+02] [ 3.92702909e-02 9.99228603e-01 -2.08296012e-04 1.01965800e+01] [ 1.61854070e-02 -4.27666835e-04 9.99868916e-01 5.54601062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2692541539999 meters Centerline goodness [0,1] 0.9992867794851845 Centerline is valid? [True, True] Translation: X:601.60, Y:10.20, Z:5.55 [[ 9.99213996e-01 -3.59493419e-02 -1.67043654e-02 6.01597774e+02] [ 3.59507880e-02 9.99353539e-01 -2.13809636e-04 1.01997499e+01] [ 1.67012530e-02 -3.86893519e-04 9.99860449e-01 5.54545103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2992541539999 meters Centerline goodness [0,1] 0.9994158499383398 Centerline is valid? [True, True] Translation: X:601.63, Y:10.20, Z:5.55 [[ 9.99289063e-01 -3.39220466e-02 -1.64518221e-02 6.01630280e+02] [ 3.39231913e-02 9.99424421e-01 -2.09566472e-04 1.02039106e+01] [ 1.64494617e-02 -3.48680825e-04 9.99864638e-01 5.54655269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.329254154 meters Centerline goodness [0,1] 0.999588102670829 Centerline is valid? [True, True] Translation: X:601.66, Y:10.21, Z:5.55 [[ 9.99373805e-01 -3.14921279e-02 -1.61320743e-02 6.01661068e+02] [ 3.14929370e-02 9.99503954e-01 -2.03946712e-04 1.02068745e+01] [ 1.61304948e-02 -3.04227399e-04 9.99869849e-01 5.54746824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3592541539999 meters Centerline goodness [0,1] 0.9995432697535832 Centerline is valid? [True, True] Translation: X:601.69, Y:10.21, Z:5.55 [[ 9.99522750e-01 -2.66023596e-02 -1.57030711e-02 6.01691485e+02] [ 2.66025434e-02 9.99646070e-01 -1.97215489e-04 1.02105582e+01] [ 1.57027597e-02 -2.20620262e-04 9.99876680e-01 5.54755371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3892541539999 meters Centerline goodness [0,1] 0.9993898984616726 Centerline is valid? [True, True] Translation: X:601.72, Y:10.22, Z:5.55 [[ 9.99575199e-01 -2.43668503e-02 -1.59899235e-02 6.01722683e+02] [ 2.43667613e-02 9.99703066e-01 -2.00413072e-04 1.02165828e+01] [ 1.59900590e-02 -1.89294714e-04 9.99872133e-01 5.54938528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4192541539999 meters Centerline goodness [0,1] 0.9994979152568273 Centerline is valid? [True, True] Translation: X:601.75, Y:10.22, Z:5.55 [[ 9.99627813e-01 -2.14830153e-02 -1.68141185e-02 6.01754404e+02] [ 2.14825196e-02 9.99769202e-01 -2.10119252e-04 1.02208275e+01] [ 1.68147518e-02 -1.51168581e-04 9.99858611e-01 5.54946930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.449254154 meters Centerline goodness [0,1] 0.9995864170657379 Centerline is valid? [True, True] Translation: X:601.78, Y:10.22, Z:5.55 [[ 9.99634013e-01 -2.09593915e-02 -1.71039130e-02 6.01784083e+02] [ 2.09588031e-02 9.99780317e-01 -2.13675285e-04 1.02217897e+01] [ 1.71046341e-02 -1.44880461e-04 9.99853695e-01 5.54933761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4792541539999 meters Centerline goodness [0,1] 0.9994961333713059 Centerline is valid? [True, True] Translation: X:601.81, Y:10.22, Z:5.55 [[ 9.99628294e-01 -2.10959354e-02 -1.72695178e-02 6.01813509e+02] [ 2.10953451e-02 9.99777445e-01 -2.16369019e-04 1.02221211e+01] [ 1.72702389e-02 -1.48017845e-04 9.99850847e-01 5.54929249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5092541539999 meters Centerline goodness [0,1] 0.9993878175696358 Centerline is valid? [True, True] Translation: X:601.84, Y:10.22, Z:5.55 [[ 9.99580915e-01 -2.29909481e-02 -1.75900536e-02 6.01843409e+02] [ 2.29906177e-02 9.99735656e-01 -2.21024802e-04 1.02220281e+01] [ 1.75904854e-02 -1.83474025e-04 9.99845259e-01 5.54915525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5392541539999 meters Centerline goodness [0,1] 0.9995198288844752 Centerline is valid? [True, True] Translation: X:601.87, Y:10.22, Z:5.55 [[ 9.99539867e-01 -2.45956331e-02 -1.77513392e-02 6.01874262e+02] [ 2.45955436e-02 9.99697459e-01 -2.23392120e-04 1.02218751e+01] [ 1.77514632e-02 -2.13314508e-04 9.99842408e-01 5.54941206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.569254154 meters Centerline goodness [0,1] 0.999257171571519 Centerline is valid? [True, True] Translation: X:601.90, Y:10.22, Z:5.55 [[ 9.99469041e-01 -2.66788570e-02 -1.87049214e-02 6.01903451e+02] [ 2.66791193e-02 9.99644021e-01 -2.35562060e-04 1.02203496e+01] [ 1.87045474e-02 -2.63593844e-04 9.99825020e-01 5.54798064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5992541539999 meters Centerline goodness [0,1] 0.9993463197803635 Centerline is valid? [True, True] Translation: X:601.93, Y:10.22, Z:5.55 [[ 9.99322798e-01 -3.16674274e-02 -1.87381623e-02 6.01933918e+02] [ 3.16685639e-02 9.99498397e-01 -2.36151048e-04 1.02180381e+01] [ 1.87362415e-02 -3.57419563e-04 9.99824397e-01 5.54871864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6292541539999 meters Centerline goodness [0,1] 0.9992806225884507 Centerline is valid? [True, True] Translation: X:601.96, Y:10.22, Z:5.55 [[ 9.99235075e-01 -3.40537951e-02 -1.92250859e-02 6.01964444e+02] [ 3.40554363e-02 9.99419916e-01 -2.42110745e-04 1.02162467e+01] [ 1.92221785e-02 -4.12793140e-04 9.99815152e-01 5.54847521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6592541539999 meters Centerline goodness [0,1] 0.9993461630669311 Centerline is valid? [True, True] Translation: X:602.00, Y:10.21, Z:5.55 [[ 9.99043976e-01 -3.90668970e-02 -1.96191428e-02 6.01995754e+02] [ 3.90695827e-02 9.99236462e-01 -2.46527765e-04 1.02142596e+01] [ 1.96137939e-02 -5.20219641e-04 9.99807496e-01 5.54894707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.689254154 meters Centerline goodness [0,1] 0.9994998477797591 Centerline is valid? [True, True] Translation: X:602.03, Y:10.21, Z:5.55 [[ 9.98943862e-01 -4.17084146e-02 -1.92760938e-02 6.02027208e+02] [ 4.17115241e-02 9.99129667e-01 -2.40887842e-04 1.02096411e+01] [ 1.92693642e-02 -5.63401819e-04 9.99814170e-01 5.54850791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7192541539999 meters Centerline goodness [0,1] 0.9994992597753201 Centerline is valid? [True, True] Translation: X:602.06, Y:10.21, Z:5.55 [[ 9.98821827e-01 -4.42806097e-02 -1.98540943e-02 6.02059296e+02] [ 4.42844505e-02 9.99018932e-01 -2.46379869e-04 1.02113265e+01] [ 1.98455259e-02 -6.33138063e-04 9.99802858e-01 5.55004243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7492541539999 meters Centerline goodness [0,1] 0.9994558237739709 Centerline is valid? [True, True] Translation: X:602.09, Y:10.21, Z:5.55 [[ 9.98688933e-01 -4.70843491e-02 -2.00867977e-02 6.02091560e+02] [ 4.70888764e-02 9.98890673e-01 -2.47796493e-04 1.02102461e+01] [ 2.00761822e-02 -6.98393120e-04 9.99798209e-01 5.55073324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7792541539999 meters Centerline goodness [0,1] 0.9994784196114226 Centerline is valid? [True, True] Translation: X:602.12, Y:10.21, Z:5.55 [[ 9.98419175e-01 -5.22768196e-02 -2.06466715e-02 6.02122289e+02] [ 5.22827299e-02 9.98632291e-01 -2.53795873e-04 1.02075337e+01] [ 2.06317004e-02 -8.26069681e-04 9.99786803e-01 5.55075175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.809254154 meters Centerline goodness [0,1] 0.999522050836411 Centerline is valid? [True, True] Translation: X:602.15, Y:10.21, Z:5.55 [[ 9.98290060e-01 -5.46029184e-02 -2.08681074e-02 6.02154518e+02] [ 5.46094847e-02 9.98507756e-01 -2.55501619e-04 1.02064137e+01] [ 2.08509182e-02 -8.84531865e-04 9.99782205e-01 5.55110448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.839254154 meters Centerline goodness [0,1] 0.9994357026587086 Centerline is valid? [True, True] Translation: X:602.19, Y:10.21, Z:5.55 [[ 9.98133046e-01 -5.76055045e-02 -2.02984850e-02 6.02185407e+02] [ 5.76123616e-02 9.98338998e-01 -2.47296008e-04 1.02054424e+01] [ 2.02790148e-02 -9.22609342e-04 9.99793934e-01 5.55229100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8692541539999 meters Centerline goodness [0,1] 0.999609899874301 Centerline is valid? [True, True] Translation: X:602.22, Y:10.21, Z:5.55 [[ 9.98127449e-01 -5.78479741e-02 -1.98798342e-02 6.02216651e+02] [ 5.78546198e-02 9.98324990e-01 -2.41149508e-04 1.02050575e+01] [ 1.98604853e-02 -9.09442307e-04 9.99802347e-01 5.55303517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8992541539999 meters Centerline goodness [0,1] 0.9995010845986985 Centerline is valid? [True, True] Translation: X:602.25, Y:10.21, Z:5.55 [[ 9.98156353e-01 -5.75668556e-02 -1.92341313e-02 6.02248447e+02] [ 5.75730476e-02 9.98341269e-01 -2.32107609e-04 1.02060526e+01] [ 1.92155887e-02 -8.75687872e-04 9.99814980e-01 5.55380526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9292541539999 meters Centerline goodness [0,1] 0.9995658497405953 Centerline is valid? [True, True] Translation: X:602.28, Y:10.21, Z:5.56 [[ 9.98277749e-01 -5.55617536e-02 -1.88262215e-02 6.02279734e+02] [ 5.55673489e-02 9.98454916e-01 -2.26176085e-04 1.02092110e+01] [ 1.88097001e-02 -8.20336664e-04 9.99822745e-01 5.55557798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.959254154 meters Centerline goodness [0,1] 0.9994786575431737 Centerline is valid? [True, True] Translation: X:602.31, Y:10.21, Z:5.56 [[ 9.98350524e-01 -5.41887526e-02 -1.89686488e-02 6.02311890e+02] [ 5.41942052e-02 9.98530388e-01 -2.26845881e-04 1.02115668e+01] [ 1.89530647e-02 -8.01519142e-04 9.99820053e-01 5.55614320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9892541539999 meters Centerline goodness [0,1] 0.9994779771615008 Centerline is valid? [True, True] Translation: X:602.34, Y:10.22, Z:5.56 [[ 9.98524107e-01 -5.06336480e-02 -1.96428631e-02 6.02342927e+02] [ 5.06388296e-02 9.98717004e-01 -2.33831744e-04 1.02164508e+01] [ 1.96295011e-02 -7.61204964e-04 9.99807033e-01 5.55696301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0192541539999 meters Centerline goodness [0,1] 0.9996729104428793 Centerline is valid? [True, True] Translation: X:602.37, Y:10.22, Z:5.56 [[ 9.98605624e-01 -4.89584246e-02 -1.97453833e-02 6.02374507e+02] [ 4.89633688e-02 9.98800548e-01 -2.33263091e-04 1.02182758e+01] [ 1.97331198e-02 -7.33862648e-04 9.99805014e-01 5.55735506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0492541539999 meters Centerline goodness [0,1] 0.9995194198086417 Centerline is valid? [True, True] Translation: X:602.41, Y:10.22, Z:5.56 [[ 9.98690444e-01 -4.73296135e-02 -1.94243142e-02 6.02406497e+02] [ 4.73341294e-02 9.98879086e-01 -2.27461721e-04 1.02211161e+01] [ 1.94133069e-02 -6.92269154e-04 9.99811304e-01 5.55816502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.079254154 meters Centerline goodness [0,1] 0.9994538384235592 Centerline is valid? [True, True] Translation: X:602.44, Y:10.23, Z:5.56 [[ 9.98838876e-01 -4.42765553e-02 -1.89864578e-02 6.02437830e+02] [ 4.42803381e-02 9.99019120e-01 -2.21324901e-04 1.02260015e+01] [ 1.89776339e-02 -6.19658857e-04 9.99819716e-01 5.55942881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1092541539999 meters Centerline goodness [0,1] 0.9995191572137346 Centerline is valid? [True, True] Translation: X:602.47, Y:10.23, Z:5.56 [[ 9.98895351e-01 -4.29822995e-02 -1.89894850e-02 6.02469344e+02] [ 4.29858663e-02 9.99075656e-01 -2.20496817e-04 1.02270988e+01] [ 1.89814097e-02 -5.96026218e-04 9.99819659e-01 5.55972957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1392541539999 meters Centerline goodness [0,1] 0.9995844360359573 Centerline is valid? [True, True] Translation: X:602.50, Y:10.23, Z:5.56 [[ 9.98984039e-01 -4.07041872e-02 -1.93406139e-02 6.02501127e+02] [ 4.07074846e-02 9.99171082e-01 -2.23331843e-04 1.02314362e+01] [ 1.93336727e-02 -5.64202798e-04 9.99812928e-01 5.56012652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1692541539999 meters Centerline goodness [0,1] 0.9996502579347731 Centerline is valid? [True, True] Translation: X:602.53, Y:10.23, Z:5.56 [[ 9.99021616e-01 -3.96199457e-02 -1.96486647e-02 6.02532213e+02] [ 3.96231641e-02 9.99214669e-01 -2.25639286e-04 1.02310991e+01] [ 1.96421738e-02 -5.53123742e-04 9.99806921e-01 5.55937581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.199254154 meters Centerline goodness [0,1] 0.9995182622405185 Centerline is valid? [True, True] Translation: X:602.56, Y:10.23, Z:5.56 [[ 9.99037765e-01 -3.88605463e-02 -2.03322708e-02 6.02564523e+02] [ 3.88638619e-02 9.99244488e-01 -2.32189126e-04 1.02325825e+01] [ 2.03259326e-02 -5.58224861e-04 9.99793251e-01 5.55898674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2292541539999 meters Centerline goodness [0,1] 0.9995398067188219 Centerline is valid? [True, True] Translation: X:602.60, Y:10.23, Z:5.56 [[ 9.99043956e-01 -3.84772945e-02 -2.07526567e-02 6.02596532e+02] [ 3.84806970e-02 9.99259316e-01 -2.35499899e-04 1.02345269e+01] [ 2.07463469e-02 -5.63301943e-04 9.99784613e-01 5.55940427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2592541539999 meters Centerline goodness [0,1] 0.9996487299391864 Centerline is valid? [True, True] Translation: X:602.63, Y:10.24, Z:5.56 [[ 9.99048178e-01 -3.81007176e-02 -2.12384994e-02 6.02628868e+02] [ 3.81042288e-02 9.99273741e-01 -2.39481937e-04 1.02365932e+01] [ 2.12321992e-02 -5.70022647e-04 9.99774409e-01 5.55970571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2892541539999 meters Centerline goodness [0,1] 0.9996043521266074 Centerline is valid? [True, True] Translation: X:602.66, Y:10.24, Z:5.56 [[ 9.99057197e-01 -3.79883064e-02 -2.10144177e-02 6.02661472e+02] [ 3.79917506e-02 9.99278025e-01 -2.35455732e-04 1.02381296e+01] [ 2.10081904e-02 -5.63140774e-04 9.99779145e-01 5.56045703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.319254154 meters Centerline goodness [0,1] 0.9998678966952157 Centerline is valid? [True, True] Translation: X:602.69, Y:10.24, Z:5.56 [[ 9.99047619e-01 -3.82481318e-02 -2.09984695e-02 6.02693854e+02] [ 3.82516597e-02 9.99268110e-01 -2.33770616e-04 1.02384518e+01] [ 2.09920422e-02 -5.69678331e-04 9.99779481e-01 5.56067923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3492541539999 meters Centerline goodness [0,1] 0.9998678966952157 Centerline is valid? [True, True] Translation: X:602.73, Y:10.24, Z:5.56 [[ 9.99050355e-01 -3.81765853e-02 -2.09984861e-02 6.02725563e+02] [ 3.81801289e-02 9.99270846e-01 -2.32267993e-04 1.02387417e+01] [ 2.09920422e-02 -5.69677487e-04 9.99779481e-01 5.56097603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3792541539999 meters Centerline goodness [0,1] 0.999736275328557 Centerline is valid? [True, True] Translation: X:602.76, Y:10.24, Z:5.56 [[ 9.99037722e-01 -3.90480992e-02 -1.99718666e-02 6.02757249e+02] [ 3.90515028e-02 9.99237175e-01 -2.19708187e-04 1.02386324e+01] [ 1.99652107e-02 -5.60434635e-04 9.99800518e-01 5.56183926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4092541539999 meters Centerline goodness [0,1] 0.9996484057397763 Centerline is valid? [True, True] Translation: X:602.79, Y:10.24, Z:5.56 [[ 9.99032119e-01 -3.95644470e-02 -1.92218406e-02 6.02789664e+02] [ 3.95677180e-02 9.99216869e-01 -2.10261006e-04 1.02397874e+01] [ 1.92151062e-02 -5.50506869e-04 9.99815221e-01 5.56302560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.439254154 meters Centerline goodness [0,1] 0.9995832693615248 Centerline is valid? [True, True] Translation: X:602.82, Y:10.24, Z:5.56 [[ 9.99048071e-01 -3.99683656e-02 -1.74780082e-02 6.02822330e+02] [ 3.99711528e-02 9.99200816e-01 -1.89975618e-04 1.02402352e+01] [ 1.74716331e-02 -5.08821362e-04 9.99847230e-01 5.56451592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4692541539999 meters Centerline goodness [0,1] 0.9996482124796623 Centerline is valid? [True, True] Translation: X:602.85, Y:10.24, Z:5.56 [[ 9.99070633e-01 -3.97191694e-02 -1.67409081e-02 6.02853107e+02] [ 3.97217177e-02 9.99210765e-01 -1.80392369e-04 1.02382246e+01] [ 1.67348607e-02 -4.84752909e-04 9.99859845e-01 5.56487798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4992541539999 meters Centerline goodness [0,1] 0.9995819306004797 Centerline is valid? [True, True] Translation: X:602.89, Y:10.24, Z:5.57 [[ 9.99078802e-01 -3.98148347e-02 -1.60101980e-02 6.02885038e+02] [ 3.98172033e-02 9.99206966e-01 -1.70921766e-04 1.02417414e+01] [ 1.60043066e-02 -4.66716995e-04 9.99871814e-01 5.56624735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5292541539999 meters Centerline goodness [0,1] 0.9996268001404988 Centerline is valid? [True, True] Translation: X:602.92, Y:10.24, Z:5.57 [[ 9.99104015e-01 -3.92970274e-02 -1.57133993e-02 6.02917724e+02] [ 3.92992645e-02 9.99227472e-01 -1.66507320e-04 1.02426177e+01] [ 1.57078035e-02 -4.51166905e-04 9.99876523e-01 5.56730495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.559254154 meters Centerline goodness [0,1] 0.999603786044464 Centerline is valid? [True, True] Translation: X:602.95, Y:10.24, Z:5.57 [[ 9.99133054e-01 -3.87323453e-02 -1.52625356e-02 6.02949525e+02] [ 3.87344093e-02 9.99249528e-01 -1.60470053e-04 1.02442188e+01] [ 1.52572969e-02 -4.30854366e-04 9.99883508e-01 5.56848400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.589254154 meters Centerline goodness [0,1] 0.9996477943118781 Centerline is valid? [True, True] Translation: X:602.98, Y:10.24, Z:5.57 [[ 9.99142526e-01 -3.83813262e-02 -1.55269711e-02 6.02980571e+02] [ 3.83834360e-02 9.99263071e-01 -1.62212161e-04 1.02439137e+01] [ 1.55217547e-02 -4.33905432e-04 9.99879436e-01 5.56845980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6192541539999 meters Centerline goodness [0,1] 0.9995815530987094 Centerline is valid? [True, True] Translation: X:603.01, Y:10.24, Z:5.57 [[ 9.99135226e-01 -3.80996941e-02 -1.66497125e-02 6.03011754e+02] [ 3.81021050e-02 9.99273836e-01 -1.72504742e-04 1.02433035e+01] [ 1.66441945e-02 -4.62033531e-04 9.99861369e-01 5.56781257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6492541539999 meters Centerline goodness [0,1] 0.9994720168954594 Centerline is valid? [True, True] Translation: X:603.04, Y:10.24, Z:5.57 [[ 9.99136632e-01 -3.78638920e-02 -1.70972604e-02 6.03043469e+02] [ 3.78664293e-02 9.99282794e-01 -1.75420445e-04 1.02424920e+01] [ 1.70916403e-02 -4.72143210e-04 9.99853816e-01 5.56701964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6792541539999 meters Centerline goodness [0,1] 0.9995602462620933 Centerline is valid? [True, True] Translation: X:603.08, Y:10.24, Z:5.57 [[ 9.99133163e-01 -3.76772605e-02 -1.77016086e-02 6.03075255e+02] [ 3.76799738e-02 9.99289841e-01 -1.80337501e-04 1.02426833e+01] [ 1.76958322e-02 -4.86814969e-04 9.99843298e-01 5.56680564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.709254154 meters Centerline goodness [0,1] 0.9996927196505784 Centerline is valid? [True, True] Translation: X:603.11, Y:10.24, Z:5.57 [[ 9.99130769e-01 -3.75273003e-02 -1.81495931e-02 6.03107358e+02] [ 3.75301517e-02 9.99295479e-01 -1.83596890e-04 1.02417832e+01] [ 1.81436963e-02 -4.97719682e-04 9.99835266e-01 5.56638824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7392541539999 meters Centerline goodness [0,1] 0.9996925712027054 Centerline is valid? [True, True] Translation: X:603.14, Y:10.24, Z:5.57 [[ 9.99124022e-01 -3.75566244e-02 -1.84577786e-02 6.03139355e+02] [ 3.75596027e-02 9.99294372e-01 -1.85402435e-04 1.02413504e+01] [ 1.84517174e-02 -5.08026806e-04 9.99829624e-01 5.56655444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7692541539999 meters Centerline goodness [0,1] 0.9996710959084331 Centerline is valid? [True, True] Translation: X:603.17, Y:10.24, Z:5.57 [[ 9.99122112e-01 -3.77677993e-02 -1.81272903e-02 6.03170200e+02] [ 3.77707266e-02 9.99286415e-01 -1.80977782e-04 1.02399233e+01] [ 1.81211901e-02 -5.03862024e-04 9.99835671e-01 5.56701113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7992541539999 meters Centerline goodness [0,1] 0.9995392311743022 Centerline is valid? [True, True] Translation: X:603.20, Y:10.24, Z:5.57 [[ 9.99124142e-01 -3.77662377e-02 -1.80183394e-02 6.03202062e+02] [ 3.77691492e-02 9.99286475e-01 -1.78803040e-04 1.02393995e+01] [ 1.80122356e-02 -5.01890916e-04 9.99837641e-01 5.56737287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.829254154 meters Centerline goodness [0,1] 0.9995402097519323 Centerline is valid? [True, True] Translation: X:603.23, Y:10.24, Z:5.57 [[ 9.99141830e-01 -3.75698572e-02 -1.74387352e-02 6.03233255e+02] [ 3.75725727e-02 9.99293887e-01 -1.72006614e-04 1.02378072e+01] [ 1.74328837e-02 -4.83359141e-04 9.99847919e-01 5.56782275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8592541539999 meters Centerline goodness [0,1] 0.9995839537531751 Centerline is valid? [True, True] Translation: X:603.27, Y:10.24, Z:5.57 [[ 9.99155730e-01 -3.74223908e-02 -1.69526296e-02 6.03265212e+02] [ 3.74249525e-02 9.99299427e-01 -1.66226182e-04 1.02367920e+01] [ 1.69469736e-02 -4.68365514e-04 9.99856280e-01 5.56823032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8892541539999 meters Centerline goodness [0,1] 0.9994523068834071 Centerline is valid? [True, True] Translation: X:603.30, Y:10.24, Z:5.57 [[ 9.99164415e-01 -3.73007362e-02 -1.67071204e-02 6.03296343e+02] [ 3.73032239e-02 9.99303979e-01 -1.62818593e-04 1.02355362e+01] [ 1.67015651e-02 -4.60546907e-04 9.99860413e-01 5.56836951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9192541539999 meters Centerline goodness [0,1] 0.9994526666082845 Centerline is valid? [True, True] Translation: X:603.33, Y:10.23, Z:5.57 [[ 9.99200492e-01 -3.66306672e-02 -1.60178278e-02 6.03327460e+02] [ 3.66328804e-02 9.99328779e-01 -1.55311122e-04 1.02341844e+01] [ 1.60127654e-02 -4.31592219e-04 9.99871694e-01 5.56928222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.949254154 meters Centerline goodness [0,1] 0.9995629084074568 Centerline is valid? [True, True] Translation: X:603.36, Y:10.23, Z:5.57 [[ 9.99229143e-01 -3.60353832e-02 -1.55746931e-02 6.03359661e+02] [ 3.60374170e-02 9.99350430e-01 -1.50143594e-04 1.02341453e+01] [ 1.55699868e-02 -4.11243856e-04 9.99878696e-01 5.56998297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9792541539999 meters Centerline goodness [0,1] 0.9994100552800053 Centerline is valid? [True, True] Translation: X:603.39, Y:10.23, Z:5.57 [[ 9.99254093e-01 -3.53716399e-02 -1.54953005e-02 6.03391822e+02] [ 3.53735891e-02 9.99374148e-01 -1.48353995e-04 1.02339422e+01] [ 1.54908503e-02 -3.99881057e-04 9.99879930e-01 5.57060099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0092541539999 meters Centerline goodness [0,1] 0.9995188943317005 Centerline is valid? [True, True] Translation: X:603.42, Y:10.23, Z:5.57 [[ 9.99298404e-01 -3.41025587e-02 -1.54827198e-02 6.03423245e+02] [ 3.41043667e-02 9.99418266e-01 -1.47313935e-04 1.02332442e+01] [ 1.54787368e-02 -3.80817774e-04 9.99880125e-01 5.57133797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0392541539999 meters Centerline goodness [0,1] 0.9995415047377844 Centerline is valid? [True, True] Translation: X:603.46, Y:10.23, Z:5.57 [[ 9.99319964e-01 -3.34439111e-02 -1.55278706e-02 6.03455587e+02] [ 3.34456636e-02 9.99440527e-01 -1.46881131e-04 1.02329236e+01] [ 1.55240954e-02 -3.72558689e-04 9.99879425e-01 5.57178284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.069254154 meters Centerline goodness [0,1] 0.999520341865434 Centerline is valid? [True, True] Translation: X:603.49, Y:10.23, Z:5.57 [[ 9.99340444e-01 -3.26646721e-02 -1.58649639e-02 6.03486897e+02] [ 3.26664182e-02 9.99466299e-01 -1.49135042e-04 1.02315251e+01] [ 1.58613682e-02 -3.69214867e-04 9.99874132e-01 5.57182864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0992541539999 meters Centerline goodness [0,1] 0.9994542557139426 Centerline is valid? [True, True] Translation: X:603.52, Y:10.23, Z:5.57 [[ 9.99369304e-01 -3.19804660e-02 -1.54351255e-02 6.03518772e+02] [ 3.19820475e-02 9.99488433e-01 -1.44430544e-04 1.02310634e+01] [ 1.54318483e-02 -3.49307464e-04 9.99880861e-01 5.57208313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1292541539999 meters Centerline goodness [0,1] 0.9994335141730396 Centerline is valid? [True, True] Translation: X:603.55, Y:10.23, Z:5.57 [[ 9.99381026e-01 -3.14707437e-02 -1.57212235e-02 6.03550652e+02] [ 3.14723332e-02 9.99504613e-01 -1.46349811e-04 1.02308380e+01] [ 1.57180412e-02 -3.48524361e-04 9.99876403e-01 5.57260463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1592541539999 meters Centerline goodness [0,1] 0.9995858039762818 Centerline is valid? [True, True] Translation: X:603.58, Y:10.24, Z:5.57 [[ 9.99386549e-01 -3.10440171e-02 -1.62109300e-02 6.03582395e+02] [ 3.10456690e-02 9.99517956e-01 -1.49801769e-04 1.02353592e+01] [ 1.62077660e-02 -3.53569293e-04 9.99868583e-01 5.57425867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.189254154 meters Centerline goodness [0,1] 0.9995862549540525 Centerline is valid? [True, True] Translation: X:603.62, Y:10.23, Z:5.57 [[ 9.99403397e-01 -3.00976079e-02 -1.69406023e-02 6.03615007e+02] [ 3.00992972e-02 9.99546901e-01 -1.55299273e-04 1.02347666e+01] [ 1.69376007e-02 -3.54693604e-04 9.99856486e-01 5.57386537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2192541539999 meters Centerline goodness [0,1] 0.9993913837325566 Centerline is valid? [True, True] Translation: X:603.65, Y:10.23, Z:5.57 [[ 9.99396748e-01 -2.99431824e-02 -1.75939168e-02 6.03646714e+02] [ 2.99449981e-02 9.99551535e-01 -1.60293649e-04 1.02344507e+01] [ 1.75908263e-02 -3.66652854e-04 9.99845202e-01 5.57364695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2492541539999 meters Centerline goodness [0,1] 0.9993899117550932 Centerline is valid? [True, True] Translation: X:603.68, Y:10.23, Z:5.57 [[ 9.99386724e-01 -2.98521707e-02 -1.83036715e-02 6.03677910e+02] [ 2.98541329e-02 9.99554252e-01 -1.66094524e-04 1.02340605e+01] [ 1.83004710e-02 -3.80447580e-04 9.99832460e-01 5.57343738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2792541539999 meters Centerline goodness [0,1] 0.9993694692670624 Centerline is valid? [True, True] Translation: X:603.71, Y:10.23, Z:5.57 [[ 9.99368496e-01 -2.98422496e-02 -1.92885863e-02 6.03708243e+02] [ 2.98444369e-02 9.99554540e-01 -1.74506612e-04 1.02321574e+01] [ 1.92852017e-02 -4.01260587e-04 9.99813943e-01 5.57279539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.309254154 meters Centerline goodness [0,1] 0.9994783742664638 Centerline is valid? [True, True] Translation: X:603.74, Y:10.23, Z:5.57 [[ 9.99354992e-01 -3.02579294e-02 -1.93405493e-02 6.03738264e+02] [ 3.02602129e-02 9.99542040e-01 -1.74637794e-04 1.02255201e+01] [ 1.93369762e-02 -4.10723988e-04 9.99812939e-01 5.56988186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.339254154 meters Centerline goodness [0,1] 0.9994134897360704 Centerline is valid? [True, True] Translation: X:603.77, Y:10.23, Z:5.57 [[ 9.99310332e-01 -3.14947121e-02 -1.96708552e-02 6.03769154e+02] [ 3.14973244e-02 9.99503821e-01 -1.77079751e-04 1.02310980e+01] [ 1.96666720e-02 -4.42621684e-04 9.99806494e-01 5.57377325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3692541539999 meters Centerline goodness [0,1] 0.9995215311004785 Centerline is valid? [True, True] Translation: X:603.80, Y:10.23, Z:5.57 [[ 9.99277254e-01 -3.23886022e-02 -1.98984202e-02 6.03800157e+02] [ 3.23914669e-02 9.99475243e-01 -1.78403401e-04 1.02301588e+01] [ 1.98937566e-02 -4.66264559e-04 9.99801991e-01 5.57435738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3992541539999 meters Centerline goodness [0,1] 0.9995006730059485 Centerline is valid? [True, True] Translation: X:603.83, Y:10.23, Z:5.57 [[ 9.99260236e-01 -3.32120481e-02 -1.93891852e-02 6.03831061e+02] [ 3.32149362e-02 9.99448217e-01 -1.73148723e-04 1.02291470e+01] [ 1.93842372e-02 -4.70989917e-04 9.99811997e-01 5.57454913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4292541539999 meters Centerline goodness [0,1] 0.9992607731443232 Centerline is valid? [True, True] Translation: X:603.86, Y:10.23, Z:5.57 [[ 9.99185528e-01 -3.54238356e-02 -1.93244029e-02 6.03862120e+02] [ 3.54271312e-02 9.99372247e-01 -1.71875507e-04 1.02287574e+01] [ 1.93183604e-02 -5.12872636e-04 9.99813252e-01 5.57473033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.459254154 meters Centerline goodness [0,1] 0.9993474430644074 Centerline is valid? [True, True] Translation: X:603.89, Y:10.23, Z:5.58 [[ 9.99152097e-01 -3.63114066e-02 -1.94053620e-02 6.03894607e+02] [ 3.63149178e-02 9.99340381e-01 -1.71533314e-04 1.02281492e+01] [ 1.93987905e-02 -5.33316255e-04 9.99811684e-01 5.57506203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4892541539999 meters Centerline goodness [0,1] 0.9996078516807912 Centerline is valid? [True, True] Translation: X:603.93, Y:10.23, Z:5.58 [[ 9.99090301e-01 -3.82099708e-02 -1.89358920e-02 6.03925533e+02] [ 3.82136769e-02 9.99269577e-01 -1.66212152e-04 1.02254275e+01] [ 1.89284118e-02 -5.57549110e-04 9.99820686e-01 5.57520453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5192541539999 meters Centerline goodness [0,1] 0.9994333783724884 Centerline is valid? [True, True] Translation: X:603.96, Y:10.23, Z:5.58 [[ 9.99053939e-01 -3.94076384e-02 -1.83919880e-02 6.03957502e+02] [ 3.94113584e-02 9.99223058e-01 -1.60291189e-04 1.02281671e+01] [ 1.83840152e-02 -5.64713689e-04 9.99830840e-01 5.57682677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5492541539999 meters Centerline goodness [0,1] 0.9993248687849816 Centerline is valid? [True, True] Translation: X:603.99, Y:10.23, Z:5.58 [[ 9.99032251e-01 -4.03638587e-02 -1.74734173e-02 6.03988880e+02] [ 4.03673815e-02 9.99184894e-01 -1.51195430e-04 1.02261369e+01] [ 1.74652775e-02 -5.54306993e-04 9.99847317e-01 5.57697611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.579254154 meters Centerline goodness [0,1] 0.9993682880606444 Centerline is valid? [True, True] Translation: X:604.02, Y:10.23, Z:5.58 [[ 9.98944619e-01 -4.31000785e-02 -1.58754955e-02 6.04020760e+02] [ 4.31033461e-02 9.99070610e-01 -1.36437638e-04 1.02262778e+01] [ 1.58666214e-02 -5.47993330e-04 9.99873967e-01 5.57920237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6092541539999 meters Centerline goodness [0,1] 0.9994992270678656 Centerline is valid? [True, True] Translation: X:604.05, Y:10.22, Z:5.58 [[ 9.98902138e-01 -4.43259965e-02 -1.51566973e-02 6.04052002e+02] [ 4.43291352e-02 9.99016972e-01 -1.28979872e-04 1.02247623e+01] [ 1.51475150e-02 -5.43045013e-04 9.99885122e-01 5.57999867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6392541539999 meters Centerline goodness [0,1] 0.9994770558242908 Centerline is valid? [True, True] Translation: X:604.08, Y:10.23, Z:5.58 [[ 9.98851726e-01 -4.59251799e-02 -1.36421025e-02 6.04083663e+02] [ 4.59278905e-02 9.98944751e-01 -1.14694884e-04 1.02262247e+01] [ 1.36329740e-02 -5.11989806e-04 9.99906936e-01 5.58173659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6692541539999 meters Centerline goodness [0,1] 0.999412430362117 Centerline is valid? [True, True] Translation: X:604.12, Y:10.23, Z:5.58 [[ 9.98905980e-01 -4.46645607e-02 -1.38535286e-02 6.04116229e+02] [ 4.46672538e-02 9.99001914e-01 -1.15105435e-04 1.02265129e+01] [ 1.38448428e-02 -5.03819572e-04 9.99904029e-01 5.58171845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.699254154 meters Centerline goodness [0,1] 0.9993676130664224 Centerline is valid? [True, True] Translation: X:604.15, Y:10.23, Z:5.58 [[ 9.98972765e-01 -4.33368285e-02 -1.32414162e-02 6.04147473e+02] [ 4.33391883e-02 9.99060410e-01 -1.08819905e-04 1.02250651e+01] [ 1.32336906e-02 -4.65164107e-04 9.99912323e-01 5.58204655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7292541539999 meters Centerline goodness [0,1] 0.9994995212812255 Centerline is valid? [True, True] Translation: X:604.18, Y:10.23, Z:5.58 [[ 9.99165525e-01 -3.93118243e-02 -1.10830202e-02 6.04178998e+02] [ 3.93132435e-02 9.99226932e-01 -8.98653829e-05 1.02320815e+01] [ 1.10779851e-02 -3.45919081e-04 9.99938577e-01 5.58420126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7592541539999 meters Centerline goodness [0,1] 0.9993690439928636 Centerline is valid? [True, True] Translation: X:604.21, Y:10.23, Z:5.59 [[ 9.99254432e-01 -3.72753949e-02 -1.00560606e-02 6.04210491e+02] [ 3.72764659e-02 9.99304988e-01 -8.09695615e-05 1.02301121e+01] [ 1.00520897e-02 -2.93945206e-04 9.99949433e-01 5.58556920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7892541539999 meters Centerline goodness [0,1] 0.9993475140284483 Centerline is valid? [True, True] Translation: X:604.24, Y:10.23, Z:5.59 [[ 9.99346616e-01 -3.50488630e-02 -8.82714301e-03 6.04242836e+02] [ 3.50496117e-02 9.99385571e-01 -6.99133701e-05 1.02323215e+01] [ 8.82416974e-03 -2.39520245e-04 9.99961038e-01 5.58729456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.819254154 meters Centerline goodness [0,1] 0.9994336375716122 Centerline is valid? [True, True] Translation: X:604.27, Y:10.24, Z:5.59 [[ 9.99512286e-01 -3.05529236e-02 -6.45823760e-03 6.04274426e+02] [ 3.05532325e-02 9.99533140e-01 -5.08455342e-05 1.02402950e+01] [ 6.45677598e-03 -1.46499299e-04 9.99979144e-01 5.58947467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8492541539999 meters Centerline goodness [0,1] 0.9993689478837994 Centerline is valid? [True, True] Translation: X:604.31, Y:10.24, Z:5.59 [[ 9.99593474e-01 -2.80434980e-02 -5.14292207e-03 6.04305807e+02] [ 2.80436599e-02 9.99606698e-01 -4.06426778e-05 1.02415865e+01] [ 5.14203912e-03 -1.03600202e-04 9.99986774e-01 5.59093351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8792541539999 meters Centerline goodness [0,1] 0.9993686181446082 Centerline is valid? [True, True] Translation: X:604.34, Y:10.24, Z:5.59 [[ 9.99703281e-01 -2.42678382e-02 -2.10268594e-03 6.04337475e+02] [ 2.42678569e-02 9.99705492e-01 -1.66310597e-05 1.02449710e+01] [ 2.10247028e-03 -3.44015566e-05 9.99997789e-01 5.59334759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9092541539999 meters Centerline goodness [0,1] 0.9993898186889819 Centerline is valid? [True, True] Translation: X:604.37, Y:10.25, Z:5.59 [[ 9.99748072e-01 -2.24169992e-02 -1.12703848e-03 6.04369492e+02] [ 2.24170031e-02 9.99748707e-01 -9.14147882e-06 1.02465068e+01] [ 1.12696019e-03 -1.61256492e-05 9.99999365e-01 5.59463857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.939254154 meters Centerline goodness [0,1] 0.9993891131231591 Centerline is valid? [True, True] Translation: X:604.40, Y:10.25, Z:5.60 [[ 9.99793200e-01 -2.03322801e-02 -3.95210769e-04 6.04400435e+02] [ 2.03322800e-02 9.99793278e-01 -4.17037989e-06 1.02481261e+01] [ 3.95213863e-04 -3.86601856e-06 9.99999922e-01 5.59542015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9692541539999 meters Centerline goodness [0,1] 0.9996723960949615 Centerline is valid? [True, True] Translation: X:604.43, Y:10.25, Z:5.60 [[ 9.99879016e-01 -1.55545986e-02 8.34210094e-05 6.04433132e+02] [ 1.55545987e-02 9.99879020e-01 -2.45813412e-07 1.02524542e+01] [-8.34070937e-05 1.54336401e-06 9.99999997e-01 5.59556724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9992541539999 meters Centerline goodness [0,1] 0.9994977836976221 Centerline is valid? [True, True] Translation: X:604.47, Y:10.25, Z:5.60 [[ 9.99918475e-01 -1.27683071e-02 1.13515502e-04 6.04465355e+02] [ 1.27683071e-02 9.99918482e-01 1.27296668e-07 1.02545662e+01] [-1.13507874e-04 1.32211452e-06 9.99999994e-01 5.59517857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0292541539999 meters Centerline goodness [0,1] 0.9995628510852221 Centerline is valid? [True, True] Translation: X:604.50, Y:10.26, Z:5.59 [[ 9.99973064e-01 -7.33243768e-03 3.27113594e-04 6.04496969e+02] [ 7.33243747e-03 9.99973117e-01 1.82798954e-06 1.02571996e+01] [-3.27118204e-04 5.70599689e-07 9.99999946e-01 5.59480336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.059254154 meters Centerline goodness [0,1] 0.9995631661715884 Centerline is valid? [True, True] Translation: X:604.53, Y:10.26, Z:5.59 [[ 9.99988325e-01 -4.78111007e-03 6.99950284e-04 6.04529642e+02] [ 4.78110825e-03 9.99988570e-01 4.27770898e-06 1.02582341e+01] [-6.99962736e-04 -9.31120946e-07 9.99999755e-01 5.59454729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.089254154 meters Centerline goodness [0,1] 0.9995410137040194 Centerline is valid? [True, True] Translation: X:604.56, Y:10.26, Z:5.59 [[ 9.99996396e-01 -2.48744489e-03 1.00983871e-03 6.04560709e+02] [ 2.48743950e-03 9.99996906e-01 6.59438820e-06 1.02591183e+01] [-1.00985199e-03 -4.08245171e-06 9.99999490e-01 5.59488408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1192541539999 meters Centerline goodness [0,1] 0.9996057386923667 Centerline is valid? [True, True] Translation: X:604.59, Y:10.26, Z:5.59 [[ 9.99998820e-01 -4.90864217e-04 1.45600612e-03 6.04591952e+02] [ 4.90850394e-04 9.99999879e-01 9.85075814e-06 1.02595752e+01] [-1.45601078e-03 -9.13606532e-06 9.99998940e-01 5.59491846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1492541539999 meters Centerline goodness [0,1] 0.9995618071074888 Centerline is valid? [True, True] Translation: X:604.62, Y:10.26, Z:5.59 [[ 9.99992803e-01 2.57901674e-03 2.78242302e-03 6.04623370e+02] [-2.57907966e-03 9.99996674e-01 1.90227152e-05 1.02595507e+01] [-2.78236471e-03 -2.61986689e-05 9.99996129e-01 5.59440142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1792541539999 meters Centerline goodness [0,1] 0.9994959235557114 Centerline is valid? [True, True] Translation: X:604.65, Y:10.26, Z:5.59 [[ 9.99986933e-01 3.78209311e-03 3.43933423e-03 6.04653398e+02] [-3.78219701e-03 9.99992847e-01 2.37067887e-05 1.02597080e+01] [-3.43921997e-03 -3.67147186e-05 9.99994085e-01 5.59484478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.209254154 meters Centerline goodness [0,1] 0.9995396352157138 Centerline is valid? [True, True] Translation: X:604.68, Y:10.26, Z:5.59 [[ 9.99979841e-01 5.09207446e-03 3.79310784e-03 6.04684193e+02] [-5.09221098e-03 9.99987034e-01 2.63343540e-05 1.02574625e+01] [-3.79292456e-03 -4.56491285e-05 9.99992806e-01 5.59370827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2392541539999 meters Centerline goodness [0,1] 0.9995396352157138 Centerline is valid? [True, True] Translation: X:604.71, Y:10.26, Z:5.59 [[ 9.99979841e-01 5.09207446e-03 3.79310784e-03 6.04714196e+02] [-5.09221098e-03 9.99987034e-01 2.63343540e-05 1.02576708e+01] [-3.79292456e-03 -4.56491285e-05 9.99992806e-01 5.59398934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2692541539999 meters Centerline goodness [0,1] 0.9995835798978675 Centerline is valid? [True, True] Translation: X:604.74, Y:10.26, Z:5.59 [[ 9.99978464e-01 5.24898180e-03 3.93952750e-03 6.04744590e+02] [-5.24913028e-03 9.99986223e-01 2.73508996e-05 1.02557130e+01] [-3.93932966e-03 -4.80294036e-05 9.99992240e-01 5.59318780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2992541539999 meters Centerline goodness [0,1] 0.9995636903073801 Centerline is valid? [True, True] Translation: X:604.77, Y:10.25, Z:5.59 [[ 9.99988204e-01 3.82470115e-03 2.99389448e-03 6.04774742e+02] [-3.82478237e-03 9.99992685e-01 2.14066159e-05 1.02506300e+01] [-2.99379070e-03 -3.28573582e-05 9.99995518e-01 5.59093529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.329254154 meters Centerline goodness [0,1] 0.9994970258922323 Centerline is valid? [True, True] Translation: X:604.80, Y:10.25, Z:5.59 [[ 9.99993485e-01 2.32358239e-03 2.76258527e-03 6.04804934e+02] [-2.32364463e-03 9.99997300e-01 1.93185445e-05 1.02471584e+01] [-2.76253293e-03 -2.57376851e-05 9.99996184e-01 5.58926494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3592541539999 meters Centerline goodness [0,1] 0.9992814371257485 Centerline is valid? [True, True] Translation: X:604.84, Y:10.24, Z:5.59 [[ 9.99998461e-01 1.51869404e-04 1.74805290e-03 6.04835651e+02] [-1.51891004e-04 9.99999988e-01 1.22239984e-05 1.02433480e+01] [-1.74805103e-03 -1.24894931e-05 9.99998472e-01 5.58743183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3892541539999 meters Centerline goodness [0,1] 0.9995012685126959 Centerline is valid? [True, True] Translation: X:604.87, Y:10.23, Z:5.58 [[ 9.99982287e-01 -5.70957906e-03 -1.68093743e-03 6.04866057e+02] [ 5.70956713e-03 9.99983700e-01 -1.18947624e-05 1.02348776e+01] [ 1.68097795e-03 2.29712663e-06 9.99998587e-01 5.58419421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4192541539999 meters Centerline goodness [0,1] 0.9991337866516523 Centerline is valid? [True, True] Translation: X:604.90, Y:10.23, Z:5.58 [[ 9.99947751e-01 -9.50040276e-03 -3.77328870e-03 6.04897483e+02] [ 9.50037032e-03 9.99954870e-01 -2.65209241e-05 1.02300872e+01] [ 3.77337037e-03 -9.32810154e-06 9.99992881e-01 5.58140508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.449254154 meters Centerline goodness [0,1] 0.9992223782265903 Centerline is valid? [True, True] Translation: X:604.93, Y:10.22, Z:5.58 [[ 9.99811614e-01 -1.74060577e-02 -8.58864378e-03 6.04929373e+02] [ 1.74061877e-02 9.99848499e-01 -5.96190373e-05 1.02186503e+01] [ 8.58838033e-03 -8.98877401e-05 9.99963115e-01 5.57554509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4792541539999 meters Centerline goodness [0,1] 0.999246241977861 Centerline is valid? [True, True] Translation: X:604.96, Y:10.21, Z:5.57 [[ 9.99718921e-01 -2.12889636e-02 -1.04335238e-02 6.04960300e+02] [ 2.12893717e-02 9.99773353e-01 -7.19561632e-05 1.02121400e+01] [ 1.04326910e-02 -1.50187229e-04 9.99945567e-01 5.57279665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5092541539999 meters Centerline goodness [0,1] 0.9993339635613613 Centerline is valid? [True, True] Translation: X:604.99, Y:10.21, Z:5.57 [[ 9.99614391e-01 -2.48218306e-02 -1.24476964e-02 6.04992111e+02] [ 2.48226950e-02 9.99691866e-01 -8.50758662e-05 1.02061218e+01] [ 1.24459725e-02 -2.23942309e-04 9.99922521e-01 5.57077878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5392541539999 meters Centerline goodness [0,1] 0.9990189178237038 Centerline is valid? [True, True] Translation: X:605.02, Y:10.19, Z:5.57 [[ 9.99371658e-01 -3.16001534e-02 -1.60536360e-02 6.05022622e+02] [ 3.16024775e-02 9.99500511e-01 -1.08956296e-04 1.01924601e+01] [ 1.60490604e-02 -3.98446836e-04 9.99871126e-01 5.56585118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.569254154 meters Centerline goodness [0,1] 0.9989324223337248 Centerline is valid? [True, True] Translation: X:605.05, Y:10.19, Z:5.56 [[ 9.99254608e-01 -3.43692945e-02 -1.75778108e-02 6.05053555e+02] [ 3.43725185e-02 9.99409083e-01 -1.18763676e-04 1.01899425e+01] [ 1.75715056e-02 -4.85518476e-04 9.99845491e-01 5.56493462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5992541539999 meters Centerline goodness [0,1] 0.999083526929389 Centerline is valid? [True, True] Translation: X:605.08, Y:10.18, Z:5.56 [[ 9.99137338e-01 -3.66568542e-02 -1.95155224e-02 6.05083512e+02] [ 3.66612732e-02 9.99327741e-01 -1.31404449e-04 1.01840675e+01] [ 1.95072198e-02 -5.84172807e-04 9.99809545e-01 5.56277506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6292541539999 meters Centerline goodness [0,1] 0.9987864852781504 Centerline is valid? [True, True] Translation: X:605.11, Y:10.17, Z:5.56 [[ 9.98911471e-01 -4.04001746e-02 -2.33173655e-02 6.05113480e+02] [ 4.04074966e-02 9.99183271e-01 -1.57256312e-04 1.01747924e+01] [ 2.33046748e-02 -7.85111235e-04 9.99728101e-01 5.55891237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6592541539999 meters Centerline goodness [0,1] 0.9987232955996255 Centerline is valid? [True, True] Translation: X:605.14, Y:10.17, Z:5.56 [[ 9.98829281e-01 -4.19959778e-02 -2.40084260e-02 6.05142748e+02] [ 4.20041774e-02 9.99117422e-01 -1.62888080e-04 1.01695116e+01] [ 2.39940773e-02 -8.45756801e-04 9.99711743e-01 5.55695827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.689254154 meters Centerline goodness [0,1] 0.9987926031053401 Centerline is valid? [True, True] Translation: X:605.17, Y:10.16, Z:5.55 [[ 9.98692379e-01 -4.39767745e-02 -2.60686595e-02 6.05171148e+02] [ 4.39870709e-02 9.99032084e-01 -1.78614288e-04 1.01582923e+01] [ 2.60512821e-02 -9.68303244e-04 9.99660139e-01 5.55343153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7192541539999 meters Centerline goodness [0,1] 0.9987484620932502 Centerline is valid? [True, True] Translation: X:605.20, Y:10.15, Z:5.55 [[ 9.98623362e-01 -4.50806536e-02 -2.68163127e-02 6.05200211e+02] [ 4.50918098e-02 9.98982829e-01 -1.88849458e-04 1.01536317e+01] [ 2.67975493e-02 -1.02060659e-03 9.99640360e-01 5.55210763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7492541539999 meters Centerline goodness [0,1] 0.9987702484946145 Centerline is valid? [True, True] Translation: X:605.23, Y:10.15, Z:5.55 [[ 9.98572227e-01 -4.55908830e-02 -2.78384453e-02 6.05228145e+02] [ 4.56029896e-02 9.98959622e-01 -2.00170399e-04 1.01477976e+01] [ 2.78186088e-02 -1.06963173e-03 9.99612415e-01 5.55009959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7792541539999 meters Centerline goodness [0,1] 0.9985682703442468 Centerline is valid? [True, True] Translation: X:605.26, Y:10.14, Z:5.55 [[ 9.98445848e-01 -4.62503649e-02 -3.10932946e-02 6.05256807e+02] [ 4.62655897e-02 9.98929148e-01 -2.30005441e-04 1.01398576e+01] [ 3.10706361e-02 -1.20890163e-03 9.99516460e-01 5.54762513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.809254154 meters Centerline goodness [0,1] 0.9986059185096001 Centerline is valid? [True, True] Translation: X:605.29, Y:10.14, Z:5.55 [[ 9.98367448e-01 -4.68307768e-02 -3.27004193e-02 6.05285661e+02] [ 4.68476528e-02 9.98902015e-01 -2.50325489e-04 1.01359628e+01] [ 3.26762377e-02 -1.28202107e-03 9.99465167e-01 5.54614681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.839254154 meters Centerline goodness [0,1] 0.9990736842105263 Centerline is valid? [True, True] Translation: X:605.31, Y:10.13, Z:5.54 [[ 9.98242033e-01 -4.74198228e-02 -3.55556409e-02 6.05314244e+02] [ 4.74398226e-02 9.98874058e-01 -2.81414091e-04 1.01259184e+01] [ 3.55289520e-02 -1.40583392e-03 9.99367659e-01 5.54282104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8692541539999 meters Centerline goodness [0,1] 0.9989045020751258 Centerline is valid? [True, True] Translation: X:605.34, Y:10.12, Z:5.54 [[ 9.98181676e-01 -4.79507723e-02 -3.65248574e-02 6.05343473e+02] [ 4.79718937e-02 9.98848641e-01 -2.98385663e-04 1.01209139e+01] [ 3.64971120e-02 -1.45432348e-03 9.99332700e-01 5.54199015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8992541539999 meters Centerline goodness [0,1] 0.9988440035310437 Centerline is valid? [True, True] Translation: X:605.37, Y:10.11, Z:5.54 [[ 9.98161589e-01 -4.80261367e-02 -3.69720434e-02 6.05371692e+02] [ 4.80476510e-02 9.98844998e-01 -3.06900963e-04 1.01144630e+01] [ 3.69440799e-02 -1.47008308e-03 9.99316253e-01 5.53982068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9292541539999 meters Centerline goodness [0,1] 0.9988035264483627 Centerline is valid? [True, True] Translation: X:605.40, Y:10.11, Z:5.54 [[ 9.98138505e-01 -4.77031766e-02 -3.79990999e-02 6.05399560e+02] [ 4.77253207e-02 9.98860445e-01 -3.24636356e-04 1.01094227e+01] [ 3.79712840e-02 -1.48948718e-03 9.99277721e-01 5.54121609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.959254154 meters Centerline goodness [0,1] 0.9990771231411373 Centerline is valid? [True, True] Translation: X:605.43, Y:10.10, Z:5.54 [[ 9.98142110e-01 -4.71401111e-02 -3.86023180e-02 6.05427357e+02] [ 4.71623356e-02 9.98887182e-01 -3.35201679e-04 1.01045640e+01] [ 3.85751621e-02 -1.48599657e-03 9.99254597e-01 5.54004047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9892541539999 meters Centerline goodness [0,1] 0.9992660935206542 Centerline is valid? [True, True] Translation: X:605.46, Y:10.10, Z:5.54 [[ 9.98174119e-01 -4.62479981e-02 -3.88529337e-02 6.05456726e+02] [ 4.62696525e-02 9.98928928e-01 -3.42149588e-04 1.01016497e+01] [ 3.88271431e-02 -1.45618688e-03 9.99244881e-01 5.54010665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0192541539999 meters Centerline goodness [0,1] 0.9990772586192433 Centerline is valid? [True, True] Translation: X:605.49, Y:10.10, Z:5.54 [[ 9.98320805e-01 -4.28038109e-02 -3.90308202e-02 6.05485298e+02] [ 4.28229265e-02 9.99082618e-01 -3.46522185e-04 1.00973237e+01] [ 3.90098464e-02 -1.32547363e-03 9.99237947e-01 5.54046266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0492541539999 meters Centerline goodness [0,1] 0.9991811883266849 Centerline is valid? [True, True] Translation: X:605.51, Y:10.10, Z:5.54 [[ 9.98398329e-01 -4.10767424e-02 -3.89034331e-02 6.05514052e+02] [ 4.10941234e-02 9.99155217e-01 -3.53114663e-04 1.00962111e+01] [ 3.88850729e-02 -1.24615339e-03 9.99242913e-01 5.54086517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.079254154 meters Centerline goodness [0,1] 0.9990134962114057 Centerline is valid? [True, True] Translation: X:605.54, Y:10.10, Z:5.54 [[ 9.98594930e-01 -3.62565923e-02 -3.86474499e-02 6.05544219e+02] [ 3.62700001e-02 9.99341964e-01 -3.54382037e-04 1.00950064e+01] [ 3.86348671e-02 -1.04785890e-03 9.99252845e-01 5.54270086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1092541539999 meters Centerline goodness [0,1] 0.9993927718916202 Centerline is valid? [True, True] Translation: X:605.57, Y:10.10, Z:5.55 [[ 9.98719382e-01 -3.38747049e-02 -3.75779212e-02 6.05573288e+02] [ 3.38856048e-02 9.99425658e-01 -3.46983987e-04 1.00956228e+01] [ 3.75680926e-02 -9.26810954e-04 9.99293640e-01 5.54533717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1392541539999 meters Centerline goodness [0,1] 0.9995383001049318 Centerline is valid? [True, True] Translation: X:605.60, Y:10.10, Z:5.55 [[ 9.98860531e-01 -3.09188144e-02 -3.63547375e-02 6.05601898e+02] [ 3.09269663e-02 9.99521590e-01 -3.38236484e-04 1.00958407e+01] [ 3.63478029e-02 -7.86490669e-04 9.99338891e-01 5.54689452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1692541539999 meters Centerline goodness [0,1] 0.9994759678873122 Centerline is valid? [True, True] Translation: X:605.63, Y:10.10, Z:5.55 [[ 9.99012739e-01 -2.86319526e-02 -3.39670179e-02 6.05631118e+02] [ 2.86375341e-02 9.99589810e-01 -3.22273367e-04 1.00960976e+01] [ 3.39623123e-02 -6.50776433e-04 9.99422902e-01 5.54931898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.199254154 meters Centerline goodness [0,1] 0.9992452671963773 Centerline is valid? [True, True] Translation: X:605.66, Y:10.10, Z:5.55 [[ 9.99252955e-01 -2.38239310e-02 -3.04294503e-02 6.05659918e+02] [ 2.38260998e-02 9.99716076e-01 -2.91364958e-04 1.00975299e+01] [ 3.04277521e-02 -4.33867827e-04 9.99536875e-01 5.55404020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2292541539999 meters Centerline goodness [0,1] 0.9994344720692039 Centerline is valid? [True, True] Translation: X:605.69, Y:10.10, Z:5.56 [[ 9.99314392e-01 -2.23225352e-02 -2.95372830e-02 6.05688709e+02] [ 2.23237671e-02 9.99750752e-01 -2.88096971e-04 1.00994407e+01] [ 2.95363519e-02 -3.71483975e-04 9.99563638e-01 5.55667944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2592541539999 meters Centerline goodness [0,1] 0.9991829551882345 Centerline is valid? [True, True] Translation: X:605.72, Y:10.10, Z:5.56 [[ 9.99409099e-01 -2.06220695e-02 -2.74987893e-02 6.05717638e+02] [ 2.06223102e-02 9.99787300e-01 -2.74875238e-04 1.01022712e+01] [ 2.74986088e-02 -2.92375749e-04 9.99621799e-01 5.56045899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2892541539999 meters Centerline goodness [0,1] 0.999351505135661 Centerline is valid? [True, True] Translation: X:605.75, Y:10.10, Z:5.56 [[ 9.99435046e-01 -2.07172217e-02 -2.64648108e-02 6.05746312e+02] [ 2.07173021e-02 9.99785337e-01 -2.71176460e-04 1.01029082e+01] [ 2.64647478e-02 -2.77256224e-04 9.99649709e-01 5.56294303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.319254154 meters Centerline goodness [0,1] 0.999351383018789 Centerline is valid? [True, True] Translation: X:605.77, Y:10.10, Z:5.56 [[ 9.99454502e-01 -2.12029270e-02 -2.53206474e-02 6.05774059e+02] [ 2.12030614e-02 9.99775155e-01 -2.63204071e-04 1.01016311e+01] [ 2.53205349e-02 -2.73814747e-04 9.99679346e-01 5.56313318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3492541539999 meters Centerline goodness [0,1] 0.9994772061898787 Centerline is valid? [True, True] Translation: X:605.80, Y:10.10, Z:5.57 [[ 9.99443047e-01 -2.39603193e-02 -2.32270965e-02 6.05802168e+02] [ 2.39610650e-02 9.99712862e-01 -2.46245546e-04 1.01006115e+01] [ 2.32263273e-02 -3.10437570e-04 9.99730184e-01 5.56640565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3792541539999 meters Centerline goodness [0,1] 0.9993722798794777 Centerline is valid? [True, True] Translation: X:605.83, Y:10.10, Z:5.57 [[ 9.99406919e-01 -2.58181004e-02 -2.27867605e-02 6.05830479e+02] [ 2.58191623e-02 9.99666599e-01 -2.47651969e-04 1.01010282e+01] [ 2.27855573e-02 -3.40829978e-04 9.99740317e-01 5.56800935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4092541539999 meters Centerline goodness [0,1] 0.9993729228067976 Centerline is valid? [True, True] Translation: X:605.86, Y:10.10, Z:5.57 [[ 9.99335788e-01 -2.90625307e-02 -2.19852877e-02 6.05859092e+02] [ 2.90641833e-02 9.99577518e-01 -2.44427589e-04 1.01012794e+01] [ 2.19831030e-02 -3.94719196e-04 9.99758264e-01 5.57019995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.439254154 meters Centerline goodness [0,1] 0.9992893273692571 Centerline is valid? [True, True] Translation: X:605.89, Y:10.10, Z:5.57 [[ 9.99299846e-01 -3.05564041e-02 -2.15899020e-02 6.05888103e+02] [ 3.05582296e-02 9.99532958e-01 -2.45429472e-04 1.01006660e+01] [ 2.15873181e-02 -4.14491550e-04 9.99766881e-01 5.57094526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4692541539999 meters Centerline goodness [0,1] 0.999330907874378 Centerline is valid? [True, True] Translation: X:605.92, Y:10.10, Z:5.57 [[ 9.99219921e-01 -3.31653190e-02 -2.14385647e-02 6.05915899e+02] [ 3.31676460e-02 9.99449772e-01 -2.47120714e-04 1.00985012e+01] [ 2.14349644e-02 -4.64138785e-04 9.99770137e-01 5.57135257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4992541539999 meters Centerline goodness [0,1] 0.9993325964085344 Centerline is valid? [True, True] Translation: X:605.94, Y:10.10, Z:5.57 [[ 9.99161474e-01 -3.47222861e-02 -2.16958797e-02 6.05944356e+02] [ 3.47249500e-02 9.99396875e-01 -2.54057326e-04 1.01003395e+01] [ 2.16916158e-02 -4.99544044e-04 9.99764584e-01 5.57319960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5292541539999 meters Centerline goodness [0,1] 0.9993934196490201 Centerline is valid? [True, True] Translation: X:605.97, Y:10.10, Z:5.57 [[ 9.99098604e-01 -3.63951849e-02 -2.18488072e-02 6.05973080e+02] [ 3.63981641e-02 9.99337333e-01 -2.61437484e-04 1.01011614e+01] [ 2.18438438e-02 -5.34054643e-04 9.99761252e-01 5.57426380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.559254154 meters Centerline goodness [0,1] 0.999059993315508 Centerline is valid? [True, True] Translation: X:606.00, Y:10.10, Z:5.58 [[ 9.98993102e-01 -3.93883907e-02 -2.14787430e-02 6.06000367e+02] [ 3.93918820e-02 9.99223805e-01 -2.60685521e-04 1.01011575e+01] [ 2.14723393e-02 -5.85665072e-04 9.99769271e-01 5.57547542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.589254154 meters Centerline goodness [0,1] 0.9990819945754225 Centerline is valid? [True, True] Translation: X:606.03, Y:10.10, Z:5.58 [[ 9.98933199e-01 -4.08979515e-02 -2.14434315e-02 6.06027994e+02] [ 4.09017339e-02 9.99163140e-01 -2.62353175e-04 1.00993546e+01] [ 2.14362161e-02 -6.15000232e-04 9.99770029e-01 5.57543246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6192541539999 meters Centerline goodness [0,1] 0.9990405072796296 Centerline is valid? [True, True] Translation: X:606.06, Y:10.10, Z:5.58 [[ 9.98803755e-01 -4.43200575e-02 -2.06589205e-02 6.06056976e+02] [ 4.43242698e-02 9.99017164e-01 -2.54175302e-04 1.01011538e+01] [ 2.06498813e-02 -6.61820322e-04 9.99786549e-01 5.57815831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6492541539999 meters Centerline goodness [0,1] 0.9988922793963968 Centerline is valid? [True, True] Translation: X:606.09, Y:10.10, Z:5.58 [[ 9.98718972e-01 -4.63870393e-02 -2.02152723e-02 6.06085727e+02] [ 4.63914283e-02 9.98923306e-01 -2.52041102e-04 1.01019658e+01] [ 2.02051981e-02 -6.86097125e-04 9.99795619e-01 5.57971497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6792541539999 meters Centerline goodness [0,1] 0.9986642456118381 Centerline is valid? [True, True] Translation: X:606.11, Y:10.10, Z:5.58 [[ 9.98639556e-01 -4.80398809e-02 -2.02782255e-02 6.06114228e+02] [ 4.80445720e-02 9.98845160e-01 -2.56061638e-04 1.00958738e+01] [ 2.02671085e-02 -7.18545383e-04 9.99794343e-01 5.57885276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.709254154 meters Centerline goodness [0,1] 0.9987075794213292 Centerline is valid? [True, True] Translation: X:606.14, Y:10.10, Z:5.58 [[ 9.98492540e-01 -5.11398805e-02 -1.99339030e-02 6.06143639e+02] [ 5.11450096e-02 9.98691206e-01 -2.52753298e-04 1.00985110e+01] [ 1.99207394e-02 -7.67147378e-04 9.99801268e-01 5.58112542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7392541539999 meters Centerline goodness [0,1] 0.9988556924101198 Centerline is valid? [True, True] Translation: X:606.17, Y:10.10, Z:5.58 [[ 9.98416947e-01 -5.26508298e-02 -1.97861036e-02 6.06173555e+02] [ 5.26561691e-02 9.98612670e-01 -2.51392940e-04 1.00988541e+01] [ 1.97718898e-02 -7.90865445e-04 9.99804204e-01 5.58243670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7692541539999 meters Centerline goodness [0,1] 0.9988117078052035 Centerline is valid? [True, True] Translation: X:606.20, Y:10.10, Z:5.58 [[ 9.98310315e-01 -5.50874665e-02 -1.84901355e-02 6.06203401e+02] [ 5.50925403e-02 9.98481225e-01 -2.35246771e-04 1.01007116e+01] [ 1.84750123e-02 -7.83819254e-04 9.99829015e-01 5.58481125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7992541539999 meters Centerline goodness [0,1] 0.9987079834121741 Centerline is valid? [True, True] Translation: X:606.23, Y:10.10, Z:5.59 [[ 9.98258646e-01 -5.60240276e-02 -1.84657586e-02 6.06233631e+02] [ 5.60292448e-02 9.98429100e-01 -2.35105604e-04 1.01016007e+01] [ 1.84499223e-02 -7.99926306e-04 9.99829466e-01 5.58577471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.829254154 meters Centerline goodness [0,1] 0.9988350080093199 Centerline is valid? [True, True] Translation: X:606.26, Y:10.10, Z:5.59 [[ 9.98217343e-01 -5.67641623e-02 -1.84381882e-02 6.06264106e+02] [ 5.67694899e-02 9.98387285e-01 -2.34754579e-04 1.01027253e+01] [ 1.84217783e-02 -8.12390450e-04 9.99829975e-01 5.58636779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8592541539999 meters Centerline goodness [0,1] 0.998937898288142 Centerline is valid? [True, True] Translation: X:606.29, Y:10.10, Z:5.59 [[ 9.98173942e-01 -5.75454505e-02 -1.83658223e-02 6.06294106e+02] [ 5.75508714e-02 9.98342548e-01 -2.33669473e-04 1.01034393e+01] [ 1.83488284e-02 -8.23726297e-04 9.99831307e-01 5.58732128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8892541539999 meters Centerline goodness [0,1] 0.9989796555817004 Centerline is valid? [True, True] Translation: X:606.33, Y:10.10, Z:5.59 [[ 9.98166476e-01 -5.76849314e-02 -1.83339588e-02 6.06325110e+02] [ 5.76903660e-02 9.98334497e-01 -2.32770819e-04 1.01048305e+01] [ 1.83168509e-02 -8.25348764e-04 9.99831892e-01 5.58785578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9192541539999 meters Centerline goodness [0,1] 0.9988738503889387 Centerline is valid? [True, True] Translation: X:606.35, Y:10.11, Z:5.59 [[ 9.98125668e-01 -5.82446788e-02 -1.87805038e-02 6.06354913e+02] [ 5.82504868e-02 9.98301970e-01 -2.38094512e-04 1.01075153e+01] [ 1.87624817e-02 -8.56325245e-04 9.99823602e-01 5.58826093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.949254154 meters Centerline goodness [0,1] 0.9988564537591483 Centerline is valid? [True, True] Translation: X:606.39, Y:10.11, Z:5.59 [[ 9.98100497e-01 -5.86210506e-02 -1.89464939e-02 6.06385823e+02] [ 5.86270359e-02 9.98279927e-01 -2.39857305e-04 1.01090784e+01] [ 1.89279653e-02 -8.71375084e-04 9.99820470e-01 5.58821038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9792541539999 meters Centerline goodness [0,1] 0.9987913141332889 Centerline is valid? [True, True] Translation: X:606.42, Y:10.11, Z:5.59 [[ 9.98039032e-01 -5.95171841e-02 -1.93854237e-02 6.06416542e+02] [ 5.95236287e-02 9.98226867e-01 -2.44894882e-04 1.01091316e+01] [ 1.93656262e-02 -9.09476113e-04 9.99812055e-01 5.58814558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0092541539999 meters Centerline goodness [0,1] 0.9988526607839456 Centerline is valid? [True, True] Translation: X:606.45, Y:10.11, Z:5.59 [[ 9.97847496e-01 -6.24880501e-02 -1.98901506e-02 6.06447497e+02] [ 6.24954305e-02 9.98045219e-01 -2.50913950e-04 1.01100813e+01] [ 1.98669488e-02 -9.92669669e-04 9.99802140e-01 5.58783679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0392541539999 meters Centerline goodness [0,1] 0.998920445108786 Centerline is valid? [True, True] Translation: X:606.48, Y:10.11, Z:5.59 [[ 9.97733732e-01 -6.42287421e-02 -2.00516576e-02 6.06478914e+02] [ 6.42366046e-02 9.97934665e-01 -2.52394224e-04 1.01130493e+01] [ 2.00264551e-02 -1.03622817e-03 9.99798913e-01 5.58889036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.069254154 meters Centerline goodness [0,1] 0.9986888111888111 Centerline is valid? [True, True] Translation: X:606.51, Y:10.11, Z:5.59 [[ 9.97497212e-01 -6.78578805e-02 -1.98650700e-02 6.06510345e+02] [ 6.78663290e-02 9.97694392e-01 -2.49326544e-04 1.01146472e+01] [ 1.98361877e-02 -1.09946684e-03 9.99802639e-01 5.59011475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0992541539999 meters Centerline goodness [0,1] 0.998605503059568 Centerline is valid? [True, True] Translation: X:606.54, Y:10.12, Z:5.59 [[ 9.97380324e-01 -6.95302681e-02 -1.99507034e-02 6.06541093e+02] [ 6.95391384e-02 9.97579193e-01 -2.49635793e-04 1.01154456e+01] [ 1.99197639e-02 -1.13837290e-03 9.99800934e-01 5.59074550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1292541539999 meters Centerline goodness [0,1] 0.9986477490222185 Centerline is valid? [True, True] Translation: X:606.57, Y:10.12, Z:5.59 [[ 9.97336239e-01 -7.02126722e-02 -1.97637641e-02 6.06573273e+02] [ 7.02215328e-02 9.97531391e-01 -2.46160249e-04 1.01179804e+01] [ 1.97322586e-02 -1.14233727e-03 9.99804647e-01 5.59169017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1592541539999 meters Centerline goodness [0,1] 0.9986477490222185 Centerline is valid? [True, True] Translation: X:606.61, Y:10.12, Z:5.59 [[ 9.97341399e-01 -7.01393366e-02 -1.97637821e-02 6.06605012e+02] [ 7.01482116e-02 9.97536550e-01 -2.44707278e-04 1.01183131e+01] [ 1.97322586e-02 -1.14233727e-03 9.99804647e-01 5.59198736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.189254154 meters Centerline goodness [0,1] 0.9985839528539597 Centerline is valid? [True, True] Translation: X:606.64, Y:10.12, Z:5.59 [[ 9.97270653e-01 -7.11650867e-02 -1.96665840e-02 6.06635932e+02] [ 7.11740979e-02 9.97463879e-01 -2.42254171e-04 1.01201918e+01] [ 1.96339472e-02 -1.15815840e-03 9.99806565e-01 5.59257706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2192541539999 meters Centerline goodness [0,1] 0.9987723678734914 Centerline is valid? [True, True] Translation: X:606.67, Y:10.12, Z:5.59 [[ 9.97255485e-01 -7.13065154e-02 -1.99218299e-02 6.06668525e+02] [ 7.13158159e-02 9.97453756e-01 -2.44105600e-04 1.01222754e+01] [ 1.98885103e-02 -1.17730590e-03 9.99801511e-01 5.59282674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2492541539999 meters Centerline goodness [0,1] 0.9985185803409352 Centerline is valid? [True, True] Translation: X:606.70, Y:10.13, Z:5.59 [[ 9.97276395e-01 -7.09261497e-02 -2.02305111e-02 6.06701087e+02] [ 7.09356933e-02 9.97480860e-01 -2.46380949e-04 1.01267252e+01] [ 2.01970224e-02 -1.18935542e-03 9.99795312e-01 5.59353136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2792541539999 meters Centerline goodness [0,1] 0.9988125742141116 Centerline is valid? [True, True] Translation: X:606.73, Y:10.12, Z:5.59 [[ 9.97309393e-01 -7.05008381e-02 -2.00899770e-02 6.06732400e+02] [ 7.05101893e-02 9.97511030e-01 -2.43379384e-04 1.01246571e+01] [ 2.00571321e-02 -1.17382354e-03 9.99798146e-01 5.59370040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.309254154 meters Centerline goodness [0,1] 0.9987865347197523 Centerline is valid? [True, True] Translation: X:606.76, Y:10.13, Z:5.59 [[ 9.97350153e-01 -6.99673114e-02 -1.99310488e-02 6.06763302e+02] [ 6.99764305e-02 9.97548616e-01 -2.40375926e-04 1.01257713e+01] [ 1.98990086e-02 -1.15496469e-03 9.99801328e-01 5.59438796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.339254154 meters Centerline goodness [0,1] 0.9987456620813647 Centerline is valid? [True, True] Translation: X:606.79, Y:10.13, Z:5.60 [[ 9.97435012e-01 -6.87771713e-02 -1.98267060e-02 6.06794887e+02] [ 6.87859778e-02 9.97631411e-01 -2.38257409e-04 1.01288510e+01] [ 1.97961314e-02 -1.12615308e-03 9.99803403e-01 5.59500762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3692541539999 meters Centerline goodness [0,1] 0.9986855831420822 Centerline is valid? [True, True] Translation: X:606.83, Y:10.13, Z:5.60 [[ 9.97493056e-01 -6.80033552e-02 -1.95741466e-02 6.06826159e+02] [ 6.80118034e-02 9.97684489e-01 -2.34545121e-04 1.01305938e+01] [ 1.95447723e-02 -1.09731588e-03 9.99808381e-01 5.59540534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3992541539999 meters Centerline goodness [0,1] 0.9986796881549166 Centerline is valid? [True, True] Translation: X:606.86, Y:10.14, Z:5.60 [[ 9.97625507e-01 -6.56891134e-02 -2.06951089e-02 6.06857048e+02] [ 6.56980768e-02 9.97839517e-01 -2.47208754e-04 1.01416390e+01] [ 2.06666364e-02 -1.11300709e-03 9.99785803e-01 5.59643079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4292541539999 meters Centerline goodness [0,1] 0.9987191601049868 Centerline is valid? [True, True] Translation: X:606.89, Y:10.14, Z:5.60 [[ 9.97702227e-01 -6.41737856e-02 -2.17253476e-02 6.06887887e+02] [ 6.41833286e-02 9.97938091e-01 -2.58461188e-04 1.01422412e+01] [ 2.16971384e-02 -1.13653782e-03 9.99763943e-01 5.59584499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.459254154 meters Centerline goodness [0,1] 0.998781742947762 Centerline is valid? [True, True] Translation: X:606.92, Y:10.15, Z:5.60 [[ 9.97791590e-01 -6.25112946e-02 -2.24561869e-02 6.06919404e+02] [ 6.25210938e-02 9.98043607e-01 -2.66135919e-04 1.01459170e+01] [ 2.24288903e-02 -1.13843718e-03 9.99747793e-01 5.59596891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4892541539999 meters Centerline goodness [0,1] 0.9986329028730072 Centerline is valid? [True, True] Translation: X:606.95, Y:10.15, Z:5.60 [[ 9.98046620e-01 -5.78731221e-02 -2.35297021e-02 6.06948942e+02] [ 5.78826034e-02 9.98323358e-01 -2.78496789e-04 1.01520267e+01] [ 2.35063687e-02 -1.08400764e-03 9.99723099e-01 5.59628544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5192541539999 meters Centerline goodness [0,1] 0.9987804621627873 Centerline is valid? [True, True] Translation: X:606.98, Y:10.15, Z:5.60 [[ 9.98211944e-01 -5.51259093e-02 -2.31094974e-02 6.06979015e+02] [ 5.51343200e-02 9.98478909e-01 -2.73523259e-04 1.01527222e+01] [ 2.30894239e-02 -1.00109224e-03 9.99732902e-01 5.59576382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5492541539999 meters Centerline goodness [0,1] 0.9987373205943011 Centerline is valid? [True, True] Translation: X:607.01, Y:10.16, Z:5.60 [[ 9.98561298e-01 -4.87525992e-02 -2.23275117e-02 6.07009470e+02] [ 4.87588606e-02 9.98810544e-01 -2.64207913e-04 1.01607867e+01] [ 2.23138350e-02 -8.24836235e-04 9.99750675e-01 5.59701805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.579254154 meters Centerline goodness [0,1] 0.9986952038217901 Centerline is valid? [True, True] Translation: X:607.04, Y:10.16, Z:5.60 [[ 9.98662678e-01 -4.68366866e-02 -2.18901792e-02 6.07040439e+02] [ 4.68422510e-02 9.98902266e-01 -2.58767336e-04 1.01641734e+01] [ 2.18782694e-02 -7.66963988e-04 9.99760348e-01 5.59814910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6092541539999 meters Centerline goodness [0,1] 0.998967529867886 Centerline is valid? [True, True] Translation: X:607.07, Y:10.17, Z:5.60 [[ 9.98790548e-01 -4.40231299e-02 -2.18953298e-02 6.07070894e+02] [ 4.40280254e-02 9.99030263e-01 -2.58661314e-04 1.01679803e+01] [ 2.18854841e-02 -7.05659659e-04 9.99760235e-01 5.59909711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6392541539999 meters Centerline goodness [0,1] 0.9987976966398785 Centerline is valid? [True, True] Translation: X:607.10, Y:10.18, Z:5.60 [[ 9.99024080e-01 -3.77874236e-02 -2.28691550e-02 6.07101063e+02] [ 3.77911261e-02 9.99285624e-01 -2.70412196e-04 1.01777767e+01] [ 2.28630360e-02 -5.94102826e-04 9.99738430e-01 5.60008079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6692541539999 meters Centerline goodness [0,1] 0.9988617920451911 Centerline is valid? [True, True] Translation: X:607.13, Y:10.18, Z:5.60 [[ 9.99128981e-01 -3.47220014e-02 -2.31443845e-02 6.07130261e+02] [ 3.47249562e-02 9.99396869e-01 -2.74338114e-04 1.01802682e+01] [ 2.31399510e-02 -5.29588580e-04 9.99732095e-01 5.59933282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.699254154 meters Centerline goodness [0,1] 0.9988386824324325 Centerline is valid? [True, True] Translation: X:607.16, Y:10.19, Z:5.60 [[ 9.99301711e-01 -2.94208421e-02 -2.30326640e-02 6.07158757e+02] [ 2.94223310e-02 9.99567032e-01 -2.74310590e-04 1.01867766e+01] [ 2.30307620e-02 -4.03555623e-04 9.99734675e-01 5.59917379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7292541539999 meters Centerline goodness [0,1] 0.9988407385549279 Centerline is valid? [True, True] Translation: X:607.19, Y:10.19, Z:5.60 [[ 9.99363639e-01 -2.75912776e-02 -2.26061758e-02 6.07188032e+02] [ 2.75921895e-02 9.99619226e-01 -2.71633677e-04 1.01893323e+01] [ 2.26050627e-02 -3.52293067e-04 9.99744411e-01 5.59973706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7592541539999 meters Centerline goodness [0,1] 0.9991130633103856 Centerline is valid? [True, True] Translation: X:607.22, Y:10.19, Z:5.60 [[ 9.99412831e-01 -2.55923652e-02 -2.27821117e-02 6.07216288e+02] [ 2.55926679e-02 9.99672415e-01 -2.78325227e-04 1.01931077e+01] [ 2.27817717e-02 -3.04893217e-04 9.99740415e-01 5.60069926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7892541539999 meters Centerline goodness [0,1] 0.9989429175475687 Centerline is valid? [True, True] Translation: X:607.24, Y:10.20, Z:5.60 [[ 9.99407904e-01 -2.58297659e-02 -2.27302604e-02 6.07244295e+02] [ 2.58299873e-02 9.99666310e-01 -2.83906858e-04 1.01953699e+01] [ 2.27300088e-02 -3.03383579e-04 9.99741594e-01 5.60208143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.819254154 meters Centerline goodness [0,1] 0.9988823517007233 Centerline is valid? [True, True] Translation: X:607.27, Y:10.19, Z:5.60 [[ 9.99398410e-01 -2.63690773e-02 -2.25275397e-02 6.07271786e+02] [ 2.63693439e-02 9.99652228e-01 -2.85271378e-04 1.01949566e+01] [ 2.25272276e-02 -3.08936681e-04 9.99746182e-01 5.60080370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8492541539999 meters Centerline goodness [0,1] 0.9988395890035234 Centerline is valid? [True, True] Translation: X:607.30, Y:10.20, Z:5.60 [[ 9.99255203e-01 -2.99944207e-02 -2.42770103e-02 6.07300460e+02] [ 2.99956844e-02 9.99549979e-01 -3.12185766e-04 1.01952635e+01] [ 2.42754490e-02 -4.16252288e-04 9.99705221e-01 5.60111088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8792541539999 meters Centerline goodness [0,1] 0.9991778396154819 Centerline is valid? [True, True] Translation: X:607.33, Y:10.19, Z:5.60 [[ 9.99154981e-01 -3.24712303e-02 -2.51980909e-02 6.07327906e+02] [ 3.24732719e-02 9.99472550e-01 -3.28276424e-04 1.01915284e+01] [ 2.51954597e-02 -4.90265435e-04 9.99682424e-01 5.59849981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9092541539999 meters Centerline goodness [0,1] 0.9990090659919882 Centerline is valid? [True, True] Translation: X:607.36, Y:10.19, Z:5.60 [[ 9.98896726e-01 -3.88879131e-02 -2.63260675e-02 6.07357429e+02] [ 3.88923237e-02 9.99243348e-01 -3.44665775e-04 1.01903922e+01] [ 2.63195512e-02 -6.79596425e-04 9.99653350e-01 5.60000599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.939254154 meters Centerline goodness [0,1] 0.9989473684210526 Centerline is valid? [True, True] Translation: X:607.39, Y:10.19, Z:5.60 [[ 9.98762363e-01 -4.20360005e-02 -2.65841448e-02 6.07386708e+02] [ 4.20415776e-02 9.99115801e-01 -3.49338309e-04 1.01884508e+01] [ 2.65753239e-02 -7.68733430e-04 9.99646518e-01 5.60018334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9692541539999 meters Centerline goodness [0,1] 0.9990934581409567 Centerline is valid? [True, True] Translation: X:607.41, Y:10.19, Z:5.60 [[ 9.98548953e-01 -4.74764273e-02 -2.54160746e-02 6.07414895e+02] [ 4.74832362e-02 9.98871979e-01 -3.35893609e-04 1.01852648e+01] [ 2.54033517e-02 -8.71431259e-04 9.99676903e-01 5.60154935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9992541539999 meters Centerline goodness [0,1] 0.9987995198079231 Centerline is valid? [True, True] Translation: X:607.44, Y:10.18, Z:5.60 [[ 9.98499857e-01 -4.89982394e-02 -2.44378400e-02 6.07444093e+02] [ 4.90049630e-02 9.98798482e-01 -3.24029034e-04 1.01840285e+01] [ 2.44243543e-02 -8.74032501e-04 9.99701299e-01 5.60228905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0292541539999 meters Centerline goodness [0,1] 0.9988420808859134 Centerline is valid? [True, True] Translation: X:607.47, Y:10.18, Z:5.60 [[ 9.98494707e-01 -4.95458053e-02 -2.35272789e-02 6.07474974e+02] [ 4.95521849e-02 9.98771487e-01 -3.12117967e-04 1.01843333e+01] [ 2.35138395e-02 -8.54179937e-04 9.99723147e-01 5.60353783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.059254154 meters Centerline goodness [0,1] 0.9986718947634707 Centerline is valid? [True, True] Translation: X:607.51, Y:10.18, Z:5.60 [[ 9.98597803e-01 -4.80543817e-02 -2.22082046e-02 6.07505645e+02] [ 4.80597023e-02 9.98844422e-01 -2.94390782e-04 1.01849796e+01] [ 2.21966880e-02 -7.73341714e-04 9.99753324e-01 5.60421455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.089254154 meters Centerline goodness [0,1] 0.9987560353370301 Centerline is valid? [True, True] Translation: X:607.54, Y:10.19, Z:5.60 [[ 9.98710872e-01 -4.57294717e-02 -2.20319999e-02 6.07537101e+02] [ 4.57341567e-02 9.98953604e-01 -2.91439576e-04 1.01870681e+01] [ 2.20222731e-02 -7.16551062e-04 9.99757224e-01 5.60436096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1192541539999 meters Centerline goodness [0,1] 0.998983180104224 Centerline is valid? [True, True] Translation: X:607.57, Y:10.19, Z:5.60 [[ 9.98922146e-01 -4.06223003e-02 -2.24583150e-02 6.07566810e+02] [ 4.06258864e-02 9.99174384e-01 -2.96739359e-04 1.01917558e+01] [ 2.24518273e-02 -6.15969436e-04 9.99747736e-01 5.60419074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1492541539999 meters Centerline goodness [0,1] 0.9990036251086473 Centerline is valid? [True, True] Translation: X:607.60, Y:10.19, Z:5.60 [[ 9.99020090e-01 -3.79556535e-02 -2.27646320e-02 6.07596902e+02] [ 3.79586463e-02 9.99279266e-01 -3.00786694e-04 1.01942653e+01] [ 2.27596413e-02 -5.63622664e-04 9.99740807e-01 5.60432337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1792541539999 meters Centerline goodness [0,1] 0.9990674212076895 Centerline is valid? [True, True] Translation: X:607.63, Y:10.20, Z:5.60 [[ 9.99102636e-01 -3.60782735e-02 -2.21874031e-02 6.07626704e+02] [ 3.60806439e-02 9.99348838e-01 -2.93600354e-04 1.01966818e+01] [ 2.21835481e-02 -5.07198903e-04 9.99753786e-01 5.60463214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.209254154 meters Centerline goodness [0,1] 0.999234840272907 Centerline is valid? [True, True] Translation: X:607.66, Y:10.20, Z:5.60 [[ 9.99231287e-01 -3.26291512e-02 -2.17295717e-02 6.07655950e+02] [ 3.26305424e-02 9.99467440e-01 -2.90633939e-04 1.01993643e+01] [ 2.17274826e-02 -4.18637187e-04 9.99763843e-01 5.60474666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2392541539999 meters Centerline goodness [0,1] 0.9992150872950211 Centerline is valid? [True, True] Translation: X:607.68, Y:10.20, Z:5.61 [[ 9.99313544e-01 -3.09761243e-02 -2.03204253e-02 6.07684897e+02] [ 3.09769020e-02 9.99520062e-01 -2.76569519e-04 1.02020693e+01] [ 2.03192398e-02 -3.53084155e-04 9.99793481e-01 5.60682915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2692541539999 meters Centerline goodness [0,1] 0.9992369648155999 Centerline is valid? [True, True] Translation: X:607.71, Y:10.20, Z:5.61 [[ 9.99321425e-01 -3.06794281e-02 -2.03829119e-02 6.07713285e+02] [ 3.06800838e-02 9.99529216e-01 -2.80611984e-04 1.01996157e+01] [ 2.03819250e-02 -3.44927878e-04 9.99792207e-01 5.60511352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2992541539999 meters Centerline goodness [0,1] 0.999108545230717 Centerline is valid? [True, True] Translation: X:607.74, Y:10.20, Z:5.61 [[ 9.99331532e-01 -2.97550756e-02 -2.12397039e-02 6.07742641e+02] [ 2.97555551e-02 9.99557162e-01 -2.93529754e-04 1.02032223e+01] [ 2.12390321e-02 -3.38665639e-04 9.99774369e-01 5.60650882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.329254154 meters Centerline goodness [0,1] 0.9991089991089991 Centerline is valid? [True, True] Translation: X:607.77, Y:10.20, Z:5.61 [[ 9.99324371e-01 -2.92470351e-02 -2.22578743e-02 6.07770631e+02] [ 2.92474018e-02 9.99572155e-01 -3.09126068e-04 1.02025039e+01] [ 2.22573924e-02 -3.42067779e-04 9.99752215e-01 5.60502575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3592541539999 meters Centerline goodness [0,1] 0.9994690002336399 Centerline is valid? [True, True] Translation: X:607.80, Y:10.20, Z:5.60 [[ 9.99333124e-01 -2.77708560e-02 -2.37083899e-02 6.07798521e+02] [ 2.77707378e-02 9.99614263e-01 -3.34294829e-04 1.02028477e+01] [ 2.37085283e-02 -3.24327584e-04 9.99718861e-01 5.60385334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3892541539999 meters Centerline goodness [0,1] 0.9992145874461356 Centerline is valid? [True, True] Translation: X:607.83, Y:10.20, Z:5.60 [[ 9.99347874e-01 -2.67990474e-02 -2.41999708e-02 6.07826074e+02] [ 2.67985410e-02 9.99640795e-01 -3.45292155e-04 1.02027230e+01] [ 2.42005315e-02 -3.03456929e-04 9.99707078e-01 5.60340329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4192541539999 meters Centerline goodness [0,1] 0.9993636652879414 Centerline is valid? [True, True] Translation: X:607.85, Y:10.20, Z:5.60 [[ 9.99437060e-01 -2.42112046e-02 -2.32245822e-02 6.07854911e+02] [ 2.42099388e-02 9.99706840e-01 -3.35710570e-04 1.02047426e+01] [ 2.32259016e-02 -2.26744129e-04 9.99730217e-01 5.60490595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.449254154 meters Centerline goodness [0,1] 0.9991100186472284 Centerline is valid? [True, True] Translation: X:607.88, Y:10.21, Z:5.61 [[ 9.99492139e-01 -2.24481020e-02 -2.26173973e-02 6.07883651e+02] [ 2.24463216e-02 9.99747994e-01 -3.32616420e-04 1.02062898e+01] [ 2.26191642e-02 -1.75229876e-04 9.99744139e-01 5.60571031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4792541539999 meters Centerline goodness [0,1] 0.9993847198353595 Centerline is valid? [True, True] Translation: X:607.91, Y:10.21, Z:5.61 [[ 9.99545068e-01 -2.07025004e-02 -2.19331749e-02 6.07912285e+02] [ 2.07002858e-02 9.99785672e-01 -3.28027385e-04 1.02080130e+01] [ 2.19352650e-02 -1.26144835e-04 9.99759385e-01 5.60661578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5092541539999 meters Centerline goodness [0,1] 0.9993640834322537 Centerline is valid? [True, True] Translation: X:607.94, Y:10.21, Z:5.61 [[ 9.99596704e-01 -1.89177609e-02 -2.11789228e-02 6.07941121e+02] [ 1.89151842e-02 9.99821040e-01 -3.21998713e-04 1.02092730e+01] [ 2.11812241e-02 -7.87343736e-05 9.99775650e-01 5.60721133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5392541539999 meters Centerline goodness [0,1] 0.9994486970166027 Centerline is valid? [True, True] Translation: X:607.97, Y:10.21, Z:5.61 [[ 9.99662829e-01 -1.49856015e-02 -2.12051881e-02 6.07968514e+02] [ 1.49820615e-02 9.99887710e-01 -3.25806615e-04 1.02097535e+01] [ 2.12076894e-02 7.99932985e-06 9.99775092e-01 5.60701625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.569254154 meters Centerline goodness [0,1] 0.9994916223601432 Centerline is valid? [True, True] Translation: X:608.00, Y:10.21, Z:5.61 [[ 9.99711299e-01 -1.27679752e-02 -2.03542760e-02 6.07996033e+02] [ 1.27642181e-02 9.99918485e-01 -3.14493588e-04 1.02105202e+01] [ 2.03566323e-02 5.45963743e-05 9.99792781e-01 5.60783068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5992541539999 meters Centerline goodness [0,1] 0.9995138654041258 Centerline is valid? [True, True] Translation: X:608.02, Y:10.21, Z:5.61 [[ 9.99719526e-01 -1.24450780e-02 -2.01491626e-02 6.08023700e+02] [ 1.24412537e-02 9.99922555e-01 -3.15145711e-04 1.02109281e+01] [ 2.01515241e-02 6.43764777e-05 9.99796935e-01 5.60824853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6292541539999 meters Centerline goodness [0,1] 0.9994918053614534 Centerline is valid? [True, True] Translation: X:608.05, Y:10.21, Z:5.61 [[ 9.99723833e-01 -1.23667714e-02 -1.99830022e-02 6.08051831e+02] [ 1.23628836e-02 9.99923526e-01 -3.18085025e-04 1.02110187e+01] [ 1.99854077e-02 7.09496506e-05 9.99800269e-01 5.60868293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6592541539999 meters Centerline goodness [0,1] 0.9995141016161403 Centerline is valid? [True, True] Translation: X:608.08, Y:10.21, Z:5.61 [[ 9.99720604e-01 -1.37224612e-02 -1.92460059e-02 6.08079396e+02] [ 1.37190024e-02 9.99905841e-01 -3.11737627e-04 1.02094365e+01] [ 1.92484715e-02 4.76145278e-05 9.99814730e-01 5.61067128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.689254154 meters Centerline goodness [0,1] 0.9995147576953101 Centerline is valid? [True, True] Translation: X:608.11, Y:10.21, Z:5.61 [[ 9.99710595e-01 -1.50927870e-02 -1.87332482e-02 6.08107212e+02] [ 1.50896494e-02 9.99886097e-01 -3.08835072e-04 1.02083608e+01] [ 1.87357756e-02 2.60675460e-05 9.99824470e-01 5.61096901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7192541539999 meters Centerline goodness [0,1] 0.9991993932243385 Centerline is valid? [True, True] Translation: X:608.13, Y:10.20, Z:5.61 [[ 9.99656585e-01 -1.88367742e-02 -1.82177869e-02 6.08133790e+02] [ 1.88343595e-02 9.99822571e-01 -3.04128028e-04 1.02030236e+01] [ 1.82202834e-02 -3.90967628e-05 9.99833996e-01 5.60911017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7492541539999 meters Centerline goodness [0,1] 0.9992418019839515 Centerline is valid? [True, True] Translation: X:608.16, Y:10.20, Z:5.61 [[ 9.99611826e-01 -2.11131813e-02 -1.81777840e-02 6.08162137e+02] [ 2.11111183e-02 9.99777089e-01 -3.05393980e-04 1.02002224e+01] [ 1.81801798e-02 -7.84779145e-05 9.99834724e-01 5.60954071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7792541539999 meters Centerline goodness [0,1] 0.9991581960140581 Centerline is valid? [True, True] Translation: X:608.19, Y:10.20, Z:5.61 [[ 9.99564803e-01 -2.34652321e-02 -1.78770358e-02 6.08190246e+02] [ 2.34635862e-02 9.99724647e-01 -3.01841402e-04 1.01977346e+01] [ 1.78791961e-02 -1.17749330e-04 9.99840147e-01 5.60985924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.809254154 meters Centerline goodness [0,1] 0.9993706601774738 Centerline is valid? [True, True] Translation: X:608.22, Y:10.19, Z:5.61 [[ 9.99439277e-01 -2.80803332e-02 -1.82380347e-02 6.08218414e+02] [ 2.80793601e-02 9.99605649e-01 -3.09481593e-04 1.01921757e+01] [ 1.82395329e-02 -2.02804286e-04 9.99833625e-01 5.60995983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.839254154 meters Centerline goodness [0,1] 0.9989714741504166 Centerline is valid? [True, True] Translation: X:608.25, Y:10.19, Z:5.61 [[ 9.99343612e-01 -3.06903825e-02 -1.92469844e-02 6.08247393e+02] [ 3.06897188e-02 9.99528905e-01 -3.29920882e-04 1.01915001e+01] [ 1.92480426e-02 -2.60980212e-04 9.99814705e-01 5.61137330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8692541539999 meters Centerline goodness [0,1] 0.9991818753933291 Centerline is valid? [True, True] Translation: X:608.28, Y:10.18, Z:5.61 [[ 9.99169138e-01 -3.58310947e-02 -1.94207950e-02 6.08275622e+02] [ 3.58313299e-02 9.99357795e-01 -3.35970084e-04 1.01820722e+01] [ 1.94203611e-02 -3.60181975e-04 9.99811342e-01 5.60953002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8992541539999 meters Centerline goodness [0,1] 0.9991415590125835 Centerline is valid? [True, True] Translation: X:608.30, Y:10.18, Z:5.61 [[ 9.99073945e-01 -3.82420648e-02 -1.97179357e-02 6.08304906e+02] [ 3.82427565e-02 9.99268420e-01 -3.42127338e-04 1.01825029e+01] [ 1.97165941e-02 -4.12257705e-04 9.99805524e-01 5.61132477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9292541539999 meters Centerline goodness [0,1] 0.9987456096337181 Centerline is valid? [True, True] Translation: X:608.33, Y:10.18, Z:5.61 [[ 9.98985400e-01 -4.02407058e-02 -2.02202127e-02 6.08334177e+02] [ 4.02418315e-02 9.99189908e-01 -3.51378521e-04 1.01755403e+01] [ 2.02179722e-02 -4.62676381e-04 9.99795489e-01 5.60909758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.959254154 meters Centerline goodness [0,1] 0.999078418230563 Centerline is valid? [True, True] Translation: X:608.36, Y:10.18, Z:5.61 [[ 9.98859328e-01 -4.32839549e-02 -2.01628753e-02 6.08364564e+02] [ 4.32856905e-02 9.99062674e-01 -3.50547958e-04 1.01771111e+01] [ 2.01591492e-02 -5.22615879e-04 9.99796647e-01 5.61246948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9892541539999 meters Centerline goodness [0,1] 0.9990586364872498 Centerline is valid? [True, True] Translation: X:608.39, Y:10.17, Z:5.61 [[ 9.98816866e-01 -4.42331346e-02 -2.02063933e-02 6.08394868e+02] [ 4.42350756e-02 9.99021088e-01 -3.51107553e-04 1.01738788e+01] [ 2.02021436e-02 -5.43139192e-04 9.99795768e-01 5.61207392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0192541539999 meters Centerline goodness [0,1] 0.9991207502930832 Centerline is valid? [True, True] Translation: X:608.43, Y:10.17, Z:5.61 [[ 9.98777296e-01 -4.50325139e-02 -2.03957310e-02 6.08425339e+02] [ 4.50346616e-02 9.98985362e-01 -3.54225712e-04 1.01748733e+01] [ 2.03909883e-02 -5.64722243e-04 9.99791923e-01 5.61340762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0492541539999 meters Centerline goodness [0,1] 0.9991207502930832 Centerline is valid? [True, True] Translation: X:608.46, Y:10.18, Z:5.61 [[ 9.98778950e-01 -4.49958076e-02 -2.03957380e-02 6.08456192e+02] [ 4.49979559e-02 9.98987016e-01 -3.53820382e-04 1.01753796e+01] [ 2.03909979e-02 -5.64378168e-04 9.99791923e-01 5.61369668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.079254154 meters Centerline goodness [0,1] 0.9992259738086272 Centerline is valid? [True, True] Translation: X:608.49, Y:10.17, Z:5.61 [[ 9.98779394e-01 -4.49063892e-02 -2.05703208e-02 6.08485792e+02] [ 4.49085631e-02 9.98991038e-01 -3.56477437e-04 1.01743978e+01] [ 2.05655742e-02 -5.67741229e-04 9.99788345e-01 5.61371673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1092541539999 meters Centerline goodness [0,1] 0.998930996897795 Centerline is valid? [True, True] Translation: X:608.52, Y:10.17, Z:5.61 [[ 9.98787034e-01 -4.46688732e-02 -2.07159756e-02 6.08516272e+02] [ 4.46710275e-02 9.99001687e-01 -3.58981081e-04 1.01743419e+01] [ 2.07113298e-02 -5.66858263e-04 9.99785337e-01 5.61399114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1392541539999 meters Centerline goodness [0,1] 0.9992041718151166 Centerline is valid? [True, True] Translation: X:608.55, Y:10.17, Z:5.61 [[ 9.98838443e-01 -4.34699432e-02 -2.07877249e-02 6.08546310e+02] [ 4.34718529e-02 9.99054587e-01 -3.60224404e-04 1.01731193e+01] [ 2.07837308e-02 -5.43874936e-04 9.99783847e-01 5.61446359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1692541539999 meters Centerline goodness [0,1] 0.9992451089349745 Centerline is valid? [True, True] Translation: X:608.58, Y:10.17, Z:5.62 [[ 9.98880946e-01 -4.26888966e-02 -2.03596024e-02 6.08576709e+02] [ 4.26905663e-02 9.99088280e-01 -3.52805596e-04 1.01730639e+01] [ 2.03561011e-02 -5.16752171e-04 9.99792660e-01 5.61521096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.199254154 meters Centerline goodness [0,1] 0.9988470810187612 Centerline is valid? [True, True] Translation: X:608.61, Y:10.17, Z:5.62 [[ 9.98935836e-01 -4.16582819e-02 -1.97935194e-02 6.08606664e+02] [ 4.16596578e-02 9.99131801e-01 -3.42996108e-04 1.01729773e+01] [ 1.97906233e-02 -4.81960141e-04 9.99804030e-01 5.61715450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2292541539999 meters Centerline goodness [0,1] 0.9990553363002771 Centerline is valid? [True, True] Translation: X:608.64, Y:10.17, Z:5.62 [[ 9.98962237e-01 -4.09813029e-02 -1.98741654e-02 6.08636741e+02] [ 4.09825562e-02 9.99159803e-01 -3.44393599e-04 1.01738171e+01] [ 1.98715809e-02 -4.70457899e-04 9.99802430e-01 5.61826184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2592541539999 meters Centerline goodness [0,1] 0.9994554175481223 Centerline is valid? [True, True] Translation: X:608.67, Y:10.18, Z:5.62 [[ 9.98964795e-01 -4.07336896e-02 -2.02510612e-02 6.08667309e+02] [ 4.07349400e-02 9.99169926e-01 -3.50924716e-04 1.01764418e+01] [ 2.02485458e-02 -4.74364326e-04 9.99794865e-01 5.61936086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2892541539999 meters Centerline goodness [0,1] 0.9992234721289456 Centerline is valid? [True, True] Translation: X:608.70, Y:10.17, Z:5.62 [[ 9.98899993e-01 -4.13574141e-02 -2.20990728e-02 6.08696892e+02] [ 4.13590508e-02 9.99144275e-01 -3.83181980e-04 1.01731772e+01] [ 2.20960095e-02 -5.31236197e-04 9.99755712e-01 5.61748491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.319254154 meters Centerline goodness [0,1] 0.9992229502688172 Centerline is valid? [True, True] Translation: X:608.73, Y:10.17, Z:5.62 [[ 9.98852269e-01 -4.21183741e-02 -2.28076047e-02 6.08725891e+02] [ 4.21202371e-02 9.99112469e-01 -3.98915551e-04 1.01723189e+01] [ 2.28041639e-02 -5.62204015e-04 9.99739793e-01 5.61691280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3492541539999 meters Centerline goodness [0,1] 0.9986772486772487 Centerline is valid? [True, True] Translation: X:608.75, Y:10.17, Z:5.62 [[ 9.98784839e-01 -4.32199959e-02 -2.36828631e-02 6.08754518e+02] [ 4.32221702e-02 9.99065397e-01 -4.20303441e-04 1.01743257e+01] [ 2.36788946e-02 -6.03832037e-04 9.99719433e-01 5.61836792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3792541539999 meters Centerline goodness [0,1] 0.9989087780412566 Centerline is valid? [True, True] Translation: X:608.78, Y:10.17, Z:5.62 [[ 9.98742285e-01 -4.41209741e-02 -2.38156965e-02 6.08782920e+02] [ 4.41232813e-02 9.99026002e-01 -4.28855944e-04 1.01746163e+01] [ 2.38114216e-02 -6.22510110e-04 9.99716274e-01 5.61903397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4092541539999 meters Centerline goodness [0,1] 0.9988058325651554 Centerline is valid? [True, True] Translation: X:608.81, Y:10.17, Z:5.62 [[ 9.98702066e-01 -4.49586302e-02 -2.39354364e-02 6.08811560e+02] [ 4.49611234e-02 9.98988643e-01 -4.34259059e-04 1.01700245e+01] [ 2.39307528e-02 -6.42468690e-04 9.99713412e-01 5.61707479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.439254154 meters Centerline goodness [0,1] 0.999096657633243 Centerline is valid? [True, True] Translation: X:608.84, Y:10.17, Z:5.62 [[ 9.98594568e-01 -4.71713473e-02 -2.41609872e-02 6.08839988e+02] [ 4.71744294e-02 9.98886569e-01 -4.42709108e-04 1.01739246e+01] [ 2.41549688e-02 -6.97693875e-04 9.99707983e-01 5.62053041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4692541539999 meters Centerline goodness [0,1] 0.9988499017188741 Centerline is valid? [True, True] Translation: X:608.87, Y:10.17, Z:5.62 [[ 9.98500602e-01 -4.91392508e-02 -2.41222305e-02 6.08868640e+02] [ 4.91428186e-02 9.98791663e-01 -4.45235920e-04 1.01656394e+01] [ 2.41149613e-02 -7.40866064e-04 9.99708918e-01 5.61795592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4992541539999 meters Centerline goodness [0,1] 0.9989754741045853 Centerline is valid? [True, True] Translation: X:608.90, Y:10.17, Z:5.62 [[ 9.98455345e-01 -5.00389183e-02 -2.41460451e-02 6.08897773e+02] [ 5.00427302e-02 9.98746978e-01 -4.46738093e-04 1.01716242e+01] [ 2.41381439e-02 -7.62285984e-04 9.99708342e-01 5.62161615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5292541539999 meters Centerline goodness [0,1] 0.9988700801406123 Centerline is valid? [True, True] Translation: X:608.93, Y:10.17, Z:5.62 [[ 9.98414024e-01 -5.08048169e-02 -2.42550638e-02 6.08927223e+02] [ 5.08088740e-02 9.98708294e-01 -4.49376202e-04 1.01681326e+01] [ 2.42465638e-02 -7.83708977e-04 9.99705702e-01 5.62064405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.559254154 meters Centerline goodness [0,1] 0.9989948065002513 Centerline is valid? [True, True] Translation: X:608.96, Y:10.17, Z:5.62 [[ 9.98330451e-01 -5.20470055e-02 -2.50483424e-02 6.08956560e+02] [ 5.20517046e-02 9.98644283e-01 -4.64811773e-04 1.01677064e+01] [ 2.50385760e-02 -8.39773170e-04 9.99686133e-01 5.62112089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.589254154 meters Centerline goodness [0,1] 0.9989532303311979 Centerline is valid? [True, True] Translation: X:608.99, Y:10.17, Z:5.62 [[ 9.98286068e-01 -5.26239965e-02 -2.56055115e-02 6.08986067e+02] [ 5.26290730e-02 9.98614017e-01 -4.76078060e-04 1.01687654e+01] [ 2.55950758e-02 -8.72332236e-04 9.99672012e-01 5.62160799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6192541539999 meters Centerline goodness [0,1] 0.9995611560403737 Centerline is valid? [True, True] Translation: X:609.02, Y:10.17, Z:5.62 [[ 9.98300462e-01 -5.20634252e-02 -2.61837229e-02 6.09015768e+02] [ 5.20685158e-02 9.98643396e-01 -4.87793964e-04 1.01712804e+01] [ 2.61735982e-02 -8.76382650e-04 9.99657029e-01 5.62287122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6492541539999 meters Centerline goodness [0,1] 0.9993086833560281 Centerline is valid? [True, True] Translation: X:609.05, Y:10.17, Z:5.62 [[ 9.98326081e-01 -5.14455235e-02 -2.64271367e-02 6.09045834e+02] [ 5.14504673e-02 9.98675426e-01 -4.93308744e-04 1.01723062e+01] [ 2.64175105e-02 -8.67205546e-04 9.99650621e-01 5.62354466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6792541539999 meters Centerline goodness [0,1] 0.9990791896869244 Centerline is valid? [True, True] Translation: X:609.07, Y:10.17, Z:5.62 [[ 9.98507025e-01 -4.82232236e-02 -2.56562122e-02 6.09074220e+02] [ 4.82267886e-02 9.98836296e-01 -4.80150294e-04 1.01738631e+01] [ 2.56495104e-02 -7.57883281e-04 9.99670710e-01 5.62480782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.709254154 meters Centerline goodness [0,1] 0.9993306979565372 Centerline is valid? [True, True] Translation: X:609.10, Y:10.18, Z:5.63 [[ 9.98615122e-01 -4.60776064e-02 -2.53908017e-02 6.09103194e+02] [ 4.60802882e-02 9.98937624e-01 -4.79785356e-04 1.01757658e+01] [ 2.53859345e-02 -6.90894547e-04 9.99677486e-01 5.62595844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7392541539999 meters Centerline goodness [0,1] 0.9988894243865641 Centerline is valid? [True, True] Translation: X:609.13, Y:10.18, Z:5.63 [[ 9.98708128e-01 -4.40400935e-02 -2.53484592e-02 6.09131599e+02] [ 4.40419449e-02 9.99029565e-01 -4.85513085e-04 1.01788061e+01] [ 2.53452422e-02 -6.31509579e-04 9.99678558e-01 5.62738790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7692541539999 meters Centerline goodness [0,1] 0.9991199212119942 Centerline is valid? [True, True] Translation: X:609.16, Y:10.18, Z:5.63 [[ 9.98926212e-01 -3.91261426e-02 -2.48106551e-02 6.09160585e+02] [ 3.91263143e-02 9.99234158e-01 -4.78713969e-04 1.01826254e+01] [ 2.48103843e-02 -4.92549560e-04 9.99692054e-01 5.62839593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7992541539999 meters Centerline goodness [0,1] 0.9993292529554791 Centerline is valid? [True, True] Translation: X:609.19, Y:10.18, Z:5.63 [[ 9.99000702e-01 -3.70724194e-02 -2.49646316e-02 6.09189105e+02] [ 3.70718352e-02 9.99312485e-01 -4.86373240e-04 1.01844818e+01] [ 2.49654990e-02 -4.39597500e-04 9.99688217e-01 5.62868833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.829254154 meters Centerline goodness [0,1] 0.9994960312460628 Centerline is valid? [True, True] Translation: X:609.22, Y:10.19, Z:5.63 [[ 9.99077694e-01 -3.46281186e-02 -2.53900581e-02 6.09216521e+02] [ 3.46266265e-02 9.99400194e-01 -4.98557112e-04 1.01857337e+01] [ 2.53920931e-02 -3.81074768e-04 9.99677496e-01 5.62751683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8592541539999 meters Centerline goodness [0,1] 0.9991613552499161 Centerline is valid? [True, True] Translation: X:609.24, Y:10.18, Z:5.63 [[ 9.99083782e-01 -3.43386596e-02 -2.55431773e-02 6.09243821e+02] [ 3.43369514e-02 9.99410185e-01 -5.05609395e-04 1.01846586e+01] [ 2.55454735e-02 -3.71928690e-04 9.99673592e-01 5.62593885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8892541539999 meters Centerline goodness [0,1] 0.9992459785522788 Centerline is valid? [True, True] Translation: X:609.27, Y:10.19, Z:5.63 [[ 9.99082770e-01 -3.45581543e-02 -2.52854387e-02 6.09271749e+02] [ 3.45563882e-02 9.99402621e-01 -5.06928961e-04 1.01855895e+01] [ 2.52878522e-02 -3.67309446e-04 9.99680144e-01 5.62721098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9192541539999 meters Centerline goodness [0,1] 0.9993083501006036 Centerline is valid? [True, True] Translation: X:609.30, Y:10.18, Z:5.63 [[ 9.99039633e-01 -3.59299518e-02 -2.50768991e-02 6.09299718e+02] [ 3.59285443e-02 9.99354233e-01 -5.06828769e-04 1.01830379e+01] [ 2.50789156e-02 -3.94634455e-04 9.99685397e-01 5.62652793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.949254154 meters Centerline goodness [0,1] 0.9990578283991458 Centerline is valid? [True, True] Translation: X:609.33, Y:10.18, Z:5.63 [[ 9.98937812e-01 -3.87979990e-02 -2.48588488e-02 6.09328255e+02] [ 3.87973875e-02 9.99246969e-01 -5.07083983e-04 1.01811632e+01] [ 2.48598031e-02 -4.57913025e-04 9.99690842e-01 5.62694700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9792541539999 meters Centerline goodness [0,1] 0.9992041551478597 Centerline is valid? [True, True] Translation: X:609.36, Y:10.18, Z:5.63 [[ 9.98871802e-01 -4.04979014e-02 -2.48000602e-02 6.09356174e+02] [ 4.04977255e-02 9.99179501e-01 -5.09549508e-04 1.01801872e+01] [ 2.48003475e-02 -4.95371396e-04 9.99692301e-01 5.62694238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0092541539999 meters Centerline goodness [0,1] 0.9995395659362508 Centerline is valid? [True, True] Translation: X:609.38, Y:10.18, Z:5.63 [[ 9.98778784e-01 -4.25354197e-02 -2.51332044e-02 6.09384618e+02] [ 4.25357661e-02 9.99094809e-01 -5.21073799e-04 1.01791950e+01] [ 2.51326181e-02 -5.48622648e-04 9.99683975e-01 5.62725192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0392541539999 meters Centerline goodness [0,1] 0.9991842710729972 Centerline is valid? [True, True] Translation: X:609.41, Y:10.17, Z:5.63 [[ 9.98588205e-01 -4.70916372e-02 -2.45759094e-02 6.09412925e+02] [ 4.70932628e-02 9.98890365e-01 -5.12941373e-04 1.01741105e+01] [ 2.45727944e-02 -6.45142554e-04 9.99697835e-01 5.62693584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.069254154 meters Centerline goodness [0,1] 0.9993521421107628 Centerline is valid? [True, True] Translation: X:609.44, Y:10.17, Z:5.63 [[ 9.98482994e-01 -4.93263319e-02 -2.44667835e-02 6.09441625e+02] [ 4.93285065e-02 9.98782475e-01 -5.15022572e-04 1.01710436e+01] [ 2.44623988e-02 -6.92668613e-04 9.99700511e-01 5.62722016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0992541539999 meters Centerline goodness [0,1] 0.999291105458488 Centerline is valid? [True, True] Translation: X:609.47, Y:10.17, Z:5.63 [[ 9.98287021e-01 -5.39851797e-02 -2.25527113e-02 6.09471616e+02] [ 5.39881569e-02 9.98541462e-01 -4.77280415e-04 1.01691854e+01] [ 2.25455834e-02 -7.41116474e-04 9.99745541e-01 5.62964600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1292541539999 meters Centerline goodness [0,1] 0.999124215443001 Centerline is valid? [True, True] Translation: X:609.50, Y:10.17, Z:5.63 [[ 9.98211550e-01 -5.54133351e-02 -2.24290712e-02 6.09501057e+02] [ 5.54166271e-02 9.98463205e-01 -4.75230663e-04 1.01675686e+01] [ 2.24209365e-02 -7.68562740e-04 9.99748324e-01 5.63025025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1592541539999 meters Centerline goodness [0,1] 0.9990200575455569 Centerline is valid? [True, True] Translation: X:609.53, Y:10.17, Z:5.63 [[ 9.98166108e-01 -5.66929342e-02 -2.12210083e-02 6.09531949e+02] [ 5.66961663e-02 9.98391377e-01 -4.49791678e-04 1.01702674e+01] [ 2.12123717e-02 -7.54183005e-04 9.99774708e-01 5.63188014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.189254154 meters Centerline goodness [0,1] 0.9991226970798346 Centerline is valid? [True, True] Translation: X:609.56, Y:10.17, Z:5.63 [[ 9.98145234e-01 -5.70827683e-02 -2.11577330e-02 6.09562425e+02] [ 5.70860685e-02 9.98369160e-01 -4.48450522e-04 1.01705854e+01] [ 2.11488269e-02 -7.60193046e-04 9.99776050e-01 5.63230249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2192541539999 meters Centerline goodness [0,1] 0.9992494370778083 Centerline is valid? [True, True] Translation: X:609.59, Y:10.17, Z:5.63 [[ 9.98194429e-01 -5.63405046e-02 -2.08237780e-02 6.09592498e+02] [ 5.63435401e-02 9.98411343e-01 -4.41372149e-04 1.01686588e+01] [ 2.08155633e-02 -7.32710148e-04 9.99783064e-01 5.63111461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2492541539999 meters Centerline goodness [0,1] 0.9991022402238136 Centerline is valid? [True, True] Translation: X:609.62, Y:10.17, Z:5.63 [[ 9.98305497e-01 -5.45636126e-02 -2.02224206e-02 6.09622759e+02] [ 5.45661111e-02 9.98510068e-01 -4.28626027e-04 1.01689109e+01] [ 2.02156779e-02 -6.75559129e-04 9.99795414e-01 5.63149238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2792541539999 meters Centerline goodness [0,1] 0.9989159213626034 Centerline is valid? [True, True] Translation: X:609.65, Y:10.16, Z:5.63 [[ 9.98382775e-01 -5.33278383e-02 -1.96971169e-02 6.09652891e+02] [ 5.33299684e-02 9.98576857e-01 -4.17491909e-04 1.01647067e+01] [ 1.96913491e-02 -6.33629892e-04 9.99805906e-01 5.63003912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.309254154 meters Centerline goodness [0,1] 0.9990603858682034 Centerline is valid? [True, True] Translation: X:609.68, Y:10.17, Z:5.63 [[ 9.98460031e-01 -5.19454003e-02 -1.94741399e-02 6.09683441e+02] [ 5.19472196e-02 9.98649746e-01 -4.12765781e-04 1.01708506e+01] [ 1.94692862e-02 -5.99497288e-04 9.99810276e-01 5.63213014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.339254154 meters Centerline goodness [0,1] 0.9991005124986926 Centerline is valid? [True, True] Translation: X:609.71, Y:10.17, Z:5.63 [[ 9.98646965e-01 -4.81423939e-02 -1.96608303e-02 6.09713505e+02] [ 4.81435119e-02 9.98840342e-01 -4.16722793e-04 1.01716900e+01] [ 1.96580925e-02 -5.30382464e-04 9.99806620e-01 5.63158671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3692541539999 meters Centerline goodness [0,1] 0.9990806903179976 Centerline is valid? [True, True] Translation: X:609.74, Y:10.18, Z:5.63 [[ 9.98749099e-01 -4.59814083e-02 -1.96455559e-02 6.09744073e+02] [ 4.59821067e-02 9.98942177e-01 -4.16399043e-04 1.01759920e+01] [ 1.96439210e-02 -4.87465879e-04 9.99806921e-01 5.63262629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3992541539999 meters Centerline goodness [0,1] 0.9990596790371113 Centerline is valid? [True, True] Translation: X:609.77, Y:10.18, Z:5.63 [[ 9.98849262e-01 -4.36016117e-02 -1.99762440e-02 6.09773573e+02] [ 4.36018544e-02 9.99048897e-01 -4.23602771e-04 1.01753806e+01] [ 1.99757143e-02 -4.47885968e-04 9.99800365e-01 5.63125287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4292541539999 meters Centerline goodness [0,1] 0.99897695005846 Centerline is valid? [True, True] Translation: X:609.80, Y:10.18, Z:5.63 [[ 9.99044050e-01 -3.89294320e-02 -1.98868002e-02 6.09802973e+02] [ 3.89287360e-02 9.99241900e-01 -4.22261694e-04 1.01790639e+01] [ 1.98881624e-02 -3.52309962e-04 9.99802149e-01 5.63129406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.459254154 meters Centerline goodness [0,1] 0.9993103015863064 Centerline is valid? [True, True] Translation: X:609.83, Y:10.18, Z:5.63 [[ 9.99117375e-01 -3.71270516e-02 -1.96482077e-02 6.09832159e+02] [ 3.71260099e-02 9.99310505e-01 -4.17906106e-04 1.01794312e+01] [ 1.96501759e-02 -3.11922300e-04 9.99806868e-01 5.63119524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4892541539999 meters Centerline goodness [0,1] 0.999206962038525 Centerline is valid? [True, True] Translation: X:609.86, Y:10.18, Z:5.63 [[ 9.99217346e-01 -3.44724191e-02 -1.93996679e-02 6.09860430e+02] [ 3.44708864e-02 9.99405617e-01 -4.13490174e-04 1.01813521e+01] [ 1.94023910e-02 -2.55557193e-04 9.99811723e-01 5.63202698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5192541539999 meters Centerline goodness [0,1] 0.9991646653440535 Centerline is valid? [True, True] Translation: X:609.89, Y:10.18, Z:5.63 [[ 9.99245507e-01 -3.37605167e-02 -1.92001160e-02 6.09889035e+02] [ 3.37588273e-02 9.99429923e-01 -4.12195413e-04 1.01827698e+01] [ 1.92030864e-02 -2.36288986e-04 9.99815576e-01 5.63269864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5492541539999 meters Centerline goodness [0,1] 0.9992279442450547 Centerline is valid? [True, True] Translation: X:609.92, Y:10.18, Z:5.63 [[ 9.99270317e-01 -3.31837667e-02 -1.89122066e-02 6.09917437e+02] [ 3.31819342e-02 9.99449244e-01 -4.10775550e-04 1.01838680e+01] [ 1.89154217e-02 -2.17067782e-04 9.99821064e-01 5.63383535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.579254154 meters Centerline goodness [0,1] 0.999247617455275 Centerline is valid? [True, True] Translation: X:609.95, Y:10.18, Z:5.63 [[ 9.99254943e-01 -3.37644455e-02 -1.86954798e-02 6.09945532e+02] [ 3.37626960e-02 9.99429794e-01 -4.09291415e-04 1.01828005e+01] [ 1.86986391e-02 -2.22223333e-04 9.99825140e-01 5.63350311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6092541539999 meters Centerline goodness [0,1] 0.9991861775385 Centerline is valid? [True, True] Translation: X:609.97, Y:10.18, Z:5.63 [[ 9.99203216e-01 -3.53477930e-02 -1.85328281e-02 6.09974519e+02] [ 3.53463216e-02 9.99375041e-01 -4.07051839e-04 1.01818713e+01] [ 1.85356343e-02 -2.48339796e-04 9.99828170e-01 5.63350998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6392541539999 meters Centerline goodness [0,1] 0.9991435136828911 Centerline is valid? [True, True] Translation: X:610.00, Y:10.18, Z:5.63 [[ 9.99038765e-01 -3.96288095e-02 -1.87377508e-02 6.10003735e+02] [ 3.96280393e-02 9.99214416e-01 -4.12551743e-04 1.01799351e+01] [ 1.87393797e-02 -3.30385143e-04 9.99824348e-01 5.63412313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6692541539999 meters Centerline goodness [0,1] 0.9991236672439335 Centerline is valid? [True, True] Translation: X:610.03, Y:10.18, Z:5.63 [[ 9.98929991e-01 -4.23000377e-02 -1.86970597e-02 6.10032198e+02] [ 4.22997197e-02 9.99104881e-01 -4.12658405e-04 1.01764385e+01] [ 1.86977791e-02 -3.78663529e-04 9.99825110e-01 5.63350888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.699254154 meters Centerline goodness [0,1] 0.9993745569778593 Centerline is valid? [True, True] Translation: X:610.06, Y:10.17, Z:5.63 [[ 9.98688090e-01 -4.79923751e-02 -1.78558620e-02 6.10062076e+02] [ 4.79929804e-02 9.98847595e-01 -3.94861421e-04 1.01722659e+01] [ 1.78542351e-02 -4.62612635e-04 9.99840493e-01 5.63427616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7292541539999 meters Centerline goodness [0,1] 0.9990823392008009 Centerline is valid? [True, True] Translation: X:610.09, Y:10.17, Z:5.64 [[ 9.98558346e-01 -5.07212629e-02 -1.75665248e-02 6.10092904e+02] [ 5.07222650e-02 9.98712722e-01 -3.88778439e-04 1.01725592e+01] [ 1.75636312e-02 -5.02795973e-04 9.99845621e-01 5.63507534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7592541539999 meters Centerline goodness [0,1] 0.9993111222444889 Centerline is valid? [True, True] Translation: X:610.12, Y:10.17, Z:5.64 [[ 9.98443688e-01 -5.29084637e-02 -1.76322803e-02 6.10124595e+02] [ 5.29098194e-02 9.98599218e-01 -3.89929443e-04 1.01736767e+01] [ 1.76282119e-02 -5.43598174e-04 9.99844463e-01 5.63607514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7892541539999 meters Centerline goodness [0,1] 0.9991670657809799 Centerline is valid? [True, True] Translation: X:610.16, Y:10.17, Z:5.64 [[ 9.98262859e-01 -5.62403456e-02 -1.75581368e-02 6.10155352e+02] [ 5.62422166e-02 9.98417079e-01 -3.87605748e-04 1.01689904e+01] [ 1.75521428e-02 -6.00576112e-04 9.99845769e-01 5.63564716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.819254154 meters Centerline goodness [0,1] 0.9991650140903873 Centerline is valid? [True, True] Translation: X:610.19, Y:10.17, Z:5.64 [[ 9.98197132e-01 -5.74972249e-02 -1.72207422e-02 6.10186476e+02] [ 5.74992230e-02 9.98345479e-01 -3.79490003e-04 1.01711118e+01] [ 1.72140697e-02 -6.11373462e-04 9.99851640e-01 5.63685216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8492541539999 meters Centerline goodness [0,1] 0.9990201801200801 Centerline is valid? [True, True] Translation: X:610.22, Y:10.17, Z:5.64 [[ 9.98067482e-01 -5.96375526e-02 -1.74546362e-02 6.10217240e+02] [ 5.96399406e-02 9.98219881e-01 -3.84153509e-04 1.01689040e+01] [ 1.74464748e-02 -6.57582340e-04 9.99847582e-01 5.63692900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8792541539999 meters Centerline goodness [0,1] 0.9990388633514417 Centerline is valid? [True, True] Translation: X:610.25, Y:10.17, Z:5.64 [[ 9.98036253e-01 -6.02954945e-02 -1.69732530e-02 6.10248440e+02] [ 6.02978549e-02 9.98180359e-01 -3.73124628e-04 1.01686472e+01] [ 1.69648655e-02 -6.51058840e-04 9.99855874e-01 5.63719717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9092541539999 meters Centerline goodness [0,1] 0.9990619332513393 Centerline is valid? [True, True] Translation: X:610.28, Y:10.17, Z:5.64 [[ 9.98030780e-01 -6.04223808e-02 -1.68433412e-02 6.10278710e+02] [ 6.04247311e-02 9.98172688e-01 -3.69807054e-04 1.01689428e+01] [ 1.68349078e-02 -6.48675542e-04 9.99858072e-01 5.63833423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.939254154 meters Centerline goodness [0,1] 0.9990181126872375 Centerline is valid? [True, True] Translation: X:610.31, Y:10.17, Z:5.64 [[ 9.98044008e-01 -6.04247350e-02 -1.60315365e-02 6.10309759e+02] [ 6.04268707e-02 9.98172565e-01 -3.51593561e-04 1.01693961e+01] [ 1.60234849e-02 -6.17829737e-04 9.99871425e-01 5.63890726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9692541539999 meters Centerline goodness [0,1] 0.9990181126872375 Centerline is valid? [True, True] Translation: X:610.34, Y:10.17, Z:5.64 [[ 9.98046115e-01 -6.03899093e-02 -1.60315488e-02 6.10340617e+02] [ 6.03920494e-02 9.98174673e-01 -3.51034229e-04 1.01700399e+01] [ 1.60234849e-02 -6.17829737e-04 9.99871425e-01 5.63919633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9992541539999 meters Centerline goodness [0,1] 0.9991242519652203 Centerline is valid? [True, True] Translation: X:610.37, Y:10.17, Z:5.64 [[ 9.98057974e-01 -6.02398497e-02 -1.58568685e-02 6.10373177e+02] [ 6.02419370e-02 9.98183745e-01 -3.46418817e-04 1.01729435e+01] [ 1.58489366e-02 -6.09502410e-04 9.99874212e-01 5.64037488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0292541539999 meters Centerline goodness [0,1] 0.9991233562930495 Centerline is valid? [True, True] Translation: X:610.41, Y:10.17, Z:5.64 [[ 9.98090733e-01 -5.97233451e-02 -1.57483677e-02 6.10405044e+02] [ 5.97253575e-02 9.98214789e-01 -3.42920966e-04 1.01738388e+01] [ 1.57407339e-02 -5.98310651e-04 9.99875928e-01 5.64072647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.059254154 meters Centerline goodness [0,1] 0.9989355707219335 Centerline is valid? [True, True] Translation: X:610.44, Y:10.18, Z:5.64 [[ 9.98084315e-01 -5.96152837e-02 -1.65444468e-02 6.10437641e+02] [ 5.96175103e-02 9.98221230e-01 -3.59028097e-04 1.01759491e+01] [ 1.65364216e-02 -6.27998415e-04 9.99863067e-01 5.64072250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.089254154 meters Centerline goodness [0,1] 0.9990818604845273 Centerline is valid? [True, True] Translation: X:610.47, Y:10.18, Z:5.64 [[ 9.98013406e-01 -6.00552172e-02 -1.90423747e-02 6.10469794e+02] [ 6.00582758e-02 9.98194788e-01 -4.11735610e-04 1.01793088e+01] [ 1.90327260e-02 -7.32734531e-04 9.99818593e-01 5.63937077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1192541539999 meters Centerline goodness [0,1] 0.9992275251576266 Centerline is valid? [True, True] Translation: X:610.50, Y:10.18, Z:5.64 [[ 9.97960089e-01 -6.06380068e-02 -1.99673024e-02 6.10500630e+02] [ 6.06415127e-02 9.98159517e-01 -4.30412085e-04 1.01763814e+01] [ 1.99566522e-02 -7.81313338e-04 9.99800541e-01 5.63774053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1492541539999 meters Centerline goodness [0,1] 0.9990191986644408 Centerline is valid? [True, True] Translation: X:610.53, Y:10.18, Z:5.64 [[ 9.97916245e-01 -6.12050963e-02 -2.04231479e-02 6.10532372e+02] [ 6.12089016e-02 9.98124881e-01 -4.39315265e-04 1.01762575e+01] [ 2.04117404e-02 -8.11678614e-04 9.99791329e-01 5.63753525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1792541539999 meters Centerline goodness [0,1] 0.9991884299240453 Centerline is valid? [True, True] Translation: X:610.56, Y:10.18, Z:5.64 [[ 9.97792448e-01 -6.33205683e-02 -2.00184021e-02 6.10562802e+02] [ 6.33246592e-02 9.97992887e-01 -4.30105051e-04 1.01769219e+01] [ 2.00054574e-02 -8.38502918e-04 9.99799519e-01 5.63843693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.209254154 meters Centerline goodness [0,1] 0.9988104927064421 Centerline is valid? [True, True] Translation: X:610.59, Y:10.18, Z:5.64 [[ 9.97747666e-01 -6.38562735e-02 -2.05419245e-02 6.10594243e+02] [ 6.38607064e-02 9.97958725e-01 -4.40782139e-04 1.01817530e+01] [ 2.05281395e-02 -8.72032462e-04 9.99788895e-01 5.63987052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2392541539999 meters Centerline goodness [0,1] 0.9990397461589846 Centerline is valid? [True, True] Translation: X:610.63, Y:10.18, Z:5.64 [[ 9.97599842e-01 -6.64219077e-02 -1.95623285e-02 6.10625502e+02] [ 6.64264335e-02 9.97791237e-01 -4.19064877e-04 1.01834739e+01] [ 1.95469550e-02 -8.81396657e-04 9.99808552e-01 5.64088740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2692541539999 meters Centerline goodness [0,1] 0.9988736154857012 Centerline is valid? [True, True] Translation: X:610.66, Y:10.18, Z:5.64 [[ 9.97527138e-01 -6.75693958e-02 -1.93387342e-02 6.10656988e+02] [ 6.75740475e-02 9.97714176e-01 -4.13568077e-04 1.01842125e+01] [ 1.93224738e-02 -8.94251166e-04 9.99812904e-01 5.64144296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2992541539999 meters Centerline goodness [0,1] 0.9988111873527019 Centerline is valid? [True, True] Translation: X:610.69, Y:10.19, Z:5.64 [[ 9.97514666e-01 -6.80396972e-02 -1.83054964e-02 6.10689595e+02] [ 6.80439620e-02 9.97682247e-01 -3.90482889e-04 1.01858042e+01] [ 1.82896371e-02 -8.56066093e-04 9.99832364e-01 5.64239224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.329254154 meters Centerline goodness [0,1] 0.9990398062913561 Centerline is valid? [True, True] Translation: X:610.72, Y:10.19, Z:5.64 [[ 9.97578540e-01 -6.73181309e-02 -1.74735666e-02 6.10721510e+02] [ 6.73219283e-02 9.97731236e-01 -3.71477804e-04 1.01866808e+01] [ 1.74589304e-02 -8.05775914e-04 9.99847257e-01 5.64313159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3592541539999 meters Centerline goodness [0,1] 0.9988732394366198 Centerline is valid? [True, True] Translation: X:610.75, Y:10.19, Z:5.64 [[ 9.97702385e-01 -6.57360871e-02 -1.63926429e-02 6.10753970e+02] [ 6.57392349e-02 9.97836776e-01 -3.47336161e-04 1.01886980e+01] [ 1.63800144e-02 -7.31101685e-04 9.99865571e-01 5.64393308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3892541539999 meters Centerline goodness [0,1] 0.9988125247390679 Centerline is valid? [True, True] Translation: X:610.79, Y:10.19, Z:5.65 [[ 9.98048214e-01 -6.06501675e-02 -1.48768290e-02 6.10785177e+02] [ 6.06522065e-02 9.98158911e-01 -3.14494467e-04 1.01935807e+01] [ 1.48685136e-02 -5.88431865e-04 9.99889284e-01 5.64569115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4192541539999 meters Centerline goodness [0,1] 0.9990820137280674 Centerline is valid? [True, True] Translation: X:610.82, Y:10.20, Z:5.65 [[ 9.98201656e-01 -5.83046058e-02 -1.39293827e-02 6.10816603e+02] [ 5.83061699e-02 9.98298705e-01 -2.94140180e-04 1.01971334e+01] [ 1.39228344e-02 -5.18557739e-04 9.99902938e-01 5.64660240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.449254154 meters Centerline goodness [0,1] 0.9989788262754251 Centerline is valid? [True, True] Translation: X:610.85, Y:10.20, Z:5.65 [[ 9.98531245e-01 -5.22313722e-02 -1.43957258e-02 6.10847478e+02] [ 5.22324185e-02 9.98634909e-01 -3.03545513e-04 1.02029686e+01] [ 1.43919289e-02 -4.48823896e-04 9.99896330e-01 5.64632739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4792541539999 meters Centerline goodness [0,1] 0.9989173433270873 Centerline is valid? [True, True] Translation: X:610.88, Y:10.21, Z:5.65 [[ 9.98680953e-01 -4.92701384e-02 -1.44501959e-02 6.10878781e+02] [ 4.92708880e-02 9.98785406e-01 -3.04341894e-04 1.02058327e+01] [ 1.44476398e-02 -4.08033532e-04 9.99895544e-01 5.64565543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5092541539999 meters Centerline goodness [0,1] 0.998938738138838 Centerline is valid? [True, True] Translation: X:610.91, Y:10.21, Z:5.65 [[ 9.98795139e-01 -4.66948973e-02 -1.50948966e-02 6.10909380e+02] [ 4.66954283e-02 9.98909123e-01 -3.17465307e-04 1.02077118e+01] [ 1.50932540e-02 -3.87779858e-04 9.99886015e-01 5.64523933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5392541539999 meters Centerline goodness [0,1] 0.9989382299668977 Centerline is valid? [True, True] Translation: X:610.94, Y:10.21, Z:5.65 [[ 9.98955920e-01 -4.28845189e-02 -1.57476118e-02 6.10940994e+02] [ 4.28846316e-02 9.99079976e-01 -3.30688012e-04 1.02135895e+01] [ 1.57473050e-02 -3.44987781e-04 9.99875944e-01 5.64523049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.569254154 meters Centerline goodness [0,1] 0.9989154239232454 Centerline is valid? [True, True] Translation: X:610.97, Y:10.22, Z:5.65 [[ 9.98990694e-01 -4.19367491e-02 -1.60904750e-02 6.10972381e+02] [ 4.19367558e-02 9.99120210e-01 -3.37146834e-04 1.02152053e+01] [ 1.60904576e-02 -3.37975770e-04 9.99870483e-01 5.64511802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5992541539999 meters Centerline goodness [0,1] 0.9991237952184253 Centerline is valid? [True, True] Translation: X:611.00, Y:10.22, Z:5.65 [[ 9.99023133e-01 -4.12921726e-02 -1.57396430e-02 6.11003041e+02] [ 4.12921060e-02 9.99147063e-01 -3.29347844e-04 1.02161758e+01] [ 1.57398175e-02 -3.20896891e-04 9.99876070e-01 5.64516447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6292541539999 meters Centerline goodness [0,1] 0.9990625781184901 Centerline is valid? [True, True] Translation: X:611.03, Y:10.22, Z:5.65 [[ 9.99068759e-01 -4.04138080e-02 -1.51108576e-02 6.11034438e+02] [ 4.04136518e-02 9.99182985e-01 -3.15822401e-04 1.02176870e+01] [ 1.51112753e-02 -2.95156641e-04 9.99885775e-01 5.64552107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6592541539999 meters Centerline goodness [0,1] 0.9989570948835075 Centerline is valid? [True, True] Translation: X:611.07, Y:10.22, Z:5.65 [[ 9.99081842e-01 -4.01725033e-02 -1.48877124e-02 6.11065639e+02] [ 4.01723328e-02 9.99192718e-01 -3.10629572e-04 1.02186795e+01] [ 1.48881726e-02 -2.87729770e-04 9.99889124e-01 5.64558730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.689254154 meters Centerline goodness [0,1] 0.9989181542046353 Centerline is valid? [True, True] Translation: X:611.10, Y:10.22, Z:5.65 [[ 9.99077879e-01 -4.02620823e-02 -1.49116266e-02 6.11097475e+02] [ 4.02619291e-02 9.99189112e-01 -3.10595117e-04 1.02184744e+01] [ 1.49120401e-02 -2.90062142e-04 9.99888767e-01 5.64511038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7192541539999 meters Centerline goodness [0,1] 0.9991042039915004 Centerline is valid? [True, True] Translation: X:611.13, Y:10.22, Z:5.64 [[ 9.99065019e-01 -4.06240289e-02 -1.47910576e-02 6.11128214e+02] [ 4.06239242e-02 9.99174460e-01 -3.07657490e-04 1.02182046e+01] [ 1.47913453e-02 -2.93500965e-04 9.99890559e-01 5.64497052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7492541539999 meters Centerline goodness [0,1] 0.9989582248150849 Centerline is valid? [True, True] Translation: X:611.16, Y:10.22, Z:5.65 [[ 9.99047821e-01 -4.10134061e-02 -1.48779095e-02 6.11159778e+02] [ 4.10133487e-02 9.99158551e-01 -3.09102975e-04 1.02182635e+01] [ 1.48780678e-02 -3.01384235e-04 9.99889270e-01 5.64517269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7792541539999 meters Centerline goodness [0,1] 0.99912509113634 Centerline is valid? [True, True] Translation: X:611.19, Y:10.22, Z:5.65 [[ 9.99016470e-01 -4.22083166e-02 -1.35849292e-02 6.11190007e+02] [ 4.22083842e-02 9.99108789e-01 -2.81863871e-04 1.02168290e+01] [ 1.35847192e-02 -2.91811261e-04 9.99907681e-01 5.64600183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.809254154 meters Centerline goodness [0,1] 0.9988756792771034 Centerline is valid? [True, True] Translation: X:611.22, Y:10.21, Z:5.65 [[ 9.98910554e-01 -4.50473479e-02 -1.21836462e-02 6.11221418e+02] [ 4.50476162e-02 9.98984809e-01 -2.52543867e-04 1.02138171e+01] [ 1.21826539e-02 -2.96575485e-04 9.99925745e-01 5.64701071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.839254154 meters Centerline goodness [0,1] 0.9989590923285104 Centerline is valid? [True, True] Translation: X:611.25, Y:10.21, Z:5.65 [[ 9.98839697e-01 -4.67141128e-02 -1.17068687e-02 6.11252232e+02] [ 4.67144796e-02 9.98908253e-01 -2.42264477e-04 1.02113202e+01] [ 1.17054049e-02 -3.04896900e-04 9.99931443e-01 5.64746360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8692541539999 meters Centerline goodness [0,1] 0.9989372785997083 Centerline is valid? [True, True] Translation: X:611.28, Y:10.21, Z:5.65 [[ 9.98636968e-01 -5.09343407e-02 -1.13973142e-02 6.11283862e+02] [ 5.09349674e-02 9.98701944e-01 -2.35469611e-04 1.02066455e+01] [ 1.13945134e-02 -3.45373169e-04 9.99935021e-01 5.64776258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8992541539999 meters Centerline goodness [0,1] 0.9988975559022361 Centerline is valid? [True, True] Translation: X:611.32, Y:10.20, Z:5.65 [[ 9.98521095e-01 -5.31664921e-02 -1.13554773e-02 6.11315272e+02] [ 5.31672641e-02 9.98585593e-01 -2.34091352e-04 1.02037589e+01] [ 1.13518618e-02 -3.69994505e-04 9.99935497e-01 5.64792803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9292541539999 meters Centerline goodness [0,1] 0.9990840012490892 Centerline is valid? [True, True] Translation: X:611.35, Y:10.20, Z:5.65 [[ 9.98400344e-01 -5.52605897e-02 -1.19591083e-02 6.11347696e+02] [ 5.52616097e-02 9.98471880e-01 -2.45402363e-04 1.02015652e+01] [ 1.19543944e-02 -4.15869771e-04 9.99928457e-01 5.64812786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.959254154 meters Centerline goodness [0,1] 0.9986254295532646 Centerline is valid? [True, True] Translation: X:611.38, Y:10.20, Z:5.65 [[ 9.98162383e-01 -5.91887715e-02 -1.29825127e-02 6.11377859e+02] [ 5.91903142e-02 9.98246681e-01 -2.65710410e-04 1.01967893e+01] [ 1.29754773e-02 -5.03216870e-04 9.99915688e-01 5.64712120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9892541539999 meters Centerline goodness [0,1] 0.9987954559614546 Centerline is valid? [True, True] Translation: X:611.41, Y:10.20, Z:5.65 [[ 9.98086892e-01 -6.02812965e-02 -1.37375678e-02 6.11409775e+02] [ 6.02831313e-02 9.98181279e-01 -2.80870831e-04 1.01951362e+01] [ 1.37295142e-02 -5.47810107e-04 9.99905596e-01 5.64674610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0192541539999 meters Centerline goodness [0,1] 0.9988776888704146 Centerline is valid? [True, True] Translation: X:611.44, Y:10.19, Z:5.65 [[ 9.98056352e-01 -6.07080143e-02 -1.40732446e-02 6.11442378e+02] [ 6.07099957e-02 9.98155406e-01 -2.86775792e-04 1.01942028e+01] [ 1.40646948e-02 -5.68168217e-04 9.99900926e-01 5.64678970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0492541539999 meters Centerline goodness [0,1] 0.9988747890229418 Centerline is valid? [True, True] Translation: X:611.47, Y:10.20, Z:5.65 [[ 9.98147842e-01 -5.93325780e-02 -1.34361455e-02 6.11474804e+02] [ 5.93342726e-02 9.98238133e-01 -2.72819081e-04 1.02019002e+01] [ 1.34286598e-02 -5.24910141e-04 9.99909694e-01 5.64788770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.079254154 meters Centerline goodness [0,1] 0.9988953270248864 Centerline is valid? [True, True] Translation: X:611.51, Y:10.20, Z:5.65 [[ 9.98233981e-01 -5.78165179e-02 -1.36444286e-02 6.11506477e+02] [ 5.78181404e-02 9.98327094e-01 -2.75854983e-04 1.02003259e+01] [ 1.36375517e-02 -5.13527673e-04 9.99906872e-01 5.64822259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1092541539999 meters Centerline goodness [0,1] 0.9989389368563404 Centerline is valid? [True, True] Translation: X:611.54, Y:10.20, Z:5.65 [[ 9.98363793e-01 -5.52181845e-02 -1.48556349e-02 6.11537766e+02] [ 5.52198347e-02 9.98474176e-01 -2.99394933e-04 1.02036437e+01] [ 1.48494998e-02 -5.21420641e-04 9.99889604e-01 5.64793081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1392541539999 meters Centerline goodness [0,1] 0.9991662497915624 Centerline is valid? [True, True] Translation: X:611.57, Y:10.21, Z:5.65 [[ 9.98443169e-01 -5.35645959e-02 -1.55587003e-02 6.11569030e+02] [ 5.35662145e-02 9.98564251e-01 -3.12986701e-04 1.02053667e+01] [ 1.55531269e-02 -5.20921244e-04 9.99878907e-01 5.64790232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1692541539999 meters Centerline goodness [0,1] 0.9988749531230467 Centerline is valid? [True, True] Translation: X:611.60, Y:10.21, Z:5.65 [[ 9.98605232e-01 -5.03458398e-02 -1.59024086e-02 6.11599013e+02] [ 5.03471302e-02 9.98731728e-01 -3.19441519e-04 1.02095441e+01] [ 1.58983226e-02 -4.81644665e-04 9.99873498e-01 5.64800957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.199254154 meters Centerline goodness [0,1] 0.99914618908788 Centerline is valid? [True, True] Translation: X:611.63, Y:10.21, Z:5.65 [[ 9.98673633e-01 -4.89358931e-02 -1.60079164e-02 6.11630489e+02] [ 4.89370262e-02 9.98801814e-01 -3.21158677e-04 1.02115605e+01] [ 1.60044522e-02 -4.62647123e-04 9.99871814e-01 5.64859698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2292541539999 meters Centerline goodness [0,1] 0.9990613658170289 Centerline is valid? [True, True] Translation: X:611.66, Y:10.21, Z:5.65 [[ 9.98705845e-01 -4.82569041e-02 -1.60594443e-02 6.11661910e+02] [ 4.82579659e-02 9.98834854e-01 -3.21626533e-04 1.02125916e+01] [ 1.60562534e-02 -4.53785816e-04 9.99870987e-01 5.64877262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2592541539999 meters Centerline goodness [0,1] 0.9992708333333333 Centerline is valid? [True, True] Translation: X:611.69, Y:10.21, Z:5.65 [[ 9.98682316e-01 -4.84125100e-02 -1.70253018e-02 6.11692068e+02] [ 4.84137342e-02 9.98827310e-01 -3.40489620e-04 1.02135838e+01] [ 1.70218204e-02 -4.84217474e-04 9.99855001e-01 5.64855657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2892541539999 meters Centerline goodness [0,1] 0.9988725572072824 Centerline is valid? [True, True] Translation: X:611.72, Y:10.21, Z:5.65 [[ 9.98632320e-01 -4.93434648e-02 -1.72832624e-02 6.11723024e+02] [ 4.93448732e-02 9.98781740e-01 -3.45209263e-04 1.02144657e+01] [ 1.72792408e-02 -5.08103267e-04 9.99850574e-01 5.64859031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.319254154 meters Centerline goodness [0,1] 0.9991868562612067 Centerline is valid? [True, True] Translation: X:611.75, Y:10.21, Z:5.65 [[ 9.98512732e-01 -5.16307141e-02 -1.75098065e-02 6.11752747e+02] [ 5.16325168e-02 9.98666091e-01 -3.49405632e-04 1.02149387e+01] [ 1.75044900e-02 -5.55189405e-04 9.99846631e-01 5.64932203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3492541539999 meters Centerline goodness [0,1] 0.9989358594499854 Centerline is valid? [True, True] Translation: X:611.78, Y:10.22, Z:5.65 [[ 9.98459689e-01 -5.27552173e-02 -1.71795632e-02 6.11784072e+02] [ 5.27571236e-02 9.98607315e-01 -3.42544264e-04 1.02168607e+01] [ 1.71737084e-02 -5.64327698e-04 9.99852362e-01 5.65032504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3792541539999 meters Centerline goodness [0,1] 0.9990402670561235 Centerline is valid? [True, True] Translation: X:611.82, Y:10.22, Z:5.65 [[ 9.98346123e-01 -5.48901270e-02 -1.70907227e-02 6.11815384e+02] [ 5.48923360e-02 9.98492221e-01 -3.40182230e-04 1.02178474e+01] [ 1.70836263e-02 -5.98530084e-04 9.99853885e-01 5.65098537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4092541539999 meters Centerline goodness [0,1] 0.9989580511388501 Centerline is valid? [True, True] Translation: X:611.85, Y:10.22, Z:5.65 [[ 9.98286731e-01 -5.59765156e-02 -1.70362296e-02 6.11846083e+02] [ 5.59788898e-02 9.98431895e-01 -3.37853170e-04 1.02174283e+01] [ 1.70284268e-02 -6.16394881e-04 9.99854816e-01 5.65093379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.439254154 meters Centerline goodness [0,1] 0.9992708029501229 Centerline is valid? [True, True] Translation: X:611.88, Y:10.22, Z:5.65 [[ 9.98204796e-01 -5.72934985e-02 -1.74539401e-02 6.11876811e+02] [ 5.72962141e-02 9.98357163e-01 -3.44847116e-04 1.02171624e+01] [ 1.74450236e-02 -6.55816643e-04 9.99847609e-01 5.65100314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4692541539999 meters Centerline goodness [0,1] 0.9988740851942203 Centerline is valid? [True, True] Translation: X:611.91, Y:10.22, Z:5.65 [[ 9.98127845e-01 -5.86071610e-02 -1.74930020e-02 6.11908274e+02] [ 5.86100978e-02 9.98280891e-01 -3.45184213e-04 1.02177348e+01] [ 1.74831599e-02 -6.80728582e-04 9.99846926e-01 5.65099071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4992541539999 meters Centerline goodness [0,1] 0.998832189852564 Centerline is valid? [True, True] Translation: X:611.94, Y:10.22, Z:5.65 [[ 9.98008237e-01 -6.05754762e-02 -1.76116551e-02 6.11939823e+02] [ 6.05787725e-02 9.98163359e-01 -3.46754423e-04 1.02241151e+01] [ 1.76003137e-02 -7.20828679e-04 9.99844843e-01 5.65245290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5292541539999 meters Centerline goodness [0,1] 0.9989991242337045 Centerline is valid? [True, True] Translation: X:611.97, Y:10.23, Z:5.65 [[ 9.98049318e-01 -5.98311736e-02 -1.78266757e-02 6.11971474e+02] [ 5.98344526e-02 9.98208253e-01 -3.49848614e-04 1.02281902e+01] [ 1.78156666e-02 -7.17483212e-04 9.99841031e-01 5.65307131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.559254154 meters Centerline goodness [0,1] 0.9988947050113658 Centerline is valid? [True, True] Translation: X:612.00, Y:10.23, Z:5.65 [[ 9.98098691e-01 -5.91421565e-02 -1.73553412e-02 6.12002780e+02] [ 5.91451795e-02 9.98249334e-01 -3.39493762e-04 1.02297935e+01] [ 1.73450361e-02 -6.87636490e-04 9.99849327e-01 5.65409834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.589254154 meters Centerline goodness [0,1] 0.9988519423048824 Centerline is valid? [True, True] Translation: X:612.03, Y:10.23, Z:5.65 [[ 9.98180322e-01 -5.76879222e-02 -1.75541315e-02 6.12034249e+02] [ 5.76908187e-02 9.98334439e-01 -3.41768936e-04 1.02321514e+01] [ 1.75446100e-02 -6.71565190e-04 9.99845856e-01 5.65452807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6192541539999 meters Centerline goodness [0,1] 0.9988323603002502 Centerline is valid? [True, True] Translation: X:612.07, Y:10.24, Z:5.66 [[ 9.98367379e-01 -5.42039660e-02 -1.80140626e-02 6.12065850e+02] [ 5.42064814e-02 9.98529687e-01 -3.48974923e-04 1.02380538e+01] [ 1.80064921e-02 -6.28073767e-04 9.99837673e-01 5.65513314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6492541539999 meters Centerline goodness [0,1] 0.9992067799440572 Centerline is valid? [True, True] Translation: X:612.10, Y:10.24, Z:5.66 [[ 9.98491438e-01 -5.19541631e-02 -1.77654895e-02 6.12097430e+02] [ 5.19562679e-02 9.98649302e-01 -3.43364280e-04 1.02423837e+01] [ 1.77593329e-02 -5.80182238e-04 9.99842122e-01 5.65592843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6792541539999 meters Centerline goodness [0,1] 0.9987459766751662 Centerline is valid? [True, True] Translation: X:612.13, Y:10.25, Z:5.66 [[ 9.98703861e-01 -4.77204724e-02 -1.77018262e-02 6.12128141e+02] [ 4.77219089e-02 9.98860602e-01 -3.41502090e-04 1.02472223e+01] [ 1.76979534e-02 -5.03705481e-04 9.99843252e-01 5.65623683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.709254154 meters Centerline goodness [0,1] 0.9987878787878788 Centerline is valid? [True, True] Translation: X:612.16, Y:10.25, Z:5.66 [[ 9.98789035e-01 -4.58929868e-02 -1.77284299e-02 6.12159882e+02] [ 4.58941524e-02 9.98946250e-01 -3.41306286e-04 1.02500699e+01] [ 1.77254121e-02 -4.72738287e-04 9.99842781e-01 5.65659113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7392541539999 meters Centerline goodness [0,1] 0.9987882839593866 Centerline is valid? [True, True] Translation: X:612.19, Y:10.26, Z:5.66 [[ 9.98849342e-01 -4.44630722e-02 -1.79729313e-02 6.12191496e+02] [ 4.44640523e-02 9.99010925e-01 -3.45269609e-04 1.02555921e+01] [ 1.79705065e-02 -4.54277036e-04 9.99838414e-01 5.65784145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7692541539999 meters Centerline goodness [0,1] 0.9987866616459562 Centerline is valid? [True, True] Translation: X:612.22, Y:10.25, Z:5.66 [[ 9.98890662e-01 -4.33550896e-02 -1.83788376e-02 6.12221852e+02] [ 4.33559366e-02 9.99059627e-01 -3.52549179e-04 1.02548802e+01] [ 1.83768395e-02 -4.44673637e-04 9.99831033e-01 5.65684250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7992541539999 meters Centerline goodness [0,1] 0.9990792282258402 Centerline is valid? [True, True] Translation: X:612.25, Y:10.26, Z:5.66 [[ 9.98919477e-01 -4.21198622e-02 -1.96416810e-02 6.12252008e+02] [ 4.21205947e-02 9.99112463e-01 -3.76590390e-04 1.02574073e+01] [ 1.96401102e-02 -4.51135809e-04 9.99807013e-01 5.65625204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.829254154 meters Centerline goodness [0,1] 0.9989122704263064 Centerline is valid? [True, True] Translation: X:612.28, Y:10.26, Z:5.66 [[ 9.98919723e-01 -4.19283227e-02 -2.00350477e-02 6.12282946e+02] [ 4.19290541e-02 9.99120517e-01 -3.83745578e-04 1.02605617e+01] [ 2.00335170e-02 -4.56719571e-04 9.99799205e-01 5.65725054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8592541539999 meters Centerline goodness [0,1] 0.9989122704263064 Centerline is valid? [True, True] Translation: X:612.31, Y:10.26, Z:5.66 [[ 9.98921242e-01 -4.18921126e-02 -2.00350616e-02 6.12313794e+02] [ 4.18928513e-02 9.99122036e-01 -3.83019470e-04 1.02611219e+01] [ 2.00335170e-02 -4.56719570e-04 9.99799205e-01 5.65753948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8892541539999 meters Centerline goodness [0,1] 0.9987641649735028 Centerline is valid? [True, True] Translation: X:612.35, Y:10.26, Z:5.66 [[ 9.98912895e-01 -4.24538939e-02 -1.92534231e-02 6.12345099e+02] [ 4.24546936e-02 9.99098326e-01 -3.67382781e-04 1.02627655e+01] [ 1.92516596e-02 -4.50414782e-04 9.99814568e-01 5.65845214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9192541539999 meters Centerline goodness [0,1] 0.9987229142677693 Centerline is valid? [True, True] Translation: X:612.37, Y:10.26, Z:5.66 [[ 9.98879149e-01 -4.31159233e-02 -1.95310632e-02 6.12374924e+02] [ 4.31168796e-02 9.99069966e-01 -3.72327506e-04 1.02624772e+01] [ 1.95289519e-02 -4.70208317e-04 9.99809181e-01 5.65871552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.949254154 meters Centerline goodness [0,1] 0.9989961099259631 Centerline is valid? [True, True] Translation: X:612.41, Y:10.26, Z:5.66 [[ 9.98851895e-01 -4.37114406e-02 -1.96010628e-02 6.12406070e+02] [ 4.37125256e-02 9.99044081e-01 -3.73292914e-04 1.02641254e+01] [ 1.95986430e-02 -4.83947627e-04 9.99807811e-01 5.65940666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9792541539999 meters Centerline goodness [0,1] 0.9988094243462278 Centerline is valid? [True, True] Translation: X:612.44, Y:10.27, Z:5.66 [[ 9.98762284e-01 -4.56613901e-02 -1.97215152e-02 6.12437425e+02] [ 4.56628825e-02 9.98956836e-01 -3.74872376e-04 1.02657326e+01] [ 1.97180596e-02 -5.26132839e-04 9.99805442e-01 5.65982848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0092541539999 meters Centerline goodness [0,1] 0.998767005914192 Centerline is valid? [True, True] Translation: X:612.47, Y:10.27, Z:5.66 [[ 9.98711771e-01 -4.69143858e-02 -1.93348950e-02 6.12469088e+02] [ 4.69160682e-02 9.98898768e-01 -3.66830696e-04 1.02658863e+01] [ 1.93308125e-02 -5.40759120e-04 9.99812996e-01 5.66018828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0392541539999 meters Centerline goodness [0,1] 0.9989562022462528 Centerline is valid? [True, True] Translation: X:612.50, Y:10.26, Z:5.66 [[ 9.98607054e-01 -4.94074515e-02 -1.85163806e-02 6.12499475e+02] [ 4.94094315e-02 9.98778547e-01 -3.50813128e-04 1.02624363e+01] [ 1.85110965e-02 -5.64559374e-04 9.99828496e-01 5.66022955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.069254154 meters Centerline goodness [0,1] 0.9988931584662936 Centerline is valid? [True, True] Translation: X:612.53, Y:10.26, Z:5.66 [[ 9.98560560e-01 -5.04930430e-02 -1.80903258e-02 6.12530312e+02] [ 5.04951165e-02 9.98724249e-01 -3.42425303e-04 1.02615342e+01] [ 1.80845372e-02 -5.71540708e-04 9.99836298e-01 5.66044773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0992541539999 meters Centerline goodness [0,1] 0.9985997032206826 Centerline is valid? [True, True] Translation: X:612.56, Y:10.26, Z:5.66 [[ 9.98488938e-01 -5.18813275e-02 -1.81154072e-02 6.12562055e+02] [ 5.18836434e-02 9.98653078e-01 -3.42434604e-04 1.02611214e+01] [ 1.81087731e-02 -5.97976161e-04 9.99835844e-01 5.66062406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1292541539999 meters Centerline goodness [0,1] 0.9986010189593252 Centerline is valid? [True, True] Translation: X:612.59, Y:10.26, Z:5.66 [[ 9.98422345e-01 -5.31038664e-02 -1.82427914e-02 6.12594197e+02] [ 5.31064364e-02 9.98588798e-01 -3.43883935e-04 1.02637731e+01] [ 1.82353087e-02 -6.25468233e-04 9.99833527e-01 5.66121158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1592541539999 meters Centerline goodness [0,1] 0.9985560322276865 Centerline is valid? [True, True] Translation: X:612.63, Y:10.27, Z:5.66 [[ 9.98421384e-01 -5.30852254e-02 -1.83493371e-02 6.12625878e+02] [ 5.30878463e-02 9.98589787e-01 -3.44583351e-04 1.02650225e+01] [ 1.83417529e-02 -6.30087404e-04 9.99831577e-01 5.66132912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.189254154 meters Centerline goodness [0,1] 0.9984546308864989 Centerline is valid? [True, True] Translation: X:612.66, Y:10.27, Z:5.66 [[ 9.98457807e-01 -5.24129274e-02 -1.83000798e-02 6.12657721e+02] [ 5.24154423e-02 9.98625307e-01 -3.42522881e-04 1.02666586e+01] [ 1.82928754e-02 -6.17212130e-04 9.99832481e-01 5.66197372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2192541539999 meters Centerline goodness [0,1] 0.9987666708474434 Centerline is valid? [True, True] Translation: X:612.69, Y:10.27, Z:5.66 [[ 9.98586834e-01 -4.98748632e-02 -1.83530315e-02 6.12687747e+02] [ 4.98769865e-02 9.98755310e-01 -3.42309050e-04 1.02687545e+01] [ 1.83472603e-02 -5.73568593e-04 9.99831510e-01 5.66244284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2492541539999 meters Centerline goodness [0,1] 0.9988713318284425 Centerline is valid? [True, True] Translation: X:612.72, Y:10.27, Z:5.66 [[ 9.98680207e-01 -4.79516124e-02 -1.83979984e-02 6.12718836e+02] [ 4.79534395e-02 9.98849514e-01 -3.42096564e-04 1.02705702e+01] [ 1.83932358e-02 -5.40602235e-04 9.99830684e-01 5.66270145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2792541539999 meters Centerline goodness [0,1] 0.9985994397759104 Centerline is valid? [True, True] Translation: X:612.75, Y:10.27, Z:5.66 [[ 9.98783491e-01 -4.56980723e-02 -1.85263364e-02 6.12749324e+02] [ 4.56995465e-02 9.98955171e-01 -3.44001134e-04 1.02725994e+01] [ 1.85226997e-02 -5.03062517e-04 9.99828314e-01 5.66278967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.309254154 meters Centerline goodness [0,1] 0.9985137115344358 Centerline is valid? [True, True] Translation: X:612.78, Y:10.28, Z:5.66 [[ 9.99035759e-01 -3.96742827e-02 -1.88016887e-02 6.12780620e+02] [ 3.96747442e-02 9.99212587e-01 -3.48606022e-04 1.02811564e+01] [ 1.88007147e-02 -3.97682310e-04 9.99823172e-01 5.66463514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.339254154 meters Centerline goodness [0,1] 0.9987894473200868 Centerline is valid? [True, True] Translation: X:612.81, Y:10.29, Z:5.67 [[ 9.99149929e-01 -3.69849630e-02 -1.82080090e-02 6.12811501e+02] [ 3.69849584e-02 9.99315766e-01 -3.37103573e-04 1.02855847e+01] [ 1.82080182e-02 -3.36605443e-04 9.99834164e-01 5.66626680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3692541539999 meters Centerline goodness [0,1] 0.9989335675302679 Centerline is valid? [True, True] Translation: X:612.84, Y:10.29, Z:5.67 [[ 9.99358176e-01 -3.09923821e-02 -1.79640569e-02 6.12841564e+02] [ 3.09914156e-02 9.99519596e-01 -3.32259531e-04 1.02902510e+01] [ 1.79657244e-02 -2.24685275e-04 9.99838578e-01 5.66620332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3992541539999 meters Centerline goodness [0,1] 0.9987824078933557 Centerline is valid? [True, True] Translation: X:612.87, Y:10.29, Z:5.67 [[ 9.99423644e-01 -2.85343977e-02 -1.83893178e-02 6.12871884e+02] [ 2.85329721e-02 9.99592794e-01 -3.39949795e-04 1.02926799e+01] [ 1.83915298e-02 -1.84948026e-04 9.99830844e-01 5.66591449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4292541539999 meters Centerline goodness [0,1] 0.9989084115288536 Centerline is valid? [True, True] Translation: X:612.90, Y:10.29, Z:5.66 [[ 9.99477196e-01 -2.63285871e-02 -1.87653834e-02 6.12900815e+02] [ 2.63267029e-02 9.99653332e-01 -3.47480713e-04 1.02937935e+01] [ 1.87680267e-02 -1.46731626e-04 9.99823854e-01 5.66438129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.459254154 meters Centerline goodness [0,1] 0.9989468362962339 Centerline is valid? [True, True] Translation: X:612.93, Y:10.30, Z:5.67 [[ 9.99523956e-01 -2.39494246e-02 -1.94495813e-02 6.12929872e+02] [ 2.39468889e-02 9.99713166e-01 -3.63296377e-04 1.02976275e+01] [ 1.94527033e-02 -1.02633531e-04 9.99810773e-01 5.66560955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4892541539999 meters Centerline goodness [0,1] 0.9990721801657424 Centerline is valid? [True, True] Translation: X:612.96, Y:10.30, Z:5.67 [[ 9.99524564e-01 -2.37328355e-02 -1.96824399e-02 6.12957718e+02] [ 2.37300900e-02 9.99718332e-01 -3.73066381e-04 1.02981959e+01] [ 1.96857499e-02 -9.41770598e-05 9.99806212e-01 5.66608311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5192541539999 meters Centerline goodness [0,1] 0.9988836699875729 Centerline is valid? [True, True] Translation: X:612.99, Y:10.30, Z:5.67 [[ 9.99486635e-01 -2.45789194e-02 -2.05510073e-02 6.12985300e+02] [ 2.45760252e-02 9.99697886e-01 -3.93411145e-04 1.02976235e+01] [ 2.05544682e-02 -1.11852894e-04 9.99788728e-01 5.66506332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5492541539999 meters Centerline goodness [0,1] 0.9990932287383227 Centerline is valid? [True, True] Translation: X:613.01, Y:10.30, Z:5.67 [[ 9.99460651e-01 -2.55570199e-02 -2.06214760e-02 6.13013253e+02] [ 2.55542296e-02 9.99673358e-01 -3.98851242e-04 1.02980309e+01] [ 2.06249336e-02 -1.28329810e-04 9.99787275e-01 5.66686143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.579254154 meters Centerline goodness [0,1] 0.9989443682043703 Centerline is valid? [True, True] Translation: X:613.04, Y:10.30, Z:5.67 [[ 9.99407225e-01 -2.79750462e-02 -2.00647870e-02 6.13042130e+02] [ 2.79727846e-02 9.99608608e-01 -3.93420766e-04 1.02956429e+01] [ 2.00679397e-02 -1.68080409e-04 9.99798604e-01 5.66785585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6092541539999 meters Centerline goodness [0,1] 0.9986485345046034 Centerline is valid? [True, True] Translation: X:613.07, Y:10.29, Z:5.67 [[ 9.99362278e-01 -2.96501231e-02 -1.98974401e-02 6.13071317e+02] [ 2.96481312e-02 9.99560319e-01 -3.95152853e-04 1.02939593e+01] [ 1.99004079e-02 -1.95021061e-04 9.99801948e-01 5.66798871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6392541539999 meters Centerline goodness [0,1] 0.9990511733822506 Centerline is valid? [True, True] Translation: X:613.10, Y:10.29, Z:5.67 [[ 9.99314065e-01 -3.13201766e-02 -1.97596897e-02 6.13100572e+02] [ 3.13184405e-02 9.99509378e-01 -3.97380891e-04 1.02920658e+01] [ 1.97624412e-02 -2.21734353e-04 9.99804679e-01 5.66835283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6692541539999 meters Centerline goodness [0,1] 0.9987958170486955 Centerline is valid? [True, True] Translation: X:613.13, Y:10.29, Z:5.67 [[ 9.99224202e-01 -3.43215286e-02 -1.93139239e-02 6.13128883e+02] [ 3.43203722e-02 9.99410806e-01 -3.91430877e-04 1.02856000e+01] [ 1.93159788e-02 -2.71733851e-04 9.99813392e-01 5.66739485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.699254154 meters Centerline goodness [0,1] 0.9989469471999326 Centerline is valid? [True, True] Translation: X:613.16, Y:10.28, Z:5.67 [[ 9.99192122e-01 -3.60001092e-02 -1.78632371e-02 6.13158106e+02] [ 3.59993716e-02 9.99351747e-01 -3.62952078e-04 1.02841353e+01] [ 1.78647235e-02 -2.80406451e-04 9.99840374e-01 5.66871030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7292541539999 meters Centerline goodness [0,1] 0.9989685513408832 Centerline is valid? [True, True] Translation: X:613.19, Y:10.28, Z:5.67 [[ 9.99142655e-01 -3.77864493e-02 -1.69156629e-02 6.13188087e+02] [ 3.77860497e-02 9.99285793e-01 -3.43345920e-04 1.02793009e+01] [ 1.69165555e-02 -2.96124527e-04 9.99856861e-01 5.66875094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7592541539999 meters Centerline goodness [0,1] 0.9989463036331451 Centerline is valid? [True, True] Translation: X:613.22, Y:10.28, Z:5.67 [[ 9.99118757e-01 -3.85270787e-02 -1.66545554e-02 6.13219277e+02] [ 3.85268122e-02 9.99257510e-01 -3.36967589e-04 1.02782443e+01] [ 1.66551720e-02 -3.04976291e-04 9.99861246e-01 5.66912478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7892541539999 meters Centerline goodness [0,1] 0.999032129105561 Centerline is valid? [True, True] Translation: X:613.25, Y:10.28, Z:5.67 [[ 9.99086739e-01 -3.92509697e-02 -1.68834083e-02 6.13249717e+02] [ 3.92508119e-02 9.99229332e-01 -3.40838625e-04 1.02750868e+01] [ 1.68837750e-02 -3.22160132e-04 9.99857407e-01 5.66874389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.819254154 meters Centerline goodness [0,1] 0.998907448261372 Centerline is valid? [True, True] Translation: X:613.28, Y:10.27, Z:5.67 [[ 9.99011254e-01 -4.09785525e-02 -1.72415774e-02 6.13280626e+02] [ 4.09786568e-02 9.99159962e-01 -3.47397671e-04 1.02714585e+01] [ 1.72413297e-02 -3.59482499e-04 9.99851293e-01 5.66854940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8492541539999 meters Centerline goodness [0,1] 0.9991178694446778 Centerline is valid? [True, True] Translation: X:613.31, Y:10.27, Z:5.67 [[ 9.98951153e-01 -4.22284465e-02 -1.77017386e-02 6.13311899e+02] [ 4.22287609e-02 9.99107905e-01 -3.56196340e-04 1.02719990e+01] [ 1.77009886e-02 -3.91699742e-04 9.99843249e-01 5.66944792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8792541539999 meters Centerline goodness [0,1] 0.9988473709579395 Centerline is valid? [True, True] Translation: X:613.34, Y:10.27, Z:5.67 [[ 9.98865471e-01 -4.43133614e-02 -1.74383960e-02 6.13341861e+02] [ 4.43139899e-02 9.99017591e-01 -3.50557844e-04 1.02660222e+01] [ 1.74367988e-02 -4.22604778e-04 9.99847878e-01 5.66849758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9092541539999 meters Centerline goodness [0,1] 0.9990364474235442 Centerline is valid? [True, True] Translation: X:613.37, Y:10.26, Z:5.67 [[ 9.98842084e-01 -4.50395853e-02 -1.69093630e-02 6.13373689e+02] [ 4.50402848e-02 9.98985114e-01 -3.39646415e-04 1.02638295e+01] [ 1.69074995e-02 -4.22349393e-04 9.99856969e-01 5.66890533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.939254154 meters Centerline goodness [0,1] 0.999016654113315 Centerline is valid? [True, True] Translation: X:613.41, Y:10.26, Z:5.67 [[ 9.98827747e-01 -4.54654852e-02 -1.66138860e-02 6.13405023e+02] [ 4.54662294e-02 9.98965821e-01 -3.33110631e-04 1.02617929e+01] [ 1.66118493e-02 -4.22650611e-04 9.99861924e-01 5.66920009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9692541539999 meters Centerline goodness [0,1] 0.9990995330136326 Centerline is valid? [True, True] Translation: X:613.44, Y:10.26, Z:5.67 [[ 9.98852404e-01 -4.54024706e-02 -1.52476657e-02 6.13436458e+02] [ 4.54030981e-02 9.98968701e-01 -3.05186611e-04 1.02596142e+01] [ 1.52457970e-02 -3.87454881e-04 9.99883701e-01 5.66967838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9992541539999 meters Centerline goodness [0,1] 0.9989545872710546 Centerline is valid? [True, True] Translation: X:613.47, Y:10.26, Z:5.67 [[ 9.98883820e-01 -4.46191883e-02 -1.54997502e-02 6.13468985e+02] [ 4.46197552e-02 9.99003995e-01 -3.09414126e-04 1.02594255e+01] [ 1.54981181e-02 -3.82526293e-04 9.99879824e-01 5.67009174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0292541539999 meters Centerline goodness [0,1] 0.9988707889839192 Centerline is valid? [True, True] Translation: X:613.50, Y:10.26, Z:5.67 [[ 9.98946365e-01 -4.30895520e-02 -1.57939911e-02 6.13499036e+02] [ 4.30899629e-02 9.99071147e-01 -3.14445664e-04 1.02572689e+01] [ 1.57928701e-02 -3.66448138e-04 9.99875218e-01 5.67004027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.059254154 meters Centerline goodness [0,1] 0.9991634074414908 Centerline is valid? [True, True] Translation: X:613.53, Y:10.26, Z:5.67 [[ 9.98971958e-01 -4.23985265e-02 -1.60434451e-02 6.13529192e+02] [ 4.23988662e-02 9.99100713e-01 -3.19110922e-04 1.02562079e+01] [ 1.60425473e-02 -3.61441021e-04 9.99871245e-01 5.66958514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.089254154 meters Centerline goodness [0,1] 0.998995563739851 Centerline is valid? [True, True] Translation: X:613.56, Y:10.26, Z:5.67 [[ 9.99000016e-01 -4.15537333e-02 -1.65001789e-02 6.13560032e+02] [ 4.15539805e-02 9.99136206e-01 -3.28017537e-04 1.02558289e+01] [ 1.64995565e-02 -3.57958586e-04 9.99863809e-01 5.66924715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1192541539999 meters Centerline goodness [0,1] 0.9991023901471663 Centerline is valid? [True, True] Translation: X:613.59, Y:10.25, Z:5.67 [[ 9.99015839e-01 -4.08953485e-02 -1.71733693e-02 6.13590035e+02] [ 4.08955166e-02 9.99163370e-01 -3.41542701e-04 1.02539494e+01] [ 1.71729690e-02 -3.61107240e-04 9.99852468e-01 5.66902383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1492541539999 meters Centerline goodness [0,1] 0.9991864321922523 Centerline is valid? [True, True] Translation: X:613.62, Y:10.25, Z:5.67 [[ 9.99003103e-01 -4.11903957e-02 -1.72090593e-02 6.13620908e+02] [ 4.11906077e-02 9.99151248e-01 -3.42281872e-04 1.02527554e+01] [ 1.72085518e-02 -3.66910959e-04 9.99851855e-01 5.66941349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1792541539999 meters Centerline goodness [0,1] 0.999122880294044 Centerline is valid? [True, True] Translation: X:613.65, Y:10.25, Z:5.67 [[ 9.98929547e-01 -4.32162672e-02 -1.64958898e-02 6.13651011e+02] [ 4.32167468e-02 9.99065666e-01 -3.27563241e-04 1.02482092e+01] [ 1.64946332e-02 -3.85686093e-04 9.99863880e-01 5.66988689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.209254154 meters Centerline goodness [0,1] 0.9989348593387773 Centerline is valid? [True, True] Translation: X:613.68, Y:10.25, Z:5.67 [[ 9.98879449e-01 -4.43426582e-02 -1.65400985e-02 6.13682126e+02] [ 4.43433071e-02 9.99016298e-01 -3.27694213e-04 1.02466852e+01] [ 1.65383589e-02 -4.06115654e-04 9.99863150e-01 5.67019598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2392541539999 meters Centerline goodness [0,1] 0.9991846973973032 Centerline is valid? [True, True] Translation: X:613.71, Y:10.24, Z:5.67 [[ 9.98774842e-01 -4.67333589e-02 -1.62729552e-02 6.13712380e+02] [ 4.67343114e-02 9.98907303e-01 -3.21948070e-04 1.02424871e+01] [ 1.62702195e-02 -4.38951724e-04 9.99867535e-01 5.67002634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2692541539999 meters Centerline goodness [0,1] 0.9992048878473385 Centerline is valid? [True, True] Translation: X:613.74, Y:10.24, Z:5.67 [[ 9.98735556e-01 -4.75080099e-02 -1.64401101e-02 6.13742444e+02] [ 4.75090917e-02 9.98870753e-01 -3.24961847e-04 1.02406673e+01] [ 1.64369834e-02 -4.56503746e-04 9.99864799e-01 5.66998239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2992541539999 meters Centerline goodness [0,1] 0.9992055693767901 Centerline is valid? [True, True] Translation: X:613.77, Y:10.24, Z:5.67 [[ 9.98693165e-01 -4.86312826e-02 -1.57150008e-02 6.13772704e+02] [ 4.86324125e-02 9.98816696e-01 -3.10471023e-04 1.02395505e+01] [ 1.57115038e-02 -4.54193113e-04 9.99876464e-01 5.67049909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.329254154 meters Centerline goodness [0,1] 0.999143924999478 Centerline is valid? [True, True] Translation: X:613.80, Y:10.24, Z:5.67 [[ 9.98621368e-01 -5.01924177e-02 -1.53650768e-02 6.13803130e+02] [ 5.01936840e-02 9.98739457e-01 -3.03452942e-04 1.02360945e+01] [ 1.53609395e-02 -4.68195218e-04 9.99881904e-01 5.67020023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3592541539999 meters Centerline goodness [0,1] 0.9989973262032086 Centerline is valid? [True, True] Translation: X:613.83, Y:10.23, Z:5.67 [[ 9.98567487e-01 -5.12475050e-02 -1.53840093e-02 6.13834872e+02] [ 5.12489052e-02 9.98685865e-01 -3.03454030e-04 1.02348786e+01] [ 1.53793439e-02 -4.85394308e-04 9.99881613e-01 5.67014582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3892541539999 meters Centerline goodness [0,1] 0.9990602485120601 Centerline is valid? [True, True] Translation: X:613.87, Y:10.23, Z:5.67 [[ 9.98525097e-01 -5.21287867e-02 -1.51730106e-02 6.13865171e+02] [ 5.21302568e-02 9.98640249e-01 -2.98871329e-04 1.02334734e+01] [ 1.51679589e-02 -4.92542418e-04 9.99884839e-01 5.66994124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4192541539999 meters Centerline goodness [0,1] 0.9991454238489276 Centerline is valid? [True, True] Translation: X:613.90, Y:10.24, Z:5.67 [[ 9.98379335e-01 -5.49541764e-02 -1.47899142e-02 6.13895877e+02] [ 5.49558887e-02 9.98488741e-01 -2.90925033e-04 1.02361595e+01] [ 1.47835504e-02 -5.22339340e-04 9.99890581e-01 5.67123388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.449254154 meters Centerline goodness [0,1] 0.9990201801200801 Centerline is valid? [True, True] Translation: X:613.93, Y:10.23, Z:5.67 [[ 9.98297653e-01 -5.65649739e-02 -1.42196675e-02 6.13925972e+02] [ 5.65667288e-02 9.98398782e-01 -2.79075324e-04 1.02301512e+01] [ 1.42126846e-02 -5.25759834e-04 9.99898856e-01 5.67089166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4792541539999 meters Centerline goodness [0,1] 0.9990622264827241 Centerline is valid? [True, True] Translation: X:613.96, Y:10.23, Z:5.67 [[ 9.98066675e-01 -6.03486456e-02 -1.48645146e-02 6.13955929e+02] [ 6.03509891e-02 9.98177175e-01 -2.91268583e-04 1.02261364e+01] [ 1.48549968e-02 -6.06382690e-04 9.99889475e-01 5.67031760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5092541539999 meters Centerline goodness [0,1] 0.9991030454735086 Centerline is valid? [True, True] Translation: X:613.99, Y:10.22, Z:5.67 [[ 9.97963786e-01 -6.19934438e-02 -1.50031483e-02 6.13987192e+02] [ 6.19960196e-02 9.98076353e-01 -2.93797259e-04 1.02249687e+01] [ 1.49925010e-02 -6.36936450e-04 9.99887403e-01 5.67048327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5392541539999 meters Centerline goodness [0,1] 0.9990630855715178 Centerline is valid? [True, True] Translation: X:614.02, Y:10.23, Z:5.67 [[ 9.97869362e-01 -6.35610349e-02 -1.47218286e-02 6.14018858e+02] [ 6.35636940e-02 9.97977742e-01 -2.87688250e-04 1.02316300e+01] [ 1.47103431e-02 -6.48698520e-04 9.99891587e-01 5.67159714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.569254154 meters Centerline goodness [0,1] 0.9992688989618366 Centerline is valid? [True, True] Translation: X:614.05, Y:10.23, Z:5.67 [[ 9.97679654e-01 -6.66093649e-02 -1.40890312e-02 6.14050190e+02] [ 6.66121129e-02 9.97778909e-01 -2.74656672e-04 1.02310578e+01] [ 1.40760329e-02 -6.64480763e-04 9.99900707e-01 5.67238177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5992541539999 meters Centerline goodness [0,1] 0.9990027424582398 Centerline is valid? [True, True] Translation: X:614.08, Y:10.23, Z:5.67 [[ 9.97632390e-01 -6.73626419e-02 -1.38523928e-02 6.14081667e+02] [ 6.73653789e-02 9.97728336e-01 -2.69457448e-04 1.02294960e+01] [ 1.38390762e-02 -6.64352212e-04 9.99904015e-01 5.67280318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6292541539999 meters Centerline goodness [0,1] 0.9991257103603323 Centerline is valid? [True, True] Translation: X:614.11, Y:10.23, Z:5.67 [[ 9.97599138e-01 -6.78864817e-02 -1.36888510e-02 6.14113700e+02] [ 6.78892149e-02 9.97692831e-01 -2.65453218e-04 1.02295730e+01] [ 1.36752892e-02 -6.64509444e-04 9.99906268e-01 5.67322628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6592541539999 meters Centerline goodness [0,1] 0.9989997916232548 Centerline is valid? [True, True] Translation: X:614.14, Y:10.23, Z:5.67 [[ 9.97646589e-01 -6.69865016e-02 -1.46318839e-02 6.14144904e+02] [ 6.69895426e-02 9.97753638e-01 -2.82730499e-04 1.02309798e+01] [ 1.46179545e-02 -6.98118090e-04 9.99892908e-01 5.67355489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.689254154 meters Centerline goodness [0,1] 0.9987895736377486 Centerline is valid? [True, True] Translation: X:614.18, Y:10.23, Z:5.67 [[ 9.97685541e-01 -6.62644939e-02 -1.52504835e-02 6.14176715e+02] [ 6.62677279e-02 9.97801835e-01 -2.93738774e-04 1.02336537e+01] [ 1.52364248e-02 -7.17555960e-04 9.99883661e-01 5.67344563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7192541539999 meters Centerline goodness [0,1] 0.9990599147656054 Centerline is valid? [True, True] Translation: X:614.21, Y:10.24, Z:5.67 [[ 9.97832495e-01 -6.37897380e-02 -1.61611078e-02 6.14207909e+02] [ 6.37930612e-02 9.97963100e-01 -3.10330730e-04 1.02380544e+01] [ 1.61479852e-02 -7.21308453e-04 9.99869353e-01 5.67329924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7492541539999 meters Centerline goodness [0,1] 0.9991245075354888 Centerline is valid? [True, True] Translation: X:614.24, Y:10.24, Z:5.67 [[ 9.97898205e-01 -6.27383061e-02 -1.62196447e-02 6.14239724e+02] [ 6.27415261e-02 9.98029761e-01 -3.10753763e-04 1.02398969e+01] [ 1.62071843e-02 -7.07544638e-04 9.99868405e-01 5.67396892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7792541539999 meters Centerline goodness [0,1] 0.9991245075354888 Centerline is valid? [True, True] Translation: X:614.27, Y:10.24, Z:5.67 [[ 9.97900429e-01 -6.27029214e-02 -1.62196588e-02 6.14270590e+02] [ 6.27061488e-02 9.98031985e-01 -3.10013675e-04 1.02404553e+01] [ 1.62071771e-02 -7.07709560e-04 9.99868405e-01 5.67425801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.809254154 meters Centerline goodness [0,1] 0.9991447999666263 Centerline is valid? [True, True] Translation: X:614.30, Y:10.25, Z:5.68 [[ 9.97974492e-01 -6.15269878e-02 -1.61660898e-02 6.14302299e+02] [ 6.15300533e-02 9.98105184e-01 -3.08159773e-04 1.02450526e+01] [ 1.61544182e-02 -6.87164776e-04 9.99869273e-01 5.67514615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.839254154 meters Centerline goodness [0,1] 0.9991017713903744 Centerline is valid? [True, True] Translation: X:614.33, Y:10.25, Z:5.68 [[ 9.98055180e-01 -6.02684299e-02 -1.59240171e-02 6.14334097e+02] [ 6.02712629e-02 9.98181989e-01 -3.02375579e-04 1.02489182e+01] [ 1.59132907e-02 -6.57973108e-04 9.99873159e-01 5.67588033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8692541539999 meters Centerline goodness [0,1] 0.999165588885644 Centerline is valid? [True, True] Translation: X:614.37, Y:10.25, Z:5.68 [[ 9.98223077e-01 -5.76008766e-02 -1.52587183e-02 6.14365107e+02] [ 5.76031803e-02 9.98339517e-01 -2.88847642e-04 1.02465150e+01] [ 1.52500193e-02 -5.90616319e-04 9.99883537e-01 5.67614542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8992541539999 meters Centerline goodness [0,1] 0.9990215060479254 Centerline is valid? [True, True] Translation: X:614.40, Y:10.25, Z:5.68 [[ 9.98292014e-01 -5.64883989e-02 -1.49035333e-02 6.14396730e+02] [ 5.64904839e-02 9.98403098e-01 -2.81375860e-04 1.02535239e+01] [ 1.48956283e-02 -5.61012532e-04 9.99888897e-01 5.67785225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9292541539999 meters Centerline goodness [0,1] 0.9992099956341864 Centerline is valid? [True, True] Translation: X:614.43, Y:10.26, Z:5.68 [[ 9.98402259e-01 -5.44395009e-02 -1.51416323e-02 6.14427666e+02] [ 5.44414315e-02 9.98516925e-01 -2.84963607e-04 1.02573192e+01] [ 1.51346894e-02 -5.39823826e-04 9.99885318e-01 5.67798576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.959254154 meters Centerline goodness [0,1] 0.999044076390765 Centerline is valid? [True, True] Translation: X:614.46, Y:10.26, Z:5.68 [[ 9.98424798e-01 -5.37648831e-02 -1.60393287e-02 6.14458597e+02] [ 5.37669742e-02 9.98553465e-01 -3.01135470e-04 1.02576549e+01] [ 1.60323177e-02 -5.61725050e-04 9.99871316e-01 5.67707921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9892541539999 meters Centerline goodness [0,1] 0.9991241423894229 Centerline is valid? [True, True] Translation: X:614.49, Y:10.26, Z:5.68 [[ 9.98412520e-01 -5.33456492e-02 -1.80743280e-02 6.14489936e+02] [ 5.33482521e-02 9.98575911e-01 -3.38458423e-04 1.02596769e+01] [ 1.80666438e-02 -6.26312679e-04 9.99836589e-01 5.67589144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0192541539999 meters Centerline goodness [0,1] 0.9991239231555453 Centerline is valid? [True, True] Translation: X:614.52, Y:10.26, Z:5.68 [[ 9.98397045e-01 -5.35607692e-02 -1.82916449e-02 6.14521272e+02] [ 5.35634834e-02 9.98564388e-01 -3.41858057e-04 1.02635929e+01] [ 1.82836954e-02 -6.38454144e-04 9.99832635e-01 5.67682143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0492541539999 meters Centerline goodness [0,1] 0.9991469884531364 Centerline is valid? [True, True] Translation: X:614.55, Y:10.26, Z:5.68 [[ 9.98391808e-01 -5.36719592e-02 -1.82515514e-02 6.14551505e+02] [ 5.36746894e-02 9.98558417e-01 -3.40597723e-04 1.02632673e+01] [ 1.82435208e-02 -6.39596376e-04 9.99833369e-01 5.67721229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.079254154 meters Centerline goodness [0,1] 0.9990819371126922 Centerline is valid? [True, True] Translation: X:614.58, Y:10.27, Z:5.68 [[ 9.98424760e-01 -5.32980062e-02 -1.75305628e-02 6.14583274e+02] [ 5.33004781e-02 9.98578466e-01 -3.26524841e-04 1.02668440e+01] [ 1.75230457e-02 -6.08376895e-04 9.99846275e-01 5.67854341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1092541539999 meters Centerline goodness [0,1] 0.998997200518113 Centerline is valid? [True, True] Translation: X:614.62, Y:10.27, Z:5.68 [[ 9.98572074e-01 -5.08191450e-02 -1.64689906e-02 6.14615151e+02] [ 5.08210043e-02 9.98707731e-01 -3.05870314e-04 1.02698230e+01] [ 1.64632523e-02 -5.31537086e-04 9.99864330e-01 5.67968051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1392541539999 meters Centerline goodness [0,1] 0.9988310197265421 Centerline is valid? [True, True] Translation: X:614.65, Y:10.27, Z:5.68 [[ 9.98836966e-01 -4.58009386e-02 -1.50661449e-02 6.14645178e+02] [ 4.58019312e-02 9.98950502e-01 -2.79340917e-04 1.02744976e+01] [ 1.50631271e-02 -4.11042498e-04 9.99886460e-01 5.68121950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1692541539999 meters Centerline goodness [0,1] 0.9988511749347259 Centerline is valid? [True, True] Translation: X:614.68, Y:10.28, Z:5.68 [[ 9.98991299e-01 -4.23306285e-02 -1.49834028e-02 6.14675804e+02] [ 4.23312231e-02 9.99103593e-01 -2.77603733e-04 1.02783613e+01] [ 1.49817227e-02 -3.56942052e-04 9.99887704e-01 5.68163475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.199254154 meters Centerline goodness [0,1] 0.9990806711100896 Centerline is valid? [True, True] Translation: X:614.71, Y:10.28, Z:5.68 [[ 9.99147961e-01 -3.83035412e-02 -1.53684743e-02 6.14706739e+02] [ 3.83036992e-02 9.99266104e-01 -2.84175286e-04 1.02827001e+01] [ 1.53680804e-02 -3.04736260e-04 9.99881858e-01 5.68186249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2292541539999 meters Centerline goodness [0,1] 0.9990613658170289 Centerline is valid? [True, True] Translation: X:614.74, Y:10.29, Z:5.68 [[ 9.99287202e-01 -3.44075936e-02 -1.55308135e-02 6.14737742e+02] [ 3.44072897e-02 9.99407853e-01 -2.86852096e-04 1.02870210e+01] [ 1.55314869e-02 -2.47725571e-04 9.99879348e-01 5.68152967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2592541539999 meters Centerline goodness [0,1] 0.9989971586160789 Centerline is valid? [True, True] Translation: X:614.77, Y:10.29, Z:5.68 [[ 9.99504460e-01 -2.70030946e-02 -1.61761640e-02 6.14767788e+02] [ 2.70017947e-02 9.99635340e-01 -2.98795275e-04 1.02946476e+01] [ 1.61783336e-02 -1.38138251e-04 9.99869113e-01 5.68102329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2892541539999 meters Centerline goodness [0,1] 0.9992471454264085 Centerline is valid? [True, True] Translation: X:614.80, Y:10.30, Z:5.68 [[ 9.99577418e-01 -2.42764419e-02 -1.59887168e-02 6.14797338e+02] [ 2.42748194e-02 9.99705279e-01 -2.95574057e-04 1.02985137e+01] [ 1.59911801e-02 -9.26740607e-05 9.99872129e-01 5.68184147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.319254154 meters Centerline goodness [0,1] 0.9990590695243073 Centerline is valid? [True, True] Translation: X:614.83, Y:10.30, Z:5.68 [[ 9.99650597e-01 -2.13575524e-02 -1.55736785e-02 6.14826358e+02] [ 2.13556469e-02 9.99771901e-01 -2.88662559e-04 1.03017884e+01] [ 1.55762913e-02 -4.40242803e-05 9.99878681e-01 5.68219016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3492541539999 meters Centerline goodness [0,1] 0.9989957738817524 Centerline is valid? [True, True] Translation: X:614.86, Y:10.30, Z:5.68 [[ 9.99656965e-01 -2.13539181e-02 -1.51645082e-02 6.14855475e+02] [ 2.13520795e-02 9.99771978e-01 -2.83157687e-04 1.03027701e+01] [ 1.51670969e-02 -4.07332315e-05 9.99884972e-01 5.68268432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3792541539999 meters Centerline goodness [0,1] 0.9990596004346736 Centerline is valid? [True, True] Translation: X:614.88, Y:10.30, Z:5.68 [[ 9.99643447e-01 -2.14187119e-02 -1.59441781e-02 6.14882809e+02] [ 2.14166391e-02 9.99770592e-01 -3.00758634e-04 1.03032037e+01] [ 1.59469623e-02 -4.08193109e-05 9.99872838e-01 5.68199857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4092541539999 meters Centerline goodness [0,1] 0.9993095512082854 Centerline is valid? [True, True] Translation: X:614.91, Y:10.30, Z:5.68 [[ 9.99620669e-01 -2.31142203e-02 -1.49750227e-02 6.14911598e+02] [ 2.31125500e-02 9.99732829e-01 -2.84614640e-04 1.03038680e+01] [ 1.49776005e-02 -6.16042850e-05 9.99887828e-01 5.68324312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.439254154 meters Centerline goodness [0,1] 0.9990172298427568 Centerline is valid? [True, True] Translation: X:614.94, Y:10.30, Z:5.68 [[ 9.99499889e-01 -2.73114485e-02 -1.59391494e-02 6.14940576e+02] [ 2.73100259e-02 9.99626965e-01 -3.06948119e-04 1.03026152e+01] [ 1.59415867e-02 -1.28503973e-04 9.99872917e-01 5.68291055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4692541539999 meters Centerline goodness [0,1] 0.9989555917617078 Centerline is valid? [True, True] Translation: X:614.97, Y:10.30, Z:5.68 [[ 9.99320588e-01 -3.24030265e-02 -1.75615017e-02 6.14969691e+02] [ 3.24020366e-02 9.99474858e-01 -3.40973318e-04 1.02987859e+01] [ 1.75633280e-02 -2.28286766e-04 9.99845727e-01 5.68093776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4992541539999 meters Centerline goodness [0,1] 0.9990820520309599 Centerline is valid? [True, True] Translation: X:615.00, Y:10.30, Z:5.68 [[ 9.99223026e-01 -3.50297720e-02 -1.80626436e-02 6.14999394e+02] [ 3.50291425e-02 9.99386230e-01 -3.51331200e-04 1.02973170e+01] [ 1.80638643e-02 -2.81660692e-04 9.99836795e-01 5.68054194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5292541539999 meters Centerline goodness [0,1] 0.9988538801367008 Centerline is valid? [True, True] Translation: X:615.03, Y:10.30, Z:5.68 [[ 9.99120998e-01 -3.74621900e-02 -1.88099878e-02 6.15028851e+02] [ 3.74619259e-02 9.99297988e-01 -3.66527823e-04 1.02962957e+01] [ 1.88105139e-02 -3.38452723e-04 9.99823009e-01 5.68045797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.559254154 meters Centerline goodness [0,1] 0.9989994580397715 Centerline is valid? [True, True] Translation: X:615.06, Y:10.29, Z:5.68 [[ 9.98954909e-01 -4.20104637e-02 -1.80058724e-02 6.15058051e+02] [ 4.20109571e-02 9.99117088e-01 -3.51016932e-04 1.02930613e+01] [ 1.80047212e-02 -4.05793847e-04 9.99837820e-01 5.68092425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.589254154 meters Centerline goodness [0,1] 0.9990833142357133 Centerline is valid? [True, True] Translation: X:615.09, Y:10.29, Z:5.68 [[ 9.98876751e-01 -4.38969534e-02 -1.78407961e-02 6.15087349e+02] [ 4.38977389e-02 9.99035969e-01 -3.47777792e-04 1.02916467e+01] [ 1.78388634e-02 -4.35783460e-04 9.99840780e-01 5.68153185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6192541539999 meters Centerline goodness [0,1] 0.9991262560069899 Centerline is valid? [True, True] Translation: X:615.12, Y:10.30, Z:5.68 [[ 9.98710282e-01 -4.75843694e-02 -1.77059232e-02 6.15118319e+02] [ 4.75857246e-02 9.98867098e-01 -3.44998096e-04 1.02956195e+01] [ 1.77022806e-02 -4.97996038e-04 9.99843178e-01 5.68464571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6492541539999 meters Centerline goodness [0,1] 0.9988950045867734 Centerline is valid? [True, True] Translation: X:615.15, Y:10.30, Z:5.68 [[ 9.98618440e-01 -4.91563023e-02 -1.85706539e-02 6.15149607e+02] [ 4.91580778e-02 9.98790946e-01 -3.61142211e-04 1.02955348e+01] [ 1.85659534e-02 -5.52254379e-04 9.99827485e-01 5.68420390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6792541539999 meters Centerline goodness [0,1] 0.999082683567527 Centerline is valid? [True, True] Translation: X:615.18, Y:10.30, Z:5.69 [[ 9.98507571e-01 -5.16943975e-02 -1.76158720e-02 6.15181004e+02] [ 5.16964009e-02 9.98662789e-01 -3.41936246e-04 1.02951469e+01] [ 1.76099920e-02 -5.69251249e-04 9.99844770e-01 5.68530143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.709254154 meters Centerline goodness [0,1] 0.998792270531401 Centerline is valid? [True, True] Translation: X:615.21, Y:10.29, Z:5.68 [[ 9.98271063e-01 -5.63372849e-02 -1.67629343e-02 6.15211036e+02] [ 5.63397580e-02 9.98411602e-01 -3.25047686e-04 1.02866887e+01] [ 1.67546204e-02 -6.19933963e-04 9.99859439e-01 5.68446486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7392541539999 meters Centerline goodness [0,1] 0.9987712685090697 Centerline is valid? [True, True] Translation: X:615.24, Y:10.29, Z:5.69 [[ 9.98052630e-01 -6.04179886e-02 -1.55117259e-02 6.15241611e+02] [ 6.04205999e-02 9.98172961e-01 -3.00672827e-04 1.02906110e+01] [ 1.55015514e-02 -6.37140480e-04 9.99879641e-01 5.68697742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7692541539999 meters Centerline goodness [0,1] 0.9987712685090697 Centerline is valid? [True, True] Translation: X:615.27, Y:10.29, Z:5.69 [[ 9.98057078e-01 -6.03444758e-02 -1.55117380e-02 6.15273320e+02] [ 6.03470879e-02 9.98177409e-01 -3.00048241e-04 1.02911653e+01] [ 1.55015727e-02 -6.36622947e-04 9.99879641e-01 5.68727447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7992541539999 meters Centerline goodness [0,1] 0.9988759367194004 Centerline is valid? [True, True] Translation: X:615.30, Y:10.28, Z:5.69 [[ 9.97803208e-01 -6.44021731e-02 -1.55279910e-02 6.15303069e+02] [ 6.44052917e-02 9.97923779e-01 -2.99671863e-04 1.02835278e+01] [ 1.55150510e-02 -7.01071243e-04 9.99879389e-01 5.68710322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.829254154 meters Centerline goodness [0,1] 0.9985632483081728 Centerline is valid? [True, True] Translation: X:615.33, Y:10.29, Z:5.69 [[ 9.97653085e-01 -6.65931428e-02 -1.59272133e-02 6.15334753e+02] [ 6.65967083e-02 9.97779928e-01 -3.07010146e-04 1.02911289e+01] [ 1.59122985e-02 -7.54410356e-04 9.99873107e-01 5.68784759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8592541539999 meters Centerline goodness [0,1] 0.9986454382528237 Centerline is valid? [True, True] Translation: X:615.36, Y:10.29, Z:5.69 [[ 9.97336263e-01 -7.04923933e-02 -1.87403546e-02 6.15364576e+02] [ 7.04980279e-02 9.97511854e-01 -3.60620721e-04 1.02891013e+01] [ 1.87191469e-02 -9.61497921e-04 9.99824319e-01 5.68540881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8892541539999 meters Centerline goodness [0,1] 0.9986273164035689 Centerline is valid? [True, True] Translation: X:615.40, Y:10.29, Z:5.69 [[ 9.97156980e-01 -7.30952906e-02 -1.83039599e-02 6.15395633e+02] [ 7.31011059e-02 9.97324473e-01 -3.52059965e-04 1.02889494e+01] [ 1.82807211e-02 -9.86980661e-04 9.99832407e-01 5.68663437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9192541539999 meters Centerline goodness [0,1] 0.9987086830650033 Centerline is valid? [True, True] Translation: X:615.43, Y:10.29, Z:5.69 [[ 9.97021873e-01 -7.47817285e-02 -1.88435289e-02 6.15427330e+02] [ 7.47882052e-02 9.97199375e-01 -3.61744843e-04 1.02886365e+01] [ 1.88178071e-02 -1.04860618e-03 9.99822380e-01 5.68640980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.949254154 meters Centerline goodness [0,1] 0.9986019530923963 Centerline is valid? [True, True] Translation: X:615.46, Y:10.29, Z:5.69 [[ 9.96823862e-01 -7.74883083e-02 -1.83779718e-02 6.15458196e+02] [ 7.74949394e-02 9.96992683e-01 -3.52142748e-04 1.02916380e+01] [ 1.83499904e-02 -1.07317552e-03 9.99831049e-01 5.68839432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9792541539999 meters Centerline goodness [0,1] 0.9986852265375545 Centerline is valid? [True, True] Translation: X:615.49, Y:10.29, Z:5.69 [[ 9.96800091e-01 -7.77916785e-02 -1.83856862e-02 6.15490006e+02] [ 7.77983819e-02 9.96969051e-01 -3.51454697e-04 1.02922002e+01] [ 1.83573004e-02 -1.08004657e-03 9.99830907e-01 5.68878602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0092541539999 meters Centerline goodness [0,1] 0.9987257420985566 Centerline is valid? [True, True] Translation: X:615.52, Y:10.30, Z:5.69 [[ 9.96830964e-01 -7.73344235e-02 -1.86391044e-02 6.15521744e+02] [ 7.73412591e-02 9.97004616e-01 -3.54915199e-04 1.02968766e+01] [ 1.86107202e-02 -1.08778134e-03 9.99826214e-01 5.68965286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0392541539999 meters Centerline goodness [0,1] 0.9985579635938056 Centerline is valid? [True, True] Translation: X:615.55, Y:10.30, Z:5.69 [[ 9.96901247e-01 -7.63328491e-02 -1.90052805e-02 6.15552726e+02] [ 7.63398135e-02 9.97081794e-01 -3.59841132e-04 1.02975097e+01] [ 1.89772869e-02 -1.09213350e-03 9.99819319e-01 5.68963189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.069254154 meters Centerline goodness [0,1] 0.9983062897290064 Centerline is valid? [True, True] Translation: X:615.58, Y:10.30, Z:5.69 [[ 9.97030969e-01 -7.48074092e-02 -1.82509957e-02 6.15584323e+02] [ 7.48136105e-02 9.97197476e-01 -3.43711588e-04 1.03012124e+01] [ 1.82255590e-02 -1.02273179e-03 9.99833378e-01 5.69087245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0992541539999 meters Centerline goodness [0,1] 0.9986835506519559 Centerline is valid? [True, True] Translation: X:615.61, Y:10.31, Z:5.69 [[ 9.97431548e-01 -6.94182769e-02 -1.76467911e-02 6.15614882e+02] [ 6.94232439e-02 9.97587241e-01 -3.31712143e-04 1.03086521e+01] [ 1.76272405e-02 -8.94237324e-04 9.99844228e-01 5.69189997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1292541539999 meters Centerline goodness [0,1] 0.9989123386810015 Centerline is valid? [True, True] Translation: X:615.65, Y:10.31, Z:5.69 [[ 9.97661160e-01 -6.60544114e-02 -1.75791070e-02 6.15646764e+02] [ 6.60588272e-02 9.97815676e-01 -3.29993524e-04 1.03128281e+01] [ 1.75625061e-02 -8.32033471e-04 9.99845421e-01 5.69228216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1592541539999 meters Centerline goodness [0,1] 0.9987045820187627 Centerline is valid? [True, True] Translation: X:615.68, Y:10.32, Z:5.69 [[ 9.98133001e-01 -5.84847049e-02 -1.76082955e-02 6.15677445e+02] [ 5.84879684e-02 9.98288059e-01 -3.30026534e-04 1.03227684e+01] [ 1.75974526e-02 -7.00463053e-04 9.99844907e-01 5.69298174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.189254154 meters Centerline goodness [0,1] 0.9984755142528976 Centerline is valid? [True, True] Translation: X:615.71, Y:10.33, Z:5.69 [[ 9.98345828e-01 -5.46243283e-02 -1.79385284e-02 6.15707675e+02] [ 5.46270961e-02 9.98506769e-01 -3.36040079e-04 1.03279107e+01] [ 1.79300980e-02 -6.44445505e-04 9.99839035e-01 5.69339139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2192541539999 meters Centerline goodness [0,1] 0.9988261926720885 Centerline is valid? [True, True] Translation: X:615.74, Y:10.33, Z:5.69 [[ 9.98547165e-01 -5.05528437e-02 -1.86539560e-02 6.15739611e+02] [ 5.05551394e-02 9.98721210e-01 -3.48781076e-04 1.03343066e+01] [ 1.86477334e-02 -5.94778992e-04 9.99825939e-01 5.69380805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2492541539999 meters Centerline goodness [0,1] 0.9987840670859539 Centerline is valid? [True, True] Translation: X:615.77, Y:10.34, Z:5.70 [[ 9.98905624e-01 -4.29876911e-02 -1.84286127e-02 6.15769734e+02] [ 4.29886538e-02 9.99075501e-01 -3.44081899e-04 1.03449573e+01] [ 1.84263667e-02 -4.48515906e-04 9.99830119e-01 5.69510003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2792541539999 meters Centerline goodness [0,1] 0.9988238012224065 Centerline is valid? [True, True] Translation: X:615.80, Y:10.35, Z:5.70 [[ 9.99066159e-01 -3.95001224e-02 -1.75085984e-02 6.15801041e+02] [ 3.95004610e-02 9.99219499e-01 -3.26622234e-04 1.03492954e+01] [ 1.75078345e-02 -3.65280488e-04 9.99846659e-01 5.69552984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.309254154 meters Centerline goodness [0,1] 0.9988236529776284 Centerline is valid? [True, True] Translation: X:615.83, Y:10.35, Z:5.70 [[ 9.99184590e-01 -3.64535904e-02 -1.73577118e-02 6.15832921e+02] [ 3.64534763e-02 9.99335299e-01 -3.23072519e-04 1.03529495e+01] [ 1.73579513e-02 -3.09939855e-04 9.99849291e-01 5.69566633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.339254154 meters Centerline goodness [0,1] 0.9989691372309764 Centerline is valid? [True, True] Translation: X:615.86, Y:10.36, Z:5.70 [[ 9.99356488e-01 -3.11488877e-02 -1.77864096e-02 6.15864205e+02] [ 3.11479422e-02 9.99514731e-01 -3.30245889e-04 1.03610975e+01] [ 1.77880652e-02 -2.23976688e-04 9.99841755e-01 5.69597324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3692541539999 meters Centerline goodness [0,1] 0.9986945444591835 Centerline is valid? [True, True] Translation: X:615.89, Y:10.36, Z:5.70 [[ 9.99392248e-01 -2.94796099e-02 -1.86034158e-02 6.15894547e+02] [ 2.94782932e-02 9.99565361e-01 -3.45055538e-04 1.03648552e+01] [ 1.86055022e-02 -2.03551117e-04 9.99826882e-01 5.69611790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3992541539999 meters Centerline goodness [0,1] 0.9988189142447378 Centerline is valid? [True, True] Translation: X:615.92, Y:10.37, Z:5.70 [[ 9.99480111e-01 -2.63466772e-02 -1.85838578e-02 6.15923815e+02] [ 2.63448186e-02 9.99652856e-01 -3.44861667e-04 1.03705627e+01] [ 1.85864925e-02 -1.44905987e-04 9.99827246e-01 5.69526428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4292541539999 meters Centerline goodness [0,1] 0.9989227324574373 Centerline is valid? [True, True] Translation: X:615.95, Y:10.37, Z:5.70 [[ 9.99519726e-01 -2.50180309e-02 -1.82870200e-02 6.15953368e+02] [ 2.50159997e-02 9.99686993e-01 -3.39851105e-04 1.03749935e+01] [ 1.82897984e-02 -1.17780204e-04 9.99832721e-01 5.69763051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.459254154 meters Centerline goodness [0,1] 0.998689300890007 Centerline is valid? [True, True] Translation: X:615.98, Y:10.38, Z:5.70 [[ 9.99536422e-01 -2.43972141e-02 -1.82131058e-02 6.15981615e+02] [ 2.43950789e-02 9.99702338e-01 -3.39431835e-04 1.03766222e+01] [ 1.82159656e-02 -1.05035670e-04 9.99834070e-01 5.69764477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4892541539999 meters Centerline goodness [0,1] 0.9992380307327604 Centerline is valid? [True, True] Translation: X:616.01, Y:10.38, Z:5.70 [[ 9.99527838e-01 -2.43457611e-02 -1.87452668e-02 6.16011379e+02] [ 2.43434714e-02 9.99703592e-01 -3.50355133e-04 1.03772144e+01] [ 1.87482402e-02 -1.06135157e-04 9.99824231e-01 5.69699160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5192541539999 meters Centerline goodness [0,1] 0.9988768568946153 Centerline is valid? [True, True] Translation: X:616.04, Y:10.38, Z:5.70 [[ 9.99513378e-01 -2.51174398e-02 -1.84965135e-02 6.16039620e+02] [ 2.51153272e-02 9.99684500e-01 -3.46534554e-04 1.03773659e+01] [ 1.84993820e-02 -1.18180068e-04 9.99828865e-01 5.69691173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5492541539999 meters Centerline goodness [0,1] 0.998877451603338 Centerline is valid? [True, True] Translation: X:616.07, Y:10.38, Z:5.70 [[ 9.99454245e-01 -2.81506685e-02 -1.72844322e-02 6.16069496e+02] [ 2.81492642e-02 9.99603678e-01 -3.24578488e-04 1.03775289e+01] [ 1.72867191e-02 -1.62142701e-04 9.99850560e-01 5.69889473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.579254154 meters Centerline goodness [0,1] 0.9986841826014984 Centerline is valid? [True, True] Translation: X:616.10, Y:10.38, Z:5.70 [[ 9.99423916e-01 -2.99879630e-02 -1.58920522e-02 6.16099864e+02] [ 2.99870033e-02 9.99550244e-01 -2.98735720e-04 1.03783796e+01] [ 1.58938631e-02 -1.77991397e-04 9.99873669e-01 5.70090587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6092541539999 meters Centerline goodness [0,1] 0.9985396516328388 Centerline is valid? [True, True] Translation: X:616.13, Y:10.37, Z:5.70 [[ 9.99317796e-01 -3.39656134e-02 -1.45010213e-02 6.16131033e+02] [ 3.39652406e-02 9.99422978e-01 -2.72054419e-04 1.03747387e+01] [ 1.45018944e-02 -2.20661855e-04 9.99894818e-01 5.70148204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6392541539999 meters Centerline goodness [0,1] 0.9987121563991048 Centerline is valid? [True, True] Translation: X:616.16, Y:10.37, Z:5.70 [[ 9.99233322e-01 -3.64109604e-02 -1.43878470e-02 6.16161814e+02] [ 3.64108633e-02 9.99336869e-01 -2.68781138e-04 1.03713300e+01] [ 1.43880926e-02 -2.55298863e-04 9.99896453e-01 5.70149930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6692541539999 meters Centerline goodness [0,1] 0.9987121563991048 Centerline is valid? [True, True] Translation: X:616.19, Y:10.37, Z:5.70 [[ 9.99235909e-01 -3.63398978e-02 -1.43878601e-02 6.16193505e+02] [ 3.63398036e-02 9.99339455e-01 -2.68077995e-04 1.03718594e+01] [ 1.43880982e-02 -2.54978853e-04 9.99896453e-01 5.70179611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.699254154 meters Centerline goodness [0,1] 0.9987760872776382 Centerline is valid? [True, True] Translation: X:616.23, Y:10.37, Z:5.70 [[ 9.99131045e-01 -3.90472232e-02 -1.45762937e-02 6.16225246e+02] [ 3.90474285e-02 9.99237322e-01 -2.70623432e-04 1.03711721e+01] [ 1.45757438e-02 -2.98778513e-04 9.99893724e-01 5.70212649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7292541539999 meters Centerline goodness [0,1] 0.9985238918645355 Centerline is valid? [True, True] Translation: X:616.26, Y:10.37, Z:5.70 [[ 9.98919159e-01 -4.40952017e-02 -1.47012507e-02 6.16256449e+02] [ 4.40959674e-02 9.99027263e-01 -2.72220914e-04 1.03661206e+01] [ 1.46989539e-02 -3.76339184e-04 9.99891894e-01 5.70173662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7592541539999 meters Centerline goodness [0,1] 0.9985841979587093 Centerline is valid? [True, True] Translation: X:616.29, Y:10.36, Z:5.70 [[ 9.98824844e-01 -4.60148954e-02 -1.52171286e-02 6.16288534e+02] [ 4.60159505e-02 9.98940666e-01 -2.80982011e-04 1.03648319e+01] [ 1.52139379e-02 -4.19578823e-04 9.99884173e-01 5.70225717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7892541539999 meters Centerline goodness [0,1] 0.9986086809874148 Centerline is valid? [True, True] Translation: X:616.32, Y:10.36, Z:5.70 [[ 9.98743427e-01 -4.75987184e-02 -1.56821145e-02 6.16320741e+02] [ 4.76000527e-02 9.98866433e-01 -2.88378726e-04 1.03625555e+01] [ 1.56780642e-02 -4.58453117e-04 9.99876986e-01 5.70172401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.819254154 meters Centerline goodness [0,1] 0.9982706624206508 Centerline is valid? [True, True] Translation: X:616.35, Y:10.36, Z:5.70 [[ 9.98734255e-01 -4.75376989e-02 -1.64333564e-02 6.16353086e+02] [ 4.75391766e-02 9.98869329e-01 -3.00931878e-04 1.03618478e+01] [ 1.64290813e-02 -4.80677256e-04 9.99864918e-01 5.70065599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8492541539999 meters Centerline goodness [0,1] 0.9985444880394887 Centerline is valid? [True, True] Translation: X:616.38, Y:10.36, Z:5.70 [[ 9.98718346e-01 -4.77660132e-02 -1.67353928e-02 6.16384243e+02] [ 4.77676047e-02 9.98858430e-01 -3.04850025e-04 1.03598527e+01] [ 1.67308497e-02 -4.94950315e-04 9.99859907e-01 5.70132617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8792541539999 meters Centerline goodness [0,1] 0.9984621542480355 Centerline is valid? [True, True] Translation: X:616.42, Y:10.36, Z:5.70 [[ 9.98769986e-01 -4.59273911e-02 -1.86866145e-02 6.16416321e+02] [ 4.59290907e-02 9.98944645e-01 -3.38428315e-04 1.03595140e+01] [ 1.86824366e-02 -5.20247168e-04 9.99825333e-01 5.69995382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9092541539999 meters Centerline goodness [0,1] 0.9985685415964971 Centerline is valid? [True, True] Translation: X:616.45, Y:10.36, Z:5.70 [[ 9.98830490e-01 -4.42405381e-02 -1.95045639e-02 6.16447565e+02] [ 4.42420936e-02 9.99020777e-01 -3.51956446e-04 1.03600251e+01] [ 1.95010354e-02 -5.11377914e-04 9.99809706e-01 5.69980270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.939254154 meters Centerline goodness [0,1] 0.9986084169688791 Centerline is valid? [True, True] Translation: X:616.48, Y:10.36, Z:5.70 [[ 9.99055599e-01 -3.91992417e-02 -1.87438010e-02 6.16477564e+02] [ 3.91998038e-02 9.99231335e-01 -3.37559175e-04 1.03630290e+01] [ 1.87426254e-02 -3.97512938e-04 9.99824263e-01 5.70018026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9692541539999 meters Centerline goodness [0,1] 0.9987364164771292 Centerline is valid? [True, True] Translation: X:616.51, Y:10.37, Z:5.70 [[ 9.99184297e-01 -3.59229788e-02 -1.84466854e-02 6.16508843e+02] [ 3.59229744e-02 9.99354507e-01 -3.31704949e-04 1.03668060e+01] [ 1.84466940e-02 -3.31225430e-04 9.99829790e-01 5.70122727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9992541539999 meters Centerline goodness [0,1] 0.9989701771715601 Centerline is valid? [True, True] Translation: X:616.54, Y:10.37, Z:5.70 [[ 9.99427385e-01 -2.86633632e-02 -1.79809429e-02 6.16539108e+02] [ 2.86621902e-02 9.99589103e-01 -3.22993974e-04 1.03715536e+01] [ 1.79828127e-02 -1.92564182e-04 9.99838278e-01 5.70128814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0292541539999 meters Centerline goodness [0,1] 0.9988004293200329 Centerline is valid? [True, True] Translation: X:616.57, Y:10.37, Z:5.70 [[ 9.99511534e-01 -2.54558815e-02 -1.81298529e-02 6.16568750e+02] [ 2.54541585e-02 9.99675937e-01 -3.25828675e-04 1.03734905e+01] [ 1.81322720e-02 -1.35810632e-04 9.99835588e-01 5.70108976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.059254154 meters Centerline goodness [0,1] 0.9986528868214444 Centerline is valid? [True, True] Translation: X:616.60, Y:10.38, Z:5.70 [[ 9.99595841e-01 -2.18364664e-02 -1.82022961e-02 6.16598382e+02] [ 2.18341206e-02 9.99761554e-01 -3.27620487e-04 1.03754576e+01] [ 1.82051099e-02 -6.99430519e-05 9.99834271e-01 5.70042577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.089254154 meters Centerline goodness [0,1] 0.9990328210088097 Centerline is valid? [True, True] Translation: X:616.63, Y:10.38, Z:5.70 [[ 9.99743211e-01 -1.62462103e-02 -1.57978988e-02 6.16626461e+02] [ 1.62437316e-02 9.99868021e-01 -2.85212212e-04 1.03785751e+01] [ 1.58004474e-02 2.85221441e-05 9.99875165e-01 5.70310474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1192541539999 meters Centerline goodness [0,1] 0.998886297253567 Centerline is valid? [True, True] Translation: X:616.65, Y:10.38, Z:5.70 [[ 9.99779918e-01 -1.40883753e-02 -1.55445314e-02 6.16654271e+02] [ 1.40856747e-02 9.99900752e-01 -2.83210268e-04 1.03800622e+01] [ 1.55469786e-02 6.41927258e-05 9.99879136e-01 5.70373822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1492541539999 meters Centerline goodness [0,1] 0.9990742883591761 Centerline is valid? [True, True] Translation: X:616.68, Y:10.38, Z:5.70 [[ 9.99812189e-01 -1.05528944e-02 -1.62549469e-02 6.16682627e+02] [ 1.05494012e-02 9.99944308e-01 -3.00634475e-04 1.03808843e+01] [ 1.62572142e-02 1.29098056e-04 9.99867834e-01 5.70357380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1792541539999 meters Centerline goodness [0,1] 0.9990946415412149 Centerline is valid? [True, True] Translation: X:616.71, Y:10.38, Z:5.70 [[ 9.99809856e-01 -9.85100553e-03 -1.68288522e-02 6.16711628e+02] [ 9.84709040e-03 9.99951466e-01 -3.15493616e-04 1.03809433e+01] [ 1.68311433e-02 1.49718398e-04 9.99858335e-01 5.70339040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.209254154 meters Centerline goodness [0,1] 0.9989884514878192 Centerline is valid? [True, True] Translation: X:616.74, Y:10.38, Z:5.70 [[ 9.99796377e-01 -9.94678779e-03 -1.75574913e-02 6.16739905e+02] [ 9.94245851e-03 9.99950517e-01 -3.33850991e-04 1.03801785e+01] [ 1.75599433e-02 1.59218382e-04 9.99845800e-01 5.70272513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2392541539999 meters Centerline goodness [0,1] 0.9991370056199878 Centerline is valid? [True, True] Translation: X:616.77, Y:10.38, Z:5.70 [[ 9.99757958e-01 -1.17367370e-02 -1.86084275e-02 6.16766686e+02] [ 1.17321113e-02 9.99931112e-01 -3.57729433e-04 1.03754429e+01] [ 1.86113442e-02 1.39326704e-04 9.99826784e-01 5.70150325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2692541539999 meters Centerline goodness [0,1] 0.9990546615688416 Centerline is valid? [True, True] Translation: X:616.80, Y:10.37, Z:5.70 [[ 9.99740449e-01 -1.30452179e-02 -1.86777033e-02 6.16796015e+02] [ 1.30407412e-02 9.99914901e-01 -3.61465593e-04 1.03726269e+01] [ 1.86808293e-02 1.17800679e-04 9.99825491e-01 5.70188712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2992541539999 meters Centerline goodness [0,1] 0.9991817037347881 Centerline is valid? [True, True] Translation: X:616.82, Y:10.37, Z:5.70 [[ 9.99695058e-01 -1.58388030e-02 -1.89452975e-02 6.16824196e+02] [ 1.58346228e-02 9.99874556e-01 -3.70644236e-04 1.03687160e+01] [ 1.89487915e-02 7.05395711e-05 9.99820453e-01 5.70267560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.329254154 meters Centerline goodness [0,1] 0.9988661179237359 Centerline is valid? [True, True] Translation: X:616.85, Y:10.37, Z:5.70 [[ 9.99657000e-01 -1.73472633e-02 -1.96202819e-02 6.16852164e+02] [ 1.73429583e-02 9.99849524e-01 -3.89564254e-04 1.03677350e+01] [ 1.96240874e-02 4.91569022e-05 9.99807428e-01 5.70336720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3592541539999 meters Centerline goodness [0,1] 0.9989323172901794 Centerline is valid? [True, True] Translation: X:616.88, Y:10.37, Z:5.70 [[ 9.99590000e-01 -1.97829348e-02 -2.06994603e-02 6.16881004e+02] [ 1.97785452e-02 9.99804299e-01 -4.16783559e-04 1.03656540e+01] [ 2.07036545e-02 7.20746727e-06 9.99785656e-01 5.70469254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3892541539999 meters Centerline goodness [0,1] 0.9989106297398082 Centerline is valid? [True, True] Translation: X:616.91, Y:10.36, Z:5.70 [[ 9.99560880e-01 -2.08839988e-02 -2.10215497e-02 6.16908749e+02] [ 2.08796410e-02 9.99781905e-01 -4.26790974e-04 1.03642911e+01] [ 2.10258781e-02 -1.23188477e-05 9.99778932e-01 5.70404568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4192541539999 meters Centerline goodness [0,1] 0.9988083042378374 Centerline is valid? [True, True] Translation: X:616.94, Y:10.36, Z:5.71 [[ 9.99500792e-01 -2.38793776e-02 -2.06867511e-02 6.16936225e+02] [ 2.38757130e-02 9.99714845e-01 -4.24150233e-04 1.03611808e+01] [ 2.06909806e-02 -6.99724382e-05 9.99785916e-01 5.70591080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.449254154 meters Centerline goodness [0,1] 0.9988897500890295 Centerline is valid? [True, True] Translation: X:616.96, Y:10.36, Z:5.71 [[ 9.99467503e-01 -2.54204119e-02 -2.04576070e-02 6.16964415e+02] [ 2.54170278e-02 9.99676845e-01 -4.25457430e-04 1.03603504e+01] [ 2.04618114e-02 -9.47406916e-05 9.99790631e-01 5.70719818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4792541539999 meters Centerline goodness [0,1] 0.9989744019088683 Centerline is valid? [True, True] Translation: X:616.99, Y:10.36, Z:5.71 [[ 9.99436967e-01 -2.73487686e-02 -1.94369430e-02 6.16992447e+02] [ 2.73459690e-02 9.99625945e-01 -4.09854163e-04 1.03599056e+01] [ 1.94408815e-02 -1.21898640e-04 9.99811001e-01 5.70802184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5092541539999 meters Centerline goodness [0,1] 0.9988730748361785 Centerline is valid? [True, True] Translation: X:617.02, Y:10.36, Z:5.71 [[ 9.99324276e-01 -3.16895715e-02 -1.86215491e-02 6.17020665e+02] [ 3.16876814e-02 9.99497741e-01 -3.96627152e-04 1.03575659e+01] [ 1.86247652e-02 -1.93714575e-04 9.99826525e-01 5.70900183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5392541539999 meters Centerline goodness [0,1] 0.9988296760710553 Centerline is valid? [True, True] Translation: X:617.05, Y:10.35, Z:5.71 [[ 9.99136918e-01 -3.65676529e-02 -1.97034489e-02 6.17049781e+02] [ 3.65664623e-02 9.99331135e-01 -4.20820765e-04 1.03544726e+01] [ 1.97056583e-02 -3.00027858e-04 9.99805780e-01 5.70852312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.569254154 meters Centerline goodness [0,1] 0.9988944283360104 Centerline is valid? [True, True] Translation: X:617.08, Y:10.35, Z:5.71 [[ 9.99022113e-01 -3.91228956e-02 -2.05965335e-02 6.17080345e+02] [ 3.91221424e-02 9.99234339e-01 -4.39654692e-04 1.03536310e+01] [ 2.05979642e-02 -3.66555759e-04 9.99787772e-01 5.70808508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5992541539999 meters Centerline goodness [0,1] 0.9987045278839926 Centerline is valid? [True, True] Translation: X:617.11, Y:10.35, Z:5.71 [[ 9.98878462e-01 -4.21722770e-02 -2.15248006e-02 6.17109907e+02] [ 4.21721573e-02 9.99110253e-01 -4.59689058e-04 1.03517833e+01] [ 2.15250352e-02 -4.48573779e-04 9.99768209e-01 5.70691835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6292541539999 meters Centerline goodness [0,1] 0.9987864331596678 Centerline is valid? [True, True] Translation: X:617.14, Y:10.35, Z:5.71 [[ 9.98715848e-01 -4.54236431e-02 -2.24353962e-02 6.17139983e+02] [ 4.54243237e-02 9.98967668e-01 -4.79546305e-04 1.03500383e+01] [ 2.24340182e-02 -5.40182204e-04 9.99748180e-01 5.70627734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6592541539999 meters Centerline goodness [0,1] 0.9986609758138756 Centerline is valid? [True, True] Translation: X:617.17, Y:10.35, Z:5.71 [[ 9.98330526e-01 -5.27907279e-02 -2.34371574e-02 6.17169656e+02] [ 5.27934884e-02 9.98605326e-01 -5.01383641e-04 1.03453665e+01] [ 2.34309387e-02 -7.36782705e-04 9.99725186e-01 5.70564113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.689254154 meters Centerline goodness [0,1] 0.9987451636515737 Centerline is valid? [True, True] Translation: X:617.20, Y:10.35, Z:5.71 [[ 9.98133270e-01 -5.66258172e-02 -2.28799399e-02 6.17200482e+02] [ 5.66294560e-02 9.98395145e-01 -4.89378357e-04 1.03472531e+01] [ 2.28709323e-02 -8.07213727e-04 9.99738100e-01 5.70765970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7192541539999 meters Centerline goodness [0,1] 0.9988084537073814 Centerline is valid? [True, True] Translation: X:617.23, Y:10.34, Z:5.71 [[ 9.97686462e-01 -6.40840912e-02 -2.26925542e-02 6.17231096e+02] [ 6.40896008e-02 9.97944030e-01 -4.85143094e-04 1.03445432e+01] [ 2.26769890e-02 -9.70336044e-04 9.99742373e-01 5.70829235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7492541539999 meters Centerline goodness [0,1] 0.9985561833019461 Centerline is valid? [True, True] Translation: X:617.26, Y:10.34, Z:5.71 [[ 9.97485986e-01 -6.71254767e-02 -2.27129522e-02 6.17260863e+02] [ 6.71317838e-02 9.97743999e-01 -4.85538838e-04 1.03430631e+01] [ 2.26943038e-02 -1.04044281e-03 9.99741910e-01 5.70825986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7792541539999 meters Centerline goodness [0,1] 0.9986001128267274 Centerline is valid? [True, True] Translation: X:617.29, Y:10.34, Z:5.71 [[ 9.97316952e-01 -6.96194128e-02 -2.26281752e-02 6.17292007e+02] [ 6.96263241e-02 9.97573026e-01 -4.83245671e-04 1.03431405e+01] [ 2.26069005e-02 -1.09356756e-03 9.99743833e-01 5.70852423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.809254154 meters Centerline goodness [0,1] 0.9984323725518884 Centerline is valid? [True, True] Translation: X:617.32, Y:10.35, Z:5.71 [[ 9.97127744e-01 -7.23809188e-02 -2.22994284e-02 6.17322601e+02] [ 7.23883320e-02 9.97376410e-01 -4.75651568e-04 1.03474039e+01] [ 2.22753519e-02 -1.13993305e-03 9.99751224e-01 5.70971830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.839254154 meters Centerline goodness [0,1] 0.9984733462994333 Centerline is valid? [True, True] Translation: X:617.35, Y:10.35, Z:5.71 [[ 9.97107817e-01 -7.24879194e-02 -2.28364565e-02 6.17353376e+02] [ 7.24957431e-02 9.97368603e-01 -4.86185246e-04 1.03470594e+01] [ 2.28116073e-02 -1.17076678e-03 9.99739096e-01 5.70925233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8692541539999 meters Centerline goodness [0,1] 0.998619333514633 Centerline is valid? [True, True] Translation: X:617.39, Y:10.35, Z:5.71 [[ 9.97163763e-01 -7.14999267e-02 -2.34987358e-02 6.17385190e+02] [ 7.15079742e-02 9.97439903e-01 -4.98721472e-04 1.03547217e+01] [ 2.34742353e-02 -1.18304001e-03 9.99723742e-01 5.70984430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8992541539999 meters Centerline goodness [0,1] 0.998427277302466 Centerline is valid? [True, True] Translation: X:617.42, Y:10.36, Z:5.71 [[ 9.97209660e-01 -7.08117985e-02 -2.36343687e-02 6.17417394e+02] [ 7.08197881e-02 9.97489001e-01 -4.99841752e-04 1.03604540e+01] [ 2.36104175e-02 -1.17533396e-03 9.99720544e-01 5.71074737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9292541539999 meters Centerline goodness [0,1] 0.9983856765482829 Centerline is valid? [True, True] Translation: X:617.45, Y:10.36, Z:5.71 [[ 9.97262126e-01 -7.01517064e-02 -2.33878373e-02 6.17449228e+02] [ 7.01593896e-02 9.97535672e-01 -4.92888297e-04 1.03628078e+01] [ 2.33647789e-02 -1.14933756e-03 9.99726346e-01 5.71085357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.959254154 meters Centerline goodness [0,1] 0.9986771653543307 Centerline is valid? [True, True] Translation: X:617.48, Y:10.37, Z:5.71 [[ 9.97362600e-01 -6.89639007e-02 -2.26235278e-02 6.17480771e+02] [ 6.89708221e-02 9.97618564e-01 -4.75128480e-04 1.03658278e+01] [ 2.26024180e-02 -1.08648793e-03 9.99743942e-01 5.71140692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9892541539999 meters Centerline goodness [0,1] 0.998507964527382 Centerline is valid? [True, True] Translation: X:617.51, Y:10.37, Z:5.71 [[ 9.97482758e-01 -6.72059817e-02 -2.26164631e-02 6.17512046e+02] [ 6.72124744e-02 9.97738572e-01 -4.73811030e-04 1.03703409e+01] [ 2.25971605e-02 -1.04749011e-03 9.99744103e-01 5.71158577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0192541539999 meters Centerline goodness [0,1] 0.9984213517438801 Centerline is valid? [True, True] Translation: X:617.54, Y:10.37, Z:5.71 [[ 9.97523954e-01 -6.71137589e-02 -2.10167774e-02 6.17544375e+02] [ 6.71193690e-02 9.97744856e-01 -4.39141612e-04 1.03740150e+01] [ 2.09988540e-02 -9.72578562e-04 9.99779027e-01 5.71269272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0492541539999 meters Centerline goodness [0,1] 0.9983594144371529 Centerline is valid? [True, True] Translation: X:617.58, Y:10.38, Z:5.71 [[ 9.97590942e-01 -6.62180510e-02 -2.06756211e-02 6.17576607e+02] [ 6.62233191e-02 9.97804734e-01 -4.30526067e-04 1.03779445e+01] [ 2.06587412e-02 -9.39719349e-04 9.99786144e-01 5.71295772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.079254154 meters Centerline goodness [0,1] 0.9985695052170986 Centerline is valid? [True, True] Translation: X:617.61, Y:10.38, Z:5.71 [[ 9.97662920e-01 -6.50696433e-02 -2.08479884e-02 6.17608422e+02] [ 6.50747815e-02 9.97880296e-01 -4.32576624e-04 1.03835170e+01] [ 2.08319445e-02 -9.25112635e-04 9.99782563e-01 5.71368061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1092541539999 meters Centerline goodness [0,1] 0.9985298132862873 Centerline is valid? [True, True] Translation: X:617.64, Y:10.39, Z:5.71 [[ 9.97748294e-01 -6.36684504e-02 -2.10872117e-02 6.17639894e+02] [ 6.36734234e-02 9.97970693e-01 -4.36188921e-04 1.03860093e+01] [ 2.10721908e-02 -9.07488210e-04 9.99777545e-01 5.71352477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1392541539999 meters Centerline goodness [0,1] 0.9985830302004907 Centerline is valid? [True, True] Translation: X:617.67, Y:10.39, Z:5.71 [[ 9.97992983e-01 -5.97370946e-02 -2.10115404e-02 6.17671012e+02] [ 5.97411818e-02 9.98213806e-01 -4.33679281e-04 1.03945238e+01] [ 2.09999165e-02 -8.22445376e-04 9.99779139e-01 5.71444166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1692541539999 meters Centerline goodness [0,1] 0.9985390950858546 Centerline is valid? [True, True] Translation: X:617.70, Y:10.40, Z:5.71 [[ 9.98317002e-01 -5.44928543e-02 -1.98416948e-02 6.17701154e+02] [ 5.44954708e-02 9.98513934e-01 -4.09208115e-04 1.04009748e+01] [ 1.98345077e-02 -6.72763081e-04 9.99803050e-01 5.71498092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.199254154 meters Centerline goodness [0,1] 0.9985554658622594 Centerline is valid? [True, True] Translation: X:617.73, Y:10.41, Z:5.72 [[ 9.98485810e-01 -5.15285766e-02 -1.92585597e-02 6.17732596e+02] [ 5.15304974e-02 9.98671343e-01 -3.96824430e-04 1.04051309e+01] [ 1.92534194e-02 -5.96179597e-04 9.99814458e-01 5.71538468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2292541539999 meters Centerline goodness [0,1] 0.998684768773865 Centerline is valid? [True, True] Translation: X:617.76, Y:10.41, Z:5.72 [[ 9.98628388e-01 -4.82093810e-02 -2.04254318e-02 6.17763036e+02] [ 4.82108594e-02 9.98837092e-01 -4.20312662e-04 1.04093101e+01] [ 2.04219420e-02 -5.64991466e-04 9.99791291e-01 5.71501451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2592541539999 meters Centerline goodness [0,1] 0.9987871308196442 Centerline is valid? [True, True] Translation: X:617.79, Y:10.42, Z:5.71 [[ 9.98883491e-01 -4.28032852e-02 -1.99912764e-02 6.17794502e+02] [ 4.28036338e-02 9.99083420e-01 -4.10651222e-04 1.04179632e+01] [ 1.99905300e-02 -4.45506547e-04 9.99800070e-01 5.71485182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2892541539999 meters Centerline goodness [0,1] 0.998635685354935 Centerline is valid? [True, True] Translation: X:617.83, Y:10.42, Z:5.71 [[ 9.99020182e-01 -3.93498292e-02 -2.02550321e-02 6.17825200e+02] [ 3.93494955e-02 9.99225422e-01 -4.15184310e-04 1.04224537e+01] [ 2.02556804e-02 -3.82247788e-04 9.99794760e-01 5.71494258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.319254154 meters Centerline goodness [0,1] 0.9988700324066178 Centerline is valid? [True, True] Translation: X:617.86, Y:10.43, Z:5.72 [[ 9.99147517e-01 -3.61945900e-02 -1.98542282e-02 6.17856619e+02] [ 3.61936603e-02 9.99344712e-01 -4.06278356e-04 1.04273502e+01] [ 1.98559230e-02 -3.12665179e-04 9.99802803e-01 5.71550461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3492541539999 meters Centerline goodness [0,1] 0.9988877005347594 Centerline is valid? [True, True] Translation: X:617.89, Y:10.44, Z:5.72 [[ 9.99400500e-01 -2.90061504e-02 -1.89019707e-02 6.17886681e+02] [ 2.90040279e-02 9.99579220e-01 -3.86478285e-04 1.04354831e+01] [ 1.89052274e-02 -1.61986694e-04 9.99821267e-01 5.71616935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3792541539999 meters Centerline goodness [0,1] 0.9991630721689306 Centerline is valid? [True, True] Translation: X:617.92, Y:10.44, Z:5.72 [[ 9.99498116e-01 -2.58380507e-02 -1.83278617e-02 6.17916917e+02] [ 2.58355226e-02 9.99666137e-01 -3.74739791e-04 1.04400846e+01] [ 1.83314252e-02 -9.89581686e-05 9.99831960e-01 5.71735776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4092541539999 meters Centerline goodness [0,1] 0.9988825374994628 Centerline is valid? [True, True] Translation: X:617.95, Y:10.45, Z:5.72 [[ 9.99632145e-01 -2.12569294e-02 -1.68439219e-02 6.17947583e+02] [ 2.12541438e-02 9.99774046e-01 -3.44398484e-04 1.04462832e+01] [ 1.68474368e-02 -1.37313422e-05 9.99858072e-01 5.71799134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.439254154 meters Centerline goodness [0,1] 0.9989907665879322 Centerline is valid? [True, True] Translation: X:617.98, Y:10.45, Z:5.72 [[ 9.99673826e-01 -1.96281326e-02 -1.63394427e-02 6.17976573e+02] [ 1.96252943e-02 9.99807350e-01 -3.34052421e-04 1.04486134e+01] [ 1.63428517e-02 1.32770915e-05 9.99866447e-01 5.71825645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4692541539999 meters Centerline goodness [0,1] 0.9989670977598932 Centerline is valid? [True, True] Translation: X:618.00, Y:10.45, Z:5.72 [[ 9.99686540e-01 -1.86782704e-02 -1.66716414e-02 6.18004953e+02] [ 1.86751778e-02 9.99825545e-01 -3.41176947e-04 1.04505134e+01] [ 1.66751056e-02 2.97241329e-05 9.99860960e-01 5.71792042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4992541539999 meters Centerline goodness [0,1] 0.999032861226332 Centerline is valid? [True, True] Translation: X:618.03, Y:10.45, Z:5.72 [[ 9.99679040e-01 -1.97172453e-02 -1.59074732e-02 6.18033390e+02] [ 1.97145283e-02 9.99805596e-01 -3.27612296e-04 1.04520804e+01] [ 1.59108403e-02 1.38988155e-05 9.99873414e-01 5.71840492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5292541539999 meters Centerline goodness [0,1] 0.9990527652795419 Centerline is valid? [True, True] Translation: X:618.06, Y:10.45, Z:5.72 [[ 9.99657728e-01 -2.07951232e-02 -1.58741638e-02 6.18061943e+02] [ 2.07925114e-02 9.99783758e-01 -3.29573253e-04 1.04525397e+01] [ 1.58775847e-02 -6.03283231e-07 9.99873943e-01 5.71800401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.559254154 meters Centerline goodness [0,1] 0.999184391835333 Centerline is valid? [True, True] Translation: X:618.09, Y:10.45, Z:5.72 [[ 9.99569863e-01 -2.43733954e-02 -1.63103017e-02 6.18091984e+02] [ 2.43711042e-02 9.99702923e-01 -3.39252755e-04 1.04507910e+01] [ 1.63137250e-02 -5.83932324e-05 9.99866921e-01 5.71796079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.589254154 meters Centerline goodness [0,1] 0.999184391835333 Centerline is valid? [True, True] Translation: X:618.12, Y:10.45, Z:5.72 [[ 9.99569863e-01 -2.43733969e-02 -1.63102983e-02 6.18121977e+02] [ 2.43711031e-02 9.99702923e-01 -3.39414967e-04 1.04514153e+01] [ 1.63137256e-02 -5.82309893e-05 9.99866921e-01 5.71824187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6192541539999 meters Centerline goodness [0,1] 0.9991644170201825 Centerline is valid? [True, True] Translation: X:618.15, Y:10.45, Z:5.72 [[ 9.99500674e-01 -2.69442363e-02 -1.65048888e-02 6.18152581e+02] [ 2.69422398e-02 9.99636933e-01 -3.43341642e-04 1.04496356e+01] [ 1.65081475e-02 -1.01508471e-04 9.99863726e-01 5.71759477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6492541539999 meters Centerline goodness [0,1] 0.998951983745054 Centerline is valid? [True, True] Translation: X:618.18, Y:10.45, Z:5.72 [[ 9.99417519e-01 -2.97395982e-02 -1.67385389e-02 6.18183814e+02] [ 2.97379437e-02 9.99557669e-01 -3.47787763e-04 1.04475218e+01] [ 1.67414780e-02 -1.50184546e-04 9.99859840e-01 5.71767062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6792541539999 meters Centerline goodness [0,1] 0.998868923129455 Centerline is valid? [True, True] Translation: X:618.22, Y:10.44, Z:5.72 [[ 9.99233960e-01 -3.56429696e-02 -1.61577124e-02 6.18215041e+02] [ 3.56422082e-02 9.99364558e-01 -3.35177816e-04 1.04430415e+01] [ 1.61593918e-02 -2.40975493e-04 9.99869399e-01 5.71862008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.709254154 meters Centerline goodness [0,1] 0.9989335835857186 Centerline is valid? [True, True] Translation: X:618.25, Y:10.44, Z:5.72 [[ 9.99136762e-01 -3.83854242e-02 -1.58836471e-02 6.18245818e+02] [ 3.83850434e-02 9.99262969e-01 -3.28950868e-04 1.04401483e+01] [ 1.58845673e-02 -2.81027580e-04 9.99873793e-01 5.71861681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7392541539999 meters Centerline goodness [0,1] 0.9991066490832518 Centerline is valid? [True, True] Translation: X:618.28, Y:10.43, Z:5.72 [[ 9.98947383e-01 -4.30231471e-02 -1.59102049e-02 6.18276582e+02] [ 4.30233616e-02 9.99074012e-01 -3.28956639e-04 1.04345624e+01] [ 1.59096250e-02 -3.55900126e-04 9.99873371e-01 5.71831263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7692541539999 meters Centerline goodness [0,1] 0.9989566698605344 Centerline is valid? [True, True] Translation: X:618.31, Y:10.43, Z:5.72 [[ 9.98875618e-01 -4.45639683e-02 -1.61726061e-02 6.18308334e+02] [ 4.45644024e-02 9.99006458e-01 -3.33722278e-04 1.04333245e+01] [ 1.61714099e-02 -3.87375479e-04 9.99869159e-01 5.71842514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7992541539999 meters Centerline goodness [0,1] 0.9989359891045284 Centerline is valid? [True, True] Translation: X:618.34, Y:10.43, Z:5.72 [[ 9.98815489e-01 -4.59201955e-02 -1.60920471e-02 6.18340661e+02] [ 4.59208158e-02 9.98945028e-01 -3.31150235e-04 1.04326800e+01] [ 1.60902769e-02 -4.08201946e-04 9.99870460e-01 5.71820226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.829254154 meters Centerline goodness [0,1] 0.9989582226001913 Centerline is valid? [True, True] Translation: X:618.37, Y:10.43, Z:5.72 [[ 9.98752589e-01 -4.71290439e-02 -1.64960445e-02 6.18372596e+02] [ 4.71298788e-02 9.98888713e-01 -3.38354326e-04 1.04306716e+01] [ 1.64936590e-02 -4.39524322e-04 9.99863874e-01 5.71756289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8592541539999 meters Centerline goodness [0,1] 0.9991279193431744 Centerline is valid? [True, True] Translation: X:618.40, Y:10.44, Z:5.72 [[ 9.98753537e-01 -4.69694693e-02 -1.68891165e-02 6.18404753e+02] [ 4.69703420e-02 9.98896225e-01 -3.45217782e-04 1.04366194e+01] [ 1.68866894e-02 -4.48500097e-04 9.99857309e-01 5.71890001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8892541539999 meters Centerline goodness [0,1] 0.9987862268691041 Centerline is valid? [True, True] Translation: X:618.44, Y:10.44, Z:5.72 [[ 9.98777280e-01 -4.63396359e-02 -1.72215869e-02 6.18436962e+02] [ 4.63404722e-02 9.98925642e-01 -3.50710640e-04 1.04370849e+01] [ 1.72193365e-02 -4.47774650e-04 9.99851636e-01 5.71940834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9192541539999 meters Centerline goodness [0,1] 0.998745988225042 Centerline is valid? [True, True] Translation: X:618.47, Y:10.43, Z:5.72 [[ 9.98803660e-01 -4.57944625e-02 -1.71498002e-02 6.18468745e+02] [ 4.57952309e-02 9.98950787e-01 -3.48117380e-04 1.04303414e+01] [ 1.71477482e-02 -4.37678146e-04 9.99852871e-01 5.71744898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.949254154 meters Centerline goodness [0,1] 0.998701934330645 Centerline is valid? [True, True] Translation: X:618.50, Y:10.43, Z:5.72 [[ 9.98884493e-01 -4.41125467e-02 -1.68479071e-02 6.18499646e+02] [ 4.41130728e-02 9.99026487e-01 -3.40590317e-04 1.04312893e+01] [ 1.68465298e-02 -4.03002568e-04 9.99858006e-01 5.71749842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9792541539999 meters Centerline goodness [0,1] 0.9987457482993197 Centerline is valid? [True, True] Translation: X:618.53, Y:10.43, Z:5.72 [[ 9.98939526e-01 -4.28712077e-02 -1.67893919e-02 6.18531148e+02] [ 4.28715793e-02 9.99080534e-01 -3.37949122e-04 1.04323237e+01] [ 1.67884429e-02 -3.82197011e-04 9.99858991e-01 5.71772909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0092541539999 meters Centerline goodness [0,1] 0.9989578459313454 Centerline is valid? [True, True] Translation: X:618.56, Y:10.44, Z:5.72 [[ 9.99009585e-01 -4.12457730e-02 -1.66923808e-02 6.18563271e+02] [ 4.12459299e-02 9.99148968e-01 -3.35016295e-04 1.04403123e+01] [ 1.66919931e-02 -3.53808279e-04 9.99860616e-01 5.71997754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0392541539999 meters Centerline goodness [0,1] 0.9988490803299303 Centerline is valid? [True, True] Translation: X:618.59, Y:10.44, Z:5.72 [[ 9.99083818e-01 -3.93247257e-02 -1.68846267e-02 6.18594542e+02] [ 3.93246307e-02 9.99226430e-01 -3.37767825e-04 1.04410979e+01] [ 1.68848479e-02 -3.26523341e-04 9.99857387e-01 5.71936335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.069254154 meters Centerline goodness [0,1] 0.9991063829787235 Centerline is valid? [True, True] Translation: X:618.63, Y:10.44, Z:5.72 [[ 9.99240814e-01 -3.48507351e-02 -1.74132931e-02 6.18625908e+02] [ 3.48499692e-02 9.99392495e-01 -3.47525700e-04 1.04443878e+01] [ 1.74148260e-02 -2.59590866e-04 9.99848317e-01 5.71936280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0992541539999 meters Centerline goodness [0,1] 0.9989553797940606 Centerline is valid? [True, True] Translation: X:618.66, Y:10.45, Z:5.72 [[ 9.99322853e-01 -3.23925047e-02 -1.74516633e-02 6.18657147e+02] [ 3.23913716e-02 9.99475201e-01 -3.47664320e-04 1.04462318e+01] [ 1.74537664e-02 -2.17854411e-04 9.99847648e-01 5.71930484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1292541539999 meters Centerline goodness [0,1] 0.9986976664745191 Centerline is valid? [True, True] Translation: X:618.69, Y:10.45, Z:5.72 [[ 9.99474582e-01 -2.72739853e-02 -1.75125793e-02 6.18688247e+02] [ 2.72720695e-02 9.99627987e-01 -3.48253526e-04 1.04493450e+01] [ 1.75155626e-02 -1.29533731e-04 9.99846582e-01 5.71931274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1592541539999 meters Centerline goodness [0,1] 0.9988503789491612 Centerline is valid? [True, True] Translation: X:618.72, Y:10.45, Z:5.72 [[ 9.99547432e-01 -2.43950422e-02 -1.76014924e-02 6.18718625e+02] [ 2.43926664e-02 9.99702393e-01 -3.49688253e-04 1.04513161e+01] [ 1.76047847e-02 -7.98173362e-05 9.99845021e-01 5.71947451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.189254154 meters Centerline goodness [0,1] 0.9989100235092968 Centerline is valid? [True, True] Translation: X:618.75, Y:10.45, Z:5.72 [[ 9.99604579e-01 -2.18228315e-02 -1.77327444e-02 6.18748375e+02] [ 2.18200102e-02 9.99761853e-01 -3.52589435e-04 1.04535536e+01] [ 1.77362159e-02 -3.44786513e-05 9.99842700e-01 5.71971224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2192541539999 meters Centerline goodness [0,1] 0.9991023531171856 Centerline is valid? [True, True] Translation: X:618.78, Y:10.46, Z:5.72 [[ 9.99692066e-01 -1.72864871e-02 -1.78031211e-02 6.18777885e+02] [ 1.72829127e-02 9.99850576e-01 -3.54622906e-04 1.04566029e+01] [ 1.78065911e-02 4.68239177e-05 9.99841449e-01 5.72047338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2492541539999 meters Centerline goodness [0,1] 0.9991242684437609 Centerline is valid? [True, True] Translation: X:618.81, Y:10.46, Z:5.72 [[ 9.99734582e-01 -1.45736813e-02 -1.78429928e-02 6.18805707e+02] [ 1.45696392e-02 9.99893794e-01 -3.56513435e-04 1.04579493e+01] [ 1.78462934e-02 9.64528430e-05 9.99840738e-01 5.71948426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2792541539999 meters Centerline goodness [0,1] 0.9991456459984195 Centerline is valid? [True, True] Translation: X:618.83, Y:10.46, Z:5.72 [[ 9.99737706e-01 -1.43163951e-02 -1.78762611e-02 6.18833493e+02] [ 1.43122378e-02 9.99897510e-01 -3.60481730e-04 1.04573496e+01] [ 1.78795898e-02 1.04537878e-04 9.99840142e-01 5.72011359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.309254154 meters Centerline goodness [0,1] 0.9990800958411775 Centerline is valid? [True, True] Translation: X:618.86, Y:10.46, Z:5.72 [[ 9.99733210e-01 -1.48300924e-02 -1.77081080e-02 6.18861475e+02] [ 1.48260034e-02 9.99890023e-01 -3.62178796e-04 1.04571816e+01] [ 1.77115316e-02 9.95417026e-05 9.99843134e-01 5.72032182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.339254154 meters Centerline goodness [0,1] 0.9991025449261737 Centerline is valid? [True, True] Translation: X:618.89, Y:10.46, Z:5.72 [[ 9.99728410e-01 -1.66123146e-02 -1.63443399e-02 6.18889322e+02] [ 1.66090185e-02 9.99862004e-01 -3.37395980e-04 1.04555795e+01] [ 1.63476893e-02 6.58409036e-05 9.99866365e-01 5.72146814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3692541539999 meters Centerline goodness [0,1] 0.9989533045670098 Centerline is valid? [True, True] Translation: X:618.92, Y:10.45, Z:5.72 [[ 9.99706492e-01 -1.83145370e-02 -1.58589897e-02 6.18916806e+02] [ 1.83116058e-02 9.99832274e-01 -3.30029636e-04 1.04544144e+01] [ 1.58623741e-02 3.95292013e-05 9.99874184e-01 5.72204979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3992541539999 meters Centerline goodness [0,1] 0.9989548450397798 Centerline is valid? [True, True] Translation: X:618.95, Y:10.45, Z:5.72 [[ 9.99611923e-01 -2.36778783e-02 -1.46752252e-02 6.18945986e+02] [ 2.36759061e-02 9.99719639e-01 -3.08134426e-04 1.04499738e+01] [ 1.46784068e-02 -3.94344093e-05 9.99892266e-01 5.72256036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4292541539999 meters Centerline goodness [0,1] 0.9988729159578088 Centerline is valid? [True, True] Translation: X:618.98, Y:10.45, Z:5.72 [[ 9.99536630e-01 -2.68892455e-02 -1.42651170e-02 6.18976387e+02] [ 2.68877022e-02 9.99638415e-01 -3.00003211e-04 1.04473214e+01] [ 1.42680258e-02 -8.36920183e-05 9.99898203e-01 5.72270591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.459254154 meters Centerline goodness [0,1] 0.9989580010632643 Centerline is valid? [True, True] Translation: X:619.01, Y:10.44, Z:5.72 [[ 9.99438307e-01 -3.03827733e-02 -1.41406425e-02 6.19007997e+02] [ 3.03816087e-02 9.99538328e-01 -2.97219878e-04 1.04441135e+01] [ 1.41431445e-02 -1.32562535e-04 9.99899972e-01 5.72292887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4892541539999 meters Centerline goodness [0,1] 0.9989844278943805 Centerline is valid? [True, True] Translation: X:619.04, Y:10.44, Z:5.72 [[ 9.99321127e-01 -3.39269806e-02 -1.43612087e-02 6.19039189e+02] [ 3.39261524e-02 9.99424297e-01 -3.01353250e-04 1.04406869e+01] [ 1.43631650e-02 -1.86071888e-04 9.99896827e-01 5.72266815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5192541539999 meters Centerline goodness [0,1] 0.9987060919735279 Centerline is valid? [True, True] Translation: X:619.07, Y:10.44, Z:5.72 [[ 9.98996700e-01 -4.24887211e-02 -1.41527773e-02 6.19070785e+02] [ 4.24887824e-02 9.99096900e-01 -2.96485669e-04 1.04350091e+01] [ 1.41525932e-02 -3.05146069e-04 9.99899800e-01 5.72314354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5492541539999 meters Centerline goodness [0,1] 0.9986658760747109 Centerline is valid? [True, True] Translation: X:619.10, Y:10.43, Z:5.72 [[ 9.98809231e-01 -4.68701252e-02 -1.35392310e-02 6.19102961e+02] [ 4.68705922e-02 9.98900930e-01 -2.82992798e-04 1.04333910e+01] [ 1.35376143e-02 -3.51935954e-04 9.99908300e-01 5.72405953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.579254154 meters Centerline goodness [0,1] 0.9986676254124016 Centerline is valid? [True, True] Translation: X:619.13, Y:10.43, Z:5.72 [[ 9.98608994e-01 -5.10673651e-02 -1.31225670e-02 6.19134280e+02] [ 5.10681775e-02 9.98695132e-01 -2.73393354e-04 1.04265711e+01] [ 1.31194052e-02 -3.97132517e-04 9.99913858e-01 5.72405241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6092541539999 meters Centerline goodness [0,1] 0.9987097047127507 Centerline is valid? [True, True] Translation: X:619.16, Y:10.42, Z:5.72 [[ 9.98179881e-01 -5.88737675e-02 -1.30692436e-02 6.19164484e+02] [ 5.88752474e-02 9.98265311e-01 -2.71816109e-04 1.04189653e+01] [ 1.30625753e-02 -4.98133576e-04 9.99914557e-01 5.72414560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6392541539999 meters Centerline goodness [0,1] 0.9984982761902748 Centerline is valid? [True, True] Translation: X:619.20, Y:10.42, Z:5.72 [[ 9.97969148e-01 -6.22729058e-02 -1.34039495e-02 6.19195481e+02] [ 6.22747677e-02 9.98059004e-01 -2.78839832e-04 1.04228562e+01] [ 1.33952967e-02 -5.56454291e-04 9.99910124e-01 5.72471426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6692541539999 meters Centerline goodness [0,1] 0.9984168531261873 Centerline is valid? [True, True] Translation: X:619.23, Y:10.41, Z:5.72 [[ 9.97659206e-01 -6.69681853e-02 -1.38336557e-02 6.19226102e+02] [ 6.69706237e-02 9.97754906e-01 -2.87424857e-04 1.04099205e+01] [ 1.38218462e-02 -6.39696495e-04 9.99904269e-01 5.72328711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.699254154 meters Centerline goodness [0,1] 0.9984995139270468 Centerline is valid? [True, True] Translation: X:619.26, Y:10.41, Z:5.72 [[ 9.97525112e-01 -6.89033007e-02 -1.39994927e-02 6.19256756e+02] [ 6.89059954e-02 9.97623115e-01 -2.90347679e-04 1.04084325e+01] [ 1.39862234e-02 -6.75019877e-04 9.99901960e-01 5.72416566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7292541539999 meters Centerline goodness [0,1] 0.9983111317528341 Centerline is valid? [True, True] Translation: X:619.29, Y:10.41, Z:5.72 [[ 9.97460289e-01 -6.97819130e-02 -1.42638146e-02 6.19288740e+02] [ 6.97848091e-02 9.97562025e-01 -2.95189458e-04 1.04082149e+01] [ 1.42496386e-02 -7.00957815e-04 9.99898223e-01 5.72427887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7592541539999 meters Centerline goodness [0,1] 0.9987352978373593 Centerline is valid? [True, True] Translation: X:619.32, Y:10.42, Z:5.73 [[ 9.97468544e-01 -6.96330252e-02 -1.44133755e-02 6.19321375e+02] [ 6.96359840e-02 9.97572424e-01 -2.97099073e-04 1.04207403e+01] [ 1.43990738e-02 -7.07342605e-04 9.99896078e-01 5.72582788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7892541539999 meters Centerline goodness [0,1] 0.9984779621604482 Centerline is valid? [True, True] Translation: X:619.35, Y:10.42, Z:5.73 [[ 9.97547472e-01 -6.84293135e-02 -1.47129038e-02 6.19353651e+02] [ 6.84322874e-02 9.97655718e-01 -3.01813310e-04 1.04232936e+01] [ 1.46990655e-02 -7.05764556e-04 9.99891714e-01 5.72634482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.819254154 meters Centerline goodness [0,1] 0.9984340612832233 Centerline is valid? [True, True] Translation: X:619.38, Y:10.42, Z:5.73 [[ 9.97785463e-01 -6.50561805e-02 -1.38514579e-02 6.19384255e+02] [ 6.50585032e-02 9.97881411e-01 -2.83324505e-04 1.04241273e+01] [ 1.38405444e-02 -6.18458048e-04 9.99904024e-01 5.72664266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8492541539999 meters Centerline goodness [0,1] 0.9985408560311284 Centerline is valid? [True, True] Translation: X:619.42, Y:10.42, Z:5.73 [[ 9.97937204e-01 -6.27305800e-02 -1.36459526e-02 6.19415342e+02] [ 6.27326239e-02 9.98030330e-01 -2.78629891e-04 1.04178619e+01] [ 1.36365532e-02 -5.77991279e-04 9.99906851e-01 5.72584755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8792541539999 meters Centerline goodness [0,1] 0.998751692620176 Centerline is valid? [True, True] Translation: X:619.45, Y:10.43, Z:5.73 [[ 9.98076309e-01 -6.04836040e-02 -1.36167275e-02 6.19446614e+02] [ 6.04854371e-02 9.98169041e-01 -2.77543424e-04 1.04332437e+01] [ 1.36085826e-02 -5.46604197e-04 9.99907250e-01 5.72760045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9092541539999 meters Centerline goodness [0,1] 0.9987278972140949 Centerline is valid? [True, True] Translation: X:619.48, Y:10.44, Z:5.73 [[ 9.98361880e-01 -5.53253440e-02 -1.45829853e-02 6.19476269e+02] [ 5.53269024e-02 9.98468250e-01 -2.96863255e-04 1.04397095e+01] [ 1.45770719e-02 -5.10454448e-04 9.99893619e-01 5.72790711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.939254154 meters Centerline goodness [0,1] 0.9987511377346908 Centerline is valid? [True, True] Translation: X:619.51, Y:10.43, Z:5.73 [[ 9.98505877e-01 -5.26293530e-02 -1.47025396e-02 6.19506976e+02] [ 5.26306465e-02 9.98614002e-01 -2.99200228e-04 1.04339018e+01] [ 1.46979086e-02 -4.75050979e-04 9.99891867e-01 5.72650888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9692541539999 meters Centerline goodness [0,1] 0.9990435300119027 Centerline is valid? [True, True] Translation: X:619.54, Y:10.45, Z:5.73 [[ 9.98757885e-01 -4.71178953e-02 -1.62046490e-02 6.19538404e+02] [ 4.71187508e-02 9.98889241e-01 -3.29211003e-04 1.04495725e+01] [ 1.62021612e-02 -4.34740732e-04 9.99868642e-01 5.72751746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9992541539999 meters Centerline goodness [0,1] 0.9989377748507574 Centerline is valid? [True, True] Translation: X:619.57, Y:10.45, Z:5.73 [[ 9.98880888e-01 -4.42019608e-02 -1.68273093e-02 6.19569791e+02] [ 4.42024855e-02 9.99022534e-01 -3.40933517e-04 1.04524405e+01] [ 1.68259311e-02 -4.03256918e-04 9.99858353e-01 5.72695153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0292541539999 meters Centerline goodness [0,1] 0.9988941346603717 Centerline is valid? [True, True] Translation: X:619.60, Y:10.46, Z:5.73 [[ 9.98988063e-01 -4.14638856e-02 -1.74240161e-02 6.19602104e+02] [ 4.14640509e-02 9.99139934e-01 -3.51930458e-04 1.04565691e+01] [ 1.74236227e-02 -3.70895963e-04 9.99848128e-01 5.72721759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.059254154 meters Centerline goodness [0,1] 0.9989769384884266 Centerline is valid? [True, True] Translation: X:619.63, Y:10.46, Z:5.73 [[ 9.99199529e-01 -3.59630665e-02 -1.75202300e-02 6.19632946e+02] [ 3.59624049e-02 9.99353081e-01 -3.52917656e-04 1.04638079e+01] [ 1.75215879e-02 -2.77434451e-04 9.99846447e-01 5.72796586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.089254154 meters Centerline goodness [0,1] 0.9989963912792809 Centerline is valid? [True, True] Translation: X:619.66, Y:10.47, Z:5.73 [[ 9.99296620e-01 -3.34469790e-02 -1.69577664e-02 6.19664567e+02] [ 3.34460072e-02 9.99440468e-01 -3.40987676e-04 1.04690488e+01] [ 1.69596830e-02 -2.26421746e-04 9.99856149e-01 5.72942247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1192541539999 meters Centerline goodness [0,1] 0.9992093172347473 Centerline is valid? [True, True] Translation: X:619.69, Y:10.47, Z:5.73 [[ 9.99387192e-01 -3.07617492e-02 -1.67019758e-02 6.19694691e+02] [ 3.07604456e-02 9.99526729e-01 -3.35007927e-04 1.04711127e+01] [ 1.67043766e-02 -1.78957585e-04 9.99860456e-01 5.72926654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1492541539999 meters Centerline goodness [0,1] 0.9988872959150921 Centerline is valid? [True, True] Translation: X:619.73, Y:10.48, Z:5.73 [[ 9.99514690e-01 -2.62952909e-02 -1.67015620e-02 6.19725540e+02] [ 2.62933788e-02 9.99654214e-01 -3.34101791e-04 1.04782874e+01] [ 1.67045721e-02 -1.05200848e-04 9.99860463e-01 5.73039823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1792541539999 meters Centerline goodness [0,1] 0.9992291055482987 Centerline is valid? [True, True] Translation: X:619.76, Y:10.48, Z:5.73 [[ 9.99571108e-01 -2.39667213e-02 -1.68284566e-02 6.19756703e+02] [ 2.39644603e-02 9.99712755e-01 -3.36031687e-04 1.04817753e+01] [ 1.68316762e-02 -6.73973131e-05 9.99858335e-01 5.73068966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.209254154 meters Centerline goodness [0,1] 0.9992498124531133 Centerline is valid? [True, True] Translation: X:619.79, Y:10.49, Z:5.73 [[ 9.99674820e-01 -1.95562864e-02 -1.63647938e-02 6.19787505e+02] [ 1.95535626e-02 9.99808758e-01 -3.26446386e-04 1.04872603e+01] [ 1.63680482e-02 6.35021194e-06 9.99866035e-01 5.73124666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2392541539999 meters Centerline goodness [0,1] 0.9990789924605894 Centerline is valid? [True, True] Translation: X:619.82, Y:10.49, Z:5.73 [[ 9.99717294e-01 -1.76835577e-02 -1.58941225e-02 6.19816871e+02] [ 1.76807479e-02 9.99843633e-01 -3.17294417e-04 1.04896319e+01] [ 1.58972481e-02 3.61847420e-05 9.99873630e-01 5.73184037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2692541539999 meters Centerline goodness [0,1] 0.9992055994503607 Centerline is valid? [True, True] Translation: X:619.85, Y:10.49, Z:5.73 [[ 9.99764483e-01 -1.54150808e-02 -1.52758915e-02 6.19845527e+02] [ 1.54121924e-02 9.99881178e-01 -3.06790978e-04 1.04925245e+01] [ 1.52788055e-02 7.12837453e-05 9.99883270e-01 5.73273431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2992541539999 meters Centerline goodness [0,1] 0.9992478617784846 Centerline is valid? [True, True] Translation: X:619.87, Y:10.49, Z:5.73 [[ 9.99781056e-01 -1.48753096e-02 -1.47161363e-02 6.19874618e+02] [ 1.48725166e-02 9.99889353e-01 -2.99217316e-04 1.04939532e+01] [ 1.47189589e-02 8.02858240e-05 9.99891667e-01 5.73352613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.329254154 meters Centerline goodness [0,1] 0.9990328820116054 Centerline is valid? [True, True] Translation: X:619.90, Y:10.50, Z:5.73 [[ 9.99789863e-01 -1.45553094e-02 -1.44350924e-02 6.19903193e+02] [ 1.45525365e-02 9.99894062e-01 -2.97122083e-04 1.04950572e+01] [ 1.44378879e-02 8.69924377e-05 9.99895764e-01 5.73385534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3592541539999 meters Centerline goodness [0,1] 0.9992483625040266 Centerline is valid? [True, True] Translation: X:619.93, Y:10.49, Z:5.73 [[ 9.99769814e-01 -1.56127675e-02 -1.47159781e-02 6.19931540e+02] [ 1.56099446e-02 9.99878110e-01 -3.06676542e-04 1.04949427e+01] [ 1.47189724e-02 7.68903475e-05 9.99891667e-01 5.73421530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3892541539999 meters Centerline goodness [0,1] 0.9991614706514728 Centerline is valid? [True, True] Translation: X:619.96, Y:10.49, Z:5.73 [[ 9.99747121e-01 -1.68769161e-02 -1.48614904e-02 6.19959761e+02] [ 1.68741355e-02 9.99857573e-01 -3.12479495e-04 1.04945639e+01] [ 1.48646474e-02 6.16256712e-05 9.99889513e-01 5.73391526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4192541539999 meters Centerline goodness [0,1] 0.9992280476037311 Centerline is valid? [True, True] Translation: X:619.99, Y:10.49, Z:5.73 [[ 9.99678498e-01 -2.01645697e-02 -1.53717623e-02 6.19988484e+02] [ 2.01619686e-02 9.99796674e-01 -3.24184148e-04 1.04913272e+01] [ 1.53751739e-02 1.41549324e-05 9.99881795e-01 5.73267037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.449254154 meters Centerline goodness [0,1] 0.9992074542144158 Centerline is valid? [True, True] Translation: X:620.02, Y:10.49, Z:5.73 [[ 9.99618871e-01 -2.25704068e-02 -1.58962118e-02 6.20017726e+02] [ 2.25679172e-02 9.99745256e-01 -3.36003148e-04 1.04895135e+01] [ 1.58997461e-02 -2.28693059e-05 9.99873591e-01 5.73308072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4792541539999 meters Centerline goodness [0,1] 0.9992074542144158 Centerline is valid? [True, True] Translation: X:620.05, Y:10.49, Z:5.73 [[ 9.99618871e-01 -2.25704101e-02 -1.58962045e-02 6.20047719e+02] [ 2.25679150e-02 9.99745256e-01 -3.36350184e-04 1.04901483e+01] [ 1.58997466e-02 -2.25221999e-05 9.99873591e-01 5.73336186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5092541539999 meters Centerline goodness [0,1] 0.998779678434563 Centerline is valid? [True, True] Translation: X:620.08, Y:10.49, Z:5.73 [[ 9.99555687e-01 -2.46761923e-02 -1.67186511e-02 6.20077255e+02] [ 2.46737265e-02 9.99695495e-01 -3.53769175e-04 1.04880955e+01] [ 1.67222899e-02 -5.88994350e-05 9.99860171e-01 5.73202249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5392541539999 meters Centerline goodness [0,1] 0.9989952541793151 Centerline is valid? [True, True] Translation: X:620.11, Y:10.49, Z:5.73 [[ 9.99459513e-01 -2.83753907e-02 -1.65987389e-02 6.20107439e+02] [ 2.83734699e-02 9.99597330e-01 -3.51252954e-04 1.04863146e+01] [ 1.66020220e-02 -1.19900713e-04 9.99862170e-01 5.73303045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.569254154 meters Centerline goodness [0,1] 0.9989963484165795 Centerline is valid? [True, True] Translation: X:620.14, Y:10.48, Z:5.73 [[ 9.99297389e-01 -3.36871051e-02 -1.64288538e-02 6.20137728e+02] [ 3.36859431e-02 9.99432407e-01 -3.47529436e-04 1.04804377e+01] [ 1.64312361e-02 -2.06136176e-04 9.99864977e-01 5.73213712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5992541539999 meters Centerline goodness [0,1] 0.9988288403389974 Centerline is valid? [True, True] Translation: X:620.17, Y:10.48, Z:5.73 [[ 9.99217285e-01 -3.61230417e-02 -1.61227313e-02 6.20168900e+02] [ 3.61222538e-02 9.99347321e-01 -3.40174870e-04 1.04784663e+01] [ 1.61244965e-02 -2.42480784e-04 9.99869962e-01 5.73248802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6292541539999 meters Centerline goodness [0,1] 0.9989342654957797 Centerline is valid? [True, True] Translation: X:620.20, Y:10.48, Z:5.73 [[ 9.99112190e-01 -3.90524457e-02 -1.58030889e-02 6.20200661e+02] [ 3.90520759e-02 9.99237122e-01 -3.32106377e-04 1.04785833e+01] [ 1.58040026e-02 -2.85331898e-04 9.99875068e-01 5.73458275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6592541539999 meters Centerline goodness [0,1] 0.9988928396533736 Centerline is valid? [True, True] Translation: X:620.23, Y:10.48, Z:5.73 [[ 9.99022045e-01 -4.13203513e-02 -1.57347750e-02 6.20231330e+02] [ 4.13202777e-02 9.99145898e-01 -3.29918226e-04 1.04768094e+01] [ 1.57349683e-02 -3.20569693e-04 9.99876146e-01 5.73497892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.689254154 meters Centerline goodness [0,1] 0.9988076734728639 Centerline is valid? [True, True] Translation: X:620.26, Y:10.47, Z:5.73 [[ 9.98820088e-01 -4.57367051e-02 -1.63274804e-02 6.20262570e+02] [ 4.57372275e-02 9.98953447e-01 -3.41609548e-04 1.04716702e+01] [ 1.63260169e-02 -4.05567208e-04 9.99866639e-01 5.73419743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7192541539999 meters Centerline goodness [0,1] 0.9987029831387808 Centerline is valid? [True, True] Translation: X:620.29, Y:10.47, Z:5.73 [[ 9.98720622e-01 -4.78206296e-02 -1.64409833e-02 6.20294604e+02] [ 4.78214582e-02 9.98855841e-01 -3.42963539e-04 1.04693963e+01] [ 1.64385729e-02 -4.43707036e-04 9.99864779e-01 5.73366513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7492541539999 meters Centerline goodness [0,1] 0.9988774040498178 Centerline is valid? [True, True] Translation: X:620.33, Y:10.47, Z:5.73 [[ 9.98509044e-01 -5.21803526e-02 -1.60280658e-02 6.20325771e+02] [ 5.21817136e-02 9.98637551e-01 -3.33572311e-04 1.04663473e+01] [ 1.60236343e-02 -5.03296970e-04 9.99871487e-01 5.73395422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7792541539999 meters Centerline goodness [0,1] 0.998875570170786 Centerline is valid? [True, True] Translation: X:620.36, Y:10.46, Z:5.73 [[ 9.98393707e-01 -5.43607731e-02 -1.59659718e-02 6.20357694e+02] [ 5.43624123e-02 9.98521216e-01 -3.31630819e-04 1.04645506e+01] [ 1.59603892e-02 -5.36850618e-04 9.99872481e-01 5.73419911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.809254154 meters Centerline goodness [0,1] 0.9989178407740621 Centerline is valid? [True, True] Translation: X:620.39, Y:10.46, Z:5.73 [[ 9.98276965e-01 -5.66330227e-02 -1.53558728e-02 6.20389612e+02] [ 5.66348243e-02 9.98394910e-01 -3.17870146e-04 1.04629537e+01] [ 1.53492272e-02 -5.52354711e-04 9.99882041e-01 5.73447179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.839254154 meters Centerline goodness [0,1] 0.9986667513173767 Centerline is valid? [True, True] Translation: X:620.42, Y:10.46, Z:5.73 [[ 9.98030578e-01 -6.07921427e-02 -1.54686845e-02 6.20419831e+02] [ 6.07944879e-02 9.98150253e-01 -3.19015095e-04 1.04591290e+01] [ 1.54594650e-02 -6.22023933e-04 9.99880302e-01 5.73441242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8692541539999 meters Centerline goodness [0,1] 0.9985576719127816 Centerline is valid? [True, True] Translation: X:620.45, Y:10.46, Z:5.73 [[ 9.97777370e-01 -6.46258800e-02 -1.62423908e-02 6.20451248e+02] [ 6.46289898e-02 9.97909306e-01 -3.33911803e-04 1.04555889e+01] [ 1.62300123e-02 -7.16559671e-04 9.99868028e-01 5.73323203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8992541539999 meters Centerline goodness [0,1] 0.9988351653006332 Centerline is valid? [True, True] Translation: X:620.48, Y:10.46, Z:5.73 [[ 9.97637307e-01 -6.64973023e-02 -1.72601599e-02 6.20483072e+02] [ 6.65011160e-02 9.97786288e-01 -3.53541621e-04 1.04560010e+01] [ 1.72454605e-02 -7.95113588e-04 9.99850970e-01 5.73310715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9292541539999 meters Centerline goodness [0,1] 0.9986434642531635 Centerline is valid? [True, True] Translation: X:620.51, Y:10.45, Z:5.73 [[ 9.97486549e-01 -6.86240318e-02 -1.76444618e-02 6.20514998e+02] [ 6.86283772e-02 9.97642229e-01 -3.59822775e-04 1.04549616e+01] [ 1.76275527e-02 -8.51992401e-04 9.99844260e-01 5.73263085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.959254154 meters Centerline goodness [0,1] 0.9986426299045599 Centerline is valid? [True, True] Translation: X:620.55, Y:10.45, Z:5.73 [[ 9.97349356e-01 -7.06348692e-02 -1.74635977e-02 6.20547011e+02] [ 7.06394524e-02 9.97501850e-01 -3.55047105e-04 1.04545321e+01] [ 1.74450497e-02 -8.79512977e-04 9.99847437e-01 5.73300226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9892541539999 meters Centerline goodness [0,1] 0.9986002417764205 Centerline is valid? [True, True] Translation: X:620.58, Y:10.45, Z:5.73 [[ 9.97094860e-01 -7.42559342e-02 -1.69675311e-02 6.20576871e+02] [ 7.42608036e-02 9.97238795e-01 -3.43760283e-04 1.04510136e+01] [ 1.69462065e-02 -9.17260886e-04 9.99855982e-01 5.73314291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0192541539999 meters Centerline goodness [0,1] 0.9986423419601188 Centerline is valid? [True, True] Translation: X:620.61, Y:10.45, Z:5.73 [[ 9.96998471e-01 -7.56777560e-02 -1.63379024e-02 6.20609177e+02] [ 7.56824795e-02 9.97131914e-01 -3.29868222e-04 1.04498521e+01] [ 1.63160076e-02 -9.07614849e-04 9.99866473e-01 5.73313122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0492541539999 meters Centerline goodness [0,1] 0.9986846292563912 Centerline is valid? [True, True] Translation: X:620.64, Y:10.45, Z:5.73 [[ 9.96815623e-01 -7.81284156e-02 -1.59550555e-02 6.20640549e+02] [ 7.81332470e-02 9.96942873e-01 -3.21262507e-04 1.04498240e+01] [ 1.59313786e-02 -9.26380808e-04 9.99872658e-01 5.73315425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.079254154 meters Centerline goodness [0,1] 0.9985366784722075 Centerline is valid? [True, True] Translation: X:620.67, Y:10.45, Z:5.73 [[ 9.96755900e-01 -7.89118641e-02 -1.58301575e-02 6.20671631e+02] [ 7.89167292e-02 9.96881161e-01 -3.18078423e-04 1.04488263e+01] [ 1.58058859e-02 -9.32217703e-04 9.99874645e-01 5.73318180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1092541539999 meters Centerline goodness [0,1] 0.998620221189157 Centerline is valid? [True, True] Translation: X:620.70, Y:10.45, Z:5.73 [[ 9.96719961e-01 -7.93488217e-02 -1.59086329e-02 6.20703347e+02] [ 7.93538061e-02 9.96846464e-01 -3.18683463e-04 1.04543652e+01] [ 1.58837516e-02 -9.44772404e-04 9.99873399e-01 5.73367650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1392541539999 meters Centerline goodness [0,1] 0.9988314778618169 Centerline is valid? [True, True] Translation: X:620.74, Y:10.46, Z:5.73 [[ 9.96775440e-01 -7.85240523e-02 -1.65134720e-02 6.20735803e+02] [ 7.85293305e-02 9.96911749e-01 -3.29565962e-04 1.04598571e+01] [ 1.64883531e-02 -9.68288641e-04 9.99863589e-01 5.73420855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1692541539999 meters Centerline goodness [0,1] 0.9986398894910211 Centerline is valid? [True, True] Translation: X:620.77, Y:10.46, Z:5.73 [[ 9.96852262e-01 -7.75164807e-02 -1.66361742e-02 6.20766986e+02] [ 7.75217160e-02 9.96990609e-01 -3.30919438e-04 1.04614721e+01] [ 1.66117612e-02 -9.59786985e-04 9.99861555e-01 5.73446234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.199254154 meters Centerline goodness [0,1] 0.998744867785649 Centerline is valid? [True, True] Translation: X:620.80, Y:10.47, Z:5.74 [[ 9.97055953e-01 -7.50225286e-02 -1.58444328e-02 6.20798445e+02] [ 7.50269768e-02 9.97181455e-01 -3.14325476e-04 1.04661894e+01] [ 1.58233561e-02 -8.75359809e-04 9.99874420e-01 5.73550100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2292541539999 meters Centerline goodness [0,1] 0.9988949806621615 Centerline is valid? [True, True] Translation: X:620.83, Y:10.47, Z:5.74 [[ 9.97166079e-01 -7.36350689e-02 -1.54171490e-02 6.20831105e+02] [ 7.36391356e-02 9.97284907e-01 -3.04516334e-04 1.04703368e+01] [ 1.53977130e-02 -8.31652165e-04 9.99881102e-01 5.73659205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2592541539999 meters Centerline goodness [0,1] 0.9988300112744368 Centerline is valid? [True, True] Translation: X:620.86, Y:10.46, Z:5.74 [[ 9.97274275e-01 -7.22891639e-02 -1.47749144e-02 6.20862354e+02] [ 7.22927741e-02 9.97383412e-01 -2.90297712e-04 1.04624311e+01] [ 1.47572399e-02 -7.78613109e-04 9.99890803e-01 5.73665929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2892541539999 meters Centerline goodness [0,1] 0.9988292142963577 Centerline is valid? [True, True] Translation: X:620.89, Y:10.48, Z:5.74 [[ 9.97471264e-01 -6.98399481e-02 -1.31704056e-02 6.20893206e+02] [ 6.98426115e-02 9.97557990e-01 -2.58170801e-04 1.04778831e+01] [ 1.31562740e-02 -6.62337570e-04 9.99913233e-01 5.73910598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.319254154 meters Centerline goodness [0,1] 0.998851723478002 Centerline is valid? [True, True] Translation: X:620.92, Y:10.48, Z:5.74 [[ 9.97589545e-01 -6.82319843e-02 -1.26291935e-02 6.20924823e+02] [ 6.82343120e-02 9.97669293e-01 -2.46988402e-04 1.04783652e+01] [ 1.26166110e-02 -6.15351278e-04 9.99920218e-01 5.73941509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3492541539999 meters Centerline goodness [0,1] 0.9988912107126103 Centerline is valid? [True, True] Translation: X:620.96, Y:10.48, Z:5.74 [[ 9.97818347e-01 -6.49470733e-02 -1.18500708e-02 6.20955580e+02] [ 6.49489002e-02 9.97888564e-01 -2.31016959e-04 1.04816588e+01] [ 1.18400540e-02 -5.39136103e-04 9.99929759e-01 5.73953043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3792541539999 meters Centerline goodness [0,1] 0.99882991171152 Centerline is valid? [True, True] Translation: X:620.99, Y:10.48, Z:5.74 [[ 9.97931878e-01 -6.31119729e-02 -1.22002211e-02 6.20987856e+02] [ 6.31137791e-02 9.98006310e-01 -2.37298713e-04 1.04842427e+01] [ 1.21908741e-02 -5.33194111e-04 9.99925546e-01 5.73954398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4092541539999 meters Centerline goodness [0,1] 0.9990164214847759 Centerline is valid? [True, True] Translation: X:621.02, Y:10.49, Z:5.74 [[ 9.98044826e-01 -6.13561731e-02 -1.19140961e-02 6.21019845e+02] [ 6.13577805e-02 9.98115810e-01 -2.30903650e-04 1.04918101e+01] [ 1.19058150e-02 -5.00570299e-04 9.99928998e-01 5.73991652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.439254154 meters Centerline goodness [0,1] 0.9989720526823 Centerline is valid? [True, True] Translation: X:621.05, Y:10.50, Z:5.74 [[ 9.98237267e-01 -5.81400320e-02 -1.19203613e-02 6.21050009e+02] [ 5.81414238e-02 9.98308330e-01 -2.30045345e-04 1.04951046e+01] [ 1.19135708e-02 -4.63426940e-04 9.99928924e-01 5.73976767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4692541539999 meters Centerline goodness [0,1] 0.9988427662173457 Centerline is valid? [True, True] Translation: X:621.08, Y:10.50, Z:5.74 [[ 9.98365101e-01 -5.59998288e-02 -1.14518213e-02 6.21081993e+02] [ 5.60009859e-02 9.98430689e-01 -2.19853720e-04 1.04975894e+01] [ 1.14461616e-02 -4.21819002e-04 9.99934402e-01 5.73869019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4992541539999 meters Centerline goodness [0,1] 0.9991010851186781 Centerline is valid? [True, True] Translation: X:621.11, Y:10.50, Z:5.74 [[ 9.98485147e-01 -5.38882938e-02 -1.11113919e-02 6.21113649e+02] [ 5.38892614e-02 9.98546895e-01 -2.12521164e-04 1.04974668e+01] [ 1.11066982e-02 -3.86585474e-04 9.99938244e-01 5.74028881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5292541539999 meters Centerline goodness [0,1] 0.9991423486781449 Centerline is valid? [True, True] Translation: X:621.15, Y:10.50, Z:5.74 [[ 9.98570425e-01 -5.23155203e-02 -1.09632442e-02 6.21145514e+02] [ 5.23163762e-02 9.98630539e-01 -2.08894749e-04 1.05037993e+01] [ 1.09591589e-02 -3.64961088e-04 9.99939880e-01 5.74041610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.559254154 meters Centerline goodness [0,1] 0.9989715901786862 Centerline is valid? [True, True] Translation: X:621.18, Y:10.51, Z:5.74 [[ 9.98757098e-01 -4.85642813e-02 -1.12146968e-02 6.21177006e+02] [ 4.85649494e-02 9.98820004e-01 -2.12909507e-04 1.05079923e+01] [ 1.12118033e-02 -3.31996302e-04 9.99937091e-01 5.73957763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.589254154 meters Centerline goodness [0,1] 0.9991417966487159 Centerline is valid? [True, True] Translation: X:621.21, Y:10.51, Z:5.74 [[ 9.98830012e-01 -4.69322172e-02 -1.16607651e-02 6.21208813e+02] [ 4.69328345e-02 9.98898023e-01 -2.20850966e-04 1.05102710e+01] [ 1.16582803e-02 -3.26680186e-04 9.99931987e-01 5.74043318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6192541539999 meters Centerline goodness [0,1] 0.9993555039958752 Centerline is valid? [True, True] Translation: X:621.24, Y:10.51, Z:5.74 [[ 9.98896909e-01 -4.54781978e-02 -1.16918633e-02 6.21241126e+02] [ 4.54787289e-02 9.98965283e-01 -2.20585509e-04 1.05120825e+01] [ 1.16897973e-02 -3.11388897e-04 9.99931623e-01 5.74105660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6492541539999 meters Centerline goodness [0,1] 0.999183041664875 Centerline is valid? [True, True] Translation: X:621.27, Y:10.51, Z:5.74 [[ 9.99086168e-01 -4.12806565e-02 -1.10786250e-02 6.21272331e+02] [ 4.12808832e-02 9.99147559e-01 -2.08307671e-04 1.05146665e+01] [ 1.10777802e-02 -2.49218110e-04 9.99938608e-01 5.73953069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6792541539999 meters Centerline goodness [0,1] 0.9991840415709347 Centerline is valid? [True, True] Translation: X:621.30, Y:10.51, Z:5.74 [[ 9.99148161e-01 -3.97036475e-02 -1.12504808e-02 6.21303753e+02] [ 3.97037865e-02 9.99211472e-01 -2.11083744e-04 1.05143326e+01] [ 1.12499902e-02 -2.35782752e-04 9.99936689e-01 5.74058600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.709254154 meters Centerline goodness [0,1] 0.9991191130972843 Centerline is valid? [True, True] Translation: X:621.34, Y:10.52, Z:5.74 [[ 9.99244395e-01 -3.71990405e-02 -1.12636686e-02 6.21335935e+02] [ 3.71990281e-02 9.99307854e-01 -2.10677482e-04 1.05177493e+01] [ 1.12637095e-02 -2.08479233e-04 9.99936541e-01 5.74073961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7392541539999 meters Centerline goodness [0,1] 0.9992881641105287 Centerline is valid? [True, True] Translation: X:621.37, Y:10.52, Z:5.74 [[ 9.99443244e-01 -3.15963104e-02 -1.07179675e-02 6.21367586e+02] [ 3.15959851e-02 9.99500702e-01 -1.99723851e-04 1.05230100e+01] [ 1.07189266e-02 -1.39032088e-04 9.99942541e-01 5.74172735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7692541539999 meters Centerline goodness [0,1] 0.9993100623099976 Centerline is valid? [True, True] Translation: X:621.40, Y:10.53, Z:5.74 [[ 9.99528940e-01 -2.88518691e-02 -1.04627093e-02 6.21399277e+02] [ 2.88514164e-02 9.99583692e-01 -1.94233860e-04 1.05258777e+01] [ 1.04639576e-02 -1.07721619e-04 9.99945245e-01 5.74252496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7992541539999 meters Centerline goodness [0,1] 0.9994162288382954 Centerline is valid? [True, True] Translation: X:621.43, Y:10.53, Z:5.74 [[ 9.99634979e-01 -2.49136462e-02 -1.04507564e-02 6.21431475e+02] [ 2.49129873e-02 9.99689605e-01 -1.93243088e-04 1.05285025e+01] [ 1.04523270e-02 -6.71870129e-05 9.99945371e-01 5.74273616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.829254154 meters Centerline goodness [0,1] 0.9993512671914194 Centerline is valid? [True, True] Translation: X:621.46, Y:10.53, Z:5.74 [[ 9.99657016e-01 -2.40158220e-02 -1.04446080e-02 6.21462748e+02] [ 2.40151229e-02 9.99711577e-01 -1.92371744e-04 1.05288096e+01] [ 1.04462155e-02 -5.85227808e-05 9.99945435e-01 5.74276010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8592541539999 meters Centerline goodness [0,1] 0.9992227643680642 Centerline is valid? [True, True] Translation: X:621.49, Y:10.53, Z:5.74 [[ 9.99671131e-01 -2.34588386e-02 -1.03591867e-02 6.21494240e+02] [ 2.34581268e-02 9.99724802e-01 -1.90228818e-04 1.05284684e+01] [ 1.03607984e-02 -5.28408574e-05 9.99946324e-01 5.74288129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8892541539999 meters Centerline goodness [0,1] 0.99926597582038 Centerline is valid? [True, True] Translation: X:621.53, Y:10.53, Z:5.74 [[ 9.99659344e-01 -2.39593284e-02 -1.03512008e-02 6.21526371e+02] [ 2.39586506e-02 9.99712932e-01 -1.89500895e-04 1.05274358e+01] [ 1.03527696e-02 -5.85644634e-05 9.99946407e-01 5.74305644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9192541539999 meters Centerline goodness [0,1] 0.9994604161270828 Centerline is valid? [True, True] Translation: X:621.56, Y:10.53, Z:5.74 [[ 9.99638211e-01 -2.48574985e-02 -1.02738007e-02 6.21558883e+02] [ 2.48568858e-02 9.99691002e-01 -1.87348488e-04 1.05267065e+01] [ 1.02752831e-02 -6.80939821e-05 9.99947206e-01 5.74335474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.949254154 meters Centerline goodness [0,1] 0.9991362556683222 Centerline is valid? [True, True] Translation: X:621.59, Y:10.52, Z:5.74 [[ 9.99599318e-01 -2.66604915e-02 -9.50901540e-03 6.21589689e+02] [ 2.66600541e-02 9.99644543e-01 -1.72773423e-04 1.05237756e+01] [ 9.51024157e-03 -8.08066693e-05 9.99954773e-01 5.74322580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9792541539999 meters Centerline goodness [0,1] 0.9990315916329517 Centerline is valid? [True, True] Translation: X:621.62, Y:10.52, Z:5.74 [[ 9.99572476e-01 -2.76394182e-02 -9.53565247e-03 6.21622137e+02] [ 2.76390278e-02 9.99617954e-01 -1.72743655e-04 1.05222376e+01] [ 9.53678394e-03 -9.08863606e-05 9.99954520e-01 5.74258791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0092541539999 meters Centerline goodness [0,1] 0.9991194158075601 Centerline is valid? [True, True] Translation: X:621.65, Y:10.52, Z:5.74 [[ 9.99540041e-01 -2.85975259e-02 -1.00939807e-02 6.21654194e+02] [ 2.85971449e-02 9.99591001e-01 -1.82108400e-04 1.05212060e+01] [ 1.00950601e-02 -1.06634391e-04 9.99949038e-01 5.74231034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0392541539999 meters Centerline goodness [0,1] 0.9993157860976287 Centerline is valid? [True, True] Translation: X:621.69, Y:10.52, Z:5.74 [[ 9.99459580e-01 -3.08432790e-02 -1.13683494e-02 6.21685458e+02] [ 3.08429508e-02 9.99524222e-01 -2.04234999e-04 1.05178222e+01] [ 1.13692399e-02 -1.46508815e-04 9.99935357e-01 5.74119206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.069254154 meters Centerline goodness [0,1] 0.9993777625198472 Centerline is valid? [True, True] Translation: X:621.72, Y:10.52, Z:5.74 [[ 9.99407118e-01 -3.23393686e-02 -1.18142669e-02 6.21716891e+02] [ 3.23391263e-02 9.99476931e-01 -2.11597412e-04 1.05162420e+01] [ 1.18149302e-02 -1.70591111e-04 9.99930187e-01 5.74093700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0992541539999 meters Centerline goodness [0,1] 0.9992066044816125 Centerline is valid? [True, True] Translation: X:621.75, Y:10.51, Z:5.74 [[ 9.99309978e-01 -3.52077697e-02 -1.18313846e-02 6.21749136e+02] [ 3.52077356e-02 9.99379993e-01 -2.11236182e-04 1.05145808e+01] [ 1.18314862e-02 -2.05465836e-04 9.99929984e-01 5.74155508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1292541539999 meters Centerline goodness [0,1] 0.9989708184137739 Centerline is valid? [True, True] Translation: X:621.78, Y:10.51, Z:5.74 [[ 9.99249632e-01 -3.69822898e-02 -1.15101270e-02 6.21781475e+02] [ 3.69823845e-02 9.99315897e-01 -2.04687188e-04 1.05142427e+01] [ 1.15098227e-02 -2.21138347e-04 9.99933735e-01 5.74177046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1592541539999 meters Centerline goodness [0,1] 0.999100507570728 Centerline is valid? [True, True] Translation: X:621.81, Y:10.51, Z:5.74 [[ 9.99174867e-01 -3.88669848e-02 -1.17873650e-02 6.21814056e+02] [ 3.88672257e-02 9.99244362e-01 -2.08727263e-04 1.05128951e+01] [ 1.17865706e-02 -2.49587141e-04 9.99930505e-01 5.74188221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.189254154 meters Centerline goodness [0,1] 0.9989311671654553 Centerline is valid? [True, True] Translation: X:621.85, Y:10.51, Z:5.74 [[ 9.99076954e-01 -4.12485292e-02 -1.19916065e-02 6.21845624e+02] [ 4.12489602e-02 9.99148877e-01 -2.11486504e-04 1.05088426e+01] [ 1.19901237e-02 -2.83350008e-04 9.99928076e-01 5.74165464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2192541539999 meters Centerline goodness [0,1] 0.9989523198631601 Centerline is valid? [True, True] Translation: X:621.88, Y:10.50, Z:5.74 [[ 9.98892482e-01 -4.54785533e-02 -1.20627586e-02 6.21876809e+02] [ 4.54793075e-02 9.98965259e-01 -2.11926543e-04 1.05039438e+01] [ 1.20599148e-02 -3.36914075e-04 9.99927220e-01 5.74064220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2492541539999 meters Centerline goodness [0,1] 0.998995983935743 Centerline is valid? [True, True] Translation: X:621.91, Y:10.50, Z:5.74 [[ 9.98797270e-01 -4.74520533e-02 -1.23416208e-02 6.21909064e+02] [ 4.74530087e-02 9.98873448e-01 -2.15575695e-04 1.05047337e+01] [ 1.23379469e-02 -3.70330625e-04 9.99923816e-01 5.74119446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2792541539999 meters Centerline goodness [0,1] 0.9990166317499679 Centerline is valid? [True, True] Translation: X:621.94, Y:10.50, Z:5.74 [[ 9.98713103e-01 -4.92626074e-02 -1.20554074e-02 6.21941672e+02] [ 4.92636612e-02 9.98785787e-01 -2.09709114e-04 1.05038249e+01] [ 1.20511004e-02 -3.84454267e-04 9.99927309e-01 5.74136515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.309254154 meters Centerline goodness [0,1] 0.9991658646134103 Centerline is valid? [True, True] Translation: X:621.97, Y:10.50, Z:5.74 [[ 9.98546709e-01 -5.24907672e-02 -1.22143326e-02 6.21972504e+02] [ 5.24920999e-02 9.98621317e-01 -2.11671123e-04 1.05008933e+01] [ 1.22086037e-02 -4.29792465e-04 9.99925380e-01 5.74126090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.339254154 meters Centerline goodness [0,1] 0.998951624981279 Centerline is valid? [True, True] Translation: X:622.00, Y:10.50, Z:5.74 [[ 9.98463919e-01 -5.38951275e-02 -1.28498139e-02 6.22004405e+02] [ 5.38967266e-02 9.98546490e-01 -2.22069997e-04 1.04997255e+01] [ 1.28431050e-02 -4.70834024e-04 9.99917413e-01 5.74123997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3692541539999 meters Centerline goodness [0,1] 0.998973525512168 Centerline is valid? [True, True] Translation: X:622.04, Y:10.50, Z:5.74 [[ 9.98293007e-01 -5.67875318e-02 -1.36472609e-02 6.22035155e+02] [ 5.67896225e-02 9.98386140e-01 -2.34593756e-04 1.04968432e+01] [ 1.36385581e-02 -5.40829490e-04 9.99906844e-01 5.74010418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3992541539999 meters Centerline goodness [0,1] 0.998973525512168 Centerline is valid? [True, True] Translation: X:622.07, Y:10.50, Z:5.74 [[ 9.98299104e-01 -5.66802412e-02 -1.36472888e-02 6.22067716e+02] [ 5.66823442e-02 9.98392236e-01 -2.32960593e-04 1.04973060e+01] [ 1.36385515e-02 -5.40995972e-04 9.99906844e-01 5.74040888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4292541539999 meters Centerline goodness [0,1] 0.9991665776258147 Centerline is valid? [True, True] Translation: X:622.10, Y:10.50, Z:5.74 [[ 9.98226315e-01 -5.77783267e-02 -1.43488343e-02 6.22100157e+02] [ 5.77807851e-02 9.98329265e-01 -2.43521280e-04 1.04970087e+01] [ 1.43389314e-02 -5.85997561e-04 9.99897021e-01 5.74010263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.459254154 meters Centerline goodness [0,1] 0.998869212716023 Centerline is valid? [True, True] Translation: X:622.13, Y:10.50, Z:5.74 [[ 9.98159547e-01 -5.88112363e-02 -1.47904237e-02 6.22131686e+02] [ 5.88139760e-02 9.98268929e-01 -2.50036620e-04 1.04958466e+01] [ 1.47795254e-02 -6.20307185e-04 9.99890584e-01 5.73996763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4892541539999 meters Centerline goodness [0,1] 0.9991250346785036 Centerline is valid? [True, True] Translation: X:622.16, Y:10.50, Z:5.74 [[ 9.98041735e-01 -6.05981199e-02 -1.55100712e-02 6.22163423e+02] [ 6.06013613e-02 9.98162014e-01 -2.61353789e-04 1.04957099e+01] [ 1.54974014e-02 -6.79089438e-04 9.99879677e-01 5.74000746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5192541539999 meters Centerline goodness [0,1] 0.9989964127092587 Centerline is valid? [True, True] Translation: X:622.20, Y:10.50, Z:5.74 [[ 9.97958405e-01 -6.17449128e-02 -1.63275306e-02 6.22195096e+02] [ 6.17486727e-02 9.98091692e-01 -2.74238534e-04 1.04962669e+01] [ 1.63133055e-02 -7.34524695e-04 9.99866659e-01 5.73965362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5492541539999 meters Centerline goodness [0,1] 0.9990188341189771 Centerline is valid? [True, True] Translation: X:622.23, Y:10.50, Z:5.74 [[ 9.97925701e-01 -6.21594380e-02 -1.67481303e-02 6.22227347e+02] [ 6.21634699e-02 9.98065942e-01 -2.80255127e-04 1.05006237e+01] [ 1.67331589e-02 -7.61448098e-04 9.99859701e-01 5.74010826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.579254154 meters Centerline goodness [0,1] 0.9991055265679907 Centerline is valid? [True, True] Translation: X:622.26, Y:10.50, Z:5.74 [[ 9.97906029e-01 -6.24482003e-02 -1.68457505e-02 6.22259253e+02] [ 6.24523415e-02 9.98047908e-01 -2.80638619e-04 1.05031270e+01] [ 1.68303914e-02 -7.72005591e-04 9.99858061e-01 5.74060575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6092541539999 meters Centerline goodness [0,1] 0.99908444406592 Centerline is valid? [True, True] Translation: X:622.29, Y:10.50, Z:5.74 [[ 9.97915272e-01 -6.23909229e-02 -1.65070484e-02 6.22292025e+02] [ 6.23949158e-02 9.98051502e-01 -2.73509683e-04 1.05031578e+01] [ 1.64919489e-02 -7.57016403e-04 9.99863712e-01 5.74059989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6392541539999 meters Centerline goodness [0,1] 0.9991904386544238 Centerline is valid? [True, True] Translation: X:622.32, Y:10.50, Z:5.74 [[ 9.98006055e-01 -6.11662525e-02 -1.55757472e-02 6.22323628e+02] [ 6.11696884e-02 9.98127348e-01 -2.56171861e-04 1.05022272e+01] [ 1.55622483e-02 -6.97102535e-04 9.99878658e-01 5.74088891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6692541539999 meters Centerline goodness [0,1] 0.9990185619799445 Centerline is valid? [True, True] Translation: X:622.36, Y:10.50, Z:5.74 [[ 9.98089341e-01 -5.98435450e-02 -1.53758953e-02 6.22355047e+02] [ 5.98467625e-02 9.98207545e-01 -2.51199577e-04 1.05036033e+01] [ 1.53633674e-02 -6.69477933e-04 9.99881752e-01 5.74154096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.699254154 meters Centerline goodness [0,1] 0.999059889323334 Centerline is valid? [True, True] Translation: X:622.39, Y:10.51, Z:5.74 [[ 9.98298562e-01 -5.64090123e-02 -1.47649853e-02 6.22386253e+02] [ 5.64116141e-02 9.98407568e-01 -2.40539871e-04 1.05131963e+01] [ 1.47550417e-02 -5.92786046e-04 9.99890963e-01 5.74312174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7292541539999 meters Centerline goodness [0,1] 0.9993806462635884 Centerline is valid? [True, True] Translation: X:622.42, Y:10.52, Z:5.74 [[ 9.98410315e-01 -5.44256326e-02 -1.46524163e-02 6.22417530e+02] [ 5.44279909e-02 9.98517670e-01 -2.38066219e-04 1.05153731e+01] [ 1.46436535e-02 -5.59813810e-04 9.99892619e-01 5.74396915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7592541539999 meters Centerline goodness [0,1] 0.9992727117157586 Centerline is valid? [True, True] Translation: X:622.45, Y:10.52, Z:5.74 [[ 9.98526593e-01 -5.23309060e-02 -1.43568699e-02 6.22450006e+02] [ 5.23329665e-02 9.98629664e-01 -2.32388629e-04 1.05188838e+01] [ 1.43493573e-02 -5.19291367e-04 9.99896908e-01 5.74457369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7892541539999 meters Centerline goodness [0,1] 0.9993352204494768 Centerline is valid? [True, True] Translation: X:622.48, Y:10.52, Z:5.74 [[ 9.98692075e-01 -4.90299430e-02 -1.44984484e-02 6.22481263e+02] [ 4.90317097e-02 9.98797195e-01 -2.33794613e-04 1.05228356e+01] [ 1.44924725e-02 -4.77394885e-04 9.99894865e-01 5.74427848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.819254154 meters Centerline goodness [0,1] 0.9998070036240431 Centerline is valid? [True, True] Translation: X:622.51, Y:10.53, Z:5.74 [[ 9.98782548e-01 -4.71241838e-02 -1.45854059e-02 6.22513482e+02] [ 4.71257794e-02 9.98888936e-01 -2.34468129e-04 1.05251778e+01] [ 1.45802497e-02 -4.53165946e-04 9.99893600e-01 5.74444347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8492541539999 meters Centerline goodness [0,1] 0.9998282561559434 Centerline is valid? [True, True] Translation: X:622.54, Y:10.53, Z:5.74 [[ 9.98873607e-01 -4.50084685e-02 -1.50251158e-02 6.22544497e+02] [ 4.50099379e-02 9.98986510e-01 -2.40523080e-04 1.05264590e+01] [ 1.50207135e-02 -4.36027371e-04 9.99887088e-01 5.74428021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8792541539999 meters Centerline goodness [0,1] 0.9996986720044768 Centerline is valid? [True, True] Translation: X:622.58, Y:10.53, Z:5.74 [[ 9.99046853e-01 -4.07548744e-02 -1.56341411e-02 6.22575445e+02] [ 4.07559566e-02 9.99169100e-01 -2.49519718e-04 1.05317567e+01] [ 1.56313198e-02 -3.87902487e-04 9.99877748e-01 5.74436076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9092541539999 meters Centerline goodness [0,1] 0.9997631454287068 Centerline is valid? [True, True] Translation: X:622.61, Y:10.54, Z:5.74 [[ 9.99128845e-01 -3.85565123e-02 -1.59670151e-02 6.22607245e+02] [ 3.85573736e-02 9.99256356e-01 -2.54012620e-04 1.05357494e+01] [ 1.59649352e-02 -3.61854830e-04 9.99872487e-01 5.74466398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.939254154 meters Centerline goodness [0,1] 0.999697682955797 Centerline is valid? [True, True] Translation: X:622.64, Y:10.54, Z:5.74 [[ 9.99306003e-01 -3.33012781e-02 -1.66894521e-02 6.22638987e+02] [ 3.33015050e-02 9.99445316e-01 -2.64389048e-04 1.05417391e+01] [ 1.66889992e-02 -2.91578308e-04 9.99860686e-01 5.74484869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9692541539999 meters Centerline goodness [0,1] 0.9995888424833914 Centerline is valid? [True, True] Translation: X:622.67, Y:10.54, Z:5.74 [[ 9.99388486e-01 -3.05632916e-02 -1.69864301e-02 6.22670133e+02] [ 3.05631474e-02 9.99532802e-01 -2.68149389e-04 1.05438046e+01] [ 1.69866896e-02 -2.51173355e-04 9.99855684e-01 5.74482799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9992541539999 meters Centerline goodness [0,1] 0.9997182732316228 Centerline is valid? [True, True] Translation: X:622.70, Y:10.55, Z:5.75 [[ 9.99468188e-01 -2.74322835e-02 -1.76298114e-02 6.22701646e+02] [ 2.74316558e-02 9.99623643e-01 -2.77474286e-04 1.05475262e+01] [ 1.76307880e-02 -2.06288197e-04 9.99844544e-01 5.74544209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0292541539999 meters Centerline goodness [0,1] 0.9996090441128559 Centerline is valid? [True, True] Translation: X:622.73, Y:10.55, Z:5.75 [[ 9.99592981e-01 -2.18644140e-02 -1.83253628e-02 6.22732147e+02] [ 2.18628067e-02 9.99760939e-01 -2.88069276e-04 1.05530384e+01] [ 1.83272804e-02 -1.12691838e-04 9.99832035e-01 5.74572111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0592541539999 meters Centerline goodness [0,1] 0.9997388920318552 Centerline is valid? [True, True] Translation: X:622.76, Y:10.56, Z:5.75 [[ 9.99672005e-01 -1.73455537e-02 -1.88418136e-02 6.22761953e+02] [ 1.73430453e-02 9.99849554e-01 -2.96532470e-04 1.05584906e+01] [ 1.88441224e-02 -3.03392183e-05 9.99822433e-01 5.74640733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.089254154 meters Centerline goodness [0,1] 0.9998694545375427 Centerline is valid? [True, True] Translation: X:622.79, Y:10.56, Z:5.75 [[ 9.99699108e-01 -1.56549790e-02 -1.88842448e-02 6.22789516e+02] [ 1.56520981e-02 9.99877453e-01 -3.00358362e-04 1.05610378e+01] [ 1.88866327e-02 4.68993577e-06 9.99821632e-01 5.74736414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1192541539999 meters Centerline goodness [0,1] 0.9999564403014332 Centerline is valid? [True, True] Translation: X:622.82, Y:10.56, Z:5.75 [[ 9.99748401e-01 -1.29697876e-02 -1.83008195e-02 6.22816403e+02] [ 1.29665482e-02 9.99915887e-01 -2.95663188e-04 1.05643643e+01] [ 1.83031149e-02 5.82903415e-05 9.99832482e-01 5.74830994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1492541539999 meters Centerline goodness [0,1] 0.999890941610138 Centerline is valid? [True, True] Translation: X:622.84, Y:10.57, Z:5.75 [[ 9.99748480e-01 -1.24681546e-02 -1.86419534e-02 6.22844463e+02] [ 1.24646175e-02 9.99922267e-01 -3.05922825e-04 1.05656567e+01] [ 1.86443186e-02 7.34810599e-05 9.99826177e-01 5.74896408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:622.87, Y:10.57, Z:5.75 [[ 9.99748859e-01 -1.24190549e-02 -1.86543706e-02 6.22872369e+02] [ 1.24154026e-02 9.99922877e-01 -3.11590772e-04 1.05669115e+01] [ 1.86568016e-02 7.99109973e-05 9.99825944e-01 5.74943239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.209254154 meters Centerline goodness [0,1] 0.99993462912926 Centerline is valid? [True, True] Translation: X:622.90, Y:10.57, Z:5.75 [[ 9.99738457e-01 -1.28540083e-02 -1.89153961e-02 6.22899033e+02] [ 1.28502555e-02 9.99917381e-01 -3.19936482e-04 1.05689020e+01] [ 1.89179458e-02 7.67851328e-05 9.99821037e-01 5.75008224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:622.93, Y:10.57, Z:5.75 [[ 9.99723191e-01 -1.32510530e-02 -1.94409727e-02 6.22926370e+02] [ 1.32471225e-02 9.99912198e-01 -3.30948885e-04 1.05701949e+01] [ 1.94436512e-02 7.33203285e-05 9.99810952e-01 5.75006249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:622.95, Y:10.57, Z:5.75 [[ 9.99719112e-01 -1.34799780e-02 -1.94932541e-02 6.22953739e+02] [ 1.34760291e-02 9.99909138e-01 -3.33924966e-04 1.05708331e+01] [ 1.94959842e-02 7.11395105e-05 9.99809933e-01 5.75038053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:622.98, Y:10.57, Z:5.75 [[ 9.99676734e-01 -1.50596535e-02 -2.04849615e-02 6.22981401e+02] [ 1.50555355e-02 9.99886596e-01 -3.55241945e-04 1.05701087e+01] [ 2.04879883e-02 4.67150424e-05 9.99790098e-01 5.75047264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.329254154 meters Centerline goodness [0,1] 0.9999564070707732 Centerline is valid? [True, True] Translation: X:623.01, Y:10.57, Z:5.75 [[ 9.99645413e-01 -1.61800083e-02 -2.11484101e-02 6.23009426e+02] [ 1.61757425e-02 9.99869095e-01 -3.72767379e-04 1.05700489e+01] [ 2.11516731e-02 3.05439634e-05 9.99776278e-01 5.75049430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3592541539999 meters Centerline goodness [0,1] 0.9999564023193966 Centerline is valid? [True, True] Translation: X:623.04, Y:10.57, Z:5.75 [[ 9.99633864e-01 -1.69430864e-02 -2.10966800e-02 6.23036296e+02] [ 1.69389259e-02 9.99856455e-01 -3.75904239e-04 1.05702811e+01] [ 2.11000206e-02 1.84115084e-05 9.99777370e-01 5.75086372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3892541539999 meters Centerline goodness [0,1] 0.9997821255828141 Centerline is valid? [True, True] Translation: X:623.06, Y:10.57, Z:5.75 [[ 9.99606370e-01 -1.79127529e-02 -2.15925337e-02 6.23063188e+02] [ 1.79085452e-02 9.99839554e-01 -3.88238030e-04 1.05703779e+01] [ 2.15960237e-02 1.39434273e-06 9.99766779e-01 5.75175649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4192541539999 meters Centerline goodness [0,1] 0.9998691984042205 Centerline is valid? [True, True] Translation: X:623.09, Y:10.57, Z:5.75 [[ 9.99588225e-01 -1.87202753e-02 -2.17469928e-02 6.23091087e+02] [ 1.87160822e-02 9.99824760e-01 -3.96348694e-04 1.05706296e+01] [ 2.17506016e-02 -1.08330169e-05 9.99763428e-01 5.75310925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.449254154 meters Centerline goodness [0,1] 0.9996735511110144 Centerline is valid? [True, True] Translation: X:623.12, Y:10.57, Z:5.75 [[ 9.99575150e-01 -1.92086385e-02 -2.19213973e-02 6.23118085e+02] [ 1.92044021e-02 9.99815497e-01 -4.03773760e-04 1.05706194e+01] [ 2.19251087e-02 -1.73851119e-05 9.99759616e-01 5.75325868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4792541539999 meters Centerline goodness [0,1] 0.9996082357550168 Centerline is valid? [True, True] Translation: X:623.15, Y:10.57, Z:5.75 [[ 9.99567885e-01 -1.92533891e-02 -2.22115076e-02 6.23145839e+02] [ 1.92489446e-02 9.99814636e-01 -4.13901705e-04 1.05710655e+01] [ 2.22153594e-02 -1.38252278e-05 9.99753208e-01 5.75374369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5092541539999 meters Centerline goodness [0,1] 0.9995865790504374 Centerline is valid? [True, True] Translation: X:623.17, Y:10.57, Z:5.76 [[ 9.99574481e-01 -1.83040454e-02 -2.27116323e-02 6.23173808e+02] [ 1.82990045e-02 9.99832467e-01 -4.29778053e-04 1.05711139e+01] [ 2.27156940e-02 1.39949132e-05 9.99741965e-01 5.75503224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5392541539999 meters Centerline goodness [0,1] 0.999586758884684 Centerline is valid? [True, True] Translation: X:623.20, Y:10.57, Z:5.75 [[ 9.99587060e-01 -1.72536547e-02 -2.29787235e-02 6.23201202e+02] [ 1.72480892e-02 9.99851144e-01 -4.40390884e-04 1.05713836e+01] [ 2.29829013e-02 4.38699569e-05 9.99735857e-01 5.75453909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.569254154 meters Centerline goodness [0,1] 0.999695824099422 Centerline is valid? [True, True] Translation: X:623.23, Y:10.57, Z:5.76 [[ 9.99599855e-01 -1.65933466e-02 -2.29083134e-02 6.23228580e+02] [ 1.65875089e-02 9.99862319e-01 -4.44837010e-04 1.05718754e+01] [ 2.29125407e-02 6.46671572e-05 9.99737471e-01 5.75563811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5992541539999 meters Centerline goodness [0,1] 0.999609358045054 Centerline is valid? [True, True] Translation: X:623.26, Y:10.57, Z:5.75 [[ 9.99626780e-01 -1.48333742e-02 -2.29406189e-02 6.23256699e+02] [ 1.48269522e-02 9.99889973e-01 -4.50016650e-04 1.05733474e+01] [ 2.29447701e-02 1.09709235e-04 9.99736728e-01 5.75430877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6292541539999 meters Centerline goodness [0,1] 0.9998048738184026 Centerline is valid? [True, True] Translation: X:623.29, Y:10.57, Z:5.76 [[ 9.99632473e-01 -1.40740975e-02 -2.31697862e-02 6.23285403e+02] [ 1.40672339e-02 9.99900946e-01 -4.59200129e-04 1.05734075e+01] [ 2.31739540e-02 1.33096559e-04 9.99731439e-01 5.75732883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6592541539999 meters Centerline goodness [0,1] 0.9996742953923655 Centerline is valid? [True, True] Translation: X:623.31, Y:10.57, Z:5.76 [[ 9.99621212e-01 -1.36963776e-02 -2.38713396e-02 6.23313707e+02] [ 1.36888977e-02 9.99906189e-01 -4.76730064e-04 1.05739390e+01] [ 2.38756297e-02 1.49777159e-04 9.99714925e-01 5.75742813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.689254154 meters Centerline goodness [0,1] 0.999610144896147 Centerline is valid? [True, True] Translation: X:623.34, Y:10.57, Z:5.76 [[ 9.99601159e-01 -1.34973827e-02 -2.48061128e-02 6.23341452e+02] [ 1.34891901e-02 9.99908893e-01 -4.97579124e-04 1.05740199e+01] [ 2.48105688e-02 1.62766299e-04 9.99692157e-01 5.75708808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7192541539999 meters Centerline goodness [0,1] 0.9995236548662986 Centerline is valid? [True, True] Translation: X:623.37, Y:10.57, Z:5.76 [[ 9.99580550e-01 -1.38866310e-02 -2.54142806e-02 6.23370384e+02] [ 1.38780383e-02 9.99903563e-01 -5.14460512e-04 1.05716046e+01] [ 2.54189738e-02 1.61544362e-04 9.99676873e-01 5.75637476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7492541539999 meters Centerline goodness [0,1] 0.9995454151874621 Centerline is valid? [True, True] Translation: X:623.40, Y:10.57, Z:5.76 [[ 9.99504522e-01 -1.65789977e-02 -2.67553090e-02 6.23398888e+02] [ 1.65702630e-02 9.99862554e-01 -5.48158883e-04 1.05676083e+01] [ 2.67607195e-02 1.04544775e-04 9.99641862e-01 5.75605358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7792541539999 meters Centerline goodness [0,1] 0.9992000172969233 Centerline is valid? [True, True] Translation: X:623.43, Y:10.57, Z:5.76 [[ 9.99454732e-01 -1.86406344e-02 -2.72537196e-02 6.23425411e+02] [ 1.86322167e-02 9.99826247e-01 -5.62798638e-04 1.05658931e+01] [ 2.72594751e-02 5.46945512e-05 9.99628390e-01 5.75590686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8092541539999 meters Centerline goodness [0,1] 0.9994386389152776 Centerline is valid? [True, True] Translation: X:623.45, Y:10.56, Z:5.76 [[ 9.99416454e-01 -2.06352997e-02 -2.72201368e-02 6.23453440e+02] [ 2.06274806e-02 9.99787070e-01 -5.68048184e-04 1.05642564e+01] [ 2.72260627e-02 6.23385798e-06 9.99629302e-01 5.75628687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.839254154 meters Centerline goodness [0,1] 0.9990279307886721 Centerline is valid? [True, True] Translation: X:623.48, Y:10.56, Z:5.76 [[ 9.99362786e-01 -2.30441351e-02 -2.72578489e-02 6.23481598e+02] [ 2.30369893e-02 9.99734447e-01 -5.76197302e-04 1.05625372e+01] [ 2.72638884e-02 -5.21086307e-05 9.99628270e-01 5.75694651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8692541539999 meters Centerline goodness [0,1] 0.9991609835853968 Centerline is valid? [True, True] Translation: X:623.51, Y:10.56, Z:5.76 [[ 9.99248471e-01 -2.72308779e-02 -2.75857180e-02 6.23510444e+02] [ 2.72249560e-02 9.99629158e-01 -5.90301580e-04 1.05579408e+01] [ 2.75915625e-02 -1.61162008e-04 9.99619267e-01 5.75975322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8992541539999 meters Centerline goodness [0,1] 0.9992264053635895 Centerline is valid? [True, True] Translation: X:623.54, Y:10.56, Z:5.76 [[ 9.99178971e-01 -2.94548614e-02 -2.78171602e-02 6.23539059e+02] [ 2.94495047e-02 9.99566088e-01 -6.02316311e-04 1.05557532e+01] [ 2.78228312e-02 -2.17379800e-04 9.99612846e-01 5.75983546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9292541539999 meters Centerline goodness [0,1] 0.999249361957664 Centerline is valid? [True, True] Translation: X:623.57, Y:10.55, Z:5.76 [[ 9.99061863e-01 -3.34917723e-02 -2.74535148e-02 6.23568201e+02] [ 3.34878889e-02 9.99438942e-01 -6.01337478e-04 1.05514349e+01] [ 2.74582516e-02 -3.18586912e-04 9.99622900e-01 5.76032149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.959254154 meters Centerline goodness [0,1] 0.99914262442663 Centerline is valid? [True, True] Translation: X:623.60, Y:10.55, Z:5.76 [[ 9.99001187e-01 -3.54260267e-02 -2.72327777e-02 6.23596580e+02] [ 3.54228162e-02 9.99372235e-01 -6.00453618e-04 1.05495708e+01] [ 2.72369536e-02 -3.64807801e-04 9.99628939e-01 5.76113276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9892541539999 meters Centerline goodness [0,1] 0.9992502142245073 Centerline is valid? [True, True] Translation: X:623.63, Y:10.55, Z:5.76 [[ 9.98956081e-01 -3.72424800e-02 -2.64527044e-02 6.23625098e+02] [ 3.72400413e-02 9.99306178e-01 -5.84993297e-04 1.05471048e+01] [ 2.64561375e-02 -4.00717191e-04 9.99649895e-01 5.76136978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0192541539999 meters Centerline goodness [0,1] 0.9990604915337475 Centerline is valid? [True, True] Translation: X:623.65, Y:10.54, Z:5.76 [[ 9.98882200e-01 -3.94969898e-02 -2.59680120e-02 6.23654057e+02] [ 3.94953573e-02 9.99219588e-01 -5.75957102e-04 1.05429449e+01] [ 2.59704948e-02 -4.50302615e-04 9.99662608e-01 5.76179626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0492541539999 meters Centerline goodness [0,1] 0.9990827058045524 Centerline is valid? [True, True] Translation: X:623.68, Y:10.54, Z:5.76 [[ 9.98850216e-01 -4.01930624e-02 -2.61297650e-02 6.23684867e+02] [ 4.01916299e-02 9.99191822e-01 -5.80218938e-04 1.05421736e+01] [ 2.61319682e-02 -4.70646032e-04 9.99658391e-01 5.76265619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.079254154 meters Centerline goodness [0,1] 0.9990826079535757 Centerline is valid? [True, True] Translation: X:623.71, Y:10.54, Z:5.76 [[ 9.98875401e-01 -3.94405455e-02 -2.63130570e-02 6.23714092e+02] [ 3.94388241e-02 9.99221816e-01 -5.84587577e-04 1.05407653e+01] [ 2.63156371e-02 -4.53825875e-04 9.99653581e-01 5.76299352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1092541539999 meters Centerline goodness [0,1] 0.9989969909729187 Centerline is valid? [True, True] Translation: X:623.74, Y:10.54, Z:5.76 [[ 9.98926794e-01 -3.83683576e-02 -2.59447215e-02 6.23744167e+02] [ 3.83663033e-02 9.99263576e-01 -5.77146753e-04 1.05415074e+01] [ 2.59477594e-02 -4.18875699e-04 9.99663212e-01 5.76352849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1392541539999 meters Centerline goodness [0,1] 0.9987601804151258 Centerline is valid? [True, True] Translation: X:623.77, Y:10.54, Z:5.77 [[ 9.98961745e-01 -3.70011812e-02 -2.65771524e-02 6.23774104e+02] [ 3.69985161e-02 9.99315145e-01 -5.92183778e-04 1.05437351e+01] [ 2.65808624e-02 -3.91746260e-04 9.99646590e-01 5.76523094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1692541539999 meters Centerline goodness [0,1] 0.9988676423459032 Centerline is valid? [True, True] Translation: X:623.80, Y:10.54, Z:5.76 [[ 9.99050534e-01 -3.32599825e-02 -2.81390199e-02 6.23802745e+02] [ 3.32554724e-02 9.99446686e-01 -6.28374381e-04 1.05440713e+01] [ 2.81443499e-02 -3.07998637e-04 9.99603822e-01 5.76423878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.199254154 meters Centerline goodness [0,1] 0.9989342882110962 Centerline is valid? [True, True] Translation: X:623.83, Y:10.55, Z:5.76 [[ 9.99090172e-01 -3.16499591e-02 -2.85851117e-02 6.23831076e+02] [ 3.16444701e-02 9.99498981e-01 -6.44490443e-04 1.05453281e+01] [ 2.85911881e-02 -2.60656642e-04 9.99591154e-01 5.76482420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2292541539999 meters Centerline goodness [0,1] 0.9988467206287508 Centerline is valid? [True, True] Translation: X:623.86, Y:10.55, Z:5.76 [[ 9.99129810e-01 -2.95729402e-02 -2.94119764e-02 6.23858387e+02] [ 2.95660713e-02 9.99562605e-01 -6.68503123e-04 1.05467157e+01] [ 2.94188814e-02 -2.01675193e-04 9.99567151e-01 5.76445060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2592541539999 meters Centerline goodness [0,1] 0.9989141774361813 Centerline is valid? [True, True] Translation: X:623.89, Y:10.55, Z:5.76 [[ 9.99165892e-01 -2.76975111e-02 -3.00061479e-02 6.23886533e+02] [ 2.76893015e-02 9.99616340e-01 -6.89160151e-04 1.05482909e+01] [ 3.00137238e-02 -1.42263961e-04 9.99549477e-01 5.76463069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2892541539999 meters Centerline goodness [0,1] 0.9989141774361813 Centerline is valid? [True, True] Translation: X:623.91, Y:10.55, Z:5.76 [[ 9.99157895e-01 -2.79847127e-02 -3.00059482e-02 6.23913920e+02] [ 2.79763736e-02 9.99608341e-01 -6.97783608e-04 1.05489971e+01] [ 3.00137234e-02 -1.42261618e-04 9.99549477e-01 5.76488819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.319254154 meters Centerline goodness [0,1] 0.9989535504538174 Centerline is valid? [True, True] Translation: X:623.94, Y:10.55, Z:5.77 [[ 9.99240165e-01 -2.43835758e-02 -3.04061371e-02 6.23941992e+02] [ 2.43730761e-02 9.99702676e-01 -7.15956287e-04 1.05507950e+01] [ 3.04145542e-02 -2.56788148e-05 9.99537370e-01 5.76636529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3492541539999 meters Centerline goodness [0,1] 0.9990187503999659 Centerline is valid? [True, True] Translation: X:623.97, Y:10.55, Z:5.77 [[ 9.99287775e-01 -2.24118268e-02 -3.03587408e-02 6.23969096e+02] [ 2.24002865e-02 9.99748823e-01 -7.20221112e-04 1.05524978e+01] [ 3.03672569e-02 3.96636605e-05 9.99538808e-01 5.76597750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3792541539999 meters Centerline goodness [0,1] 0.9992315737795897 Centerline is valid? [True, True] Translation: X:624.00, Y:10.55, Z:5.77 [[ 9.99360637e-01 -1.97312166e-02 -2.98160256e-02 6.23996997e+02] [ 1.97186812e-02 9.99805313e-01 -7.14427081e-04 1.05544342e+01] [ 2.98243173e-02 1.26037600e-04 9.99555148e-01 5.76837293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4092541539999 meters Centerline goodness [0,1] 0.9990410024720825 Centerline is valid? [True, True] Translation: X:624.02, Y:10.55, Z:5.77 [[ 9.99375692e-01 -1.93536425e-02 -2.95577946e-02 6.24024648e+02] [ 1.93409066e-02 9.99812690e-01 -7.16745779e-04 1.05548228e+01] [ 2.95661297e-02 1.44623765e-04 9.99562816e-01 5.76908112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.439254154 meters Centerline goodness [0,1] 0.9989777881891944 Centerline is valid? [True, True] Translation: X:624.05, Y:10.55, Z:5.77 [[ 9.99420618e-01 -1.94084670e-02 -2.79596132e-02 6.24053715e+02] [ 1.93968895e-02 9.99811628e-01 -6.85264479e-04 1.05532191e+01] [ 2.79676463e-02 1.42537922e-04 9.99608819e-01 5.77033541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4692541539999 meters Centerline goodness [0,1] 0.998894839751764 Centerline is valid? [True, True] Translation: X:624.08, Y:10.55, Z:5.77 [[ 9.99409980e-01 -2.04721146e-02 -2.75787077e-02 6.24081211e+02] [ 2.04610445e-02 9.99790417e-01 -6.83568846e-04 1.05523881e+01] [ 2.75869218e-02 1.18876360e-04 9.99619401e-01 5.77111060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4992541539999 meters Centerline goodness [0,1] 0.999042451324609 Centerline is valid? [True, True] Translation: X:624.11, Y:10.55, Z:5.77 [[ 9.99375373e-01 -2.22374249e-02 -2.74656395e-02 6.24109017e+02] [ 2.22268934e-02 9.99752715e-01 -6.88718869e-04 1.05508694e+01] [ 2.74741629e-02 7.78128368e-05 9.99622511e-01 5.77146823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5292541539999 meters Centerline goodness [0,1] 0.9990878235044548 Centerline is valid? [True, True] Translation: X:624.14, Y:10.55, Z:5.77 [[ 9.99293422e-01 -2.59631728e-02 -2.71766471e-02 6.24136941e+02] [ 2.59541228e-02 9.99662900e-01 -6.85750484e-04 1.05463182e+01] [ 2.71852901e-02 -2.00800905e-05 9.99630412e-01 5.77146261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5592541539999 meters Centerline goodness [0,1] 0.9989618424119155 Centerline is valid? [True, True] Translation: X:624.17, Y:10.54, Z:5.77 [[ 9.99238897e-01 -2.82125452e-02 -2.69384267e-02 6.24165221e+02] [ 2.82043131e-02 9.99601944e-01 -6.85573204e-04 1.05446085e+01] [ 2.69470454e-02 -7.47284081e-05 9.99636860e-01 5.77195275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.589254154 meters Centerline goodness [0,1] 0.998984191479906 Centerline is valid? [True, True] Translation: X:624.19, Y:10.54, Z:5.77 [[ 9.99094380e-01 -3.29596445e-02 -2.69087724e-02 6.24194160e+02] [ 3.29529612e-02 9.99456664e-01 -6.91895830e-04 1.05390923e+01] [ 2.69169566e-02 -1.95454498e-04 9.99637654e-01 5.77266381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6192541539999 meters Centerline goodness [0,1] 0.9988234552597853 Centerline is valid? [True, True] Translation: X:624.22, Y:10.54, Z:5.77 [[ 9.98994258e-01 -3.55781703e-02 -2.72885730e-02 6.24222857e+02] [ 3.55720843e-02 9.99366862e-01 -7.08590994e-04 1.05361914e+01] [ 2.72965059e-02 -2.62833084e-04 9.99627346e-01 5.77252570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6492541539999 meters Centerline goodness [0,1] 0.9988835759273692 Centerline is valid? [True, True] Translation: X:624.25, Y:10.53, Z:5.77 [[ 9.98894409e-01 -3.77528121e-02 -2.80122415e-02 6.24251733e+02] [ 3.77470539e-02 9.99287056e-01 -7.34513944e-04 1.05330788e+01] [ 2.80200003e-02 -3.23677717e-04 9.99607310e-01 5.77152578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6792541539999 meters Centerline goodness [0,1] 0.9987987608269583 Centerline is valid? [True, True] Translation: X:624.28, Y:10.53, Z:5.77 [[ 9.98670567e-01 -4.34000835e-02 -2.78124286e-02 6.24280185e+02] [ 4.33964836e-02 9.99057660e-01 -7.33307529e-04 1.05286577e+01] [ 2.78180455e-02 -4.74628957e-04 9.99612891e-01 5.77343840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.709254154 meters Centerline goodness [0,1] 0.9988434930714721 Centerline is valid? [True, True] Translation: X:624.31, Y:10.53, Z:5.77 [[ 9.98592780e-01 -4.53453692e-02 -2.75001193e-02 6.24310062e+02] [ 4.53425452e-02 9.98971234e-01 -7.26583463e-04 1.05265951e+01] [ 2.75047753e-02 -5.21364402e-04 9.99621536e-01 5.77394996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7392541539999 meters Centerline goodness [0,1] 0.9988211767182402 Centerline is valid? [True, True] Translation: X:624.34, Y:10.52, Z:5.77 [[ 9.98532818e-01 -4.69926103e-02 -2.69054849e-02 6.24339825e+02] [ 4.69904783e-02 9.98895084e-01 -7.11850306e-04 1.05248286e+01] [ 2.69092083e-02 -5.53495712e-04 9.99637728e-01 5.77468444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7692541539999 meters Centerline goodness [0,1] 0.9990122107563943 Centerline is valid? [True, True] Translation: X:624.37, Y:10.52, Z:5.78 [[ 9.98475562e-01 -4.87398932e-02 -2.59032013e-02 6.24370431e+02] [ 4.87384959e-02 9.98811338e-01 -6.85663137e-04 1.05209156e+01] [ 2.59058303e-02 -5.77865186e-04 9.99664221e-01 5.77509033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7992541539999 meters Centerline goodness [0,1] 0.9989506380120886 Centerline is valid? [True, True] Translation: X:624.40, Y:10.52, Z:5.77 [[ 9.98453303e-01 -4.90736552e-02 -2.61300382e-02 6.24399635e+02] [ 4.90723396e-02 9.98794987e-01 -6.91972137e-04 1.05192904e+01] [ 2.61325088e-02 -5.91360245e-04 9.99658313e-01 5.77495025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.829254154 meters Centerline goodness [0,1] 0.9989719273215559 Centerline is valid? [True, True] Translation: X:624.43, Y:10.52, Z:5.78 [[ 9.98462979e-01 -4.88648891e-02 -2.61515275e-02 6.24429887e+02] [ 4.88634954e-02 9.98805226e-01 -6.92711427e-04 1.05176020e+01] [ 2.61541315e-02 -5.86208325e-04 9.99657750e-01 5.77525257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8592541539999 meters Centerline goodness [0,1] 0.9987861029719548 Centerline is valid? [True, True] Translation: X:624.46, Y:10.52, Z:5.78 [[ 9.98495616e-01 -4.83018834e-02 -2.59505912e-02 6.24460615e+02] [ 4.83003210e-02 9.98832622e-01 -6.87388952e-04 1.05176910e+01] [ 2.59534992e-02 -5.67067028e-04 9.99662990e-01 5.77592297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8892541539999 meters Centerline goodness [0,1] 0.9989949117406872 Centerline is valid? [True, True] Translation: X:624.49, Y:10.52, Z:5.78 [[ 9.98501352e-01 -4.80364165e-02 -2.62212188e-02 6.24490325e+02] [ 4.80347300e-02 9.98845425e-01 -6.94549226e-04 1.05171184e+01] [ 2.62243080e-02 -5.66020822e-04 9.99655923e-01 5.77587223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9192541539999 meters Centerline goodness [0,1] 0.9987463435018805 Centerline is valid? [True, True] Translation: X:624.52, Y:10.52, Z:5.78 [[ 9.98525607e-01 -4.75514029e-02 -2.61816020e-02 6.24520494e+02] [ 4.75495550e-02 9.98868639e-01 -6.93495302e-04 1.05165407e+01] [ 2.61849578e-02 -5.52450706e-04 9.99656963e-01 5.77736260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.949254154 meters Centerline goodness [0,1] 0.9989325631043576 Centerline is valid? [True, True] Translation: X:624.55, Y:10.52, Z:5.78 [[ 9.98531972e-01 -4.77574058e-02 -2.55564212e-02 6.24550759e+02] [ 4.77557125e-02 9.98858816e-01 -6.76935585e-04 1.05150365e+01] [ 2.55595853e-02 -5.44523279e-04 9.99673152e-01 5.77737177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9792541539999 meters Centerline goodness [0,1] 0.9987652253986857 Centerline is valid? [True, True] Translation: X:624.58, Y:10.51, Z:5.78 [[ 9.98520710e-01 -4.81764341e-02 -2.52076144e-02 6.24581478e+02] [ 4.81749201e-02 9.98838691e-01 -6.67696430e-04 1.05143610e+01] [ 2.52105078e-02 -5.47666097e-04 9.99682015e-01 5.77839177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0092541539999 meters Centerline goodness [0,1] 0.9989327641408752 Centerline is valid? [True, True] Translation: X:624.61, Y:10.51, Z:5.78 [[ 9.98508832e-01 -4.85785759e-02 -2.49045127e-02 6.24611384e+02] [ 4.85772302e-02 9.98819212e-01 -6.59381116e-04 1.05127877e+01] [ 2.49071375e-02 -5.51394378e-04 9.99689617e-01 5.77838607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0392541539999 meters Centerline goodness [0,1] 0.9988716148445336 Centerline is valid? [True, True] Translation: X:624.64, Y:10.51, Z:5.78 [[ 9.98450115e-01 -4.94495748e-02 -2.55364066e-02 6.24640839e+02] [ 4.94484479e-02 9.98776448e-01 -6.75982149e-04 1.05096156e+01] [ 2.55385885e-02 -5.87801216e-04 9.99673664e-01 5.77758973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.069254154 meters Centerline goodness [0,1] 0.9986621514277353 Centerline is valid? [True, True] Translation: X:624.67, Y:10.51, Z:5.78 [[ 9.98429468e-01 -4.97368515e-02 -2.57845589e-02 6.24671467e+02] [ 4.97357977e-02 9.98762176e-01 -6.82579085e-04 1.05085335e+01] [ 2.57865914e-02 -6.00908531e-04 9.99667290e-01 5.77706178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0992541539999 meters Centerline goodness [0,1] 0.9988088770008776 Centerline is valid? [True, True] Translation: X:624.70, Y:10.51, Z:5.78 [[ 9.98350400e-01 -5.12303968e-02 -2.59215151e-02 6.24701584e+02] [ 5.12298349e-02 9.98686654e-01 -6.86204646e-04 1.05076010e+01] [ 2.59226257e-02 -6.42882256e-04 9.99663746e-01 5.77841903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1292541539999 meters Centerline goodness [0,1] 0.9988736154857012 Centerline is valid? [True, True] Translation: X:624.73, Y:10.50, Z:5.78 [[ 9.98290641e-01 -5.25296402e-02 -2.56209436e-02 6.24730922e+02] [ 5.25295110e-02 9.98619142e-01 -6.78545477e-04 1.05037676e+01] [ 2.56212084e-02 -6.68470040e-04 9.99671499e-01 5.77779757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1592541539999 meters Centerline goodness [0,1] 0.9988083789772965 Centerline is valid? [True, True] Translation: X:624.76, Y:10.50, Z:5.78 [[ 9.98255210e-01 -5.34450953e-02 -2.51029293e-02 6.24761621e+02] [ 5.34452562e-02 9.98570560e-01 -6.64994342e-04 1.05038919e+01] [ 2.51025868e-02 -6.77798418e-04 9.99684651e-01 5.77895110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.189254154 meters Centerline goodness [0,1] 0.9988926728370557 Centerline is valid? [True, True] Translation: X:624.79, Y:10.50, Z:5.78 [[ 9.98224015e-01 -5.42295018e-02 -2.46571843e-02 6.24792014e+02] [ 5.42298959e-02 9.98528263e-01 -6.53186243e-04 1.05030201e+01] [ 2.46563174e-02 -6.85130345e-04 9.99695752e-01 5.77986798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2192541539999 meters Centerline goodness [0,1] 0.998913543103088 Centerline is valid? [True, True] Translation: X:624.82, Y:10.50, Z:5.78 [[ 9.98192888e-01 -5.50740605e-02 -2.40375974e-02 6.24822563e+02] [ 5.50746796e-02 9.98482035e-01 -6.36772947e-04 1.05018105e+01] [ 2.40361788e-02 -6.88240747e-04 9.99710852e-01 5.78149828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2492541539999 meters Centerline goodness [0,1] 0.9987268590987832 Centerline is valid? [True, True] Translation: X:624.85, Y:10.50, Z:5.78 [[ 9.98196773e-01 -5.52921815e-02 -2.33661309e-02 6.24854385e+02] [ 5.52928381e-02 9.98469989e-01 -6.18474208e-04 1.05019724e+01] [ 2.33645772e-02 -6.74620732e-04 9.99726783e-01 5.78242786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2792541539999 meters Centerline goodness [0,1] 0.9988933433558841 Centerline is valid? [True, True] Translation: X:624.88, Y:10.50, Z:5.78 [[ 9.98249926e-01 -5.45217810e-02 -2.29010899e-02 6.24884700e+02] [ 5.45222223e-02 9.98512374e-01 -6.05584966e-04 1.04999545e+01] [ 2.29000392e-02 -6.44093169e-04 9.99737552e-01 5.78236407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3092541539999 meters Centerline goodness [0,1] 0.9988503825090924 Centerline is valid? [True, True] Translation: X:624.92, Y:10.50, Z:5.78 [[ 9.98250820e-01 -5.43894941e-02 -2.31750618e-02 6.24916384e+02] [ 5.43899262e-02 9.98519585e-01 -6.12150945e-04 1.05010007e+01] [ 2.31740477e-02 -6.49409719e-04 9.99731235e-01 5.78303963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.339254154 meters Centerline goodness [0,1] 0.9990597379803172 Centerline is valid? [True, True] Translation: X:624.95, Y:10.50, Z:5.78 [[ 9.98251600e-01 -5.41836464e-02 -2.36193915e-02 6.24948098e+02] [ 5.41840583e-02 9.98530771e-01 -6.23017734e-04 1.05003380e+01] [ 2.36184466e-02 -6.57866039e-04 9.99720829e-01 5.78291461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3692541539999 meters Centerline goodness [0,1] 0.9988505266677813 Centerline is valid? [True, True] Translation: X:624.98, Y:10.50, Z:5.78 [[ 9.98181205e-01 -5.49053752e-02 -2.48934011e-02 6.24978466e+02] [ 5.49060732e-02 9.98491308e-01 -6.55982583e-04 1.04980120e+01] [ 2.48918616e-02 -7.12009417e-04 9.99689896e-01 5.78152769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3992541539999 meters Centerline goodness [0,1] 0.9989967184332086 Centerline is valid? [True, True] Translation: X:625.01, Y:10.50, Z:5.78 [[ 9.98148557e-01 -5.54767646e-02 -2.49356538e-02 6.25008576e+02] [ 5.54776473e-02 9.98459713e-01 -6.56926525e-04 1.04986178e+01] [ 2.49336899e-02 -7.27661142e-04 9.99688842e-01 5.78225421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4292541539999 meters Centerline goodness [0,1] 0.9989141103013344 Centerline is valid? [True, True] Translation: X:625.04, Y:10.50, Z:5.78 [[ 9.98083145e-01 -5.66475195e-02 -2.49217446e-02 6.25038474e+02] [ 5.66487658e-02 9.98393953e-01 -6.56560090e-04 1.04975559e+01] [ 2.49189116e-02 -7.56484514e-04 9.99689189e-01 5.78276091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.459254154 meters Centerline goodness [0,1] 0.9988727454909819 Centerline is valid? [True, True] Translation: X:625.07, Y:10.50, Z:5.78 [[ 9.98053672e-01 -5.71411470e-02 -2.49751456e-02 6.25069072e+02] [ 5.71425530e-02 9.98365813e-01 -6.57966932e-04 1.04971434e+01] [ 2.49719285e-02 -7.70457269e-04 9.99687856e-01 5.78273928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4892541539999 meters Centerline goodness [0,1] 0.9990395456633399 Centerline is valid? [True, True] Translation: X:625.10, Y:10.50, Z:5.78 [[ 9.98006281e-01 -5.77917730e-02 -2.53687434e-02 6.25099873e+02] [ 5.77934412e-02 9.98328339e-01 -6.68039894e-04 1.04996615e+01] [ 2.53649426e-02 -7.99438968e-04 9.99677938e-01 5.78462525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5192541539999 meters Centerline goodness [0,1] 0.9991440679735287 Centerline is valid? [True, True] Translation: X:625.13, Y:10.50, Z:5.78 [[ 9.97931562e-01 -5.89259663e-02 -2.56968537e-02 6.25129682e+02] [ 5.89280505e-02 9.98262003e-01 -6.76804543e-04 1.04986523e+01] [ 2.56920740e-02 -8.38860879e-04 9.99669552e-01 5.78416051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5492541539999 meters Centerline goodness [0,1] 0.9987886635617468 Centerline is valid? [True, True] Translation: X:625.16, Y:10.49, Z:5.78 [[ 9.97890890e-01 -5.94657341e-02 -2.60306999e-02 6.25159511e+02] [ 5.94680438e-02 9.98229974e-01 -6.86074386e-04 1.04945336e+01] [ 2.60254228e-02 -8.63367423e-04 9.99660908e-01 5.78232897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.579254154 meters Centerline goodness [0,1] 0.9988932971392775 Centerline is valid? [True, True] Translation: X:625.19, Y:10.50, Z:5.78 [[ 9.97877482e-01 -5.97899755e-02 -2.58009835e-02 6.25189758e+02] [ 5.97923485e-02 9.98210605e-01 -6.80188473e-04 1.04976356e+01] [ 2.57954838e-02 -8.63956636e-04 9.99666868e-01 5.78420556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6092541539999 meters Centerline goodness [0,1] 0.9989128162241271 Centerline is valid? [True, True] Translation: X:625.22, Y:10.50, Z:5.79 [[ 9.97845315e-01 -6.04979041e-02 -2.53915635e-02 6.25220322e+02] [ 6.05004311e-02 9.98167947e-01 -6.69394980e-04 1.04991111e+01] [ 2.53855418e-02 -8.68247895e-04 9.99677358e-01 5.78631966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6392541539999 meters Centerline goodness [0,1] 0.9989549805626384 Centerline is valid? [True, True] Translation: X:625.25, Y:10.49, Z:5.78 [[ 9.97818936e-01 -6.09080760e-02 -2.54475373e-02 6.25250436e+02] [ 6.09107401e-02 9.98142991e-01 -6.71156864e-04 1.04940792e+01] [ 2.54411599e-02 -8.80335304e-04 9.99675934e-01 5.78437468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6692541539999 meters Centerline goodness [0,1] 0.9992050375515157 Centerline is valid? [True, True] Translation: X:625.28, Y:10.49, Z:5.78 [[ 9.97807393e-01 -6.09114929e-02 -2.58881532e-02 6.25279958e+02] [ 6.09142400e-02 9.98142770e-01 -6.83218698e-04 1.04934985e+01] [ 2.58816888e-02 -8.95236506e-04 9.99664612e-01 5.78375515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.699254154 meters Centerline goodness [0,1] 0.9990572954854928 Centerline is valid? [True, True] Translation: X:625.31, Y:10.50, Z:5.79 [[ 9.97771034e-01 -6.17237933e-02 -2.53601410e-02 6.25310280e+02] [ 6.17266874e-02 9.98092865e-01 -6.69434502e-04 1.04996146e+01] [ 2.53530959e-02 -8.97455142e-04 9.99678156e-01 5.78851866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7292541539999 meters Centerline goodness [0,1] 0.9989328088053736 Centerline is valid? [True, True] Translation: X:625.34, Y:10.50, Z:5.79 [[ 9.97767325e-01 -6.20378922e-02 -2.47318504e-02 6.25341171e+02] [ 6.20407548e-02 9.98073404e-01 -6.52285087e-04 1.05019353e+01] [ 2.47246685e-02 -8.83553923e-04 9.99693908e-01 5.79062835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7592541539999 meters Centerline goodness [0,1] 0.9991427794852495 Centerline is valid? [True, True] Translation: X:625.37, Y:10.50, Z:5.79 [[ 9.97741477e-01 -6.25447835e-02 -2.44968203e-02 6.25371151e+02] [ 6.25477595e-02 9.98041763e-01 -6.45470165e-04 1.05007500e+01] [ 2.44892206e-02 -8.88208873e-04 9.99699699e-01 5.79094466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7892541539999 meters Centerline goodness [0,1] 0.9993083790920904 Centerline is valid? [True, True] Translation: X:625.40, Y:10.50, Z:5.79 [[ 9.97672796e-01 -6.36907660e-02 -2.43408659e-02 6.25402288e+02] [ 6.36940624e-02 9.97969266e-01 -6.40639384e-04 1.05020800e+01] [ 2.43322389e-02 -9.11220146e-04 9.99703512e-01 5.79240408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.819254154 meters Centerline goodness [0,1] 0.9992887029288703 Centerline is valid? [True, True] Translation: X:625.43, Y:10.50, Z:5.79 [[ 9.97625566e-01 -6.44395491e-02 -2.43058485e-02 6.25433136e+02] [ 6.44430729e-02 9.97921180e-01 -6.39100337e-04 1.04989859e+01] [ 2.42965044e-02 -9.28760730e-04 9.99704365e-01 5.79190893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8492541539999 meters Centerline goodness [0,1] 0.9990168392427571 Centerline is valid? [True, True] Translation: X:625.46, Y:10.50, Z:5.79 [[ 9.97509857e-01 -6.62138436e-02 -2.42860582e-02 6.25463917e+02] [ 6.62178973e-02 9.97804982e-01 -6.38139137e-04 1.04989553e+01] [ 2.42750035e-02 -9.71621625e-04 9.99704847e-01 5.79285537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8792541539999 meters Centerline goodness [0,1] 0.9990589121023904 Centerline is valid? [True, True] Translation: X:625.49, Y:10.50, Z:5.79 [[ 9.97458888e-01 -6.69242715e-02 -2.44317030e-02 6.25494521e+02] [ 6.69285974e-02 9.97757561e-01 -6.41524945e-04 1.04969317e+01] [ 2.44198500e-02 -9.95284853e-04 9.99701296e-01 5.79262465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9092541539999 meters Centerline goodness [0,1] 0.9989344587677329 Centerline is valid? [True, True] Translation: X:625.53, Y:10.50, Z:5.79 [[ 9.97430939e-01 -6.73219040e-02 -2.44802417e-02 6.25525895e+02] [ 6.73263842e-02 9.97730798e-01 -6.42084486e-04 1.04987751e+01] [ 2.44679174e-02 -1.00773123e-03 9.99700108e-01 5.79392701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.939254154 meters Centerline goodness [0,1] 0.9989982469321312 Centerline is valid? [True, True] Translation: X:625.56, Y:10.50, Z:5.79 [[ 9.97413123e-01 -6.76244727e-02 -2.43719803e-02 6.25556275e+02] [ 6.76290182e-02 9.97710333e-01 -6.38639231e-04 1.04983359e+01] [ 2.43593642e-02 -1.01126595e-03 9.99702755e-01 5.79436735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9692541539999 meters Centerline goodness [0,1] 0.9989971795675336 Centerline is valid? [True, True] Translation: X:625.59, Y:10.50, Z:5.79 [[ 9.97397304e-01 -6.76209941e-02 -2.50203862e-02 6.25587746e+02] [ 6.76258022e-02 9.97710540e-01 -6.54897805e-04 1.04981496e+01] [ 2.50073878e-02 -1.03883038e-03 9.99686727e-01 5.79455188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9992541539999 meters Centerline goodness [0,1] 0.9986839081660365 Centerline is valid? [True, True] Translation: X:625.62, Y:10.50, Z:5.79 [[ 9.97429871e-01 -6.70378657e-02 -2.52898538e-02 6.25618402e+02] [ 6.70426066e-02 9.97749894e-01 -6.61329879e-04 1.04969003e+01] [ 2.52772831e-02 -1.03586754e-03 9.99679942e-01 5.79340145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0292541539999 meters Centerline goodness [0,1] 0.9990818988002087 Centerline is valid? [True, True] Translation: X:625.65, Y:10.50, Z:5.79 [[ 9.97466278e-01 -6.64845395e-02 -2.53146225e-02 6.25649187e+02] [ 6.64891300e-02 9.97786930e-01 -6.61257525e-04 1.04974079e+01] [ 2.53025629e-02 -1.02356514e-03 9.99679315e-01 5.79478807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0592541539999 meters Centerline goodness [0,1] 0.9987472073163093 Centerline is valid? [True, True] Translation: X:625.68, Y:10.50, Z:5.79 [[ 9.97506157e-01 -6.59153291e-02 -2.52316634e-02 6.25679802e+02] [ 6.59197229e-02 9.97824712e-01 -6.58493353e-04 1.04974504e+01] [ 2.52201821e-02 -1.00641309e-03 9.99681414e-01 5.79488963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.089254154 meters Centerline goodness [0,1] 0.9989346145811573 Centerline is valid? [True, True] Translation: X:625.71, Y:10.50, Z:5.80 [[ 9.97532088e-01 -6.54701757e-02 -2.53651423e-02 6.25710861e+02] [ 6.54744906e-02 9.97854024e-01 -6.61261303e-04 1.04984434e+01] [ 2.53540022e-02 -1.00114040e-03 9.99678034e-01 5.79541353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1192541539999 meters Centerline goodness [0,1] 0.9987494789495623 Centerline is valid? [True, True] Translation: X:625.74, Y:10.50, Z:5.80 [[ 9.97566572e-01 -6.47557471e-02 -2.58384977e-02 6.25742462e+02] [ 6.47600092e-02 9.97900641e-01 -6.72685711e-04 1.05008741e+01] [ 2.58278137e-02 -1.00225257e-03 9.99665904e-01 5.79662400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1492541539999 meters Centerline goodness [0,1] 0.998414420428941 Centerline is valid? [True, True] Translation: X:625.77, Y:10.51, Z:5.80 [[ 9.97660663e-01 -6.31086744e-02 -2.62773044e-02 6.25773457e+02] [ 6.31125376e-02 9.98006183e-01 -6.83138675e-04 1.05056293e+01] [ 2.62680242e-02 -9.76886779e-04 9.99654459e-01 5.79895885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1792541539999 meters Centerline goodness [0,1] 0.9986244555136408 Centerline is valid? [True, True] Translation: X:625.80, Y:10.51, Z:5.80 [[ 9.97730047e-01 -6.19497881e-02 -2.64003404e-02 6.25803397e+02] [ 6.19532918e-02 9.98078814e-01 -6.85985570e-04 1.05057986e+01] [ 2.63921171e-02 -9.51159579e-04 9.99651215e-01 5.79931810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.209254154 meters Centerline goodness [0,1] 0.9986244555136408 Centerline is valid? [True, True] Translation: X:625.83, Y:10.51, Z:5.80 [[ 9.97730047e-01 -6.19497881e-02 -2.64003404e-02 6.25833410e+02] [ 6.19532918e-02 9.98078814e-01 -6.85985570e-04 1.05065784e+01] [ 2.63921171e-02 -9.51159579e-04 9.99651215e-01 5.79959935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2392541539999 meters Centerline goodness [0,1] 0.9987082795116463 Centerline is valid? [True, True] Translation: X:625.86, Y:10.51, Z:5.80 [[ 9.97893212e-01 -5.94390210e-02 -2.60026985e-02 6.25863970e+02] [ 5.94415685e-02 9.98231558e-01 -6.75653257e-04 1.05091849e+01] [ 2.59968744e-02 -8.71411389e-04 9.99661644e-01 5.80160698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2692541539999 meters Centerline goodness [0,1] 0.9987063119457485 Centerline is valid? [True, True] Translation: X:625.89, Y:10.51, Z:5.80 [[ 9.97981754e-01 -5.76136808e-02 -2.67035969e-02 6.25894406e+02] [ 5.76157150e-02 9.98338594e-01 -6.93865377e-04 1.05112311e+01] [ 2.66992075e-02 -8.46081843e-04 9.99643155e-01 5.80177680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2992541539999 meters Centerline goodness [0,1] 0.99868763670451 Centerline is valid? [True, True] Translation: X:625.92, Y:10.51, Z:5.80 [[ 9.98085481e-01 -5.58333797e-02 -2.66083907e-02 6.25923703e+02] [ 5.58347590e-02 9.98439783e-01 -6.91708761e-04 1.05127018e+01] [ 2.66054963e-02 -7.95288609e-04 9.99645695e-01 5.80281339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.329254154 meters Centerline goodness [0,1] 0.9990217708029805 Centerline is valid? [True, True] Translation: X:625.95, Y:10.51, Z:5.80 [[ 9.98305049e-01 -5.14647245e-02 -2.71737421e-02 6.25952649e+02] [ 5.14645236e-02 9.98674573e-01 -7.07229704e-04 1.05133361e+01] [ 2.71741227e-02 -6.92452707e-04 9.99630476e-01 5.80189207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3592541539999 meters Centerline goodness [0,1] 0.9987739495449067 Centerline is valid? [True, True] Translation: X:625.98, Y:10.52, Z:5.80 [[ 9.98413094e-01 -4.87026220e-02 -2.82727330e-02 6.25981811e+02] [ 4.87011628e-02 9.98813120e-01 -7.40612167e-04 1.05171431e+01] [ 2.82752464e-02 -6.37478085e-04 9.99599972e-01 5.80208581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3892541539999 meters Centerline goodness [0,1] 0.998977675777175 Centerline is valid? [True, True] Translation: X:626.01, Y:10.52, Z:5.80 [[ 9.98690309e-01 -4.33271384e-02 -2.72107778e-02 6.26010159e+02] [ 4.33237116e-02 9.99060831e-01 -7.15744154e-04 1.05226555e+01] [ 2.72162334e-02 -4.64065142e-04 9.99629462e-01 5.80485347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4192541539999 meters Centerline goodness [0,1] 0.9991451565822943 Centerline is valid? [True, True] Translation: X:626.04, Y:10.53, Z:5.81 [[ 9.98824601e-01 -4.04408783e-02 -2.67198717e-02 6.26038936e+02] [ 4.04364154e-02 9.99181863e-01 -7.07551619e-04 1.05256285e+01] [ 2.67266252e-02 -3.73735866e-04 9.99642710e-01 5.80589789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.449254154 meters Centerline goodness [0,1] 0.999375208263912 Centerline is valid? [True, True] Translation: X:626.07, Y:10.53, Z:5.81 [[ 9.98934857e-01 -3.79599265e-02 -2.62334658e-02 6.26067208e+02] [ 3.79546003e-02 9.99279219e-01 -7.01108185e-04 1.05282400e+01] [ 2.62411713e-02 -2.95319305e-04 9.99655598e-01 5.80700785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4792541539999 meters Centerline goodness [0,1] 0.9988742025601468 Centerline is valid? [True, True] Translation: X:626.10, Y:10.53, Z:5.81 [[ 9.99027246e-01 -3.56688088e-02 -2.59286886e-02 6.26095072e+02] [ 3.56627175e-02 9.99363640e-01 -6.97458764e-04 1.05301607e+01] [ 2.59370661e-02 -2.27907186e-04 9.99663552e-01 5.80728149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5092541539999 meters Centerline goodness [0,1] 0.9991870427115253 Centerline is valid? [True, True] Translation: X:626.12, Y:10.53, Z:5.81 [[ 9.99192195e-01 -3.13603671e-02 -2.51293674e-02 6.26123177e+02] [ 3.13531572e-02 9.99508137e-01 -6.80958730e-04 1.05332311e+01] [ 2.51383623e-02 -1.07476358e-04 9.99683976e-01 5.80832631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5392541539999 meters Centerline goodness [0,1] 0.9995619615777727 Centerline is valid? [True, True] Translation: X:626.15, Y:10.54, Z:5.81 [[ 9.99253974e-01 -2.90698611e-02 -2.54251476e-02 6.26150718e+02] [ 2.90615675e-02 9.99577381e-01 -6.95722252e-04 1.05354269e+01] [ 2.54346270e-02 -4.36914172e-05 9.99676487e-01 5.80955422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.569254154 meters Centerline goodness [0,1] 0.9995619615777727 Centerline is valid? [True, True] Translation: X:626.18, Y:10.54, Z:5.81 [[ 9.99245861e-01 -2.93475961e-02 -2.54249528e-02 6.26178122e+02] [ 2.93392126e-02 9.99569266e-01 -7.02789503e-04 1.05362659e+01] [ 2.54346266e-02 -4.36885936e-05 9.99676487e-01 5.80981170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5992541539999 meters Centerline goodness [0,1] 0.9991862284820031 Centerline is valid? [True, True] Translation: X:626.20, Y:10.54, Z:5.81 [[ 9.99234046e-01 -2.95120962e-02 -2.56974087e-02 6.26204662e+02] [ 2.95034384e-02 9.99564422e-01 -7.16074324e-04 1.05365162e+01] [ 2.57073483e-02 -4.26360689e-05 9.99669511e-01 5.80862578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6292541539999 meters Centerline goodness [0,1] 0.9988304826347556 Centerline is valid? [True, True] Translation: X:626.23, Y:10.54, Z:5.81 [[ 9.99196813e-01 -3.05282594e-02 -2.59567740e-02 6.26232910e+02] [ 3.05196859e-02 9.99533902e-01 -7.26492091e-04 1.05361207e+01] [ 2.59668541e-02 -6.62840068e-05 9.99662802e-01 5.80817794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6592541539999 meters Centerline goodness [0,1] 0.9992899803700456 Centerline is valid? [True, True] Translation: X:626.26, Y:10.53, Z:5.81 [[ 9.99086489e-01 -3.32039508e-02 -2.69013874e-02 6.26261325e+02] [ 3.31955679e-02 9.99448588e-01 -7.58263931e-04 1.05343640e+01] [ 2.69117310e-02 -1.35435582e-04 9.99637805e-01 5.81198827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.689254154 meters Centerline goodness [0,1] 0.9987465006476414 Centerline is valid? [True, True] Translation: X:626.29, Y:10.53, Z:5.81 [[ 9.99017012e-01 -3.47887627e-02 -2.74727585e-02 6.26290134e+02] [ 3.47804230e-02 9.99394673e-01 -7.81496229e-04 1.05327529e+01] [ 2.74833158e-02 -1.74786136e-04 9.99622247e-01 5.81083632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7192541539999 meters Centerline goodness [0,1] 0.9990014146625614 Centerline is valid? [True, True] Translation: X:626.32, Y:10.53, Z:5.81 [[ 9.98954776e-01 -3.72847406e-02 -2.64424550e-02 6.26317598e+02] [ 3.72776950e-02 9.99304657e-01 -7.59517557e-04 1.05314457e+01] [ 2.64523868e-02 -2.26990081e-04 9.99650049e-01 5.81240160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7492541539999 meters Centerline goodness [0,1] 0.9989759023554245 Centerline is valid? [True, True] Translation: X:626.35, Y:10.53, Z:5.81 [[ 9.98798652e-01 -4.13914584e-02 -2.62297515e-02 6.26346483e+02] [ 4.13857546e-02 9.99142953e-01 -7.60512065e-04 1.05279977e+01] [ 2.62387500e-02 -3.25939631e-04 9.99655652e-01 5.81431839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7792541539999 meters Centerline goodness [0,1] 0.9991451744052707 Centerline is valid? [True, True] Translation: X:626.37, Y:10.53, Z:5.81 [[ 9.98732840e-01 -4.31055679e-02 -2.59735146e-02 6.26374193e+02] [ 4.31004522e-02 9.99070457e-01 -7.57017864e-04 1.05254884e+01] [ 2.59820028e-02 -3.63411623e-04 9.99662345e-01 5.81308204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8092541539999 meters Centerline goodness [0,1] 0.9987068516007925 Centerline is valid? [True, True] Translation: X:626.40, Y:10.52, Z:5.81 [[ 9.98575085e-01 -4.60893041e-02 -2.68993635e-02 6.26403094e+02] [ 4.60847573e-02 9.98937221e-01 -7.89272408e-04 1.05232614e+01] [ 2.69071524e-02 -4.51502875e-04 9.99637835e-01 5.81340413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.839254154 meters Centerline goodness [0,1] 0.9992074417052518 Centerline is valid? [True, True] Translation: X:626.43, Y:10.52, Z:5.81 [[ 9.98508526e-01 -4.72820797e-02 -2.72970570e-02 6.26430722e+02] [ 4.72777349e-02 9.98881458e-01 -8.04898564e-04 1.05202809e+01] [ 2.73045814e-02 -4.86844946e-04 9.99627042e-01 5.81191022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8692541539999 meters Centerline goodness [0,1] 0.9992059180005851 Centerline is valid? [True, True] Translation: X:626.46, Y:10.52, Z:5.81 [[ 9.98436245e-01 -4.86185296e-02 -2.75917075e-02 6.26459060e+02] [ 4.86145346e-02 9.98817281e-01 -8.15976842e-04 1.05190888e+01] [ 2.75987459e-02 -5.26657164e-04 9.99618943e-01 5.81252593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8992541539999 meters Centerline goodness [0,1] 0.9989347035969419 Centerline is valid? [True, True] Translation: X:626.49, Y:10.52, Z:5.81 [[ 9.98393515e-01 -4.93104867e-02 -2.79081485e-02 6.26487327e+02] [ 4.93065162e-02 9.98783348e-01 -8.30831597e-04 1.05204748e+01] [ 2.79151627e-02 -5.46556699e-04 9.99610146e-01 5.81455991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9292541539999 meters Centerline goodness [0,1] 0.9993110934825268 Centerline is valid? [True, True] Translation: X:626.51, Y:10.52, Z:5.82 [[ 9.98438381e-01 -4.85697826e-02 -2.76002687e-02 6.26514901e+02] [ 4.85655066e-02 9.98819658e-01 -8.25639868e-04 1.05195747e+01] [ 2.76077921e-02 -5.16070498e-04 9.99618699e-01 5.81518867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.959254154 meters Centerline goodness [0,1] 0.9993532639309035 Centerline is valid? [True, True] Translation: X:626.54, Y:10.52, Z:5.81 [[ 9.98485273e-01 -4.72453721e-02 -2.81963495e-02 6.26543129e+02] [ 4.72402268e-02 9.98883197e-01 -8.48959136e-04 1.05202284e+01] [ 2.82049691e-02 -4.84328749e-04 9.99602043e-01 5.81464954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9892541539999 meters Centerline goodness [0,1] 0.9991238683299262 Centerline is valid? [True, True] Translation: X:626.57, Y:10.52, Z:5.82 [[ 9.98568449e-01 -4.57678667e-02 -2.76831174e-02 6.26571781e+02] [ 4.57621530e-02 9.98952011e-01 -8.40233213e-04 1.05214320e+01] [ 2.76925615e-02 -4.27808679e-04 9.99616396e-01 5.81504133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0192541539999 meters Centerline goodness [0,1] 0.9992277831114079 Centerline is valid? [True, True] Translation: X:626.60, Y:10.52, Z:5.82 [[ 9.98740027e-01 -4.24980145e-02 -2.66885313e-02 6.26599860e+02] [ 4.24913661e-02 9.99096500e-01 -8.16434963e-04 1.05232698e+01] [ 2.66991151e-02 -3.18625877e-04 9.99643464e-01 5.81658084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0492541539999 meters Centerline goodness [0,1] 0.999330207635633 Centerline is valid? [True, True] Translation: X:626.63, Y:10.52, Z:5.82 [[ 9.98810010e-01 -4.06040514e-02 -2.70162039e-02 6.26627318e+02] [ 4.05964434e-02 9.99175280e-01 -8.30255731e-04 1.05244977e+01] [ 2.70276349e-02 -2.67494060e-04 9.99634651e-01 5.81726002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.079254154 meters Centerline goodness [0,1] 0.999206415504135 Centerline is valid? [True, True] Translation: X:626.66, Y:10.53, Z:5.82 [[ 9.98881642e-01 -3.84320515e-02 -2.75398252e-02 6.26656519e+02] [ 3.84231782e-02 9.99261194e-01 -8.51508672e-04 1.05261417e+01] [ 2.75522039e-02 -2.07611231e-04 9.99620344e-01 5.81691049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1092541539999 meters Centerline goodness [0,1] 0.9992046548620704 Centerline is valid? [True, True] Translation: X:626.69, Y:10.53, Z:5.82 [[ 9.98947479e-01 -3.65729246e-02 -2.76831376e-02 6.26685283e+02] [ 3.65630614e-02 9.99330975e-01 -8.62561216e-04 1.05279965e+01] [ 2.76961632e-02 -1.50526908e-04 9.99616376e-01 5.81801739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1392541539999 meters Centerline goodness [0,1] 0.9990783796238113 Centerline is valid? [True, True] Translation: X:626.71, Y:10.53, Z:5.82 [[ 9.99102211e-01 -3.16583875e-02 -2.81516950e-02 6.26712741e+02] [ 3.16460201e-02 9.99498748e-01 -8.84848079e-04 1.05305561e+01] [ 2.81655967e-02 -6.83543351e-06 9.99603271e-01 5.81980561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1692541539999 meters Centerline goodness [0,1] 0.999476691855232 Centerline is valid? [True, True] Translation: X:626.74, Y:10.53, Z:5.82 [[ 9.99192637e-01 -2.92813195e-02 -2.75077801e-02 6.26740125e+02] [ 2.92683931e-02 9.99571208e-01 -8.72516396e-04 1.05321613e+01] [ 2.75215334e-02 6.67034372e-05 9.99621209e-01 5.82124756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.199254154 meters Centerline goodness [0,1] 0.999601760637183 Centerline is valid? [True, True] Translation: X:626.77, Y:10.53, Z:5.82 [[ 9.99332987e-01 -2.51560469e-02 -2.64717638e-02 6.26768093e+02] [ 2.51424280e-02 9.99683520e-01 -8.47233708e-04 1.05335797e+01] [ 2.64846991e-02 1.81104176e-04 9.99649202e-01 5.82314665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2292541539999 meters Centerline goodness [0,1] 0.9996446711117614 Centerline is valid? [True, True] Translation: X:626.80, Y:10.53, Z:5.82 [[ 9.99383146e-01 -2.36801169e-02 -2.59341280e-02 6.26796092e+02] [ 2.36663552e-02 9.99719562e-01 -8.37491039e-04 1.05341734e+01] [ 2.59466870e-02 2.23208144e-04 9.99663303e-01 5.82339701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2592541539999 meters Centerline goodness [0,1] 0.9994975190000628 Centerline is valid? [True, True] Translation: X:626.82, Y:10.53, Z:5.82 [[ 9.99411438e-01 -2.25991097e-02 -2.58080999e-02 6.26824952e+02] [ 2.25849426e-02 9.99744574e-01 -8.40327931e-04 1.05342935e+01] [ 2.58204985e-02 2.56958891e-04 9.99666562e-01 5.82369789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2892541539999 meters Centerline goodness [0,1] 0.9997278455837713 Centerline is valid? [True, True] Translation: X:626.85, Y:10.53, Z:5.82 [[ 9.99460101e-01 -2.08425006e-02 -2.53987609e-02 6.26852974e+02] [ 2.08281158e-02 9.99782726e-01 -8.30805425e-04 1.05332941e+01] [ 2.54105585e-02 3.01348541e-04 9.99677054e-01 5.82393689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.319254154 meters Centerline goodness [0,1] 0.9995608440159769 Centerline is valid? [True, True] Translation: X:626.88, Y:10.53, Z:5.82 [[ 9.99471222e-01 -2.06480454e-02 -2.51184263e-02 6.26881092e+02] [ 2.06337792e-02 9.99786759e-01 -8.27037154e-04 1.05328487e+01] [ 2.51301468e-02 3.08311772e-04 9.99684140e-01 5.82345487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3492541539999 meters Centerline goodness [0,1] 0.9998325764393194 Centerline is valid? [True, True] Translation: X:626.91, Y:10.53, Z:5.82 [[ 9.99475906e-01 -2.01043302e-02 -2.53718297e-02 6.26908587e+02] [ 2.00894935e-02 9.99797833e-01 -8.39554777e-04 1.05316132e+01] [ 2.53835791e-02 3.29407563e-04 9.99677731e-01 5.82339298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3792541539999 meters Centerline goodness [0,1] 0.9996647951060086 Centerline is valid? [True, True] Translation: X:626.94, Y:10.53, Z:5.82 [[ 9.99487483e-01 -2.05104478e-02 -2.45783048e-02 6.26937779e+02] [ 2.04965312e-02 9.99789589e-01 -8.18031446e-04 1.05293394e+01] [ 2.45899115e-02 3.13842199e-04 9.99697573e-01 5.82476757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4092541539999 meters Centerline goodness [0,1] 0.9997283403686212 Centerline is valid? [True, True] Translation: X:626.97, Y:10.53, Z:5.83 [[ 9.99484972e-01 -2.07721325e-02 -2.44603419e-02 6.26965550e+02] [ 2.07582593e-02 9.99784187e-01 -8.20974674e-04 1.05281809e+01] [ 2.44721165e-02 3.12797728e-04 9.99700464e-01 5.82626551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.439254154 meters Centerline goodness [0,1] 0.999874657920575 Centerline is valid? [True, True] Translation: X:626.99, Y:10.52, Z:5.83 [[ 9.99528524e-01 -2.06820277e-02 -2.26932485e-02 6.26994497e+02] [ 2.06699277e-02 9.99786060e-01 -7.67658113e-04 1.05246998e+01] [ 2.27042702e-02 2.98228375e-04 9.99742180e-01 5.82741910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4692541539999 meters Centerline goodness [0,1] 0.9997487857980237 Centerline is valid? [True, True] Translation: X:627.02, Y:10.52, Z:5.83 [[ 9.99542508e-01 -2.05057199e-02 -2.22326573e-02 6.27021278e+02] [ 2.04939738e-02 9.99789691e-01 -7.56068351e-04 1.05237282e+01] [ 2.22434853e-02 3.00086959e-04 9.99752538e-01 5.82747770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4992541539999 meters Centerline goodness [0,1] 0.9996238165896884 Centerline is valid? [True, True] Translation: X:627.05, Y:10.52, Z:5.83 [[ 9.99568967e-01 -1.98053669e-02 -2.16708902e-02 6.27049407e+02] [ 1.97939398e-02 9.99803806e-01 -7.41699348e-04 1.05227507e+01] [ 2.16813281e-02 3.12427356e-04 9.99764884e-01 5.82707242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5292541539999 meters Centerline goodness [0,1] 0.999644930865951 Centerline is valid? [True, True] Translation: X:627.08, Y:10.52, Z:5.83 [[ 9.99606226e-01 -1.82229218e-02 -2.13381840e-02 6.27078337e+02] [ 1.82113599e-02 9.99833889e-01 -7.36049758e-04 1.05210174e+01] [ 2.13480525e-02 3.47162571e-04 9.99772044e-01 5.82793539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5592541539999 meters Centerline goodness [0,1] 0.999790899966544 Centerline is valid? [True, True] Translation: X:627.11, Y:10.52, Z:5.83 [[ 9.99631105e-01 -1.74873489e-02 -2.07809350e-02 6.27106826e+02] [ 1.74761144e-02 9.99847020e-01 -7.22112999e-04 1.05198219e+01] [ 2.07903837e-02 3.58676619e-04 9.99783792e-01 5.82913777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.589254154 meters Centerline goodness [0,1] 0.9998744297015613 Centerline is valid? [True, True] Translation: X:627.14, Y:10.52, Z:5.83 [[ 9.99624640e-01 -1.74024769e-02 -2.11597084e-02 6.27135200e+02] [ 1.73906937e-02 9.99848496e-01 -7.40770983e-04 1.05187350e+01] [ 2.11693939e-02 3.72510920e-04 9.99775834e-01 5.82992432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6192541539999 meters Centerline goodness [0,1] 0.9995804489196559 Centerline is valid? [True, True] Translation: X:627.16, Y:10.52, Z:5.83 [[ 9.99638555e-01 -1.73016216e-02 -2.05770109e-02 6.27162743e+02] [ 1.72903407e-02 9.99850247e-01 -7.26026959e-04 1.05168697e+01] [ 2.05864909e-02 3.69981012e-04 9.99788007e-01 5.82896911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6492541539999 meters Centerline goodness [0,1] 0.9997068247021129 Centerline is valid? [True, True] Translation: X:627.19, Y:10.51, Z:5.83 [[ 9.99632834e-01 -1.76755649e-02 -2.05370787e-02 6.27190936e+02] [ 1.76642820e-02 9.99843707e-01 -7.30677030e-04 1.05121251e+01] [ 2.05467840e-02 3.67636001e-04 9.99788825e-01 5.82917392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6792541539999 meters Centerline goodness [0,1] 0.9998953252245274 Centerline is valid? [True, True] Translation: X:627.22, Y:10.51, Z:5.83 [[ 9.99627191e-01 -1.86610482e-02 -1.99309793e-02 6.27218513e+02] [ 1.86505448e-02 9.99825809e-01 -7.12754480e-04 1.05103556e+01] [ 1.99408082e-02 3.40765136e-04 9.99801104e-01 5.83057945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.709254154 meters Centerline goodness [0,1] 0.9998954565412842 Centerline is valid? [True, True] Translation: X:627.25, Y:10.51, Z:5.83 [[ 9.99605737e-01 -2.02731340e-02 -1.94260261e-02 6.27246147e+02] [ 2.02634179e-02 9.99794433e-01 -6.96884881e-04 1.05056770e+01] [ 1.94361608e-02 3.02972440e-04 9.99811054e-01 5.83098736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7392541539999 meters Centerline goodness [0,1] 0.9998744034162271 Centerline is valid? [True, True] Translation: X:627.27, Y:10.50, Z:5.83 [[ 9.99557453e-01 -2.19832844e-02 -2.00407886e-02 6.27274746e+02] [ 2.19732072e-02 9.99758299e-01 -7.22925978e-04 1.05037955e+01] [ 2.00518370e-02 2.82245651e-04 9.99798902e-01 5.83118413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7692541539999 meters Centerline goodness [0,1] 0.9998540815475694 Centerline is valid? [True, True] Translation: X:627.30, Y:10.50, Z:5.83 [[ 9.99516995e-01 -2.35137387e-02 -2.03194760e-02 6.27302364e+02] [ 2.35036270e-02 9.99723480e-01 -7.36340881e-04 1.05026388e+01] [ 2.03311714e-02 2.58403840e-04 9.99793267e-01 5.82927317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7992541539999 meters Centerline goodness [0,1] 0.9999373786711754 Centerline is valid? [True, True] Translation: X:627.33, Y:10.49, Z:5.83 [[ 9.99407401e-01 -2.76572767e-02 -2.04920136e-02 6.27331952e+02] [ 2.76478161e-02 9.99617449e-01 -7.44894160e-04 1.04946190e+01] [ 2.05047761e-02 1.77893313e-04 9.99789739e-01 5.83002624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.829254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.36, Y:10.49, Z:5.83 [[ 9.99340425e-01 -3.00997868e-02 -2.03154697e-02 6.27361204e+02] [ 3.00909117e-02 9.99546890e-01 -7.42478554e-04 1.04909924e+01] [ 2.03286130e-02 1.30677829e-04 9.99793344e-01 5.83218681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8592541539999 meters Centerline goodness [0,1] 0.9999583784233746 Centerline is valid? [True, True] Translation: X:627.39, Y:10.49, Z:5.83 [[ 9.99248339e-01 -3.39899048e-02 -1.86398307e-02 6.27389369e+02] [ 3.39830539e-02 9.99422175e-01 -6.84255112e-04 1.04852851e+01] [ 1.86523179e-02 5.03024131e-05 9.99826029e-01 5.83295318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.42, Y:10.48, Z:5.83 [[ 9.99167794e-01 -3.65973324e-02 -1.80098460e-02 6.27417240e+02] [ 3.65913011e-02 9.99330093e-01 -6.64413340e-04 1.04828181e+01] [ 1.80220969e-02 4.85671138e-06 9.99837589e-01 5.83455697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9192541539999 meters Centerline goodness [0,1] 0.9998335933437338 Centerline is valid? [True, True] Translation: X:627.45, Y:10.48, Z:5.83 [[ 9.99093159e-01 -3.86055435e-02 -1.79574933e-02 6.27445303e+02] [ 3.85998099e-02 9.99254528e-01 -6.65909617e-04 1.04804681e+01] [ 1.79698143e-02 -2.78500843e-05 9.99838529e-01 5.83273744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.949254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.47, Y:10.47, Z:5.83 [[ 9.98852588e-01 -4.38500152e-02 -1.92531313e-02 6.27472993e+02] [ 4.38443645e-02 9.99038117e-01 -7.15707568e-04 1.04741402e+01] [ 1.92659958e-02 -1.29254949e-04 9.99814385e-01 5.83453889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9792541539999 meters Centerline goodness [0,1] 0.9999790474993191 Centerline is valid? [True, True] Translation: X:627.50, Y:10.47, Z:5.83 [[ 9.98757210e-01 -4.61228299e-02 -1.88870578e-02 6.27501580e+02] [ 4.61177397e-02 9.98935762e-01 -7.05205872e-04 1.04717126e+01] [ 1.88994836e-02 -1.66698966e-04 9.99821375e-01 5.83422069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.53, Y:10.47, Z:5.84 [[ 9.98600940e-01 -4.95528854e-02 -1.84573634e-02 6.27529206e+02] [ 4.95485545e-02 9.98771476e-01 -6.92154762e-04 1.04657854e+01] [ 1.84689863e-02 -2.23349279e-04 9.99829409e-01 5.83511705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0392541539999 meters Centerline goodness [0,1] 0.9998743876397438 Centerline is valid? [True, True] Translation: X:627.56, Y:10.46, Z:5.83 [[ 9.98554019e-01 -5.08784561e-02 -1.73566426e-02 6.27557335e+02] [ 5.08747753e-02 9.98704826e-01 -6.53829631e-04 1.04644978e+01] [ 1.73674285e-02 -2.30131084e-04 9.99849148e-01 5.83444816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.069254154 meters Centerline goodness [0,1] 0.9999372253609542 Centerline is valid? [True, True] Translation: X:627.59, Y:10.46, Z:5.84 [[ 9.98471645e-01 -5.26048131e-02 -1.69442815e-02 6.27586581e+02] [ 5.26014804e-02 9.98615377e-01 -6.42614918e-04 1.04630340e+01] [ 1.69546247e-02 -2.49661519e-04 9.99856229e-01 5.83595715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0992541539999 meters Centerline goodness [0,1] 0.9999372253609542 Centerline is valid? [True, True] Translation: X:627.61, Y:10.46, Z:5.84 [[ 9.98458999e-01 -5.28443301e-02 -1.69441273e-02 6.27614848e+02] [ 5.28409632e-02 9.98602731e-01 -6.46662455e-04 1.04641776e+01] [ 1.69546242e-02 -2.49678059e-04 9.99856229e-01 5.83622245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.64, Y:10.46, Z:5.84 [[ 9.98355790e-01 -5.45528390e-02 -1.75984286e-02 6.27643937e+02] [ 5.45493966e-02 9.98510844e-01 -6.75933359e-04 1.04629927e+01] [ 1.76090959e-02 -2.85161679e-04 9.99844907e-01 5.83825721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.67, Y:10.46, Z:5.84 [[ 9.98279016e-01 -5.59907657e-02 -1.74367599e-02 6.27673101e+02] [ 5.59875308e-02 9.98431241e-01 -6.74007705e-04 1.04631087e+01] [ 1.74471440e-02 -3.03393383e-04 9.99847741e-01 5.84053717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.189254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.70, Y:10.46, Z:5.84 [[ 9.98240797e-01 -5.67011129e-02 -1.73290087e-02 6.27702072e+02] [ 5.66979481e-02 9.98391150e-01 -6.74272670e-04 1.04629607e+01] [ 1.73393610e-02 -3.09432750e-04 9.99849614e-01 5.84118165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2192541539999 meters Centerline goodness [0,1] 0.9999580993882511 Centerline is valid? [True, True] Translation: X:627.73, Y:10.46, Z:5.84 [[ 9.98225527e-01 -5.70061504e-02 -1.72074430e-02 6.27731324e+02] [ 5.70030247e-02 9.98373779e-01 -6.72468516e-04 1.04607460e+01] [ 1.72177948e-02 -3.09601061e-04 9.99851715e-01 5.84094919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.76, Y:10.46, Z:5.84 [[ 9.98188897e-01 -5.74907273e-02 -1.77127481e-02 6.27760533e+02] [ 5.74874419e-02 9.98345988e-01 -6.95017602e-04 1.04617229e+01] [ 1.77234081e-02 -3.24501723e-04 9.99842875e-01 5.84269183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2792541539999 meters Centerline goodness [0,1] 0.9999790567144173 Centerline is valid? [True, True] Translation: X:627.79, Y:10.46, Z:5.84 [[ 9.98154089e-01 -5.80988120e-02 -1.76901586e-02 6.27789409e+02] [ 5.80955504e-02 9.98310783e-01 -6.98651060e-04 1.04622453e+01] [ 1.77008668e-02 -3.30358085e-04 9.99843273e-01 5.84284576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.82, Y:10.46, Z:5.84 [[ 9.98078493e-01 -5.91341557e-02 -1.85060435e-02 6.27818604e+02] [ 5.91306746e-02 9.98249980e-01 -7.35709439e-04 1.04617755e+01] [ 1.85171631e-02 -3.59979069e-04 9.99828478e-01 5.84436239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.339254154 meters Centerline goodness [0,1] 0.999979064168324 Centerline is valid? [True, True] Translation: X:627.85, Y:10.46, Z:5.84 [[ 9.98045616e-01 -5.97653127e-02 -1.82498102e-02 6.27846512e+02] [ 5.97619752e-02 9.98212390e-01 -7.28679413e-04 1.04600934e+01] [ 1.82607365e-02 -3.63389413e-04 9.99833193e-01 5.84350215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:627.88, Y:10.46, Z:5.85 [[ 9.97898233e-01 -6.19723013e-02 -1.89354187e-02 6.27875038e+02] [ 6.19690428e-02 9.98077783e-01 -7.59359886e-04 1.04599377e+01] [ 1.89460800e-02 -4.15645881e-04 9.99820421e-01 5.84538379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3992541539999 meters Centerline goodness [0,1] 0.9999161899972762 Centerline is valid? [True, True] Translation: X:627.90, Y:10.46, Z:5.84 [[ 9.97775024e-01 -6.37734416e-02 -1.94409508e-02 6.27904029e+02] [ 6.37702514e-02 9.97964298e-01 -7.84620168e-04 1.04593780e+01] [ 1.94514127e-02 -4.56879914e-04 9.99810699e-01 5.84416528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4292541539999 meters Centerline goodness [0,1] 0.9999163284943312 Centerline is valid? [True, True] Translation: X:627.93, Y:10.46, Z:5.84 [[ 9.97681044e-01 -6.53033646e-02 -1.91834583e-02 6.27932451e+02] [ 6.53004692e-02 9.97865343e-01 -7.77962882e-04 1.04585363e+01] [ 1.91933118e-02 -4.76530009e-04 9.99815678e-01 5.84486796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.459254154 meters Centerline goodness [0,1] 0.9998534614498943 Centerline is valid? [True, True] Translation: X:627.96, Y:10.46, Z:5.85 [[ 9.97408451e-01 -6.92962936e-02 -1.93495828e-02 6.27962259e+02] [ 6.92940652e-02 9.97595967e-01 -7.86414678e-04 1.04584540e+01] [ 1.93575614e-02 -5.56434608e-04 9.99812470e-01 5.84640284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4892541539999 meters Centerline goodness [0,1] 0.9999164961797002 Centerline is valid? [True, True] Translation: X:627.99, Y:10.46, Z:5.85 [[ 9.97240930e-01 -7.17258552e-02 -1.91292780e-02 6.27990431e+02] [ 7.17240895e-02 9.97424207e-01 -7.79249356e-04 1.04551462e+01] [ 1.91358973e-02 -5.94930700e-04 9.99816715e-01 5.84641309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5192541539999 meters Centerline goodness [0,1] 0.9999791344990193 Centerline is valid? [True, True] Translation: X:628.02, Y:10.45, Z:5.85 [[ 9.97052438e-01 -7.42932293e-02 -1.91559879e-02 6.28018735e+02] [ 7.42918889e-02 9.97236232e-01 -7.82583797e-04 1.04537752e+01] [ 1.91611859e-02 -6.42857444e-04 9.99816201e-01 5.84757745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.05, Y:10.45, Z:5.85 [[ 9.96719615e-01 -7.85912487e-02 -1.93241815e-02 6.28047808e+02] [ 7.85906646e-02 9.96906657e-01 -7.90826403e-04 1.04524588e+01] [ 1.93265572e-02 -7.30468078e-04 9.99812958e-01 5.84880521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.08, Y:10.45, Z:5.85 [[ 9.96519437e-01 -8.10308373e-02 -1.95707470e-02 6.28076631e+02] [ 8.10306470e-02 9.96711286e-01 -8.04023173e-04 1.04518034e+01] [ 1.95715351e-02 -7.84605574e-04 9.99808151e-01 5.84948295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6092541539999 meters Centerline goodness [0,1] 0.9999163792202362 Centerline is valid? [True, True] Translation: X:628.11, Y:10.45, Z:5.85 [[ 9.96353788e-01 -8.28248103e-02 -2.04738615e-02 6.28105690e+02] [ 8.28248719e-02 9.96563758e-01 -8.46412367e-04 1.04510395e+01] [ 2.04736123e-02 -8.52418787e-04 9.99790030e-01 5.84799834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.13, Y:10.45, Z:5.85 [[ 9.96169948e-01 -8.52220067e-02 -1.95613080e-02 6.28134671e+02] [ 8.52224297e-02 9.96361619e-01 -8.13504584e-04 1.04503377e+01] [ 1.95594650e-02 -8.56673375e-04 9.99808328e-01 5.84998456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6692541539999 meters Centerline goodness [0,1] 0.9999164630453397 Centerline is valid? [True, True] Translation: X:628.16, Y:10.45, Z:5.85 [[ 9.95842140e-01 -8.89626595e-02 -1.95979058e-02 6.28163992e+02] [ 8.89637534e-02 9.96034528e-01 -8.17746456e-04 1.04479946e+01] [ 1.95929397e-02 -9.29156876e-04 9.99807608e-01 5.85113530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.699254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.19, Y:10.45, Z:5.85 [[ 9.95610123e-01 -9.16516691e-02 -1.89856188e-02 6.28192992e+02] [ 9.16531671e-02 9.95790675e-01 -7.93039787e-04 1.04481924e+01] [ 1.89783856e-02 -9.50533654e-04 9.99819442e-01 5.85258831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7292541539999 meters Centerline goodness [0,1] 0.9998956115077874 Centerline is valid? [True, True] Translation: X:628.22, Y:10.45, Z:5.85 [[ 9.95485612e-01 -9.26278634e-02 -2.06996339e-02 6.28221250e+02] [ 9.26298115e-02 9.95700239e-01 -8.66736877e-04 1.04484671e+01] [ 2.06909144e-02 -1.05457909e-03 9.99785364e-01 5.85076533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.25, Y:10.45, Z:5.85 [[ 9.95418838e-01 -9.35061304e-02 -1.99484576e-02 6.28249150e+02] [ 9.35080720e-02 9.95618169e-01 -8.37458139e-04 1.04456579e+01] [ 1.99393543e-02 -1.03172021e-03 9.99800659e-01 5.85179049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.28, Y:10.45, Z:5.85 [[ 9.95340372e-01 -9.40832441e-02 -2.11160462e-02 6.28277548e+02] [ 9.40854673e-02 9.95563726e-01 -8.90365818e-04 1.04530549e+01] [ 2.11061381e-02 -1.10049603e-03 9.99776635e-01 5.85280235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.819254154 meters Centerline goodness [0,1] 0.9999163634842972 Centerline is valid? [True, True] Translation: X:628.31, Y:10.45, Z:5.85 [[ 9.95381125e-01 -9.34832900e-02 -2.18469995e-02 6.28305074e+02] [ 9.34854470e-02 9.95620217e-01 -9.24798683e-04 1.04537942e+01] [ 2.18377676e-02 -1.12184936e-03 9.99760898e-01 5.85153984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8492541539999 meters Centerline goodness [0,1] 0.9998750104157987 Centerline is valid? [True, True] Translation: X:628.33, Y:10.46, Z:5.85 [[ 9.95401507e-01 -9.33384229e-02 -2.15354997e-02 6.28334043e+02] [ 9.33404008e-02 9.95633834e-01 -9.15518411e-04 1.04567912e+01] [ 2.15269252e-02 -1.09882377e-03 9.99767665e-01 5.85346246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8792541539999 meters Centerline goodness [0,1] 0.9999790825611312 Centerline is valid? [True, True] Translation: X:628.36, Y:10.46, Z:5.85 [[ 9.95475355e-01 -9.24896367e-02 -2.17826887e-02 6.28362774e+02] [ 9.24913377e-02 9.95713053e-01 -9.31537971e-04 1.04594429e+01] [ 2.17754651e-02 -1.08738692e-03 9.99762295e-01 5.85322308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.39, Y:10.46, Z:5.85 [[ 9.95767604e-01 -8.94115027e-02 -2.12711384e-02 6.28391870e+02] [ 8.94123659e-02 9.95994275e-01 -9.12383804e-04 1.04636115e+01] [ 2.12675097e-02 -9.93380574e-04 9.99773327e-01 5.85393818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.939254154 meters Centerline goodness [0,1] 0.9998746893339738 Centerline is valid? [True, True] Translation: X:628.42, Y:10.47, Z:5.85 [[ 9.95926125e-01 -8.73363297e-02 -2.24392403e-02 6.28420816e+02] [ 8.73367363e-02 9.96178380e-01 -9.63760933e-04 1.04671487e+01] [ 2.24376574e-02 -9.99935319e-04 9.99747744e-01 5.85246647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.45, Y:10.47, Z:5.85 [[ 9.96299691e-01 -8.31500074e-02 -2.17486117e-02 6.28449729e+02] [ 8.31493700e-02 9.96536656e-01 -9.35171287e-04 1.04725275e+01] [ 2.17510482e-02 -8.76672494e-04 9.99763034e-01 5.85445002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.48, Y:10.48, Z:5.85 [[ 9.96463484e-01 -8.11833196e-02 -2.16747036e-02 6.28478557e+02] [ 8.11821966e-02 9.96698841e-01 -9.33167396e-04 1.04765540e+01] [ 2.16789096e-02 -8.29732813e-04 9.99764641e-01 5.85483279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0292541539999 meters Centerline goodness [0,1] 0.9998538591619867 Centerline is valid? [True, True] Translation: X:628.51, Y:10.48, Z:5.85 [[ 9.96654372e-01 -7.84182199e-02 -2.30357661e-02 6.28507169e+02] [ 7.84161767e-02 9.96920216e-01 -9.93386725e-04 1.04810860e+01] [ 2.30427206e-02 -8.16313485e-04 9.99734148e-01 5.85335397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0592541539999 meters Centerline goodness [0,1] 0.999833492902635 Centerline is valid? [True, True] Translation: X:628.54, Y:10.49, Z:5.85 [[ 9.96981762e-01 -7.41605334e-02 -2.29691307e-02 6.28535942e+02] [ 7.41573477e-02 9.97246060e-01 -9.91614166e-04 1.04877626e+01] [ 2.29794138e-02 -7.14708577e-04 9.99735683e-01 5.85377655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.56, Y:10.49, Z:5.86 [[ 9.97069685e-01 -7.35440746e-02 -2.10549707e-02 6.28564333e+02] [ 7.35411960e-02 9.97291763e-01 -9.12024852e-04 1.04905248e+01] [ 2.10650229e-02 -6.39055396e-04 9.99777904e-01 5.85571362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.59, Y:10.49, Z:5.86 [[ 9.97122505e-01 -7.27784270e-02 -2.12134691e-02 6.28593097e+02] [ 7.27752257e-02 9.97347940e-01 -9.23891098e-04 1.04931286e+01] [ 2.12244490e-02 -6.22582394e-04 9.99774542e-01 5.85603939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1492541539999 meters Centerline goodness [0,1] 0.9998545424320505 Centerline is valid? [True, True] Translation: X:628.62, Y:10.50, Z:5.85 [[ 9.97208750e-01 -7.11625549e-02 -2.25964682e-02 6.28622026e+02] [ 7.11583857e-02 9.97464538e-01 -9.89542414e-04 1.04973385e+01] [ 2.26095941e-02 -6.21147849e-04 9.99744177e-01 5.85444820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1792541539999 meters Centerline goodness [0,1] 0.9997707282504481 Centerline is valid? [True, True] Translation: X:628.65, Y:10.50, Z:5.85 [[ 9.97205470e-01 -7.10590080e-02 -2.30622524e-02 6.28648506e+02] [ 7.10545497e-02 9.97471916e-01 -1.01374564e-03 1.05005216e+01] [ 2.30759848e-02 -6.27765257e-04 9.99733517e-01 5.85398175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.209254154 meters Centerline goodness [0,1] 0.9998542243695204 Centerline is valid? [True, True] Translation: X:628.68, Y:10.50, Z:5.85 [[ 9.97182158e-01 -7.15978993e-02 -2.23938434e-02 6.28676153e+02] [ 7.15937320e-02 9.97433386e-01 -9.88796790e-04 1.05022292e+01] [ 2.24071629e-02 -6.17248309e-04 9.99748737e-01 5.85440274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2392541539999 meters Centerline goodness [0,1] 0.9999583307290039 Centerline is valid? [True, True] Translation: X:628.71, Y:10.51, Z:5.86 [[ 9.97135254e-01 -7.24413031e-02 -2.17610392e-02 6.28705070e+02] [ 7.24374491e-02 9.97372489e-01 -9.66340191e-04 1.05092891e+01] [ 2.17738648e-02 -6.12742301e-04 9.99762734e-01 5.85763652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2692541539999 meters Centerline goodness [0,1] 0.999937589714785 Centerline is valid? [True, True] Translation: X:628.73, Y:10.51, Z:5.86 [[ 9.97120381e-01 -7.26088207e-02 -2.18839008e-02 6.28733470e+02] [ 7.26048870e-02 9.97360306e-01 -9.75283779e-04 1.05051396e+01] [ 2.18969482e-02 -6.16402813e-04 9.99760043e-01 5.85503926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2992541539999 meters Centerline goodness [0,1] 0.9998328632612556 Centerline is valid? [True, True] Translation: X:628.76, Y:10.51, Z:5.86 [[ 9.97026538e-01 -7.38663177e-02 -2.19510964e-02 6.28762355e+02] [ 7.38625777e-02 9.97267945e-01 -9.82219307e-04 1.05123545e+01] [ 2.19636777e-02 -6.42065848e-04 9.99758563e-01 5.85744341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.329254154 meters Centerline goodness [0,1] 0.9999373943529707 Centerline is valid? [True, True] Translation: X:628.79, Y:10.52, Z:5.86 [[ 9.96935691e-01 -7.55275817e-02 -2.03669442e-02 6.28791387e+02] [ 7.55246077e-02 9.97143517e-01 -9.16263245e-04 1.05153467e+01] [ 2.03779695e-02 -6.24749940e-04 9.99792152e-01 5.85923426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3592541539999 meters Centerline goodness [0,1] 0.9997704938554945 Centerline is valid? [True, True] Translation: X:628.82, Y:10.52, Z:5.86 [[ 9.96887548e-01 -7.63565036e-02 -1.96189163e-02 6.28821051e+02] [ 7.63538522e-02 9.97080391e-01 -8.85265232e-04 1.05169452e+01] [ 1.96292325e-02 -6.15469948e-04 9.99807139e-01 5.85964840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3892541539999 meters Centerline goodness [0,1] 0.9998748043818466 Centerline is valid? [True, True] Translation: X:628.85, Y:10.52, Z:5.86 [[ 9.96682789e-01 -7.89878572e-02 -1.96044866e-02 6.28849906e+02] [ 7.89857006e-02 9.96875356e-01 -8.85503985e-04 1.05177212e+01] [ 1.96131737e-02 -6.65907532e-04 9.99807421e-01 5.85968415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4192541539999 meters Centerline goodness [0,1] 0.9997076389759011 Centerline is valid? [True, True] Translation: X:628.88, Y:10.52, Z:5.86 [[ 9.96545526e-01 -8.07476766e-02 -1.94120365e-02 6.28879901e+02] [ 8.07458789e-02 9.96734334e-01 -8.77667891e-04 1.05184708e+01] [ 1.94195129e-02 -6.92805935e-04 9.99811183e-01 5.85967912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.449254154 meters Centerline goodness [0,1] 0.9998536972787694 Centerline is valid? [True, True] Translation: X:628.91, Y:10.51, Z:5.86 [[ 9.96189682e-01 -8.49027284e-02 -1.99409963e-02 6.28909639e+02] [ 8.49016515e-02 9.96388928e-01 -9.02126466e-04 1.05145058e+01] [ 1.99455809e-02 -7.94334443e-04 9.99800752e-01 5.85838965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4792541539999 meters Centerline goodness [0,1] 0.9999581861136083 Centerline is valid? [True, True] Translation: X:628.94, Y:10.52, Z:5.86 [[ 9.95960518e-01 -8.79271838e-02 -1.82059802e-02 6.28939057e+02] [ 8.79267816e-02 9.96126599e-01 -8.24108073e-04 1.05174456e+01] [ 1.82079226e-02 -7.80014140e-04 9.99833918e-01 5.86025126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:628.97, Y:10.52, Z:5.86 [[ 9.95723236e-01 -9.06004238e-02 -1.80776055e-02 6.28968937e+02] [ 9.06004581e-02 9.95886985e-01 -8.18776077e-04 1.05165348e+01] [ 1.80774335e-02 -8.22564975e-04 9.99836251e-01 5.86051101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5392541539999 meters Centerline goodness [0,1] 0.9998328527850905 Centerline is valid? [True, True] Translation: X:629.00, Y:10.52, Z:5.86 [[ 9.95479665e-01 -9.33501468e-02 -1.74924590e-02 6.28998957e+02] [ 9.33505969e-02 9.95632984e-01 -7.92579495e-04 1.05210378e+01] [ 1.74900565e-02 -8.43934716e-04 9.99846681e-01 5.86168169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.569254154 meters Centerline goodness [0,1] 0.9997082664777345 Centerline is valid? [True, True] Translation: X:629.03, Y:10.52, Z:5.86 [[ 9.95053482e-01 -9.77245456e-02 -1.78460393e-02 6.29029438e+02] [ 9.77257097e-02 9.95213058e-01 -8.08927226e-04 1.05211980e+01] [ 1.78396634e-02 -9.39091000e-04 9.99840420e-01 5.86121560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5992541539999 meters Centerline goodness [0,1] 0.999728385775772 Centerline is valid? [True, True] Translation: X:629.06, Y:10.51, Z:5.86 [[ 9.94630030e-01 -1.02238820e-01 -1.60725731e-02 6.29058689e+02] [ 1.02240345e-01 9.94759459e-01 -7.28932541e-04 1.05139122e+01] [ 1.60628693e-02 -9.18247217e-04 9.99870562e-01 5.86071681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6292541539999 meters Centerline goodness [0,1] 0.9998542486518001 Centerline is valid? [True, True] Translation: X:629.09, Y:10.52, Z:5.86 [[ 9.94417895e-01 -1.04336433e-01 -1.57149300e-02 6.29088836e+02] [ 1.04338147e-01 9.94541624e-01 -7.13040800e-04 1.05235375e+01] [ 1.57035481e-02 -9.30606139e-04 9.99876259e-01 5.86249707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6592541539999 meters Centerline goodness [0,1] 0.9996246011387099 Centerline is valid? [True, True] Translation: X:629.12, Y:10.53, Z:5.86 [[ 9.94304860e-01 -1.05426871e-01 -1.55891110e-02 6.29119757e+02] [ 1.05428694e-01 9.94426614e-01 -7.07098639e-04 1.05298030e+01] [ 1.55767740e-02 -9.40467998e-04 9.99878232e-01 5.86276342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.689254154 meters Centerline goodness [0,1] 0.9994579493808115 Centerline is valid? [True, True] Translation: X:629.15, Y:10.53, Z:5.86 [[ 9.94222640e-01 -1.06283118e-01 -1.50080212e-02 6.29151324e+02] [ 1.06284914e-01 9.94335484e-01 -6.80193243e-04 1.05323917e+01] [ 1.49953011e-02 -9.18862718e-04 9.99887142e-01 5.86259782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7192541539999 meters Centerline goodness [0,1] 0.9995625 Centerline is valid? [True, True] Translation: X:629.18, Y:10.53, Z:5.86 [[ 9.94094186e-01 -1.07539191e-01 -1.45626922e-02 6.29181593e+02] [ 1.07541022e-01 9.94200429e-01 -6.59575121e-04 1.05289503e+01] [ 1.45491650e-02 -9.10407010e-04 9.99893741e-01 5.86210310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7492541539999 meters Centerline goodness [0,1] 0.9996872458872834 Centerline is valid? [True, True] Translation: X:629.21, Y:10.54, Z:5.86 [[ 9.93986987e-01 -1.08727792e-01 -1.29667655e-02 6.29212736e+02] [ 1.08729348e-01 9.94071217e-01 -5.87005391e-04 1.05405279e+01] [ 1.29537121e-02 -8.26392239e-04 9.99915756e-01 5.86417391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7792541539999 meters Centerline goodness [0,1] 0.9996248749583194 Centerline is valid? [True, True] Translation: X:629.24, Y:10.54, Z:5.86 [[ 9.94023425e-01 -1.08424088e-01 -1.27141033e-02 6.29244708e+02] [ 1.08425567e-01 9.94104404e-01 -5.74981793e-04 1.05443695e+01] [ 1.27014880e-02 -8.06988486e-04 9.99919007e-01 5.86388705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8092541539999 meters Centerline goodness [0,1] 0.9994984535651592 Centerline is valid? [True, True] Translation: X:629.28, Y:10.55, Z:5.87 [[ 9.93882121e-01 -1.09822441e-01 -1.17201116e-02 6.29276862e+02] [ 1.09823803e-01 9.93950930e-01 -5.29216765e-04 1.05509487e+01] [ 1.17073357e-02 -7.61168152e-04 9.99931177e-01 5.86518256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.839254154 meters Centerline goodness [0,1] 0.9994984535651592 Centerline is valid? [True, True] Translation: X:629.31, Y:10.55, Z:5.87 [[ 9.93890245e-01 -1.09748892e-01 -1.17201507e-02 6.29308579e+02] [ 1.09750260e-01 9.93959054e-01 -5.28350119e-04 1.05523173e+01] [ 1.17073357e-02 -7.61167550e-04 9.99931177e-01 5.86547986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8692541539999 meters Centerline goodness [0,1] 0.9994795461642553 Centerline is valid? [True, True] Translation: X:629.34, Y:10.56, Z:5.86 [[ 9.93825282e-01 -1.10267181e-01 -1.23473525e-02 6.29339401e+02] [ 1.10268750e-01 9.93901652e-01 -5.55728543e-04 1.05552545e+01] [ 1.23333327e-02 -8.09230059e-04 9.99923614e-01 5.86496075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8992541539999 meters Centerline goodness [0,1] 0.9994361726564621 Centerline is valid? [True, True] Translation: X:629.37, Y:10.56, Z:5.86 [[ 9.93881068e-01 -1.09786026e-01 -1.21429425e-02 6.29371373e+02] [ 1.09787516e-01 9.93954930e-01 -5.45815470e-04 1.05611711e+01] [ 1.21294604e-02 -7.90667829e-04 9.99926123e-01 5.86373196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9292541539999 meters Centerline goodness [0,1] 0.9992703925288194 Centerline is valid? [True, True] Translation: X:629.40, Y:10.57, Z:5.86 [[ 9.93843289e-01 -1.10233288e-01 -1.11417817e-02 6.29402512e+02] [ 1.10234578e-01 9.93905472e-01 -5.00085876e-04 1.05664546e+01] [ 1.11290039e-02 -7.31202612e-04 9.99937803e-01 5.86473047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.959254154 meters Centerline goodness [0,1] 0.9993321924955132 Centerline is valid? [True, True] Translation: X:629.43, Y:10.57, Z:5.87 [[ 9.93802563e-01 -1.10665143e-01 -1.04734313e-02 6.29434850e+02] [ 1.10666313e-01 9.93857508e-01 -4.69524992e-04 1.05724534e+01] [ 1.04610584e-02 -6.92440891e-04 9.99945042e-01 5.86629399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9892541539999 meters Centerline goodness [0,1] 0.9990406273462918 Centerline is valid? [True, True] Translation: X:629.47, Y:10.58, Z:5.87 [[ 9.93840622e-01 -1.10342256e-01 -1.02667111e-02 6.29465723e+02] [ 1.10343371e-01 9.93893420e-01 -4.59536139e-04 1.05752444e+01] [ 1.02547229e-02 -6.76157829e-04 9.99947190e-01 5.86586371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0192541539999 meters Centerline goodness [0,1] 0.9990406273462918 Centerline is valid? [True, True] Translation: X:629.50, Y:10.58, Z:5.87 [[ 9.93848578e-01 -1.10270568e-01 -1.02667368e-02 6.29497444e+02] [ 1.10271685e-01 9.93901376e-01 -4.58960855e-04 1.05765987e+01] [ 1.02547337e-02 -6.75992772e-04 9.99947190e-01 5.86616106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0492541539999 meters Centerline goodness [0,1] 0.9989997916232548 Centerline is valid? [True, True] Translation: X:629.53, Y:10.58, Z:5.87 [[ 9.93795928e-01 -1.10730740e-01 -1.04094721e-02 6.29528519e+02] [ 1.10731921e-01 9.93850203e-01 -4.64599270e-04 1.05822446e+01] [ 1.03969013e-02 -6.90943977e-04 9.99945712e-01 5.86617027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.079254154 meters Centerline goodness [0,1] 0.9987093013573154 Centerline is valid? [True, True] Translation: X:629.56, Y:10.59, Z:5.87 [[ 9.93897952e-01 -1.09814131e-01 -1.03786784e-02 6.29561019e+02] [ 1.09815262e-01 9.93951907e-01 -4.62632166e-04 1.05858672e+01] [ 1.03667107e-02 -6.79928121e-04 9.99946033e-01 5.86505359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1092541539999 meters Centerline goodness [0,1] 0.9988919783413125 Centerline is valid? [True, True] Translation: X:629.59, Y:10.60, Z:5.87 [[ 9.93943611e-01 -1.09507475e-01 -9.17661746e-03 6.29593031e+02] [ 1.09508353e-01 9.93985792e-01 -4.08331973e-04 1.05953785e+01] [ 9.16614277e-03 -5.99057306e-04 9.99957811e-01 5.86758898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1392541539999 meters Centerline goodness [0,1] 0.9985830676585193 Centerline is valid? [True, True] Translation: X:629.62, Y:10.60, Z:5.87 [[ 9.94064663e-01 -1.08365919e-01 -9.60587257e-03 6.29624205e+02] [ 1.08366834e-01 9.94110883e-01 -4.26720057e-04 1.05986208e+01] [ 9.59554437e-03 -6.16770667e-04 9.99953771e-01 5.86691390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1692541539999 meters Centerline goodness [0,1] 0.9986033519553073 Centerline is valid? [True, True] Translation: X:629.66, Y:10.60, Z:5.87 [[ 9.94136720e-01 -1.07694461e-01 -9.69973280e-03 6.29655191e+02] [ 1.07695367e-01 9.94183848e-01 -4.30368968e-04 1.06024958e+01] [ 9.68966603e-03 -6.16770689e-04 9.99952864e-01 5.86683067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.199254154 meters Centerline goodness [0,1] 0.9986668055410894 Centerline is valid? [True, True] Translation: X:629.69, Y:10.62, Z:5.87 [[ 9.94278552e-01 -1.06406874e-01 -9.36682930e-03 6.29687158e+02] [ 1.06407666e-01 9.94322501e-01 -4.15124548e-04 1.06163147e+01] [ 9.35782124e-03 -5.83953012e-04 9.99956044e-01 5.86773206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2292541539999 meters Centerline goodness [0,1] 0.9986258016157241 Centerline is valid? [True, True] Translation: X:629.72, Y:10.62, Z:5.87 [[ 9.94396971e-01 -1.05319033e-01 -9.08654422e-03 6.29719126e+02] [ 1.05319744e-01 9.94438329e-01 -4.01590998e-04 1.06242214e+01] [ 9.07830303e-03 -5.57651637e-04 9.99958636e-01 5.86802180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2592541539999 meters Centerline goodness [0,1] 0.998190478171343 Centerline is valid? [True, True] Translation: X:629.75, Y:10.63, Z:5.87 [[ 9.94698930e-01 -1.02439120e-01 -8.95906658e-03 6.29748848e+02] [ 1.02439701e-01 9.94739137e-01 -3.95275178e-04 1.06309039e+01] [ 8.95242581e-03 -5.24584302e-04 9.99959789e-01 5.86742135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2892541539999 meters Centerline goodness [0,1] 0.9985838643841892 Centerline is valid? [True, True] Translation: X:629.78, Y:10.64, Z:5.87 [[ 9.94906213e-01 -1.00427084e-01 -8.71938461e-03 6.29779892e+02] [ 1.00427557e-01 9.94944299e-01 -3.84724127e-04 1.06410073e+01] [ 8.71393873e-03 -4.92902066e-04 9.99961911e-01 5.86702514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.319254154 meters Centerline goodness [0,1] 0.9986256299196202 Centerline is valid? [True, True] Translation: X:629.81, Y:10.65, Z:5.87 [[ 9.95189858e-01 -9.75172090e-02 -9.35631344e-03 6.29811615e+02] [ 9.75176285e-02 9.95233712e-01 -4.12454043e-04 1.06464181e+01] [ 9.35193993e-03 -5.01935418e-04 9.99956144e-01 5.86640369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3492541539999 meters Centerline goodness [0,1] 0.9986059092800665 Centerline is valid? [True, True] Translation: X:629.84, Y:10.65, Z:5.87 [[ 9.95412195e-01 -9.52100281e-02 -9.46640533e-03 6.29843133e+02] [ 9.52103585e-02 9.95457088e-01 -4.16778847e-04 1.06527133e+01] [ 9.46308181e-03 -4.86433098e-04 9.99955106e-01 5.86641639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3792541539999 meters Centerline goodness [0,1] 0.9987256888591782 Centerline is valid? [True, True] Translation: X:629.87, Y:10.66, Z:5.87 [[ 9.95718013e-01 -9.19638899e-02 -9.39586500e-03 6.29873070e+02] [ 9.19640760e-02 9.95762240e-01 -4.13160926e-04 1.06635810e+01] [ 9.39404346e-03 -4.52690267e-04 9.99955773e-01 5.86829381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4092541539999 meters Centerline goodness [0,1] 0.9988908189104911 Centerline is valid? [True, True] Translation: X:629.90, Y:10.67, Z:5.87 [[ 9.95948732e-01 -8.93475826e-02 -1.01553843e-02 6.29904458e+02] [ 8.93476666e-02 9.96000399e-01 -4.46334304e-04 1.06692017e+01] [ 1.01546457e-02 -4.62833802e-04 9.99948333e-01 5.86861887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.439254154 meters Centerline goodness [0,1] 0.9987854166230394 Centerline is valid? [True, True] Translation: X:629.94, Y:10.67, Z:5.87 [[ 9.96155134e-01 -8.69753761e-02 -1.04991736e-02 6.29936064e+02] [ 8.69753404e-02 9.96210358e-01 -4.60861927e-04 1.06739619e+01] [ 1.04994691e-02 -4.54079221e-04 9.99944776e-01 5.86852891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4692541539999 meters Centerline goodness [0,1] 0.9985945628461151 Centerline is valid? [True, True] Translation: X:629.97, Y:10.68, Z:5.87 [[ 9.96464691e-01 -8.34374825e-02 -9.81360301e-03 6.29966088e+02] [ 8.34372846e-02 9.96512937e-01 -4.30293539e-04 1.06825224e+01] [ 9.81528498e-03 -3.90048069e-04 9.99951753e-01 5.87006605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4992541539999 meters Centerline goodness [0,1] 0.9986625707897101 Centerline is valid? [True, True] Translation: X:630.00, Y:10.69, Z:5.87 [[ 9.96626651e-01 -8.15160387e-02 -9.51076004e-03 6.29997624e+02] [ 8.15157672e-02 9.96671965e-01 -4.16842480e-04 1.06874751e+01] [ 9.51308724e-03 -3.59840576e-04 9.99954685e-01 5.87099666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5292541539999 meters Centerline goodness [0,1] 0.9983044461190655 Centerline is valid? [True, True] Translation: X:630.03, Y:10.70, Z:5.87 [[ 9.96987641e-01 -7.68950984e-02 -1.01384595e-02 6.30028363e+02] [ 7.68945584e-02 9.97039132e-01 -4.43643219e-04 1.06970258e+01] [ 1.01425548e-02 -3.37285558e-04 9.99948506e-01 5.86947899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5592541539999 meters Centerline goodness [0,1] 0.9981365939449772 Centerline is valid? [True, True] Translation: X:630.06, Y:10.70, Z:5.87 [[ 9.97116850e-01 -7.51351148e-02 -1.06161320e-02 6.30060494e+02] [ 7.51344257e-02 9.97173306e-01 -4.64289966e-04 1.07017957e+01] [ 1.06210079e-02 -3.34685631e-04 9.99943539e-01 5.86914251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.589254154 meters Centerline goodness [0,1] 0.9984291548853284 Centerline is valid? [True, True] Translation: X:630.09, Y:10.71, Z:5.87 [[ 9.97179964e-01 -7.42154881e-02 -1.11436361e-02 6.30092802e+02] [ 7.42146803e-02 9.97242169e-01 -4.86561999e-04 1.07064888e+01] [ 1.11490143e-02 -3.41831514e-04 9.99937789e-01 5.87032461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6192541539999 meters Centerline goodness [0,1] 0.9987450324199958 Centerline is valid? [True, True] Translation: X:630.12, Y:10.71, Z:5.87 [[ 9.97289914e-01 -7.26657326e-02 -1.15116596e-02 6.30123872e+02] [ 7.26647764e-02 9.97356295e-01 -5.01858877e-04 1.07104489e+01] [ 1.15176941e-02 -3.35993372e-04 9.99933613e-01 5.87018521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6492541539999 meters Centerline goodness [0,1] 0.9986409918668591 Centerline is valid? [True, True] Translation: X:630.15, Y:10.72, Z:5.87 [[ 9.97464229e-01 -7.02028866e-02 -1.16904877e-02 6.30154970e+02] [ 7.02017384e-02 9.97532685e-01 -5.09052093e-04 1.07167774e+01] [ 1.16973805e-02 -3.12931303e-04 9.99931534e-01 5.87021675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6792541539999 meters Centerline goodness [0,1] 0.9985380422296944 Centerline is valid? [True, True] Translation: X:630.19, Y:10.72, Z:5.87 [[ 9.97538243e-01 -6.91456247e-02 -1.16762774e-02 6.30186887e+02] [ 6.91444143e-02 9.97606532e-01 -5.07806531e-04 1.07201146e+01] [ 1.16834432e-02 -3.00792926e-04 9.99931701e-01 5.87032566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.709254154 meters Centerline goodness [0,1] 0.9985151413752719 Centerline is valid? [True, True] Translation: X:630.22, Y:10.72, Z:5.87 [[ 9.97657460e-01 -6.75148809e-02 -1.10151498e-02 6.30217782e+02] [ 6.75137117e-02 9.97718232e-01 -4.78384082e-04 1.07249097e+01] [ 1.10223138e-02 -2.66410201e-04 9.99939217e-01 5.87079257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7392541539999 meters Centerline goodness [0,1] 0.998454501785677 Centerline is valid? [True, True] Translation: X:630.25, Y:10.73, Z:5.87 [[ 9.97753922e-01 -6.60674631e-02 -1.10544825e-02 6.30250390e+02] [ 6.60662034e-02 9.97815127e-01 -4.79487028e-04 1.07285791e+01] [ 1.10620084e-02 -2.51917629e-04 9.99938782e-01 5.87038888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7692541539999 meters Centerline goodness [0,1] 0.9987069594777784 Centerline is valid? [True, True] Translation: X:630.28, Y:10.73, Z:5.87 [[ 9.97788903e-01 -6.55743323e-02 -1.08310797e-02 6.30282066e+02] [ 6.55731032e-02 9.97847658e-01 -4.68947882e-04 1.07320834e+01] [ 1.08385185e-02 -2.42316516e-04 9.99941232e-01 5.87177994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7992541539999 meters Centerline goodness [0,1] 0.9984963976192962 Centerline is valid? [True, True] Translation: X:630.31, Y:10.74, Z:5.87 [[ 9.97923932e-01 -6.32874935e-02 -1.19381177e-02 6.30314384e+02] [ 6.32858468e-02 9.97995308e-01 -5.16036000e-04 1.07368578e+01] [ 1.19468441e-02 -2.40549215e-04 9.99928605e-01 5.87053521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.829254154 meters Centerline goodness [0,1] 0.9986807664118941 Centerline is valid? [True, True] Translation: X:630.35, Y:10.74, Z:5.87 [[ 9.97965495e-01 -6.25311187e-02 -1.24390222e-02 6.30346328e+02] [ 6.25292826e-02 9.98042985e-01 -5.36849032e-04 1.07390791e+01] [ 1.24482487e-02 -2.42046328e-04 9.99922488e-01 5.87104301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8592541539999 meters Centerline goodness [0,1] 0.9988072069809781 Centerline is valid? [True, True] Translation: X:630.38, Y:10.75, Z:5.87 [[ 9.98053703e-01 -6.08558670e-02 -1.36150065e-02 6.30377903e+02] [ 6.08535249e-02 9.98146535e-01 -5.86626834e-04 1.07451678e+01] [ 1.36254712e-02 -2.43036050e-04 9.99907139e-01 5.87036645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8892541539999 meters Centerline goodness [0,1] 0.998844877557021 Centerline is valid? [True, True] Translation: X:630.41, Y:10.74, Z:5.87 [[ 9.98144349e-01 -5.93353898e-02 -1.36809848e-02 6.30408808e+02] [ 5.93328947e-02 9.98238078e-01 -5.88553608e-04 1.07446665e+01] [ 1.36918021e-02 -2.24270973e-04 9.99906238e-01 5.87034233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9192541539999 meters Centerline goodness [0,1] 0.9987202349732508 Centerline is valid? [True, True] Translation: X:630.44, Y:10.75, Z:5.87 [[ 9.98229897e-01 -5.77445091e-02 -1.42353421e-02 6.30440741e+02] [ 5.77416584e-02 9.98331371e-01 -6.11524021e-04 1.07508729e+01] [ 1.42469008e-02 -2.11530702e-04 9.99898485e-01 5.87069172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.949254154 meters Centerline goodness [0,1] 0.9988067075596123 Centerline is valid? [True, True] Translation: X:630.47, Y:10.75, Z:5.87 [[ 9.98331330e-01 -5.59061013e-02 -1.44590177e-02 6.30472650e+02] [ 5.59029827e-02 9.98436013e-01 -6.20081045e-04 1.07548803e+01] [ 1.44710703e-02 -1.89255881e-04 9.99895271e-01 5.87246478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9792541539999 meters Centerline goodness [0,1] 0.9987210667561222 Centerline is valid? [True, True] Translation: X:630.51, Y:10.76, Z:5.87 [[ 9.98423754e-01 -5.41148583e-02 -1.48859124e-02 6.30505270e+02] [ 5.41113718e-02 9.98534703e-01 -6.37179988e-04 1.07578545e+01] [ 1.48985810e-02 -1.69321504e-04 9.99888996e-01 5.87232884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0092541539999 meters Centerline goodness [0,1] 0.9987852639956437 Centerline is valid? [True, True] Translation: X:630.54, Y:10.76, Z:5.87 [[ 9.98495069e-01 -5.28995910e-02 -1.44648146e-02 6.30537883e+02] [ 5.28961893e-02 9.98599825e-01 -6.17925428e-04 1.07594871e+01] [ 1.44772493e-02 -1.48138077e-04 9.99895188e-01 5.87333734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0392541539999 meters Centerline goodness [0,1] 0.9989095103281954 Centerline is valid? [True, True] Translation: X:630.57, Y:10.76, Z:5.87 [[ 9.98651133e-01 -4.98870621e-02 -1.43942985e-02 6.30569929e+02] [ 4.98833959e-02 9.98754860e-01 -6.13847325e-04 1.07617351e+01] [ 1.44069986e-02 -1.05017163e-04 9.99896208e-01 5.87399425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.069254154 meters Centerline goodness [0,1] 0.9987452686170769 Centerline is valid? [True, True] Translation: X:630.60, Y:10.76, Z:5.87 [[ 9.98746415e-01 -4.79017625e-02 -1.45265261e-02 6.30602492e+02] [ 4.78978343e-02 9.98852049e-01 -6.18405571e-04 1.07633939e+01] [ 1.45394731e-02 -7.81587956e-05 9.99894293e-01 5.87391411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0992541539999 meters Centerline goodness [0,1] 0.9987445072190835 Centerline is valid? [True, True] Translation: X:630.64, Y:10.76, Z:5.87 [[ 9.98788072e-01 -4.69713976e-02 -1.46995044e-02 6.30635115e+02] [ 4.69672907e-02 9.98896233e-01 -6.24676816e-04 1.07649715e+01] [ 1.47126216e-02 -6.64761452e-05 9.99891761e-01 5.87429329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1292541539999 meters Centerline goodness [0,1] 0.9989981005656557 Centerline is valid? [True, True] Translation: X:630.67, Y:10.77, Z:5.87 [[ 9.98873388e-01 -4.53306024e-02 -1.40389214e-02 6.30666690e+02] [ 4.53267113e-02 9.98972039e-01 -5.95389702e-04 1.07658455e+01] [ 1.40514793e-02 -4.16192084e-05 9.99901272e-01 5.87483381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1592541539999 meters Centerline goodness [0,1] 0.9988105919913194 Centerline is valid? [True, True] Translation: X:630.70, Y:10.77, Z:5.87 [[ 9.98889881e-01 -4.48667505e-02 -1.43519935e-02 6.30697862e+02] [ 4.48626610e-02 9.98992980e-01 -6.06932528e-04 1.07661155e+01] [ 1.43647718e-02 -3.76098559e-05 9.99896821e-01 5.87442099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.189254154 meters Centerline goodness [0,1] 0.998665137136302 Centerline is valid? [True, True] Translation: X:630.73, Y:10.77, Z:5.87 [[ 9.98881321e-01 -4.51128780e-02 -1.41751301e-02 6.30730521e+02] [ 4.51089340e-02 9.98981895e-01 -5.98001986e-04 1.07661707e+01] [ 1.41876759e-02 -4.20919941e-05 9.99899349e-01 5.87489154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2192541539999 meters Centerline goodness [0,1] 0.9986467636833011 Centerline is valid? [True, True] Translation: X:630.76, Y:10.76, Z:5.87 [[ 9.98785204e-01 -4.70806115e-02 -1.45441659e-02 6.30763080e+02] [ 4.70766834e-02 9.98891091e-01 -6.12511466e-04 1.07633264e+01] [ 1.45568751e-02 -7.29237041e-05 9.99894040e-01 5.87488447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2492541539999 meters Centerline goodness [0,1] 0.9985835399004311 Centerline is valid? [True, True] Translation: X:630.80, Y:10.76, Z:5.87 [[ 9.98737421e-01 -4.79178839e-02 -1.50811010e-02 6.30795348e+02] [ 4.79137727e-02 9.98851274e-01 -6.34012189e-04 1.07620913e+01] [ 1.50941574e-02 -8.93807450e-05 9.99886073e-01 5.87462379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2792541539999 meters Centerline goodness [0,1] 0.9987523134188692 Centerline is valid? [True, True] Translation: X:630.83, Y:10.76, Z:5.88 [[ 9.98563690e-01 -5.15058934e-02 -1.47546802e-02 6.30827055e+02] [ 5.15023640e-02 9.98672681e-01 -6.19331440e-04 1.07575336e+01] [ 1.47669952e-02 -1.41459022e-04 9.99890952e-01 5.87538682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3092541539999 meters Centerline goodness [0,1] 0.998564414114514 Centerline is valid? [True, True] Translation: X:630.86, Y:10.76, Z:5.88 [[ 9.98479717e-01 -5.32539985e-02 -1.42220286e-02 6.30858491e+02] [ 5.32509113e-02 9.98580986e-01 -5.95942009e-04 1.07556613e+01] [ 1.42335837e-02 -1.62299977e-04 9.99898684e-01 5.87609612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.339254154 meters Centerline goodness [0,1] 0.9988140812250332 Centerline is valid? [True, True] Translation: X:630.89, Y:10.75, Z:5.88 [[ 9.98393473e-01 -5.48537523e-02 -1.41964749e-02 6.30890213e+02] [ 5.48508563e-02 9.98494382e-01 -5.93567856e-04 1.07545878e+01] [ 1.42076598e-02 -1.86074532e-04 9.99899049e-01 5.87716849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3692541539999 meters Centerline goodness [0,1] 0.9986268308921438 Centerline is valid? [True, True] Translation: X:630.92, Y:10.75, Z:5.88 [[ 9.98347288e-01 -5.55843477e-02 -1.45970071e-02 6.30921092e+02] [ 5.55813817e-02 9.98453974e-01 -6.09116423e-04 1.07526608e+01] [ 1.46082971e-02 -2.03212096e-04 9.99893272e-01 5.87670270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3992541539999 meters Centerline goodness [0,1] 0.9987711149528233 Centerline is valid? [True, True] Translation: X:630.95, Y:10.75, Z:5.88 [[ 9.98198905e-01 -5.83263126e-02 -1.40352222e-02 6.30953728e+02] [ 5.83238625e-02 9.98297544e-01 -5.84165577e-04 1.07499263e+01] [ 1.40454001e-02 -2.35474932e-04 9.99901331e-01 5.87824494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4292541539999 meters Centerline goodness [0,1] 0.9985829790781029 Centerline is valid? [True, True] Translation: X:630.99, Y:10.75, Z:5.88 [[ 9.98188781e-01 -5.82230146e-02 -1.51406011e-02 6.30986008e+02] [ 5.82201693e-02 9.98303569e-01 -6.28999229e-04 1.07493331e+01] [ 1.51515384e-02 -2.53628388e-04 9.99885177e-01 5.87777434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.459254154 meters Centerline goodness [0,1] 0.99843961302403 Centerline is valid? [True, True] Translation: X:631.02, Y:10.75, Z:5.88 [[ 9.98138200e-01 -5.91738444e-02 -1.47847839e-02 6.31017817e+02] [ 5.91712502e-02 9.98247658e-01 -6.13231344e-04 1.07460468e+01] [ 1.47951632e-02 -2.62744517e-04 9.99890511e-01 5.87764804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4892541539999 meters Centerline goodness [0,1] 0.998419695583465 Centerline is valid? [True, True] Translation: X:631.05, Y:10.74, Z:5.88 [[ 9.98152166e-01 -5.90096091e-02 -1.44955277e-02 6.31050271e+02] [ 5.90071122e-02 9.98257382e-01 -6.00254351e-04 1.07449605e+01] [ 1.45056883e-02 -2.56194050e-04 9.99894754e-01 5.87758251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5192541539999 meters Centerline goodness [0,1] 0.9986896566068346 Centerline is valid? [True, True] Translation: X:631.08, Y:10.75, Z:5.88 [[ 9.98132075e-01 -5.94932081e-02 -1.38895066e-02 6.31082695e+02] [ 5.94909784e-02 9.98228678e-01 -5.74010923e-04 1.07451929e+01] [ 1.38990536e-02 -2.53361624e-04 9.99903371e-01 5.87904667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5492541539999 meters Centerline goodness [0,1] 0.9987722145919175 Centerline is valid? [True, True] Translation: X:631.11, Y:10.74, Z:5.88 [[ 9.98135087e-01 -5.91654572e-02 -1.50265334e-02 6.31114658e+02] [ 5.91628293e-02 9.98248153e-01 -6.19745655e-04 1.07435447e+01] [ 1.50368767e-02 -2.70422346e-04 9.99886903e-01 5.87870896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.579254154 meters Centerline goodness [0,1] 0.9988564299823266 Centerline is valid? [True, True] Translation: X:631.15, Y:10.74, Z:5.88 [[ 9.98188530e-01 -5.82171132e-02 -1.51798073e-02 6.31146997e+02] [ 5.82143412e-02 9.98303912e-01 -6.24790139e-04 1.07423076e+01] [ 1.51904345e-02 -2.60024131e-04 9.99884585e-01 5.87891449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6092541539999 meters Centerline goodness [0,1] 0.9987330203962946 Centerline is valid? [True, True] Translation: X:631.18, Y:10.74, Z:5.88 [[ 9.98213687e-01 -5.77277335e-02 -1.53929633e-02 6.31178666e+02] [ 5.77248403e-02 9.98332331e-01 -6.32561002e-04 1.07411788e+01] [ 1.54038093e-02 -2.57125300e-04 9.99881321e-01 5.87837970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6392541539999 meters Centerline goodness [0,1] 0.9988851958132909 Centerline is valid? [True, True] Translation: X:631.21, Y:10.74, Z:5.88 [[ 9.98247800e-01 -5.68948803e-02 -1.62573929e-02 6.31210883e+02] [ 5.68915591e-02 9.98380141e-01 -6.67074122e-04 1.07409392e+01] [ 1.62690113e-02 -2.59003156e-04 9.99867617e-01 5.87773543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6692541539999 meters Centerline goodness [0,1] 0.9986886201369664 Centerline is valid? [True, True] Translation: X:631.24, Y:10.74, Z:5.88 [[ 9.98283456e-01 -5.60673716e-02 -1.69290033e-02 6.31242712e+02] [ 5.60636721e-02 9.98426955e-01 -6.93414108e-04 1.07417549e+01] [ 1.69412512e-02 -2.56878259e-04 9.99856454e-01 5.87749310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.699254154 meters Centerline goodness [0,1] 0.998836460346153 Centerline is valid? [True, True] Translation: X:631.27, Y:10.74, Z:5.88 [[ 9.98293406e-01 -5.60391139e-02 -1.64284033e-02 6.31274656e+02] [ 5.60356448e-02 9.98428543e-01 -6.71768947e-04 1.07420021e+01] [ 1.64402321e-02 -2.49953659e-04 9.99864819e-01 5.87913570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7292541539999 meters Centerline goodness [0,1] 0.9987101337716104 Centerline is valid? [True, True] Translation: X:631.31, Y:10.74, Z:5.88 [[ 9.98337250e-01 -5.51540988e-02 -1.67558970e-02 6.31306219e+02] [ 5.51503831e-02 9.98477825e-01 -6.84101706e-04 1.07414305e+01] [ 1.67681226e-02 -2.41129923e-04 9.99859376e-01 5.87783881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7592541539999 meters Centerline goodness [0,1] 0.9988152397580595 Centerline is valid? [True, True] Translation: X:631.34, Y:10.74, Z:5.88 [[ 9.98318626e-01 -5.58411079e-02 -1.55464281e-02 6.31338737e+02] [ 5.58380063e-02 9.98439640e-01 -6.33835662e-04 1.07421813e+01] [ 1.55575641e-02 -2.35311602e-04 9.99878946e-01 5.87992966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7892541539999 meters Centerline goodness [0,1] 0.998752417191691 Centerline is valid? [True, True] Translation: X:631.37, Y:10.74, Z:5.88 [[ 9.98265430e-01 -5.68406703e-02 -1.53385101e-02 6.31370026e+02] [ 5.68377838e-02 9.98383231e-01 -6.24404127e-04 1.07396517e+01] [ 1.53492028e-02 -2.48485868e-04 9.99882163e-01 5.88028332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.819254154 meters Centerline goodness [0,1] 0.9989380309845077 Centerline is valid? [True, True] Translation: X:631.40, Y:10.74, Z:5.88 [[ 9.98216518e-01 -5.76182012e-02 -1.56181556e-02 6.31402297e+02] [ 5.76153181e-02 9.98338656e-01 -6.34856417e-04 1.07402884e+01] [ 1.56287877e-02 -2.66120840e-04 9.99877828e-01 5.88102505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8492541539999 meters Centerline goodness [0,1] 0.9989199966769129 Centerline is valid? [True, True] Translation: X:631.43, Y:10.74, Z:5.88 [[ 9.98179662e-01 -5.79982759e-02 -1.65397066e-02 6.31434676e+02] [ 5.79951145e-02 9.98316641e-01 -6.71126002e-04 1.07398625e+01] [ 1.65507885e-02 -2.89317850e-04 9.99862984e-01 5.88034736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8792541539999 meters Centerline goodness [0,1] 0.998792094466543 Centerline is valid? [True, True] Translation: X:631.47, Y:10.74, Z:5.88 [[ 9.97996887e-01 -6.11385355e-02 -1.62570977e-02 6.31467035e+02] [ 6.11359159e-02 9.98129233e-01 -6.58533325e-04 1.07395922e+01] [ 1.62669462e-02 -3.36678348e-04 9.99867628e-01 5.88200980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9092541539999 meters Centerline goodness [0,1] 0.998792094466543 Centerline is valid? [True, True] Translation: X:631.50, Y:10.74, Z:5.88 [[ 9.98001189e-01 -6.10682533e-02 -1.62571440e-02 6.31498705e+02] [ 6.10656430e-02 9.98133536e-01 -6.57388940e-04 1.07408107e+01] [ 1.62669462e-02 -3.36678005e-04 9.99867628e-01 5.88230654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.939254154 meters Centerline goodness [0,1] 0.9989814795568397 Centerline is valid? [True, True] Translation: X:631.53, Y:10.74, Z:5.88 [[ 9.97921166e-01 -6.22207599e-02 -1.67905870e-02 6.31531300e+02] [ 6.22181588e-02 9.98062343e-01 -6.77755692e-04 1.07402137e+01] [ 1.68002230e-02 -3.68332655e-04 9.99858798e-01 5.88208083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9692541539999 meters Centerline goodness [0,1] 0.9988121782982892 Centerline is valid? [True, True] Translation: X:631.56, Y:10.74, Z:5.88 [[ 9.97719014e-01 -6.53755272e-02 -1.68169622e-02 6.31563244e+02] [ 6.53733834e-02 9.97860642e-01 -6.77765080e-04 1.07375777e+01] [ 1.68252940e-02 -4.23162612e-04 9.99858355e-01 5.88228079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9992541539999 meters Centerline goodness [0,1] 0.9988947972057137 Centerline is valid? [True, True] Translation: X:631.59, Y:10.74, Z:5.88 [[ 9.97620713e-01 -6.70234297e-02 -1.61484601e-02 6.31594152e+02] [ 6.70216821e-02 9.97751308e-01 -6.49986871e-04 1.07356870e+01] [ 1.61557115e-02 -4.33856593e-04 9.99869394e-01 5.88254496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0292541539999 meters Centerline goodness [0,1] 0.9989162150896207 Centerline is valid? [True, True] Translation: X:631.63, Y:10.74, Z:5.88 [[ 9.97504208e-01 -6.87268175e-02 -1.61857962e-02 6.31626602e+02] [ 6.87253017e-02 9.97635409e-01 -6.50511357e-04 1.07368379e+01] [ 1.61922310e-02 -4.63485910e-04 9.99868790e-01 5.88324615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0592541539999 meters Centerline goodness [0,1] 0.9987707052818002 Centerline is valid? [True, True] Translation: X:631.66, Y:10.74, Z:5.88 [[ 9.97229567e-01 -7.26597246e-02 -1.59296699e-02 6.31657503e+02] [ 7.26587698e-02 9.97356654e-01 -6.39447693e-04 1.07359293e+01] [ 1.59340243e-02 -5.19754070e-04 9.99872910e-01 5.88341060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.089254154 meters Centerline goodness [0,1] 0.998815289007129 Centerline is valid? [True, True] Translation: X:631.69, Y:10.74, Z:5.88 [[ 9.97102336e-01 -7.43692261e-02 -1.60046575e-02 6.31688391e+02] [ 7.43684982e-02 9.97230623e-01 -6.41461922e-04 1.07352097e+01] [ 1.60080396e-02 -5.50639160e-04 9.99871712e-01 5.88350372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1192541539999 meters Centerline goodness [0,1] 0.9986467073348463 Centerline is valid? [True, True] Translation: X:631.72, Y:10.73, Z:5.88 [[ 9.96961675e-01 -7.62632179e-02 -1.58537088e-02 6.31720540e+02] [ 7.62627684e-02 9.97087553e-01 -6.33795896e-04 1.07349793e+01] [ 1.58558710e-02 -5.77177502e-04 9.99874121e-01 5.88308951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1492541539999 meters Centerline goodness [0,1] 0.9988766148661299 Centerline is valid? [True, True] Translation: X:631.75, Y:10.73, Z:5.88 [[ 9.96765746e-01 -7.89556576e-02 -1.49683270e-02 6.31752290e+02] [ 7.89555738e-02 9.96877957e-01 -5.97475162e-04 1.07343225e+01] [ 1.49687693e-02 -5.86290070e-04 9.99887790e-01 5.88482060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1792541539999 meters Centerline goodness [0,1] 0.9987714220269455 Centerline is valid? [True, True] Translation: X:631.78, Y:10.73, Z:5.89 [[ 9.96305355e-01 -8.46715211e-02 -1.43657014e-02 6.31782168e+02] [ 8.46720455e-02 9.96408710e-01 -5.72810348e-04 1.07310840e+01] [ 1.43626107e-02 -6.45679307e-04 9.99896644e-01 5.88541178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.209254154 meters Centerline goodness [0,1] 0.9986266022973198 Centerline is valid? [True, True] Translation: X:631.81, Y:10.73, Z:5.88 [[ 9.96059601e-01 -8.74651096e-02 -1.46671904e-02 6.31813291e+02] [ 8.74659634e-02 9.96167337e-01 -5.84483609e-04 1.07299504e+01] [ 1.46620979e-02 -7.00699430e-04 9.99892260e-01 5.88480946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2392541539999 meters Centerline goodness [0,1] 0.9988151412476355 Centerline is valid? [True, True] Translation: X:631.84, Y:10.73, Z:5.89 [[ 9.95477279e-01 -9.40079938e-02 -1.36924973e-02 6.31843209e+02] [ 9.40093570e-02 9.95571164e-01 -5.45478058e-04 1.07266867e+01] [ 1.36831348e-02 -7.44211857e-04 9.99906105e-01 5.88649323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2692541539999 meters Centerline goodness [0,1] 0.998606112301579 Centerline is valid? [True, True] Translation: X:631.87, Y:10.73, Z:5.89 [[ 9.95216938e-01 -9.68228457e-02 -1.29839737e-02 6.31874631e+02] [ 9.68243121e-02 9.95301354e-01 -5.17102247e-04 1.07259555e+01] [ 1.29730340e-02 -7.42535412e-04 9.99915571e-01 5.88714981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2992541539999 meters Centerline goodness [0,1] 0.9983377659574468 Centerline is valid? [True, True] Translation: X:631.91, Y:10.73, Z:5.89 [[ 9.95029236e-01 -9.87773572e-02 -1.26433365e-02 6.31905142e+02] [ 9.87789108e-02 9.95109277e-01 -5.03061557e-04 1.07251811e+01] [ 1.26311926e-02 -7.48334056e-04 9.99919943e-01 5.88690584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.329254154 meters Centerline goodness [0,1] 0.9981895367711324 Centerline is valid? [True, True] Translation: X:631.93, Y:10.73, Z:5.89 [[ 9.94719015e-01 -1.01992151e-01 -1.14752508e-02 6.31934814e+02] [ 1.01993650e-01 9.94784945e-01 -4.56032077e-04 1.07250302e+01] [ 1.14619185e-02 -7.16778939e-04 9.99934053e-01 5.88833274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3592541539999 meters Centerline goodness [0,1] 0.9984016937894388 Centerline is valid? [True, True] Translation: X:631.97, Y:10.73, Z:5.89 [[ 9.94673352e-01 -1.02396621e-01 -1.18259904e-02 6.31966440e+02] [ 1.02398250e-01 9.94743373e-01 -4.69253992e-04 1.07263501e+01] [ 1.18118756e-02 -7.44206287e-04 9.99929960e-01 5.88798748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3892541539999 meters Centerline goodness [0,1] 0.9983538923153858 Centerline is valid? [True, True] Translation: X:632.00, Y:10.73, Z:5.89 [[ 9.94632224e-01 -1.02830826e-01 -1.15134445e-02 6.31998639e+02] [ 1.02832406e-01 9.94698592e-01 -4.56248782e-04 1.07285566e+01] [ 1.14993235e-02 -7.30155465e-04 9.99933614e-01 5.88896658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4192541539999 meters Centerline goodness [0,1] 0.9983170929338679 Centerline is valid? [True, True] Translation: X:632.03, Y:10.73, Z:5.89 [[ 9.94763212e-01 -1.01694892e-01 -1.02127748e-02 6.32029516e+02] [ 1.01696082e-01 9.94815432e-01 -4.04108614e-04 1.07323766e+01] [ 1.02009218e-02 -6.36606799e-04 9.99947767e-01 5.89066079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.449254154 meters Centerline goodness [0,1] 0.9981679262173923 Centerline is valid? [True, True] Translation: X:632.06, Y:10.74, Z:5.89 [[ 9.94899772e-01 -1.00416787e-01 -9.53478235e-03 6.32061842e+02] [ 1.00417770e-01 9.94945290e-01 -3.76834480e-04 1.07356037e+01] [ 9.52442729e-03 -5.82549039e-04 9.99954472e-01 5.89173413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4792541539999 meters Centerline goodness [0,1] 0.9978609403555407 Centerline is valid? [True, True] Translation: X:632.09, Y:10.74, Z:5.89 [[ 9.95072034e-01 -9.87177088e-02 -9.29850015e-03 6.32092956e+02] [ 9.87185750e-02 9.95115324e-01 -3.66903647e-04 1.07390120e+01] [ 9.28929988e-03 -5.52839126e-04 9.99956701e-01 5.89192355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5092541539999 meters Centerline goodness [0,1] 0.9981696029286353 Centerline is valid? [True, True] Translation: X:632.12, Y:10.75, Z:5.89 [[ 9.95404185e-01 -9.54000030e-02 -8.32749993e-03 6.32123834e+02] [ 9.54005840e-02 9.95438909e-01 -3.28331589e-04 1.07462230e+01] [ 8.32084028e-03 -4.67625719e-04 9.99965272e-01 5.89322029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5392541539999 meters Centerline goodness [0,1] 0.9980056506564733 Centerline is valid? [True, True] Translation: X:632.16, Y:10.75, Z:5.89 [[ 9.95620639e-01 -9.31052437e-02 -8.42353870e-03 6.32155650e+02] [ 9.31057571e-02 9.95656169e-01 -3.32028858e-04 1.07503504e+01] [ 8.41786190e-03 -4.53705164e-04 9.99964466e-01 5.89225579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.569254154 meters Centerline goodness [0,1] 0.9981933715424869 Centerline is valid? [True, True] Translation: X:632.18, Y:10.76, Z:5.89 [[ 9.95971984e-01 -8.93281566e-02 -7.76455622e-03 6.32184708e+02] [ 8.93284831e-02 9.96002173e-01 -3.05439998e-04 1.07587523e+01] [ 7.76079926e-03 -3.89386348e-04 9.99969809e-01 5.89366796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5992541539999 meters Centerline goodness [0,1] 0.9981290926099158 Centerline is valid? [True, True] Translation: X:632.22, Y:10.76, Z:5.89 [[ 9.96123364e-01 -8.75272264e-02 -8.78799472e-03 6.32215570e+02] [ 8.75275731e-02 9.96162037e-01 -3.45886858e-04 1.07631138e+01] [ 8.78454124e-03 -4.24645870e-04 9.99961325e-01 5.89267242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6292541539999 meters Centerline goodness [0,1] 0.998192620907429 Centerline is valid? [True, True] Translation: X:632.25, Y:10.77, Z:5.89 [[ 9.96246802e-01 -8.60640419e-02 -9.23530917e-03 6.32248157e+02] [ 8.60643648e-02 9.96289513e-01 -3.63190006e-04 1.07666197e+01] [ 9.23229927e-03 -4.33004136e-04 9.99957288e-01 5.89225153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6592541539999 meters Centerline goodness [0,1] 0.998359702670155 Centerline is valid? [True, True] Translation: X:632.28, Y:10.77, Z:5.89 [[ 9.96378731e-01 -8.44978900e-02 -9.46206360e-03 6.32280702e+02] [ 8.44981657e-02 9.96423566e-01 -3.71345688e-04 1.07703449e+01] [ 9.45960108e-03 -4.29526072e-04 9.99955165e-01 5.89179992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.689254154 meters Centerline goodness [0,1] 0.9984429496761336 Centerline is valid? [True, True] Translation: X:632.31, Y:10.79, Z:5.89 [[ 9.96621627e-01 -8.15546067e-02 -9.70461598e-03 6.32311842e+02] [ 8.15547649e-02 9.96668789e-01 -3.80094719e-04 1.07914949e+01] [ 9.70328633e-03 -4.12647057e-04 9.99952837e-01 5.89195338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7192541539999 meters Centerline goodness [0,1] 0.9986900652888094 Centerline is valid? [True, True] Translation: X:632.34, Y:10.79, Z:5.89 [[ 9.96774751e-01 -7.96953721e-02 -9.42042427e-03 6.32343380e+02] [ 7.96954430e-02 9.96819192e-01 -3.68455387e-04 1.07935545e+01] [ 9.41982389e-03 -3.83497859e-04 9.99955559e-01 5.89155142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7492541539999 meters Centerline goodness [0,1] 0.9983815412706976 Centerline is valid? [True, True] Translation: X:632.37, Y:10.80, Z:5.89 [[ 9.96981725e-01 -7.70555605e-02 -9.48056258e-03 6.32374754e+02] [ 7.70555198e-02 9.97026735e-01 -3.70114120e-04 1.08004439e+01] [ 9.48089370e-03 -3.61532664e-04 9.99954990e-01 5.89227831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7792541539999 meters Centerline goodness [0,1] 0.9983812725687959 Centerline is valid? [True, True] Translation: X:632.41, Y:10.80, Z:5.89 [[ 9.97137273e-01 -7.49561764e-02 -9.94130105e-03 6.32406704e+02] [ 7.49560314e-02 9.97186764e-01 -3.87702049e-04 1.08037760e+01] [ 9.94239449e-03 -3.58568310e-04 9.99950509e-01 5.89165035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8092541539999 meters Centerline goodness [0,1] 0.9985647127345343 Centerline is valid? [True, True] Translation: X:632.44, Y:10.81, Z:5.89 [[ 9.97233391e-01 -7.36178121e-02 -1.02946939e-02 6.32439275e+02] [ 7.36175934e-02 9.97286463e-01 -4.00703339e-04 1.08079857e+01] [ 1.02962577e-02 -3.58275838e-04 9.99946928e-01 5.89318664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.839254154 meters Centerline goodness [0,1] 0.9983535835608445 Centerline is valid? [True, True] Translation: X:632.47, Y:10.82, Z:5.89 [[ 9.97531370e-01 -6.94716827e-02 -1.02396583e-02 6.32470949e+02] [ 6.94712573e-02 9.97583874e-01 -3.97658887e-04 1.08153552e+01] [ 1.02425440e-02 -3.14684720e-04 9.99947494e-01 5.89322450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8692541539999 meters Centerline goodness [0,1] 0.9985419096817197 Centerline is valid? [True, True] Translation: X:632.50, Y:10.82, Z:5.89 [[ 9.97697451e-01 -6.70603714e-02 -1.01342366e-02 6.32502286e+02] [ 6.70598380e-02 9.97748878e-01 -3.92809392e-04 1.08181282e+01] [ 1.01377651e-02 -2.87695334e-04 9.99948570e-01 5.89322343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8992541539999 meters Centerline goodness [0,1] 0.9984127315636683 Centerline is valid? [True, True] Translation: X:632.53, Y:10.82, Z:5.89 [[ 9.97831240e-01 -6.50342725e-02 -1.01666066e-02 6.32534707e+02] [ 6.50336363e-02 9.97882995e-01 -3.93507705e-04 1.08214485e+01] [ 1.01706753e-02 -2.68517116e-04 9.99948241e-01 5.89319466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9292541539999 meters Centerline goodness [0,1] 0.998388345856793 Centerline is valid? [True, True] Translation: X:632.57, Y:10.83, Z:5.89 [[ 9.98056768e-01 -6.13995587e-02 -1.06198995e-02 6.32566294e+02] [ 6.13986668e-02 9.98113238e-01 -4.10303580e-04 1.08275318e+01] [ 1.06250547e-02 -2.42541406e-04 9.99943523e-01 5.89291346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.959254154 meters Centerline goodness [0,1] 0.9984476935663191 Centerline is valid? [True, True] Translation: X:632.60, Y:10.83, Z:5.89 [[ 9.98193327e-01 -5.89927926e-02 -1.13988226e-02 6.32598397e+02] [ 5.89916159e-02 9.98258381e-01 -4.39727725e-04 1.08307742e+01] [ 1.14049109e-02 -2.33501682e-04 9.99934935e-01 5.89146060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9892541539999 meters Centerline goodness [0,1] 0.9983223939438421 Centerline is valid? [True, True] Translation: X:632.63, Y:10.83, Z:5.89 [[ 9.98282445e-01 -5.74396303e-02 -1.15260490e-02 6.32630811e+02] [ 5.74383329e-02 9.98348958e-01 -4.43825726e-04 1.08336048e+01] [ 1.15325122e-02 -2.18973607e-04 9.99933474e-01 5.89112171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0192541539999 meters Centerline goodness [0,1] 0.9984912302759791 Centerline is valid? [True, True] Translation: X:632.66, Y:10.84, Z:5.89 [[ 9.98381407e-01 -5.56323432e-02 -1.18156454e-02 6.32662341e+02] [ 5.56308652e-02 9.98451301e-01 -4.53974609e-04 1.08371915e+01] [ 1.18226022e-02 -2.04074769e-04 9.99930090e-01 5.89174017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0492541539999 meters Centerline goodness [0,1] 0.9984691202684283 Centerline is valid? [True, True] Translation: X:632.69, Y:10.84, Z:5.89 [[ 9.98434454e-01 -5.46697478e-02 -1.18262055e-02 6.32694599e+02] [ 5.46682170e-02 9.98504472e-01 -4.52915437e-04 1.08401353e+01] [ 1.18332799e-02 -1.94311192e-04 9.99929965e-01 5.89134145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.079254154 meters Centerline goodness [0,1] 0.9983853718886955 Centerline is valid? [True, True] Translation: X:632.73, Y:10.84, Z:5.89 [[ 9.98439929e-01 -5.43733860e-02 -1.26981304e-02 6.32726212e+02] [ 5.43716101e-02 9.98520652e-01 -4.85298340e-04 1.08402855e+01] [ 1.27057327e-02 -2.05876552e-04 9.99919258e-01 5.88961785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1092541539999 meters Centerline goodness [0,1] 0.9985503897140696 Centerline is valid? [True, True] Translation: X:632.76, Y:10.84, Z:5.89 [[ 9.98381041e-01 -5.54288483e-02 -1.27647973e-02 6.32758460e+02] [ 5.54271536e-02 9.98462615e-01 -4.86773839e-04 1.08408871e+01] [ 1.27721542e-02 -2.21530608e-04 9.99918408e-01 5.89113508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1392541539999 meters Centerline goodness [0,1] 0.9986978619733692 Centerline is valid? [True, True] Translation: X:632.79, Y:10.84, Z:5.89 [[ 9.98352175e-01 -5.59966351e-02 -1.25424102e-02 6.32789132e+02] [ 5.59950532e-02 9.98430932e-01 -4.77535496e-04 1.08414854e+01] [ 1.25494707e-02 -2.25564326e-04 9.99921227e-01 5.89152262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1692541539999 meters Centerline goodness [0,1] 0.9986961916177739 Centerline is valid? [True, True] Translation: X:632.82, Y:10.84, Z:5.89 [[ 9.98255809e-01 -5.75947258e-02 -1.29687448e-02 6.32821527e+02] [ 5.75931771e-02 9.98340014e-01 -4.93171184e-04 1.08417652e+01] [ 1.29756209e-02 -2.54600219e-04 9.99915781e-01 5.89080776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.199254154 meters Centerline goodness [0,1] 0.9985538835561889 Centerline is valid? [True, True] Translation: X:632.85, Y:10.84, Z:5.89 [[ 9.98198088e-01 -5.85064020e-02 -1.33258744e-02 6.32853158e+02] [ 5.85048599e-02 9.98286996e-01 -5.05855600e-04 1.08406583e+01] [ 1.33326429e-02 -2.74684321e-04 9.99911079e-01 5.88964555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2292541539999 meters Centerline goodness [0,1] 0.9981950216177643 Centerline is valid? [True, True] Translation: X:632.88, Y:10.84, Z:5.89 [[ 9.98039643e-01 -6.11613793e-02 -1.32723783e-02 6.32884896e+02] [ 6.11600971e-02 9.98127842e-01 -5.02848859e-04 1.08353206e+01] [ 1.32782852e-02 -3.09876850e-04 9.99911792e-01 5.88811991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2592541539999 meters Centerline goodness [0,1] 0.9981950216177643 Centerline is valid? [True, True] Translation: X:632.92, Y:10.84, Z:5.89 [[ 9.98045848e-01 -6.10600360e-02 -1.32724367e-02 6.32917419e+02] [ 6.10587655e-02 9.98134047e-01 -5.01303659e-04 1.08364493e+01] [ 1.32782806e-02 -3.10074564e-04 9.99911792e-01 5.88842444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2892541539999 meters Centerline goodness [0,1] 0.9984264853977844 Centerline is valid? [True, True] Translation: X:632.95, Y:10.83, Z:5.89 [[ 9.97907706e-01 -6.33792632e-02 -1.27780926e-02 6.32948321e+02] [ 6.33782924e-02 9.97989459e-01 -4.81315302e-04 1.08328595e+01] [ 1.27829071e-02 -3.29545440e-04 9.99918241e-01 5.88816749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.319254154 meters Centerline goodness [0,1] 0.9985725381531163 Centerline is valid? [True, True] Translation: X:632.98, Y:10.83, Z:5.89 [[ 9.97685565e-01 -6.67713695e-02 -1.28490162e-02 6.32980126e+02] [ 6.67706885e-02 9.97768231e-01 -4.82463148e-04 1.08349380e+01] [ 1.28525549e-02 -3.76591140e-04 9.99917332e-01 5.89010031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3492541539999 meters Centerline goodness [0,1] 0.9982595932061229 Centerline is valid? [True, True] Translation: X:633.01, Y:10.84, Z:5.89 [[ 9.97594554e-01 -6.80487506e-02 -1.32088184e-02 6.33012445e+02] [ 6.80481618e-02 9.97681915e-01 -4.94526812e-04 1.08357264e+01] [ 1.32118511e-02 -4.05498556e-04 9.99912637e-01 5.88987163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3792541539999 meters Centerline goodness [0,1] 0.9984293851566427 Centerline is valid? [True, True] Translation: X:633.04, Y:10.83, Z:5.89 [[ 9.97529931e-01 -6.87561212e-02 -1.43747021e-02 6.33044349e+02] [ 6.87555136e-02 9.97633395e-01 -5.37044285e-04 1.08347869e+01] [ 1.43776079e-02 -4.52622274e-04 9.99896534e-01 5.88799267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4092541539999 meters Centerline goodness [0,1] 0.9986806835315798 Centerline is valid? [True, True] Translation: X:633.08, Y:10.83, Z:5.89 [[ 9.97367948e-01 -7.11945599e-02 -1.37299518e-02 6.33076614e+02] [ 7.11942500e-02 9.97462338e-01 -5.11964268e-04 1.08337623e+01] [ 1.37315589e-02 -4.66876865e-04 9.99905609e-01 5.88905255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.439254154 meters Centerline goodness [0,1] 0.9980338430002719 Centerline is valid? [True, True] Translation: X:633.11, Y:10.82, Z:5.88 [[ 9.97130986e-01 -7.42138058e-02 -1.49032932e-02 6.33108093e+02] [ 7.42137918e-02 9.97242200e-01 -5.54752278e-04 1.08192354e+01] [ 1.49033632e-02 -5.52869212e-04 9.99888786e-01 5.88496125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4692541539999 meters Centerline goodness [0,1] 0.9984329948602232 Centerline is valid? [True, True] Translation: X:633.14, Y:10.83, Z:5.89 [[ 9.96938827e-01 -7.67182947e-02 -1.50757571e-02 6.33140023e+02] [ 7.67185780e-02 9.97052629e-01 -5.60389217e-04 1.08289337e+01] [ 1.50743153e-02 -5.97916878e-04 9.99886197e-01 5.88702426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4992541539999 meters Centerline goodness [0,1] 0.9986805730082935 Centerline is valid? [True, True] Translation: X:633.17, Y:10.83, Z:5.89 [[ 9.96745416e-01 -7.92613964e-02 -1.47039819e-02 6.33171052e+02] [ 7.92619620e-02 9.96853672e-01 -5.45216090e-04 1.08268678e+01] [ 1.47009329e-02 -6.22024815e-04 9.99891742e-01 5.88733389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5292541539999 meters Centerline goodness [0,1] 0.9984968684759916 Centerline is valid? [True, True] Translation: X:633.20, Y:10.82, Z:5.89 [[ 9.96462296e-01 -8.26965813e-02 -1.49722671e-02 6.33201173e+02] [ 8.26975797e-02 9.96574535e-01 -5.53489947e-04 1.08200393e+01] [ 1.49667519e-02 -6.86638390e-04 9.99887756e-01 5.88640076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5592541539999 meters Centerline goodness [0,1] 0.9983729322680907 Centerline is valid? [True, True] Translation: X:633.23, Y:10.83, Z:5.89 [[ 9.96372256e-01 -8.36956550e-02 -1.54066521e-02 6.33233068e+02] [ 8.36968512e-02 9.96491101e-01 -5.68259558e-04 1.08255360e+01] [ 1.54001525e-02 -7.23290206e-04 9.99881149e-01 5.88714951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.589254154 meters Centerline goodness [0,1] 0.9983104937112821 Centerline is valid? [True, True] Translation: X:633.26, Y:10.82, Z:5.89 [[ 9.96123432e-01 -8.67007613e-02 -1.48689996e-02 6.33264417e+02] [ 8.67022224e-02 9.96234122e-01 -5.47549586e-04 1.08246643e+01] [ 1.48604777e-02 -7.43748338e-04 9.99889300e-01 5.88748064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6192541539999 meters Centerline goodness [0,1] 0.998245320855615 Centerline is valid? [True, True] Translation: X:633.30, Y:10.82, Z:5.89 [[ 9.95943102e-01 -8.88073578e-02 -1.45117238e-02 6.33295585e+02] [ 8.88089865e-02 9.96048533e-01 -5.33421939e-04 1.08224158e+01] [ 1.45017530e-02 -7.57513585e-04 9.99894557e-01 5.88815582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6492541539999 meters Centerline goodness [0,1] 0.9985194761865043 Centerline is valid? [True, True] Translation: X:633.33, Y:10.82, Z:5.89 [[ 9.95817613e-01 -9.03070896e-02 -1.38532091e-02 6.33327874e+02] [ 9.03087383e-02 9.95913688e-01 -5.07791614e-04 1.08222654e+01] [ 1.38424578e-02 -7.45398003e-04 9.99903911e-01 5.88849505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6792541539999 meters Centerline goodness [0,1] 0.9983721172910363 Centerline is valid? [True, True] Translation: X:633.36, Y:10.82, Z:5.89 [[ 9.95549387e-01 -9.33466773e-02 -1.29543898e-02 6.33358549e+02] [ 9.33483846e-02 9.95633394e-01 -4.74132402e-04 1.08217726e+01] [ 1.29420818e-02 -7.37249141e-04 9.99915976e-01 5.89014546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.709254154 meters Centerline goodness [0,1] 0.9983124296845702 Centerline is valid? [True, True] Translation: X:633.39, Y:10.82, Z:5.89 [[ 9.95457152e-01 -9.42471303e-02 -1.35106030e-02 6.33390992e+02] [ 9.42490766e-02 9.95548526e-01 -4.94002632e-04 1.08231713e+01] [ 1.34970192e-02 -7.81603400e-04 9.99908606e-01 5.89007503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7392541539999 meters Centerline goodness [0,1] 0.99828995662329 Centerline is valid? [True, True] Translation: X:633.42, Y:10.82, Z:5.89 [[ 9.95210503e-01 -9.70237665e-02 -1.19349597e-02 6.33421533e+02] [ 9.70254919e-02 9.95281801e-01 -4.35730241e-04 1.08227874e+01] [ 1.19209243e-02 -7.24352021e-04 9.99928681e-01 5.89195215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7692541539999 meters Centerline goodness [0,1] 0.9981631460298906 Centerline is valid? [True, True] Translation: X:633.45, Y:10.82, Z:5.89 [[ 9.95177832e-01 -9.74157747e-02 -1.14564541e-02 6.33452304e+02] [ 9.74173953e-02 9.95243526e-01 -4.17829090e-04 1.08227074e+01] [ 1.14426649e-02 -7.00243666e-04 9.99934285e-01 5.89255314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7992541539999 meters Centerline goodness [0,1] 0.998292200354056 Centerline is valid? [True, True] Translation: X:633.49, Y:10.82, Z:5.89 [[ 9.95186802e-01 -9.73136230e-02 -1.15450651e-02 6.33485715e+02] [ 9.73152786e-02 9.95253516e-01 -4.19619589e-04 1.08249444e+01] [ 1.15311013e-02 -7.05911350e-04 9.99933265e-01 5.89270451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.829254154 meters Centerline goodness [0,1] 0.998292200354056 Centerline is valid? [True, True] Translation: X:633.52, Y:10.83, Z:5.89 [[ 9.95197492e-01 -9.72042300e-02 -1.15451111e-02 6.33518291e+02] [ 9.72058929e-02 9.95264206e-01 -4.18349617e-04 1.08260324e+01] [ 1.15311012e-02 -7.05912347e-04 9.99933265e-01 5.89300959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8592541539999 meters Centerline goodness [0,1] 0.9979161022777002 Centerline is valid? [True, True] Translation: X:633.55, Y:10.83, Z:5.89 [[ 9.95315843e-01 -9.58832907e-02 -1.23598872e-02 6.33550936e+02] [ 9.58851122e-02 9.95392308e-01 -4.46499118e-04 1.08284840e+01] [ 1.23457485e-02 -7.40721526e-04 9.99923514e-01 5.89129081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8892541539999 meters Centerline goodness [0,1] 0.998246273330828 Centerline is valid? [True, True] Translation: X:633.58, Y:10.83, Z:5.89 [[ 9.95341758e-01 -9.57753005e-02 -1.10397613e-02 6.33582077e+02] [ 9.57767563e-02 9.95402760e-01 -3.97961151e-04 1.08296116e+01] [ 1.10271237e-02 -6.61245172e-04 9.99938981e-01 5.89324545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9192541539999 meters Centerline goodness [0,1] 0.9981647932264186 Centerline is valid? [True, True] Translation: X:633.61, Y:10.84, Z:5.89 [[ 9.95668256e-01 -9.22876583e-02 -1.13010107e-02 6.33612176e+02] [ 9.22889658e-02 9.95732184e-01 -4.06860760e-04 1.08376204e+01] [ 1.12903283e-02 -6.37860246e-04 9.99936059e-01 5.89296633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.949254154 meters Centerline goodness [0,1] 0.9982870273657823 Centerline is valid? [True, True] Translation: X:633.64, Y:10.84, Z:5.89 [[ 9.95859127e-01 -9.02771484e-02 -1.07067887e-02 6.33642566e+02] [ 9.02782064e-02 9.95916511e-01 -3.85442979e-04 1.08405904e+01] [ 1.06978643e-02 -5.82742769e-04 9.99942606e-01 5.89364858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9792541539999 meters Centerline goodness [0,1] 0.9982889218120735 Centerline is valid? [True, True] Translation: X:633.67, Y:10.84, Z:5.89 [[ 9.96054929e-01 -8.80957053e-02 -1.06641651e-02 6.33674319e+02] [ 8.80966328e-02 9.96111859e-01 -3.83668708e-04 1.08446829e+01] [ 1.06565009e-02 -5.57321931e-04 9.99943063e-01 5.89375674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0092541539999 meters Centerline goodness [0,1] 0.9983472803347281 Centerline is valid? [True, True] Translation: X:633.70, Y:10.85, Z:5.90 [[ 9.96396595e-01 -8.42678393e-02 -9.63103419e-03 6.33704201e+02] [ 8.42684216e-02 9.96443031e-01 -3.46045104e-04 1.08509794e+01] [ 9.62593737e-03 -4.66793886e-04 9.99953561e-01 5.89521101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0392541539999 meters Centerline goodness [0,1] 0.9984082102837993 Centerline is valid? [True, True] Translation: X:633.74, Y:10.86, Z:5.89 [[ 9.96639932e-01 -8.12984686e-02 -9.97023033e-03 6.33735386e+02] [ 8.12989446e-02 9.96689698e-01 -3.58210958e-04 1.08553985e+01] [ 9.96634786e-03 -4.53561859e-04 9.99950232e-01 5.89475857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.069254154 meters Centerline goodness [0,1] 0.9983632701024006 Centerline is valid? [True, True] Translation: X:633.77, Y:10.86, Z:5.90 [[ 9.96807064e-01 -7.92719510e-02 -9.57265732e-03 6.33766680e+02] [ 7.92722996e-02 9.96852940e-01 -3.43601628e-04 1.08599596e+01] [ 9.56976957e-03 -4.16342029e-04 9.99954122e-01 5.89617372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0992541539999 meters Centerline goodness [0,1] 0.9984456393883381 Centerline is valid? [True, True] Translation: X:633.80, Y:10.87, Z:5.90 [[ 9.97312263e-01 -7.27344200e-02 -8.82921844e-03 6.33796148e+02] [ 7.27344634e-02 9.97351291e-01 -3.16605289e-04 1.08687289e+01] [ 8.82886051e-03 -3.26434128e-04 9.99960972e-01 5.89596238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1292541539999 meters Centerline goodness [0,1] 0.9984468464686745 Centerline is valid? [True, True] Translation: X:633.83, Y:10.87, Z:5.90 [[ 9.97498122e-01 -7.02563683e-02 -7.84469265e-03 6.33827803e+02] [ 7.02563242e-02 9.97528932e-01 -2.81528137e-04 1.08735044e+01] [ 7.84508702e-03 -2.70315482e-04 9.99969190e-01 5.89789698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1592541539999 meters Centerline goodness [0,1] 0.9985057979249532 Centerline is valid? [True, True] Translation: X:633.86, Y:10.88, Z:5.90 [[ 9.97753950e-01 -6.65411598e-02 -7.70259324e-03 6.33858883e+02] [ 6.65410113e-02 9.97783653e-01 -2.75836701e-04 1.08833625e+01] [ 7.70387611e-03 -2.37321186e-04 9.99970297e-01 5.89732484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.189254154 meters Centerline goodness [0,1] 0.9987367889174281 Centerline is valid? [True, True] Translation: X:633.89, Y:10.89, Z:5.90 [[ 9.98175334e-01 -6.00359457e-02 -6.45662815e-03 6.33888139e+02] [ 6.00357075e-02 9.98196203e-01 -2.30869855e-04 1.08908205e+01] [ 6.45884220e-03 -1.57179644e-04 9.99979129e-01 5.89819410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2192541539999 meters Centerline goodness [0,1] 0.9983962861363157 Centerline is valid? [True, True] Translation: X:633.92, Y:10.89, Z:5.90 [[ 9.98441273e-01 -5.54293954e-02 -6.52737874e-03 6.33918958e+02] [ 5.54290518e-02 9.98462601e-01 -2.33677814e-04 1.08919524e+01] [ 6.53029617e-03 -1.28492840e-04 9.99978669e-01 5.89715255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2492541539999 meters Centerline goodness [0,1] 0.9987104139359858 Centerline is valid? [True, True] Translation: X:633.95, Y:10.90, Z:5.90 [[ 9.98768747e-01 -4.93420710e-02 -5.13314201e-03 6.33950139e+02] [ 4.93417786e-02 9.98781936e-01 -1.83649632e-04 1.09030830e+01] [ 5.13595116e-03 -6.98548437e-05 9.99986808e-01 5.89839207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2792541539999 meters Centerline goodness [0,1] 0.9988165680473373 Centerline is valid? [True, True] Translation: X:633.98, Y:10.91, Z:5.90 [[ 9.98932984e-01 -4.59105849e-02 -5.01111484e-03 6.33981608e+02] [ 4.59102636e-02 9.98945552e-01 -1.79185615e-04 1.09067586e+01] [ 5.01405740e-03 -5.10671822e-05 9.99987428e-01 5.89858338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3092541539999 meters Centerline goodness [0,1] 0.9988131318483352 Centerline is valid? [True, True] Translation: X:634.01, Y:10.91, Z:5.90 [[ 9.99099560e-01 -4.21598058e-02 -4.75603083e-03 6.34013695e+02] [ 4.21594746e-02 9.99110880e-01 -1.69912311e-04 1.09104567e+01] [ 4.75896561e-03 -3.07524459e-05 9.99988676e-01 5.89728060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.339254154 meters Centerline goodness [0,1] 0.9987927821077601 Centerline is valid? [True, True] Translation: X:634.05, Y:10.92, Z:5.90 [[ 9.99264587e-01 -3.80683590e-02 -4.59194986e-03 6.34045576e+02] [ 3.80680085e-02 9.99275137e-01 -1.63761012e-04 1.09157195e+01] [ 4.59485544e-03 -1.11658064e-05 9.99989444e-01 5.89757374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3692541539999 meters Centerline goodness [0,1] 0.9986873584146677 Centerline is valid? [True, True] Translation: X:634.08, Y:10.92, Z:5.90 [[ 9.99337443e-01 -3.61045844e-02 -4.59725784e-03 6.34078790e+02] [ 3.61042130e-02 9.99348017e-01 -1.63783490e-04 1.09175484e+01] [ 4.60017384e-03 -2.30540207e-06 9.99989419e-01 5.89615053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3992541539999 meters Centerline goodness [0,1] 0.9989818428644154 Centerline is valid? [True, True] Translation: X:634.11, Y:10.92, Z:5.90 [[ 9.99294756e-01 -3.73474788e-02 -3.89309301e-03 6.34109656e+02] [ 3.73472242e-02 9.99302340e-01 -1.38113851e-04 1.09181428e+01] [ 3.89553516e-03 -7.37977051e-06 9.99992412e-01 5.89699622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4292541539999 meters Centerline goodness [0,1] 0.9987923984661342 Centerline is valid? [True, True] Translation: X:634.14, Y:10.92, Z:5.90 [[ 9.99247245e-01 -3.86014814e-02 -3.85614185e-03 6.34142686e+02] [ 3.86012405e-02 9.99254685e-01 -1.36896583e-04 1.09177720e+01] [ 3.85855222e-03 -1.20583255e-05 9.99992556e-01 5.89588624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.459254154 meters Centerline goodness [0,1] 0.9987715508112001 Centerline is valid? [True, True] Translation: X:634.17, Y:10.92, Z:5.90 [[ 9.99146031e-01 -4.10893732e-02 -4.34424248e-03 6.34174066e+02] [ 4.10890949e-02 9.99155475e-01 -1.53338709e-04 1.09167362e+01] [ 4.34687425e-03 -2.52932294e-05 9.99990552e-01 5.89596440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4892541539999 meters Centerline goodness [0,1] 0.9987504235852254 Centerline is valid? [True, True] Translation: X:634.21, Y:10.91, Z:5.90 [[ 9.98859177e-01 -4.76252612e-02 -3.48976618e-03 6.34206423e+02] [ 4.76251214e-02 9.98865273e-01 -1.23201453e-04 1.09124116e+01] [ 3.49167375e-03 -4.31396358e-05 9.99993903e-01 5.89517282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5192541539999 meters Centerline goodness [0,1] 0.9986479349318685 Centerline is valid? [True, True] Translation: X:634.24, Y:10.91, Z:5.90 [[ 9.98444923e-01 -5.56991319e-02 -2.31132949e-03 6.34236968e+02] [ 5.56990925e-02 9.98447597e-01 -8.14961759e-05 1.09063471e+01] [ 2.31228065e-03 -4.73695121e-05 9.99997326e-01 5.89574416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5492541539999 meters Centerline goodness [0,1] 0.9986055650630665 Centerline is valid? [True, True] Translation: X:634.27, Y:10.90, Z:5.90 [[ 9.98240929e-01 -5.92695891e-02 -1.47107002e-03 6.34268852e+02] [ 5.92695768e-02 9.98242012e-01 -5.19993795e-05 1.09037336e+01] [ 1.47156588e-03 -3.52817886e-05 9.99998917e-01 5.89534885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.579254154 meters Centerline goodness [0,1] 0.9983311151953018 Centerline is valid? [True, True] Translation: X:634.30, Y:10.90, Z:5.90 [[ 9.97997103e-01 -6.32574665e-02 -5.24363020e-04 6.34299994e+02] [ 6.32574653e-02 9.97997241e-01 -1.88285113e-05 1.08998289e+01] [ 5.24503891e-04 -1.43790758e-05 9.99999862e-01 5.89645020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6092541539999 meters Centerline goodness [0,1] 0.9984604677647257 Centerline is valid? [True, True] Translation: X:634.33, Y:10.90, Z:5.90 [[ 9.97731802e-01 -6.73145645e-02 -3.04481245e-05 6.34331433e+02] [ 6.73145645e-02 9.97731802e-01 -1.41310201e-06 1.09003802e+01] [ 3.04741844e-05 -6.39705412e-07 1.00000000e+00 5.89637280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6392541539999 meters Centerline goodness [0,1] 0.998462478148234 Centerline is valid? [True, True] Translation: X:634.36, Y:10.89, Z:5.90 [[ 9.97236180e-01 -7.42950426e-02 4.98722251e-04 6.34362379e+02] [ 7.42950432e-02 9.97236304e-01 1.73433655e-05 1.08945139e+01] [-4.98632460e-04 1.97571596e-05 9.99999875e-01 5.89619246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6692541539999 meters Centerline goodness [0,1] 0.9985701368883655 Centerline is valid? [True, True] Translation: X:634.39, Y:10.89, Z:5.90 [[ 9.97044987e-01 -7.68162669e-02 7.44693153e-04 6.34393684e+02] [ 7.68162706e-02 9.97045265e-01 2.35650526e-05 1.08914801e+01] [-7.44302961e-04 3.37091333e-05 9.99999722e-01 5.89609110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.699254154 meters Centerline goodness [0,1] 0.9986949291683331 Centerline is valid? [True, True] Translation: X:634.43, Y:10.89, Z:5.90 [[ 9.96853516e-01 -7.92648725e-02 3.83945029e-04 6.34425573e+02] [ 7.92648741e-02 9.96853590e-01 1.09616441e-05 1.08904190e+01] [-3.83605854e-04 1.95062009e-05 9.99999926e-01 5.89570487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7292541539999 meters Centerline goodness [0,1] 0.99827698514425 Centerline is valid? [True, True] Translation: X:634.46, Y:10.89, Z:5.90 [[ 9.96696725e-01 -8.12130910e-02 -2.67262546e-04 6.34458059e+02] [ 8.12130912e-02 9.96696761e-01 -9.87471491e-06 1.08896620e+01] [ 2.67181670e-04 -1.18631215e-05 9.99999964e-01 5.89502015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7592541539999 meters Centerline goodness [0,1] 0.9983375770711895 Centerline is valid? [True, True] Translation: X:634.49, Y:10.89, Z:5.89 [[ 9.96539792e-01 -8.31099931e-02 -1.08243018e-03 6.34489389e+02] [ 8.31099995e-02 9.96540379e-01 -3.91531025e-05 1.08867819e+01] [ 1.08193939e-03 -5.09431467e-05 9.99999413e-01 5.89324730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7892541539999 meters Centerline goodness [0,1] 0.9982743381455449 Centerline is valid? [True, True] Translation: X:634.52, Y:10.89, Z:5.89 [[ 9.96551445e-01 -8.29456282e-02 -2.28927254e-03 6.34521523e+02] [ 8.29456660e-02 9.96554068e-01 -7.86000776e-05 1.08865439e+01] [ 2.28790339e-03 -1.11556214e-04 9.99997377e-01 5.89059494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.819254154 meters Centerline goodness [0,1] 0.9982953828023065 Centerline is valid? [True, True] Translation: X:634.55, Y:10.89, Z:5.89 [[ 9.96417208e-01 -8.45364197e-02 -2.51801679e-03 6.34552831e+02] [ 8.45364683e-02 9.96420382e-01 -8.73039157e-05 1.08862992e+01] [ 2.51638361e-03 -1.25873123e-04 9.99996826e-01 5.89210318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8492541539999 meters Centerline goodness [0,1] 0.9983790838666218 Centerline is valid? [True, True] Translation: X:634.58, Y:10.89, Z:5.89 [[ 9.96405968e-01 -8.46569929e-02 -2.88795975e-03 6.34584719e+02] [ 8.46570633e-02 9.96410142e-01 -9.80844729e-05 1.08870872e+01] [ 2.88589592e-03 -1.46754237e-04 9.99995825e-01 5.89227981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8792541539999 meters Centerline goodness [0,1] 0.9981260790836737 Centerline is valid? [True, True] Translation: X:634.62, Y:10.89, Z:5.89 [[ 9.96398449e-01 -8.47477114e-02 -2.82062500e-03 6.34617229e+02] [ 8.47477794e-02 9.96402431e-01 -9.56110770e-05 1.08885086e+01] [ 2.81858043e-03 -1.43774977e-04 9.99996017e-01 5.89223224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9092541539999 meters Centerline goodness [0,1] 0.9981909209474525 Centerline is valid? [True, True] Translation: X:634.65, Y:10.89, Z:5.89 [[ 9.96439632e-01 -8.42483265e-02 -3.20605520e-03 6.34648016e+02] [ 8.42484097e-02 9.96444777e-01 -1.09328089e-04 1.08900078e+01] [ 3.20386767e-03 -1.61166211e-04 9.99994855e-01 5.89204500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.939254154 meters Centerline goodness [0,1] 0.9982324348210341 Centerline is valid? [True, True] Translation: X:634.68, Y:10.89, Z:5.89 [[ 9.96467901e-01 -8.39090452e-02 -3.31569469e-03 6.34680585e+02] [ 8.39091383e-02 9.96473404e-01 -1.11270852e-04 1.08914470e+01] [ 3.31333820e-03 -1.67339252e-04 9.99994497e-01 5.89244155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9692541539999 meters Centerline goodness [0,1] 0.9982952034180119 Centerline is valid? [True, True] Translation: X:634.71, Y:10.89, Z:5.89 [[ 9.96482567e-01 -8.37533085e-02 -2.80667144e-03 6.34713971e+02] [ 8.37533743e-02 9.96486509e-01 -9.43189224e-05 1.08929437e+01] [ 2.80470975e-03 -1.41081042e-04 9.99996057e-01 5.89296275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9992541539999 meters Centerline goodness [0,1] 0.9981883676349771 Centerline is valid? [True, True] Translation: X:634.75, Y:10.90, Z:5.89 [[ 9.96627886e-01 -8.20197143e-02 -2.37150054e-03 6.34745316e+02] [ 8.20197546e-02 9.96630701e-01 -8.04296523e-05 1.08961715e+01] [ 2.37010706e-03 -1.14351458e-04 9.99997185e-01 5.89196457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0292541539999 meters Centerline goodness [0,1] 0.9982519691672633 Centerline is valid? [True, True] Translation: X:634.78, Y:10.90, Z:5.89 [[ 9.96588788e-01 -8.24943670e-02 -2.33832639e-03 6.34777013e+02] [ 8.24944112e-02 9.96591524e-01 -7.77219778e-05 1.08978290e+01] [ 2.33676789e-03 -1.15442007e-04 9.99997263e-01 5.89416199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0592541539999 meters Centerline goodness [0,1] 0.9984411863835524 Centerline is valid? [True, True] Translation: X:634.81, Y:10.90, Z:5.89 [[ 9.96628151e-01 -8.20161658e-02 -2.38288509e-03 6.34809281e+02] [ 8.20162107e-02 9.96630992e-01 -7.90258714e-05 1.08996915e+01] [ 2.38133853e-03 -1.16675798e-04 9.99997158e-01 5.89412725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.089254154 meters Centerline goodness [0,1] 0.9984196885732949 Centerline is valid? [True, True] Translation: X:634.84, Y:10.90, Z:5.89 [[ 9.96672228e-01 -8.14584220e-02 -2.99920507e-03 6.34840709e+02] [ 8.14584889e-02 9.96676730e-01 -1.00055779e-04 1.09027483e+01] [ 2.99738829e-03 -1.44587896e-04 9.99995497e-01 5.89384512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1192541539999 meters Centerline goodness [0,1] 0.9980853794525447 Centerline is valid? [True, True] Translation: X:634.87, Y:10.90, Z:5.89 [[ 9.96726430e-01 -8.07641722e-02 -3.68413303e-03 6.34873321e+02] [ 8.07642759e-02 9.96733223e-01 -1.20867924e-04 1.09048445e+01] [ 3.68185959e-03 -1.77074082e-04 9.99993206e-01 5.89212016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1492541539999 meters Centerline goodness [0,1] 0.9984167194426853 Centerline is valid? [True, True] Translation: X:634.90, Y:10.91, Z:5.89 [[ 9.96647356e-01 -8.16769591e-02 -4.78773332e-03 6.34904046e+02] [ 8.16771489e-02 9.96658828e-01 -1.56209556e-04 1.09062684e+01] [ 4.78449540e-03 -2.35362566e-04 9.99988527e-01 5.89176899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1792541539999 meters Centerline goodness [0,1] 0.9981581454429977 Centerline is valid? [True, True] Translation: X:634.94, Y:10.91, Z:5.89 [[ 9.96582476e-01 -8.24534957e-02 -4.97886952e-03 6.34935140e+02] [ 8.24537111e-02 9.96594882e-01 -1.62337694e-04 1.09067781e+01] [ 4.97530119e-03 -2.48743368e-04 9.99987592e-01 5.89183234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.209254154 meters Centerline goodness [0,1] 0.9983517876764433 Centerline is valid? [True, True] Translation: X:634.97, Y:10.91, Z:5.89 [[ 9.96562200e-01 -8.26785719e-02 -5.29489892e-03 6.34966448e+02] [ 8.26788203e-02 9.96576230e-01 -1.72348367e-04 1.09087842e+01] [ 5.29101992e-03 -2.66020128e-04 9.99985967e-01 5.89284170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2392541539999 meters Centerline goodness [0,1] 0.9983712666046197 Centerline is valid? [True, True] Translation: X:635.00, Y:10.91, Z:5.89 [[ 9.96652351e-01 -8.16091335e-02 -4.90311621e-03 6.34998345e+02] [ 8.16093342e-02 9.96664382e-01 -1.59460411e-04 1.09116769e+01] [ 4.89977471e-03 -2.41213455e-04 9.99987967e-01 5.89360421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2692541539999 meters Centerline goodness [0,1] 0.9983724371168886 Centerline is valid? [True, True] Translation: X:635.03, Y:10.92, Z:5.90 [[ 9.96938028e-01 -7.81025377e-02 -3.81611963e-03 6.35027883e+02] [ 7.81026355e-02 9.96945316e-01 -1.23636265e-04 1.09188979e+01] [ 3.81411890e-03 -1.74791306e-04 9.99992711e-01 5.89573052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2992541539999 meters Centerline goodness [0,1] 0.9985586807689862 Centerline is valid? [True, True] Translation: X:635.06, Y:10.92, Z:5.90 [[ 9.97158339e-01 -7.52745784e-02 -2.99743972e-03 6.35058888e+02] [ 7.52746253e-02 9.97162836e-01 -9.73163652e-05 1.09235097e+01] [ 2.99626094e-03 -1.28591327e-04 9.99995503e-01 5.89708614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.329254154 meters Centerline goodness [0,1] 0.9984323694523886 Centerline is valid? [True, True] Translation: X:635.09, Y:10.93, Z:5.90 [[ 9.97417806e-01 -7.17694605e-02 -2.62021685e-03 6.35090571e+02] [ 7.17694841e-02 9.97421242e-01 -8.51275887e-05 1.09289811e+01] [ 2.61956951e-03 -1.03143839e-04 9.99996564e-01 5.89791647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3592541539999 meters Centerline goodness [0,1] 0.9986184909670563 Centerline is valid? [True, True] Translation: X:635.12, Y:10.93, Z:5.90 [[ 9.97680330e-01 -6.80269588e-02 -2.50852116e-03 6.35122393e+02] [ 6.80269689e-02 9.97683479e-01 -8.13978139e-05 1.09347785e+01] [ 2.50824736e-03 -8.94380930e-05 9.99996850e-01 5.89824889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3892541539999 meters Centerline goodness [0,1] 0.9986170212765958 Centerline is valid? [True, True] Translation: X:635.15, Y:10.94, Z:5.90 [[ 9.98188850e-01 -6.01244082e-02 -2.01857373e-03 6.35151543e+02] [ 6.01243995e-02 9.98190890e-01 -6.50400295e-05 1.09449125e+01] [ 2.01883240e-03 -5.64433012e-05 9.99997961e-01 5.89820420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4192541539999 meters Centerline goodness [0,1] 0.999038954382368 Centerline is valid? [True, True] Translation: X:635.18, Y:10.96, Z:5.90 [[ 9.98630484e-01 -5.23085466e-02 -9.85924476e-04 6.35181445e+02] [ 5.23085407e-02 9.98630971e-01 -3.18307814e-05 1.09559199e+01] [ 9.86239738e-04 -1.97850819e-05 9.99999513e-01 5.89993331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.449254154 meters Centerline goodness [0,1] 0.9987817389074122 Centerline is valid? [True, True] Translation: X:635.21, Y:10.96, Z:5.90 [[ 9.98839287e-01 -4.81568864e-02 -9.96975565e-04 6.35212299e+02] [ 4.81568780e-02 9.98839784e-01 -3.24443966e-05 1.09615993e+01] [ 9.97381279e-04 -1.56044927e-05 9.99999502e-01 5.89880016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4792541539999 meters Centerline goodness [0,1] 0.9990803122660677 Centerline is valid? [True, True] Translation: X:635.24, Y:10.97, Z:5.90 [[ 9.98960512e-01 -4.55784700e-02 -7.05551580e-04 6.35244461e+02] [ 4.55784649e-02 9.98960762e-01 -2.32842517e-05 1.09663844e+01] [ 7.05879604e-04 -8.89790988e-06 9.99999751e-01 5.90073302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5092541539999 meters Centerline goodness [0,1] 0.9990142927550517 Centerline is valid? [True, True] Translation: X:635.28, Y:10.97, Z:5.90 [[ 9.99153693e-01 -4.10997522e-02 -1.64553590e-03 6.35275811e+02] [ 4.10997201e-02 9.99155048e-01 -5.33261133e-05 1.09725664e+01] [ 1.64633719e-03 -1.43500816e-05 9.99998645e-01 5.89973868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5392541539999 meters Centerline goodness [0,1] 0.9991431937453144 Centerline is valid? [True, True] Translation: X:635.31, Y:10.98, Z:5.90 [[ 9.99204768e-01 -3.97987883e-02 -2.42644883e-03 6.35308303e+02] [ 3.97987152e-02 9.99207714e-01 -7.84213543e-05 1.09750042e+01] [ 2.42764746e-03 -1.82105548e-05 9.99997053e-01 5.89855935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.569254154 meters Centerline goodness [0,1] 0.9990150947436035 Centerline is valid? [True, True] Translation: X:635.34, Y:10.98, Z:5.90 [[ 9.99246878e-01 -3.86962731e-02 -2.87668973e-03 6.35340626e+02] [ 3.86961666e-02 9.99251019e-01 -9.26939377e-05 1.09768675e+01] [ 2.87812205e-03 -1.86927371e-05 9.99995858e-01 5.89787010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5992541539999 meters Centerline goodness [0,1] 0.999187026656968 Centerline is valid? [True, True] Translation: X:635.37, Y:10.98, Z:5.89 [[ 9.99262898e-01 -3.81086353e-02 -4.62521195e-03 6.35373102e+02] [ 3.81083562e-02 9.99273602e-01 -1.48492868e-04 1.09809532e+01] [ 4.62751106e-03 -2.78758111e-05 9.99989293e-01 5.89277608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6292541539999 meters Centerline goodness [0,1] 0.9990780841301831 Centerline is valid? [True, True] Translation: X:635.41, Y:10.98, Z:5.89 [[ 9.99254482e-01 -3.82041535e-02 -5.56090337e-03 6.35405434e+02] [ 3.82037543e-02 9.99269954e-01 -1.78047936e-04 1.09784239e+01] [ 5.56364582e-03 -3.45321876e-05 9.99984522e-01 5.89397356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6592541539999 meters Centerline goodness [0,1] 0.9990362374710872 Centerline is valid? [True, True] Translation: X:635.44, Y:10.98, Z:5.89 [[ 9.99237647e-01 -3.84711802e-02 -6.64021935e-03 6.35438856e+02] [ 3.84706217e-02 9.99259709e-01 -2.11872412e-04 1.09819611e+01] [ 6.64345464e-03 -4.37424759e-05 9.99977931e-01 5.89069002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.689254154 meters Centerline goodness [0,1] 0.998952588602454 Centerline is valid? [True, True] Translation: X:635.47, Y:10.98, Z:5.89 [[ 9.99154152e-01 -4.05704333e-02 -6.70979756e-03 6.35470151e+02] [ 4.05699164e-02 9.99176679e-01 -2.13185010e-04 1.09771642e+01] [ 6.71292225e-03 -5.92112383e-05 9.99977466e-01 5.89309917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7192541539999 meters Centerline goodness [0,1] 0.998952588602454 Centerline is valid? [True, True] Translation: X:635.50, Y:10.98, Z:5.89 [[ 9.99157654e-01 -4.04840909e-02 -6.70980665e-03 6.35502674e+02] [ 4.04835740e-02 9.99180181e-01 -2.12898544e-04 1.09780766e+01] [ 6.71292482e-03 -5.89177446e-05 9.99977466e-01 5.89340378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7492541539999 meters Centerline goodness [0,1] 0.9989730863035385 Centerline is valid? [True, True] Translation: X:635.53, Y:10.98, Z:5.89 [[ 9.99103351e-01 -4.18287560e-02 -6.54587820e-03 6.35534921e+02] [ 4.18282967e-02 9.99124792e-01 -2.07113272e-04 1.09821254e+01] [ 6.54881248e-03 -6.68753714e-05 9.99978554e-01 5.89269202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7792541539999 meters Centerline goodness [0,1] 0.9990602708128657 Centerline is valid? [True, True] Translation: X:635.57, Y:10.98, Z:5.89 [[ 9.98999187e-01 -4.43667877e-02 -5.67552582e-03 6.35566122e+02] [ 4.43664856e-02 9.99015307e-01 -1.79181897e-04 1.09793326e+01] [ 5.67788689e-03 -7.28005649e-05 9.99983878e-01 5.89323106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8092541539999 meters Centerline goodness [0,1] 0.9991661499647218 Centerline is valid? [True, True] Translation: X:635.60, Y:10.98, Z:5.90 [[ 9.98906568e-01 -4.65235629e-02 -4.60712314e-03 6.35598088e+02] [ 4.65233871e-02 9.98917190e-01 -1.45376736e-04 1.09783418e+01] [ 4.60889794e-03 -6.91211969e-05 9.99989377e-01 5.89500245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.839254154 meters Centerline goodness [0,1] 0.9988492765358962 Centerline is valid? [True, True] Translation: X:635.63, Y:10.98, Z:5.90 [[ 9.98835066e-01 -4.80998091e-02 -3.86260215e-03 6.35630251e+02] [ 4.80996979e-02 9.98842532e-01 -1.21724266e-04 1.09777418e+01] [ 3.86398623e-03 -6.42075319e-05 9.99992533e-01 5.89535692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8692541539999 meters Centerline goodness [0,1] 0.9988715240812502 Centerline is valid? [True, True] Translation: X:635.66, Y:10.97, Z:5.90 [[ 9.98675502e-01 -5.13858143e-02 -2.59593276e-03 6.35661666e+02] [ 5.13857741e-02 9.98678875e-01 -8.22173918e-05 1.09727207e+01] [ 2.59672802e-03 -5.12855196e-05 9.99996627e-01 5.89630705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8992541539999 meters Centerline goodness [0,1] 0.9990415947862756 Centerline is valid? [True, True] Translation: X:635.69, Y:10.97, Z:5.90 [[ 9.98593219e-01 -5.29868443e-02 -1.99421862e-03 6.35693559e+02] [ 5.29868245e-02 9.98595210e-01 -6.27840491e-05 1.09733652e+01] [ 1.99474389e-03 -4.29715864e-05 9.99998010e-01 5.89623804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9292541539999 meters Centerline goodness [0,1] 0.9991282160323198 Centerline is valid? [True, True] Translation: X:635.73, Y:10.97, Z:5.90 [[ 9.98521427e-01 -5.43382704e-02 -1.52092071e-03 6.35725085e+02] [ 5.43382584e-02 9.98522584e-01 -4.92288670e-05 1.09706659e+01] [ 1.52134868e-03 -3.34881038e-05 9.99998842e-01 5.89714091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.959254154 meters Centerline goodness [0,1] 0.9989828784539753 Centerline is valid? [True, True] Translation: X:635.76, Y:10.97, Z:5.90 [[ 9.98385341e-01 -5.67804794e-02 -1.63935623e-03 6.35756879e+02] [ 5.67804697e-02 9.98386686e-01 -5.24693977e-05 1.09681112e+01] [ 1.63969068e-03 -4.06987395e-05 9.99998655e-01 5.89633473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9892541539999 meters Centerline goodness [0,1] 0.9988551074926854 Centerline is valid? [True, True] Translation: X:635.79, Y:10.97, Z:5.89 [[ 9.98347971e-01 -5.73607512e-02 -3.32770076e-03 6.35788796e+02] [ 5.73607281e-02 9.98353513e-01 -1.02463872e-04 1.09669020e+01] [ 3.32809915e-03 -8.85847402e-05 9.99994458e-01 5.89370465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0192541539999 meters Centerline goodness [0,1] 0.9988968326367822 Centerline is valid? [True, True] Translation: X:635.82, Y:10.96, Z:5.89 [[ 9.98214576e-01 -5.95972803e-02 -3.97787256e-03 6.35819723e+02] [ 5.95972675e-02 9.98222496e-01 -1.21859756e-04 1.09600974e+01] [ 3.97806439e-03 -1.15428150e-04 9.99992081e-01 5.89475200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0492541539999 meters Centerline goodness [0,1] 0.9988763092057839 Centerline is valid? [True, True] Translation: X:635.85, Y:10.96, Z:5.89 [[ 9.98216970e-01 -5.95058551e-02 -4.68337778e-03 6.35852356e+02] [ 5.95058358e-02 9.98227947e-01 -1.43592338e-04 1.09643054e+01] [ 4.68362318e-03 -1.35352000e-04 9.99989023e-01 5.89372858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.079254154 meters Centerline goodness [0,1] 0.9987970369119726 Centerline is valid? [True, True] Translation: X:635.88, Y:10.96, Z:5.89 [[ 9.98353456e-01 -5.71123002e-02 -5.34434267e-03 6.35883787e+02] [ 5.71122421e-02 9.98367750e-01 -1.63622157e-04 1.09633483e+01] [ 5.34496421e-03 -1.41874646e-04 9.99985706e-01 5.89368499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1092541539999 meters Centerline goodness [0,1] 0.9986213625180284 Centerline is valid? [True, True] Translation: X:635.92, Y:10.96, Z:5.89 [[ 9.98514911e-01 -5.40530556e-02 -6.80000134e-03 6.35915877e+02] [ 5.40529086e-02 9.98538052e-01 -2.05529976e-04 1.09648840e+01] [ 6.80116962e-03 -1.62335105e-04 9.99976859e-01 5.89153414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1392541539999 meters Centerline goodness [0,1] 0.998710632001691 Centerline is valid? [True, True] Translation: X:635.95, Y:10.97, Z:5.89 [[ 9.98839976e-01 -4.77610401e-02 -6.13074106e-03 6.35946066e+02] [ 4.77608054e-02 9.98858784e-01 -1.84760854e-04 1.09693013e+01] [ 6.13256894e-03 -1.08262604e-04 9.99981190e-01 5.89310558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1692541539999 meters Centerline goodness [0,1] 0.9988548404198918 Centerline is valid? [True, True] Translation: X:635.98, Y:10.97, Z:5.89 [[ 9.99031232e-01 -4.35432551e-02 -6.37045006e-03 6.35977793e+02] [ 4.35429158e-02 9.99051539e-01 -1.92020440e-04 1.09725449e+01] [ 6.37276913e-03 -8.55535542e-05 9.99979690e-01 5.89311782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.199254154 meters Centerline goodness [0,1] 0.9986855495251018 Centerline is valid? [True, True] Translation: X:636.01, Y:10.98, Z:5.89 [[ 9.99393987e-01 -3.42298951e-02 -6.32236741e-03 6.36008359e+02] [ 3.42293778e-02 9.99413985e-01 -1.90027517e-04 1.09791344e+01] [ 6.32516703e-03 -2.64983448e-05 9.99979996e-01 5.89240048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2292541539999 meters Centerline goodness [0,1] 0.9990021231422506 Centerline is valid? [True, True] Translation: X:636.04, Y:10.98, Z:5.89 [[ 9.99530669e-01 -3.01461549e-02 -5.44521804e-03 6.36040619e+02] [ 3.01457107e-02 9.99545501e-01 -1.63652308e-04 1.09826193e+01] [ 5.44767669e-03 -5.74467183e-07 9.99985161e-01 5.89347104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2592541539999 meters Centerline goodness [0,1] 0.99881043419152 Centerline is valid? [True, True] Translation: X:636.07, Y:10.99, Z:5.89 [[ 9.99632536e-01 -2.66358334e-02 -5.03244037e-03 6.36072688e+02] [ 2.66354110e-02 9.99645203e-01 -1.50948452e-04 1.09856925e+01] [ 5.03467552e-03 1.68518659e-05 9.99987326e-01 5.89379566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2892541539999 meters Centerline goodness [0,1] 0.9991915065636902 Centerline is valid? [True, True] Translation: X:636.10, Y:10.99, Z:5.89 [[ 9.99741916e-01 -2.21300018e-02 -5.13464133e-03 6.36104930e+02] [ 2.21295044e-02 9.99755101e-01 -1.53669111e-04 1.09873602e+01] [ 5.13678456e-03 4.00023835e-05 9.99986806e-01 5.89343669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.319254154 meters Centerline goodness [0,1] 0.998850966039663 Centerline is valid? [True, True] Translation: X:636.14, Y:10.99, Z:5.89 [[ 9.99763299e-01 -2.10912241e-02 -5.33916354e-03 6.36137437e+02] [ 2.10906737e-02 9.99777554e-01 -1.59374687e-04 1.09876540e+01] [ 5.34133727e-03 4.67304064e-05 9.99985734e-01 5.89272678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3492541539999 meters Centerline goodness [0,1] 0.9989132982463617 Centerline is valid? [True, True] Translation: X:636.17, Y:10.99, Z:5.89 [[ 9.99761385e-01 -2.12865910e-02 -4.90444192e-03 6.36169853e+02] [ 2.12861304e-02 9.99773414e-01 -1.46094758e-04 1.09869961e+01] [ 4.90644050e-03 4.16633070e-05 9.99987962e-01 5.89315375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3792541539999 meters Centerline goodness [0,1] 0.9990015932023367 Centerline is valid? [True, True] Translation: X:636.20, Y:10.98, Z:5.89 [[ 9.99714280e-01 -2.31943226e-02 -5.77773159e-03 6.36201445e+02] [ 2.31937188e-02 9.99730975e-01 -1.71492347e-04 1.09835658e+01] [ 5.78015489e-03 3.74362665e-05 9.99983294e-01 5.89228540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4092541539999 meters Centerline goodness [0,1] 0.998938248534783 Centerline is valid? [True, True] Translation: X:636.23, Y:10.98, Z:5.89 [[ 9.99679959e-01 -2.45419674e-02 -6.13774432e-03 6.36233473e+02] [ 2.45413134e-02 9.99698800e-01 -1.81870075e-04 1.09814197e+01] [ 6.14035908e-03 3.11835620e-05 9.99981147e-01 5.89174124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.439254154 meters Centerline goodness [0,1] 0.999004764425622 Centerline is valid? [True, True] Translation: X:636.26, Y:10.98, Z:5.89 [[ 9.99579976e-01 -2.82721961e-02 -6.36828380e-03 6.36264384e+02] [ 2.82715711e-02 9.99600262e-01 -1.88150574e-04 1.09768517e+01] [ 6.37105759e-03 8.03015800e-06 9.99979705e-01 5.89161725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4692541539999 meters Centerline goodness [0,1] 0.9987523261715445 Centerline is valid? [True, True] Translation: X:636.30, Y:10.97, Z:5.89 [[ 9.99523169e-01 -3.02187679e-02 -6.34516276e-03 6.36297522e+02] [ 3.02181879e-02 9.99543309e-01 -1.87285067e-04 1.09748146e+01] [ 6.34792450e-03 -4.54355729e-06 9.99979852e-01 5.89164060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4992541539999 meters Centerline goodness [0,1] 0.9987965797529822 Centerline is valid? [True, True] Translation: X:636.33, Y:10.97, Z:5.89 [[ 9.99469828e-01 -3.19978907e-02 -6.01640558e-03 6.36329221e+02] [ 3.19974039e-02 9.99487936e-01 -1.77183142e-04 1.09725271e+01] [ 6.01899428e-03 -1.54201546e-05 9.99981886e-01 5.89200590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5292541539999 meters Centerline goodness [0,1] 0.9987754671170695 Centerline is valid? [True, True] Translation: X:636.36, Y:10.97, Z:5.89 [[ 9.99421273e-01 -3.33455226e-02 -6.72276187e-03 6.36362473e+02] [ 3.33449553e-02 9.99443883e-01 -1.96485100e-04 1.09699782e+01] [ 6.72557513e-03 -2.77988052e-05 9.99977383e-01 5.89076632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5592541539999 meters Centerline goodness [0,1] 0.9989032312494727 Centerline is valid? [True, True] Translation: X:636.39, Y:10.96, Z:5.89 [[ 9.99271008e-01 -3.78009546e-02 -5.34228937e-03 6.36394700e+02] [ 3.78006627e-02 9.99285287e-01 -1.55641837e-04 1.09647964e+01] [ 5.34435458e-03 -4.64137036e-05 9.99985718e-01 5.89237213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.589254154 meters Centerline goodness [0,1] 0.998713677196238 Centerline is valid? [True, True] Translation: X:636.43, Y:10.96, Z:5.89 [[ 9.99192461e-01 -3.98195185e-02 -5.36951181e-03 6.36426261e+02] [ 3.98192552e-02 9.99206887e-01 -1.55972586e-04 1.09623802e+01] [ 5.37146393e-03 -5.79633285e-05 9.99985572e-01 5.89274910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6192541539999 meters Centerline goodness [0,1] 0.9987591747460515 Centerline is valid? [True, True] Translation: X:636.46, Y:10.96, Z:5.89 [[ 9.99041091e-01 -4.35127371e-02 -4.85191952e-03 6.36458110e+02] [ 4.35125667e-02 9.99052870e-01 -1.40724678e-04 1.09571964e+01] [ 4.85344744e-03 -7.05297358e-05 9.99988219e-01 5.89297426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6492541539999 meters Centerline goodness [0,1] 0.9987393633785061 Centerline is valid? [True, True] Translation: X:636.49, Y:10.96, Z:5.89 [[ 9.98971856e-01 -4.51023440e-02 -4.58364926e-03 6.36490290e+02] [ 4.51022092e-02 9.98982369e-01 -1.32822878e-04 1.09560699e+01] [ 4.58497542e-03 -7.40463907e-05 9.99989486e-01 5.89295985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6792541539999 meters Centerline goodness [0,1] 0.9986733490566038 Centerline is valid? [True, True] Translation: X:636.52, Y:10.95, Z:5.89 [[ 9.98819054e-01 -4.84305298e-02 -3.87064681e-03 6.36522601e+02] [ 4.84304594e-02 9.98826551e-01 -1.11985243e-04 1.09515058e+01] [ 3.87152830e-03 -7.56042082e-05 9.99992503e-01 5.89313065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.709254154 meters Centerline goodness [0,1] 0.9986935816932867 Centerline is valid? [True, True] Translation: X:636.56, Y:10.95, Z:5.89 [[ 9.98750443e-01 -4.98234700e-02 -3.89547370e-03 6.36555255e+02] [ 4.98234103e-02 9.98758036e-01 -1.12418243e-04 1.09502894e+01] [ 3.89623673e-03 -8.18080146e-05 9.99992406e-01 5.89320555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7392541539999 meters Centerline goodness [0,1] 0.9986112864537305 Centerline is valid? [True, True] Translation: X:636.59, Y:10.95, Z:5.89 [[ 9.98700800e-01 -5.07995635e-02 -4.01447893e-03 6.36587440e+02] [ 5.07995093e-02 9.98708865e-01 -1.15535673e-04 1.09489962e+01] [ 4.01516486e-03 -8.85479911e-05 9.99991935e-01 5.89311503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7692541539999 meters Centerline goodness [0,1] 0.9985063008857005 Centerline is valid? [True, True] Translation: X:636.62, Y:10.95, Z:5.89 [[ 9.98656394e-01 -5.15748049e-02 -5.04449297e-03 6.36618329e+02] [ 5.15747305e-02 9.98669127e-01 -1.44920429e-04 1.09451486e+01] [ 5.04525364e-03 -1.15442653e-04 9.99987266e-01 5.89130129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7992541539999 meters Centerline goodness [0,1] 0.9986589275611341 Centerline is valid? [True, True] Translation: X:636.65, Y:10.95, Z:5.89 [[ 9.98615059e-01 -5.24290729e-02 -4.37685286e-03 6.36650099e+02] [ 5.24290285e-02 9.98624645e-01 -1.24971243e-04 1.09459335e+01] [ 4.37738526e-03 -1.04675978e-04 9.99990414e-01 5.89236339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.829254154 meters Centerline goodness [0,1] 0.9985094680270395 Centerline is valid? [True, True] Translation: X:636.68, Y:10.95, Z:5.89 [[ 9.98591986e-01 -5.28255779e-02 -4.84813615e-03 6.36681649e+02] [ 5.28255305e-02 9.98603747e-01 -1.37914901e-04 1.09450402e+01] [ 4.84865237e-03 -1.18384649e-04 9.99988238e-01 5.89223115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8592541539999 meters Centerline goodness [0,1] 0.9985101248557339 Centerline is valid? [True, True] Translation: X:636.71, Y:10.94, Z:5.89 [[ 9.98551499e-01 -5.34086000e-02 -6.51353619e-03 6.36714190e+02] [ 5.34085300e-02 9.98572729e-01 -1.84810381e-04 1.09437431e+01] [ 6.51411007e-03 -1.63335710e-04 9.99978770e-01 5.89005910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8892541539999 meters Centerline goodness [0,1] 0.9986775263445149 Centerline is valid? [True, True] Translation: X:636.75, Y:10.94, Z:5.89 [[ 9.98531891e-01 -5.37611827e-02 -6.61807355e-03 6.36746650e+02] [ 5.37611214e-02 9.98553808e-01 -1.87289464e-04 1.09442504e+01] [ 6.61857144e-03 -1.68780553e-04 9.99978083e-01 5.89030024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9192541539999 meters Centerline goodness [0,1] 0.9988052067830717 Centerline is valid? [True, True] Translation: X:636.78, Y:10.94, Z:5.89 [[ 9.98530234e-01 -5.37196975e-02 -7.18088052e-03 6.36780073e+02] [ 5.37196278e-02 9.98556038e-01 -2.02712138e-04 1.09432576e+01] [ 7.18140124e-03 -1.83340031e-04 9.99974197e-01 5.88977083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.949254154 meters Centerline goodness [0,1] 0.9986993370814803 Centerline is valid? [True, True] Translation: X:636.81, Y:10.94, Z:5.89 [[ 9.98545708e-01 -5.33605725e-02 -7.68887635e-03 6.36810814e+02] [ 5.33604899e-02 9.98575291e-01 -2.16033693e-04 1.09429120e+01] [ 7.68944962e-03 -1.94562692e-04 9.99970417e-01 5.88925009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9792541539999 meters Centerline goodness [0,1] 0.9987421383647799 Centerline is valid? [True, True] Translation: X:636.84, Y:10.94, Z:5.89 [[ 9.98566023e-01 -5.30800049e-02 -6.95774458e-03 6.36844250e+02] [ 5.30799318e-02 9.98590248e-01 -1.95298619e-04 1.09444919e+01] [ 6.95830233e-03 -1.74298042e-04 9.99975776e-01 5.88962597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0092541539999 meters Centerline goodness [0,1] 0.9987429289754871 Centerline is valid? [True, True] Translation: X:636.88, Y:10.94, Z:5.89 [[ 9.98585409e-01 -5.26924553e-02 -7.11947317e-03 6.36875100e+02] [ 5.26923757e-02 9.98610772e-01 -1.98881323e-04 1.09434809e+01] [ 7.12006214e-03 -1.76541968e-04 9.99974636e-01 5.88983681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0392541539999 meters Centerline goodness [0,1] 0.999015603728139 Centerline is valid? [True, True] Translation: X:636.91, Y:10.95, Z:5.89 [[ 9.98657221e-01 -5.13608527e-02 -6.76886656e-03 6.36907318e+02] [ 5.13607522e-02 9.98680148e-01 -1.88779018e-04 1.09450200e+01] [ 6.76962850e-03 -1.59128548e-04 9.99977073e-01 5.88989188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.069254154 meters Centerline goodness [0,1] 0.9988935512828542 Centerline is valid? [True, True] Translation: X:636.94, Y:10.95, Z:5.89 [[ 9.98709165e-01 -5.03229421e-02 -6.89966361e-03 6.36939763e+02] [ 5.03228166e-02 9.98732986e-01 -1.91912176e-04 1.09465931e+01] [ 6.90057922e-03 -1.55546057e-04 9.99976179e-01 5.88994129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0992541539999 meters Centerline goodness [0,1] 0.9990608956968154 Centerline is valid? [True, True] Translation: X:636.97, Y:10.95, Z:5.89 [[ 9.98773682e-01 -4.90035868e-02 -7.05555195e-03 6.36971866e+02] [ 4.90034264e-02 9.98798591e-01 -1.95713291e-04 1.09472308e+01] [ 7.05666600e-03 -1.50272936e-04 9.99975090e-01 5.88931919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1292541539999 meters Centerline goodness [0,1] 0.9990996272875748 Centerline is valid? [True, True] Translation: X:637.00, Y:10.95, Z:5.89 [[ 9.98789309e-01 -4.86694244e-02 -7.15561400e-03 6.37003960e+02] [ 4.86692546e-02 9.98814930e-01 -1.97959349e-04 1.09480612e+01] [ 7.15676866e-03 -1.50538717e-04 9.99974379e-01 5.88907118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1592541539999 meters Centerline goodness [0,1] 0.9989522212908634 Centerline is valid? [True, True] Translation: X:637.04, Y:10.95, Z:5.89 [[ 9.98788078e-01 -4.87203416e-02 -6.97879983e-03 6.37036700e+02] [ 4.87201842e-02 9.98812448e-01 -1.92658713e-04 1.09485440e+01] [ 6.97989854e-03 -1.47583187e-04 9.99975629e-01 5.88884757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.189254154 meters Centerline goodness [0,1] 0.9988491075352068 Centerline is valid? [True, True] Translation: X:637.07, Y:10.95, Z:5.89 [[ 9.98718648e-01 -5.01822000e-02 -6.54292403e-03 6.37067646e+02] [ 5.01820970e-02 9.98740069e-01 -1.80009909e-04 1.09470283e+01] [ 6.54371368e-03 -1.48558395e-04 9.99978579e-01 5.88882199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2192541539999 meters Centerline goodness [0,1] 0.9987630249281926 Centerline is valid? [True, True] Translation: X:637.10, Y:10.95, Z:5.89 [[ 9.98571191e-01 -5.31090292e-02 -5.91677136e-03 6.37100098e+02] [ 5.31090015e-02 9.98588708e-01 -1.61916576e-04 1.09451782e+01] [ 5.91702030e-03 -1.52548592e-04 9.99982483e-01 5.88865339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2492541539999 meters Centerline goodness [0,1] 0.9988054321401626 Centerline is valid? [True, True] Translation: X:637.13, Y:10.94, Z:5.89 [[ 9.98483719e-01 -5.47029882e-02 -6.15189554e-03 6.37132408e+02] [ 5.47029914e-02 9.98502656e-01 -1.67868376e-04 1.09440680e+01] [ 6.15186694e-03 -1.68913248e-04 9.99981063e-01 5.88849507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2792541539999 meters Centerline goodness [0,1] 0.9993079294507476 Centerline is valid? [True, True] Translation: X:637.16, Y:10.94, Z:5.89 [[ 9.98367908e-01 -5.68164762e-02 -5.78006619e-03 6.37163444e+02] [ 5.68165170e-02 9.98384625e-01 -1.57273893e-04 1.09425513e+01] [ 5.77966497e-03 -1.71386022e-04 9.99983283e-01 5.88919684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3092541539999 meters Centerline goodness [0,1] 0.998805682437246 Centerline is valid? [True, True] Translation: X:637.19, Y:10.94, Z:5.89 [[ 9.98228582e-01 -5.92193893e-02 -5.72380566e-03 6.37194592e+02] [ 5.92194706e-02 9.98244975e-01 -1.55434242e-04 1.09404307e+01] [ 5.72296496e-03 -1.83801837e-04 9.99983607e-01 5.88899280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.339254154 meters Centerline goodness [0,1] 0.9986369164954074 Centerline is valid? [True, True] Translation: X:637.22, Y:10.94, Z:5.89 [[ 9.97927751e-01 -6.40967643e-02 -5.63993800e-03 6.37224664e+02] [ 6.40969238e-02 9.97943666e-01 -1.52658165e-04 1.09363177e+01] [ 5.63812530e-03 -2.09160856e-04 9.99984084e-01 5.88897908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3692541539999 meters Centerline goodness [0,1] 0.9989917872671134 Centerline is valid? [True, True] Translation: X:637.26, Y:10.93, Z:5.89 [[ 9.97641005e-01 -6.83657594e-02 -6.20874988e-03 6.37256312e+02] [ 6.83660345e-02 9.97660291e-01 -1.68165996e-04 1.09334217e+01] [ 6.20572001e-03 -2.56698315e-04 9.99980711e-01 5.88831920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3992541539999 meters Centerline goodness [0,1] 0.9989917872671134 Centerline is valid? [True, True] Translation: X:637.29, Y:10.93, Z:5.89 [[ 9.97648299e-01 -6.82592266e-02 -6.20874974e-03 6.37288863e+02] [ 6.82594996e-02 9.97667586e-01 -1.68171950e-04 1.09342067e+01] [ 6.20574765e-03 -2.56029690e-04 9.99980711e-01 5.88862413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4292541539999 meters Centerline goodness [0,1] 0.9988064077059994 Centerline is valid? [True, True] Translation: X:637.32, Y:10.93, Z:5.89 [[ 9.97398970e-01 -7.18023929e-02 -6.30166613e-03 6.37318994e+02] [ 7.18027511e-02 9.97418837e-01 -1.69673054e-04 1.09309814e+01] [ 6.29758343e-03 -2.83245235e-04 9.99980130e-01 5.88995120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.459254154 meters Centerline goodness [0,1] 0.9988876296016455 Centerline is valid? [True, True] Translation: X:637.35, Y:10.94, Z:5.89 [[ 9.97343287e-01 -7.25230500e-02 -6.83923421e-03 6.37350806e+02] [ 7.25234876e-02 9.97366688e-01 -1.84335601e-04 1.09385048e+01] [ 6.83459295e-03 -3.12159243e-04 9.99976595e-01 5.88960032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4892541539999 meters Centerline goodness [0,1] 0.9988239000315027 Centerline is valid? [True, True] Translation: X:637.38, Y:10.93, Z:5.89 [[ 9.97309368e-01 -7.30098052e-02 -6.60249807e-03 6.37382103e+02] [ 7.30102271e-02 9.97331176e-01 -1.77433698e-04 1.09327062e+01] [ 6.59783156e-03 -3.05093594e-04 9.99978188e-01 5.89042298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5192541539999 meters Centerline goodness [0,1] 0.9987610507969173 Centerline is valid? [True, True] Translation: X:637.41, Y:10.93, Z:5.89 [[ 9.97352895e-01 -7.24291890e-02 -6.41997265e-03 6.37414234e+02] [ 7.24295777e-02 9.97373514e-01 -1.72224577e-04 1.09347466e+01] [ 6.41558477e-03 -2.93227227e-04 9.99979377e-01 5.89105669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5492541539999 meters Centerline goodness [0,1] 0.998844974589441 Centerline is valid? [True, True] Translation: X:637.45, Y:10.94, Z:5.89 [[ 9.97391085e-01 -7.19462468e-02 -5.89587848e-03 6.37446144e+02] [ 7.19465682e-02 9.97408475e-01 -1.57834183e-04 1.09441969e+01] [ 5.89195474e-03 -2.66765817e-04 9.99982607e-01 5.89106545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.579254154 meters Centerline goodness [0,1] 0.9984684457871769 Centerline is valid? [True, True] Translation: X:637.48, Y:10.95, Z:5.89 [[ 9.97440614e-01 -7.12673012e-02 -5.76131644e-03 6.37477766e+02] [ 7.12675992e-02 9.97457220e-01 -1.53812815e-04 1.09452403e+01] [ 5.75762850e-03 -2.57176042e-04 9.99983392e-01 5.89112990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6092541539999 meters Centerline goodness [0,1] 0.9983660815283422 Centerline is valid? [True, True] Translation: X:637.51, Y:10.95, Z:5.89 [[ 9.97603638e-01 -6.88057716e-02 -7.26268527e-03 6.37507892e+02] [ 6.88061862e-02 9.97630027e-01 -1.93056025e-04 1.09473178e+01] [ 7.25875627e-03 -3.07124282e-04 9.99973608e-01 5.88982560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6392541539999 meters Centerline goodness [0,1] 0.9983660815283422 Centerline is valid? [True, True] Translation: X:637.54, Y:10.95, Z:5.89 [[ 9.97611150e-01 -6.86967694e-02 -7.26268381e-03 6.37540445e+02] [ 6.86971807e-02 9.97637539e-01 -1.93111677e-04 1.09480909e+01] [ 7.25879215e-03 -3.06275540e-04 9.99973608e-01 5.89013060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6692541539999 meters Centerline goodness [0,1] 0.9986580558584249 Centerline is valid? [True, True] Translation: X:637.57, Y:10.95, Z:5.89 [[ 9.97630820e-01 -6.84551809e-02 -6.82900078e-03 6.37572830e+02] [ 6.84555442e-02 9.97654151e-01 -1.80806075e-04 1.09527860e+01] [ 6.82535809e-03 -2.87105251e-04 9.99976666e-01 5.89125506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.699254154 meters Centerline goodness [0,1] 0.997777684598935 Centerline is valid? [True, True] Translation: X:637.60, Y:10.95, Z:5.89 [[ 9.97695565e-01 -6.74004381e-02 -7.79357773e-03 6.37604621e+02] [ 6.74008835e-02 9.97725954e-01 -2.05781463e-04 1.09467621e+01] [ 7.78972453e-03 -3.19986772e-04 9.99969608e-01 5.89072838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7292541539999 meters Centerline goodness [0,1] 0.9980894394289314 Centerline is valid? [True, True] Translation: X:637.64, Y:10.96, Z:5.89 [[ 9.97794017e-01 -6.58693560e-02 -8.26606603e-03 6.37637006e+02] [ 6.58698159e-02 9.97828202e-01 -2.16890631e-04 1.09594344e+01] [ 8.26240025e-03 -3.28072074e-04 9.99965812e-01 5.89009720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7592541539999 meters Centerline goodness [0,1] 0.9988676396577756 Centerline is valid? [True, True] Translation: X:637.67, Y:10.96, Z:5.89 [[ 9.97833968e-01 -6.53049600e-02 -7.91425712e-03 6.37669625e+02] [ 6.53053694e-02 9.97865304e-01 -2.06961469e-04 1.09614540e+01] [ 7.91087820e-03 -3.10330301e-04 9.99968660e-01 5.89123861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7892541539999 meters Centerline goodness [0,1] 0.9981315866817819 Centerline is valid? [True, True] Translation: X:637.70, Y:10.96, Z:5.89 [[ 9.97867485e-01 -6.47903061e-02 -7.91821579e-03 6.37701294e+02] [ 6.47907057e-02 9.97898854e-01 -2.06309093e-04 1.09645788e+01] [ 7.91494529e-03 -3.07157654e-04 9.99968629e-01 5.89179199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.819254154 meters Centerline goodness [0,1] 0.9985713685448968 Centerline is valid? [True, True] Translation: X:637.73, Y:10.97, Z:5.89 [[ 9.97915933e-01 -6.39466509e-02 -8.63809229e-03 6.37733643e+02] [ 6.39471010e-02 9.97953264e-01 -2.24363363e-04 1.09702095e+01] [ 8.63475968e-03 -3.28485185e-04 9.99962666e-01 5.89212192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8492541539999 meters Centerline goodness [0,1] 0.9987184066222661 Centerline is valid? [True, True] Translation: X:637.77, Y:10.97, Z:5.89 [[ 9.97923206e-01 -6.37739183e-02 -9.06434116e-03 6.37766701e+02] [ 6.37744132e-02 9.97964313e-01 -2.34728960e-04 1.09722190e+01] [ 9.06085858e-03 -3.43831562e-04 9.99958890e-01 5.89254561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8792541539999 meters Centerline goodness [0,1] 0.9986334776941513 Centerline is valid? [True, True] Translation: X:637.80, Y:10.98, Z:5.89 [[ 9.97961170e-01 -6.31126797e-02 -9.50222049e-03 6.37799091e+02] [ 6.31132042e-02 9.98006344e-01 -2.44953328e-04 1.09758137e+01] [ 9.49873600e-03 -3.55261672e-04 9.99954823e-01 5.89195977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9092541539999 meters Centerline goodness [0,1] 0.9986128333928834 Centerline is valid? [True, True] Translation: X:637.83, Y:10.98, Z:5.89 [[ 9.97987308e-01 -6.27335486e-02 -9.26469878e-03 6.37831629e+02] [ 6.27340372e-02 9.98030252e-01 -2.38154019e-04 1.09775224e+01] [ 9.26138991e-03 -3.43537270e-04 9.99957053e-01 5.89172526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.939254154 meters Centerline goodness [0,1] 0.9986961641991925 Centerline is valid? [True, True] Translation: X:637.86, Y:10.98, Z:5.89 [[ 9.98034004e-01 -6.19968238e-02 -9.19353750e-03 6.37864164e+02] [ 6.19972799e-02 9.98076291e-01 -2.35644268e-04 1.09799323e+01] [ 9.19046100e-03 -3.34793325e-04 9.99957711e-01 5.89236899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9692541539999 meters Centerline goodness [0,1] 0.998969852415591 Centerline is valid? [True, True] Translation: X:637.90, Y:10.98, Z:5.89 [[ 9.98096127e-01 -6.10091152e-02 -9.05590608e-03 6.37895334e+02] [ 6.10095232e-02 9.98137157e-01 -2.31441407e-04 1.09812885e+01] [ 9.05315639e-03 -3.21495741e-04 9.99958968e-01 5.89322608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9992541539999 meters Centerline goodness [0,1] 0.998821598417575 Centerline is valid? [True, True] Translation: X:637.93, Y:10.99, Z:5.89 [[ 9.98264821e-01 -5.80987652e-02 -9.58545264e-03 6.37925780e+02] [ 5.80990939e-02 9.98310791e-01 -2.44396941e-04 1.09858999e+01] [ 9.58345997e-03 -3.12933244e-04 9.99954029e-01 5.89368974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0292541539999 meters Centerline goodness [0,1] 0.9988201584358671 Centerline is valid? [True, True] Translation: X:637.96, Y:10.99, Z:5.89 [[ 9.98384489e-01 -5.58422735e-02 -1.04905989e-02 6.37958152e+02] [ 5.58425553e-02 9.98439552e-01 -2.66283549e-04 1.09908830e+01] [ 1.04890988e-02 -3.19968487e-04 9.99944937e-01 5.89336555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0592541539999 meters Centerline goodness [0,1] 0.9987368155119055 Centerline is valid? [True, True] Translation: X:637.99, Y:10.99, Z:5.89 [[ 9.98497761e-01 -5.36849314e-02 -1.09612377e-02 6.37990074e+02] [ 5.36851184e-02 9.98557876e-01 -2.77384851e-04 1.09938999e+01] [ 1.09603216e-02 -3.11487188e-04 9.99939885e-01 5.89297609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.089254154 meters Centerline goodness [0,1] 0.9988187398485455 Centerline is valid? [True, True] Translation: X:638.02, Y:11.00, Z:5.89 [[ 9.98670064e-01 -5.04233356e-02 -1.07512613e-02 6.38020136e+02] [ 5.04233342e-02 9.98727898e-01 -2.71367022e-04 1.09977255e+01] [ 1.07512678e-02 -2.71108320e-04 9.99942167e-01 5.89428135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1192541539999 meters Centerline goodness [0,1] 0.9988814081593888 Centerline is valid? [True, True] Translation: X:638.05, Y:11.00, Z:5.89 [[ 9.98756880e-01 -4.87148626e-02 -1.05620396e-02 6.38052230e+02] [ 4.87147685e-02 9.98812695e-01 -2.66334873e-04 1.10010912e+01] [ 1.05624737e-02 -2.48523528e-04 9.99944185e-01 5.89474365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1492541539999 meters Centerline goodness [0,1] 0.9991127260436031 Centerline is valid? [True, True] Translation: X:638.08, Y:11.00, Z:5.89 [[ 9.98830879e-01 -4.71990370e-02 -1.04463739e-02 6.38084091e+02] [ 4.71988700e-02 9.98885478e-01 -2.62658518e-04 1.10028236e+01] [ 1.04471284e-02 -2.30705605e-04 9.99945401e-01 5.89485941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1792541539999 meters Centerline goodness [0,1] 0.9989014007140895 Centerline is valid? [True, True] Translation: X:638.12, Y:11.01, Z:5.89 [[ 9.98897359e-01 -4.57273809e-02 -1.06335794e-02 6.38115613e+02] [ 4.57271327e-02 9.98953932e-01 -2.66599447e-04 1.10053294e+01] [ 1.06346468e-02 -2.19937611e-04 9.99943426e-01 5.89485042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.209254154 meters Centerline goodness [0,1] 0.9989210916014385 Centerline is valid? [True, True] Translation: X:638.15, Y:11.01, Z:5.90 [[ 9.98908950e-01 -4.53824594e-02 -1.10155252e-02 6.38148167e+02] [ 4.53821792e-02 9.98969660e-01 -2.75527706e-04 1.10068780e+01] [ 1.10166796e-02 -2.24681447e-04 9.99939289e-01 5.89518686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2392541539999 meters Centerline goodness [0,1] 0.9988573363240086 Centerline is valid? [True, True] Translation: X:638.18, Y:11.01, Z:5.90 [[ 9.98894553e-01 -4.57802542e-02 -1.06696439e-02 6.38179864e+02] [ 4.57800219e-02 9.98951510e-01 -2.66126383e-04 1.10089408e+01] [ 1.06706403e-02 -2.22624339e-04 9.99943042e-01 5.89548465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2692541539999 meters Centerline goodness [0,1] 0.9988126537189381 Centerline is valid? [True, True] Translation: X:638.21, Y:11.01, Z:5.90 [[ 9.98872339e-01 -4.62270835e-02 -1.08215943e-02 6.38212426e+02] [ 4.62268795e-02 9.98930930e-01 -2.69115463e-04 1.10103063e+01] [ 1.08224657e-02 -2.31436544e-04 9.99941409e-01 5.89563664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2992541539999 meters Centerline goodness [0,1] 0.9988132576078664 Centerline is valid? [True, True] Translation: X:638.24, Y:11.01, Z:5.90 [[ 9.98849842e-01 -4.67499242e-02 -1.06507569e-02 6.38244569e+02] [ 4.67497646e-02 9.98906597e-01 -2.64090213e-04 1.10110809e+01] [ 1.06514575e-02 -2.34133909e-04 9.99943244e-01 5.89582968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.329254154 meters Centerline goodness [0,1] 0.9991305269854734 Centerline is valid? [True, True] Translation: X:638.28, Y:11.01, Z:5.90 [[ 9.98820007e-01 -4.73423889e-02 -1.08301037e-02 6.38276462e+02] [ 4.73422674e-02 9.98878690e-01 -2.67725739e-04 1.10116220e+01] [ 1.08306346e-02 -2.45311842e-04 9.99941317e-01 5.89601239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3592541539999 meters Centerline goodness [0,1] 0.9991726595812385 Centerline is valid? [True, True] Translation: X:638.31, Y:11.01, Z:5.90 [[ 9.98703614e-01 -4.95495899e-02 -1.16589000e-02 6.38307968e+02] [ 4.95496096e-02 9.98771622e-01 -2.87346863e-04 1.10108677e+01] [ 1.16588164e-02 -2.90719591e-04 9.99931991e-01 5.89567676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3892541539999 meters Centerline goodness [0,1] 0.9992365602799279 Centerline is valid? [True, True] Translation: X:638.34, Y:11.01, Z:5.90 [[ 9.98622745e-01 -5.10091684e-02 -1.22750738e-02 6.38340412e+02] [ 5.10093096e-02 9.98698132e-01 -3.01784913e-04 1.10104835e+01] [ 1.22744871e-02 -3.24773763e-04 9.99924613e-01 5.89536253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4192541539999 meters Centerline goodness [0,1] 0.9991308771781066 Centerline is valid? [True, True] Translation: X:638.37, Y:11.01, Z:5.89 [[ 9.98414105e-01 -5.48687587e-02 -1.25973830e-02 6.38371631e+02] [ 5.48692251e-02 9.98493502e-01 -3.08849350e-04 1.10075158e+01] [ 1.25953512e-02 -3.82849097e-04 9.99920602e-01 5.89466636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.449254154 meters Centerline goodness [0,1] 0.9994054318051515 Centerline is valid? [True, True] Translation: X:638.40, Y:11.01, Z:5.89 [[ 9.98299125e-01 -5.69381982e-02 -1.25259131e-02 6.38402904e+02] [ 5.69388327e-02 9.98377622e-01 -3.06245862e-04 1.10058578e+01] [ 1.25230284e-02 -4.07485892e-04 9.99921501e-01 5.89476626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4792541539999 meters Centerline goodness [0,1] 0.9992996753040045 Centerline is valid? [True, True] Translation: X:638.43, Y:11.01, Z:5.90 [[ 9.98174609e-01 -5.91257472e-02 -1.23124341e-02 6.38434883e+02] [ 5.91265419e-02 9.98250451e-01 -2.99772506e-04 1.10077863e+01] [ 1.23086171e-02 -4.28766344e-04 9.99924154e-01 5.89548253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5092541539999 meters Centerline goodness [0,1] 0.9987278432702908 Centerline is valid? [True, True] Translation: X:638.47, Y:11.01, Z:5.90 [[ 9.97991253e-01 -6.23895665e-02 -1.10000840e-02 6.38465488e+02] [ 6.23904077e-02 9.98051785e-01 -2.67004212e-04 1.10061683e+01] [ 1.09953118e-02 -4.19831861e-04 9.99939462e-01 5.89602395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5392541539999 meters Centerline goodness [0,1] 0.9991103768189616 Centerline is valid? [True, True] Translation: X:638.50, Y:11.01, Z:5.90 [[ 9.97963721e-01 -6.28590102e-02 -1.08238912e-02 6.38497852e+02] [ 6.28598660e-02 9.98022329e-01 -2.61460529e-04 1.10072303e+01] [ 1.08189203e-02 -4.19460229e-04 9.99941386e-01 5.89684496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.569254154 meters Centerline goodness [0,1] 0.9990671444018063 Centerline is valid? [True, True] Translation: X:638.53, Y:11.01, Z:5.90 [[ 9.97967070e-01 -6.29589587e-02 -9.89425808e-03 6.38530189e+02] [ 6.29596852e-02 9.98016043e-01 -2.38342886e-04 1.10093108e+01] [ 9.88963411e-03 -3.85081023e-04 9.99951022e-01 5.89725439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5992541539999 meters Centerline goodness [0,1] 0.9990891567285899 Centerline is valid? [True, True] Translation: X:638.56, Y:11.01, Z:5.90 [[ 9.98015274e-01 -6.21629661e-02 -1.00637459e-02 6.38561784e+02] [ 6.21636847e-02 9.98065939e-01 -2.41688856e-04 1.10080873e+01] [ 1.00593061e-02 -3.84390360e-04 9.99949330e-01 5.89728822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6292541539999 meters Centerline goodness [0,1] 0.9988982584007797 Centerline is valid? [True, True] Translation: X:638.59, Y:11.01, Z:5.90 [[ 9.98141584e-01 -6.01211898e-02 -9.94086187e-03 6.38594373e+02] [ 6.01217954e-02 9.98191020e-01 -2.38179916e-04 1.10113696e+01] [ 9.93719872e-03 -3.59925185e-04 9.99950560e-01 5.89544985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6592541539999 meters Centerline goodness [0,1] 0.9986423995587799 Centerline is valid? [True, True] Translation: X:638.63, Y:11.02, Z:5.90 [[ 9.98137244e-01 -6.02562200e-02 -9.55141879e-03 6.38626256e+02] [ 6.02567931e-02 9.98182882e-01 -2.28019643e-04 1.10151663e+01] [ 9.54780234e-03 -3.47942968e-04 9.99954358e-01 5.89764084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.689254154 meters Centerline goodness [0,1] 0.9990250932519498 Centerline is valid? [True, True] Translation: X:638.66, Y:11.02, Z:5.90 [[ 9.98220096e-01 -5.88381951e-02 -9.73175552e-03 6.38658531e+02] [ 5.88387300e-02 9.98267474e-01 -2.31586119e-04 1.10188064e+01] [ 9.72852112e-03 -3.41430218e-04 9.99952619e-01 5.89787129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7192541539999 meters Centerline goodness [0,1] 0.9989621062887887 Centerline is valid? [True, True] Translation: X:638.69, Y:11.02, Z:5.90 [[ 9.98240425e-01 -5.83607119e-02 -1.04920026e-02 6.38690158e+02] [ 5.83613159e-02 9.98295495e-01 -2.48855297e-04 1.10166314e+01] [ 1.04886423e-02 -3.63909661e-04 9.99944926e-01 5.89782896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7492541539999 meters Centerline goodness [0,1] 0.9988542815921242 Centerline is valid? [True, True] Translation: X:638.72, Y:11.02, Z:5.90 [[ 9.98203443e-01 -5.87115775e-02 -1.19514542e-02 6.38721820e+02] [ 5.87123952e-02 9.98274899e-01 -2.82736921e-04 1.10187314e+01] [ 1.19474366e-02 -4.19469531e-04 9.99928539e-01 5.89661073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7792541539999 meters Centerline goodness [0,1] 0.9990034772283946 Centerline is valid? [True, True] Translation: X:638.75, Y:11.02, Z:5.90 [[ 9.98166351e-01 -5.92204818e-02 -1.25247680e-02 6.38753742e+02] [ 5.92214292e-02 9.98244827e-01 -2.95545535e-04 1.10222184e+01] [ 1.25202872e-02 -4.46731052e-04 9.99921518e-01 5.89639130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8092541539999 meters Centerline goodness [0,1] 0.9990875525187795 Centerline is valid? [True, True] Translation: X:638.79, Y:11.02, Z:5.90 [[ 9.98134850e-01 -5.95911593e-02 -1.32557769e-02 6.38785017e+02] [ 5.95922657e-02 9.98222753e-01 -3.11853661e-04 1.10186331e+01] [ 1.32508018e-02 -4.78669773e-04 9.99912090e-01 5.89571622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.839254154 meters Centerline goodness [0,1] 0.9990450928381963 Centerline is valid? [True, True] Translation: X:638.82, Y:11.03, Z:5.90 [[ 9.98118495e-01 -5.97247647e-02 -1.38716666e-02 6.38816994e+02] [ 5.97260014e-02 9.98214756e-01 -3.25471462e-04 1.10254818e+01] [ 1.38663410e-02 -5.03640093e-04 9.99903731e-01 5.89638698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8692541539999 meters Centerline goodness [0,1] 0.9991725015913431 Centerline is valid? [True, True] Translation: X:638.85, Y:11.03, Z:5.90 [[ 9.98156335e-01 -5.90313155e-02 -1.41150687e-02 6.38849354e+02] [ 5.90325417e-02 9.98256004e-01 -3.30123097e-04 1.10271339e+01] [ 1.41099397e-02 -5.03733924e-04 9.99900323e-01 5.89659344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8992541539999 meters Centerline goodness [0,1] 0.9989827275617251 Centerline is valid? [True, True] Translation: X:638.88, Y:11.03, Z:5.90 [[ 9.98224734e-01 -5.78226720e-02 -1.42800302e-02 6.38880862e+02] [ 5.78238174e-02 9.98326748e-01 -3.33009995e-04 1.10284678e+01] [ 1.42753916e-02 -4.93307045e-04 9.99897980e-01 5.89688428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9292541539999 meters Centerline goodness [0,1] 0.99934149035602 Centerline is valid? [True, True] Translation: X:638.91, Y:11.04, Z:5.90 [[ 9.98406004e-01 -5.45635938e-02 -1.44313744e-02 6.38912666e+02] [ 5.45644363e-02 9.98510195e-01 -3.35644574e-04 1.10353157e+01] [ 1.44281884e-02 -4.52330251e-04 9.99895806e-01 5.89820831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.959254154 meters Centerline goodness [0,1] 0.9990628727210769 Centerline is valid? [True, True] Translation: X:638.94, Y:11.04, Z:5.90 [[ 9.98495282e-01 -5.28463539e-02 -1.46436127e-02 6.38944122e+02] [ 5.28470514e-02 9.98602561e-01 -3.39587466e-04 1.10364390e+01] [ 1.46410951e-02 -4.34795270e-04 9.99892719e-01 5.89805153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9892541539999 meters Centerline goodness [0,1] 0.9988718843787914 Centerline is valid? [True, True] Translation: X:638.98, Y:11.04, Z:5.90 [[ 9.98631448e-01 -5.02021090e-02 -1.46622013e-02 6.38976560e+02] [ 5.02025369e-02 9.98739000e-01 -3.39104971e-04 1.10399300e+01] [ 1.46607360e-02 -3.97438814e-04 9.99892447e-01 5.89770819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0192541539999 meters Centerline goodness [0,1] 0.9990840540195117 Centerline is valid? [True, True] Translation: X:639.01, Y:11.04, Z:5.90 [[ 9.98798462e-01 -4.69781951e-02 -1.39528345e-02 6.39007047e+02] [ 4.69782786e-02 9.98895859e-01 -3.21953471e-04 1.10442138e+01] [ 1.39525534e-02 -3.33913513e-04 9.99902603e-01 5.89934368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0492541539999 meters Centerline goodness [0,1] 0.9990406549129128 Centerline is valid? [True, True] Translation: X:639.04, Y:11.05, Z:5.90 [[ 9.98882287e-01 -4.53010021e-02 -1.34905618e-02 6.39039122e+02] [ 4.53009336e-02 9.98973337e-01 -3.10814689e-04 1.10477873e+01] [ 1.34907918e-02 -3.00667758e-04 9.99908950e-01 5.90028215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.079254154 meters Centerline goodness [0,1] 0.9989135297501118 Centerline is valid? [True, True] Translation: X:639.07, Y:11.05, Z:5.90 [[ 9.98952651e-01 -4.38287061e-02 -1.31394882e-02 6.39071035e+02] [ 4.38285264e-02 9.99039023e-01 -3.01770508e-04 1.10499697e+01] [ 1.31400877e-02 -2.74429957e-04 9.99913628e-01 5.90053703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1092541539999 meters Centerline goodness [0,1] 0.9989772654635332 Centerline is valid? [True, True] Translation: X:639.10, Y:11.05, Z:5.90 [[ 9.99069777e-01 -4.11640210e-02 -1.28492816e-02 6.39102083e+02] [ 4.11636432e-02 9.99152375e-01 -2.93981348e-04 1.10516928e+01] [ 1.28504916e-02 -2.35215362e-04 9.99917401e-01 5.90067023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1392541539999 meters Centerline goodness [0,1] 0.9988909032739682 Centerline is valid? [True, True] Translation: X:639.13, Y:11.05, Z:5.90 [[ 9.99102983e-01 -4.04990979e-02 -1.23714249e-02 6.39134401e+02] [ 4.04987137e-02 9.99179551e-01 -2.81674837e-04 1.10535291e+01] [ 1.23726823e-02 -2.19604625e-04 9.99923431e-01 5.90141211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1692541539999 meters Centerline goodness [0,1] 0.9988490312679839 Centerline is valid? [True, True] Translation: X:639.17, Y:11.06, Z:5.90 [[ 9.99164822e-01 -3.91204216e-02 -1.18004947e-02 6.39166708e+02] [ 3.91199856e-02 9.99234484e-01 -2.67855846e-04 1.10551875e+01] [ 1.18019399e-02 -1.94003046e-04 9.99930336e-01 5.90153844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.199254154 meters Centerline goodness [0,1] 0.9989776357827476 Centerline is valid? [True, True] Translation: X:639.20, Y:11.06, Z:5.90 [[ 9.99142176e-01 -4.00751206e-02 -1.04353278e-02 6.39198357e+02] [ 4.00748388e-02 9.99196653e-01 -2.36195783e-04 1.10559868e+01] [ 1.04364102e-02 -1.82200910e-04 9.99945523e-01 5.90355004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2292541539999 meters Centerline goodness [0,1] 0.9989766549408379 Centerline is valid? [True, True] Translation: X:639.23, Y:11.06, Z:5.90 [[ 9.99153494e-01 -3.97759845e-02 -1.04960416e-02 6.39230873e+02] [ 3.97756892e-02 9.99208606e-01 -2.36963506e-04 1.10559088e+01] [ 1.04971606e-02 -1.80724374e-04 9.99944887e-01 5.90347050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2592541539999 meters Centerline goodness [0,1] 0.9988922264118787 Centerline is valid? [True, True] Translation: X:639.26, Y:11.06, Z:5.90 [[ 9.99083559e-01 -4.13982547e-02 -1.08731716e-02 6.39262228e+02] [ 4.13980425e-02 9.99142704e-01 -2.44679132e-04 1.10550907e+01] [ 1.08739794e-02 -2.05673124e-04 9.99940855e-01 5.90349622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2892541539999 meters Centerline goodness [0,1] 0.9988909269291473 Centerline is valid? [True, True] Translation: X:639.29, Y:11.05, Z:5.90 [[ 9.99042604e-01 -4.22038791e-02 -1.15198881e-02 6.39294301e+02] [ 4.22037026e-02 9.99108993e-01 -2.58530378e-04 1.10541450e+01] [ 1.15205348e-02 -2.27899071e-04 9.99933610e-01 5.90303215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.319254154 meters Centerline goodness [0,1] 0.9991460290350128 Centerline is valid? [True, True] Translation: X:639.33, Y:11.05, Z:5.90 [[ 9.98948679e-01 -4.42376315e-02 -1.20236783e-02 6.39326292e+02] [ 4.42375973e-02 9.99021002e-01 -2.68933972e-04 1.10525219e+01] [ 1.20238041e-02 -2.63247402e-04 9.99927677e-01 5.90215690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3492541539999 meters Centerline goodness [0,1] 0.9992524083132196 Centerline is valid? [True, True] Translation: X:639.36, Y:11.05, Z:5.90 [[ 9.98890291e-01 -4.56037937e-02 -1.17677799e-02 6.39358510e+02] [ 4.56038657e-02 9.98959568e-01 -2.62353485e-04 1.10514039e+01] [ 1.17675006e-02 -2.74593905e-04 9.99930723e-01 5.90227717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3792541539999 meters Centerline goodness [0,1] 0.9989957694115636 Centerline is valid? [True, True] Translation: X:639.39, Y:11.05, Z:5.90 [[ 9.98840867e-01 -4.67435823e-02 -1.14873882e-02 6.39390376e+02] [ 4.67437358e-02 9.98906882e-01 -2.55272634e-04 1.10503499e+01] [ 1.14867634e-02 -2.81986698e-04 9.99933985e-01 5.90250462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4092541539999 meters Centerline goodness [0,1] 0.998635859834598 Centerline is valid? [True, True] Translation: X:639.42, Y:11.05, Z:5.90 [[ 9.98708551e-01 -4.95087632e-02 -1.14066726e-02 6.39421906e+02] [ 4.95091039e-02 9.98773640e-01 -2.52681657e-04 1.10471341e+01] [ 1.14051939e-02 -3.12378806e-04 9.99934910e-01 5.90252946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.439254154 meters Centerline goodness [0,1] 0.9987009944845503 Centerline is valid? [True, True] Translation: X:639.45, Y:11.05, Z:5.90 [[ 9.98655509e-01 -5.06268221e-02 -1.11400125e-02 6.39453413e+02] [ 5.06272248e-02 9.98717590e-01 -2.46030961e-04 1.10458160e+01] [ 1.11381822e-02 -3.18287743e-04 9.99937918e-01 5.90248368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4692541539999 meters Centerline goodness [0,1] 0.9989772000852333 Centerline is valid? [True, True] Translation: X:639.49, Y:11.05, Z:5.90 [[ 9.98522811e-01 -5.31489824e-02 -1.12863433e-02 6.39485415e+02] [ 5.31495728e-02 9.98586532e-01 -2.47830442e-04 1.10457654e+01] [ 1.12835623e-02 -3.52399973e-04 9.99936276e-01 5.90254990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4992541539999 meters Centerline goodness [0,1] 0.9988497912584136 Centerline is valid? [True, True] Translation: X:639.52, Y:11.05, Z:5.90 [[ 9.98455909e-01 -5.43250350e-02 -1.16012612e-02 6.39517827e+02] [ 5.43257484e-02 9.98523234e-01 -2.53863761e-04 1.10451893e+01] [ 1.15979200e-02 -3.76775426e-04 9.99932671e-01 5.90270410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5292541539999 meters Centerline goodness [0,1] 0.9988497912584136 Centerline is valid? [True, True] Translation: X:639.55, Y:11.05, Z:5.90 [[ 9.98461947e-01 -5.42139342e-02 -1.16012818e-02 6.39550378e+02] [ 5.42146511e-02 9.98529272e-01 -2.52920982e-04 1.10458113e+01] [ 1.15979313e-02 -3.76427468e-04 9.99932671e-01 5.90300887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5592541539999 meters Centerline goodness [0,1] 0.9989558250047946 Centerline is valid? [True, True] Translation: X:639.58, Y:11.04, Z:5.90 [[ 9.98287927e-01 -5.74458084e-02 -1.10088193e-02 6.39581413e+02] [ 5.74466621e-02 9.98348548e-01 -2.38924767e-04 1.10422713e+01] [ 1.10043640e-02 -3.93904213e-04 9.99939373e-01 5.90255200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.589254154 meters Centerline goodness [0,1] 0.9988070384730092 Centerline is valid? [True, True] Translation: X:639.61, Y:11.04, Z:5.90 [[ 9.98173994e-01 -5.93367407e-02 -1.13061533e-02 6.39612367e+02] [ 5.93377694e-02 9.98237932e-01 -2.44743213e-04 1.10405381e+01] [ 1.13007534e-02 -4.26585608e-04 9.99936053e-01 5.90225498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6192541539999 meters Centerline goodness [0,1] 0.9989156088537348 Centerline is valid? [True, True] Translation: X:639.64, Y:11.04, Z:5.90 [[ 9.98032566e-01 -6.16413322e-02 -1.14604766e-02 6.39644304e+02] [ 6.16425484e-02 9.98098259e-01 -2.47422162e-04 1.10400401e+01] [ 1.14539332e-02 -4.59517611e-04 9.99934296e-01 5.90245840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6492541539999 meters Centerline goodness [0,1] 0.9989364643821922 Centerline is valid? [True, True] Translation: X:639.68, Y:11.04, Z:5.90 [[ 9.97884996e-01 -6.40563058e-02 -1.10600615e-02 6.39676818e+02] [ 6.40575951e-02 9.97946175e-01 -2.38003969e-04 1.10414959e+01] [ 1.10525917e-02 -4.70980353e-04 9.99938807e-01 5.90243560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6792541539999 meters Centerline goodness [0,1] 0.9987262769074003 Centerline is valid? [True, True] Translation: X:639.71, Y:11.04, Z:5.90 [[ 9.97727905e-01 -6.65342516e-02 -1.05934793e-02 6.39708009e+02] [ 6.65355815e-02 9.97784027e-01 -2.27231210e-04 1.10397931e+01] [ 1.05851231e-02 -4.78128386e-04 9.99943862e-01 5.90262631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.709254154 meters Centerline goodness [0,1] 0.9986208945090385 Centerline is valid? [True, True] Translation: X:639.74, Y:11.04, Z:5.90 [[ 9.97576996e-01 -6.87470971e-02 -1.06758251e-02 6.39740287e+02] [ 6.87485808e-02 9.97633991e-01 -2.28380174e-04 1.10386768e+01] [ 1.06662665e-02 -5.06121019e-04 9.99942986e-01 5.90273767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7392541539999 meters Centerline goodness [0,1] 0.9985793948646184 Centerline is valid? [True, True] Translation: X:639.77, Y:11.03, Z:5.90 [[ 9.97300865e-01 -7.26463554e-02 -1.06532135e-02 6.39770525e+02] [ 7.26480620e-02 9.97357613e-01 -2.27211771e-04 1.10314842e+01] [ 1.06415697e-02 -5.47336817e-04 9.99943227e-01 5.90213270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7692541539999 meters Centerline goodness [0,1] 0.9987489663069061 Centerline is valid? [True, True] Translation: X:639.80, Y:11.03, Z:5.90 [[ 9.97179440e-01 -7.42678760e-02 -1.08372950e-02 6.39802929e+02] [ 7.42697387e-02 9.97238162e-01 -2.31034810e-04 1.10317891e+01] [ 1.08245227e-02 -5.74499909e-04 9.99941248e-01 5.90217216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7992541539999 meters Centerline goodness [0,1] 0.9988124774688806 Centerline is valid? [True, True] Translation: X:639.83, Y:11.03, Z:5.90 [[ 9.96979569e-01 -7.67269206e-02 -1.20299310e-02 6.39833781e+02] [ 7.67294036e-02 9.97051921e-01 -2.55685033e-04 1.10331496e+01] [ 1.20140837e-02 -6.68136675e-04 9.99927605e-01 5.90208252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.829254154 meters Centerline goodness [0,1] 0.998813307904217 Centerline is valid? [True, True] Translation: X:639.87, Y:11.04, Z:5.90 [[ 9.96954662e-01 -7.69859762e-02 -1.24322445e-02 6.39865893e+02] [ 7.69886531e-02 9.97031934e-01 -2.63839967e-04 1.10367689e+01] [ 1.24156567e-02 -6.94105271e-04 9.99922682e-01 5.90221462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8592541539999 meters Centerline goodness [0,1] 0.998874137015401 Centerline is valid? [True, True] Translation: X:639.90, Y:11.04, Z:5.90 [[ 9.97085920e-01 -7.51351054e-02 -1.32054296e-02 6.39895926e+02] [ 7.51379743e-02 9.97173108e-01 -2.79451616e-04 1.10381100e+01] [ 1.31890959e-02 -7.13591961e-04 9.99912765e-01 5.90220804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8892541539999 meters Centerline goodness [0,1] 0.9988716682278804 Centerline is valid? [True, True] Translation: X:639.93, Y:11.04, Z:5.90 [[ 9.97241620e-01 -7.30069815e-02 -1.33840511e-02 6.39926590e+02] [ 7.30097417e-02 9.97331188e-01 -2.82915097e-04 1.10375094e+01] [ 1.33689863e-02 -6.95031402e-04 9.99910390e-01 5.90214706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9192541539999 meters Centerline goodness [0,1] 0.9988095238095238 Centerline is valid? [True, True] Translation: X:639.96, Y:11.04, Z:5.90 [[ 9.97435847e-01 -7.02614784e-02 -1.36035355e-02 6.39957609e+02] [ 7.02640819e-02 9.97528384e-01 -2.87056940e-04 1.10441404e+01] [ 1.35900818e-02 -6.69519050e-04 9.99907426e-01 5.90256460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.949254154 meters Centerline goodness [0,1] 0.9988706343625476 Centerline is valid? [True, True] Translation: X:639.99, Y:11.05, Z:5.90 [[ 9.97907853e-01 -6.30075547e-02 -1.44901733e-02 6.39986750e+02] [ 6.30097491e-02 9.98012865e-01 -3.05495141e-04 1.10515958e+01] [ 1.44806279e-02 -6.08166185e-04 9.99894965e-01 5.90275509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9792541539999 meters Centerline goodness [0,1] 0.9987411453443714 Centerline is valid? [True, True] Translation: X:640.02, Y:11.06, Z:5.90 [[ 9.98163145e-01 -5.87217159e-02 -1.49029034e-02 6.40017503e+02] [ 5.87235592e-02 9.98274233e-01 -3.14264999e-04 1.10575857e+01] [ 1.48956386e-02 -5.61463787e-04 9.99888896e-01 5.90306393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0092541539999 meters Centerline goodness [0,1] 0.9990388517482218 Centerline is valid? [True, True] Translation: X:640.05, Y:11.07, Z:5.90 [[ 9.98633245e-01 -4.97988472e-02 -1.58655953e-02 6.40047297e+02] [ 4.97998124e-02 9.98759164e-01 -3.34480328e-04 1.10654688e+01] [ 1.58625654e-02 -4.56080496e-04 9.99874078e-01 5.90278432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0392541539999 meters Centerline goodness [0,1] 0.9991216418869703 Centerline is valid? [True, True] Translation: X:640.08, Y:11.07, Z:5.90 [[ 9.98843029e-01 -4.52732223e-02 -1.62153922e-02 6.40078866e+02] [ 4.52736380e-02 9.98974565e-01 -3.41643330e-04 1.10715070e+01] [ 1.62142316e-02 -3.92881736e-04 9.99868464e-01 5.90300922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.069254154 meters Centerline goodness [0,1] 0.9991420175457412 Centerline is valid? [True, True] Translation: X:640.11, Y:11.08, Z:5.90 [[ 9.99029237e-01 -4.07281288e-02 -1.67869840e-02 6.40110594e+02] [ 4.07279483e-02 9.99170211e-01 -3.52763020e-04 1.10761543e+01] [ 1.67874217e-02 -3.31278847e-04 9.99859026e-01 5.90284648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0992541539999 meters Centerline goodness [0,1] 0.9991192455586346 Centerline is valid? [True, True] Translation: X:640.14, Y:11.08, Z:5.90 [[ 9.99186026e-01 -3.60628554e-02 -1.80763683e-02 6.40142988e+02] [ 3.60619043e-02 9.99349486e-01 -3.78683563e-04 1.10810614e+01] [ 1.80782658e-02 -2.73492940e-04 9.99836537e-01 5.90248392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1292541539999 meters Centerline goodness [0,1] 0.9991812462294234 Centerline is valid? [True, True] Translation: X:640.17, Y:11.09, Z:5.90 [[ 9.99433777e-01 -2.87645797e-02 -1.74563837e-02 6.40172823e+02] [ 2.87626026e-02 9.99586204e-01 -3.64365451e-04 1.10895947e+01] [ 1.74596411e-02 -1.37931889e-04 9.99847559e-01 5.90333355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1592541539999 meters Centerline goodness [0,1] 0.9992657063257241 Centerline is valid? [True, True] Translation: X:640.20, Y:11.10, Z:5.90 [[ 9.99582748e-01 -2.30643835e-02 -1.73886397e-02 6.40203405e+02] [ 2.30615727e-02 9.99733981e-01 -3.62174560e-04 1.10967256e+01] [ 1.73923673e-02 -3.89859355e-05 9.99848741e-01 5.90424024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.189254154 meters Centerline goodness [0,1] 0.9992448759439051 Centerline is valid? [True, True] Translation: X:640.23, Y:11.10, Z:5.90 [[ 9.99624178e-01 -2.10731882e-02 -1.75334796e-02 6.40232818e+02] [ 2.10700191e-02 9.99777936e-01 -3.65478809e-04 1.10993670e+01] [ 1.75372878e-02 -4.08929528e-06 9.99846210e-01 5.90413119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2192541539999 meters Centerline goodness [0,1] 0.9993297152370862 Centerline is valid? [True, True] Translation: X:640.26, Y:11.10, Z:5.90 [[ 9.99649980e-01 -1.96383246e-02 -1.77271787e-02 6.40262654e+02] [ 1.96348483e-02 9.99807149e-01 -3.70141496e-04 1.11013158e+01] [ 1.77310289e-02 2.19414747e-05 9.99842793e-01 5.90404564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2492541539999 meters Centerline goodness [0,1] 0.9993945684137693 Centerline is valid? [True, True] Translation: X:640.29, Y:11.10, Z:5.90 [[ 9.99668419e-01 -1.87404619e-02 -1.76591736e-02 6.40290896e+02] [ 1.87368538e-02 9.99824381e-01 -3.69766110e-04 1.11032828e+01] [ 1.76630019e-02 3.87661503e-05 9.99843996e-01 5.90416741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2792541539999 meters Centerline goodness [0,1] 0.9993296137710307 Centerline is valid? [True, True] Translation: X:640.32, Y:11.10, Z:5.91 [[ 9.99668154e-01 -1.91109412e-02 -1.72729391e-02 6.40319523e+02] [ 1.91074956e-02 9.99817369e-01 -3.64504605e-04 1.11037276e+01] [ 1.72767505e-02 3.43410380e-05 9.99850745e-01 5.90564843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3092541539999 meters Centerline goodness [0,1] 0.9993945553225074 Centerline is valid? [True, True] Translation: X:640.35, Y:11.10, Z:5.91 [[ 9.99658460e-01 -1.99150231e-02 -1.69220375e-02 6.40348311e+02] [ 1.99117581e-02 9.99801676e-01 -3.61422158e-04 1.11038963e+01] [ 1.69258792e-02 2.43511998e-05 9.99856747e-01 5.90657537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.339254154 meters Centerline goodness [0,1] 0.9994599498833492 Centerline is valid? [True, True] Translation: X:640.38, Y:11.10, Z:5.91 [[ 9.99625412e-01 -2.21390810e-02 -1.60902482e-02 6.40376559e+02] [ 2.21363740e-02 9.99754900e-01 -3.46343545e-04 1.11029697e+01] [ 1.60939722e-02 -9.96594110e-06 9.99870484e-01 5.90700998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3692541539999 meters Centerline goodness [0,1] 0.9993744337546917 Centerline is valid? [True, True] Translation: X:640.41, Y:11.10, Z:5.91 [[ 9.99595284e-01 -2.35572507e-02 -1.59475726e-02 6.40406708e+02] [ 2.35547638e-02 9.99722489e-01 -3.43784813e-04 1.11020311e+01] [ 1.59512456e-02 -3.19956290e-05 9.99872770e-01 5.90750157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3992541539999 meters Centerline goodness [0,1] 0.9991421095526102 Centerline is valid? [True, True] Translation: X:640.44, Y:11.10, Z:5.91 [[ 9.99563371e-01 -2.51597952e-02 -1.54935897e-02 6.40437390e+02] [ 2.51576404e-02 9.99683441e-01 -3.33998218e-04 1.11008750e+01] [ 1.54970884e-02 -5.59297738e-05 9.99879911e-01 5.90783284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4292541539999 meters Centerline goodness [0,1] 0.9993342496349111 Centerline is valid? [True, True] Translation: X:640.47, Y:11.10, Z:5.91 [[ 9.99484154e-01 -2.89008916e-02 -1.40058649e-02 6.40468614e+02] [ 2.88995003e-02 9.99582277e-01 -3.01757230e-04 1.10970850e+01] [ 1.40087354e-02 -1.03160929e-04 9.99901868e-01 5.90872084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.459254154 meters Centerline goodness [0,1] 0.9991852836499292 Centerline is valid? [True, True] Translation: X:640.50, Y:11.09, Z:5.91 [[ 9.99436238e-01 -3.06701171e-02 -1.36583466e-02 6.40499867e+02] [ 3.06689670e-02 9.99529553e-01 -2.93700455e-04 1.10947708e+01] [ 1.36609289e-02 -1.25352504e-04 9.99906677e-01 5.90895106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4892541539999 meters Centerline goodness [0,1] 0.999079938377268 Centerline is valid? [True, True] Translation: X:640.53, Y:11.09, Z:5.91 [[ 9.99333384e-01 -3.40657933e-02 -1.31266285e-02 6.40531514e+02] [ 3.40650330e-02 9.99419579e-01 -2.81569166e-04 1.10898249e+01] [ 1.31286014e-02 -1.65777567e-04 9.99913802e-01 5.90942121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5192541539999 meters Centerline goodness [0,1] 0.9990804106073568 Centerline is valid? [True, True] Translation: X:640.56, Y:11.09, Z:5.91 [[ 9.99299146e-01 -3.51671704e-02 -1.28252098e-02 6.40563794e+02] [ 3.51665449e-02 9.99381428e-01 -2.74355303e-04 1.10885881e+01] [ 1.28269248e-02 -1.76855298e-04 9.99917716e-01 5.90985693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5492541539999 meters Centerline goodness [0,1] 0.9991223939380967 Centerline is valid? [True, True] Translation: X:640.60, Y:11.09, Z:5.91 [[ 9.99265746e-01 -3.58824721e-02 -1.34319730e-02 6.40595942e+02] [ 3.58818642e-02 9.99355998e-01 -2.86325008e-04 1.10872838e+01] [ 1.34335968e-02 -1.95849458e-04 9.99909746e-01 5.90988020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.579254154 meters Centerline goodness [0,1] 0.9990401842846174 Centerline is valid? [True, True] Translation: X:640.63, Y:11.08, Z:5.91 [[ 9.99243085e-01 -3.63106808e-02 -1.39567689e-02 6.40627364e+02] [ 3.63100796e-02 9.99340528e-01 -2.96548875e-04 1.10839715e+01] [ 1.39583327e-02 -2.10446979e-04 9.99902556e-01 5.90908952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6092541539999 meters Centerline goodness [0,1] 0.9989753223465119 Centerline is valid? [True, True] Translation: X:640.66, Y:11.08, Z:5.91 [[ 9.99260982e-01 -3.58489662e-02 -1.38687575e-02 6.40659657e+02] [ 3.58483398e-02 9.99357199e-01 -2.93841510e-04 1.10840790e+01] [ 1.38703766e-02 -2.03547577e-04 9.99903781e-01 5.90894225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6392541539999 meters Centerline goodness [0,1] 0.9989329463485423 Centerline is valid? [True, True] Translation: X:640.69, Y:11.08, Z:5.91 [[ 9.99278842e-01 -3.52249710e-02 -1.41773620e-02 6.40690979e+02] [ 3.52242672e-02 9.99379388e-01 -2.99417691e-04 1.10832125e+01] [ 1.41791104e-02 -2.00185426e-04 9.99899451e-01 5.90855757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6692541539999 meters Centerline goodness [0,1] 0.9988903826046135 Centerline is valid? [True, True] Translation: X:640.72, Y:11.08, Z:5.91 [[ 9.99307743e-01 -3.42360303e-02 -1.45578043e-02 6.40723410e+02] [ 3.42351966e-02 9.99413757e-01 -3.06547011e-04 1.10836421e+01] [ 1.45597649e-02 -1.92054492e-04 9.99893983e-01 5.90851427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.699254154 meters Centerline goodness [0,1] 0.9989327413605413 Centerline is valid? [True, True] Translation: X:640.76, Y:11.08, Z:5.91 [[ 9.99384867e-01 -3.18072774e-02 -1.47710836e-02 6.40755325e+02] [ 3.18061700e-02 9.99494008e-01 -3.09942469e-04 1.10825951e+01] [ 1.47734680e-02 -1.60059784e-04 9.99890854e-01 5.90796174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7292541539999 meters Centerline goodness [0,1] 0.9989118142829709 Centerline is valid? [True, True] Translation: X:640.79, Y:11.08, Z:5.91 [[ 9.99421211e-01 -3.04904251e-02 -1.50856617e-02 6.40786275e+02] [ 3.04891354e-02 9.99535048e-01 -3.15524433e-04 1.10821268e+01] [ 1.50882681e-02 -1.44606972e-04 9.99886155e-01 5.90759955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7592541539999 meters Centerline goodness [0,1] 0.9988479016876107 Centerline is valid? [True, True] Translation: X:640.82, Y:11.08, Z:5.91 [[ 9.99489551e-01 -2.77615020e-02 -1.58093558e-02 6.40817268e+02] [ 2.77597564e-02 9.99614569e-01 -3.29890787e-04 1.10819373e+01] [ 1.58124206e-02 -1.09141471e-04 9.99874970e-01 5.90699106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7892541539999 meters Centerline goodness [0,1] 0.9988692368415438 Centerline is valid? [True, True] Translation: X:640.85, Y:11.08, Z:5.91 [[ 9.99516333e-01 -2.68322618e-02 -1.57203426e-02 6.40848091e+02] [ 2.68304323e-02 9.99639946e-01 -3.27312131e-04 1.10809634e+01] [ 1.57234650e-02 -9.46297670e-05 9.99876374e-01 5.90623638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.819254154 meters Centerline goodness [0,1] 0.9986561433447099 Centerline is valid? [True, True] Translation: X:640.88, Y:11.08, Z:5.91 [[ 9.99526247e-01 -2.63791736e-02 -1.58562452e-02 6.40878472e+02] [ 2.63772643e-02 9.99652005e-01 -3.29568627e-04 1.10813412e+01] [ 1.58594211e-02 -8.88318791e-05 9.99874228e-01 5.90723554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8492541539999 meters Centerline goodness [0,1] 0.9987624554590651 Centerline is valid? [True, True] Translation: X:640.91, Y:11.08, Z:5.91 [[ 9.99514769e-01 -2.70727094e-02 -1.54043914e-02 6.40908824e+02] [ 2.70709898e-02 9.99633462e-01 -3.20176942e-04 1.10783078e+01] [ 1.54074131e-02 -9.69905397e-05 9.99881294e-01 5.90686342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8792541539999 meters Centerline goodness [0,1] 0.9987848554617549 Centerline is valid? [True, True] Translation: X:640.94, Y:11.08, Z:5.91 [[ 9.99488538e-01 -2.81618434e-02 -1.51516423e-02 6.40938895e+02] [ 2.81603065e-02 9.99603370e-01 -3.14820121e-04 1.10764999e+01] [ 1.51544986e-02 -1.12015789e-04 9.99885158e-01 5.90674721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9092541539999 meters Centerline goodness [0,1] 0.998681608437706 Centerline is valid? [True, True] Translation: X:640.97, Y:11.07, Z:5.91 [[ 9.99404374e-01 -3.11012207e-02 -1.49536082e-02 6.40970791e+02] [ 3.11000582e-02 9.99516228e-01 -3.10335492e-04 1.10720348e+01] [ 1.49560258e-02 -1.54907435e-04 9.99888140e-01 5.90671731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.939254154 meters Centerline goodness [0,1] 0.998789320532699 Centerline is valid? [True, True] Translation: X:641.00, Y:11.07, Z:5.91 [[ 9.99349911e-01 -3.26740638e-02 -1.52368483e-02 6.41003184e+02] [ 3.26730515e-02 9.99466044e-01 -3.15430667e-04 1.10702505e+01] [ 1.52390189e-02 -1.82608720e-04 9.99883863e-01 5.90704174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9692541539999 meters Centerline goodness [0,1] 0.9988533084175656 Centerline is valid? [True, True] Translation: X:641.03, Y:11.07, Z:5.91 [[ 9.99295999e-01 -3.43921772e-02 -1.49895016e-02 6.41033625e+02] [ 3.43914024e-02 9.99408393e-01 -3.09527137e-04 1.10685780e+01] [ 1.49912791e-02 -2.06200754e-04 9.99887603e-01 5.90712771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9992541539999 meters Centerline goodness [0,1] 0.9988335348136836 Centerline is valid? [True, True] Translation: X:641.06, Y:11.06, Z:5.91 [[ 9.99187139e-01 -3.73767187e-02 -1.51010501e-02 6.41064845e+02] [ 3.73762804e-02 9.99301214e-01 -3.11346580e-04 1.10646675e+01] [ 1.51021348e-02 -2.53327585e-04 9.99885924e-01 5.90722381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0292541539999 meters Centerline goodness [0,1] 0.9989207262877217 Centerline is valid? [True, True] Translation: X:641.10, Y:11.06, Z:5.91 [[ 9.99143524e-01 -3.86812797e-02 -1.46961781e-02 6.41096233e+02] [ 3.86810171e-02 9.99251564e-01 -3.02218560e-04 1.10627784e+01] [ 1.46968692e-02 -2.66503402e-04 9.99891960e-01 5.90726554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0592541539999 meters Centerline goodness [0,1] 0.9987719409684728 Centerline is valid? [True, True] Translation: X:641.13, Y:11.06, Z:5.91 [[ 9.99046797e-01 -4.10880214e-02 -1.47401383e-02 6.41128638e+02] [ 4.10880321e-02 9.99155485e-01 -3.02239881e-04 1.10593761e+01] [ 1.47401084e-02 -3.03691489e-04 9.99891313e-01 5.90698126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.089254154 meters Centerline goodness [0,1] 0.998772720540003 Centerline is valid? [True, True] Translation: X:641.16, Y:11.06, Z:5.91 [[ 9.98999091e-01 -4.22279724e-02 -1.47517334e-02 6.41160866e+02] [ 4.22281229e-02 9.99107950e-01 -3.01423300e-04 1.10593728e+01] [ 1.47513026e-02 -3.21816407e-04 9.99891142e-01 5.90712464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1192541539999 meters Centerline goodness [0,1] 0.9988156920799408 Centerline is valid? [True, True] Translation: X:641.19, Y:11.06, Z:5.91 [[ 9.98958323e-01 -4.32463244e-02 -1.45610826e-02 6.41193169e+02] [ 4.32465944e-02 9.99064384e-01 -2.96480588e-04 1.10588503e+01] [ 1.45602807e-02 -3.33545482e-04 9.99893938e-01 5.90755299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1492541539999 meters Centerline goodness [0,1] 0.998605889062566 Centerline is valid? [True, True] Translation: X:641.22, Y:11.06, Z:5.91 [[ 9.98902792e-01 -4.44772417e-02 -1.46624333e-02 6.41224955e+02] [ 4.44776637e-02 9.99010335e-01 -2.97470650e-04 1.10584953e+01] [ 1.46611531e-02 -3.55006516e-04 9.99892456e-01 5.90826188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1792541539999 meters Centerline goodness [0,1] 0.9987934209690734 Centerline is valid? [True, True] Translation: X:641.26, Y:11.06, Z:5.91 [[ 9.98876364e-01 -4.49177208e-02 -1.51131665e-02 6.41256676e+02] [ 4.49182351e-02 9.98990620e-01 -3.05588120e-04 1.10550831e+01] [ 1.51116379e-02 -3.73612017e-04 9.99885743e-01 5.90769086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.209254154 meters Centerline goodness [0,1] 0.9987306154399476 Centerline is valid? [True, True] Translation: X:641.29, Y:11.06, Z:5.91 [[ 9.98824424e-01 -4.56384042e-02 -1.63372393e-02 6.41288813e+02] [ 4.56391190e-02 9.98957938e-01 -3.29274309e-04 1.10568354e+01] [ 1.63352424e-02 -4.16729985e-04 9.99866484e-01 5.90765879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2392541539999 meters Centerline goodness [0,1] 0.9987300512212675 Centerline is valid? [True, True] Translation: X:641.32, Y:11.06, Z:5.91 [[ 9.98811134e-01 -4.56456059e-02 -1.71112971e-02 6.41320541e+02] [ 4.56464131e-02 9.98957600e-01 -3.43592616e-04 1.10568257e+01] [ 1.71091438e-02 -4.37885206e-04 9.99853532e-01 5.90737458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2692541539999 meters Centerline goodness [0,1] 0.9987934465094619 Centerline is valid? [True, True] Translation: X:641.35, Y:11.06, Z:5.91 [[ 9.98785777e-01 -4.62505498e-02 -1.69663662e-02 6.41351859e+02] [ 4.62514491e-02 9.98929771e-01 -3.39587564e-04 1.10551652e+01] [ 1.69639145e-02 -4.45543795e-04 9.99856003e-01 5.90729298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2992541539999 meters Centerline goodness [0,1] 0.9987105229780577 Centerline is valid? [True, True] Translation: X:641.38, Y:11.06, Z:5.91 [[ 9.98759305e-01 -4.69099384e-02 -1.67125093e-02 6.41384211e+02] [ 4.69109206e-02 9.98899021e-01 -3.33467574e-04 1.10561710e+01] [ 1.67097521e-02 -4.50945353e-04 9.99860281e-01 5.90865736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.329254154 meters Centerline goodness [0,1] 0.9987323050919079 Centerline is valid? [True, True] Translation: X:641.42, Y:11.06, Z:5.91 [[ 9.98745880e-01 -4.74837797e-02 -1.58731553e-02 6.41416493e+02] [ 4.74847558e-02 9.98871913e-01 -3.15600586e-04 1.10556640e+01] [ 1.58702349e-02 -4.38528120e-04 9.99873964e-01 5.90924811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3592541539999 meters Centerline goodness [0,1] 0.9986921210842739 Centerline is valid? [True, True] Translation: X:641.45, Y:11.06, Z:5.91 [[ 9.98724171e-01 -4.79714283e-02 -1.57725026e-02 6.41448979e+02] [ 4.79724707e-02 9.98848609e-01 -3.12463779e-04 1.10551189e+01] [ 1.57693317e-02 -4.44580793e-04 9.99875558e-01 5.90955359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3892541539999 meters Centerline goodness [0,1] 0.9984139068646111 Centerline is valid? [True, True] Translation: X:641.48, Y:11.05, Z:5.91 [[ 9.98690769e-01 -4.85747767e-02 -1.60386800e-02 6.41481578e+02] [ 4.85759512e-02 9.98819442e-01 -3.16565143e-04 1.10549634e+01] [ 1.60351225e-02 -4.62943452e-04 9.99871322e-01 5.90973430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4192541539999 meters Centerline goodness [0,1] 0.9986266348327664 Centerline is valid? [True, True] Translation: X:641.51, Y:11.05, Z:5.91 [[ 9.98517259e-01 -5.21184744e-02 -1.57145760e-02 6.41514052e+02] [ 5.21200580e-02 9.98640778e-01 -3.09034311e-04 1.10546181e+01] [ 1.57093228e-02 -5.10468521e-04 9.99876471e-01 5.91036833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.449254154 meters Centerline goodness [0,1] 0.9986266348327664 Centerline is valid? [True, True] Translation: X:641.55, Y:11.06, Z:5.91 [[ 9.98521095e-01 -5.20449306e-02 -1.57145987e-02 6.41545754e+02] [ 5.20465233e-02 9.98644614e-01 -3.07877624e-04 1.10551805e+01] [ 1.57093228e-02 -5.10467925e-04 9.99876471e-01 5.91066516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4792541539999 meters Centerline goodness [0,1] 0.9987108772374733 Centerline is valid? [True, True] Translation: X:641.58, Y:11.05, Z:5.91 [[ 9.98402365e-01 -5.44270341e-02 -1.51794257e-02 6.41576779e+02] [ 5.44288138e-02 9.98517610e-01 -2.96158947e-04 1.10519498e+01] [ 1.51730429e-02 -5.30512342e-04 9.99884742e-01 5.91056418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5092541539999 meters Centerline goodness [0,1] 0.9984355179704016 Centerline is valid? [True, True] Translation: X:641.61, Y:11.05, Z:5.91 [[ 9.98070730e-01 -6.02792480e-02 -1.48738130e-02 6.41607347e+02] [ 6.02816201e-02 9.98181368e-01 -2.89207057e-04 1.10468591e+01] [ 1.48641962e-02 -6.07968446e-04 9.99889337e-01 5.91021276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5392541539999 meters Centerline goodness [0,1] 0.9986711944485457 Centerline is valid? [True, True] Translation: X:641.64, Y:11.05, Z:5.91 [[ 9.97865908e-01 -6.37166595e-02 -1.42764313e-02 6.41638676e+02] [ 6.37192006e-02 9.97967828e-01 -2.77257925e-04 1.10494772e+01] [ 1.42650851e-02 -6.33016559e-04 9.99898048e-01 5.91105354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.569254154 meters Centerline goodness [0,1] 0.998311096098632 Centerline is valid? [True, True] Translation: X:641.67, Y:11.05, Z:5.91 [[ 9.97394308e-01 -7.05866674e-02 -1.49035972e-02 6.41668712e+02] [ 7.05902057e-02 9.97505358e-01 -2.89162798e-04 1.10450078e+01] [ 1.48868291e-02 -7.63638667e-04 9.99888893e-01 5.91078649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5992541539999 meters Centerline goodness [0,1] 0.9984603703547476 Centerline is valid? [True, True] Translation: X:641.70, Y:11.04, Z:5.91 [[ 9.97131372e-01 -7.42646097e-02 -1.46217037e-02 6.41699430e+02] [ 7.42684089e-02 9.97238248e-01 -2.83736741e-04 1.10445674e+01] [ 1.46023938e-02 -8.03007867e-04 9.99893057e-01 5.91123520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6292541539999 meters Centerline goodness [0,1] 0.9983951686128767 Centerline is valid? [True, True] Translation: X:641.73, Y:11.05, Z:5.91 [[ 9.96826262e-01 -7.81690621e-02 -1.50665494e-02 6.41730441e+02] [ 7.81735447e-02 9.96939723e-01 -2.92087464e-04 1.10450292e+01] [ 1.50432738e-02 -8.86645118e-04 9.99886450e-01 5.91142836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6592541539999 meters Centerline goodness [0,1] 0.9983959138014732 Centerline is valid? [True, True] Translation: X:641.76, Y:11.04, Z:5.91 [[ 9.96732869e-01 -7.94541028e-02 -1.45132100e-02 6.41761802e+02] [ 7.94584044e-02 9.96838143e-01 -2.80906815e-04 1.10410244e+01] [ 1.44896405e-02 -8.73207452e-04 9.99894638e-01 5.91097852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.689254154 meters Centerline goodness [0,1] 0.9983789132402787 Centerline is valid? [True, True] Translation: X:641.79, Y:11.04, Z:5.91 [[ 9.96717127e-01 -7.95829395e-02 -1.48836776e-02 6.41792929e+02] [ 7.95874902e-02 9.96827843e-01 -2.87248274e-04 1.10410860e+01] [ 1.48593243e-02 -8.98249267e-04 9.99889191e-01 5.91063429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7192541539999 meters Centerline goodness [0,1] 0.9983346684092921 Centerline is valid? [True, True] Translation: X:641.83, Y:11.05, Z:5.91 [[ 9.96762739e-01 -7.90321190e-02 -1.47636857e-02 6.41825427e+02] [ 7.90365496e-02 9.96871678e-01 -2.84038534e-04 1.10464646e+01] [ 1.47399483e-02 -8.83751748e-04 9.99890971e-01 5.91116799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7492541539999 meters Centerline goodness [0,1] 0.9985003379520108 Centerline is valid? [True, True] Translation: X:641.86, Y:11.05, Z:5.91 [[ 9.96973734e-01 -7.62823146e-02 -1.49793853e-02 6.41855809e+02] [ 7.62865858e-02 9.97085891e-01 -2.86880281e-04 1.10497417e+01] [ 1.49576177e-02 -8.56714059e-04 9.99887762e-01 5.91131200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7792541539999 meters Centerline goodness [0,1] 0.9987337230652343 Centerline is valid? [True, True] Translation: X:641.89, Y:11.05, Z:5.91 [[ 9.97133856e-01 -7.40716993e-02 -1.54096436e-02 6.41886936e+02] [ 7.40759759e-02 9.97252558e-01 -2.93847117e-04 1.10547443e+01] [ 1.53890722e-02 -8.48479479e-04 9.99881221e-01 5.91134683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8092541539999 meters Centerline goodness [0,1] 0.9984794086589229 Centerline is valid? [True, True] Translation: X:641.92, Y:11.06, Z:5.91 [[ 9.97320460e-01 -7.14775283e-02 -1.55840372e-02 6.41917946e+02] [ 7.14815956e-02 9.97441875e-01 -2.96588966e-04 1.10580003e+01] [ 1.55653707e-02 -8.18177600e-04 9.99878518e-01 5.91131018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.839254154 meters Centerline goodness [0,1] 0.9986079767152469 Centerline is valid? [True, True] Translation: X:641.95, Y:11.06, Z:5.91 [[ 9.97752162e-01 -6.51116319e-02 -1.58461233e-02 6.41947912e+02] [ 6.51150417e-02 9.97877718e-01 -3.01216331e-04 1.10648813e+01] [ 1.58321061e-02 -7.31281735e-04 9.99874397e-01 5.91152338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8692541539999 meters Centerline goodness [0,1] 0.9988384126380705 Centerline is valid? [True, True] Translation: X:641.98, Y:11.07, Z:5.91 [[ 9.97986864e-01 -6.13939084e-02 -1.59062324e-02 6.41978776e+02] [ 6.13968766e-02 9.98113386e-01 -3.02113130e-04 1.10684750e+01] [ 1.58947714e-02 -6.75088052e-04 9.99873442e-01 5.91159347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8992541539999 meters Centerline goodness [0,1] 0.9985794249851582 Centerline is valid? [True, True] Translation: X:642.01, Y:11.08, Z:5.91 [[ 9.98461348e-01 -5.29309342e-02 -1.65303767e-02 6.42008788e+02] [ 5.29329872e-02 9.98598017e-01 -3.13615328e-04 1.10757594e+01] [ 1.65238013e-02 -5.61869433e-04 9.99863315e-01 5.91186496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9292541539999 meters Centerline goodness [0,1] 0.998749523123225 Centerline is valid? [True, True] Translation: X:642.04, Y:11.08, Z:5.91 [[ 9.98637983e-01 -4.98189320e-02 -1.55000831e-02 6.42040621e+02] [ 4.98203676e-02 9.98758151e-01 -2.93735707e-04 1.10804800e+01] [ 1.54954679e-02 -4.78884204e-04 9.99879823e-01 5.91238903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.959254154 meters Centerline goodness [0,1] 0.9988943227726983 Centerline is valid? [True, True] Translation: X:642.07, Y:11.09, Z:5.91 [[ 9.98979790e-01 -4.25483389e-02 -1.51333269e-02 6.42070555e+02] [ 4.25488811e-02 9.99094345e-01 -2.86288976e-04 1.10880886e+01] [ 1.51318025e-02 -3.57909225e-04 9.99885444e-01 5.91267589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9892541539999 meters Centerline goodness [0,1] 0.998575377418669 Centerline is valid? [True, True] Translation: X:642.10, Y:11.09, Z:5.91 [[ 9.99149050e-01 -3.81772986e-02 -1.56099000e-02 6.42102042e+02] [ 3.81773457e-02 9.99270936e-01 -2.95081850e-04 1.10915180e+01] [ 1.56097848e-02 -3.01113800e-04 9.99878115e-01 5.91271435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0192541539999 meters Centerline goodness [0,1] 0.9991063639651907 Centerline is valid? [True, True] Translation: X:642.13, Y:11.10, Z:5.91 [[ 9.99267264e-01 -3.54363098e-02 -1.44638431e-02 6.42134241e+02] [ 3.54360728e-02 9.99371908e-01 -2.72746961e-04 1.10959052e+01] [ 1.44644236e-02 -2.39994687e-04 9.99895356e-01 5.91319173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0492541539999 meters Centerline goodness [0,1] 0.998786717752235 Centerline is valid? [True, True] Translation: X:642.17, Y:11.10, Z:5.91 [[ 9.99466489e-01 -2.93690992e-02 -1.42896079e-02 6.42165410e+02] [ 2.93682598e-02 9.99568624e-01 -2.68625908e-04 1.11023999e+01] [ 1.42913330e-02 -1.51178325e-04 9.99897862e-01 5.91333735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.079254154 meters Centerline goodness [0,1] 0.999061213168619 Centerline is valid? [True, True] Translation: X:642.20, Y:11.10, Z:5.91 [[ 9.99531060e-01 -2.70324195e-02 -1.43843278e-02 6.42196026e+02] [ 2.70313332e-02 9.99634550e-01 -2.69969707e-04 1.11044121e+01] [ 1.43863690e-02 -1.18984451e-04 9.99896504e-01 5.91279292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1092541539999 meters Centerline goodness [0,1] 0.9991475032501439 Centerline is valid? [True, True] Translation: X:642.23, Y:11.11, Z:5.91 [[ 9.99618901e-01 -2.33160649e-02 -1.47788638e-02 6.42227365e+02] [ 2.33145175e-02 9.99728141e-01 -2.77006541e-04 1.11084109e+01] [ 1.47813047e-02 -6.76611047e-05 9.99890748e-01 5.91245166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1392541539999 meters Centerline goodness [0,1] 0.9990617936799011 Centerline is valid? [True, True] Translation: X:642.26, Y:11.11, Z:5.91 [[ 9.99642731e-01 -2.21442213e-02 -1.49681078e-02 6.42256384e+02] [ 2.21425063e-02 9.99754785e-01 -2.80313110e-04 1.11098096e+01] [ 1.49706447e-02 -5.12184588e-05 9.99887932e-01 5.91187829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1692541539999 meters Centerline goodness [0,1] 0.9992525041112273 Centerline is valid? [True, True] Translation: X:642.29, Y:11.11, Z:5.91 [[ 9.99644004e-01 -2.16635502e-02 -1.55742065e-02 6.42286323e+02] [ 2.16616290e-02 9.99765317e-01 -2.92054486e-04 1.11109508e+01] [ 1.55768785e-02 -4.54121682e-05 9.99878672e-01 5.91132013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.199254154 meters Centerline goodness [0,1] 0.9991452078213484 Centerline is valid? [True, True] Translation: X:642.32, Y:11.11, Z:5.91 [[ 9.99630707e-01 -2.18724352e-02 -1.61259362e-02 6.42316347e+02] [ 2.18703933e-02 9.99760768e-01 -3.02988244e-04 1.11116778e+01] [ 1.61287054e-02 -4.98042137e-05 9.99869923e-01 5.91156526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2292541539999 meters Centerline goodness [0,1] 0.9990811180442772 Centerline is valid? [True, True] Translation: X:642.35, Y:11.11, Z:5.91 [[ 9.99590660e-01 -2.35213133e-02 -1.62868208e-02 6.42346091e+02] [ 2.35194394e-02 9.99723333e-01 -3.06613557e-04 1.11107343e+01] [ 1.62895267e-02 -7.65688474e-05 9.99867314e-01 5.91132115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2592541539999 meters Centerline goodness [0,1] 0.9990391185514178 Centerline is valid? [True, True] Translation: X:642.38, Y:11.11, Z:5.91 [[ 9.99567177e-01 -2.49100135e-02 -1.56508529e-02 6.42375756e+02] [ 2.49084463e-02 9.99689693e-01 -2.95087736e-04 1.11097697e+01] [ 1.56533470e-02 -9.48784141e-05 9.99877474e-01 5.91173927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2892541539999 meters Centerline goodness [0,1] 0.9989155857963002 Centerline is valid? [True, True] Translation: X:642.40, Y:11.10, Z:5.91 [[ 9.99517213e-01 -2.78824926e-02 -1.37079300e-02 6.42404970e+02] [ 2.78815667e-02 9.99611200e-01 -2.58683414e-04 1.11043916e+01] [ 1.37098131e-02 -1.23640040e-04 9.99906008e-01 5.91226259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.319254154 meters Centerline goodness [0,1] 0.9988513326668227 Centerline is valid? [True, True] Translation: X:642.44, Y:11.10, Z:5.91 [[ 9.99480914e-01 -2.96175142e-02 -1.26769744e-02 6.42436713e+02] [ 2.96168614e-02 9.99561296e-01 -2.39263558e-04 1.11043893e+01] [ 1.26784994e-02 -1.36312835e-04 9.99919615e-01 5.91417128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3492541539999 meters Centerline goodness [0,1] 0.9991070479430212 Centerline is valid? [True, True] Translation: X:642.47, Y:11.10, Z:5.91 [[ 9.99450847e-01 -3.08645954e-02 -1.20574019e-02 6.42468979e+02] [ 3.08641019e-02 9.99523564e-01 -2.27046320e-04 1.11027802e+01] [ 1.20586650e-02 -1.45219243e-04 9.99927281e-01 5.91485943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3792541539999 meters Centerline goodness [0,1] 0.9987044706382074 Centerline is valid? [True, True] Translation: X:642.50, Y:11.10, Z:5.92 [[ 9.99377297e-01 -3.35847682e-02 -1.08204220e-02 6.42500316e+02] [ 3.35845386e-02 9.99435860e-01 -2.02968073e-04 1.10977287e+01] [ 1.08211344e-02 -1.60557195e-04 9.99941437e-01 5.91547350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4092541539999 meters Centerline goodness [0,1] 0.9989810215259203 Centerline is valid? [True, True] Translation: X:642.53, Y:11.09, Z:5.92 [[ 9.99336524e-01 -3.49583518e-02 -1.02188534e-02 6.42531658e+02] [ 3.49582297e-02 9.99388756e-01 -1.90628151e-04 1.10949981e+01] [ 1.02192713e-02 -1.66731351e-04 9.99947768e-01 5.91574290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.439254154 meters Centerline goodness [0,1] 0.9989187584803256 Centerline is valid? [True, True] Translation: X:642.56, Y:11.09, Z:5.92 [[ 9.99279330e-01 -3.66765126e-02 -9.78028896e-03 6.42564340e+02] [ 3.66764879e-02 9.99327175e-01 -1.81940308e-04 1.10923188e+01] [ 9.78038147e-03 -1.76897461e-04 9.99952155e-01 5.91551799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4692541539999 meters Centerline goodness [0,1] 0.9988186152483017 Centerline is valid? [True, True] Translation: X:642.60, Y:11.09, Z:5.91 [[ 9.99122225e-01 -4.06154469e-02 -1.02550054e-02 6.42595235e+02] [ 4.06156346e-02 9.99174827e-01 -1.90042503e-04 1.10852926e+01] [ 1.02542619e-02 -2.26637862e-04 9.99947398e-01 5.91424097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4992541539999 meters Centerline goodness [0,1] 0.9988142627255018 Centerline is valid? [True, True] Translation: X:642.63, Y:11.08, Z:5.91 [[ 9.99031226e-01 -4.26841512e-02 -1.07085592e-02 6.42627839e+02] [ 4.26844794e-02 9.99088583e-01 -1.98005670e-04 1.10828262e+01] [ 1.07072509e-02 -2.59275426e-04 9.99942642e-01 5.91352342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5292541539999 meters Centerline goodness [0,1] 0.9987321979461606 Centerline is valid? [True, True] Translation: X:642.66, Y:11.08, Z:5.91 [[ 9.98951660e-01 -4.44121032e-02 -1.10971643e-02 6.42660369e+02] [ 4.44125712e-02 9.99013254e-01 -2.04374264e-04 1.10808729e+01] [ 1.10952909e-02 -2.88693588e-04 9.99938404e-01 5.91286502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5592541539999 meters Centerline goodness [0,1] 0.9986481348485489 Centerline is valid? [True, True] Translation: X:642.69, Y:11.08, Z:5.91 [[ 9.98871605e-01 -4.59500035e-02 -1.20047206e-02 6.42692174e+02] [ 4.59506728e-02 9.98943686e-01 -2.20210875e-04 1.10775975e+01] [ 1.20021585e-02 -3.31662598e-04 9.99927916e-01 5.91213781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.589254154 meters Centerline goodness [0,1] 0.9986698477714672 Centerline is valid? [True, True] Translation: X:642.72, Y:11.08, Z:5.91 [[ 9.98886684e-01 -4.54824003e-02 -1.25197563e-02 6.42724450e+02] [ 4.54831010e-02 9.98965082e-01 -2.28897946e-04 1.10774918e+01] [ 1.25172102e-02 -3.40794229e-04 9.99921599e-01 5.91191605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6192541539999 meters Centerline goodness [0,1] 0.9986692015209125 Centerline is valid? [True, True] Translation: X:642.76, Y:11.08, Z:5.91 [[ 9.98913397e-01 -4.47162882e-02 -1.31331496e-02 6.42756177e+02] [ 4.47170061e-02 9.98999666e-01 -2.39127520e-04 1.10775713e+01] [ 1.31307050e-02 -3.48407448e-04 9.99913728e-01 5.91184032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6492541539999 meters Centerline goodness [0,1] 0.9985030255750701 Centerline is valid? [True, True] Translation: X:642.79, Y:11.08, Z:5.91 [[ 9.99013458e-01 -4.21404560e-02 -1.40104650e-02 6.42787178e+02] [ 4.21410335e-02 9.99111640e-01 -2.54129409e-04 1.10773911e+01] [ 1.40087277e-02 -3.36536773e-04 9.99901816e-01 5.91089797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6792541539999 meters Centerline goodness [0,1] 0.9987119932432432 Centerline is valid? [True, True] Translation: X:642.82, Y:11.08, Z:5.91 [[ 9.99072204e-01 -4.06641510e-02 -1.41829857e-02 6.42818823e+02] [ 4.06646050e-02 9.99172820e-01 -2.56492989e-04 1.10752208e+01] [ 1.41816839e-02 -3.20490497e-04 9.99899384e-01 5.91042913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.709254154 meters Centerline goodness [0,1] 0.9986491905696616 Centerline is valid? [True, True] Translation: X:642.85, Y:11.08, Z:5.91 [[ 9.99117257e-01 -3.96508836e-02 -1.38749248e-02 6.42850526e+02] [ 3.96512317e-02 9.99213549e-01 -2.50109099e-04 1.10797079e+01] [ 1.38739299e-02 -3.00269541e-04 9.99903707e-01 5.91129925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7392541539999 meters Centerline goodness [0,1] 0.999155351901514 Centerline is valid? [True, True] Translation: X:642.88, Y:11.08, Z:5.91 [[ 9.99164122e-01 -3.84761481e-02 -1.38073809e-02 6.42882401e+02] [ 3.84763946e-02 9.99259479e-01 -2.47886760e-04 1.10803597e+01] [ 1.38066940e-02 -2.83578679e-04 9.99904643e-01 5.91147112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7692541539999 meters Centerline goodness [0,1] 0.9989648907854155 Centerline is valid? [True, True] Translation: X:642.91, Y:11.08, Z:5.91 [[ 9.99168984e-01 -3.81941878e-02 -1.42318265e-02 6.42913842e+02] [ 3.81944398e-02 9.99270294e-01 -2.54191606e-04 1.10781833e+01] [ 1.42311500e-02 -2.89596270e-04 9.99898690e-01 5.91087747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7992541539999 meters Centerline goodness [0,1] 0.9985870642569434 Centerline is valid? [True, True] Translation: X:642.95, Y:11.08, Z:5.91 [[ 9.99111593e-01 -3.93150740e-02 -1.51772638e-02 6.42946000e+02] [ 3.93155151e-02 9.99226810e-01 -2.69416221e-04 1.10776198e+01] [ 1.51761210e-02 -3.27525073e-04 9.99884782e-01 5.91009577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.829254154 meters Centerline goodness [0,1] 0.9987564024197458 Centerline is valid? [True, True] Translation: X:642.98, Y:11.08, Z:5.91 [[ 9.99058852e-01 -4.03240247e-02 -1.59807096e-02 6.42978010e+02] [ 4.03246623e-02 9.99186590e-01 -2.82462945e-04 1.10766707e+01] [ 1.59791007e-02 -3.62219610e-04 9.99872260e-01 5.90993895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8592541539999 meters Centerline goodness [0,1] 0.9989046866771986 Centerline is valid? [True, True] Translation: X:643.01, Y:11.08, Z:5.91 [[ 9.99002268e-01 -4.14839541e-02 -1.65393747e-02 6.43009607e+02] [ 4.14848120e-02 9.99139092e-01 -2.91361544e-04 1.10760399e+01] [ 1.65372226e-02 -3.95062006e-04 9.99863173e-01 5.90996358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8892541539999 meters Centerline goodness [0,1] 0.9986711944485457 Centerline is valid? [True, True] Translation: X:643.04, Y:11.08, Z:5.91 [[ 9.98920867e-01 -4.30550650e-02 -1.74173019e-02 6.43041123e+02] [ 4.30562665e-02 9.99072602e-01 -3.06172515e-04 1.10750577e+01] [ 1.74143314e-02 -4.44081879e-04 9.99848260e-01 5.91002532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9192541539999 meters Centerline goodness [0,1] 0.9987371877170459 Centerline is valid? [True, True] Translation: X:643.07, Y:11.07, Z:5.91 [[ 9.98724573e-01 -4.67895686e-02 -1.89727066e-02 6.43072693e+02] [ 4.67916813e-02 9.98904614e-01 -3.32793436e-04 1.10712424e+01] [ 1.89674954e-02 -5.55395858e-04 9.99819947e-01 5.90932650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.949254154 meters Centerline goodness [0,1] 0.9986783586473106 Centerline is valid? [True, True] Translation: X:643.10, Y:11.07, Z:5.91 [[ 9.98605194e-01 -4.88071476e-02 -2.01377274e-02 6.43104010e+02] [ 4.88099528e-02 9.98808022e-01 -3.52479749e-04 1.10690169e+01] [ 2.01309272e-02 -6.30933416e-04 9.99797153e-01 5.90858530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9792541539999 meters Centerline goodness [0,1] 0.9988649739364386 Centerline is valid? [True, True] Translation: X:643.14, Y:11.07, Z:5.91 [[ 9.98471757e-01 -5.08357316e-02 -2.16766796e-02 6.43135465e+02] [ 5.08394771e-02 9.98706766e-01 -3.78611567e-04 1.10669019e+01] [ 2.16678936e-02 -7.23998101e-04 9.99764961e-01 5.90802542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0092541539999 meters Centerline goodness [0,1] 0.9986552361741469 Centerline is valid? [True, True] Translation: X:643.17, Y:11.06, Z:5.91 [[ 9.98209215e-01 -5.51518037e-02 -2.31655426e-02 6.43166074e+02] [ 5.51572604e-02 9.98477598e-01 -4.03828898e-04 1.10623123e+01] [ 2.31525472e-02 -8.74642139e-04 9.99731561e-01 5.90695887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0392541539999 meters Centerline goodness [0,1] 0.9988452655889145 Centerline is valid? [True, True] Translation: X:643.20, Y:11.06, Z:5.91 [[ 9.98099231e-01 -5.69077611e-02 -2.36523145e-02 6.43196654e+02] [ 5.69139489e-02 9.98379003e-01 -4.12017629e-04 1.10614632e+01] [ 2.36374211e-02 -9.34912139e-04 9.99720160e-01 5.90725124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.069254154 meters Centerline goodness [0,1] 0.998568240198762 Centerline is valid? [True, True] Translation: X:643.23, Y:11.06, Z:5.91 [[ 9.97952418e-01 -5.89805600e-02 -2.47439839e-02 6.43226515e+02] [ 5.89879618e-02 9.98258601e-01 -4.31304870e-04 1.10593127e+01] [ 2.47263333e-02 -1.02917544e-03 9.99693728e-01 5.90658783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0992541539999 meters Centerline goodness [0,1] 0.9986522911051213 Centerline is valid? [True, True] Translation: X:643.26, Y:11.06, Z:5.91 [[ 9.97922862e-01 -5.91617660e-02 -2.54920980e-02 6.43257367e+02] [ 5.91696772e-02 9.98247841e-01 -4.44514791e-04 1.10631995e+01] [ 2.54737300e-02 -1.06476773e-03 9.99674925e-01 5.90814528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1292541539999 meters Centerline goodness [0,1] 0.9989257051376572 Centerline is valid? [True, True] Translation: X:643.29, Y:11.06, Z:5.91 [[ 9.97918696e-01 -5.90331616e-02 -2.59492351e-02 6.43286999e+02] [ 5.90413081e-02 9.98255438e-01 -4.52786236e-04 1.10604662e+01] [ 2.59306944e-02 -1.08023293e-03 9.99663159e-01 5.90722591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1592541539999 meters Centerline goodness [0,1] 0.9987571097535285 Centerline is valid? [True, True] Translation: X:643.32, Y:11.07, Z:5.91 [[ 9.98015456e-01 -5.74392555e-02 -2.58046638e-02 6.43317030e+02] [ 5.74467751e-02 9.98348469e-01 -4.50432176e-04 1.10669150e+01] [ 2.57879190e-02 -1.03285644e-03 9.99666903e-01 5.91070775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.189254154 meters Centerline goodness [0,1] 0.9986086516569694 Centerline is valid? [True, True] Translation: X:643.35, Y:11.07, Z:5.91 [[ 9.98098709e-01 -5.60643425e-02 -2.56077412e-02 6.43346638e+02] [ 5.60712885e-02 9.98426668e-01 -4.47286939e-04 1.10674506e+01] [ 2.55925286e-02 -9.89422529e-04 9.99671968e-01 5.91116984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2192541539999 meters Centerline goodness [0,1] 0.9985849156229539 Centerline is valid? [True, True] Translation: X:643.38, Y:11.07, Z:5.91 [[ 9.98186792e-01 -5.44813805e-02 -2.55911778e-02 6.43377267e+02] [ 5.44877937e-02 9.98514337e-01 -4.47165945e-04 1.10714940e+01] [ 2.55775202e-02 -9.48051679e-04 9.99672392e-01 5.91310910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2492541539999 meters Centerline goodness [0,1] 0.99863324782371 Centerline is valid? [True, True] Translation: X:643.41, Y:11.07, Z:5.91 [[ 9.98396903e-01 -5.13400056e-02 -2.38291435e-02 6.43407073e+02] [ 5.13446655e-02 9.98680906e-01 -4.16640924e-04 1.10749804e+01] [ 2.38191010e-02 -8.07526395e-04 9.99715959e-01 5.91495881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2792541539999 meters Centerline goodness [0,1] 0.9987117484319233 Centerline is valid? [True, True] Translation: X:643.44, Y:11.08, Z:5.92 [[ 9.98479713e-01 -4.99678418e-02 -2.32696605e-02 6.43437671e+02] [ 4.99719093e-02 9.98750541e-01 -4.07025415e-04 1.10774785e+01] [ 2.32609242e-02 -7.56422744e-04 9.99729142e-01 5.91605557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3092541539999 meters Centerline goodness [0,1] 0.9988843279654773 Centerline is valid? [True, True] Translation: X:643.47, Y:11.07, Z:5.91 [[ 9.98548220e-01 -4.87866932e-02 -2.28322360e-02 6.43467770e+02] [ 4.87903006e-02 9.98808964e-01 -3.99374126e-04 1.10723199e+01] [ 2.28245261e-02 -7.15197337e-04 9.99739231e-01 5.91397727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.339254154 meters Centerline goodness [0,1] 0.9988843279654773 Centerline is valid? [True, True] Translation: X:643.50, Y:11.07, Z:5.91 [[ 9.98546610e-01 -4.88196443e-02 -2.28322282e-02 6.43496936e+02] [ 4.88232503e-02 9.98807354e-01 -3.99818455e-04 1.10728645e+01] [ 2.28245165e-02 -7.15506231e-04 9.99739231e-01 5.91425055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3692541539999 meters Centerline goodness [0,1] 0.9987344975955454 Centerline is valid? [True, True] Translation: X:643.53, Y:11.08, Z:5.92 [[ 9.98584061e-01 -4.81158240e-02 -2.26879153e-02 6.43527803e+02] [ 4.81191929e-02 9.98841522e-01 -3.97738560e-04 1.10785297e+01] [ 2.26807694e-02 -6.94548786e-04 9.99742517e-01 5.91682283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3992541539999 meters Centerline goodness [0,1] 0.9988587370022826 Centerline is valid? [True, True] Translation: X:643.56, Y:11.08, Z:5.92 [[ 9.98606117e-01 -4.75933470e-02 -2.28187721e-02 6.43558680e+02] [ 4.75966163e-02 9.98866559e-01 -4.00131615e-04 1.10812018e+01] [ 2.28119519e-02 -6.86522460e-04 9.99739538e-01 5.91768730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4292541539999 meters Centerline goodness [0,1] 0.9987719669701461 Centerline is valid? [True, True] Translation: X:643.59, Y:11.08, Z:5.92 [[ 9.98582184e-01 -4.78151996e-02 -2.33950359e-02 6.43588720e+02] [ 4.78186971e-02 9.98855948e-01 -4.10236514e-04 1.10833719e+01] [ 2.33878863e-02 -7.09065261e-04 9.99726215e-01 5.91799618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.459254154 meters Centerline goodness [0,1] 0.998645617302239 Centerline is valid? [True, True] Translation: X:643.62, Y:11.08, Z:5.92 [[ 9.98553927e-01 -4.81898309e-02 -2.38284471e-02 6.43617778e+02] [ 4.81935533e-02 9.98837928e-01 -4.18364931e-04 1.10820069e+01] [ 2.38209176e-02 -7.30617588e-04 9.99715975e-01 5.91706302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4892541539999 meters Centerline goodness [0,1] 0.9986894671204211 Centerline is valid? [True, True] Translation: X:643.65, Y:11.08, Z:5.92 [[ 9.98499804e-01 -4.90516026e-02 -2.43327110e-02 6.43647114e+02] [ 4.90557249e-02 9.98795952e-01 -4.27834758e-04 1.10815022e+01] [ 2.43243992e-02 -7.66465853e-04 9.99703824e-01 5.91656739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5192541539999 meters Centerline goodness [0,1] 0.9988996572008972 Centerline is valid? [True, True] Translation: X:643.68, Y:11.08, Z:5.92 [[ 9.98439953e-01 -5.01214987e-02 -2.46068292e-02 6.43677635e+02] [ 5.01260348e-02 9.98742806e-01 -4.32823342e-04 1.10815215e+01] [ 2.45975874e-02 -8.01294659e-04 9.99697112e-01 5.91675268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5492541539999 meters Centerline goodness [0,1] 0.9987937529098065 Centerline is valid? [True, True] Translation: X:643.71, Y:11.08, Z:5.92 [[ 9.98361345e-01 -5.14606871e-02 -2.50284154e-02 6.43707909e+02] [ 5.14658004e-02 9.98674661e-01 -4.40238860e-04 1.10829690e+01] [ 2.50178993e-02 -8.48589973e-04 9.99686643e-01 5.91752788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.579254154 meters Centerline goodness [0,1] 0.9986887742153794 Centerline is valid? [True, True] Translation: X:643.74, Y:11.08, Z:5.92 [[ 9.98216958e-01 -5.40441394e-02 -2.53404156e-02 6.43738060e+02] [ 5.40502058e-02 9.98538120e-01 -4.45983098e-04 1.10840589e+01] [ 2.53274738e-02 -9.24466788e-04 9.99678781e-01 5.91808700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6092541539999 meters Centerline goodness [0,1] 0.9987303468269251 Centerline is valid? [True, True] Translation: X:643.77, Y:11.08, Z:5.92 [[ 9.98170565e-01 -5.46000856e-02 -2.59683333e-02 6.43768828e+02] [ 5.46066404e-02 9.98507840e-01 -4.57188201e-04 1.10846589e+01] [ 2.59545469e-02 -9.61691631e-04 9.99662661e-01 5.91818406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6392541539999 meters Centerline goodness [0,1] 0.9987732656514382 Centerline is valid? [True, True] Translation: X:643.80, Y:11.08, Z:5.92 [[ 9.98153610e-01 -5.46347290e-02 -2.65408657e-02 6.43798111e+02] [ 5.46415803e-02 9.98505923e-01 -4.67579469e-04 1.10847923e+01] [ 2.65267576e-02 -9.83518706e-04 9.99647620e-01 5.91747252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6692541539999 meters Centerline goodness [0,1] 0.998774458014622 Centerline is valid? [True, True] Translation: X:643.83, Y:11.09, Z:5.92 [[ 9.98185434e-01 -5.34992165e-02 -2.76346284e-02 6.43829061e+02] [ 5.35062145e-02 9.98567398e-01 -4.86691271e-04 1.10876692e+01] [ 2.76210765e-02 -9.92816213e-04 9.99617972e-01 5.91698908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.699254154 meters Centerline goodness [0,1] 0.9986875807032027 Centerline is valid? [True, True] Translation: X:643.86, Y:11.09, Z:5.92 [[ 9.98234413e-01 -5.25375475e-02 -2.77103427e-02 6.43858300e+02] [ 5.25442001e-02 9.98618480e-01 -4.88523807e-04 1.10896817e+01] [ 2.76977261e-02 -9.68356513e-04 9.99615875e-01 5.91762910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7292541539999 meters Centerline goodness [0,1] 0.9987117212249208 Centerline is valid? [True, True] Translation: X:643.89, Y:11.09, Z:5.92 [[ 9.98365753e-01 -5.04174063e-02 -2.69055595e-02 6.43886891e+02] [ 5.04228741e-02 9.98727845e-01 -4.75622036e-04 1.10918974e+01] [ 2.68953111e-02 -8.81810886e-04 9.99637867e-01 5.91878323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7592541539999 meters Centerline goodness [0,1] 0.9989433866570867 Centerline is valid? [True, True] Translation: X:643.92, Y:11.09, Z:5.92 [[ 9.98407780e-01 -4.96603668e-02 -2.67535740e-02 6.43916834e+02] [ 4.96654710e-02 9.98765797e-01 -4.74074908e-04 1.10945258e+01] [ 2.67440974e-02 -8.55408776e-04 9.99641947e-01 5.92029361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7892541539999 meters Centerline goodness [0,1] 0.9989221632816958 Centerline is valid? [True, True] Translation: X:643.95, Y:11.10, Z:5.92 [[ 9.98463407e-01 -4.88696988e-02 -2.61261806e-02 6.43946382e+02] [ 4.88742713e-02 9.98804831e-01 -4.63898640e-04 1.10957991e+01] [ 2.61176260e-02 -8.13712223e-04 9.99658545e-01 5.92106617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.819254154 meters Centerline goodness [0,1] 0.9989855225615555 Centerline is valid? [True, True] Translation: X:643.98, Y:11.10, Z:5.92 [[ 9.98503440e-01 -4.77363776e-02 -2.66855351e-02 6.43975996e+02] [ 4.77407385e-02 9.98859648e-01 -4.74029952e-04 1.10972544e+01] [ 2.66777326e-02 -8.00666612e-04 9.99643765e-01 5.92188046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8492541539999 meters Centerline goodness [0,1] 0.9988148649792601 Centerline is valid? [True, True] Translation: X:644.01, Y:11.10, Z:5.92 [[ 9.98488859e-01 -4.78068606e-02 -2.71017029e-02 6.44005074e+02] [ 4.78113613e-02 9.98856267e-01 -4.82284189e-04 1.10961483e+01] [ 2.70937623e-02 -8.14213920e-04 9.99632565e-01 5.92087370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8792541539999 meters Centerline goodness [0,1] 0.9990711616811974 Centerline is valid? [True, True] Translation: X:644.04, Y:11.10, Z:5.92 [[ 9.98481496e-01 -4.78061277e-02 -2.73729249e-02 6.44035102e+02] [ 4.78106869e-02 9.98856296e-01 -4.88273780e-04 1.10998208e+01] [ 2.73649609e-02 -8.21186007e-04 9.99625172e-01 5.92318053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9092541539999 meters Centerline goodness [0,1] 0.9989413060049124 Centerline is valid? [True, True] Translation: X:644.07, Y:11.10, Z:5.92 [[ 9.98447091e-01 -4.83312892e-02 -2.77036516e-02 6.44065159e+02] [ 4.83361331e-02 9.98831003e-01 -4.95189537e-04 1.10998194e+01] [ 2.76951993e-02 -8.44666840e-04 9.99616058e-01 5.92335288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.939254154 meters Centerline goodness [0,1] 0.9987131887604421 Centerline is valid? [True, True] Translation: X:644.09, Y:11.10, Z:5.92 [[ 9.98445314e-01 -4.83108632e-02 -2.78031551e-02 6.44093654e+02] [ 4.83156967e-02 9.98831990e-01 -4.98311200e-04 1.10990045e+01] [ 2.77947546e-02 -8.45792327e-04 9.99613293e-01 5.92284504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9692541539999 meters Centerline goodness [0,1] 0.9987931399534195 Centerline is valid? [True, True] Translation: X:644.12, Y:11.10, Z:5.93 [[ 9.98484242e-01 -4.80100177e-02 -2.69120119e-02 6.44123277e+02] [ 4.80144063e-02 9.98846526e-01 -4.83475242e-04 1.11016533e+01] [ 2.69041813e-02 -8.09421866e-04 9.99637689e-01 5.92505279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9992541539999 meters Centerline goodness [0,1] 0.9987320371935756 Centerline is valid? [True, True] Translation: X:644.15, Y:11.10, Z:5.92 [[ 9.98503921e-01 -4.77269448e-02 -2.66844159e-02 6.44152442e+02] [ 4.77311242e-02 9.98860105e-01 -4.80671690e-04 1.10995234e+01] [ 2.66769395e-02 -7.93724603e-04 9.99643792e-01 5.92447250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0292541539999 meters Centerline goodness [0,1] 0.9987970115233633 Centerline is valid? [True, True] Translation: X:644.18, Y:11.10, Z:5.92 [[ 9.98521282e-01 -4.79724538e-02 -2.55713482e-02 6.44182124e+02] [ 4.79763449e-02 9.98848365e-01 -4.61675362e-04 1.10997098e+01] [ 2.55640471e-02 -7.65827149e-04 9.99672893e-01 5.92492132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0592541539999 meters Centerline goodness [0,1] 0.9990276074916501 Centerline is valid? [True, True] Translation: X:644.21, Y:11.10, Z:5.93 [[ 9.98513639e-01 -4.83691527e-02 -2.51184564e-02 6.44212302e+02] [ 4.83730244e-02 9.98829237e-01 -4.53818940e-04 1.11036547e+01] [ 2.51109995e-02 -7.61911303e-04 9.99684379e-01 5.92695249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.089254154 meters Centerline goodness [0,1] 0.9987970369119726 Centerline is valid? [True, True] Translation: X:644.24, Y:11.10, Z:5.93 [[ 9.98489343e-01 -4.86577767e-02 -2.55235776e-02 6.44242023e+02] [ 4.86618610e-02 9.98815203e-01 -4.61435070e-04 1.11023535e+01] [ 2.55157898e-02 -7.81286787e-04 9.99674114e-01 5.92572080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1192541539999 meters Centerline goodness [0,1] 0.9987527218146841 Centerline is valid? [True, True] Translation: X:644.27, Y:11.10, Z:5.93 [[ 9.98464404e-01 -4.88766113e-02 -2.60751114e-02 6.44272143e+02] [ 4.88809442e-02 9.98804501e-01 -4.71581813e-04 1.11044866e+01] [ 2.60669880e-02 -8.03718411e-04 9.99659875e-01 5.92573101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1492541539999 meters Centerline goodness [0,1] 0.9989433196669344 Centerline is valid? [True, True] Translation: X:644.30, Y:11.11, Z:5.93 [[ 9.98468041e-01 -4.86351800e-02 -2.63854088e-02 6.44302345e+02] [ 4.86395326e-02 9.98816283e-01 -4.77193702e-04 1.11055413e+01] [ 2.63773844e-02 -8.06911291e-04 9.99651731e-01 5.92597117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1792541539999 meters Centerline goodness [0,1] 0.9989445464716189 Centerline is valid? [True, True] Translation: X:644.33, Y:11.11, Z:5.93 [[ 9.98507857e-01 -4.79107436e-02 -2.62034239e-02 6.44332281e+02] [ 4.79147711e-02 9.98851315e-01 -4.74511162e-04 1.11070869e+01] [ 2.61960587e-02 -7.81727937e-04 9.99656519e-01 5.92636300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.209254154 meters Centerline goodness [0,1] 0.9988584957510676 Centerline is valid? [True, True] Translation: X:644.36, Y:11.11, Z:5.93 [[ 9.98636404e-01 -4.55229276e-02 -2.55537821e-02 6.44362323e+02] [ 4.55259606e-02 9.98963048e-01 -4.63373052e-04 1.11116745e+01] [ 2.55483782e-02 -7.00619279e-04 9.99673341e-01 5.92812506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2392541539999 meters Centerline goodness [0,1] 0.9989177489177489 Centerline is valid? [True, True] Translation: X:644.39, Y:11.12, Z:5.93 [[ 9.98807023e-01 -4.21010966e-02 -2.47392155e-02 6.44392177e+02] [ 4.21028625e-02 9.99113180e-01 -4.49721931e-04 1.11163146e+01] [ 2.47362101e-02 -5.92406368e-04 9.99693838e-01 5.92977402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2692541539999 meters Centerline goodness [0,1] 0.9988556897647807 Centerline is valid? [True, True] Translation: X:644.42, Y:11.12, Z:5.93 [[ 9.98852411e-01 -4.09979450e-02 -2.47594527e-02 6.44421552e+02] [ 4.09993537e-02 9.99159071e-01 -4.50954135e-04 1.11178618e+01] [ 2.47571199e-02 -5.64684932e-04 9.99693336e-01 5.92996324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2992541539999 meters Centerline goodness [0,1] 0.9988529430507467 Centerline is valid? [True, True] Translation: X:644.45, Y:11.12, Z:5.93 [[ 9.98903910e-01 -3.99756032e-02 -2.43501637e-02 6.44450774e+02] [ 3.99766446e-02 9.99200516e-01 -4.44215822e-04 1.11190395e+01] [ 2.43484540e-02 -5.29708920e-04 9.99703392e-01 5.93004541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.329254154 meters Centerline goodness [0,1] 0.9990046590427785 Centerline is valid? [True, True] Translation: X:644.48, Y:11.12, Z:5.93 [[ 9.98913964e-01 -3.94888651e-02 -2.47289560e-02 6.44479598e+02] [ 3.94897609e-02 9.99219873e-01 -4.52309049e-04 1.11180234e+01] [ 2.47275254e-02 -5.24722734e-04 9.99694090e-01 5.92894161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3592541539999 meters Centerline goodness [0,1] 0.9987540651264941 Centerline is valid? [True, True] Translation: X:644.51, Y:11.12, Z:5.93 [[ 9.98963902e-01 -3.87620070e-02 -2.38459544e-02 6.44508108e+02] [ 3.87625329e-02 9.99248354e-01 -4.40349262e-04 1.11212945e+01] [ 2.38450995e-02 -4.84436574e-04 9.99715548e-01 5.93096530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3892541539999 meters Centerline goodness [0,1] 0.9988565378507147 Centerline is valid? [True, True] Translation: X:644.54, Y:11.12, Z:5.93 [[ 9.98956931e-01 -3.88179056e-02 -2.40462221e-02 6.44537704e+02] [ 3.88183857e-02 9.99246182e-01 -4.46998521e-04 1.11222355e+01] [ 2.40454471e-02 -4.86903251e-04 9.99710748e-01 5.93135585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4192541539999 meters Centerline goodness [0,1] 0.999024493691019 Centerline is valid? [True, True] Translation: X:644.57, Y:11.12, Z:5.93 [[ 9.98937912e-01 -3.90930580e-02 -2.43881373e-02 6.44566479e+02] [ 3.90936053e-02 9.99235449e-01 -4.54522393e-04 1.11208163e+01] [ 2.43872600e-02 -4.99380562e-04 9.99702462e-01 5.93018816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.449254154 meters Centerline goodness [0,1] 0.9987702224201175 Centerline is valid? [True, True] Translation: X:644.59, Y:11.12, Z:5.93 [[ 9.98870989e-01 -4.04930918e-02 -2.48406124e-02 6.44594808e+02] [ 4.04939803e-02 9.99179673e-01 -4.67461858e-04 1.11229210e+01] [ 2.48391640e-02 -5.38961183e-04 9.99691315e-01 5.93186513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4792541539999 meters Centerline goodness [0,1] 0.9989839549553363 Centerline is valid? [True, True] Translation: X:644.62, Y:11.12, Z:5.93 [[ 9.98822287e-01 -4.15346950e-02 -2.50780486e-02 6.44623376e+02] [ 4.15358382e-02 9.99136902e-01 -4.75541196e-04 1.11225056e+01] [ 2.50761552e-02 -5.66656622e-04 9.99685383e-01 5.93161753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5092541539999 meters Centerline goodness [0,1] 0.9990269492744426 Centerline is valid? [True, True] Translation: X:644.65, Y:11.12, Z:5.93 [[ 9.98626128e-01 -4.53019042e-02 -2.63361757e-02 6.44652495e+02] [ 4.53044191e-02 9.98973102e-01 -5.01482283e-04 1.11205754e+01] [ 2.63318492e-02 -6.92351832e-04 9.99653017e-01 5.93112783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5392541539999 meters Centerline goodness [0,1] 0.9990240383595358 Centerline is valid? [True, True] Translation: X:644.68, Y:11.12, Z:5.93 [[ 9.98497772e-01 -4.80226122e-02 -2.63823467e-02 6.44681584e+02] [ 4.80260406e-02 9.98845957e-01 -5.04031099e-04 1.11181348e+01] [ 2.63761052e-02 -7.63765724e-04 9.99651798e-01 5.93043213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.569254154 meters Centerline goodness [0,1] 0.9990040262767536 Centerline is valid? [True, True] Translation: X:644.71, Y:11.12, Z:5.93 [[ 9.98354620e-01 -5.08191337e-02 -2.65606641e-02 6.44711584e+02] [ 5.08235667e-02 9.98707518e-01 -5.08582423e-04 1.11183292e+01] [ 2.65521806e-02 -8.42162070e-04 9.99647074e-01 5.93143133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5992541539999 meters Centerline goodness [0,1] 0.998941104216523 Centerline is valid? [True, True] Translation: X:644.74, Y:11.12, Z:5.93 [[ 9.98203074e-01 -5.36352269e-02 -2.67186240e-02 6.44741655e+02] [ 5.36407024e-02 9.98560170e-01 -5.12270336e-04 1.11166818e+01] [ 2.67076294e-02 -9.21855934e-04 9.99642863e-01 5.93132072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6292541539999 meters Centerline goodness [0,1] 0.9989417093510562 Centerline is valid? [True, True] Translation: X:644.77, Y:11.11, Z:5.93 [[ 9.97917181e-01 -5.89180908e-02 -2.62670502e-02 6.44771193e+02] [ 5.89251969e-02 9.98262274e-01 -5.04087192e-04 1.11130475e+01] [ 2.62511051e-02 -1.04475384e-03 9.99654834e-01 5.93086778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6592541539999 meters Centerline goodness [0,1] 0.9987543281817414 Centerline is valid? [True, True] Translation: X:644.80, Y:11.11, Z:5.93 [[ 9.97789448e-01 -6.09712418e-02 -2.64334139e-02 6.44802133e+02] [ 6.09791610e-02 9.98138911e-01 -5.07139764e-04 1.11136552e+01] [ 2.64151399e-02 -1.10586869e-03 9.99650448e-01 5.93146923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.689254154 meters Centerline goodness [0,1] 0.9987079008684601 Centerline is valid? [True, True] Translation: X:644.83, Y:11.11, Z:5.93 [[ 9.97631716e-01 -6.38257207e-02 -2.56366332e-02 6.44833446e+02] [ 6.38341293e-02 9.97960401e-01 -4.91087977e-04 1.11149515e+01] [ 2.56156888e-02 -1.14656722e-03 9.99671207e-01 5.93276451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7192541539999 meters Centerline goodness [0,1] 0.9988346963854401 Centerline is valid? [True, True] Translation: X:644.87, Y:11.12, Z:5.93 [[ 9.97595490e-01 -6.48072341e-02 -2.45613588e-02 6.44865114e+02] [ 6.48152776e-02 9.97897169e-01 -4.69307937e-04 1.11167506e+01] [ 2.45401250e-02 -1.12377181e-03 9.99698214e-01 5.93378782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7492541539999 meters Centerline goodness [0,1] 0.9987484089944845 Centerline is valid? [True, True] Translation: X:644.90, Y:11.12, Z:5.93 [[ 9.97607238e-01 -6.50131631e-02 -2.35178048e-02 6.44896043e+02] [ 6.50206451e-02 9.97883819e-01 -4.47204698e-04 1.11164568e+01] [ 2.34971111e-02 -1.08300820e-03 9.99723318e-01 5.93451095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7792541539999 meters Centerline goodness [0,1] 0.998876595023104 Centerline is valid? [True, True] Translation: X:644.93, Y:11.12, Z:5.94 [[ 9.97678098e-01 -6.45651846e-02 -2.16737204e-02 6.44927986e+02] [ 6.45714748e-02 9.97913000e-01 -4.10214963e-04 1.11198546e+01] [ 2.16549730e-02 -9.90241607e-04 9.99765013e-01 5.93643676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8092541539999 meters Centerline goodness [0,1] 0.9989377522838326 Centerline is valid? [True, True] Translation: X:644.96, Y:11.12, Z:5.94 [[ 9.97727197e-01 -6.40555442e-02 -2.09123727e-02 6.44959934e+02] [ 6.40613201e-02 9.97945886e-01 -3.94287331e-04 1.11217394e+01] [ 2.08946726e-02 -9.46283006e-04 9.99781235e-01 5.93776014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.839254154 meters Centerline goodness [0,1] 0.9989161849710982 Centerline is valid? [True, True] Translation: X:644.99, Y:11.12, Z:5.94 [[ 9.97778443e-01 -6.34453063e-02 -2.03192675e-02 6.44991534e+02] [ 6.34506585e-02 9.97984904e-01 -3.81835607e-04 1.11219262e+01] [ 2.03025479e-02 -9.08283565e-04 9.99793469e-01 5.93827496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8692541539999 meters Centerline goodness [0,1] 0.9989812594180444 Centerline is valid? [True, True] Translation: X:645.02, Y:11.12, Z:5.94 [[ 9.97840214e-01 -6.28456076e-02 -1.91137676e-02 6.45023483e+02] [ 6.28502563e-02 9.98022904e-01 -3.57994318e-04 1.11248213e+01] [ 1.90984762e-02 -8.44084063e-04 9.99817251e-01 5.93878913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8992541539999 meters Centerline goodness [0,1] 0.9989844493811488 Centerline is valid? [True, True] Translation: X:645.06, Y:11.13, Z:5.94 [[ 9.97855036e-01 -6.27081949e-02 -1.87885373e-02 6.45055672e+02] [ 6.27126875e-02 9.98031561e-01 -3.50559427e-04 1.11250294e+01] [ 1.87735361e-02 -8.28472178e-04 9.99823418e-01 5.93872747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9292541539999 meters Centerline goodness [0,1] 0.9988105099938401 Centerline is valid? [True, True] Translation: X:645.09, Y:11.13, Z:5.94 [[ 9.97841277e-01 -6.28011476e-02 -1.92042007e-02 6.45087546e+02] [ 6.28058852e-02 9.98025698e-01 -3.56924305e-04 1.11254817e+01] [ 1.91887011e-02 -8.49983021e-04 9.99815519e-01 5.93815055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.959254154 meters Centerline goodness [0,1] 0.9987882910652409 Centerline is valid? [True, True] Translation: X:645.12, Y:11.13, Z:5.94 [[ 9.97813414e-01 -6.30259815e-02 -1.99026818e-02 6.45119972e+02] [ 6.30311435e-02 9.98011493e-01 -3.68461463e-04 1.11265596e+01] [ 1.98863278e-02 -8.86833001e-04 9.99801854e-01 5.93766239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9892541539999 meters Centerline goodness [0,1] 0.9987457216352389 Centerline is valid? [True, True] Translation: X:645.15, Y:11.13, Z:5.94 [[ 9.97814488e-01 -6.29112059e-02 -2.02096118e-02 6.45152349e+02] [ 6.29165342e-02 9.98018723e-01 -3.72692891e-04 1.11272627e+01] [ 2.01930175e-02 -8.99640365e-04 9.99795695e-01 5.93703880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0192541539999 meters Centerline goodness [0,1] 0.9989589087664131 Centerline is valid? [True, True] Translation: X:645.19, Y:11.13, Z:5.94 [[ 9.97877466e-01 -6.15730265e-02 -2.11972883e-02 6.45185042e+02] [ 6.15786249e-02 9.98102160e-01 -3.89131347e-04 1.11303985e+01] [ 2.11810192e-02 -9.16994463e-04 9.99775237e-01 5.93621916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0492541539999 meters Centerline goodness [0,1] 0.9990222127750027 Centerline is valid? [True, True] Translation: X:645.22, Y:11.13, Z:5.94 [[ 9.97930628e-01 -6.04774838e-02 -2.18388410e-02 6.45215821e+02] [ 6.04831985e-02 9.98169136e-01 -3.99354483e-04 1.11300854e+01] [ 2.18230090e-02 -9.22354884e-04 9.99761424e-01 5.93563282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.079254154 meters Centerline goodness [0,1] 0.9988920847981251 Centerline is valid? [True, True] Translation: X:645.25, Y:11.14, Z:5.94 [[ 9.98085722e-01 -5.73724011e-02 -2.30932608e-02 6.45247135e+02] [ 5.73779855e-02 9.98352437e-01 -4.21266357e-04 1.11353861e+01] [ 2.30793823e-02 -9.04584848e-04 9.99733226e-01 5.93589488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1092541539999 meters Centerline goodness [0,1] 0.9989126495106923 Centerline is valid? [True, True] Translation: X:645.28, Y:11.14, Z:5.94 [[ 9.98202242e-01 -5.49976256e-02 -2.38231929e-02 6.45278658e+02] [ 5.50029142e-02 9.98486100e-01 -4.33709472e-04 1.11403286e+01] [ 2.38109800e-02 -8.77415268e-04 9.99716093e-01 5.93627109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1392541539999 meters Centerline goodness [0,1] 0.998869502154345 Centerline is valid? [True, True] Translation: X:645.31, Y:11.14, Z:5.94 [[ 9.98325163e-01 -5.24858701e-02 -2.43331471e-02 6.45308635e+02] [ 5.24906805e-02 9.98621316e-01 -4.41435990e-04 1.11415310e+01] [ 2.43227686e-02 -8.36566794e-04 9.99703808e-01 5.93544954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1692541539999 meters Centerline goodness [0,1] 0.9987398009312658 Centerline is valid? [True, True] Translation: X:645.34, Y:11.15, Z:5.94 [[ 9.98625634e-01 -4.60925435e-02 -2.49463427e-02 6.45339070e+02] [ 4.60956258e-02 9.98936930e-01 -4.51785213e-04 1.11495230e+01] [ 2.49406470e-02 -6.98752985e-04 9.99688689e-01 5.93601633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.199254154 meters Centerline goodness [0,1] 0.9988037255404597 Centerline is valid? [True, True] Translation: X:645.37, Y:11.15, Z:5.94 [[ 9.98790183e-01 -4.24723068e-02 -2.47845387e-02 6.45368351e+02] [ 4.24742286e-02 9.99097462e-01 -4.49125905e-04 1.11519037e+01] [ 2.47812451e-02 -6.04121618e-04 9.99692715e-01 5.93534578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2292541539999 meters Centerline goodness [0,1] 0.9990597486964697 Centerline is valid? [True, True] Translation: X:645.40, Y:11.16, Z:5.94 [[ 9.98974625e-01 -3.81845440e-02 -2.43236272e-02 6.45397943e+02] [ 3.81851072e-02 9.99270585e-01 -4.41480924e-04 1.11589116e+01] [ 2.43227429e-02 -4.87772071e-04 9.99704039e-01 5.93818154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2592541539999 meters Centerline goodness [0,1] 0.9990597486964697 Centerline is valid? [True, True] Translation: X:645.43, Y:11.16, Z:5.94 [[ 9.98973234e-01 -3.82209393e-02 -2.43236111e-02 6.45427099e+02] [ 3.82214917e-02 9.99269194e-01 -4.42367311e-04 1.11594711e+01] [ 2.43227429e-02 -4.87771595e-04 9.99704039e-01 5.93845482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2892541539999 meters Centerline goodness [0,1] 0.9991004112405757 Centerline is valid? [True, True] Translation: X:645.46, Y:11.17, Z:5.94 [[ 9.99320090e-01 -2.91832953e-02 -2.25320275e-02 6.45456141e+02] [ 2.91814542e-02 9.99574046e-01 -4.10576058e-04 1.11682511e+01] [ 2.25344119e-02 -2.47220425e-04 9.99746037e-01 5.94048834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.319254154 meters Centerline goodness [0,1] 0.99916391544827 Centerline is valid? [True, True] Translation: X:645.48, Y:11.17, Z:5.94 [[ 9.99457129e-01 -2.47204109e-02 -2.17795426e-02 6.45483934e+02] [ 2.47175999e-02 9.99694394e-01 -3.98298769e-04 1.11727878e+01] [ 2.17827328e-02 -1.40255476e-04 9.99762718e-01 5.94184775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3492541539999 meters Centerline goodness [0,1] 0.9993141436440406 Centerline is valid? [True, True] Translation: X:645.51, Y:11.18, Z:5.94 [[ 9.99640525e-01 -1.71643099e-02 -2.05963145e-02 6.45512942e+02] [ 1.71601186e-02 9.99852682e-01 -3.80230982e-04 1.11800480e+01] [ 2.05998067e-02 2.66590981e-05 9.99787801e-01 5.94291301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3792541539999 meters Centerline goodness [0,1] 0.9991861560866958 Centerline is valid? [True, True] Translation: X:645.54, Y:11.18, Z:5.94 [[ 9.99680294e-01 -1.49078519e-02 -2.04221778e-02 6.45540531e+02] [ 1.49031492e-02 9.99888869e-01 -3.82458104e-04 1.11829989e+01] [ 2.04256099e-02 7.79810668e-05 9.99791372e-01 5.94336990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4092541539999 meters Centerline goodness [0,1] 0.9991207000085786 Centerline is valid? [True, True] Translation: X:645.57, Y:11.19, Z:5.94 [[ 9.99705609e-01 -1.35679498e-02 -2.01148179e-02 6.45568729e+02] [ 1.35630446e-02 9.99907945e-01 -3.80268322e-04 1.11852170e+01] [ 2.01181257e-02 1.07338202e-04 9.99797604e-01 5.94330105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.439254154 meters Centerline goodness [0,1] 0.999377321624117 Centerline is valid? [True, True] Translation: X:645.60, Y:11.19, Z:5.94 [[ 9.99686560e-01 -1.45992453e-02 -2.03382386e-02 6.45596252e+02] [ 1.45943623e-02 9.99893421e-01 -3.88507795e-04 1.11851370e+01] [ 2.03417429e-02 9.15623990e-05 9.99793081e-01 5.94395439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4692541539999 meters Centerline goodness [0,1] 0.9991838487972509 Centerline is valid? [True, True] Translation: X:645.62, Y:11.18, Z:5.94 [[ 9.99651275e-01 -1.67892543e-02 -2.03825889e-02 6.45623850e+02] [ 1.67846836e-02 9.99859049e-01 -3.95311223e-04 1.11839979e+01] [ 2.03863530e-02 5.30580619e-05 9.99792175e-01 5.94404877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4992541539999 meters Centerline goodness [0,1] 0.999312980377002 Centerline is valid? [True, True] Translation: X:645.65, Y:11.18, Z:5.94 [[ 9.99599313e-01 -1.98060447e-02 -2.02221142e-02 6.45652008e+02] [ 1.98020878e-02 9.99803841e-01 -3.95909964e-04 1.11820643e+01] [ 2.02259889e-02 -4.68875425e-06 9.99795434e-01 5.94391092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5292541539999 meters Centerline goodness [0,1] 0.9989059550368972 Centerline is valid? [True, True] Translation: X:645.68, Y:11.18, Z:5.94 [[ 9.99414921e-01 -2.78734681e-02 -1.98213156e-02 6.45681224e+02] [ 2.78712214e-02 9.99611446e-01 -3.89643896e-04 1.11763301e+01] [ 1.98244747e-02 -1.63028351e-04 9.99803462e-01 5.94376966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5592541539999 meters Centerline goodness [0,1] 0.9990354318050286 Centerline is valid? [True, True] Translation: X:645.71, Y:11.17, Z:5.94 [[ 9.99271857e-01 -3.23407728e-02 -2.02442466e-02 6.45710970e+02] [ 3.23393237e-02 9.99476868e-01 -3.99038471e-04 1.11739239e+01] [ 2.02465614e-02 -2.55937330e-04 9.99794985e-01 5.94424621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.589254154 meters Centerline goodness [0,1] 0.9988459565737733 Centerline is valid? [True, True] Translation: X:645.74, Y:11.17, Z:5.94 [[ 9.98928833e-01 -4.12218048e-02 -2.10225887e-02 6.45740867e+02] [ 4.12221956e-02 9.99149918e-01 -4.14945352e-04 1.11656106e+01] [ 2.10218225e-02 -4.52096384e-04 9.99778915e-01 5.94213453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6192541539999 meters Centerline goodness [0,1] 0.9988264914227192 Centerline is valid? [True, True] Translation: X:645.77, Y:11.17, Z:5.94 [[ 9.98743278e-01 -4.52104142e-02 -2.16306207e-02 6.45771718e+02] [ 4.52117636e-02 9.98977334e-01 -4.26901008e-04 1.11656200e+01] [ 2.16278002e-02 -5.51593997e-04 9.99765940e-01 5.94321469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6492541539999 meters Centerline goodness [0,1] 0.9987428887989261 Centerline is valid? [True, True] Translation: X:645.80, Y:11.16, Z:5.94 [[ 9.98577708e-01 -4.87192083e-02 -2.16563978e-02 6.45802756e+02] [ 4.87213936e-02 9.98812316e-01 -4.27022261e-04 1.11630144e+01] [ 2.16514810e-02 -6.28714969e-04 9.99765382e-01 5.94285851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6792541539999 meters Centerline goodness [0,1] 0.9988696709249504 Centerline is valid? [True, True] Translation: X:645.83, Y:11.16, Z:5.94 [[ 9.98418126e-01 -5.17206406e-02 -2.20504270e-02 6.45833387e+02] [ 5.17236460e-02 9.98661342e-01 -4.34396590e-04 1.11603890e+01] [ 2.20433763e-02 -7.06819053e-04 9.99756765e-01 5.94224243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.709254154 meters Centerline goodness [0,1] 0.9989779840735852 Centerline is valid? [True, True] Translation: X:645.87, Y:11.16, Z:5.94 [[ 9.98150512e-01 -5.64569484e-02 -2.25425932e-02 6.45865019e+02] [ 5.64613099e-02 9.98404689e-01 -4.43457415e-04 1.11567920e+01] [ 2.25316670e-02 -8.30147091e-04 9.99745785e-01 5.94139961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7392541539999 meters Centerline goodness [0,1] 0.9988476312419975 Centerline is valid? [True, True] Translation: X:645.90, Y:11.16, Z:5.94 [[ 9.98062200e-01 -5.79858971e-02 -2.25716973e-02 6.45897170e+02] [ 5.79906887e-02 9.98317026e-01 -4.42767059e-04 1.11560727e+01] [ 2.25593840e-02 -8.67039211e-04 9.99745129e-01 5.94166295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7692541539999 meters Centerline goodness [0,1] 0.9988927925050569 Centerline is valid? [True, True] Translation: X:645.93, Y:11.15, Z:5.94 [[ 9.97954837e-01 -6.01294989e-02 -2.16930108e-02 6.45929086e+02] [ 6.01344625e-02 9.98190196e-01 -4.24032663e-04 1.11548997e+01] [ 2.16792476e-02 -8.81332097e-04 9.99764589e-01 5.94225308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7992541539999 meters Centerline goodness [0,1] 0.998613717795598 Centerline is valid? [True, True] Translation: X:645.96, Y:11.15, Z:5.94 [[ 9.97902271e-01 -6.11771768e-02 -2.11757263e-02 6.45961695e+02] [ 6.11821728e-02 9.98126531e-01 -4.12456883e-04 1.11549254e+01] [ 2.11612872e-02 -8.83985288e-04 9.99775684e-01 5.94278010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.829254154 meters Centerline goodness [0,1] 0.9988706343625476 Centerline is valid? [True, True] Translation: X:645.99, Y:11.15, Z:5.94 [[ 9.97791149e-01 -6.33952223e-02 -1.98461337e-02 6.45992340e+02] [ 6.34000675e-02 9.97988118e-01 -3.85582215e-04 1.11533892e+01] [ 1.98306497e-02 -8.73515695e-04 9.99802972e-01 5.94387279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8592541539999 meters Centerline goodness [0,1] 0.9987627194573031 Centerline is valid? [True, True] Translation: X:646.02, Y:11.15, Z:5.94 [[ 9.97739804e-01 -6.44416825e-02 -1.90408472e-02 6.46024673e+02] [ 6.44463510e-02 9.97921105e-01 -3.68962301e-04 1.11531797e+01] [ 1.90250398e-02 -8.58984747e-04 9.99818639e-01 5.94442893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8892541539999 meters Centerline goodness [0,1] 0.99895598073891 Centerline is valid? [True, True] Translation: X:646.06, Y:11.15, Z:5.94 [[ 9.97676881e-01 -6.56230918e-02 -1.82879846e-02 6.46056922e+02] [ 6.56276187e-02 9.97844122e-01 -3.53151883e-04 1.11518577e+01] [ 1.82717328e-02 -8.47865410e-04 9.99832698e-01 5.94468083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9192541539999 meters Centerline goodness [0,1] 0.998658375569658 Centerline is valid? [True, True] Translation: X:646.09, Y:11.16, Z:5.95 [[ 9.97621268e-01 -6.66512617e-02 -1.75901867e-02 6.46089090e+02] [ 6.66556303e-02 9.97775983e-01 -3.38467109e-04 1.11571624e+01] [ 1.75736251e-02 -8.34822997e-04 9.99845223e-01 5.94600324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.949254154 meters Centerline goodness [0,1] 0.9987645379798066 Centerline is valid? [True, True] Translation: X:646.12, Y:11.16, Z:5.95 [[ 9.97469668e-01 -6.89264223e-02 -1.74186693e-02 6.46119848e+02] [ 6.89310689e-02 9.97621369e-01 -3.34201522e-04 1.11552344e+01] [ 1.74002720e-02 -8.67331611e-04 9.99848228e-01 5.94562025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9792541539999 meters Centerline goodness [0,1] 0.9988268668813856 Centerline is valid? [True, True] Translation: X:646.15, Y:11.16, Z:5.95 [[ 9.97385141e-01 -7.00405108e-02 -1.78103124e-02 6.46151653e+02] [ 7.00455602e-02 9.97543735e-01 -3.40917344e-04 1.11555121e+01] [ 1.77904436e-02 -9.07507415e-04 9.99841326e-01 5.94560383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0092541539999 meters Centerline goodness [0,1] 0.998954889623547 Centerline is valid? [True, True] Translation: X:646.18, Y:11.15, Z:5.94 [[ 9.97255809e-01 -7.17955378e-02 -1.80624772e-02 6.46183051e+02] [ 7.18010358e-02 9.97418915e-01 -3.44774835e-04 1.11475547e+01] [ 1.80406097e-02 -9.53075862e-04 9.99836801e-01 5.94377698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0392541539999 meters Centerline goodness [0,1] 0.998890051014963 Centerline is valid? [True, True] Translation: X:646.22, Y:11.16, Z:5.94 [[ 9.97201372e-01 -7.24142309e-02 -1.85903823e-02 6.46215074e+02] [ 7.24201842e-02 9.97374148e-01 -3.53669201e-04 1.11571825e+01] [ 1.85671774e-02 -9.93639499e-04 9.99827121e-01 5.94492067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.069254154 meters Centerline goodness [0,1] 0.9987832212616075 Centerline is valid? [True, True] Translation: X:646.25, Y:11.16, Z:5.94 [[ 9.97135823e-01 -7.31924467e-02 -1.90530063e-02 6.46247262e+02] [ 7.31988683e-02 9.97317299e-01 -3.61071365e-04 1.11568907e+01] [ 1.90283205e-02 -1.03462131e-03 9.99818410e-01 5.94403669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0992541539999 meters Centerline goodness [0,1] 0.998824660754354 Centerline is valid? [True, True] Translation: X:646.28, Y:11.16, Z:5.94 [[ 9.97034684e-01 -7.40195277e-02 -2.10463462e-02 6.46277996e+02] [ 7.40275941e-02 9.97256115e-01 -3.96633752e-04 1.11567090e+01] [ 2.10179561e-02 -1.16255276e-03 9.99778422e-01 5.94266192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1292541539999 meters Centerline goodness [0,1] 0.999165935969546 Centerline is valid? [True, True] Translation: X:646.31, Y:11.16, Z:5.94 [[ 9.97008780e-01 -7.41270747e-02 -2.18785185e-02 6.46310175e+02] [ 7.41358640e-02 9.97248066e-01 -4.10200584e-04 1.11578789e+01] [ 2.18487172e-02 -1.21300929e-03 9.99760552e-01 5.94225954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1592541539999 meters Centerline goodness [0,1] 0.9990157901493432 Centerline is valid? [True, True] Translation: X:646.34, Y:11.16, Z:5.94 [[ 9.97002465e-01 -7.40137690e-02 -2.25398916e-02 6.46342386e+02] [ 7.40231058e-02 9.97256438e-01 -4.20973176e-04 1.11592100e+01] [ 2.25092098e-02 -1.24876149e-03 9.99745856e-01 5.94187330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.189254154 meters Centerline goodness [0,1] 0.9989932742149681 Centerline is valid? [True, True] Translation: X:646.37, Y:11.16, Z:5.94 [[ 9.96985078e-01 -7.38323662e-02 -2.38649398e-02 6.46374364e+02] [ 7.38428235e-02 9.97269793e-01 -4.43973015e-04 1.11633910e+01] [ 2.38325632e-02 -1.31962007e-03 9.99715093e-01 5.94204949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2192541539999 meters Centerline goodness [0,1] 0.9990985963858008 Centerline is valid? [True, True] Translation: X:646.41, Y:11.16, Z:5.94 [[ 9.97010648e-01 -7.34843759e-02 -2.38707665e-02 6.46405208e+02] [ 7.34947735e-02 9.97295504e-01 -4.42630139e-04 1.11644201e+01] [ 2.38387345e-02 -1.31306962e-03 9.99714955e-01 5.94218582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2492541539999 meters Centerline goodness [0,1] 0.9991201905538508 Centerline is valid? [True, True] Translation: X:646.44, Y:11.17, Z:5.94 [[ 9.97138487e-01 -7.19341765e-02 -2.32445920e-02 6.46436572e+02] [ 7.19436384e-02 9.97408606e-01 -4.30033939e-04 1.11688182e+01] [ 2.32152903e-02 -1.24349713e-03 9.99729715e-01 5.94352351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2792541539999 meters Centerline goodness [0,1] 0.998884239888424 Centerline is valid? [True, True] Translation: X:646.47, Y:11.17, Z:5.94 [[ 9.97222821e-01 -7.10751780e-02 -2.22477792e-02 6.46468553e+02] [ 7.10836599e-02 9.97470273e-01 -4.10345487e-04 1.11723000e+01] [ 2.22206638e-02 -1.17224769e-03 9.99752403e-01 5.94493488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3092541539999 meters Centerline goodness [0,1] 0.999118412282022 Centerline is valid? [True, True] Translation: X:646.50, Y:11.18, Z:5.95 [[ 9.97430746e-01 -6.88753572e-02 -1.97000347e-02 6.46500231e+02] [ 6.88816018e-02 9.97624776e-01 -3.62197163e-04 1.11769751e+01] [ 1.96781892e-02 -9.95703362e-04 9.99805870e-01 5.94789964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.339254154 meters Centerline goodness [0,1] 0.9990738148060396 Centerline is valid? [True, True] Translation: X:646.53, Y:11.18, Z:5.95 [[ 9.97507566e-01 -6.79863556e-02 -1.88815306e-02 6.46531588e+02] [ 6.79919519e-02 9.97685810e-01 -3.46149524e-04 1.11753900e+01] [ 1.88613686e-02 -9.38505352e-04 9.99821668e-01 5.94855871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3692541539999 meters Centerline goodness [0,1] 0.9992251565829405 Centerline is valid? [True, True] Translation: X:646.56, Y:11.18, Z:5.95 [[ 9.97564685e-01 -6.73227555e-02 -1.82303439e-02 6.46563226e+02] [ 6.73278825e-02 9.97730848e-01 -3.33071047e-04 1.11823900e+01] [ 1.82113997e-02 -8.95150538e-04 9.99833758e-01 5.95049392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3992541539999 meters Centerline goodness [0,1] 0.9992256232657187 Centerline is valid? [True, True] Translation: X:646.59, Y:11.18, Z:5.95 [[ 9.97620558e-01 -6.67619612e-02 -1.72064750e-02 6.46594042e+02] [ 6.67664638e-02 9.97768581e-01 -3.13280881e-04 1.11807051e+01] [ 1.71889954e-02 -8.36280044e-04 9.99851909e-01 5.95055568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4292541539999 meters Centerline goodness [0,1] 0.9990746519184833 Centerline is valid? [True, True] Translation: X:646.63, Y:11.18, Z:5.95 [[ 9.97668852e-01 -6.59350219e-02 -1.75907578e-02 6.46626785e+02] [ 6.59396217e-02 9.97823564e-01 -3.19020920e-04 1.11816012e+01] [ 1.75735073e-02 -8.41650679e-04 9.99845220e-01 5.95017976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.459254154 meters Centerline goodness [0,1] 0.9992250731875323 Centerline is valid? [True, True] Translation: X:646.66, Y:11.18, Z:5.95 [[ 9.97622152e-01 -6.60935480e-02 -1.95367679e-02 6.46659335e+02] [ 6.60992848e-02 9.97812989e-01 -3.52661015e-04 1.11835039e+01] [ 1.95173494e-02 -9.39543946e-04 9.99809077e-01 5.94941637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4892541539999 meters Centerline goodness [0,1] 0.9991168551427033 Centerline is valid? [True, True] Translation: X:646.69, Y:11.18, Z:5.95 [[ 9.97552768e-01 -6.68080646e-02 -2.06193731e-02 6.46691272e+02] [ 6.68146386e-02 9.97765336e-01 -3.70689094e-04 1.11833351e+01] [ 2.05980608e-02 -1.00789403e-03 9.99787329e-01 5.94864902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5192541539999 meters Centerline goodness [0,1] 0.9991600258453586 Centerline is valid? [True, True] Translation: X:646.72, Y:11.18, Z:5.95 [[ 9.97481287e-01 -6.76727209e-02 -2.12481720e-02 6.46722121e+02] [ 6.76799260e-02 9.97707012e-01 -3.80669458e-04 1.11825833e+01] [ 2.12252111e-02 -1.05836404e-03 9.99774160e-01 5.94815610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5492541539999 meters Centerline goodness [0,1] 0.9990951006161934 Centerline is valid? [True, True] Translation: X:646.75, Y:11.18, Z:5.95 [[ 9.97371451e-01 -6.89565770e-02 -2.22526031e-02 6.46753867e+02] [ 6.89648252e-02 9.97619013e-01 -3.97457319e-04 1.11820806e+01] [ 2.22270272e-02 -1.13823430e-03 9.99752301e-01 5.94817612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.579254154 meters Centerline goodness [0,1] 0.999032049903205 Centerline is valid? [True, True] Translation: X:646.78, Y:11.18, Z:5.95 [[ 9.97175714e-01 -7.13731330e-02 -2.33767156e-02 6.46784405e+02] [ 7.13829253e-02 9.97448898e-01 -4.16370267e-04 1.11798619e+01] [ 2.33467969e-02 -1.25350403e-03 9.99726641e-01 5.94764264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6092541539999 meters Centerline goodness [0,1] 0.999119529270283 Centerline is valid? [True, True] Translation: X:646.82, Y:11.18, Z:5.95 [[ 9.97113495e-01 -7.21001771e-02 -2.37958531e-02 6.46816135e+02] [ 7.21105587e-02 9.97396555e-01 -4.22641805e-04 1.11798319e+01] [ 2.37643744e-02 -1.29451041e-03 9.99716749e-01 5.94769064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6392541539999 meters Centerline goodness [0,1] 0.9992711526506464 Centerline is valid? [True, True] Translation: X:646.85, Y:11.18, Z:5.95 [[ 9.97118526e-01 -7.21126085e-02 -2.35460411e-02 6.46848378e+02] [ 7.21228170e-02 9.97395672e-01 -4.16483999e-04 1.11796457e+01] [ 2.35147532e-02 -1.28292290e-03 9.99722667e-01 5.94829048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6692541539999 meters Centerline goodness [0,1] 0.9991615247350203 Centerline is valid? [True, True] Translation: X:646.88, Y:11.18, Z:5.95 [[ 9.97184576e-01 -7.11993329e-02 -2.35281997e-02 6.46879225e+02] [ 7.12093088e-02 9.97461309e-01 -4.14624087e-04 1.11804874e+01] [ 2.34979898e-02 -1.26197009e-03 9.99723088e-01 5.94875947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.699254154 meters Centerline goodness [0,1] 0.999311116851804 Centerline is valid? [True, True] Translation: X:646.91, Y:11.18, Z:5.95 [[ 9.97284196e-01 -6.98637243e-02 -2.33086319e-02 6.46911732e+02] [ 6.98731899e-02 9.97555798e-01 -4.09086765e-04 1.11836771e+01] [ 2.32802413e-02 -1.22067270e-03 9.99728233e-01 5.94990712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7292541539999 meters Centerline goodness [0,1] 0.9992014331038352 Centerline is valid? [True, True] Translation: X:646.94, Y:11.19, Z:5.95 [[ 9.97588117e-01 -6.56627353e-02 -2.25022955e-02 6.46942702e+02] [ 6.56705152e-02 9.97841284e-01 -3.93848204e-04 1.11904528e+01] [ 2.24795806e-02 -1.08483905e-03 9.99746714e-01 5.95227715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7592541539999 meters Centerline goodness [0,1] 0.9991574126085642 Centerline is valid? [True, True] Translation: X:646.97, Y:11.19, Z:5.95 [[ 9.97745615e-01 -6.32773511e-02 -2.23531654e-02 6.46973826e+02] [ 6.32844457e-02 9.97995454e-01 -3.90574088e-04 1.11939564e+01] [ 2.23330719e-02 -1.02491410e-03 9.99750060e-01 5.95320136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7892541539999 meters Centerline goodness [0,1] 0.9991791415548787 Centerline is valid? [True, True] Translation: X:647.00, Y:11.20, Z:5.95 [[ 9.97894733e-01 -6.09118434e-02 -2.22676813e-02 6.47004834e+02] [ 6.09183128e-02 9.98142679e-01 -3.88323879e-04 1.11973789e+01] [ 2.22499766e-02 -9.69003223e-04 9.99751969e-01 5.95361689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.819254154 meters Centerline goodness [0,1] 0.9991556431184914 Centerline is valid? [True, True] Translation: X:647.04, Y:11.20, Z:5.96 [[ 9.98005865e-01 -5.89661056e-02 -2.25231269e-02 6.47036690e+02] [ 5.89722584e-02 9.98259545e-01 -3.91509819e-04 1.12043955e+01] [ 2.25070122e-02 -9.37510561e-04 9.99746246e-01 5.95519437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8492541539999 meters Centerline goodness [0,1] 0.9990471859503237 Centerline is valid? [True, True] Translation: X:647.07, Y:11.20, Z:5.95 [[ 9.98148604e-01 -5.63164226e-02 -2.29744525e-02 6.47067366e+02] [ 5.63221451e-02 9.98412569e-01 -3.98426582e-04 1.12025573e+01] [ 2.29604201e-02 -8.96281510e-04 9.99735973e-01 5.95366838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8792541539999 meters Centerline goodness [0,1] 0.9991763303348867 Centerline is valid? [True, True] Translation: X:647.10, Y:11.21, Z:5.95 [[ 9.98182798e-01 -5.53305017e-02 -2.38670921e-02 6.47099496e+02] [ 5.53364245e-02 9.98467681e-01 -4.12727502e-04 1.12074170e+01] [ 2.38533565e-02 -9.08742047e-04 9.99715055e-01 5.95475657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9092541539999 meters Centerline goodness [0,1] 0.9994792909678679 Centerline is valid? [True, True] Translation: X:647.13, Y:11.21, Z:5.95 [[ 9.98217283e-01 -5.40568662e-02 -2.53004042e-02 6.47131549e+02] [ 5.40631595e-02 9.98537423e-01 -4.35714340e-04 1.12101433e+01] [ 2.52869537e-02 -9.32882201e-04 9.99679799e-01 5.95395130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.939254154 meters Centerline goodness [0,1] 0.9993930328846112 Centerline is valid? [True, True] Translation: X:647.16, Y:11.21, Z:5.95 [[ 9.98197986e-01 -5.39628688e-02 -2.62448168e-02 6.47164121e+02] [ 5.39696576e-02 9.98542475e-01 -4.50111454e-04 1.12118070e+01] [ 2.62308536e-02 -9.67123430e-04 9.99655444e-01 5.95410628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9692541539999 meters Centerline goodness [0,1] 0.9993478969677209 Centerline is valid? [True, True] Translation: X:647.20, Y:11.21, Z:5.95 [[ 9.98177483e-01 -5.39152079e-02 -2.71083628e-02 6.47196669e+02] [ 5.39224860e-02 9.98545017e-01 -4.62985675e-04 1.12127947e+01] [ 2.70938825e-02 -9.99608437e-04 9.99632394e-01 5.95418325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9992541539999 meters Centerline goodness [0,1] 0.9993484776093472 Centerline is valid? [True, True] Translation: X:647.23, Y:11.21, Z:5.95 [[ 9.98206455e-01 -5.32875767e-02 -2.72819948e-02 6.47228102e+02] [ 5.32947885e-02 9.98578715e-01 -4.63236383e-04 1.12124262e+01] [ 2.72679041e-02 -9.91582595e-04 9.99627670e-01 5.95416136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0292541539999 meters Centerline goodness [0,1] 0.9992383356545961 Centerline is valid? [True, True] Translation: X:647.26, Y:11.22, Z:5.96 [[ 9.98237709e-01 -5.25766863e-02 -2.75166958e-02 6.47259875e+02] [ 5.25838089e-02 9.98616406e-01 -4.65196519e-04 1.12154165e+01] [ 2.75030824e-02 -9.82555966e-04 9.99621236e-01 5.95581926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0592541539999 meters Centerline goodness [0,1] 0.9992183598584363 Centerline is valid? [True, True] Translation: X:647.29, Y:11.22, Z:5.96 [[ 9.98278451e-01 -5.17840317e-02 -2.75417502e-02 6.47291076e+02] [ 5.17908968e-02 9.98657843e-01 -4.64500040e-04 1.12168017e+01] [ 2.75288385e-02 -9.62711562e-04 9.99620546e-01 5.95688473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.089254154 meters Centerline goodness [0,1] 0.9991731041235992 Centerline is valid? [True, True] Translation: X:647.32, Y:11.22, Z:5.96 [[ 9.98440052e-01 -4.90242919e-02 -2.67223097e-02 6.47321388e+02] [ 4.90297836e-02 9.98797216e-01 -4.50060251e-04 1.12174572e+01] [ 2.67122324e-02 -8.60830879e-04 9.99642794e-01 5.95767405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1192541539999 meters Centerline goodness [0,1] 0.9992818749591974 Centerline is valid? [True, True] Translation: X:647.35, Y:11.22, Z:5.96 [[ 9.98516861e-01 -4.74286045e-02 -2.67321060e-02 6.47352866e+02] [ 4.74335501e-02 9.98874295e-01 -4.49434383e-04 1.12221338e+01] [ 2.67233296e-02 -8.19230878e-04 9.99642532e-01 5.96031473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1492541539999 meters Centerline goodness [0,1] 0.9992818749591974 Centerline is valid? [True, True] Translation: X:647.38, Y:11.22, Z:5.96 [[ 9.98518568e-01 -4.73926369e-02 -2.67321222e-02 6.47383728e+02] [ 4.73975954e-02 9.98876002e-01 -4.48471061e-04 1.12226218e+01] [ 2.67233295e-02 -8.19231629e-04 9.99642532e-01 5.96060375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1792541539999 meters Centerline goodness [0,1] 0.9992605319819918 Centerline is valid? [True, True] Translation: X:647.41, Y:11.22, Z:5.96 [[ 9.98590349e-01 -4.60273957e-02 -2.64347184e-02 6.47413779e+02] [ 4.60317834e-02 9.98939877e-01 -4.42843018e-04 1.12198492e+01] [ 2.64270772e-02 -7.74618466e-04 9.99650444e-01 5.95945645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.209254154 meters Centerline goodness [0,1] 0.9993255884784406 Centerline is valid? [True, True] Translation: X:647.45, Y:11.23, Z:5.96 [[ 9.98728156e-01 -4.32039137e-02 -2.59902409e-02 6.47445203e+02] [ 4.32072195e-02 9.99066038e-01 -4.34634793e-04 1.12264175e+01] [ 2.59847449e-02 -6.88884039e-04 9.99662102e-01 5.96359194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2392541539999 meters Centerline goodness [0,1] 0.9993477835511012 Centerline is valid? [True, True] Translation: X:647.48, Y:11.22, Z:5.96 [[ 9.98780088e-01 -4.18961927e-02 -2.61351450e-02 6.47475617e+02] [ 4.18991047e-02 9.99121752e-01 -4.36422882e-04 1.12246516e+01] [ 2.61304763e-02 -6.59148693e-04 9.99658323e-01 5.96189086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2692541539999 meters Centerline goodness [0,1] 0.9994127753974641 Centerline is valid? [True, True] Translation: X:647.51, Y:11.23, Z:5.97 [[ 9.98817659e-01 -4.05781942e-02 -2.67711286e-02 6.47506258e+02] [ 4.05807813e-02 9.99176161e-01 -4.46873305e-04 1.12300719e+01] [ 2.67672068e-02 -6.40048367e-04 9.99641489e-01 5.96515058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2992541539999 meters Centerline goodness [0,1] 0.9993682605380677 Centerline is valid? [True, True] Translation: X:647.54, Y:11.23, Z:5.96 [[ 9.98858585e-01 -3.86172172e-02 -2.81111566e-02 6.47535888e+02] [ 3.86192847e-02 9.99253887e-01 -4.69576215e-04 1.12304588e+01] [ 2.81083162e-02 -6.16592525e-04 9.99604693e-01 5.96419365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.329254154 meters Centerline goodness [0,1] 0.999411546760238 Centerline is valid? [True, True] Translation: X:647.57, Y:11.23, Z:5.96 [[ 9.98846983e-01 -3.82442627e-02 -2.90186250e-02 6.47565639e+02] [ 3.82462836e-02 9.99268225e-01 -4.85600300e-04 1.12309813e+01] [ 2.90159613e-02 -6.24814168e-04 9.99578753e-01 5.96390206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3592541539999 meters Centerline goodness [0,1] 0.9994115724092841 Centerline is valid? [True, True] Translation: X:647.59, Y:11.23, Z:5.96 [[ 9.98778662e-01 -3.80377464e-02 -3.15327491e-02 6.47593898e+02] [ 3.80399582e-02 9.99276078e-01 -5.29973307e-04 1.12307958e+01] [ 3.15300809e-02 -6.70178428e-04 9.99502579e-01 5.96268844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3892541539999 meters Centerline goodness [0,1] 0.9994564744760414 Centerline is valid? [True, True] Translation: X:647.62, Y:11.23, Z:5.96 [[ 9.98731306e-01 -3.84377150e-02 -3.25318445e-02 6.47622537e+02] [ 3.84400698e-02 9.99260754e-01 -5.53274030e-04 1.12308995e+01] [ 3.25290621e-02 -6.97954281e-04 9.99470546e-01 5.96274455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4192541539999 meters Centerline goodness [0,1] 0.9993026347331488 Centerline is valid? [True, True] Translation: X:647.65, Y:11.23, Z:5.96 [[ 9.98678876e-01 -3.90184649e-02 -3.34374495e-02 6.47651642e+02] [ 3.90210024e-02 9.99238224e-01 -5.76922113e-04 1.12312061e+01] [ 3.34344883e-02 -7.28602870e-04 9.99440646e-01 5.96323024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.449254154 meters Centerline goodness [0,1] 0.9994118672126863 Centerline is valid? [True, True] Translation: X:647.68, Y:11.23, Z:5.96 [[ 9.98617296e-01 -4.02958040e-02 -3.37601106e-02 6.47679558e+02] [ 4.02989706e-02 9.99187494e-01 -5.86917388e-04 1.12293783e+01] [ 3.37563306e-02 -7.74391850e-04 9.99429793e-01 5.96346378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4792541539999 meters Centerline goodness [0,1] 0.9992588071154517 Centerline is valid? [True, True] Translation: X:647.71, Y:11.23, Z:5.96 [[ 9.98541778e-01 -4.15107943e-02 -3.45133468e-02 6.47708629e+02] [ 4.15145889e-02 9.99137713e-01 -6.06973444e-04 1.12293476e+01] [ 3.45087823e-02 -8.26719062e-04 9.99404053e-01 5.96473078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5092541539999 meters Centerline goodness [0,1] 0.999346077555202 Centerline is valid? [True, True] Translation: X:647.74, Y:11.23, Z:5.97 [[ 9.98434332e-01 -4.42102763e-02 -3.42685913e-02 6.47737034e+02] [ 4.42153190e-02 9.99021838e-01 -6.11028023e-04 1.12278452e+01] [ 3.42620848e-02 -9.05125339e-04 9.99412473e-01 5.96698478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5392541539999 meters Centerline goodness [0,1] 0.9993263651969838 Centerline is valid? [True, True] Translation: X:647.76, Y:11.23, Z:5.97 [[ 9.98423617e-01 -4.54300265e-02 -3.29604992e-02 6.47764796e+02] [ 4.54350636e-02 9.98967116e-01 -5.96532786e-04 1.12271247e+01] [ 3.29535554e-02 -9.01969958e-04 9.99456477e-01 5.96840017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.569254154 meters Centerline goodness [0,1] 0.9993705094532115 Centerline is valid? [True, True] Translation: X:647.79, Y:11.22, Z:5.97 [[ 9.98401088e-01 -4.66369309e-02 -3.19415676e-02 6.47792470e+02] [ 4.66421337e-02 9.98911494e-01 -5.82604217e-04 1.12246661e+01] [ 3.19339698e-02 -9.08150181e-04 9.99489568e-01 5.96906271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5992541539999 meters Centerline goodness [0,1] 0.999371940919132 Centerline is valid? [True, True] Translation: X:647.82, Y:11.22, Z:5.97 [[ 9.98359536e-01 -4.87538240e-02 -3.00216794e-02 6.47821044e+02] [ 4.87593206e-02 9.98810406e-01 -5.49404231e-04 1.12213106e+01] [ 3.00127513e-02 -9.15333739e-04 9.99549097e-01 5.97133900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6292541539999 meters Centerline goodness [0,1] 0.9992649284386215 Centerline is valid? [True, True] Translation: X:647.85, Y:11.23, Z:5.98 [[ 9.98322370e-01 -4.97411052e-02 -2.96355971e-02 6.47852439e+02] [ 4.97469036e-02 9.98761709e-01 -5.42068941e-04 1.12251606e+01] [ 2.96258627e-02 -9.33119640e-04 9.99560622e-01 5.97549161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6592541539999 meters Centerline goodness [0,1] 0.9992868873714237 Centerline is valid? [True, True] Translation: X:647.88, Y:11.22, Z:5.98 [[ 9.98264639e-01 -5.07303512e-02 -2.99022219e-02 6.47882507e+02] [ 5.07367193e-02 9.98711914e-01 -5.46228004e-04 1.12237532e+01] [ 2.98914156e-02 -9.71860540e-04 9.99552679e-01 5.97575274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.689254154 meters Centerline goodness [0,1] 0.999330655957162 Centerline is valid? [True, True] Translation: X:647.91, Y:11.22, Z:5.98 [[ 9.98133625e-01 -5.27475113e-02 -3.07728272e-02 6.47913200e+02] [ 5.27552187e-02 9.98607316e-01 -5.61956668e-04 1.12206971e+01] [ 3.07596122e-02 -1.06251938e-03 9.99526246e-01 5.97566581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7192541539999 meters Centerline goodness [0,1] 0.9992654366331072 Centerline is valid? [True, True] Translation: X:647.94, Y:11.22, Z:5.98 [[ 9.98062926e-01 -5.38007304e-02 -3.12390327e-02 6.47943371e+02] [ 5.38092007e-02 9.98551073e-01 -5.70081160e-04 1.12189464e+01] [ 3.12244404e-02 -1.11197051e-03 9.99511780e-01 5.97529582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7492541539999 meters Centerline goodness [0,1] 0.9992443053006586 Centerline is valid? [True, True] Translation: X:647.97, Y:11.22, Z:5.97 [[ 9.97996060e-01 -5.46962876e-02 -3.18147874e-02 6.47972949e+02] [ 5.47055206e-02 9.98502363e-01 -5.80814635e-04 1.12160062e+01] [ 3.17989088e-02 -1.16079379e-03 9.99493613e-01 5.97420644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7792541539999 meters Centerline goodness [0,1] 0.9992671308171491 Centerline is valid? [True, True] Translation: X:648.00, Y:11.21, Z:5.97 [[ 9.97873881e-01 -5.58308717e-02 -3.36248701e-02 6.48003269e+02] [ 5.58418237e-02 9.98439439e-01 -6.14034338e-04 1.12137346e+01] [ 3.36066785e-02 -1.26494524e-03 9.99434336e-01 5.97368607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8092541539999 meters Centerline goodness [0,1] 0.9991169122081502 Centerline is valid? [True, True] Translation: X:648.03, Y:11.21, Z:5.97 [[ 9.97830915e-01 -5.61521197e-02 -3.43570276e-02 6.48033756e+02] [ 5.61637447e-02 9.98421374e-01 -6.27404496e-04 1.12146304e+01] [ 3.43380208e-02 -1.30357572e-03 9.99409426e-01 5.97492183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.839254154 meters Centerline goodness [0,1] 0.999204129920413 Centerline is valid? [True, True] Translation: X:648.06, Y:11.21, Z:5.98 [[ 9.97855452e-01 -5.50173125e-02 -3.54625529e-02 6.48063130e+02] [ 5.50289504e-02 9.98484549e-01 -6.48523939e-04 1.12130913e+01] [ 3.54444911e-02 -1.30433391e-03 9.99370795e-01 5.97512332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8692541539999 meters Centerline goodness [0,1] 0.9992905971881852 Centerline is valid? [True, True] Translation: X:648.09, Y:11.21, Z:5.98 [[ 9.97913934e-01 -5.37437279e-02 -3.57685864e-02 6.48092223e+02] [ 5.37547054e-02 9.98553956e-01 -6.55393472e-04 1.12126622e+01] [ 3.57520867e-02 -1.26870355e-03 9.99359884e-01 5.97529756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8992541539999 meters Centerline goodness [0,1] 0.9990976474379633 Centerline is valid? [True, True] Translation: X:648.12, Y:11.22, Z:5.98 [[ 9.97996734e-01 -5.19496272e-02 -3.61075439e-02 6.48121989e+02] [ 5.19595943e-02 9.98648968e-01 -6.62913186e-04 1.12158499e+01] [ 3.60931995e-02 -1.21454813e-03 9.99347690e-01 5.97754576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9292541539999 meters Centerline goodness [0,1] 0.9993332473007269 Centerline is valid? [True, True] Translation: X:648.15, Y:11.22, Z:5.98 [[ 9.98312500e-01 -4.58262379e-02 -3.56666285e-02 6.48151001e+02] [ 4.58320124e-02 9.98948946e-01 -6.56106253e-04 1.12187922e+01] [ 3.56592078e-02 -9.79674287e-04 9.99363528e-01 5.97917443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.959254154 meters Centerline goodness [0,1] 0.9991168170949745 Centerline is valid? [True, True] Translation: X:648.18, Y:11.22, Z:5.98 [[ 9.98502776e-01 -4.18913768e-02 -3.51755463e-02 6.48179779e+02] [ 4.18944751e-02 9.99121830e-01 -6.49296432e-04 1.12217675e+01] [ 3.51718561e-02 -8.25336756e-04 9.99380938e-01 5.98100461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9892541539999 meters Centerline goodness [0,1] 0.9992248062015504 Centerline is valid? [True, True] Translation: X:648.21, Y:11.22, Z:5.98 [[ 9.98679040e-01 -3.78022374e-02 -3.48018013e-02 6.48207456e+02] [ 3.78026543e-02 9.99285015e-01 -6.46254721e-04 1.12235880e+01] [ 3.48013485e-02 -6.70199420e-04 9.99394025e-01 5.98131615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0192541539999 meters Centerline goodness [0,1] 0.9990303813833226 Centerline is valid? [True, True] Translation: X:648.24, Y:11.23, Z:5.98 [[ 9.98944781e-01 -2.94628422e-02 -3.52315947e-02 6.48235915e+02] [ 2.94579772e-02 9.99565804e-01 -6.57280200e-04 1.12275932e+01] [ 3.52356626e-02 -3.81264887e-04 9.99378959e-01 5.98199268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0492541539999 meters Centerline goodness [0,1] 0.998965048836758 Centerline is valid? [True, True] Translation: X:648.26, Y:11.23, Z:5.98 [[ 9.99019342e-01 -2.62595064e-02 -3.56481696e-02 6.48264158e+02] [ 2.62522264e-02 9.99655125e-01 -6.72356203e-04 1.12293989e+01] [ 3.56535312e-02 -2.64146966e-04 9.99364176e-01 5.98206215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.079254154 meters Centerline goodness [0,1] 0.9992242382450545 Centerline is valid? [True, True] Translation: X:648.29, Y:11.23, Z:5.98 [[ 9.99109347e-01 -2.14241752e-02 -3.63526885e-02 6.48290788e+02] [ 2.14131948e-02 9.99770472e-01 -6.91412652e-04 1.12307194e+01] [ 3.63591575e-02 -8.76303553e-05 9.99338783e-01 5.98218403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1092541539999 meters Centerline goodness [0,1] 0.9990512538542812 Centerline is valid? [True, True] Translation: X:648.32, Y:11.23, Z:5.98 [[ 9.99128546e-01 -2.02979847e-02 -3.64710908e-02 6.48318903e+02] [ 2.02858596e-02 9.99793974e-01 -7.02512591e-04 1.12304928e+01] [ 3.64778364e-02 -3.79470433e-05 9.99334462e-01 5.98210707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1392541539999 meters Centerline goodness [0,1] 0.9991389331381582 Centerline is valid? [True, True] Translation: X:648.35, Y:11.23, Z:5.98 [[ 9.99126306e-01 -2.00532766e-02 -3.66673101e-02 6.48346641e+02] [ 2.00404702e-02 9.99798913e-01 -7.16802166e-04 1.12295646e+01] [ 3.66743110e-02 -1.86542342e-05 9.99327271e-01 5.98326759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1692541539999 meters Centerline goodness [0,1] 0.9992256232657187 Centerline is valid? [True, True] Translation: X:648.37, Y:11.23, Z:5.98 [[ 9.99123972e-01 -2.03786622e-02 -3.65513123e-02 6.48373584e+02] [ 2.03659325e-02 9.99792333e-01 -7.20600132e-04 1.12277828e+01] [ 3.65584067e-02 -2.44326938e-05 9.99331518e-01 5.98240113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.199254154 meters Centerline goodness [0,1] 0.999013827848644 Centerline is valid? [True, True] Translation: X:648.40, Y:11.22, Z:5.98 [[ 9.99061401e-01 -2.27119560e-02 -3.68847502e-02 6.48401099e+02] [ 2.27004508e-02 9.99742045e-01 -7.30739534e-04 1.12222830e+01] [ 3.68918321e-02 -1.07246793e-04 9.99319259e-01 5.98226517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2292541539999 meters Centerline goodness [0,1] 0.9988007024457104 Centerline is valid? [True, True] Translation: X:648.43, Y:11.22, Z:5.99 [[ 9.98991434e-01 -2.51125455e-02 -3.72219765e-02 6.48430188e+02] [ 2.51021985e-02 9.99684612e-01 -7.45367182e-04 1.12200654e+01] [ 3.72289552e-02 -1.89738012e-04 9.99306744e-01 5.98525148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2592541539999 meters Centerline goodness [0,1] 0.999167413859357 Centerline is valid? [True, True] Translation: X:648.46, Y:11.21, Z:5.99 [[ 9.98843020e-01 -3.03263834e-02 -3.73220029e-02 6.48459491e+02] [ 3.03192611e-02 9.99539979e-01 -7.56933412e-04 1.12136792e+01] [ 3.73277891e-02 -3.75517897e-04 9.99303005e-01 5.98533801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2892541539999 meters Centerline goodness [0,1] 0.9989979319020106 Centerline is valid? [True, True] Translation: X:648.49, Y:11.21, Z:5.98 [[ 9.98772032e-01 -3.30920563e-02 -3.68692887e-02 6.48487388e+02] [ 3.30868096e-02 9.99452198e-01 -7.52614019e-04 1.12100229e+01] [ 3.68739972e-02 -4.68197303e-04 9.99319813e-01 5.98470319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.319254154 meters Centerline goodness [0,1] 0.9988735627298039 Centerline is valid? [True, True] Translation: X:648.52, Y:11.20, Z:5.99 [[ 9.98608131e-01 -3.91271404e-02 -3.53676183e-02 6.48515231e+02] [ 3.91259833e-02 9.99234022e-01 -7.25093901e-04 1.12016780e+01] [ 3.53688984e-02 -6.59708178e-04 9.99374107e-01 5.98521034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3492541539999 meters Centerline goodness [0,1] 0.9989157010736686 Centerline is valid? [True, True] Translation: X:648.54, Y:11.20, Z:5.99 [[ 9.98507165e-01 -4.22666027e-02 -3.45973403e-02 6.48543530e+02] [ 4.22672714e-02 9.99106086e-01 -7.12385324e-04 1.11985662e+01] [ 3.45965234e-02 -7.51013322e-04 9.99401079e-01 5.98637430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3792541539999 meters Centerline goodness [0,1] 0.9987501588781087 Centerline is valid? [True, True] Translation: X:648.57, Y:11.19, Z:5.99 [[ 9.98387179e-01 -4.55885148e-02 -3.38338178e-02 6.48571547e+02] [ 4.55909580e-02 9.98959947e-01 -6.99666132e-04 1.11942588e+01] [ 3.38305255e-02 -8.43978467e-04 9.99427228e-01 5.98593976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4092541539999 meters Centerline goodness [0,1] 0.9988569251285959 Centerline is valid? [True, True] Translation: X:648.60, Y:11.19, Z:5.99 [[ 9.98083309e-01 -5.25735622e-02 -3.26455112e-02 6.48601443e+02] [ 5.25795263e-02 9.98616511e-01 -6.76345256e-04 1.11873664e+01] [ 3.26359044e-02 -1.04143661e-03 9.99466764e-01 5.98744904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.439254154 meters Centerline goodness [0,1] 0.9988998434392586 Centerline is valid? [True, True] Translation: X:648.63, Y:11.18, Z:5.99 [[ 9.97889859e-01 -5.63652070e-02 -3.22303232e-02 6.48630035e+02] [ 5.63729501e-02 9.98409557e-01 -6.69128114e-04 1.11825832e+01] [ 3.22167782e-02 -1.14920224e-03 9.99480244e-01 5.98736745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4692541539999 meters Centerline goodness [0,1] 0.9987537756373698 Centerline is valid? [True, True] Translation: X:648.66, Y:11.18, Z:5.99 [[ 9.97487370e-01 -6.38383029e-02 -3.07183725e-02 6.48660372e+02] [ 6.38488535e-02 9.97959376e-01 -6.38317102e-04 1.11755015e+01] [ 3.06964370e-02 -1.32461962e-03 9.99527876e-01 5.98906775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4992541539999 meters Centerline goodness [0,1] 0.998779769418497 Centerline is valid? [True, True] Translation: X:648.69, Y:11.17, Z:5.99 [[ 9.97271845e-01 -6.73606376e-02 -3.01896054e-02 6.48690179e+02] [ 6.73724248e-02 9.97727699e-01 -6.27754554e-04 1.11742053e+01] [ 3.01632915e-02 -1.40790497e-03 9.99543993e-01 5.99088610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5292541539999 meters Centerline goodness [0,1] 0.9988000505241884 Centerline is valid? [True, True] Translation: X:648.72, Y:11.17, Z:5.99 [[ 9.97063561e-01 -7.07510635e-02 -2.93008850e-02 6.48720145e+02] [ 7.07636213e-02 9.97492927e-01 -6.09440021e-04 1.11684633e+01] [ 2.92705441e-02 -1.46578629e-03 9.99570451e-01 5.99048847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5592541539999 meters Centerline goodness [0,1] 0.9987165730396179 Centerline is valid? [True, True] Translation: X:648.75, Y:11.17, Z:5.99 [[ 9.96755928e-01 -7.56118796e-02 -2.75765224e-02 6.48751270e+02] [ 7.56248650e-02 9.97136175e-01 -5.73238843e-04 1.11652479e+01] [ 2.75408918e-02 -1.51409157e-03 9.99619531e-01 5.99270326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.589254154 meters Centerline goodness [0,1] 0.9986751903099634 Centerline is valid? [True, True] Translation: X:648.78, Y:11.16, Z:5.99 [[ 9.96569875e-01 -7.79684244e-02 -2.77382109e-02 6.48781059e+02] [ 7.79824770e-02 9.96954563e-01 -5.76426383e-04 1.11618663e+01] [ 2.76986790e-02 -1.58864523e-03 9.99615056e-01 5.99302179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6192541539999 meters Centerline goodness [0,1] 0.9985915492957746 Centerline is valid? [True, True] Translation: X:648.81, Y:11.16, Z:5.99 [[ 9.96350486e-01 -8.07387502e-02 -2.76941058e-02 6.48812717e+02] [ 8.07538428e-02 9.96733910e-01 -5.74838428e-04 1.11579095e+01] [ 2.76500661e-02 -1.66366492e-03 9.99616279e-01 5.99316295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6492541539999 meters Centerline goodness [0,1] 0.9986106725607831 Centerline is valid? [True, True] Translation: X:648.84, Y:11.16, Z:5.99 [[ 9.96309388e-01 -8.13121694e-02 -2.74942738e-02 6.48844619e+02] [ 8.13273080e-02 9.96687286e-01 -5.69027179e-04 1.11555506e+01] [ 2.74494620e-02 -1.66910815e-03 9.99621799e-01 5.99261046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6792541539999 meters Centerline goodness [0,1] 0.998779178681934 Centerline is valid? [True, True] Translation: X:648.87, Y:11.15, Z:5.99 [[ 9.96224852e-01 -8.20426679e-02 -2.83732996e-02 6.48874743e+02] [ 8.20591156e-02 9.96627291e-01 -5.86172118e-04 1.11533263e+01] [ 2.83256959e-02 -1.74432864e-03 9.99597225e-01 5.99216330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.709254154 meters Centerline goodness [0,1] 0.9987594617325484 Centerline is valid? [True, True] Translation: X:648.91, Y:11.15, Z:5.99 [[ 9.96265512e-01 -8.12056231e-02 -2.93372746e-02 6.48907249e+02] [ 8.12228949e-02 9.96695779e-01 -6.04445276e-04 1.11545200e+01] [ 2.92894221e-02 -1.78067039e-03 9.99569387e-01 5.99178398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7392541539999 meters Centerline goodness [0,1] 0.9987158976086224 Centerline is valid? [True, True] Translation: X:648.94, Y:11.16, Z:5.99 [[ 9.96356087e-01 -8.00215801e-02 -2.95143048e-02 6.48938999e+02] [ 8.00385969e-02 9.96791581e-01 -6.06287354e-04 1.11557344e+01] [ 2.94681266e-02 -1.75820545e-03 9.99564174e-01 5.99206847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7692541539999 meters Centerline goodness [0,1] 0.998574632653489 Centerline is valid? [True, True] Translation: X:648.97, Y:11.16, Z:5.99 [[ 9.96485689e-01 -7.82561169e-02 -2.98705717e-02 6.48970595e+02] [ 7.82727950e-02 9.96931790e-01 -6.12330277e-04 1.11565424e+01] [ 2.98268411e-02 -1.72787478e-03 9.99553587e-01 5.99190514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7992541539999 meters Centerline goodness [0,1] 0.998654670814765 Centerline is valid? [True, True] Translation: X:649.00, Y:11.16, Z:5.99 [[ 9.96854992e-01 -7.34472686e-02 -2.97594280e-02 6.49001178e+02] [ 7.34617003e-02 9.97297853e-01 -6.09573906e-04 1.11586000e+01] [ 2.97237851e-02 -1.57852139e-03 9.99556904e-01 5.99159892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.829254154 meters Centerline goodness [0,1] 0.9986306564422348 Centerline is valid? [True, True] Translation: X:649.03, Y:11.16, Z:5.99 [[ 9.97144204e-01 -6.96469466e-02 -2.92017161e-02 6.49031358e+02] [ 6.96592183e-02 9.97570667e-01 -5.98088861e-04 1.11602161e+01] [ 2.91724305e-02 -1.43778788e-03 9.99573360e-01 5.99160694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8592541539999 meters Centerline goodness [0,1] 0.9985669427409327 Centerline is valid? [True, True] Translation: X:649.06, Y:11.17, Z:5.99 [[ 9.97720752e-01 -6.11557792e-02 -2.85179065e-02 6.49061663e+02] [ 6.11640189e-02 9.98127558e-01 -5.84110777e-04 1.11699600e+01] [ 2.85002301e-02 -1.16149033e-03 9.99593111e-01 5.99315984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8892541539999 meters Centerline goodness [0,1] 0.9987768358007507 Centerline is valid? [True, True] Translation: X:649.09, Y:11.17, Z:5.99 [[ 9.98054715e-01 -5.59495781e-02 -2.75032864e-02 6.49091885e+02] [ 5.59552669e-02 9.98433118e-01 -5.63341914e-04 1.11744219e+01] [ 2.74917107e-02 -9.76707679e-04 9.99621554e-01 5.99362720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9192541539999 meters Centerline goodness [0,1] 0.9989668550223497 Centerline is valid? [True, True] Translation: X:649.12, Y:11.18, Z:5.99 [[ 9.98382390e-01 -5.03150036e-02 -2.64764774e-02 6.49122009e+02] [ 5.03182742e-02 9.98733086e-01 -5.43120971e-04 1.11800075e+01] [ 2.64702611e-02 -7.90008237e-04 9.99649289e-01 5.99488642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.949254154 meters Centerline goodness [0,1] 0.9990707889846258 Centerline is valid? [True, True] Translation: X:649.15, Y:11.19, Z:6.00 [[ 9.98970073e-01 -3.86621883e-02 -2.37492727e-02 6.49151487e+02] [ 3.86615103e-02 9.99252245e-01 -4.87877882e-04 1.11878412e+01] [ 2.37503765e-02 -4.30807346e-04 9.99717827e-01 5.99572647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9792541539999 meters Centerline goodness [0,1] 0.9992170803444846 Centerline is valid? [True, True] Translation: X:649.18, Y:11.19, Z:6.00 [[ 9.99213606e-01 -3.29808491e-02 -2.20098452e-02 6.49181025e+02] [ 3.29788747e-02 9.99455946e-01 -4.52774517e-04 1.11925131e+01] [ 2.20128035e-02 -2.73441468e-04 9.99757651e-01 5.99659546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0092541539999 meters Centerline goodness [0,1] 0.9992596979567664 Centerline is valid? [True, True] Translation: X:649.21, Y:11.20, Z:6.00 [[ 9.99547945e-01 -2.27569172e-02 -1.96476113e-02 6.49209421e+02] [ 2.27533477e-02 9.99741027e-01 -4.05228061e-04 1.11998841e+01] [ 1.96517448e-02 -4.20040558e-05 9.99806885e-01 5.99826565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0392541539999 meters Centerline goodness [0,1] 0.9992397524972019 Centerline is valid? [True, True] Translation: X:649.24, Y:11.20, Z:6.00 [[ 9.99651885e-01 -1.87309656e-02 -1.85811504e-02 6.49237177e+02] [ 1.87270422e-02 9.99824559e-01 -3.85146213e-04 1.12027884e+01] [ 1.85851047e-02 3.70421512e-05 9.99827281e-01 5.99822772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.069254154 meters Centerline goodness [0,1] 0.9992397524972019 Centerline is valid? [True, True] Translation: X:649.26, Y:11.20, Z:6.00 [[ 9.99646430e-01 -1.90199786e-02 -1.85810679e-02 6.49264571e+02] [ 1.90160316e-02 9.99819103e-01 -3.89095535e-04 1.12034282e+01] [ 1.85851072e-02 3.56197884e-05 9.99827281e-01 5.99848477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0992541539999 meters Centerline goodness [0,1] 0.9993242529827896 Centerline is valid? [True, True] Translation: X:649.29, Y:11.21, Z:6.00 [[ 9.99715720e-01 -1.59511715e-02 -1.77211325e-02 6.49292567e+02] [ 1.59470108e-02 9.99872768e-01 -3.76082397e-04 1.12058470e+01] [ 1.77248768e-02 9.33763924e-05 9.99842898e-01 5.99886278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1292541539999 meters Centerline goodness [0,1] 0.9994933502216593 Centerline is valid? [True, True] Translation: X:649.32, Y:11.21, Z:6.00 [[ 9.99770211e-01 -1.33881631e-02 -1.67416584e-02 6.49320273e+02] [ 1.33840365e-02 9.99910366e-01 -3.58506759e-04 1.12082852e+01] [ 1.67449575e-02 1.34353410e-04 9.99859784e-01 5.99869926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1592541539999 meters Centerline goodness [0,1] 0.9993655493285397 Centerline is valid? [True, True] Translation: X:649.35, Y:11.21, Z:6.00 [[ 9.99806726e-01 -1.20107446e-02 -1.55644518e-02 6.49348273e+02] [ 1.20069705e-02 9.99927857e-01 -3.35913318e-04 1.12082084e+01] [ 1.55673635e-02 1.48966482e-04 9.99878810e-01 5.99958541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.189254154 meters Centerline goodness [0,1] 0.9994712351945855 Centerline is valid? [True, True] Translation: X:649.38, Y:11.21, Z:6.00 [[ 9.99829562e-01 -1.14264664e-02 -1.45011372e-02 6.49375580e+02] [ 1.14230762e-02 9.99934704e-01 -3.16599616e-04 1.12074465e+01] [ 1.45038079e-02 1.50898061e-04 9.99894803e-01 5.99807530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2192541539999 meters Centerline goodness [0,1] 0.9995769613131121 Centerline is valid? [True, True] Translation: X:649.40, Y:11.21, Z:6.00 [[ 9.99825311e-01 -1.24336517e-02 -1.39553315e-02 6.49403329e+02] [ 1.24305654e-02 9.99922690e-01 -3.07880088e-04 1.12052765e+01] [ 1.39580807e-02 1.34353644e-04 9.99902572e-01 5.99759971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2492541539999 meters Centerline goodness [0,1] 0.9994097683340711 Centerline is valid? [True, True] Translation: X:649.43, Y:11.20, Z:6.00 [[ 9.99801148e-01 -1.55381949e-02 -1.24991807e-02 6.49431507e+02] [ 1.55359270e-02 9.99879271e-01 -2.78526102e-04 1.12000475e+01] [ 1.25019995e-02 8.42843571e-05 9.99921843e-01 5.99640358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2792541539999 meters Centerline goodness [0,1] 0.9994102159031069 Centerline is valid? [True, True] Translation: X:649.46, Y:11.20, Z:6.00 [[ 9.99773041e-01 -1.79538360e-02 -1.14684884e-02 6.49460084e+02] [ 1.79520753e-02 9.99838816e-01 -2.56458995e-04 1.11975139e+01] [ 1.14712443e-02 5.05176220e-05 9.99934202e-01 5.99672777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3092541539999 meters Centerline goodness [0,1] 0.9992417221332884 Centerline is valid? [True, True] Translation: X:649.49, Y:11.19, Z:6.00 [[ 9.99728329e-01 -2.08406539e-02 -1.04371870e-02 6.49489607e+02] [ 2.08393477e-02 9.99782810e-01 -2.33894187e-04 1.11945063e+01] [ 1.04397947e-02 1.63264745e-05 9.99945504e-01 5.99694619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.339254154 meters Centerline goodness [0,1] 0.9992439992439992 Centerline is valid? [True, True] Translation: X:649.52, Y:11.19, Z:6.00 [[ 9.99597346e-01 -2.70523107e-02 -8.56264990e-03 6.49520193e+02] [ 2.70516565e-02 9.99634019e-01 -1.92233777e-04 1.11872609e+01] [ 8.56471650e-03 -3.94774909e-05 9.99963321e-01 5.99673545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3692541539999 meters Centerline goodness [0,1] 0.9990988158859897 Centerline is valid? [True, True] Translation: X:649.55, Y:11.18, Z:6.00 [[ 9.99502872e-01 -3.05359901e-02 -7.84620806e-03 6.49552188e+02] [ 3.05355530e-02 9.99533666e-01 -1.75529248e-04 1.11835080e+01] [ 7.84790906e-03 -6.41463150e-05 9.99969203e-01 5.99674217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3992541539999 meters Centerline goodness [0,1] 0.999266262761787 Centerline is valid? [True, True] Translation: X:649.58, Y:11.17, Z:6.00 [[ 9.99259113e-01 -3.79110187e-02 -6.63169929e-03 6.49583943e+02] [ 3.79108716e-02 9.99281114e-01 -1.47936272e-04 1.11742784e+01] [ 6.63254027e-03 -1.03586832e-04 9.99977999e-01 5.99616113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4292541539999 meters Centerline goodness [0,1] 0.9992249198734734 Centerline is valid? [True, True] Translation: X:649.62, Y:11.17, Z:6.00 [[ 9.99112128e-01 -4.17097176e-02 -5.93763205e-03 6.49616290e+02] [ 4.17096679e-02 9.99129764e-01 -1.32246819e-04 1.11696243e+01] [ 5.93798088e-03 -1.15527260e-04 9.99982363e-01 5.99586608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.459254154 meters Centerline goodness [0,1] 0.9990404472350278 Centerline is valid? [True, True] Translation: X:649.65, Y:11.17, Z:6.00 [[ 9.98957968e-01 -4.52210334e-02 -6.16731213e-03 6.49648004e+02] [ 4.52210499e-02 9.98976996e-01 -1.36847501e-04 1.11661833e+01] [ 6.16719133e-03 -1.42187428e-04 9.99980973e-01 5.99505621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4892541539999 meters Centerline goodness [0,1] 0.9991007946465914 Centerline is valid? [True, True] Translation: X:649.68, Y:11.16, Z:5.99 [[ 9.98631758e-01 -5.19884181e-02 -5.64052209e-03 6.49679482e+02] [ 5.19885416e-02 9.98647674e-01 -1.24823912e-04 1.11583454e+01] [ 5.63938366e-03 -1.68589395e-04 9.99984084e-01 5.99461387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5192541539999 meters Centerline goodness [0,1] 0.999143424213935 Centerline is valid? [True, True] Translation: X:649.71, Y:11.16, Z:5.99 [[ 9.98481182e-01 -5.48643920e-02 -5.02280129e-03 6.49711435e+02] [ 5.48645262e-02 9.98493801e-01 -1.11169135e-04 1.11560138e+01] [ 5.02133518e-03 -1.64573323e-04 9.99987379e-01 5.99498603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5492541539999 meters Centerline goodness [0,1] 0.9992492179353494 Centerline is valid? [True, True] Translation: X:649.74, Y:11.15, Z:6.00 [[ 9.98205262e-01 -5.97710913e-02 -3.69762910e-03 6.49742483e+02] [ 5.97711992e-02 9.98212100e-01 -8.14355857e-05 1.11509502e+01] [ 3.69588561e-03 -1.39722295e-04 9.99993160e-01 5.99586723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.579254154 meters Centerline goodness [0,1] 0.9989364807940944 Centerline is valid? [True, True] Translation: X:649.77, Y:11.15, Z:6.00 [[ 9.98063539e-01 -6.21402337e-02 -2.78623367e-03 6.49774328e+02] [ 6.21403035e-02 9.98067422e-01 -6.15961509e-05 1.11485555e+01] [ 2.78467665e-03 -1.11660533e-04 9.99996117e-01 5.99656056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6092541539999 meters Centerline goodness [0,1] 0.9988314587984892 Centerline is valid? [True, True] Translation: X:649.81, Y:11.15, Z:6.00 [[ 9.97938445e-01 -6.41433196e-02 -2.11996450e-03 6.49806394e+02] [ 6.41433642e-02 9.97940693e-01 -4.70114998e-05 1.11472629e+01] [ 2.11861431e-03 -8.90670717e-05 9.99997752e-01 5.99656809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6392541539999 meters Centerline goodness [0,1] 0.99898177586601 Centerline is valid? [True, True] Translation: X:649.84, Y:11.14, Z:6.00 [[ 9.97693965e-01 -6.78385303e-02 -2.16459412e-03 6.49838067e+02] [ 6.78385865e-02 9.97696308e-01 -4.75590262e-05 1.11437969e+01] [ 2.16283390e-03 -9.93936519e-05 9.99997656e-01 5.99623893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6692541539999 meters Centerline goodness [0,1] 0.9989794430675025 Centerline is valid? [True, True] Translation: X:649.87, Y:11.14, Z:6.00 [[ 9.97615988e-01 -6.89804581e-02 -2.00899680e-03 6.49869383e+02] [ 6.89805086e-02 9.97618007e-01 -4.42260685e-05 1.11385059e+01] [ 2.00726212e-03 -9.44609881e-05 9.99997981e-01 5.99672469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.699254154 meters Centerline goodness [0,1] 0.9990008950315342 Centerline is valid? [True, True] Translation: X:649.90, Y:11.14, Z:6.00 [[ 9.97561521e-01 -6.97586896e-02 -2.17645191e-03 6.49901462e+02] [ 6.97587507e-02 9.97563890e-01 -4.78896704e-05 1.11442713e+01] [ 2.17449055e-03 -1.04053674e-04 9.99997630e-01 5.99560093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7292541539999 meters Centerline goodness [0,1] 0.9991905186907158 Centerline is valid? [True, True] Translation: X:649.93, Y:11.14, Z:6.00 [[ 9.97539496e-01 -7.00561799e-02 -2.66193058e-03 6.49932744e+02] [ 7.00562738e-02 9.97543039e-01 -5.80873861e-05 1.11418797e+01] [ 2.65945970e-03 -1.28540476e-04 9.99996455e-01 5.99591468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7592541539999 meters Centerline goodness [0,1] 0.9990427236592929 Centerline is valid? [True, True] Translation: X:649.96, Y:11.14, Z:6.00 [[ 9.97559229e-01 -6.97667709e-02 -2.86040536e-03 6.49964442e+02] [ 6.97668783e-02 9.97563321e-01 -6.23282615e-05 1.11436327e+01] [ 2.85778391e-03 -1.37385420e-04 9.99995907e-01 5.99559407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7892541539999 meters Centerline goodness [0,1] 0.9987545924403761 Centerline is valid? [True, True] Translation: X:650.00, Y:11.14, Z:6.00 [[ 9.97563070e-01 -6.96797488e-02 -3.55735633e-03 6.49997015e+02] [ 6.96799137e-02 9.97569398e-01 -7.77100039e-05 1.11419284e+01] [ 3.55412463e-03 -1.70355652e-04 9.99993670e-01 5.99530523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.819254154 meters Centerline goodness [0,1] 0.9991446929238985 Centerline is valid? [True, True] Translation: X:650.03, Y:11.15, Z:5.99 [[ 9.97569428e-01 -6.94633369e-02 -5.48470158e-03 6.50029286e+02] [ 6.94637383e-02 9.97584470e-01 -1.17505105e-04 1.11465436e+01] [ 5.47961541e-03 -2.63768375e-04 9.99984952e-01 5.99318010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8492541539999 meters Centerline goodness [0,1] 0.9985396282310726 Centerline is valid? [True, True] Translation: X:650.06, Y:11.15, Z:5.99 [[ 9.97560317e-01 -6.94492682e-02 -7.08612865e-03 6.50061264e+02] [ 6.94499427e-02 9.97585426e-01 -1.51137029e-04 1.11467922e+01] [ 7.07951502e-03 -3.41362926e-04 9.99974882e-01 5.99226064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8792541539999 meters Centerline goodness [0,1] 0.9989140422688163 Centerline is valid? [True, True] Translation: X:650.09, Y:11.15, Z:5.99 [[ 9.97443827e-01 -7.08186746e-02 -9.51454931e-03 6.50093111e+02] [ 7.08199638e-02 9.97489094e-01 -2.01774998e-04 1.11514840e+01] [ 9.50494861e-03 -4.72560812e-04 9.99954715e-01 5.99125449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9092541539999 meters Centerline goodness [0,1] 0.9988511989305706 Centerline is valid? [True, True] Translation: X:650.13, Y:11.15, Z:5.99 [[ 9.97427156e-01 -7.09589927e-02 -1.01926793e-02 6.50125049e+02] [ 7.09604877e-02 9.97479104e-01 -2.15352592e-04 1.11531969e+01] [ 1.01822658e-02 -5.08478972e-04 9.99948030e-01 5.99107575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.939254154 meters Centerline goodness [0,1] 0.9991010390316308 Centerline is valid? [True, True] Translation: X:650.16, Y:11.15, Z:5.99 [[ 9.97398445e-01 -7.12460870e-02 -1.09698257e-02 6.50156142e+02] [ 7.12478452e-02 9.97458616e-01 -2.30938451e-04 1.11529675e+01] [ 1.09584006e-02 -5.51238788e-04 9.99939803e-01 5.99131091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9692541539999 meters Centerline goodness [0,1] 0.9987462649142236 Centerline is valid? [True, True] Translation: X:650.19, Y:11.16, Z:5.99 [[ 9.97429275e-01 -7.07286283e-02 -1.15023202e-02 6.50188740e+02] [ 7.07305355e-02 9.97495430e-01 -2.41411701e-04 1.11578553e+01] [ 1.14905866e-02 -5.72774171e-04 9.99933817e-01 5.99181500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9992541539999 meters Centerline goodness [0,1] 0.9987057448229792 Centerline is valid? [True, True] Translation: X:650.22, Y:11.16, Z:5.99 [[ 9.97457975e-01 -7.03189552e-02 -1.15252665e-02 6.50220373e+02] [ 7.03208544e-02 9.97524395e-01 -2.40875274e-04 1.11600902e+01] [ 1.15136726e-02 -5.70203627e-04 9.99933553e-01 5.99291820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0292541539999 meters Centerline goodness [0,1] 0.9991025587510957 Centerline is valid? [True, True] Translation: X:650.25, Y:11.17, Z:5.99 [[ 9.97711058e-01 -6.67858061e-02 -1.05972157e-02 6.50250818e+02] [ 6.67872195e-02 9.97767217e-01 -2.20851864e-04 1.11689869e+01] [ 1.05883042e-02 -4.87412224e-04 9.99943824e-01 5.99491402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0592541539999 meters Centerline goodness [0,1] 0.9988519423048824 Centerline is valid? [True, True] Translation: X:650.28, Y:11.17, Z:6.00 [[ 9.97882113e-01 -6.42295218e-02 -1.02886923e-02 6.50281967e+02] [ 6.42307188e-02 9.97935052e-01 -2.14387720e-04 1.11732108e+01] [ 1.02812167e-02 -4.46916428e-04 9.99947047e-01 5.99592764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.089254154 meters Centerline goodness [0,1] 0.9988103437480433 Centerline is valid? [True, True] Translation: X:650.31, Y:11.18, Z:6.00 [[ 9.98090302e-01 -6.09742256e-02 -9.89405195e-03 6.50313415e+02] [ 6.09751764e-02 9.98139262e-01 -2.05809992e-04 1.11776438e+01] [ 9.88819081e-03 -3.97874606e-04 9.99951031e-01 5.99690728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1192541539999 meters Centerline goodness [0,1] 0.9989959629342984 Centerline is valid? [True, True] Translation: X:650.34, Y:11.18, Z:6.00 [[ 9.98306727e-01 -5.74519547e-02 -9.10773064e-03 6.50343614e+02] [ 5.74526168e-02 9.98348216e-01 -1.89139220e-04 1.11783517e+01] [ 9.10355306e-03 -3.34444002e-04 9.99958506e-01 5.99856316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1492541539999 meters Centerline goodness [0,1] 0.9986815670517328 Centerline is valid? [True, True] Translation: X:650.37, Y:11.19, Z:6.00 [[ 9.98707039e-01 -5.02279471e-02 -7.83604892e-03 6.50374431e+02] [ 5.02282159e-02 9.98737753e-01 -1.62609849e-04 1.11933831e+01] [ 7.83432545e-03 -2.31191156e-04 9.99969284e-01 6.00098963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1792541539999 meters Centerline goodness [0,1] 0.9985763634460378 Centerline is valid? [True, True] Translation: X:650.40, Y:11.20, Z:6.00 [[ 9.98873013e-01 -4.68900146e-02 -7.35055020e-03 6.50404544e+02] [ 4.68901618e-02 9.98900040e-01 -1.52408329e-04 1.11972212e+01] [ 7.34961131e-03 -1.92431921e-04 9.99972973e-01 6.00208511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.209254154 meters Centerline goodness [0,1] 0.9988682092555332 Centerline is valid? [True, True] Translation: X:650.44, Y:11.20, Z:6.00 [[ 9.99109136e-01 -4.15914432e-02 -7.14742660e-03 6.50435603e+02] [ 4.15914475e-02 9.99134690e-01 -1.48111395e-04 1.12041892e+01] [ 7.14740203e-03 -1.49292369e-04 9.99974446e-01 6.00285054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2392541539999 meters Centerline goodness [0,1] 0.9987015978722958 Centerline is valid? [True, True] Translation: X:650.47, Y:11.21, Z:6.00 [[ 9.99165158e-01 -4.01525665e-02 -7.53377948e-03 6.50467198e+02] [ 4.01525314e-02 9.99193550e-01 -1.55978193e-04 1.12061715e+01] [ 7.53396679e-03 -1.46652341e-04 9.99971609e-01 6.00284352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2692541539999 meters Centerline goodness [0,1] 0.9987826634484206 Centerline is valid? [True, True] Translation: X:650.50, Y:11.21, Z:6.00 [[ 9.99136435e-01 -4.05564065e-02 -9.03122937e-03 6.50498892e+02] [ 4.05563850e-02 9.99177234e-01 -1.85595700e-04 1.12078390e+01] [ 9.03132588e-03 -1.80838589e-04 9.99959200e-01 6.00204112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2992541539999 meters Centerline goodness [0,1] 0.9985117176036558 Centerline is valid? [True, True] Translation: X:650.53, Y:11.21, Z:6.00 [[ 9.99102401e-01 -4.12021048e-02 -9.83767052e-03 6.50529770e+02] [ 4.12021183e-02 9.99150812e-01 -2.01385390e-04 1.12071458e+01] [ 9.83761399e-03 -2.04128239e-04 9.99951589e-01 6.00135555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.329254154 meters Centerline goodness [0,1] 0.9987412411362396 Centerline is valid? [True, True] Translation: X:650.56, Y:11.21, Z:6.00 [[ 9.99013681e-01 -4.30220278e-02 -1.09895791e-02 6.50562028e+02] [ 4.30221623e-02 9.99074093e-01 -2.24268843e-04 1.12087623e+01] [ 1.09890523e-02 -2.48747816e-04 9.99939588e-01 6.00143994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3592541539999 meters Centerline goodness [0,1] 0.9987188372923361 Centerline is valid? [True, True] Translation: X:650.59, Y:11.21, Z:6.00 [[ 9.98829673e-01 -4.65274217e-02 -1.32092047e-02 6.50593135e+02] [ 4.65279361e-02 9.98916953e-01 -2.68532161e-04 1.12063512e+01] [ 1.32073926e-02 -3.46379142e-04 9.99912719e-01 5.99986851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3892541539999 meters Centerline goodness [0,1] 0.9988217223893787 Centerline is valid? [True, True] Translation: X:650.63, Y:11.21, Z:6.00 [[ 9.98718650e-01 -4.86429741e-02 -1.39613314e-02 6.50625212e+02] [ 4.86437677e-02 9.98816151e-01 -2.82938497e-04 1.12090733e+01] [ 1.39585662e-02 -3.96555806e-04 9.99902496e-01 6.00041945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4192541539999 meters Centerline goodness [0,1] 0.9985915196871913 Centerline is valid? [True, True] Translation: X:650.66, Y:11.21, Z:6.00 [[ 9.98522268e-01 -5.24092249e-02 -1.43719548e-02 6.50656048e+02] [ 5.24104685e-02 9.98625585e-01 -2.90352645e-04 1.12069367e+01] [ 1.43674190e-02 -4.63317304e-04 9.99896676e-01 6.00081642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.449254154 meters Centerline goodness [0,1] 0.998654359664431 Centerline is valid? [True, True] Translation: X:650.69, Y:11.21, Z:6.00 [[ 9.98436912e-01 -5.39721679e-02 -1.45168036e-02 6.50688300e+02] [ 5.39736123e-02 9.98542319e-01 -2.92551863e-04 1.12071311e+01] [ 1.45114324e-02 -4.91429749e-04 9.99894583e-01 6.00154348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4792541539999 meters Centerline goodness [0,1] 0.9984024551741534 Centerline is valid? [True, True] Translation: X:650.72, Y:11.21, Z:6.00 [[ 9.98339063e-01 -5.57749042e-02 -1.44317209e-02 6.50720053e+02] [ 5.57765338e-02 9.98443235e-01 -2.89870785e-04 1.12085917e+01] [ 1.44254217e-02 -5.15562043e-04 9.99895815e-01 6.00239928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5092541539999 meters Centerline goodness [0,1] 0.9985513027777194 Centerline is valid? [True, True] Translation: X:650.75, Y:11.21, Z:6.00 [[ 9.98168326e-01 -5.88482202e-02 -1.40313925e-02 6.50751291e+02] [ 5.88500745e-02 9.98266793e-01 -2.81057286e-04 1.12073352e+01] [ 1.40236129e-02 -5.45206015e-04 9.99901516e-01 6.00363138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5392541539999 meters Centerline goodness [0,1] 0.9985285771340887 Centerline is valid? [True, True] Translation: X:650.78, Y:11.21, Z:6.00 [[ 9.98066613e-01 -6.04081443e-02 -1.46250840e-02 6.50782999e+02] [ 6.04103383e-02 9.98173585e-01 -2.92113148e-04 1.12070943e+01] [ 1.46160185e-02 -5.91957892e-04 9.99893005e-01 6.00403385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.569254154 meters Centerline goodness [0,1] 0.9985317868154456 Centerline is valid? [True, True] Translation: X:650.81, Y:11.21, Z:6.00 [[ 9.97992149e-01 -6.16474393e-02 -1.45349034e-02 6.50813959e+02] [ 6.16497492e-02 9.98097803e-01 -2.89513212e-04 1.12060965e+01] [ 1.45251029e-02 -6.07141235e-04 9.99894321e-01 6.00414163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5992541539999 meters Centerline goodness [0,1] 0.9983853041709481 Centerline is valid? [True, True] Translation: X:650.85, Y:11.21, Z:6.00 [[ 9.97930529e-01 -6.26404770e-02 -1.45199826e-02 6.50845468e+02] [ 6.26428985e-02 9.98035963e-01 -2.88423034e-04 1.12050190e+01] [ 1.45095318e-02 -6.21747648e-04 9.99894538e-01 6.00397990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6292541539999 meters Centerline goodness [0,1] 0.9982647237147456 Centerline is valid? [True, True] Translation: X:650.88, Y:11.21, Z:6.00 [[ 9.97897300e-01 -6.28716223e-02 -1.57523598e-02 6.50878066e+02] [ 6.28745171e-02 9.98021391e-01 -3.11891635e-04 1.12057351e+01] [ 1.57408011e-02 -6.79186193e-04 9.99875875e-01 6.00345042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6592541539999 meters Centerline goodness [0,1] 0.9986193046316054 Centerline is valid? [True, True] Translation: X:650.91, Y:11.21, Z:6.01 [[ 9.97872949e-01 -6.34026503e-02 -1.51552814e-02 6.50910478e+02] [ 6.34054073e-02 9.97987808e-01 -2.98989214e-04 1.12095387e+01] [ 1.51437428e-02 -6.62573541e-04 9.99885107e-01 6.00541145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.689254154 meters Centerline goodness [0,1] 0.9983674494537235 Centerline is valid? [True, True] Translation: X:650.94, Y:11.21, Z:6.01 [[ 9.97979496e-01 -6.16128291e-02 -1.55172578e-02 6.50942324e+02] [ 6.16155215e-02 9.98099912e-01 -3.04961745e-04 1.12073697e+01] [ 1.55065632e-02 -6.51758362e-04 9.99879554e-01 6.00555185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7192541539999 meters Centerline goodness [0,1] 0.9988277406794918 Centerline is valid? [True, True] Translation: X:650.97, Y:11.21, Z:6.01 [[ 9.98065928e-01 -6.00865906e-02 -1.59375131e-02 6.50974205e+02] [ 6.00892555e-02 9.98192959e-01 -3.12033748e-04 1.12124730e+01] [ 1.59274624e-02 -6.46243043e-04 9.99872941e-01 6.00627195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7492541539999 meters Centerline goodness [0,1] 0.9986424394319131 Centerline is valid? [True, True] Translation: X:651.01, Y:11.21, Z:6.01 [[ 9.98151924e-01 -5.86117854e-02 -1.60435642e-02 6.51006627e+02] [ 5.86143145e-02 9.98280654e-01 -3.12941618e-04 1.12148251e+01] [ 1.60343218e-02 -6.28019240e-04 9.99871245e-01 6.00654842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7792541539999 meters Centerline goodness [0,1] 0.9987867631678032 Centerline is valid? [True, True] Translation: X:651.04, Y:11.22, Z:6.01 [[ 9.98321061e-01 -5.52695874e-02 -1.73300809e-02 6.51037026e+02] [ 5.52720508e-02 9.98471275e-01 -3.37158709e-04 1.12177503e+01] [ 1.73222226e-02 -6.21276470e-04 9.99849766e-01 6.00595037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8092541539999 meters Centerline goodness [0,1] 0.9987247564493875 Centerline is valid? [True, True] Translation: X:651.07, Y:11.22, Z:6.01 [[ 9.98506435e-01 -5.15956468e-02 -1.79663156e-02 6.51068872e+02] [ 5.15977128e-02 9.98667890e-01 -3.48840946e-04 1.12227103e+01] [ 1.79603812e-02 -5.78700863e-04 9.99838532e-01 6.00550116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.839254154 meters Centerline goodness [0,1] 0.9986812910788295 Centerline is valid? [True, True] Translation: X:651.10, Y:11.23, Z:6.01 [[ 9.98577929e-01 -5.00003347e-02 -1.84955839e-02 6.51100753e+02] [ 5.00022743e-02 9.98749040e-01 -3.57858655e-04 1.12261862e+01] [ 1.84903397e-02 -5.67471504e-04 9.99828878e-01 6.00582078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8692541539999 meters Centerline goodness [0,1] 0.9985779116213899 Centerline is valid? [True, True] Translation: X:651.13, Y:11.23, Z:6.01 [[ 9.98643917e-01 -4.84111414e-02 -1.91491341e-02 6.51131963e+02] [ 4.84129527e-02 9.98827337e-01 -3.69245684e-04 1.12274748e+01] [ 1.91445542e-02 -5.58321166e-04 9.99816570e-01 6.00544804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8992541539999 meters Centerline goodness [0,1] 0.9987858488591166 Centerline is valid? [True, True] Translation: X:651.16, Y:11.23, Z:6.01 [[ 9.98698515e-01 -4.68907708e-02 -2.00631814e-02 6.51163011e+02] [ 4.68924715e-02 9.98899868e-01 -3.85937598e-04 1.12301823e+01] [ 2.00592061e-02 -5.55376854e-04 9.99798640e-01 6.00551302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9292541539999 meters Centerline goodness [0,1] 0.9988261188554659 Centerline is valid? [True, True] Translation: X:651.19, Y:11.23, Z:6.00 [[ 9.98786306e-01 -4.47255347e-02 -2.06286719e-02 6.51193547e+02] [ 4.47268957e-02 9.98999173e-01 -3.95626959e-04 1.12332377e+01] [ 2.06257208e-02 -5.27509665e-04 9.99787128e-01 6.00482709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.959254154 meters Centerline goodness [0,1] 0.9988261188554659 Centerline is valid? [True, True] Translation: X:651.22, Y:11.23, Z:6.01 [[ 9.98787920e-01 -4.46894601e-02 -2.06286929e-02 6.51224398e+02] [ 4.46908361e-02 9.99000788e-01 -3.94525595e-04 1.12337977e+01] [ 2.06257116e-02 -5.27866137e-04 9.99787128e-01 6.00511594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9892541539999 meters Centerline goodness [0,1] 0.9988258234961105 Centerline is valid? [True, True] Translation: X:651.26, Y:11.24, Z:6.01 [[ 9.98810418e-01 -4.38425241e-02 -2.13443636e-02 6.51256002e+02] [ 4.38438208e-02 9.99038314e-01 -4.07431935e-04 1.12357773e+01] [ 2.13416998e-02 -5.28871191e-04 9.99772100e-01 6.00554661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0192541539999 meters Centerline goodness [0,1] 0.9990119823418121 Centerline is valid? [True, True] Translation: X:651.29, Y:11.24, Z:6.01 [[ 9.98825589e-01 -4.35711641e-02 -2.11895253e-02 6.51286360e+02] [ 4.35723881e-02 9.99050191e-01 -4.04141875e-04 1.12374104e+01] [ 2.11870082e-02 -5.19610974e-04 9.99775395e-01 6.00589140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0492541539999 meters Centerline goodness [0,1] 0.9987390189567483 Centerline is valid? [True, True] Translation: X:651.32, Y:11.24, Z:6.01 [[ 9.98855950e-01 -4.29457162e-02 -2.10346330e-02 6.51316949e+02] [ 4.29467982e-02 9.99077280e-01 -4.00502931e-04 1.12386938e+01] [ 2.10324238e-02 -5.03325401e-04 9.99778667e-01 6.00621274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.079254154 meters Centerline goodness [0,1] 0.9989266773297416 Centerline is valid? [True, True] Translation: X:651.35, Y:11.24, Z:6.01 [[ 9.98855107e-01 -4.28761638e-02 -2.12157852e-02 6.51347806e+02] [ 4.28772606e-02 9.99080266e-01 -4.03397870e-04 1.12395968e+01] [ 2.12135685e-02 -5.06738727e-04 9.99774839e-01 6.00650352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1092541539999 meters Centerline goodness [0,1] 0.9987579731806412 Centerline is valid? [True, True] Translation: X:651.38, Y:11.24, Z:6.01 [[ 9.98859620e-01 -4.27495060e-02 -2.12588550e-02 6.51377122e+02] [ 4.27505742e-02 9.99085694e-01 -4.04425738e-04 1.12406879e+01] [ 2.12567069e-02 -5.04863717e-04 9.99773923e-01 6.00686933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1392541539999 meters Centerline goodness [0,1] 0.9985675163261007 Centerline is valid? [True, True] Translation: X:651.41, Y:11.24, Z:6.01 [[ 9.98891968e-01 -4.25905045e-02 -2.00221396e-02 6.51407947e+02] [ 4.25914168e-02 9.99092501e-01 -3.81053565e-04 1.12414753e+01] [ 2.00201988e-02 -4.72139947e-04 9.99799464e-01 6.00775714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1692541539999 meters Centerline goodness [0,1] 0.9987980262325503 Centerline is valid? [True, True] Translation: X:651.44, Y:11.24, Z:6.01 [[ 9.98915271e-01 -4.24233613e-02 -1.91973868e-02 6.51439331e+02] [ 4.24241758e-02 9.99099623e-01 -3.65010506e-04 1.12427935e+01] [ 1.91955869e-02 -4.49818743e-04 9.99815647e-01 6.00914784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.199254154 meters Centerline goodness [0,1] 0.9986928380173304 Centerline is valid? [True, True] Translation: X:651.47, Y:11.25, Z:6.01 [[ 9.99064489e-01 -3.99111092e-02 -1.66508183e-02 6.51470665e+02] [ 3.99113821e-02 9.99203173e-01 -3.16042156e-04 1.12454379e+01] [ 1.66501640e-02 -3.48810676e-04 9.99861316e-01 6.01078484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2292541539999 meters Centerline goodness [0,1] 0.9987967829776455 Centerline is valid? [True, True] Translation: X:651.50, Y:11.25, Z:6.01 [[ 9.99137191e-01 -3.86567240e-02 -1.51832885e-02 6.51500939e+02] [ 3.86568124e-02 9.99252505e-01 -2.87776593e-04 1.12459505e+01] [ 1.51830636e-02 -2.99409239e-04 9.99884686e-01 6.01223726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2592541539999 meters Centerline goodness [0,1] 0.9986065071891561 Centerline is valid? [True, True] Translation: X:651.53, Y:11.25, Z:6.01 [[ 9.99299471e-01 -3.46343309e-02 -1.41784975e-02 6.51531485e+02] [ 3.46340065e-02 9.99400027e-01 -2.68494817e-04 1.12481005e+01] [ 1.41792899e-02 -2.22751447e-04 9.99899444e-01 6.01277192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2892541539999 meters Centerline goodness [0,1] 0.9989025368283314 Centerline is valid? [True, True] Translation: X:651.56, Y:11.25, Z:6.01 [[ 9.99353642e-01 -3.30623434e-02 -1.41131227e-02 6.51563287e+02] [ 3.30618711e-02 9.99453271e-01 -2.66842770e-04 1.12517300e+01] [ 1.41142291e-02 -1.99935950e-04 9.99900369e-01 6.01384798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.319254154 meters Centerline goodness [0,1] 0.9986095603261214 Centerline is valid? [True, True] Translation: X:651.59, Y:11.25, Z:6.01 [[ 9.99374945e-01 -3.22279552e-02 -1.45285256e-02 6.51594568e+02] [ 3.22273781e-02 9.99480526e-01 -2.73904483e-04 1.12513142e+01] [ 1.45298058e-02 -1.94483011e-04 9.99894418e-01 6.01347441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3492541539999 meters Centerline goodness [0,1] 0.9989654808402829 Centerline is valid? [True, True] Translation: X:651.63, Y:11.25, Z:6.01 [[ 9.99362139e-01 -3.23222060e-02 -1.51851743e-02 6.51625428e+02] [ 3.23215958e-02 9.99477480e-01 -2.85664184e-04 1.12511474e+01] [ 1.51864730e-02 -2.05327096e-04 9.99884658e-01 6.01313421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3792541539999 meters Centerline goodness [0,1] 0.9987568216776586 Centerline is valid? [True, True] Translation: X:651.66, Y:11.25, Z:6.01 [[ 9.99249350e-01 -3.49698403e-02 -1.66687308e-02 6.51656329e+02] [ 3.49694784e-02 9.99388332e-01 -3.13268015e-04 1.12510014e+01] [ 1.66694900e-02 -2.69863963e-04 9.99861018e-01 6.01277548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4092541539999 meters Centerline goodness [0,1] 0.9988636602765093 Centerline is valid? [True, True] Translation: X:651.69, Y:11.25, Z:6.01 [[ 9.99180996e-01 -3.64824311e-02 -1.75033885e-02 6.51686671e+02] [ 3.64822750e-02 9.99334246e-01 -3.28330809e-04 1.12469193e+01] [ 1.75037138e-02 -3.10501528e-04 9.99846750e-01 6.01095125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.439254154 meters Centerline goodness [0,1] 0.9988431281813975 Centerline is valid? [True, True] Translation: X:651.72, Y:11.24, Z:6.01 [[ 9.99066830e-01 -3.92041936e-02 -1.81245899e-02 6.51717100e+02] [ 3.92044908e-02 9.99231151e-01 -3.39047331e-04 1.12428835e+01] [ 1.81239469e-02 -3.71834375e-04 9.99835679e-01 6.00999032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4692541539999 meters Centerline goodness [0,1] 0.9987795383288092 Centerline is valid? [True, True] Translation: X:651.75, Y:11.24, Z:6.01 [[ 9.98955153e-01 -4.17478193e-02 -1.85936033e-02 6.51747726e+02] [ 4.17485836e-02 9.99128087e-01 -3.47224786e-04 1.12397437e+01] [ 1.85918871e-02 -4.29394611e-04 9.99827064e-01 6.00925281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4992541539999 meters Centerline goodness [0,1] 0.9988035013329415 Centerline is valid? [True, True] Translation: X:651.78, Y:11.24, Z:6.01 [[ 9.98713248e-01 -4.68447446e-02 -1.94272378e-02 6.51778755e+02] [ 4.68465490e-02 9.98902032e-01 -3.62451272e-04 1.12409148e+01] [ 1.94228862e-02 -5.48114160e-04 9.99811208e-01 6.01092322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5292541539999 meters Centerline goodness [0,1] 0.9985072430250405 Centerline is valid? [True, True] Translation: X:651.81, Y:11.24, Z:6.01 [[ 9.98615273e-01 -4.86029712e-02 -2.01317550e-02 6.51810169e+02] [ 4.86052772e-02 9.98817995e-01 -3.75029288e-04 1.12397514e+01] [ 2.01261867e-02 -6.03999556e-04 9.99797265e-01 6.01013159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5592541539999 meters Centerline goodness [0,1] 0.9987174365551608 Centerline is valid? [True, True] Translation: X:651.84, Y:11.24, Z:6.01 [[ 9.98487454e-01 -5.13576055e-02 -1.96265162e-02 6.51840921e+02] [ 5.13603449e-02 9.98680120e-01 -3.64789786e-04 1.12405724e+01] [ 1.96193463e-02 -6.43786616e-04 9.99807315e-01 6.01206459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.589254154 meters Centerline goodness [0,1] 0.9986551514005337 Centerline is valid? [True, True] Translation: X:651.87, Y:11.24, Z:6.01 [[ 9.98396721e-01 -5.31652262e-02 -1.94279768e-02 6.51872347e+02] [ 5.31682719e-02 9.98585502e-01 -3.60086397e-04 1.12379685e+01] [ 1.94196401e-02 -6.73442876e-04 9.99811194e-01 6.01194573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6192541539999 meters Centerline goodness [0,1] 0.99869851798984 Centerline is valid? [True, True] Translation: X:651.90, Y:11.23, Z:6.01 [[ 9.98227555e-01 -5.63904739e-02 -1.90227203e-02 6.51903122e+02] [ 5.63939949e-02 9.98408530e-01 -3.51715483e-04 1.12329063e+01] [ 1.90122796e-02 -7.21675103e-04 9.99818990e-01 6.01195892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6492541539999 meters Centerline goodness [0,1] 0.9984892041043288 Centerline is valid? [True, True] Translation: X:651.94, Y:11.23, Z:6.01 [[ 9.98161782e-01 -5.76968615e-02 -1.85507425e-02 6.51935281e+02] [ 5.77004537e-02 9.98333882e-01 -3.41984064e-04 1.12343659e+01] [ 1.85395661e-02 -7.29030833e-04 9.99827862e-01 6.01298064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6792541539999 meters Centerline goodness [0,1] 0.9987407920418057 Centerline is valid? [True, True] Translation: X:651.97, Y:11.23, Z:6.01 [[ 9.98023503e-01 -6.03745841e-02 -1.74355226e-02 6.51966804e+02] [ 6.03781841e-02 9.98175522e-01 -3.20329967e-04 1.12296937e+01] [ 1.74230516e-02 -7.33028356e-04 9.99847938e-01 6.01375116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.709254154 meters Centerline goodness [0,1] 0.9984478889191853 Centerline is valid? [True, True] Translation: X:652.00, Y:11.23, Z:6.02 [[ 9.97941469e-01 -6.18360694e-02 -1.70036881e-02 6.51999178e+02] [ 6.18397230e-02 9.98086044e-01 -3.11335184e-04 1.12318208e+01] [ 1.69903955e-02 -7.40809070e-04 9.99855378e-01 6.01510470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7392541539999 meters Centerline goodness [0,1] 0.9985372173694989 Centerline is valid? [True, True] Translation: X:652.03, Y:11.23, Z:6.02 [[ 9.97875597e-01 -6.29645170e-02 -1.67261195e-02 6.52031066e+02] [ 6.29682307e-02 9.98015485e-01 -3.05042467e-04 1.12315403e+01] [ 1.67121332e-02 -7.48819721e-04 9.99860062e-01 6.01580722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7692541539999 meters Centerline goodness [0,1] 0.998494983277592 Centerline is valid? [True, True] Translation: X:652.06, Y:11.23, Z:6.02 [[ 9.97717665e-01 -6.54618664e-02 -1.65591385e-02 6.52062122e+02] [ 6.54658671e-02 9.97854764e-01 -3.00931965e-04 1.12284343e+01] [ 1.65433148e-02 -7.83813221e-04 9.99862843e-01 6.01559980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7992541539999 meters Centerline goodness [0,1] 0.9986157427798402 Centerline is valid? [True, True] Translation: X:652.09, Y:11.23, Z:6.02 [[ 9.97632263e-01 -6.66546285e-02 -1.69419259e-02 6.52093981e+02] [ 6.66590059e-02 9.97775768e-01 -3.06826047e-04 1.12272069e+01] [ 1.69246945e-02 -8.23232377e-04 9.99856428e-01 6.01552269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.829254154 meters Centerline goodness [0,1] 0.9984462268508798 Centerline is valid? [True, True] Translation: X:652.13, Y:11.23, Z:6.02 [[ 9.97497174e-01 -6.86414766e-02 -1.69627579e-02 6.52126117e+02] [ 6.86461721e-02 9.97641022e-01 -3.05979865e-04 1.12261347e+01] [ 1.69437461e-02 -8.59214349e-04 9.99856075e-01 6.01561168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8592541539999 meters Centerline goodness [0,1] 0.9986982173976946 Centerline is valid? [True, True] Translation: X:652.16, Y:11.23, Z:6.02 [[ 9.97444823e-01 -6.93434487e-02 -1.71846015e-02 6.52157580e+02] [ 6.93483906e-02 9.97592455e-01 -3.08876529e-04 1.12258368e+01] [ 1.71646474e-02 -8.83637163e-04 9.99852286e-01 6.01586965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8892541539999 meters Centerline goodness [0,1] 0.99867577509196 Centerline is valid? [True, True] Translation: X:652.19, Y:11.23, Z:6.02 [[ 9.97398811e-01 -6.99285599e-02 -1.74816784e-02 6.52189463e+02] [ 6.99337831e-02 9.97551587e-01 -3.13115991e-04 1.12275763e+01] [ 1.74607718e-02 -9.10258389e-04 9.99847135e-01 6.01548385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9192541539999 meters Centerline goodness [0,1] 0.998461732973702 Centerline is valid? [True, True] Translation: X:652.22, Y:11.23, Z:6.02 [[ 9.97410647e-01 -6.96967454e-02 -1.77303459e-02 6.52221429e+02] [ 6.97021046e-02 9.97567801e-01 -3.16278866e-04 1.12279173e+01] [ 1.77092657e-02 -9.20382514e-04 9.99842755e-01 6.01534398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.949254154 meters Centerline goodness [0,1] 0.9987983303115908 Centerline is valid? [True, True] Translation: X:652.25, Y:11.23, Z:6.02 [[ 9.97474739e-01 -6.87686166e-02 -1.77488600e-02 6.52253222e+02] [ 6.87738631e-02 9.97632225e-01 -3.15330926e-04 1.12283876e+01] [ 1.77285196e-02 -9.06123038e-04 9.99842427e-01 6.01528921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9792541539999 meters Centerline goodness [0,1] 0.998697369526851 Centerline is valid? [True, True] Translation: X:652.28, Y:11.23, Z:6.02 [[ 9.97682706e-01 -6.56604911e-02 -1.78302342e-02 6.52283661e+02] [ 6.56653054e-02 9.97841655e-01 -3.15948631e-04 1.12291300e+01] [ 1.78124958e-02 -8.55611292e-04 9.99840979e-01 6.01571572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0092541539999 meters Centerline goodness [0,1] 0.9988013122476447 Centerline is valid? [True, True] Translation: X:652.32, Y:11.23, Z:6.02 [[ 9.97843715e-01 -6.32296390e-02 -1.76049275e-02 6.52315323e+02] [ 6.32339662e-02 9.97998682e-01 -3.11310063e-04 1.12337739e+01] [ 1.75893785e-02 -8.02590604e-04 9.99844973e-01 6.01658802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0392541539999 meters Centerline goodness [0,1] 0.9984415803217926 Centerline is valid? [True, True] Translation: X:652.35, Y:11.24, Z:6.02 [[ 9.98214786e-01 -5.71111381e-02 -1.74802243e-02 6.52346246e+02] [ 5.71144778e-02 9.98367588e-01 -3.08513744e-04 1.12414946e+01] [ 1.74693090e-02 -6.90410904e-04 9.99847162e-01 6.01723556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.069254154 meters Centerline goodness [0,1] 0.9985258192233173 Centerline is valid? [True, True] Translation: X:652.38, Y:11.24, Z:6.02 [[ 9.98408881e-01 -5.37152291e-02 -1.71575482e-02 6.52376338e+02] [ 5.37179493e-02 9.98556103e-01 -3.02621517e-04 1.12411917e+01] [ 1.71490298e-02 -6.19528294e-04 9.99852753e-01 6.01697827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0992541539999 meters Centerline goodness [0,1] 0.9986298482293423 Centerline is valid? [True, True] Translation: X:652.41, Y:11.25, Z:6.02 [[ 9.98620797e-01 -4.98892341e-02 -1.63575073e-02 6.52407523e+02] [ 4.98912005e-02 9.98754617e-01 -2.88089244e-04 1.12505299e+01] [ 1.63515085e-02 -5.28403765e-04 9.99866166e-01 6.01884062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1292541539999 meters Centerline goodness [0,1] 0.9988411537894271 Centerline is valid? [True, True] Translation: X:652.44, Y:11.25, Z:6.02 [[ 9.98952311e-01 -4.27585041e-02 -1.63092390e-02 6.52437439e+02] [ 4.27595148e-02 9.99085353e-01 -2.86891537e-04 1.12548734e+01] [ 1.63065889e-02 -4.10784184e-04 9.99866954e-01 6.01877124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1592541539999 meters Centerline goodness [0,1] 0.9987364164771292 Centerline is valid? [True, True] Translation: X:652.47, Y:11.26, Z:6.02 [[ 9.99093286e-01 -3.91883942e-02 -1.66395715e-02 6.52467868e+02] [ 3.91889536e-02 9.99231775e-01 -2.92572365e-04 1.12569542e+01] [ 1.66382540e-02 -3.59780308e-04 9.99861510e-01 6.01829387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.189254154 meters Centerline goodness [0,1] 0.9986483632523759 Centerline is valid? [True, True] Translation: X:652.50, Y:11.26, Z:6.02 [[ 9.99222223e-01 -3.56278313e-02 -1.68998917e-02 6.52499682e+02] [ 3.56279091e-02 9.99365081e-01 -2.96571053e-04 1.12618301e+01] [ 1.68997278e-02 -3.05767417e-04 9.99857143e-01 6.01893378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2192541539999 meters Centerline goodness [0,1] 0.9988170180404748 Centerline is valid? [True, True] Translation: X:652.53, Y:11.27, Z:6.02 [[ 9.99429455e-01 -2.88348552e-02 -1.75873476e-02 6.52530456e+02] [ 2.88338996e-02 9.99584169e-01 -3.07959712e-04 1.12666653e+01] [ 1.75889142e-02 -1.99327807e-04 9.99845283e-01 6.01885287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2492541539999 meters Centerline goodness [0,1] 0.9987748980841941 Centerline is valid? [True, True] Translation: X:652.56, Y:11.27, Z:6.02 [[ 9.99503617e-01 -2.62699191e-02 -1.73899503e-02 6.52560049e+02] [ 2.62685971e-02 9.99654875e-01 -3.04479866e-04 1.12684763e+01] [ 1.73919473e-02 -1.52480871e-04 9.99848737e-01 6.01930973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2792541539999 meters Centerline goodness [0,1] 0.99894340898525 Centerline is valid? [True, True] Translation: X:652.59, Y:11.27, Z:6.02 [[ 9.99614616e-01 -2.25353313e-02 -1.62104569e-02 6.52588804e+02] [ 2.25336831e-02 9.99746044e-01 -2.84342029e-04 1.12703127e+01] [ 1.62127479e-02 -8.10488507e-05 9.99868561e-01 6.02041248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3092541539999 meters Centerline goodness [0,1] 0.9987945947089052 Centerline is valid? [True, True] Translation: X:652.62, Y:11.27, Z:6.02 [[ 9.99634151e-01 -2.19264018e-02 -1.58365503e-02 6.52617653e+02] [ 2.19247190e-02 9.99759585e-01 -2.79894676e-04 1.12713625e+01] [ 1.58388800e-02 -6.74196380e-05 9.99874555e-01 6.02165529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.339254154 meters Centerline goodness [0,1] 0.9986706897643112 Centerline is valid? [True, True] Translation: X:652.65, Y:11.27, Z:6.02 [[ 9.99609981e-01 -2.25130817e-02 -1.65241616e-02 6.52646280e+02] [ 2.25112827e-02 9.99746545e-01 -2.94893360e-04 1.12681629e+01] [ 1.65266124e-02 -7.72017255e-05 9.99863423e-01 6.02060510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3692541539999 meters Centerline goodness [0,1] 0.9989673122721238 Centerline is valid? [True, True] Translation: X:652.68, Y:11.27, Z:6.02 [[ 9.99578668e-01 -2.39817207e-02 -1.63512589e-02 6.52675169e+02] [ 2.39801181e-02 9.99712392e-01 -2.94102078e-04 1.12672882e+01] [ 1.63536093e-02 -9.81269560e-05 9.99866266e-01 6.02135149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3992541539999 meters Centerline goodness [0,1] 0.9989877261799317 Centerline is valid? [True, True] Translation: X:652.70, Y:11.26, Z:6.02 [[ 9.99469197e-01 -2.77668543e-02 -1.70389648e-02 6.52704143e+02] [ 2.77656139e-02 9.99614413e-01 -3.09403310e-04 1.12629164e+01] [ 1.70409860e-02 -1.63858240e-04 9.99854778e-01 6.02071633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4292541539999 meters Centerline goodness [0,1] 0.9990938975050573 Centerline is valid? [True, True] Translation: X:652.73, Y:11.26, Z:6.02 [[ 9.99405004e-01 -3.00467682e-02 -1.69360462e-02 6.52733710e+02] [ 3.00458569e-02 9.99548474e-01 -3.08310046e-04 1.12611139e+01] [ 1.69376628e-02 -2.00731417e-04 9.99856527e-01 6.02118346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.459254154 meters Centerline goodness [0,1] 0.9991572915349934 Centerline is valid? [True, True] Translation: X:652.76, Y:11.26, Z:6.02 [[ 9.99322172e-01 -3.27978786e-02 -1.67181242e-02 6.52764103e+02] [ 3.27973700e-02 9.99461975e-01 -3.04668997e-04 1.12598905e+01] [ 1.67191219e-02 -2.43848021e-04 9.99860196e-01 6.02224499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4892541539999 meters Centerline goodness [0,1] 0.9986576618146734 Centerline is valid? [True, True] Translation: X:652.79, Y:11.26, Z:6.02 [[ 9.99229544e-01 -3.56270113e-02 -1.64631532e-02 6.52794948e+02] [ 3.56269019e-02 9.99365115e-01 -3.00022438e-04 1.12577541e+01] [ 1.64633899e-02 -2.86739862e-04 9.99864428e-01 6.02230843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5192541539999 meters Centerline goodness [0,1] 0.9988248872101564 Centerline is valid? [True, True] Translation: X:652.83, Y:11.26, Z:6.02 [[ 9.99117956e-01 -3.85567969e-02 -1.66337953e-02 6.52826704e+02] [ 3.85570955e-02 9.99256353e-01 -3.02863514e-04 1.12551903e+01] [ 1.66331031e-02 -3.38754460e-04 9.99861603e-01 6.02258283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5492541539999 meters Centerline goodness [0,1] 0.9986805730082935 Centerline is valid? [True, True] Translation: X:652.86, Y:11.25, Z:6.02 [[ 9.98833832e-01 -4.52445385e-02 -1.68495892e-02 6.52858242e+02] [ 4.52458062e-02 9.98975837e-01 -3.06165655e-04 1.12491409e+01] [ 1.68461848e-02 -4.56564631e-04 9.99857989e-01 6.02260317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.579254154 meters Centerline goodness [0,1] 0.998509874703549 Centerline is valid? [True, True] Translation: X:652.89, Y:11.24, Z:6.02 [[ 9.98672308e-01 -4.84120229e-02 -1.76038766e-02 6.52888637e+02] [ 4.84139073e-02 9.98827308e-01 -3.19359195e-04 1.12434533e+01] [ 1.75986935e-02 -5.33337265e-04 9.99844989e-01 6.02188103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6092541539999 meters Centerline goodness [0,1] 0.9988465490845794 Centerline is valid? [True, True] Translation: X:652.92, Y:11.24, Z:6.02 [[ 9.98329450e-01 -5.47297308e-02 -1.85193551e-02 6.52919218e+02] [ 5.47329082e-02 9.98500975e-01 -3.35618315e-04 1.12405243e+01] [ 1.85099624e-02 -6.78560516e-04 9.99828446e-01 6.02252024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6392541539999 meters Centerline goodness [0,1] 0.9985947397122362 Centerline is valid? [True, True] Translation: X:652.95, Y:11.24, Z:6.02 [[ 9.98154187e-01 -5.76280900e-02 -1.91630285e-02 6.52950426e+02] [ 5.76320358e-02 9.98337833e-01 -3.46741387e-04 1.12391740e+01] [ 1.91511584e-02 -7.58302981e-04 9.99816312e-01 6.02293501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6692541539999 meters Centerline goodness [0,1] 0.9986164392176593 Centerline is valid? [True, True] Translation: X:652.98, Y:11.23, Z:6.02 [[ 9.97839454e-01 -6.27175634e-02 -1.95686068e-02 6.52980408e+02] [ 6.27226616e-02 9.98030933e-01 -3.53724967e-04 1.12342632e+01] [ 1.95522597e-02 -8.74434376e-04 9.99808454e-01 6.02333665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.699254154 meters Centerline goodness [0,1] 0.99887298075719 Centerline is valid? [True, True] Translation: X:653.01, Y:11.23, Z:6.02 [[ 9.97682822e-01 -6.52008117e-02 -1.94381370e-02 6.53011488e+02] [ 6.52063231e-02 9.97871741e-01 -3.50814195e-04 1.12322234e+01] [ 1.94196409e-02 -9.17488141e-04 9.99811000e-01 6.02329661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7292541539999 meters Centerline goodness [0,1] 0.9985998495360695 Centerline is valid? [True, True] Translation: X:653.04, Y:11.23, Z:6.02 [[ 9.97384016e-01 -6.93205260e-02 -2.04887786e-02 6.53042813e+02] [ 6.93275315e-02 9.97593884e-01 -3.69029453e-04 1.12280911e+01] [ 2.04650615e-02 -1.05237237e-03 9.99790015e-01 6.02265758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7592541539999 meters Centerline goodness [0,1] 0.9986820359406707 Centerline is valid? [True, True] Translation: X:653.08, Y:11.23, Z:6.02 [[ 9.97249250e-01 -7.09754045e-02 -2.13641265e-02 6.53075156e+02] [ 7.09834231e-02 9.97477422e-01 -3.83732754e-04 1.12269936e+01] [ 2.13374694e-02 -1.13382163e-03 9.99771687e-01 6.02260121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7892541539999 meters Centerline goodness [0,1] 0.998596564725597 Centerline is valid? [True, True] Translation: X:653.11, Y:11.23, Z:6.02 [[ 9.97119265e-01 -7.25818576e-02 -2.20237510e-02 6.53106854e+02] [ 7.25908131e-02 9.97361729e-01 -3.93615093e-04 1.12275083e+01] [ 2.19942157e-02 -1.20624080e-03 9.99757370e-01 6.02279313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.819254154 meters Centerline goodness [0,1] 0.9983676202833643 Centerline is valid? [True, True] Translation: X:653.14, Y:11.23, Z:6.02 [[ 9.96914705e-01 -7.52539098e-02 -2.23141427e-02 6.53136590e+02] [ 7.52637911e-02 9.97163579e-01 -3.97864167e-04 1.12250467e+01] [ 2.22807912e-02 -1.28281034e-03 9.99750929e-01 6.02272933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8492541539999 meters Centerline goodness [0,1] 0.9984755460886272 Centerline is valid? [True, True] Translation: X:653.17, Y:11.23, Z:6.02 [[ 9.96849480e-01 -7.62403948e-02 -2.18750383e-02 6.53168824e+02] [ 7.62501477e-02 9.97088644e-01 -3.89110200e-04 1.12255386e+01] [ 2.18410182e-02 -1.28009060e-03 9.99760637e-01 6.02341323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8792541539999 meters Centerline goodness [0,1] 0.9984755460886272 Centerline is valid? [True, True] Translation: X:653.20, Y:11.23, Z:6.02 [[ 9.96855116e-01 -7.61666541e-02 -2.18750669e-02 6.53200564e+02] [ 7.61764247e-02 9.97094279e-01 -3.87493012e-04 1.12260413e+01] [ 2.18410182e-02 -1.28009000e-03 9.99760637e-01 6.02371044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9092541539999 meters Centerline goodness [0,1] 0.9984537590371516 Centerline is valid? [True, True] Translation: X:653.23, Y:11.23, Z:6.02 [[ 9.96832573e-01 -7.65621925e-02 -2.15186331e-02 6.53231730e+02] [ 7.65717843e-02 9.97063999e-01 -3.79068036e-04 1.12250900e+01] [ 2.14844766e-02 -1.26985276e-03 9.99768376e-01 6.02391543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9392541539999 meters Centerline goodness [0,1] 0.9984703713016512 Centerline is valid? [True, True] Translation: X:653.26, Y:11.23, Z:6.02 [[ 9.96788104e-01 -7.70247370e-02 -2.19240760e-02 6.53263434e+02] [ 7.70348616e-02 9.97028326e-01 -3.83639897e-04 1.12275882e+01] [ 2.18884745e-02 -1.30651047e-03 9.99759565e-01 6.02432496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9692541539999 meters Centerline goodness [0,1] 0.998575886405998 Centerline is valid? [True, True] Translation: X:653.29, Y:11.23, Z:6.02 [[ 9.96822837e-01 -7.64438441e-02 -2.23734107e-02 6.53294198e+02] [ 7.64542830e-02 9.97073012e-01 -3.89686616e-04 1.12279548e+01] [ 2.23377131e-02 -1.32209455e-03 9.99749608e-01 6.02420898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9992541539999 meters Centerline goodness [0,1] 0.9983052975144363 Centerline is valid? [True, True] Translation: X:653.32, Y:11.23, Z:6.02 [[ 9.96920982e-01 -7.49292976e-02 -2.31118280e-02 6.53324614e+02] [ 7.49400496e-02 9.97187960e-01 -4.01770007e-04 1.12304338e+01] [ 2.30769409e-02 -1.33146858e-03 9.99732805e-01 6.02337628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0292541539999 meters Centerline goodness [0,1] 0.9982802013422819 Centerline is valid? [True, True] Translation: X:653.36, Y:11.23, Z:6.02 [[ 9.97002809e-01 -7.37937301e-02 -2.32354222e-02 6.53356324e+02] [ 7.38043115e-02 9.97272661e-01 -4.02994317e-04 1.12340867e+01] [ 2.32017898e-02 -1.31308787e-03 9.99729940e-01 6.02347568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0592541539999 meters Centerline goodness [0,1] 0.9983234135300528 Centerline is valid? [True, True] Translation: X:653.39, Y:11.23, Z:6.02 [[ 9.97098297e-01 -7.24185942e-02 -2.34634595e-02 6.53386468e+02] [ 7.24290229e-02 9.97373487e-01 -4.06182380e-04 1.12348108e+01] [ 2.34312476e-02 -1.29443169e-03 9.99724613e-01 6.02311671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.089254154 meters Centerline goodness [0,1] 0.9982179546312214 Centerline is valid? [True, True] Translation: X:653.42, Y:11.24, Z:6.02 [[ 9.97264845e-01 -7.00217092e-02 -2.36598495e-02 6.53418372e+02] [ 7.00316626e-02 9.97544685e-01 -4.08656287e-04 1.12390945e+01] [ 2.36303719e-02 -1.24940005e-03 9.99719983e-01 6.02264492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1192541539999 meters Centerline goodness [0,1] 0.9983647113086502 Centerline is valid? [True, True] Translation: X:653.45, Y:11.24, Z:6.02 [[ 9.97333420e-01 -6.88990499e-02 -2.40618022e-02 6.53449445e+02] [ 6.89090432e-02 9.97622861e-01 -4.14580983e-04 1.12413811e+01] [ 2.40331682e-02 -1.24460030e-03 9.99710387e-01 6.02262229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1492541539999 meters Centerline goodness [0,1] 0.9984497098443424 Centerline is valid? [True, True] Translation: X:653.48, Y:11.25, Z:6.02 [[ 9.97443277e-01 -6.69769258e-02 -2.49198796e-02 6.53479795e+02] [ 6.69870618e-02 9.97753752e-01 -4.28756793e-04 1.12467354e+01] [ 2.48926202e-02 -1.24164893e-03 9.99689360e-01 6.02248630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1792541539999 meters Centerline goodness [0,1] 0.9985114367779945 Centerline is valid? [True, True] Translation: X:653.51, Y:11.25, Z:6.02 [[ 9.97507577e-01 -6.59890848e-02 -2.49814868e-02 6.53511010e+02] [ 6.59989795e-02 9.97819598e-01 -4.29116999e-04 1.12493546e+01] [ 2.49553341e-02 -1.22070518e-03 9.99687822e-01 6.02252218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.209254154 meters Centerline goodness [0,1] 0.9987181373064072 Centerline is valid? [True, True] Translation: X:653.54, Y:11.26, Z:6.02 [[ 9.97613493e-01 -6.45497816e-02 -2.45080423e-02 6.53542122e+02] [ 6.45588924e-02 9.97913810e-01 -4.20118605e-04 1.12573677e+01] [ 2.44840325e-02 -1.16309608e-03 9.99699545e-01 6.02460535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2392541539999 meters Centerline goodness [0,1] 0.9985757074335505 Centerline is valid? [True, True] Translation: X:653.57, Y:11.26, Z:6.02 [[ 9.97861735e-01 -6.09208762e-02 -2.36771026e-02 6.53571710e+02] [ 6.09283616e-02 9.98142059e-01 -4.05803724e-04 1.12577754e+01] [ 2.36578338e-02 -1.03767106e-03 9.99719576e-01 6.02320105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2692541539999 meters Centerline goodness [0,1] 0.9986768597471332 Centerline is valid? [True, True] Translation: X:653.60, Y:11.26, Z:6.03 [[ 9.97991751e-01 -5.88965039e-02 -2.33166752e-02 6.53602835e+02] [ 5.89032192e-02 9.98263618e-01 -3.99295044e-04 1.12648660e+01] [ 2.32997056e-02 -9.74934069e-04 9.99728050e-01 6.02535451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2992541539999 meters Centerline goodness [0,1] 0.9985293190747316 Centerline is valid? [True, True] Translation: X:653.63, Y:11.27, Z:6.03 [[ 9.98133986e-01 -5.66463290e-02 -2.27977842e-02 6.53633836e+02] [ 5.66521814e-02 9.98393900e-01 -3.89586249e-04 1.12719396e+01] [ 2.27832373e-02 -9.02684930e-04 9.99740021e-01 6.02727357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.329254154 meters Centerline goodness [0,1] 0.9987798977638471 Centerline is valid? [True, True] Translation: X:653.66, Y:11.27, Z:6.03 [[ 9.98460211e-01 -5.12094920e-02 -2.13259126e-02 6.53664085e+02] [ 5.12133810e-02 9.98687667e-01 -3.64110003e-04 1.12730630e+01] [ 2.13165718e-02 -7.28622735e-04 9.99772511e-01 6.02637742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3592541539999 meters Centerline goodness [0,1] 0.9985671541152177 Centerline is valid? [True, True] Translation: X:653.70, Y:11.28, Z:6.03 [[ 9.98634089e-01 -4.78880094e-02 -2.08972656e-02 6.53695304e+02] [ 4.78910257e-02 9.98852503e-01 -3.56372143e-04 1.12836732e+01] [ 2.08903520e-02 -6.44906114e-04 9.99781565e-01 6.02921867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3892541539999 meters Centerline goodness [0,1] 0.9987553792928867 Centerline is valid? [True, True] Translation: X:653.73, Y:11.29, Z:6.03 [[ 9.98974986e-01 -4.06331863e-02 -1.99479598e-02 6.53725815e+02] [ 4.06344994e-02 9.99174020e-01 -3.39665028e-04 1.12919104e+01] [ 1.99452849e-02 -4.71258496e-04 9.99800962e-01 6.02997012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4192541539999 meters Centerline goodness [0,1] 0.9988602785985647 Centerline is valid? [True, True] Translation: X:653.76, Y:11.29, Z:6.03 [[ 9.99123769e-01 -3.69940970e-02 -1.95737320e-02 6.53756201e+02] [ 3.69946701e-02 9.99315407e-01 -3.32940653e-04 1.12917183e+01] [ 1.95726488e-02 -3.91474837e-04 9.99808361e-01 6.02806389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.449254154 meters Centerline goodness [0,1] 0.9987916560671585 Centerline is valid? [True, True] Translation: X:653.79, Y:11.30, Z:6.03 [[ 9.99252528e-01 -3.34624498e-02 -1.93558969e-02 6.53786564e+02] [ 3.34623511e-02 9.99439925e-01 -3.29067937e-04 1.13003642e+01] [ 1.93560675e-02 -3.18871849e-04 9.99812603e-01 6.03093138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4792541539999 meters Centerline goodness [0,1] 0.9988123263557507 Centerline is valid? [True, True] Translation: X:653.82, Y:11.31, Z:6.03 [[ 9.99428853e-01 -2.80130969e-02 -1.89006334e-02 6.53816386e+02] [ 2.80120284e-02 9.99607535e-01 -3.21328042e-04 1.13076319e+01] [ 1.89022169e-02 -2.08300564e-04 9.99821315e-01 6.03178640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5092541539999 meters Centerline goodness [0,1] 0.9989613803043792 Centerline is valid? [True, True] Translation: X:653.85, Y:11.31, Z:6.03 [[ 9.99478247e-01 -2.63561348e-02 -1.86704836e-02 6.53846203e+02] [ 2.63547970e-02 9.99652602e-01 -3.17745832e-04 1.13105453e+01] [ 1.86723720e-02 -1.74476756e-04 9.99825641e-01 6.03203911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5392541539999 meters Centerline goodness [0,1] 0.9988529186846801 Centerline is valid? [True, True] Translation: X:653.88, Y:11.31, Z:6.03 [[ 9.99508926e-01 -2.53631910e-02 -1.84015067e-02 6.53875410e+02] [ 2.53616784e-02 9.99678291e-01 -3.15597433e-04 1.13126827e+01] [ 1.84035913e-02 -1.51250643e-04 9.99830628e-01 6.03151240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.569254154 meters Centerline goodness [0,1] 0.9989372103898312 Centerline is valid? [True, True] Translation: X:653.91, Y:11.31, Z:6.03 [[ 9.99486671e-01 -2.60314853e-02 -1.86750112e-02 6.53905060e+02] [ 2.60299966e-02 9.99661110e-01 -3.22830467e-04 1.13127543e+01] [ 1.86770861e-02 -1.63445727e-04 9.99825555e-01 6.03171579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5992541539999 meters Centerline goodness [0,1] 0.998938631683967 Centerline is valid? [True, True] Translation: X:653.93, Y:11.31, Z:6.03 [[ 9.99465094e-01 -2.69932283e-02 -1.84632678e-02 6.53933279e+02] [ 2.69919222e-02 9.99635600e-01 -3.19984417e-04 1.13122591e+01] [ 1.84651772e-02 -1.78545832e-04 9.99829488e-01 6.03134878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6292541539999 meters Centerline goodness [0,1] 0.9990230019327571 Centerline is valid? [True, True] Translation: X:653.96, Y:11.31, Z:6.03 [[ 9.99369234e-01 -3.02458385e-02 -1.86097664e-02 6.53962310e+02] [ 3.02450543e-02 9.99542461e-01 -3.23654573e-04 1.13109806e+01] [ 1.86110409e-02 -2.39402973e-04 9.99826771e-01 6.03134570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6592541539999 meters Centerline goodness [0,1] 0.9988957315778297 Centerline is valid? [True, True] Translation: X:653.99, Y:11.31, Z:6.03 [[ 9.99314786e-01 -3.21128117e-02 -1.84044837e-02 6.53992310e+02] [ 3.21123467e-02 9.99484214e-01 -3.20872412e-04 1.13103189e+01] [ 1.84052950e-02 -2.70358614e-04 9.99830572e-01 6.03161484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6892541539999 meters Centerline goodness [0,1] 0.9988326435317839 Centerline is valid? [True, True] Translation: X:654.02, Y:11.31, Z:6.03 [[ 9.99178480e-01 -3.60762414e-02 -1.84626365e-02 6.54022666e+02] [ 3.60764467e-02 9.99348981e-01 -3.22050495e-04 1.13078527e+01] [ 1.84622353e-02 -3.44280396e-04 9.99829499e-01 6.03156933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7192541539999 meters Centerline goodness [0,1] 0.9987893976722454 Centerline is valid? [True, True] Translation: X:654.05, Y:11.31, Z:6.03 [[ 9.99102501e-01 -3.81634583e-02 -1.83777761e-02 6.54053968e+02] [ 3.81640206e-02 9.99271437e-01 -3.20243523e-04 1.13080546e+01] [ 1.83766083e-02 -3.81413720e-04 9.99831063e-01 6.03226170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7492541539999 meters Centerline goodness [0,1] 0.9987473992611778 Centerline is valid? [True, True] Translation: X:654.08, Y:11.31, Z:6.03 [[ 9.99032957e-01 -3.99065260e-02 -1.84559026e-02 6.54084208e+02] [ 3.99073997e-02 9.99203331e-01 -3.21100197e-04 1.13051652e+01] [ 1.84540134e-02 -4.15737404e-04 9.99829624e-01 6.03170628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7792541539999 meters Centerline goodness [0,1] 0.9988538681948425 Centerline is valid? [True, True] Translation: X:654.12, Y:11.31, Z:6.03 [[ 9.98953343e-01 -4.16654692e-02 -1.88734745e-02 6.54115816e+02] [ 4.16667097e-02 9.99131512e-01 -3.27669987e-04 1.13063844e+01] [ 1.88707357e-02 -4.59068555e-04 9.99821826e-01 6.03255401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8092541539999 meters Centerline goodness [0,1] 0.9986841826014984 Centerline is valid? [True, True] Translation: X:654.15, Y:11.30, Z:6.03 [[ 9.98834682e-01 -4.43045068e-02 -1.91412944e-02 6.54146940e+02] [ 4.43062838e-02 9.99017939e-01 -3.31441177e-04 1.13044997e+01] [ 1.91371809e-02 -5.17024681e-04 9.99816734e-01 6.03254245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.839254154 meters Centerline goodness [0,1] 0.9987905279239518 Centerline is valid? [True, True] Translation: X:654.18, Y:11.30, Z:6.03 [[ 9.98806379e-01 -4.49136454e-02 -1.91984792e-02 6.54177965e+02] [ 4.49155623e-02 9.98990732e-01 -3.31552350e-04 1.13031406e+01] [ 1.91939940e-02 -5.31153885e-04 9.99815637e-01 6.03280759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8692541539999 meters Centerline goodness [0,1] 0.9987485417329516 Centerline is valid? [True, True] Translation: X:654.21, Y:11.30, Z:6.03 [[ 9.98825119e-01 -4.49945727e-02 -1.79963950e-02 6.54209107e+02] [ 4.49962870e-02 9.98987106e-01 -3.09854771e-04 1.13022529e+01] [ 1.79921083e-02 -5.00280225e-04 9.99838004e-01 6.03347629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8992541539999 meters Centerline goodness [0,1] 0.9984509941222653 Centerline is valid? [True, True] Translation: X:654.24, Y:11.30, Z:6.03 [[ 9.98829496e-01 -4.47468781e-02 -1.83672461e-02 6.54241779e+02] [ 4.47486429e-02 9.98998228e-01 -3.15099422e-04 1.13023228e+01] [ 1.83629460e-02 -5.07178738e-04 9.99831258e-01 6.03359895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9292541539999 meters Centerline goodness [0,1] 0.998748355891213 Centerline is valid? [True, True] Translation: X:654.27, Y:11.30, Z:6.03 [[ 9.98863089e-01 -4.38506084e-02 -1.86990396e-02 6.54273762e+02] [ 4.38523056e-02 9.99037974e-01 -3.19454745e-04 1.13040552e+01] [ 1.86950589e-02 -5.00904446e-04 9.99825107e-01 6.03424404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.959254154 meters Centerline goodness [0,1] 0.9987695440948724 Centerline is valid? [True, True] Translation: X:654.31, Y:11.31, Z:6.03 [[ 9.98973457e-01 -4.11861162e-02 -1.88609529e-02 6.54305205e+02] [ 4.11873877e-02 9.99151388e-01 -3.21198870e-04 1.13075867e+01] [ 1.88581762e-02 -4.55964233e-04 9.99822065e-01 6.03478995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9892541539999 meters Centerline goodness [0,1] 0.9988338316052838 Centerline is valid? [True, True] Translation: X:654.34, Y:11.31, Z:6.03 [[ 9.99037766e-01 -3.93990573e-02 -1.92680376e-02 6.54336078e+02] [ 3.94000658e-02 9.99223462e-01 -3.27423581e-04 1.13083945e+01] [ 1.92659754e-02 -4.32053426e-04 9.99814301e-01 6.03459873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0192541539999 meters Centerline goodness [0,1] 0.9989791578051893 Centerline is valid? [True, True] Translation: X:654.37, Y:11.31, Z:6.03 [[ 9.99193161e-01 -3.48197162e-02 -2.00153730e-02 6.54367795e+02] [ 3.48199046e-02 9.99393546e-01 -3.39192086e-04 1.13120982e+01] [ 2.00150452e-02 -3.58014967e-04 9.99799615e-01 6.03450676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0492541539999 meters Centerline goodness [0,1] 0.9987685513492855 Centerline is valid? [True, True] Translation: X:654.40, Y:11.31, Z:6.03 [[ 9.99275274e-01 -3.23514007e-02 -2.00577829e-02 6.54398305e+02] [ 3.23511031e-02 9.99476508e-01 -3.39400527e-04 1.13147448e+01] [ 2.00582629e-02 -3.09736849e-04 9.99798765e-01 6.03486359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.079254154 meters Centerline goodness [0,1] 0.9988076480858493 Centerline is valid? [True, True] Translation: X:654.43, Y:11.32, Z:6.04 [[ 9.99409116e-01 -2.76887104e-02 -2.03655092e-02 6.54428700e+02] [ 2.76874357e-02 9.99616570e-01 -3.44607607e-04 1.13182839e+01] [ 2.03672422e-02 -2.19464743e-04 9.99792542e-01 6.03563661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1092541539999 meters Centerline goodness [0,1] 0.9988710914202948 Centerline is valid? [True, True] Translation: X:654.46, Y:11.32, Z:6.04 [[ 9.99462102e-01 -2.55773862e-02 -2.05256851e-02 6.54457632e+02] [ 2.55755872e-02 9.99672830e-01 -3.50191763e-04 1.13201986e+01] [ 2.05279267e-02 -1.74953054e-04 9.99789265e-01 6.03625625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1392541539999 meters Centerline goodness [0,1] 0.9987639060568603 Centerline is valid? [True, True] Translation: X:654.49, Y:11.32, Z:6.04 [[ 9.99557631e-01 -2.13201597e-02 -2.07362721e-02 6.54485078e+02] [ 2.13173354e-02 9.99772696e-01 -3.57257222e-04 1.13227985e+01] [ 2.07391755e-02 -8.49428860e-05 9.99784917e-01 6.03608823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1692541539999 meters Centerline goodness [0,1] 0.9989752567195406 Centerline is valid? [True, True] Translation: X:654.51, Y:11.32, Z:6.04 [[ 9.99572897e-01 -1.96791873e-02 -2.16044725e-02 6.54513251e+02] [ 1.96756431e-02 9.99806345e-01 -3.76624949e-04 1.13242849e+01] [ 2.16077003e-02 -4.86177973e-05 9.99766525e-01 6.03629272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.199254154 meters Centerline goodness [0,1] 0.9988890787899505 Centerline is valid? [True, True] Translation: X:654.54, Y:11.33, Z:6.04 [[ 9.99585055e-01 -1.82979796e-02 -2.22463993e-02 6.54541254e+02] [ 1.82937924e-02 9.99832578e-01 -3.91735133e-04 1.13252141e+01] [ 2.22498427e-02 -1.53984264e-05 9.99752441e-01 6.03582977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2292541539999 meters Centerline goodness [0,1] 0.9989310529128808 Centerline is valid? [True, True] Translation: X:654.57, Y:11.33, Z:6.04 [[ 9.99612353e-01 -1.63250119e-02 -2.25530125e-02 6.54569621e+02] [ 1.63201021e-02 9.99866738e-01 -4.01754383e-04 1.13253502e+01] [ 2.25565657e-02 3.35311789e-05 9.99745568e-01 6.03585715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2592541539999 meters Centerline goodness [0,1] 0.9988677874858474 Centerline is valid? [True, True] Translation: X:654.60, Y:11.33, Z:6.04 [[ 9.99601270e-01 -1.64750483e-02 -2.29319568e-02 6.54597978e+02] [ 1.64698603e-02 9.99864276e-01 -4.15098472e-04 1.13253449e+01] [ 2.29356832e-02 3.72468338e-05 9.99736942e-01 6.03619089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2892541539999 meters Centerline goodness [0,1] 0.9989743370584842 Centerline is valid? [True, True] Translation: X:654.63, Y:11.32, Z:6.04 [[ 9.99593282e-01 -1.64893826e-02 -2.32673797e-02 6.54626371e+02] [ 1.64838901e-02 9.99864040e-01 -4.27848180e-04 1.13247107e+01] [ 2.32712712e-02 4.41372367e-05 9.99729186e-01 6.03676501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.319254154 meters Centerline goodness [0,1] 0.998831055663004 Centerline is valid? [True, True] Translation: X:654.65, Y:11.32, Z:6.04 [[ 9.99567739e-01 -1.72822675e-02 -2.37835737e-02 6.54654154e+02] [ 1.72766576e-02 9.99850650e-01 -4.41347169e-04 1.13229074e+01] [ 2.37876491e-02 3.02557321e-05 9.99717033e-01 6.03671374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3492541539999 meters Centerline goodness [0,1] 0.9990001063716626 Centerline is valid? [True, True] Translation: X:654.68, Y:11.32, Z:6.04 [[ 9.99543757e-01 -1.79903234e-02 -2.42616288e-02 6.54682378e+02] [ 1.79845723e-02 9.99838161e-01 -4.55240727e-04 1.13217099e+01] [ 2.42658923e-02 1.86980089e-05 9.99705540e-01 6.03712274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3792541539999 meters Centerline goodness [0,1] 0.9988758325202562 Centerline is valid? [True, True] Translation: X:654.71, Y:11.32, Z:6.04 [[ 9.99531177e-01 -1.92492433e-02 -2.38094971e-02 6.54710452e+02] [ 1.92439704e-02 9.99814716e-01 -4.50589009e-04 1.13183465e+01] [ 2.38137591e-02 -7.81149596e-06 9.99716412e-01 6.03773095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4092541539999 meters Centerline goodness [0,1] 0.9989806536558432 Centerline is valid? [True, True] Translation: X:654.74, Y:11.32, Z:6.04 [[ 9.99513354e-01 -2.04614758e-02 -2.35453511e-02 6.54738159e+02] [ 2.04565447e-02 9.99790642e-01 -4.50297680e-04 1.13171452e+01] [ 2.35496354e-02 -3.15779832e-05 9.99722668e-01 6.03840813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4392541539999 meters Centerline goodness [0,1] 0.9989808484436706 Centerline is valid? [True, True] Translation: X:654.77, Y:11.32, Z:6.04 [[ 9.99492765e-01 -2.17821971e-02 -2.32325041e-02 6.54766553e+02] [ 2.17775999e-02 9.99762738e-01 -4.50900467e-04 1.13159715e+01] [ 2.32368136e-02 -5.52764238e-05 9.99729987e-01 6.04064040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4692541539999 meters Centerline goodness [0,1] 0.9989194228446723 Centerline is valid? [True, True] Translation: X:654.79, Y:11.31, Z:6.04 [[ 9.99448694e-01 -2.42154750e-02 -2.27138431e-02 6.54794104e+02] [ 2.42115599e-02 9.99706757e-01 -4.47394229e-04 1.13125349e+01] [ 2.27180163e-02 -1.02789994e-04 9.99741907e-01 6.04120404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4992541539999 meters Centerline goodness [0,1] 0.998814513738939 Centerline is valid? [True, True] Translation: X:654.82, Y:11.31, Z:6.04 [[ 9.99406079e-01 -2.58247951e-02 -2.28160046e-02 6.54822981e+02] [ 2.58211228e-02 9.99666475e-01 -4.55595716e-04 1.13111382e+01] [ 2.28201606e-02 -1.33809728e-04 9.99739577e-01 6.04211933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5292541539999 meters Centerline goodness [0,1] 0.9989215707005561 Centerline is valid? [True, True] Translation: X:654.85, Y:11.31, Z:6.04 [[ 9.99336175e-01 -2.87849476e-02 -2.23301475e-02 6.54851577e+02] [ 2.87820420e-02 9.99585609e-01 -4.51572431e-04 1.13075088e+01] [ 2.23338925e-02 -1.91434575e-04 9.99750549e-01 6.04226821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5592541539999 meters Centerline goodness [0,1] 0.9991339613873517 Centerline is valid? [True, True] Translation: X:654.88, Y:11.31, Z:6.04 [[ 9.99286896e-01 -3.03464945e-02 -2.24675227e-02 6.54880486e+02] [ 3.03438170e-02 9.99539414e-01 -4.60159779e-04 1.13058829e+01] [ 2.24711387e-02 -2.21918761e-04 9.99747467e-01 6.04254952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.589254154 meters Centerline goodness [0,1] 0.9987769131819236 Centerline is valid? [True, True] Translation: X:654.91, Y:11.30, Z:6.04 [[ 9.99243476e-01 -3.20691013e-02 -2.20011106e-02 6.54909357e+02] [ 3.20668275e-02 9.99485623e-01 -4.56231410e-04 1.13038521e+01] [ 2.20044247e-02 -2.49619557e-04 9.99757842e-01 6.04238736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6192541539999 meters Centerline goodness [0,1] 0.9990746971736204 Centerline is valid? [True, True] Translation: X:654.94, Y:11.30, Z:6.04 [[ 9.99163661e-01 -3.49022597e-02 -2.13028280e-02 6.54938168e+02] [ 3.49006568e-02 9.99390686e-01 -4.47135826e-04 1.13002152e+01] [ 2.13054540e-02 -2.96720822e-04 9.99772969e-01 6.04347597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6492541539999 meters Centerline goodness [0,1] 0.9991583200067334 Centerline is valid? [True, True] Translation: X:654.97, Y:11.30, Z:6.04 [[ 9.99120818e-01 -3.62884988e-02 -2.09937203e-02 6.54968127e+02] [ 3.62871896e-02 9.99341305e-01 -4.43428100e-04 1.12984203e+01] [ 2.09959832e-02 -3.18764861e-04 9.99779509e-01 6.04401232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6792541539999 meters Centerline goodness [0,1] 0.9990321494697862 Centerline is valid? [True, True] Translation: X:655.00, Y:11.29, Z:6.04 [[ 9.99072508e-01 -3.80916216e-02 -2.00786421e-02 6.54997473e+02] [ 3.80907737e-02 9.99274193e-01 -4.24810963e-04 1.12934101e+01] [ 2.00802506e-02 -3.40394057e-04 9.99798313e-01 6.04451538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.709254154 meters Centerline goodness [0,1] 0.9989506380120886 Centerline is valid? [True, True] Translation: X:655.03, Y:11.29, Z:6.04 [[ 9.99056293e-01 -3.85498487e-02 -2.00108114e-02 6.55027897e+02] [ 3.85490917e-02 9.99256618e-01 -4.23712324e-04 1.12913352e+01] [ 2.00122697e-02 -3.48086138e-04 9.99799674e-01 6.04472749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7392541539999 meters Centerline goodness [0,1] 0.9989920413263056 Centerline is valid? [True, True] Translation: X:655.06, Y:11.29, Z:6.04 [[ 9.99043028e-01 -3.87839595e-02 -2.02196082e-02 6.55057698e+02] [ 3.87832350e-02 9.99247556e-01 -4.28111418e-04 1.12892179e+01] [ 2.02209979e-02 -3.56480088e-04 9.99795471e-01 6.04469031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7692541539999 meters Centerline goodness [0,1] 0.9989920413263056 Centerline is valid? [True, True] Translation: X:655.09, Y:11.29, Z:6.04 [[ 9.99043028e-01 -3.87839594e-02 -2.02196086e-02 6.55087697e+02] [ 3.87832352e-02 9.99247556e-01 -4.28092443e-04 1.12898530e+01] [ 2.02209976e-02 -3.56499065e-04 9.99795471e-01 6.04497139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7992541539999 meters Centerline goodness [0,1] 0.998928728968429 Centerline is valid? [True, True] Translation: X:655.12, Y:11.29, Z:6.05 [[ 9.99063974e-01 -3.80678613e-02 -2.05429913e-02 6.55118571e+02] [ 3.80669625e-02 9.99275096e-01 -4.34939149e-04 1.12864864e+01] [ 2.05446568e-02 -3.47477247e-04 9.99788876e-01 6.04517728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.829254154 meters Centerline goodness [0,1] 0.9991621632943739 Centerline is valid? [True, True] Translation: X:655.15, Y:11.29, Z:6.05 [[ 9.99092448e-01 -3.74128913e-02 -2.03606354e-02 6.55147917e+02] [ 3.74118644e-02 9.99299838e-01 -4.31471634e-04 1.12854190e+01] [ 2.03625223e-02 -3.30649279e-04 9.99792608e-01 6.04568657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8592541539999 meters Centerline goodness [0,1] 0.9991610562302061 Centerline is valid? [True, True] Translation: X:655.18, Y:11.28, Z:6.05 [[ 9.99165297e-01 -3.56809710e-02 -1.98891141e-02 6.55178007e+02] [ 3.56796341e-02 9.99363190e-01 -4.22181082e-04 1.12833144e+01] [ 1.98915124e-02 -2.87807629e-04 9.99802103e-01 6.04611124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8892541539999 meters Centerline goodness [0,1] 0.9990549196681718 Centerline is valid? [True, True] Translation: X:655.21, Y:11.28, Z:6.05 [[ 9.99190069e-01 -3.48872921e-02 -2.00520187e-02 6.55207516e+02] [ 3.48857587e-02 9.99391216e-01 -4.26370575e-04 1.12836540e+01] [ 2.00546863e-02 -2.73504643e-04 9.99798847e-01 6.04730770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9192541539999 meters Centerline goodness [0,1] 0.9989995206036225 Centerline is valid? [True, True] Translation: X:655.24, Y:11.28, Z:6.05 [[ 9.99213019e-01 -3.39412749e-02 -2.05264051e-02 6.55236384e+02] [ 3.39394487e-02 9.99423795e-01 -4.37426588e-04 1.12823023e+01] [ 2.05294245e-02 -2.59572532e-04 9.99789215e-01 6.04617028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.949254154 meters Centerline goodness [0,1] 0.9992253904450865 Centerline is valid? [True, True] Translation: X:655.27, Y:11.28, Z:6.05 [[ 9.99207831e-01 -3.36013965e-02 -2.13226608e-02 6.55265290e+02] [ 3.35992726e-02 9.99435280e-01 -4.57951446e-04 1.12801520e+01] [ 2.13260073e-02 -2.58837224e-04 9.99772541e-01 6.04619250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9792541539999 meters Centerline goodness [0,1] 0.9993098544420278 Centerline is valid? [True, True] Translation: X:655.29, Y:11.28, Z:6.05 [[ 9.99190293e-01 -3.39258669e-02 -2.16285277e-02 6.55293655e+02] [ 3.39236285e-02 9.99424317e-01 -4.70493787e-04 1.12793056e+01] [ 2.16320385e-02 -2.63605313e-04 9.99765965e-01 6.04615668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0092541539999 meters Centerline goodness [0,1] 0.9989553299068155 Centerline is valid? [True, True] Translation: X:655.32, Y:11.28, Z:6.05 [[ 9.99125254e-01 -3.56349924e-02 -2.18832017e-02 6.55322489e+02] [ 3.56329807e-02 9.99364827e-01 -4.81973335e-04 1.12758072e+01] [ 2.18864772e-02 -2.98211974e-04 9.99760418e-01 6.04567643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0392541539999 meters Centerline goodness [0,1] 0.9989560278949347 Centerline is valid? [True, True] Translation: X:655.35, Y:11.27, Z:6.05 [[ 9.99072618e-01 -3.68414405e-02 -2.22847844e-02 6.55351347e+02] [ 3.68395259e-02 9.99321071e-01 -4.96579058e-04 1.12747498e+01] [ 2.22879493e-02 -3.24842355e-04 9.99751540e-01 6.04602114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.069254154 meters Centerline goodness [0,1] 0.9991442823450838 Centerline is valid? [True, True] Translation: X:655.38, Y:11.27, Z:6.05 [[ 9.99010898e-01 -3.87608470e-02 -2.17904003e-02 6.55378783e+02] [ 3.87593964e-02 9.99248453e-01 -4.89064460e-04 1.12721665e+01] [ 2.17929804e-02 -3.56002039e-04 9.99762441e-01 6.04599195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0992541539999 meters Centerline goodness [0,1] 0.9989985186421582 Centerline is valid? [True, True] Translation: X:655.41, Y:11.27, Z:6.05 [[ 9.98883587e-01 -4.29040045e-02 -1.97693247e-02 6.55407913e+02] [ 4.29035529e-02 9.99079119e-01 -4.47165107e-04 1.12705324e+01] [ 1.97703047e-02 -4.01508383e-04 9.99804468e-01 6.04860565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1292541539999 meters Centerline goodness [0,1] 0.9991656411005194 Centerline is valid? [True, True] Translation: X:655.44, Y:11.27, Z:6.05 [[ 9.98814822e-01 -4.48098303e-02 -1.90008147e-02 6.55437564e+02] [ 4.48097102e-02 9.98995447e-01 -4.32281323e-04 1.12685405e+01] [ 1.90010978e-02 -4.19652008e-04 9.99819375e-01 6.04917226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1592541539999 meters Centerline goodness [0,1] 0.9989788262754251 Centerline is valid? [True, True] Translation: X:655.47, Y:11.27, Z:6.05 [[ 9.98738424e-01 -4.68354963e-02 -1.81106974e-02 6.55468451e+02] [ 4.68357200e-02 9.98902521e-01 -4.12032728e-04 1.12680142e+01] [ 1.81101191e-02 -4.36714636e-04 9.99835903e-01 6.05018216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1892541539999 meters Centerline goodness [0,1] 0.9987913896934714 Centerline is valid? [True, True] Translation: X:655.50, Y:11.27, Z:6.05 [[ 9.98525137e-01 -5.13610726e-02 -1.75952147e-02 6.55499963e+02] [ 5.13619939e-02 9.98680022e-01 -3.99831465e-04 1.12654128e+01] [ 1.75925251e-02 -5.04483539e-04 9.99845112e-01 6.05081960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2192541539999 meters Centerline goodness [0,1] 0.9988717327260191 Centerline is valid? [True, True] Translation: X:655.53, Y:11.26, Z:6.05 [[ 9.98393931e-01 -5.39457932e-02 -1.73034627e-02 6.55531696e+02] [ 5.39470830e-02 9.98543719e-01 -3.92564873e-04 1.12638569e+01] [ 1.72994412e-02 -5.41536951e-04 9.99850207e-01 6.05106255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2492541539999 meters Centerline goodness [0,1] 0.9988311905159459 Centerline is valid? [True, True] Translation: X:655.56, Y:11.26, Z:6.05 [[ 9.98064410e-01 -5.98218748e-02 -1.69934556e-02 6.55563195e+02] [ 5.98239797e-02 9.98208868e-01 -3.84909417e-04 1.12598161e+01] [ 1.69860441e-02 -6.32451755e-04 9.99855527e-01 6.05180605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2792541539999 meters Centerline goodness [0,1] 0.9987046361490086 Centerline is valid? [True, True] Translation: X:655.59, Y:11.26, Z:6.05 [[ 9.97856196e-01 -6.33929034e-02 -1.62588964e-02 6.55594573e+02] [ 6.33953128e-02 9.97988426e-01 -3.67687235e-04 1.12576978e+01] [ 1.62494992e-02 -6.63838836e-04 9.99867748e-01 6.05240438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3092541539999 meters Centerline goodness [0,1] 0.9987869915298546 Centerline is valid? [True, True] Translation: X:655.62, Y:11.25, Z:6.05 [[ 9.97385867e-01 -7.04582691e-02 -1.60332432e-02 6.55623940e+02] [ 7.04615265e-02 9.97514432e-01 -3.62346541e-04 1.12488314e+01] [ 1.60189218e-02 -7.68327471e-04 9.99871394e-01 6.05174904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.339254154 meters Centerline goodness [0,1] 0.998707094298703 Centerline is valid? [True, True] Translation: X:655.65, Y:11.25, Z:6.05 [[ 9.97136460e-01 -7.38543784e-02 -1.62606910e-02 6.55654782e+02] [ 7.38581789e-02 9.97268687e-01 -3.67506812e-04 1.12482954e+01] [ 1.62434199e-02 -8.34530580e-04 9.99867719e-01 6.05095527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3692541539999 meters Centerline goodness [0,1] 0.9988722746637708 Centerline is valid? [True, True] Translation: X:655.69, Y:11.25, Z:6.05 [[ 9.96837025e-01 -7.78495670e-02 -1.59809212e-02 6.55685038e+02] [ 7.78537588e-02 9.96964725e-01 -3.60601183e-04 1.12455785e+01] [ 1.59604873e-02 -8.84714171e-04 9.99872232e-01 6.05205527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3992541539999 meters Centerline goodness [0,1] 0.9986255154317131 Centerline is valid? [True, True] Translation: X:655.72, Y:11.24, Z:6.05 [[ 9.96326370e-01 -8.40729245e-02 -1.62944181e-02 6.55715894e+02] [ 8.40781222e-02 9.96459098e-01 -3.67013535e-04 1.12433449e+01] [ 1.62675771e-02 -1.00433881e-03 9.99867170e-01 6.05233893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4292541539999 meters Centerline goodness [0,1] 0.998517745302714 Centerline is valid? [True, True] Translation: X:655.75, Y:11.24, Z:6.05 [[ 9.96119001e-01 -8.64598055e-02 -1.64814277e-02 6.55746409e+02] [ 8.64654521e-02 9.96254781e-01 -3.71011701e-04 1.12401518e+01] [ 1.64517788e-02 -1.05550230e-03 9.99864103e-01 6.05212927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.459254154 meters Centerline goodness [0,1] 0.9986884017238149 Centerline is valid? [True, True] Translation: X:655.78, Y:11.24, Z:6.05 [[ 9.95891980e-01 -8.88761887e-02 -1.73259341e-02 6.55776989e+02] [ 8.88827984e-02 9.96042015e-01 -3.89704769e-04 1.12381663e+01] [ 1.72919938e-02 -1.15187366e-03 9.99849819e-01 6.05143193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4892541539999 meters Centerline goodness [0,1] 0.9985205867644608 Centerline is valid? [True, True] Translation: X:655.81, Y:11.24, Z:6.05 [[ 9.95889575e-01 -8.88313802e-02 -1.76901138e-02 6.55809599e+02] [ 8.88382771e-02 9.96045984e-01 -3.97144062e-04 1.12393632e+01] [ 1.76554457e-02 -1.17604760e-03 9.99843439e-01 6.05131779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5192541539999 meters Centerline goodness [0,1] 0.9982289452848273 Centerline is valid? [True, True] Translation: X:655.84, Y:11.24, Z:6.05 [[ 9.95942747e-01 -8.81802870e-02 -1.79522195e-02 6.55840424e+02] [ 8.81873045e-02 9.96103829e-01 -4.01913047e-04 1.12412601e+01] [ 1.79177154e-02 -1.18287546e-03 9.99838765e-01 6.05119503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5492541539999 meters Centerline goodness [0,1] 0.9984585581269398 Centerline is valid? [True, True] Translation: X:655.87, Y:11.25, Z:6.05 [[ 9.96006903e-01 -8.74057640e-02 -1.81791594e-02 6.55872658e+02] [ 8.74128526e-02 9.96172088e-01 -4.05838179e-04 1.12533954e+01] [ 1.81450437e-02 -1.18487455e-03 9.99834663e-01 6.05254848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.579254154 meters Centerline goodness [0,1] 0.9988134640604509 Centerline is valid? [True, True] Translation: X:655.90, Y:11.25, Z:6.05 [[ 9.96072818e-01 -8.65000105e-02 -1.88862181e-02 6.55903664e+02] [ 8.65075231e-02 9.96251109e-01 -4.20363869e-04 1.12524358e+01] [ 1.88517772e-02 -1.21508693e-03 9.99821551e-01 6.05258365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6092541539999 meters Centerline goodness [0,1] 0.9986642177325096 Centerline is valid? [True, True] Translation: X:655.93, Y:11.26, Z:6.05 [[ 9.96246089e-01 -8.44133116e-02 -1.91865283e-02 6.55934628e+02] [ 8.44206967e-02 9.96430110e-01 -4.26157917e-04 1.12603909e+01] [ 1.91540079e-02 -1.19518193e-03 9.99815831e-01 6.05323481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6392541539999 meters Centerline goodness [0,1] 0.998728901854553 Centerline is valid? [True, True] Translation: X:655.97, Y:11.26, Z:6.05 [[ 9.96364972e-01 -8.30278664e-02 -1.90582169e-02 6.55965767e+02] [ 8.30349138e-02 9.96546549e-01 -4.22610394e-04 1.12642245e+01] [ 1.90274887e-02 -1.16142320e-03 9.99818286e-01 6.05396856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6692541539999 meters Centerline goodness [0,1] 0.9984139571768438 Centerline is valid? [True, True] Translation: X:656.00, Y:11.27, Z:6.06 [[ 9.96604362e-01 -8.01703174e-02 -1.87740495e-02 6.55997436e+02] [ 8.01766669e-02 9.96780582e-01 -4.15445890e-04 1.12731379e+01] [ 1.87469144e-02 -1.09120553e-03 9.99823666e-01 6.05521065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.699254154 meters Centerline goodness [0,1] 0.9985602503912363 Centerline is valid? [True, True] Translation: X:656.03, Y:11.28, Z:6.06 [[ 9.96727842e-01 -7.86119155e-02 -1.88089160e-02 6.56029835e+02] [ 7.86180353e-02 9.96904726e-01 -4.14985791e-04 1.12770454e+01] [ 1.87833201e-02 -1.06509213e-03 9.99823011e-01 6.05585585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7292541539999 meters Centerline goodness [0,1] 0.9986460589901683 Centerline is valid? [True, True] Translation: X:656.06, Y:11.28, Z:6.06 [[ 9.96858204e-01 -7.69933926e-02 -1.85940714e-02 6.56059824e+02] [ 7.69991241e-02 9.97031077e-01 -4.08550276e-04 1.12775739e+01] [ 1.85703227e-02 -1.02446052e-03 9.99827032e-01 6.05613713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7592541539999 meters Centerline goodness [0,1] 0.9985399937428303 Centerline is valid? [True, True] Translation: X:656.09, Y:11.29, Z:6.06 [[ 9.97165126e-01 -7.30219937e-02 -1.81521286e-02 6.56090585e+02] [ 7.30268205e-02 9.97329898e-01 -3.97687904e-04 1.12858144e+01] [ 1.81327005e-02 -9.29031730e-04 9.99835157e-01 6.05781972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7892541539999 meters Centerline goodness [0,1] 0.9986446473998082 Centerline is valid? [True, True] Translation: X:656.12, Y:11.29, Z:6.06 [[ 9.97362853e-01 -7.03989962e-02 -1.76443029e-02 6.56122474e+02] [ 7.04031581e-02 9.97518544e-01 -3.85937861e-04 1.12900306e+01] [ 1.76276890e-02 -8.57294565e-04 9.99844253e-01 6.05855795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.819254154 meters Centerline goodness [0,1] 0.9986219855934857 Centerline is valid? [True, True] Translation: X:656.15, Y:11.29, Z:6.06 [[ 9.97560735e-01 -6.76373760e-02 -1.72559084e-02 6.56152896e+02] [ 6.76409556e-02 9.97709657e-01 -3.76791402e-04 1.12933174e+01] [ 1.72418716e-02 -7.91333824e-04 9.99851035e-01 6.05900830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8492541539999 meters Centerline goodness [0,1] 0.9985776736597711 Centerline is valid? [True, True] Translation: X:656.18, Y:11.30, Z:6.06 [[ 9.97950618e-01 -6.18031762e-02 -1.65810758e-02 6.56183906e+02] [ 6.18056809e-02 9.98088136e-01 -3.61832742e-04 1.13003560e+01] [ 1.65717375e-02 -6.63713471e-04 9.99862459e-01 6.05950428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8792541539999 meters Centerline goodness [0,1] 0.9987453473296809 Centerline is valid? [True, True] Translation: X:656.22, Y:11.30, Z:6.06 [[ 9.98127550e-01 -5.86992968e-02 -1.71984308e-02 6.56215508e+02] [ 5.87015400e-02 9.98275507e-01 -3.74802008e-04 1.13046288e+01] [ 1.71907728e-02 -6.35474163e-04 9.99852026e-01 6.05989113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9092541539999 meters Centerline goodness [0,1] 0.9990144271095454 Centerline is valid? [True, True] Translation: X:656.25, Y:11.31, Z:6.06 [[ 9.98449773e-01 -5.26958108e-02 -1.79221252e-02 6.56246588e+02] [ 5.26972929e-02 9.98610456e-01 -3.89887505e-04 1.13132017e+01] [ 1.79177671e-02 -5.55164392e-04 9.99839310e-01 6.06016412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9392541539999 meters Centerline goodness [0,1] 0.9987601916449526 Centerline is valid? [True, True] Translation: X:656.28, Y:11.32, Z:6.06 [[ 9.98569486e-01 -5.01034560e-02 -1.86715354e-02 6.56277930e+02] [ 5.01046402e-02 9.98743892e-01 -4.04668927e-04 1.13153818e+01] [ 1.86683572e-02 -5.31440519e-04 9.99825590e-01 6.05953274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9692541539999 meters Centerline goodness [0,1] 0.998740157480315 Centerline is valid? [True, True] Translation: X:656.31, Y:11.32, Z:6.06 [[ 9.98700356e-01 -4.74733548e-02 -1.85440016e-02 6.56309201e+02] [ 4.74741008e-02 9.98872389e-01 -4.00231828e-04 1.13199327e+01] [ 1.85420915e-02 -4.80648131e-04 9.99827965e-01 6.06003599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9992541539999 meters Centerline goodness [0,1] 0.9990540853004856 Centerline is valid? [True, True] Translation: X:656.34, Y:11.33, Z:6.06 [[ 9.98855284e-01 -4.38283195e-02 -1.91624640e-02 6.56340918e+02] [ 4.38284628e-02 9.99038986e-01 -4.12691202e-04 1.13255257e+01] [ 1.91621361e-02 -4.27642553e-04 9.99816298e-01 6.06049917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0292541539999 meters Centerline goodness [0,1] 0.9987822289409591 Centerline is valid? [True, True] Translation: X:656.37, Y:11.33, Z:6.06 [[ 9.98915786e-01 -4.26509502e-02 -1.86587424e-02 6.56371690e+02] [ 4.26508933e-02 9.99089956e-01 -4.01171433e-04 1.13259418e+01] [ 1.86588725e-02 -3.95075555e-04 9.99825830e-01 6.05997280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0592541539999 meters Centerline goodness [0,1] 0.998674437688051 Centerline is valid? [True, True] Translation: X:656.40, Y:11.33, Z:6.06 [[ 9.98941824e-01 -4.21159985e-02 -1.84790530e-02 6.56403436e+02] [ 4.21158603e-02 9.99112655e-01 -3.96818871e-04 1.13283607e+01] [ 1.84793681e-02 -3.81862248e-04 9.99829169e-01 6.06093176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.089254154 meters Centerline goodness [0,1] 0.9985462360154226 Centerline is valid? [True, True] Translation: X:656.44, Y:11.33, Z:6.06 [[ 9.98946973e-01 -4.23818020e-02 -1.75706699e-02 6.56435079e+02] [ 4.23817289e-02 9.99101420e-01 -3.76695999e-04 1.13317056e+01] [ 1.75708463e-02 -3.68376040e-04 9.99845553e-01 6.06195201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1192541539999 meters Centerline goodness [0,1] 0.9986944070080862 Centerline is valid? [True, True] Translation: X:656.47, Y:11.33, Z:6.06 [[ 9.98938560e-01 -4.27788851e-02 -1.70797947e-02 6.56466555e+02] [ 4.27788957e-02 9.99084497e-01 -3.64898214e-04 1.13306455e+01] [ 1.70797680e-02 -3.66143857e-04 9.99854063e-01 6.06117058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1492541539999 meters Centerline goodness [0,1] 0.998907448261372 Centerline is valid? [True, True] Translation: X:656.50, Y:11.33, Z:6.06 [[ 9.98830796e-01 -4.53740348e-02 -1.66804689e-02 6.56498865e+02] [ 4.53744339e-02 9.98969987e-01 -3.54726075e-04 1.13326687e+01] [ 1.66793832e-02 -4.02555509e-04 9.99860808e-01 6.06284017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1792541539999 meters Centerline goodness [0,1] 0.9987593834766701 Centerline is valid? [True, True] Translation: X:656.53, Y:11.33, Z:6.06 [[ 9.98744811e-01 -4.71101628e-02 -1.70127933e-02 6.56531222e+02] [ 4.71108511e-02 9.98889602e-01 -3.60535595e-04 1.13336734e+01] [ 1.70108873e-02 -4.41404120e-04 9.99855207e-01 6.06301254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.209254154 meters Centerline goodness [0,1] 0.9988641383227109 Centerline is valid? [True, True] Translation: X:656.56, Y:11.33, Z:6.06 [[ 9.98656474e-01 -4.89476567e-02 -1.70110080e-02 6.56562076e+02] [ 4.89486302e-02 9.98801233e-01 -3.59380022e-04 1.13315609e+01] [ 1.70082066e-02 -4.73768353e-04 9.99855238e-01 6.06285334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2392541539999 meters Centerline goodness [0,1] 0.998525198044834 Centerline is valid? [True, True] Translation: X:656.59, Y:11.33, Z:6.06 [[ 9.98387828e-01 -5.40981978e-02 -1.71793239e-02 6.56593534e+02] [ 5.40999662e-02 9.98535459e-01 -3.62124676e-04 1.13299029e+01] [ 1.71737544e-02 -5.67859972e-04 9.99852359e-01 6.06241647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2692541539999 meters Centerline goodness [0,1] 0.998651467582545 Centerline is valid? [True, True] Translation: X:656.62, Y:11.33, Z:6.06 [[ 9.98223018e-01 -5.70163073e-02 -1.73189857e-02 6.56624941e+02] [ 5.70185567e-02 9.98373052e-01 -3.64282192e-04 1.13267554e+01] [ 1.73115786e-02 -6.23868696e-04 9.99849949e-01 6.06221572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2992541539999 meters Centerline goodness [0,1] 0.9986101752021563 Centerline is valid? [True, True] Translation: X:656.66, Y:11.32, Z:6.06 [[ 9.97858295e-01 -6.30420706e-02 -1.74504995e-02 6.56655843e+02] [ 6.30452853e-02 9.98010600e-01 -3.66398942e-04 1.13221602e+01] [ 1.74388820e-02 -7.34557496e-04 9.99847661e-01 6.06225436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.329254154 meters Centerline goodness [0,1] 0.9989065292818842 Centerline is valid? [True, True] Translation: X:656.69, Y:11.32, Z:6.06 [[ 9.97689609e-01 -6.56438281e-02 -1.75023382e-02 6.56686835e+02] [ 6.56474716e-02 9.97842811e-01 -3.66905781e-04 1.13194634e+01] [ 1.74886675e-02 -7.82926166e-04 9.99846755e-01 6.06256458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3592541539999 meters Centerline goodness [0,1] 0.998633707487283 Centerline is valid? [True, True] Translation: X:656.72, Y:11.32, Z:6.06 [[ 9.97538223e-01 -6.78255831e-02 -1.78096468e-02 6.56719034e+02] [ 6.78297225e-02 9.97696843e-01 -3.72230197e-04 1.13200673e+01] [ 1.77938751e-02 -8.36709549e-04 9.99841326e-01 6.06304491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3892541539999 meters Centerline goodness [0,1] 0.9986986818906893 Centerline is valid? [True, True] Translation: X:656.75, Y:11.32, Z:6.06 [[ 9.97337672e-01 -7.07063416e-02 -1.78376448e-02 6.56750098e+02] [ 7.07109685e-02 9.97496777e-01 -3.71976526e-04 1.13217843e+01] [ 1.78192943e-02 -8.90330938e-04 9.99840827e-01 6.06370345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4192541539999 meters Centerline goodness [0,1] 0.9985500241662639 Centerline is valid? [True, True] Translation: X:656.78, Y:11.32, Z:6.06 [[ 9.97295650e-01 -7.12840542e-02 -1.78877258e-02 6.56780993e+02] [ 7.12888227e-02 9.97455646e-01 -3.71738952e-04 1.13159846e+01] [ 1.78687122e-02 -9.04461273e-04 9.99839933e-01 6.06274684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.449254154 meters Centerline goodness [0,1] 0.9986591523328654 Centerline is valid? [True, True] Translation: X:656.81, Y:11.32, Z:6.06 [[ 9.97299830e-01 -7.12720485e-02 -1.77015128e-02 6.56813128e+02] [ 7.12767485e-02 9.97456511e-01 -3.66051101e-04 1.13217451e+01] [ 1.76825784e-02 -8.96643574e-04 9.99843249e-01 6.06356650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4792541539999 meters Centerline goodness [0,1] 0.9986556881196438 Centerline is valid? [True, True] Translation: X:656.85, Y:11.32, Z:6.06 [[ 9.97320837e-01 -7.09412581e-02 -1.78461950e-02 6.56845127e+02] [ 7.09460060e-02 9.97480090e-01 -3.67723272e-04 1.13228107e+01] [ 1.78273110e-02 -8.99378177e-04 9.99840676e-01 6.06294987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5092541539999 meters Centerline goodness [0,1] 0.9985948281286047 Centerline is valid? [True, True] Translation: X:656.88, Y:11.33, Z:6.06 [[ 9.97345960e-01 -7.06318272e-02 -1.76686530e-02 6.56877509e+02] [ 7.06364555e-02 9.97502060e-01 -3.62767338e-04 1.13266839e+01] [ 1.76501406e-02 -8.86246480e-04 9.99843831e-01 6.06404801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5392541539999 meters Centerline goodness [0,1] 0.9986356289750425 Centerline is valid? [True, True] Translation: X:656.91, Y:11.33, Z:6.06 [[ 9.97357538e-01 -7.04223842e-02 -1.78501790e-02 6.56909547e+02] [ 7.04270984e-02 9.97516862e-01 -3.65160333e-04 1.13292154e+01] [ 1.78315700e-02 -8.92940904e-04 9.99840606e-01 6.06465695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.569254154 meters Centerline goodness [0,1] 0.9984661609900616 Centerline is valid? [True, True] Translation: X:656.94, Y:11.33, Z:6.07 [[ 9.97371247e-01 -7.02706745e-02 -1.76812707e-02 6.56941218e+02] [ 7.02752993e-02 9.97527570e-01 -3.60394598e-04 1.13309065e+01] [ 1.76628802e-02 -8.83109380e-04 9.99843609e-01 6.06517333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5992541539999 meters Centerline goodness [0,1] 0.9984872360542074 Centerline is valid? [True, True] Translation: X:656.97, Y:11.33, Z:6.07 [[ 9.97340963e-01 -7.05657872e-02 -1.82063848e-02 6.56971925e+02] [ 7.05707619e-02 9.97506707e-01 -3.69888569e-04 1.13331048e+01] [ 1.81870924e-02 -9.15933424e-04 9.99834182e-01 6.06512932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6292541539999 meters Centerline goodness [0,1] 0.9988024455322815 Centerline is valid? [True, True] Translation: X:657.00, Y:11.34, Z:6.07 [[ 9.97310379e-01 -7.08391027e-02 -1.88103511e-02 6.57004440e+02] [ 7.08444849e-02 9.97487300e-01 -3.80921944e-04 1.13354171e+01] [ 1.87900705e-02 -9.52712223e-04 9.99822997e-01 6.06566265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6592541539999 meters Centerline goodness [0,1] 0.9986953685583823 Centerline is valid? [True, True] Translation: X:657.04, Y:11.34, Z:6.07 [[ 9.97266732e-01 -7.12714868e-02 -1.94792129e-02 6.57036994e+02] [ 7.12773696e-02 9.97456456e-01 -3.92992746e-04 1.13377314e+01] [ 1.94576758e-02 -9.96508463e-04 9.99810185e-01 6.06567890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6892541539999 meters Centerline goodness [0,1] 0.9986953685583823 Centerline is valid? [True, True] Translation: X:657.07, Y:11.34, Z:6.07 [[ 9.97272049e-01 -7.11970474e-02 -1.94792421e-02 6.57068722e+02] [ 7.12029444e-02 9.97461772e-01 -3.91538418e-04 1.13383106e+01] [ 1.94576757e-02 -9.96509073e-04 9.99810185e-01 6.06597598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7192541539999 meters Centerline goodness [0,1] 0.9986501307685818 Centerline is valid? [True, True] Translation: X:657.10, Y:11.34, Z:6.07 [[ 9.97193985e-01 -7.20588737e-02 -2.02897700e-02 6.57099460e+02] [ 7.20654727e-02 9.97399821e-01 -4.06695582e-04 1.13403183e+01] [ 2.02663190e-02 -1.05663748e-03 9.99794059e-01 6.06586345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7492541539999 meters Centerline goodness [0,1] 0.998610409297625 Centerline is valid? [True, True] Translation: X:657.13, Y:11.34, Z:6.07 [[ 9.97188494e-01 -7.20994214e-02 -2.04152153e-02 6.57131736e+02] [ 7.21061347e-02 9.97396881e-01 -4.08042220e-04 1.13424904e+01] [ 2.03914917e-02 -1.06516726e-03 9.99791505e-01 6.06630693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7792541539999 meters Centerline goodness [0,1] 0.9987550641458474 Centerline is valid? [True, True] Translation: X:657.16, Y:11.35, Z:6.07 [[ 9.97205127e-01 -7.16095520e-02 -2.13074255e-02 6.57162924e+02] [ 7.16167830e-02 9.97432131e-01 -4.24493899e-04 1.13452696e+01] [ 2.12831086e-02 -1.10266178e-03 9.99772881e-01 6.06694693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8092541539999 meters Centerline goodness [0,1] 0.9985233936632494 Centerline is valid? [True, True] Translation: X:657.19, Y:11.35, Z:6.07 [[ 9.97250361e-01 -7.10761624e-02 -2.09737213e-02 6.57194097e+02] [ 7.10830747e-02 9.97470312e-01 -4.16710345e-04 1.13473424e+01] [ 2.09502825e-02 -1.07531205e-03 9.99779940e-01 6.06744351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.839254154 meters Centerline goodness [0,1] 0.9986071247678542 Centerline is valid? [True, True] Translation: X:657.23, Y:11.35, Z:6.07 [[ 9.97327023e-01 -6.99628576e-02 -2.10714720e-02 6.57226752e+02] [ 6.99696231e-02 9.97549035e-01 -4.16921398e-04 1.13503024e+01] [ 2.10489955e-02 -1.05855597e-03 9.99777885e-01 6.06817055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8692541539999 meters Centerline goodness [0,1] 0.9985628540028743 Centerline is valid? [True, True] Translation: X:657.26, Y:11.36, Z:6.07 [[ 9.97542645e-01 -6.68662525e-02 -2.09182937e-02 6.57258021e+02] [ 6.68722698e-02 9.97761459e-01 -4.12498003e-04 1.13585205e+01] [ 2.08990494e-02 -9.87369431e-04 9.99781103e-01 6.06964006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8992541539999 meters Centerline goodness [0,1] 0.9988353872866641 Centerline is valid? [True, True] Translation: X:657.29, Y:11.36, Z:6.07 [[ 9.97812831e-01 -6.25580848e-02 -2.13551144e-02 6.57287969e+02] [ 6.25633788e-02 9.98040904e-01 -4.20762957e-04 1.13648743e+01] [ 2.13395998e-02 -9.16205437e-04 9.99771865e-01 6.07003980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9292541539999 meters Centerline goodness [0,1] 0.9987909896915963 Centerline is valid? [True, True] Translation: X:657.32, Y:11.37, Z:6.07 [[ 9.97957656e-01 -6.02527686e-02 -2.12160552e-02 6.57318038e+02] [ 6.02574782e-02 9.98182780e-01 -4.17811336e-04 1.13685966e+01] [ 2.12026752e-02 -8.61467963e-04 9.99774827e-01 6.07087570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.959254154 meters Centerline goodness [0,1] 0.9988971835765185 Centerline is valid? [True, True] Translation: X:657.35, Y:11.37, Z:6.07 [[ 9.98125649e-01 -5.75256167e-02 -2.08804399e-02 6.57349377e+02] [ 5.75295945e-02 9.98343717e-01 -4.10631221e-04 1.13730369e+01] [ 2.08694778e-02 -7.91381686e-04 9.99781896e-01 6.07159628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9892541539999 meters Centerline goodness [0,1] 0.9988537222186843 Centerline is valid? [True, True] Translation: X:657.38, Y:11.38, Z:6.07 [[ 9.98303029e-01 -5.44153642e-02 -2.07371763e-02 6.57380400e+02] [ 5.44186324e-02 9.98518125e-01 -4.07088265e-04 1.13775785e+01] [ 2.07285982e-02 -7.22091324e-04 9.99784879e-01 6.07225931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0192541539999 meters Centerline goodness [0,1] 0.9990631919604838 Centerline is valid? [True, True] Translation: X:657.41, Y:11.39, Z:6.07 [[ 9.98601072e-01 -4.87876519e-02 -2.03878360e-02 6.57410895e+02] [ 4.87896496e-02 9.98808996e-01 -3.99709125e-04 1.13893387e+01] [ 2.03830549e-02 -5.95565415e-04 9.99792067e-01 6.07410525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0492541539999 meters Centerline goodness [0,1] 0.9989334015956313 Centerline is valid? [True, True] Translation: X:657.44, Y:11.39, Z:6.07 [[ 9.98728380e-01 -4.61440536e-02 -2.03064093e-02 6.57442706e+02] [ 4.61455090e-02 9.98934650e-01 -3.97145656e-04 1.13940936e+01] [ 2.03031018e-02 -5.40408957e-04 9.99793725e-01 6.07472288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.079254154 meters Centerline goodness [0,1] 0.9990371036076519 Centerline is valid? [True, True] Translation: X:657.47, Y:11.40, Z:6.08 [[ 9.98956189e-01 -4.08555631e-02 -2.04292999e-02 6.57473467e+02] [ 4.08559530e-02 9.99164968e-01 -3.98459511e-04 1.14021116e+01] [ 2.04285200e-02 -4.36614922e-04 9.99791221e-01 6.07542427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1092541539999 meters Centerline goodness [0,1] 0.9991217735889472 Centerline is valid? [True, True] Translation: X:657.51, Y:11.41, Z:6.08 [[ 9.99060337e-01 -3.81420363e-02 -2.05822198e-02 6.57505211e+02] [ 3.81418760e-02 9.99272254e-01 -4.00498685e-04 1.14059373e+01] [ 2.05825170e-02 -3.84922125e-04 9.99788083e-01 6.07538438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1392541539999 meters Centerline goodness [0,1] 0.9991203604376743 Centerline is valid? [True, True] Translation: X:657.54, Y:11.41, Z:6.08 [[ 9.99135785e-01 -3.59040753e-02 -2.09423228e-02 6.57536487e+02] [ 3.59034372e-02 9.99355181e-01 -4.06585180e-04 1.14096224e+01] [ 2.09434169e-02 -3.45667570e-04 9.99780603e-01 6.07546431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1692541539999 meters Centerline goodness [0,1] 0.9991401362883983 Centerline is valid? [True, True] Translation: X:657.57, Y:11.42, Z:6.08 [[ 9.99295407e-01 -3.10832176e-02 -2.10362171e-02 6.57567247e+02] [ 3.10815214e-02 9.99516770e-01 -4.07663967e-04 1.14160172e+01] [ 2.10387232e-02 -2.46460900e-04 9.99778631e-01 6.07598666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.199254154 meters Centerline goodness [0,1] 0.9991822153356146 Centerline is valid? [True, True] Translation: X:657.60, Y:11.42, Z:6.08 [[ 9.99360597e-01 -2.91053199e-02 -2.07672374e-02 6.57597776e+02] [ 2.91032465e-02 9.99576330e-01 -4.02126122e-04 1.14194018e+01] [ 2.07701429e-02 -2.02525028e-04 9.99784257e-01 6.07628271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2292541539999 meters Centerline goodness [0,1] 0.9991806459959464 Centerline is valid? [True, True] Translation: X:657.63, Y:11.43, Z:6.08 [[ 9.99481475e-01 -2.46021196e-02 -2.07729764e-02 6.57628441e+02] [ 2.45990725e-02 9.99697316e-01 -4.02237250e-04 1.14250080e+01] [ 2.07765847e-02 -1.08967274e-04 9.99784138e-01 6.07724943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2592541539999 meters Centerline goodness [0,1] 0.9993101069334254 Centerline is valid? [True, True] Translation: X:657.66, Y:11.43, Z:6.08 [[ 9.99530259e-01 -2.28352253e-02 -2.04405042e-02 6.57656920e+02] [ 2.28318473e-02 9.99739240e-01 -3.98645643e-04 1.14277971e+01] [ 2.04442773e-02 -6.82360878e-05 9.99790992e-01 6.07868090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2892541539999 meters Centerline goodness [0,1] 0.999222092570984 Centerline is valid? [True, True] Translation: X:657.68, Y:11.43, Z:6.08 [[ 9.99575327e-01 -2.12384184e-02 -1.99523400e-02 6.57684332e+02] [ 2.12348157e-02 9.99774439e-01 -3.92436108e-04 1.14298441e+01] [ 1.99561743e-02 -3.14148130e-05 9.99800855e-01 6.07870466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.319254154 meters Centerline goodness [0,1] 0.9993951177360121 Centerline is valid? [True, True] Translation: X:657.71, Y:11.43, Z:6.08 [[ 9.99633087e-01 -1.92371487e-02 -1.90688934e-02 6.57713133e+02] [ 1.92334316e-02 9.99814949e-01 -3.78324380e-04 1.14318346e+01] [ 1.90726426e-02 1.14253107e-05 9.99818101e-01 6.07928163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3492541539999 meters Centerline goodness [0,1] 0.9993949739622723 Centerline is valid? [True, True] Translation: X:657.74, Y:11.43, Z:6.08 [[ 9.99630999e-01 -1.94949243e-02 -1.89159739e-02 6.57740734e+02] [ 1.94912165e-02 9.99809956e-01 -3.80374318e-04 1.14321777e+01] [ 1.89197944e-02 1.15386172e-05 9.99821005e-01 6.07913443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3792541539999 meters Centerline goodness [0,1] 0.9994810361977252 Centerline is valid? [True, True] Translation: X:657.77, Y:11.43, Z:6.08 [[ 9.99590946e-01 -2.14289995e-02 -1.89404077e-02 6.57769740e+02] [ 2.14255322e-02 9.99770372e-01 -3.85988629e-04 1.14311395e+01] [ 1.89443298e-02 -1.99775762e-05 9.99820540e-01 6.07910603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4092541539999 meters Centerline goodness [0,1] 0.999202311141773 Centerline is valid? [True, True] Translation: X:657.80, Y:11.43, Z:6.08 [[ 9.99550445e-01 -2.31970744e-02 -1.89948334e-02 6.57798287e+02] [ 2.31938511e-02 9.99730910e-01 -3.90006498e-04 1.14298454e+01] [ 1.89987691e-02 -5.07321687e-05 9.99819506e-01 6.07858188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4392541539999 meters Centerline goodness [0,1] 0.9992232674549063 Centerline is valid? [True, True] Translation: X:657.83, Y:11.43, Z:6.08 [[ 9.99497221e-01 -2.51059193e-02 -1.93648650e-02 6.57828357e+02] [ 2.51029106e-02 9.99684793e-01 -3.98474739e-04 1.14277066e+01] [ 1.93687651e-02 -8.78400792e-05 9.99812404e-01 6.07789983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4692541539999 meters Centerline goodness [0,1] 0.9994392926461074 Centerline is valid? [True, True] Translation: X:657.86, Y:11.42, Z:6.08 [[ 9.99353300e-01 -3.02091493e-02 -1.95035468e-02 6.57858515e+02] [ 3.02070553e-02 9.99543582e-01 -4.02022306e-04 1.14221915e+01] [ 1.95067898e-02 -1.87382398e-04 9.99809707e-01 6.07778821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4992541539999 meters Centerline goodness [0,1] 0.9991622091899207 Centerline is valid? [True, True] Translation: X:657.89, Y:11.42, Z:6.08 [[ 9.99255460e-01 -3.31713565e-02 -1.97024427e-02 6.57889189e+02] [ 3.31697922e-02 9.99449648e-01 -4.06275062e-04 1.14190918e+01] [ 1.97050761e-02 -2.47553356e-04 9.99805805e-01 6.07720506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5292541539999 meters Centerline goodness [0,1] 0.9992911762178881 Centerline is valid? [True, True] Translation: X:657.92, Y:11.42, Z:6.08 [[ 9.99166992e-01 -3.58481250e-02 -1.94995713e-02 6.57919678e+02] [ 3.58471158e-02 9.99357205e-01 -4.01400074e-04 1.14160781e+01] [ 1.95014265e-02 -2.97937685e-04 9.99809785e-01 6.07752765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5592541539999 meters Centerline goodness [0,1] 0.9991221120698884 Centerline is valid? [True, True] Translation: X:657.95, Y:11.41, Z:6.08 [[ 9.98983306e-01 -4.08672963e-02 -1.90320374e-02 6.57951497e+02] [ 4.08672607e-02 9.99164508e-01 -3.90962585e-04 1.14101119e+01] [ 1.90321139e-02 -3.87222140e-04 9.99818798e-01 6.07811583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.589254154 meters Centerline goodness [0,1] 0.9989101399722192 Centerline is valid? [True, True] Translation: X:657.98, Y:11.41, Z:6.08 [[ 9.98905013e-01 -4.27850101e-02 -1.89266632e-02 6.57983284e+02] [ 4.27853347e-02 9.99084213e-01 -3.87962517e-04 1.14081511e+01] [ 1.89259294e-02 -4.22245916e-04 9.99820799e-01 6.07811297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6192541539999 meters Centerline goodness [0,1] 0.9991462842019891 Centerline is valid? [True, True] Translation: X:658.02, Y:11.40, Z:6.08 [[ 9.98773904e-01 -4.58845722e-02 -1.85821260e-02 6.58015707e+02] [ 4.58854428e-02 9.98946636e-01 -3.79733391e-04 1.14049088e+01] [ 1.85799762e-02 -4.73381279e-04 9.99827265e-01 6.07937666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6492541539999 meters Centerline goodness [0,1] 0.9990209224613158 Centerline is valid? [True, True] Translation: X:658.05, Y:11.40, Z:6.08 [[ 9.98717366e-01 -4.70344322e-02 -1.87452589e-02 6.58046822e+02] [ 4.70355431e-02 9.98893143e-01 -3.81863104e-04 1.13997587e+01] [ 1.87424713e-02 -5.00320118e-04 9.99824219e-01 6.07834691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6792541539999 meters Centerline goodness [0,1] 0.9990201090661214 Centerline is valid? [True, True] Translation: X:658.08, Y:11.40, Z:6.08 [[ 9.98676682e-01 -4.78958651e-02 -1.87315371e-02 6.58079041e+02] [ 4.78971476e-02 9.98852201e-01 -3.80419320e-04 1.13994345e+01] [ 1.87282576e-02 -5.17271293e-04 9.99824477e-01 6.07898487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.709254154 meters Centerline goodness [0,1] 0.9986783201875933 Centerline is valid? [True, True] Translation: X:658.11, Y:11.39, Z:6.08 [[ 9.98599079e-01 -4.95377547e-02 -1.85981451e-02 6.58110664e+02] [ 4.95393335e-02 9.98772103e-01 -3.76096217e-04 1.13939292e+01] [ 1.85939395e-02 -5.45770377e-04 9.99826969e-01 6.07845638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7392541539999 meters Centerline goodness [0,1] 0.998763721624214 Centerline is valid? [True, True] Translation: X:658.14, Y:11.40, Z:6.08 [[ 9.98572813e-01 -5.01388478e-02 -1.83965533e-02 6.58142526e+02] [ 5.01405241e-02 9.98742104e-01 -3.70408941e-04 1.13960709e+01] [ 1.83919842e-02 -5.52532523e-04 9.99830700e-01 6.07982628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7692541539999 meters Centerline goodness [0,1] 0.9988073179562541 Centerline is valid? [True, True] Translation: X:658.17, Y:11.39, Z:6.08 [[ 9.98446037e-01 -5.25141540e-02 -1.86487299e-02 6.58174638e+02] [ 5.25163154e-02 9.98619996e-01 -3.74139873e-04 1.13932044e+01] [ 1.86426422e-02 -6.05804108e-04 9.99826027e-01 6.07940062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7992541539999 meters Centerline goodness [0,1] 0.998957668581153 Centerline is valid? [True, True] Translation: X:658.21, Y:11.39, Z:6.08 [[ 9.98354330e-01 -5.42574070e-02 -1.85678737e-02 6.58206729e+02] [ 5.42598757e-02 9.98526779e-01 -3.71179004e-04 1.13912669e+01] [ 1.85606584e-02 -6.36922356e-04 9.99827533e-01 6.07998736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.829254154 meters Centerline goodness [0,1] 0.9985553431060123 Centerline is valid? [True, True] Translation: X:658.24, Y:11.39, Z:6.08 [[ 9.98231963e-01 -5.63545473e-02 -1.88974403e-02 6.58238342e+02] [ 5.63575023e-02 9.98410582e-01 -3.76567084e-04 1.13873981e+01] [ 1.88886256e-02 -6.89111237e-04 9.99821357e-01 6.07907739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8592541539999 meters Centerline goodness [0,1] 0.9987266283240307 Centerline is valid? [True, True] Translation: X:658.27, Y:11.38, Z:6.08 [[ 9.97970176e-01 -6.05283223e-02 -1.97951815e-02 6.58269517e+02] [ 6.05323986e-02 9.98166155e-01 -3.93743771e-04 1.13829604e+01] [ 1.97827128e-02 -8.05305275e-04 9.99803979e-01 6.07866426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8892541539999 meters Centerline goodness [0,1] 0.9987704831153414 Centerline is valid? [True, True] Translation: X:658.30, Y:11.38, Z:6.08 [[ 9.97876641e-01 -6.21294752e-02 -1.95483584e-02 6.58301873e+02] [ 6.21337750e-02 9.98067755e-01 -3.87914732e-04 1.13840873e+01] [ 1.95346871e-02 -8.27522254e-04 9.99808837e-01 6.07949370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9192541539999 meters Centerline goodness [0,1] 0.9986453879693519 Centerline is valid? [True, True] Translation: X:658.33, Y:11.38, Z:6.08 [[ 9.97706585e-01 -6.49375262e-02 -1.90967985e-02 6.58333544e+02] [ 6.49421660e-02 9.97888958e-01 -3.77743016e-04 1.13812807e+01] [ 1.90810141e-02 -8.63310765e-04 9.99817568e-01 6.08032393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.949254154 meters Centerline goodness [0,1] 0.9985806888954794 Centerline is valid? [True, True] Translation: X:658.36, Y:11.38, Z:6.08 [[ 9.97646230e-01 -6.57052274e-02 -1.96169167e-02 6.58364376e+02] [ 6.57102893e-02 9.97838668e-01 -3.87127898e-04 1.13758268e+01] [ 1.95999543e-02 -9.02816582e-04 9.99807495e-01 6.07886832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9792541539999 meters Centerline goodness [0,1] 0.9987100866990907 Centerline is valid? [True, True] Translation: X:658.40, Y:11.37, Z:6.08 [[ 9.97573211e-01 -6.69238579e-02 -1.92064110e-02 6.58396312e+02] [ 6.69289550e-02 9.97757672e-01 -3.78002936e-04 1.13748958e+01] [ 1.91886414e-02 -9.08379418e-04 9.99815468e-01 6.07984772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0092541539999 meters Centerline goodness [0,1] 0.9985420584444398 Centerline is valid? [True, True] Translation: X:658.43, Y:11.38, Z:6.08 [[ 9.97420693e-01 -6.87811963e-02 -2.05209069e-02 6.58428560e+02] [ 6.87874385e-02 9.97631258e-01 -4.02362547e-04 1.13766011e+01] [ 2.04999731e-02 -1.01025589e-03 9.99789343e-01 6.07980099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0392541539999 meters Centerline goodness [0,1] 0.9985629147470307 Centerline is valid? [True, True] Translation: X:658.46, Y:11.38, Z:6.08 [[ 9.97369825e-01 -6.93022142e-02 -2.12281877e-02 6.58460599e+02] [ 6.93090452e-02 9.97595151e-01 -4.14663529e-04 1.13759235e+01] [ 2.12058743e-02 -1.05773253e-03 9.99774571e-01 6.07937401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.069254154 meters Centerline goodness [0,1] 0.9985824006093561 Centerline is valid? [True, True] Translation: X:658.49, Y:11.38, Z:6.08 [[ 9.97329169e-01 -6.97303333e-02 -2.17303985e-02 6.58492742e+02] [ 6.97376275e-02 9.97565278e-01 -4.22881315e-04 1.13759914e+01] [ 2.17069787e-02 -1.09367457e-03 9.99763778e-01 6.07913209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0992541539999 meters Centerline goodness [0,1] 0.9988358063628474 Centerline is valid? [True, True] Translation: X:658.53, Y:11.38, Z:6.08 [[ 9.97333004e-01 -6.95189006e-02 -2.22261288e-02 6.58525007e+02] [ 6.95265154e-02 9.97580011e-01 -4.30894899e-04 1.13775504e+01] [ 2.22022971e-02 -1.11555958e-03 9.99752876e-01 6.07928459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1292541539999 meters Centerline goodness [0,1] 0.998815917452531 Centerline is valid? [True, True] Translation: X:658.56, Y:11.37, Z:6.08 [[ 9.97359763e-01 -6.90879861e-02 -2.23685853e-02 6.58556134e+02] [ 6.90956220e-02 9.97609948e-01 -4.32261141e-04 1.13711678e+01] [ 2.23449873e-02 -1.11445144e-03 9.99749698e-01 6.07777470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1592541539999 meters Centerline goodness [0,1] 0.998623085559345 Centerline is valid? [True, True] Translation: X:658.59, Y:11.38, Z:6.08 [[ 9.97417475e-01 -6.83250079e-02 -2.21376044e-02 6.58587949e+02] [ 6.83323304e-02 9.97662524e-01 -4.26392144e-04 1.13775034e+01] [ 2.21149915e-02 -1.08742312e-03 9.99754842e-01 6.07989967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1892541539999 meters Centerline goodness [0,1] 0.998879255656587 Centerline is valid? [True, True] Translation: X:658.62, Y:11.38, Z:6.08 [[ 9.97632304e-01 -6.56623939e-02 -2.04508175e-02 6.58619029e+02] [ 6.56681050e-02 9.97841443e-01 -3.92890874e-04 1.13838483e+01] [ 2.04324714e-02 -9.51005804e-04 9.99790783e-01 6.08253655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2192541539999 meters Centerline goodness [0,1] 0.9986465624801742 Centerline is valid? [True, True] Translation: X:658.65, Y:11.38, Z:6.08 [[ 9.97760859e-01 -6.40268030e-02 -1.93348504e-02 6.58649302e+02] [ 6.40316108e-02 9.97947802e-01 -3.70953127e-04 1.13837371e+01] [ 1.93189224e-02 -8.67919103e-04 9.99812995e-01 6.08291009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2492541539999 meters Centerline goodness [0,1] 0.9987506617257809 Centerline is valid? [True, True] Translation: X:658.68, Y:11.39, Z:6.08 [[ 9.97900897e-01 -6.19057154e-02 -1.90127066e-02 6.58680975e+02] [ 6.19099931e-02 9.98081670e-01 -3.64083970e-04 1.13893259e+01] [ 1.89987728e-02 -8.13756814e-04 9.99819176e-01 6.08453238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2792541539999 meters Centerline goodness [0,1] 0.9986441826963817 Centerline is valid? [True, True] Translation: X:658.71, Y:11.39, Z:6.09 [[ 9.98228527e-01 -5.67573152e-02 -1.78442077e-02 6.58711088e+02] [ 5.67602701e-02 9.98387778e-01 -3.41229879e-04 1.13946936e+01] [ 1.78348062e-02 -6.72216649e-04 9.99840721e-01 6.08571850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3092541539999 meters Centerline goodness [0,1] 0.998939217142251 Centerline is valid? [True, True] Translation: X:658.74, Y:11.40, Z:6.09 [[ 9.98389680e-01 -5.38562153e-02 -1.78200552e-02 6.58742705e+02] [ 5.38587087e-02 9.98548508e-01 -3.40316997e-04 1.13984840e+01] [ 1.78125177e-02 -6.19996183e-04 9.99841152e-01 6.08634067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.339254154 meters Centerline goodness [0,1] 0.9988083331560019 Centerline is valid? [True, True] Translation: X:658.77, Y:11.41, Z:6.09 [[ 9.98659148e-01 -4.85798668e-02 -1.78858208e-02 6.58772819e+02] [ 4.85815421e-02 9.98819162e-01 -3.41071518e-04 1.14050119e+01] [ 1.78812697e-02 -5.28306563e-04 9.99839978e-01 6.08669709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3692541539999 meters Centerline goodness [0,1] 0.998892391582176 Centerline is valid? [True, True] Translation: X:658.81, Y:11.41, Z:6.09 [[ 9.98770302e-01 -4.61681752e-02 -1.80661099e-02 6.58805236e+02] [ 4.61695012e-02 9.98933561e-01 -3.43899100e-04 1.14081117e+01] [ 1.80627207e-02 -4.90627075e-04 9.99836735e-01 6.08679266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3992541539999 meters Centerline goodness [0,1] 0.9989574468085106 Centerline is valid? [True, True] Translation: X:658.84, Y:11.41, Z:6.09 [[ 9.98867515e-01 -4.38249369e-02 -1.85219437e-02 6.58837654e+02] [ 4.38259528e-02 9.99039120e-01 -3.51248155e-04 1.14113454e+01] [ 1.85195397e-02 -4.60891457e-04 9.99828392e-01 6.08624202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4292541539999 meters Centerline goodness [0,1] 0.9989975685705754 Centerline is valid? [True, True] Translation: X:658.87, Y:11.42, Z:6.09 [[ 9.98972785e-01 -4.11284512e-02 -1.90216914e-02 6.58870104e+02] [ 4.11290609e-02 9.99153778e-01 -3.59320737e-04 1.14172892e+01] [ 1.90203731e-02 -4.23392666e-04 9.99819007e-01 6.08762314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.459254154 meters Centerline goodness [0,1] 0.99897575964493 Centerline is valid? [True, True] Translation: X:658.90, Y:11.42, Z:6.09 [[ 9.98996545e-01 -4.03276599e-02 -1.94828936e-02 6.58900836e+02] [ 4.03281860e-02 9.99186421e-01 -3.66045856e-04 1.14185076e+01] [ 1.94818045e-02 -4.20031211e-04 9.99810123e-01 6.08745601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4892541539999 meters Centerline goodness [0,1] 0.9991909901854336 Centerline is valid? [True, True] Translation: X:658.93, Y:11.42, Z:6.09 [[ 9.98987437e-01 -4.03193692e-02 -1.99612109e-02 6.58932907e+02] [ 4.03199596e-02 9.99186750e-01 -3.73044946e-04 1.14203626e+01] [ 1.99600184e-02 -4.32168001e-04 9.99800686e-01 6.08755928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5192541539999 meters Centerline goodness [0,1] 0.99899658411614 Centerline is valid? [True, True] Translation: X:658.96, Y:11.42, Z:6.09 [[ 9.98977003e-01 -4.04407336e-02 -2.02359678e-02 6.58964620e+02] [ 4.04414059e-02 9.99181841e-01 -3.76172903e-04 1.14202608e+01] [ 2.02346242e-02 -4.42582906e-04 9.99795161e-01 6.08716866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5492541539999 meters Centerline goodness [0,1] 0.9991457372287715 Centerline is valid? [True, True] Translation: X:659.00, Y:11.42, Z:6.09 [[ 9.98965829e-01 -4.09413429e-02 -1.97757312e-02 6.58996824e+02] [ 4.09421198e-02 9.99161453e-01 -3.65750180e-04 1.14217140e+01] [ 1.97741226e-02 -4.44288423e-04 9.99804374e-01 6.08820490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.579254154 meters Centerline goodness [0,1] 0.9991457372287715 Centerline is valid? [True, True] Translation: X:659.03, Y:11.42, Z:6.09 [[ 9.98968833e-01 -4.08679589e-02 -1.97757579e-02 6.59028522e+02] [ 4.08687503e-02 9.99164457e-01 -3.64297446e-04 1.14222400e+01] [ 1.97741225e-02 -4.44288719e-04 9.99804374e-01 6.08850166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6092541539999 meters Centerline goodness [0,1] 0.9988465481886535 Centerline is valid? [True, True] Translation: X:659.06, Y:11.42, Z:6.09 [[ 9.98940922e-01 -4.16131818e-02 -1.96310104e-02 6.59059621e+02] [ 4.16141298e-02 9.99133692e-01 -3.60385951e-04 1.14218781e+01] [ 1.96290007e-02 -4.56923143e-04 9.99807228e-01 6.08837602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6392541539999 meters Centerline goodness [0,1] 0.9990382354826989 Centerline is valid? [True, True] Translation: X:659.09, Y:11.42, Z:6.09 [[ 9.98931917e-01 -4.18962565e-02 -1.94866593e-02 6.59091684e+02] [ 4.18972690e-02 9.99121860e-01 -3.56476429e-04 1.14228639e+01] [ 1.94844823e-02 -4.60342123e-04 9.99810053e-01 6.08891398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6692541539999 meters Centerline goodness [0,1] 0.9990169049603557 Centerline is valid? [True, True] Translation: X:659.12, Y:11.42, Z:6.09 [[ 9.98904957e-01 -4.27625032e-02 -1.89803867e-02 6.59123043e+02] [ 4.27636429e-02 9.99085157e-01 -3.46007943e-04 1.14216720e+01] [ 1.89778188e-02 -4.66041430e-04 9.99819796e-01 6.08878186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.699254154 meters Centerline goodness [0,1] 0.99893130423631 Centerline is valid? [True, True] Translation: X:659.16, Y:11.42, Z:6.09 [[ 9.98891130e-01 -4.32289182e-02 -1.86486448e-02 6.59155256e+02] [ 4.32301219e-02 9.99065084e-01 -3.38765727e-04 1.14233489e+01] [ 1.86458543e-02 -4.67793107e-04 9.99826042e-01 6.08979359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7292541539999 meters Centerline goodness [0,1] 0.9989948029172102 Centerline is valid? [True, True] Translation: X:659.19, Y:11.42, Z:6.09 [[ 9.98872281e-01 -4.38989333e-02 -1.80845350e-02 6.59187882e+02] [ 4.39001987e-02 9.99035868e-01 -3.27203639e-04 1.14232704e+01] [ 1.80814630e-02 -4.67080033e-04 9.99836408e-01 6.09032195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7592541539999 meters Centerline goodness [0,1] 0.9987810354782832 Centerline is valid? [True, True] Translation: X:659.22, Y:11.42, Z:6.09 [[ 9.98805729e-01 -4.58507672e-02 -1.68766838e-02 6.59218732e+02] [ 4.58521727e-02 9.98948190e-01 -3.03858353e-04 1.14213403e+01] [ 1.68728648e-02 -4.70337156e-04 9.99857532e-01 6.09103856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7892541539999 meters Centerline goodness [0,1] 0.9989736133088141 Centerline is valid? [True, True] Translation: X:659.25, Y:11.42, Z:6.09 [[ 9.98771474e-01 -4.67229454e-02 -1.65078429e-02 6.59251220e+02] [ 4.67244347e-02 9.98907773e-01 -2.95667483e-04 1.14204393e+01] [ 1.65036270e-02 -4.76015381e-04 9.99863693e-01 6.09144568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.819254154 meters Centerline goodness [0,1] 0.9988900036288343 Centerline is valid? [True, True] Translation: X:659.28, Y:11.42, Z:6.09 [[ 9.98663444e-01 -4.92022399e-02 -1.58261148e-02 6.59283143e+02] [ 4.92039374e-02 9.98788713e-01 -2.82341209e-04 1.14183230e+01] [ 1.58208367e-02 -4.96743319e-04 9.99874719e-01 6.09145656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8492541539999 meters Centerline goodness [0,1] 0.99889087961778 Centerline is valid? [True, True] Translation: X:659.32, Y:11.42, Z:6.09 [[ 9.98609371e-01 -5.02768611e-02 -1.58607095e-02 6.59315577e+02] [ 5.02787196e-02 9.98735186e-01 -2.81802900e-04 1.14187731e+01] [ 1.58548168e-02 -5.16045149e-04 9.99874171e-01 6.09179370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8792541539999 meters Centerline goodness [0,1] 0.9988485649707877 Centerline is valid? [True, True] Translation: X:659.35, Y:11.42, Z:6.09 [[ 9.98562187e-01 -5.12748009e-02 -1.56350082e-02 6.59346263e+02] [ 5.12767433e-02 9.98684444e-01 -2.76884689e-04 1.14162790e+01] [ 1.56286367e-02 -5.25225722e-04 9.99877727e-01 6.09143494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9092541539999 meters Centerline goodness [0,1] 0.9988907849829352 Centerline is valid? [True, True] Translation: X:659.38, Y:11.42, Z:6.09 [[ 9.98516607e-01 -5.20373580e-02 -1.60218044e-02 6.59378881e+02] [ 5.20395089e-02 9.98644987e-01 -2.82911653e-04 1.14156061e+01] [ 1.60148166e-02 -5.51274848e-04 9.99871603e-01 6.09076074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9392541539999 meters Centerline goodness [0,1] 0.9987430762675756 Centerline is valid? [True, True] Translation: X:659.41, Y:11.41, Z:6.09 [[ 9.98425457e-01 -5.38812582e-02 -1.56018535e-02 6.59410445e+02] [ 5.38835379e-02 9.98547189e-01 -2.74520916e-04 1.14138607e+01] [ 1.55939785e-02 -5.66594395e-04 9.99878246e-01 6.09082099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9692541539999 meters Centerline goodness [0,1] 0.9988709230736457 Centerline is valid? [True, True] Translation: X:659.44, Y:11.42, Z:6.09 [[ 9.98394543e-01 -5.43889539e-02 -1.58169936e-02 6.59442447e+02] [ 5.43913760e-02 9.98519655e-01 -2.77327256e-04 1.14177108e+01] [ 1.58086625e-02 -5.83426028e-04 9.99874865e-01 6.09170579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9992541539999 meters Centerline goodness [0,1] 0.9986591179976162 Centerline is valid? [True, True] Translation: X:659.47, Y:11.41, Z:6.09 [[ 9.98347922e-01 -5.53402465e-02 -1.54558721e-02 6.59473917e+02] [ 5.53426888e-02 9.98467383e-01 -2.69980953e-04 1.14145910e+01] [ 1.54471249e-02 -5.85834593e-04 9.99880514e-01 6.09116519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0292541539999 meters Centerline goodness [0,1] 0.9987864336051439 Centerline is valid? [True, True] Translation: X:659.51, Y:11.42, Z:6.09 [[ 9.98334217e-01 -5.55700974e-02 -1.55163254e-02 6.59506143e+02] [ 5.55726016e-02 9.98454612e-01 -2.70060032e-04 1.14179894e+01] [ 1.55073539e-02 -5.92672398e-04 9.99879578e-01 6.09207527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0592541539999 meters Centerline goodness [0,1] 0.9985096553045626 Centerline is valid? [True, True] Translation: X:659.54, Y:11.42, Z:6.09 [[ 9.98305329e-01 -5.60292053e-02 -1.57225652e-02 6.59537855e+02] [ 5.60318577e-02 9.98428944e-01 -2.72103912e-04 1.14158217e+01] [ 1.57131099e-02 -6.09321748e-04 9.99876356e-01 6.09193937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.089254154 meters Centerline goodness [0,1] 0.9987897575268588 Centerline is valid? [True, True] Translation: X:659.57, Y:11.42, Z:6.09 [[ 9.98263221e-01 -5.66671629e-02 -1.61050861e-02 6.59569592e+02] [ 5.66700573e-02 9.98392923e-01 -2.76955891e-04 1.14192857e+01] [ 1.60948982e-02 -6.36201271e-04 9.99870266e-01 6.09252333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1192541539999 meters Centerline goodness [0,1] 0.9988937817771821 Centerline is valid? [True, True] Translation: X:659.60, Y:11.42, Z:6.09 [[ 9.98205987e-01 -5.73825900e-02 -1.70893405e-02 6.59601049e+02] [ 5.73859737e-02 9.98352024e-01 -2.92716420e-04 1.14178394e+01] [ 1.70779745e-02 -6.88497162e-04 9.99853924e-01 6.09203330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1492541539999 meters Centerline goodness [0,1] 0.9987671902565519 Centerline is valid? [True, True] Translation: X:659.63, Y:11.42, Z:6.09 [[ 9.98189847e-01 -5.76437613e-02 -1.71530369e-02 6.59633370e+02] [ 5.76472276e-02 9.98336973e-01 -2.92708959e-04 1.14198499e+01] [ 1.71413838e-02 -6.96645911e-04 9.99852833e-01 6.09203988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1792541539999 meters Centerline goodness [0,1] 0.9990852037017338 Centerline is valid? [True, True] Translation: X:659.66, Y:11.42, Z:6.09 [[ 9.98162249e-01 -5.80109460e-02 -1.75172967e-02 6.59664768e+02] [ 5.80146380e-02 9.98315688e-01 -2.97764422e-04 1.14193210e+01] [ 1.75050657e-02 -7.19042423e-04 9.99846516e-01 6.09195320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.209254154 meters Centerline goodness [0,1] 0.9987652744071188 Centerline is valid? [True, True] Translation: X:659.70, Y:11.42, Z:6.09 [[ 9.98101602e-01 -5.89466024e-02 -1.78462763e-02 6.59695667e+02] [ 5.89506116e-02 9.98260855e-01 -3.01783977e-04 1.14177130e+01] [ 1.78330282e-02 -7.50837834e-04 9.99840697e-01 6.09127225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2392541539999 meters Centerline goodness [0,1] 0.9986373120981136 Centerline is valid? [True, True] Translation: X:659.73, Y:11.42, Z:6.09 [[ 9.98086450e-01 -5.88414384e-02 -1.90032708e-02 6.59726915e+02] [ 5.88459987e-02 9.98267022e-01 -3.19602641e-04 1.14169625e+01] [ 1.89891444e-02 -7.99275384e-04 9.99819370e-01 6.09019015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2692541539999 meters Centerline goodness [0,1] 0.9989366227137388 Centerline is valid? [True, True] Translation: X:659.76, Y:11.42, Z:6.09 [[ 9.98080754e-01 -5.88024460e-02 -1.94185490e-02 6.59759321e+02] [ 5.88072249e-02 9.98269305e-01 -3.25331417e-04 1.14215314e+01] [ 1.94040717e-02 -8.17243954e-04 9.99811389e-01 6.09228208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2992541539999 meters Centerline goodness [0,1] 0.9990219217112117 Centerline is valid? [True, True] Translation: X:659.79, Y:11.42, Z:6.09 [[ 9.98127049e-01 -5.78666593e-02 -1.98455209e-02 6.59791790e+02] [ 5.78714954e-02 9.98323986e-01 -3.31008068e-04 1.14224911e+01] [ 1.98314139e-02 -8.18101868e-04 9.99803003e-01 6.09221560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.329254154 meters Centerline goodness [0,1] 0.9988324700687782 Centerline is valid? [True, True] Translation: X:659.82, Y:11.42, Z:6.09 [[ 9.98183153e-01 -5.66763406e-02 -2.04495717e-02 6.59822616e+02] [ 5.66812533e-02 9.98392268e-01 -3.39766890e-04 1.14225691e+01] [ 2.04359510e-02 -8.19957767e-04 9.99790828e-01 6.09176786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3592541539999 meters Centerline goodness [0,1] 0.9988502320827833 Centerline is valid? [True, True] Translation: X:659.85, Y:11.43, Z:6.09 [[ 9.98333822e-01 -5.36721687e-02 -2.11867504e-02 6.59853728e+02] [ 5.36767872e-02 9.98558300e-01 -3.51042976e-04 1.14280598e+01] [ 2.11750467e-02 -7.86778619e-04 9.99775474e-01 6.09213369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3892541539999 meters Centerline goodness [0,1] 0.9987637479751045 Centerline is valid? [True, True] Translation: X:659.89, Y:11.43, Z:6.09 [[ 9.98445726e-01 -5.13434917e-02 -2.16789632e-02 6.59885379e+02] [ 5.13478066e-02 9.98680767e-01 -3.57935915e-04 1.14287699e+01] [ 2.16687413e-02 -7.55787624e-04 9.99764920e-01 6.09166402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4192541539999 meters Centerline goodness [0,1] 0.9989756722151089 Centerline is valid? [True, True] Translation: X:659.92, Y:11.43, Z:6.09 [[ 9.98564399e-01 -4.91786936e-02 -2.12272939e-02 6.59917374e+02] [ 4.91823746e-02 9.98789754e-01 -3.48939635e-04 1.14319432e+01] [ 2.12187641e-02 -6.95570024e-04 9.99774615e-01 6.09293213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.449254154 meters Centerline goodness [0,1] 0.9991030240902101 Centerline is valid? [True, True] Translation: X:659.95, Y:11.44, Z:6.09 [[ 9.98811432e-01 -4.41790966e-02 -2.05895960e-02 6.59947972e+02] [ 4.41815201e-02 9.99023463e-01 -3.37387767e-04 1.14361979e+01] [ 2.05843950e-02 -5.72692892e-04 9.99787955e-01 6.09388978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4792541539999 meters Centerline goodness [0,1] 0.9990807644619265 Centerline is valid? [True, True] Translation: X:659.98, Y:11.44, Z:6.09 [[ 9.98943287e-01 -4.14184581e-02 -1.99203653e-02 6.59979328e+02] [ 4.14201923e-02 9.99141763e-01 -3.25705138e-04 1.14400912e+01] [ 1.99167591e-02 -4.99744400e-04 9.99801517e-01 6.09476664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5092541539999 meters Centerline goodness [0,1] 0.9990797611659212 Centerline is valid? [True, True] Translation: X:660.01, Y:11.44, Z:6.10 [[ 9.99049192e-01 -3.88720136e-02 -1.97402753e-02 6.60010685e+02] [ 3.88732340e-02 9.99244098e-01 -3.22037979e-04 1.14426788e+01] [ 1.97378719e-02 -4.45636559e-04 9.99805090e-01 6.09521557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5392541539999 meters Centerline goodness [0,1] 0.9988622214589327 Centerline is valid? [True, True] Translation: X:660.04, Y:11.45, Z:6.09 [[ 9.99264279e-01 -3.32765862e-02 -1.90675055e-02 6.60041314e+02] [ 3.32767196e-02 9.99446128e-01 -3.10373670e-04 1.14471106e+01] [ 1.90672727e-02 -3.24358712e-04 9.99818150e-01 6.09499994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.569254154 meters Centerline goodness [0,1] 0.9989036737677078 Centerline is valid? [True, True] Translation: X:660.07, Y:11.45, Z:6.10 [[ 9.99367704e-01 -3.06208831e-02 -1.80707842e-02 6.60072020e+02] [ 3.06205858e-02 9.99531037e-01 -2.93209967e-04 1.14495510e+01] [ 1.80712880e-02 -2.60313424e-04 9.99836667e-01 6.09579965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5992541539999 meters Centerline goodness [0,1] 0.9991408750187933 Centerline is valid? [True, True] Translation: X:660.10, Y:11.45, Z:6.10 [[ 9.99554662e-01 -2.47129953e-02 -1.67256254e-02 6.60102316e+02] [ 2.47119259e-02 9.99694577e-01 -2.70642324e-04 1.14539680e+01] [ 1.67272054e-02 -1.42800620e-04 9.99860080e-01 6.09678451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6292541539999 meters Centerline goodness [0,1] 0.9992463393626184 Centerline is valid? [True, True] Translation: X:660.13, Y:11.46, Z:6.10 [[ 9.99624117e-01 -2.18973350e-02 -1.64963884e-02 6.60132399e+02] [ 2.18959140e-02 9.99760220e-01 -2.66769206e-04 1.14570050e+01] [ 1.64982745e-02 -9.45345705e-05 9.99863890e-01 6.09779470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6592541539999 meters Centerline goodness [0,1] 0.9992036160137753 Centerline is valid? [True, True] Translation: X:660.16, Y:11.46, Z:6.10 [[ 9.99703703e-01 -1.79324150e-02 -1.64600682e-02 6.60162322e+02] [ 1.79304587e-02 9.99839201e-01 -2.66436067e-04 1.14597974e+01] [ 1.64621993e-02 -2.87794497e-05 9.99864488e-01 6.09749556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6892541539999 meters Centerline goodness [0,1] 0.999332098073857 Centerline is valid? [True, True] Translation: X:660.19, Y:11.46, Z:6.10 [[ 9.99721362e-01 -1.70633092e-02 -1.63108198e-02 6.60191140e+02] [ 1.70612381e-02 9.99854411e-01 -2.66127359e-04 1.14606624e+01] [ 1.63129861e-02 -1.22295744e-05 9.99866934e-01 6.09832190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7192541539999 meters Centerline goodness [0,1] 0.9992479910618366 Centerline is valid? [True, True] Translation: X:660.22, Y:11.46, Z:6.10 [[ 9.99726150e-01 -1.68915931e-02 -1.61956343e-02 6.60219578e+02] [ 1.68894621e-02 9.99857327e-01 -2.68355762e-04 1.14610131e+01] [ 1.61978565e-02 -5.25327867e-06 9.99868806e-01 6.09818030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7492541539999 meters Centerline goodness [0,1] 0.9992477486190814 Centerline is valid? [True, True] Translation: X:660.25, Y:11.46, Z:6.10 [[ 9.99706317e-01 -1.81158604e-02 -1.60964384e-02 6.60248847e+02] [ 1.81138489e-02 9.99835894e-01 -2.70765889e-04 1.14590328e+01] [ 1.60987020e-02 -2.08820822e-05 9.99870407e-01 6.09761432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7792541539999 meters Centerline goodness [0,1] 0.9992265881796893 Centerline is valid? [True, True] Translation: X:660.28, Y:11.46, Z:6.10 [[ 9.99668484e-01 -1.97597752e-02 -1.65067944e-02 6.60277606e+02] [ 1.97578144e-02 9.99804756e-01 -2.81875224e-04 1.14572038e+01] [ 1.65091413e-02 -4.43564030e-05 9.99863714e-01 6.09717459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8092541539999 meters Centerline goodness [0,1] 0.9989914163090129 Centerline is valid? [True, True] Translation: X:660.31, Y:11.45, Z:6.10 [[ 9.99555872e-01 -2.43192708e-02 -1.72230280e-02 6.60305865e+02] [ 2.43177611e-02 9.99704235e-01 -2.97111870e-04 1.14518681e+01] [ 1.72251596e-02 -1.21845565e-04 9.99851629e-01 6.09539569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.839254154 meters Centerline goodness [0,1] 0.9990558750321861 Centerline is valid? [True, True] Translation: X:660.34, Y:11.45, Z:6.10 [[ 9.99487164e-01 -2.68844686e-02 -1.73963957e-02 6.60335987e+02] [ 2.68833000e-02 9.99638533e-01 -3.01069075e-04 1.14505081e+01] [ 1.73982015e-02 -1.66757847e-04 9.99848626e-01 6.09562808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8692541539999 meters Centerline goodness [0,1] 0.9989702001673425 Centerline is valid? [True, True] Translation: X:660.37, Y:11.45, Z:6.10 [[ 9.99411286e-01 -2.96435417e-02 -1.72725621e-02 6.60365946e+02] [ 2.96427932e-02 9.99560511e-01 -2.99412454e-04 1.14475646e+01] [ 1.72738466e-02 -2.12770800e-04 9.99850773e-01 6.09527067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8992541539999 meters Centerline goodness [0,1] 0.9988870101239271 Centerline is valid? [True, True] Translation: X:660.40, Y:11.44, Z:6.10 [[ 9.99245177e-01 -3.47638783e-02 -1.73363710e-02 6.60396966e+02] [ 3.47638940e-02 9.99395508e-01 -3.00548436e-04 1.14439095e+01] [ 1.73363395e-02 -3.02358190e-04 9.99849669e-01 6.09539327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9292541539999 meters Centerline goodness [0,1] 0.9988056900339098 Centerline is valid? [True, True] Translation: X:660.43, Y:11.44, Z:6.10 [[ 9.99059245e-01 -4.00823977e-02 -1.65537691e-02 6.60428301e+02] [ 4.00831486e-02 9.99196307e-01 -2.86560298e-04 1.14400279e+01] [ 1.65519510e-02 -3.77236472e-04 9.99862936e-01 6.09619021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.959254154 meters Centerline goodness [0,1] 0.9988922500106514 Centerline is valid? [True, True] Translation: X:660.46, Y:11.44, Z:6.10 [[ 9.98947393e-01 -4.27610742e-02 -1.66011086e-02 6.60460453e+02] [ 4.27622134e-02 9.99085237e-01 -2.86505549e-04 1.14381495e+01] [ 1.65981738e-02 -4.23696179e-04 9.99862151e-01 6.09668014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9892541539999 meters Centerline goodness [0,1] 0.9987221535971377 Centerline is valid? [True, True] Translation: X:660.49, Y:11.44, Z:6.10 [[ 9.98852061e-01 -4.51150959e-02 -1.60993166e-02 6.60492097e+02] [ 4.51164895e-02 9.98981694e-01 -2.76806094e-04 1.14359066e+01] [ 1.60954108e-02 -4.49856314e-04 9.99870359e-01 6.09707860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0192541539999 meters Centerline goodness [0,1] 0.9988990514905149 Centerline is valid? [True, True] Translation: X:660.52, Y:11.43, Z:6.10 [[ 9.98655131e-01 -4.96878023e-02 -1.48004014e-02 6.60522459e+02] [ 4.96894901e-02 9.98764682e-01 -2.53899537e-04 1.14309180e+01] [ 1.47947339e-02 -4.81866323e-04 9.99890436e-01 6.09796920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0492541539999 meters Centerline goodness [0,1] 0.9985986963629802 Centerline is valid? [True, True] Translation: X:660.55, Y:11.43, Z:6.10 [[ 9.98578497e-01 -5.13961643e-02 -1.41216028e-02 6.60554389e+02] [ 5.13978786e-02 9.98678226e-01 -2.41744760e-04 1.14299468e+01] [ 1.41153620e-02 -4.84419309e-04 9.99900256e-01 6.09879437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.079254154 meters Centerline goodness [0,1] 0.9988537465506262 Centerline is valid? [True, True] Translation: X:660.59, Y:11.43, Z:6.10 [[ 9.98517292e-01 -5.26292462e-02 -1.39061333e-02 6.60585499e+02] [ 5.26310408e-02 9.98613998e-01 -2.37134921e-04 1.14266974e+01] [ 1.38993396e-02 -4.95110950e-04 9.99903277e-01 6.09911756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1092541539999 meters Centerline goodness [0,1] 0.9987282746926663 Centerline is valid? [True, True] Translation: X:660.62, Y:11.43, Z:6.10 [[ 9.98461216e-01 -5.35412108e-02 -1.44408705e-02 6.60617423e+02] [ 5.35432542e-02 9.98565501e-01 -2.45363021e-04 1.14258654e+01] [ 1.44332921e-02 -5.28225738e-04 9.99895695e-01 6.09934519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1392541539999 meters Centerline goodness [0,1] 0.9988122759761607 Centerline is valid? [True, True] Translation: X:660.65, Y:11.43, Z:6.10 [[ 9.98497801e-01 -5.27752541e-02 -1.47280269e-02 6.60650033e+02] [ 5.27773122e-02 9.98606275e-01 -2.49168578e-04 1.14280342e+01] [ 1.47206501e-02 -5.28511399e-04 9.99891506e-01 6.09927776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1692541539999 meters Centerline goodness [0,1] 0.9984537501853382 Centerline is valid? [True, True] Translation: X:660.68, Y:11.43, Z:6.10 [[ 9.98551601e-01 -5.16848361e-02 -1.49458564e-02 6.60682152e+02] [ 5.16868502e-02 9.98663310e-01 -2.51740016e-04 1.14292502e+01] [ 1.49388895e-02 -5.21128843e-04 9.99888273e-01 6.09923160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.199254154 meters Centerline goodness [0,1] 0.9985352806317398 Centerline is valid? [True, True] Translation: X:660.71, Y:11.43, Z:6.10 [[ 9.98716890e-01 -4.82137259e-02 -1.54922399e-02 6.60713458e+02] [ 4.82154875e-02 9.98836923e-01 -2.59992237e-04 1.14308596e+01] [ 1.54867564e-02 -4.87307259e-04 9.99879954e-01 6.09985346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2292541539999 meters Centerline goodness [0,1] 0.9986227646410712 Centerline is valid? [True, True] Translation: X:660.74, Y:11.43, Z:6.10 [[ 9.98835970e-01 -4.56752118e-02 -1.55074485e-02 6.60744671e+02] [ 4.56766819e-02 9.98956242e-01 -2.59560167e-04 1.14321788e+01] [ 1.55031179e-02 -4.49070760e-04 9.99879719e-01 6.10021197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2592541539999 meters Centerline goodness [0,1] 0.9988108888605767 Centerline is valid? [True, True] Translation: X:660.78, Y:11.44, Z:6.10 [[ 9.98958698e-01 -4.28296431e-02 -1.57207301e-02 6.60776539e+02] [ 4.28308174e-02 9.99082305e-01 -2.62136477e-04 1.14350490e+01] [ 1.57175304e-02 -4.11468205e-04 9.99876387e-01 6.10090577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2892541539999 meters Centerline goodness [0,1] 0.998746627578442 Centerline is valid? [True, True] Translation: X:660.81, Y:11.44, Z:6.10 [[ 9.99216808e-01 -3.62191484e-02 -1.59356278e-02 6.60807491e+02] [ 3.62195297e-02 9.99343823e-01 -2.64776122e-04 1.14371924e+01] [ 1.59347612e-02 -3.12612195e-04 9.99872985e-01 6.10015626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.319254154 meters Centerline goodness [0,1] 0.9990427975835957 Centerline is valid? [True, True] Translation: X:660.84, Y:11.44, Z:6.10 [[ 9.99295313e-01 -3.42065133e-02 -1.54528847e-02 6.60839021e+02] [ 3.42066398e-02 9.99414749e-01 -2.56201243e-04 1.14396437e+01] [ 1.54526047e-02 -2.72570560e-04 9.99880564e-01 6.10152123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3492541539999 meters Centerline goodness [0,1] 0.9986823649424066 Centerline is valid? [True, True] Translation: X:660.87, Y:11.44, Z:6.10 [[ 9.99426643e-01 -2.99061766e-02 -1.58746801e-02 6.60870651e+02] [ 2.99057770e-02 9.99552688e-01 -2.62612689e-04 1.14418916e+01] [ 1.58754329e-02 -2.12282525e-04 9.99873955e-01 6.10084664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3792541539999 meters Centerline goodness [0,1] 0.9988514059641809 Centerline is valid? [True, True] Translation: X:660.90, Y:11.44, Z:6.10 [[ 9.99467127e-01 -2.83492486e-02 -1.61796738e-02 6.60901838e+02] [ 2.83486392e-02 9.99598061e-01 -2.67065021e-04 1.14435254e+01] [ 1.61807417e-02 -1.91749027e-04 9.99869065e-01 6.10105219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4092541539999 meters Centerline goodness [0,1] 0.9988517723107019 Centerline is valid? [True, True] Translation: X:660.93, Y:11.45, Z:6.10 [[ 9.99490719e-01 -2.66223320e-02 -1.75941757e-02 6.60933283e+02] [ 2.66213557e-02 9.99645547e-01 -2.89737057e-04 1.14451466e+01] [ 1.75956528e-02 -1.78791310e-04 9.99845169e-01 6.10035503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4392541539999 meters Centerline goodness [0,1] 0.998706037079462 Centerline is valid? [True, True] Translation: X:660.96, Y:11.44, Z:6.10 [[ 9.99471746e-01 -2.66796617e-02 -1.85587008e-02 6.60962913e+02] [ 2.66785918e-02 9.99644016e-01 -3.05277618e-04 1.14447451e+01] [ 1.85602390e-02 -1.90003650e-04 9.99827726e-01 6.09910019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4692541539999 meters Centerline goodness [0,1] 0.9989131592967502 Centerline is valid? [True, True] Translation: X:660.99, Y:11.45, Z:6.10 [[ 9.99444481e-01 -2.74022419e-02 -1.89696127e-02 6.60992504e+02] [ 2.74012471e-02 9.99624467e-01 -3.12403999e-04 1.14451490e+01] [ 1.89710495e-02 -2.07560592e-04 9.99820012e-01 6.09944419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4992541539999 meters Centerline goodness [0,1] 0.9989131592967502 Centerline is valid? [True, True] Translation: X:661.02, Y:11.45, Z:6.10 [[ 9.99443496e-01 -2.74381693e-02 -1.89696014e-02 6.61021655e+02] [ 2.74371681e-02 9.99623481e-01 -3.13086214e-04 1.14456598e+01] [ 1.89710495e-02 -2.07560163e-04 9.99820012e-01 6.09971741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5292541539999 meters Centerline goodness [0,1] 0.9988084092263171 Centerline is valid? [True, True] Translation: X:661.05, Y:11.44, Z:6.10 [[ 9.99339769e-01 -3.05772737e-02 -1.96228623e-02 6.61050791e+02] [ 3.05767933e-02 9.99532368e-01 -3.24582423e-04 1.14430296e+01] [ 1.96236109e-02 -2.75636081e-04 9.99807400e-01 6.09923026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5592541539999 meters Centerline goodness [0,1] 0.9988093466289626 Centerline is valid? [True, True] Translation: X:661.08, Y:11.44, Z:6.10 [[ 9.99278100e-01 -3.25799233e-02 -1.95404184e-02 6.61079887e+02] [ 3.25798197e-02 9.99469084e-01 -3.23726837e-04 1.14418524e+01] [ 1.95405911e-02 -3.13130169e-04 9.99809015e-01 6.09940811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.589254154 meters Centerline goodness [0,1] 0.9986830926083262 Centerline is valid? [True, True] Translation: X:661.11, Y:11.44, Z:6.10 [[ 9.99095708e-01 -3.78772173e-02 -1.93153643e-02 6.61110602e+02] [ 3.78781023e-02 9.99282316e-01 -3.20157829e-04 1.14410733e+01] [ 1.93136287e-02 -4.11761034e-04 9.99813390e-01 6.10118600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6192541539999 meters Centerline goodness [0,1] 0.9987895519218518 Centerline is valid? [True, True] Translation: X:661.14, Y:11.44, Z:6.10 [[ 9.98979655e-01 -4.09578899e-02 -1.90289044e-02 6.61140782e+02] [ 4.09593107e-02 9.99160766e-01 -3.15232999e-04 1.14381764e+01] [ 1.90258460e-02 -4.64499454e-04 9.99818884e-01 6.10132415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6492541539999 meters Centerline goodness [0,1] 0.9988960597826086 Centerline is valid? [True, True] Translation: X:661.17, Y:11.44, Z:6.10 [[ 9.98865644e-01 -4.38030391e-02 -1.86740239e-02 6.61172488e+02] [ 4.38049249e-02 9.99040056e-01 -3.08239214e-04 1.14383625e+01] [ 1.86695997e-02 -5.10124653e-04 9.99825578e-01 6.10280673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6792541539999 meters Centerline goodness [0,1] 0.998876213901022 Centerline is valid? [True, True] Translation: X:661.20, Y:11.43, Z:6.10 [[ 9.98629083e-01 -4.93522634e-02 -1.74444216e-02 6.61202299e+02] [ 4.93547701e-02 9.98781269e-01 -2.87053131e-04 1.14342715e+01] [ 1.74373283e-02 -5.74305815e-04 9.99847793e-01 6.10328627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.709254154 meters Centerline goodness [0,1] 0.9989393746552968 Centerline is valid? [True, True] Translation: X:661.23, Y:11.43, Z:6.10 [[ 9.98513406e-01 -5.18924585e-02 -1.66778478e-02 6.61233130e+02] [ 5.18951189e-02 9.98652503e-01 -2.73514614e-04 1.14308167e+01] [ 1.66695678e-02 -5.92390884e-04 9.99860878e-01 6.10341895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7392541539999 meters Centerline goodness [0,1] 0.9986014875087407 Centerline is valid? [True, True] Translation: X:661.26, Y:11.43, Z:6.10 [[ 9.98287779e-01 -5.63030378e-02 -1.58580949e-02 6.61264419e+02] [ 5.63060201e-02 9.98413524e-01 -2.58712285e-04 1.14284769e+01] [ 1.58475027e-02 -6.34636897e-04 9.99874219e-01 6.10450546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7692541539999 meters Centerline goodness [0,1] 0.9987937784361444 Centerline is valid? [True, True] Translation: X:661.30, Y:11.43, Z:6.11 [[ 9.98165651e-01 -5.84307301e-02 -1.58487688e-02 6.61296436e+02] [ 5.84339894e-02 9.98291241e-01 -2.57745869e-04 1.14293503e+01] [ 1.58367473e-02 -6.68833715e-04 9.99874367e-01 6.10557328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7992541539999 meters Centerline goodness [0,1] 0.9986642920747997 Centerline is valid? [True, True] Translation: X:661.33, Y:11.42, Z:6.10 [[ 9.98049142e-01 -6.03457154e-02 -1.60095184e-02 6.61327843e+02] [ 6.03493041e-02 9.98177286e-01 -2.59295962e-04 1.14243504e+01] [ 1.59959850e-02 -7.07373181e-04 9.99871806e-01 6.10499779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.829254154 meters Centerline goodness [0,1] 0.9989207034474001 Centerline is valid? [True, True] Translation: X:661.36, Y:11.43, Z:6.11 [[ 9.97784410e-01 -6.46835550e-02 -1.55662717e-02 6.61358758e+02] [ 6.46874859e-02 9.97905540e-01 -2.51373815e-04 1.14257134e+01] [ 1.55499285e-02 -7.56126104e-04 9.99878807e-01 6.10639159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8592541539999 meters Centerline goodness [0,1] 0.9989204292881184 Centerline is valid? [True, True] Translation: X:661.39, Y:11.42, Z:6.11 [[ 9.97672331e-01 -6.63654069e-02 -1.56701360e-02 6.61389752e+02] [ 6.63696085e-02 9.97795075e-01 -2.52337878e-04 1.14238935e+01] [ 1.56523310e-02 -7.88270272e-04 9.99877184e-01 6.10624033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8892541539999 meters Centerline goodness [0,1] 0.9985620030451701 Centerline is valid? [True, True] Translation: X:661.42, Y:11.42, Z:6.10 [[ 9.97467345e-01 -6.88864274e-02 -1.77075142e-02 6.61420750e+02] [ 6.88922019e-02 9.97624069e-01 -2.84415404e-04 1.14222935e+01] [ 1.76850347e-02 -9.36214562e-04 9.99843169e-01 6.10434841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9192541539999 meters Centerline goodness [0,1] 0.9986695949655784 Centerline is valid? [True, True] Translation: X:661.45, Y:11.42, Z:6.10 [[ 9.97367840e-01 -7.03339056e-02 -1.76219474e-02 6.61452101e+02] [ 7.03398605e-02 9.97523044e-01 -2.82424722e-04 1.14207639e+01] [ 1.75981626e-02 -9.57843984e-04 9.99844682e-01 6.10486465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.949254154 meters Centerline goodness [0,1] 0.9985827004844203 Centerline is valid? [True, True] Translation: X:661.48, Y:11.42, Z:6.10 [[ 9.97331431e-01 -7.07529501e-02 -1.80010078e-02 6.61484423e+02] [ 7.07592527e-02 9.97493381e-01 -2.87357340e-04 1.14223068e+01] [ 1.79762175e-02 -9.87147352e-04 9.99837927e-01 6.10492090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9792541539999 meters Centerline goodness [0,1] 0.9985816803912022 Centerline is valid? [True, True] Translation: X:661.52, Y:11.43, Z:6.11 [[ 9.97325218e-01 -7.06657574e-02 -1.86751148e-02 6.61516746e+02] [ 7.06725517e-02 9.97499525e-01 -2.96722834e-04 1.14265251e+01] [ 1.86493863e-02 -1.02388885e-03 9.99825561e-01 6.10541388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0092541539999 meters Centerline goodness [0,1] 0.9986856888474339 Centerline is valid? [True, True] Translation: X:661.55, Y:11.43, Z:6.11 [[ 9.97453056e-01 -6.87401378e-02 -1.90314227e-02 6.61548618e+02] [ 6.87468684e-02 9.97634090e-01 -3.01128952e-04 1.14310121e+01] [ 1.90070957e-02 -1.00798872e-03 9.99818841e-01 6.10580053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0392541539999 meters Centerline goodness [0,1] 0.9988530648655537 Centerline is valid? [True, True] Translation: X:661.58, Y:11.44, Z:6.11 [[ 9.97679741e-01 -6.51107444e-02 -1.98928264e-02 6.61578216e+02] [ 6.51174041e-02 9.97877560e-01 -3.13473956e-04 1.14350041e+01] [ 1.98710156e-02 -9.82622599e-04 9.99802069e-01 6.10582237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.069254154 meters Centerline goodness [0,1] 0.9986415062299675 Centerline is valid? [True, True] Translation: X:661.61, Y:11.44, Z:6.11 [[ 9.97843114e-01 -6.24767260e-02 -2.01439559e-02 6.61609050e+02] [ 6.24830407e-02 9.98045976e-01 -3.16374342e-04 1.14353912e+01] [ 2.01243601e-02 -9.42963655e-04 9.99797040e-01 6.10537005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0992541539999 meters Centerline goodness [0,1] 0.9986607142857142 Centerline is valid? [True, True] Translation: X:661.64, Y:11.44, Z:6.11 [[ 9.98160197e-01 -5.70327411e-02 -2.05787945e-02 6.61639684e+02] [ 5.70381880e-02 9.98371945e-01 -3.22648152e-04 1.14440302e+01] [ 2.05636926e-02 -8.51722608e-04 9.99788182e-01 6.10587485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1292541539999 meters Centerline goodness [0,1] 0.9988310308182784 Centerline is valid? [True, True] Translation: X:661.67, Y:11.45, Z:6.11 [[ 9.98327926e-01 -5.38713738e-02 -2.09577477e-02 6.61671533e+02] [ 5.38763447e-02 9.98547561e-01 -3.27777695e-04 1.14479530e+01] [ 2.09449656e-02 -8.01897210e-04 9.99780309e-01 6.10601446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1592541539999 meters Centerline goodness [0,1] 0.998787930337891 Centerline is valid? [True, True] Translation: X:661.70, Y:11.45, Z:6.11 [[ 9.98468245e-01 -5.09298421e-02 -2.16174561e-02 6.61701701e+02] [ 5.09344818e-02 9.98701940e-01 -3.36277368e-04 1.14506885e+01] [ 2.16065219e-02 -7.65311649e-04 9.99766259e-01 6.10565854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1892541539999 meters Centerline goodness [0,1] 0.9988915652377806 Centerline is valid? [True, True] Translation: X:661.73, Y:11.46, Z:6.11 [[ 9.98692802e-01 -4.64451583e-02 -2.13432407e-02 6.61732864e+02] [ 4.64486879e-02 9.98920623e-01 -3.30604023e-04 1.14577545e+01] [ 2.13355583e-02 -6.61193670e-04 9.99772152e-01 6.10716243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2192541539999 meters Centerline goodness [0,1] 0.9990618336886994 Centerline is valid? [True, True] Translation: X:661.76, Y:11.46, Z:6.11 [[ 9.98811367e-01 -4.38040678e-02 -2.13789086e-02 6.61764044e+02] [ 4.38070214e-02 9.99039957e-01 -3.30375941e-04 1.14608418e+01] [ 2.13728558e-02 -6.06563064e-04 9.99771390e-01 6.10691952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2492541539999 meters Centerline goodness [0,1] 0.9988501341510158 Centerline is valid? [True, True] Translation: X:661.80, Y:11.46, Z:6.11 [[ 9.98908245e-01 -4.18114539e-02 -2.08355456e-02 6.61795864e+02] [ 4.18138461e-02 9.99125367e-01 -3.21015939e-04 1.14642342e+01] [ 2.08307443e-02 -5.50548829e-04 9.99782865e-01 6.10859126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2792541539999 meters Centerline goodness [0,1] 0.9989108149666838 Centerline is valid? [True, True] Translation: X:661.83, Y:11.47, Z:6.11 [[ 9.99132089e-01 -3.66339817e-02 -1.98247248e-02 6.61827312e+02] [ 3.66351461e-02 9.99328661e-01 -3.04560759e-04 1.14702415e+01] [ 1.98225729e-02 -4.21985260e-04 9.99803424e-01 6.11041221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3092541539999 meters Centerline goodness [0,1] 0.999167253859458 Centerline is valid? [True, True] Translation: X:661.86, Y:11.47, Z:6.11 [[ 9.99236782e-01 -3.39189051e-02 -1.93742251e-02 6.61857805e+02] [ 3.39195172e-02 9.99424523e-01 -2.97113054e-04 1.14720389e+01] [ 1.93731534e-02 -3.60278069e-04 9.99812258e-01 6.11031457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.339254154 meters Centerline goodness [0,1] 0.9992071485203677 Centerline is valid? [True, True] Translation: X:661.89, Y:11.48, Z:6.11 [[ 9.99417010e-01 -2.78107196e-02 -1.98041501e-02 6.61888830e+02] [ 2.78101675e-02 9.99613176e-01 -3.03337784e-04 1.14792792e+01] [ 1.98049255e-02 -2.47595791e-04 9.99803833e-01 6.11137954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3692541539999 meters Centerline goodness [0,1] 0.9990136163825453 Centerline is valid? [True, True] Translation: X:661.92, Y:11.48, Z:6.11 [[ 9.99521657e-01 -2.40788134e-02 -1.94079144e-02 6.61918582e+02] [ 2.40775795e-02 9.99710049e-01 -2.97282801e-04 1.14821311e+01] [ 1.94094453e-02 -1.70155003e-04 9.99811604e-01 6.11119619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3992541539999 meters Centerline goodness [0,1] 0.9992689429775522 Centerline is valid? [True, True] Translation: X:661.95, Y:11.49, Z:6.11 [[ 9.99679343e-01 -1.69709560e-02 -1.87935331e-02 6.61948440e+02] [ 1.69685334e-02 9.99855983e-01 -2.88372775e-04 1.14886821e+01] [ 1.87957205e-02 -3.06183875e-05 9.99823344e-01 6.11187060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4292541539999 meters Centerline goodness [0,1] 0.9993757399634055 Centerline is valid? [True, True] Translation: X:661.98, Y:11.49, Z:6.11 [[ 9.99721792e-01 -1.43385624e-02 -1.87281856e-02 6.61976262e+02] [ 1.43356364e-02 9.99897197e-01 -2.90483549e-04 1.14914867e+01] [ 1.87304254e-02 2.19222749e-05 9.99824570e-01 6.11289335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.459254154 meters Centerline goodness [0,1] 0.99931086464951 Centerline is valid? [True, True] Translation: X:662.00, Y:11.49, Z:6.11 [[ 9.99755533e-01 -1.18776786e-02 -1.86492565e-02 6.62004127e+02] [ 1.18742815e-02 9.99929455e-01 -2.92883539e-04 1.14938008e+01] [ 1.86514197e-02 7.13654171e-05 9.99826045e-01 6.11236394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4892541539999 meters Centerline goodness [0,1] 0.9991381724947752 Centerline is valid? [True, True] Translation: X:662.03, Y:11.50, Z:6.11 [[ 9.99797396e-01 -8.09143686e-03 -1.84308471e-02 6.62033209e+02] [ 8.08741769e-03 9.99967254e-01 -2.92594101e-04 1.14960161e+01] [ 1.84326111e-02 1.43476861e-04 9.99830095e-01 6.11207017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5192541539999 meters Centerline goodness [0,1] 0.9992892526383803 Centerline is valid? [True, True] Translation: X:662.06, Y:11.50, Z:6.11 [[ 9.99801176e-01 -7.15490091e-03 -1.86122322e-02 6.62062398e+02] [ 7.15055171e-03 9.99974389e-01 -3.00214286e-04 1.14969459e+01] [ 1.86139035e-02 1.67066868e-04 9.99826732e-01 6.11237658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5492541539999 meters Centerline goodness [0,1] 0.9992683136782302 Centerline is valid? [True, True] Translation: X:662.09, Y:11.50, Z:6.11 [[ 9.99804271e-01 -6.78261311e-03 -1.85853664e-02 6.62089901e+02] [ 6.77815251e-03 9.99976982e-01 -3.02988553e-04 1.14977505e+01] [ 1.85869936e-02 1.76954802e-04 9.99827231e-01 6.11229700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.579254154 meters Centerline goodness [0,1] 0.9993108943299525 Centerline is valid? [True, True] Translation: X:662.12, Y:11.50, Z:6.11 [[ 9.99803026e-01 -7.67150751e-03 -1.83045701e-02 6.62117583e+02] [ 7.66726762e-03 9.99970561e-01 -3.01798694e-04 1.14975794e+01] [ 1.83063465e-02 1.61393210e-04 9.99832412e-01 6.11189370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6092541539999 meters Centerline goodness [0,1] 0.9993975644390894 Centerline is valid? [True, True] Translation: X:662.15, Y:11.50, Z:6.11 [[ 9.99778890e-01 -8.96492093e-03 -1.90211008e-02 6.62145665e+02] [ 8.96047119e-03 9.99959803e-01 -3.19152746e-04 1.14970344e+01] [ 1.90231973e-02 1.48644152e-04 9.99819032e-01 6.11196917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6392541539999 meters Centerline goodness [0,1] 0.9992041983911902 Centerline is valid? [True, True] Translation: X:662.17, Y:11.49, Z:6.11 [[ 9.99726478e-01 -1.25309646e-02 -1.97470253e-02 6.62174830e+02] [ 1.25267945e-02 9.99921481e-01 -3.34859470e-04 1.14934370e+01] [ 1.97496709e-02 8.74009494e-05 9.99804952e-01 6.11155904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6692541539999 meters Centerline goodness [0,1] 0.9993756458835688 Centerline is valid? [True, True] Translation: X:662.20, Y:11.49, Z:6.11 [[ 9.99691620e-01 -1.49570235e-02 -1.98230331e-02 6.62202293e+02] [ 1.49532248e-02 9.99888137e-01 -3.39848606e-04 1.14914712e+01] [ 1.98258988e-02 4.33255324e-05 9.99803447e-01 6.11185636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.699254154 meters Centerline goodness [0,1] 0.9992699005776375 Centerline is valid? [True, True] Translation: X:662.23, Y:11.49, Z:6.11 [[ 9.99607168e-01 -2.00739078e-02 -1.95588548e-02 6.62229799e+02] [ 2.00711119e-02 9.99798497e-01 -3.39261524e-04 1.14860048e+01] [ 1.95617239e-02 -5.34397117e-05 9.99808650e-01 6.11194125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7292541539999 meters Centerline goodness [0,1] 0.9991853185833119 Centerline is valid? [True, True] Translation: X:662.26, Y:11.48, Z:6.11 [[ 9.99568722e-01 -2.25926171e-02 -1.87601781e-02 6.62257557e+02] [ 2.25904168e-02 9.99744750e-01 -3.29220885e-04 1.14836174e+01] [ 1.87628276e-02 -9.47213453e-05 9.99823958e-01 6.11298528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7592541539999 meters Centerline goodness [0,1] 0.9993140848391314 Centerline is valid? [True, True] Translation: X:662.29, Y:11.48, Z:6.11 [[ 9.99522648e-01 -2.48171471e-02 -1.84007071e-02 6.62286699e+02] [ 2.48153173e-02 9.99691999e-01 -3.27802454e-04 1.14816778e+01] [ 1.84031747e-02 -1.28973407e-04 9.99830639e-01 6.11396594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7892541539999 meters Centerline goodness [0,1] 0.9989932742149681 Centerline is valid? [True, True] Translation: X:662.32, Y:11.48, Z:6.12 [[ 9.99464901e-01 -2.78238731e-02 -1.71971984e-02 6.62315104e+02] [ 2.78226750e-02 9.99612827e-01 -3.08967427e-04 1.14776139e+01] [ 1.71991368e-02 -1.69669962e-04 9.99852070e-01 6.11502936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.819254154 meters Centerline goodness [0,1] 0.9989083670455275 Centerline is valid? [True, True] Translation: X:662.35, Y:11.48, Z:6.12 [[ 9.99446319e-01 -2.86194974e-02 -1.69699857e-02 6.62345338e+02] [ 2.86184370e-02 9.99590362e-01 -3.05375857e-04 1.14751272e+01] [ 1.69717738e-02 -1.80447691e-04 9.99855953e-01 6.11605744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8492541539999 meters Centerline goodness [0,1] 0.9988678116722208 Centerline is valid? [True, True] Translation: X:662.38, Y:11.47, Z:6.12 [[ 9.99436536e-01 -2.86290784e-02 -1.75210343e-02 6.62376683e+02] [ 2.86279548e-02 9.99590086e-01 -3.14994150e-04 1.14740261e+01] [ 1.75228702e-02 -1.86774715e-04 9.99846445e-01 6.11609728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8792541539999 meters Centerline goodness [0,1] 0.9987612396147028 Centerline is valid? [True, True] Translation: X:662.41, Y:11.47, Z:6.12 [[ 9.99430681e-01 -2.83148322e-02 -1.83462449e-02 6.62407628e+02] [ 2.83135538e-02 9.99599037e-01 -3.29471678e-04 1.14732558e+01] [ 1.83482177e-02 -1.90163290e-04 9.99831639e-01 6.11537502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9092541539999 meters Centerline goodness [0,1] 0.9988673519543522 Centerline is valid? [True, True] Translation: X:662.44, Y:11.47, Z:6.12 [[ 9.99434830e-01 -2.81630888e-02 -1.83537788e-02 6.62437374e+02] [ 2.81617808e-02 9.99603324e-01 -3.29770801e-04 1.14722338e+01] [ 1.83557857e-02 -1.87290672e-04 9.99831501e-01 6.11575194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9392541539999 meters Centerline goodness [0,1] 0.9987420310867572 Centerline is valid? [True, True] Translation: X:662.47, Y:11.47, Z:6.12 [[ 9.99457264e-01 -2.66312542e-02 -1.93895327e-02 6.62468281e+02] [ 2.66295027e-02 9.99645311e-01 -3.48560998e-04 1.14708023e+01] [ 1.93919381e-02 -1.67961793e-04 9.99811945e-01 6.11574057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9692541539999 meters Centerline goodness [0,1] 0.9988270420132225 Centerline is valid? [True, True] Translation: X:662.50, Y:11.47, Z:6.12 [[ 9.99478073e-01 -2.56664464e-02 -1.96166955e-02 6.62498144e+02] [ 2.56644604e-02 9.99670551e-01 -3.53023950e-04 1.14711058e+01] [ 1.96192937e-02 -1.50612207e-04 9.99807512e-01 6.11627439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9992541539999 meters Centerline goodness [0,1] 0.9990202342917998 Centerline is valid? [True, True] Translation: X:662.53, Y:11.47, Z:6.12 [[ 9.99549525e-01 -2.21865435e-02 -2.02114774e-02 6.62526337e+02] [ 2.21837046e-02 9.99753845e-01 -3.64681425e-04 1.14711101e+01] [ 2.02145932e-02 -8.38482986e-05 9.99795661e-01 6.11643076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0292541539999 meters Centerline goodness [0,1] 0.9988725083498202 Centerline is valid? [True, True] Translation: X:662.55, Y:11.47, Z:6.12 [[ 9.99577836e-01 -2.04279173e-02 -2.06603322e-02 6.62554061e+02] [ 2.04244964e-02 9.99791327e-01 -3.76599223e-04 1.14719133e+01] [ 2.06637141e-02 -4.55366437e-05 9.99786482e-01 6.11635197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0592541539999 meters Centerline goodness [0,1] 0.9988503544740371 Centerline is valid? [True, True] Translation: X:662.58, Y:11.47, Z:6.12 [[ 9.99643359e-01 -1.65446829e-02 -2.09625235e-02 6.62581988e+02] [ 1.65401783e-02 9.99863127e-01 -3.88263721e-04 1.14730298e+01] [ 2.09660780e-02 4.14013756e-05 9.99780187e-01 6.11643887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.089254154 meters Centerline goodness [0,1] 0.9988928867976751 Centerline is valid? [True, True] Translation: X:662.61, Y:11.47, Z:6.12 [[ 9.99673614e-01 -1.47107644e-02 -2.08867949e-02 6.62610359e+02] [ 1.47057649e-02 9.99891787e-01 -3.92945481e-04 1.14736538e+01] [ 2.08903152e-02 8.56609359e-05 9.99781770e-01 6.11639595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1192541539999 meters Centerline goodness [0,1] 0.9989777664196269 Centerline is valid? [True, True] Translation: X:662.64, Y:11.47, Z:6.12 [[ 9.99704602e-01 -1.29892307e-02 -2.05423544e-02 6.62637970e+02] [ 1.29839080e-02 9.99915629e-01 -3.92464646e-04 1.14737438e+01] [ 2.05457191e-02 1.25628673e-04 9.99788907e-01 6.11714251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1492541539999 meters Centerline goodness [0,1] 0.9988733711710562 Centerline is valid? [True, True] Translation: X:662.67, Y:11.47, Z:6.12 [[ 9.99748651e-01 -1.03553788e-02 -1.98847033e-02 6.62665661e+02] [ 1.03497980e-02 9.99946366e-01 -3.83552876e-04 1.14725563e+01] [ 1.98876086e-02 1.77653809e-04 9.99802206e-01 6.11717816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1792541539999 meters Centerline goodness [0,1] 0.9988507948668838 Centerline is valid? [True, True] Translation: X:662.69, Y:11.47, Z:6.12 [[ 9.99748664e-01 -1.07203220e-02 -1.96896696e-02 6.62693769e+02] [ 1.07148451e-02 9.99942521e-01 -3.83638272e-04 1.14716531e+01] [ 1.96926506e-02 1.72570089e-04 9.99806066e-01 6.11753488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.209254154 meters Centerline goodness [0,1] 0.9986817485967001 Centerline is valid? [True, True] Translation: X:662.72, Y:11.47, Z:6.12 [[ 9.99737970e-01 -1.16916718e-02 -1.96798625e-02 6.62721593e+02] [ 1.16862759e-02 9.99931637e-01 -3.89168111e-04 1.14703357e+01] [ 1.96830672e-02 1.59081835e-04 9.99806257e-01 6.11787946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2392541539999 meters Centerline goodness [0,1] 0.9987076544988454 Centerline is valid? [True, True] Translation: X:662.75, Y:11.47, Z:6.12 [[ 9.99694012e-01 -1.48803927e-02 -1.97599714e-02 6.62750654e+02] [ 1.48755065e-02 9.99889276e-01 -3.94247969e-04 1.14660722e+01] [ 1.97636501e-02 1.00187750e-04 9.99804675e-01 6.11815550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2692541539999 meters Centerline goodness [0,1] 0.9987091859407072 Centerline is valid? [True, True] Translation: X:662.78, Y:11.46, Z:6.12 [[ 9.99642018e-01 -1.76457651e-02 -2.01112389e-02 6.62778492e+02] [ 1.76411859e-02 9.99844300e-01 -4.05093644e-04 1.14634037e+01] [ 2.01152558e-02 5.01625221e-05 9.99797667e-01 6.11825622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2992541539999 meters Centerline goodness [0,1] 0.9987764487479696 Centerline is valid? [True, True] Translation: X:662.81, Y:11.46, Z:6.12 [[ 9.99495015e-01 -2.41804786e-02 -2.06160080e-02 6.62806196e+02] [ 2.41769775e-02 9.99707606e-01 -4.19087376e-04 1.14554355e+01] [ 2.06201138e-02 -7.95570196e-05 9.99787380e-01 6.11732158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.329254154 meters Centerline goodness [0,1] 0.9987562189054726 Centerline is valid? [True, True] Translation: X:662.84, Y:11.45, Z:6.12 [[ 9.99377950e-01 -2.82654905e-02 -2.10896855e-02 6.62835072e+02] [ 2.82626540e-02 9.99600438e-01 -4.32604517e-04 1.14515170e+01] [ 2.10934867e-02 -1.63715069e-04 9.99777494e-01 6.11818074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3592541539999 meters Centerline goodness [0,1] 0.9988415931253818 Centerline is valid? [True, True] Translation: X:662.86, Y:11.45, Z:6.12 [[ 9.99243124e-01 -3.23359745e-02 -2.16232091e-02 6.62863399e+02] [ 3.23338676e-02 9.99477024e-01 -4.47141834e-04 1.14467704e+01] [ 2.16263594e-02 -2.52358577e-04 9.99766091e-01 6.11796508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3892541539999 meters Centerline goodness [0,1] 0.9988415931253818 Centerline is valid? [True, True] Translation: X:662.89, Y:11.45, Z:6.12 [[ 9.99234931e-01 -3.25882317e-02 -2.16231269e-02 6.62891642e+02] [ 3.25860984e-02 9.99468830e-01 -4.51090758e-04 1.14473998e+01] [ 2.16263416e-02 -2.53867698e-04 9.99766091e-01 6.11822996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4192541539999 meters Centerline goodness [0,1] 0.9986320973104929 Centerline is valid? [True, True] Translation: X:662.92, Y:11.44, Z:6.12 [[ 9.98939173e-01 -4.07645756e-02 -2.14190896e-02 6.62920566e+02] [ 4.07642967e-02 9.99168689e-01 -4.49822668e-04 1.14372666e+01] [ 2.14196205e-02 -4.23788638e-04 9.99770484e-01 6.11818094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.449254154 meters Centerline goodness [0,1] 0.9986764427824114 Centerline is valid? [True, True] Translation: X:662.95, Y:11.43, Z:6.12 [[ 9.98803315e-01 -4.40896896e-02 -2.11669138e-02 6.62950923e+02] [ 4.40901527e-02 9.99027457e-01 -4.45022701e-04 1.14332584e+01] [ 2.11659490e-02 -4.88762312e-04 9.99775857e-01 6.11859231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4792541539999 meters Centerline goodness [0,1] 0.9987626617452761 Centerline is valid? [True, True] Translation: X:662.98, Y:11.43, Z:6.12 [[ 9.98667363e-01 -4.70253298e-02 -2.12630246e-02 6.62981419e+02] [ 4.70264620e-02 9.98893544e-01 -4.47043379e-04 1.14299071e+01] [ 2.12605204e-02 -5.53477187e-04 9.99773816e-01 6.11918173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5092541539999 meters Centerline goodness [0,1] 0.9986345685236535 Centerline is valid? [True, True] Translation: X:663.01, Y:11.42, Z:6.12 [[ 9.98450200e-01 -5.16932424e-02 -2.06157076e-02 6.63012072e+02] [ 5.16953005e-02 9.98662810e-01 -4.33433894e-04 1.14236252e+01] [ 2.06105460e-02 -6.32973040e-04 9.99787380e-01 6.11991022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5392541539999 meters Centerline goodness [0,1] 0.9983860487539039 Centerline is valid? [True, True] Translation: X:663.04, Y:11.42, Z:6.12 [[ 9.98396782e-01 -5.29322225e-02 -2.00510626e-02 6.63043225e+02] [ 5.29344265e-02 9.98597902e-01 -4.21190036e-04 1.14217513e+01] [ 2.00452436e-02 -6.40876724e-04 9.99798869e-01 6.12055409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.569254154 meters Centerline goodness [0,1] 0.998763387897969 Centerline is valid? [True, True] Translation: X:663.07, Y:11.42, Z:6.12 [[ 9.98359962e-01 -5.37147477e-02 -1.98018229e-02 6.63073338e+02] [ 5.37170685e-02 9.98556110e-01 -4.15063721e-04 1.14197106e+01] [ 1.97955263e-02 -6.49312877e-04 9.99803839e-01 6.12111290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5992541539999 meters Centerline goodness [0,1] 0.998574124554414 Centerline is valid? [True, True] Translation: X:663.11, Y:11.42, Z:6.12 [[ 9.98342014e-01 -5.40731831e-02 -1.97310240e-02 6.63105594e+02] [ 5.40755824e-02 9.98536760e-01 -4.12302350e-04 1.14225785e+01] [ 1.97244472e-02 -6.55347854e-04 9.99805239e-01 6.12289404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6292541539999 meters Centerline goodness [0,1] 0.9986155976003692 Centerline is valid? [True, True] Translation: X:663.14, Y:11.42, Z:6.12 [[ 9.98356485e-01 -5.38285143e-02 -1.96677425e-02 6.63137941e+02] [ 5.38308795e-02 9.98549983e-01 -4.09523274e-04 1.14224857e+01] [ 1.96612680e-02 -6.49881660e-04 9.99806487e-01 6.12327737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6592541539999 meters Centerline goodness [0,1] 0.9990776648150089 Centerline is valid? [True, True] Translation: X:663.17, Y:11.42, Z:6.12 [[ 9.98424899e-01 -5.25261849e-02 -1.97160169e-02 6.63169244e+02] [ 5.25283331e-02 9.98619350e-01 -4.09260432e-04 1.14220732e+01] [ 1.97102929e-02 -6.27033697e-04 9.99805537e-01 6.12371562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6892541539999 meters Centerline goodness [0,1] 0.9984495799199647 Centerline is valid? [True, True] Translation: X:663.20, Y:11.42, Z:6.12 [[ 9.98446403e-01 -5.20629881e-02 -1.98551162e-02 6.63200824e+02] [ 5.20650931e-02 9.98643609e-01 -4.11247629e-04 1.14227424e+01] [ 1.98495957e-02 -6.23149759e-04 9.99802783e-01 6.12406083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7192541539999 meters Centerline goodness [0,1] 0.998762350275849 Centerline is valid? [True, True] Translation: X:663.23, Y:11.42, Z:6.12 [[ 9.98550642e-01 -5.02614494e-02 -1.92458408e-02 6.63231064e+02] [ 5.02631026e-02 9.98735932e-01 -3.98122903e-04 1.14228166e+01] [ 1.92415230e-02 -5.69809789e-04 9.99814702e-01 6.12468419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7492541539999 meters Centerline goodness [0,1] 0.9985743637049771 Centerline is valid? [True, True] Translation: X:663.26, Y:11.42, Z:6.13 [[ 9.98575313e-01 -4.96924006e-02 -1.94424643e-02 6.63262816e+02] [ 4.96939902e-02 9.98764410e-01 -4.01660979e-04 1.14240517e+01] [ 1.94384009e-02 -5.65084892e-04 9.99810897e-01 6.12534594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7792541539999 meters Centerline goodness [0,1] 0.9988679245283019 Centerline is valid? [True, True] Translation: X:663.29, Y:11.42, Z:6.13 [[ 9.98572942e-01 -4.93684689e-02 -2.03674574e-02 6.63294335e+02] [ 4.93701653e-02 9.98780462e-01 -4.19833480e-04 1.14242197e+01] [ 2.03633450e-02 -5.86310386e-04 9.99792474e-01 6.12515093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8092541539999 meters Centerline goodness [0,1] 0.9988246652394744 Centerline is valid? [True, True] Translation: X:663.33, Y:11.43, Z:6.12 [[ 9.98537192e-01 -4.94039258e-02 -2.19710663e-02 6.63325421e+02] [ 4.94059306e-02 9.98778679e-01 -4.51890476e-04 1.14260778e+01] [ 2.19665577e-02 -6.34271529e-04 9.99758505e-01 6.12487014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.839254154 meters Centerline goodness [0,1] 0.998803877953582 Centerline is valid? [True, True] Translation: X:663.35, Y:11.43, Z:6.12 [[ 9.98525730e-01 -4.95747166e-02 -2.21068954e-02 6.63354896e+02] [ 4.95767906e-02 9.98770211e-01 -4.54571211e-04 1.14250090e+01] [ 2.21022439e-02 -6.42087875e-04 9.99755509e-01 6.12427590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8692541539999 meters Centerline goodness [0,1] 0.9986963561050485 Centerline is valid? [True, True] Translation: X:663.39, Y:11.43, Z:6.12 [[ 9.98470411e-01 -5.00506450e-02 -2.34897942e-02 6.63385197e+02] [ 5.00531142e-02 9.98746440e-01 -4.83186999e-04 1.14254189e+01] [ 2.34845321e-02 -6.93289429e-04 9.99723960e-01 6.12353954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8992541539999 meters Centerline goodness [0,1] 0.9989500871427671 Centerline is valid? [True, True] Translation: X:663.42, Y:11.43, Z:6.12 [[ 9.98476367e-01 -4.98581344e-02 -2.36455403e-02 6.63415277e+02] [ 4.98605826e-02 9.98756069e-01 -4.86390708e-04 1.14257004e+01] [ 2.36403774e-02 -6.93330786e-04 9.99720287e-01 6.12305256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9292541539999 meters Centerline goodness [0,1] 0.9989103558107372 Centerline is valid? [True, True] Translation: X:663.45, Y:11.43, Z:6.12 [[ 9.98475439e-01 -4.94989089e-02 -2.44265559e-02 6.63445239e+02] [ 4.95014143e-02 9.98773927e-01 -5.02456264e-04 1.14284415e+01] [ 2.44214782e-02 -7.07458826e-04 9.99701501e-01 6.12410773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.959254154 meters Centerline goodness [0,1] 0.9990122107563943 Centerline is valid? [True, True] Translation: X:663.48, Y:11.43, Z:6.12 [[ 9.98570849e-01 -4.73110744e-02 -2.48580296e-02 6.63475461e+02] [ 4.73129919e-02 9.98879982e-01 -5.11331714e-04 1.14317314e+01] [ 2.48543798e-02 -6.65506809e-04 9.99690861e-01 6.12476901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9892541539999 meters Centerline goodness [0,1] 0.9989537997991296 Centerline is valid? [True, True] Translation: X:663.50, Y:11.43, Z:6.13 [[ 9.98654021e-01 -4.55364793e-02 -2.48309279e-02 6.63504990e+02] [ 4.55378373e-02 9.98962484e-01 -5.11060293e-04 1.14331318e+01] [ 2.48284373e-02 -6.20374337e-04 9.99691534e-01 6.12521196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0192541539999 meters Centerline goodness [0,1] 0.9990139308492783 Centerline is valid? [True, True] Translation: X:663.53, Y:11.44, Z:6.13 [[ 9.98912047e-01 -4.03349586e-02 -2.34054171e-02 6.63533947e+02] [ 4.03347219e-02 9.99186108e-01 -4.82394885e-04 1.14375749e+01] [ 2.34058250e-02 -4.62180928e-04 9.99725939e-01 6.12677885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0492541539999 meters Centerline goodness [0,1] 0.9992241885431519 Centerline is valid? [True, True] Translation: X:663.56, Y:11.44, Z:6.13 [[ 9.99025103e-01 -3.80520323e-02 -2.23804915e-02 6.63563309e+02] [ 3.80512253e-02 9.99275683e-01 -4.62070678e-04 1.14403815e+01] [ 2.23818637e-02 -3.89984917e-04 9.99749419e-01 6.12860432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.079254154 meters Centerline goodness [0,1] 0.9990142410704923 Centerline is valid? [True, True] Translation: X:663.59, Y:11.44, Z:6.13 [[ 9.99215432e-01 -3.39910539e-02 -2.03255916e-02 6.63592402e+02] [ 3.39894891e-02 9.99422101e-01 -4.22547172e-04 1.14442532e+01] [ 2.03282083e-02 -2.68640820e-04 9.99793325e-01 6.12957672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1092541539999 meters Centerline goodness [0,1] 0.9990557327513849 Centerline is valid? [True, True] Translation: X:663.62, Y:11.45, Z:6.13 [[ 9.99304478e-01 -3.19673576e-02 -1.92002199e-02 6.63621291e+02] [ 3.19655373e-02 9.99488891e-01 -4.01775092e-04 1.14457775e+01] [ 1.92032502e-02 -2.12249696e-04 9.99815578e-01 6.13014801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1392541539999 meters Centerline goodness [0,1] 0.999412455934195 Centerline is valid? [True, True] Translation: X:663.65, Y:11.45, Z:6.13 [[ 9.99371770e-01 -3.03657895e-02 -1.82752169e-02 6.63651247e+02] [ 3.03638580e-02 9.99538838e-01 -3.83221207e-04 1.14475657e+01] [ 1.82784259e-02 -1.71925634e-04 9.99832921e-01 6.13069399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1692541539999 meters Centerline goodness [0,1] 0.9991188687953678 Centerline is valid? [True, True] Translation: X:663.68, Y:11.45, Z:6.13 [[ 9.99453814e-01 -2.81095637e-02 -1.73760379e-02 6.63680472e+02] [ 2.81074379e-02 9.99604841e-01 -3.66591290e-04 1.14502717e+01] [ 1.73794763e-02 -1.22004843e-04 9.99848958e-01 6.13145931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.199254154 meters Centerline goodness [0,1] 0.9993074356229932 Centerline is valid? [True, True] Translation: X:663.71, Y:11.45, Z:6.13 [[ 9.99473970e-01 -2.71234063e-02 -1.77792979e-02 6.63708893e+02] [ 2.71209761e-02 9.99632087e-01 -3.77834054e-04 1.14508498e+01] [ 1.77830048e-02 -1.04556611e-04 9.99841864e-01 6.13081081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2292541539999 meters Centerline goodness [0,1] 0.9991387459300494 Centerline is valid? [True, True] Translation: X:663.74, Y:11.45, Z:6.13 [[ 9.99473888e-01 -2.71303347e-02 -1.77733685e-02 6.63737876e+02] [ 2.71278599e-02 9.99631900e-01 -3.80364928e-04 1.14516216e+01] [ 1.77771456e-02 -1.01988638e-04 9.99841969e-01 6.13117856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2592541539999 meters Centerline goodness [0,1] 0.9989693757361602 Centerline is valid? [True, True] Translation: X:663.77, Y:11.45, Z:6.13 [[ 9.99460421e-01 -2.75579695e-02 -1.78724841e-02 6.63766321e+02] [ 2.75554539e-02 9.99620201e-01 -3.87048539e-04 1.14512899e+01] [ 1.78763625e-02 -1.05644717e-04 9.99840199e-01 6.13107200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2892541539999 meters Centerline goodness [0,1] 0.999053428691628 Centerline is valid? [True, True] Translation: X:663.80, Y:11.45, Z:6.13 [[ 9.99424575e-01 -2.89230998e-02 -1.77193136e-02 6.63795114e+02] [ 2.89207622e-02 9.99581632e-01 -3.88211967e-04 1.14495515e+01] [ 1.77231287e-02 -1.24467474e-04 9.99842925e-01 6.13144976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.319254154 meters Centerline goodness [0,1] 0.9989929929089917 Centerline is valid? [True, True] Translation: X:663.82, Y:11.45, Z:6.13 [[ 9.99352980e-01 -3.12710282e-02 -1.77691975e-02 6.63824599e+02] [ 3.12690006e-02 9.99510928e-01 -3.91999592e-04 1.14464002e+01] [ 1.77727653e-02 -1.63879088e-04 9.99842039e-01 6.13133743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3492541539999 meters Centerline goodness [0,1] 0.9989929929089917 Centerline is valid? [True, True] Translation: X:663.85, Y:11.45, Z:6.13 [[ 9.99351849e-01 -3.13071463e-02 -1.77691833e-02 6.63853747e+02] [ 3.13051130e-02 9.99509798e-01 -3.92641263e-04 1.14470738e+01] [ 1.77727653e-02 -1.63879520e-04 9.99842039e-01 6.13161064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3792541539999 meters Centerline goodness [0,1] 0.9988881896370884 Centerline is valid? [True, True] Translation: X:663.88, Y:11.44, Z:6.13 [[ 9.99233324e-01 -3.48204421e-02 -1.78969724e-02 6.63882525e+02] [ 3.48189285e-02 9.99393559e-01 -3.96265128e-04 1.14427767e+01] [ 1.78999171e-02 -2.27192081e-04 9.99839758e-01 6.13054259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4092541539999 meters Centerline goodness [0,1] 0.9991398481097638 Centerline is valid? [True, True] Translation: X:663.91, Y:11.44, Z:6.13 [[ 9.99152312e-01 -3.69314259e-02 -1.81859320e-02 6.63911946e+02] [ 3.69302003e-02 9.99317766e-01 -4.03331847e-04 1.14406636e+01] [ 1.81884205e-02 -2.68620163e-04 9.99834541e-01 6.13010398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4392541539999 meters Centerline goodness [0,1] 0.9989930985295044 Centerline is valid? [True, True] Translation: X:663.94, Y:11.44, Z:6.13 [[ 9.98989211e-01 -4.08742273e-02 -1.87044053e-02 6.63942377e+02] [ 4.08736184e-02 9.99164238e-01 -4.15001725e-04 1.14362355e+01] [ 1.87057358e-02 -3.49934480e-04 9.99824971e-01 6.12879919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4692541539999 meters Centerline goodness [0,1] 0.9989520456069751 Centerline is valid? [True, True] Translation: X:663.97, Y:11.43, Z:6.13 [[ 9.98914445e-01 -4.26664532e-02 -1.86950498e-02 6.63973327e+02] [ 4.26661587e-02 9.99089299e-01 -4.14794151e-04 1.14349211e+01] [ 1.86957220e-02 -3.83302093e-04 9.99825146e-01 6.12911979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4992541539999 meters Centerline goodness [0,1] 0.9989100588987403 Centerline is valid? [True, True] Translation: X:664.00, Y:11.43, Z:6.13 [[ 9.98790493e-01 -4.55061907e-02 -1.86208688e-02 6.64004218e+02] [ 4.55063916e-02 9.98963962e-01 -4.13148270e-04 1.14327800e+01] [ 1.86203777e-02 -4.34719986e-04 9.99826531e-01 6.12960645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5292541539999 meters Centerline goodness [0,1] 0.9990353967455124 Centerline is valid? [True, True] Translation: X:664.03, Y:11.43, Z:6.13 [[ 9.98725128e-01 -4.68899047e-02 -1.86937314e-02 6.64034388e+02] [ 4.68903586e-02 9.98899956e-01 -4.14271756e-04 1.14291132e+01] [ 1.86925927e-02 -4.62812158e-04 9.99825171e-01 6.12868355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5592541539999 meters Centerline goodness [0,1] 0.9987619347392719 Centerline is valid? [True, True] Translation: X:664.06, Y:11.43, Z:6.13 [[ 9.98556605e-01 -5.06539757e-02 -1.78572513e-02 6.64064813e+02] [ 5.06549996e-02 9.98716133e-01 -3.95261656e-04 1.14256637e+01] [ 1.78543466e-02 -5.09867921e-04 9.99840468e-01 6.12980412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.589254154 meters Centerline goodness [0,1] 0.9987006182542177 Centerline is valid? [True, True] Translation: X:664.10, Y:11.42, Z:6.13 [[ 9.98479791e-01 -5.25080151e-02 -1.67635066e-02 6.64096380e+02] [ 5.25091827e-02 9.98620372e-01 -3.70796031e-04 1.14248602e+01] [ 1.67598489e-02 -5.10005686e-04 9.99859414e-01 6.13088762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6192541539999 meters Centerline goodness [0,1] 0.9988267337104546 Centerline is valid? [True, True] Translation: X:664.13, Y:11.42, Z:6.13 [[ 9.98365946e-01 -5.48923735e-02 -1.58828809e-02 6.64126503e+02] [ 5.48937296e-02 9.98492141e-01 -3.50898080e-04 1.14217181e+01] [ 1.58781934e-02 -5.21545878e-04 9.99873798e-01 6.13158112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6492541539999 meters Centerline goodness [0,1] 0.9987422174705993 Centerline is valid? [True, True] Translation: X:664.16, Y:11.42, Z:6.13 [[ 9.98271591e-01 -5.67815882e-02 -1.51552355e-02 6.64158363e+02] [ 5.67830470e-02 9.98386485e-01 -3.34375753e-04 1.14199775e+01] [ 1.51497687e-02 -5.26762633e-04 9.99885097e-01 6.13219692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6792541539999 meters Centerline goodness [0,1] 0.9985971524288108 Centerline is valid? [True, True] Translation: X:664.19, Y:11.42, Z:6.13 [[ 9.98030910e-01 -6.09088019e-02 -1.49806744e-02 6.64189515e+02] [ 6.09106999e-02 9.98143165e-01 -3.29962325e-04 1.14161139e+01] [ 1.49729554e-02 -5.83170763e-04 9.99887729e-01 6.13223815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.709254154 meters Centerline goodness [0,1] 0.9987022772940388 Centerline is valid? [True, True] Translation: X:664.22, Y:11.42, Z:6.13 [[ 9.97929455e-01 -6.26453600e-02 -1.45726408e-02 6.64221195e+02] [ 6.26473471e-02 9.98035674e-01 -3.20542778e-04 1.14202141e+01] [ 1.45640959e-02 -5.93058207e-04 9.99893762e-01 6.13298418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7392541539999 meters Centerline goodness [0,1] 0.9984938498870387 Centerline is valid? [True, True] Translation: X:664.25, Y:11.42, Z:6.13 [[ 9.97679750e-01 -6.64548353e-02 -1.47942788e-02 6.64252230e+02] [ 6.64573103e-02 9.97789216e-01 -3.24806817e-04 1.14206302e+01] [ 1.47831569e-02 -6.59134795e-04 9.99890506e-01 6.13305990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7692541539999 meters Centerline goodness [0,1] 0.9986838256800235 Centerline is valid? [True, True] Translation: X:664.28, Y:11.42, Z:6.13 [[ 9.97580051e-01 -6.79352303e-02 -1.47934840e-02 6.64283311e+02] [ 6.79378744e-02 9.97689501e-01 -3.24320521e-04 1.14178701e+01] [ 1.47813365e-02 -6.81502177e-04 9.99890518e-01 6.13295056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7992541539999 meters Centerline goodness [0,1] 0.9983922493892635 Centerline is valid? [True, True] Translation: X:664.32, Y:11.42, Z:6.13 [[ 9.97492024e-01 -6.91513018e-02 -1.50917167e-02 6.64315369e+02] [ 6.91542067e-02 9.97605928e-01 -3.29916769e-04 1.14210006e+01] [ 1.50784003e-02 -7.14566354e-04 9.99886059e-01 6.13371178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.829254154 meters Centerline goodness [0,1] 0.9986194201564658 Centerline is valid? [True, True] Translation: X:664.35, Y:11.42, Z:6.13 [[ 9.97365676e-01 -7.07378747e-02 -1.60580705e-02 6.64346696e+02] [ 7.07413862e-02 9.97494628e-01 -3.49948796e-04 1.14205268e+01] [ 1.60425937e-02 -7.86943249e-04 9.99871000e-01 6.13352097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8592541539999 meters Centerline goodness [0,1] 0.998626202073186 Centerline is valid? [True, True] Translation: X:664.38, Y:11.41, Z:6.13 [[ 9.97269862e-01 -7.20698531e-02 -1.60859963e-02 6.64377516e+02] [ 7.20735618e-02 9.97399258e-01 -3.49804606e-04 1.14141855e+01] [ 1.60693712e-02 -8.10525460e-04 9.99870551e-01 6.13288585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8892541539999 meters Centerline goodness [0,1] 0.9984756734182502 Centerline is valid? [True, True] Translation: X:664.41, Y:11.42, Z:6.13 [[ 9.97233630e-01 -7.25814470e-02 -1.60318414e-02 6.64409451e+02] [ 7.25852098e-02 9.97362154e-01 -3.47809396e-04 1.14216925e+01] [ 1.60147964e-02 -8.16827345e-04 9.99871421e-01 6.13400639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9192541539999 meters Centerline goodness [0,1] 0.9983928198705907 Centerline is valid? [True, True] Translation: X:664.44, Y:11.42, Z:6.13 [[ 9.97287328e-01 -7.17878739e-02 -1.62630256e-02 6.64440590e+02] [ 7.17916580e-02 9.97419588e-01 -3.51765925e-04 1.14223143e+01] [ 1.62463129e-02 -8.16737876e-04 9.99867686e-01 6.13358689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.949254154 meters Centerline goodness [0,1] 0.998516847360615 Centerline is valid? [True, True] Translation: X:664.47, Y:11.42, Z:6.13 [[ 9.97296064e-01 -7.18322095e-02 -1.55143024e-02 6.64472696e+02] [ 7.18356726e-02 9.97416425e-01 -3.34657991e-04 1.14237996e+01] [ 1.54982593e-02 -7.80727251e-04 9.99879590e-01 6.13452628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9792541539999 meters Centerline goodness [0,1] 0.9984350221183541 Centerline is valid? [True, True] Translation: X:664.50, Y:11.43, Z:6.13 [[ 9.97430888e-01 -6.98294350e-02 -1.59835297e-02 6.64504253e+02] [ 6.98328708e-02 9.97558646e-01 -3.43746133e-04 1.14302784e+01] [ 1.59685119e-02 -7.73312758e-04 9.99872196e-01 6.13485699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0092541539999 meters Centerline goodness [0,1] 0.9984783107164447 Centerline is valid? [True, True] Translation: X:664.54, Y:11.43, Z:6.13 [[ 9.97577141e-01 -6.74458612e-02 -1.70558819e-02 6.64535178e+02] [ 6.74494398e-02 9.97722626e-01 -3.65995833e-04 1.14305030e+01] [ 1.70417242e-02 -7.85300607e-04 9.99854471e-01 6.13331497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0392541539999 meters Centerline goodness [0,1] 0.9987662324083562 Centerline is valid? [True, True] Translation: X:664.57, Y:11.44, Z:6.13 [[ 9.97733748e-01 -6.50102551e-02 -1.73503569e-02 6.64566661e+02] [ 6.50136044e-02 9.97884309e-01 -3.71536208e-04 1.14399376e+01] [ 1.73378025e-02 -7.57315024e-04 9.99849402e-01 6.13425024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.069254154 meters Centerline goodness [0,1] 0.9988710014635166 Centerline is valid? [True, True] Translation: X:664.60, Y:11.44, Z:6.13 [[ 9.97837259e-01 -6.33228600e-02 -1.76357549e-02 6.64597711e+02] [ 6.33260745e-02 9.97992819e-01 -3.76674244e-04 1.14420011e+01] [ 1.76242089e-02 -7.40943534e-04 9.99844407e-01 6.13416631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0992541539999 meters Centerline goodness [0,1] 0.9989752169821186 Centerline is valid? [True, True] Translation: X:664.63, Y:11.44, Z:6.13 [[ 9.97929266e-01 -6.17180853e-02 -1.81123793e-02 6.64628886e+02] [ 6.17212300e-02 9.98093353e-01 -3.85861613e-04 1.14435418e+01] [ 1.81016600e-02 -7.32855734e-04 9.99835883e-01 6.13423401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1292541539999 meters Centerline goodness [0,1] 0.9988906331763474 Centerline is valid? [True, True] Translation: X:664.66, Y:11.45, Z:6.14 [[ 9.98182662e-01 -5.76952668e-02 -1.73962236e-02 6.64660056e+02] [ 5.76975710e-02 9.98334039e-01 -3.69836007e-04 1.14524544e+01] [ 1.73885800e-02 -6.34555956e-04 9.99848606e-01 6.13568129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1592541539999 meters Centerline goodness [0,1] 0.9987624021983094 Centerline is valid? [True, True] Translation: X:664.69, Y:11.46, Z:6.14 [[ 9.98337372e-01 -5.51109747e-02 -1.68899761e-02 6.64689968e+02] [ 5.51127849e-02 9.98480071e-01 -3.58614913e-04 1.14559987e+01] [ 1.68840682e-02 -5.72834950e-04 9.99857290e-01 6.13658193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1892541539999 meters Centerline goodness [0,1] 0.998846428121985 Centerline is valid? [True, True] Translation: X:664.72, Y:11.46, Z:6.14 [[ 9.98676872e-01 -4.88227405e-02 -1.61507052e-02 6.64719945e+02] [ 4.88235765e-02 9.98807359e-01 -3.42759538e-04 1.14642161e+01] [ 1.61481776e-02 -4.46229165e-04 9.99869510e-01 6.13815285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2192541539999 meters Centerline goodness [0,1] 0.9988441978733241 Centerline is valid? [True, True] Translation: X:664.75, Y:11.47, Z:6.14 [[ 9.98850294e-01 -4.52781567e-02 -1.57473120e-02 6.64751749e+02] [ 4.52785166e-02 9.98974346e-01 -3.33858466e-04 1.14697955e+01] [ 1.57462772e-02 -3.79540300e-04 9.99875948e-01 6.13918133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2492541539999 meters Centerline goodness [0,1] 0.9988017658187933 Centerline is valid? [True, True] Translation: X:664.78, Y:11.47, Z:6.14 [[ 9.99019806e-01 -4.15514511e-02 -1.52611701e-02 6.64782309e+02] [ 4.15513634e-02 9.99136317e-01 -3.22964861e-04 1.14726289e+01] [ 1.52614090e-02 -3.11474134e-04 9.99883489e-01 6.13917490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2792541539999 meters Centerline goodness [0,1] 0.9990326176105655 Centerline is valid? [True, True] Translation: X:664.81, Y:11.48, Z:6.14 [[ 9.99275611e-01 -3.49891567e-02 -1.49670197e-02 6.64813977e+02] [ 3.49883430e-02 9.99387670e-01 -3.16292435e-04 1.14808920e+01] [ 1.49689217e-02 -2.07607903e-04 9.99887938e-01 6.13947978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3092541539999 meters Centerline goodness [0,1] 0.9990326176105655 Centerline is valid? [True, True] Translation: X:664.84, Y:11.48, Z:6.14 [[ 9.99276797e-01 -3.49552835e-02 -1.49670338e-02 6.64844817e+02] [ 3.49544760e-02 9.99388856e-01 -3.15623972e-04 1.14815098e+01] [ 1.49689195e-02 -2.07769112e-04 9.99887938e-01 6.13976861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.339254154 meters Centerline goodness [0,1] 0.9989867004433186 Centerline is valid? [True, True] Translation: X:664.88, Y:11.49, Z:6.14 [[ 9.99364332e-01 -3.24317856e-02 -1.48023836e-02 6.64875818e+02] [ 3.24307265e-02 9.99473937e-01 -3.11650321e-04 1.14856773e+01] [ 1.48047040e-02 -1.68599837e-04 9.99890390e-01 6.14002317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3692541539999 meters Centerline goodness [0,1] 0.9989404085784521 Centerline is valid? [True, True] Translation: X:664.91, Y:11.49, Z:6.14 [[ 9.99433773e-01 -2.94963664e-02 -1.61894301e-02 6.64906991e+02] [ 2.94947240e-02 9.99564878e-01 -3.40254517e-04 1.14914032e+01] [ 1.61924220e-02 -1.37440919e-04 9.99868885e-01 6.13914808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3992541539999 meters Centerline goodness [0,1] 0.9989814107461167 Centerline is valid? [True, True] Translation: X:664.94, Y:11.49, Z:6.14 [[ 9.99410065e-01 -2.97270459e-02 -1.71995547e-02 6.64937087e+02] [ 2.97252350e-02 9.99558042e-01 -3.60986465e-04 1.14926268e+01] [ 1.72026843e-02 -1.50487297e-04 9.99852012e-01 6.13845688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4292541539999 meters Centerline goodness [0,1] 0.9988123011664899 Centerline is valid? [True, True] Translation: X:664.97, Y:11.49, Z:6.14 [[ 9.99297250e-01 -3.19940828e-02 -1.95290869e-02 6.64967873e+02] [ 3.19921846e-02 9.99488035e-01 -4.09689235e-04 1.14930327e+01] [ 1.95321963e-02 -2.15376825e-04 9.99809205e-01 6.13687935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.459254154 meters Centerline goodness [0,1] 0.9991089423994908 Centerline is valid? [True, True] Translation: X:665.00, Y:11.49, Z:6.14 [[ 9.99234518e-01 -3.36781835e-02 -1.99037362e-02 6.64997870e+02] [ 3.36765384e-02 9.99432697e-01 -4.17920896e-04 1.14929319e+01] [ 1.99065195e-02 -2.52687949e-04 9.99801814e-01 6.13720191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4892541539999 meters Centerline goodness [0,1] 0.9988362743853413 Centerline is valid? [True, True] Translation: X:665.03, Y:11.49, Z:6.14 [[ 9.99082197e-01 -3.84873442e-02 -1.88012875e-02 6.65027502e+02] [ 3.84867184e-02 9.99259034e-01 -3.95250268e-04 1.14902030e+01] [ 1.88025685e-02 -3.28712350e-04 9.99823162e-01 6.13786045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5192541539999 meters Centerline goodness [0,1] 0.9989002389865279 Centerline is valid? [True, True] Translation: X:665.06, Y:11.49, Z:6.14 [[ 9.98986433e-01 -4.09667076e-02 -1.86503642e-02 6.65058422e+02] [ 4.09665236e-02 9.99160443e-01 -3.92078727e-04 1.14889799e+01] [ 1.86507683e-02 -3.72359255e-04 9.99825990e-01 6.13847678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5492541539999 meters Centerline goodness [0,1] 0.9987116395970178 Centerline is valid? [True, True] Translation: X:665.09, Y:11.49, Z:6.14 [[ 9.98904229e-01 -4.31244517e-02 -1.81830478e-02 6.65089216e+02] [ 4.31246397e-02 9.99069627e-01 -3.81942189e-04 1.14884989e+01] [ 1.81826018e-02 -4.02613717e-04 9.99834602e-01 6.13910132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.579254154 meters Centerline goodness [0,1] 0.9986912376248074 Centerline is valid? [True, True] Translation: X:665.12, Y:11.49, Z:6.14 [[ 9.98761301e-01 -4.68546934e-02 -1.67481804e-02 6.65120160e+02] [ 4.68553816e-02 9.98901622e-01 -3.51522869e-04 1.14871298e+01] [ 1.67462550e-02 -4.33654945e-04 9.99859678e-01 6.14021659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6092541539999 meters Centerline goodness [0,1] 0.9985858713776146 Centerline is valid? [True, True] Translation: X:665.15, Y:11.48, Z:6.14 [[ 9.98690469e-01 -4.85897251e-02 -1.60120564e-02 6.65151399e+02] [ 4.85905849e-02 9.98818724e-01 -3.35568703e-04 1.14848421e+01] [ 1.60094469e-02 -4.42905921e-04 9.99871742e-01 6.14040777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6392541539999 meters Centerline goodness [0,1] 0.9987354577642893 Centerline is valid? [True, True] Translation: X:665.18, Y:11.48, Z:6.14 [[ 9.98577644e-01 -5.11766087e-02 -1.49547207e-02 6.65183676e+02] [ 5.11776610e-02 9.98689516e-01 -3.12571068e-04 1.14832388e+01] [ 1.49511191e-02 -4.53221147e-04 9.99888123e-01 6.14078430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6692541539999 meters Centerline goodness [0,1] 0.9987355910058373 Centerline is valid? [True, True] Translation: X:665.22, Y:11.48, Z:6.14 [[ 9.98535963e-01 -5.19114924e-02 -1.52028691e-02 6.65215979e+02] [ 5.19126809e-02 9.98651578e-01 -3.16708633e-04 1.14827701e+01] [ 1.51988100e-02 -4.72976732e-04 9.99884380e-01 6.14075383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.699254154 meters Centerline goodness [0,1] 0.998526439878747 Centerline is valid? [True, True] Translation: X:665.25, Y:11.48, Z:6.14 [[ 9.98458285e-01 -5.34010604e-02 -1.51453167e-02 6.65248386e+02] [ 5.34024268e-02 9.98573023e-01 -3.14478194e-04 1.14819758e+01] [ 1.51404982e-02 -4.94803309e-04 9.99885254e-01 6.14099207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7292541539999 meters Centerline goodness [0,1] 0.9988012366190666 Centerline is valid? [True, True] Translation: X:665.28, Y:11.48, Z:6.14 [[ 9.98352282e-01 -5.52095678e-02 -1.56404739e-02 6.65279349e+02] [ 5.52112665e-02 9.98474642e-01 -3.23494537e-04 1.14801427e+01] [ 1.56344766e-02 -5.40568865e-04 9.99877628e-01 6.14039168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7592541539999 meters Centerline goodness [0,1] 0.9985525184081898 Centerline is valid? [True, True] Translation: X:665.31, Y:11.48, Z:6.14 [[ 9.98303635e-01 -5.60360839e-02 -1.58053764e-02 6.65311354e+02] [ 5.60379432e-02 9.98428587e-01 -3.25560127e-04 1.14797238e+01] [ 1.57987827e-02 -5.60692928e-04 9.99875034e-01 6.14025900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7892541539999 meters Centerline goodness [0,1] 0.9983205626115251 Centerline is valid? [True, True] Translation: X:665.34, Y:11.48, Z:6.14 [[ 9.98274418e-01 -5.65254169e-02 -1.59079679e-02 6.65342783e+02] [ 5.65273778e-02 9.98400996e-01 -3.26713567e-04 1.14786090e+01] [ 1.59009986e-02 -5.73085914e-04 9.99873407e-01 6.13987739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.819254154 meters Centerline goodness [0,1] 0.9985099685204617 Centerline is valid? [True, True] Translation: X:665.37, Y:11.48, Z:6.14 [[ 9.98306364e-01 -5.58732460e-02 -1.62044506e-02 6.65374727e+02] [ 5.58752100e-02 9.98437705e-01 -3.31871290e-04 1.14793527e+01] [ 1.61976772e-02 -5.74117858e-04 9.99868644e-01 6.13975021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8492541539999 meters Centerline goodness [0,1] 0.9985949165338478 Centerline is valid? [True, True] Translation: X:665.41, Y:11.48, Z:6.14 [[ 9.98412739e-01 -5.36884100e-02 -1.70164074e-02 6.65406508e+02] [ 5.36902791e-02 9.98557576e-01 -3.47310894e-04 1.14844223e+01] [ 1.70105091e-02 -5.66856042e-04 9.99855150e-01 6.14003370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8792541539999 meters Centerline goodness [0,1] 0.9988664511524413 Centerline is valid? [True, True] Translation: X:665.44, Y:11.49, Z:6.14 [[ 9.98665421e-01 -4.89731429e-02 -1.64014453e-02 6.65438080e+02] [ 4.89742603e-02 9.98799985e-01 -3.33757626e-04 1.14883689e+01] [ 1.63981085e-02 -4.69936453e-04 9.99865432e-01 6.14051722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9092541539999 meters Centerline goodness [0,1] 0.9989487626936905 Centerline is valid? [True, True] Translation: X:665.47, Y:11.49, Z:6.14 [[ 9.98839358e-01 -4.52983098e-02 -1.63707203e-02 6.65469805e+02] [ 4.52989440e-02 9.98973421e-01 -3.32256918e-04 1.14945279e+01] [ 1.63689652e-02 -4.09705058e-04 9.99865936e-01 6.14179677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9392541539999 meters Centerline goodness [0,1] 0.9989534056181186 Centerline is valid? [True, True] Translation: X:665.50, Y:11.50, Z:6.14 [[ 9.99194343e-01 -3.69445609e-02 -1.56769011e-02 6.65499489e+02] [ 3.69441223e-02 9.99317282e-01 -3.17681020e-04 1.15008759e+01] [ 1.56779348e-02 -2.61744273e-04 9.99877059e-01 6.14230077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9692541539999 meters Centerline goodness [0,1] 0.9987793842203843 Centerline is valid? [True, True] Translation: X:665.53, Y:11.51, Z:6.14 [[ 9.99348826e-01 -3.27076198e-02 -1.52359753e-02 6.65530858e+02] [ 3.27067163e-02 9.99464945e-01 -3.08536798e-04 1.15050381e+01] [ 1.52379147e-02 -1.89982833e-04 9.99883878e-01 6.14272701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9992541539999 meters Centerline goodness [0,1] 0.9990709459459459 Centerline is valid? [True, True] Translation: X:665.56, Y:11.51, Z:6.14 [[ 9.99559729e-01 -2.58773072e-02 -1.45159344e-02 6.65561829e+02] [ 2.58757741e-02 9.99665123e-01 -2.93452117e-04 1.15105366e+01] [ 1.45186671e-02 -8.22881191e-05 9.99894595e-01 6.14313226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0292541539999 meters Centerline goodness [0,1] 0.99892470851167 Centerline is valid? [True, True] Translation: X:665.59, Y:11.51, Z:6.14 [[ 9.99611966e-01 -2.35413615e-02 -1.48903191e-02 6.65592145e+02] [ 2.35394957e-02 9.99722863e-01 -3.00575838e-04 1.15124697e+01] [ 1.48932684e-02 -5.00513987e-05 9.99889088e-01 6.14270163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0592541539999 meters Centerline goodness [0,1] 0.9989035550120188 Centerline is valid? [True, True] Translation: X:665.62, Y:11.51, Z:6.14 [[ 9.99594544e-01 -2.38270927e-02 -1.55889940e-02 6.65622111e+02] [ 2.38250816e-02 9.99716093e-01 -3.14731910e-04 1.15133918e+01] [ 1.55920674e-02 -5.68047551e-05 9.99878435e-01 6.14300042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.089254154 meters Centerline goodness [0,1] 0.998881927304179 Centerline is valid? [True, True] Translation: X:665.65, Y:11.51, Z:6.14 [[ 9.99531383e-01 -2.59074750e-02 -1.63039289e-02 6.65651266e+02] [ 2.59055401e-02 9.99664341e-01 -3.29902227e-04 1.15123537e+01] [ 1.63070033e-02 -9.26144542e-05 9.99867028e-01 6.14255850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1192541539999 meters Centerline goodness [0,1] 0.9988402496626181 Centerline is valid? [True, True] Translation: X:665.68, Y:11.51, Z:6.14 [[ 9.99449578e-01 -2.86125720e-02 -1.67887490e-02 6.65681250e+02] [ 2.86108885e-02 9.99590567e-01 -3.40503790e-04 1.15101331e+01] [ 1.67916178e-02 -1.40024655e-04 9.99859001e-01 6.14162659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1492541539999 meters Centerline goodness [0,1] 0.9990520528322555 Centerline is valid? [True, True] Translation: X:665.71, Y:11.50, Z:6.14 [[ 9.99171671e-01 -3.69081883e-02 -1.71393745e-02 6.65710481e+02] [ 3.69076488e-02 9.99318620e-01 -3.47896681e-04 1.15012129e+01] [ 1.71405363e-02 -2.84965505e-04 9.99853050e-01 6.14063565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1792541539999 meters Centerline goodness [0,1] 0.9987836845968334 Centerline is valid? [True, True] Translation: X:665.74, Y:11.50, Z:6.14 [[ 9.98998974e-01 -4.13036160e-02 -1.71773593e-02 6.65741479e+02] [ 4.13037271e-02 9.99146576e-01 -3.48459254e-04 1.14971262e+01] [ 1.71770924e-02 -3.61378525e-04 9.99852398e-01 6.14069007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.209254154 meters Centerline goodness [0,1] 0.9987193214503159 Centerline is valid? [True, True] Translation: X:665.77, Y:11.49, Z:6.14 [[ 9.98631716e-01 -4.93975946e-02 -1.71631301e-02 6.65772825e+02] [ 4.93989046e-02 9.98779068e-01 -3.47874177e-04 1.14901314e+01] [ 1.71593593e-02 -5.00441642e-04 9.99852642e-01 6.14135392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2392541539999 meters Centerline goodness [0,1] 0.9988873493722971 Centerline is valid? [True, True] Translation: X:665.80, Y:11.49, Z:6.14 [[ 9.98459293e-01 -5.28990872e-02 -1.67549186e-02 6.65804084e+02] [ 5.29008351e-02 9.98599713e-01 -3.39175493e-04 1.14887483e+01] [ 1.67493990e-02 -5.47696263e-04 9.99859569e-01 6.14223949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2692541539999 meters Centerline goodness [0,1] 0.998615829872908 Centerline is valid? [True, True] Translation: X:665.84, Y:11.49, Z:6.14 [[ 9.98213565e-01 -5.74209950e-02 -1.65078426e-02 6.65835156e+02] [ 5.74233168e-02 9.98349864e-01 -3.33712692e-04 1.14850605e+01] [ 1.64997645e-02 -6.14818537e-04 9.99863681e-01 6.14243328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2992541539999 meters Centerline goodness [0,1] 0.9985560624450676 Centerline is valid? [True, True] Translation: X:665.87, Y:11.48, Z:6.14 [[ 9.98092552e-01 -5.98397962e-02 -1.51807948e-02 6.65867264e+02] [ 5.98420477e-02 9.98207812e-01 -3.06305782e-04 1.14838431e+01] [ 1.51719172e-02 -6.02728326e-04 9.99884718e-01 6.14404567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.329254154 meters Centerline goodness [0,1] 0.9986616198582153 Centerline is valid? [True, True] Translation: X:665.90, Y:11.48, Z:6.14 [[ 9.97973118e-01 -6.22770929e-02 -1.30850577e-02 6.65898390e+02] [ 6.22789850e-02 9.98058745e-01 -2.63229478e-04 1.14758460e+01] [ 1.30760494e-02 -5.52228169e-04 9.99914352e-01 6.14490739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3592541539999 meters Centerline goodness [0,1] 0.998387839705205 Centerline is valid? [True, True] Translation: X:665.93, Y:11.47, Z:6.15 [[ 9.97915054e-01 -6.34126921e-02 -1.20155996e-02 6.65930765e+02] [ 6.34143774e-02 9.97987254e-01 -2.41065901e-04 1.14748648e+01] [ 1.20067019e-02 -5.21398479e-04 9.99927781e-01 6.14573222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3892541539999 meters Centerline goodness [0,1] 0.9985981797259128 Centerline is valid? [True, True] Translation: X:665.96, Y:11.47, Z:6.15 [[ 9.97780838e-01 -6.57567187e-02 -1.04619705e-02 6.65961705e+02] [ 6.57581311e-02 9.97835570e-01 -2.09297091e-04 1.14712452e+01] [ 1.04530890e-02 -4.79127000e-04 9.99945250e-01 6.14678502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4192541539999 meters Centerline goodness [0,1] 0.9986196511481993 Centerline is valid? [True, True] Translation: X:665.99, Y:11.47, Z:6.15 [[ 9.97715412e-01 -6.68110567e-02 -1.00120066e-02 6.65993985e+02] [ 6.68124067e-02 9.97765535e-01 -1.99944076e-04 1.14708984e+01] [ 1.00029936e-02 -4.69438970e-04 9.99949859e-01 6.14720813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.449254154 meters Centerline goodness [0,1] 0.9981809057834651 Centerline is valid? [True, True] Translation: X:666.03, Y:11.48, Z:6.15 [[ 9.97649642e-01 -6.76245428e-02 -1.10504362e-02 6.66025756e+02] [ 6.76262463e-02 9.97710701e-01 -2.19858527e-04 1.14782580e+01] [ 1.10400063e-02 -5.27957740e-04 9.99938918e-01 6.14655125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4792541539999 meters Centerline goodness [0,1] 0.9986581683998658 Centerline is valid? [True, True] Translation: X:666.06, Y:11.48, Z:6.15 [[ 9.97412993e-01 -7.09459839e-02 -1.15753576e-02 6.66056599e+02] [ 7.09480850e-02 9.97479983e-01 -2.29539580e-04 1.14764901e+01] [ 1.15624724e-02 -5.92303694e-04 9.99932977e-01 6.14640680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5092541539999 meters Centerline goodness [0,1] 0.9984684136541971 Centerline is valid? [True, True] Translation: X:666.09, Y:11.48, Z:6.15 [[ 9.97309989e-01 -7.22182255e-02 -1.25424712e-02 6.66087875e+02] [ 7.22207972e-02 9.97388638e-01 -2.48359043e-04 1.14753876e+01] [ 1.25276544e-02 -6.58136318e-04 9.99921309e-01 6.14566245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5392541539999 meters Centerline goodness [0,1] 0.9986581965322766 Centerline is valid? [True, True] Translation: X:666.12, Y:11.48, Z:6.14 [[ 9.97216976e-01 -7.32809255e-02 -1.37188916e-02 6.66119914e+02] [ 7.32841147e-02 9.97311067e-01 -2.70775433e-04 1.14772440e+01] [ 1.37018451e-02 -7.35354969e-04 9.99905855e-01 6.14494841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.569254154 meters Centerline goodness [0,1] 0.9985106561503608 Centerline is valid? [True, True] Translation: X:666.15, Y:11.48, Z:6.14 [[ 9.97246350e-01 -7.27498704e-02 -1.43935153e-02 6.66152067e+02] [ 7.27533415e-02 9.97349924e-01 -2.83003745e-04 1.14779031e+01] [ 1.43759599e-02 -7.64951885e-04 9.99896368e-01 6.14436842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5992541539999 meters Centerline goodness [0,1] 0.9984472701330311 Centerline is valid? [True, True] Translation: X:666.18, Y:11.48, Z:6.14 [[ 9.97366685e-01 -7.11138718e-02 -1.42306709e-02 6.66184586e+02] [ 7.11171147e-02 9.97467934e-01 -2.78677896e-04 1.14833014e+01] [ 1.42144558e-02 -7.34100206e-04 9.99898700e-01 6.14480598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6292541539999 meters Centerline goodness [0,1] 0.9986373736950233 Centerline is valid? [True, True] Translation: X:666.22, Y:11.48, Z:6.14 [[ 9.97502289e-01 -6.90170641e-02 -1.50275897e-02 6.66215278e+02] [ 6.90204599e-02 9.97615201e-01 -2.93161178e-04 1.14845381e+01] [ 1.50119851e-02 -7.44782209e-04 9.99887036e-01 6.14443200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6592541539999 meters Centerline goodness [0,1] 0.998699446215808 Centerline is valid? [True, True] Translation: X:666.25, Y:11.49, Z:6.14 [[ 9.97633790e-01 -6.69231261e-02 -1.57516777e-02 6.66245736e+02] [ 6.69266042e-02 9.97757854e-01 -3.06810814e-04 1.14859263e+01] [ 1.57368929e-02 -7.48121463e-04 9.99875888e-01 6.14393600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6892541539999 meters Centerline goodness [0,1] 0.9985067721039791 Centerline is valid? [True, True] Translation: X:666.28, Y:11.50, Z:6.14 [[ 9.98035673e-01 -6.04380567e-02 -1.64935162e-02 6.66276356e+02] [ 6.04409897e-02 9.98171721e-01 -3.21042779e-04 1.14959025e+01] [ 1.64827647e-02 -6.76472299e-04 9.99863921e-01 6.14365391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7192541539999 meters Centerline goodness [0,1] 0.9987145716995048 Centerline is valid? [True, True] Translation: X:666.31, Y:11.50, Z:6.14 [[ 9.98229145e-01 -5.72072582e-02 -1.63065688e-02 6.66307308e+02] [ 5.72096996e-02 9.98362134e-01 -3.17099872e-04 1.15004488e+01] [ 1.62980012e-02 -6.16355569e-04 9.99866989e-01 6.14462896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7492541539999 meters Centerline goodness [0,1] 0.998461019521862 Centerline is valid? [True, True] Translation: X:666.34, Y:11.51, Z:6.15 [[ 9.98642134e-01 -4.94877011e-02 -1.62744171e-02 6.66337549e+02] [ 4.94891151e-02 9.98774613e-01 -3.16081825e-04 1.15113399e+01] [ 1.62701168e-02 -4.89753873e-04 9.99867513e-01 6.14530453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7792541539999 meters Centerline goodness [0,1] 0.9983524839472795 Centerline is valid? [True, True] Translation: X:666.37, Y:11.51, Z:6.14 [[ 9.98823005e-01 -4.57683058e-02 -1.60582434e-02 6.66367783e+02] [ 4.57692052e-02 9.98951992e-01 -3.11685745e-04 1.15136105e+01] [ 1.60556795e-02 -4.23654144e-04 9.99871010e-01 6.14476885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8092541539999 meters Centerline goodness [0,1] 0.9987135144255104 Centerline is valid? [True, True] Translation: X:666.40, Y:11.52, Z:6.15 [[ 9.98943969e-01 -4.30540645e-02 -1.60404171e-02 6.66399334e+02] [ 4.30546189e-02 9.99072672e-01 -3.10926470e-04 1.15193198e+01] [ 1.60389290e-02 -3.80015925e-04 9.99871296e-01 6.14673764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.839254154 meters Centerline goodness [0,1] 0.9987300781001969 Centerline is valid? [True, True] Translation: X:666.43, Y:11.53, Z:6.15 [[ 9.99194471e-01 -3.70199515e-02 -1.54897188e-02 6.66431025e+02] [ 3.70197539e-02 9.99314489e-01 -2.99588755e-04 1.15263124e+01] [ 1.54901912e-02 -2.74078149e-04 9.99879982e-01 6.14769920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8692541539999 meters Centerline goodness [0,1] 0.9987931399534195 Centerline is valid? [True, True] Translation: X:666.46, Y:11.53, Z:6.15 [[ 9.99302267e-01 -3.42539225e-02 -1.48878452e-02 6.66462260e+02] [ 3.42534433e-02 9.99413137e-01 -2.87256779e-04 1.15299891e+01] [ 1.48889478e-02 -2.22903611e-04 9.99889129e-01 6.14854156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8992541539999 meters Centerline goodness [0,1] 0.9984736061055756 Centerline is valid? [True, True] Translation: X:666.49, Y:11.54, Z:6.15 [[ 9.99461396e-01 -2.95934345e-02 -1.41825869e-02 6.66492668e+02] [ 2.95925362e-02 9.99562008e-01 -2.73240161e-04 1.15358150e+01] [ 1.41844611e-02 -1.46605724e-04 9.99899385e-01 6.14904882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9292541539999 meters Centerline goodness [0,1] 0.9988963175209593 Centerline is valid? [True, True] Translation: X:666.52, Y:11.54, Z:6.15 [[ 9.99519128e-01 -2.75114906e-02 -1.43048921e-02 6.66522899e+02] [ 2.75103672e-02 9.99621480e-01 -2.75339776e-04 1.15382715e+01] [ 1.43070524e-02 -1.18325461e-04 9.99897642e-01 6.14901617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.959254154 meters Centerline goodness [0,1] 0.9989598369703659 Centerline is valid? [True, True] Translation: X:666.55, Y:11.54, Z:6.15 [[ 9.99557164e-01 -2.61264577e-02 -1.42437350e-02 6.66554312e+02] [ 2.61252081e-02 9.99658641e-01 -2.73825480e-04 1.15411572e+01] [ 1.42460269e-02 -9.84163210e-05 9.99898515e-01 6.14945080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9892541539999 meters Centerline goodness [0,1] 0.9989394646417512 Centerline is valid? [True, True] Translation: X:666.59, Y:11.54, Z:6.15 [[ 9.99568732e-01 -2.57708701e-02 -1.40787875e-02 6.66585077e+02] [ 2.57696198e-02 9.99667872e-01 -2.70244491e-04 1.15420677e+01] [ 1.40810760e-02 -9.26770578e-05 9.99900852e-01 6.14945101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0192541539999 meters Centerline goodness [0,1] 0.9988339552238806 Centerline is valid? [True, True] Translation: X:666.62, Y:11.54, Z:6.15 [[ 9.99556154e-01 -2.62211039e-02 -1.41403398e-02 6.66615968e+02] [ 2.62198924e-02 9.99656163e-01 -2.71086148e-04 1.15436210e+01] [ 1.41425860e-02 -9.97923622e-05 9.99899984e-01 6.15024652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0492541539999 meters Centerline goodness [0,1] 0.998747532213896 Centerline is valid? [True, True] Translation: X:666.65, Y:11.54, Z:6.15 [[ 9.99504535e-01 -2.80008135e-02 -1.43749320e-02 6.66646710e+02] [ 2.79997519e-02 9.99607892e-01 -2.75144110e-04 1.15428771e+01] [ 1.43769998e-02 -1.27486745e-04 9.99896637e-01 6.14963136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.079254154 meters Centerline goodness [0,1] 0.9990022078804348 Centerline is valid? [True, True] Translation: X:666.68, Y:11.54, Z:6.15 [[ 9.99460402e-01 -2.95040090e-02 -1.44366672e-02 6.66677870e+02] [ 2.95031001e-02 9.99564651e-01 -2.75972640e-04 1.15428276e+01] [ 1.44385245e-02 -1.50102712e-04 9.99895748e-01 6.15033539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1092541539999 meters Centerline goodness [0,1] 0.9990658570761326 Centerline is valid? [True, True] Translation: X:666.71, Y:11.54, Z:6.15 [[ 9.99410522e-01 -3.12029365e-02 -1.43173114e-02 6.66708993e+02] [ 3.12022242e-02 9.99513055e-01 -2.73175728e-04 1.15423788e+01] [ 1.43188635e-02 -1.73717263e-04 9.99897465e-01 6.15071757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1392541539999 meters Centerline goodness [0,1] 0.9988523823691928 Centerline is valid? [True, True] Translation: X:666.74, Y:11.54, Z:6.15 [[ 9.99286493e-01 -3.49722341e-02 -1.42634976e-02 6.66741346e+02] [ 3.49719211e-02 9.99388258e-01 -2.71444992e-04 1.15405665e+01] [ 1.42642650e-02 -2.27570597e-04 9.99898234e-01 6.15058323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1692541539999 meters Centerline goodness [0,1] 0.9987482231133177 Centerline is valid? [True, True] Translation: X:666.77, Y:11.54, Z:6.15 [[ 9.99241508e-01 -3.61602864e-02 -1.44513787e-02 6.66772231e+02] [ 3.61601035e-02 9.99345972e-01 -2.74037329e-04 1.15385022e+01] [ 1.44518363e-02 -2.48733874e-04 9.99895536e-01 6.14891071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.199254154 meters Centerline goodness [0,1] 0.9987482231133177 Centerline is valid? [True, True] Translation: X:666.80, Y:11.54, Z:6.15 [[ 9.99244115e-01 -3.60881744e-02 -1.44513954e-02 6.66803923e+02] [ 3.60879967e-02 9.99348579e-01 -2.73153453e-04 1.15390414e+01] [ 1.44518390e-02 -2.48574929e-04 9.99895536e-01 6.14920747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2292541539999 meters Centerline goodness [0,1] 0.9990042583843562 Centerline is valid? [True, True] Translation: X:666.84, Y:11.54, Z:6.15 [[ 9.99105761e-01 -4.01729938e-02 -1.31836475e-02 6.66835930e+02] [ 4.01732132e-02 9.99192700e-01 -2.48292652e-04 1.15364591e+01] [ 1.31829790e-02 -2.81558860e-04 9.99913061e-01 6.15137853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2592541539999 meters Centerline goodness [0,1] 0.9990470543390793 Centerline is valid? [True, True] Translation: X:666.87, Y:11.54, Z:6.15 [[ 9.99042613e-01 -4.17590756e-02 -1.30398532e-02 6.66868124e+02] [ 4.17594377e-02 9.99127664e-01 -2.44629797e-04 1.15352413e+01] [ 1.30386936e-02 -3.00141347e-04 9.99914948e-01 6.15158622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2892541539999 meters Centerline goodness [0,1] 0.9992157361482047 Centerline is valid? [True, True] Translation: X:666.90, Y:11.53, Z:6.15 [[ 9.98980051e-01 -4.32706575e-02 -1.29037888e-02 6.66899102e+02] [ 4.32711517e-02 9.99063336e-01 -2.41022894e-04 1.15317438e+01] [ 1.29021315e-02 -3.17584740e-04 9.99916714e-01 6.15168270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.319254154 meters Centerline goodness [0,1] 0.9993011879804332 Centerline is valid? [True, True] Translation: X:666.93, Y:11.53, Z:6.15 [[ 9.98874140e-01 -4.55358175e-02 -1.33019588e-02 6.66931281e+02] [ 4.55365606e-02 9.98962642e-01 -2.47163538e-04 1.15319287e+01] [ 1.32994147e-02 -3.58840188e-04 9.99911494e-01 6.15135253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3492541539999 meters Centerline goodness [0,1] 0.999300625198686 Centerline is valid? [True, True] Translation: X:666.96, Y:11.53, Z:6.15 [[ 9.98830699e-01 -4.64349091e-02 -1.34548517e-02 6.66963011e+02] [ 4.64357632e-02 9.98921247e-01 -2.49088133e-04 1.15318193e+01] [ 1.34519036e-02 -3.75989435e-04 9.99909448e-01 6.15221162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3792541539999 meters Centerline goodness [0,1] 0.9991301396019858 Centerline is valid? [True, True] Translation: X:666.99, Y:11.53, Z:6.15 [[ 9.98785200e-01 -4.74729004e-02 -1.32078824e-02 6.66993950e+02] [ 4.74738236e-02 9.98872453e-01 -2.43799712e-04 1.15297441e+01] [ 1.32045637e-02 -3.83525133e-04 9.99912742e-01 6.15198116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4092541539999 meters Centerline goodness [0,1] 0.9993012175754368 Centerline is valid? [True, True] Translation: X:667.03, Y:11.53, Z:6.15 [[ 9.98775051e-01 -4.76233884e-02 -1.34316841e-02 6.67025562e+02] [ 4.76243667e-02 9.98865286e-01 -2.47192447e-04 1.15289585e+01] [ 1.34282152e-02 -3.92785802e-04 9.99909760e-01 6.15225636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4392541539999 meters Centerline goodness [0,1] 0.999406150583245 Centerline is valid? [True, True] Translation: X:667.06, Y:11.53, Z:6.15 [[ 9.98756506e-01 -4.78791864e-02 -1.38933775e-02 6.67057961e+02] [ 4.78802697e-02 9.98853050e-01 -2.54837462e-04 1.15311911e+01] [ 1.38896439e-02 -4.10698087e-04 9.99903450e-01 6.15266484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4692541539999 meters Centerline goodness [0,1] 0.9993005955534833 Centerline is valid? [True, True] Translation: X:667.09, Y:11.53, Z:6.15 [[ 9.98781800e-01 -4.72748735e-02 -1.41422212e-02 6.67090362e+02] [ 4.72759503e-02 9.98881834e-01 -2.58347746e-04 1.15321404e+01] [ 1.41386212e-02 -4.10553920e-04 9.99899960e-01 6.15101109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4992541539999 meters Centerline goodness [0,1] 0.9993641103904363 Centerline is valid? [True, True] Translation: X:667.12, Y:11.53, Z:6.15 [[ 9.98812298e-01 -4.67746475e-02 -1.36428271e-02 6.67121188e+02] [ 4.67756153e-02 9.98905391e-01 -2.48319758e-04 1.15302135e+01] [ 1.36395087e-02 -3.90126806e-04 9.99906901e-01 6.15115052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5292541539999 meters Centerline goodness [0,1] 0.9995965344432175 Centerline is valid? [True, True] Translation: X:667.15, Y:11.53, Z:6.15 [[ 9.98826843e-01 -4.61762964e-02 -1.45838243e-02 6.67152160e+02] [ 4.61773507e-02 9.98933222e-01 -2.64620312e-04 1.15311440e+01] [ 1.45804858e-02 -4.09132498e-04 9.99893615e-01 6.15234672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5592541539999 meters Centerline goodness [0,1] 0.9994274687758434 Centerline is valid? [True, True] Translation: X:667.18, Y:11.53, Z:6.15 [[ 9.98848838e-01 -4.55345104e-02 -1.50866663e-02 6.67184318e+02] [ 4.55355794e-02 9.98962680e-01 -2.72823198e-04 1.15338437e+01] [ 1.50834395e-02 -4.14470958e-04 9.99886153e-01 6.15164201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.589254154 meters Centerline goodness [0,1] 0.9993414064159762 Centerline is valid? [True, True] Translation: X:667.22, Y:11.54, Z:6.15 [[ 9.98889681e-01 -4.43818926e-02 -1.58003923e-02 6.67216987e+02] [ 4.43829415e-02 9.99014551e-01 -2.84439783e-04 1.15357715e+01] [ 1.57974458e-02 -4.17143920e-04 9.99875126e-01 6.15123910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6192541539999 meters Centerline goodness [0,1] 0.9992785145888594 Centerline is valid? [True, True] Translation: X:667.25, Y:11.54, Z:6.15 [[ 9.98982992e-01 -4.20308590e-02 -1.63214049e-02 6.67249385e+02] [ 4.20316873e-02 9.99116235e-01 -2.92431471e-04 1.15385090e+01] [ 1.63192718e-02 -3.93882122e-04 9.99866754e-01 6.15207404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6492541539999 meters Centerline goodness [0,1] 0.9993218040013564 Centerline is valid? [True, True] Translation: X:667.28, Y:11.54, Z:6.15 [[ 9.99063772e-01 -4.00165784e-02 -1.64393686e-02 6.67281320e+02] [ 4.00171661e-02 9.99198949e-01 -2.93335336e-04 1.15411511e+01] [ 1.64379381e-02 -3.64796235e-04 9.99864821e-01 6.15279036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6792541539999 meters Centerline goodness [0,1] 0.9992573417076897 Centerline is valid? [True, True] Translation: X:667.31, Y:11.54, Z:6.15 [[ 9.99148989e-01 -3.78747535e-02 -1.63340611e-02 6.67312667e+02] [ 3.78750629e-02 9.99282440e-01 -2.90516674e-04 1.15433712e+01] [ 1.63333437e-02 -3.28384150e-04 9.99866548e-01 6.15333944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.709254154 meters Centerline goodness [0,1] 0.9994922246905744 Centerline is valid? [True, True] Translation: X:667.34, Y:11.55, Z:6.15 [[ 9.99321105e-01 -3.30808269e-02 -1.62169279e-02 6.67344462e+02] [ 3.30805124e-02 9.99452649e-01 -2.87718800e-04 1.15479956e+01] [ 1.62175695e-02 -2.48940815e-04 9.99868456e-01 6.15461120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7392541539999 meters Centerline goodness [0,1] 0.9993418119280664 Centerline is valid? [True, True] Translation: X:667.38, Y:11.55, Z:6.16 [[ 9.99399620e-01 -3.06857646e-02 -1.60867458e-02 6.67375461e+02] [ 3.06851521e-02 9.99529059e-01 -2.84960124e-04 1.15507259e+01] [ 1.60879141e-02 -2.08835203e-04 9.99870559e-01 6.15537933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7692541539999 meters Centerline goodness [0,1] 0.9989387443222821 Centerline is valid? [True, True] Translation: X:667.41, Y:11.55, Z:6.16 [[ 9.99532873e-01 -2.61420751e-02 -1.58312127e-02 6.67406392e+02] [ 2.61409125e-02 9.99658229e-01 -2.80398856e-04 1.15545084e+01] [ 1.58331322e-02 -1.33574472e-04 9.99874639e-01 6.15597774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7992541539999 meters Centerline goodness [0,1] 0.9994073697800918 Centerline is valid? [True, True] Translation: X:667.44, Y:11.56, Z:6.16 [[ 9.99590836e-01 -2.40352332e-02 -1.55070217e-02 6.67436579e+02] [ 2.40338668e-02 9.99711107e-01 -2.74491498e-04 1.15560873e+01] [ 1.55091393e-02 -9.83145069e-05 9.99879721e-01 6.15660370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.829254154 meters Centerline goodness [0,1] 0.9994060624058715 Centerline is valid? [True, True] Translation: X:667.47, Y:11.56, Z:6.16 [[ 9.99628060e-01 -2.25103215e-02 -1.53956831e-02 6.67465812e+02] [ 2.25087905e-02 9.99746608e-01 -2.72738257e-04 1.15572174e+01] [ 1.53979214e-02 -7.39013907e-05 9.99881442e-01 6.15702779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8592541539999 meters Centerline goodness [0,1] 0.9995338489246742 Centerline is valid? [True, True] Translation: X:667.49, Y:11.56, Z:6.16 [[ 9.99646680e-01 -2.14883132e-02 -1.56450373e-02 6.67494136e+02] [ 2.14865963e-02 9.99769098e-01 -2.77835992e-04 1.15581088e+01] [ 1.56473950e-02 -5.84207740e-05 9.99877570e-01 6.15756627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8892541539999 meters Centerline goodness [0,1] 0.9995334633980829 Centerline is valid? [True, True] Translation: X:667.52, Y:11.56, Z:6.16 [[ 9.99655770e-01 -2.03728222e-02 -1.65314949e-02 6.67522559e+02] [ 2.03707377e-02 9.99792452e-01 -2.94489225e-04 1.15587732e+01] [ 1.65340634e-02 -4.23708932e-05 9.99863302e-01 6.15803527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9192541539999 meters Centerline goodness [0,1] 0.9992588671254632 Centerline is valid? [True, True] Translation: X:667.55, Y:11.56, Z:6.16 [[ 9.99646354e-01 -2.05470641e-02 -1.68815082e-02 6.67550716e+02] [ 2.05448979e-02 9.99788886e-01 -3.01756047e-04 1.15584223e+01] [ 1.68841445e-02 -4.51795289e-05 9.99857452e-01 6.15830345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.949254154 meters Centerline goodness [0,1] 0.9991745158217801 Centerline is valid? [True, True] Translation: X:667.58, Y:11.56, Z:6.16 [[ 9.99589927e-01 -2.25755374e-02 -1.76159680e-02 6.67579796e+02] [ 2.25734446e-02 9.99745137e-01 -3.17656751e-04 1.15558589e+01] [ 1.76186497e-02 -8.01265906e-05 9.99844776e-01 6.15923528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9792541539999 meters Centerline goodness [0,1] 0.9995138551288284 Centerline is valid? [True, True] Translation: X:667.61, Y:11.55, Z:6.16 [[ 9.99546234e-01 -2.40936874e-02 -1.80781770e-02 6.67607906e+02] [ 2.40916735e-02 9.99709699e-01 -3.29206960e-04 1.15539541e+01] [ 1.80808607e-02 -1.06475960e-04 9.99836522e-01 6.15934680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0092541539999 meters Centerline goodness [0,1] 0.9996833171473208 Centerline is valid? [True, True] Translation: X:667.64, Y:11.55, Z:6.16 [[ 9.99471709e-01 -2.65862193e-02 -1.86942553e-02 6.67636438e+02] [ 2.65844417e-02 9.99646512e-01 -3.43632233e-04 1.15517179e+01] [ 1.86967830e-02 -1.53525646e-04 9.99825188e-01 6.16024368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0392541539999 meters Centerline goodness [0,1] 0.9992403941510349 Centerline is valid? [True, True] Translation: X:667.67, Y:11.55, Z:6.16 [[ 9.99283831e-01 -3.26188219e-02 -1.91790673e-02 6.67665623e+02] [ 3.26179672e-02 9.99467829e-01 -3.57469369e-04 1.15464206e+01] [ 1.91805209e-02 -2.68368826e-04 9.99816001e-01 6.16144557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.069254154 meters Centerline goodness [0,1] 0.9992198207696362 Centerline is valid? [True, True] Translation: X:667.70, Y:11.54, Z:6.16 [[ 9.99160124e-01 -3.60095447e-02 -1.95539887e-02 6.67695379e+02] [ 3.60092500e-02 9.99351389e-01 -3.67278705e-04 1.15435017e+01] [ 1.95545313e-02 -3.37154229e-04 9.99808735e-01 6.16179582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0992541539999 meters Centerline goodness [0,1] 0.9990304767525187 Centerline is valid? [True, True] Translation: X:667.72, Y:11.54, Z:6.16 [[ 9.99018203e-01 -3.95310246e-02 -1.99981813e-02 6.67724690e+02] [ 3.95314107e-02 9.99218257e-01 -3.76164483e-04 1.15387774e+01] [ 1.99974181e-02 -4.14761154e-04 9.99799946e-01 6.16156154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1292541539999 meters Centerline goodness [0,1] 0.9990114836158668 Centerline is valid? [True, True] Translation: X:667.76, Y:11.53, Z:6.16 [[ 9.98715233e-01 -4.64070421e-02 -2.03535960e-02 6.67755209e+02] [ 4.64088651e-02 9.98922455e-01 -3.83022504e-04 1.15326172e+01] [ 2.03494391e-02 -5.62056883e-04 9.99792771e-01 6.16241590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1592541539999 meters Centerline goodness [0,1] 0.9990531896987039 Centerline is valid? [True, True] Translation: X:667.79, Y:11.53, Z:6.16 [[ 9.98564052e-01 -4.97341225e-02 -1.99085736e-02 6.67785026e+02] [ 4.97365270e-02 9.98762303e-01 -3.74647885e-04 1.15286494e+01] [ 1.99025656e-02 -6.16073397e-04 9.99801735e-01 6.16374955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1892541539999 meters Centerline goodness [0,1] 0.9988621517973787 Centerline is valid? [True, True] Translation: X:667.82, Y:11.53, Z:6.17 [[ 9.98218337e-01 -5.65044801e-02 -1.91675623e-02 6.67816112e+02] [ 5.65079609e-02 9.98402084e-01 -3.60399329e-04 1.15252470e+01] [ 1.91572983e-02 -7.23362643e-04 9.99816220e-01 6.16617628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2192541539999 meters Centerline goodness [0,1] 0.9990514733780195 Centerline is valid? [True, True] Translation: X:667.85, Y:11.52, Z:6.17 [[ 9.98025715e-01 -5.99087214e-02 -1.88578063e-02 6.67847510e+02] [ 5.99127089e-02 9.98203557e-01 -3.53942624e-04 1.15220453e+01] [ 1.88451336e-02 -7.76578420e-04 9.99822113e-01 6.16681011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2492541539999 meters Centerline goodness [0,1] 0.9989289314516129 Centerline is valid? [True, True] Translation: X:667.88, Y:11.51, Z:6.16 [[ 9.97821204e-01 -6.29183375e-02 -1.98526257e-02 6.67877401e+02] [ 6.29233763e-02 9.98018292e-01 -3.71365572e-04 1.15124405e+01] [ 1.98366493e-02 -8.78637796e-04 9.99802848e-01 6.16436243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2792541539999 meters Centerline goodness [0,1] 0.9988221436984688 Centerline is valid? [True, True] Translation: X:667.91, Y:11.51, Z:6.16 [[ 9.97399254e-01 -6.86967197e-02 -2.18056934e-02 6.67907948e+02] [ 6.87041963e-02 9.97636992e-01 -4.06987199e-04 1.15128643e+01] [ 2.17821251e-02 -1.09221391e-03 9.99762145e-01 6.16459008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3092541539999 meters Centerline goodness [0,1] 0.9990114004459215 Centerline is valid? [True, True] Translation: X:667.94, Y:11.51, Z:6.17 [[ 9.97198271e-01 -7.15679245e-02 -2.17632769e-02 6.67939385e+02] [ 7.15760641e-02 9.97435062e-01 -4.05717036e-04 1.15113945e+01] [ 2.17364918e-02 -1.15314938e-03 9.99763070e-01 6.16588281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.339254154 meters Centerline goodness [0,1] 0.9991585147785842 Centerline is valid? [True, True] Translation: X:667.97, Y:11.51, Z:6.17 [[ 9.96883151e-01 -7.54850890e-02 -2.29343656e-02 6.67969347e+02] [ 7.54951842e-02 9.97146075e-01 -4.26573754e-04 1.15072267e+01] [ 2.29011126e-02 -1.30618996e-03 9.99736882e-01 6.16552374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3692541539999 meters Centerline goodness [0,1] 0.9989298079949638 Centerline is valid? [True, True] Translation: X:668.00, Y:11.51, Z:6.17 [[ 9.96782686e-01 -7.66104140e-02 -2.35610052e-02 6.68001596e+02] [ 7.66214161e-02 9.97060163e-01 -4.36777662e-04 1.15058306e+01] [ 2.35252014e-02 -1.36990517e-03 9.99722306e-01 6.16512481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3992541539999 meters Centerline goodness [0,1] 0.9991367875865844 Centerline is valid? [True, True] Translation: X:668.03, Y:11.51, Z:6.17 [[ 9.96707653e-01 -7.77691400e-02 -2.29306554e-02 6.68033234e+02] [ 7.77799112e-02 9.96970464e-01 -4.23138233e-04 1.15059410e+01] [ 2.28940933e-02 -1.36179923e-03 9.99736968e-01 6.16702912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4292541539999 meters Centerline goodness [0,1] 0.9982308712958867 Centerline is valid? [True, True] Translation: X:668.07, Y:11.51, Z:6.17 [[ 9.96610874e-01 -7.81355263e-02 -2.57216826e-02 6.68065186e+02] [ 7.81492594e-02 9.96941558e-01 -4.72426374e-04 1.15095884e+01] [ 2.56799276e-02 -1.53930518e-03 9.99669031e-01 6.16619763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.459254154 meters Centerline goodness [0,1] 0.9986108772520627 Centerline is valid? [True, True] Translation: X:668.10, Y:11.51, Z:6.17 [[ 9.96630742e-01 -7.79479384e-02 -2.55202395e-02 6.68097781e+02] [ 7.79614437e-02 9.96956266e-01 -4.66846689e-04 1.15126261e+01] [ 2.54789524e-02 -1.52432096e-03 9.99674197e-01 6.16695446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4892541539999 meters Centerline goodness [0,1] 0.9986108772520627 Centerline is valid? [True, True] Translation: X:668.13, Y:11.51, Z:6.17 [[ 9.96636513e-01 -7.78741031e-02 -2.55202740e-02 6.68129525e+02] [ 7.78876326e-02 9.96962036e-01 -4.64957549e-04 1.15131449e+01] [ 2.54789525e-02 -1.52432005e-03 9.99674197e-01 6.16725170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5192541539999 meters Centerline goodness [0,1] 0.998777789484775 Centerline is valid? [True, True] Translation: X:668.16, Y:11.52, Z:6.17 [[ 9.96759702e-01 -7.60556021e-02 -2.61847543e-02 6.68159862e+02] [ 7.60692775e-02 9.97102422e-01 -4.74883438e-04 1.15156580e+01] [ 2.61449994e-02 -1.51851066e-03 9.99657008e-01 6.16696667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5492541539999 meters Centerline goodness [0,1] 0.9988389030800735 Centerline is valid? [True, True] Translation: X:668.19, Y:11.52, Z:6.17 [[ 9.96837655e-01 -7.50322699e-02 -2.61696156e-02 6.68191000e+02] [ 7.50456233e-02 9.97179989e-01 -4.72875984e-04 1.15173313e+01] [ 2.61312979e-02 -1.49253453e-03 9.99657405e-01 6.16697815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.579254154 meters Centerline goodness [0,1] 0.9985022676932813 Centerline is valid? [True, True] Translation: X:668.22, Y:11.52, Z:6.17 [[ 9.97062569e-01 -7.19075754e-02 -2.63729713e-02 6.68221583e+02] [ 7.19200699e-02 9.97410285e-01 -4.75700813e-04 1.15227566e+01] [ 2.63388794e-02 -1.42244247e-03 9.99652060e-01 6.16730533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6092541539999 meters Centerline goodness [0,1] 0.9986915138340755 Centerline is valid? [True, True] Translation: X:668.25, Y:11.53, Z:6.17 [[ 9.97206201e-01 -6.97959977e-02 -2.66141377e-02 6.68251723e+02] [ 6.98079853e-02 9.97560332e-01 -4.79550576e-04 1.15251249e+01] [ 2.65826787e-02 -1.37966853e-03 9.99645666e-01 6.16740479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6392541539999 meters Centerline goodness [0,1] 0.9991988193126713 Centerline is valid? [True, True] Translation: X:668.28, Y:11.53, Z:6.17 [[ 9.97362473e-01 -6.72907620e-02 -2.72038822e-02 6.68283020e+02] [ 6.73023797e-02 9.97732504e-01 -4.89366480e-04 1.15290632e+01] [ 2.71751273e-02 -1.34281024e-03 9.99629786e-01 6.16755536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6692541539999 meters Centerline goodness [0,1] 0.9992367383284569 Centerline is valid? [True, True] Translation: X:668.31, Y:11.54, Z:6.17 [[ 9.97640177e-01 -6.33652024e-02 -2.64372597e-02 6.68313154e+02] [ 6.33748072e-02 9.97989683e-01 -4.75251225e-04 1.15403951e+01] [ 2.64142269e-02 -1.20132652e-03 9.99650362e-01 6.17010457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.699254154 meters Centerline goodness [0,1] 0.9989819076505398 Centerline is valid? [True, True] Translation: X:668.34, Y:11.54, Z:6.17 [[ 9.97773658e-01 -6.05757932e-02 -2.78980513e-02 6.68344346e+02] [ 6.05854207e-02 9.98162891e-01 -5.00826187e-04 1.15443780e+01] [ 2.78771375e-02 -1.19050400e-03 9.99610648e-01 6.16881474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7292541539999 meters Centerline goodness [0,1] 0.9990449307044167 Centerline is valid? [True, True] Translation: X:668.37, Y:11.55, Z:6.17 [[ 9.98027834e-01 -5.73285999e-02 -2.55709737e-02 6.68374005e+02] [ 5.73356312e-02 9.98354854e-01 -4.58733208e-04 1.15497802e+01] [ 2.55552042e-02 -1.00829941e-03 9.99672904e-01 6.17035137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7592541539999 meters Centerline goodness [0,1] 0.9995751640928692 Centerline is valid? [True, True] Translation: X:668.41, Y:11.55, Z:6.17 [[ 9.98122272e-01 -5.57675984e-02 -2.53358650e-02 6.68405349e+02] [ 5.57740134e-02 9.98443315e-01 -4.53938585e-04 1.15530573e+01] [ 2.53217401e-02 -9.59996664e-04 9.99678892e-01 6.17033897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7892541539999 meters Centerline goodness [0,1] 0.9993633276740238 Centerline is valid? [True, True] Translation: X:668.44, Y:11.56, Z:6.17 [[ 9.98197253e-01 -5.50495236e-02 -2.39122220e-02 6.68435407e+02] [ 5.50550455e-02 9.98483229e-01 -4.27851539e-04 1.15553225e+01] [ 2.38995057e-02 -8.89408241e-04 9.99713970e-01 6.17202022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.819254154 meters Centerline goodness [0,1] 0.9993205656291138 Centerline is valid? [True, True] Translation: X:668.47, Y:11.56, Z:6.17 [[ 9.98282018e-01 -5.39862140e-02 -2.27706379e-02 6.68465342e+02] [ 5.39909538e-02 9.98541342e-01 -4.07027330e-04 1.15597418e+01] [ 2.27593972e-02 -8.23080396e-04 9.99740633e-01 6.17278833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8492541539999 meters Centerline goodness [0,1] 0.9993621092919414 Centerline is valid? [True, True] Translation: X:668.50, Y:11.56, Z:6.17 [[ 9.98265861e-01 -5.39403724e-02 -2.35734292e-02 6.68496850e+02] [ 5.39454556e-02 9.98543795e-01 -4.20706032e-04 1.15618686e+01] [ 2.35617945e-02 -8.51702911e-04 9.99722020e-01 6.17243517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8792541539999 meters Centerline goodness [0,1] 0.9995743684692162 Centerline is valid? [True, True] Translation: X:668.53, Y:11.56, Z:6.17 [[ 9.98230292e-01 -5.47096991e-02 -2.33052012e-02 6.68528515e+02] [ 5.47148955e-02 9.98501932e-01 -4.15107108e-04 1.15632660e+01] [ 2.32929988e-02 -8.60769157e-04 9.99728311e-01 6.17310277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9092541539999 meters Centerline goodness [0,1] 0.9992767803964945 Centerline is valid? [True, True] Translation: X:668.56, Y:11.57, Z:6.17 [[ 9.98068297e-01 -5.71971445e-02 -2.42520557e-02 6.68559335e+02] [ 5.72035197e-02 9.98362445e-01 -4.31369537e-04 1.15657582e+01] [ 2.42370147e-02 -9.56766685e-04 9.99705783e-01 6.17249400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9392541539999 meters Centerline goodness [0,1] 0.999298275458779 Centerline is valid? [True, True] Translation: X:668.59, Y:11.56, Z:6.17 [[ 9.97966286e-01 -5.88065467e-02 -2.45984185e-02 6.68590842e+02] [ 5.88136172e-02 9.98268886e-01 -4.36560592e-04 1.15648452e+01] [ 2.45815085e-02 -1.01104922e-03 9.99697318e-01 6.17174054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9692541539999 meters Centerline goodness [0,1] 0.9988098780124963 Centerline is valid? [True, True] Translation: X:668.62, Y:11.57, Z:6.17 [[ 9.97749561e-01 -6.23276888e-02 -2.47198855e-02 6.68621907e+02] [ 6.23359264e-02 9.98055129e-01 -4.37957008e-04 1.15656474e+01] [ 2.46991054e-02 -1.10396555e-03 9.99694321e-01 6.17166638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9992541539999 meters Centerline goodness [0,1] 0.99938174220782 Centerline is valid? [True, True] Translation: X:668.65, Y:11.57, Z:6.17 [[ 9.97630170e-01 -6.42919006e-02 -2.45070389e-02 6.68654073e+02] [ 6.43006196e-02 9.97930480e-01 -4.32902015e-04 1.15725660e+01] [ 2.44841532e-02 -1.14394168e-03 9.99699564e-01 6.17413936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0292541539999 meters Centerline goodness [0,1] 0.9993174352630008 Centerline is valid? [True, True] Translation: X:668.68, Y:11.57, Z:6.17 [[ 9.97502859e-01 -6.61907106e-02 -2.46340312e-02 6.68684899e+02] [ 6.62001289e-02 9.97806271e-01 -4.33880816e-04 1.15710602e+01] [ 2.46087097e-02 -1.19797868e-03 9.99696442e-01 6.17418321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0592541539999 meters Centerline goodness [0,1] 0.9990626730859359 Centerline is valid? [True, True] Translation: X:668.72, Y:11.56, Z:6.17 [[ 9.97281075e-01 -6.93304450e-02 -2.49749150e-02 6.68715139e+02] [ 6.93411469e-02 9.97592910e-01 -4.38310783e-04 1.15638884e+01] [ 2.49451864e-02 -1.29467020e-03 9.99687982e-01 6.17148662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.089254154 meters Centerline goodness [0,1] 0.9994248343736021 Centerline is valid? [True, True] Translation: X:668.75, Y:11.57, Z:6.18 [[ 9.97176260e-01 -7.13987427e-02 -2.32750068e-02 6.68746843e+02] [ 7.14086379e-02 9.97447062e-01 -4.06772888e-04 1.15727178e+01] [ 2.32446302e-02 -1.25641226e-03 9.99729018e-01 6.17604187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1192541539999 meters Centerline goodness [0,1] 0.9994248343736021 Centerline is valid? [True, True] Translation: X:668.78, Y:11.57, Z:6.18 [[ 9.97181487e-01 -7.13256895e-02 -2.32750365e-02 6.68778580e+02] [ 7.13356046e-02 9.97452288e-01 -4.05066971e-04 1.15732102e+01] [ 2.32446301e-02 -1.25641352e-03 9.99729018e-01 6.17633900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1492541539999 meters Centerline goodness [0,1] 0.9991907489831122 Centerline is valid? [True, True] Translation: X:668.81, Y:11.57, Z:6.18 [[ 9.97075285e-01 -7.30115449e-02 -2.25874093e-02 6.68810116e+02] [ 7.30213450e-02 9.97330301e-01 -3.91712192e-04 1.15721028e+01] [ 2.25557073e-02 -1.25879646e-03 9.99744795e-01 6.17683053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1792541539999 meters Centerline goodness [0,1] 0.9989991695236473 Centerline is valid? [True, True] Translation: X:668.84, Y:11.57, Z:6.18 [[ 9.96902670e-01 -7.56967864e-02 -2.13322074e-02 6.68841332e+02] [ 7.57061592e-02 9.97130102e-01 -3.69028736e-04 1.15728293e+01] [ 2.12989204e-02 -1.24709376e-03 9.99772374e-01 6.17855929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.209254154 meters Centerline goodness [0,1] 0.9993184819184734 Centerline is valid? [True, True] Translation: X:668.87, Y:11.57, Z:6.18 [[ 9.96858156e-01 -7.65103733e-02 -2.04934220e-02 6.68873530e+02] [ 7.65192175e-02 9.97068044e-01 -3.53391353e-04 1.15726478e+01] [ 2.04603743e-02 -1.21585957e-03 9.99789925e-01 6.17941120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2392541539999 meters Centerline goodness [0,1] 0.9992762877820349 Centerline is valid? [True, True] Translation: X:668.91, Y:11.57, Z:6.18 [[ 9.96838955e-01 -7.69447786e-02 -1.97888482e-02 6.68905433e+02] [ 7.69531379e-02 9.97034653e-01 -3.39841095e-04 1.15731292e+01] [ 1.97563164e-02 -1.18404712e-03 9.99804124e-01 6.17959670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2692541539999 meters Centerline goodness [0,1] 0.9993819135105181 Centerline is valid? [True, True] Translation: X:668.94, Y:11.58, Z:6.18 [[ 9.96812280e-01 -7.72816749e-02 -1.98197156e-02 6.68937634e+02] [ 7.72901549e-02 9.97008584e-01 -3.38938810e-04 1.15756420e+01] [ 1.97866203e-02 -1.19401052e-03 9.99803513e-01 6.17984817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2992541539999 meters Centerline goodness [0,1] 0.9990825492329685 Centerline is valid? [True, True] Translation: X:668.97, Y:11.58, Z:6.18 [[ 9.96835404e-01 -7.69817261e-02 -1.98240205e-02 6.68970151e+02] [ 7.69901792e-02 9.97031794e-01 -3.37576927e-04 1.15764594e+01] [ 1.97911660e-02 -1.18974626e-03 9.99803428e-01 6.17953895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.329254154 meters Centerline goodness [0,1] 0.9993174352630008 Centerline is valid? [True, True] Translation: X:669.00, Y:11.58, Z:6.18 [[ 9.96885743e-01 -7.62560351e-02 -2.00956067e-02 6.69002287e+02] [ 7.62646039e-02 9.97087556e-01 -3.40738804e-04 1.15789623e+01] [ 2.00630628e-02 -1.19290583e-03 9.99798005e-01 6.17925120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3592541539999 meters Centerline goodness [0,1] 0.9991693821481056 Centerline is valid? [True, True] Translation: X:669.03, Y:11.58, Z:6.18 [[ 9.96953506e-01 -7.53720455e-02 -2.00689337e-02 6.69034850e+02] [ 7.53804422e-02 9.97154789e-01 -3.38833764e-04 1.15808453e+01] [ 2.00373719e-02 -1.17500359e-03 9.99798541e-01 6.17943003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3892541539999 meters Centerline goodness [0,1] 0.9989333333333333 Centerline is valid? [True, True] Translation: X:669.07, Y:11.58, Z:6.18 [[ 9.96989657e-01 -7.48175920e-02 -2.03458255e-02 6.69066758e+02] [ 7.48261372e-02 9.97196536e-01 -3.42026814e-04 1.15821237e+01] [ 2.03143763e-02 -1.18140233e-03 9.99792944e-01 6.17985542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4192541539999 meters Centerline goodness [0,1] 0.9994457235439584 Centerline is valid? [True, True] Translation: X:669.10, Y:11.59, Z:6.18 [[ 9.97057353e-01 -7.38111879e-02 -2.07013010e-02 6.69098457e+02] [ 7.38198497e-02 9.97271533e-01 -3.46475962e-04 1.15865263e+01] [ 2.06703919e-02 -1.18271052e-03 9.99785645e-01 6.18046922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.449254154 meters Centerline goodness [0,1] 0.9991253333333333 Centerline is valid? [True, True] Translation: X:669.13, Y:11.59, Z:6.18 [[ 9.97198390e-01 -7.16831909e-02 -2.13750162e-02 6.69129204e+02] [ 7.16919633e-02 9.97426757e-01 -3.56595737e-04 1.15888704e+01] [ 2.13455751e-02 -1.17682019e-03 9.99771465e-01 6.17967803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4792541539999 meters Centerline goodness [0,1] 0.9992525998846868 Centerline is valid? [True, True] Translation: X:669.16, Y:11.59, Z:6.18 [[ 9.97258300e-01 -7.06836598e-02 -2.19021466e-02 6.69161046e+02] [ 7.06926579e-02 9.97498078e-01 -3.64117325e-04 1.15914532e+01] [ 2.18730862e-02 -1.18520193e-03 9.99760053e-01 6.17987931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5092541539999 meters Centerline goodness [0,1] 0.9993383843773344 Centerline is valid? [True, True] Translation: X:669.19, Y:11.59, Z:6.18 [[ 9.97353667e-01 -6.93161682e-02 -2.19301766e-02 6.69193643e+02] [ 6.93249001e-02 9.97594069e-01 -3.62742666e-04 1.15939286e+01] [ 2.19025580e-02 -1.15852457e-03 9.99759439e-01 6.18003276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5392541539999 meters Centerline goodness [0,1] 0.9991223751525141 Centerline is valid? [True, True] Translation: X:669.22, Y:11.60, Z:6.18 [[ 9.97577856e-01 -6.57939494e-02 -2.25738306e-02 6.69224581e+02] [ 6.58023275e-02 9.97832609e-01 -3.72263557e-04 1.15982164e+01] [ 2.25493970e-02 -1.11404871e-03 9.99745109e-01 6.17942713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.569254154 meters Centerline goodness [0,1] 0.9993368983957219 Centerline is valid? [True, True] Translation: X:669.26, Y:11.60, Z:6.18 [[ 9.97683079e-01 -6.41661879e-02 -2.26091632e-02 6.69255991e+02] [ 6.41742227e-02 9.97938641e-01 -3.70747695e-04 1.16001082e+01] [ 2.25863470e-02 -1.08103677e-03 9.99744311e-01 6.18037449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5992541539999 meters Centerline goodness [0,1] 0.9995067447296747 Centerline is valid? [True, True] Translation: X:669.29, Y:11.60, Z:6.18 [[ 9.97832703e-01 -6.19701510e-02 -2.21268311e-02 6.69287146e+02] [ 6.19773476e-02 9.98077491e-01 -3.61033907e-04 1.16042563e+01] [ 2.21066654e-02 -1.01111086e-03 9.99755107e-01 6.18150160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6292541539999 meters Centerline goodness [0,1] 0.9993338920045554 Centerline is valid? [True, True] Translation: X:669.32, Y:11.61, Z:6.18 [[ 9.98073486e-01 -5.82550120e-02 -2.13464439e-02 6.69318035e+02] [ 5.82608733e-02 9.98301332e-01 -3.47747498e-04 1.16094213e+01] [ 2.13304414e-02 -8.96584903e-04 9.99772078e-01 6.18265018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6592541539999 meters Centerline goodness [0,1] 0.9996342670280969 Centerline is valid? [True, True] Translation: X:669.35, Y:11.61, Z:6.18 [[ 9.98177087e-01 -5.65761156e-02 -2.10153827e-02 6.69349977e+02] [ 5.65814467e-02 9.98397928e-01 -3.41321108e-04 1.16127334e+01] [ 2.10010252e-02 -8.48381849e-04 9.99779094e-01 6.18419182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6892541539999 meters Centerline goodness [0,1] 0.9997200568499935 Centerline is valid? [True, True] Translation: X:669.38, Y:11.62, Z:6.18 [[ 9.98316018e-01 -5.41347383e-02 -2.08460437e-02 6.69380240e+02] [ 5.41394925e-02 9.98533325e-01 -3.36643640e-04 1.16152926e+01] [ 2.08336935e-02 -7.92517490e-04 9.99782641e-01 6.18430836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7192541539999 meters Centerline goodness [0,1] 0.9996551649820039 Centerline is valid? [True, True] Translation: X:669.41, Y:11.62, Z:6.18 [[ 9.98362272e-01 -5.32089526e-02 -2.10138352e-02 6.69412486e+02] [ 5.32136179e-02 9.98583095e-01 -3.37493174e-04 1.16162237e+01] [ 2.10020182e-02 -7.81281743e-04 9.99779128e-01 6.18388742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7492541539999 meters Centerline goodness [0,1] 0.9997195556034948 Centerline is valid? [True, True] Translation: X:669.45, Y:11.62, Z:6.18 [[ 9.98359799e-01 -5.29561149e-02 -2.17568974e-02 6.69445051e+02] [ 5.29610913e-02 9.98596516e-01 -3.47815164e-04 1.16184446e+01] [ 2.17447809e-02 -8.05024351e-04 9.99763230e-01 6.18405510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7792541539999 meters Centerline goodness [0,1] 0.999784077904692 Centerline is valid? [True, True] Translation: X:669.48, Y:11.62, Z:6.18 [[ 9.98371150e-01 -5.24063856e-02 -2.25525606e-02 6.69476362e+02] [ 5.24116252e-02 9.98625502e-01 -3.59099292e-04 1.16182482e+01] [ 2.25403812e-02 -8.23501979e-04 9.99745594e-01 6.18340006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8092541539999 meters Centerline goodness [0,1] 0.9996755283480067 Centerline is valid? [True, True] Translation: X:669.51, Y:11.62, Z:6.18 [[ 9.98408208e-01 -5.14063556e-02 -2.32042276e-02 6.69508138e+02] [ 5.14116689e-02 9.98677478e-01 -3.67921850e-04 1.16227843e+01] [ 2.31924531e-02 -8.25631874e-04 9.99730678e-01 6.18434868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.839254154 meters Centerline goodness [0,1] 0.999848251642134 Centerline is valid? [True, True] Translation: X:669.54, Y:11.62, Z:6.18 [[ 9.98476969e-01 -5.01415854e-02 -2.30122565e-02 6.69538972e+02] [ 5.01465088e-02 9.98741806e-01 -3.63432665e-04 1.16232591e+01] [ 2.30015257e-02 -7.91105177e-04 9.99735117e-01 6.18447400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8692541539999 meters Centerline goodness [0,1] 0.99965299616127 Centerline is valid? [True, True] Translation: X:669.57, Y:11.63, Z:6.19 [[ 9.98588552e-01 -4.82457924e-02 -2.22091538e-02 6.69570840e+02] [ 4.82499418e-02 9.98835232e-01 -3.49301996e-04 1.16263136e+01] [ 2.22001377e-02 -7.22781405e-04 9.99753285e-01 6.18582845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8992541539999 meters Centerline goodness [0,1] 0.9997829908205117 Centerline is valid? [True, True] Translation: X:669.60, Y:11.63, Z:6.19 [[ 9.98836284e-01 -4.37080940e-02 -2.03882326e-02 6.69602187e+02] [ 4.37106672e-02 9.99044181e-01 -3.19622690e-04 1.16313239e+01] [ 2.03827153e-02 -5.71932511e-04 9.99792087e-01 6.18820850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9292541539999 meters Centerline goodness [0,1] 0.999522631601788 Centerline is valid? [True, True] Translation: X:669.63, Y:11.63, Z:6.19 [[ 9.98970958e-01 -4.10241247e-02 -1.93402793e-02 6.69633520e+02] [ 4.10259508e-02 9.99158035e-01 -3.02500027e-04 1.16340788e+01] [ 1.93364052e-02 -4.91264604e-04 9.99812914e-01 6.18966784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.959254154 meters Centerline goodness [0,1] 0.9996294843293666 Centerline is valid? [True, True] Translation: X:669.66, Y:11.64, Z:6.19 [[ 9.99076759e-01 -3.87414756e-02 -1.85668468e-02 6.69664820e+02] [ 3.87427770e-02 9.99249175e-01 -2.89734799e-04 1.16372669e+01] [ 1.85641311e-02 -4.29863901e-04 9.99827579e-01 6.19097974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9892541539999 meters Centerline goodness [0,1] 0.9994987468671679 Centerline is valid? [True, True] Translation: X:669.70, Y:11.64, Z:6.19 [[ 9.99179892e-01 -3.62674704e-02 -1.80059597e-02 6.69696505e+02] [ 3.62683102e-02 9.99342049e-01 -2.80016621e-04 1.16396705e+01] [ 1.80042682e-02 -3.73258755e-04 9.99837840e-01 6.19163428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0192541539999 meters Centerline goodness [0,1] 0.9997380313052591 Centerline is valid? [True, True] Translation: X:669.73, Y:11.64, Z:6.19 [[ 9.99330208e-01 -3.26601839e-02 -1.65059628e-02 6.69727034e+02] [ 3.26604173e-02 9.99466474e-01 -2.55498476e-04 1.16418906e+01] [ 1.65055011e-02 -2.83764288e-04 9.99863735e-01 6.19181755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0492541539999 meters Centerline goodness [0,1] 0.9997164543709649 Centerline is valid? [True, True] Translation: X:669.76, Y:11.64, Z:6.19 [[ 9.99369055e-01 -3.17143674e-02 -1.59903571e-02 6.69758586e+02] [ 3.17144824e-02 9.99496939e-01 -2.46448565e-04 1.16423011e+01] [ 1.59901289e-02 -2.60832829e-04 9.99872116e-01 6.19143095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.079254154 meters Centerline goodness [0,1] 0.9992354239028333 Centerline is valid? [True, True] Translation: X:669.79, Y:11.64, Z:6.19 [[ 9.99368199e-01 -3.16609074e-02 -1.61490006e-02 6.69791174e+02] [ 3.16610336e-02 9.99498633e-01 -2.47911733e-04 1.16417634e+01] [ 1.61487531e-02 -2.63538948e-04 9.99869566e-01 6.18977446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1092541539999 meters Centerline goodness [0,1] 0.9992367910333849 Centerline is valid? [True, True] Translation: X:669.82, Y:11.64, Z:6.19 [[ 9.99333204e-01 -3.26370242e-02 -1.63698731e-02 6.69821845e+02] [ 3.26372998e-02 9.99467230e-01 -2.50387952e-04 1.16410868e+01] [ 1.63693236e-02 -2.84047462e-04 9.99865973e-01 6.18972872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1392541539999 meters Centerline goodness [0,1] 0.9996948627972363 Centerline is valid? [True, True] Translation: X:669.85, Y:11.64, Z:6.19 [[ 9.99275184e-01 -3.40483596e-02 -1.70239662e-02 6.69854482e+02] [ 3.40488775e-02 9.99420135e-01 -2.59506653e-04 1.16411351e+01] [ 1.70229303e-02 -3.20328380e-04 9.99855048e-01 6.19038346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1692541539999 meters Centerline goodness [0,1] 0.9995646874455859 Centerline is valid? [True, True] Translation: X:669.89, Y:11.64, Z:6.19 [[ 9.99214347e-01 -3.55408078e-02 -1.75367914e-02 6.69886250e+02] [ 3.55416068e-02 9.99368162e-01 -2.66203378e-04 1.16403320e+01] [ 1.75351721e-02 -3.57291511e-04 9.99846183e-01 6.19003409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.199254154 meters Centerline goodness [0,1] 0.9995215623165082 Centerline is valid? [True, True] Translation: X:669.92, Y:11.64, Z:6.19 [[ 9.99059899e-01 -3.93540391e-02 -1.81817963e-02 6.69918444e+02] [ 3.93555498e-02 9.99225232e-01 -2.74845823e-04 1.16376145e+01] [ 1.81785260e-02 -4.40967152e-04 9.99834660e-01 6.18893205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2292541539999 meters Centerline goodness [0,1] 0.9992396758846914 Centerline is valid? [True, True] Translation: X:669.95, Y:11.63, Z:6.19 [[ 9.98953045e-01 -4.17646960e-02 -1.86688058e-02 6.69949153e+02] [ 4.17667285e-02 9.99127350e-01 -2.81186540e-04 1.16348104e+01] [ 1.86642581e-02 -4.98842792e-04 9.99825683e-01 6.18878644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2592541539999 meters Centerline goodness [0,1] 0.9993072093526737 Centerline is valid? [True, True] Translation: X:669.98, Y:11.63, Z:6.19 [[ 9.98867464e-01 -4.37124644e-02 -1.87885537e-02 6.69981111e+02] [ 4.37148862e-02 9.99044008e-01 -2.81983081e-04 1.16335599e+01] [ 1.87829182e-02 -5.39675763e-04 9.99823440e-01 6.18875297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2892541539999 meters Centerline goodness [0,1] 0.999284878429333 Centerline is valid? [True, True] Translation: X:670.01, Y:11.63, Z:6.19 [[ 9.98669632e-01 -4.80228876e-02 -1.87821521e-02 6.70012597e+02] [ 4.80260879e-02 9.98846042e-01 -2.80886691e-04 1.16306750e+01] [ 1.87739672e-02 -6.21520278e-04 9.99823560e-01 6.18865706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.319254154 meters Centerline goodness [0,1] 0.9991572669518994 Centerline is valid? [True, True] Translation: X:670.04, Y:11.63, Z:6.19 [[ 9.98586702e-01 -4.97471684e-02 -1.87034327e-02 6.70044213e+02] [ 4.97506595e-02 9.98761630e-01 -2.78882870e-04 1.16292388e+01] [ 1.86941446e-02 -6.52019387e-04 9.99825037e-01 6.18868580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3492541539999 meters Centerline goodness [0,1] 0.9992003112302239 Centerline is valid? [True, True] Translation: X:670.08, Y:11.63, Z:6.19 [[ 9.98455764e-01 -5.25210198e-02 -1.81005404e-02 6.70075398e+02] [ 5.25247614e-02 9.98619586e-01 -2.68952990e-04 1.16272957e+01] [ 1.80896798e-02 -6.82188901e-04 9.99836136e-01 6.18933582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3792541539999 meters Centerline goodness [0,1] 0.9991148723041385 Centerline is valid? [True, True] Translation: X:670.11, Y:11.63, Z:6.19 [[ 9.98426043e-01 -5.34159335e-02 -1.70931120e-02 6.70107606e+02] [ 5.34194182e-02 9.98572131e-01 -2.52981648e-04 1.16266911e+01] [ 1.70822185e-02 -6.60520632e-04 9.99853870e-01 6.19000703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4092541539999 meters Centerline goodness [0,1] 0.9989646470093397 Centerline is valid? [True, True] Translation: X:670.14, Y:11.63, Z:6.19 [[ 9.98400142e-01 -5.41492803e-02 -1.62792044e-02 6.70139670e+02] [ 5.41525562e-02 9.98532645e-01 -2.39834876e-04 1.16269100e+01] [ 1.62683039e-02 -6.42109354e-04 9.99867456e-01 6.19094115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4392541539999 meters Centerline goodness [0,1] 0.9991162650342716 Centerline is valid? [True, True] Translation: X:670.17, Y:11.63, Z:6.19 [[ 9.98381586e-01 -5.48242046e-02 -1.51167240e-02 6.70172098e+02] [ 5.48271218e-02 9.98495838e-01 -2.21688596e-04 1.16301832e+01] [ 1.51061399e-02 -6.07476659e-04 9.99885711e-01 6.19250788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4692541539999 meters Centerline goodness [0,1] 0.9992460796139928 Centerline is valid? [True, True] Translation: X:670.20, Y:11.63, Z:6.19 [[ 9.98365192e-01 -5.52840263e-02 -1.45127174e-02 6.70203519e+02] [ 5.52867770e-02 9.98470494e-01 -2.11904482e-04 1.16287943e+01] [ 1.45022350e-02 -5.90803312e-04 9.99894663e-01 6.19349421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4992541539999 meters Centerline goodness [0,1] 0.9991803985851091 Centerline is valid? [True, True] Translation: X:670.23, Y:11.62, Z:6.19 [[ 9.98296412e-01 -5.68846984e-02 -1.29770835e-02 6.70234192e+02] [ 5.68870401e-02 9.98380603e-01 -1.88904488e-04 1.16242530e+01] [ 1.29668142e-02 -5.49645197e-04 9.99915776e-01 6.19404688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5292541539999 meters Centerline goodness [0,1] 0.9990304022753227 Centerline is valid? [True, True] Translation: X:670.27, Y:11.63, Z:6.19 [[ 9.98248616e-01 -5.77403868e-02 -1.28743264e-02 6.70266369e+02] [ 5.77427701e-02 9.98331477e-01 -1.86834019e-04 1.16285964e+01] [ 1.28636332e-02 -5.56892470e-04 9.99917105e-01 6.19427706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5592541539999 meters Centerline goodness [0,1] 0.9991805223092018 Centerline is valid? [True, True] Translation: X:670.30, Y:11.63, Z:6.19 [[ 9.98128363e-01 -5.95926911e-02 -1.37289078e-02 6.70298031e+02] [ 5.95955930e-02 9.98222583e-01 -1.98012425e-04 1.16277114e+01] [ 1.37163059e-02 -6.20540582e-04 9.99905734e-01 6.19404399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.589254154 meters Centerline goodness [0,1] 0.9992027236683331 Centerline is valid? [True, True] Translation: X:670.33, Y:11.63, Z:6.19 [[ 9.98074820e-01 -6.03502583e-02 -1.43003513e-02 6.70328999e+02] [ 6.03535046e-02 9.98177045e-01 -2.04835389e-04 1.16263863e+01] [ 1.42866443e-02 -6.58635275e-04 9.99897724e-01 6.19369159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6192541539999 meters Centerline goodness [0,1] 0.9991166268071445 Centerline is valid? [True, True] Translation: X:670.36, Y:11.63, Z:6.19 [[ 9.98019405e-01 -6.11646317e-02 -1.47022207e-02 6.70361510e+02] [ 6.11681641e-02 9.98127453e-01 -2.09714614e-04 1.16255786e+01] [ 1.46875173e-02 -6.90008596e-04 9.99891895e-01 6.19332854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6492541539999 meters Centerline goodness [0,1] 0.9990921863179509 Centerline is valid? [True, True] Translation: X:670.39, Y:11.63, Z:6.19 [[ 9.97990434e-01 -6.15585593e-02 -1.50212659e-02 6.70393258e+02] [ 6.15623071e-02 9.98103220e-01 -2.13206678e-04 1.16263585e+01] [ 1.50058985e-02 -7.11965559e-04 9.99887152e-01 6.19325727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6792541539999 meters Centerline goodness [0,1] 0.9990941833631678 Centerline is valid? [True, True] Translation: X:670.43, Y:11.63, Z:6.19 [[ 9.97989572e-01 -6.13252768e-02 -1.60007549e-02 6.70425093e+02] [ 6.13295200e-02 9.98117548e-01 -2.25834831e-04 1.16256285e+01] [ 1.59844836e-02 -7.55937809e-04 9.99871954e-01 6.19215373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.709254154 meters Centerline goodness [0,1] 0.9992006049476072 Centerline is valid? [True, True] Translation: X:670.46, Y:11.63, Z:6.19 [[ 9.98018133e-01 -6.06917183e-02 -1.66228941e-02 6.70457303e+02] [ 6.06962325e-02 9.98156257e-01 -2.33274099e-04 1.16272346e+01] [ 1.66064035e-02 -7.76135263e-04 9.99861803e-01 6.19195064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7392541539999 meters Centerline goodness [0,1] 0.9991792833848081 Centerline is valid? [True, True] Translation: X:670.49, Y:11.63, Z:6.19 [[ 9.98069397e-01 -5.96452481e-02 -1.73183166e-02 6.70488723e+02] [ 5.96500093e-02 9.98219324e-01 -2.41962541e-04 1.16279614e+01] [ 1.73019102e-02 -7.91542342e-04 9.99849997e-01 6.19156513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7692541539999 meters Centerline goodness [0,1] 0.9991572305298643 Centerline is valid? [True, True] Translation: X:670.52, Y:11.63, Z:6.19 [[ 9.98239974e-01 -5.64075267e-02 -1.83069685e-02 6.70519156e+02] [ 5.64123157e-02 9.98407525e-01 -2.55120074e-04 1.16319257e+01] [ 1.82922058e-02 -7.78067433e-04 9.99832381e-01 6.19104633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7992541539999 meters Centerline goodness [0,1] 0.9990485457887339 Centerline is valid? [True, True] Translation: X:670.55, Y:11.63, Z:6.19 [[ 9.98365204e-01 -5.40462095e-02 -1.85991194e-02 6.70550454e+02] [ 5.40507523e-02 9.98538156e-01 -2.58721757e-04 1.16349265e+01] [ 1.85859133e-02 -7.46997597e-04 9.99826988e-01 6.19131825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.829254154 meters Centerline goodness [0,1] 0.9993061578490894 Centerline is valid? [True, True] Translation: X:670.58, Y:11.64, Z:6.19 [[ 9.98506115e-01 -5.12778797e-02 -1.88710773e-02 6.70582226e+02] [ 5.12820777e-02 9.98684174e-01 -2.61714610e-04 1.16386168e+01] [ 1.88596664e-02 -7.06424414e-04 9.99821891e-01 6.19177674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8592541539999 meters Centerline goodness [0,1] 0.9990659483882179 Centerline is valid? [True, True] Translation: X:670.61, Y:11.65, Z:6.19 [[ 9.98812870e-01 -4.52079362e-02 -1.81409228e-02 6.70612495e+02] [ 4.52108234e-02 9.98977436e-01 -2.51140450e-04 1.16475435e+01] [ 1.81337261e-02 -5.69323743e-04 9.99835408e-01 6.19327356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8892541539999 meters Centerline goodness [0,1] 0.9991953898010221 Centerline is valid? [True, True] Translation: X:670.64, Y:11.65, Z:6.19 [[ 9.98959134e-01 -4.20510711e-02 -1.76736073e-02 6.70644349e+02] [ 4.20533251e-02 9.99115338e-01 -2.44256608e-04 1.16510382e+01] [ 1.76682433e-02 -4.99231581e-04 9.99843780e-01 6.19431540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9192541539999 meters Centerline goodness [0,1] 0.9993247805536799 Centerline is valid? [True, True] Translation: X:670.68, Y:11.65, Z:6.19 [[ 9.99086773e-01 -3.90993740e-02 -1.72296048e-02 6.70676042e+02] [ 3.91010920e-02 9.99235232e-01 -2.37274791e-04 1.16544233e+01] [ 1.72257055e-02 -4.36638258e-04 9.99851531e-01 6.19495447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.949254154 meters Centerline goodness [0,1] 0.9993893928820656 Centerline is valid? [True, True] Translation: X:670.71, Y:11.66, Z:6.20 [[ 9.99301458e-01 -3.34196906e-02 -1.67248418e-02 6.70707890e+02] [ 3.34205279e-02 9.99441352e-01 -2.29510395e-04 1.16608688e+01] [ 1.67231687e-02 -3.29602969e-04 9.99860104e-01 6.19646758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9792541539999 meters Centerline goodness [0,1] 0.9994111874386653 Centerline is valid? [True, True] Translation: X:670.74, Y:11.66, Z:6.20 [[ 9.99400002e-01 -3.07193454e-02 -1.59987013e-02 6.70739488e+02] [ 3.07197761e-02 9.99528012e-01 -2.18889659e-04 1.16642099e+01] [ 1.59978742e-02 -2.72718196e-04 9.99871989e-01 6.19725441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0092541539999 meters Centerline goodness [0,1] 0.9994111874386653 Centerline is valid? [True, True] Translation: X:670.77, Y:11.66, Z:6.20 [[ 9.99402000e-01 -3.06542475e-02 -1.59987113e-02 6.70771184e+02] [ 3.06546816e-02 9.99530011e-01 -2.18153847e-04 1.16645734e+01] [ 1.59978794e-02 -2.72412010e-04 9.99871989e-01 6.19755124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0392541539999 meters Centerline goodness [0,1] 0.9994114056505058 Centerline is valid? [True, True] Translation: X:670.80, Y:11.67, Z:6.20 [[ 9.99475657e-01 -2.80771716e-02 -1.61271245e-02 6.70802499e+02] [ 2.80772908e-02 9.99605731e-01 -2.19070640e-04 1.16681209e+01] [ 1.61269170e-02 -2.33850194e-04 9.99869925e-01 6.19828009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.069254154 meters Centerline goodness [0,1] 0.9995191467039692 Centerline is valid? [True, True] Translation: X:670.83, Y:11.67, Z:6.20 [[ 9.99540317e-01 -2.56370503e-02 -1.61832037e-02 6.70833890e+02] [ 2.56368590e-02 9.99671298e-01 -2.19308301e-04 1.16713449e+01] [ 1.61835067e-02 -1.95679023e-04 9.99869019e-01 6.19882367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0992541539999 meters Centerline goodness [0,1] 0.9994513693820225 Centerline is valid? [True, True] Translation: X:670.86, Y:11.68, Z:6.20 [[ 9.99643875e-01 -2.06203447e-02 -1.69388531e-02 6.70864425e+02] [ 2.06194203e-02 9.99787371e-01 -2.29232983e-04 1.16772222e+01] [ 1.69399782e-02 -1.20117984e-04 9.99856501e-01 6.19888938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1292541539999 meters Centerline goodness [0,1] 0.999560497516811 Centerline is valid? [True, True] Translation: X:670.89, Y:11.68, Z:6.20 [[ 9.99680497e-01 -1.85952077e-02 -1.71208379e-02 6.70894372e+02] [ 1.85939617e-02 9.99827090e-01 -2.31971628e-04 1.16809195e+01] [ 1.71221911e-02 -8.64466921e-05 9.99853401e-01 6.20067011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1592541539999 meters Centerline goodness [0,1] 0.9995168445557167 Centerline is valid? [True, True] Translation: X:670.92, Y:11.68, Z:6.20 [[ 9.99701335e-01 -1.70321490e-02 -1.75255902e-02 6.70923483e+02] [ 1.70305896e-02 9.99854941e-01 -2.38228008e-04 1.16819862e+01] [ 1.75271055e-02 -6.03142772e-05 9.99846387e-01 6.19882340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1892541539999 meters Centerline goodness [0,1] 0.999538055433348 Centerline is valid? [True, True] Translation: X:670.95, Y:11.68, Z:6.20 [[ 9.99730281e-01 -1.45110776e-02 -1.81326809e-02 6.70951068e+02] [ 1.45089659e-02 9.99894709e-01 -2.48014790e-04 1.16849885e+01] [ 1.81343707e-02 -1.51385543e-05 9.99835559e-01 6.19895862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2192541539999 meters Centerline goodness [0,1] 0.9994929453262786 Centerline is valid? [True, True] Translation: X:670.98, Y:11.69, Z:6.20 [[ 9.99728650e-01 -1.41339635e-02 -1.85164034e-02 6.70978455e+02] [ 1.41316280e-02 9.99900111e-01 -2.56980170e-04 1.16859296e+01] [ 1.85181859e-02 -4.75648511e-06 9.99828524e-01 6.20161784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2492541539999 meters Centerline goodness [0,1] 0.9995153224207441 Centerline is valid? [True, True] Translation: X:671.01, Y:11.69, Z:6.20 [[ 9.99735229e-01 -1.38476160e-02 -1.83770303e-02 6.71005170e+02] [ 1.38451982e-02 9.99904117e-01 -2.58798794e-04 1.16863796e+01] [ 1.83788520e-02 4.29664487e-06 9.99831095e-01 6.19955169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2792541539999 meters Centerline goodness [0,1] 0.9994287973988313 Centerline is valid? [True, True] Translation: X:671.03, Y:11.68, Z:6.20 [[ 9.99716667e-01 -1.48070884e-02 -1.86369558e-02 6.71033476e+02] [ 1.48046976e-02 9.99890369e-01 -2.66257486e-04 1.16848359e+01] [ 1.86388551e-02 -9.73244724e-06 9.99826281e-01 6.20183600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3092541539999 meters Centerline goodness [0,1] 0.9994948940375535 Centerline is valid? [True, True] Translation: X:671.06, Y:11.68, Z:6.20 [[ 9.99696499e-01 -1.59095645e-02 -1.88094722e-02 6.71061452e+02] [ 1.59072237e-02 9.99873435e-01 -2.74066779e-04 1.16838477e+01] [ 1.88114519e-02 -2.52228815e-05 9.99823049e-01 6.20122001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.339254154 meters Centerline goodness [0,1] 0.9994953262825295 Centerline is valid? [True, True] Translation: X:671.09, Y:11.68, Z:6.20 [[ 9.99669523e-01 -1.75262180e-02 -1.88062660e-02 6.71089504e+02] [ 1.75240647e-02 9.99846403e-01 -2.79302518e-04 1.16827767e+01] [ 1.88082726e-02 -5.03520069e-05 9.99823108e-01 6.20143126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3692541539999 meters Centerline goodness [0,1] 0.9994299745680961 Centerline is valid? [True, True] Translation: X:671.12, Y:11.68, Z:6.20 [[ 9.99637411e-01 -1.87325786e-02 -1.93426031e-02 6.71117471e+02] [ 1.87304577e-02 9.99824527e-01 -2.90824782e-04 1.16814021e+01] [ 1.93446569e-02 -7.15764776e-05 9.99812872e-01 6.20087275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3992541539999 meters Centerline goodness [0,1] 0.9994101583833971 Centerline is valid? [True, True] Translation: X:671.15, Y:11.68, Z:6.20 [[ 9.99575674e-01 -2.20627883e-02 -1.90185434e-02 6.71146428e+02] [ 2.20612805e-02 9.99756579e-01 -2.89106477e-04 1.16777609e+01] [ 1.90202924e-02 -1.30589619e-04 9.99819089e-01 6.20166507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4292541539999 meters Centerline goodness [0,1] 0.9994325621999127 Centerline is valid? [True, True] Translation: X:671.18, Y:11.68, Z:6.20 [[ 9.99541060e-01 -2.36939719e-02 -1.88749962e-02 6.71176340e+02] [ 2.36927284e-02 9.99719246e-01 -2.89527862e-04 1.16760764e+01] [ 1.88765570e-02 -1.57805172e-04 9.99821809e-01 6.20234266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.459254154 meters Centerline goodness [0,1] 0.9994119056435277 Centerline is valid? [True, True] Translation: X:671.21, Y:11.67, Z:6.20 [[ 9.99497482e-01 -2.57192652e-02 -1.85284221e-02 6.71206376e+02] [ 2.57184030e-02 9.99669187e-01 -2.84853763e-04 1.16741798e+01] [ 1.85296189e-02 -1.91810808e-04 9.99828293e-01 6.20321102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4892541539999 meters Centerline goodness [0,1] 0.9993690851735015 Centerline is valid? [True, True] Translation: X:671.24, Y:11.67, Z:6.20 [[ 9.99445162e-01 -2.77919541e-02 -1.83569186e-02 6.71236927e+02] [ 2.77914514e-02 9.99613703e-01 -2.82540854e-04 1.16725577e+01] [ 1.83576797e-02 -2.27781319e-04 9.99831458e-01 6.20409154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5192541539999 meters Centerline goodness [0,1] 0.9992846303923694 Centerline is valid? [True, True] Translation: X:671.27, Y:11.67, Z:6.20 [[ 9.99321806e-01 -3.20497599e-02 -1.81311949e-02 6.71268232e+02] [ 3.20499756e-02 9.99486229e-01 -2.78753510e-04 1.16675863e+01] [ 1.81308136e-02 -3.02539893e-04 9.99835578e-01 6.20416907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5492541539999 meters Centerline goodness [0,1] 0.9994365586737458 Centerline is valid? [True, True] Translation: X:671.30, Y:11.66, Z:6.20 [[ 9.99236750e-01 -3.44410568e-02 -1.84317836e-02 6.71299892e+02] [ 3.44417015e-02 9.99406669e-01 -2.82549933e-04 1.16643919e+01] [ 1.84305788e-02 -3.52487713e-04 9.99830080e-01 6.20410737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.579254154 meters Centerline goodness [0,1] 0.9992425062222703 Centerline is valid? [True, True] Translation: X:671.33, Y:11.66, Z:6.20 [[ 9.99137713e-01 -3.71994748e-02 -1.84398764e-02 6.71331873e+02] [ 3.72006108e-02 9.99307778e-01 -2.81527516e-04 1.16613193e+01] [ 1.84375846e-02 -4.04689906e-04 9.99829931e-01 6.20397694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6092541539999 meters Centerline goodness [0,1] 0.999139285176339 Centerline is valid? [True, True] Translation: X:671.36, Y:11.65, Z:6.20 [[ 9.98947266e-01 -4.17515736e-02 -1.90043400e-02 6.71362683e+02] [ 4.17536195e-02 9.99127896e-01 -2.89288979e-04 1.16503981e+01] [ 1.89998445e-02 -5.04515547e-04 9.99819359e-01 6.20106143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6392541539999 meters Centerline goodness [0,1] 0.999117862214381 Centerline is valid? [True, True] Translation: X:671.39, Y:11.65, Z:6.20 [[ 9.98820455e-01 -4.48954876e-02 -1.84957583e-02 6.71394244e+02] [ 4.48979752e-02 9.98991538e-01 -2.80936809e-04 1.16459039e+01] [ 1.84897188e-02 -5.49816665e-04 9.99828899e-01 6.20186750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6692541539999 meters Centerline goodness [0,1] 0.9991838663258951 Centerline is valid? [True, True] Translation: X:671.43, Y:11.64, Z:6.20 [[ 9.98720542e-01 -4.69864304e-02 -1.86963781e-02 6.71426145e+02] [ 4.69893556e-02 9.98895350e-01 -2.83061142e-04 1.16426855e+01] [ 1.86890252e-02 -5.95831782e-04 9.99825167e-01 6.20176594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.699254154 meters Centerline goodness [0,1] 0.9991624610759154 Centerline is valid? [True, True] Translation: X:671.46, Y:11.64, Z:6.20 [[ 9.98635315e-01 -4.85692216e-02 -1.91973389e-02 6.71458421e+02] [ 4.85726193e-02 9.98819612e-01 -2.89524378e-04 1.16410827e+01] [ 1.91887405e-02 -6.43335764e-04 9.99815672e-01 6.20179521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7292541539999 meters Centerline goodness [0,1] 0.9992063151572353 Centerline is valid? [True, True] Translation: X:671.49, Y:11.64, Z:6.20 [[ 9.98520390e-01 -5.07954427e-02 -1.94127324e-02 6.71490644e+02] [ 5.07993626e-02 9.98708836e-01 -2.91463472e-04 1.16386174e+01] [ 1.94024724e-02 -6.95122211e-04 9.99811513e-01 6.20272545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7592541539999 meters Centerline goodness [0,1] 0.9990980931111493 Centerline is valid? [True, True] Translation: X:671.52, Y:11.64, Z:6.20 [[ 9.98505127e-01 -5.09887797e-02 -1.96889644e-02 6.71523057e+02] [ 5.09928765e-02 9.98698974e-01 -2.94243673e-04 1.16390265e+01] [ 1.96783516e-02 -7.10193112e-04 9.99806110e-01 6.20272319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7892541539999 meters Centerline goodness [0,1] 0.9991855281207133 Centerline is valid? [True, True] Translation: X:671.55, Y:11.64, Z:6.20 [[ 9.98467356e-01 -5.18035886e-02 -1.94763287e-02 6.71554854e+02] [ 5.18077786e-02 9.98657033e-01 -2.89709479e-04 1.16373807e+01] [ 1.94651806e-02 -7.19759865e-04 9.99810276e-01 6.20374481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.819254154 meters Centerline goodness [0,1] 0.9990388928045107 Centerline is valid? [True, True] Translation: X:671.59, Y:11.63, Z:6.20 [[ 9.98394799e-01 -5.32473823e-02 -1.93013527e-02 6.71587375e+02] [ 5.32517928e-02 9.98581076e-01 -2.85749848e-04 1.16339534e+01] [ 1.92891810e-02 -7.42540475e-04 9.99813671e-01 6.20413628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8492541539999 meters Centerline goodness [0,1] 0.9989533716385074 Centerline is valid? [True, True] Translation: X:671.62, Y:11.63, Z:6.20 [[ 9.98377108e-01 -5.32991713e-02 -2.00586366e-02 6.71619668e+02] [ 5.33039743e-02 9.98578289e-01 -2.95514343e-04 1.16318906e+01] [ 2.00458697e-02 -7.74170295e-04 9.99798762e-01 6.20285066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8792541539999 meters Centerline goodness [0,1] 0.9989318293490568 Centerline is valid? [True, True] Translation: X:671.65, Y:11.63, Z:6.20 [[ 9.98338919e-01 -5.40108589e-02 -2.00556952e-02 6.71650935e+02] [ 5.40158283e-02 9.98540036e-01 -2.94247317e-04 1.16279083e+01] [ 2.00423072e-02 -7.89566441e-04 9.99798821e-01 6.20287833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9092541539999 meters Centerline goodness [0,1] 0.9989762402422898 Centerline is valid? [True, True] Translation: X:671.68, Y:11.63, Z:6.20 [[ 9.98283564e-01 -5.47530598e-02 -2.07852783e-02 6.71682962e+02] [ 5.47585852e-02 9.98499577e-01 -3.03647960e-04 1.16272275e+01] [ 2.07707173e-02 -8.35045667e-04 9.99783917e-01 6.20351474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9392541539999 meters Centerline goodness [0,1] 0.9990832338393314 Centerline is valid? [True, True] Translation: X:671.71, Y:11.63, Z:6.20 [[ 9.98302598e-01 -5.42590824e-02 -2.11630643e-02 6.71714654e+02] [ 5.42647415e-02 9.98526536e-01 -3.07192805e-04 1.16253217e+01] [ 2.11485493e-02 -8.41736839e-04 9.99775990e-01 6.20302150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9692541539999 meters Centerline goodness [0,1] 0.9988495707194444 Centerline is valid? [True, True] Translation: X:671.75, Y:11.63, Z:6.20 [[ 9.98310029e-01 -5.40804146e-02 -2.12695536e-02 6.71746711e+02] [ 5.40861306e-02 9.98536227e-01 -3.06850496e-04 1.16263357e+01] [ 2.12550144e-02 -8.44055927e-04 9.99773730e-01 6.20309606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9992541539999 meters Centerline goodness [0,1] 0.9987847000127926 Centerline is valid? [True, True] Translation: X:671.78, Y:11.62, Z:6.20 [[ 9.98297085e-01 -5.43176125e-02 -2.12726674e-02 6.71777654e+02] [ 5.43234112e-02 9.98523347e-01 -3.05607781e-04 1.16194440e+01] [ 2.12578549e-02 -8.50516502e-04 9.99773664e-01 6.20277434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0292541539999 meters Centerline goodness [0,1] 0.9989125103951212 Centerline is valid? [True, True] Translation: X:671.81, Y:11.62, Z:6.20 [[ 9.98292809e-01 -5.42218894e-02 -2.17129746e-02 6.71809958e+02] [ 5.42279373e-02 9.98528535e-01 -3.10593133e-04 1.16214386e+01] [ 2.16978657e-02 -8.67386936e-04 9.99764197e-01 6.20360198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0592541539999 meters Centerline goodness [0,1] 0.9985932904215866 Centerline is valid? [True, True] Translation: X:671.84, Y:11.62, Z:6.20 [[ 9.98323106e-01 -5.32205858e-02 -2.27715859e-02 6.71841679e+02] [ 5.32270137e-02 9.98582385e-01 -3.24167560e-04 1.16197305e+01] [ 2.27565569e-02 -8.88439548e-04 9.99740641e-01 6.20197071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.089254154 meters Centerline goodness [0,1] 0.998829538199617 Centerline is valid? [True, True] Translation: X:671.87, Y:11.62, Z:6.20 [[ 9.98306406e-01 -5.36374768e-02 -2.25242418e-02 6.71873508e+02] [ 5.36439059e-02 9.98560078e-01 -3.19128135e-04 1.16206355e+01] [ 2.25089258e-02 -8.89700644e-04 9.99746246e-01 6.20370579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1192541539999 meters Centerline goodness [0,1] 0.9988063519130342 Centerline is valid? [True, True] Translation: X:671.91, Y:11.62, Z:6.20 [[ 9.98321709e-01 -5.33247919e-02 -2.25883121e-02 6.71905318e+02] [ 5.33312128e-02 9.98576827e-01 -3.18487484e-04 1.16212498e+01] [ 2.25731483e-02 -8.86709107e-04 9.99744801e-01 6.20414866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1492541539999 meters Centerline goodness [0,1] 0.9989148705291602 Centerline is valid? [True, True] Translation: X:671.94, Y:11.62, Z:6.20 [[ 9.98353775e-01 -5.29277266e-02 -2.20996873e-02 6.71937610e+02] [ 5.29338085e-02 9.98597975e-01 -3.10099270e-04 1.16208359e+01] [ 2.20851159e-02 -8.60231840e-04 9.99755724e-01 6.20450689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1792541539999 meters Centerline goodness [0,1] 0.9987253839780766 Centerline is valid? [True, True] Translation: X:671.97, Y:11.62, Z:6.21 [[ 9.98471913e-01 -5.10966926e-02 -2.10467588e-02 6.71967956e+02] [ 5.11018192e-02 9.98693405e-01 -2.94519441e-04 1.16209707e+01] [ 2.10343082e-02 -7.81458273e-04 9.99778449e-01 6.20567162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.209254154 meters Centerline goodness [0,1] 0.9986844617963462 Centerline is valid? [True, True] Translation: X:672.00, Y:11.62, Z:6.21 [[ 9.98580250e-01 -4.94992873e-02 -1.96800410e-02 6.71999039e+02] [ 4.95034694e-02 9.98773914e-01 -2.74897305e-04 1.16225430e+01] [ 1.96695188e-02 -6.99723287e-04 9.99806291e-01 6.20704999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2392541539999 meters Centerline goodness [0,1] 0.9986194885736132 Centerline is valid? [True, True] Translation: X:672.03, Y:11.62, Z:6.21 [[ 9.98705508e-01 -4.73093942e-02 -1.86849975e-02 6.72030603e+02] [ 4.73127927e-02 9.98880089e-01 -2.60382687e-04 1.16242893e+01] [ 1.86763905e-02 -6.23993790e-04 9.99825386e-01 6.20849050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2692541539999 meters Centerline goodness [0,1] 0.9987707697524585 Centerline is valid? [True, True] Translation: X:672.06, Y:11.63, Z:6.21 [[ 9.98993606e-01 -4.17965412e-02 -1.62734240e-02 6.72061154e+02] [ 4.17983943e-02 9.99126040e-01 -2.26383456e-04 1.16302776e+01] [ 1.62686637e-02 -4.54047369e-04 9.99867553e-01 6.21159429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2992541539999 meters Centerline goodness [0,1] 0.9987253027405991 Centerline is valid? [True, True] Translation: X:672.09, Y:11.63, Z:6.21 [[ 9.99151558e-01 -3.81909245e-02 -1.54148687e-02 6.72091403e+02] [ 3.81921622e-02 9.99270390e-01 -2.14186467e-04 1.16326617e+01] [ 1.54118019e-02 -3.74722424e-04 9.99881161e-01 6.21187994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.329254154 meters Centerline goodness [0,1] 0.9987896033296526 Centerline is valid? [True, True] Translation: X:672.12, Y:11.64, Z:6.21 [[ 9.99273687e-01 -3.51499885e-02 -1.47165398e-02 6.72123171e+02] [ 3.51507932e-02 9.99381999e-01 -2.04061126e-04 1.16351351e+01] [ 1.47146177e-02 -3.13385133e-04 9.99891685e-01 6.21295441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3592541539999 meters Centerline goodness [0,1] 0.9991074085093722 Centerline is valid? [True, True] Translation: X:672.15, Y:11.64, Z:6.21 [[ 9.99456237e-01 -2.94629612e-02 -1.48041773e-02 6.72154666e+02] [ 2.94631616e-02 9.99565846e-01 -2.04611093e-04 1.16395124e+01] [ 1.48037784e-02 -2.31678034e-04 9.99890391e-01 6.21331779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3892541539999 meters Centerline goodness [0,1] 0.9988090427681249 Centerline is valid? [True, True] Translation: X:672.19, Y:11.64, Z:6.21 [[ 9.99524584e-01 -2.67665547e-02 -1.53022171e-02 6.72185004e+02] [ 2.67664637e-02 9.99641692e-01 -2.10790625e-04 1.16391779e+01] [ 1.53023763e-02 -1.98895826e-04 9.99882892e-01 6.21221154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4192541539999 meters Centerline goodness [0,1] 0.9989363738858517 Centerline is valid? [True, True] Translation: X:672.22, Y:11.64, Z:6.21 [[ 9.99573658e-01 -2.47233878e-02 -1.55324140e-02 6.72215295e+02] [ 2.47230566e-02 9.99694316e-01 -2.13369590e-04 1.16415807e+01] [ 1.55329412e-02 -1.70730127e-04 9.99879342e-01 6.21284787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.449254154 meters Centerline goodness [0,1] 0.9989148705291602 Centerline is valid? [True, True] Translation: X:672.25, Y:11.64, Z:6.21 [[ 9.99641968e-01 -2.10875828e-02 -1.64696338e-02 6.72245704e+02] [ 2.10867170e-02 9.99777625e-01 -2.26244229e-04 1.16439814e+01] [ 1.64707423e-02 -1.21127280e-04 9.99864341e-01 6.21330229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4792541539999 meters Centerline goodness [0,1] 0.9989167374681394 Centerline is valid? [True, True] Translation: X:672.27, Y:11.64, Z:6.21 [[ 9.99669369e-01 -1.96003771e-02 -1.66426504e-02 6.72274564e+02] [ 1.95992807e-02 9.99807889e-01 -2.28991302e-04 1.16439453e+01] [ 1.66439414e-02 -9.72683855e-05 9.99861475e-01 6.21282055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5092541539999 meters Centerline goodness [0,1] 0.9989366679426651 Centerline is valid? [True, True] Translation: X:672.30, Y:11.64, Z:6.21 [[ 9.99688647e-01 -1.86939121e-02 -1.65271611e-02 6.72303170e+02] [ 1.86926712e-02 9.99825250e-01 -2.29573901e-04 1.16438070e+01] [ 1.65285646e-02 -7.94343655e-05 9.99863391e-01 6.21306237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5392541539999 meters Centerline goodness [0,1] 0.9988731316309825 Centerline is valid? [True, True] Translation: X:672.33, Y:11.64, Z:6.21 [[ 9.99717786e-01 -1.74337722e-02 -1.61372630e-02 6.72330590e+02] [ 1.74323808e-02 9.99848019e-01 -2.26895033e-04 1.16416928e+01] [ 1.61387661e-02 -5.44799135e-05 9.99869760e-01 6.21269035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.569254154 meters Centerline goodness [0,1] 0.99891731238722 Centerline is valid? [True, True] Translation: X:672.36, Y:11.64, Z:6.21 [[ 9.99719304e-01 -1.75235631e-02 -1.59448470e-02 6.72358528e+02] [ 1.75221742e-02 9.99846449e-01 -2.26813724e-04 1.16408568e+01] [ 1.59463732e-02 -5.26383287e-05 9.99872847e-01 6.21400357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5992541539999 meters Centerline goodness [0,1] 0.9988968560397132 Centerline is valid? [True, True] Translation: X:672.39, Y:11.64, Z:6.21 [[ 9.99717254e-01 -1.77800238e-02 -1.57886753e-02 6.72386590e+02] [ 1.77786441e-02 9.99841921e-01 -2.27755230e-04 1.16393482e+01] [ 1.57902289e-02 -5.30104049e-05 9.99875325e-01 6.21421898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6292541539999 meters Centerline goodness [0,1] 0.9990242867748436 Centerline is valid? [True, True] Translation: X:672.42, Y:11.64, Z:6.22 [[ 9.99706969e-01 -1.86985392e-02 -1.53733522e-02 6.72415874e+02] [ 1.86973048e-02 9.99825165e-01 -2.24033162e-04 1.16355068e+01] [ 1.53748535e-02 -6.34727379e-05 9.99881798e-01 6.21508084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6592541539999 meters Centerline goodness [0,1] 0.9988971601874828 Centerline is valid? [True, True] Translation: X:672.44, Y:11.63, Z:6.21 [[ 9.99692833e-01 -1.95096860e-02 -1.52843889e-02 6.72444666e+02] [ 1.95085198e-02 9.99809665e-01 -2.25402698e-04 1.16330004e+01] [ 1.52858773e-02 -7.28423419e-05 9.99883161e-01 6.21443760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6892541539999 meters Centerline goodness [0,1] 0.9988124522860293 Centerline is valid? [True, True] Translation: X:672.47, Y:11.63, Z:6.21 [[ 9.99658632e-01 -2.11079980e-02 -1.53971323e-02 6.72473416e+02] [ 2.11069901e-02 9.99777197e-01 -2.27974230e-04 1.16302323e+01] [ 1.53985138e-02 -9.70907119e-05 9.99881431e-01 6.21476980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7192541539999 meters Centerline goodness [0,1] 0.998582940293141 Centerline is valid? [True, True] Translation: X:672.50, Y:11.62, Z:6.21 [[ 9.99575579e-01 -2.47544437e-02 -1.53583926e-02 6.72502578e+02] [ 2.47538424e-02 9.99693550e-01 -2.29281312e-04 1.16226555e+01] [ 1.53593618e-02 -1.50995230e-04 9.99882027e-01 6.21410796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7492541539999 meters Centerline goodness [0,1] 0.998648819828569 Centerline is valid? [True, True] Translation: X:672.53, Y:11.62, Z:6.21 [[ 9.99519581e-01 -2.74464709e-02 -1.43978311e-02 6.72532604e+02] [ 2.74461895e-02 9.99623259e-01 -2.17170259e-04 1.16183201e+01] [ 1.43983674e-02 -1.78099674e-04 9.99896322e-01 6.21446964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7792541539999 meters Centerline goodness [0,1] 0.9986080941434506 Centerline is valid? [True, True] Translation: X:672.56, Y:11.61, Z:6.21 [[ 9.99338133e-01 -3.36196464e-02 -1.38929929e-02 6.72563342e+02] [ 3.36199776e-02 9.99434667e-01 -2.09782065e-04 1.16076635e+01] [ 1.38921915e-02 -2.57438891e-04 9.99903466e-01 6.21382571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8092541539999 meters Centerline goodness [0,1] 0.9986511265201172 Centerline is valid? [True, True] Translation: X:672.59, Y:11.60, Z:6.21 [[ 9.99207961e-01 -3.74957834e-02 -1.33235641e-02 6.72594510e+02] [ 3.74964360e-02 9.99296741e-01 -2.00905382e-04 1.16024760e+01] [ 1.33217273e-02 -2.98839911e-04 9.99911217e-01 6.21469956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.839254154 meters Centerline goodness [0,1] 0.9987801030602587 Centerline is valid? [True, True] Translation: X:672.63, Y:11.60, Z:6.21 [[ 9.99080341e-01 -4.07335530e-02 -1.33883955e-02 6.72625407e+02] [ 4.07345075e-02 9.99169985e-01 -2.01509353e-04 1.15971161e+01] [ 1.33854911e-02 -3.44045664e-04 9.99910351e-01 6.21394147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8692541539999 meters Centerline goodness [0,1] 0.998925139099646 Centerline is valid? [True, True] Translation: X:672.66, Y:11.60, Z:6.22 [[ 9.98928471e-01 -4.42970788e-02 -1.34043915e-02 6.72657755e+02] [ 4.42983622e-02 9.99018325e-01 -2.01299048e-04 1.15992961e+01] [ 1.34001497e-02 -3.92709240e-04 9.99910137e-01 6.21553168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8992541539999 meters Centerline goodness [0,1] 0.998527927321669 Centerline is valid? [True, True] Translation: X:672.69, Y:11.59, Z:6.21 [[ 9.98626173e-01 -5.04213097e-02 -1.42638951e-02 6.72688199e+02] [ 5.04233986e-02 9.98727909e-01 -2.13380436e-04 1.15901809e+01] [ 1.42565090e-02 -5.06146779e-04 9.99898243e-01 6.21360854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9292541539999 meters Centerline goodness [0,1] 0.998527927321669 Centerline is valid? [True, True] Translation: X:672.72, Y:11.59, Z:6.21 [[ 9.98629854e-01 -5.03483404e-02 -1.42639030e-02 6.72719905e+02] [ 5.03504294e-02 9.98731590e-01 -2.12851471e-04 1.15905945e+01] [ 1.42565272e-02 -5.05633807e-04 9.99898243e-01 6.21390553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.959254154 meters Centerline goodness [0,1] 0.9986132997163567 Centerline is valid? [True, True] Translation: X:672.75, Y:11.59, Z:6.21 [[ 9.98483967e-01 -5.29657434e-02 -1.49799335e-02 6.72750760e+02] [ 5.29683554e-02 9.98596167e-01 -2.22613045e-04 1.15850411e+01] [ 1.49706951e-02 -5.71186888e-04 9.99887770e-01 6.21323914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9892541539999 meters Centerline goodness [0,1] 0.998803777544596 Centerline is valid? [True, True] Translation: X:672.78, Y:11.58, Z:6.21 [[ 9.98349582e-01 -5.57448366e-02 -1.38066945e-02 6.72782476e+02] [ 5.57473283e-02 9.98444888e-01 -2.04624178e-04 1.15819572e+01] [ 1.37966303e-02 -5.65399870e-04 9.99904662e-01 6.21455572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0192541539999 meters Centerline goodness [0,1] 0.9986779981114259 Centerline is valid? [True, True] Translation: X:672.81, Y:11.58, Z:6.21 [[ 9.98241695e-01 -5.77204783e-02 -1.34857554e-02 6.72814802e+02] [ 5.77230460e-02 9.98332615e-01 -1.99077072e-04 1.15796743e+01] [ 1.34747603e-02 -5.79711848e-04 9.99909043e-01 6.21487536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0492541539999 meters Centerline goodness [0,1] 0.9988476366074421 Centerline is valid? [True, True] Translation: X:672.84, Y:11.57, Z:6.22 [[ 9.98069378e-01 -6.07795592e-02 -1.27812935e-02 6.72844954e+02] [ 6.07821241e-02 9.98151040e-01 -1.88036471e-04 1.15746459e+01] [ 1.27690901e-02 -5.89200722e-04 9.99918298e-01 6.21556170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.079254154 meters Centerline goodness [0,1] 0.99880810488677 Centerline is valid? [True, True] Translation: X:672.88, Y:11.57, Z:6.21 [[ 9.98024306e-01 -6.14153878e-02 -1.32526984e-02 6.72877383e+02] [ 6.14182050e-02 9.98112101e-01 -1.94695241e-04 1.15731412e+01] [ 1.32396359e-02 -6.19646365e-04 9.99912160e-01 6.21480745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1092541539999 meters Centerline goodness [0,1] 0.9987864331596678 Centerline is valid? [True, True] Translation: X:672.91, Y:11.57, Z:6.21 [[ 9.97960006e-01 -6.24270698e-02 -1.33674206e-02 6.72908654e+02] [ 6.24300384e-02 9.98049323e-01 -1.95496562e-04 1.15713920e+01] [ 1.33535493e-02 -6.39430829e-04 9.99910633e-01 6.21460163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1392541539999 meters Centerline goodness [0,1] 0.998849011195982 Centerline is valid? [True, True] Translation: X:672.94, Y:11.57, Z:6.22 [[ 9.97811517e-01 -6.48281854e-02 -1.30185358e-02 6.72938961e+02] [ 6.48312120e-02 9.97896226e-01 -1.89847077e-04 1.15673487e+01] [ 1.30034552e-02 -6.54575855e-04 9.99915237e-01 6.21519809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1692541539999 meters Centerline goodness [0,1] 0.9988291867029061 Centerline is valid? [True, True] Translation: X:672.97, Y:11.57, Z:6.21 [[ 9.97728168e-01 -6.59487356e-02 -1.37574045e-02 6.72971220e+02] [ 6.59522284e-02 9.97822762e-01 -2.00145592e-04 1.15662520e+01] [ 1.37406507e-02 -7.07640590e-04 9.99905342e-01 6.21441055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.199254154 meters Centerline goodness [0,1] 0.9987244364518423 Centerline is valid? [True, True] Translation: X:673.00, Y:11.56, Z:6.21 [[ 9.97673914e-01 -6.65644475e-02 -1.46947353e-02 6.73003602e+02] [ 6.65685146e-02 9.97781834e-01 -2.12724276e-04 1.15648700e+01] [ 1.46762999e-02 -7.65977244e-04 9.99892004e-01 6.21286488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2292541539999 meters Centerline goodness [0,1] 0.9985778818805421 Centerline is valid? [True, True] Translation: X:673.04, Y:11.56, Z:6.21 [[ 9.97570693e-01 -6.79936778e-02 -1.51516622e-02 6.73035898e+02] [ 6.79981822e-02 9.97685421e-01 -2.18278993e-04 1.15639542e+01] [ 1.51314341e-02 -8.12536764e-04 9.99885183e-01 6.21322840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2592541539999 meters Centerline goodness [0,1] 0.9985791596147016 Centerline is valid? [True, True] Translation: X:673.07, Y:11.56, Z:6.21 [[ 9.97449578e-01 -6.92770268e-02 -1.71765452e-02 6.73067272e+02] [ 6.92830250e-02 9.97597014e-01 -2.46324234e-04 1.15623485e+01] [ 1.71523348e-02 -9.44347007e-04 9.99852442e-01 6.21084364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2892541539999 meters Centerline goodness [0,1] 0.9985805535841022 Centerline is valid? [True, True] Translation: X:673.10, Y:11.56, Z:6.21 [[ 9.97385138e-01 -7.02385649e-02 -1.70126645e-02 6.73098338e+02] [ 7.02446085e-02 9.97529767e-01 -2.42803995e-04 1.15611658e+01] [ 1.69876934e-02 -9.52878858e-04 9.99855245e-01 6.21226211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.319254154 meters Centerline goodness [0,1] 0.9985990004809401 Centerline is valid? [True, True] Translation: X:673.13, Y:11.56, Z:6.21 [[ 9.97353865e-01 -7.06337468e-02 -1.72087797e-02 6.73130158e+02] [ 7.06400131e-02 9.97501844e-01 -2.44214886e-04 1.15609462e+01] [ 1.71830393e-02 -9.72059763e-04 9.99851888e-01 6.21221659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3492541539999 meters Centerline goodness [0,1] 0.9986610038286922 Centerline is valid? [True, True] Translation: X:673.16, Y:11.56, Z:6.21 [[ 9.97365969e-01 -7.03502986e-02 -1.76623687e-02 6.73161547e+02] [ 7.03568740e-02 9.97521853e-01 -2.49594028e-04 1.15604123e+01] [ 1.76361578e-02 -9.93732458e-04 9.99843977e-01 6.21237361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3792541539999 meters Centerline goodness [0,1] 0.998580079348507 Centerline is valid? [True, True] Translation: X:673.19, Y:11.56, Z:6.21 [[ 9.97419038e-01 -6.95220992e-02 -1.79427073e-02 6.73193308e+02] [ 6.95287675e-02 9.97579915e-01 -2.52658166e-04 1.15611652e+01] [ 1.79168497e-02 -9.95528257e-04 9.99838985e-01 6.21256628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4092541539999 meters Centerline goodness [0,1] 0.9986829727187206 Centerline is valid? [True, True] Translation: X:673.22, Y:11.56, Z:6.21 [[ 9.97508856e-01 -6.81164594e-02 -1.83365581e-02 6.73224873e+02] [ 6.81232010e-02 9.97676883e-01 -2.57437589e-04 1.15626019e+01] [ 1.83114959e-02 -9.92348760e-04 9.99831838e-01 6.21259546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4392541539999 meters Centerline goodness [0,1] 0.998639626629832 Centerline is valid? [True, True] Translation: X:673.25, Y:11.57, Z:6.21 [[ 9.97812900e-01 -6.35775251e-02 -1.80918673e-02 6.73254763e+02] [ 6.35833474e-02 9.97976499e-01 -2.53798994e-04 1.15676479e+01] [ 1.80713943e-02 -8.97097575e-04 9.99836297e-01 6.21350727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4692541539999 meters Centerline goodness [0,1] 0.9987659743573655 Centerline is valid? [True, True] Translation: X:673.29, Y:11.57, Z:6.21 [[ 9.98010310e-01 -6.04335799e-02 -1.79778521e-02 6.73285961e+02] [ 6.04388207e-02 9.98171872e-01 -2.52168346e-04 1.15714525e+01] [ 1.79602257e-02 -8.34893569e-04 9.99838354e-01 6.21427269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4992541539999 meters Centerline goodness [0,1] 0.9989519577429362 Centerline is valid? [True, True] Translation: X:673.32, Y:11.58, Z:6.21 [[ 9.98245626e-01 -5.65141338e-02 -1.76585139e-02 6.73317192e+02] [ 5.65185822e-02 9.98401517e-01 -2.47443367e-04 1.15758208e+01] [ 1.76442711e-02 -7.51024913e-04 9.99844046e-01 6.21498275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5292541539999 meters Centerline goodness [0,1] 0.9988219950355505 Centerline is valid? [True, True] Translation: X:673.35, Y:11.58, Z:6.22 [[ 9.98702913e-01 -4.79334370e-02 -1.71720033e-02 6.73347161e+02] [ 4.79363793e-02 9.98850362e-01 -2.40464215e-04 1.15843504e+01] [ 1.71637880e-02 -5.83011354e-04 9.99852521e-01 6.21570976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5592541539999 meters Centerline goodness [0,1] 0.998864162214463 Centerline is valid? [True, True] Translation: X:673.38, Y:11.59, Z:6.22 [[ 9.98912943e-01 -4.33247553e-02 -1.72016640e-02 6.73378181e+02] [ 4.33270272e-02 9.99060914e-01 -2.40755223e-04 1.15899223e+01] [ 1.71959409e-02 -5.04803457e-04 9.99852011e-01 6.21627548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.589254154 meters Centerline goodness [0,1] 0.999032129105561 Centerline is valid? [True, True] Translation: X:673.41, Y:11.59, Z:6.22 [[ 9.99094008e-01 -3.88302514e-02 -1.74176519e-02 6.73407364e+02] [ 3.88318972e-02 9.99245728e-01 -2.43832872e-04 1.15949455e+01] [ 1.74139823e-02 -4.32748505e-04 9.99848271e-01 6.21659572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6192541539999 meters Centerline goodness [0,1] 0.9990720236212169 Centerline is valid? [True, True] Translation: X:673.44, Y:11.61, Z:6.22 [[ 9.99378534e-01 -3.02031951e-02 -1.81744993e-02 6.73437145e+02] [ 3.02035581e-02 9.99543736e-01 -2.54580967e-04 1.16054894e+01] [ 1.81738961e-02 -2.94511791e-04 9.99834798e-01 6.21707479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6492541539999 meters Centerline goodness [0,1] 0.9991141109470576 Centerline is valid? [True, True] Translation: X:673.47, Y:11.61, Z:6.22 [[ 9.99481821e-01 -2.63436057e-02 -1.84960489e-02 6.73466667e+02] [ 2.63433157e-02 9.99652921e-01 -2.59363581e-04 1.16104820e+01] [ 1.84964618e-02 -2.28018071e-04 9.99828900e-01 6.21724306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6792541539999 meters Centerline goodness [0,1] 0.9990722192936216 Centerline is valid? [True, True] Translation: X:673.50, Y:11.62, Z:6.22 [[ 9.99553851e-01 -2.33727830e-02 -1.85960007e-02 6.73495428e+02] [ 2.33719338e-02 9.99726804e-01 -2.63020638e-04 1.16150535e+01] [ 1.85970679e-02 -1.71721207e-04 9.99827045e-01 6.21757448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.709254154 meters Centerline goodness [0,1] 0.9991345098370346 Centerline is valid? [True, True] Translation: X:673.52, Y:11.62, Z:6.22 [[ 9.99647217e-01 -1.86385621e-02 -1.89220753e-02 6.73523587e+02] [ 1.86367581e-02 9.99826284e-01 -2.71686214e-04 1.16211215e+01] [ 1.89238520e-02 -8.10557716e-05 9.99820925e-01 6.21742147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7392541539999 meters Centerline goodness [0,1] 0.9992200510128797 Centerline is valid? [True, True] Translation: X:673.55, Y:11.62, Z:6.22 [[ 9.99689869e-01 -1.68580659e-02 -1.83295132e-02 6.73552411e+02] [ 1.68560042e-02 9.99857892e-01 -2.66979073e-04 1.16233831e+01] [ 1.83314092e-02 -4.20660768e-05 9.99831965e-01 6.21746281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7692541539999 meters Centerline goodness [0,1] 0.9991996967271808 Centerline is valid? [True, True] Translation: X:673.58, Y:11.63, Z:6.22 [[ 9.99691987e-01 -1.61063963e-02 -1.88816023e-02 6.73580061e+02] [ 1.61039848e-02 9.99870283e-01 -2.79765818e-04 1.16254818e+01] [ 1.88836590e-02 -2.43893899e-05 9.99821688e-01 6.22141998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7992541539999 meters Centerline goodness [0,1] 0.9993682481521259 Centerline is valid? [True, True] Translation: X:673.61, Y:11.63, Z:6.22 [[ 9.99713483e-01 -1.53034876e-02 -1.84052972e-02 6.73608361e+02] [ 1.53009650e-02 9.99882895e-01 -2.77882571e-04 1.16266019e+01] [ 1.84073944e-02 -3.81585587e-06 9.99830570e-01 6.22175765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.829254154 meters Centerline goodness [0,1] 0.9993258758347553 Centerline is valid? [True, True] Translation: X:673.64, Y:11.63, Z:6.22 [[ 9.99718998e-01 -1.46978114e-02 -1.85983562e-02 6.73635649e+02] [ 1.46950597e-02 9.99891981e-01 -2.84618348e-04 1.16275905e+01] [ 1.86005305e-02 1.12344166e-05 9.99826995e-01 6.22190756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8592541539999 meters Centerline goodness [0,1] 0.9991578947368421 Centerline is valid? [True, True] Translation: X:673.66, Y:11.63, Z:6.22 [[ 9.99716695e-01 -1.50090102e-02 -1.84732051e-02 6.73663906e+02] [ 1.50062791e-02 9.99887358e-01 -2.86459210e-04 1.16277528e+01] [ 1.84754237e-02 9.16398411e-06 9.99829315e-01 6.22247576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8892541539999 meters Centerline goodness [0,1] 0.9993044577932343 Centerline is valid? [True, True] Translation: X:673.69, Y:11.63, Z:6.22 [[ 9.99711494e-01 -1.54058982e-02 -1.84279083e-02 6.73691670e+02] [ 1.54031504e-02 9.99881322e-01 -2.91049177e-04 1.16274763e+01] [ 1.84302052e-02 7.11736419e-06 9.99830149e-01 6.22295772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9192541539999 meters Centerline goodness [0,1] 0.9992418658523744 Centerline is valid? [True, True] Translation: X:673.72, Y:11.63, Z:6.22 [[ 9.99714270e-01 -1.60937337e-02 -1.76740041e-02 6.73719899e+02] [ 1.60912246e-02 9.99870487e-01 -2.84174120e-04 1.16255740e+01] [ 1.76762885e-02 -3.03447178e-07 9.99843762e-01 6.22341498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.949254154 meters Centerline goodness [0,1] 0.9993060520671236 Centerline is valid? [True, True] Translation: X:673.75, Y:11.62, Z:6.22 [[ 9.99712347e-01 -1.64824328e-02 -1.74227549e-02 6.73746412e+02] [ 1.64799884e-02 9.99864155e-01 -2.83874048e-04 1.16245986e+01] [ 1.74250671e-02 -3.33440882e-06 9.99848172e-01 6.22285322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9792541539999 meters Centerline goodness [0,1] 0.9991596108998466 Centerline is valid? [True, True] Translation: X:673.77, Y:11.62, Z:6.22 [[ 9.99706056e-01 -1.75083194e-02 -1.67708007e-02 6.73774518e+02] [ 1.75061437e-02 9.99846717e-01 -2.76543870e-04 1.16233438e+01] [ 1.67730719e-02 -1.71294649e-05 9.99859322e-01 6.22403509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0092541539999 meters Centerline goodness [0,1] 0.9991815835309424 Centerline is valid? [True, True] Translation: X:673.80, Y:11.62, Z:6.23 [[ 9.99690326e-01 -1.91161856e-02 -1.59318188e-02 6.73801874e+02] [ 1.91143721e-02 9.99817268e-01 -2.66108924e-04 1.16218330e+01] [ 1.59339946e-02 -3.85001955e-05 9.99873045e-01 6.22646552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0392541539999 meters Centerline goodness [0,1] 0.9991207686993657 Centerline is valid? [True, True] Translation: X:673.83, Y:11.62, Z:6.23 [[ 9.99640498e-01 -2.17023518e-02 -1.57442995e-02 6.73829725e+02] [ 2.17008545e-02 9.99764473e-01 -2.65956609e-04 1.16175230e+01] [ 1.57463632e-02 -7.58037569e-05 9.99876015e-01 6.22560790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.069254154 meters Centerline goodness [0,1] 0.9990569596378726 Centerline is valid? [True, True] Translation: X:673.86, Y:11.61, Z:6.23 [[ 9.99595141e-01 -2.36459023e-02 -1.58248545e-02 6.73857545e+02] [ 2.36445817e-02 9.99720391e-01 -2.70572740e-04 1.16147588e+01] [ 1.58268276e-02 -1.03708868e-04 9.99874743e-01 6.22675216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0992541539999 meters Centerline goodness [0,1] 0.9992058516196447 Centerline is valid? [True, True] Translation: X:673.89, Y:11.61, Z:6.23 [[ 9.99542794e-01 -2.55822654e-02 -1.61167709e-02 6.73886413e+02] [ 2.55811280e-02 9.99672711e-01 -2.76759595e-04 1.16115356e+01] [ 1.61185762e-02 -1.35652121e-04 9.99870078e-01 6.22678209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1292541539999 meters Centerline goodness [0,1] 0.999227347714411 Centerline is valid? [True, True] Translation: X:673.91, Y:11.61, Z:6.23 [[ 9.99475232e-01 -2.77492156e-02 -1.67105183e-02 6.73914933e+02] [ 2.77482566e-02 9.99614901e-01 -2.89288931e-04 1.16088603e+01] [ 1.67121106e-02 -1.74550629e-04 9.99860328e-01 6.22670738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1592541539999 meters Centerline goodness [0,1] 0.9993527237800931 Centerline is valid? [True, True] Translation: X:673.94, Y:11.60, Z:6.23 [[ 9.99348450e-01 -3.14525385e-02 -1.77034609e-02 6.73943379e+02] [ 3.14519893e-02 9.99505216e-01 -3.09514989e-04 1.16020826e+01] [ 1.77044365e-02 -2.47495737e-04 9.99843234e-01 6.22577762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1892541539999 meters Centerline goodness [0,1] 0.9992697684122679 Centerline is valid? [True, True] Translation: X:673.97, Y:11.60, Z:6.23 [[ 9.99278783e-01 -3.32752068e-02 -1.82940952e-02 6.73972931e+02] [ 3.32749078e-02 9.99446185e-01 -3.20820274e-04 1.16001486e+01] [ 1.82946390e-02 -2.88145439e-04 9.99832598e-01 6.22624388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2192541539999 meters Centerline goodness [0,1] 0.998997849552164 Centerline is valid? [True, True] Translation: X:674.00, Y:11.59, Z:6.23 [[ 9.99152596e-01 -3.68707013e-02 -1.82931868e-02 6.74002821e+02] [ 3.68709928e-02 9.99319982e-01 -3.21450367e-04 1.15942469e+01] [ 1.82925992e-02 -3.53309992e-04 9.99832614e-01 6.22606977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2492541539999 meters Centerline goodness [0,1] 0.9992273315791672 Centerline is valid? [True, True] Translation: X:674.03, Y:11.59, Z:6.23 [[ 9.99099487e-01 -3.84244715e-02 -1.79937589e-02 6.74032830e+02] [ 3.84249988e-02 9.99261437e-01 -3.16554468e-04 1.15929180e+01] [ 1.79926328e-02 -3.75140757e-04 9.99838049e-01 6.22688948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2792541539999 meters Centerline goodness [0,1] 0.999143871371894 Centerline is valid? [True, True] Translation: X:674.06, Y:11.59, Z:6.22 [[ 9.99055971e-01 -3.94340532e-02 -1.82242293e-02 6.74062002e+02] [ 3.94347582e-02 9.99222096e-01 -3.20814730e-04 1.15893369e+01] [ 1.82227036e-02 -3.98156203e-04 9.99833873e-01 6.22431905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3092541539999 meters Centerline goodness [0,1] 0.9993530749806966 Centerline is valid? [True, True] Translation: X:674.09, Y:11.59, Z:6.23 [[ 9.98984881e-01 -4.13154903e-02 -1.79510046e-02 6.74092342e+02] [ 4.13164749e-02 9.99146060e-01 -3.16171696e-04 1.15891120e+01] [ 1.79487383e-02 -4.25821487e-04 9.99838818e-01 6.22777283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.339254154 meters Centerline goodness [0,1] 0.9992271379036638 Centerline is valid? [True, True] Translation: X:674.12, Y:11.58, Z:6.23 [[ 9.98889393e-01 -4.38650550e-02 -1.71999496e-02 6.74123018e+02] [ 4.38663366e-02 9.99037363e-01 -3.02943336e-04 1.15849305e+01] [ 1.71966809e-02 -4.51891891e-04 9.99852024e-01 6.22785614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3692541539999 meters Centerline goodness [0,1] 0.9991853956053137 Centerline is valid? [True, True] Translation: X:674.15, Y:11.58, Z:6.23 [[ 9.98845144e-01 -4.48892692e-02 -1.71269564e-02 6.74153079e+02] [ 4.48906928e-02 9.98991859e-01 -3.01515402e-04 1.15824099e+01] [ 1.71232248e-02 -4.67673741e-04 9.99853277e-01 6.22760349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3992541539999 meters Centerline goodness [0,1] 0.9992047880132257 Centerline is valid? [True, True] Translation: X:674.18, Y:11.58, Z:6.23 [[ 9.98811674e-01 -4.57145972e-02 -1.68942206e-02 6.74184556e+02] [ 4.57161078e-02 9.98954428e-01 -2.96972926e-04 1.15816392e+01] [ 1.68901325e-02 -4.75717984e-04 9.99857238e-01 6.22764556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4292541539999 meters Centerline goodness [0,1] 0.9993740610916375 Centerline is valid? [True, True] Translation: X:674.22, Y:11.58, Z:6.23 [[ 9.98759446e-01 -4.70637622e-02 -1.62656691e-02 6.74215684e+02] [ 4.70653506e-02 9.98891772e-01 -2.85342815e-04 1.15799774e+01] [ 1.62610724e-02 -4.80560589e-04 9.99867665e-01 6.22837502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.459254154 meters Centerline goodness [0,1] 0.9991228253378167 Centerline is valid? [True, True] Translation: X:674.25, Y:11.58, Z:6.23 [[ 9.98647764e-01 -4.93074378e-02 -1.64748511e-02 6.74247401e+02] [ 4.93093822e-02 9.98783511e-01 -2.88409870e-04 1.15763376e+01] [ 1.64690304e-02 -5.24344859e-04 9.99864239e-01 6.22716736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4892541539999 meters Centerline goodness [0,1] 0.9989566596415083 Centerline is valid? [True, True] Translation: X:674.28, Y:11.57, Z:6.23 [[ 9.98567564e-01 -5.07951030e-02 -1.68129912e-02 6.74277780e+02] [ 5.07973468e-02 9.98708938e-01 -2.93848784e-04 1.15739687e+01] [ 1.68062107e-02 -5.60627481e-04 9.99858608e-01 6.22699849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5192541539999 meters Centerline goodness [0,1] 0.9990814388008601 Centerline is valid? [True, True] Translation: X:674.31, Y:11.57, Z:6.23 [[ 9.98453306e-01 -5.31422788e-02 -1.63368831e-02 6.74308945e+02] [ 5.31447179e-02 9.98586780e-01 -2.85112795e-04 1.15722218e+01] [ 1.63289470e-02 -5.83547230e-04 9.99866504e-01 6.22796584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5492541539999 meters Centerline goodness [0,1] 0.9991443002045332 Centerline is valid? [True, True] Translation: X:674.34, Y:11.57, Z:6.23 [[ 9.98170119e-01 -5.82590513e-02 -1.61955964e-02 6.74339337e+02] [ 5.82621280e-02 9.98301280e-01 -2.82190821e-04 1.15668130e+01] [ 1.61845247e-02 -6.61915463e-04 9.99868803e-01 6.22897026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.579254154 meters Centerline goodness [0,1] 0.9991028208980137 Centerline is valid? [True, True] Translation: X:674.37, Y:11.56, Z:6.23 [[ 9.98015247e-01 -6.08100534e-02 -1.63616907e-02 6.74370455e+02] [ 6.08135404e-02 9.98149103e-01 -2.84792439e-04 1.15647732e+01] [ 1.63487251e-02 -7.10785142e-04 9.99866098e-01 6.22897670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6092541539999 meters Centerline goodness [0,1] 0.9989771209084837 Centerline is valid? [True, True] Translation: X:674.40, Y:11.56, Z:6.23 [[ 9.97860722e-01 -6.31615301e-02 -1.68701351e-02 6.74401864e+02] [ 6.31655799e-02 9.98003018e-01 -2.93209271e-04 1.15627493e+01] [ 1.68549653e-02 -7.73029853e-04 9.99857646e-01 6.22875121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6392541539999 meters Centerline goodness [0,1] 0.9989385835293139 Centerline is valid? [True, True] Translation: X:674.43, Y:11.56, Z:6.23 [[ 9.97720136e-01 -6.49981342e-02 -1.81596331e-02 6.74433078e+02] [ 6.50031425e-02 9.97885010e-01 -3.14961648e-04 1.15611472e+01] [ 1.81416976e-02 -8.66189640e-04 9.99835051e-01 6.22740734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6692541539999 meters Centerline goodness [0,1] 0.9987679328418987 Centerline is valid? [True, True] Translation: X:674.46, Y:11.56, Z:6.23 [[ 9.97386600e-01 -6.99701034e-02 -1.80043164e-02 6.74463207e+02] [ 6.99758404e-02 9.97548638e-01 -3.11914801e-04 1.15569420e+01] [ 1.79820060e-02 -9.48767526e-04 9.99837861e-01 6.22825450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.699254154 meters Centerline goodness [0,1] 0.9987279741424252 Centerline is valid? [True, True] Translation: X:674.49, Y:11.56, Z:6.23 [[ 9.97261825e-01 -7.16131072e-02 -1.84503200e-02 6.74494868e+02] [ 7.16194188e-02 9.97431981e-01 -3.19296556e-04 1.15553678e+01] [ 1.84258050e-02 -1.00297893e-03 9.99829727e-01 6.22837310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7292541539999 meters Centerline goodness [0,1] 0.9987052853592833 Centerline is valid? [True, True] Translation: X:674.53, Y:11.55, Z:6.23 [[ 9.97155153e-01 -7.30584495e-02 -1.85489426e-02 6.74526183e+02] [ 7.30650898e-02 9.97327123e-01 -3.20365760e-04 1.15542518e+01] [ 1.85227690e-02 -1.03582579e-03 9.99827902e-01 6.22827361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7592541539999 meters Centerline goodness [0,1] 0.9989358372456963 Centerline is valid? [True, True] Translation: X:674.56, Y:11.56, Z:6.23 [[ 9.97005467e-01 -7.49713225e-02 -1.89578171e-02 6.74557627e+02] [ 7.49786163e-02 9.97185088e-01 -3.26749992e-04 1.15620935e+01] [ 1.89289494e-02 -1.09565937e-03 9.99820231e-01 6.23085529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7892541539999 meters Centerline goodness [0,1] 0.9989356595780203 Centerline is valid? [True, True] Translation: X:674.59, Y:11.56, Z:6.23 [[ 9.96965128e-01 -7.56363069e-02 -1.84304631e-02 6.74588513e+02] [ 7.56433289e-02 9.97134889e-01 -3.16832239e-04 1.15617863e+01] [ 1.84016218e-02 -1.07827089e-03 9.99830094e-01 6.23147454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.819254154 meters Centerline goodness [0,1] 0.9989356595780203 Centerline is valid? [True, True] Translation: X:674.62, Y:11.56, Z:6.23 [[ 9.96970610e-01 -7.55640171e-02 -1.84304832e-02 6.74620249e+02] [ 7.55710483e-02 9.97140370e-01 -3.15662980e-04 1.15622683e+01] [ 1.84016316e-02 -1.07810422e-03 9.99830094e-01 6.23177177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8492541539999 meters Centerline goodness [0,1] 0.9988943591455274 Centerline is valid? [True, True] Translation: X:674.65, Y:11.56, Z:6.23 [[ 9.96944236e-01 -7.59492068e-02 -1.82731363e-02 6.74651941e+02] [ 7.59562140e-02 9.97111105e-01 -3.11266795e-04 1.15633279e+01] [ 1.82439876e-02 -1.07764262e-03 9.99832984e-01 6.23230204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8792541539999 meters Centerline goodness [0,1] 0.9986669721522151 Centerline is valid? [True, True] Translation: X:674.68, Y:11.57, Z:6.23 [[ 9.96959016e-01 -7.57445485e-02 -1.83162236e-02 6.74684454e+02] [ 7.57515860e-02 9.97126672e-01 -3.10268724e-04 1.15658809e+01] [ 1.82870963e-02 -1.07815779e-03 9.99832196e-01 6.23270783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9092541539999 meters Centerline goodness [0,1] 0.9986218992733651 Centerline is valid? [True, True] Translation: X:674.72, Y:11.57, Z:6.23 [[ 9.96997431e-01 -7.52770493e-02 -1.81518406e-02 6.74716627e+02] [ 7.52839076e-02 9.97162093e-01 -3.06169249e-04 1.15684792e+01] [ 1.81233749e-02 -1.06129154e-03 9.99835195e-01 6.23337329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9392541539999 meters Centerline goodness [0,1] 0.9987876000752524 Centerline is valid? [True, True] Translation: X:674.75, Y:11.57, Z:6.23 [[ 9.97074333e-01 -7.44201313e-02 -1.74475894e-02 6.74748485e+02] [ 7.44263560e-02 9.97226470e-01 -2.93192451e-04 1.15702076e+01] [ 1.74210174e-02 -1.00622584e-03 9.99847736e-01 6.23393469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9692541539999 meters Centerline goodness [0,1] 0.998812351543943 Centerline is valid? [True, True] Translation: X:674.78, Y:11.58, Z:6.24 [[ 9.97258730e-01 -7.21440459e-02 -1.64396669e-02 6.74779569e+02] [ 7.21492759e-02 9.97393807e-01 -2.75517566e-04 1.15751846e+01] [ 1.64166989e-02 -9.11347766e-04 9.99864822e-01 6.23576956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9992541539999 meters Centerline goodness [0,1] 0.9987084678679304 Centerline is valid? [True, True] Translation: X:674.81, Y:11.58, Z:6.24 [[ 9.97384877e-01 -7.03111711e-02 -1.67256491e-02 6.74810974e+02] [ 7.03163379e-02 9.97524704e-01 -2.79694321e-04 1.15797365e+01] [ 1.67039138e-02 -8.97123511e-04 9.99860077e-01 6.23577238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0292541539999 meters Centerline goodness [0,1] 0.998831531945082 Centerline is valid? [True, True] Translation: X:674.84, Y:11.58, Z:6.24 [[ 9.97498954e-01 -6.88155383e-02 -1.61325322e-02 6.74841663e+02] [ 6.88201593e-02 9.97629046e-01 -2.69198655e-04 1.15808885e+01] [ 1.61128077e-02 -8.41718058e-04 9.99869826e-01 6.23676688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0592541539999 meters Centerline goodness [0,1] 0.9988076810442204 Centerline is valid? [True, True] Translation: X:674.87, Y:11.59, Z:6.24 [[ 9.97775437e-01 -6.47135968e-02 -1.60102522e-02 6.74871888e+02] [ 6.47176266e-02 9.97903581e-01 -2.66820425e-04 1.15891903e+01] [ 1.59939549e-02 -7.69918658e-04 9.99871792e-01 6.23696257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.089254154 meters Centerline goodness [0,1] 0.9988731688994616 Centerline is valid? [True, True] Translation: X:674.90, Y:11.59, Z:6.24 [[ 9.97907155e-01 -6.25497247e-02 -1.63964256e-02 6.74903411e+02] [ 6.25536640e-02 9.98041565e-01 -2.73001763e-04 1.15927124e+01] [ 1.63813905e-02 -7.53226085e-04 9.99865532e-01 6.23729814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1192541539999 meters Centerline goodness [0,1] 0.9989355262883263 Centerline is valid? [True, True] Translation: X:674.93, Y:11.60, Z:6.24 [[ 9.98055408e-01 -6.02968167e-02 -1.58018121e-02 6.74934291e+02] [ 6.03002024e-02 9.98180253e-01 -2.62543991e-04 1.15958231e+01] [ 1.57888874e-02 -6.90819019e-04 9.99875109e-01 6.23770445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1492541539999 meters Centerline goodness [0,1] 0.9988924414352287 Centerline is valid? [True, True] Translation: X:674.96, Y:11.60, Z:6.24 [[ 9.98341219e-01 -5.50430867e-02 -1.68839910e-02 6.74964976e+02] [ 5.50462102e-02 9.98483769e-01 -2.80031827e-04 1.16043701e+01] [ 1.68738047e-02 -6.49832399e-04 9.99857416e-01 6.23795018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1792541539999 meters Centerline goodness [0,1] 0.9988700092073324 Centerline is valid? [True, True] Translation: X:675.00, Y:11.61, Z:6.24 [[ 9.98493456e-01 -5.21614171e-02 -1.70295244e-02 6.74996285e+02] [ 5.21641838e-02 9.98638482e-01 -2.81994881e-04 1.16110519e+01] [ 1.70210476e-02 -6.06761197e-04 9.99854947e-01 6.23850157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.209254154 meters Centerline goodness [0,1] 0.9988500459981601 Centerline is valid? [True, True] Translation: X:675.03, Y:11.61, Z:6.24 [[ 9.98650602e-01 -4.87792769e-02 -1.78201290e-02 6.75027031e+02] [ 4.87817806e-02 9.98809417e-01 -2.94415967e-04 1.16128129e+01] [ 1.78132740e-02 -5.75278939e-04 9.99841166e-01 6.23690427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2392541539999 meters Centerline goodness [0,1] 0.9987268325262982 Centerline is valid? [True, True] Translation: X:675.06, Y:11.62, Z:6.24 [[ 9.98782714e-01 -4.59201512e-02 -1.80119133e-02 6.75057891e+02] [ 4.59222516e-02 9.98944973e-01 -2.97197093e-04 1.16173815e+01] [ 1.80065576e-02 -5.30312295e-04 9.99837728e-01 6.23786742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2692541539999 meters Centerline goodness [0,1] 0.9988878863545754 Centerline is valid? [True, True] Translation: X:675.09, Y:11.63, Z:6.24 [[ 9.99033586e-01 -4.03887820e-02 -1.73390061e-02 6.75089166e+02] [ 4.03899014e-02 9.99183954e-01 -2.85764314e-04 1.16283385e+01] [ 1.73363983e-02 -4.14832598e-04 9.99849627e-01 6.23998428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2992541539999 meters Centerline goodness [0,1] 0.9988049562865589 Centerline is valid? [True, True] Translation: X:675.12, Y:11.63, Z:6.24 [[ 9.99148887e-01 -3.72372330e-02 -1.77451305e-02 6.75119873e+02] [ 3.72379202e-02 9.99306386e-01 -2.91809699e-04 1.16311986e+01] [ 1.77436884e-02 -3.69230415e-04 9.99842500e-01 6.23844659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.329254154 meters Centerline goodness [0,1] 0.998866665267488 Centerline is valid? [True, True] Translation: X:675.15, Y:11.64, Z:6.24 [[ 9.99230841e-01 -3.54060154e-02 -1.68564541e-02 6.75149838e+02] [ 3.54063804e-02 9.99372959e-01 -2.76873655e-04 1.16366248e+01] [ 1.68556874e-02 -3.20165329e-04 9.99857882e-01 6.24120220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3592541539999 meters Centerline goodness [0,1] 0.99888671833974 Centerline is valid? [True, True] Translation: X:675.18, Y:11.64, Z:6.24 [[ 9.99288241e-01 -3.34297274e-02 -1.74775214e-02 6.75178880e+02] [ 3.34298151e-02 9.99441026e-01 -2.87222826e-04 1.16392479e+01] [ 1.74773537e-02 -2.97251914e-04 9.99847215e-01 6.23966423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3892541539999 meters Centerline goodness [0,1] 0.9988456775872563 Centerline is valid? [True, True] Translation: X:675.21, Y:11.64, Z:6.24 [[ 9.99310306e-01 -3.31105952e-02 -1.68107272e-02 6.75209668e+02] [ 3.31106283e-02 9.99451655e-01 -2.76429088e-04 1.16436678e+01] [ 1.68106619e-02 -2.80375305e-04 9.99858652e-01 6.24150980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4192541539999 meters Centerline goodness [0,1] 0.9988873493722971 Centerline is valid? [True, True] Translation: X:675.24, Y:11.64, Z:6.24 [[ 9.99282735e-01 -3.40446973e-02 -1.65823586e-02 6.75240977e+02] [ 3.40448625e-02 9.99420269e-01 -2.72410925e-04 1.16448212e+01] [ 1.65820194e-02 -2.92328583e-04 9.99862466e-01 6.24201310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.449254154 meters Centerline goodness [0,1] 0.9989299651714154 Centerline is valid? [True, True] Translation: X:675.27, Y:11.65, Z:6.24 [[ 9.99233354e-01 -3.54219798e-02 -1.66729657e-02 6.75271120e+02] [ 3.54223509e-02 9.99372394e-01 -2.73151929e-04 1.16450309e+01] [ 1.66721772e-02 -3.17653124e-04 9.99860959e-01 6.24209934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4792541539999 meters Centerline goodness [0,1] 0.9987397340838917 Centerline is valid? [True, True] Translation: X:675.30, Y:11.65, Z:6.24 [[ 9.99049646e-01 -4.03656966e-02 -1.64442818e-02 6.75302023e+02] [ 4.03667373e-02 9.99184895e-01 -2.68763607e-04 1.16452664e+01] [ 1.64417268e-02 -3.95293817e-04 9.99864748e-01 6.24331472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5092541539999 meters Centerline goodness [0,1] 0.9984448880949879 Centerline is valid? [True, True] Translation: X:675.33, Y:11.64, Z:6.24 [[ 9.98925840e-01 -4.34337841e-02 -1.61453729e-02 6.75334463e+02] [ 4.34351987e-02 9.99056212e-01 -2.63202146e-04 1.16449660e+01] [ 1.61415669e-02 -4.38358054e-04 9.99869620e-01 6.24313649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5392541539999 meters Centerline goodness [0,1] 0.99877961536843 Centerline is valid? [True, True] Translation: X:675.36, Y:11.64, Z:6.24 [[ 9.98609966e-01 -5.04157571e-02 -1.53748976e-02 6.75364684e+02] [ 5.04178825e-02 9.98728179e-01 -2.49583324e-04 1.16414249e+01] [ 1.53679264e-02 -5.25933385e-04 9.99881768e-01 6.24403126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.569254154 meters Centerline goodness [0,1] 0.99877961536843 Centerline is valid? [True, True] Translation: X:675.40, Y:11.64, Z:6.24 [[ 9.98613676e-01 -5.03422075e-02 -1.53749146e-02 6.75396389e+02] [ 5.03443405e-02 9.98731889e-01 -2.48529396e-04 1.16418785e+01] [ 1.53679291e-02 -5.25855083e-04 9.99881768e-01 6.24432813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5992541539999 meters Centerline goodness [0,1] 0.9986746607762701 Centerline is valid? [True, True] Translation: X:675.43, Y:11.64, Z:6.24 [[ 9.98221224e-01 -5.73708468e-02 -1.62164532e-02 6.75426830e+02] [ 5.73741576e-02 9.98352712e-01 -2.61379758e-04 1.16390860e+01] [ 1.62047356e-02 -6.69490519e-04 9.99868471e-01 6.24368555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6292541539999 meters Centerline goodness [0,1] 0.9983378219155025 Centerline is valid? [True, True] Translation: X:675.46, Y:11.64, Z:6.24 [[ 9.98046097e-01 -6.01308369e-02 -1.69785527e-02 6.75457539e+02] [ 6.01348678e-02 9.98190224e-01 -2.73486161e-04 1.16384453e+01] [ 1.69642702e-02 -7.48051224e-04 9.99855817e-01 6.24229833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6592541539999 meters Centerline goodness [0,1] 0.9985299059139785 Centerline is valid? [True, True] Translation: X:675.49, Y:11.64, Z:6.24 [[ 9.97868410e-01 -6.28892711e-02 -1.74234467e-02 6.75487722e+02] [ 6.28939413e-02 9.98020177e-01 -2.80325482e-04 1.16356065e+01] [ 1.74065808e-02 -8.16101292e-04 9.99848161e-01 6.24234694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6892541539999 meters Centerline goodness [0,1] 0.9985301528641022 Centerline is valid? [True, True] Translation: X:675.52, Y:11.64, Z:6.24 [[ 9.97725469e-01 -6.49272997e-02 -1.81199837e-02 6.75519538e+02] [ 6.49326982e-02 9.97889603e-01 -2.90871126e-04 1.16358831e+01] [ 1.81006288e-02 -8.86369903e-04 9.99835777e-01 6.24143806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7192541539999 meters Centerline goodness [0,1] 0.9984867591424968 Centerline is valid? [True, True] Translation: X:675.55, Y:11.64, Z:6.24 [[ 9.97492112e-01 -6.86242050e-02 -1.73264539e-02 6.75550867e+02] [ 6.86297105e-02 9.97642163e-01 -2.77347552e-04 1.16374875e+01] [ 1.73046337e-02 -9.12457520e-04 9.99849847e-01 6.24426176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7492541539999 meters Centerline goodness [0,1] 0.9984857725714527 Centerline is valid? [True, True] Translation: X:675.58, Y:11.64, Z:6.24 [[ 9.97424128e-01 -6.97132342e-02 -1.68870796e-02 6.75582305e+02] [ 6.97186322e-02 9.97566659e-01 -2.69564720e-04 1.16363651e+01] [ 1.68647798e-02 -9.08473739e-04 9.99857367e-01 6.24460285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7792541539999 meters Centerline goodness [0,1] 0.998484497674125 Centerline is valid? [True, True] Translation: X:675.61, Y:11.63, Z:6.24 [[ 9.97303528e-01 -7.14164852e-02 -1.68925887e-02 6.75613034e+02] [ 7.14221436e-02 9.97446141e-01 -2.68864710e-04 1.16341800e+01] [ 1.68686487e-02 -9.38365169e-04 9.99857274e-01 6.24304211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8092541539999 meters Centerline goodness [0,1] 0.9984657741535486 Centerline is valid? [True, True] Translation: X:675.64, Y:11.64, Z:6.24 [[ 9.97219011e-01 -7.25697782e-02 -1.69667824e-02 6.75644928e+02] [ 7.25756680e-02 9.97362873e-01 -2.69150053e-04 1.16379176e+01] [ 1.69415710e-02 -9.62974016e-04 9.99856018e-01 6.24481670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.839254154 meters Centerline goodness [0,1] 0.9986535386686863 Centerline is valid? [True, True] Translation: X:675.68, Y:11.64, Z:6.24 [[ 9.97151908e-01 -7.35219082e-02 -1.68107674e-02 6.75676884e+02] [ 7.35278454e-02 9.97293129e-01 -2.65456195e-04 1.16382833e+01] [ 1.67847796e-02 -9.71359353e-04 9.99858654e-01 6.24496816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8692541539999 meters Centerline goodness [0,1] 0.9987787673973006 Centerline is valid? [True, True] Translation: X:675.71, Y:11.64, Z:6.24 [[ 9.97079938e-01 -7.45297293e-02 -1.66407963e-02 6.75708609e+02] [ 7.45357048e-02 9.97218311e-01 -2.61702162e-04 1.16387136e+01] [ 1.66140114e-02 -9.79395504e-04 9.99861498e-01 6.24497289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8992541539999 meters Centerline goodness [0,1] 0.9986116078002398 Centerline is valid? [True, True] Translation: X:675.74, Y:11.64, Z:6.24 [[ 9.96942562e-01 -7.64242062e-02 -1.62748046e-02 6.75741016e+02] [ 7.64301893e-02 9.97074902e-01 -2.54951314e-04 1.16398872e+01] [ 1.62466836e-02 -9.89714578e-04 9.99867524e-01 6.24472499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9292541539999 meters Centerline goodness [0,1] 0.9983969626661042 Centerline is valid? [True, True] Translation: X:675.77, Y:11.64, Z:6.24 [[ 9.96847872e-01 -7.75359996e-02 -1.68074268e-02 6.75772654e+02] [ 7.75425566e-02 9.96989009e-01 -2.62199282e-04 1.16398322e+01] [ 1.67771496e-02 -1.04191804e-03 9.99858711e-01 6.24448835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.959254154 meters Centerline goodness [0,1] 0.9986074480430425 Centerline is valid? [True, True] Translation: X:675.80, Y:11.64, Z:6.24 [[ 9.96798574e-01 -7.80239942e-02 -1.74602154e-02 6.75804041e+02] [ 7.80311618e-02 9.96950884e-01 -2.71426627e-04 1.16401198e+01] [ 1.74281549e-02 -1.09188321e-03 9.99847522e-01 6.24346428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9892541539999 meters Centerline goodness [0,1] 0.9984166525924675 Centerline is valid? [True, True] Translation: X:675.84, Y:11.64, Z:6.24 [[ 9.96720043e-01 -7.89224911e-02 -1.78995942e-02 6.75835883e+02] [ 7.89301884e-02 9.96880107e-01 -2.77133999e-04 1.16418913e+01] [ 1.78656215e-02 -1.13659333e-03 9.99839751e-01 6.24412724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0192541539999 meters Centerline goodness [0,1] 0.9983938119491937 Centerline is valid? [True, True] Translation: X:675.87, Y:11.64, Z:6.24 [[ 9.96616842e-01 -8.00752135e-02 -1.85157029e-02 6.75867994e+02] [ 8.00836729e-02 9.96788104e-01 -2.85329696e-04 1.16436100e+01] [ 1.84790802e-02 -1.19844111e-03 9.99828529e-01 6.24391018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0492541539999 meters Centerline goodness [0,1] 0.9986908230921914 Centerline is valid? [True, True] Translation: X:675.90, Y:11.64, Z:6.24 [[ 9.96572681e-01 -8.05146165e-02 -1.89812752e-02 6.75899520e+02] [ 8.05236088e-02 9.96752659e-01 -2.91311690e-04 1.16432915e+01] [ 1.89430914e-02 -1.23812751e-03 9.99819797e-01 6.24364801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.079254154 meters Centerline goodness [0,1] 0.9988150906667231 Centerline is valid? [True, True] Translation: X:675.93, Y:11.65, Z:6.24 [[ 9.96552521e-01 -8.06987471e-02 -1.92557735e-02 6.75931789e+02] [ 8.07080587e-02 9.96737740e-01 -2.94326544e-04 1.16452530e+01] [ 1.92167079e-02 -1.26078424e-03 9.99814547e-01 6.24326444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1092541539999 meters Centerline goodness [0,1] 0.9983698528633429 Centerline is valid? [True, True] Translation: X:675.96, Y:11.65, Z:6.24 [[ 9.96502183e-01 -8.09049554e-02 -2.09233605e-02 6.75964070e+02] [ 8.09160275e-02 9.96720871e-01 -3.18286603e-04 1.16487713e+01] [ 2.08805011e-02 -1.37586192e-03 9.99781032e-01 6.24145220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1392541539999 meters Centerline goodness [0,1] 0.9986641787880073 Centerline is valid? [True, True] Translation: X:676.00, Y:11.65, Z:6.24 [[ 9.96483244e-01 -8.10355109e-02 -2.13164456e-02 6.75996080e+02] [ 8.10470649e-02 9.96710223e-01 -3.22757512e-04 1.16499492e+01] [ 2.12724741e-02 -1.40601290e-03 9.99772727e-01 6.24246276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1692541539999 meters Centerline goodness [0,1] 0.9987263580207604 Centerline is valid? [True, True] Translation: X:676.03, Y:11.65, Z:6.24 [[ 9.96478681e-01 -8.10107247e-02 -2.16217692e-02 6.76027085e+02] [ 8.10226345e-02 9.96712208e-01 -3.26076177e-04 1.16472527e+01] [ 2.15770970e-02 -1.42692475e-03 9.99766169e-01 6.24193847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.199254154 meters Centerline goodness [0,1] 0.9985139897253004 Centerline is valid? [True, True] Translation: X:676.06, Y:11.66, Z:6.24 [[ 9.96507428e-01 -8.06298755e-02 -2.17202516e-02 6.76059282e+02] [ 8.06418345e-02 9.96743090e-01 -3.26155324e-04 1.16614493e+01] [ 2.16758086e-02 -1.42654473e-03 9.99764034e-01 6.24273317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2292541539999 meters Centerline goodness [0,1] 0.9984086231407414 Centerline is valid? [True, True] Translation: X:676.09, Y:11.66, Z:6.25 [[ 9.96524518e-01 -8.06694410e-02 -2.07683926e-02 6.76091691e+02] [ 8.06804185e-02 9.96739973e-01 -3.10146317e-04 1.16648687e+01] [ 2.07257064e-02 -1.36653420e-03 9.99784266e-01 6.24587313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2592541539999 meters Centerline goodness [0,1] 0.998641073551894 Centerline is valid? [True, True] Translation: X:676.12, Y:11.67, Z:6.25 [[ 9.96604190e-01 -7.97085316e-02 -2.06552357e-02 6.76123215e+02] [ 7.97192147e-02 9.96817312e-01 -3.06983393e-04 1.16660107e+01] [ 2.06139657e-02 -1.34067823e-03 9.99786611e-01 6.24532192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2892541539999 meters Centerline goodness [0,1] 0.998510257938197 Centerline is valid? [True, True] Translation: X:676.16, Y:11.67, Z:6.25 [[ 9.96642453e-01 -7.95766643e-02 -1.92710916e-02 6.76155204e+02] [ 7.95859616e-02 9.96827966e-01 -2.85212783e-04 1.16703301e+01] [ 1.92326593e-02 -1.24945319e-03 9.99814255e-01 6.24837919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.319254154 meters Centerline goodness [0,1] 0.9986355980983649 Centerline is valid? [True, True] Translation: X:676.19, Y:11.67, Z:6.25 [[ 9.96808848e-01 -7.78656545e-02 -1.75800926e-02 6.76186433e+02] [ 7.78731425e-02 9.96963242e-01 -2.59262120e-04 1.16736308e+01] [ 1.75468937e-02 -1.11058228e-03 9.99845425e-01 6.24998794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3492541539999 meters Centerline goodness [0,1] 0.9985951169671555 Centerline is valid? [True, True] Translation: X:676.22, Y:11.68, Z:6.25 [[ 9.96875630e-01 -7.71362799e-02 -1.69991838e-02 6.76218819e+02] [ 7.71431907e-02 9.97019993e-01 -2.49802876e-04 1.16778637e+01] [ 1.69677950e-02 -1.06234888e-03 9.99855472e-01 6.25113075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3792541539999 meters Centerline goodness [0,1] 0.9988054862310958 Centerline is valid? [True, True] Translation: X:676.25, Y:11.68, Z:6.25 [[ 9.97021173e-01 -7.55112900e-02 -1.57106977e-02 6.76249562e+02] [ 7.55170053e-02 9.97144488e-01 -2.29998340e-04 1.16810047e+01] [ 1.56832031e-02 -9.57111628e-04 9.99876553e-01 6.25263121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4092541539999 meters Centerline goodness [0,1] 0.998849472674976 Centerline is valid? [True, True] Translation: X:676.28, Y:11.68, Z:6.25 [[ 9.97088630e-01 -7.46770066e-02 -1.54145733e-02 6.76281321e+02] [ 7.46824210e-02 9.97207343e-01 -2.24884519e-04 1.16842564e+01] [ 1.53883194e-02 -9.26967856e-04 9.99881163e-01 6.25370540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4392541539999 meters Centerline goodness [0,1] 0.9987207095797531 Centerline is valid? [True, True] Translation: X:676.31, Y:11.69, Z:6.25 [[ 9.97113865e-01 -7.42427484e-02 -1.58730757e-02 6.76313725e+02] [ 7.42484536e-02 9.97239748e-01 -2.30396239e-04 1.16857346e+01] [ 1.58463673e-02 -9.48820041e-04 9.99873988e-01 6.25400253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4692541539999 meters Centerline goodness [0,1] 0.9990629924613484 Centerline is valid? [True, True] Translation: X:676.35, Y:11.69, Z:6.25 [[ 9.97138530e-01 -7.38718198e-02 -1.60532403e-02 6.76346423e+02] [ 7.38776283e-02 9.97267287e-01 -2.31709012e-04 1.16881804e+01] [ 1.60264882e-02 -9.54929339e-04 9.99871112e-01 6.25376602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4992541539999 meters Centerline goodness [0,1] 0.9989331057292222 Centerline is valid? [True, True] Translation: X:676.38, Y:11.69, Z:6.25 [[ 9.97108668e-01 -7.39157528e-02 -1.76285572e-02 6.76378345e+02] [ 7.39227917e-02 9.97263935e-01 -2.52894440e-04 1.16888942e+01] [ 1.75990172e-02 -1.05098892e-03 9.99844573e-01 6.25274459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5292541539999 meters Centerline goodness [0,1] 0.9988249118683902 Centerline is valid? [True, True] Translation: X:676.41, Y:11.69, Z:6.25 [[ 9.97109316e-01 -7.37091972e-02 -1.84381694e-02 6.76410885e+02] [ 7.37169062e-02 9.97279173e-01 -2.62136949e-04 1.16886820e+01] [ 1.84073243e-02 -1.09782561e-03 9.99829968e-01 6.25232294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5592541539999 meters Centerline goodness [0,1] 0.9989948029172102 Centerline is valid? [True, True] Translation: X:676.44, Y:11.69, Z:6.25 [[ 9.97139355e-01 -7.31786115e-02 -1.89208179e-02 6.76443247e+02] [ 7.31866809e-02 9.97318223e-01 -2.66536804e-04 1.16925036e+01] [ 1.88895813e-02 -1.11897752e-03 9.99820950e-01 6.25247120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.589254154 meters Centerline goodness [0,1] 0.999015263417036 Centerline is valid? [True, True] Translation: X:676.47, Y:11.69, Z:6.25 [[ 9.97220796e-01 -7.15421746e-02 -2.07942404e-02 6.76474506e+02] [ 7.15515961e-02 9.97436857e-01 -2.91527065e-04 1.16937042e+01] [ 2.07617982e-02 -1.19714424e-03 9.99783734e-01 6.25155814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6192541539999 meters Centerline goodness [0,1] 0.9992069445932912 Centerline is valid? [True, True] Translation: X:676.51, Y:11.70, Z:6.25 [[ 9.97337721e-01 -6.98269955e-02 -2.10157526e-02 6.76506040e+02] [ 6.98362593e-02 9.97558425e-01 -2.93680650e-04 1.16959809e+01] [ 2.09849479e-02 -1.17476276e-03 9.99779102e-01 6.25175872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6492541539999 meters Centerline goodness [0,1] 0.9988004455487962 Centerline is valid? [True, True] Translation: X:676.54, Y:11.70, Z:6.25 [[ 9.97447288e-01 -6.80116707e-02 -2.17559438e-02 6.76537102e+02] [ 6.80211859e-02 9.97683831e-01 -3.03218325e-04 1.16981379e+01] [ 2.17261757e-02 -1.17742080e-03 9.99763265e-01 6.25170845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6792541539999 meters Centerline goodness [0,1] 0.999036546984392 Centerline is valid? [True, True] Translation: X:676.57, Y:11.70, Z:6.25 [[ 9.97782214e-01 -6.30557032e-02 -2.13221049e-02 6.76567874e+02] [ 6.30637227e-02 9.98009458e-01 -2.96752421e-04 1.17033070e+01] [ 2.12983743e-02 -1.04855702e-03 9.99772614e-01 6.25268257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.709254154 meters Centerline goodness [0,1] 0.9989077825844862 Centerline is valid? [True, True] Translation: X:676.60, Y:11.70, Z:6.25 [[ 9.97951636e-01 -6.05755615e-02 -2.05702112e-02 6.76598690e+02] [ 6.05825091e-02 9.98163152e-01 -2.85817444e-04 1.17040777e+01] [ 2.05497404e-02 -9.60963025e-04 9.99788370e-01 6.25309960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7392541539999 meters Centerline goodness [0,1] 0.9989077825844862 Centerline is valid? [True, True] Translation: X:676.63, Y:11.70, Z:6.25 [[ 9.97955932e-01 -6.05047453e-02 -2.05702270e-02 6.76630416e+02] [ 6.05117012e-02 9.98167447e-01 -2.84683170e-04 1.17044545e+01] [ 2.05497556e-02 -9.60638170e-04 9.99788370e-01 6.25339672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7692541539999 meters Centerline goodness [0,1] 0.9989489940371499 Centerline is valid? [True, True] Translation: X:676.66, Y:11.71, Z:6.25 [[ 9.98119171e-01 -5.80351953e-02 -1.97493241e-02 6.76661532e+02] [ 5.80411443e-02 9.98314155e-01 -2.72316504e-04 1.17073139e+01] [ 1.97318337e-02 -8.74469047e-04 9.99804926e-01 6.25448683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7992541539999 meters Centerline goodness [0,1] 0.9989920435780308 Centerline is valid? [True, True] Translation: X:676.69, Y:11.71, Z:6.25 [[ 9.98408200e-01 -5.33159692e-02 -1.83976294e-02 6.76691093e+02] [ 5.33203372e-02 9.98577427e-01 -2.53369562e-04 1.17117642e+01] [ 1.83849660e-02 -7.28001554e-04 9.99830717e-01 6.25455823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.829254154 meters Centerline goodness [0,1] 0.9991624790619765 Centerline is valid? [True, True] Translation: X:676.72, Y:11.72, Z:6.26 [[ 9.98508391e-01 -5.16475638e-02 -1.77065817e-02 6.76723327e+02] [ 5.16513584e-02 9.98665148e-01 -2.43250326e-04 1.17170419e+01] [ 1.76955093e-02 -6.71681507e-04 9.99843197e-01 6.25707395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8592541539999 meters Centerline goodness [0,1] 0.9990335051546392 Centerline is valid? [True, True] Translation: X:676.76, Y:11.72, Z:6.26 [[ 9.98592698e-01 -5.00831191e-02 -1.74443459e-02 6.76755263e+02] [ 5.00865857e-02 9.98744851e-01 -2.38388090e-04 1.17204866e+01] [ 1.74343898e-02 -6.35675120e-04 9.99847807e-01 6.25785545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8892541539999 meters Centerline goodness [0,1] 0.9991410779471763 Centerline is valid? [True, True] Translation: X:676.79, Y:11.72, Z:6.26 [[ 9.98664554e-01 -4.84993537e-02 -1.78022910e-02 6.76787083e+02] [ 4.85027363e-02 9.98823020e-01 -2.41960376e-04 1.17222277e+01] [ 1.77930729e-02 -6.21822573e-04 9.99841497e-01 6.25731393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9192541539999 meters Centerline goodness [0,1] 0.9989669199147709 Centerline is valid? [True, True] Translation: X:676.82, Y:11.72, Z:6.26 [[ 9.98701149e-01 -4.77232308e-02 -1.78468252e-02 6.76818781e+02] [ 4.77265381e-02 9.98860410e-01 -2.40796752e-04 1.17192039e+01] [ 1.78379788e-02 -6.11283190e-04 9.99840704e-01 6.25693963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.949254154 meters Centerline goodness [0,1] 0.9989886383198485 Centerline is valid? [True, True] Translation: X:676.85, Y:11.72, Z:6.26 [[ 9.98732094e-01 -4.66541047e-02 -1.89102823e-02 6.76851203e+02] [ 4.66576635e-02 9.98910906e-01 -2.53199080e-04 1.17242638e+01] [ 1.89015000e-02 -6.29431540e-04 9.99821153e-01 6.25608307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9792541539999 meters Centerline goodness [0,1] 0.9992025690208841 Centerline is valid? [True, True] Translation: X:676.88, Y:11.72, Z:6.26 [[ 9.98726135e-01 -4.67236076e-02 -1.90528594e-02 6.76882512e+02] [ 4.67272555e-02 9.98907653e-01 -2.53921490e-04 1.17239871e+01] [ 1.90439112e-02 -6.36689799e-04 9.99818446e-01 6.25684176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0092541539999 meters Centerline goodness [0,1] 0.999224271677297 Centerline is valid? [True, True] Translation: X:676.91, Y:11.72, Z:6.26 [[ 9.98698773e-01 -4.72173435e-02 -1.92687308e-02 6.76914605e+02] [ 4.72211893e-02 9.98884425e-01 -2.55604980e-04 1.17242736e+01] [ 1.92593041e-02 -6.54620005e-04 9.99814308e-01 6.25668745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0392541539999 meters Centerline goodness [0,1] 0.9992658173180738 Centerline is valid? [True, True] Translation: X:676.95, Y:11.73, Z:6.26 [[ 9.98641561e-01 -4.82155423e-02 -1.97558548e-02 6.76947083e+02] [ 4.82198084e-02 9.98836714e-01 -2.60637492e-04 1.17277545e+01] [ 1.97454399e-02 -6.92340100e-04 9.99804800e-01 6.25705052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.069254154 meters Centerline goodness [0,1] 0.9993084669576868 Centerline is valid? [True, True] Translation: X:676.98, Y:11.73, Z:6.26 [[ 9.98616193e-01 -4.86289117e-02 -2.00231812e-02 6.76979164e+02] [ 4.86334065e-02 9.98816661e-01 -2.62692969e-04 1.17281960e+01] [ 2.00122615e-02 -7.11466059e-04 9.99799481e-01 6.25706038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0992541539999 meters Centerline goodness [0,1] 0.9991788222582388 Centerline is valid? [True, True] Translation: X:677.01, Y:11.73, Z:6.26 [[ 9.98606849e-01 -4.87409804e-02 -2.02158060e-02 6.77010435e+02] [ 4.87456109e-02 9.98811191e-01 -2.63940924e-04 1.17277925e+01] [ 2.02046380e-02 -7.21858597e-04 9.99795605e-01 6.25680235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1292541539999 meters Centerline goodness [0,1] 0.999178147371153 Centerline is valid? [True, True] Translation: X:677.04, Y:11.73, Z:6.26 [[ 9.98653263e-01 -4.80151355e-02 -1.96521295e-02 6.77042942e+02] [ 4.80193953e-02 9.98846371e-01 -2.55343726e-04 1.17302415e+01] [ 1.96417186e-02 -6.88683527e-04 9.99806846e-01 6.25791031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1592541539999 meters Centerline goodness [0,1] 0.9991343864964294 Centerline is valid? [True, True] Translation: X:677.07, Y:11.73, Z:6.26 [[ 9.98688812e-01 -4.74590257e-02 -1.91910605e-02 6.77073711e+02] [ 4.74630081e-02 9.98872966e-01 -2.48163788e-04 1.17308794e+01] [ 1.91812091e-02 -6.63027061e-04 9.99815804e-01 6.25858972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1892541539999 meters Centerline goodness [0,1] 0.9993511830096458 Centerline is valid? [True, True] Translation: X:677.10, Y:11.73, Z:6.26 [[ 9.98747692e-01 -4.64308746e-02 -1.86338841e-02 6.77104783e+02] [ 4.64344686e-02 9.98921309e-01 -2.39977026e-04 1.17278391e+01] [ 1.86249263e-02 -6.25578005e-04 9.99826345e-01 6.25814830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2192541539999 meters Centerline goodness [0,1] 0.9994804857458276 Centerline is valid? [True, True] Translation: X:677.14, Y:11.74, Z:6.26 [[ 9.98815833e-01 -4.50861960e-02 -1.82802097e-02 6.77136608e+02] [ 4.50894506e-02 9.98982926e-01 -2.34286590e-04 1.17351295e+01] [ 1.82721804e-02 -5.90235455e-04 9.99832876e-01 6.26013191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2492541539999 meters Centerline goodness [0,1] 0.9993524294687763 Centerline is valid? [True, True] Translation: X:677.17, Y:11.74, Z:6.26 [[ 9.98942748e-01 -4.25796920e-02 -1.73307630e-02 6.77167814e+02] [ 4.25822566e-02 9.99092940e-01 -2.21184363e-04 1.17377109e+01] [ 1.73244609e-02 -5.17032482e-04 9.99849787e-01 6.25994672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2792541539999 meters Centerline goodness [0,1] 0.9993289317025652 Centerline is valid? [True, True] Translation: X:677.20, Y:11.74, Z:6.26 [[ 9.98987164e-01 -4.17485593e-02 -1.67840445e-02 6.77200026e+02] [ 4.17508620e-02 9.99128030e-01 -2.13328692e-04 1.17402120e+01] [ 1.67783155e-02 -4.87635702e-04 9.99859115e-01 6.26198841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3092541539999 meters Centerline goodness [0,1] 0.9995667150501527 Centerline is valid? [True, True] Translation: X:677.23, Y:11.74, Z:6.26 [[ 9.99027507e-01 -4.07813510e-02 -1.67607036e-02 6.77232287e+02] [ 4.07835321e-02 9.99167983e-01 -2.11795402e-04 1.17411158e+01] [ 1.67553957e-02 -4.71971261e-04 9.99859507e-01 6.26248981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.339254154 meters Centerline goodness [0,1] 0.9992203911037962 Centerline is valid? [True, True] Translation: X:677.26, Y:11.74, Z:6.26 [[ 9.99052887e-01 -4.02754458e-02 -1.64686734e-02 6.77263390e+02] [ 4.02775004e-02 9.99188511e-01 -2.07038484e-04 1.17411730e+01] [ 1.64636478e-02 -4.56474604e-04 9.99864361e-01 6.26234047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3692541539999 meters Centerline goodness [0,1] 0.9994149005330907 Centerline is valid? [True, True] Translation: X:677.30, Y:11.74, Z:6.26 [[ 9.99056965e-01 -3.97715908e-02 -1.74184120e-02 6.77295269e+02] [ 3.97738324e-02 9.99208684e-01 -2.17849265e-04 1.17420721e+01] [ 1.74132927e-02 -4.75153173e-04 9.99848264e-01 6.26183289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3992541539999 meters Centerline goodness [0,1] 0.9993496357960457 Centerline is valid? [True, True] Translation: X:677.33, Y:11.74, Z:6.26 [[ 9.99036672e-01 -4.00220240e-02 -1.79990325e-02 6.77326578e+02] [ 4.00244794e-02 9.99198674e-01 -2.23937547e-04 1.17416449e+01] [ 1.79935718e-02 -4.96680082e-04 9.99837979e-01 6.26092940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4292541539999 meters Centerline goodness [0,1] 0.9995021213957919 Centerline is valid? [True, True] Translation: X:677.36, Y:11.74, Z:6.26 [[ 9.99000839e-01 -4.04411436e-02 -1.90220337e-02 6.77358418e+02] [ 4.04439855e-02 9.99181780e-01 -2.35431231e-04 1.17419550e+01] [ 1.90159906e-02 -5.34130859e-04 9.99819037e-01 6.26071505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.459254154 meters Centerline goodness [0,1] 0.9996530036868359 Centerline is valid? [True, True] Translation: X:677.39, Y:11.74, Z:6.26 [[ 9.98941100e-01 -4.13122638e-02 -2.02478633e-02 6.77390706e+02] [ 4.13156931e-02 9.99146111e-01 -2.49103169e-04 1.17417614e+01] [ 2.02408649e-02 -5.87715111e-04 9.99794960e-01 6.25972559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4892541539999 meters Centerline goodness [0,1] 0.9996959430110329 Centerline is valid? [True, True] Translation: X:677.42, Y:11.74, Z:6.26 [[ 9.98914780e-01 -4.16340249e-02 -2.08775005e-02 6.77421500e+02] [ 4.16377831e-02 9.99132739e-01 -2.54836332e-04 1.17411632e+01] [ 2.08700041e-02 -6.14733059e-04 9.99782009e-01 6.25920947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5192541539999 meters Centerline goodness [0,1] 0.9997613416936061 Centerline is valid? [True, True] Translation: X:677.45, Y:11.74, Z:6.26 [[ 9.98908636e-01 -4.17121246e-02 -2.10151077e-02 6.77453536e+02] [ 4.17159898e-02 9.99129477e-01 -2.54615109e-04 1.17417268e+01] [ 2.10074341e-02 -6.22328787e-04 9.99779126e-01 6.25947422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5492541539999 meters Centerline goodness [0,1] 0.9997178207076188 Centerline is valid? [True, True] Translation: X:677.49, Y:11.74, Z:6.26 [[ 9.98916602e-01 -4.17087521e-02 -2.06398208e-02 6.77485680e+02] [ 4.17125095e-02 9.99129624e-01 -2.48621342e-04 1.17427150e+01] [ 2.06322261e-02 -6.12586737e-04 9.99786945e-01 6.25991812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.579254154 meters Centerline goodness [0,1] 0.9997612380890365 Centerline is valid? [True, True] Translation: X:677.52, Y:11.75, Z:6.26 [[ 9.98948267e-01 -4.09725605e-02 -2.05817451e-02 6.77518211e+02] [ 4.09761713e-02 9.99160094e-01 -2.46435544e-04 1.17464836e+01] [ 2.05745554e-02 -5.97184752e-04 9.99788143e-01 6.26169642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6092541539999 meters Centerline goodness [0,1] 0.9996522192757467 Centerline is valid? [True, True] Translation: X:677.55, Y:11.75, Z:6.26 [[ 9.99001293e-01 -4.00338486e-02 -1.98420602e-02 6.77549041e+02] [ 4.00370440e-02 9.99198168e-01 -2.36341529e-04 1.17464655e+01] [ 1.98356119e-02 -5.58311944e-04 9.99803099e-01 6.26198320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6392541539999 meters Centerline goodness [0,1] 0.9996093410886362 Centerline is valid? [True, True] Translation: X:677.58, Y:11.75, Z:6.26 [[ 9.99042685e-01 -3.93415430e-02 -1.91299764e-02 6.77580884e+02] [ 3.93444040e-02 9.99225683e-01 -2.26927375e-04 1.17488208e+01] [ 1.91240914e-02 -5.25947388e-04 9.99816980e-01 6.26349636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6692541539999 meters Centerline goodness [0,1] 0.999978217778649 Centerline is valid? [True, True] Translation: X:677.61, Y:11.75, Z:6.26 [[ 9.99116258e-01 -3.80262027e-02 -1.79083962e-02 6.77612122e+02] [ 3.80285140e-02 9.99276632e-01 -2.11589005e-04 1.17480407e+01] [ 1.79034878e-02 -4.69627680e-04 9.99839609e-01 6.26479407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.699254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:677.64, Y:11.75, Z:6.27 [[ 9.99127610e-01 -3.77482875e-02 -1.78629919e-02 6.77644667e+02] [ 3.77505617e-02 9.99287171e-01 -2.09986984e-04 1.17487058e+01] [ 1.78581853e-02 -4.64534183e-04 9.99840422e-01 6.26560382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7292541539999 meters Centerline goodness [0,1] 0.9997171822651525 Centerline is valid? [True, True] Translation: X:677.68, Y:11.75, Z:6.27 [[ 9.99126121e-01 -3.80524174e-02 -1.72918439e-02 6.77676324e+02] [ 3.80546145e-02 9.99275640e-01 -2.02082949e-04 1.17534851e+01] [ 1.72870081e-02 -4.56128101e-04 9.99850464e-01 6.26713583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7592541539999 meters Centerline goodness [0,1] 0.9997828541648571 Centerline is valid? [True, True] Translation: X:677.71, Y:11.75, Z:6.27 [[ 9.99118733e-01 -3.84048478e-02 -1.69359209e-02 6.77707895e+02] [ 3.84070245e-02 9.99262159e-01 -1.96832563e-04 1.17523050e+01] [ 1.69309842e-02 -4.53799227e-04 9.99856558e-01 6.26747760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7892541539999 meters Centerline goodness [0,1] 0.9997392494730667 Centerline is valid? [True, True] Translation: X:677.74, Y:11.75, Z:6.27 [[ 9.99066984e-01 -4.00698086e-02 -1.61112164e-02 6.77740452e+02] [ 4.00720104e-02 9.99196777e-01 -1.86270708e-04 1.17504205e+01] [ 1.61057394e-02 -4.59511918e-04 9.99870189e-01 6.26786468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.819254154 meters Centerline goodness [0,1] 0.9996950156849076 Centerline is valid? [True, True] Translation: X:677.77, Y:11.75, Z:6.27 [[ 9.99027424e-01 -4.10304054e-02 -1.61465987e-02 6.77772307e+02] [ 4.10327611e-02 9.99157784e-01 -1.85507596e-04 1.17499009e+01] [ 1.61406113e-02 -4.77212352e-04 9.99869618e-01 6.26859711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8492541539999 meters Centerline goodness [0,1] 0.9998694090760692 Centerline is valid? [True, True] Translation: X:677.80, Y:11.75, Z:6.27 [[ 9.99006189e-01 -4.16462968e-02 -1.58814680e-02 6.77803725e+02] [ 4.16486698e-02 9.99132301e-01 -1.81438792e-04 1.17488720e+01] [ 1.58752439e-02 -4.80183540e-04 9.99873865e-01 6.26840999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8792541539999 meters Centerline goodness [0,1] 0.9996314283236493 Centerline is valid? [True, True] Translation: X:677.84, Y:11.75, Z:6.27 [[ 9.98939153e-01 -4.29324477e-02 -1.66545369e-02 6.77835329e+02] [ 4.29352512e-02 9.99077839e-01 -1.89348482e-04 1.17468075e+01] [ 1.66473079e-02 -5.25919115e-04 9.99861286e-01 6.26841265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9092541539999 meters Centerline goodness [0,1] 0.9996092223524814 Centerline is valid? [True, True] Translation: X:677.87, Y:11.75, Z:6.27 [[ 9.98916998e-01 -4.32452674e-02 -1.71662064e-02 6.77866366e+02] [ 4.32483080e-02 9.99064335e-01 -1.94238741e-04 1.17452870e+01] [ 1.71585445e-02 -5.48381001e-04 9.99852631e-01 6.26827186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9392541539999 meters Centerline goodness [0,1] 0.9994357393984113 Centerline is valid? [True, True] Translation: X:677.90, Y:11.75, Z:6.27 [[ 9.98907433e-01 -4.34739592e-02 -1.71451451e-02 6.77898869e+02] [ 4.34770437e-02 9.99054408e-01 -1.92965222e-04 1.17451453e+01] [ 1.71373218e-02 -5.52665829e-04 9.99852993e-01 6.26828025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9692541539999 meters Centerline goodness [0,1] 0.9994585228503358 Centerline is valid? [True, True] Translation: X:677.93, Y:11.74, Z:6.27 [[ 9.98858592e-01 -4.43517736e-02 -1.77322779e-02 6.77931042e+02] [ 4.43552339e-02 9.99015803e-01 -1.98296608e-04 1.17448139e+01] [ 1.77236206e-02 -5.88449063e-04 9.99842751e-01 6.26853695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9992541539999 meters Centerline goodness [0,1] 0.9992646263653077 Centerline is valid? [True, True] Translation: X:677.96, Y:11.74, Z:6.27 [[ 9.98857563e-01 -4.44204611e-02 -1.76179348e-02 6.77963279e+02] [ 4.44239096e-02 9.99012752e-01 -1.95764102e-04 1.17437748e+01] [ 1.76092374e-02 -5.87117088e-04 9.99844773e-01 6.26867393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0292541539999 meters Centerline goodness [0,1] 0.9995032290114257 Centerline is valid? [True, True] Translation: X:678.00, Y:11.74, Z:6.27 [[ 9.98839533e-01 -4.47044076e-02 -1.79193606e-02 6.77995220e+02] [ 4.47080441e-02 9.99000076e-01 -1.97816827e-04 1.17442359e+01] [ 1.79102859e-02 -6.03552298e-04 9.99839416e-01 6.26930444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0592541539999 meters Centerline goodness [0,1] 0.9995890647979929 Centerline is valid? [True, True] Translation: X:678.03, Y:11.74, Z:6.27 [[ 9.98841808e-01 -4.46249924e-02 -1.79903547e-02 6.78026105e+02] [ 4.46286757e-02 9.99003625e-01 -1.96885141e-04 1.17426149e+01] [ 1.79812155e-02 -6.06228595e-04 9.99838141e-01 6.26966546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.089254154 meters Centerline goodness [0,1] 0.9996753879114458 Centerline is valid? [True, True] Translation: X:678.06, Y:11.74, Z:6.27 [[ 9.98907505e-01 -4.29823267e-02 -1.83389129e-02 6.78058361e+02] [ 4.29859104e-02 9.99075659e-01 -1.98914392e-04 1.17429686e+01] [ 1.83305112e-02 -5.89617785e-04 9.99831808e-01 6.27019410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1192541539999 meters Centerline goodness [0,1] 0.9995452576873105 Centerline is valid? [True, True] Translation: X:678.09, Y:11.75, Z:6.27 [[ 9.98977479e-01 -4.13092686e-02 -1.83722630e-02 6.78090215e+02] [ 4.13126070e-02 9.99146250e-01 -1.97951587e-04 1.17457088e+01] [ 1.83647549e-02 -5.61256903e-04 9.99831196e-01 6.27092831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1492541539999 meters Centerline goodness [0,1] 0.9994155464640561 Centerline is valid? [True, True] Translation: X:678.12, Y:11.75, Z:6.27 [[ 9.99178289e-01 -3.63104282e-02 -1.80082948e-02 6.78120734e+02] [ 3.63128419e-02 9.99340453e-01 -1.93048543e-04 1.17482249e+01] [ 1.80034271e-02 -4.61042448e-04 9.99837819e-01 6.27165820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1792541539999 meters Centerline goodness [0,1] 0.9995883436247427 Centerline is valid? [True, True] Translation: X:678.15, Y:11.75, Z:6.27 [[ 9.99286332e-01 -3.32499714e-02 -1.79239078e-02 6.78151857e+02] [ 3.32518820e-02 9.99446985e-01 -1.91500060e-04 1.17500604e+01] [ 1.79203630e-02 -4.04640276e-04 9.99839336e-01 6.27267506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.209254154 meters Centerline goodness [0,1] 0.9993491701919948 Centerline is valid? [True, True] Translation: X:678.18, Y:11.75, Z:6.27 [[ 9.99390681e-01 -3.03359081e-02 -1.72626816e-02 6.78183013e+02] [ 3.03372562e-02 9.99539703e-01 -1.83830365e-04 1.17518060e+01] [ 1.72603123e-02 -3.39984040e-04 9.99850972e-01 6.27280141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2392541539999 meters Centerline goodness [0,1] 0.999198804703233 Centerline is valid? [True, True] Translation: X:678.21, Y:11.75, Z:6.27 [[ 9.99526881e-01 -2.51320810e-02 -1.77311378e-02 6.78213316e+02] [ 2.51326934e-02 9.99684106e-01 -1.88327187e-04 1.17538528e+01] [ 1.77302697e-02 -2.57393165e-04 9.99842773e-01 6.27300160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2692541539999 meters Centerline goodness [0,1] 0.9991342366131336 Centerline is valid? [True, True] Translation: X:678.24, Y:11.75, Z:6.27 [[ 9.99582958e-01 -2.29041054e-02 -1.75872830e-02 6.78243063e+02] [ 2.29043674e-02 9.99737643e-01 -1.86557624e-04 1.17544064e+01] [ 1.75869418e-02 -2.16345770e-04 9.99845314e-01 6.27292213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2992541539999 meters Centerline goodness [0,1] 0.9990266060999351 Centerline is valid? [True, True] Translation: X:678.27, Y:11.76, Z:6.27 [[ 9.99613168e-01 -2.13812405e-02 -1.77864123e-02 6.78272867e+02] [ 2.13812635e-02 9.99771377e-01 -1.88891652e-04 1.17560193e+01] [ 1.77863847e-02 -1.91477386e-04 9.99841791e-01 6.27378633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.329254154 meters Centerline goodness [0,1] 0.9992000691832058 Centerline is valid? [True, True] Translation: X:678.30, Y:11.76, Z:6.27 [[ 9.99635012e-01 -2.02113258e-02 -1.79261246e-02 6.78302151e+02] [ 2.02111492e-02 9.99795716e-01 -1.91041157e-04 1.17560054e+01] [ 1.79263237e-02 -1.71336149e-04 9.99839296e-01 6.27377735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3592541539999 meters Centerline goodness [0,1] 0.9993096902234878 Centerline is valid? [True, True] Translation: X:678.33, Y:11.75, Z:6.27 [[ 9.99635131e-01 -1.98251558e-02 -1.83457810e-02 6.78330600e+02] [ 1.98248567e-02 9.99803449e-01 -1.98185778e-04 1.17541777e+01] [ 1.83461041e-02 -1.65589013e-04 9.99831682e-01 6.27395799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3892541539999 meters Centerline goodness [0,1] 0.999030235114109 Centerline is valid? [True, True] Translation: X:678.36, Y:11.75, Z:6.27 [[ 9.99623640e-01 -1.97626674e-02 -1.90267181e-02 6.78358425e+02] [ 1.97622614e-02 9.99804686e-01 -2.09378929e-04 1.17527787e+01] [ 1.90271398e-02 -1.66710849e-04 9.99818954e-01 6.27220121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4192541539999 meters Centerline goodness [0,1] 0.9992025862068965 Centerline is valid? [True, True] Translation: X:678.39, Y:11.75, Z:6.27 [[ 9.99602817e-01 -2.11716673e-02 -1.86002573e-02 6.78386352e+02] [ 2.11714843e-02 9.99775838e-01 -2.06774958e-04 1.17508436e+01] [ 1.86004656e-02 -1.87102224e-04 9.99826979e-01 6.27378131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.449254154 meters Centerline goodness [0,1] 0.9991398589368656 Centerline is valid? [True, True] Translation: X:678.41, Y:11.75, Z:6.27 [[ 9.99578205e-01 -2.22175439e-02 -1.87027234e-02 6.78414976e+02] [ 2.22174816e-02 9.99753139e-01 -2.11138428e-04 1.17496730e+01] [ 1.87027974e-02 -2.04478043e-04 9.99825066e-01 6.27413926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4792541539999 meters Centerline goodness [0,1] 0.9989493320753908 Centerline is valid? [True, True] Translation: X:678.44, Y:11.75, Z:6.27 [[ 9.99505376e-01 -2.41096073e-02 -2.01923208e-02 6.78443785e+02] [ 2.41098122e-02 9.99709289e-01 -2.33325465e-04 1.17464645e+01] [ 2.01920761e-02 -2.53623007e-04 9.99796087e-01 6.27251288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5092541539999 meters Centerline goodness [0,1] 0.9989077591930268 Centerline is valid? [True, True] Translation: X:678.47, Y:11.74, Z:6.27 [[ 9.99450464e-01 -2.65663925e-02 -1.98241645e-02 6.78472043e+02] [ 2.65670148e-02 9.99647008e-01 -2.32015214e-04 1.17446016e+01] [ 1.98233305e-02 -2.94781158e-04 9.99803455e-01 6.27456555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5392541539999 meters Centerline goodness [0,1] 0.9990571899976429 Centerline is valid? [True, True] Translation: X:678.50, Y:11.74, Z:6.28 [[ 9.99398052e-01 -2.81775281e-02 -2.02376033e-02 6.78501640e+02] [ 2.81784881e-02 9.99602879e-01 -2.37780030e-04 1.17436119e+01] [ 2.02362666e-02 -3.32628165e-04 9.99795170e-01 6.27540299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.569254154 meters Centerline goodness [0,1] 0.9990158533193556 Centerline is valid? [True, True] Translation: X:678.53, Y:11.74, Z:6.28 [[ 9.99270559e-01 -3.22490819e-02 -2.04535001e-02 6.78531696e+02] [ 3.22508994e-02 9.99479775e-01 -2.41076134e-04 1.17391332e+01] [ 2.04506341e-02 -4.18743490e-04 9.99790776e-01 6.27511985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5992541539999 meters Centerline goodness [0,1] 0.9990177866034634 Centerline is valid? [True, True] Translation: X:678.56, Y:11.74, Z:6.27 [[ 9.99201471e-01 -3.43969964e-02 -2.03289635e-02 6.78562103e+02] [ 3.43992331e-02 9.99408143e-01 -2.39750703e-04 1.17358370e+01] [ 2.03251784e-02 -4.59741501e-04 9.99793317e-01 6.27495912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6292541539999 meters Centerline goodness [0,1] 0.9990177866034634 Centerline is valid? [True, True] Translation: X:678.59, Y:11.74, Z:6.28 [[ 9.99202721e-01 -3.43606769e-02 -2.03289703e-02 6.78592956e+02] [ 3.43629178e-02 9.99409392e-01 -2.39181019e-04 1.17361707e+01] [ 2.03251822e-02 -4.59572408e-04 9.99793317e-01 6.27524811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6592541539999 meters Centerline goodness [0,1] 0.9989326957969561 Centerline is valid? [True, True] Translation: X:678.62, Y:11.73, Z:6.28 [[ 9.99110275e-01 -3.70151698e-02 -2.02122727e-02 6.78624326e+02] [ 3.70179427e-02 9.99314573e-01 -2.37069966e-04 1.17338977e+01] [ 2.02071939e-02 -5.11357715e-04 9.99795683e-01 6.27561205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6892541539999 meters Centerline goodness [0,1] 0.9988928632260262 Centerline is valid? [True, True] Translation: X:678.66, Y:11.73, Z:6.28 [[ 9.99022048e-01 -3.95496464e-02 -1.97679629e-02 6.78655031e+02] [ 3.95528048e-02 9.99217455e-01 -2.31331231e-04 1.17304348e+01] [ 1.97616426e-02 -5.50773376e-04 9.99804568e-01 6.27597515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7192541539999 meters Centerline goodness [0,1] 0.9988286407973762 Centerline is valid? [True, True] Translation: X:678.69, Y:11.73, Z:6.28 [[ 9.98927732e-01 -4.21121273e-02 -1.92342186e-02 6.78686330e+02] [ 4.21156020e-02 9.99112719e-01 -2.24561252e-04 1.17273177e+01] [ 1.92266092e-02 -5.85740233e-04 9.99814980e-01 6.27659135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7492541539999 meters Centerline goodness [0,1] 0.9988499382374239 Centerline is valid? [True, True] Translation: X:678.72, Y:11.72, Z:6.28 [[ 9.98828566e-01 -4.45787082e-02 -1.88211443e-02 6.78718053e+02] [ 4.45824852e-02 9.99005683e-01 -2.19065576e-04 1.17244985e+01] [ 1.88121957e-02 -6.20284430e-04 9.99822843e-01 6.27721272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7792541539999 meters Centerline goodness [0,1] 0.9987885743432797 Centerline is valid? [True, True] Translation: X:678.75, Y:11.72, Z:6.28 [[ 9.98625738e-01 -4.90626729e-02 -1.84252429e-02 6.78748440e+02] [ 4.90670637e-02 9.98795463e-01 -2.13964766e-04 1.17185855e+01] [ 1.84135468e-02 -6.90401848e-04 9.99830218e-01 6.27771282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8092541539999 meters Centerline goodness [0,1] 0.9987661674608578 Centerline is valid? [True, True] Translation: X:678.78, Y:11.72, Z:6.28 [[ 9.98547407e-01 -5.08615129e-02 -1.77815098e-02 6.78780905e+02] [ 5.08659008e-02 9.98705471e-01 -2.05709723e-04 1.17176615e+01] [ 1.77689538e-02 -6.99061602e-04 9.99841875e-01 6.27804437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.839254154 meters Centerline goodness [0,1] 0.998683120579427 Centerline is valid? [True, True] Translation: X:678.81, Y:11.71, Z:6.28 [[ 9.98468229e-01 -5.24509632e-02 -1.76094487e-02 6.78811589e+02] [ 5.24555439e-02 9.98623240e-01 -2.01986115e-04 1.17125662e+01] [ 1.75957990e-02 -7.22036488e-04 9.99844921e-01 6.27737889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8692541539999 meters Centerline goodness [0,1] 0.9987700398676732 Centerline is valid? [True, True] Translation: X:678.84, Y:11.71, Z:6.28 [[ 9.98284518e-01 -5.57913454e-02 -1.77580130e-02 6.78843131e+02] [ 5.57965577e-02 9.98442138e-01 -2.02188793e-04 1.17080141e+01] [ 1.77416288e-02 -7.88994054e-04 9.99842294e-01 6.27815236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8992541539999 meters Centerline goodness [0,1] 0.9987702224201175 Centerline is valid? [True, True] Translation: X:678.88, Y:11.71, Z:6.28 [[ 9.98208725e-01 -5.71918612e-02 -1.75622596e-02 6.78875136e+02] [ 5.71971914e-02 9.98362881e-01 -1.99055593e-04 1.17054004e+01] [ 1.75448924e-02 -8.05812891e-04 9.99845752e-01 6.27820022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9292541539999 meters Centerline goodness [0,1] 0.9987277623460062 Centerline is valid? [True, True] Translation: X:678.91, Y:11.70, Z:6.28 [[ 9.98142636e-01 -5.83532761e-02 -1.74978180e-02 6.78906956e+02] [ 5.83587711e-02 9.98295655e-01 -1.96847901e-04 1.17041856e+01] [ 1.74794824e-02 -8.24668871e-04 9.99846882e-01 6.27854346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.959254154 meters Centerline goodness [0,1] 0.9986442975766819 Centerline is valid? [True, True] Translation: X:678.94, Y:11.70, Z:6.28 [[ 9.98070059e-01 -5.95460426e-02 -1.76189316e-02 6.78939446e+02] [ 5.95518263e-02 9.98225196e-01 -1.96677675e-04 1.17016361e+01] [ 1.75993728e-02 -8.52941454e-04 9.99844755e-01 6.27803573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9892541539999 meters Centerline goodness [0,1] 0.9986032337255566 Centerline is valid? [True, True] Translation: X:678.97, Y:11.70, Z:6.28 [[ 9.97962223e-01 -6.11061998e-02 -1.83693890e-02 6.78970649e+02] [ 6.11127718e-02 9.98130847e-01 -2.03891866e-04 1.16974332e+01] [ 1.83475129e-02 -9.19127899e-04 9.99831248e-01 6.27725567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0192541539999 meters Centerline goodness [0,1] 0.9986268959398369 Centerline is valid? [True, True] Translation: X:679.00, Y:11.70, Z:6.28 [[ 9.97934557e-01 -6.16674955e-02 -1.79927548e-02 6.79001715e+02] [ 6.16739084e-02 9.98096333e-01 -1.98779114e-04 1.16950064e+01] [ 1.79707608e-02 -9.11314963e-04 9.99838098e-01 6.27709677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0492541539999 meters Centerline goodness [0,1] 0.9986461043768907 Centerline is valid? [True, True] Translation: X:679.03, Y:11.69, Z:6.28 [[ 9.97915281e-01 -6.19111812e-02 -1.82235304e-02 6.79034099e+02] [ 6.19178203e-02 9.98081231e-01 -2.00229896e-04 1.16937448e+01] [ 1.82009601e-02 -9.28548807e-04 9.99833918e-01 6.27712816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.079254154 meters Centerline goodness [0,1] 0.9984149460024938 Centerline is valid? [True, True] Translation: X:679.07, Y:11.69, Z:6.28 [[ 9.97946929e-01 -6.13678941e-02 -1.83278058e-02 6.79066722e+02] [ 6.13745411e-02 9.98114786e-01 -2.00119943e-04 1.16936073e+01] [ 1.83055349e-02 -9.25151587e-04 9.99832012e-01 6.27712434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1092541539999 meters Centerline goodness [0,1] 0.9984796334227253 Centerline is valid? [True, True] Translation: X:679.10, Y:11.69, Z:6.28 [[ 9.97997967e-01 -6.05489656e-02 -1.82723869e-02 6.79099403e+02] [ 6.05554609e-02 9.98164815e-01 -1.98122402e-04 1.16935808e+01] [ 1.82508498e-02 -9.08767056e-04 9.99833026e-01 6.27748158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1392541539999 meters Centerline goodness [0,1] 0.998646791415583 Centerline is valid? [True, True] Translation: X:679.13, Y:11.70, Z:6.28 [[ 9.98089382e-01 -5.90283273e-02 -1.82549394e-02 6.79131442e+02] [ 5.90345827e-02 9.98255919e-01 -1.96493939e-04 1.17011536e+01] [ 1.82347001e-02 -8.81554218e-04 9.99833345e-01 6.27906089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1692541539999 meters Centerline goodness [0,1] 0.998710958962005 Centerline is valid? [True, True] Translation: X:679.16, Y:11.70, Z:6.28 [[ 9.98203525e-01 -5.71519393e-02 -1.79827298e-02 6.79161611e+02] [ 5.71577339e-02 9.98365142e-01 -1.91987794e-04 1.16952641e+01] [ 1.79643030e-02 -8.36209190e-04 9.99838279e-01 6.27831174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.199254154 meters Centerline goodness [0,1] 0.9985590472759637 Centerline is valid? [True, True] Translation: X:679.19, Y:11.71, Z:6.28 [[ 9.98506930e-01 -5.19456630e-02 -1.68984608e-02 6.79192759e+02] [ 5.19500543e-02 9.98649668e-01 -1.79295638e-04 1.17081052e+01] [ 1.68849559e-02 -6.98848018e-04 9.99857195e-01 6.28130939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2292541539999 meters Centerline goodness [0,1] 0.9984972272784998 Centerline is valid? [True, True] Translation: X:679.22, Y:11.71, Z:6.28 [[ 9.98672912e-01 -4.87429722e-02 -1.66294124e-02 6.79223934e+02] [ 4.87467898e-02 9.98811153e-01 -1.75933679e-04 1.17116980e+01] [ 1.66182181e-02 -6.34930274e-04 9.99861706e-01 6.28239424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2592541539999 meters Centerline goodness [0,1] 0.9985807189611711 Centerline is valid? [True, True] Translation: X:679.26, Y:11.71, Z:6.28 [[ 9.98837731e-01 -4.54323710e-02 -1.60961473e-02 6.79255600e+02] [ 4.54355299e-02 9.98967259e-01 -1.69573526e-04 1.17147279e+01] [ 1.60872282e-02 -5.61960544e-04 9.99870434e-01 6.28350133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2892541539999 meters Centerline goodness [0,1] 0.9986251242676143 Centerline is valid? [True, True] Translation: X:679.29, Y:11.72, Z:6.28 [[ 9.99126501e-01 -3.89962961e-02 -1.50174838e-02 6.79286862e+02] [ 3.89983282e-02 9.99239263e-01 -1.57613565e-04 1.17184158e+01] [ 1.50122058e-02 -4.28180872e-04 9.99887219e-01 6.28356938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.319254154 meters Centerline goodness [0,1] 0.998582730464949 Centerline is valid? [True, True] Translation: X:679.32, Y:11.72, Z:6.28 [[ 9.99237182e-01 -3.59621722e-02 -1.52242010e-02 6.79317255e+02] [ 3.59639131e-02 9.99353077e-01 -1.59500095e-04 1.17197309e+01] [ 1.52200881e-02 -3.88143416e-04 9.99884092e-01 6.28363804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3492541539999 meters Centerline goodness [0,1] 0.998559260985635 Centerline is valid? [True, True] Translation: X:679.35, Y:11.72, Z:6.28 [[ 9.99336517e-01 -3.31282506e-02 -1.51342400e-02 6.79348923e+02] [ 3.31296519e-02 9.99451050e-01 -1.58176787e-04 1.17215010e+01] [ 1.51311722e-02 -3.43320265e-04 9.99885458e-01 6.28382699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3792541539999 meters Centerline goodness [0,1] 0.9986013393235569 Centerline is valid? [True, True] Translation: X:679.38, Y:11.72, Z:6.28 [[ 9.99439732e-01 -2.98726132e-02 -1.50946397e-02 6.79380605e+02] [ 2.98736444e-02 9.99553671e-01 -1.57210705e-04 1.17238518e+01] [ 1.50925988e-02 -2.93809273e-04 9.99886057e-01 6.28337332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4092541539999 meters Centerline goodness [0,1] 0.9985809293853518 Centerline is valid? [True, True] Translation: X:679.41, Y:11.73, Z:6.28 [[ 9.99593545e-01 -2.45075568e-02 -1.45644918e-02 6.79410591e+02] [ 2.45079536e-02 9.99699624e-01 -1.51260049e-04 1.17258292e+01] [ 1.45638240e-02 -2.05747320e-04 9.99893921e-01 6.28447354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4392541539999 meters Centerline goodness [0,1] 0.9988314778618169 Centerline is valid? [True, True] Translation: X:679.44, Y:11.73, Z:6.29 [[ 9.99656641e-01 -2.16620772e-02 -1.47429214e-02 6.79441338e+02] [ 2.16621770e-02 9.99765336e-01 -1.52939578e-04 1.17281040e+01] [ 1.47427748e-02 -1.66476710e-04 9.99891306e-01 6.28514246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4692541539999 meters Centerline goodness [0,1] 0.9986854937878981 Centerline is valid? [True, True] Translation: X:679.47, Y:11.73, Z:6.29 [[ 9.99708993e-01 -1.88663616e-02 -1.50329231e-02 6.79470833e+02] [ 1.88661462e-02 9.99822006e-01 -1.56156618e-04 1.17298414e+01] [ 1.50331934e-02 -1.27502149e-04 9.99886987e-01 6.28518586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4992541539999 meters Centerline goodness [0,1] 0.9987478511852969 Centerline is valid? [True, True] Translation: X:679.50, Y:11.73, Z:6.29 [[ 9.99746365e-01 -1.64930350e-02 -1.53357487e-02 6.79499191e+02] [ 1.64925212e-02 9.99863976e-01 -1.59980998e-04 1.17311678e+01] [ 1.53363012e-02 -9.29847396e-05 9.99882388e-01 6.28539482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5292541539999 meters Centerline goodness [0,1] 0.9988534301547869 Centerline is valid? [True, True] Translation: X:679.53, Y:11.73, Z:6.29 [[ 9.99790954e-01 -1.28542039e-02 -1.59002719e-02 6.79528056e+02] [ 1.28531567e-02 9.99917381e-01 -1.68057303e-04 1.17320346e+01] [ 1.59011185e-02 -3.63465145e-05 9.99873569e-01 6.28548116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5592541539999 meters Centerline goodness [0,1] 0.9989179555725288 Centerline is valid? [True, True] Translation: X:679.56, Y:11.73, Z:6.28 [[ 9.99802634e-01 -1.22898853e-02 -1.56093315e-02 6.79555149e+02] [ 1.22887586e-02 9.99924476e-01 -1.68095544e-04 1.17315426e+01] [ 1.56102185e-02 -2.37569404e-05 9.99878153e-01 6.28498753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.589254154 meters Centerline goodness [0,1] 0.9989846641988366 Centerline is valid? [True, True] Translation: X:679.58, Y:11.73, Z:6.29 [[ 9.99793857e-01 -1.24550475e-02 -1.60348077e-02 6.79583140e+02] [ 1.24538301e-02 9.99922433e-01 -1.75778453e-04 1.17289262e+01] [ 1.60357532e-02 -2.39525533e-05 9.99871419e-01 6.28547221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6192541539999 meters Centerline goodness [0,1] 0.9988790897362688 Centerline is valid? [True, True] Translation: X:679.61, Y:11.73, Z:6.29 [[ 9.99779299e-01 -1.35730378e-02 -1.60351281e-02 6.79611243e+02] [ 1.35718912e-02 9.99907881e-01 -1.80326030e-04 1.17269152e+01] [ 1.60360986e-02 -3.73407827e-05 9.99871413e-01 6.28542950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6492541539999 meters Centerline goodness [0,1] 0.9988370863727667 Centerline is valid? [True, True] Translation: X:679.64, Y:11.72, Z:6.28 [[ 9.99758739e-01 -1.49238813e-02 -1.61165050e-02 6.79639341e+02] [ 1.49228462e-02 9.99888631e-01 -1.84491958e-04 1.17243042e+01] [ 1.61174634e-02 -5.60566780e-05 9.99870104e-01 6.28477811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6792541539999 meters Centerline goodness [0,1] 0.9988794689105478 Centerline is valid? [True, True] Translation: X:679.67, Y:11.72, Z:6.29 [[ 9.99719706e-01 -1.71084186e-02 -1.63649402e-02 6.79668453e+02] [ 1.71076022e-02 9.99853636e-01 -1.89892900e-04 1.17221717e+01] [ 1.63657937e-02 -9.01252120e-05 9.99866067e-01 6.28568147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.709254154 meters Centerline goodness [0,1] 0.9990728253540121 Centerline is valid? [True, True] Translation: X:679.70, Y:11.72, Z:6.29 [[ 9.99619847e-01 -2.22091399e-02 -1.63375348e-02 6.79696899e+02] [ 2.22089592e-02 9.99753332e-01 -1.92516136e-04 1.17161120e+01] [ 1.63377805e-02 -1.70396693e-04 9.99866515e-01 6.28556362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7392541539999 meters Centerline goodness [0,1] 0.9989254335138325 Centerline is valid? [True, True] Translation: X:679.73, Y:11.71, Z:6.29 [[ 9.99545973e-01 -2.54426838e-02 -1.61405895e-02 6.79725282e+02] [ 2.54429093e-02 9.99676258e-01 -1.91407299e-04 1.17119096e+01] [ 1.61402340e-02 -2.19343159e-04 9.99869714e-01 6.28549703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7692541539999 meters Centerline goodness [0,1] 0.9988851024443604 Centerline is valid? [True, True] Translation: X:679.75, Y:11.71, Z:6.29 [[ 9.99455919e-01 -2.89860057e-02 -1.57377681e-02 6.79754903e+02] [ 2.89866477e-02 9.99579781e-01 -1.87359859e-04 1.17087331e+01] [ 1.57365856e-02 -2.68927219e-04 9.99876136e-01 6.28578947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7992541539999 meters Centerline goodness [0,1] 0.9988657844990548 Centerline is valid? [True, True] Translation: X:679.79, Y:11.71, Z:6.29 [[ 9.99336960e-01 -3.27517965e-02 -1.59047258e-02 6.79785436e+02] [ 3.27529234e-02 9.99463461e-01 -1.89694399e-04 1.17051092e+01] [ 1.59024051e-02 -3.31357641e-04 9.99873494e-01 6.28608034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.829254154 meters Centerline goodness [0,1] 0.998636573394303 Centerline is valid? [True, True] Translation: X:679.82, Y:11.70, Z:6.28 [[ 9.99092196e-01 -3.92196367e-02 -1.66313955e-02 6.79815326e+02] [ 3.92217642e-02 9.99230511e-01 -1.98361331e-04 1.16965516e+01] [ 1.66263775e-02 -4.54131415e-04 9.99861669e-01 6.28431953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8592541539999 meters Centerline goodness [0,1] 0.9989294260884168 Centerline is valid? [True, True] Translation: X:679.85, Y:11.69, Z:6.29 [[ 9.98939042e-01 -4.33941859e-02 -1.54186693e-02 6.79846488e+02] [ 4.33965145e-02 9.99057911e-01 -1.83677280e-04 1.16926769e+01] [ 1.54121140e-02 -4.85634100e-04 9.99881108e-01 6.28667498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8892541539999 meters Centerline goodness [0,1] 0.998703200167329 Centerline is valid? [True, True] Translation: X:679.88, Y:11.69, Z:6.29 [[ 9.98794621e-01 -4.66906334e-02 -1.51423343e-02 6.79878050e+02] [ 4.66932658e-02 9.98909258e-01 -1.79841816e-04 1.16888862e+01] [ 1.51342149e-02 -5.27420003e-04 9.99885332e-01 6.28687754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9192541539999 meters Centerline goodness [0,1] 0.9985332020199904 Centerline is valid? [True, True] Translation: X:679.91, Y:11.68, Z:6.29 [[ 9.98521173e-01 -5.21288733e-02 -1.54287967e-02 6.79908491e+02] [ 5.21322614e-02 9.98640172e-01 -1.82789146e-04 1.16811223e+01] [ 1.54173448e-02 -6.21819233e-04 9.99880952e-01 6.28664887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.949254154 meters Centerline goodness [0,1] 0.9985751702462022 Centerline is valid? [True, True] Translation: X:679.94, Y:11.68, Z:6.29 [[ 9.98404650e-01 -5.43959520e-02 -1.51404996e-02 6.79940834e+02] [ 5.43994835e-02 9.98519236e-01 -1.78796925e-04 1.16777747e+01] [ 1.51278059e-02 -6.45123678e-04 9.99885360e-01 6.28656249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9792541539999 meters Centerline goodness [0,1] 0.9985350438440449 Centerline is valid? [True, True] Translation: X:679.97, Y:11.67, Z:6.29 [[ 9.98289618e-01 -5.63567534e-02 -1.55484633e-02 6.79972561e+02] [ 5.63607310e-02 9.98410454e-01 -1.82599951e-04 1.16749660e+01] [ 1.55340391e-02 -6.94035123e-04 9.99879099e-01 6.28645139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0092541539999 meters Centerline goodness [0,1] 0.9986783586473106 Centerline is valid? [True, True] Translation: X:680.00, Y:11.67, Z:6.29 [[ 9.98202950e-01 -5.78558778e-02 -1.56066945e-02 6.80004588e+02] [ 5.78600828e-02 9.98324685e-01 -1.82338067e-04 1.16734593e+01] [ 1.55910977e-02 -7.20994238e-04 9.99878192e-01 6.28669508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0392541539999 meters Centerline goodness [0,1] 0.9988463797298431 Centerline is valid? [True, True] Translation: X:680.04, Y:11.67, Z:6.29 [[ 9.98066770e-01 -6.00168953e-02 -1.61460376e-02 6.80035760e+02] [ 6.00216951e-02 9.98197055e-01 -1.87589371e-04 1.16691295e+01] [ 1.61281857e-02 -7.81885829e-04 9.99869627e-01 6.28606252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.069254154 meters Centerline goodness [0,1] 0.998700999392403 Centerline is valid? [True, True] Translation: X:680.07, Y:11.67, Z:6.29 [[ 9.98032550e-01 -6.07216267e-02 -1.56177165e-02 6.80068192e+02] [ 6.07262178e-02 9.98154444e-01 -1.80536818e-04 1.16681616e+01] [ 1.55998556e-02 -7.68223235e-04 9.99878020e-01 6.28697816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0992541539999 meters Centerline goodness [0,1] 0.998783939616312 Centerline is valid? [True, True] Translation: X:680.10, Y:11.67, Z:6.29 [[ 9.98003866e-01 -6.11783918e-02 -1.56680776e-02 6.80100779e+02] [ 6.11830859e-02 9.98126544e-01 -1.80017415e-04 1.16708732e+01] [ 1.56497373e-02 -7.78963260e-04 9.99877232e-01 6.28781829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1292541539999 meters Centerline goodness [0,1] 0.9983637851104445 Centerline is valid? [True, True] Translation: X:680.13, Y:11.67, Z:6.29 [[ 9.97990142e-01 -6.14254470e-02 -1.55753445e-02 6.80132708e+02] [ 6.14301331e-02 9.98111370e-01 -1.77836003e-04 1.16725067e+01] [ 1.55568520e-02 -7.79316905e-04 9.99878681e-01 6.28834545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1592541539999 meters Centerline goodness [0,1] 0.9986788021139166 Centerline is valid? [True, True] Translation: X:680.16, Y:11.68, Z:6.29 [[ 9.98000015e-01 -6.12911376e-02 -1.54714466e-02 6.80164797e+02] [ 6.12957629e-02 9.98119631e-01 -1.75513492e-04 1.16764705e+01] [ 1.54531120e-02 -7.73171655e-04 9.99880295e-01 6.28914992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1892541539999 meters Centerline goodness [0,1] 0.9986165842206758 Centerline is valid? [True, True] Translation: X:680.20, Y:11.68, Z:6.29 [[ 9.98032223e-01 -6.05251333e-02 -1.63826106e-02 6.80195754e+02] [ 6.05302352e-02 9.98166347e-01 -1.84708080e-04 1.16758559e+01] [ 1.63637501e-02 -8.07298658e-04 9.99865779e-01 6.28777701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2192541539999 meters Centerline goodness [0,1] 0.9988463071340171 Centerline is valid? [True, True] Translation: X:680.23, Y:11.68, Z:6.29 [[ 9.98016127e-01 -6.08806671e-02 -1.60422595e-02 6.80227400e+02] [ 6.08856192e-02 9.98144733e-01 -1.79985608e-04 1.16768328e+01] [ 1.60234545e-02 -7.97114364e-04 9.99871298e-01 6.28984190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2492541539999 meters Centerline goodness [0,1] 0.9985130890052356 Centerline is valid? [True, True] Translation: X:680.26, Y:11.68, Z:6.29 [[ 9.98039099e-01 -6.01223432e-02 -1.74143925e-02 6.80258275e+02] [ 6.01280812e-02 9.98190651e-01 -1.94374212e-04 1.16752277e+01] [ 1.73945701e-02 -8.53100946e-04 9.99848339e-01 6.28883380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2792541539999 meters Centerline goodness [0,1] 0.9984478889191853 Centerline is valid? [True, True] Translation: X:680.29, Y:11.68, Z:6.29 [[ 9.98070605e-01 -5.93670558e-02 -1.81829649e-02 6.80290939e+02] [ 5.93732108e-02 9.98235834e-01 -2.01619795e-04 1.16791366e+01] [ 1.81628568e-02 -8.78350220e-04 9.99834656e-01 6.28883065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3092541539999 meters Centerline goodness [0,1] 0.9987803082875949 Centerline is valid? [True, True] Translation: X:680.32, Y:11.68, Z:6.29 [[ 9.98114184e-01 -5.82754839e-02 -1.92884382e-02 6.80323501e+02] [ 5.82822384e-02 9.98300123e-01 -2.12249837e-04 1.16825701e+01] [ 1.92680192e-02 -9.12323779e-04 9.99813938e-01 6.28909479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.339254154 meters Centerline goodness [0,1] 0.9986795774647887 Centerline is valid? [True, True] Translation: X:680.35, Y:11.68, Z:6.29 [[ 9.98184781e-01 -5.69376865e-02 -1.96275985e-02 6.80354947e+02] [ 5.69444475e-02 9.98377325e-01 -2.14716133e-04 1.16834551e+01] [ 1.96079748e-02 -9.03356377e-04 9.99807337e-01 6.28855284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3692541539999 meters Centerline goodness [0,1] 0.998591223532875 Centerline is valid? [True, True] Translation: X:680.39, Y:11.69, Z:6.29 [[ 9.98348732e-01 -5.37139561e-02 -2.03622321e-02 6.80386417e+02] [ 5.37205826e-02 9.98555982e-01 -2.21818444e-04 1.16885947e+01] [ 2.03447434e-02 -8.72418808e-04 9.99792644e-01 6.28872800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3992541539999 meters Centerline goodness [0,1] 0.9986121041342474 Centerline is valid? [True, True] Translation: X:680.42, Y:11.69, Z:6.29 [[ 9.98442023e-01 -5.19067198e-02 -2.04748378e-02 6.80417548e+02] [ 5.19130560e-02 9.98651584e-01 -2.22288629e-04 1.16939456e+01] [ 2.04587674e-02 -8.40969091e-04 9.99790344e-01 6.29007045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4292541539999 meters Centerline goodness [0,1] 0.9989281210592686 Centerline is valid? [True, True] Translation: X:680.45, Y:11.70, Z:6.29 [[ 9.98543727e-01 -5.00309057e-02 -2.01825076e-02 6.80449007e+02] [ 5.00366946e-02 9.98747356e-01 -2.18371394e-04 1.16968373e+01] [ 2.01681514e-02 -7.91812584e-04 9.99796289e-01 6.29122107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.459254154 meters Centerline goodness [0,1] 0.9986335351496805 Centerline is valid? [True, True] Translation: X:680.48, Y:11.70, Z:6.29 [[ 9.98748360e-01 -4.62115433e-02 -1.91365423e-02 6.80479061e+02] [ 4.62160571e-02 9.98931446e-01 -2.06544041e-04 1.17026075e+01] [ 1.91256385e-02 -6.78130008e-04 9.99816858e-01 6.29276010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4892541539999 meters Centerline goodness [0,1] 0.9988852196958543 Centerline is valid? [True, True] Translation: X:680.51, Y:11.71, Z:6.29 [[ 9.98836943e-01 -4.44870586e-02 -1.85919943e-02 6.80510918e+02] [ 4.44910333e-02 9.99009764e-01 -1.99992770e-04 1.17055115e+01] [ 1.85824809e-02 -6.27416869e-04 9.99827134e-01 6.29379825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5192541539999 meters Centerline goodness [0,1] 0.9986550666162317 Centerline is valid? [True, True] Translation: X:680.54, Y:11.71, Z:6.29 [[ 9.98919088e-01 -4.28243228e-02 -1.80757737e-02 6.80542182e+02] [ 4.28278226e-02 9.99082449e-01 -1.93624351e-04 1.17086974e+01] [ 1.80674801e-02 -5.80730967e-04 9.99836601e-01 6.29455146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5492541539999 meters Centerline goodness [0,1] 0.9986550666162317 Centerline is valid? [True, True] Translation: X:680.57, Y:11.71, Z:6.29 [[ 9.98922217e-01 -4.27512635e-02 -1.80757841e-02 6.80573888e+02] [ 4.27547690e-02 9.99085578e-01 -1.92646091e-04 1.17089763e+01] [ 1.80674911e-02 -5.80387513e-04 9.99836601e-01 6.29484839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.579254154 meters Centerline goodness [0,1] 0.9984841467009137 Centerline is valid? [True, True] Translation: X:680.61, Y:11.71, Z:6.29 [[ 9.99017127e-01 -4.04364879e-02 -1.81568096e-02 6.80605803e+02] [ 4.04396641e-02 9.99181964e-01 -1.92339690e-04 1.17113218e+01] [ 1.81497342e-02 -5.42104638e-04 9.99835133e-01 6.29383220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6092541539999 meters Centerline goodness [0,1] 0.9985270600117835 Centerline is valid? [True, True] Translation: X:680.64, Y:11.71, Z:6.30 [[ 9.99108150e-01 -3.88271095e-02 -1.65940090e-02 6.80635936e+02] [ 3.88295505e-02 9.99245833e-01 -1.75184975e-04 1.17144078e+01] [ 1.65882963e-02 -4.69309175e-04 9.99862295e-01 6.29571891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6392541539999 meters Centerline goodness [0,1] 0.9986512970728931 Centerline is valid? [True, True] Translation: X:680.67, Y:11.72, Z:6.30 [[ 9.99151065e-01 -3.77440220e-02 -1.65087517e-02 6.80667521e+02] [ 3.77462973e-02 9.99287339e-01 -1.73855317e-04 1.17181896e+01] [ 1.65035486e-02 -4.49436526e-04 9.99863706e-01 6.29657761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6692541539999 meters Centerline goodness [0,1] 0.9986708860759493 Centerline is valid? [True, True] Translation: X:680.70, Y:11.72, Z:6.30 [[ 9.99216569e-01 -3.60713147e-02 -1.62821580e-02 6.80699095e+02] [ 3.60733158e-02 9.99349132e-01 -1.70874909e-04 1.17225082e+01] [ 1.62777242e-02 -4.16610388e-04 9.99867422e-01 6.29742065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.699254154 meters Centerline goodness [0,1] 0.9986713065485606 Centerline is valid? [True, True] Translation: X:680.73, Y:11.72, Z:6.30 [[ 9.99242607e-01 -3.53459058e-02 -1.62750889e-02 6.80730674e+02] [ 3.53478208e-02 9.99375056e-01 -1.70072469e-04 1.17237495e+01] [ 1.62709293e-02 -4.05345270e-04 9.99867538e-01 6.29743957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7292541539999 meters Centerline goodness [0,1] 0.998778818823034 Centerline is valid? [True, True] Translation: X:680.76, Y:11.72, Z:6.30 [[ 9.99274885e-01 -3.44983827e-02 -1.61110651e-02 6.80762512e+02] [ 3.45001617e-02 9.99404678e-01 -1.67580509e-04 1.17248906e+01] [ 1.61072551e-02 -3.88375359e-04 9.99870194e-01 6.29744440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7592541539999 meters Centerline goodness [0,1] 0.9987147883614605 Centerline is valid? [True, True] Translation: X:680.79, Y:11.72, Z:6.30 [[ 9.99288480e-01 -3.38388659e-02 -1.66572739e-02 6.80792591e+02] [ 3.38406900e-02 9.99427225e-01 -1.72426450e-04 1.17241818e+01] [ 1.66535677e-02 -3.91389877e-04 9.99861243e-01 6.29654768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7892541539999 meters Centerline goodness [0,1] 0.998523518245096 Centerline is valid? [True, True] Translation: X:680.82, Y:11.73, Z:6.30 [[ 9.99336078e-01 -3.23623589e-02 -1.67356186e-02 6.80824051e+02] [ 3.23640076e-02 9.99476133e-01 -1.72385351e-04 1.17272097e+01] [ 1.67324302e-02 -3.69360786e-04 9.99859935e-01 6.29666094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.819254154 meters Centerline goodness [0,1] 0.9987968083759023 Centerline is valid? [True, True] Translation: X:680.85, Y:11.73, Z:6.30 [[ 9.99356388e-01 -3.15530086e-02 -1.70651006e-02 6.80854906e+02] [ 3.15546155e-02 9.99502014e-01 -1.75155517e-04 1.17286036e+01] [ 1.70621291e-02 -3.63439905e-04 9.99854365e-01 6.29729490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8492541539999 meters Centerline goodness [0,1] 0.9986698758550798 Centerline is valid? [True, True] Translation: X:680.89, Y:11.73, Z:6.30 [[ 9.99410423e-01 -3.00895112e-02 -1.65356545e-02 6.80885802e+02] [ 3.00908294e-02 9.99547154e-01 -1.69134066e-04 1.17287571e+01] [ 1.65332555e-02 -3.28537210e-04 9.99863262e-01 6.29728246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8792541539999 meters Centerline goodness [0,1] 0.9988388540545106 Centerline is valid? [True, True] Translation: X:680.92, Y:11.73, Z:6.30 [[ 9.99449293e-01 -2.89573796e-02 -1.62043566e-02 6.80917140e+02] [ 2.89585062e-02 9.99580601e-01 -1.65164585e-04 1.17308505e+01] [ 1.62023432e-02 -3.04180333e-04 9.99868687e-01 6.29824637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9092541539999 meters Centerline goodness [0,1] 0.998712618449655 Centerline is valid? [True, True] Translation: X:680.95, Y:11.73, Z:6.30 [[ 9.99484706e-01 -2.79406829e-02 -1.58000104e-02 6.80947098e+02] [ 2.79416322e-02 9.99609543e-01 -1.60708367e-04 1.17310271e+01] [ 1.57983315e-02 -2.80852525e-04 9.99875159e-01 6.29847989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9392541539999 meters Centerline goodness [0,1] 0.9987541440547332 Centerline is valid? [True, True] Translation: X:680.98, Y:11.73, Z:6.30 [[ 9.99515556e-01 -2.68557093e-02 -1.57297216e-02 6.80977680e+02] [ 2.68565159e-02 9.99639286e-01 -1.59993431e-04 1.17313620e+01] [ 1.57283444e-02 -2.62529596e-04 9.99876267e-01 6.29857998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9692541539999 meters Centerline goodness [0,1] 0.9987978234276796 Centerline is valid? [True, True] Translation: X:681.01, Y:11.73, Z:6.30 [[ 9.99587782e-01 -2.43898736e-02 -1.51459760e-02 6.81008539e+02] [ 2.43903384e-02 9.99702500e-01 -1.54055916e-04 1.17314271e+01] [ 1.51452275e-02 -2.15423069e-04 9.99885281e-01 6.29898041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9992541539999 meters Centerline goodness [0,1] 0.9988403230227507 Centerline is valid? [True, True] Translation: X:681.04, Y:11.73, Z:6.30 [[ 9.99612022e-01 -2.35344471e-02 -1.48974834e-02 6.81039135e+02] [ 2.35348018e-02 9.99723007e-01 -1.51528396e-04 1.17319478e+01] [ 1.48969230e-02 -1.99139713e-04 9.99889015e-01 6.29948209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0292541539999 meters Centerline goodness [0,1] 0.9988614080587007 Centerline is valid? [True, True] Translation: X:681.07, Y:11.73, Z:6.30 [[ 9.99627092e-01 -2.28918069e-02 -1.48876516e-02 6.81068273e+02] [ 2.28920884e-02 9.99737930e-01 -1.51528398e-04 1.17315985e+01] [ 1.48872188e-02 -1.89337545e-04 9.99889161e-01 6.29946361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0592541539999 meters Centerline goodness [0,1] 0.9987775318790179 Centerline is valid? [True, True] Translation: X:681.10, Y:11.73, Z:6.30 [[ 9.99634238e-01 -2.22853293e-02 -1.53217063e-02 6.81098368e+02] [ 2.22855502e-02 9.99751634e-01 -1.56338490e-04 1.17306954e+01] [ 1.53213850e-02 -1.85171349e-04 9.99882604e-01 6.29895085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.089254154 meters Centerline goodness [0,1] 0.9987965035260336 Centerline is valid? [True, True] Translation: X:681.13, Y:11.73, Z:6.30 [[ 9.99630453e-01 -2.25416163e-02 -1.51931813e-02 6.81127610e+02] [ 2.25418547e-02 9.99745888e-01 -1.55579093e-04 1.17294873e+01] [ 1.51928275e-02 -1.86960885e-04 9.99884565e-01 6.29884719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1192541539999 meters Centerline goodness [0,1] 0.9989256825075834 Centerline is valid? [True, True] Translation: X:681.16, Y:11.73, Z:6.30 [[ 9.99609425e-01 -2.32075270e-02 -1.55694931e-02 6.81157019e+02] [ 2.32078491e-02 9.99730649e-01 -1.60009278e-04 1.17279521e+01] [ 1.55690129e-02 -2.01387665e-04 9.99878775e-01 6.29877317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1492541539999 meters Centerline goodness [0,1] 0.9988417151040351 Centerline is valid? [True, True] Translation: X:681.19, Y:11.72, Z:6.30 [[ 9.99547978e-01 -2.55180827e-02 -1.58955109e-02 6.81186761e+02] [ 2.55187013e-02 9.99674331e-01 -1.63945542e-04 1.17236113e+01] [ 1.58945178e-02 -2.41761359e-04 9.99873645e-01 6.29818414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1792541539999 meters Centerline goodness [0,1] 0.9986943245235338 Centerline is valid? [True, True] Translation: X:681.22, Y:11.72, Z:6.30 [[ 9.99504298e-01 -2.68799902e-02 -1.63897877e-02 6.81216812e+02] [ 2.68808209e-02 9.99638631e-01 -1.69650284e-04 1.17223901e+01] [ 1.63884251e-02 -2.71004760e-04 9.99865664e-01 6.29861653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.209254154 meters Centerline goodness [0,1] 0.9987801800286027 Centerline is valid? [True, True] Translation: X:681.25, Y:11.72, Z:6.30 [[ 9.99461081e-01 -2.83593182e-02 -1.65316838e-02 6.81246046e+02] [ 2.83603596e-02 9.99597749e-01 -1.71490046e-04 1.17188508e+01] [ 1.65298972e-02 -2.97446870e-04 9.99863328e-01 6.29842737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2392541539999 meters Centerline goodness [0,1] 0.9989277154030528 Centerline is valid? [True, True] Translation: X:681.28, Y:11.72, Z:6.30 [[ 9.99450665e-01 -2.87907958e-02 -1.64151784e-02 6.81276607e+02] [ 2.87918801e-02 9.99585413e-01 -1.70314721e-04 1.17193822e+01] [ 1.64132764e-02 -3.02402687e-04 9.99865247e-01 6.29932654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2692541539999 meters Centerline goodness [0,1] 0.9987370282274192 Centerline is valid? [True, True] Translation: X:681.31, Y:11.72, Z:6.30 [[ 9.99453430e-01 -2.89476253e-02 -1.59648636e-02 6.81306064e+02] [ 2.89486690e-02 9.99580886e-01 -1.65762077e-04 1.17179860e+01] [ 1.59629709e-02 -2.96490075e-04 9.99872540e-01 6.29928675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2992541539999 meters Centerline goodness [0,1] 0.9986759699045857 Centerline is valid? [True, True] Translation: X:681.34, Y:11.72, Z:6.30 [[ 9.99465270e-01 -2.85227054e-02 -1.59884136e-02 6.81336644e+02] [ 2.85236952e-02 9.99593103e-01 -1.66176582e-04 1.17175941e+01] [ 1.59866477e-02 -2.89960913e-04 9.99872163e-01 6.29932788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.329254154 meters Centerline goodness [0,1] 0.9988880963370117 Centerline is valid? [True, True] Translation: X:681.37, Y:11.72, Z:6.30 [[ 9.99482803e-01 -2.76771890e-02 -1.63737695e-02 6.81367048e+02] [ 2.76781137e-02 9.99616873e-01 -1.70181803e-04 1.17174980e+01] [ 1.63722064e-02 -2.83101267e-04 9.99865926e-01 6.29944452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3592541539999 meters Centerline goodness [0,1] 0.999054820415879 Centerline is valid? [True, True] Translation: X:681.40, Y:11.72, Z:6.30 [[ 9.99539198e-01 -2.54757730e-02 -1.65038080e-02 6.81397133e+02] [ 2.54764124e-02 9.99675409e-01 -1.71533367e-04 1.17181717e+01] [ 1.65028210e-02 -2.49003497e-04 9.99863788e-01 6.29981911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3892541539999 meters Centerline goodness [0,1] 0.9987794099078244 Centerline is valid? [True, True] Translation: X:681.43, Y:11.72, Z:6.30 [[ 9.99564381e-01 -2.45441721e-02 -1.63899971e-02 6.81425367e+02] [ 2.45446712e-02 9.99698720e-01 -1.70734048e-04 1.17183381e+01] [ 1.63892496e-02 -2.31627416e-04 9.99865660e-01 6.29993505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4192541539999 meters Centerline goodness [0,1] 0.998989218328841 Centerline is valid? [True, True] Translation: X:681.46, Y:11.72, Z:6.30 [[ 9.99606340e-01 -2.33166530e-02 -1.56044657e-02 6.81455418e+02] [ 2.33169447e-02 9.99728110e-01 -1.63264069e-04 1.17189925e+01] [ 1.56040297e-02 -2.00648666e-04 9.99878230e-01 6.30057986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.449254154 meters Centerline goodness [0,1] 0.9990107137594982 Centerline is valid? [True, True] Translation: X:681.48, Y:11.72, Z:6.30 [[ 9.99683756e-01 -2.02511478e-02 -1.49090125e-02 6.81484467e+02] [ 2.02510639e-02 9.99794914e-01 -1.56610081e-04 1.17194911e+01] [ 1.49091264e-02 -1.45362811e-04 9.99888842e-01 6.30075204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4792541539999 meters Centerline goodness [0,1] 0.9990323734197185 Centerline is valid? [True, True] Translation: X:681.51, Y:11.72, Z:6.30 [[ 9.99714794e-01 -1.92401934e-02 -1.41472859e-02 6.81513518e+02] [ 1.92400064e-02 9.99814883e-01 -1.49338399e-04 1.17198258e+01] [ 1.41475403e-02 -1.22898064e-04 9.99899911e-01 6.30209752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5092541539999 meters Centerline goodness [0,1] 0.9989678126053252 Centerline is valid? [True, True] Translation: X:681.54, Y:11.72, Z:6.30 [[ 9.99726330e-01 -1.83870572e-02 -1.44630977e-02 6.81542307e+02] [ 1.83867464e-02 9.99830938e-01 -1.54469381e-04 1.17203004e+01] [ 1.44634927e-02 -1.11502202e-04 9.99895392e-01 6.30281655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5392541539999 meters Centerline goodness [0,1] 0.9991575045284131 Centerline is valid? [True, True] Translation: X:681.57, Y:11.72, Z:6.30 [[ 9.99760081e-01 -1.63673719e-02 -1.45564040e-02 6.81570614e+02] [ 1.63667888e-02 9.99866042e-01 -1.59185946e-04 1.17194833e+01] [ 1.45570595e-02 -7.90938367e-05 9.99894037e-01 6.30288062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.569254154 meters Centerline goodness [0,1] 0.9990320272715795 Centerline is valid? [True, True] Translation: X:681.60, Y:11.72, Z:6.30 [[ 9.99772886e-01 -1.56104500e-02 -1.45082892e-02 6.81598669e+02] [ 1.56097497e-02 9.99878147e-01 -1.61511707e-04 1.17189887e+01] [ 1.45090426e-02 -6.49957389e-05 9.99894736e-01 6.30285541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5992541539999 meters Centerline goodness [0,1] 0.998970934139785 Centerline is valid? [True, True] Translation: X:681.63, Y:11.72, Z:6.30 [[ 9.99777320e-01 -1.52877675e-02 -1.45462817e-02 6.81626569e+02] [ 1.52869952e-02 9.99883134e-01 -1.64290246e-04 1.17184841e+01] [ 1.45470934e-02 -5.81152759e-05 9.99894184e-01 6.30317204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6292541539999 meters Centerline goodness [0,1] 0.998904986522911 Centerline is valid? [True, True] Translation: X:681.65, Y:11.72, Z:6.30 [[ 9.99772699e-01 -1.53783356e-02 -1.47667433e-02 6.81654589e+02] [ 1.53774850e-02 9.99881745e-01 -1.71146276e-04 1.17161212e+01] [ 1.47676290e-02 -5.59679995e-05 9.99890951e-01 6.30356438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6592541539999 meters Centerline goodness [0,1] 0.9991586740703349 Centerline is valid? [True, True] Translation: X:681.68, Y:11.71, Z:6.30 [[ 9.99763168e-01 -1.59683044e-02 -1.47858399e-02 6.81682787e+02] [ 1.59674511e-02 9.99872497e-01 -1.75765621e-04 1.17147106e+01] [ 1.47867613e-02 -6.03681809e-05 9.99890668e-01 6.30365690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6892541539999 meters Centerline goodness [0,1] 0.9992226400823582 Centerline is valid? [True, True] Translation: X:681.71, Y:11.71, Z:6.30 [[ 9.99730869e-01 -1.69678421e-02 -1.58203153e-02 6.81710404e+02] [ 1.69669286e-02 9.99856033e-01 -1.91970402e-04 1.17122972e+01] [ 1.58212950e-02 -7.65034235e-05 9.99874833e-01 6.30302970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7192541539999 meters Centerline goodness [0,1] 0.9989913211591401 Centerline is valid? [True, True] Translation: X:681.74, Y:11.71, Z:6.30 [[ 9.99689055e-01 -1.78453429e-02 -1.74165770e-02 6.81738895e+02] [ 1.78443090e-02 9.99840755e-01 -2.14778370e-04 1.17099978e+01] [ 1.74176362e-02 -9.60751951e-05 9.99848297e-01 6.30091426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7492541539999 meters Centerline goodness [0,1] 0.9990335119235214 Centerline is valid? [True, True] Translation: X:681.77, Y:11.71, Z:6.30 [[ 9.99612973e-01 -2.16302016e-02 -1.74939854e-02 6.81767294e+02] [ 2.16296609e-02 9.99766027e-01 -2.20136602e-04 1.17058343e+01] [ 1.74946539e-02 -1.58337568e-04 9.99846944e-01 6.30211514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7792541539999 meters Centerline goodness [0,1] 0.9992238956244494 Centerline is valid? [True, True] Translation: X:681.79, Y:11.70, Z:6.30 [[ 9.99559766e-01 -2.37239766e-02 -1.78170392e-02 6.81794755e+02] [ 2.37236909e-02 9.99718528e-01 -2.27421929e-04 1.17027187e+01] [ 1.78174195e-02 -1.95364119e-04 9.99841238e-01 6.30166475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8092541539999 meters Centerline goodness [0,1] 0.9991815663560816 Centerline is valid? [True, True] Translation: X:681.82, Y:11.70, Z:6.30 [[ 9.99512810e-01 -2.56654698e-02 -1.77602287e-02 6.81823528e+02] [ 2.56654414e-02 9.99670562e-01 -2.29568286e-04 1.17005337e+01] [ 1.77602698e-02 -2.26367667e-04 9.99842248e-01 6.30141704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.839254154 meters Centerline goodness [0,1] 0.9991201055873296 Centerline is valid? [True, True] Translation: X:681.85, Y:11.70, Z:6.30 [[ 9.99451012e-01 -2.83193027e-02 -1.71956910e-02 6.81852611e+02] [ 2.83195987e-02 9.99598894e-01 -2.26338678e-04 1.16981232e+01] [ 1.71952035e-02 -2.60760648e-04 9.99852118e-01 6.30269194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8692541539999 meters Centerline goodness [0,1] 0.9990366088631984 Centerline is valid? [True, True] Translation: X:681.88, Y:11.69, Z:6.30 [[ 9.99332748e-01 -3.28699806e-02 -1.59255352e-02 6.81881358e+02] [ 3.28707735e-02 9.99459588e-01 -2.12042048e-04 1.16912249e+01] [ 1.59238986e-02 -3.11584096e-04 9.99873158e-01 6.30401308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8992541539999 meters Centerline goodness [0,1] 0.9990164277492937 Centerline is valid? [True, True] Translation: X:681.91, Y:11.69, Z:6.31 [[ 9.99269385e-01 -3.51726426e-02 -1.49526604e-02 6.81912246e+02] [ 3.51735924e-02 9.99381198e-01 -1.99537748e-04 1.16922714e+01] [ 1.49504259e-02 -3.26546819e-04 9.99888183e-01 6.30593451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9292541539999 meters Centerline goodness [0,1] 0.9989340133352842 Centerline is valid? [True, True] Translation: X:681.94, Y:11.69, Z:6.31 [[ 9.99194587e-01 -3.73546384e-02 -1.46563286e-02 6.81942309e+02] [ 3.73557870e-02 9.99302010e-01 -1.95485425e-04 1.16895754e+01] [ 1.46534009e-02 -3.52170710e-04 9.99892571e-01 6.30653156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.959254154 meters Centerline goodness [0,1] 0.9988739208408057 Centerline is valid? [True, True] Translation: X:681.97, Y:11.68, Z:6.31 [[ 9.99046071e-01 -4.15332010e-02 -1.34885647e-02 6.81972858e+02] [ 4.15345575e-02 9.99137052e-01 -1.79674741e-04 1.16845056e+01] [ 1.34843872e-02 -3.80738221e-04 9.99909009e-01 6.30805598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9892541539999 meters Centerline goodness [0,1] 0.9989965506428348 Centerline is valid? [True, True] Translation: X:682.01, Y:11.68, Z:6.31 [[ 9.98980765e-01 -4.32148913e-02 -1.30347661e-02 6.82005337e+02] [ 4.32163067e-02 9.99065724e-01 -1.73194169e-04 1.16824800e+01] [ 1.30300726e-02 -3.90296804e-04 9.99915029e-01 6.30875402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0192541539999 meters Centerline goodness [0,1] 0.9991858717434869 Centerline is valid? [True, True] Translation: X:682.04, Y:11.68, Z:6.31 [[ 9.98910263e-01 -4.47964903e-02 -1.30981365e-02 6.82037009e+02] [ 4.47980671e-02 9.98996048e-01 -1.73139110e-04 1.16800444e+01] [ 1.30927426e-02 -4.13820765e-04 9.99914201e-01 6.30899168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0492541539999 meters Centerline goodness [0,1] 0.9987253693294607 Centerline is valid? [True, True] Translation: X:682.07, Y:11.67, Z:6.31 [[ 9.98717772e-01 -4.84415099e-02 -1.47048374e-02 6.82067705e+02] [ 4.84439018e-02 9.98825886e-01 -1.93703216e-04 1.16744912e+01] [ 1.46969555e-02 -5.18904855e-04 9.99891859e-01 6.30710359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.079254154 meters Centerline goodness [0,1] 0.9988735214969647 Centerline is valid? [True, True] Translation: X:682.10, Y:11.67, Z:6.31 [[ 9.98624965e-01 -5.04412991e-02 -1.42777954e-02 6.82099410e+02] [ 5.04437631e-02 9.98726885e-01 -1.87734886e-04 1.16728880e+01] [ 1.42690878e-02 -5.32748987e-04 9.99898049e-01 6.30777804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1092541539999 meters Centerline goodness [0,1] 0.9989350817481364 Centerline is valid? [True, True] Translation: X:682.13, Y:11.67, Z:6.31 [[ 9.98523555e-01 -5.22076504e-02 -1.50023558e-02 6.82131026e+02] [ 5.22105801e-02 9.98636078e-01 -1.96583497e-04 1.16733338e+01] [ 1.49921569e-02 -5.86988447e-04 9.99887439e-01 6.30801017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1392541539999 meters Centerline goodness [0,1] 0.9989141783253289 Centerline is valid? [True, True] Translation: X:682.16, Y:11.67, Z:6.31 [[ 9.98427370e-01 -5.39119986e-02 -1.53715051e-02 6.82162077e+02] [ 5.39152894e-02 9.98545493e-01 -2.00536098e-04 1.16686866e+01] [ 1.53599585e-02 -6.28538419e-04 9.99881831e-01 6.30725207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1692541539999 meters Centerline goodness [0,1] 0.9987494268206262 Centerline is valid? [True, True] Translation: X:682.19, Y:11.66, Z:6.31 [[ 9.98331024e-01 -5.55088164e-02 -1.59354559e-02 6.82193308e+02] [ 5.55125707e-02 9.98457967e-01 -2.06989507e-04 1.16646855e+01] [ 1.59223727e-02 -6.77974078e-04 9.99873001e-01 6.30697491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.199254154 meters Centerline goodness [0,1] 0.9988319462695284 Centerline is valid? [True, True] Translation: X:682.22, Y:11.67, Z:6.31 [[ 9.98163597e-01 -5.82063551e-02 -1.67765865e-02 6.82224774e+02] [ 5.82109100e-02 9.98304284e-01 -2.17106622e-04 1.16655814e+01] [ 1.67607752e-02 -7.59872441e-04 9.99859240e-01 6.30729870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2292541539999 meters Centerline goodness [0,1] 0.999060680067631 Centerline is valid? [True, True] Translation: X:682.26, Y:11.67, Z:6.31 [[ 9.98108516e-01 -5.91256790e-02 -1.68387842e-02 6.82256002e+02] [ 5.91304088e-02 9.98250243e-01 -2.17289053e-04 1.16651110e+01] [ 1.68221677e-02 -7.78806138e-04 9.99858194e-01 6.30761234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2592541539999 meters Centerline goodness [0,1] 0.9990411472881144 Centerline is valid? [True, True] Translation: X:682.29, Y:11.66, Z:6.31 [[ 9.98074502e-01 -5.95225562e-02 -1.74457573e-02 6.82287002e+02] [ 5.95277051e-02 9.98226629e-01 -2.24467470e-04 1.16646861e+01] [ 1.74281804e-02 -8.14470638e-04 9.99847786e-01 6.30761734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2892541539999 meters Centerline goodness [0,1] 0.9989365251480524 Centerline is valid? [True, True] Translation: X:682.32, Y:11.67, Z:6.31 [[ 9.98068368e-01 -5.91857898e-02 -1.88831907e-02 6.82318364e+02] [ 5.91917791e-02 9.98246600e-01 -2.42070393e-04 1.16650324e+01] [ 1.88644080e-02 -8.76126850e-04 9.99821667e-01 6.30709777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.319254154 meters Centerline goodness [0,1] 0.998958832226225 Centerline is valid? [True, True] Translation: X:682.35, Y:11.67, Z:6.31 [[ 9.98106516e-01 -5.84073408e-02 -1.92864220e-02 6.82349890e+02] [ 5.84134607e-02 9.98292446e-01 -2.46357758e-04 1.16662720e+01] [ 1.92678785e-02 -8.80695372e-04 9.99813969e-01 6.30738520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3492541539999 meters Centerline goodness [0,1] 0.9990836578711706 Centerline is valid? [True, True] Translation: X:682.38, Y:11.67, Z:6.31 [[ 9.98165526e-01 -5.70159435e-02 -2.03657969e-02 6.82380557e+02] [ 5.70225019e-02 9.98372860e-01 -2.59009690e-04 1.16671233e+01] [ 2.03474266e-02 -9.02774149e-04 9.99792562e-01 6.30675360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3792541539999 meters Centerline goodness [0,1] 0.9988732864564859 Centerline is valid? [True, True] Translation: X:682.41, Y:11.67, Z:6.31 [[ 9.98297364e-01 -5.48226411e-02 -1.99211190e-02 6.82411318e+02] [ 5.48284970e-02 9.98495755e-01 -2.52517288e-04 1.16715310e+01] [ 1.99049964e-02 -8.40157670e-04 9.99801523e-01 6.30771832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4092541539999 meters Centerline goodness [0,1] 0.9989576818845112 Centerline is valid? [True, True] Translation: X:682.44, Y:11.68, Z:6.31 [[ 9.98390795e-01 -5.32286719e-02 -1.95583262e-02 6.82442191e+02] [ 5.32340178e-02 9.98582034e-01 -2.47566591e-04 1.16761164e+01] [ 1.95437708e-02 -7.94000078e-04 9.99808687e-01 6.30854294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4392541539999 meters Centerline goodness [0,1] 0.9989576818845112 Centerline is valid? [True, True] Translation: X:682.47, Y:11.68, Z:6.31 [[ 9.98392755e-01 -5.31919074e-02 -1.95583331e-02 6.82473058e+02] [ 5.31972570e-02 9.98583993e-01 -2.47019072e-04 1.16764769e+01] [ 1.95437778e-02 -7.93827619e-04 9.99808687e-01 6.30883208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4692541539999 meters Centerline goodness [0,1] 0.9991044092225022 Centerline is valid? [True, True] Translation: X:682.50, Y:11.68, Z:6.31 [[ 9.98513349e-01 -5.10245055e-02 -1.91726638e-02 6.82503488e+02] [ 5.10292571e-02 9.98697130e-01 -2.41630852e-04 1.16777389e+01] [ 1.91600134e-02 -7.37095158e-04 9.99816158e-01 6.30927861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4992541539999 meters Centerline goodness [0,1] 0.999083772359078 Centerline is valid? [True, True] Translation: X:682.53, Y:11.68, Z:6.31 [[ 9.98631265e-01 -4.88278014e-02 -1.87467994e-02 6.82534982e+02] [ 4.88319673e-02 9.98806980e-01 -2.35752160e-04 1.16811319e+01] [ 1.87359453e-02 -6.80013616e-04 9.99824236e-01 6.30990576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5292541539999 meters Centerline goodness [0,1] 0.9991451031089055 Centerline is valid? [True, True] Translation: X:682.57, Y:11.69, Z:6.31 [[ 9.98891484e-01 -4.37692450e-02 -1.73221519e-02 6.82565075e+02] [ 4.37720472e-02 9.99041521e-01 -2.17518778e-04 1.16859339e+01] [ 1.73150696e-02 -5.40948396e-04 9.99849937e-01 6.31053332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5592541539999 meters Centerline goodness [0,1] 0.9989150844982266 Centerline is valid? [True, True] Translation: X:682.60, Y:11.69, Z:6.31 [[ 9.99004957e-01 -4.12312195e-02 -1.70024452e-02 6.82595808e+02] [ 4.12335520e-02 9.99149513e-01 -2.13504138e-04 1.16889472e+01] [ 1.69967879e-02 -4.87779517e-04 9.99855425e-01 6.31086455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.589254154 meters Centerline goodness [0,1] 0.998996844239169 Centerline is valid? [True, True] Translation: X:682.63, Y:11.69, Z:6.31 [[ 9.99136677e-01 -3.79844502e-02 -1.68250712e-02 6.82626494e+02] [ 3.79862742e-02 9.99278239e-01 -2.11276806e-04 1.16940929e+01] [ 1.68209528e-02 -4.28027363e-04 9.99858426e-01 6.31143081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6192541539999 meters Centerline goodness [0,1] 0.9989964877069744 Centerline is valid? [True, True] Translation: X:682.66, Y:11.70, Z:6.31 [[ 9.99230184e-01 -3.58752251e-02 -1.58747751e-02 6.82656754e+02] [ 3.58765828e-02 9.99356208e-01 -1.99343690e-04 1.16965021e+01] [ 1.58717065e-02 -3.70342451e-04 9.99873968e-01 6.31239755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6492541539999 meters Centerline goodness [0,1] 0.9990156655776158 Centerline is valid? [True, True] Translation: X:682.69, Y:11.70, Z:6.31 [[ 9.99405556e-01 -3.11860858e-02 -1.46956941e-02 6.82686047e+02] [ 3.11867445e-02 9.99513558e-01 -1.84394792e-04 1.16998105e+01] [ 1.46942960e-02 -2.74025677e-04 9.99891995e-01 6.31235371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6792541539999 meters Centerline goodness [0,1] 0.9990381599581809 Centerline is valid? [True, True] Translation: X:682.72, Y:11.70, Z:6.31 [[ 9.99464847e-01 -2.94693366e-02 -1.41978096e-02 6.82716267e+02] [ 2.94697817e-02 9.99565656e-01 -1.77904976e-04 1.17016153e+01] [ 1.41968856e-02 -2.40596580e-04 9.99899190e-01 6.31275876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.709254154 meters Centerline goodness [0,1] 0.9989966135708015 Centerline is valid? [True, True] Translation: X:682.75, Y:11.70, Z:6.31 [[ 9.99510977e-01 -2.80042803e-02 -1.39128476e-02 6.82746160e+02] [ 2.80045670e-02 9.99607780e-01 -1.74252315e-04 1.17028074e+01] [ 1.39122705e-02 -2.15456171e-04 9.99903196e-01 6.31284483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7392541539999 meters Centerline goodness [0,1] 0.9992459627589385 Centerline is valid? [True, True] Translation: X:682.78, Y:11.70, Z:6.31 [[ 9.99559037e-01 -2.62190113e-02 -1.39389862e-02 6.82776828e+02] [ 2.62191279e-02 9.99656204e-01 -1.74410524e-04 1.17043822e+01] [ 1.39387669e-02 -1.91134447e-04 9.99902832e-01 6.31213065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7692541539999 meters Centerline goodness [0,1] 0.9993291967130639 Centerline is valid? [True, True] Translation: X:682.81, Y:11.70, Z:6.31 [[ 9.99556368e-01 -2.62660700e-02 -1.40413731e-02 6.82806775e+02] [ 2.62661917e-02 9.99654969e-01 -1.75775584e-04 1.17037621e+01] [ 1.40411453e-02 -1.93115794e-04 9.99901400e-01 6.31165983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7992541539999 meters Centerline goodness [0,1] 0.9990167364016737 Centerline is valid? [True, True] Translation: X:682.84, Y:11.70, Z:6.31 [[ 9.99554304e-01 -2.62359761e-02 -1.42431138e-02 6.82836051e+02] [ 2.62360933e-02 9.99655759e-01 -1.78650160e-04 1.17047431e+01] [ 1.42428978e-02 -1.95113127e-04 9.99898546e-01 6.31150966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.829254154 meters Centerline goodness [0,1] 0.9990573152337858 Centerline is valid? [True, True] Translation: X:682.87, Y:11.71, Z:6.31 [[ 9.99549409e-01 -2.63184562e-02 -1.44332447e-02 6.82865829e+02] [ 2.63185775e-02 9.99653590e-01 -1.81568549e-04 1.17050550e+01] [ 1.44330235e-02 -1.98375734e-04 9.99895819e-01 6.31135333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8592541539999 meters Centerline goodness [0,1] 0.9988543576070655 Centerline is valid? [True, True] Translation: X:682.90, Y:11.70, Z:6.31 [[ 9.99546639e-01 -2.58371991e-02 -1.54582055e-02 6.82895725e+02] [ 2.58372733e-02 9.99666143e-01 -1.94942172e-04 1.17047961e+01] [ 1.54580815e-02 -2.04544088e-04 9.99880496e-01 6.31016424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8892541539999 meters Centerline goodness [0,1] 0.9990390440577409 Centerline is valid? [True, True] Translation: X:682.93, Y:11.70, Z:6.31 [[ 9.99560225e-01 -2.56495903e-02 -1.48813553e-02 6.82925653e+02] [ 2.56496329e-02 9.99670976e-01 -1.88032671e-04 1.17049461e+01] [ 1.48812820e-02 -1.93751323e-04 9.99889249e-01 6.31019367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9192541539999 meters Centerline goodness [0,1] 0.9988923256980438 Centerline is valid? [True, True] Translation: X:682.95, Y:11.71, Z:6.31 [[ 9.99575474e-01 -2.52669115e-02 -1.45070420e-02 6.82954908e+02] [ 2.52669040e-02 9.99680724e-01 -1.83827145e-04 1.17056545e+01] [ 1.45070550e-02 -1.82798933e-04 9.99894750e-01 6.31039166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.949254154 meters Centerline goodness [0,1] 0.9990184612814301 Centerline is valid? [True, True] Translation: X:682.98, Y:11.71, Z:6.31 [[ 9.99598133e-01 -2.44258932e-02 -1.43857132e-02 6.82984333e+02] [ 2.44257911e-02 9.99701629e-01 -1.82823179e-04 1.17055199e+01] [ 1.43858866e-02 -1.68632717e-04 9.99896504e-01 6.30976476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9792541539999 meters Centerline goodness [0,1] 0.9991258923182584 Centerline is valid? [True, True] Translation: X:683.01, Y:11.70, Z:6.31 [[ 9.99594393e-01 -2.54749240e-02 -1.27309546e-02 6.83013576e+02] [ 2.54749235e-02 9.99675448e-01 -1.62226443e-04 1.17043629e+01] [ 1.27309554e-02 -1.62159452e-04 9.99918945e-01 6.31067434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0092541539999 meters Centerline goodness [0,1] 0.9990821094793058 Centerline is valid? [True, True] Translation: X:683.04, Y:11.70, Z:6.31 [[ 9.99591423e-01 -2.59782564e-02 -1.19213063e-02 6.83044560e+02] [ 2.59782879e-02 9.99662496e-01 -1.52233506e-04 1.17031027e+01] [ 1.19212376e-02 -1.57523821e-04 9.99928927e-01 6.31101091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0392541539999 meters Centerline goodness [0,1] 0.9991847314839978 Centerline is valid? [True, True] Translation: X:683.07, Y:11.70, Z:6.31 [[ 9.99567634e-01 -2.71304101e-02 -1.13351334e-02 6.83074575e+02] [ 2.71305131e-02 9.99631889e-01 -1.44712301e-04 1.17014304e+01] [ 1.13348869e-02 -1.62878251e-04 9.99935745e-01 6.31140817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.069254154 meters Centerline goodness [0,1] 0.9992482929986846 Centerline is valid? [True, True] Translation: X:683.11, Y:11.70, Z:6.31 [[ 9.99488657e-01 -3.02623228e-02 -1.03255528e-02 6.83106101e+02] [ 3.02625773e-02 9.99541975e-01 -1.31633052e-04 1.16971245e+01] [ 1.03248070e-02 -1.80912098e-04 9.99946681e-01 6.31141559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0992541539999 meters Centerline goodness [0,1] 0.9992273315791672 Centerline is valid? [True, True] Translation: X:683.14, Y:11.69, Z:6.31 [[ 9.99438486e-01 -3.18917210e-02 -1.02776845e-02 6.83136836e+02] [ 3.18920631e-02 9.99491310e-01 -1.30651007e-04 1.16947338e+01] [ 1.02766231e-02 -1.97198919e-04 9.99947175e-01 6.31160200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1292541539999 meters Centerline goodness [0,1] 0.9988510309386033 Centerline is valid? [True, True] Translation: X:683.17, Y:11.69, Z:6.31 [[ 9.99403620e-01 -3.30623988e-02 -9.96405842e-03 6.83168404e+02] [ 3.30627819e-02 9.99453269e-01 -1.26312769e-04 1.16928653e+01] [ 9.96278696e-03 -2.03202052e-04 9.99950350e-01 6.31047049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1592541539999 meters Centerline goodness [0,1] 0.999085961194898 Centerline is valid? [True, True] Translation: X:683.20, Y:11.69, Z:6.31 [[ 9.99346935e-01 -3.47393277e-02 -9.94393786e-03 6.83199758e+02] [ 3.47397960e-02 9.99396383e-01 -1.25691176e-04 1.16904552e+01] [ 9.94230196e-03 -2.19841280e-04 9.99950550e-01 6.31161055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1892541539999 meters Centerline goodness [0,1] 0.9989978913964801 Centerline is valid? [True, True] Translation: X:683.23, Y:11.69, Z:6.31 [[ 9.99306580e-01 -3.61843395e-02 -8.77792848e-03 6.83232152e+02] [ 3.61847636e-02 9.99345111e-01 -1.10551123e-04 1.16873851e+01] [ 8.77618013e-03 -2.07152802e-04 9.99961467e-01 6.31190264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2192541539999 meters Centerline goodness [0,1] 0.9987487748420328 Centerline is valid? [True, True] Translation: X:683.26, Y:11.69, Z:6.31 [[ 9.99303453e-01 -3.63219200e-02 -8.56312627e-03 6.83264436e+02] [ 3.63223337e-02 9.99340121e-01 -1.07251884e-04 1.16862539e+01] [ 8.56137123e-03 -2.03855551e-04 9.99963330e-01 6.31198502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2492541539999 meters Centerline goodness [0,1] 0.9989140649472695 Centerline is valid? [True, True] Translation: X:683.30, Y:11.68, Z:6.31 [[ 9.99312871e-01 -3.61422808e-02 -8.21719507e-03 6.83295670e+02] [ 3.61426605e-02 9.99346635e-01 -1.02338129e-04 1.16848511e+01] [ 8.21552498e-03 -1.94723482e-04 9.99966233e-01 6.31235056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2792541539999 meters Centerline goodness [0,1] 0.9989973471476615 Centerline is valid? [True, True] Translation: X:683.33, Y:11.68, Z:6.31 [[ 9.99335067e-01 -3.53779546e-02 -8.82176926e-03 6.83326429e+02] [ 3.53783669e-02 9.99373984e-01 -1.09360821e-04 1.16833336e+01] [ 8.82011565e-03 -2.02811686e-04 9.99961081e-01 6.31177974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3092541539999 meters Centerline goodness [0,1] 0.9988533544594087 Centerline is valid? [True, True] Translation: X:683.36, Y:11.68, Z:6.31 [[ 9.99339858e-01 -3.50634948e-02 -9.50786656e-03 6.83357513e+02] [ 3.50639646e-02 9.99385063e-01 -1.17326586e-04 1.16830151e+01] [ 9.50613371e-03 -2.16134363e-04 9.99954792e-01 6.31118566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.339254154 meters Centerline goodness [0,1] 0.9990817838435694 Centerline is valid? [True, True] Translation: X:683.39, Y:11.68, Z:6.31 [[ 9.99355356e-01 -3.44495031e-02 -1.01046376e-02 6.83388988e+02] [ 3.44500085e-02 9.99406415e-01 -1.24087893e-04 1.16826896e+01] [ 1.01029144e-02 -2.24096951e-04 9.99948939e-01 6.31079474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3692541539999 meters Centerline goodness [0,1] 0.9988314100290061 Centerline is valid? [True, True] Translation: X:683.42, Y:11.68, Z:6.31 [[ 9.99380361e-01 -3.33799602e-02 -1.11656871e-02 6.83420725e+02] [ 3.33805248e-02 9.99442706e-01 -1.35843626e-04 1.16826059e+01] [ 1.11639990e-02 -2.36957043e-04 9.99937653e-01 6.30986817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3992541539999 meters Centerline goodness [0,1] 0.9991659542525908 Centerline is valid? [True, True] Translation: X:683.45, Y:11.68, Z:6.31 [[ 9.99406838e-01 -3.25357491e-02 -1.12870621e-02 6.83450725e+02] [ 3.25362771e-02 9.99470546e-01 -1.36887690e-04 1.16823390e+01] [ 1.12855399e-02 -2.30432488e-04 9.99936290e-01 6.30988139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4292541539999 meters Centerline goodness [0,1] 0.9991217982226869 Centerline is valid? [True, True] Translation: X:683.48, Y:11.69, Z:6.31 [[ 9.99438947e-01 -3.15461188e-02 -1.12531568e-02 6.83482322e+02] [ 3.15465878e-02 9.99502273e-01 -1.35867756e-04 1.16859774e+01] [ 1.12518419e-02 -2.19207172e-04 9.99936672e-01 6.30999123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.459254154 meters Centerline goodness [0,1] 0.9991424746925458 Centerline is valid? [True, True] Translation: X:683.51, Y:11.69, Z:6.31 [[ 9.99458337e-01 -3.07764202e-02 -1.16552307e-02 6.83513584e+02] [ 3.07768762e-02 9.99526270e-01 -1.40281646e-04 1.16863331e+01] [ 1.16540267e-02 -2.18505933e-04 9.99932066e-01 6.31006522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4892541539999 meters Centerline goodness [0,1] 0.9991024650900666 Centerline is valid? [True, True] Translation: X:683.54, Y:11.69, Z:6.31 [[ 9.99481180e-01 -2.96089154e-02 -1.26760655e-02 6.83544155e+02] [ 2.96093683e-02 9.99561535e-01 -1.51984132e-04 1.16872786e+01] [ 1.26750076e-02 -2.23425012e-04 9.99919644e-01 6.30987420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5192541539999 meters Centerline goodness [0,1] 0.9991014523038345 Centerline is valid? [True, True] Translation: X:683.57, Y:11.69, Z:6.31 [[ 9.99495563e-01 -2.91242199e-02 -1.26648544e-02 6.83574488e+02] [ 2.91246406e-02 9.99575776e-01 -1.51251952e-04 1.16880818e+01] [ 1.26638868e-02 -2.17683678e-04 9.99919786e-01 6.31012633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5492541539999 meters Centerline goodness [0,1] 0.9991844587106083 Centerline is valid? [True, True] Translation: X:683.61, Y:11.69, Z:6.31 [[ 9.99480795e-01 -2.94392195e-02 -1.30947828e-02 6.83605091e+02] [ 2.94396964e-02 9.99566546e-01 -1.56386437e-04 1.16886646e+01] [ 1.30937107e-02 -2.29201189e-04 9.99914247e-01 6.31041811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.579254154 meters Centerline goodness [0,1] 0.9992065314986114 Centerline is valid? [True, True] Translation: X:683.64, Y:11.69, Z:6.31 [[ 9.99461350e-01 -3.00269741e-02 -1.32435457e-02 6.83635138e+02] [ 3.00275134e-02 9.99549060e-01 -1.58163061e-04 1.16880841e+01] [ 1.32423229e-02 -2.39592881e-04 9.99912288e-01 6.31076338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6092541539999 meters Centerline goodness [0,1] 0.9992056358049208 Centerline is valid? [True, True] Translation: X:683.66, Y:11.68, Z:6.31 [[ 9.99363343e-01 -3.33252404e-02 -1.27411561e-02 6.83664776e+02] [ 3.33260067e-02 9.99444523e-01 -1.52223739e-04 1.16849747e+01] [ 1.27391515e-02 -2.72485028e-04 9.99918817e-01 6.31117580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6392541539999 meters Centerline goodness [0,1] 0.9991241971807491 Centerline is valid? [True, True] Translation: X:683.70, Y:11.68, Z:6.31 [[ 9.99274736e-01 -3.59206530e-02 -1.26376077e-02 6.83695078e+02] [ 3.59216130e-02 9.99354599e-01 -1.51095109e-04 1.16825783e+01] [ 1.26348788e-02 -3.02977727e-04 9.99920131e-01 6.31151528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6692541539999 meters Centerline goodness [0,1] 0.9991650315200601 Centerline is valid? [True, True] Translation: X:683.73, Y:11.68, Z:6.31 [[ 9.99039306e-01 -4.20279942e-02 -1.24142154e-02 6.83725448e+02] [ 4.20293948e-02 9.99116364e-01 -1.48164593e-04 1.16773308e+01] [ 1.24094728e-02 -3.73739708e-04 9.99922930e-01 6.31183988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.699254154 meters Centerline goodness [0,1] 0.9988724630418442 Centerline is valid? [True, True] Translation: X:683.76, Y:11.67, Z:6.31 [[ 9.98888307e-01 -4.53818867e-02 -1.27527896e-02 6.83756475e+02] [ 4.53836424e-02 9.98969620e-01 -1.51843252e-04 1.16747307e+01] [ 1.27465403e-02 -4.27093594e-04 9.99918668e-01 6.31089649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7292541539999 meters Centerline goodness [0,1] 0.9987077410479803 Centerline is valid? [True, True] Translation: X:683.79, Y:11.67, Z:6.31 [[ 9.98701693e-01 -4.94130921e-02 -1.23804177e-02 6.83787416e+02] [ 4.94150586e-02 9.98778319e-01 -1.47198427e-04 1.16716702e+01] [ 1.23725664e-02 -4.64771750e-04 9.99923349e-01 6.31211657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7592541539999 meters Centerline goodness [0,1] 0.9987266464878405 Centerline is valid? [True, True] Translation: X:683.82, Y:11.67, Z:6.31 [[ 9.98512743e-01 -5.29053869e-02 -1.31652020e-02 6.83818751e+02] [ 5.29079177e-02 9.98599383e-01 -1.56224733e-04 1.16683958e+01] [ 1.31550277e-02 -5.40551037e-04 9.99913323e-01 6.31124558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7892541539999 meters Centerline goodness [0,1] 0.9986664444074013 Centerline is valid? [True, True] Translation: X:683.85, Y:11.66, Z:6.31 [[ 9.98115953e-01 -5.98645546e-02 -1.34454481e-02 6.83847907e+02] [ 5.98678269e-02 9.98206300e-01 -1.59349183e-04 1.16615916e+01] [ 1.34308704e-02 -6.45900799e-04 9.99909593e-01 6.31096946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8192541539999 meters Centerline goodness [0,1] 0.9988748359135707 Centerline is valid? [True, True] Translation: X:683.88, Y:11.66, Z:6.31 [[ 9.97902143e-01 -6.34142995e-02 -1.30361142e-02 6.83879008e+02] [ 6.34176747e-02 9.97987061e-01 -1.54722856e-04 1.16616250e+01] [ 1.30196850e-02 -6.72321782e-04 9.99915014e-01 6.31318573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8492541539999 meters Centerline goodness [0,1] 0.9987910369984366 Centerline is valid? [True, True] Translation: X:683.91, Y:11.66, Z:6.31 [[ 9.97739612e-01 -6.59785662e-02 -1.27473788e-02 6.83909008e+02] [ 6.59820042e-02 9.97820802e-01 -1.51135448e-04 1.16586811e+01] [ 1.27295714e-02 -6.90303776e-04 9.99918737e-01 6.31341693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8792541539999 meters Centerline goodness [0,1] 0.9987905580115105 Centerline is valid? [True, True] Translation: X:683.94, Y:11.66, Z:6.31 [[ 9.97594476e-01 -6.81046089e-02 -1.29237773e-02 6.83940534e+02] [ 6.81083222e-02 9.97677920e-01 -1.53103671e-04 1.16578244e+01] [ 1.29041943e-02 -7.27481409e-04 9.99916473e-01 6.31373868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9092541539999 meters Centerline goodness [0,1] 0.9985860434167845 Centerline is valid? [True, True] Translation: X:683.97, Y:11.66, Z:6.31 [[ 9.97420221e-01 -7.06238883e-02 -1.28518506e-02 6.83971886e+02] [ 7.06277744e-02 9.97502729e-01 -1.51806078e-04 1.16592793e+01] [ 1.28304772e-02 -7.56283152e-04 9.99917400e-01 6.31408618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9392541539999 meters Centerline goodness [0,1] 0.9989365029715358 Centerline is valid? [True, True] Translation: X:684.00, Y:11.66, Z:6.31 [[ 9.97397672e-01 -7.08247863e-02 -1.34808375e-02 6.84004154e+02] [ 7.08290892e-02 9.97488454e-01 -1.58583926e-04 1.16648911e+01] [ 1.34582114e-02 -7.96664200e-04 9.99909117e-01 6.31373755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9692541539999 meters Centerline goodness [0,1] 0.9987069325102194 Centerline is valid? [True, True] Translation: X:684.04, Y:11.67, Z:6.31 [[ 9.97382235e-01 -7.11531784e-02 -1.28803447e-02 6.84035966e+02] [ 7.11571456e-02 9.97465106e-01 -1.50596479e-04 1.16656345e+01] [ 1.28584098e-02 -7.66326312e-04 9.99917034e-01 6.31494648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9992541539999 meters Centerline goodness [0,1] 0.9987266996472332 Centerline is valid? [True, True] Translation: X:684.07, Y:11.67, Z:6.32 [[ 9.97457177e-01 -7.00384658e-02 -1.31830837e-02 6.84067547e+02] [ 7.00425377e-02 9.97543994e-01 -1.53148242e-04 1.16666006e+01] [ 1.31614322e-02 -7.70617823e-04 9.99913088e-01 6.31539711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0292541539999 meters Centerline goodness [0,1] 0.9985179928195709 Centerline is valid? [True, True] Translation: X:684.10, Y:11.67, Z:6.32 [[ 9.97536115e-01 -6.88460412e-02 -1.34878712e-02 6.84099348e+02] [ 6.88502085e-02 9.97626997e-01 -1.55683417e-04 1.16709194e+01] [ 1.34665827e-02 -7.73342915e-04 9.99909022e-01 6.31530677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0592541539999 meters Centerline goodness [0,1] 0.9987893967856397 Centerline is valid? [True, True] Translation: X:684.13, Y:11.67, Z:6.32 [[ 9.97593148e-01 -6.78485455e-02 -1.42998405e-02 6.84130702e+02] [ 6.78531419e-02 9.97695306e-01 -1.64054486e-04 1.16668012e+01] [ 1.42780146e-02 -8.06629478e-04 9.99897739e-01 6.31551235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.089254154 meters Centerline goodness [0,1] 0.9987493486190724 Centerline is valid? [True, True] Translation: X:684.16, Y:11.67, Z:6.31 [[ 9.97693365e-01 -6.60900662e-02 -1.54936435e-02 6.84161724e+02] [ 6.60952628e-02 9.97813302e-01 -1.76974960e-04 1.16730855e+01] [ 1.54714598e-02 -8.47489693e-04 9.99879951e-01 6.31362242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1192541539999 meters Centerline goodness [0,1] 0.998810393404988 Centerline is valid? [True, True] Translation: X:684.19, Y:11.68, Z:6.32 [[ 9.97859079e-01 -6.36040703e-02 -1.52243264e-02 6.84193424e+02] [ 6.36088092e-02 9.97974894e-01 -1.73250134e-04 1.16808745e+01] [ 1.52045150e-02 -7.95522056e-04 9.99884088e-01 6.31625385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1492541539999 meters Centerline goodness [0,1] 0.998732072334234 Centerline is valid? [True, True] Translation: X:684.23, Y:11.68, Z:6.32 [[ 9.97977316e-01 -6.16969756e-02 -1.53218605e-02 6.84225136e+02] [ 6.17015640e-02 9.98094628e-01 -1.73524389e-04 1.16837141e+01] [ 1.53033726e-02 -7.72209352e-04 9.99882598e-01 6.31686868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1792541539999 meters Centerline goodness [0,1] 0.9986872812135356 Centerline is valid? [True, True] Translation: X:684.26, Y:11.69, Z:6.32 [[ 9.98076563e-01 -6.01789119e-02 -1.48886568e-02 6.84256999e+02] [ 6.01830876e-02 9.98187341e-01 -1.67828267e-04 1.16865149e+01] [ 1.48717685e-02 -7.28539879e-04 9.99889144e-01 6.31767905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.209254154 meters Centerline goodness [0,1] 0.9986445060788689 Centerline is valid? [True, True] Translation: X:684.29, Y:11.69, Z:6.32 [[ 9.98154803e-01 -5.89125728e-02 -1.47070428e-02 6.84288160e+02] [ 5.89165203e-02 9.98262899e-01 -1.65090724e-04 1.16899126e+01] [ 1.46912211e-02 -7.01701685e-04 9.99891832e-01 6.31843498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2392541539999 meters Centerline goodness [0,1] 0.9986471298339091 Centerline is valid? [True, True] Translation: X:684.32, Y:11.70, Z:6.32 [[ 9.98345553e-01 -5.57144850e-02 -1.42145636e-02 6.84319984e+02] [ 5.57178573e-02 9.98446541e-01 -1.58974994e-04 1.16962030e+01] [ 1.42013391e-02 -6.33293048e-04 9.99898955e-01 6.31918623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2692541539999 meters Centerline goodness [0,1] 0.9987067167292449 Centerline is valid? [True, True] Translation: X:684.35, Y:11.70, Z:6.32 [[ 9.98431533e-01 -5.40552862e-02 -1.45773457e-02 6.84351011e+02] [ 5.40586680e-02 9.98537748e-01 -1.62233388e-04 1.16971269e+01] [ 1.45647996e-02 -6.26052964e-04 9.99893732e-01 6.31919918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2992541539999 meters Centerline goodness [0,1] 0.9988742494996664 Centerline is valid? [True, True] Translation: X:684.38, Y:11.70, Z:6.32 [[ 9.98526891e-01 -5.21126377e-02 -1.51103221e-02 6.84381971e+02] [ 5.21160602e-02 9.98641021e-01 -1.67441360e-04 1.17019420e+01] [ 1.50985133e-02 -6.20295758e-04 9.99885819e-01 6.31914341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.329254154 meters Centerline goodness [0,1] 0.998537339629738 Centerline is valid? [True, True] Translation: X:684.41, Y:11.71, Z:6.32 [[ 9.98730591e-01 -4.76400491e-02 -1.63595019e-02 6.84411895e+02] [ 4.76434677e-02 9.98864389e-01 -1.80926098e-04 1.17087884e+01] [ 1.63495431e-02 -5.98726970e-04 9.99866158e-01 6.31811967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3592541539999 meters Centerline goodness [0,1] 0.998537339629738 Centerline is valid? [True, True] Translation: X:684.44, Y:11.71, Z:6.32 [[ 9.98732242e-01 -4.76054188e-02 -1.63595045e-02 6.84442756e+02] [ 4.76088367e-02 9.98866040e-01 -1.80683630e-04 1.17090971e+01] [ 1.63495550e-02 -5.98402414e-04 9.99866158e-01 6.31840879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3892541539999 meters Centerline goodness [0,1] 0.9989337013109202 Centerline is valid? [True, True] Translation: X:684.47, Y:11.72, Z:6.32 [[ 9.98845191e-01 -4.48812297e-02 -1.71452690e-02 6.84473676e+02] [ 4.48845938e-02 9.98992161e-01 -1.88739912e-04 1.17158793e+01] [ 1.71364602e-02 -5.81036484e-04 9.99852991e-01 6.31934853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4192541539999 meters Centerline goodness [0,1] 0.9987445597589555 Centerline is valid? [True, True] Translation: X:684.50, Y:11.72, Z:6.32 [[ 9.98932325e-01 -4.25429606e-02 -1.80085241e-02 6.84503707e+02] [ 4.25463017e-02 9.99094477e-01 -1.97732512e-04 1.17191297e+01] [ 1.80006290e-02 -5.68674700e-04 9.99837814e-01 6.31918308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.449254154 meters Centerline goodness [0,1] 0.9987218974584616 Centerline is valid? [True, True] Translation: X:684.53, Y:11.72, Z:6.32 [[ 9.99001864e-01 -4.06614268e-02 -1.84911789e-02 6.84533195e+02] [ 4.06646276e-02 9.99172831e-01 -2.03020603e-04 1.17219333e+01] [ 1.84841387e-02 -5.49118943e-04 9.99829003e-01 6.31924651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4792541539999 meters Centerline goodness [0,1] 0.9989525944236127 Centerline is valid? [True, True] Translation: X:684.56, Y:11.73, Z:6.32 [[ 9.99117164e-01 -3.75387689e-02 -1.88608966e-02 6.84563677e+02] [ 3.75415400e-02 9.99295046e-01 -2.07247344e-04 1.17306226e+01] [ 1.88553803e-02 -5.01002724e-04 9.99822096e-01 6.32085473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5092541539999 meters Centerline goodness [0,1] 0.9990345261832302 Centerline is valid? [True, True] Translation: X:684.59, Y:11.73, Z:6.32 [[ 9.99141396e-01 -3.66243113e-02 -1.93682947e-02 6.84593837e+02] [ 3.66270618e-02 9.99328981e-01 -2.12822737e-04 1.17334003e+01] [ 1.93630927e-02 -4.96763721e-04 9.99812394e-01 6.32129437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5392541539999 meters Centerline goodness [0,1] 0.9988914453043296 Centerline is valid? [True, True] Translation: X:684.62, Y:11.73, Z:6.32 [[ 9.99164353e-01 -3.59115627e-02 -1.95180700e-02 6.84623574e+02] [ 3.59142165e-02 9.99354853e-01 -2.14649880e-04 1.17339152e+01] [ 1.95131864e-02 -4.86505685e-04 9.99809481e-01 6.32075123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5692541539999 meters Centerline goodness [0,1] 0.9989531426657176 Centerline is valid? [True, True] Translation: X:684.65, Y:11.74, Z:6.32 [[ 9.99161595e-01 -3.57542120e-02 -1.99434836e-02 6.84653105e+02] [ 3.57569407e-02 9.99360492e-01 -2.19869400e-04 1.17381657e+01] [ 1.99385909e-02 -4.93432901e-04 9.99801085e-01 6.32104935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5992541539999 meters Centerline goodness [0,1] 0.9990996461399946 Centerline is valid? [True, True] Translation: X:684.68, Y:11.74, Z:6.32 [[ 9.99152532e-01 -3.58163470e-02 -2.02831948e-02 6.84683193e+02] [ 3.58191677e-02 9.99358263e-01 -2.24331985e-04 1.17398790e+01] [ 2.02782131e-02 -5.02385286e-04 9.99794250e-01 6.32133832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6292541539999 meters Centerline goodness [0,1] 0.9988054321401626 Centerline is valid? [True, True] Translation: X:684.71, Y:11.74, Z:6.32 [[ 9.99143040e-01 -3.61875633e-02 -2.00909344e-02 6.84713105e+02] [ 3.61903916e-02 9.99344888e-01 -2.22908554e-04 1.17411247e+01] [ 2.00858391e-02 -5.04381255e-04 9.99798132e-01 6.32165606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6592541539999 meters Centerline goodness [0,1] 0.9988689915174364 Centerline is valid? [True, True] Translation: X:684.74, Y:11.74, Z:6.32 [[ 9.99129751e-01 -3.66624574e-02 -1.98897962e-02 6.84743173e+02] [ 3.66653097e-02 9.99327577e-01 -2.21369272e-04 1.17419472e+01] [ 1.98845378e-02 -5.08088912e-04 9.99802154e-01 6.32190746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6892541539999 meters Centerline goodness [0,1] 0.9988488907492675 Centerline is valid? [True, True] Translation: X:684.77, Y:11.74, Z:6.32 [[ 9.99100623e-01 -3.78655332e-02 -1.90826474e-02 6.84772238e+02] [ 3.78683687e-02 9.99282713e-01 -2.12867104e-04 1.17424895e+01] [ 1.90770200e-02 -5.09953069e-04 9.99817887e-01 6.32256393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7192541539999 meters Centerline goodness [0,1] 0.9988282067378113 Centerline is valid? [True, True] Translation: X:684.80, Y:11.74, Z:6.32 [[ 9.99083529e-01 -3.85610260e-02 -1.85781804e-02 6.84802313e+02] [ 3.85638307e-02 9.99256117e-01 -2.07397445e-04 1.17428742e+01] [ 1.85723579e-02 -5.09238434e-04 9.99827389e-01 6.32294347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7492541539999 meters Centerline goodness [0,1] 0.9986034975092232 Centerline is valid? [True, True] Translation: X:684.83, Y:11.74, Z:6.32 [[ 9.99073766e-01 -3.86502041e-02 -1.89148571e-02 6.84831673e+02] [ 3.86531243e-02 9.99252666e-01 -2.11318613e-04 1.17429970e+01] [ 1.89088889e-02 -5.19995440e-04 9.99821076e-01 6.32225839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7792541539999 meters Centerline goodness [0,1] 0.9987418482249575 Centerline is valid? [True, True] Translation: X:684.86, Y:11.74, Z:6.32 [[ 9.99017087e-01 -4.03094831e-02 -1.84392191e-02 6.84861597e+02] [ 4.03125518e-02 9.99187098e-01 -2.05394444e-04 1.17424064e+01] [ 1.84325092e-02 -5.38139418e-04 9.99829962e-01 6.32326787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8092541539999 meters Centerline goodness [0,1] 0.9989111999832492 Centerline is valid? [True, True] Translation: X:684.89, Y:11.74, Z:6.32 [[ 9.98992698e-01 -4.09998809e-02 -1.82372944e-02 6.84892481e+02] [ 4.10030119e-02 9.99159002e-01 -2.02363243e-04 1.17424333e+01] [ 1.82302537e-02 -5.45624597e-04 9.99833666e-01 6.32398807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.839254154 meters Centerline goodness [0,1] 0.999036850921273 Centerline is valid? [True, True] Translation: X:684.92, Y:11.74, Z:6.32 [[ 9.98959961e-01 -4.17188939e-02 -1.83992128e-02 6.84922643e+02] [ 4.17222027e-02 9.99129229e-01 -2.04159910e-04 1.17424429e+01] [ 1.83917087e-02 -5.63708111e-04 9.99830699e-01 6.32392574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8692541539999 meters Centerline goodness [0,1] 0.9987853657515026 Centerline is valid? [True, True] Translation: X:684.95, Y:11.74, Z:6.32 [[ 9.98917913e-01 -4.25331680e-02 -1.88131183e-02 6.84953089e+02] [ 4.25367746e-02 9.99094880e-01 -2.08596414e-04 1.17421187e+01] [ 1.88049625e-02 -5.91878679e-04 9.99822996e-01 6.32375399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8992541539999 meters Centerline goodness [0,1] 0.9987649410730359 Centerline is valid? [True, True] Translation: X:684.98, Y:11.75, Z:6.32 [[ 9.98853100e-01 -4.39673707e-02 -1.89566792e-02 6.84983961e+02] [ 4.39712967e-02 9.99032773e-01 -2.09859293e-04 1.17471434e+01] [ 1.89475708e-02 -6.23931163e-04 9.99820284e-01 6.32494573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9292541539999 meters Centerline goodness [0,1] 0.9986570139544644 Centerline is valid? [True, True] Translation: X:685.02, Y:11.75, Z:6.32 [[ 9.98825045e-01 -4.44600314e-02 -1.92830211e-02 6.85015011e+02] [ 4.44641957e-02 9.99010956e-01 -2.12942415e-04 1.17476707e+01] [ 1.92734167e-02 -6.44711806e-04 9.99814043e-01 6.32489022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.959254154 meters Centerline goodness [0,1] 0.9987624541164132 Centerline is valid? [True, True] Translation: X:685.05, Y:11.75, Z:6.32 [[ 9.98825260e-01 -4.44157820e-02 -1.93736445e-02 6.85045224e+02] [ 4.44199873e-02 9.99012922e-01 -2.13424481e-04 1.17472807e+01] [ 1.93640006e-02 -6.47403278e-04 9.99812291e-01 6.32463251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9892541539999 meters Centerline goodness [0,1] 0.9984854540482552 Centerline is valid? [True, True] Translation: X:685.08, Y:11.75, Z:6.32 [[ 9.98844725e-01 -4.39437218e-02 -1.94464400e-02 6.85076812e+02] [ 4.39478798e-02 9.99033802e-01 -2.13691856e-04 1.17499635e+01] [ 1.94370414e-02 -6.41184827e-04 9.99810877e-01 6.32489193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0192541539999 meters Centerline goodness [0,1] 0.9985704675412042 Centerline is valid? [True, True] Translation: X:685.11, Y:11.75, Z:6.32 [[ 9.98985165e-01 -4.06032296e-02 -1.94940558e-02 6.85108259e+02] [ 4.06067865e-02 9.99175182e-01 -2.13499391e-04 1.17540643e+01] [ 1.94866455e-02 -5.78308237e-04 9.99809950e-01 6.32498415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0492541539999 meters Centerline goodness [0,1] 0.998779178681934 Centerline is valid? [True, True] Translation: X:685.14, Y:11.76, Z:6.33 [[ 9.99084384e-01 -3.83181135e-02 -1.90293351e-02 6.85138908e+02] [ 3.83210984e-02 9.99265455e-01 -2.07896002e-04 1.17554207e+01] [ 1.90233234e-02 -5.21519375e-04 9.99818904e-01 6.32553165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.079254154 meters Centerline goodness [0,1] 0.9988845862446334 Centerline is valid? [True, True] Translation: X:685.17, Y:11.76, Z:6.33 [[ 9.99199233e-01 -3.53547027e-02 -1.87333592e-02 6.85169956e+02] [ 3.53570813e-02 9.99374722e-01 -2.04322158e-04 1.17601163e+01] [ 1.87288694e-02 -4.58198361e-04 9.99824494e-01 6.32708433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1092541539999 meters Centerline goodness [0,1] 0.9985653403097177 Centerline is valid? [True, True] Translation: X:685.20, Y:11.76, Z:6.33 [[ 9.99414954e-01 -2.91641941e-02 -1.78661645e-02 6.85199223e+02] [ 2.91653689e-02 9.99574581e-01 -1.94854647e-04 1.17644510e+01] [ 1.78642466e-02 -3.26332629e-04 9.99840368e-01 6.32766284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1392541539999 meters Centerline goodness [0,1] 0.9985905122541285 Centerline is valid? [True, True] Translation: X:685.23, Y:11.77, Z:6.33 [[ 9.99511467e-01 -2.60038647e-02 -1.73385532e-02 6.85228834e+02] [ 2.60044905e-02 9.99661808e-01 -1.89404571e-04 1.17670211e+01] [ 1.73376147e-02 -2.61568200e-04 9.99849658e-01 6.32824240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1692541539999 meters Centerline goodness [0,1] 0.9987352445193929 Centerline is valid? [True, True] Translation: X:685.26, Y:11.77, Z:6.33 [[ 9.99589151e-01 -2.33640155e-02 -1.66027640e-02 6.85258720e+02] [ 2.33642183e-02 9.99727003e-01 -1.81780315e-04 1.17706540e+01] [ 1.66024786e-02 -2.06204970e-04 9.99862148e-01 6.32959307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.199254154 meters Centerline goodness [0,1] 0.9988383881050942 Centerline is valid? [True, True] Translation: X:685.29, Y:11.77, Z:6.33 [[ 9.99641311e-01 -2.10979674e-02 -1.64962370e-02 6.85287773e+02] [ 2.10978242e-02 9.99777399e-01 -1.82730272e-04 1.17727176e+01] [ 1.64964202e-02 -1.65369980e-04 9.99863911e-01 6.33034017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2292541539999 meters Centerline goodness [0,1] 0.9987553530367277 Centerline is valid? [True, True] Translation: X:685.32, Y:11.77, Z:6.33 [[ 9.99712185e-01 -1.77633497e-02 -1.61248509e-02 6.85317049e+02] [ 1.77627169e-02 9.99842214e-01 -1.82472251e-04 1.17746250e+01] [ 1.61255479e-02 -1.04001428e-04 9.99869969e-01 6.33023575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2592541539999 meters Centerline goodness [0,1] 0.9986932237327432 Centerline is valid? [True, True] Translation: X:685.34, Y:11.77, Z:6.33 [[ 9.99720942e-01 -1.71907826e-02 -1.62023300e-02 6.85344954e+02] [ 1.71900235e-02 9.99852223e-01 -1.86130135e-04 1.17748110e+01] [ 1.62031354e-02 -9.24402397e-05 9.99868716e-01 6.32979456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2892541539999 meters Centerline goodness [0,1] 0.9989443682043703 Centerline is valid? [True, True] Translation: X:685.37, Y:11.78, Z:6.33 [[ 9.99706164e-01 -1.74115250e-02 -1.68648711e-02 6.85372700e+02] [ 1.74106834e-02 9.99848403e-01 -1.96739717e-04 1.17751201e+01] [ 1.68657399e-02 -9.69470230e-05 9.99857759e-01 6.32969367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3192541539999 meters Centerline goodness [0,1] 0.9987143549644867 Centerline is valid? [True, True] Translation: X:685.40, Y:11.77, Z:6.33 [[ 9.99676331e-01 -1.82540730e-02 -1.77206785e-02 6.85401477e+02] [ 1.82531892e-02 9.99833374e-01 -2.11629711e-04 1.17745729e+01] [ 1.77215888e-02 -1.11897683e-04 9.99842954e-01 6.32909402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3492541539999 meters Centerline goodness [0,1] 0.9987997725884904 Centerline is valid? [True, True] Translation: X:685.43, Y:11.77, Z:6.33 [[ 9.99576812e-01 -2.18374725e-02 -1.92177626e-02 6.85430056e+02] [ 2.18369976e-02 9.99761517e-01 -2.34582836e-04 1.17713749e+01] [ 1.92183022e-02 -1.85174674e-04 9.99815294e-01 6.32792512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3792541539999 meters Centerline goodness [0,1] 0.9984641279192089 Centerline is valid? [True, True] Translation: X:685.46, Y:11.77, Z:6.33 [[ 9.99502830e-01 -2.38833815e-02 -2.05834190e-02 6.85458478e+02] [ 2.38831581e-02 9.99714724e-01 -2.56713300e-04 1.17690345e+01] [ 2.05836783e-02 -2.35011381e-04 9.99788106e-01 6.32589242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4092541539999 meters Centerline goodness [0,1] 0.9986536236457347 Centerline is valid? [True, True] Translation: X:685.49, Y:11.76, Z:6.33 [[ 9.99331970e-01 -3.04290958e-02 -2.02406354e-02 6.85487351e+02] [ 3.04301172e-02 9.99536864e-01 -2.57599134e-04 1.17636946e+01] [ 2.02390997e-02 -3.58497857e-04 9.99795104e-01 6.32774877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4392541539999 meters Centerline goodness [0,1] 0.9988010348961949 Centerline is valid? [True, True] Translation: X:685.52, Y:11.76, Z:6.33 [[ 9.99240096e-01 -3.35143794e-02 -1.99001542e-02 6.85515657e+02] [ 3.35159120e-02 9.99438151e-01 -2.56591463e-04 1.17612846e+01] [ 1.98975728e-02 -4.10575339e-04 9.99801939e-01 6.32841381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4692541539999 meters Centerline goodness [0,1] 0.9986331616023552 Centerline is valid? [True, True] Translation: X:685.54, Y:11.76, Z:6.33 [[ 9.99133030e-01 -3.67336432e-02 -1.95915442e-02 6.85544221e+02] [ 3.67357196e-02 9.99324983e-01 -2.54015544e-04 1.17564550e+01] [ 1.95876505e-02 -4.65914155e-04 9.99808035e-01 6.32792028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4992541539999 meters Centerline goodness [0,1] 0.9985893251921255 Centerline is valid? [True, True] Translation: X:685.57, Y:11.75, Z:6.33 [[ 9.98943285e-01 -4.22826201e-02 -1.80136980e-02 6.85574179e+02] [ 4.22852654e-02 9.99105551e-01 -2.34183520e-04 1.17529189e+01] [ 1.80074876e-02 -5.27777947e-04 9.99837713e-01 6.33028662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5292541539999 meters Centerline goodness [0,1] 0.9986950115765102 Centerline is valid? [True, True] Translation: X:685.61, Y:11.75, Z:6.33 [[ 9.98874274e-01 -4.42648478e-02 -1.70530856e-02 6.85605270e+02] [ 4.42675090e-02 9.99019689e-01 -2.21576788e-04 1.17507823e+01] [ 1.70461764e-02 -5.33570268e-04 9.99854561e-01 6.33055010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5592541539999 meters Centerline goodness [0,1] 0.9987392574226219 Centerline is valid? [True, True] Translation: X:685.64, Y:11.75, Z:6.33 [[ 9.98808120e-01 -4.60236859e-02 -1.62529919e-02 6.85636962e+02] [ 4.60263534e-02 9.98940204e-01 -2.10093986e-04 1.17490938e+01] [ 1.62454364e-02 -5.38222371e-04 9.99867889e-01 6.33124562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.589254154 meters Centerline goodness [0,1] 0.9986110234231959 Centerline is valid? [True, True] Translation: X:685.67, Y:11.74, Z:6.33 [[ 9.98629289e-01 -5.02227752e-02 -1.47382840e-02 6.85667366e+02] [ 5.02254405e-02 9.98737888e-01 -1.89475087e-04 1.17447493e+01] [ 1.47291986e-02 -5.51021435e-04 9.99891368e-01 6.33314925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6192541539999 meters Centerline goodness [0,1] 0.9986555751617511 Centerline is valid? [True, True] Translation: X:685.70, Y:11.74, Z:6.33 [[ 9.98550740e-01 -5.19007394e-02 -1.42384201e-02 6.85698423e+02] [ 5.19034032e-02 9.98652093e-01 -1.82623416e-04 1.17419242e+01] [ 1.42287064e-02 -5.56663715e-04 9.99898612e-01 6.33348858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6492541539999 meters Centerline goodness [0,1] 0.9985507855162564 Centerline is valid? [True, True] Translation: X:685.73, Y:11.74, Z:6.33 [[ 9.98481998e-01 -5.32566672e-02 -1.40508820e-02 6.85730355e+02] [ 5.32594073e-02 9.98580694e-01 -1.79370378e-04 1.17443303e+01] [ 1.40404922e-02 -5.69243556e-04 9.99901265e-01 6.33332574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6792541539999 meters Centerline goodness [0,1] 0.998427277302466 Centerline is valid? [True, True] Translation: X:685.76, Y:11.74, Z:6.34 [[ 9.98260928e-01 -5.74082899e-02 -1.33943597e-02 6.85761182e+02] [ 5.74111627e-02 9.98350604e-01 -1.70246251e-04 1.17425321e+01] [ 1.33820406e-02 -5.99035585e-04 9.99910277e-01 6.33504453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.709254154 meters Centerline goodness [0,1] 0.9985550948611635 Centerline is valid? [True, True] Translation: X:685.79, Y:11.74, Z:6.34 [[ 9.98168327e-01 -5.90043161e-02 -1.33597340e-02 6.85791900e+02] [ 5.90073211e-02 9.98257536e-01 -1.69481783e-04 1.17402551e+01] [ 1.33464553e-02 -6.19150764e-04 9.99910740e-01 6.33523610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7392541539999 meters Centerline goodness [0,1] 0.9987222187310165 Centerline is valid? [True, True] Translation: X:685.82, Y:11.74, Z:6.34 [[ 9.98068929e-01 -6.06335127e-02 -1.34903649e-02 6.85823579e+02] [ 6.06367330e-02 9.98159886e-01 -1.70556084e-04 1.17383271e+01] [ 1.34758825e-02 -6.47784927e-04 9.99908986e-01 6.33534077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7692541539999 meters Centerline goodness [0,1] 0.9985996154167712 Centerline is valid? [True, True] Translation: X:685.86, Y:11.74, Z:6.34 [[ 9.97931232e-01 -6.27652542e-02 -1.39204489e-02 6.85855128e+02] [ 6.27689010e-02 9.98028073e-01 -1.75206133e-04 1.17352070e+01] [ 1.39039957e-02 -6.98927610e-04 9.99903091e-01 6.33519144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7992541539999 meters Centerline goodness [0,1] 0.9985576018563037 Centerline is valid? [True, True] Translation: X:685.89, Y:11.74, Z:6.34 [[ 9.97916101e-01 -6.30506377e-02 -1.37139217e-02 6.85887146e+02] [ 6.30542154e-02 9.98010088e-01 -1.71772434e-04 1.17379054e+01] [ 1.36974625e-02 -6.93306094e-04 9.99905945e-01 6.33569932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.829254154 meters Centerline goodness [0,1] 0.9985786250287411 Centerline is valid? [True, True] Translation: X:685.92, Y:11.74, Z:6.34 [[ 9.97916188e-01 -6.29540280e-02 -1.41446870e-02 6.85918365e+02] [ 6.29578384e-02 9.98016172e-01 -1.76176790e-04 1.17379173e+01] [ 1.41277174e-02 -7.14709249e-04 9.99899943e-01 6.33575461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8592541539999 meters Centerline goodness [0,1] 0.9984535974756024 Centerline is valid? [True, True] Translation: X:685.95, Y:11.74, Z:6.34 [[ 9.97985622e-01 -6.18474588e-02 -1.41276591e-02 6.85950408e+02] [ 6.18511617e-02 9.98085369e-01 -1.75090273e-04 1.17387672e+01] [ 1.41114387e-02 -6.99074550e-04 9.99900184e-01 6.33580111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8892541539999 meters Centerline goodness [0,1] 0.9986194201564658 Centerline is valid? [True, True] Translation: X:685.98, Y:11.74, Z:6.34 [[ 9.98189201e-01 -5.81566329e-02 -1.53663322e-02 6.85980347e+02] [ 5.81605889e-02 9.98307222e-01 -1.89689119e-04 1.17426589e+01] [ 1.53513521e-02 -7.04369302e-04 9.99881913e-01 6.33535852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9192541539999 meters Centerline goodness [0,1] 0.998512746391839 Centerline is valid? [True, True] Translation: X:686.01, Y:11.75, Z:6.33 [[ 9.98342433e-01 -5.51637023e-02 -1.64119519e-02 6.86011967e+02] [ 5.51678179e-02 9.98477076e-01 -2.02205604e-04 1.17464974e+01] [ 1.63981121e-02 -7.03541137e-04 9.99865294e-01 6.33443115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.949254154 meters Centerline goodness [0,1] 0.9984717162835489 Centerline is valid? [True, True] Translation: X:686.04, Y:11.75, Z:6.33 [[ 9.98478560e-01 -5.24055487e-02 -1.71529687e-02 6.86042221e+02] [ 5.24096592e-02 9.98625647e-01 -2.10105746e-04 1.17495604e+01] [ 1.71404052e-02 -6.89195160e-04 9.99852855e-01 6.33431959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9792541539999 meters Centerline goodness [0,1] 0.9984479865771813 Centerline is valid? [True, True] Translation: X:686.07, Y:11.75, Z:6.33 [[ 9.98598267e-01 -4.96043335e-02 -1.84638093e-02 6.86073265e+02] [ 4.96086409e-02 9.98768708e-01 -2.24940449e-04 1.17531955e+01] [ 1.84522330e-02 -6.91339342e-04 9.99829504e-01 6.33377267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0092541539999 meters Centerline goodness [0,1] 0.9986566756921269 Centerline is valid? [True, True] Translation: X:686.10, Y:11.76, Z:6.33 [[ 9.98803508e-01 -4.49822634e-02 -1.91871815e-02 6.86103359e+02] [ 4.49860734e-02 9.98987587e-01 -2.33216902e-04 1.17593381e+01] [ 1.91782468e-02 -6.30218096e-04 9.99815882e-01 6.33471926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0392541539999 meters Centerline goodness [0,1] 0.9988010096760622 Centerline is valid? [True, True] Translation: X:686.13, Y:11.76, Z:6.34 [[ 9.98891880e-01 -4.30649075e-02 -1.89848795e-02 6.86134565e+02] [ 4.30683014e-02 9.99072104e-01 -2.30246034e-04 1.17619302e+01] [ 1.89771791e-02 -5.87655620e-04 9.99819744e-01 6.33504988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0692541539999 meters Centerline goodness [0,1] 0.9987594095630599 Centerline is valid? [True, True] Translation: X:686.17, Y:11.76, Z:6.34 [[ 9.98952115e-01 -4.16815195e-02 -1.89029928e-02 6.86165906e+02] [ 4.16846493e-02 9.99130791e-01 -2.28583339e-04 1.17638926e+01] [ 1.88960899e-02 -5.59620819e-04 9.99821296e-01 6.33599471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0992541539999 meters Centerline goodness [0,1] 0.99884149552396 Centerline is valid? [True, True] Translation: X:686.20, Y:11.77, Z:6.34 [[ 9.99073726e-01 -3.92901514e-02 -1.75492018e-02 6.86197487e+02] [ 3.92924907e-02 9.99227730e-01 -2.11614976e-04 1.17678872e+01] [ 1.75439634e-02 -4.78132884e-04 9.99845979e-01 6.33766077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1292541539999 meters Centerline goodness [0,1] 0.9985464197686912 Centerline is valid? [True, True] Translation: X:686.23, Y:11.77, Z:6.34 [[ 9.99133778e-01 -3.79582218e-02 -1.70548544e-02 6.86227912e+02] [ 3.79602450e-02 9.99279229e-01 -2.05197453e-04 1.17698639e+01] [ 1.70503507e-02 -4.42386747e-04 9.99854534e-01 6.33839816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1592541539999 meters Centerline goodness [0,1] 0.9985484074557159 Centerline is valid? [True, True] Translation: X:686.26, Y:11.77, Z:6.34 [[ 9.99201774e-01 -3.63381024e-02 -1.65938692e-02 6.86259318e+02] [ 3.63398012e-02 9.99339471e-01 -1.99242124e-04 1.17722008e+01] [ 1.65901485e-02 -4.03934823e-04 9.99862292e-01 6.33889499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1892541539999 meters Centerline goodness [0,1] 0.9987789473684211 Centerline is valid? [True, True] Translation: X:686.29, Y:11.77, Z:6.34 [[ 9.99265323e-01 -3.46196334e-02 -1.64406681e-02 6.86290536e+02] [ 3.46210778e-02 9.99400491e-01 -1.96837660e-04 1.17748022e+01] [ 1.64376262e-02 -3.72500602e-04 9.99864824e-01 6.33978443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2192541539999 meters Centerline goodness [0,1] 0.9985467565290649 Centerline is valid? [True, True] Translation: X:686.32, Y:11.78, Z:6.34 [[ 9.99367618e-01 -3.14145401e-02 -1.66580842e-02 6.86321925e+02] [ 3.14155879e-02 9.99506389e-01 -1.98845839e-04 1.17814106e+01] [ 1.66561083e-02 -3.24603416e-04 9.99861225e-01 6.34036755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2492541539999 meters Centerline goodness [0,1] 0.9985467565290649 Centerline is valid? [True, True] Translation: X:686.35, Y:11.78, Z:6.34 [[ 9.99367618e-01 -3.14145369e-02 -1.66580883e-02 6.86351928e+02] [ 3.14155904e-02 9.99506389e-01 -1.98502286e-04 1.17817679e+01] [ 1.66561016e-02 -3.24946922e-04 9.99861225e-01 6.34064853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2792541539999 meters Centerline goodness [0,1] 0.9985051058006106 Centerline is valid? [True, True] Translation: X:686.38, Y:11.78, Z:6.34 [[ 9.99409593e-01 -2.98842570e-02 -1.69528046e-02 6.86382629e+02] [ 2.98851280e-02 9.99553319e-01 -2.02014205e-04 1.17835314e+01] [ 1.69512691e-02 -3.04741801e-04 9.99856270e-01 6.34075804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3092541539999 meters Centerline goodness [0,1] 0.9986073598919649 Centerline is valid? [True, True] Translation: X:686.41, Y:11.78, Z:6.34 [[ 9.99440970e-01 -2.86298638e-02 -1.72649747e-02 6.86412132e+02] [ 2.86305776e-02 9.99590040e-01 -2.05876657e-04 1.17827992e+01] [ 1.72637910e-02 -2.88544632e-04 9.99850928e-01 6.33958185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.339254154 meters Centerline goodness [0,1] 0.9987570835703301 Centerline is valid? [True, True] Translation: X:686.44, Y:11.79, Z:6.34 [[ 9.99475237e-01 -2.69068531e-02 -1.80352825e-02 6.86441841e+02] [ 2.69073429e-02 9.99637909e-01 -2.15543019e-04 1.17862622e+01] [ 1.80345516e-02 -2.69851620e-04 9.99837328e-01 6.33975335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3692541539999 meters Centerline goodness [0,1] 0.9987822545088076 Centerline is valid? [True, True] Translation: X:686.47, Y:11.79, Z:6.34 [[ 9.99476354e-01 -2.65573768e-02 -1.84857910e-02 6.86471763e+02] [ 2.65578195e-02 9.99647254e-01 -2.21586943e-04 1.17876956e+01] [ 1.84851550e-02 -2.69471391e-04 9.99829099e-01 6.34006669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3992541539999 meters Centerline goodness [0,1] 0.9986914033643597 Centerline is valid? [True, True] Translation: X:686.50, Y:11.79, Z:6.34 [[ 9.99473379e-01 -2.64412502e-02 -1.88102451e-02 6.86500399e+02] [ 2.64416369e-02 9.99650333e-01 -2.28193286e-04 1.17894291e+01] [ 1.88097015e-02 -2.69300558e-04 9.99823046e-01 6.34060851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4292541539999 meters Centerline goodness [0,1] 0.9987572144752918 Centerline is valid? [True, True] Translation: X:686.53, Y:11.79, Z:6.34 [[ 9.99465679e-01 -2.70346581e-02 -1.83707355e-02 6.86528793e+02] [ 2.70350425e-02 9.99634461e-01 -2.27471786e-04 1.17913027e+01] [ 1.83701699e-02 -2.69303372e-04 9.99831218e-01 6.34149356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.459254154 meters Centerline goodness [0,1] 0.9987151673441877 Centerline is valid? [True, True] Translation: X:686.56, Y:11.79, Z:6.34 [[ 9.99465775e-01 -2.72649564e-02 -1.80218469e-02 6.86557410e+02] [ 2.72653128e-02 9.99628207e-01 -2.25974991e-04 1.17904673e+01] [ 1.80213077e-02 -2.65517024e-04 9.99837568e-01 6.34120389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4892541539999 meters Centerline goodness [0,1] 0.9987989633157041 Centerline is valid? [True, True] Translation: X:686.59, Y:11.79, Z:6.34 [[ 9.99454672e-01 -2.77428638e-02 -1.79078997e-02 6.86587099e+02] [ 2.77432777e-02 9.99615056e-01 -2.25366058e-04 1.17919932e+01] [ 1.79072585e-02 -2.71580676e-04 9.99839615e-01 6.34215371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5192541539999 meters Centerline goodness [0,1] 0.9986093552465234 Centerline is valid? [True, True] Translation: X:686.62, Y:11.79, Z:6.34 [[ 9.99439620e-01 -2.85807472e-02 -1.74237663e-02 6.86616175e+02] [ 2.85812507e-02 9.99591448e-01 -2.20170112e-04 1.17916531e+01] [ 1.74229404e-02 -2.77946299e-04 9.99848170e-01 6.34191972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5492541539999 meters Centerline goodness [0,1] 0.9989258408980812 Centerline is valid? [True, True] Translation: X:686.65, Y:11.79, Z:6.34 [[ 9.99381631e-01 -3.06838678e-02 -1.71713486e-02 6.86645596e+02] [ 3.06846537e-02 9.99529091e-01 -2.17765470e-04 1.17907933e+01] [ 1.71699443e-02 -3.09266073e-04 9.99852538e-01 6.34186855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.579254154 meters Centerline goodness [0,1] 0.9989911727616646 Centerline is valid? [True, True] Translation: X:686.68, Y:11.79, Z:6.34 [[ 9.99337384e-01 -3.18036712e-02 -1.77008127e-02 6.86676166e+02] [ 3.18046788e-02 9.99494078e-01 -2.24654501e-04 1.17909989e+01] [ 1.76990023e-02 -3.38463020e-04 9.99843303e-01 6.34202222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6092541539999 meters Centerline goodness [0,1] 0.9988638754470861 Centerline is valid? [True, True] Translation: X:686.71, Y:11.79, Z:6.34 [[ 9.99257797e-01 -3.42371177e-02 -1.76543364e-02 6.86705304e+02] [ 3.42384969e-02 9.99413666e-01 -2.24212988e-04 1.17903799e+01] [ 1.76516615e-02 -3.80411366e-04 9.99844125e-01 6.34178510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6392541539999 meters Centerline goodness [0,1] 0.999136769412161 Centerline is valid? [True, True] Translation: X:686.74, Y:11.79, Z:6.34 [[ 9.99211730e-01 -3.55266389e-02 -1.77137210e-02 6.86736511e+02] [ 3.55282321e-02 9.99368648e-01 -2.24838972e-04 1.17901742e+01] [ 1.77105252e-02 -4.04675454e-04 9.99843074e-01 6.34230829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6692541539999 meters Centerline goodness [0,1] 0.9989243002678704 Centerline is valid? [True, True] Translation: X:686.77, Y:11.79, Z:6.34 [[ 9.99165676e-01 -3.68701507e-02 -1.75654182e-02 6.86767995e+02] [ 3.68719359e-02 9.99319974e-01 -2.22326524e-04 1.17910998e+01] [ 1.75616705e-02 -4.25529945e-04 9.99845691e-01 6.34305819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.699254154 meters Centerline goodness [0,1] 0.9993886241936164 Centerline is valid? [True, True] Translation: X:686.80, Y:11.79, Z:6.34 [[ 9.99103028e-01 -3.85228368e-02 -1.75821193e-02 6.86798631e+02] [ 3.85248898e-02 9.99257616e-01 -2.22045460e-04 1.17896602e+01] [ 1.75776204e-02 -4.55502918e-04 9.99845398e-01 6.34318022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7292541539999 meters Centerline goodness [0,1] 0.9991344002026771 Centerline is valid? [True, True] Translation: X:686.83, Y:11.79, Z:6.34 [[ 9.98993261e-01 -4.15771796e-02 -1.68464338e-02 6.86829090e+02] [ 4.15795067e-02 9.99135176e-01 -2.12250229e-04 1.17863015e+01] [ 1.68406894e-02 -4.88429859e-04 9.99858066e-01 6.34261082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7592541539999 meters Centerline goodness [0,1] 0.9994298504941296 Centerline is valid? [True, True] Translation: X:686.86, Y:11.79, Z:6.34 [[ 9.98930006e-01 -4.29728203e-02 -1.70932796e-02 6.86860266e+02] [ 4.29754322e-02 9.99076106e-01 -2.14661146e-04 1.17855981e+01] [ 1.70867118e-02 -5.20159618e-04 9.99853876e-01 6.34300051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7892541539999 meters Centerline goodness [0,1] 0.9991337967168783 Centerline is valid? [True, True] Translation: X:686.89, Y:11.79, Z:6.34 [[ 9.98880442e-01 -4.42206286e-02 -1.68047277e-02 6.86890640e+02] [ 4.42233368e-02 9.99021647e-01 -2.10594070e-04 1.17851948e+01] [ 1.67975993e-02 -5.32802834e-04 9.99858768e-01 6.34318111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8192541539999 meters Centerline goodness [0,1] 0.9990688815998308 Centerline is valid? [True, True] Translation: X:686.92, Y:11.79, Z:6.34 [[ 9.98854360e-01 -4.48945500e-02 -1.65664576e-02 6.86923103e+02] [ 4.48972857e-02 9.98991587e-01 -2.06933237e-04 1.17891168e+01] [ 1.65590419e-02 -5.37092814e-04 9.99862745e-01 6.34450546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8492541539999 meters Centerline goodness [0,1] 0.9991110734845919 Centerline is valid? [True, True] Translation: X:686.96, Y:11.79, Z:6.35 [[ 9.98881826e-01 -4.42108729e-02 -1.67480252e-02 6.86955481e+02] [ 4.42135934e-02 9.99022079e-01 -2.07980570e-04 1.17916576e+01] [ 1.67408419e-02 -5.32742364e-04 9.99859720e-01 6.34506688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8792541539999 meters Centerline goodness [0,1] 0.9990258158792011 Centerline is valid? [True, True] Translation: X:686.99, Y:11.79, Z:6.34 [[ 9.98952609e-01 -4.25754432e-02 -1.67635354e-02 6.86986664e+02] [ 4.25779569e-02 9.99093126e-01 -2.07083612e-04 1.17881614e+01] [ 1.67571497e-02 -5.06890373e-04 9.99859461e-01 6.34282947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9092541539999 meters Centerline goodness [0,1] 0.9990470139771284 Centerline is valid? [True, True] Translation: X:687.02, Y:11.79, Z:6.34 [[ 9.99023461e-01 -4.09829897e-02 -1.65081470e-02 6.87017542e+02] [ 4.09852227e-02 9.99159732e-01 -2.03173191e-04 1.17945065e+01] [ 1.65026023e-02 -4.73615294e-04 9.99863711e-01 6.34494802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9392541539999 meters Centerline goodness [0,1] 0.9995754887186127 Centerline is valid? [True, True] Translation: X:687.05, Y:11.80, Z:6.35 [[ 9.99192847e-01 -3.65478799e-02 -1.66705529e-02 6.87049117e+02] [ 3.65495524e-02 9.99331821e-01 -2.04436211e-04 1.18014550e+01] [ 1.66668857e-02 -4.05030048e-04 9.99861016e-01 6.34678708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9692541539999 meters Centerline goodness [0,1] 0.9995323328089792 Centerline is valid? [True, True] Translation: X:687.08, Y:11.80, Z:6.35 [[ 9.99271157e-01 -3.45634712e-02 -1.62024864e-02 6.87080249e+02] [ 3.45648025e-02 9.99402439e-01 -1.97947684e-04 1.18043276e+01] [ 1.61996461e-02 -3.62232330e-04 9.99868712e-01 6.34740996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9992541539999 meters Centerline goodness [0,1] 0.9992365117068205 Centerline is valid? [True, True] Translation: X:687.11, Y:11.80, Z:6.35 [[ 9.99342583e-01 -3.24340171e-02 -1.61998999e-02 6.87111132e+02] [ 3.24350778e-02 9.99473825e-01 -1.97328587e-04 1.18019149e+01] [ 1.61977761e-02 -3.28246156e-04 9.99868754e-01 6.34513988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0292541539999 meters Centerline goodness [0,1] 0.9995530012771392 Centerline is valid? [True, True] Translation: X:687.14, Y:11.81, Z:6.35 [[ 9.99415418e-01 -3.05598391e-02 -1.53270625e-02 6.87142245e+02] [ 3.05605764e-02 9.99532899e-01 -1.86163354e-04 1.18095954e+01] [ 1.53255923e-02 -2.82349337e-04 9.99882516e-01 6.34860758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0592541539999 meters Centerline goodness [0,1] 0.999362976175309 Centerline is valid? [True, True] Translation: X:687.17, Y:11.81, Z:6.35 [[ 9.99434437e-01 -3.00263626e-02 -1.51401666e-02 6.87173191e+02] [ 3.00270290e-02 9.99549070e-01 -1.83356819e-04 1.18104870e+01] [ 1.51388450e-02 -2.71361104e-04 9.99885364e-01 6.34882608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.089254154 meters Centerline goodness [0,1] 0.999425324053381 Centerline is valid? [True, True] Translation: X:687.20, Y:11.81, Z:6.35 [[ 9.99428872e-01 -3.00403968e-02 -1.54759008e-02 6.87204768e+02] [ 3.00411034e-02 9.99548647e-01 -1.86864652e-04 1.18114798e+01] [ 1.54745292e-02 -2.78155209e-04 9.99880224e-01 6.34882776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1192541539999 meters Centerline goodness [0,1] 0.9992980067646621 Centerline is valid? [True, True] Translation: X:687.23, Y:11.81, Z:6.35 [[ 9.99384942e-01 -3.07402741e-02 -1.68752238e-02 6.87234912e+02] [ 3.07412271e-02 9.99527356e-01 -2.02985950e-04 1.18118783e+01] [ 1.68734876e-02 -3.15903984e-04 9.99857583e-01 6.34779275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1492541539999 meters Centerline goodness [0,1] 0.9988729638923148 Centerline is valid? [True, True] Translation: X:687.27, Y:11.81, Z:6.35 [[ 9.99346255e-01 -3.15768750e-02 -1.76057568e-02 6.87266705e+02] [ 3.15780568e-02 9.99501267e-01 -2.10941608e-04 1.18136526e+01] [ 1.76036371e-02 -3.45151882e-04 9.99844984e-01 6.34774320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1792541539999 meters Centerline goodness [0,1] 0.9993178572189891 Centerline is valid? [True, True] Translation: X:687.30, Y:11.81, Z:6.35 [[ 9.99314098e-01 -3.22842940e-02 -1.81399628e-02 6.87296755e+02] [ 3.22856742e-02 9.99478658e-01 -2.16838160e-04 1.18132076e+01] [ 1.81375061e-02 -3.68971497e-04 9.99835434e-01 6.34745985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.209254154 meters Centerline goodness [0,1] 0.9988710914202948 Centerline is valid? [True, True] Translation: X:687.33, Y:11.82, Z:6.35 [[ 9.99259756e-01 -3.37249412e-02 -1.85085967e-02 6.87327950e+02] [ 3.37266344e-02 9.99431071e-01 -2.20742601e-04 1.18161750e+01] [ 1.85055112e-02 -4.03653478e-04 9.99828677e-01 6.34840694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2392541539999 meters Centerline goodness [0,1] 0.9983810842475237 Centerline is valid? [True, True] Translation: X:687.36, Y:11.81, Z:6.35 [[ 9.99222830e-01 -3.47809108e-02 -1.85478750e-02 6.87358150e+02] [ 3.47828088e-02 9.99394871e-01 -2.20363035e-04 1.18139045e+01] [ 1.85443155e-02 -4.24955412e-04 9.99827949e-01 6.34781360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2692541539999 meters Centerline goodness [0,1] 0.9977210768444369 Centerline is valid? [True, True] Translation: X:687.39, Y:11.82, Z:6.35 [[ 9.99147601e-01 -3.73248184e-02 -1.76331708e-02 6.87389005e+02] [ 3.73269408e-02 9.99303085e-01 -2.08855272e-04 1.18150335e+01] [ 1.76286775e-02 -4.49515079e-04 9.99844502e-01 6.34929442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2992541539999 meters Centerline goodness [0,1] 0.9975096845600443 Centerline is valid? [True, True] Translation: X:687.42, Y:11.81, Z:6.35 [[ 9.99122176e-01 -3.84080777e-02 -1.67241476e-02 6.87420182e+02] [ 3.84101455e-02 9.99262039e-01 -1.97666561e-04 1.18149223e+01] [ 1.67193979e-02 -4.44883900e-04 9.99860122e-01 6.35016141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.329254154 meters Centerline goodness [0,1] 0.9978120486022601 Centerline is valid? [True, True] Translation: X:687.45, Y:11.81, Z:6.35 [[ 9.99116725e-01 -3.88754130e-02 -1.59522015e-02 6.87451268e+02] [ 3.88773645e-02 9.99243972e-01 -1.87871229e-04 1.18129965e+01] [ 1.59474448e-02 -4.32474266e-04 9.99872738e-01 6.34968904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3592541539999 meters Centerline goodness [0,1] 0.9979609175870858 Centerline is valid? [True, True] Translation: X:687.48, Y:11.82, Z:6.35 [[ 9.99050596e-01 -4.08591460e-02 -1.51141383e-02 6.87483784e+02] [ 4.08611380e-02 9.99164819e-01 -1.77117034e-04 1.18150914e+01] [ 1.51087521e-02 -4.40632011e-04 9.99885759e-01 6.35237297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3892541539999 meters Centerline goodness [0,1] 0.998093139539811 Centerline is valid? [True, True] Translation: X:687.51, Y:11.81, Z:6.35 [[ 9.98996194e-01 -4.27909367e-02 -1.32491907e-02 6.87514617e+02] [ 4.27926512e-02 9.99083963e-01 -1.54198438e-04 1.18136425e+01] [ 1.32436522e-02 -4.12924342e-04 9.99912214e-01 6.35366090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4192541539999 meters Centerline goodness [0,1] 0.998192758276104 Centerline is valid? [True, True] Translation: X:687.55, Y:11.81, Z:6.35 [[ 9.98961522e-01 -4.37212774e-02 -1.28190352e-02 6.87546757e+02] [ 4.37229763e-02 9.99043682e-01 -1.47832807e-04 1.18131754e+01] [ 1.28132396e-02 -4.12807085e-04 9.99917822e-01 6.35396680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.449254154 meters Centerline goodness [0,1] 0.9985974754558204 Centerline is valid? [True, True] Translation: X:687.58, Y:11.81, Z:6.35 [[ 9.98904052e-01 -4.50024807e-02 -1.28635868e-02 6.87579251e+02] [ 4.50043091e-02 9.98986782e-01 -1.47446361e-04 1.18120279e+01] [ 1.28571886e-02 -4.31632067e-04 9.99917250e-01 6.35409776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4792541539999 meters Centerline goodness [0,1] 0.9985567841755629 Centerline is valid? [True, True] Translation: X:687.61, Y:11.81, Z:6.35 [[ 9.98751765e-01 -4.82330899e-02 -1.29800366e-02 6.87611018e+02] [ 4.82352351e-02 9.98835993e-01 -1.47925470e-04 1.18132612e+01] [ 1.29720627e-02 -4.78354295e-04 9.99915745e-01 6.35305019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5092541539999 meters Centerline goodness [0,1] 0.9988551317658533 Centerline is valid? [True, True] Translation: X:687.64, Y:11.81, Z:6.35 [[ 9.98628211e-01 -5.07355869e-02 -1.29458769e-02 6.87643433e+02] [ 5.07379408e-02 9.98711990e-01 -1.46757028e-04 1.18132583e+01] [ 1.29366482e-02 -5.10291425e-04 9.99916188e-01 6.35473806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5392541539999 meters Centerline goodness [0,1] 0.998939217142251 Centerline is valid? [True, True] Translation: X:687.67, Y:11.81, Z:6.36 [[ 9.98515115e-01 -5.29392658e-02 -1.28452324e-02 6.87674777e+02] [ 5.29417765e-02 9.98597590e-01 -1.44736407e-04 1.18114377e+01] [ 1.28348803e-02 -5.35527931e-04 9.99917486e-01 6.35512007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5692541539999 meters Centerline goodness [0,1] 0.9994278206323641 Centerline is valid? [True, True] Translation: X:687.71, Y:11.81, Z:6.36 [[ 9.98395492e-01 -5.51421480e-02 -1.28757554e-02 6.87706407e+02] [ 5.51448656e-02 9.98478354e-01 -1.44142989e-04 1.18120525e+01] [ 1.28641114e-02 -5.66120090e-04 9.99917094e-01 6.35586673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5992541539999 meters Centerline goodness [0,1] 0.998728867420872 Centerline is valid? [True, True] Translation: X:687.74, Y:11.81, Z:6.35 [[ 9.98194914e-01 -5.86151732e-02 -1.30833787e-02 6.87736447e+02] [ 5.86182916e-02 9.98280459e-01 -1.45329814e-04 1.18056383e+01] [ 1.30693998e-02 -6.21857827e-04 9.99914398e-01 6.35438002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6292541539999 meters Centerline goodness [0,1] 0.999491234392555 Centerline is valid? [True, True] Translation: X:687.77, Y:11.81, Z:6.36 [[ 9.98079447e-01 -6.04990431e-02 -1.33147650e-02 6.87768537e+02] [ 6.05024439e-02 9.98168038e-01 -1.47615894e-04 1.18059256e+01] [ 1.32993035e-02 -6.58243431e-04 9.99911344e-01 6.35597477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6592541539999 meters Centerline goodness [0,1] 0.9992151205956599 Centerline is valid? [True, True] Translation: X:687.80, Y:11.80, Z:6.36 [[ 9.98002823e-01 -6.16250005e-02 -1.38825530e-02 6.87800099e+02] [ 6.16288193e-02 9.98099126e-01 -1.52965228e-04 1.18044241e+01] [ 1.38655905e-02 -7.02905623e-04 9.99903621e-01 6.35611159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6892541539999 meters Centerline goodness [0,1] 0.9988558594825943 Centerline is valid? [True, True] Translation: X:687.83, Y:11.80, Z:6.36 [[ 9.97948783e-01 -6.23600400e-02 -1.44724653e-02 6.87831790e+02] [ 6.23642788e-02 9.98053441e-01 -1.58668884e-04 1.18040072e+01] [ 1.44541884e-02 -7.44221442e-04 9.99895256e-01 6.35596127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7192541539999 meters Centerline goodness [0,1] 0.9991734661439017 Centerline is valid? [True, True] Translation: X:687.86, Y:11.80, Z:6.36 [[ 9.98003531e-01 -6.13631176e-02 -1.49505644e-02 6.87862990e+02] [ 6.13675417e-02 9.98115223e-01 -1.63101327e-04 1.18043660e+01] [ 1.49323943e-02 -7.54703682e-04 9.99888221e-01 6.35584952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7492541539999 meters Centerline goodness [0,1] 0.9990887320660351 Centerline is valid? [True, True] Translation: X:687.90, Y:11.81, Z:6.36 [[ 9.98086421e-01 -5.98800293e-02 -1.54233213e-02 6.87895394e+02] [ 5.98845754e-02 9.98205294e-01 -1.67327541e-04 1.18056186e+01] [ 1.54056606e-02 -7.56611702e-04 9.99881040e-01 6.35598986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7792541539999 meters Centerline goodness [0,1] 0.9992783001846702 Centerline is valid? [True, True] Translation: X:687.93, Y:11.81, Z:6.36 [[ 9.98332637e-01 -5.52937475e-02 -1.65694995e-02 6.87925650e+02] [ 5.52983758e-02 9.98469858e-01 -1.79061696e-04 1.18122016e+01] [ 1.65540468e-02 -7.37503276e-04 9.99862700e-01 6.35605673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8092541539999 meters Centerline goodness [0,1] 0.999425861739001 Centerline is valid? [True, True] Translation: X:687.96, Y:11.82, Z:6.36 [[ 9.98490287e-01 -5.21872963e-02 -1.71357260e-02 6.87956842e+02] [ 5.21917946e-02 9.98637062e-01 -1.84895394e-04 1.18188738e+01] [ 1.71220203e-02 -7.09728039e-04 9.99853156e-01 6.35721085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.839254154 meters Centerline goodness [0,1] 0.9989369618369299 Centerline is valid? [True, True] Translation: X:687.99, Y:11.82, Z:6.36 [[ 9.98633974e-01 -4.92579276e-02 -1.74310791e-02 6.87987125e+02] [ 4.92621455e-02 9.98785866e-01 -1.87584452e-04 1.18213801e+01] [ 1.74191555e-02 -6.71364149e-04 9.99848050e-01 6.35709769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8692541539999 meters Centerline goodness [0,1] 0.9992548117867485 Centerline is valid? [True, True] Translation: X:688.02, Y:11.82, Z:6.36 [[ 9.98786904e-01 -4.60533301e-02 -1.74301772e-02 6.88018326e+02] [ 4.60570682e-02 9.98938793e-01 -1.87111989e-04 1.18242791e+01] [ 1.74202973e-02 -6.15897859e-04 9.99848065e-01 6.35770989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8992541539999 meters Centerline goodness [0,1] 0.9994893399719137 Centerline is valid? [True, True] Translation: X:688.05, Y:11.83, Z:6.36 [[ 9.98935573e-01 -4.28338405e-02 -1.71167307e-02 6.88049984e+02] [ 4.28369872e-02 9.99082058e-01 -1.82929620e-04 1.18280023e+01] [ 1.71088541e-02 -5.50494270e-04 9.99853481e-01 6.35862176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9292541539999 meters Centerline goodness [0,1] 0.999318786588611 Centerline is valid? [True, True] Translation: X:688.08, Y:11.83, Z:6.36 [[ 9.99156712e-01 -3.75636657e-02 -1.65782030e-02 6.88081754e+02] [ 3.75659085e-02 9.99294137e-01 -1.76213824e-04 1.18330346e+01] [ 1.65731203e-02 -4.46710034e-04 9.99862557e-01 6.35979731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.959254154 meters Centerline goodness [0,1] 0.9991042675254324 Centerline is valid? [True, True] Translation: X:688.11, Y:11.84, Z:6.36 [[ 9.99255394e-01 -3.49885747e-02 -1.62621461e-02 6.88113536e+02] [ 3.49904062e-02 9.99387633e-01 -1.71979475e-04 1.18357304e+01] [ 1.62582050e-02 -3.97167677e-04 9.99867748e-01 6.36065064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9892541539999 meters Centerline goodness [0,1] 0.9991036366740652 Centerline is valid? [True, True] Translation: X:688.15, Y:11.84, Z:6.36 [[ 9.99344358e-01 -3.25846586e-02 -1.57827455e-02 6.88145350e+02] [ 3.25860969e-02 9.99468918e-01 -1.66095760e-04 1.18378858e+01] [ 1.57797758e-02 -3.48311215e-04 9.99875431e-01 6.36123064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0192541539999 meters Centerline goodness [0,1] 0.9992952332137366 Centerline is valid? [True, True] Translation: X:688.18, Y:11.84, Z:6.36 [[ 9.99501107e-01 -2.76909211e-02 -1.51904647e-02 6.88175905e+02] [ 2.76917031e-02 9.99616499e-01 -1.58894266e-04 1.18416966e+01] [ 1.51890391e-02 -2.61834845e-04 9.99884606e-01 6.36218165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0492541539999 meters Centerline goodness [0,1] 0.9991661499647218 Centerline is valid? [True, True] Translation: X:688.21, Y:11.84, Z:6.36 [[ 9.99562854e-01 -2.52828328e-02 -1.53257963e-02 6.88205869e+02] [ 2.52833587e-02 9.99680312e-01 -1.59465674e-04 1.18434923e+01] [ 1.53249285e-02 -2.28091641e-04 9.99882540e-01 6.36206305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.079254154 meters Centerline goodness [0,1] 0.9993157275740404 Centerline is valid? [True, True] Translation: X:688.24, Y:11.85, Z:6.36 [[ 9.99615722e-01 -2.30465570e-02 -1.54033709e-02 6.88237058e+02] [ 2.30468263e-02 9.99734374e-01 -1.60050337e-04 1.18467977e+01] [ 1.54029680e-02 -1.95009980e-04 9.99881348e-01 6.36278009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1092541539999 meters Centerline goodness [0,1] 0.9994022330863986 Centerline is valid? [True, True] Translation: X:688.27, Y:11.85, Z:6.36 [[ 9.99686815e-01 -1.90751711e-02 -1.61990479e-02 6.88267080e+02] [ 1.90749535e-02 9.99818042e-01 -1.67954835e-04 1.18488140e+01] [ 1.61993041e-02 -1.41093852e-04 9.99868773e-01 6.36179394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1392541539999 meters Centerline goodness [0,1] 0.9991015466233127 Centerline is valid? [True, True] Translation: X:688.30, Y:11.85, Z:6.36 [[ 9.99703103e-01 -1.79041736e-02 -1.65271457e-02 6.88295930e+02] [ 1.79037578e-02 9.99839700e-01 -1.73128391e-04 1.18505583e+01] [ 1.65275961e-02 -1.22821024e-04 9.99863402e-01 6.36157233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1692541539999 meters Centerline goodness [0,1] 0.9991015466233127 Centerline is valid? [True, True] Translation: X:688.32, Y:11.85, Z:6.36 [[ 9.99698648e-01 -1.81512609e-02 -1.65271021e-02 6.88324165e+02] [ 1.81508113e-02 9.99835245e-01 -1.77215302e-04 1.18509077e+01] [ 1.65275959e-02 -1.22818415e-04 9.99863402e-01 6.36183761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.199254154 meters Centerline goodness [0,1] 0.9992496516239683 Centerline is valid? [True, True] Translation: X:688.35, Y:11.85, Z:6.36 [[ 9.99706660e-01 -1.63446934e-02 -1.78730330e-02 6.88351868e+02] [ 1.63438209e-02 9.99866412e-01 -1.94895166e-04 1.18520895e+01] [ 1.78738309e-02 -9.72756551e-05 9.99840246e-01 6.36130690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2292541539999 meters Centerline goodness [0,1] 0.999229072531426 Centerline is valid? [True, True] Translation: X:688.38, Y:11.85, Z:6.36 [[ 9.99701915e-01 -1.62686698e-02 -1.82047234e-02 6.88379311e+02] [ 1.62676895e-02 9.99867652e-01 -2.01944180e-04 1.18528185e+01] [ 1.82055994e-02 -9.42648037e-05 9.99834260e-01 6.36230482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2592541539999 meters Centerline goodness [0,1] 0.9990775699330702 Centerline is valid? [True, True] Translation: X:688.41, Y:11.85, Z:6.36 [[ 9.99699927e-01 -1.64787120e-02 -1.81248082e-02 6.88405971e+02] [ 1.64776930e-02 9.99864212e-01 -2.05569441e-04 1.18521533e+01] [ 1.81257346e-02 -9.31472708e-05 9.99835711e-01 6.36176888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2892541539999 meters Centerline goodness [0,1] 0.9990362168297959 Centerline is valid? [True, True] Translation: X:688.43, Y:11.85, Z:6.36 [[ 9.99701031e-01 -1.64557918e-02 -1.80846717e-02 6.88434357e+02] [ 1.64546932e-02 9.99864590e-01 -2.09557922e-04 1.18513953e+01] [ 1.80856713e-02 -8.80824539e-05 9.99836437e-01 6.36113520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3192541539999 meters Centerline goodness [0,1] 0.9989725587567961 Centerline is valid? [True, True] Translation: X:688.46, Y:11.85, Z:6.36 [[ 9.99693031e-01 -1.82144035e-02 -1.67952099e-02 6.88461690e+02] [ 1.82136454e-02 9.99834098e-01 -1.98106011e-04 1.18487361e+01] [ 1.67960320e-02 -1.07856800e-04 9.99858931e-01 6.36237431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3492541539999 meters Centerline goodness [0,1] 0.9991654540785757 Centerline is valid? [True, True] Translation: X:688.49, Y:11.85, Z:6.36 [[ 9.99672423e-01 -1.95764769e-02 -1.64865869e-02 6.88490750e+02] [ 1.95758836e-02 9.99808355e-01 -1.97385937e-04 1.18470616e+01] [ 1.64872914e-02 -1.25418228e-04 9.99864068e-01 6.36261270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3792541539999 meters Centerline goodness [0,1] 0.9991641663094728 Centerline is valid? [True, True] Translation: X:688.52, Y:11.85, Z:6.36 [[ 9.99646751e-01 -2.09357195e-02 -1.63728217e-02 6.88519877e+02] [ 2.09352499e-02 9.99780814e-01 -2.00095882e-04 1.18460132e+01] [ 1.63734222e-02 -1.42743916e-04 9.99865936e-01 6.36294171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4092541539999 meters Centerline goodness [0,1] 0.9989926484771846 Centerline is valid? [True, True] Translation: X:688.55, Y:11.84, Z:6.36 [[ 9.99607234e-01 -2.30720994e-02 -1.59077548e-02 6.88549554e+02] [ 2.30718860e-02 9.99733789e-01 -1.96961186e-04 1.18429784e+01] [ 1.59080643e-02 -1.70138078e-04 9.99873444e-01 6.36316711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4392541539999 meters Centerline goodness [0,1] 0.9989943942830245 Centerline is valid? [True, True] Translation: X:688.58, Y:11.84, Z:6.36 [[ 9.99583415e-01 -2.39903761e-02 -1.60454842e-02 6.88579183e+02] [ 2.39902679e-02 9.99712172e-01 -1.99249598e-04 1.18415631e+01] [ 1.60456459e-02 -1.85768871e-04 9.99871243e-01 6.36341830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4692541539999 meters Centerline goodness [0,1] 0.9989536174938072 Centerline is valid? [True, True] Translation: X:688.61, Y:11.84, Z:6.36 [[ 9.99578968e-01 -2.43212494e-02 -1.58228814e-02 6.88608497e+02] [ 2.43211786e-02 9.99704177e-01 -1.96934285e-04 1.18393213e+01] [ 1.58229903e-02 -1.87979755e-04 9.99874791e-01 6.36169811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4992541539999 meters Centerline goodness [0,1] 0.9988485404183637 Centerline is valid? [True, True] Translation: X:688.64, Y:11.84, Z:6.36 [[ 9.99524687e-01 -2.67105559e-02 -1.53930884e-02 6.88638849e+02] [ 2.67107696e-02 9.99643185e-01 -1.91748106e-04 1.18361898e+01] [ 1.53927177e-02 -2.19504273e-04 9.99881501e-01 6.36375668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5292541539999 meters Centerline goodness [0,1] 0.9988491293876942 Centerline is valid? [True, True] Translation: X:688.67, Y:11.83, Z:6.36 [[ 9.99495727e-01 -2.80108012e-02 -1.49561834e-02 6.88669890e+02] [ 2.80111515e-02 9.99607593e-01 -1.86100510e-04 1.18343403e+01] [ 1.49555273e-02 -2.32933256e-04 9.99888133e-01 6.36401579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5592541539999 meters Centerline goodness [0,1] 0.9988714760241887 Centerline is valid? [True, True] Translation: X:688.70, Y:11.83, Z:6.36 [[ 9.99452515e-01 -2.93515998e-02 -1.52693459e-02 6.88701331e+02] [ 2.93521301e-02 9.99569115e-01 -1.89428042e-04 1.18319777e+01] [ 1.52683266e-02 -2.58863494e-04 9.99883399e-01 6.36415598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.589254154 meters Centerline goodness [0,1] 0.9988076734728639 Centerline is valid? [True, True] Translation: X:688.73, Y:11.83, Z:6.36 [[ 9.99403194e-01 -3.11059404e-02 -1.50225476e-02 6.88732089e+02] [ 3.11066613e-02 9.99516053e-01 -1.85728629e-04 1.18285791e+01] [ 1.50210548e-02 -2.81683516e-04 9.99887138e-01 6.36393352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6192541539999 meters Centerline goodness [0,1] 0.9986409292646153 Centerline is valid? [True, True] Translation: X:688.76, Y:11.82, Z:6.36 [[ 9.99303648e-01 -3.38378511e-02 -1.57232114e-02 6.88762246e+02] [ 3.38389888e-02 9.99427279e-01 -1.93762723e-04 1.18223869e+01] [ 1.57207629e-02 -3.38429778e-04 9.99876364e-01 6.36193897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6492541539999 meters Centerline goodness [0,1] 0.9987254652052001 Centerline is valid? [True, True] Translation: X:688.79, Y:11.82, Z:6.36 [[ 9.99258609e-01 -3.51685322e-02 -1.56654738e-02 6.88794035e+02] [ 3.51698310e-02 9.99381332e-01 -1.92659278e-04 1.18216984e+01] [ 1.56625576e-02 -3.58435625e-04 9.99877270e-01 6.36323385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6792541539999 meters Centerline goodness [0,1] 0.9988112170165793 Centerline is valid? [True, True] Translation: X:688.83, Y:11.82, Z:6.36 [[ 9.99228664e-01 -3.57096857e-02 -1.63369234e-02 6.88825432e+02] [ 3.57111824e-02 9.99362132e-01 -2.00194597e-04 1.18189397e+01] [ 1.63336515e-02 -3.83370670e-04 9.99866524e-01 6.36223658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.709254154 meters Centerline goodness [0,1] 0.9988136347266063 Centerline is valid? [True, True] Translation: X:688.86, Y:11.82, Z:6.36 [[ 9.99245297e-01 -3.52672481e-02 -1.62806048e-02 6.88855428e+02] [ 3.52686859e-02 9.99377847e-01 -1.98884837e-04 1.18159938e+01] [ 1.62774899e-02 -3.75460799e-04 9.99867442e-01 6.36157490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7392541539999 meters Centerline goodness [0,1] 0.9989207491270765 Centerline is valid? [True, True] Translation: X:688.89, Y:11.82, Z:6.36 [[ 9.99267194e-01 -3.47608672e-02 -1.60236545e-02 6.88886194e+02] [ 3.47621993e-02 9.99395593e-01 -1.95471612e-04 1.18150951e+01] [ 1.60207644e-02 -3.61689100e-04 9.99871594e-01 6.36204452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7692541539999 meters Centerline goodness [0,1] 0.99868982714171 Centerline is valid? [True, True] Translation: X:688.92, Y:11.82, Z:6.36 [[ 9.99301658e-01 -3.40921994e-02 -1.52943570e-02 6.88917436e+02] [ 3.40933404e-02 9.99418636e-01 -1.86201089e-04 1.18181207e+01] [ 1.52918134e-02 -3.35364663e-04 9.99883017e-01 6.36363595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7992541539999 meters Centerline goodness [0,1] 0.9986057712619882 Centerline is valid? [True, True] Translation: X:688.95, Y:11.82, Z:6.36 [[ 9.99332788e-01 -3.34277267e-02 -1.47161720e-02 6.88949171e+02] [ 3.34287189e-02 9.99441088e-01 -1.78629076e-04 1.18175268e+01] [ 1.47139181e-02 -3.13432884e-04 9.99891695e-01 6.36398717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.829254154 meters Centerline goodness [0,1] 0.9988807230951174 Centerline is valid? [True, True] Translation: X:688.98, Y:11.82, Z:6.36 [[ 9.99368753e-01 -3.22596662e-02 -1.48798424e-02 6.88980392e+02] [ 3.22605608e-02 9.99479476e-01 -1.79961405e-04 1.18160975e+01] [ 1.48779026e-02 -3.00184257e-04 9.99889273e-01 6.36428517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8592541539999 meters Centerline goodness [0,1] 0.9988388050248074 Centerline is valid? [True, True] Translation: X:689.01, Y:11.82, Z:6.36 [[ 9.99359324e-01 -3.23055569e-02 -1.54043281e-02 6.89012165e+02] [ 3.23065329e-02 9.99477991e-01 -1.85548588e-04 1.18160260e+01] [ 1.54022811e-02 -3.12230719e-04 9.99881329e-01 6.36448067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8892541539999 meters Centerline goodness [0,1] 0.9987138399257822 Centerline is valid? [True, True] Translation: X:689.04, Y:11.82, Z:6.36 [[ 9.99343554e-01 -3.27513580e-02 -1.54858150e-02 6.89043084e+02] [ 3.27524066e-02 9.99463479e-01 -1.85964661e-04 1.18150926e+01] [ 1.54835971e-02 -3.21355124e-04 9.99880070e-01 6.36409577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9192541539999 meters Centerline goodness [0,1] 0.9988595805790796 Centerline is valid? [True, True] Translation: X:689.07, Y:11.81, Z:6.36 [[ 9.99318041e-01 -3.33570189e-02 -1.58354671e-02 6.89074824e+02] [ 3.33582006e-02 9.99443442e-01 -1.89580898e-04 1.18139507e+01] [ 1.58329776e-02 -3.38791077e-04 9.99874593e-01 6.36431487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.949254154 meters Centerline goodness [0,1] 0.9987344975955454 Centerline is valid? [True, True] Translation: X:689.11, Y:11.81, Z:6.36 [[ 9.99216258e-01 -3.62784479e-02 -1.58349115e-02 6.89105588e+02] [ 3.62800034e-02 9.99341646e-01 -1.89116510e-04 1.18092328e+01] [ 1.58313474e-02 -3.85522353e-04 9.99874602e-01 6.36333327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9792541539999 meters Centerline goodness [0,1] 0.9986946269159508 Centerline is valid? [True, True] Translation: X:689.14, Y:11.81, Z:6.36 [[ 9.99146163e-01 -3.78060952e-02 -1.66626409e-02 6.89136827e+02] [ 3.78080371e-02 9.99285001e-01 -1.98565100e-04 1.18072472e+01] [ 1.66582341e-02 -4.31586190e-04 9.99861149e-01 6.36233081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0092541539999 meters Centerline goodness [0,1] 0.998799266920857 Centerline is valid? [True, True] Translation: X:689.17, Y:11.81, Z:6.36 [[ 9.98976280e-01 -4.18272987e-02 -1.72298747e-02 6.89168340e+02] [ 4.18299836e-02 9.99124722e-01 -2.04694831e-04 1.18051301e+01] [ 1.72233556e-02 -5.16240093e-04 9.99851534e-01 6.36287216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0392541539999 meters Centerline goodness [0,1] 0.9986112280111101 Centerline is valid? [True, True] Translation: X:689.20, Y:11.80, Z:6.36 [[ 9.98894588e-01 -4.36143499e-02 -1.75325370e-02 6.89200039e+02] [ 4.36174188e-02 9.99048286e-01 -2.07491554e-04 1.18042541e+01] [ 1.75249007e-02 -5.57461820e-04 9.99846272e-01 6.36303589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0692541539999 meters Centerline goodness [0,1] 0.9986344537815126 Centerline is valid? [True, True] Translation: X:689.23, Y:11.80, Z:6.36 [[ 9.98812550e-01 -4.53299120e-02 -1.78518411e-02 6.89230611e+02] [ 4.53333796e-02 9.98971892e-01 -2.10587752e-04 1.18024109e+01] [ 1.78430334e-02 -5.98946599e-04 9.99840621e-01 6.36283575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0992541539999 meters Centerline goodness [0,1] 0.9987171398527865 Centerline is valid? [True, True] Translation: X:689.26, Y:11.80, Z:6.36 [[ 9.98757824e-01 -4.64394480e-02 -1.80606162e-02 6.89263192e+02] [ 4.64431929e-02 9.98920910e-01 -2.12246486e-04 1.18009802e+01] [ 1.80509837e-02 -6.26809842e-04 9.99836871e-01 6.36300825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1292541539999 meters Centerline goodness [0,1] 0.998484433872903 Centerline is valid? [True, True] Translation: X:689.29, Y:11.80, Z:6.36 [[ 9.98711572e-01 -4.74150439e-02 -1.80834117e-02 6.89293988e+02] [ 4.74189788e-02 9.98875065e-01 -2.11361550e-04 1.17999450e+01] [ 1.80730908e-02 -6.46407693e-04 9.99836459e-01 6.36327297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1592541539999 meters Centerline goodness [0,1] 0.9987790244826642 Centerline is valid? [True, True] Translation: X:689.33, Y:11.80, Z:6.36 [[ 9.98684939e-01 -4.79715051e-02 -1.80866734e-02 6.89325758e+02] [ 4.79755534e-02 9.98848488e-01 -2.10247978e-04 1.18018385e+01] [ 1.80759323e-02 -6.57746677e-04 9.99836401e-01 6.36499564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1892541539999 meters Centerline goodness [0,1] 0.9985702270815812 Centerline is valid? [True, True] Translation: X:689.36, Y:11.80, Z:6.37 [[ 9.98692075e-01 -4.79070183e-02 -1.78621542e-02 6.89357178e+02] [ 4.79109770e-02 9.98851588e-01 -2.06485813e-04 1.18011410e+01] [ 1.78515332e-02 -6.49577515e-04 9.99840438e-01 6.36538011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2192541539999 meters Centerline goodness [0,1] 0.9987782529016493 Centerline is valid? [True, True] Translation: X:689.39, Y:11.80, Z:6.37 [[ 9.98742157e-01 -4.69938227e-02 -1.74838064e-02 6.89389033e+02] [ 4.69974950e-02 9.98894987e-01 -2.01006318e-04 1.18033151e+01] [ 1.74739326e-02 -6.20941622e-04 9.99847126e-01 6.36641089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2492541539999 meters Centerline goodness [0,1] 0.9987188641996052 Centerline is valid? [True, True] Translation: X:689.42, Y:11.80, Z:6.37 [[ 9.98803763e-01 -4.58152093e-02 -1.70883020e-02 6.89420030e+02] [ 4.58185638e-02 9.98949759e-01 -1.95356500e-04 1.18021196e+01] [ 1.70793055e-02 -5.87838648e-04 9.99853965e-01 6.36642604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2792541539999 meters Centerline goodness [0,1] 0.9988620798651354 Centerline is valid? [True, True] Translation: X:689.45, Y:11.81, Z:6.37 [[ 9.99018693e-01 -4.12658822e-02 -1.60865818e-02 6.89451055e+02] [ 4.12682775e-02 9.99148085e-01 -1.83166535e-04 1.18081163e+01] [ 1.60804359e-02 -4.80878729e-04 9.99870586e-01 6.36829097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3092541539999 meters Centerline goodness [0,1] 0.9988616720772376 Centerline is valid? [True, True] Translation: X:689.48, Y:11.81, Z:6.37 [[ 9.99151099e-01 -3.82601174e-02 -1.52723323e-02 6.89481182e+02] [ 3.82619322e-02 9.99267729e-01 -1.73452823e-04 1.18070715e+01] [ 1.52677851e-02 -4.11043362e-04 9.99883356e-01 6.36837441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.339254154 meters Centerline goodness [0,1] 0.9989272868771428 Centerline is valid? [True, True] Translation: X:689.51, Y:11.81, Z:6.37 [[ 9.99411672e-01 -3.12495727e-02 -1.41341422e-02 6.89511803e+02] [ 3.12504290e-02 9.99511573e-01 -1.60325772e-04 1.18136307e+01] [ 1.41322488e-02 -2.81466560e-04 9.99900095e-01 6.37022395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3692541539999 meters Centerline goodness [0,1] 0.9987993933777066 Centerline is valid? [True, True] Translation: X:689.54, Y:11.82, Z:6.37 [[ 9.99503516e-01 -2.82685889e-02 -1.39143085e-02 6.89543113e+02] [ 2.82691334e-02 9.99600336e-01 -1.57587525e-04 1.18184316e+01] [ 1.39132022e-02 -2.35836158e-04 9.99903179e-01 6.37105178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3992541539999 meters Centerline goodness [0,1] 0.9990498712047633 Centerline is valid? [True, True] Translation: X:689.58, Y:11.82, Z:6.37 [[ 9.99571174e-01 -2.55265060e-02 -1.43480502e-02 6.89575002e+02] [ 2.55268115e-02 9.99674125e-01 -1.61875095e-04 1.18205116e+01] [ 1.43475066e-02 -2.04454293e-04 9.99897048e-01 6.37125375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4292541539999 meters Centerline goodness [0,1] 0.998796325625594 Centerline is valid? [True, True] Translation: X:689.61, Y:11.82, Z:6.37 [[ 9.99623433e-01 -2.25983449e-02 -1.55662417e-02 6.89605957e+02] [ 2.25983600e-02 9.99744609e-01 -1.74950699e-04 1.18228952e+01] [ 1.55662198e-02 -1.76886714e-04 9.99878823e-01 6.37029679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.459254154 meters Centerline goodness [0,1] 0.9990301905886322 Centerline is valid? [True, True] Translation: X:689.63, Y:11.82, Z:6.37 [[ 9.99616701e-01 -2.22962208e-02 -1.64112759e-02 6.89634320e+02] [ 2.22961935e-02 9.99751392e-01 -1.84651322e-04 1.18225559e+01] [ 1.64113129e-02 -1.81328437e-04 9.99865309e-01 6.36958258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4892541539999 meters Centerline goodness [0,1] 0.998774949836308 Centerline is valid? [True, True] Translation: X:689.66, Y:11.82, Z:6.37 [[ 9.99586357e-01 -2.32269806e-02 -1.69594086e-02 6.89662725e+02] [ 2.32270696e-02 9.99730197e-01 -1.91753869e-04 1.18215620e+01] [ 1.69592868e-02 -2.02242812e-04 9.99856161e-01 6.36849332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5192541539999 meters Centerline goodness [0,1] 0.9990715732613099 Centerline is valid? [True, True] Translation: X:689.69, Y:11.82, Z:6.37 [[ 9.99490706e-01 -2.61821551e-02 -1.82434750e-02 6.89691326e+02] [ 2.61826991e-02 9.99657153e-01 -2.09072460e-04 1.18191560e+01] [ 1.82426942e-02 -2.68697436e-04 9.99833552e-01 6.36785898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5492541539999 meters Centerline goodness [0,1] 0.9989039709973864 Centerline is valid? [True, True] Translation: X:689.72, Y:11.82, Z:6.37 [[ 9.99421336e-01 -2.84896837e-02 -1.85830950e-02 6.89719886e+02] [ 2.84905898e-02 9.99594037e-01 -2.16038826e-04 1.18174108e+01] [ 1.85817058e-02 -3.13529524e-04 9.99827296e-01 6.36739463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.579254154 meters Centerline goodness [0,1] 0.998840885142255 Centerline is valid? [True, True] Translation: X:689.75, Y:11.82, Z:6.37 [[ 9.99361502e-01 -3.05191768e-02 -1.85786951e-02 6.89748016e+02] [ 3.05204106e-02 9.99534120e-01 -2.17187888e-04 1.18154790e+01] [ 1.85766681e-02 -3.49980191e-04 9.99827378e-01 6.36728672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6092541539999 meters Centerline goodness [0,1] 0.9988032752466932 Centerline is valid? [True, True] Translation: X:689.78, Y:11.81, Z:6.37 [[ 9.99277218e-01 -3.30939557e-02 -1.87037863e-02 6.89777761e+02] [ 3.30956403e-02 9.99452165e-01 -2.19540498e-04 1.18141055e+01] [ 1.87008052e-02 -3.99631965e-04 9.99825045e-01 6.36778131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6392541539999 meters Centerline goodness [0,1] 0.9989460815311327 Centerline is valid? [True, True] Translation: X:689.81, Y:11.81, Z:6.37 [[ 9.99103021e-01 -3.82649294e-02 -1.81369347e-02 6.89806886e+02] [ 3.82673594e-02 9.99267514e-01 -2.13182430e-04 1.18096496e+01] [ 1.81318070e-02 -4.81061389e-04 9.99835490e-01 6.36839055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6692541539999 meters Centerline goodness [0,1] 0.9984856451782522 Centerline is valid? [True, True] Translation: X:689.84, Y:11.81, Z:6.37 [[ 9.99014833e-01 -4.06777859e-02 -1.77392404e-02 6.89836781e+02] [ 4.06804910e-02 9.99172184e-01 -2.08477882e-04 1.18071752e+01] [ 1.77330360e-02 -5.13368512e-04 9.99842626e-01 6.36867851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.699254154 meters Centerline goodness [0,1] 0.9987791272865052 Centerline is valid? [True, True] Translation: X:689.87, Y:11.81, Z:6.37 [[ 9.98907684e-01 -4.33193785e-02 -1.75177234e-02 6.89868224e+02] [ 4.33224275e-02 9.99061122e-01 -2.05577043e-04 1.18072937e+01] [ 1.75101818e-02 -5.53557813e-04 9.99846532e-01 6.36984192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7292541539999 meters Centerline goodness [0,1] 0.9986971505421535 Centerline is valid? [True, True] Translation: X:689.90, Y:11.80, Z:6.37 [[ 9.98636329e-01 -4.90763975e-02 -1.78041948e-02 6.89898774e+02] [ 4.90804709e-02 9.98794806e-01 -2.08355944e-04 1.18021734e+01] [ 1.77929627e-02 -6.65766452e-04 9.99841471e-01 6.37015273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7592541539999 meters Centerline goodness [0,1] 0.9986097360604975 Centerline is valid? [True, True] Translation: X:689.93, Y:11.80, Z:6.37 [[ 9.98496352e-01 -5.19717193e-02 -1.74349113e-02 6.89930018e+02] [ 5.19760755e-02 9.98648310e-01 -2.03488804e-04 1.17998043e+01] [ 1.74219204e-02 -7.03015441e-04 9.99847980e-01 6.37050029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7892541539999 meters Centerline goodness [0,1] 0.9987160327516892 Centerline is valid? [True, True] Translation: X:689.96, Y:11.80, Z:6.37 [[ 9.98346680e-01 -5.48163989e-02 -1.72935961e-02 6.89959907e+02] [ 5.48211287e-02 9.98496171e-01 -2.00799579e-04 1.17971503e+01] [ 1.72785966e-02 -7.47586862e-04 9.99850434e-01 6.37106999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8192541539999 meters Centerline goodness [0,1] 0.998655462184874 Centerline is valid? [True, True] Translation: X:689.99, Y:11.79, Z:6.37 [[ 9.98019078e-01 -6.06495533e-02 -1.67198097e-02 6.89989737e+02] [ 6.06548026e-02 9.98158784e-01 -1.93437610e-04 1.17904834e+01] [ 1.67007568e-02 -8.21082328e-04 9.99860196e-01 6.37150350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8492541539999 meters Centerline goodness [0,1] 0.9986543030761791 Centerline is valid? [True, True] Translation: X:690.02, Y:11.79, Z:6.37 [[ 9.97852647e-01 -6.34111416e-02 -1.64049301e-02 6.90021209e+02] [ 6.34165692e-02 9.97987126e-01 -1.89667073e-04 1.17937093e+01] [ 1.63839360e-02 -8.51084593e-04 9.99865412e-01 6.37265792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8792541539999 meters Centerline goodness [0,1] 0.998529195469922 Centerline is valid? [True, True] Translation: X:690.05, Y:11.79, Z:6.37 [[ 9.97664216e-01 -6.63567018e-02 -1.62142070e-02 6.90051270e+02] [ 6.63624068e-02 9.97795568e-01 -1.86530177e-04 1.17856254e+01] [ 1.61908415e-02 -8.89919322e-04 9.99868524e-01 6.37235666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9092541539999 meters Centerline goodness [0,1] 0.9983827266808091 Centerline is valid? [True, True] Translation: X:690.08, Y:11.78, Z:6.37 [[ 9.97306589e-01 -7.14289286e-02 -1.66575982e-02 6.90082300e+02] [ 7.14356689e-02 9.97445191e-01 -1.90784231e-04 1.17833054e+01] [ 1.66286688e-02 -9.99676303e-04 9.99861234e-01 6.37309322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9392541539999 meters Centerline goodness [0,1] 0.9985118111886646 Centerline is valid? [True, True] Translation: X:690.11, Y:11.78, Z:6.37 [[ 9.97161924e-01 -7.33816208e-02 -1.68295914e-02 6.90113594e+02] [ 7.33887829e-02 9.97303389e-01 -1.92464701e-04 1.17816102e+01] [ 1.67983319e-02 -1.04318476e-03 9.99858354e-01 6.37328645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9692541539999 meters Centerline goodness [0,1] 0.9984440052146852 Centerline is valid? [True, True] Translation: X:690.15, Y:11.79, Z:6.37 [[ 9.97023828e-01 -7.50947176e-02 -1.74433203e-02 6.90145141e+02] [ 7.51026865e-02 9.97175785e-01 -1.98702201e-04 1.17855303e+01] [ 1.74089781e-02 -1.11192938e-03 9.99847834e-01 6.37397325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9992541539999 meters Centerline goodness [0,1] 0.9982754994742377 Centerline is valid? [True, True] Translation: X:690.18, Y:11.78, Z:6.37 [[ 9.96926290e-01 -7.62364484e-02 -1.80548366e-02 6.90176401e+02] [ 7.62451904e-02 9.97089078e-01 -2.04666033e-04 1.17845941e+01] [ 1.80178834e-02 -1.17255750e-03 9.99836977e-01 6.37420343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0292541539999 meters Centerline goodness [0,1] 0.9985274937944382 Centerline is valid? [True, True] Translation: X:690.21, Y:11.78, Z:6.37 [[ 9.96863129e-01 -7.68745662e-02 -1.88202658e-02 6.90207331e+02] [ 7.68841983e-02 9.97040007e-01 -2.12301690e-04 1.17791546e+01] [ 1.87808785e-02 -1.23534532e-03 9.99822861e-01 6.37328484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0592541539999 meters Centerline goodness [0,1] 0.9985274937944382 Centerline is valid? [True, True] Translation: X:690.24, Y:11.78, Z:6.37 [[ 9.96868397e-01 -7.68062283e-02 -1.88202788e-02 6.90239085e+02] [ 7.68158698e-02 9.97045274e-01 -2.11149050e-04 1.17794442e+01] [ 1.87808875e-02 -1.23520827e-03 9.99822861e-01 6.37358220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.089254154 meters Centerline goodness [0,1] 0.9985284224688866 Centerline is valid? [True, True] Translation: X:690.27, Y:11.78, Z:6.37 [[ 9.96907484e-01 -7.62056654e-02 -1.91876058e-02 6.90271360e+02] [ 7.62156018e-02 9.97091338e-01 -2.13941711e-04 1.17807662e+01] [ 1.91480991e-02 -1.24911483e-03 9.99815878e-01 6.37377707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1192541539999 meters Centerline goodness [0,1] 0.9983598284128186 Centerline is valid? [True, True] Translation: X:690.30, Y:11.79, Z:6.37 [[ 9.96939050e-01 -7.57206120e-02 -1.94658511e-02 6.90303346e+02] [ 7.57307732e-02 9.97128278e-01 -2.15678729e-04 1.17855488e+01] [ 1.94262820e-02 -1.25914541e-03 9.99810499e-01 6.37440192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1492541539999 meters Centerline goodness [0,1] 0.998527896363904 Centerline is valid? [True, True] Translation: X:690.34, Y:11.79, Z:6.37 [[ 9.97018727e-01 -7.45972720e-02 -1.97206639e-02 6.90335346e+02] [ 7.46075098e-02 9.97212952e-01 -2.17101543e-04 1.17872216e+01] [ 1.96818967e-02 -1.25485532e-03 9.99805505e-01 6.37449739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1792541539999 meters Centerline goodness [0,1] 0.9985074940615081 Centerline is valid? [True, True] Translation: X:690.37, Y:11.79, Z:6.37 [[ 9.97169445e-01 -7.22207088e-02 -2.09109266e-02 6.90365994e+02] [ 7.22317227e-02 9.97387851e-01 -2.29100438e-04 1.17903433e+01] [ 2.08728500e-02 -1.28198030e-03 9.99781316e-01 6.37379764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.209254154 meters Centerline goodness [0,1] 0.9985675465020749 Centerline is valid? [True, True] Translation: X:690.40, Y:11.79, Z:6.37 [[ 9.97275959e-01 -7.04898530e-02 -2.17219314e-02 6.90397351e+02] [ 7.05013458e-02 9.97511656e-01 -2.37215166e-04 1.17929829e+01] [ 2.16846010e-02 -1.29485642e-03 9.99764023e-01 6.37376887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2392541539999 meters Centerline goodness [0,1] 0.9987562975610784 Centerline is valid? [True, True] Translation: X:690.43, Y:11.80, Z:6.37 [[ 9.97398610e-01 -6.85254152e-02 -2.23669412e-02 6.90428892e+02] [ 6.85371262e-02 9.97648537e-01 -2.43472665e-04 1.17959253e+01] [ 2.23310302e-02 -1.29012657e-03 9.99749799e-01 6.37377379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2692541539999 meters Centerline goodness [0,1] 0.9986913757440162 Centerline is valid? [True, True] Translation: X:690.46, Y:11.81, Z:6.37 [[ 9.97660972e-01 -6.38941259e-02 -2.42925032e-02 6.90459577e+02] [ 6.39065874e-02 9.97955850e-01 -2.63810529e-04 1.18080321e+01] [ 2.42597016e-02 -1.28925751e-03 9.99704859e-01 6.37439883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2992541539999 meters Centerline goodness [0,1] 0.9987343107267166 Centerline is valid? [True, True] Translation: X:690.49, Y:11.80, Z:6.37 [[ 9.97837161e-01 -6.15096815e-02 -2.31853373e-02 6.90490500e+02] [ 6.15204058e-02 9.98105794e-01 -2.51127053e-04 1.18048390e+01] [ 2.31568662e-02 -1.17578745e-03 9.99731152e-01 6.37393062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.329254154 meters Centerline goodness [0,1] 0.998626431680825 Centerline is valid? [True, True] Translation: X:690.52, Y:11.81, Z:6.37 [[ 9.98004964e-01 -5.86480727e-02 -2.33772526e-02 6.90521872e+02] [ 5.86582105e-02 9.98278093e-01 -2.52420755e-04 1.18094682e+01] [ 2.33518032e-02 -1.11935064e-03 9.99726683e-01 6.37463285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3592541539999 meters Centerline goodness [0,1] 0.9986473920027052 Centerline is valid? [True, True] Translation: X:690.55, Y:11.82, Z:6.38 [[ 9.98175760e-01 -5.58577066e-02 -2.29143837e-02 6.90552968e+02] [ 5.58667313e-02 9.98438204e-01 -2.46628772e-04 1.18218334e+01] [ 2.28923722e-02 -1.03397285e-03 9.99737401e-01 6.37786397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3892541539999 meters Centerline goodness [0,1] 0.9985428281804359 Centerline is valid? [True, True] Translation: X:690.58, Y:11.83, Z:6.38 [[ 9.98531120e-01 -4.95720910e-02 -2.18680263e-02 6.90582881e+02] [ 4.95788080e-02 9.98770187e-01 -2.35222535e-04 1.18289747e+01] [ 2.18527932e-02 -8.49313656e-04 9.99760838e-01 6.37929929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4192541539999 meters Centerline goodness [0,1] 0.9988577713850579 Centerline is valid? [True, True] Translation: X:690.61, Y:11.83, Z:6.38 [[ 9.98708840e-01 -4.64045202e-02 -2.06705826e-02 6.90614379e+02] [ 4.64098498e-02 9.98922458e-01 -2.22058332e-04 1.18339232e+01] [ 2.06586137e-02 -7.37547014e-04 9.99786316e-01 6.38093241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.449254154 meters Centerline goodness [0,1] 0.9988997736072615 Centerline is valid? [True, True] Translation: X:690.65, Y:11.84, Z:6.38 [[ 9.98875834e-01 -4.31110108e-02 -1.97106313e-02 6.90645658e+02] [ 4.31152302e-02 9.99070084e-01 -2.11032930e-04 1.18387198e+01] [ 1.97013999e-02 -6.39032710e-04 9.99805704e-01 6.38233434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4792541539999 meters Centerline goodness [0,1] 0.998772460792821 Centerline is valid? [True, True] Translation: X:690.68, Y:11.84, Z:6.38 [[ 9.99043249e-01 -3.95905619e-02 -1.85788456e-02 6.90675636e+02] [ 3.95937116e-02 9.99215842e-01 -1.98417512e-04 1.18424663e+01] [ 1.85721323e-02 -5.37377780e-04 9.99827379e-01 6.38320421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5092541539999 meters Centerline goodness [0,1] 0.9986211870518857 Centerline is valid? [True, True] Translation: X:690.71, Y:11.85, Z:6.38 [[ 9.99319139e-01 -3.25861351e-02 -1.73032528e-02 6.90706601e+02] [ 3.25878228e-02 9.99468859e-01 -1.84488078e-04 1.18501734e+01] [ 1.73000741e-02 -3.79512867e-04 9.99850270e-01 6.38380443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5392541539999 meters Centerline goodness [0,1] 0.9985756499925593 Centerline is valid? [True, True] Translation: X:690.74, Y:11.85, Z:6.38 [[ 9.99431144e-01 -2.90549958e-02 -1.71229543e-02 6.90737535e+02] [ 2.90561358e-02 9.99577765e-01 -1.82252678e-04 1.18544543e+01] [ 1.71210197e-02 -3.15377882e-04 9.99853375e-01 6.38439146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5692541539999 meters Centerline goodness [0,1] 0.9988069622275719 Centerline is valid? [True, True] Translation: X:690.77, Y:11.86, Z:6.38 [[ 9.99532023e-01 -2.55481589e-02 -1.68234113e-02 6.90767674e+02] [ 2.55487656e-02 9.99673561e-01 -1.78893948e-04 1.18579716e+01] [ 1.68224899e-02 -2.51007163e-04 9.99858460e-01 6.38459056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5992541539999 meters Centerline goodness [0,1] 0.9987646432374867 Centerline is valid? [True, True] Translation: X:690.80, Y:11.86, Z:6.38 [[ 9.99672272e-01 -1.93392614e-02 -1.67732448e-02 6.90797651e+02] [ 1.93389882e-02 9.99812968e-01 -1.78497587e-04 1.18642465e+01] [ 1.67735597e-02 -1.45938495e-04 9.99859303e-01 6.38445955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6292541539999 meters Centerline goodness [0,1] 0.9990192524998401 Centerline is valid? [True, True] Translation: X:690.83, Y:11.87, Z:6.38 [[ 9.99710828e-01 -1.71224490e-02 -1.68843485e-02 6.90825427e+02] [ 1.71218416e-02 9.99853394e-01 -1.80542977e-04 1.18665378e+01] [ 1.68849645e-02 -1.08600372e-04 9.99857433e-01 6.38463003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6592541539999 meters Centerline goodness [0,1] 0.9987615041318785 Centerline is valid? [True, True] Translation: X:690.85, Y:11.87, Z:6.38 [[ 9.99735112e-01 -1.56370357e-02 -1.68875151e-02 6.90853527e+02] [ 1.56361649e-02 9.99877731e-01 -1.83611466e-04 1.18686560e+01] [ 1.68883214e-02 -8.04931410e-05 9.99857379e-01 6.38446885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6892541539999 meters Centerline goodness [0,1] 0.998952610991172 Centerline is valid? [True, True] Translation: X:690.88, Y:11.87, Z:6.38 [[ 9.99753408e-01 -1.45507330e-02 -1.67749506e-02 6.90881295e+02] [ 1.45496391e-02 9.99894131e-01 -1.87262952e-04 1.18707251e+01] [ 1.67758995e-02 -5.68527019e-05 9.99859273e-01 6.38490276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7192541539999 meters Centerline goodness [0,1] 0.9988243090143434 Centerline is valid? [True, True] Translation: X:690.91, Y:11.87, Z:6.38 [[ 9.99749876e-01 -1.37528553e-02 -1.76364362e-02 6.90908944e+02] [ 1.37514574e-02 9.99905424e-01 -2.00535094e-04 1.18721503e+01] [ 1.76375261e-02 -4.20417664e-05 9.99844446e-01 6.38357119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7492541539999 meters Centerline goodness [0,1] 0.9990163373535198 Centerline is valid? [True, True] Translation: X:690.94, Y:11.87, Z:6.38 [[ 9.99736535e-01 -1.44382384e-02 -1.78437212e-02 6.90936472e+02] [ 1.44368571e-02 9.99895762e-01 -2.06229810e-04 1.18726156e+01] [ 1.78448388e-02 -5.14317775e-05 9.99840767e-01 6.38359210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7792541539999 meters Centerline goodness [0,1] 0.9989082502033652 Centerline is valid? [True, True] Translation: X:690.96, Y:11.87, Z:6.38 [[ 9.99715161e-01 -1.57029320e-02 -1.79726278e-02 6.90963954e+02] [ 1.57016401e-02 9.99876699e-01 -2.13000026e-04 1.18726711e+01] [ 1.79737565e-02 -6.92603788e-05 9.99838457e-01 6.38357505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8092541539999 meters Centerline goodness [0,1] 0.9988239570637415 Centerline is valid? [True, True] Translation: X:690.99, Y:11.87, Z:6.38 [[ 9.99690710e-01 -1.70577934e-02 -1.80973896e-02 6.90992114e+02] [ 1.70566410e-02 9.99854501e-01 -2.18041490e-04 1.18722907e+01] [ 1.80984758e-02 -9.07066263e-05 9.99836205e-01 6.38316376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.839254154 meters Centerline goodness [0,1] 0.9987570185589988 Centerline is valid? [True, True] Translation: X:691.02, Y:11.87, Z:6.38 [[ 9.99640195e-01 -1.99471894e-02 -1.79329468e-02 6.91020077e+02] [ 1.99464867e-02 9.99801025e-01 -2.18062091e-04 1.18704615e+01] [ 1.79337283e-02 -1.39715653e-04 9.99839168e-01 6.38312230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8692541539999 meters Centerline goodness [0,1] 0.9989705976967124 Centerline is valid? [True, True] Translation: X:691.05, Y:11.87, Z:6.38 [[ 9.99606821e-01 -2.17672176e-02 -1.76745969e-02 6.91048804e+02] [ 2.17667608e-02 9.99763052e-01 -2.18241157e-04 1.18696470e+01] [ 1.76751594e-02 -1.66563375e-04 9.99843768e-01 6.38330629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8992541539999 meters Centerline goodness [0,1] 0.9988013442068537 Centerline is valid? [True, True] Translation: X:691.08, Y:11.87, Z:6.38 [[ 9.99524953e-01 -2.49381973e-02 -1.81095375e-02 6.91077971e+02] [ 2.49381860e-02 9.99688969e-01 -2.26488146e-04 1.18690238e+01] [ 1.81095531e-02 -2.25238460e-04 9.99835983e-01 6.38396604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9292541539999 meters Centerline goodness [0,1] 0.9989290610006853 Centerline is valid? [True, True] Translation: X:691.11, Y:11.87, Z:6.38 [[ 9.99473250e-01 -2.70239733e-02 -1.79702038e-02 6.91107705e+02] [ 2.70242843e-02 9.99634752e-01 -2.25577547e-04 1.18686780e+01] [ 1.79697362e-02 -2.60173171e-04 9.99838497e-01 6.38466877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.959254154 meters Centerline goodness [0,1] 0.9990152212540944 Centerline is valid? [True, True] Translation: X:691.14, Y:11.87, Z:6.39 [[ 9.99428352e-01 -2.86965385e-02 -1.78739555e-02 6.91137744e+02] [ 2.86971070e-02 9.99588128e-01 -2.24731472e-04 1.18677913e+01] [ 1.78730427e-02 -2.88327809e-04 9.99840223e-01 6.38506475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9892541539999 meters Centerline goodness [0,1] 0.9989956835762213 Centerline is valid? [True, True] Translation: X:691.17, Y:11.87, Z:6.39 [[ 9.99376228e-01 -3.06381204e-02 -1.75630440e-02 6.91168518e+02] [ 3.06389686e-02 9.99530492e-01 -2.20840889e-04 1.18672066e+01] [ 1.75615642e-02 -3.17410420e-04 9.99845733e-01 6.38521722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0192541539999 meters Centerline goodness [0,1] 0.9985907673912116 Centerline is valid? [True, True] Translation: X:691.20, Y:11.86, Z:6.39 [[ 9.99266835e-01 -3.42835780e-02 -1.70419866e-02 6.91198820e+02] [ 3.42849129e-02 9.99412077e-01 -2.13911520e-04 1.18642584e+01] [ 1.70393008e-02 -3.70528338e-04 9.99854752e-01 6.38536403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0492541539999 meters Centerline goodness [0,1] 0.9989534387014096 Centerline is valid? [True, True] Translation: X:691.23, Y:11.86, Z:6.39 [[ 9.99215392e-01 -3.59115761e-02 -1.67020707e-02 6.91229721e+02] [ 3.59130953e-02 9.99354895e-01 -2.09057818e-04 1.18634167e+01] [ 1.66988038e-02 -3.90929269e-04 9.99860489e-01 6.38557538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.079254154 meters Centerline goodness [0,1] 0.9988486877172036 Centerline is valid? [True, True] Translation: X:691.26, Y:11.86, Z:6.39 [[ 9.99175708e-01 -3.69709640e-02 -1.67645959e-02 6.91261223e+02] [ 3.69726535e-02 9.99316256e-01 -2.09257336e-04 1.18614868e+01] [ 1.67608697e-02 -4.10746749e-04 9.99859442e-01 6.38538403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1092541539999 meters Centerline goodness [0,1] 0.9988696709249504 Centerline is valid? [True, True] Translation: X:691.29, Y:11.86, Z:6.39 [[ 9.99148770e-01 -3.78346677e-02 -1.64399981e-02 6.91293792e+02] [ 3.78364260e-02 9.99283925e-01 -2.04183251e-04 1.18604944e+01] [ 1.64359510e-02 -4.18021327e-04 9.99864833e-01 6.38526973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1392541539999 meters Centerline goodness [0,1] 0.9987645906108886 Centerline is valid? [True, True] Translation: X:691.33, Y:11.86, Z:6.39 [[ 9.99162648e-01 -3.77351662e-02 -1.58132583e-02 6.91326075e+02] [ 3.77367982e-02 9.99287694e-01 -1.95278916e-04 1.18595802e+01] [ 1.58093633e-02 -4.01626338e-04 9.99874944e-01 6.38509240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1692541539999 meters Centerline goodness [0,1] 0.9988267167267529 Centerline is valid? [True, True] Translation: X:691.36, Y:11.86, Z:6.39 [[ 9.99196736e-01 -3.67750927e-02 -1.59208957e-02 6.91358229e+02] [ 3.67766436e-02 9.99323491e-01 -1.95449636e-04 1.18608920e+01] [ 1.59173128e-02 -3.90224470e-04 9.99873235e-01 6.38555148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.199254154 meters Centerline goodness [0,1] 0.998722833606505 Centerline is valid? [True, True] Translation: X:691.39, Y:11.86, Z:6.39 [[ 9.99244352e-01 -3.54261733e-02 -1.59909970e-02 6.91389111e+02] [ 3.54275801e-02 9.99372227e-01 -1.95385500e-04 1.18609661e+01] [ 1.59878800e-02 -3.71284470e-04 9.99872117e-01 6.38507197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2292541539999 meters Centerline goodness [0,1] 0.9988273421176069 Centerline is valid? [True, True] Translation: X:691.42, Y:11.86, Z:6.39 [[ 9.99367148e-01 -3.15885273e-02 -1.63544498e-02 6.91420926e+02] [ 3.15894970e-02 9.99500907e-01 -1.99099599e-04 1.18648677e+01] [ 1.63525767e-02 -3.17655245e-04 9.99866237e-01 6.38539515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2592541539999 meters Centerline goodness [0,1] 0.9988708268530158 Centerline is valid? [True, True] Translation: X:691.45, Y:11.87, Z:6.39 [[ 9.99440252e-01 -2.91310776e-02 -1.64487906e-02 6.91452512e+02] [ 2.91317385e-02 9.99575561e-01 -1.99476799e-04 1.18668836e+01] [ 1.64476201e-02 -2.79816725e-04 9.99864690e-01 6.38522942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2892541539999 meters Centerline goodness [0,1] 0.9988912579957356 Centerline is valid? [True, True] Translation: X:691.48, Y:11.87, Z:6.39 [[ 9.99509056e-01 -2.68632192e-02 -1.61249404e-02 6.91482862e+02] [ 2.68635667e-02 9.99639090e-01 -1.95094460e-04 1.18680930e+01] [ 1.61243616e-02 -2.38174731e-04 9.99869966e-01 6.38549410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3192541539999 meters Centerline goodness [0,1] 0.9988261908827044 Centerline is valid? [True, True] Translation: X:691.51, Y:11.87, Z:6.38 [[ 9.99557437e-01 -2.47082895e-02 -1.65659568e-02 6.91512966e+02] [ 2.47083653e-02 9.99694682e-01 -2.00129817e-04 1.18694624e+01] [ 1.65658438e-02 -2.09276465e-04 9.99862755e-01 6.38470021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3492541539999 meters Centerline goodness [0,1] 0.9988915652377806 Centerline is valid? [True, True] Translation: X:691.54, Y:11.87, Z:6.39 [[ 9.99612176e-01 -2.20665968e-02 -1.69871656e-02 6.91542906e+02] [ 2.20662932e-02 9.99756489e-01 -2.05328302e-04 1.18723793e+01] [ 1.69875600e-02 -1.69595107e-04 9.99855687e-01 6.38547065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3792541539999 meters Centerline goodness [0,1] 0.9986992494029342 Centerline is valid? [True, True] Translation: X:691.57, Y:11.87, Z:6.39 [[ 9.99619737e-01 -2.16096004e-02 -1.71290886e-02 6.91572001e+02] [ 2.16091848e-02 9.99766472e-01 -2.09372767e-04 1.18734608e+01] [ 1.71296130e-02 -1.60852491e-04 9.99853264e-01 6.38534211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4092541539999 meters Centerline goodness [0,1] 0.9988488349783624 Centerline is valid? [True, True] Translation: X:691.60, Y:11.87, Z:6.39 [[ 9.99614598e-01 -2.14357161e-02 -1.76399014e-02 6.91600983e+02] [ 2.14351676e-02 9.99770216e-01 -2.20188743e-04 1.18744442e+01] [ 1.76405679e-02 -1.58010360e-04 9.99844381e-01 6.38509088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4392541539999 meters Centerline goodness [0,1] 0.9987869243211033 Centerline is valid? [True, True] Translation: X:691.63, Y:11.87, Z:6.38 [[ 9.99593341e-01 -2.18759129e-02 -1.82919866e-02 6.91629690e+02] [ 2.18753099e-02 9.99760680e-01 -2.33076131e-04 1.18749698e+01] [ 1.82927077e-02 -1.67161526e-04 9.99832660e-01 6.38476672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4692541539999 meters Centerline goodness [0,1] 0.9990837612665402 Centerline is valid? [True, True] Translation: X:691.66, Y:11.87, Z:6.38 [[ 9.99536634e-01 -2.37035757e-02 -1.90960307e-02 6.91658180e+02] [ 2.37031575e-02 9.99719010e-01 -2.48272129e-04 1.18741724e+01] [ 1.90965498e-02 -2.04479134e-04 9.99817623e-01 6.38361628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4992541539999 meters Centerline goodness [0,1] 0.9988073179562541 Centerline is valid? [True, True] Translation: X:691.69, Y:11.87, Z:6.38 [[ 9.99487417e-01 -2.54737553e-02 -1.93905013e-02 6.91686454e+02] [ 2.54735927e-02 9.99675463e-01 -2.55423399e-04 1.18739470e+01] [ 1.93907150e-02 -2.38653259e-04 9.99811954e-01 6.38355963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5292541539999 meters Centerline goodness [0,1] 0.9987854768601381 Centerline is valid? [True, True] Translation: X:691.72, Y:11.87, Z:6.38 [[ 9.99444823e-01 -2.72016013e-02 -1.92384610e-02 6.91715355e+02] [ 2.72017316e-02 9.99629932e-01 -2.54956619e-04 1.18725521e+01] [ 1.92382767e-02 -2.68504380e-04 9.99814891e-01 6.38305027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5592541539999 meters Centerline goodness [0,1] 0.9987220175083601 Centerline is valid? [True, True] Translation: X:691.75, Y:11.87, Z:6.38 [[ 9.99358144e-01 -3.02537550e-02 -1.91836127e-02 6.91745124e+02] [ 3.02544275e-02 9.99542197e-01 -2.55232399e-04 1.18710131e+01] [ 1.91825522e-02 -3.25320644e-04 9.99815945e-01 6.38274559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.589254154 meters Centerline goodness [0,1] 0.9988293887280777 Centerline is valid? [True, True] Translation: X:691.78, Y:11.87, Z:6.38 [[ 9.99276225e-01 -3.29592978e-02 -1.89924036e-02 6.91775850e+02] [ 3.29604390e-02 9.99456625e-01 -2.53022027e-04 1.18710759e+01] [ 1.89904231e-02 -3.73159066e-04 9.99819596e-01 6.38461781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6192541539999 meters Centerline goodness [0,1] 0.9989354680746876 Centerline is valid? [True, True] Translation: X:691.81, Y:11.87, Z:6.38 [[ 9.99196670e-01 -3.53380380e-02 -1.89007252e-02 6.91805781e+02] [ 3.53395936e-02 9.99375330e-01 -2.51800662e-04 1.18695683e+01] [ 1.88978167e-02 -4.16345565e-04 9.99821334e-01 6.38497902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6492541539999 meters Centerline goodness [0,1] 0.9987246524677975 Centerline is valid? [True, True] Translation: X:691.84, Y:11.87, Z:6.39 [[ 9.99065378e-01 -3.95338860e-02 -1.74769318e-02 6.91837135e+02] [ 3.95358624e-02 9.99218125e-01 -2.32542534e-04 1.18680719e+01] [ 1.74724603e-02 -4.58640376e-04 9.99847240e-01 6.38649850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6792541539999 meters Centerline goodness [0,1] 0.9988108131065384 Centerline is valid? [True, True] Translation: X:691.87, Y:11.87, Z:6.39 [[ 9.99002812e-01 -4.14041073e-02 -1.67057329e-02 6.91868718e+02] [ 4.14061862e-02 9.99142372e-01 -2.21568367e-04 1.18664326e+01] [ 1.67005794e-02 -4.70373267e-04 9.99860425e-01 6.38692715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.709254154 meters Centerline goodness [0,1] 0.9987876983282998 Centerline is valid? [True, True] Translation: X:691.90, Y:11.87, Z:6.39 [[ 9.98873504e-01 -4.51529554e-02 -1.45922175e-02 6.91900518e+02] [ 4.51549517e-02 9.98979976e-01 -1.92811586e-04 1.18666650e+01] [ 1.45860391e-02 -4.66316492e-04 9.99893509e-01 6.38886710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7392541539999 meters Centerline goodness [0,1] 0.9987663249244906 Centerline is valid? [True, True] Translation: X:691.93, Y:11.86, Z:6.39 [[ 9.98818066e-01 -4.66496733e-02 -1.36484022e-02 6.91931248e+02] [ 4.66515678e-02 9.98911207e-01 -1.79702605e-04 1.18641840e+01] [ 1.36419250e-02 -4.57229151e-04 9.99906840e-01 6.38917147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7692541539999 meters Centerline goodness [0,1] 0.9986408426775399 Centerline is valid? [True, True] Translation: X:691.96, Y:11.87, Z:6.39 [[ 9.98752275e-01 -4.81054280e-02 -1.34075088e-02 6.91963686e+02] [ 4.81073957e-02 9.98842153e-01 -1.75901731e-04 1.18659696e+01] [ 1.34004468e-02 -4.69318077e-04 9.99910100e-01 6.38989873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7992541539999 meters Centerline goodness [0,1] 0.9989588202796311 Centerline is valid? [True, True] Translation: X:692.00, Y:11.87, Z:6.39 [[ 9.98708954e-01 -4.90979089e-02 -1.30315321e-02 6.91996278e+02] [ 4.90998642e-02 9.98793860e-01 -1.70040665e-04 1.18666628e+01] [ 1.30241629e-02 -4.70025321e-04 9.99915072e-01 6.39050175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.829254154 meters Centerline goodness [0,1] 0.9989805454082066 Centerline is valid? [True, True] Translation: X:692.03, Y:11.87, Z:6.39 [[ 9.98630843e-01 -5.08647514e-02 -1.22154566e-02 6.92027972e+02] [ 5.08666112e-02 9.98705443e-01 -1.58595176e-04 1.18675406e+01] [ 1.22077099e-02 -4.62980850e-04 9.99925376e-01 6.39132335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8592541539999 meters Centerline goodness [0,1] 0.9988954501040825 Centerline is valid? [True, True] Translation: X:692.06, Y:11.87, Z:6.39 [[ 9.98592015e-01 -5.16373752e-02 -1.21478220e-02 6.92060145e+02] [ 5.16392802e-02 9.98665790e-01 -1.57007076e-04 1.18680452e+01] [ 1.21397217e-02 -4.70518771e-04 9.99926200e-01 6.39174837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8892541539999 meters Centerline goodness [0,1] 0.9986598881112931 Centerline is valid? [True, True] Translation: X:692.09, Y:11.87, Z:6.39 [[ 9.98561455e-01 -5.22605423e-02 -1.19940264e-02 6.92092622e+02] [ 5.22624545e-02 9.98633372e-01 -1.54162499e-04 1.18687756e+01] [ 1.19856917e-02 -4.72896531e-04 9.99928057e-01 6.39202294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9192541539999 meters Centerline goodness [0,1] 0.9988092959962578 Centerline is valid? [True, True] Translation: X:692.12, Y:11.87, Z:6.39 [[ 9.98551822e-01 -5.24141363e-02 -1.21250883e-02 6.92123310e+02] [ 5.24161112e-02 9.98625319e-01 -1.55067159e-04 1.18687213e+01] [ 1.21165479e-02 -4.80707383e-04 9.99926476e-01 6.39205121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.949254154 meters Centerline goodness [0,1] 0.9989122552574329 Centerline is valid? [True, True] Translation: X:692.16, Y:11.87, Z:6.39 [[ 9.98546386e-01 -5.23784219e-02 -1.27128248e-02 6.92156585e+02] [ 5.23805991e-02 9.98627181e-01 -1.61877423e-04 1.18697797e+01] [ 1.27038513e-02 -5.04263266e-04 9.99919176e-01 6.39121258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9792541539999 meters Centerline goodness [0,1] 0.9989122552574329 Centerline is valid? [True, True] Translation: X:692.19, Y:11.87, Z:6.39 [[ 9.98551936e-01 -5.22725119e-02 -1.27128419e-02 6.92189147e+02] [ 5.22746976e-02 9.98632730e-01 -1.60529976e-04 1.18700958e+01] [ 1.27038513e-02 -5.04262446e-04 9.99919176e-01 6.39151732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0092541539999 meters Centerline goodness [0,1] 0.9988474590741254 Centerline is valid? [True, True] Translation: X:692.22, Y:11.87, Z:6.39 [[ 9.98589178e-01 -5.14873985e-02 -1.29885305e-02 6.92220845e+02] [ 5.14896302e-02 9.98673516e-01 -1.62742889e-04 1.18711448e+01] [ 1.29796807e-02 -5.06261347e-04 9.99915632e-01 6.39151217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0392541539999 meters Centerline goodness [0,1] 0.9988050784167289 Centerline is valid? [True, True] Translation: X:692.25, Y:11.87, Z:6.39 [[ 9.98659288e-01 -5.01262014e-02 -1.29224972e-02 6.92253334e+02] [ 5.01283083e-02 9.98742773e-01 -1.61016968e-04 1.18731805e+01] [ 1.29143219e-02 -4.86981834e-04 9.99916488e-01 6.39174603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0692541539999 meters Centerline goodness [0,1] 0.9986777564512689 Centerline is valid? [True, True] Translation: X:692.28, Y:11.88, Z:6.39 [[ 9.98893041e-01 -4.49550042e-02 -1.38470309e-02 6.92283709e+02] [ 4.49569367e-02 9.98988911e-01 -1.71839760e-04 1.18788109e+01] [ 1.38407554e-02 -4.50870552e-04 9.99904111e-01 6.39050669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0992541539999 meters Centerline goodness [0,1] 0.9987393431764279 Centerline is valid? [True, True] Translation: X:692.31, Y:11.88, Z:6.39 [[ 9.99033145e-01 -4.16403901e-02 -1.41015619e-02 6.92314686e+02] [ 4.16420667e-02 9.99132578e-01 -1.74835595e-04 1.18817642e+01] [ 1.40966101e-02 -4.12551629e-04 9.99900553e-01 6.38998650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1292541539999 meters Centerline goodness [0,1] 0.9991654183607961 Centerline is valid? [True, True] Translation: X:692.35, Y:11.89, Z:6.39 [[ 9.99153936e-01 -3.85398107e-02 -1.43560455e-02 6.92345861e+02] [ 3.85412357e-02 9.99256995e-01 -1.77492148e-04 1.18862855e+01] [ 1.43522194e-02 -3.75957754e-04 9.99896931e-01 6.39163513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1592541539999 meters Centerline goodness [0,1] 0.9993546582915653 Centerline is valid? [True, True] Translation: X:692.38, Y:11.89, Z:6.39 [[ 9.99415394e-01 -3.07570606e-02 -1.49289299e-02 6.92375944e+02] [ 3.07577386e-02 9.99526852e-01 -1.84241930e-04 1.18943475e+01] [ 1.49275330e-02 -2.75045902e-04 9.99888540e-01 6.39133266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1892541539999 meters Centerline goodness [0,1] 0.9991817222593079 Centerline is valid? [True, True] Translation: X:692.41, Y:11.90, Z:6.39 [[ 9.99513847e-01 -2.71576703e-02 -1.53143701e-02 6.92406201e+02] [ 2.71579629e-02 9.99631137e-01 -1.88900163e-04 1.18980533e+01] [ 1.53138513e-02 -2.27098765e-04 9.99882710e-01 6.39140650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2192541539999 meters Centerline goodness [0,1] 0.99922488965443 Centerline is valid? [True, True] Translation: X:692.44, Y:11.90, Z:6.39 [[ 9.99594157e-01 -2.40796554e-02 -1.52214453e-02 6.92436593e+02] [ 2.40795899e-02 9.99710027e-01 -1.87599647e-04 1.19016778e+01] [ 1.52215489e-02 -1.79002651e-04 9.99884129e-01 6.39177317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2492541539999 meters Centerline goodness [0,1] 0.9992662767862923 Centerline is valid? [True, True] Translation: X:692.47, Y:11.90, Z:6.39 [[ 9.99651783e-01 -2.17265286e-02 -1.49756457e-02 6.92467525e+02] [ 2.17262026e-02 9.99763941e-01 -1.84477803e-04 1.19045632e+01] [ 1.49761186e-02 -1.40950347e-04 9.99887842e-01 6.39228904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2792541539999 meters Centerline goodness [0,1] 0.9993101515510812 Centerline is valid? [True, True] Translation: X:692.50, Y:11.91, Z:6.39 [[ 9.99711876e-01 -1.88688005e-02 -1.48369240e-02 6.92496766e+02] [ 1.88681668e-02 9.99821964e-01 -1.82705882e-04 1.19076974e+01] [ 1.48377300e-02 -9.72923175e-05 9.99889910e-01 6.39282053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3092541539999 meters Centerline goodness [0,1] 0.9992888084308528 Centerline is valid? [True, True] Translation: X:692.53, Y:11.91, Z:6.39 [[ 9.99722750e-01 -1.84744598e-02 -1.45985396e-02 6.92526751e+02] [ 1.84737995e-02 9.99829329e-01 -1.80090473e-04 1.19084821e+01] [ 1.45993751e-02 -8.96499509e-05 9.99893419e-01 6.39313866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.339254154 meters Centerline goodness [0,1] 0.9992881487553389 Centerline is valid? [True, True] Translation: X:692.56, Y:11.91, Z:6.39 [[ 9.99713569e-01 -1.89888842e-02 -1.45671675e-02 6.92556445e+02] [ 1.89882745e-02 9.99819690e-01 -1.80171433e-04 1.19083216e+01] [ 1.45679622e-02 -9.64855497e-05 9.99893877e-01 6.39326850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3692541539999 meters Centerline goodness [0,1] 0.9991370010787487 Centerline is valid? [True, True] Translation: X:692.59, Y:11.91, Z:6.39 [[ 9.99698622e-01 -1.93505850e-02 -1.51069484e-02 6.92585729e+02] [ 1.93499628e-02 9.99812754e-01 -1.87362264e-04 1.19092431e+01] [ 1.51077453e-02 -1.05013094e-04 9.99885866e-01 6.39324265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3992541539999 meters Centerline goodness [0,1] 0.9993098391062416 Centerline is valid? [True, True] Translation: X:692.62, Y:11.91, Z:6.39 [[ 9.99640390e-01 -2.23688108e-02 -1.47893992e-02 6.92615087e+02] [ 2.23685372e-02 9.99749776e-01 -1.83940858e-04 1.19067412e+01] [ 1.47898131e-02 -1.46942515e-04 9.99890614e-01 6.39337276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4292541539999 meters Centerline goodness [0,1] 0.9992243218202581 Centerline is valid? [True, True] Translation: X:692.65, Y:11.91, Z:6.39 [[ 9.99614531e-01 -2.35910941e-02 -1.46372460e-02 6.92645744e+02] [ 2.35909523e-02 9.99721678e-01 -1.82376132e-04 1.19060470e+01] [ 1.46374746e-02 -1.63000741e-04 9.99892853e-01 6.39332993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.459254154 meters Centerline goodness [0,1] 0.9990932838237516 Centerline is valid? [True, True] Translation: X:692.68, Y:11.90, Z:6.39 [[ 9.99576713e-01 -2.49481962e-02 -1.49660272e-02 6.92676176e+02] [ 2.49482000e-02 9.99688728e-01 -1.86472656e-04 1.19045236e+01] [ 1.49660208e-02 -1.86981713e-04 9.99887985e-01 6.39283693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4892541539999 meters Centerline goodness [0,1] 0.9989886600821982 Centerline is valid? [True, True] Translation: X:692.71, Y:11.90, Z:6.39 [[ 9.99503990e-01 -2.78266643e-02 -1.47461936e-02 6.92706666e+02] [ 2.78269853e-02 9.99612738e-01 -1.83454337e-04 1.18975329e+01] [ 1.47455879e-02 -2.26978772e-04 9.99891252e-01 6.39128936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5192541539999 meters Centerline goodness [0,1] 0.9989447614945622 Centerline is valid? [True, True] Translation: X:692.74, Y:11.90, Z:6.39 [[ 9.99478294e-01 -2.89709022e-02 -1.42768216e-02 6.92737837e+02] [ 2.89713289e-02 9.99580227e-01 -1.76970837e-04 1.19015054e+01] [ 1.42759556e-02 -2.36739986e-04 9.99898065e-01 6.39368564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5492541539999 meters Centerline goodness [0,1] 0.9990974341341815 Centerline is valid? [True, True] Translation: X:692.77, Y:11.90, Z:6.39 [[ 9.99451524e-01 -3.00105864e-02 -1.40005645e-02 6.92769078e+02] [ 3.00111067e-02 9.99549550e-01 -1.72977353e-04 1.19006587e+01] [ 1.39994491e-02 -2.47289957e-04 9.99901972e-01 6.39434531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.579254154 meters Centerline goodness [0,1] 0.998947888261439 Centerline is valid? [True, True] Translation: X:692.80, Y:11.90, Z:6.40 [[ 9.99400302e-01 -3.19746084e-02 -1.32914017e-02 6.92801295e+02] [ 3.19752610e-02 9.99488647e-01 -1.63457846e-04 1.19008231e+01] [ 1.32898316e-02 -2.61636218e-04 9.99911652e-01 6.39541070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6092541539999 meters Centerline goodness [0,1] 0.9991635747528256 Centerline is valid? [True, True] Translation: X:692.83, Y:11.90, Z:6.40 [[ 9.99378569e-01 -3.26097257e-02 -1.33821183e-02 6.92832081e+02] [ 3.26104564e-02 9.99468124e-01 -1.63661433e-04 1.18997139e+01] [ 1.33803376e-02 -2.72837256e-04 9.99910442e-01 6.39545053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6392541539999 meters Centerline goodness [0,1] 0.999056624000343 Centerline is valid? [True, True] Translation: X:692.86, Y:11.90, Z:6.40 [[ 9.99348695e-01 -3.35748625e-02 -1.32254875e-02 6.92863918e+02] [ 3.35756710e-02 9.99436165e-01 -1.60958725e-04 1.18993140e+01] [ 1.32234347e-02 -2.83200725e-04 9.99912526e-01 6.39584122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6692541539999 meters Centerline goodness [0,1] 0.9990161480055609 Centerline is valid? [True, True] Translation: X:692.90, Y:11.90, Z:6.40 [[ 9.99321762e-01 -3.43881898e-02 -1.31707383e-02 6.92895330e+02] [ 3.43890740e-02 9.99408508e-01 -1.59405506e-04 1.18981334e+01] [ 1.31684296e-02 -2.93632104e-04 9.99913249e-01 6.39587104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.699254154 meters Centerline goodness [0,1] 0.9989732400693063 Centerline is valid? [True, True] Translation: X:692.93, Y:11.90, Z:6.40 [[ 9.99245914e-01 -3.64964159e-02 -1.32519666e-02 6.92926981e+02] [ 3.64975058e-02 9.99333731e-01 -1.59666986e-04 1.18953963e+01] [ 1.32489645e-02 -3.24117146e-04 9.99912176e-01 6.39544984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7292541539999 meters Centerline goodness [0,1] 0.9989934898064075 Centerline is valid? [True, True] Translation: X:692.96, Y:11.89, Z:6.40 [[ 9.99201657e-01 -3.75815538e-02 -1.35526984e-02 6.92959543e+02] [ 3.75828046e-02 9.99293504e-01 -1.62477839e-04 1.18944102e+01] [ 1.35492296e-02 -3.47000290e-04 9.99908145e-01 6.39507202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7592541539999 meters Centerline goodness [0,1] 0.9989307557418416 Centerline is valid? [True, True] Translation: X:692.99, Y:11.89, Z:6.39 [[ 9.99145780e-01 -3.87092167e-02 -1.44674745e-02 6.92991393e+02] [ 3.87107756e-02 9.99250442e-01 -1.72375777e-04 1.18935981e+01] [ 1.44633028e-02 -3.87818627e-04 9.99895326e-01 6.39460360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7892541539999 meters Centerline goodness [0,1] 0.9989297257957489 Centerline is valid? [True, True] Translation: X:693.02, Y:11.89, Z:6.39 [[ 9.99034737e-01 -4.08951478e-02 -1.60368613e-02 6.93023395e+02] [ 4.08973643e-02 9.99163335e-01 -1.89858408e-04 1.18925103e+01] [ 1.60312081e-02 -4.66190214e-04 9.99871383e-01 6.39334126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8192541539999 meters Centerline goodness [0,1] 0.9988863427066156 Centerline is valid? [True, True] Translation: X:693.05, Y:11.89, Z:6.39 [[ 9.98994156e-01 -4.16548433e-02 -1.65997286e-02 6.93054376e+02] [ 4.16573409e-02 9.99131937e-01 -1.95433011e-04 1.18902201e+01] [ 1.65934597e-02 -4.96264118e-04 9.99862196e-01 6.39256785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8492541539999 meters Centerline goodness [0,1] 0.9989935544658344 Centerline is valid? [True, True] Translation: X:693.09, Y:11.89, Z:6.39 [[ 9.98948903e-01 -4.24423591e-02 -1.73128712e-02 6.93086352e+02] [ 4.24452132e-02 9.99098775e-01 -2.02730651e-04 1.18907483e+01] [ 1.73058728e-02 -5.32330946e-04 9.99850100e-01 6.39278661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8792541539999 meters Centerline goodness [0,1] 0.9990383998974294 Centerline is valid? [True, True] Translation: X:693.12, Y:11.89, Z:6.39 [[ 9.98915749e-01 -4.30201427e-02 -1.77930788e-02 6.93117569e+02] [ 4.30232693e-02 9.99074049e-01 -2.07207481e-04 1.18894714e+01] [ 1.77855174e-02 -5.58533606e-04 9.99841669e-01 6.39271046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9092541539999 meters Centerline goodness [0,1] 0.9988427910166295 Centerline is valid? [True, True] Translation: X:693.15, Y:11.89, Z:6.39 [[ 9.98889635e-01 -4.37632421e-02 -1.74434825e-02 6.93150123e+02] [ 4.37663788e-02 9.99041773e-01 -2.02067364e-04 1.18889788e+01] [ 1.74356108e-02 -5.61595068e-04 9.99847830e-01 6.39296196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9392541539999 meters Centerline goodness [0,1] 0.9991440920956906 Centerline is valid? [True, True] Translation: X:693.18, Y:11.89, Z:6.39 [[ 9.98892347e-01 -4.36836312e-02 -1.74877000e-02 6.93182035e+02] [ 4.36867936e-02 9.99045256e-01 -2.01325736e-04 1.18899359e+01] [ 1.74797984e-02 -5.62878805e-04 9.99847058e-01 6.39370026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9692541539999 meters Centerline goodness [0,1] 0.9989301151196132 Centerline is valid? [True, True] Translation: X:693.21, Y:11.89, Z:6.39 [[ 9.98925254e-01 -4.30702941e-02 -1.71256099e-02 6.93213728e+02] [ 4.30732576e-02 9.99071897e-01 -1.95942297e-04 1.18898489e+01] [ 1.71181549e-02 -5.41924100e-04 9.99853327e-01 6.39350773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9992541539999 meters Centerline goodness [0,1] 0.9989711272586972 Centerline is valid? [True, True] Translation: X:693.25, Y:11.89, Z:6.39 [[ 9.99087421e-01 -3.91239390e-02 -1.71360020e-02 6.93245713e+02] [ 3.91263447e-02 9.99234252e-01 -1.94976105e-04 1.18937647e+01] [ 1.71305084e-02 -4.75670946e-04 9.99853149e-01 6.39382151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0292541539999 meters Centerline goodness [0,1] 0.999056360984816 Centerline is valid? [True, True] Translation: X:693.28, Y:11.90, Z:6.39 [[ 9.99208121e-01 -3.59982217e-02 -1.69487063e-02 6.93277552e+02] [ 3.60001411e-02 9.99351766e-01 -1.91934573e-04 1.18977321e+01] [ 1.69446289e-02 -4.18373234e-04 9.99856342e-01 6.39452629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0592541539999 meters Centerline goodness [0,1] 0.9991851438864348 Centerline is valid? [True, True] Translation: X:693.31, Y:11.90, Z:6.39 [[ 9.99327027e-01 -3.25309203e-02 -1.69479245e-02 6.93307813e+02] [ 3.25323596e-02 9.99470664e-01 -1.90836628e-04 1.19003105e+01] [ 1.69451614e-02 -3.60647773e-04 9.99856355e-01 6.39483621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.089254154 meters Centerline goodness [0,1] 0.9990736551842996 Centerline is valid? [True, True] Translation: X:693.34, Y:11.91, Z:6.40 [[ 9.99516057e-01 -2.62314573e-02 -1.67201462e-02 6.93338005e+02] [ 2.62319999e-02 9.99655864e-01 -1.86903917e-04 1.19063762e+01] [ 1.67192950e-02 -2.51789408e-04 9.99860191e-01 6.39576706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1192541539999 meters Centerline goodness [0,1] 0.9990733557451944 Centerline is valid? [True, True] Translation: X:693.37, Y:11.91, Z:6.40 [[ 9.99583023e-01 -2.34728985e-02 -1.68167754e-02 6.93368869e+02] [ 2.34730714e-02 9.99724452e-01 -1.87131637e-04 1.19093830e+01] [ 1.68165341e-02 -2.07687762e-04 9.99858571e-01 6.39639180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1492541539999 meters Centerline goodness [0,1] 0.9990078937152224 Centerline is valid? [True, True] Translation: X:693.40, Y:11.91, Z:6.40 [[ 9.99631229e-01 -2.12205074e-02 -1.69439152e-02 6.93398145e+02] [ 2.12203548e-02 9.99774805e-01 -1.88817042e-04 1.19120472e+01] [ 1.69441064e-02 -1.70808482e-04 9.99856424e-01 6.39644812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1792541539999 meters Centerline goodness [0,1] 0.9992237531535029 Centerline is valid? [True, True] Translation: X:693.43, Y:11.91, Z:6.40 [[ 9.99656522e-01 -1.95358535e-02 -1.74696576e-02 6.93426507e+02] [ 1.95354206e-02 9.99809146e-01 -1.95451267e-04 1.19137704e+01] [ 1.74701417e-02 -1.45892974e-04 9.99847375e-01 6.39633738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.209254154 meters Centerline goodness [0,1] 0.9990051472814568 Centerline is valid? [True, True] Translation: X:693.46, Y:11.92, Z:6.40 [[ 9.99670807e-01 -1.79499064e-02 -1.83324623e-02 6.93455567e+02] [ 1.79491131e-02 9.99838880e-01 -2.07821079e-04 1.19163691e+01] [ 1.83332390e-02 -1.21298775e-04 9.99831925e-01 6.39578985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2392541539999 meters Centerline goodness [0,1] 0.9991577583414318 Centerline is valid? [True, True] Translation: X:693.48, Y:11.92, Z:6.39 [[ 9.99666858e-01 -1.75087080e-02 -1.89636042e-02 6.93483339e+02] [ 1.75076831e-02 9.99846705e-01 -2.20074281e-04 1.19171310e+01] [ 1.89645504e-02 -1.12007808e-04 9.99820150e-01 6.39455576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2692541539999 meters Centerline goodness [0,1] 0.999223250695838 Centerline is valid? [True, True] Translation: X:693.51, Y:11.92, Z:6.40 [[ 9.99638255e-01 -1.85760453e-02 -1.94496525e-02 6.93510701e+02] [ 1.85750890e-02 9.99827442e-01 -2.29839706e-04 1.19168933e+01] [ 1.94505658e-02 -1.31522462e-04 9.99810811e-01 6.39547135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2992541539999 meters Centerline goodness [0,1] 0.9992003457964124 Centerline is valid? [True, True] Translation: X:693.54, Y:11.92, Z:6.40 [[ 9.99581778e-01 -2.12598391e-02 -1.96032589e-02 6.93539475e+02] [ 2.12593075e-02 9.99773968e-01 -2.35535167e-04 1.19156515e+01] [ 1.96038353e-02 -1.81315047e-04 9.99807810e-01 6.39585948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.329254154 meters Centerline goodness [0,1] 0.9992009157074055 Centerline is valid? [True, True] Translation: X:693.57, Y:11.92, Z:6.40 [[ 9.99545228e-01 -2.30466590e-02 -1.94470652e-02 6.93567948e+02] [ 2.30463796e-02 9.99734368e-01 -2.38512607e-04 1.19151086e+01] [ 1.94473963e-02 -2.09780307e-04 9.99810859e-01 6.39636648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3592541539999 meters Centerline goodness [0,1] 0.9990513970334598 Centerline is valid? [True, True] Translation: X:693.60, Y:11.91, Z:6.40 [[ 9.99514334e-01 -2.47864157e-02 -1.88873081e-02 6.93596894e+02] [ 2.47863752e-02 9.99692743e-01 -2.36277801e-04 1.19142913e+01] [ 1.88873613e-02 -2.31984856e-04 9.99821591e-01 6.39669241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3892541539999 meters Centerline goodness [0,1] 0.9990282456594973 Centerline is valid? [True, True] Translation: X:693.63, Y:11.91, Z:6.40 [[ 9.99435482e-01 -2.82650580e-02 -1.81605075e-02 6.93626096e+02] [ 2.82655455e-02 9.99600423e-01 -2.29882413e-04 1.19123239e+01] [ 1.81597486e-02 -2.83564011e-04 9.99835058e-01 6.39782156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4192541539999 meters Centerline goodness [0,1] 0.9987928172627132 Centerline is valid? [True, True] Translation: X:693.66, Y:11.91, Z:6.40 [[ 9.99390923e-01 -2.97888503e-02 -1.81771298e-02 6.93655576e+02] [ 2.97895788e-02 9.99556165e-01 -2.30743712e-04 1.19110173e+01] [ 1.81759358e-02 -3.10885870e-04 9.99834756e-01 6.39731355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.449254154 meters Centerline goodness [0,1] 0.9988781014023732 Centerline is valid? [True, True] Translation: X:693.69, Y:11.91, Z:6.40 [[ 9.99324402e-01 -3.21622751e-02 -1.77856212e-02 6.93686238e+02] [ 3.21633481e-02 9.99482600e-01 -2.25788328e-04 1.19093565e+01] [ 1.77836808e-02 -3.46409341e-04 9.99841798e-01 6.39850170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4792541539999 meters Centerline goodness [0,1] 0.9991605140237209 Centerline is valid? [True, True] Translation: X:693.72, Y:11.91, Z:6.40 [[ 9.99188584e-01 -3.63366364e-02 -1.73730221e-02 6.93717842e+02] [ 3.63382982e-02 9.99339522e-01 -2.20114986e-04 1.19062270e+01] [ 1.73695458e-02 -4.11369677e-04 9.99849053e-01 6.39900206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5092541539999 meters Centerline goodness [0,1] 0.9991810168322593 Centerline is valid? [True, True] Translation: X:693.75, Y:11.91, Z:6.40 [[ 9.99115563e-01 -3.83447980e-02 -1.72559727e-02 6.93749476e+02] [ 3.83467559e-02 9.99264469e-01 -2.17525959e-04 1.19058241e+01] [ 1.72516214e-02 -4.44377002e-04 9.99851081e-01 6.39958879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5392541539999 meters Centerline goodness [0,1] 0.9990738945962827 Centerline is valid? [True, True] Translation: X:693.78, Y:11.90, Z:6.40 [[ 9.99035773e-01 -4.04755990e-02 -1.70073824e-02 6.93781738e+02] [ 4.04778342e-02 9.99180414e-01 -2.12930721e-04 1.19043517e+01] [ 1.70020619e-02 -4.75696597e-04 9.99855341e-01 6.39990484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5692541539999 meters Centerline goodness [0,1] 0.998925747679615 Centerline is valid? [True, True] Translation: X:693.81, Y:11.90, Z:6.40 [[ 9.98886909e-01 -4.41093637e-02 -1.67124789e-02 6.93812780e+02] [ 4.41120474e-02 9.99026568e-01 -2.08203795e-04 1.18987507e+01] [ 1.67053942e-02 -5.29249617e-04 9.99860315e-01 6.39981648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5992541539999 meters Centerline goodness [0,1] 0.9988422700083613 Centerline is valid? [True, True] Translation: X:693.85, Y:11.90, Z:6.40 [[ 9.98845405e-01 -4.52221261e-02 -1.62116313e-02 6.93845310e+02] [ 4.52248132e-02 9.98976814e-01 -2.01005445e-04 1.19015129e+01] [ 1.62041337e-02 -5.32394633e-04 9.99868563e-01 6.40095830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6292541539999 meters Centerline goodness [0,1] 0.9988171788640616 Centerline is valid? [True, True] Translation: X:693.88, Y:11.90, Z:6.40 [[ 9.98817568e-01 -4.59315352e-02 -1.59298713e-02 6.93877519e+02] [ 4.59342377e-02 9.98944447e-01 -1.96383054e-04 1.19014186e+01] [ 1.59220766e-02 -5.35575649e-04 9.99873092e-01 6.40141331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6592541539999 meters Centerline goodness [0,1] 0.9988405050244782 Centerline is valid? [True, True] Translation: X:693.91, Y:11.90, Z:6.40 [[ 9.98806557e-01 -4.62315055e-02 -1.57515150e-02 6.93908838e+02] [ 4.62342010e-02 9.98930609e-01 -1.93177019e-04 1.19008823e+01] [ 1.57436013e-02 -5.35312235e-04 9.99875919e-01 6.40166796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6892541539999 meters Centerline goodness [0,1] 0.9988822973089159 Centerline is valid? [True, True] Translation: X:693.94, Y:11.90, Z:6.40 [[ 9.98849158e-01 -4.53917772e-02 -1.54901660e-02 6.93941465e+02] [ 4.53942994e-02 9.98969130e-01 -1.88918866e-04 1.19037764e+01] [ 1.54827731e-02 -5.14463785e-04 9.99880002e-01 6.40250470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7192541539999 meters Centerline goodness [0,1] 0.9989262782657247 Centerline is valid? [True, True] Translation: X:693.97, Y:11.90, Z:6.40 [[ 9.98890935e-01 -4.43639719e-02 -1.57714526e-02 6.93974028e+02] [ 4.43664796e-02 9.99015305e-01 -1.91014163e-04 1.19043875e+01] [ 1.57643966e-02 -5.08921513e-04 9.99875605e-01 6.40270794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7492541539999 meters Centerline goodness [0,1] 0.9989694484402173 Centerline is valid? [True, True] Translation: X:694.01, Y:11.91, Z:6.40 [[ 9.98952489e-01 -4.29369360e-02 -1.58222833e-02 6.94006703e+02] [ 4.29393012e-02 9.99077665e-01 -1.90363442e-04 1.19058861e+01] [ 1.58158635e-02 -4.89233754e-04 9.99874802e-01 6.40313804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7792541539999 meters Centerline goodness [0,1] 0.9990977443609023 Centerline is valid? [True, True] Translation: X:694.04, Y:11.91, Z:6.40 [[ 9.99087084e-01 -3.96234044e-02 -1.59682607e-02 6.94038037e+02] [ 3.96254081e-02 9.99214587e-01 -1.91022516e-04 1.19081668e+01] [ 1.59632880e-02 -4.41900718e-04 9.99872481e-01 6.40378225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8092541539999 meters Centerline goodness [0,1] 0.9992053776603741 Centerline is valid? [True, True] Translation: X:694.07, Y:11.91, Z:6.40 [[ 9.99173498e-01 -3.75375331e-02 -1.55966406e-02 6.94069605e+02] [ 3.75392028e-02 9.99295138e-01 -1.85796809e-04 1.19089634e+01] [ 1.55926215e-02 -3.99842207e-04 9.99878348e-01 6.40425622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.839254154 meters Centerline goodness [0,1] 0.9990549016238508 Centerline is valid? [True, True] Translation: X:694.10, Y:11.91, Z:6.40 [[ 9.99246112e-01 -3.55242611e-02 -1.56599684e-02 6.94102092e+02] [ 3.55257151e-02 9.99368745e-01 -1.85415932e-04 1.19107954e+01] [ 1.56566698e-02 -3.71055428e-04 9.99877358e-01 6.40485240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8692541539999 meters Centerline goodness [0,1] 0.9990549016238508 Centerline is valid? [True, True] Translation: X:694.13, Y:11.91, Z:6.41 [[ 9.99248700e-01 -3.54513732e-02 -1.56599819e-02 6.94133793e+02] [ 3.54528361e-02 9.99371334e-01 -1.84272544e-04 1.19111097e+01] [ 1.56566697e-02 -3.71056673e-04 9.99877358e-01 6.40514916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8992541539999 meters Centerline goodness [0,1] 0.9992029641118435 Centerline is valid? [True, True] Translation: X:694.17, Y:11.91, Z:6.41 [[ 9.99327316e-01 -3.33593400e-02 -1.52338191e-02 6.94165165e+02] [ 3.33604964e-02 9.99443368e-01 -1.78274284e-04 1.19115584e+01] [ 1.52312866e-02 -3.30053406e-04 9.99883943e-01 6.40506596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9292541539999 meters Centerline goodness [0,1] 0.9992686756576542 Centerline is valid? [True, True] Translation: X:694.20, Y:11.91, Z:6.40 [[ 9.99458331e-01 -2.88447197e-02 -1.58438214e-02 6.94196517e+02] [ 2.88454156e-02 9.99583867e-01 -1.84646996e-04 1.19137954e+01] [ 1.58425544e-02 -2.72474635e-04 9.99874462e-01 6.40496305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.959254154 meters Centerline goodness [0,1] 0.9991156932102493 Centerline is valid? [True, True] Translation: X:694.23, Y:11.91, Z:6.40 [[ 9.99507900e-01 -2.68150176e-02 -1.62761473e-02 6.94226669e+02] [ 2.68154907e-02 9.99640382e-01 -1.89210157e-04 1.19148124e+01] [ 1.62753677e-02 -2.47335830e-04 9.99867517e-01 6.40472486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9892541539999 meters Centerline goodness [0,1] 0.9991603875134554 Centerline is valid? [True, True] Translation: X:694.26, Y:11.92, Z:6.40 [[ 9.99558260e-01 -2.44007532e-02 -1.69672693e-02 6.94257031e+02] [ 2.44009226e-02 9.99702234e-01 -1.97068992e-04 1.19163833e+01] [ 1.69670257e-02 -2.17035086e-04 9.99856026e-01 6.40466391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0192541539999 meters Centerline goodness [0,1] 0.9991163031295801 Centerline is valid? [True, True] Translation: X:694.29, Y:11.92, Z:6.40 [[ 9.99637014e-01 -2.03280184e-02 -1.76808141e-02 6.94286528e+02] [ 2.03275628e-02 9.99793353e-01 -2.05504644e-04 1.19179876e+01] [ 1.76813379e-02 -1.53977811e-04 9.99843661e-01 6.40377941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0492541539999 meters Centerline goodness [0,1] 0.9992028439082193 Centerline is valid? [True, True] Translation: X:694.31, Y:11.92, Z:6.40 [[ 9.99663801e-01 -1.85433548e-02 -1.81225838e-02 6.94314643e+02] [ 1.85425659e-02 9.99828049e-01 -2.11576897e-04 1.19186243e+01] [ 1.81233909e-02 -1.24533439e-04 9.99835750e-01 6.40374661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.079254154 meters Centerline goodness [0,1] 0.9989445341949381 Centerline is valid? [True, True] Translation: X:694.34, Y:11.92, Z:6.40 [[ 9.99676955e-01 -1.77269862e-02 -1.82137480e-02 6.94342049e+02] [ 1.77259939e-02 9.99842859e-01 -2.15931992e-04 1.19192570e+01] [ 1.82147137e-02 -1.06994551e-04 9.99834093e-01 6.40398496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1092541539999 meters Centerline goodness [0,1] 0.9992017604418364 Centerline is valid? [True, True] Translation: X:694.37, Y:11.92, Z:6.40 [[ 9.99680952e-01 -1.72119310e-02 -1.84863147e-02 6.94369768e+02] [ 1.72107251e-02 9.99851859e-01 -2.24337538e-04 1.19194114e+01] [ 1.84874374e-02 -9.38969160e-05 9.99829088e-01 6.40433229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1392541539999 meters Centerline goodness [0,1] 0.9992894209857669 Centerline is valid? [True, True] Translation: X:694.40, Y:11.92, Z:6.41 [[ 9.99672218e-01 -1.79914862e-02 -1.82143680e-02 6.94398142e+02] [ 1.79903512e-02 9.99838135e-01 -2.26182165e-04 1.19183068e+01] [ 1.82154891e-02 -1.01574851e-04 9.99834079e-01 6.40551640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1692541539999 meters Centerline goodness [0,1] 0.9989890516444043 Centerline is valid? [True, True] Translation: X:694.43, Y:11.92, Z:6.41 [[ 9.99644851e-01 -1.96327636e-02 -1.80201482e-02 6.94426235e+02] [ 1.96318245e-02 9.99807251e-01 -2.29028096e-04 1.19168955e+01] [ 1.80211713e-02 -1.24821629e-04 9.99837598e-01 6.40579974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.199254154 meters Centerline goodness [0,1] 0.9992696653348799 Centerline is valid? [True, True] Translation: X:694.45, Y:11.91, Z:6.41 [[ 9.99605472e-01 -2.18524381e-02 -1.76457205e-02 6.94453952e+02] [ 2.18518225e-02 9.99761194e-01 -2.27716964e-04 1.19147860e+01] [ 1.76464828e-02 -1.57964030e-04 9.99844276e-01 6.40608499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2292541539999 meters Centerline goodness [0,1] 0.9991638795986622 Centerline is valid? [True, True] Translation: X:694.48, Y:11.91, Z:6.41 [[ 9.99461369e-01 -2.82107007e-02 -1.67668973e-02 6.94482387e+02] [ 2.82110145e-02 9.99601966e-01 -2.17852493e-04 1.19097089e+01] [ 1.67663693e-02 -2.55276033e-04 9.99859402e-01 6.40701581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2592541539999 meters Centerline goodness [0,1] 0.9991432855001071 Centerline is valid? [True, True] Translation: X:694.51, Y:11.91, Z:6.41 [[ 9.99353602e-01 -3.21122642e-02 -1.61610547e-02 6.94512393e+02] [ 3.21130524e-02 9.99484221e-01 -2.10797004e-04 1.19060661e+01] [ 1.61594883e-02 -3.08320051e-04 9.99869379e-01 6.40714720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2892541539999 meters Centerline goodness [0,1] 0.9987601804151258 Centerline is valid? [True, True] Translation: X:694.54, Y:11.90, Z:6.41 [[ 9.99211823e-01 -3.62641319e-02 -1.61445316e-02 6.94543094e+02] [ 3.62654621e-02 9.99342170e-01 -2.10461427e-04 1.19006524e+01] [ 1.61415434e-02 -3.75193351e-04 9.99869646e-01 6.40701396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3192541539999 meters Centerline goodness [0,1] 0.9986991939267283 Centerline is valid? [True, True] Translation: X:694.57, Y:11.90, Z:6.41 [[ 9.98868293e-01 -4.47324268e-02 -1.61599332e-02 6.94574237e+02] [ 4.47348703e-02 9.98998872e-01 -2.10423733e-04 1.18955058e+01] [ 1.61531678e-02 -5.12726921e-04 9.99869398e-01 6.40791585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3492541539999 meters Centerline goodness [0,1] 0.9988277670027068 Centerline is valid? [True, True] Translation: X:694.60, Y:11.89, Z:6.41 [[ 9.98683016e-01 -4.86781191e-02 -1.62072499e-02 6.94604315e+02] [ 4.86810973e-02 9.98814350e-01 -2.10939726e-04 1.18866130e+01] [ 1.61983020e-02 -5.78324790e-04 9.99868632e-01 6.40741530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3792541539999 meters Centerline goodness [0,1] 0.9985080034955347 Centerline is valid? [True, True] Translation: X:694.64, Y:11.89, Z:6.41 [[ 9.98512696e-01 -5.21614980e-02 -1.58610608e-02 6.94635608e+02] [ 5.21647929e-02 9.98638469e-01 -2.06195989e-04 1.18906316e+01] [ 1.58502210e-02 -6.21499638e-04 9.99874184e-01 6.40938390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4092541539999 meters Centerline goodness [0,1] 0.9986807387862797 Centerline is valid? [True, True] Translation: X:694.67, Y:11.89, Z:6.41 [[ 9.98190638e-01 -5.83547131e-02 -1.44975251e-02 6.94665861e+02] [ 5.83581225e-02 9.98295695e-01 -1.88130549e-04 1.18853893e+01] [ 1.44837952e-02 -6.58258192e-04 9.99894888e-01 6.41071541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4392541539999 meters Centerline goodness [0,1] 0.9987669805905738 Centerline is valid? [True, True] Translation: X:694.70, Y:11.88, Z:6.41 [[ 9.98068273e-01 -6.05225322e-02 -1.40265993e-02 6.94696701e+02] [ 6.05259462e-02 9.98166608e-01 -1.81371072e-04 1.18787836e+01] [ 1.40118600e-02 -6.67952480e-04 9.99901606e-01 6.41091110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4692541539999 meters Centerline goodness [0,1] 0.9990257127123311 Centerline is valid? [True, True] Translation: X:694.73, Y:11.88, Z:6.41 [[ 9.97948814e-01 -6.24843016e-02 -1.39239802e-02 6.94728787e+02] [ 6.24878777e-02 9.98045707e-01 -1.78511054e-04 1.18775046e+01] [ 1.39079228e-02 -6.91935078e-04 9.99903041e-01 6.41128619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4992541539999 meters Centerline goodness [0,1] 0.9986211870518857 Centerline is valid? [True, True] Translation: X:694.76, Y:11.87, Z:6.41 [[ 9.97749574e-01 -6.54436416e-02 -1.45916665e-02 6.94758502e+02] [ 6.54478948e-02 9.97855971e-01 -1.86361675e-04 1.18713630e+01] [ 1.45725778e-02 -7.69051575e-04 9.99893519e-01 6.41027557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5292541539999 meters Centerline goodness [0,1] 0.9984756097560976 Centerline is valid? [True, True] Translation: X:694.79, Y:11.87, Z:6.41 [[ 9.97716719e-01 -6.58286337e-02 -1.50976650e-02 6.94790386e+02] [ 6.58332371e-02 9.97830621e-01 -1.92415775e-04 1.18703989e+01] [ 1.50775789e-02 -8.01951725e-04 9.99886005e-01 6.40985136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5592541539999 meters Centerline goodness [0,1] 0.9985836891726209 Centerline is valid? [True, True] Translation: X:694.82, Y:11.87, Z:6.41 [[ 9.97728273e-01 -6.54540114e-02 -1.59394617e-02 6.94821151e+02] [ 6.54591117e-02 9.97855232e-01 -2.02090376e-04 1.18687302e+01] [ 1.59185028e-02 -8.41751721e-04 9.99872938e-01 6.40917799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.589254154 meters Centerline goodness [0,1] 0.9985182990072603 Centerline is valid? [True, True] Translation: X:694.85, Y:11.87, Z:6.41 [[ 9.97776403e-01 -6.45910039e-02 -1.64393170e-02 6.94853279e+02] [ 6.45963293e-02 9.97911455e-01 -2.07402289e-04 1.18715892e+01] [ 1.64183790e-02 -8.54978421e-04 9.99864844e-01 6.40941391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6192541539999 meters Centerline goodness [0,1] 0.9984760292094401 Centerline is valid? [True, True] Translation: X:694.88, Y:11.87, Z:6.41 [[ 9.98024764e-01 -6.05345690e-02 -1.67969419e-02 6.94884001e+02] [ 6.05395694e-02 9.98165776e-01 -2.11088051e-04 1.18729392e+01] [ 1.67789106e-02 -8.06208526e-04 9.99858899e-01 6.40918827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6492541539999 meters Centerline goodness [0,1] 0.9986005089058524 Centerline is valid? [True, True] Translation: X:694.92, Y:11.88, Z:6.41 [[ 9.98224398e-01 -5.71088593e-02 -1.69301436e-02 6.94915833e+02] [ 5.71134574e-02 9.98367672e-01 -2.12184368e-04 1.18756058e+01] [ 1.69146257e-02 -7.55131423e-04 9.99856652e-01 6.40941044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6792541539999 meters Centerline goodness [0,1] 0.9987925775292323 Centerline is valid? [True, True] Translation: X:694.95, Y:11.88, Z:6.41 [[ 9.98437069e-01 -5.31007918e-02 -1.74276923e-02 6.94945915e+02] [ 5.31050637e-02 9.98588907e-01 -2.17899094e-04 1.18775284e+01] [ 1.74146709e-02 -7.07940179e-04 9.99848102e-01 6.40951231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.709254154 meters Centerline goodness [0,1] 0.9988338316052838 Centerline is valid? [True, True] Translation: X:694.98, Y:11.89, Z:6.41 [[ 9.98926906e-01 -4.28058711e-02 -1.76831605e-02 6.94976369e+02] [ 4.28086574e-02 9.99083265e-01 -2.21101387e-04 1.18877299e+01] [ 1.76764142e-02 -5.36128236e-04 9.99843616e-01 6.41021700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7392541539999 meters Centerline goodness [0,1] 0.9985974158449507 Centerline is valid? [True, True] Translation: X:695.01, Y:11.89, Z:6.41 [[ 9.99160814e-01 -3.70956492e-02 -1.73660546e-02 6.95006620e+02] [ 3.70974744e-02 9.99311628e-01 -2.17145484e-04 1.18932302e+01] [ 1.73621554e-02 -4.27273507e-04 9.99849175e-01 6.41102229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7692541539999 meters Centerline goodness [0,1] 0.9987655372041546 Centerline is valid? [True, True] Translation: X:695.04, Y:11.90, Z:6.41 [[ 9.99361506e-01 -3.13467802e-02 -1.71452578e-02 6.95037713e+02] [ 3.13477159e-02 9.99508517e-01 -2.14245208e-04 1.18979453e+01] [ 1.71435471e-02 -3.23356257e-04 9.99852986e-01 6.41164633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7992541539999 meters Centerline goodness [0,1] 0.9986584898428517 Centerline is valid? [True, True] Translation: X:695.07, Y:11.91, Z:6.41 [[ 9.99640705e-01 -2.06793437e-02 -1.70536393e-02 6.95067598e+02] [ 2.06787199e-02 9.99786150e-01 -2.12933374e-04 1.19059864e+01] [ 1.70543957e-02 -1.39790562e-04 9.99854553e-01 6.41206744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.829254154 meters Centerline goodness [0,1] 0.9988069113918657 Centerline is valid? [True, True] Translation: X:695.10, Y:11.91, Z:6.41 [[ 9.99718842e-01 -1.63638893e-02 -1.71598543e-02 6.95096481e+02] [ 1.63625887e-02 9.99866101e-01 -2.16201183e-04 1.19094989e+01] [ 1.71610945e-02 -6.46392402e-05 9.99852735e-01 6.41257706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8592541539999 meters Centerline goodness [0,1] 0.9987202457128231 Centerline is valid? [True, True] Translation: X:695.12, Y:11.91, Z:6.41 [[ 9.99776423e-01 -1.22886021e-02 -1.72073720e-02 6.95124033e+02] [ 1.22866385e-02 9.99924492e-01 -2.19830814e-04 1.19123698e+01] [ 1.72087742e-02 8.36090524e-06 9.99851918e-01 6.41245676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8892541539999 meters Centerline goodness [0,1] 0.9991035601468454 Centerline is valid? [True, True] Translation: X:695.15, Y:11.92, Z:6.41 [[ 9.99811125e-01 -9.09799403e-03 -1.71738567e-02 6.95151509e+02] [ 9.09551586e-03 9.99958610e-01 -2.22403489e-04 1.19150349e+01] [ 1.71751693e-02 6.61563969e-05 9.99852494e-01 6.41288628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9192541539999 meters Centerline goodness [0,1] 0.9991245489291739 Centerline is valid? [True, True] Translation: X:695.18, Y:11.92, Z:6.41 [[ 9.99843976e-01 -4.27139266e-03 -1.71399540e-02 6.95180451e+02] [ 4.26813715e-03 9.99990866e-01 -2.26512754e-04 1.19181527e+01] [ 1.71407650e-02 1.53321738e-04 9.99853075e-01 6.41412320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.949254154 meters Centerline goodness [0,1] 0.9991687979539642 Centerline is valid? [True, True] Translation: X:695.21, Y:11.92, Z:6.41 [[ 9.99849717e-01 -2.98532266e-03 -1.70771961e-02 6.95208154e+02] [ 2.98185195e-03 9.99995528e-01 -2.28695698e-04 1.19193167e+01] [ 1.70778024e-02 1.77739659e-04 9.99854148e-01 6.41423084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9792541539999 meters Centerline goodness [0,1] 0.9991041719989762 Centerline is valid? [True, True] Translation: X:695.24, Y:11.92, Z:6.42 [[ 9.99841390e-01 -3.08126645e-03 -1.75413959e-02 6.95235813e+02] [ 3.07756224e-03 9.99995236e-01 -2.38160063e-04 1.19178642e+01] [ 1.75420461e-02 1.84137551e-04 9.99846110e-01 6.41519449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0092541539999 meters Centerline goodness [0,1] 0.99899658411614 Centerline is valid? [True, True] Translation: X:695.26, Y:11.92, Z:6.41 [[ 9.99835694e-01 -4.33037849e-03 -1.76020521e-02 6.95264039e+02] [ 4.32678044e-03 9.99990610e-01 -2.42488833e-04 1.19177540e+01] [ 1.76029369e-02 1.66288776e-04 9.99845042e-01 6.41456933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0392541539999 meters Centerline goodness [0,1] 0.9992114909214901 Centerline is valid? [True, True] Translation: X:695.29, Y:11.92, Z:6.42 [[ 9.99831660e-01 -6.05677636e-03 -1.73195429e-02 6.95293215e+02] [ 6.05352774e-03 9.99981648e-01 -2.39989619e-04 1.19156398e+01] [ 1.73206787e-02 1.35104886e-04 9.99849977e-01 6.41535316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0692541539999 meters Centerline goodness [0,1] 0.9990004466089619 Centerline is valid? [True, True] Translation: X:695.32, Y:11.91, Z:6.42 [[ 9.99817024e-01 -8.65280766e-03 -1.70601051e-02 6.95322001e+02] [ 8.65001303e-03 9.99962560e-01 -2.37596029e-04 1.19126196e+01] [ 1.70615223e-02 8.99824230e-05 9.99854438e-01 6.41620959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0992541539999 meters Centerline goodness [0,1] 0.9989161158693388 Centerline is valid? [True, True] Translation: X:695.35, Y:11.91, Z:6.42 [[ 9.99748567e-01 -1.50218399e-02 -1.66477247e-02 6.95350821e+02] [ 1.50200415e-02 9.99887166e-01 -2.33057691e-04 1.19060410e+01] [ 1.66493473e-02 -1.70504245e-05 9.99861390e-01 6.41724364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1292541539999 meters Centerline goodness [0,1] 0.9987911691726932 Centerline is valid? [True, True] Translation: X:695.38, Y:11.90, Z:6.42 [[ 9.99687503e-01 -1.88949223e-02 -1.63670130e-02 6.95379023e+02] [ 1.88936812e-02 9.99821472e-01 -2.30463535e-04 1.19022299e+01] [ 1.63684456e-02 -7.88416107e-05 9.99866025e-01 6.41678957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1592541539999 meters Centerline goodness [0,1] 0.9986512118018968 Centerline is valid? [True, True] Translation: X:695.41, Y:11.89, Z:6.42 [[ 9.99483767e-01 -2.74786924e-02 -1.66469321e-02 6.95407337e+02] [ 2.74785755e-02 9.99622365e-01 -2.35800495e-04 1.18935115e+01] [ 1.66471251e-02 -2.21755213e-04 9.99861402e-01 6.41630063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1892541539999 meters Centerline goodness [0,1] 0.9986915690619395 Centerline is valid? [True, True] Translation: X:695.44, Y:11.89, Z:6.42 [[ 9.99344427e-01 -3.20255719e-02 -1.68842562e-02 6.95437003e+02] [ 3.20260844e-02 9.99487005e-01 -2.40106268e-04 1.18910165e+01] [ 1.68832841e-02 -3.00787751e-04 9.99857422e-01 6.41668133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2192541539999 meters Centerline goodness [0,1] 0.9986293281599258 Centerline is valid? [True, True] Translation: X:695.47, Y:11.89, Z:6.42 [[ 9.99202581e-01 -3.61836733e-02 -1.68802709e-02 6.95467716e+02] [ 3.61847786e-02 9.99345088e-01 -2.40045614e-04 1.18864978e+01] [ 1.68779015e-02 -3.70954667e-04 9.99857489e-01 6.41627861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2492541539999 meters Centerline goodness [0,1] 0.9984609546297858 Centerline is valid? [True, True] Translation: X:695.50, Y:11.88, Z:6.42 [[ 9.99045066e-01 -3.99142742e-02 -1.77709367e-02 6.95498739e+02] [ 3.99160998e-02 9.99203003e-01 -2.52104437e-04 1.18829289e+01] [ 1.77668358e-02 -4.57482787e-04 9.99842053e-01 6.41526388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2792541539999 meters Centerline goodness [0,1] 0.9984425642968389 Centerline is valid? [True, True] Translation: X:695.53, Y:11.88, Z:6.42 [[ 9.98718017e-01 -4.74570415e-02 -1.76111529e-02 6.95530162e+02] [ 4.74600131e-02 9.98873108e-01 -2.49406489e-04 1.18762445e+01] [ 1.76031431e-02 -5.86738794e-04 9.99844881e-01 6.41529913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3092541539999 meters Centerline goodness [0,1] 0.9986119873817034 Centerline is valid? [True, True] Translation: X:695.56, Y:11.87, Z:6.42 [[ 9.98547809e-01 -5.11250803e-02 -1.69852732e-02 6.95560861e+02] [ 5.11283815e-02 9.98692060e-01 -2.40115659e-04 1.18732416e+01] [ 1.69753334e-02 -6.28662562e-04 9.99855711e-01 6.41610688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.339254154 meters Centerline goodness [0,1] 0.9986329603768823 Centerline is valid? [True, True] Translation: X:695.59, Y:11.87, Z:6.42 [[ 9.98405693e-01 -5.36374402e-02 -1.75811689e-02 6.95593144e+02] [ 5.36413796e-02 9.98560234e-01 -2.47772173e-04 1.18716159e+01] [ 1.75691460e-02 -6.95701009e-04 9.99845409e-01 6.41569996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3692541539999 meters Centerline goodness [0,1] 0.9985942679702908 Centerline is valid? [True, True] Translation: X:695.62, Y:11.87, Z:6.42 [[ 9.98247108e-01 -5.68679644e-02 -1.63934858e-02 6.95623132e+02] [ 5.68718449e-02 9.98381460e-01 -2.29768938e-04 1.18677871e+01] [ 1.63800188e-02 -7.02961602e-04 9.99865591e-01 6.41724522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3992541539999 meters Centerline goodness [0,1] 0.9982772385394344 Centerline is valid? [True, True] Translation: X:695.65, Y:11.86, Z:6.42 [[ 9.97978781e-01 -6.16763517e-02 -1.53095045e-02 6.95653722e+02] [ 6.16803139e-02 9.98095934e-01 -2.13680817e-04 1.18630994e+01] [ 1.52935333e-02 -7.31046124e-04 9.99882780e-01 6.41791255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4292541539999 meters Centerline goodness [0,1] 0.9985525487728131 Centerline is valid? [True, True] Translation: X:695.69, Y:11.86, Z:6.42 [[ 9.97885047e-01 -6.32774451e-02 -1.48794489e-02 6.95685706e+02] [ 6.32813735e-02 9.97995704e-01 -2.07130429e-04 1.18609590e+01] [ 1.48627327e-02 -7.34899604e-04 9.99889273e-01 6.41852480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.459254154 meters Centerline goodness [0,1] 0.9985105624200215 Centerline is valid? [True, True] Translation: X:695.72, Y:11.86, Z:6.42 [[ 9.97673018e-01 -6.66812178e-02 -1.42184645e-02 6.95715352e+02] [ 6.66851636e-02 9.97774048e-01 -1.96939525e-04 1.18569787e+01] [ 1.41999470e-02 -7.51679381e-04 9.99898893e-01 6.41865610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4892541539999 meters Centerline goodness [0,1] 0.9985749015005448 Centerline is valid? [True, True] Translation: X:695.75, Y:11.86, Z:6.42 [[ 9.97593043e-01 -6.78669561e-02 -1.42195826e-02 6.95747726e+02] [ 6.78710373e-02 9.97694083e-01 -1.95921887e-04 1.18558893e+01] [ 1.42000900e-02 -7.69647508e-04 9.99898877e-01 6.41864979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5192541539999 meters Centerline goodness [0,1] 0.9983436071623265 Centerline is valid? [True, True] Translation: X:695.78, Y:11.85, Z:6.42 [[ 9.97499801e-01 -6.91934277e-02 -1.43671882e-02 6.95778383e+02] [ 6.91977432e-02 9.97602944e-01 -1.97124936e-04 1.18536550e+01] [ 1.43463890e-02 -7.97544914e-04 9.99896767e-01 6.41797576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5492541539999 meters Centerline goodness [0,1] 0.9983217956786239 Centerline is valid? [True, True] Translation: X:695.81, Y:11.85, Z:6.42 [[ 9.97287373e-01 -7.19710390e-02 -1.54293571e-02 6.95808200e+02] [ 7.19763529e-02 9.97406316e-01 -2.11350323e-04 1.18504341e+01] [ 1.54045493e-02 -8.99771842e-04 9.99880938e-01 6.41674668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.579254154 meters Centerline goodness [0,1] 0.9985094993177286 Centerline is valid? [True, True] Translation: X:695.84, Y:11.85, Z:6.42 [[ 9.97202901e-01 -7.30457740e-02 -1.58331471e-02 6.95840697e+02] [ 7.30515120e-02 9.97328145e-01 -2.16423261e-04 1.18545172e+01] [ 1.58066521e-02 -9.40817433e-04 9.99874624e-01 6.41715382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6092541539999 meters Centerline goodness [0,1] 0.9984471723848495 Centerline is valid? [True, True] Translation: X:695.87, Y:11.86, Z:6.42 [[ 9.97103125e-01 -7.42142751e-02 -1.66613332e-02 6.95873202e+02] [ 7.42208119e-02 9.97241806e-01 -2.26526389e-04 1.18552206e+01] [ 1.66321895e-02 -1.01074751e-03 9.99861165e-01 6.41713056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6392541539999 meters Centerline goodness [0,1] 0.9985698060825307 Centerline is valid? [True, True] Translation: X:695.90, Y:11.86, Z:6.42 [[ 9.96926561e-01 -7.61510579e-02 -1.83969509e-02 6.95904281e+02] [ 7.61593729e-02 9.97095626e-01 -2.49227247e-04 1.18554381e+01] [ 1.83624982e-02 -1.15263898e-03 9.99830731e-01 6.41588729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6692541539999 meters Centerline goodness [0,1] 0.998485485906605 Centerline is valid? [True, True] Translation: X:695.94, Y:11.85, Z:6.41 [[ 9.96892970e-01 -7.63651068e-02 -1.93074351e-02 6.95935466e+02] [ 7.63743190e-02 9.97079182e-01 -2.60858028e-04 1.18529606e+01] [ 1.92709620e-02 -1.21454467e-03 9.99813560e-01 6.41475276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.699254154 meters Centerline goodness [0,1] 0.9984220160323171 Centerline is valid? [True, True] Translation: X:695.97, Y:11.86, Z:6.42 [[ 9.96888910e-01 -7.61213377e-02 -2.04461207e-02 6.95967982e+02] [ 7.61316454e-02 9.97097737e-01 -2.74900197e-04 1.18597106e+01] [ 2.04077064e-02 -1.28255185e-03 9.99790918e-01 6.41537149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7292541539999 meters Centerline goodness [0,1] 0.9986306852893467 Centerline is valid? [True, True] Translation: X:696.00, Y:11.86, Z:6.42 [[ 9.96942986e-01 -7.51695504e-02 -2.13124671e-02 6.95999876e+02] [ 7.51805678e-02 9.97169896e-01 -2.84952100e-04 1.18614981e+01] [ 2.12735703e-02 -1.31820238e-03 9.99772823e-01 6.41548449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7592541539999 meters Centerline goodness [0,1] 0.998565612673234 Centerline is valid? [True, True] Translation: X:696.03, Y:11.86, Z:6.41 [[ 9.97208415e-01 -7.11960840e-02 -2.25054224e-02 6.96030204e+02] [ 7.12073777e-02 9.97461488e-01 -3.00174949e-04 1.18605095e+01] [ 2.24696634e-02 -1.30321513e-03 9.99746676e-01 6.41388752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7892541539999 meters Centerline goodness [0,1] 0.998565612673234 Centerline is valid? [True, True] Translation: X:696.06, Y:11.86, Z:6.41 [[ 9.97213315e-01 -7.11274246e-02 -2.25054345e-02 6.96061944e+02] [ 7.11387213e-02 9.97466387e-01 -2.99270404e-04 1.18608660e+01] [ 2.24697007e-02 -1.30257140e-03 9.99746676e-01 6.41418488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8192541539999 meters Centerline goodness [0,1] 0.998587868313451 Centerline is valid? [True, True] Translation: X:696.09, Y:11.87, Z:6.42 [[ 9.97413029e-01 -6.84320576e-02 -2.20068843e-02 6.96093729e+02] [ 6.84422339e-02 9.97655038e-01 -2.91326205e-04 1.18699322e+01] [ 2.19752151e-02 -1.21562777e-03 9.99757777e-01 6.41668427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8492541539999 meters Centerline goodness [0,1] 0.9985859012241453 Centerline is valid? [True, True] Translation: X:696.12, Y:11.87, Z:6.42 [[ 9.97674104e-01 -6.44030324e-02 -2.23300610e-02 6.96124901e+02] [ 6.44125201e-02 9.97923314e-01 -2.94857228e-04 1.18744017e+01] [ 2.23026782e-02 -1.14416408e-03 9.99750610e-01 6.41698866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8792541539999 meters Centerline goodness [0,1] 0.9985615467603072 Centerline is valid? [True, True] Translation: X:696.16, Y:11.88, Z:6.42 [[ 9.98240818e-01 -5.52527387e-02 -2.15035761e-02 6.96155740e+02] [ 5.52594249e-02 9.98471990e-01 -2.83605986e-04 1.18846791e+01] [ 2.14863884e-02 -9.05168173e-04 9.99768731e-01 6.41835939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9092541539999 meters Centerline goodness [0,1] 0.998666384419983 Centerline is valid? [True, True] Translation: X:696.19, Y:11.89, Z:6.42 [[ 9.98502998e-01 -5.07530283e-02 -2.03934613e-02 6.96186045e+02] [ 5.07581071e-02 9.98710940e-01 -2.68836210e-04 1.18892812e+01] [ 2.03808172e-02 -7.66699733e-04 9.99791996e-01 6.42023600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9392541539999 meters Centerline goodness [0,1] 0.998517043408258 Centerline is valid? [True, True] Translation: X:696.22, Y:11.90, Z:6.42 [[ 9.98977689e-01 -4.10324869e-02 -1.89713390e-02 6.96216965e+02] [ 4.10351305e-02 9.99157673e-01 -2.50077395e-04 1.18989907e+01] [ 1.89656202e-02 -5.28669634e-04 9.99819997e-01 6.42211020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9692541539999 meters Centerline goodness [0,1] 0.9988145890222476 Centerline is valid? [True, True] Translation: X:696.25, Y:11.90, Z:6.42 [[ 9.99169853e-01 -3.65097348e-02 -1.80733044e-02 6.96246799e+02] [ 3.65113947e-02 9.99333208e-01 -2.38228739e-04 1.19033846e+01] [ 1.80699509e-02 -4.21850575e-04 9.99836636e-01 6.42315679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9992541539999 meters Centerline goodness [0,1] 0.998683400225096 Centerline is valid? [True, True] Translation: X:696.28, Y:11.91, Z:6.42 [[ 9.99321784e-01 -3.25101097e-02 -1.72935047e-02 6.96278116e+02] [ 3.25110359e-02 9.99471351e-01 -2.27654403e-04 1.19090332e+01] [ 1.72917635e-02 -3.34729747e-04 9.99850430e-01 6.42421306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0292541539999 meters Centerline goodness [0,1] 0.9988538681948425 Centerline is valid? [True, True] Translation: X:696.31, Y:11.91, Z:6.42 [[ 9.99502518e-01 -2.64314413e-02 -1.72074083e-02 6.96307872e+02] [ 2.64314636e-02 9.99650602e-01 -2.26173503e-04 1.19134796e+01] [ 1.72073741e-02 -2.28755999e-04 9.99851916e-01 6.42423416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0592541539999 meters Centerline goodness [0,1] 0.9986624203821656 Centerline is valid? [True, True] Translation: X:696.34, Y:11.92, Z:6.42 [[ 9.99546062e-01 -2.44911118e-02 -1.75458158e-02 6.96337559e+02] [ 2.44908309e-02 9.99700028e-01 -2.30913644e-04 1.19156034e+01] [ 1.75462079e-02 -1.98902784e-04 9.99846034e-01 6.42428566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.089254154 meters Centerline goodness [0,1] 0.9988951919603969 Centerline is valid? [True, True] Translation: X:696.37, Y:11.92, Z:6.42 [[ 9.99573997e-01 -2.30667466e-02 -1.78815451e-02 6.96366398e+02] [ 2.30662128e-02 9.99733912e-01 -2.36125080e-04 1.19167679e+01] [ 1.78822337e-02 -1.76435035e-04 9.99840085e-01 6.42368044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1192541539999 meters Centerline goodness [0,1] 0.9988962238118486 Centerline is valid? [True, True] Translation: X:696.40, Y:11.92, Z:6.42 [[ 9.99599647e-01 -2.13308050e-02 -1.85887997e-02 6.96395190e+02] [ 2.13298752e-02 9.99772462e-01 -2.48305318e-04 1.19195129e+01] [ 1.85898665e-02 -1.48290869e-04 9.99827183e-01 6.42383958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1492541539999 meters Centerline goodness [0,1] 0.9988742804953166 Centerline is valid? [True, True] Translation: X:696.42, Y:11.92, Z:6.42 [[ 9.99594224e-01 -2.08584211e-02 -1.93987904e-02 6.96423503e+02] [ 2.08572152e-02 9.99782430e-01 -2.64507095e-04 1.19201010e+01] [ 1.94000870e-02 -1.40204981e-04 9.99811791e-01 6.42347810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1792541539999 meters Centerline goodness [0,1] 0.9988538925205875 Centerline is valid? [True, True] Translation: X:696.45, Y:11.92, Z:6.42 [[ 9.99604223e-01 -2.03149515e-02 -1.94602360e-02 6.96451098e+02] [ 2.03135248e-02 9.99793622e-01 -2.71007575e-04 1.19207982e+01] [ 1.94617253e-02 -1.24405668e-04 9.99810595e-01 6.42351427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.209254154 meters Centerline goodness [0,1] 0.9989589530041642 Centerline is valid? [True, True] Translation: X:696.48, Y:11.92, Z:6.42 [[ 9.99624629e-01 -1.84645492e-02 -2.02401090e-02 6.96477887e+02] [ 1.84625416e-02 9.99829512e-01 -2.86061123e-04 1.19222669e+01] [ 2.02419403e-02 -8.77301123e-05 9.99795107e-01 6.42273143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2392541539999 meters Centerline goodness [0,1] 0.9988738738738738 Centerline is valid? [True, True] Translation: X:696.51, Y:11.92, Z:6.42 [[ 9.99632231e-01 -1.78036729e-02 -2.04556110e-02 6.96505546e+02] [ 1.78013928e-02 9.99841500e-01 -2.93563031e-04 1.19236437e+01] [ 2.04575953e-02 -7.06832987e-05 9.99790719e-01 6.42419588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2692541539999 meters Centerline goodness [0,1] 0.9988937582436285 Centerline is valid? [True, True] Translation: X:696.53, Y:11.92, Z:6.42 [[ 9.99644530e-01 -1.76029201e-02 -2.00237330e-02 6.96533208e+02] [ 1.76005782e-02 9.99845055e-01 -2.93197259e-04 1.19244607e+01] [ 2.00257915e-02 -5.93362424e-05 9.99799462e-01 6.42451947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2992541539999 meters Centerline goodness [0,1] 0.99900152957172 Centerline is valid? [True, True] Translation: X:696.56, Y:11.92, Z:6.43 [[ 9.99650714e-01 -1.74943688e-02 -1.98090401e-02 6.96560631e+02] [ 1.74919753e-02 9.99846960e-01 -2.94105357e-04 1.19240859e+01] [ 1.98111537e-02 -5.24966086e-05 9.99803738e-01 6.42539112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.329254154 meters Centerline goodness [0,1] 0.9988086880677346 Centerline is valid? [True, True] Translation: X:696.59, Y:11.92, Z:6.43 [[ 9.99646198e-01 -1.85986902e-02 -1.90149307e-02 6.96588080e+02] [ 1.85966098e-02 9.99827027e-01 -2.86244714e-04 1.19234834e+01] [ 1.90169654e-02 -6.74698055e-05 9.99819159e-01 6.42581387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3592541539999 meters Centerline goodness [0,1] 0.9989792880534173 Centerline is valid? [True, True] Translation: X:696.62, Y:11.92, Z:6.43 [[ 9.99630300e-01 -1.97499312e-02 -1.86869883e-02 6.96615585e+02] [ 1.97480233e-02 9.99804948e-01 -2.86642739e-04 1.19219951e+01] [ 1.86890045e-02 -8.24943124e-05 9.99825342e-01 6.42617360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3892541539999 meters Centerline goodness [0,1] 0.9988316764381001 Centerline is valid? [True, True] Translation: X:696.64, Y:11.92, Z:6.43 [[ 9.99565605e-01 -2.34666969e-02 -1.78301691e-02 6.96644382e+02] [ 2.34654668e-02 9.99724609e-01 -2.78225601e-04 1.19176947e+01] [ 1.78317879e-02 -1.40288501e-04 9.99840991e-01 6.42666220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4192541539999 meters Centerline goodness [0,1] 0.9988977913434228 Centerline is valid? [True, True] Translation: X:696.67, Y:11.91, Z:6.43 [[ 9.99504232e-01 -2.53219048e-02 -1.87107276e-02 6.96672256e+02] [ 2.53208126e-02 9.99679333e-01 -2.95314723e-04 1.19147406e+01] [ 1.87122056e-02 -1.78602513e-04 9.99824895e-01 6.42562018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.449254154 meters Centerline goodness [0,1] 0.9987263580207604 Centerline is valid? [True, True] Translation: X:696.70, Y:11.91, Z:6.43 [[ 9.99440285e-01 -2.81973267e-02 -1.80007554e-02 6.96701240e+02] [ 2.81967291e-02 9.99602352e-01 -2.87051774e-04 1.19126405e+01] [ 1.80016915e-02 -2.20671316e-04 9.99837932e-01 6.42651722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4792541539999 meters Centerline goodness [0,1] 0.9988147646461226 Centerline is valid? [True, True] Translation: X:696.73, Y:11.91, Z:6.43 [[ 9.99290213e-01 -3.27270297e-02 -1.86550597e-02 6.96730273e+02] [ 3.27271261e-02 9.99464279e-01 -3.00204467e-04 1.19074185e+01] [ 1.86548906e-02 -3.10535107e-04 9.99825934e-01 6.42632599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5092541539999 meters Centerline goodness [0,1] 0.9990050172534243 Centerline is valid? [True, True] Translation: X:696.76, Y:11.90, Z:6.43 [[ 9.99221161e-01 -3.46853704e-02 -1.88147726e-02 6.96760202e+02] [ 3.46858031e-02 9.99398220e-01 -3.03431775e-04 1.19048360e+01] [ 1.88139749e-02 -3.49410046e-04 9.99822940e-01 6.42611310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5392541539999 meters Centerline goodness [0,1] 0.9986433492315845 Centerline is valid? [True, True] Translation: X:696.79, Y:11.90, Z:6.43 [[ 9.99137883e-01 -3.66598403e-02 -1.94819581e-02 6.96790668e+02] [ 3.66606729e-02 9.99327722e-01 -3.14527692e-04 1.19043227e+01] [ 1.94803914e-02 -3.99965161e-04 9.99810159e-01 6.42713399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5692541539999 meters Centerline goodness [0,1] 0.9986032928429339 Centerline is valid? [True, True] Translation: X:696.82, Y:11.90, Z:6.43 [[ 9.99089467e-01 -3.80435800e-02 -1.93112065e-02 6.96821066e+02] [ 3.80446564e-02 9.99275991e-01 -3.11770982e-04 1.19024820e+01] [ 1.93090859e-02 -4.23201112e-04 9.99813473e-01 6.42746806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5992541539999 meters Centerline goodness [0,1] 0.9989448805604795 Centerline is valid? [True, True] Translation: X:696.85, Y:11.89, Z:6.43 [[ 9.99020825e-01 -3.97077128e-02 -1.95112680e-02 6.96851461e+02] [ 3.97091324e-02 9.99211232e-01 -3.14816013e-04 1.18947449e+01] [ 1.95083788e-02 -4.60267771e-04 9.99809588e-01 6.42629834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6292541539999 meters Centerline goodness [0,1] 0.9988190885894435 Centerline is valid? [True, True] Translation: X:696.88, Y:11.90, Z:6.43 [[ 9.99013485e-01 -3.96779776e-02 -1.99428120e-02 6.96882611e+02] [ 3.96794659e-02 9.99212408e-01 -3.21222563e-04 1.18968894e+01] [ 1.99398507e-02 -4.70414456e-04 9.99801071e-01 6.42824424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6592541539999 meters Centerline goodness [0,1] 0.9987765003691593 Centerline is valid? [True, True] Translation: X:696.91, Y:11.90, Z:6.43 [[ 9.99029049e-01 -3.92214363e-02 -2.00658244e-02 6.96912902e+02] [ 3.92228707e-02 9.99230435e-01 -3.22219527e-04 1.18963214e+01] [ 2.00630204e-02 -4.65132571e-04 9.99798609e-01 6.42848334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6892541539999 meters Centerline goodness [0,1] 0.9990314769975787 Centerline is valid? [True, True] Translation: X:696.94, Y:11.90, Z:6.43 [[ 9.99096340e-01 -3.72661304e-02 -2.04386467e-02 6.96943744e+02] [ 3.72672215e-02 9.99305282e-01 -3.27632142e-04 1.18961733e+01] [ 2.04366572e-02 -4.34355498e-04 9.99791055e-01 6.42867998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7192541539999 meters Centerline goodness [0,1] 0.9992411147181585 Centerline is valid? [True, True] Translation: X:696.97, Y:11.89, Z:6.43 [[ 9.99132798e-01 -3.58695991e-02 -2.11429593e-02 6.96973314e+02] [ 3.58704498e-02 9.99356391e-01 -3.39129918e-04 1.18933937e+01] [ 2.11415160e-02 -4.19571638e-04 9.99776405e-01 6.42699402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7492541539999 meters Centerline goodness [0,1] 0.9989263157894737 Centerline is valid? [True, True] Translation: X:697.00, Y:11.90, Z:6.43 [[ 9.99247096e-01 -3.23289869e-02 -2.14494391e-02 6.97002552e+02] [ 3.23289849e-02 9.99477222e-01 -3.46945550e-04 1.18964653e+01] [ 2.14494422e-02 -3.46754259e-04 9.99769874e-01 6.42793351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7792541539999 meters Centerline goodness [0,1] 0.998989792697043 Centerline is valid? [True, True] Translation: X:697.03, Y:11.90, Z:6.43 [[ 9.99307237e-01 -3.03215962e-02 -2.15788687e-02 6.97030936e+02] [ 3.03210128e-02 9.99540150e-01 -3.54293127e-04 1.18988952e+01] [ 2.15796884e-02 -3.00245470e-04 9.99767086e-01 6.42928562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8092541539999 meters Centerline goodness [0,1] 0.9991163289780975 Centerline is valid? [True, True] Translation: X:697.06, Y:11.90, Z:6.43 [[ 9.99440486e-01 -2.55881134e-02 -2.15397870e-02 6.97059201e+02] [ 2.55863150e-02 9.99672552e-01 -3.59128896e-04 1.19002991e+01] [ 2.15419233e-02 -1.92195816e-04 9.99767927e-01 6.42953344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.839254154 meters Centerline goodness [0,1] 0.9991779089376054 Centerline is valid? [True, True] Translation: X:697.09, Y:11.90, Z:6.43 [[ 9.99498953e-01 -2.33299623e-02 -2.13905773e-02 6.97088308e+02] [ 2.33275565e-02 9.99727810e-01 -3.62019168e-04 1.19015255e+01] [ 2.13932009e-02 -1.37152122e-04 9.99771130e-01 6.43007653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8692541539999 meters Centerline goodness [0,1] 0.9991779782480398 Centerline is valid? [True, True] Translation: X:697.12, Y:11.90, Z:6.43 [[ 9.99548452e-01 -2.10898976e-02 -2.14034648e-02 6.97115879e+02] [ 2.10869021e-02 9.99777580e-01 -3.65660132e-04 1.19029174e+01] [ 2.14064160e-02 -8.58377498e-05 9.99770853e-01 6.43026593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8992541539999 meters Centerline goodness [0,1] 0.9992229502688172 Centerline is valid? [True, True] Translation: X:697.14, Y:11.90, Z:6.43 [[ 9.99594272e-01 -1.91234839e-02 -2.11088462e-02 6.97143383e+02] [ 1.91200446e-02 9.99817129e-01 -3.64759593e-04 1.19044158e+01] [ 2.11119615e-02 -3.89904821e-05 9.99777117e-01 6.43061923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9292541539999 meters Centerline goodness [0,1] 0.9992192116147548 Centerline is valid? [True, True] Translation: X:697.17, Y:11.91, Z:6.43 [[ 9.99627690e-01 -1.68005909e-02 -2.14993218e-02 6.97171130e+02] [ 1.67964053e-02 9.99858860e-01 -3.75255998e-04 1.19050795e+01] [ 2.15025919e-02 1.40049632e-05 9.99768792e-01 6.43058136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.959254154 meters Centerline goodness [0,1] 0.9991131756756757 Centerline is valid? [True, True] Translation: X:697.20, Y:11.90, Z:6.43 [[ 9.99623540e-01 -1.67501723e-02 -2.17303765e-02 6.97199252e+02] [ 1.67457871e-02 9.99859706e-01 -3.83762733e-04 1.19045158e+01] [ 2.17337559e-02 1.97260026e-05 9.99763794e-01 6.43163412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9892541539999 meters Centerline goodness [0,1] 0.9990925015300847 Centerline is valid? [True, True] Translation: X:697.23, Y:11.90, Z:6.43 [[ 9.99609755e-01 -1.70300953e-02 -2.21430034e-02 6.97227068e+02] [ 1.70255225e-02 9.99854977e-01 -3.95030771e-04 1.19036971e+01] [ 2.21465196e-02 1.78804088e-05 9.99754736e-01 6.43097722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0192541539999 meters Centerline goodness [0,1] 0.9991348933386787 Centerline is valid? [True, True] Translation: X:697.26, Y:11.90, Z:6.43 [[ 9.99550975e-01 -1.94615946e-02 -2.27836331e-02 6.97255648e+02] [ 1.94572878e-02 9.99810605e-01 -4.10718104e-04 1.19001994e+01] [ 2.27873112e-02 -3.27740247e-05 9.99740335e-01 6.43109537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0492541539999 meters Centerline goodness [0,1] 0.9990091495551714 Centerline is valid? [True, True] Translation: X:697.28, Y:11.90, Z:6.43 [[ 9.99486560e-01 -2.10320551e-02 -2.41716786e-02 6.97284595e+02] [ 2.10275147e-02 9.99778800e-01 -4.42023614e-04 1.18981194e+01] [ 2.41756285e-02 -6.64736661e-05 9.99707725e-01 6.43120943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.079254154 meters Centerline goodness [0,1] 0.9991162731978286 Centerline is valid? [True, True] Translation: X:697.31, Y:11.90, Z:6.43 [[ 9.99452770e-01 -2.34771904e-02 -2.33019875e-02 6.97312060e+02] [ 2.34735405e-02 9.99724366e-01 -4.30186955e-04 1.18962333e+01] [ 2.33056642e-02 -1.17028604e-04 9.99728379e-01 6.43171450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1092541539999 meters Centerline goodness [0,1] 0.9990763094363388 Centerline is valid? [True, True] Translation: X:697.34, Y:11.89, Z:6.43 [[ 9.99324532e-01 -2.82139255e-02 -2.35468660e-02 6.97340053e+02] [ 2.82114380e-02 9.99601882e-01 -4.37891839e-04 1.18913004e+01] [ 2.35498462e-02 -2.26694893e-04 9.99722638e-01 6.43164223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1392541539999 meters Centerline goodness [0,1] 0.9991815148271737 Centerline is valid? [True, True] Translation: X:697.37, Y:11.89, Z:6.43 [[ 9.99254793e-01 -3.09153976e-02 -2.31105169e-02 6.97367749e+02] [ 3.09136498e-02 9.99521965e-01 -4.32971793e-04 1.18884968e+01] [ 2.31128548e-02 -2.81781286e-04 9.99732823e-01 6.43137739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1692541539999 meters Centerline goodness [0,1] 0.9992856392478201 Centerline is valid? [True, True] Translation: X:697.40, Y:11.89, Z:6.43 [[ 9.99137625e-01 -3.42605276e-02 -2.34568430e-02 6.97396204e+02] [ 3.42595358e-02 9.99412871e-01 -4.44262177e-04 1.18855393e+01] [ 2.34582915e-02 -3.59741498e-04 9.99724752e-01 6.43170483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.199254154 meters Centerline goodness [0,1] 0.9991201055873296 Centerline is valid? [True, True] Translation: X:697.42, Y:11.88, Z:6.43 [[ 9.98922385e-01 -4.05892230e-02 -2.25073960e-02 6.97424545e+02] [ 4.05898444e-02 9.99175800e-01 -4.29422520e-04 1.18776621e+01] [ 2.25062753e-02 -4.84611933e-04 9.99746584e-01 6.43184979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2292541539999 meters Centerline goodness [0,1] 0.9989338796329201 Centerline is valid? [True, True] Translation: X:697.45, Y:11.87, Z:6.43 [[ 9.98782543e-01 -4.41697327e-02 -2.19651373e-02 6.97453662e+02] [ 4.41711073e-02 9.99023891e-01 -4.22823824e-04 1.18746488e+01] [ 2.19623730e-02 -5.47915384e-04 9.99758648e-01 6.43297070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2592541539999 meters Centerline goodness [0,1] 0.9990798636525231 Centerline is valid? [True, True] Translation: X:697.48, Y:11.87, Z:6.43 [[ 9.98639976e-01 -4.76899196e-02 -2.10682008e-02 6.97483467e+02] [ 4.76919110e-02 9.98862010e-01 -4.08202883e-04 1.18736272e+01] [ 2.10636926e-02 -5.97135040e-04 9.99777957e-01 6.43494085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2892541539999 meters Centerline goodness [0,1] 0.9989762874751906 Centerline is valid? [True, True] Translation: X:697.51, Y:11.86, Z:6.43 [[ 9.98330988e-01 -5.41911184e-02 -1.99639994e-02 6.97512834e+02] [ 5.41941901e-02 9.98530340e-01 -3.87521955e-04 1.18644814e+01] [ 1.99556594e-02 -6.95057604e-04 9.99800624e-01 6.43485485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3192541539999 meters Centerline goodness [0,1] 0.9992703164741692 Centerline is valid? [True, True] Translation: X:697.54, Y:11.86, Z:6.44 [[ 9.98165828e-01 -5.72189475e-02 -1.97730084e-02 6.97544438e+02] [ 5.72225549e-02 9.98361373e-01 -3.83765822e-04 1.18647585e+01] [ 1.97625665e-02 -7.48400127e-04 9.99804421e-01 6.43607990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3492541539999 meters Centerline goodness [0,1] 0.9989155144007175 Centerline is valid? [True, True] Translation: X:697.57, Y:11.86, Z:6.44 [[ 9.97993659e-01 -6.02289320e-02 -1.95225983e-02 6.97574260e+02] [ 6.02330301e-02 9.98184271e-01 -3.78561433e-04 1.18578198e+01] [ 1.95099509e-02 -7.98103342e-04 9.99809344e-01 6.43515385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3792541539999 meters Centerline goodness [0,1] 0.9990006870276685 Centerline is valid? [True, True] Translation: X:697.60, Y:11.85, Z:6.43 [[ 9.97810594e-01 -6.30586313e-02 -1.99405820e-02 6.97604255e+02] [ 6.30634707e-02 9.98009443e-01 -3.86666528e-04 1.18519453e+01] [ 1.99252718e-02 -8.71702351e-04 9.99801092e-01 6.43413037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4092541539999 meters Centerline goodness [0,1] 0.9988741556167126 Centerline is valid? [True, True] Translation: X:697.64, Y:11.86, Z:6.44 [[ 9.97629090e-01 -6.57491713e-02 -2.03284287e-02 6.97635321e+02] [ 6.57547663e-02 9.97835736e-01 -3.93782859e-04 1.18564875e+01] [ 2.03103235e-02 -9.43841843e-04 9.99793279e-01 6.43576823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4392541539999 meters Centerline goodness [0,1] 0.9987712685090697 Centerline is valid? [True, True] Translation: X:697.67, Y:11.85, Z:6.44 [[ 9.97295812e-01 -7.05720683e-02 -2.05096701e-02 6.97665449e+02] [ 7.05787970e-02 9.97506128e-01 -3.96493462e-04 1.18511383e+01] [ 2.04865030e-02 -1.05212658e-03 9.99789576e-01 6.43510419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4692541539999 meters Centerline goodness [0,1] 0.9989768859749859 Centerline is valid? [True, True] Translation: X:697.70, Y:11.85, Z:6.44 [[ 9.97153805e-01 -7.24168910e-02 -2.09781775e-02 6.97696609e+02] [ 7.24243550e-02 9.97373826e-01 -4.04731011e-04 1.18519941e+01] [ 2.09523945e-02 -1.11575191e-03 9.99779852e-01 6.43583346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4992541539999 meters Centerline goodness [0,1] 0.9988306291632734 Centerline is valid? [True, True] Translation: X:697.73, Y:11.85, Z:6.43 [[ 9.97065498e-01 -7.36435893e-02 -2.09048866e-02 6.97726819e+02] [ 7.36512817e-02 9.97283975e-01 -4.02757694e-04 1.18459356e+01] [ 2.08777689e-02 -1.13809589e-03 9.99781388e-01 6.43492306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5292541539999 meters Centerline goodness [0,1] 0.9986418721270371 Centerline is valid? [True, True] Translation: X:697.76, Y:11.85, Z:6.44 [[ 9.96945671e-01 -7.51832273e-02 -2.11378946e-02 6.97757660e+02] [ 7.51914455e-02 9.97169033e-01 -4.06852300e-04 1.18510064e+01] [ 2.11086424e-02 -1.18377921e-03 9.99776487e-01 6.43681229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5592541539999 meters Centerline goodness [0,1] 0.9987892704310615 Centerline is valid? [True, True] Translation: X:697.79, Y:11.85, Z:6.44 [[ 9.96954514e-01 -7.50030184e-02 -2.13598923e-02 6.97788699e+02] [ 7.50113870e-02 9.97182593e-01 -4.10279207e-04 1.18502712e+01] [ 2.13304849e-02 -1.19320544e-03 9.99771767e-01 6.43687008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.589254154 meters Centerline goodness [0,1] 0.9987896999290514 Centerline is valid? [True, True] Translation: X:697.82, Y:11.85, Z:6.44 [[ 9.96985755e-01 -7.45621221e-02 -2.14451623e-02 6.97819647e+02] [ 7.45704816e-02 9.97215661e-01 -4.10724989e-04 1.18477933e+01] [ 2.14160763e-02 -1.18968912e-03 9.99769942e-01 6.43632906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6192541539999 meters Centerline goodness [0,1] 0.9986880466472303 Centerline is valid? [True, True] Translation: X:697.85, Y:11.85, Z:6.44 [[ 9.97086131e-01 -7.29012352e-02 -2.24645671e-02 6.97850319e+02] [ 7.29100227e-02 9.97338430e-01 -4.28718668e-04 1.18487092e+01] [ 2.24360302e-02 -1.21042266e-03 9.99747548e-01 6.43564297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6492541539999 meters Centerline goodness [0,1] 0.9988546200462317 Centerline is valid? [True, True] Translation: X:697.88, Y:11.85, Z:6.44 [[ 9.97170230e-01 -7.15971767e-02 -2.29210799e-02 6.97881735e+02] [ 7.16060095e-02 9.97432900e-01 -4.36220889e-04 1.18536460e+01] [ 2.28934714e-02 -1.20630058e-03 9.99737182e-01 6.43646212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6792541539999 meters Centerline goodness [0,1] 0.9988546200462317 Centerline is valid? [True, True] Translation: X:697.91, Y:11.85, Z:6.44 [[ 9.97172810e-01 -7.15612306e-02 -2.29210956e-02 6.97912617e+02] [ 7.15700728e-02 9.97435479e-01 -4.35394523e-04 1.18542021e+01] [ 2.28934714e-02 -1.20630090e-03 9.99737182e-01 6.43675139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.709254154 meters Centerline goodness [0,1] 0.9988723453129241 Centerline is valid? [True, True] Translation: X:697.94, Y:11.86, Z:6.44 [[ 9.97275488e-01 -6.99263121e-02 -2.34928193e-02 6.97943617e+02] [ 6.99351556e-02 9.97551440e-01 -4.45960650e-04 1.18574926e+01] [ 2.34664801e-02 -1.19822835e-03 9.99723906e-01 6.43715144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7392541539999 meters Centerline goodness [0,1] 0.9987885370540563 Centerline is valid? [True, True] Translation: X:697.97, Y:11.87, Z:6.44 [[ 9.97576974e-01 -6.54562356e-02 -2.35724968e-02 6.97973869e+02] [ 6.54638932e-02 9.97854838e-01 -4.47507781e-04 1.18656264e+01] [ 2.35512221e-02 -1.09672395e-03 9.99722030e-01 6.43839498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7692541539999 meters Centerline goodness [0,1] 0.9988712846452907 Centerline is valid? [True, True] Translation: X:698.00, Y:11.87, Z:6.44 [[ 9.97752855e-01 -6.27740812e-02 -2.34233907e-02 6.98003402e+02] [ 6.27808986e-02 9.98027235e-01 -4.44936352e-04 1.18677120e+01] [ 2.34051123e-02 -1.02660500e-03 9.99725536e-01 6.43839433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7992541539999 meters Centerline goodness [0,1] 0.9989963408259278 Centerline is valid? [True, True] Translation: X:698.03, Y:11.88, Z:6.44 [[ 9.98132340e-01 -5.65358652e-02 -2.31414616e-02 6.98034064e+02] [ 5.65408437e-02 9.98400190e-01 -4.39640511e-04 1.18765226e+01] [ 2.31292951e-02 -8.69618350e-04 9.99732104e-01 6.44020936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.829254154 meters Centerline goodness [0,1] 0.9987898766926078 Centerline is valid? [True, True] Translation: X:698.06, Y:11.88, Z:6.44 [[ 9.98309810e-01 -5.32393447e-02 -2.33044036e-02 6.98063511e+02] [ 5.32434923e-02 9.98581461e-01 -4.42916746e-04 1.18782570e+01] [ 2.32949260e-02 -7.98639703e-04 9.99728317e-01 6.44004720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8592541539999 meters Centerline goodness [0,1] 0.9991220368744512 Centerline is valid? [True, True] Translation: X:698.09, Y:11.88, Z:6.44 [[ 9.98509040e-01 -4.98040565e-02 -2.23439823e-02 6.98093528e+02] [ 4.98070008e-02 9.98758771e-01 -4.25066548e-04 1.18848369e+01] [ 2.23374183e-02 -6.88453951e-04 9.99750252e-01 6.44199574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8892541539999 meters Centerline goodness [0,1] 0.9989767150464655 Centerline is valid? [True, True] Translation: X:698.12, Y:11.89, Z:6.44 [[ 9.98873556e-01 -4.20517113e-02 -2.19834451e-02 6.98122549e+02] [ 4.20526743e-02 9.99115307e-01 -4.18686392e-04 1.18916431e+01] [ 2.19816030e-02 -5.06247891e-04 9.99758247e-01 6.44254414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9192541539999 meters Centerline goodness [0,1] 0.9990383007191838 Centerline is valid? [True, True] Translation: X:698.15, Y:11.90, Z:6.44 [[ 9.99027047e-01 -3.82018714e-02 -2.20357957e-02 6.98151769e+02] [ 3.82018875e-02 9.99269953e-01 -4.20378937e-04 1.18982220e+01] [ 2.20357678e-02 -4.21839060e-04 9.99757094e-01 6.44430206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.949254154 meters Centerline goodness [0,1] 0.999121026306427 Centerline is valid? [True, True] Translation: X:698.18, Y:11.90, Z:6.44 [[ 9.99165523e-01 -3.43156058e-02 -2.21516905e-02 6.98179901e+02] [ 3.43145873e-02 9.99410990e-01 -4.26195526e-04 1.19012186e+01] [ 2.21532681e-02 -3.34286243e-04 9.99754530e-01 6.44386664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9792541539999 meters Centerline goodness [0,1] 0.9991625492002345 Centerline is valid? [True, True] Translation: X:698.21, Y:11.91, Z:6.44 [[ 9.99287636e-01 -3.06063118e-02 -2.20788137e-02 6.98208444e+02] [ 3.06042705e-02 9.99531487e-01 -4.30424485e-04 1.19056278e+01] [ 2.20816432e-02 -2.45588120e-04 9.99756141e-01 6.44484332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0092541539999 meters Centerline goodness [0,1] 0.998992443324937 Centerline is valid? [True, True] Translation: X:698.24, Y:11.91, Z:6.45 [[ 9.99465994e-01 -2.38507341e-02 -2.23353880e-02 6.98236713e+02] [ 2.38468297e-02 9.99715527e-01 -4.41179223e-04 1.19118242e+01] [ 2.23395566e-02 -9.16845634e-05 9.99750437e-01 6.44538027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0392541539999 meters Centerline goodness [0,1] 0.999201697443331 Centerline is valid? [True, True] Translation: X:698.26, Y:11.91, Z:6.45 [[ 9.99504277e-01 -2.16552216e-02 -2.28528130e-02 6.98264119e+02] [ 2.16504137e-02 9.99765498e-01 -4.57812509e-04 1.19144043e+01] [ 2.28573680e-02 -3.71872949e-05 9.99738736e-01 6.44557097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0692541539999 meters Centerline goodness [0,1] 0.9991375683634833 Centerline is valid? [True, True] Translation: X:698.29, Y:11.92, Z:6.45 [[ 9.99514125e-01 -2.05696703e-02 -2.34180009e-02 6.98292467e+02] [ 2.05641611e-02 9.99788422e-01 -4.76074093e-04 1.19160836e+01] [ 2.34228388e-02 -5.72876260e-06 9.99725648e-01 6.44557666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0992541539999 meters Centerline goodness [0,1] 0.9993267834977805 Centerline is valid? [True, True] Translation: X:698.32, Y:11.92, Z:6.45 [[ 9.99498227e-01 -2.03934299e-02 -2.42363840e-02 6.98321266e+02] [ 2.03873160e-02 9.99792032e-01 -4.99356323e-04 1.19169372e+01] [ 2.42415272e-02 4.99094147e-06 9.99706131e-01 6.44554919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1292541539999 meters Centerline goodness [0,1] 0.9990957648147369 Centerline is valid? [True, True] Translation: X:698.35, Y:11.92, Z:6.44 [[ 9.99412912e-01 -2.28903466e-02 -2.54924119e-02 6.98350414e+02] [ 2.28842261e-02 9.99737980e-01 -5.31838622e-04 1.19155365e+01] [ 2.54979064e-02 -5.18477312e-05 9.99674874e-01 6.44492150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1592541539999 meters Centerline goodness [0,1] 0.9991572382698102 Centerline is valid? [True, True] Translation: X:698.38, Y:11.91, Z:6.44 [[ 9.99349098e-01 -2.55617213e-02 -2.54554251e-02 6.98378052e+02] [ 2.55563063e-02 9.99673239e-01 -5.38082412e-04 1.19140170e+01] [ 2.54608616e-02 -1.12814467e-04 9.99675813e-01 6.44498625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1892541539999 meters Centerline goodness [0,1] 0.999138021654578 Centerline is valid? [True, True] Translation: X:698.41, Y:11.91, Z:6.45 [[ 9.99276481e-01 -2.83307047e-02 -2.53749152e-02 6.98407111e+02] [ 2.83260447e-02 9.99598590e-01 -5.43143706e-04 1.19123129e+01] [ 2.53801171e-02 -1.76020251e-04 9.99677857e-01 6.44547436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2192541539999 meters Centerline goodness [0,1] 0.9990117953785664 Centerline is valid? [True, True] Translation: X:698.43, Y:11.91, Z:6.45 [[ 9.99105237e-01 -3.41793919e-02 -2.49097125e-02 6.98434596e+02] [ 3.41766181e-02 9.99415664e-01 -5.37201242e-04 1.19075999e+01] [ 2.49135181e-02 -3.14609157e-04 9.99689561e-01 6.44616494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2492541539999 meters Centerline goodness [0,1] 0.998970977361502 Centerline is valid? [True, True] Translation: X:698.46, Y:11.91, Z:6.45 [[ 9.99044849e-01 -3.73937905e-02 -2.26073890e-02 6.98463223e+02] [ 3.73922330e-02 9.99300545e-01 -4.91760350e-04 1.19058083e+01] [ 2.26099649e-02 -3.54050111e-04 9.99744299e-01 6.44758177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2792541539999 meters Centerline goodness [0,1] 0.9989946380697051 Centerline is valid? [True, True] Translation: X:698.49, Y:11.90, Z:6.45 [[ 9.98974534e-01 -3.99404862e-02 -2.13222650e-02 6.98491387e+02] [ 3.99396112e-02 9.99201986e-01 -4.67055353e-04 1.19034447e+01] [ 2.13239040e-02 -3.85026570e-04 9.99772546e-01 6.44860641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3092541539999 meters Centerline goodness [0,1] 0.9990355180945192 Centerline is valid? [True, True] Translation: X:698.52, Y:11.90, Z:6.45 [[ 9.98800570e-01 -4.46465716e-02 -2.01023604e-02 6.98521413e+02] [ 4.46467230e-02 9.99002740e-01 -4.41489945e-04 1.18994665e+01] [ 2.01020241e-02 -4.56544107e-04 9.99797830e-01 6.44995622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.339254154 meters Centerline goodness [0,1] 0.9989113595444459 Centerline is valid? [True, True] Translation: X:698.55, Y:11.90, Z:6.45 [[ 9.98710120e-01 -4.68588700e-02 -1.95535660e-02 6.98551275e+02] [ 4.68594297e-02 9.98901401e-01 -4.29809279e-04 1.18970171e+01] [ 1.95522248e-02 -4.87014071e-04 9.99808718e-01 6.44994514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3692541539999 meters Centerline goodness [0,1] 0.998912384179373 Centerline is valid? [True, True] Translation: X:698.58, Y:11.90, Z:6.45 [[ 9.98600915e-01 -4.91196865e-02 -1.95823489e-02 6.98581620e+02] [ 4.91206811e-02 9.98792758e-01 -4.30488884e-04 1.18959981e+01] [ 1.95798538e-02 -5.32011723e-04 9.99808155e-01 6.45031396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3992541539999 meters Centerline goodness [0,1] 0.9991208791208791 Centerline is valid? [True, True] Translation: X:698.61, Y:11.89, Z:6.45 [[ 9.98346894e-01 -5.39787733e-02 -1.97426351e-02 6.98612866e+02] [ 5.39807369e-02 9.98541883e-01 -4.33828663e-04 1.18912006e+01] [ 1.97372656e-02 -6.32610493e-04 9.99805001e-01 6.44998116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4292541539999 meters Centerline goodness [0,1] 0.9989750026147892 Centerline is valid? [True, True] Translation: X:698.64, Y:11.89, Z:6.45 [[ 9.98208963e-01 -5.64560802e-02 -1.97883269e-02 6.98644394e+02] [ 5.64585496e-02 9.98404850e-01 -4.34297132e-04 1.18892077e+01] [ 1.97812802e-02 -6.83700944e-04 9.99804098e-01 6.45004225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.459254154 meters Centerline goodness [0,1] 0.9989737790064506 Centerline is valid? [True, True] Translation: X:698.68, Y:11.89, Z:6.45 [[ 9.98068338e-01 -5.89306721e-02 -1.96664244e-02 6.98675553e+02] [ 5.89336047e-02 9.98261812e-01 -4.30917086e-04 1.18894350e+01] [ 1.96576347e-02 -7.28928581e-04 9.99806504e-01 6.45088480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4892541539999 meters Centerline goodness [0,1] 0.9988524453346687 Centerline is valid? [True, True] Translation: X:698.71, Y:11.89, Z:6.45 [[ 9.97925108e-01 -6.12719101e-02 -1.97796069e-02 6.98706153e+02] [ 6.12753462e-02 9.98120807e-01 -4.32866110e-04 1.18855669e+01] [ 1.97689598e-02 -7.80034304e-04 9.99804271e-01 6.45032243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5192541539999 meters Centerline goodness [0,1] 0.9989128844103443 Centerline is valid? [True, True] Translation: X:698.74, Y:11.88, Z:6.45 [[ 9.97712746e-01 -6.47605154e-02 -1.93740082e-02 6.98736806e+02] [ 6.47644751e-02 9.97900488e-01 -4.23640882e-04 1.18849898e+01] [ 1.93607674e-02 -8.32075562e-04 9.99812217e-01 6.45119639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5492541539999 meters Centerline goodness [0,1] 0.9988515827278043 Centerline is valid? [True, True] Translation: X:698.77, Y:11.89, Z:6.45 [[ 9.97659615e-01 -6.55630951e-02 -1.94106479e-02 6.98768810e+02] [ 6.55672392e-02 9.97848063e-01 -4.23521326e-04 1.18861188e+01] [ 1.93966448e-02 -8.50172473e-04 9.99811506e-01 6.45173203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.579254154 meters Centerline goodness [0,1] 0.9987873972946415 Centerline is valid? [True, True] Translation: X:698.80, Y:11.88, Z:6.45 [[ 9.97657928e-01 -6.54583854e-02 -1.98458732e-02 6.98800491e+02] [ 6.54627350e-02 9.97854922e-01 -4.31096497e-04 1.18847828e+01] [ 1.98315212e-02 -8.69078303e-04 9.99802958e-01 6.45159031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6092541539999 meters Centerline goodness [0,1] 0.9988109393579072 Centerline is valid? [True, True] Translation: X:698.83, Y:11.89, Z:6.45 [[ 9.97777541e-01 -6.39310418e-02 -1.87829904e-02 6.98831611e+02] [ 6.39346933e-02 9.97954002e-01 -4.06642712e-04 1.18872549e+01] [ 1.87705575e-02 -7.95145766e-04 9.99823501e-01 6.45176130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6392541539999 meters Centerline goodness [0,1] 0.998912952588009 Centerline is valid? [True, True] Translation: X:698.86, Y:11.89, Z:6.45 [[ 9.97884164e-01 -6.22458052e-02 -1.87790925e-02 6.98861743e+02] [ 6.22491669e-02 9.98060557e-01 -4.06044578e-04 1.18886664e+01] [ 1.87679461e-02 -7.63797412e-04 9.99823575e-01 6.45183775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6692541539999 meters Centerline goodness [0,1] 0.9988308732958935 Centerline is valid? [True, True] Translation: X:698.89, Y:11.90, Z:6.45 [[ 9.98132390e-01 -5.80343033e-02 -1.90722994e-02 6.98893116e+02] [ 5.80370133e-02 9.98314347e-01 -4.11846436e-04 1.18956615e+01] [ 1.90640513e-02 -6.95822026e-04 9.99818022e-01 6.45217626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.699254154 meters Centerline goodness [0,1] 0.9989548276510797 Centerline is valid? [True, True] Translation: X:698.92, Y:11.89, Z:6.45 [[ 9.98262316e-01 -5.56940898e-02 -1.92488276e-02 6.98923383e+02] [ 5.56964382e-02 9.98447663e-01 -4.14486768e-04 1.18947737e+01] [ 1.92420314e-02 -6.58324619e-04 9.99814638e-01 6.45095580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7292541539999 meters Centerline goodness [0,1] 0.998875046873047 Centerline is valid? [True, True] Translation: X:698.95, Y:11.90, Z:6.45 [[ 9.98353080e-01 -5.39224496e-02 -1.95830699e-02 6.98954267e+02] [ 5.39245625e-02 9.98544924e-01 -4.20527985e-04 1.18986808e+01] [ 1.95772510e-02 -6.36173069e-04 9.99808145e-01 6.45133434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7592541539999 meters Centerline goodness [0,1] 0.9988310929281122 Centerline is valid? [True, True] Translation: X:698.99, Y:11.90, Z:6.45 [[ 9.98420263e-01 -5.26018096e-02 -1.97491079e-02 6.98985308e+02] [ 5.26037147e-02 9.98615376e-01 -4.23368958e-04 1.19017552e+01] [ 1.97440327e-02 -6.16176290e-04 9.99804878e-01 6.45169287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7892541539999 meters Centerline goodness [0,1] 0.9988724865846783 Centerline is valid? [True, True] Translation: X:699.02, Y:11.90, Z:6.45 [[ 9.98454971e-01 -5.17753564e-02 -2.01738088e-02 6.99015907e+02] [ 5.17771871e-02 9.98658568e-01 -4.31922739e-04 1.19008313e+01] [ 2.01691100e-02 -6.13287665e-04 9.99796395e-01 6.45086117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8192541539999 meters Centerline goodness [0,1] 0.9988080301129235 Centerline is valid? [True, True] Translation: X:699.05, Y:11.90, Z:6.45 [[ 9.98425904e-01 -5.20298182e-02 -2.09430819e-02 6.99046910e+02] [ 5.20318599e-02 9.98645325e-01 -4.47785909e-04 1.19046211e+01] [ 2.09380091e-02 -6.42626452e-04 9.99780569e-01 6.45118091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8492541539999 meters Centerline goodness [0,1] 0.9988287949136236 Centerline is valid? [True, True] Translation: X:699.08, Y:11.91, Z:6.45 [[ 9.98381217e-01 -5.27526242e-02 -2.12628124e-02 6.99077468e+02] [ 5.27549000e-02 9.98607387e-01 -4.54269753e-04 1.19051375e+01] [ 2.12571655e-02 -6.68183153e-04 9.99773818e-01 6.45113598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8792541539999 meters Centerline goodness [0,1] 0.998870954252739 Centerline is valid? [True, True] Translation: X:699.11, Y:11.90, Z:6.45 [[ 9.98324880e-01 -5.36961725e-02 -2.15442435e-02 6.99107838e+02] [ 5.36987332e-02 9.98557076e-01 -4.60057910e-04 1.19045781e+01] [ 2.15378601e-02 -6.97611323e-04 9.99767790e-01 6.45057388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9092541539999 meters Centerline goodness [0,1] 0.9987864585512826 Centerline is valid? [True, True] Translation: X:699.14, Y:11.90, Z:6.45 [[ 9.98205215e-01 -5.56386108e-02 -2.21515987e-02 6.99138537e+02] [ 5.56417996e-02 9.98450683e-01 -4.72849977e-04 1.19049794e+01] [ 2.21435876e-02 -7.60553503e-04 9.99754511e-01 6.45010117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9392541539999 meters Centerline goodness [0,1] 0.9987863315825818 Centerline is valid? [True, True] Translation: X:699.17, Y:11.91, Z:6.45 [[ 9.98158176e-01 -5.61755201e-02 -2.29034307e-02 6.99168948e+02] [ 5.61790704e-02 9.98420589e-01 -4.88898648e-04 1.19059911e+01] [ 2.28947209e-02 -7.98695262e-04 9.99737562e-01 6.45043199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9692541539999 meters Centerline goodness [0,1] 0.998912384179373 Centerline is valid? [True, True] Translation: X:699.20, Y:11.91, Z:6.45 [[ 9.98138276e-01 -5.66171639e-02 -2.26821097e-02 6.99198914e+02] [ 5.66207542e-02 9.98395641e-01 -4.84419598e-04 1.19068540e+01] [ 2.26731459e-02 -8.00760412e-04 9.99742610e-01 6.45071182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9992541539999 meters Centerline goodness [0,1] 0.9989330990335132 Centerline is valid? [True, True] Translation: X:699.23, Y:11.91, Z:6.45 [[ 9.98153203e-01 -5.64608879e-02 -2.24132076e-02 6.99229203e+02] [ 5.64643556e-02 9.98404501e-01 -4.78609162e-04 1.19084032e+01] [ 2.24044700e-02 -7.87822057e-04 9.99748678e-01 6.45110342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0292541539999 meters Centerline goodness [0,1] 0.9986824493893257 Centerline is valid? [True, True] Translation: X:699.26, Y:11.91, Z:6.45 [[ 9.98198729e-01 -5.60590073e-02 -2.13702062e-02 6.99259794e+02] [ 5.60620711e-02 9.98427181e-01 -4.56174212e-04 1.19105386e+01] [ 2.13621674e-02 -7.42705502e-04 9.99771527e-01 6.45210236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0592541539999 meters Centerline goodness [0,1] 0.9989753241321623 Centerline is valid? [True, True] Translation: X:699.29, Y:11.91, Z:6.45 [[ 9.98244012e-01 -5.54758064e-02 -2.07684316e-02 6.99291160e+02] [ 5.54785826e-02 9.98459779e-01 -4.42911659e-04 1.19118934e+01] [ 2.07610145e-02 -7.10069234e-04 9.99784215e-01 6.45302999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.089254154 meters Centerline goodness [0,1] 0.9990170859736077 Centerline is valid? [True, True] Translation: X:699.32, Y:11.92, Z:6.45 [[ 9.98385288e-01 -5.38890676e-02 -1.79662063e-02 6.99322892e+02] [ 5.38909013e-02 9.98546756e-01 -3.82417157e-04 1.19153346e+01] [ 1.79607052e-02 -5.86415389e-04 9.99838522e-01 6.45497016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1192541539999 meters Centerline goodness [0,1] 0.998890772482786 Centerline is valid? [True, True] Translation: X:699.35, Y:11.92, Z:6.46 [[ 9.98473475e-01 -5.25450794e-02 -1.70215794e-02 6.99354544e+02] [ 5.25465426e-02 9.98618411e-01 -3.61583430e-04 1.19174992e+01] [ 1.70170620e-02 -5.33393683e-04 9.99855057e-01 6.45591230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1492541539999 meters Centerline goodness [0,1] 0.9990177433175197 Centerline is valid? [True, True] Translation: X:699.39, Y:11.92, Z:6.46 [[ 9.98569832e-01 -5.09250427e-02 -1.62766716e-02 6.99385633e+02] [ 5.09261749e-02 9.98702361e-01 -3.45185883e-04 1.19208667e+01] [ 1.62731289e-02 -4.84216414e-04 9.99867467e-01 6.45706954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1792541539999 meters Centerline goodness [0,1] 0.9987473642456001 Centerline is valid? [True, True] Translation: X:699.42, Y:11.92, Z:6.46 [[ 9.98740437e-01 -4.80650054e-02 -1.43977338e-02 6.99416291e+02] [ 4.80656011e-02 9.98844135e-01 -3.04854613e-04 1.19243936e+01] [ 1.43957447e-02 -3.87565099e-04 9.99896301e-01 6.45807491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.209254154 meters Centerline goodness [0,1] 0.9989554172063678 Centerline is valid? [True, True] Translation: X:699.45, Y:11.93, Z:6.46 [[ 9.98803339e-01 -4.69124205e-02 -1.38243990e-02 6.99448317e+02] [ 4.69128683e-02 9.98898943e-01 -2.92073370e-04 1.19267173e+01] [ 1.38228795e-02 -3.56818354e-04 9.99904396e-01 6.45842965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2392541539999 meters Centerline goodness [0,1] 0.9989342138259634 Centerline is valid? [True, True] Translation: X:699.48, Y:11.93, Z:6.46 [[ 9.98823938e-01 -4.64178158e-02 -1.40045522e-02 6.99480706e+02] [ 4.64182408e-02 9.98922049e-01 -2.94878853e-04 1.19286140e+01] [ 1.40031436e-02 -3.55534619e-04 9.99901888e-01 6.45879114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2692541539999 meters Centerline goodness [0,1] 0.9988296516123639 Centerline is valid? [True, True] Translation: X:699.51, Y:11.93, Z:6.46 [[ 9.98830380e-01 -4.62982908e-02 -1.39405780e-02 6.99511952e+02] [ 4.62987129e-02 9.98927597e-01 -2.92625352e-04 1.19286892e+01] [ 1.39391762e-02 -3.53147729e-04 9.99902783e-01 6.45853066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2992541539999 meters Centerline goodness [0,1] 0.9990181947316747 Centerline is valid? [True, True] Translation: X:699.54, Y:11.93, Z:6.46 [[ 9.98741696e-01 -4.79493628e-02 -1.46929738e-02 6.99544187e+02] [ 4.79500236e-02 9.98849689e-01 -3.07507007e-04 1.19312827e+01] [ 1.46908170e-02 -3.97408369e-04 9.99892005e-01 6.45801510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.329254154 meters Centerline goodness [0,1] 0.9989331659868215 Centerline is valid? [True, True] Translation: X:699.58, Y:11.93, Z:6.46 [[ 9.98667971e-01 -4.92012873e-02 -1.55408096e-02 6.99576294e+02] [ 4.92021963e-02 9.98788786e-01 -3.24080489e-04 1.19310703e+01] [ 1.55379315e-02 -4.40993159e-04 9.99879182e-01 6.45725894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3592541539999 meters Centerline goodness [0,1] 0.9989113595444459 Centerline is valid? [True, True] Translation: X:699.61, Y:11.93, Z:6.46 [[ 9.98575384e-01 -5.07502958e-02 -1.64806060e-02 6.99608637e+02] [ 5.07515493e-02 9.98711251e-01 -3.42438867e-04 1.19303514e+01] [ 1.64767455e-02 -4.94465263e-04 9.99864127e-01 6.45649169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3892541539999 meters Centerline goodness [0,1] 0.9988673308862087 Centerline is valid? [True, True] Translation: X:699.64, Y:11.93, Z:6.46 [[ 9.98392401e-01 -5.38637232e-02 -1.76440461e-02 6.99639949e+02] [ 5.38656637e-02 9.98548124e-01 -3.65586446e-04 1.19298274e+01] [ 1.76381210e-02 -5.85409525e-04 9.99844265e-01 6.45576040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4192541539999 meters Centerline goodness [0,1] 0.9989726817200243 Centerline is valid? [True, True] Translation: X:699.67, Y:11.93, Z:6.46 [[ 9.98326762e-01 -5.50012065e-02 -1.78477670e-02 6.99670677e+02] [ 5.50033852e-02 9.98486100e-01 -3.69157599e-04 1.19291682e+01] [ 1.78410514e-02 -6.13147693e-04 9.99840648e-01 6.45552133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.449254154 meters Centerline goodness [0,1] 0.9988893080179387 Centerline is valid? [True, True] Translation: X:699.70, Y:11.93, Z:6.46 [[ 9.98286528e-01 -5.56305892e-02 -1.81451120e-02 6.99703154e+02] [ 5.56329627e-02 9.98451217e-01 -3.74330670e-04 1.19293917e+01] [ 1.81378334e-02 -6.35777075e-04 9.99835294e-01 6.45560235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4792541539999 meters Centerline goodness [0,1] 0.9990565246561557 Centerline is valid? [True, True] Translation: X:699.74, Y:11.93, Z:6.46 [[ 9.98278210e-01 -5.58018228e-02 -1.80768095e-02 6.99735050e+02] [ 5.58042302e-02 9.98441661e-01 -3.71609877e-04 1.19314121e+01] [ 1.80693762e-02 -6.37792396e-04 9.99836532e-01 6.45612849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5092541539999 meters Centerline goodness [0,1] 0.998973628537316 Centerline is valid? [True, True] Translation: X:699.77, Y:11.93, Z:6.46 [[ 9.98350866e-01 -5.46062815e-02 -1.77116474e-02 6.99766363e+02] [ 5.46084247e-02 9.98507781e-01 -3.62972954e-04 1.19311833e+01] [ 1.77050384e-02 -6.04830801e-04 9.99843071e-01 6.45640456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5392541539999 meters Centerline goodness [0,1] 0.998887582906557 Centerline is valid? [True, True] Translation: X:699.80, Y:11.93, Z:6.46 [[ 9.98433669e-01 -5.33348904e-02 -1.68996746e-02 6.99798761e+02] [ 5.33366769e-02 9.98576527e-01 -3.45313723e-04 1.19324916e+01] [ 1.68940356e-02 -5.56599636e-04 9.99857131e-01 6.45709802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5692541539999 meters Centerline goodness [0,1] 0.9988647830474269 Centerline is valid? [True, True] Translation: X:699.83, Y:11.93, Z:6.46 [[ 9.98549704e-01 -5.14820012e-02 -1.57509396e-02 6.99829727e+02] [ 5.14833358e-02 9.98673802e-01 -3.21002842e-04 1.19342619e+01] [ 1.57465766e-02 -4.90373622e-04 9.99875895e-01 6.45809345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5992541539999 meters Centerline goodness [0,1] 0.9988647830474269 Centerline is valid? [True, True] Translation: X:699.86, Y:11.93, Z:6.46 [[ 9.98553320e-01 -5.14118146e-02 -1.57509554e-02 6.99861425e+02] [ 5.14131527e-02 9.98677418e-01 -3.20225668e-04 1.19348435e+01] [ 1.57465869e-02 -4.90043874e-04 9.99875895e-01 6.45839035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6292541539999 meters Centerline goodness [0,1] 0.9989934574735783 Centerline is valid? [True, True] Translation: X:699.89, Y:11.94, Z:6.46 [[ 9.98782225e-01 -4.71825257e-02 -1.44178848e-02 6.99891687e+02] [ 4.71832219e-02 9.98886209e-01 -2.92056901e-04 1.19385149e+01] [ 1.44156062e-02 -3.88581015e-04 9.99896014e-01 6.45976026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6592541539999 meters Centerline goodness [0,1] 0.9991820126683166 Centerline is valid? [True, True] Translation: X:699.92, Y:11.94, Z:6.46 [[ 9.98895752e-01 -4.49413262e-02 -1.36950362e-02 6.99922725e+02] [ 4.49417570e-02 9.98989571e-01 -2.76446656e-04 1.19415967e+01] [ 1.36936222e-02 -3.39337597e-04 9.99906180e-01 6.46071459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6892541539999 meters Centerline goodness [0,1] 0.9989077695393728 Centerline is valid? [True, True] Translation: X:699.95, Y:11.94, Z:6.46 [[ 9.98990507e-01 -4.29357835e-02 -1.32093140e-02 6.99953469e+02] [ 4.29360159e-02 9.99077789e-01 -2.66126430e-04 1.19430508e+01] [ 1.32085586e-02 -3.01297538e-04 9.99912718e-01 6.46112886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7192541539999 meters Centerline goodness [0,1] 0.9987215492308337 Centerline is valid? [True, True] Translation: X:699.98, Y:11.95, Z:6.46 [[ 9.99174200e-01 -3.88010583e-02 -1.20580204e-02 6.99984428e+02] [ 3.88009575e-02 9.99246930e-01 -2.42386975e-04 1.19490065e+01] [ 1.20583447e-02 -2.25675925e-04 9.99927270e-01 6.46228662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7492541539999 meters Centerline goodness [0,1] 0.9989297406194914 Centerline is valid? [True, True] Translation: X:700.02, Y:11.95, Z:6.46 [[ 9.99239902e-01 -3.72039046e-02 -1.16399484e-02 7.00016066e+02] [ 3.72037081e-02 9.99307675e-01 -2.33487515e-04 1.19500827e+01] [ 1.16405764e-02 -1.99739200e-04 9.99932226e-01 6.46265865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7792541539999 meters Centerline goodness [0,1] 0.998972638641367 Centerline is valid? [True, True] Translation: X:700.05, Y:11.95, Z:6.46 [[ 9.99310508e-01 -3.52795839e-02 -1.15697517e-02 7.00047438e+02] [ 3.52792719e-02 9.99377466e-01 -2.31125498e-04 1.19498053e+01] [ 1.15707032e-02 -1.77206278e-04 9.99933041e-01 6.46266867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8092541539999 meters Centerline goodness [0,1] 0.9989525066515828 Centerline is valid? [True, True] Translation: X:700.08, Y:11.95, Z:6.46 [[ 9.99387379e-01 -3.30087587e-02 -1.16313642e-02 7.00079074e+02] [ 3.30083044e-02 9.99455051e-01 -2.31073661e-04 1.19526442e+01] [ 1.16326531e-02 -1.52999508e-04 9.99932327e-01 6.46281962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.839254154 meters Centerline goodness [0,1] 0.9990975297500367 Centerline is valid? [True, True] Translation: X:700.11, Y:11.95, Z:6.46 [[ 9.99495851e-01 -2.96158369e-02 -1.14431771e-02 7.00109918e+02] [ 2.96151796e-02 9.99561349e-01 -2.26924767e-04 1.19531314e+01] [ 1.14448781e-02 -1.12081383e-04 9.99934499e-01 6.46297706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8692541539999 meters Centerline goodness [0,1] 0.9992027693275989 Centerline is valid? [True, True] Translation: X:700.14, Y:11.95, Z:6.46 [[ 9.99550236e-01 -2.77151984e-02 -1.14539978e-02 7.00141566e+02] [ 2.77144198e-02 9.99615856e-01 -2.26727866e-04 1.19546970e+01] [ 1.14558816e-02 -9.08150102e-05 9.99934375e-01 6.46336450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8992541539999 meters Centerline goodness [0,1] 0.9989935840986287 Centerline is valid? [True, True] Translation: X:700.17, Y:11.96, Z:6.46 [[ 9.99592932e-01 -2.62554866e-02 -1.11633239e-02 7.00171996e+02] [ 2.62546599e-02 9.99655263e-01 -2.20622995e-04 1.19550211e+01] [ 1.11652680e-02 -7.25560857e-05 9.99937664e-01 6.46345641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9292541539999 meters Centerline goodness [0,1] 0.9990989103101425 Centerline is valid? [True, True] Translation: X:700.20, Y:11.95, Z:6.46 [[ 9.99638355e-01 -2.47211681e-02 -1.05840797e-02 7.00203207e+02] [ 2.47203411e-02 9.99694384e-01 -2.08977140e-04 1.19549360e+01] [ 1.05860112e-02 -5.27404966e-05 9.99943965e-01 6.46387845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.959254154 meters Centerline goodness [0,1] 0.998993288590604 Centerline is valid? [True, True] Translation: X:700.23, Y:11.95, Z:6.46 [[ 9.99647367e-01 -2.45682248e-02 -1.00768709e-02 7.00234266e+02] [ 2.45674709e-02 9.99698154e-01 -1.98614944e-04 1.19541621e+01] [ 1.00787089e-02 -4.90183268e-05 9.99949207e-01 6.46399062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9892541539999 meters Centerline goodness [0,1] 0.998931981906517 Centerline is valid? [True, True] Translation: X:700.27, Y:11.95, Z:6.46 [[ 9.99645769e-01 -2.48303830e-02 -9.58059056e-03 7.00265302e+02] [ 2.48297167e-02 9.99691677e-01 -1.88500105e-04 1.19523694e+01] [ 9.58231718e-03 -4.94500174e-05 9.99954087e-01 6.46339566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0192541539999 meters Centerline goodness [0,1] 0.9989333444879008 Centerline is valid? [True, True] Translation: X:700.30, Y:11.95, Z:6.46 [[ 9.99612249e-01 -2.62375625e-02 -9.32423320e-03 7.00297071e+02] [ 2.62369958e-02 9.99655734e-01 -1.83121249e-04 1.19499748e+01] [ 9.32582784e-03 -6.15896235e-05 9.99956512e-01 6.46324002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0492541539999 meters Centerline goodness [0,1] 0.999101640029249 Centerline is valid? [True, True] Translation: X:700.33, Y:11.94, Z:6.46 [[ 9.99437708e-01 -3.21773280e-02 -9.42804374e-03 7.00328038e+02] [ 3.21770161e-02 9.99482169e-01 -1.84808118e-04 1.19434550e+01] [ 9.42910824e-03 -1.18662113e-04 9.99955538e-01 6.46308214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.079254154 meters Centerline goodness [0,1] 0.999247491638796 Centerline is valid? [True, True] Translation: X:700.36, Y:11.94, Z:6.46 [[ 9.99305665e-01 -3.59533473e-02 -9.77473628e-03 7.00359840e+02] [ 3.59531980e-02 9.99353457e-01 -1.91047679e-04 1.19398864e+01] [ 9.77528529e-03 -1.60518001e-04 9.99952208e-01 6.46284875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1092541539999 meters Centerline goodness [0,1] 0.9988922793963968 Centerline is valid? [True, True] Translation: X:700.39, Y:11.94, Z:6.46 [[ 9.99125204e-01 -4.05603715e-02 -1.01825322e-02 7.00392037e+02] [ 4.05604547e-02 9.99177066e-01 -1.98423363e-04 1.19354370e+01] [ 1.01822008e-02 -2.14758354e-04 9.99948137e-01 6.46228531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1392541539999 meters Centerline goodness [0,1] 0.9987069055415354 Centerline is valid? [True, True] Translation: X:700.42, Y:11.93, Z:6.46 [[ 9.98648218e-01 -5.07590999e-02 -1.11915235e-02 7.00422900e+02] [ 5.07598486e-02 9.98710864e-01 -2.17324122e-04 1.19252771e+01] [ 1.11881273e-02 -3.51049693e-04 9.99937349e-01 6.46181239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1692541539999 meters Centerline goodness [0,1] 0.9988526129133202 Centerline is valid? [True, True] Translation: X:700.45, Y:11.92, Z:6.46 [[ 9.98377149e-01 -5.58386903e-02 -1.11852416e-02 7.00453891e+02] [ 5.58397576e-02 9.98439720e-01 -2.17101663e-04 1.19201704e+01] [ 1.11799122e-02 -4.07831842e-04 9.99937420e-01 6.46200344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.199254154 meters Centerline goodness [0,1] 0.9989168471921347 Centerline is valid? [True, True] Translation: X:700.49, Y:11.92, Z:6.46 [[ 9.98111583e-01 -6.04868508e-02 -1.07055100e-02 7.00485457e+02] [ 6.04880976e-02 9.98168897e-01 -2.07580144e-04 1.19153746e+01] [ 1.06984629e-02 -4.40367785e-04 9.99942673e-01 6.46218690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2292541539999 meters Centerline goodness [0,1] 0.9988531870973123 Centerline is valid? [True, True] Translation: X:700.52, Y:11.91, Z:6.46 [[ 9.97562959e-01 -6.91195363e-02 -9.52006547e-03 7.00515448e+02] [ 6.91209172e-02 9.97608272e-01 -1.84281859e-04 1.19062265e+01] [ 9.51003354e-03 -4.74202901e-04 9.99954666e-01 6.46370292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2592541539999 meters Centerline goodness [0,1] 0.998770628438073 Centerline is valid? [True, True] Translation: X:700.55, Y:11.90, Z:6.47 [[ 9.97289504e-01 -7.30375574e-02 -8.89720770e-03 7.00546177e+02] [ 7.30389253e-02 9.97329076e-01 -1.71518004e-04 1.19049776e+01] [ 8.88597119e-03 -4.78789384e-04 9.99960404e-01 6.46525607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2892541539999 meters Centerline goodness [0,1] 0.9986037885260591 Centerline is valid? [True, True] Translation: X:700.58, Y:11.90, Z:6.47 [[ 9.97061629e-01 -7.61584094e-02 -8.24654956e-03 7.00577117e+02] [ 7.61596921e-02 9.97095620e-01 -1.58837408e-04 1.19027133e+01] [ 8.23469525e-03 -4.69683991e-04 9.99965984e-01 6.46604027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3192541539999 meters Centerline goodness [0,1] 0.9986649700661258 Centerline is valid? [True, True] Translation: X:700.61, Y:11.90, Z:6.47 [[ 9.96862428e-01 -7.87638789e-02 -7.84543261e-03 7.00608426e+02] [ 7.87651211e-02 9.96893190e-01 -1.51005135e-04 1.19026671e+01] [ 7.83295210e-03 -4.67415104e-04 9.99969213e-01 6.46640858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3492541539999 meters Centerline goodness [0,1] 0.9984593283504404 Centerline is valid? [True, True] Translation: X:700.64, Y:11.90, Z:6.47 [[ 9.96582263e-01 -8.21958619e-02 -8.22391941e-03 7.00638972e+02] [ 8.21973460e-02 9.96616060e-01 -1.57945781e-04 1.18957708e+01] [ 8.20907265e-03 -5.18578385e-04 9.99966171e-01 6.46648087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3792541539999 meters Centerline goodness [0,1] 0.9981232014013429 Centerline is valid? [True, True] Translation: X:700.67, Y:11.89, Z:6.47 [[ 9.96500130e-01 -8.31682717e-02 -8.39823797e-03 7.00670976e+02] [ 8.31698547e-02 9.96535373e-01 -1.61186378e-04 1.18947047e+01] [ 8.38254680e-03 -5.37857985e-04 9.99964721e-01 6.46578549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4092541539999 meters Centerline goodness [0,1] 0.9984989680405278 Centerline is valid? [True, True] Translation: X:700.70, Y:11.90, Z:6.47 [[ 9.96393601e-01 -8.43878484e-02 -8.85909808e-03 7.00703276e+02] [ 8.43896638e-02 9.96432816e-01 -1.69362749e-04 1.18978580e+01] [ 8.84178820e-03 -5.78864349e-04 9.99960743e-01 6.46633877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4392541539999 meters Centerline goodness [0,1] 0.9985613910722849 Centerline is valid? [True, True] Translation: X:700.74, Y:11.90, Z:6.47 [[ 9.96251011e-01 -8.60290575e-02 -9.10633098e-03 7.00735144e+02] [ 8.60310502e-02 9.96292441e-01 -1.73398173e-04 1.19009845e+01] [ 9.08748600e-03 -6.10679113e-04 9.99958521e-01 6.46555965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4692541539999 meters Centerline goodness [0,1] 0.9986646079372365 Centerline is valid? [True, True] Translation: X:700.77, Y:11.90, Z:6.47 [[ 9.96158058e-01 -8.70390572e-02 -9.66057568e-03 7.00765954e+02] [ 8.70413526e-02 9.96204682e-01 -1.83380759e-04 1.18972365e+01] [ 9.63987202e-03 -6.58193354e-04 9.99953319e-01 6.46632555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4992541539999 meters Centerline goodness [0,1] 0.9988722511120857 Centerline is valid? [True, True] Translation: X:700.80, Y:11.90, Z:6.47 [[ 9.96143474e-01 -8.71435336e-02 -1.02070021e-02 7.00798180e+02] [ 8.71461059e-02 9.96195522e-01 -1.93320507e-04 1.19024019e+01] [ 1.01850164e-02 -6.96925527e-04 9.99947889e-01 6.46564787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5292541539999 meters Centerline goodness [0,1] 0.9986213811254543 Centerline is valid? [True, True] Translation: X:700.83, Y:11.90, Z:6.47 [[ 9.96086220e-01 -8.77447927e-02 -1.06345756e-02 7.00828912e+02] [ 8.77476274e-02 9.96142718e-01 -2.00642677e-04 1.19024898e+01] [ 1.06111604e-02 -7.33301376e-04 9.99943431e-01 6.46616822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5592541539999 meters Centerline goodness [0,1] 0.9986435726210351 Centerline is valid? [True, True] Translation: X:700.86, Y:11.90, Z:6.46 [[ 9.96107427e-01 -8.73551224e-02 -1.17930955e-02 7.00860626e+02] [ 8.73585879e-02 9.96176906e-01 -2.21936534e-04 1.19027361e+01] [ 1.17673967e-02 -8.09155540e-04 9.99930434e-01 6.46424539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.589254154 meters Centerline goodness [0,1] 0.9984529508916439 Centerline is valid? [True, True] Translation: X:700.89, Y:11.90, Z:6.47 [[ 9.96072495e-01 -8.76690807e-02 -1.23982778e-02 7.00891629e+02] [ 8.76729463e-02 9.96149286e-01 -2.32439476e-04 1.19028921e+01] [ 1.23709134e-02 -8.55466978e-04 9.99923111e-01 6.46506792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6192541539999 meters Centerline goodness [0,1] 0.998496177785204 Centerline is valid? [True, True] Translation: X:700.92, Y:11.91, Z:6.46 [[ 9.96187715e-01 -8.60785794e-02 -1.41603222e-02 7.00922970e+02] [ 8.60834728e-02 9.96287893e-01 -2.64718595e-04 1.19056815e+01] [ 1.41305442e-02 -9.55260297e-04 9.99899703e-01 6.46333011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6492541539999 meters Centerline goodness [0,1] 0.9986838531765099 Centerline is valid? [True, True] Translation: X:700.96, Y:11.91, Z:6.46 [[ 9.96230150e-01 -8.55130805e-02 -1.45945456e-02 7.00955072e+02] [ 8.55182288e-02 9.96336569e-01 -2.72106739e-04 1.19110059e+01] [ 1.45643482e-02 -9.77018753e-04 9.99893457e-01 6.46457240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6792541539999 meters Centerline goodness [0,1] 0.9987253959630574 Centerline is valid? [True, True] Translation: X:700.98, Y:11.91, Z:6.46 [[ 9.96574411e-01 -8.09282192e-02 -1.70313451e-02 7.00984407e+02] [ 8.09345752e-02 9.96719366e-01 -3.16866937e-04 1.19144830e+01] [ 1.70011149e-02 -1.06264320e-03 9.99854906e-01 6.46212699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.709254154 meters Centerline goodness [0,1] 0.998744796133972 Centerline is valid? [True, True] Translation: X:701.02, Y:11.92, Z:6.46 [[ 9.96762027e-01 -7.84457434e-02 -1.76558078e-02 7.01016063e+02] [ 7.84521912e-02 9.96917823e-01 -3.28205029e-04 1.19193378e+01] [ 1.76271357e-02 -1.05799450e-03 9.99844070e-01 6.46273828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7392541539999 meters Centerline goodness [0,1] 0.9988902615213886 Centerline is valid? [True, True] Translation: X:701.05, Y:11.93, Z:6.46 [[ 9.97227736e-01 -7.20045771e-02 -1.87665328e-02 7.01045614e+02] [ 7.20107311e-02 9.97403796e-01 -3.48502344e-04 1.19295587e+01] [ 1.87429048e-02 -1.00385554e-03 9.99823832e-01 6.46291459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7692541539999 meters Centerline goodness [0,1] 0.9989748525042889 Centerline is valid? [True, True] Translation: X:701.08, Y:11.94, Z:6.46 [[ 9.97468861e-01 -6.84030591e-02 -1.94137065e-02 7.01075676e+02] [ 6.84089611e-02 9.97657298e-01 -3.60699802e-04 1.19415194e+01] [ 1.93928990e-02 -9.68284674e-04 9.99811471e-01 6.46431429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7992541539999 meters Centerline goodness [0,1] 0.9989339910538857 Centerline is valid? [True, True] Translation: X:701.10, Y:11.94, Z:6.46 [[ 9.97700384e-01 -6.49400220e-02 -1.94097365e-02 7.01104896e+02] [ 6.49452641e-02 9.97888763e-01 -3.60809809e-04 1.19448137e+01] [ 1.93921889e-02 -9.00590379e-04 9.99811548e-01 6.46417748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.829254154 meters Centerline goodness [0,1] 0.9989126343523901 Centerline is valid? [True, True] Translation: X:701.14, Y:11.95, Z:6.47 [[ 9.97914385e-01 -6.13953137e-02 -1.99372860e-02 7.01135863e+02] [ 6.14001429e-02 9.98113163e-01 -3.70405943e-04 1.19520049e+01] [ 1.99224088e-02 -8.54518793e-04 9.99801164e-01 6.46531949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8592541539999 meters Centerline goodness [0,1] 0.9989103786434214 Centerline is valid? [True, True] Translation: X:701.17, Y:11.96, Z:6.47 [[ 9.98306056e-01 -5.48030554e-02 -1.95357265e-02 7.01166709e+02] [ 5.48064394e-02 9.98496932e-01 -3.62535421e-04 1.19647016e+01] [ 1.95262310e-02 -7.08762301e-04 9.99809094e-01 6.46742737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8892541539999 meters Centerline goodness [0,1] 0.9991199396530048 Centerline is valid? [True, True] Translation: X:701.20, Y:11.97, Z:6.47 [[ 9.98463710e-01 -5.17171449e-02 -1.98886066e-02 7.01198493e+02] [ 5.17200538e-02 9.98661554e-01 -3.68426436e-04 1.19701301e+01] [ 1.98810407e-02 -6.60779376e-04 9.99802134e-01 6.46827916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9192541539999 meters Centerline goodness [0,1] 0.9990982867448152 Centerline is valid? [True, True] Translation: X:701.23, Y:11.97, Z:6.47 [[ 9.98621747e-01 -4.85479261e-02 -1.99425599e-02 7.01230354e+02] [ 4.85502414e-02 9.98820674e-01 -3.68329434e-04 1.19749360e+01] [ 1.99369228e-02 -6.00394315e-04 9.99801060e-01 6.46884734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.949254154 meters Centerline goodness [0,1] 0.9991394509277138 Centerline is valid? [True, True] Translation: X:701.26, Y:11.98, Z:6.47 [[ 9.98759087e-01 -4.56880265e-02 -1.98214827e-02 7.01262053e+02] [ 4.56897717e-02 9.98955610e-01 -3.65046852e-04 1.19796980e+01] [ 1.98174597e-02 -5.41045160e-04 9.99803468e-01 6.46969569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9792541539999 meters Centerline goodness [0,1] 0.9993058331054503 Centerline is valid? [True, True] Translation: X:701.29, Y:11.99, Z:6.47 [[ 9.98992820e-01 -4.03327801e-02 -1.96624478e-02 7.01292089e+02] [ 4.03334701e-02 9.99186209e-01 -3.61635610e-04 1.19873532e+01] [ 1.96610324e-02 -4.31783371e-04 9.99806610e-01 6.47048246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0092541539999 meters Centerline goodness [0,1] 0.9988849382508258 Centerline is valid? [True, True] Translation: X:701.32, Y:11.99, Z:6.47 [[ 9.99076503e-01 -3.79857813e-02 -2.00803589e-02 7.01323050e+02] [ 3.79860311e-02 9.99278202e-01 -3.69123664e-04 1.19922043e+01] [ 2.00798864e-02 -3.93990359e-04 9.99798301e-01 6.47136569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0392541539999 meters Centerline goodness [0,1] 0.999009504541527 Centerline is valid? [True, True] Translation: X:701.35, Y:12.00, Z:6.47 [[ 9.99155916e-01 -3.59113237e-02 -1.99457430e-02 7.01352943e+02] [ 3.59111604e-02 9.99354919e-01 -3.66477001e-04 1.19951640e+01] [ 1.99460370e-02 -3.50107111e-04 9.99800997e-01 6.47146879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0692541539999 meters Centerline goodness [0,1] 0.9990099844125205 Centerline is valid? [True, True] Translation: X:701.38, Y:12.00, Z:6.47 [[ 9.99282485e-01 -3.22430170e-02 -1.98721913e-02 7.01383072e+02] [ 3.22421297e-02 9.99480021e-01 -3.65125585e-04 1.20016034e+01] [ 1.98736309e-02 -2.75858167e-04 9.99802462e-01 6.47252811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0992541539999 meters Centerline goodness [0,1] 0.9989667243051749 Centerline is valid? [True, True] Translation: X:701.41, Y:12.00, Z:6.47 [[ 9.99314864e-01 -3.09145553e-02 -2.03492800e-02 7.01412721e+02] [ 3.09133412e-02 9.99521998e-01 -3.74298065e-04 1.20047328e+01] [ 2.03511243e-02 -2.55022617e-04 9.99792862e-01 6.47332247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1292541539999 meters Centerline goodness [0,1] 0.9988795162892962 Centerline is valid? [True, True] Translation: X:701.44, Y:12.01, Z:6.47 [[ 9.99337795e-01 -2.99894944e-02 -2.06058767e-02 7.01441640e+02] [ 2.99880330e-02 9.99550186e-01 -3.79988076e-04 1.20065936e+01] [ 2.06080035e-02 -2.38193264e-04 9.99787604e-01 6.47317798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1592541539999 meters Centerline goodness [0,1] 0.9988170430300598 Centerline is valid? [True, True] Translation: X:701.47, Y:12.01, Z:6.47 [[ 9.99341045e-01 -2.96619752e-02 -2.09199178e-02 7.01470134e+02] [ 2.96603248e-02 9.99559960e-01 -3.89237339e-04 1.20083045e+01] [ 2.09222578e-02 -2.31510708e-04 9.99781079e-01 6.47356470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1892541539999 meters Centerline goodness [0,1] 0.9988586887601978 Centerline is valid? [True, True] Translation: X:701.50, Y:12.01, Z:6.47 [[ 9.99308608e-01 -3.03268263e-02 -2.15078811e-02 7.01498721e+02] [ 3.03251169e-02 9.99540006e-01 -4.05699410e-04 1.20094011e+01] [ 2.15102912e-02 -2.46810096e-04 9.99768596e-01 6.47379496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2192541539999 meters Centerline goodness [0,1] 0.9988159925576675 Centerline is valid? [True, True] Translation: X:701.53, Y:12.01, Z:6.47 [[ 9.99264247e-01 -3.16580385e-02 -2.16502307e-02 7.01527022e+02] [ 3.16565427e-02 9.99498721e-01 -4.11898364e-04 1.20093984e+01] [ 2.16524178e-02 -2.73776144e-04 9.99765521e-01 6.47415495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2492541539999 meters Centerline goodness [0,1] 0.9989009827750185 Centerline is valid? [True, True] Translation: X:701.56, Y:12.01, Z:6.47 [[ 9.99213214e-01 -3.31213924e-02 -2.18157538e-02 7.01555282e+02] [ 3.31201886e-02 9.99451289e-01 -4.16589457e-04 1.20083432e+01] [ 2.18175813e-02 -3.06280190e-04 9.99761921e-01 6.47417513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2792541539999 meters Centerline goodness [0,1] 0.9989858012170385 Centerline is valid? [True, True] Translation: X:701.58, Y:12.00, Z:6.47 [[ 9.99077370e-01 -3.70560569e-02 -2.17084458e-02 7.01583672e+02] [ 3.70557678e-02 9.99313113e-01 -4.15712898e-04 1.20042386e+01] [ 2.17089392e-02 -3.89093779e-04 9.99764257e-01 6.47374862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3092541539999 meters Centerline goodness [0,1] 0.9988390991409334 Centerline is valid? [True, True] Translation: X:701.61, Y:12.00, Z:6.47 [[ 9.98991253e-01 -3.92883677e-02 -2.17462921e-02 7.01613748e+02] [ 3.92885855e-02 9.99227818e-01 -4.17388927e-04 1.20039130e+01] [ 2.17458985e-02 -4.37413169e-04 9.99763434e-01 6.47451395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.339254154 meters Centerline goodness [0,1] 0.998610497063096 Centerline is valid? [True, True] Translation: X:701.64, Y:12.00, Z:6.47 [[ 9.98906606e-01 -4.10623406e-02 -2.23489933e-02 7.01643858e+02] [ 4.10630045e-02 9.99156467e-01 -4.29402262e-04 1.20019571e+01] [ 2.23477734e-02 -4.88784056e-04 9.99750138e-01 6.47465529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3692541539999 meters Centerline goodness [0,1] 0.99877861309411 Centerline is valid? [True, True] Translation: X:701.67, Y:12.00, Z:6.48 [[ 9.98692361e-01 -4.61339505e-02 -2.20278811e-02 7.01674236e+02] [ 4.61358263e-02 9.98935086e-01 -4.23302834e-04 1.19970466e+01] [ 2.20239519e-02 -5.93525189e-04 9.99757267e-01 6.47540763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3992541539999 meters Centerline goodness [0,1] 0.9988004798080767 Centerline is valid? [True, True] Translation: X:701.71, Y:11.99, Z:6.48 [[ 9.98578719e-01 -4.86137932e-02 -2.18458491e-02 7.01705450e+02] [ 4.86162408e-02 9.98817443e-01 -4.19358036e-04 1.19947494e+01] [ 2.18404017e-02 -6.43301049e-04 9.99761263e-01 6.47603852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4292541539999 meters Centerline goodness [0,1] 0.9984862819299906 Centerline is valid? [True, True] Translation: X:701.74, Y:11.99, Z:6.48 [[ 9.98476961e-01 -5.02109128e-02 -2.28609261e-02 7.01736564e+02] [ 5.02140307e-02 9.98738384e-01 -4.38002926e-04 1.19924242e+01] [ 2.28540769e-02 -7.10603414e-04 9.99738559e-01 6.47567451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.459254154 meters Centerline goodness [0,1] 0.9987205570820311 Centerline is valid? [True, True] Translation: X:701.77, Y:11.99, Z:6.48 [[ 9.98334095e-01 -5.35591712e-02 -2.14580809e-02 7.01767085e+02] [ 5.35627017e-02 9.98564404e-01 -4.10588090e-04 1.19881557e+01] [ 2.14492665e-02 -7.39448695e-04 9.99769665e-01 6.47673998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4892541539999 meters Centerline goodness [0,1] 0.9987205570820311 Centerline is valid? [True, True] Translation: X:701.80, Y:11.99, Z:6.48 [[ 9.98335959e-01 -5.35244258e-02 -2.14580921e-02 7.01797944e+02] [ 5.35279610e-02 9.98566267e-01 -4.09998563e-04 1.19887136e+01] [ 2.14492719e-02 -7.39291611e-04 9.99769665e-01 6.47702906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5192541539999 meters Centerline goodness [0,1] 0.9988039281517542 Centerline is valid? [True, True] Translation: X:701.83, Y:11.99, Z:6.48 [[ 9.98085725e-01 -5.79464817e-02 -2.16122808e-02 7.01828865e+02] [ 5.79511147e-02 9.98319337e-01 -4.12397382e-04 1.19853529e+01] [ 2.15998548e-02 -8.40847824e-04 9.99766342e-01 6.47843629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5492541539999 meters Centerline goodness [0,1] 0.9988035515627296 Centerline is valid? [True, True] Translation: X:701.86, Y:11.98, Z:6.48 [[ 9.97965532e-01 -5.99737885e-02 -2.16319661e-02 7.01860292e+02] [ 5.99789185e-02 9.98199559e-01 -4.12165997e-04 1.19833674e+01] [ 2.16177382e-02 -8.86134472e-04 9.99765917e-01 6.47867933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.579254154 meters Centerline goodness [0,1] 0.9991591869337649 Centerline is valid? [True, True] Translation: X:701.89, Y:11.98, Z:6.48 [[ 9.97891902e-01 -6.09857418e-02 -2.21921262e-02 7.01892507e+02] [ 6.09914188e-02 9.98138201e-01 -4.21579770e-04 1.19802628e+01] [ 2.21765193e-02 -9.32838224e-04 9.99753636e-01 6.47816680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6092541539999 meters Centerline goodness [0,1] 0.9990559308521797 Centerline is valid? [True, True] Translation: X:701.92, Y:11.97, Z:6.48 [[ 9.97799722e-01 -6.25812409e-02 -2.18929718e-02 7.01923323e+02] [ 6.25871732e-02 9.98039415e-01 -4.14791942e-04 1.19747914e+01] [ 2.18760070e-02 -9.56339936e-04 9.99760234e-01 6.47848404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6392541539999 meters Centerline goodness [0,1] 0.9990130611902062 Centerline is valid? [True, True] Translation: X:701.96, Y:11.98, Z:6.48 [[ 9.97850717e-01 -6.15937432e-02 -2.23642043e-02 7.01955581e+02] [ 6.15997149e-02 9.98100845e-01 -4.22433886e-04 1.19775462e+01] [ 2.23477504e-02 -9.56102650e-04 9.99749801e-01 6.47932180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6692541539999 meters Centerline goodness [0,1] 0.9993715171575815 Centerline is valid? [True, True] Translation: X:701.99, Y:11.98, Z:6.48 [[ 9.97920710e-01 -6.04423322e-02 -2.23826005e-02 7.01986214e+02] [ 6.04480452e-02 9.98171256e-01 -4.21865678e-04 1.19769909e+01] [ 2.23671670e-02 -9.31995948e-04 9.99749389e-01 6.48002496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.699254154 meters Centerline goodness [0,1] 0.9991182583503033 Centerline is valid? [True, True] Translation: X:702.02, Y:11.98, Z:6.48 [[ 9.98019055e-01 -5.87101841e-02 -2.26070911e-02 7.02016815e+02] [ 5.87155778e-02 9.98274661e-01 -4.25692212e-04 1.19757232e+01] [ 2.25930787e-02 -9.02539477e-04 9.99744336e-01 6.47958920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7292541539999 meters Centerline goodness [0,1] 0.9991379310344828 Centerline is valid? [True, True] Translation: X:702.05, Y:11.98, Z:6.48 [[ 9.98307758e-01 -5.35819154e-02 -2.25964191e-02 7.02047966e+02] [ 5.35860011e-02 9.98563148e-01 -4.25089828e-04 1.19799273e+01] [ 2.25867285e-02 -7.86481265e-04 9.99744578e-01 6.48050469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7592541539999 meters Centerline goodness [0,1] 0.9991386916516113 Centerline is valid? [True, True] Translation: X:702.08, Y:11.98, Z:6.48 [[ 9.98467351e-01 -5.03890247e-02 -2.28887486e-02 7.02078443e+02] [ 5.03923827e-02 9.98729404e-01 -4.30420395e-04 1.19837825e+01] [ 2.28813547e-02 -7.23657864e-04 9.99737926e-01 6.48154219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7892541539999 meters Centerline goodness [0,1] 0.9990532693764201 Centerline is valid? [True, True] Translation: X:702.11, Y:11.99, Z:6.48 [[ 9.98639116e-01 -4.71140129e-02 -2.23648557e-02 7.02109180e+02] [ 4.71163982e-02 9.98889317e-01 -4.20568647e-04 1.19857803e+01] [ 2.23598301e-02 -6.33755144e-04 9.99749787e-01 6.48202905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8192541539999 meters Centerline goodness [0,1] 0.9991794828638152 Centerline is valid? [True, True] Translation: X:702.14, Y:11.99, Z:6.48 [[ 9.98921791e-01 -4.04333542e-02 -2.28122717e-02 7.02138477e+02] [ 4.04340891e-02 9.99182116e-01 -4.29228842e-04 1.19872373e+01] [ 2.28109691e-02 -4.93627383e-04 9.99739674e-01 6.48119229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8492541539999 meters Centerline goodness [0,1] 0.9990107345821932 Centerline is valid? [True, True] Translation: X:702.17, Y:11.99, Z:6.48 [[ 9.99064821e-01 -3.73202259e-02 -2.18331205e-02 7.02167989e+02] [ 3.73201424e-02 9.99303276e-01 -4.11422408e-04 1.19885619e+01] [ 2.18332632e-02 -4.03777512e-04 9.99761544e-01 6.48171057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8792541539999 meters Centerline goodness [0,1] 0.9990104846519854 Centerline is valid? [True, True] Translation: X:702.20, Y:11.99, Z:6.48 [[ 9.99186095e-01 -3.47996029e-02 -2.03993968e-02 7.02197554e+02] [ 3.47989901e-02 9.99394258e-01 -3.85121560e-04 1.19905916e+01] [ 2.04004421e-02 -3.25070298e-04 9.99791836e-01 6.48383360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9092541539999 meters Centerline goodness [0,1] 0.9992227543903873 Centerline is valid? [True, True] Translation: X:702.23, Y:11.99, Z:6.48 [[ 9.99360029e-01 -2.93658902e-02 -2.04249227e-02 7.02226529e+02] [ 2.93641221e-02 9.99568706e-01 -3.86536400e-04 1.19915575e+01] [ 2.04274646e-02 -2.13470897e-04 9.99791315e-01 6.48312416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9392541539999 meters Centerline goodness [0,1] 0.999306343801236 Centerline is valid? [True, True] Translation: X:702.26, Y:11.99, Z:6.48 [[ 9.99418536e-01 -2.72440021e-02 -2.05025323e-02 7.02255305e+02] [ 2.72417069e-02 9.99628799e-01 -3.91280468e-04 1.19924856e+01] [ 2.05055818e-02 -1.67471023e-04 9.99789724e-01 6.48351059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9692541539999 meters Centerline goodness [0,1] 0.9991589394226119 Centerline is valid? [True, True] Translation: X:702.28, Y:11.99, Z:6.48 [[ 9.99465925e-01 -2.53191098e-02 -2.06592973e-02 7.02284026e+02] [ 2.53162595e-02 9.99679412e-01 -3.99532724e-04 1.19927431e+01] [ 2.06627900e-02 -1.23696788e-04 9.99786494e-01 6.48366698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9992541539999 meters Centerline goodness [0,1] 0.9991382209517403 Centerline is valid? [True, True] Translation: X:702.31, Y:11.99, Z:6.48 [[ 9.99501256e-01 -2.39706199e-02 -2.05584230e-02 7.02311807e+02] [ 2.39673948e-02 9.99712659e-01 -4.03289134e-04 1.19926136e+01] [ 2.05621828e-02 -8.96438425e-05 9.99788572e-01 6.48458146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0292541539999 meters Centerline goodness [0,1] 0.9993482876784325 Centerline is valid? [True, True] Translation: X:702.34, Y:11.99, Z:6.48 [[ 9.99555834e-01 -2.12036939e-02 -2.09413063e-02 7.02339131e+02] [ 2.11996321e-02 9.99775176e-01 -4.15963129e-04 1.19907372e+01] [ 2.09454181e-02 -2.81696171e-05 9.99780620e-01 6.48471679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0592541539999 meters Centerline goodness [0,1] 0.9992436657002395 Centerline is valid? [True, True] Translation: X:702.37, Y:11.99, Z:6.48 [[ 9.99573966e-01 -2.00169115e-02 -2.12417017e-02 7.02366179e+02] [ 2.00123917e-02 9.99799642e-01 -4.25352675e-04 1.19896990e+01] [ 2.12459600e-02 7.42061478e-08 9.99774279e-01 6.48353331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.089254154 meters Centerline goodness [0,1] 0.9991181102362204 Centerline is valid? [True, True] Translation: X:702.39, Y:11.99, Z:6.48 [[ 9.99576635e-01 -1.93563220e-02 -2.17228802e-02 7.02394037e+02] [ 1.93513357e-02 9.99812649e-01 -4.39745639e-04 1.19888176e+01] [ 2.17273222e-02 1.91927192e-05 9.99763934e-01 6.48391117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1192541539999 meters Centerline goodness [0,1] 0.9991813945678183 Centerline is valid? [True, True] Translation: X:702.42, Y:11.99, Z:6.48 [[ 9.99613523e-01 -1.82345291e-02 -2.09835022e-02 7.02421445e+02] [ 1.82295266e-02 9.99833736e-01 -4.29672350e-04 1.19858355e+01] [ 2.09878483e-02 4.69869794e-05 9.99779730e-01 6.48498033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1492541539999 meters Centerline goodness [0,1] 0.9992439198555046 Centerline is valid? [True, True] Translation: X:702.45, Y:11.98, Z:6.49 [[ 9.99632164e-01 -1.76298902e-02 -2.06088203e-02 7.02449235e+02] [ 1.76248334e-02 9.99844579e-01 -4.26995551e-04 1.19843351e+01] [ 2.06131451e-02 6.36114640e-05 9.99787525e-01 6.48521936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1792541539999 meters Centerline goodness [0,1] 0.9993502138006204 Centerline is valid? [True, True] Translation: X:702.48, Y:11.98, Z:6.49 [[ 9.99646313e-01 -1.72219079e-02 -2.02646435e-02 7.02477607e+02] [ 1.72168165e-02 9.99851689e-01 -4.25693837e-04 1.19821473e+01] [ 2.02689693e-02 7.66506260e-05 9.99794560e-01 6.48636836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.209254154 meters Centerline goodness [0,1] 0.9992236676458246 Centerline is valid? [True, True] Translation: X:702.51, Y:11.98, Z:6.49 [[ 9.99666444e-01 -1.67650950e-02 -1.96451537e-02 7.02505222e+02] [ 1.67601092e-02 9.99859452e-01 -4.18422939e-04 1.19800419e+01] [ 1.96494075e-02 8.90284511e-05 9.99806928e-01 6.48698271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2392541539999 meters Centerline goodness [0,1] 0.9991005877554435 Centerline is valid? [True, True] Translation: X:702.53, Y:11.98, Z:6.49 [[ 9.99714831e-01 -1.44045806e-02 -1.90463589e-02 7.02532808e+02] [ 1.43993974e-02 9.99896240e-01 -4.09258068e-04 1.19768540e+01] [ 1.90502779e-02 1.34885270e-04 9.99818518e-01 6.48575520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2692541539999 meters Centerline goodness [0,1] 0.9992256336200582 Centerline is valid? [True, True] Translation: X:702.56, Y:11.98, Z:6.49 [[ 9.99743310e-01 -1.31273174e-02 -1.84658331e-02 7.02560908e+02] [ 1.31221632e-02 9.99913821e-01 -4.00267050e-04 1.19754678e+01] [ 1.84694962e-02 1.57852631e-04 9.99829412e-01 6.48734951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2992541539999 meters Centerline goodness [0,1] 0.9992662473794549 Centerline is valid? [True, True] Translation: X:702.59, Y:11.97, Z:6.49 [[ 9.99765688e-01 -1.22643857e-02 -1.78368594e-02 7.02588671e+02] [ 1.22593484e-02 9.99924775e-01 -3.91724321e-04 1.19745433e+01] [ 1.78403219e-02 1.72964261e-04 9.99840834e-01 6.48804291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.329254154 meters Centerline goodness [0,1] 0.9994757700937323 Centerline is valid? [True, True] Translation: X:702.62, Y:11.97, Z:6.49 [[ 9.99778687e-01 -1.11749855e-02 -1.78240530e-02 7.02617091e+02] [ 1.11696950e-02 9.99937538e-01 -3.96346588e-04 1.19727855e+01] [ 1.78273689e-02 1.97169635e-04 9.99841060e-01 6.48869240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3592541539999 meters Centerline goodness [0,1] 0.999184884838858 Centerline is valid? [True, True] Translation: X:702.65, Y:11.97, Z:6.49 [[ 9.99799225e-01 -1.00057248e-02 -1.73607545e-02 7.02646090e+02] [ 1.00004528e-02 9.99949918e-01 -3.90464879e-04 1.19677547e+01] [ 1.73637919e-02 2.16771078e-04 9.99849215e-01 6.48844785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3892541539999 meters Centerline goodness [0,1] 0.9994556227884676 Centerline is valid? [True, True] Translation: X:702.67, Y:11.96, Z:6.49 [[ 9.99800898e-01 -1.03516953e-02 -1.70589377e-02 7.02674265e+02] [ 1.03465761e-02 9.99946397e-01 -3.88317842e-04 1.19647792e+01] [ 1.70620431e-02 2.11738929e-04 9.99854410e-01 6.48714631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4192541539999 meters Centerline goodness [0,1] 0.9992680886658302 Centerline is valid? [True, True] Translation: X:702.70, Y:11.96, Z:6.49 [[ 9.99794411e-01 -1.23799039e-02 -1.60584233e-02 7.02702644e+02] [ 1.23755600e-02 9.99923351e-01 -3.69852200e-04 1.19582270e+01] [ 1.60617712e-02 1.71044181e-04 9.99870987e-01 6.48882997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.449254154 meters Centerline goodness [0,1] 0.9995811079694209 Centerline is valid? [True, True] Translation: X:702.73, Y:11.95, Z:6.49 [[ 9.99770826e-01 -1.43775772e-02 -1.58612974e-02 7.02731579e+02] [ 1.43735271e-02 9.99896627e-01 -3.69320075e-04 1.19543610e+01] [ 1.58649677e-02 1.41252649e-04 9.99874134e-01 6.48912161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4792541539999 meters Centerline goodness [0,1] 0.9993095223149834 Centerline is valid? [True, True] Translation: X:702.76, Y:11.95, Z:6.49 [[ 9.99738302e-01 -1.66434158e-02 -1.56947218e-02 7.02759261e+02] [ 1.66396838e-02 9.99861483e-01 -3.68354009e-04 1.19505597e+01] [ 1.56986785e-02 1.07102404e-04 9.99876762e-01 6.48897580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5092541539999 meters Centerline goodness [0,1] 0.9993511386470194 Centerline is valid? [True, True] Translation: X:702.79, Y:11.95, Z:6.49 [[ 9.99702468e-01 -1.88251101e-02 -1.55109774e-02 7.02788539e+02] [ 1.88216902e-02 9.99822789e-01 -3.66444923e-04 1.19462030e+01] [ 1.55151270e-02 7.43930829e-05 9.99879630e-01 6.48926994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5392541539999 meters Centerline goodness [0,1] 0.9995811167427638 Centerline is valid? [True, True] Translation: X:702.82, Y:11.94, Z:6.49 [[ 9.99602039e-01 -2.31205297e-02 -1.61618384e-02 7.02816666e+02] [ 2.31173051e-02 9.99732685e-01 -3.86337356e-04 1.19370332e+01] [ 1.61664504e-02 1.25654597e-05 9.99869314e-01 6.48904546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5692541539999 meters Centerline goodness [0,1] 0.9995823065034878 Centerline is valid? [True, True] Translation: X:702.84, Y:11.93, Z:6.49 [[ 9.99553409e-01 -2.47931446e-02 -1.66817877e-02 7.02844482e+02] [ 2.47898831e-02 9.99692603e-01 -4.02305795e-04 1.19329482e+01] [ 1.66866342e-02 -1.14134376e-05 9.99860768e-01 6.48819494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5992541539999 meters Centerline goodness [0,1] 0.9995394695526575 Centerline is valid? [True, True] Translation: X:702.87, Y:11.93, Z:6.49 [[ 9.99499943e-01 -2.64204889e-02 -1.73730082e-02 7.02872502e+02] [ 2.64171410e-02 9.99650917e-01 -4.22203456e-04 1.19287065e+01] [ 1.73780984e-02 -3.69528770e-05 9.99848989e-01 6.48637779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6292541539999 meters Centerline goodness [0,1] 0.9994355125337124 Centerline is valid? [True, True] Translation: X:702.90, Y:11.93, Z:6.49 [[ 9.99456156e-01 -2.77683103e-02 -1.77852046e-02 7.02900470e+02] [ 2.77649218e-02 9.99614385e-01 -4.37462229e-04 1.19255671e+01] [ 1.77904939e-02 -5.65804969e-05 9.99841735e-01 6.48616812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6592541539999 meters Centerline goodness [0,1] 0.9996028345074103 Centerline is valid? [True, True] Translation: X:702.93, Y:11.92, Z:6.49 [[ 9.99394210e-01 -2.96826545e-02 -1.81701137e-02 7.02928418e+02] [ 2.96793691e-02 9.99559369e-01 -4.50504570e-04 1.19192519e+01] [ 1.81754795e-02 -8.90458520e-05 9.99834808e-01 6.48709238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6892541539999 meters Centerline goodness [0,1] 0.9997275661176076 Centerline is valid? [True, True] Translation: X:702.96, Y:11.92, Z:6.49 [[ 9.99352512e-01 -3.08526879e-02 -1.85113069e-02 7.02956443e+02] [ 3.08494136e-02 9.99523937e-01 -4.62476808e-04 1.19168063e+01] [ 1.85167630e-02 -1.08885604e-04 9.99828544e-01 6.48714853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7192541539999 meters Centerline goodness [0,1] 0.9995393731287033 Centerline is valid? [True, True] Translation: X:702.98, Y:11.91, Z:6.49 [[ 9.99325469e-01 -3.17982890e-02 -1.83705408e-02 7.02984906e+02] [ 3.17951269e-02 9.99494299e-01 -4.64250382e-04 1.19142361e+01] [ 1.83760132e-02 -1.20156445e-04 9.99831140e-01 6.48720675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7492541539999 meters Centerline goodness [0,1] 0.9997489697299332 Centerline is valid? [True, True] Translation: X:703.01, Y:11.91, Z:6.49 [[ 9.99269526e-01 -3.38650377e-02 -1.77079860e-02 7.03013174e+02] [ 3.38623350e-02 9.99426404e-01 -4.52532939e-04 1.19081967e+01] [ 1.77131538e-02 -1.47431377e-04 9.99843099e-01 6.48808487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7792541539999 meters Centerline goodness [0,1] 0.9995599144976738 Centerline is valid? [True, True] Translation: X:703.04, Y:11.90, Z:6.49 [[ 9.99229606e-01 -3.52275916e-02 -1.72977215e-02 7.03040771e+02] [ 3.52251528e-02 9.99379302e-01 -4.45746478e-04 1.19046892e+01] [ 1.73026874e-02 -1.63911805e-04 9.99850284e-01 6.48763458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8092541539999 meters Centerline goodness [0,1] 0.9998534062113883 Centerline is valid? [True, True] Translation: X:703.07, Y:11.90, Z:6.49 [[ 9.99166693e-01 -3.71423355e-02 -1.69223698e-02 7.03069460e+02] [ 3.71402230e-02 9.99309967e-01 -4.39195449e-04 1.19023931e+01] [ 1.69270055e-02 -1.89671123e-04 9.99856710e-01 6.48915679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.839254154 meters Centerline goodness [0,1] 0.9998534522463677 Centerline is valid? [True, True] Translation: X:703.10, Y:11.89, Z:6.49 [[ 9.99071026e-01 -4.01067947e-02 -1.57648233e-02 7.03097124e+02] [ 4.01052862e-02 9.99195374e-01 -4.11948963e-04 1.18949893e+01] [ 1.57686604e-02 -2.20686476e-04 9.99875643e-01 6.48876427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8692541539999 meters Centerline goodness [0,1] 0.9997276060764798 Centerline is valid? [True, True] Translation: X:703.13, Y:11.89, Z:6.49 [[ 9.99015461e-01 -4.17495312e-02 -1.50028695e-02 7.03126031e+02] [ 4.17483170e-02 9.99128081e-01 -3.94249199e-04 1.18935644e+01] [ 1.50062479e-02 -2.32483507e-04 9.99887373e-01 6.49046634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8992541539999 meters Centerline goodness [0,1] 0.9998324923051153 Centerline is valid? [True, True] Translation: X:703.15, Y:11.89, Z:6.49 [[ 9.98966712e-01 -4.29344050e-02 -1.49045439e-02 7.03153783e+02] [ 4.29332965e-02 9.99077863e-01 -3.94480244e-04 1.18908551e+01] [ 1.49077366e-02 -2.45828569e-04 9.99888843e-01 6.49086382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9292541539999 meters Centerline goodness [0,1] 0.9998953515142636 Centerline is valid? [True, True] Translation: X:703.18, Y:11.89, Z:6.49 [[ 9.98917174e-01 -4.41371275e-02 -1.47103106e-02 7.03181854e+02] [ 4.41361592e-02 9.99025449e-01 -3.90618670e-04 1.18888556e+01] [ 1.47132155e-02 -2.59060914e-04 9.99891721e-01 6.49122061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.959254154 meters Centerline goodness [0,1] 0.9996021942129727 Centerline is valid? [True, True] Translation: X:703.21, Y:11.89, Z:6.49 [[ 9.98843443e-01 -4.56382573e-02 -1.51302783e-02 7.03211016e+02] [ 4.56373709e-02 9.98957991e-01 -4.04036392e-04 1.18872056e+01] [ 1.51329519e-02 -2.86937020e-04 9.99885449e-01 6.49197355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9892541539999 meters Centerline goodness [0,1] 0.9998323799945523 Centerline is valid? [True, True] Translation: X:703.24, Y:11.89, Z:6.49 [[ 9.98821600e-01 -4.61305686e-02 -1.50792185e-02 7.03240235e+02] [ 4.61296878e-02 9.98935377e-01 -4.06415719e-04 1.18862761e+01] [ 1.50819130e-02 -2.89662843e-04 9.99886220e-01 6.49248285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.27, Y:11.89, Z:6.49 [[ 9.98821812e-01 -4.61717402e-02 -1.49384665e-02 7.03267795e+02] [ 4.61708386e-02 9.98933476e-01 -4.05417840e-04 1.18850118e+01] [ 1.49412531e-02 -2.84781344e-04 9.99888333e-01 6.49271438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.30, Y:11.88, Z:6.49 [[ 9.98826546e-01 -4.60347468e-02 -1.50444046e-02 7.03295574e+02] [ 4.60337969e-02 9.98939799e-01 -4.09615306e-04 1.18832719e+01] [ 1.50473110e-02 -2.83416424e-04 9.99886743e-01 6.49364233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.32, Y:11.88, Z:6.49 [[ 9.98847689e-01 -4.57578318e-02 -1.44746156e-02 7.03323386e+02] [ 4.57569025e-02 9.98952526e-01 -3.95546526e-04 1.18831283e+01] [ 1.44775532e-02 -2.67222843e-04 9.99895159e-01 6.49444722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1092541539999 meters Centerline goodness [0,1] 0.9999583046677925 Centerline is valid? [True, True] Translation: X:703.35, Y:11.88, Z:6.49 [[ 9.98882302e-01 -4.50756137e-02 -1.42244492e-02 7.03351898e+02] [ 4.50746121e-02 9.98983547e-01 -3.91165254e-04 1.18848331e+01] [ 1.42276227e-02 -2.50433479e-04 9.99898751e-01 6.49479235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.38, Y:11.88, Z:6.50 [[ 9.98881295e-01 -4.50189999e-02 -1.44723519e-02 7.03380341e+02] [ 4.50179162e-02 9.98986099e-01 -4.00808945e-04 1.18842378e+01] [ 1.44757224e-02 -2.51154567e-04 9.99895190e-01 6.49576793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1692541539999 meters Centerline goodness [0,1] 0.9998333749895859 Centerline is valid? [True, True] Translation: X:703.41, Y:11.88, Z:6.49 [[ 9.98861815e-01 -4.52483420e-02 -1.50884475e-02 7.03409347e+02] [ 4.52471580e-02 9.98975735e-01 -4.20008759e-04 1.18843233e+01] [ 1.50919976e-02 -2.63178657e-04 9.99886075e-01 6.49339087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.199254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.44, Y:11.88, Z:6.50 [[ 9.98837723e-01 -4.58931394e-02 -1.47317181e-02 7.03438554e+02] [ 4.58920260e-02 9.98946320e-01 -4.13800216e-04 1.18846475e+01] [ 1.47351862e-02 -2.62749126e-04 9.99891397e-01 6.49628401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2292541539999 meters Centerline goodness [0,1] 0.9999377037606163 Centerline is valid? [True, True] Translation: X:703.47, Y:11.88, Z:6.49 [[ 9.98748124e-01 -4.73438460e-02 -1.61476015e-02 7.03466894e+02] [ 4.73426476e-02 9.98878604e-01 -4.56684486e-04 1.18786852e+01] [ 1.61511148e-02 -3.08357432e-04 9.99869515e-01 6.49311673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2592541539999 meters Centerline goodness [0,1] 0.9999372765477011 Centerline is valid? [True, True] Translation: X:703.50, Y:11.88, Z:6.49 [[ 9.98666463e-01 -4.90353192e-02 -1.61503158e-02 7.03495851e+02] [ 4.90343028e-02 9.98796990e-01 -4.59153945e-04 1.18811859e+01] [ 1.61534015e-02 -3.33377828e-04 9.99869470e-01 6.49459127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2892541539999 meters Centerline goodness [0,1] 0.999895307690697 Centerline is valid? [True, True] Translation: X:703.52, Y:11.88, Z:6.49 [[ 9.98556147e-01 -5.11955980e-02 -1.62675293e-02 7.03524481e+02] [ 5.11947863e-02 9.98688578e-01 -4.66601216e-04 1.18798667e+01] [ 1.62700836e-02 -3.66885171e-04 9.99867566e-01 6.49406911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.55, Y:11.88, Z:6.50 [[ 9.98307781e-01 -5.61326693e-02 -1.51887711e-02 7.03553338e+02] [ 5.61324945e-02 9.98423232e-01 -4.38161735e-04 1.18766858e+01] [ 1.51894172e-02 -4.15163342e-04 9.99884548e-01 6.49743042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.58, Y:11.87, Z:6.50 [[ 9.98116651e-01 -5.95570904e-02 -1.47004466e-02 7.03582680e+02] [ 5.95572864e-02 9.98224799e-01 -4.24839921e-04 1.18748510e+01] [ 1.46996526e-02 -4.51478911e-04 9.99891852e-01 6.49795257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.61, Y:11.87, Z:6.50 [[ 9.97906903e-01 -6.30617722e-02 -1.43187303e-02 7.03611571e+02] [ 6.30623078e-02 9.98009506e-01 -4.14551766e-04 1.18723078e+01] [ 1.43163714e-02 -4.89288111e-04 9.99897396e-01 6.49861758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.64, Y:11.87, Z:6.50 [[ 9.97904699e-01 -6.30966346e-02 -1.43187111e-02 7.03640735e+02] [ 6.30971642e-02 9.98007302e-01 -4.15216402e-04 1.18731857e+01] [ 1.43163770e-02 -4.89123665e-04 9.99897396e-01 6.49889095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.67, Y:11.87, Z:6.50 [[ 9.97662590e-01 -6.69502514e-02 -1.36755096e-02 7.03670594e+02] [ 6.69510896e-02 9.97756180e-01 -3.97027540e-04 1.18707454e+01] [ 1.36714053e-02 -5.19490747e-04 9.99906407e-01 6.49927070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.70, Y:11.86, Z:6.50 [[ 9.97068587e-01 -7.54179505e-02 -1.28982424e-02 7.03700460e+02] [ 7.54193982e-02 9.97151831e-01 -3.74827168e-04 1.18639896e+01] [ 1.28897747e-02 -5.99049285e-04 9.99916744e-01 6.49948475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4992541539999 meters Centerline goodness [0,1] 0.9999161829725709 Centerline is valid? [True, True] Translation: X:703.73, Y:11.86, Z:6.50 [[ 9.96753942e-01 -7.94717034e-02 -1.28773971e-02 7.03730373e+02] [ 7.94734808e-02 9.96836910e-01 -3.74455917e-04 1.18613645e+01] [ 1.28664234e-02 -6.50171156e-04 9.99917013e-01 6.49747929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5292541539999 meters Centerline goodness [0,1] 0.9999581563696466 Centerline is valid? [True, True] Translation: X:703.76, Y:11.86, Z:6.50 [[ 9.96457519e-01 -8.31106330e-02 -1.28465983e-02 7.03760173e+02] [ 8.31126998e-02 9.96540084e-01 -3.73837512e-04 1.18598345e+01] [ 1.28332200e-02 -6.95202270e-04 9.99917409e-01 6.49806653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.79, Y:11.87, Z:6.50 [[ 9.96142012e-01 -8.67985579e-02 -1.29267788e-02 7.03790411e+02] [ 8.68009580e-02 9.96225603e-01 -3.76331905e-04 1.18684739e+01] [ 1.29106531e-02 -7.47176764e-04 9.99916375e-01 6.49994510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:703.82, Y:11.87, Z:6.50 [[ 9.95688927e-01 -9.18537413e-02 -1.29016118e-02 7.03820084e+02] [ 9.18565547e-02 9.95772179e-01 -3.75595185e-04 1.18655195e+01] [ 1.28815659e-02 -8.11121646e-04 9.99916700e-01 6.49988397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6192541539999 meters Centerline goodness [0,1] 0.9998117272974499 Centerline is valid? [True, True] Translation: X:703.85, Y:11.87, Z:6.50 [[ 9.95511999e-01 -9.37695131e-02 -1.27725688e-02 7.03849531e+02] [ 9.37724260e-02 9.95593589e-01 -3.71954190e-04 1.18676719e+01] [ 1.27511655e-02 -8.27429900e-04 9.99918358e-01 6.50053859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6492541539999 meters Centerline goodness [0,1] 0.9998536054877029 Centerline is valid? [True, True] Translation: X:703.88, Y:11.87, Z:6.50 [[ 9.95399746e-01 -9.49071302e-02 -1.31142040e-02 7.03879976e+02] [ 9.49102947e-02 9.95485756e-01 -3.82259301e-04 1.18694894e+01] [ 1.30912824e-02 -8.64172155e-04 9.99913932e-01 6.50096265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6792541539999 meters Centerline goodness [0,1] 0.9997493943697269 Centerline is valid? [True, True] Translation: X:703.91, Y:11.87, Z:6.50 [[ 9.95333524e-01 -9.54749369e-02 -1.39897025e-02 7.03909457e+02] [ 9.54785927e-02 9.95431400e-01 -4.07863889e-04 1.18720839e+01] [ 1.39647299e-02 -9.29756502e-04 9.99902056e-01 6.49926446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.709254154 meters Centerline goodness [0,1] 0.9998748774842032 Centerline is valid? [True, True] Translation: X:703.94, Y:11.87, Z:6.50 [[ 9.95348694e-01 -9.53768221e-02 -1.35734918e-02 7.03938506e+02] [ 9.53802512e-02 9.95440832e-01 -3.95973341e-04 1.18738884e+01] [ 1.35493747e-02 -9.00511515e-04 9.99907798e-01 6.50166738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7392541539999 meters Centerline goodness [0,1] 0.9997699562916954 Centerline is valid? [True, True] Translation: X:703.97, Y:11.88, Z:6.50 [[ 9.95401586e-01 -9.48287822e-02 -1.35345531e-02 7.03968286e+02] [ 9.48321379e-02 9.95493199e-01 -3.95082647e-04 1.18750771e+01] [ 1.35110208e-02 -8.90244716e-04 9.99908326e-01 6.50160629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7692541539999 meters Centerline goodness [0,1] 0.9997699851535872 Centerline is valid? [True, True] Translation: X:704.00, Y:11.88, Z:6.50 [[ 9.95446618e-01 -9.42108721e-02 -1.45031661e-02 7.03998000e+02] [ 9.42146548e-02 9.95551816e-01 -4.23722045e-04 1.18785237e+01] [ 1.44785726e-02 -9.44618110e-04 9.99894734e-01 6.49906607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7992541539999 meters Centerline goodness [0,1] 0.9996654749210729 Centerline is valid? [True, True] Translation: X:704.03, Y:11.89, Z:6.50 [[ 9.95595255e-01 -9.26096974e-02 -1.46127558e-02 7.04028001e+02] [ 9.26133594e-02 9.95702055e-01 -4.27356268e-04 1.18853436e+01] [ 1.45895283e-02 -9.27862529e-04 9.99893137e-01 6.49942573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.829254154 meters Centerline goodness [0,1] 0.9995621351125938 Centerline is valid? [True, True] Translation: X:704.06, Y:11.89, Z:6.50 [[ 9.95655648e-01 -9.17796929e-02 -1.56945363e-02 7.04058039e+02] [ 9.17838118e-02 9.95778851e-01 -4.59173556e-04 1.18925889e+01] [ 1.56704301e-02 -9.83325619e-04 9.99876728e-01 6.49802902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8592541539999 meters Centerline goodness [0,1] 0.9995189290943317 Centerline is valid? [True, True] Translation: X:704.09, Y:11.89, Z:6.50 [[ 9.95696065e-01 -9.14251281e-02 -1.51918743e-02 7.04087629e+02] [ 9.14289446e-02 9.95811503e-01 -4.44573517e-04 1.18917678e+01] [ 1.51688884e-02 -9.46316934e-04 9.99884498e-01 6.50052906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8892541539999 meters Centerline goodness [0,1] 0.9994560441859492 Centerline is valid? [True, True] Translation: X:704.12, Y:11.90, Z:6.50 [[ 9.95741456e-01 -9.08050973e-02 -1.59181683e-02 7.04118437e+02] [ 9.08092058e-02 9.95868200e-01 -4.66006622e-04 1.18958855e+01] [ 1.58947134e-02 -9.81494112e-04 9.99873189e-01 6.50007024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9192541539999 meters Centerline goodness [0,1] 0.9993519660513828 Centerline is valid? [True, True] Translation: X:704.15, Y:11.90, Z:6.50 [[ 9.95790925e-01 -9.00723393e-02 -1.69531212e-02 7.04148212e+02] [ 9.00768953e-02 9.95934690e-01 -4.96219662e-04 1.19012744e+01] [ 1.69288972e-02 -1.03295349e-03 9.99856162e-01 6.49939987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.949254154 meters Centerline goodness [0,1] 0.9993118692134456 Centerline is valid? [True, True] Translation: X:704.18, Y:11.91, Z:6.50 [[ 9.95829903e-01 -8.96008248e-02 -1.71609129e-02 7.04178408e+02] [ 8.96054253e-02 9.95977216e-01 -5.02195170e-04 1.19128125e+01] [ 1.71368753e-02 -1.03760993e-03 9.99852615e-01 6.50083753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9792541539999 meters Centerline goodness [0,1] 0.9994775994650619 Centerline is valid? [True, True] Translation: X:704.21, Y:11.92, Z:6.50 [[ 9.95991485e-01 -8.78633973e-02 -1.67626028e-02 7.04208804e+02] [ 8.78675414e-02 9.96132047e-01 -4.90539065e-04 1.19204499e+01] [ 1.67408662e-02 -9.84315963e-04 9.99859377e-01 6.50215976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0092541539999 meters Centerline goodness [0,1] 0.9994356423226454 Centerline is valid? [True, True] Translation: X:704.24, Y:11.92, Z:6.50 [[ 9.96133279e-01 -8.63698115e-02 -1.60855913e-02 7.04238935e+02] [ 8.63734354e-02 9.96262720e-01 -4.70603815e-04 1.19238679e+01] [ 1.60661209e-02 -9.20583663e-04 9.99870508e-01 6.50324923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0392541539999 meters Centerline goodness [0,1] 0.9994569984545341 Centerline is valid? [True, True] Translation: X:704.27, Y:11.93, Z:6.50 [[ 9.96319792e-01 -8.42779271e-02 -1.56238077e-02 7.04270138e+02] [ 8.42810956e-02 9.96441914e-01 -4.56696589e-04 1.19296246e+01] [ 1.56067062e-02 -8.61775776e-04 9.99877837e-01 6.50470050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0692541539999 meters Centerline goodness [0,1] 0.9993961101161968 Centerline is valid? [True, True] Translation: X:704.30, Y:11.94, Z:6.51 [[ 9.96585820e-01 -8.12495788e-02 -1.46700370e-02 7.04301176e+02] [ 8.12520512e-02 9.96693494e-01 -4.28395833e-04 1.19360488e+01] [ 1.46563374e-02 -7.65037382e-04 9.99892297e-01 6.50608976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0992541539999 meters Centerline goodness [0,1] 0.9993537358238825 Centerline is valid? [True, True] Translation: X:704.33, Y:11.95, Z:6.51 [[ 9.97261741e-01 -7.27101256e-02 -1.35002910e-02 7.04330493e+02] [ 7.27114392e-02 9.97352942e-01 -3.94160048e-04 1.19472771e+01] [ 1.34932144e-02 -5.88544853e-04 9.99908789e-01 6.50754103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1292541539999 meters Centerline goodness [0,1] 0.9994780139474673 Centerline is valid? [True, True] Translation: X:704.36, Y:11.96, Z:6.51 [[ 9.97642014e-01 -6.73824347e-02 -1.30391665e-02 7.04360817e+02] [ 6.73832042e-02 9.97727096e-01 -3.80808166e-04 1.19555536e+01] [ 1.30351895e-02 -4.98710594e-04 9.99914914e-01 6.50838980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1592541539999 meters Centerline goodness [0,1] 0.9996039934137853 Centerline is valid? [True, True] Translation: X:704.39, Y:11.96, Z:6.51 [[ 9.97968390e-01 -6.23836348e-02 -1.29373756e-02 7.04390604e+02] [ 6.23839749e-02 9.98052151e-01 -3.77664456e-04 1.19611951e+01] [ 1.29357356e-02 -4.30187726e-04 9.99916237e-01 6.50857346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1892541539999 meters Centerline goodness [0,1] 0.999562363238512 Centerline is valid? [True, True] Translation: X:704.42, Y:11.97, Z:6.51 [[ 9.98512123e-01 -5.30278852e-02 -1.27115944e-02 7.04420730e+02] [ 5.30274559e-02 9.98592986e-01 -3.71059216e-04 1.19730758e+01] [ 1.27133855e-02 -3.03556384e-04 9.99919136e-01 6.50784301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2192541539999 meters Centerline goodness [0,1] 0.9995405179615706 Centerline is valid? [True, True] Translation: X:704.45, Y:11.98, Z:6.51 [[ 9.98690366e-01 -4.94534007e-02 -1.31115660e-02 7.04451563e+02] [ 4.94526383e-02 9.98776397e-01 -3.82558900e-04 1.19789521e+01] [ 1.31144415e-02 -2.66343642e-04 9.99913967e-01 6.50871197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2492541539999 meters Centerline goodness [0,1] 0.9994359606425871 Centerline is valid? [True, True] Translation: X:704.48, Y:11.98, Z:6.51 [[ 9.98825463e-01 -4.65313412e-02 -1.35103133e-02 7.04482845e+02] [ 4.65302711e-02 9.98916803e-01 -3.93700280e-04 1.19835667e+01] [ 1.35139984e-02 -2.35400679e-04 9.99908654e-01 6.50839003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2792541539999 meters Centerline goodness [0,1] 0.9994143484626647 Centerline is valid? [True, True] Translation: X:704.51, Y:11.99, Z:6.51 [[ 9.98949249e-01 -4.33263942e-02 -1.49405870e-02 7.04513334e+02] [ 4.33247341e-02 9.99060948e-01 -4.34915237e-04 1.19882945e+01] [ 1.49454004e-02 -2.12838711e-04 9.99888289e-01 6.50529365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3092541539999 meters Centerline goodness [0,1] 0.9994575875161681 Centerline is valid? [True, True] Translation: X:704.54, Y:11.99, Z:6.51 [[ 9.98942299e-01 -4.36403546e-02 -1.44845558e-02 7.04542854e+02] [ 4.36388283e-02 9.99047284e-01 -4.21569835e-04 1.19901225e+01] [ 1.44891535e-02 -2.10965102e-04 9.99895004e-01 6.50779050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.339254154 meters Centerline goodness [0,1] 0.9994773919769216 Centerline is valid? [True, True] Translation: X:704.57, Y:11.99, Z:6.51 [[ 9.98898046e-01 -4.43973672e-02 -1.52173161e-02 7.04572612e+02] [ 4.43957663e-02 9.99013924e-01 -4.43167568e-04 1.19900904e+01] [ 1.52219861e-02 -2.32905190e-04 9.99884112e-01 6.50641305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3692541539999 meters Centerline goodness [0,1] 0.9993731324571118 Centerline is valid? [True, True] Translation: X:704.60, Y:11.99, Z:6.51 [[ 9.98815198e-01 -4.61071324e-02 -1.55670429e-02 7.04603387e+02] [ 4.61056620e-02 9.98936466e-01 -4.53516888e-04 1.19911310e+01] [ 1.55713971e-02 -2.64749256e-04 9.99878723e-01 6.50761946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3992541539999 meters Centerline goodness [0,1] 0.9994982438534872 Centerline is valid? [True, True] Translation: X:704.63, Y:11.99, Z:6.51 [[ 9.98593439e-01 -5.04125040e-02 -1.64232730e-02 7.04633389e+02] [ 5.04114493e-02 9.98728420e-01 -4.78461562e-04 1.19888026e+01] [ 1.64265099e-02 -3.50132416e-04 9.99865014e-01 6.50696780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4292541539999 meters Centerline goodness [0,1] 0.999456101081522 Centerline is valid? [True, True] Translation: X:704.66, Y:11.99, Z:6.51 [[ 9.98468650e-01 -5.27058943e-02 -1.68060589e-02 7.04663702e+02] [ 5.27051146e-02 9.98610000e-01 -4.89613320e-04 1.19907111e+01] [ 1.68085040e-02 -3.96901709e-04 9.99858648e-01 6.50652949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.459254154 meters Centerline goodness [0,1] 0.9993724637074844 Centerline is valid? [True, True] Translation: X:704.69, Y:11.99, Z:6.51 [[ 9.98284729e-01 -5.61165282e-02 -1.66893647e-02 7.04693927e+02] [ 5.61162355e-02 9.98424124e-01 -4.86213650e-04 1.19909318e+01] [ 1.66903489e-02 -4.51164655e-04 9.99860605e-01 6.50861587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4892541539999 meters Centerline goodness [0,1] 0.9993099266012839 Centerline is valid? [True, True] Translation: X:704.73, Y:11.99, Z:6.51 [[ 9.98138940e-01 -5.85792228e-02 -1.69449673e-02 7.04725092e+02] [ 5.85792802e-02 9.98282638e-01 -4.93387173e-04 1.19893945e+01] [ 1.69447689e-02 -5.00155035e-04 9.99856302e-01 6.50668573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5192541539999 meters Centerline goodness [0,1] 0.9993733288770054 Centerline is valid? [True, True] Translation: X:704.76, Y:11.99, Z:6.51 [[ 9.97738307e-01 -6.50742261e-02 -1.68408769e-02 7.04755491e+02] [ 6.50752156e-02 9.97880242e-01 -4.89816820e-04 1.19867647e+01] [ 1.68370528e-02 -6.07214692e-04 9.99858062e-01 6.50907210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5492541539999 meters Centerline goodness [0,1] 0.9992888963252672 Centerline is valid? [True, True] Translation: X:704.79, Y:11.99, Z:6.51 [[ 9.97573286e-01 -6.76435706e-02 -1.64889643e-02 7.04786331e+02] [ 6.76448759e-02 9.97709347e-01 -4.79199522e-04 1.19889330e+01] [ 1.64836086e-02 -6.37357305e-04 9.99863933e-01 6.50989683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.579254154 meters Centerline goodness [0,1] 0.9992059843704292 Centerline is valid? [True, True] Translation: X:704.82, Y:11.98, Z:6.51 [[ 9.97448416e-01 -6.93577636e-02 -1.69162251e-02 7.04817259e+02] [ 6.93593913e-02 9.97591617e-01 -4.91161306e-04 1.19802156e+01] [ 1.69095502e-02 -6.83391011e-04 9.99856790e-01 6.50695144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6092541539999 meters Centerline goodness [0,1] 0.9993734859243171 Centerline is valid? [True, True] Translation: X:704.85, Y:11.98, Z:6.51 [[ 9.97305413e-01 -7.15932285e-02 -1.60100937e-02 7.04847719e+02] [ 7.15949791e-02 9.97433679e-01 -4.64525300e-04 1.19805034e+01] [ 1.60022635e-02 -6.82968728e-04 9.99871722e-01 6.50950623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6392541539999 meters Centerline goodness [0,1] 0.9990820903306561 Centerline is valid? [True, True] Translation: X:704.88, Y:11.99, Z:6.51 [[ 9.97043550e-01 -7.52373333e-02 -1.56045715e-02 7.04878644e+02] [ 7.52394452e-02 9.97165393e-01 -4.52528748e-04 1.19913787e+01] [ 1.55943857e-02 -7.22888434e-04 9.99878139e-01 6.51304674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6692541539999 meters Centerline goodness [0,1] 0.9991036064206796 Centerline is valid? [True, True] Translation: X:704.91, Y:11.98, Z:6.51 [[ 9.96930477e-01 -7.67737387e-02 -1.53433265e-02 7.04910348e+02] [ 7.67759763e-02 9.97048270e-01 -4.44015134e-04 1.19796041e+01] [ 1.53321258e-02 -7.35346650e-04 9.99882186e-01 6.51198120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.699254154 meters Centerline goodness [0,1] 0.9990399866432924 Centerline is valid? [True, True] Translation: X:704.94, Y:11.99, Z:6.51 [[ 9.96836781e-01 -7.79822046e-02 -1.53365172e-02 7.04941723e+02] [ 7.79846024e-02 9.96954465e-01 -4.42546505e-04 1.19935287e+01] [ 1.53243200e-02 -7.54865559e-04 9.99882291e-01 6.51214329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7292541539999 meters Centerline goodness [0,1] 0.999041247212322 Centerline is valid? [True, True] Translation: X:704.97, Y:12.00, Z:6.51 [[ 9.96627182e-01 -8.07228108e-02 -1.47678297e-02 7.04972918e+02] [ 8.07253445e-02 9.96736293e-01 -4.25425863e-04 1.19960558e+01] [ 1.47539734e-02 -7.68147158e-04 9.99890859e-01 6.51453839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7592541539999 meters Centerline goodness [0,1] 0.9992081683684101 Centerline is valid? [True, True] Translation: X:705.00, Y:12.00, Z:6.51 [[ 9.96589956e-01 -8.11507796e-02 -1.49335220e-02 7.05004459e+02] [ 8.11534284e-02 9.96701528e-01 -4.29530073e-04 1.19951140e+01] [ 1.49191209e-02 -7.83841149e-04 9.99888396e-01 6.51459598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7892541539999 meters Centerline goodness [0,1] 0.9990831423213169 Centerline is valid? [True, True] Translation: X:705.04, Y:12.00, Z:6.52 [[ 9.96576758e-01 -8.13479549e-02 -1.47402885e-02 7.05036154e+02] [ 8.13505708e-02 9.96685460e-01 -4.23046310e-04 1.19999488e+01] [ 1.47258452e-02 -7.77532763e-04 9.99891267e-01 6.51524436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8192541539999 meters Centerline goodness [0,1] 0.9987917673527206 Centerline is valid? [True, True] Translation: X:705.07, Y:12.00, Z:6.52 [[ 9.96645167e-01 -8.05130925e-02 -1.46987583e-02 7.05067930e+02] [ 8.05156192e-02 9.96753258e-01 -4.20749237e-04 1.20045943e+01] [ 1.46849110e-02 -7.64141931e-04 9.99891879e-01 6.51590823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8492541539999 meters Centerline goodness [0,1] 0.9988337220926358 Centerline is valid? [True, True] Translation: X:705.10, Y:12.01, Z:6.52 [[ 9.96729059e-01 -7.94255916e-02 -1.49251172e-02 7.05100218e+02] [ 7.94280921e-02 9.96840507e-01 -4.26099750e-04 1.20075682e+01] [ 1.49118047e-02 -7.60767583e-04 9.99888523e-01 6.51610527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8792541539999 meters Centerline goodness [0,1] 0.9988975329700046 Centerline is valid? [True, True] Translation: X:705.13, Y:12.01, Z:6.52 [[ 9.96829538e-01 -7.81142720e-02 -1.51338291e-02 7.05132671e+02] [ 7.81167094e-02 9.96944128e-01 -4.30916948e-04 1.20113237e+01] [ 1.51212428e-02 -7.52654186e-04 9.99885384e-01 6.51657158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9092541539999 meters Centerline goodness [0,1] 0.998956986107055 Centerline is valid? [True, True] Translation: X:705.16, Y:12.01, Z:6.52 [[ 9.96934127e-01 -7.66446823e-02 -1.57460555e-02 7.05164815e+02] [ 7.66471571e-02 9.97058180e-01 -4.47141326e-04 1.20148854e+01] [ 1.57340044e-02 -7.61119943e-04 9.99875923e-01 6.51666628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9392541539999 meters Centerline goodness [0,1] 0.9989377213080608 Centerline is valid? [True, True] Translation: X:705.19, Y:12.02, Z:6.52 [[ 9.97221209e-01 -7.25850639e-02 -1.67710958e-02 7.05194060e+02] [ 7.25873087e-02 9.97361949e-01 -4.75639241e-04 1.20202017e+01] [ 1.67613771e-02 -7.43051169e-04 9.99859242e-01 6.51522105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9692541539999 meters Centerline goodness [0,1] 0.9988535456705716 Centerline is valid? [True, True] Translation: X:705.22, Y:12.02, Z:6.51 [[ 9.97396589e-01 -6.99912338e-02 -1.73571496e-02 7.05224882e+02] [ 6.99932483e-02 9.97547344e-01 -4.92145110e-04 1.20220735e+01] [ 1.73490243e-02 -7.24019424e-04 9.99849232e-01 6.51396439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9992541539999 meters Centerline goodness [0,1] 0.9990392246961026 Centerline is valid? [True, True] Translation: X:705.26, Y:12.03, Z:6.52 [[ 9.97711619e-01 -6.51316723e-02 -1.81491081e-02 7.05255009e+02] [ 6.51330785e-02 9.97876454e-01 -5.14239801e-04 1.20321290e+01] [ 1.81440609e-02 -6.69044258e-04 9.99835159e-01 6.51565745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0292541539999 meters Centerline goodness [0,1] 0.9988307024137643 Centerline is valid? [True, True] Translation: X:705.29, Y:12.04, Z:6.52 [[ 9.97857555e-01 -6.27015576e-02 -1.86765680e-02 7.05286373e+02] [ 6.27026280e-02 9.98032114e-01 -5.28842976e-04 1.20364706e+01] [ 1.86729740e-02 -6.43359939e-04 9.99825438e-01 6.51562621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0592541539999 meters Centerline goodness [0,1] 0.998912929863071 Centerline is valid? [True, True] Translation: X:705.32, Y:12.04, Z:6.52 [[ 9.97992245e-01 -6.03473283e-02 -1.92270608e-02 7.05316756e+02] [ 6.03480367e-02 9.98177248e-01 -5.43898311e-04 1.20400489e+01] [ 1.92248375e-02 -6.17509075e-04 9.99814995e-01 6.51538187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.089254154 meters Centerline goodness [0,1] 0.9989762660872472 Centerline is valid? [True, True] Translation: X:705.35, Y:12.04, Z:6.51 [[ 9.98110507e-01 -5.82474759e-02 -1.95613868e-02 7.05346892e+02] [ 5.82478132e-02 9.98302002e-01 -5.53001171e-04 1.20433082e+01] [ 1.95603826e-02 -5.87451727e-04 9.99808505e-01 6.51484654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1192541539999 meters Centerline goodness [0,1] 0.9990167158308751 Centerline is valid? [True, True] Translation: X:705.38, Y:12.05, Z:6.51 [[ 9.98303501e-01 -5.46412534e-02 -2.01110057e-02 7.05377805e+02] [ 5.46408899e-02 9.98505909e-01 -5.67982404e-04 1.20495901e+01] [ 2.01119933e-02 -5.31864425e-04 9.99797592e-01 6.51481148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1492541539999 meters Centerline goodness [0,1] 0.9992467988953051 Centerline is valid? [True, True] Translation: X:705.41, Y:12.05, Z:6.52 [[ 9.98373062e-01 -5.32997535e-02 -2.02574798e-02 7.05408774e+02] [ 5.32991235e-02 9.98578428e-01 -5.71392819e-04 1.20527322e+01] [ 2.02591374e-02 -5.09242719e-04 9.99794633e-01 6.51545557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1792541539999 meters Centerline goodness [0,1] 0.9990575521487811 Centerline is valid? [True, True] Translation: X:705.44, Y:12.05, Z:6.52 [[ 9.98423267e-01 -5.25390626e-02 -1.97642822e-02 7.05439127e+02] [ 5.25383239e-02 9.98618753e-01 -5.56971245e-04 1.20548762e+01] [ 1.97662456e-02 -4.82289210e-04 9.99804512e-01 6.51574472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.209254154 meters Centerline goodness [0,1] 0.999372594947298 Centerline is valid? [True, True] Translation: X:705.47, Y:12.06, Z:6.52 [[ 9.98470296e-01 -5.19668342e-02 -1.88816457e-02 7.05469848e+02] [ 5.19660672e-02 9.98648710e-01 -5.31592683e-04 1.20608115e+01] [ 1.88837563e-02 -4.50425368e-04 9.99821585e-01 6.51779252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2392541539999 meters Centerline goodness [0,1] 0.9992469879518072 Centerline is valid? [True, True] Translation: X:705.50, Y:12.06, Z:6.52 [[ 9.98456789e-01 -5.23269971e-02 -1.85990951e-02 7.05501186e+02] [ 5.23263310e-02 9.98629902e-01 -5.22798256e-04 1.20618908e+01] [ 1.86009690e-02 -4.51230939e-04 9.99826885e-01 6.51671485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2692541539999 meters Centerline goodness [0,1] 0.9988894941960357 Centerline is valid? [True, True] Translation: X:705.53, Y:12.06, Z:6.52 [[ 9.98410881e-01 -5.34155476e-02 -1.79580726e-02 7.05531054e+02] [ 5.34151142e-02 9.98572267e-01 -5.04134670e-04 1.20631391e+01] [ 1.79593619e-02 -4.55898961e-04 9.99838614e-01 6.51885695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2992541539999 meters Centerline goodness [0,1] 0.9988894941960357 Centerline is valid? [True, True] Translation: X:705.56, Y:12.06, Z:6.52 [[ 9.98412756e-01 -5.33804903e-02 -1.79580858e-02 7.05561897e+02] [ 5.33800596e-02 9.98574141e-01 -5.03666805e-04 1.20639731e+01] [ 1.79593661e-02 -4.55736325e-04 9.99838614e-01 6.51914593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.329254154 meters Centerline goodness [0,1] 0.9992447129909365 Centerline is valid? [True, True] Translation: X:705.59, Y:12.06, Z:6.52 [[ 9.98347092e-01 -5.49449528e-02 -1.68563112e-02 7.05592918e+02] [ 5.49448079e-02 9.98489282e-01 -4.72062984e-04 1.20648266e+01] [ 1.68567836e-02 -4.54884075e-04 9.99857811e-01 6.52000924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3592541539999 meters Centerline goodness [0,1] 0.9992238956244494 Centerline is valid? [True, True] Translation: X:705.62, Y:12.07, Z:6.52 [[ 9.98299852e-01 -5.58473517e-02 -1.66876998e-02 7.05624906e+02] [ 5.58473524e-02 9.98439210e-01 -4.66334235e-04 1.20674185e+01] [ 1.66876973e-02 -4.66422453e-04 9.99860642e-01 6.52103883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3892541539999 meters Centerline goodness [0,1] 0.9988258973498826 Centerline is valid? [True, True] Translation: X:705.66, Y:12.07, Z:6.52 [[ 9.98229631e-01 -5.72219810e-02 -1.62249635e-02 7.05656378e+02] [ 5.72221794e-02 9.98361366e-01 -4.52394630e-04 1.20674758e+01] [ 1.62242637e-02 -4.76834050e-04 9.99868264e-01 6.52134925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4192541539999 meters Centerline goodness [0,1] 0.999160897839312 Centerline is valid? [True, True] Translation: X:705.69, Y:12.07, Z:6.52 [[ 9.98154868e-01 -5.86043197e-02 -1.58868987e-02 7.05688076e+02] [ 5.86047034e-02 9.98281170e-01 -4.41804798e-04 1.20676262e+01] [ 1.58854834e-02 -4.90057374e-04 9.99873698e-01 6.52025461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.449254154 meters Centerline goodness [0,1] 0.999078167228845 Centerline is valid? [True, True] Translation: X:705.72, Y:12.07, Z:6.52 [[ 9.97922096e-01 -6.27946875e-02 -1.44332005e-02 7.05718683e+02] [ 6.27954558e-02 9.98026338e-01 -4.00400722e-04 1.20701601e+01] [ 1.44298572e-02 -5.06770675e-04 9.99895756e-01 6.52393858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4792541539999 meters Centerline goodness [0,1] 0.9992657702070528 Centerline is valid? [True, True] Translation: X:705.75, Y:12.07, Z:6.52 [[ 9.97793831e-01 -6.49036697e-02 -1.39636500e-02 7.05750439e+02] [ 6.49046037e-02 9.97891398e-01 -3.86750459e-04 1.20701489e+01] [ 1.39593078e-02 -5.20407947e-04 9.99902429e-01 6.52477576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5092541539999 meters Centerline goodness [0,1] 0.9991825270394903 Centerline is valid? [True, True] Translation: X:705.78, Y:12.07, Z:6.52 [[ 9.97658849e-01 -6.69444194e-02 -1.39737309e-02 7.05781242e+02] [ 6.69455758e-02 9.97756554e-01 -3.85514370e-04 1.20695498e+01] [ 1.39681896e-02 -5.50867638e-04 9.99902288e-01 6.52313617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5392541539999 meters Centerline goodness [0,1] 0.9991391618375746 Centerline is valid? [True, True] Translation: X:705.81, Y:12.07, Z:6.52 [[ 9.97351907e-01 -7.13619136e-02 -1.40232284e-02 7.05810943e+02] [ 7.13635305e-02 9.97450298e-01 -3.85699652e-04 1.20679876e+01] [ 1.40149976e-02 -6.16068803e-04 9.99901595e-01 6.52483370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5692541539999 meters Centerline goodness [0,1] 0.9993711614647746 Centerline is valid? [True, True] Translation: X:705.84, Y:12.07, Z:6.52 [[ 9.97201089e-01 -7.33715544e-02 -1.43736690e-02 7.05842678e+02] [ 7.33734654e-02 9.97304456e-01 -3.95061727e-04 1.20704032e+01] [ 1.43639104e-02 -6.60689918e-04 9.99896615e-01 6.52492278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5992541539999 meters Centerline goodness [0,1] 0.9992650609999371 Centerline is valid? [True, True] Translation: X:705.87, Y:12.07, Z:6.52 [[ 9.97070862e-01 -7.50495878e-02 -1.47395638e-02 7.05873286e+02] [ 7.50517911e-02 9.97179555e-01 -4.04391367e-04 1.20692409e+01] [ 1.47283411e-02 -7.03023816e-04 9.99891285e-01 6.52413061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6292541539999 meters Centerline goodness [0,1] 0.9990955175532699 Centerline is valid? [True, True] Translation: X:705.90, Y:12.07, Z:6.52 [[ 9.96868360e-01 -7.75065395e-02 -1.56910554e-02 7.05903939e+02] [ 7.75093476e-02 9.96991533e-01 -4.30017530e-04 1.20688240e+01] [ 1.56771786e-02 -7.87532599e-04 9.99876795e-01 6.52353926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6592541539999 meters Centerline goodness [0,1] 0.9989914695129638 Centerline is valid? [True, True] Translation: X:705.94, Y:12.07, Z:6.52 [[ 9.96813995e-01 -7.80861334e-02 -1.62608642e-02 7.05935785e+02] [ 7.80892369e-02 9.96946274e-01 -4.44968362e-04 1.20698419e+01] [ 1.62459538e-02 -8.26247786e-04 9.99867684e-01 6.52347401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6892541539999 meters Centerline goodness [0,1] 0.9990116499137822 Centerline is valid? [True, True] Translation: X:705.97, Y:12.07, Z:6.52 [[ 9.96774434e-01 -7.84683976e-02 -1.68356050e-02 7.05967410e+02] [ 7.84717972e-02 9.96916228e-01 -4.59607190e-04 1.20714672e+01] [ 1.68197525e-02 -8.62995486e-04 9.99858166e-01 6.52299753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7192541539999 meters Centerline goodness [0,1] 0.9990952891918619 Centerline is valid? [True, True] Translation: X:706.00, Y:12.08, Z:6.52 [[ 9.96768175e-01 -7.83741222e-02 -1.76267775e-02 7.05999304e+02] [ 7.83778540e-02 9.96923609e-01 -4.80080355e-04 1.20758329e+01] [ 1.76101765e-02 -9.03020175e-04 9.99844521e-01 6.52302327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7492541539999 meters Centerline goodness [0,1] 0.9993689524610854 Centerline is valid? [True, True] Translation: X:706.03, Y:12.08, Z:6.52 [[ 9.96817130e-01 -7.75531576e-02 -1.84693424e-02 7.06030512e+02] [ 7.75571492e-02 9.96987782e-01 -5.01137434e-04 1.20754729e+01] [ 1.84525735e-02 -9.32887168e-04 9.99829302e-01 6.52149460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7792541539999 meters Centerline goodness [0,1] 0.9990314158174008 Centerline is valid? [True, True] Translation: X:706.06, Y:12.08, Z:6.52 [[ 9.96876592e-01 -7.66770814e-02 -1.89125847e-02 7.06062288e+02] [ 7.66811457e-02 9.97055535e-01 -5.11256762e-04 1.20780308e+01] [ 1.88960989e-02 -9.40578762e-04 9.99821010e-01 6.52152695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8092541539999 meters Centerline goodness [0,1] 0.9991143911439114 Centerline is valid? [True, True] Translation: X:706.09, Y:12.09, Z:6.52 [[ 9.96970876e-01 -7.55236863e-02 -1.85807903e-02 7.06094463e+02] [ 7.55274340e-02 9.97143598e-01 -5.00959193e-04 1.20854178e+01] [ 1.85655504e-02 -9.03917689e-04 9.99827237e-01 6.52288980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.839254154 meters Centerline goodness [0,1] 0.999219787866647 Centerline is valid? [True, True] Translation: X:706.12, Y:12.09, Z:6.52 [[ 9.97207630e-01 -7.25068522e-02 -1.78801200e-02 7.06124961e+02] [ 7.25098561e-02 9.97367580e-01 -4.81086287e-04 1.20885500e+01] [ 1.78679341e-02 -8.16742013e-04 9.99840022e-01 6.52394860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8692541539999 meters Centerline goodness [0,1] 0.999176798378926 Centerline is valid? [True, True] Translation: X:706.16, Y:12.09, Z:6.52 [[ 9.97377469e-01 -7.02319503e-02 -1.74830875e-02 7.06156755e+02] [ 7.02344871e-02 9.97530399e-01 -4.69621191e-04 1.20938663e+01] [ 1.74728937e-02 -7.59526092e-04 9.99847049e-01 6.52488736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8992541539999 meters Centerline goodness [0,1] 0.9990709851779908 Centerline is valid? [True, True] Translation: X:706.19, Y:12.10, Z:6.53 [[ 9.97556332e-01 -6.76267713e-02 -1.75494819e-02 7.06188490e+02] [ 6.76289421e-02 9.97710431e-01 -4.70425253e-04 1.21004953e+01] [ 1.75411145e-02 -7.17577208e-04 9.99845885e-01 6.52568153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9292541539999 meters Centerline goodness [0,1] 0.9993671820617208 Centerline is valid? [True, True] Translation: X:706.22, Y:12.11, Z:6.53 [[ 9.97966758e-01 -6.15955544e-02 -1.63809884e-02 7.06217952e+02] [ 6.15966421e-02 9.98101028e-01 -4.38606984e-04 1.21072929e+01] [ 1.63768976e-02 -5.71298691e-04 9.99865726e-01 6.52698363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.959254154 meters Centerline goodness [0,1] 0.9992810167269344 Centerline is valid? [True, True] Translation: X:706.25, Y:12.11, Z:6.53 [[ 9.98149483e-01 -5.86405530e-02 -1.60902270e-02 7.06249008e+02] [ 5.86412230e-02 9.98279030e-01 -4.30568505e-04 1.21117990e+01] [ 1.60877850e-02 -5.13778859e-04 9.99870451e-01 6.52787811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9892541539999 meters Centerline goodness [0,1] 0.9991547271882 Centerline is valid? [True, True] Translation: X:706.28, Y:12.11, Z:6.53 [[ 9.98302572e-01 -5.59738178e-02 -1.60905613e-02 7.06280490e+02] [ 5.59741634e-02 9.98432125e-01 -4.29230765e-04 1.21146419e+01] [ 1.60893590e-02 -4.72153530e-04 9.99870446e-01 6.52799461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0192541539999 meters Centerline goodness [0,1] 0.9990920032941276 Centerline is valid? [True, True] Translation: X:706.31, Y:12.12, Z:6.53 [[ 9.98527079e-01 -5.17381402e-02 -1.63351645e-02 7.06310587e+02] [ 5.17379654e-02 9.98660600e-01 -4.33588726e-04 1.21193627e+01] [ 1.63357183e-02 -4.12198090e-04 9.99866478e-01 6.52772195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0492541539999 meters Centerline goodness [0,1] 0.9990057118679924 Centerline is valid? [True, True] Translation: X:706.34, Y:12.13, Z:6.53 [[ 9.98599175e-01 -5.00164059e-02 -1.72640462e-02 7.06343172e+02] [ 5.00159848e-02 9.98748313e-01 -4.56435637e-04 1.21253293e+01] [ 1.72652663e-02 -4.07682024e-04 9.99850861e-01 6.52842784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.079254154 meters Centerline goodness [0,1] 0.999259337636229 Centerline is valid? [True, True] Translation: X:706.37, Y:12.13, Z:6.53 [[ 9.98663364e-01 -4.85236428e-02 -1.78028739e-02 7.06374481e+02] [ 4.85229820e-02 9.98821956e-01 -4.69329292e-04 1.21284089e+01] [ 1.78046749e-02 -3.95146563e-04 9.99841406e-01 6.52809535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1092541539999 meters Centerline goodness [0,1] 0.9991093014378419 Centerline is valid? [True, True] Translation: X:706.41, Y:12.13, Z:6.53 [[ 9.98707675e-01 -4.73326300e-02 -1.85094949e-02 7.06405200e+02] [ 4.73317305e-02 9.98879107e-01 -4.86925041e-04 1.21306758e+01] [ 1.85117951e-02 -3.89790646e-04 9.99828566e-01 6.52734547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1392541539999 meters Centerline goodness [0,1] 0.9988759040488664 Centerline is valid? [True, True] Translation: X:706.44, Y:12.14, Z:6.53 [[ 9.98775871e-01 -4.55027486e-02 -1.93973945e-02 7.06436917e+02] [ 4.55014400e-02 9.98964143e-01 -5.09031805e-04 1.21358350e+01] [ 1.94004639e-02 -3.74200697e-04 9.99811723e-01 6.52706510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1692541539999 meters Centerline goodness [0,1] 0.9988746868232197 Centerline is valid? [True, True] Translation: X:706.47, Y:12.14, Z:6.53 [[ 9.98802220e-01 -4.48243687e-02 -1.96189082e-02 7.06468900e+02] [ 4.48229271e-02 9.98994816e-01 -5.13425824e-04 1.21386774e+01] [ 1.96222016e-02 -3.66566040e-04 9.99807399e-01 6.52745398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.199254154 meters Centerline goodness [0,1] 0.9986616531769804 Centerline is valid? [True, True] Translation: X:706.50, Y:12.14, Z:6.53 [[ 9.98834305e-01 -4.41414256e-02 -1.95337190e-02 7.06499724e+02] [ 4.41398898e-02 9.99025230e-01 -5.09973664e-04 1.21423159e+01] [ 1.95371891e-02 -3.52837013e-04 9.99809069e-01 6.52775118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2292541539999 meters Centerline goodness [0,1] 0.9988507459510078 Centerline is valid? [True, True] Translation: X:706.53, Y:12.14, Z:6.53 [[ 9.98856808e-01 -4.36535394e-02 -1.94793593e-02 7.06531498e+02] [ 4.36519434e-02 9.99046671e-01 -5.07323262e-04 1.21449988e+01] [ 1.94829355e-02 -3.43568596e-04 9.99810131e-01 6.52847657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2592541539999 meters Centerline goodness [0,1] 0.9988717883219448 Centerline is valid? [True, True] Translation: X:706.56, Y:12.15, Z:6.53 [[ 9.98874722e-01 -4.32742077e-02 -1.94070032e-02 7.06563458e+02] [ 4.32725790e-02 9.99063176e-01 -5.04049680e-04 1.21473119e+01] [ 1.94106346e-02 -3.36308593e-04 9.99811539e-01 6.52909462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2892541539999 meters Centerline goodness [0,1] 0.9986160790325328 Centerline is valid? [True, True] Translation: X:706.60, Y:12.15, Z:6.53 [[ 9.98891721e-01 -4.30974994e-02 -1.89191843e-02 7.06595892e+02] [ 4.30959456e-02 9.99070818e-01 -4.90018416e-04 1.21508691e+01] [ 1.89227235e-02 -3.25864800e-04 9.99820896e-01 6.53023541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3192541539999 meters Centerline goodness [0,1] 0.9986371089673971 Centerline is valid? [True, True] Translation: X:706.63, Y:12.15, Z:6.53 [[ 9.98910470e-01 -4.28373415e-02 -1.85158015e-02 7.06627501e+02] [ 4.28358423e-02 9.99082010e-01 -4.77746867e-04 1.21513503e+01] [ 1.85192696e-02 -3.15913604e-04 9.99828454e-01 6.53018454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3492541539999 meters Centerline goodness [0,1] 0.9989989350372737 Centerline is valid? [True, True] Translation: X:706.66, Y:12.15, Z:6.53 [[ 9.98872499e-01 -4.39295152e-02 -1.79979994e-02 7.06659303e+02] [ 4.39283072e-02 9.99034579e-01 -4.62646435e-04 1.21535306e+01] [ 1.80009476e-02 -3.28496845e-04 9.99837916e-01 6.53109723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3792541539999 meters Centerline goodness [0,1] 0.998700191774984 Centerline is valid? [True, True] Translation: X:706.69, Y:12.15, Z:6.53 [[ 9.98824743e-01 -4.52195581e-02 -1.74449118e-02 7.06690964e+02] [ 4.52186382e-02 9.98977014e-01 -4.47372927e-04 1.21542960e+01] [ 1.74472959e-02 -3.41988008e-04 9.99847726e-01 6.53156082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4092541539999 meters Centerline goodness [0,1] 0.9987002471661127 Centerline is valid? [True, True] Translation: X:706.72, Y:12.15, Z:6.53 [[ 9.98649938e-01 -4.91994133e-02 -1.66648771e-02 7.06722117e+02] [ 4.91991417e-02 9.98788898e-01 -4.26521866e-04 1.21532145e+01] [ 1.66656789e-02 -3.93951616e-04 9.99861040e-01 6.53181163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4392541539999 meters Centerline goodness [0,1] 0.9989791578051893 Centerline is valid? [True, True] Translation: X:706.75, Y:12.15, Z:6.53 [[ 9.98554498e-01 -5.11618320e-02 -1.64736329e-02 7.06754532e+02] [ 5.11618497e-02 9.98690286e-01 -4.20639263e-04 1.21545439e+01] [ 1.64735779e-02 -4.22790303e-04 9.99864212e-01 6.53273119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4692541539999 meters Centerline goodness [0,1] 0.9988521628228292 Centerline is valid? [True, True] Translation: X:706.79, Y:12.15, Z:6.53 [[ 9.98445262e-01 -5.33599008e-02 -1.61176945e-02 7.06785721e+02] [ 5.33602202e-02 9.98575244e-01 -4.10537841e-04 1.21516883e+01] [ 1.61166370e-02 -4.50144165e-04 9.99870017e-01 6.53260148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4992541539999 meters Centerline goodness [0,1] 0.9991058883637757 Centerline is valid? [True, True] Translation: X:706.82, Y:12.15, Z:6.53 [[ 9.98296201e-01 -5.62364123e-02 -1.55615277e-02 7.06817287e+02] [ 5.62370718e-02 9.98417365e-01 -3.95557445e-04 1.21541127e+01] [ 1.55591442e-02 -4.80251257e-04 9.99878834e-01 6.53421348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5292541539999 meters Centerline goodness [0,1] 0.9988283163971794 Centerline is valid? [True, True] Translation: X:706.85, Y:12.16, Z:6.54 [[ 9.98262939e-01 -5.68287325e-02 -1.55434707e-02 7.06849071e+02] [ 5.68294771e-02 9.98383822e-01 -3.94137615e-04 1.21568677e+01] [ 1.55407481e-02 -4.89874342e-04 9.99879115e-01 6.53523416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5592541539999 meters Centerline goodness [0,1] 0.9986388191756349 Centerline is valid? [True, True] Translation: X:706.88, Y:12.16, Z:6.53 [[ 9.98289036e-01 -5.65317633e-02 -1.49385612e-02 7.06880052e+02] [ 5.65324324e-02 9.98400692e-01 -3.77824350e-04 1.21556897e+01] [ 1.49360289e-02 -4.67335294e-04 9.99888342e-01 6.53416898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.589254154 meters Centerline goodness [0,1] 0.998848098295612 Centerline is valid? [True, True] Translation: X:706.91, Y:12.16, Z:6.54 [[ 9.98397386e-01 -5.47141170e-02 -1.44577035e-02 7.06911937e+02] [ 5.47145660e-02 9.98501970e-01 -3.64785458e-04 1.21608706e+01] [ 1.44560043e-02 -4.26846124e-04 9.99895415e-01 6.53702896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6192541539999 meters Centerline goodness [0,1] 0.9988704177323103 Centerline is valid? [True, True] Translation: X:706.94, Y:12.16, Z:6.54 [[ 9.98485225e-01 -5.30705946e-02 -1.45178567e-02 7.06943518e+02] [ 5.30708893e-02 9.98590681e-01 -3.65229924e-04 1.21621631e+01] [ 1.45167794e-02 -4.05798885e-04 9.99894544e-01 6.53732009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6492541539999 meters Centerline goodness [0,1] 0.9986141020447326 Centerline is valid? [True, True] Translation: X:706.98, Y:12.16, Z:6.54 [[ 9.98619719e-01 -5.05041123e-02 -1.44219320e-02 7.06975719e+02] [ 5.05041508e-02 9.98723786e-01 -3.61763579e-04 1.21646776e+01] [ 1.44217970e-02 -3.67103183e-04 9.99895933e-01 6.53527965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6792541539999 meters Centerline goodness [0,1] 0.9990594472114748 Centerline is valid? [True, True] Translation: X:707.01, Y:12.17, Z:6.54 [[ 9.98807596e-01 -4.64638917e-02 -1.49830613e-02 7.07007111e+02] [ 4.64634927e-02 9.98919918e-01 -3.74918596e-04 1.21682272e+01] [ 1.49842985e-02 -3.21693816e-04 9.99887677e-01 6.53707837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.709254154 meters Centerline goodness [0,1] 0.9986540187155493 Centerline is valid? [True, True] Translation: X:707.04, Y:12.17, Z:6.54 [[ 9.98897692e-01 -4.43710896e-02 -1.53168801e-02 7.07038385e+02] [ 4.43704371e-02 9.99015074e-01 -3.82592966e-04 1.21669746e+01] [ 1.53187702e-02 -2.97445435e-04 9.99882617e-01 6.53591669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7392541539999 meters Centerline goodness [0,1] 0.9988215884987037 Centerline is valid? [True, True] Translation: X:707.07, Y:12.17, Z:6.54 [[ 9.98983207e-01 -4.22476790e-02 -1.57380541e-02 7.07070818e+02] [ 4.22467421e-02 9.99107131e-01 -3.92141017e-04 1.21701009e+01] [ 1.57405692e-02 -2.73139223e-04 9.99876072e-01 6.53598859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7692541539999 meters Centerline goodness [0,1] 0.9988860086977013 Centerline is valid? [True, True] Translation: X:707.10, Y:12.17, Z:6.54 [[ 9.99044085e-01 -4.05014685e-02 -1.64483077e-02 7.07102803e+02] [ 4.05002278e-02 9.99179446e-01 -4.08661322e-04 1.21719829e+01] [ 1.64513624e-02 -2.57889533e-04 9.99864634e-01 6.53590368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7992541539999 meters Centerline goodness [0,1] 0.9991640050588412 Centerline is valid? [True, True] Translation: X:707.14, Y:12.18, Z:6.54 [[ 9.99085337e-01 -3.92437444e-02 -1.69828728e-02 7.07135119e+02] [ 3.92422611e-02 9.99229637e-01 -4.20711912e-04 1.21750350e+01] [ 1.69863002e-02 -2.46119227e-04 9.99855692e-01 6.53667042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.829254154 meters Centerline goodness [0,1] 0.9989934251386717 Centerline is valid? [True, True] Translation: X:707.17, Y:12.18, Z:6.54 [[ 9.99089176e-01 -3.85028929e-02 -1.83941564e-02 7.07166740e+02] [ 3.85010612e-02 9.99258456e-01 -4.53831453e-04 1.21756160e+01] [ 1.83979901e-02 -2.54776447e-04 9.99830710e-01 6.53581330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8592541539999 meters Centerline goodness [0,1] 0.9989936622130867 Centerline is valid? [True, True] Translation: X:707.20, Y:12.18, Z:6.54 [[ 9.99058983e-01 -3.90210836e-02 -1.89342061e-02 7.07198500e+02] [ 3.90192711e-02 9.99238350e-01 -4.65289533e-04 1.21757864e+01] [ 1.89379409e-02 -2.73947232e-04 9.99820624e-01 6.53598539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8892541539999 meters Centerline goodness [0,1] 0.9989280967285512 Centerline is valid? [True, True] Translation: X:707.23, Y:12.18, Z:6.54 [[ 9.99008356e-01 -4.00937422e-02 -1.93596528e-02 7.07230347e+02] [ 4.00920763e-02 9.99195877e-01 -4.74321486e-04 1.21754154e+01] [ 1.93631026e-02 -3.02317550e-04 9.99812472e-01 6.53571810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9192541539999 meters Centerline goodness [0,1] 0.9989291298108843 Centerline is valid? [True, True] Translation: X:707.26, Y:12.17, Z:6.54 [[ 9.98814526e-01 -4.44131436e-02 -1.99252372e-02 7.07262003e+02] [ 4.44122594e-02 9.99013170e-01 -4.87094128e-04 1.21721131e+01] [ 1.99272077e-02 -3.98408112e-04 9.99801354e-01 6.53608266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.949254154 meters Centerline goodness [0,1] 0.9989939853164665 Centerline is valid? [True, True] Translation: X:707.29, Y:12.17, Z:6.54 [[ 9.98685901e-01 -4.72647390e-02 -1.98120255e-02 7.07292870e+02] [ 4.72644584e-02 9.98882294e-01 -4.82673381e-04 1.21700986e+01] [ 1.98126949e-02 -4.54365554e-04 9.99803606e-01 6.53645682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9792541539999 meters Centerline goodness [0,1] 0.998761874266197 Centerline is valid? [True, True] Translation: X:707.32, Y:12.17, Z:6.54 [[ 9.98559025e-01 -5.00041154e-02 -1.94798060e-02 7.07323936e+02] [ 5.00044064e-02 9.98748885e-01 -4.72448232e-04 1.21679443e+01] [ 1.94790588e-02 -5.02308689e-04 9.99810139e-01 6.53680566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0092541539999 meters Centerline goodness [0,1] 0.9987630361065495 Centerline is valid? [True, True] Translation: X:707.36, Y:12.16, Z:6.54 [[ 9.98170922e-01 -5.72675476e-02 -1.93710651e-02 7.07355353e+02] [ 5.72692220e-02 9.98358661e-01 -4.68738175e-04 1.21621489e+01] [ 1.93661141e-02 -6.41485010e-04 9.99812253e-01 6.53729131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0392541539999 meters Centerline goodness [0,1] 0.9986991384457903 Centerline is valid? [True, True] Translation: X:707.39, Y:12.16, Z:6.54 [[ 9.97934850e-01 -6.13909726e-02 -1.88993104e-02 7.07385659e+02] [ 6.13933110e-02 9.98113547e-01 -4.56991334e-04 1.21584412e+01] [ 1.88917128e-02 -7.04243661e-04 9.99821288e-01 6.53751590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0692541539999 meters Centerline goodness [0,1] 0.9987444938607878 Centerline is valid? [True, True] Translation: X:707.42, Y:12.16, Z:6.54 [[ 9.97670335e-01 -6.55683856e-02 -1.88331993e-02 7.07417166e+02] [ 6.55714600e-02 9.97847772e-01 -4.54891915e-04 1.21561056e+01] [ 1.88224925e-02 -7.81088207e-04 9.99822536e-01 6.53861272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0992541539999 meters Centerline goodness [0,1] 0.9985973562290135 Centerline is valid? [True, True] Translation: X:707.45, Y:12.14, Z:6.54 [[ 9.97088747e-01 -7.43368452e-02 -1.69724754e-02 7.07447659e+02] [ 7.43406151e-02 9.97232824e-01 -4.09566077e-04 1.21435931e+01] [ 1.69559554e-02 -8.53370532e-04 9.99855873e-01 6.53890127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1292541539999 meters Centerline goodness [0,1] 0.9988516013780784 Centerline is valid? [True, True] Translation: X:707.48, Y:12.15, Z:6.54 [[ 9.96768693e-01 -7.85823597e-02 -1.66428860e-02 7.07478968e+02] [ 7.85865804e-02 9.96907212e-01 -4.01252659e-04 1.21469715e+01] [ 1.66229445e-02 -9.07951411e-04 9.99861417e-01 6.54070715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1592541539999 meters Centerline goodness [0,1] 0.9986186377643184 Centerline is valid? [True, True] Translation: X:707.51, Y:12.14, Z:6.54 [[ 9.96178377e-01 -8.58839648e-02 -1.58929538e-02 7.07510496e+02] [ 8.58887474e-02 9.96304661e-01 -3.82649752e-04 1.21441330e+01] [ 1.58670874e-02 -9.83838483e-04 9.99873626e-01 6.54180228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1892541539999 meters Centerline goodness [0,1] 0.9985778872073525 Centerline is valid? [True, True] Translation: X:707.54, Y:12.14, Z:6.54 [[ 9.95919196e-01 -8.88463632e-02 -1.58517824e-02 7.07541438e+02] [ 8.88515012e-02 9.96044811e-01 -3.81247748e-04 1.21426299e+01] [ 1.58229581e-02 -1.02876271e-03 9.99874280e-01 6.54213100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2192541539999 meters Centerline goodness [0,1] 0.9985778872073525 Centerline is valid? [True, True] Translation: X:707.57, Y:12.14, Z:6.54 [[ 9.95929105e-01 -8.87352147e-02 -1.58518039e-02 7.07574037e+02] [ 8.87403528e-02 9.96054720e-01 -3.80350913e-04 1.21433228e+01] [ 1.58230146e-02 -1.02789213e-03 9.99874280e-01 6.54243639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2492541539999 meters Centerline goodness [0,1] 0.9982609433322023 Centerline is valid? [True, True] Translation: X:707.60, Y:12.14, Z:6.54 [[ 9.95731204e-01 -9.09252039e-02 -1.58737673e-02 7.07604987e+02] [ 9.09306550e-02 9.95857154e-01 -3.79508981e-04 1.21416213e+01] [ 1.58425117e-02 -1.06552312e-03 9.99873932e-01 6.54280188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2792541539999 meters Centerline goodness [0,1] 0.9986214794706482 Centerline is valid? [True, True] Translation: X:707.63, Y:12.14, Z:6.54 [[ 9.95540228e-01 -9.29987730e-02 -1.58392495e-02 7.07634775e+02] [ 9.30044689e-02 9.95665619e-01 -3.78221745e-04 1.21361148e+01] [ 1.58057704e-02 -1.09658603e-03 9.99874480e-01 6.54318014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3092541539999 meters Centerline goodness [0,1] 0.9986836238561329 Centerline is valid? [True, True] Translation: X:707.67, Y:12.14, Z:6.54 [[ 9.95519147e-01 -9.31968964e-02 -1.59989528e-02 7.07666604e+02] [ 9.32027410e-02 9.95647078e-01 -3.81543619e-04 1.21408534e+01] [ 1.59648692e-02 -1.11131227e-03 9.99871936e-01 6.54397709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.339254154 meters Centerline goodness [0,1] 0.9985379497393736 Centerline is valid? [True, True] Translation: X:707.70, Y:12.14, Z:6.54 [[ 9.95590159e-01 -9.23711296e-02 -1.63649064e-02 7.07698431e+02] [ 9.23771538e-02 9.95724013e-01 -3.89043972e-04 1.21407757e+01] [ 1.63308667e-02 -1.12441512e-03 9.99866010e-01 6.54352162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3692541539999 meters Centerline goodness [0,1] 0.9982602053806331 Centerline is valid? [True, True] Translation: X:707.73, Y:12.14, Z:6.54 [[ 9.95693028e-01 -9.12652421e-02 -1.63110292e-02 7.07729612e+02] [ 9.12710965e-02 9.95826008e-01 -3.86690460e-04 1.21416248e+01] [ 1.62782385e-02 -1.10370052e-03 9.99866892e-01 6.54316937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3992541539999 meters Centerline goodness [0,1] 0.9987057350788229 Centerline is valid? [True, True] Translation: X:707.76, Y:12.14, Z:6.54 [[ 9.96085833e-01 -8.65070652e-02 -1.81532590e-02 7.07759843e+02] [ 8.65135407e-02 9.96250582e-01 -4.29777943e-04 1.21448797e+01] [ 1.81223737e-02 -1.14240699e-03 9.99835124e-01 6.54194055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4292541539999 meters Centerline goodness [0,1] 0.998450139062865 Centerline is valid? [True, True] Translation: X:707.79, Y:12.15, Z:6.54 [[ 9.96347473e-01 -8.33197689e-02 -1.86957164e-02 7.07790463e+02] [ 8.33260815e-02 9.96522237e-01 -4.42440494e-04 1.21480212e+01] [ 1.86675612e-02 -1.11701632e-03 9.99825122e-01 6.54149232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.459254154 meters Centerline goodness [0,1] 0.9985339424200573 Centerline is valid? [True, True] Translation: X:707.82, Y:12.15, Z:6.54 [[ 9.96661956e-01 -7.92654271e-02 -1.95432375e-02 7.07820647e+02] [ 7.92715516e-02 9.96852952e-01 -4.62322089e-04 1.21510795e+01] [ 1.95183801e-02 -1.08844392e-03 9.99808906e-01 6.54129530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4892541539999 meters Centerline goodness [0,1] 0.9986194006074637 Centerline is valid? [True, True] Translation: X:707.85, Y:12.16, Z:6.54 [[ 9.97003556e-01 -7.47778331e-02 -1.98036648e-02 7.07851181e+02] [ 7.47832427e-02 9.97199703e-01 -4.68299647e-04 1.21572996e+01] [ 1.97832271e-02 -1.01408586e-03 9.99803779e-01 6.54152761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5192541539999 meters Centerline goodness [0,1] 0.9985754077098085 Centerline is valid? [True, True] Translation: X:707.88, Y:12.17, Z:6.54 [[ 9.97722152e-01 -6.43555203e-02 -2.02206267e-02 7.07880979e+02] [ 6.43590259e-02 9.97926694e-01 -4.78013775e-04 1.21668705e+01] [ 2.02094660e-02 -8.24454905e-04 9.99795428e-01 6.54158669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5492541539999 meters Centerline goodness [0,1] 0.9987876725439735 Centerline is valid? [True, True] Translation: X:707.91, Y:12.18, Z:6.54 [[ 9.98063652e-01 -5.89069143e-02 -1.99730359e-02 7.07911415e+02] [ 5.89092485e-02 9.98263231e-01 -4.71982886e-04 1.21760292e+01] [ 1.99661504e-02 -7.05527572e-04 9.99800408e-01 6.54336765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.579254154 meters Centerline goodness [0,1] 0.9989998936057027 Centerline is valid? [True, True] Translation: X:707.94, Y:12.18, Z:6.54 [[ 9.98357280e-01 -5.36170518e-02 -2.01978575e-02 7.07941177e+02] [ 5.36183608e-02 9.98561387e-01 -4.77120178e-04 1.21783011e+01] [ 2.01943824e-02 -6.06639609e-04 9.99795889e-01 6.54304595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6092541539999 meters Centerline goodness [0,1] 0.9989554465998721 Centerline is valid? [True, True] Translation: X:707.97, Y:12.19, Z:6.54 [[ 9.98849844e-01 -4.37131212e-02 -1.97015931e-02 7.07971717e+02] [ 4.37124430e-02 9.99044046e-01 -4.65270441e-04 1.21894775e+01] [ 1.97030977e-02 -3.96469459e-04 9.99805797e-01 6.54484659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6392541539999 meters Centerline goodness [0,1] 0.9990823926079255 Centerline is valid? [True, True] Translation: X:708.00, Y:12.19, Z:6.54 [[ 9.99044751e-01 -3.91861552e-02 -1.93398675e-02 7.08002510e+02] [ 3.91846629e-02 9.99231882e-01 -4.56251210e-04 1.21928559e+01] [ 1.93428909e-02 -3.02010809e-04 9.99812863e-01 6.54492832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6692541539999 meters Centerline goodness [0,1] 0.9991882423310262 Centerline is valid? [True, True] Translation: X:708.03, Y:12.20, Z:6.55 [[ 9.99209845e-01 -3.48086916e-02 -1.91843937e-02 7.08033685e+02] [ 3.48064297e-02 9.99393971e-01 -4.51892896e-04 1.21964289e+01] [ 1.91884972e-02 -2.16204421e-04 9.99815860e-01 6.54544391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.699254154 meters Centerline goodness [0,1] 0.99918853701766 Centerline is valid? [True, True] Translation: X:708.06, Y:12.20, Z:6.55 [[ 9.99448259e-01 -2.70113421e-02 -1.93278412e-02 7.08064297e+02] [ 2.70076015e-02 9.99635125e-01 -4.54580168e-04 1.22022247e+01] [ 1.93330678e-02 -6.76692766e-05 9.99813096e-01 6.54507182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7292541539999 meters Centerline goodness [0,1] 0.9989285561222303 Centerline is valid? [True, True] Translation: X:708.09, Y:12.21, Z:6.55 [[ 9.99531970e-01 -2.35903631e-02 -1.94765603e-02 7.08093580e+02] [ 2.35859147e-02 9.99721709e-01 -4.58108555e-04 1.22052276e+01] [ 1.94819471e-02 -1.47834263e-06 9.99810209e-01 6.54520724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7592541539999 meters Centerline goodness [0,1] 0.9989296112348005 Centerline is valid? [True, True] Translation: X:708.12, Y:12.21, Z:6.54 [[ 9.99596563e-01 -2.03505704e-02 -1.98132570e-02 7.08121962e+02] [ 2.03453125e-02 9.99792904e-01 -4.66934957e-04 1.22077187e+01] [ 1.98186561e-02 6.36396741e-05 9.99803589e-01 6.54462916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7892541539999 meters Centerline goodness [0,1] 0.9993354769560557 Centerline is valid? [True, True] Translation: X:708.15, Y:12.21, Z:6.54 [[ 9.99676322e-01 -1.47342709e-02 -2.07401304e-02 7.08149796e+02] [ 1.47272690e-02 9.99891428e-01 -4.90308598e-04 1.22117424e+01] [ 2.07451029e-02 1.84704416e-04 9.99784780e-01 6.54421426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8192541539999 meters Centerline goodness [0,1] 0.9993780961163174 Centerline is valid? [True, True] Translation: X:708.18, Y:12.21, Z:6.55 [[ 9.99702597e-01 -1.30685074e-02 -2.05895867e-02 7.08178108e+02] [ 1.30611773e-02 9.99914579e-01 -4.90451606e-04 1.22121929e+01] [ 2.05942374e-02 2.21381503e-04 9.99787892e-01 6.54525186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8492541539999 meters Centerline goodness [0,1] 0.9990798005521196 Centerline is valid? [True, True] Translation: X:708.21, Y:12.21, Z:6.54 [[ 9.99726153e-01 -1.18448720e-02 -2.01821097e-02 7.08205521e+02] [ 1.18375125e-02 9.99929817e-01 -4.84084413e-04 1.22141282e+01] [ 2.01864271e-02 2.45045872e-04 9.99796203e-01 6.54474098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8792541539999 meters Centerline goodness [0,1] 0.9991430468967586 Centerline is valid? [True, True] Translation: X:708.23, Y:12.21, Z:6.55 [[ 9.99738007e-01 -1.14239693e-02 -1.98345706e-02 7.08233803e+02] [ 1.14167012e-02 9.99934712e-01 -4.79632305e-04 1.22134418e+01] [ 1.98387550e-02 2.53061278e-04 9.99803161e-01 6.54663329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9092541539999 meters Centerline goodness [0,1] 0.9989738327347357 Centerline is valid? [True, True] Translation: X:708.26, Y:12.21, Z:6.55 [[ 9.99740348e-01 -1.26392994e-02 -1.89600799e-02 7.08262368e+02] [ 1.26327801e-02 9.99920096e-01 -4.63579282e-04 1.22112208e+01] [ 1.89644242e-02 2.23940394e-04 9.99820134e-01 6.54785409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9392541539999 meters Centerline goodness [0,1] 0.9992518170158188 Centerline is valid? [True, True] Translation: X:708.29, Y:12.21, Z:6.55 [[ 9.99722651e-01 -1.43234776e-02 -1.86938207e-02 7.08290512e+02] [ 1.43173737e-02 9.99897395e-01 -4.60318140e-04 1.22105548e+01] [ 1.86984960e-02 1.92544054e-04 9.99825149e-01 6.54741446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9692541539999 meters Centerline goodness [0,1] 0.9989963055502168 Centerline is valid? [True, True] Translation: X:708.32, Y:12.21, Z:6.55 [[ 9.99680147e-01 -1.69372552e-02 -1.87812111e-02 7.08319194e+02] [ 1.69314939e-02 9.99856544e-01 -4.65738952e-04 1.22080215e+01] [ 1.87864051e-02 1.47596023e-04 9.99823509e-01 6.54792785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9992541539999 meters Centerline goodness [0,1] 0.9989782668852041 Centerline is valid? [True, True] Translation: X:708.35, Y:12.20, Z:6.55 [[ 9.99554122e-01 -2.36093283e-02 -1.82799710e-02 7.08347741e+02] [ 2.36049315e-02 9.99721261e-01 -4.56284903e-04 1.22014684e+01] [ 1.82856482e-02 2.45839929e-05 9.99832803e-01 6.54802395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0292541539999 meters Centerline goodness [0,1] 0.9989373684993518 Centerline is valid? [True, True] Translation: X:708.38, Y:12.20, Z:6.55 [[ 9.99452143e-01 -2.77394293e-02 -1.80537724e-02 7.08376097e+02] [ 2.77357625e-02 9.99615187e-01 -4.53505827e-04 1.21979610e+01] [ 1.80594051e-02 -4.74777741e-05 9.99836915e-01 6.54798644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0592541539999 meters Centerline goodness [0,1] 0.998984105483714 Centerline is valid? [True, True] Translation: X:708.41, Y:12.19, Z:6.55 [[ 9.99199390e-01 -3.59842070e-02 -1.74847220e-02 7.08405762e+02] [ 3.59819844e-02 9.99352341e-01 -4.41795387e-04 1.21897437e+01] [ 1.74892955e-02 -1.87693312e-04 9.99847033e-01 6.54836750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.089254154 meters Centerline goodness [0,1] 0.9988547675602307 Centerline is valid? [True, True] Translation: X:708.44, Y:12.19, Z:6.55 [[ 9.99047607e-01 -3.99902187e-02 -1.74545335e-02 7.08436302e+02] [ 3.99886155e-02 9.99200038e-01 -4.40998629e-04 1.21854279e+01] [ 1.74582062e-02 -2.57404004e-04 9.99847561e-01 6.54812472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1192541539999 meters Centerline goodness [0,1] 0.9990700230380657 Centerline is valid? [True, True] Translation: X:708.47, Y:12.18, Z:6.55 [[ 9.98919032e-01 -4.33971066e-02 -1.66571047e-02 7.08468554e+02] [ 4.33961357e-02 9.99057856e-01 -4.19909087e-04 1.21829087e+01] [ 1.66596341e-02 -3.03398796e-04 9.99861173e-01 6.54936377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1492541539999 meters Centerline goodness [0,1] 0.9986466197212882 Centerline is valid? [True, True] Translation: X:708.50, Y:12.18, Z:6.55 [[ 9.98787403e-01 -4.63709447e-02 -1.65365870e-02 7.08499941e+02] [ 4.63704180e-02 9.98924227e-01 -4.15482512e-04 1.21790031e+01] [ 1.65380637e-02 -3.51829751e-04 9.99863175e-01 6.54944250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1792541539999 meters Centerline goodness [0,1] 0.9987945947089052 Centerline is valid? [True, True] Translation: X:708.53, Y:12.18, Z:6.55 [[ 9.98675767e-01 -4.85534822e-02 -1.70080035e-02 7.08531884e+02] [ 4.85532670e-02 9.98820504e-01 -4.25823118e-04 1.21766016e+01] [ 1.70086178e-02 -4.00534904e-04 9.99855263e-01 6.54973447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.209254154 meters Centerline goodness [0,1] 0.9988808176366247 Centerline is valid? [True, True] Translation: X:708.56, Y:12.17, Z:6.55 [[ 9.98504493e-01 -5.20540013e-02 -1.67080453e-02 7.08562636e+02] [ 5.20543097e-02 9.98644168e-01 -4.16732379e-04 1.21706906e+01] [ 1.67070846e-02 -4.53616613e-04 9.99860324e-01 6.55088962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2392541539999 meters Centerline goodness [0,1] 0.9989241414226647 Centerline is valid? [True, True] Translation: X:708.60, Y:12.17, Z:6.55 [[ 9.98452263e-01 -5.31688523e-02 -1.63141622e-02 7.08595160e+02] [ 5.31693217e-02 9.98585429e-01 -4.05272390e-04 1.21684787e+01] [ 1.63126326e-02 -4.62767805e-04 9.99866833e-01 6.55131958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2692541539999 meters Centerline goodness [0,1] 0.9989466588017191 Centerline is valid? [True, True] Translation: X:708.63, Y:12.17, Z:6.55 [[ 9.98423486e-01 -5.37177164e-02 -1.62772871e-02 7.08626974e+02] [ 5.37182752e-02 9.98556050e-01 -4.03203680e-04 1.21665447e+01] [ 1.62754426e-02 -4.71819762e-04 9.99867435e-01 6.55187168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2992541539999 meters Centerline goodness [0,1] 0.999009859273616 Centerline is valid? [True, True] Translation: X:708.66, Y:12.17, Z:6.55 [[ 9.98400867e-01 -5.42604652e-02 -1.58590723e-02 7.08659203e+02] [ 5.42610819e-02 9.98526705e-01 -3.91720834e-04 1.21654627e+01] [ 1.58569622e-02 -4.69436002e-04 9.99874160e-01 6.55312096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.329254154 meters Centerline goodness [0,1] 0.9990101720615799 Centerline is valid? [True, True] Translation: X:708.69, Y:12.16, Z:6.55 [[ 9.98402434e-01 -5.41853490e-02 -1.60164549e-02 7.08690517e+02] [ 5.41859853e-02 9.98530782e-01 -3.94548768e-04 1.21617922e+01] [ 1.60143020e-02 -4.73948937e-04 9.99871651e-01 6.55186779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3592541539999 meters Centerline goodness [0,1] 0.9988207547169812 Centerline is valid? [True, True] Translation: X:708.72, Y:12.16, Z:6.55 [[ 9.98421484e-01 -5.37825248e-02 -1.61858044e-02 7.08721416e+02] [ 5.37831359e-02 9.98552560e-01 -3.97846340e-04 1.21606636e+01] [ 1.61837736e-02 -4.73304983e-04 9.99868922e-01 6.55185693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3892541539999 meters Centerline goodness [0,1] 0.9988616720772376 Centerline is valid? [True, True] Translation: X:708.75, Y:12.16, Z:6.55 [[ 9.98425739e-01 -5.35349408e-02 -1.67348188e-02 7.08753923e+02] [ 5.35355769e-02 9.98565858e-01 -4.10299393e-04 1.21618439e+01] [ 1.67327840e-02 -4.86254703e-04 9.99859879e-01 6.55273556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4192541539999 meters Centerline goodness [0,1] 0.9988835994439061 Centerline is valid? [True, True] Translation: X:708.79, Y:12.16, Z:6.55 [[ 9.98411187e-01 -5.36429137e-02 -1.72493468e-02 7.08786068e+02] [ 5.36436275e-02 9.98560055e-01 -4.21640911e-04 1.21610260e+01] [ 1.72471267e-02 -5.04346531e-04 9.99851130e-01 6.55251685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.449254154 meters Centerline goodness [0,1] 0.9988202827108218 Centerline is valid? [True, True] Translation: X:708.82, Y:12.16, Z:6.55 [[ 9.98286805e-01 -5.51424890e-02 -1.95642599e-02 7.08816938e+02] [ 5.51437353e-02 9.98478313e-01 -4.76175727e-04 1.21554162e+01] [ 1.95607468e-02 -6.03486426e-04 9.99808488e-01 6.54917165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4792541539999 meters Centerline goodness [0,1] 0.9987380111055023 Centerline is valid? [True, True] Translation: X:708.85, Y:12.15, Z:6.55 [[ 9.98171205e-01 -5.70068819e-02 -2.01112368e-02 7.08848159e+02] [ 5.70086087e-02 9.98373568e-01 -4.87907914e-04 1.21542999e+01] [ 2.01063414e-02 -6.59498000e-04 9.99797630e-01 6.54980637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5092541539999 meters Centerline goodness [0,1] 0.9986964109249175 Centerline is valid? [True, True] Translation: X:708.88, Y:12.16, Z:6.55 [[ 9.98042679e-01 -5.89770246e-02 -2.07971594e-02 7.08880287e+02] [ 5.89793232e-02 9.98259078e-01 -5.03362796e-04 1.21570761e+01] [ 2.07906400e-02 -7.24224833e-04 9.99783589e-01 6.55121244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5392541539999 meters Centerline goodness [0,1] 0.9986721466961745 Centerline is valid? [True, True] Translation: X:708.91, Y:12.15, Z:6.55 [[ 9.97731768e-01 -6.38253268e-02 -2.13926668e-02 7.08910464e+02] [ 6.38288867e-02 9.97960724e-01 -5.17059315e-04 1.21515126e+01] [ 2.13820427e-02 -8.49583603e-04 9.99771017e-01 6.55098760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5692541539999 meters Centerline goodness [0,1] 0.9984853584651633 Centerline is valid? [True, True] Translation: X:708.94, Y:12.15, Z:6.55 [[ 9.97552670e-01 -6.65883663e-02 -2.13227601e-02 7.08941325e+02] [ 6.65925477e-02 9.97780120e-01 -5.14675977e-04 1.21510715e+01] [ 2.13096975e-02 -9.06520522e-04 9.99772512e-01 6.55162978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5992541539999 meters Centerline goodness [0,1] 0.9984657096618256 Centerline is valid? [True, True] Translation: X:708.97, Y:12.15, Z:6.55 [[ 9.97384908e-01 -6.92247403e-02 -2.07673195e-02 7.08971935e+02] [ 6.92292966e-02 9.97600649e-01 -5.00315367e-04 1.21480503e+01] [ 2.07521256e-02 -9.38699926e-04 9.99784211e-01 6.55178712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6292541539999 meters Centerline goodness [0,1] 0.9985080585849672 Centerline is valid? [True, True] Translation: X:709.00, Y:12.15, Z:6.55 [[ 9.97066242e-01 -7.37883406e-02 -2.03516567e-02 7.09003085e+02] [ 7.37936755e-02 9.97273410e-01 -4.89755698e-04 1.21450259e+01] [ 2.03323043e-02 -1.01350467e-03 9.99792764e-01 6.55180448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6592541539999 meters Centerline goodness [0,1] 0.9985490484701924 Centerline is valid? [True, True] Translation: X:709.03, Y:12.14, Z:6.55 [[ 9.96899996e-01 -7.61560595e-02 -1.97649326e-02 7.09033143e+02] [ 7.61615773e-02 9.97095376e-01 -4.74510056e-04 1.21419039e+01] [ 1.97436598e-02 -1.03228937e-03 9.99804542e-01 6.55274750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6892541539999 meters Centerline goodness [0,1] 0.9985499327505044 Centerline is valid? [True, True] Translation: X:709.06, Y:12.14, Z:6.55 [[ 9.96796953e-01 -7.74708681e-02 -1.98519085e-02 7.09064722e+02] [ 7.74767234e-02 9.96994048e-01 -4.75144379e-04 1.21428179e+01] [ 1.98290445e-02 -1.06443836e-03 9.99802819e-01 6.55243281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7192541539999 meters Centerline goodness [0,1] 0.9985728676964406 Centerline is valid? [True, True] Translation: X:709.10, Y:12.14, Z:6.55 [[ 9.96699833e-01 -7.86101603e-02 -2.02456251e-02 7.09095583e+02] [ 7.86165036e-02 9.96904816e-01 -4.83628140e-04 1.21375813e+01] [ 2.02209792e-02 -1.10960817e-03 9.99794919e-01 6.55125357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7492541539999 meters Centerline goodness [0,1] 0.9985321562624505 Centerline is valid? [True, True] Translation: X:709.13, Y:12.14, Z:6.55 [[ 9.96602038e-01 -8.00502930e-02 -1.93992119e-02 7.09127577e+02] [ 8.00564096e-02 9.96790227e-01 -4.62330950e-04 1.21415422e+01] [ 1.93739546e-02 -1.09227129e-03 9.99811711e-01 6.55390578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7792541539999 meters Centerline goodness [0,1] 0.9986163522012579 Centerline is valid? [True, True] Translation: X:709.16, Y:12.14, Z:6.55 [[ 9.96484783e-01 -8.13861470e-02 -1.98588146e-02 7.09159137e+02] [ 8.13928469e-02 9.96681986e-01 -4.71993789e-04 1.21395412e+01] [ 1.98313365e-02 -1.14603083e-03 9.99802683e-01 6.55388282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8092541539999 meters Centerline goodness [0,1] 0.9983035583387438 Centerline is valid? [True, True] Translation: X:709.19, Y:12.14, Z:6.55 [[ 9.96466585e-01 -8.14343867e-02 -2.05617553e-02 7.09191297e+02] [ 8.14416077e-02 9.96677996e-01 -4.87341802e-04 1.21390417e+01] [ 2.05331355e-02 -1.18896259e-03 9.99788466e-01 6.55198156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.839254154 meters Centerline goodness [0,1] 0.9985112495020024 Centerline is valid? [True, True] Translation: X:709.22, Y:12.14, Z:6.55 [[ 9.96442518e-01 -8.19490426e-02 -1.96637675e-02 7.09223613e+02] [ 8.19557742e-02 9.96635859e-01 -4.64638589e-04 1.21398759e+01] [ 1.96356925e-02 -1.14857364e-03 9.99806541e-01 6.55472421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8692541539999 meters Centerline goodness [0,1] 0.9984900278925403 Centerline is valid? [True, True] Translation: X:709.26, Y:12.14, Z:6.56 [[ 9.96496756e-01 -8.13944723e-02 -1.92134109e-02 7.09255007e+02] [ 8.14008196e-02 9.96681344e-01 -4.52780632e-04 1.21379935e+01] [ 1.91865020e-02 -1.11279296e-03 9.99815303e-01 6.55520076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8992541539999 meters Centerline goodness [0,1] 0.9986176562990889 Centerline is valid? [True, True] Translation: X:709.29, Y:12.14, Z:6.56 [[ 9.96567143e-01 -8.05945407e-02 -1.89327886e-02 7.09287281e+02] [ 8.06005826e-02 9.96746381e-01 -4.44964065e-04 1.21413080e+01] [ 1.89070502e-02 -1.08255723e-03 9.99820660e-01 6.55524235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9292541539999 meters Centerline goodness [0,1] 0.9985345531433835 Centerline is valid? [True, True] Translation: X:709.32, Y:12.14, Z:6.56 [[ 9.96663144e-01 -7.96217792e-02 -1.79707878e-02 7.09319669e+02] [ 7.96270878e-02 9.96824633e-01 -4.21082819e-04 1.21427184e+01] [ 1.79472513e-02 -1.01128377e-03 9.99838424e-01 6.55699021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.959254154 meters Centerline goodness [0,1] 0.998575229953695 Centerline is valid? [True, True] Translation: X:709.35, Y:12.14, Z:6.56 [[ 9.96900024e-01 -7.67220818e-02 -1.74374181e-02 7.09350620e+02] [ 7.67266540e-02 9.97052082e-01 -4.07639268e-04 1.21436654e+01] [ 1.74172890e-02 -9.31539152e-04 9.99847874e-01 6.55727655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9892541539999 meters Centerline goodness [0,1] 0.9987002096436058 Centerline is valid? [True, True] Translation: X:709.38, Y:12.15, Z:6.56 [[ 9.97072421e-01 -7.45043512e-02 -1.71955880e-02 7.09381592e+02] [ 7.45084789e-02 9.97220299e-01 -4.01376025e-04 1.21487903e+01] [ 1.71776937e-02 -8.81016144e-04 9.99852064e-01 6.55789297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0192541539999 meters Centerline goodness [0,1] 0.9988871624742788 Centerline is valid? [True, True] Translation: X:709.41, Y:12.15, Z:6.56 [[ 9.97248942e-01 -7.20450456e-02 -1.74372919e-02 7.09413411e+02] [ 7.20489289e-02 9.97401016e-01 -4.06235580e-04 1.21531575e+01] [ 1.74212399e-02 -8.51220198e-04 9.99847876e-01 6.55837766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0492541539999 meters Centerline goodness [0,1] 0.9986572957096402 Centerline is valid? [True, True] Translation: X:709.44, Y:12.16, Z:6.56 [[ 9.97589559e-01 -6.68477904e-02 -1.86130472e-02 7.09443260e+02] [ 6.68513223e-02 9.97762854e-01 -4.33082213e-04 1.21576805e+01] [ 1.86003576e-02 -8.12268521e-04 9.99826668e-01 6.55750410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.079254154 meters Centerline goodness [0,1] 0.9989079530419808 Centerline is valid? [True, True] Translation: X:709.47, Y:12.16, Z:6.56 [[ 9.97779629e-01 -6.38289320e-02 -1.90178935e-02 7.09473955e+02] [ 6.38320783e-02 9.97960555e-01 -4.42161523e-04 1.21603306e+01] [ 1.90073302e-02 -7.72771904e-04 9.99819046e-01 6.55676134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1092541539999 meters Centerline goodness [0,1] 0.9989079530419808 Centerline is valid? [True, True] Translation: X:709.51, Y:12.16, Z:6.56 [[ 9.97784087e-01 -6.37591912e-02 -1.90179168e-02 7.09505662e+02] [ 6.37623440e-02 9.97965014e-01 -4.41156733e-04 1.21610023e+01] [ 1.90073434e-02 -7.72447784e-04 9.99819046e-01 6.55705835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1392541539999 meters Centerline goodness [0,1] 0.9988668555240793 Centerline is valid? [True, True] Translation: X:709.54, Y:12.17, Z:6.56 [[ 9.97960355e-01 -6.09089236e-02 -1.91110703e-02 7.09536780e+02] [ 6.09116047e-02 9.98143066e-01 -4.42312826e-04 1.21658985e+01] [ 1.91025231e-02 -7.22675292e-04 9.99817269e-01 6.55752828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1692541539999 meters Centerline goodness [0,1] 0.9987633360581861 Centerline is valid? [True, True] Translation: X:709.57, Y:12.17, Z:6.56 [[ 9.98244989e-01 -5.61794233e-02 -1.87300180e-02 7.09566797e+02] [ 5.61811730e-02 9.98420497e-01 -4.33167096e-04 1.21718314e+01] [ 1.87247690e-02 -6.19867501e-04 9.99824484e-01 6.55971150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.199254154 meters Centerline goodness [0,1] 0.9988450473530586 Centerline is valid? [True, True] Translation: X:709.60, Y:12.18, Z:6.56 [[ 9.98358609e-01 -5.41772208e-02 -1.85719123e-02 7.09598617e+02] [ 5.41786042e-02 9.98531169e-01 -4.29015984e-04 1.21760821e+01] [ 1.85678762e-02 -5.77888487e-04 9.99827435e-01 6.56067164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2292541539999 meters Centerline goodness [0,1] 0.998886788489813 Centerline is valid? [True, True] Translation: X:709.63, Y:12.18, Z:6.56 [[ 9.98470212e-01 -5.20174605e-02 -1.87462064e-02 7.09629700e+02] [ 5.20185056e-02 9.98646028e-01 -4.32194266e-04 1.21797205e+01] [ 1.87433062e-02 -5.43616545e-04 9.99824181e-01 6.56076230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2592541539999 meters Centerline goodness [0,1] 0.9988437362036706 Centerline is valid? [True, True] Translation: X:709.66, Y:12.18, Z:6.56 [[ 9.98607780e-01 -4.89948937e-02 -1.95448652e-02 7.09660053e+02] [ 4.89954740e-02 9.98798899e-01 -4.49444658e-04 1.21832180e+01] [ 1.95434103e-02 -5.08791001e-04 9.99808880e-01 6.56082423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2892541539999 meters Centerline goodness [0,1] 0.998885360365097 Centerline is valid? [True, True] Translation: X:709.69, Y:12.19, Z:6.56 [[ 9.98676348e-01 -4.75507819e-02 -1.96080620e-02 7.09691305e+02] [ 4.75511098e-02 9.98868705e-01 -4.49779026e-04 1.21861350e+01] [ 1.96072669e-02 -4.83201436e-04 9.99807642e-01 6.56109754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3192541539999 meters Centerline goodness [0,1] 0.9988004293200329 Centerline is valid? [True, True] Translation: X:709.72, Y:12.19, Z:6.56 [[ 9.98729014e-01 -4.57720045e-02 -2.11016673e-02 7.09721494e+02] [ 4.57719998e-02 9.98951796e-01 -4.83461496e-04 1.21866010e+01] [ 2.11016774e-02 -4.83018489e-04 9.99777218e-01 6.55806178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3492541539999 meters Centerline goodness [0,1] 0.9990535083291266 Centerline is valid? [True, True] Translation: X:709.75, Y:12.19, Z:6.56 [[ 9.98758844e-01 -4.53657677e-02 -2.05601306e-02 7.09751869e+02] [ 4.53656805e-02 9.98970337e-01 -4.70889555e-04 1.21886467e+01] [ 2.05603228e-02 -4.62419208e-04 9.99788507e-01 6.56021135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3792541539999 meters Centerline goodness [0,1] 0.9987806416347812 Centerline is valid? [True, True] Translation: X:709.78, Y:12.19, Z:6.56 [[ 9.98835286e-01 -4.39501569e-02 -1.99112068e-02 7.09783025e+02] [ 4.39498016e-02 9.99033637e-01 -4.55648094e-04 1.21922630e+01] [ 1.99119911e-02 -4.19976192e-04 9.99801648e-01 6.56185889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4092541539999 meters Centerline goodness [0,1] 0.9988224409117672 Centerline is valid? [True, True] Translation: X:709.81, Y:12.19, Z:6.56 [[ 9.98864063e-01 -4.36042806e-02 -1.92158794e-02 7.09814630e+02] [ 4.36038987e-02 9.99048801e-01 -4.39056592e-04 1.21935541e+01] [ 1.92167461e-02 -3.99329410e-04 9.99815262e-01 6.56319049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4392541539999 meters Centerline goodness [0,1] 0.9990549990549991 Centerline is valid? [True, True] Translation: X:709.85, Y:12.19, Z:6.56 [[ 9.98913372e-01 -4.33894120e-02 -1.70127404e-02 7.09845812e+02] [ 4.33890935e-02 9.99058175e-01 -3.88007806e-04 1.21938423e+01] [ 1.70135528e-02 -3.50581198e-04 9.99855198e-01 6.56495888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4692541539999 meters Centerline goodness [0,1] 0.99869851798984 Centerline is valid? [True, True] Translation: X:709.88, Y:12.19, Z:6.56 [[ 9.98922721e-01 -4.31308310e-02 -1.71210095e-02 7.09878340e+02] [ 4.31304885e-02 9.99069372e-01 -3.89419655e-04 1.21939009e+01] [ 1.71218722e-02 -3.49437363e-04 9.99853349e-01 6.56397971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4992541539999 meters Centerline goodness [0,1] 0.9989065522752124 Centerline is valid? [True, True] Translation: X:709.91, Y:12.20, Z:6.57 [[ 9.98915911e-01 -4.36528587e-02 -1.61688279e-02 7.09910079e+02] [ 4.36526398e-02 9.99046702e-01 -3.66635125e-04 1.21955405e+01] [ 1.61694188e-02 -3.39574359e-04 9.99869209e-01 6.56664531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5292541539999 meters Centerline goodness [0,1] 0.9987192138912802 Centerline is valid? [True, True] Translation: X:709.94, Y:12.19, Z:6.57 [[ 9.98907765e-01 -4.38132944e-02 -1.62379636e-02 7.09941229e+02] [ 4.38131195e-02 9.99039677e-01 -3.66682070e-04 1.21937795e+01] [ 1.62384355e-02 -3.45154272e-04 9.99868088e-01 6.56500742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5592541539999 meters Centerline goodness [0,1] 0.9989918084436042 Centerline is valid? [True, True] Translation: X:709.97, Y:12.19, Z:6.57 [[ 9.98822168e-01 -4.57324814e-02 -1.62116526e-02 7.09971952e+02] [ 4.57325819e-02 9.98953652e-01 -3.64718500e-04 1.21912912e+01] [ 1.62113691e-02 -3.77111809e-04 9.99868516e-01 6.56570678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.589254154 meters Centerline goodness [0,1] 0.9987427182431583 Centerline is valid? [True, True] Translation: X:710.00, Y:12.19, Z:6.57 [[ 9.98774411e-01 -4.68686335e-02 -1.59061928e-02 7.10003849e+02] [ 4.68688869e-02 9.98900986e-01 -3.57048228e-04 1.21923846e+01] [ 1.59054461e-02 -3.88894919e-04 9.99873425e-01 6.56549920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6192541539999 meters Centerline goodness [0,1] 0.9986766929927743 Centerline is valid? [True, True] Translation: X:710.03, Y:12.19, Z:6.56 [[ 9.98698313e-01 -4.82034358e-02 -1.66765911e-02 7.10034963e+02] [ 4.82039189e-02 9.98837446e-01 -3.73229311e-04 1.21882497e+01] [ 1.66751946e-02 -4.31133563e-04 9.99860866e-01 6.56399861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6492541539999 meters Centerline goodness [0,1] 0.9988475158728496 Centerline is valid? [True, True] Translation: X:710.07, Y:12.19, Z:6.56 [[ 9.98627570e-01 -4.95917630e-02 -1.68414065e-02 7.10066346e+02] [ 4.95924743e-02 9.98769466e-01 -3.75648801e-04 1.21865986e+01] [ 1.68393117e-02 -4.60073770e-04 9.99858103e-01 6.56374561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6792541539999 meters Centerline goodness [0,1] 0.9988454352709029 Centerline is valid? [True, True] Translation: X:710.10, Y:12.19, Z:6.56 [[ 9.98470629e-01 -5.26067463e-02 -1.69980121e-02 7.10098325e+02] [ 5.26079329e-02 9.98615173e-01 -3.77639919e-04 1.21870766e+01] [ 1.69943392e-02 -5.17167913e-04 9.99855452e-01 6.56418609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.709254154 meters Centerline goodness [0,1] 0.9988026467808003 Centerline is valid? [True, True] Translation: X:710.13, Y:12.19, Z:6.56 [[ 9.98420412e-01 -5.35608258e-02 -1.69681724e-02 7.10130318e+02] [ 5.35621669e-02 9.98564446e-01 -3.75740896e-04 1.21885936e+01] [ 1.69639386e-02 -5.33704700e-04 9.99855960e-01 6.56493104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7392541539999 meters Centerline goodness [0,1] 0.9988221436984688 Centerline is valid? [True, True] Translation: X:710.16, Y:12.19, Z:6.57 [[ 9.98386705e-01 -5.41618926e-02 -1.70433785e-02 7.10162302e+02] [ 5.41633547e-02 9.98532017e-01 -3.76137841e-04 1.21881025e+01] [ 1.70387314e-02 -5.47595534e-04 9.99854680e-01 6.56524800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7692541539999 meters Centerline goodness [0,1] 0.9990131026373257 Centerline is valid? [True, True] Translation: X:710.19, Y:12.19, Z:6.57 [[ 9.98389394e-01 -5.41404595e-02 -1.69537128e-02 7.10193096e+02] [ 5.41419304e-02 9.98533181e-01 -3.72554208e-04 1.21858820e+01] [ 1.69490150e-02 -5.45952569e-04 9.99856206e-01 6.56505805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7992541539999 meters Centerline goodness [0,1] 0.999012376809767 Centerline is valid? [True, True] Translation: X:710.23, Y:12.19, Z:6.57 [[ 9.98399420e-01 -5.38906176e-02 -1.71580844e-02 7.10225061e+02] [ 5.38921168e-02 9.98546693e-01 -3.75326798e-04 1.21872077e+01] [ 1.71533750e-02 -5.49959432e-04 9.99852719e-01 6.56575185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.829254154 meters Centerline goodness [0,1] 0.9985298441634813 Centerline is valid? [True, True] Translation: X:710.26, Y:12.19, Z:6.56 [[ 9.98438114e-01 -5.29515003e-02 -1.78177012e-02 7.10257246e+02] [ 5.29529915e-02 9.98596931e-01 -3.88417796e-04 1.21868755e+01] [ 1.78132691e-02 -5.55689449e-04 9.99841177e-01 6.56371023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8592541539999 meters Centerline goodness [0,1] 0.999058005903163 Centerline is valid? [True, True] Translation: X:710.29, Y:12.19, Z:6.57 [[ 9.98468005e-01 -5.26661939e-02 -1.69680424e-02 7.10288270e+02] [ 5.26675318e-02 9.98612035e-01 -3.68319724e-04 1.21860563e+01] [ 1.69638893e-02 -5.25909451e-04 9.99855965e-01 6.56511367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8892541539999 meters Centerline goodness [0,1] 0.999056089272979 Centerline is valid? [True, True] Translation: X:710.32, Y:12.19, Z:6.57 [[ 9.98486824e-01 -5.27573946e-02 -1.55151373e-02 7.10320088e+02] [ 5.27585470e-02 9.98607242e-01 -3.35301516e-04 1.21855945e+01] [ 1.55112181e-02 -4.83761953e-04 9.99879577e-01 6.56703633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9192541539999 meters Centerline goodness [0,1] 0.9989090985377724 Centerline is valid? [True, True] Translation: X:710.35, Y:12.18, Z:6.57 [[ 9.98498657e-01 -5.25468002e-02 -1.54682203e-02 7.10352779e+02] [ 5.25479375e-02 9.98618347e-01 -3.33181029e-04 1.21848209e+01] [ 1.54643561e-02 -4.80142261e-04 9.99880304e-01 6.56710475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.949254154 meters Centerline goodness [0,1] 0.9988035766760421 Centerline is valid? [True, True] Translation: X:710.39, Y:12.19, Z:6.57 [[ 9.98462587e-01 -5.31959440e-02 -1.55773528e-02 7.10385246e+02] [ 5.31971940e-02 9.98583971e-01 -3.34396290e-04 1.21852105e+01] [ 1.55730834e-02 -4.94789275e-04 9.99878610e-01 6.56724408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9792541539999 meters Centerline goodness [0,1] 0.9992029867024623 Centerline is valid? [True, True] Translation: X:710.42, Y:12.18, Z:6.57 [[ 9.98425090e-01 -5.38772021e-02 -1.56393007e-02 7.10417200e+02] [ 5.38785638e-02 9.98547439e-01 -3.34562406e-04 1.21844985e+01] [ 1.56346089e-02 -5.08587558e-04 9.99877643e-01 6.56744349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0092541539999 meters Centerline goodness [0,1] 0.9989733059548255 Centerline is valid? [True, True] Translation: X:710.45, Y:12.18, Z:6.57 [[ 9.98376916e-01 -5.46787722e-02 -1.59300455e-02 7.10449142e+02] [ 5.46803060e-02 9.98503855e-01 -3.39584302e-04 1.21847071e+01] [ 1.59247799e-02 -5.32026634e-04 9.99873051e-01 6.56661313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0392541539999 meters Centerline goodness [0,1] 0.9986988730561793 Centerline is valid? [True, True] Translation: X:710.48, Y:12.18, Z:6.57 [[ 9.98249075e-01 -5.68097694e-02 -1.64752846e-02 7.10480208e+02] [ 5.68117184e-02 9.98384849e-01 -3.50083630e-04 1.21792846e+01] [ 1.64685627e-02 -5.86518567e-04 9.99864212e-01 6.56520275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0692541539999 meters Centerline goodness [0,1] 0.9990148815761895 Centerline is valid? [True, True] Translation: X:710.51, Y:12.18, Z:6.57 [[ 9.98128265e-01 -5.88749249e-02 -1.65441642e-02 7.10511879e+02] [ 5.88771887e-02 9.98265172e-01 -3.50624531e-04 1.21810641e+01] [ 1.65361059e-02 -6.24105623e-04 9.99863074e-01 6.56723476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0992541539999 meters Centerline goodness [0,1] 0.9988690625785374 Centerline is valid? [True, True] Translation: X:710.54, Y:12.18, Z:6.57 [[ 9.98002007e-01 -6.08326396e-02 -1.70699801e-02 7.10543289e+02] [ 6.08353519e-02 9.98147749e-01 -3.60811147e-04 1.21789486e+01] [ 1.70603114e-02 -6.78368000e-04 9.99854232e-01 6.56702528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1292541539999 meters Centerline goodness [0,1] 0.9988910045824527 Centerline is valid? [True, True] Translation: X:710.58, Y:12.18, Z:6.57 [[ 9.97859390e-01 -6.29998525e-02 -1.75401606e-02 7.10575035e+02] [ 6.30030676e-02 9.98013265e-01 -3.69773794e-04 1.21778249e+01] [ 1.75286086e-02 -7.36101670e-04 9.99846091e-01 6.56690561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1592541539999 meters Centerline goodness [0,1] 0.9985738853236023 Centerline is valid? [True, True] Translation: X:710.61, Y:12.18, Z:6.57 [[ 9.97614347e-01 -6.67351343e-02 -1.76645338e-02 7.10605827e+02] [ 6.67389950e-02 9.97770399e-01 -3.71513666e-04 1.21753571e+01] [ 1.76499419e-02 -8.08285868e-04 9.99843901e-01 6.56740696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1892541539999 meters Centerline goodness [0,1] 0.9985316020221938 Centerline is valid? [True, True] Translation: X:710.64, Y:12.18, Z:6.57 [[ 9.97537394e-01 -6.79547999e-02 -1.73578060e-02 7.10638423e+02] [ 6.79587289e-02 9.97688067e-01 -3.64076087e-04 1.21750875e+01] [ 1.73424166e-02 -8.16434920e-04 9.99849276e-01 6.56791216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2192541539999 meters Centerline goodness [0,1] 0.9988077059844792 Centerline is valid? [True, True] Translation: X:710.67, Y:12.18, Z:6.57 [[ 9.97489386e-01 -6.88473097e-02 -1.65823205e-02 7.10670825e+02] [ 6.88510381e-02 9.97626891e-01 -3.46629442e-04 1.21763102e+01] [ 1.65668334e-02 -7.95950794e-04 9.99862444e-01 6.56891548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2492541539999 meters Centerline goodness [0,1] 0.9983864207879296 Centerline is valid? [True, True] Translation: X:710.70, Y:12.18, Z:6.57 [[ 9.97478904e-01 -6.92799978e-02 -1.53661630e-02 7.10702059e+02] [ 6.92832652e-02 9.97596976e-01 -3.20240929e-04 1.21758600e+01] [ 1.53514240e-02 -7.45184376e-04 9.99881882e-01 6.56966461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2792541539999 meters Centerline goodness [0,1] 0.9984290890811218 Centerline is valid? [True, True] Translation: X:710.73, Y:12.18, Z:6.57 [[ 9.97514935e-01 -6.87254551e-02 -1.55166684e-02 7.10733768e+02] [ 6.87287348e-02 9.97635333e-01 -3.22417449e-04 1.21770998e+01] [ 1.55021349e-02 -7.44824766e-04 9.99879557e-01 6.57008491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3092541539999 meters Centerline goodness [0,1] 0.9985541865727936 Centerline is valid? [True, True] Translation: X:710.77, Y:12.18, Z:6.57 [[ 9.97606368e-01 -6.74058156e-02 -1.54269526e-02 7.10766126e+02] [ 6.74089174e-02 9.97725381e-01 -3.19431839e-04 1.21824971e+01] [ 1.54133937e-02 -7.21246935e-04 9.99880946e-01 6.56919954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.339254154 meters Centerline goodness [0,1] 0.998743534437627 Centerline is valid? [True, True] Translation: X:710.80, Y:12.18, Z:6.57 [[ 9.97753702e-01 -6.51435202e-02 -1.56164161e-02 7.10796428e+02] [ 6.51464349e-02 9.97875663e-01 -3.22531821e-04 1.21849036e+01] [ 1.56042524e-02 -6.95546514e-04 9.99878004e-01 6.57032185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3692541539999 meters Centerline goodness [0,1] 0.9985966529124688 Centerline is valid? [True, True] Translation: X:710.83, Y:12.19, Z:6.57 [[ 9.97844666e-01 -6.37086482e-02 -1.57235779e-02 7.10828182e+02] [ 6.37114352e-02 9.97968310e-01 -3.24111729e-04 1.21872338e+01] [ 1.57122812e-02 -6.78358554e-04 9.99876324e-01 6.57074565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3992541539999 meters Centerline goodness [0,1] 0.9984293193717277 Centerline is valid? [True, True] Translation: X:710.86, Y:12.19, Z:6.57 [[ 9.97955737e-01 -6.19693389e-02 -1.56252323e-02 7.10860921e+02] [ 6.19718977e-02 9.98077843e-01 -3.20846898e-04 1.21894423e+01] [ 1.56150808e-02 -6.48134292e-04 9.99877867e-01 6.56944173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4292541539999 meters Centerline goodness [0,1] 0.9985144578817424 Centerline is valid? [True, True] Translation: X:710.89, Y:12.19, Z:6.57 [[ 9.98128562e-01 -5.93877051e-02 -1.45764988e-02 7.10892578e+02] [ 5.93896726e-02 9.98234831e-01 -2.98242174e-04 1.21928810e+01] [ 1.45684807e-02 -5.68009456e-04 9.99893713e-01 6.57037529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.459254154 meters Centerline goodness [0,1] 0.9988473226448706 Centerline is valid? [True, True] Translation: X:710.92, Y:12.19, Z:6.57 [[ 9.98148211e-01 -5.92713139e-02 -1.36769817e-02 7.10924763e+02] [ 5.92730457e-02 9.98241768e-01 -2.79054878e-04 1.21947939e+01] [ 1.36694744e-02 -5.32138236e-04 9.99906427e-01 6.57329629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4892541539999 meters Centerline goodness [0,1] 0.9985733168285672 Centerline is valid? [True, True] Translation: X:710.96, Y:12.20, Z:6.57 [[ 9.98187308e-01 -5.85601126e-02 -1.38856342e-02 7.10956596e+02] [ 5.85618428e-02 9.98283743e-01 -2.82310755e-04 1.21966698e+01] [ 1.38783350e-02 -5.31369313e-04 9.99903550e-01 6.57351477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5192541539999 meters Centerline goodness [0,1] 0.998845895585026 Centerline is valid? [True, True] Translation: X:710.99, Y:12.20, Z:6.57 [[ 9.98235783e-01 -5.76365799e-02 -1.42599641e-02 7.10989246e+02] [ 5.76383267e-02 9.98337488e-01 -2.88796868e-04 1.22010153e+01] [ 1.42529020e-02 -5.33633104e-04 9.99898280e-01 6.57361570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5492541539999 meters Centerline goodness [0,1] 0.9985929394963984 Centerline is valid? [True, True] Translation: X:711.02, Y:12.20, Z:6.57 [[ 9.98229937e-01 -5.75601018e-02 -1.49608812e-02 7.11021113e+02] [ 5.75620354e-02 9.98341886e-01 -3.01695258e-04 1.22045397e+01] [ 1.49534400e-02 -5.60017537e-04 9.99888034e-01 6.57339110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.579254154 meters Centerline goodness [0,1] 0.9987614929258155 Centerline is valid? [True, True] Translation: X:711.05, Y:12.21, Z:6.57 [[ 9.98236325e-01 -5.71824802e-02 -1.59500329e-02 7.11053143e+02] [ 5.71846494e-02 9.98363568e-01 -3.20419268e-04 1.22055459e+01] [ 1.59422541e-02 -5.92242883e-04 9.99872739e-01 6.57201140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6092541539999 meters Centerline goodness [0,1] 0.9987573715248526 Centerline is valid? [True, True] Translation: X:711.08, Y:12.21, Z:6.57 [[ 9.98180072e-01 -5.77313307e-02 -1.74251872e-02 7.11084904e+02] [ 5.77340267e-02 9.98331939e-01 -3.48713632e-04 1.22071285e+01] [ 1.74162526e-02 -6.57947224e-04 9.99848109e-01 6.57171552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6392541539999 meters Centerline goodness [0,1] 0.9989252070556995 Centerline is valid? [True, True] Translation: X:711.12, Y:12.21, Z:6.57 [[ 9.98160171e-01 -5.78326897e-02 -1.82113636e-02 7.11116663e+02] [ 5.78356763e-02 9.98326050e-01 -3.63081123e-04 1.22096031e+01] [ 1.82018767e-02 -6.90853414e-04 9.99834093e-01 6.57208113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6692541539999 meters Centerline goodness [0,1] 0.9986512402267602 Centerline is valid? [True, True] Translation: X:711.15, Y:12.21, Z:6.57 [[ 9.98158543e-01 -5.78531821e-02 -1.82354776e-02 7.11149191e+02] [ 5.78562045e-02 9.98324861e-01 -3.62220623e-04 1.22109972e+01] [ 1.82258863e-02 -6.93481913e-04 9.99833654e-01 6.57224546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.699254154 meters Centerline goodness [0,1] 0.9989462148035745 Centerline is valid? [True, True] Translation: X:711.18, Y:12.21, Z:6.57 [[ 9.98159688e-01 -5.77276620e-02 -1.85675466e-02 7.11180164e+02] [ 5.77307961e-02 9.98332119e-01 -3.67615888e-04 1.22125964e+01] [ 1.85577997e-02 -7.04979885e-04 9.99827541e-01 6.57281553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7292541539999 meters Centerline goodness [0,1] 0.9987589137339868 Centerline is valid? [True, True] Translation: X:711.21, Y:12.21, Z:6.57 [[ 9.98191453e-01 -5.73902579e-02 -1.78936229e-02 7.11211667e+02] [ 5.73931314e-02 9.98351593e-01 -3.53318701e-04 1.22146749e+01] [ 1.78844039e-02 -6.74291341e-04 9.99839834e-01 6.57355332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7592541539999 meters Centerline goodness [0,1] 0.99854605221569 Centerline is valid? [True, True] Translation: X:711.24, Y:12.22, Z:6.57 [[ 9.98169057e-01 -5.77493728e-02 -1.79872930e-02 7.11243964e+02] [ 5.77523549e-02 9.98330877e-01 -3.54042910e-04 1.22156476e+01] [ 1.79777157e-02 -6.85413850e-04 9.99838153e-01 6.57387220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7892541539999 meters Centerline goodness [0,1] 0.9986305987443644 Centerline is valid? [True, True] Translation: X:711.28, Y:12.22, Z:6.57 [[ 9.98171811e-01 -5.76945520e-02 -1.80104172e-02 7.11275453e+02] [ 5.76975626e-02 9.98334046e-01 -3.52851875e-04 1.22163814e+01] [ 1.80007703e-02 -6.86950379e-04 9.99837737e-01 6.57431244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8192541539999 meters Centerline goodness [0,1] 0.9982907786452838 Centerline is valid? [True, True] Translation: X:711.31, Y:12.22, Z:6.57 [[ 9.98170797e-01 -5.80475408e-02 -1.68980247e-02 7.11306406e+02] [ 5.80502649e-02 9.98313607e-01 -3.29668603e-04 1.22170180e+01] [ 1.68886644e-02 -6.51869237e-04 9.99857164e-01 6.57393486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8492541539999 meters Centerline goodness [0,1] 0.9985638859556494 Centerline is valid? [True, True] Translation: X:711.34, Y:12.22, Z:6.58 [[ 9.98143604e-01 -5.87592640e-02 -1.60216642e-02 7.11338304e+02] [ 5.87618192e-02 9.98271983e-01 -3.11638025e-04 1.22179438e+01] [ 1.60122901e-02 -6.30402632e-04 9.99871596e-01 6.57517882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8792541539999 meters Centerline goodness [0,1] 0.9986091207957515 Centerline is valid? [True, True] Translation: X:711.37, Y:12.22, Z:6.58 [[ 9.98108130e-01 -5.95402711e-02 -1.53335563e-02 7.11369957e+02] [ 5.95427227e-02 9.98225714e-01 -2.97001648e-04 1.22184201e+01] [ 1.53240338e-02 -6.16561933e-04 9.99882390e-01 6.57667605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9092541539999 meters Centerline goodness [0,1] 0.998500021126463 Centerline is valid? [True, True] Translation: X:711.40, Y:12.22, Z:6.58 [[ 9.98101465e-01 -5.96609641e-02 -1.52981728e-02 7.11401912e+02] [ 5.96634400e-02 9.98218507e-01 -2.94910124e-04 1.22219400e+01] [ 1.52885138e-02 -6.18391386e-04 9.99882933e-01 6.57588108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9392541539999 meters Centerline goodness [0,1] 0.9986712224753227 Centerline is valid? [True, True] Translation: X:711.43, Y:12.22, Z:6.58 [[ 9.98013903e-01 -6.09182613e-02 -1.60379511e-02 7.11433512e+02] [ 6.09211617e-02 9.98142533e-01 -3.08104810e-04 1.22235483e+01] [ 1.60269304e-02 -6.69557729e-04 9.99871336e-01 6.57669305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9692541539999 meters Centerline goodness [0,1] 0.99863324782371 Centerline is valid? [True, True] Translation: X:711.46, Y:12.22, Z:6.58 [[ 9.98006934e-01 -6.09218847e-02 -1.64524443e-02 7.11464280e+02] [ 6.09249523e-02 9.98142300e-01 -3.15167245e-04 1.22227050e+01] [ 1.64410812e-02 -6.87825287e-04 9.99864600e-01 6.57626140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9992541539999 meters Centerline goodness [0,1] 0.9985243586230158 Centerline is valid? [True, True] Translation: X:711.50, Y:12.22, Z:6.58 [[ 9.98014247e-01 -6.07902638e-02 -1.64956703e-02 7.11496272e+02] [ 6.07933463e-02 9.98150324e-01 -3.14984709e-04 1.22249587e+01] [ 1.64843066e-02 -6.88467767e-04 9.99863888e-01 6.57619715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0292541539999 meters Centerline goodness [0,1] 0.9985243586230158 Centerline is valid? [True, True] Translation: X:711.53, Y:12.23, Z:6.58 [[ 9.98018560e-01 -6.07194084e-02 -1.64956926e-02 7.11527985e+02] [ 6.07225005e-02 9.98154637e-01 -3.13813459e-04 1.22254994e+01] [ 1.64843066e-02 -6.88468042e-04 9.99863888e-01 6.57649409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0592541539999 meters Centerline goodness [0,1] 0.9988173927734251 Centerline is valid? [True, True] Translation: X:711.56, Y:12.23, Z:6.58 [[ 9.98038165e-01 -6.02721268e-02 -1.69438078e-02 7.11559679e+02] [ 6.02753455e-02 9.98181737e-01 -3.21117832e-04 1.22275732e+01] [ 1.69323540e-02 -7.00806019e-04 9.99856392e-01 6.57693544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.089254154 meters Centerline goodness [0,1] 0.9986689765908899 Centerline is valid? [True, True] Translation: X:711.59, Y:12.23, Z:6.58 [[ 9.98075708e-01 -5.96325646e-02 -1.69952715e-02 7.11591816e+02] [ 5.96357310e-02 9.98220154e-01 -3.20883485e-04 1.22294118e+01] [ 1.69841577e-02 -6.93259431e-04 9.99855518e-01 6.57721820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1192541539999 meters Centerline goodness [0,1] 0.9986483632523759 Centerline is valid? [True, True] Translation: X:711.62, Y:12.23, Z:6.58 [[ 9.98144450e-01 -5.85014321e-02 -1.68890321e-02 7.11623617e+02] [ 5.85044175e-02 9.98287099e-01 -3.17677005e-04 1.22313614e+01] [ 1.68786874e-02 -6.70995444e-04 9.99857320e-01 6.57746592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1492541539999 meters Centerline goodness [0,1] 0.998793574195187 Centerline is valid? [True, True] Translation: X:711.65, Y:12.23, Z:6.58 [[ 9.98332392e-01 -5.53439288e-02 -1.64159880e-02 7.11654019e+02] [ 5.53463358e-02 9.98467169e-01 -3.08002406e-04 1.22349900e+01] [ 1.64078712e-02 -6.01076008e-04 9.99865201e-01 6.57815229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1792541539999 meters Centerline goodness [0,1] 0.9988365205618548 Centerline is valid? [True, True] Translation: X:711.69, Y:12.24, Z:6.58 [[ 9.98458138e-01 -5.31320492e-02 -1.60727381e-02 7.11686440e+02] [ 5.31340804e-02 9.98587342e-01 -3.00931140e-04 1.22378952e+01] [ 1.60660219e-02 -5.53543015e-04 9.99870780e-01 6.57852466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.209254154 meters Centerline goodness [0,1] 0.9989234374010513 Centerline is valid? [True, True] Translation: X:711.72, Y:12.24, Z:6.58 [[ 9.98588627e-01 -5.05892042e-02 -1.61705330e-02 7.11717323e+02] [ 5.05909416e-02 9.98719413e-01 -3.01870204e-04 1.22402070e+01] [ 1.61650966e-02 -5.16638340e-04 9.99869203e-01 6.57872834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2392541539999 meters Centerline goodness [0,1] 0.9987487275195114 Centerline is valid? [True, True] Translation: X:711.75, Y:12.25, Z:6.58 [[ 9.98849190e-01 -4.50380213e-02 -1.64885751e-02 7.11747646e+02] [ 4.50390773e-02 9.98985179e-01 -3.07475959e-04 1.22468578e+01] [ 1.64856903e-02 -4.35508096e-04 9.99864007e-01 6.57850925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2692541539999 meters Centerline goodness [0,1] 0.99872900205478 Centerline is valid? [True, True] Translation: X:711.78, Y:12.25, Z:6.58 [[ 9.98974067e-01 -4.21994288e-02 -1.64323244e-02 7.11779357e+02] [ 4.22000997e-02 9.99109132e-01 -3.06066663e-04 1.22500269e+01] [ 1.64306012e-02 -3.87693068e-04 9.99864933e-01 6.57869116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2992541539999 meters Centerline goodness [0,1] 0.9987498675707173 Centerline is valid? [True, True] Translation: X:711.81, Y:12.25, Z:6.58 [[ 9.99070867e-01 -3.96981946e-02 -1.67766288e-02 7.11810950e+02] [ 3.96985539e-02 9.99211653e-01 -3.11742119e-04 1.22535587e+01] [ 1.67757786e-02 -3.54555434e-04 9.99859214e-01 6.57895672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.329254154 meters Centerline goodness [0,1] 0.9987702745680059 Centerline is valid? [True, True] Translation: X:711.84, Y:12.26, Z:6.58 [[ 9.99211134e-01 -3.59060552e-02 -1.69665743e-02 7.11841505e+02] [ 3.59058912e-02 9.99355126e-01 -3.14389315e-04 1.22588425e+01] [ 1.69669215e-02 -2.95058667e-04 9.99856008e-01 6.57944737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3592541539999 meters Centerline goodness [0,1] 0.9988963409457509 Centerline is valid? [True, True] Translation: X:711.87, Y:12.26, Z:6.58 [[ 9.99254151e-01 -3.46827575e-02 -1.69778564e-02 7.11872470e+02] [ 3.46824328e-02 9.99398334e-01 -3.13652139e-04 1.22607182e+01] [ 1.69785197e-02 -2.75415160e-04 9.99855817e-01 6.57971742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3892541539999 meters Centerline goodness [0,1] 0.9990237069422926 Centerline is valid? [True, True] Translation: X:711.90, Y:12.26, Z:6.58 [[ 9.99264790e-01 -3.45040256e-02 -1.67138064e-02 7.11904098e+02] [ 3.45036950e-02 9.99404523e-01 -3.08226577e-04 1.22613389e+01] [ 1.67144888e-02 -2.68688114e-04 9.99860267e-01 6.57997821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4192541539999 meters Centerline goodness [0,1] 0.9986418809948222 Centerline is valid? [True, True] Translation: X:711.94, Y:12.26, Z:6.58 [[ 9.99219665e-01 -3.58144737e-02 -1.66548456e-02 7.11935763e+02] [ 3.58143371e-02 9.99358414e-01 -3.06562475e-04 1.22643600e+01] [ 1.66551394e-02 -2.90159000e-04 9.99861251e-01 6.58134980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.449254154 meters Centerline goodness [0,1] 0.9987274655355249 Centerline is valid? [True, True] Translation: X:711.97, Y:12.26, Z:6.58 [[ 9.99172305e-01 -3.69504143e-02 -1.70109338e-02 7.11967042e+02] [ 3.69504496e-02 9.99317050e-01 -3.12341177e-04 1.22631121e+01] [ 1.70108573e-02 -3.16478997e-04 9.99855255e-01 6.57966791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4792541539999 meters Centerline goodness [0,1] 0.9986209822849262 Centerline is valid? [True, True] Translation: X:712.00, Y:12.26, Z:6.58 [[ 9.99106034e-01 -3.83358853e-02 -1.78183432e-02 7.11998292e+02] [ 3.83361621e-02 9.99264846e-01 -3.26162672e-04 1.22601368e+01] [ 1.78177477e-02 -3.57215801e-04 9.99841188e-01 6.57746976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5092541539999 meters Centerline goodness [0,1] 0.9986635270158467 Centerline is valid? [True, True] Translation: X:712.03, Y:12.26, Z:6.58 [[ 9.99005035e-01 -4.11964942e-02 -1.70818237e-02 7.12029590e+02] [ 4.11971795e-02 9.99150987e-01 -3.11913190e-04 1.22613446e+01] [ 1.70801707e-02 -3.92120109e-04 9.99854046e-01 6.58071958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5392541539999 meters Centerline goodness [0,1] 0.9987491519674355 Centerline is valid? [True, True] Translation: X:712.06, Y:12.26, Z:6.58 [[ 9.98839528e-01 -4.51445426e-02 -1.67800051e-02 7.12060736e+02] [ 4.51457706e-02 9.98980363e-01 -3.05806446e-04 1.22589365e+01] [ 1.67767011e-02 -4.52094695e-04 9.99859159e-01 6.58090254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5692541539999 meters Centerline goodness [0,1] 0.9986640654819967 Centerline is valid? [True, True] Translation: X:712.09, Y:12.26, Z:6.58 [[ 9.98752423e-01 -4.71971092e-02 -1.63104376e-02 7.12092413e+02] [ 4.71985542e-02 9.98885483e-01 -2.96549433e-04 1.22577080e+01] [ 1.63062556e-02 -4.73649606e-04 9.99866932e-01 6.58135767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5992541539999 meters Centerline goodness [0,1] 0.9985792141145535 Centerline is valid? [True, True] Translation: X:712.12, Y:12.26, Z:6.58 [[ 9.98671341e-01 -4.89268369e-02 -1.61777088e-02 7.12124709e+02] [ 4.89285011e-02 9.98802241e-01 -2.93148546e-04 1.22567798e+01] [ 1.61726746e-02 -4.98791991e-04 9.99869089e-01 6.58196748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6292541539999 meters Centerline goodness [0,1] 0.9985572434863786 Centerline is valid? [True, True] Translation: X:712.16, Y:12.25, Z:6.58 [[ 9.98502801e-01 -5.24904463e-02 -1.53918423e-02 7.12157140e+02] [ 5.24923921e-02 9.98621285e-01 -2.77834969e-04 1.22544236e+01] [ 1.53852050e-02 -5.30535628e-04 9.99881500e-01 6.58281651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6592541539999 meters Centerline goodness [0,1] 0.9988156920799408 Centerline is valid? [True, True] Translation: X:712.19, Y:12.26, Z:6.58 [[ 9.98408971e-01 -5.43104239e-02 -1.51625919e-02 7.12189573e+02] [ 5.43125384e-02 9.98523948e-01 -2.72596220e-04 1.22556351e+01] [ 1.51550160e-02 -5.51356345e-04 9.99885004e-01 6.58409508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6892541539999 meters Centerline goodness [0,1] 0.9987291904943449 Centerline is valid? [True, True] Translation: X:712.22, Y:12.25, Z:6.58 [[ 9.98294112e-01 -5.64805549e-02 -1.47923545e-02 7.12220662e+02] [ 5.64828199e-02 9.98403536e-01 -2.64951856e-04 1.22533802e+01] [ 1.47837037e-02 -5.71014018e-04 9.99890552e-01 6.58471625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7192541539999 meters Centerline goodness [0,1] 0.9987717849353069 Centerline is valid? [True, True] Translation: X:712.25, Y:12.25, Z:6.59 [[ 9.98161089e-01 -5.88719763e-02 -1.44405853e-02 7.12252456e+02] [ 5.88743961e-02 9.98265365e-01 -2.57858030e-04 1.22525572e+01] [ 1.44307168e-02 -5.92796887e-04 9.99895696e-01 6.58553642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7492541539999 meters Centerline goodness [0,1] 0.9986449577607927 Centerline is valid? [True, True] Translation: X:712.28, Y:12.25, Z:6.59 [[ 9.97907906e-01 -6.30748882e-02 -1.41904612e-02 7.12283524e+02] [ 6.30776592e-02 9.98008590e-01 -2.52660750e-04 1.22496266e+01] [ 1.41781387e-02 -6.42968915e-04 9.99899278e-01 6.58566068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7792541539999 meters Centerline goodness [0,1] 0.9986054177407767 Centerline is valid? [True, True] Translation: X:712.32, Y:12.25, Z:6.59 [[ 9.97777025e-01 -6.52048364e-02 -1.37600012e-02 7.12315362e+02] [ 6.52076529e-02 9.97871686e-01 -2.44336275e-04 1.22482508e+01] [ 1.37466475e-02 -6.53464262e-04 9.99905297e-01 6.58585705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8092541539999 meters Centerline goodness [0,1] 0.9988371109607578 Centerline is valid? [True, True] Translation: X:712.35, Y:12.24, Z:6.59 [[ 9.97663738e-01 -6.69280252e-02 -1.37005408e-02 7.12346489e+02] [ 6.69309901e-02 9.97757578e-01 -2.42510382e-04 1.22437486e+01] [ 1.36860492e-02 -6.75046949e-04 9.99906114e-01 6.58542062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.839254154 meters Centerline goodness [0,1] 0.9987140026141587 Centerline is valid? [True, True] Translation: X:712.38, Y:12.24, Z:6.59 [[ 9.97495808e-01 -6.93924146e-02 -1.36676960e-02 7.12377864e+02] [ 6.93956053e-02 9.97589190e-01 -2.41247098e-04 1.22403446e+01] [ 1.36514865e-02 -7.07835068e-04 9.99906564e-01 6.58547642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8692541539999 meters Centerline goodness [0,1] 0.9984401677873569 Centerline is valid? [True, True] Translation: X:712.41, Y:12.24, Z:6.59 [[ 9.97462968e-01 -6.98619116e-02 -1.36726450e-02 7.12409795e+02] [ 6.98651577e-02 9.97556415e-01 -2.40666218e-04 1.22412007e+01] [ 1.36560482e-02 -7.15185863e-04 9.99906496e-01 6.58561847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8992541539999 meters Centerline goodness [0,1] 0.9983756302343734 Centerline is valid? [True, True] Translation: X:712.44, Y:12.24, Z:6.59 [[ 9.97451664e-01 -6.98884122e-02 -1.43453253e-02 7.12441407e+02] [ 6.98920030e-02 9.97554532e-01 -2.51489705e-04 1.22356087e+01] [ 1.43278204e-02 -7.51774691e-04 9.99897069e-01 6.58515846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9292541539999 meters Centerline goodness [0,1] 0.9985676973628781 Centerline is valid? [True, True] Translation: X:712.47, Y:12.24, Z:6.58 [[ 9.97524831e-01 -6.86084352e-02 -1.53978517e-02 7.12474194e+02] [ 6.86124372e-02 9.97643354e-01 -2.68842911e-04 1.22356045e+01] [ 1.53800093e-02 -7.88306656e-04 9.99881410e-01 6.58443810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.959254154 meters Centerline goodness [0,1] 0.9986097360604975 Centerline is valid? [True, True] Translation: X:712.51, Y:12.24, Z:6.58 [[ 9.97639293e-01 -6.66510497e-02 -1.65371847e-02 7.12505988e+02] [ 6.66554191e-02 9.97776013e-01 -2.87443501e-04 1.22397340e+01] [ 1.65195647e-02 -8.15528048e-04 9.99863210e-01 6.58285282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9892541539999 meters Centerline goodness [0,1] 0.9986088862659135 Centerline is valid? [True, True] Translation: X:712.54, Y:12.24, Z:6.59 [[ 9.97818798e-01 -6.39511728e-02 -1.63674850e-02 7.12537855e+02] [ 6.39551054e-02 9.97952736e-01 -2.83583162e-04 1.22423362e+01] [ 1.63521119e-02 -7.63819616e-04 9.99866004e-01 6.58534649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0192541539999 meters Centerline goodness [0,1] 0.9986337936397839 Centerline is valid? [True, True] Translation: X:712.57, Y:12.24, Z:6.59 [[ 9.97940150e-01 -6.20035134e-02 -1.64627105e-02 7.12568967e+02] [ 6.20072535e-02 9.98075658e-01 -2.83641980e-04 1.22422871e+01] [ 1.64486174e-02 -7.37749744e-04 9.99864440e-01 6.58532540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0492541539999 meters Centerline goodness [0,1] 0.9985474907376221 Centerline is valid? [True, True] Translation: X:712.60, Y:12.24, Z:6.58 [[ 9.98099692e-01 -5.93810745e-02 -1.64588225e-02 7.12600595e+02] [ 5.93844865e-02 9.98235144e-01 -2.81779347e-04 1.22438709e+01] [ 1.64465075e-02 -6.96154845e-04 9.99864505e-01 6.58481588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.079254154 meters Centerline goodness [0,1] 0.9986723705561292 Centerline is valid? [True, True] Translation: X:712.63, Y:12.25, Z:6.59 [[ 9.98400515e-01 -5.42143781e-02 -1.60378286e-02 7.12630871e+02] [ 5.42169603e-02 9.98529141e-01 -2.74059560e-04 1.22464865e+01] [ 1.60290972e-02 -5.95901111e-04 9.99871348e-01 6.58625375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1092541539999 meters Centerline goodness [0,1] 0.9986513254941628 Centerline is valid? [True, True] Translation: X:712.66, Y:12.25, Z:6.59 [[ 9.98586851e-01 -5.07736976e-02 -1.56950143e-02 7.12660881e+02] [ 5.07757479e-02 9.98710044e-01 -2.68083438e-04 1.22481868e+01] [ 1.56883800e-02 -5.29221494e-04 9.99876790e-01 6.58682916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1392541539999 meters Centerline goodness [0,1] 0.998819138392763 Centerline is valid? [True, True] Translation: X:712.69, Y:12.25, Z:6.59 [[ 9.98771732e-01 -4.70842904e-02 -1.54304167e-02 7.12692486e+02] [ 4.70858401e-02 9.98890812e-01 -2.63052148e-04 1.22515212e+01] [ 1.54256871e-02 -4.63825083e-04 9.99880909e-01 6.58767183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1692541539999 meters Centerline goodness [0,1] 0.9987570573860285 Centerline is valid? [True, True] Translation: X:712.72, Y:12.25, Z:6.59 [[ 9.98962804e-01 -4.29649379e-02 -1.50774801e-02 7.12723351e+02] [ 4.29659595e-02 9.99076504e-01 -2.56310039e-04 1.22535334e+01] [ 1.50745684e-02 -3.91774203e-04 9.99886295e-01 6.58784071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.199254154 meters Centerline goodness [0,1] 0.9987555105570672 Centerline is valid? [True, True] Translation: X:712.75, Y:12.26, Z:6.59 [[ 9.99265325e-01 -3.51261612e-02 -1.53285035e-02 7.12753594e+02] [ 3.51263005e-02 9.99382847e-01 -2.60223585e-04 1.22588606e+01] [ 1.53281841e-02 -2.78401215e-04 9.99882478e-01 6.58783764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2292541539999 meters Centerline goodness [0,1] 0.998818191410784 Centerline is valid? [True, True] Translation: X:712.79, Y:12.26, Z:6.59 [[ 9.99374676e-01 -3.15898398e-02 -1.58851732e-02 7.12785461e+02] [ 3.15895485e-02 9.99500889e-01 -2.69316623e-04 1.22615247e+01] [ 1.58857524e-02 -2.32657237e-04 9.99873786e-01 6.58797682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2592541539999 meters Centerline goodness [0,1] 0.9987983809764736 Centerline is valid? [True, True] Translation: X:712.82, Y:12.26, Z:6.59 [[ 9.99449882e-01 -2.87391542e-02 -1.65527906e-02 7.12816355e+02] [ 2.87384559e-02 9.99586926e-01 -2.80100620e-04 1.22635793e+01] [ 1.65540029e-02 -1.95755111e-04 9.99862954e-01 6.58759033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2892541539999 meters Centerline goodness [0,1] 0.9988590504764521 Centerline is valid? [True, True] Translation: X:712.85, Y:12.27, Z:6.59 [[ 9.99516904e-01 -2.54775390e-02 -1.78003896e-02 7.12846953e+02] [ 2.54762143e-02 9.99675383e-01 -3.01212060e-04 1.22655421e+01] [ 1.78022854e-02 -1.52419994e-04 9.99841515e-01 6.58698563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3192541539999 meters Centerline goodness [0,1] 0.9987340703856865 Centerline is valid? [True, True] Translation: X:712.88, Y:12.27, Z:6.59 [[ 9.99513687e-01 -2.51216766e-02 -1.84740455e-02 7.12876138e+02] [ 2.51201461e-02 9.99684390e-01 -3.14936763e-04 1.22656352e+01] [ 1.84761266e-02 -1.49287116e-04 9.99829291e-01 6.58677862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3492541539999 meters Centerline goodness [0,1] 0.9989019110970331 Centerline is valid? [True, True] Translation: X:712.90, Y:12.27, Z:6.59 [[ 9.99490728e-01 -2.56648685e-02 -1.89631143e-02 7.12904683e+02] [ 2.56632606e-02 9.99670590e-01 -3.28173503e-04 1.22651747e+01] [ 1.89652902e-02 -1.58648971e-04 9.99820130e-01 6.58656058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3792541539999 meters Centerline goodness [0,1] 0.9988389030800735 Centerline is valid? [True, True] Translation: X:712.93, Y:12.26, Z:6.59 [[ 9.99396680e-01 -2.88420474e-02 -1.93497428e-02 7.12932304e+02] [ 2.88409041e-02 9.99583957e-01 -3.38198528e-04 1.22618076e+01] [ 1.93514468e-02 -2.20069590e-04 9.99812719e-01 6.58594636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4092541539999 meters Centerline goodness [0,1] 0.9986700443318556 Centerline is valid? [True, True] Translation: X:712.96, Y:12.26, Z:6.59 [[ 9.99328817e-01 -3.13337412e-02 -1.89766239e-02 7.12960983e+02] [ 3.13330308e-02 9.99508944e-01 -3.34829296e-04 1.22602520e+01] [ 1.89777968e-02 -2.59990578e-04 9.99819872e-01 6.58640151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4392541539999 meters Centerline goodness [0,1] 0.9988831995279938 Centerline is valid? [True, True] Translation: X:712.99, Y:12.26, Z:6.59 [[ 9.99255515e-01 -3.38173202e-02 -1.85689250e-02 7.12991033e+02] [ 3.38170266e-02 9.99427986e-01 -3.29902629e-04 1.22582206e+01] [ 1.85694598e-02 -2.98288809e-04 9.99827528e-01 6.58720616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4692541539999 meters Centerline goodness [0,1] 0.9988832465917951 Centerline is valid? [True, True] Translation: X:713.02, Y:12.26, Z:6.59 [[ 9.99064357e-01 -3.93398560e-02 -1.79662583e-02 7.13021231e+02] [ 3.93404697e-02 9.99225813e-01 -3.19404367e-04 1.22567144e+01] [ 1.79649144e-02 -3.87695523e-04 9.99838543e-01 6.58932344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4992541539999 meters Centerline goodness [0,1] 0.998780590362459 Centerline is valid? [True, True] Translation: X:713.05, Y:12.25, Z:6.59 [[ 9.98970315e-01 -4.18705794e-02 -1.74689394e-02 7.13051918e+02] [ 4.18715459e-02 9.99122954e-01 -3.10582693e-04 1.22530119e+01] [ 1.74666226e-02 -4.21188607e-04 9.99847358e-01 6.58904353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5292541539999 meters Centerline goodness [0,1] 0.9986954783596692 Centerline is valid? [True, True] Translation: X:713.08, Y:12.25, Z:6.59 [[ 9.98878013e-01 -4.40207227e-02 -1.74611492e-02 7.13082763e+02] [ 4.40220222e-02 9.99030513e-01 -3.10128645e-04 1.22516712e+01] [ 1.74578730e-02 -4.58894414e-04 9.99847494e-01 6.58951370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5592541539999 meters Centerline goodness [0,1] 0.9985696556656359 Centerline is valid? [True, True] Translation: X:713.11, Y:12.25, Z:6.59 [[ 9.98693840e-01 -4.76111449e-02 -1.85416776e-02 7.13112919e+02] [ 4.76132316e-02 9.98865793e-01 -3.29143976e-04 1.22474151e+01] [ 1.85363184e-02 -5.54115130e-04 9.99828034e-01 6.58746348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.589254154 meters Centerline goodness [0,1] 0.998570317263419 Centerline is valid? [True, True] Translation: X:713.14, Y:12.25, Z:6.59 [[ 9.98573849e-01 -5.01777538e-02 -1.82335219e-02 7.13144289e+02] [ 5.01802047e-02 9.98740128e-01 -3.23365896e-04 1.22458621e+01] [ 1.82267758e-02 -5.92057134e-04 9.99833703e-01 6.58936254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6192541539999 meters Centerline goodness [0,1] 0.998465225801026 Centerline is valid? [True, True] Translation: X:713.18, Y:12.25, Z:6.59 [[ 9.98492024e-01 -5.18104093e-02 -1.81482695e-02 7.13176283e+02] [ 5.18131244e-02 9.98656746e-01 -3.20874738e-04 1.22489627e+01] [ 1.81405164e-02 -6.19927680e-04 9.99835255e-01 6.59067898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6492541539999 meters Centerline goodness [0,1] 0.998760113481139 Centerline is valid? [True, True] Translation: X:713.21, Y:12.25, Z:6.59 [[ 9.98411634e-01 -5.33165788e-02 -1.82085501e-02 7.13208521e+02] [ 5.33195869e-02 9.98577448e-01 -3.20581076e-04 1.22476951e+01] [ 1.81997398e-02 -6.50800495e-04 9.99834159e-01 6.59151915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6792541539999 meters Centerline goodness [0,1] 0.9986353711790393 Centerline is valid? [True, True] Translation: X:713.24, Y:12.25, Z:6.59 [[ 9.98332327e-01 -5.49864148e-02 -1.75800782e-02 7.13239682e+02] [ 5.49895036e-02 9.98486885e-01 -3.08017770e-04 1.22451371e+01] [ 1.75704143e-02 -6.59215676e-04 9.99845411e-01 6.59185880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.709254154 meters Centerline goodness [0,1] 0.9984222152098454 Centerline is valid? [True, True] Translation: X:713.27, Y:12.24, Z:6.59 [[ 9.98322573e-01 -5.50759874e-02 -1.78514684e-02 7.13271734e+02] [ 5.50792148e-02 9.98481939e-01 -3.11193000e-04 1.22449103e+01] [ 1.78415080e-02 -6.72573864e-04 9.99840601e-01 6.59202062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7392541539999 meters Centerline goodness [0,1] 0.9988671170226157 Centerline is valid? [True, True] Translation: X:713.30, Y:12.24, Z:6.59 [[ 9.98358667e-01 -5.42322825e-02 -1.84073946e-02 7.13303414e+02] [ 5.42355961e-02 9.98528116e-01 -3.19513490e-04 1.22449376e+01] [ 1.83976290e-02 -6.79346957e-04 9.99830519e-01 6.59204682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7692541539999 meters Centerline goodness [0,1] 0.9985516068767186 Centerline is valid? [True, True] Translation: X:713.34, Y:12.25, Z:6.59 [[ 9.98477145e-01 -5.15295228e-02 -1.97002193e-02 7.13335210e+02] [ 5.15328188e-02 9.98671243e-01 -3.40643541e-04 1.22489076e+01] [ 1.96915957e-02 -6.75083042e-04 9.99805874e-01 6.59171877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7992541539999 meters Centerline goodness [0,1] 0.9988230348886087 Centerline is valid? [True, True] Translation: X:713.37, Y:12.25, Z:6.59 [[ 9.98585830e-01 -4.91820520e-02 -2.01858087e-02 7.13365726e+02] [ 4.91850484e-02 9.98789622e-01 -3.48303525e-04 1.22493923e+01] [ 2.01785065e-02 -6.45029011e-04 9.99796185e-01 6.59138156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.829254154 meters Centerline goodness [0,1] 0.9986121916857665 Centerline is valid? [True, True] Translation: X:713.40, Y:12.25, Z:6.59 [[ 9.98720002e-01 -4.63403555e-02 -2.02713878e-02 7.13397642e+02] [ 4.63428081e-02 9.98925534e-01 -3.49014737e-04 1.22518203e+01] [ 2.02657804e-02 -5.90865037e-04 9.99794453e-01 6.59160139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8592541539999 meters Centerline goodness [0,1] 0.9986981900642506 Centerline is valid? [True, True] Translation: X:713.43, Y:12.25, Z:6.59 [[ 9.98849820e-01 -4.34478960e-02 -2.02809491e-02 7.13427965e+02] [ 4.34497693e-02 9.99055552e-01 -3.48475428e-04 1.22535674e+01] [ 2.02769353e-02 -5.33127941e-04 9.99794260e-01 6.59154683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8892541539999 meters Centerline goodness [0,1] 0.9987376393856512 Centerline is valid? [True, True] Translation: X:713.46, Y:12.26, Z:6.59 [[ 9.99104740e-01 -3.70718953e-02 -2.03812067e-02 7.13458229e+02] [ 3.70724645e-02 9.99312519e-01 -3.50029782e-04 1.22599431e+01] [ 2.03801712e-02 -4.05865147e-04 9.99792220e-01 6.59328083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9192541539999 meters Centerline goodness [0,1] 0.9987376393856512 Centerline is valid? [True, True] Translation: X:713.49, Y:12.26, Z:6.59 [[ 9.99104740e-01 -3.70718953e-02 -2.03812067e-02 7.13488231e+02] [ 3.70724645e-02 9.99312519e-01 -3.50029782e-04 1.22604584e+01] [ 2.03801712e-02 -4.05865147e-04 9.99792220e-01 6.59356192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.949254154 meters Centerline goodness [0,1] 0.9986955606985062 Centerline is valid? [True, True] Translation: X:713.52, Y:12.26, Z:6.59 [[ 9.99207768e-01 -3.39603612e-02 -2.07492471e-02 7.13517705e+02] [ 3.39602763e-02 9.99423120e-01 -3.56555955e-04 1.22613452e+01] [ 2.07493861e-02 -3.48376687e-04 9.99784648e-01 6.59220641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9792541539999 meters Centerline goodness [0,1] 0.9991171091631457 Centerline is valid? [True, True] Translation: X:713.55, Y:12.26, Z:6.59 [[ 9.99295152e-01 -3.16044029e-02 -2.02573543e-02 7.13547013e+02] [ 3.16038267e-02 9.99500414e-01 -3.48658892e-04 1.22639871e+01] [ 2.02582531e-02 -2.91796773e-04 9.99794738e-01 6.59390319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0092541539999 meters Centerline goodness [0,1] 0.9988196610741085 Centerline is valid? [True, True] Translation: X:713.58, Y:12.27, Z:6.59 [[ 9.99380297e-01 -2.85017771e-02 -2.06559956e-02 7.13575336e+02] [ 2.85004960e-02 9.99593715e-01 -3.56466523e-04 1.22660702e+01] [ 2.06577633e-02 -2.32460498e-04 9.99786579e-01 6.59337930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0392541539999 meters Centerline goodness [0,1] 0.999241897782551 Centerline is valid? [True, True] Translation: X:713.60, Y:12.27, Z:6.59 [[ 9.99388386e-01 -2.79840319e-02 -2.09701758e-02 7.13604074e+02] [ 2.79825269e-02 9.99608346e-01 -3.65256741e-04 1.22671354e+01] [ 2.09721841e-02 -2.21765164e-04 9.99780035e-01 6.59356660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0692541539999 meters Centerline goodness [0,1] 0.9991150442477876 Centerline is valid? [True, True] Translation: X:713.63, Y:12.27, Z:6.59 [[ 9.99370311e-01 -2.81035386e-02 -2.16604160e-02 7.13632404e+02] [ 2.81018323e-02 9.99604992e-01 -3.83215404e-04 1.22679645e+01] [ 2.16626297e-02 -2.25723281e-04 9.99765312e-01 6.59391133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0992541539999 meters Centerline goodness [0,1] 0.9990102137517111 Centerline is valid? [True, True] Translation: X:713.66, Y:12.27, Z:6.59 [[ 9.99317860e-01 -2.92825035e-02 -2.25022163e-02 7.13660157e+02] [ 2.92808712e-02 9.99571143e-01 -4.02092635e-04 1.22658729e+01] [ 2.25043403e-02 -2.57066144e-04 9.99746712e-01 6.59162787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1292541539999 meters Centerline goodness [0,1] 0.999073937659167 Centerline is valid? [True, True] Translation: X:713.69, Y:12.27, Z:6.59 [[ 9.99266644e-01 -3.07588806e-02 -2.28049447e-02 7.13689214e+02] [ 3.07574929e-02 9.99526792e-01 -4.11690218e-04 1.22656503e+01] [ 2.28068163e-02 -2.90034621e-04 9.99739849e-01 6.59232190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1592541539999 meters Centerline goodness [0,1] 0.9989873204076035 Centerline is valid? [True, True] Translation: X:713.72, Y:12.27, Z:6.59 [[ 9.99212388e-01 -3.20125130e-02 -2.34478920e-02 7.13717639e+02] [ 3.20112491e-02 9.99487416e-01 -4.29344343e-04 1.22657069e+01] [ 2.34496174e-02 -3.21590127e-04 9.99724968e-01 6.59243182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1892541539999 meters Centerline goodness [0,1] 0.9989674210814684 Centerline is valid? [True, True] Translation: X:713.75, Y:12.26, Z:6.59 [[ 9.99124549e-01 -3.53159784e-02 -2.24258027e-02 7.13746144e+02] [ 3.53155262e-02 9.99376126e-01 -4.16326009e-04 1.22640824e+01] [ 2.24265148e-02 -3.76017486e-04 9.99748423e-01 6.59421174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2192541539999 meters Centerline goodness [0,1] 0.999051813143977 Centerline is valid? [True, True] Translation: X:713.77, Y:12.26, Z:6.59 [[ 9.99082913e-01 -3.64354818e-02 -2.24897547e-02 7.13774988e+02] [ 3.64351795e-02 9.99335929e-01 -4.23337549e-04 1.22637571e+01] [ 2.24902444e-02 -3.96468938e-04 9.99746984e-01 6.59441499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2492541539999 meters Centerline goodness [0,1] 0.9990509532647208 Centerline is valid? [True, True] Translation: X:713.80, Y:12.26, Z:6.60 [[ 9.99036885e-01 -3.84384966e-02 -2.11609198e-02 7.13803997e+02] [ 3.84385649e-02 9.99260884e-01 -4.03665264e-04 1.22633110e+01] [ 2.11607957e-02 -4.10118901e-04 9.99776001e-01 6.59591525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2792541539999 meters Centerline goodness [0,1] 0.9990328006728343 Centerline is valid? [True, True] Translation: X:713.83, Y:12.26, Z:6.60 [[ 9.98958266e-01 -4.08108142e-02 -2.04171634e-02 7.13833140e+02] [ 4.08113209e-02 9.99166794e-01 -3.92023415e-04 1.22608999e+01] [ 2.04161505e-02 -4.41636376e-04 9.99791471e-01 6.59675987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3092541539999 meters Centerline goodness [0,1] 0.9986748001682794 Centerline is valid? [True, True] Translation: X:713.86, Y:12.26, Z:6.60 [[ 9.98917522e-01 -4.22061120e-02 -1.95557561e-02 7.13863971e+02] [ 4.22068408e-02 9.99108824e-01 -3.75648307e-04 1.22603374e+01] [ 1.95541831e-02 -4.50145007e-04 9.99808697e-01 6.59697099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.339254154 meters Centerline goodness [0,1] 0.9989066442388562 Centerline is valid? [True, True] Translation: X:713.90, Y:12.26, Z:6.60 [[ 9.98871762e-01 -4.33358646e-02 -1.94217727e-02 7.13895528e+02] [ 4.33368041e-02 9.99060450e-01 -3.72703477e-04 1.22598612e+01] [ 1.94196764e-02 -4.69394579e-04 9.99811310e-01 6.59772302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3692541539999 meters Centerline goodness [0,1] 0.9991177582657648 Centerline is valid? [True, True] Translation: X:713.93, Y:12.26, Z:6.60 [[ 9.98838811e-01 -4.42375113e-02 -1.90806883e-02 7.13926755e+02] [ 4.42385957e-02 9.99020927e-01 -3.65461353e-04 1.22592094e+01] [ 1.90781740e-02 -4.79065871e-04 9.99817880e-01 6.59830305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3992541539999 meters Centerline goodness [0,1] 0.9988868586310461 Centerline is valid? [True, True] Translation: X:713.96, Y:12.26, Z:6.60 [[ 9.98820943e-01 -4.49212285e-02 -1.84067171e-02 7.13957764e+02] [ 4.49223658e-02 9.98990419e-01 -3.51888391e-04 1.22585428e+01] [ 1.84039413e-02 -4.75399786e-04 9.99830520e-01 6.59899027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4292541539999 meters Centerline goodness [0,1] 0.9989275801160736 Centerline is valid? [True, True] Translation: X:713.99, Y:12.26, Z:6.60 [[ 9.98847845e-01 -4.44682314e-02 -1.80432520e-02 7.13988794e+02] [ 4.44692650e-02 9.99010694e-01 -3.44126220e-04 1.22588478e+01] [ 1.80407043e-02 -4.58640420e-04 9.99837148e-01 6.59937161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.459254154 meters Centerline goodness [0,1] 0.9990122107563943 Centerline is valid? [True, True] Translation: X:714.02, Y:12.26, Z:6.60 [[ 9.98901794e-01 -4.27728414e-02 -1.91230285e-02 7.14020141e+02] [ 4.27737094e-02 9.99084720e-01 -3.63813641e-04 1.22609450e+01] [ 1.91210869e-02 -4.54548765e-04 9.99817072e-01 6.59968981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4892541539999 meters Centerline goodness [0,1] 0.9988223418573351 Centerline is valid? [True, True] Translation: X:714.05, Y:12.26, Z:6.60 [[ 9.98958224e-01 -4.08920375e-02 -2.02560845e-02 7.14051090e+02] [ 4.08926304e-02 9.99163472e-01 -3.85106851e-04 1.22618605e+01] [ 2.02548875e-02 -4.43618919e-04 9.99794750e-01 6.59824627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5192541539999 meters Centerline goodness [0,1] 0.9990752416981925 Centerline is valid? [True, True] Translation: X:714.08, Y:12.26, Z:6.60 [[ 9.98997767e-01 -3.99846872e-02 -2.01168021e-02 7.14080580e+02] [ 3.99850823e-02 9.99200204e-01 -3.82744499e-04 1.22630203e+01] [ 2.01160167e-02 -4.22011090e-04 9.99797563e-01 6.59994554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5492541539999 meters Centerline goodness [0,1] 0.998970112236748 Centerline is valid? [True, True] Translation: X:714.11, Y:12.26, Z:6.60 [[ 9.99093704e-01 -3.69080888e-02 -2.12029161e-02 7.14110705e+02] [ 3.69078315e-02 9.99318592e-01 -4.03589611e-04 1.22644536e+01] [ 2.12033640e-02 -3.79329815e-04 9.99775111e-01 6.59879391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.579254154 meters Centerline goodness [0,1] 0.9991601931555742 Centerline is valid? [True, True] Translation: X:714.14, Y:12.27, Z:6.60 [[ 9.99135925e-01 -3.61923112e-02 -2.04333250e-02 7.14140009e+02] [ 3.61919143e-02 9.99344782e-01 -3.89347755e-04 1.22657370e+01] [ 2.04340281e-02 -3.50509815e-04 9.99791142e-01 6.60029850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6092541539999 meters Centerline goodness [0,1] 0.9992446179025557 Centerline is valid? [True, True] Translation: X:714.17, Y:12.27, Z:6.60 [[ 9.99161759e-01 -3.50067180e-02 -2.12204676e-02 7.14169516e+02] [ 3.50060056e-02 9.99387020e-01 -4.05146236e-04 1.22667512e+01] [ 2.12216427e-02 -3.38037182e-04 9.99774738e-01 6.60039929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6392541539999 meters Centerline goodness [0,1] 0.999306081251577 Centerline is valid? [True, True] Translation: X:714.20, Y:12.27, Z:6.60 [[ 9.99164817e-01 -3.47814915e-02 -2.14456828e-02 7.14199011e+02] [ 3.47806949e-02 9.99394884e-01 -4.10247610e-04 1.22669550e+01] [ 2.14469747e-02 -3.35990773e-04 9.99769931e-01 6.60003963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6692541539999 meters Centerline goodness [0,1] 0.9991379491600261 Centerline is valid? [True, True] Translation: X:714.23, Y:12.27, Z:6.60 [[ 9.99136095e-01 -3.48918193e-02 -2.25748756e-02 7.14228118e+02] [ 3.48908790e-02 9.99391033e-01 -4.35649522e-04 1.22666286e+01] [ 2.25763289e-02 -3.52384093e-04 9.99745060e-01 6.59865065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6992541539998 meters Centerline goodness [0,1] 0.9990111508520935 Centerline is valid? [True, True] Translation: X:714.26, Y:12.27, Z:6.60 [[ 9.99093973e-01 -3.58292577e-02 -2.29672936e-02 7.14256656e+02] [ 3.58283941e-02 9.99357856e-01 -4.49227539e-04 1.22668519e+01] [ 2.29686408e-02 -3.74060720e-04 9.99736116e-01 6.59936067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7292541539999 meters Centerline goodness [0,1] 0.9990958598793078 Centerline is valid? [True, True] Translation: X:714.28, Y:12.27, Z:6.60 [[ 9.99012520e-01 -3.74118944e-02 -2.39652836e-02 7.14284591e+02] [ 3.74113165e-02 9.99299840e-01 -4.72621354e-04 1.22654986e+01] [ 2.39661857e-02 -4.24418159e-04 9.99712680e-01 6.59818904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7592541539999 meters Centerline goodness [0,1] 0.9989917025522529 Centerline is valid? [True, True] Translation: X:714.31, Y:12.27, Z:6.60 [[ 9.98957544e-01 -3.87576679e-02 -2.41178038e-02 7.14313254e+02] [ 3.87573615e-02 9.99248536e-01 -4.80320976e-04 1.22661072e+01] [ 2.41182963e-02 -4.54922177e-04 9.99709008e-01 6.59886500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7892541539999 meters Centerline goodness [0,1] 0.9992010092514718 Centerline is valid? [True, True] Translation: X:714.34, Y:12.27, Z:6.60 [[ 9.98877373e-01 -4.05570816e-02 -2.44768517e-02 7.14342050e+02] [ 4.05571503e-02 9.99177098e-01 -4.93826241e-04 1.22652884e+01] [ 2.44767379e-02 -4.99439497e-04 9.99700275e-01 6.59945359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8192541539999 meters Centerline goodness [0,1] 0.9991812227074236 Centerline is valid? [True, True] Translation: X:714.37, Y:12.26, Z:6.60 [[ 9.98749430e-01 -4.40588046e-02 -2.36304485e-02 7.14371119e+02] [ 4.40597059e-02 9.99028783e-01 -4.82755594e-04 1.22635872e+01] [ 2.36287679e-02 -5.58998739e-04 9.99720645e-01 6.60065177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8492541539999 meters Centerline goodness [0,1] 0.9994961264722555 Centerline is valid? [True, True] Translation: X:714.40, Y:12.26, Z:6.60 [[ 9.98676906e-01 -4.58963434e-02 -2.31940328e-02 7.14400918e+02] [ 4.58976460e-02 9.98946034e-01 -4.76462513e-04 1.22618508e+01] [ 2.31914550e-02 -5.88719399e-04 9.99730869e-01 6.60118337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8792541539999 meters Centerline goodness [0,1] 0.999160897839312 Centerline is valid? [True, True] Translation: X:714.43, Y:12.26, Z:6.60 [[ 9.98580024e-01 -4.84343924e-02 -2.21821003e-02 7.14431134e+02] [ 4.84362057e-02 9.98826174e-01 -4.55838247e-04 1.22611130e+01] [ 2.21781407e-02 -6.19225808e-04 9.99753843e-01 6.60221137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9092541539999 meters Centerline goodness [0,1] 0.9994126531297197 Centerline is valid? [True, True] Translation: X:714.46, Y:12.26, Z:6.60 [[ 9.98484756e-01 -5.07216628e-02 -2.13425593e-02 7.14462273e+02] [ 5.07238726e-02 9.98712620e-01 -4.38149541e-04 1.22592581e+01] [ 2.13373070e-02 -6.45091623e-04 9.99772126e-01 6.60315210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9392541539999 meters Centerline goodness [0,1] 0.9992858943123583 Centerline is valid? [True, True] Translation: X:714.49, Y:12.25, Z:6.60 [[ 9.98239122e-01 -5.58863988e-02 -1.98838284e-02 7.14493933e+02] [ 5.58893535e-02 9.98436885e-01 -4.07504940e-04 1.22549972e+01] [ 1.98755217e-02 -7.04506944e-04 9.99802214e-01 6.60383033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9692541539999 meters Centerline goodness [0,1] 0.9990352146647371 Centerline is valid? [True, True] Translation: X:714.52, Y:12.25, Z:6.60 [[ 9.98096561e-01 -5.85923647e-02 -1.92403403e-02 7.14524655e+02] [ 5.85956463e-02 9.98281721e-01 -3.93632844e-04 1.22511400e+01] [ 1.92303439e-02 -7.34516586e-04 9.99814810e-01 6.60398309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9992541539999 meters Centerline goodness [0,1] 0.9990345059188985 Centerline is valid? [True, True] Translation: X:714.56, Y:12.25, Z:6.61 [[ 9.97958173e-01 -6.11229802e-02 -1.85328363e-02 7.14556996e+02] [ 6.11264784e-02 9.98129957e-01 -3.78184834e-04 1.22501549e+01] [ 1.85212948e-02 -7.55434370e-04 9.99828181e-01 6.60512091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0292541539999 meters Centerline goodness [0,1] 0.999077993378316 Centerline is valid? [True, True] Translation: X:714.59, Y:12.25, Z:6.61 [[ 9.97694628e-01 -6.52923910e-02 -1.85022294e-02 7.14587587e+02] [ 6.52966083e-02 9.97865828e-01 -3.76738890e-04 1.22459731e+01] [ 1.84873407e-02 -8.32262462e-04 9.99828748e-01 6.60508139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0592541539999 meters Centerline goodness [0,1] 0.9993075082889159 Centerline is valid? [True, True] Translation: X:714.62, Y:12.24, Z:6.60 [[ 9.97594031e-01 -6.65734991e-02 -1.93421364e-02 7.14619250e+02] [ 6.65783704e-02 9.97781121e-01 -3.92704892e-04 1.22448472e+01] [ 1.93253623e-02 -8.96007863e-04 9.99812846e-01 6.60366221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.089254154 meters Centerline goodness [0,1] 0.9992023844506948 Centerline is valid? [True, True] Translation: X:714.65, Y:12.24, Z:6.61 [[ 9.97408111e-01 -6.93895724e-02 -1.90301477e-02 7.14650611e+02] [ 6.93948223e-02 9.97589199e-01 -3.85142415e-04 1.22439020e+01] [ 1.90109947e-02 -9.36449550e-04 9.99818836e-01 6.60581233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1192541539999 meters Centerline goodness [0,1] 0.9990363061194562 Centerline is valid? [True, True] Translation: X:714.68, Y:12.24, Z:6.61 [[ 9.97159167e-01 -7.29381779e-02 -1.88047141e-02 7.14681688e+02] [ 7.29439424e-02 9.97335970e-01 -3.80091478e-04 1.22410563e+01] [ 1.87823410e-02 -9.92678282e-04 9.99823103e-01 6.60640661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1492541539999 meters Centerline goodness [0,1] 0.9992662935245162 Centerline is valid? [True, True] Translation: X:714.71, Y:12.25, Z:6.61 [[ 9.97055102e-01 -7.43510992e-02 -1.87892750e-02 7.14713706e+02] [ 7.43571205e-02 9.97231606e-01 -3.78922191e-04 1.22456479e+01] [ 1.87654322e-02 -1.01931008e-03 9.99823394e-01 6.60779080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1792541539999 meters Centerline goodness [0,1] 0.9992440309947292 Centerline is valid? [True, True] Translation: X:714.74, Y:12.24, Z:6.61 [[ 9.96993167e-01 -7.50641069e-02 -1.92355187e-02 7.14744408e+02] [ 7.50705705e-02 9.97178148e-01 -3.86852979e-04 1.22428125e+01] [ 1.92102777e-02 -1.05833158e-03 9.99814905e-01 6.60636935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.209254154 meters Centerline goodness [0,1] 0.9990154593824626 Centerline is valid? [True, True] Translation: X:714.78, Y:12.24, Z:6.60 [[ 9.96891761e-01 -7.60574489e-02 -2.05446252e-02 7.14776748e+02] [ 7.60650571e-02 9.97102772e-01 -4.11999266e-04 1.22431005e+01] [ 2.05164384e-02 -1.15200942e-03 9.99788852e-01 6.60406643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2392541539999 meters Centerline goodness [0,1] 0.9992247737177338 Centerline is valid? [True, True] Translation: X:714.81, Y:12.24, Z:6.60 [[ 9.96894404e-01 -7.60763534e-02 -2.03453987e-02 7.14808537e+02] [ 7.60838485e-02 9.97101340e-01 -4.06534087e-04 1.22431149e+01] [ 2.03173520e-02 -1.14268468e-03 9.99792928e-01 6.60446510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2692541539999 meters Centerline goodness [0,1] 0.9987857980237816 Centerline is valid? [True, True] Translation: X:714.84, Y:12.25, Z:6.61 [[ 9.96904123e-01 -7.59843831e-02 -2.02124484e-02 7.14840868e+02] [ 7.59917913e-02 9.97108362e-01 -4.02409141e-04 1.22476233e+01] [ 2.01845782e-02 -1.13481683e-03 9.99795627e-01 6.60763928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2992541539999 meters Centerline goodness [0,1] 0.9988892381850571 Centerline is valid? [True, True] Translation: X:714.87, Y:12.25, Z:6.61 [[ 9.97080311e-01 -7.38035663e-02 -1.95930562e-02 7.14872601e+02] [ 7.38101316e-02 9.97272236e-01 -3.88846375e-04 1.22500129e+01] [ 1.95683092e-02 -1.05845499e-03 9.99807962e-01 6.60678921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.329254154 meters Centerline goodness [0,1] 0.9985766614338043 Centerline is valid? [True, True] Translation: X:714.90, Y:12.25, Z:6.61 [[ 9.97172539e-01 -7.25809983e-02 -1.94660256e-02 7.14903383e+02] [ 7.25872672e-02 9.97361991e-01 -3.85256762e-04 1.22509456e+01] [ 1.94426363e-02 -1.02881813e-03 9.99810445e-01 6.60844790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3592541539999 meters Centerline goodness [0,1] 0.9989099446587288 Centerline is valid? [True, True] Translation: X:714.93, Y:12.26, Z:6.61 [[ 9.97339824e-01 -7.03146079e-02 -1.92127712e-02 7.14934831e+02] [ 7.03203120e-02 9.97524391e-01 -3.79372919e-04 1.22556643e+01] [ 1.91918834e-02 -9.72684345e-04 9.99815346e-01 6.60964218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3892541539999 meters Centerline goodness [0,1] 0.9989726171006835 Centerline is valid? [True, True] Translation: X:714.97, Y:12.26, Z:6.61 [[ 9.97534648e-01 -6.75327016e-02 -1.90777265e-02 7.14966098e+02] [ 6.75378317e-02 9.97716643e-01 -3.75995095e-04 1.22603739e+01] [ 1.90595572e-02 -9.13400145e-04 9.99817933e-01 6.61009623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4192541539999 meters Centerline goodness [0,1] 0.9984042999916016 Centerline is valid? [True, True] Translation: X:715.00, Y:12.27, Z:6.61 [[ 9.97902991e-01 -6.19967698e-02 -1.86016270e-02 7.14996658e+02] [ 6.20006963e-02 9.98076039e-01 -3.66100719e-04 1.22666469e+01] [ 1.85885352e-02 -7.87980823e-04 9.99826908e-01 6.61072772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4492541539998 meters Centerline goodness [0,1] 0.9990147783251232 Centerline is valid? [True, True] Translation: X:715.03, Y:12.27, Z:6.61 [[ 9.98065921e-01 -5.95023864e-02 -1.79967605e-02 7.15026820e+02] [ 5.95056762e-02 9.98227905e-01 -3.53120923e-04 1.22686235e+01] [ 1.79858800e-02 -7.18471441e-04 9.99837983e-01 6.61303507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4792541539999 meters Centerline goodness [0,1] 0.9991809131767967 Centerline is valid? [True, True] Translation: X:715.06, Y:12.27, Z:6.61 [[ 9.98248571e-01 -5.66048371e-02 -1.71954154e-02 7.15057976e+02] [ 5.66074323e-02 9.98396457e-01 -3.36158537e-04 1.22735150e+01] [ 1.71868700e-02 -6.37818535e-04 9.99852091e-01 6.61453949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5092541539999 meters Centerline goodness [0,1] 0.9985724182814435 Centerline is valid? [True, True] Translation: X:715.09, Y:12.28, Z:6.61 [[ 9.98612936e-01 -4.98518995e-02 -1.69408389e-02 7.15088796e+02] [ 4.98534558e-02 9.98756489e-01 -3.30696704e-04 1.22782388e+01] [ 1.69362587e-02 -5.14321358e-04 9.99856439e-01 6.61361440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5392541539999 meters Centerline goodness [0,1] 0.998948607956935 Centerline is valid? [True, True] Translation: X:715.12, Y:12.28, Z:6.62 [[ 9.98699931e-01 -4.81601661e-02 -1.67046908e-02 7.15121084e+02] [ 4.81614548e-02 9.98839511e-01 -3.25370625e-04 1.22816749e+01] [ 1.67009751e-02 -4.79574590e-04 9.99860414e-01 6.61661646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5692541539999 meters Centerline goodness [0,1] 0.9989282562098096 Centerline is valid? [True, True] Translation: X:715.15, Y:12.28, Z:6.62 [[ 9.98839930e-01 -4.50674685e-02 -1.69622649e-02 7.15151073e+02] [ 4.50683659e-02 9.98983851e-01 -3.29540297e-04 1.22831967e+01] [ 1.69598802e-02 -4.35303553e-04 9.99856076e-01 6.61607820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5992541539999 meters Centerline goodness [0,1] 0.9988861568207132 Centerline is valid? [True, True] Translation: X:715.18, Y:12.29, Z:6.62 [[ 9.99044206e-01 -4.00727270e-02 -1.74599688e-02 7.15182103e+02] [ 4.00729237e-02 9.99196700e-01 -3.38734614e-04 1.22874974e+01] [ 1.74595172e-02 -3.61261144e-04 9.99847506e-01 6.61611879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6292541539999 meters Centerline goodness [0,1] 0.9988436875854094 Centerline is valid? [True, True] Translation: X:715.21, Y:12.29, Z:6.62 [[ 9.99110391e-01 -3.84356859e-02 -1.73529728e-02 7.15213590e+02] [ 3.84356444e-02 9.99261021e-01 -3.36025897e-04 1.22900216e+01] [ 1.73530647e-02 -3.31245728e-04 9.99849369e-01 6.61828462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6592541539999 meters Centerline goodness [0,1] 0.9988855244343511 Centerline is valid? [True, True] Translation: X:715.24, Y:12.29, Z:6.62 [[ 9.99216181e-01 -3.52718044e-02 -1.79700605e-02 7.15244493e+02] [ 3.52712576e-02 9.99377715e-01 -3.47465335e-04 1.22916063e+01] [ 1.79711338e-02 -2.86633649e-04 9.99838465e-01 6.61651785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6892541539999 meters Centerline goodness [0,1] 0.999095973930411 Centerline is valid? [True, True] Translation: X:715.27, Y:12.30, Z:6.62 [[ 9.99324336e-01 -3.18220805e-02 -1.83909174e-02 7.15274856e+02] [ 3.18209269e-02 9.99493523e-01 -3.55427997e-04 1.22951482e+01] [ 1.83929133e-02 -2.30028191e-04 9.99830810e-01 6.61874605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7192541539999 meters Centerline goodness [0,1] 0.9989279633405503 Centerline is valid? [True, True] Translation: X:715.30, Y:12.30, Z:6.62 [[ 9.99388591e-01 -2.96901906e-02 -1.84644644e-02 7.15304474e+02] [ 2.96886609e-02 9.99559131e-01 -3.57016496e-04 1.22963711e+01] [ 1.84669239e-02 -1.91387010e-04 9.99829454e-01 6.61873824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7492541539999 meters Centerline goodness [0,1] 0.9992416742148168 Centerline is valid? [True, True] Translation: X:715.33, Y:12.30, Z:6.62 [[ 9.99436338e-01 -2.77464371e-02 -1.88982114e-02 7.15334485e+02] [ 2.77444773e-02 9.99614981e-01 -3.65928944e-04 1.22972994e+01] [ 1.89010884e-02 -1.58598312e-04 9.99821346e-01 6.61893496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7792541539999 meters Centerline goodness [0,1] 0.998948099215282 Centerline is valid? [True, True] Translation: X:715.36, Y:12.30, Z:6.62 [[ 9.99492574e-01 -2.54218976e-02 -1.91917137e-02 7.15363796e+02] [ 2.54194147e-02 9.99676805e-01 -3.73349325e-04 1.22974696e+01] [ 1.91950023e-02 -1.14682252e-04 9.99815752e-01 6.61860815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8092541539999 meters Centerline goodness [0,1] 0.9991595932431296 Centerline is valid? [True, True] Translation: X:715.39, Y:12.30, Z:6.62 [[ 9.99510374e-01 -2.49659049e-02 -1.88604385e-02 7.15392454e+02] [ 2.49633552e-02 9.99688298e-01 -3.70641798e-04 1.22974062e+01] [ 1.88638131e-02 -1.00359505e-04 9.99822057e-01 6.61925066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.839254154 meters Centerline goodness [0,1] 0.9991595932431296 Centerline is valid? [True, True] Translation: X:715.42, Y:12.30, Z:6.62 [[ 9.99503940e-01 -2.52222302e-02 -1.88603426e-02 7.15420696e+02] [ 2.52196349e-02 9.99681864e-01 -3.75478824e-04 1.22980026e+01] [ 1.88638128e-02 -1.00358390e-04 9.99822057e-01 6.61951595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8692541539999 meters Centerline goodness [0,1] 0.9989268580085852 Centerline is valid? [True, True] Translation: X:715.45, Y:12.30, Z:6.62 [[ 9.99509018e-01 -2.55150231e-02 -1.81853332e-02 7.15449744e+02] [ 2.55125747e-02 9.99674434e-01 -3.66660581e-04 1.22980546e+01] [ 1.81887681e-02 -9.74741150e-05 9.99834566e-01 6.62028909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8992541539999 meters Centerline goodness [0,1] 0.9990969990969991 Centerline is valid? [True, True] Translation: X:715.48, Y:12.30, Z:6.62 [[ 9.99491439e-01 -2.64991547e-02 -1.77385976e-02 7.15478083e+02] [ 2.64969240e-02 9.99648830e-01 -3.60812646e-04 1.22951553e+01] [ 1.77419296e-02 -1.09389121e-04 9.99842594e-01 6.61957232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9292541539999 meters Centerline goodness [0,1] 0.9989503295965066 Centerline is valid? [True, True] Translation: X:715.51, Y:12.29, Z:6.62 [[ 9.99444860e-01 -2.87237416e-02 -1.68795544e-02 7.15507240e+02] [ 2.87220180e-02 9.99587378e-01 -3.44578748e-04 1.22936478e+01] [ 1.68824871e-02 -1.40427407e-04 9.99857471e-01 6.62150870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.959254154 meters Centerline goodness [0,1] 0.998866879301662 Centerline is valid? [True, True] Translation: X:715.54, Y:12.29, Z:6.62 [[ 9.99390542e-01 -3.00996423e-02 -1.76792567e-02 7.15536598e+02] [ 3.00979518e-02 9.99546889e-01 -3.61752765e-04 1.22905274e+01] [ 1.76821347e-02 -1.70577124e-04 9.99843644e-01 6.61918648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9892541539999 meters Centerline goodness [0,1] 0.9988051065970693 Centerline is valid? [True, True] Translation: X:715.57, Y:12.29, Z:6.62 [[ 9.99282245e-01 -3.34921679e-02 -1.76994097e-02 7.15566523e+02] [ 3.34909967e-02 9.99438953e-01 -3.62661154e-04 1.22881976e+01] [ 1.77016259e-02 -2.30370020e-04 9.99843287e-01 6.62071034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0192541539999 meters Centerline goodness [0,1] 0.998846766753334 Centerline is valid? [True, True] Translation: X:715.60, Y:12.28, Z:6.62 [[ 9.99047830e-01 -3.93514589e-02 -1.88386874e-02 7.15597355e+02] [ 3.93511698e-02 9.99225368e-01 -3.86186584e-04 1.22823819e+01] [ 1.88392913e-02 -3.55505517e-04 9.99822462e-01 6.61962798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0492541539999 meters Centerline goodness [0,1] 0.9987412147277877 Centerline is valid? [True, True] Translation: X:715.63, Y:12.28, Z:6.62 [[ 9.98882128e-01 -4.32898455e-02 -1.89864059e-02 7.15627598e+02] [ 4.32902627e-02 9.99062461e-01 -3.89214762e-04 1.22799075e+01] [ 1.89854544e-02 -4.33146829e-04 9.99819666e-01 6.62084328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.079254154 meters Centerline goodness [0,1] 0.9989535589460246 Centerline is valid? [True, True] Translation: X:715.66, Y:12.27, Z:6.62 [[ 9.98724309e-01 -4.67363057e-02 -1.91173438e-02 7.15657645e+02] [ 4.67373768e-02 9.98907135e-01 -3.91000025e-04 1.22746769e+01] [ 1.91147250e-02 -5.02993271e-04 9.99817170e-01 6.62049474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1092541539999 meters Centerline goodness [0,1] 0.9987419009876077 Centerline is valid? [True, True] Translation: X:715.69, Y:12.27, Z:6.62 [[ 9.98377130e-01 -5.32867525e-02 -2.00904871e-02 7.15688669e+02] [ 5.32892824e-02 9.98579033e-01 -4.09795358e-04 1.22697174e+01] [ 2.00837759e-02 -6.61477329e-04 9.99798082e-01 6.62020496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1392541539999 meters Centerline goodness [0,1] 0.9987236624610298 Centerline is valid? [True, True] Translation: X:715.72, Y:12.26, Z:6.62 [[ 9.98214800e-01 -5.65361252e-02 -1.92582229e-02 7.15719122e+02] [ 5.65390603e-02 9.98400311e-01 -3.92467140e-04 1.22646359e+01] [ 1.92496043e-02 -6.97075315e-04 9.99814466e-01 6.62121678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1692541539999 meters Centerline goodness [0,1] 0.9989127252958642 Centerline is valid? [True, True] Translation: X:715.75, Y:12.26, Z:6.62 [[ 9.98096428e-01 -5.85752044e-02 -1.92993942e-02 7.15750246e+02] [ 5.85785428e-02 9.98282726e-01 -3.92773776e-04 1.22615418e+01] [ 1.92892586e-02 -7.38504286e-04 9.99813672e-01 6.62083832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1992541539998 meters Centerline goodness [0,1] 0.9988491797790425 Centerline is valid? [True, True] Translation: X:715.78, Y:12.26, Z:6.62 [[ 9.97944441e-01 -6.12389563e-02 -1.88860580e-02 7.15781352e+02] [ 6.12426422e-02 9.98122834e-01 -3.83682707e-04 1.22591999e+01] [ 1.88741020e-02 -7.73738066e-04 9.99821569e-01 6.62204963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2292541539999 meters Centerline goodness [0,1] 0.9986635761865982 Centerline is valid? [True, True] Translation: X:715.81, Y:12.26, Z:6.62 [[ 9.97908055e-01 -6.17758064e-02 -1.90594828e-02 7.15813195e+02] [ 6.17796785e-02 9.98089737e-01 -3.86136155e-04 1.22598230e+01] [ 1.90469281e-02 -7.92160342e-04 9.99818277e-01 6.62255054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2592541539999 meters Centerline goodness [0,1] 0.9987458718281008 Centerline is valid? [True, True] Translation: X:715.84, Y:12.26, Z:6.62 [[ 9.97936242e-01 -6.11095688e-02 -1.97199761e-02 7.15844903e+02] [ 6.11136136e-02 9.98130737e-01 -3.98027127e-04 1.22584536e+01] [ 1.97074375e-02 -8.07953302e-04 9.99805463e-01 6.62113556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2892541539999 meters Centerline goodness [0,1] 0.9985158552645331 Centerline is valid? [True, True] Translation: X:715.88, Y:12.26, Z:6.62 [[ 9.97999929e-01 -5.99270878e-02 -2.01217584e-02 7.15876360e+02] [ 5.99310814e-02 9.98202435e-01 -4.05033600e-04 1.22593067e+01] [ 2.01098607e-02 -8.01695234e-04 9.99797455e-01 6.62033098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3192541539999 meters Centerline goodness [0,1] 0.9990995330136326 Centerline is valid? [True, True] Translation: X:715.91, Y:12.26, Z:6.62 [[ 9.98255792e-01 -5.57315161e-02 -1.94774845e-02 7.15906319e+02] [ 5.57344668e-02 9.98445550e-01 -3.91731970e-04 1.22596257e+01] [ 1.94690395e-02 -6.94518506e-04 9.99810219e-01 6.62169516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3492541539999 meters Centerline goodness [0,1] 0.9989536027457464 Centerline is valid? [True, True] Translation: X:715.94, Y:12.26, Z:6.62 [[ 9.98432174e-01 -5.27069097e-02 -1.88460920e-02 7.15937706e+02] [ 5.27091404e-02 9.98609835e-01 -3.78683887e-04 1.22628682e+01] [ 1.88398520e-02 -6.15271131e-04 9.99822325e-01 6.62282892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3792541539999 meters Centerline goodness [0,1] 0.9990393049580218 Centerline is valid? [True, True] Translation: X:715.97, Y:12.26, Z:6.62 [[ 9.98617431e-01 -4.90383022e-02 -1.89333394e-02 7.15968057e+02] [ 4.90399174e-02 9.98796747e-01 -3.79246378e-04 1.22630516e+01] [ 1.89291554e-02 -5.49767357e-04 9.99820676e-01 6.62236843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4092541539999 meters Centerline goodness [0,1] 0.9988298961532837 Centerline is valid? [True, True] Translation: X:716.00, Y:12.27, Z:6.62 [[ 9.98944635e-01 -4.22099959e-02 -1.81089001e-02 7.15998476e+02] [ 4.22103663e-02 9.99108680e-01 -3.61942452e-04 1.22700814e+01] [ 1.81080368e-02 -4.02822835e-04 9.99835955e-01 6.62495923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4392541539999 meters Centerline goodness [0,1] 0.9991010766175394 Centerline is valid? [True, True] Translation: X:716.03, Y:12.27, Z:6.62 [[ 9.99073387e-01 -3.88930996e-02 -1.84308206e-02 7.16028490e+02] [ 3.88929191e-02 9.99243316e-01 -3.68376676e-04 1.22712706e+01] [ 1.84312016e-02 -3.48793082e-04 9.99830070e-01 6.62425221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4692541539999 meters Centerline goodness [0,1] 0.999101865196232 Centerline is valid? [True, True] Translation: X:716.06, Y:12.27, Z:6.62 [[ 9.99166870e-01 -3.63936202e-02 -1.84680784e-02 7.16058748e+02] [ 3.63930121e-02 9.99337487e-01 -3.69121347e-04 1.22726126e+01] [ 1.84692767e-02 -3.03295181e-04 9.99829382e-01 6.62475228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4992541539999 meters Centerline goodness [0,1] 0.9988516306844281 Centerline is valid? [True, True] Translation: X:716.09, Y:12.27, Z:6.62 [[ 9.99252982e-01 -3.28863943e-02 -2.02968493e-02 7.16088265e+02] [ 3.28849285e-02 9.99459062e-01 -4.06069857e-04 1.22730170e+01] [ 2.02992241e-02 -2.61693922e-04 9.99793915e-01 6.62255457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5292541539999 meters Centerline goodness [0,1] 0.9991844928172636 Centerline is valid? [True, True] Translation: X:716.12, Y:12.27, Z:6.62 [[ 9.99281356e-01 -3.26319149e-02 -1.92854910e-02 7.16116804e+02] [ 3.26304884e-02 9.99467408e-01 -3.88724796e-04 1.22731863e+01] [ 1.92879045e-02 -2.40849549e-04 9.99813942e-01 6.62425679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5592541539999 meters Centerline goodness [0,1] 0.9992481203007518 Centerline is valid? [True, True] Translation: X:716.14, Y:12.27, Z:6.62 [[ 9.99263960e-01 -3.26730319e-02 -2.01000112e-02 7.16144603e+02] [ 3.26714111e-02 9.99466063e-01 -4.09099805e-04 1.22714577e+01] [ 2.01026456e-02 -2.47897037e-04 9.99797891e-01 6.62320523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.589254154 meters Centerline goodness [0,1] 0.999123520941589 Centerline is valid? [True, True] Translation: X:716.17, Y:12.27, Z:6.62 [[ 9.99177420e-01 -3.45666429e-02 -2.12044767e-02 7.16173715e+02] [ 3.45651732e-02 9.99402351e-01 -4.35925913e-04 1.22707801e+01] [ 2.12068724e-02 -2.97369081e-04 9.99775065e-01 6.62397422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6192541539999 meters Centerline goodness [0,1] 0.9990607780931708 Centerline is valid? [True, True] Translation: X:716.20, Y:12.27, Z:6.62 [[ 9.99096023e-01 -3.61352228e-02 -2.23915642e-02 7.16201139e+02] [ 3.61338819e-02 9.99346850e-01 -4.64608630e-04 1.22693271e+01] [ 2.23937279e-02 -3.44905503e-04 9.99749170e-01 6.62280872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6492541539999 meters Centerline goodness [0,1] 0.9990199962467942 Centerline is valid? [True, True] Translation: X:716.23, Y:12.27, Z:6.62 [[ 9.99006443e-01 -3.85775185e-02 -2.23137073e-02 7.16230153e+02] [ 3.85766941e-02 9.99255533e-01 -4.67552616e-04 1.22681627e+01] [ 2.23151325e-02 -3.93700984e-04 9.99750909e-01 6.62374797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6792541539999 meters Centerline goodness [0,1] 0.9990413071568505 Centerline is valid? [True, True] Translation: X:716.26, Y:12.26, Z:6.62 [[ 9.98800186e-01 -4.33873644e-02 -2.27095869e-02 7.16259983e+02] [ 4.33876866e-02 9.99058196e-01 -4.78766997e-04 1.22637100e+01] [ 2.27089713e-02 -5.07123873e-04 9.99741989e-01 6.62380561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.709254154 meters Centerline goodness [0,1] 0.9989974518568027 Centerline is valid? [True, True] Translation: X:716.29, Y:12.26, Z:6.62 [[ 9.98651779e-01 -4.62592034e-02 -2.35523081e-02 7.16289056e+02] [ 4.62602537e-02 9.98929296e-01 -5.00541854e-04 1.22618201e+01] [ 2.35502453e-02 -5.89668737e-04 9.99722481e-01 6.62347890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7392541539999 meters Centerline goodness [0,1] 0.9989355707219335 Centerline is valid? [True, True] Translation: X:716.32, Y:12.26, Z:6.62 [[ 9.98519280e-01 -4.90504721e-02 -2.35222832e-02 7.16317167e+02] [ 4.90522124e-02 9.98796089e-01 -5.03346740e-04 1.22592864e+01] [ 2.35186539e-02 -6.51218610e-04 9.99723186e-01 6.62304959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7692541539999 meters Centerline goodness [0,1] 0.9990408273906335 Centerline is valid? [True, True] Translation: X:716.35, Y:12.26, Z:6.63 [[ 9.98399230e-01 -5.20667823e-02 -2.20913644e-02 7.16346386e+02] [ 5.20690247e-02 9.98643376e-01 -4.74080927e-04 1.22589862e+01] [ 2.20860786e-02 -6.76953764e-04 9.99755844e-01 6.62605446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7992541539999 meters Centerline goodness [0,1] 0.9989999583315972 Centerline is valid? [True, True] Translation: X:716.38, Y:12.25, Z:6.63 [[ 9.98099198e-01 -5.77853687e-02 -2.14206156e-02 7.16375806e+02] [ 5.77887714e-02 9.98328726e-01 -4.60640888e-04 1.22538299e+01] [ 2.14114342e-02 -7.78105757e-04 9.99770446e-01 6.62685289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.829254154 meters Centerline goodness [0,1] 0.9991668923000021 Centerline is valid? [True, True] Translation: X:716.41, Y:12.25, Z:6.63 [[ 9.97969124e-01 -6.02325509e-02 -2.07284182e-02 7.16406611e+02] [ 6.02362571e-02 9.98184048e-01 -4.46090995e-04 1.22525080e+01] [ 2.07176456e-02 -8.03417290e-04 9.99785044e-01 6.62764749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8592541539999 meters Centerline goodness [0,1] 0.9991886662922049 Centerline is valid? [True, True] Translation: X:716.44, Y:12.25, Z:6.63 [[ 9.97861687e-01 -6.27088918e-02 -1.84295660e-02 7.16436795e+02] [ 6.27122457e-02 9.98031571e-01 -3.96455177e-04 1.22506419e+01] [ 1.84181500e-02 -7.60152042e-04 9.99830083e-01 6.62950542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8892541539999 meters Centerline goodness [0,1] 0.9991045957145535 Centerline is valid? [True, True] Translation: X:716.47, Y:12.25, Z:6.63 [[ 9.97559014e-01 -6.72532646e-02 -1.87886276e-02 7.16467934e+02] [ 6.72575612e-02 9.97735565e-01 -4.03837854e-04 1.22481045e+01] [ 1.87732414e-02 -8.60825177e-04 9.99823397e-01 6.62965551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9192541539999 meters Centerline goodness [0,1] 0.9989585503020204 Centerline is valid? [True, True] Translation: X:716.50, Y:12.25, Z:6.63 [[ 9.97395390e-01 -6.95257445e-02 -1.91991209e-02 7.16499521e+02] [ 6.95306611e-02 9.97579730e-01 -4.12128588e-04 1.22486720e+01] [ 1.91813074e-02 -9.23872416e-04 9.99815595e-01 6.63001487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9492541539998 meters Centerline goodness [0,1] 0.9989576818845112 Centerline is valid? [True, True] Translation: X:716.53, Y:12.24, Z:6.63 [[ 9.97223058e-01 -7.17421067e-02 -1.99810353e-02 7.16530109e+02] [ 7.17478869e-02 9.97422707e-01 -4.28363895e-04 1.22439053e+01] [ 1.99602700e-02 -1.00642271e-03 9.99800267e-01 6.62843322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9792541539999 meters Centerline goodness [0,1] 0.9989375442689888 Centerline is valid? [True, True] Translation: X:716.56, Y:12.24, Z:6.63 [[ 9.96849480e-01 -7.65416498e-02 -2.07963941e-02 7.16560526e+02] [ 7.65489571e-02 9.97065724e-01 -4.45624614e-04 1.22442718e+01] [ 2.07694806e-02 -1.14772162e-03 9.99783632e-01 6.62813165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0092541539999 meters Centerline goodness [0,1] 0.998812351543943 Centerline is valid? [True, True] Translation: X:716.59, Y:12.24, Z:6.63 [[ 9.96664546e-01 -7.88904498e-02 -2.08825357e-02 7.16592011e+02] [ 7.88983408e-02 9.96882567e-01 -4.47027950e-04 1.22437255e+01] [ 2.08527020e-02 -1.20206051e-03 9.99781836e-01 6.62857661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0392541539999 meters Centerline goodness [0,1] 0.9989371457152384 Centerline is valid? [True, True] Translation: X:716.62, Y:12.24, Z:6.63 [[ 9.96505088e-01 -8.08369229e-02 -2.10475909e-02 7.16622242e+02] [ 8.08453884e-02 9.96726553e-01 -4.49768926e-04 1.22427239e+01] [ 2.10150507e-02 -1.25340364e-03 9.99778374e-01 6.62810066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0692541539999 meters Centerline goodness [0,1] 0.9991661976528464 Centerline is valid? [True, True] Translation: X:716.65, Y:12.25, Z:6.63 [[ 9.96309958e-01 -8.31951450e-02 -2.10958439e-02 7.16652849e+02] [ 8.32041881e-02 9.96532418e-01 -4.50223209e-04 1.22450640e+01] [ 2.10601487e-02 -1.30670070e-03 9.99777357e-01 6.62819838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0992541539999 meters Centerline goodness [0,1] 0.9989809076161558 Centerline is valid? [True, True] Translation: X:716.68, Y:12.24, Z:6.63 [[ 9.96300570e-01 -8.32007473e-02 -2.15130294e-02 7.16683932e+02] [ 8.32101705e-02 9.96531915e-01 -4.58311718e-04 1.22437920e+01] [ 2.14765523e-02 -1.33348662e-03 9.99768463e-01 6.62715988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1292541539999 meters Centerline goodness [0,1] 0.9988129451455704 Centerline is valid? [True, True] Translation: X:716.71, Y:12.25, Z:6.63 [[ 9.96331057e-01 -8.30544730e-02 -2.06489384e-02 7.16713972e+02] [ 8.30631367e-02 9.96544190e-01 -4.39231245e-04 1.22453014e+01] [ 2.06140597e-02 -1.27754586e-03 9.99786691e-01 6.62842065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1592541539999 meters Centerline goodness [0,1] 0.9987287694071064 Centerline is valid? [True, True] Translation: X:716.75, Y:12.26, Z:6.63 [[ 9.96606461e-01 -7.93867230e-02 -2.17556886e-02 7.16745014e+02] [ 7.93954785e-02 9.96843089e-01 -4.62379256e-04 1.22579092e+01] [ 2.17237146e-02 -1.26649315e-03 9.99763210e-01 6.62868648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1892541539999 meters Centerline goodness [0,1] 0.9986246275032822 Centerline is valid? [True, True] Translation: X:716.78, Y:12.27, Z:6.63 [[ 9.96786436e-01 -7.73054092e-02 -2.09922469e-02 7.16776757e+02] [ 7.73131176e-02 9.97006762e-01 -4.45340656e-04 1.22654509e+01] [ 2.09638394e-02 -1.17906653e-03 9.99779539e-01 6.63013540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2192541539999 meters Centerline goodness [0,1] 0.9988543576070655 Centerline is valid? [True, True] Translation: X:716.81, Y:12.27, Z:6.63 [[ 9.96989472e-01 -7.47250178e-02 -2.06921186e-02 7.16806865e+02] [ 7.47319682e-02 9.97203560e-01 -4.38246190e-04 1.22690576e+01] [ 2.06670022e-02 -1.10943591e-03 9.99785799e-01 6.63068189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2492541539999 meters Centerline goodness [0,1] 0.9987680100229693 Centerline is valid? [True, True] Translation: X:716.84, Y:12.28, Z:6.63 [[ 9.97401773e-01 -6.86214993e-02 -2.19269812e-02 7.16836839e+02] [ 6.86278374e-02 9.97642223e-01 -4.64194790e-04 1.22781977e+01] [ 2.19071360e-02 -1.04181259e-03 9.99759467e-01 6.63042213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2792541539999 meters Centerline goodness [0,1] 0.9987704490986766 Centerline is valid? [True, True] Translation: X:716.87, Y:12.28, Z:6.63 [[ 9.97572795e-01 -6.63251064e-02 -2.12013874e-02 7.16868383e+02] [ 6.63305279e-02 9.97797605e-01 -4.48189098e-04 1.22820970e+01] [ 2.11844198e-02 -9.59197969e-04 9.99775125e-01 6.63132491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3092541539999 meters Centerline goodness [0,1] 0.9987065008762414 Centerline is valid? [True, True] Translation: X:716.90, Y:12.29, Z:6.63 [[ 9.97736811e-01 -6.38992848e-02 -2.09317250e-02 7.16899499e+02] [ 6.39040556e-02 9.97955949e-01 -4.41566132e-04 1.22880476e+01] [ 2.09171552e-02 -8.97055332e-04 9.99780810e-01 6.63248443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.339254154 meters Centerline goodness [0,1] 0.9988728631363627 Centerline is valid? [True, True] Translation: X:716.93, Y:12.29, Z:6.63 [[ 9.97888285e-01 -6.16028515e-02 -2.05926988e-02 7.16930189e+02] [ 6.16069963e-02 9.98100391e-01 -4.33658782e-04 1.22893042e+01] [ 2.05802953e-02 -8.35911301e-04 9.99787854e-01 6.63253254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3692541539999 meters Centerline goodness [0,1] 0.9988911669944349 Centerline is valid? [True, True] Translation: X:716.96, Y:12.30, Z:6.63 [[ 9.98124948e-01 -5.80761382e-02 -1.93326325e-02 7.16961741e+02] [ 5.80791474e-02 9.98311899e-01 -4.06249841e-04 1.22996490e+01] [ 1.93235905e-02 -7.17334711e-04 9.99813025e-01 6.63483562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3992541539999 meters Centerline goodness [0,1] 0.9989343029087262 Centerline is valid? [True, True] Translation: X:716.99, Y:12.30, Z:6.64 [[ 9.98233460e-01 -5.63644253e-02 -1.87885755e-02 7.16993402e+02] [ 5.63669838e-02 9.98410040e-01 -3.93795179e-04 1.23034632e+01] [ 1.87808985e-02 -6.65955807e-04 9.99823402e-01 6.63527298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4292541539999 meters Centerline goodness [0,1] 0.998891306166848 Centerline is valid? [True, True] Translation: X:717.03, Y:12.31, Z:6.64 [[ 9.98303885e-01 -5.48665955e-02 -1.94681992e-02 7.17026004e+02] [ 5.48690865e-02 9.98493474e-01 -4.06584062e-04 1.23067937e+01] [ 1.94611777e-02 -6.62307855e-04 9.99810394e-01 6.63534561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.459254154 meters Centerline goodness [0,1] 0.9990997780848302 Centerline is valid? [True, True] Translation: X:717.06, Y:12.31, Z:6.63 [[ 9.98477054e-01 -5.16394600e-02 -1.94149034e-02 7.17057389e+02] [ 5.16413514e-02 9.98665613e-01 -4.04254978e-04 1.23127465e+01] [ 1.94098719e-02 -5.98972527e-04 9.99811431e-01 6.63476193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4892541539999 meters Centerline goodness [0,1] 0.998657633659836 Centerline is valid? [True, True] Translation: X:717.09, Y:12.32, Z:6.63 [[ 9.98576142e-01 -4.93880463e-02 -2.01620752e-02 7.17088733e+02] [ 4.93896426e-02 9.98779499e-01 -4.19072578e-04 1.23152124e+01] [ 2.01581646e-02 -5.77321810e-04 9.99796637e-01 6.63348848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5192541539999 meters Centerline goodness [0,1] 0.9988642577714214 Centerline is valid? [True, True] Translation: X:717.12, Y:12.32, Z:6.63 [[ 9.98612321e-01 -4.88731538e-02 -1.96175295e-02 7.17120245e+02] [ 4.88745793e-02 9.98804841e-01 -4.07061931e-04 1.23181471e+01] [ 1.96139778e-02 -5.52301442e-04 9.99807475e-01 6.63499013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5492541539999 meters Centerline goodness [0,1] 0.9989277604911277 Centerline is valid? [True, True] Translation: X:717.15, Y:12.32, Z:6.64 [[ 9.98700923e-01 -4.72407847e-02 -1.90990496e-02 7.17150975e+02] [ 4.72418503e-02 9.98883402e-01 -3.95633553e-04 1.23219206e+01] [ 1.90964137e-02 -5.07154847e-04 9.99817518e-01 6.63563648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.579254154 meters Centerline goodness [0,1] 0.9987386478304743 Centerline is valid? [True, True] Translation: X:717.18, Y:12.33, Z:6.64 [[ 9.98726751e-01 -4.69548851e-02 -1.84422454e-02 7.17182697e+02] [ 4.69558478e-02 9.98896893e-01 -3.81052483e-04 1.23256927e+01] [ 1.84397939e-02 -4.85403961e-04 9.99829855e-01 6.63686767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6092541539999 meters Centerline goodness [0,1] 0.9987370282274192 Centerline is valid? [True, True] Translation: X:717.21, Y:12.33, Z:6.64 [[ 9.98744123e-01 -4.68090357e-02 -1.78631250e-02 7.17213664e+02] [ 4.68099455e-02 9.98903746e-01 -3.67413483e-04 1.23263631e+01] [ 1.78607408e-02 -4.69219852e-04 9.99840374e-01 6.63725139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6392541539999 meters Centerline goodness [0,1] 0.9989692456561067 Centerline is valid? [True, True] Translation: X:717.24, Y:12.33, Z:6.64 [[ 9.98759067e-01 -4.68269129e-02 -1.69577815e-02 7.17244491e+02] [ 4.68277681e-02 9.98902918e-01 -3.46859642e-04 1.23270044e+01] [ 1.69554198e-02 -4.47665849e-04 9.99856146e-01 6.63773021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6692541539999 meters Centerline goodness [0,1] 0.9988429821608886 Centerline is valid? [True, True] Translation: X:717.28, Y:12.33, Z:6.64 [[ 9.98749030e-01 -4.75267789e-02 -1.55428565e-02 7.17275851e+02] [ 4.75276021e-02 9.98869875e-01 -3.16618393e-04 1.23277394e+01] [ 1.55403390e-02 -4.22492389e-04 9.99879152e-01 6.63822010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6992541539998 meters Centerline goodness [0,1] 0.998820630541457 Centerline is valid? [True, True] Translation: X:717.31, Y:12.33, Z:6.64 [[ 9.98756510e-01 -4.75241547e-02 -1.50628216e-02 7.17307813e+02] [ 4.75249407e-02 9.98870005e-01 -3.05968666e-04 1.23311793e+01] [ 1.50603416e-02 -4.10271507e-04 9.99886502e-01 6.63892724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7292541539999 meters Centerline goodness [0,1] 0.998820630541457 Centerline is valid? [True, True] Translation: X:717.34, Y:12.33, Z:6.64 [[ 9.98759860e-01 -4.74536891e-02 -1.50628431e-02 7.17339509e+02] [ 4.74544830e-02 9.98873355e-01 -3.04906397e-04 1.23317585e+01] [ 1.50603416e-02 -4.10271164e-04 9.99886502e-01 6.63922403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7592541539999 meters Centerline goodness [0,1] 0.9985271529867233 Centerline is valid? [True, True] Translation: X:717.37, Y:12.33, Z:6.64 [[ 9.98790993e-01 -4.68001096e-02 -1.50433300e-02 7.17370857e+02] [ 4.68008418e-02 9.98904194e-01 -3.03552644e-04 1.23325187e+01] [ 1.50410517e-02 -4.00854861e-04 9.99886797e-01 6.63898315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7892541539999 meters Centerline goodness [0,1] 0.9988650216486612 Centerline is valid? [True, True] Translation: X:717.40, Y:12.33, Z:6.64 [[ 9.98803460e-01 -4.69262117e-02 -1.37687469e-02 7.17402161e+02] [ 4.69268464e-02 9.98898290e-01 -2.77153035e-04 1.23337670e+01] [ 1.37665835e-02 -3.69302462e-04 9.99905168e-01 6.63982689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8192541539999 meters Centerline goodness [0,1] 0.9986100873960198 Centerline is valid? [True, True] Translation: X:717.43, Y:12.34, Z:6.64 [[ 9.98839115e-01 -4.62124224e-02 -1.35953606e-02 7.17433918e+02] [ 4.62129857e-02 9.98931572e-01 -2.72885572e-04 1.23355236e+01] [ 1.35934457e-02 -3.55713425e-04 9.99907542e-01 6.64025170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8492541539999 meters Centerline goodness [0,1] 0.9986115201750326 Centerline is valid? [True, True] Translation: X:717.47, Y:12.34, Z:6.64 [[ 9.98860056e-01 -4.58799776e-02 -1.31763541e-02 7.17466268e+02] [ 4.58804898e-02 9.98946901e-01 -2.63563051e-04 1.23385742e+01] [ 1.31745704e-02 -3.41274978e-04 9.99913153e-01 6.64092367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8792541539999 meters Centerline goodness [0,1] 0.9986329891270058 Centerline is valid? [True, True] Translation: X:717.50, Y:12.34, Z:6.64 [[ 9.98914335e-01 -4.44672172e-02 -1.38858836e-02 7.17497222e+02] [ 4.44676631e-02 9.99010786e-01 -2.76788823e-04 1.23384300e+01] [ 1.38844556e-02 -3.40984473e-04 9.99903548e-01 6.63943626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9092541539999 meters Centerline goodness [0,1] 0.9988014130709059 Centerline is valid? [True, True] Translation: X:717.53, Y:12.34, Z:6.64 [[ 9.98890951e-01 -4.49779409e-02 -1.39231102e-02 7.17528944e+02] [ 4.49784506e-02 9.98987919e-01 -2.76684130e-04 1.23395680e+01] [ 1.39214636e-02 -3.49862649e-04 9.99903031e-01 6.64049109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9392541539999 meters Centerline goodness [0,1] 0.9988453867954236 Centerline is valid? [True, True] Translation: X:717.56, Y:12.34, Z:6.64 [[ 9.98861656e-01 -4.56068006e-02 -1.39790003e-02 7.17561074e+02] [ 4.56073904e-02 9.98959403e-01 -2.76761045e-04 1.23398869e+01] [ 1.39770760e-02 -3.61099727e-04 9.99902251e-01 6.64096621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9692541539999 meters Centerline goodness [0,1] 0.9990125220606774 Centerline is valid? [True, True] Translation: X:717.59, Y:12.34, Z:6.64 [[ 9.98808382e-01 -4.65444085e-02 -1.46776730e-02 7.17592902e+02] [ 4.65451764e-02 9.98916144e-01 -2.89473626e-04 1.23386310e+01] [ 1.46752379e-02 -3.94046194e-04 9.99892235e-01 6.64051489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9992541539999 meters Centerline goodness [0,1] 0.9989061842658814 Centerline is valid? [True, True] Translation: X:717.62, Y:12.34, Z:6.64 [[ 9.98790786e-01 -4.68250937e-02 -1.49792243e-02 7.17624293e+02] [ 4.68259402e-02 9.98903021e-01 -2.94404977e-04 1.23375203e+01] [ 1.49765779e-02 -4.07367281e-04 9.99887762e-01 6.64007347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0292541539999 meters Centerline goodness [0,1] 0.9990358415426536 Centerline is valid? [True, True] Translation: X:717.66, Y:12.33, Z:6.64 [[ 9.98750230e-01 -4.77250194e-02 -1.48425352e-02 7.17655828e+02] [ 4.77259619e-02 9.98860425e-01 -2.90907947e-04 1.23319636e+01] [ 1.48395046e-02 -4.17829891e-04 9.99889801e-01 6.63975935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0592541539999 meters Centerline goodness [0,1] 0.9986363445642596 Centerline is valid? [True, True] Translation: X:717.69, Y:12.33, Z:6.64 [[ 9.98723269e-01 -4.81260583e-02 -1.53529994e-02 7.17688050e+02] [ 4.81271282e-02 9.98841173e-01 -2.99987827e-04 1.23307673e+01] [ 1.53496452e-02 -4.39290947e-04 9.99882091e-01 6.63935081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.089254154 meters Centerline goodness [0,1] 0.9986590399564188 Centerline is valid? [True, True] Translation: X:717.72, Y:12.34, Z:6.64 [[ 9.98729707e-01 -4.78530725e-02 -1.57815013e-02 7.17720322e+02] [ 4.78541865e-02 9.98854285e-01 -3.07250161e-04 1.23368020e+01] [ 1.57781230e-02 -4.48351041e-04 9.99875417e-01 6.64076849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1192541539999 meters Centerline goodness [0,1] 0.9986378591336784 Centerline is valid? [True, True] Translation: X:717.75, Y:12.34, Z:6.64 [[ 9.98760395e-01 -4.71941272e-02 -1.58236638e-02 7.17751474e+02] [ 4.71951811e-02 9.98885639e-01 -3.07022351e-04 1.23350377e+01] [ 1.58205202e-02 -4.40158914e-04 9.99874751e-01 6.63991017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1492541539999 meters Centerline goodness [0,1] 0.9987840670859539 Centerline is valid? [True, True] Translation: X:717.78, Y:12.34, Z:6.64 [[ 9.98779798e-01 -4.67017472e-02 -1.60580868e-02 7.17784159e+02] [ 4.67027884e-02 9.98908781e-01 -3.10365417e-04 1.23361019e+01] [ 1.60550585e-02 -4.39970723e-04 9.99871012e-01 6.64021039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1792541539999 meters Centerline goodness [0,1] 0.9987892957040871 Centerline is valid? [True, True] Translation: X:717.81, Y:12.34, Z:6.64 [[ 9.98814924e-01 -4.58775022e-02 -1.62481296e-02 7.17814941e+02] [ 4.58784809e-02 9.98946979e-01 -3.12701195e-04 1.23350941e+01] [ 1.62453660e-02 -4.33108886e-04 9.99867942e-01 6.64012664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.209254154 meters Centerline goodness [0,1] 0.9986184375784979 Centerline is valid? [True, True] Translation: X:717.85, Y:12.34, Z:6.64 [[ 9.98827937e-01 -4.55823069e-02 -1.62789693e-02 7.17846776e+02] [ 4.55832667e-02 9.98960494e-01 -3.12276023e-04 1.23378162e+01] [ 1.62762815e-02 -4.30138584e-04 9.99867440e-01 6.64115777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2392541539999 meters Centerline goodness [0,1] 0.9987678041852889 Centerline is valid? [True, True] Translation: X:717.88, Y:12.34, Z:6.64 [[ 9.98841810e-01 -4.53836758e-02 -1.59800006e-02 7.17877849e+02] [ 4.53845920e-02 9.98969542e-01 -3.05493329e-04 1.23368862e+01] [ 1.59773983e-02 -4.20106297e-04 9.99872265e-01 6.64125476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2692541539999 meters Centerline goodness [0,1] 0.9986811530490486 Centerline is valid? [True, True] Translation: X:717.91, Y:12.34, Z:6.64 [[ 9.98883298e-01 -4.46860851e-02 -1.53398435e-02 7.17909682e+02] [ 4.46868615e-02 9.99001000e-01 -2.92321229e-04 1.23365996e+01] [ 1.53375817e-02 -3.93494669e-04 9.99882295e-01 6.64194060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2992541539999 meters Centerline goodness [0,1] 0.998932384341637 Centerline is valid? [True, True] Translation: X:717.94, Y:12.34, Z:6.64 [[ 9.98925469e-01 -4.38141772e-02 -1.51071527e-02 7.17940664e+02] [ 4.38148455e-02 9.99039627e-01 -2.86897496e-04 1.23366230e+01] [ 1.51052144e-02 -3.75328347e-04 9.99885839e-01 6.64239625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.329254154 meters Centerline goodness [0,1] 0.9989547621038548 Centerline is valid? [True, True] Translation: X:717.97, Y:12.34, Z:6.64 [[ 9.99045429e-01 -4.10598430e-02 -1.49104289e-02 7.17971693e+02] [ 4.10601979e-02 9.99156635e-01 -2.82456540e-04 1.23383089e+01] [ 1.49094515e-02 -3.30038245e-04 9.99888793e-01 6.64286068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3592541539999 meters Centerline goodness [0,1] 0.9989102873069428 Centerline is valid? [True, True] Translation: X:718.00, Y:12.34, Z:6.64 [[ 9.99137596e-01 -3.87334342e-02 -1.49594344e-02 7.18003044e+02] [ 3.87335389e-02 9.99249535e-01 -2.82843006e-04 1.23402974e+01] [ 1.49591634e-02 -2.96832753e-04 9.99888061e-01 6.64299432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3892541539999 meters Centerline goodness [0,1] 0.9991620579855874 Centerline is valid? [True, True] Translation: X:718.03, Y:12.34, Z:6.64 [[ 9.99219099e-01 -3.66579186e-02 -1.47441029e-02 7.18034872e+02] [ 3.66578037e-02 9.99327838e-01 -2.78139179e-04 1.23429424e+01] [ 1.47443884e-02 -2.62564449e-04 9.99891261e-01 6.64421924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4192541539999 meters Centerline goodness [0,1] 0.9990603073838957 Centerline is valid? [True, True] Translation: X:718.07, Y:12.34, Z:6.64 [[ 9.99312171e-01 -3.39422953e-02 -1.49366988e-02 7.18065382e+02] [ 3.39418835e-02 9.99423769e-01 -2.81145991e-04 1.23441337e+01] [ 1.49376346e-02 -2.26027081e-04 9.99888402e-01 6.64369183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4492541539998 meters Centerline goodness [0,1] 0.9989928238700743 Centerline is valid? [True, True] Translation: X:718.10, Y:12.35, Z:6.64 [[ 9.99435874e-01 -3.02290476e-02 -1.46334805e-02 7.18095982e+02] [ 3.02282582e-02 9.99542984e-01 -2.75175512e-04 1.23461724e+01] [ 1.46351110e-02 -1.67324348e-04 9.99892887e-01 6.64425643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4792541539999 meters Centerline goodness [0,1] 0.9992246600029338 Centerline is valid? [True, True] Translation: X:718.13, Y:12.35, Z:6.64 [[ 9.99492559e-01 -2.81522710e-02 -1.49021503e-02 7.18126982e+02] [ 2.81512271e-02 9.99603637e-01 -2.79851845e-04 1.23473849e+01] [ 1.49041221e-02 -1.39803980e-04 9.99888918e-01 6.64485536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5092541539999 meters Centerline goodness [0,1] 0.9990972076422423 Centerline is valid? [True, True] Translation: X:718.16, Y:12.35, Z:6.64 [[ 9.99547039e-01 -2.55829691e-02 -1.58501727e-02 7.18157365e+02] [ 2.55814710e-02 9.99672696e-01 -2.97289497e-04 1.23478339e+01] [ 1.58525904e-02 -1.08315896e-04 9.99874334e-01 6.64396791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5392541539999 meters Centerline goodness [0,1] 0.9990770457072137 Centerline is valid? [True, True] Translation: X:718.19, Y:12.35, Z:6.64 [[ 9.99561614e-01 -2.46972828e-02 -1.63286317e-02 7.18186445e+02] [ 2.46955727e-02 9.99694971e-01 -3.06389693e-04 1.23475631e+01] [ 1.63312179e-02 -9.69895345e-05 9.99866632e-01 6.64346382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5692541539999 meters Centerline goodness [0,1] 0.9989504617968094 Centerline is valid? [True, True] Translation: X:718.22, Y:12.35, Z:6.64 [[ 9.99557647e-01 -2.47477846e-02 -1.64941875e-02 7.18216294e+02] [ 2.47460394e-02 9.99693722e-01 -3.09927382e-04 1.23483128e+01] [ 1.64968057e-02 -9.83755292e-05 9.99863914e-01 6.64427471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5992541539999 meters Centerline goodness [0,1] 0.9991179620723691 Centerline is valid? [True, True] Translation: X:718.25, Y:12.35, Z:6.64 [[ 9.99554499e-01 -2.47143654e-02 -1.67333064e-02 7.18246091e+02] [ 2.47125542e-02 9.99694549e-01 -3.15034367e-04 1.23482342e+01] [ 1.67359810e-02 -9.86287217e-05 9.99859939e-01 6.64455377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6292541539999 meters Centerline goodness [0,1] 0.9990575718863223 Centerline is valid? [True, True] Translation: X:718.28, Y:12.35, Z:6.64 [[ 9.99510067e-01 -2.62430899e-02 -1.70565399e-02 7.18275260e+02] [ 2.62414176e-02 9.99655583e-01 -3.21882236e-04 1.23459554e+01] [ 1.70591126e-02 -1.25863252e-04 9.99854475e-01 6.64439291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6592541539999 meters Centerline goodness [0,1] 0.9991001360259496 Centerline is valid? [True, True] Translation: X:718.30, Y:12.34, Z:6.65 [[ 9.99482330e-01 -2.74062217e-02 -1.68514380e-02 7.18304473e+02] [ 2.74047416e-02 9.99624369e-01 -3.18785952e-04 1.23448075e+01] [ 1.68538448e-02 -1.43188379e-04 9.99857954e-01 6.64504097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6892541539999 meters Centerline goodness [0,1] 0.9994131332397141 Centerline is valid? [True, True] Translation: X:718.33, Y:12.34, Z:6.64 [[ 9.99430031e-01 -2.91417102e-02 -1.70403895e-02 7.18333467e+02] [ 2.91404359e-02 9.99575275e-01 -3.23125561e-04 1.23424713e+01] [ 1.70425684e-02 -1.73622989e-04 9.99854750e-01 6.64442386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7192541539999 meters Centerline goodness [0,1] 0.9988078805370811 Centerline is valid? [True, True] Translation: X:718.36, Y:12.34, Z:6.64 [[ 9.99359062e-01 -3.17004155e-02 -1.66297816e-02 7.18362551e+02] [ 3.16995414e-02 9.99497393e-01 -3.16224468e-04 1.23398563e+01] [ 1.66314478e-02 -2.11134662e-04 9.99861666e-01 6.64446982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7492541539999 meters Centerline goodness [0,1] 0.9990775487955722 Centerline is valid? [True, True] Translation: X:718.39, Y:12.34, Z:6.65 [[ 9.99173965e-01 -3.72166191e-02 -1.63190537e-02 7.18392751e+02] [ 3.72165026e-02 9.99307178e-01 -3.10933847e-04 1.23371178e+01] [ 1.63193194e-02 -2.96661100e-04 9.99866787e-01 6.64615366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7792541539999 meters Centerline goodness [0,1] 0.9989125888749477 Centerline is valid? [True, True] Translation: X:718.42, Y:12.33, Z:6.65 [[ 9.99073033e-01 -3.97207538e-02 -1.65932568e-02 7.18423471e+02] [ 3.97209820e-02 9.99210760e-01 -3.15949277e-04 1.23331669e+01] [ 1.65927105e-02 -3.43444053e-04 9.99862273e-01 6.64514440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8092541539999 meters Centerline goodness [0,1] 0.998975559783404 Centerline is valid? [True, True] Translation: X:718.45, Y:12.33, Z:6.65 [[ 9.98921910e-01 -4.35024947e-02 -1.62034168e-02 7.18454858e+02] [ 4.35032214e-02 9.99053239e-01 -3.07789642e-04 1.23317841e+01] [ 1.62014656e-02 -3.97443012e-04 9.99868669e-01 6.64663399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.839254154 meters Centerline goodness [0,1] 0.9987468409950082 Centerline is valid? [True, True] Translation: X:718.49, Y:12.32, Z:6.65 [[ 9.98594150e-01 -5.07684240e-02 -1.52410771e-02 7.18485085e+02] [ 5.07699220e-02 9.98710334e-01 -2.88858003e-04 1.23244298e+01] [ 1.52360860e-02 -4.85336382e-04 9.99883806e-01 6.64668739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8692541539999 meters Centerline goodness [0,1] 0.998851822470878 Centerline is valid? [True, True] Translation: X:718.52, Y:12.32, Z:6.65 [[ 9.98404957e-01 -5.42049780e-02 -1.57911997e-02 7.18516569e+02] [ 5.42070277e-02 9.98529674e-01 -2.98507302e-04 1.23217835e+01] [ 1.57841621e-02 -5.57962830e-04 9.99875267e-01 6.64671764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8992541539999 meters Centerline goodness [0,1] 0.9987266996472332 Centerline is valid? [True, True] Translation: X:718.55, Y:12.32, Z:6.65 [[ 9.98183315e-01 -5.82921290e-02 -1.52347417e-02 7.18546938e+02] [ 5.82945185e-02 9.98299387e-01 -2.87558525e-04 1.23164673e+01] [ 1.52255957e-02 -6.01065810e-04 9.99883903e-01 6.64688984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9292541539999 meters Centerline goodness [0,1] 0.998643289501148 Centerline is valid? [True, True] Translation: X:718.58, Y:12.31, Z:6.65 [[ 9.97631542e-01 -6.74160544e-02 -1.36522129e-02 7.18578099e+02] [ 6.74188290e-02 9.97724729e-01 -2.57413623e-04 1.23117081e+01] [ 1.36385042e-02 -6.63612258e-04 9.99906771e-01 6.64902534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.959254154 meters Centerline goodness [0,1] 0.9986435726210351 Centerline is valid? [True, True] Translation: X:718.61, Y:12.31, Z:6.65 [[ 9.97358305e-01 -7.13894254e-02 -1.34149724e-02 7.18609468e+02] [ 7.13924684e-02 9.97448270e-01 -2.52530232e-04 1.23086894e+01] [ 1.33987690e-02 -7.05864868e-04 9.99909983e-01 6.64931374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9892541539999 meters Centerline goodness [0,1] 0.9983306554264132 Centerline is valid? [True, True] Translation: X:718.64, Y:12.30, Z:6.65 [[ 9.96783259e-01 -7.89210677e-02 -1.39498819e-02 7.18639433e+02] [ 7.89250983e-02 9.96880514e-01 -2.62213254e-04 1.23014630e+01] [ 1.39270596e-02 -8.39626015e-04 9.99902661e-01 6.64929237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0192541539999 meters Centerline goodness [0,1] 0.9982476269948889 Centerline is valid? [True, True] Translation: X:718.67, Y:12.30, Z:6.65 [[ 9.96519779e-01 -8.21358090e-02 -1.42140488e-02 7.18670029e+02] [ 8.21403219e-02 9.96620738e-01 -2.67006401e-04 1.22986903e+01] [ 1.41879466e-02 -9.01469381e-04 9.99898940e-01 6.64909083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0492541539999 meters Centerline goodness [0,1] 0.9986013402083377 Centerline is valid? [True, True] Translation: X:718.70, Y:12.30, Z:6.65 [[ 9.96292944e-01 -8.47396421e-02 -1.48176850e-02 7.18701409e+02] [ 8.47448386e-02 9.96402647e-01 -2.77980776e-04 1.23025587e+01] [ 1.47879365e-02 -9.78772035e-04 9.99890173e-01 6.64944478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.079254154 meters Centerline goodness [0,1] 0.9983285278509046 Centerline is valid? [True, True] Translation: X:718.73, Y:12.30, Z:6.65 [[ 9.95977553e-01 -8.83575819e-02 -1.48879732e-02 7.18731349e+02] [ 8.83632339e-02 9.96088280e-01 -2.79036558e-04 1.22979985e+01] [ 1.48543907e-02 -1.03763531e-03 9.99889129e-01 6.64890452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1092541539999 meters Centerline goodness [0,1] 0.9985392015693149 Centerline is valid? [True, True] Translation: X:718.76, Y:12.31, Z:6.65 [[ 9.95924259e-01 -8.89605637e-02 -1.48623433e-02 7.18763462e+02] [ 8.89662673e-02 9.96034601e-01 -2.78273178e-04 1.23066275e+01] [ 1.48281635e-02 -1.04510820e-03 9.99889511e-01 6.64998611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1392541539999 meters Centerline goodness [0,1] 0.9983930546570111 Centerline is valid? [True, True] Translation: X:718.80, Y:12.30, Z:6.65 [[ 9.95926066e-01 -8.89257939e-02 -1.49490575e-02 7.18795714e+02] [ 8.89315787e-02 9.96037698e-01 -2.78667808e-04 1.22996687e+01] [ 1.49146056e-02 -1.05191075e-03 9.99888218e-01 6.64949304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1692541539999 meters Centerline goodness [0,1] 0.9984565648138493 Centerline is valid? [True, True] Translation: X:718.83, Y:12.30, Z:6.65 [[ 9.95981860e-01 -8.82272472e-02 -1.53651604e-02 7.18828210e+02] [ 8.82332962e-02 9.96099796e-01 -2.85094675e-04 1.23046480e+01] [ 1.53303863e-02 -1.07176963e-03 9.99881908e-01 6.64967694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1992541539998 meters Centerline goodness [0,1] 0.9983728983270057 Centerline is valid? [True, True] Translation: X:718.86, Y:12.31, Z:6.65 [[ 9.96259457e-01 -8.49894143e-02 -1.56170910e-02 7.18858386e+02] [ 8.49952779e-02 9.96381312e-01 -2.89087940e-04 1.23059746e+01] [ 1.55851470e-02 -1.03937240e-03 9.99878004e-01 6.64888796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2292541539999 meters Centerline goodness [0,1] 0.9983678252317479 Centerline is valid? [True, True] Translation: X:718.89, Y:12.32, Z:6.65 [[ 9.96487121e-01 -8.21687803e-02 -1.61774286e-02 7.18889045e+02] [ 8.21747041e-02 9.96617895e-01 -2.99336652e-04 1.23162136e+01] [ 1.61473109e-02 -1.03109029e-03 9.99869092e-01 6.64938196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2592541539999 meters Centerline goodness [0,1] 0.9984937553607666 Centerline is valid? [True, True] Translation: X:718.92, Y:12.32, Z:6.65 [[ 9.96772881e-01 -7.85771487e-02 -1.64150948e-02 7.18920229e+02] [ 7.85827675e-02 9.96907547e-01 -3.03434057e-04 1.23205242e+01] [ 1.63881749e-02 -9.87488738e-04 9.99865217e-01 6.64978424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2892541539999 meters Centerline goodness [0,1] 0.9986179747047491 Centerline is valid? [True, True] Translation: X:718.95, Y:12.33, Z:6.65 [[ 9.97378895e-01 -7.04864681e-02 -1.63400522e-02 7.18950497e+02] [ 7.04909553e-02 9.97512373e-01 -3.01889943e-04 1.23321624e+01] [ 1.63206834e-02 -8.50727232e-04 9.99866447e-01 6.65051490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3192541539999 meters Centerline goodness [0,1] 0.9984485072123449 Centerline is valid? [True, True] Translation: X:718.98, Y:12.33, Z:6.65 [[ 9.97686976e-01 -6.59370063e-02 -1.65229769e-02 7.18980702e+02] [ 6.59409719e-02 9.97823479e-01 -3.05285674e-04 1.23341770e+01] [ 1.65071439e-02 -7.84961613e-04 9.99863440e-01 6.65056616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3492541539999 meters Centerline goodness [0,1] 0.99859668230563 Centerline is valid? [True, True] Translation: X:719.01, Y:12.34, Z:6.65 [[ 9.97980903e-01 -6.13194232e-02 -1.65543439e-02 7.19011032e+02] [ 6.13227697e-02 9.98117941e-01 -3.05865225e-04 1.23431028e+01] [ 1.65419431e-02 -7.09910565e-04 9.99862921e-01 6.65150724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3792541539999 meters Centerline goodness [0,1] 0.9988668555240793 Centerline is valid? [True, True] Translation: X:719.04, Y:12.35, Z:6.65 [[ 9.98500249e-01 -5.22909030e-02 -1.62146341e-02 7.19039988e+02] [ 5.22929222e-02 9.98631744e-01 -2.99719730e-04 1.23513834e+01] [ 1.62081209e-02 -5.48640373e-04 9.99868489e-01 6.65143578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4092541539999 meters Centerline goodness [0,1] 0.9986380303823992 Centerline is valid? [True, True] Translation: X:719.07, Y:12.36, Z:6.65 [[ 9.98694678e-01 -4.83984801e-02 -1.63256777e-02 7.19071269e+02] [ 4.84000086e-02 9.98827987e-01 -3.01699782e-04 1.23564590e+01] [ 1.63211456e-02 -4.88856975e-04 9.99866682e-01 6.65197058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4392541539999 meters Centerline goodness [0,1] 0.9989724662906033 Centerline is valid? [True, True] Translation: X:719.10, Y:12.36, Z:6.65 [[ 9.98888060e-01 -4.43994332e-02 -1.58535402e-02 7.19102546e+02] [ 4.44003802e-02 9.99013774e-01 -2.92404186e-04 1.23616237e+01] [ 1.58508876e-02 -4.11824163e-04 9.99874282e-01 6.65270151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4692541539999 meters Centerline goodness [0,1] 0.9988447805082966 Centerline is valid? [True, True] Translation: X:719.13, Y:12.37, Z:6.65 [[ 9.99150327e-01 -3.82146228e-02 -1.54358949e-02 7.19132965e+02] [ 3.82147914e-02 9.99269508e-01 -2.84141800e-04 1.23688457e+01] [ 1.54354775e-02 -3.05979133e-04 9.99880819e-01 6.65371872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4992541539999 meters Centerline goodness [0,1] 0.9987626876939854 Centerline is valid? [True, True] Translation: X:719.16, Y:12.37, Z:6.65 [[ 9.99241509e-01 -3.56939082e-02 -1.55676757e-02 7.19164051e+02] [ 3.56937828e-02 9.99362733e-01 -2.85995728e-04 1.23731842e+01] [ 1.55679632e-02 -2.69890432e-04 9.99878775e-01 6.65441368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5292541539999 meters Centerline goodness [0,1] 0.9988637320090902 Centerline is valid? [True, True] Translation: X:719.19, Y:12.38, Z:6.65 [[ 9.99304081e-01 -3.38137720e-02 -1.57474377e-02 7.19193966e+02] [ 3.38134176e-02 9.99428121e-01 -2.88837551e-04 1.23759728e+01] [ 1.57481987e-02 -2.43838143e-04 9.99875960e-01 6.65420509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5592541539999 meters Centerline goodness [0,1] 0.9989714525608732 Centerline is valid? [True, True] Translation: X:719.23, Y:12.38, Z:6.65 [[ 9.99365786e-01 -3.14869152e-02 -1.66312960e-02 7.19225204e+02] [ 3.14862052e-02 9.99504140e-01 -3.04602963e-04 1.23797135e+01] [ 1.66326402e-02 -2.19246618e-04 9.99861644e-01 6.65391091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.589254154 meters Centerline goodness [0,1] 0.9990316808756973 Centerline is valid? [True, True] Translation: X:719.26, Y:12.38, Z:6.65 [[ 9.99360591e-01 -3.14491833e-02 -1.70105296e-02 7.19256198e+02] [ 3.14484458e-02 9.99505327e-01 -3.10913933e-04 1.23808200e+01] [ 1.70118929e-02 -2.24239585e-04 9.99855262e-01 6.65351331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6192541539999 meters Centerline goodness [0,1] 0.9988229111928534 Centerline is valid? [True, True] Translation: X:719.29, Y:12.38, Z:6.65 [[ 9.99328249e-01 -3.18917218e-02 -1.80545922e-02 7.19287008e+02] [ 3.18909728e-02 9.99491299e-01 -3.29471000e-04 1.23812818e+01] [ 1.80559152e-02 -2.46528832e-04 9.99836948e-01 6.65281267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6492541539999 meters Centerline goodness [0,1] 0.9988229111928534 Centerline is valid? [True, True] Translation: X:719.32, Y:12.38, Z:6.65 [[ 9.99328249e-01 -3.18917202e-02 -1.80545953e-02 7.19317006e+02] [ 3.18909743e-02 9.99491299e-01 -3.29299584e-04 1.23818289e+01] [ 1.80559129e-02 -2.46700259e-04 9.99836948e-01 6.65309368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6792541539999 meters Centerline goodness [0,1] 0.9989693540584313 Centerline is valid? [True, True] Translation: X:719.35, Y:12.38, Z:6.65 [[ 9.99302197e-01 -3.26098304e-02 -1.82131377e-02 7.19347965e+02] [ 3.26091906e-02 9.99468124e-01 -3.32191255e-04 1.23828713e+01] [ 1.82142833e-02 -2.61956229e-04 9.99834072e-01 6.65354703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.709254154 meters Centerline goodness [0,1] 0.9987369484674975 Centerline is valid? [True, True] Translation: X:719.38, Y:12.38, Z:6.65 [[ 9.99223248e-01 -3.47277396e-02 -1.86248625e-02 7.19378782e+02] [ 3.47274415e-02 9.99396763e-01 -3.39529064e-04 1.23838189e+01] [ 1.86254184e-02 -3.07528489e-04 9.99826485e-01 6.65400054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7392541539999 meters Centerline goodness [0,1] 0.9987586003745239 Centerline is valid? [True, True] Translation: X:719.41, Y:12.38, Z:6.65 [[ 9.99195872e-01 -3.57638871e-02 -1.81260448e-02 7.19409983e+02] [ 3.57637841e-02 9.99360217e-01 -3.29941455e-04 1.23840534e+01] [ 1.81262481e-02 -3.18579813e-04 9.99835655e-01 6.65496189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7692541539999 meters Centerline goodness [0,1] 0.9990106304599515 Centerline is valid? [True, True] Translation: X:719.44, Y:12.38, Z:6.66 [[ 9.99175014e-01 -3.65491725e-02 -1.77045285e-02 7.19440787e+02] [ 3.65492061e-02 9.99331803e-01 -3.21775621e-04 1.23833646e+01] [ 1.77044590e-02 -3.25576301e-04 9.99843211e-01 6.65527241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7992541539999 meters Centerline goodness [0,1] 0.9988427387114421 Centerline is valid? [True, True] Translation: X:719.47, Y:12.38, Z:6.66 [[ 9.99156502e-01 -3.73401116e-02 -1.70880052e-02 7.19472401e+02] [ 3.73402662e-02 9.99302561e-01 -3.10122218e-04 1.23834708e+01] [ 1.70876673e-02 -3.28210031e-04 9.99853941e-01 6.65577828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.829254154 meters Centerline goodness [0,1] 0.9988839285714286 Centerline is valid? [True, True] Translation: X:719.50, Y:12.38, Z:6.66 [[ 9.99152410e-01 -3.78824110e-02 -1.61054030e-02 7.19503364e+02] [ 3.78826278e-02 9.99282153e-01 -2.91722749e-04 1.23827475e+01] [ 1.61048930e-02 -3.18639500e-04 9.99870257e-01 6.65652921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8592541539999 meters Centerline goodness [0,1] 0.9987590181519888 Centerline is valid? [True, True] Translation: X:719.54, Y:12.38, Z:6.66 [[ 9.99170763e-01 -3.74120449e-02 -1.60663085e-02 7.19535075e+02] [ 3.74122133e-02 9.99299876e-01 -2.90177962e-04 1.23831792e+01] [ 1.60659162e-02 -3.11138825e-04 9.99870886e-01 6.65613792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8892541539999 meters Centerline goodness [0,1] 0.9990102762803235 Centerline is valid? [True, True] Translation: X:719.57, Y:12.38, Z:6.66 [[ 9.99210686e-01 -3.65986382e-02 -1.54448660e-02 7.19565810e+02] [ 3.65987122e-02 9.99330004e-01 -2.77949553e-04 1.23833216e+01] [ 1.54446906e-02 -2.87532044e-04 9.99880682e-01 6.65733109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9192541539999 meters Centerline goodness [0,1] 0.9989486521720846 Centerline is valid? [True, True] Translation: X:719.60, Y:12.38, Z:6.66 [[ 9.99234855e-01 -3.61505163e-02 -1.49279541e-02 7.19596925e+02] [ 3.61505532e-02 9.99346319e-01 -2.67456525e-04 1.23836628e+01] [ 1.49278647e-02 -2.72401917e-04 9.99888536e-01 6.65803320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9492541539998 meters Centerline goodness [0,1] 0.998948032821376 Centerline is valid? [True, True] Translation: X:719.63, Y:12.38, Z:6.66 [[ 9.99256393e-01 -3.55293106e-02 -1.49776466e-02 7.19627679e+02] [ 3.55293058e-02 9.99368599e-01 -2.66491162e-04 1.23833332e+01] [ 1.49776580e-02 -2.65852390e-04 9.99887793e-01 6.65797656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9792541539999 meters Centerline goodness [0,1] 0.9987386743467385 Centerline is valid? [True, True] Translation: X:719.66, Y:12.38, Z:6.66 [[ 9.99277752e-01 -3.47527111e-02 -1.53695548e-02 7.19658562e+02] [ 3.47526372e-02 9.99395908e-01 -2.71964501e-04 1.23821933e+01] [ 1.53697217e-02 -2.62364488e-04 9.99881844e-01 6.65740186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0092541539999 meters Centerline goodness [0,1] 0.9987595660583635 Centerline is valid? [True, True] Translation: X:719.69, Y:12.38, Z:6.66 [[ 9.99279159e-01 -3.46067826e-02 -1.56055663e-02 7.19688445e+02] [ 3.46066984e-02 9.99400971e-01 -2.75525726e-04 1.23811604e+01] [ 1.56057532e-02 -2.64730011e-04 9.99878188e-01 6.65618947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0392541539999 meters Centerline goodness [0,1] 0.9988658559637074 Centerline is valid? [True, True] Translation: X:719.72, Y:12.38, Z:6.66 [[ 9.99216109e-01 -3.62923941e-02 -1.58123413e-02 7.19720100e+02] [ 3.62925250e-02 9.99341170e-01 -2.78771176e-04 1.23814334e+01] [ 1.58120409e-02 -2.95317142e-04 9.99874938e-01 6.65699934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0692541539999 meters Centerline goodness [0,1] 0.9989084115288536 Centerline is valid? [True, True] Translation: X:719.75, Y:12.38, Z:6.66 [[ 9.99156902e-01 -3.76005022e-02 -1.64829447e-02 7.19750514e+02] [ 3.76008305e-02 9.99292797e-01 -2.90098557e-04 1.23783771e+01] [ 1.64821958e-02 -3.29918437e-04 9.99864105e-01 6.65577275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0992541539999 meters Centerline goodness [0,1] 0.9988887025077581 Centerline is valid? [True, True] Translation: X:719.78, Y:12.38, Z:6.66 [[ 9.99079814e-01 -3.93071098e-02 -1.71602958e-02 7.19781843e+02] [ 3.93077252e-02 9.99227107e-01 -3.01560997e-04 1.23775214e+01] [ 1.71588862e-02 -3.73248685e-04 9.99852706e-01 6.65525816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1292541539999 meters Centerline goodness [0,1] 0.9987415843453092 Centerline is valid? [True, True] Translation: X:719.81, Y:12.37, Z:6.65 [[ 9.98988997e-01 -4.14027849e-02 -1.75155376e-02 7.19812571e+02] [ 4.14037716e-02 9.99142449e-01 -3.06448424e-04 1.23742474e+01] [ 1.75132049e-02 -4.19070714e-04 9.99846544e-01 6.65428811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1592541539999 meters Centerline goodness [0,1] 0.9986984086996683 Centerline is valid? [True, True] Translation: X:719.84, Y:12.37, Z:6.65 [[ 9.98780525e-01 -4.58764524e-02 -1.82432074e-02 7.19843833e+02] [ 4.58782964e-02 9.98946986e-01 -3.17647967e-04 1.23719937e+01] [ 1.82385697e-02 -5.19706674e-04 9.99833528e-01 6.65401406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1892541539999 meters Centerline goodness [0,1] 0.9987824078933557 Centerline is valid? [True, True] Translation: X:719.87, Y:12.37, Z:6.65 [[ 9.98671520e-01 -4.82061101e-02 -1.82034441e-02 7.19874620e+02] [ 4.82083466e-02 9.98837252e-01 -3.16189617e-04 1.23708540e+01] [ 1.81975203e-02 -5.61788376e-04 9.99834254e-01 6.65413105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2192541539999 meters Centerline goodness [0,1] 0.9988875128565731 Centerline is valid? [True, True] Translation: X:719.91, Y:12.36, Z:6.65 [[ 9.98549187e-01 -5.06651695e-02 -1.82362721e-02 7.19905063e+02] [ 5.06678349e-02 9.98715510e-01 -3.16141761e-04 1.23641812e+01] [ 1.82288652e-02 -6.08309326e-04 9.99833655e-01 6.65310956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2492541539999 meters Centerline goodness [0,1] 0.9988877930035884 Centerline is valid? [True, True] Translation: X:719.94, Y:12.36, Z:6.65 [[ 9.98330153e-01 -5.47325660e-02 -1.84730087e-02 7.19935928e+02] [ 5.47360025e-02 9.98500810e-01 -3.19909802e-04 1.23634176e+01] [ 1.84628237e-02 -6.91763052e-04 9.99829308e-01 6.65378380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2792541539999 meters Centerline goodness [0,1] 0.9987831997650317 Centerline is valid? [True, True] Translation: X:719.97, Y:12.36, Z:6.66 [[ 9.98215303e-01 -5.70899007e-02 -1.75200751e-02 7.19968443e+02] [ 5.70933673e-02 9.98368798e-01 -3.02658723e-04 1.23625779e+01] [ 1.75087750e-02 -6.98161513e-04 9.99846466e-01 6.65520411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3092541539999 meters Centerline goodness [0,1] 0.9986576055038174 Centerline is valid? [True, True] Translation: X:720.00, Y:12.36, Z:6.66 [[ 9.98109955e-01 -5.87542709e-02 -1.80125821e-02 7.20000074e+02] [ 5.87582268e-02 9.98272195e-01 -3.09997041e-04 1.23626788e+01] [ 1.79996736e-02 -7.48976253e-04 9.99837712e-01 6.65533867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.339254154 meters Centerline goodness [0,1] 0.9985531861357488 Centerline is valid? [True, True] Translation: X:720.03, Y:12.36, Z:6.66 [[ 9.97904494e-01 -6.24229141e-02 -1.70294213e-02 7.20031223e+02] [ 6.24269935e-02 9.98049490e-01 -2.92452052e-04 1.23601087e+01] [ 1.70144610e-02 -7.71256358e-04 9.99854946e-01 6.65656765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3692541539999 meters Centerline goodness [0,1] 0.9985542168674699 Centerline is valid? [True, True] Translation: X:720.06, Y:12.36, Z:6.66 [[ 9.97820339e-01 -6.37711645e-02 -1.69649670e-02 7.20062989e+02] [ 6.37754174e-02 9.97964234e-01 -2.90762821e-04 1.23588722e+01] [ 1.69489726e-02 -7.91818796e-04 9.99856042e-01 6.65711728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3992541539999 meters Centerline goodness [0,1] 0.998533601474778 Centerline is valid? [True, True] Translation: X:720.09, Y:12.36, Z:6.66 [[ 9.97749322e-01 -6.49627793e-02 -1.66170711e-02 7.20094911e+02] [ 6.49670413e-02 9.97887370e-01 -2.83774538e-04 1.23578535e+01] [ 1.66004001e-02 -7.96426091e-04 9.99861887e-01 6.65716337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4292541539999 meters Centerline goodness [0,1] 0.9984520447651919 Centerline is valid? [True, True] Translation: X:720.13, Y:12.35, Z:6.66 [[ 9.97655860e-01 -6.64265727e-02 -1.64406878e-02 7.20125647e+02] [ 6.64309582e-02 9.97790985e-01 -2.79833404e-04 1.23543175e+01] [ 1.64229584e-02 -8.12993207e-04 9.99864804e-01 6.65675122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.459254154 meters Centerline goodness [0,1] 0.9986176852511205 Centerline is valid? [True, True] Translation: X:720.16, Y:12.35, Z:6.66 [[ 9.97626666e-01 -6.69853904e-02 -1.59371393e-02 7.20157649e+02] [ 6.69895951e-02 9.97753637e-01 -2.70465648e-04 1.23533185e+01] [ 1.59194559e-02 -7.97798763e-04 9.99872959e-01 6.65737900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4892541539999 meters Centerline goodness [0,1] 0.9986402242583993 Centerline is valid? [True, True] Translation: X:720.19, Y:12.36, Z:6.66 [[ 9.97636596e-01 -6.69610161e-02 -1.54092103e-02 7.20190036e+02] [ 6.69649609e-02 9.97755294e-01 -2.60407712e-04 1.23584070e+01] [ 1.53920583e-02 -7.72084899e-04 9.99881237e-01 6.65885829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5192541539999 meters Centerline goodness [0,1] 0.9986001713223158 Centerline is valid? [True, True] Translation: X:720.22, Y:12.35, Z:6.66 [[ 9.97690879e-01 -6.62379552e-02 -1.50147813e-02 7.20221741e+02] [ 6.62416339e-02 9.97803579e-01 -2.52742766e-04 1.23529405e+01] [ 1.49985437e-02 -7.42444492e-04 9.99887240e-01 6.65862177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5492541539999 meters Centerline goodness [0,1] 0.9984516561002658 Centerline is valid? [True, True] Translation: X:720.25, Y:12.36, Z:6.66 [[ 9.97757421e-01 -6.53150682e-02 -1.46311819e-02 7.20254249e+02] [ 6.53184754e-02 9.97864438e-01 -2.45387155e-04 1.23583464e+01] [ 1.46159636e-02 -7.10849641e-04 9.99892928e-01 6.65926709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.579254154 meters Centerline goodness [0,1] 0.9986831654195059 Centerline is valid? [True, True] Translation: X:720.29, Y:12.36, Z:6.66 [[ 9.97838695e-01 -6.39777480e-02 -1.49929016e-02 7.20286973e+02] [ 6.39811936e-02 9.97951073e-01 -2.50219724e-04 1.23592421e+01] [ 1.49781907e-02 -7.09584815e-04 9.99887569e-01 6.65841448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6092541539999 meters Centerline goodness [0,1] 0.9987045278839926 Centerline is valid? [True, True] Translation: X:720.32, Y:12.36, Z:6.66 [[ 9.97911780e-01 -6.29310243e-02 -1.45521812e-02 7.20319207e+02] [ 6.29341772e-02 9.98017651e-01 -2.41627199e-04 1.23613223e+01] [ 1.45385395e-02 -6.74706920e-04 9.99894082e-01 6.65944282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6392541539999 meters Centerline goodness [0,1] 0.9987444284010296 Centerline is valid? [True, True] Translation: X:720.35, Y:12.36, Z:6.66 [[ 9.98043100e-01 -6.08048928e-02 -1.45854635e-02 7.20349865e+02] [ 6.08078454e-02 9.98149462e-01 -2.41373302e-04 1.23598742e+01] [ 1.45731492e-02 -6.46009649e-04 9.99893597e-01 6.65935892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6692541539999 meters Centerline goodness [0,1] 0.9986821186511589 Centerline is valid? [True, True] Translation: X:720.38, Y:12.36, Z:6.66 [[ 9.98137945e-01 -5.91998109e-02 -1.46977880e-02 7.20381332e+02] [ 5.92026422e-02 9.98245956e-01 -2.42769113e-04 1.23601642e+01] [ 1.46863793e-02 -6.27830819e-04 9.99891952e-01 6.65864411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6992541539998 meters Centerline goodness [0,1] 0.9986191890874095 Centerline is valid? [True, True] Translation: X:720.41, Y:12.37, Z:6.66 [[ 9.98206243e-01 -5.79986436e-02 -1.48476805e-02 7.20413120e+02] [ 5.80014139e-02 9.98316471e-01 -2.44326749e-04 1.23654486e+01] [ 1.48368546e-02 -6.17297977e-04 9.99889737e-01 6.65964850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7292541539999 meters Centerline goodness [0,1] 0.9987228073114047 Centerline is valid? [True, True] Translation: X:720.44, Y:12.37, Z:6.66 [[ 9.98359057e-01 -5.54025570e-02 -1.44827229e-02 7.20443710e+02] [ 5.54049313e-02 9.98463939e-01 -2.37545241e-04 1.23676050e+01] [ 1.44736372e-02 -5.65258824e-04 9.99895092e-01 6.65968621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7592541539999 meters Centerline goodness [0,1] 0.9983866574475664 Centerline is valid? [True, True] Translation: X:720.48, Y:12.37, Z:6.66 [[ 9.98435815e-01 -5.40154666e-02 -1.44309628e-02 7.20475459e+02] [ 5.40176872e-02 9.98539951e-01 -2.36143936e-04 1.23704695e+01] [ 1.44226483e-02 -5.43752669e-04 9.99895840e-01 6.65913815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7892541539999 meters Centerline goodness [0,1] 0.998677942626907 Centerline is valid? [True, True] Translation: X:720.51, Y:12.37, Z:6.66 [[ 9.98539058e-01 -5.22875285e-02 -1.36295629e-02 7.20506398e+02] [ 5.22893609e-02 9.98631951e-01 -2.22127572e-04 1.23722946e+01] [ 1.36225315e-02 -4.90878076e-04 9.99907089e-01 6.66031185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8192541539999 meters Centerline goodness [0,1] 0.9986791899031406 Centerline is valid? [True, True] Translation: X:720.54, Y:12.37, Z:6.66 [[ 9.98582498e-01 -5.15278773e-02 -1.33368837e-02 7.20538029e+02] [ 5.15295738e-02 9.98671446e-01 -2.16625490e-04 1.23719039e+01] [ 1.33303272e-02 -4.70925512e-04 9.99911036e-01 6.66056267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8492541539999 meters Centerline goodness [0,1] 0.9985509985509986 Centerline is valid? [True, True] Translation: X:720.57, Y:12.37, Z:6.66 [[ 9.98610981e-01 -5.10534616e-02 -1.30250767e-02 7.20569716e+02] [ 5.10550496e-02 9.98695818e-01 -2.10783805e-04 1.23745436e+01] [ 1.30188509e-02 -4.54504915e-04 9.99915148e-01 6.66105391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8792541539999 meters Centerline goodness [0,1] 0.9986760255548084 Centerline is valid? [True, True] Translation: X:720.60, Y:12.38, Z:6.66 [[ 9.98664094e-01 -5.01235528e-02 -1.25561782e-02 7.20601567e+02] [ 5.01249664e-02 9.98742933e-01 -2.02288774e-04 1.23771448e+01] [ 1.25505337e-02 -4.27359477e-04 9.99921148e-01 6.66164439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9092541539999 meters Centerline goodness [0,1] 0.9988664035603325 Centerline is valid? [True, True] Translation: X:720.63, Y:12.38, Z:6.66 [[ 9.98690787e-01 -4.95435605e-02 -1.27337103e-02 7.20632378e+02] [ 4.95449788e-02 9.98771873e-01 -2.04252180e-04 1.23778444e+01] [ 1.27281911e-02 -4.26906636e-04 9.99918902e-01 6.66180414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9392541539999 meters Centerline goodness [0,1] 0.9987414523639719 Centerline is valid? [True, True] Translation: X:720.66, Y:12.38, Z:6.66 [[ 9.98745018e-01 -4.86305790e-02 -1.19772887e-02 7.20664523e+02] [ 4.86317763e-02 9.98816757e-01 -1.91434247e-04 1.23795788e+01] [ 1.19724262e-02 -3.91282824e-04 9.99928251e-01 6.66231772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9692541539999 meters Centerline goodness [0,1] 0.9985958588314192 Centerline is valid? [True, True] Translation: X:720.70, Y:12.38, Z:6.66 [[ 9.98796002e-01 -4.76426093e-02 -1.16930601e-02 7.20696597e+02] [ 4.76436929e-02 9.98864377e-01 -1.86035615e-04 1.23817151e+01] [ 1.16886444e-02 -3.71288937e-04 9.99931617e-01 6.66284310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9992541539999 meters Centerline goodness [0,1] 0.998806657594473 Centerline is valid? [True, True] Translation: X:720.73, Y:12.38, Z:6.66 [[ 9.98964136e-01 -4.41651374e-02 -1.09588088e-02 7.20727078e+02] [ 4.41658875e-02 9.99024196e-01 -1.73664950e-04 1.23831210e+01] [ 1.09557850e-02 -3.10520459e-04 9.99939935e-01 6.66392796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0292541539999 meters Centerline goodness [0,1] 0.9985943564460296 Centerline is valid? [True, True] Translation: X:720.76, Y:12.38, Z:6.66 [[ 9.99065997e-01 -4.19169882e-02 -1.04927997e-02 7.20758232e+02] [ 4.19175544e-02 9.99121059e-01 -1.66053286e-04 1.23847598e+01] [ 1.04905376e-02 -2.73934310e-04 9.99944935e-01 6.66449963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0592541539999 meters Centerline goodness [0,1] 0.9988033003716067 Centerline is valid? [True, True] Translation: X:720.79, Y:12.39, Z:6.66 [[ 9.99169500e-01 -3.93208521e-02 -1.06855232e-02 7.20790436e+02] [ 3.93212974e-02 9.99226605e-01 -1.68494778e-04 1.23876620e+01] [ 1.06838844e-02 -2.51813791e-04 9.99942894e-01 6.66496725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.089254154 meters Centerline goodness [0,1] 0.9990755137202169 Centerline is valid? [True, True] Translation: X:720.82, Y:12.39, Z:6.66 [[ 9.99389793e-01 -3.31204799e-02 -1.10939429e-02 7.20820414e+02] [ 3.31205860e-02 9.99451348e-01 -1.74209815e-04 1.23921861e+01] [ 1.10936260e-02 -1.93334378e-04 9.99938445e-01 6.66457238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1192541539999 meters Centerline goodness [0,1] 0.9991180917184613 Centerline is valid? [True, True] Translation: X:720.85, Y:12.40, Z:6.67 [[ 9.99485769e-01 -2.99839006e-02 -1.13650001e-02 7.20852224e+02] [ 2.99838128e-02 9.99550369e-01 -1.78150152e-04 1.23961375e+01] [ 1.13652317e-02 -1.62707494e-04 9.99935400e-01 6.66519392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1492541539999 meters Centerline goodness [0,1] 0.9992442531751863 Centerline is valid? [True, True] Translation: X:720.88, Y:12.40, Z:6.66 [[ 9.99580840e-01 -2.67832075e-02 -1.09910933e-02 7.20883819e+02] [ 2.67829398e-02 9.99641258e-01 -1.71575981e-04 1.23984415e+01] [ 1.09917457e-02 -1.22869727e-04 9.99939581e-01 6.66434765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1792541539999 meters Centerline goodness [0,1] 0.9990950988025842 Centerline is valid? [True, True] Translation: X:720.92, Y:12.40, Z:6.67 [[ 9.99687677e-01 -2.24143073e-02 -1.10520710e-02 7.20915469e+02] [ 2.24137741e-02 9.99748765e-01 -1.72125221e-04 1.24025918e+01] [ 1.10531524e-02 -7.56471597e-05 9.99938909e-01 6.66538158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.209254154 meters Centerline goodness [0,1] 0.9991164219295662 Centerline is valid? [True, True] Translation: X:720.95, Y:12.40, Z:6.67 [[ 9.99724129e-01 -2.06460359e-02 -1.11985482e-02 7.20947024e+02] [ 2.06453822e-02 9.99786846e-01 -1.73988026e-04 1.24039966e+01] [ 1.11997534e-02 -5.72582797e-05 9.99937279e-01 6.66543933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2392541539999 meters Centerline goodness [0,1] 0.9988627748294162 Centerline is valid? [True, True] Translation: X:720.98, Y:12.40, Z:6.66 [[ 9.99748913e-01 -1.92559658e-02 -1.14594112e-02 7.20977388e+02] [ 1.92551944e-02 9.99814586e-01 -1.77649066e-04 1.24047279e+01] [ 1.14607072e-02 -4.30487291e-05 9.99934323e-01 6.66431087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2692541539999 meters Centerline goodness [0,1] 0.9992048046539854 Centerline is valid? [True, True] Translation: X:721.01, Y:12.41, Z:6.67 [[ 9.99747020e-01 -1.91457477e-02 -1.18040811e-02 7.21007459e+02] [ 1.91449236e-02 9.99816702e-01 -1.82815840e-04 1.24058376e+01] [ 1.18054176e-02 -4.32186388e-05 9.99930313e-01 6.66555803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2992541539999 meters Centerline goodness [0,1] 0.9990738791833298 Centerline is valid? [True, True] Translation: X:721.04, Y:12.41, Z:6.67 [[ 9.99722958e-01 -2.01599509e-02 -1.21483798e-02 7.21038008e+02] [ 2.01591529e-02 9.99796766e-01 -1.88148171e-04 1.24053176e+01] [ 1.21497039e-02 -5.68050002e-05 9.99926188e-01 6.66509867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.329254154 meters Centerline goodness [0,1] 0.9989688118186792 Centerline is valid? [True, True] Translation: X:721.07, Y:12.40, Z:6.67 [[ 9.99681790e-01 -2.20549734e-02 -1.22432333e-02 7.21067433e+02] [ 2.20543044e-02 9.99756756e-01 -1.89669025e-04 1.24043298e+01] [ 1.22444384e-02 -8.04073241e-05 9.99925031e-01 6.66582218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3592541539999 meters Centerline goodness [0,1] 0.998970631486072 Centerline is valid? [True, True] Translation: X:721.10, Y:12.40, Z:6.66 [[ 9.99576980e-01 -2.63885349e-02 -1.22272860e-02 7.21097137e+02] [ 2.63881896e-02 9.99651753e-01 -1.89601150e-04 1.23993497e+01] [ 1.22280312e-02 -1.33134997e-04 9.99925226e-01 6.66483307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3892541539999 meters Centerline goodness [0,1] 0.9991190905658794 Centerline is valid? [True, True] Translation: X:721.13, Y:12.40, Z:6.67 [[ 9.99484594e-01 -2.95496723e-02 -1.25444265e-02 7.21128699e+02] [ 2.95495587e-02 9.99563298e-01 -1.94439232e-04 1.23984749e+01] [ 1.25446939e-02 -1.76343250e-04 9.99921297e-01 6.66605818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4192541539999 meters Centerline goodness [0,1] 0.9992020494729327 Centerline is valid? [True, True] Translation: X:721.16, Y:12.40, Z:6.67 [[ 9.99390028e-01 -3.25029613e-02 -1.27721901e-02 7.21159819e+02] [ 3.25030908e-02 9.99471615e-01 -1.97498632e-04 1.23961562e+01] [ 1.27718608e-02 -2.17757492e-04 9.99918413e-01 6.66652247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4492541539998 meters Centerline goodness [0,1] 0.9988468876449252 Centerline is valid? [True, True] Translation: X:721.19, Y:12.39, Z:6.66 [[ 9.99301231e-01 -3.51992108e-02 -1.25723691e-02 7.21191037e+02] [ 3.51995552e-02 9.99380285e-01 -1.93957344e-04 1.23935704e+01] [ 1.25714050e-02 -2.48719988e-04 9.99920946e-01 6.66489261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4792541539999 meters Centerline goodness [0,1] 0.9990985513930526 Centerline is valid? [True, True] Translation: X:721.22, Y:12.39, Z:6.67 [[ 9.99044595e-01 -4.19068690e-02 -1.23980225e-02 7.21221415e+02] [ 4.19077248e-02 9.99121467e-01 -1.90878054e-04 1.23897634e+01] [ 1.23951295e-02 -3.28877226e-04 9.99923123e-01 6.66854371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5092541539999 meters Centerline goodness [0,1] 0.9989493811855182 Centerline is valid? [True, True] Translation: X:721.25, Y:12.39, Z:6.67 [[ 9.98930643e-01 -4.46158728e-02 -1.21241366e-02 7.21253128e+02] [ 4.46168958e-02 9.99004153e-01 -1.86219878e-04 1.23883896e+01] [ 1.21203711e-02 -3.54920596e-04 9.99926483e-01 6.66874727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5392541539999 meters Centerline goodness [0,1] 0.9989493811855182 Centerline is valid? [True, True] Translation: X:721.28, Y:12.39, Z:6.67 [[ 9.98933914e-01 -4.45425693e-02 -1.21241540e-02 7.21284828e+02] [ 4.45436008e-02 9.99007424e-01 -1.85079056e-04 1.23888136e+01] [ 1.21203638e-02 -3.55171730e-04 9.99926483e-01 6.66904400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5692541539999 meters Centerline goodness [0,1] 0.998953317981997 Centerline is valid? [True, True] Translation: X:721.31, Y:12.38, Z:6.67 [[ 9.98705441e-01 -4.94597633e-02 -1.18816789e-02 7.21314530e+02] [ 4.94611095e-02 9.98776034e-01 -1.80703957e-04 1.23822168e+01] [ 1.18760737e-02 -4.07210997e-04 9.99929394e-01 6.66946723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5992541539999 meters Centerline goodness [0,1] 0.9991195337721689 Centerline is valid? [True, True] Translation: X:721.35, Y:12.38, Z:6.67 [[ 9.98601786e-01 -5.15377924e-02 -1.17613407e-02 7.21347087e+02] [ 5.15392574e-02 9.98670953e-01 -1.78699529e-04 1.23818328e+01] [ 1.17549191e-02 -4.27721095e-04 9.99930817e-01 6.67021486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6292541539999 meters Centerline goodness [0,1] 0.999015871686419 Centerline is valid? [True, True] Translation: X:721.38, Y:12.38, Z:6.67 [[ 9.98504241e-01 -5.34250935e-02 -1.16206617e-02 7.21378729e+02] [ 5.34266606e-02 9.98571761e-01 -1.75765794e-04 1.23803163e+01] [ 1.16134549e-02 -4.45350258e-04 9.99932462e-01 6.67072424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6592541539999 meters Centerline goodness [0,1] 0.9989754098360656 Centerline is valid? [True, True] Translation: X:721.41, Y:12.38, Z:6.67 [[ 9.98300765e-01 -5.70163101e-02 -1.20301034e-02 7.21409873e+02] [ 5.70182568e-02 9.98373119e-01 -1.81380788e-04 1.23780868e+01] [ 1.20208736e-02 -5.04862948e-04 9.99927619e-01 6.67124552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6892541539999 meters Centerline goodness [0,1] 0.9989756240331146 Centerline is valid? [True, True] Translation: X:721.44, Y:12.38, Z:6.67 [[ 9.98201317e-01 -5.86856405e-02 -1.22525982e-02 7.21441496e+02] [ 5.86877894e-02 9.98276369e-01 -1.84400932e-04 1.23776603e+01] [ 1.22423009e-02 -5.35008650e-04 9.99924917e-01 6.67167227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7192541539999 meters Centerline goodness [0,1] 0.9988296026919138 Centerline is valid? [True, True] Translation: X:721.47, Y:12.38, Z:6.67 [[ 9.98116361e-01 -6.00141085e-02 -1.27293854e-02 7.21472731e+02] [ 6.00165451e-02 9.98197364e-01 -1.90850820e-04 1.23751638e+01] [ 1.27178927e-02 -5.73482409e-04 9.99918960e-01 6.67160522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7492541539999 meters Centerline goodness [0,1] 0.9989563547558914 Centerline is valid? [True, True] Translation: X:721.51, Y:12.38, Z:6.67 [[ 9.97966139e-01 -6.23853816e-02 -1.31015348e-02 7.21505144e+02] [ 6.23881772e-02 9.98051941e-01 -1.95622012e-04 1.23750963e+01] [ 1.30882162e-02 -6.22156728e-04 9.99914152e-01 6.67158528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7792541539999 meters Centerline goodness [0,1] 0.9985799310848908 Centerline is valid? [True, True] Translation: X:721.54, Y:12.38, Z:6.67 [[ 9.97901869e-01 -6.33831459e-02 -1.32074687e-02 7.21537198e+02] [ 6.33860871e-02 9.97989061e-01 -1.96213565e-04 1.23756295e+01] [ 1.31933459e-02 -6.41367878e-04 9.99912758e-01 6.67149657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8092541539999 meters Centerline goodness [0,1] 0.9984959578868209 Centerline is valid? [True, True] Translation: X:721.57, Y:12.37, Z:6.67 [[ 9.97874825e-01 -6.37070352e-02 -1.36838454e-02 7.21569567e+02] [ 6.37102372e-02 9.97968419e-01 -2.02237574e-04 1.23739640e+01] [ 1.36689295e-02 -6.69993255e-04 9.99906351e-01 6.66978840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.839254154 meters Centerline goodness [0,1] 0.9986831654195059 Centerline is valid? [True, True] Translation: X:721.60, Y:12.37, Z:6.67 [[ 9.97772927e-01 -6.50632638e-02 -1.46954933e-02 7.21600667e+02] [ 6.50671189e-02 9.97880866e-01 -2.16142248e-04 1.23736840e+01] [ 1.46784145e-02 -7.40532525e-04 9.99891992e-01 6.67118128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8692541539999 meters Centerline goodness [0,1] 0.9987251029322632 Centerline is valid? [True, True] Translation: X:721.63, Y:12.37, Z:6.67 [[ 9.97837644e-01 -6.40119856e-02 -1.49165315e-02 7.21632091e+02] [ 6.40158593e-02 9.97948858e-01 -2.18125200e-04 1.23737742e+01] [ 1.48998982e-02 -7.37241044e-04 9.99888719e-01 6.66984855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8992541539999 meters Centerline goodness [0,1] 0.9985176834105808 Centerline is valid? [True, True] Translation: X:721.66, Y:12.38, Z:6.67 [[ 9.97848415e-01 -6.37917370e-02 -1.51378781e-02 7.21664487e+02] [ 6.37957268e-02 9.97962954e-01 -2.19676909e-04 1.23750416e+01] [ 1.51210551e-02 -7.46527680e-04 9.99885392e-01 6.67150204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9292541539999 meters Centerline goodness [0,1] 0.9986424110779256 Centerline is valid? [True, True] Translation: X:721.69, Y:12.38, Z:6.67 [[ 9.98023565e-01 -6.10498329e-02 -1.48956908e-02 7.21694550e+02] [ 6.10534028e-02 9.98134478e-01 -2.15393482e-04 1.23754410e+01] [ 1.48810523e-02 -6.94464837e-04 9.99889030e-01 6.67143280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.959254154 meters Centerline goodness [0,1] 0.9987036069001568 Centerline is valid? [True, True] Translation: X:721.73, Y:12.38, Z:6.67 [[ 9.98156827e-01 -5.87021091e-02 -1.53951744e-02 7.21726215e+02] [ 5.87056515e-02 9.98275311e-01 -2.22103704e-04 1.23824233e+01] [ 1.53816605e-02 -6.82089416e-04 9.99881463e-01 6.67273235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9892541539999 meters Centerline goodness [0,1] 0.9989111087844205 Centerline is valid? [True, True] Translation: X:721.76, Y:12.39, Z:6.67 [[ 9.98471330e-01 -5.29026533e-02 -1.60097646e-02 7.21755528e+02] [ 5.29057467e-02 9.98599484e-01 -2.30549011e-04 1.23872667e+01] [ 1.59995394e-02 -6.16811975e-04 9.99871809e-01 6.67296799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0192541539999 meters Centerline goodness [0,1] 0.998637744943938 Centerline is valid? [True, True] Translation: X:721.79, Y:12.39, Z:6.67 [[ 9.98640072e-01 -4.95459145e-02 -1.62237269e-02 7.21786562e+02] [ 4.95486500e-02 9.98771684e-01 -2.33551469e-04 1.23907033e+01] [ 1.62153705e-02 -5.70629908e-04 9.99868359e-01 6.67324202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0492541539999 meters Centerline goodness [0,1] 0.9987402632849735 Centerline is valid? [True, True] Translation: X:721.82, Y:12.39, Z:6.67 [[ 9.98806573e-01 -4.60077526e-02 -1.63926028e-02 7.21817838e+02] [ 4.60100793e-02 9.98940948e-01 -2.35374373e-04 1.23944393e+01] [ 1.63860712e-02 -5.19131483e-04 9.99865605e-01 6.67397400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.079254154 meters Centerline goodness [0,1] 0.9988674021561307 Centerline is valid? [True, True] Translation: X:721.85, Y:12.40, Z:6.68 [[ 9.98985114e-01 -4.21368562e-02 -1.59131313e-02 7.21849454e+02] [ 4.21385691e-02 9.99111750e-01 -2.27793805e-04 1.23983483e+01] [ 1.59085950e-02 -4.42993962e-04 9.99873352e-01 6.67558761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1092541539999 meters Centerline goodness [0,1] 0.9989733274666331 Centerline is valid? [True, True] Translation: X:721.88, Y:12.40, Z:6.68 [[ 9.99278803e-01 -3.46959946e-02 -1.54292320e-02 7.21879180e+02] [ 3.46967259e-02 9.99397863e-01 -2.20366191e-04 1.24041708e+01] [ 1.54275873e-02 -3.15136570e-04 9.99880938e-01 6.67709003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1392541539999 meters Centerline goodness [0,1] 0.9989716036686465 Centerline is valid? [True, True] Translation: X:721.91, Y:12.41, Z:6.68 [[ 9.99389052e-01 -3.14210409e-02 -1.53049488e-02 7.21910302e+02] [ 3.14213799e-02 9.99506203e-01 -2.18373768e-04 1.24074256e+01] [ 1.53042528e-02 -2.62662259e-04 9.99882849e-01 6.67785806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1692541539999 meters Centerline goodness [0,1] 0.9992243999580757 Centerline is valid? [True, True] Translation: X:721.94, Y:12.41, Z:6.68 [[ 9.99577211e-01 -2.49761955e-02 -1.48858954e-02 7.21941031e+02] [ 2.49758065e-02 9.99688033e-01 -2.12061224e-04 1.24115312e+01] [ 1.48865480e-02 -1.59815677e-04 9.99889176e-01 6.67811694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1992541539998 meters Centerline goodness [0,1] 0.9988862504465505 Centerline is valid? [True, True] Translation: X:721.97, Y:12.41, Z:6.68 [[ 9.99640608e-01 -2.20395221e-02 -1.52615296e-02 7.21971951e+02] [ 2.20387711e-02 9.99757093e-01 -2.17412427e-04 1.24132490e+01] [ 1.52626142e-02 -1.19011067e-04 9.99883512e-01 6.67683088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2292541539999 meters Centerline goodness [0,1] 0.9989086406279514 Centerline is valid? [True, True] Translation: X:722.00, Y:12.42, Z:6.68 [[ 9.99674566e-01 -2.07555487e-02 -1.48313784e-02 7.22001361e+02] [ 2.07546951e-02 9.99784576e-01 -2.11484409e-04 1.24154429e+01] [ 1.48325728e-02 -9.64051513e-05 9.99889987e-01 6.67940960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2592541539999 meters Centerline goodness [0,1] 0.9989718841796056 Centerline is valid? [True, True] Translation: X:722.03, Y:12.42, Z:6.68 [[ 9.99699083e-01 -1.92114580e-02 -1.52533391e-02 7.22029700e+02] [ 1.92103470e-02 9.99815440e-01 -2.19362586e-04 1.24162182e+01] [ 1.52547382e-02 -7.37253614e-05 9.99883637e-01 6.67918738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2892541539999 meters Centerline goodness [0,1] 0.999055296636856 Centerline is valid? [True, True] Translation: X:722.06, Y:12.42, Z:6.68 [[ 9.99728725e-01 -1.71709546e-02 -1.57364172e-02 7.22057335e+02] [ 1.71694713e-02 9.99852567e-01 -2.29364899e-04 1.24156808e+01] [ 1.57380356e-02 -4.08832855e-05 9.99876149e-01 6.67862541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3192541539999 meters Centerline goodness [0,1] 0.9991598933064499 Centerline is valid? [True, True] Translation: X:722.09, Y:12.41, Z:6.68 [[ 9.99714291e-01 -1.73898166e-02 -1.63991118e-02 7.22085602e+02] [ 1.73881868e-02 9.99848785e-01 -2.41970397e-04 1.24148796e+01] [ 1.64008398e-02 -4.32495554e-05 9.99865496e-01 6.67853155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3492541539999 meters Centerline goodness [0,1] 0.9991189612133162 Centerline is valid? [True, True] Translation: X:722.11, Y:12.41, Z:6.68 [[ 9.99699683e-01 -1.77695568e-02 -1.68756505e-02 7.22112979e+02] [ 1.77678259e-02 9.99842108e-01 -2.52506313e-04 1.24134873e+01] [ 1.68774729e-02 -4.74131403e-05 9.99857564e-01 6.67831562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3792541539999 meters Centerline goodness [0,1] 0.9990376367706437 Centerline is valid? [True, True] Translation: X:722.14, Y:12.41, Z:6.68 [[ 9.99676016e-01 -1.88470918e-02 -1.71070311e-02 7.22141305e+02] [ 1.88454178e-02 9.99822376e-01 -2.59066273e-04 1.24118201e+01] [ 1.71088751e-02 -6.34068080e-05 9.99853630e-01 6.67846937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4092541539999 meters Centerline goodness [0,1] 0.9989499989499989 Centerline is valid? [True, True] Translation: X:722.17, Y:12.41, Z:6.68 [[ 9.99614702e-01 -2.22227623e-02 -1.66311661e-02 7.22170579e+02] [ 2.22215732e-02 9.99753038e-01 -2.56317057e-04 1.24069862e+01] [ 1.66327549e-02 -1.13352376e-04 9.99861660e-01 6.67910392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4392541539999 meters Centerline goodness [0,1] 0.9988501421642415 Centerline is valid? [True, True] Translation: X:722.20, Y:12.40, Z:6.68 [[ 9.99567529e-01 -2.44289420e-02 -1.63701462e-02 7.22199370e+02] [ 2.44280181e-02 9.99701559e-01 -2.56422113e-04 1.24045723e+01] [ 1.63715248e-02 -1.43579010e-04 9.99865967e-01 6.67980452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4692541539999 meters Centerline goodness [0,1] 0.9988500940832113 Centerline is valid? [True, True] Translation: X:722.23, Y:12.40, Z:6.68 [[ 9.99430249e-01 -2.92408897e-02 -1.68566732e-02 7.22228490e+02] [ 2.92405193e-02 9.99572369e-01 -2.68497970e-04 1.23971104e+01] [ 1.68573159e-02 -2.24552884e-04 9.99857880e-01 6.67879031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4992541539999 meters Centerline goodness [0,1] 0.9991031764239682 Centerline is valid? [True, True] Translation: X:722.26, Y:12.39, Z:6.68 [[ 9.99343289e-01 -3.26004608e-02 -1.58177029e-02 7.22257155e+02] [ 3.26005131e-02 9.99468430e-01 -2.54607667e-04 1.23919802e+01] [ 1.58175950e-02 -2.61224767e-04 9.99874860e-01 6.67984860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5292541539999 meters Centerline goodness [0,1] 0.9990817071898153 Centerline is valid? [True, True] Translation: X:722.29, Y:12.39, Z:6.68 [[ 9.99244447e-01 -3.53928353e-02 -1.60587425e-02 7.22287874e+02] [ 3.53932412e-02 9.99373429e-01 -2.59016014e-04 1.23897431e+01] [ 1.60578479e-02 -3.09550635e-04 9.99871017e-01 6.68062600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5592541539999 meters Centerline goodness [0,1] 0.9991655714792331 Centerline is valid? [True, True] Translation: X:722.32, Y:12.38, Z:6.68 [[ 9.99072640e-01 -4.01551988e-02 -1.55376996e-02 7.22317839e+02] [ 4.01561543e-02 9.99193385e-01 -2.50611965e-04 1.23814224e+01] [ 1.55352301e-02 -3.73554707e-04 9.99879251e-01 6.68060746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.589254154 meters Centerline goodness [0,1] 0.9993115821094793 Centerline is valid? [True, True] Translation: X:722.35, Y:12.38, Z:6.68 [[ 9.98987978e-01 -4.21756935e-02 -1.56279129e-02 7.22349357e+02] [ 4.21769107e-02 9.99110126e-01 -2.51838031e-04 1.23784206e+01] [ 1.56246275e-02 -4.07553923e-04 9.99877845e-01 6.68102452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6192541539999 meters Centerline goodness [0,1] 0.9991872460143795 Centerline is valid? [True, True] Translation: X:722.38, Y:12.38, Z:6.68 [[ 9.98908166e-01 -4.39602816e-02 -1.58103950e-02 7.22380522e+02] [ 4.39617600e-02 9.99033182e-01 -2.54197651e-04 1.23751340e+01] [ 1.58062838e-02 -4.41132681e-04 9.99874976e-01 6.68143171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6492541539999 meters Centerline goodness [0,1] 0.9990819754219783 Centerline is valid? [True, True] Translation: X:722.41, Y:12.37, Z:6.68 [[ 9.98787567e-01 -4.67044126e-02 -1.55593927e-02 7.22411466e+02] [ 4.67061840e-02 9.98908639e-01 -2.49711797e-04 1.23700202e+01] [ 1.55540745e-02 -4.77310822e-04 9.99878914e-01 6.68219906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6792541539999 meters Centerline goodness [0,1] 0.998957181888335 Centerline is valid? [True, True] Translation: X:722.44, Y:12.36, Z:6.68 [[ 9.98748477e-01 -4.75731281e-02 -1.54361985e-02 7.22442338e+02] [ 4.75749889e-02 9.98867639e-01 -2.46849205e-04 1.23648190e+01] [ 1.54304626e-02 -4.87836705e-04 9.99880824e-01 6.68159451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.709254154 meters Centerline goodness [0,1] 0.9988951197648481 Centerline is valid? [True, True] Translation: X:722.47, Y:12.36, Z:6.68 [[ 9.98720023e-01 -4.78859375e-02 -1.62865522e-02 7.22473409e+02] [ 4.78880736e-02 9.98852674e-01 -2.59031524e-04 1.23633537e+01] [ 1.62802702e-02 -5.21231641e-04 9.99867332e-01 6.68049586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7392541539999 meters Centerline goodness [0,1] 0.9989560278949347 Centerline is valid? [True, True] Translation: X:722.50, Y:12.36, Z:6.68 [[ 9.98659650e-01 -4.93698073e-02 -1.55411240e-02 7.22504212e+02] [ 4.93719404e-02 9.98780432e-01 -2.46618599e-04 1.23581882e+01] [ 1.55343460e-02 -5.21007402e-04 9.99879199e-01 6.68172092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7692541539999 meters Centerline goodness [0,1] 0.9992273154432495 Centerline is valid? [True, True] Translation: X:722.54, Y:12.36, Z:6.68 [[ 9.98650356e-01 -4.94857768e-02 -1.57678242e-02 7.22535771e+02] [ 4.94879963e-02 9.98774687e-01 -2.49632945e-04 1.23565107e+01] [ 1.57608570e-02 -5.31021996e-04 9.99875649e-01 6.68195274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7992541539999 meters Centerline goodness [0,1] 0.9993534123143668 Centerline is valid? [True, True] Translation: X:722.57, Y:12.35, Z:6.68 [[ 9.98639753e-01 -4.96908347e-02 -1.57944329e-02 7.22567032e+02] [ 4.96930964e-02 9.98764504e-01 -2.49476669e-04 1.23534648e+01] [ 1.57873156e-02 -5.35736955e-04 9.99875229e-01 6.68157192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.829254154 meters Centerline goodness [0,1] 0.9991238500531948 Centerline is valid? [True, True] Translation: X:722.60, Y:12.35, Z:6.68 [[ 9.98620508e-01 -4.97288890e-02 -1.68557918e-02 7.22597929e+02] [ 4.97314789e-02 9.98762589e-01 -2.65737274e-04 1.23512699e+01] [ 1.68481491e-02 -5.72892762e-04 9.99857896e-01 6.68042744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8592541539999 meters Centerline goodness [0,1] 0.99916370478779 Centerline is valid? [True, True] Translation: X:722.63, Y:12.35, Z:6.68 [[ 9.98590383e-01 -5.04772794e-02 -1.64100684e-02 7.22628783e+02] [ 5.04798378e-02 9.98725047e-01 -2.58543451e-04 1.23501291e+01] [ 1.64021969e-02 -5.70198589e-04 9.99865312e-01 6.68157525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8892541539999 meters Centerline goodness [0,1] 0.999290380481289 Centerline is valid? [True, True] Translation: X:722.66, Y:12.35, Z:6.68 [[ 9.98584381e-01 -5.05460986e-02 -1.65628110e-02 7.22658987e+02] [ 5.05487142e-02 9.98721563e-01 -2.60949936e-04 1.23484525e+01] [ 1.65548265e-02 -5.76648271e-04 9.99862793e-01 6.68140713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9192541539999 meters Centerline goodness [0,1] 0.9992488889816187 Centerline is valid? [True, True] Translation: X:722.69, Y:12.34, Z:6.68 [[ 9.98507138e-01 -5.14642016e-02 -1.83011332e-02 7.22689506e+02] [ 5.14675523e-02 9.98674626e-01 -2.88176168e-04 1.23444589e+01] [ 1.82917081e-02 -6.54168568e-04 9.99832479e-01 6.68037834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9492541539998 meters Centerline goodness [0,1] 0.9993111653829294 Centerline is valid? [True, True] Translation: X:722.72, Y:12.34, Z:6.68 [[ 9.98476511e-01 -5.17863533e-02 -1.90481216e-02 7.22718743e+02] [ 5.17900418e-02 9.98657950e-01 -2.99935912e-04 1.23425358e+01] [ 1.90380907e-02 -6.87024053e-04 9.99818523e-01 6.67973889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9792541539999 meters Centerline goodness [0,1] 0.999311797459907 Centerline is valid? [True, True] Translation: X:722.75, Y:12.34, Z:6.68 [[ 9.98441863e-01 -5.19702480e-02 -2.03209000e-02 7.22748000e+02] [ 5.19744766e-02 9.98648362e-01 -3.20350728e-04 1.23399260e+01] [ 2.03100822e-02 -7.36316564e-04 9.99793458e-01 6.67883217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0092541539999 meters Centerline goodness [0,1] 0.9992282663106958 Centerline is valid? [True, True] Translation: X:722.78, Y:12.34, Z:6.68 [[ 9.98437531e-01 -5.19803407e-02 -2.05071175e-02 7.22777436e+02] [ 5.19846418e-02 9.98647832e-01 -3.23650157e-04 1.23389339e+01] [ 2.04962119e-02 -7.42910694e-04 9.99789655e-01 6.67919524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0392541539999 meters Centerline goodness [0,1] 0.9992705445905671 Centerline is valid? [True, True] Translation: X:722.81, Y:12.34, Z:6.68 [[ 9.98461877e-01 -5.14265611e-02 -2.07168951e-02 7.22807216e+02] [ 5.14308199e-02 9.98676506e-01 -3.27528137e-04 1.23378573e+01] [ 2.07063201e-02 -7.38462542e-04 9.99785328e-01 6.67896538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0692541539999 meters Centerline goodness [0,1] 0.9994992697684123 Centerline is valid? [True, True] Translation: X:722.84, Y:12.34, Z:6.68 [[ 9.98481502e-01 -5.09673125e-02 -2.09051191e-02 7.22836876e+02] [ 5.09715329e-02 9.98700052e-01 -3.31254048e-04 1.23391111e+01] [ 2.08948267e-02 -7.34814929e-04 9.99781409e-01 6.67988540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0992541539999 meters Centerline goodness [0,1] 0.9994785365650161 Centerline is valid? [True, True] Translation: X:722.87, Y:12.34, Z:6.68 [[ 9.98526939e-01 -5.02112747e-02 -2.05616023e-02 7.22866745e+02] [ 5.02151822e-02 9.98738369e-01 -3.26549155e-04 1.23395969e+01] [ 2.05520576e-02 -7.06436478e-04 9.99788535e-01 6.68030137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1292541539999 meters Centerline goodness [0,1] 0.9993947362928641 Centerline is valid? [True, True] Translation: X:722.90, Y:12.34, Z:6.68 [[ 9.98578230e-01 -4.94169068e-02 -1.99871842e-02 7.22896583e+02] [ 4.94204256e-02 9.98778014e-01 -3.18149164e-04 1.23414928e+01] [ 1.99784821e-02 -6.70078319e-04 9.99800186e-01 6.68175149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1592541539999 meters Centerline goodness [0,1] 0.9993532504381206 Centerline is valid? [True, True] Translation: X:722.93, Y:12.34, Z:6.68 [[ 9.98738246e-01 -4.61099345e-02 -1.98944752e-02 7.22926747e+02] [ 4.61127545e-02 9.98936191e-01 -3.17212677e-04 1.23428623e+01] [ 1.98879379e-02 -6.00576617e-04 9.99802035e-01 6.68220518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1892541539999 meters Centerline goodness [0,1] 0.9992489516616945 Centerline is valid? [True, True] Translation: X:722.96, Y:12.34, Z:6.68 [[ 9.98828128e-01 -4.41512278e-02 -1.98252278e-02 7.22955775e+02] [ 4.41536279e-02 9.99024703e-01 -3.16856156e-04 1.23427586e+01] [ 1.98198819e-02 -5.58870891e-04 9.99803411e-01 6.68199855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2192541539999 meters Centerline goodness [0,1] 0.9993530884808013 Centerline is valid? [True, True] Translation: X:722.98, Y:12.34, Z:6.68 [[ 9.98903362e-01 -4.23478132e-02 -1.99684022e-02 7.22984219e+02] [ 4.23498232e-02 9.99102792e-01 -3.22392635e-04 1.23449379e+01] [ 1.99641390e-02 -5.23619214e-04 9.99800560e-01 6.68289713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2492541539999 meters Centerline goodness [0,1] 0.9994361844303374 Centerline is valid? [True, True] Translation: X:723.01, Y:12.35, Z:6.68 [[ 9.98980312e-01 -4.06162843e-02 -1.97143004e-02 7.23013182e+02] [ 4.06178063e-02 9.99174704e-01 -3.23368712e-04 1.23468308e+01] [ 1.97111643e-02 -4.77712660e-04 9.99805602e-01 6.68376809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2792541539999 meters Centerline goodness [0,1] 0.999477817695714 Centerline is valid? [True, True] Translation: X:723.04, Y:12.35, Z:6.68 [[ 9.99082540e-01 -3.78471885e-02 -2.00416662e-02 7.23040882e+02] [ 3.78481352e-02 9.99283447e-01 -3.32203337e-04 1.23473990e+01] [ 2.00398783e-02 -4.26641139e-04 9.99799090e-01 6.68367457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3092541539999 meters Centerline goodness [0,1] 0.9992688225954709 Centerline is valid? [True, True] Translation: X:723.07, Y:12.35, Z:6.68 [[ 9.99098127e-01 -3.76103972e-02 -1.97076427e-02 7.23069811e+02] [ 3.76111977e-02 9.99292394e-01 -3.30158118e-04 1.23476919e+01] [ 1.97061148e-02 -4.11367689e-04 9.99805731e-01 6.68424625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.339254154 meters Centerline goodness [0,1] 0.9993945214631702 Centerline is valid? [True, True] Translation: X:723.10, Y:12.35, Z:6.68 [[ 9.99101257e-01 -3.75194938e-02 -1.97222277e-02 7.23097817e+02] [ 3.75202027e-02 9.99295813e-01 -3.34208429e-04 1.23469154e+01] [ 1.97208789e-02 -4.06073921e-04 9.99805442e-01 6.68407877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3692541539999 meters Centerline goodness [0,1] 0.9993730276494807 Centerline is valid? [True, True] Translation: X:723.13, Y:12.35, Z:6.68 [[ 9.99060846e-01 -3.86827971e-02 -1.95209315e-02 7.23126175e+02] [ 3.86836387e-02 9.99251452e-01 -3.34629246e-04 1.23457725e+01] [ 1.95192635e-02 -4.20825682e-04 9.99809392e-01 6.68399106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3992541539999 meters Centerline goodness [0,1] 0.9996652579605841 Centerline is valid? [True, True] Translation: X:723.16, Y:12.35, Z:6.68 [[ 9.99013164e-01 -3.97232836e-02 -1.98685348e-02 7.23155148e+02] [ 3.97242604e-02 9.99210620e-01 -3.45662940e-04 1.23458212e+01] [ 1.98665819e-02 -4.43941024e-04 9.99802541e-01 6.68414239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4292541539999 meters Centerline goodness [0,1] 0.9991855487104522 Centerline is valid? [True, True] Translation: X:723.18, Y:12.35, Z:6.68 [[ 9.98900201e-01 -4.13292849e-02 -2.21422156e-02 7.23183586e+02] [ 4.13307615e-02 9.99145442e-01 -3.91138747e-04 1.23457819e+01] [ 2.21394593e-02 -5.24446057e-04 9.99754755e-01 6.68285254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.459254154 meters Centerline goodness [0,1] 0.9991855487104522 Centerline is valid? [True, True] Translation: X:723.21, Y:12.35, Z:6.68 [[ 9.98888044e-01 -4.16221530e-02 -2.21421058e-02 7.23211016e+02] [ 4.16235654e-02 9.99133285e-01 -3.97282473e-04 1.23463411e+01] [ 2.21394507e-02 -5.24792678e-04 9.99754755e-01 6.68311001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4892541539999 meters Centerline goodness [0,1] 0.9993531289777351 Centerline is valid? [True, True] Translation: X:723.24, Y:12.35, Z:6.68 [[ 9.98779204e-01 -4.43262231e-02 -2.18010747e-02 7.23239601e+02] [ 4.43281072e-02 9.99016947e-01 -3.97065199e-04 1.23456053e+01] [ 2.17972435e-02 -5.69819916e-04 9.99762249e-01 6.68332110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5192541539999 meters Centerline goodness [0,1] 0.999456555817988 Centerline is valid? [True, True] Translation: X:723.27, Y:12.35, Z:6.68 [[ 9.98729079e-01 -4.58913968e-02 -2.08376199e-02 7.23267918e+02] [ 4.58933886e-02 9.98946270e-01 -3.82864593e-04 1.23450001e+01] [ 2.08332329e-02 -5.73930986e-04 9.99782800e-01 6.68366722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5492541539999 meters Centerline goodness [0,1] 0.9994148380355277 Centerline is valid? [True, True] Translation: X:723.30, Y:12.34, Z:6.68 [[ 9.98625750e-01 -4.78044258e-02 -2.14790191e-02 7.23296383e+02] [ 4.78068988e-02 9.98856517e-01 -3.98628103e-04 1.23443906e+01] [ 2.14735144e-02 -6.28765005e-04 9.99769220e-01 6.68355715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.579254154 meters Centerline goodness [0,1] 0.9992274929012861 Centerline is valid? [True, True] Translation: X:723.33, Y:12.34, Z:6.68 [[ 9.98439661e-01 -5.10303087e-02 -2.26748838e-02 7.23325280e+02] [ 5.10338220e-02 9.98696835e-01 -4.24074474e-04 1.23422299e+01] [ 2.26669754e-02 -7.33773211e-04 9.99742802e-01 6.68317884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6092541539999 meters Centerline goodness [0,1] 0.9992696007846574 Centerline is valid? [True, True] Translation: X:723.35, Y:12.34, Z:6.68 [[ 9.98387324e-01 -5.25914578e-02 -2.13749646e-02 7.23353891e+02] [ 5.25948622e-02 9.98615851e-01 -4.03254873e-04 1.23418374e+01] [ 2.13665862e-02 -7.21608764e-04 9.99771448e-01 6.68374392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6392541539999 meters Centerline goodness [0,1] 0.999311797459907 Centerline is valid? [True, True] Translation: X:723.38, Y:12.34, Z:6.68 [[ 9.98371387e-01 -5.36436576e-02 -1.94147474e-02 7.23382439e+02] [ 5.36465741e-02 9.98559917e-01 -3.70939690e-04 1.23426501e+01] [ 1.94066871e-02 -6.71199111e-04 9.99811447e-01 6.68491208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6692541539999 meters Centerline goodness [0,1] 0.9993525480367585 Centerline is valid? [True, True] Translation: X:723.41, Y:12.34, Z:6.69 [[ 9.98318197e-01 -5.51437742e-02 -1.78869207e-02 7.23411679e+02] [ 5.51464484e-02 9.98478218e-01 -3.44074850e-04 1.23412557e+01] [ 1.78786743e-02 -6.42903966e-04 9.99839957e-01 6.68580086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6992541539998 meters Centerline goodness [0,1] 0.9992277025193597 Centerline is valid? [True, True] Translation: X:723.44, Y:12.34, Z:6.69 [[ 9.98311848e-01 -5.54858082e-02 -1.71691353e-02 7.23440900e+02] [ 5.54883174e-02 9.98459282e-01 -3.30563297e-04 1.23405758e+01] [ 1.71610241e-02 -6.22681174e-04 9.99852545e-01 6.68600774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7292541539999 meters Centerline goodness [0,1] 0.9990815730149453 Centerline is valid? [True, True] Translation: X:723.47, Y:12.34, Z:6.69 [[ 9.98269769e-01 -5.60448389e-02 -1.77888866e-02 7.23471574e+02] [ 5.60476183e-02 9.98428038e-01 -3.42664229e-04 1.23445629e+01] [ 1.77801277e-02 -6.54953386e-04 9.99841707e-01 6.68649242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7592541539999 meters Centerline goodness [0,1] 0.9994775994650619 Centerline is valid? [True, True] Translation: X:723.50, Y:12.34, Z:6.69 [[ 9.98347377e-01 -5.52072815e-02 -1.59584424e-02 7.23500718e+02] [ 5.52094093e-02 9.98474750e-01 -3.07523780e-04 1.23425814e+01] [ 1.59510794e-02 -5.74040622e-04 9.99872609e-01 6.68668281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7892541539999 meters Centerline goodness [0,1] 0.9993535201868535 Centerline is valid? [True, True] Translation: X:723.53, Y:12.35, Z:6.69 [[ 9.98386523e-01 -5.44630050e-02 -1.60664680e-02 7.23531613e+02] [ 5.44650667e-02 9.98515629e-01 -3.09532693e-04 1.23474732e+01] [ 1.60594774e-02 -5.66027979e-04 9.99870878e-01 6.68730555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8192541539999 meters Centerline goodness [0,1] 0.9991429407583929 Centerline is valid? [True, True] Translation: X:723.56, Y:12.35, Z:6.69 [[ 9.98463271e-01 -5.26508948e-02 -1.72910082e-02 7.23561856e+02] [ 5.26530202e-02 9.98612812e-01 -3.32616298e-04 1.23498958e+01] [ 1.72845349e-02 -5.78318649e-04 9.99850444e-01 6.68702342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8492541539999 meters Centerline goodness [0,1] 0.9991868393069369 Centerline is valid? [True, True] Translation: X:723.59, Y:12.35, Z:6.69 [[ 9.98538195e-01 -5.15607551e-02 -1.62160643e-02 7.23592700e+02] [ 5.15624834e-02 9.98669722e-01 -3.11780346e-04 1.23524139e+01] [ 1.62105681e-02 -5.24815963e-04 9.99868462e-01 6.68804893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8792541539999 meters Centerline goodness [0,1] 0.9990188710754843 Centerline is valid? [True, True] Translation: X:723.62, Y:12.35, Z:6.69 [[ 9.98536013e-01 -5.06736570e-02 -1.89211883e-02 7.23623083e+02] [ 5.06758513e-02 9.98715087e-01 -3.63790777e-04 1.23536316e+01] [ 1.89153109e-02 -5.95589133e-04 9.99820912e-01 6.68677794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9092541539999 meters Centerline goodness [0,1] 0.9993523721979652 Centerline is valid? [True, True] Translation: X:723.65, Y:12.36, Z:6.69 [[ 9.98663347e-01 -4.92477402e-02 -1.56901000e-02 7.23652422e+02] [ 4.92490694e-02 9.98786483e-01 -3.01895853e-04 1.23562514e+01] [ 1.56859275e-02 -4.71230501e-04 9.99876857e-01 6.68835799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9392541539999 meters Centerline goodness [0,1] 0.9993114384676376 Centerline is valid? [True, True] Translation: X:723.68, Y:12.36, Z:6.69 [[ 9.98676354e-01 -4.87080851e-02 -1.65245984e-02 7.23682778e+02] [ 4.87094797e-02 9.98812938e-01 -3.18308185e-04 1.23574068e+01] [ 1.65204869e-02 -4.87017734e-04 9.99863409e-01 6.68839327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9692541539999 meters Centerline goodness [0,1] 0.9992272670314524 Centerline is valid? [True, True] Translation: X:723.71, Y:12.36, Z:6.69 [[ 9.98706867e-01 -4.79870772e-02 -1.67879018e-02 7.23713320e+02] [ 4.79884149e-02 9.98847840e-01 -3.23380116e-04 1.23588077e+01] [ 1.67840775e-02 -4.82662856e-04 9.99859021e-01 6.68837247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9992541539999 meters Centerline goodness [0,1] 0.9992095848240287 Centerline is valid? [True, True] Translation: X:723.74, Y:12.36, Z:6.69 [[ 9.98808482e-01 -4.57016563e-02 -1.71164955e-02 7.23742879e+02] [ 4.57027136e-02 9.98955031e-01 -3.29590629e-04 1.23624951e+01] [ 1.71136721e-02 -4.53072377e-04 9.99853448e-01 6.68763027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0292541539999 meters Centerline goodness [0,1] 0.9992898468993462 Centerline is valid? [True, True] Translation: X:723.77, Y:12.37, Z:6.69 [[ 9.98848516e-01 -4.45947232e-02 -1.76904531e-02 7.23773520e+02] [ 4.45956818e-02 9.99005060e-01 -3.40493898e-04 1.23671464e+01] [ 1.76880364e-02 -4.48815992e-04 9.99843454e-01 6.68784555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0592541539999 meters Centerline goodness [0,1] 0.9992907505527974 Centerline is valid? [True, True] Translation: X:723.80, Y:12.37, Z:6.69 [[ 9.98931110e-01 -4.25187446e-02 -1.81326710e-02 7.23803321e+02] [ 4.25194120e-02 9.99095580e-01 -3.48894556e-04 1.23688080e+01] [ 1.81311060e-02 -4.22468883e-04 9.99835529e-01 6.68658573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.089254154 meters Centerline goodness [0,1] 0.9992474444467672 Centerline is valid? [True, True] Translation: X:723.83, Y:12.37, Z:6.69 [[ 9.98936239e-01 -4.21230592e-02 -1.87627039e-02 7.23833372e+02] [ 4.21236999e-02 9.99112338e-01 -3.61236853e-04 1.23735973e+01] [ 1.87612653e-02 -4.29501925e-04 9.99823900e-01 6.68767639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1192541539999 meters Centerline goodness [0,1] 0.9992268472082916 Centerline is valid? [True, True] Translation: X:723.86, Y:12.37, Z:6.69 [[ 9.98948928e-01 -4.18414243e-02 -1.87172020e-02 7.23862465e+02] [ 4.18419967e-02 9.99124175e-01 -3.61207259e-04 1.23749899e+01] [ 1.87159224e-02 -4.22337499e-04 9.99824753e-01 6.68753186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1492541539999 meters Centerline goodness [0,1] 0.9991229169277033 Centerline is valid? [True, True] Translation: X:723.89, Y:12.38, Z:6.69 [[ 9.98944420e-01 -4.19741808e-02 -1.86604834e-02 7.23892439e+02] [ 4.19747572e-02 9.99118606e-01 -3.60951500e-04 1.23771759e+01] [ 1.86591868e-02 -4.22698772e-04 9.99825813e-01 6.68772084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1792541539999 meters Centerline goodness [0,1] 0.9991846633077582 Centerline is valid? [True, True] Translation: X:723.92, Y:12.38, Z:6.69 [[ 9.98954039e-01 -4.22816171e-02 -1.74095675e-02 7.23922045e+02] [ 4.22821549e-02 9.99105653e-01 -3.37360715e-04 1.23791891e+01] [ 1.74082615e-02 -3.99106181e-04 9.99848385e-01 6.68914313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.209254154 meters Centerline goodness [0,1] 0.9989560932835042 Centerline is valid? [True, True] Translation: X:723.95, Y:12.38, Z:6.69 [[ 9.98928104e-01 -4.28668545e-02 -1.74664330e-02 7.23951631e+02] [ 4.28674767e-02 9.99080710e-01 -3.38950222e-04 1.23789311e+01] [ 1.74649060e-02 -4.10155008e-04 9.99847393e-01 6.68908440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2392541539999 meters Centerline goodness [0,1] 0.9991230634317451 Centerline is valid? [True, True] Translation: X:723.98, Y:12.38, Z:6.69 [[ 9.98907389e-01 -4.37633998e-02 -1.63949047e-02 7.23982575e+02] [ 4.37640660e-02 9.99041844e-01 -3.18314814e-04 1.23796766e+01] [ 1.63931263e-02 -3.99540670e-04 9.99865544e-01 6.68977165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2692541539999 meters Centerline goodness [0,1] 0.9989339019189766 Centerline is valid? [True, True] Translation: X:724.01, Y:12.38, Z:6.69 [[ 9.98806117e-01 -4.63339240e-02 -1.54760482e-02 7.24014190e+02] [ 4.63348294e-02 9.98925920e-01 -3.00246924e-04 1.23828521e+01] [ 1.54733373e-02 -4.17191590e-04 9.99880194e-01 6.69117241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2992541539999 meters Centerline goodness [0,1] 0.9990813429096376 Centerline is valid? [True, True] Translation: X:724.04, Y:12.38, Z:6.69 [[ 9.98730154e-01 -4.80312347e-02 -1.52013290e-02 7.24044368e+02] [ 4.80323115e-02 9.98845739e-01 -2.94466191e-04 1.23810442e+01] [ 1.51979263e-02 -4.36062706e-04 9.99884410e-01 6.69115017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.329254154 meters Centerline goodness [0,1] 0.9990186662212386 Centerline is valid? [True, True] Translation: X:724.07, Y:12.38, Z:6.69 [[ 9.98552520e-01 -5.15623244e-02 -1.53033451e-02 7.24074677e+02] [ 5.15638342e-02 9.98669657e-01 -2.96162314e-04 1.23797597e+01] [ 1.52982572e-02 -4.93365523e-04 9.99882853e-01 6.69100602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3592541539999 meters Centerline goodness [0,1] 0.9990807479369059 Centerline is valid? [True, True] Translation: X:724.11, Y:12.38, Z:6.69 [[ 9.98460096e-01 -5.32724590e-02 -1.54752250e-02 7.24106088e+02] [ 5.32742141e-02 9.98579876e-01 -2.99095582e-04 1.23818073e+01] [ 1.54691818e-02 -5.25795447e-04 9.99880207e-01 6.69115966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3892541539999 meters Centerline goodness [0,1] 0.9991863643001689 Centerline is valid? [True, True] Translation: X:724.14, Y:12.38, Z:6.69 [[ 9.98396740e-01 -5.45876326e-02 -1.49712868e-02 7.24136337e+02] [ 5.45894294e-02 9.98508844e-01 -2.88920319e-04 1.23787815e+01] [ 1.49647337e-02 -5.28816897e-04 9.99887882e-01 6.69106291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4192541539999 meters Centerline goodness [0,1] 0.9991027834578308 Centerline is valid? [True, True] Translation: X:724.17, Y:12.38, Z:6.69 [[ 9.98296849e-01 -5.62445807e-02 -1.54902704e-02 7.24167776e+02] [ 5.62467096e-02 9.98416856e-01 -2.98536850e-04 1.23824587e+01] [ 1.54825382e-02 -5.73248347e-04 9.99879974e-01 6.69181678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4492541539998 meters Centerline goodness [0,1] 0.9988928578889098 Centerline is valid? [True, True] Translation: X:724.20, Y:12.38, Z:6.69 [[ 9.98284377e-01 -5.62063703e-02 -1.64057000e-02 7.24200079e+02] [ 5.62087675e-02 9.98418988e-01 -3.15306529e-04 1.23839305e+01] [ 1.63974846e-02 -6.07378593e-04 9.99865368e-01 6.69162392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4792541539999 meters Centerline goodness [0,1] 0.9990388432687687 Centerline is valid? [True, True] Translation: X:724.23, Y:12.39, Z:6.69 [[ 9.98287572e-01 -5.64064300e-02 -1.54995940e-02 7.24232410e+02] [ 5.64086107e-02 9.98407723e-01 -2.96800495e-04 1.23857806e+01] [ 1.54916558e-02 -5.78018320e-04 9.99879830e-01 6.69293353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5092541539999 meters Centerline goodness [0,1] 0.9989585286092191 Centerline is valid? [True, True] Translation: X:724.26, Y:12.39, Z:6.69 [[ 9.98328105e-01 -5.57616029e-02 -1.52197020e-02 7.24264436e+02] [ 5.57636475e-02 9.98443955e-01 -2.90332944e-04 1.23902506e+01] [ 1.52122089e-02 -5.58858561e-04 9.99884131e-01 6.69350991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5392541539999 meters Centerline goodness [0,1] 0.9988526847177605 Centerline is valid? [True, True] Translation: X:724.30, Y:12.39, Z:6.69 [[ 9.98344580e-01 -5.54105968e-02 -1.54196282e-02 7.24296553e+02] [ 5.54126717e-02 9.98463495e-01 -2.92979929e-04 1.23914485e+01] [ 1.54121701e-02 -5.61947872e-04 9.99881068e-01 6.69363125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5692541539999 meters Centerline goodness [0,1] 0.9989170953164372 Centerline is valid? [True, True] Translation: X:724.33, Y:12.39, Z:6.69 [[ 9.98366659e-01 -5.49901694e-02 -1.54950371e-02 7.24327857e+02] [ 5.49922368e-02 9.98486739e-01 -2.92947623e-04 1.23913510e+01] [ 1.54876983e-02 -5.59637609e-04 9.99879902e-01 6.69371410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5992541539999 meters Centerline goodness [0,1] 0.9990215467887998 Centerline is valid? [True, True] Translation: X:724.36, Y:12.39, Z:6.69 [[ 9.98384266e-01 -5.47151725e-02 -1.53331982e-02 7.24359204e+02] [ 5.47171871e-02 9.98501851e-01 -2.88415045e-04 1.23912692e+01] [ 1.53260075e-02 -5.51040433e-04 9.99882398e-01 6.69386952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6292541539999 meters Centerline goodness [0,1] 0.9989775264486781 Centerline is valid? [True, True] Translation: X:724.39, Y:12.39, Z:6.69 [[ 9.98394808e-01 -5.44857584e-02 -1.54631897e-02 7.24390919e+02] [ 5.44877913e-02 9.98514395e-01 -2.90123437e-04 1.23933618e+01] [ 1.54560251e-02 -5.52897317e-04 9.99880396e-01 6.69394319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6592541539999 meters Centerline goodness [0,1] 0.9990423848780081 Centerline is valid? [True, True] Translation: X:724.42, Y:12.40, Z:6.69 [[ 9.98395823e-01 -5.43567932e-02 -1.58467370e-02 7.24423022e+02] [ 5.43589249e-02 9.98521417e-01 -2.96500181e-04 1.23956773e+01] [ 1.58394231e-02 -5.65387044e-04 9.99874389e-01 6.69423157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6892541539999 meters Centerline goodness [0,1] 0.9990015185239115 Centerline is valid? [True, True] Translation: X:724.46, Y:12.40, Z:6.69 [[ 9.98389351e-01 -5.43439220e-02 -1.62923757e-02 7.24455040e+02] [ 5.43461933e-02 9.98522107e-01 -3.03628156e-04 1.23965131e+01] [ 1.62847976e-02 -5.82289479e-04 9.99867224e-01 6.69380560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7192541539999 meters Centerline goodness [0,1] 0.9990610916374562 Centerline is valid? [True, True] Translation: X:724.49, Y:12.40, Z:6.69 [[ 9.98330000e-01 -5.49141453e-02 -1.79345570e-02 7.24486296e+02] [ 5.49170087e-02 9.98490867e-01 -3.33169410e-04 1.23972962e+01] [ 1.79257871e-02 -6.52299204e-04 9.99839107e-01 6.69281380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7492541539999 meters Centerline goodness [0,1] 0.9990623827978498 Centerline is valid? [True, True] Translation: X:724.52, Y:12.40, Z:6.69 [[ 9.98308991e-01 -5.51647812e-02 -1.83304712e-02 7.24517075e+02] [ 5.51678308e-02 9.98477038e-01 -3.39642342e-04 1.23962906e+01] [ 1.83212909e-02 -6.72184330e-04 9.99831925e-01 6.69212687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7792541539999 meters Centerline goodness [0,1] 0.9992073094413617 Centerline is valid? [True, True] Translation: X:724.55, Y:12.40, Z:6.69 [[ 9.98278209e-01 -5.56047480e-02 -1.86743246e-02 7.24548484e+02] [ 5.56080071e-02 9.98452618e-01 -3.45100509e-04 1.23997285e+01] [ 1.86646175e-02 -6.93935655e-04 9.99825560e-01 6.69331082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8092541539999 meters Centerline goodness [0,1] 0.9990822434974866 Centerline is valid? [True, True] Translation: X:724.58, Y:12.40, Z:6.69 [[ 9.98248707e-01 -5.63020896e-02 -1.81547130e-02 7.24580020e+02] [ 5.63052969e-02 9.98413542e-01 -3.34836877e-04 1.24002893e+01] [ 1.81447633e-02 -6.87956025e-04 9.99835134e-01 6.69398572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.839254154 meters Centerline goodness [0,1] 0.9990201596931223 Centerline is valid? [True, True] Translation: X:724.61, Y:12.40, Z:6.69 [[ 9.98258799e-01 -5.60521188e-02 -1.83719833e-02 7.24612595e+02] [ 5.60553799e-02 9.98427604e-01 -3.37821546e-04 1.24019019e+01] [ 1.83620309e-02 -6.92615174e-04 9.99831164e-01 6.69450143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8692541539999 meters Centerline goodness [0,1] 0.9989978913964801 Centerline is valid? [True, True] Translation: X:724.64, Y:12.40, Z:6.69 [[ 9.98234162e-01 -5.67466733e-02 -1.75605247e-02 7.24644122e+02] [ 5.67497796e-02 9.98388381e-01 -3.21774842e-04 1.23995193e+01] [ 1.75504835e-02 -6.75349269e-04 9.99845750e-01 6.69474972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8992541539999 meters Centerline goodness [0,1] 0.9990410473430757 Centerline is valid? [True, True] Translation: X:724.67, Y:12.40, Z:6.69 [[ 9.98228179e-01 -5.68694891e-02 -1.75032331e-02 7.24674520e+02] [ 5.68726057e-02 9.98381392e-01 -3.20061698e-04 1.23985464e+01] [ 1.74931040e-02 -6.75959868e-04 9.99846755e-01 6.69494892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9292541539999 meters Centerline goodness [0,1] 0.9989983932558479 Centerline is valid? [True, True] Translation: X:724.71, Y:12.40, Z:6.70 [[ 9.98201387e-01 -5.75684963e-02 -1.67289849e-02 7.24705630e+02] [ 5.75714483e-02 9.98341342e-01 -3.05477137e-04 1.24029955e+01] [ 1.67188231e-02 -6.58184189e-04 9.99860014e-01 6.69600367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.959254154 meters Centerline goodness [0,1] 0.9988729101876396 Centerline is valid? [True, True] Translation: X:724.74, Y:12.40, Z:6.70 [[ 9.98216080e-01 -5.71921148e-02 -1.71382431e-02 7.24737164e+02] [ 5.71951685e-02 9.98362968e-01 -3.12316160e-04 1.24034544e+01] [ 1.71280492e-02 -6.68465687e-04 9.99853081e-01 6.69511742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9892541539999 meters Centerline goodness [0,1] 0.9991238500531948 Centerline is valid? [True, True] Translation: X:724.77, Y:12.40, Z:6.70 [[ 9.98217736e-01 -5.72300066e-02 -1.69138269e-02 7.24768337e+02] [ 5.72329966e-02 9.98360801e-01 -3.07616051e-04 1.24041596e+01] [ 1.69037067e-02 -6.60961200e-04 9.99856904e-01 6.69563923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0192541539999 meters Centerline goodness [0,1] 0.998894197667383 Centerline is valid? [True, True] Translation: X:724.80, Y:12.41, Z:6.70 [[ 9.98344735e-01 -5.49695030e-02 -1.69157961e-02 7.24799187e+02] [ 5.49721800e-02 9.98487839e-01 -3.07039879e-04 1.24065619e+01] [ 1.69070946e-02 -6.23366544e-04 9.99856871e-01 6.69584975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0492541539999 meters Centerline goodness [0,1] 0.9989568120175255 Centerline is valid? [True, True] Translation: X:724.83, Y:12.41, Z:6.70 [[ 9.98456927e-01 -5.28624697e-02 -1.70095278e-02 7.24830459e+02] [ 5.28648814e-02 9.98601627e-01 -3.08130529e-04 1.24087869e+01] [ 1.70020306e-02 -5.91551607e-04 9.99855280e-01 6.69580738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.079254154 meters Centerline goodness [0,1] 0.998809275120117 Centerline is valid? [True, True] Translation: X:724.86, Y:12.41, Z:6.70 [[ 9.98704353e-01 -4.85003038e-02 -1.54057277e-02 7.24861341e+02] [ 4.85017689e-02 9.98823058e-01 -2.78724028e-04 1.24136393e+01] [ 1.54011143e-02 -4.68842146e-04 9.99881286e-01 6.69780346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1092541539999 meters Centerline goodness [0,1] 0.9989347480992564 Centerline is valid? [True, True] Translation: X:724.89, Y:12.42, Z:6.70 [[ 9.98868447e-01 -4.50534164e-02 -1.52320394e-02 7.24892051e+02] [ 4.50544526e-02 9.98984495e-01 -2.75294413e-04 1.24158991e+01] [ 1.52289741e-02 -4.11288294e-04 9.99883948e-01 6.69736411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1392541539999 meters Centerline goodness [0,1] 0.9988290153273529 Centerline is valid? [True, True] Translation: X:724.92, Y:12.42, Z:6.70 [[ 9.99000589e-01 -4.23102585e-02 -1.44105852e-02 7.24923824e+02] [ 4.23109090e-02 9.99104459e-01 -2.59876020e-04 1.24188463e+01] [ 1.44086754e-02 -3.50108663e-04 9.99896128e-01 6.69855334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1692541539999 meters Centerline goodness [0,1] 0.999080478986855 Centerline is valid? [True, True] Translation: X:724.95, Y:12.42, Z:6.70 [[ 9.99117461e-01 -3.97559151e-02 -1.35560577e-02 7.24953907e+02] [ 3.97562629e-02 9.99209378e-01 -2.43936633e-04 1.24213723e+01] [ 1.35550379e-02 -2.95216841e-04 9.99908083e-01 6.69990560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1992541539998 meters Centerline goodness [0,1] 0.9991868562612067 Centerline is valid? [True, True] Translation: X:724.98, Y:12.43, Z:6.70 [[ 9.99304543e-01 -3.46486366e-02 -1.37805178e-02 7.24984038e+02] [ 3.46485127e-02 9.99399529e-01 -2.47813005e-04 1.24255555e+01] [ 1.37808294e-02 -2.29833785e-04 9.99905013e-01 6.69952385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2292541539999 meters Centerline goodness [0,1] 0.9990810934987365 Centerline is valid? [True, True] Translation: X:725.02, Y:12.43, Z:6.70 [[ 9.99349510e-01 -3.34308603e-02 -1.35253316e-02 7.25015127e+02] [ 3.34306315e-02 9.99441011e-01 -2.43070176e-04 1.24299939e+01] [ 1.35258971e-02 -2.09248314e-04 9.99908499e-01 6.70067975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2592541539999 meters Centerline goodness [0,1] 0.9991642988467324 Centerline is valid? [True, True] Translation: X:725.05, Y:12.43, Z:6.70 [[ 9.99368155e-01 -3.28263652e-02 -1.36279457e-02 7.25045350e+02] [ 3.28260826e-02 9.99461049e-01 -2.44487136e-04 1.24280044e+01] [ 1.36286265e-02 -2.03019412e-04 9.99907105e-01 6.69967463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2892541539999 meters Centerline goodness [0,1] 0.9989766295607861 Centerline is valid? [True, True] Translation: X:725.08, Y:12.43, Z:6.70 [[ 9.99355733e-01 -3.28167503e-02 -1.45320171e-02 7.25076809e+02] [ 3.28164333e-02 9.99461362e-01 -2.60333028e-04 1.24300745e+01] [ 1.45327329e-02 -2.16723666e-04 9.99894371e-01 6.69913603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3192541539999 meters Centerline goodness [0,1] 0.9990816305232619 Centerline is valid? [True, True] Translation: X:725.11, Y:12.43, Z:6.70 [[ 9.99308649e-01 -3.39689128e-02 -1.51108301e-02 7.25107503e+02] [ 3.39687121e-02 9.99422860e-01 -2.70014020e-04 1.24258458e+01] [ 1.51112811e-02 -2.43468093e-04 9.99885788e-01 6.69765833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3492541539999 meters Centerline goodness [0,1] 0.9990816305232619 Centerline is valid? [True, True] Translation: X:725.14, Y:12.43, Z:6.70 [[ 9.99308649e-01 -3.39689077e-02 -1.51108397e-02 7.25137501e+02] [ 3.39687152e-02 9.99422860e-01 -2.69476833e-04 1.24263805e+01] [ 1.51112725e-02 -2.44005280e-04 9.99885788e-01 6.69793926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3792541539999 meters Centerline goodness [0,1] 0.9989772703554507 Centerline is valid? [True, True] Translation: X:725.17, Y:12.43, Z:6.70 [[ 9.99134470e-01 -3.85588609e-02 -1.56052945e-02 7.25167799e+02] [ 3.85592151e-02 9.99256278e-01 -2.78294617e-04 1.24260758e+01] [ 1.56044192e-02 -3.23674164e-04 9.99878191e-01 6.69865245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4092541539999 meters Centerline goodness [0,1] 0.9988100954011231 Centerline is valid? [True, True] Translation: X:725.20, Y:12.42, Z:6.70 [[ 9.99018469e-01 -4.13640540e-02 -1.58465964e-02 7.25198966e+02] [ 4.13647757e-02 9.99144072e-01 -2.82358906e-04 1.24247236e+01] [ 1.58447123e-02 -3.73409143e-04 9.99874395e-01 6.69904760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4392541539999 meters Centerline goodness [0,1] 0.9989570078641608 Centerline is valid? [True, True] Translation: X:725.23, Y:12.42, Z:6.70 [[ 9.98872886e-01 -4.47670256e-02 -1.57756399e-02 7.25230368e+02] [ 4.47681741e-02 9.98997363e-01 -2.80514676e-04 1.24223759e+01] [ 1.57723804e-02 -4.26048088e-04 9.99875518e-01 6.69935160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4692541539999 meters Centerline goodness [0,1] 0.99887298075719 Centerline is valid? [True, True] Translation: X:725.26, Y:12.42, Z:6.70 [[ 9.98562646e-01 -5.14968070e-02 -1.48566586e-02 7.25261606e+02] [ 5.14985766e-02 9.98673033e-01 -2.63686355e-04 1.24172980e+01] [ 1.48505233e-02 -5.01789425e-04 9.99889599e-01 6.70021540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4992541539999 meters Centerline goodness [0,1] 0.9990206701116853 Centerline is valid? [True, True] Translation: X:725.29, Y:12.41, Z:6.70 [[ 9.98387438e-01 -5.48266457e-02 -1.47160684e-02 7.25292756e+02] [ 5.48287501e-02 9.98495739e-01 -2.60719352e-04 1.24149908e+01] [ 1.47082259e-02 -5.46564709e-04 9.99891679e-01 6.70083748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5292541539999 meters Centerline goodness [0,1] 0.9988738034161296 Centerline is valid? [True, True] Translation: X:725.32, Y:12.41, Z:6.70 [[ 9.98212447e-01 -5.79961428e-02 -1.44345935e-02 7.25323839e+02] [ 5.79985045e-02 9.98316637e-01 -2.55300480e-04 1.24125104e+01] [ 1.44251013e-02 -5.82340718e-04 9.99895783e-01 6.70110673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5592541539999 meters Centerline goodness [0,1] 0.9987703978492383 Centerline is valid? [True, True] Translation: X:725.35, Y:12.41, Z:6.70 [[ 9.97900976e-01 -6.32639878e-02 -1.38314898e-02 7.25354615e+02] [ 6.32666645e-02 9.97996628e-01 -2.44386457e-04 1.24070510e+01] [ 1.38192411e-02 -6.31198742e-04 9.99904311e-01 6.70149419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.589254154 meters Centerline goodness [0,1] 0.9987705259648245 Centerline is valid? [True, True] Translation: X:725.39, Y:12.41, Z:6.70 [[ 9.97768165e-01 -6.53785447e-02 -1.35770254e-02 7.25386513e+02] [ 6.53813246e-02 9.97860323e-01 -2.39485558e-04 1.24064935e+01] [ 1.35636322e-02 -6.48732838e-04 9.99907799e-01 6.70210567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6192541539999 meters Centerline goodness [0,1] 0.9987283453897309 Centerline is valid? [True, True] Translation: X:725.42, Y:12.40, Z:6.70 [[ 9.97628045e-01 -6.75187511e-02 -1.33978104e-02 7.25417926e+02] [ 6.75216630e-02 9.97717781e-01 -2.35397691e-04 1.24028174e+01] [ 1.33831274e-02 -6.69803102e-04 9.99910218e-01 6.70230096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6492541539999 meters Centerline goodness [0,1] 0.9990000833263895 Centerline is valid? [True, True] Translation: X:725.45, Y:12.40, Z:6.70 [[ 9.97520448e-01 -6.91812593e-02 -1.29193168e-02 7.25448969e+02] [ 6.91841223e-02 9.97603882e-01 -2.25724560e-04 1.23997484e+01] [ 1.29039765e-02 -6.68646731e-04 9.99916517e-01 6.70221065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6792541539999 meters Centerline goodness [0,1] 0.9987930496306315 Centerline is valid? [True, True] Translation: X:725.48, Y:12.40, Z:6.70 [[ 9.97248590e-01 -7.31264633e-02 -1.21561104e-02 7.25479278e+02] [ 7.31293008e-02 9.97322446e-01 -2.11512020e-04 1.23950062e+01] [ 1.21390289e-02 -6.78037792e-04 9.99926089e-01 6.70312337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.709254154 meters Centerline goodness [0,1] 0.9986028859788139 Centerline is valid? [True, True] Translation: X:725.51, Y:12.40, Z:6.70 [[ 9.97106147e-01 -7.50825164e-02 -1.19141403e-02 7.25510924e+02] [ 7.50853829e-02 9.97177087e-01 -2.07158046e-04 1.24006421e+01] [ 1.18960616e-02 -6.88019222e-04 9.99929003e-01 6.70371176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7392541539999 meters Centerline goodness [0,1] 0.998623881904047 Centerline is valid? [True, True] Translation: X:725.54, Y:12.40, Z:6.70 [[ 9.96994143e-01 -7.65677613e-02 -1.18346008e-02 7.25541746e+02] [ 7.65707012e-02 9.97064133e-01 -2.05157715e-04 1.23985396e+01] [ 1.18155645e-02 -7.01642644e-04 9.99929948e-01 6.70419010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7692541539999 meters Centerline goodness [0,1] 0.9986452123890116 Centerline is valid? [True, True] Translation: X:725.57, Y:12.40, Z:6.70 [[ 9.96823604e-01 -7.86972190e-02 -1.22249617e-02 7.25572613e+02] [ 7.87005219e-02 9.96898281e-01 -2.11410123e-04 1.23978367e+01] [ 1.22036807e-02 -7.51372269e-04 9.99925250e-01 6.70395268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7992541539999 meters Centerline goodness [0,1] 0.9987292460887861 Centerline is valid? [True, True] Translation: X:725.60, Y:12.40, Z:6.70 [[ 9.96786325e-01 -7.91610878e-02 -1.22696664e-02 7.25604737e+02] [ 7.91644586e-02 9.96861547e-01 -2.11468931e-04 1.23979384e+01] [ 1.22478987e-02 -7.60532157e-04 9.99924702e-01 6.70438222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.829254154 meters Centerline goodness [0,1] 0.9986919147875919 Centerline is valid? [True, True] Translation: X:725.64, Y:12.40, Z:6.70 [[ 9.96837831e-01 -7.83787137e-02 -1.30811623e-02 7.25635712e+02] [ 7.83824904e-02 9.96923334e-01 -2.24518332e-04 1.23988877e+01] [ 1.30585134e-02 -8.01525707e-04 9.99914413e-01 6.70330502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8592541539999 meters Centerline goodness [0,1] 0.9984983419192025 Centerline is valid? [True, True] Translation: X:725.67, Y:12.40, Z:6.70 [[ 9.96915031e-01 -7.73420469e-02 -1.33652007e-02 7.25667785e+02] [ 7.73459074e-02 9.97004292e-01 -2.28580954e-04 1.24001134e+01] [ 1.33428414e-02 -8.05867787e-04 9.99910656e-01 6.70251970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8892541539999 meters Centerline goodness [0,1] 0.9986246275032822 Centerline is valid? [True, True] Translation: X:725.70, Y:12.40, Z:6.70 [[ 9.96951765e-01 -7.69157837e-02 -1.30821000e-02 7.25700123e+02] [ 7.69194579e-02 9.97037285e-01 -2.22810575e-04 1.24018634e+01] [ 1.30604791e-02 -7.84136643e-04 9.99914401e-01 6.70395740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9192541539999 meters Centerline goodness [0,1] 0.9988523735002608 Centerline is valid? [True, True] Translation: X:725.73, Y:12.40, Z:6.70 [[ 9.97057954e-01 -7.53522483e-02 -1.40525848e-02 7.25731944e+02] [ 7.53563468e-02 9.97156640e-01 -2.38367080e-04 1.24037953e+01] [ 1.40305897e-02 -8.21285661e-04 9.99901229e-01 6.70295397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9492541539998 meters Centerline goodness [0,1] 0.9988507908648321 Centerline is valid? [True, True] Translation: X:725.76, Y:12.41, Z:6.70 [[ 9.97163334e-01 -7.37023181e-02 -1.52726490e-02 7.25762831e+02] [ 7.37069780e-02 9.97279908e-01 -2.58307576e-04 1.24066036e+01] [ 1.52501439e-02 -8.68125962e-04 9.99883333e-01 6.70189190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9792541539999 meters Centerline goodness [0,1] 0.9987479915698099 Centerline is valid? [True, True] Translation: X:725.80, Y:12.41, Z:6.70 [[ 9.97240866e-01 -7.25506599e-02 -1.57180393e-02 7.25795451e+02] [ 7.25554676e-02 9.97364344e-01 -2.64910273e-04 1.24147047e+01] [ 1.56958313e-02 -8.76250338e-04 9.99876429e-01 6.70240898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0092541539999 meters Centerline goodness [0,1] 0.9985358405321174 Centerline is valid? [True, True] Translation: X:725.83, Y:12.42, Z:6.70 [[ 9.97464858e-01 -6.89911460e-02 -1.74378426e-02 7.25825155e+02] [ 6.89965380e-02 9.97616856e-01 -2.92933936e-04 1.24189804e+01] [ 1.74164955e-02 -9.10959461e-04 9.99847906e-01 6.70025142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0392541539999 meters Centerline goodness [0,1] 0.9987265135699374 Centerline is valid? [True, True] Translation: X:725.86, Y:12.42, Z:6.70 [[ 9.97568104e-01 -6.75545648e-02 -1.71539518e-02 7.25856835e+02] [ 6.75595805e-02 9.97715200e-01 -2.87600121e-04 1.24190045e+01] [ 1.71341872e-02 -8.72013083e-04 9.99852819e-01 6.70164435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0692541539999 meters Centerline goodness [0,1] 0.9986823942778266 Centerline is valid? [True, True] Translation: X:725.89, Y:12.43, Z:6.70 [[ 9.97761669e-01 -6.47834134e-02 -1.65759201e-02 7.25888595e+02] [ 6.47877328e-02 9.97899029e-01 -2.76848278e-04 1.24281292e+01] [ 1.65590297e-02 -7.97687681e-04 9.99862572e-01 6.70329221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0992541539999 meters Centerline goodness [0,1] 0.9988716384228012 Centerline is valid? [True, True] Translation: X:725.92, Y:12.43, Z:6.70 [[ 9.97978296e-01 -6.15216572e-02 -1.59501233e-02 7.25919198e+02] [ 6.15252527e-02 9.98105492e-01 -2.65646297e-04 1.24263494e+01] [ 1.59362486e-02 -7.16226125e-04 9.99872753e-01 6.70367874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1292541539999 meters Centerline goodness [0,1] 0.9988506467724072 Centerline is valid? [True, True] Translation: X:725.95, Y:12.44, Z:6.71 [[ 9.98441806e-01 -5.38909793e-02 -1.44817985e-02 7.25949311e+02] [ 5.38931461e-02 9.98546679e-01 -2.40875770e-04 1.24404547e+01] [ 1.44737328e-02 -5.39969241e-04 9.99895104e-01 6.70637437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1592541539999 meters Centerline goodness [0,1] 0.9987240095385517 Centerline is valid? [True, True] Translation: X:725.98, Y:12.45, Z:6.71 [[ 9.98689993e-01 -4.91453618e-02 -1.42488935e-02 7.25980330e+02] [ 4.91469783e-02 9.98791529e-01 -2.36909209e-04 1.24455081e+01] [ 1.42433171e-02 -4.63691204e-04 9.99898451e-01 6.70558378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1892541539999 meters Centerline goodness [0,1] 0.9988895639967316 Centerline is valid? [True, True] Translation: X:726.01, Y:12.45, Z:6.71 [[ 9.98877388e-01 -4.54739379e-02 -1.32697094e-02 7.26011356e+02] [ 4.54750201e-02 9.98965452e-01 -2.20319256e-04 1.24501887e+01] [ 1.32660001e-02 -3.83368381e-04 9.99911929e-01 6.70806214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2192541539999 meters Centerline goodness [0,1] 0.9988886792057201 Centerline is valid? [True, True] Translation: X:726.04, Y:12.46, Z:6.71 [[ 9.99230606e-01 -3.71686974e-02 -1.25173787e-02 7.26041858e+02] [ 3.71690138e-02 9.99308972e-01 -2.07445389e-04 1.24575527e+01] [ 1.25164393e-02 -2.57972839e-04 9.99921633e-01 6.70876817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2492541539999 meters Centerline goodness [0,1] 0.9989539092411658 Centerline is valid? [True, True] Translation: X:726.07, Y:12.46, Z:6.71 [[ 9.99358577e-01 -3.34479697e-02 -1.27932877e-02 7.26072486e+02] [ 3.34479984e-02 9.99440437e-01 -2.11782732e-04 1.24601666e+01] [ 1.27932128e-02 -2.16262978e-04 9.99918140e-01 6.70827060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2792541539999 meters Centerline goodness [0,1] 0.998931646312085 Centerline is valid? [True, True] Translation: X:726.10, Y:12.46, Z:6.71 [[ 9.99442984e-01 -3.07136487e-02 -1.30535240e-02 7.26103851e+02] [ 3.07134494e-02 9.99528207e-01 -2.15782675e-04 1.24648010e+01] [ 1.30539929e-02 -1.85256267e-04 9.99914776e-01 6.70908388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3092541539999 meters Centerline goodness [0,1] 0.9990570584414223 Centerline is valid? [True, True] Translation: X:726.14, Y:12.47, Z:6.71 [[ 9.99521644e-01 -2.75942088e-02 -1.39657574e-02 7.26135689e+02] [ 2.75936850e-02 9.99619195e-01 -2.30237251e-04 1.24683234e+01] [ 1.39667924e-02 -1.55239596e-04 9.99902448e-01 6.70749030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.339254154 meters Centerline goodness [0,1] 0.9989107438362764 Centerline is valid? [True, True] Translation: X:726.17, Y:12.47, Z:6.71 [[ 9.99510376e-01 -2.77708679e-02 -1.44148401e-02 7.26165814e+02] [ 2.77703372e-02 9.99614302e-01 -2.37013814e-04 1.24691623e+01] [ 1.44158624e-02 -1.63407205e-04 9.99896073e-01 6.70841543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3692541539999 meters Centerline goodness [0,1] 0.9989926970536389 Centerline is valid? [True, True] Translation: X:726.20, Y:12.47, Z:6.71 [[ 9.99485526e-01 -2.83963991e-02 -1.49106558e-02 7.26196278e+02] [ 2.83959036e-02 9.99596725e-01 -2.44989066e-04 1.24698531e+01] [ 1.49115996e-02 -1.78538519e-04 9.99888800e-01 6.70832627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3992541539999 meters Centerline goodness [0,1] 0.9989303915605797 Centerline is valid? [True, True] Translation: X:726.23, Y:12.47, Z:6.71 [[ 9.99403912e-01 -3.07360246e-02 -1.57199904e-02 7.26226141e+02] [ 3.07357723e-02 9.99527511e-01 -2.57702842e-04 1.24685677e+01] [ 1.57204837e-02 -2.25616820e-04 9.99876400e-01 6.70771426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4292541539999 meters Centerline goodness [0,1] 0.9987015434878217 Centerline is valid? [True, True] Translation: X:726.26, Y:12.47, Z:6.71 [[ 9.99360444e-01 -3.21382589e-02 -1.56791147e-02 7.26256119e+02] [ 3.21381921e-02 9.99483402e-01 -2.56290940e-04 1.24690393e+01] [ 1.56792516e-02 -2.47771372e-04 9.99877042e-01 6.70804483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.459254154 meters Centerline goodness [0,1] 0.9989734780240499 Centerline is valid? [True, True] Translation: X:726.29, Y:12.47, Z:6.71 [[ 9.99318512e-01 -3.35036939e-02 -1.54923874e-02 7.26286902e+02] [ 3.35037918e-02 9.99438558e-01 -2.53297471e-04 1.24682795e+01] [ 1.54921757e-02 -2.65928869e-04 9.99879954e-01 6.70831814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4892541539999 meters Centerline goodness [0,1] 0.9990577889447236 Centerline is valid? [True, True] Translation: X:726.32, Y:12.47, Z:6.71 [[ 9.99244532e-01 -3.57742885e-02 -1.51843843e-02 7.26317897e+02] [ 3.57746503e-02 9.99359852e-01 -2.47880798e-04 1.24674451e+01] [ 1.51835318e-02 -2.95522507e-04 9.99884680e-01 6.70844449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5192541539999 meters Centerline goodness [0,1] 0.998955286251567 Centerline is valid? [True, True] Translation: X:726.35, Y:12.47, Z:6.71 [[ 9.99198531e-01 -3.69377856e-02 -1.54238940e-02 7.26349546e+02] [ 3.69383063e-02 9.99317516e-01 -2.51221252e-04 1.24673243e+01] [ 1.54226470e-02 -3.18712615e-04 9.99881013e-01 6.70807717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5492541539999 meters Centerline goodness [0,1] 0.9988928347608105 Centerline is valid? [True, True] Translation: X:726.38, Y:12.47, Z:6.71 [[ 9.99152616e-01 -3.81922098e-02 -1.53428842e-02 7.26380300e+02] [ 3.81928798e-02 9.99270355e-01 -2.49452263e-04 1.24663274e+01] [ 1.53412164e-02 -3.36748049e-04 9.99882260e-01 6.70781646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.579254154 meters Centerline goodness [0,1] 0.9990392447628397 Centerline is valid? [True, True] Translation: X:726.41, Y:12.47, Z:6.71 [[ 9.99100861e-01 -3.95343335e-02 -1.53135825e-02 7.26411356e+02] [ 3.95351644e-02 9.99218149e-01 -2.48589668e-04 1.24660079e+01] [ 1.53114374e-02 -3.57058851e-04 9.99882709e-01 6.70831427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6092541539999 meters Centerline goodness [0,1] 0.9989343697110261 Centerline is valid? [True, True] Translation: X:726.44, Y:12.46, Z:6.71 [[ 9.98993905e-01 -4.24978678e-02 -1.43216059e-02 7.26442680e+02] [ 4.24989059e-02 9.99096486e-01 -2.31987834e-04 1.24639330e+01] [ 1.43185251e-02 -3.76898149e-04 9.99897414e-01 6.70863810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6392541539999 meters Centerline goodness [0,1] 0.9989985395368245 Centerline is valid? [True, True] Translation: X:726.47, Y:12.46, Z:6.71 [[ 9.98939004e-01 -4.40631457e-02 -1.33905371e-02 7.26474329e+02] [ 4.40642008e-02 9.99028678e-01 -2.16368955e-04 1.24627172e+01] [ 1.33870645e-02 -3.73903929e-04 9.99910319e-01 6.70935412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6692541539999 meters Centerline goodness [0,1] 0.9988305070587252 Centerline is valid? [True, True] Translation: X:726.51, Y:12.46, Z:6.71 [[ 9.98790838e-01 -4.74897727e-02 -1.27115443e-02 7.26506694e+02] [ 4.74910099e-02 9.98871644e-01 -2.04673108e-04 1.24600739e+01] [ 1.27069211e-02 -3.99258452e-04 9.99919184e-01 6.71017564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6992541539998 meters Centerline goodness [0,1] 0.9986399112803666 Centerline is valid? [True, True] Translation: X:726.54, Y:12.46, Z:6.71 [[ 9.98755966e-01 -4.84665393e-02 -1.17267018e-02 7.26538851e+02] [ 4.84676688e-02 9.98824734e-01 -1.88020378e-04 1.24602593e+01] [ 1.17220325e-02 -3.80579422e-04 9.99931222e-01 6.70917325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7292541539999 meters Centerline goodness [0,1] 0.99880810488677 Centerline is valid? [True, True] Translation: X:726.57, Y:12.46, Z:6.71 [[ 9.98688094e-01 -4.99294593e-02 -1.13639468e-02 7.26571463e+02] [ 4.99306239e-02 9.98752672e-01 -1.81388448e-04 1.24599299e+01] [ 1.13588289e-02 -3.86258472e-04 9.99935412e-01 6.71058526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7592541539999 meters Centerline goodness [0,1] 0.998871237458194 Centerline is valid? [True, True] Translation: X:726.60, Y:12.46, Z:6.71 [[ 9.98577722e-01 -5.20445756e-02 -1.15713100e-02 7.26602842e+02] [ 5.20459344e-02 9.98644675e-01 -1.83873465e-04 1.24566758e+01] [ 1.15651967e-02 -4.18627694e-04 9.99933033e-01 6.71137816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7892541539999 meters Centerline goodness [0,1] 0.9990174763776235 Centerline is valid? [True, True] Translation: X:726.64, Y:12.46, Z:6.71 [[ 9.98555137e-01 -5.23738008e-02 -1.20259068e-02 7.26635012e+02] [ 5.23753011e-02 9.98627454e-01 -1.90368580e-04 1.24565688e+01] [ 1.20193711e-02 -4.39766969e-04 9.99927668e-01 6.71114257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8192541539999 meters Centerline goodness [0,1] 0.9988100457192961 Centerline is valid? [True, True] Translation: X:726.67, Y:12.46, Z:6.71 [[ 9.98553966e-01 -5.22627451e-02 -1.25929845e-02 7.26666711e+02] [ 5.22643926e-02 9.98633263e-01 -1.98457757e-04 1.24556014e+01] [ 1.25861452e-02 -4.59993908e-04 9.99920686e-01 6.71072659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8492541539999 meters Centerline goodness [0,1] 0.9987235556299567 Centerline is valid? [True, True] Translation: X:726.70, Y:12.46, Z:6.71 [[ 9.98567728e-01 -5.18673869e-02 -1.31250808e-02 7.26698905e+02] [ 5.18691531e-02 9.98653868e-01 -2.06034605e-04 1.24593100e+01] [ 1.31180992e-02 -4.75047320e-04 9.99913841e-01 6.71084710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8792541539999 meters Centerline goodness [0,1] 0.9988505987335687 Centerline is valid? [True, True] Translation: X:726.73, Y:12.46, Z:6.71 [[ 9.98668940e-01 -4.97014588e-02 -1.37881557e-02 7.26729837e+02] [ 4.97032152e-02 9.98764008e-01 -2.15465023e-04 1.24598885e+01] [ 1.37818226e-02 -4.70137444e-04 9.99904916e-01 6.71047893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9092541539999 meters Centerline goodness [0,1] 0.9990378984355391 Centerline is valid? [True, True] Translation: X:726.76, Y:12.46, Z:6.71 [[ 9.98742731e-01 -4.80550488e-02 -1.42712834e-02 7.26762352e+02] [ 4.80567755e-02 9.98844581e-01 -2.22116359e-04 1.24617498e+01] [ 1.42654679e-02 -4.63994762e-04 9.99898135e-01 6.71048788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9392541539999 meters Centerline goodness [0,1] 0.9989147222106274 Centerline is valid? [True, True] Translation: X:726.79, Y:12.46, Z:6.71 [[ 9.98815157e-01 -4.61809101e-02 -1.53494496e-02 7.26794793e+02] [ 4.61827046e-02 9.98932981e-01 -2.37721021e-04 1.24630975e+01] [ 1.53440496e-02 -4.71439736e-04 9.99882162e-01 6.71040391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9692541539999 meters Centerline goodness [0,1] 0.9989323172901794 Centerline is valid? [True, True] Translation: X:726.83, Y:12.47, Z:6.71 [[ 9.98961661e-01 -4.27461060e-02 -1.57597466e-02 7.26826466e+02] [ 4.27475872e-02 9.99085875e-01 -2.43022611e-04 1.24668382e+01] [ 1.57557285e-02 -4.30920868e-04 9.99875778e-01 6.71037374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9992541539999 meters Centerline goodness [0,1] 0.9988509589270046 Centerline is valid? [True, True] Translation: X:726.86, Y:12.47, Z:6.71 [[ 9.99024188e-01 -4.11179612e-02 -1.61240650e-02 7.26856765e+02] [ 4.11193155e-02 9.99154213e-01 -2.47669350e-04 1.24677867e+01] [ 1.61206111e-02 -4.15582843e-04 9.99869968e-01 6.71030615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0292541539999 meters Centerline goodness [0,1] 0.9988716384228012 Centerline is valid? [True, True] Translation: X:726.89, Y:12.47, Z:6.71 [[ 9.99099263e-01 -3.90200510e-02 -1.66762765e-02 7.26888521e+02] [ 3.90212249e-02 9.99238349e-01 -2.55111129e-04 1.24718471e+01] [ 1.66735295e-02 -3.95847396e-04 9.99860909e-01 6.71099796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0592541539999 meters Centerline goodness [0,1] 0.9988472743277513 Centerline is valid? [True, True] Translation: X:726.92, Y:12.47, Z:6.71 [[ 9.99124188e-01 -3.82141318e-02 -1.70451342e-02 7.26919829e+02] [ 3.82152549e-02 9.99269497e-01 -2.59944813e-04 1.24732063e+01] [ 1.70426162e-02 -3.91666996e-04 9.99854687e-01 6.71069443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.089254154 meters Centerline goodness [0,1] 0.9990567026517136 Centerline is valid? [True, True] Translation: X:726.95, Y:12.47, Z:6.71 [[ 9.99137699e-01 -3.78384540e-02 -1.70912306e-02 7.26951362e+02] [ 3.78395389e-02 9.99283794e-01 -2.60023037e-04 1.24739041e+01] [ 1.70888287e-02 -3.86925468e-04 9.99853900e-01 6.71050000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1192541539999 meters Centerline goodness [0,1] 0.998890888544762 Centerline is valid? [True, True] Translation: X:726.98, Y:12.47, Z:6.71 [[ 9.99077061e-01 -3.92682339e-02 -1.74078141e-02 7.26981308e+02] [ 3.92695848e-02 9.99228617e-01 -2.64347884e-04 1.24724442e+01] [ 1.74047665e-02 -4.19493724e-04 9.99848438e-01 6.71066666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1492541539999 meters Centerline goodness [0,1] 0.9987633619786208 Centerline is valid? [True, True] Translation: X:727.01, Y:12.47, Z:6.71 [[ 9.99013223e-01 -4.11370372e-02 -1.67428656e-02 7.27012132e+02] [ 4.11385540e-02 9.99153419e-01 -2.53951343e-04 1.24746177e+01] [ 1.67391383e-02 -4.35076533e-04 9.99859796e-01 6.71308723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1792541539999 meters Centerline goodness [0,1] 0.9985550343441112 Centerline is valid? [True, True] Translation: X:727.04, Y:12.47, Z:6.71 [[ 9.98937581e-01 -4.30872863e-02 -1.63461000e-02 7.27042776e+02] [ 4.30889978e-02 9.99071207e-01 -2.47635773e-04 1.24733946e+01] [ 1.63415878e-02 -4.56964384e-04 9.99866363e-01 6.71340161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.209254154 meters Centerline goodness [0,1] 0.9981983114407224 Centerline is valid? [True, True] Translation: X:727.07, Y:12.47, Z:6.71 [[ 9.98713433e-01 -4.81516326e-02 -1.59027935e-02 7.27072485e+02] [ 4.81538964e-02 9.98839899e-01 -2.40752369e-04 1.24678192e+01] [ 1.58959373e-02 -5.25338846e-04 9.99873514e-01 6.71362046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2392541539999 meters Centerline goodness [0,1] 0.9980297631523789 Centerline is valid? [True, True] Translation: X:727.10, Y:12.47, Z:6.71 [[ 9.98589342e-01 -5.07265831e-02 -1.56888299e-02 7.27104264e+02] [ 5.07291133e-02 9.98712422e-01 -2.36907254e-04 1.24690150e+01] [ 1.56806468e-02 -5.59307372e-04 9.99876895e-01 6.71456653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2692541539999 meters Centerline goodness [0,1] 0.9980297631523789 Centerline is valid? [True, True] Translation: X:727.14, Y:12.47, Z:6.71 [[ 9.98593090e-01 -5.06527524e-02 -1.56888504e-02 7.27135970e+02] [ 5.06552949e-02 9.98716169e-01 -2.35542509e-04 1.24694323e+01] [ 1.56806395e-02 -5.59512224e-04 9.99876895e-01 6.71486334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2992541539999 meters Centerline goodness [0,1] 0.9980710361890385 Centerline is valid? [True, True] Translation: X:727.17, Y:12.47, Z:6.72 [[ 9.98477898e-01 -5.29644972e-02 -1.53833868e-02 7.27166915e+02] [ 5.29672311e-02 9.98596224e-01 -2.29945908e-04 1.24655103e+01] [ 1.53739710e-02 -5.85219500e-04 9.99881642e-01 6.71520335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.329254154 meters Centerline goodness [0,1] 0.9977436068861775 Centerline is valid? [True, True] Translation: X:727.20, Y:12.47, Z:6.72 [[ 9.98361101e-01 -5.51071743e-02 -1.54373064e-02 7.27199152e+02] [ 5.51101979e-02 9.98480252e-01 -2.29789920e-04 1.24669004e+01] [ 1.54265087e-02 -6.21339693e-04 9.99880811e-01 6.71596757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3592541539999 meters Centerline goodness [0,1] 0.9979044864944154 Centerline is valid? [True, True] Translation: X:727.23, Y:12.47, Z:6.72 [[ 9.98180600e-01 -5.85013594e-02 -1.45973196e-02 7.27230482e+02] [ 5.85044374e-02 9.98287125e-01 -2.16442686e-04 1.24665563e+01] [ 1.45849784e-02 -6.37959081e-04 9.99893430e-01 6.71686681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3892541539999 meters Centerline goodness [0,1] 0.9977630506135932 Centerline is valid? [True, True] Translation: X:727.26, Y:12.47, Z:6.72 [[ 9.98132970e-01 -5.94123446e-02 -1.41685071e-02 7.27262888e+02] [ 5.94153458e-02 9.98233326e-01 -2.09385458e-04 1.24655874e+01] [ 1.41559160e-02 -6.32832217e-04 9.99899600e-01 6.71733353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4192541539999 meters Centerline goodness [0,1] 0.9975617888550827 Centerline is valid? [True, True] Translation: X:727.29, Y:12.46, Z:6.72 [[ 9.98100931e-01 -6.01476282e-02 -1.32964187e-02 7.27293990e+02] [ 6.01503481e-02 9.98189309e-01 -1.95622655e-04 1.24639824e+01] [ 1.32841092e-02 -6.04533057e-04 9.99911580e-01 6.71846430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4492541539998 meters Centerline goodness [0,1] 0.9980151268229493 Centerline is valid? [True, True] Translation: X:727.33, Y:12.46, Z:6.72 [[ 9.98109760e-01 -6.00540784e-02 -1.30543324e-02 7.27325794e+02] [ 6.00567023e-02 9.98194949e-01 -1.91279218e-04 1.24647751e+01] [ 1.30422558e-02 -5.93082501e-04 9.99914770e-01 6.71964359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4792541539999 meters Centerline goodness [0,1] 0.9980573600985942 Centerline is valid? [True, True] Translation: X:727.36, Y:12.47, Z:6.72 [[ 9.98143300e-01 -5.95389828e-02 -1.28476233e-02 7.27357554e+02] [ 5.95414937e-02 9.98225814e-01 -1.87313209e-04 1.24676717e+01] [ 1.28359816e-02 -5.78001255e-04 9.99917448e-01 6.72019927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5092541539999 meters Centerline goodness [0,1] 0.9980775660314276 Centerline is valid? [True, True] Translation: X:727.39, Y:12.47, Z:6.72 [[ 9.98228547e-01 -5.79951427e-02 -1.32789880e-02 7.27388621e+02] [ 5.79977013e-02 9.98316698e-01 -1.92658174e-04 1.24679878e+01] [ 1.32678087e-02 -5.77833889e-04 9.99911812e-01 6.72064460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5392541539999 meters Centerline goodness [0,1] 0.9980217400358169 Centerline is valid? [True, True] Translation: X:727.42, Y:12.46, Z:6.72 [[ 9.98292075e-01 -5.69806282e-02 -1.28895808e-02 7.27419730e+02] [ 5.69829635e-02 9.98375133e-01 -1.86307945e-04 1.24643838e+01] [ 1.28792529e-02 -5.48496767e-04 9.99916909e-01 6.72028742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5692541539999 meters Centerline goodness [0,1] 0.9980558168704923 Centerline is valid? [True, True] Translation: X:727.45, Y:12.47, Z:6.72 [[ 9.98346835e-01 -5.58924600e-02 -1.34026374e-02 7.27452031e+02] [ 5.58948982e-02 9.98436640e-01 -1.92890523e-04 1.24702995e+01] [ 1.33924654e-02 -5.56567410e-04 9.99910162e-01 6.72032923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5992541539999 meters Centerline goodness [0,1] 0.9977482642870547 Centerline is valid? [True, True] Translation: X:727.48, Y:12.47, Z:6.72 [[ 9.98374780e-01 -5.53766551e-02 -1.34619757e-02 7.27484153e+02] [ 5.53790816e-02 9.98465383e-01 -1.92743304e-04 1.24707015e+01] [ 1.34519902e-02 -5.53081798e-04 9.99909365e-01 6.72085754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6292541539999 meters Centerline goodness [0,1] 0.998078007813316 Centerline is valid? [True, True] Translation: X:727.52, Y:12.47, Z:6.72 [[ 9.98428970e-01 -5.40516961e-02 -1.47650466e-02 7.27516667e+02] [ 5.40544877e-02 9.98537965e-01 -2.10237051e-04 1.24738049e+01] [ 1.47548232e-02 -5.88210266e-04 9.99890969e-01 6.72053249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6592541539999 meters Centerline goodness [0,1] 0.997995029343581 Centerline is valid? [True, True] Translation: X:727.55, Y:12.47, Z:6.72 [[ 9.98452661e-01 -5.33513492e-02 -1.56817653e-02 7.27548883e+02] [ 5.33544312e-02 9.98575613e-01 -2.22072236e-04 1.24748533e+01] [ 1.56712763e-02 -6.14963054e-04 9.99877009e-01 6.72024094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6892541539999 meters Centerline goodness [0,1] 0.9983515910276474 Centerline is valid? [True, True] Translation: X:727.58, Y:12.48, Z:6.72 [[ 9.98509355e-01 -5.19284841e-02 -1.68077640e-02 7.27580633e+02] [ 5.19318453e-02 9.98650603e-01 -2.36717436e-04 1.24754766e+01] [ 1.67973760e-02 -6.36493624e-04 9.99858712e-01 6.71961962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7192541539999 meters Centerline goodness [0,1] 0.9982858456843029 Centerline is valid? [True, True] Translation: X:727.61, Y:12.48, Z:6.72 [[ 9.98540426e-01 -5.11784329e-02 -1.72564607e-02 7.27612546e+02] [ 5.11818864e-02 9.98689319e-01 -2.41747403e-04 1.24764092e+01] [ 1.72462152e-02 -6.41823655e-04 9.99851067e-01 6.71990002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7492541539999 meters Centerline goodness [0,1] 0.9978441509512945 Centerline is valid? [True, True] Translation: X:727.64, Y:12.48, Z:6.72 [[ 9.98562706e-01 -5.04130308e-02 -1.81947548e-02 7.27644083e+02] [ 5.04167623e-02 9.98728234e-01 -2.53847451e-04 1.24769267e+01] [ 1.81844126e-02 -6.63838030e-04 9.99834430e-01 6.71853410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7792541539999 meters Centerline goodness [0,1] 0.9982197461567461 Centerline is valid? [True, True] Translation: X:727.68, Y:12.48, Z:6.72 [[ 9.98578737e-01 -5.03478262e-02 -1.74814922e-02 7.27675093e+02] [ 5.03512833e-02 9.98731540e-01 -2.42605202e-04 1.24774406e+01] [ 1.74715323e-02 -6.37955170e-04 9.99847158e-01 6.72041862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8092541539999 meters Centerline goodness [0,1] 0.9981158934851784 Centerline is valid? [True, True] Translation: X:727.71, Y:12.48, Z:6.72 [[ 9.98578688e-01 -5.04191282e-02 -1.72776046e-02 7.27706826e+02] [ 5.04225448e-02 9.98727946e-01 -2.38098085e-04 1.24796484e+01] [ 1.72676313e-02 -6.33421118e-04 9.99850703e-01 6.72127918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.839254154 meters Centerline goodness [0,1] 0.9983037359691741 Centerline is valid? [True, True] Translation: X:727.74, Y:12.48, Z:6.72 [[ 9.98605320e-01 -4.99634639e-02 -1.70607029e-02 7.27739491e+02] [ 4.99667525e-02 9.98750854e-01 -2.33717670e-04 1.24821095e+01] [ 1.70510689e-02 -6.19076211e-04 9.99854428e-01 6.72216468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8692541539999 meters Centerline goodness [0,1] 0.9981772470144563 Centerline is valid? [True, True] Translation: X:727.77, Y:12.48, Z:6.72 [[ 9.98650505e-01 -4.91208423e-02 -1.68615342e-02 7.27770956e+02] [ 4.91239561e-02 9.98792663e-01 -2.29713183e-04 1.24831135e+01] [ 1.68524603e-02 -5.98902078e-04 9.99857808e-01 6.72260911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8992541539999 meters Centerline goodness [0,1] 0.9981963465531344 Centerline is valid? [True, True] Translation: X:727.80, Y:12.49, Z:6.72 [[ 9.98809163e-01 -4.58923279e-02 -1.65574993e-02 7.27801283e+02] [ 4.58949065e-02 9.98946248e-01 -2.24407592e-04 1.24861681e+01] [ 1.65503504e-02 -5.35764526e-04 9.99862890e-01 6.72330751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9292541539999 meters Centerline goodness [0,1] 0.9983850332431469 Centerline is valid? [True, True] Translation: X:727.83, Y:12.49, Z:6.72 [[ 9.98908355e-01 -4.39588784e-02 -1.58023580e-02 7.27831289e+02] [ 4.39610001e-02 9.99033225e-01 -2.13244950e-04 1.24874624e+01] [ 1.57964547e-02 -4.81675300e-04 9.99875112e-01 6.72374496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.959254154 meters Centerline goodness [0,1] 0.9981524637316034 Centerline is valid? [True, True] Translation: X:727.86, Y:12.49, Z:6.73 [[ 9.99092375e-01 -3.99126241e-02 -1.48798345e-02 7.27861469e+02] [ 3.99140606e-02 9.99203096e-01 -2.00538382e-04 1.24908000e+01] [ 1.48759807e-02 -3.93558248e-04 9.99889269e-01 6.72521253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9892541539999 meters Centerline goodness [0,1] 0.9982610517494238 Centerline is valid? [True, True] Translation: X:727.89, Y:12.49, Z:6.73 [[ 9.99172459e-01 -3.80827928e-02 -1.42862957e-02 7.27893106e+02] [ 3.80839348e-02 9.99274525e-01 -1.92203713e-04 1.24931066e+01] [ 1.42832510e-02 -3.52033698e-04 9.99897927e-01 6.72634171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0192541539999 meters Centerline goodness [0,1] 0.9984028580435012 Centerline is valid? [True, True] Translation: X:727.92, Y:12.50, Z:6.73 [[ 9.99236429e-01 -3.62736183e-02 -1.45184142e-02 7.27924946e+02] [ 3.62746159e-02 9.99341841e-01 -1.94702979e-04 1.24972757e+01] [ 1.45159214e-02 -3.32095590e-04 9.99894583e-01 6.72757222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0492541539999 meters Centerline goodness [0,1] 0.9983381016492764 Centerline is valid? [True, True] Translation: X:727.96, Y:12.50, Z:6.73 [[ 9.99288634e-01 -3.46456582e-02 -1.48964813e-02 7.27955792e+02] [ 3.46465403e-02 9.99399609e-01 -1.98930658e-04 1.24968486e+01] [ 1.48944297e-02 -3.17322395e-04 9.99889021e-01 6.72757114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.079254154 meters Centerline goodness [0,1] 0.9986519220642444 Centerline is valid? [True, True] Translation: X:727.99, Y:12.50, Z:6.73 [[ 9.99337955e-01 -3.23552915e-02 -1.66369301e-02 7.27986947e+02] [ 3.23560886e-02 9.99476380e-01 -2.21325784e-04 1.25010426e+01] [ 1.66353797e-02 -3.17126728e-04 9.99861572e-01 6.72748839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1092541539999 meters Centerline goodness [0,1] 0.9984642248543117 Centerline is valid? [True, True] Translation: X:728.02, Y:12.50, Z:6.73 [[ 9.99331666e-01 -3.20185481e-02 -1.76361561e-02 7.28017457e+02] [ 3.20194005e-02 9.99487220e-01 -2.34104513e-04 1.24988791e+01] [ 1.76346083e-02 -3.30751094e-04 9.99844443e-01 6.72605324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1392541539999 meters Centerline goodness [0,1] 0.9987800004206895 Centerline is valid? [True, True] Translation: X:728.05, Y:12.50, Z:6.73 [[ 9.99320661e-01 -3.20764226e-02 -1.81471602e-02 7.28046842e+02] [ 3.20773323e-02 9.99485361e-01 -2.41021046e-04 1.24997991e+01] [ 1.81455520e-02 -3.41255176e-04 9.99835298e-01 6.72589671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1692541539999 meters Centerline goodness [0,1] 0.9986339946200403 Centerline is valid? [True, True] Translation: X:728.08, Y:12.50, Z:6.72 [[ 9.99254398e-01 -3.27968904e-02 -2.03718662e-02 7.28076823e+02] [ 3.27981711e-02 9.99461958e-01 -2.71335907e-04 1.24982170e+01] [ 2.03698042e-02 -3.97026354e-04 9.99792435e-01 6.72366257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1992541539998 meters Centerline goodness [0,1] 0.9984865364807769 Centerline is valid? [True, True] Translation: X:728.11, Y:12.50, Z:6.72 [[ 9.99196538e-01 -3.43129807e-02 -2.07098275e-02 7.28105362e+02] [ 3.43145622e-02 9.99411043e-01 -2.79098262e-04 1.24983075e+01] [ 2.07072069e-02 -4.31774646e-04 9.99785490e-01 6.72496376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2292541539999 meters Centerline goodness [0,1] 0.9985949754644969 Centerline is valid? [True, True] Translation: X:728.13, Y:12.50, Z:6.72 [[ 9.99093559e-01 -3.64629572e-02 -2.19661729e-02 7.28134164e+02] [ 3.64651280e-02 9.99334880e-01 -3.01847878e-04 1.24968980e+01] [ 2.19625691e-02 -4.99425037e-04 9.99758669e-01 6.72493120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2592541539999 meters Centerline goodness [0,1] 0.9987618048268625 Centerline is valid? [True, True] Translation: X:728.16, Y:12.50, Z:6.73 [[ 9.99051090e-01 -3.78112295e-02 -2.16155123e-02 7.28163098e+02] [ 3.78135806e-02 9.99284766e-01 -3.00090484e-04 1.24955119e+01] [ 2.16113989e-02 -5.17554192e-04 9.99766312e-01 6.72546527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2892541539999 meters Centerline goodness [0,1] 0.9986788021139166 Centerline is valid? [True, True] Translation: X:728.19, Y:12.49, Z:6.73 [[ 9.99000094e-01 -3.91922109e-02 -2.15123713e-02 7.28193079e+02] [ 3.91948391e-02 9.99231542e-01 -2.99610855e-04 1.24947075e+01] [ 2.15075823e-02 -5.43862658e-04 9.99768537e-01 6.72611412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3192541539999 meters Centerline goodness [0,1] 0.9987127582269283 Centerline is valid? [True, True] Translation: X:728.22, Y:12.49, Z:6.73 [[ 9.98908903e-01 -4.15963155e-02 -2.12308580e-02 7.28222001e+02] [ 4.15993917e-02 9.99134327e-01 -2.96923265e-04 1.24917762e+01] [ 2.12248299e-02 -5.86591485e-04 9.99774556e-01 6.72662051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3492541539999 meters Centerline goodness [0,1] 0.9985749612305629 Centerline is valid? [True, True] Translation: X:728.25, Y:12.49, Z:6.73 [[ 9.98865824e-01 -4.24321398e-02 -2.16004568e-02 7.28252197e+02] [ 4.24355038e-02 9.99099162e-01 -3.02813933e-04 1.24925027e+01] [ 2.15938474e-02 -6.14155778e-04 9.99766637e-01 6.72771607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3792541539999 meters Centerline goodness [0,1] 0.9987216831869905 Centerline is valid? [True, True] Translation: X:728.28, Y:12.49, Z:6.73 [[ 9.98836165e-01 -4.31411729e-02 -2.15674380e-02 7.28281337e+02] [ 4.31446869e-02 9.99068789e-01 -3.02573199e-04 1.24910149e+01] [ 2.15604075e-02 -6.28299305e-04 9.99767350e-01 6.72777356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4092541539999 meters Centerline goodness [0,1] 0.9988285254063552 Centerline is valid? [True, True] Translation: X:728.31, Y:12.49, Z:6.73 [[ 9.98851240e-01 -4.28832987e-02 -2.13827963e-02 7.28311784e+02] [ 4.28866901e-02 9.99079898e-01 -3.00151885e-04 1.24905247e+01] [ 2.13759935e-02 -6.17230277e-04 9.99771317e-01 6.72838128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4392541539999 meters Centerline goodness [0,1] 0.9988257003858413 Centerline is valid? [True, True] Translation: X:728.34, Y:12.49, Z:6.73 [[ 9.98859095e-01 -4.26240286e-02 -2.15337049e-02 7.28342553e+02] [ 4.26274079e-02 9.99090993e-01 -3.02270200e-04 1.24913559e+01] [ 2.15270146e-02 -6.16000684e-04 9.99768077e-01 6.72920431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4692541539999 meters Centerline goodness [0,1] 0.998826709128622 Centerline is valid? [True, True] Translation: X:728.37, Y:12.49, Z:6.73 [[ 9.98900189e-01 -4.18037370e-02 -2.12334729e-02 7.28372131e+02] [ 4.18068330e-02 9.99125668e-01 -2.98266616e-04 1.24913708e+01] [ 2.12273764e-02 -5.89765676e-04 9.99774500e-01 6.72945989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4992541539999 meters Centerline goodness [0,1] 0.9987413203549477 Centerline is valid? [True, True] Translation: X:728.40, Y:12.49, Z:6.73 [[ 9.98967565e-01 -3.96412788e-02 -2.21894603e-02 7.28402990e+02] [ 3.96441232e-02 9.99213814e-01 -3.11869213e-04 1.24941794e+01] [ 2.21843781e-02 -5.68134468e-04 9.99753735e-01 6.73035655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5292541539999 meters Centerline goodness [0,1] 0.998593116771308 Centerline is valid? [True, True] Translation: X:728.43, Y:12.50, Z:6.73 [[ 9.99030197e-01 -3.87318857e-02 -2.09405461e-02 7.28432180e+02] [ 3.87342101e-02 9.99249505e-01 -2.94740546e-04 1.24951703e+01] [ 2.09362461e-02 -5.16660805e-04 9.99780679e-01 6.73222836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5592541539999 meters Centerline goodness [0,1] 0.998762038649573 Centerline is valid? [True, True] Translation: X:728.46, Y:12.50, Z:6.73 [[ 9.99061126e-01 -3.78647162e-02 -2.10506291e-02 7.28462183e+02] [ 3.78668565e-02 9.99282749e-01 -2.97063412e-04 1.24954555e+01] [ 2.10467787e-02 -5.00336644e-04 9.99778367e-01 6.73305806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.589254154 meters Centerline goodness [0,1] 0.9986853637160386 Centerline is valid? [True, True] Translation: X:728.49, Y:12.50, Z:6.73 [[ 9.99083760e-01 -3.73356034e-02 -2.09211363e-02 7.28491378e+02] [ 3.73375856e-02 9.99302665e-01 -2.95997605e-04 1.24953342e+01] [ 2.09175985e-02 -4.85418316e-04 9.99781085e-01 6.73341607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6192541539999 meters Centerline goodness [0,1] 0.9989322949378219 Centerline is valid? [True, True] Translation: X:728.52, Y:12.50, Z:6.73 [[ 9.99100367e-01 -3.68069411e-02 -2.10643012e-02 7.28521278e+02] [ 3.68088167e-02 9.99322281e-01 -2.98800196e-04 1.24950554e+01] [ 2.10610234e-02 -4.76820616e-04 9.99778078e-01 6.73437554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6492541539999 meters Centerline goodness [0,1] 0.998742665549036 Centerline is valid? [True, True] Translation: X:728.55, Y:12.49, Z:6.73 [[ 9.99077385e-01 -3.70864385e-02 -2.16558405e-02 7.28549929e+02] [ 3.70884643e-02 9.99311939e-01 -3.08225638e-04 1.24941433e+01] [ 2.16523709e-02 -4.95240601e-04 9.99765437e-01 6.73419960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6792541539999 meters Centerline goodness [0,1] 0.998890075600511 Centerline is valid? [True, True] Translation: X:728.58, Y:12.49, Z:6.73 [[ 9.99050305e-01 -3.76023989e-02 -2.20124377e-02 7.28578553e+02] [ 3.76045904e-02 9.99292648e-01 -3.14513285e-04 1.24919922e+01] [ 2.20086936e-02 -5.13554110e-04 9.99757647e-01 6.73437549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.709254154 meters Centerline goodness [0,1] 0.9989946380697051 Centerline is valid? [True, True] Translation: X:728.61, Y:12.49, Z:6.74 [[ 9.99013908e-01 -3.80740218e-02 -2.28381452e-02 7.28607676e+02] [ 3.80764751e-02 9.99274774e-01 -3.27579270e-04 1.24919850e+01] [ 2.28340546e-02 -5.42339819e-04 9.99739122e-01 6.73500990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7392541539999 meters Centerline goodness [0,1] 0.9987228607918263 Centerline is valid? [True, True] Translation: X:728.64, Y:12.49, Z:6.73 [[ 9.98978830e-01 -3.84536937e-02 -2.37194063e-02 7.28636000e+02] [ 3.84564036e-02 9.99260220e-01 -3.42057155e-04 1.24890096e+01] [ 2.37150125e-02 -5.70455205e-04 9.99718597e-01 6.73351376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7692541539999 meters Centerline goodness [0,1] 0.9990361647739178 Centerline is valid? [True, True] Translation: X:728.67, Y:12.49, Z:6.73 [[ 9.98950966e-01 -3.86784631e-02 -2.45141409e-02 7.28665102e+02] [ 3.86813085e-02 9.99251534e-01 -3.58283723e-04 1.24903872e+01] [ 2.45096508e-02 -5.90331177e-04 9.99699419e-01 6.73491636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7992541539999 meters Centerline goodness [0,1] 0.9989751098096632 Centerline is valid? [True, True] Translation: X:728.69, Y:12.49, Z:6.73 [[ 9.98916963e-01 -3.85624608e-02 -2.60353097e-02 7.28692514e+02] [ 3.85655255e-02 9.99255999e-01 -3.84580334e-04 1.24886043e+01] [ 2.60307698e-02 -6.19901581e-04 9.99660950e-01 6.73382923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.829254154 meters Centerline goodness [0,1] 0.9989734780240499 Centerline is valid? [True, True] Translation: X:728.72, Y:12.49, Z:6.73 [[ 9.98890835e-01 -3.86479026e-02 -2.68968199e-02 7.28720817e+02] [ 3.86511381e-02 9.99252686e-01 -3.99779085e-04 1.24895506e+01] [ 2.68921702e-02 -6.40257038e-04 9.99638135e-01 6.73462086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8592541539999 meters Centerline goodness [0,1] 0.9989527260540813 Centerline is valid? [True, True] Translation: X:728.75, Y:12.49, Z:6.73 [[ 9.98807660e-01 -3.94149752e-02 -2.88048137e-02 7.28748988e+02] [ 3.94189286e-02 9.99222679e-01 -4.30806215e-04 1.24877339e+01] [ 2.87994033e-02 -7.05162346e-04 9.99584962e-01 6.73396928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8892541539999 meters Centerline goodness [0,1] 0.9989943431803897 Centerline is valid? [True, True] Translation: X:728.78, Y:12.49, Z:6.73 [[ 9.98766657e-01 -4.04021372e-02 -2.88588247e-02 7.28777854e+02] [ 4.04063528e-02 9.99183234e-01 -4.37306986e-04 1.24864203e+01] [ 2.88529219e-02 -7.29312214e-04 9.99583402e-01 6.73404646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9192541539999 meters Centerline goodness [0,1] 0.9989731983822636 Centerline is valid? [True, True] Translation: X:728.81, Y:12.49, Z:6.74 [[ 9.98720253e-01 -4.16281867e-02 -2.87219539e-02 7.28806669e+02] [ 4.16326585e-02 9.99132887e-01 -4.42558646e-04 1.24872069e+01] [ 2.87154716e-02 -7.53779016e-04 9.99587342e-01 6.73634388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9492541539998 meters Centerline goodness [0,1] 0.998785721762797 Centerline is valid? [True, True] Translation: X:728.84, Y:12.48, Z:6.74 [[ 9.98673406e-01 -4.36949107e-02 -2.72430491e-02 7.28835616e+02] [ 4.36995131e-02 9.99044629e-01 -4.26689197e-04 1.24847622e+01] [ 2.72356660e-02 -7.64384826e-04 9.99628748e-01 6.73821801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9792541539999 meters Centerline goodness [0,1] 0.9986826697892272 Centerline is valid? [True, True] Translation: X:728.86, Y:12.48, Z:6.74 [[ 9.98668618e-01 -4.44075701e-02 -2.62480423e-02 7.28863076e+02] [ 4.44118959e-02 9.99013217e-01 -4.18425389e-04 1.24843626e+01] [ 2.62407224e-02 -7.47857016e-04 9.99655373e-01 6.73939222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0092541539999 meters Centerline goodness [0,1] 0.9990384012375358 Centerline is valid? [True, True] Translation: X:728.89, Y:12.48, Z:6.74 [[ 9.98679105e-01 -4.44972147e-02 -2.56913012e-02 7.28892352e+02] [ 4.45012191e-02 9.99009243e-01 -4.16139401e-04 1.24839852e+01] [ 2.56843644e-02 -7.27704501e-04 9.99669837e-01 6.74029805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0392541539999 meters Centerline goodness [0,1] 0.9988511029411765 Centerline is valid? [True, True] Translation: X:728.92, Y:12.48, Z:6.74 [[ 9.98781426e-01 -4.27813490e-02 -2.46052557e-02 7.28920489e+02] [ 4.27844149e-02 9.99084247e-01 -4.02061522e-04 1.24835313e+01] [ 2.45999241e-02 -6.51149889e-04 9.99697164e-01 6.74129623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0692541539999 meters Centerline goodness [0,1] 0.9989345923248867 Centerline is valid? [True, True] Translation: X:728.95, Y:12.48, Z:6.74 [[ 9.98830001e-01 -4.18312943e-02 -2.42646307e-02 7.28949388e+02] [ 4.18338848e-02 9.99124499e-01 -4.01068896e-04 1.24845298e+01] [ 2.42601642e-02 -6.14484117e-04 9.99705490e-01 6.74205864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0992541539999 meters Centerline goodness [0,1] 0.9987045549519432 Centerline is valid? [True, True] Translation: X:728.98, Y:12.48, Z:6.74 [[ 9.98883472e-01 -4.05102923e-02 -2.43048515e-02 7.28976834e+02] [ 4.05124112e-02 9.99178953e-01 -4.05411105e-04 1.24846896e+01] [ 2.43013194e-02 -5.79689686e-04 9.99704511e-01 6.74207109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1292541539999 meters Centerline goodness [0,1] 0.9992058018266557 Centerline is valid? [True, True] Translation: X:729.00, Y:12.48, Z:6.74 [[ 9.98935309e-01 -3.88879460e-02 -2.48188641e-02 7.29004858e+02] [ 3.88896004e-02 9.99243427e-01 -4.16191159e-04 1.24819312e+01] [ 2.48162716e-02 -5.49447664e-04 9.99691878e-01 6.74095592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1592541539999 meters Centerline goodness [0,1] 0.9992058018266557 Centerline is valid? [True, True] Translation: X:729.03, Y:12.48, Z:6.74 [[ 9.98924787e-01 -3.91573509e-02 -2.48187797e-02 7.29032282e+02] [ 3.91589645e-02 9.99232905e-01 -4.21180590e-04 1.24824924e+01] [ 2.48162337e-02 -5.51149982e-04 9.99691878e-01 6.74121306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1892541539999 meters Centerline goodness [0,1] 0.9989361480214439 Centerline is valid? [True, True] Translation: X:729.06, Y:12.49, Z:6.74 [[ 9.98909622e-01 -3.97687273e-02 -2.44543452e-02 7.29060190e+02] [ 3.97703080e-02 9.99208759e-01 -4.21899002e-04 1.24852363e+01] [ 2.44517743e-02 -5.51117867e-04 9.99700859e-01 6.74361447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2192541539999 meters Centerline goodness [0,1] 0.9989782513501678 Centerline is valid? [True, True] Translation: X:729.09, Y:12.48, Z:6.74 [[ 9.98882390e-01 -4.02545032e-02 -2.47698715e-02 7.29088345e+02] [ 4.02561710e-02 9.99189299e-01 -4.31511770e-04 1.24828084e+01] [ 2.47671608e-02 -5.66110674e-04 9.99693087e-01 6.74296654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2492541539999 meters Centerline goodness [0,1] 0.9988509349211323 Centerline is valid? [True, True] Translation: X:729.12, Y:12.48, Z:6.74 [[ 9.98810422e-01 -4.18809146e-02 -2.49745660e-02 7.29117457e+02] [ 4.18829972e-02 9.99122425e-01 -4.39920155e-04 1.24827395e+01] [ 2.49710732e-02 -6.06612841e-04 9.99687990e-01 6.74392804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2792541539999 meters Centerline goodness [0,1] 0.9989361036360223 Centerline is valid? [True, True] Translation: X:729.15, Y:12.48, Z:6.74 [[ 9.98589657e-01 -4.57378731e-02 -2.69581830e-02 7.29146157e+02] [ 4.57416089e-02 9.98953190e-01 -4.78397484e-04 1.24771045e+01] [ 2.69518438e-02 -7.55387884e-04 9.99636448e-01 6.74226753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3092541539999 meters Centerline goodness [0,1] 0.9991662845470841 Centerline is valid? [True, True] Translation: X:729.18, Y:12.48, Z:6.74 [[ 9.98479773e-01 -4.82351766e-02 -2.66741748e-02 7.29175142e+02] [ 4.82395943e-02 9.98835679e-01 -4.78225399e-04 1.24751753e+01] [ 2.66661848e-02 -8.09252984e-04 9.99644067e-01 6.74181808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.339254154 meters Centerline goodness [0,1] 0.9992489203229643 Centerline is valid? [True, True] Translation: X:729.20, Y:12.47, Z:6.74 [[ 9.98229378e-01 -5.27813191e-02 -2.74269995e-02 7.29204916e+02] [ 5.27876187e-02 9.98605639e-01 -4.94809999e-04 1.24706126e+01] [ 2.74148731e-02 -9.53872115e-04 9.99623687e-01 6.74106601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3692541539999 meters Centerline goodness [0,1] 0.9990620310155077 Centerline is valid? [True, True] Translation: X:729.23, Y:12.47, Z:6.74 [[ 9.98110892e-01 -5.48596943e-02 -2.76597528e-02 7.29233379e+02] [ 5.48667594e-02 9.98493558e-01 -5.04022528e-04 1.24686558e+01] [ 2.76457355e-02 -1.01453063e-03 9.99617269e-01 6.74060972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3992541539999 meters Centerline goodness [0,1] 0.9991854126198383 Centerline is valid? [True, True] Translation: X:729.26, Y:12.47, Z:6.74 [[ 9.98014764e-01 -5.64189426e-02 -2.79898962e-02 7.29260908e+02] [ 5.64266750e-02 9.98406614e-01 -5.14139962e-04 1.24666676e+01] [ 2.79743047e-02 -1.06625750e-03 9.99608074e-01 6.74027487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4292541539999 meters Centerline goodness [0,1] 0.9992705293872447 Centerline is valid? [True, True] Translation: X:729.29, Y:12.47, Z:6.74 [[ 9.97943867e-01 -5.77518595e-02 -2.77985834e-02 7.29289294e+02] [ 5.77598485e-02 9.98330373e-01 -5.16170533e-04 1.24657206e+01] [ 2.77819800e-02 -1.09053275e-03 9.99613411e-01 6.74128631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.459254154 meters Centerline goodness [0,1] 0.9995411696004004 Centerline is valid? [True, True] Translation: X:729.32, Y:12.47, Z:6.74 [[ 9.97959890e-01 -5.76911350e-02 -2.73457576e-02 7.29318503e+02] [ 5.76986526e-02 9.98333912e-01 -5.14725229e-04 1.24657792e+01] [ 2.73298923e-02 -1.06413824e-03 9.99625902e-01 6.74193516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4892541539999 meters Centerline goodness [0,1] 0.9991252004748912 Centerline is valid? [True, True] Translation: X:729.35, Y:12.46, Z:6.74 [[ 9.97998996e-01 -5.71411024e-02 -2.70721081e-02 7.29346704e+02] [ 5.71481603e-02 9.98365576e-01 -5.13559334e-04 1.24647158e+01] [ 2.70572061e-02 -1.03458947e-03 9.99633351e-01 6.74191511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5192541539999 meters Centerline goodness [0,1] 0.9992296962504944 Centerline is valid? [True, True] Translation: X:729.38, Y:12.47, Z:6.74 [[ 9.98217166e-01 -5.41703007e-02 -2.50612750e-02 7.29376872e+02] [ 5.41753864e-02 9.98531322e-01 -4.76481921e-04 1.24657623e+01] [ 2.50502792e-02 -8.82071825e-04 9.99685803e-01 6.74344702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5492541539999 meters Centerline goodness [0,1] 0.9991456197382679 Centerline is valid? [True, True] Translation: X:729.41, Y:12.47, Z:6.74 [[ 9.98324513e-01 -5.25720047e-02 -2.41733721e-02 7.29405868e+02] [ 5.25761765e-02 9.98616809e-01 -4.63396070e-04 1.24667354e+01] [ 2.41642974e-02 -8.08323822e-04 9.99707674e-01 6.74409258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.579254154 meters Centerline goodness [0,1] 0.9991057688308448 Centerline is valid? [True, True] Translation: X:729.43, Y:12.47, Z:6.75 [[ 9.98422345e-01 -5.06089921e-02 -2.43218329e-02 7.29434929e+02] [ 5.06124846e-02 9.98718255e-01 -4.72362940e-04 1.24686380e+01] [ 2.43145644e-02 -7.59370681e-04 9.99704069e-01 6.74550003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6092541539999 meters Centerline goodness [0,1] 0.9993342210386151 Centerline is valid? [True, True] Translation: X:729.46, Y:12.47, Z:6.75 [[ 9.98713528e-01 -4.65247995e-02 -2.01676114e-02 7.29464895e+02] [ 4.65263242e-02 9.98916987e-01 -3.93856327e-04 1.24711636e+01] [ 2.01640937e-02 -5.44975183e-04 9.99796535e-01 6.74670963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6392541539999 meters Centerline goodness [0,1] 0.9991879229567934 Centerline is valid? [True, True] Translation: X:729.49, Y:12.47, Z:6.75 [[ 9.98832860e-01 -4.39922607e-02 -1.99398962e-02 7.29494253e+02] [ 4.39932397e-02 9.99031753e-01 -3.89768268e-04 1.24718614e+01] [ 1.99377362e-02 -4.87907278e-04 9.99801105e-01 6.74664703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6692541539999 meters Centerline goodness [0,1] 0.9993331666249896 Centerline is valid? [True, True] Translation: X:729.52, Y:12.47, Z:6.75 [[ 9.99053070e-01 -3.86840619e-02 -1.99124768e-02 7.29524391e+02] [ 3.86839771e-02 9.99251419e-01 -3.89588046e-04 1.24746653e+01] [ 1.99126416e-02 -3.81074665e-04 9.99801651e-01 6.74597726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6992541539998 meters Centerline goodness [0,1] 0.9992903360467543 Centerline is valid? [True, True] Translation: X:729.55, Y:12.48, Z:6.75 [[ 9.99163008e-01 -3.59432854e-02 -1.95285154e-02 7.29552939e+02] [ 3.59426668e-02 9.99353780e-01 -3.82775499e-04 1.24760724e+01] [ 1.95296539e-02 -3.19451804e-04 9.99809227e-01 6.74564618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7292541539999 meters Centerline goodness [0,1] 0.9993947110266953 Centerline is valid? [True, True] Translation: X:729.58, Y:12.48, Z:6.75 [[ 9.99247649e-01 -3.37409080e-02 -1.91229615e-02 7.29581842e+02] [ 3.37398566e-02 9.99430578e-01 -3.77700344e-04 1.24773453e+01] [ 1.91248164e-02 -2.67789797e-04 9.99817068e-01 6.74581711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7592541539999 meters Centerline goodness [0,1] 0.9995192709639662 Centerline is valid? [True, True] Translation: X:729.61, Y:12.48, Z:6.75 [[ 9.99309786e-01 -3.17709683e-02 -1.92498807e-02 7.29610902e+02] [ 3.17694464e-02 9.99495150e-01 -3.84938558e-04 1.24785416e+01] [ 1.92523923e-02 -2.26885187e-04 9.99814630e-01 6.74591182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7892541539999 meters Centerline goodness [0,1] 0.9994980969509389 Centerline is valid? [True, True] Translation: X:729.64, Y:12.48, Z:6.74 [[ 9.99393616e-01 -2.88143684e-02 -1.95481877e-02 7.29638552e+02] [ 2.88121707e-02 9.99584766e-01 -3.94117158e-04 1.24797316e+01] [ 1.95514269e-02 -1.69347550e-04 9.99808838e-01 6.74495661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8192541539999 meters Centerline goodness [0,1] 0.9993933942728053 Centerline is valid? [True, True] Translation: X:729.67, Y:12.48, Z:6.74 [[ 9.99389391e-01 -2.83428123e-02 -2.04335429e-02 7.29666069e+02] [ 2.83402332e-02 9.99598248e-01 -4.15845192e-04 1.24801070e+01] [ 2.04371199e-02 -1.63500097e-04 9.99791127e-01 6.74428009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8492541539999 meters Centerline goodness [0,1] 0.9992473185724142 Centerline is valid? [True, True] Translation: X:729.69, Y:12.48, Z:6.74 [[ 9.99379604e-01 -2.79411296e-02 -2.14406128e-02 7.29693624e+02] [ 2.79381179e-02 9.99609558e-01 -4.40052992e-04 1.24797159e+01] [ 2.14445370e-02 -1.59230381e-04 9.99770027e-01 6.74351139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8792541539999 meters Centerline goodness [0,1] 0.9994147768836869 Centerline is valid? [True, True] Translation: X:729.72, Y:12.48, Z:6.74 [[ 9.99366932e-01 -2.89337265e-02 -2.07020619e-02 7.29720440e+02] [ 2.89310882e-02 9.99581317e-01 -4.26993930e-04 1.24784470e+01] [ 2.07057489e-02 -1.72209566e-04 9.99785598e-01 6.74287578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9092541539999 meters Centerline goodness [0,1] 0.9993504452592981 Centerline is valid? [True, True] Translation: X:729.75, Y:12.48, Z:6.74 [[ 9.99357283e-01 -2.97375864e-02 -2.00174066e-02 7.29747711e+02] [ 2.97352347e-02 9.99557724e-01 -4.15177292e-04 1.24777650e+01] [ 2.00208998e-02 -1.80311834e-04 9.99799545e-01 6.74290068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9392541539999 meters Centerline goodness [0,1] 0.9994567261481884 Centerline is valid? [True, True] Translation: X:729.78, Y:12.48, Z:6.74 [[ 9.99342222e-01 -3.04302424e-02 -1.97262431e-02 7.29775660e+02] [ 3.04280183e-02 9.99536875e-01 -4.12952224e-04 1.24772865e+01] [ 1.97296736e-02 -1.87549894e-04 9.99805333e-01 6.74297583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9692541539999 meters Centerline goodness [0,1] 0.9992890598862496 Centerline is valid? [True, True] Translation: X:729.80, Y:12.48, Z:6.74 [[ 9.99289175e-01 -3.18634254e-02 -2.01461202e-02 7.29804599e+02] [ 3.18612937e-02 9.99492209e-01 -4.26856593e-04 1.24767740e+01] [ 2.01494913e-02 -2.15328280e-04 9.99796955e-01 6.74383974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9992541539999 meters Centerline goodness [0,1] 0.9992680733599615 Centerline is valid? [True, True] Translation: X:729.83, Y:12.48, Z:6.74 [[ 9.99268583e-01 -3.29511826e-02 -1.94040948e-02 7.29832069e+02] [ 3.29493449e-02 9.99456937e-01 -4.14490120e-04 1.24757403e+01] [ 1.94072151e-02 -2.25165257e-04 9.99811637e-01 6.74349788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0292541539999 meters Centerline goodness [0,1] 0.9993520473214472 Centerline is valid? [True, True] Translation: X:729.86, Y:12.47, Z:6.74 [[ 9.99191800e-01 -3.58968431e-02 -1.80876483e-02 7.29860403e+02] [ 3.58956967e-02 9.99355466e-01 -3.88143150e-04 1.24746079e+01] [ 1.80899233e-02 -2.61439284e-04 9.99836330e-01 6.74446948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0592541539999 meters Centerline goodness [0,1] 0.9993095656540296 Centerline is valid? [True, True] Translation: X:729.89, Y:12.47, Z:6.75 [[ 9.99135302e-01 -3.78665525e-02 -1.71689353e-02 7.29889185e+02] [ 3.78657658e-02 9.99282766e-01 -3.71019685e-04 1.24731870e+01] [ 1.71706704e-02 -2.79416017e-04 9.99852534e-01 6.74505156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.089254154 meters Centerline goodness [0,1] 0.9993738520621138 Centerline is valid? [True, True] Translation: X:729.92, Y:12.47, Z:6.74 [[ 9.99073183e-01 -3.95818302e-02 -1.69130981e-02 7.29918245e+02] [ 3.95812814e-02 9.99216287e-01 -3.67326763e-04 1.24694535e+01] [ 1.69143825e-02 -3.02455777e-04 9.99856896e-01 6.74491205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1192541539999 meters Centerline goodness [0,1] 0.9992276057866939 Centerline is valid? [True, True] Translation: X:729.95, Y:12.47, Z:6.75 [[ 9.98929646e-01 -4.39413548e-02 -1.44471137e-02 7.29947340e+02] [ 4.39414114e-02 9.99034060e-01 -3.13662227e-04 1.24672172e+01] [ 1.44469414e-02 -3.21500068e-04 9.99895586e-01 6.74707670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1492541539999 meters Centerline goodness [0,1] 0.9991015649484967 Centerline is valid? [True, True] Translation: X:729.98, Y:12.47, Z:6.75 [[ 9.98846721e-01 -4.60310507e-02 -1.36517164e-02 7.29977661e+02] [ 4.60312903e-02 9.98939954e-01 -2.96833374e-04 1.24650975e+01] [ 1.36509085e-02 -3.31915078e-04 9.99906767e-01 6.74774316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1792541539999 meters Centerline goodness [0,1] 0.9991018464366279 Centerline is valid? [True, True] Translation: X:730.01, Y:12.46, Z:6.75 [[ 9.98767185e-01 -4.79460802e-02 -1.28562445e-02 7.30008470e+02] [ 4.79464512e-02 9.98849868e-01 -2.79537189e-04 1.24632907e+01] [ 1.28548608e-02 -3.37218727e-04 9.99917316e-01 6.74850800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.209254154 meters Centerline goodness [0,1] 0.9991844757642926 Centerline is valid? [True, True] Translation: X:730.04, Y:12.46, Z:6.75 [[ 9.98690432e-01 -4.96509026e-02 -1.23372796e-02 7.30039282e+02] [ 4.96513748e-02 9.98766574e-01 -2.68204635e-04 1.24614718e+01] [ 1.23353791e-02 -3.44709490e-04 9.99923857e-01 6.74905011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2392541539999 meters Centerline goodness [0,1] 0.999330907874378 Centerline is valid? [True, True] Translation: X:730.07, Y:12.46, Z:6.75 [[ 9.98586587e-01 -5.18829204e-02 -1.15321836e-02 7.30069174e+02] [ 5.18834854e-02 9.98653114e-01 -2.50383642e-04 1.24574475e+01] [ 1.15296417e-02 -3.48300132e-04 9.99933471e-01 6.74953890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2692541539999 meters Centerline goodness [0,1] 0.9991435136828911 Centerline is valid? [True, True] Translation: X:730.10, Y:12.46, Z:6.75 [[ 9.98569124e-01 -5.21032606e-02 -1.20397141e-02 7.30100957e+02] [ 5.21039030e-02 9.98641635e-01 -2.60524327e-04 1.24559350e+01] [ 1.20369339e-02 -3.67164546e-04 9.99927486e-01 6.74911332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2992541539999 meters Centerline goodness [0,1] 0.9992056191989297 Centerline is valid? [True, True] Translation: X:730.13, Y:12.46, Z:6.75 [[ 9.98557503e-01 -5.21568451e-02 -1.27505786e-02 7.30131048e+02] [ 5.21575762e-02 9.98638829e-01 -2.75412265e-04 1.24551370e+01] [ 1.27475875e-02 -3.90024290e-04 9.99918670e-01 6.74782641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.329254154 meters Centerline goodness [0,1] 0.9993100997219493 Centerline is valid? [True, True] Translation: X:730.16, Y:12.46, Z:6.75 [[ 9.98598325e-01 -5.10140271e-02 -1.41051179e-02 7.30162531e+02] [ 5.10148177e-02 9.98697850e-01 -3.03981644e-04 1.24558313e+01] [ 1.41022582e-02 -4.16014458e-04 9.99900472e-01 6.74705885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3592541539999 meters Centerline goodness [0,1] 0.9994361255560429 Centerline is valid? [True, True] Translation: X:730.19, Y:12.46, Z:6.75 [[ 9.98629154e-01 -5.03733301e-02 -1.42246500e-02 7.30193520e+02] [ 5.03740745e-02 9.98730373e-01 -3.06182775e-04 1.24572689e+01] [ 1.42220135e-02 -4.10790535e-04 9.99898778e-01 6.74682268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3892541539999 meters Centerline goodness [0,1] 0.9992892382306213 Centerline is valid? [True, True] Translation: X:730.22, Y:12.46, Z:6.75 [[ 9.98744223e-01 -4.79211114e-02 -1.46131648e-02 7.30223146e+02] [ 4.79216358e-02 9.98851049e-01 -3.14476241e-04 1.24593728e+01] [ 1.46114450e-02 -3.86205433e-04 9.99893173e-01 6.74660945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4192541539999 meters Centerline goodness [0,1] 0.999415790352195 Centerline is valid? [True, True] Translation: X:730.25, Y:12.47, Z:6.75 [[ 9.98812095e-01 -4.64804325e-02 -1.46276630e-02 7.30254327e+02] [ 4.64808043e-02 9.98919134e-01 -3.14739540e-04 1.24694374e+01] [ 1.46264817e-02 -3.65539884e-04 9.99892960e-01 6.74885822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4492541539998 meters Centerline goodness [0,1] 0.9994352055224349 Centerline is valid? [True, True] Translation: X:730.28, Y:12.47, Z:6.75 [[ 9.98871070e-01 -4.53418519e-02 -1.41669288e-02 7.30284368e+02] [ 4.53420909e-02 9.98971472e-01 -3.04490059e-04 1.24706792e+01] [ 1.41661638e-02 -3.38211860e-04 9.99899598e-01 6.74952989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4792541539999 meters Centerline goodness [0,1] 0.9995187680461982 Centerline is valid? [True, True] Translation: X:730.32, Y:12.47, Z:6.75 [[ 9.98985206e-01 -4.29883797e-02 -1.34371717e-02 7.30315262e+02] [ 4.29883839e-02 9.99075530e-01 -2.88655732e-04 1.24725962e+01] [ 1.34371583e-02 -2.89279491e-04 9.99909675e-01 6.75042537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5092541539999 meters Centerline goodness [0,1] 0.999392797319933 Centerline is valid? [True, True] Translation: X:730.35, Y:12.47, Z:6.75 [[ 9.99024180e-01 -4.20290453e-02 -1.35737433e-02 7.30345993e+02] [ 4.20289669e-02 9.99116350e-01 -2.91165167e-04 1.24659936e+01] [ 1.35739863e-02 -2.79609366e-04 9.99907830e-01 6.74925602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5392541539999 meters Centerline goodness [0,1] 0.9992892679459844 Centerline is valid? [True, True] Translation: X:730.38, Y:12.47, Z:6.75 [[ 9.99049958e-01 -4.12004339e-02 -1.42022956e-02 7.30376610e+02] [ 4.12002669e-02 9.99150862e-01 -3.04469340e-04 1.24749018e+01] [ 1.42027801e-02 -2.80958287e-04 9.99899096e-01 6.75104052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5692541539999 meters Centerline goodness [0,1] 0.9992472870972463 Centerline is valid? [True, True] Translation: X:730.41, Y:12.47, Z:6.75 [[ 9.99063273e-01 -4.09853941e-02 -1.38843151e-02 7.30406720e+02] [ 4.09852176e-02 9.99159709e-01 -2.97376360e-04 1.24683586e+01] [ 1.38848363e-02 -2.71953876e-04 9.99903564e-01 6.74966805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5992541539999 meters Centerline goodness [0,1] 0.9993520744069391 Centerline is valid? [True, True] Translation: X:730.44, Y:12.48, Z:6.75 [[ 9.99019768e-01 -4.17878925e-02 -1.46039610e-02 7.30437849e+02] [ 4.17877944e-02 9.99126460e-01 -3.11998177e-04 1.24760644e+01] [ 1.46042416e-02 -2.98574972e-04 9.99893308e-01 6.75145503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6292541539999 meters Centerline goodness [0,1] 0.9995810377694451 Centerline is valid? [True, True] Translation: X:730.47, Y:12.48, Z:6.75 [[ 9.98986581e-01 -4.25901280e-02 -1.45564939e-02 7.30468722e+02] [ 4.25901220e-02 9.99092581e-01 -3.10552119e-04 1.24755422e+01] [ 1.45565115e-02 -3.09725452e-04 9.99894000e-01 6.75142836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6592541539999 meters Centerline goodness [0,1] 0.9994366079626075 Centerline is valid? [True, True] Translation: X:730.50, Y:12.47, Z:6.75 [[ 9.98828854e-01 -4.59898618e-02 -1.50283932e-02 7.30499074e+02] [ 4.59902441e-02 9.98941838e-01 -3.20343921e-04 1.24732042e+01] [ 1.50272233e-02 -3.71190720e-04 9.99887016e-01 6.75135089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6892541539999 meters Centerline goodness [0,1] 0.9995825419023565 Centerline is valid? [True, True] Translation: X:730.53, Y:12.47, Z:6.75 [[ 9.98718731e-01 -4.82653059e-02 -1.52104184e-02 7.30528615e+02] [ 4.82659622e-02 9.98834467e-01 -3.24158132e-04 1.24713952e+01] [ 1.52083358e-02 -4.10402683e-04 9.99884262e-01 6.75150592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7192541539999 meters Centerline goodness [0,1] 0.9994154488517746 Centerline is valid? [True, True] Translation: X:730.56, Y:12.47, Z:6.75 [[ 9.98588885e-01 -5.08598637e-02 -1.52811609e-02 7.30559138e+02] [ 5.08608270e-02 9.98705697e-01 -3.25832921e-04 1.24698751e+01] [ 1.52779543e-02 -4.51839348e-04 9.99883183e-01 6.75195368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7492541539999 meters Centerline goodness [0,1] 0.9994575422491133 Centerline is valid? [True, True] Translation: X:730.59, Y:12.47, Z:6.75 [[ 9.98315655e-01 -5.61010823e-02 -1.47824733e-02 7.30589210e+02] [ 5.61025576e-02 9.98424961e-01 -3.15199643e-04 1.24662449e+01] [ 1.47768734e-02 -5.14665822e-04 9.99890684e-01 6.75281702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7792541539999 meters Centerline goodness [0,1] 0.9993736298152208 Centerline is valid? [True, True] Translation: X:730.62, Y:12.46, Z:6.75 [[ 9.98166124e-01 -5.87496787e-02 -1.45898848e-02 7.30620304e+02] [ 5.87514009e-02 9.98272596e-01 -3.10912165e-04 1.24648041e+01] [ 1.45829482e-02 -5.46834182e-04 9.99893514e-01 6.75314158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8092541539999 meters Centerline goodness [0,1] 0.9992478061011283 Centerline is valid? [True, True] Translation: X:730.65, Y:12.46, Z:6.75 [[ 9.98008569e-01 -6.13596409e-02 -1.46249833e-02 7.30650254e+02] [ 6.13616618e-02 9.98115549e-01 -3.10932399e-04 1.24621212e+01] [ 1.46165019e-02 -5.87100078e-04 9.99893001e-01 6.75325982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.839254154 meters Centerline goodness [0,1] 0.9995197126628801 Centerline is valid? [True, True] Translation: X:730.68, Y:12.46, Z:6.75 [[ 9.97685539e-01 -6.63550408e-02 -1.48517380e-02 7.30681522e+02] [ 6.63576909e-02 9.97795850e-01 -3.14825497e-04 1.24641644e+01] [ 1.48398928e-02 -6.71430191e-04 9.99889657e-01 6.75355904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8692541539999 meters Centerline goodness [0,1] 0.9993104024741923 Centerline is valid? [True, True] Translation: X:730.71, Y:12.47, Z:6.75 [[ 9.97523810e-01 -6.85585916e-02 -1.56833460e-02 7.30712299e+02] [ 6.85618260e-02 9.97646814e-01 -3.31976041e-04 1.24654089e+01] [ 1.56692000e-02 -7.44124835e-04 9.99876954e-01 6.75386703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8992541539999 meters Centerline goodness [0,1] 0.9992062828974851 Centerline is valid? [True, True] Translation: X:730.74, Y:12.46, Z:6.75 [[ 9.97254041e-01 -7.21879099e-02 -1.65313056e-02 7.30742292e+02] [ 7.21920040e-02 9.97390692e-01 -3.49742020e-04 1.24644277e+01] [ 1.65134174e-02 -8.44646435e-04 9.99863287e-01 6.75320525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9292541539999 meters Centerline goodness [0,1] 0.9993118835623579 Centerline is valid? [True, True] Translation: X:730.77, Y:12.46, Z:6.75 [[ 9.97137276e-01 -7.36881939e-02 -1.69500205e-02 7.30773501e+02] [ 7.36927190e-02 9.97280931e-01 -3.58323198e-04 1.24643092e+01] [ 1.69303364e-02 -8.91795677e-04 9.99856274e-01 6.75328665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.959254154 meters Centerline goodness [0,1] 0.9991025212890299 Centerline is valid? [True, True] Translation: X:730.80, Y:12.46, Z:6.75 [[ 9.97031033e-01 -7.49811430e-02 -1.75199256e-02 7.30804369e+02] [ 7.49861854e-02 9.97184504e-01 -3.69868069e-04 1.24641660e+01] [ 1.74983314e-02 -9.44982442e-04 9.99846446e-01 6.75354055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9892541539999 meters Centerline goodness [0,1] 0.9993539109230737 Centerline is valid? [True, True] Translation: X:730.83, Y:12.46, Z:6.75 [[ 9.96786845e-01 -7.83036277e-02 -1.68679149e-02 7.30834699e+02] [ 7.83087808e-02 9.96929089e-01 -3.55802578e-04 1.24644035e+01] [ 1.68439757e-02 -9.66246525e-04 9.99857663e-01 6.75409476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0192541539999 meters Centerline goodness [0,1] 0.9991893408717704 Centerline is valid? [True, True] Translation: X:730.87, Y:12.46, Z:6.75 [[ 9.96730847e-01 -7.90177006e-02 -1.68470050e-02 7.30866166e+02] [ 7.90229593e-02 9.96872733e-01 -3.54366873e-04 1.24644387e+01] [ 1.68223212e-02 -9.78091796e-04 9.99858016e-01 6.75435617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0492541539999 meters Centerline goodness [0,1] 0.9991441573080616 Centerline is valid? [True, True] Translation: X:730.90, Y:12.47, Z:6.75 [[ 9.96651309e-01 -7.98855003e-02 -1.74492211e-02 7.30898371e+02] [ 7.98913033e-02 9.96803514e-01 -3.65371261e-04 1.24685798e+01] [ 1.74226328e-02 -1.02989327e-03 9.99847684e-01 6.75485070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.079254154 meters Centerline goodness [0,1] 0.9991441573080616 Centerline is valid? [True, True] Translation: X:730.93, Y:12.47, Z:6.76 [[ 9.96657163e-01 -7.98124234e-02 -1.74492478e-02 7.30930105e+02] [ 7.98182376e-02 9.96809368e-01 -3.64091821e-04 1.24691812e+01] [ 1.74226328e-02 -1.02989349e-03 9.99847684e-01 6.75514790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1092541539999 meters Centerline goodness [0,1] 0.9992074086434173 Centerline is valid? [True, True] Translation: X:730.96, Y:12.47, Z:6.76 [[ 9.96613904e-01 -8.02102955e-02 -1.80841282e-02 7.30961723e+02] [ 8.02166274e-02 9.96777383e-01 -3.76148313e-04 1.24710480e+01] [ 1.80560210e-02 -1.07577314e-03 9.99836398e-01 6.75517912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1392541539999 meters Centerline goodness [0,1] 0.9991458689221282 Centerline is valid? [True, True] Translation: X:730.99, Y:12.47, Z:6.76 [[ 9.96646414e-01 -7.98214863e-02 -1.80126595e-02 7.30992632e+02] [ 7.98277226e-02 9.96808605e-01 -3.73678356e-04 1.24742598e+01] [ 1.79850015e-02 -1.06548439e-03 9.99837689e-01 6.75501926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1692541539999 meters Centerline goodness [0,1] 0.9990423051299134 Centerline is valid? [True, True] Translation: X:731.02, Y:12.48, Z:6.76 [[ 9.96757975e-01 -7.84155546e-02 -1.80149830e-02 7.31023693e+02] [ 7.84215785e-02 9.96920216e-01 -3.72900933e-04 1.24805146e+01] [ 1.79887420e-02 -1.04107142e-03 9.99837647e-01 6.75536108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1992541539998 meters Centerline goodness [0,1] 0.9988947280613947 Centerline is valid? [True, True] Translation: X:731.05, Y:12.48, Z:6.76 [[ 9.96839203e-01 -7.72923090e-02 -1.83712377e-02 7.31053976e+02] [ 7.72984018e-02 9.97007930e-01 -3.79278503e-04 1.24829581e+01] [ 1.83455850e-02 -1.04198764e-03 9.99831163e-01 6.75529488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2292541539999 meters Centerline goodness [0,1] 0.9990816688581388 Centerline is valid? [True, True] Translation: X:731.09, Y:12.49, Z:6.76 [[ 9.96925607e-01 -7.59541636e-02 -1.92431528e-02 7.31085580e+02] [ 7.59606205e-02 9.97110740e-01 -3.96221485e-04 1.24863355e+01] [ 1.92176490e-02 -1.06671849e-03 9.99814755e-01 6.75511707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2592541539999 meters Centerline goodness [0,1] 0.9991675857906894 Centerline is valid? [True, True] Translation: X:731.12, Y:12.49, Z:6.76 [[ 9.97036755e-01 -7.43335844e-02 -1.98047529e-02 7.31117128e+02] [ 7.43401192e-02 9.97232862e-01 -4.07069503e-04 1.24901005e+01] [ 1.97802094e-02 -1.06642444e-03 9.99803784e-01 6.75521706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2892541539999 meters Centerline goodness [0,1] 0.9990194646694344 Centerline is valid? [True, True] Translation: X:731.15, Y:12.50, Z:6.76 [[ 9.97259468e-01 -7.09836727e-02 -2.08535847e-02 7.31147611e+02] [ 7.09901991e-02 9.97476921e-01 -4.28086816e-04 1.24990521e+01] [ 2.08313566e-02 -1.05348650e-03 9.99782449e-01 6.75560892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3192541539999 meters Centerline goodness [0,1] 0.9990828365364572 Centerline is valid? [True, True] Translation: X:731.18, Y:12.50, Z:6.76 [[ 9.97397857e-01 -6.88788568e-02 -2.12889324e-02 7.31177678e+02] [ 6.88851881e-02 9.97624499e-01 -4.36656612e-04 1.25026295e+01] [ 2.12684370e-02 -1.03097175e-03 9.99773270e-01 6.75595337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3492541539999 meters Centerline goodness [0,1] 0.9989165312330708 Centerline is valid? [True, True] Translation: X:731.21, Y:12.51, Z:6.76 [[ 9.97526675e-01 -6.69215547e-02 -2.14950749e-02 7.31208394e+02] [ 6.69275641e-02 9.97757740e-01 -4.40503813e-04 1.25083414e+01] [ 2.14763565e-02 -9.99198696e-04 9.99768857e-01 6.75675072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3792541539999 meters Centerline goodness [0,1] 0.9989776544472031 Centerline is valid? [True, True] Translation: X:731.24, Y:12.52, Z:6.76 [[ 9.97809039e-01 -6.26984645e-02 -2.11192968e-02 7.31239394e+02] [ 6.27033293e-02 9.98032116e-01 -4.32424384e-04 1.25201240e+01] [ 2.11048488e-02 -8.92773262e-04 9.99776869e-01 6.75880395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4092541539999 meters Centerline goodness [0,1] 0.9988931122342425 Centerline is valid? [True, True] Translation: X:731.27, Y:12.52, Z:6.76 [[ 9.97960043e-01 -6.03612977e-02 -2.07910218e-02 7.31270376e+02] [ 6.03655182e-02 9.98176249e-01 -4.25114761e-04 1.25189081e+01] [ 2.07787646e-02 -8.30813258e-04 9.99783753e-01 6.75795377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4392541539999 meters Centerline goodness [0,1] 0.9989577905158937 Centerline is valid? [True, True] Translation: X:731.30, Y:12.53, Z:6.76 [[ 9.98105926e-01 -5.80029672e-02 -2.04991984e-02 7.31301107e+02] [ 5.80065842e-02 9.98316113e-01 -4.18615128e-04 1.25256861e+01] [ 2.04889610e-02 -7.71266238e-04 9.99789782e-01 6.75918266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4692541539999 meters Centerline goodness [0,1] 0.9989767577839497 Centerline is valid? [True, True] Translation: X:731.33, Y:12.54, Z:6.76 [[ 9.98402290e-01 -5.29285208e-02 -1.97848327e-02 7.31331319e+02] [ 5.29308978e-02 9.98598096e-01 -4.03869308e-04 1.25373746e+01] [ 1.97784725e-02 -6.44004916e-04 9.99804179e-01 6.76070820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4992541539999 meters Centerline goodness [0,1] 0.9988545246277205 Centerline is valid? [True, True] Translation: X:731.36, Y:12.54, Z:6.76 [[ 9.98567131e-01 -4.98627535e-02 -1.94265617e-02 7.31362618e+02] [ 4.98644728e-02 9.98755915e-01 -3.96179749e-04 1.25427051e+01] [ 1.94221480e-02 -5.73083183e-04 9.99811208e-01 6.76120776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5292541539999 meters Centerline goodness [0,1] 0.9991031390134529 Centerline is valid? [True, True] Translation: X:731.39, Y:12.55, Z:6.76 [[ 9.98885617e-01 -4.34030841e-02 -1.85390603e-02 7.31392313e+02] [ 4.34035440e-02 9.99057551e-01 -3.77746205e-04 1.25493935e+01] [ 1.85379836e-02 -4.27335670e-04 9.99828065e-01 6.76088204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5592541539999 meters Centerline goodness [0,1] 0.9988108897465318 Centerline is valid? [True, True] Translation: X:731.42, Y:12.55, Z:6.76 [[ 9.99022244e-01 -4.03134472e-02 -1.81488739e-02 7.31423264e+02] [ 4.03133811e-02 9.99187017e-01 -3.69637905e-04 1.25541858e+01] [ 1.81490205e-02 -3.62365981e-04 9.99835227e-01 6.76153643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.589254154 meters Centerline goodness [0,1] 0.9989774837753803 Centerline is valid? [True, True] Translation: X:731.45, Y:12.56, Z:6.76 [[ 9.99144198e-01 -3.73929180e-02 -1.76816703e-02 7.31454250e+02] [ 3.73924003e-02 9.99300595e-01 -3.59995915e-04 1.25583991e+01] [ 1.76827649e-02 -3.01472264e-04 9.99843602e-01 6.76237782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6192541539999 meters Centerline goodness [0,1] 0.9990591875561874 Centerline is valid? [True, True] Translation: X:731.48, Y:12.56, Z:6.76 [[ 9.99296909e-01 -3.32913895e-02 -1.72444640e-02 7.31484569e+02] [ 3.32902859e-02 9.99445663e-01 -3.51135795e-04 1.25639311e+01] [ 1.72465945e-02 -2.23184221e-04 9.99851242e-01 6.76303306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6492541539999 meters Centerline goodness [0,1] 0.9991431198796188 Centerline is valid? [True, True] Translation: X:731.52, Y:12.57, Z:6.76 [[ 9.99335005e-01 -3.21033919e-02 -1.72893216e-02 7.31515235e+02] [ 3.21021047e-02 9.99484533e-01 -3.52049196e-04 1.25657898e+01] [ 1.72917115e-02 -2.03208527e-04 9.99850467e-01 6.76317943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6792541539999 meters Centerline goodness [0,1] 0.9991439071243632 Centerline is valid? [True, True] Translation: X:731.55, Y:12.57, Z:6.76 [[ 9.99365476e-01 -3.14087761e-02 -1.67968786e-02 7.31545242e+02] [ 3.14074631e-02 9.99506605e-01 -3.42021957e-04 1.25671415e+01] [ 1.67993336e-02 -1.85742409e-04 9.99858864e-01 6.76334313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.709254154 meters Centerline goodness [0,1] 0.9988708125967128 Centerline is valid? [True, True] Translation: X:731.57, Y:12.57, Z:6.76 [[ 9.99371760e-01 -3.12880118e-02 -1.66477128e-02 7.31574604e+02] [ 3.12867031e-02 9.99510394e-01 -3.39115231e-04 1.25681475e+01] [ 1.66501722e-02 -1.81949862e-04 9.99861360e-01 6.76352037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7392541539999 meters Centerline goodness [0,1] 0.9989546309847376 Centerline is valid? [True, True] Translation: X:731.60, Y:12.57, Z:6.76 [[ 9.99363963e-01 -3.19754013e-02 -1.57874610e-02 7.31604276e+02] [ 3.19743057e-02 9.99488639e-01 -3.21864976e-04 1.25681302e+01] [ 1.57896797e-02 -1.83132848e-04 9.99875318e-01 6.76358028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7692541539999 meters Centerline goodness [0,1] 0.9989160117571032 Centerline is valid? [True, True] Translation: X:731.63, Y:12.57, Z:6.76 [[ 9.99331143e-01 -3.28931626e-02 -1.59783110e-02 7.31634577e+02] [ 3.28921550e-02 9.99458854e-01 -3.25923928e-04 1.25676057e+01] [ 1.59803851e-02 -1.99855152e-04 9.99872286e-01 6.76313995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7992541539999 meters Centerline goodness [0,1] 0.999122587114565 Centerline is valid? [True, True] Translation: X:731.67, Y:12.57, Z:6.76 [[ 9.99226470e-01 -3.58531602e-02 -1.61558784e-02 7.31665381e+02] [ 3.58525168e-02 9.99357038e-01 -3.29545928e-04 1.25653472e+01] [ 1.61573061e-02 -2.49937888e-04 9.99869431e-01 6.76260703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.829254154 meters Centerline goodness [0,1] 0.9988704819277109 Centerline is valid? [True, True] Translation: X:731.70, Y:12.56, Z:6.76 [[ 9.99158508e-01 -3.77402482e-02 -1.60607886e-02 7.31696661e+02] [ 3.77398599e-02 9.99287544e-01 -3.27367620e-04 1.25639854e+01] [ 1.60617009e-02 -2.79039768e-04 9.99870964e-01 6.76265568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8592541539999 meters Centerline goodness [0,1] 0.9989981632993822 Centerline is valid? [True, True] Translation: X:731.73, Y:12.56, Z:6.76 [[ 9.99086846e-01 -3.98159705e-02 -1.54972118e-02 7.31726766e+02] [ 3.98158686e-02 9.99206984e-01 -3.15236770e-04 1.25621824e+01] [ 1.54974737e-02 -3.02086036e-04 9.99879861e-01 6.76275348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8892541539999 meters Centerline goodness [0,1] 0.9988063077213043 Centerline is valid? [True, True] Translation: X:731.76, Y:12.56, Z:6.76 [[ 9.98901469e-01 -4.45098051e-02 -1.46537792e-02 7.31758474e+02] [ 4.45102282e-02 9.99008884e-01 -2.97425445e-04 1.25593582e+01] [ 1.46524940e-02 -3.55144342e-04 9.99892583e-01 6.76376539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9192541539999 meters Centerline goodness [0,1] 0.998911450701277 Centerline is valid? [True, True] Translation: X:731.79, Y:12.56, Z:6.76 [[ 9.98801047e-01 -4.68871891e-02 -1.40734152e-02 7.31790071e+02] [ 4.68878233e-02 9.98900121e-01 -2.85067868e-04 1.25562803e+01] [ 1.40713022e-02 -3.75145722e-04 9.99900924e-01 6.76396129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9492541539998 meters Centerline goodness [0,1] 0.9989126798260288 Centerline is valid? [True, True] Translation: X:731.82, Y:12.55, Z:6.76 [[ 9.98690700e-01 -4.92011950e-02 -1.40045794e-02 7.31821668e+02] [ 4.92020608e-02 9.98788805e-01 -2.82927299e-04 1.25529455e+01] [ 1.40015375e-02 -4.06497307e-04 9.99901891e-01 6.76421650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9792541539999 meters Centerline goodness [0,1] 0.9989098989560186 Centerline is valid? [True, True] Translation: X:731.85, Y:12.55, Z:6.76 [[ 9.98455398e-01 -5.37955789e-02 -1.38872094e-02 7.31853142e+02] [ 5.37968831e-02 9.98551860e-01 -2.79904580e-04 1.25510109e+01] [ 1.38821564e-02 -4.67616341e-04 9.99903529e-01 6.76448082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0092541539999 meters Centerline goodness [0,1] 0.99884679093368 Centerline is valid? [True, True] Translation: X:731.88, Y:12.55, Z:6.76 [[ 9.98301419e-01 -5.64531358e-02 -1.43986072e-02 7.31884618e+02] [ 5.64548228e-02 9.98405113e-01 -2.89587791e-04 1.25480227e+01] [ 1.43919912e-02 -5.23774919e-04 9.99896293e-01 6.76438766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0392541539999 meters Centerline goodness [0,1] 0.9989127480293558 Centerline is valid? [True, True] Translation: X:731.92, Y:12.55, Z:6.76 [[ 9.98161405e-01 -5.88968855e-02 -1.43166433e-02 7.31916776e+02] [ 5.88988166e-02 9.98263917e-01 -2.87078415e-04 1.25457676e+01] [ 1.43086965e-02 -5.56682756e-04 9.99897470e-01 6.76438055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0692541539999 meters Centerline goodness [0,1] 0.9987845257554802 Centerline is valid? [True, True] Translation: X:731.95, Y:12.54, Z:6.76 [[ 9.97857802e-01 -6.39158731e-02 -1.39487449e-02 7.31948079e+02] [ 6.39182059e-02 9.97955102e-01 -2.78962322e-04 1.25413733e+01] [ 1.39380512e-02 -6.13214017e-04 9.99902673e-01 6.76418261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0992541539999 meters Centerline goodness [0,1] 0.9986993370814803 Centerline is valid? [True, True] Translation: X:731.98, Y:12.54, Z:6.76 [[ 9.97687321e-01 -6.65498582e-02 -1.38248195e-02 7.31978909e+02] [ 6.65524055e-02 9.97782893e-01 -2.76237062e-04 1.25389760e+01] [ 1.38125519e-02 -6.44476776e-04 9.99904394e-01 6.76388609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1292541539999 meters Centerline goodness [0,1] 0.9987858742751878 Centerline is valid? [True, True] Translation: X:732.01, Y:12.54, Z:6.76 [[ 9.97338349e-01 -7.14401105e-02 -1.45783760e-02 7.32009281e+02] [ 7.14434670e-02 9.97444608e-01 -2.91091369e-04 1.25352798e+01] [ 1.45619181e-02 -7.51213138e-04 9.99893687e-01 6.76304107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1592541539999 meters Centerline goodness [0,1] 0.9988926728370557 Centerline is valid? [True, True] Translation: X:732.04, Y:12.53, Z:6.76 [[ 9.97158555e-01 -7.38553092e-02 -1.48394265e-02 7.32039570e+02] [ 7.38590558e-02 9.97268646e-01 -2.96159370e-04 1.25320782e+01] [ 1.48207678e-02 -8.00708183e-04 9.99889846e-01 6.76281944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1892541539999 meters Centerline goodness [0,1] 0.9987441918874795 Centerline is valid? [True, True] Translation: X:732.07, Y:12.53, Z:6.76 [[ 9.97006017e-01 -7.59001863e-02 -1.47703807e-02 7.32071359e+02] [ 7.59041284e-02 9.97115077e-01 -2.94331810e-04 1.25306466e+01] [ 1.47501092e-02 -8.27682291e-04 9.99890869e-01 6.76258384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2192541539999 meters Centerline goodness [0,1] 0.9986605554509115 Centerline is valid? [True, True] Translation: X:732.10, Y:12.53, Z:6.76 [[ 9.96850910e-01 -7.79533736e-02 -1.45442052e-02 7.32101530e+02] [ 7.79574220e-02 9.96956647e-01 -2.89250523e-04 1.25279738e+01] [ 1.45224902e-02 -8.45489099e-04 9.99894186e-01 6.76252343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2492541539999 meters Centerline goodness [0,1] 0.9985755284161133 Centerline is valid? [True, True] Translation: X:732.13, Y:12.53, Z:6.76 [[ 9.96631183e-01 -8.07973277e-02 -1.40739938e-02 7.32132107e+02] [ 8.08014044e-02 9.96730182e-01 -2.79655248e-04 1.25311307e+01] [ 1.40505698e-02 -8.58485327e-04 9.99900917e-01 6.76341997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2792541539999 meters Centerline goodness [0,1] 0.9983469345051266 Centerline is valid? [True, True] Translation: X:732.16, Y:12.52, Z:6.76 [[ 9.96532733e-01 -8.20333776e-02 -1.38937416e-02 7.32163687e+02] [ 8.20374760e-02 9.96629207e-01 -2.75661081e-04 1.25248625e+01] [ 1.38695221e-02 -8.65102200e-04 9.99903439e-01 6.76352164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3092541539999 meters Centerline goodness [0,1] 0.9986822289156626 Centerline is valid? [True, True] Translation: X:732.20, Y:12.53, Z:6.76 [[ 9.96435503e-01 -8.32769481e-02 -1.34624868e-02 7.32195991e+02] [ 8.32809195e-02 9.96526075e-01 -2.66311674e-04 1.25329019e+01] [ 1.34378968e-02 -8.55805875e-04 9.99909341e-01 6.76422309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.339254154 meters Centerline goodness [0,1] 0.9986212083228879 Centerline is valid? [True, True] Translation: X:732.23, Y:12.53, Z:6.76 [[ 9.96422454e-01 -8.33880045e-02 -1.37380571e-02 7.32228280e+02] [ 8.33921648e-02 9.96516770e-01 -2.70737212e-04 1.25338150e+01] [ 1.37127806e-02 -8.75877688e-04 9.99905592e-01 6.76448411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3692541539999 meters Centerline goodness [0,1] 0.998683468121121 Centerline is valid? [True, True] Translation: X:732.26, Y:12.53, Z:6.76 [[ 9.96425747e-01 -8.33423743e-02 -1.37760220e-02 7.32259964e+02] [ 8.33465684e-02 9.96520585e-01 -2.70391028e-04 1.25321452e+01] [ 1.37506246e-02 -8.78759579e-04 9.99905070e-01 6.76447091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3992541539999 meters Centerline goodness [0,1] 0.9984298783679109 Centerline is valid? [True, True] Translation: X:732.29, Y:12.54, Z:6.76 [[ 9.96502796e-01 -8.22816390e-02 -1.45571134e-02 7.32292019e+02] [ 8.22862282e-02 9.96608697e-01 -2.84437990e-04 1.25370729e+01] [ 1.45311498e-02 -9.14406700e-04 9.99893999e-01 6.76417497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4292541539999 meters Centerline goodness [0,1] 0.9984499046900857 Centerline is valid? [True, True] Translation: X:732.32, Y:12.54, Z:6.76 [[ 9.96547349e-01 -8.16839440e-02 -1.48699181e-02 7.32324555e+02] [ 8.16886826e-02 9.96657853e-01 -2.89453517e-04 1.25389008e+01] [ 1.48438644e-02 -9.26249887e-04 9.99889395e-01 6.76421054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.459254154 meters Centerline goodness [0,1] 0.9986803519061583 Centerline is valid? [True, True] Translation: X:732.36, Y:12.54, Z:6.76 [[ 9.96586787e-01 -8.10698567e-02 -1.55709465e-02 7.32355924e+02] [ 8.10749944e-02 9.96707958e-01 -3.02051006e-04 1.25403007e+01] [ 1.55441735e-02 -9.61394360e-04 9.99878720e-01 6.76418171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4892541539999 meters Centerline goodness [0,1] 0.9985558811218083 Centerline is valid? [True, True] Translation: X:732.39, Y:12.54, Z:6.76 [[ 9.96689213e-01 -7.96771359e-02 -1.61915327e-02 7.32388165e+02] [ 7.96825247e-02 9.96820243e-01 -3.13072695e-04 1.25440555e+01] [ 1.61649923e-02 -9.78146028e-04 9.99868860e-01 6.76379935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5192541539999 meters Centerline goodness [0,1] 0.9984557918240438 Centerline is valid? [True, True] Translation: X:732.42, Y:12.54, Z:6.76 [[ 9.96741613e-01 -7.89062080e-02 -1.67322091e-02 7.32419173e+02] [ 7.89118727e-02 9.96881544e-01 -3.22440708e-04 1.25437664e+01] [ 1.67054730e-02 -9.98979880e-04 9.99859955e-01 6.76339758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5492541539999 meters Centerline goodness [0,1] 0.9982641793541911 Centerline is valid? [True, True] Translation: X:732.45, Y:12.55, Z:6.76 [[ 9.96909786e-01 -7.68288351e-02 -1.63770974e-02 7.32450102e+02] [ 7.68339946e-02 9.97043850e-01 -3.14859400e-04 1.25496545e+01] [ 1.63528745e-02 -9.44431392e-04 9.99865837e-01 6.76439788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.579254154 meters Centerline goodness [0,1] 0.9986606956012222 Centerline is valid? [True, True] Translation: X:732.48, Y:12.55, Z:6.77 [[ 9.97039860e-01 -7.51895823e-02 -1.60637535e-02 7.32481408e+02] [ 7.51943431e-02 9.97168850e-01 -3.08272968e-04 1.25522438e+01] [ 1.60414536e-02 -9.00542959e-04 9.99870922e-01 6.76530224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6092541539999 meters Centerline goodness [0,1] 0.9985148929049531 Centerline is valid? [True, True] Translation: X:732.51, Y:12.56, Z:6.77 [[ 9.97202476e-01 -7.30085696e-02 -1.60302954e-02 7.32512568e+02] [ 7.30130386e-02 9.97330939e-01 -3.07067222e-04 1.25560155e+01] [ 1.60099281e-02 -8.64212380e-04 9.99871459e-01 6.76614182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6392541539999 meters Centerline goodness [0,1] 0.9986373736950233 Centerline is valid? [True, True] Translation: X:732.54, Y:12.56, Z:6.77 [[ 9.97600794e-01 -6.74346054e-02 -1.56597866e-02 7.32541633e+02] [ 6.74381884e-02 9.97723409e-01 -2.99752868e-04 1.25633234e+01] [ 1.56443494e-02 -7.57033940e-04 9.99877333e-01 6.76699568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6692541539999 meters Centerline goodness [0,1] 0.9984692486736984 Centerline is valid? [True, True] Translation: X:732.57, Y:12.57, Z:6.77 [[ 9.97831122e-01 -6.39717214e-02 -1.55135577e-02 7.32572404e+02] [ 6.39748193e-02 9.97951469e-01 -2.97002707e-04 1.25678236e+01] [ 1.55007775e-02 -6.96118506e-04 9.99879613e-01 6.76736408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6992541539998 meters Centerline goodness [0,1] 0.9986352565717646 Centerline is valid? [True, True] Translation: X:732.60, Y:12.57, Z:6.77 [[ 9.98070336e-01 -6.01018558e-02 -1.56003337e-02 7.32603105e+02] [ 6.01045207e-02 9.98192044e-01 -2.98396259e-04 1.25729431e+01] [ 1.55900632e-02 -6.39830126e-04 9.99878263e-01 6.76781115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7292541539999 meters Centerline goodness [0,1] 0.9984671594154207 Centerline is valid? [True, True] Translation: X:732.63, Y:12.58, Z:6.77 [[ 9.98505426e-01 -5.24138756e-02 -1.54822154e-02 7.32632645e+02] [ 5.24155780e-02 9.98625315e-01 -2.96077320e-04 1.25813124e+01] [ 1.54764507e-02 -5.15874456e-04 9.99880099e-01 6.76768482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7592541539999 meters Centerline goodness [0,1] 0.9987387008618878 Centerline is valid? [True, True] Translation: X:732.66, Y:12.59, Z:6.77 [[ 9.98695228e-01 -4.86796829e-02 -1.54314862e-02 7.32664311e+02] [ 4.86809315e-02 9.98814337e-01 -2.94930751e-04 1.25897758e+01] [ 1.54275468e-02 -4.56673189e-04 9.99880884e-01 6.76881749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7892541539999 meters Centerline goodness [0,1] 0.9987389924549716 Centerline is valid? [True, True] Translation: X:732.70, Y:12.59, Z:6.77 [[ 9.98850609e-01 -4.54447235e-02 -1.52393588e-02 7.32695148e+02] [ 4.54455757e-02 9.98966774e-01 -2.90548874e-04 1.25901507e+01] [ 1.52368170e-02 -4.02346514e-04 9.99883832e-01 6.76846740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8192541539999 meters Centerline goodness [0,1] 0.9985250737463127 Centerline is valid? [True, True] Translation: X:732.73, Y:12.60, Z:6.77 [[ 9.99074276e-01 -4.01484607e-02 -1.54496509e-02 7.32726739e+02] [ 4.01487142e-02 9.99193672e-01 -2.93878906e-04 1.26003500e+01] [ 1.54489922e-02 -3.26676763e-04 9.99880604e-01 6.76947226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8492541539999 meters Centerline goodness [0,1] 0.9986725943406165 Centerline is valid? [True, True] Translation: X:732.76, Y:12.60, Z:6.77 [[ 9.99155391e-01 -3.78616315e-02 -1.59687447e-02 7.32757541e+02] [ 3.78616247e-02 9.99282946e-01 -3.02860159e-04 1.26025298e+01] [ 1.59687610e-02 -3.01998258e-04 9.99872446e-01 6.76918967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8792541539999 meters Centerline goodness [0,1] 0.998775363695868 Centerline is valid? [True, True] Translation: X:732.79, Y:12.61, Z:6.77 [[ 9.99216178e-01 -3.60016013e-02 -1.64594983e-02 7.32789204e+02] [ 3.60013545e-02 9.99351693e-01 -3.11393288e-04 1.26065206e+01] [ 1.64600381e-02 -2.81415021e-04 9.99864485e-01 6.76985275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9092541539999 meters Centerline goodness [0,1] 0.9987335359675785 Centerline is valid? [True, True] Translation: X:732.82, Y:12.61, Z:6.77 [[ 9.99291742e-01 -3.33665065e-02 -1.73979893e-02 7.32819824e+02] [ 3.33658404e-02 9.99443151e-01 -3.28639751e-04 1.26101300e+01] [ 1.73992668e-02 -2.52091544e-04 9.99848590e-01 6.76969205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9392541539999 meters Centerline goodness [0,1] 0.9990710636321412 Centerline is valid? [True, True] Translation: X:732.85, Y:12.61, Z:6.77 [[ 9.99318464e-01 -3.22978951e-02 -1.78732605e-02 7.32850689e+02] [ 3.22970298e-02 9.99478258e-01 -3.37136285e-04 1.26101928e+01] [ 1.78748241e-02 -2.40346712e-04 9.99840204e-01 6.76898668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9692541539999 meters Centerline goodness [0,1] 0.9990710636321412 Centerline is valid? [True, True] Translation: X:732.88, Y:12.61, Z:6.77 [[ 9.99318464e-01 -3.22978919e-02 -1.78732669e-02 7.32880686e+02] [ 3.22970326e-02 9.99478258e-01 -3.36799384e-04 1.26107579e+01] [ 1.78748195e-02 -2.40683641e-04 9.99840204e-01 6.76926763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9992541539999 meters Centerline goodness [0,1] 0.9987962493664471 Centerline is valid? [True, True] Translation: X:732.91, Y:12.61, Z:6.77 [[ 9.99340363e-01 -3.18044446e-02 -1.75304186e-02 7.32911023e+02] [ 3.18035421e-02 9.99494085e-01 -3.30338836e-04 1.26136570e+01] [ 1.75320559e-02 -2.27408472e-04 9.99846276e-01 6.77065862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0292541539999 meters Centerline goodness [0,1] 0.9989216847090663 Centerline is valid? [True, True] Translation: X:732.94, Y:12.61, Z:6.77 [[ 9.99353155e-01 -3.16773180e-02 -1.70240763e-02 7.32941680e+02] [ 3.16764508e-02 9.99498124e-01 -3.20658518e-04 1.26140178e+01] [ 1.70256900e-02 -2.18811215e-04 9.99855028e-01 6.77110547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0592541539999 meters Centerline goodness [0,1] 0.9992179077976706 Centerline is valid? [True, True] Translation: X:732.97, Y:12.62, Z:6.77 [[ 9.99343737e-01 -3.22982040e-02 -1.63987987e-02 7.32972244e+02] [ 3.22974856e-02 9.99478252e-01 -3.08717397e-04 1.26155575e+01] [ 1.64002136e-02 -2.21125165e-04 9.99865483e-01 6.77246611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.089254154 meters Centerline goodness [0,1] 0.999112426035503 Centerline is valid? [True, True] Translation: X:733.00, Y:12.61, Z:6.77 [[ 9.99282856e-01 -3.46239896e-02 -1.53281941e-02 7.33003081e+02] [ 3.46236370e-02 9.99400381e-01 -2.88455237e-04 1.26127692e+01] [ 1.53289905e-02 -2.42469456e-04 9.99882475e-01 6.77177020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1192541539999 meters Centerline goodness [0,1] 0.9989250031617554 Centerline is valid? [True, True] Translation: X:733.03, Y:12.61, Z:6.77 [[ 9.99209343e-01 -3.67908085e-02 -1.50706814e-02 7.33034105e+02] [ 3.67907196e-02 9.99322952e-01 -2.83235996e-04 1.26126656e+01] [ 1.50708983e-02 -2.71449160e-04 9.99886391e-01 6.77314012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1492541539999 meters Centerline goodness [0,1] 0.9989023283304836 Centerline is valid? [True, True] Translation: X:733.07, Y:12.61, Z:6.77 [[ 9.99016565e-01 -4.19958057e-02 -1.42216568e-02 7.33065226e+02] [ 4.19962607e-02 9.99117732e-01 -2.66777813e-04 1.26101966e+01] [ 1.42203130e-02 -3.30740951e-04 9.99898832e-01 6.77340269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1792541539999 meters Centerline goodness [0,1] 0.9989874699405139 Centerline is valid? [True, True] Translation: X:733.10, Y:12.61, Z:6.77 [[ 9.98903848e-01 -4.46380309e-02 -1.40907348e-02 7.33096379e+02] [ 4.46387522e-02 9.99003159e-01 -2.63480482e-04 1.26076853e+01] [ 1.40884498e-02 -3.65801150e-04 9.99900686e-01 6.77349761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.209254154 meters Centerline goodness [0,1] 0.9990712008950245 Centerline is valid? [True, True] Translation: X:733.13, Y:12.61, Z:6.77 [[ 9.98763896e-01 -4.78334355e-02 -1.35145444e-02 7.33128858e+02] [ 4.78344081e-02 9.98855248e-01 -2.51455898e-04 1.26061367e+01] [ 1.35111016e-02 -3.95315158e-04 9.99908643e-01 6.77399413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2392541539999 meters Centerline goodness [0,1] 0.9986502731088006 Centerline is valid? [True, True] Translation: X:733.16, Y:12.60, Z:6.77 [[ 9.98600127e-01 -5.11668375e-02 -1.34067259e-02 7.33160440e+02] [ 5.11681069e-02 9.98690024e-01 -2.48538434e-04 1.26042676e+01] [ 1.34018804e-02 -4.37806274e-04 9.99910095e-01 6.77405017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2692541539999 meters Centerline goodness [0,1] 0.9985465728609344 Centerline is valid? [True, True] Translation: X:733.19, Y:12.60, Z:6.77 [[ 9.98237314e-01 -5.78740433e-02 -1.31475889e-02 7.33190771e+02] [ 5.78758519e-02 9.98323758e-01 -2.43195334e-04 1.25968275e+01] [ 1.31396251e-02 -5.18161252e-04 9.99913537e-01 6.77357097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2992541539999 meters Centerline goodness [0,1] 0.9989058390320884 Centerline is valid? [True, True] Translation: X:733.22, Y:12.59, Z:6.77 [[ 9.98059146e-01 -6.07960524e-02 -1.34825935e-02 7.33221916e+02] [ 6.07982224e-02 9.98150046e-01 -2.49247446e-04 1.25940787e+01] [ 1.34728046e-02 -5.70954026e-04 9.99909075e-01 6.77364515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.329254154 meters Centerline goodness [0,1] 0.9986750510000211 Centerline is valid? [True, True] Translation: X:733.25, Y:12.59, Z:6.77 [[ 9.97724314e-01 -6.59582774e-02 -1.39892307e-02 7.33252586e+02] [ 6.59611240e-02 9.97822160e-01 -2.58311876e-04 1.25912808e+01] [ 1.39758022e-02 -6.65021343e-04 9.99902113e-01 6.77335038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3592541539999 meters Centerline goodness [0,1] 0.9986337936397839 Centerline is valid? [True, True] Translation: X:733.28, Y:12.59, Z:6.77 [[ 9.97597012e-01 -6.78360474e-02 -1.40879863e-02 7.33283727e+02] [ 6.78391285e-02 9.97696239e-01 -2.59617258e-04 1.25877352e+01] [ 1.40731423e-02 -6.96723309e-04 9.99900726e-01 6.77299808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3892541539999 meters Centerline goodness [0,1] 0.9985940614835799 Centerline is valid? [True, True] Translation: X:733.32, Y:12.58, Z:6.77 [[ 9.97487795e-01 -6.94008475e-02 -1.41993303e-02 7.33315382e+02] [ 6.94041465e-02 9.97588591e-01 -2.60898870e-04 1.25826092e+01] [ 1.41831965e-02 -7.25248960e-04 9.99899150e-01 6.77250376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4192541539999 meters Centerline goodness [0,1] 0.9985556997530037 Centerline is valid? [True, True] Translation: X:733.35, Y:12.59, Z:6.77 [[ 9.97324917e-01 -7.15847166e-02 -1.47864557e-02 7.33346145e+02] [ 7.15885425e-02 9.97434212e-01 -2.71072934e-04 1.25850399e+01] [ 1.47679215e-02 -7.88193023e-04 9.99890638e-01 6.77260131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4492541539998 meters Centerline goodness [0,1] 0.9986123667556714 Centerline is valid? [True, True] Translation: X:733.38, Y:12.59, Z:6.77 [[ 9.97305320e-01 -7.18749361e-02 -1.47000942e-02 7.33378059e+02] [ 7.18787569e-02 9.97413341e-01 -2.68942868e-04 1.25861807e+01] [ 1.46814003e-02 -7.88406346e-04 9.99891912e-01 6.77262647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4792541539999 meters Centerline goodness [0,1] 0.9984458352585374 Centerline is valid? [True, True] Translation: X:733.41, Y:12.59, Z:6.77 [[ 9.97336986e-01 -7.13260506e-02 -1.52161137e-02 7.33410162e+02] [ 7.13300978e-02 9.97452726e-01 -2.77260512e-04 1.25898304e+01] [ 1.51971300e-02 -8.08844715e-04 9.99884190e-01 6.77315853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5092541539999 meters Centerline goodness [0,1] 0.998658112131505 Centerline is valid? [True, True] Translation: X:733.44, Y:12.59, Z:6.77 [[ 9.97403701e-01 -7.04212898e-02 -1.50565351e-02 7.33441292e+02] [ 7.04251646e-02 9.97517028e-01 -2.73362571e-04 1.25890226e+01] [ 1.50384007e-02 -7.87706126e-04 9.99886607e-01 6.77316427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5392541539999 meters Centerline goodness [0,1] 0.9984065081561622 Centerline is valid? [True, True] Translation: X:733.47, Y:12.59, Z:6.77 [[ 9.97474364e-01 -6.94480289e-02 -1.48951274e-02 7.33473219e+02] [ 6.94517266e-02 9.97585277e-01 -2.69511687e-04 1.25948028e+01] [ 1.48778769e-02 -7.65661319e-04 9.99889025e-01 6.77408704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5692541539999 meters Centerline goodness [0,1] 0.9987443232948957 Centerline is valid? [True, True] Translation: X:733.50, Y:12.60, Z:6.77 [[ 9.97638882e-01 -6.69015054e-02 -1.55193607e-02 7.33504143e+02] [ 6.69052271e-02 9.97759296e-01 -2.79845126e-04 1.25962934e+01] [ 1.55033085e-02 -7.59141976e-04 9.99879528e-01 6.77409844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5992541539999 meters Centerline goodness [0,1] 0.9985512723607962 Centerline is valid? [True, True] Translation: X:733.54, Y:12.60, Z:6.77 [[ 9.97708332e-01 -6.56755980e-02 -1.62726593e-02 7.33536833e+02] [ 6.56795436e-02 9.97840725e-01 -2.92415579e-04 1.25998401e+01] [ 1.62567267e-02 -7.77035374e-04 9.99867549e-01 6.77332558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6292541539999 meters Centerline goodness [0,1] 0.9986549535538649 Centerline is valid? [True, True] Translation: X:733.57, Y:12.60, Z:6.77 [[ 9.97741815e-01 -6.51257431e-02 -1.64288682e-02 7.33568156e+02] [ 6.51297115e-02 9.97876763e-01 -2.93942225e-04 1.26006251e+01] [ 1.64131291e-02 -7.76729000e-04 9.99864994e-01 6.77385563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6592541539999 meters Centerline goodness [0,1] 0.9986351706036746 Centerline is valid? [True, True] Translation: X:733.60, Y:12.60, Z:6.77 [[ 9.97773021e-01 -6.42431387e-02 -1.79393011e-02 7.33599402e+02] [ 6.42477470e-02 9.97933928e-01 -3.19920580e-04 1.26025736e+01] [ 1.79227899e-02 -8.33351555e-04 9.99839027e-01 6.77346697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6892541539999 meters Centerline goodness [0,1] 0.998776758409786 Centerline is valid? [True, True] Translation: X:733.63, Y:12.60, Z:6.77 [[ 9.97796522e-01 -6.37123694e-02 -1.85157834e-02 7.33631343e+02] [ 6.37172099e-02 9.97967940e-01 -3.28992852e-04 1.26049721e+01] [ 1.84991191e-02 -8.51506132e-04 9.99828514e-01 6.77367510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7192541539999 meters Centerline goodness [0,1] 0.9987996209329262 Centerline is valid? [True, True] Translation: X:733.66, Y:12.61, Z:6.77 [[ 9.97830545e-01 -6.28300444e-02 -1.96618912e-02 7.33663875e+02] [ 6.28353612e-02 9.98023846e-01 -3.47875015e-04 1.26072339e+01] [ 1.96448933e-02 -8.88341718e-04 9.99806626e-01 6.77340963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7492541539999 meters Centerline goodness [0,1] 0.9987189180107527 Centerline is valid? [True, True] Translation: X:733.70, Y:12.61, Z:6.77 [[ 9.97880505e-01 -6.19185364e-02 -2.00147876e-02 7.33695116e+02] [ 6.19239026e-02 9.98080812e-01 -3.52130651e-04 1.26080954e+01] [ 1.99981789e-02 -8.88009446e-04 9.99799622e-01 6.77331016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7792541539999 meters Centerline goodness [0,1] 0.9986704933946735 Centerline is valid? [True, True] Translation: X:733.73, Y:12.61, Z:6.77 [[ 9.97925454e-01 -6.12494202e-02 -1.98317187e-02 7.33727652e+02] [ 6.12545940e-02 9.98122114e-01 -3.47030608e-04 1.26100656e+01] [ 1.98157324e-02 -8.68473199e-04 9.99803272e-01 6.77353278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8092541539999 meters Centerline goodness [0,1] 0.9985641588715978 Centerline is valid? [True, True] Translation: X:733.76, Y:12.61, Z:6.77 [[ 9.98099226e-01 -5.84071562e-02 -1.96606155e-02 7.33757853e+02] [ 5.84117073e-02 9.98292520e-01 -3.43183853e-04 1.26135301e+01] [ 1.96470898e-02 -8.05878579e-04 9.99806653e-01 6.77425383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.839254154 meters Centerline goodness [0,1] 0.9984765451429297 Centerline is valid? [True, True] Translation: X:733.79, Y:12.62, Z:6.78 [[ 9.98204421e-01 -5.66888753e-02 -1.93469582e-02 7.33790053e+02] [ 5.66929776e-02 9.98391603e-01 -3.36806423e-04 1.26189649e+01] [ 1.93349338e-02 -7.60635008e-04 9.99812773e-01 6.77564540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8692541539999 meters Centerline goodness [0,1] 0.9986467341889921 Centerline is valid? [True, True] Translation: X:733.82, Y:12.62, Z:6.78 [[ 9.98332134e-01 -5.44117948e-02 -1.92952688e-02 7.33820930e+02] [ 5.44154708e-02 9.98518325e-01 -3.34853641e-04 1.26197608e+01] [ 1.92848995e-02 -7.15665987e-04 9.99813773e-01 6.77587563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8992541539999 meters Centerline goodness [0,1] 0.9986472204607906 Centerline is valid? [True, True] Translation: X:733.85, Y:12.63, Z:6.78 [[ 9.98576855e-01 -5.02193226e-02 -1.79522947e-02 7.33852471e+02] [ 5.02218417e-02 9.98738039e-01 -3.10769241e-04 1.26256203e+01] [ 1.79452463e-02 -5.91270334e-04 9.99838796e-01 6.77812564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9292541539999 meters Centerline goodness [0,1] 0.9987951297877737 Centerline is valid? [True, True] Translation: X:733.88, Y:12.63, Z:6.78 [[ 9.98695115e-01 -4.81398556e-02 -1.70476038e-02 7.33883810e+02] [ 4.81418395e-02 9.98840466e-01 -2.94224619e-04 1.26269117e+01] [ 1.70420005e-02 -5.26862317e-04 9.99854636e-01 6.77910978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.959254154 meters Centerline goodness [0,1] 0.998771394678868 Centerline is valid? [True, True] Translation: X:733.92, Y:12.63, Z:6.78 [[ 9.98913449e-01 -4.39756942e-02 -1.54291936e-02 7.33915549e+02] [ 4.39768351e-02 9.99032516e-01 -2.65496685e-04 1.26327830e+01] [ 1.54259415e-02 -4.13318892e-04 9.99880928e-01 6.78117740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9892541539999 meters Centerline goodness [0,1] 0.9986245715011215 Centerline is valid? [True, True] Translation: X:733.95, Y:12.64, Z:6.78 [[ 9.99018643e-01 -4.16017623e-02 -1.52001313e-02 7.33947249e+02] [ 4.16026078e-02 9.99134203e-01 -2.60711093e-04 1.26357544e+01] [ 1.51978171e-02 -3.71909857e-04 9.99884437e-01 6.78197750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0192541539999 meters Centerline goodness [0,1] 0.99881501544712 Centerline is valid? [True, True] Translation: X:733.98, Y:12.64, Z:6.78 [[ 9.99122914e-01 -3.92406286e-02 -1.46142065e-02 7.33978978e+02] [ 3.92411704e-02 9.99229737e-01 -2.49790801e-04 1.26373951e+01] [ 1.46127517e-02 -3.23906854e-04 9.99893176e-01 6.78257805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0492541539999 meters Centerline goodness [0,1] 0.9989868715437545 Centerline is valid? [True, True] Translation: X:734.01, Y:12.64, Z:6.78 [[ 9.99277157e-01 -3.49868489e-02 -1.48688870e-02 7.34010625e+02] [ 3.49869536e-02 9.99387737e-01 -2.53160928e-04 1.26411392e+01] [ 1.48686406e-02 -2.67239127e-04 9.99889420e-01 6.78274829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.079254154 meters Centerline goodness [0,1] 0.998666948793906 Centerline is valid? [True, True] Translation: X:734.04, Y:12.64, Z:6.78 [[ 9.99320435e-01 -3.35845634e-02 -1.51903008e-02 7.34042739e+02] [ 3.35845251e-02 9.99435848e-01 -2.57688769e-04 1.26437774e+01] [ 1.51903855e-02 -2.52645386e-04 9.99884588e-01 6.78326143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1092541539999 meters Centerline goodness [0,1] 0.9986859395532195 Centerline is valid? [True, True] Translation: X:734.07, Y:12.64, Z:6.78 [[ 9.99353770e-01 -3.21403088e-02 -1.60948117e-02 7.34073651e+02] [ 3.21401040e-02 9.99483337e-01 -2.71450244e-04 1.26433068e+01] [ 1.60952206e-02 -2.46014097e-04 9.99870433e-01 6.78203589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1392541539999 meters Centerline goodness [0,1] 0.9989635113696457 Centerline is valid? [True, True] Translation: X:734.10, Y:12.64, Z:6.78 [[ 9.99329948e-01 -3.24360723e-02 -1.69575051e-02 7.34104840e+02] [ 3.24359132e-02 9.99473777e-01 -2.84489932e-04 1.26427757e+01] [ 1.69578094e-02 -2.65732854e-04 9.99856171e-01 6.78176874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1692541539999 meters Centerline goodness [0,1] 0.9987763713080169 Centerline is valid? [True, True] Translation: X:734.14, Y:12.64, Z:6.78 [[ 9.99298366e-01 -3.30613133e-02 -1.75989921e-02 7.34136041e+02] [ 3.30612499e-02 9.99453284e-01 -2.94627513e-04 1.26419067e+01] [ 1.75991113e-02 -2.87423884e-04 9.99845082e-01 6.78128657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1992541539998 meters Centerline goodness [0,1] 0.9987508204357308 Centerline is valid? [True, True] Translation: X:734.17, Y:12.64, Z:6.78 [[ 9.99192438e-01 -3.55972784e-02 -1.86361355e-02 7.34166640e+02] [ 3.55976576e-02 9.99366154e-01 -3.11486372e-04 1.26387424e+01] [ 1.86354111e-02 -3.52167941e-04 9.99826284e-01 6.78002963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2292541539999 meters Centerline goodness [0,1] 0.9987518774724461 Centerline is valid? [True, True] Translation: X:734.20, Y:12.64, Z:6.78 [[ 9.99123493e-01 -3.72598659e-02 -1.90774018e-02 7.34197117e+02] [ 3.72605694e-02 9.99305533e-01 -3.18696408e-04 1.26372121e+01] [ 1.90760278e-02 -3.92417786e-04 9.99817959e-01 6.78009630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2592541539999 meters Centerline goodness [0,1] 0.9987718369507677 Centerline is valid? [True, True] Translation: X:734.23, Y:12.64, Z:6.78 [[ 9.99056079e-01 -3.89538263e-02 -1.92236961e-02 7.34228394e+02] [ 3.89548607e-02 9.99240920e-01 -3.20796132e-04 1.26366591e+01] [ 1.92216000e-02 -4.28363079e-04 9.99815156e-01 6.78096429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2892541539999 meters Centerline goodness [0,1] 0.9987325193290802 Centerline is valid? [True, True] Translation: X:734.26, Y:12.63, Z:6.78 [[ 9.98945470e-01 -4.17199409e-02 -1.91675502e-02 7.34258305e+02] [ 4.17215005e-02 9.99129228e-01 -3.18684728e-04 1.26317826e+01] [ 1.91641551e-02 -4.81350290e-04 9.99816235e-01 6.78062792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3192541539999 meters Centerline goodness [0,1] 0.9986482490601106 Centerline is valid? [True, True] Translation: X:734.29, Y:12.63, Z:6.78 [[ 9.98897718e-01 -4.30220477e-02 -1.87737187e-02 7.34289101e+02] [ 4.30237918e-02 9.99074000e-01 -3.11172070e-04 1.26339807e+01] [ 1.87697215e-02 -4.96887494e-04 9.99823710e-01 6.78225053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3492541539999 meters Centerline goodness [0,1] 0.9986281710354143 Centerline is valid? [True, True] Translation: X:734.32, Y:12.63, Z:6.78 [[ 9.98794383e-01 -4.53092139e-02 -1.88906048e-02 7.34319795e+02] [ 4.53113949e-02 9.98972862e-01 -3.12767087e-04 1.26307323e+01] [ 1.88853728e-02 -5.43569645e-04 9.99821508e-01 6.78262152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3792541539999 meters Centerline goodness [0,1] 0.9986707178123813 Centerline is valid? [True, True] Translation: X:734.35, Y:12.63, Z:6.78 [[ 9.98748979e-01 -4.63434514e-02 -1.87819421e-02 7.34351681e+02] [ 4.63458062e-02 9.98925408e-01 -3.10109367e-04 1.26314718e+01] [ 1.87761307e-02 -5.60742835e-04 9.99823556e-01 6.78358092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4092541539999 meters Centerline goodness [0,1] 0.9989643219479202 Centerline is valid? [True, True] Translation: X:734.38, Y:12.63, Z:6.78 [[ 9.98701437e-01 -4.73402728e-02 -1.88238711e-02 7.34384131e+02] [ 4.73428411e-02 9.98878651e-01 -3.09415257e-04 1.26310805e+01] [ 1.88174108e-02 -5.82162078e-04 9.99822767e-01 6.78414687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4392541539999 meters Centerline goodness [0,1] 0.9987567430883345 Centerline is valid? [True, True] Translation: X:734.42, Y:12.63, Z:6.78 [[ 9.98601383e-01 -4.94201636e-02 -1.87863146e-02 7.34415073e+02] [ 4.94231120e-02 9.98777884e-01 -3.07591496e-04 1.26286013e+01] [ 1.87785567e-02 -6.21316835e-04 9.99823474e-01 6.78491563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4692541539999 meters Centerline goodness [0,1] 0.9986286341195831 Centerline is valid? [True, True] Translation: X:734.45, Y:12.63, Z:6.79 [[ 9.98556822e-01 -5.03950477e-02 -1.85637249e-02 7.34447633e+02] [ 5.03981167e-02 9.98729162e-01 -3.02768002e-04 1.26283332e+01] [ 1.85553914e-02 -6.33245719e-04 9.99827633e-01 6.78559434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4992541539999 meters Centerline goodness [0,1] 0.9987559304164471 Centerline is valid? [True, True] Translation: X:734.48, Y:12.63, Z:6.79 [[ 9.98533460e-01 -5.09878371e-02 -1.81980616e-02 7.34479006e+02] [ 5.09909153e-02 9.98699074e-01 -2.95121735e-04 1.26266058e+01] [ 1.81894348e-02 -6.33246887e-04 9.99834358e-01 6.78588998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5292541539999 meters Centerline goodness [0,1] 0.9987780469819867 Centerline is valid? [True, True] Translation: X:734.51, Y:12.63, Z:6.79 [[ 9.98507804e-01 -5.15872353e-02 -1.79143342e-02 7.34511662e+02] [ 5.15903445e-02 9.98668290e-01 -2.88848035e-04 1.26258285e+01] [ 1.79053783e-02 -6.35789654e-04 9.99839484e-01 6.78654918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5592541539999 meters Centerline goodness [0,1] 0.9989042943234018 Centerline is valid? [True, True] Translation: X:734.54, Y:12.63, Z:6.79 [[ 9.98548863e-01 -5.07234179e-02 -1.80915335e-02 7.34544313e+02] [ 5.07264743e-02 9.98712542e-01 -2.90212119e-04 1.26290185e+01] [ 1.80829620e-02 -6.27928728e-04 9.99836293e-01 6.78776496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.589254154 meters Centerline goodness [0,1] 0.9986303967635222 Centerline is valid? [True, True] Translation: X:734.58, Y:12.63, Z:6.79 [[ 9.98695785e-01 -4.72102739e-02 -1.94401246e-02 7.34575015e+02] [ 4.72131637e-02 9.98884789e-01 -3.10534801e-04 1.26306070e+01] [ 1.94331052e-02 -6.07699989e-04 9.99810975e-01 6.78666995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6192541539999 meters Centerline goodness [0,1] 0.9991354406089872 Centerline is valid? [True, True] Translation: X:734.61, Y:12.63, Z:6.79 [[ 9.98789606e-01 -4.50414795e-02 -1.97633255e-02 7.34606327e+02] [ 4.50440567e-02 9.98984952e-01 -3.14959619e-04 1.26329044e+01] [ 1.97574510e-02 -5.75641960e-04 9.99804637e-01 6.78722067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6492541539999 meters Centerline goodness [0,1] 0.9991359871873222 Centerline is valid? [True, True] Translation: X:734.64, Y:12.64, Z:6.79 [[ 9.98906327e-01 -4.19750223e-02 -2.05972562e-02 7.34637800e+02] [ 4.19771862e-02 9.99118516e-01 -3.27472858e-04 1.26352215e+01] [ 2.05928458e-02 -5.37500152e-04 9.99787800e-01 6.78712116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6792541539999 meters Centerline goodness [0,1] 0.9989020965732744 Centerline is valid? [True, True] Translation: X:734.67, Y:12.64, Z:6.79 [[ 9.99132550e-01 -3.52858348e-02 -2.21146205e-02 7.34668551e+02] [ 3.52867051e-02 9.99377169e-01 -3.50990531e-04 1.26393476e+01] [ 2.21132318e-02 -4.29666027e-04 9.99755380e-01 6.78614293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.709254154 meters Centerline goodness [0,1] 0.999028839251784 Centerline is valid? [True, True] Translation: X:734.70, Y:12.64, Z:6.79 [[ 9.99239830e-01 -3.25464652e-02 -2.14590464e-02 7.34696813e+02] [ 3.25466425e-02 9.99470160e-01 -3.41079962e-04 1.26412848e+01] [ 2.14587774e-02 -3.57599229e-04 9.99769670e-01 6.78707740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7392541539999 meters Centerline goodness [0,1] 0.9991539047296726 Centerline is valid? [True, True] Translation: X:734.73, Y:12.64, Z:6.79 [[ 9.99411830e-01 -2.70654478e-02 -2.10583871e-02 7.34725975e+02] [ 2.70643334e-02 9.99633637e-01 -3.37966828e-04 1.26447134e+01] [ 2.10598193e-02 -2.32163164e-04 9.99778190e-01 6.78837994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7692541539999 meters Centerline goodness [0,1] 0.9989628971151607 Centerline is valid? [True, True] Translation: X:734.75, Y:12.65, Z:6.79 [[ 9.99475887e-01 -2.48768715e-02 -2.07145496e-02 7.34754568e+02] [ 2.48752174e-02 9.99690507e-01 -3.37555924e-04 1.26470360e+01] [ 2.07165360e-02 -1.77899919e-04 9.99785374e-01 6.78968214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7992541539999 meters Centerline goodness [0,1] 0.9991332107143612 Centerline is valid? [True, True] Translation: X:734.78, Y:12.65, Z:6.79 [[ 9.99529663e-01 -2.27620307e-02 -2.05510027e-02 7.34781936e+02] [ 2.27598851e-02 9.99740903e-01 -3.38320466e-04 1.26484995e+01] [ 2.05533789e-02 -1.29577120e-04 9.99788749e-01 6.79010514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.829254154 meters Centerline goodness [0,1] 0.999175179239896 Centerline is valid? [True, True] Translation: X:734.81, Y:12.65, Z:6.79 [[ 9.99580066e-01 -2.03041842e-02 -2.06744046e-02 7.34809644e+02] [ 2.03014390e-02 9.99793846e-01 -3.42679883e-04 1.26496831e+01] [ 2.06771003e-02 -7.71841832e-05 9.99786203e-01 6.78974577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8592541539999 meters Centerline goodness [0,1] 0.9992596509783184 Centerline is valid? [True, True] Translation: X:734.84, Y:12.65, Z:6.79 [[ 9.99565252e-01 -2.03979445e-02 -2.12892149e-02 7.34837297e+02] [ 2.03949551e-02 9.99791937e-01 -3.57554024e-04 1.26501621e+01] [ 2.12920788e-02 -7.67940037e-05 9.99773295e-01 6.79034060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8892541539999 meters Centerline goodness [0,1] 0.9992596509783184 Centerline is valid? [True, True] Translation: X:734.86, Y:12.65, Z:6.79 [[ 9.99559338e-01 -2.06858420e-02 -2.12891107e-02 7.34864691e+02] [ 2.06827873e-02 9.99786022e-01 -3.63683727e-04 1.26507000e+01] [ 2.12920784e-02 -7.67946817e-05 9.99773295e-01 6.79059806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9192541539999 meters Centerline goodness [0,1] 0.999005101500815 Centerline is valid? [True, True] Translation: X:734.89, Y:12.65, Z:6.79 [[ 9.99494388e-01 -2.26439702e-02 -2.23208064e-02 7.34893887e+02] [ 2.26409644e-02 9.99743585e-01 -3.87404640e-04 1.26491781e+01] [ 2.23238554e-02 -1.18155819e-04 9.99750785e-01 6.78984669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9492541539998 meters Centerline goodness [0,1] 0.9990893303401245 Centerline is valid? [True, True] Translation: X:734.92, Y:12.65, Z:6.79 [[ 9.99431104e-01 -2.48430313e-02 -2.28099093e-02 7.34922895e+02] [ 2.48403330e-02 9.99691351e-01 -4.01669891e-04 1.26476495e+01] [ 2.28128477e-02 -1.65164360e-04 9.99739739e-01 6.78940767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9792541539999 meters Centerline goodness [0,1] 0.9989435206119128 Centerline is valid? [True, True] Translation: X:734.95, Y:12.65, Z:6.79 [[ 9.99351055e-01 -2.77496145e-02 -2.29658053e-02 7.34952123e+02] [ 2.77475144e-02 9.99614879e-01 -4.10166550e-04 1.26458396e+01] [ 2.29683427e-02 -2.27343638e-04 9.99736167e-01 6.78924488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0092541539999 meters Centerline goodness [0,1] 0.9990261870990961 Centerline is valid? [True, True] Translation: X:734.98, Y:12.64, Z:6.79 [[ 9.99242794e-01 -3.12710187e-02 -2.31508619e-02 7.34980620e+02] [ 3.12696951e-02 9.99510896e-01 -4.19267560e-04 1.26438044e+01] [ 2.31526496e-02 -3.04970305e-04 9.99731895e-01 6.78947993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0392541539999 meters Centerline goodness [0,1] 0.9988999132623918 Centerline is valid? [True, True] Translation: X:735.01, Y:12.64, Z:6.79 [[ 9.98973701e-01 -3.89932128e-02 -2.30450457e-02 7.35010166e+02] [ 3.89938897e-02 9.99239361e-01 -4.20162821e-04 1.26390740e+01] [ 2.30439002e-02 -4.78884361e-04 9.99734339e-01 6.78994158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0692541539999 meters Centerline goodness [0,1] 0.9989862296189913 Centerline is valid? [True, True] Translation: X:735.04, Y:12.64, Z:6.79 [[ 9.98791712e-01 -4.33092504e-02 -2.32255275e-02 7.35039448e+02] [ 4.33110790e-02 9.99061545e-01 -4.24526822e-04 1.26367259e+01] [ 2.32221173e-02 -5.81908784e-04 9.99730161e-01 6.79030497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0992541539999 meters Centerline goodness [0,1] 0.9992182548066765 Centerline is valid? [True, True] Translation: X:735.07, Y:12.63, Z:6.79 [[ 9.98403563e-01 -5.18238436e-02 -2.24636422e-02 7.35068883e+02] [ 5.18276854e-02 9.98655958e-01 -4.11529430e-04 1.26303980e+01] [ 2.24547771e-02 -7.53366131e-04 9.99747576e-01 6.79088682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1292541539999 meters Centerline goodness [0,1] 0.9987748463277075 Centerline is valid? [True, True] Translation: X:735.10, Y:12.63, Z:6.79 [[ 9.98189038e-01 -5.56550822e-02 -2.28288657e-02 7.35099794e+02] [ 5.56600484e-02 9.98449690e-01 -4.18308648e-04 1.26276653e+01] [ 2.28167549e-02 -8.53104663e-04 9.99739300e-01 6.79100488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1592541539999 meters Centerline goodness [0,1] 0.9991539047296726 Centerline is valid? [True, True] Translation: X:735.13, Y:12.63, Z:6.79 [[ 9.97970329e-01 -5.98472225e-02 -2.17607879e-02 7.35130508e+02] [ 5.98527374e-02 9.98207138e-01 -3.98362126e-04 1.26260695e+01] [ 2.17456147e-02 -9.04889141e-04 9.99763127e-01 6.79268188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1892541539999 meters Centerline goodness [0,1] 0.9986912652509815 Centerline is valid? [True, True] Translation: X:735.16, Y:12.62, Z:6.79 [[ 9.97522793e-01 -6.71881735e-02 -2.08332912e-02 7.35160461e+02] [ 6.71948296e-02 9.97739801e-01 -3.81153114e-04 1.26198063e+01] [ 2.08118128e-02 -1.01968053e-03 9.99782891e-01 6.79321931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2192541539999 meters Centerline goodness [0,1] 0.9986714466469844 Centerline is valid? [True, True] Translation: X:735.19, Y:12.62, Z:6.79 [[ 9.97331813e-01 -7.01599506e-02 -2.01701784e-02 7.35191315e+02] [ 7.01668006e-02 9.97535204e-01 -3.68774525e-04 1.26193062e+01] [ 2.01463362e-02 -1.04748632e-03 9.99796493e-01 6.79417559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2492541539999 meters Centerline goodness [0,1] 0.9986291258040705 Centerline is valid? [True, True] Translation: X:735.22, Y:12.62, Z:6.80 [[ 9.96950729e-01 -7.56411362e-02 -1.91745266e-02 7.35221435e+02] [ 7.56483403e-02 9.97134497e-01 -3.50378226e-04 1.26208807e+01] [ 1.91460849e-02 -1.10121128e-03 9.99816090e-01 6.79614338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2792541539999 meters Centerline goodness [0,1] 0.9985692644335971 Centerline is valid? [True, True] Translation: X:735.25, Y:12.62, Z:6.80 [[ 9.96789003e-01 -7.78886481e-02 -1.85753177e-02 7.35251643e+02] [ 7.78958014e-02 9.96961448e-01 -3.39227419e-04 1.26170678e+01] [ 1.85452976e-02 -1.10880110e-03 9.99827406e-01 6.79612515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3092541539999 meters Centerline goodness [0,1] 0.9985462972716739 Centerline is valid? [True, True] Translation: X:735.28, Y:12.61, Z:6.80 [[ 9.96634478e-01 -7.99362946e-02 -1.81633064e-02 7.35282264e+02] [ 7.99434837e-02 9.96799343e-01 -3.31093920e-04 1.26143626e+01] [ 1.81316383e-02 -1.12205837e-03 9.99834979e-01 6.79598673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.339254154 meters Centerline goodness [0,1] 0.9984860909607014 Centerline is valid? [True, True] Translation: X:735.31, Y:12.61, Z:6.80 [[ 9.96368137e-01 -8.31641710e-02 -1.82826696e-02 7.35313582e+02] [ 8.31720104e-02 9.96535150e-01 -3.32480351e-04 1.26143261e+01] [ 1.82469734e-02 -1.18933356e-03 9.99832803e-01 6.79594072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3692541539999 meters Centerline goodness [0,1] 0.9987356709372893 Centerline is valid? [True, True] Translation: X:735.35, Y:12.62, Z:6.80 [[ 9.96296110e-01 -8.40235772e-02 -1.82784044e-02 7.35346141e+02] [ 8.40315747e-02 9.96463037e-01 -3.31426321e-04 1.26165413e+01] [ 1.82416020e-02 -1.20576435e-03 9.99832881e-01 6.79607887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3992541539999 meters Centerline goodness [0,1] 0.9983546386533351 Centerline is valid? [True, True] Translation: X:735.38, Y:12.61, Z:6.80 [[ 9.96229095e-01 -8.47328956e-02 -1.86527877e-02 7.35377224e+02] [ 8.47413795e-02 9.96402923e-01 -3.36518767e-04 1.26146442e+01] [ 1.86142064e-02 -1.24541318e-03 9.99825965e-01 6.79575127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4292541539999 meters Centerline goodness [0,1] 0.9987548276808138 Centerline is valid? [True, True] Translation: X:735.41, Y:12.62, Z:6.80 [[ 9.96224345e-01 -8.47178500e-02 -1.89720823e-02 7.35408932e+02] [ 8.47266572e-02 9.96404174e-01 -3.40542253e-04 1.26205809e+01] [ 1.89327120e-02 -1.26818463e-03 9.99819956e-01 6.79575273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.459254154 meters Centerline goodness [0,1] 0.9986087689713322 Centerline is valid? [True, True] Translation: X:735.44, Y:12.62, Z:6.80 [[ 9.96241198e-01 -8.44793617e-02 -1.91497647e-02 7.35441248e+02] [ 8.44883179e-02 9.96424411e-01 -3.42312259e-04 1.26229926e+01] [ 1.91102114e-02 -1.27690584e-03 9.99816568e-01 6.79589456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4892541539999 meters Centerline goodness [0,1] 0.9992186840104739 Centerline is valid? [True, True] Translation: X:735.47, Y:12.63, Z:6.80 [[ 9.96347875e-01 -8.28261197e-02 -2.07544219e-02 7.35472246e+02] [ 8.28363078e-02 9.96563099e-01 -3.69815547e-04 1.26283499e+01] [ 2.07137214e-02 -1.35075475e-03 9.99784535e-01 6.79526498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5192541539999 meters Centerline goodness [0,1] 0.9984989429175476 Centerline is valid? [True, True] Translation: X:735.50, Y:12.62, Z:6.79 [[ 9.96461270e-01 -8.13074289e-02 -2.13082144e-02 7.35503090e+02] [ 8.13178396e-02 9.96688149e-01 -3.78873818e-04 1.26207114e+01] [ 2.12684500e-02 -1.35520487e-03 9.99772882e-01 6.79275875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5492541539999 meters Centerline goodness [0,1] 0.9987310181464405 Centerline is valid? [True, True] Translation: X:735.53, Y:12.63, Z:6.79 [[ 9.96629500e-01 -7.92078449e-02 -2.13484443e-02 7.35534001e+02] [ 7.92178318e-02 9.96857257e-01 -3.78805112e-04 1.26291438e+01] [ 2.13113560e-02 -1.31364912e-03 9.99772024e-01 6.79371923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.579254154 meters Centerline goodness [0,1] 0.9979497368476675 Centerline is valid? [True, True] Translation: X:735.56, Y:12.64, Z:6.79 [[ 9.97047617e-01 -7.34633236e-02 -2.23425617e-02 7.35563504e+02] [ 7.34728275e-02 9.97297141e-01 -3.96326430e-04 1.26355755e+01] [ 2.23112884e-02 -1.24641486e-03 9.99750295e-01 6.79322781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6092541539999 meters Centerline goodness [0,1] 0.9975037021366617 Centerline is valid? [True, True] Translation: X:735.59, Y:12.64, Z:6.79 [[ 9.97298773e-01 -6.99967108e-02 -2.22624593e-02 7.35594385e+02] [ 7.00052869e-02 9.97546542e-01 -3.94839823e-04 1.26432491e+01] [ 2.22354768e-02 -1.16471658e-03 9.99752083e-01 6.79442909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6392541539999 meters Centerline goodness [0,1] 0.9966352766902973 Centerline is valid? [True, True] Translation: X:735.62, Y:12.65, Z:6.80 [[ 9.97832144e-01 -6.21749093e-02 -2.15706316e-02 7.35623933e+02] [ 6.21811348e-02 9.98064808e-01 -3.82639483e-04 1.26511602e+01] [ 2.15526788e-02 -9.59476372e-04 9.99767254e-01 6.79528806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6692541539999 meters Centerline goodness [0,1] 0.9966445091001763 Centerline is valid? [True, True] Translation: X:735.65, Y:12.66, Z:6.80 [[ 9.98086062e-01 -5.79843190e-02 -2.14949381e-02 7.35654369e+02] [ 5.79895269e-02 9.98317119e-01 -3.81476673e-04 1.26558240e+01] [ 2.14808843e-02 -8.65734738e-04 9.99768884e-01 6.79558263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6992541539998 meters Centerline goodness [0,1] 0.997093023255814 Centerline is valid? [True, True] Translation: X:735.68, Y:12.66, Z:6.80 [[ 9.98336579e-01 -5.39223994e-02 -2.04071068e-02 7.35683634e+02] [ 5.39262417e-02 9.98544856e-01 -3.62367682e-04 1.26601337e+01] [ 2.03969513e-02 -7.38713663e-04 9.99791688e-01 6.79676334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7292541539999 meters Centerline goodness [0,1] 0.9971727392542834 Centerline is valid? [True, True] Translation: X:735.71, Y:12.67, Z:6.80 [[ 9.98836288e-01 -4.50111760e-02 -1.73223446e-02 7.35714360e+02] [ 4.50126024e-02 9.98986372e-01 -3.07731890e-04 1.26695537e+01] [ 1.73186376e-02 -4.72350032e-04 9.99849910e-01 6.79967773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7592541539999 meters Centerline goodness [0,1] 0.9968772570845902 Centerline is valid? [True, True] Translation: X:735.75, Y:12.67, Z:6.80 [[ 9.99051218e-01 -4.05084254e-02 -1.59916189e-02 7.35745076e+02] [ 4.05090683e-02 9.99179131e-01 -2.83854371e-04 1.26735364e+01] [ 1.59899903e-02 -3.64220525e-04 9.99872086e-01 6.80086111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7892541539999 meters Centerline goodness [0,1] 0.9966585791512366 Centerline is valid? [True, True] Translation: X:735.78, Y:12.68, Z:6.80 [[ 9.99377526e-01 -3.16472448e-02 -1.55888322e-02 7.35776637e+02] [ 3.16467880e-02 9.99499077e-01 -2.76048294e-04 1.26812615e+01] [ 1.55897596e-02 -2.17460006e-04 9.99878449e-01 6.80115286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8192541539999 meters Centerline goodness [0,1] 0.9967014258352841 Centerline is valid? [True, True] Translation: X:735.81, Y:12.68, Z:6.80 [[ 9.99487881e-01 -2.80401212e-02 -1.54184303e-02 7.35807642e+02] [ 2.80392521e-02 9.99606786e-01 -2.72577507e-04 1.26843940e+01] [ 1.54200107e-02 -1.59883340e-04 9.99881092e-01 6.80125439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8492541539999 meters Centerline goodness [0,1] 0.997039277498509 Centerline is valid? [True, True] Translation: X:735.84, Y:12.69, Z:6.80 [[ 9.99549597e-01 -2.58003253e-02 -1.53279871e-02 7.35839333e+02] [ 2.57992054e-02 9.99667108e-01 -2.70825688e-04 1.26872076e+01] [ 1.53298719e-02 -1.24746181e-04 9.99882483e-01 6.80207503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8792541539999 meters Centerline goodness [0,1] 0.9970627673839474 Centerline is valid? [True, True] Translation: X:735.87, Y:12.69, Z:6.80 [[ 9.99625519e-01 -2.17556628e-02 -1.65985539e-02 7.35870191e+02] [ 2.17537981e-02 9.99763315e-01 -2.92906421e-04 1.26902229e+01] [ 1.66009977e-02 -6.82848583e-05 9.99862192e-01 6.80133675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9092541539999 meters Centerline goodness [0,1] 0.9971455351056578 Centerline is valid? [True, True] Translation: X:735.90, Y:12.69, Z:6.80 [[ 9.99639828e-01 -2.07015127e-02 -1.70781085e-02 7.35899311e+02] [ 2.06993758e-02 9.99785699e-01 -3.01902894e-04 1.26914420e+01] [ 1.70806985e-02 -5.17120275e-05 9.99854113e-01 6.80109021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9392541539999 meters Centerline goodness [0,1] 0.9970185488851503 Centerline is valid? [True, True] Translation: X:735.93, Y:12.69, Z:6.80 [[ 9.99643261e-01 -2.01373723e-02 -1.75452753e-02 7.35927472e+02] [ 2.01350124e-02 9.99797222e-01 -3.11162123e-04 1.26917617e+01] [ 1.75479835e-02 -4.22232164e-05 9.99846021e-01 6.80050879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9692541539999 meters Centerline goodness [0,1] 0.9969754414364523 Centerline is valid? [True, True] Translation: X:735.96, Y:12.69, Z:6.80 [[ 9.99629859e-01 -2.03892429e-02 -1.80117902e-02 7.35955668e+02] [ 2.03867437e-02 9.99792117e-01 -3.22379141e-04 1.26905477e+01] [ 1.80146189e-02 -4.49419346e-05 9.99837723e-01 6.79959873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9992541539999 meters Centerline goodness [0,1] 0.9969791090499085 Centerline is valid? [True, True] Translation: X:735.98, Y:12.69, Z:6.80 [[ 9.99574833e-01 -2.25456115e-02 -1.84891609e-02 7.35983846e+02] [ 2.25432790e-02 9.99745812e-01 -3.34591365e-04 1.26880288e+01] [ 1.84920048e-02 -8.23572049e-05 9.99829005e-01 6.79858173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0292541539999 meters Centerline goodness [0,1] 0.9970676979303897 Centerline is valid? [True, True] Translation: X:736.01, Y:12.69, Z:6.80 [[ 9.99527887e-01 -2.50527148e-02 -1.77866367e-02 7.36012459e+02] [ 2.50508997e-02 9.99686124e-01 -3.24875991e-04 1.26872521e+01] [ 1.77891930e-02 -1.20848640e-04 9.99841752e-01 6.79993403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0592541539999 meters Centerline goodness [0,1] 0.9971075522661051 Centerline is valid? [True, True] Translation: X:736.04, Y:12.69, Z:6.80 [[ 9.99468372e-01 -2.71998746e-02 -1.79761119e-02 7.36041699e+02] [ 2.71983183e-02 9.99630002e-01 -3.31098855e-04 1.26858080e+01] [ 1.79784667e-02 -1.57997179e-04 9.99838362e-01 6.80026790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.089254154 meters Centerline goodness [0,1] 0.9970793032656776 Centerline is valid? [True, True] Translation: X:736.07, Y:12.68, Z:6.80 [[ 9.99342225e-01 -3.20845181e-02 -1.69026683e-02 7.36071344e+02] [ 3.20838327e-02 9.99485133e-01 -3.11788786e-04 1.26808809e+01] [ 1.69039693e-02 -2.30718683e-04 9.99857091e-01 6.80035740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1192541539999 meters Centerline goodness [0,1] 0.9972639348434716 Centerline is valid? [True, True] Translation: X:736.10, Y:12.68, Z:6.80 [[ 9.99277869e-01 -3.42490207e-02 -1.64543163e-02 7.36102636e+02] [ 3.42486659e-02 9.99413296e-01 -3.03430030e-04 1.26789925e+01] [ 1.64550547e-02 -2.60327467e-04 9.99864573e-01 6.80029289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1492541539999 meters Centerline goodness [0,1] 0.9970492081688108 Centerline is valid? [True, True] Translation: X:736.13, Y:12.68, Z:6.80 [[ 9.99204602e-01 -3.64869984e-02 -1.60891809e-02 7.36134385e+02] [ 3.64869584e-02 9.99334085e-01 -2.96125763e-04 1.26773432e+01] [ 1.60892716e-02 -2.91155048e-04 9.99870517e-01 6.80141473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1792541539999 meters Centerline goodness [0,1] 0.9972043967215198 Centerline is valid? [True, True] Translation: X:736.17, Y:12.67, Z:6.80 [[ 9.99117530e-01 -3.87742823e-02 -1.61467267e-02 7.36166099e+02] [ 3.87745575e-02 9.99247940e-01 -2.96141229e-04 1.26737979e+01] [ 1.61460661e-02 -3.30202290e-04 9.99869589e-01 6.80092694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.209254154 meters Centerline goodness [0,1] 0.9972495504072781 Centerline is valid? [True, True] Translation: X:736.20, Y:12.67, Z:6.80 [[ 9.99094128e-01 -3.93978507e-02 -1.60851831e-02 7.36196973e+02] [ 3.93982260e-02 9.99223545e-01 -2.93678309e-04 1.26724904e+01] [ 1.60842640e-02 -3.40315404e-04 9.99870582e-01 6.80040765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2392541539999 meters Centerline goodness [0,1] 0.9973611433638033 Centerline is valid? [True, True] Translation: X:736.23, Y:12.67, Z:6.80 [[ 9.99059000e-01 -4.01256027e-02 -1.64635992e-02 7.36229174e+02] [ 4.01261115e-02 9.99194578e-01 -2.99562522e-04 1.26723038e+01] [ 1.64623592e-02 -3.61339582e-04 9.99864421e-01 6.80183979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2692541539999 meters Centerline goodness [0,1] 0.9974616068028938 Centerline is valid? [True, True] Translation: X:736.26, Y:12.67, Z:6.80 [[ 9.99057738e-01 -4.01835399e-02 -1.63987331e-02 7.36261373e+02] [ 4.01840718e-02 9.99192250e-01 -2.97203031e-04 1.26711902e+01] [ 1.63974297e-02 -3.62044880e-04 9.99865488e-01 6.80133599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2992541539999 meters Centerline goodness [0,1] 0.9974008410286753 Centerline is valid? [True, True] Translation: X:736.29, Y:12.67, Z:6.80 [[ 9.99023586e-01 -4.08020090e-02 -1.69431491e-02 7.36293904e+02] [ 4.08026870e-02 9.99167177e-01 -3.05813322e-04 1.26704073e+01] [ 1.69415162e-02 -3.85811287e-04 9.99856408e-01 6.80185599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.329254154 meters Centerline goodness [0,1] 0.9973829724367903 Centerline is valid? [True, True] Translation: X:736.33, Y:12.67, Z:6.80 [[ 9.98995014e-01 -4.18963232e-02 -1.59267410e-02 7.36326125e+02] [ 4.18970789e-02 9.99121891e-01 -2.86353882e-04 1.26672393e+01] [ 1.59247528e-02 -3.81217826e-04 9.99873120e-01 6.80168062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3592541539999 meters Centerline goodness [0,1] 0.9974882857022247 Centerline is valid? [True, True] Translation: X:736.36, Y:12.67, Z:6.80 [[ 9.98964604e-01 -4.26005709e-02 -1.59659657e-02 7.36358433e+02] [ 4.26014387e-02 9.99092106e-01 -2.85906159e-04 1.26657406e+01] [ 1.59636501e-02 -3.94562976e-04 9.99872495e-01 6.80183042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3892541539999 meters Centerline goodness [0,1] 0.9974012803448057 Centerline is valid? [True, True] Translation: X:736.39, Y:12.66, Z:6.80 [[ 9.98969309e-01 -4.27209721e-02 -1.53375003e-02 7.36390898e+02] [ 4.27218035e-02 9.99086970e-01 -2.73577926e-04 1.26643314e+01] [ 1.53351842e-02 -3.81949722e-04 9.99882336e-01 6.80187527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4192541539999 meters Centerline goodness [0,1] 0.9974250195234176 Centerline is valid? [True, True] Translation: X:736.42, Y:12.66, Z:6.80 [[ 9.98975048e-01 -4.26189164e-02 -1.52473275e-02 7.36422906e+02] [ 4.26197428e-02 9.99091329e-01 -2.70884782e-04 1.26631380e+01] [ 1.52450175e-02 -3.79230037e-04 9.99883716e-01 6.80174154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4492541539998 meters Centerline goodness [0,1] 0.9976563489717495 Centerline is valid? [True, True] Translation: X:736.45, Y:12.66, Z:6.80 [[ 9.99036793e-01 -4.10653096e-02 -1.54637051e-02 7.36454317e+02] [ 4.10659890e-02 9.99156399e-01 -2.73729609e-04 1.26630034e+01] [ 1.54619006e-02 -3.61566391e-04 9.99880392e-01 6.80141782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4792541539999 meters Centerline goodness [0,1] 0.9976772177291636 Centerline is valid? [True, True] Translation: X:736.49, Y:12.66, Z:6.80 [[ 9.99071812e-01 -4.01973365e-02 -1.54819116e-02 7.36485307e+02] [ 4.01979244e-02 9.99191699e-01 -2.73342397e-04 1.26633198e+01] [ 1.54803852e-02 -3.49252028e-04 9.99880111e-01 6.80108246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5092541539999 meters Centerline goodness [0,1] 0.997489875126561 Centerline is valid? [True, True] Translation: X:736.52, Y:12.66, Z:6.80 [[ 9.99111316e-01 -3.92239324e-02 -1.54292063e-02 7.36516547e+02] [ 3.92244085e-02 9.99230390e-01 -2.71877661e-04 1.26633689e+01] [ 1.54279960e-02 -3.33565445e-04 9.99880926e-01 6.80103696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5392541539999 meters Centerline goodness [0,1] 0.9976773648648649 Centerline is valid? [True, True] Translation: X:736.55, Y:12.66, Z:6.80 [[ 9.99143122e-01 -3.84926592e-02 -1.52097503e-02 7.36548658e+02] [ 3.84930481e-02 9.99258832e-01 -2.67287865e-04 1.26639151e+01] [ 1.52087660e-02 -3.18410819e-04 9.99884289e-01 6.80148981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5692541539999 meters Centerline goodness [0,1] 0.997653723393012 Centerline is valid? [True, True] Translation: X:736.58, Y:12.66, Z:6.80 [[ 9.99156871e-01 -3.81494343e-02 -1.51712583e-02 7.36580303e+02] [ 3.81497961e-02 9.99271996e-01 -2.65667354e-04 1.26632430e+01] [ 1.51703486e-02 -3.13337047e-04 9.99884875e-01 6.80125905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5992541539999 meters Centerline goodness [0,1] 0.9977173775203957 Centerline is valid? [True, True] Translation: X:736.61, Y:12.66, Z:6.80 [[ 9.99131121e-01 -3.85833416e-02 -1.57584737e-02 7.36611877e+02] [ 3.85837971e-02 9.99255330e-01 -2.75234128e-04 1.26623283e+01] [ 1.57573583e-02 -3.33026769e-04 9.99875790e-01 6.80098145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6292541539999 meters Centerline goodness [0,1] 0.9975737884765501 Centerline is valid? [True, True] Translation: X:736.64, Y:12.66, Z:6.80 [[ 9.99021197e-01 -4.09219577e-02 -1.67940896e-02 7.36641983e+02] [ 4.09228131e-02 9.99162268e-01 -2.92860576e-04 1.26591122e+01] [ 1.67920051e-02 -3.94687466e-04 9.99858926e-01 6.79991527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6592541539999 meters Centerline goodness [0,1] 0.99788802297831 Centerline is valid? [True, True] Translation: X:736.67, Y:12.66, Z:6.80 [[ 9.98958663e-01 -4.23058390e-02 -1.70822960e-02 7.36673573e+02] [ 4.23069333e-02 9.99104617e-01 -2.97470374e-04 1.26574409e+01] [ 1.70795855e-02 -4.25538951e-04 9.99854043e-01 6.79964793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6892541539999 meters Centerline goodness [0,1] 0.9975126475548061 Centerline is valid? [True, True] Translation: X:736.70, Y:12.66, Z:6.80 [[ 9.98873348e-01 -4.42046601e-02 -1.72621672e-02 7.36704403e+02] [ 4.42060686e-02 9.99022389e-01 -3.00157566e-04 1.26554241e+01] [ 1.72585598e-02 -4.63273152e-04 9.99850953e-01 6.79933704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7192541539999 meters Centerline goodness [0,1] 0.9975102858951366 Centerline is valid? [True, True] Translation: X:736.73, Y:12.65, Z:6.80 [[ 9.98725638e-01 -4.73893292e-02 -1.73594853e-02 7.36734457e+02] [ 4.73912369e-02 9.98876359e-01 -3.01694014e-04 1.26507924e+01] [ 1.73542765e-02 -5.21377932e-04 9.99849267e-01 6.79830533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7492541539999 meters Centerline goodness [0,1] 0.997677462944977 Centerline is valid? [True, True] Translation: X:736.77, Y:12.65, Z:6.80 [[ 9.98638732e-01 -4.91480225e-02 -1.74686793e-02 7.36765428e+02] [ 4.91502254e-02 9.98791351e-01 -3.03459449e-04 1.26497975e+01] [ 1.74624802e-02 -5.55543164e-04 9.99847365e-01 6.80010734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7792541539999 meters Centerline goodness [0,1] 0.997677462944977 Centerline is valid? [True, True] Translation: X:736.80, Y:12.65, Z:6.80 [[ 9.98640337e-01 -4.91154070e-02 -1.74686865e-02 7.36796284e+02] [ 4.91176122e-02 9.98792956e-01 -3.03042000e-04 1.26502983e+01] [ 1.74624851e-02 -5.55390205e-04 9.99847365e-01 6.80039637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8092541539999 meters Centerline goodness [0,1] 0.9979557859686835 Centerline is valid? [True, True] Translation: X:736.83, Y:12.65, Z:6.80 [[ 9.98598607e-01 -5.01467923e-02 -1.69151139e-02 7.36826359e+02] [ 5.01490148e-02 9.98741704e-01 -2.93020065e-04 1.26483355e+01] [ 1.69085237e-02 -5.55666867e-04 9.99856886e-01 6.80162319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.839254154 meters Centerline goodness [0,1] 0.9976217035337697 Centerline is valid? [True, True] Translation: X:736.86, Y:12.65, Z:6.80 [[ 9.98610632e-01 -4.99107651e-02 -1.69033181e-02 7.36857719e+02] [ 4.99129573e-02 9.98753529e-01 -2.92422015e-04 1.26481794e+01] [ 1.68968437e-02 -5.51678864e-04 9.99857086e-01 6.80095329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8692541539999 meters Centerline goodness [0,1] 0.9978120003366153 Centerline is valid? [True, True] Translation: X:736.89, Y:12.65, Z:6.80 [[ 9.98629615e-01 -4.99677594e-02 -1.55600349e-02 7.36888896e+02] [ 4.99696386e-02 9.98750701e-01 -2.68236161e-04 1.26480511e+01] [ 1.55539989e-02 -5.09660747e-04 9.99878899e-01 6.80448721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8992541539999 meters Centerline goodness [0,1] 0.9980862652730752 Centerline is valid? [True, True] Translation: X:736.92, Y:12.66, Z:6.81 [[ 9.98662061e-01 -4.94616524e-02 -1.50875237e-02 7.36920856e+02] [ 4.94633827e-02 9.98775904e-01 -2.58685644e-04 1.26583491e+01] [ 1.50818502e-02 -4.87940422e-04 9.99886143e-01 6.80733059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9292541539999 meters Centerline goodness [0,1] 0.9978162271123803 Centerline is valid? [True, True] Translation: X:736.95, Y:12.66, Z:6.81 [[ 9.98726907e-01 -4.83642739e-02 -1.43339206e-02 7.36952479e+02] [ 4.83657373e-02 9.98829663e-01 -2.44746273e-04 1.26586975e+01] [ 1.43289821e-02 -4.48835952e-04 9.99897234e-01 6.80660608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.959254154 meters Centerline goodness [0,1] 0.9978515007898894 Centerline is valid? [True, True] Translation: X:736.98, Y:12.66, Z:6.81 [[ 9.98808146e-01 -4.68677366e-02 -1.36273038e-02 7.36984263e+02] [ 4.68689331e-02 9.98901021e-01 -2.31721528e-04 1.26606156e+01] [ 1.36231880e-02 -4.07251843e-04 9.99907117e-01 6.80883260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9892541539999 meters Centerline goodness [0,1] 0.9979618851511777 Centerline is valid? [True, True] Translation: X:737.02, Y:12.65, Z:6.81 [[ 9.98884619e-01 -4.51482509e-02 -1.38258106e-02 7.37015252e+02] [ 4.51493309e-02 9.98980222e-01 -2.34165393e-04 1.26531148e+01] [ 1.38222835e-02 -3.90321888e-04 9.99904391e-01 6.80689895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0192541539999 meters Centerline goodness [0,1] 0.9985057979249532 Centerline is valid? [True, True] Translation: X:737.05, Y:12.67, Z:6.81 [[ 9.99014430e-01 -4.20043837e-02 -1.43457444e-02 7.37046684e+02] [ 4.20052326e-02 9.99117361e-01 -2.42265257e-04 1.26651087e+01] [ 1.43432585e-02 -3.60569844e-04 9.99897065e-01 6.80953076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0492541539999 meters Centerline goodness [0,1] 0.9981268678705224 Centerline is valid? [True, True] Translation: X:737.08, Y:12.67, Z:6.81 [[ 9.99119381e-01 -3.93851853e-02 -1.44661555e-02 7.37078328e+02] [ 3.93857817e-02 9.99224049e-01 -2.43777046e-04 1.26673683e+01] [ 1.44645317e-02 -3.26198471e-04 9.99895330e-01 6.80812782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.079254154 meters Centerline goodness [0,1] 0.9983572722294765 Centerline is valid? [True, True] Translation: X:737.11, Y:12.67, Z:6.81 [[ 9.99172645e-01 -3.79953319e-02 -1.45044792e-02 7.37109761e+02] [ 3.79957926e-02 9.99277869e-01 -2.43902957e-04 1.26703349e+01] [ 1.45032722e-02 -3.07408020e-04 9.99894775e-01 6.81028647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1092541539999 meters Centerline goodness [0,1] 0.9984178884083957 Centerline is valid? [True, True] Translation: X:737.14, Y:12.67, Z:6.81 [[ 9.99285243e-01 -3.47188999e-02 -1.49533260e-02 7.37141573e+02] [ 3.47190321e-02 9.99397081e-01 -2.50836955e-04 1.26734132e+01] [ 1.49530192e-02 -2.68507340e-04 9.99888161e-01 6.81022314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1392541539999 meters Centerline goodness [0,1] 0.9986497890295358 Centerline is valid? [True, True] Translation: X:737.17, Y:12.67, Z:6.81 [[ 9.99313380e-01 -3.37278915e-02 -1.53361797e-02 7.37173380e+02] [ 3.37279258e-02 9.99431019e-01 -2.56478369e-04 1.26749772e+01] [ 1.53361042e-02 -2.60955268e-04 9.99882361e-01 6.81037372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1692541539999 meters Centerline goodness [0,1] 0.9985446722348772 Centerline is valid? [True, True] Translation: X:737.20, Y:12.68, Z:6.81 [[ 9.99314609e-01 -3.31979808e-02 -1.63769780e-02 7.37204375e+02] [ 3.31979618e-02 9.99448758e-01 -2.73090486e-04 1.26754719e+01] [ 1.63770164e-02 -2.70778978e-04 9.99865851e-01 6.81025168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1992541539998 meters Centerline goodness [0,1] 0.998544549443132 Centerline is valid? [True, True] Translation: X:737.24, Y:12.68, Z:6.81 [[ 9.99298411e-01 -3.35779990e-02 -1.65892407e-02 7.37236161e+02] [ 3.35780420e-02 9.99436060e-01 -2.76026904e-04 1.26750974e+01] [ 1.65891538e-02 -2.81200973e-04 9.99862351e-01 6.81032664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2292541539999 meters Centerline goodness [0,1] 0.9985889983994609 Centerline is valid? [True, True] Translation: X:737.27, Y:12.67, Z:6.81 [[ 9.99278965e-01 -3.40166012e-02 -1.68647881e-02 7.37267651e+02] [ 3.40167184e-02 9.99421225e-01 -2.79998932e-04 1.26745601e+01] [ 1.68645518e-02 -2.93887706e-04 9.99857740e-01 6.81029398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2592541539999 meters Centerline goodness [0,1] 0.9983379967601456 Centerline is valid? [True, True] Translation: X:737.30, Y:12.67, Z:6.81 [[ 9.99187770e-01 -3.63579863e-02 -1.73752140e-02 7.37298429e+02] [ 3.63584730e-02 9.99338771e-01 -2.87983199e-04 1.26720999e+01] [ 1.73741955e-02 -3.43986961e-04 9.99848998e-01 6.80983499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2892541539999 meters Centerline goodness [0,1] 0.998464870775766 Centerline is valid? [True, True] Translation: X:737.33, Y:12.67, Z:6.81 [[ 9.99126359e-01 -3.79364258e-02 -1.75313191e-02 7.37330064e+02] [ 3.79371722e-02 9.99280084e-01 -2.90113142e-04 1.26708833e+01] [ 1.75297038e-02 -3.75228983e-04 9.99846273e-01 6.81023176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3192541539999 meters Centerline goodness [0,1] 0.9985288245308002 Centerline is valid? [True, True] Translation: X:737.36, Y:12.67, Z:6.81 [[ 9.99018146e-01 -4.06965218e-02 -1.75082238e-02 7.37360417e+02] [ 4.06976981e-02 9.99171464e-01 -2.89257277e-04 1.26668513e+01] [ 1.75054894e-02 -4.23571139e-04 9.99846677e-01 6.81026933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3492541539999 meters Centerline goodness [0,1] 0.9986345685236535 Centerline is valid? [True, True] Translation: X:737.39, Y:12.67, Z:6.81 [[ 9.98970851e-01 -4.18395140e-02 -1.75126871e-02 7.37392177e+02] [ 4.18408743e-02 9.99124245e-01 -2.88880781e-04 1.26657970e+01] [ 1.75094369e-02 -4.44162659e-04 9.99846599e-01 6.81096030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3792541539999 meters Centerline goodness [0,1] 0.9982383289291556 Centerline is valid? [True, True] Translation: X:737.42, Y:12.66, Z:6.81 [[ 9.98911572e-01 -4.31894644e-02 -1.76165354e-02 7.37422965e+02] [ 4.31910615e-02 9.99066789e-01 -2.89973640e-04 1.26634051e+01] [ 1.76126192e-02 -4.71218839e-04 9.99844775e-01 6.81067212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4092541539999 meters Centerline goodness [0,1] 0.9980093038850006 Centerline is valid? [True, True] Translation: X:737.45, Y:12.66, Z:6.81 [[ 9.98809846e-01 -4.48476931e-02 -1.91722868e-02 7.37454592e+02] [ 4.48499036e-02 9.98993687e-01 -3.14883891e-04 1.26605689e+01] [ 1.91671153e-02 -5.45366084e-04 9.99816145e-01 6.80958222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4392541539999 meters Centerline goodness [0,1] 0.9988247145735393 Centerline is valid? [True, True] Translation: X:737.49, Y:12.66, Z:6.81 [[ 9.98762521e-01 -4.61873807e-02 -1.84432004e-02 7.37485903e+02] [ 4.61896662e-02 9.98932642e-01 -3.02263927e-04 1.26628122e+01] [ 1.84374757e-02 -5.49995388e-04 9.99829864e-01 6.81231340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4692541539999 meters Centerline goodness [0,1] 0.9986378591336784 Centerline is valid? [True, True] Translation: X:737.52, Y:12.66, Z:6.81 [[ 9.98721498e-01 -4.70881550e-02 -1.83868389e-02 7.37517537e+02] [ 4.70905915e-02 9.98890578e-01 -3.00664630e-04 1.26606750e+01] [ 1.83805979e-02 -5.65566891e-04 9.99830903e-01 6.81236076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4992541539999 meters Centerline goodness [0,1] 0.998490249528203 Centerline is valid? [True, True] Translation: X:737.55, Y:12.66, Z:6.81 [[ 9.98712634e-01 -4.71263416e-02 -1.87665485e-02 7.37548293e+02] [ 4.71288996e-02 9.98888769e-01 -3.06173766e-04 1.26572143e+01] [ 1.87601234e-02 -5.78667174e-04 9.99823846e-01 6.81195010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5292541539999 meters Centerline goodness [0,1] 0.9984490600046109 Centerline is valid? [True, True] Translation: X:737.58, Y:12.66, Z:6.81 [[ 9.98732564e-01 -4.67569769e-02 -1.86293245e-02 7.37579687e+02] [ 4.67594461e-02 9.98906133e-01 -3.03257031e-04 1.26583939e+01] [ 1.86231258e-02 -5.68224222e-04 9.99826413e-01 6.81268400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5592541539999 meters Centerline goodness [0,1] 0.9984915463744736 Centerline is valid? [True, True] Translation: X:737.61, Y:12.66, Z:6.81 [[ 9.98844968e-01 -4.44082333e-02 -1.83477132e-02 7.37611045e+02] [ 4.44102447e-02 9.99013334e-01 -2.98007204e-04 1.26598853e+01] [ 1.83428441e-02 -5.17163436e-04 9.99831622e-01 6.81351162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.589254154 meters Centerline goodness [0,1] 0.9987618308115255 Centerline is valid? [True, True] Translation: X:737.64, Y:12.66, Z:6.81 [[ 9.98919058e-01 -4.25322836e-02 -1.87542030e-02 7.37642068e+02] [ 4.25340647e-02 9.99094971e-01 -3.04081272e-04 1.26612006e+01] [ 1.87501631e-02 -4.93939905e-04 9.99824078e-01 6.81404293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6192541539999 meters Centerline goodness [0,1] 0.9984266174372745 Centerline is valid? [True, True] Translation: X:737.67, Y:12.66, Z:6.81 [[ 9.99046796e-01 -3.94840105e-02 -1.86148213e-02 7.37672512e+02] [ 3.94852428e-02 9.99220108e-01 -3.01479006e-04 1.26624161e+01] [ 1.86122074e-02 -4.33819105e-04 9.99826684e-01 6.81406234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6492541539999 meters Centerline goodness [0,1] 0.9987412675435836 Centerline is valid? [True, True] Translation: X:737.70, Y:12.67, Z:6.81 [[ 9.99286282e-01 -3.23996775e-02 -1.94213368e-02 7.37702758e+02] [ 3.23996848e-02 9.99474943e-01 -3.14361413e-04 1.26657734e+01] [ 1.94213247e-02 -3.15108142e-04 9.99811339e-01 6.81375976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6792541539999 meters Centerline goodness [0,1] 0.998762064624423 Centerline is valid? [True, True] Translation: X:737.73, Y:12.67, Z:6.81 [[ 9.99387340e-01 -2.88691702e-02 -1.97867501e-02 7.37731764e+02] [ 2.88684747e-02 9.99583167e-01 -3.20841208e-04 1.26672607e+01] [ 1.97877648e-02 -2.50568655e-04 9.99804172e-01 6.81342001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.709254154 meters Centerline goodness [0,1] 0.9991804484418013 Centerline is valid? [True, True] Translation: X:737.76, Y:12.67, Z:6.81 [[ 9.99544671e-01 -2.23279096e-02 -2.02956702e-02 7.37760940e+02] [ 2.23257660e-02 9.99750694e-01 -3.32220619e-04 1.26702553e+01] [ 2.02980281e-02 -1.21047035e-04 9.99793966e-01 6.81435346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7392541539999 meters Centerline goodness [0,1] 0.9988464765100671 Centerline is valid? [True, True] Translation: X:737.79, Y:12.67, Z:6.81 [[ 9.99606573e-01 -1.96668202e-02 -1.99978835e-02 7.37788351e+02] [ 1.96641348e-02 9.99806587e-01 -3.30932831e-04 1.26711398e+01] [ 2.00005241e-02 -6.24384443e-05 9.99799968e-01 6.81418362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7692541539999 meters Centerline goodness [0,1] 0.9989719273215559 Centerline is valid? [True, True] Translation: X:737.82, Y:12.67, Z:6.81 [[ 9.99646838e-01 -1.73773979e-02 -2.01053516e-02 7.37816501e+02] [ 1.73741329e-02 9.99849002e-01 -3.37067564e-04 1.26718854e+01] [ 2.01081731e-02 -1.23645273e-05 9.99797810e-01 6.81495271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7992541539999 meters Centerline goodness [0,1] 0.9989726601811473 Centerline is valid? [True, True] Translation: X:737.84, Y:12.67, Z:6.82 [[ 9.99690593e-01 -1.48120548e-02 -1.99830256e-02 7.37844262e+02] [ 1.48082012e-02 9.99890295e-01 -3.40806041e-04 1.26706598e+01] [ 1.99858814e-02 4.47879291e-05 9.99800261e-01 6.81564981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.829254154 meters Centerline goodness [0,1] 0.9988272251308901 Centerline is valid? [True, True] Translation: X:737.87, Y:12.67, Z:6.82 [[ 9.99686233e-01 -1.48193891e-02 -2.01945988e-02 7.37872135e+02] [ 1.48153362e-02 9.99890186e-01 -3.50297834e-04 1.26696217e+01] [ 2.01975723e-02 5.09981523e-05 9.99796007e-01 6.81568187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8592541539999 meters Centerline goodness [0,1] 0.998952133456283 Centerline is valid? [True, True] Translation: X:737.90, Y:12.67, Z:6.81 [[ 9.99641901e-01 -1.63875146e-02 -2.11546717e-02 7.37899620e+02] [ 1.63833356e-02 9.99865715e-01 -3.70853834e-04 1.26658803e+01] [ 2.11579083e-02 2.41369459e-05 9.99776146e-01 6.81457798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8892541539999 meters Centerline goodness [0,1] 0.9991612321499717 Centerline is valid? [True, True] Translation: X:737.93, Y:12.66, Z:6.82 [[ 9.99591171e-01 -1.81508566e-02 -2.20915780e-02 7.37928278e+02] [ 1.81466381e-02 9.99835260e-01 -3.91423823e-04 1.26634457e+01] [ 2.20950433e-02 -9.62407461e-06 9.99755875e-01 6.81519458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9192541539999 meters Centerline goodness [0,1] 0.9989313105066846 Centerline is valid? [True, True] Translation: X:737.96, Y:12.66, Z:6.81 [[ 9.99538336e-01 -2.04080631e-02 -2.25083312e-02 7.37955790e+02] [ 2.04041741e-02 9.99791732e-01 -4.02453121e-04 1.26611043e+01] [ 2.25118568e-02 -5.69965865e-05 9.99746574e-01 6.81464172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9492541539998 meters Centerline goodness [0,1] 0.9989749597305608 Centerline is valid? [True, True] Translation: X:737.99, Y:12.65, Z:6.81 [[ 9.99383277e-01 -2.58317592e-02 -2.37862524e-02 7.37985006e+02] [ 2.58288436e-02 9.99666287e-01 -4.29846124e-04 1.26547644e+01] [ 2.37894183e-02 -1.84790365e-04 9.99716975e-01 6.81446866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9792541539999 meters Centerline goodness [0,1] 0.9991005124986926 Centerline is valid? [True, True] Translation: X:738.01, Y:12.65, Z:6.81 [[ 9.99277669e-01 -2.92430129e-02 -2.42690592e-02 7.38012573e+02] [ 2.92408744e-02 9.99572296e-01 -4.43066824e-04 1.26497797e+01] [ 2.42716359e-02 -2.66901728e-04 9.99705365e-01 6.81226888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0092541539999 meters Centerline goodness [0,1] 0.9990388031009048 Centerline is valid? [True, True] Translation: X:738.04, Y:12.64, Z:6.82 [[ 9.99038098e-01 -3.62530918e-02 -2.46696611e-02 7.38042247e+02] [ 3.62529715e-02 9.99342543e-01 -4.52265477e-04 1.26438168e+01] [ 2.46698379e-02 -4.42518079e-04 9.99695555e-01 6.81530108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0392541539999 meters Centerline goodness [0,1] 0.9989576601555171 Centerline is valid? [True, True] Translation: X:738.07, Y:12.64, Z:6.81 [[ 9.98903919e-01 -3.98706370e-02 -2.45212947e-02 7.38069808e+02] [ 3.98715656e-02 9.99204711e-01 -4.51248897e-04 1.26392139e+01] [ 2.45197848e-02 -5.26948118e-04 9.99699206e-01 6.81475946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0692541539999 meters Centerline goodness [0,1] 0.9990394854983191 Centerline is valid? [True, True] Translation: X:738.10, Y:12.63, Z:6.82 [[ 9.98601967e-01 -4.75928757e-02 -2.30006427e-02 7.38100354e+02] [ 4.75957203e-02 9.98866591e-01 -4.24056728e-04 1.26308291e+01] [ 2.29947557e-02 -6.71268276e-04 9.99735360e-01 6.81623471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0992541539999 meters Centerline goodness [0,1] 0.9989756454478939 Centerline is valid? [True, True] Translation: X:738.13, Y:12.63, Z:6.82 [[ 9.98417326e-01 -5.13878738e-02 -2.28501606e-02 7.38129677e+02] [ 5.13916573e-02 9.98678487e-01 -4.22009584e-04 1.26284690e+01] [ 2.28416500e-02 -7.52965941e-04 9.99738812e-01 6.81761571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1292541539999 meters Centerline goodness [0,1] 0.9991235758106923 Centerline is valid? [True, True] Translation: X:738.16, Y:12.62, Z:6.82 [[ 9.98246679e-01 -5.50557223e-02 -2.17355700e-02 7.38157876e+02] [ 5.50599839e-02 9.98482967e-01 -4.02789798e-04 1.26244433e+01] [ 2.17247723e-02 -7.94676558e-04 9.99763673e-01 6.81823774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1592541539999 meters Centerline goodness [0,1] 0.9988958103293819 Centerline is valid? [True, True] Translation: X:738.19, Y:12.62, Z:6.82 [[ 9.97861618e-01 -6.20854165e-02 -2.04350975e-02 7.38187980e+02] [ 6.20906403e-02 9.98070443e-01 -3.79365062e-04 1.26165719e+01] [ 2.04192199e-02 -8.90274456e-04 9.99791110e-01 6.81937124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1892541539999 meters Centerline goodness [0,1] 0.9989353929652437 Centerline is valid? [True, True] Translation: X:738.22, Y:12.62, Z:6.82 [[ 9.97667619e-01 -6.51775709e-02 -2.02782250e-02 7.38218724e+02] [ 6.51833512e-02 9.97873233e-01 -3.76490707e-04 1.26164271e+01] [ 2.02596367e-02 -9.46190076e-04 9.99794305e-01 6.82067308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2192541539999 meters Centerline goodness [0,1] 0.9989151297671701 Centerline is valid? [True, True] Translation: X:738.25, Y:12.61, Z:6.82 [[ 9.97301363e-01 -7.07584826e-02 -1.95762291e-02 7.38248590e+02] [ 7.07649446e-02 9.97492953e-01 -3.63300465e-04 1.26052356e+01] [ 1.95528571e-02 -1.02299072e-03 9.99808301e-01 6.82018880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2492541539999 meters Centerline goodness [0,1] 0.9988759835144249 Centerline is valid? [True, True] Translation: X:738.28, Y:12.60, Z:6.82 [[ 9.97127979e-01 -7.32299543e-02 -1.93175421e-02 7.38279429e+02] [ 7.32367149e-02 9.97314522e-01 -3.58185447e-04 1.26024386e+01] [ 1.92918951e-02 -1.05759659e-03 9.99813335e-01 6.82048954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2792541539999 meters Centerline goodness [0,1] 0.9986856105651875 Centerline is valid? [True, True] Translation: X:738.31, Y:12.60, Z:6.82 [[ 9.96937553e-01 -7.57580746e-02 -1.93966332e-02 7.38310613e+02] [ 7.57653777e-02 9.97125608e-01 -3.59129769e-04 1.26039128e+01] [ 1.93680866e-02 -1.11156329e-03 9.99811803e-01 6.82143131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3092541539999 meters Centerline goodness [0,1] 0.9989799954203876 Centerline is valid? [True, True] Translation: X:738.34, Y:12.60, Z:6.82 [[ 9.96639131e-01 -7.94738783e-02 -1.98581454e-02 7.38340555e+02] [ 7.94822745e-02 9.96836212e-01 -3.67347855e-04 1.25997940e+01] [ 1.98245130e-02 -1.21225731e-03 9.99802740e-01 6.82185557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.339254154 meters Centerline goodness [0,1] 0.9988954881733875 Centerline is valid? [True, True] Translation: X:738.37, Y:12.60, Z:6.82 [[ 9.96548983e-01 -8.05779739e-02 -1.99327775e-02 7.38370937e+02] [ 8.05866627e-02 9.96747538e-01 -3.68257496e-04 1.25982616e+01] [ 1.98976203e-02 -1.23932938e-03 9.99801255e-01 6.82164523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3692541539999 meters Centerline goodness [0,1] 0.9988337463814899 Centerline is valid? [True, True] Translation: X:738.40, Y:12.60, Z:6.82 [[ 9.96478910e-01 -8.11295647e-02 -2.11607273e-02 7.38402035e+02] [ 8.11395000e-02 9.96702679e-01 -3.90057963e-04 1.26010927e+01] [ 2.11225988e-02 -1.32828630e-03 9.99776011e-01 6.82179661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3992541539999 meters Centerline goodness [0,1] 0.9988538562527352 Centerline is valid? [True, True] Translation: X:738.43, Y:12.60, Z:6.82 [[ 9.96475878e-01 -8.09223875e-02 -2.20769502e-02 7.38432894e+02] [ 8.09331761e-02 9.96719447e-01 -4.05834734e-04 1.25970060e+01] [ 2.20373667e-02 -1.38235318e-03 9.99756192e-01 6.82038928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4292541539999 meters Centerline goodness [0,1] 0.9988746014213368 Centerline is valid? [True, True] Translation: X:738.46, Y:12.60, Z:6.82 [[ 9.96529031e-01 -8.01857049e-02 -2.23638985e-02 7.38464197e+02] [ 8.01966145e-02 9.96778980e-01 -4.10066898e-04 1.26044707e+01] [ 2.23247454e-02 -1.38486538e-03 9.99749813e-01 6.82132691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.459254154 meters Centerline goodness [0,1] 0.9989562240360729 Centerline is valid? [True, True] Translation: X:738.49, Y:12.61, Z:6.82 [[ 9.96655430e-01 -7.83509814e-02 -2.32180333e-02 7.38494955e+02] [ 7.83622589e-02 9.96924860e-01 -4.25113354e-04 1.26086753e+01] [ 2.31799426e-02 -1.39572600e-03 9.99730335e-01 6.82142117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4892541539999 meters Centerline goodness [0,1] 0.9990415867988999 Centerline is valid? [True, True] Translation: X:738.52, Y:12.61, Z:6.82 [[ 9.96747322e-01 -7.70570521e-02 -2.36005829e-02 7.38524547e+02] [ 7.70683411e-02 9.97025719e-01 -4.32203205e-04 1.26097831e+01] [ 2.35636925e-02 -1.38806039e-03 9.99721374e-01 6.82133632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5192541539999 meters Centerline goodness [0,1] 0.998977675777175 Centerline is valid? [True, True] Translation: X:738.56, Y:12.62, Z:6.82 [[ 9.96999490e-01 -7.32444310e-02 -2.50453760e-02 7.38555233e+02] [ 7.32559487e-02 9.97313068e-01 -4.58554379e-04 1.26161346e+01] [ 2.50116673e-02 -1.37754429e-03 9.99686210e-01 6.82172076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5492541539999 meters Centerline goodness [0,1] 0.9988925571482302 Centerline is valid? [True, True] Translation: X:738.58, Y:12.62, Z:6.82 [[ 9.97150636e-01 -7.08552709e-02 -2.58870655e-02 7.38584323e+02] [ 7.08667625e-02 9.97485678e-01 -4.74393677e-04 1.26169816e+01] [ 2.58555904e-02 -1.36149057e-03 9.99664761e-01 6.82113781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.579254154 meters Centerline goodness [0,1] 0.9989982678381368 Centerline is valid? [True, True] Translation: X:738.61, Y:12.62, Z:6.82 [[ 9.97354742e-01 -6.83534994e-02 -2.47248416e-02 7.38613596e+02] [ 6.83631928e-02 9.97660397e-01 -4.53991974e-04 1.26223906e+01] [ 2.46980272e-02 -1.23747806e-03 9.99694191e-01 6.82308661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6092541539999 meters Centerline goodness [0,1] 0.998998560430619 Centerline is valid? [True, True] Translation: X:738.64, Y:12.63, Z:6.83 [[ 9.97769563e-01 -6.24763454e-02 -2.35075630e-02 7.38643651e+02] [ 6.24834698e-02 9.98045905e-01 -4.32047326e-04 1.26293445e+01] [ 2.34886198e-02 -1.03775043e-03 9.99723566e-01 6.82520450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6392541539999 meters Centerline goodness [0,1] 0.9988732159252149 Centerline is valid? [True, True] Translation: X:738.67, Y:12.64, Z:6.83 [[ 9.98195867e-01 -5.58612357e-02 -2.20121196e-02 7.38674040e+02] [ 5.58658738e-02 9.98438201e-01 -4.04654669e-04 1.26375989e+01] [ 2.20003456e-02 -8.25801677e-04 9.99757622e-01 6.82751072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6692541539999 meters Centerline goodness [0,1] 0.9990804405525716 Centerline is valid? [True, True] Translation: X:738.70, Y:12.64, Z:6.83 [[ 9.98394310e-01 -5.25203995e-02 -2.12228629e-02 7.38703821e+02] [ 5.25239563e-02 9.98619588e-01 -3.90176896e-04 1.26398710e+01] [ 2.12140589e-02 -7.25158333e-04 9.99774694e-01 6.82752622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6992541539998 meters Centerline goodness [0,1] 0.9990804405525716 Centerline is valid? [True, True] Translation: X:738.73, Y:12.64, Z:6.83 [[ 9.98394310e-01 -5.25203995e-02 -2.12228629e-02 7.38733834e+02] [ 5.25239563e-02 9.98619588e-01 -3.90176896e-04 1.26404228e+01] [ 2.12140589e-02 -7.25158333e-04 9.99774694e-01 6.82780742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7292541539999 meters Centerline goodness [0,1] 0.9990814963259853 Centerline is valid? [True, True] Translation: X:738.76, Y:12.65, Z:6.83 [[ 9.98543485e-01 -4.97481698e-02 -2.08813094e-02 7.38763918e+02] [ 4.97510030e-02 9.98761578e-01 -3.84111632e-04 1.26458355e+01] [ 2.08745583e-02 -6.55313915e-04 9.99781888e-01 6.82937645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7592541539999 meters Centerline goodness [0,1] 0.998892788501713 Centerline is valid? [True, True] Translation: X:738.79, Y:12.65, Z:6.83 [[ 9.98678136e-01 -4.70932077e-02 -2.05963523e-02 7.38793596e+02] [ 4.70953920e-02 9.98890324e-01 -3.79248601e-04 1.26476191e+01] [ 2.05913571e-02 -5.91246001e-04 9.99787801e-01 6.82915293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7892541539999 meters Centerline goodness [0,1] 0.9991221836726163 Centerline is valid? [True, True] Translation: X:738.82, Y:12.65, Z:6.83 [[ 9.98862321e-01 -4.31188445e-02 -2.03673716e-02 7.38823413e+02] [ 4.31201431e-02 9.99069823e-01 -3.75609109e-04 1.26533871e+01] [ 2.03646222e-02 -5.03062194e-04 9.99792493e-01 6.82969298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8192541539999 meters Centerline goodness [0,1] 0.999017147636972 Centerline is valid? [True, True] Translation: X:738.85, Y:12.65, Z:6.83 [[ 9.98964945e-01 -4.03676765e-02 -2.09639926e-02 7.38852493e+02] [ 4.03684305e-02 9.99184788e-01 -3.87391046e-04 1.26547339e+01] [ 2.09625405e-02 -4.59293403e-04 9.99780156e-01 6.82883997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8492541539999 meters Centerline goodness [0,1] 0.9991638795986622 Centerline is valid? [True, True] Translation: X:738.88, Y:12.66, Z:6.83 [[ 9.99013328e-01 -3.93254064e-02 -2.06369192e-02 7.38882023e+02] [ 3.93258993e-02 9.99226365e-01 -3.82096390e-04 1.26577205e+01] [ 2.06359798e-02 -4.29846020e-04 9.99786963e-01 6.82989226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8792541539999 meters Centerline goodness [0,1] 0.9988718034430888 Centerline is valid? [True, True] Translation: X:738.91, Y:12.66, Z:6.83 [[ 9.99009577e-01 -3.91275397e-02 -2.11872585e-02 7.38910928e+02] [ 3.91279433e-02 9.99234130e-01 -3.95663415e-04 1.26589827e+01] [ 2.11865132e-02 -4.33742310e-04 9.99775447e-01 6.82971276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9092541539999 meters Centerline goodness [0,1] 0.9990602288864756 Centerline is valid? [True, True] Translation: X:738.94, Y:12.66, Z:6.83 [[ 9.99030129e-01 -3.88116065e-02 -2.07956941e-02 7.38939611e+02] [ 3.88118650e-02 9.99246459e-01 -3.91324596e-04 1.26596154e+01] [ 2.07952116e-02 -4.16174610e-04 9.99783670e-01 6.82993775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9392541539999 meters Centerline goodness [0,1] 0.9991227886965057 Centerline is valid? [True, True] Translation: X:738.97, Y:12.66, Z:6.83 [[ 9.99026282e-01 -3.88658068e-02 -2.08791194e-02 7.38968647e+02] [ 3.88660080e-02 9.99244353e-01 -3.96303480e-04 1.26601313e+01] [ 2.08787448e-02 -4.15570428e-04 9.99781929e-01 6.83014115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9692541539999 meters Centerline goodness [0,1] 0.9992472870972463 Centerline is valid? [True, True] Translation: X:739.00, Y:12.66, Z:6.83 [[ 9.98996313e-01 -3.96133427e-02 -2.09081231e-02 7.38997162e+02] [ 3.96135967e-02 9.99214992e-01 -4.02184132e-04 1.26612724e+01] [ 2.09076419e-02 -4.26465492e-04 9.99781320e-01 6.83095687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9992541539999 meters Centerline goodness [0,1] 0.9992246112578063 Centerline is valid? [True, True] Translation: X:739.03, Y:12.66, Z:6.83 [[ 9.98969112e-01 -4.03880463e-02 -2.07248283e-02 7.39025488e+02] [ 4.03883513e-02 9.99183976e-01 -4.04018682e-04 1.26617090e+01] [ 2.07242339e-02 -4.33439463e-04 9.99785136e-01 6.83126364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0292541539999 meters Centerline goodness [0,1] 0.9991839979913797 Centerline is valid? [True, True] Translation: X:739.05, Y:12.66, Z:6.83 [[ 9.98933218e-01 -4.13394346e-02 -2.05785795e-02 7.39054581e+02] [ 4.13398742e-02 9.99145060e-01 -4.04223188e-04 1.26602010e+01] [ 2.05776964e-02 -4.46923918e-04 9.99788157e-01 6.83097724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0592541539999 meters Centerline goodness [0,1] 0.9991635823766807 Centerline is valid? [True, True] Translation: X:739.08, Y:12.66, Z:6.83 [[ 9.98828761e-01 -4.36331578e-02 -2.09106035e-02 7.39083431e+02] [ 4.36340899e-02 9.99047495e-01 -4.11897353e-04 1.26570712e+01] [ 2.09086584e-02 -5.01000230e-04 9.99781265e-01 6.83053539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.089254154 meters Centerline goodness [0,1] 0.9989116785265801 Centerline is valid? [True, True] Translation: X:739.11, Y:12.66, Z:6.83 [[ 9.98764555e-01 -4.51308813e-02 -2.07982561e-02 7.39113370e+02] [ 4.51321089e-02 9.98980943e-01 -4.10599236e-04 1.26566878e+01] [ 2.07955922e-02 -5.28577196e-04 9.99783609e-01 6.83092430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1192541539999 meters Centerline goodness [0,1] 0.9991859397177925 Centerline is valid? [True, True] Translation: X:739.14, Y:12.65, Z:6.83 [[ 9.98595406e-01 -4.87067042e-02 -2.08535691e-02 7.39142285e+02] [ 4.87086973e-02 9.98812942e-01 -4.12644942e-04 1.26531225e+01] [ 2.08489133e-02 -6.03684841e-04 9.99782456e-01 6.83108316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1492541539999 meters Centerline goodness [0,1] 0.9989535808463438 Centerline is valid? [True, True] Translation: X:739.17, Y:12.65, Z:6.83 [[ 9.98482717e-01 -5.10064554e-02 -2.07510127e-02 7.39172262e+02] [ 5.10089104e-02 9.98698113e-01 -4.11318988e-04 1.26517099e+01] [ 2.07449771e-02 -6.47791646e-04 9.99784590e-01 6.83154331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1792541539999 meters Centerline goodness [0,1] 0.9991044651782739 Centerline is valid? [True, True] Translation: X:739.20, Y:12.65, Z:6.83 [[ 9.98360421e-01 -5.32907877e-02 -2.08940418e-02 7.39201767e+02] [ 5.32937705e-02 9.98578791e-01 -4.14436261e-04 1.26487861e+01] [ 2.08864327e-02 -6.99765508e-04 9.99781610e-01 6.83153358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.209254154 meters Centerline goodness [0,1] 0.9988556447921435 Centerline is valid? [True, True] Translation: X:739.23, Y:12.64, Z:6.83 [[ 9.98101177e-01 -5.81163772e-02 -2.04090197e-02 7.39231428e+02] [ 5.81202243e-02 9.98309509e-01 -4.05100071e-04 1.26426113e+01] [ 2.03980614e-02 -7.81845947e-04 9.99791632e-01 6.83151684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2392541539999 meters Centerline goodness [0,1] 0.9990200575455569 Centerline is valid? [True, True] Translation: X:739.26, Y:12.64, Z:6.83 [[ 9.97967451e-01 -6.03772025e-02 -2.03852719e-02 7.39261962e+02] [ 6.03815082e-02 9.98175290e-01 -4.04793396e-04 1.26447209e+01] [ 2.03725150e-02 -8.26922831e-04 9.99792117e-01 6.83325876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2692541539999 meters Centerline goodness [0,1] 0.9991448891484347 Centerline is valid? [True, True] Translation: X:739.29, Y:12.64, Z:6.83 [[ 9.97725039e-01 -6.39609535e-02 -2.13012342e-02 7.39292979e+02] [ 6.39664747e-02 9.97951958e-01 -4.22760469e-04 1.26408788e+01] [ 2.12846485e-02 -9.40766154e-04 9.99773014e-01 6.83301907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2992541539999 meters Centerline goodness [0,1] 0.9990392046285272 Centerline is valid? [True, True] Translation: X:739.32, Y:12.64, Z:6.83 [[ 9.97598278e-01 -6.62640381e-02 -2.01681192e-02 7.39323543e+02] [ 6.62694601e-02 9.97801683e-01 -4.00107406e-04 1.26391684e+01] [ 2.01502960e-02 -9.37383912e-04 9.99796523e-01 6.83409595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.329254154 meters Centerline goodness [0,1] 0.9988711666701507 Centerline is valid? [True, True] Translation: X:739.35, Y:12.63, Z:6.83 [[ 9.97409299e-01 -6.87426868e-02 -2.11927797e-02 7.39353709e+02] [ 6.87492322e-02 9.97633884e-01 -4.20435244e-04 1.26348321e+01] [ 2.11715370e-02 -1.03764131e-03 9.99775319e-01 6.83280783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3592541539999 meters Centerline goodness [0,1] 0.9991654322017985 Centerline is valid? [True, True] Translation: X:739.38, Y:12.64, Z:6.83 [[ 9.97319269e-01 -7.02552676e-02 -2.04566143e-02 7.39384694e+02] [ 7.02616918e-02 9.97528511e-01 -4.05414780e-04 1.26374468e+01] [ 2.04345386e-02 -1.03298836e-03 9.99790659e-01 6.83431050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3892541539999 meters Centerline goodness [0,1] 0.9991014523038345 Centerline is valid? [True, True] Translation: X:739.41, Y:12.64, Z:6.83 [[ 9.97225030e-01 -7.16091152e-02 -2.03561791e-02 7.39414611e+02] [ 7.16157648e-02 9.97432213e-01 -4.03074851e-04 1.26354200e+01] [ 2.03327726e-02 -1.05586700e-03 9.99792710e-01 6.83396793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4192541539999 meters Centerline goodness [0,1] 0.9991226237727178 Centerline is valid? [True, True] Translation: X:739.45, Y:12.64, Z:6.83 [[ 9.97024464e-01 -7.43281816e-02 -2.04337917e-02 7.39446079e+02] [ 7.43354597e-02 9.97233210e-01 -4.04200274e-04 1.26359352e+01] [ 2.04072992e-02 -1.11595774e-03 9.99791127e-01 6.83452572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4492541539998 meters Centerline goodness [0,1] 0.9988931353507507 Centerline is valid? [True, True] Translation: X:739.48, Y:12.64, Z:6.83 [[ 9.96957064e-01 -7.51021463e-02 -2.08872999e-02 7.39477045e+02] [ 7.51099368e-02 9.97175174e-01 -4.12386888e-04 1.26362037e+01] [ 2.08592680e-02 -1.15771175e-03 9.99781752e-01 6.83427275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4792541539999 meters Centerline goodness [0,1] 0.9989551115940818 Centerline is valid? [True, True] Translation: X:739.51, Y:12.63, Z:6.83 [[ 9.96788290e-01 -7.77515728e-02 -1.91780334e-02 7.39506987e+02] [ 7.77586347e-02 9.96972142e-01 -3.78320400e-04 1.26326739e+01] [ 1.91493800e-02 -1.11415235e-03 9.99816013e-01 6.83499893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5092541539999 meters Centerline goodness [0,1] 0.9989771422607243 Centerline is valid? [True, True] Translation: X:739.54, Y:12.63, Z:6.84 [[ 9.96739660e-01 -7.85339247e-02 -1.85060270e-02 7.39538769e+02] [ 7.85406468e-02 9.96910846e-01 -3.64404642e-04 1.26336583e+01] [ 1.84774771e-02 -1.09025877e-03 9.99828682e-01 6.83575273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5392541539999 meters Centerline goodness [0,1] 0.9989127934934872 Centerline is valid? [True, True] Translation: X:739.57, Y:12.64, Z:6.84 [[ 9.96702454e-01 -7.91831996e-02 -1.77267636e-02 7.39571029e+02] [ 7.91894921e-02 9.96859520e-01 -3.47794400e-04 1.26374946e+01] [ 1.76986326e-02 -1.05712588e-03 9.99842808e-01 6.83695103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5692541539999 meters Centerline goodness [0,1] 0.9987879801061562 Centerline is valid? [True, True] Translation: X:739.60, Y:12.63, Z:6.84 [[ 9.96683111e-01 -7.93643692e-02 -1.80020320e-02 7.39602398e+02] [ 7.93709094e-02 9.96845091e-01 -3.52015411e-04 1.26349551e+01] [ 1.79731747e-02 -1.07798984e-03 9.99837888e-01 6.83652385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5992541539999 meters Centerline goodness [0,1] 0.9988920941510933 Centerline is valid? [True, True] Translation: X:739.63, Y:12.64, Z:6.84 [[ 9.96701344e-01 -7.90536613e-02 -1.83562082e-02 7.39634653e+02] [ 7.90604306e-02 9.96869761e-01 -3.57756025e-04 1.26429935e+01] [ 1.83270308e-02 -1.09467381e-03 9.99831447e-01 6.83693667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6292541539999 meters Centerline goodness [0,1] 0.9986637715049274 Centerline is valid? [True, True] Translation: X:739.67, Y:12.65, Z:6.84 [[ 9.96736634e-01 -7.85013778e-02 -1.88046957e-02 7.39666956e+02] [ 7.85084103e-02 9.96913385e-01 -3.65101080e-04 1.26456799e+01] [ 1.87753137e-02 -1.11241714e-03 9.99823109e-01 6.83649687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6592541539999 meters Centerline goodness [0,1] 0.9988075563272735 Centerline is valid? [True, True] Translation: X:739.70, Y:12.65, Z:6.84 [[ 9.96789739e-01 -7.76962295e-02 -1.93264516e-02 7.39698130e+02] [ 7.77035311e-02 9.96976440e-01 -3.73980096e-04 1.26466505e+01] [ 1.92970737e-02 -1.12895401e-03 9.99813157e-01 6.83616201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6892541539999 meters Centerline goodness [0,1] 0.9988301161527534 Centerline is valid? [True, True] Translation: X:739.73, Y:12.65, Z:6.84 [[ 9.96840825e-01 -7.69067032e-02 -1.98426152e-02 7.39730488e+02] [ 7.69142703e-02 9.97037637e-01 -3.82657384e-04 1.26529570e+01] [ 1.98132631e-02 -1.14473177e-03 9.99803043e-01 6.83648519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7192541539999 meters Centerline goodness [0,1] 0.9986214963031037 Centerline is valid? [True, True] Translation: X:739.76, Y:12.66, Z:6.84 [[ 9.97037640e-01 -7.38896808e-02 -2.13602464e-02 7.39760949e+02] [ 7.38977809e-02 9.97265736e-01 -4.10943855e-04 1.26559766e+01] [ 2.13322063e-02 -1.16874831e-03 9.99771759e-01 6.83521499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7492541539999 meters Centerline goodness [0,1] 0.9987661292009118 Centerline is valid? [True, True] Translation: X:739.79, Y:12.66, Z:6.84 [[ 9.97120801e-01 -7.30741043e-02 -2.02554623e-02 7.39792257e+02] [ 7.30812316e-02 9.97325916e-01 -3.89118447e-04 1.26607971e+01] [ 2.02297320e-02 -1.09229604e-03 9.99794761e-01 6.83718787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7792541539999 meters Centerline goodness [0,1] 0.9987706796682919 Centerline is valid? [True, True] Translation: X:739.82, Y:12.67, Z:6.84 [[ 9.97415257e-01 -6.91333494e-02 -1.95802249e-02 7.39821542e+02] [ 6.91392548e-02 9.97606948e-01 -3.75998661e-04 1.26654908e+01] [ 1.95593624e-02 -9.78735355e-04 9.99808218e-01 6.83848284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8092541539999 meters Centerline goodness [0,1] 0.9988295293035699 Centerline is valid? [True, True] Translation: X:739.85, Y:12.67, Z:6.84 [[ 9.97601922e-01 -6.65763019e-02 -1.89209297e-02 7.39853347e+02] [ 6.65813645e-02 9.97780933e-01 -3.62954624e-04 1.26716558e+01] [ 1.89031070e-02 -8.97697085e-04 9.99820917e-01 6.83990001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.839254154 meters Centerline goodness [0,1] 0.9987486443647284 Centerline is valid? [True, True] Translation: X:739.88, Y:12.67, Z:6.84 [[ 9.97807902e-01 -6.35398816e-02 -1.84952616e-02 7.39883836e+02] [ 6.35442262e-02 9.97978961e-01 -3.53281090e-04 1.26723365e+01] [ 1.84803294e-02 -8.22760423e-04 9.99828886e-01 6.84017137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8692541539999 meters Centerline goodness [0,1] 0.9987252361447797 Centerline is valid? [True, True] Translation: X:739.91, Y:12.68, Z:6.84 [[ 9.98238740e-01 -5.66770784e-02 -1.75250103e-02 7.39914267e+02] [ 5.66799399e-02 9.98392344e-01 -3.33772966e-04 1.26846894e+01] [ 1.75157534e-02 -6.60131427e-04 9.99846370e-01 6.84206334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8992541539999 meters Centerline goodness [0,1] 0.9989345700676862 Centerline is valid? [True, True] Translation: X:739.94, Y:12.69, Z:6.84 [[ 9.98662145e-01 -4.89463385e-02 -1.66785899e-02 7.39944545e+02] [ 4.89478547e-02 9.98801285e-01 -3.17547244e-04 1.26946344e+01] [ 1.66741398e-02 -4.99258783e-04 9.99860852e-01 6.84303998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9292541539999 meters Centerline goodness [0,1] 0.9988702928870293 Centerline is valid? [True, True] Translation: X:739.98, Y:12.70, Z:6.84 [[ 9.98853249e-01 -4.49792255e-02 -1.64029271e-02 7.39975097e+02] [ 4.49801634e-02 9.98987832e-01 -3.11934582e-04 1.26987409e+01] [ 1.64003552e-02 -4.26229472e-04 9.99865414e-01 6.84351246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.959254154 meters Centerline goodness [0,1] 0.9989537560159029 Centerline is valid? [True, True] Translation: X:740.01, Y:12.70, Z:6.84 [[ 9.99021655e-01 -4.13175159e-02 -1.57669466e-02 7.40006861e+02] [ 4.13179374e-02 9.99146005e-01 -2.99151686e-04 1.27029336e+01] [ 1.57658419e-02 -3.52598701e-04 9.99875649e-01 6.84378963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9892541539999 meters Centerline goodness [0,1] 0.9986416450723062 Centerline is valid? [True, True] Translation: X:740.04, Y:12.71, Z:6.84 [[ 9.99156178e-01 -3.81466616e-02 -1.52237723e-02 7.40037854e+02] [ 3.81466975e-02 9.99272108e-01 -2.88131553e-04 1.27066138e+01] [ 1.52236823e-02 -2.92848213e-04 9.99884070e-01 6.84461730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0192541539999 meters Centerline goodness [0,1] 0.9986189579409919 Centerline is valid? [True, True] Translation: X:740.07, Y:12.71, Z:6.85 [[ 9.99354419e-01 -3.32969373e-02 -1.34929294e-02 7.40069436e+02] [ 3.32965307e-02 9.99445484e-01 -2.54841732e-04 1.27124737e+01] [ 1.34939328e-02 -1.94590527e-04 9.99908934e-01 6.84553614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0492541539999 meters Centerline goodness [0,1] 0.998700645485791 Centerline is valid? [True, True] Translation: X:740.10, Y:12.71, Z:6.84 [[ 9.99429697e-01 -3.08144028e-02 -1.38113604e-02 7.40100828e+02] [ 3.08137492e-02 9.99525110e-01 -2.60165165e-04 1.27149940e+01] [ 1.38128184e-02 -1.65563004e-04 9.99904585e-01 6.84451591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.079254154 meters Centerline goodness [0,1] 0.9985954172868493 Centerline is valid? [True, True] Translation: X:740.13, Y:12.72, Z:6.85 [[ 9.99396182e-01 -3.18873359e-02 -1.38010489e-02 7.40132555e+02] [ 3.18867926e-02 9.99491453e-01 -2.59466423e-04 1.27161852e+01] [ 1.38023041e-02 -1.80761432e-04 9.99904727e-01 6.84536855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1092541539999 meters Centerline goodness [0,1] 0.9985964471258589 Centerline is valid? [True, True] Translation: X:740.16, Y:12.72, Z:6.84 [[ 9.99355995e-01 -3.28844974e-02 -1.43598173e-02 7.40162861e+02] [ 3.28840186e-02 9.99459138e-01 -2.69522266e-04 1.27162264e+01] [ 1.43609137e-02 -2.02859807e-04 9.99896856e-01 6.84480777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1392541539999 meters Centerline goodness [0,1] 0.9988690388924959 Centerline is valid? [True, True] Translation: X:740.19, Y:12.71, Z:6.84 [[ 9.99197222e-01 -3.68755813e-02 -1.56557979e-02 7.40192894e+02] [ 3.68755137e-02 9.99319824e-01 -2.93091792e-04 1.27130282e+01] [ 1.56559571e-02 -2.84459085e-04 9.99877398e-01 6.84326577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1692541539999 meters Centerline goodness [0,1] 0.9986386864371283 Centerline is valid? [True, True] Translation: X:740.22, Y:12.71, Z:6.84 [[ 9.99092025e-01 -3.93758396e-02 -1.62686503e-02 7.40224182e+02] [ 3.93761163e-02 9.99224414e-01 -3.03434740e-04 1.27114362e+01] [ 1.62679805e-02 -3.37437036e-04 9.99867611e-01 6.84302278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1992541539998 meters Centerline goodness [0,1] 0.99866119989959 Centerline is valid? [True, True] Translation: X:740.26, Y:12.71, Z:6.84 [[ 9.98876837e-01 -4.44912394e-02 -1.62970341e-02 7.40255092e+02] [ 4.44922049e-02 9.99009685e-01 -3.03497433e-04 1.27079460e+01] [ 1.62943979e-02 -4.21934424e-04 9.99867148e-01 6.84337540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2292541539999 meters Centerline goodness [0,1] 0.9986792729712165 Centerline is valid? [True, True] Translation: X:740.29, Y:12.70, Z:6.84 [[ 9.98767277e-01 -4.70632226e-02 -1.57790939e-02 7.40285952e+02] [ 4.70644547e-02 9.98891811e-01 -2.93453483e-04 1.27049656e+01] [ 1.57754185e-02 -4.49542711e-04 9.99875459e-01 6.84354514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2592541539999 meters Centerline goodness [0,1] 0.9985339393050873 Centerline is valid? [True, True] Translation: X:740.32, Y:12.70, Z:6.84 [[ 9.98581753e-01 -5.11183829e-02 -1.48792742e-02 7.40316664e+02] [ 5.11199344e-02 9.98692483e-01 -2.76296503e-04 1.27031986e+01] [ 1.48739431e-02 -4.84722872e-04 9.99889259e-01 6.84492135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2892541539999 meters Centerline goodness [0,1] 0.9987009177387588 Centerline is valid? [True, True] Translation: X:740.35, Y:12.70, Z:6.85 [[ 9.98519115e-01 -5.25303357e-02 -1.41471389e-02 7.40348804e+02] [ 5.25318871e-02 9.98619213e-01 -2.62183258e-04 1.27028933e+01] [ 1.41413773e-02 -4.81380907e-04 9.99899890e-01 6.84574216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3192541539999 meters Centerline goodness [0,1] 0.9985776736597711 Centerline is valid? [True, True] Translation: X:740.38, Y:12.70, Z:6.85 [[ 9.98434374e-01 -5.41655069e-02 -1.39605960e-02 7.40381312e+02] [ 5.41671915e-02 9.98531847e-01 -2.57700252e-04 1.27007960e+01] [ 1.39540582e-02 -4.98909489e-04 9.99902513e-01 6.84568699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3492541539999 meters Centerline goodness [0,1] 0.9984538559578781 Centerline is valid? [True, True] Translation: X:740.41, Y:12.70, Z:6.85 [[ 9.98444087e-01 -5.40904184e-02 -1.35510964e-02 7.40412481e+02] [ 5.40920110e-02 9.98535924e-01 -2.49237262e-04 1.26991612e+01] [ 1.35447380e-02 -4.84156587e-04 9.99908149e-01 6.84532351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3792541539999 meters Centerline goodness [0,1] 0.9984942278735152 Centerline is valid? [True, True] Translation: X:740.44, Y:12.70, Z:6.85 [[ 9.98468401e-01 -5.37100018e-02 -1.32697930e-02 7.40444161e+02] [ 5.37115049e-02 9.98556466e-01 -2.43345240e-04 1.26969485e+01] [ 1.32637077e-02 -4.69768018e-04 9.99911923e-01 6.84581595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4092541539999 meters Centerline goodness [0,1] 0.9985573002697221 Centerline is valid? [True, True] Translation: X:740.48, Y:12.70, Z:6.85 [[ 9.98590378e-01 -5.14686547e-02 -1.29705529e-02 7.40476074e+02] [ 5.14699118e-02 9.98674518e-01 -2.37094478e-04 1.27019519e+01] [ 1.29655636e-02 -4.30832948e-04 9.99915851e-01 6.84669395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4392541539999 meters Centerline goodness [0,1] 0.9985983850048115 Centerline is valid? [True, True] Translation: X:740.51, Y:12.70, Z:6.85 [[ 9.98683179e-01 -4.97142900e-02 -1.26648063e-02 7.40507508e+02] [ 4.97153584e-02 9.98763400e-01 -2.30647942e-04 1.27029313e+01] [ 1.26606115e-02 -3.99291166e-04 9.99919772e-01 6.84708527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4692541539999 meters Centerline goodness [0,1] 0.9983264648662218 Centerline is valid? [True, True] Translation: X:740.54, Y:12.71, Z:6.85 [[ 9.98876771e-01 -4.57261140e-02 -1.24225144e-02 7.40538261e+02] [ 4.57268414e-02 9.98953955e-01 -2.25618337e-04 1.27050873e+01] [ 1.24198366e-02 -3.42677431e-04 9.99922812e-01 6.84708461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4992541539999 meters Centerline goodness [0,1] 0.9985773760957343 Centerline is valid? [True, True] Translation: X:740.57, Y:12.71, Z:6.85 [[ 9.98980034e-01 -4.33560720e-02 -1.26151991e-02 7.40570639e+02] [ 4.33566406e-02 9.99059633e-01 -2.28536589e-04 1.27073819e+01] [ 1.26132446e-02 -3.18649163e-04 9.99920399e-01 6.84725792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5292541539999 meters Centerline goodness [0,1] 0.9986179168237216 Centerline is valid? [True, True] Translation: X:740.60, Y:12.71, Z:6.85 [[ 9.99152793e-01 -3.89736860e-02 -1.32192545e-02 7.40602501e+02] [ 3.89739392e-02 9.99240199e-01 -2.38558630e-04 1.27101391e+01] [ 1.32185080e-02 -2.76849901e-04 9.99912593e-01 6.84607605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5592541539999 meters Centerline goodness [0,1] 0.9988050815479435 Centerline is valid? [True, True] Translation: X:740.63, Y:12.71, Z:6.85 [[ 9.99221363e-01 -3.70771701e-02 -1.34889219e-02 7.40633168e+02] [ 3.70772690e-02 9.99312372e-01 -2.42832266e-04 1.27112702e+01] [ 1.34886501e-02 -2.57489197e-04 9.99908991e-01 6.84587845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.589254154 meters Centerline goodness [0,1] 0.9988050815479435 Centerline is valid? [True, True] Translation: X:740.66, Y:12.71, Z:6.85 [[ 9.99222684e-01 -3.70415650e-02 -1.34889275e-02 7.40664012e+02] [ 3.70416649e-02 9.99313693e-01 -2.42517994e-04 1.27117944e+01] [ 1.34886532e-02 -2.57322853e-04 9.99908991e-01 6.84616739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6192541539999 meters Centerline goodness [0,1] 0.9988685649632284 Centerline is valid? [True, True] Translation: X:740.69, Y:12.71, Z:6.85 [[ 9.99299623e-01 -3.48768717e-02 -1.35597888e-02 7.40694032e+02] [ 3.48767789e-02 9.99391590e-01 -2.43382254e-04 1.27132091e+01] [ 1.35600274e-02 -2.29709964e-04 9.99908032e-01 6.84600724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6492541539999 meters Centerline goodness [0,1] 0.9989525066515828 Centerline is valid? [True, True] Translation: X:740.73, Y:12.72, Z:6.85 [[ 9.99437712e-01 -3.05168154e-02 -1.38918436e-02 7.40725243e+02] [ 3.05163016e-02 9.99534238e-01 -2.49010754e-04 1.27174057e+01] [ 1.38929724e-02 -1.75056951e-04 9.99903473e-01 6.84647803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6792541539999 meters Centerline goodness [0,1] 0.9990780899700379 Centerline is valid? [True, True] Translation: X:740.76, Y:12.72, Z:6.85 [[ 9.99547037e-01 -2.68308295e-02 -1.36318523e-02 7.40756132e+02] [ 2.68299975e-02 9.99639981e-01 -2.43943403e-04 1.27199389e+01] [ 1.36334897e-02 -1.21909657e-04 9.99907052e-01 6.84681289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.709254154 meters Centerline goodness [0,1] 0.9989941535173195 Centerline is valid? [True, True] Translation: X:740.79, Y:12.72, Z:6.85 [[ 9.99601652e-01 -2.47818657e-02 -1.35054464e-02 7.40787135e+02] [ 2.47808654e-02 9.99692878e-01 -2.41433954e-04 1.27204700e+01] [ 1.35072818e-02 -9.33388707e-05 9.99908768e-01 6.84578894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7392541539999 meters Centerline goodness [0,1] 0.9990150673735828 Centerline is valid? [True, True] Translation: X:740.82, Y:12.72, Z:6.85 [[ 9.99618895e-01 -2.39806713e-02 -1.36744777e-02 7.40817588e+02] [ 2.39795732e-02 9.99712419e-01 -2.44280339e-04 1.27208601e+01] [ 1.36764031e-02 -8.37208959e-05 9.99906470e-01 6.84566093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7692541539999 meters Centerline goodness [0,1] 0.999223797935722 Centerline is valid? [True, True] Translation: X:740.85, Y:12.72, Z:6.85 [[ 9.99605210e-01 -2.41904137e-02 -1.42915378e-02 7.40847271e+02] [ 2.41892331e-02 9.99707365e-01 -2.55484537e-04 1.27202849e+01] [ 1.42935359e-02 -9.03176659e-05 9.99897838e-01 6.84691047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7992541539999 meters Centerline goodness [0,1] 0.9991618824121025 Centerline is valid? [True, True] Translation: X:740.88, Y:12.72, Z:6.85 [[ 9.99576216e-01 -2.50456583e-02 -1.48358523e-02 7.40875638e+02] [ 2.50444706e-02 9.99686303e-01 -2.65871637e-04 1.27191472e+01] [ 1.48378573e-02 -1.05797102e-04 9.99889907e-01 6.84639325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.829254154 meters Centerline goodness [0,1] 0.9990354574238326 Centerline is valid? [True, True] Translation: X:740.91, Y:12.72, Z:6.85 [[ 9.99459923e-01 -2.85897059e-02 -1.62015895e-02 7.40905745e+02] [ 2.85887419e-02 9.99591216e-01 -2.91152531e-04 1.27155977e+01] [ 1.62032905e-02 -1.72187775e-04 9.99868703e-01 6.84596398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8592541539999 meters Centerline goodness [0,1] 0.9992044717064081 Centerline is valid? [True, True] Translation: X:740.94, Y:12.71, Z:6.85 [[ 9.99380466e-01 -3.09635441e-02 -1.67315299e-02 7.40935373e+02] [ 3.09628383e-02 9.99520491e-01 -3.01290864e-04 1.27133771e+01] [ 1.67328360e-02 -2.16951451e-04 9.99859973e-01 6.84586746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8892541539999 meters Centerline goodness [0,1] 0.9990594431903687 Centerline is valid? [True, True] Translation: X:740.96, Y:12.71, Z:6.85 [[ 9.99289202e-01 -3.36661603e-02 -1.69611646e-02 7.40964176e+02] [ 3.36658114e-02 9.99433099e-01 -3.06179474e-04 1.27102383e+01] [ 1.69618572e-02 -2.65049526e-04 9.99856102e-01 6.84567393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9192541539999 meters Centerline goodness [0,1] 0.9991232647949065 Centerline is valid? [True, True] Translation: X:740.99, Y:12.70, Z:6.85 [[ 9.99082360e-01 -3.95467500e-02 -1.64466663e-02 7.40993399e+02] [ 3.95472109e-02 9.99217659e-01 -2.97333470e-04 1.27028392e+01] [ 1.64455580e-02 -3.53359156e-04 9.99864700e-01 6.84606131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9492541539998 meters Centerline goodness [0,1] 0.99880820457064 Centerline is valid? [True, True] Translation: X:741.02, Y:12.70, Z:6.85 [[ 9.98976854e-01 -4.24014004e-02 -1.57278888e-02 7.41024729e+02] [ 4.24021800e-02 9.99100583e-01 -2.84047574e-04 1.27006088e+01] [ 1.57257869e-02 -3.83139821e-04 9.99876269e-01 6.84697043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9792541539999 meters Centerline goodness [0,1] 0.9986845951476176 Centerline is valid? [True, True] Translation: X:741.05, Y:12.69, Z:6.85 [[ 9.98753427e-01 -4.75082147e-02 -1.53154170e-02 7.41054881e+02] [ 4.75095651e-02 9.98870745e-01 -2.75850871e-04 1.26947671e+01] [ 1.53112272e-02 -4.52121800e-04 9.99882674e-01 6.84721232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0092541539999 meters Centerline goodness [0,1] 0.9989363033412589 Centerline is valid? [True, True] Translation: X:741.09, Y:12.69, Z:6.85 [[ 9.98659829e-01 -4.95501565e-02 -1.49441601e-02 7.41085645e+02] [ 4.95516818e-02 9.98771525e-01 -2.68423221e-04 1.26934030e+01] [ 1.49391020e-02 -4.72444779e-04 9.99888294e-01 6.84894294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0392541539999 meters Centerline goodness [0,1] 0.9991443002045332 Centerline is valid? [True, True] Translation: X:741.12, Y:12.69, Z:6.85 [[ 9.98545863e-01 -5.19134815e-02 -1.45310039e-02 7.41115959e+02] [ 5.19151772e-02 9.98651464e-01 -2.60747645e-04 1.26898440e+01] [ 1.45249446e-02 -4.94011158e-04 9.99894385e-01 6.84973985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0692541539999 meters Centerline goodness [0,1] 0.9988937591317053 Centerline is valid? [True, True] Translation: X:741.15, Y:12.69, Z:6.85 [[ 9.98534234e-01 -5.21745357e-02 -1.43944977e-02 7.41147428e+02] [ 5.21762316e-02 9.98637859e-01 -2.57957147e-04 1.26884346e+01] [ 1.43883491e-02 -4.93471603e-04 9.99896361e-01 6.84955203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0992541539999 meters Centerline goodness [0,1] 0.9989539967783101 Centerline is valid? [True, True] Translation: X:741.18, Y:12.69, Z:6.85 [[ 9.98499692e-01 -5.27933756e-02 -1.45335644e-02 7.41178817e+02] [ 5.27951774e-02 9.98605328e-01 -2.59935841e-04 1.26877984e+01] [ 1.45270177e-02 -5.07756251e-04 9.99894348e-01 6.85080142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1292541539999 meters Centerline goodness [0,1] 0.9989975984128642 Centerline is valid? [True, True] Translation: X:741.21, Y:12.69, Z:6.85 [[ 9.98512331e-01 -5.28046809e-02 -1.35937687e-02 7.41209731e+02] [ 5.28062688e-02 9.98604746e-01 -2.42349706e-04 1.26856564e+01] [ 1.35875991e-02 -4.75847033e-04 9.99907571e-01 6.85163958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1592541539999 meters Centerline goodness [0,1] 0.9988716384228012 Centerline is valid? [True, True] Translation: X:741.24, Y:12.69, Z:6.85 [[ 9.98518838e-01 -5.27566281e-02 -1.32992035e-02 7.41241472e+02] [ 5.27581608e-02 9.98607291e-01 -2.35809595e-04 1.26852374e+01] [ 1.32931221e-02 -4.66181193e-04 9.99911534e-01 6.85233603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1892541539999 meters Centerline goodness [0,1] 0.9988271023143784 Centerline is valid? [True, True] Translation: X:741.27, Y:12.68, Z:6.85 [[ 9.98529909e-01 -5.25197482e-02 -1.34051368e-02 7.41272519e+02] [ 5.25212956e-02 9.98619776e-01 -2.36827787e-04 1.26843030e+01] [ 1.33990729e-02 -4.67575525e-04 9.99910119e-01 6.85265282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2192541539999 meters Centerline goodness [0,1] 0.9987039591956185 Centerline is valid? [True, True] Translation: X:741.30, Y:12.69, Z:6.85 [[ 9.98534265e-01 -5.23225406e-02 -1.38446227e-02 7.41304880e+02] [ 5.23241834e-02 9.98630122e-01 -2.43787418e-04 1.26852833e+01] [ 1.38384129e-02 -4.80978489e-04 9.99904129e-01 6.85280183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2492541539999 meters Centerline goodness [0,1] 0.9987233953498106 Centerline is valid? [True, True] Translation: X:741.34, Y:12.69, Z:6.85 [[ 9.98522856e-01 -5.24534047e-02 -1.41684945e-02 7.41336996e+02] [ 5.24551524e-02 9.98623250e-01 -2.48497529e-04 1.26871273e+01] [ 1.41620226e-02 -4.95080078e-04 9.99899591e-01 6.85259921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2792541539999 meters Centerline goodness [0,1] 0.9988511269400289 Centerline is valid? [True, True] Translation: X:741.37, Y:12.69, Z:6.85 [[ 9.98470611e-01 -5.31553753e-02 -1.51968540e-02 7.41369413e+02] [ 5.31574844e-02 9.98586106e-01 -2.65405692e-04 1.26889013e+01] [ 1.51894750e-02 -5.42826746e-04 9.99884486e-01 6.85202711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3092541539999 meters Centerline goodness [0,1] 0.9987290872346188 Centerline is valid? [True, True] Translation: X:741.40, Y:12.69, Z:6.85 [[ 9.98399215e-01 -5.42725986e-02 -1.59214695e-02 7.41400549e+02] [ 5.42750725e-02 9.98525984e-01 -2.76992776e-04 1.26886766e+01] [ 1.59130341e-02 -5.87589540e-04 9.99873207e-01 6.85176786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.339254154 meters Centerline goodness [0,1] 0.9988737329495683 Centerline is valid? [True, True] Translation: X:741.43, Y:12.69, Z:6.85 [[ 9.98347155e-01 -5.50727392e-02 -1.64302220e-02 7.41431681e+02] [ 5.50754948e-02 9.98482152e-01 -2.85063186e-04 1.26903265e+01] [ 1.64209827e-02 -6.20310587e-04 9.99864974e-01 6.85208353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3692541539999 meters Centerline goodness [0,1] 0.9987683957833211 Centerline is valid? [True, True] Translation: X:741.46, Y:12.69, Z:6.85 [[ 9.98293020e-01 -5.59041583e-02 -1.69048009e-02 7.41463358e+02] [ 5.59072050e-02 9.98435926e-01 -2.92672497e-04 1.26903935e+01] [ 1.68947222e-02 -6.52927259e-04 9.99857061e-01 6.85189644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3992541539999 meters Centerline goodness [0,1] 0.9988515587479903 Centerline is valid? [True, True] Translation: X:741.49, Y:12.69, Z:6.85 [[ 9.98152665e-01 -5.80271941e-02 -1.80028490e-02 7.41494688e+02] [ 5.80310065e-02 9.98314733e-01 -3.11003017e-04 1.26921868e+01] [ 1.79905560e-02 -7.34294956e-04 9.99837887e-01 6.85230139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4292541539999 meters Centerline goodness [0,1] 0.9988526129133202 Centerline is valid? [True, True] Translation: X:741.52, Y:12.69, Z:6.85 [[ 9.98102383e-01 -5.88891855e-02 -1.79915789e-02 7.41524613e+02] [ 5.88931420e-02 9.98264244e-01 -3.10305537e-04 1.26918268e+01] [ 1.79786235e-02 -7.49863912e-04 9.99838090e-01 6.85248210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.459254154 meters Centerline goodness [0,1] 0.9988136122385264 Centerline is valid? [True, True] Translation: X:741.56, Y:12.69, Z:6.85 [[ 9.98017397e-01 -6.02220201e-02 -1.82916246e-02 7.41556296e+02] [ 6.02263455e-02 9.98184696e-01 -3.14809377e-04 1.26938053e+01] [ 1.82773782e-02 -7.87452466e-04 9.99832645e-01 6.85272849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4892541539999 meters Centerline goodness [0,1] 0.9989567467189684 Centerline is valid? [True, True] Translation: X:741.59, Y:12.69, Z:6.85 [[ 9.98032020e-01 -5.99485403e-02 -1.83918421e-02 7.41587640e+02] [ 5.99528825e-02 9.98201158e-01 -3.15679147e-04 1.26943589e+01] [ 1.83776825e-02 -7.87586049e-04 9.99830806e-01 6.85305759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5192541539999 meters Centerline goodness [0,1] 0.9988128462531761 Centerline is valid? [True, True] Translation: X:741.62, Y:12.70, Z:6.85 [[ 9.98108328e-01 -5.86525161e-02 -1.84295638e-02 7.41617985e+02] [ 5.86566650e-02 9.98278166e-01 -3.15817788e-04 1.26977107e+01] [ 1.84163547e-02 -7.65796389e-04 9.99830111e-01 6.85384362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5492541539999 meters Centerline goodness [0,1] 0.9988544053322225 Centerline is valid? [True, True] Translation: X:741.65, Y:12.70, Z:6.85 [[ 9.98195705e-01 -5.71413923e-02 -1.84444126e-02 7.41649164e+02] [ 5.71452997e-02 9.98365822e-01 -3.15563654e-04 1.27023060e+01] [ 1.84323029e-02 -7.39017200e-04 9.99829838e-01 6.85486983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.579254154 meters Centerline goodness [0,1] 0.9989565289980591 Centerline is valid? [True, True] Translation: X:741.68, Y:12.71, Z:6.86 [[ 9.98409878e-01 -5.33435204e-02 -1.82259512e-02 7.41679460e+02] [ 5.33467131e-02 9.98576002e-01 -3.11315393e-04 1.27051169e+01] [ 1.82166041e-02 -6.61474224e-04 9.99833845e-01 6.85523156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6092541539999 meters Centerline goodness [0,1] 0.9991035877337447 Centerline is valid? [True, True] Translation: X:741.71, Y:12.71, Z:6.86 [[ 9.98548608e-01 -5.07981554e-02 -1.78948388e-02 7.41710555e+02] [ 5.08008335e-02 9.98708757e-01 -3.05173336e-04 1.27099169e+01] [ 1.78872344e-02 -6.04342316e-04 9.99839828e-01 6.85654654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6392541539999 meters Centerline goodness [0,1] 0.9992275574112734 Centerline is valid? [True, True] Translation: X:741.74, Y:12.72, Z:6.86 [[ 9.98825117e-01 -4.53677993e-02 -1.70337393e-02 7.41741669e+02] [ 4.53694448e-02 9.98970234e-01 -2.90019112e-04 1.27166700e+01] [ 1.70293560e-02 -4.83132920e-04 9.99854873e-01 6.85765226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6692541539999 meters Centerline goodness [0,1] 0.9990593252226264 Centerline is valid? [True, True] Translation: X:741.77, Y:12.72, Z:6.86 [[ 9.98946534e-01 -4.26703516e-02 -1.68838027e-02 7.41772705e+02] [ 4.26715907e-02 9.99089112e-01 -2.87020029e-04 1.27200068e+01] [ 1.68806706e-02 -4.33741053e-04 9.99857417e-01 6.85841318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6992541539998 meters Centerline goodness [0,1] 0.9991443002045332 Centerline is valid? [True, True] Translation: X:741.80, Y:12.72, Z:6.86 [[ 9.99057744e-01 -4.02589882e-02 -1.62122979e-02 7.41803858e+02] [ 4.02598228e-02 9.99189207e-01 -2.75025199e-04 1.27232946e+01] [ 1.62102253e-02 -3.77938185e-04 9.99868534e-01 6.85924367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7292541539999 meters Centerline goodness [0,1] 0.999206415504135 Centerline is valid? [True, True] Translation: X:741.83, Y:12.73, Z:6.86 [[ 9.99205308e-01 -3.63883624e-02 -1.62677216e-02 7.41833943e+02] [ 3.63886975e-02 9.99337674e-01 -2.75497549e-04 1.27279574e+01] [ 1.62669720e-02 -3.16682588e-04 9.99867634e-01 6.85983688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7592541539999 meters Centerline goodness [0,1] 0.9993313832010029 Centerline is valid? [True, True] Translation: X:741.86, Y:12.73, Z:6.86 [[ 9.99300476e-01 -3.39002018e-02 -1.57903516e-02 7.41864594e+02] [ 3.39002096e-02 9.99425187e-01 -2.67248810e-04 1.27310906e+01] [ 1.57903349e-02 -2.68234366e-04 9.99875289e-01 6.86018267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7892541539999 meters Centerline goodness [0,1] 0.9993306839573312 Centerline is valid? [True, True] Translation: X:741.89, Y:12.73, Z:6.86 [[ 9.99331707e-01 -3.30042393e-02 -1.57117430e-02 7.41894672e+02] [ 3.30041381e-02 9.99455180e-01 -2.65806563e-04 1.27321810e+01] [ 1.57119556e-02 -2.52923608e-04 9.99876528e-01 6.86017617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8192541539999 meters Centerline goodness [0,1] 0.9990996461399946 Centerline is valid? [True, True] Translation: X:741.93, Y:12.73, Z:6.86 [[ 9.99351702e-01 -3.25353014e-02 -1.54152184e-02 7.41925480e+02] [ 3.25351506e-02 9.99470558e-01 -2.60628153e-04 1.27345248e+01] [ 1.54155366e-02 -2.41077265e-04 9.99881144e-01 6.86069986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8492541539999 meters Centerline goodness [0,1] 0.9992466255100974 Centerline is valid? [True, True] Translation: X:741.96, Y:12.74, Z:6.86 [[ 9.99351399e-01 -3.14973093e-02 -1.74556837e-02 7.41955909e+02] [ 3.14969603e-02 9.99503804e-01 -2.94979409e-04 1.27354465e+01] [ 1.74563133e-02 -2.55012892e-04 9.99847594e-01 6.85945166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8792541539999 meters Centerline goodness [0,1] 0.9990990235930101 Centerline is valid? [True, True] Translation: X:741.99, Y:12.74, Z:6.86 [[ 9.99336147e-01 -3.17212359e-02 -1.79172804e-02 7.41985181e+02] [ 3.17209019e-02 9.99496720e-01 -3.02912767e-04 1.27365347e+01] [ 1.79178718e-02 -2.65640618e-04 9.99839427e-01 6.85941433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9092541539999 meters Centerline goodness [0,1] 0.9989331213522163 Centerline is valid? [True, True] Translation: X:742.01, Y:12.74, Z:6.86 [[ 9.99287537e-01 -3.32733371e-02 -1.78130284e-02 7.42014474e+02] [ 3.32732420e-02 9.99446247e-01 -3.01790951e-04 1.27367714e+01] [ 1.78132060e-02 -2.91121270e-04 9.99841290e-01 6.86009794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9392541539999 meters Centerline goodness [0,1] 0.9989941113602548 Centerline is valid? [True, True] Translation: X:742.04, Y:12.74, Z:6.86 [[ 9.99247917e-01 -3.43715705e-02 -1.79497827e-02 7.42044243e+02] [ 3.43716394e-02 9.99409074e-01 -3.04758195e-04 1.27360964e+01] [ 1.79496508e-02 -3.12434467e-04 9.99838843e-01 6.86005125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9692541539999 meters Centerline goodness [0,1] 0.9990791704162568 Centerline is valid? [True, True] Translation: X:742.07, Y:12.73, Z:6.86 [[ 9.99180366e-01 -3.63616354e-02 -1.77884154e-02 7.42073869e+02] [ 3.63620097e-02 9.99338638e-01 -3.02503294e-04 1.27336786e+01] [ 1.77876503e-02 -3.44567180e-04 9.99841728e-01 6.86034933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9992541539999 meters Centerline goodness [0,1] 0.9989139288623405 Centerline is valid? [True, True] Translation: X:742.10, Y:12.73, Z:6.86 [[ 9.99152552e-01 -3.72935915e-02 -1.74173996e-02 7.42104819e+02] [ 3.72940890e-02 9.99304290e-01 -2.96357874e-04 1.27346722e+01] [ 1.74163344e-02 -3.53459325e-04 9.99848262e-01 6.86154340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0292541539999 meters Centerline goodness [0,1] 0.9990155831099196 Centerline is valid? [True, True] Translation: X:742.14, Y:12.73, Z:6.86 [[ 9.99115267e-01 -3.85700631e-02 -1.67640401e-02 7.42135468e+02] [ 3.85707058e-02 9.99255833e-01 -2.85104918e-04 1.27322410e+01] [ 1.67625613e-02 -3.61748180e-04 9.99859433e-01 6.86221191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0592541539999 meters Centerline goodness [0,1] 0.9988925340075642 Centerline is valid? [True, True] Translation: X:742.17, Y:12.73, Z:6.86 [[ 9.99100873e-01 -3.88185739e-02 -1.70459542e-02 7.42166987e+02] [ 3.88192823e-02 9.99246206e-01 -2.89442153e-04 1.27333749e+01] [ 1.70443407e-02 -3.72529799e-04 9.99854665e-01 6.86306589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.089254154 meters Centerline goodness [0,1] 0.9988925108659311 Centerline is valid? [True, True] Translation: X:742.20, Y:12.73, Z:6.86 [[ 9.99063229e-01 -3.96589621e-02 -1.73156274e-02 7.42197475e+02] [ 3.96598279e-02 9.99213196e-01 -2.93526817e-04 1.27317915e+01] [ 1.73136444e-02 -3.93482954e-04 9.99850030e-01 6.86320799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1192541539999 meters Centerline goodness [0,1] 0.998974766707118 Centerline is valid? [True, True] Translation: X:742.23, Y:12.73, Z:6.86 [[ 9.99028598e-01 -4.05342910e-02 -1.72867243e-02 7.42229068e+02] [ 4.05352928e-02 9.99178064e-01 -2.92574191e-04 1.27312296e+01] [ 1.72843751e-02 -4.08432448e-04 9.99850531e-01 6.86324522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1492541539999 meters Centerline goodness [0,1] 0.999015624345495 Centerline is valid? [True, True] Translation: X:742.26, Y:12.73, Z:6.86 [[ 9.98921047e-01 -4.28394600e-02 -1.79310764e-02 7.42259671e+02] [ 4.28409183e-02 9.99081860e-01 -3.02964432e-04 1.27274222e+01] [ 1.79275920e-02 -4.65546230e-04 9.99839179e-01 6.86263596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1792541539999 meters Centerline goodness [0,1] 0.9992469249435194 Centerline is valid? [True, True] Translation: X:742.29, Y:12.73, Z:6.86 [[ 9.98863736e-01 -4.41689651e-02 -1.78980260e-02 7.42291052e+02] [ 4.41706398e-02 9.99023955e-01 -3.01925585e-04 1.27257611e+01] [ 1.78938925e-02 -4.88984741e-04 9.99839772e-01 6.86301831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.209254154 meters Centerline goodness [0,1] 0.9990374958151992 Centerline is valid? [True, True] Translation: X:742.32, Y:12.72, Z:6.86 [[ 9.98741559e-01 -4.70288128e-02 -1.74238236e-02 7.42322148e+02] [ 4.70308455e-02 9.98893394e-01 -2.93304072e-04 1.27225490e+01] [ 1.74183360e-02 -5.26522189e-04 9.99848151e-01 6.86353269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2392541539999 meters Centerline goodness [0,1] 0.9992679508899626 Centerline is valid? [True, True] Translation: X:742.35, Y:12.72, Z:6.86 [[ 9.98715250e-01 -4.76366679e-02 -1.72799492e-02 7.42352272e+02] [ 4.76387664e-02 9.98864587e-01 -2.90403935e-04 1.27207497e+01] [ 1.72741632e-02 -5.33164623e-04 9.99850648e-01 6.86357785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2692541539999 meters Centerline goodness [0,1] 0.9987657678388385 Centerline is valid? [True, True] Translation: X:742.38, Y:12.72, Z:6.86 [[ 9.98713746e-01 -4.78467389e-02 -1.67792260e-02 7.42383605e+02] [ 4.78487544e-02 9.98854553e-01 -2.81550743e-04 1.27222190e+01] [ 1.67734776e-02 -5.21676466e-04 9.99859179e-01 6.86472690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2992541539999 meters Centerline goodness [0,1] 0.9991029331998165 Centerline is valid? [True, True] Translation: X:742.41, Y:12.72, Z:6.87 [[ 9.98735781e-01 -4.74219972e-02 -1.66731371e-02 7.42414629e+02] [ 4.74239384e-02 9.98874813e-01 -2.79155471e-04 1.27209023e+01] [ 1.66676148e-02 -5.11903270e-04 9.99860955e-01 6.86518224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.329254154 meters Centerline goodness [0,1] 0.9989770141339067 Centerline is valid? [True, True] Translation: X:742.45, Y:12.72, Z:6.87 [[ 9.98756261e-01 -4.70100740e-02 -1.66127960e-02 7.42445615e+02] [ 4.70119545e-02 9.98894288e-01 -2.77534543e-04 1.27203556e+01] [ 1.66074740e-02 -5.03810647e-04 9.99861959e-01 6.86532217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3592541539999 meters Centerline goodness [0,1] 0.9991232098868523 Centerline is valid? [True, True] Translation: X:742.48, Y:12.72, Z:6.87 [[ 9.98789181e-01 -4.64069176e-02 -1.63269430e-02 7.42476582e+02] [ 4.64086630e-02 9.98922500e-01 -2.72165632e-04 1.27201615e+01] [ 1.63219811e-02 -4.85875509e-04 9.99866670e-01 6.86586523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3892541539999 meters Centerline goodness [0,1] 0.9991253097861175 Centerline is valid? [True, True] Translation: X:742.51, Y:12.72, Z:6.87 [[ 9.98787633e-01 -4.63889524e-02 -1.64720831e-02 7.42507656e+02] [ 4.63907365e-02 9.98923333e-01 -2.73977908e-04 1.27199344e+01] [ 1.64670577e-02 -4.90506320e-04 9.99864288e-01 6.86595207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4192541539999 meters Centerline goodness [0,1] 0.9992282663106958 Centerline is valid? [True, True] Translation: X:742.54, Y:12.72, Z:6.87 [[ 9.98769226e-01 -4.66240741e-02 -1.69183175e-02 7.42538542e+02] [ 4.66260006e-02 9.98912377e-01 -2.80769514e-04 1.27199319e+01] [ 1.69130073e-02 -5.08409530e-04 9.99856836e-01 6.86606817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4492541539998 meters Centerline goodness [0,1] 0.998936125829196 Centerline is valid? [True, True] Translation: X:742.57, Y:12.72, Z:6.87 [[ 9.98707258e-01 -4.78135548e-02 -1.72533107e-02 7.42568997e+02] [ 4.78157443e-02 9.98856132e-01 -2.85831087e-04 1.27160621e+01] [ 1.72472418e-02 -5.39518309e-04 9.99851110e-01 6.86535277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4792541539999 meters Centerline goodness [0,1] 0.9992275090297931 Centerline is valid? [True, True] Translation: X:742.60, Y:12.71, Z:6.87 [[ 9.98613664e-01 -4.95729769e-02 -1.76994369e-02 7.42600201e+02] [ 4.95755656e-02 9.98770333e-01 -2.92742989e-04 1.27144440e+01] [ 1.76921846e-02 -5.85122447e-04 9.99843310e-01 6.86556851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5092541539999 meters Centerline goodness [0,1] 0.9992275090297931 Centerline is valid? [True, True] Translation: X:742.63, Y:12.71, Z:6.87 [[ 9.98615462e-01 -4.95367486e-02 -1.76994475e-02 7.42631057e+02] [ 4.95393430e-02 9.98772130e-01 -2.92100944e-04 1.27149233e+01] [ 1.76921846e-02 -5.85122481e-04 9.99843310e-01 6.86585752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5392541539999 meters Centerline goodness [0,1] 0.9989582465205433 Centerline is valid? [True, True] Translation: X:742.66, Y:12.71, Z:6.87 [[ 9.98546920e-01 -5.08034581e-02 -1.79738162e-02 7.42662380e+02] [ 5.08063503e-02 9.98708480e-01 -2.95972415e-04 1.27135142e+01] [ 1.79656391e-02 -6.17641661e-04 9.99838414e-01 6.86580784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5692541539999 meters Centerline goodness [0,1] 0.999230032879677 Centerline is valid? [True, True] Translation: X:742.69, Y:12.71, Z:6.87 [[ 9.98467397e-01 -5.21513143e-02 -1.85228913e-02 7.42693293e+02] [ 5.21546326e-02 9.98638975e-01 -3.04207945e-04 1.27138137e+01] [ 1.85135460e-02 -6.62312872e-04 9.99828390e-01 6.86621367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5992541539999 meters Centerline goodness [0,1] 0.999081688024377 Centerline is valid? [True, True] Translation: X:742.72, Y:12.71, Z:6.87 [[ 9.98285660e-01 -5.50442602e-02 -1.98964968e-02 7.42724000e+02] [ 5.50486766e-02 9.98483619e-01 -3.26072254e-04 1.27095951e+01] [ 1.98842745e-02 -7.69762560e-04 9.99801992e-01 6.86525545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6292541539999 meters Centerline goodness [0,1] 0.9989381857550332 Centerline is valid? [True, True] Translation: X:742.75, Y:12.71, Z:6.87 [[ 9.98215058e-01 -5.63633029e-02 -1.97452686e-02 7.42754261e+02] [ 5.63679134e-02 9.98410013e-01 -3.23423464e-04 1.27105789e+01] [ 1.97321031e-02 -7.90153416e-04 9.99804991e-01 6.86545091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6592541539999 meters Centerline goodness [0,1] 0.9991440322344934 Centerline is valid? [True, True] Translation: X:742.78, Y:12.71, Z:6.87 [[ 9.98132183e-01 -5.75979548e-02 -2.03622656e-02 7.42784734e+02] [ 5.76031144e-02 9.98339506e-01 -3.33529748e-04 1.27092009e+01] [ 2.03476648e-02 -8.40023137e-04 9.99792612e-01 6.86564760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6892541539999 meters Centerline goodness [0,1] 0.9991677589830015 Centerline is valid? [True, True] Translation: X:742.81, Y:12.71, Z:6.87 [[ 9.98032063e-01 -5.94461052e-02 -1.99539751e-02 7.42814887e+02] [ 5.94514324e-02 9.98231146e-01 -3.26649523e-04 1.27056824e+01] [ 1.99380975e-02 -8.60285705e-04 9.99800846e-01 6.86559949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7192541539999 meters Centerline goodness [0,1] 0.9990219947146097 Centerline is valid? [True, True] Translation: X:742.85, Y:12.70, Z:6.87 [[ 9.97973194e-01 -6.05475874e-02 -1.95830075e-02 7.42846205e+02] [ 6.05529404e-02 9.98164936e-01 -3.20042773e-04 1.27046281e+01] [ 1.95664492e-02 -8.66414578e-04 9.99808183e-01 6.86601745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7492541539999 meters Centerline goodness [0,1] 0.9991466333645541 Centerline is valid? [True, True] Translation: X:742.88, Y:12.70, Z:6.87 [[ 9.97875447e-01 -6.26045944e-02 -1.80349006e-02 7.42876646e+02] [ 6.26094778e-02 9.98038059e-01 -2.94278042e-04 1.27017797e+01] [ 1.80179403e-02 -8.35502873e-04 9.99837315e-01 6.86693286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7792541539999 meters Centerline goodness [0,1] 0.998914676907664 Centerline is valid? [True, True] Translation: X:742.91, Y:12.71, Z:6.87 [[ 9.97782598e-01 -6.42406187e-02 -1.74077678e-02 7.42908293e+02] [ 6.42454246e-02 9.97934089e-01 -2.83585487e-04 1.27059610e+01] [ 1.73900226e-02 -8.35412770e-04 9.99848433e-01 6.86864381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8092541539999 meters Centerline goodness [0,1] 0.9989372785997083 Centerline is valid? [True, True] Translation: X:742.94, Y:12.70, Z:6.87 [[ 9.97752935e-01 -6.48158009e-02 -1.69703680e-02 7.42939487e+02] [ 6.48204642e-02 9.97896904e-01 -2.75699552e-04 1.27045856e+01] [ 1.69525474e-02 -8.24947096e-04 9.99855955e-01 6.86870484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.839254154 meters Centerline goodness [0,1] 0.9990610524558695 Centerline is valid? [True, True] Translation: X:742.97, Y:12.71, Z:6.87 [[ 9.97712010e-01 -6.54651461e-02 -1.68837004e-02 7.42971337e+02] [ 6.54698727e-02 9.97854509e-01 -2.73215383e-04 1.27062736e+01] [ 1.68653627e-02 -8.32783448e-04 9.99857423e-01 6.86940352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8692541539999 meters Centerline goodness [0,1] 0.9987478609290872 Centerline is valid? [True, True] Translation: X:743.00, Y:12.71, Z:6.87 [[ 9.97663912e-01 -6.61807735e-02 -1.69358639e-02 7.43003835e+02] [ 6.61856536e-02 9.97807288e-01 -2.72796460e-04 1.27063445e+01] [ 1.69167823e-02 -8.48752035e-04 9.99856541e-01 6.86962042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8992541539999 meters Centerline goodness [0,1] 0.9988099711887761 Centerline is valid? [True, True] Translation: X:743.03, Y:12.71, Z:6.87 [[ 9.97601261e-01 -6.71151478e-02 -1.69493639e-02 7.43034906e+02] [ 6.71201957e-02 9.97744860e-01 -2.71507328e-04 1.27062095e+01] [ 1.69293630e-02 -8.66788571e-04 9.99856312e-01 6.86994917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9292541539999 meters Centerline goodness [0,1] 0.9989554826714575 Centerline is valid? [True, True] Translation: X:743.07, Y:12.71, Z:6.87 [[ 9.97576921e-01 -6.74017878e-02 -1.72419939e-02 7.43066638e+02] [ 6.74070867e-02 9.97725518e-01 -2.74308470e-04 1.27069135e+01] [ 1.72212662e-02 -8.88588780e-04 9.99851308e-01 6.87042598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.959254154 meters Centerline goodness [0,1] 0.9988092253697669 Centerline is valid? [True, True] Translation: X:743.10, Y:12.71, Z:6.87 [[ 9.97573110e-01 -6.73895164e-02 -1.75083647e-02 7.43098849e+02] [ 6.73950073e-02 9.97726333e-01 -2.76902403e-04 1.27078711e+01] [ 1.74872168e-02 -9.03745973e-04 9.99846678e-01 6.87057931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9892541539999 meters Centerline goodness [0,1] 0.9987050960735171 Centerline is valid? [True, True] Translation: X:743.13, Y:12.71, Z:6.87 [[ 9.97588608e-01 -6.70687565e-02 -1.78536160e-02 7.43131153e+02] [ 6.70744382e-02 9.97747934e-01 -2.81053022e-04 1.27087141e+01] [ 1.78322584e-02 -9.17145970e-04 9.99840572e-01 6.87068198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0192541539999 meters Centerline goodness [0,1] 0.9990607780931708 Centerline is valid? [True, True] Translation: X:743.16, Y:12.71, Z:6.87 [[ 9.97615322e-01 -6.64677585e-02 -1.85931908e-02 7.43163757e+02] [ 6.64738422e-02 9.97788126e-01 -2.91326211e-04 1.27091607e+01] [ 1.85714288e-02 -9.45329342e-04 9.99827089e-01 6.87039388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0492541539999 meters Centerline goodness [0,1] 0.9987685500198284 Centerline is valid? [True, True] Translation: X:743.19, Y:12.71, Z:6.87 [[ 9.97658603e-01 -6.57927104e-02 -1.86716735e-02 7.43194832e+02] [ 6.57987465e-02 9.97832872e-01 -2.91546977e-04 1.27099210e+01] [ 1.86503913e-02 -9.37708363e-04 9.99825627e-01 6.87036617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.079254154 meters Centerline goodness [0,1] 0.9990197714190373 Centerline is valid? [True, True] Translation: X:743.23, Y:12.71, Z:6.87 [[ 9.97810754e-01 -6.33628537e-02 -1.89432925e-02 7.43226633e+02] [ 6.33686460e-02 9.97990144e-01 -2.94935776e-04 1.27122275e+01] [ 1.89239071e-02 -9.06120705e-04 9.99820516e-01 6.87039509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1092541539999 meters Centerline goodness [0,1] 0.9987485921661869 Centerline is valid? [True, True] Translation: X:743.26, Y:12.71, Z:6.87 [[ 9.97933201e-01 -6.12896754e-02 -1.93106925e-02 7.43258216e+02] [ 6.12953240e-02 9.98119629e-01 -2.99792005e-04 1.27142356e+01] [ 1.92927554e-02 -8.84482761e-04 9.99813486e-01 6.86982470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1392541539999 meters Centerline goodness [0,1] 0.9988316782107987 Centerline is valid? [True, True] Translation: X:743.29, Y:12.72, Z:6.87 [[ 9.98026327e-01 -5.97782063e-02 -1.92358272e-02 7.43289472e+02] [ 5.97835441e-02 9.98211320e-01 -2.97951032e-04 1.27169812e+01] [ 1.92192314e-02 -8.52622946e-04 9.99814930e-01 6.87115097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1692541539999 meters Centerline goodness [0,1] 0.9988089018911295 Centerline is valid? [True, True] Translation: X:743.32, Y:12.73, Z:6.87 [[ 9.98296167e-01 -5.51229796e-02 -1.91368715e-02 7.43320499e+02] [ 5.51274183e-02 9.98479284e-01 -2.95911623e-04 1.27257684e+01] [ 1.91240813e-02 -7.59558879e-04 9.99816830e-01 6.87258591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1992541539998 meters Centerline goodness [0,1] 0.9987452161365205 Centerline is valid? [True, True] Translation: X:743.35, Y:12.73, Z:6.87 [[ 9.98543559e-01 -5.05429002e-02 -1.88726263e-02 7.43350974e+02] [ 5.05464032e-02 9.98721671e-01 -2.91656519e-04 1.27320064e+01] [ 1.88632421e-02 -6.62711642e-04 9.99821854e-01 6.87390361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2292541539999 meters Centerline goodness [0,1] 0.9989759451608184 Centerline is valid? [True, True] Translation: X:743.38, Y:12.73, Z:6.87 [[ 9.98645586e-01 -4.83336191e-02 -1.92576089e-02 7.43381226e+02] [ 4.83368598e-02 9.98831047e-01 -2.97423227e-04 1.27338443e+01] [ 1.92494731e-02 -6.33831946e-04 9.99814511e-01 6.87425848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2592541539999 meters Centerline goodness [0,1] 0.9988921173101445 Centerline is valid? [True, True] Translation: X:743.41, Y:12.74, Z:6.87 [[ 9.98751960e-01 -4.62616275e-02 -1.88250778e-02 7.43411689e+02] [ 4.62643738e-02 9.98929189e-01 -2.89828442e-04 1.27351387e+01] [ 1.88183276e-02 -5.81463710e-04 9.99822751e-01 6.87433759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2892541539999 meters Centerline goodness [0,1] 0.9989113823350849 Centerline is valid? [True, True] Translation: X:743.44, Y:12.74, Z:6.88 [[ 9.98839806e-01 -4.44188332e-02 -1.86013298e-02 7.43442465e+02] [ 4.44212089e-02 9.99012850e-01 -2.85654406e-04 1.27389908e+01] [ 1.85956559e-02 -5.40970564e-04 9.99826939e-01 6.87544403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3192541539999 meters Centerline goodness [0,1] 0.99893381276916 Centerline is valid? [True, True] Translation: X:743.47, Y:12.74, Z:6.88 [[ 9.98974870e-01 -4.14562867e-02 -1.81819921e-02 7.43472567e+02] [ 4.14580690e-02 9.99140206e-01 -2.79053754e-04 1.27423150e+01] [ 1.81779279e-02 -4.75022597e-04 9.99834655e-01 6.87569739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3492541539999 meters Centerline goodness [0,1] 0.9988293580283044 Centerline is valid? [True, True] Translation: X:743.50, Y:12.75, Z:6.88 [[ 9.99079877e-01 -3.87575638e-02 -1.83644074e-02 7.43502938e+02] [ 3.87589296e-02 9.99248551e-01 -2.81680653e-04 1.27475407e+01] [ 1.83615247e-02 -4.30363300e-04 9.99831320e-01 6.87592632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3792541539999 meters Centerline goodness [0,1] 0.9989341915529456 Centerline is valid? [True, True] Translation: X:743.53, Y:12.75, Z:6.88 [[ 9.99121224e-01 -3.77550822e-02 -1.82025957e-02 7.43533477e+02] [ 3.77562577e-02 9.99286939e-01 -2.79198721e-04 1.27489612e+01] [ 1.82001573e-02 -4.08308526e-04 9.99834280e-01 6.87586025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4092541539999 meters Centerline goodness [0,1] 0.9990389436737422 Centerline is valid? [True, True] Translation: X:743.56, Y:12.75, Z:6.88 [[ 9.99212763e-01 -3.53170657e-02 -1.80709210e-02 7.43563983e+02] [ 3.53178257e-02 9.99376093e-01 -2.77179041e-04 1.27514040e+01] [ 1.80694356e-02 -3.61264803e-04 9.99836669e-01 6.87626442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4392541539999 meters Centerline goodness [0,1] 0.9988701510649872 Centerline is valid? [True, True] Translation: X:743.59, Y:12.75, Z:6.88 [[ 9.99242397e-01 -3.45093754e-02 -1.79926473e-02 7.43593287e+02] [ 3.45099923e-02 9.99404315e-01 -2.76295205e-04 1.27528114e+01] [ 1.79914641e-02 -3.44840235e-04 9.99838081e-01 6.87667678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4692541539999 meters Centerline goodness [0,1] 0.9991209895146607 Centerline is valid? [True, True] Translation: X:743.62, Y:12.75, Z:6.88 [[ 9.99291636e-01 -3.31747426e-02 -1.77668739e-02 7.43622825e+02] [ 3.31751285e-02 9.99449517e-01 -2.73093530e-04 1.27545950e+01] [ 1.77661533e-02 -3.16518244e-04 9.99842119e-01 6.87726078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4992541539999 meters Centerline goodness [0,1] 0.9989968232737001 Centerline is valid? [True, True] Translation: X:743.65, Y:12.76, Z:6.88 [[ 9.99280331e-01 -3.33288857e-02 -1.81109468e-02 7.43652000e+02] [ 3.33293077e-02 9.99444385e-01 -2.78616616e-04 1.27555966e+01] [ 1.81101701e-02 -3.25209215e-04 9.99835945e-01 6.87727532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5292541539999 meters Centerline goodness [0,1] 0.999078707678134 Centerline is valid? [True, True] Translation: X:743.68, Y:12.75, Z:6.88 [[ 9.99274635e-01 -3.33534366e-02 -1.83780175e-02 7.43680878e+02] [ 3.33538601e-02 9.99443565e-01 -2.83560531e-04 1.27548658e+01] [ 1.83772490e-02 -3.29622977e-04 9.99831070e-01 6.87692763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5592541539999 meters Centerline goodness [0,1] 0.9989543249121633 Centerline is valid? [True, True] Translation: X:743.71, Y:12.75, Z:6.88 [[ 9.99243789e-01 -3.40390995e-02 -1.87933303e-02 7.43710216e+02] [ 3.40396474e-02 9.99420441e-01 -2.90826987e-04 1.27545431e+01] [ 1.87923379e-02 -3.49111276e-04 9.99823347e-01 6.87677530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.589254154 meters Centerline goodness [0,1] 0.9989337458970124 Centerline is valid? [True, True] Translation: X:743.74, Y:12.75, Z:6.88 [[ 9.99178449e-01 -3.58913087e-02 -1.88212883e-02 7.43739289e+02] [ 3.58921882e-02 9.99355625e-01 -2.91175888e-04 1.27507739e+01] [ 1.88196111e-02 -3.84600551e-04 9.99822821e-01 6.87584289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6192541539999 meters Centerline goodness [0,1] 0.9989971586160789 Centerline is valid? [True, True] Translation: X:743.77, Y:12.75, Z:6.88 [[ 9.99141828e-01 -3.70359664e-02 -1.85457341e-02 7.43768949e+02] [ 3.70370190e-02 9.99313853e-01 -2.86826313e-04 1.27492411e+01] [ 1.85436319e-02 -4.00298541e-04 9.99827972e-01 6.87594359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6492541539999 meters Centerline goodness [0,1] 0.9988500219541263 Centerline is valid? [True, True] Translation: X:743.80, Y:12.75, Z:6.88 [[ 9.99064837e-01 -3.92007280e-02 -1.82415760e-02 7.43797950e+02] [ 3.92021072e-02 9.99231262e-01 -2.82105795e-04 1.27457539e+01] [ 1.82386118e-02 -4.33266238e-04 9.99833569e-01 6.87575877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6792541539999 meters Centerline goodness [0,1] 0.9989332998682312 Centerline is valid? [True, True] Translation: X:743.83, Y:12.75, Z:6.88 [[ 9.99015055e-01 -4.02850646e-02 -1.86019802e-02 7.43828852e+02] [ 4.02866936e-02 9.99188120e-01 -2.87311685e-04 1.27450954e+01] [ 1.85984520e-02 -4.62383576e-04 9.99826927e-01 6.87571983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.709254154 meters Centerline goodness [0,1] 0.9988693704068172 Centerline is valid? [True, True] Translation: X:743.86, Y:12.74, Z:6.88 [[ 9.98970097e-01 -4.09351100e-02 -1.95719630e-02 7.43858089e+02] [ 4.09370346e-02 9.99161682e-01 -3.02468098e-04 1.27441833e+01] [ 1.95679370e-02 -4.99061540e-04 9.99808405e-01 6.87513386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7392541539999 meters Centerline goodness [0,1] 0.9990158304715638 Centerline is valid? [True, True] Translation: X:743.89, Y:12.75, Z:6.88 [[ 9.98900172e-01 -4.14904454e-02 -2.18400769e-02 7.43888106e+02] [ 4.14929660e-02 9.99138739e-01 -3.37931537e-04 1.27474511e+01] [ 2.18352879e-02 -5.68649700e-04 9.99761420e-01 6.87635835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7692541539999 meters Centerline goodness [0,1] 0.9989960259359967 Centerline is valid? [True, True] Translation: X:743.92, Y:12.75, Z:6.88 [[ 9.98896715e-01 -4.10661550e-02 -2.27798785e-02 7.43917032e+02] [ 4.10687660e-02 9.99156260e-01 -3.53399382e-04 1.27463478e+01] [ 2.27751710e-02 -5.82532018e-04 9.99740442e-01 6.87539569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7992541539999 meters Centerline goodness [0,1] 0.9990797289383418 Centerline is valid? [True, True] Translation: X:743.95, Y:12.75, Z:6.88 [[ 9.98920139e-01 -4.03445090e-02 -2.30407702e-02 7.43945563e+02] [ 4.03468949e-02 9.99185667e-01 -3.61504283e-04 1.27459259e+01] [ 2.30365920e-02 -5.68509623e-04 9.99734461e-01 6.87582746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.829254154 meters Centerline goodness [0,1] 0.9989535151426359 Centerline is valid? [True, True] Translation: X:743.97, Y:12.75, Z:6.88 [[ 9.98955571e-01 -3.95220097e-02 -2.29298534e-02 7.43974585e+02] [ 3.95240211e-02 9.99218554e-01 -3.65648523e-04 1.27465416e+01] [ 2.29263861e-02 -5.41013382e-04 9.99737009e-01 6.87634683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8592541539999 meters Centerline goodness [0,1] 0.9989757525083612 Centerline is valid? [True, True] Translation: X:744.00, Y:12.75, Z:6.88 [[ 9.99006378e-01 -3.84569222e-02 -2.25238145e-02 7.44003222e+02] [ 3.84584639e-02 9.99260133e-01 -3.64878676e-04 1.27477890e+01] [ 2.25211819e-02 -5.01715181e-04 9.99746240e-01 6.87710351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8892541539999 meters Centerline goodness [0,1] 0.9991855146920618 Centerline is valid? [True, True] Translation: X:744.03, Y:12.75, Z:6.88 [[ 9.99137634e-01 -3.52894885e-02 -2.18778494e-02 7.44031974e+02] [ 3.52900634e-02 9.99377047e-01 -3.59921519e-04 1.27509459e+01] [ 2.18769220e-02 -4.12459559e-04 9.99760586e-01 6.87912436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9192541539999 meters Centerline goodness [0,1] 0.9991449604804905 Centerline is valid? [True, True] Translation: X:744.06, Y:12.75, Z:6.88 [[ 9.99213743e-01 -3.34036435e-02 -2.13563116e-02 7.44061075e+02] [ 3.34036448e-02 9.99441879e-01 -3.56771944e-04 1.27518259e+01] [ 2.13563097e-02 -3.56887217e-04 9.99771864e-01 6.87946201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9492541539998 meters Centerline goodness [0,1] 0.9991240145163309 Centerline is valid? [True, True] Translation: X:744.09, Y:12.75, Z:6.88 [[ 9.99379209e-01 -2.81922771e-02 -2.11279912e-02 7.44089555e+02] [ 2.81910006e-02 9.99602491e-01 -3.58317814e-04 1.27527326e+01] [ 2.11296944e-02 -2.37523838e-04 9.99776715e-01 6.87936849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9792541539999 meters Centerline goodness [0,1] 0.9992079538112012 Centerline is valid? [True, True] Translation: X:744.12, Y:12.75, Z:6.88 [[ 9.99451436e-01 -2.62998267e-02 -2.01282424e-02 7.44117055e+02] [ 2.62982095e-02 9.99654083e-01 -3.45079889e-04 1.27539062e+01] [ 2.01303553e-02 -1.84446146e-04 9.99797347e-01 6.88036980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0092541539999 meters Centerline goodness [0,1] 0.9991644210482338 Centerline is valid? [True, True] Translation: X:744.15, Y:12.76, Z:6.88 [[ 9.99494625e-01 -2.42981643e-02 -2.04962147e-02 7.44146024e+02] [ 2.42959817e-02 9.99704746e-01 -3.55530946e-04 1.27554784e+01] [ 2.04988019e-02 -1.42624388e-04 9.99789867e-01 6.88098907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0392541539999 meters Centerline goodness [0,1] 0.9993099987454522 Centerline is valid? [True, True] Translation: X:744.17, Y:12.76, Z:6.88 [[ 9.99566486e-01 -2.13638039e-02 -2.02590238e-02 7.44174120e+02] [ 2.13610010e-02 9.99771765e-01 -3.54765032e-04 1.27564283e+01] [ 2.02619791e-02 -7.81417909e-05 9.99794702e-01 6.88169793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0692541539999 meters Centerline goodness [0,1] 0.9991850551654965 Centerline is valid? [True, True] Translation: X:744.20, Y:12.76, Z:6.88 [[ 9.99571942e-01 -2.13577739e-02 -1.99944385e-02 7.44202083e+02] [ 2.13549629e-02 9.99771894e-01 -3.54113061e-04 1.27564074e+01] [ 1.99974407e-02 -7.30190136e-05 9.99800029e-01 6.88235819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0992541539999 meters Centerline goodness [0,1] 0.9992678896395926 Centerline is valid? [True, True] Translation: X:744.23, Y:12.75, Z:6.88 [[ 9.99547522e-01 -2.29544722e-02 -1.94381976e-02 7.44229391e+02] [ 2.29520398e-02 9.99736507e-01 -3.48247371e-04 1.27531578e+01] [ 1.94410696e-02 -9.80564891e-05 9.99811000e-01 6.88238556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1292541539999 meters Centerline goodness [0,1] 0.9992678743253984 Centerline is valid? [True, True] Translation: X:744.26, Y:12.75, Z:6.88 [[ 9.99501961e-01 -2.48912439e-02 -1.93973277e-02 7.44257576e+02] [ 2.48891456e-02 9.99690156e-01 -3.49617651e-04 1.27506777e+01] [ 1.94000200e-02 -1.33339386e-04 9.99811793e-01 6.88214993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1592541539999 meters Centerline goodness [0,1] 0.9993309778177333 Centerline is valid? [True, True] Translation: X:744.29, Y:12.75, Z:6.88 [[ 9.99430420e-01 -2.76740239e-02 -1.93127763e-02 7.44285994e+02] [ 2.76723986e-02 9.99616984e-01 -3.51445388e-04 1.27479409e+01] [ 1.93151051e-02 -1.83185631e-04 9.99813429e-01 6.88215037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1892541539999 meters Centerline goodness [0,1] 0.9991856337439966 Centerline is valid? [True, True] Translation: X:744.31, Y:12.74, Z:6.88 [[ 9.99213541e-01 -3.41098397e-02 -2.02192777e-02 7.44314629e+02] [ 3.41093134e-02 9.99418039e-01 -3.70997850e-04 1.27406985e+01] [ 2.02201655e-02 -3.18959604e-04 9.99795501e-01 6.88085501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2192541539999 meters Centerline goodness [0,1] 0.9993109927967428 Centerline is valid? [True, True] Translation: X:744.34, Y:12.74, Z:6.88 [[ 9.99068840e-01 -3.81458358e-02 -2.01580595e-02 7.44343437e+02] [ 3.81460694e-02 9.99272104e-01 -3.73067504e-04 1.27381207e+01] [ 2.01576175e-02 -3.96230616e-04 9.99796736e-01 6.88128122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2492541539999 meters Centerline goodness [0,1] 0.9991024463555147 Centerline is valid? [True, True] Translation: X:744.37, Y:12.73, Z:6.88 [[ 9.98717881e-01 -4.61184117e-02 -2.08731133e-02 7.44374247e+02] [ 4.61203512e-02 9.98935815e-01 -3.88720118e-04 1.27313518e+01] [ 2.08688276e-02 -5.74453582e-04 9.99782057e-01 6.88092166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2792541539999 meters Centerline goodness [0,1] 0.9990810167296728 Centerline is valid? [True, True] Translation: X:744.40, Y:12.73, Z:6.88 [[ 9.98516378e-01 -5.01632745e-02 -2.11822565e-02 7.44404189e+02] [ 5.01661719e-02 9.98740807e-01 -3.94903114e-04 1.27281098e+01] [ 2.11753935e-02 -6.68315492e-04 9.99775553e-01 6.88087343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3092541539999 meters Centerline goodness [0,1] 0.9989979541564027 Centerline is valid? [True, True] Translation: X:744.43, Y:12.72, Z:6.88 [[ 9.98316700e-01 -5.40441974e-02 -2.10473524e-02 7.44433385e+02] [ 5.40478990e-02 9.98538267e-01 -3.93352816e-04 1.27248229e+01] [ 2.10378452e-02 -7.44874492e-04 9.99778403e-01 6.88106656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.339254154 meters Centerline goodness [0,1] 0.9992485754242418 Centerline is valid? [True, True] Translation: X:744.46, Y:12.72, Z:6.88 [[ 9.97951379e-01 -6.06054883e-02 -2.04943847e-02 7.44462727e+02] [ 6.06103618e-02 9.98161428e-01 -3.83843364e-04 1.27179131e+01] [ 2.04799673e-02 -8.59115056e-04 9.99789894e-01 6.88172746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3692541539999 meters Centerline goodness [0,1] 0.9989554172063678 Centerline is valid? [True, True] Translation: X:744.49, Y:12.72, Z:6.88 [[ 9.97693217e-01 -6.51836296e-02 -1.89562219e-02 7.44493433e+02] [ 6.51886182e-02 9.97872897e-01 -3.55294472e-04 1.27157054e+01] [ 1.89390595e-02 -8.81255030e-04 9.99820252e-01 6.88348114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3992541539999 meters Centerline goodness [0,1] 0.9989554172063678 Centerline is valid? [True, True] Translation: X:744.52, Y:12.72, Z:6.88 [[ 9.97695566e-01 -6.51476671e-02 -1.89562284e-02 7.44524304e+02] [ 6.51526558e-02 9.97875245e-01 -3.54948786e-04 1.27162531e+01] [ 1.89390752e-02 -8.80917795e-04 9.99820252e-01 6.88377038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4292541539999 meters Centerline goodness [0,1] 0.9990606016324656 Centerline is valid? [True, True] Translation: X:744.55, Y:12.71, Z:6.88 [[ 9.97621290e-01 -6.64696977e-02 -1.82631212e-02 7.44554400e+02] [ 6.64745580e-02 9.97788062e-01 -3.41486080e-04 1.27142635e+01] [ 1.82454228e-02 -8.73359128e-04 9.99833157e-01 6.88461881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.459254154 meters Centerline goodness [0,1] 0.9991017150974535 Centerline is valid? [True, True] Translation: X:744.58, Y:12.71, Z:6.89 [[ 9.97528359e-01 -6.80550466e-02 -1.74837977e-02 7.44584536e+02] [ 6.80597490e-02 9.97681194e-01 -3.26609778e-04 1.27116684e+01] [ 1.74654836e-02 -8.64140365e-04 9.99847093e-01 6.88525991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4892541539999 meters Centerline goodness [0,1] 0.9991648746268034 Centerline is valid? [True, True] Translation: X:744.62, Y:12.71, Z:6.89 [[ 9.97426003e-01 -6.99608135e-02 -1.57115670e-02 7.44615725e+02] [ 6.99648523e-02 9.97549414e-01 -2.93131406e-04 1.27094295e+01] [ 1.56935722e-02 -8.06880580e-04 9.99876523e-01 6.88652471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5192541539999 meters Centerline goodness [0,1] 0.9989357040005008 Centerline is valid? [True, True] Translation: X:744.65, Y:12.71, Z:6.89 [[ 9.97418565e-01 -7.00645377e-02 -1.57215642e-02 7.44648045e+02] [ 7.00686069e-02 9.97542132e-01 -2.92526614e-04 1.27120195e+01] [ 1.57034184e-02 -8.09816627e-04 9.99876366e-01 6.88611725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5492541539999 meters Centerline goodness [0,1] 0.9990413071568505 Centerline is valid? [True, True] Translation: X:744.68, Y:12.71, Z:6.89 [[ 9.97385281e-01 -7.09437422e-02 -1.37690410e-02 7.44680156e+02] [ 7.09469595e-02 9.97480057e-01 -2.55272210e-04 1.27148255e+01] [ 1.37524538e-02 -7.22266849e-04 9.99905170e-01 6.88867722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5792541539998 meters Centerline goodness [0,1] 0.9988524213908653 Centerline is valid? [True, True] Translation: X:744.71, Y:12.71, Z:6.89 [[ 9.97415546e-01 -7.03619540e-02 -1.45404199e-02 7.44711298e+02] [ 7.03655008e-02 9.97521240e-01 -2.68164872e-04 1.27140459e+01] [ 1.45232463e-02 -7.55672115e-04 9.99894247e-01 6.88711573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6092541539999 meters Centerline goodness [0,1] 0.998977398418098 Centerline is valid? [True, True] Translation: X:744.74, Y:12.72, Z:6.89 [[ 9.97409912e-01 -7.04413313e-02 -1.45425713e-02 7.44743561e+02] [ 7.04449107e-02 9.97515636e-01 -2.66608048e-04 1.27151046e+01] [ 1.45252224e-02 -7.58532625e-04 9.99894216e-01 6.88878318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6392541539999 meters Centerline goodness [0,1] 0.9987473642456001 Centerline is valid? [True, True] Translation: X:744.77, Y:12.72, Z:6.89 [[ 9.97403278e-01 -7.02345108e-02 -1.59315344e-02 7.44774621e+02] [ 7.02388050e-02 9.97530163e-01 -2.90529044e-04 1.27164142e+01] [ 1.59125913e-02 -8.29237322e-04 9.99873043e-01 6.88767241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6692541539999 meters Centerline goodness [0,1] 0.9990825688073395 Centerline is valid? [True, True] Translation: X:744.81, Y:12.72, Z:6.89 [[ 9.97432635e-01 -6.98055816e-02 -1.59787484e-02 7.44806470e+02] [ 6.98098725e-02 9.97560273e-01 -2.89762040e-04 1.27212282e+01] [ 1.59599916e-02 -8.26456272e-04 9.99872290e-01 6.88790531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6992541539998 meters Centerline goodness [0,1] 0.9990609152945595 Centerline is valid? [True, True] Translation: X:744.84, Y:12.72, Z:6.89 [[ 9.97515975e-01 -6.85818129e-02 -1.60753037e-02 7.44838146e+02] [ 6.85860125e-02 9.97645165e-01 -2.90562821e-04 1.27240548e+01] [ 1.60573763e-02 -8.12699923e-04 9.99870742e-01 6.88779171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7292541539999 meters Centerline goodness [0,1] 0.9988939899833055 Centerline is valid? [True, True] Translation: X:744.87, Y:12.73, Z:6.89 [[ 9.97580283e-01 -6.76269516e-02 -1.61299382e-02 7.44870011e+02] [ 6.76310690e-02 9.97710356e-01 -2.90704610e-04 1.27257183e+01] [ 1.61126659e-02 -8.00883779e-04 9.99869862e-01 6.88823761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7592541539999 meters Centerline goodness [0,1] 0.9987696285946656 Centerline is valid? [True, True] Translation: X:744.90, Y:12.73, Z:6.89 [[ 9.97676255e-01 -6.62319389e-02 -1.59818854e-02 7.44901766e+02] [ 6.62358193e-02 9.97803956e-01 -2.86981357e-04 1.27297129e+01] [ 1.59657958e-02 -7.72258786e-04 9.99872240e-01 6.88755042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7892541539999 meters Centerline goodness [0,1] 0.9989783791672747 Centerline is valid? [True, True] Translation: X:744.93, Y:12.73, Z:6.89 [[ 9.97833696e-01 -6.39417079e-02 -1.54716908e-02 7.44932660e+02] [ 6.39450811e-02 9.97953381e-01 -2.77083631e-04 1.27348588e+01] [ 1.54577433e-02 -7.12855138e-04 9.99880268e-01 6.88912389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8192541539999 meters Centerline goodness [0,1] 0.9991031764239682 Centerline is valid? [True, True] Translation: X:744.96, Y:12.74, Z:6.89 [[ 9.97970917e-01 -6.18564029e-02 -1.50941753e-02 7.44962764e+02] [ 6.18593884e-02 9.98084838e-01 -2.69458018e-04 1.27353364e+01] [ 1.50819353e-02 -6.64805190e-04 9.99886040e-01 6.88915305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8492541539999 meters Centerline goodness [0,1] 0.9987489313788861 Centerline is valid? [True, True] Translation: X:744.99, Y:12.74, Z:6.89 [[ 9.98245285e-01 -5.72766654e-02 -1.50244897e-02 7.44993299e+02] [ 5.72791199e-02 9.98358168e-01 -2.67259724e-04 1.27417289e+01] [ 1.50151297e-02 -5.93798785e-04 9.99887090e-01 6.88964295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8792541539999 meters Centerline goodness [0,1] 0.9989153334306752 Centerline is valid? [True, True] Translation: X:745.02, Y:12.75, Z:6.89 [[ 9.98413177e-01 -5.42672761e-02 -1.50396666e-02 7.45024993e+02] [ 5.42694017e-02 9.98526294e-01 -2.67048171e-04 1.27478839e+01] [ 1.50319945e-02 -5.49569295e-04 9.99886862e-01 6.88958318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9092541539999 meters Centerline goodness [0,1] 0.99883221420528 Centerline is valid? [True, True] Translation: X:745.06, Y:12.75, Z:6.89 [[ 9.98538866e-01 -5.18199950e-02 -1.53238963e-02 7.45056620e+02] [ 5.18219272e-02 9.98656304e-01 -2.71231221e-04 1.27522432e+01] [ 1.53173609e-02 -5.23278925e-04 9.99882545e-01 6.89106404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9392541539999 meters Centerline goodness [0,1] 0.9987477302610982 Centerline is valid? [True, True] Translation: X:745.09, Y:12.76, Z:6.89 [[ 9.98807264e-01 -4.66596213e-02 -1.43850666e-02 7.45086755e+02] [ 4.66607963e-02 9.98910760e-01 -2.54121669e-04 1.27573197e+01] [ 1.43812550e-02 -4.17400093e-04 9.99896497e-01 6.89224562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9692541539999 meters Centerline goodness [0,1] 0.9987272841077427 Centerline is valid? [True, True] Translation: X:745.12, Y:12.76, Z:6.89 [[ 9.98910013e-01 -4.46363261e-02 -1.36522691e-02 7.45118140e+02] [ 4.46371976e-02 9.99003234e-01 -2.41018374e-04 1.27614481e+01] [ 1.36494191e-02 -3.68643365e-04 9.99906774e-01 6.89354883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9992541539999 meters Centerline goodness [0,1] 0.9987906840974958 Centerline is valid? [True, True] Translation: X:745.15, Y:12.76, Z:6.89 [[ 9.99064905e-01 -4.18146741e-02 -1.09931284e-02 7.45148515e+02] [ 4.18150718e-02 9.99125349e-01 -1.93766073e-04 1.27640318e+01] [ 1.09916156e-02 -2.66093572e-04 9.99939555e-01 6.89435949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0292541539999 meters Centerline goodness [0,1] 0.9987695516162669 Centerline is valid? [True, True] Translation: X:745.18, Y:12.77, Z:6.90 [[ 9.99083395e-01 -4.14876475e-02 -1.05425115e-02 7.45180909e+02] [ 4.14879977e-02 9.99138985e-01 -1.85571463e-04 1.27659595e+01] [ 1.05411331e-02 -2.51986324e-04 9.99944409e-01 6.89545784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0592541539999 meters Centerline goodness [0,1] 0.9987276292186392 Centerline is valid? [True, True] Translation: X:745.21, Y:12.77, Z:6.90 [[ 9.99090391e-01 -4.14890094e-02 -9.85148671e-03 7.45212866e+02] [ 4.14893221e-02 9.99138932e-01 -1.72717901e-04 1.27661172e+01] [ 9.85016981e-03 -2.36170710e-04 9.99951458e-01 6.89559629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.089254154 meters Centerline goodness [0,1] 0.9988966148977807 Centerline is valid? [True, True] Translation: X:745.24, Y:12.77, Z:6.90 [[ 9.99045555e-01 -4.26320091e-02 -9.51271859e-03 7.45244948e+02] [ 4.26323589e-02 9.99090814e-01 -1.66095824e-04 1.27655319e+01] [ 9.51115075e-03 -2.39612338e-04 9.99954739e-01 6.89511187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1192541539999 meters Centerline goodness [0,1] 0.9988750937421882 Centerline is valid? [True, True] Translation: X:745.28, Y:12.77, Z:6.89 [[ 9.99004855e-01 -4.35878688e-02 -9.45497470e-03 7.45276362e+02] [ 4.35882637e-02 9.99049566e-01 -1.64395217e-04 1.27650956e+01] [ 9.45315401e-03 -2.47894311e-04 9.99955287e-01 6.89483650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1492541539999 meters Centerline goodness [0,1] 0.9987311228522694 Centerline is valid? [True, True] Translation: X:745.31, Y:12.76, Z:6.89 [[ 9.98910690e-01 -4.55933385e-02 -9.93380981e-03 7.45307396e+02] [ 4.55938792e-02 9.98960044e-01 -1.72148268e-04 1.27641072e+01] [ 9.93132789e-03 -2.80960178e-04 9.99950644e-01 6.89426943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1792541539999 meters Centerline goodness [0,1] 0.9990411672746222 Centerline is valid? [True, True] Translation: X:745.34, Y:12.76, Z:6.89 [[ 9.98849560e-01 -4.68030835e-02 -1.04416615e-02 7.45339778e+02] [ 4.68037533e-02 9.98904088e-01 -1.80336696e-04 1.27640467e+01] [ 1.04386586e-02 -3.08579718e-04 9.99945468e-01 6.89408323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.209254154 meters Centerline goodness [0,1] 0.9988521100304713 Centerline is valid? [True, True] Translation: X:745.37, Y:12.76, Z:6.89 [[ 9.98744099e-01 -4.89310693e-02 -1.07691529e-02 7.45370863e+02] [ 4.89319138e-02 9.98802099e-01 -1.85214999e-04 1.27600708e+01] [ 1.07653152e-02 -3.41972871e-04 9.99941994e-01 6.89357445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2392541539999 meters Centerline goodness [0,1] 0.9988726042841037 Centerline is valid? [True, True] Translation: X:745.40, Y:12.76, Z:6.89 [[ 9.98707771e-01 -4.97163496e-02 -1.05390684e-02 7.45402622e+02] [ 4.97172081e-02 9.98763319e-01 -1.80677935e-04 1.27609425e+01] [ 1.05350176e-02 -3.43528599e-04 9.99944446e-01 6.89367849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2692541539999 meters Centerline goodness [0,1] 0.9990818030050084 Centerline is valid? [True, True] Translation: X:745.44, Y:12.76, Z:6.89 [[ 9.98658837e-01 -5.06995627e-02 -1.04919884e-02 7.45435108e+02] [ 5.07004756e-02 9.98713888e-01 -1.79121811e-04 1.27635233e+01] [ 1.04875759e-02 -3.53067222e-04 9.99944942e-01 6.89471780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2992541539999 meters Centerline goodness [0,1] 0.9989766081871345 Centerline is valid? [True, True] Translation: X:745.47, Y:12.76, Z:6.90 [[ 9.98584688e-01 -5.22284869e-02 -1.00402417e-02 7.45466053e+02] [ 5.22294072e-02 9.98635098e-01 -1.70703930e-04 1.27603152e+01] [ 1.00354534e-02 -3.53933542e-04 9.99949581e-01 6.89523557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3292541539998 meters Centerline goodness [0,1] 0.9988498055125685 Centerline is valid? [True, True] Translation: X:745.50, Y:12.76, Z:6.90 [[ 9.98555891e-01 -5.28087798e-02 -9.86736840e-03 7.45498503e+02] [ 5.28097024e-02 9.98604580e-01 -1.67218088e-04 1.27598172e+01] [ 9.86242987e-03 -3.54116182e-04 9.99951302e-01 6.89563152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3592541539999 meters Centerline goodness [0,1] 0.9988488425635229 Centerline is valid? [True, True] Translation: X:745.53, Y:12.76, Z:6.90 [[ 9.98494675e-01 -5.40122031e-02 -9.54280422e-03 7.45530046e+02] [ 5.40131271e-02 9.98540213e-01 -1.61055193e-04 1.27573250e+01] [ 9.53757270e-03 -3.54623945e-04 9.99954453e-01 6.89528324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3892541539999 meters Centerline goodness [0,1] 0.9987855183533304 Centerline is valid? [True, True] Translation: X:745.56, Y:12.76, Z:6.90 [[ 9.98431570e-01 -5.51066216e-02 -9.88234488e-03 7.45562105e+02] [ 5.51076767e-02 9.98480404e-01 -1.65711179e-04 1.27567807e+01] [ 9.87645949e-03 -3.79141795e-04 9.99951155e-01 6.89592925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4192541539999 meters Centerline goodness [0,1] 0.9988906331763474 Centerline is valid? [True, True] Translation: X:745.59, Y:12.76, Z:6.90 [[ 9.98392568e-01 -5.57396530e-02 -1.02650254e-02 7.45594421e+02] [ 5.57408325e-02 9.98445257e-01 -1.71381490e-04 1.27597339e+01] [ 1.02586187e-02 -4.01075057e-04 9.99947299e-01 6.89543582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4492541539998 meters Centerline goodness [0,1] 0.9987861029719548 Centerline is valid? [True, True] Translation: X:745.63, Y:12.75, Z:6.90 [[ 9.98222349e-01 -5.85511377e-02 -1.11312882e-02 7.45625961e+02] [ 5.85527085e-02 9.98284301e-01 -1.85003328e-04 1.27542546e+01] [ 1.11230225e-02 -4.67092620e-04 9.99938028e-01 6.89549854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4792541539999 meters Centerline goodness [0,1] 0.9990188505939085 Centerline is valid? [True, True] Translation: X:745.66, Y:12.76, Z:6.90 [[ 9.98142872e-01 -5.98104329e-02 -1.15550643e-02 7.45657768e+02] [ 5.98122178e-02 9.98209628e-01 -1.91356992e-04 1.27600498e+01] [ 1.15458216e-02 -5.00132404e-04 9.99933220e-01 6.89569094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5092541539999 meters Centerline goodness [0,1] 0.9988729572349884 Centerline is valid? [True, True] Translation: X:745.69, Y:12.76, Z:6.89 [[ 9.97960447e-01 -6.25993239e-02 -1.25008291e-02 7.45688483e+02] [ 6.26016415e-02 9.98038572e-01 -2.06206501e-04 1.27583737e+01] [ 1.24892180e-02 -5.76786487e-04 9.99921840e-01 6.89494302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5392541539999 meters Centerline goodness [0,1] 0.9988115839292788 Centerline is valid? [True, True] Translation: X:745.72, Y:12.75, Z:6.89 [[ 9.97876018e-01 -6.39099259e-02 -1.26084891e-02 7.45719379e+02] [ 6.39123953e-02 9.97955491e-01 -2.07392017e-04 1.27512534e+01] [ 1.25959653e-02 -5.98887219e-04 9.99920488e-01 6.89470026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5692541539999 meters Centerline goodness [0,1] 0.998811013767209 Centerline is valid? [True, True] Translation: X:745.75, Y:12.76, Z:6.89 [[ 9.97763416e-01 -6.54357590e-02 -1.36501598e-02 7.45751695e+02] [ 6.54388179e-02 9.97856559e-01 -2.22907268e-04 1.27575512e+01] [ 1.36354875e-02 -6.70841602e-04 9.99906807e-01 6.89433290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5992541539999 meters Centerline goodness [0,1] 0.9985412107950401 Centerline is valid? [True, True] Translation: X:745.78, Y:12.76, Z:6.89 [[ 9.97709740e-01 -6.61958377e-02 -1.39063477e-02 7.45782617e+02] [ 6.61990995e-02 9.97806408e-01 -2.26133686e-04 1.27559001e+01] [ 1.38908120e-02 -6.94971917e-04 9.99903277e-01 6.89466640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6292541539999 meters Centerline goodness [0,1] 0.9987923459720573 Centerline is valid? [True, True] Translation: X:745.81, Y:12.75, Z:6.90 [[ 9.97695041e-01 -6.63409731e-02 -1.42646897e-02 7.45813885e+02] [ 6.63444313e-02 9.97796754e-01 -2.31167534e-04 1.27543796e+01] [ 1.42485969e-02 -7.15748022e-04 9.99898227e-01 6.89542777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6592541539999 meters Centerline goodness [0,1] 0.9986841005931991 Centerline is valid? [True, True] Translation: X:745.85, Y:12.76, Z:6.90 [[ 9.97747640e-01 -6.54060833e-02 -1.48893260e-02 7.45846262e+02] [ 6.54097612e-02 9.97858460e-01 -2.40352669e-04 1.27628105e+01] [ 1.48731605e-02 -7.34095951e-04 9.99889119e-01 6.89598721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6892541539999 meters Centerline goodness [0,1] 0.9987479393167922 Centerline is valid? [True, True] Translation: X:745.88, Y:12.77, Z:6.90 [[ 9.97828208e-01 -6.40958324e-02 -1.51852659e-02 7.45878057e+02] [ 6.40995241e-02 9.97943481e-01 -2.43980404e-04 1.27654397e+01] [ 1.51696753e-02 -7.29917790e-04 9.99884667e-01 6.89635105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7192541539999 meters Centerline goodness [0,1] 0.9987687813021703 Centerline is valid? [True, True] Translation: X:745.91, Y:12.77, Z:6.90 [[ 9.98010082e-01 -6.11020306e-02 -1.55697702e-02 7.45909622e+02] [ 6.11055647e-02 9.98131278e-01 -2.49090082e-04 1.27691415e+01] [ 1.55558946e-02 -7.02805189e-04 9.99878753e-01 6.89671085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7492541539999 meters Centerline goodness [0,1] 0.9987892957040871 Centerline is valid? [True, True] Translation: X:745.94, Y:12.77, Z:6.90 [[ 9.98118014e-01 -5.92658281e-02 -1.57477623e-02 7.45941530e+02] [ 5.92692313e-02 9.98242002e-01 -2.50926174e-04 1.27726439e+01] [ 1.57349491e-02 -6.82903830e-04 9.99875965e-01 6.89765659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7792541539999 meters Centerline goodness [0,1] 0.9987693206232661 Centerline is valid? [True, True] Translation: X:745.97, Y:12.78, Z:6.90 [[ 9.98250844e-01 -5.70346890e-02 -1.55658670e-02 7.45972084e+02] [ 5.70377558e-02 9.98371991e-01 -2.47215904e-04 1.27751788e+01] [ 1.55546256e-02 -6.41058638e-04 9.99878814e-01 6.89821282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8092541539999 meters Centerline goodness [0,1] 0.9991031015998164 Centerline is valid? [True, True] Translation: X:746.00, Y:12.78, Z:6.90 [[ 9.98559849e-01 -5.13338703e-02 -1.55904149e-02 7.46002095e+02] [ 5.13362556e-02 9.98681394e-01 -2.47431444e-04 1.27804873e+01] [ 1.55825589e-02 -5.53278417e-04 9.99878431e-01 6.89924654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.839254154 meters Centerline goodness [0,1] 0.9987886888601144 Centerline is valid? [True, True] Translation: X:746.03, Y:12.79, Z:6.90 [[ 9.98710337e-01 -4.82945496e-02 -1.56620048e-02 7.46033507e+02] [ 4.82965872e-02 9.98833008e-01 -2.48333065e-04 1.27855357e+01] [ 1.56557205e-02 -5.08408580e-04 9.99877312e-01 6.89996962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8692541539999 meters Centerline goodness [0,1] 0.9988943130137272 Centerline is valid? [True, True] Translation: X:746.06, Y:12.79, Z:6.90 [[ 9.99012969e-01 -4.13592274e-02 -1.62019013e-02 7.46063945e+02] [ 4.13605023e-02 9.99144255e-01 -2.56532587e-04 1.27915767e+01] [ 1.61986465e-02 -4.13839392e-04 9.99868708e-01 6.89948417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8992541539999 meters Centerline goodness [0,1] 0.9988103437480433 Centerline is valid? [True, True] Translation: X:746.10, Y:12.79, Z:6.90 [[ 9.99101020e-01 -3.92572837e-02 -1.60005253e-02 7.46095505e+02] [ 3.92582616e-02 9.99229065e-01 -2.53099657e-04 1.27947972e+01] [ 1.59981259e-02 -3.75280681e-04 9.99871951e-01 6.90122684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9292541539999 meters Centerline goodness [0,1] 0.9990395256091704 Centerline is valid? [True, True] Translation: X:746.13, Y:12.80, Z:6.90 [[ 9.99165576e-01 -3.76281568e-02 -1.58831080e-02 7.46127149e+02] [ 3.76289239e-02 9.99291750e-01 -2.50658756e-04 1.27977435e+01] [ 1.58812906e-02 -3.47214661e-04 9.99873824e-01 6.90268406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.959254154 meters Centerline goodness [0,1] 0.9988304582097657 Centerline is valid? [True, True] Translation: X:746.16, Y:12.80, Z:6.90 [[ 9.99213240e-01 -3.60583484e-02 -1.65135235e-02 7.46157755e+02] [ 3.60589715e-02 9.99349630e-01 -2.60116594e-04 1.27996403e+01] [ 1.65121630e-02 -3.35548728e-04 9.99863609e-01 6.90257550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9892541539999 meters Centerline goodness [0,1] 0.9989547839538433 Centerline is valid? [True, True] Translation: X:746.19, Y:12.80, Z:6.90 [[ 9.99192281e-01 -3.62984286e-02 -1.72397723e-02 7.46188531e+02] [ 3.62991542e-02 9.99340932e-01 -2.70926566e-04 1.28001140e+01] [ 1.72382444e-02 -3.55081421e-04 9.99851347e-01 6.90227901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0192541539999 meters Centerline goodness [0,1] 0.9989125433937012 Centerline is valid? [True, True] Translation: X:746.22, Y:12.80, Z:6.90 [[ 9.99077636e-01 -3.84195492e-02 -1.91784962e-02 7.46218943e+02] [ 3.84208494e-02 9.99261601e-01 -3.00797749e-04 1.28014461e+01] [ 1.91758913e-02 -4.36333808e-04 9.99816030e-01 6.90159376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0492541539999 meters Centerline goodness [0,1] 0.9987043654525317 Centerline is valid? [True, True] Translation: X:746.25, Y:12.80, Z:6.90 [[ 9.98994287e-01 -4.02093111e-02 -1.98400137e-02 7.46249190e+02] [ 4.02110553e-02 9.99191160e-01 -3.11173067e-04 1.28016209e+01] [ 1.98364784e-02 -4.86927773e-04 9.99803119e-01 6.90158600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0792541539998 meters Centerline goodness [0,1] 0.9987667739642991 Centerline is valid? [True, True] Translation: X:746.28, Y:12.80, Z:6.90 [[ 9.98778581e-01 -4.49706184e-02 -2.04692169e-02 7.46279864e+02] [ 4.49734739e-02 9.98988130e-01 -3.21041561e-04 1.28006180e+01] [ 2.04629421e-02 -5.99922356e-04 9.99790432e-01 6.90182956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1092541539999 meters Centerline goodness [0,1] 0.9988715205216083 Centerline is valid? [True, True] Translation: X:746.31, Y:12.80, Z:6.90 [[ 9.98655142e-01 -4.75587334e-02 -2.06415839e-02 7.46310163e+02] [ 4.75621937e-02 9.98868226e-01 -3.23539428e-04 1.27993218e+01] [ 2.06336094e-02 -6.58654698e-04 9.99786887e-01 6.90216899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1392541539999 meters Centerline goodness [0,1] 0.9986611158762368 Centerline is valid? [True, True] Translation: X:746.34, Y:12.80, Z:6.90 [[ 9.98374162e-01 -5.29917276e-02 -2.09978676e-02 7.46340880e+02] [ 5.29965164e-02 9.98594643e-01 -3.28734850e-04 1.27983327e+01] [ 2.09857783e-02 -7.84613454e-04 9.99779466e-01 6.90262298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1692541539999 meters Centerline goodness [0,1] 0.9985981797259128 Centerline is valid? [True, True] Translation: X:746.37, Y:12.80, Z:6.90 [[ 9.98185517e-01 -5.65298352e-02 -2.07376864e-02 7.46371803e+02] [ 5.65352761e-02 9.98400550e-01 -3.24278470e-04 1.27981021e+01] [ 2.07228489e-02 -8.48720751e-04 9.99784898e-01 6.90426507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1992541539998 meters Centerline goodness [0,1] 0.9986841005931991 Centerline is valid? [True, True] Translation: X:746.40, Y:12.80, Z:6.90 [[ 9.98056616e-01 -5.85844596e-02 -2.12332995e-02 7.46402184e+02] [ 5.85906362e-02 9.98282038e-01 -3.31630300e-04 1.27959403e+01] [ 2.12162499e-02 -9.13086713e-04 9.99774493e-01 6.90283001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2292541539999 meters Centerline goodness [0,1] 0.9986435443143639 Centerline is valid? [True, True] Translation: X:746.43, Y:12.79, Z:6.90 [[ 9.97726158e-01 -6.39716045e-02 -2.12166790e-02 7.46431753e+02] [ 6.39789978e-02 9.97951190e-01 -3.30835233e-04 1.27938141e+01] [ 2.11943741e-02 -1.02733889e-03 9.99774846e-01 6.90380984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2592541539999 meters Centerline goodness [0,1] 0.998727682296012 Centerline is valid? [True, True] Translation: X:746.46, Y:12.79, Z:6.91 [[ 9.97546012e-01 -6.69797652e-02 -2.03878682e-02 7.46462779e+02] [ 6.69872281e-02 9.97753783e-01 -3.17436995e-04 1.27934191e+01] [ 2.03633345e-02 -1.04906877e-03 9.99792095e-01 6.90565505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2892541539999 meters Centerline goodness [0,1] 0.9987066627727481 Centerline is valid? [True, True] Translation: X:746.49, Y:12.79, Z:6.91 [[ 9.97255731e-01 -7.10625279e-02 -2.07635304e-02 7.46493334e+02] [ 7.10711625e-02 9.97471195e-01 -3.22707693e-04 1.27937173e+01] [ 2.07339559e-02 -1.15386615e-03 9.99784363e-01 6.90600710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3192541539999 meters Centerline goodness [0,1] 0.9987066627727481 Centerline is valid? [True, True] Translation: X:746.53, Y:12.79, Z:6.91 [[ 9.97260958e-01 -7.09891368e-02 -2.07635486e-02 7.46525070e+02] [ 7.09977799e-02 9.97476422e-01 -3.21535590e-04 1.27941489e+01] [ 2.07339757e-02 -1.15351096e-03 9.99784363e-01 6.90630433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3492541539999 meters Centerline goodness [0,1] 0.9986652484931907 Centerline is valid? [True, True] Translation: X:746.56, Y:12.79, Z:6.91 [[ 9.97156952e-01 -7.22562209e-02 -2.13787803e-02 7.46556920e+02] [ 7.22657037e-02 9.97385362e-01 -3.29683642e-04 1.27947133e+01] [ 2.13467042e-02 -1.21620626e-03 9.99771393e-01 6.90572865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3792541539999 meters Centerline goodness [0,1] 0.9986013110099787 Centerline is valid? [True, True] Translation: X:746.59, Y:12.79, Z:6.91 [[ 9.97038962e-01 -7.38978587e-02 -2.12700346e-02 7.46588028e+02] [ 7.39076424e-02 9.97265037e-01 -3.26829692e-04 1.27906044e+01] [ 2.12360139e-02 -1.24615618e-03 9.99773714e-01 6.90564829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4092541539999 meters Centerline goodness [0,1] 0.9988527804430354 Centerline is valid? [True, True] Translation: X:746.62, Y:12.80, Z:6.91 [[ 9.96953601e-01 -7.49537078e-02 -2.15744879e-02 7.46620222e+02] [ 7.49640504e-02 9.97186182e-01 -3.30098587e-04 1.27954023e+01] [ 2.15385233e-02 -1.28821802e-03 9.99767189e-01 6.90645923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4392541539999 meters Centerline goodness [0,1] 0.998808777429467 Centerline is valid? [True, True] Translation: X:746.65, Y:12.80, Z:6.91 [[ 9.97027041e-01 -7.38640486e-02 -2.19358764e-02 7.46652079e+02] [ 7.38745133e-02 9.97267489e-01 -3.34016433e-04 1.28011329e+01] [ 2.19006082e-02 -1.28747878e-03 9.99759324e-01 6.90745645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4692541539999 meters Centerline goodness [0,1] 0.9986443930008968 Centerline is valid? [True, True] Translation: X:746.68, Y:12.80, Z:6.91 [[ 9.97123029e-01 -7.26875574e-02 -2.14984484e-02 7.46683460e+02] [ 7.26973648e-02 9.97353993e-01 -3.26020088e-04 1.28003412e+01] [ 2.14652610e-02 -1.23779841e-03 9.99768828e-01 6.90681997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4992541539999 meters Centerline goodness [0,1] 0.9986815670517328 Centerline is valid? [True, True] Translation: X:746.71, Y:12.80, Z:6.91 [[ 9.97214193e-01 -7.12307712e-02 -2.21366424e-02 7.46714933e+02] [ 7.12408337e-02 9.97459088e-01 -3.34720585e-04 1.28029502e+01] [ 2.21042375e-02 -1.24324474e-03 9.99754898e-01 6.90719802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5292541539999 meters Centerline goodness [0,1] 0.9987870676314359 Centerline is valid? [True, True] Translation: X:746.75, Y:12.81, Z:6.91 [[ 9.97501256e-01 -6.70450423e-02 -2.22756905e-02 7.46745600e+02] [ 6.70542035e-02 9.97749278e-01 -3.36253612e-04 1.28147895e+01] [ 2.22480982e-02 -1.15826528e-03 9.99751809e-01 6.90866060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5592541539999 meters Centerline goodness [0,1] 0.9987422965664696 Centerline is valid? [True, True] Translation: X:746.78, Y:12.82, Z:6.91 [[ 9.97687194e-01 -6.40584194e-02 -2.27328334e-02 7.46776974e+02] [ 6.40672027e-02 9.97945528e-01 -3.42477653e-04 1.28203284e+01] [ 2.27080680e-02 -1.11474347e-03 9.99741517e-01 6.90858109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.589254154 meters Centerline goodness [0,1] 0.9984438743323379 Centerline is valid? [True, True] Translation: X:746.81, Y:12.83, Z:6.91 [[ 9.98031609e-01 -5.84544802e-02 -2.27152076e-02 7.46806967e+02] [ 5.84618062e-02 9.98289587e-01 -3.41991065e-04 1.28273073e+01] [ 2.26963461e-02 -9.86654169e-04 9.99741918e-01 6.90893252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6192541539999 meters Centerline goodness [0,1] 0.9986343677122508 Centerline is valid? [True, True] Translation: X:746.84, Y:12.83, Z:6.91 [[ 9.98216602e-01 -5.52802766e-02 -2.25323281e-02 7.46837734e+02] [ 5.52866864e-02 9.98470464e-01 -3.38854633e-04 1.28309118e+01] [ 2.25165960e-02 -9.07487435e-04 9.99746057e-01 6.90899222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6492541539999 meters Centerline goodness [0,1] 0.9986512686504256 Centerline is valid? [True, True] Translation: X:746.87, Y:12.84, Z:6.91 [[ 9.98369082e-01 -5.22823630e-02 -2.29288073e-02 7.46869208e+02] [ 5.22882303e-02 9.98631976e-01 -3.43977887e-04 1.28376415e+01] [ 2.29154241e-02 -8.55489870e-04 9.99737041e-01 6.91009061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6792541539999 meters Centerline goodness [0,1] 0.9986713906111603 Centerline is valid? [True, True] Translation: X:746.90, Y:12.85, Z:6.91 [[ 9.98656140e-01 -4.65732712e-02 -2.27342280e-02 7.46900010e+02] [ 4.65775747e-02 9.98914618e-01 -3.40477708e-04 1.28454129e+01] [ 2.27254098e-02 -7.18885047e-04 9.99741486e-01 6.91060331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.709254154 meters Centerline goodness [0,1] 0.9988622716642437 Centerline is valid? [True, True] Translation: X:746.93, Y:12.85, Z:6.91 [[ 9.98775325e-01 -4.39315932e-02 -2.27566567e-02 7.46931056e+02] [ 4.39352294e-02 9.99034324e-01 -3.40405223e-04 1.28493781e+01] [ 2.27496357e-02 -6.59830598e-04 9.99740976e-01 6.91132701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7392541539999 meters Centerline goodness [0,1] 0.9986939669700033 Centerline is valid? [True, True] Translation: X:746.96, Y:12.86, Z:6.91 [[ 9.98951332e-01 -3.98731532e-02 -2.25026154e-02 7.46961679e+02] [ 3.98756833e-02 9.99204592e-01 -3.36439674e-04 1.28565112e+01] [ 2.24981316e-02 -5.61220306e-04 9.99746727e-01 6.91168822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7692541539999 meters Centerline goodness [0,1] 0.9985794249851582 Centerline is valid? [True, True] Translation: X:746.99, Y:12.86, Z:6.91 [[ 9.99023573e-01 -3.83443998e-02 -2.19455733e-02 7.46992042e+02] [ 3.83464376e-02 9.99264451e-01 -3.28111261e-04 1.28594261e+01] [ 2.19420125e-02 -5.13743671e-04 9.99759113e-01 6.91183838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7992541539999 meters Centerline goodness [0,1] 0.99863737012434 Centerline is valid? [True, True] Translation: X:747.02, Y:12.86, Z:6.91 [[ 9.99135063e-01 -3.60045894e-02 -2.08037141e-02 7.47021823e+02] [ 3.60059135e-02 9.99351528e-01 -3.11039168e-04 1.28641515e+01] [ 2.08014223e-02 -4.38286590e-04 9.99783531e-01 6.91278055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8292541539998 meters Centerline goodness [0,1] 0.9987888832228455 Centerline is valid? [True, True] Translation: X:747.05, Y:12.87, Z:6.91 [[ 9.99172522e-01 -3.51492970e-02 -2.04645366e-02 7.47052329e+02] [ 3.51503990e-02 9.99381987e-01 -3.05968079e-04 1.28665627e+01] [ 2.04626438e-02 -4.13621728e-04 9.99790533e-01 6.91344804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8592541539999 meters Centerline goodness [0,1] 0.9987493110611778 Centerline is valid? [True, True] Translation: X:747.08, Y:12.87, Z:6.91 [[ 9.99203765e-01 -3.45550116e-02 -1.99446286e-02 7.47082807e+02] [ 3.45559398e-02 9.99402721e-01 -2.98194864e-04 1.28685179e+01] [ 1.99430202e-02 -3.91247955e-04 9.99801042e-01 6.91404499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8892541539999 meters Centerline goodness [0,1] 0.9988922264118787 Centerline is valid? [True, True] Translation: X:747.11, Y:12.87, Z:6.91 [[ 9.99241462e-01 -3.40887701e-02 -1.88270361e-02 7.47112678e+02] [ 3.40895115e-02 9.99418744e-01 -2.81647084e-04 1.28710535e+01] [ 1.88256938e-02 -3.60371018e-04 9.99822716e-01 6.91443923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9192541539999 meters Centerline goodness [0,1] 0.9988064791133845 Centerline is valid? [True, True] Translation: X:747.14, Y:12.88, Z:6.92 [[ 9.99246038e-01 -3.42856477e-02 -1.82167662e-02 7.47143729e+02] [ 3.42863775e-02 9.99412012e-01 -2.72347094e-04 1.28752280e+01] [ 1.82153926e-02 -3.52445169e-04 9.99834024e-01 6.91615776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9492541539998 meters Centerline goodness [0,1] 0.9987852180213972 Centerline is valid? [True, True] Translation: X:747.17, Y:12.87, Z:6.92 [[ 9.99249252e-01 -3.49444544e-02 -1.67277555e-02 7.47174206e+02] [ 3.49451695e-02 9.99389200e-01 -2.49635532e-04 1.28737549e+01] [ 1.67262616e-02 -3.35106135e-04 9.99860050e-01 6.91576844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9792541539999 meters Centerline goodness [0,1] 0.9989365096245879 Centerline is valid? [True, True] Translation: X:747.21, Y:12.87, Z:6.92 [[ 9.99251783e-01 -3.50051731e-02 -1.64472602e-02 7.47205365e+02] [ 3.50058792e-02 9.99387076e-01 -2.45045557e-04 1.28741197e+01] [ 1.64457571e-02 -3.30888594e-04 9.99864705e-01 6.91588063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0092541539999 meters Centerline goodness [0,1] 0.9986799242020994 Centerline is valid? [True, True] Translation: X:747.24, Y:12.88, Z:6.92 [[ 9.99250925e-01 -3.51933979e-02 -1.60938909e-02 7.47237382e+02] [ 3.51941114e-02 9.99380467e-01 -2.38979215e-04 1.28781089e+01] [ 1.60923307e-02 -3.27609988e-04 9.99870456e-01 6.91686264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0392541539999 meters Centerline goodness [0,1] 0.9988694539249147 Centerline is valid? [True, True] Translation: X:747.27, Y:12.88, Z:6.92 [[ 9.99253854e-01 -3.52178852e-02 -1.58567226e-02 7.47268587e+02] [ 3.52185973e-02 9.99379605e-01 -2.34420379e-04 1.28773198e+01] [ 1.58551410e-02 -3.24206062e-04 9.99874247e-01 6.91683732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0692541539999 meters Centerline goodness [0,1] 0.9987622705932565 Centerline is valid? [True, True] Translation: X:747.30, Y:12.88, Z:6.92 [[ 9.99269273e-01 -3.49932044e-02 -1.53751645e-02 7.47300444e+02] [ 3.49938618e-02 9.99387502e-01 -2.26360182e-04 1.28786856e+01] [ 1.53736683e-02 -3.11841607e-04 9.99881770e-01 6.91723277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0992541539999 meters Centerline goodness [0,1] 0.9987219902871262 Centerline is valid? [True, True] Translation: X:747.33, Y:12.88, Z:6.92 [[ 9.99287513e-01 -3.40816151e-02 -1.62145161e-02 7.47331353e+02] [ 3.40822442e-02 9.99419003e-01 -2.37615552e-04 1.28776423e+01] [ 1.62131939e-02 -3.15180844e-04 9.99868508e-01 6.91520896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1292541539999 meters Centerline goodness [0,1] 0.9988918014619697 Centerline is valid? [True, True] Translation: X:747.36, Y:12.88, Z:6.92 [[ 9.99296585e-01 -3.42581386e-02 -1.52550017e-02 7.47362928e+02] [ 3.42587265e-02 9.99412973e-01 -2.22859144e-04 1.28778648e+01] [ 1.52536813e-02 -2.99914550e-04 9.99883611e-01 6.91652005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1592541539999 meters Centerline goodness [0,1] 0.9987635634952781 Centerline is valid? [True, True] Translation: X:747.39, Y:12.88, Z:6.92 [[ 9.99292749e-01 -3.41634514e-02 -1.57118126e-02 7.47393770e+02] [ 3.41640742e-02 9.99416211e-01 -2.28843616e-04 1.28768199e+01] [ 1.57104583e-02 -3.08097766e-04 9.99876536e-01 6.91598377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1892541539999 meters Centerline goodness [0,1] 0.9988511371614578 Centerline is valid? [True, True] Translation: X:747.43, Y:12.87, Z:6.91 [[ 9.99252234e-01 -3.49590071e-02 -1.65178706e-02 7.47425046e+02] [ 3.49598171e-02 9.99388690e-01 -2.39800899e-04 1.28741842e+01] [ 1.65161563e-02 -3.37840151e-04 9.99863542e-01 6.91477098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2192541539999 meters Centerline goodness [0,1] 0.998746627578442 Centerline is valid? [True, True] Translation: X:747.46, Y:12.87, Z:6.91 [[ 9.99176099e-01 -3.63040898e-02 -1.81421136e-02 7.47456607e+02] [ 3.63053008e-02 9.99340711e-01 -2.62707863e-04 1.28712807e+01] [ 1.81396901e-02 -3.96163475e-04 9.99835384e-01 6.91309766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2492541539999 meters Centerline goodness [0,1] 0.9986214794706482 Centerline is valid? [True, True] Translation: X:747.49, Y:12.87, Z:6.91 [[ 9.99144424e-01 -3.69193613e-02 -1.86381369e-02 7.47487553e+02] [ 3.69207588e-02 9.99318160e-01 -2.69226780e-04 1.28700595e+01] [ 1.86353684e-02 -4.19137722e-04 9.99826259e-01 6.91257657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2792541539999 meters Centerline goodness [0,1] 0.9987069148259634 Centerline is valid? [True, True] Translation: X:747.52, Y:12.87, Z:6.91 [[ 9.99110846e-01 -3.76960359e-02 -1.88819244e-02 7.47518689e+02] [ 3.76976215e-02 9.99289155e-01 -2.72076837e-04 1.28697452e+01] [ 1.88787585e-02 -4.39968721e-04 9.99821684e-01 6.91267413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3092541539999 meters Centerline goodness [0,1] 0.998771316597818 Centerline is valid? [True, True] Translation: X:747.55, Y:12.87, Z:6.91 [[ 9.99066078e-01 -3.86710050e-02 -1.92749746e-02 7.47549653e+02] [ 3.86728522e-02 9.99251887e-01 -2.77041496e-04 1.28683391e+01] [ 1.92712683e-02 -4.68635484e-04 9.99814182e-01 6.91297551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.339254154 meters Centerline goodness [0,1] 0.9987276544309435 Centerline is valid? [True, True] Translation: X:747.58, Y:12.87, Z:6.91 [[ 9.99064894e-01 -3.87600647e-02 -1.91571195e-02 7.47580609e+02] [ 3.87619190e-02 9.99248437e-01 -2.74653163e-04 1.28680955e+01] [ 1.91533673e-02 -4.68170381e-04 9.99816448e-01 6.91334649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3692541539999 meters Centerline goodness [0,1] 0.9988580612417527 Centerline is valid? [True, True] Translation: X:747.61, Y:12.86, Z:6.91 [[ 9.99090524e-01 -3.84955397e-02 -1.83362432e-02 7.47610735e+02] [ 3.84972029e-02 9.99258673e-01 -2.62393904e-04 1.28640426e+01] [ 1.83327510e-02 -4.43738811e-04 9.99831843e-01 6.91332128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3992541539999 meters Centerline goodness [0,1] 0.9987722529158993 Centerline is valid? [True, True] Translation: X:747.64, Y:12.87, Z:6.91 [[ 9.99114496e-01 -3.80962982e-02 -1.78576494e-02 7.47642218e+02] [ 3.80978205e-02 9.99273982e-01 -2.55066175e-04 1.28671247e+01] [ 1.78544015e-02 -4.25497207e-04 9.99840507e-01 6.91491355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4292541539999 meters Centerline goodness [0,1] 0.9987315815064584 Centerline is valid? [True, True] Translation: X:747.67, Y:12.87, Z:6.92 [[ 9.99223276e-01 -3.55010215e-02 -1.71033080e-02 7.47673614e+02] [ 3.55020483e-02 9.99369574e-01 -2.43678009e-04 1.28680451e+01] [ 1.71011764e-02 -3.63713728e-04 9.99853698e-01 6.91603494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.459254154 meters Centerline goodness [0,1] 0.9985795153391143 Centerline is valid? [True, True] Translation: X:747.71, Y:12.87, Z:6.92 [[ 9.99292806e-01 -3.34640824e-02 -1.71476563e-02 7.47705415e+02] [ 3.34648281e-02 9.99439866e-01 -2.43534981e-04 1.28695750e+01] [ 1.71462010e-02 -3.30480616e-04 9.99852938e-01 6.91621282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4892541539999 meters Centerline goodness [0,1] 0.9987722529158993 Centerline is valid? [True, True] Translation: X:747.74, Y:12.87, Z:6.92 [[ 9.99432231e-01 -2.94144942e-02 -1.64317894e-02 7.47736419e+02] [ 2.94146421e-02 9.99567269e-01 -2.32738997e-04 1.28716483e+01] [ 1.64315247e-02 -2.50728349e-04 9.99864962e-01 6.91742857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5192541539999 meters Centerline goodness [0,1] 0.9988971835765185 Centerline is valid? [True, True] Translation: X:747.77, Y:12.87, Z:6.92 [[ 9.99506005e-01 -2.69661252e-02 -1.61423176e-02 7.47766951e+02] [ 2.69659534e-02 9.99636326e-01 -2.28343503e-04 1.28712688e+01] [ 1.61426046e-02 -2.07062282e-04 9.99869678e-01 6.91732518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5492541539999 meters Centerline goodness [0,1] 0.998854961832061 Centerline is valid? [True, True] Translation: X:747.80, Y:12.87, Z:6.92 [[ 9.99551884e-01 -2.51740947e-02 -1.61955484e-02 7.47797813e+02] [ 2.51736894e-02 9.99683066e-01 -2.28923508e-04 1.28724767e+01] [ 1.61961784e-02 -1.78880780e-04 9.99868817e-01 6.91794105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5792541539998 meters Centerline goodness [0,1] 0.9987909640470888 Centerline is valid? [True, True] Translation: X:747.83, Y:12.87, Z:6.92 [[ 9.99638833e-01 -2.19936709e-02 -1.54428779e-02 7.47828116e+02] [ 2.19929229e-02 9.99758103e-01 -2.18284538e-04 1.28733441e+01] [ 1.54439432e-02 -1.21428322e-04 9.99880728e-01 6.91896804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6092541539999 meters Centerline goodness [0,1] 0.9986027014438752 Centerline is valid? [True, True] Translation: X:747.86, Y:12.87, Z:6.92 [[ 9.99655132e-01 -2.10526417e-02 -1.56972705e-02 7.47857513e+02] [ 2.10517492e-02 9.99778363e-01 -2.22111207e-04 1.28730084e+01] [ 1.56984674e-02 -1.08420394e-04 9.99876766e-01 6.91899642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6392541539999 meters Centerline goodness [0,1] 0.998812804748781 Centerline is valid? [True, True] Translation: X:747.89, Y:12.87, Z:6.92 [[ 9.99667879e-01 -2.01078655e-02 -1.61184611e-02 7.47886403e+02] [ 2.01067885e-02 9.99797812e-01 -2.28882822e-04 1.28712734e+01] [ 1.61198045e-02 -9.52836832e-05 9.99870063e-01 6.91884896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6692541539999 meters Centerline goodness [0,1] 0.9987733694272904 Centerline is valid? [True, True] Translation: X:747.91, Y:12.87, Z:6.92 [[ 9.99647265e-01 -2.04636769e-02 -1.69288071e-02 7.47914894e+02] [ 2.04624964e-02 9.99790592e-01 -2.42960548e-04 1.28699139e+01] [ 1.69302340e-02 -1.03530808e-04 9.99856668e-01 6.91880341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6992541539998 meters Centerline goodness [0,1] 0.9989212969817467 Centerline is valid? [True, True] Translation: X:747.94, Y:12.86, Z:6.92 [[ 9.99595427e-01 -2.23714022e-02 -1.75642501e-02 7.47942734e+02] [ 2.23703703e-02 9.99749719e-01 -2.55248674e-04 1.28649889e+01] [ 1.75655644e-02 -1.37773371e-04 9.99845704e-01 6.91777390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7292541539999 meters Centerline goodness [0,1] 0.9988812901046944 Centerline is valid? [True, True] Translation: X:747.97, Y:12.86, Z:6.92 [[ 9.99562739e-01 -2.39644642e-02 -1.73215351e-02 7.47971051e+02] [ 2.39636515e-02 9.99712798e-01 -2.54503850e-04 1.28622623e+01] [ 1.73226594e-02 -1.60694665e-04 9.99849939e-01 6.91752768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7592541539999 meters Centerline goodness [0,1] 0.9987569788265037 Centerline is valid? [True, True] Translation: X:748.00, Y:12.86, Z:6.92 [[ 9.99514184e-01 -2.58862141e-02 -1.73579667e-02 7.47999919e+02] [ 2.58856134e-02 9.99664878e-01 -2.59318700e-04 1.28595936e+01] [ 1.73588624e-02 -1.90128897e-04 9.99849306e-01 6.91773430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7892541539999 meters Centerline goodness [0,1] 0.9987576593459814 Centerline is valid? [True, True] Translation: X:748.03, Y:12.85, Z:6.92 [[ 9.99390852e-01 -3.01195440e-02 -1.76277603e-02 7.48028787e+02] [ 3.01195339e-02 9.99546269e-01 -2.66119534e-04 1.28532613e+01] [ 1.76277774e-02 -2.64982496e-04 9.99844584e-01 6.91800535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8192541539999 meters Centerline goodness [0,1] 0.9986546990940239 Centerline is valid? [True, True] Translation: X:748.06, Y:12.85, Z:6.92 [[ 9.99225074e-01 -3.52993425e-02 -1.74128904e-02 7.48058734e+02] [ 3.53001085e-02 9.99376722e-01 -2.63470061e-04 1.28450829e+01] [ 1.74113377e-02 -3.51411029e-04 9.99848349e-01 6.91729841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8492541539999 meters Centerline goodness [0,1] 0.9989493811855182 Centerline is valid? [True, True] Translation: X:748.09, Y:12.84, Z:6.92 [[ 9.99112821e-01 -3.81122004e-02 -1.79173234e-02 7.48089568e+02] [ 3.81134637e-02 9.99273381e-01 -2.71087168e-04 1.28416663e+01] [ 1.79146360e-02 -4.12044588e-04 9.99839435e-01 6.91775157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8792541539999 meters Centerline goodness [0,1] 0.9989707612166022 Centerline is valid? [True, True] Translation: X:748.12, Y:12.84, Z:6.92 [[ 9.98983199e-01 -4.14160649e-02 -1.78123129e-02 7.48119872e+02] [ 4.14178410e-02 9.99141877e-01 -2.69336446e-04 1.28377332e+01] [ 1.78081826e-02 -4.68684958e-04 9.99841312e-01 6.91792616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9092541539999 meters Centerline goodness [0,1] 0.9987208522060057 Centerline is valid? [True, True] Translation: X:748.15, Y:12.83, Z:6.92 [[ 9.98842019e-01 -4.48101329e-02 -1.75121003e-02 7.48151631e+02] [ 4.48123756e-02 9.98995386e-01 -2.64516103e-04 1.28335669e+01] [ 1.75063604e-02 -5.20549017e-04 9.99846616e-01 6.91830021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9392541539999 meters Centerline goodness [0,1] 0.9987630767940627 Centerline is valid? [True, True] Translation: X:748.18, Y:12.82, Z:6.92 [[ 9.98482351e-01 -5.25483482e-02 -1.64822794e-02 7.48181629e+02] [ 5.25513908e-02 9.98618190e-01 -2.48755300e-04 1.28238747e+01] [ 1.64725757e-02 -6.17788933e-04 9.99864127e-01 6.91928342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9692541539999 meters Centerline goodness [0,1] 0.9988272251308901 Centerline is valid? [True, True] Translation: X:748.21, Y:12.82, Z:6.92 [[ 9.98278411e-01 -5.64438089e-02 -1.59471253e-02 7.48212935e+02] [ 5.64471549e-02 9.98405559e-01 -2.40579827e-04 1.28194188e+01] [ 1.59352778e-02 -6.60004202e-04 9.99872808e-01 6.91991443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9992541539999 meters Centerline goodness [0,1] 0.9985537623139803 Centerline is valid? [True, True] Translation: X:748.24, Y:12.81, Z:6.92 [[ 9.97891555e-01 -6.32811220e-02 -1.44202519e-02 7.48242140e+02] [ 6.32845780e-02 9.97995499e-01 -2.16983764e-04 1.28101871e+01] [ 1.44050774e-02 -6.96053290e-04 9.99895999e-01 6.92121869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0292541539999 meters Centerline goodness [0,1] 0.9988069822931056 Centerline is valid? [True, True] Translation: X:748.27, Y:12.81, Z:6.92 [[ 9.97692130e-01 -6.65065055e-02 -1.36856858e-02 7.48272248e+02] [ 6.65099316e-02 9.97785742e-01 -2.05145608e-04 1.28058981e+01] [ 1.36690257e-02 -7.05561869e-04 9.99906326e-01 6.92204348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0592541539999 meters Centerline goodness [0,1] 0.9983904345826626 Centerline is valid? [True, True] Translation: X:748.30, Y:12.80, Z:6.92 [[ 9.97494525e-01 -6.94235911e-02 -1.36028459e-02 7.48303211e+02] [ 6.94272561e-02 9.97586996e-01 -2.03177403e-04 1.28024570e+01] [ 1.35841275e-02 -7.41739921e-04 9.99907456e-01 6.92260667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.089254154 meters Centerline goodness [0,1] 0.9985769890762985 Centerline is valid? [True, True] Translation: X:748.33, Y:12.80, Z:6.92 [[ 9.97162982e-01 -7.40391014e-02 -1.35719643e-02 7.48332789e+02] [ 7.40431771e-02 9.97255016e-01 -2.02617970e-04 1.27963408e+01] [ 1.35497111e-02 -8.02868215e-04 9.99907876e-01 6.92289247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1192541539999 meters Centerline goodness [0,1] 0.9984133280444268 Centerline is valid? [True, True] Translation: X:748.36, Y:12.79, Z:6.92 [[ 9.96967045e-01 -7.64995220e-02 -1.43015427e-02 7.48362516e+02] [ 7.65043030e-02 9.97069228e-01 -2.13294006e-04 1.27928377e+01] [ 1.42759450e-02 -8.81482462e-04 9.99897705e-01 6.92233005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1492541539999 meters Centerline goodness [0,1] 0.9983507995490793 Centerline is valid? [True, True] Translation: X:748.39, Y:12.79, Z:6.92 [[ 9.96891054e-01 -7.73787510e-02 -1.48578380e-02 7.48394597e+02] [ 7.73840241e-02 9.97001336e-01 -2.20543930e-04 1.27912317e+01] [ 1.48303497e-02 -9.29901022e-04 9.99889592e-01 6.92219253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1792541539999 meters Centerline goodness [0,1] 0.9984130629972229 Centerline is valid? [True, True] Translation: X:748.43, Y:12.79, Z:6.92 [[ 9.96863375e-01 -7.77035376e-02 -1.50190508e-02 7.48426923e+02] [ 7.77089773e-02 9.96976061e-01 -2.21953248e-04 1.27904234e+01] [ 1.49908807e-02 -9.45858014e-04 9.99887183e-01 6.92220702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.209254154 meters Centerline goodness [0,1] 0.9984130629972229 Centerline is valid? [True, True] Translation: X:748.46, Y:12.79, Z:6.92 [[ 9.96868421e-01 -7.76387704e-02 -1.50190652e-02 7.48458667e+02] [ 7.76442174e-02 9.96981106e-01 -2.20977789e-04 1.27908188e+01] [ 1.49908807e-02 -9.45857782e-04 9.99887183e-01 6.92250429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2392541539999 meters Centerline goodness [0,1] 0.998139243152833 Centerline is valid? [True, True] Translation: X:748.49, Y:12.79, Z:6.92 [[ 9.96864840e-01 -7.76656887e-02 -1.51172446e-02 7.48491048e+02] [ 7.76712251e-02 9.96979003e-01 -2.21438327e-04 1.27898671e+01] [ 1.50887736e-02 -9.53430827e-04 9.99885703e-01 6.92248421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2692541539999 meters Centerline goodness [0,1] 0.9985779710993539 Centerline is valid? [True, True] Translation: X:748.52, Y:12.81, Z:6.92 [[ 9.96967420e-01 -7.61220039e-02 -1.61680203e-02 7.48523265e+02] [ 7.61281530e-02 9.97098014e-01 -2.35685968e-04 1.28071332e+01] [ 1.61390418e-02 -9.95870291e-04 9.99869261e-01 6.92377491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2992541539999 meters Centerline goodness [0,1] 0.9984951720101994 Centerline is valid? [True, True] Translation: X:748.55, Y:12.81, Z:6.92 [[ 9.97077970e-01 -7.45650615e-02 -1.66004104e-02 7.48553646e+02] [ 7.45713429e-02 9.97215652e-01 -2.41154471e-04 1.28069985e+01] [ 1.65721708e-02 -9.97465086e-04 9.99862175e-01 6.92364525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3292541539998 meters Centerline goodness [0,1] 0.9983900643974241 Centerline is valid? [True, True] Translation: X:748.58, Y:12.80, Z:6.92 [[ 9.97388295e-01 -6.99250891e-02 -1.80850880e-02 7.48583470e+02] [ 6.99317858e-02 9.97551741e-01 -2.62635513e-04 1.27977558e+01] [ 1.80591759e-02 -1.00277292e-03 9.99836417e-01 6.91989505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3592541539999 meters Centerline goodness [0,1] 0.9984310936323321 Centerline is valid? [True, True] Translation: X:748.61, Y:12.80, Z:6.92 [[ 9.97579534e-01 -6.71559098e-02 -1.80321041e-02 7.48612990e+02] [ 6.71621118e-02 9.97742042e-01 -2.62107526e-04 1.28010855e+01] [ 1.80089904e-02 -9.49601086e-04 9.99837374e-01 6.92080939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3892541539999 meters Centerline goodness [0,1] 0.9986008728882578 Centerline is valid? [True, True] Translation: X:748.64, Y:12.82, Z:6.92 [[ 9.97801842e-01 -6.36999614e-02 -1.82701915e-02 7.48643596e+02] [ 6.37057507e-02 9.97968690e-01 -2.65550818e-04 1.28226265e+01] [ 1.82499947e-02 -8.98949171e-04 9.99833051e-01 6.92392903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4192541539999 meters Centerline goodness [0,1] 0.998513649304974 Centerline is valid? [True, True] Translation: X:748.67, Y:12.82, Z:6.92 [[ 9.98279270e-01 -5.55706894e-02 -1.87188876e-02 7.48673701e+02] [ 5.55753444e-02 9.98454459e-01 -2.71829587e-04 1.28152641e+01] [ 1.87050625e-02 -7.68946782e-04 9.99824749e-01 6.92102363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4492541539998 meters Centerline goodness [0,1] 0.9986797434930215 Centerline is valid? [True, True] Translation: X:748.70, Y:12.82, Z:6.92 [[ 9.98533643e-01 -5.07410153e-02 -1.88656752e-02 7.48704195e+02] [ 5.07448868e-02 9.98711611e-01 -2.73750782e-04 1.28217564e+01] [ 1.88552593e-02 -6.83987188e-04 9.99821990e-01 6.92180361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4792541539999 meters Centerline goodness [0,1] 0.998846500702586 Centerline is valid? [True, True] Translation: X:748.73, Y:12.83, Z:6.92 [[ 9.98990882e-01 -4.08913844e-02 -1.85772084e-02 7.48733244e+02] [ 4.08934362e-02 9.99163477e-01 -2.69572292e-04 1.28339879e+01] [ 1.85726914e-02 -4.90385627e-04 9.99827392e-01 6.92231970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5092541539999 meters Centerline goodness [0,1] 0.9989315567846144 Centerline is valid? [True, True] Translation: X:748.76, Y:12.85, Z:6.93 [[ 9.99181221e-01 -3.60451024e-02 -1.83749273e-02 7.48763739e+02] [ 3.60462879e-02 9.99350086e-01 -2.66786872e-04 1.28488757e+01] [ 1.83726016e-02 -3.95779489e-04 9.99831131e-01 6.92654383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5392541539999 meters Centerline goodness [0,1] 0.9990567619686426 Centerline is valid? [True, True] Translation: X:748.79, Y:12.85, Z:6.92 [[ 9.99347516e-01 -3.12239452e-02 -1.81551094e-02 7.48793261e+02] [ 3.12243043e-02 9.99512368e-01 -2.63756326e-04 1.28464889e+01] [ 1.81544919e-02 -3.03296432e-04 9.99835148e-01 6.92368523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5692541539999 meters Centerline goodness [0,1] 0.9989269257474699 Centerline is valid? [True, True] Translation: X:748.82, Y:12.86, Z:6.93 [[ 9.99585568e-01 -2.30603409e-02 -1.72311747e-02 7.48822660e+02] [ 2.30594436e-02 9.99734064e-01 -2.50786866e-04 1.28595990e+01] [ 1.72323756e-02 -1.46658369e-04 9.99851501e-01 6.92783001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5992541539999 meters Centerline goodness [0,1] 0.9987997473152243 Centerline is valid? [True, True] Translation: X:748.85, Y:12.86, Z:6.93 [[ 9.99657900e-01 -1.97044064e-02 -1.71993734e-02 7.48851350e+02] [ 1.97029744e-02 9.99805846e-01 -2.52724384e-04 1.28621730e+01] [ 1.72010139e-02 -8.62408872e-05 9.99852048e-01 6.92773197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6292541539999 meters Centerline goodness [0,1] 0.9990748528174936 Centerline is valid? [True, True] Translation: X:748.88, Y:12.87, Z:6.93 [[ 9.99734718e-01 -1.55814906e-02 -1.69620630e-02 7.48879544e+02] [ 1.55794298e-02 9.99878601e-01 -2.53633937e-04 1.28651845e+01] [ 1.69639558e-02 -1.06926176e-05 9.99856102e-01 6.92870637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6592541539999 meters Centerline goodness [0,1] 0.9991150256010451 Centerline is valid? [True, True] Translation: X:748.91, Y:12.87, Z:6.93 [[ 9.99738450e-01 -1.46702228e-02 -1.75446700e-02 7.48907533e+02] [ 1.46677912e-02 9.99892386e-01 -2.67269638e-04 1.28659491e+01] [ 1.75467029e-02 9.85817725e-06 9.99846045e-01 6.92870955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6892541539999 meters Centerline goodness [0,1] 0.9990736842105263 Centerline is valid? [True, True] Translation: X:748.94, Y:12.87, Z:6.93 [[ 9.99730943e-01 -1.41363086e-02 -1.83904015e-02 7.48935676e+02] [ 1.41334784e-02 9.99900077e-01 -2.83863169e-04 1.28658516e+01] [ 1.83925767e-02 2.38664514e-05 9.99830842e-01 6.92800063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7192541539999 meters Centerline goodness [0,1] 0.9992636539594378 Centerline is valid? [True, True] Translation: X:748.96, Y:12.87, Z:6.93 [[ 9.99707241e-01 -1.48068913e-02 -1.91360310e-02 7.48963666e+02] [ 1.48038787e-02 9.99890372e-01 -2.99087336e-04 1.28653112e+01] [ 1.91383617e-02 1.57122936e-05 9.99816845e-01 6.92762319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7492541539999 meters Centerline goodness [0,1] 0.9993067226890756 Centerline is valid? [True, True] Translation: X:748.99, Y:12.86, Z:6.93 [[ 9.99697261e-01 -1.60647236e-02 -1.86362596e-02 7.48991311e+02] [ 1.60619859e-02 9.99870954e-01 -2.96583007e-04 1.28645011e+01] [ 1.86386191e-02 -2.84211884e-06 9.99826286e-01 6.92837549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7792541539999 meters Centerline goodness [0,1] 0.9992230644856477 Centerline is valid? [True, True] Translation: X:749.02, Y:12.86, Z:6.93 [[ 9.99656002e-01 -1.91489475e-02 -1.79219056e-02 7.49019320e+02] [ 1.91468200e-02 9.99816641e-01 -2.90303391e-04 1.28606650e+01] [ 1.79241784e-02 -5.29439733e-05 9.99839348e-01 6.92900481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8092541539999 meters Centerline goodness [0,1] 0.9991413073072654 Centerline is valid? [True, True] Translation: X:749.05, Y:12.86, Z:6.93 [[ 9.99629471e-01 -2.06737573e-02 -1.77064043e-02 7.49047075e+02] [ 2.06718587e-02 9.99786272e-01 -2.90269102e-04 1.28583764e+01] [ 1.77086209e-02 -7.58627395e-05 9.99843187e-01 6.92863372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.839254154 meters Centerline goodness [0,1] 0.9992459943449575 Centerline is valid? [True, True] Translation: X:749.08, Y:12.85, Z:6.93 [[ 9.99535478e-01 -2.50575665e-02 -1.73478029e-02 7.49076288e+02] [ 2.50563551e-02 9.99685999e-01 -2.87214690e-04 1.28535540e+01] [ 1.73495526e-02 -1.47591438e-04 9.99849474e-01 6.92925989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8692541539999 meters Centerline goodness [0,1] 0.9991614783137329 Centerline is valid? [True, True] Translation: X:749.11, Y:12.85, Z:6.93 [[ 9.99468544e-01 -2.74200606e-02 -1.76286705e-02 7.49105235e+02] [ 2.74190986e-02 9.99623982e-01 -2.96310331e-04 1.28506093e+01] [ 1.76301667e-02 -1.87209401e-04 9.99844559e-01 6.92791484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8992541539999 meters Centerline goodness [0,1] 0.9990810167296728 Centerline is valid? [True, True] Translation: X:749.13, Y:12.84, Z:6.93 [[ 9.99303597e-01 -3.32377030e-02 -1.69580854e-02 7.49133540e+02] [ 3.32376005e-02 9.99447437e-01 -2.87965315e-04 1.28436435e+01] [ 1.69582863e-02 -2.75881292e-04 9.99856160e-01 6.92906552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9292541539999 meters Centerline goodness [0,1] 0.9987664387714567 Centerline is valid? [True, True] Translation: X:749.16, Y:12.84, Z:6.93 [[ 9.99213643e-01 -3.58705748e-02 -1.68936911e-02 7.49164068e+02] [ 3.58708352e-02 9.99356393e-01 -2.87698285e-04 1.28415673e+01] [ 1.68931381e-02 -3.18518759e-04 9.99857250e-01 6.92895966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.959254154 meters Centerline goodness [0,1] 0.9988510309386033 Centerline is valid? [True, True] Translation: X:749.19, Y:12.83, Z:6.93 [[ 9.98997293e-01 -4.12701520e-02 -1.73546437e-02 7.49194199e+02] [ 4.12712514e-02 9.99147935e-01 -2.94949828e-04 1.28323513e+01] [ 1.73520290e-02 -4.21593784e-04 9.99849353e-01 6.92876256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9892541539999 meters Centerline goodness [0,1] 0.9988496611729273 Centerline is valid? [True, True] Translation: X:749.23, Y:12.83, Z:6.93 [[ 9.98828886e-01 -4.46177183e-02 -1.87113883e-02 7.49225133e+02] [ 4.46196004e-02 9.99003999e-01 -3.17090715e-04 1.28258663e+01] [ 1.87068996e-02 -5.18175302e-04 9.99824876e-01 6.92669525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0192541539999 meters Centerline goodness [0,1] 0.9991432452199352 Centerline is valid? [True, True] Translation: X:749.26, Y:12.83, Z:6.93 [[ 9.98778548e-01 -4.62295078e-02 -1.74426310e-02 7.49255921e+02] [ 4.62313915e-02 9.98930714e-01 -2.95439267e-04 1.28263498e+01] [ 1.74376379e-02 -5.11318700e-04 9.99847822e-01 6.92972809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0492541539999 meters Centerline goodness [0,1] 0.9987690381806802 Centerline is valid? [True, True] Translation: X:749.29, Y:12.83, Z:6.93 [[ 9.98751097e-01 -4.66362990e-02 -1.79249018e-02 7.49287102e+02] [ 4.66383595e-02 9.98911794e-01 -3.03288725e-04 1.28251365e+01] [ 1.79195401e-02 -5.33078067e-04 9.99839290e-01 6.93032378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0792541539998 meters Centerline goodness [0,1] 0.9987690381806802 Centerline is valid? [True, True] Translation: X:749.32, Y:12.83, Z:6.93 [[ 9.98752835e-01 -4.65990492e-02 -1.79249131e-02 7.49317956e+02] [ 4.66011157e-02 9.98913532e-01 -3.02620454e-04 1.28256288e+01] [ 1.79195401e-02 -5.33077914e-04 9.99839290e-01 6.93061276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1092541539999 meters Centerline goodness [0,1] 0.9992069123846893 Centerline is valid? [True, True] Translation: X:749.35, Y:12.82, Z:6.93 [[ 9.98880941e-01 -4.38889935e-02 -1.76244457e-02 7.49348308e+02] [ 4.38905757e-02 9.99036300e-01 -2.97204274e-04 1.28234503e+01] [ 1.76205050e-02 -4.76675382e-04 9.99844633e-01 6.92969693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1392541539999 meters Centerline goodness [0,1] 0.9991224587869038 Centerline is valid? [True, True] Translation: X:749.38, Y:12.82, Z:6.93 [[ 9.98955523e-01 -4.24158018e-02 -1.69929999e-02 7.49378215e+02] [ 4.24170609e-02 9.99099950e-01 -2.86485753e-04 1.28215368e+01] [ 1.69898568e-02 -4.34606584e-04 9.99855568e-01 6.93064117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1692541539999 meters Centerline goodness [0,1] 0.9989139742277731 Centerline is valid? [True, True] Translation: X:749.41, Y:12.82, Z:6.93 [[ 9.99066745e-01 -3.94527047e-02 -1.75819096e-02 7.49408662e+02] [ 3.94535956e-02 9.99221360e-01 -2.96324854e-04 1.28233128e+01] [ 1.75799104e-02 -3.97621242e-04 9.99845382e-01 6.92977482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1992541539998 meters Centerline goodness [0,1] 0.9992698750443291 Centerline is valid? [True, True] Translation: X:749.44, Y:12.82, Z:6.93 [[ 9.99179345e-01 -3.69836119e-02 -1.65181290e-02 7.49438711e+02] [ 3.69840587e-02 9.99315817e-01 -2.78527972e-04 1.28246344e+01] [ 1.65171286e-02 -3.32608057e-04 9.99863528e-01 6.93158632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2292541539999 meters Centerline goodness [0,1] 0.9991628821965971 Centerline is valid? [True, True] Translation: X:749.47, Y:12.83, Z:6.93 [[ 9.99376390e-01 -3.08434704e-02 -1.71904444e-02 7.49468740e+02] [ 3.08430405e-02 9.99524198e-01 -2.90189716e-04 1.28265572e+01] [ 1.71912156e-02 -2.40196822e-04 9.99852191e-01 6.93142482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2592541539999 meters Centerline goodness [0,1] 0.9992050209205021 Centerline is valid? [True, True] Translation: X:749.50, Y:12.83, Z:6.93 [[ 9.99458874e-01 -2.78758594e-02 -1.74612845e-02 7.49497277e+02] [ 2.78749522e-02 9.99611374e-01 -2.95385154e-04 1.28273888e+01] [ 1.74627327e-02 -1.91507159e-04 9.99847497e-01 6.93118267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2892541539999 meters Centerline goodness [0,1] 0.9993728179290448 Centerline is valid? [True, True] Translation: X:749.53, Y:12.83, Z:6.93 [[ 9.99572907e-01 -2.32983630e-02 -1.76405840e-02 7.49525760e+02] [ 2.32966779e-02 9.99728550e-01 -3.01045214e-04 1.28275597e+01] [ 1.76428093e-02 -1.10050363e-04 9.99844347e-01 6.93103306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3192541539999 meters Centerline goodness [0,1] 0.9992254066615027 Centerline is valid? [True, True] Translation: X:749.55, Y:12.83, Z:6.93 [[ 9.99585417e-01 -2.24740530e-02 -1.79975531e-02 7.49553819e+02] [ 2.24720769e-02 9.99747422e-01 -3.12056578e-04 1.28271540e+01] [ 1.80000205e-02 -9.25151929e-05 9.99837982e-01 6.93098366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3492541539999 meters Centerline goodness [0,1] 0.9992501405986377 Centerline is valid? [True, True] Translation: X:749.58, Y:12.83, Z:6.93 [[ 9.99593027e-01 -2.19782738e-02 -1.81861675e-02 7.49581109e+02] [ 2.19760926e-02 9.99758445e-01 -3.19798026e-04 1.28261346e+01] [ 1.81888032e-02 -7.99930247e-05 9.99834567e-01 6.93034533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3792541539999 meters Centerline goodness [0,1] 0.9993523451373655 Centerline is valid? [True, True] Translation: X:749.61, Y:12.82, Z:6.93 [[ 9.99544970e-01 -2.36252325e-02 -1.87537203e-02 7.49610041e+02] [ 2.36231229e-02 9.99720879e-01 -3.34043077e-04 1.28227005e+01] [ 1.87563776e-02 -1.09130363e-04 9.99824078e-01 6.93016371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4092541539999 meters Centerline goodness [0,1] 0.9993098688750862 Centerline is valid? [True, True] Translation: X:749.64, Y:12.82, Z:6.93 [[ 9.99425046e-01 -2.81374391e-02 -1.89172527e-02 7.49638541e+02] [ 2.81360092e-02 9.99604046e-01 -3.41782638e-04 1.28176047e+01] [ 1.89193792e-02 -1.90669867e-04 9.99820994e-01 6.93038345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4392541539999 meters Centerline goodness [0,1] 0.9993518983107543 Centerline is valid? [True, True] Translation: X:749.67, Y:12.81, Z:6.93 [[ 9.99328222e-01 -3.12218548e-02 -1.91911773e-02 7.49667450e+02] [ 3.12208564e-02 9.99512448e-01 -3.51704626e-04 1.28147341e+01] [ 1.91928014e-02 -2.47696631e-04 9.99815771e-01 6.92953958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4692541539999 meters Centerline goodness [0,1] 0.9992471296819123 Centerline is valid? [True, True] Translation: X:749.69, Y:12.81, Z:6.93 [[ 9.99195302e-01 -3.52750861e-02 -1.90897160e-02 7.49694822e+02] [ 3.52747623e-02 9.99377589e-01 -3.53794058e-04 1.28107110e+01] [ 1.90903144e-02 -3.19875832e-04 9.99817712e-01 6.92943993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4992541539999 meters Centerline goodness [0,1] 0.9992049543894886 Centerline is valid? [True, True] Translation: X:749.72, Y:12.81, Z:6.93 [[ 9.99040477e-01 -3.98422797e-02 -1.81856371e-02 7.49723367e+02] [ 3.98426754e-02 9.99205907e-01 -3.40698936e-04 1.28074791e+01] [ 1.81847703e-02 -3.84192410e-04 9.99834570e-01 6.93104015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5292541539999 meters Centerline goodness [0,1] 0.9992059345940864 Centerline is valid? [True, True] Translation: X:749.75, Y:12.80, Z:6.93 [[ 9.98639303e-01 -4.91641662e-02 -1.73904173e-02 7.49753361e+02] [ 4.91658976e-02 9.98790572e-01 -3.28221132e-04 1.27993509e+01] [ 1.73855215e-02 -5.27240952e-04 9.99848721e-01 6.93176765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5592541539999 meters Centerline goodness [0,1] 0.998685884733318 Centerline is valid? [True, True] Translation: X:749.78, Y:12.79, Z:6.93 [[ 9.98390591e-01 -5.39135035e-02 -1.75943658e-02 7.49782635e+02] [ 5.39160039e-02 9.98545419e-01 -3.32542069e-04 1.27948816e+01] [ 1.75867019e-02 -6.16611023e-04 9.99845152e-01 6.93045640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.589254154 meters Centerline goodness [0,1] 0.9992266856163524 Centerline is valid? [True, True] Translation: X:749.81, Y:12.79, Z:6.93 [[ 9.97869769e-01 -6.34540096e-02 -1.51496855e-02 7.49812866e+02] [ 6.34569548e-02 9.97984535e-01 -2.86704325e-04 1.27872968e+01] [ 1.51373443e-02 -6.75259326e-04 9.99885196e-01 6.93372403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6192541539999 meters Centerline goodness [0,1] 0.9991019027130893 Centerline is valid? [True, True] Translation: X:749.84, Y:12.78, Z:6.93 [[ 9.97602066e-01 -6.77850987e-02 -1.39749462e-02 7.49843303e+02] [ 6.77880282e-02 9.97699711e-01 -2.64501566e-04 1.27815837e+01] [ 1.39607291e-02 -6.83466742e-04 9.99902311e-01 6.93489424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6492541539999 meters Centerline goodness [0,1] 0.99924821450946 Centerline is valid? [True, True] Translation: X:749.87, Y:12.78, Z:6.94 [[ 9.97342287e-01 -7.17192064e-02 -1.28342722e-02 7.49874536e+02] [ 7.17220048e-02 9.97424631e-01 -2.42692849e-04 1.27819366e+01] [ 1.28186249e-02 -6.78451889e-04 9.99917608e-01 6.93601709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6792541539999 meters Centerline goodness [0,1] 0.9987252361447797 Centerline is valid? [True, True] Translation: X:749.91, Y:12.78, Z:6.94 [[ 9.96837245e-01 -7.86410953e-02 -1.14492843e-02 7.49905281e+02] [ 7.86437791e-02 9.96902758e-01 -2.16327753e-04 1.27768748e+01] [ 1.14308354e-02 -6.84771424e-04 9.99934431e-01 6.93700097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.709254154 meters Centerline goodness [0,1] 0.9987680614716445 Centerline is valid? [True, True] Translation: X:749.94, Y:12.78, Z:6.94 [[ 9.96392427e-01 -8.41785315e-02 -1.07752655e-02 7.49935959e+02] [ 8.41812320e-02 9.96450440e-01 -2.03496783e-04 1.27756369e+01] [ 1.07541481e-02 -7.04312474e-04 9.99941924e-01 6.93773578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7392541539999 meters Centerline goodness [0,1] 0.9986868981616575 Centerline is valid? [True, True] Translation: X:749.97, Y:12.77, Z:6.94 [[ 9.96219140e-01 -8.62034612e-02 -1.07883913e-02 7.49967306e+02] [ 8.62062873e-02 9.96277288e-01 -2.03660835e-04 1.27742235e+01] [ 1.07657855e-02 -7.27136336e-04 9.99941783e-01 6.93614684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7692541539999 meters Centerline goodness [0,1] 0.998768292937517 Centerline is valid? [True, True] Translation: X:750.00, Y:12.77, Z:6.94 [[ 9.96028761e-01 -8.83647329e-02 -1.08802962e-02 7.49997448e+02] [ 8.83677395e-02 9.96087898e-01 -2.05038718e-04 1.27714559e+01] [ 1.08558495e-02 -7.57242718e-04 9.99940787e-01 6.93749150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7992541539999 meters Centerline goodness [0,1] 0.9986668055410894 Centerline is valid? [True, True] Translation: X:750.03, Y:12.77, Z:6.94 [[ 9.95856985e-01 -9.01480791e-02 -1.19242967e-02 7.50028246e+02] [ 9.01518183e-02 9.95928009e-01 -2.24665687e-04 1.27713270e+01] [ 1.18959943e-02 -8.51262138e-04 9.99928878e-01 6.93624047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8292541539998 meters Centerline goodness [0,1] 0.9986863779478304 Centerline is valid? [True, True] Translation: X:750.06, Y:12.77, Z:6.94 [[ 9.95819079e-01 -9.05003410e-02 -1.24117269e-02 7.50060880e+02] [ 9.05044244e-02 9.95896026e-01 -2.33445820e-04 1.27717768e+01] [ 1.23819165e-02 -8.90846400e-04 9.99922944e-01 6.93615451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8592541539999 meters Centerline goodness [0,1] 0.9987503384500032 Centerline is valid? [True, True] Translation: X:750.09, Y:12.78, Z:6.94 [[ 9.95893676e-01 -8.95613171e-02 -1.32119561e-02 7.50092977e+02] [ 8.95658753e-02 9.95980870e-01 -2.47475528e-04 1.27776491e+01] [ 1.31810197e-02 -9.36881097e-04 9.99912688e-01 6.93547396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8892541539999 meters Centerline goodness [0,1] 0.9988543337429958 Centerline is valid? [True, True] Translation: X:750.12, Y:12.78, Z:6.94 [[ 9.96016364e-01 -8.80717312e-02 -1.39561216e-02 7.50124854e+02] [ 8.80766859e-02 9.96113663e-01 -2.60413552e-04 1.27797790e+01] [ 1.39248185e-02 -9.69832781e-04 9.99902575e-01 6.93536397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9192541539999 meters Centerline goodness [0,1] 0.9986639388752035 Centerline is valid? [True, True] Translation: X:750.16, Y:12.78, Z:6.94 [[ 9.96146942e-01 -8.65423118e-02 -1.42020184e-02 7.50156426e+02] [ 8.65472981e-02 9.96247708e-01 -2.64284734e-04 1.27831056e+01] [ 1.41716001e-02 -9.65879892e-04 9.99899111e-01 6.93538002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9492541539998 meters Centerline goodness [0,1] 0.9987484616507791 Centerline is valid? [True, True] Translation: X:750.19, Y:12.79, Z:6.94 [[ 9.96546341e-01 -8.17327061e-02 -1.46681617e-02 7.50187009e+02] [ 8.17375119e-02 9.96653854e-01 -2.72569597e-04 1.27907136e+01] [ 1.46413577e-02 -9.27310807e-04 9.99892380e-01 6.93541609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9792541539999 meters Centerline goodness [0,1] 0.9989375664020999 Centerline is valid? [True, True] Translation: X:750.22, Y:12.80, Z:6.94 [[ 9.96769401e-01 -7.89355577e-02 -1.48303266e-02 7.50218470e+02] [ 7.89401678e-02 9.96879318e-01 -2.75181549e-04 1.27958333e+01] [ 1.48057675e-02 -8.96415922e-04 9.99889987e-01 6.93611824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0092541539999 meters Centerline goodness [0,1] 0.9989363033412589 Centerline is valid? [True, True] Translation: X:750.25, Y:12.80, Z:6.94 [[ 9.97292842e-01 -7.21047781e-02 -1.44183394e-02 7.50247801e+02] [ 7.21084308e-02 9.97396763e-01 -2.67047853e-04 1.28041580e+01] [ 1.44000605e-02 -7.73358918e-04 9.99896015e-01 6.93702747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0392541539999 meters Centerline goodness [0,1] 0.9989575949630989 Centerline is valid? [True, True] Translation: X:750.28, Y:12.81, Z:6.94 [[ 9.97563804e-01 -6.83448623e-02 -1.39798783e-02 7.50277679e+02] [ 6.83479254e-02 9.97661513e-01 -2.59108813e-04 1.28082387e+01] [ 1.39648953e-02 -6.97018106e-04 9.99902243e-01 6.93775838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0692541539999 meters Centerline goodness [0,1] 0.9986874726556804 Centerline is valid? [True, True] Translation: X:750.31, Y:12.81, Z:6.94 [[ 9.97831393e-01 -6.45104986e-02 -1.30731398e-02 7.50308143e+02] [ 6.45128487e-02 9.97916847e-01 -2.42302948e-04 1.28137892e+01] [ 1.30615375e-02 -6.01608001e-04 9.99914513e-01 6.93830139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0992541539999 meters Centerline goodness [0,1] 0.9987699364119671 Centerline is valid? [True, True] Translation: X:750.34, Y:12.83, Z:6.94 [[ 9.98331958e-01 -5.65478966e-02 -1.16463260e-02 7.50338564e+02] [ 5.65492205e-02 9.98399789e-01 -2.15858086e-04 1.28255852e+01] [ 1.16398958e-02 -4.43092634e-04 9.99932156e-01 6.93991054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1292541539999 meters Centerline goodness [0,1] 0.9987699364119671 Centerline is valid? [True, True] Translation: X:750.37, Y:12.83, Z:6.94 [[ 9.98336187e-01 -5.64731803e-02 -1.16463292e-02 7.50370268e+02] [ 5.64745012e-02 9.98404019e-01 -2.15688579e-04 1.28261142e+01] [ 1.16399225e-02 -4.42390918e-04 9.99932156e-01 6.94020757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1592541539999 meters Centerline goodness [0,1] 0.9987887900430188 Centerline is valid? [True, True] Translation: X:750.40, Y:12.83, Z:6.94 [[ 9.98740485e-01 -4.88445355e-02 -1.14741264e-02 7.50400071e+02] [ 4.88453223e-02 9.98806332e-01 -2.11830054e-04 1.28336054e+01] [ 1.14707768e-02 -3.48894148e-04 9.99934148e-01 6.94098156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1892541539999 meters Centerline goodness [0,1] 0.9989990824922846 Centerline is valid? [True, True] Translation: X:750.43, Y:12.84, Z:6.94 [[ 9.98910931e-01 -4.52401707e-02 -1.14139645e-02 7.50431564e+02] [ 4.52407138e-02 9.98976093e-01 -2.10741074e-04 1.28392244e+01] [ 1.14118116e-02 -3.05864340e-04 9.99934836e-01 6.94143373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2192541539999 meters Centerline goodness [0,1] 0.9988732629470434 Centerline is valid? [True, True] Translation: X:750.46, Y:12.85, Z:6.94 [[ 9.99039108e-01 -4.21560935e-02 -1.19885479e-02 7.50462497e+02] [ 4.21564761e-02 9.99110996e-01 -2.20901891e-04 1.28462645e+01] [ 1.19872024e-02 -2.84705304e-04 9.99928110e-01 6.94189538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2492541539999 meters Centerline goodness [0,1] 0.9989557444497817 Centerline is valid? [True, True] Translation: X:750.49, Y:12.85, Z:6.94 [[ 9.99226249e-01 -3.71110710e-02 -1.30258302e-02 7.50493475e+02] [ 3.71111008e-02 9.99311117e-01 -2.39504006e-04 1.28522857e+01] [ 1.30257452e-02 -2.44084210e-04 9.99915132e-01 6.94132292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2792541539999 meters Centerline goodness [0,1] 0.9990378581886634 Centerline is valid? [True, True] Translation: X:750.52, Y:12.85, Z:6.94 [[ 9.99288373e-01 -3.54170669e-02 -1.29760827e-02 7.50523763e+02] [ 3.54169590e-02 9.99372594e-01 -2.38178384e-04 1.28531967e+01] [ 1.29763770e-02 -2.21564499e-04 9.99915779e-01 6.94103687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3092541539999 meters Centerline goodness [0,1] 0.9992271540469974 Centerline is valid? [True, True] Translation: X:750.56, Y:12.86, Z:6.94 [[ 9.99365600e-01 -3.27623211e-02 -1.39652152e-02 7.50555245e+02] [ 3.27619420e-02 9.99463151e-01 -2.55985786e-04 1.28581482e+01] [ 1.39661047e-02 -2.01704182e-04 9.99902449e-01 6.94180938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.339254154 meters Centerline goodness [0,1] 0.9989137246709839 Centerline is valid? [True, True] Translation: X:750.59, Y:12.86, Z:6.94 [[ 9.99408537e-01 -3.13234764e-02 -1.41921162e-02 7.50586194e+02] [ 3.13229471e-02 9.99509282e-01 -2.59628750e-04 1.28610097e+01] [ 1.41932843e-02 -1.85063714e-04 9.99899253e-01 6.94216639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3692541539999 meters Centerline goodness [0,1] 0.9990790354989953 Centerline is valid? [True, True] Translation: X:750.62, Y:12.86, Z:6.94 [[ 9.99447248e-01 -2.98724379e-02 -1.45889316e-02 7.50616423e+02] [ 2.98717292e-02 9.99553705e-01 -2.66538228e-04 1.28635351e+01] [ 1.45903828e-02 -1.69405715e-04 9.99893540e-01 6.94226014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3992541539999 meters Centerline goodness [0,1] 0.999140929472405 Centerline is valid? [True, True] Translation: X:750.65, Y:12.87, Z:6.94 [[ 9.99508894e-01 -2.70693084e-02 -1.57868339e-02 7.50646884e+02] [ 2.70681289e-02 9.99633549e-01 -2.88423776e-04 1.28683812e+01] [ 1.57888563e-02 -1.39037927e-04 9.99875339e-01 6.94264790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4292541539999 meters Centerline goodness [0,1] 0.9990347287797713 Centerline is valid? [True, True] Translation: X:750.68, Y:12.87, Z:6.94 [[ 9.99549984e-01 -2.56102843e-02 -1.56186967e-02 7.50676213e+02] [ 2.56089481e-02 9.99671996e-01 -2.85581232e-04 1.28711541e+01] [ 1.56208875e-02 -1.14525678e-04 9.99877980e-01 6.94290917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.459254154 meters Centerline goodness [0,1] 0.9992235373121799 Centerline is valid? [True, True] Translation: X:750.71, Y:12.87, Z:6.94 [[ 9.99609265e-01 -2.28311038e-02 -1.61263310e-02 7.50706193e+02] [ 2.28293079e-02 9.99739334e-01 -2.95468919e-04 1.28741062e+01] [ 1.61288733e-02 -7.27995051e-05 9.99869919e-01 6.94382167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4892541539999 meters Centerline goodness [0,1] 0.9991406593867243 Centerline is valid? [True, True] Translation: X:750.73, Y:12.88, Z:6.94 [[ 9.99627831e-01 -2.19159869e-02 -1.62446696e-02 7.50733950e+02] [ 2.19140278e-02 9.99759814e-01 -2.98621082e-04 1.28751859e+01] [ 1.62473124e-02 -5.74761959e-05 9.99868002e-01 6.94371120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5192541539999 meters Centerline goodness [0,1] 0.9990985513930526 Centerline is valid? [True, True] Translation: X:750.76, Y:12.88, Z:6.94 [[ 9.99626895e-01 -2.18109970e-02 -1.64423713e-02 7.50761514e+02] [ 2.18089279e-02 9.99762110e-01 -3.05157129e-04 1.28764032e+01] [ 1.64451156e-02 -5.35472167e-05 9.99864769e-01 6.94427174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5492541539999 meters Centerline goodness [0,1] 0.9990776841487444 Centerline is valid? [True, True] Translation: X:750.79, Y:12.88, Z:6.95 [[ 9.99600974e-01 -2.27147336e-02 -1.67908948e-02 7.50789452e+02] [ 2.27126207e-02 9.99741985e-01 -3.16542294e-04 1.28771348e+01] [ 1.67937526e-02 -6.49492398e-05 9.99858973e-01 6.94544164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5792541539998 meters Centerline goodness [0,1] 0.9992046548620704 Centerline is valid? [True, True] Translation: X:750.82, Y:12.88, Z:6.95 [[ 9.99558704e-01 -2.42825923e-02 -1.71100368e-02 7.50817944e+02] [ 2.42805464e-02 9.99705131e-01 -3.27329421e-04 1.28769411e+01] [ 1.71129399e-02 -8.82560702e-05 9.99853559e-01 6.94606364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6092541539999 meters Centerline goodness [0,1] 0.999059502163145 Centerline is valid? [True, True] Translation: X:750.85, Y:12.87, Z:6.95 [[ 9.99446025e-01 -2.84493768e-02 -1.72706676e-02 7.50845739e+02] [ 2.84478603e-02 9.99595222e-01 -3.33527507e-04 1.28738551e+01] [ 1.72731655e-02 -1.57970798e-04 9.99850795e-01 6.94595086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6392541539999 meters Centerline goodness [0,1] 0.9988513428845913 Centerline is valid? [True, True] Translation: X:750.87, Y:12.87, Z:6.95 [[ 9.99357100e-01 -3.11588645e-02 -1.77344845e-02 7.50874333e+02] [ 3.11576383e-02 9.99514423e-01 -3.45508332e-04 1.28726886e+01] [ 1.77366387e-02 -2.07278450e-04 9.99842672e-01 6.94656365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6692541539999 meters Centerline goodness [0,1] 0.998871473354232 Centerline is valid? [True, True] Translation: X:750.90, Y:12.87, Z:6.95 [[ 9.99247759e-01 -3.40543701e-02 -1.85530692e-02 7.50903907e+02] [ 3.40534739e-02 9.99419946e-01 -3.64321395e-04 1.28707751e+01] [ 1.85547142e-02 -2.67749121e-04 9.99827811e-01 6.94678710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6992541539998 meters Centerline goodness [0,1] 0.9988926497012244 Centerline is valid? [True, True] Translation: X:750.93, Y:12.86, Z:6.94 [[ 9.99026472e-01 -3.92318363e-02 -2.01735254e-02 7.50933046e+02] [ 3.92318160e-02 9.99230057e-01 -3.96920740e-04 1.28641390e+01] [ 2.01735649e-02 -3.94909709e-04 9.99796415e-01 6.94443523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7292541539999 meters Centerline goodness [0,1] 0.9989339910538857 Centerline is valid? [True, True] Translation: X:750.96, Y:12.86, Z:6.94 [[ 9.98904067e-01 -4.20009915e-02 -2.06538329e-02 7.50963102e+02] [ 4.20015462e-02 9.99117463e-01 -4.07122362e-04 1.28626587e+01] [ 2.06527047e-02 -4.60816734e-04 9.99786604e-01 6.94488041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7592541539999 meters Centerline goodness [0,1] 0.9989153334306752 Centerline is valid? [True, True] Translation: X:750.99, Y:12.86, Z:6.94 [[ 9.98700887e-01 -4.60917422e-02 -2.17276012e-02 7.50991907e+02] [ 4.60933020e-02 9.98937047e-01 -4.29281659e-04 1.28588611e+01] [ 2.17242921e-02 -5.72772908e-04 9.99763836e-01 6.94376887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7892541539999 meters Centerline goodness [0,1] 0.9990614441246403 Centerline is valid? [True, True] Translation: X:751.02, Y:12.86, Z:6.94 [[ 9.98601206e-01 -4.80413618e-02 -2.20830168e-02 7.51021474e+02] [ 4.80434285e-02 9.98845152e-01 -4.37247234e-04 1.28584431e+01] [ 2.20785202e-02 -6.24308223e-04 9.99756045e-01 6.94452583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8192541539999 meters Centerline goodness [0,1] 0.9988325306981883 Centerline is valid? [True, True] Translation: X:751.05, Y:12.86, Z:6.94 [[ 9.98467074e-01 -5.06912765e-02 -2.22237988e-02 7.51050775e+02] [ 5.06940130e-02 9.98714135e-01 -4.40588144e-04 1.28556320e+01] [ 2.22175560e-02 -6.86700791e-04 9.99752924e-01 6.94416183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8492541539999 meters Centerline goodness [0,1] 0.9988744606790754 Centerline is valid? [True, True] Translation: X:751.08, Y:12.86, Z:6.95 [[ 9.98411581e-01 -5.17295733e-02 -2.23240998e-02 7.51081135e+02] [ 5.17325902e-02 9.98660875e-01 -4.42740115e-04 1.28590503e+01] [ 2.23171078e-02 -7.12846650e-04 9.99750688e-01 6.94605605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8792541539999 meters Centerline goodness [0,1] 0.9988731218697829 Centerline is valid? [True, True] Translation: X:751.11, Y:12.86, Z:6.95 [[ 9.98355917e-01 -5.27716460e-02 -2.23744502e-02 7.51111399e+02] [ 5.27749379e-02 9.98606333e-01 -4.43738683e-04 1.28586611e+01] [ 2.23666845e-02 -7.37801080e-04 9.99749562e-01 6.94639667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9092541539999 meters Centerline goodness [0,1] 0.9989164635035735 Centerline is valid? [True, True] Translation: X:751.14, Y:12.86, Z:6.95 [[ 9.98239742e-01 -5.50691413e-02 -2.20183427e-02 7.51141354e+02] [ 5.50728821e-02 9.98482242e-01 -4.36907414e-04 1.28579431e+01] [ 2.20089842e-02 -7.76475246e-04 9.99757471e-01 6.94728997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9392541539999 meters Centerline goodness [0,1] 0.9989147448606908 Centerline is valid? [True, True] Translation: X:751.17, Y:12.86, Z:6.95 [[ 9.98167521e-01 -5.64419582e-02 -2.18152726e-02 7.51171645e+02] [ 5.64459540e-02 9.98405562e-01 -4.33047437e-04 1.28577324e+01] [ 2.18049316e-02 -7.99129989e-04 9.99761925e-01 6.94781806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9692541539999 meters Centerline goodness [0,1] 0.9990869664460169 Centerline is valid? [True, True] Translation: X:751.20, Y:12.86, Z:6.95 [[ 9.97966689e-01 -6.01009459e-02 -2.12217663e-02 7.51202703e+02] [ 6.01055576e-02 9.98191938e-01 -4.21046906e-04 1.28571210e+01] [ 2.12087013e-02 -8.55355308e-04 9.99774704e-01 6.94826781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9992541539999 meters Centerline goodness [0,1] 0.9988330902271306 Centerline is valid? [True, True] Translation: X:751.23, Y:12.85, Z:6.95 [[ 9.97791349e-01 -6.27619894e-02 -2.17567553e-02 7.51233225e+02] [ 6.27674768e-02 9.98028085e-01 -4.31256706e-04 1.28538481e+01] [ 2.17409193e-02 -9.35312420e-04 9.99763201e-01 6.94750608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0292541539999 meters Centerline goodness [0,1] 0.9989157857425826 Centerline is valid? [True, True] Translation: X:751.26, Y:12.85, Z:6.95 [[ 9.97571608e-01 -6.60068971e-02 -2.22255761e-02 7.51263987e+02] [ 6.60134362e-02 9.97818637e-01 -4.40140325e-04 1.28537590e+01] [ 2.22061463e-02 -1.02811515e-03 9.99752884e-01 6.94790633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0592541539999 meters Centerline goodness [0,1] 0.9986456076012669 Centerline is valid? [True, True] Translation: X:751.29, Y:12.85, Z:6.95 [[ 9.97080269e-01 -7.27157936e-02 -2.33098759e-02 7.51294308e+02] [ 7.27248183e-02 9.97351938e-01 -4.61445804e-04 1.28502141e+01] [ 2.32817043e-02 -1.23510798e-03 9.99728181e-01 6.94694425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.089254154 meters Centerline goodness [0,1] 0.9986239105958884 Centerline is valid? [True, True] Translation: X:751.32, Y:12.85, Z:6.95 [[ 9.96813186e-01 -7.61421092e-02 -2.37876485e-02 7.51324886e+02] [ 7.61524890e-02 9.97096072e-01 -4.70528537e-04 1.28500690e+01] [ 2.37543979e-02 -1.34245959e-03 9.99716923e-01 6.94727032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1192541539999 meters Centerline goodness [0,1] 0.9984337148107928 Centerline is valid? [True, True] Translation: X:751.36, Y:12.85, Z:6.95 [[ 9.96316672e-01 -8.20916355e-02 -2.47800903e-02 7.51356083e+02] [ 8.21047495e-02 9.96623585e-01 -4.89478063e-04 1.28492896e+01] [ 2.47366045e-02 -1.54688795e-03 9.99692807e-01 6.94746978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1492541539999 meters Centerline goodness [0,1] 0.9984324053172812 Centerline is valid? [True, True] Translation: X:751.39, Y:12.85, Z:6.95 [[ 9.96136004e-01 -8.42586919e-02 -2.47696120e-02 7.51385974e+02] [ 8.42724682e-02 9.96442629e-01 -4.89014699e-04 1.28452842e+01] [ 2.47227010e-02 -1.60027119e-03 9.99693066e-01 6.94691492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1792541539999 meters Centerline goodness [0,1] 0.9984325363651563 Centerline is valid? [True, True] Translation: X:751.42, Y:12.85, Z:6.95 [[ 9.95920747e-01 -8.63358054e-02 -2.62296338e-02 7.51417171e+02] [ 8.63519880e-02 9.96264557e-01 -5.17218282e-04 1.28501190e+01] [ 2.61763090e-02 -1.74987261e-03 9.99655810e-01 6.94743292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.209254154 meters Centerline goodness [0,1] 0.9986236523262361 Centerline is valid? [True, True] Translation: X:751.45, Y:12.85, Z:6.95 [[ 9.95924913e-01 -8.69450469e-02 -2.39609293e-02 7.51448585e+02] [ 8.69587520e-02 9.96211801e-01 -4.71362782e-04 1.28486706e+01] [ 2.39111432e-02 -1.61417057e-03 9.99712785e-01 6.94888661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2392541539999 meters Centerline goodness [0,1] 0.9984535005224661 Centerline is valid? [True, True] Translation: X:751.48, Y:12.85, Z:6.95 [[ 9.95985677e-01 -8.64077809e-02 -2.33715078e-02 7.51479783e+02] [ 8.64206961e-02 9.96258627e-01 -4.58751477e-04 1.28532233e+01] [ 2.33237059e-02 -1.56287207e-03 9.99726744e-01 6.95029681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2692541539999 meters Centerline goodness [0,1] 0.9984754505774492 Centerline is valid? [True, True] Translation: X:751.51, Y:12.86, Z:6.95 [[ 9.96233374e-01 -8.38670485e-02 -2.20314219e-02 7.51509994e+02] [ 8.38779129e-02 9.96475945e-01 -4.32124203e-04 1.28582201e+01] [ 2.19900230e-02 -1.41745314e-03 9.99757185e-01 6.95182789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2992541539999 meters Centerline goodness [0,1] 0.998641304347826 Centerline is valid? [True, True] Translation: X:751.54, Y:12.86, Z:6.95 [[ 9.96422158e-01 -8.19401869e-02 -2.07048062e-02 7.51541855e+02] [ 8.19493821e-02 9.96636410e-01 -4.05394274e-04 1.28638078e+01] [ 2.06683819e-02 -1.29280224e-03 9.99785550e-01 6.95345470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3292541539998 meters Centerline goodness [0,1] 0.9984916411781959 Centerline is valid? [True, True] Translation: X:751.57, Y:12.87, Z:6.95 [[ 9.96789643e-01 -7.74302261e-02 -2.03707462e-02 7.51571829e+02] [ 7.74381967e-02 9.96997075e-01 -3.98438354e-04 1.28672801e+01] [ 2.03404255e-02 -1.18031462e-03 9.99792415e-01 6.95351580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3592541539999 meters Centerline goodness [0,1] 0.9987220848870826 Centerline is valid? [True, True] Translation: X:751.60, Y:12.87, Z:6.95 [[ 9.96982602e-01 -7.48528730e-02 -2.05605893e-02 7.51603481e+02] [ 7.48604561e-02 9.97193938e-01 -4.01684279e-04 1.28711112e+01] [ 2.05329622e-02 -1.13870285e-03 9.99788528e-01 6.95361221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3892541539999 meters Centerline goodness [0,1] 0.9985537926264384 Centerline is valid? [True, True] Translation: X:751.63, Y:12.87, Z:6.95 [[ 9.97188205e-01 -7.21275225e-02 -2.03298892e-02 7.51634675e+02] [ 7.21343898e-02 9.97394843e-01 -3.96280216e-04 1.28748680e+01] [ 2.03055094e-02 -1.07131819e-03 9.99793248e-01 6.95367097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4192541539999 meters Centerline goodness [0,1] 0.998426188227888 Centerline is valid? [True, True] Translation: X:751.67, Y:12.88, Z:6.95 [[ 9.97553635e-01 -6.67044812e-02 -2.09106998e-02 7.51665381e+02] [ 6.67105664e-02 9.97772286e-01 -4.07192672e-04 1.28835946e+01] [ 2.08912783e-02 -9.88768096e-04 9.99781264e-01 6.95393921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4492541539998 meters Centerline goodness [0,1] 0.998697013639325 Centerline is valid? [True, True] Translation: X:751.70, Y:12.89, Z:6.95 [[ 9.97725549e-01 -6.39795674e-02 -2.12213182e-02 7.51697031e+02] [ 6.39852353e-02 9.97950760e-01 -4.12502001e-04 1.28902469e+01] [ 2.12042223e-02 -9.46287252e-04 9.99774717e-01 6.95499189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4792541539999 meters Centerline goodness [0,1] 0.9984663221143746 Centerline is valid? [True, True] Translation: X:751.73, Y:12.90, Z:6.96 [[ 9.98102906e-01 -5.78215050e-02 -2.11485646e-02 7.51727403e+02] [ 5.78257682e-02 9.98326606e-01 -4.10409353e-04 1.28980547e+01] [ 2.11369052e-02 -8.13301224e-04 9.99776260e-01 6.95537848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5092541539999 meters Centerline goodness [0,1] 0.9986759977302818 Centerline is valid? [True, True] Translation: X:751.76, Y:12.90, Z:6.96 [[ 9.98279998e-01 -5.45501976e-02 -2.14784063e-02 7.51759025e+02] [ 5.45538556e-02 9.98510743e-01 -4.16023185e-04 1.29028730e+01] [ 2.14691136e-02 -7.56422249e-04 9.99769226e-01 6.95594853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5392541539999 meters Centerline goodness [0,1] 0.9986107602930033 Centerline is valid? [True, True] Translation: X:751.79, Y:12.90, Z:6.96 [[ 9.98449719e-01 -5.13979623e-02 -2.13637098e-02 7.51789798e+02] [ 5.14008811e-02 9.98678016e-01 -4.12836572e-04 1.29040845e+01] [ 2.13566862e-02 -6.85916946e-04 9.99771685e-01 6.95524258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5692541539999 meters Centerline goodness [0,1] 0.9988014382740711 Centerline is valid? [True, True] Translation: X:751.82, Y:12.91, Z:6.95 [[ 9.98774120e-01 -4.37113665e-02 -2.32287317e-02 7.51819707e+02] [ 4.37127487e-02 9.99044040e-01 -4.48499551e-04 1.29114617e+01] [ 2.32261305e-02 -5.67441967e-04 9.99730076e-01 6.95409352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5992541539999 meters Centerline goodness [0,1] 0.9990325769206503 Centerline is valid? [True, True] Translation: X:751.85, Y:12.92, Z:6.96 [[ 9.98952153e-01 -4.00015815e-02 -2.22366886e-02 7.51849792e+02] [ 4.00019242e-02 9.99199510e-01 -4.29577834e-04 1.29185544e+01] [ 2.22360721e-02 -4.60382628e-04 9.99752642e-01 6.95653943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6292541539999 meters Centerline goodness [0,1] 0.9987550904141962 Centerline is valid? [True, True] Translation: X:751.88, Y:12.93, Z:6.96 [[ 9.99239910e-01 -3.13801544e-02 -2.31276495e-02 7.51879191e+02] [ 3.13782005e-02 9.99507483e-01 -4.47467760e-04 1.29279977e+01] [ 2.31303003e-02 -2.78576378e-04 9.99732420e-01 6.95683101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6592541539999 meters Centerline goodness [0,1] 0.9989247311827957 Centerline is valid? [True, True] Translation: X:751.91, Y:12.93, Z:6.96 [[ 9.99358354e-01 -2.68645143e-02 -2.36891970e-02 7.51908338e+02] [ 2.68611067e-02 9.99639069e-01 -4.62097757e-04 1.29325087e+01] [ 2.36930608e-02 -1.74516794e-04 9.99719265e-01 6.95730969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6892541539999 meters Centerline goodness [0,1] 0.9989434313124697 Centerline is valid? [True, True] Translation: X:751.94, Y:12.94, Z:6.96 [[ 9.99568872e-01 -1.85370275e-02 -2.27694861e-02 7.51935850e+02] [ 1.85316420e-02 9.99828174e-01 -4.47520005e-04 1.29396530e+01] [ 2.27738695e-02 2.53711001e-05 9.99740641e-01 6.95829530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7192541539999 meters Centerline goodness [0,1] 0.9989240733317862 Centerline is valid? [True, True] Translation: X:751.96, Y:12.94, Z:6.96 [[ 9.99645128e-01 -1.53780997e-02 -2.17515822e-02 7.51964134e+02] [ 1.53723402e-02 9.99881745e-01 -4.31980351e-04 1.29425504e+01] [ 2.17556530e-02 9.74543321e-05 9.99763313e-01 6.95998770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7492541539999 meters Centerline goodness [0,1] 0.9992405704159987 Centerline is valid? [True, True] Translation: X:751.99, Y:12.95, Z:6.96 [[ 9.99745402e-01 -1.07382490e-02 -1.98449277e-02 7.51992314e+02] [ 1.07324719e-02 9.99942326e-01 -3.97591182e-04 1.29463353e+01] [ 1.98480526e-02 1.84504826e-04 9.99802991e-01 6.96171492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7792541539999 meters Centerline goodness [0,1] 0.9993043258284847 Centerline is valid? [True, True] Translation: X:752.02, Y:12.95, Z:6.96 [[ 9.99755518e-01 -9.98750638e-03 -1.97269769e-02 7.52019682e+02] [ 9.98161664e-03 9.99950104e-01 -3.97006253e-04 1.29475023e+01] [ 1.97299577e-02 2.00002072e-04 9.99805325e-01 6.96209749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8092541539999 meters Centerline goodness [0,1] 0.9989036937088885 Centerline is valid? [True, True] Translation: X:752.05, Y:12.95, Z:6.96 [[ 9.99753859e-01 -1.06401846e-02 -1.94681342e-02 7.52047600e+02] [ 1.06344985e-02 9.99943374e-01 -3.95581863e-04 1.29461217e+01] [ 1.94712409e-02 1.88450651e-04 9.99810400e-01 6.96349793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.839254154 meters Centerline goodness [0,1] 0.9990725712960816 Centerline is valid? [True, True] Translation: X:752.08, Y:12.94, Z:6.96 [[ 9.99708054e-01 -1.39023978e-02 -1.97618243e-02 7.52075426e+02] [ 1.38971024e-02 9.99903348e-01 -4.05271805e-04 1.29419905e+01] [ 1.97655485e-02 1.30521392e-04 9.99804634e-01 6.96344123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8692541539999 meters Centerline goodness [0,1] 0.9989908758356809 Centerline is valid? [True, True] Translation: X:752.10, Y:12.94, Z:6.96 [[ 9.99642710e-01 -1.71724097e-02 -2.04831703e-02 7.52103894e+02] [ 1.71673272e-02 9.99852541e-01 -4.23954577e-04 1.29388687e+01] [ 2.04874302e-02 7.21618162e-05 9.99790108e-01 6.96297122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8992541539999 meters Centerline goodness [0,1] 0.9990546019874367 Centerline is valid? [True, True] Translation: X:752.13, Y:12.93, Z:6.96 [[ 9.99443179e-01 -2.55266425e-02 -2.14877093e-02 7.52131526e+02] [ 2.55228990e-02 9.99674137e-01 -4.48491464e-04 1.29297760e+01] [ 2.14921558e-02 -1.00186900e-04 9.99769012e-01 6.96150190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9292541539999 meters Centerline goodness [0,1] 0.9991801210898082 Centerline is valid? [True, True] Translation: X:752.16, Y:12.93, Z:6.96 [[ 9.99295571e-01 -3.04049234e-02 -2.19977741e-02 7.52160119e+02] [ 3.04020936e-02 9.99537642e-01 -4.63136509e-04 1.29251026e+01] [ 2.20016849e-02 -2.05968124e-04 9.99757912e-01 6.96116444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.959254154 meters Centerline goodness [0,1] 0.9989102644704304 Centerline is valid? [True, True] Translation: X:752.19, Y:12.91, Z:6.96 [[ 9.98942527e-01 -4.01383247e-02 -2.24219417e-02 7.52188318e+02] [ 4.01377660e-02 9.99194042e-01 -4.75140670e-04 1.29146939e+01] [ 2.24229419e-02 -4.25328427e-04 9.99748484e-01 6.96079506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9892541539999 meters Centerline goodness [0,1] 0.9990568410462777 Centerline is valid? [True, True] Translation: X:752.22, Y:12.91, Z:6.96 [[ 9.98753373e-01 -4.45882379e-02 -2.24408059e-02 7.52216809e+02] [ 4.45887741e-02 9.99005312e-01 -4.76720684e-04 1.29095226e+01] [ 2.24397404e-02 -5.24481634e-04 9.99748060e-01 6.96067929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0192541539999 meters Centerline goodness [0,1] 0.9990568410462777 Centerline is valid? [True, True] Translation: X:752.25, Y:12.91, Z:6.96 [[ 9.98753373e-01 -4.45882424e-02 -2.24407956e-02 7.52246811e+02] [ 4.45887677e-02 9.99005312e-01 -4.77205547e-04 1.29101608e+01] [ 2.24397518e-02 -5.23996773e-04 9.99748060e-01 6.96096053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0492541539999 meters Centerline goodness [0,1] 0.9986412191399963 Centerline is valid? [True, True] Translation: X:752.28, Y:12.90, Z:6.96 [[ 9.98413815e-01 -5.18392391e-02 -2.19669773e-02 7.52277046e+02] [ 5.18414906e-02 9.98655217e-01 -4.67346997e-04 1.29006809e+01] [ 2.19616634e-02 -6.72195150e-04 9.99758588e-01 6.96119002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0792541539998 meters Centerline goodness [0,1] 0.9988273479216836 Centerline is valid? [True, True] Translation: X:752.31, Y:12.90, Z:6.96 [[ 9.98283040e-01 -5.43774402e-02 -2.17730788e-02 7.52307356e+02] [ 5.43802515e-02 9.98520192e-01 -4.63381803e-04 1.29010114e+01] [ 2.17660564e-02 -7.21439308e-04 9.99762831e-01 6.96327973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1092541539999 meters Centerline goodness [0,1] 0.9987652512399807 Centerline is valid? [True, True] Translation: X:752.34, Y:12.90, Z:6.96 [[ 9.98109844e-01 -5.76513741e-02 -2.12851500e-02 7.52339016e+02] [ 5.76548134e-02 9.98336475e-01 -4.52560098e-04 1.28959432e+01] [ 2.12758324e-02 -7.75486665e-04 9.99773343e-01 6.96376749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1392541539999 meters Centerline goodness [0,1] 0.9985775248933144 Centerline is valid? [True, True] Translation: X:752.37, Y:12.90, Z:6.96 [[ 9.98083307e-01 -5.78215512e-02 -2.20540581e-02 7.52371014e+02] [ 5.78253138e-02 9.98326607e-01 -4.67607642e-04 1.28956084e+01] [ 2.20441908e-02 -8.08571447e-04 9.99756670e-01 6.96386276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1692541539999 meters Centerline goodness [0,1] 0.9987865854934204 Centerline is valid? [True, True] Translation: X:752.40, Y:12.89, Z:6.96 [[ 9.98077135e-01 -5.84392108e-02 -2.06613555e-02 7.52402207e+02] [ 5.84426671e-02 9.98290671e-01 -4.37008241e-04 1.28938963e+01] [ 2.06515769e-02 -7.71336789e-04 9.99786436e-01 6.96474777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1992541539998 meters Centerline goodness [0,1] 0.9987462911112039 Centerline is valid? [True, True] Translation: X:752.43, Y:12.89, Z:6.96 [[ 9.98102045e-01 -5.81596681e-02 -2.02425298e-02 7.52433923e+02] [ 5.81629432e-02 9.98307012e-01 -4.27411553e-04 1.28932834e+01] [ 2.02331176e-02 -7.50764768e-04 9.99795008e-01 6.96493993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2292541539999 meters Centerline goodness [0,1] 0.9987465006476414 Centerline is valid? [True, True] Translation: X:752.47, Y:12.89, Z:6.97 [[ 9.98105702e-01 -5.82289578e-02 -1.98594278e-02 7.52466060e+02] [ 5.82321457e-02 9.98302981e-01 -4.18216564e-04 1.28923851e+01] [ 1.98500783e-02 -7.39032757e-04 9.99802695e-01 6.96520774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2592541539999 meters Centerline goodness [0,1] 0.9988307268285553 Centerline is valid? [True, True] Translation: X:752.50, Y:12.89, Z:6.96 [[ 9.98067150e-01 -5.88895247e-02 -1.98491284e-02 7.52496457e+02] [ 5.88928571e-02 9.98264222e-01 -4.17124211e-04 1.28889129e+01] [ 1.98392389e-02 -7.52653906e-04 9.99802900e-01 6.96458466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2892541539999 meters Centerline goodness [0,1] 0.9988926959719204 Centerline is valid? [True, True] Translation: X:752.53, Y:12.89, Z:6.96 [[ 9.98015867e-01 -5.94985789e-02 -2.05973076e-02 7.52527761e+02] [ 5.95023088e-02 9.98228074e-01 -4.32269953e-04 1.28874775e+01] [ 2.05865301e-02 -7.94175084e-04 9.99787760e-01 6.96413581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3192541539999 meters Centerline goodness [0,1] 0.9988720626631854 Centerline is valid? [True, True] Translation: X:752.56, Y:12.89, Z:6.96 [[ 9.97865473e-01 -6.17233819e-02 -2.13241943e-02 7.52559249e+02] [ 6.17279036e-02 9.98092915e-01 -4.46738290e-04 1.28878375e+01] [ 2.13111015e-02 -8.70513096e-04 9.99772514e-01 6.96396077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3492541539999 meters Centerline goodness [0,1] 0.9987685757221573 Centerline is valid? [True, True] Translation: X:752.59, Y:12.89, Z:6.96 [[ 9.97804242e-01 -6.26568179e-02 -2.14666873e-02 7.52590087e+02] [ 6.26616282e-02 9.98034728e-01 -4.49153087e-04 1.28873123e+01] [ 2.14526419e-02 -8.96970722e-04 9.99769463e-01 6.96386473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3792541539999 meters Centerline goodness [0,1] 0.9988509829318737 Centerline is valid? [True, True] Translation: X:752.62, Y:12.88, Z:6.96 [[ 9.97718226e-01 -6.35019284e-02 -2.29313524e-02 7.52619959e+02] [ 6.35076734e-02 9.97981236e-01 -4.78372361e-04 1.28840627e+01] [ 2.29154370e-02 -9.79036016e-04 9.99736928e-01 6.96263005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4092541539999 meters Centerline goodness [0,1] 0.9988525889765094 Centerline is valid? [True, True] Translation: X:752.65, Y:12.89, Z:6.96 [[ 9.97723673e-01 -6.32613450e-02 -2.33554018e-02 7.52651439e+02] [ 6.32672711e-02 9.97996501e-01 -4.85837072e-04 1.28859566e+01] [ 2.33393440e-02 -9.92901387e-04 9.99727107e-01 6.96270101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4392541539999 meters Centerline goodness [0,1] 0.9989542593018635 Centerline is valid? [True, True] Translation: X:752.68, Y:12.89, Z:6.96 [[ 9.97783152e-01 -6.21950168e-02 -2.36761937e-02 7.52682823e+02] [ 6.22008278e-02 9.98063533e-01 -4.91643166e-04 1.28870210e+01] [ 2.36609232e-02 -9.82125576e-04 9.99719559e-01 6.96242650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4692541539999 meters Centerline goodness [0,1] 0.9989562676129841 Centerline is valid? [True, True] Translation: X:752.71, Y:12.89, Z:6.96 [[ 9.98046576e-01 -5.75833740e-02 -2.42319486e-02 7.52713686e+02] [ 5.75881189e-02 9.98340301e-01 -5.02560593e-04 1.28917645e+01] [ 2.42206700e-02 -8.93893460e-04 9.99706237e-01 6.96276407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4992541539999 meters Centerline goodness [0,1] 0.9989324960753532 Centerline is valid? [True, True] Translation: X:752.74, Y:12.90, Z:6.96 [[ 9.98208226e-01 -5.44561988e-02 -2.47963841e-02 7.52744234e+02] [ 5.44602082e-02 9.98515809e-01 -5.14090538e-04 1.28951404e+01] [ 2.47875769e-02 -8.37246835e-04 9.99692390e-01 6.96315007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5292541539999 meters Centerline goodness [0,1] 0.9989958789197331 Centerline is valid? [True, True] Translation: X:752.77, Y:12.90, Z:6.96 [[ 9.98624372e-01 -4.65409804e-02 -2.41516152e-02 7.52773906e+02] [ 4.65424620e-02 9.98916187e-01 -5.01073007e-04 1.29011501e+01] [ 2.41487598e-02 -6.23691917e-04 9.99708182e-01 6.96354591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5592541539999 meters Centerline goodness [0,1] 0.9990789969439444 Centerline is valid? [True, True] Translation: X:752.80, Y:12.91, Z:6.96 [[ 9.98818861e-01 -4.23561971e-02 -2.38083105e-02 7.52803249e+02] [ 4.23564001e-02 9.99102442e-01 -4.95988621e-04 1.29060371e+01] [ 2.38079494e-02 -5.13031537e-04 9.99716419e-01 6.96455730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.589254154 meters Centerline goodness [0,1] 0.9991195337721689 Centerline is valid? [True, True] Translation: X:752.83, Y:12.91, Z:6.97 [[ 9.99160097e-01 -3.40349720e-02 -2.28193225e-02 7.52833169e+02] [ 3.40329571e-02 9.99420597e-01 -4.76757587e-04 1.29132049e+01] [ 2.28223274e-02 -3.00251868e-04 9.99739492e-01 6.96540606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6192541539999 meters Centerline goodness [0,1] 0.9989311313241397 Centerline is valid? [True, True] Translation: X:752.86, Y:12.92, Z:6.97 [[ 9.99253330e-01 -3.16655067e-02 -2.21377020e-02 7.52861861e+02] [ 3.16629545e-02 9.99498494e-01 -4.65879503e-04 1.29164557e+01] [ 2.21413522e-02 -2.35413408e-04 9.99754822e-01 6.96657470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6492541539999 meters Centerline goodness [0,1] 0.9990573152337858 Centerline is valid? [True, True] Translation: X:752.89, Y:12.92, Z:6.97 [[ 9.99339717e-01 -2.93114162e-02 -2.14702129e-02 7.52890267e+02] [ 2.93083559e-02 9.99570313e-01 -4.57253273e-04 1.29194975e+01] [ 2.14743901e-02 -1.72305284e-04 9.99769384e-01 6.96839091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6792541539999 meters Centerline goodness [0,1] 0.9991625492002345 Centerline is valid? [True, True] Translation: X:752.92, Y:12.92, Z:6.97 [[ 9.99421673e-01 -2.71342965e-02 -2.04951027e-02 7.52918059e+02] [ 2.71309815e-02 9.99631790e-01 -4.39832630e-04 1.29210552e+01] [ 2.04994908e-02 -1.16473990e-04 9.99789857e-01 6.96859252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.709254154 meters Centerline goodness [0,1] 0.9988487702773418 Centerline is valid? [True, True] Translation: X:752.95, Y:12.92, Z:6.97 [[ 9.99435115e-01 -2.70747042e-02 -1.99100573e-02 7.52945483e+02] [ 2.70714884e-02 9.99633407e-01 -4.31071381e-04 1.29214127e+01] [ 1.99144295e-02 -1.08167009e-04 9.99801682e-01 6.96877955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7392541539999 meters Centerline goodness [0,1] 0.9987864839418349 Centerline is valid? [True, True] Translation: X:752.97, Y:12.92, Z:6.97 [[ 9.99404206e-01 -2.82567669e-02 -1.98188929e-02 7.52972518e+02] [ 2.82537211e-02 9.99600690e-01 -4.33726571e-04 1.29212924e+01] [ 1.98232347e-02 -1.26489313e-04 9.99803492e-01 6.96904124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7692541539999 meters Centerline goodness [0,1] 0.9991415230637157 Centerline is valid? [True, True] Translation: X:753.00, Y:12.92, Z:6.97 [[ 9.99360110e-01 -2.94351213e-02 -2.03210301e-02 7.53000881e+02] [ 2.94320713e-02 9.99566682e-01 -4.49212549e-04 1.29206559e+01] [ 2.03254472e-02 -1.49164904e-04 9.99793406e-01 6.96901976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7992541539999 meters Centerline goodness [0,1] 0.998808777429467 Centerline is valid? [True, True] Translation: X:753.03, Y:12.92, Z:6.97 [[ 9.99284086e-01 -3.18617189e-02 -2.03996664e-02 7.53029648e+02] [ 3.18590476e-02 9.99492268e-01 -4.56010244e-04 1.29180363e+01] [ 2.04038381e-02 -1.94230163e-04 9.99791801e-01 6.96895851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8292541539998 meters Centerline goodness [0,1] 0.9988725336673975 Centerline is valid? [True, True] Translation: X:753.06, Y:12.91, Z:6.97 [[ 9.99124119e-01 -3.65954302e-02 -2.02921003e-02 7.53057447e+02] [ 3.65936953e-02 9.99330122e-01 -4.56936686e-04 1.29140025e+01] [ 2.02952289e-02 -2.86026473e-04 9.99793990e-01 6.96899766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8592541539999 meters Centerline goodness [0,1] 0.9987890682088648 Centerline is valid? [True, True] Translation: X:753.09, Y:12.91, Z:6.97 [[ 9.99060457e-01 -3.82998725e-02 -2.02810827e-02 7.53085849e+02] [ 3.82984619e-02 9.99266240e-01 -4.58098243e-04 1.29111765e+01] [ 2.02837463e-02 -3.19066431e-04 9.99794213e-01 6.96819248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8892541539999 meters Centerline goodness [0,1] 0.9987456096337181 Centerline is valid? [True, True] Translation: X:753.12, Y:12.91, Z:6.97 [[ 9.98961167e-01 -4.08220861e-02 -2.02520020e-02 7.53115894e+02] [ 4.08211799e-02 9.99166363e-01 -4.58315134e-04 1.29103849e+01] [ 2.02538286e-02 -3.68871595e-04 9.99794802e-01 6.96966113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9192541539999 meters Centerline goodness [0,1] 0.9988306779979537 Centerline is valid? [True, True] Translation: X:753.15, Y:12.91, Z:6.97 [[ 9.98945416e-01 -4.12018085e-02 -2.02599647e-02 7.53146826e+02] [ 4.12009730e-02 9.99150774e-01 -4.58824926e-04 1.29116322e+01] [ 2.02616639e-02 -3.76389202e-04 9.99794641e-01 6.97114750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9492541539998 meters Centerline goodness [0,1] 0.9988712610522356 Centerline is valid? [True, True] Translation: X:753.18, Y:12.91, Z:6.97 [[ 9.98940361e-01 -4.13052150e-02 -2.02986116e-02 7.53175849e+02] [ 4.13043936e-02 9.99146504e-01 -4.59901560e-04 1.29110600e+01] [ 2.03002832e-02 -3.79007614e-04 9.99793856e-01 6.97125516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9792541539999 meters Centerline goodness [0,1] 0.9988102940869529 Centerline is valid? [True, True] Translation: X:753.21, Y:12.91, Z:6.97 [[ 9.99026018e-01 -3.93163072e-02 -2.00310371e-02 7.53205769e+02] [ 3.93151003e-02 9.99226759e-01 -4.54202945e-04 1.29100344e+01] [ 2.00334059e-02 -3.33761672e-04 9.99799255e-01 6.97111642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0092541539999 meters Centerline goodness [0,1] 0.9991016587974763 Centerline is valid? [True, True] Translation: X:753.24, Y:12.91, Z:6.97 [[ 9.99071843e-01 -3.84210121e-02 -1.94750614e-02 7.53235247e+02] [ 3.84196907e-02 9.99261593e-01 -4.42133656e-04 1.29113059e+01] [ 1.94776681e-02 -3.06502548e-04 9.99810245e-01 6.97250119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0392541539999 meters Centerline goodness [0,1] 0.998809747541189 Centerline is valid? [True, True] Translation: X:753.26, Y:12.91, Z:6.97 [[ 9.99140425e-01 -3.68613988e-02 -1.89644140e-02 7.53264815e+02] [ 3.68598552e-02 9.99320352e-01 -4.31051464e-04 1.29101771e+01] [ 1.89674140e-02 -2.68344611e-04 9.99820066e-01 6.97174487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0692541539999 meters Centerline goodness [0,1] 0.9989136338946225 Centerline is valid? [True, True] Translation: X:753.29, Y:12.91, Z:6.97 [[ 9.99302440e-01 -3.26866866e-02 -1.80614209e-02 7.53294904e+02] [ 3.26845989e-02 9.99465631e-01 -4.10846385e-04 1.29122641e+01] [ 1.80651987e-02 -1.79770502e-04 9.99836795e-01 6.97285602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0992541539999 meters Centerline goodness [0,1] 0.9989562022462528 Centerline is valid? [True, True] Translation: X:753.32, Y:12.91, Z:6.97 [[ 9.99325718e-01 -3.21829305e-02 -1.76739177e-02 7.53324758e+02] [ 3.21808444e-02 9.99481981e-01 -4.02495413e-04 1.29125156e+01] [ 1.76777157e-02 -1.66537576e-04 9.99843723e-01 6.97370612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1292541539999 meters Centerline goodness [0,1] 0.9989764157840864 Centerline is valid? [True, True] Translation: X:753.35, Y:12.91, Z:6.97 [[ 9.99366687e-01 -3.05803634e-02 -1.81952042e-02 7.53353139e+02] [ 3.05778704e-02 9.99532301e-01 -4.15270389e-04 1.29111653e+01] [ 1.81993934e-02 -1.41363203e-04 9.99834367e-01 6.97314226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1592541539999 meters Centerline goodness [0,1] 0.9991669096513517 Centerline is valid? [True, True] Translation: X:753.38, Y:12.91, Z:6.97 [[ 9.99380998e-01 -3.00365343e-02 -1.83146922e-02 7.53382048e+02] [ 3.00338649e-02 9.99548793e-01 -4.20851578e-04 1.29104239e+01] [ 1.83190694e-02 -1.29469920e-04 9.99832183e-01 6.97302629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1892541539999 meters Centerline goodness [0,1] 0.9993095512082854 Centerline is valid? [True, True] Translation: X:753.41, Y:12.91, Z:6.97 [[ 9.99379258e-01 -3.02629135e-02 -1.80347959e-02 7.53411026e+02] [ 3.02602804e-02 9.99541965e-01 -4.18939144e-04 1.29090984e+01] [ 1.80392136e-02 -1.27058889e-04 9.99837272e-01 6.97294285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2192541539999 meters Centerline goodness [0,1] 0.999080132962599 Centerline is valid? [True, True] Translation: X:753.44, Y:12.91, Z:6.97 [[ 9.99340711e-01 -3.17208195e-02 -1.76616379e-02 7.53439786e+02] [ 3.17184438e-02 9.99496758e-01 -4.14691602e-04 1.29055200e+01] [ 1.76659042e-02 -1.45781470e-04 9.99843935e-01 6.97325947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2492541539999 meters Centerline goodness [0,1] 0.9992900693226426 Centerline is valid? [True, True] Translation: X:753.47, Y:12.90, Z:6.97 [[ 9.99279110e-01 -3.38824399e-02 -1.71242912e-02 7.53468736e+02] [ 3.38804506e-02 9.99425810e-01 -4.06347644e-04 1.29040541e+01] [ 1.71282266e-02 -1.74123989e-04 9.99853286e-01 6.97455769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2792541539999 meters Centerline goodness [0,1] 0.9992883009231156 Centerline is valid? [True, True] Translation: X:753.50, Y:12.90, Z:6.97 [[ 9.99191040e-01 -3.65347362e-02 -1.68070991e-02 7.53497301e+02] [ 3.65331490e-02 9.99332361e-01 -4.01558161e-04 1.28991171e+01] [ 1.68105488e-02 -2.12782939e-04 9.99858670e-01 6.97411689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3092541539999 meters Centerline goodness [0,1] 0.999205203823388 Centerline is valid? [True, True] Translation: X:753.53, Y:12.90, Z:6.97 [[ 9.99135243e-01 -3.80913657e-02 -1.66677489e-02 7.53526821e+02] [ 3.80900085e-02 9.99274233e-01 -3.98989988e-04 1.28970149e+01] [ 1.66708501e-02 -2.36229739e-04 9.99861004e-01 6.97392561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.339254154 meters Centerline goodness [0,1] 0.9992893422235227 Centerline is valid? [True, True] Translation: X:753.56, Y:12.90, Z:6.97 [[ 9.99089416e-01 -3.91141885e-02 -1.70416843e-02 7.53557332e+02] [ 3.91129127e-02 9.99234714e-01 -4.08282049e-04 1.28965258e+01] [ 1.70446122e-02 -2.58639637e-04 9.99854697e-01 6.97456268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3692541539999 meters Centerline goodness [0,1] 0.9992473815148538 Centerline is valid? [True, True] Translation: X:753.59, Y:12.89, Z:6.97 [[ 9.99013449e-01 -4.09781803e-02 -1.71148192e-02 7.53586451e+02] [ 4.09771621e-02 9.99159999e-01 -4.10320792e-04 1.28924225e+01] [ 1.71172569e-02 -2.91400729e-04 9.99853447e-01 6.97390435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3992541539999 meters Centerline goodness [0,1] 0.9992276863989313 Centerline is valid? [True, True] Translation: X:753.62, Y:12.89, Z:6.97 [[ 9.99004012e-01 -4.10257236e-02 -1.75463123e-02 7.53616087e+02] [ 4.10246519e-02 9.99158046e-01 -4.21170167e-04 1.28906002e+01] [ 1.75488179e-02 -2.99080667e-04 9.99845963e-01 6.97285434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4292541539999 meters Centerline goodness [0,1] 0.999498966618651 Centerline is valid? [True, True] Translation: X:753.65, Y:12.89, Z:6.97 [[ 9.98975886e-01 -4.20088635e-02 -1.68057825e-02 7.53645848e+02] [ 4.20080120e-02 9.99117192e-01 -4.03830679e-04 1.28881646e+01] [ 1.68079107e-02 -3.02560405e-04 9.99858691e-01 6.97415488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.459254154 meters Centerline goodness [0,1] 0.9993098111392299 Centerline is valid? [True, True] Translation: X:753.68, Y:12.89, Z:6.97 [[ 9.98965235e-01 -4.23939888e-02 -1.64684295e-02 7.53676079e+02] [ 4.23932180e-02 9.99100925e-01 -3.96059495e-04 1.28877465e+01] [ 1.64704137e-02 -3.02500056e-04 9.99864308e-01 6.97473843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4892541539999 meters Centerline goodness [0,1] 0.9994573158004592 Centerline is valid? [True, True] Translation: X:753.71, Y:12.89, Z:6.97 [[ 9.98969437e-01 -4.24577833e-02 -1.60437122e-02 7.53706371e+02] [ 4.24570619e-02 9.99098218e-01 -3.85722996e-04 1.28864452e+01] [ 1.60456212e-02 -2.95843398e-04 9.99871217e-01 6.97473612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5192541539999 meters Centerline goodness [0,1] 0.9992684711046086 Centerline is valid? [True, True] Translation: X:753.74, Y:12.88, Z:6.98 [[ 9.98972309e-01 -4.27460946e-02 -1.50697308e-02 7.53736374e+02] [ 4.27454984e-02 9.99085928e-01 -3.61808800e-04 1.28838289e+01] [ 1.50714219e-02 -2.82726183e-04 9.99886380e-01 6.97546087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5492541539999 meters Centerline goodness [0,1] 0.9994357720519089 Centerline is valid? [True, True] Translation: X:753.77, Y:12.88, Z:6.98 [[ 9.98964311e-01 -4.31539597e-02 -1.44236097e-02 7.53768076e+02] [ 4.31534663e-02 9.99068396e-01 -3.45581663e-04 1.28834922e+01] [ 1.44250858e-02 -2.77205007e-04 9.99895915e-01 6.97625221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5792541539998 meters Centerline goodness [0,1] 0.9993942052599695 Centerline is valid? [True, True] Translation: X:753.80, Y:12.88, Z:6.98 [[ 9.98915340e-01 -4.44875798e-02 -1.37477021e-02 7.53798203e+02] [ 4.44872634e-02 9.99009897e-01 -3.28980680e-04 1.28805304e+01] [ 1.37487260e-02 -2.82973797e-04 9.99905442e-01 6.97647752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6092541539999 meters Centerline goodness [0,1] 0.9994568055990808 Centerline is valid? [True, True] Translation: X:753.83, Y:12.88, Z:6.98 [[ 9.98904223e-01 -4.48247415e-02 -1.34571780e-02 7.53829860e+02] [ 4.48244732e-02 9.98994826e-01 -3.21711446e-04 1.28806131e+01] [ 1.34580718e-02 -2.81851991e-04 9.99909396e-01 6.97699038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6392541539999 meters Centerline goodness [0,1] 0.9992880326667365 Centerline is valid? [True, True] Translation: X:753.86, Y:12.88, Z:6.98 [[ 9.98869094e-01 -4.54590398e-02 -1.39286756e-02 7.53860150e+02] [ 4.54588201e-02 9.98966158e-01 -3.32543683e-04 1.28795388e+01] [ 1.39293927e-02 -3.01013552e-04 9.99902936e-01 6.97618947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6692541539999 meters Centerline goodness [0,1] 0.9993099843178254 Centerline is valid? [True, True] Translation: X:753.89, Y:12.88, Z:6.98 [[ 9.98800838e-01 -4.69860339e-02 -1.37549777e-02 7.53891380e+02] [ 4.69859688e-02 9.98895496e-01 -3.28068850e-04 1.28772149e+01] [ 1.37551999e-02 -3.18615511e-04 9.99905342e-01 6.97600579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6992541539998 meters Centerline goodness [0,1] 0.9993728441517717 Centerline is valid? [True, True] Translation: X:753.92, Y:12.88, Z:6.98 [[ 9.98767723e-01 -4.75215400e-02 -1.43087230e-02 7.53922301e+02] [ 4.75215321e-02 9.98870156e-01 -3.40743092e-04 1.28766500e+01] [ 1.43087490e-02 -3.39649236e-04 9.99897567e-01 6.97615701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7292541539999 meters Centerline goodness [0,1] 0.9994360784477537 Centerline is valid? [True, True] Translation: X:753.95, Y:12.88, Z:6.98 [[ 9.98780798e-01 -4.72522640e-02 -1.42877846e-02 7.53952946e+02] [ 4.72522335e-02 9.98882932e-01 -3.39904925e-04 1.28763337e+01] [ 1.42878855e-02 -3.35639224e-04 9.99897867e-01 6.97692978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7592541539999 meters Centerline goodness [0,1] 0.9994790038553715 Centerline is valid? [True, True] Translation: X:753.98, Y:12.88, Z:6.98 [[ 9.98823841e-01 -4.63014056e-02 -1.43914551e-02 7.53983141e+02] [ 4.63012773e-02 9.98927462e-01 -3.42279731e-04 1.28761473e+01] [ 1.43918677e-02 -3.24465596e-04 9.99896379e-01 6.97642374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7892541539999 meters Centerline goodness [0,1] 0.9993308798929408 Centerline is valid? [True, True] Translation: X:754.01, Y:12.88, Z:6.98 [[ 9.98985062e-01 -4.30522718e-02 -1.32418615e-02 7.54013502e+02] [ 4.30518799e-02 9.99072788e-01 -3.14781491e-04 1.28779930e+01] [ 1.32431355e-02 -2.55625023e-04 9.99912273e-01 6.97795344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8192541539999 meters Centerline goodness [0,1] 0.9994774356723313 Centerline is valid? [True, True] Translation: X:754.04, Y:12.88, Z:6.98 [[ 9.99080157e-01 -4.07096904e-02 -1.34744596e-02 7.54044463e+02] [ 4.07090727e-02 9.99170991e-01 -3.20236780e-04 1.28798510e+01] [ 1.34763259e-02 -2.28590541e-04 9.99909164e-01 6.97842442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8492541539999 meters Centerline goodness [0,1] 0.9995616415480315 Centerline is valid? [True, True] Translation: X:754.08, Y:12.88, Z:6.98 [[ 9.99177581e-01 -3.82203716e-02 -1.35412531e-02 7.54075105e+02] [ 3.82195214e-02 9.99269315e-01 -3.21654857e-04 1.28819455e+01] [ 1.35436525e-02 -1.96149891e-04 9.99908261e-01 6.97881533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8792541539999 meters Centerline goodness [0,1] 0.999457145839858 Centerline is valid? [True, True] Translation: X:754.11, Y:12.88, Z:6.98 [[ 9.99377372e-01 -3.26031022e-02 -1.34872283e-02 7.54105760e+02] [ 3.26017472e-02 9.99468370e-01 -3.20371568e-04 1.28847626e+01] [ 1.34905032e-02 -1.19535112e-04 9.99908992e-01 6.97797849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9092541539999 meters Centerline goodness [0,1] 0.9997081265896677 Centerline is valid? [True, True] Translation: X:754.13, Y:12.89, Z:6.98 [[ 9.99457421e-01 -3.01594591e-02 -1.32389981e-02 7.54134848e+02] [ 3.01579373e-02 9.99545096e-01 -3.14614383e-04 1.28862480e+01] [ 1.32424642e-02 -8.48171940e-05 9.99912311e-01 6.97950851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9392541539999 meters Centerline goodness [0,1] 0.9997081265896677 Centerline is valid? [True, True] Translation: X:754.16, Y:12.89, Z:6.98 [[ 9.99456345e-01 -3.01950902e-02 -1.32389868e-02 7.54163996e+02] [ 3.01935653e-02 9.99544021e-01 -3.15088748e-04 1.28869718e+01] [ 1.32424642e-02 -8.48147628e-05 9.99912311e-01 6.97978171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9692541539999 meters Centerline goodness [0,1] 0.9996873241198174 Centerline is valid? [True, True] Translation: X:754.19, Y:12.89, Z:6.98 [[ 9.99569428e-01 -2.60113001e-02 -1.35783423e-02 7.54193137e+02] [ 2.60093033e-02 9.99661648e-01 -3.23657736e-04 1.28896365e+01] [ 1.35821668e-02 -2.96448440e-05 9.99907758e-01 6.98024322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9992541539999 meters Centerline goodness [0,1] 0.9995412078745413 Centerline is valid? [True, True] Translation: X:754.22, Y:12.89, Z:6.98 [[ 9.99604167e-01 -2.44076023e-02 -1.39920678e-02 7.54221637e+02] [ 2.44053166e-02 9.99702090e-01 -3.34106810e-04 1.28909967e+01] [ 1.39960542e-02 -7.50628597e-06 9.99902050e-01 6.97909791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0292541539999 meters Centerline goodness [0,1] 0.9996243661178238 Centerline is valid? [True, True] Translation: X:754.25, Y:12.89, Z:6.98 [[ 9.99610091e-01 -2.40011993e-02 -1.42691183e-02 7.54250806e+02] [ 2.39987561e-02 9.99711930e-01 -3.42455651e-04 1.28914387e+01] [ 1.42732271e-02 -1.18964665e-07 9.99898132e-01 6.98055474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0592541539999 meters Centerline goodness [0,1] 0.9996446414013671 Centerline is valid? [True, True] Translation: X:754.28, Y:12.89, Z:6.98 [[ 9.99601885e-01 -2.42769751e-02 -1.43770467e-02 7.54279443e+02] [ 2.42744709e-02 9.99705271e-01 -3.48682772e-04 1.28906227e+01] [ 1.43812743e-02 -4.51246204e-07 9.99896584e-01 6.98105786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.089254154 meters Centerline goodness [0,1] 0.9995825767536994 Centerline is valid? [True, True] Translation: X:754.31, Y:12.89, Z:6.98 [[ 9.99576477e-01 -2.54080252e-02 -1.41879884e-02 7.54307116e+02] [ 2.54056471e-02 9.99677164e-01 -3.47855620e-04 1.28899686e+01] [ 1.41922463e-02 -1.27467298e-05 9.99899285e-01 6.98074679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1192541539999 meters Centerline goodness [0,1] 0.9993747655370764 Centerline is valid? [True, True] Translation: X:754.34, Y:12.89, Z:6.98 [[ 9.99466322e-01 -2.92807718e-02 -1.44812879e-02 7.54335816e+02] [ 2.92786413e-02 9.99571224e-01 -3.59154171e-04 1.28868554e+01] [ 1.44855950e-02 -6.50299352e-05 9.99895076e-01 6.98047421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1492541539999 meters Centerline goodness [0,1] 0.999603423084951 Centerline is valid? [True, True] Translation: X:754.36, Y:12.88, Z:6.98 [[ 9.99380256e-01 -3.24282982e-02 -1.36934268e-02 7.54364731e+02] [ 3.24266424e-02 9.99474059e-01 -3.42985135e-04 1.28848764e+01] [ 1.36973473e-02 -1.01259281e-04 9.99906182e-01 6.98216730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1792541539999 meters Centerline goodness [0,1] 0.9995411408906039 Centerline is valid? [True, True] Translation: X:754.39, Y:12.88, Z:6.98 [[ 9.99147102e-01 -3.88357459e-02 -1.40304745e-02 7.54394863e+02] [ 3.88346025e-02 9.99245590e-01 -3.54037876e-04 1.28800790e+01] [ 1.40336391e-02 -1.91131981e-04 9.99901505e-01 6.98250734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.209254154 meters Centerline goodness [0,1] 0.9995409302422636 Centerline is valid? [True, True] Translation: X:754.42, Y:12.88, Z:6.98 [[ 9.99021360e-01 -4.19490079e-02 -1.40215355e-02 7.54424979e+02] [ 4.19481665e-02 9.99119725e-01 -3.54235199e-04 1.28783737e+01] [ 1.40240525e-02 -2.34289176e-04 9.99901631e-01 6.98335252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2392541539999 meters Centerline goodness [0,1] 0.9995823762789726 Centerline is valid? [True, True] Translation: X:754.46, Y:12.88, Z:6.98 [[ 9.98893838e-01 -4.50099497e-02 -1.36089955e-02 7.54455738e+02] [ 4.50094388e-02 9.98986502e-01 -3.43977490e-04 1.28767522e+01] [ 1.36106852e-02 -2.68936254e-04 9.99907334e-01 6.98494932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2692541539999 meters Centerline goodness [0,1] 0.9994979079497908 Centerline is valid? [True, True] Translation: X:754.49, Y:12.87, Z:6.99 [[ 9.98695333e-01 -4.90628131e-02 -1.41588541e-02 7.54486419e+02] [ 4.90626671e-02 9.98795638e-01 -3.57875576e-04 1.28746547e+01] [ 1.41593601e-02 -3.37262479e-04 9.99899694e-01 6.98556632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2992541539999 meters Centerline goodness [0,1] 0.9994775230412338 Centerline is valid? [True, True] Translation: X:754.52, Y:12.87, Z:6.98 [[ 9.98637119e-01 -5.00719966e-02 -1.47207395e-02 7.54515795e+02] [ 5.00719469e-02 9.98745544e-01 -3.72175405e-04 1.28735844e+01] [ 1.47209086e-02 -3.65427913e-04 9.99891575e-01 6.98481624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3292541539998 meters Centerline goodness [0,1] 0.9994995099368131 Centerline is valid? [True, True] Translation: X:754.55, Y:12.87, Z:6.99 [[ 9.98583837e-01 -5.12697497e-02 -1.42032817e-02 7.54546684e+02] [ 5.12698234e-02 9.98684773e-01 -3.59168975e-04 1.28728323e+01] [ 1.42030157e-02 -3.69539410e-04 9.99899064e-01 6.98679320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3592541539999 meters Centerline goodness [0,1] 0.9993135011441647 Centerline is valid? [True, True] Translation: X:754.58, Y:12.87, Z:6.99 [[ 9.98592315e-01 -5.09892456e-02 -1.46111439e-02 7.54577276e+02] [ 5.09892962e-02 9.98699132e-01 -3.69306234e-04 1.28729550e+01] [ 1.46109673e-02 -3.76225576e-04 9.99893183e-01 6.98713919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3892541539999 meters Centerline goodness [0,1] 0.9993105033325672 Centerline is valid? [True, True] Translation: X:754.61, Y:12.87, Z:6.99 [[ 9.98625961e-01 -5.03404318e-02 -1.45612680e-02 7.54607431e+02] [ 5.03404131e-02 9.98732050e-01 -3.68045590e-04 1.28735312e+01] [ 1.45613326e-02 -3.65480367e-04 9.99893911e-01 6.98669897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4192541539999 meters Centerline goodness [0,1] 0.9994574630135843 Centerline is valid? [True, True] Translation: X:754.64, Y:12.88, Z:6.99 [[ 9.98716054e-01 -4.84047314e-02 -1.49407600e-02 7.54638372e+02] [ 4.84044968e-02 9.98827744e-01 -3.77536431e-04 1.28750275e+01] [ 1.49415202e-02 -3.46148276e-04 9.99888309e-01 6.98591623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4492541539998 meters Centerline goodness [0,1] 0.9993098833075411 Centerline is valid? [True, True] Translation: X:754.67, Y:12.88, Z:6.98 [[ 9.98749973e-01 -4.74390558e-02 -1.57488636e-02 7.54669031e+02] [ 4.74386780e-02 9.98874073e-01 -3.97777428e-04 1.28760487e+01] [ 1.57500017e-02 -3.49825074e-04 9.99875900e-01 6.98486508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4792541539999 meters Centerline goodness [0,1] 0.9994572704880391 Centerline is valid? [True, True] Translation: X:754.70, Y:12.88, Z:6.99 [[ 9.98763962e-01 -4.72218720e-02 -1.55126552e-02 7.54699927e+02] [ 4.72214792e-02 9.98884367e-01 -3.91811385e-04 1.28778198e+01] [ 1.55138508e-02 -3.41203432e-04 9.99879595e-01 6.98770867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5092541539999 meters Centerline goodness [0,1] 0.9995815461868396 Centerline is valid? [True, True] Translation: X:754.73, Y:12.88, Z:6.99 [[ 9.98827367e-01 -4.56616295e-02 -1.60905694e-02 7.54730637e+02] [ 4.56610045e-02 9.98956910e-01 -4.06408072e-04 1.28797587e+01] [ 1.60923427e-02 -3.28780057e-04 9.99870456e-01 6.98764400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5392541539999 meters Centerline goodness [0,1] 0.999414311711674 Centerline is valid? [True, True] Translation: X:754.76, Y:12.88, Z:6.99 [[ 9.98869724e-01 -4.47231666e-02 -1.60969640e-02 7.54759780e+02] [ 4.47224199e-02 9.98999369e-01 -4.06536290e-04 1.28786638e+01] [ 1.60990385e-02 -3.13818390e-04 9.99870353e-01 6.98703828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5692541539999 meters Centerline goodness [0,1] 0.9993733550570247 Centerline is valid? [True, True] Translation: X:754.79, Y:12.88, Z:6.99 [[ 9.98930740e-01 -4.31595126e-02 -1.65720808e-02 7.54789222e+02] [ 4.31585025e-02 9.99068150e-01 -4.18750983e-04 1.28813184e+01] [ 1.65747112e-02 -2.96922962e-04 9.99862586e-01 6.98750797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5992541539999 meters Centerline goodness [0,1] 0.9992673379246824 Centerline is valid? [True, True] Translation: X:754.82, Y:12.88, Z:6.99 [[ 9.98942221e-01 -4.24810430e-02 -1.76011537e-02 7.54817885e+02] [ 4.24797841e-02 9.99097227e-01 -4.45563240e-04 1.28817848e+01] [ 1.76041919e-02 -3.02601278e-04 9.99844988e-01 6.98552717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6292541539999 meters Centerline goodness [0,1] 0.999582193068583 Centerline is valid? [True, True] Translation: X:754.85, Y:12.88, Z:6.99 [[ 9.98914977e-01 -4.33604689e-02 -1.69922987e-02 7.54846247e+02] [ 4.33593817e-02 9.99059446e-01 -4.32560608e-04 1.28824690e+01] [ 1.69950725e-02 -3.04684294e-04 9.99855527e-01 6.98729166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6592541539999 meters Centerline goodness [0,1] 0.9993953042245298 Centerline is valid? [True, True] Translation: X:754.88, Y:12.88, Z:6.99 [[ 9.98864691e-01 -4.39394430e-02 -1.84025444e-02 7.54875475e+02] [ 4.39382131e-02 9.99034139e-01 -4.71343352e-04 1.28836087e+01] [ 1.84054807e-02 -3.37766687e-04 9.99830548e-01 6.98622577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6892541539999 meters Centerline goodness [0,1] 0.9994569644311703 Centerline is valid? [True, True] Translation: X:754.90, Y:12.88, Z:6.99 [[ 9.98799767e-01 -4.56557694e-02 -1.77363168e-02 7.54904382e+02] [ 4.56548531e-02 9.98957169e-01 -4.56779312e-04 1.28838938e+01] [ 1.77386755e-02 -3.53517869e-04 9.99842595e-01 6.98786219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7192541539999 meters Centerline goodness [0,1] 0.9992905137515129 Centerline is valid? [True, True] Translation: X:754.93, Y:12.88, Z:6.99 [[ 9.98680983e-01 -4.79699773e-02 -1.83078006e-02 7.54933178e+02] [ 4.79693347e-02 9.98848696e-01 -4.74495747e-04 1.28811704e+01] [ 1.83094843e-02 -4.04343136e-04 9.99832286e-01 6.98595484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7492541539999 meters Centerline goodness [0,1] 0.9994362550632647 Centerline is valid? [True, True] Translation: X:754.96, Y:12.88, Z:6.99 [[ 9.98564619e-01 -5.05598661e-02 -1.76748759e-02 7.54962217e+02] [ 5.05596260e-02 9.98720938e-01 -4.60718474e-04 1.28821380e+01] [ 1.76755625e-02 -4.33577946e-04 9.99843681e-01 6.98838431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7792541539999 meters Centerline goodness [0,1] 0.9993942052599695 Centerline is valid? [True, True] Translation: X:754.99, Y:12.88, Z:6.99 [[ 9.98486116e-01 -5.18276019e-02 -1.84221596e-02 7.54991711e+02] [ 5.18275046e-02 9.98655935e-01 -4.83028857e-04 1.28821947e+01] [ 1.84224333e-02 -4.72476955e-04 9.99830181e-01 6.98765327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8092541539999 meters Centerline goodness [0,1] 0.9994159731347642 Centerline is valid? [True, True] Translation: X:755.02, Y:12.88, Z:6.99 [[ 9.98278561e-01 -5.58696820e-02 -1.78463878e-02 7.55020839e+02] [ 5.58702216e-02 9.98437929e-01 -4.68733146e-04 1.28814278e+01] [ 1.78446985e-02 -5.29155390e-04 9.99840631e-01 6.98958173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.839254154 meters Centerline goodness [0,1] 0.9993528453926768 Centerline is valid? [True, True] Translation: X:755.05, Y:12.88, Z:6.99 [[ 9.98215381e-01 -5.69133331e-02 -1.80810843e-02 7.55050383e+02] [ 5.69140457e-02 9.98378969e-01 -4.75580676e-04 1.28798109e+01] [ 1.80788411e-02 -5.54335710e-04 9.99836411e-01 6.98874368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8692541539999 meters Centerline goodness [0,1] 0.9993329303120635 Centerline is valid? [True, True] Translation: X:755.08, Y:12.88, Z:6.99 [[ 9.98121777e-01 -5.88757822e-02 -1.69281258e-02 7.55080382e+02] [ 5.88766813e-02 9.98265164e-01 -4.45686590e-04 1.28795175e+01] [ 1.69249984e-02 -5.51822375e-04 9.99856610e-01 6.99063758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8992541539999 meters Centerline goodness [0,1] 0.99935645928048 Centerline is valid? [True, True] Translation: X:755.11, Y:12.88, Z:6.99 [[ 9.98100316e-01 -5.93551561e-02 -1.65143631e-02 7.55110389e+02] [ 5.93560697e-02 9.98236779e-01 -4.35249271e-04 1.28798257e+01] [ 1.65110789e-02 -5.45805254e-04 9.99863534e-01 6.99139424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9292541539999 meters Centerline goodness [0,1] 0.9992698750443291 Centerline is valid? [True, True] Translation: X:755.14, Y:12.88, Z:6.99 [[ 9.98112348e-01 -5.88546522e-02 -1.75462272e-02 7.55141297e+02] [ 5.88556033e-02 9.98266399e-01 -4.62623292e-04 1.28812992e+01] [ 1.75430366e-02 -5.70943769e-04 9.99845946e-01 6.98983663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.959254154 meters Centerline goodness [0,1] 0.9993546909802452 Centerline is valid? [True, True] Translation: X:755.17, Y:12.88, Z:6.99 [[ 9.98147298e-01 -5.87533289e-02 -1.58119622e-02 7.55171402e+02] [ 5.87540885e-02 9.98272399e-01 -4.16897713e-04 1.28839479e+01] [ 1.58091396e-02 -5.12892099e-04 9.99874896e-01 6.99261933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9892541539999 meters Centerline goodness [0,1] 0.9993769599800627 Centerline is valid? [True, True] Translation: X:755.20, Y:12.88, Z:6.99 [[ 9.98196856e-01 -5.78955086e-02 -1.58475875e-02 7.55200804e+02] [ 5.78961645e-02 9.98322523e-01 -4.17778858e-04 1.28829254e+01] [ 1.58451911e-02 -5.00488990e-04 9.99874332e-01 6.99222679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0192541539999 meters Centerline goodness [0,1] 0.9996030253645899 Centerline is valid? [True, True] Translation: X:755.23, Y:12.89, Z:6.99 [[ 9.98237735e-01 -5.72025439e-02 -1.57890552e-02 7.55231484e+02] [ 5.72031097e-02 9.98362475e-01 -4.16152142e-04 1.28868474e+01] [ 1.57870052e-02 -4.87764284e-04 9.99875258e-01 6.99286909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0492541539999 meters Centerline goodness [0,1] 0.99941592440393 Centerline is valid? [True, True] Translation: X:755.26, Y:12.89, Z:6.99 [[ 9.98311389e-01 -5.58144068e-02 -1.60973148e-02 7.55260910e+02] [ 5.58148126e-02 9.98441048e-01 -4.24399941e-04 1.28881040e+01] [ 1.60959075e-02 -4.74785317e-04 9.99870340e-01 6.99242866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0792541539998 meters Centerline goodness [0,1] 0.9994802062541583 Centerline is valid? [True, True] Translation: X:755.29, Y:12.89, Z:6.99 [[ 9.98326868e-01 -5.54692560e-02 -1.63286740e-02 7.55290835e+02] [ 5.54696253e-02 9.98460282e-01 -4.30635521e-04 1.28886275e+01] [ 1.63274195e-02 -4.75830416e-04 9.99866586e-01 6.99239256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1092541539999 meters Centerline goodness [0,1] 0.999374713410313 Centerline is valid? [True, True] Translation: X:755.32, Y:12.89, Z:6.99 [[ 9.98327952e-01 -5.52905746e-02 -1.68597744e-02 7.55321343e+02] [ 5.52909438e-02 9.98470187e-01 -4.44589992e-04 1.28897870e+01] [ 1.68585638e-02 -4.88346223e-04 9.99857765e-01 6.99227848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1392541539999 meters Centerline goodness [0,1] 0.9994778722248909 Centerline is valid? [True, True] Translation: X:755.35, Y:12.89, Z:6.99 [[ 9.98328922e-01 -5.53241040e-02 -1.66915429e-02 7.55352224e+02] [ 5.53244705e-02 9.98468332e-01 -4.40153750e-04 1.28922419e+01] [ 1.66903281e-02 -4.84032555e-04 9.99860590e-01 6.99271654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1692541539999 meters Centerline goodness [0,1] 0.9995196324143693 Centerline is valid? [True, True] Translation: X:755.38, Y:12.89, Z:6.99 [[ 9.98325095e-01 -5.53060787e-02 -1.69777078e-02 7.55381676e+02] [ 5.53064558e-02 9.98469326e-01 -4.47672499e-04 1.28934417e+01] [ 1.69764794e-02 -4.92054154e-04 9.99855768e-01 6.99281771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1992541539998 meters Centerline goodness [0,1] 0.9995407194004301 Centerline is valid? [True, True] Translation: X:755.41, Y:12.90, Z:6.99 [[ 9.98358467e-01 -5.46651647e-02 -1.70906819e-02 7.55410703e+02] [ 5.46654544e-02 9.98504624e-01 -4.50564472e-04 1.28958555e+01] [ 1.70897551e-02 -4.84445035e-04 9.99853842e-01 6.99261292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2292541539999 meters Centerline goodness [0,1] 0.9994358310000417 Centerline is valid? [True, True] Translation: X:755.44, Y:12.90, Z:6.99 [[ 9.98384883e-01 -5.37864657e-02 -1.82932333e-02 7.55439927e+02] [ 5.37866526e-02 9.98552334e-01 -4.82142510e-04 1.28970938e+01] [ 1.82926836e-02 -5.02567994e-04 9.99832549e-01 6.99121053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2592541539999 meters Centerline goodness [0,1] 0.9994154854602009 Centerline is valid? [True, True] Translation: X:755.47, Y:12.90, Z:6.99 [[ 9.98384635e-01 -5.39704646e-02 -1.77569423e-02 7.55469216e+02] [ 5.39706655e-02 9.98542412e-01 -4.68249643e-04 1.28997698e+01] [ 1.77563316e-02 -4.90860743e-04 9.99842223e-01 6.99259373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2892541539999 meters Centerline goodness [0,1] 0.9993536280233528 Centerline is valid? [True, True] Translation: X:755.50, Y:12.90, Z:6.99 [[ 9.98410528e-01 -5.34872202e-02 -1.77633013e-02 7.55497673e+02] [ 5.34873310e-02 9.98568418e-01 -4.69196448e-04 1.29009353e+01] [ 1.77629677e-02 -4.81660901e-04 9.99842110e-01 6.99253832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3192541539999 meters Centerline goodness [0,1] 0.9994594145043247 Centerline is valid? [True, True] Translation: X:755.53, Y:12.90, Z:6.99 [[ 9.98415858e-01 -5.33552971e-02 -1.78601939e-02 7.55526758e+02] [ 5.33553797e-02 9.98575476e-01 -4.72218716e-04 1.29029952e+01] [ 1.78599470e-02 -4.81466774e-04 9.99840383e-01 6.99284665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3492541539999 meters Centerline goodness [0,1] 0.9993117113359057 Centerline is valid? [True, True] Translation: X:755.56, Y:12.91, Z:6.99 [[ 9.98400709e-01 -5.36550279e-02 -1.78090776e-02 7.55556572e+02] [ 5.36551558e-02 9.98559414e-01 -4.70972627e-04 1.29050476e+01] [ 1.78086922e-02 -4.85329432e-04 9.99841295e-01 6.99298207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3792541539999 meters Centerline goodness [0,1] 0.9993531289777351 Centerline is valid? [True, True] Translation: X:755.59, Y:12.91, Z:6.99 [[ 9.98370221e-01 -5.40386332e-02 -1.83501261e-02 7.55587240e+02] [ 5.40388308e-02 9.98538717e-01 -4.85446984e-04 1.29065754e+01] [ 1.83495443e-02 -5.06963546e-04 9.99831504e-01 6.99327975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4092541539999 meters Centerline goodness [0,1] 0.999436878219701 Centerline is valid? [True, True] Translation: X:755.62, Y:12.91, Z:6.99 [[ 9.98342971e-01 -5.45818599e-02 -1.82245178e-02 7.55615910e+02] [ 5.45821369e-02 9.98509167e-01 -4.82576844e-04 1.29070699e+01] [ 1.82236880e-02 -5.12955926e-04 9.99833803e-01 6.99332345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4392541539999 meters Centerline goodness [0,1] 0.9992690516467222 Centerline is valid? [True, True] Translation: X:755.64, Y:12.91, Z:6.99 [[ 9.98311319e-01 -5.53870253e-02 -1.75153475e-02 7.55644933e+02] [ 5.53873921e-02 9.98464832e-01 -4.64533139e-04 1.29072483e+01] [ 1.75141876e-02 -5.06380729e-04 9.99846487e-01 6.99349834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4692541539999 meters Centerline goodness [0,1] 0.9992280892078527 Centerline is valid? [True, True] Translation: X:755.67, Y:12.91, Z:6.99 [[ 9.98316620e-01 -5.53279771e-02 -1.73994712e-02 7.55674811e+02] [ 5.53283199e-02 9.98468108e-01 -4.62043076e-04 1.29084329e+01] [ 1.73983810e-02 -5.01418225e-04 9.99848511e-01 6.99392968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4992541539999 meters Centerline goodness [0,1] 0.9993943697268398 Centerline is valid? [True, True] Translation: X:755.71, Y:12.91, Z:7.00 [[ 9.98360963e-01 -5.47129527e-02 -1.67892707e-02 7.55705082e+02] [ 5.47131799e-02 9.98502012e-01 -4.46142120e-04 1.29148740e+01] [ 1.67885304e-02 -4.73183513e-04 9.99858951e-01 6.99584821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5292541539999 meters Centerline goodness [0,1] 0.999414483176847 Centerline is valid? [True, True] Translation: X:755.74, Y:12.92, Z:7.00 [[ 9.98507339e-01 -5.20047304e-02 -1.66913869e-02 7.55736050e+02] [ 5.20045791e-02 9.98646748e-01 -4.43404531e-04 1.29193058e+01] [ 1.66918584e-02 -4.25285871e-04 9.99860591e-01 6.99713112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5592541539999 meters Centerline goodness [0,1] 0.9994142259414226 Centerline is valid? [True, True] Translation: X:755.77, Y:12.92, Z:7.00 [[ 9.98615763e-01 -4.99359917e-02 -1.65213406e-02 7.55765204e+02] [ 4.99355650e-02 9.98752345e-01 -4.38616003e-04 1.29213105e+01] [ 1.65226304e-02 -3.86993622e-04 9.99863417e-01 6.99717646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.589254154 meters Centerline goodness [0,1] 0.999603356853576 Centerline is valid? [True, True] Translation: X:755.80, Y:12.92, Z:7.00 [[ 9.98719347e-01 -4.76785660e-02 -1.69239394e-02 7.55796100e+02] [ 4.76777989e-02 9.98862666e-01 -4.49033488e-04 1.29238493e+01] [ 1.69261005e-02 -3.58437746e-04 9.99856679e-01 6.99729774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6192541539999 meters Centerline goodness [0,1] 0.999477621296335 Centerline is valid? [True, True] Translation: X:755.83, Y:12.92, Z:7.00 [[ 9.98914265e-01 -4.31850855e-02 -1.74739825e-02 7.55825716e+02] [ 4.31835808e-02 9.99067047e-01 -4.63597716e-04 1.29238473e+01] [ 1.74777006e-02 -2.91494763e-04 9.99847211e-01 6.99530201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6492541539999 meters Centerline goodness [0,1] 0.9995606970273833 Centerline is valid? [True, True] Translation: X:755.86, Y:12.93, Z:7.00 [[ 9.99072583e-01 -3.91660838e-02 -1.78883261e-02 7.55855162e+02] [ 3.91638542e-02 9.99232689e-01 -4.75075206e-04 1.29317481e+01] [ 1.78932071e-02 -2.25941183e-04 9.99839878e-01 6.99728618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6792541539999 meters Centerline goodness [0,1] 0.9996450198371267 Centerline is valid? [True, True] Translation: X:755.88, Y:12.93, Z:7.00 [[ 9.99118293e-01 -3.78587941e-02 -1.81479307e-02 7.55883486e+02] [ 3.78562371e-02 9.99283078e-01 -4.84534119e-04 1.29309758e+01] [ 1.81532639e-02 -2.02905466e-04 9.99835195e-01 6.99556771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.709254154 meters Centerline goodness [0,1] 0.9995820795720495 Centerline is valid? [True, True] Translation: X:755.91, Y:12.94, Z:7.00 [[ 9.99202020e-01 -3.60034401e-02 -1.72937904e-02 7.55911811e+02] [ 3.60007661e-02 9.99351654e-01 -4.66012711e-04 1.29372277e+01] [ 1.72993561e-02 -1.56948862e-04 9.99850343e-01 6.99916310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7392541539999 meters Centerline goodness [0,1] 0.9994979079497908 Centerline is valid? [True, True] Translation: X:755.94, Y:12.94, Z:7.00 [[ 9.99223199e-01 -3.56438320e-02 -1.68081817e-02 7.55939999e+02] [ 3.56412093e-02 9.99364546e-01 -4.55660507e-04 1.29375592e+01] [ 1.68137424e-02 -1.43757373e-04 9.99858629e-01 6.99880774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7692541539999 meters Centerline goodness [0,1] 0.9995823326720268 Centerline is valid? [True, True] Translation: X:755.97, Y:12.94, Z:7.00 [[ 9.99235880e-01 -3.52674499e-02 -1.68482152e-02 7.55968735e+02] [ 3.52647213e-02 9.99377901e-01 -4.59108592e-04 1.29384815e+01] [ 1.68539256e-02 -1.35389837e-04 9.99857953e-01 6.99850724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7992541539999 meters Centerline goodness [0,1] 0.999582602888388 Centerline is valid? [True, True] Translation: X:756.00, Y:12.94, Z:7.00 [[ 9.99196509e-01 -3.64041836e-02 -1.67651853e-02 7.55997144e+02] [ 3.64015719e-02 9.99337137e-01 -4.61019142e-04 1.29391380e+01] [ 1.67708553e-02 -1.49630380e-04 9.99859348e-01 6.99972108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8292541539998 meters Centerline goodness [0,1] 0.999582602888388 Centerline is valid? [True, True] Translation: X:756.03, Y:12.94, Z:7.00 [[ 9.99195200e-01 -3.64401313e-02 -1.67651127e-02 7.56026291e+02] [ 3.64374806e-02 9.99335827e-01 -4.63644255e-04 1.29399747e+01] [ 1.67708730e-02 -1.47607355e-04 9.99859348e-01 6.99999468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8592541539999 meters Centerline goodness [0,1] 0.9997284652017713 Centerline is valid? [True, True] Translation: X:756.06, Y:12.94, Z:7.00 [[ 9.99149028e-01 -3.78474160e-02 -1.63949248e-02 7.56056443e+02] [ 3.78450609e-02 9.99283516e-01 -4.53993203e-04 1.29397210e+01] [ 1.64003606e-02 -1.66860060e-04 9.99865491e-01 7.00019492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8892541539999 meters Centerline goodness [0,1] 0.9994140052739525 Centerline is valid? [True, True] Translation: X:756.09, Y:12.94, Z:7.00 [[ 9.99105312e-01 -3.91401011e-02 -1.60196305e-02 7.56085656e+02] [ 3.91380093e-02 9.99233716e-01 -4.44182683e-04 1.29399100e+01] [ 1.60247402e-02 -1.83191168e-04 9.99871579e-01 7.00057911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9192541539999 meters Centerline goodness [0,1] 0.9994977398292315 Centerline is valid? [True, True] Translation: X:756.12, Y:12.94, Z:7.00 [[ 9.99056497e-01 -4.05564344e-02 -1.55335564e-02 7.56115321e+02] [ 4.05546318e-02 9.99177230e-01 -4.31155812e-04 1.29386521e+01] [ 1.55382619e-02 -1.99208643e-04 9.99879254e-01 7.00045658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9492541539998 meters Centerline goodness [0,1] 0.9997489959839357 Centerline is valid? [True, True] Translation: X:756.15, Y:12.94, Z:7.00 [[ 9.98893903e-01 -4.48259334e-02 -1.41987961e-02 7.56145787e+02] [ 4.48248562e-02 9.98994783e-01 -3.94265119e-04 1.29361825e+01] [ 1.42021965e-02 -2.42629970e-04 9.99899114e-01 7.00157504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9792541539999 meters Centerline goodness [0,1] 0.9997915102993912 Centerline is valid? [True, True] Translation: X:756.18, Y:12.93, Z:7.00 [[ 9.98748751e-01 -4.80125164e-02 -1.39903770e-02 7.56176274e+02] [ 4.80117842e-02 9.98846694e-01 -3.88394141e-04 1.29341354e+01] [ 1.39928896e-02 -2.83794800e-04 9.99902054e-01 7.00179550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0092541539999 meters Centerline goodness [0,1] 0.9995204136953167 Centerline is valid? [True, True] Translation: X:756.21, Y:12.93, Z:7.00 [[ 9.98372978e-01 -5.52684576e-02 -1.40283388e-02 7.56207584e+02] [ 5.52684405e-02 9.98471456e-01 -3.89191770e-04 1.29300176e+01] [ 1.40284059e-02 -3.86765862e-04 9.99901522e-01 7.00199238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0392541539999 meters Centerline goodness [0,1] 0.9995622263914947 Centerline is valid? [True, True] Translation: X:756.24, Y:12.93, Z:7.00 [[ 9.98155487e-01 -5.90811338e-02 -1.39657675e-02 7.56238494e+02] [ 5.90814933e-02 9.98253088e-01 -3.87198051e-04 1.29279789e+01] [ 1.39642467e-02 -4.38634542e-04 9.99902399e-01 7.00222983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0692541539999 meters Centerline goodness [0,1] 0.9992679202660587 Centerline is valid? [True, True] Translation: X:756.27, Y:12.93, Z:7.00 [[ 9.97932487e-01 -6.27992258e-02 -1.36751444e-02 7.56268454e+02] [ 6.27999214e-02 9.98026065e-01 -3.78970996e-04 1.29256498e+01] [ 1.36719496e-02 -4.80610524e-04 9.99906419e-01 7.00195504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0992541539999 meters Centerline goodness [0,1] 0.999414250449772 Centerline is valid? [True, True] Translation: X:756.30, Y:12.92, Z:7.00 [[ 9.97700019e-01 -6.62845879e-02 -1.41783192e-02 7.56299408e+02] [ 6.62856883e-02 9.97800608e-01 -3.92826369e-04 1.29245016e+01] [ 1.41731739e-02 -5.47896774e-04 9.99899405e-01 7.00238349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1292541539999 meters Centerline goodness [0,1] 0.9994584574368374 Centerline is valid? [True, True] Translation: X:756.33, Y:12.92, Z:7.00 [[ 9.97223862e-01 -7.31162945e-02 -1.40916948e-02 7.56330123e+02] [ 7.31180647e-02 9.97323216e-01 -3.90237735e-04 1.29208937e+01] [ 1.40825071e-02 -6.41203073e-04 9.99900631e-01 7.00217805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1592541539999 meters Centerline goodness [0,1] 0.9990807287314056 Centerline is valid? [True, True] Translation: X:756.36, Y:12.91, Z:7.00 [[ 9.96783176e-01 -7.90031400e-02 -1.34834438e-02 7.56359487e+02] [ 7.90052991e-02 9.96874126e-01 -3.73289436e-04 1.29130557e+01] [ 1.34707873e-02 -6.93174880e-04 9.99909025e-01 7.00178621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1892541539999 meters Centerline goodness [0,1] 0.9992683793557557 Centerline is valid? [True, True] Translation: X:756.39, Y:12.92, Z:7.00 [[ 9.96602004e-01 -8.12494439e-02 -1.35267371e-02 7.56390109e+02] [ 8.12518264e-02 9.96693534e-01 -3.74246898e-04 1.29174098e+01] [ 1.35124187e-02 -7.26096885e-04 9.99908439e-01 7.00151707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2192541539999 meters Centerline goodness [0,1] 0.9993939900530782 Centerline is valid? [True, True] Translation: X:756.42, Y:12.92, Z:7.00 [[ 9.96407025e-01 -8.35841095e-02 -1.36651682e-02 7.56421017e+02] [ 8.35867633e-02 9.96500432e-01 -3.77823148e-04 1.29171072e+01] [ 1.36489260e-02 -7.65761542e-04 9.99906556e-01 7.00291369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2492541539999 meters Centerline goodness [0,1] 0.9989964247632189 Centerline is valid? [True, True] Translation: X:756.45, Y:12.92, Z:7.00 [[ 9.96285921e-01 -8.49509030e-02 -1.40608325e-02 7.56451967e+02] [ 8.49538545e-02 9.96384811e-01 -3.88327535e-04 1.29164784e+01] [ 1.40429887e-02 -8.07636659e-04 9.99901066e-01 7.00140290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2792541539999 meters Centerline goodness [0,1] 0.9992680121300846 Centerline is valid? [True, True] Translation: X:756.48, Y:12.92, Z:7.00 [[ 9.96062781e-01 -8.75818018e-02 -1.37245598e-02 7.56483032e+02] [ 8.75848717e-02 9.96156989e-01 -3.78377448e-04 1.29205524e+01] [ 1.37049551e-02 -8.25176115e-04 9.99905742e-01 7.00343794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3092541539999 meters Centerline goodness [0,1] 0.9991838272225012 Centerline is valid? [True, True] Translation: X:756.51, Y:12.92, Z:7.00 [[ 9.96026678e-01 -8.79722001e-02 -1.38473289e-02 7.56514058e+02] [ 8.79753748e-02 9.96122577e-01 -3.80893364e-04 1.29197093e+01] [ 1.38271450e-02 -8.38843996e-04 9.99904049e-01 7.00331126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.339254154 meters Centerline goodness [0,1] 0.9992474444467672 Centerline is valid? [True, True] Translation: X:756.55, Y:12.92, Z:7.00 [[ 9.96016458e-01 -8.80709833e-02 -1.39541494e-02 7.56546320e+02] [ 8.80742368e-02 9.96113840e-01 -3.82398571e-04 1.29243043e+01] [ 1.39335996e-02 -8.48125790e-04 9.99902563e-01 7.00387607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3692541539999 meters Centerline goodness [0,1] 0.9991424746925458 Centerline is valid? [True, True] Translation: X:756.58, Y:12.93, Z:7.00 [[ 9.96116554e-01 -8.70378082e-02 -1.32752177e-02 7.56578882e+02] [ 8.70406749e-02 9.96204692e-01 -3.62772336e-04 1.29316540e+01] [ 1.32564091e-02 -7.94120381e-04 9.99911815e-01 7.00493276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3992541539999 meters Centerline goodness [0,1] 0.999248073187543 Centerline is valid? [True, True] Translation: X:756.61, Y:12.93, Z:7.00 [[ 9.96200029e-01 -8.60593557e-02 -1.33899236e-02 7.56610157e+02] [ 8.60621989e-02 9.96289699e-01 -3.64796347e-04 1.29279791e+01] [ 1.33716371e-02 -7.88956139e-04 9.99910284e-01 7.00490591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4292541539999 meters Centerline goodness [0,1] 0.9991453704089716 Centerline is valid? [True, True] Translation: X:756.64, Y:12.93, Z:7.01 [[ 9.96368328e-01 -8.41637625e-02 -1.29079628e-02 7.56640990e+02] [ 8.41662542e-02 9.96451664e-01 -3.51037169e-04 1.29326379e+01] [ 1.28917056e-02 -7.36652557e-04 9.99916627e-01 7.00570434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.459254154 meters Centerline goodness [0,1] 0.9990245927155754 Centerline is valid? [True, True] Translation: X:756.67, Y:12.94, Z:7.01 [[ 9.96427386e-01 -8.34408154e-02 -1.30420515e-02 7.56673195e+02] [ 8.34433050e-02 9.96512463e-01 -3.54098719e-04 1.29367076e+01] [ 1.30261132e-02 -7.35438224e-04 9.99914886e-01 7.00624600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4892541539999 meters Centerline goodness [0,1] 0.9990189529932371 Centerline is valid? [True, True] Translation: X:756.70, Y:12.95, Z:7.01 [[ 9.96596703e-01 -8.13845041e-02 -1.30986284e-02 7.56703930e+02] [ 8.13868486e-02 9.96682525e-01 -3.54847955e-04 1.29480473e+01] [ 1.30840531e-02 -7.12415781e-04 9.99914146e-01 7.00556366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5192541539999 meters Centerline goodness [0,1] 0.9990194237549811 Centerline is valid? [True, True] Translation: X:756.74, Y:12.95, Z:7.01 [[ 9.96612351e-01 -8.11137233e-02 -1.35788444e-02 7.56735796e+02] [ 8.11162270e-02 9.96704582e-01 -3.67187668e-04 1.29531067e+01] [ 1.35638804e-02 -7.35520858e-04 9.99907736e-01 7.00671471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5492541539999 meters Centerline goodness [0,1] 0.9989354374099818 Centerline is valid? [True, True] Translation: X:756.77, Y:12.95, Z:7.01 [[ 9.96675466e-01 -8.03158543e-02 -1.36886711e-02 7.56766879e+02] [ 8.03183365e-02 9.96769195e-01 -3.69215279e-04 1.29527095e+01] [ 1.36740995e-02 -7.31463477e-04 9.99906238e-01 7.00597740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5792541539998 meters Centerline goodness [0,1] 0.9991024088840647 Centerline is valid? [True, True] Translation: X:756.80, Y:12.96, Z:7.01 [[ 9.96748396e-01 -7.93124833e-02 -1.42184450e-02 7.56798177e+02] [ 7.93150762e-02 9.96849524e-01 -3.82329097e-04 1.29574750e+01] [ 1.42039736e-02 -7.46651132e-04 9.99898840e-01 7.00705158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6092541539999 meters Centerline goodness [0,1] 0.9990186662212386 Centerline is valid? [True, True] Translation: X:756.83, Y:12.97, Z:7.01 [[ 9.96841173e-01 -7.81261338e-02 -1.42822648e-02 7.56830610e+02] [ 7.81286528e-02 9.96943212e-01 -3.82353439e-04 1.29654194e+01] [ 1.42684787e-02 -7.34708457e-04 9.99897930e-01 7.00818311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6392541539999 meters Centerline goodness [0,1] 0.9988527565132141 Centerline is valid? [True, True] Translation: X:756.86, Y:12.97, Z:7.01 [[ 9.96940326e-01 -7.68935617e-02 -1.40487427e-02 7.56862885e+02] [ 7.68958939e-02 9.97039057e-01 -3.74889910e-04 1.29689264e+01] [ 1.40359718e-02 -7.06547757e-04 9.99901241e-01 7.00875511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6692541539999 meters Centerline goodness [0,1] 0.9989139515455305 Centerline is valid? [True, True] Translation: X:756.89, Y:12.97, Z:7.01 [[ 9.97264905e-01 -7.25355693e-02 -1.41880166e-02 7.56892207e+02] [ 7.25375230e-02 9.97365613e-01 -3.77540812e-04 1.29697149e+01] [ 1.41780250e-02 -6.52655375e-04 9.99899274e-01 7.00801827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6992541539998 meters Centerline goodness [0,1] 0.9988532827387778 Centerline is valid? [True, True] Translation: X:756.92, Y:12.97, Z:7.01 [[ 9.97396759e-01 -7.07245486e-02 -1.40620956e-02 7.56922707e+02] [ 7.07262989e-02 9.97495690e-01 -3.73422705e-04 1.29730608e+01] [ 1.40532899e-02 -6.22109377e-04 9.99901054e-01 7.00946445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7292541539999 meters Centerline goodness [0,1] 0.9990405072796296 Centerline is valid? [True, True] Translation: X:756.95, Y:12.99, Z:7.01 [[ 9.97760246e-01 -6.53247745e-02 -1.43932540e-02 7.56953356e+02] [ 6.53260509e-02 9.97863899e-01 -3.81959434e-04 1.29856101e+01] [ 1.43874599e-02 -5.59150502e-04 9.99896339e-01 7.01008638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7592541539999 meters Centerline goodness [0,1] 0.9989361702127659 Centerline is valid? [True, True] Translation: X:756.98, Y:12.99, Z:7.01 [[ 9.98151145e-01 -5.91962630e-02 -1.37874381e-02 7.56983864e+02] [ 5.91968534e-02 9.98246262e-01 -3.65637289e-04 1.29943516e+01] [ 1.37849029e-02 -4.51211674e-04 9.99904882e-01 7.01106086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7892541539999 meters Centerline goodness [0,1] 0.9989978286286955 Centerline is valid? [True, True] Translation: X:757.02, Y:13.00, Z:7.01 [[ 9.98336528e-01 -5.60815531e-02 -1.33804366e-02 7.57015023e+02] [ 5.60818339e-02 9.98426113e-01 -3.54527769e-04 1.29987819e+01] [ 1.33792597e-02 -3.96461400e-04 9.99910415e-01 7.01159640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8192541539999 meters Centerline goodness [0,1] 0.9989982678381368 Centerline is valid? [True, True] Translation: X:757.05, Y:13.01, Z:7.01 [[ 9.98683906e-01 -4.96406819e-02 -1.28941637e-02 7.57045985e+02] [ 4.96404111e-02 9.98767097e-01 -3.41245069e-04 1.30058811e+01] [ 1.28952061e-02 -2.99275628e-04 9.99916809e-01 7.01171760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8492541539999 meters Centerline goodness [0,1] 0.9992265724617989 Centerline is valid? [True, True] Translation: X:757.08, Y:13.01, Z:7.01 [[ 9.98792814e-01 -4.76260144e-02 -1.20282259e-02 7.57078555e+02] [ 4.76256377e-02 9.98865205e-01 -3.17921571e-04 1.30092805e+01] [ 1.20297176e-02 -2.55314147e-04 9.99927608e-01 7.01335397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8792541539999 meters Centerline goodness [0,1] 0.9991027272916971 Centerline is valid? [True, True] Translation: X:757.11, Y:13.01, Z:7.01 [[ 9.98892674e-01 -4.54842123e-02 -1.20255023e-02 7.57111231e+02] [ 4.54836938e-02 9.98965031e-01 -3.16744090e-04 1.30116844e+01] [ 1.20274631e-02 -2.30570914e-04 9.99927641e-01 7.01319318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9092541539999 meters Centerline goodness [0,1] 0.9992900248491303 Centerline is valid? [True, True] Translation: X:757.14, Y:13.01, Z:7.01 [[ 9.98940523e-01 -4.42703402e-02 -1.25685779e-02 7.57142614e+02] [ 4.42696913e-02 9.99019562e-01 -3.29978185e-04 1.30114529e+01] [ 1.25708634e-02 -2.26778483e-04 9.99920958e-01 7.01295349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9392541539999 meters Centerline goodness [0,1] 0.9992283628779979 Centerline is valid? [True, True] Translation: X:757.18, Y:13.02, Z:7.01 [[ 9.98960382e-01 -4.34615279e-02 -1.37568517e-02 7.57175086e+02] [ 4.34606859e-02 9.99055073e-01 -3.60295739e-04 1.30150332e+01] [ 1.37595115e-02 -2.37961044e-04 9.99905305e-01 7.01220344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9692541539999 meters Centerline goodness [0,1] 0.9990603270062018 Centerline is valid? [True, True] Translation: X:757.21, Y:13.01, Z:7.01 [[ 9.98926355e-01 -4.41282837e-02 -1.41007564e-02 7.57206305e+02] [ 4.41274790e-02 9.99025840e-01 -3.68345423e-04 1.30137144e+01] [ 1.41032745e-02 -2.54280883e-04 9.99900512e-01 7.01119637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9992541539999 meters Centerline goodness [0,1] 0.9989785921247368 Centerline is valid? [True, True] Translation: X:757.24, Y:13.02, Z:7.01 [[ 9.98827538e-01 -4.60739461e-02 -1.48573578e-02 7.57238502e+02] [ 4.60732817e-02 9.98937987e-01 -3.87179691e-04 1.30151583e+01] [ 1.48594180e-02 -2.97801493e-04 9.99889548e-01 7.01113959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0292541539999 meters Centerline goodness [0,1] 0.9987287958988038 Centerline is valid? [True, True] Translation: X:757.27, Y:13.01, Z:7.01 [[ 9.98796022e-01 -4.63575495e-02 -1.60463163e-02 7.57270324e+02] [ 4.63568304e-02 9.98924857e-01 -4.16959616e-04 1.30143516e+01] [ 1.60483935e-02 -3.27398758e-04 9.99871163e-01 7.00934860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0592541539999 meters Centerline goodness [0,1] 0.9990202209714405 Centerline is valid? [True, True] Translation: X:757.30, Y:13.01, Z:7.01 [[ 9.98647843e-01 -4.96497701e-02 -1.54073271e-02 7.57300398e+02] [ 4.96495129e-02 9.98766623e-01 -3.99430191e-04 1.30123277e+01] [ 1.54081556e-02 -3.66076185e-04 9.99881220e-01 7.01047744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.089254154 meters Centerline goodness [0,1] 0.999144728607785 Centerline is valid? [True, True] Translation: X:757.33, Y:13.01, Z:7.01 [[ 9.98598632e-01 -5.06504113e-02 -1.53397310e-02 7.57331870e+02] [ 5.06502859e-02 9.98716372e-01 -3.96927006e-04 1.30113513e+01] [ 1.53401450e-02 -3.80590996e-04 9.99882261e-01 7.01054038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1192541539999 meters Centerline goodness [0,1] 0.9989784004670169 Centerline is valid? [True, True] Translation: X:757.36, Y:13.01, Z:7.01 [[ 9.98533747e-01 -5.20079680e-02 -1.50175921e-02 7.57363418e+02] [ 5.20080115e-02 9.98646592e-01 -3.87909822e-04 1.30112631e+01] [ 1.50174416e-02 -3.93694056e-04 9.99887154e-01 7.01071002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1492541539999 meters Centerline goodness [0,1] 0.9988737564394018 Centerline is valid? [True, True] Translation: X:757.39, Y:13.01, Z:7.01 [[ 9.98480584e-01 -5.30600528e-02 -1.48712676e-02 7.57394169e+02] [ 5.30602197e-02 9.98591241e-01 -3.83613634e-04 1.30106377e+01] [ 1.48706721e-02 -4.06041961e-04 9.99889343e-01 7.01091706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1792541539999 meters Centerline goodness [0,1] 0.9987257420985566 Centerline is valid? [True, True] Translation: X:757.43, Y:13.01, Z:7.01 [[ 9.98424695e-01 -5.41434583e-02 -1.47178422e-02 7.57426061e+02] [ 5.41437500e-02 9.98533079e-01 -3.78936840e-04 1.30137359e+01] [ 1.47167693e-02 -4.18539270e-04 9.99891615e-01 7.01180972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.209254154 meters Centerline goodness [0,1] 0.9988517505584668 Centerline is valid? [True, True] Translation: X:757.46, Y:13.01, Z:7.01 [[ 9.98309762e-01 -5.60156852e-02 -1.54874852e-02 7.57457837e+02] [ 5.60162498e-02 9.98429778e-01 -3.97683177e-04 1.30135683e+01] [ 1.54854429e-02 -4.70539844e-04 9.99879983e-01 7.01214939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2392541539999 meters Centerline goodness [0,1] 0.9990391444207712 Centerline is valid? [True, True] Translation: X:757.49, Y:13.01, Z:7.01 [[ 9.98290397e-01 -5.63638067e-02 -1.54726900e-02 7.57489204e+02] [ 5.63644253e-02 9.98410183e-01 -3.96441372e-04 1.30128280e+01] [ 1.54704362e-02 -4.76345668e-04 9.99880212e-01 7.01218496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2692541539999 meters Centerline goodness [0,1] 0.9988711666701507 Centerline is valid? [True, True] Translation: X:757.52, Y:13.01, Z:7.01 [[ 9.98293636e-01 -5.62573799e-02 -1.56500090e-02 7.57520207e+02] [ 5.62580134e-02 9.98416184e-01 -4.00115561e-04 1.30119461e+01] [ 1.56477317e-02 -4.81005599e-04 9.99877451e-01 7.01203481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2992541539999 meters Centerline goodness [0,1] 0.9988931815808708 Centerline is valid? [True, True] Translation: X:757.55, Y:13.01, Z:7.01 [[ 9.98337734e-01 -5.53570532e-02 -1.60425892e-02 7.57552204e+02] [ 5.53576190e-02 9.98466508e-01 -4.09138548e-04 1.30141996e+01] [ 1.60406367e-02 -4.79621090e-04 9.99871226e-01 7.01243185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3292541539998 meters Centerline goodness [0,1] 0.998997723998246 Centerline is valid? [True, True] Translation: X:757.58, Y:13.01, Z:7.01 [[ 9.98384236e-01 -5.44691253e-02 -1.61874002e-02 7.57583237e+02] [ 5.44696020e-02 9.98515344e-01 -4.11767069e-04 1.30146769e+01] [ 1.61857961e-02 -4.70619497e-04 9.99868891e-01 7.01264221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3592541539999 meters Centerline goodness [0,1] 0.9988077059844792 Centerline is valid? [True, True] Translation: X:757.61, Y:13.02, Z:7.01 [[ 9.98505436e-01 -5.20478657e-02 -1.66707583e-02 7.57614806e+02] [ 5.20480473e-02 9.98644492e-01 -4.23271482e-04 1.30175431e+01] [ 1.66701913e-02 -4.45041540e-04 9.99860944e-01 7.01314376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3892541539999 meters Centerline goodness [0,1] 0.9990176406654961 Centerline is valid? [True, True] Translation: X:757.65, Y:13.02, Z:7.01 [[ 9.98593874e-01 -5.02179825e-02 -1.69831872e-02 7.57646436e+02] [ 5.02179172e-02 9.98738192e-01 -4.30575288e-04 1.30199302e+01] [ 1.69833803e-02 -4.22890442e-04 9.99855683e-01 7.01323194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4192541539999 meters Centerline goodness [0,1] 0.9991231915826392 Centerline is valid? [True, True] Translation: X:757.68, Y:13.02, Z:7.01 [[ 9.98715540e-01 -4.76317608e-02 -1.72767111e-02 7.57677594e+02] [ 4.76313177e-02 9.98864889e-01 -4.37368474e-04 1.30220139e+01] [ 1.72779328e-02 -3.86105825e-04 9.99850651e-01 7.01362529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4492541539998 meters Centerline goodness [0,1] 0.9988095238095238 Centerline is valid? [True, True] Translation: X:757.71, Y:13.02, Z:7.01 [[ 9.98777038e-01 -4.63068886e-02 -1.73233938e-02 7.57708877e+02] [ 4.63062550e-02 9.98927194e-01 -4.37905907e-04 1.30230057e+01] [ 1.73250872e-02 -3.64811126e-04 9.99849843e-01 7.01372006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4792541539999 meters Centerline goodness [0,1] 0.9990813237289905 Centerline is valid? [True, True] Translation: X:757.74, Y:13.02, Z:7.01 [[ 9.98836685e-01 -4.49223659e-02 -1.75287579e-02 7.57739539e+02] [ 4.49215194e-02 9.98990421e-01 -4.42232647e-04 1.30238484e+01] [ 1.75309274e-02 -3.45700246e-04 9.99846262e-01 7.01385787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5092541539999 meters Centerline goodness [0,1] 0.9991443716348762 Centerline is valid? [True, True] Translation: X:757.77, Y:13.03, Z:7.01 [[ 9.98958819e-01 -4.21209181e-02 -1.75244426e-02 7.57770396e+02] [ 4.21196539e-02 9.99112476e-01 -4.41385160e-04 1.30262977e+01] [ 1.75274808e-02 -2.97197860e-04 9.99846338e-01 7.01453347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5392541539999 meters Centerline goodness [0,1] 0.9992064983607927 Centerline is valid? [True, True] Translation: X:757.80, Y:13.03, Z:7.01 [[ 9.99007499e-01 -4.09659511e-02 -1.74873865e-02 7.57800396e+02] [ 4.09645184e-02 9.99160505e-01 -4.40279799e-04 1.30278888e+01] [ 1.74907424e-02 -2.76519546e-04 9.99846987e-01 7.01495556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5692541539999 meters Centerline goodness [0,1] 0.9990419061901191 Centerline is valid? [True, True] Translation: X:757.83, Y:13.03, Z:7.01 [[ 9.99106308e-01 -3.80815614e-02 -1.83406853e-02 7.57829740e+02] [ 3.80794965e-02 9.99274606e-01 -4.61927190e-04 1.30293580e+01] [ 1.83449720e-02 -2.36889693e-04 9.99831689e-01 7.01414352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5992541539999 meters Centerline goodness [0,1] 0.9992701795358342 Centerline is valid? [True, True] Translation: X:757.86, Y:13.03, Z:7.02 [[ 9.99140612e-01 -3.72087968e-02 -1.82631509e-02 7.57859763e+02] [ 3.72066005e-02 9.99307489e-01 -4.60144652e-04 1.30306607e+01] [ 1.82676249e-02 -2.19760551e-04 9.99833109e-01 7.01518967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6292541539999 meters Centerline goodness [0,1] 0.9991445501585712 Centerline is valid? [True, True] Translation: X:757.89, Y:13.03, Z:7.01 [[ 9.99184276e-01 -3.57728632e-02 -1.87372335e-02 7.57889941e+02] [ 3.57702990e-02 9.99359927e-01 -4.72089280e-04 1.30310387e+01] [ 1.87421283e-02 -1.98532259e-04 9.99824331e-01 7.01485346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6592541539999 meters Centerline goodness [0,1] 0.9993736951983299 Centerline is valid? [True, True] Translation: X:757.92, Y:13.03, Z:7.01 [[ 9.99193958e-01 -3.54093310e-02 -1.89106867e-02 7.57919565e+02] [ 3.54066474e-02 9.99372874e-01 -4.76807081e-04 1.30313142e+01] [ 1.89157108e-02 -1.93141263e-04 9.99821063e-01 7.01499994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6892541539999 meters Centerline goodness [0,1] 0.9991900647948164 Centerline is valid? [True, True] Translation: X:757.95, Y:13.03, Z:7.02 [[ 9.99195310e-01 -3.54309868e-02 -1.87983660e-02 7.57948474e+02] [ 3.54283228e-02 9.99372107e-01 -4.74825032e-04 1.30311277e+01] [ 1.88033861e-02 -1.91551633e-04 9.99823182e-01 7.01500463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7192541539999 meters Centerline goodness [0,1] 0.9993954932983137 Centerline is valid? [True, True] Translation: X:757.98, Y:13.03, Z:7.02 [[ 9.99160094e-01 -3.64152579e-02 -1.87892463e-02 7.57978076e+02] [ 3.64127546e-02 9.99336723e-01 -4.75442611e-04 1.30306158e+01] [ 1.87940971e-02 -2.09124928e-04 9.99823353e-01 7.01587958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7492541539999 meters Centerline goodness [0,1] 0.9993954932983137 Centerline is valid? [True, True] Translation: X:758.01, Y:13.03, Z:7.02 [[ 9.99158779e-01 -3.64513236e-02 -1.87892291e-02 7.58007224e+02] [ 3.64488138e-02 9.99335408e-01 -4.76121284e-04 1.30313840e+01] [ 1.87940971e-02 -2.09124352e-04 9.99823353e-01 7.01615280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7792541539999 meters Centerline goodness [0,1] 0.9990205476597341 Centerline is valid? [True, True] Translation: X:758.04, Y:13.03, Z:7.02 [[ 9.99118926e-01 -3.73354086e-02 -1.91687144e-02 7.58037276e+02] [ 3.73329458e-02 9.99302764e-01 -4.86435209e-04 1.30309492e+01] [ 1.91735105e-02 -2.29617951e-04 9.99816145e-01 7.01626843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8092541539999 meters Centerline goodness [0,1] 0.9990836769544754 Centerline is valid? [True, True] Translation: X:758.07, Y:13.03, Z:7.02 [[ 9.99006914e-01 -4.00832349e-02 -1.94556073e-02 7.58066640e+02] [ 4.00812050e-02 9.99196303e-01 -4.94419379e-04 1.30278648e+01] [ 1.94597888e-02 -2.85875807e-04 9.99810600e-01 7.01658086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.839254154 meters Centerline goodness [0,1] 0.9990251794084706 Centerline is valid? [True, True] Translation: X:758.10, Y:13.03, Z:7.02 [[ 9.98944372e-01 -4.16202755e-02 -1.94395290e-02 7.58095964e+02] [ 4.16185325e-02 9.99133451e-01 -4.94393038e-04 1.30257543e+01] [ 1.94432605e-02 -3.15173527e-04 9.99810912e-01 7.01653217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8692541539999 meters Centerline goodness [0,1] 0.9991253826450928 Centerline is valid? [True, True] Translation: X:758.13, Y:13.02, Z:7.02 [[ 9.98794131e-01 -4.52327828e-02 -1.90861098e-02 7.58125937e+02] [ 4.52317542e-02 9.98976402e-01 -4.85801917e-04 1.30230951e+01] [ 1.90885474e-02 -3.78082121e-04 9.99817726e-01 7.01797726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8992541539999 meters Centerline goodness [0,1] 0.999083409715857 Centerline is valid? [True, True] Translation: X:758.16, Y:13.02, Z:7.02 [[ 9.98710195e-01 -4.69163988e-02 -1.94112748e-02 7.58155700e+02] [ 4.69156424e-02 9.98898733e-01 -4.94607663e-04 1.30186845e+01] [ 1.94131030e-02 -4.16722712e-04 9.99811461e-01 7.01716157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9292541539999 meters Centerline goodness [0,1] 0.9991049312045961 Centerline is valid? [True, True] Translation: X:758.19, Y:13.02, Z:7.02 [[ 9.98610697e-01 -4.93604755e-02 -1.84450335e-02 7.58186528e+02] [ 4.93602091e-02 9.98780931e-01 -4.69981651e-04 1.30207829e+01] [ 1.84457463e-02 -4.41122008e-04 9.99829765e-01 7.01962901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.959254154 meters Centerline goodness [0,1] 0.9990204660080864 Centerline is valid? [True, True] Translation: X:758.22, Y:13.02, Z:7.02 [[ 9.98370918e-01 -5.43868667e-02 -1.72504974e-02 7.58217645e+02] [ 5.43873885e-02 9.98519814e-01 -4.39238363e-04 1.30165952e+01] [ 1.72488522e-02 -4.99686696e-04 9.99851103e-01 7.02053963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9892541539999 meters Centerline goodness [0,1] 0.9989795068310563 Centerline is valid? [True, True] Translation: X:758.25, Y:13.01, Z:7.02 [[ 9.98201226e-01 -5.72028538e-02 -1.79484274e-02 7.58249047e+02] [ 5.72038823e-02 9.98362413e-01 -4.56515203e-04 1.30138650e+01] [ 1.79451493e-02 -5.71025695e-04 9.99838810e-01 7.02039594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0192541539999 meters Centerline goodness [0,1] 0.9989987066627728 Centerline is valid? [True, True] Translation: X:758.28, Y:13.01, Z:7.02 [[ 9.97823968e-01 -6.36914409e-02 -1.70507666e-02 7.58280162e+02] [ 6.36933233e-02 9.97969425e-01 -4.33176819e-04 1.30083445e+01] [ 1.70437334e-02 -6.53785776e-04 9.99854531e-01 7.02066043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0492541539999 meters Centerline goodness [0,1] 0.9990220964587407 Centerline is valid? [True, True] Translation: X:758.31, Y:13.00, Z:7.02 [[ 9.97639971e-01 -6.65433683e-02 -1.69253802e-02 7.58310579e+02] [ 6.65456428e-02 9.97783290e-01 -4.29398367e-04 1.30033490e+01] [ 1.69164352e-02 -6.97925334e-04 9.99856663e-01 7.02031930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0792541539998 meters Centerline goodness [0,1] 0.9990400868095407 Centerline is valid? [True, True] Translation: X:758.34, Y:13.00, Z:7.02 [[ 9.97187667e-01 -7.29905086e-02 -1.70041709e-02 7.58341480e+02] [ 7.29937477e-02 9.97332305e-01 -4.30905708e-04 1.29998969e+01] [ 1.69902610e-02 -8.11504304e-04 9.99855326e-01 7.02024157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1092541539999 meters Centerline goodness [0,1] 0.9990183177726257 Centerline is valid? [True, True] Translation: X:758.37, Y:13.00, Z:7.02 [[ 9.96955790e-01 -7.61154756e-02 -1.68993281e-02 7.58373089e+02] [ 7.61191277e-02 9.97098639e-01 -4.27946813e-04 1.29977357e+01] [ 1.68828704e-02 -8.59718062e-04 9.99857105e-01 7.02002951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1392541539999 meters Centerline goodness [0,1] 0.9989770568464124 Centerline is valid? [True, True] Translation: X:758.40, Y:13.00, Z:7.02 [[ 9.96732228e-01 -7.90208554e-02 -1.67502028e-02 7.58403804e+02] [ 7.90248602e-02 9.96872556e-01 -4.23702267e-04 1.29974245e+01] [ 1.67312988e-02 -9.01364727e-04 9.99859616e-01 7.02034730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1692541539999 meters Centerline goodness [0,1] 0.9987277619037688 Centerline is valid? [True, True] Translation: X:758.43, Y:12.99, Z:7.02 [[ 9.96345537e-01 -8.37640326e-02 -1.67080011e-02 7.58433107e+02] [ 8.37686870e-02 9.96485137e-01 -4.22319030e-04 1.29927715e+01] [ 1.66846500e-02 -9.78831637e-04 9.99860322e-01 7.01994087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1992541539998 meters Centerline goodness [0,1] 0.9987067167292449 Centerline is valid? [True, True] Translation: X:758.46, Y:13.00, Z:7.02 [[ 9.96212093e-01 -8.54426401e-02 -1.61561754e-02 7.58464856e+02] [ 8.54472250e-02 9.96342615e-01 -4.07555759e-04 1.29953272e+01] [ 1.61319086e-02 -9.74488377e-04 9.99869397e-01 7.02070615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2292541539999 meters Centerline goodness [0,1] 0.998685857321652 Centerline is valid? [True, True] Translation: X:758.50, Y:12.99, Z:7.02 [[ 9.96070564e-01 -8.71832148e-02 -1.55730290e-02 7.58495723e+02] [ 8.71877120e-02 9.96191824e-01 -3.91209730e-04 1.29943547e+01] [ 1.55478311e-02 -9.68104269e-04 9.99878656e-01 7.02098500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2592541539999 meters Centerline goodness [0,1] 0.9986432611826588 Centerline is valid? [True, True] Translation: X:758.53, Y:13.00, Z:7.02 [[ 9.96059814e-01 -8.73415302e-02 -1.53721974e-02 7.58527944e+02] [ 8.73459557e-02 9.96177964e-01 -3.84550648e-04 1.29965713e+01] [ 1.53470316e-02 -9.59663830e-04 9.99881767e-01 7.02131756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2892541539999 meters Centerline goodness [0,1] 0.9984984358706986 Centerline is valid? [True, True] Translation: X:758.56, Y:13.00, Z:7.02 [[ 9.96124739e-01 -8.64676818e-02 -1.60886690e-02 7.58560175e+02] [ 8.64724355e-02 9.96254163e-01 -4.01260122e-04 1.30020436e+01] [ 1.60630995e-02 -9.91521255e-04 9.99870488e-01 7.02128028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3192541539999 meters Centerline goodness [0,1] 0.9987481744210307 Centerline is valid? [True, True] Translation: X:758.59, Y:13.01, Z:7.02 [[ 9.96283792e-01 -8.49108441e-02 -1.44483565e-02 7.58591178e+02] [ 8.49145264e-02 9.96388174e-01 -3.59528430e-04 1.30093253e+01] [ 1.44266994e-02 -8.68682997e-04 9.99895552e-01 7.02249113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3492541539999 meters Centerline goodness [0,1] 0.9984766277128547 Centerline is valid? [True, True] Translation: X:758.62, Y:13.01, Z:7.02 [[ 9.96418656e-01 -8.32622974e-02 -1.47394669e-02 7.58622723e+02] [ 8.32659583e-02 9.96527293e-01 -3.66205006e-04 1.30120719e+01] [ 1.47187721e-02 -8.62402334e-04 9.99891301e-01 7.02239234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3792541539999 meters Centerline goodness [0,1] 0.998685857321652 Centerline is valid? [True, True] Translation: X:758.65, Y:13.02, Z:7.02 [[ 9.96731222e-01 -7.93926478e-02 -1.49558612e-02 7.58653541e+02] [ 7.93959896e-02 9.96843087e-01 -3.71117478e-04 1.30189531e+01] [ 1.49381109e-02 -8.17531024e-04 9.99888086e-01 7.02248312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4092541539999 meters Centerline goodness [0,1] 0.9984974331149046 Centerline is valid? [True, True] Translation: X:758.69, Y:13.02, Z:7.02 [[ 9.96874945e-01 -7.75333504e-02 -1.51302315e-02 7.58685223e+02] [ 7.75365658e-02 9.96989438e-01 -3.74862064e-04 1.30230721e+01] [ 1.51137453e-02 -7.99455592e-04 9.99885461e-01 7.02260942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4392541539999 meters Centerline goodness [0,1] 0.9987263806242823 Centerline is valid? [True, True] Translation: X:758.72, Y:13.03, Z:7.02 [[ 9.97008932e-01 -7.57089199e-02 -1.55353904e-02 7.58716910e+02] [ 7.57121048e-02 9.97129645e-01 -3.83877910e-04 1.30271388e+01] [ 1.55198613e-02 -7.93487399e-04 9.99879245e-01 7.02264754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4692541539999 meters Centerline goodness [0,1] 0.9987272841077427 Centerline is valid? [True, True] Translation: X:758.75, Y:13.03, Z:7.02 [[ 9.97197480e-01 -7.30901219e-02 -1.59693189e-02 7.58747069e+02] [ 7.30931629e-02 9.97325039e-01 -3.93935031e-04 1.30319157e+01] [ 1.59553944e-02 -7.74417009e-04 9.99872405e-01 7.02252436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4992541539999 meters Centerline goodness [0,1] 0.9987251295769938 Centerline is valid? [True, True] Translation: X:758.78, Y:13.04, Z:7.02 [[ 9.97272723e-01 -7.20597637e-02 -1.59532700e-02 7.58778877e+02] [ 7.20626777e-02 9.97400028e-01 -3.92872448e-04 1.30361978e+01] [ 1.59401022e-02 -7.57834376e-04 9.99872661e-01 7.02304668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5292541539999 meters Centerline goodness [0,1] 0.9989343474445234 Centerline is valid? [True, True] Translation: X:758.81, Y:13.04, Z:7.02 [[ 9.97372021e-01 -7.05161653e-02 -1.66289505e-02 7.58810640e+02] [ 7.05191384e-02 9.97510343e-01 -4.08242583e-04 1.30414745e+01] [ 1.66163379e-02 -7.65489536e-04 9.99861646e-01 7.02299370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5592541539999 meters Centerline goodness [0,1] 0.9989165763813651 Centerline is valid? [True, True] Translation: X:758.84, Y:13.04, Z:7.02 [[ 9.97417355e-01 -6.98997380e-02 -1.65120160e-02 7.58842130e+02] [ 6.99026031e-02 9.97553739e-01 -4.04280657e-04 1.30438968e+01] [ 1.64998824e-02 -7.50996354e-04 9.99863586e-01 7.02321758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.589254154 meters Centerline goodness [0,1] 0.9986440536537539 Centerline is valid? [True, True] Translation: X:758.87, Y:13.05, Z:7.02 [[ 9.97479231e-01 -6.89891046e-02 -1.66038057e-02 7.58874397e+02] [ 6.89918933e-02 9.97617138e-01 -4.05469336e-04 1.30469775e+01] [ 1.65922141e-02 -7.41080749e-04 9.99862065e-01 7.02343428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6192541539999 meters Centerline goodness [0,1] 0.9989350595113803 Centerline is valid? [True, True] Translation: X:758.91, Y:13.05, Z:7.02 [[ 9.97556271e-01 -6.79148396e-02 -1.64030809e-02 7.58906509e+02] [ 6.79174361e-02 9.97690865e-01 -3.99364719e-04 1.30498577e+01] [ 1.63923268e-02 -7.15666420e-04 9.99865381e-01 7.02370743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6492541539999 meters Centerline goodness [0,1] 0.9987692949520234 Centerline is valid? [True, True] Translation: X:758.94, Y:13.05, Z:7.02 [[ 9.97752088e-01 -6.51883254e-02 -1.55323131e-02 7.58937248e+02] [ 6.51903373e-02 9.97872776e-01 -3.77283424e-04 1.30544261e+01] [ 1.55238669e-02 -6.36121407e-04 9.99879295e-01 7.02433733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6792541539999 meters Centerline goodness [0,1] 0.9988718977187265 Centerline is valid? [True, True] Translation: X:758.97, Y:13.06, Z:7.02 [[ 9.97854601e-01 -6.36289901e-02 -1.54125645e-02 7.58969841e+02] [ 6.36307991e-02 9.97973437e-01 -3.73485745e-04 1.30582191e+01] [ 1.54050945e-02 -6.08029327e-04 9.99881150e-01 7.02459772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.709254154 meters Centerline goodness [0,1] 0.9987888153361038 Centerline is valid? [True, True] Translation: X:759.00, Y:13.06, Z:7.02 [[ 9.98071614e-01 -5.99724471e-02 -1.60111961e-02 7.59001584e+02] [ 5.99739494e-02 9.98199868e-01 -3.86749540e-04 1.30648793e+01] [ 1.60055681e-02 -5.74250925e-04 9.99871738e-01 7.02410311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7392541539999 meters Centerline goodness [0,1] 0.9987879801061562 Centerline is valid? [True, True] Translation: X:759.03, Y:13.07, Z:7.03 [[ 9.98172289e-01 -5.85367584e-02 -1.50176237e-02 7.59033204e+02] [ 5.85379309e-02 9.98285119e-01 -3.61864938e-04 1.30665662e+01] [ 1.50130527e-02 -5.17897064e-04 9.99887164e-01 7.02557634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7692541539999 meters Centerline goodness [0,1] 0.9988513668734206 Centerline is valid? [True, True] Translation: X:759.07, Y:13.07, Z:7.03 [[ 9.98281157e-01 -5.67735197e-02 -1.45429936e-02 7.59065503e+02] [ 5.67744473e-02 9.98386969e-01 -3.49402229e-04 1.30714603e+01] [ 1.45393721e-02 -4.76868760e-04 9.99894184e-01 7.02670857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7992541539999 meters Centerline goodness [0,1] 0.998846234529054 Centerline is valid? [True, True] Translation: X:759.10, Y:13.08, Z:7.03 [[ 9.98501293e-01 -5.30264290e-02 -1.35412506e-02 7.59095987e+02] [ 5.30268994e-02 9.98593032e-01 -3.24554774e-04 1.30768588e+01] [ 1.35394085e-02 -3.93982172e-04 9.99908260e-01 7.02745457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8292541539998 meters Centerline goodness [0,1] 0.998930750361658 Centerline is valid? [True, True] Translation: X:759.13, Y:13.08, Z:7.03 [[ 9.98746031e-01 -4.82354448e-02 -1.34055217e-02 7.59126096e+02] [ 4.82354799e-02 9.98835940e-01 -3.20896485e-04 1.30821125e+01] [ 1.34053955e-02 -3.26127683e-04 9.99910090e-01 7.02724342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8592541539999 meters Centerline goodness [0,1] 0.9988868352516173 Centerline is valid? [True, True] Translation: X:759.16, Y:13.08, Z:7.03 [[ 9.98835856e-01 -4.65857766e-02 -1.25179518e-02 7.59158714e+02] [ 4.65856831e-02 9.98914253e-01 -2.99222252e-04 1.30849183e+01] [ 1.25182999e-02 -2.84283420e-04 9.99921603e-01 7.02828173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8892541539999 meters Centerline goodness [0,1] 0.9986784140969163 Centerline is valid? [True, True] Translation: X:759.19, Y:13.09, Z:7.03 [[ 9.98913487e-01 -4.47909027e-02 -1.28694030e-02 7.59190950e+02] [ 4.47906688e-02 9.98996347e-01 -3.06546093e-04 1.30887691e+01] [ 1.28702171e-02 -2.70216142e-04 9.99917139e-01 7.02838990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9192541539999 meters Centerline goodness [0,1] 0.998803802648423 Centerline is valid? [True, True] Translation: X:759.22, Y:13.09, Z:7.03 [[ 9.99021516e-01 -4.22858632e-02 -1.29582634e-02 7.59223080e+02] [ 4.22854275e-02 9.99105524e-01 -3.07729070e-04 1.30947497e+01] [ 1.29596851e-02 -2.40517744e-04 9.99915991e-01 7.02850070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9492541539998 meters Centerline goodness [0,1] 0.9988448290346972 Centerline is valid? [True, True] Translation: X:759.25, Y:13.10, Z:7.03 [[ 9.99060154e-01 -4.12407389e-02 -1.33420825e-02 7.59254811e+02] [ 4.12401974e-02 9.99149211e-01 -3.15829602e-04 1.30967274e+01] [ 1.33437563e-02 -2.34697347e-04 9.99910941e-01 7.02853865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9792541539999 meters Centerline goodness [0,1] 0.9987399458176701 Centerline is valid? [True, True] Translation: X:759.29, Y:13.10, Z:7.03 [[ 9.99087016e-01 -4.02211666e-02 -1.44011468e-02 7.59285575e+02] [ 4.02204446e-02 9.99190773e-01 -3.39868985e-04 1.30975696e+01] [ 1.44031629e-02 -2.39661836e-04 9.99896240e-01 7.02727301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0092541539999 meters Centerline goodness [0,1] 0.9989702637385731 Centerline is valid? [True, True] Translation: X:759.32, Y:13.10, Z:7.03 [[ 9.99095162e-01 -4.01403593e-02 -1.40573735e-02 7.59317667e+02] [ 4.01396754e-02 9.99194024e-01 -3.30903912e-04 1.30991443e+01] [ 1.40593262e-02 -2.33653913e-04 9.99901135e-01 7.02801838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0392541539999 meters Centerline goodness [0,1] 0.9988884927542311 Centerline is valid? [True, True] Translation: X:759.35, Y:13.10, Z:7.03 [[ 9.99065576e-01 -4.07960301e-02 -1.42708811e-02 7.59350155e+02] [ 4.07954073e-02 9.99167465e-01 -3.34869741e-04 1.30999462e+01] [ 1.42726615e-02 -2.47629576e-04 9.99898110e-01 7.02743383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0692541539999 meters Centerline goodness [0,1] 0.9989697874398167 Centerline is valid? [True, True] Translation: X:759.38, Y:13.10, Z:7.03 [[ 9.98969553e-01 -4.30498735e-02 -1.43715024e-02 7.59382166e+02] [ 4.30494902e-02 9.99072884e-01 -3.36172703e-04 1.31001072e+01] [ 1.43726505e-02 -2.82859556e-04 9.99896668e-01 7.02774371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0992541539999 meters Centerline goodness [0,1] 0.9989291338582678 Centerline is valid? [True, True] Translation: X:759.41, Y:13.10, Z:7.03 [[ 9.98908692e-01 -4.43070242e-02 -1.47754030e-02 7.59414076e+02] [ 4.43067728e-02 9.99017913e-01 -3.44518478e-04 1.31001585e+01] [ 1.47761569e-02 -3.10507922e-04 9.99890778e-01 7.02763578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1292541539999 meters Centerline goodness [0,1] 0.9987813589948313 Centerline is valid? [True, True] Translation: X:759.45, Y:13.10, Z:7.03 [[ 9.98744413e-01 -4.77997299e-02 -1.49927574e-02 7.59445308e+02] [ 4.77998830e-02 9.98856872e-01 -3.48337355e-04 1.30981731e+01] [ 1.49922692e-02 -3.68752064e-04 9.99887542e-01 7.02709777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1592541539999 meters Centerline goodness [0,1] 0.9986142896134708 Centerline is valid? [True, True] Translation: X:759.48, Y:13.10, Z:7.03 [[ 9.98647332e-01 -4.98097897e-02 -1.49161207e-02 7.59477102e+02] [ 4.98101883e-02 9.98758643e-01 -3.45015548e-04 1.30989425e+01] [ 1.49147896e-02 -3.98425924e-04 9.99888689e-01 7.02735911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1892541539999 meters Centerline goodness [0,1] 0.9987418218419728 Centerline is valid? [True, True] Translation: X:759.51, Y:13.10, Z:7.03 [[ 9.98550569e-01 -5.18129149e-02 -1.45665062e-02 7.59507892e+02] [ 5.18135327e-02 9.98656721e-01 -3.35228762e-04 1.30958830e+01] [ 1.45643084e-02 -4.19999272e-04 9.99893847e-01 7.02737957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2192541539999 meters Centerline goodness [0,1] 0.9985915196871913 Centerline is valid? [True, True] Translation: X:759.54, Y:13.09, Z:7.03 [[ 9.98309606e-01 -5.64112386e-02 -1.39893446e-02 7.59538722e+02] [ 5.64122766e-02 9.98407508e-01 -3.20704984e-04 1.30943417e+01] [ 1.39851580e-02 -4.69007910e-04 9.99902093e-01 7.02817035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2492541539999 meters Centerline goodness [0,1] 0.9985694751235932 Centerline is valid? [True, True] Translation: X:759.57, Y:13.10, Z:7.03 [[ 9.98224022e-01 -5.79022284e-02 -1.40047848e-02 7.59571013e+02] [ 5.79034224e-02 9.98322138e-01 -3.20547326e-04 1.30955302e+01] [ 1.39998471e-02 -4.90946931e-04 9.99901877e-01 7.02873962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2792541539999 meters Centerline goodness [0,1] 0.9986315501378976 Centerline is valid? [True, True] Translation: X:759.60, Y:13.09, Z:7.03 [[ 9.98142122e-01 -5.93793448e-02 -1.36527355e-02 7.59602068e+02] [ 5.93806300e-02 9.98235365e-01 -3.11578699e-04 1.30943508e+01] [ 1.36471448e-02 -4.99708212e-04 9.99906749e-01 7.02953835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3092541539999 meters Centerline goodness [0,1] 0.9984837317047489 Centerline is valid? [True, True] Translation: X:759.63, Y:13.10, Z:7.03 [[ 9.98068287e-01 -6.05996901e-02 -1.36884140e-02 7.59633854e+02] [ 6.06011081e-02 9.98162015e-01 -3.11553482e-04 1.30971744e+01] [ 1.36821350e-02 -5.18581408e-04 9.99906261e-01 7.03023673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.339254154 meters Centerline goodness [0,1] 0.9985458990137402 Centerline is valid? [True, True] Translation: X:759.67, Y:13.10, Z:7.03 [[ 9.98063055e-01 -6.05666082e-02 -1.42064711e-02 7.59665980e+02] [ 6.05681489e-02 9.98164012e-01 -3.22170101e-04 1.30976743e+01] [ 1.41999010e-02 -5.38913583e-04 9.99899031e-01 7.03036526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3692541539999 meters Centerline goodness [0,1] 0.9985483769170892 Centerline is valid? [True, True] Translation: X:759.70, Y:13.10, Z:7.03 [[ 9.98103808e-01 -5.97787094e-02 -1.46728849e-02 7.59698466e+02] [ 5.97802869e-02 9.98211504e-01 -3.31456289e-04 1.30999270e+01] [ 1.46664565e-02 -5.46321484e-04 9.99892292e-01 7.03040932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3992541539999 meters Centerline goodness [0,1] 0.9983566492499578 Centerline is valid? [True, True] Translation: X:759.73, Y:13.10, Z:7.03 [[ 9.98159683e-01 -5.86557235e-02 -1.53867910e-02 7.59729702e+02] [ 5.86573412e-02 9.98278116e-01 -3.46528108e-04 1.30998027e+01] [ 1.53806226e-02 -5.56657866e-04 9.99881556e-01 7.02917006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4292541539999 meters Centerline goodness [0,1] 0.9985463278978637 Centerline is valid? [True, True] Translation: X:759.76, Y:13.10, Z:7.03 [[ 9.98221470e-01 -5.77572016e-02 -1.47649140e-02 7.59761456e+02] [ 5.77586063e-02 9.98330523e-01 -3.31629156e-04 1.31037529e+01] [ 1.47594183e-02 -5.21761511e-04 9.99890938e-01 7.03082679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.459254154 meters Centerline goodness [0,1] 0.9984412192193457 Centerline is valid? [True, True] Translation: X:759.79, Y:13.11, Z:7.03 [[ 9.98294355e-01 -5.64132348e-02 -1.50309232e-02 7.59793230e+02] [ 5.64145553e-02 9.98407374e-01 -3.36477607e-04 1.31054941e+01] [ 1.50259663e-02 -5.12059149e-04 9.99886973e-01 7.03046967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4892541539999 meters Centerline goodness [0,1] 0.9984412192193457 Centerline is valid? [True, True] Translation: X:759.82, Y:13.11, Z:7.03 [[ 9.98407134e-01 -5.43352378e-02 -1.51946184e-02 7.59824259e+02] [ 5.43363623e-02 9.98522631e-01 -3.39119732e-04 1.31071263e+01] [ 1.51905965e-02 -4.87040731e-04 9.99884498e-01 7.03087629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5192541539999 meters Centerline goodness [0,1] 0.9986532836731687 Centerline is valid? [True, True] Translation: X:759.86, Y:13.11, Z:7.03 [[ 9.98486176e-01 -5.29189982e-02 -1.49978718e-02 7.59856847e+02] [ 5.29199507e-02 9.98598702e-01 -3.33630373e-04 1.31092895e+01] [ 1.49945107e-02 -4.60561322e-04 9.99887470e-01 7.03116216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5492541539999 meters Centerline goodness [0,1] 0.9985466953115127 Centerline is valid? [True, True] Translation: X:759.89, Y:13.11, Z:7.03 [[ 9.98567269e-01 -5.12190274e-02 -1.54926253e-02 7.59889080e+02] [ 5.12198620e-02 9.98687342e-01 -3.43176858e-04 1.31130426e+01] [ 1.54898659e-02 -4.50844950e-04 9.99879923e-01 7.03167565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5792541539998 meters Centerline goodness [0,1] 0.9986111987879553 Centerline is valid? [True, True] Translation: X:759.92, Y:13.12, Z:7.03 [[ 9.98778988e-01 -4.69645674e-02 -1.53252091e-02 7.59919839e+02] [ 4.69648972e-02 9.98896483e-01 -3.38573219e-04 1.31170031e+01] [ 1.53241984e-02 -3.81587052e-04 9.99882505e-01 7.03212852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6092541539999 meters Centerline goodness [0,1] 0.9985701368883655 Centerline is valid? [True, True] Translation: X:759.95, Y:13.12, Z:7.03 [[ 9.98888868e-01 -4.45279437e-02 -1.54366669e-02 7.59952176e+02] [ 4.45279995e-02 9.99008079e-01 -3.40255743e-04 1.31191895e+01] [ 1.54365058e-02 -3.47486221e-04 9.99880790e-01 7.03251469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6392541539999 meters Centerline goodness [0,1] 0.9985701368883655 Centerline is valid? [True, True] Translation: X:759.98, Y:13.12, Z:7.03 [[ 9.98892063e-01 -4.44562196e-02 -1.54366913e-02 7.59983867e+02] [ 4.44562840e-02 9.99011273e-01 -3.39147180e-04 1.31198252e+01] [ 1.54365058e-02 -3.47486504e-04 9.99880790e-01 7.03281144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6692541539999 meters Centerline goodness [0,1] 0.9987385682749921 Centerline is valid? [True, True] Translation: X:760.02, Y:13.12, Z:7.03 [[ 9.99008649e-01 -4.18128237e-02 -1.52776830e-02 7.60015912e+02] [ 4.18125946e-02 9.99125415e-01 -3.34552717e-04 1.31232184e+01] [ 1.52783100e-02 -3.04578509e-04 9.99883233e-01 7.03327079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6992541539998 meters Centerline goodness [0,1] 0.998568481327102 Centerline is valid? [True, True] Translation: X:760.05, Y:13.13, Z:7.03 [[ 9.99181902e-01 -3.75806912e-02 -1.49404709e-02 7.60046232e+02] [ 3.75800107e-02 9.99293569e-01 -3.26392703e-04 1.31254555e+01] [ 1.49421825e-02 -2.35337374e-04 9.99888332e-01 7.03282285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7292541539999 meters Centerline goodness [0,1] 0.9988419833666702 Centerline is valid? [True, True] Translation: X:760.08, Y:13.13, Z:7.03 [[ 9.99216874e-01 -3.65515012e-02 -1.51534636e-02 7.60078846e+02] [ 3.65506936e-02 9.99331746e-01 -3.30340413e-04 1.31280750e+01] [ 1.51554116e-02 -2.23787889e-04 9.99885125e-01 7.03432629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7592541539999 meters Centerline goodness [0,1] 0.9984443977296615 Centerline is valid? [True, True] Translation: X:760.11, Y:13.13, Z:7.03 [[ 9.99270573e-01 -3.48704263e-02 -1.55684142e-02 7.60110926e+02] [ 3.48693907e-02 9.99391821e-01 -3.38043943e-04 1.31292025e+01] [ 1.55707336e-02 -2.05063752e-04 9.99878748e-01 7.03350930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7892541539999 meters Centerline goodness [0,1] 0.9986750788643534 Centerline is valid? [True, True] Translation: X:760.14, Y:13.13, Z:7.03 [[ 9.99284305e-01 -3.44821484e-02 -1.55518463e-02 7.60142397e+02] [ 3.44810906e-02 9.99405294e-01 -3.36230589e-04 1.31290829e+01] [ 1.55541915e-02 -2.00254672e-04 9.99879006e-01 7.03373567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8192541539999 meters Centerline goodness [0,1] 0.9988855478688732 Centerline is valid? [True, True] Translation: X:760.17, Y:13.13, Z:7.03 [[ 9.99290045e-01 -3.41126671e-02 -1.59915902e-02 7.60173495e+02] [ 3.41115242e-02 9.99417973e-01 -3.44307617e-04 1.31287839e+01] [ 1.59940279e-02 -2.01434342e-04 9.99872067e-01 7.03349214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8492541539999 meters Centerline goodness [0,1] 0.9988239741274308 Centerline is valid? [True, True] Translation: X:760.20, Y:13.13, Z:7.03 [[ 9.99286204e-01 -3.39571814e-02 -1.65527278e-02 7.60203393e+02] [ 3.39559436e-02 9.99423267e-01 -3.55906672e-04 1.31279879e+01] [ 1.65552669e-02 -2.06410865e-04 9.99862931e-01 7.03274798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8792541539999 meters Centerline goodness [0,1] 0.9986126292777264 Centerline is valid? [True, True] Translation: X:760.23, Y:13.13, Z:7.03 [[ 9.99264290e-01 -3.50187346e-02 -1.56386385e-02 7.60234467e+02] [ 3.50177657e-02 9.99386634e-01 -3.35866199e-04 1.31262275e+01] [ 1.56408079e-02 -2.12011080e-04 9.99877653e-01 7.03366965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9092541539999 meters Centerline goodness [0,1] 0.9985915196871913 Centerline is valid? [True, True] Translation: X:760.26, Y:13.13, Z:7.03 [[ 9.99244442e-01 -3.56895664e-02 -1.53883219e-02 7.60264962e+02] [ 3.56887146e-02 9.99362900e-01 -3.30049692e-04 1.31252552e+01] [ 1.53902973e-02 -2.19389106e-04 9.99881538e-01 7.03407078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9392541539999 meters Centerline goodness [0,1] 0.9986111403379558 Centerline is valid? [True, True] Translation: X:760.30, Y:13.12, Z:7.04 [[ 9.99153033e-01 -3.85428588e-02 -1.44106010e-02 7.60295579e+02] [ 3.85424120e-02 9.99256917e-01 -3.08833251e-04 1.31216678e+01] [ 1.44117960e-02 -2.46847641e-04 9.99896114e-01 7.03506709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9692541539999 meters Centerline goodness [0,1] 0.9987610768132376 Centerline is valid? [True, True] Translation: X:760.33, Y:13.12, Z:7.04 [[ 9.99082741e-01 -4.03862260e-02 -1.42348014e-02 7.60328184e+02] [ 4.03859844e-02 9.99184107e-01 -3.04545962e-04 1.31214287e+01] [ 1.42354868e-02 -2.70619855e-04 9.99898634e-01 7.03567871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9992541539999 meters Centerline goodness [0,1] 0.9984438088829072 Centerline is valid? [True, True] Translation: X:760.36, Y:13.11, Z:7.03 [[ 9.98851012e-01 -4.57734107e-02 -1.41933676e-02 7.60358138e+02] [ 4.57737298e-02 9.98951788e-01 -3.02540155e-04 1.31136005e+01] [ 1.41923383e-02 -3.47490836e-04 9.99899223e-01 7.03498989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0292541539999 meters Centerline goodness [0,1] 0.9987364430872907 Centerline is valid? [True, True] Translation: X:760.39, Y:13.12, Z:7.04 [[ 9.98706246e-01 -4.89576339e-02 -1.37471555e-02 7.60390594e+02] [ 4.89582505e-02 9.98800783e-01 -2.91879212e-04 1.31152341e+01] [ 1.37449594e-02 -3.81535092e-04 9.99905461e-01 7.03597911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0592541539999 meters Centerline goodness [0,1] 0.9986129500031524 Centerline is valid? [True, True] Translation: X:760.42, Y:13.10, Z:7.03 [[ 9.98264797e-01 -5.71017813e-02 -1.43799115e-02 7.60420204e+02] [ 5.71033121e-02 9.98368228e-01 -3.04449359e-04 1.31032243e+01] [ 1.43738314e-02 -5.17219499e-04 9.99896557e-01 7.03470016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.089254154 meters Centerline goodness [0,1] 0.9985063323095048 Centerline is valid? [True, True] Translation: X:760.45, Y:13.11, Z:7.04 [[ 9.98005110e-01 -6.14164733e-02 -1.46225107e-02 7.60451364e+02] [ 6.14185249e-02 9.98112052e-01 -3.09149754e-04 1.31052524e+01] [ 1.46138910e-02 -5.89560002e-04 9.99893038e-01 7.03523425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1192541539999 meters Centerline goodness [0,1] 0.9984253621667016 Centerline is valid? [True, True] Translation: X:760.48, Y:13.10, Z:7.03 [[ 9.97449044e-01 -6.96759521e-02 -1.55133991e-02 7.60481928e+02] [ 6.96792644e-02 9.97569392e-01 -3.27560891e-04 1.30971389e+01] [ 1.54985152e-02 -7.54236939e-04 9.99879606e-01 7.03405334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1492541539999 meters Centerline goodness [0,1] 0.9985083406865835 Centerline is valid? [True, True] Translation: X:760.51, Y:13.09, Z:7.04 [[ 9.96917955e-01 -7.68833332e-02 -1.56059033e-02 7.60512507e+02] [ 7.68875676e-02 9.97039715e-01 -3.29362515e-04 1.30939829e+01] [ 1.55850279e-02 -8.71552540e-04 9.99878166e-01 7.03505273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1792541539999 meters Centerline goodness [0,1] 0.9984474330193231 Centerline is valid? [True, True] Translation: X:760.54, Y:13.09, Z:7.03 [[ 9.96778162e-01 -7.84295330e-02 -1.67959630e-02 7.60544825e+02] [ 7.84346675e-02 9.96919193e-01 -3.53835385e-04 1.30925293e+01] [ 1.67719690e-02 -9.64690389e-04 9.99858875e-01 7.03390446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.209254154 meters Centerline goodness [0,1] 0.9985298750393784 Centerline is valid? [True, True] Translation: X:760.58, Y:13.09, Z:7.04 [[ 9.96654445e-01 -8.01161631e-02 -1.61653429e-02 7.60576730e+02] [ 8.01211591e-02 9.96785074e-01 -3.39386899e-04 1.30947747e+01] [ 1.61405629e-02 -9.56934550e-04 9.99869275e-01 7.03557694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2392541539999 meters Centerline goodness [0,1] 0.9984676098912633 Centerline is valid? [True, True] Translation: X:760.61, Y:13.09, Z:7.04 [[ 9.96573273e-01 -8.11836148e-02 -1.58408678e-02 7.60607502e+02] [ 8.11885705e-02 9.96698704e-01 -3.31055939e-04 1.30928874e+01] [ 1.58154488e-02 -9.56175915e-04 9.99874471e-01 7.03664175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2692541539999 meters Centerline goodness [0,1] 0.9984069423774289 Centerline is valid? [True, True] Translation: X:760.64, Y:13.09, Z:7.04 [[ 9.96623821e-01 -8.04832393e-02 -1.62298563e-02 7.60638427e+02] [ 8.04883833e-02 9.96755490e-01 -3.37070722e-04 1.30932725e+01] [ 1.62043269e-02 -9.70382183e-04 9.99868230e-01 7.03652333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2992541539999 meters Centerline goodness [0,1] 0.9982802374111281 Centerline is valid? [True, True] Translation: X:760.67, Y:13.10, Z:7.04 [[ 9.96697025e-01 -7.96731837e-02 -1.57233639e-02 7.60670176e+02] [ 7.96779365e-02 9.96820606e-01 -3.24931802e-04 1.30970664e+01] [ 1.56992614e-02 -9.28946626e-04 9.99876327e-01 7.03743053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3292541539998 meters Centerline goodness [0,1] 0.9983023850442219 Centerline is valid? [True, True] Translation: X:760.70, Y:13.10, Z:7.04 [[ 9.96813917e-01 -7.81495487e-02 -1.59581316e-02 7.60700663e+02] [ 7.81542628e-02 9.96941223e-01 -3.28978003e-04 1.30977661e+01] [ 1.59350288e-02 -9.19266161e-04 9.99872607e-01 7.03740465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3592541539999 meters Centerline goodness [0,1] 0.9983191864862594 Centerline is valid? [True, True] Translation: X:760.73, Y:13.10, Z:7.04 [[ 9.97153913e-01 -7.32850365e-02 -1.77024436e-02 7.60730722e+02] [ 7.32900749e-02 9.97310599e-01 -3.64847473e-04 1.31038732e+01] [ 1.76815725e-02 -9.33604334e-04 9.99843233e-01 7.03537753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3892541539999 meters Centerline goodness [0,1] 0.9984462920970858 Centerline is valid? [True, True] Translation: X:760.76, Y:13.11, Z:7.04 [[ 9.97319092e-01 -7.10782186e-02 -1.73929648e-02 7.60761235e+02] [ 7.10827483e-02 9.97470358e-01 -3.58432261e-04 1.31062827e+01] [ 1.73744435e-02 -8.78868399e-04 9.99848667e-01 7.03622960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4192541539999 meters Centerline goodness [0,1] 0.9985911642870661 Centerline is valid? [True, True] Translation: X:760.79, Y:13.12, Z:7.04 [[ 9.97711660e-01 -6.51131896e-02 -1.82130574e-02 7.60791077e+02] [ 6.51171684e-02 9.97877554e-01 -3.75125240e-04 1.31185621e+01] [ 1.81988268e-02 -8.11715902e-04 9.99834058e-01 7.03702623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4492541539998 meters Centerline goodness [0,1] 0.9985258502685058 Centerline is valid? [True, True] Translation: X:760.82, Y:13.12, Z:7.04 [[ 9.97891798e-01 -6.22811303e-02 -1.82488195e-02 7.60821621e+02] [ 6.22846557e-02 9.98058355e-01 -3.75664348e-04 1.31196141e+01] [ 1.82367835e-02 -7.61749065e-04 9.99833406e-01 7.03714666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4792541539999 meters Centerline goodness [0,1] 0.9985251669721678 Centerline is valid? [True, True] Translation: X:760.85, Y:13.12, Z:7.04 [[ 9.98096206e-01 -5.88401127e-02 -1.84879833e-02 7.60853201e+02] [ 5.88431537e-02 9.98267168e-01 -3.79935456e-04 1.31247622e+01] [ 1.84783022e-02 -7.08679106e-04 9.99829010e-01 7.03719256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5092541539999 meters Centerline goodness [0,1] 0.9986275917402136 Centerline is valid? [True, True] Translation: X:760.88, Y:13.14, Z:7.04 [[ 9.98475093e-01 -5.21648974e-02 -1.80641111e-02 7.60884203e+02] [ 5.21667207e-02 9.98638321e-01 -3.70584109e-04 1.31376629e+01] [ 1.80588451e-02 -5.72326436e-04 9.99836762e-01 7.03946144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5392541539999 meters Centerline goodness [0,1] 0.998522053079408 Centerline is valid? [True, True] Translation: X:760.92, Y:13.14, Z:7.04 [[ 9.98666720e-01 -4.81325667e-02 -1.86557771e-02 7.60915453e+02] [ 4.81338182e-02 9.98840823e-01 -3.82199164e-04 1.31420014e+01] [ 1.86525480e-02 -5.16284198e-04 9.99825893e-01 7.03912316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5692541539999 meters Centerline goodness [0,1] 0.9985428589529702 Centerline is valid? [True, True] Translation: X:760.94, Y:13.15, Z:7.04 [[ 9.99017259e-01 -4.03741389e-02 -1.82878545e-02 7.60944948e+02] [ 4.03740482e-02 9.99184566e-01 -3.74321442e-04 1.31504456e+01] [ 1.82880548e-02 -3.64401136e-04 9.99832693e-01 7.03971559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5992541539999 meters Centerline goodness [0,1] 0.9987967321779148 Centerline is valid? [True, True] Translation: X:760.98, Y:13.15, Z:7.04 [[ 9.99165603e-01 -3.69147179e-02 -1.74757169e-02 7.60975794e+02] [ 3.69141111e-02 9.99318378e-01 -3.57406308e-04 1.31548249e+01] [ 1.74769987e-02 -2.87992467e-04 9.99847224e-01 7.04140826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6292541539999 meters Centerline goodness [0,1] 0.998540640003384 Centerline is valid? [True, True] Translation: X:761.01, Y:13.16, Z:7.04 [[ 9.99294929e-01 -3.29436701e-02 -1.80099757e-02 7.61007420e+02] [ 3.29423928e-02 9.99457184e-01 -3.67670346e-04 1.31596279e+01] [ 1.80123120e-02 -2.25880581e-04 9.99837740e-01 7.04068773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6592541539999 meters Centerline goodness [0,1] 0.9988324700687782 Centerline is valid? [True, True] Translation: X:761.04, Y:13.17, Z:7.04 [[ 9.99473690e-01 -2.75609588e-02 -1.71095440e-02 7.61037742e+02] [ 2.75590253e-02 9.99620117e-01 -3.48824294e-04 1.31652478e+01] [ 1.71126583e-02 -1.22881652e-04 9.99853560e-01 7.04148402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6892541539999 meters Centerline goodness [0,1] 0.999001465932992 Centerline is valid? [True, True] Translation: X:761.07, Y:13.17, Z:7.04 [[ 9.99532002e-01 -2.54257884e-02 -1.70090125e-02 7.61067827e+02] [ 2.54235608e-02 9.99676709e-01 -3.47217082e-04 1.31681113e+01] [ 1.70123419e-02 -8.53750788e-05 9.99855276e-01 7.04195323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7192541539999 meters Centerline goodness [0,1] 0.9988966921983408 Centerline is valid? [True, True] Translation: X:761.10, Y:13.17, Z:7.04 [[ 9.99570255e-01 -2.40064566e-02 -1.68224801e-02 7.61097047e+02] [ 2.40040596e-02 9.99711802e-01 -3.44420141e-04 1.31704009e+01] [ 1.68259002e-02 -5.95356879e-05 9.99858433e-01 7.04217616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7492541539999 meters Centerline goodness [0,1] 0.9989814539744515 Centerline is valid? [True, True] Translation: X:761.13, Y:13.17, Z:7.04 [[ 9.99595535e-01 -2.36820924e-02 -1.57456400e-02 7.61126362e+02] [ 2.36799454e-02 9.99719539e-01 -3.22807143e-04 1.31724420e+01] [ 1.57488687e-02 -5.01793167e-05 9.99875978e-01 7.04355579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7792541539999 meters Centerline goodness [0,1] 0.9991706715434016 Centerline is valid? [True, True] Translation: X:761.16, Y:13.17, Z:7.04 [[ 9.99580346e-01 -2.40475986e-02 -1.61507239e-02 7.61155907e+02] [ 2.40453806e-02 9.99710813e-01 -3.31535467e-04 1.31730427e+01] [ 1.61540260e-02 -5.69539663e-05 9.99869514e-01 7.04324755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8092541539999 meters Centerline goodness [0,1] 0.9993616070478581 Centerline is valid? [True, True] Translation: X:761.19, Y:13.17, Z:7.04 [[ 9.99505588e-01 -2.71612130e-02 -1.58381817e-02 7.61185491e+02] [ 2.71594636e-02 9.99631061e-01 -3.25576152e-04 1.31714282e+01] [ 1.58411814e-02 -1.04741336e-04 9.99874515e-01 7.04353191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.839254154 meters Centerline goodness [0,1] 0.9993826240606306 Centerline is valid? [True, True] Translation: X:761.22, Y:13.17, Z:7.04 [[ 9.99443847e-01 -2.94659162e-02 -1.56127290e-02 7.61216219e+02] [ 2.94644965e-02 9.99565776e-01 -3.20997984e-04 1.31701195e+01] [ 1.56154081e-02 -1.39201739e-04 9.99878062e-01 7.04418303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8692541539999 meters Centerline goodness [0,1] 0.9992553191489362 Centerline is valid? [True, True] Translation: X:761.25, Y:13.17, Z:7.04 [[ 9.99383531e-01 -3.13472961e-02 -1.58083732e-02 7.61247437e+02] [ 3.13460823e-02 9.99508538e-01 -3.24615166e-04 1.31688308e+01] [ 1.58107798e-02 -1.71115515e-04 9.99874987e-01 7.04324273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8992541539999 meters Centerline goodness [0,1] 0.9992137863623808 Centerline is valid? [True, True] Translation: X:761.28, Y:13.17, Z:7.04 [[ 9.99299959e-01 -3.39073137e-02 -1.58078073e-02 7.61278712e+02] [ 3.39064293e-02 9.99424959e-01 -3.24026626e-04 1.31671589e+01] [ 1.58097041e-02 -2.12186508e-04 9.99874996e-01 7.04324880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9292541539999 meters Centerline goodness [0,1] 0.9991512656750621 Centerline is valid? [True, True] Translation: X:761.31, Y:13.16, Z:7.04 [[ 9.99066830e-01 -4.03857163e-02 -1.53121971e-02 7.61309530e+02] [ 4.03856537e-02 9.99184118e-01 -3.13427958e-04 1.31625019e+01] [ 1.53123622e-02 -3.05257615e-04 9.99882712e-01 7.04386230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.959254154 meters Centerline goodness [0,1] 0.9990026736833171 Centerline is valid? [True, True] Translation: X:761.34, Y:13.16, Z:7.04 [[ 9.98800402e-01 -4.66225621e-02 -1.49697734e-02 7.61339876e+02] [ 4.66232062e-02 9.98912500e-01 -3.06151359e-04 1.31573015e+01] [ 1.49677673e-02 -3.92154729e-04 9.99887900e-01 7.04444629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9892541539999 meters Centerline goodness [0,1] 0.9993430950816893 Centerline is valid? [True, True] Translation: X:761.37, Y:13.16, Z:7.05 [[ 9.98655599e-01 -4.98344217e-02 -1.42661882e-02 7.61372177e+02] [ 4.98353414e-02 9.98757405e-01 -2.91242074e-04 1.31569381e+01] [ 1.42629750e-02 -4.20109833e-04 9.99898190e-01 7.04632101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0192541539999 meters Centerline goodness [0,1] 0.9992577984180503 Centerline is valid? [True, True] Translation: X:761.40, Y:13.16, Z:7.05 [[ 9.98542205e-01 -5.20167128e-02 -1.44127194e-02 7.61404777e+02] [ 5.20178941e-02 9.98646110e-01 -2.93162112e-04 1.31565132e+01] [ 1.44084554e-02 -4.56984567e-04 9.99896088e-01 7.04591437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0492541539999 meters Centerline goodness [0,1] 0.999216018646043 Centerline is valid? [True, True] Translation: X:761.44, Y:13.15, Z:7.05 [[ 9.98425817e-01 -5.41191106e-02 -1.47312782e-02 7.61437182e+02] [ 5.41205897e-02 9.98534362e-01 -2.98523639e-04 1.31548533e+01] [ 1.47258433e-02 -4.99211755e-04 9.99891444e-01 7.04549655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0792541539998 meters Centerline goodness [0,1] 0.9991962774957699 Centerline is valid? [True, True] Translation: X:761.47, Y:13.15, Z:7.05 [[ 9.98191884e-01 -5.83282891e-02 -1.45180616e-02 7.61467007e+02] [ 5.83301867e-02 9.98297302e-01 -2.93058321e-04 1.31509971e+01] [ 1.45104353e-02 -5.54312809e-04 9.99894564e-01 7.04652655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1092541539999 meters Centerline goodness [0,1] 0.9990702195549732 Centerline is valid? [True, True] Translation: X:761.50, Y:13.15, Z:7.05 [[ 9.98044476e-01 -6.07426825e-02 -1.47495890e-02 7.61498840e+02] [ 6.07449260e-02 9.98153278e-01 -2.96264822e-04 1.31491915e+01] [ 1.47403465e-02 -6.00277221e-04 9.99891175e-01 7.04650604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1392541539999 meters Centerline goodness [0,1] 0.9992601830518506 Centerline is valid? [True, True] Translation: X:761.53, Y:13.15, Z:7.05 [[ 9.97997244e-01 -6.14792631e-02 -1.48930121e-02 7.61530997e+02] [ 6.14816547e-02 9.98108169e-01 -2.97641081e-04 1.31488272e+01] [ 1.48831358e-02 -6.18602047e-04 9.99889049e-01 7.04693507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1692541539999 meters Centerline goodness [0,1] 0.9989657210401891 Centerline is valid? [True, True] Translation: X:761.56, Y:13.15, Z:7.05 [[ 9.97961102e-01 -6.21290545e-02 -1.46157609e-02 7.61561811e+02] [ 6.21314415e-02 9.98067933e-01 -2.91145113e-04 1.31475222e+01] [ 1.46056108e-02 -6.17546794e-04 9.99893142e-01 7.04707146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1992541539998 meters Centerline goodness [0,1] 0.9989454146629545 Centerline is valid? [True, True] Translation: X:761.59, Y:13.15, Z:7.05 [[ 9.97939727e-01 -6.25502947e-02 -1.42745521e-02 7.61594459e+02] [ 6.25526266e-02 9.98041627e-01 -2.83497426e-04 1.31481869e+01] [ 1.42643301e-02 -6.09997387e-04 9.99898073e-01 7.04690841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2292541539999 meters Centerline goodness [0,1] 0.9987351911969308 Centerline is valid? [True, True] Translation: X:761.63, Y:13.15, Z:7.05 [[ 9.97962621e-01 -6.21976119e-02 -1.42149409e-02 7.61627114e+02] [ 6.21999032e-02 9.98063672e-01 -2.81291363e-04 1.31487175e+01] [ 1.42049118e-02 -6.03449684e-04 9.99898923e-01 7.04700042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2592541539999 meters Centerline goodness [0,1] 0.9988186401704533 Centerline is valid? [True, True] Translation: X:761.66, Y:13.15, Z:7.05 [[ 9.98043410e-01 -6.09715541e-02 -1.38499531e-02 7.61659584e+02] [ 6.09736249e-02 9.98139340e-01 -2.73085525e-04 1.31512064e+01] [ 1.38408335e-02 -5.71930634e-04 9.99904048e-01 7.04699892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2892541539999 meters Centerline goodness [0,1] 0.9987774803448348 Centerline is valid? [True, True] Translation: X:761.69, Y:13.15, Z:7.05 [[ 9.98093698e-01 -6.01424258e-02 -1.38513073e-02 7.61691807e+02] [ 6.01444314e-02 9.98189648e-01 -2.72099361e-04 1.31538408e+01] [ 1.38425962e-02 -5.61498342e-04 9.99904029e-01 7.04734720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3192541539999 meters Centerline goodness [0,1] 0.9987971892211273 Centerline is valid? [True, True] Translation: X:761.72, Y:13.16, Z:7.05 [[ 9.98128040e-01 -5.95506143e-02 -1.39334417e-02 7.61724120e+02] [ 5.95526006e-02 9.98225132e-01 -2.72676066e-04 1.31557332e+01] [ 1.39249497e-02 -5.57607059e-04 9.99902888e-01 7.04716744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3492541539999 meters Centerline goodness [0,1] 0.9987986595569793 Centerline is valid? [True, True] Translation: X:761.76, Y:13.16, Z:7.05 [[ 9.98182930e-01 -5.86990854e-02 -1.36108558e-02 7.61756461e+02] [ 5.87009153e-02 9.98275579e-01 -2.65366247e-04 1.31580083e+01] [ 1.36029617e-02 -5.34085634e-04 9.99907333e-01 7.04760045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3792541539999 meters Centerline goodness [0,1] 0.99881995954147 Centerline is valid? [True, True] Translation: X:761.79, Y:13.16, Z:7.05 [[ 9.98169440e-01 -5.89394085e-02 -1.35615142e-02 7.61788742e+02] [ 5.89412609e-02 9.98261418e-01 -2.63399698e-04 1.31589629e+01] [ 1.35534610e-02 -5.36415217e-04 9.99908004e-01 7.04817170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4092541539999 meters Centerline goodness [0,1] 0.9987128629304524 Centerline is valid? [True, True] Translation: X:761.82, Y:13.16, Z:7.05 [[ 9.98131962e-01 -5.94272792e-02 -1.41769246e-02 7.61821158e+02] [ 5.94293681e-02 9.98232475e-01 -2.74268223e-04 1.31613564e+01] [ 1.41681655e-02 -5.68769788e-04 9.99899465e-01 7.04831092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4392541539999 meters Centerline goodness [0,1] 0.9985871834341986 Centerline is valid? [True, True] Translation: X:761.85, Y:13.16, Z:7.05 [[ 9.98101448e-01 -5.97557346e-02 -1.49248565e-02 7.61852400e+02] [ 5.97581020e-02 9.98212846e-01 -2.87690135e-04 1.31579254e+01] [ 1.49153747e-02 -6.04737159e-04 9.99888577e-01 7.04756663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4692541539999 meters Centerline goodness [0,1] 0.9987582607231553 Centerline is valid? [True, True] Translation: X:761.89, Y:13.16, Z:7.05 [[ 9.98099788e-01 -5.96031781e-02 -1.56292912e-02 7.61885501e+02] [ 5.96057750e-02 9.98221950e-01 -3.00026700e-04 1.31619677e+01] [ 1.56193841e-02 -6.32139430e-04 9.99877810e-01 7.04718195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4992541539999 meters Centerline goodness [0,1] 0.9987734991224175 Centerline is valid? [True, True] Translation: X:761.92, Y:13.16, Z:7.05 [[ 9.98057961e-01 -5.99839070e-02 -1.67999051e-02 7.61917541e+02] [ 5.99869895e-02 9.98199107e-01 -3.20833432e-04 1.31642618e+01] [ 1.67888951e-02 -6.87565369e-04 9.99858820e-01 7.04758919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5292541539999 meters Centerline goodness [0,1] 0.9989864436842772 Centerline is valid? [True, True] Translation: X:761.95, Y:13.16, Z:7.05 [[ 9.98099604e-01 -5.91115651e-02 -1.74069861e-02 7.61948658e+02] [ 5.91147727e-02 9.98251138e-01 -3.30665159e-04 1.31635513e+01] [ 1.73960898e-02 -6.98973260e-04 9.99848432e-01 7.04718357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5592541539999 meters Centerline goodness [0,1] 0.9989864436842772 Centerline is valid? [True, True] Translation: X:761.98, Y:13.16, Z:7.05 [[ 9.98103744e-01 -5.90416090e-02 -1.74070198e-02 7.61980369e+02] [ 5.90448370e-02 9.98255278e-01 -3.28883204e-04 1.31640869e+01] [ 1.73960672e-02 -6.99535088e-04 9.99848432e-01 7.04748032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.589254154 meters Centerline goodness [0,1] 0.9991766767295066 Centerline is valid? [True, True] Translation: X:762.01, Y:13.17, Z:7.05 [[ 9.98157257e-01 -5.82963566e-02 -1.68411556e-02 7.62012386e+02] [ 5.82992921e-02 9.98299100e-01 -3.17011346e-04 1.31687524e+01] [ 1.68309911e-02 -6.65400272e-04 9.99858127e-01 7.04905471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6192541539999 meters Centerline goodness [0,1] 0.9991320179524091 Centerline is valid? [True, True] Translation: X:762.04, Y:13.17, Z:7.05 [[ 9.98231851e-01 -5.71794746e-02 -1.62382138e-02 7.62044131e+02] [ 5.71820750e-02 9.98363720e-01 -3.04492290e-04 1.31721487e+01] [ 1.62290542e-02 -6.24580855e-04 9.99868105e-01 7.05042635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6492541539999 meters Centerline goodness [0,1] 0.9992170472099372 Centerline is valid? [True, True] Translation: X:762.08, Y:13.17, Z:7.05 [[ 9.98315679e-01 -5.58380303e-02 -1.57454567e-02 7.62075762e+02] [ 5.58403267e-02 9.98439668e-01 -2.94107927e-04 1.31710968e+01] [ 1.57373110e-02 -5.85618893e-04 9.99875989e-01 7.05097257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6792541539999 meters Centerline goodness [0,1] 0.999088693440712 Centerline is valid? [True, True] Translation: X:762.11, Y:13.18, Z:7.05 [[ 9.98534193e-01 -5.23646470e-02 -1.36897148e-02 7.62107030e+02] [ 5.23660670e-02 9.98627924e-01 -2.54948596e-04 1.31781053e+01] [ 1.36842817e-02 -4.62301631e-04 9.99906259e-01 7.05342768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.709254154 meters Centerline goodness [0,1] 0.999045315682281 Centerline is valid? [True, True] Translation: X:762.14, Y:13.18, Z:7.05 [[ 9.98636431e-01 -5.05028434e-02 -1.32189962e-02 7.62138321e+02] [ 5.05040165e-02 9.98723828e-01 -2.45277693e-04 1.31761344e+01] [ 1.32145137e-02 -4.22669162e-04 9.99912595e-01 7.05429462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7392541539999 meters Centerline goodness [0,1] 0.9993202769871278 Centerline is valid? [True, True] Translation: X:762.17, Y:13.18, Z:7.06 [[ 9.98795586e-01 -4.74926217e-02 -1.23218652e-02 7.62169752e+02] [ 4.74934292e-02 9.98871525e-01 -2.27236433e-04 1.31827547e+01] [ 1.23187523e-02 -3.58244886e-04 9.99924057e-01 7.05577865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7692541539999 meters Centerline goodness [0,1] 0.9996597047939088 Centerline is valid? [True, True] Translation: X:762.20, Y:13.18, Z:7.06 [[ 9.98821801e-01 -4.69070151e-02 -1.24395268e-02 7.62201651e+02] [ 4.69077999e-02 9.98899197e-01 -2.28835332e-04 1.31834187e+01] [ 1.24365673e-02 -3.54945117e-04 9.99922600e-01 7.05689688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7992541539999 meters Centerline goodness [0,1] 0.9994473259076609 Centerline is valid? [True, True] Translation: X:762.23, Y:13.18, Z:7.06 [[ 9.98844188e-01 -4.64556614e-02 -1.23352941e-02 7.62233027e+02] [ 4.64564090e-02 9.98920293e-01 -2.26080609e-04 1.31831785e+01] [ 1.23324783e-02 -3.47234164e-04 9.99923892e-01 7.05628219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8292541539998 meters Centerline goodness [0,1] 0.9991924858685027 Centerline is valid? [True, True] Translation: X:762.26, Y:13.18, Z:7.05 [[ 9.98819625e-01 -4.69000562e-02 -1.26388862e-02 7.62264927e+02] [ 4.69008861e-02 9.98899521e-01 -2.30890334e-04 1.31817063e+01] [ 1.26358061e-02 -3.62157164e-04 9.99920099e-01 7.05495348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8592541539999 meters Centerline goodness [0,1] 0.9991490991086813 Centerline is valid? [True, True] Translation: X:762.30, Y:13.18, Z:7.06 [[ 9.98775035e-01 -4.78205858e-02 -1.27130322e-02 7.62297362e+02] [ 4.78215116e-02 9.98855870e-01 -2.31331671e-04 1.31809794e+01] [ 1.27095493e-02 -3.76908120e-04 9.99919159e-01 7.05626349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8892541539999 meters Centerline goodness [0,1] 0.9991079393398751 Centerline is valid? [True, True] Translation: X:762.33, Y:13.18, Z:7.06 [[ 9.98735435e-01 -4.85231758e-02 -1.31541893e-02 7.62329755e+02] [ 4.85242404e-02 9.98821977e-01 -2.38398791e-04 1.31798833e+01] [ 1.31502613e-02 -4.00199727e-04 9.99913451e-01 7.05504803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9192541539999 meters Centerline goodness [0,1] 0.9993207963662606 Centerline is valid? [True, True] Translation: X:762.36, Y:13.18, Z:7.05 [[ 9.98601845e-01 -5.09688587e-02 -1.40189420e-02 7.62361429e+02] [ 5.09703221e-02 9.98700136e-01 -2.53115645e-04 1.31780659e+01] [ 1.40136203e-02 -4.61788239e-04 9.99901698e-01 7.05487995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9492541539998 meters Centerline goodness [0,1] 0.9991070479430212 Centerline is valid? [True, True] Translation: X:762.39, Y:13.18, Z:7.05 [[ 9.98507223e-01 -5.24290120e-02 -1.53142094e-02 7.62392511e+02] [ 5.24309432e-02 9.98624514e-01 -2.75638924e-04 1.31751942e+01] [ 1.53075964e-02 -5.27710986e-04 9.99882693e-01 7.05317265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9792541539999 meters Centerline goodness [0,1] 0.9991497502391328 Centerline is valid? [True, True] Translation: X:762.43, Y:13.17, Z:7.05 [[ 9.98465979e-01 -5.30066733e-02 -1.59993977e-02 7.62425016e+02] [ 5.30088710e-02 9.98594000e-01 -2.86986633e-04 1.31748044e+01] [ 1.59921147e-02 -5.61563618e-04 9.99871960e-01 7.05334797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0092541539999 meters Centerline goodness [0,1] 0.9993407341244523 Centerline is valid? [True, True] Translation: X:762.46, Y:13.17, Z:7.05 [[ 9.98478482e-01 -5.27742256e-02 -1.59875767e-02 7.62457519e+02] [ 5.27764082e-02 9.98606313e-01 -2.85656245e-04 1.31747749e+01] [ 1.59803703e-02 -5.58545258e-04 9.99872150e-01 7.05341981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0392541539999 meters Centerline goodness [0,1] 0.9992353928169403 Centerline is valid? [True, True] Translation: X:762.49, Y:13.18, Z:7.05 [[ 9.98508238e-01 -5.21945182e-02 -1.60321960e-02 7.62489548e+02] [ 5.21966564e-02 9.98636785e-01 -2.85326852e-04 1.31762346e+01] [ 1.60252332e-02 -5.51925816e-04 9.99871435e-01 7.05409003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0692541539999 meters Centerline goodness [0,1] 0.9990870100641216 Centerline is valid? [True, True] Translation: X:762.52, Y:13.18, Z:7.05 [[ 9.98548745e-01 -5.13868886e-02 -1.61180670e-02 7.62522235e+02] [ 5.13889664e-02 9.98678673e-01 -2.85509088e-04 1.31773644e+01] [ 1.61114412e-02 -5.43196061e-04 9.99870055e-01 7.05465686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0992541539999 meters Centerline goodness [0,1] 0.9990453966907086 Centerline is valid? [True, True] Translation: X:762.55, Y:13.18, Z:7.06 [[ 9.98592617e-01 -5.05819911e-02 -1.59451439e-02 7.62553590e+02] [ 5.05839497e-02 9.98719773e-01 -2.80713817e-04 1.31756825e+01] [ 1.59389296e-02 -5.26249611e-04 9.99872829e-01 7.05501978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1292541539999 meters Centerline goodness [0,1] 0.9992568686568432 Centerline is valid? [True, True] Translation: X:762.59, Y:13.18, Z:7.06 [[ 9.98626803e-01 -5.00516377e-02 -1.54707102e-02 7.62585764e+02] [ 5.00534412e-02 9.98746504e-01 -2.70846219e-04 1.31766672e+01] [ 1.54648740e-02 -5.03887989e-04 9.99880285e-01 7.05616425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1592541539999 meters Centerline goodness [0,1] 0.9991920909960668 Centerline is valid? [True, True] Translation: X:762.62, Y:13.18, Z:7.06 [[ 9.98716782e-01 -4.83687293e-02 -1.50085366e-02 7.62616817e+02] [ 4.83702561e-02 9.98829440e-01 -2.61467219e-04 1.31772540e+01] [ 1.50036151e-02 -4.64835063e-04 9.99887331e-01 7.05703830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1892541539999 meters Centerline goodness [0,1] 0.9990431842827071 Centerline is valid? [True, True] Translation: X:762.65, Y:13.18, Z:7.06 [[ 9.98746247e-01 -4.78062130e-02 -1.48492424e-02 7.62648638e+02] [ 4.78076678e-02 9.98856527e-01 -2.57186188e-04 1.31828083e+01] [ 1.48445578e-02 -4.53043907e-04 9.99889711e-01 7.05846922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2192541539999 meters Centerline goodness [0,1] 0.9988744956466341 Centerline is valid? [True, True] Translation: X:762.68, Y:13.18, Z:7.06 [[ 9.98811718e-01 -4.66206734e-02 -1.42008765e-02 7.62680477e+02] [ 4.66218984e-02 9.98912578e-01 -2.44955891e-04 1.31783412e+01] [ 1.41968542e-02 -4.17407007e-04 9.99899132e-01 7.05757201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2492541539999 meters Centerline goodness [0,1] 0.9988515036794419 Centerline is valid? [True, True] Translation: X:762.71, Y:13.19, Z:7.06 [[ 9.98811246e-01 -4.65373731e-02 -1.45040529e-02 7.62712401e+02] [ 4.65386578e-02 9.98916459e-01 -2.49108731e-04 1.31859442e+01] [ 1.44999301e-02 -4.26186555e-04 9.99894780e-01 7.05917467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2792541539999 meters Centerline goodness [0,1] 0.9992150872950211 Centerline is valid? [True, True] Translation: X:762.74, Y:13.18, Z:7.06 [[ 9.98797624e-01 -4.65030109e-02 -1.55169753e-02 7.62743773e+02] [ 4.65044943e-02 9.98918045e-01 -2.65408858e-04 1.31838923e+01] [ 1.55125289e-02 -4.56519351e-04 9.99879569e-01 7.05849575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3092541539999 meters Centerline goodness [0,1] 0.9994682095679734 Centerline is valid? [True, True] Translation: X:762.78, Y:13.19, Z:7.06 [[ 9.98804099e-01 -4.62482717e-02 -1.58578055e-02 7.62776266e+02] [ 4.62498051e-02 9.98929869e-01 -2.70222869e-04 1.31856320e+01] [ 1.58533329e-02 -4.63520705e-04 9.99874221e-01 7.05878944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.339254154 meters Centerline goodness [0,1] 0.9995116150677369 Centerline is valid? [True, True] Translation: X:762.81, Y:13.18, Z:7.06 [[ 9.98793928e-01 -4.64364559e-02 -1.59481755e-02 7.62807090e+02] [ 4.64380476e-02 9.98921135e-01 -2.70703592e-04 1.31849495e+01] [ 1.59435401e-02 -4.70225029e-04 9.99872783e-01 7.05890900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3692541539999 meters Centerline goodness [0,1] 0.9992990207532341 Centerline is valid? [True, True] Translation: X:762.84, Y:13.18, Z:7.06 [[ 9.98790883e-01 -4.64811393e-02 -1.60086315e-02 7.62838008e+02] [ 4.64827700e-02 9.98919055e-01 -2.70409522e-04 1.31843416e+01] [ 1.60038960e-02 -4.74042971e-04 9.99871817e-01 7.05918976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3992541539999 meters Centerline goodness [0,1] 0.9991922455573505 Centerline is valid? [True, True] Translation: X:762.87, Y:13.18, Z:7.06 [[ 9.98796583e-01 -4.63305485e-02 -1.60893335e-02 7.62870031e+02] [ 4.63322023e-02 9.98926050e-01 -2.70147735e-04 1.31848031e+01] [ 1.60845705e-02 -4.75631622e-04 9.99870522e-01 7.05916942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4292541539999 meters Centerline goodness [0,1] 0.9992985588572886 Centerline is valid? [True, True] Translation: X:762.90, Y:13.19, Z:7.06 [[ 9.98810544e-01 -4.57779349e-02 -1.67892178e-02 7.62902536e+02] [ 4.57796789e-02 9.98951521e-01 -2.80645324e-04 1.31861108e+01] [ 1.67844620e-02 -4.88293488e-04 9.99859012e-01 7.05936483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.459254154 meters Centerline goodness [0,1] 0.9995320642348187 Centerline is valid? [True, True] Translation: X:762.93, Y:13.19, Z:7.06 [[ 9.98829342e-01 -4.51643650e-02 -1.73241603e-02 7.62934670e+02] [ 4.51661522e-02 9.98979447e-01 -2.88288802e-04 1.31876173e+01] [ 1.73195004e-02 -4.94514345e-04 9.99849884e-01 7.05984418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4892541539999 meters Centerline goodness [0,1] 0.9992332268370607 Centerline is valid? [True, True] Translation: X:762.97, Y:13.19, Z:7.06 [[ 9.98892166e-01 -4.37913089e-02 -1.72268052e-02 7.62967084e+02] [ 4.37928939e-02 9.99040590e-01 -2.85399974e-04 1.31890827e+01] [ 1.72227757e-02 -4.69327853e-04 9.99851567e-01 7.05940272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5192541539999 meters Centerline goodness [0,1] 0.9994467614265043 Centerline is valid? [True, True] Translation: X:763.00, Y:13.19, Z:7.06 [[ 9.98959544e-01 -4.24079107e-02 -1.67749631e-02 7.62997957e+02] [ 4.24092367e-02 9.99100285e-01 -2.76837609e-04 1.31899113e+01] [ 1.67716106e-02 -4.34863811e-04 9.99859252e-01 7.05964715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5492541539999 meters Centerline goodness [0,1] 0.9995313365429679 Centerline is valid? [True, True] Translation: X:763.03, Y:13.19, Z:7.06 [[ 9.99043293e-01 -4.04066736e-02 -1.67272289e-02 7.63029753e+02] [ 4.04077292e-02 9.99183236e-01 -2.75006530e-04 1.31912959e+01] [ 1.67246788e-02 -4.01165908e-04 9.99860052e-01 7.05889621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5792541539998 meters Centerline goodness [0,1] 0.9991487731693303 Centerline is valid? [True, True] Translation: X:763.06, Y:13.19, Z:7.06 [[ 9.99189941e-01 -3.69234568e-02 -1.60037291e-02 7.63060431e+02] [ 3.69239906e-02 9.99318043e-01 -2.62226022e-04 1.31936868e+01] [ 1.60024975e-02 -3.28907939e-04 9.99871898e-01 7.06073974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6092541539999 meters Centerline goodness [0,1] 0.9993617428674766 Centerline is valid? [True, True] Translation: X:763.09, Y:13.19, Z:7.06 [[ 9.99266085e-01 -3.49417965e-02 -1.56959147e-02 7.63091869e+02] [ 3.49420743e-02 9.99389306e-01 -2.56628367e-04 1.31947805e+01] [ 1.56952964e-02 -2.92007794e-04 9.99876779e-01 7.06167176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6392541539999 meters Centerline goodness [0,1] 0.9991700891622156 Centerline is valid? [True, True] Translation: X:763.12, Y:13.20, Z:7.06 [[ 9.99361843e-01 -3.24465917e-02 -1.49373539e-02 7.63123544e+02] [ 3.24465722e-02 9.99473442e-01 -2.43714310e-04 1.31969183e+01] [ 1.49373962e-02 -2.41107150e-04 9.99888402e-01 7.06336660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6692541539999 meters Centerline goodness [0,1] 0.9994037859591594 Centerline is valid? [True, True] Translation: X:763.16, Y:13.20, Z:7.06 [[ 9.99406603e-01 -3.11420369e-02 -1.47178830e-02 7.63155418e+02] [ 3.11418855e-02 9.99514945e-01 -2.39527553e-04 1.31973629e+01] [ 1.47182034e-02 -2.18957210e-04 9.99891657e-01 7.06401750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6992541539998 meters Centerline goodness [0,1] 0.9996166542434246 Centerline is valid? [True, True] Translation: X:763.19, Y:13.20, Z:7.06 [[ 9.99431472e-01 -3.03950035e-02 -1.45902753e-02 7.63187142e+02] [ 3.03947850e-02 9.99537944e-01 -2.36774462e-04 1.31985396e+01] [ 1.45907306e-02 -2.06828432e-04 9.99893528e-01 7.06496310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7292541539999 meters Centerline goodness [0,1] 0.9991057551046479 Centerline is valid? [True, True] Translation: X:763.22, Y:13.20, Z:7.06 [[ 9.99439976e-01 -3.00456502e-02 -1.47306709e-02 7.63217498e+02] [ 3.00453994e-02 9.99548507e-01 -2.38385544e-04 1.31980090e+01] [ 1.47311825e-02 -2.04336846e-04 9.99891469e-01 7.06459552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7592541539999 meters Centerline goodness [0,1] 0.9995736880248967 Centerline is valid? [True, True] Translation: X:763.25, Y:13.20, Z:7.07 [[ 9.99445971e-01 -2.98559067e-02 -1.47097197e-02 7.63249287e+02] [ 2.98556472e-02 9.99554193e-01 -2.37286849e-04 1.31964879e+01] [ 1.47102464e-02 -2.02012816e-04 9.99891778e-01 7.06501123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7892541539999 meters Centerline goodness [0,1] 0.9994894051570079 Centerline is valid? [True, True] Translation: X:763.28, Y:13.19, Z:7.06 [[ 9.99405848e-01 -3.09426097e-02 -1.51824177e-02 7.63279301e+02] [ 3.09424690e-02 9.99521137e-01 -2.44225257e-04 1.31934916e+01] [ 1.51827044e-02 -2.25701339e-04 9.99884711e-01 7.06479601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8192541539999 meters Centerline goodness [0,1] 0.9996385823925845 Centerline is valid? [True, True] Translation: X:763.31, Y:13.19, Z:7.07 [[ 9.99373428e-01 -3.17935034e-02 -1.55538927e-02 7.63310692e+02] [ 3.17934710e-02 9.99494429e-01 -2.49421568e-04 1.31934936e+01] [ 1.55539591e-02 -2.45246947e-04 9.99879000e-01 7.06527313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8492541539999 meters Centerline goodness [0,1] 0.9993834771886559 Centerline is valid? [True, True] Translation: X:763.34, Y:13.19, Z:7.07 [[ 9.99332256e-01 -3.29355683e-02 -1.58205449e-02 7.63340931e+02] [ 3.29356851e-02 9.99457441e-01 -2.53234908e-04 1.31922352e+01] [ 1.58203017e-02 -2.67994672e-04 9.99874815e-01 7.06512118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8792541539999 meters Centerline goodness [0,1] 0.999724482875551 Centerline is valid? [True, True] Translation: X:763.37, Y:13.19, Z:7.07 [[ 9.99221326e-01 -3.58435990e-02 -1.64917772e-02 7.63372642e+02] [ 3.58441290e-02 9.99357358e-01 -2.63538345e-04 1.31905106e+01] [ 1.64906251e-02 -3.27800257e-04 9.99863967e-01 7.06564928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9092541539999 meters Centerline goodness [0,1] 0.9995557436005923 Centerline is valid? [True, True] Translation: X:763.40, Y:13.19, Z:7.07 [[ 9.99159440e-01 -3.75089463e-02 -1.65376292e-02 7.63403025e+02] [ 3.75097153e-02 9.99296228e-01 -2.63790200e-04 1.31876574e+01] [ 1.65358850e-02 -3.56753294e-04 9.99863209e-01 7.06531833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9392541539999 meters Centerline goodness [0,1] 0.9992801185687064 Centerline is valid? [True, True] Translation: X:763.43, Y:13.18, Z:7.07 [[ 9.99061148e-01 -4.01297354e-02 -1.63225658e-02 7.63433769e+02] [ 4.01308509e-02 9.99194399e-01 -2.59324043e-04 1.31838754e+01] [ 1.63198229e-02 -3.95957879e-04 9.99866744e-01 7.06549236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9692541539999 meters Centerline goodness [0,1] 0.9993659516009722 Centerline is valid? [True, True] Translation: X:763.46, Y:13.18, Z:7.06 [[ 9.99023884e-01 -4.10293398e-02 -1.63668270e-02 7.63464501e+02] [ 4.10306051e-02 9.99157857e-01 -2.58614536e-04 1.31826774e+01] [ 1.63636546e-02 -4.13178720e-04 9.99866021e-01 7.06482480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9992541539999 meters Centerline goodness [0,1] 0.999322464535253 Centerline is valid? [True, True] Translation: X:763.50, Y:13.18, Z:7.06 [[ 9.99005469e-01 -4.14424982e-02 -1.64496934e-02 7.63496832e+02] [ 4.14438458e-02 9.99140801e-01 -2.59104158e-04 1.31821269e+01] [ 1.64462978e-02 -4.22892086e-04 9.99864661e-01 7.06484136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0292541539999 meters Centerline goodness [0,1] 0.9991747254375013 Centerline is valid? [True, True] Translation: X:763.53, Y:13.18, Z:7.07 [[ 9.98994316e-01 -4.19236157e-02 -1.58986636e-02 7.63528634e+02] [ 4.19249526e-02 9.99120732e-01 -2.49343912e-04 1.31817722e+01] [ 1.58951378e-02 -4.17457567e-04 9.99873577e-01 7.06722263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0592541539999 meters Centerline goodness [0,1] 0.9988587852402891 Centerline is valid? [True, True] Translation: X:763.56, Y:13.18, Z:7.07 [[ 9.99010397e-01 -4.12978413e-02 -1.65140810e-02 7.63560405e+02] [ 4.12992177e-02 9.99146790e-01 -2.57825608e-04 1.31816870e+01] [ 1.65106386e-02 -4.24448161e-04 9.99863600e-01 7.06508379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.089254154 meters Centerline goodness [0,1] 0.99900778990479 Centerline is valid? [True, True] Translation: X:763.59, Y:13.18, Z:7.07 [[ 9.99082332e-01 -4.01035373e-02 -1.50399434e-02 7.63591701e+02] [ 4.01045555e-02 9.99195461e-01 -2.34013710e-04 1.31842538e+01] [ 1.50372279e-02 -3.69371280e-04 9.99886866e-01 7.06835153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1192541539999 meters Centerline goodness [0,1] 0.9994097683340711 Centerline is valid? [True, True] Translation: X:763.62, Y:13.18, Z:7.07 [[ 9.99140983e-01 -3.86368616e-02 -1.49829297e-02 7.63622499e+02] [ 3.86377170e-02 9.99253258e-01 -2.32480454e-04 1.31812050e+01] [ 1.49807236e-02 -3.46625449e-04 9.99887723e-01 7.06824697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1492541539999 meters Centerline goodness [0,1] 0.9990082714382175 Centerline is valid? [True, True] Translation: X:763.65, Y:13.18, Z:7.07 [[ 9.99205355e-01 -3.69657069e-02 -1.49061971e-02 7.63653955e+02] [ 3.69663781e-02 9.99316483e-01 -2.30588048e-04 1.31842159e+01] [ 1.49045323e-02 -3.20623307e-04 9.99888870e-01 7.06878521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1792541539999 meters Centerline goodness [0,1] 0.999536812851338 Centerline is valid? [True, True] Translation: X:763.69, Y:13.19, Z:7.07 [[ 9.99339005e-01 -3.29847900e-02 -1.52825542e-02 7.63685065e+02] [ 3.29850387e-02 9.99455818e-01 -2.35861819e-04 1.31874798e+01] [ 1.52820176e-02 -2.68389726e-04 9.99883187e-01 7.07016511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.209254154 meters Centerline goodness [0,1] 0.9990948702296504 Centerline is valid? [True, True] Translation: X:763.72, Y:13.19, Z:7.07 [[ 9.99408578e-01 -3.07283102e-02 -1.54358347e-02 7.63716804e+02] [ 3.07283035e-02 9.99527746e-01 -2.37665890e-04 1.31895657e+01] [ 1.54358481e-02 -2.36791684e-04 9.99880832e-01 7.07032836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2392541539999 meters Centerline goodness [0,1] 0.9995152588096442 Centerline is valid? [True, True] Translation: X:763.75, Y:13.19, Z:7.07 [[ 9.99521618e-01 -2.65407630e-02 -1.58783546e-02 7.63746960e+02] [ 2.65402350e-02 9.99647716e-01 -2.44006862e-04 1.31903592e+01] [ 1.58792370e-02 -1.77525128e-04 9.99873901e-01 7.07048853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2692541539999 meters Centerline goodness [0,1] 0.9993459087648225 Centerline is valid? [True, True] Translation: X:763.78, Y:13.19, Z:7.07 [[ 9.99572557e-01 -2.39591891e-02 -1.67529277e-02 7.63777353e+02] [ 2.39582419e-02 9.99712927e-01 -2.57266772e-04 1.31909341e+01] [ 1.67542823e-02 -1.44213888e-04 9.99859627e-01 7.06855326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2992541539999 meters Centerline goodness [0,1] 0.9991341808506146 Centerline is valid? [True, True] Translation: X:763.81, Y:13.19, Z:7.07 [[ 9.99650633e-01 -2.09384554e-02 -1.61305122e-02 7.63807307e+02] [ 2.09371800e-02 9.99780762e-01 -2.47955629e-04 1.31911525e+01] [ 1.61321676e-02 -8.98584371e-05 9.99869864e-01 7.07000742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3292541539998 meters Centerline goodness [0,1] 0.9989646501996746 Centerline is valid? [True, True] Translation: X:763.84, Y:13.19, Z:7.07 [[ 9.99666231e-01 -1.98748006e-02 -1.65050994e-02 7.63835296e+02] [ 1.98732985e-02 9.99802474e-01 -2.55035536e-04 1.31911504e+01] [ 1.65069080e-02 -7.30603545e-05 9.99863749e-01 7.06972856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3592541539999 meters Centerline goodness [0,1] 0.9991556550006333 Centerline is valid? [True, True] Translation: X:763.86, Y:13.19, Z:7.07 [[ 9.99657615e-01 -1.83207293e-02 -1.86816300e-02 7.63863903e+02] [ 1.83184631e-02 9.99832160e-01 -2.92438180e-04 1.31905620e+01] [ 1.86838522e-02 -4.98806968e-05 9.99825440e-01 7.06681724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3892541539999 meters Centerline goodness [0,1] 0.9990499313839333 Centerline is valid? [True, True] Translation: X:763.89, Y:13.19, Z:7.07 [[ 9.99651027e-01 -1.93069300e-02 -1.80296226e-02 7.63892065e+02] [ 1.93048943e-02 9.99813602e-01 -2.86962760e-04 1.31900003e+01] [ 1.80318023e-02 -6.11973394e-05 9.99837412e-01 7.06863189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4192541539999 meters Centerline goodness [0,1] 0.9993459501656223 Centerline is valid? [True, True] Translation: X:763.92, Y:13.19, Z:7.07 [[ 9.99623383e-01 -2.04987376e-02 -1.82453819e-02 7.63920374e+02] [ 2.04967558e-02 9.99789876e-01 -2.95636555e-04 1.31886734e+01] [ 1.82476082e-02 -7.84459228e-05 9.99833495e-01 7.06891092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4492541539998 meters Centerline goodness [0,1] 0.9993459501656223 Centerline is valid? [True, True] Translation: X:763.95, Y:13.19, Z:7.07 [[ 9.99617490e-01 -2.07842075e-02 -1.82452963e-02 7.63947772e+02] [ 2.07821781e-02 9.99783982e-01 -3.00845181e-04 1.31891986e+01] [ 1.82476078e-02 -7.84468938e-05 9.99833495e-01 7.06916837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4792541539999 meters Centerline goodness [0,1] 0.9991788263533573 Centerline is valid? [True, True] Translation: X:763.98, Y:13.19, Z:7.07 [[ 9.99564479e-01 -2.23528562e-02 -1.92666096e-02 7.63976743e+02] [ 2.23507826e-02 9.99750138e-01 -3.22980453e-04 1.31874226e+01] [ 1.92690151e-02 -1.07784014e-04 9.99814329e-01 7.06757525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5092541539999 meters Centerline goodness [0,1] 0.999368593858523 Centerline is valid? [True, True] Translation: X:764.00, Y:13.18, Z:7.07 [[ 9.99439081e-01 -2.78067379e-02 -1.86630351e-02 7.64004867e+02] [ 2.78056852e-02 9.99613297e-01 -3.15946051e-04 1.31818797e+01] [ 1.86646035e-02 -2.03169649e-04 9.99825780e-01 7.06911144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5392541539999 meters Centerline goodness [0,1] 0.999201126831627 Centerline is valid? [True, True] Translation: X:764.03, Y:13.18, Z:7.07 [[ 9.99348697e-01 -3.09832408e-02 -1.84992329e-02 7.64033233e+02] [ 3.09826932e-02 9.99519871e-01 -3.16274612e-04 1.31797313e+01] [ 1.85001501e-02 -2.57087437e-04 9.99828825e-01 7.06983520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5692541539999 meters Centerline goodness [0,1] 0.9989715820845402 Centerline is valid? [True, True] Translation: X:764.06, Y:13.18, Z:7.07 [[ 9.99247116e-01 -3.43171377e-02 -1.80979610e-02 7.64062393e+02] [ 3.43171074e-02 9.99410946e-01 -3.12326627e-04 1.31772253e+01] [ 1.80980185e-02 -3.08978192e-04 9.99836170e-01 7.07065295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5992541539999 meters Centerline goodness [0,1] 0.9989521554163087 Centerline is valid? [True, True] Translation: X:764.09, Y:13.17, Z:7.07 [[ 9.99013448e-01 -4.12204782e-02 -1.65228034e-02 7.64092405e+02] [ 4.12213842e-02 9.99149997e-01 -2.85881590e-04 1.31715191e+01] [ 1.65205431e-02 -3.95493272e-04 9.99863448e-01 7.07216719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6292541539999 meters Centerline goodness [0,1] 0.9991202898854282 Centerline is valid? [True, True] Translation: X:764.12, Y:13.17, Z:7.07 [[ 9.98877733e-01 -4.48106813e-02 -1.53387368e-02 7.64123091e+02] [ 4.48118841e-02 9.98995408e-01 -2.65444288e-04 1.31670583e+01] [ 1.53352223e-02 -4.22211306e-04 9.99882319e-01 7.07312391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6592541539999 meters Centerline goodness [0,1] 0.9989950380001256 Centerline is valid? [True, True] Translation: X:764.15, Y:13.16, Z:7.07 [[ 9.98550448e-01 -5.16676336e-02 -1.50817077e-02 7.64154406e+02] [ 5.16695815e-02 9.98664201e-01 -2.60731482e-04 1.31602620e+01] [ 1.50750329e-02 -5.18911986e-04 9.99886231e-01 7.07216547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6892541539999 meters Centerline goodness [0,1] 0.9991193491570913 Centerline is valid? [True, True] Translation: X:764.19, Y:13.16, Z:7.08 [[ 9.98350195e-01 -5.58773951e-02 -1.32137997e-02 7.64185113e+02] [ 5.58792626e-02 9.98437507e-01 -2.28121339e-04 1.31580885e+01] [ 1.32059001e-02 -5.10632402e-04 9.99912668e-01 7.07509048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7192541539999 meters Centerline goodness [0,1] 0.9989088925259137 Centerline is valid? [True, True] Translation: X:764.22, Y:13.16, Z:7.08 [[ 9.98136580e-01 -5.97077434e-02 -1.25838691e-02 7.64216394e+02] [ 5.97097474e-02 9.98215758e-01 -2.16729321e-04 1.31550174e+01] [ 1.25743569e-02 -5.35054184e-04 9.99920796e-01 7.07553620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7492541539999 meters Centerline goodness [0,1] 0.9988453140745717 Centerline is valid? [True, True] Translation: X:764.25, Y:13.15, Z:7.08 [[ 9.97658161e-01 -6.71842813e-02 -1.28244517e-02 7.64246933e+02] [ 6.71869849e-02 9.97740377e-01 -2.20390752e-04 1.31462726e+01] [ 1.28102801e-02 -6.41761609e-04 9.99917739e-01 7.07536199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7792541539999 meters Centerline goodness [0,1] 0.9985710082797461 Centerline is valid? [True, True] Translation: X:764.28, Y:13.15, Z:7.07 [[ 9.97168436e-01 -7.39571806e-02 -1.36178657e-02 7.64278280e+02] [ 7.39608656e-02 9.97261117e-01 -2.33506362e-04 1.31458281e+01] [ 1.35978374e-02 -7.74343961e-04 9.99907245e-01 7.07479999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8092541539999 meters Centerline goodness [0,1] 0.9985523361936932 Centerline is valid? [True, True] Translation: X:764.31, Y:13.15, Z:7.07 [[ 9.96938116e-01 -7.68477088e-02 -1.44506848e-02 7.64309339e+02] [ 7.68521663e-02 9.97042468e-01 -2.47421418e-04 1.31451958e+01] [ 1.44269603e-02 -8.63902593e-04 9.99895553e-01 7.07470549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.839254154 meters Centerline goodness [0,1] 0.9985295662220355 Centerline is valid? [True, True] Translation: X:764.34, Y:13.14, Z:7.07 [[ 9.96728324e-01 -7.93541918e-02 -1.53479975e-02 7.64339552e+02] [ 7.93595266e-02 9.96846025e-01 -2.62096511e-04 1.31420977e+01] [ 1.53203887e-02 -9.56770798e-04 9.99882178e-01 7.07386157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8692541539999 meters Centerline goodness [0,1] 0.9984250645723526 Centerline is valid? [True, True] Translation: X:764.37, Y:13.13, Z:7.07 [[ 9.96370889e-01 -8.35500491e-02 -1.62616618e-02 7.64369165e+02] [ 8.35566065e-02 9.96502994e-01 -2.76963196e-04 1.31338278e+01] [ 1.62279349e-02 -1.08281121e-03 9.99867732e-01 7.07332481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8992541539999 meters Centerline goodness [0,1] 0.9984887601536427 Centerline is valid? [True, True] Translation: X:764.40, Y:13.14, Z:7.07 [[ 9.96235896e-01 -8.50156478e-02 -1.69227446e-02 7.64400830e+02] [ 8.50229642e-02 9.96378950e-01 -2.87950604e-04 1.31411328e+01] [ 1.68859468e-02 -1.15195518e-03 9.99856759e-01 7.07421895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9292541539999 meters Centerline goodness [0,1] 0.9986774152915985 Centerline is valid? [True, True] Translation: X:764.43, Y:13.14, Z:7.07 [[ 9.96121790e-01 -8.60784060e-02 -1.82177542e-02 7.64433214e+02] [ 8.60870844e-02 9.96287568e-01 -3.08772034e-04 1.31433286e+01] [ 1.81767006e-02 -1.26073879e-03 9.99833995e-01 7.07419032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.959254154 meters Centerline goodness [0,1] 0.9984064079176365 Centerline is valid? [True, True] Translation: X:764.46, Y:13.14, Z:7.07 [[ 9.96140005e-01 -8.57304771e-02 -1.88514281e-02 7.64464434e+02] [ 8.57397313e-02 9.96317518e-01 -3.18269209e-04 1.31429041e+01] [ 1.88092935e-02 -1.29927569e-03 9.99822245e-01 7.07372487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9892541539999 meters Centerline goodness [0,1] 0.9985142402745516 Centerline is valid? [True, True] Translation: X:764.50, Y:13.14, Z:7.07 [[ 9.96210539e-01 -8.47333104e-02 -1.96170478e-02 7.64495342e+02] [ 8.47431609e-02 9.96402774e-01 -3.30098302e-04 1.31417902e+01] [ 1.95744511e-02 -1.33356323e-03 9.99807513e-01 7.07338671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0192541539999 meters Centerline goodness [0,1] 0.9986145223250834 Centerline is valid? [True, True] Translation: X:764.53, Y:13.15, Z:7.07 [[ 9.96363662e-01 -8.27714035e-02 -2.02076202e-02 7.64526375e+02] [ 8.27814730e-02 9.96567666e-01 -3.39117463e-04 1.31465590e+01] [ 2.01663301e-02 -1.33493225e-03 9.99795748e-01 7.07400153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0492541539999 meters Centerline goodness [0,1] 0.9986568730325288 Centerline is valid? [True, True] Translation: X:764.56, Y:13.15, Z:7.07 [[ 9.96568520e-01 -8.00761080e-02 -2.09523955e-02 7.64556947e+02] [ 8.00863479e-02 9.96787868e-01 -3.51264268e-04 1.31500842e+01] [ 2.09132215e-02 -1.32794192e-03 9.99780413e-01 7.07434837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0792541539998 meters Centerline goodness [0,1] 0.9985740647542358 Centerline is valid? [True, True] Translation: X:764.59, Y:13.16, Z:7.08 [[ 9.97089197e-01 -7.30314167e-02 -2.18985257e-02 7.64586266e+02] [ 7.30409037e-02 9.97328878e-01 -3.67369963e-04 1.31583194e+01] [ 2.18668617e-02 -1.23318749e-03 9.99760131e-01 7.07539029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1092541539999 meters Centerline goodness [0,1] 0.9984889504501668 Centerline is valid? [True, True] Translation: X:764.62, Y:13.16, Z:7.08 [[ 9.97384589e-01 -6.87801768e-02 -2.22096798e-02 7.64617492e+02] [ 6.87888853e-02 9.97631170e-01 -3.72548949e-04 1.31639235e+01] [ 2.21826928e-02 -1.15620454e-03 9.99753265e-01 7.07594275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1392541539999 meters Centerline goodness [0,1] 0.9989079989079989 Centerline is valid? [True, True] Translation: X:764.65, Y:13.18, Z:7.08 [[ 9.98016921e-01 -5.88919402e-02 -2.22253151e-02 7.64647660e+02] [ 5.88982204e-02 9.98263923e-01 -3.72487462e-04 1.31799572e+01] [ 2.22086668e-02 -9.37282718e-04 9.99752918e-01 7.07937648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1692541539999 meters Centerline goodness [0,1] 0.9989722938820026 Centerline is valid? [True, True] Translation: X:764.68, Y:13.19, Z:7.08 [[ 9.98318107e-01 -5.37298341e-02 -2.17729662e-02 7.64677157e+02] [ 5.37346377e-02 9.98555184e-01 -3.64792841e-04 1.31850517e+01] [ 2.17611086e-02 -8.05783153e-04 9.99762874e-01 7.08067844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1992541539998 meters Centerline goodness [0,1] 0.9989499548480585 Centerline is valid? [True, True] Translation: X:764.71, Y:13.19, Z:7.08 [[ 9.98595548e-01 -4.86312068e-02 -2.10223090e-02 7.64707696e+02] [ 4.86345605e-02 9.98816578e-01 -3.52004868e-04 1.31905177e+01] [ 2.10145491e-02 -6.70900264e-04 9.99778945e-01 7.08213887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2292541539999 meters Centerline goodness [0,1] 0.9990953653251425 Centerline is valid? [True, True] Translation: X:764.74, Y:13.20, Z:7.08 [[ 9.99049723e-01 -3.86952785e-02 -2.00580554e-02 7.64738345e+02] [ 3.86963337e-02 9.99250960e-01 -3.35662102e-04 1.32012947e+01] [ 2.00560196e-02 -4.40830074e-04 9.99798761e-01 7.08498463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2592541539999 meters Centerline goodness [0,1] 0.999008898823331 Centerline is valid? [True, True] Translation: X:764.77, Y:13.21, Z:7.09 [[ 9.99348442e-01 -2.97304196e-02 -2.04644257e-02 7.64767945e+02] [ 2.97296392e-02 9.99557918e-01 -3.42431151e-04 1.32095586e+01] [ 2.04655593e-02 -2.66191955e-04 9.99790523e-01 7.08574830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2892541539999 meters Centerline goodness [0,1] 0.998754906512472 Centerline is valid? [True, True] Translation: X:764.80, Y:13.21, Z:7.08 [[ 9.99441400e-01 -2.53739439e-02 -2.17497414e-02 7.64796388e+02] [ 2.53720167e-02 9.99678012e-01 -3.64596524e-04 1.32130958e+01] [ 2.17519895e-02 -1.87441942e-04 9.99763380e-01 7.08398259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3192541539999 meters Centerline goodness [0,1] 0.9988373567834947 Centerline is valid? [True, True] Translation: X:764.83, Y:13.22, Z:7.09 [[ 9.99499796e-01 -2.28606327e-02 -2.18528909e-02 7.64825574e+02] [ 2.28580121e-02 9.99738653e-01 -3.69730347e-04 1.32171961e+01] [ 2.18556320e-02 -1.29968239e-04 9.99761129e-01 7.08636628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3492541539999 meters Centerline goodness [0,1] 0.9995547262626691 Centerline is valid? [True, True] Translation: X:764.85, Y:13.22, Z:7.09 [[ 9.99563725e-01 -1.82055271e-02 -2.32576601e-02 7.64853429e+02] [ 1.82011500e-02 9.99834265e-01 -3.99891633e-04 1.32219815e+01] [ 2.32610857e-02 -2.35989883e-05 9.99729424e-01 7.08765460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3792541539999 meters Centerline goodness [0,1] 0.9996817448867011 Centerline is valid? [True, True] Translation: X:764.88, Y:13.22, Z:7.09 [[ 9.99565116e-01 -1.68608884e-02 -2.41927360e-02 7.64881326e+02] [ 1.68556567e-02 9.99857845e-01 -4.20171455e-04 1.32234773e+01] [ 2.41963814e-02 1.22042773e-05 9.99707225e-01 7.08721292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4092541539999 meters Centerline goodness [0,1] 0.9993839486765518 Centerline is valid? [True, True] Translation: X:764.91, Y:13.22, Z:7.09 [[ 9.99561725e-01 -1.60528257e-02 -2.48729906e-02 7.64909897e+02] [ 1.60469256e-02 9.99871144e-01 -4.36803383e-04 1.32246478e+01] [ 2.48767975e-02 3.74769134e-05 9.99690524e-01 7.08752209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4392541539999 meters Centerline goodness [0,1] 0.9993431229207721 Centerline is valid? [True, True] Translation: X:764.94, Y:13.23, Z:7.09 [[ 9.99577613e-01 -1.52470560e-02 -2.47411178e-02 7.64936731e+02] [ 1.52408649e-02 9.99883755e-01 -4.38792779e-04 1.32256790e+01] [ 2.47449321e-02 6.15314045e-05 9.99693795e-01 7.08671293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4692541539999 meters Centerline goodness [0,1] 0.999468695541293 Centerline is valid? [True, True] Translation: X:764.96, Y:13.23, Z:7.09 [[ 9.99581229e-01 -1.53020337e-02 -2.45604320e-02 7.64964958e+02] [ 1.52958136e-02 9.99882915e-01 -4.41110842e-04 1.32257430e+01] [ 2.45643063e-02 6.52543269e-05 9.99698250e-01 7.08778141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4992541539999 meters Centerline goodness [0,1] 0.9991730981256891 Centerline is valid? [True, True] Translation: X:764.99, Y:13.22, Z:7.09 [[ 9.99600345e-01 -1.52380094e-02 -2.38107652e-02 7.64992696e+02] [ 1.52320527e-02 9.99883892e-01 -4.31527192e-04 1.32245599e+01] [ 2.38145762e-02 6.86678996e-05 9.99716390e-01 7.08686293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5292541539999 meters Centerline goodness [0,1] 0.9992811231393776 Centerline is valid? [True, True] Translation: X:765.02, Y:13.22, Z:7.09 [[ 9.99612673e-01 -1.60599797e-02 -2.27284123e-02 7.65021015e+02] [ 1.60546693e-02 9.99871029e-01 -4.16108387e-04 1.32241960e+01] [ 2.27321637e-02 5.10500737e-05 9.99741590e-01 7.08962532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5592541539999 meters Centerline goodness [0,1] 0.9994706978319783 Centerline is valid? [True, True] Translation: X:765.05, Y:13.22, Z:7.09 [[ 9.99621343e-01 -1.65498880e-02 -2.19834263e-02 7.65049115e+02] [ 1.65449629e-02 9.99863040e-01 -4.05914284e-04 1.32235176e+01] [ 2.19871333e-02 4.20456103e-05 9.99758253e-01 7.08920873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.589254154 meters Centerline goodness [0,1] 0.9992181226490849 Centerline is valid? [True, True] Translation: X:765.08, Y:13.22, Z:7.09 [[ 9.99617286e-01 -1.85056044e-02 -2.05627048e-02 7.65076919e+02] [ 1.85016728e-02 9.99828757e-01 -3.81445214e-04 1.32201977e+01] [ 2.05662425e-02 8.54793183e-07 9.99788492e-01 7.08944986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6192541539999 meters Centerline goodness [0,1] 0.9995138345769304 Centerline is valid? [True, True] Translation: X:765.11, Y:13.22, Z:7.09 [[ 9.99596225e-01 -2.01884506e-02 -1.99953119e-02 7.65105053e+02] [ 2.01849916e-02 9.99796192e-01 -3.74818750e-04 1.32183371e+01] [ 1.99988038e-02 -2.89377961e-05 9.99800004e-01 7.09093280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6492541539999 meters Centerline goodness [0,1] 0.9989864650858338 Centerline is valid? [True, True] Translation: X:765.13, Y:13.22, Z:7.09 [[ 9.99559214e-01 -2.23224712e-02 -1.95725619e-02 7.65132271e+02] [ 2.23194883e-02 9.99750820e-01 -3.70864656e-04 1.32160032e+01] [ 1.95759634e-02 -6.61483806e-05 9.99808370e-01 7.08987549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6792541539999 meters Centerline goodness [0,1] 0.999135112329923 Centerline is valid? [True, True] Translation: X:765.16, Y:13.21, Z:7.09 [[ 9.99428879e-01 -2.75691465e-02 -1.95411935e-02 7.65160705e+02] [ 2.75671352e-02 9.99619885e-01 -3.72342879e-04 1.32090986e+01] [ 1.95440308e-02 -1.66564498e-04 9.99808983e-01 7.08936456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.709254154 meters Centerline goodness [0,1] 0.998990515047635 Centerline is valid? [True, True] Translation: X:765.19, Y:13.20, Z:7.09 [[ 9.99330662e-01 -3.10684438e-02 -1.93126848e-02 7.65188270e+02] [ 3.10671003e-02 9.99517233e-01 -3.69661484e-04 1.32042268e+01] [ 1.93148461e-02 -2.30575060e-04 9.99813424e-01 7.08853922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7392541539999 meters Centerline goodness [0,1] 0.9992638552949837 Centerline is valid? [True, True] Translation: X:765.22, Y:13.19, Z:7.09 [[ 9.99072429e-01 -3.83036174e-02 -1.96752505e-02 7.65217431e+02] [ 3.83035986e-02 9.99266076e-01 -3.77946888e-04 1.31936606e+01] [ 1.96752871e-02 -3.76036584e-04 9.99806352e-01 7.08822309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7692541539999 meters Centerline goodness [0,1] 0.9991800866164908 Centerline is valid? [True, True] Translation: X:765.25, Y:13.19, Z:7.09 [[ 9.98923615e-01 -4.18795748e-02 -1.99427553e-02 7.65248097e+02] [ 4.18802582e-02 9.99122563e-01 -3.83561626e-04 1.31889900e+01] [ 1.99413202e-02 -4.52058977e-04 9.99801050e-01 7.08794781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7992541539999 meters Centerline goodness [0,1] 0.999243490869355 Centerline is valid? [True, True] Translation: X:765.28, Y:13.19, Z:7.09 [[ 9.98799764e-01 -4.47636029e-02 -1.98809523e-02 7.65278941e+02] [ 4.47648529e-02 9.98997478e-01 -3.82372960e-04 1.31890561e+01] [ 1.98781376e-02 -5.08053883e-04 9.99802281e-01 7.08948305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8292541539998 meters Centerline goodness [0,1] 0.9993060666596573 Centerline is valid? [True, True] Translation: X:765.31, Y:13.18, Z:7.09 [[ 9.98572512e-01 -4.96173465e-02 -1.97751628e-02 7.65309441e+02] [ 4.96195377e-02 9.98768120e-01 -3.80149451e-04 1.31754555e+01] [ 1.97696642e-02 -6.01627642e-04 9.99804380e-01 7.08680123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8592541539999 meters Centerline goodness [0,1] 0.9993489856776849 Centerline is valid? [True, True] Translation: X:765.34, Y:13.17, Z:7.09 [[ 9.98431090e-01 -5.25337606e-02 -1.93794234e-02 7.65340621e+02] [ 5.25364236e-02 9.98618939e-01 -3.72023566e-04 1.31741218e+01] [ 1.93722030e-02 -6.46685701e-04 9.99812132e-01 7.08776053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8892541539999 meters Centerline goodness [0,1] 0.9988861568207132 Centerline is valid? [True, True] Translation: X:765.37, Y:13.17, Z:7.09 [[ 9.98394653e-01 -5.32799853e-02 -1.92187326e-02 7.65372023e+02] [ 5.32827553e-02 9.98579397e-01 -3.68267366e-04 1.31721668e+01] [ 1.92110517e-02 -6.56350854e-04 9.99815235e-01 7.08769628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9192541539999 meters Centerline goodness [0,1] 0.9989079989079989 Centerline is valid? [True, True] Translation: X:765.40, Y:13.17, Z:7.09 [[ 9.98354926e-01 -5.39558034e-02 -1.93961967e-02 7.65403414e+02] [ 5.39587654e-02 9.98543096e-01 -3.70986304e-04 1.31710111e+01] [ 1.93879552e-02 -6.76218823e-04 9.99811807e-01 7.08770475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9492541539998 meters Centerline goodness [0,1] 0.9987631545847134 Centerline is valid? [True, True] Translation: X:765.43, Y:13.17, Z:7.09 [[ 9.98335140e-01 -5.44079363e-02 -1.91500649e-02 7.65434753e+02] [ 5.44109193e-02 9.98518562e-01 -3.65613798e-04 1.31697406e+01] [ 1.91415875e-02 -6.76967531e-04 9.99816554e-01 7.08778443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9792541539999 meters Centerline goodness [0,1] 0.9993499821769306 Centerline is valid? [True, True] Translation: X:765.47, Y:13.17, Z:7.09 [[ 9.98265212e-01 -5.57141143e-02 -1.90395351e-02 7.65465046e+02] [ 5.57173096e-02 9.98446518e-01 -3.63010782e-04 1.31655827e+01] [ 1.90301823e-02 -6.98450635e-04 9.99818666e-01 7.08717201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0092541539999 meters Centerline goodness [0,1] 0.9991827154802071 Centerline is valid? [True, True] Translation: X:765.50, Y:13.16, Z:7.09 [[ 9.98197944e-01 -5.69177737e-02 -1.90060921e-02 7.65496857e+02] [ 5.69211849e-02 9.98378609e-01 -3.61881794e-04 1.31637466e+01] [ 1.89958733e-02 -7.20619622e-04 9.99819302e-01 7.08674687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0392541539999 meters Centerline goodness [0,1] 0.9994353236432082 Centerline is valid? [True, True] Translation: X:765.53, Y:13.17, Z:7.09 [[ 9.98101065e-01 -5.85947016e-02 -1.89980281e-02 7.65527925e+02] [ 5.85984260e-02 9.98281571e-01 -3.61055972e-04 1.31671246e+01] [ 1.89865373e-02 -7.52884192e-04 9.99819456e-01 7.08764371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0692541539999 meters Centerline goodness [0,1] 0.9992671845229372 Centerline is valid? [True, True] Translation: X:765.56, Y:13.16, Z:7.09 [[ 9.97835001e-01 -6.30085698e-02 -1.88475962e-02 7.65559372e+02] [ 6.30130341e-02 9.98012640e-01 -3.57511963e-04 1.31629511e+01] [ 1.88326656e-02 -8.30906273e-04 9.99822304e-01 7.08705861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0992541539999 meters Centerline goodness [0,1] 0.9991208239135896 Centerline is valid? [True, True] Translation: X:765.59, Y:13.16, Z:7.09 [[ 9.97662906e-01 -6.55959968e-02 -1.91282628e-02 7.65590258e+02] [ 6.56010795e-02 9.97845863e-01 -3.62313166e-04 1.31607607e+01] [ 1.91108242e-02 -8.93368284e-04 9.99816972e-01 7.08672086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1292541539999 meters Centerline goodness [0,1] 0.998788410519939 Centerline is valid? [True, True] Translation: X:765.62, Y:13.16, Z:7.09 [[ 9.97294231e-01 -7.09053909e-02 -1.94072690e-02 7.65620796e+02] [ 7.09116294e-02 9.97482534e-01 -3.67388699e-04 1.31563741e+01] [ 1.93844617e-02 -1.00980643e-03 9.99811594e-01 7.08601966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1592541539999 meters Centerline goodness [0,1] 0.999059364548495 Centerline is valid? [True, True] Translation: X:765.65, Y:13.15, Z:7.09 [[ 9.97107394e-01 -7.33981692e-02 -1.97370971e-02 7.65652408e+02] [ 7.34051167e-02 9.97302136e-01 -3.73221056e-04 1.31546758e+01] [ 1.97112428e-02 -1.07666244e-03 9.99805135e-01 7.08602635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1892541539999 meters Centerline goodness [0,1] 0.9989141783253289 Centerline is valid? [True, True] Translation: X:765.68, Y:13.15, Z:7.09 [[ 9.96949023e-01 -7.53795883e-02 -2.02623729e-02 7.65683173e+02] [ 7.53873296e-02 9.97154253e-01 -3.82608439e-04 1.31528895e+01] [ 2.02335522e-02 -1.14608508e-03 9.99794624e-01 7.08566477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2192541539999 meters Centerline goodness [0,1] 0.9990171270833769 Centerline is valid? [True, True] Translation: X:765.71, Y:13.15, Z:7.09 [[ 9.96740648e-01 -7.80474713e-02 -2.04125650e-02 7.65714220e+02] [ 7.80558927e-02 9.96948910e-01 -3.85075826e-04 1.31509043e+01] [ 2.03803386e-02 -1.20950026e-03 9.99791568e-01 7.08582288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2492541539999 meters Centerline goodness [0,1] 0.9989332552448283 Centerline is valid? [True, True] Translation: X:765.75, Y:13.15, Z:7.09 [[ 9.96714880e-01 -7.82838227e-02 -2.07627504e-02 7.65745710e+02] [ 7.82926029e-02 9.96930346e-01 -3.90899424e-04 1.31494169e+01] [ 2.07296170e-02 -1.23595450e-03 9.99784354e-01 7.08507165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2792541539999 meters Centerline goodness [0,1] 0.9989759237585688 Centerline is valid? [True, True] Translation: X:765.78, Y:13.15, Z:7.09 [[ 9.96684388e-01 -7.87714590e-02 -2.03785979e-02 7.65777669e+02] [ 7.87800448e-02 9.96891949e-01 -3.82390398e-04 1.31505584e+01] [ 2.03453816e-02 -1.22430431e-03 9.99792262e-01 7.08649910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3092541539999 meters Centerline goodness [0,1] 0.9994559872784717 Centerline is valid? [True, True] Translation: X:765.81, Y:13.15, Z:7.09 [[ 9.96770687e-01 -7.77467210e-02 -2.00909253e-02 7.65809415e+02] [ 7.77548832e-02 9.96972435e-01 -3.75767614e-04 1.31517252e+01] [ 2.00593134e-02 -1.18761341e-03 9.99798086e-01 7.08677088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.339254154 meters Centerline goodness [0,1] 0.9991412173767332 Centerline is valid? [True, True] Translation: X:765.84, Y:13.16, Z:7.09 [[ 9.96859286e-01 -7.66603557e-02 -1.98684264e-02 7.65841000e+02] [ 7.66681401e-02 9.97056598e-01 -3.70739742e-04 1.31556841e+01] [ 1.98383666e-02 -1.15369994e-03 9.99802535e-01 7.08752968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3692541539999 meters Centerline goodness [0,1] 0.9991412173767332 Centerline is valid? [True, True] Translation: X:765.87, Y:13.16, Z:7.09 [[ 9.96864790e-01 -7.65887447e-02 -1.98684467e-02 7.65872736e+02] [ 7.65965366e-02 9.97062101e-01 -3.69650242e-04 1.31562122e+01] [ 1.98383862e-02 -1.15336289e-03 9.99802535e-01 7.08782694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3992541539999 meters Centerline goodness [0,1] 0.9989311985246349 Centerline is valid? [True, True] Translation: X:765.90, Y:13.16, Z:7.09 [[ 9.97137131e-01 -7.28853510e-02 -2.01312666e-02 7.65903856e+02] [ 7.28926165e-02 9.97339725e-01 -3.73619552e-04 1.31612945e+01] [ 2.01049433e-02 -1.09487077e-03 9.99797276e-01 7.08670501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4292541539999 meters Centerline goodness [0,1] 0.9993299551907534 Centerline is valid? [True, True] Translation: X:765.93, Y:13.16, Z:7.09 [[ 9.97250788e-01 -7.16694809e-02 -1.88242109e-02 7.65934266e+02] [ 7.16756347e-02 9.97427933e-01 -3.48434047e-04 1.31622408e+01] [ 1.88007659e-02 -1.00176114e-03 9.99822748e-01 7.08875061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.459254154 meters Centerline goodness [0,1] 0.9990759990759991 Centerline is valid? [True, True] Translation: X:765.97, Y:13.17, Z:7.09 [[ 9.97415021e-01 -6.97188316e-02 -1.73942641e-02 7.65965995e+02] [ 6.97238089e-02 9.97566282e-01 -3.20868653e-04 1.31654291e+01] [ 1.73743019e-02 -8.92755130e-04 9.99848657e-01 7.08954603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4892541539999 meters Centerline goodness [0,1] 0.9990579861837974 Centerline is valid? [True, True] Translation: X:766.00, Y:13.17, Z:7.09 [[ 9.97717952e-01 -6.55121329e-02 -1.63416497e-02 7.65997157e+02] [ 6.55159724e-02 9.97851475e-01 -3.00862434e-04 1.31720055e+01] [ 1.63262494e-02 -7.70463223e-04 9.99866421e-01 7.09023781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5192541539999 meters Centerline goodness [0,1] 0.9991626894415139 Centerline is valid? [True, True] Translation: X:766.03, Y:13.18, Z:7.09 [[ 9.97884792e-01 -6.29743102e-02 -1.61300377e-02 7.66028452e+02] [ 6.29777265e-02 9.98014889e-01 -2.96568265e-04 1.31760079e+01] [ 1.61166940e-02 -7.19892142e-04 9.99869858e-01 7.09073373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5492541539999 meters Centerline goodness [0,1] 0.9990347692888768 Centerline is valid? [True, True] Translation: X:766.06, Y:13.19, Z:7.09 [[ 9.98241011e-01 -5.72058989e-02 -1.55682113e-02 7.66059242e+02] [ 5.72083875e-02 9.98362218e-01 -2.85808537e-04 1.31892339e+01] [ 1.55590639e-02 -6.05326461e-04 9.99878767e-01 7.09125173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5792541539998 meters Centerline goodness [0,1] 0.99872028866931 Centerline is valid? [True, True] Translation: X:766.09, Y:13.19, Z:7.09 [[ 9.98420421e-01 -5.41694059e-02 -1.49109854e-02 7.66089968e+02] [ 5.41713560e-02 9.98531617e-01 -2.73374088e-04 1.31889565e+01] [ 1.49038988e-02 -5.34806025e-04 9.99888788e-01 7.09072090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6092541539999 meters Centerline goodness [0,1] 0.9986966849551198 Centerline is valid? [True, True] Translation: X:766.12, Y:13.19, Z:7.09 [[ 9.98600815e-01 -5.08218306e-02 -1.46135136e-02 7.66121274e+02] [ 5.08233532e-02 9.98707623e-01 -2.67400994e-04 1.31939563e+01] [ 1.46082172e-02 -4.75680911e-04 9.99893181e-01 7.09120510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6392541539999 meters Centerline goodness [0,1] 0.998948541627237 Centerline is valid? [True, True] Translation: X:766.15, Y:13.21, Z:7.09 [[ 9.98918849e-01 -4.45976500e-02 -1.31218492e-02 7.66151863e+02] [ 4.45983456e-02 9.99004970e-01 -2.39748925e-04 1.32053355e+01] [ 1.31194848e-02 -3.45723043e-04 9.99913876e-01 7.09252947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6692541539999 meters Centerline goodness [0,1] 0.9991382571776871 Centerline is valid? [True, True] Translation: X:766.18, Y:13.21, Z:7.09 [[ 9.99065214e-01 -4.14565780e-02 -1.22495125e-02 7.66182937e+02] [ 4.14569514e-02 9.99140266e-01 -2.23548602e-04 1.32092735e+01] [ 1.22482487e-02 -2.84487812e-04 9.99924947e-01 7.09337889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6992541539998 meters Centerline goodness [0,1] 0.9990310281633771 Centerline is valid? [True, True] Translation: X:766.21, Y:13.22, Z:7.09 [[ 9.99302430e-01 -3.57789957e-02 -1.07012465e-02 7.66214258e+02] [ 3.57789588e-02 9.99359709e-01 -1.94949217e-04 1.32168727e+01] [ 1.07013696e-02 -1.88066231e-04 9.99942721e-01 7.09428524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7292541539999 meters Centerline goodness [0,1] 0.998989048020219 Centerline is valid? [True, True] Translation: X:766.25, Y:13.22, Z:7.09 [[ 9.99386880e-01 -3.33782439e-02 -1.05715103e-02 7.66245066e+02] [ 3.33780779e-02 9.99442778e-01 -1.92186531e-04 1.32201686e+01] [ 1.05720344e-02 -1.60787996e-04 9.99944102e-01 7.09448079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7592541539999 meters Centerline goodness [0,1] 0.99932716568545 Centerline is valid? [True, True] Translation: X:766.28, Y:13.22, Z:7.09 [[ 9.99454718e-01 -3.11534454e-02 -1.09421241e-02 7.66277368e+02] [ 3.11531411e-02 9.99514603e-01 -1.98292409e-04 1.32236045e+01] [ 1.09429903e-02 -1.42697251e-04 9.99940114e-01 7.09454346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7892541539999 meters Centerline goodness [0,1] 0.9994308960225955 Centerline is valid? [True, True] Translation: X:766.31, Y:13.23, Z:7.09 [[ 9.99510799e-01 -2.94440265e-02 -1.05456695e-02 7.66309905e+02] [ 2.94436564e-02 9.99566423e-01 -1.90384239e-04 1.32267972e+01] [ 1.05467028e-02 -1.20211966e-04 9.99944375e-01 7.09452334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8192541539999 meters Centerline goodness [0,1] 0.9989875553680658 Centerline is valid? [True, True] Translation: X:766.34, Y:13.23, Z:7.09 [[ 9.99569939e-01 -2.74960963e-02 -1.01932689e-02 7.66342411e+02] [ 2.74956565e-02 9.99621906e-01 -1.83317250e-04 1.32308943e+01] [ 1.01944554e-02 -9.70322091e-05 9.99948030e-01 7.09384788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8492541539999 meters Centerline goodness [0,1] 0.9992405223518491 Centerline is valid? [True, True] Translation: X:766.37, Y:13.23, Z:7.09 [[ 9.99559986e-01 -2.80364201e-02 -9.68466291e-03 7.66374654e+02] [ 2.80360548e-02 9.99606898e-01 -1.73503673e-04 1.32324389e+01] [ 9.68572026e-03 -9.80924114e-05 9.99953087e-01 7.09384342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8792541539999 meters Centerline goodness [0,1] 0.9993662596645401 Centerline is valid? [True, True] Translation: X:766.41, Y:13.23, Z:7.09 [[ 9.99527311e-01 -2.92151140e-02 -9.57243909e-03 7.66406306e+02] [ 2.92148177e-02 9.99573142e-01 -1.70816970e-04 1.32336104e+01] [ 9.57334345e-03 -1.08920836e-04 9.99954169e-01 7.09431385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9092541539999 meters Centerline goodness [0,1] 0.9992598545085434 Centerline is valid? [True, True] Translation: X:766.44, Y:13.23, Z:7.09 [[ 9.99500879e-01 -3.03165364e-02 -8.88259319e-03 7.66437945e+02] [ 3.03163287e-02 9.99540342e-01 -1.58059060e-04 1.32342288e+01] [ 8.88330204e-03 -1.11307445e-04 9.99960536e-01 7.09483289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9392541539999 meters Centerline goodness [0,1] 0.9991105840498073 Centerline is valid? [True, True] Translation: X:766.47, Y:13.23, Z:7.09 [[ 9.99435091e-01 -3.24021312e-02 -8.92194250e-03 7.66470243e+02] [ 3.24020090e-02 9.99474905e-01 -1.58282232e-04 1.32341482e+01] [ 8.92238631e-03 -1.30896045e-04 9.99960186e-01 7.09369189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9692541539999 meters Centerline goodness [0,1] 0.999449514090322 Centerline is valid? [True, True] Translation: X:766.50, Y:13.23, Z:7.09 [[ 9.99394877e-01 -3.36269914e-02 -8.89408076e-03 7.66502777e+02] [ 3.36269242e-02 9.99434443e-01 -1.57142687e-04 1.32341761e+01] [ 8.89433489e-03 -1.42032983e-04 9.99960435e-01 7.09476920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9992541539999 meters Centerline goodness [0,1] 0.9993428165610226 Centerline is valid? [True, True] Translation: X:766.53, Y:13.23, Z:7.09 [[ 9.99393827e-01 -3.36598087e-02 -8.88799077e-03 7.66534272e+02] [ 3.36597487e-02 9.99433338e-01 -1.56380343e-04 1.32343696e+01] [ 8.88821801e-03 -1.42881987e-04 9.99960489e-01 7.09459962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0292541539999 meters Centerline goodness [0,1] 0.9992359121298949 Centerline is valid? [True, True] Translation: X:766.57, Y:13.24, Z:7.09 [[ 9.99413420e-01 -3.30462438e-02 -8.98672697e-03 7.66565992e+02] [ 3.30461621e-02 9.99453814e-01 -1.57631465e-04 1.32352568e+01] [ 8.98702768e-03 -1.39437834e-04 9.99959606e-01 7.09474434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0592541539999 meters Centerline goodness [0,1] 0.999004427121947 Centerline is valid? [True, True] Translation: X:766.60, Y:13.24, Z:7.10 [[ 9.99451695e-01 -3.19550290e-02 -8.67091767e-03 7.66597128e+02] [ 3.19549166e-02 9.99489300e-01 -1.51531139e-04 1.32360522e+01] [ 8.67133161e-03 -1.25630398e-04 9.99962395e-01 7.09509663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.089254154 meters Centerline goodness [0,1] 0.9996383055679666 Centerline is valid? [True, True] Translation: X:766.63, Y:13.24, Z:7.10 [[ 9.99550338e-01 -2.86292578e-02 -8.91559421e-03 7.66629385e+02] [ 2.86290170e-02 9.99590094e-01 -1.54658646e-04 1.32394159e+01] [ 8.91636742e-03 -1.00655597e-04 9.99960243e-01 7.09566470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1192541539999 meters Centerline goodness [0,1] 0.9994680171936843 Centerline is valid? [True, True] Translation: X:766.66, Y:13.24, Z:7.10 [[ 9.99606935e-01 -2.66013181e-02 -8.85126882e-03 7.66660223e+02] [ 2.66010069e-02 9.99646119e-01 -1.52907781e-04 1.32406701e+01] [ 8.85220408e-03 -8.26049846e-05 9.99960815e-01 7.09579209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1492541539999 meters Centerline goodness [0,1] 0.9992342543551783 Centerline is valid? [True, True] Translation: X:766.69, Y:13.24, Z:7.10 [[ 9.99686787e-01 -2.35496545e-02 -8.47007665e-03 7.66692313e+02] [ 2.35492635e-02 9.99722667e-01 -1.45910393e-04 1.32430877e+01] [ 8.47116375e-03 -5.35993744e-05 9.99964118e-01 7.09593582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1792541539999 meters Centerline goodness [0,1] 0.9991285125196616 Centerline is valid? [True, True] Translation: X:766.72, Y:13.24, Z:7.10 [[ 9.99720998e-01 -2.22116195e-02 -8.03550562e-03 7.66723439e+02] [ 2.22112288e-02 9.99753291e-01 -1.37865486e-04 1.32438768e+01] [ 8.03658540e-03 -4.06514327e-05 9.99967705e-01 7.09624526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.209254154 meters Centerline goodness [0,1] 0.9995966543540101 Centerline is valid? [True, True] Translation: X:766.75, Y:13.24, Z:7.10 [[ 9.99776031e-01 -1.97103774e-02 -7.70644660e-03 7.66754454e+02] [ 1.97099470e-02 9.99805731e-01 -1.31803538e-04 1.32446933e+01] [ 7.70754738e-03 -2.01196358e-05 9.99970296e-01 7.09680501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2392541539999 meters Centerline goodness [0,1] 0.9995965687107186 Centerline is valid? [True, True] Translation: X:766.79, Y:13.25, Z:7.10 [[ 9.99790177e-01 -1.90201614e-02 -7.60501873e-03 7.66786451e+02] [ 1.90197237e-02 9.99819100e-01 -1.29871011e-04 1.32453095e+01] [ 7.60611315e-03 -1.48015942e-05 9.99971073e-01 7.09737390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2692541539999 meters Centerline goodness [0,1] 0.9994055201698514 Centerline is valid? [True, True] Translation: X:766.82, Y:13.25, Z:7.10 [[ 9.99806964e-01 -1.80359844e-02 -7.79341782e-03 7.66818257e+02] [ 1.80354993e-02 9.99837338e-01 -1.32535654e-04 1.32457995e+01] [ 7.79454054e-03 -8.04811116e-06 9.99969622e-01 7.09756157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2992541539999 meters Centerline goodness [0,1] 0.9994710897666448 Centerline is valid? [True, True] Translation: X:766.85, Y:13.25, Z:7.10 [[ 9.99821146e-01 -1.73341998e-02 -7.56320708e-03 7.66849008e+02] [ 1.73337269e-02 9.99849751e-01 -1.28073199e-04 1.32456623e+01] [ 7.56429077e-03 -3.04827413e-06 9.99971390e-01 7.09799300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3292541539998 meters Centerline goodness [0,1] 0.9992183869195995 Centerline is valid? [True, True] Translation: X:766.88, Y:13.24, Z:7.10 [[ 9.99805831e-01 -1.78094187e-02 -8.43360365e-03 7.66880808e+02] [ 1.78088520e-02 9.99841400e-01 -1.42294129e-04 1.32433484e+01] [ 8.43480025e-03 -7.92629917e-06 9.99964426e-01 7.09687712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3592541539999 meters Centerline goodness [0,1] 0.9997678296291606 Centerline is valid? [True, True] Translation: X:766.91, Y:13.24, Z:7.10 [[ 9.99784635e-01 -1.86377458e-02 -9.12784750e-03 7.66911722e+02] [ 1.86371196e-02 9.99826302e-01 -1.53666748e-04 1.32416636e+01] [ 9.12912601e-03 -1.64831324e-05 9.99958329e-01 7.09650809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3892541539999 meters Centerline goodness [0,1] 0.9994742929239827 Centerline is valid? [True, True] Translation: X:766.94, Y:13.24, Z:7.09 [[ 9.99711384e-01 -2.16789548e-02 -1.03523307e-02 7.66941924e+02] [ 2.16783168e-02 9.99764983e-01 -1.73845125e-04 1.32366056e+01] [ 1.03536665e-02 -5.06261549e-05 9.99946398e-01 7.09497886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4192541539999 meters Centerline goodness [0,1] 0.9990957648147369 Centerline is valid? [True, True] Translation: X:766.97, Y:13.24, Z:7.09 [[ 9.99652761e-01 -2.39242604e-02 -1.10447747e-02 7.66973236e+02] [ 2.39236781e-02 9.99713771e-01 -1.84859887e-04 1.32350628e+01] [ 1.10460360e-02 -7.94359384e-05 9.99938988e-01 7.09456887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4492541539998 meters Centerline goodness [0,1] 0.9990965057886664 Centerline is valid? [True, True] Translation: X:767.00, Y:13.23, Z:7.09 [[ 9.99589426e-01 -2.60369637e-02 -1.19606308e-02 7.67004111e+02] [ 2.60364382e-02 9.99660975e-01 -1.99672610e-04 1.32326744e+01] [ 1.19617747e-02 -1.11821596e-04 9.99928449e-01 7.09451327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4792541539999 meters Centerline goodness [0,1] 0.9990566828777461 Centerline is valid? [True, True] Translation: X:767.04, Y:13.23, Z:7.09 [[ 9.99463315e-01 -3.02845132e-02 -1.24872267e-02 7.67035875e+02] [ 3.02842802e-02 9.99541304e-01 -2.07791608e-04 1.32270788e+01] [ 1.24877917e-02 -1.70486583e-04 9.99922010e-01 7.09458605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5092541539999 meters Centerline goodness [0,1] 0.9992034377947804 Centerline is valid? [True, True] Translation: X:767.07, Y:13.22, Z:7.10 [[ 9.99354167e-01 -3.36509026e-02 -1.26041556e-02 7.67067123e+02] [ 3.36509387e-02 9.99433625e-01 -2.09276471e-04 1.32217208e+01] [ 1.26040593e-02 -2.15000355e-04 9.99920543e-01 7.09527285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5392541539999 meters Centerline goodness [0,1] 0.9992052536913875 Centerline is valid? [True, True] Translation: X:767.10, Y:13.22, Z:7.10 [[ 9.99317710e-01 -3.49118957e-02 -1.20529709e-02 7.67098082e+02] [ 3.49120278e-02 9.99390369e-01 -1.99508861e-04 1.32193717e+01] [ 1.20525883e-02 -2.21420917e-04 9.99927340e-01 7.09589989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5692541539999 meters Centerline goodness [0,1] 0.9989947854495194 Centerline is valid? [True, True] Translation: X:767.13, Y:13.22, Z:7.10 [[ 9.99298701e-01 -3.55361611e-02 -1.18020138e-02 7.67130533e+02] [ 3.55363451e-02 9.99368366e-01 -1.94182697e-04 1.32187502e+01] [ 1.18014598e-02 -2.25353919e-04 9.99930335e-01 7.09732755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5992541539999 meters Centerline goodness [0,1] 0.998807132094425 Centerline is valid? [True, True] Translation: X:767.16, Y:13.22, Z:7.10 [[ 9.99295018e-01 -3.57094202e-02 -1.15890021e-02 7.67162288e+02] [ 3.57096202e-02 9.99362190e-01 -1.89736089e-04 1.32154060e+01] [ 1.15883859e-02 -2.24236535e-04 9.99932827e-01 7.09714946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6292541539999 meters Centerline goodness [0,1] 0.9986613399150788 Centerline is valid? [True, True] Translation: X:767.19, Y:13.21, Z:7.10 [[ 9.99303768e-01 -3.57271100e-02 -1.07495952e-02 7.67194120e+02] [ 3.57272954e-02 9.99361561e-01 -1.74843798e-04 1.32149324e+01] [ 1.07489789e-02 -2.09331899e-04 9.99942206e-01 7.09917494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6592541539999 meters Centerline goodness [0,1] 0.9990583213007722 Centerline is valid? [True, True] Translation: X:767.23, Y:13.21, Z:7.10 [[ 9.99338348e-01 -3.48375627e-02 -1.04504086e-02 7.67226287e+02] [ 3.48376971e-02 9.99392969e-01 -1.69237677e-04 1.32138849e+01] [ 1.04499607e-02 -1.94942469e-04 9.99945379e-01 7.09985702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6892541539999 meters Centerline goodness [0,1] 0.9994135143060617 Centerline is valid? [True, True] Translation: X:767.26, Y:13.21, Z:7.10 [[ 9.99356766e-01 -3.42897202e-02 -1.05009135e-02 7.67258832e+02] [ 3.42898337e-02 9.99411916e-01 -1.69285069e-04 1.32130790e+01] [ 1.05005429e-02 -1.90898400e-04 9.99944850e-01 7.09996620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7192541539999 meters Centerline goodness [0,1] 0.9990160365113261 Centerline is valid? [True, True] Translation: X:767.29, Y:13.21, Z:7.10 [[ 9.99369748e-01 -3.38370602e-02 -1.07313121e-02 7.67291530e+02] [ 3.38371614e-02 9.99427344e-01 -1.72181749e-04 1.32126998e+01] [ 1.07309929e-02 -1.91043909e-04 9.99942403e-01 7.10010256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7492541539999 meters Centerline goodness [0,1] 0.9989098075391002 Centerline is valid? [True, True] Translation: X:767.32, Y:13.21, Z:7.10 [[ 9.99406483e-01 -3.26040133e-02 -1.11202316e-02 7.67322497e+02] [ 3.26040579e-02 9.99468331e-01 -1.77324789e-04 1.32112231e+01] [ 1.11201008e-02 -1.85345129e-04 9.99938153e-01 7.09981573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7792541539999 meters Centerline goodness [0,1] 0.9985943564460296 Centerline is valid? [True, True] Translation: X:767.35, Y:13.21, Z:7.10 [[ 9.99427050e-01 -3.17527836e-02 -1.17188721e-02 7.67353923e+02] [ 3.17527901e-02 9.99495736e-01 -1.85552911e-04 1.32113902e+01] [ 1.17188545e-02 -1.86660287e-04 9.99931314e-01 7.09806797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8092541539999 meters Centerline goodness [0,1] 0.9990578283991458 Centerline is valid? [True, True] Translation: X:767.38, Y:13.21, Z:7.10 [[ 9.99429770e-01 -3.17252596e-02 -1.15603973e-02 7.67383876e+02] [ 3.17252683e-02 9.99496610e-01 -1.82677627e-04 1.32101909e+01] [ 1.15603734e-02 -1.84183245e-04 9.99933160e-01 7.09993639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.839254154 meters Centerline goodness [0,1] 0.9989988528522266 Centerline is valid? [True, True] Translation: X:767.41, Y:13.21, Z:7.10 [[ 9.99433102e-01 -3.16033652e-02 -1.16061173e-02 7.67414771e+02] [ 3.16033686e-02 9.99500472e-01 -1.83156302e-04 1.32100161e+01] [ 1.16061081e-02 -1.83739933e-04 9.99932630e-01 7.10047864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8692541539999 meters Centerline goodness [0,1] 0.9988063827113959 Centerline is valid? [True, True] Translation: X:767.45, Y:13.21, Z:7.10 [[ 9.99433332e-01 -3.15522846e-02 -1.17246911e-02 7.67445928e+02] [ 3.15522894e-02 9.99502086e-01 -1.84610008e-04 1.32105714e+01] [ 1.17246781e-02 -1.85435451e-04 9.99931246e-01 7.09983170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8992541539999 meters Centerline goodness [0,1] 0.9991631098836723 Centerline is valid? [True, True] Translation: X:767.48, Y:13.21, Z:7.10 [[ 9.99435209e-01 -3.14773959e-02 -1.17658928e-02 7.67476791e+02] [ 3.14774006e-02 9.99504447e-01 -1.84832054e-04 1.32104464e+01] [ 1.17658802e-02 -1.85632060e-04 9.99930762e-01 7.10024742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9292541539999 meters Centerline goodness [0,1] 0.9991836051160746 Centerline is valid? [True, True] Translation: X:767.51, Y:13.21, Z:7.10 [[ 9.99410470e-01 -3.19372030e-02 -1.25986774e-02 7.67507891e+02] [ 3.19372510e-02 9.99489856e-01 -1.97434742e-04 1.32094767e+01] [ 1.25985557e-02 -2.05048773e-04 9.99920614e-01 7.10018122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.959254154 meters Centerline goodness [0,1] 0.9993718592964824 Centerline is valid? [True, True] Translation: X:767.54, Y:13.21, Z:7.10 [[ 9.99375049e-01 -3.27559771e-02 -1.32875048e-02 7.67539350e+02] [ 3.27561094e-02 9.99463353e-01 -2.07733218e-04 1.32085560e+01] [ 1.32871786e-02 -2.27643566e-04 9.99911696e-01 7.10066817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9892541539999 meters Centerline goodness [0,1] 0.9993309918046496 Centerline is valid? [True, True] Translation: X:767.57, Y:13.21, Z:7.10 [[ 9.99360819e-01 -3.29657449e-02 -1.38280178e-02 7.67569817e+02] [ 3.29659142e-02 9.99456453e-01 -2.15755113e-04 1.32071958e+01] [ 1.38276142e-02 -2.40236043e-04 9.99904365e-01 7.09995675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0192541539999 meters Centerline goodness [0,1] 0.9991847996488368 Centerline is valid? [True, True] Translation: X:767.60, Y:13.21, Z:7.10 [[ 9.99331745e-01 -3.35733035e-02 -1.44532473e-02 7.67600777e+02] [ 3.35735572e-02 9.99436224e-01 -2.25156066e-04 1.32078835e+01] [ 1.44526581e-02 -2.60241319e-04 9.99895521e-01 7.09975203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0492541539999 meters Centerline goodness [0,1] 0.9990612287472619 Centerline is valid? [True, True] Translation: X:767.63, Y:13.21, Z:7.10 [[ 9.99307624e-01 -3.40176606e-02 -1.50688618e-02 7.67631427e+02] [ 3.40179936e-02 9.99421193e-01 -2.34299979e-04 1.32072701e+01] [ 1.50681102e-02 -2.78474689e-04 9.99886431e-01 7.09941706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0792541539998 meters Centerline goodness [0,1] 0.999394116663881 Centerline is valid? [True, True] Translation: X:767.66, Y:13.21, Z:7.10 [[ 9.99249824e-01 -3.52564296e-02 -1.60241452e-02 7.67662218e+02] [ 3.52569682e-02 9.99378249e-01 -2.48978173e-04 1.32077002e+01] [ 1.60229602e-02 -3.16171380e-04 9.99871574e-01 7.10002572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1092541539999 meters Centerline goodness [0,1] 0.9990798636525231 Centerline is valid? [True, True] Translation: X:767.69, Y:13.21, Z:7.10 [[ 9.99233707e-01 -3.54353137e-02 -1.66233702e-02 7.67691321e+02] [ 3.54359158e-02 9.99371917e-01 -2.58421268e-04 1.32059630e+01] [ 1.66220866e-02 -3.30841105e-04 9.99861789e-01 7.09825700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1392541539999 meters Centerline goodness [0,1] 0.9993104312938816 Centerline is valid? [True, True] Translation: X:767.72, Y:13.20, Z:7.10 [[ 9.99194591e-01 -3.69432394e-02 -1.56641916e-02 7.67721091e+02] [ 3.69439562e-02 9.99317309e-01 -2.43699632e-04 1.32043791e+01] [ 1.56625009e-02 -3.35193856e-04 9.99877279e-01 7.10045105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1692541539999 meters Centerline goodness [0,1] 0.9990814388008601 Centerline is valid? [True, True] Translation: X:767.75, Y:13.20, Z:7.10 [[ 9.99136315e-01 -3.87142848e-02 -1.50939546e-02 7.67751285e+02] [ 3.87151517e-02 9.99250260e-01 -2.34868543e-04 1.32035189e+01] [ 1.50917308e-02 -3.49699052e-04 9.99886052e-01 7.10097300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1992541539998 meters Centerline goodness [0,1] 0.9993734859243171 Centerline is valid? [True, True] Translation: X:767.78, Y:13.20, Z:7.10 [[ 9.99074711e-01 -4.05796343e-02 -1.42483132e-02 7.67782692e+02] [ 4.05805989e-02 9.99176244e-01 -2.21531768e-04 1.32032953e+01] [ 1.42455657e-02 -3.56878296e-04 9.99898463e-01 7.10398222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2292541539999 meters Centerline goodness [0,1] 0.9992891787924402 Centerline is valid? [True, True] Translation: X:767.81, Y:13.20, Z:7.11 [[ 9.98957061e-01 -4.35186559e-02 -1.38172482e-02 7.67812977e+02] [ 4.35198496e-02 9.99052540e-01 -2.14417465e-04 1.31997712e+01] [ 1.38134881e-02 -3.87130723e-04 9.99904514e-01 7.10509489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2592541539999 meters Centerline goodness [0,1] 0.9992891787924402 Centerline is valid? [True, True] Translation: X:767.84, Y:13.20, Z:7.11 [[ 9.98960202e-01 -4.34465073e-02 -1.38172558e-02 7.67844672e+02] [ 4.34477009e-02 9.99055680e-01 -2.13926452e-04 1.32002013e+01] [ 1.38135023e-02 -3.86623986e-04 9.99904514e-01 7.10539179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2892541539999 meters Centerline goodness [0,1] 0.9991015837198612 Centerline is valid? [True, True] Translation: X:767.88, Y:13.20, Z:7.11 [[ 9.98892106e-01 -4.50576224e-02 -1.35783610e-02 7.67875654e+02] [ 4.50589390e-02 9.98984308e-01 -2.09101759e-04 1.31977746e+01] [ 1.35739912e-02 -4.02956443e-04 9.99907788e-01 7.10528775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3192541539999 meters Centerline goodness [0,1] 0.9991013020670052 Centerline is valid? [True, True] Translation: X:767.91, Y:13.20, Z:7.10 [[ 9.98835464e-01 -4.62020491e-02 -1.38955325e-02 7.67907672e+02] [ 4.62035578e-02 9.98932023e-01 -2.12606190e-04 1.31978796e+01] [ 1.38905152e-02 -4.29664435e-04 9.99903430e-01 7.10404696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3492541539999 meters Centerline goodness [0,1] 0.9989363255261018 Centerline is valid? [True, True] Translation: X:767.94, Y:13.19, Z:7.11 [[ 9.98586731e-01 -5.14799755e-02 -1.32042631e-02 7.67937870e+02] [ 5.14818071e-02 9.98673912e-01 -2.01379723e-04 1.31929751e+01] [ 1.31971201e-02 -4.78684207e-04 9.99912800e-01 7.10598598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3792541539999 meters Centerline goodness [0,1] 0.9991242337044914 Centerline is valid? [True, True] Translation: X:767.97, Y:13.19, Z:7.11 [[ 9.98300352e-01 -5.65654343e-02 -1.40270532e-02 7.67967778e+02] [ 5.65680024e-02 9.98398726e-01 -2.13928189e-04 1.31877929e+01] [ 1.40166930e-02 -5.79917794e-04 9.99901593e-01 7.10528414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4092541539999 meters Centerline goodness [0,1] 0.9987482788834647 Centerline is valid? [True, True] Translation: X:768.00, Y:13.19, Z:7.10 [[ 9.98148545e-01 -5.89164823e-02 -1.51106172e-02 7.67998904e+02] [ 5.89197346e-02 9.98262697e-01 -2.30247019e-04 1.31867989e+01] [ 1.50979308e-02 -6.60492830e-04 9.99885802e-01 7.10374179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4392541539999 meters Centerline goodness [0,1] 0.9987055556715452 Centerline is valid? [True, True] Translation: X:768.03, Y:13.18, Z:7.11 [[ 9.97749385e-01 -6.51671692e-02 -1.57925772e-02 7.68028028e+02] [ 6.51715049e-02 9.97874049e-01 -2.40496769e-04 1.31826848e+01] [ 1.57746755e-02 -7.89270522e-04 9.99875261e-01 7.10506041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4692541539999 meters Centerline goodness [0,1] 0.9990421057015535 Centerline is valid? [True, True] Translation: X:768.06, Y:13.18, Z:7.10 [[ 9.97609891e-01 -6.73184975e-02 -1.55796392e-02 7.68057988e+02] [ 6.73229824e-02 9.97731206e-01 -2.37008979e-04 1.31801457e+01] [ 1.55602473e-02 -8.12425276e-04 9.99878602e-01 7.10430033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4992541539999 meters Centerline goodness [0,1] 0.9986092660245766 Centerline is valid? [True, True] Translation: X:768.09, Y:13.18, Z:7.10 [[ 9.97469889e-01 -6.93219513e-02 -1.57571262e-02 7.68089322e+02] [ 6.93268050e-02 9.97593974e-01 -2.38648164e-04 1.31796377e+01] [ 1.57357577e-02 -8.54346856e-04 9.99875820e-01 7.10387507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5292541539999 meters Centerline goodness [0,1] 0.9987680100229693 Centerline is valid? [True, True] Translation: X:768.12, Y:13.18, Z:7.11 [[ 9.97228174e-01 -7.27659130e-02 -1.55270830e-02 7.68120713e+02] [ 7.27710504e-02 9.97348645e-01 -2.34618806e-04 1.31797582e+01] [ 1.55029875e-02 -8.95953659e-04 9.99879420e-01 7.10620299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5592541539999 meters Centerline goodness [0,1] 0.9987288753672716 Centerline is valid? [True, True] Translation: X:768.15, Y:13.18, Z:7.10 [[ 9.97221321e-01 -7.26239311e-02 -1.65952472e-02 7.68151720e+02] [ 7.26297926e-02 9.97358938e-01 -2.50016431e-04 1.31776632e+01] [ 1.65695753e-02 -9.55987648e-04 9.99862258e-01 7.10404828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.589254154 meters Centerline goodness [0,1] 0.9989984559529275 Centerline is valid? [True, True] Translation: X:768.18, Y:13.19, Z:7.11 [[ 9.97191528e-01 -7.31927292e-02 -1.58707442e-02 7.68183536e+02] [ 7.31981769e-02 9.97317387e-01 -2.38143621e-04 1.31853374e+01] [ 1.58455996e-02 -9.24234744e-04 9.99874023e-01 7.10739894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6192541539999 meters Centerline goodness [0,1] 0.9990827026914337 Centerline is valid? [True, True] Translation: X:768.22, Y:13.19, Z:7.11 [[ 9.97260677e-01 -7.22453328e-02 -1.58667367e-02 7.68215646e+02] [ 7.22506768e-02 9.97386477e-01 -2.36916843e-04 1.31859149e+01] [ 1.58423848e-02 -9.10114616e-04 9.99874087e-01 7.10790425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6492541539999 meters Centerline goodness [0,1] 0.9987695259546602 Centerline is valid? [True, True] Translation: X:768.25, Y:13.19, Z:7.11 [[ 9.97396341e-01 -7.02877013e-02 -1.61300577e-02 7.68246953e+02] [ 7.02929842e-02 9.97526360e-01 -2.39898395e-04 1.31908760e+01] [ 1.61070197e-02 -8.94556113e-04 9.99869873e-01 7.10755205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6792541539999 meters Centerline goodness [0,1] 0.9988118068873509 Centerline is valid? [True, True] Translation: X:768.28, Y:13.19, Z:7.11 [[ 9.97457267e-01 -6.93266296e-02 -1.65172241e-02 7.68279285e+02] [ 6.93320526e-02 9.97593608e-01 -2.44766283e-04 1.31927419e+01] [ 1.64944460e-02 -9.01029141e-04 9.99863551e-01 7.10820094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.709254154 meters Centerline goodness [0,1] 0.9990622851070037 Centerline is valid? [True, True] Translation: X:768.31, Y:13.19, Z:7.11 [[ 9.97523000e-01 -6.81115567e-02 -1.75693254e-02 7.68310835e+02] [ 6.81175258e-02 9.97677270e-01 -2.59162451e-04 1.31933202e+01] [ 1.75461686e-02 -9.38258469e-04 9.99845614e-01 7.10646177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7392541539999 meters Centerline goodness [0,1] 0.9992071605917086 Centerline is valid? [True, True] Translation: X:768.34, Y:13.19, Z:7.11 [[ 9.97561221e-01 -6.76719805e-02 -1.70913403e-02 7.68341726e+02] [ 6.76775807e-02 9.97707213e-01 -2.51184975e-04 1.31925329e+01] [ 1.70691517e-02 -9.06128174e-04 9.99853901e-01 7.10843678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7692541539999 meters Centerline goodness [0,1] 0.9990402470320683 Centerline is valid? [True, True] Translation: X:768.37, Y:13.19, Z:7.11 [[ 9.97616426e-01 -6.67168481e-02 -1.76161737e-02 7.68373103e+02] [ 6.67226661e-02 9.97771527e-01 -2.57930495e-04 1.31948783e+01] [ 1.75941249e-02 -9.18082379e-04 9.99844790e-01 7.10866490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7992541539999 meters Centerline goodness [0,1] 0.9987284514205907 Centerline is valid? [True, True] Translation: X:768.41, Y:13.20, Z:7.11 [[ 9.97616214e-01 -6.66313047e-02 -1.79487908e-02 7.68405415e+02] [ 6.66373509e-02 9.97777227e-01 -2.61674641e-04 1.31991166e+01] [ 1.79263304e-02 -9.35009004e-04 9.99838873e-01 7.10952617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8292541539998 meters Centerline goodness [0,1] 0.9986845676821248 Centerline is valid? [True, True] Translation: X:768.44, Y:13.20, Z:7.11 [[ 9.97688116e-01 -6.57317216e-02 -1.72558201e-02 7.68437697e+02] [ 6.57371966e-02 9.97836940e-01 -2.50355043e-04 1.32028265e+01] [ 1.72349510e-02 -8.84572990e-04 9.99851076e-01 7.11091597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8592541539999 meters Centerline goodness [0,1] 0.998664273490003 Centerline is valid? [True, True] Translation: X:768.47, Y:13.20, Z:7.11 [[ 9.97732810e-01 -6.50789064e-02 -1.71457441e-02 7.68469183e+02] [ 6.50842343e-02 9.97879743e-01 -2.47668442e-04 1.32044395e+01] [ 1.71255087e-02 -8.68810696e-04 9.99852970e-01 7.11157772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8892541539999 meters Centerline goodness [0,1] 0.9988311173265984 Centerline is valid? [True, True] Translation: X:768.50, Y:13.21, Z:7.11 [[ 9.97830298e-01 -6.34247816e-02 -1.76633382e-02 7.68501476e+02] [ 6.34301974e-02 9.97986245e-01 -2.54021090e-04 1.32087378e+01] [ 1.76438798e-02 -8.66919091e-04 9.99843959e-01 7.11009122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9192541539999 meters Centerline goodness [0,1] 0.9984566613831651 Centerline is valid? [True, True] Translation: X:768.53, Y:13.21, Z:7.11 [[ 9.98044567e-01 -6.02163803e-02 -1.67639430e-02 7.68532295e+02] [ 6.02208221e-02 9.98185050e-01 -2.40170288e-04 1.32137369e+01] [ 1.67479795e-02 -7.69837779e-04 9.99859446e-01 7.11244386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9492541539998 meters Centerline goodness [0,1] 0.9988105919913194 Centerline is valid? [True, True] Translation: X:768.56, Y:13.22, Z:7.11 [[ 9.98196237e-01 -5.76475474e-02 -1.67640497e-02 7.68563948e+02] [ 5.76516401e-02 9.98336732e-01 -2.39433470e-04 1.32177130e+01] [ 1.67499693e-02 -7.27473372e-04 9.99859445e-01 7.11317251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9792541539999 meters Centerline goodness [0,1] 0.998850190241251 Centerline is valid? [True, True] Translation: X:768.60, Y:13.22, Z:7.11 [[ 9.98357603e-01 -5.47438334e-02 -1.68881173e-02 7.68595685e+02] [ 5.47475876e-02 9.98500197e-01 -2.40294890e-04 1.32216158e+01] [ 1.68759431e-02 -6.84683452e-04 9.99857357e-01 7.11359117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0092541539999 meters Centerline goodness [0,1] 0.9988297494409963 Centerline is valid? [True, True] Translation: X:768.63, Y:13.23, Z:7.11 [[ 9.98526504e-01 -5.15757757e-02 -1.68748275e-02 7.68627287e+02] [ 5.15790878e-02 9.98668884e-01 -2.39180526e-04 1.32282841e+01] [ 1.68647010e-02 -6.31560112e-04 9.99857581e-01 7.11475527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0392541539999 meters Centerline goodness [0,1] 0.9986407929404877 Centerline is valid? [True, True] Translation: X:768.66, Y:13.23, Z:7.11 [[ 9.98785694e-01 -4.60960290e-02 -1.73865894e-02 7.68656960e+02] [ 4.60987252e-02 9.98936858e-01 -2.45887928e-04 1.32326631e+01] [ 1.73794394e-02 -5.55910261e-04 9.99848812e-01 7.11419417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0692541539999 meters Centerline goodness [0,1] 0.9989101274312542 Centerline is valid? [True, True] Translation: X:768.69, Y:13.24, Z:7.11 [[ 9.98891866e-01 -4.34188718e-02 -1.81615640e-02 7.68688022e+02] [ 4.34213776e-02 9.99056814e-01 -2.56524154e-04 1.32389310e+01] [ 1.81555723e-02 -5.32360237e-04 9.99835032e-01 7.11470511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0992541539999 meters Centerline goodness [0,1] 0.9989108579088471 Centerline is valid? [True, True] Translation: X:768.72, Y:13.24, Z:7.11 [[ 9.99039103e-01 -3.98459611e-02 -1.82529361e-02 7.68719554e+02] [ 3.98479085e-02 9.99205724e-01 -2.57141514e-04 1.32431394e+01] [ 1.82486843e-02 -4.70446902e-04 9.99833368e-01 7.11477458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1292541539999 meters Centerline goodness [0,1] 0.9987416635208255 Centerline is valid? [True, True] Translation: X:768.75, Y:13.24, Z:7.11 [[ 9.99076988e-01 -3.85965573e-02 -1.88541440e-02 7.68748946e+02] [ 3.85984164e-02 9.99254768e-01 -2.65427243e-04 1.32448044e+01] [ 1.88503379e-02 -4.62557849e-04 9.99822210e-01 7.11453989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1592541539999 meters Centerline goodness [0,1] 0.9988281576964928 Centerline is valid? [True, True] Translation: X:768.78, Y:13.25, Z:7.11 [[ 9.99108250e-01 -3.76575834e-02 -1.90948030e-02 7.68779093e+02] [ 3.76593156e-02 9.99290600e-01 -2.68986962e-04 1.32464721e+01] [ 1.90913865e-02 -4.50350119e-04 9.99817641e-01 7.11477740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1892541539999 meters Centerline goodness [0,1] 0.9988890053453516 Centerline is valid? [True, True] Translation: X:768.81, Y:13.25, Z:7.12 [[ 9.99128541e-01 -3.71460612e-02 -1.90349431e-02 7.68809830e+02] [ 3.71476931e-02 9.99309750e-01 -2.67971379e-04 1.32484384e+01] [ 1.90317583e-02 -4.39366370e-04 9.99818783e-01 7.11505522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2192541539999 meters Centerline goodness [0,1] 0.9988032249937012 Centerline is valid? [True, True] Translation: X:768.84, Y:13.25, Z:7.11 [[ 9.99113218e-01 -3.74043301e-02 -1.93311588e-02 7.68840489e+02] [ 3.74060647e-02 9.99300111e-01 -2.71971933e-04 1.32488875e+01] [ 1.93278021e-02 -4.51371825e-04 9.99813099e-01 7.11466844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2492541539999 meters Centerline goodness [0,1] 0.9987400781151569 Centerline is valid? [True, True] Translation: X:768.87, Y:13.25, Z:7.11 [[ 9.99059647e-01 -3.83457187e-02 -2.02343113e-02 7.68869986e+02] [ 3.83478083e-02 9.99264412e-01 -2.84869802e-04 1.32486912e+01] [ 2.02303507e-02 -4.91339567e-04 9.99795225e-01 7.11446764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2792541539999 meters Centerline goodness [0,1] 0.9989069659898264 Centerline is valid? [True, True] Translation: X:768.90, Y:13.25, Z:7.11 [[ 9.99027798e-01 -3.90681081e-02 -2.04240464e-02 7.68900327e+02] [ 3.90703846e-02 9.99236420e-01 -2.87707415e-04 1.32486746e+01] [ 2.04196911e-02 -5.10547641e-04 9.99791366e-01 7.11455406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3092541539999 meters Centerline goodness [0,1] 0.9987602697989115 Centerline is valid? [True, True] Translation: X:768.93, Y:13.25, Z:7.11 [[ 9.98981791e-01 -3.99099059e-02 -2.10376154e-02 7.68930921e+02] [ 3.99125079e-02 9.99203134e-01 -2.96350578e-04 1.32486989e+01] [ 2.10326786e-02 -5.43615159e-04 9.99778641e-01 7.11436676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.339254154 meters Centerline goodness [0,1] 0.998867710888847 Centerline is valid? [True, True] Translation: X:768.96, Y:13.25, Z:7.12 [[ 9.98871768e-01 -4.25692608e-02 -2.10487235e-02 7.68959969e+02] [ 4.25724608e-02 9.99093338e-01 -2.96249492e-04 1.32476068e+01] [ 2.10422506e-02 -6.00180703e-04 9.99778407e-01 7.11554501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3692541539999 meters Centerline goodness [0,1] 0.9987173826194832 Centerline is valid? [True, True] Translation: X:768.99, Y:13.25, Z:7.11 [[ 9.98746806e-01 -4.51647008e-02 -2.15631010e-02 7.68989706e+02] [ 4.51686636e-02 9.98979329e-01 -3.03484230e-04 1.32460860e+01] [ 2.15547989e-02 -6.70872548e-04 9.99767443e-01 7.11446426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3992541539999 meters Centerline goodness [0,1] 0.9986565629001448 Centerline is valid? [True, True] Translation: X:769.02, Y:13.25, Z:7.11 [[ 9.98668588e-01 -4.68041057e-02 -2.16893258e-02 7.69020449e+02] [ 4.68084977e-02 9.98903835e-01 -3.05420358e-04 1.32455955e+01] [ 2.16798456e-02 -7.10231038e-04 9.99764712e-01 7.11446899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4292541539999 meters Centerline goodness [0,1] 0.9987812565665055 Centerline is valid? [True, True] Translation: X:769.05, Y:13.24, Z:7.11 [[ 9.98615796e-01 -4.79815476e-02 -2.15467874e-02 7.69049898e+02] [ 4.79861514e-02 9.98847955e-01 -3.03617385e-04 1.32443724e+01] [ 2.15365326e-02 -7.30750288e-04 9.99767795e-01 7.11422442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.459254154 meters Centerline goodness [0,1] 0.9989276928575934 Centerline is valid? [True, True] Translation: X:769.08, Y:13.24, Z:7.11 [[ 9.98551994e-01 -4.93029184e-02 -2.15206172e-02 7.69080246e+02] [ 4.93078141e-02 9.98783584e-01 -3.03405421e-04 1.32437228e+01] [ 2.15093980e-02 -7.58168503e-04 9.99768359e-01 7.11467125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4892541539999 meters Centerline goodness [0,1] 0.9988236282665323 Centerline is valid? [True, True] Translation: X:769.11, Y:13.24, Z:7.12 [[ 9.98456034e-01 -5.18209309e-02 -2.00034882e-02 7.69109755e+02] [ 5.18256613e-02 9.98656108e-01 -2.82192902e-04 1.32421725e+01] [ 1.99912292e-02 -7.54936799e-04 9.99799870e-01 7.11738433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5192541539999 meters Centerline goodness [0,1] 0.9990122937900598 Centerline is valid? [True, True] Translation: X:769.14, Y:13.24, Z:7.12 [[ 9.98433299e-01 -5.23985021e-02 -1.96301884e-02 7.69141084e+02] [ 5.24031727e-02 9.98625971e-01 -2.76742150e-04 1.32419941e+01] [ 1.96177169e-02 -7.52375575e-04 9.99807271e-01 7.11769697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5492541539999 meters Centerline goodness [0,1] 0.9988048309989097 Centerline is valid? [True, True] Translation: X:769.17, Y:13.24, Z:7.12 [[ 9.98402467e-01 -5.24313641e-02 -2.10586463e-02 7.69171530e+02] [ 5.24367577e-02 9.98624203e-01 -2.96360043e-04 1.32419599e+01] [ 2.10452124e-02 -8.08360534e-04 9.99778198e-01 7.11506204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5792541539998 meters Centerline goodness [0,1] 0.9990969990969991 Centerline is valid? [True, True] Translation: X:769.20, Y:13.24, Z:7.12 [[ 9.98394934e-01 -5.31511580e-02 -1.95578546e-02 7.69202547e+02] [ 5.31559570e-02 9.98586185e-01 -2.74768150e-04 1.32420797e+01] [ 1.95448076e-02 -7.65289346e-04 9.99808689e-01 7.11845524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6092541539999 meters Centerline goodness [0,1] 0.9991598580160047 Centerline is valid? [True, True] Translation: X:769.23, Y:13.24, Z:7.12 [[ 9.98408057e-01 -5.29312761e-02 -1.94841336e-02 7.69232750e+02] [ 5.29360063e-02 9.98597869e-01 -2.73268227e-04 1.32420050e+01] [ 1.94712787e-02 -7.58579017e-04 9.99810129e-01 7.11863839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6392541539999 meters Centerline goodness [0,1] 0.998949270793931 Centerline is valid? [True, True] Translation: X:769.26, Y:13.24, Z:7.12 [[ 9.98463156e-01 -5.14457168e-02 -2.06073768e-02 7.69263207e+02] [ 5.14506993e-02 9.98675494e-01 -2.88683737e-04 1.32425346e+01] [ 2.05949338e-02 -7.72023874e-04 9.99787604e-01 7.11552188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6692541539999 meters Centerline goodness [0,1] 0.9993075954678976 Centerline is valid? [True, True] Translation: X:769.29, Y:13.24, Z:7.12 [[ 9.98501745e-01 -5.12586143e-02 -1.91525577e-02 7.69294145e+02] [ 5.12628921e-02 9.98685158e-01 -2.67855616e-04 1.32436863e+01] [ 1.91411050e-02 -7.14361196e-04 9.99816537e-01 7.11950070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6992541539998 meters Centerline goodness [0,1] 0.9988433471430674 Centerline is valid? [True, True] Translation: X:769.33, Y:13.25, Z:7.12 [[ 9.98582931e-01 -4.96133299e-02 -1.92522174e-02 7.69325357e+02] [ 4.96173593e-02 9.98768264e-01 -2.68610131e-04 1.32524686e+01] [ 1.92418304e-02 -6.87014695e-04 9.99814623e-01 7.12152933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7292541539999 meters Centerline goodness [0,1] 0.9990724930963975 Centerline is valid? [True, True] Translation: X:769.36, Y:13.26, Z:7.12 [[ 9.98627467e-01 -4.83900490e-02 -2.00395835e-02 7.69356993e+02] [ 4.83941834e-02 9.98828276e-01 -2.78869504e-04 1.32571876e+01] [ 2.00295972e-02 -6.91312535e-04 9.99799148e-01 7.12214910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7592541539999 meters Centerline goodness [0,1] 0.9992632199393735 Centerline is valid? [True, True] Translation: X:769.39, Y:13.26, Z:7.12 [[ 9.98703214e-01 -4.67575110e-02 -2.01401573e-02 7.69387549e+02] [ 4.67613785e-02 9.98906049e-01 -2.79125702e-04 1.32582071e+01] [ 2.01311762e-02 -6.63017782e-04 9.99797127e-01 7.12265785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7892541539999 meters Centerline goodness [0,1] 0.9989665717599916 Centerline is valid? [True, True] Translation: X:769.42, Y:13.26, Z:7.12 [[ 9.98723060e-01 -4.59961156e-02 -2.08951557e-02 7.69417712e+02] [ 4.60001315e-02 9.98941392e-01 -2.88662300e-04 1.32579084e+01] [ 2.08863132e-02 -6.72886213e-04 9.99781631e-01 7.12232767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8192541539999 meters Centerline goodness [0,1] 0.9987560353370301 Centerline is valid? [True, True] Translation: X:769.45, Y:13.26, Z:7.12 [[ 9.98750571e-01 -4.53745803e-02 -2.09390718e-02 7.69448252e+02] [ 4.53784801e-02 9.98969824e-01 -2.89101852e-04 1.32609463e+01] [ 2.09306188e-02 -6.61442614e-04 9.99780712e-01 7.12341357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8492541539999 meters Centerline goodness [0,1] 0.9989874912987533 Centerline is valid? [True, True] Translation: X:769.48, Y:13.26, Z:7.12 [[ 9.98812564e-01 -4.37295165e-02 -2.14753668e-02 7.69478260e+02] [ 4.37332436e-02 9.99043200e-01 -2.96290445e-04 1.32612377e+01] [ 2.14677758e-02 -6.43248828e-04 9.99769334e-01 7.12230174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8792541539999 meters Centerline goodness [0,1] 0.9991987686339006 Centerline is valid? [True, True] Translation: X:769.51, Y:13.26, Z:7.12 [[ 9.98814759e-01 -4.37543581e-02 -2.13221418e-02 7.69508457e+02] [ 4.37580413e-02 9.99042115e-01 -2.94010629e-04 1.32634785e+01] [ 2.13145819e-02 -6.39353006e-04 9.99772614e-01 7.12431836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9092541539999 meters Centerline goodness [0,1] 0.999429645746636 Centerline is valid? [True, True] Translation: X:769.54, Y:13.26, Z:7.12 [[ 9.98818988e-01 -4.32555057e-02 -2.21267039e-02 7.69537582e+02] [ 4.32593451e-02 9.99063830e-01 -3.05328649e-04 1.32647020e+01] [ 2.21191967e-02 -6.52218667e-04 9.99755128e-01 7.12429363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9392541539999 meters Centerline goodness [0,1] 0.9993245097418361 Centerline is valid? [True, True] Translation: X:769.57, Y:13.27, Z:7.13 [[ 9.98807401e-01 -4.34687996e-02 -2.22315064e-02 7.69568120e+02] [ 4.34727246e-02 9.99054567e-01 -3.06939949e-04 1.32660172e+01] [ 2.22238303e-02 -6.59890263e-04 9.99752802e-01 7.12500930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9692541539999 meters Centerline goodness [0,1] 0.9989667243051749 Centerline is valid? [True, True] Translation: X:769.60, Y:13.27, Z:7.13 [[ 9.98798018e-01 -4.41324328e-02 -2.13271741e-02 7.69598383e+02] [ 4.41361959e-02 9.99025480e-01 -2.94454258e-04 1.32662378e+01] [ 2.13193853e-02 -6.47200006e-04 9.99772507e-01 7.12568309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9992541539999 meters Centerline goodness [0,1] 0.9989033237725662 Centerline is valid? [True, True] Translation: X:769.63, Y:13.26, Z:7.13 [[ 9.98733175e-01 -4.61583879e-02 -2.00361911e-02 7.69628479e+02] [ 4.61621200e-02 9.98933923e-01 -2.76442125e-04 1.32646773e+01] [ 2.00275911e-02 -6.48821135e-04 9.99799217e-01 7.12690781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0292541539999 meters Centerline goodness [0,1] 0.9990143030913133 Centerline is valid? [True, True] Translation: X:769.66, Y:13.26, Z:7.13 [[ 9.98693212e-01 -4.73186933e-02 -1.93082728e-02 7.69660243e+02] [ 4.73223854e-02 9.98879633e-01 -2.65888307e-04 1.32646967e+01] [ 1.92992219e-02 -6.48172679e-04 9.99813543e-01 7.12786693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0592541539999 meters Centerline goodness [0,1] 0.9989238917139662 Centerline is valid? [True, True] Translation: X:769.69, Y:13.26, Z:7.13 [[ 9.98539797e-01 -5.07718045e-02 -1.84525712e-02 7.69691274e+02] [ 5.07757740e-02 9.98710046e-01 -2.53628835e-04 1.32624595e+01] [ 1.84416455e-02 -6.83685103e-04 9.99829705e-01 7.12860791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.089254154 meters Centerline goodness [0,1] 0.9987978234276796 Centerline is valid? [True, True] Translation: X:769.72, Y:13.26, Z:7.13 [[ 9.98461586e-01 -5.22344113e-02 -1.86018028e-02 7.69723632e+02] [ 5.22387139e-02 9.98634594e-01 -2.54861790e-04 1.32618216e+01] [ 1.85897163e-02 -7.17264546e-04 9.99826939e-01 7.12760198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1192541539999 meters Centerline goodness [0,1] 0.999178601516428 Centerline is valid? [True, True] Translation: X:769.76, Y:13.26, Z:7.13 [[ 9.98347890e-01 -5.45620503e-02 -1.80131510e-02 7.69755888e+02] [ 5.45664856e-02 9.98510109e-01 -2.45542231e-04 1.32615899e+01] [ 1.79997106e-02 -7.37777775e-04 9.99837720e-01 7.12954511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1492541539999 meters Centerline goodness [0,1] 0.9991155846617111 Centerline is valid? [True, True] Translation: X:769.79, Y:13.26, Z:7.13 [[ 9.98146073e-01 -5.81133151e-02 -1.80903048e-02 7.69787142e+02] [ 5.81183883e-02 9.98309668e-01 -2.45613208e-04 1.32610083e+01] [ 1.80739996e-02 -8.06221500e-04 9.99836327e-01 7.12947958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1792541539999 meters Centerline goodness [0,1] 0.9991155846617111 Centerline is valid? [True, True] Translation: X:769.82, Y:13.26, Z:7.13 [[ 9.98150260e-01 -5.80413483e-02 -1.80903179e-02 7.69818861e+02] [ 5.80464272e-02 9.98313855e-01 -2.44648106e-04 1.32613762e+01] [ 1.80740147e-02 -8.05882748e-04 9.99836327e-01 7.12977664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.209254154 meters Centerline goodness [0,1] 0.999157877007937 Centerline is valid? [True, True] Translation: X:769.85, Y:13.26, Z:7.13 [[ 9.98048171e-01 -5.97129743e-02 -1.82813928e-02 7.69850427e+02] [ 5.97184624e-02 9.98215230e-01 -2.46056169e-04 1.32622111e+01] [ 1.82634574e-02 -8.46160757e-04 9.99832851e-01 7.13035088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2392541539999 meters Centerline goodness [0,1] 0.9989285264086726 Centerline is valid? [True, True] Translation: X:769.88, Y:13.26, Z:7.13 [[ 9.97871988e-01 -6.27086343e-02 -1.78639986e-02 7.69882036e+02] [ 6.27143680e-02 9.98031488e-01 -2.39618446e-04 1.32615317e+01] [ 1.78438592e-02 -8.81220843e-04 9.99840397e-01 7.13119770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2692541539999 meters Centerline goodness [0,1] 0.9988872792928974 Centerline is valid? [True, True] Translation: X:769.91, Y:13.26, Z:7.13 [[ 9.97844320e-01 -6.31919573e-02 -1.77056221e-02 7.69913164e+02] [ 6.31976798e-02 9.98001001e-01 -2.36692195e-04 1.32607745e+01] [ 1.76851856e-02 -8.82772271e-04 9.99843215e-01 7.13033054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2992541539999 meters Centerline goodness [0,1] 0.9991385468756566 Centerline is valid? [True, True] Translation: X:769.95, Y:13.26, Z:7.13 [[ 9.97795656e-01 -6.41402531e-02 -1.70251679e-02 7.69945194e+02] [ 6.41457000e-02 9.97940518e-01 -2.26523018e-04 1.32635950e+01] [ 1.70046341e-02 -8.66067627e-04 9.99855036e-01 7.13296782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3292541539998 meters Centerline goodness [0,1] 0.9987192138912802 Centerline is valid? [True, True] Translation: X:769.98, Y:13.26, Z:7.13 [[ 9.97775929e-01 -6.43368976e-02 -1.74344294e-02 7.69975973e+02] [ 6.43426682e-02 9.97927837e-01 -2.30324694e-04 1.32635841e+01] [ 1.74131208e-02 -8.91965271e-04 9.99847982e-01 7.13277929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3592541539999 meters Centerline goodness [0,1] 0.9987613889238779 Centerline is valid? [True, True] Translation: X:770.01, Y:13.26, Z:7.13 [[ 9.97813810e-01 -6.37649021e-02 -1.73677487e-02 7.70008178e+02] [ 6.37705710e-02 9.97964560e-01 -2.27784299e-04 1.32649222e+01] [ 1.73469223e-02 -8.80264929e-04 9.99849143e-01 7.13274616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3892541539999 meters Centerline goodness [0,1] 0.9987218171150783 Centerline is valid? [True, True] Translation: X:770.04, Y:13.27, Z:7.13 [[ 9.97888012e-01 -6.22000509e-02 -1.87261766e-02 7.70039196e+02] [ 6.22063903e-02 9.98063277e-01 -2.44334822e-04 1.32661708e+01] [ 1.87051068e-02 -9.21069060e-04 9.99824620e-01 7.13181565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4192541539999 meters Centerline goodness [0,1] 0.998783021045343 Centerline is valid? [True, True] Translation: X:770.07, Y:13.27, Z:7.13 [[ 9.97969963e-01 -6.07621510e-02 -1.90765275e-02 7.70070248e+02] [ 6.07685023e-02 9.98151856e-01 -2.47098372e-04 1.32667981e+01] [ 1.90562855e-02 -9.12655250e-04 9.99817996e-01 7.13127937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4492541539998 meters Centerline goodness [0,1] 0.9986556034030039 Centerline is valid? [True, True] Translation: X:770.10, Y:13.27, Z:7.13 [[ 9.98099075e-01 -5.85081767e-02 -1.93656907e-02 7.70102183e+02] [ 5.85143345e-02 9.98286537e-01 -2.48994644e-04 1.32700460e+01] [ 1.93470765e-02 -8.84649181e-04 9.99812436e-01 7.13171095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4792541539999 meters Centerline goodness [0,1] 0.9983595179506594 Centerline is valid? [True, True] Translation: X:770.13, Y:13.28, Z:7.13 [[ 9.98360862e-01 -5.36624940e-02 -1.98978833e-02 7.70132584e+02] [ 5.36680457e-02 9.98558799e-01 -2.55264583e-04 1.32766514e+01] [ 1.98829046e-02 -8.13034342e-04 9.99801985e-01 7.13216300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5092541539999 meters Centerline goodness [0,1] 0.9985261606484893 Centerline is valid? [True, True] Translation: X:770.16, Y:13.28, Z:7.13 [[ 9.98525820e-01 -5.05495438e-02 -1.97719408e-02 7.70164067e+02] [ 5.05544238e-02 9.98721275e-01 -2.53258481e-04 1.32809459e+01] [ 1.97594601e-02 -7.46673944e-04 9.99804484e-01 7.13311575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5392541539999 meters Centerline goodness [0,1] 0.9986754966887417 Centerline is valid? [True, True] Translation: X:770.19, Y:13.28, Z:7.13 [[ 9.98691791e-01 -4.71984060e-02 -1.96727316e-02 7.70194460e+02] [ 4.72026140e-02 9.98885304e-01 -2.50651218e-04 1.32815512e+01] [ 1.96626328e-02 -6.78281041e-04 9.99806442e-01 7.13323164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5692541539999 meters Centerline goodness [0,1] 0.9986728739651577 Centerline is valid? [True, True] Translation: X:770.22, Y:13.29, Z:7.13 [[ 9.99002616e-01 -4.03588705e-02 -1.91032714e-02 7.70224971e+02] [ 4.03616088e-02 9.99185109e-01 -2.42347861e-04 1.32888289e+01] [ 1.90974852e-02 -5.28932619e-04 9.99817486e-01 7.13398929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5992541539999 meters Centerline goodness [0,1] 0.9985653403097177 Centerline is valid? [True, True] Translation: X:770.26, Y:13.29, Z:7.14 [[ 9.99123584e-01 -3.76048746e-02 -1.83830519e-02 7.70256447e+02] [ 3.76069535e-02 9.99292581e-01 -2.32717680e-04 1.32914893e+01] [ 1.83787987e-02 -4.58816854e-04 9.99830990e-01 7.13533829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6292541539999 meters Centerline goodness [0,1] 0.9986466197212882 Centerline is valid? [True, True] Translation: X:770.29, Y:13.30, Z:7.14 [[ 9.99307195e-01 -3.28845104e-02 -1.74281357e-02 7.70286834e+02] [ 3.28856669e-02 9.99459096e-01 -2.20304600e-04 1.32957369e+01] [ 1.74259534e-02 -3.52983895e-04 9.99848094e-01 7.13654636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6592541539999 meters Centerline goodness [0,1] 0.9985846465841396 Centerline is valid? [True, True] Translation: X:770.32, Y:13.30, Z:7.14 [[ 9.99384619e-01 -3.06283700e-02 -1.70963744e-02 7.70317872e+02] [ 3.06291552e-02 9.99530794e-01 -2.15972086e-04 1.32975559e+01] [ 1.70949675e-02 -3.07808323e-04 9.99853823e-01 7.13677464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6892541539999 meters Centerline goodness [0,1] 0.9987937784361444 Centerline is valid? [True, True] Translation: X:770.35, Y:13.30, Z:7.14 [[ 9.99435231e-01 -2.90166594e-02 -1.69485262e-02 7.70348579e+02] [ 2.90172046e-02 9.99578889e-01 -2.13802638e-04 1.32989088e+01] [ 1.69475928e-02 -2.78116963e-04 9.99856341e-01 7.13720357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7192541539999 meters Centerline goodness [0,1] 0.9989837183205945 Centerline is valid? [True, True] Translation: X:770.38, Y:13.30, Z:7.14 [[ 9.99514802e-01 -2.61407426e-02 -1.69358114e-02 7.70379338e+02] [ 2.61408770e-02 9.99658246e-01 -2.13475591e-04 1.33014777e+01] [ 1.69356039e-02 -2.29344948e-04 9.99856556e-01 7.13705261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7492541539999 meters Centerline goodness [0,1] 0.9987107410068902 Centerline is valid? [True, True] Translation: X:770.41, Y:13.30, Z:7.14 [[ 9.99547220e-01 -2.45628225e-02 -1.73787883e-02 7.70409362e+02] [ 2.45627207e-02 9.99698267e-01 -2.19340363e-04 1.33025997e+01] [ 1.73789322e-02 -2.07629273e-04 9.99848953e-01 7.13561626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7792541539999 meters Centerline goodness [0,1] 0.9987071066742969 Centerline is valid? [True, True] Translation: X:770.44, Y:13.30, Z:7.14 [[ 9.99565067e-01 -2.34592673e-02 -1.78700891e-02 7.70437618e+02] [ 2.34589671e-02 9.99724775e-01 -2.26449709e-04 1.33036512e+01] [ 1.78704831e-02 -1.92862613e-04 9.99840292e-01 7.13602163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8092541539999 meters Centerline goodness [0,1] 0.9986867467327529 Centerline is valid? [True, True] Translation: X:770.47, Y:13.30, Z:7.14 [[ 9.99571447e-01 -2.28076123e-02 -1.83503613e-02 7.70466611e+02] [ 2.28071328e-02 9.99739856e-01 -2.35435808e-04 1.33049086e+01] [ 1.83509573e-02 -1.83184218e-04 9.99831590e-01 7.13542232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.839254154 meters Centerline goodness [0,1] 0.9987085027100271 Centerline is valid? [True, True] Translation: X:770.50, Y:13.31, Z:7.14 [[ 9.99581561e-01 -2.27379684e-02 -1.78797871e-02 7.70495274e+02] [ 2.27374228e-02 9.99741444e-01 -2.33827380e-04 1.33054172e+01] [ 1.78804810e-02 -1.72810742e-04 9.99840116e-01 7.13746230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8692541539999 meters Centerline goodness [0,1] 0.9987529063622913 Centerline is valid? [True, True] Translation: X:770.52, Y:13.31, Z:7.14 [[ 9.99583550e-01 -2.24435599e-02 -1.81387465e-02 7.70523923e+02] [ 2.24428667e-02 9.99748098e-01 -2.41802172e-04 1.33052717e+01] [ 1.81396042e-02 -1.65383996e-04 9.99835450e-01 7.13605412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8992541539999 meters Centerline goodness [0,1] 0.9986889683026369 Centerline is valid? [True, True] Translation: X:770.55, Y:13.30, Z:7.14 [[ 9.99589701e-01 -2.28760243e-02 -1.72370656e-02 7.70552213e+02] [ 2.28753900e-02 9.99738297e-01 -2.33989988e-04 1.33048660e+01] [ 1.72379073e-02 -1.60410615e-04 9.99851403e-01 7.13820227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9292541539999 meters Centerline goodness [0,1] 0.9987974429840292 Centerline is valid? [True, True] Translation: X:770.58, Y:13.30, Z:7.14 [[ 9.99590167e-01 -2.31612713e-02 -1.68242088e-02 7.70581098e+02] [ 2.31606375e-02 9.99731729e-01 -2.32537232e-04 1.33035459e+01] [ 1.68250812e-02 -1.57217471e-04 9.99858436e-01 7.13803443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.959254154 meters Centerline goodness [0,1] 0.9988160676532769 Centerline is valid? [True, True] Translation: X:770.61, Y:13.30, Z:7.14 [[ 9.99581287e-01 -2.38824084e-02 -1.63364929e-02 7.70610721e+02] [ 2.38818659e-02 9.99714762e-01 -2.28315774e-04 1.33032513e+01] [ 1.63372859e-02 -1.61925758e-04 9.99866525e-01 7.13981279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9892541539999 meters Centerline goodness [0,1] 0.998710632001691 Centerline is valid? [True, True] Translation: X:770.64, Y:13.30, Z:7.14 [[ 9.99531802e-01 -2.49352075e-02 -1.77316665e-02 7.70639457e+02] [ 2.49347196e-02 9.99689051e-01 -2.48638179e-04 1.33002921e+01] [ 1.77323527e-02 -1.93612364e-04 9.99842751e-01 7.13625806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0192541539999 meters Centerline goodness [0,1] 0.9987521942347144 Centerline is valid? [True, True] Translation: X:770.67, Y:13.30, Z:7.14 [[ 9.99484068e-01 -2.70170148e-02 -1.73688975e-02 7.70667833e+02] [ 2.70168183e-02 9.99634949e-01 -2.45997565e-04 1.32990604e+01] [ 1.73692031e-02 -2.23381702e-04 9.99849119e-01 7.13864387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0492541539999 meters Centerline goodness [0,1] 0.9987540388148586 Centerline is valid? [True, True] Translation: X:770.70, Y:13.30, Z:7.14 [[ 9.99444673e-01 -2.83433091e-02 -1.75215072e-02 7.70697732e+02] [ 2.83432675e-02 9.99598217e-01 -2.50747743e-04 1.32978745e+01] [ 1.75215744e-02 -2.46008270e-04 9.99846455e-01 7.13876123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0792541539998 meters Centerline goodness [0,1] 0.9986943245235338 Centerline is valid? [True, True] Translation: X:770.73, Y:13.29, Z:7.14 [[ 9.99317420e-01 -3.21003255e-02 -1.82828863e-02 7.70727735e+02] [ 3.21008995e-02 9.99484599e-01 -2.62151672e-04 1.32943688e+01] [ 1.82818785e-02 -3.24924364e-04 9.99832820e-01 7.13877796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1092541539999 meters Centerline goodness [0,1] 0.9988609757640954 Centerline is valid? [True, True] Translation: X:770.76, Y:13.29, Z:7.14 [[ 9.99241597e-01 -3.43070783e-02 -1.84188702e-02 7.70757878e+02] [ 3.43080324e-02 9.99411271e-01 -2.64273781e-04 1.32927142e+01] [ 1.84170929e-02 -3.67841840e-04 9.99830323e-01 7.13919457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1392541539999 meters Centerline goodness [0,1] 0.998566580239887 Centerline is valid? [True, True] Translation: X:770.79, Y:13.29, Z:7.14 [[ 9.99069398e-01 -3.88383651e-02 -1.87595034e-02 7.70788891e+02] [ 3.88401564e-02 9.99245400e-01 -2.68986544e-04 1.32887480e+01] [ 1.87557945e-02 -4.59885822e-04 9.99823989e-01 7.13788604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1692541539999 meters Centerline goodness [0,1] 0.9987988367682387 Centerline is valid? [True, True] Translation: X:770.82, Y:13.29, Z:7.14 [[ 9.98954000e-01 -4.18557402e-02 -1.84120271e-02 7.70819216e+02] [ 4.18579839e-02 9.99123536e-01 -2.63666304e-04 1.32857428e+01] [ 1.84069256e-02 -5.07299825e-04 9.99830449e-01 7.13935772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1992541539998 meters Centerline goodness [0,1] 0.9986727341676147 Centerline is valid? [True, True] Translation: X:770.85, Y:13.28, Z:7.14 [[ 9.98731237e-01 -4.68921265e-02 -1.83587733e-02 7.70850488e+02] [ 4.68952165e-02 9.98899780e-01 -2.62399336e-04 1.32812769e+01] [ 1.83508791e-02 -5.98872234e-04 9.99831429e-01 7.13907552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2292541539999 meters Centerline goodness [0,1] 0.9986525464766196 Centerline is valid? [True, True] Translation: X:770.88, Y:13.28, Z:7.14 [[ 9.98631532e-01 -4.90159890e-02 -1.82345036e-02 7.70882104e+02] [ 4.90194031e-02 9.98797793e-01 -2.59950406e-04 1.32798050e+01] [ 1.82253237e-02 -6.34249810e-04 9.99833704e-01 7.13912817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2592541539999 meters Centerline goodness [0,1] 0.9987789216615086 Centerline is valid? [True, True] Translation: X:770.91, Y:13.28, Z:7.14 [[ 9.98564353e-01 -5.03079326e-02 -1.83941477e-02 7.70913750e+02] [ 5.03116414e-02 9.98733533e-01 -2.61371644e-04 1.32780666e+01] [ 1.83840012e-02 -6.64443353e-04 9.99830779e-01 7.13904351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2892541539999 meters Centerline goodness [0,1] 0.9988222427862371 Centerline is valid? [True, True] Translation: X:770.94, Y:13.28, Z:7.14 [[ 9.98478375e-01 -5.19759537e-02 -1.84237808e-02 7.70944530e+02] [ 5.19799738e-02 9.98648093e-01 -2.60934298e-04 1.32756064e+01] [ 1.84124359e-02 -6.97130389e-04 9.99830234e-01 7.13917577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3192541539999 meters Centerline goodness [0,1] 0.9987166270434032 Centerline is valid? [True, True] Translation: X:770.98, Y:13.27, Z:7.14 [[ 9.98450509e-01 -5.23615406e-02 -1.88374845e-02 7.70975426e+02] [ 5.23658282e-02 9.98627933e-01 -2.65919756e-04 1.32745385e+01] [ 1.88255621e-02 -7.20932761e-04 9.99822523e-01 7.13890018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3492541539999 meters Centerline goodness [0,1] 0.9989484310591402 Centerline is valid? [True, True] Translation: X:771.01, Y:13.28, Z:7.14 [[ 9.98445825e-01 -5.25078087e-02 -1.86779221e-02 7.71007824e+02] [ 5.25120719e-02 9.98620255e-01 -2.62468620e-04 1.32759762e+01] [ 1.86659330e-02 -7.18755691e-04 9.99825518e-01 7.13956188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3792541539999 meters Centerline goodness [0,1] 0.9987847804223936 Centerline is valid? [True, True] Translation: X:771.04, Y:13.28, Z:7.14 [[ 9.98455780e-01 -5.23566695e-02 -1.85696985e-02 7.71039339e+02] [ 5.23608907e-02 9.98628194e-01 -2.59150357e-04 1.32757432e+01] [ 1.85577927e-02 -7.13575779e-04 9.99827535e-01 7.13992487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4092541539999 meters Centerline goodness [0,1] 0.9987217367615935 Centerline is valid? [True, True] Translation: X:771.07, Y:13.28, Z:7.14 [[ 9.98462724e-01 -5.24222907e-02 -1.80025518e-02 7.71070626e+02] [ 5.24262967e-02 9.98624765e-01 -2.49670300e-04 1.32753090e+01] [ 1.79908823e-02 -6.94520631e-04 9.99837910e-01 7.13991940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4392541539999 meters Centerline goodness [0,1] 0.9987823567694666 Centerline is valid? [True, True] Translation: X:771.10, Y:13.28, Z:7.14 [[ 9.98448211e-01 -5.25962749e-02 -1.82975902e-02 7.71103013e+02] [ 5.26004638e-02 9.98615605e-01 -2.52593789e-04 1.32754295e+01] [ 1.82855446e-02 -7.10259917e-04 9.99832553e-01 7.13866477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4692541539999 meters Centerline goodness [0,1] 0.998990366412856 Centerline is valid? [True, True] Translation: X:771.14, Y:13.28, Z:7.14 [[ 9.98431460e-01 -5.33620400e-02 -1.69443964e-02 7.71135079e+02] [ 5.33657622e-02 9.98575005e-01 -2.32733531e-04 1.32758654e+01] [ 1.69326698e-02 -6.71882149e-04 9.99856406e-01 7.14125546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4992541539999 meters Centerline goodness [0,1] 0.9987383030175586 Centerline is valid? [True, True] Translation: X:771.17, Y:13.27, Z:7.14 [[ 9.98388636e-01 -5.41661547e-02 -1.69162473e-02 7.71166265e+02] [ 5.41700053e-02 9.98531701e-01 -2.30834648e-04 1.32740566e+01] [ 1.69039127e-02 -6.85890519e-04 9.99856883e-01 7.14125263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5292541539999 meters Centerline goodness [0,1] 0.9986558292903198 Centerline is valid? [True, True] Translation: X:771.20, Y:13.27, Z:7.14 [[ 9.98407374e-01 -5.36011731e-02 -1.75963033e-02 7.71198010e+02] [ 5.36052812e-02 9.98562175e-01 -2.38457048e-04 1.32741333e+01] [ 1.75837845e-02 -7.05177512e-04 9.99845145e-01 7.13906865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5592541539999 meters Centerline goodness [0,1] 0.9986566192985034 Centerline is valid? [True, True] Translation: X:771.23, Y:13.27, Z:7.14 [[ 9.98376263e-01 -5.43458639e-02 -1.70693990e-02 7.71229690e+02] [ 5.43498562e-02 9.98521928e-01 -2.30265390e-04 1.32746516e+01] [ 1.70566831e-02 -6.97827879e-04 9.99854281e-01 7.14165940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.589254154 meters Centerline goodness [0,1] 0.9986597981320936 Centerline is valid? [True, True] Translation: X:771.26, Y:13.28, Z:7.14 [[ 9.98410210e-01 -5.34221975e-02 -1.79756022e-02 7.71261873e+02] [ 5.34264962e-02 9.98571756e-01 -2.41345846e-04 1.32777571e+01] [ 1.79628218e-02 -7.19411284e-04 9.99838397e-01 7.14173252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6192541539999 meters Centerline goodness [0,1] 0.9986171639289306 Centerline is valid? [True, True] Translation: X:771.29, Y:13.28, Z:7.14 [[ 9.98457660e-01 -5.22943837e-02 -1.86440156e-02 7.71293566e+02] [ 5.22988372e-02 9.98631448e-01 -2.48956471e-04 1.32770572e+01] [ 1.86315193e-02 -7.26487839e-04 9.99826154e-01 7.14132103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6492541539999 meters Centerline goodness [0,1] 0.9986131248818004 Centerline is valid? [True, True] Translation: X:771.32, Y:13.28, Z:7.14 [[ 9.98596120e-01 -4.93839268e-02 -1.91576728e-02 7.71324324e+02] [ 4.93881140e-02 9.98779630e-01 -2.54787384e-04 1.32797306e+01] [ 1.91468758e-02 -6.91731636e-04 9.99816442e-01 7.14160114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6792541539999 meters Centerline goodness [0,1] 0.998803425980351 Centerline is valid? [True, True] Translation: X:771.36, Y:13.28, Z:7.14 [[ 9.98691556e-01 -4.74607983e-02 -1.90433191e-02 7.71355715e+02] [ 4.74645989e-02 9.98872889e-01 -2.52612835e-04 1.32823400e+01] [ 1.90338444e-02 -6.51601199e-04 9.99818628e-01 7.14263723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.709254154 meters Centerline goodness [0,1] 0.9987205570820311 Centerline is valid? [True, True] Translation: X:771.39, Y:13.29, Z:7.14 [[ 9.98897456e-01 -4.31939915e-02 -1.83888948e-02 7.71387126e+02] [ 4.31968240e-02 9.99066552e-01 -2.43329892e-04 1.32865584e+01] [ 1.83822401e-02 -5.51280242e-04 9.99830880e-01 7.14422677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7392541539999 meters Centerline goodness [0,1] 0.9986353425290252 Centerline is valid? [True, True] Translation: X:771.42, Y:13.29, Z:7.15 [[ 9.98989792e-01 -4.10470244e-02 -1.82903662e-02 7.71418168e+02] [ 4.10494785e-02 9.99157086e-01 -2.41396384e-04 1.32930581e+01] [ 1.82848576e-02 -5.09657472e-04 9.99832688e-01 7.14621098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7692541539999 meters Centerline goodness [0,1] 0.9985930281394372 Centerline is valid? [True, True] Translation: X:771.45, Y:13.29, Z:7.14 [[ 9.99141062e-01 -3.70692013e-02 -1.85205805e-02 7.71448220e+02] [ 3.70710442e-02 9.99312603e-01 -2.43921290e-04 1.32923149e+01] [ 1.85168915e-02 -4.42865483e-04 9.99828450e-01 7.14479568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7992541539999 meters Centerline goodness [0,1] 0.9985919636852724 Centerline is valid? [True, True] Translation: X:771.48, Y:13.29, Z:7.14 [[ 9.99206433e-01 -3.49924302e-02 -1.90271754e-02 7.71478672e+02] [ 3.49940023e-02 9.99387491e-01 -2.50418625e-04 1.32943990e+01] [ 1.90242839e-02 -4.15617120e-04 9.99818936e-01 7.14408318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8292541539998 meters Centerline goodness [0,1] 0.9985720285594288 Centerline is valid? [True, True] Translation: X:771.51, Y:13.30, Z:7.15 [[ 9.99263998e-01 -3.35114430e-02 -1.86666717e-02 7.71509419e+02] [ 3.35126978e-02 9.99438262e-01 -2.45673998e-04 1.33000314e+01] [ 1.86644188e-02 -3.80077347e-04 9.99825732e-01 7.14671214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8592541539999 meters Centerline goodness [0,1] 0.9987180564895763 Centerline is valid? [True, True] Translation: X:771.54, Y:13.30, Z:7.15 [[ 9.99319402e-01 -3.19085598e-02 -1.85088400e-02 7.71539446e+02] [ 3.19095187e-02 9.99490732e-01 -2.43596759e-04 1.33022868e+01] [ 1.85071868e-02 -3.47177208e-04 9.99828667e-01 7.14758897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8892541539999 meters Centerline goodness [0,1] 0.9987182450463323 Centerline is valid? [True, True] Translation: X:771.57, Y:13.30, Z:7.15 [[ 9.99408541e-01 -2.90361176e-02 -1.84247588e-02 7.71568800e+02] [ 2.90365768e-02 9.99578320e-01 -2.42652154e-04 1.33024038e+01] [ 1.84240351e-02 -2.92483289e-04 9.99830220e-01 7.14655113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9192541539999 meters Centerline goodness [0,1] 0.9985076822834563 Centerline is valid? [True, True] Translation: X:771.60, Y:13.31, Z:7.15 [[ 9.99429244e-01 -2.80976859e-02 -1.87538571e-02 7.71598798e+02] [ 2.80979871e-02 9.99605143e-01 -2.47487316e-04 1.33072374e+01] [ 1.87534058e-02 -2.79599573e-04 9.99824100e-01 7.14907284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9492541539998 meters Centerline goodness [0,1] 0.9987442181711631 Centerline is valid? [True, True] Translation: X:771.63, Y:13.31, Z:7.15 [[ 9.99429125e-01 -2.84119321e-02 -1.82807493e-02 7.71628012e+02] [ 2.84122590e-02 9.99596261e-01 -2.41887084e-04 1.33081398e+01] [ 1.82802411e-02 -2.77648388e-04 9.99832864e-01 7.14980686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9792541539999 meters Centerline goodness [0,1] 0.9986763871672585 Centerline is valid? [True, True] Translation: X:771.66, Y:13.31, Z:7.15 [[ 9.99412118e-01 -2.88155830e-02 -1.85763651e-02 7.71656847e+02] [ 2.88159747e-02 9.99584703e-01 -2.46638099e-04 1.33071001e+01] [ 1.85757574e-02 -2.88802963e-04 9.99827414e-01 7.14787702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0092541539999 meters Centerline goodness [0,1] 0.9984848484848485 Centerline is valid? [True, True] Translation: X:771.69, Y:13.31, Z:7.15 [[ 9.99321201e-01 -3.25382863e-02 -1.72741606e-02 7.71686879e+02] [ 3.25391678e-02 9.99470435e-01 -2.30109705e-04 1.33074144e+01] [ 1.72725002e-02 -3.32133304e-04 9.99850764e-01 7.15148911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0392541539999 meters Centerline goodness [0,1] 0.9986546425343171 Centerline is valid? [True, True] Translation: X:771.72, Y:13.31, Z:7.15 [[ 9.99263889e-01 -3.44304964e-02 -1.69180983e-02 7.71717493e+02] [ 3.44316143e-02 9.99407031e-01 -2.25283440e-04 1.33054355e+01] [ 1.69158230e-02 -3.57399828e-04 9.99856853e-01 7.15126150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0692541539999 meters Centerline goodness [0,1] 0.9986546425343171 Centerline is valid? [True, True] Translation: X:771.75, Y:13.31, Z:7.15 [[ 9.99265123e-01 -3.43946558e-02 -1.69181088e-02 7.71748343e+02] [ 3.43957820e-02 9.99408265e-01 -2.24489557e-04 1.33058147e+01] [ 1.69158190e-02 -3.57586997e-04 9.99856853e-01 7.15155036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0992541539999 meters Centerline goodness [0,1] 0.9985077763766288 Centerline is valid? [True, True] Translation: X:771.78, Y:13.30, Z:7.15 [[ 9.99097716e-01 -3.89457592e-02 -1.69405640e-02 7.71778624e+02] [ 3.89475501e-02 9.99241231e-01 -2.24316327e-04 1.33013547e+01] [ 1.69364462e-02 -4.35679535e-04 9.99856473e-01 7.15074762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1292541539999 meters Centerline goodness [0,1] 0.9983838468642431 Centerline is valid? [True, True] Translation: X:771.81, Y:13.30, Z:7.15 [[ 9.99000549e-01 -4.11533497e-02 -1.74443193e-02 7.71810344e+02] [ 4.11555931e-02 9.99152723e-01 -2.30523461e-04 1.33011252e+01] [ 1.74390260e-02 -4.87638243e-04 9.99847810e-01 7.15027054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1592541539999 meters Centerline goodness [0,1] 0.9985490789805703 Centerline is valid? [True, True] Translation: X:771.84, Y:13.30, Z:7.15 [[ 9.98901689e-01 -4.32769333e-02 -1.79589232e-02 7.71840218e+02] [ 4.32796740e-02 9.99062968e-01 -2.36205608e-04 1.32975398e+01] [ 1.79523174e-02 -5.41310161e-04 9.99838698e-01 7.14926631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1892541539999 meters Centerline goodness [0,1] 0.9983211617560648 Centerline is valid? [True, True] Translation: X:771.87, Y:13.30, Z:7.15 [[ 9.98693661e-01 -4.79118109e-02 -1.77603641e-02 7.71871513e+02] [ 4.79152432e-02 9.98851378e-01 -2.32467415e-04 1.32950740e+01] [ 1.77511021e-02 -6.18828430e-04 9.99842245e-01 7.15074376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2192541539999 meters Centerline goodness [0,1] 0.9985306156720334 Centerline is valid? [True, True] Translation: X:771.90, Y:13.29, Z:7.15 [[ 9.98608715e-01 -4.97388312e-02 -1.75123477e-02 7.71902779e+02] [ 4.97424692e-02 9.98762051e-01 -2.28058864e-04 1.32920481e+01] [ 1.75020117e-02 -6.43365848e-04 9.99846621e-01 7.15090199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2492541539999 meters Centerline goodness [0,1] 0.9983626172932805 Centerline is valid? [True, True] Translation: X:771.93, Y:13.29, Z:7.15 [[ 9.98419675e-01 -5.35560582e-02 -1.70264598e-02 7.71933491e+02] [ 5.35600693e-02 9.98564605e-01 -2.20663453e-04 1.32902644e+01] [ 1.70138380e-02 -6.91623634e-04 9.99855015e-01 7.15128315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2792541539999 meters Centerline goodness [0,1] 0.9986775818639798 Centerline is valid? [True, True] Translation: X:771.96, Y:13.29, Z:7.15 [[ 9.98196552e-01 -5.76279925e-02 -1.68124189e-02 7.71964438e+02] [ 5.76324846e-02 9.98337843e-01 -2.17596773e-04 1.32891992e+01] [ 1.67970137e-02 -7.51737125e-04 9.99858638e-01 7.15172143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3092541539999 meters Centerline goodness [0,1] 0.998844974589441 Centerline is valid? [True, True] Translation: X:772.00, Y:13.29, Z:7.15 [[ 9.98104221e-01 -5.89499899e-02 -1.76879014e-02 7.71996764e+02] [ 5.89551832e-02 9.98260604e-01 -2.28136539e-04 1.32917905e+01] [ 1.76705838e-02 -8.15089428e-04 9.99843531e-01 7.15122866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.339254154 meters Centerline goodness [0,1] 0.998844974589441 Centerline is valid? [True, True] Translation: X:772.03, Y:13.29, Z:7.15 [[ 9.98108591e-01 -5.88759534e-02 -1.76879183e-02 7.72028486e+02] [ 5.88811583e-02 9.98264974e-01 -2.26825312e-04 1.32921385e+01] [ 1.76705838e-02 -8.15088824e-04 9.99843531e-01 7.15152565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3692541539999 meters Centerline goodness [0,1] 0.998486822748098 Centerline is valid? [True, True] Translation: X:772.06, Y:13.29, Z:7.15 [[ 9.97908145e-01 -6.20533940e-02 -1.81303625e-02 7.72058697e+02] [ 6.20594122e-02 9.98072430e-01 -2.31040012e-04 1.32902137e+01] [ 1.81097518e-02 -8.94602931e-04 9.99835605e-01 7.15152270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3992541539999 meters Centerline goodness [0,1] 0.9984238399462004 Centerline is valid? [True, True] Translation: X:772.09, Y:13.29, Z:7.15 [[ 9.97772983e-01 -6.40990765e-02 -1.84494722e-02 7.72089707e+02] [ 6.41056813e-02 9.97943088e-01 -2.33796541e-04 1.32887936e+01] [ 1.84265094e-02 -9.49440112e-04 9.99829767e-01 7.15095248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4292541539999 meters Centerline goodness [0,1] 0.9984864092160861 Centerline is valid? [True, True] Translation: X:772.12, Y:13.29, Z:7.15 [[ 9.97737873e-01 -6.45805068e-02 -1.86680217e-02 7.72122317e+02] [ 6.45873755e-02 9.97912028e-01 -2.35368644e-04 1.32896393e+01] [ 1.86442436e-02 -9.70882318e-04 9.99825710e-01 7.15101780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.459254154 meters Centerline goodness [0,1] 0.9984258248677693 Centerline is valid? [True, True] Translation: X:772.15, Y:13.29, Z:7.15 [[ 9.97730220e-01 -6.46616163e-02 -1.87958384e-02 7.72154287e+02] [ 6.46686198e-02 9.97906766e-01 -2.35593484e-04 1.32922201e+01] [ 1.87717282e-02 -9.80442190e-04 9.99823315e-01 7.15123282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4892541539999 meters Centerline goodness [0,1] 0.9984424659552524 Centerline is valid? [True, True] Translation: X:772.19, Y:13.29, Z:7.15 [[ 9.97718455e-01 -6.44811679e-02 -2.00015994e-02 7.72185513e+02] [ 6.44890894e-02 9.97918381e-01 -2.49380343e-04 1.32934573e+01] [ 1.99760441e-02 -1.04107356e-03 9.99799917e-01 7.15130480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5192541539999 meters Centerline goodness [0,1] 0.998549262015895 Centerline is valid? [True, True] Translation: X:772.22, Y:13.30, Z:7.15 [[ 9.97808476e-01 -6.31262163e-02 -1.98324598e-02 7.72216866e+02] [ 6.31337588e-02 9.98005044e-01 -2.46190071e-04 1.32952100e+01] [ 1.98084360e-02 -1.00644720e-03 9.99803287e-01 7.15147735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5492541539999 meters Centerline goodness [0,1] 0.9985450404858299 Centerline is valid? [True, True] Translation: X:772.25, Y:13.30, Z:7.15 [[ 9.97842810e-01 -6.25921704e-02 -1.97976295e-02 7.72248649e+02] [ 6.25996066e-02 9.98038691e-01 -2.44498460e-04 1.32986871e+01] [ 1.97741039e-02 -9.95352787e-04 9.99803978e-01 7.15232246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5792541539998 meters Centerline goodness [0,1] 0.9985420276380848 Centerline is valid? [True, True] Translation: X:772.28, Y:13.30, Z:7.15 [[ 9.97954162e-01 -6.10766366e-02 -1.88980121e-02 7.72278870e+02] [ 6.10831564e-02 9.98132653e-01 -2.32574481e-04 1.33020305e+01] [ 1.88769278e-02 -9.22251554e-04 9.99821390e-01 7.15368167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6092541539999 meters Centerline goodness [0,1] 0.9980584163430694 Centerline is valid? [True, True] Translation: X:772.31, Y:13.30, Z:7.15 [[ 9.97996759e-01 -6.05114037e-02 -1.84618482e-02 7.72310785e+02] [ 6.05175444e-02 9.98167108e-01 -2.26396774e-04 1.33042161e+01] [ 1.84417092e-02 -8.91322473e-04 9.99829540e-01 7.15430202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6392541539999 meters Centerline goodness [0,1] 0.9983921469069984 Centerline is valid? [True, True] Translation: X:772.34, Y:13.31, Z:7.16 [[ 9.98029509e-01 -6.00973533e-02 -1.80390718e-02 7.72343157e+02] [ 6.01031714e-02 9.98192146e-01 -2.19936580e-04 1.33072567e+01] [ 1.80196774e-02 -8.64702228e-04 9.99837259e-01 7.15534794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6692541539999 meters Centerline goodness [0,1] 0.9983905806615561 Centerline is valid? [True, True] Translation: X:772.38, Y:13.31, Z:7.16 [[ 9.98052841e-01 -5.99392541e-02 -1.72572154e-02 7.72375041e+02] [ 5.99445760e-02 9.98201685e-01 -2.09190330e-04 1.33103634e+01] [ 1.72387202e-02 -8.25693459e-04 9.99851061e-01 7.15619879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6992541539998 meters Centerline goodness [0,1] 0.9982845525011648 Centerline is valid? [True, True] Translation: X:772.41, Y:13.31, Z:7.16 [[ 9.98052634e-01 -5.99285784e-02 -1.73062114e-02 7.72407303e+02] [ 5.99339507e-02 9.98202323e-01 -2.08526325e-04 1.33134395e+01] [ 1.72875971e-02 -8.29109374e-04 9.99850215e-01 7.15669136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7292541539999 meters Centerline goodness [0,1] 0.9985596271976276 Centerline is valid? [True, True] Translation: X:772.44, Y:13.31, Z:7.16 [[ 9.98054483e-01 -5.98294749e-02 -1.75408997e-02 7.72438768e+02] [ 5.98349986e-02 9.98208259e-01 -2.10213055e-04 1.33120007e+01] [ 1.75220479e-02 -8.39755625e-04 9.99846124e-01 7.15634834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7592541539999 meters Centerline goodness [0,1] 0.9984738325879136 Centerline is valid? [True, True] Translation: X:772.47, Y:13.32, Z:7.16 [[ 9.98070130e-01 -5.94506696e-02 -1.79341225e-02 7.72470584e+02] [ 5.94564033e-02 9.98230880e-01 -2.13781521e-04 1.33161715e+01] [ 1.79151044e-02 -8.52929471e-04 9.99839148e-01 7.15621087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7892541539999 meters Centerline goodness [0,1] 0.9987049382191839 Centerline is valid? [True, True] Translation: X:772.50, Y:13.32, Z:7.16 [[ 9.98045458e-01 -5.96853662e-02 -1.85181002e-02 7.72502309e+02] [ 5.96915454e-02 9.98216846e-01 -2.19364268e-04 1.33209959e+01] [ 1.84981724e-02 -8.86438507e-04 9.99828501e-01 7.15707550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8192541539999 meters Centerline goodness [0,1] 0.9986834561399783 Centerline is valid? [True, True] Translation: X:772.53, Y:13.32, Z:7.16 [[ 9.98057378e-01 -5.93829599e-02 -1.88449822e-02 7.72533695e+02] [ 5.93893285e-02 9.98234871e-01 -2.22010054e-04 1.33196892e+01] [ 1.88249020e-02 -8.97612068e-04 9.99822393e-01 7.15616383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8492541539999 meters Centerline goodness [0,1] 0.9987254381306426 Centerline is valid? [True, True] Translation: X:772.57, Y:13.33, Z:7.16 [[ 9.98053705e-01 -5.92722773e-02 -1.93803730e-02 7.72566250e+02] [ 5.92790170e-02 9.98241427e-01 -2.27039778e-04 1.33276059e+01] [ 1.93597484e-02 -9.22251571e-04 9.99812157e-01 7.15803667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8792541539999 meters Centerline goodness [0,1] 0.9987456683036758 Centerline is valid? [True, True] Translation: X:772.60, Y:13.33, Z:7.16 [[ 9.98074597e-01 -5.86700975e-02 -2.01225647e-02 7.72597150e+02] [ 5.86772819e-02 9.98276977e-01 -2.33716013e-04 1.33269607e+01] [ 2.01016052e-02 -9.47471385e-04 9.99797493e-01 7.15629920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9092541539999 meters Centerline goodness [0,1] 0.9986180503880089 Centerline is valid? [True, True] Translation: X:772.63, Y:13.33, Z:7.16 [[ 9.98093197e-01 -5.82867135e-02 -2.03132596e-02 7.72628149e+02] [ 5.82939907e-02 9.98299432e-01 -2.34204514e-04 1.33286755e+01] [ 2.02923665e-02 -9.50383034e-04 9.99793637e-01 7.15590661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9392541539999 meters Centerline goodness [0,1] 0.998618549689705 Centerline is valid? [True, True] Translation: X:772.66, Y:13.33, Z:7.16 [[ 9.98101257e-01 -5.82798396e-02 -1.99334339e-02 7.72660070e+02] [ 5.82868711e-02 9.98299849e-01 -2.28553898e-04 1.33337425e+01] [ 1.99128641e-02 -9.33737556e-04 9.99801283e-01 7.15807829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9692541539999 meters Centerline goodness [0,1] 0.9989129276350848 Centerline is valid? [True, True] Translation: X:772.69, Y:13.34, Z:7.16 [[ 9.98200515e-01 -5.67873389e-02 -1.92595679e-02 7.72692737e+02] [ 5.67936595e-02 9.98385914e-01 -2.19063168e-04 1.33381304e+01] [ 1.92409213e-02 -8.75152373e-04 9.99814493e-01 7.15848756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9992541539999 meters Centerline goodness [0,1] 0.9989124872057318 Centerline is valid? [True, True] Translation: X:772.72, Y:13.34, Z:7.16 [[ 9.98268240e-01 -5.55912611e-02 -1.92388441e-02 7.72724491e+02] [ 5.55973803e-02 9.98453246e-01 -2.17065508e-04 1.33394497e+01] [ 1.92211533e-02 -8.52939731e-04 9.99814893e-01 7.15887584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0292541539999 meters Centerline goodness [0,1] 0.9989537068670994 Centerline is valid? [True, True] Translation: X:772.76, Y:13.34, Z:7.16 [[ 9.98364634e-01 -5.39707702e-02 -1.88471211e-02 7.72756281e+02] [ 5.39763804e-02 9.98542190e-01 -2.11268324e-04 1.33436141e+01] [ 1.88310479e-02 -8.06376554e-04 9.99822355e-01 7.15977327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0592541539999 meters Centerline goodness [0,1] 0.9988449939041345 Centerline is valid? [True, True] Translation: X:772.79, Y:13.35, Z:7.16 [[ 9.98539632e-01 -5.07021662e-02 -1.86519238e-02 7.72787793e+02] [ 5.07071108e-02 9.98713545e-01 -2.08046092e-04 1.33479269e+01] [ 1.86384774e-02 -7.38042900e-04 9.99826016e-01 7.16022322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.089254154 meters Centerline goodness [0,1] 0.9992516410442814 Centerline is valid? [True, True] Translation: X:772.82, Y:13.35, Z:7.16 [[ 9.98634245e-01 -4.87197580e-02 -1.88687290e-02 7.72819428e+02] [ 4.87244846e-02 9.98812235e-01 -2.09420248e-04 1.33500218e+01] [ 1.88565203e-02 -7.10234862e-04 9.99821948e-01 7.16038674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1192541539999 meters Centerline goodness [0,1] 0.9993145403135978 Centerline is valid? [True, True] Translation: X:772.85, Y:13.35, Z:7.16 [[ 9.98802737e-01 -4.51430321e-02 -1.88467146e-02 7.72850091e+02] [ 4.51471310e-02 9.98980327e-01 -2.08149149e-04 1.33535060e+01] [ 1.88368936e-02 -6.42975155e-04 9.99822363e-01 7.16036334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1492541539999 meters Centerline goodness [0,1] 0.9992298312046723 Centerline is valid? [True, True] Translation: X:772.88, Y:13.36, Z:7.16 [[ 9.98866013e-01 -4.37372225e-02 -1.88080755e-02 7.72882557e+02] [ 4.37410749e-02 9.99042880e-01 -2.06702698e-04 1.33553901e+01] [ 1.87991145e-02 -6.16217139e-04 9.99823091e-01 7.16047139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1792541539999 meters Centerline goodness [0,1] 0.9991446411769738 Centerline is valid? [True, True] Translation: X:772.91, Y:13.36, Z:7.16 [[ 9.98912677e-01 -4.23937932e-02 -1.93966730e-02 7.72914533e+02] [ 4.23976651e-02 9.99100792e-01 -2.11753633e-04 1.33567069e+01] [ 1.93882084e-02 -6.10850256e-04 9.99811844e-01 7.15901420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.209254154 meters Centerline goodness [0,1] 0.9992713713220325 Centerline is valid? [True, True] Translation: X:772.95, Y:13.36, Z:7.16 [[ 9.99016143e-01 -4.05010286e-02 -1.80668760e-02 7.72946138e+02] [ 4.05040954e-02 9.99179353e-01 -1.96288817e-04 1.33610786e+01] [ 1.80599994e-02 -5.35686774e-04 9.99836761e-01 7.16155827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2392541539999 meters Centerline goodness [0,1] 0.9991198505892708 Centerline is valid? [True, True] Translation: X:772.98, Y:13.36, Z:7.16 [[ 9.99149102e-01 -3.72563497e-02 -1.76928461e-02 7.72976213e+02] [ 3.72587912e-02 9.99305632e-01 -1.91735872e-04 1.33644811e+01] [ 1.76877042e-02 -4.67641335e-04 9.99843451e-01 7.16163151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2692541539999 meters Centerline goodness [0,1] 0.9992065194081063 Centerline is valid? [True, True] Translation: X:773.01, Y:13.37, Z:7.16 [[ 9.99241446e-01 -3.48915898e-02 -1.72948132e-02 7.73007324e+02] [ 3.48935790e-02 9.99391016e-01 -1.86825093e-04 1.33659114e+01] [ 1.72907996e-02 -4.16794556e-04 9.99850416e-01 7.16185795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2992541539999 meters Centerline goodness [0,1] 0.999140247178936 Centerline is valid? [True, True] Translation: X:773.04, Y:13.37, Z:7.16 [[ 9.99352831e-01 -3.16979602e-02 -1.70046428e-02 7.73039168e+02] [ 3.16994364e-02 9.99497430e-01 -1.82787536e-04 1.33688129e+01] [ 1.70018908e-02 -3.56368351e-04 9.99855394e-01 7.16137068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3292541539998 meters Centerline goodness [0,1] 0.9991385066011932 Centerline is valid? [True, True] Translation: X:773.07, Y:13.37, Z:7.16 [[ 9.99448007e-01 -2.86560762e-02 -1.68080264e-02 7.73070505e+02] [ 2.86571011e-02 9.99589285e-01 -1.79920560e-04 1.33727074e+01] [ 1.68062789e-02 -3.01848065e-04 9.99858719e-01 7.16259636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3592541539999 meters Centerline goodness [0,1] 0.9993095114793716 Centerline is valid? [True, True] Translation: X:773.10, Y:13.38, Z:7.16 [[ 9.99610426e-01 -2.25688258e-02 -1.64208347e-02 7.73101562e+02] [ 2.25689902e-02 9.99745273e-01 -1.75323781e-04 1.33789184e+01] [ 1.64206087e-02 -1.95346178e-04 9.99865154e-01 7.16400487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3892541539999 meters Centerline goodness [0,1] 0.9994392805538183 Centerline is valid? [True, True] Translation: X:773.13, Y:13.38, Z:7.16 [[ 9.99708797e-01 -1.79899976e-02 -1.60835649e-02 7.73131589e+02] [ 1.79895654e-02 9.99838160e-01 -1.71558357e-04 1.33830112e+01] [ 1.60840483e-02 -1.17827945e-04 9.99870636e-01 7.16475195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4192541539999 meters Centerline goodness [0,1] 0.9992878415123657 Centerline is valid? [True, True] Translation: X:773.16, Y:13.38, Z:7.16 [[ 9.99734093e-01 -1.66541972e-02 -1.59493013e-02 7.73160479e+02] [ 1.66535964e-02 9.99861305e-01 -1.70487588e-04 1.33832142e+01] [ 1.59499286e-02 -9.51709738e-05 9.99872787e-01 7.16412364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4492541539998 meters Centerline goodness [0,1] 0.9995468571305267 Centerline is valid? [True, True] Translation: X:773.19, Y:13.38, Z:7.17 [[ 9.99738291e-01 -1.61221313e-02 -1.62304136e-02 7.73188842e+02] [ 1.61214023e-02 9.99870026e-01 -1.75761273e-04 1.33839685e+01] [ 1.62311378e-02 -8.59417532e-05 9.99868263e-01 7.16500264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4792541539999 meters Centerline goodness [0,1] 0.9992455270532442 Centerline is valid? [True, True] Translation: X:773.22, Y:13.38, Z:7.16 [[ 9.99736322e-01 -1.65762261e-02 -1.58907491e-02 7.73217795e+02] [ 1.65755213e-02 9.99862601e-01 -1.76072666e-04 1.33828937e+01] [ 1.58914843e-02 -8.73712102e-05 9.99873719e-01 7.16486524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5092541539999 meters Centerline goodness [0,1] 0.999288915704189 Centerline is valid? [True, True] Translation: X:773.25, Y:13.38, Z:7.17 [[ 9.99717289e-01 -1.75432874e-02 -1.60491279e-02 7.73246540e+02] [ 1.75426273e-02 9.99846100e-01 -1.81919463e-04 1.33818953e+01] [ 1.60498494e-02 -9.96758369e-05 9.99871188e-01 7.16503591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5392541539999 meters Centerline goodness [0,1] 0.9992247394263072 Centerline is valid? [True, True] Translation: X:773.27, Y:13.38, Z:7.17 [[ 9.99688115e-01 -1.94383314e-02 -1.56787671e-02 7.73274716e+02] [ 1.94378911e-02 9.99811050e-01 -1.80484855e-04 1.33792651e+01] [ 1.56793129e-02 -1.24333603e-04 9.99877064e-01 7.16523317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5692541539999 meters Centerline goodness [0,1] 0.9991398219431422 Centerline is valid? [True, True] Translation: X:773.30, Y:13.38, Z:7.16 [[ 9.99665980e-01 -2.04070108e-02 -1.58581744e-02 7.73304369e+02] [ 2.04066678e-02 9.99791745e-01 -1.83459064e-04 1.33778755e+01] [ 1.58586157e-02 -1.40214712e-04 9.99874234e-01 7.16456138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5992541539999 meters Centerline goodness [0,1] 0.9992053435278452 Centerline is valid? [True, True] Translation: X:773.33, Y:13.37, Z:7.17 [[ 9.99592569e-01 -2.38731654e-02 -1.56450624e-02 7.73334433e+02] [ 2.38732472e-02 9.99714977e-01 -1.81554713e-04 1.33747756e+01] [ 1.56449375e-02 -1.92017700e-04 9.99877592e-01 7.16601319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6292541539999 meters Centerline goodness [0,1] 0.9992708869445874 Centerline is valid? [True, True] Translation: X:773.36, Y:13.37, Z:7.17 [[ 9.99535798e-01 -2.59831228e-02 -1.59080204e-02 7.73364635e+02] [ 2.59834709e-02 9.99662356e-01 -1.84838122e-04 1.33721849e+01] [ 1.59074518e-02 -2.28593265e-04 9.99873442e-01 7.16578286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6592541539999 meters Centerline goodness [0,1] 0.9990141660058721 Centerline is valid? [True, True] Translation: X:773.40, Y:13.37, Z:7.17 [[ 9.99462324e-01 -2.84978265e-02 -1.62153433e-02 7.73395588e+02] [ 2.84985239e-02 9.99593817e-01 -1.88111020e-04 1.33694500e+01] [ 1.62141177e-02 -2.74103472e-04 9.99868505e-01 7.16562289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6892541539999 meters Centerline goodness [0,1] 0.9992507118237675 Centerline is valid? [True, True] Translation: X:773.43, Y:13.36, Z:7.16 [[ 9.99250111e-01 -3.45392414e-02 -1.75001780e-02 7.73427184e+02] [ 3.45409879e-02 9.99403262e-01 -2.02543515e-04 1.33631717e+01] [ 1.74967307e-02 -4.02081806e-04 9.99846840e-01 7.16497247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7192541539999 meters Centerline goodness [0,1] 0.9994229412896194 Centerline is valid? [True, True] Translation: X:773.46, Y:13.36, Z:7.16 [[ 9.99123660e-01 -3.78024554e-02 -1.79690326e-02 7.73458928e+02] [ 3.78048358e-02 9.99285120e-01 -2.07316988e-04 1.33600222e+01] [ 1.79640240e-02 -4.72181019e-04 9.99838522e-01 7.16495589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7492541539999 meters Centerline goodness [0,1] 0.9990616736330291 Centerline is valid? [True, True] Translation: X:773.49, Y:13.36, Z:7.16 [[ 9.98999771e-01 -4.08771598e-02 -1.81249965e-02 7.73490193e+02] [ 4.08800991e-02 9.99164038e-01 -2.08463236e-04 1.33564684e+01] [ 1.81183661e-02 -5.32696928e-04 9.99835707e-01 7.16406490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7792541539999 meters Centerline goodness [0,1] 0.9988284162317606 Centerline is valid? [True, True] Translation: X:773.52, Y:13.35, Z:7.16 [[ 9.98742744e-01 -4.67391076e-02 -1.81214826e-02 7.73520594e+02] [ 4.67430183e-02 9.98906926e-01 -2.07931665e-04 1.33490659e+01] [ 1.81113930e-02 -6.39382551e-04 9.99835771e-01 7.16378198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8092541539999 meters Centerline goodness [0,1] 0.9989783973608598 Centerline is valid? [True, True] Translation: X:773.55, Y:13.35, Z:7.16 [[ 9.98638006e-01 -4.90655722e-02 -1.77398411e-02 7.73552187e+02] [ 4.90697032e-02 9.98795336e-01 -2.02598599e-04 1.33479284e+01] [ 1.77284111e-02 -6.68166075e-04 9.99842616e-01 7.16456875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.839254154 meters Centerline goodness [0,1] 0.9987671640522042 Centerline is valid? [True, True] Translation: X:773.58, Y:13.34, Z:7.16 [[ 9.98455302e-01 -5.26211483e-02 -1.78332692e-02 7.73583682e+02] [ 5.26259105e-02 9.98614276e-01 -2.02465557e-04 1.33445260e+01] [ 1.78192112e-02 -7.36339222e-04 9.99840954e-01 7.16306434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8692541539999 meters Centerline goodness [0,1] 0.9988087387521538 Centerline is valid? [True, True] Translation: X:773.61, Y:13.34, Z:7.16 [[ 9.98329956e-01 -5.51016780e-02 -1.73523787e-02 7.73614555e+02] [ 5.51065716e-02 9.98480459e-01 -1.96378374e-04 1.33394892e+01] [ 1.73368318e-02 -7.60179686e-04 9.99849417e-01 7.16462329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8992541539999 meters Centerline goodness [0,1] 0.9985566922783037 Centerline is valid? [True, True] Translation: X:773.65, Y:13.34, Z:7.16 [[ 9.98092894e-01 -5.92847336e-02 -1.72015828e-02 7.73645955e+02] [ 5.92901730e-02 9.98240771e-01 -1.94045288e-04 1.33380645e+01] [ 1.71828252e-02 -8.26209596e-04 9.99852023e-01 7.16488625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9292541539999 meters Centerline goodness [0,1] 0.9985967001190679 Centerline is valid? [True, True] Translation: X:773.68, Y:13.34, Z:7.17 [[ 9.97956101e-01 -6.16042941e-02 -1.69862230e-02 7.73678070e+02] [ 6.16099483e-02 9.98100285e-01 -1.90727371e-04 1.33352597e+01] [ 1.69657036e-02 -8.56182777e-04 9.99855706e-01 7.16544587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.959254154 meters Centerline goodness [0,1] 0.9986012207527976 Centerline is valid? [True, True] Translation: X:773.71, Y:13.33, Z:7.17 [[ 9.97634415e-01 -6.66656097e-02 -1.67711198e-02 7.73707503e+02] [ 6.66718481e-02 9.97774939e-01 -1.87492212e-04 1.33295968e+01] [ 1.67463023e-02 -9.31112868e-04 9.99859337e-01 7.16545697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9892541539999 meters Centerline goodness [0,1] 0.9986012207527976 Centerline is valid? [True, True] Translation: X:773.74, Y:13.33, Z:7.17 [[ 9.97641653e-01 -6.65572074e-02 -1.67711309e-02 7.73740089e+02] [ 6.65634473e-02 9.97782177e-01 -1.86496560e-04 1.33298672e+01] [ 1.67463482e-02 -9.30287548e-04 9.99859337e-01 7.16576217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0192541539999 meters Centerline goodness [0,1] 0.9983046537255235 Centerline is valid? [True, True] Translation: X:773.77, Y:13.32, Z:7.16 [[ 9.97481935e-01 -6.89304244e-02 -1.66848916e-02 7.73770161e+02] [ 6.89369586e-02 9.97621001e-01 -1.83886114e-04 1.33165839e+01] [ 1.66578736e-02 -9.66782607e-04 9.99860781e-01 7.16424246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0492541539999 meters Centerline goodness [0,1] 0.9984522093121873 Centerline is valid? [True, True] Translation: X:773.80, Y:13.32, Z:7.16 [[ 9.97332305e-01 -7.09285521e-02 -1.72457171e-02 7.73801227e+02] [ 7.09358501e-02 9.97480862e-01 -1.88941330e-04 1.33244016e+01] [ 1.72156741e-02 -1.03490231e-03 9.99851264e-01 7.16411027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0792541539998 meters Centerline goodness [0,1] 0.9985377018607214 Centerline is valid? [True, True] Translation: X:773.83, Y:13.32, Z:7.17 [[ 9.96971872e-01 -7.60110012e-02 -1.64138310e-02 7.73831670e+02] [ 7.60183033e-02 9.97106406e-01 -1.79487197e-04 1.33209634e+01] [ 1.63799790e-02 -1.06880789e-03 9.99865268e-01 7.16693986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1092541539999 meters Centerline goodness [0,1] 0.998324958123953 Centerline is valid? [True, True] Translation: X:773.86, Y:13.32, Z:7.17 [[ 9.96844672e-01 -7.76387005e-02 -1.65206788e-02 7.73862991e+02] [ 7.76463274e-02 9.96980950e-01 -1.80243101e-04 1.33165858e+01] [ 1.64847959e-02 -1.10309566e-03 9.99863508e-01 7.16681078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1392541539999 meters Centerline goodness [0,1] 0.998792551952041 Centerline is valid? [True, True] Translation: X:773.89, Y:13.32, Z:7.17 [[ 9.96649811e-01 -8.00360043e-02 -1.68342818e-02 7.73893633e+02] [ 8.00442746e-02 9.96791292e-01 -1.83017732e-04 1.33212305e+01] [ 1.67949136e-02 -1.16508329e-03 9.99858277e-01 7.16788518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1692541539999 meters Centerline goodness [0,1] 0.9985807790887331 Centerline is valid? [True, True] Translation: X:773.92, Y:13.31, Z:7.17 [[ 9.96597116e-01 -8.05166036e-02 -1.76427042e-02 7.73924931e+02] [ 8.05257846e-02 9.96752508e-01 -1.90552446e-04 1.33138306e+01] [ 1.76007523e-02 -1.23078858e-03 9.99844337e-01 7.16705681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1992541539998 meters Centerline goodness [0,1] 0.9985156597892237 Centerline is valid? [True, True] Translation: X:773.96, Y:13.31, Z:7.17 [[ 9.96585691e-01 -8.05295435e-02 -1.82195668e-02 7.73957235e+02] [ 8.05393710e-02 9.96751409e-01 -1.94912836e-04 1.33138111e+01] [ 1.81760751e-02 -1.27314511e-03 9.99833991e-01 7.16684645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2292541539999 meters Centerline goodness [0,1] 0.9986203676189668 Centerline is valid? [True, True] Translation: X:773.99, Y:13.31, Z:7.17 [[ 9.96609038e-01 -7.99234749e-02 -1.95617694e-02 7.73988367e+02] [ 7.99347119e-02 9.96800080e-01 -2.08045886e-04 1.33137952e+01] [ 1.95158010e-02 -1.35632399e-03 9.99808629e-01 7.16606801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2592541539999 meters Centerline goodness [0,1] 0.9987500529638574 Centerline is valid? [True, True] Translation: X:774.02, Y:13.31, Z:7.17 [[ 9.96677787e-01 -7.90521069e-02 -1.95998543e-02 7.74020246e+02] [ 7.90632432e-02 9.96869581e-01 -2.07267073e-04 1.33139244e+01] [ 1.95548834e-02 -1.34304956e-03 9.99807883e-01 7.16616924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2892541539999 meters Centerline goodness [0,1] 0.9987065309584393 Centerline is valid? [True, True] Translation: X:774.05, Y:13.32, Z:7.17 [[ 9.96832573e-01 -7.69327149e-02 -2.01538561e-02 7.74051577e+02] [ 7.69440796e-02 9.97035387e-01 -2.12085341e-04 1.33216505e+01] [ 2.01104240e-02 -1.33930633e-03 9.99796868e-01 7.16731252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3192541539999 meters Centerline goodness [0,1] 0.9985369887411742 Centerline is valid? [True, True] Translation: X:774.08, Y:13.33, Z:7.17 [[ 9.96981959e-01 -7.49736771e-02 -2.01474953e-02 7.74083272e+02] [ 7.49846545e-02 9.97184665e-01 -2.11108661e-04 1.33250436e+01] [ 2.01066010e-02 -1.30028145e-03 9.99796996e-01 7.16664103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3492541539999 meters Centerline goodness [0,1] 0.9987492845483645 Centerline is valid? [True, True] Translation: X:774.11, Y:13.33, Z:7.17 [[ 9.97265815e-01 -7.14060424e-02 -1.90281758e-02 7.74114192e+02] [ 7.14152003e-02 9.97446655e-01 -1.98660212e-04 1.33336231e+01] [ 1.89937759e-02 -1.16078395e-03 9.99818928e-01 7.17061133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3792541539999 meters Centerline goodness [0,1] 0.9987703527815468 Centerline is valid? [True, True] Translation: X:774.14, Y:13.33, Z:7.17 [[ 9.97475585e-01 -6.85786271e-02 -1.84236179e-02 7.74144001e+02] [ 6.85867358e-02 9.97645139e-01 -1.92117207e-04 1.33338530e+01] [ 1.83934080e-02 -1.07198359e-03 9.99830252e-01 7.16935103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4092541539999 meters Centerline goodness [0,1] 0.9986627043090639 Centerline is valid? [True, True] Translation: X:774.18, Y:13.34, Z:7.17 [[ 9.97656959e-01 -6.61122628e-02 -1.76000335e-02 7.74175110e+02] [ 6.61192854e-02 9.97811709e-01 -1.83224655e-04 1.33391699e+01] [ 1.75736329e-02 -9.80906283e-04 9.99845091e-01 7.17121614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4392541539999 meters Centerline goodness [0,1] 0.9985988748540494 Centerline is valid? [True, True] Translation: X:774.21, Y:13.35, Z:7.17 [[ 9.98020857e-01 -6.06647886e-02 -1.65575495e-02 7.74205767e+02] [ 6.06702615e-02 9.98157848e-01 -1.72031688e-04 1.33456381e+01] [ 1.65374842e-02 -8.32859644e-04 9.99862900e-01 7.17383636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4692541539999 meters Centerline goodness [0,1] 0.9987645116625838 Centerline is valid? [True, True] Translation: X:774.24, Y:13.35, Z:7.17 [[ 9.98371062e-01 -5.45027088e-02 -1.68723810e-02 7.74235010e+02] [ 5.45075120e-02 9.98513345e-01 -1.75404016e-04 1.33504596e+01] [ 1.68568576e-02 -7.44553217e-04 9.99857636e-01 7.17412055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4992541539999 meters Centerline goodness [0,1] 0.998744520577095 Centerline is valid? [True, True] Translation: X:774.27, Y:13.35, Z:7.17 [[ 9.98553293e-01 -5.07621100e-02 -1.77349806e-02 7.74265234e+02] [ 5.07668279e-02 9.98710516e-01 -1.84376193e-04 1.33519441e+01] [ 1.77214710e-02 -7.16239255e-04 9.99842706e-01 7.17235909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5292541539999 meters Centerline goodness [0,1] 0.9989137380191694 Centerline is valid? [True, True] Translation: X:774.30, Y:13.36, Z:7.17 [[ 9.98712378e-01 -4.74119916e-02 -1.80468478e-02 7.74296420e+02] [ 4.74163396e-02 9.98875195e-01 -1.87129119e-04 1.33553079e+01] [ 1.80354208e-02 -6.68827299e-04 9.99837125e-01 7.17175273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5592541539999 meters Centerline goodness [0,1] 0.9988274921122197 Centerline is valid? [True, True] Translation: X:774.33, Y:13.36, Z:7.17 [[ 9.98969491e-01 -4.11245105e-02 -1.92023410e-02 7.74326908e+02] [ 4.11282798e-02 9.99153855e-01 -1.98749210e-04 1.33614839e+01] [ 1.91942665e-02 -5.91214857e-04 9.99815598e-01 7.17363553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.589254154 meters Centerline goodness [0,1] 0.9989768076398363 Centerline is valid? [True, True] Translation: X:774.36, Y:13.36, Z:7.17 [[ 9.99102432e-01 -3.73638349e-02 -1.99568255e-02 7.74357806e+02] [ 3.73671643e-02 9.99301582e-01 -2.06173834e-04 1.33633231e+01] [ 1.99505908e-02 -5.39741199e-04 9.99800821e-01 7.17341254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6192541539999 meters Centerline goodness [0,1] 0.998934129183543 Centerline is valid? [True, True] Translation: X:774.39, Y:13.37, Z:7.17 [[ 9.99378533e-01 -2.90875456e-02 -1.99113590e-02 7.74388021e+02] [ 2.90892246e-02 9.99576798e-01 -2.05364867e-04 1.33706809e+01] [ 1.99089061e-02 -3.73968755e-04 9.99801728e-01 7.17489719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6492541539999 meters Centerline goodness [0,1] 0.9988051294087524 Centerline is valid? [True, True] Translation: X:774.42, Y:13.37, Z:7.18 [[ 9.99507952e-01 -2.45861968e-02 -1.94774873e-02 7.74417091e+02] [ 2.45869418e-02 9.99697675e-01 -2.01256716e-04 1.33731797e+01] [ 1.94765469e-02 -2.77734158e-04 9.99810275e-01 7.17521794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6792541539999 meters Centerline goodness [0,1] 0.998932011876028 Centerline is valid? [True, True] Translation: X:774.45, Y:13.38, Z:7.18 [[ 9.99718075e-01 -1.50294616e-02 -1.83816728e-02 7.74446565e+02] [ 1.50284977e-02 9.99887048e-01 -1.90583212e-04 1.33802984e+01] [ 1.83824609e-02 -8.57194453e-05 9.99831025e-01 7.17789649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7092541539998 meters Centerline goodness [0,1] 0.9990162321692081 Centerline is valid? [True, True] Translation: X:774.48, Y:13.38, Z:7.18 [[ 9.99777059e-01 -1.07807766e-02 -1.81550671e-02 7.74475685e+02] [ 1.07790892e-02 9.99941886e-01 -1.90799286e-04 1.33834870e+01] [ 1.81560690e-02 -4.93833844e-06 9.99835165e-01 7.17871871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7392541539999 meters Centerline goodness [0,1] 0.9988874863610107 Centerline is valid? [True, True] Translation: X:774.50, Y:13.39, Z:7.18 [[ 9.99844635e-01 -2.76701830e-03 -1.74083084e-02 7.74504238e+02] [ 2.76417611e-03 9.99996162e-01 -1.87325783e-04 1.33875426e+01] [ 1.74087599e-02 1.39177049e-04 9.99848446e-01 7.17997434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7692541539999 meters Centerline goodness [0,1] 0.9991652218583446 Centerline is valid? [True, True] Translation: X:774.53, Y:13.39, Z:7.18 [[ 9.99848677e-01 3.30995346e-04 -1.73929438e-02 7.74531898e+02] [-3.34356509e-04 9.99999926e-01 -1.90341080e-04 1.33892072e+01] [ 1.73928795e-02 1.96127721e-04 9.99848713e-01 7.18047276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7992541539999 meters Centerline goodness [0,1] 0.9991660786451986 Centerline is valid? [True, True] Translation: X:774.56, Y:13.39, Z:7.18 [[ 9.99841593e-01 2.97716792e-03 -1.75478208e-02 7.74559867e+02] [-2.98102500e-03 9.99995538e-01 -1.93650877e-04 1.33902273e+01] [ 1.75471659e-02 2.45930694e-04 9.99846006e-01 7.17933362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8292541539998 meters Centerline goodness [0,1] 0.9990582393356306 Centerline is valid? [True, True] Translation: X:774.59, Y:13.39, Z:7.18 [[ 9.99843625e-01 3.39911336e-03 -1.73543114e-02 7.74588254e+02] [-3.40297415e-03 9.99994191e-01 -1.92943040e-04 1.33903331e+01] [ 1.73535548e-02 2.51969142e-04 9.99849384e-01 7.18120988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8592541539999 meters Centerline goodness [0,1] 0.9990818439988897 Centerline is valid? [True, True] Translation: X:774.62, Y:13.39, Z:7.18 [[ 9.99833948e-01 2.40733559e-03 -1.80632336e-02 7.74617057e+02] [-2.41138102e-03 9.99997072e-01 -2.02182568e-04 1.33872048e+01] [ 1.80626940e-02 2.45706334e-04 9.99836826e-01 7.18116549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8892541539999 meters Centerline goodness [0,1] 0.9990641881832489 Centerline is valid? [True, True] Translation: X:774.65, Y:13.38, Z:7.18 [[ 9.99816045e-01 -3.02243689e-03 -1.89404444e-02 7.74645183e+02] [ 3.01893262e-03 9.99995420e-01 -2.13605289e-04 1.33810907e+01] [ 1.89410033e-02 1.56386070e-04 9.99820591e-01 7.18038236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9192541539999 meters Centerline goodness [0,1] 0.9988950041437344 Centerline is valid? [True, True] Translation: X:774.67, Y:13.38, Z:7.18 [[ 9.99793487e-01 -6.93589934e-03 -1.91017522e-02 7.74674140e+02] [ 6.93301919e-03 9.99975943e-01 -2.16998074e-04 1.33770099e+01] [ 1.91027977e-02 8.45204463e-05 9.99817521e-01 7.17953788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9492541539998 meters Centerline goodness [0,1] 0.9988329655406553 Centerline is valid? [True, True] Translation: X:774.70, Y:13.37, Z:7.18 [[ 9.99679654e-01 -1.68567344e-02 -1.88796393e-02 7.74701691e+02] [ 1.68556496e-02 9.99857910e-01 -2.16596928e-04 1.33670726e+01] [ 1.88806078e-02 -1.01701044e-04 9.99821740e-01 7.17968182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9792541539999 meters Centerline goodness [0,1] 0.9987941612016078 Centerline is valid? [True, True] Translation: X:774.73, Y:13.36, Z:7.18 [[ 9.99586385e-01 -2.19808360e-02 -1.85445886e-02 7.74729246e+02] [ 2.19806298e-02 9.99758374e-01 -2.14973707e-04 1.33618458e+01] [ 1.85448330e-02 -1.92736945e-04 9.99828011e-01 7.17983226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0092541539999 meters Centerline goodness [0,1] 0.9986250079326465 Centerline is valid? [True, True] Translation: X:774.76, Y:13.36, Z:7.18 [[ 9.99471207e-01 -2.70647006e-02 -1.80224603e-02 7.74757677e+02] [ 2.70653034e-02 9.99633645e-01 -2.10504714e-04 1.33566012e+01] [ 1.80215550e-02 -2.77389957e-04 9.99837560e-01 7.18004655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0392541539999 meters Centerline goodness [0,1] 0.9985013508949679 Centerline is valid? [True, True] Translation: X:774.79, Y:13.35, Z:7.18 [[ 9.99224735e-01 -3.49895449e-02 -1.80460710e-02 7.74787480e+02] [ 3.49914202e-02 9.99387590e-01 -2.11923970e-04 1.33461054e+01] [ 1.80424346e-02 -4.19697980e-04 9.99837134e-01 7.17832899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0692541539999 meters Centerline goodness [0,1] 0.9985659454215698 Centerline is valid? [True, True] Translation: X:774.82, Y:13.34, Z:7.18 [[ 9.99084669e-01 -3.93184754e-02 -1.68487776e-02 7.74818235e+02] [ 3.93207222e-02 9.99226622e-01 -1.98036545e-04 1.33432805e+01] [ 1.68435336e-02 -4.64650828e-04 9.99858030e-01 7.18109760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0992541539999 meters Centerline goodness [0,1] 0.9985673050586773 Centerline is valid? [True, True] Translation: X:774.85, Y:13.34, Z:7.18 [[ 9.98958135e-01 -4.24877737e-02 -1.66563344e-02 7.74848630e+02] [ 4.24904145e-02 9.99096855e-01 -1.95472280e-04 1.33384759e+01] [ 1.66495965e-02 -5.12465929e-04 9.99861255e-01 7.18046494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1292541539999 meters Centerline goodness [0,1] 0.9984861864513688 Centerline is valid? [True, True] Translation: X:774.88, Y:13.33, Z:7.18 [[ 9.98678262e-01 -4.89321177e-02 -1.57281905e-02 7.74878694e+02] [ 4.89352788e-02 9.98801935e-01 -1.84035378e-04 1.33278267e+01] [ 1.57183523e-02 -5.85871256e-04 9.99876287e-01 7.18164998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1592541539999 meters Centerline goodness [0,1] 0.9986568730325288 Centerline is valid? [True, True] Translation: X:774.91, Y:13.32, Z:7.18 [[ 9.98542802e-01 -5.16890999e-02 -1.55083485e-02 7.74910015e+02] [ 5.16925187e-02 9.98663032e-01 -1.80595754e-04 1.33225327e+01] [ 1.54969491e-02 -6.21333003e-04 9.99879722e-01 7.18206291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1892541539999 meters Centerline goodness [0,1] 0.9984917043740573 Centerline is valid? [True, True] Translation: X:774.94, Y:13.31, Z:7.18 [[ 9.98263539e-01 -5.67723553e-02 -1.57100748e-02 7.74940388e+02] [ 5.67764992e-02 9.98386897e-01 -1.82470022e-04 1.33136726e+01] [ 1.56950921e-02 -7.09809878e-04 9.99876573e-01 7.17970000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2192541539999 meters Centerline goodness [0,1] 0.9985767805939848 Centerline is valid? [True, True] Translation: X:774.97, Y:13.31, Z:7.18 [[ 9.98062828e-01 -6.03093906e-02 -1.52764166e-02 7.74971025e+02] [ 6.03137256e-02 9.98179454e-01 -1.77207393e-04 1.33095687e+01] [ 1.52592925e-02 -7.44513486e-04 9.99883293e-01 7.18230848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2492541539999 meters Centerline goodness [0,1] 0.998513649304974 Centerline is valid? [True, True] Translation: X:775.00, Y:13.31, Z:7.18 [[ 9.97734902e-01 -6.51274485e-02 -1.68368873e-02 7.75002030e+02] [ 6.51334059e-02 9.97876546e-01 -1.94872023e-04 1.33097471e+01] [ 1.68138264e-02 -9.02213195e-04 9.99858231e-01 7.17948329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2792541539999 meters Centerline goodness [0,1] 0.9984311592687111 Centerline is valid? [True, True] Translation: X:775.03, Y:13.31, Z:7.18 [[ 9.97552146e-01 -6.79325249e-02 -1.65797727e-02 7.75031908e+02] [ 6.79386885e-02 9.97689480e-01 -1.91856640e-04 1.33050983e+01] [ 1.65544981e-02 -9.35021010e-04 9.99862528e-01 7.18046809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3092541539999 meters Centerline goodness [0,1] 0.9984724198543568 Centerline is valid? [True, True] Translation: X:775.06, Y:13.30, Z:7.18 [[ 9.97296600e-01 -7.13874991e-02 -1.74159958e-02 7.75062596e+02] [ 7.13948277e-02 9.97448113e-01 -2.01388138e-04 1.33014666e+01] [ 1.73859287e-02 -1.04256831e-03 9.99848310e-01 7.18114025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.339254154 meters Centerline goodness [0,1] 0.9983476951392956 Centerline is valid? [True, True] Translation: X:775.09, Y:13.30, Z:7.18 [[ 9.97279619e-01 -7.15617272e-02 -1.76714754e-02 7.75093364e+02] [ 7.15693210e-02 9.97435607e-01 -2.03129998e-04 1.32987205e+01] [ 1.76406951e-02 -1.06215809e-03 9.99843827e-01 7.17934218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3692541539999 meters Centerline goodness [0,1] 0.9987855692120857 Centerline is valid? [True, True] Translation: X:775.13, Y:13.30, Z:7.18 [[ 9.97233669e-01 -7.21977938e-02 -1.76773082e-02 7.75125663e+02] [ 7.22055238e-02 9.97389754e-01 -2.01405407e-04 1.33029352e+01] [ 1.76457071e-02 -1.07555104e-03 9.99843724e-01 7.18222063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3992541539999 meters Centerline goodness [0,1] 0.9985558206706016 Centerline is valid? [True, True] Translation: X:775.16, Y:13.30, Z:7.18 [[ 9.97281955e-01 -7.14531980e-02 -1.79761724e-02 7.75157697e+02] [ 7.14610954e-02 9.97443367e-01 -2.03460885e-04 1.33043350e+01] [ 1.79447518e-02 -1.08168910e-03 9.99838395e-01 7.18263863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4292541539999 meters Centerline goodness [0,1] 0.9985975341720219 Centerline is valid? [True, True] Translation: X:775.19, Y:13.30, Z:7.18 [[ 9.97364535e-01 -7.02238430e-02 -1.82372341e-02 7.75189185e+02] [ 7.02317886e-02 9.97530678e-01 -2.05213855e-04 1.32999699e+01] [ 1.82066114e-02 -1.07616055e-03 9.99833667e-01 7.18216074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4592541539998 meters Centerline goodness [0,1] 0.9985974460958761 Centerline is valid? [True, True] Translation: X:775.22, Y:13.31, Z:7.18 [[ 9.97581478e-01 -6.71622319e-02 -1.79005583e-02 7.75220073e+02] [ 6.71694073e-02 9.97741565e-01 -2.00759034e-04 1.33060037e+01] [ 1.78736144e-02 -1.00209640e-03 9.99839752e-01 7.18337907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4892541539999 meters Centerline goodness [0,1] 0.9987234220659635 Centerline is valid? [True, True] Translation: X:775.25, Y:13.31, Z:7.18 [[ 9.97727627e-01 -6.49487497e-02 -1.79232264e-02 7.75252045e+02] [ 6.49555996e-02 9.97888135e-01 -2.00326261e-04 1.33076017e+01] [ 1.78983859e-02 -9.64342870e-04 9.99839346e-01 7.18285109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5192541539999 meters Centerline goodness [0,1] 0.9989537560159029 Centerline is valid? [True, True] Translation: X:775.28, Y:13.31, Z:7.19 [[ 9.97972088e-01 -6.13151290e-02 -1.70928922e-02 7.75282565e+02] [ 6.13208363e-02 9.98118089e-01 -1.90507025e-04 1.33117048e+01] [ 1.70724059e-02 -8.58029752e-04 9.99853888e-01 7.18519168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5492541539999 meters Centerline goodness [0,1] 0.9987641908592015 Centerline is valid? [True, True] Translation: X:775.31, Y:13.31, Z:7.19 [[ 9.98118234e-01 -5.90018720e-02 -1.66963865e-02 7.75314115e+02] [ 5.90069991e-02 9.98257552e-01 -1.85820212e-04 1.33132829e+01] [ 1.66782576e-02 -7.99733119e-04 9.99860588e-01 7.18565310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5792541539998 meters Centerline goodness [0,1] 0.9989308176100629 Centerline is valid? [True, True] Translation: X:775.34, Y:13.32, Z:7.19 [[ 9.98369986e-01 -5.46351927e-02 -1.65035303e-02 7.75343479e+02] [ 5.46396100e-02 9.98506124e-01 -1.83464375e-04 1.33171060e+01] [ 1.64888997e-02 -7.18581134e-04 9.99863791e-01 7.18628409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6092541539999 meters Centerline goodness [0,1] 0.9990155418708894 Centerline is valid? [True, True] Translation: X:775.38, Y:13.32, Z:7.19 [[ 9.98506974e-01 -5.21257121e-02 -1.63319405e-02 7.75375161e+02] [ 5.21297063e-02 9.98640306e-01 -1.81348914e-04 1.33188529e+01] [ 1.63191870e-02 -6.70301106e-04 9.99866609e-01 7.18648805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6392541539999 meters Centerline goodness [0,1] 0.9990140963248867 Centerline is valid? [True, True] Translation: X:775.41, Y:13.32, Z:7.19 [[ 9.98626416e-01 -4.96324917e-02 -1.67897619e-02 7.75406592e+02] [ 4.96363744e-02 9.98767338e-01 -1.85639903e-04 1.33230596e+01] [ 1.67782795e-02 -6.47997996e-04 9.99859025e-01 7.18546578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6692541539999 meters Centerline goodness [0,1] 0.9990142410704923 Centerline is valid? [True, True] Translation: X:775.44, Y:13.32, Z:7.19 [[ 9.98813690e-01 -4.55622821e-02 -1.71840556e-02 7.75437244e+02] [ 4.55657588e-02 9.98961323e-01 -1.89359409e-04 1.33246298e+01] [ 1.71748346e-02 -5.93869763e-04 9.99852325e-01 7.18573338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6992541539998 meters Centerline goodness [0,1] 0.9991816178785017 Centerline is valid? [True, True] Translation: X:775.47, Y:13.33, Z:7.19 [[ 9.98906874e-01 -4.34385832e-02 -1.72669331e-02 7.75468881e+02] [ 4.34417873e-02 9.99055942e-01 -1.89652962e-04 1.33266179e+01] [ 1.72588703e-02 -5.60660787e-04 9.99850897e-01 7.18667789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7292541539999 meters Centerline goodness [0,1] 0.9990770844257997 Centerline is valid? [True, True] Translation: X:775.50, Y:13.33, Z:7.19 [[ 9.98990722e-01 -4.14002242e-02 -1.74229551e-02 7.75500306e+02] [ 4.14031873e-02 9.99142502e-01 -1.90758230e-04 1.33284059e+01] [ 1.74159124e-02 -5.30800172e-04 9.99848191e-01 7.18568263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7592541539999 meters Centerline goodness [0,1] 0.9991182768610656 Centerline is valid? [True, True] Translation: X:775.53, Y:13.33, Z:7.19 [[ 9.99134007e-01 -3.78858945e-02 -1.72015890e-02 7.75532059e+02] [ 3.78882751e-02 9.99281964e-01 -1.87593074e-04 1.33348026e+01] [ 1.71963448e-02 -4.64307918e-04 9.99852024e-01 7.18841888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7892541539999 meters Centerline goodness [0,1] 0.999389833361387 Centerline is valid? [True, True] Translation: X:775.56, Y:13.34, Z:7.19 [[ 9.99216358e-01 -3.58521540e-02 -1.67718140e-02 7.75563655e+02] [ 3.58541436e-02 9.99357017e-01 -1.82145682e-04 1.33379295e+01] [ 1.67675603e-02 -4.19336083e-04 9.99859327e-01 7.18922045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8192541539999 meters Centerline goodness [0,1] 0.9992427110942824 Centerline is valid? [True, True] Translation: X:775.59, Y:13.34, Z:7.19 [[ 9.99359930e-01 -3.18689362e-02 -1.62512145e-02 7.75594940e+02] [ 3.18702872e-02 9.99491998e-01 -1.75910288e-04 1.33423346e+01] [ 1.62485649e-02 -3.42133181e-04 9.99867925e-01 7.18857521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8492541539999 meters Centerline goodness [0,1] 0.9994311118602642 Centerline is valid? [True, True] Translation: X:775.63, Y:13.34, Z:7.19 [[ 9.99420475e-01 -3.01939523e-02 -1.57174762e-02 7.75626647e+02] [ 3.01950177e-02 9.99544012e-01 -1.69570698e-04 1.33447940e+01] [ 1.57154292e-02 -3.05117044e-04 9.99876458e-01 7.19083166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8792541539999 meters Centerline goodness [0,1] 0.9994311118602642 Centerline is valid? [True, True] Translation: X:775.66, Y:13.35, Z:7.19 [[ 9.99421569e-01 -3.01577114e-02 -1.57174823e-02 7.75657496e+02] [ 3.01587813e-02 9.99545106e-01 -1.69000678e-04 1.33450961e+01] [ 1.57154292e-02 -3.05117189e-04 9.99876458e-01 7.19112056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9092541539999 meters Centerline goodness [0,1] 0.9992627698788836 Centerline is valid? [True, True] Translation: X:775.69, Y:13.35, Z:7.19 [[ 9.99477008e-01 -2.84341535e-02 -1.54015892e-02 7.75687920e+02] [ 2.84349830e-02 9.99595630e-01 -1.65162658e-04 1.33470216e+01] [ 1.54000575e-02 -2.72867648e-04 9.99881375e-01 7.19105302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9392541539999 meters Centerline goodness [0,1] 0.9994943323079516 Centerline is valid? [True, True] Translation: X:775.72, Y:13.35, Z:7.19 [[ 9.99555842e-01 -2.55138371e-02 -1.54001189e-02 7.75717952e+02] [ 2.55143226e-02 9.99674443e-01 -1.64978370e-04 1.33508597e+01] [ 1.53993146e-02 -2.28018510e-04 9.99881398e-01 7.19149120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9692541539999 meters Centerline goodness [0,1] 0.9992422488370625 Centerline is valid? [True, True] Translation: X:775.75, Y:13.35, Z:7.19 [[ 9.99568040e-01 -2.51234524e-02 -1.52494740e-02 7.75746959e+02] [ 2.51238814e-02 9.99684332e-01 -1.63472753e-04 1.33508162e+01] [ 1.52487672e-02 -2.19723837e-04 9.99883707e-01 7.19234089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9992541539999 meters Centerline goodness [0,1] 0.9994098678525513 Centerline is valid? [True, True] Translation: X:775.78, Y:13.35, Z:7.19 [[ 9.99591498e-01 -2.42554648e-02 -1.51165638e-02 7.75777705e+02] [ 2.42557845e-02 9.99705772e-01 -1.62218753e-04 1.33523105e+01] [ 1.51160508e-02 -2.04511628e-04 9.99885725e-01 7.19237659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0292541539999 meters Centerline goodness [0,1] 0.9995160441872698 Centerline is valid? [True, True] Translation: X:775.81, Y:13.35, Z:7.19 [[ 9.99591974e-01 -2.43085471e-02 -1.49993691e-02 7.75806705e+02] [ 2.43088663e-02 9.99704483e-01 -1.61063661e-04 1.33522744e+01] [ 1.49988517e-02 -2.03619715e-04 9.99887490e-01 7.19391865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0592541539999 meters Centerline goodness [0,1] 0.9992839391769512 Centerline is valid? [True, True] Translation: X:775.84, Y:13.35, Z:7.19 [[ 9.99577596e-01 -2.52323720e-02 -1.44206837e-02 7.75836850e+02] [ 2.52327608e-02 9.99681591e-01 -1.55013658e-04 1.33514749e+01] [ 1.44200034e-02 -2.08925482e-04 9.99896005e-01 7.19429523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.089254154 meters Centerline goodness [0,1] 0.9991996293019925 Centerline is valid? [True, True] Translation: X:775.87, Y:13.35, Z:7.19 [[ 9.99555323e-01 -2.61408351e-02 -1.43461528e-02 7.75867712e+02] [ 2.61413134e-02 9.99658246e-01 -1.54212496e-04 1.33507989e+01] [ 1.43452812e-02 -2.20883355e-04 9.99897077e-01 7.19479139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1192541539999 meters Centerline goodness [0,1] 0.9994741602338936 Centerline is valid? [True, True] Translation: X:775.90, Y:13.35, Z:7.19 [[ 9.99516832e-01 -2.75425652e-02 -1.44051713e-02 7.75897858e+02] [ 2.75431930e-02 9.99620602e-01 -1.54846909e-04 1.33489657e+01] [ 1.44039709e-02 -2.41992321e-04 9.99896228e-01 7.19349179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1492541539999 meters Centerline goodness [0,1] 0.9992013115305394 Centerline is valid? [True, True] Translation: X:775.93, Y:13.35, Z:7.19 [[ 9.99473241e-01 -2.90398900e-02 -1.44887998e-02 7.75927746e+02] [ 2.90406824e-02 9.99578218e-01 -1.55745865e-04 1.33477782e+01] [ 1.44872115e-02 -2.65100809e-04 9.99895020e-01 7.19478226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1792541539999 meters Centerline goodness [0,1] 0.9992229665875633 Centerline is valid? [True, True] Translation: X:775.96, Y:13.34, Z:7.19 [[ 9.99435848e-01 -3.01593170e-02 -1.47784217e-02 7.75957730e+02] [ 3.01602652e-02 9.99545063e-01 -1.58763015e-04 1.33440289e+01] [ 1.47764867e-02 -2.87047669e-04 9.99890781e-01 7.19397810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2092541539998 meters Centerline goodness [0,1] 0.9989502855223379 Centerline is valid? [True, True] Translation: X:775.99, Y:13.34, Z:7.19 [[ 9.99366356e-01 -3.18594602e-02 -1.58701293e-02 7.75988729e+02] [ 3.18607743e-02 9.99492302e-01 -1.70083814e-04 1.33436395e+01] [ 1.58674909e-02 -3.35658567e-04 9.99874047e-01 7.19053810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2392541539999 meters Centerline goodness [0,1] 0.999179948694226 Centerline is valid? [True, True] Translation: X:776.02, Y:13.34, Z:7.19 [[ 9.99311946e-01 -3.35917016e-02 -1.57236430e-02 7.76019594e+02] [ 3.35932128e-02 9.99435575e-01 -1.68074810e-04 1.33432767e+01] [ 1.57204141e-02 -3.60248522e-04 9.99876362e-01 7.19393700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2692541539999 meters Centerline goodness [0,1] 0.9996634625496919 Centerline is valid? [True, True] Translation: X:776.05, Y:13.34, Z:7.19 [[ 9.99236596e-01 -3.56044575e-02 -1.60794491e-02 7.76050012e+02] [ 3.56063029e-02 9.99365880e-01 -1.71589943e-04 1.33399039e+01] [ 1.60753621e-02 -4.01070784e-04 9.99870703e-01 7.19380968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2992541539999 meters Centerline goodness [0,1] 0.9994523779434685 Centerline is valid? [True, True] Translation: X:776.08, Y:13.34, Z:7.19 [[ 9.99178369e-01 -3.70884494e-02 -1.63411919e-02 7.76081096e+02] [ 3.70905606e-02 9.99311893e-01 -1.73963805e-04 1.33418181e+01] [ 1.63363994e-02 -4.32283096e-04 9.99866459e-01 7.19449731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3292541539998 meters Centerline goodness [0,1] 0.9993056432268653 Centerline is valid? [True, True] Translation: X:776.11, Y:13.34, Z:7.19 [[ 9.99098770e-01 -3.92291981e-02 -1.62085667e-02 7.76111966e+02] [ 3.92315760e-02 9.99230131e-01 -1.71357693e-04 1.33385997e+01] [ 1.62028105e-02 -4.64684357e-04 9.99868618e-01 7.19442867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3592541539999 meters Centerline goodness [0,1] 0.9992853389385181 Centerline is valid? [True, True] Translation: X:776.14, Y:13.34, Z:7.20 [[ 9.99046725e-01 -4.04079646e-02 -1.65177949e-02 7.76143082e+02] [ 4.04106191e-02 9.99183142e-01 -1.73167915e-04 1.33400038e+01] [ 1.65112995e-02 -4.94491479e-04 9.99863557e-01 7.19516520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3892541539999 meters Centerline goodness [0,1] 0.9991807066929961 Centerline is valid? [True, True] Translation: X:776.17, Y:13.34, Z:7.19 [[ 9.98999941e-01 -4.12559219e-02 -1.72356383e-02 7.76173842e+02] [ 4.12589616e-02 9.99148470e-01 -1.79338789e-04 1.33376442e+01] [ 1.72283604e-02 -5.31965098e-04 9.99851439e-01 7.19195981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4192541539999 meters Centerline goodness [0,1] 0.9991580188182794 Centerline is valid? [True, True] Translation: X:776.21, Y:13.34, Z:7.20 [[ 9.98893713e-01 -4.40913720e-02 -1.63493262e-02 7.76205351e+02] [ 4.40945089e-02 9.99027350e-01 -1.68738791e-04 1.33369259e+01] [ 1.63408639e-02 -5.52363391e-04 9.99866327e-01 7.19551073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4492541539998 meters Centerline goodness [0,1] 0.9993047069234335 Centerline is valid? [True, True] Translation: X:776.24, Y:13.34, Z:7.19 [[ 9.98854195e-01 -4.49882022e-02 -1.63205248e-02 7.76237041e+02] [ 4.49914593e-02 9.98987358e-01 -1.67729911e-04 1.33362684e+01] [ 1.63115438e-02 -5.66746503e-04 9.99866797e-01 7.19401734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4792541539999 meters Centerline goodness [0,1] 0.9989271966175141 Centerline is valid? [True, True] Translation: X:776.27, Y:13.33, Z:7.19 [[ 9.98794860e-01 -4.65114544e-02 -1.56688576e-02 7.76268398e+02] [ 4.65146566e-02 9.98917595e-01 -1.60206971e-04 1.33344630e+01] [ 1.56593490e-02 -5.68817630e-04 9.99877223e-01 7.19430095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5092541539999 meters Centerline goodness [0,1] 0.9989683776158996 Centerline is valid? [True, True] Translation: X:776.30, Y:13.34, Z:7.20 [[ 9.98760836e-01 -4.75428511e-02 -1.47129153e-02 7.76300446e+02] [ 4.75457988e-02 9.98869048e-01 -1.49576444e-04 1.33355832e+01] [ 1.47033870e-02 -5.50146214e-04 9.99891748e-01 7.19763443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5392541539999 meters Centerline goodness [0,1] 0.9991790856276838 Centerline is valid? [True, True] Translation: X:776.33, Y:13.33, Z:7.20 [[ 9.98745928e-01 -4.77731593e-02 -1.49765157e-02 7.76332130e+02] [ 4.77762593e-02 9.98858051e-01 -1.50924953e-04 1.33306145e+01] [ 1.49666235e-02 -5.64786218e-04 9.99887834e-01 7.19729602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5692541539999 meters Centerline goodness [0,1] 0.9988632775497316 Centerline is valid? [True, True] Translation: X:776.36, Y:13.34, Z:7.20 [[ 9.98746615e-01 -4.76018257e-02 -1.54681905e-02 7.76364075e+02] [ 4.76051363e-02 9.98866221e-01 -1.54317569e-04 1.33382283e+01] [ 1.54579987e-02 -5.82241165e-04 9.99880348e-01 7.19721094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5992541539999 meters Centerline goodness [0,1] 0.9986718667650469 Centerline is valid? [True, True] Translation: X:776.39, Y:13.34, Z:7.19 [[ 9.98775362e-01 -4.67933051e-02 -1.60674294e-02 7.76394957e+02] [ 4.67967901e-02 9.98904417e-01 -1.59217450e-04 1.33361548e+01] [ 1.60572765e-02 -5.92881653e-04 9.99870898e-01 7.19478191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6292541539999 meters Centerline goodness [0,1] 0.9991987348444913 Centerline is valid? [True, True] Translation: X:776.43, Y:13.34, Z:7.20 [[ 9.98836475e-01 -4.58897921e-02 -1.48264578e-02 7.76427030e+02] [ 4.58926730e-02 9.98946366e-01 -1.46040775e-04 1.33426808e+01] [ 1.48175379e-02 -5.34554926e-04 9.99890071e-01 7.19905234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6592541539999 meters Centerline goodness [0,1] 0.9991155846617111 Centerline is valid? [True, True] Translation: X:776.46, Y:13.34, Z:7.20 [[ 9.98897088e-01 -4.45313672e-02 -1.48850586e-02 7.76457971e+02] [ 4.45341353e-02 9.99007853e-01 -1.45609014e-04 1.33417179e+01] [ 1.48767746e-02 -5.17444795e-04 9.99889201e-01 7.19906247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6892541539999 meters Centerline goodness [0,1] 0.9990526315789474 Centerline is valid? [True, True] Translation: X:776.49, Y:13.34, Z:7.20 [[ 9.98982087e-01 -4.22682682e-02 -1.57538210e-02 7.76489176e+02] [ 4.22711001e-02 9.99106166e-01 -1.53329094e-04 1.33447062e+01] [ 1.57462207e-02 -5.12758328e-04 9.99875889e-01 7.19652555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7192541539999 meters Centerline goodness [0,1] 0.9993256201133801 Centerline is valid? [True, True] Translation: X:776.52, Y:13.35, Z:7.20 [[ 9.99119306e-01 -3.91232097e-02 -1.51653219e-02 7.76520081e+02] [ 3.91254801e-02 9.99234294e-01 -1.47067381e-04 1.33518187e+01] [ 1.51594635e-02 -4.46412643e-04 9.99884989e-01 7.20059330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7492541539999 meters Centerline goodness [0,1] 0.9990101095197979 Centerline is valid? [True, True] Translation: X:776.55, Y:13.36, Z:7.20 [[ 9.99198930e-01 -3.70495979e-02 -1.51269839e-02 7.76551682e+02] [ 3.70516277e-02 9.99313342e-01 -1.46141211e-04 1.33551188e+01] [ 1.51220113e-02 -4.14455234e-04 9.99885570e-01 7.20061483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7792541539999 meters Centerline goodness [0,1] 0.9988396869264361 Centerline is valid? [True, True] Translation: X:776.58, Y:13.36, Z:7.20 [[ 9.99342106e-01 -3.30662640e-02 -1.48988762e-02 7.76582324e+02] [ 3.30677987e-02 9.99453101e-01 -1.43397057e-04 1.33594546e+01] [ 1.48954696e-02 -3.49370320e-04 9.99888995e-01 7.19997959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8092541539999 meters Centerline goodness [0,1] 0.9987122379615361 Centerline is valid? [True, True] Translation: X:776.61, Y:13.36, Z:7.20 [[ 9.99396688e-01 -3.14556203e-02 -1.47242922e-02 7.76613911e+02] [ 3.14569524e-02 9.99505098e-01 -1.41187097e-04 1.33622121e+01] [ 1.47214462e-02 -3.22079441e-04 9.99891582e-01 7.20059340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.839254154 meters Centerline goodness [0,1] 0.9988784967624529 Centerline is valid? [True, True] Translation: X:776.65, Y:13.37, Z:7.20 [[ 9.99443845e-01 -3.01601725e-02 -1.42254967e-02 7.76645330e+02] [ 3.01612918e-02 9.99545036e-01 -1.35904256e-04 1.33655263e+01] [ 1.42231235e-02 -2.93230683e-04 9.99898803e-01 7.20235344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8692541539999 meters Centerline goodness [0,1] 0.9988577713850579 Centerline is valid? [True, True] Translation: X:776.68, Y:13.37, Z:7.20 [[ 9.99486445e-01 -2.87433237e-02 -1.41657539e-02 7.76676001e+02] [ 2.87442973e-02 9.99586788e-01 -1.34906345e-04 1.33688232e+01] [ 1.41637781e-02 -2.72347580e-04 9.99899652e-01 7.20360981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8992541539999 meters Centerline goodness [0,1] 0.9987304274227676 Centerline is valid? [True, True] Translation: X:776.71, Y:13.37, Z:7.20 [[ 9.99499866e-01 -2.86761157e-02 -1.33303555e-02 7.76707543e+02] [ 2.86769759e-02 9.99588723e-01 -1.26649371e-04 1.33704217e+01] [ 1.33285049e-02 -2.55688255e-04 9.99911139e-01 7.20434032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9292541539999 meters Centerline goodness [0,1] 0.9984955395927362 Centerline is valid? [True, True] Translation: X:776.74, Y:13.37, Z:7.20 [[ 9.99479307e-01 -2.96968292e-02 -1.26180049e-02 7.76739179e+02] [ 2.96976866e-02 9.99558919e-01 -1.19448757e-04 1.33711947e+01] [ 1.26159866e-02 -2.55338995e-04 9.99920383e-01 7.20370837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9592541539998 meters Centerline goodness [0,1] 0.9986420538934861 Centerline is valid? [True, True] Translation: X:776.77, Y:13.37, Z:7.21 [[ 9.99434083e-01 -3.15401266e-02 -1.16933586e-02 7.76771581e+02] [ 3.15409947e-02 9.99502453e-01 -1.10216884e-04 1.33714883e+01] [ 1.16910169e-02 -2.58665652e-04 9.99931624e-01 7.20561905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9892541539999 meters Centerline goodness [0,1] 0.9985381665642677 Centerline is valid? [True, True] Translation: X:776.80, Y:13.37, Z:7.21 [[ 9.99275871e-01 -3.63345495e-02 -1.12931465e-02 7.76801444e+02] [ 3.63356745e-02 9.99339636e-01 -1.05615057e-04 1.33670887e+01] [ 1.12895264e-02 -3.04805519e-04 9.99936225e-01 7.20759152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0192541539999 meters Centerline goodness [0,1] 0.9984544376693767 Centerline is valid? [True, True] Translation: X:776.83, Y:13.37, Z:7.21 [[ 9.99183836e-01 -3.88201618e-02 -1.11650199e-02 7.76833810e+02] [ 3.88214272e-02 9.99246159e-01 -1.03455715e-04 1.33675378e+01] [ 1.11606194e-02 -3.30070727e-04 9.99937664e-01 7.20780116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0492541539999 meters Centerline goodness [0,1] 0.9986455313115067 Centerline is valid? [True, True] Translation: X:776.86, Y:13.36, Z:7.21 [[ 9.99078225e-01 -4.12572690e-02 -1.18548510e-02 7.76864734e+02] [ 4.12588770e-02 9.99148484e-01 -1.08993650e-04 1.33641897e+01] [ 1.18492532e-02 -3.80224659e-04 9.99929723e-01 7.20628810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0792541539998 meters Centerline goodness [0,1] 0.9985630058536379 Centerline is valid? [True, True] Translation: X:776.90, Y:13.37, Z:7.21 [[ 9.98814026e-01 -4.69710887e-02 -1.28163090e-02 7.76896042e+02] [ 4.69734465e-02 9.98896132e-01 -1.17157323e-04 1.33650509e+01] [ 1.28076644e-02 -4.85007826e-04 9.99917861e-01 7.20557519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1092541539999 meters Centerline goodness [0,1] 0.9985840483536921 Centerline is valid? [True, True] Translation: X:776.93, Y:13.36, Z:7.21 [[ 9.98688986e-01 -4.95669037e-02 -1.27840604e-02 7.76926693e+02] [ 4.95694681e-02 9.98770672e-01 -1.16384905e-04 1.33581845e+01] [ 1.27741134e-02 -5.17466751e-04 9.99918274e-01 7.20534498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1392541539999 meters Centerline goodness [0,1] 0.9985242652949361 Centerline is valid? [True, True] Translation: X:776.96, Y:13.36, Z:7.21 [[ 9.98396881e-01 -5.51676277e-02 -1.26570707e-02 7.76957558e+02] [ 5.51705953e-02 9.98476936e-01 -1.14848205e-04 1.33600037e+01] [ 1.26441290e-02 -5.83634034e-04 9.99919889e-01 7.20787981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1692541539999 meters Centerline goodness [0,1] 0.9986471060753392 Centerline is valid? [True, True] Translation: X:776.99, Y:13.36, Z:7.21 [[ 9.98269266e-01 -5.75088657e-02 -1.22964380e-02 7.76988505e+02] [ 5.75118469e-02 9.98344818e-01 -1.11319527e-04 1.33578365e+01] [ 1.22824870e-02 -5.96063994e-04 9.99924390e-01 7.20818570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1992541539998 meters Centerline goodness [0,1] 0.9983963538149899 Centerline is valid? [True, True] Translation: X:777.02, Y:13.36, Z:7.21 [[ 9.98027303e-01 -6.15432644e-02 -1.24068470e-02 7.77019690e+02] [ 6.15466182e-02 9.98104204e-01 -1.11671460e-04 1.33558629e+01] [ 1.23901987e-02 -6.52148307e-04 9.99923026e-01 7.20776786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2292541539999 meters Centerline goodness [0,1] 0.9984357494662524 Centerline is valid? [True, True] Translation: X:777.05, Y:13.35, Z:7.21 [[ 9.97959628e-01 -6.25375772e-02 -1.28698155e-02 7.77050690e+02] [ 6.25412759e-02 9.98042372e-01 -1.15259901e-04 1.33538776e+01] [ 1.28518292e-02 -6.89869953e-04 9.99917174e-01 7.20619895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2592541539999 meters Centerline goodness [0,1] 0.9983723683097996 Centerline is valid? [True, True] Translation: X:777.08, Y:13.35, Z:7.21 [[ 9.97834293e-01 -6.45135448e-02 -1.28345921e-02 7.77082473e+02] [ 6.45173954e-02 9.97916576e-01 -1.14232090e-04 1.33544445e+01] [ 1.28152217e-02 -7.14069756e-04 9.99917627e-01 7.20822923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2892541539999 meters Centerline goodness [0,1] 0.9985617293089956 Centerline is valid? [True, True] Translation: X:777.11, Y:13.35, Z:7.21 [[ 9.97846208e-01 -6.42653507e-02 -1.31494993e-02 7.77114362e+02] [ 6.42693872e-02 9.97932579e-01 -1.15810541e-04 1.33530033e+01] [ 1.31297564e-02 -7.29549153e-04 9.99913535e-01 7.20841618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3192541539999 meters Centerline goodness [0,1] 0.998690269973383 Centerline is valid? [True, True] Translation: X:777.15, Y:13.36, Z:7.21 [[ 9.97941633e-01 -6.28038308e-02 -1.29682356e-02 7.77146975e+02] [ 6.28076612e-02 9.98025644e-01 -1.12090642e-04 1.33564680e+01] [ 1.29496714e-02 -7.02644633e-04 9.99915903e-01 7.20852478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3492541539999 meters Centerline goodness [0,1] 0.9984779943347567 Centerline is valid? [True, True] Translation: X:777.18, Y:13.36, Z:7.21 [[ 9.98001804e-01 -6.18216477e-02 -1.30569482e-02 7.77178924e+02] [ 6.18254652e-02 9.98086970e-01 -1.11451045e-04 1.33588843e+01] [ 1.30388599e-02 -6.96023551e-04 9.99914748e-01 7.20868343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3792541539999 meters Centerline goodness [0,1] 0.9983926229854914 Centerline is valid? [True, True] Translation: X:777.21, Y:13.36, Z:7.21 [[ 9.98073344e-01 -6.06086867e-02 -1.32735716e-02 7.77210210e+02] [ 6.06125371e-02 9.98161364e-01 -1.12389612e-04 1.33568268e+01] [ 1.32559781e-02 -6.92371775e-04 9.99911896e-01 7.20871679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4092541539999 meters Centerline goodness [0,1] 0.998625095185718 Centerline is valid? [True, True] Translation: X:777.24, Y:13.36, Z:7.21 [[ 9.98292904e-01 -5.69348444e-02 -1.30269571e-02 7.77241420e+02] [ 5.69382483e-02 9.98377696e-01 -1.09734876e-04 1.33634191e+01] [ 1.30120711e-02 -6.32184569e-04 9.99915140e-01 7.20792696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4392541539999 meters Centerline goodness [0,1] 0.9984338955789296 Centerline is valid? [True, True] Translation: X:777.27, Y:13.36, Z:7.21 [[ 9.98378320e-01 -5.55444141e-02 -1.24719212e-02 7.77272988e+02] [ 5.55474306e-02 9.98456044e-01 -1.04678657e-04 1.33631615e+01] [ 1.24584794e-02 -5.88274276e-04 9.99922217e-01 7.20955255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4692541539999 meters Centerline goodness [0,1] 0.9984102085806342 Centerline is valid? [True, True] Translation: X:777.30, Y:13.37, Z:7.21 [[ 9.98565904e-01 -5.21298052e-02 -1.21909433e-02 7.77304242e+02] [ 5.21324425e-02 9.98640175e-01 -1.01571496e-04 1.33688677e+01] [ 1.21796607e-02 -5.34117819e-04 9.99925683e-01 7.21036538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4992541539999 meters Centerline goodness [0,1] 0.9983493810178817 Centerline is valid? [True, True] Translation: X:777.34, Y:13.37, Z:7.21 [[ 9.98653916e-01 -5.03629814e-02 -1.24066927e-02 7.77336716e+02] [ 5.03655835e-02 9.98730843e-01 -1.02822861e-04 1.33719297e+01] [ 1.23961251e-02 -5.22185864e-04 9.99923029e-01 7.21076316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5292541539999 meters Centerline goodness [0,1] 0.9985150300176076 Centerline is valid? [True, True] Translation: X:777.37, Y:13.37, Z:7.21 [[ 9.98742783e-01 -4.85504002e-02 -1.24784251e-02 7.77367535e+02] [ 4.85529016e-02 9.98820607e-01 -1.02588885e-04 1.33701957e+01] [ 1.24686889e-02 -5.03403839e-04 9.99922136e-01 7.21050410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5592541539999 meters Centerline goodness [0,1] 0.9984479642819177 Centerline is valid? [True, True] Translation: X:777.40, Y:13.37, Z:7.21 [[ 9.98884174e-01 -4.52624105e-02 -1.34803627e-02 7.77399474e+02] [ 4.52650415e-02 9.98975007e-01 -1.10030555e-04 1.33746532e+01] [ 1.34715257e-02 -5.00281398e-04 9.99909130e-01 7.20972442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.589254154 meters Centerline goodness [0,1] 0.9985320710562706 Centerline is valid? [True, True] Translation: X:777.43, Y:13.38, Z:7.21 [[ 9.98966407e-01 -4.30417983e-02 -1.46123982e-02 7.77431998e+02] [ 4.30446689e-02 9.99073142e-01 -1.18148878e-04 1.33825443e+01] [ 1.46039399e-02 -5.10959081e-04 9.99893226e-01 7.20864328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6192541539999 meters Centerline goodness [0,1] 0.9986361214704316 Centerline is valid? [True, True] Translation: X:777.46, Y:13.39, Z:7.21 [[ 9.99101928e-01 -3.96749017e-02 -1.48741588e-02 7.77463845e+02] [ 3.96775207e-02 9.99212530e-01 -1.19101502e-04 1.33886287e+01] [ 1.48671712e-02 -4.71175205e-04 9.99889366e-01 7.21016373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6492541539999 meters Centerline goodness [0,1] 0.9986997207597041 Centerline is valid? [True, True] Translation: X:777.49, Y:13.39, Z:7.21 [[ 9.99203606e-01 -3.69852011e-02 -1.49749559e-02 7.77494528e+02] [ 3.69875632e-02 9.99315719e-01 -1.19285970e-04 1.33880249e+01] [ 1.49691207e-02 -4.34696158e-04 9.99887862e-01 7.20828500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6792541539999 meters Centerline goodness [0,1] 0.9985915793516997 Centerline is valid? [True, True] Translation: X:777.53, Y:13.39, Z:7.21 [[ 9.99287469e-01 -3.48416691e-02 -1.45124728e-02 7.77526271e+02] [ 3.48436694e-02 9.99392768e-01 -1.15063044e-04 1.33936332e+01] [ 1.45076693e-02 -3.90686745e-04 9.99894682e-01 7.21086361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7092541539998 meters Centerline goodness [0,1] 0.9985879030360084 Centerline is valid? [True, True] Translation: X:777.56, Y:13.40, Z:7.21 [[ 9.99447164e-01 -2.99903370e-02 -1.43508436e-02 7.77557975e+02] [ 2.99918068e-02 9.99550138e-01 -1.12832718e-04 1.33993658e+01] [ 1.43477716e-02 -3.17637389e-04 9.99897015e-01 7.21136860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7392541539999 meters Centerline goodness [0,1] 0.9986947125157811 Centerline is valid? [True, True] Translation: X:777.59, Y:13.40, Z:7.21 [[ 9.99527253e-01 -2.72212647e-02 -1.42923920e-02 7.77588300e+02] [ 2.72224482e-02 9.99629394e-01 -1.11767943e-04 1.34015508e+01] [ 1.42901376e-02 -2.77358796e-04 9.99897852e-01 7.21152022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7692541539999 meters Centerline goodness [0,1] 0.9988648775995373 Centerline is valid? [True, True] Translation: X:777.62, Y:13.41, Z:7.21 [[ 9.99658015e-01 -2.23550328e-02 -1.35685392e-02 7.77620204e+02] [ 2.23556566e-02 9.99750076e-01 -1.05715971e-04 1.34064283e+01] [ 1.35675114e-02 -1.97653786e-04 9.99907938e-01 7.21219107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7992541539999 meters Centerline goodness [0,1] 0.9988648775995373 Centerline is valid? [True, True] Translation: X:777.65, Y:13.41, Z:7.21 [[ 9.99658828e-01 -2.23186666e-02 -1.35685444e-02 7.77651052e+02] [ 2.23192961e-02 9.99750888e-01 -1.05051194e-04 1.34066377e+01] [ 1.35675089e-02 -1.97825006e-04 9.99907938e-01 7.21247989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8292541539998 meters Centerline goodness [0,1] 0.9990149682006039 Centerline is valid? [True, True] Translation: X:777.68, Y:13.41, Z:7.21 [[ 9.99707086e-01 -2.00501947e-02 -1.35547597e-02 7.77682431e+02] [ 2.00506211e-02 9.99798961e-01 -1.04450668e-04 1.34087853e+01] [ 1.35541289e-02 -1.67361277e-04 9.99908125e-01 7.21295989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8592541539999 meters Centerline goodness [0,1] 0.9989052270044005 Centerline is valid? [True, True] Translation: X:777.71, Y:13.41, Z:7.21 [[ 9.99754839e-01 -1.75986961e-02 -1.34368031e-02 7.77712614e+02] [ 1.75988983e-02 9.99845122e-01 -1.03201558e-04 1.34105942e+01] [ 1.34365383e-02 -1.33296675e-04 9.99909717e-01 7.21181715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8892541539999 meters Centerline goodness [0,1] 0.99903468691679 Centerline is valid? [True, True] Translation: X:777.74, Y:13.41, Z:7.21 [[ 9.99811064e-01 -1.46559172e-02 -1.27686977e-02 7.77742477e+02] [ 1.46558590e-02 9.99892592e-01 -9.81327078e-05 1.34122152e+01] [ 1.27687645e-02 -8.90220668e-05 9.99918472e-01 7.21321872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9192541539999 meters Centerline goodness [0,1] 0.9987740353594012 Centerline is valid? [True, True] Translation: X:777.77, Y:13.41, Z:7.21 [[ 9.99836946e-01 -1.32222867e-02 -1.22984701e-02 7.77771130e+02] [ 1.32221203e-02 9.99912579e-01 -9.48436937e-05 1.34124654e+01] [ 1.22986490e-02 -6.77836221e-05 9.99924366e-01 7.21288307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9492541539998 meters Centerline goodness [0,1] 0.9986893276895641 Centerline is valid? [True, True] Translation: X:777.80, Y:13.41, Z:7.21 [[ 9.99855927e-01 -1.12019134e-02 -1.27531207e-02 7.77800247e+02] [ 1.12015526e-02 9.99937256e-01 -9.97295355e-05 1.34128153e+01] [ 1.27534377e-02 -4.31395847e-05 9.99918671e-01 7.21119803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9792541539999 meters Centerline goodness [0,1] 0.9989269465190145 Centerline is valid? [True, True] Translation: X:777.83, Y:13.41, Z:7.21 [[ 9.99854047e-01 -1.16031928e-02 -1.25400002e-02 7.77829255e+02] [ 1.16028363e-02 9.99932680e-01 -1.01188619e-04 1.34128755e+01] [ 1.25403301e-02 -4.43257193e-05 9.99921366e-01 7.21336558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0092541539999 meters Centerline goodness [0,1] 0.9988861280095964 Centerline is valid? [True, True] Translation: X:777.86, Y:13.41, Z:7.21 [[ 9.99843532e-01 -1.22634968e-02 -1.27482985e-02 7.77857866e+02] [ 1.22631402e-02 9.99924799e-01 -1.06144942e-04 1.34103094e+01] [ 1.27486415e-02 -5.02058374e-05 9.99918732e-01 7.21193531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0392541539999 meters Centerline goodness [0,1] 0.9988228999464954 Centerline is valid? [True, True] Translation: X:777.89, Y:13.41, Z:7.21 [[ 9.99823980e-01 -1.38083064e-02 -1.27019432e-02 7.77885603e+02] [ 1.38080432e-02 9.99904659e-01 -1.08421798e-04 1.34081795e+01] [ 1.27022293e-02 -6.69862666e-05 9.99919321e-01 7.21223410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0692541539999 meters Centerline goodness [0,1] 0.9989758689112206 Centerline is valid? [True, True] Translation: X:777.91, Y:13.41, Z:7.21 [[ 9.99788964e-01 -1.57117973e-02 -1.32350339e-02 7.77914168e+02] [ 1.57116536e-02 9.99876558e-01 -1.14842017e-04 1.34060581e+01] [ 1.32352046e-02 -9.31264868e-05 9.99912407e-01 7.21237495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0992541539999 meters Centerline goodness [0,1] 0.9985718244409865 Centerline is valid? [True, True] Translation: X:777.94, Y:13.40, Z:7.21 [[ 9.99707898e-01 -1.97680198e-02 -1.39048440e-02 7.77942651e+02] [ 1.97682148e-02 9.99804582e-01 -1.23428980e-04 1.33996640e+01] [ 1.39045667e-02 -1.51481017e-04 9.99903315e-01 7.21122190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1292541539999 meters Centerline goodness [0,1] 0.9987450012762699 Centerline is valid? [True, True] Translation: X:777.97, Y:13.40, Z:7.21 [[ 9.99656409e-01 -2.19908838e-02 -1.42641426e-02 7.77972256e+02] [ 2.19913053e-02 9.99758154e-01 -1.27319968e-04 1.33974447e+01] [ 1.42634927e-02 -1.86410892e-04 9.99898254e-01 7.21142463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1592541539999 meters Centerline goodness [0,1] 0.9986621647448557 Centerline is valid? [True, True] Translation: X:778.00, Y:13.39, Z:7.21 [[ 9.99542141e-01 -2.66317466e-02 -1.43616872e-02 7.78002259e+02] [ 2.66326479e-02 9.99645280e-01 -1.28533016e-04 1.33898414e+01] [ 1.43600159e-02 -2.54015592e-04 9.99896857e-01 7.21066532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1892541539999 meters Centerline goodness [0,1] 0.9986651128297489 Centerline is valid? [True, True] Translation: X:778.03, Y:13.39, Z:7.21 [[ 9.99478655e-01 -2.89577612e-02 -1.42781569e-02 7.78032093e+02] [ 2.89588892e-02 9.99580595e-01 -1.27785444e-04 1.33860270e+01] [ 1.42758690e-02 -2.85760740e-04 9.99898054e-01 7.21051125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2192541539999 meters Centerline goodness [0,1] 0.9985210851009888 Centerline is valid? [True, True] Translation: X:778.06, Y:13.38, Z:7.21 [[ 9.99414808e-01 -3.10987205e-02 -1.42446615e-02 7.78063014e+02] [ 3.11000618e-02 9.99516268e-01 -1.27399671e-04 1.33839854e+01] [ 1.42417328e-02 -3.15684734e-04 9.99898532e-01 7.21061494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2492541539999 meters Centerline goodness [0,1] 0.9986649996821427 Centerline is valid? [True, True] Translation: X:778.09, Y:13.38, Z:7.21 [[ 9.99352432e-01 -3.30529974e-02 -1.42202412e-02 7.78094799e+02] [ 3.30545366e-02 9.99453541e-01 -1.26845327e-04 1.33811144e+01] [ 1.42166631e-02 -3.43280298e-04 9.99898879e-01 7.21083874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2792541539999 meters Centerline goodness [0,1] 0.9984779943347567 Centerline is valid? [True, True] Translation: X:778.13, Y:13.38, Z:7.21 [[ 9.99220190e-01 -3.70297580e-02 -1.37043730e-02 7.78125931e+02] [ 3.70315677e-02 9.99314089e-01 -1.21773252e-04 1.33756365e+01] [ 1.36994822e-02 -3.85816124e-04 9.99906083e-01 7.21096067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3092541539999 meters Centerline goodness [0,1] 0.9986726782403506 Centerline is valid? [True, True] Translation: X:778.16, Y:13.37, Z:7.21 [[ 9.99090045e-01 -4.04215944e-02 -1.36079824e-02 7.78157497e+02] [ 4.04237005e-02 9.99182621e-01 -1.20359115e-04 1.33724512e+01] [ 1.36017246e-02 -4.29835412e-04 9.99907400e-01 7.21175421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.339254154 meters Centerline goodness [0,1] 0.9984627695417789 Centerline is valid? [True, True] Translation: X:778.19, Y:13.37, Z:7.21 [[ 9.99023089e-01 -4.20925182e-02 -1.34568605e-02 7.78189051e+02] [ 4.20947390e-02 9.99113617e-01 -1.18296658e-04 1.33696719e+01] [ 1.34499120e-02 -4.48281938e-04 9.99909445e-01 7.21194757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3692541539999 meters Centerline goodness [0,1] 0.998463125539485 Centerline is valid? [True, True] Translation: X:778.22, Y:13.37, Z:7.21 [[ 9.98956730e-01 -4.37709661e-02 -1.30213034e-02 7.78220831e+02] [ 4.37731968e-02 9.99041488e-01 -1.13777996e-04 1.33686227e+01] [ 1.30138025e-02 -4.56324781e-04 9.99915213e-01 7.21243293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3992541539999 meters Centerline goodness [0,1] 0.9985714885929162 Centerline is valid? [True, True] Translation: X:778.25, Y:13.37, Z:7.21 [[ 9.98885730e-01 -4.52877000e-02 -1.32786285e-02 7.78252941e+02] [ 4.52901643e-02 9.98973867e-01 -1.15217345e-04 1.33673492e+01] [ 1.32702208e-02 -4.86302303e-04 9.99911828e-01 7.21287142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4292541539999 meters Centerline goodness [0,1] 0.9986115493846639 Centerline is valid? [True, True] Translation: X:778.28, Y:13.36, Z:7.21 [[ 9.98713232e-01 -4.90015924e-02 -1.30661678e-02 7.78284429e+02] [ 4.90043064e-02 9.98798561e-01 -1.12559812e-04 1.33642961e+01] [ 1.30559852e-02 -5.27883518e-04 9.99914628e-01 7.21293926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4592541539998 meters Centerline goodness [0,1] 0.9986130665938177 Centerline is valid? [True, True] Translation: X:778.32, Y:13.36, Z:7.21 [[ 9.98612038e-01 -5.09856486e-02 -1.32083929e-02 7.78315046e+02] [ 5.09886018e-02 9.98699229e-01 -1.13291854e-04 1.33608580e+01] [ 1.31969881e-02 -5.60342880e-04 9.99912759e-01 7.21274423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4892541539999 meters Centerline goodness [0,1] 0.9985908976192479 Centerline is valid? [True, True] Translation: X:778.35, Y:13.36, Z:7.21 [[ 9.98380348e-01 -5.53428865e-02 -1.31850275e-02 7.78345754e+02] [ 5.53462138e-02 9.98467217e-01 -1.12675550e-04 1.33570947e+01] [ 1.31710535e-02 -6.17248298e-04 9.99913067e-01 7.21237269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5192541539999 meters Centerline goodness [0,1] 0.9984233097880928 Centerline is valid? [True, True] Translation: X:778.38, Y:13.36, Z:7.21 [[ 9.98256204e-01 -5.75240355e-02 -1.32490307e-02 7.78377419e+02] [ 5.75275919e-02 9.98343910e-01 -1.12840545e-04 1.33551085e+01] [ 1.32335801e-02 -6.49541054e-04 9.99912221e-01 7.21236099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5492541539999 meters Centerline goodness [0,1] 0.9986331903440154 Centerline is valid? [True, True] Translation: X:778.41, Y:13.35, Z:7.21 [[ 9.98121471e-01 -5.97335454e-02 -1.36173707e-02 7.78408909e+02] [ 5.97375176e-02 9.98214113e-01 -1.15226712e-04 1.33525024e+01] [ 1.35999345e-02 -6.98457666e-04 9.99907273e-01 7.21234357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5792541539998 meters Centerline goodness [0,1] 0.998254432269869 Centerline is valid? [True, True] Translation: X:778.44, Y:13.35, Z:7.21 [[ 9.97862546e-01 -6.37106909e-02 -1.45357530e-02 7.78439336e+02] [ 6.37156468e-02 9.97968086e-01 -1.22372185e-04 1.33490996e+01] [ 1.45140141e-02 -8.04044286e-04 9.99894343e-01 7.20983757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6092541539999 meters Centerline goodness [0,1] 0.9985908679832587 Centerline is valid? [True, True] Translation: X:778.47, Y:13.35, Z:7.21 [[ 9.97720820e-01 -6.61092875e-02 -1.35176454e-02 7.78470255e+02] [ 6.61137958e-02 9.97812083e-01 -1.13574230e-04 1.33498537e+01] [ 1.34955782e-02 -7.80387473e-04 9.99908626e-01 7.21257944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6392541539999 meters Centerline goodness [0,1] 0.9983758358117657 Centerline is valid? [True, True] Translation: X:778.50, Y:13.35, Z:7.21 [[ 9.97473675e-01 -6.96835650e-02 -1.38010505e-02 7.78500984e+02] [ 6.96886086e-02 9.97568787e-01 -1.15705634e-04 1.33481609e+01] [ 1.37755600e-02 -8.46362684e-04 9.99904754e-01 7.21254137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6692541539999 meters Centerline goodness [0,1] 0.9984615708836484 Centerline is valid? [True, True] Translation: X:778.53, Y:13.35, Z:7.21 [[ 9.97382253e-01 -7.09694764e-02 -1.38555068e-02 7.78532882e+02] [ 7.09746903e-02 9.97478110e-01 -1.15673962e-04 1.33481027e+01] [ 1.38287740e-02 -8.68019144e-04 9.99904001e-01 7.21275225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6992541539998 meters Centerline goodness [0,1] 0.9982927960207394 Centerline is valid? [True, True] Translation: X:778.57, Y:13.35, Z:7.21 [[ 9.97362407e-01 -7.12129332e-02 -1.40337685e-02 7.78565048e+02] [ 7.12183203e-02 9.97460745e-01 -1.16152149e-04 1.33478523e+01] [ 1.40064047e-02 -8.83615633e-04 9.99901515e-01 7.21180636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7292541539999 meters Centerline goodness [0,1] 0.9983959815115764 Centerline is valid? [True, True] Translation: X:778.60, Y:13.35, Z:7.21 [[ 9.97342823e-01 -7.16513902e-02 -1.31670757e-02 7.78596714e+02] [ 7.16561813e-02 9.97429386e-01 -1.08147115e-04 1.33519744e+01] [ 1.31409771e-02 -8.35642616e-04 9.99913304e-01 7.21363014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7592541539999 meters Centerline goodness [0,1] 0.9984175879821082 Centerline is valid? [True, True] Translation: X:778.63, Y:13.36, Z:7.21 [[ 9.97510430e-01 -6.94237728e-02 -1.23807411e-02 7.78628303e+02] [ 6.94278456e-02 9.97586971e-01 -1.01047726e-04 1.33563245e+01] [ 1.23578812e-02 -7.58772024e-04 9.99923351e-01 7.21441916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7892541539999 meters Centerline goodness [0,1] 0.9984381265961713 Centerline is valid? [True, True] Translation: X:778.66, Y:13.36, Z:7.21 [[ 9.97634695e-01 -6.75620250e-02 -1.26644721e-02 7.78658658e+02] [ 6.75661445e-02 9.97714792e-01 -1.02785492e-04 1.33580974e+01] [ 1.26424756e-02 -7.53147181e-04 9.99919797e-01 7.21433529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8192541539999 meters Centerline goodness [0,1] 0.9984371370039494 Centerline is valid? [True, True] Translation: X:778.69, Y:13.36, Z:7.21 [[ 9.97822721e-01 -6.47369342e-02 -1.26074269e-02 7.78688581e+02] [ 6.47407940e-02 9.97902109e-01 -1.02154217e-04 1.33608283e+01] [ 1.25875910e-02 -7.14283027e-04 9.99920518e-01 7.21424514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8492541539999 meters Centerline goodness [0,1] 0.9984789910640725 Centerline is valid? [True, True] Translation: X:778.72, Y:13.37, Z:7.21 [[ 9.98024161e-01 -6.15357917e-02 -1.26932856e-02 7.78719145e+02] [ 6.15394461e-02 9.98104647e-01 -1.02849905e-04 1.33673789e+01] [ 1.26755563e-02 -6.78491077e-04 9.99919432e-01 7.21476497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8792541539999 meters Centerline goodness [0,1] 0.998495316407409 Centerline is valid? [True, True] Translation: X:778.75, Y:13.38, Z:7.22 [[ 9.98487472e-01 -5.35459083e-02 -1.24741182e-02 7.78750168e+02] [ 5.35488160e-02 9.98565228e-01 -1.01021170e-04 1.33783736e+01] [ 1.24616299e-02 -5.67105886e-04 9.99922190e-01 7.21541821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9092541539999 meters Centerline goodness [0,1] 0.9984936563839267 Centerline is valid? [True, True] Translation: X:778.78, Y:13.39, Z:7.22 [[ 9.98959703e-01 -4.41195847e-02 -1.15314368e-02 7.78779586e+02] [ 4.41214435e-02 9.99026171e-01 -9.32814631e-05 1.33881757e+01] [ 1.15243226e-02 -4.15599213e-04 9.99933506e-01 7.21707537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9392541539999 meters Centerline goodness [0,1] 0.9984926650107212 Centerline is valid? [True, True] Translation: X:778.81, Y:13.39, Z:7.22 [[ 9.99188771e-01 -3.85150809e-02 -1.17638269e-02 7.78810389e+02] [ 3.85166257e-02 9.99257955e-01 -9.52975679e-05 1.33931350e+01] [ 1.17587680e-02 -3.57882658e-04 9.99930799e-01 7.21609978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9692541539999 meters Centerline goodness [0,1] 0.9986179622384759 Centerline is valid? [True, True] Translation: X:778.84, Y:13.40, Z:7.22 [[ 9.99378382e-01 -3.33381075e-02 -1.14638602e-02 7.78841370e+02] [ 3.33392371e-02 9.99444089e-01 -9.26066792e-05 1.33978407e+01] [ 1.14605747e-02 -2.89647241e-04 9.99934284e-01 7.21743341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9992541539999 meters Centerline goodness [0,1] 0.9986585469721488 Centerline is valid? [True, True] Translation: X:778.87, Y:13.41, Z:7.22 [[ 9.99692990e-01 -2.19175675e-02 -1.15562033e-02 7.78871691e+02] [ 2.19179563e-02 9.99759768e-01 -9.30163886e-05 1.34095082e+01] [ 1.15554658e-02 -1.60300527e-04 9.99933221e-01 7.21679561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0292541539999 meters Centerline goodness [0,1] 0.9990609527061636 Centerline is valid? [True, True] Translation: X:778.90, Y:13.41, Z:7.22 [[ 9.99804074e-01 -1.63181553e-02 -1.12040580e-02 7.78903043e+02] [ 1.63181699e-02 9.99866846e-01 -9.01145266e-05 1.34141462e+01] [ 1.12040367e-02 -9.27328521e-05 9.99937229e-01 7.21764995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0592541539999 meters Centerline goodness [0,1] 0.9994022586085435 Centerline is valid? [True, True] Translation: X:778.93, Y:13.42, Z:7.22 [[ 9.99915164e-01 -6.89711494e-03 -1.10496418e-02 7.78932232e+02] [ 6.89655736e-03 9.99976215e-01 -8.85641224e-05 1.34227006e+01] [ 1.10499898e-02 1.23521204e-05 9.99938947e-01 7.21878696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.089254154 meters Centerline goodness [0,1] 0.9991860863605209 Centerline is valid? [True, True] Translation: X:778.96, Y:13.43, Z:7.22 [[ 9.99934055e-01 -3.22546508e-03 -1.10219193e-02 7.78960884e+02] [ 3.22468069e-03 9.99994797e-01 -8.89379587e-05 1.34260098e+01] [ 1.10221488e-02 5.33899233e-05 9.99939253e-01 7.21867899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1192541539999 meters Centerline goodness [0,1] 0.9993792276736022 Centerline is valid? [True, True] Translation: X:778.99, Y:13.43, Z:7.22 [[ 9.99930569e-01 -1.93210429e-04 -1.17822110e-02 7.78988252e+02] [ 1.92070629e-04 9.99999977e-01 -9.78705317e-05 1.34291614e+01] [ 1.17822296e-02 9.56007198e-05 9.99930583e-01 7.21834080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1492541539999 meters Centerline goodness [0,1] 0.9991634132738427 Centerline is valid? [True, True] Translation: X:779.02, Y:13.43, Z:7.22 [[ 9.99913920e-01 2.75589940e-03 -1.28280255e-02 7.79017123e+02] [-2.75751640e-03 9.99996192e-01 -1.08366580e-04 1.34305534e+01] [ 1.28276780e-02 1.43730743e-04 9.99917712e-01 7.21733103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1792541539999 meters Centerline goodness [0,1] 0.9992267875169141 Centerline is valid? [True, True] Translation: X:779.05, Y:13.43, Z:7.22 [[ 9.99904976e-01 2.83242344e-03 -1.34913537e-02 7.79045227e+02] [-2.83425780e-03 9.99995977e-01 -1.16847639e-04 1.34307513e+01] [ 1.34909685e-02 1.55074510e-04 9.99908981e-01 7.21691274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2092541539998 meters Centerline goodness [0,1] 0.9991195670846934 Centerline is valid? [True, True] Translation: X:779.07, Y:13.43, Z:7.22 [[ 9.99907729e-01 3.09410904e-04 -1.35807913e-02 7.79072804e+02] [-3.11053622e-04 9.99999945e-01 -1.18846805e-04 1.34287530e+01] [ 1.35807538e-02 1.23060193e-04 9.99907770e-01 7.21667173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2392541539999 meters Centerline goodness [0,1] 0.9989053444945267 Centerline is valid? [True, True] Translation: X:779.10, Y:13.43, Z:7.22 [[ 9.99902064e-01 -1.41471515e-03 -1.39233730e-02 7.79101706e+02] [ 1.41313913e-03 9.99998994e-01 -1.23030233e-04 1.34270964e+01] [ 1.39235331e-02 1.03342520e-04 9.99903058e-01 7.21562901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2692541539999 meters Centerline goodness [0,1] 0.9993565269615203 Centerline is valid? [True, True] Translation: X:779.13, Y:13.43, Z:7.22 [[ 9.99907076e-01 -3.91867377e-03 -1.30569333e-02 7.79129559e+02] [ 3.91748867e-03 9.99992320e-01 -1.16339178e-04 1.34257688e+01] [ 1.30572889e-02 6.51779794e-05 9.99914748e-01 7.21790498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2992541539999 meters Centerline goodness [0,1] 0.9990592863404101 Centerline is valid? [True, True] Translation: X:779.16, Y:13.42, Z:7.22 [[ 9.99889761e-01 -7.61203298e-03 -1.27484488e-02 7.79158381e+02] [ 7.61118990e-03 9.99971028e-01 -1.14648929e-04 1.34214526e+01] [ 1.27489522e-02 1.76054253e-05 9.99918729e-01 7.21732777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3292541539998 meters Centerline goodness [0,1] 0.9991022571819426 Centerline is valid? [True, True] Translation: X:779.19, Y:13.42, Z:7.22 [[ 9.99883034e-01 -9.68663251e-03 -1.18358403e-02 7.79186075e+02] [ 9.68604064e-03 9.99953083e-01 -1.07329969e-04 1.34195712e+01] [ 1.18363247e-02 -7.32501476e-06 9.99929948e-01 7.21914439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3592541539999 meters Centerline goodness [0,1] 0.9991663103890551 Centerline is valid? [True, True] Translation: X:779.21, Y:13.42, Z:7.22 [[ 9.99867036e-01 -1.14521816e-02 -1.16085248e-02 7.79214181e+02] [ 1.14517119e-02 9.99934421e-01 -1.06935975e-04 1.34172340e+01] [ 1.16089882e-02 -2.60157249e-05 9.99932613e-01 7.21926969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3892541539999 meters Centerline goodness [0,1] 0.9989331284940042 Centerline is valid? [True, True] Translation: X:779.24, Y:13.41, Z:7.22 [[ 9.99839767e-01 -1.42107550e-02 -1.08855506e-02 7.79241611e+02] [ 1.42104761e-02 9.99899021e-01 -1.02978725e-04 1.34117944e+01] [ 1.08859148e-02 -5.17266322e-05 9.99940745e-01 7.21846746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4192541539999 meters Centerline goodness [0,1] 0.9987437720904484 Centerline is valid? [True, True] Translation: X:779.27, Y:13.41, Z:7.22 [[ 9.99819348e-01 -1.51712425e-02 -1.14500593e-02 7.79271148e+02] [ 1.51709857e-02 9.99884908e-01 -1.09284694e-04 1.34093381e+01] [ 1.14503995e-02 -6.44437340e-05 9.99934440e-01 7.21667851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4492541539998 meters Centerline goodness [0,1] 0.9991487550542668 Centerline is valid? [True, True] Translation: X:779.30, Y:13.40, Z:7.22 [[ 9.99791264e-01 -1.81660095e-02 -9.35008860e-03 7.79301042e+02] [ 1.81659666e-02 9.99834981e-01 -8.95163918e-05 1.34047745e+01] [ 9.35017182e-03 -8.03556911e-05 9.99956283e-01 7.21978070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4792541539999 meters Centerline goodness [0,1] 0.9991082045184304 Centerline is valid? [True, True] Translation: X:779.33, Y:13.40, Z:7.22 [[ 9.99768379e-01 -1.94871218e-02 -9.13452124e-03 7.79330967e+02] [ 1.94871330e-02 9.99810104e-01 -8.77888364e-05 1.34023022e+01] [ 9.13449738e-03 -9.02371279e-05 9.99958276e-01 7.21997969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5092541539999 meters Centerline goodness [0,1] 0.998812804748781 Centerline is valid? [True, True] Translation: X:779.36, Y:13.40, Z:7.22 [[ 9.99749860e-01 -2.05323960e-02 -8.86785522e-03 7.79362133e+02] [ 2.05324489e-02 9.99789183e-01 -8.50801743e-05 1.33999219e+01] [ 8.86773263e-03 -9.70198921e-05 9.99960676e-01 7.21995176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5392541539999 meters Centerline goodness [0,1] 0.9987496291272835 Centerline is valid? [True, True] Translation: X:779.39, Y:13.40, Z:7.22 [[ 9.99713445e-01 -2.17031292e-02 -1.00996576e-02 7.79394263e+02] [ 2.17032620e-02 9.99764452e-01 -9.64616897e-05 1.33951887e+01] [ 1.00993721e-02 -1.22761466e-04 9.99948993e-01 7.21724268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5692541539999 meters Centerline goodness [0,1] 0.9989635113696457 Centerline is valid? [True, True] Translation: X:779.43, Y:13.39, Z:7.22 [[ 9.99700603e-01 -2.22034114e-02 -1.02816579e-02 7.79425649e+02] [ 2.22035833e-02 9.99753465e-01 -9.74431841e-05 1.33924798e+01] [ 1.02812867e-02 -1.30875639e-04 9.99947138e-01 7.21788346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5992541539999 meters Centerline goodness [0,1] 0.9990910243943686 Centerline is valid? [True, True] Translation: X:779.46, Y:13.39, Z:7.22 [[ 9.99701716e-01 -2.20459348e-02 -1.05097835e-02 7.79457449e+02] [ 2.20461117e-02 9.99756950e-01 -9.90345992e-05 1.33892664e+01] [ 1.05094124e-02 -1.32694801e-04 9.99944766e-01 7.21767395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6292541539999 meters Centerline goodness [0,1] 0.9988807703678676 Centerline is valid? [True, True] Translation: X:779.49, Y:13.39, Z:7.22 [[ 9.99709237e-01 -2.15203295e-02 -1.08773253e-02 7.79488231e+02] [ 2.15204927e-02 9.99768402e-01 -1.02059605e-04 1.33877763e+01] [ 1.08770025e-02 -1.32055469e-04 9.99940835e-01 7.21776608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6592541539999 meters Centerline goodness [0,1] 0.9988193126713051 Centerline is valid? [True, True] Translation: X:779.52, Y:13.39, Z:7.22 [[ 9.99739480e-01 -1.97177109e-02 -1.14971607e-02 7.79519638e+02] [ 1.97177811e-02 9.99805580e-01 -1.07254172e-04 1.33868587e+01] [ 1.14970402e-02 -1.19472269e-04 9.99933900e-01 7.21732427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6892541539999 meters Centerline goodness [0,1] 0.9988193126713051 Centerline is valid? [True, True] Translation: X:779.55, Y:13.39, Z:7.22 [[ 9.99739480e-01 -1.97177076e-02 -1.14971639e-02 7.79549637e+02] [ 1.97177819e-02 9.99805580e-01 -1.06907693e-04 1.33871374e+01] [ 1.14970366e-02 -1.19818729e-04 9.99933900e-01 7.21760520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7192541539999 meters Centerline goodness [0,1] 0.9987106865065946 Centerline is valid? [True, True] Translation: X:779.58, Y:13.39, Z:7.22 [[ 9.99752380e-01 -1.80479811e-02 -1.30172879e-02 7.79579759e+02] [ 1.80479348e-02 9.99837115e-01 -1.21042740e-04 1.33863635e+01] [ 1.30173522e-02 -1.13922396e-04 9.99915264e-01 7.21563402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7492541539999 meters Centerline goodness [0,1] 0.9990721410345628 Centerline is valid? [True, True] Translation: X:779.61, Y:13.38, Z:7.22 [[ 9.99772356e-01 -1.69521014e-02 -1.29561948e-02 7.79608225e+02] [ 1.69519609e-02 9.99856298e-01 -1.20674587e-04 1.33839460e+01] [ 1.29563787e-02 -9.89857924e-05 9.99916058e-01 7.21704844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7792541539999 meters Centerline goodness [0,1] 0.9989460815311327 Centerline is valid? [True, True] Translation: X:779.64, Y:13.38, Z:7.22 [[ 9.99774758e-01 -1.61993127e-02 -1.37118743e-02 7.79636964e+02] [ 1.61990618e-02 9.99868778e-01 -1.29367566e-04 1.33826719e+01] [ 1.37121707e-02 -9.27810723e-05 9.99905979e-01 7.21557820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8092541539999 meters Centerline goodness [0,1] 0.9989676168805175 Centerline is valid? [True, True] Translation: X:779.67, Y:13.38, Z:7.22 [[ 9.99770424e-01 -1.62911739e-02 -1.39175256e-02 7.79665677e+02] [ 1.62908744e-02 9.99867286e-01 -1.34901448e-04 1.33818355e+01] [ 1.39178763e-02 -9.18581837e-05 9.99903137e-01 7.21642063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.839254154 meters Centerline goodness [0,1] 0.9987386478304743 Centerline is valid? [True, True] Translation: X:779.69, Y:13.38, Z:7.22 [[ 9.99761073e-01 -1.68690572e-02 -1.39008092e-02 7.79693460e+02] [ 1.68687747e-02 9.99857703e-01 -1.37584870e-04 1.33790285e+01] [ 1.39011521e-02 -9.69376207e-05 9.99903370e-01 7.21684222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8692541539999 meters Centerline goodness [0,1] 0.998869323059528 Centerline is valid? [True, True] Translation: X:779.72, Y:13.38, Z:7.22 [[ 9.99744510e-01 -1.68780681e-02 -1.50348085e-02 7.79722287e+02] [ 1.68777027e-02 9.99857550e-01 -1.51191013e-04 1.33775314e+01] [ 1.50352186e-02 -1.02600642e-04 9.99886959e-01 7.21543738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8992541539999 meters Centerline goodness [0,1] 0.9987609206989247 Centerline is valid? [True, True] Translation: X:779.75, Y:13.37, Z:7.22 [[ 9.99717754e-01 -1.93158513e-02 -1.38314909e-02 7.79751237e+02] [ 1.93157290e-02 9.99813424e-01 -1.42441063e-04 1.33740043e+01] [ 1.38316616e-02 -1.24764470e-04 9.99904330e-01 7.21695554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9292541539999 meters Centerline goodness [0,1] 0.9985722983896366 Centerline is valid? [True, True] Translation: X:779.78, Y:13.37, Z:7.22 [[ 9.99690658e-01 -2.06523296e-02 -1.38589458e-02 7.79780377e+02] [ 2.06522859e-02 9.99786708e-01 -1.46285071e-04 1.33719880e+01] [ 1.38590110e-02 -1.39979093e-04 9.99903949e-01 7.21708447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9592541539998 meters Centerline goodness [0,1] 0.9990148402783601 Centerline is valid? [True, True] Translation: X:779.81, Y:13.37, Z:7.22 [[ 9.99659926e-01 -2.21380939e-02 -1.37817731e-02 7.79808931e+02] [ 2.21381544e-02 9.99754910e-01 -1.48191610e-04 1.33692538e+01] [ 1.37816760e-02 -1.56961806e-04 9.99905016e-01 7.21741516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9892541539999 meters Centerline goodness [0,1] 0.9990796519410977 Centerline is valid? [True, True] Translation: X:779.84, Y:13.36, Z:7.22 [[ 9.99577830e-01 -2.53377844e-02 -1.42182451e-02 7.79838303e+02] [ 2.53381599e-02 9.99678925e-01 -1.53765345e-04 1.33641447e+01] [ 1.42175761e-02 -2.06563738e-04 9.99898904e-01 7.21663881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0192541539999 meters Centerline goodness [0,1] 0.998870765370138 Centerline is valid? [True, True] Translation: X:779.87, Y:13.36, Z:7.22 [[ 9.99536592e-01 -2.75838758e-02 -1.28736717e-02 7.79868335e+02] [ 2.75843650e-02 9.99619469e-01 -1.39597292e-04 1.33616240e+01] [ 1.28726235e-02 -2.15579456e-04 9.99917121e-01 7.21843161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0492541539999 meters Centerline goodness [0,1] 0.9984945741944926 Centerline is valid? [True, True] Translation: X:779.90, Y:13.36, Z:7.22 [[ 9.99450936e-01 -3.12075884e-02 -1.11315870e-02 7.79898368e+02] [ 3.12081781e-02 9.99512899e-01 -1.20767669e-04 1.33562715e+01] [ 1.11299336e-02 -2.26695189e-04 9.99938035e-01 7.21989341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0792541539998 meters Centerline goodness [0,1] 0.9985186421581923 Centerline is valid? [True, True] Translation: X:779.93, Y:13.35, Z:7.22 [[ 9.99417311e-01 -3.23340780e-02 -1.09337120e-02 7.79929397e+02] [ 3.23347198e-02 9.99477089e-01 -1.18117334e-04 1.33542462e+01] [ 1.09318139e-02 -2.35490005e-04 9.99940218e-01 7.21930039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1092541539999 meters Centerline goodness [0,1] 0.9985622603767295 Centerline is valid? [True, True] Translation: X:779.96, Y:13.35, Z:7.22 [[ 9.99312831e-01 -3.57643959e-02 -9.73522262e-03 7.79960362e+02] [ 3.57650704e-02 9.99360220e-01 -1.04852568e-04 1.33499758e+01] [ 9.73274421e-03 -2.43400406e-04 9.99952606e-01 7.22138418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1392541539999 meters Centerline goodness [0,1] 0.9986639109830693 Centerline is valid? [True, True] Translation: X:779.99, Y:13.35, Z:7.22 [[ 9.99269123e-01 -3.69546781e-02 -9.77612346e-03 7.79992435e+02] [ 3.69554204e-02 9.99316910e-01 -1.04761982e-04 1.33484688e+01] [ 9.77331693e-03 -2.56595339e-04 9.99952207e-01 7.22169803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1692541539999 meters Centerline goodness [0,1] 0.9987459504650433 Centerline is valid? [True, True] Translation: X:780.02, Y:13.35, Z:7.22 [[ 9.99210897e-01 -3.84307649e-02 -1.00329397e-02 7.80024590e+02] [ 3.84316283e-02 9.99261226e-01 -1.06789507e-04 1.33466706e+01] [ 1.00296317e-02 -2.78876971e-04 9.99949663e-01 7.22163600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1992541539998 meters Centerline goodness [0,1] 0.9986841830447587 Centerline is valid? [True, True] Translation: X:780.06, Y:13.34, Z:7.22 [[ 9.99141700e-01 -4.01220184e-02 -1.02998383e-02 7.80055352e+02] [ 4.01230255e-02 9.99194741e-01 -1.08923925e-04 1.33428947e+01] [ 1.02959145e-02 -3.04430239e-04 9.99946949e-01 7.22042460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2292541539999 meters Centerline goodness [0,1] 0.9986866517959515 Centerline is valid? [True, True] Translation: X:780.09, Y:13.34, Z:7.22 [[ 9.99106590e-01 -4.12768036e-02 -9.06900565e-03 7.80087221e+02] [ 4.12776343e-02 9.99147711e-01 -9.56398221e-05 1.33421480e+01] [ 9.06522394e-03 -2.78792723e-04 9.99958871e-01 7.22241881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2592541539999 meters Centerline goodness [0,1] 0.9988518464396802 Centerline is valid? [True, True] Translation: X:780.12, Y:13.34, Z:7.22 [[ 9.99089273e-01 -4.16989375e-02 -9.04561906e-03 7.80118541e+02] [ 4.16997869e-02 9.99130181e-01 -9.47662226e-05 1.33408390e+01] [ 9.04170266e-03 -2.82520471e-04 9.99959083e-01 7.22251757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2892541539999 meters Centerline goodness [0,1] 0.9987307268149567 Centerline is valid? [True, True] Translation: X:780.15, Y:13.34, Z:7.22 [[ 9.99076221e-01 -4.19700338e-02 -9.23155207e-03 7.80150693e+02] [ 4.19709345e-02 9.99118827e-01 -9.62320390e-05 1.33403656e+01] [ 9.22745634e-03 -2.91313725e-04 9.99957384e-01 7.22257977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3192541539999 meters Centerline goodness [0,1] 0.9987055556715452 Centerline is valid? [True, True] Translation: X:780.18, Y:13.34, Z:7.22 [[ 9.99050688e-01 -4.23957546e-02 -1.00160799e-02 7.80183181e+02] [ 4.23968436e-02 9.99100844e-01 -1.03679089e-04 1.33397394e+01] [ 1.00114694e-02 -3.21069508e-04 9.99949832e-01 7.22159716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3492541539999 meters Centerline goodness [0,1] 0.9987693462934379 Centerline is valid? [True, True] Translation: X:780.21, Y:13.34, Z:7.22 [[ 9.98983694e-01 -4.37639423e-02 -1.07840938e-02 7.80214607e+02] [ 4.37652925e-02 9.99041834e-01 -1.10878221e-04 1.33386260e+01] [ 1.07786133e-02 -3.61203486e-04 9.99941844e-01 7.22082168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3792541539999 meters Centerline goodness [0,1] 0.9986653319986654 Centerline is valid? [True, True] Translation: X:780.25, Y:13.34, Z:7.22 [[ 9.98955033e-01 -4.42746823e-02 -1.13399603e-02 7.80245691e+02] [ 4.42762148e-02 9.99019321e-01 -1.16001286e-04 1.33379418e+01] [ 1.13339754e-02 -3.86210452e-04 9.99935694e-01 7.22061473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4092541539999 meters Centerline goodness [0,1] 0.9986638551953068 Centerline is valid? [True, True] Translation: X:780.28, Y:13.34, Z:7.22 [[ 9.98916012e-01 -4.49876283e-02 -1.19546676e-02 7.80276791e+02] [ 4.49893898e-02 9.98987457e-01 -1.21671392e-04 1.33374707e+01] [ 1.19480367e-02 -4.16293699e-04 9.99928533e-01 7.21990464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4392541539999 meters Centerline goodness [0,1] 0.9987890682088648 Centerline is valid? [True, True] Translation: X:780.31, Y:13.34, Z:7.22 [[ 9.98909735e-01 -4.49958569e-02 -1.24384103e-02 7.80309353e+02] [ 4.49977730e-02 9.98987079e-01 -1.25914317e-04 1.33379557e+01] [ 1.24314768e-02 -4.33923726e-04 9.99922632e-01 7.21992648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4692541539999 meters Centerline goodness [0,1] 0.9988517505584668 Centerline is valid? [True, True] Translation: X:780.34, Y:13.34, Z:7.22 [[ 9.98921506e-01 -4.46410836e-02 -1.27671048e-02 7.80341469e+02] [ 4.46430845e-02 9.99002992e-01 -1.28372639e-04 1.33445735e+01] [ 1.27601066e-02 -4.41728749e-04 9.99918489e-01 7.22000532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4992541539999 meters Centerline goodness [0,1] 0.9988493723849372 Centerline is valid? [True, True] Translation: X:780.37, Y:13.35, Z:7.22 [[ 9.98944124e-01 -4.41160836e-02 -1.28221756e-02 7.80372336e+02] [ 4.41180694e-02 9.99026316e-01 -1.28076366e-04 1.33462926e+01] [ 1.28153411e-02 -4.37748499e-04 9.99917784e-01 7.22097462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5292541539999 meters Centerline goodness [0,1] 0.9989099218078528 Centerline is valid? [True, True] Translation: X:780.40, Y:13.35, Z:7.22 [[ 9.98965100e-01 -4.36539798e-02 -1.27694768e-02 7.80404414e+02] [ 4.36559210e-02 9.99046618e-01 -1.26816093e-04 1.33487401e+01] [ 1.27628386e-02 -4.30778418e-04 9.99918459e-01 7.22152010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5592541539999 meters Centerline goodness [0,1] 0.9988275934261489 Centerline is valid? [True, True] Translation: X:780.44, Y:13.35, Z:7.22 [[ 9.98993599e-01 -4.25800167e-02 -1.40972289e-02 7.80436672e+02] [ 4.25822911e-02 9.99092953e-01 -1.38922282e-04 1.33530703e+01] [ 1.40903574e-02 -4.61509836e-04 9.99900619e-01 7.22028012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.589254154 meters Centerline goodness [0,1] 0.9990374353930821 Centerline is valid? [True, True] Translation: X:780.47, Y:13.35, Z:7.22 [[ 9.99014770e-01 -4.25754213e-02 -1.25228812e-02 7.80468351e+02] [ 4.25772261e-02 9.99093171e-01 -1.22569221e-04 1.33523652e+01] [ 1.25167436e-02 -4.10741084e-04 9.99921578e-01 7.22214926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6192541539999 meters Centerline goodness [0,1] 0.9988692520311584 Centerline is valid? [True, True] Translation: X:780.50, Y:13.36, Z:7.22 [[ 9.99034195e-01 -4.21655261e-02 -1.23590101e-02 7.80500481e+02] [ 4.21672636e-02 9.99110558e-01 -1.20077360e-04 1.33556251e+01] [ 1.23530806e-02 -4.01184247e-04 9.99923617e-01 7.22264716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6492541539999 meters Centerline goodness [0,1] 0.9989950169590888 Centerline is valid? [True, True] Translation: X:780.53, Y:13.36, Z:7.22 [[ 9.99134207e-01 -3.96111372e-02 -1.27197992e-02 7.80532234e+02] [ 3.96127821e-02 9.99215098e-01 -1.22699886e-04 1.33603091e+01] [ 1.27146757e-02 -3.81272981e-04 9.99919093e-01 7.22157492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6792541539999 meters Centerline goodness [0,1] 0.9990786305098942 Centerline is valid? [True, True] Translation: X:780.56, Y:13.37, Z:7.22 [[ 9.99275376e-01 -3.62986323e-02 -1.14513117e-02 7.80563169e+02] [ 3.62997543e-02 9.99340941e-01 -1.09924177e-04 1.33660836e+01] [ 1.14477547e-02 -3.05835278e-04 9.99934426e-01 7.22400895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7092541539998 meters Centerline goodness [0,1] 0.999160704169202 Centerline is valid? [True, True] Translation: X:780.59, Y:13.37, Z:7.23 [[ 9.99364406e-01 -3.38780245e-02 -1.10933746e-02 7.80594309e+02] [ 3.38789330e-02 9.99425939e-01 -1.06063528e-04 1.33692111e+01] [ 1.10905995e-02 -2.69835579e-04 9.99938461e-01 7.22511998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7392541539999 meters Centerline goodness [0,1] 0.9989721860972438 Centerline is valid? [True, True] Translation: X:780.63, Y:13.38, Z:7.23 [[ 9.99526156e-01 -2.89756941e-02 -1.03861694e-02 7.80625901e+02] [ 2.89762314e-02 9.99580096e-01 -9.87712758e-05 1.33766077e+01] [ 1.03846702e-02 -2.02227576e-04 9.99946057e-01 7.22623734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7692541539999 meters Centerline goodness [0,1] 0.998910652561014 Centerline is valid? [True, True] Translation: X:780.66, Y:13.38, Z:7.23 [[ 9.99594444e-01 -2.66911431e-02 -9.92626126e-03 7.80655904e+02] [ 2.66915266e-02 9.99643713e-01 -9.38676471e-05 1.33784008e+01] [ 9.92523010e-03 -1.71117488e-04 9.99950729e-01 7.22662181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7992541539999 meters Centerline goodness [0,1] 0.9988455322096513 Centerline is valid? [True, True] Translation: X:780.69, Y:13.38, Z:7.23 [[ 9.99673042e-01 -2.33457389e-02 -1.04299982e-02 7.80686463e+02] [ 2.33459875e-02 9.99727441e-01 -9.79385809e-05 1.33828854e+01] [ 1.04294418e-02 -1.45592048e-04 9.99945601e-01 7.22617342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8292541539998 meters Centerline goodness [0,1] 0.999032434478987 Centerline is valid? [True, True] Translation: X:780.72, Y:13.39, Z:7.23 [[ 9.99696575e-01 -2.19928472e-02 -1.10938440e-02 7.80717550e+02] [ 2.19930478e-02 9.99758118e-01 -1.03935173e-04 1.33861562e+01] [ 1.10934464e-02 -1.40083804e-04 9.99938456e-01 7.22585792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8592541539999 meters Centerline goodness [0,1] 0.9988639471525046 Centerline is valid? [True, True] Translation: X:780.75, Y:13.39, Z:7.23 [[ 9.99701587e-01 -2.13701519e-02 -1.18344614e-02 7.80748886e+02] [ 2.13703418e-02 9.99771622e-01 -1.10420442e-04 1.33880648e+01] [ 1.18341183e-02 -1.42518993e-04 9.99929964e-01 7.22525235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8892541539999 meters Centerline goodness [0,1] 0.9987375065754865 Centerline is valid? [True, True] Translation: X:780.78, Y:13.39, Z:7.22 [[ 9.99669449e-01 -2.18361601e-02 -1.35711383e-02 7.80779750e+02] [ 2.18364593e-02 9.99761548e-01 -1.26153465e-04 1.33898514e+01] [ 1.35706569e-02 -1.70233844e-04 9.99907900e-01 7.22376608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9192541539999 meters Centerline goodness [0,1] 0.9987177331203229 Centerline is valid? [True, True] Translation: X:780.81, Y:13.39, Z:7.22 [[ 9.99631832e-01 -2.28670236e-02 -1.46047951e-02 7.80809137e+02] [ 2.28674814e-02 9.99738496e-01 -1.35672130e-04 1.33894760e+01] [ 1.46040783e-02 -1.98352699e-04 9.99893335e-01 7.22303672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9492541539998 meters Centerline goodness [0,1] 0.9986319821526287 Centerline is valid? [True, True] Translation: X:780.84, Y:13.39, Z:7.22 [[ 9.99561512e-01 -2.58066706e-02 -1.45189240e-02 7.80838804e+02] [ 2.58074279e-02 9.99666924e-01 -1.35231807e-04 1.33890758e+01] [ 1.45175779e-02 -2.39523574e-04 9.99894586e-01 7.22258812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9792541539999 meters Centerline goodness [0,1] 0.9987379314696788 Centerline is valid? [True, True] Translation: X:780.87, Y:13.39, Z:7.22 [[ 9.99513952e-01 -2.74239017e-02 -1.48253173e-02 7.80869270e+02] [ 2.74248639e-02 9.99623858e-01 -1.38433169e-04 1.33889769e+01] [ 1.48235373e-02 -2.68216426e-04 9.99890089e-01 7.22240918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0092541539999 meters Centerline goodness [0,1] 0.9986334776941513 Centerline is valid? [True, True] Translation: X:780.90, Y:13.39, Z:7.22 [[ 9.99463832e-01 -2.93954357e-02 -1.44207429e-02 7.80898913e+02] [ 2.93965510e-02 9.99567819e-01 -1.34673874e-04 1.33867509e+01] [ 1.44184693e-02 -2.89318436e-04 9.99896007e-01 7.22301373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0392541539999 meters Centerline goodness [0,1] 0.9984870771170414 Centerline is valid? [True, True] Translation: X:780.93, Y:13.39, Z:7.22 [[ 9.99381746e-01 -3.24154403e-02 -1.36149010e-02 7.80930370e+02] [ 3.24167161e-02 9.99474432e-01 -1.27025905e-04 1.33884370e+01] [ 1.36118630e-02 -3.14403008e-04 9.99907305e-01 7.22453675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0692541539999 meters Centerline goodness [0,1] 0.9985728077907904 Centerline is valid? [True, True] Translation: X:780.96, Y:13.39, Z:7.23 [[ 9.99353972e-01 -3.33957887e-02 -1.32800791e-02 7.80961865e+02] [ 3.33970953e-02 9.99442154e-01 -1.23424435e-04 1.33896379e+01] [ 1.32767928e-02 -3.20171370e-04 9.99911808e-01 7.22537675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0992541539999 meters Centerline goodness [0,1] 0.9985712784956403 Centerline is valid? [True, True] Translation: X:780.99, Y:13.39, Z:7.23 [[ 9.99316537e-01 -3.47474819e-02 -1.26123689e-02 7.80993325e+02] [ 3.47487744e-02 9.99396072e-01 -1.16708915e-04 1.33894953e+01] [ 1.26088072e-02 -3.21635212e-04 9.99920454e-01 7.22572792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1292541539999 meters Centerline goodness [0,1] 0.9986982720611393 Centerline is valid? [True, True] Translation: X:781.03, Y:13.39, Z:7.23 [[ 9.99306103e-01 -3.51875179e-02 -1.22127564e-02 7.81025467e+02] [ 3.51887714e-02 9.99380677e-01 -1.12299125e-04 1.33895800e+01] [ 1.22091443e-02 -3.17530692e-04 9.99925415e-01 7.22560309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1592541539999 meters Centerline goodness [0,1] 0.9985306465155331 Centerline is valid? [True, True] Translation: X:781.06, Y:13.39, Z:7.23 [[ 9.99311033e-01 -3.51791757e-02 -1.18273260e-02 7.81058017e+02] [ 3.51803607e-02 9.99380974e-01 -1.07906958e-04 1.33900490e+01] [ 1.18238007e-02 -3.08256983e-04 9.99930049e-01 7.22525008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1892541539999 meters Centerline goodness [0,1] 0.9987674438037938 Centerline is valid? [True, True] Translation: X:781.09, Y:13.39, Z:7.23 [[ 9.99307339e-01 -3.55005086e-02 -1.11604835e-02 7.81088818e+02] [ 3.55015922e-02 9.99369615e-01 -1.01071076e-04 1.33903423e+01] [ 1.11570361e-02 -2.95213864e-04 9.99937715e-01 7.22664966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2192541539999 meters Centerline goodness [0,1] 0.9986137948416366 Centerline is valid? [True, True] Translation: X:781.12, Y:13.39, Z:7.23 [[ 9.99321865e-01 -3.52177523e-02 -1.07480325e-02 7.81119730e+02] [ 3.52187470e-02 9.99379623e-01 -9.67641216e-05 1.33906313e+01] [ 1.07447725e-02 -2.81833737e-04 9.99942234e-01 7.22696870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2492541539999 meters Centerline goodness [0,1] 0.9988436875854094 Centerline is valid? [True, True] Translation: X:781.15, Y:13.39, Z:7.23 [[ 9.99381408e-01 -3.37407126e-02 -9.91793566e-03 7.81152418e+02] [ 3.37414922e-02 9.99430590e-01 -8.87637924e-05 1.33928309e+01] [ 9.91528324e-03 -2.45937064e-04 9.99950812e-01 7.22771547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2792541539999 meters Centerline goodness [0,1] 0.9987793328422604 Centerline is valid? [True, True] Translation: X:781.18, Y:13.39, Z:7.23 [[ 9.99415986e-01 -3.27567741e-02 -9.73043349e-03 7.81183430e+02] [ 3.27574876e-02 9.99463326e-01 -8.60812186e-05 1.33925780e+01] [ 9.72803116e-03 -2.32713608e-04 9.99952655e-01 7.22806193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3092541539999 meters Centerline goodness [0,1] 0.9987383560779696 Centerline is valid? [True, True] Translation: X:781.22, Y:13.39, Z:7.23 [[ 9.99475053e-01 -3.08546398e-02 -9.87980211e-03 7.81216182e+02] [ 3.08552950e-02 9.99523858e-01 -8.61403150e-05 1.33927641e+01] [ 9.87775575e-03 -2.18749112e-04 9.99951190e-01 7.22710727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.339254154 meters Centerline goodness [0,1] 0.9989271063426949 Centerline is valid? [True, True] Translation: X:781.25, Y:13.39, Z:7.23 [[ 9.99543831e-01 -2.84440245e-02 -1.01522568e-02 7.81247987e+02] [ 2.84446012e-02 9.99595367e-01 -8.76106532e-05 1.33942359e+01] [ 1.01506408e-02 -2.01206207e-04 9.99948461e-01 7.22791095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3692541539999 meters Centerline goodness [0,1] 0.9990936301167742 Centerline is valid? [True, True] Translation: X:781.28, Y:13.40, Z:7.23 [[ 9.99581660e-01 -2.70916012e-02 -1.01267409e-02 7.81280600e+02] [ 2.70921113e-02 9.99632938e-01 -8.68297783e-05 1.33950822e+01] [ 1.01253762e-02 -1.87561339e-04 9.99948719e-01 7.22838739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3992541539999 meters Centerline goodness [0,1] 0.9989040402975952 Centerline is valid? [True, True] Translation: X:781.31, Y:13.40, Z:7.23 [[ 9.99656403e-01 -2.40408919e-02 -1.04456472e-02 7.81312012e+02] [ 2.40412759e-02 9.99710963e-01 -8.88231133e-05 1.33961869e+01] [ 1.04447635e-02 -1.62334093e-04 9.99945439e-01 7.22807280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4292541539999 meters Centerline goodness [0,1] 0.9989461925938415 Centerline is valid? [True, True] Translation: X:781.34, Y:13.40, Z:7.23 [[ 9.99683117e-01 -2.29099581e-02 -1.04307185e-02 7.81342628e+02] [ 2.29102832e-02 9.99737521e-01 -8.83391749e-05 1.33963890e+01] [ 1.04300045e-02 -1.50659533e-04 9.99945595e-01 7.22829766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4592541539998 meters Centerline goodness [0,1] 0.9992623192682207 Centerline is valid? [True, True] Translation: X:781.37, Y:13.40, Z:7.23 [[ 9.99733712e-01 -2.08222584e-02 -9.94677568e-03 7.81373463e+02] [ 2.08224524e-02 9.99783186e-01 -8.40599741e-05 1.33960654e+01] [ 9.94636939e-03 -1.23078673e-04 9.99950526e-01 7.22886515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4892541539999 meters Centerline goodness [0,1] 0.9993243528567206 Centerline is valid? [True, True] Translation: X:781.41, Y:13.40, Z:7.23 [[ 9.99746986e-01 -2.01093401e-02 -1.00785991e-02 7.81405144e+02] [ 2.01095068e-02 9.99797780e-01 -8.48119553e-05 1.33958245e+01] [ 1.00782665e-02 -1.17885161e-04 9.99949206e-01 7.22918948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5192541539999 meters Centerline goodness [0,1] 0.9989455925769718 Centerline is valid? [True, True] Translation: X:781.44, Y:13.39, Z:7.23 [[ 9.99740658e-01 -2.01307724e-02 -1.06474309e-02 7.81435176e+02] [ 2.01309636e-02 9.99797348e-01 -8.92212082e-05 1.33945577e+01] [ 1.06470693e-02 -1.25144975e-04 9.99943311e-01 7.22882187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5492541539999 meters Centerline goodness [0,1] 0.9990511333684765 Centerline is valid? [True, True] Translation: X:781.47, Y:13.39, Z:7.23 [[ 9.99703035e-01 -2.13197467e-02 -1.18030036e-02 7.81465835e+02] [ 2.13200668e-02 9.99772697e-01 -9.87198224e-05 1.33919449e+01] [ 1.18024255e-02 -1.52950320e-04 9.99930337e-01 7.22773304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5792541539998 meters Centerline goodness [0,1] 0.9991574157942409 Centerline is valid? [True, True] Translation: X:781.50, Y:13.39, Z:7.23 [[ 9.99654389e-01 -2.31747874e-02 -1.24109296e-02 7.81495763e+02] [ 2.31752877e-02 9.99731412e-01 -1.03530923e-04 1.33898093e+01] [ 1.24099955e-02 -1.84131722e-04 9.99922976e-01 7.22873095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6092541539999 meters Centerline goodness [0,1] 0.9991574157942409 Centerline is valid? [True, True] Translation: X:781.53, Y:13.39, Z:7.23 [[ 9.99654389e-01 -2.31747796e-02 -1.24109366e-02 7.81525764e+02] [ 2.31752902e-02 9.99731412e-01 -1.02689228e-04 1.33900572e+01] [ 1.24099829e-02 -1.84973320e-04 9.99922976e-01 7.22901176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6392541539999 meters Centerline goodness [0,1] 0.9989673557986133 Centerline is valid? [True, True] Translation: X:781.56, Y:13.38, Z:7.23 [[ 9.99536403e-01 -2.73396394e-02 -1.33986211e-02 7.81556521e+02] [ 2.73406086e-02 9.99626170e-01 -1.10861420e-04 1.33844101e+01] [ 1.33966432e-02 -2.55516430e-04 9.99910228e-01 7.22722142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6692541539999 meters Centerline goodness [0,1] 0.9989471467677405 Centerline is valid? [True, True] Translation: X:781.59, Y:13.38, Z:7.23 [[ 9.99452956e-01 -3.03878404e-02 -1.30525401e-02 7.81586610e+02] [ 3.03890209e-02 9.99538141e-01 -1.07932848e-04 1.33807686e+01] [ 1.30497915e-02 -2.88780110e-04 9.99914806e-01 7.22861944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6992541539998 meters Centerline goodness [0,1] 0.9988449260752689 Centerline is valid? [True, True] Translation: X:781.62, Y:13.38, Z:7.23 [[ 9.99377552e-01 -3.26568490e-02 -1.33431390e-02 7.81618206e+02] [ 3.26582888e-02 9.99466570e-01 -1.10028742e-04 1.33773460e+01] [ 1.33396146e-02 -3.25803833e-04 9.99910970e-01 7.22769917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7292541539999 meters Centerline goodness [0,1] 0.9989087551414422 Centerline is valid? [True, True] Translation: X:781.65, Y:13.38, Z:7.23 [[ 9.99207649e-01 -3.78140450e-02 -1.24166488e-02 7.81649540e+02] [ 3.78156947e-02 9.99284726e-01 -1.01972924e-04 1.33752802e+01] [ 1.24116235e-02 -3.67652076e-04 9.99922905e-01 7.23029633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7592541539999 meters Centerline goodness [0,1] 0.9987833273898177 Centerline is valid? [True, True] Translation: X:781.68, Y:13.37, Z:7.23 [[ 9.99126183e-01 -3.99171290e-02 -1.23892466e-02 7.81680804e+02] [ 3.99189393e-02 9.99202916e-01 -1.01232676e-04 1.33684110e+01] [ 1.23834123e-02 -3.93421368e-04 9.99923245e-01 7.23046822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7892541539999 meters Centerline goodness [0,1] 0.9990359021650284 Centerline is valid? [True, True] Translation: X:781.71, Y:13.37, Z:7.23 [[ 9.98967399e-01 -4.39902041e-02 -1.13577006e-02 7.81712254e+02] [ 4.39919947e-02 9.99031879e-01 -9.22542770e-05 1.33673320e+01] [ 1.13507633e-02 -4.07488891e-04 9.99935495e-01 7.23175716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8192541539999 meters Centerline goodness [0,1] 0.9988490593676105 Centerline is valid? [True, True] Translation: X:781.74, Y:13.37, Z:7.23 [[ 9.98895828e-01 -4.56443180e-02 -1.11229837e-02 7.81744822e+02] [ 4.56461429e-02 9.98957668e-01 -8.98855656e-05 1.33672031e+01] [ 1.11154926e-02 -4.17934988e-04 9.99938134e-01 7.23225688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8492541539999 meters Centerline goodness [0,1] 0.9989345032905046 Centerline is valid? [True, True] Translation: X:781.78, Y:13.37, Z:7.23 [[ 9.98836757e-01 -4.69376601e-02 -1.10448401e-02 7.81777029e+02] [ 4.69395474e-02 9.98897728e-01 -8.84357549e-05 1.33658687e+01] [ 1.10368166e-02 -4.30106912e-04 9.99939000e-01 7.23258677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8792541539999 meters Centerline goodness [0,1] 0.9986449864498645 Centerline is valid? [True, True] Translation: X:781.81, Y:13.36, Z:7.23 [[ 9.98737595e-01 -4.89318177e-02 -1.13531615e-02 7.81808123e+02] [ 4.89339499e-02 9.98802013e-01 -9.00736119e-05 1.33613330e+01] [ 1.13439680e-02 -4.65595134e-04 9.99935547e-01 7.23053986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9092541539999 meters Centerline goodness [0,1] 0.9988722746637708 Centerline is valid? [True, True] Translation: X:781.84, Y:13.36, Z:7.23 [[ 9.98682659e-01 -5.01582733e-02 -1.08210373e-02 7.81840653e+02] [ 5.01602887e-02 9.98741177e-01 -8.52465295e-05 1.33619076e+01] [ 1.08116914e-02 -4.57652126e-04 9.99941447e-01 7.23294584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9392541539999 meters Centerline goodness [0,1] 0.9989332329317269 Centerline is valid? [True, True] Translation: X:781.87, Y:13.36, Z:7.23 [[ 9.98650763e-01 -5.07014141e-02 -1.12258812e-02 7.81871588e+02] [ 5.07036278e-02 9.98713740e-01 -8.75011625e-05 1.33599771e+01] [ 1.12158782e-02 -4.81809798e-04 9.99936984e-01 7.23337371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9692541539999 meters Centerline goodness [0,1] 0.9989314448541736 Centerline is valid? [True, True] Translation: X:781.90, Y:13.36, Z:7.23 [[ 9.98677309e-01 -5.01008577e-02 -1.15558374e-02 7.81903335e+02] [ 5.01031779e-02 9.98744043e-01 -8.88117614e-05 1.33614184e+01] [ 1.15457733e-02 -4.90289886e-04 9.99933225e-01 7.23284541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9992541539999 meters Centerline goodness [0,1] 0.9989530549855522 Centerline is valid? [True, True] Translation: X:781.94, Y:13.36, Z:7.23 [[ 9.98760434e-01 -4.83546518e-02 -1.18077275e-02 7.81935844e+02] [ 4.83569630e-02 9.98830114e-01 -8.98562661e-05 1.33638944e+01] [ 1.17982588e-02 -4.81240961e-04 9.99930282e-01 7.23372719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0292541539999 meters Centerline goodness [0,1] 0.9993503635868313 Centerline is valid? [True, True] Translation: X:781.97, Y:13.36, Z:7.23 [[ 9.98829630e-01 -4.68327459e-02 -1.20857340e-02 7.81966761e+02] [ 4.68350664e-02 9.98902632e-01 -9.11069279e-05 1.33614452e+01] [ 1.20767383e-02 -4.75035856e-04 9.99926961e-01 7.23446651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0592541539999 meters Centerline goodness [0,1] 0.9988270777479893 Centerline is valid? [True, True] Translation: X:782.00, Y:13.37, Z:7.23 [[ 9.98963747e-01 -4.35299419e-02 -1.32881782e-02 7.81998326e+02] [ 4.35324649e-02 9.99052008e-01 -9.94583375e-05 1.33660411e+01] [ 1.32799106e-02 -4.79111879e-04 9.99911703e-01 7.23330350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.089254154 meters Centerline goodness [0,1] 0.9987622723839893 Centerline is valid? [True, True] Translation: X:782.03, Y:13.37, Z:7.23 [[ 9.99025926e-01 -4.18818478e-02 -1.38964019e-02 7.82030193e+02] [ 4.18844574e-02 9.99122456e-01 -1.03324402e-04 1.33688690e+01] [ 1.38885346e-02 -4.78819497e-04 9.99903435e-01 7.23309380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1192541539999 meters Centerline goodness [0,1] 0.9989116101890031 Centerline is valid? [True, True] Translation: X:782.06, Y:13.37, Z:7.23 [[ 9.99148904e-01 -3.84277169e-02 -1.49926066e-02 7.82061149e+02] [ 3.84303802e-02 9.99261274e-01 -1.10528920e-04 1.33714096e+01] [ 1.49857785e-02 -4.65736721e-04 9.99887598e-01 7.23286603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1492541539999 meters Centerline goodness [0,1] 0.9988269794721407 Centerline is valid? [True, True] Translation: X:782.09, Y:13.37, Z:7.23 [[ 9.99214170e-01 -3.65105083e-02 -1.54280791e-02 7.82092238e+02] [ 3.65131091e-02 9.99333168e-01 -1.13170843e-04 1.33733222e+01] [ 1.54219230e-02 -4.50245223e-04 9.99880974e-01 7.23263871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1792541539999 meters Centerline goodness [0,1] 0.9987622204506357 Centerline is valid? [True, True] Translation: X:782.12, Y:13.38, Z:7.23 [[ 9.99262398e-01 -3.48726001e-02 -1.60798852e-02 7.82122678e+02] [ 3.48752190e-02 9.99391668e-01 -1.17602173e-04 1.33759567e+01] [ 1.60742044e-02 -4.43274089e-04 9.99870703e-01 7.23333333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2092541539998 meters Centerline goodness [0,1] 0.999077219915272 Centerline is valid? [True, True] Translation: X:782.15, Y:13.38, Z:7.23 [[ 9.99373012e-01 -3.13833982e-02 -1.63910216e-02 7.82152742e+02] [ 3.13856504e-02 9.99507342e-01 -1.19877706e-04 1.33792074e+01] [ 1.63867086e-02 -3.94640330e-04 9.99865651e-01 7.23344392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2392541539999 meters Centerline goodness [0,1] 0.9990762900449259 Centerline is valid? [True, True] Translation: X:782.18, Y:13.38, Z:7.23 [[ 9.99464130e-01 -2.80627279e-02 -1.68503898e-02 7.82182110e+02] [ 2.80646384e-02 9.99606103e-01 -1.23119834e-04 1.33824353e+01] [ 1.68472075e-02 -3.49846239e-04 9.99858015e-01 7.23422423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2692541539999 meters Centerline goodness [0,1] 0.9987166000420787 Centerline is valid? [True, True] Translation: X:782.21, Y:13.38, Z:7.23 [[ 9.99508468e-01 -2.63931834e-02 -1.69181325e-02 7.82211323e+02] [ 2.63948683e-02 9.99651587e-01 -1.23728829e-04 1.33842327e+01] [ 1.69155036e-02 -3.22883867e-04 9.99856870e-01 7.23458234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2992541539999 meters Centerline goodness [0,1] 0.9991368602766257 Centerline is valid? [True, True] Translation: X:782.24, Y:13.39, Z:7.24 [[ 9.99533321e-01 -2.50299205e-02 -1.75112496e-02 7.82240045e+02] [ 2.50314760e-02 9.99686655e-01 -1.30387728e-04 1.33865443e+01] [ 1.75090261e-02 -3.08005545e-04 9.99846658e-01 7.23524097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3292541539998 meters Centerline goodness [0,1] 0.9990955936481228 Centerline is valid? [True, True] Translation: X:782.27, Y:13.39, Z:7.24 [[ 9.99596127e-01 -2.21433520e-02 -1.78116236e-02 7.82268715e+02] [ 2.21444231e-02 9.99754773e-01 -1.37117589e-04 1.33916037e+01] [ 1.78102920e-02 -2.57365919e-04 9.99841351e-01 7.23579513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3592541539999 meters Centerline goodness [0,1] 0.9990962209424524 Centerline is valid? [True, True] Translation: X:782.30, Y:13.39, Z:7.24 [[ 9.99613879e-01 -2.13943515e-02 -1.77306119e-02 7.82297614e+02] [ 2.13952143e-02 9.99771086e-01 -1.41044731e-04 1.33931015e+01] [ 1.77295707e-02 -2.38359972e-04 9.99842790e-01 7.23737000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3892541539999 meters Centerline goodness [0,1] 0.998990345175743 Centerline is valid? [True, True] Translation: X:782.33, Y:13.40, Z:7.24 [[ 9.99650593e-01 -1.95752838e-02 -1.77623456e-02 7.82326040e+02] [ 1.95757811e-02 9.99808365e-01 -1.45890147e-04 1.33955850e+01] [ 1.77617975e-02 -2.01872617e-04 9.99842226e-01 7.23813135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4192541539999 meters Centerline goodness [0,1] 0.999012335301658 Centerline is valid? [True, True] Translation: X:782.36, Y:13.40, Z:7.24 [[ 9.99676469e-01 -1.88137515e-02 -1.71172619e-02 7.82355224e+02] [ 1.88140274e-02 9.99822990e-01 -1.44930663e-04 1.33966769e+01] [ 1.71169586e-02 -1.77160860e-04 9.99853478e-01 7.23856264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4492541539998 meters Centerline goodness [0,1] 0.9989284588717302 Centerline is valid? [True, True] Translation: X:782.38, Y:13.40, Z:7.24 [[ 9.99706585e-01 -1.72729518e-02 -1.69820372e-02 7.82383461e+02] [ 1.72729485e-02 9.99850801e-01 -1.46876203e-04 1.33974223e+01] [ 1.69820404e-02 -1.46496747e-04 9.99855784e-01 7.23764921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4792541539999 meters Centerline goodness [0,1] 0.998970977361502 Centerline is valid? [True, True] Translation: X:782.41, Y:13.40, Z:7.24 [[ 9.99737180e-01 -1.60048508e-02 -1.64138617e-02 7.82412197e+02] [ 1.60046336e-02 9.99871907e-01 -1.44598733e-04 1.33989357e+01] [ 1.64140735e-02 -1.18137113e-04 9.99865273e-01 7.23997436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5092541539999 meters Centerline goodness [0,1] 0.9989075630252101 Centerline is valid? [True, True] Translation: X:782.44, Y:13.40, Z:7.24 [[ 9.99768445e-01 -1.41140894e-02 -1.62434090e-02 7.82440295e+02] [ 1.41135783e-02 9.99900388e-01 -1.46104397e-04 1.33993625e+01] [ 1.62438531e-02 -8.31820599e-05 9.99868056e-01 7.23911828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5392541539999 meters Centerline goodness [0,1] 0.9989910031110737 Centerline is valid? [True, True] Translation: X:782.47, Y:13.40, Z:7.24 [[ 9.99767696e-01 -1.42315234e-02 -1.61869696e-02 7.82468609e+02] [ 1.42309850e-02 9.99898723e-01 -1.48455479e-04 1.33995933e+01] [ 1.61874430e-02 -8.19355284e-05 9.99868971e-01 7.24088699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5692541539999 meters Centerline goodness [0,1] 0.9987389659520807 Centerline is valid? [True, True] Translation: X:782.50, Y:13.40, Z:7.24 [[ 9.99767812e-01 -1.36972757e-02 -1.66345045e-02 7.82496202e+02] [ 1.36965504e-02 9.99906185e-01 -1.57528709e-04 1.33990655e+01] [ 1.66351017e-02 -7.03431971e-05 9.99861625e-01 7.23840062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5992541539999 meters Centerline goodness [0,1] 0.9992442531751863 Centerline is valid? [True, True] Translation: X:782.52, Y:13.40, Z:7.24 [[ 9.99757637e-01 -1.48185894e-02 -1.62811899e-02 7.82524145e+02] [ 1.48179665e-02 9.99890195e-01 -1.58894446e-04 1.33983853e+01] [ 1.62817568e-02 -8.23981919e-05 9.99867440e-01 7.24096759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6292541539999 meters Centerline goodness [0,1] 0.9988029988029988 Centerline is valid? [True, True] Translation: X:782.55, Y:13.39, Z:7.24 [[ 9.99726701e-01 -1.62248513e-02 -1.68308458e-02 7.82551974e+02] [ 1.62243260e-02 9.99868363e-01 -1.67768283e-04 1.33947692e+01] [ 1.68313523e-02 -1.05346697e-04 9.99858337e-01 7.23806362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6592541539999 meters Centerline goodness [0,1] 0.9989283012524166 Centerline is valid? [True, True] Translation: X:782.58, Y:13.39, Z:7.24 [[ 9.99688381e-01 -1.82846321e-02 -1.69944815e-02 7.82580474e+02] [ 1.82843468e-02 9.99832813e-01 -1.72179749e-04 1.33928118e+01] [ 1.69947885e-02 -1.38606900e-04 9.99855569e-01 7.23894943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6892541539999 meters Centerline goodness [0,1] 0.9990987403324181 Centerline is valid? [True, True] Translation: X:782.61, Y:13.39, Z:7.24 [[ 9.99603127e-01 -2.20677668e-02 -1.75100421e-02 7.82608578e+02] [ 2.20679888e-02 9.99756456e-01 -1.80563837e-04 1.33875708e+01] [ 1.75097623e-02 -2.05919237e-04 9.99846671e-01 7.23702542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7192541539999 meters Centerline goodness [0,1] 0.9988906331763474 Centerline is valid? [True, True] Translation: X:782.64, Y:13.39, Z:7.24 [[ 9.99534066e-01 -2.50450594e-02 -1.74469635e-02 7.82637777e+02] [ 2.50456845e-02 9.99686291e-01 -1.82706903e-04 1.33853714e+01] [ 1.74460661e-02 -2.54349369e-04 9.99847773e-01 7.23832093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7492541539999 meters Centerline goodness [0,1] 0.9990998346207791 Centerline is valid? [True, True] Translation: X:782.67, Y:13.38, Z:7.24 [[ 9.99475170e-01 -2.73557684e-02 -1.73506641e-02 7.82666134e+02] [ 2.73566828e-02 9.99625719e-01 -1.84687258e-04 1.33847262e+01] [ 1.73492224e-02 -2.90066286e-04 9.99849449e-01 7.23923310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7792541539999 meters Centerline goodness [0,1] 0.998825601879037 Centerline is valid? [True, True] Translation: X:782.70, Y:13.38, Z:7.24 [[ 9.99325028e-01 -3.25658277e-02 -1.69986810e-02 7.82695991e+02] [ 3.25674397e-02 9.99469524e-01 -1.82056522e-04 1.33805246e+01] [ 1.69955924e-02 -3.71669878e-04 9.99855495e-01 7.23911856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8092541539999 meters Centerline goodness [0,1] 0.9988690152054622 Centerline is valid? [True, True] Translation: X:782.73, Y:13.38, Z:7.24 [[ 9.99132750e-01 -3.82170048e-02 -1.65290050e-02 7.82725696e+02] [ 3.82192917e-02 9.99269360e-01 -1.77617946e-04 1.33757194e+01] [ 1.65237162e-02 -4.54262956e-04 9.99863371e-01 7.23945501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.839254154 meters Centerline goodness [0,1] 0.9989740368509212 Centerline is valid? [True, True] Translation: X:782.76, Y:13.37, Z:7.24 [[ 9.99019571e-01 -4.11596021e-02 -1.63028699e-02 7.82756856e+02] [ 4.11622169e-02 9.99152461e-01 -1.75272515e-04 1.33733378e+01] [ 1.62962668e-02 -4.95961597e-04 9.99867084e-01 7.23964132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8692541539999 meters Centerline goodness [0,1] 0.9992463731708849 Centerline is valid? [True, True] Translation: X:782.79, Y:13.37, Z:7.24 [[ 9.98902580e-01 -4.39455857e-02 -1.61994127e-02 7.82788366e+02] [ 4.39485427e-02 9.99033781e-01 -1.73579079e-04 1.33711812e+01] [ 1.61913886e-02 -5.38551992e-04 9.99868766e-01 7.24005045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8992541539999 meters Centerline goodness [0,1] 0.9993088571009697 Centerline is valid? [True, True] Translation: X:782.82, Y:13.37, Z:7.24 [[ 9.98653872e-01 -4.94575861e-02 -1.56330232e-02 7.82818494e+02] [ 4.94610193e-02 9.98776041e-01 -1.67185515e-04 1.33667345e+01] [ 1.56221576e-02 -6.06264798e-04 9.99877783e-01 7.24007629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9292541539999 meters Centerline goodness [0,1] 0.9987862553886075 Centerline is valid? [True, True] Translation: X:782.85, Y:13.37, Z:7.24 [[ 9.98499825e-01 -5.25059634e-02 -1.55313421e-02 7.82849536e+02] [ 5.25097219e-02 9.98620399e-01 -1.65985887e-04 1.33671272e+01] [ 1.55186303e-02 -6.49809575e-04 9.99879368e-01 7.24037468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9592541539998 meters Centerline goodness [0,1] 0.9990796711916167 Centerline is valid? [True, True] Translation: X:782.88, Y:13.36, Z:7.24 [[ 9.98202060e-01 -5.78933810e-02 -1.55242802e-02 7.82879893e+02] [ 5.78977894e-02 9.98322502e-01 -1.65696615e-04 1.33637910e+01] [ 1.55078310e-02 -7.33422804e-04 9.99879477e-01 7.24065940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9892541539999 meters Centerline goodness [0,1] 0.9991416488715823 Centerline is valid? [True, True] Translation: X:782.91, Y:13.36, Z:7.24 [[ 9.98037351e-01 -6.07146688e-02 -1.53353882e-02 7.82910018e+02] [ 6.07193037e-02 9.98154867e-01 -1.63615297e-04 1.33586763e+01] [ 1.53170262e-02 -7.67859916e-04 9.99882393e-01 7.24058527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0192541539999 meters Centerline goodness [0,1] 0.9987869915298546 Centerline is valid? [True, True] Translation: X:782.94, Y:13.36, Z:7.24 [[ 9.97868227e-01 -6.35224569e-02 -1.49632415e-02 7.82941501e+02] [ 6.35271873e-02 9.97980096e-01 -1.59448295e-04 1.33574632e+01] [ 1.49431458e-02 -7.91464259e-04 9.99888032e-01 7.24088980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0492541539999 meters Centerline goodness [0,1] 0.9986811806573163 Centerline is valid? [True, True] Translation: X:782.97, Y:13.36, Z:7.24 [[ 9.97509387e-01 -6.88940732e-02 -1.51205018e-02 7.82972253e+02] [ 6.88995238e-02 9.97623591e-01 -1.60774616e-04 1.33561363e+01] [ 1.50956458e-02 -8.81421186e-04 9.99885666e-01 7.24098853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0792541539998 meters Centerline goodness [0,1] 0.9984892675045637 Centerline is valid? [True, True] Translation: X:783.00, Y:13.35, Z:7.24 [[ 9.97356352e-01 -7.10429278e-02 -1.52711779e-02 7.83002216e+02] [ 7.10487390e-02 9.97472832e-01 -1.62348617e-04 1.33539631e+01] [ 1.52441187e-02 -9.23078504e-04 9.99883376e-01 7.24128357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1092541539999 meters Centerline goodness [0,1] 0.9988659750514511 Centerline is valid? [True, True] Translation: X:783.03, Y:13.35, Z:7.24 [[ 9.97181178e-01 -7.35698277e-02 -1.47369916e-02 7.83032098e+02] [ 7.35755205e-02 9.97289636e-01 -1.56244893e-04 1.33527046e+01] [ 1.47085439e-02 -9.28477360e-04 9.99891392e-01 7.24241030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1392541539999 meters Centerline goodness [0,1] 0.9982789379788015 Centerline is valid? [True, True] Translation: X:783.06, Y:13.36, Z:7.24 [[ 9.97128457e-01 -7.43003835e-02 -1.46387350e-02 7.83064517e+02] [ 7.43060951e-02 9.97235469e-01 -1.54095347e-04 1.33552482e+01] [ 1.46097151e-02 -9.34094376e-04 9.99892836e-01 7.24278178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1692541539999 meters Centerline goodness [0,1] 0.9985267190032202 Centerline is valid? [True, True] Translation: X:783.10, Y:13.36, Z:7.24 [[ 9.97135578e-01 -7.42606442e-02 -1.43525788e-02 7.83097107e+02] [ 7.42661449e-02 9.97238446e-01 -1.50083481e-04 1.33567278e+01] [ 1.43240887e-02 -9.16257118e-04 9.99896985e-01 7.24359519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1992541539998 meters Centerline goodness [0,1] 0.9984205871204145 Centerline is valid? [True, True] Translation: X:783.13, Y:13.37, Z:7.24 [[ 9.97211281e-01 -7.30908477e-02 -1.50794497e-02 7.83129712e+02] [ 7.30968050e-02 9.97324838e-01 -1.56457535e-04 1.33674303e+01] [ 1.50505454e-02 -9.46238379e-04 9.99886286e-01 7.24397970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2292541539999 meters Centerline goodness [0,1] 0.9985292572749238 Centerline is valid? [True, True] Translation: X:783.16, Y:13.37, Z:7.24 [[ 9.97304317e-01 -7.16806200e-02 -1.56839964e-02 7.83161418e+02] [ 7.16869125e-02 9.97427171e-01 -1.61354796e-04 1.33678834e+01] [ 1.56552101e-02 -9.63417441e-04 9.99876986e-01 7.24272224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2592541539999 meters Centerline goodness [0,1] 0.9985293190747316 Centerline is valid? [True, True] Translation: X:783.19, Y:13.36, Z:7.24 [[ 9.97391833e-01 -7.04784218e-02 -1.55667601e-02 7.83192909e+02] [ 7.04844906e-02 9.97512863e-01 -1.59122378e-04 1.33603433e+01] [ 1.55392581e-02 -9.38507794e-04 9.99878818e-01 7.24345499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2892541539999 meters Centerline goodness [0,1] 0.9988197854538557 Centerline is valid? [True, True] Translation: X:783.22, Y:13.38, Z:7.24 [[ 9.97632912e-01 -6.67851690e-02 -1.63803163e-02 7.83223553e+02] [ 6.67914035e-02 9.97766947e-01 -1.66774097e-04 1.33756322e+01] [ 1.63548762e-02 -9.27684987e-04 9.99865820e-01 7.24449255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3192541539999 meters Centerline goodness [0,1] 0.9987980008856836 Centerline is valid? [True, True] Translation: X:783.25, Y:13.37, Z:7.24 [[ 9.97793610e-01 -6.42558842e-02 -1.67061039e-02 7.83254013e+02] [ 6.42620208e-02 9.97933046e-01 -1.69786943e-04 1.33708223e+01] [ 1.66824830e-02 -9.04155672e-04 9.99860429e-01 7.24350648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3492541539999 meters Centerline goodness [0,1] 0.9989443013386259 Centerline is valid? [True, True] Translation: X:783.28, Y:13.39, Z:7.24 [[ 9.98108271e-01 -5.88678671e-02 -1.77328155e-02 7.83284579e+02] [ 5.88739372e-02 9.98265409e-01 -1.79993392e-04 1.33855066e+01] [ 1.77126522e-02 -8.64347775e-04 9.99842745e-01 7.24429003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3792541539999 meters Centerline goodness [0,1] 0.9989856940599708 Centerline is valid? [True, True] Translation: X:783.32, Y:13.40, Z:7.24 [[ 9.98299356e-01 -5.50860731e-02 -1.90766772e-02 7.83316312e+02] [ 5.50924208e-02 9.98481241e-01 -1.93030105e-04 1.33955121e+01] [ 1.90583376e-02 -8.58278500e-04 9.99818005e-01 7.24431235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4092541539999 meters Centerline goodness [0,1] 0.9986459611560107 Centerline is valid? [True, True] Translation: X:783.35, Y:13.40, Z:7.25 [[ 9.98488792e-01 -5.16658602e-02 -1.87288865e-02 7.83346379e+02] [ 5.16713909e-02 9.98664124e-01 -1.88818996e-04 1.33992350e+01] [ 1.87136225e-02 -7.79213962e-04 9.99824581e-01 7.24599807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4392541539999 meters Centerline goodness [0,1] 0.9995327995922615 Centerline is valid? [True, True] Translation: X:783.38, Y:13.41, Z:7.25 [[ 9.98899665e-01 -4.31708047e-02 -1.83232309e-02 7.83376406e+02] [ 4.31746747e-02 9.99067522e-01 -1.84508451e-04 1.34102156e+01] [ 1.83141102e-02 -6.06794102e-04 9.99832098e-01 7.24781305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4692541539999 meters Centerline goodness [0,1] 0.9990636903368587 Centerline is valid? [True, True] Translation: X:783.41, Y:13.42, Z:7.25 [[ 9.99269162e-01 -3.44333926e-02 -1.65976784e-02 7.83406208e+02] [ 3.44353626e-02 9.99406913e-01 -1.67173428e-04 1.34194764e+01] [ 1.65935909e-02 -4.04495822e-04 9.99862235e-01 7.24915803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4992541539999 meters Centerline goodness [0,1] 0.9990636903368587 Centerline is valid? [True, True] Translation: X:783.44, Y:13.42, Z:7.25 [[ 9.99270412e-01 -3.43970951e-02 -1.65976799e-02 7.83437061e+02] [ 3.43990626e-02 9.99408163e-01 -1.67023553e-04 1.34197575e+01] [ 1.65936019e-02 -4.04042936e-04 9.99862235e-01 7.24944710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5292541539999 meters Centerline goodness [0,1] 0.9993631114130435 Centerline is valid? [True, True] Translation: X:783.47, Y:13.43, Z:7.25 [[ 9.99418850e-01 -2.99841218e-02 -1.62146661e-02 7.83468539e+02] [ 2.99854284e-02 9.99550323e-01 -1.62582601e-04 1.34251576e+01] [ 1.62122496e-02 -3.23715593e-04 9.99868520e-01 7.25034058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5592541539999 meters Centerline goodness [0,1] 0.9991904731471422 Centerline is valid? [True, True] Translation: X:783.50, Y:13.43, Z:7.25 [[ 9.99526836e-01 -2.55282722e-02 -1.71584125e-02 7.83498061e+02] [ 2.55290829e-02 9.99674065e-01 -1.71819769e-04 1.34293051e+01] [ 1.71572062e-02 -2.66300065e-04 9.99852769e-01 7.24817709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.589254154 meters Centerline goodness [0,1] 0.9991273439329119 Centerline is valid? [True, True] Translation: X:783.53, Y:13.43, Z:7.25 [[ 9.99630800e-01 -2.19954674e-02 -1.59519006e-02 7.83527726e+02] [ 2.19957119e-02 9.99758052e-01 -1.60141321e-04 1.34340815e+01] [ 1.59515635e-02 -1.90791214e-04 9.99872748e-01 7.25032798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6192541539999 meters Centerline goodness [0,1] 0.9993604911428023 Centerline is valid? [True, True] Translation: X:783.56, Y:13.44, Z:7.25 [[ 9.99724981e-01 -1.57425616e-02 -1.73819942e-02 7.83557623e+02] [ 1.57418952e-02 9.99876073e-01 -1.75171628e-04 1.34405689e+01] [ 1.73825978e-02 -9.85020786e-05 9.99848906e-01 7.24878465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6492541539999 meters Centerline goodness [0,1] 0.9995523724261415 Centerline is valid? [True, True] Translation: X:783.59, Y:13.44, Z:7.25 [[ 9.99756146e-01 -1.46590432e-02 -1.65154610e-02 7.83586055e+02] [ 1.46582580e-02 9.99892548e-01 -1.68599834e-04 1.34430238e+01] [ 1.65161579e-02 -7.35291674e-05 9.99863596e-01 7.25028831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6792541539999 meters Centerline goodness [0,1] 0.9991701421397565 Centerline is valid? [True, True] Translation: X:783.61, Y:13.45, Z:7.25 [[ 9.99755687e-01 -1.32049368e-02 -1.77255733e-02 7.83613743e+02] [ 1.32037447e-02 9.99912810e-01 -1.84288998e-04 1.34458727e+01] [ 1.77264613e-02 -4.97999698e-05 9.99842873e-01 7.24913116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7092541539998 meters Centerline goodness [0,1] 0.999020338622085 Centerline is valid? [True, True] Translation: X:783.64, Y:13.45, Z:7.25 [[ 9.99745897e-01 -1.39916706e-02 -1.76741149e-02 7.83641752e+02] [ 1.39905508e-02 9.99902110e-01 -1.87007601e-04 1.34468219e+01] [ 1.76750013e-02 -6.03105205e-05 9.99843783e-01 7.24925576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7392541539999 meters Centerline goodness [0,1] 0.999296450271826 Centerline is valid? [True, True] Translation: X:783.67, Y:13.45, Z:7.25 [[ 9.99728442e-01 -1.50371016e-02 -1.78024909e-02 7.83669827e+02] [ 1.50360385e-02 9.99886934e-01 -1.93569667e-04 1.34473509e+01] [ 1.78033887e-02 -7.41618370e-05 9.99841504e-01 7.24956100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7692541539999 meters Centerline goodness [0,1] 0.9991064210033616 Centerline is valid? [True, True] Translation: X:783.70, Y:13.45, Z:7.25 [[ 9.99688903e-01 -1.76205069e-02 -1.76526360e-02 7.83698412e+02] [ 1.76197786e-02 9.99844740e-01 -1.96794742e-04 1.34472629e+01] [ 1.76533629e-02 -1.14302020e-04 9.99844161e-01 7.24966182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7992541539999 meters Centerline goodness [0,1] 0.9994044073853484 Centerline is valid? [True, True] Translation: X:783.73, Y:13.45, Z:7.25 [[ 9.99669140e-01 -1.88897430e-02 -1.74581893e-02 7.83726536e+02] [ 1.88891696e-02 9.99821564e-01 -1.97752199e-04 1.34468205e+01] [ 1.74588096e-02 -1.32083928e-04 9.99847575e-01 7.24995851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8292541539998 meters Centerline goodness [0,1] 0.9993846153846154 Centerline is valid? [True, True] Translation: X:783.76, Y:13.45, Z:7.25 [[ 9.99625906e-01 -2.14739116e-02 -1.69386768e-02 7.83755143e+02] [ 2.14736954e-02 9.99769395e-01 -1.94661432e-04 1.34456469e+01] [ 1.69389508e-02 -1.69147376e-04 9.99856511e-01 7.25060791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8592541539999 meters Centerline goodness [0,1] 0.9992569317651055 Centerline is valid? [True, True] Translation: X:783.78, Y:13.45, Z:7.25 [[ 9.99603301e-01 -2.26490906e-02 -1.67409717e-02 7.83784331e+02] [ 2.26489721e-02 9.99743460e-01 -1.96698754e-04 1.34450160e+01] [ 1.67411320e-02 -1.82545077e-04 9.99859841e-01 7.25076129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8892541539999 meters Centerline goodness [0,1] 0.9991084127624345 Centerline is valid? [True, True] Translation: X:783.81, Y:13.44, Z:7.25 [[ 9.99583142e-01 -2.28441520e-02 -1.76546580e-02 7.83813261e+02] [ 2.28439952e-02 9.99739020e-01 -2.10571943e-04 1.34443502e+01] [ 1.76548608e-02 -1.92818759e-04 9.99844122e-01 7.24850805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9192541539999 meters Centerline goodness [0,1] 0.9992359283470583 Centerline is valid? [True, True] Translation: X:783.84, Y:13.44, Z:7.25 [[ 9.99573933e-01 -2.38976268e-02 -1.67587584e-02 7.83842094e+02] [ 2.38975916e-02 9.99714391e-01 -2.02391636e-04 1.34444216e+01] [ 1.67588087e-02 -1.98188560e-04 9.99859542e-01 7.24907960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9492541539998 meters Centerline goodness [0,1] 0.9992576567404768 Centerline is valid? [True, True] Translation: X:783.87, Y:13.44, Z:7.25 [[ 9.99576516e-01 -2.48758081e-02 -1.50991105e-02 7.83870736e+02] [ 2.48758540e-02 9.99690531e-01 -1.84804995e-04 1.34434493e+01] [ 1.50990350e-02 -1.90876535e-04 9.99885985e-01 7.25124350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9792541539999 meters Centerline goodness [0,1] 0.9992358959120431 Centerline is valid? [True, True] Translation: X:783.90, Y:13.44, Z:7.25 [[ 9.99571037e-01 -2.52745317e-02 -1.47966030e-02 7.83901316e+02] [ 2.52746121e-02 9.99680529e-01 -1.81598046e-04 1.34430708e+01] [ 1.47964658e-02 -1.92458254e-04 9.99890508e-01 7.25136948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0092541539999 meters Centerline goodness [0,1] 0.9990228151421167 Centerline is valid? [True, True] Translation: X:783.93, Y:13.44, Z:7.25 [[ 9.99569361e-01 -2.54513776e-02 -1.46054586e-02 7.83932067e+02] [ 2.54514761e-02 9.99676043e-01 -1.79159432e-04 1.34421944e+01] [ 1.46052869e-02 -1.92648202e-04 9.99893319e-01 7.25137093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0392541539999 meters Centerline goodness [0,1] 0.9995752452958416 Centerline is valid? [True, True] Translation: X:783.96, Y:13.44, Z:7.25 [[ 9.99563927e-01 -2.55787169e-02 -1.47541320e-02 7.83962119e+02] [ 2.55788338e-02 9.99672792e-01 -1.80815725e-04 1.34418010e+01] [ 1.47539293e-02 -1.96656612e-04 9.99891136e-01 7.25186915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0692541539999 meters Centerline goodness [0,1] 0.999212212830285 Centerline is valid? [True, True] Translation: X:783.99, Y:13.44, Z:7.25 [[ 9.99593454e-01 -2.44857446e-02 -1.46073763e-02 7.83992206e+02] [ 2.44857425e-02 9.99700163e-01 -1.79017197e-04 1.34417799e+01] [ 1.46073799e-02 -1.78728038e-04 9.99893291e-01 7.25176236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0992541539999 meters Centerline goodness [0,1] 0.9991270466497754 Centerline is valid? [True, True] Translation: X:784.02, Y:13.44, Z:7.25 [[ 9.99641822e-01 -2.26215889e-02 -1.43000850e-02 7.84021416e+02] [ 2.26213949e-02 9.99744088e-01 -1.75339331e-04 1.34415755e+01] [ 1.43003919e-02 -1.48211341e-04 9.99897733e-01 7.25216876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1292541539999 meters Centerline goodness [0,1] 0.9990418396678378 Centerline is valid? [True, True] Translation: X:784.05, Y:13.44, Z:7.25 [[ 9.99670013e-01 -2.12723308e-02 -1.43997931e-02 7.84051966e+02] [ 2.12719917e-02 9.99773710e-01 -1.76730253e-04 1.34418727e+01] [ 1.44002941e-02 -1.29640345e-04 9.99896302e-01 7.25253041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1592541539999 meters Centerline goodness [0,1] 0.9991278080326753 Centerline is valid? [True, True] Translation: X:784.08, Y:13.44, Z:7.25 [[ 9.99701228e-01 -1.97305438e-02 -1.44277651e-02 7.84082138e+02] [ 1.97300416e-02 9.99805328e-01 -1.77161828e-04 1.34422746e+01] [ 1.44284519e-02 -1.07551507e-04 9.99895899e-01 7.25257776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1892541539999 meters Centerline goodness [0,1] 0.9988917542251871 Centerline is valid? [True, True] Translation: X:784.11, Y:13.44, Z:7.25 [[ 9.99757660e-01 -1.64140962e-02 -1.46696782e-02 7.84111526e+02] [ 1.64132148e-02 9.99865278e-01 -1.80488357e-04 1.34429131e+01] [ 1.46706644e-02 -6.03319605e-05 9.99892378e-01 7.25233153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2192541539999 meters Centerline goodness [0,1] 0.9994240860031569 Centerline is valid? [True, True] Translation: X:784.14, Y:13.44, Z:7.25 [[ 9.99772761e-01 -1.51434052e-02 -1.50034439e-02 7.84139827e+02] [ 1.51423130e-02 9.99885331e-01 -1.86402331e-04 1.34435142e+01] [ 1.50045462e-02 -4.08268693e-05 9.99887425e-01 7.25267017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2492541539999 meters Centerline goodness [0,1] 0.9991697711548696 Centerline is valid? [True, True] Translation: X:784.17, Y:13.44, Z:7.25 [[ 9.99789390e-01 -1.31968711e-02 -1.57168055e-02 7.84167532e+02] [ 1.31953625e-02 9.99912917e-01 -1.99687693e-04 1.34437924e+01] [ 1.57180721e-02 -7.74330877e-06 9.99876463e-01 7.25213435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2792541539999 meters Centerline goodness [0,1] 0.9991920222831749 Centerline is valid? [True, True] Translation: X:784.19, Y:13.44, Z:7.25 [[ 9.99795940e-01 -1.24966967e-02 -1.58717138e-02 7.84194545e+02] [ 1.24950048e-02 9.99921913e-01 -2.05764025e-04 1.34437676e+01] [ 1.58730458e-02 7.40489648e-06 9.99874015e-01 7.25129951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3092541539999 meters Centerline goodness [0,1] 0.9990837612665402 Centerline is valid? [True, True] Translation: X:784.22, Y:13.44, Z:7.25 [[ 9.99792527e-01 -1.25318915e-02 -1.60578825e-02 7.84222091e+02] [ 1.25301032e-02 9.99921473e-01 -2.11977266e-04 1.34433860e+01] [ 1.60592780e-02 1.07263618e-05 9.99871041e-01 7.25069993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.339254154 meters Centerline goodness [0,1] 0.9991490448027911 Centerline is valid? [True, True] Translation: X:784.25, Y:13.44, Z:7.25 [[ 9.99780196e-01 -1.29156821e-02 -1.65149687e-02 7.84249624e+02] [ 1.29137637e-02 9.99916589e-01 -2.22800349e-04 1.34414590e+01] [ 1.65164688e-02 9.48097268e-06 9.99863594e-01 7.25069754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3692541539999 meters Centerline goodness [0,1] 0.9990847558639478 Centerline is valid? [True, True] Translation: X:784.28, Y:13.44, Z:7.25 [[ 9.99768203e-01 -1.35699150e-02 -1.67151753e-02 7.84276918e+02] [ 1.35679797e-02 9.99907924e-01 -2.29189534e-04 1.34407475e+01] [ 1.67167463e-02 2.34525053e-06 9.99860265e-01 7.24991268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3992541539999 meters Centerline goodness [0,1] 0.9990864281465114 Centerline is valid? [True, True] Translation: X:784.30, Y:13.44, Z:7.25 [[ 9.99736072e-01 -1.64395513e-02 -1.60476659e-02 7.84304899e+02] [ 1.64380874e-02 9.99864861e-01 -2.23132948e-04 1.34382856e+01] [ 1.60491654e-02 -4.07188771e-05 9.99871203e-01 7.25241818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4292541539999 meters Centerline goodness [0,1] 0.9993424680778857 Centerline is valid? [True, True] Translation: X:784.33, Y:13.44, Z:7.25 [[ 9.99702443e-01 -1.84246042e-02 -1.59862132e-02 7.84332774e+02] [ 1.84233306e-02 9.99830250e-01 -2.26951514e-04 1.34366000e+01] [ 1.59876810e-02 -6.76353068e-05 9.99872187e-01 7.25261154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4592541539998 meters Centerline goodness [0,1] 0.9993205079203296 Centerline is valid? [True, True] Translation: X:784.36, Y:13.43, Z:7.25 [[ 9.99660282e-01 -2.05129284e-02 -1.60791671e-02 7.84361056e+02] [ 2.05118560e-02 9.99789583e-01 -2.31631002e-04 1.34344645e+01] [ 1.60805352e-02 -9.82612471e-05 9.99870695e-01 7.25293341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4892541539999 meters Centerline goodness [0,1] 0.9993440264082272 Centerline is valid? [True, True] Translation: X:784.39, Y:13.43, Z:7.25 [[ 9.99542038e-01 -2.58008422e-02 -1.58123556e-02 7.84389753e+02] [ 2.58004277e-02 9.99667087e-01 -2.30239386e-04 1.34292643e+01] [ 1.58130319e-02 -1.77831593e-04 9.99874950e-01 7.25314525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5192541539999 meters Centerline goodness [0,1] 0.9992382725714648 Centerline is valid? [True, True] Translation: X:784.42, Y:13.43, Z:7.25 [[ 9.99475727e-01 -2.81172037e-02 -1.60528814e-02 7.84419328e+02] [ 2.81170350e-02 9.99604610e-01 -2.36249677e-04 1.34263673e+01] [ 1.60531769e-02 -2.15233609e-04 9.99871116e-01 7.25169294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5492541539999 meters Centerline goodness [0,1] 0.9993886499704866 Centerline is valid? [True, True] Translation: X:784.45, Y:13.42, Z:7.25 [[ 9.99316588e-01 -3.35290536e-02 -1.55614467e-02 7.84449563e+02] [ 3.35295466e-02 9.99437700e-01 -2.29288289e-04 1.34211939e+01] [ 1.55603844e-02 -2.92636664e-04 9.99878887e-01 7.25314045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5792541539998 meters Centerline goodness [0,1] 0.9992199030149694 Centerline is valid? [True, True] Translation: X:784.48, Y:13.42, Z:7.25 [[ 9.99231973e-01 -3.61696643e-02 -1.50737910e-02 7.84480852e+02] [ 3.61704278e-02 9.99345611e-01 -2.22061455e-04 1.34190072e+01] [ 1.50719588e-02 -3.23334563e-04 9.99886359e-01 7.25470680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6092541539999 meters Centerline goodness [0,1] 0.9991560113094484 Centerline is valid? [True, True] Translation: X:784.51, Y:13.42, Z:7.26 [[ 9.99078467e-01 -4.05403807e-02 -1.40959013e-02 7.84511861e+02] [ 4.05414900e-02 9.99177834e-01 -2.07154048e-04 1.34157883e+01] [ 1.40927103e-02 -3.64505694e-04 9.99900626e-01 7.25583613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6392541539999 meters Centerline goodness [0,1] 0.9990101095197979 Centerline is valid? [True, True] Translation: X:784.54, Y:13.41, Z:7.26 [[ 9.99002592e-01 -4.23269554e-02 -1.42214723e-02 7.84544280e+02] [ 4.23282760e-02 9.99103735e-01 -2.08263473e-04 1.34135671e+01] [ 1.42175412e-02 -3.93914653e-04 9.99898848e-01 7.25527246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6692541539999 meters Centerline goodness [0,1] 0.9990088570223534 Centerline is valid? [True, True] Translation: X:784.58, Y:13.41, Z:7.26 [[ 9.98908703e-01 -4.46011056e-02 -1.38616022e-02 7.84576475e+02] [ 4.46025926e-02 9.99004789e-01 -2.02002261e-04 1.34121079e+01] [ 1.38568165e-02 -4.16481580e-04 9.99903903e-01 7.25683685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6992541539998 meters Centerline goodness [0,1] 0.9993477529035516 Centerline is valid? [True, True] Translation: X:784.61, Y:13.41, Z:7.26 [[ 9.98761820e-01 -4.79562299e-02 -1.32298104e-02 7.84608269e+02] [ 4.79578900e-02 9.98849340e-01 -1.91927839e-04 1.34087053e+01] [ 1.32237915e-02 -4.42783595e-04 9.99912464e-01 7.25740365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7292541539999 meters Centerline goodness [0,1] 0.9991360418071477 Centerline is valid? [True, True] Translation: X:784.64, Y:13.41, Z:7.26 [[ 9.98698211e-01 -4.93808345e-02 -1.27834589e-02 7.84639910e+02] [ 4.93825097e-02 9.98779923e-01 -1.84767317e-04 1.34057298e+01] [ 1.27769861e-02 -4.46752496e-04 9.99918271e-01 7.25765958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7592541539999 meters Centerline goodness [0,1] 0.9990963159111448 Centerline is valid? [True, True] Translation: X:784.67, Y:13.40, Z:7.26 [[ 9.98611140e-01 -5.12007095e-02 -1.24208915e-02 7.84671780e+02] [ 5.12024405e-02 9.98688279e-01 -1.78810169e-04 1.34043421e+01] [ 1.24137539e-02 -4.57418130e-04 9.99922842e-01 7.25786015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7892541539999 meters Centerline goodness [0,1] 0.9989687033022541 Centerline is valid? [True, True] Translation: X:784.70, Y:13.40, Z:7.26 [[ 9.98572697e-01 -5.18350043e-02 -1.28724803e-02 7.84704400e+02] [ 5.18369283e-02 9.98655546e-01 -1.84358618e-04 1.34042105e+01] [ 1.28647301e-02 -4.83174357e-04 9.99917129e-01 7.25802237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8192541539999 meters Centerline goodness [0,1] 0.9988643533123028 Centerline is valid? [True, True] Translation: X:784.74, Y:13.40, Z:7.26 [[ 9.98570852e-01 -5.17328980e-02 -1.34149653e-02 7.84736808e+02] [ 5.17349918e-02 9.98660830e-01 -1.91129196e-04 1.34042371e+01] [ 1.34068881e-02 -5.03167077e-04 9.99909997e-01 7.25649510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8492541539999 meters Centerline goodness [0,1] 0.9988852900349136 Centerline is valid? [True, True] Translation: X:784.77, Y:13.40, Z:7.26 [[ 9.98553474e-01 -5.22511801e-02 -1.26796545e-02 7.84769140e+02] [ 5.22531035e-02 9.98633857e-01 -1.79771772e-04 1.34046436e+01] [ 1.26717256e-02 -4.83039572e-04 9.99919594e-01 7.25873123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8792541539999 meters Centerline goodness [0,1] 0.9986973968947622 Centerline is valid? [True, True] Translation: X:784.80, Y:13.40, Z:7.26 [[ 9.98581211e-01 -5.16388519e-02 -1.29998089e-02 7.84801148e+02] [ 5.16408345e-02 9.98665705e-01 -1.83349562e-04 1.34043476e+01] [ 1.29919312e-02 -4.88231550e-04 9.99915482e-01 7.25706027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9092541539999 meters Centerline goodness [0,1] 0.9990121899957966 Centerline is valid? [True, True] Translation: X:784.83, Y:13.40, Z:7.26 [[ 9.98604053e-01 -5.12131158e-02 -1.29290893e-02 7.84832881e+02] [ 5.12150532e-02 9.98687632e-01 -1.81421705e-04 1.34020340e+01] [ 1.29214127e-02 -4.80995546e-04 9.99916399e-01 7.25810591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9392541539999 meters Centerline goodness [0,1] 0.9990971318187545 Centerline is valid? [True, True] Translation: X:784.86, Y:13.40, Z:7.26 [[ 9.98639167e-01 -5.03318947e-02 -1.36570180e-02 7.84864856e+02] [ 5.03339880e-02 9.98732423e-01 -1.90625398e-04 1.34036986e+01] [ 1.36493012e-02 -4.97046190e-04 9.99906720e-01 7.25823633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9692541539999 meters Centerline goodness [0,1] 0.9990326989801283 Centerline is valid? [True, True] Translation: X:784.90, Y:13.41, Z:7.26 [[ 9.98716431e-01 -4.85683337e-02 -1.43738157e-02 7.84896926e+02] [ 4.85704852e-02 9.98819738e-01 -1.99575238e-04 1.34084083e+01] [ 1.43665439e-02 -4.98824132e-04 9.99896671e-01 7.25810081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9992541539999 meters Centerline goodness [0,1] 0.9990771231411373 Centerline is valid? [True, True] Translation: X:784.93, Y:13.41, Z:7.26 [[ 9.98769672e-01 -4.73074446e-02 -1.48710330e-02 7.84928223e+02] [ 4.73096230e-02 9.98880252e-01 -2.05470366e-04 1.34068047e+01] [ 1.48641015e-02 -4.98325397e-04 9.99889399e-01 7.25813129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0292541539999 meters Centerline goodness [0,1] 0.998654727372094 Centerline is valid? [True, True] Translation: X:784.96, Y:13.41, Z:7.26 [[ 9.98855473e-01 -4.57626087e-02 -1.39114276e-02 7.84960257e+02] [ 4.57643765e-02 9.98952244e-01 -1.91404479e-04 1.34118255e+01] [ 1.39056110e-02 -4.45462397e-04 9.99903213e-01 7.25990606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0592541539999 meters Centerline goodness [0,1] 0.9990957457994238 Centerline is valid? [True, True] Translation: X:784.99, Y:13.41, Z:7.26 [[ 9.98910136e-01 -4.46696975e-02 -1.35336244e-02 7.84991521e+02] [ 4.46712823e-02 9.99001723e-01 -1.85319340e-04 1.34113618e+01] [ 1.35283922e-02 -4.19446989e-04 9.99908399e-01 7.26074980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.089254154 meters Centerline goodness [0,1] 0.9989703719268754 Centerline is valid? [True, True] Translation: X:785.02, Y:13.41, Z:7.26 [[ 9.98973963e-01 -4.34669047e-02 -1.27141267e-02 7.85023358e+02] [ 4.34682152e-02 9.99054795e-01 -1.73380473e-04 1.34140050e+01] [ 1.27096456e-02 -3.79457817e-04 9.99919157e-01 7.26186358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1192541539999 meters Centerline goodness [0,1] 0.9986961093585699 Centerline is valid? [True, True] Translation: X:785.06, Y:13.42, Z:7.26 [[ 9.99084682e-01 -4.11100674e-02 -1.18220045e-02 7.85055300e+02] [ 4.11110451e-02 9.99154571e-01 -1.60405212e-04 1.34181289e+01] [ 1.18186041e-02 -3.25756570e-04 9.99930105e-01 7.26341591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1492541539999 meters Centerline goodness [0,1] 0.998718891105744 Centerline is valid? [True, True] Translation: X:785.09, Y:13.42, Z:7.26 [[ 9.99178837e-01 -3.89582652e-02 -1.11312624e-02 7.85086985e+02] [ 3.89590072e-02 9.99240798e-01 -1.50251631e-04 1.34182349e+01] [ 1.11286651e-02 -2.83534684e-04 9.99938034e-01 7.26412723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1792541539999 meters Centerline goodness [0,1] 0.9988418126684636 Centerline is valid? [True, True] Translation: X:785.12, Y:13.42, Z:7.26 [[ 9.99205871e-01 -3.82355877e-02 -1.12101732e-02 7.85119207e+02] [ 3.82363042e-02 9.99268714e-01 -1.50489476e-04 1.34216999e+01] [ 1.12077294e-02 -2.78265625e-04 9.99937153e-01 7.26489531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2092541539998 meters Centerline goodness [0,1] 0.9988615280823073 Centerline is valid? [True, True] Translation: X:785.15, Y:13.42, Z:7.26 [[ 9.99203860e-01 -3.82179050e-02 -1.14472105e-02 7.85150040e+02] [ 3.82186603e-02 9.99269388e-01 -1.52849751e-04 1.34214552e+01] [ 1.14446886e-02 -2.84768987e-04 9.99934467e-01 7.26489164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2392541539999 meters Centerline goodness [0,1] 0.9988433714670256 Centerline is valid? [True, True] Translation: X:785.18, Y:13.42, Z:7.26 [[ 9.99157593e-01 -3.91379966e-02 -1.23418360e-02 7.85182657e+02] [ 3.91389542e-02 9.99233764e-01 -1.64022428e-04 1.34214841e+01] [ 1.23387987e-02 -3.19162299e-04 9.99923823e-01 7.26444993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2692541539999 meters Centerline goodness [0,1] 0.9988203075626712 Centerline is valid? [True, True] Translation: X:785.22, Y:13.42, Z:7.26 [[ 9.99104225e-01 -4.02245827e-02 -1.31427076e-02 7.85215030e+02] [ 4.02257758e-02 9.99190601e-01 -1.73662041e-04 1.34217450e+01] [ 1.31390554e-02 -3.55169132e-04 9.99913616e-01 7.26432244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2992541539999 meters Centerline goodness [0,1] 0.9989695924633049 Centerline is valid? [True, True] Translation: X:785.25, Y:13.42, Z:7.26 [[ 9.98975211e-01 -4.27333762e-02 -1.49125944e-02 7.85246853e+02] [ 4.27352079e-02 9.99086414e-01 -1.95961442e-04 1.34205654e+01] [ 1.49073446e-02 -4.41532198e-04 9.99888782e-01 7.26277228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3292541539998 meters Centerline goodness [0,1] 0.9989064372989002 Centerline is valid? [True, True] Translation: X:785.28, Y:13.42, Z:7.26 [[ 9.98829561e-01 -4.59825696e-02 -1.50036797e-02 7.85278091e+02] [ 4.59848022e-02 9.98942120e-01 -1.96333464e-04 1.34184868e+01] [ 1.49968355e-02 -4.93837575e-04 9.99887419e-01 7.26419477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3592541539999 meters Centerline goodness [0,1] 0.9989276703111859 Centerline is valid? [True, True] Translation: X:785.31, Y:13.42, Z:7.26 [[ 9.98757442e-01 -4.73760385e-02 -1.54623022e-02 7.85309845e+02] [ 4.73785899e-02 9.98876984e-01 -2.01469308e-04 1.34203357e+01] [ 1.54544826e-02 -5.31363105e-04 9.99880431e-01 7.26465078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3892541539999 meters Centerline goodness [0,1] 0.9988636363636364 Centerline is valid? [True, True] Translation: X:785.34, Y:13.42, Z:7.26 [[ 9.98708383e-01 -4.83133118e-02 -1.57286324e-02 7.85342085e+02] [ 4.83160836e-02 9.98832075e-01 -2.03942106e-04 1.34200104e+01] [ 1.57201157e-02 -5.56267228e-04 9.99876277e-01 7.26474558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4192541539999 meters Centerline goodness [0,1] 0.9988636363636364 Centerline is valid? [True, True] Translation: X:785.37, Y:13.42, Z:7.27 [[ 9.98711930e-01 -4.82399205e-02 -1.57286473e-02 7.85373793e+02] [ 4.82427014e-02 9.98835622e-01 -2.02786785e-04 1.34203601e+01] [ 1.57201157e-02 -5.56266855e-04 9.99876277e-01 7.26504244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4492541539998 meters Centerline goodness [0,1] 0.998990026511804 Centerline is valid? [True, True] Translation: X:785.41, Y:13.42, Z:7.27 [[ 9.98657996e-01 -4.91712994e-02 -1.62600729e-02 7.85406088e+02] [ 4.91744146e-02 9.98790185e-01 -2.08417806e-04 1.34209961e+01] [ 1.62506494e-02 -5.91441459e-04 9.99867775e-01 7.26509116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4792541539999 meters Centerline goodness [0,1] 0.9987796410461421 Centerline is valid? [True, True] Translation: X:785.44, Y:13.42, Z:7.26 [[ 9.98560578e-01 -5.07894818e-02 -1.72395195e-02 7.85437705e+02] [ 5.07932446e-02 9.98709166e-01 -2.19803739e-04 1.34213335e+01] [ 1.72284298e-02 -6.56163781e-04 9.99851364e-01 7.26462917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5092541539999 meters Centerline goodness [0,1] 0.9989066212493954 Centerline is valid? [True, True] Translation: X:785.47, Y:13.42, Z:7.26 [[ 9.98474568e-01 -5.24084139e-02 -1.73751485e-02 7.85469086e+02] [ 5.24124976e-02 9.98625496e-01 -2.20571840e-04 1.34212428e+01] [ 1.73628262e-02 -6.90439559e-04 9.99849016e-01 7.26467918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5392541539999 meters Centerline goodness [0,1] 0.998821598417575 Centerline is valid? [True, True] Translation: X:785.50, Y:13.42, Z:7.26 [[ 9.98412372e-01 -5.35416143e-02 -1.74937358e-02 7.85501537e+02] [ 5.35459471e-02 9.98565362e-01 -2.20960379e-04 1.34221830e+01] [ 1.74804692e-02 -7.16109074e-04 9.99846948e-01 7.26493788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5692541539999 meters Centerline goodness [0,1] 0.9989265643745658 Centerline is valid? [True, True] Translation: X:785.53, Y:13.42, Z:7.27 [[ 9.98360985e-01 -5.46231338e-02 -1.70779582e-02 7.85532657e+02] [ 5.46274397e-02 9.98506784e-01 -2.14609375e-04 1.34202269e+01] [ 1.70641798e-02 -7.18667507e-04 9.99854138e-01 7.26508296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5992541539999 meters Centerline goodness [0,1] 0.99915863867738 Centerline is valid? [True, True] Translation: X:785.56, Y:13.42, Z:7.27 [[ 9.98248419e-01 -5.68069983e-02 -1.65244830e-02 7.85564886e+02] [ 5.68113449e-02 9.98384910e-01 -2.06642227e-04 1.34195435e+01] [ 1.65095332e-02 -7.32497825e-04 9.99863440e-01 7.26583820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6292541539999 meters Centerline goodness [0,1] 0.999055237135479 Centerline is valid? [True, True] Translation: X:785.60, Y:13.42, Z:7.27 [[ 9.98203221e-01 -5.78819453e-02 -1.54922494e-02 7.85595998e+02] [ 5.78859148e-02 9.98323186e-01 -1.92448647e-04 1.34192591e+01] [ 1.54774111e-02 -7.04680171e-04 9.99879969e-01 7.26749458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6592541539999 meters Centerline goodness [0,1] 0.9986729298759295 Centerline is valid? [True, True] Translation: X:785.63, Y:13.42, Z:7.27 [[ 9.98075540e-01 -6.00421173e-02 -1.54971317e-02 7.85627107e+02] [ 6.00463696e-02 9.98195571e-01 -1.91180746e-04 1.34184193e+01] [ 1.54806471e-02 -7.39733673e-04 9.99879894e-01 7.26724769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6892541539999 meters Centerline goodness [0,1] 0.9987559304164471 Centerline is valid? [True, True] Translation: X:785.66, Y:13.42, Z:7.27 [[ 9.98029188e-01 -6.08782904e-02 -1.52175166e-02 7.85659481e+02] [ 6.08825015e-02 9.98144922e-01 -1.86818214e-04 1.34226356e+01] [ 1.52006601e-02 -7.40030445e-04 9.99884189e-01 7.26823585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7192541539999 meters Centerline goodness [0,1] 0.9988416907103594 Centerline is valid? [True, True] Translation: X:785.69, Y:13.42, Z:7.27 [[ 9.98001426e-01 -6.10419380e-02 -1.63411940e-02 7.85690373e+02] [ 6.10468413e-02 9.98134882e-01 -1.99062715e-04 1.34189127e+01] [ 1.63228669e-02 -7.98913403e-04 9.99866454e-01 7.26580936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7492541539999 meters Centerline goodness [0,1] 0.9987565858798736 Centerline is valid? [True, True] Translation: X:785.72, Y:13.42, Z:7.27 [[ 9.97961049e-01 -6.14885003e-02 -1.71146018e-02 7.85722781e+02] [ 6.14939731e-02 9.98107433e-01 -2.06801203e-04 1.34200904e+01] [ 1.70949272e-02 -8.46065317e-04 9.99853513e-01 7.26523602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7792541539999 meters Centerline goodness [0,1] 0.9985863487709674 Centerline is valid? [True, True] Translation: X:785.75, Y:13.43, Z:7.27 [[ 9.97991494e-01 -6.09597589e-02 -1.72303958e-02 7.85754452e+02] [ 6.09652483e-02 9.98139868e-01 -2.06984678e-04 1.34279098e+01] [ 1.72109627e-02 -8.43886409e-04 9.99851524e-01 7.26656602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8092541539999 meters Centerline goodness [0,1] 0.9988601583113457 Centerline is valid? [True, True] Translation: X:785.79, Y:13.43, Z:7.27 [[ 9.98049129e-01 -5.99661283e-02 -1.73781313e-02 7.85786460e+02] [ 5.99715841e-02 9.98200063e-01 -2.07488883e-04 1.34318355e+01] [ 1.73592940e-02 -8.35109960e-04 9.99848967e-01 7.26707293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.839254154 meters Centerline goodness [0,1] 0.9990920416393927 Centerline is valid? [True, True] Translation: X:785.82, Y:13.43, Z:7.27 [[ 9.98122196e-01 -5.87066052e-02 -1.74819037e-02 7.85817985e+02] [ 5.87119642e-02 9.98274943e-01 -2.06978404e-04 1.34314641e+01] [ 1.74638975e-02 -8.19807167e-04 9.99847158e-01 7.26759750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8692541539999 meters Centerline goodness [0,1] 0.9989229372135752 Centerline is valid? [True, True] Translation: X:785.85, Y:13.44, Z:7.27 [[ 9.98286234e-01 -5.55715979e-02 -1.83410013e-02 7.85848122e+02] [ 5.55769950e-02 9.98454381e-01 -2.15710647e-04 1.34363876e+01] [ 1.83246405e-02 -8.03996766e-04 9.99831766e-01 7.26692667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8992541539999 meters Centerline goodness [0,1] 0.9989421347720301 Centerline is valid? [True, True] Translation: X:785.88, Y:13.44, Z:7.27 [[ 9.98394352e-01 -5.33563905e-02 -1.90213922e-02 7.85879517e+02] [ 5.33618043e-02 9.98575219e-01 -2.23184129e-04 1.34435480e+01] [ 1.90061992e-02 -7.92190034e-04 9.99819052e-01 7.26672578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9292541539999 meters Centerline goodness [0,1] 0.998920474991004 Centerline is valid? [True, True] Translation: X:785.91, Y:13.45, Z:7.27 [[ 9.98630287e-01 -4.89608159e-02 -1.84496017e-02 7.85909511e+02] [ 4.89651661e-02 9.98800463e-01 -2.16140205e-04 1.34469101e+01] [ 1.84380532e-02 -6.87543658e-04 9.99829768e-01 7.26722605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9592541539998 meters Centerline goodness [0,1] 0.998920063525675 Centerline is valid? [True, True] Translation: X:785.94, Y:13.45, Z:7.27 [[ 9.98756660e-01 -4.62562781e-02 -1.85873806e-02 7.85941009e+02] [ 4.62602319e-02 9.98929399e-01 -2.17426038e-04 1.34507240e+01] [ 1.85775383e-02 -6.42700833e-04 9.99827216e-01 7.26730192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9892541539999 meters Centerline goodness [0,1] 0.99902229590427 Centerline is valid? [True, True] Translation: X:785.97, Y:13.46, Z:7.27 [[ 9.99003227e-01 -4.03528070e-02 -1.90841276e-02 7.85971587e+02] [ 4.03559086e-02 9.99185344e-01 -2.22718931e-04 1.34587019e+01] [ 1.90775679e-02 -5.47660380e-04 9.99817857e-01 7.26751806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0192541539999 meters Centerline goodness [0,1] 0.998789217664677 Centerline is valid? [True, True] Translation: X:786.00, Y:13.46, Z:7.27 [[ 9.99137121e-01 -3.68409366e-02 -1.91770546e-02 7.86001736e+02] [ 3.68434407e-02 9.99321025e-01 -2.22830768e-04 1.34631278e+01] [ 1.91722431e-02 -4.83910182e-04 9.99816079e-01 7.26747392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0492541539999 meters Centerline goodness [0,1] 0.9991086776596422 Centerline is valid? [True, True] Translation: X:786.03, Y:13.47, Z:7.27 [[ 9.99253819e-01 -3.34602504e-02 -1.92929152e-02 7.86032468e+02] [ 3.34621700e-02 9.99439960e-01 -2.23406092e-04 1.34677604e+01] [ 1.92895856e-02 -4.22343417e-04 9.99813849e-01 7.26826182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0792541539998 meters Centerline goodness [0,1] 0.9989756940739635 Centerline is valid? [True, True] Translation: X:786.06, Y:13.48, Z:7.27 [[ 9.99456044e-01 -2.70796493e-02 -1.88231106e-02 7.86062324e+02] [ 2.70803419e-02 9.99633237e-01 -2.18136670e-04 1.34766944e+01] [ 1.88221140e-02 -2.91718258e-04 9.99822806e-01 7.26899993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1092541539999 meters Centerline goodness [0,1] 0.9990405117270789 Centerline is valid? [True, True] Translation: X:786.09, Y:13.48, Z:7.27 [[ 9.99536550e-01 -2.44969599e-02 -1.80716461e-02 7.86092147e+02] [ 2.44971677e-02 9.99699877e-01 -2.09905558e-04 1.34800972e+01] [ 1.80713644e-02 -2.32895868e-04 9.99836672e-01 7.27021762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1392541539999 meters Centerline goodness [0,1] 0.9988464989105823 Centerline is valid? [True, True] Translation: X:786.12, Y:13.48, Z:7.27 [[ 9.99648987e-01 -1.97217321e-02 -1.76905552e-02 7.86121256e+02] [ 1.97211723e-02 9.99805498e-01 -2.06110004e-04 1.34844219e+01] [ 1.76911792e-02 -1.42840831e-04 9.99843489e-01 7.26926744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1692541539999 meters Centerline goodness [0,1] 0.9989310529128808 Centerline is valid? [True, True] Translation: X:786.15, Y:13.49, Z:7.27 [[ 9.99686681e-01 -1.78176719e-02 -1.75803834e-02 7.86150502e+02] [ 1.78167992e-02 9.99841247e-01 -2.06276392e-04 1.34877739e+01] [ 1.75812679e-02 -1.07014400e-04 9.99845432e-01 7.26949140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1992541539998 meters Centerline goodness [0,1] 0.9989722067577406 Centerline is valid? [True, True] Translation: X:786.18, Y:13.49, Z:7.27 [[ 9.99711090e-01 -1.66727749e-02 -1.73134506e-02 7.86178148e+02] [ 1.66716961e-02 9.99860996e-01 -2.06649315e-04 1.34904042e+01] [ 1.73144894e-02 -8.20549759e-05 9.99850090e-01 7.26991909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2292541539999 meters Centerline goodness [0,1] 0.9992517690317891 Centerline is valid? [True, True] Translation: X:786.21, Y:13.49, Z:7.27 [[ 9.99752398e-01 -1.50860996e-02 -1.63570223e-02 7.86207271e+02] [ 1.50848551e-02 9.99886197e-01 -1.99471905e-04 1.34941453e+01] [ 1.63581700e-02 -4.73207948e-05 9.99866195e-01 7.27198330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2592541539999 meters Centerline goodness [0,1] 0.9991226756253611 Centerline is valid? [True, True] Translation: X:786.24, Y:13.50, Z:7.27 [[ 9.99772154e-01 -1.44678776e-02 -1.56945960e-02 7.86235023e+02] [ 1.44665922e-02 9.99895334e-01 -1.95436027e-04 1.34952767e+01] [ 1.56957808e-02 -3.16558218e-05 9.99876813e-01 7.27208137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2892541539999 meters Centerline goodness [0,1] 0.9992083529462108 Centerline is valid? [True, True] Translation: X:786.26, Y:13.50, Z:7.27 [[ 9.99779397e-01 -1.43839094e-02 -1.53055577e-02 7.86261846e+02] [ 1.43826256e-02 9.99896546e-01 -1.93953528e-04 1.34955325e+01] [ 1.53067641e-02 -2.62233644e-05 9.99882844e-01 7.27203258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3192541539999 meters Centerline goodness [0,1] 0.999165436220068 Centerline is valid? [True, True] Translation: X:786.29, Y:13.50, Z:7.27 [[ 9.99782641e-01 -1.47824666e-02 -1.47020003e-02 7.86289590e+02] [ 1.47812860e-02 9.99890733e-01 -1.88964920e-04 1.34957848e+01] [ 1.47031872e-02 -2.83906250e-05 9.99891902e-01 7.27273619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3492541539999 meters Centerline goodness [0,1] 0.999229715850736 Centerline is valid? [True, True] Translation: X:786.32, Y:13.50, Z:7.27 [[ 9.99775623e-01 -1.58373742e-02 -1.40670296e-02 7.86317791e+02] [ 1.58363523e-02 9.99874580e-01 -1.84039561e-04 1.34950557e+01] [ 1.40681800e-02 -3.87721688e-05 9.99901038e-01 7.27342557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3792541539999 meters Centerline goodness [0,1] 0.999036546984392 Centerline is valid? [True, True] Translation: X:786.35, Y:13.49, Z:7.27 [[ 9.99768703e-01 -1.68402025e-02 -1.33771444e-02 7.86346068e+02] [ 1.68393381e-02 9.99858193e-01 -1.77261193e-04 1.34944067e+01] [ 1.33782326e-02 -4.80420647e-05 9.99910506e-01 7.27346916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4092541539999 meters Centerline goodness [0,1] 0.9989514903815291 Centerline is valid? [True, True] Translation: X:786.37, Y:13.49, Z:7.27 [[ 9.99731197e-01 -1.91603688e-02 -1.30543093e-02 7.86374968e+02] [ 1.91597105e-02 9.99816421e-01 -1.75507012e-04 1.34915282e+01] [ 1.30552755e-02 -7.46569506e-05 9.99914773e-01 7.27321484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4392541539999 meters Centerline goodness [0,1] 0.9987398278476687 Centerline is valid? [True, True] Translation: X:786.41, Y:13.49, Z:7.27 [[ 9.99707421e-01 -2.01013708e-02 -1.34538759e-02 7.86405255e+02] [ 2.01007497e-02 9.99797943e-01 -1.81400360e-04 1.34897511e+01] [ 1.34548038e-02 -8.90857049e-05 9.99909476e-01 7.27165108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4692541539999 meters Centerline goodness [0,1] 0.9989970765849391 Centerline is valid? [True, True] Translation: X:786.44, Y:13.49, Z:7.27 [[ 9.99660082e-01 -2.25439928e-02 -1.30953834e-02 7.86435692e+02] [ 2.25436139e-02 9.99745845e-01 -1.76566760e-04 1.34874539e+01] [ 1.30960357e-02 -1.18710526e-04 9.99914236e-01 7.27240031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4992541539999 meters Centerline goodness [0,1] 0.998953729208037 Centerline is valid? [True, True] Translation: X:786.47, Y:13.48, Z:7.27 [[ 9.99542107e-01 -2.71387214e-02 -1.33815552e-02 7.86466382e+02] [ 2.71387374e-02 9.99631660e-01 -1.80425251e-04 1.34820568e+01] [ 1.33815227e-02 -1.82815877e-04 9.99910447e-01 7.27219021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5292541539999 meters Centerline goodness [0,1] 0.9985506319670908 Centerline is valid? [True, True] Translation: X:786.50, Y:13.48, Z:7.27 [[ 9.99489757e-01 -2.86153876e-02 -1.41910501e-02 7.86497030e+02] [ 2.86155556e-02 9.99590473e-01 -1.91253072e-04 1.34786479e+01] [ 1.41907113e-02 -2.14929298e-04 9.99899284e-01 7.26955001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5592541539999 meters Centerline goodness [0,1] 0.9987215273486608 Centerline is valid? [True, True] Translation: X:786.53, Y:13.47, Z:7.27 [[ 9.99319855e-01 -3.36768840e-02 -1.50231653e-02 7.86527241e+02] [ 3.36776503e-02 9.99432727e-01 -2.02048536e-04 1.34725301e+01] [ 1.50214474e-02 -3.04033793e-04 9.99887125e-01 7.26986938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.589254154 meters Centerline goodness [0,1] 0.9986361505348847 Centerline is valid? [True, True] Translation: X:786.56, Y:13.47, Z:7.27 [[ 9.99256717e-01 -3.52873936e-02 -1.55181947e-02 7.86558285e+02] [ 3.52884152e-02 9.99377148e-01 -2.08074105e-04 1.34720352e+01] [ 1.55158716e-02 -3.39693052e-04 9.99879564e-01 7.26993843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6192541539999 meters Centerline goodness [0,1] 0.9986821408833907 Centerline is valid? [True, True] Translation: X:786.59, Y:13.47, Z:7.27 [[ 9.99153995e-01 -3.78186312e-02 -1.61568783e-02 7.86589926e+02] [ 3.78200809e-02 9.99284542e-01 -2.15921442e-04 1.34691259e+01] [ 1.61534846e-02 -3.95315672e-04 9.99869446e-01 7.26949912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6492541539999 meters Centerline goodness [0,1] 0.9985305392282137 Centerline is valid? [True, True] Translation: X:786.62, Y:13.47, Z:7.27 [[ 9.99138136e-01 -3.83559438e-02 -1.58684012e-02 7.86621335e+02] [ 3.83574233e-02 9.99264061e-01 -2.11220301e-04 1.34662742e+01] [ 1.58648246e-02 -3.97632725e-04 9.99874067e-01 7.26880898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6792541539999 meters Centerline goodness [0,1] 0.9984907104289784 Centerline is valid? [True, True] Translation: X:786.65, Y:13.47, Z:7.27 [[ 9.99150667e-01 -3.80806034e-02 -1.57420513e-02 7.86653507e+02] [ 3.80820403e-02 9.99274594e-01 -2.08581837e-04 1.34670503e+01] [ 1.57385748e-02 -3.91084749e-04 9.99876064e-01 7.26842134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7092541539998 meters Centerline goodness [0,1] 0.9989165303477725 Centerline is valid? [True, True] Translation: X:786.68, Y:13.47, Z:7.27 [[ 9.99202626e-01 -3.70475345e-02 -1.48859743e-02 7.86684977e+02] [ 3.70487172e-02 9.99313441e-01 -1.96404917e-04 1.34663936e+01] [ 1.48830305e-02 -3.55257943e-04 9.99889178e-01 7.27015873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7392541539999 meters Centerline goodness [0,1] 0.9987262498673177 Centerline is valid? [True, True] Translation: X:786.72, Y:13.47, Z:7.27 [[ 9.99265918e-01 -3.53134604e-02 -1.48520652e-02 7.86716439e+02] [ 3.53144555e-02 9.99376231e-01 -1.95331244e-04 1.34656368e+01] [ 1.48496987e-02 -3.29304740e-04 9.99889683e-01 7.27056828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7692541539999 meters Centerline goodness [0,1] 0.9989160467587672 Centerline is valid? [True, True] Translation: X:786.75, Y:13.47, Z:7.27 [[ 9.99441598e-01 -3.02818745e-02 -1.41244714e-02 7.86748285e+02] [ 3.02822824e-02 9.99541369e-01 -1.85035538e-04 1.34701361e+01] [ 1.41235967e-02 -2.42789018e-04 9.99900228e-01 7.27228235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7992541539999 meters Centerline goodness [0,1] 0.9988933109157853 Centerline is valid? [True, True] Translation: X:786.78, Y:13.47, Z:7.27 [[ 9.99538873e-01 -2.71835224e-02 -1.35313167e-02 7.86779193e+02] [ 2.71836204e-02 9.99630442e-01 -1.76714810e-04 1.34735533e+01] [ 1.35311199e-02 -1.91196855e-04 9.99908432e-01 7.27326096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8292541539998 meters Centerline goodness [0,1] 0.9986607712257132 Centerline is valid? [True, True] Translation: X:786.81, Y:13.47, Z:7.27 [[ 9.99618890e-01 -2.42854157e-02 -1.31260538e-02 7.86809195e+02] [ 2.42852611e-02 9.99705055e-01 -1.71187758e-04 1.34739931e+01] [ 1.31263397e-02 -1.47647127e-04 9.99913835e-01 7.27322389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8592541539999 meters Centerline goodness [0,1] 0.9987234857349531 Centerline is valid? [True, True] Translation: X:786.84, Y:13.48, Z:7.27 [[ 9.99754455e-01 -1.85152214e-02 -1.21743827e-02 7.86839579e+02] [ 1.85146625e-02 9.99828576e-01 -1.58618534e-04 1.34780348e+01] [ 1.21752326e-02 -6.68250009e-05 9.99925877e-01 7.27445749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8892541539999 meters Centerline goodness [0,1] 0.9988076480858493 Centerline is valid? [True, True] Translation: X:786.87, Y:13.48, Z:7.27 [[ 9.99794950e-01 -1.62523794e-02 -1.20796733e-02 7.86869089e+02] [ 1.62516642e-02 9.99867921e-01 -1.57368796e-04 1.34793295e+01] [ 1.20806354e-02 -3.89782661e-05 9.99927026e-01 7.27463945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9192541539999 meters Centerline goodness [0,1] 0.9989989350372737 Centerline is valid? [True, True] Translation: X:786.90, Y:13.48, Z:7.27 [[ 9.99818335e-01 -1.46720231e-02 -1.21667393e-02 7.86898519e+02] [ 1.46711801e-02 9.99892360e-01 -1.58546907e-04 1.34802108e+01] [ 1.21677559e-02 -1.99823191e-05 9.99925970e-01 7.27488365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9492541539998 meters Centerline goodness [0,1] 0.9987235128925198 Centerline is valid? [True, True] Translation: X:786.93, Y:13.48, Z:7.27 [[ 9.99818425e-01 -1.38493630e-02 -1.30886309e-02 7.86927248e+02] [ 1.38483001e-02 9.99904093e-01 -1.71841524e-04 1.34798993e+01] [ 1.30897555e-02 -9.44496601e-06 9.99914325e-01 7.27307486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9792541539999 meters Centerline goodness [0,1] 0.9987031761554488 Centerline is valid? [True, True] Translation: X:786.96, Y:13.48, Z:7.27 [[ 9.99792337e-01 -1.48975749e-02 -1.39048415e-02 7.86955720e+02] [ 1.48964263e-02 9.99889025e-01 -1.86180800e-04 1.34793103e+01] [ 1.39060720e-02 -2.09903088e-05 9.99903306e-01 7.27337897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0092541539999 meters Centerline goodness [0,1] 0.9985967299555631 Centerline is valid? [True, True] Translation: X:786.98, Y:13.48, Z:7.27 [[ 9.99700330e-01 -1.89766362e-02 -1.54640484e-02 7.86984590e+02] [ 1.89756388e-02 9.99819924e-01 -2.11232026e-04 1.34751568e+01] [ 1.54652722e-02 -8.22714723e-05 9.99880402e-01 7.27124573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0392541539999 meters Centerline goodness [0,1] 0.998749788099678 Centerline is valid? [True, True] Translation: X:787.01, Y:13.47, Z:7.27 [[ 9.99629293e-01 -2.21638050e-02 -1.58126984e-02 7.87012307e+02] [ 2.21631135e-02 9.99754344e-01 -2.18990564e-04 1.34718529e+01] [ 1.58136676e-02 -1.31549246e-04 9.99874947e-01 7.26983263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0692541539999 meters Centerline goodness [0,1] 0.9987906562281205 Centerline is valid? [True, True] Translation: X:787.04, Y:13.47, Z:7.27 [[ 9.99517411e-01 -2.64673378e-02 -1.62611334e-02 7.87041549e+02] [ 2.64671558e-02 9.99649658e-01 -2.26436195e-04 1.34695404e+01] [ 1.62614296e-02 -2.04059032e-04 9.99867753e-01 7.27155339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0992541539999 meters Centerline goodness [0,1] 0.9989842774615401 Centerline is valid? [True, True] Translation: X:787.07, Y:13.46, Z:7.27 [[ 9.99241464e-01 -3.51101349e-02 -1.68456089e-02 7.87071231e+02] [ 3.51111536e-02 9.99383386e-01 -2.35368852e-04 1.34620567e+01] [ 1.68434855e-02 -3.56278446e-04 9.99858075e-01 7.27179866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1292541539999 meters Centerline goodness [0,1] 0.9989233237628778 Centerline is valid? [True, True] Translation: X:787.10, Y:13.46, Z:7.27 [[ 9.99073380e-01 -3.95957254e-02 -1.68688997e-02 7.87102868e+02] [ 3.95973847e-02 9.99215688e-01 -2.35759649e-04 1.34586238e+01] [ 1.68650043e-02 -4.32423122e-04 9.99857682e-01 7.27199416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1592541539999 meters Centerline goodness [0,1] 0.9989221405021557 Centerline is valid? [True, True] Translation: X:787.13, Y:13.45, Z:7.27 [[ 9.98655544e-01 -4.89428379e-02 -1.70793320e-02 7.87132805e+02] [ 4.89459078e-02 9.98801402e-01 -2.38472899e-04 1.34512455e+01] [ 1.70705323e-02 -5.97811126e-04 9.99854109e-01 7.27242414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1892541539999 meters Centerline goodness [0,1] 0.9986932237327432 Centerline is valid? [True, True] Translation: X:787.16, Y:13.45, Z:7.27 [[ 9.98432982e-01 -5.32496347e-02 -1.72062894e-02 7.87162537e+02] [ 5.32533962e-02 9.98581002e-01 -2.39818309e-04 1.34463346e+01] [ 1.71946440e-02 -6.76850839e-04 9.99851932e-01 7.27239875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2192541539999 meters Centerline goodness [0,1] 0.9987348178137652 Centerline is valid? [True, True] Translation: X:787.19, Y:13.44, Z:7.27 [[ 9.98221515e-01 -5.72910548e-02 -1.64785478e-02 7.87193893e+02] [ 5.72950692e-02 9.98357262e-01 -2.28774538e-04 1.34435792e+01] [ 1.64645846e-02 -7.15771873e-04 9.99864193e-01 7.27305595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2492541539999 meters Centerline goodness [0,1] 0.9988220445940261 Centerline is valid? [True, True] Translation: X:787.22, Y:13.44, Z:7.27 [[ 9.97792211e-01 -6.46907082e-02 -1.50271775e-02 7.87224216e+02] [ 6.46948880e-02 9.97905070e-01 -2.08309225e-04 1.34415361e+01] [ 1.50091723e-02 -7.64332245e-04 9.99887064e-01 7.27486605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2792541539999 meters Centerline goodness [0,1] 0.9986523762397086 Centerline is valid? [True, True] Translation: X:787.26, Y:13.44, Z:7.27 [[ 9.97618029e-01 -6.72478816e-02 -1.53619983e-02 7.87255207e+02] [ 6.72525542e-02 9.97735961e-01 -2.12813501e-04 1.34401456e+01] [ 1.53415294e-02 -8.20827039e-04 9.99881975e-01 7.27370586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3092541539999 meters Centerline goodness [0,1] 0.9986523762397086 Centerline is valid? [True, True] Translation: X:787.29, Y:13.44, Z:7.27 [[ 9.97622935e-01 -6.71750552e-02 -1.53620067e-02 7.87286939e+02] [ 6.71797285e-02 9.97740868e-01 -2.12205507e-04 1.34405232e+01] [ 1.53415568e-02 -8.20314361e-04 9.99881975e-01 7.27400309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.339254154 meters Centerline goodness [0,1] 0.9986722026682403 Centerline is valid? [True, True] Translation: X:787.32, Y:13.44, Z:7.28 [[ 9.97306213e-01 -7.19470289e-02 -1.42808336e-02 7.87316566e+02] [ 7.19515655e-02 9.97408108e-01 -1.96527978e-04 1.34377609e+01] [ 1.42579588e-02 -8.31529761e-04 9.99898004e-01 7.27672737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3692541539999 meters Centerline goodness [0,1] 0.9985868258421041 Centerline is valid? [True, True] Translation: X:787.35, Y:13.44, Z:7.28 [[ 9.97229843e-01 -7.30728930e-02 -1.38921562e-02 7.87348863e+02] [ 7.30773022e-02 9.97326261e-01 -1.90653143e-04 1.34386495e+01] [ 1.38689438e-02 -8.25076291e-04 9.99903481e-01 7.27751176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3992541539999 meters Centerline goodness [0,1] 0.9985668219276245 Centerline is valid? [True, True] Translation: X:787.38, Y:13.44, Z:7.28 [[ 9.97195044e-01 -7.36011431e-02 -1.35983928e-02 7.87379904e+02] [ 7.36054288e-02 9.97287424e-01 -1.85729145e-04 1.34380920e+01] [ 1.35751760e-02 -8.15707351e-04 9.99907520e-01 7.27811923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4292541539999 meters Centerline goodness [0,1] 0.9984623162151914 Centerline is valid? [True, True] Translation: X:787.41, Y:13.44, Z:7.28 [[ 9.97219636e-01 -7.33184792e-02 -1.33190932e-02 7.87411558e+02] [ 7.33225758e-02 9.97308261e-01 -1.81138134e-04 1.34388956e+01] [ 1.32965225e-02 -7.95955720e-04 9.99911281e-01 7.27901902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4592541539998 meters Centerline goodness [0,1] 0.9983767260461685 Centerline is valid? [True, True] Translation: X:787.44, Y:13.44, Z:7.28 [[ 9.97288657e-01 -7.23691290e-02 -1.33432905e-02 7.87443540e+02] [ 7.23731686e-02 9.97377607e-01 -1.80515058e-04 1.34411822e+01] [ 1.33213629e-02 -7.85670594e-04 9.99910958e-01 7.27836570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4892541539999 meters Centerline goodness [0,1] 0.9984824533670565 Centerline is valid? [True, True] Translation: X:787.47, Y:13.44, Z:7.28 [[ 9.97360352e-01 -7.13485491e-02 -1.34801010e-02 7.87474506e+02] [ 7.13525910e-02 9.97451139e-01 -1.81470049e-04 1.34425504e+01] [ 1.34586897e-02 -7.80849100e-04 9.99909123e-01 7.27939361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5192541539999 meters Centerline goodness [0,1] 0.9986096481988624 Centerline is valid? [True, True] Translation: X:787.50, Y:13.45, Z:7.28 [[ 9.97564378e-01 -6.81717776e-02 -1.47621002e-02 7.87504894e+02] [ 6.81762864e-02 9.97673271e-01 -1.98181967e-04 1.34477964e+01] [ 1.47412632e-02 -8.08725898e-04 9.99891015e-01 7.27882794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5492541539999 meters Centerline goodness [0,1] 0.9985447336229806 Centerline is valid? [True, True] Translation: X:787.54, Y:13.45, Z:7.28 [[ 9.97705597e-01 -6.58876968e-02 -1.55677041e-02 7.87536351e+02] [ 6.58924373e-02 9.97826710e-01 -2.08776577e-04 1.34513292e+01] [ 1.55476267e-02 -8.17496405e-04 9.99878794e-01 7.27779416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5792541539998 meters Centerline goodness [0,1] 0.9985449484405643 Centerline is valid? [True, True] Translation: X:787.57, Y:13.46, Z:7.28 [[ 9.98035503e-01 -6.02281204e-02 -1.72542477e-02 7.87567271e+02] [ 6.02331069e-02 9.98184311e-01 -2.31000197e-04 1.34588081e+01] [ 1.72368321e-02 -8.08730550e-04 9.99851108e-01 7.27589035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6092541539999 meters Centerline goodness [0,1] 0.9987125641079758 Centerline is valid? [True, True] Translation: X:787.60, Y:13.46, Z:7.28 [[ 9.98185479e-01 -5.76117465e-02 -1.75110129e-02 7.87597614e+02] [ 5.76164838e-02 9.98338763e-01 -2.34263552e-04 1.34616901e+01] [ 1.74954193e-02 -7.75084515e-04 9.99846643e-01 7.27736525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6392541539999 meters Centerline goodness [0,1] 0.9984984349885796 Centerline is valid? [True, True] Translation: X:787.63, Y:13.47, Z:7.28 [[ 9.98370276e-01 -5.38512786e-02 -1.88899792e-02 7.87629203e+02] [ 5.38561325e-02 9.98548674e-01 -2.52036276e-04 1.34674219e+01] [ 1.88761362e-02 -7.65715697e-04 9.99821537e-01 7.27570010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6692541539999 meters Centerline goodness [0,1] 0.9985599932234975 Centerline is valid? [True, True] Translation: X:787.66, Y:13.48, Z:7.28 [[ 9.98653890e-01 -4.78349070e-02 -2.00556633e-02 7.87659833e+02] [ 4.78391810e-02 9.98855015e-01 -2.66885902e-04 1.34764164e+01] [ 2.00454663e-02 -6.92919863e-04 9.99798829e-01 7.27521694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6992541539998 meters Centerline goodness [0,1] 0.9986009242379277 Centerline is valid? [True, True] Translation: X:787.69, Y:13.48, Z:7.28 [[ 9.98769883e-01 -4.54135010e-02 -1.99081549e-02 7.87690478e+02] [ 4.54172423e-02 9.98968070e-01 -2.64398248e-04 1.34801722e+01] [ 1.98996183e-02 -6.40100487e-04 9.99801778e-01 7.27695301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7292541539999 meters Centerline goodness [0,1] 0.9987861493249287 Centerline is valid? [True, True] Translation: X:787.72, Y:13.49, Z:7.28 [[ 9.99042789e-01 -3.88396530e-02 -2.01242792e-02 7.87719871e+02] [ 3.88421460e-02 9.99245323e-01 -2.67123901e-04 1.34879805e+01] [ 2.01194669e-02 -5.14801983e-04 9.99797451e-01 7.27669460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7592541539999 meters Centerline goodness [0,1] 0.9989791360939195 Centerline is valid? [True, True] Translation: X:787.75, Y:13.49, Z:7.28 [[ 9.99170914e-01 -3.55570444e-02 -1.98287815e-02 7.87750860e+02] [ 3.55588192e-02 9.99367551e-01 -2.63180738e-04 1.34940903e+01] [ 1.98255988e-02 -4.42125518e-04 9.99803356e-01 7.27853941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7892541539999 meters Centerline goodness [0,1] 0.9987839481151196 Centerline is valid? [True, True] Translation: X:787.78, Y:13.50, Z:7.28 [[ 9.99298210e-01 -3.19975456e-02 -1.94741912e-02 7.87781139e+02] [ 3.19985848e-02 9.99487881e-01 -2.58318753e-04 1.35016108e+01] [ 1.94724837e-02 -3.65009090e-04 9.99810327e-01 7.28074402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8192541539999 meters Centerline goodness [0,1] 0.9988908559605827 Centerline is valid? [True, True] Translation: X:787.81, Y:13.51, Z:7.28 [[ 9.99522256e-01 -2.45918144e-02 -1.87217065e-02 7.87810455e+02] [ 2.45914809e-02 9.99697553e-01 -2.48066117e-04 1.35098758e+01] [ 1.87221446e-02 -2.12446883e-04 9.99824703e-01 7.28224104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8492541539999 meters Centerline goodness [0,1] 0.9988657278602919 Centerline is valid? [True, True] Translation: X:787.84, Y:13.51, Z:7.28 [[ 9.99604202e-01 -2.13392153e-02 -1.83324071e-02 7.87839219e+02] [ 2.13383447e-02 9.99772282e-01 -2.43119828e-04 1.35123699e+01] [ 1.83334205e-02 -1.48159621e-04 9.99831918e-01 7.28173032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8792541539999 meters Centerline goodness [0,1] 0.9989270386266095 Centerline is valid? [True, True] Translation: X:787.87, Y:13.52, Z:7.28 [[ 9.99734917e-01 -1.50324767e-02 -1.74390331e-02 7.87867972e+02] [ 1.50306864e-02 9.99887006e-01 -2.33735642e-04 1.35200091e+01] [ 1.74405762e-02 -2.84469546e-05 9.99847901e-01 7.28300319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9092541539999 meters Centerline goodness [0,1] 0.9988822492584154 Centerline is valid? [True, True] Translation: X:787.90, Y:13.52, Z:7.29 [[ 9.99755788e-01 -1.39906963e-02 -1.71063045e-02 7.87896338e+02] [ 1.39887582e-02 9.99902125e-01 -2.32955301e-04 1.35225771e+01] [ 1.71078895e-02 -6.39754715e-06 9.99853649e-01 7.28582886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9392541539999 meters Centerline goodness [0,1] 0.9990772928200506 Centerline is valid? [True, True] Translation: X:787.92, Y:13.52, Z:7.29 [[ 9.99773818e-01 -1.31533381e-02 -1.67123603e-02 7.87924500e+02] [ 1.31513073e-02 9.99913491e-01 -2.31414473e-04 1.35243466e+01] [ 1.67139584e-02 1.15727439e-05 9.99860312e-01 7.28657259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9692541539999 meters Centerline goodness [0,1] 0.9990756266391504 Centerline is valid? [True, True] Translation: X:787.95, Y:13.52, Z:7.29 [[ 9.99764800e-01 -1.29774540e-02 -1.73761368e-02 7.87952818e+02] [ 1.29751421e-02 9.99915789e-01 -2.45785739e-04 1.35246635e+01] [ 1.73778632e-02 2.02700867e-05 9.99848993e-01 7.28528225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9992541539999 meters Centerline goodness [0,1] 0.999012197216973 Centerline is valid? [True, True] Translation: X:787.98, Y:13.52, Z:7.29 [[ 9.99708005e-01 -1.72824821e-02 -1.68884907e-02 7.87979745e+02] [ 1.72808517e-02 9.99850646e-01 -2.42483397e-04 1.35224478e+01] [ 1.68901591e-02 -4.94349096e-05 9.99857350e-01 7.28645838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0292541539999 meters Centerline goodness [0,1] 0.9989907449161459 Centerline is valid? [True, True] Translation: X:788.01, Y:13.52, Z:7.29 [[ 9.99657927e-01 -1.99578889e-02 -1.69030057e-02 7.88008792e+02] [ 1.99565859e-02 9.99800817e-01 -2.45776091e-04 1.35208640e+01] [ 1.69045441e-02 -9.16342678e-05 9.99857104e-01 7.28690201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0592541539999 meters Centerline goodness [0,1] 0.9988425429759507 Centerline is valid? [True, True] Translation: X:788.04, Y:13.52, Z:7.29 [[ 9.99584695e-01 -2.28144847e-02 -1.76050302e-02 7.88037684e+02] [ 2.28134342e-02 9.99739706e-01 -2.60521009e-04 1.35187637e+01] [ 1.76063914e-02 -1.41218385e-04 9.99844986e-01 7.28534713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.089254154 meters Centerline goodness [0,1] 0.998992454124507 Centerline is valid? [True, True] Translation: X:788.07, Y:13.52, Z:7.29 [[ 9.99483585e-01 -2.69394022e-02 -1.75166159e-02 7.88065894e+02] [ 2.69389460e-02 9.99637046e-01 -2.62047297e-04 1.35163160e+01] [ 1.75173176e-02 -2.09967197e-04 9.99846538e-01 7.28692466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1192541539999 meters Centerline goodness [0,1] 0.9987378059216157 Centerline is valid? [True, True] Translation: X:788.10, Y:13.51, Z:7.29 [[ 9.99261229e-01 -3.40409092e-02 -1.78385229e-02 7.88096652e+02] [ 3.40415567e-02 9.99420382e-01 -2.67435908e-04 1.35104700e+01] [ 1.78372872e-02 -3.40012756e-04 9.99840845e-01 7.28621749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1492541539999 meters Centerline goodness [0,1] 0.9986968596453749 Centerline is valid? [True, True] Translation: X:788.13, Y:13.51, Z:7.29 [[ 9.99127979e-01 -3.74271943e-02 -1.85064183e-02 7.88127441e+02] [ 3.74284749e-02 9.99299271e-01 -2.77283233e-04 1.35087452e+01] [ 1.85038283e-02 -4.15625577e-04 9.99828703e-01 7.28685495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1792541539999 meters Centerline goodness [0,1] 0.9986960796887692 Centerline is valid? [True, True] Translation: X:788.16, Y:13.50, Z:7.29 [[ 9.98987856e-01 -4.09007968e-02 -1.87186788e-02 7.88157600e+02] [ 4.09027226e-02 9.99163094e-01 -2.80123415e-04 1.35048880e+01] [ 1.87144703e-02 -4.85805037e-04 9.99824751e-01 7.28624309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2092541539998 meters Centerline goodness [0,1] 0.9989322627487828 Centerline is valid? [True, True] Translation: X:788.19, Y:13.50, Z:7.29 [[ 9.98732439e-01 -4.66579281e-02 -1.88826120e-02 7.88189148e+02] [ 4.66609251e-02 9.98910746e-01 -2.82068988e-04 1.34999532e+01] [ 1.88752048e-02 -5.99368698e-04 9.99821668e-01 7.28635913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2392541539999 meters Centerline goodness [0,1] 0.9987823634965394 Centerline is valid? [True, True] Translation: X:788.22, Y:13.50, Z:7.29 [[ 9.98611178e-01 -4.92088380e-02 -1.88203256e-02 7.88220664e+02] [ 4.92122834e-02 9.98788302e-01 -2.80304112e-04 1.34967525e+01] [ 1.88113145e-02 -6.46276379e-04 9.99822843e-01 7.28628665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2692541539999 meters Centerline goodness [0,1] 0.9986966090468152 Centerline is valid? [True, True] Translation: X:788.25, Y:13.49, Z:7.29 [[ 9.98440811e-01 -5.27647076e-02 -1.82162733e-02 7.88252184e+02] [ 5.27685405e-02 9.98606733e-01 -2.70519152e-04 1.34931826e+01] [ 1.82051670e-02 -6.91148794e-04 9.99834033e-01 7.28657768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2992541539999 meters Centerline goodness [0,1] 0.9987200819147575 Centerline is valid? [True, True] Translation: X:788.28, Y:13.50, Z:7.29 [[ 9.98408875e-01 -5.33972448e-02 -1.81232403e-02 7.88284648e+02] [ 5.34011602e-02 9.98573104e-01 -2.68176410e-04 1.34957799e+01] [ 1.81117002e-02 -7.00052348e-04 9.99835725e-01 7.28611540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3292541539998 meters Centerline goodness [0,1] 0.9987616363481083 Centerline is valid? [True, True] Translation: X:788.32, Y:13.49, Z:7.29 [[ 9.98381857e-01 -5.40865327e-02 -1.75588948e-02 7.88315468e+02] [ 5.40903339e-02 9.98536013e-01 -2.58717579e-04 1.34946374e+01] [ 1.75471820e-02 -6.91467547e-04 9.99845797e-01 7.28738929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3592541539999 meters Centerline goodness [0,1] 0.9987200819147575 Centerline is valid? [True, True] Translation: X:788.35, Y:13.50, Z:7.29 [[ 9.98442760e-01 -5.29099202e-02 -1.76803738e-02 7.88347471e+02] [ 5.29136099e-02 9.98599060e-01 -2.59372249e-04 1.34976398e+01] [ 1.76693280e-02 -6.76564057e-04 9.99843656e-01 7.28702506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3892541539999 meters Centerline goodness [0,1] 0.9987624554590651 Centerline is valid? [True, True] Translation: X:788.38, Y:13.50, Z:7.29 [[ 9.98494035e-01 -5.20085448e-02 -1.74577856e-02 7.88378753e+02] [ 5.20120355e-02 9.98646426e-01 -2.54341169e-04 1.34966947e+01] [ 1.74473831e-02 -6.54056826e-04 9.99847569e-01 7.28855206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4192541539999 meters Centerline goodness [0,1] 0.9985703006636366 Centerline is valid? [True, True] Translation: X:788.41, Y:13.50, Z:7.29 [[ 9.98708354e-01 -4.75307872e-02 -1.79568283e-02 7.88410118e+02] [ 4.75337858e-02 9.98869597e-01 -2.60025468e-04 1.34994519e+01] [ 1.79488891e-02 -5.93866423e-04 9.99838729e-01 7.28707671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4492541539998 meters Centerline goodness [0,1] 0.9989777011053607 Centerline is valid? [True, True] Translation: X:788.44, Y:13.50, Z:7.29 [[ 9.98788719e-01 -4.57600714e-02 -1.80861971e-02 7.88442444e+02] [ 4.57628410e-02 9.98952298e-01 -2.60924591e-04 1.35031408e+01] [ 1.80791881e-02 -5.67067225e-04 9.99836397e-01 7.28943617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4792541539999 meters Centerline goodness [0,1] 0.9987005517329527 Centerline is valid? [True, True] Translation: X:788.47, Y:13.51, Z:7.29 [[ 9.98999940e-01 -4.05472826e-02 -1.88424680e-02 7.88473656e+02] [ 4.05493822e-02 9.99177499e-01 -2.70775111e-04 1.35071241e+01] [ 1.88379492e-02 -4.93546117e-04 9.99822428e-01 7.28742839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5092541539999 meters Centerline goodness [0,1] 0.998976152894501 Centerline is valid? [True, True] Translation: X:788.51, Y:13.51, Z:7.29 [[ 9.99055342e-01 -3.92097477e-02 -1.87355363e-02 7.88505032e+02] [ 3.92116013e-02 9.99230893e-01 -2.68554815e-04 1.35094630e+01] [ 1.87316566e-02 -4.66349256e-04 9.99824438e-01 7.28924004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5392541539999 meters Centerline goodness [0,1] 0.9989128812909002 Centerline is valid? [True, True] Translation: X:788.54, Y:13.51, Z:7.29 [[ 9.99133278e-01 -3.72354348e-02 -1.86068782e-02 7.88535565e+02] [ 3.72369303e-02 9.99306430e-01 -2.66204656e-04 1.35109125e+01] [ 1.86038853e-02 -4.26889096e-04 9.99826842e-01 7.28893175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5692541539999 meters Centerline goodness [0,1] 0.9989340382893447 Centerline is valid? [True, True] Translation: X:788.57, Y:13.51, Z:7.29 [[ 9.99194387e-01 -3.48561365e-02 -1.98903912e-02 7.88565715e+02] [ 3.48573816e-02 9.99392256e-01 -2.84198233e-04 1.35120189e+01] [ 1.98882090e-02 -4.09357677e-04 9.99802126e-01 7.28672460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5992541539999 meters Centerline goodness [0,1] 0.9988021390374332 Centerline is valid? [True, True] Translation: X:788.60, Y:13.52, Z:7.29 [[ 9.99269913e-01 -3.21535557e-02 -2.06346533e-02 7.88595968e+02] [ 3.21543235e-02 9.99482873e-01 -2.94658523e-04 1.35154320e+01] [ 2.06334569e-02 -3.69049922e-04 9.99787039e-01 7.28603124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6292541539999 meters Centerline goodness [0,1] 0.9990803319360082 Centerline is valid? [True, True] Translation: X:788.63, Y:13.52, Z:7.29 [[ 9.99274087e-01 -3.21362530e-02 -2.04587630e-02 7.88625649e+02] [ 3.21370001e-02 9.99483430e-01 -2.92343636e-04 1.35164250e+01] [ 2.04575894e-02 -3.65351848e-04 9.99790655e-01 7.28739579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6592541539999 meters Centerline goodness [0,1] 0.9990359897172236 Centerline is valid? [True, True] Translation: X:788.66, Y:13.52, Z:7.29 [[ 9.99265982e-01 -3.16632809e-02 -2.15623293e-02 7.88655935e+02] [ 3.16639970e-02 9.99498522e-01 -3.08288052e-04 1.35171615e+01] [ 2.15612777e-02 -3.74687770e-04 9.99767458e-01 7.28673092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6892541539999 meters Centerline goodness [0,1] 0.9989080164439876 Centerline is valid? [True, True] Translation: X:788.69, Y:13.52, Z:7.29 [[ 9.99255662e-01 -3.17930515e-02 -2.18477500e-02 7.88685839e+02] [ 3.17938078e-02 9.99494400e-01 -3.12821309e-04 1.35190748e+01] [ 2.18466494e-02 -3.82034703e-04 9.99761260e-01 7.28725138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7192541539999 meters Centerline goodness [0,1] 0.9988878432714517 Centerline is valid? [True, True] Translation: X:788.72, Y:13.52, Z:7.29 [[ 9.99202785e-01 -3.25534844e-02 -2.31098588e-02 7.88715858e+02] [ 3.25545143e-02 9.99469906e-01 -3.31748336e-04 1.35192834e+01] [ 2.31084080e-02 -4.20846367e-04 9.99732877e-01 7.28567709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7492541539999 meters Centerline goodness [0,1] 0.9989954045099925 Centerline is valid? [True, True] Translation: X:788.75, Y:13.52, Z:7.29 [[ 9.99168763e-01 -3.38866526e-02 -2.26600713e-02 7.88745024e+02] [ 3.38879615e-02 9.99425585e-01 -3.26343565e-04 1.35194822e+01] [ 2.26581137e-02 -4.41831328e-04 9.99743174e-01 7.28716412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7792541539999 meters Centerline goodness [0,1] 0.998973525512168 Centerline is valid? [True, True] Translation: X:788.77, Y:13.52, Z:7.29 [[ 9.99089950e-01 -3.63143627e-02 -2.23727086e-02 7.88774714e+02] [ 3.63162252e-02 9.99340296e-01 -3.23174356e-04 1.35190951e+01] [ 2.23696851e-02 -4.89612073e-04 9.99749647e-01 7.28798571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8092541539999 meters Centerline goodness [0,1] 0.99899501785447 Centerline is valid? [True, True] Translation: X:788.80, Y:13.52, Z:7.29 [[ 9.99049428e-01 -3.77547205e-02 -2.17903945e-02 7.88804056e+02] [ 3.77568176e-02 9.99286907e-01 -3.15313840e-04 1.35188447e+01] [ 2.17867605e-02 -5.07721841e-04 9.99762511e-01 7.28866446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.839254154 meters Centerline goodness [0,1] 0.998952409458246 Centerline is valid? [True, True] Translation: X:788.83, Y:13.52, Z:7.29 [[ 9.99006045e-01 -3.93048860e-02 -2.10249509e-02 7.88834070e+02] [ 3.93071822e-02 9.99227128e-01 -3.04192970e-04 1.35176175e+01] [ 2.10206575e-02 -5.22540959e-04 9.99778905e-01 7.28988538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8692541539999 meters Centerline goodness [0,1] 0.9988456605386917 Centerline is valid? [True, True] Translation: X:788.87, Y:13.52, Z:7.29 [[ 9.98879050e-01 -4.34025338e-02 -1.88908211e-02 7.88865465e+02] [ 4.34051287e-02 9.99057516e-01 -2.72822469e-04 1.35167777e+01] [ 1.88848580e-02 -5.47441873e-04 9.99821515e-01 7.29225114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8992541539999 meters Centerline goodness [0,1] 0.9988476066497365 Centerline is valid? [True, True] Translation: X:788.90, Y:13.51, Z:7.29 [[ 9.98775842e-01 -4.59343398e-02 -1.83536026e-02 7.88896302e+02] [ 4.59372282e-02 9.98944293e-01 -2.64409345e-04 1.35141302e+01] [ 1.83463720e-02 -5.79027965e-04 9.99831523e-01 7.29277688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9292541539999 meters Centerline goodness [0,1] 0.9988907613217005 Centerline is valid? [True, True] Translation: X:788.93, Y:13.51, Z:7.29 [[ 9.98663605e-01 -4.86229897e-02 -1.75159581e-02 7.88927832e+02] [ 4.86260466e-02 9.98817022e-01 -2.51587261e-04 1.35121586e+01] [ 1.75074700e-02 -6.00480752e-04 9.99846552e-01 7.29338230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9592541539998 meters Centerline goodness [0,1] 0.9986760623531924 Centerline is valid? [True, True] Translation: X:788.96, Y:13.51, Z:7.29 [[ 9.98380739e-01 -5.39068069e-02 -1.81646806e-02 7.88959035e+02] [ 5.39109797e-02 9.98545712e-01 -2.60236854e-04 1.35101032e+01] [ 1.81522924e-02 -7.19460261e-04 9.99834975e-01 7.29202767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9892541539999 meters Centerline goodness [0,1] 0.9988469422617015 Centerline is valid? [True, True] Translation: X:788.99, Y:13.51, Z:7.29 [[ 9.98226662e-01 -5.66641809e-02 -1.82401251e-02 7.88990576e+02] [ 5.66688593e-02 9.98392995e-01 -2.60690695e-04 1.35081278e+01] [ 1.82255849e-02 -7.73418679e-04 9.99833601e-01 7.29162639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0192541539999 meters Centerline goodness [0,1] 0.9988034699371822 Centerline is valid? [True, True] Translation: X:789.02, Y:13.51, Z:7.29 [[ 9.98050981e-01 -5.98012427e-02 -1.78339598e-02 7.89022166e+02] [ 5.98062285e-02 9.98209973e-01 -2.54113267e-04 1.35061768e+01] [ 1.78172329e-02 -8.12963881e-04 9.99840930e-01 7.29230117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0492541539999 meters Centerline goodness [0,1] 0.9988461291907946 Centerline is valid? [True, True] Translation: X:789.05, Y:13.51, Z:7.29 [[ 9.97647654e-01 -6.62461093e-02 -1.76241644e-02 7.89052412e+02] [ 6.62519874e-02 9.97802892e-01 -2.50772499e-04 1.35053499e+01] [ 1.76020550e-02 -9.17453325e-04 9.99844651e-01 7.29363590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0792541539998 meters Centerline goodness [0,1] 0.9989724267854084 Centerline is valid? [True, True] Translation: X:789.08, Y:13.50, Z:7.30 [[ 9.97433348e-01 -6.94545265e-02 -1.74007233e-02 7.89082818e+02] [ 6.94607462e-02 9.97584655e-01 -2.47418424e-04 1.35031721e+01] [ 1.73758789e-02 -9.61883838e-04 9.99848565e-01 7.29504400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1092541539999 meters Centerline goodness [0,1] 0.999038584796821 Centerline is valid? [True, True] Translation: X:789.11, Y:13.50, Z:7.30 [[ 9.97077922e-01 -7.42113578e-02 -1.81188049e-02 7.89113454e+02] [ 7.42188876e-02 9.97241942e-01 -2.57426225e-04 1.35036703e+01] [ 1.80879362e-02 -1.08808354e-03 9.99835808e-01 7.29537243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1392541539999 meters Centerline goodness [0,1] 0.9988235545763727 Centerline is valid? [True, True] Translation: X:789.15, Y:13.51, Z:7.29 [[ 9.96959498e-01 -7.56850495e-02 -1.85346370e-02 7.89145254e+02] [ 7.56931928e-02 9.97131121e-01 -2.62788256e-04 1.35051852e+01] [ 1.85013525e-02 -1.14095661e-03 9.99828184e-01 7.29472939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1692541539999 meters Centerline goodness [0,1] 0.9989738546721679 Centerline is valid? [True, True] Translation: X:789.18, Y:13.49, Z:7.29 [[ 9.96849990e-01 -7.71168759e-02 -1.85225499e-02 7.89176725e+02] [ 7.71252739e-02 9.97021376e-01 -2.61580876e-04 1.34948808e+01] [ 1.84875505e-02 -1.16779984e-03 9.99828409e-01 7.29415491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1992541539998 meters Centerline goodness [0,1] 0.9989936622130867 Centerline is valid? [True, True] Translation: X:789.21, Y:13.50, Z:7.29 [[ 9.96808298e-01 -7.73861963e-02 -1.96110627e-02 7.89209039e+02] [ 7.73956879e-02 9.97000417e-01 -2.75663874e-04 1.35016312e+01] [ 1.95735703e-02 -1.24302765e-03 9.99807647e-01 7.29350872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2292541539999 meters Centerline goodness [0,1] 0.9989936622130867 Centerline is valid? [True, True] Translation: X:789.24, Y:13.50, Z:7.29 [[ 9.96816670e-01 -7.72782760e-02 -1.96110876e-02 7.89241641e+02] [ 7.72877817e-02 9.97008788e-01 -2.73881499e-04 1.35019930e+01] [ 1.95735918e-02 -1.24268782e-03 9.99807647e-01 7.29381394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2592541539999 meters Centerline goodness [0,1] 0.9989726467188904 Centerline is valid? [True, True] Translation: X:789.27, Y:13.50, Z:7.30 [[ 9.96811788e-01 -7.74275258e-02 -1.92675369e-02 7.89274105e+02] [ 7.74367619e-02 9.96997230e-01 -2.67377276e-04 1.35028565e+01] [ 1.92303832e-02 -1.22549084e-03 9.99814328e-01 7.29555324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2892541539999 meters Centerline goodness [0,1] 0.9988235294117647 Centerline is valid? [True, True] Translation: X:789.31, Y:13.51, Z:7.30 [[ 9.96881435e-01 -7.65498540e-02 -1.91709174e-02 7.89306367e+02] [ 7.65588626e-02 9.97065028e-01 -2.64647012e-04 1.35074086e+01] [ 1.91349100e-02 -1.20388194e-03 9.99816186e-01 7.29627930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3192541539999 meters Centerline goodness [0,1] 0.9990142716324519 Centerline is valid? [True, True] Translation: X:789.34, Y:13.51, Z:7.30 [[ 9.97043406e-01 -7.42447509e-02 -1.98031130e-02 7.89337807e+02] [ 7.42539323e-02 9.97239329e-01 -2.72280529e-04 1.35097380e+01] [ 1.97686585e-02 -1.19898351e-03 9.99803862e-01 7.29622114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3492541539999 meters Centerline goodness [0,1] 0.9989717003363396 Centerline is valid? [True, True] Translation: X:789.37, Y:13.51, Z:7.30 [[ 9.97160643e-01 -7.26443188e-02 -1.98357042e-02 7.89368755e+02] [ 7.26532294e-02 9.97357225e-01 -2.71997395e-04 1.35134194e+01] [ 1.98030420e-02 -1.16990287e-03 9.99803216e-01 7.29645413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3792541539999 meters Centerline goodness [0,1] 0.9991851438864348 Centerline is valid? [True, True] Translation: X:789.40, Y:13.52, Z:7.30 [[ 9.97283951e-01 -7.08631760e-02 -2.00781390e-02 7.89400688e+02] [ 7.08719649e-02 9.97485383e-01 -2.74380918e-04 1.35153827e+01] [ 2.00470937e-02 -1.14934148e-03 9.99798376e-01 7.29666144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4092541539999 meters Centerline goodness [0,1] 0.9990767182702425 Centerline is valid? [True, True] Translation: X:789.43, Y:13.52, Z:7.30 [[ 9.97518243e-01 -6.73631197e-02 -2.04832985e-02 7.89430046e+02] [ 6.73715380e-02 9.97727918e-01 -2.79593285e-04 1.35193188e+01] [ 2.04555930e-02 -1.10109192e-03 9.99790156e-01 7.29708445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4392541539999 meters Centerline goodness [0,1] 0.9991833050355692 Centerline is valid? [True, True] Translation: X:789.46, Y:13.52, Z:7.30 [[ 9.97636817e-01 -6.54886510e-02 -2.07850234e-02 7.89461510e+02] [ 6.54969185e-02 9.97852731e-01 -2.83469655e-04 1.35224717e+01] [ 2.07589564e-02 -1.07855522e-03 9.99783928e-01 7.29763480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4692541539999 meters Centerline goodness [0,1] 0.9992254899851553 Centerline is valid? [True, True] Translation: X:789.49, Y:13.53, Z:7.30 [[ 9.97780238e-01 -6.33438838e-02 -2.05462752e-02 7.89492534e+02] [ 6.33515241e-02 9.97991236e-01 -2.79471645e-04 1.35256246e+01] [ 2.05227054e-02 -1.02278656e-03 9.99788864e-01 7.29838261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4992541539999 meters Centerline goodness [0,1] 0.9989455789632243 Centerline is valid? [True, True] Translation: X:789.52, Y:13.53, Z:7.30 [[ 9.98061609e-01 -5.87026693e-02 -2.06644762e-02 7.89522201e+02] [ 5.87094121e-02 9.98275075e-01 -2.80737428e-04 1.35293082e+01] [ 2.06453116e-02 -9.33006003e-04 9.99786427e-01 7.29765901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5292541539999 meters Centerline goodness [0,1] 0.9990957435356428 Centerline is valid? [True, True] Translation: X:789.55, Y:13.53, Z:7.30 [[ 9.98211617e-01 -5.59509564e-02 -2.10489369e-02 7.89553566e+02] [ 5.59573507e-02 9.98433119e-01 -2.85546277e-04 1.35320973e+01] [ 2.10319323e-02 -8.92807133e-04 9.99778406e-01 7.29697109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5592541539999 meters Centerline goodness [0,1] 0.9991174634608347 Centerline is valid? [True, True] Translation: X:789.58, Y:13.54, Z:7.30 [[ 9.98335609e-01 -5.39045250e-02 -2.05015801e-02 7.89584668e+02] [ 5.39101749e-02 9.98545751e-01 -2.77398761e-04 1.35365418e+01] [ 2.04867187e-02 -8.28306707e-04 9.99789782e-01 7.29947550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.589254154 meters Centerline goodness [0,1] 0.9990943396226415 Centerline is valid? [True, True] Translation: X:789.62, Y:13.54, Z:7.30 [[ 9.98520488e-01 -5.01686686e-02 -2.09747221e-02 7.89616217e+02] [ 5.01737796e-02 9.98740463e-01 -2.82835866e-04 1.35400189e+01] [ 2.09624932e-02 -7.69963678e-04 9.99779966e-01 7.29879378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6192541539999 meters Centerline goodness [0,1] 0.999199792378563 Centerline is valid? [True, True] Translation: X:789.65, Y:13.55, Z:7.30 [[ 9.98843655e-01 -4.33252373e-02 -2.08393093e-02 7.89646547e+02] [ 4.33288048e-02 9.99060827e-01 -2.80511555e-04 1.35489478e+01] [ 2.08318908e-02 -6.22755176e-04 9.99782799e-01 7.30117065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6492541539999 meters Centerline goodness [0,1] 0.9993488594187485 Centerline is valid? [True, True] Translation: X:789.68, Y:13.55, Z:7.30 [[ 9.99025535e-01 -3.87761279e-02 -2.10806369e-02 7.89676859e+02] [ 3.87787893e-02 9.99247780e-01 -2.82674784e-04 1.35528350e+01] [ 2.10757407e-02 -5.35082250e-04 9.99777739e-01 7.30153574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6792541539999 meters Centerline goodness [0,1] 0.9992833564975677 Centerline is valid? [True, True] Translation: X:789.71, Y:13.56, Z:7.30 [[ 9.99210562e-01 -3.36195665e-02 -2.11654646e-02 7.89708328e+02] [ 3.36211205e-02 9.99434610e-01 -2.82516491e-04 1.35580590e+01] [ 2.11629959e-02 -4.29313174e-04 9.99775947e-01 7.30154382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7092541539998 meters Centerline goodness [0,1] 0.9993904695561312 Centerline is valid? [True, True] Translation: X:789.74, Y:13.57, Z:7.30 [[ 9.99490390e-01 -2.38498287e-02 -2.12166516e-02 7.89738422e+02] [ 2.38491965e-02 9.99715527e-01 -2.82861832e-04 1.35669159e+01] [ 2.12173622e-02 -2.23282409e-04 9.99774861e-01 7.30279930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7392541539999 meters Centerline goodness [0,1] 0.9992812023524287 Centerline is valid? [True, True] Translation: X:789.77, Y:13.57, Z:7.30 [[ 9.99598848e-01 -1.94365871e-02 -2.06000681e-02 7.89767444e+02] [ 1.94349967e-02 9.99811084e-01 -2.77425210e-04 1.35717413e+01] [ 2.06015686e-02 -1.23048335e-04 9.99787758e-01 7.30413924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7692541539999 meters Centerline goodness [0,1] 0.9994770216382297 Centerline is valid? [True, True] Translation: X:789.80, Y:13.58, Z:7.30 [[ 9.99684367e-01 -1.50914334e-02 -2.00851794e-02 7.89795726e+02] [ 1.50889459e-02 9.99886117e-01 -2.75399190e-04 1.35759498e+01] [ 2.00870483e-02 -2.77519200e-05 9.99798235e-01 7.30482411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7992541539999 meters Centerline goodness [0,1] 0.9993659539114085 Centerline is valid? [True, True] Translation: X:789.82, Y:13.58, Z:7.30 [[ 9.99759474e-01 -6.90079723e-03 -2.08176111e-02 7.89824622e+02] [ 6.89623869e-03 9.99976178e-01 -2.90757501e-04 1.35818166e+01] [ 2.08191216e-02 1.47124352e-04 9.99783248e-01 7.30446204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8292541539998 meters Centerline goodness [0,1] 0.9994959566961057 Centerline is valid? [True, True] Translation: X:789.85, Y:13.58, Z:7.31 [[ 9.99778158e-01 -4.76854789e-03 -2.05157555e-02 7.89852888e+02] [ 4.76356558e-03 9.99988612e-01 -2.91715568e-04 1.35844956e+01] [ 2.05169129e-02 1.93922706e-04 9.99789487e-01 7.30600042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8592541539999 meters Centerline goodness [0,1] 0.9996503267259654 Centerline is valid? [True, True] Translation: X:789.88, Y:13.59, Z:7.31 [[ 9.99786909e-01 -1.12448314e-03 -2.06124049e-02 7.89880552e+02] [ 1.11860966e-03 9.99999330e-01 -2.96476493e-04 1.35867070e+01] [ 2.06127245e-02 2.73356081e-04 9.99787498e-01 7.30588319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8892541539999 meters Centerline goodness [0,1] 0.9994982329071949 Centerline is valid? [True, True] Translation: X:789.91, Y:13.59, Z:7.31 [[ 9.99790046e-01 -1.01601025e-03 -2.04653686e-02 7.89908356e+02] [ 1.01011621e-03 9.99999445e-01 -2.98335910e-04 1.35871515e+01] [ 2.04656604e-02 2.77600873e-04 9.99790518e-01 7.30578362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9192541539999 meters Centerline goodness [0,1] 0.9993884459975975 Centerline is valid? [True, True] Translation: X:789.94, Y:13.59, Z:7.31 [[ 9.99786166e-01 -1.52850399e-03 -2.06224426e-02 7.89935170e+02] [ 1.52254447e-03 9.99998795e-01 -3.04680281e-04 1.35866566e+01] [ 2.06228834e-02 2.73216544e-04 9.99787288e-01 7.30596362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9492541539998 meters Centerline goodness [0,1] 0.9994332301521559 Centerline is valid? [True, True] Translation: X:789.96, Y:13.58, Z:7.31 [[ 9.99779200e-01 -4.54899148e-03 -2.05148245e-02 7.89963511e+02] [ 4.54369033e-03 9.99989631e-01 -3.05010090e-04 1.35834526e+01] [ 2.05159993e-02 2.11729735e-04 9.99789502e-01 7.30567614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9792541539999 meters Centerline goodness [0,1] 0.9994988779223043 Centerline is valid? [True, True] Translation: X:789.99, Y:13.58, Z:7.31 [[ 9.99762051e-01 -6.82736535e-03 -2.07178168e-02 7.89992430e+02] [ 6.82241807e-03 9.99976679e-01 -3.09465669e-04 1.35813681e+01] [ 2.07194465e-02 1.68046424e-04 9.99785315e-01 7.30621550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0092541539999 meters Centerline goodness [0,1] 0.999498473615351 Centerline is valid? [True, True] Translation: X:790.02, Y:13.58, Z:7.31 [[ 9.99743848e-01 -9.61838377e-03 -2.04871969e-02 7.90020806e+02] [ 9.61410336e-03 9.99953736e-01 -3.07416309e-04 1.35786841e+01] [ 2.04892060e-02 1.10371535e-04 9.99790068e-01 7.30674649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0392541539999 meters Centerline goodness [0,1] 0.9994139353158238 Centerline is valid? [True, True] Translation: X:790.05, Y:13.57, Z:7.31 [[ 9.99716699e-01 -1.28462796e-02 -2.00373502e-02 7.90049773e+02] [ 1.28428052e-02 9.99917482e-01 -3.02074586e-04 1.35749000e+01] [ 2.00395773e-02 4.46532231e-05 9.99799187e-01 7.30778284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0692541539999 meters Centerline goodness [0,1] 0.9994160141886923 Centerline is valid? [True, True] Translation: X:790.08, Y:13.57, Z:7.31 [[ 9.99608814e-01 -1.99796167e-02 -1.95712635e-02 7.90077735e+02] [ 1.99776376e-02 9.99800383e-01 -2.96650160e-04 1.35667429e+01] [ 1.95732837e-02 -9.44534932e-05 9.99808420e-01 7.30738216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0992541539999 meters Centerline goodness [0,1] 0.9993079135757078 Centerline is valid? [True, True] Translation: X:790.11, Y:13.56, Z:7.31 [[ 9.99522713e-01 -2.43967324e-02 -1.89511398e-02 7.90106243e+02] [ 2.43956091e-02 9.99702341e-01 -2.90486253e-04 1.35626529e+01] [ 1.89525857e-02 -1.71976990e-04 9.99820369e-01 7.30832879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1292541539999 meters Centerline goodness [0,1] 0.9993536711478801 Centerline is valid? [True, True] Translation: X:790.14, Y:13.55, Z:7.31 [[ 9.99314415e-01 -3.21842142e-02 -1.82996034e-02 7.90135531e+02] [ 3.21844214e-02 9.99481907e-01 -2.83256491e-04 1.35536126e+01] [ 1.82992389e-02 -3.05899853e-04 9.99832508e-01 7.30855702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1592541539999 meters Centerline goodness [0,1] 0.9991835506950562 Centerline is valid? [True, True] Translation: X:790.17, Y:13.55, Z:7.31 [[ 9.99183259e-01 -3.58701226e-02 -1.86050819e-02 7.90166732e+02] [ 3.58709721e-02 9.99356388e-01 -2.88164962e-04 1.35492436e+01] [ 1.86034440e-02 -3.79452769e-04 9.99826869e-01 7.30792172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1892541539999 meters Centerline goodness [0,1] 0.9991617950481431 Centerline is valid? [True, True] Translation: X:790.20, Y:13.54, Z:7.31 [[ 9.99048281e-01 -3.96594356e-02 -1.81565818e-02 7.90197953e+02] [ 3.96608817e-02 9.99213158e-01 -2.80566722e-04 1.35447905e+01] [ 1.81534226e-02 -4.39806343e-04 9.99835116e-01 7.30829946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2192541539999 meters Centerline goodness [0,1] 0.9989727346659247 Centerline is valid? [True, True] Translation: X:790.23, Y:13.54, Z:7.31 [[ 9.98797381e-01 -4.55828310e-02 -1.80553729e-02 7.90228088e+02] [ 4.55852339e-02 9.98960414e-01 -2.78665342e-04 1.35350668e+01] [ 1.80493052e-02 -5.44728185e-04 9.99836950e-01 7.30719975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2492541539999 meters Centerline goodness [0,1] 0.9989532598479023 Centerline is valid? [True, True] Translation: X:790.26, Y:13.53, Z:7.31 [[ 9.98672916e-01 -4.82860432e-02 -1.79126813e-02 7.90260302e+02] [ 4.82888539e-02 9.98833375e-01 -2.75836310e-04 1.35338540e+01] [ 1.79051030e-02 -5.89512597e-04 9.99839517e-01 7.30847686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2792541539999 meters Centerline goodness [0,1] 0.9988477787735245 Centerline is valid? [True, True] Translation: X:790.29, Y:13.53, Z:7.31 [[ 9.98591147e-01 -4.97743147e-02 -1.83912915e-02 7.90292870e+02] [ 4.97775548e-02 9.98760289e-01 -2.81838519e-04 1.35307285e+01] [ 1.83825200e-02 -6.34032073e-04 9.99830826e-01 7.30672168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3092541539999 meters Centerline goodness [0,1] 0.9987660099570231 Centerline is valid? [True, True] Translation: X:790.32, Y:13.52, Z:7.31 [[ 9.98417917e-01 -5.27617345e-02 -1.94386985e-02 7.90324505e+02] [ 5.27659410e-02 9.98606863e-01 -2.96796354e-04 1.35249840e+01] [ 1.94272773e-02 -7.29374423e-04 9.99811007e-01 7.30576219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.339254154 meters Centerline goodness [0,1] 0.9987886773206393 Centerline is valid? [True, True] Translation: X:790.36, Y:13.52, Z:7.31 [[ 9.98342367e-01 -5.43743208e-02 -1.88666529e-02 7.90355246e+02] [ 5.43785835e-02 9.98520349e-01 -2.87385740e-04 1.35223691e+01] [ 1.88543632e-02 -7.39032498e-04 9.99821968e-01 7.30740484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3692541539999 meters Centerline goodness [0,1] 0.9986807387862797 Centerline is valid? [True, True] Translation: X:790.39, Y:13.52, Z:7.31 [[ 9.98300115e-01 -5.48934526e-02 -1.95854268e-02 7.90386951e+02] [ 5.48981640e-02 9.98491914e-01 -2.97418490e-04 1.35218109e+01] [ 1.95722166e-02 -7.78291061e-04 9.99808143e-01 7.30755738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3992541539999 meters Centerline goodness [0,1] 0.9987254922786074 Centerline is valid? [True, True] Translation: X:790.42, Y:13.52, Z:7.31 [[ 9.98288880e-01 -5.49765419e-02 -1.99221654e-02 7.90418268e+02] [ 5.49814553e-02 9.98487330e-01 -3.01432177e-04 1.35188302e+01] [ 1.99086014e-02 -7.94433255e-04 9.99801489e-01 7.30685842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4292541539999 meters Centerline goodness [0,1] 0.9987480903072483 Centerline is valid? [True, True] Translation: X:790.45, Y:13.52, Z:7.31 [[ 9.98346872e-01 -5.35148993e-02 -2.09685248e-02 7.90450305e+02] [ 5.35200492e-02 9.98566725e-01 -3.15903934e-04 1.35176879e+01] [ 2.09553767e-02 -8.06854774e-04 9.99780086e-01 7.30620700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4592541539998 meters Centerline goodness [0,1] 0.9990029487261078 Centerline is valid? [True, True] Translation: X:790.48, Y:13.52, Z:7.31 [[ 9.98420962e-01 -5.19566163e-02 -2.13563170e-02 7.90481248e+02] [ 5.19616260e-02 9.98649031e-01 -3.20645988e-04 1.35186275e+01] [ 2.13441250e-02 -7.89569282e-04 9.99771876e-01 7.30654660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4892541539999 meters Centerline goodness [0,1] 0.9986424859476084 Centerline is valid? [True, True] Translation: X:790.51, Y:13.52, Z:7.31 [[ 9.98539751e-01 -4.93555976e-02 -2.19634143e-02 7.90511852e+02] [ 4.93602977e-02 9.98780984e-01 -3.28410084e-04 1.35193390e+01] [ 2.19528494e-02 -7.56190145e-04 9.99758721e-01 7.30583348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5192541539999 meters Centerline goodness [0,1] 0.9990023349607302 Centerline is valid? [True, True] Translation: X:790.54, Y:13.52, Z:7.31 [[ 9.98839416e-01 -4.27078450e-02 -2.22679203e-02 7.90542572e+02] [ 4.27110476e-02 9.99087412e-01 -3.31977188e-04 1.35235950e+01] [ 2.22617769e-02 -6.19494304e-04 9.99751984e-01 7.30685216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5492541539999 meters Centerline goodness [0,1] 0.9991078635456052 Centerline is valid? [True, True] Translation: X:790.57, Y:13.53, Z:7.31 [[ 9.98999435e-01 -3.84202001e-02 -2.28914075e-02 7.90571740e+02] [ 3.84224583e-02 9.99261526e-01 -3.41338371e-04 1.35266765e+01] [ 2.28876171e-02 -5.38547309e-04 9.99737899e-01 7.30722960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5792541539998 meters Centerline goodness [0,1] 0.9992147041344767 Centerline is valid? [True, True] Translation: X:790.60, Y:13.54, Z:7.31 [[ 9.99320196e-01 -2.84987601e-02 -2.33873001e-02 7.90601549e+02] [ 2.84983907e-02 9.99593777e-01 -3.49155322e-04 1.35359519e+01] [ 2.33877502e-02 -3.17582452e-04 9.99726419e-01 7.30962281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6092541539999 meters Centerline goodness [0,1] 0.9993397371727972 Centerline is valid? [True, True] Translation: X:790.63, Y:13.54, Z:7.31 [[ 9.99451567e-01 -2.34575051e-02 -2.33732886e-02 7.90629691e+02] [ 2.34556703e-02 9.99724816e-01 -3.52687134e-04 1.35381827e+01] [ 2.33751298e-02 -1.95742442e-04 9.99726745e-01 7.30832622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6392541539999 meters Centerline goodness [0,1] 0.999147739378702 Centerline is valid? [True, True] Translation: X:790.66, Y:13.54, Z:7.31 [[ 9.99559552e-01 -1.85377927e-02 -2.31743912e-02 7.90658237e+02] [ 1.85345297e-02 9.99828158e-01 -3.55603385e-04 1.35428812e+01] [ 2.31770009e-02 -7.40796807e-05 9.99731374e-01 7.31095483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6692541539999 meters Centerline goodness [0,1] 0.9992109528277745 Centerline is valid? [True, True] Translation: X:790.69, Y:13.55, Z:7.31 [[ 9.99700899e-01 -9.28696362e-03 -2.26244457e-02 7.90686890e+02] [ 9.28135500e-03 9.99956865e-01 -3.52896956e-04 1.35481420e+01] [ 2.26267471e-02 1.42805892e-04 9.99743972e-01 7.31129216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6992541539998 meters Centerline goodness [0,1] 0.9992105319307829 Centerline is valid? [True, True] Translation: X:790.72, Y:13.55, Z:7.31 [[ 9.99736214e-01 -6.45774273e-03 -2.20408909e-02 7.90715235e+02] [ 6.45161042e-03 9.99979127e-01 -3.49321936e-04 1.35503678e+01] [ 2.20426867e-02 2.07030548e-04 9.99757009e-01 7.31305442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7292541539999 meters Centerline goodness [0,1] 0.9991459561021436 Centerline is valid? [True, True] Translation: X:790.74, Y:13.55, Z:7.31 [[ 9.99762286e-01 -3.79219205e-03 -2.14707105e-02 7.90743631e+02] [ 3.78564245e-03 9.99992775e-01 -3.45685082e-04 1.35512362e+01] [ 2.14718663e-02 2.64322474e-04 9.99769418e-01 7.31412236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7592541539999 meters Centerline goodness [0,1] 0.9991463570788339 Centerline is valid? [True, True] Translation: X:790.77, Y:13.55, Z:7.31 [[ 9.99771279e-01 -2.06436375e-03 -2.12868139e-02 7.90772007e+02] [ 2.05741865e-03 9.99997823e-01 -3.48158001e-04 1.35516640e+01] [ 2.12874863e-02 3.04282482e-04 9.99773349e-01 7.31468649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7892541539999 meters Centerline goodness [0,1] 0.9988712116371691 Centerline is valid? [True, True] Translation: X:790.80, Y:13.55, Z:7.31 [[ 9.99768483e-01 -8.92168149e-04 -2.14984901e-02 7.90800786e+02] [ 8.84693778e-04 9.99999545e-01 -3.57177927e-04 1.35498372e+01] [ 2.14987990e-02 3.38075654e-04 9.99768817e-01 7.31359160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8192541539999 meters Centerline goodness [0,1] 0.9994888832098134 Centerline is valid? [True, True] Translation: X:790.83, Y:13.55, Z:7.31 [[ 9.99759229e-01 -2.46865550e-03 -2.18034363e-02 7.90828608e+02] [ 2.46126412e-03 9.99996904e-01 -3.65829202e-04 1.35500676e+01] [ 2.18042719e-02 3.12077105e-04 9.99762210e-01 7.31366828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8492541539999 meters Centerline goodness [0,1] 0.999445321500192 Centerline is valid? [True, True] Translation: X:790.86, Y:13.55, Z:7.31 [[ 9.99745412e-01 -4.47631803e-03 -2.21150217e-02 7.90857088e+02] [ 4.46916508e-03 9.99989944e-01 -3.72856610e-04 1.35463958e+01] [ 2.21164684e-02 2.73926002e-04 9.99755363e-01 7.31497566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8792541539999 meters Centerline goodness [0,1] 0.9993839748491801 Centerline is valid? [True, True] Translation: X:790.89, Y:13.54, Z:7.31 [[ 9.99690944e-01 -1.15014051e-02 -2.20393642e-02 7.90886311e+02] [ 1.14959723e-02 9.99933850e-01 -3.73192144e-04 1.35393965e+01] [ 2.20421985e-02 1.19712887e-04 9.99757034e-01 7.31475140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9092541539999 meters Centerline goodness [0,1] 0.9992782848652091 Centerline is valid? [True, True] Translation: X:790.92, Y:13.53, Z:7.31 [[ 9.99621828e-01 -1.58994632e-02 -2.24367447e-02 7.90915609e+02] [ 1.58949032e-02 9.99873595e-01 -3.81571421e-04 1.35348071e+01] [ 2.24399753e-02 2.47972368e-05 9.99748192e-01 7.31296848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9392541539999 meters Centerline goodness [0,1] 0.9990252791727586 Centerline is valid? [True, True] Translation: X:790.94, Y:13.52, Z:7.31 [[ 9.99362612e-01 -2.81642559e-02 -2.19349860e-02 7.90944841e+02] [ 2.81628158e-02 9.99603279e-01 -3.74622614e-04 1.35241651e+01] [ 2.19368349e-02 -2.43367137e-04 9.99759329e-01 7.31432782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9692541539999 meters Centerline goodness [0,1] 0.9990290442418102 Centerline is valid? [True, True] Translation: X:790.97, Y:13.52, Z:7.31 [[ 9.99175511e-01 -3.42366312e-02 -2.18208796e-02 7.90973321e+02] [ 3.42366139e-02 9.99413685e-01 -3.74484243e-04 1.35179877e+01] [ 2.18209067e-02 -3.72897544e-04 9.99761826e-01 7.31261491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9992541539999 meters Centerline goodness [0,1] 0.9990928078651449 Centerline is valid? [True, True] Translation: X:791.00, Y:13.51, Z:7.31 [[ 9.98943686e-01 -4.07791328e-02 -2.11795826e-02 7.91002880e+02] [ 4.07805590e-02 9.99168060e-01 -3.64739823e-04 1.35129426e+01] [ 2.11768362e-02 -4.99360674e-04 9.99775621e-01 7.31327778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0292541539999 meters Centerline goodness [0,1] 0.9989247538529653 Centerline is valid? [True, True] Translation: X:791.03, Y:13.50, Z:7.31 [[ 9.98389998e-01 -5.31462831e-02 -1.98212926e-02 7.91033267e+02] [ 5.31499592e-02 9.98586484e-01 -3.41664471e-04 1.35023385e+01] [ 1.98114331e-02 -7.12386504e-04 9.99803481e-01 7.31384994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0592541539999 meters Centerline goodness [0,1] 0.998969093854537 Centerline is valid? [True, True] Translation: X:791.06, Y:13.50, Z:7.32 [[ 9.98059554e-01 -5.93679894e-02 -1.87768100e-02 7.91063074e+02] [ 5.93723967e-02 9.98235851e-01 -3.23141466e-04 1.34950523e+01] [ 1.87628692e-02 -7.92309786e-04 9.99823648e-01 7.31604669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.089254154 meters Centerline goodness [0,1] 0.9989067132014381 Centerline is valid? [True, True] Translation: X:791.09, Y:13.49, Z:7.32 [[ 9.97759528e-01 -6.44522586e-02 -1.79396580e-02 7.91093934e+02] [ 6.44571130e-02 9.97920431e-01 -3.08088569e-04 1.34938474e+01] [ 1.79222082e-02 -8.48940259e-04 9.99839024e-01 7.31727496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1192541539999 meters Centerline goodness [0,1] 0.9989067132014381 Centerline is valid? [True, True] Translation: X:791.13, Y:13.49, Z:7.32 [[ 9.97764306e-01 -6.43782439e-02 -1.79396719e-02 7.91125656e+02] [ 6.43831009e-02 9.97925209e-01 -3.07279565e-04 1.34943322e+01] [ 1.79222329e-02 -8.48419121e-04 9.99839024e-01 7.31757211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1492541539999 meters Centerline goodness [0,1] 0.9988455564417951 Centerline is valid? [True, True] Translation: X:791.16, Y:13.49, Z:7.32 [[ 9.97216816e-01 -7.25730740e-02 -1.70813047e-02 7.91155702e+02] [ 7.25786859e-02 9.97362647e-01 -2.91964274e-04 1.34856354e+01] [ 1.70574441e-02 -9.48586968e-04 9.99854061e-01 7.31751403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1792541539999 meters Centerline goodness [0,1] 0.9988675209194052 Centerline is valid? [True, True] Translation: X:791.19, Y:13.48, Z:7.32 [[ 9.96993190e-01 -7.56341172e-02 -1.68540776e-02 7.91186618e+02] [ 7.56400179e-02 9.97135149e-01 -2.87999263e-04 1.34842452e+01] [ 1.68275758e-02 -9.87709430e-04 9.99857918e-01 7.31731617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2092541539998 meters Centerline goodness [0,1] 0.9986378876781223 Centerline is valid? [True, True] Translation: X:791.22, Y:13.48, Z:7.32 [[ 9.96607547e-01 -8.07100601e-02 -1.61022833e-02 7.91216495e+02] [ 8.07161099e-02 9.96737094e-01 -2.74894505e-04 1.34762534e+01] [ 1.60719298e-02 -1.02575173e-03 9.99870312e-01 7.31796739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2392541539999 meters Centerline goodness [0,1] 0.998824467861791 Centerline is valid? [True, True] Translation: X:791.25, Y:13.48, Z:7.32 [[ 9.96491403e-01 -8.21977941e-02 -1.57609227e-02 7.91248685e+02] [ 8.22037848e-02 9.96615505e-01 -2.68467319e-04 1.34773218e+01] [ 1.57296473e-02 -1.02808212e-03 9.99875753e-01 7.31912732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2692541539999 meters Centerline goodness [0,1] 0.9984694091499979 Centerline is valid? [True, True] Translation: X:791.28, Y:13.47, Z:7.32 [[ 9.96407795e-01 -8.32182586e-02 -1.56916190e-02 7.91279793e+02] [ 8.32243390e-02 9.96530802e-01 -2.66243991e-04 1.34720108e+01] [ 1.56593380e-02 -1.04063703e-03 9.99876844e-01 7.31908268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2992541539999 meters Centerline goodness [0,1] 0.9985107498689041 Centerline is valid? [True, True] Translation: X:791.31, Y:13.47, Z:7.32 [[ 9.96381837e-01 -8.34377668e-02 -1.61670501e-02 7.91312045e+02] [ 8.34442668e-02 9.96512408e-01 -2.73279324e-04 1.34728404e+01] [ 1.61334678e-02 -1.07675708e-03 9.99869267e-01 7.31697123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3292541539998 meters Centerline goodness [0,1] 0.998406140553237 Centerline is valid? [True, True] Translation: X:791.34, Y:13.47, Z:7.32 [[ 9.96338972e-01 -8.39201142e-02 -1.63115529e-02 7.91344495e+02] [ 8.39268147e-02 9.96471883e-01 -2.74524885e-04 1.34727840e+01] [ 1.62770420e-02 -1.09545683e-03 9.99866920e-01 7.31814991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3592541539999 meters Centerline goodness [0,1] 0.9981101568569809 Centerline is valid? [True, True] Translation: X:791.38, Y:13.47, Z:7.32 [[ 9.96339605e-01 -8.37397725e-02 -1.71767665e-02 7.91377965e+02] [ 8.37472032e-02 9.96486991e-01 -2.87512631e-04 1.34733739e+01] [ 1.71405006e-02 -1.15204593e-03 9.99852427e-01 7.31808196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3892541539999 meters Centerline goodness [0,1] 0.9984662254438491 Centerline is valid? [True, True] Translation: X:791.41, Y:13.47, Z:7.32 [[ 9.96430276e-01 -8.23853345e-02 -1.84217748e-02 7.91410380e+02] [ 8.23936836e-02 9.96599813e-01 -3.06598157e-04 1.34732861e+01] [ 1.83843965e-02 -1.21233420e-03 9.99830258e-01 7.31612486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4192541539999 meters Centerline goodness [0,1] 0.9983411028516233 Centerline is valid? [True, True] Translation: X:791.44, Y:13.47, Z:7.32 [[ 9.96462562e-01 -8.17485886e-02 -1.94815389e-02 7.91442999e+02] [ 8.17578332e-02 9.96652172e-01 -3.22792691e-04 1.34743661e+01] [ 1.94427059e-02 -1.27111757e-03 9.99810165e-01 7.31654544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4492541539998 meters Centerline goodness [0,1] 0.9983814688695506 Centerline is valid? [True, True] Translation: X:791.47, Y:13.48, Z:7.32 [[ 9.96569447e-01 -8.03285215e-02 -1.99164987e-02 7.91474281e+02] [ 8.03379224e-02 9.96767631e-01 -3.28930539e-04 1.34751551e+01] [ 1.98785437e-02 -1.27224800e-03 9.99801593e-01 7.31520319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4792541539999 meters Centerline goodness [0,1] 0.9985701068214315 Centerline is valid? [True, True] Translation: X:791.51, Y:13.48, Z:7.32 [[ 9.96735611e-01 -7.77789305e-02 -2.16462211e-02 7.91505443e+02] [ 7.77894545e-02 9.96969746e-01 -3.56693698e-04 1.34782711e+01] [ 2.16083708e-02 -1.32831842e-03 9.99765629e-01 7.31515562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5092541539999 meters Centerline goodness [0,1] 0.9983598284128186 Centerline is valid? [True, True] Translation: X:791.54, Y:13.48, Z:7.32 [[ 9.96827247e-01 -7.64180011e-02 -2.22649800e-02 7.91535509e+02] [ 7.64288101e-02 9.97074974e-01 -3.66319622e-04 1.34803645e+01] [ 2.22278478e-02 -1.33652855e-03 9.99752037e-01 7.31618731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5392541539999 meters Centerline goodness [0,1] 0.9984432523403808 Centerline is valid? [True, True] Translation: X:791.57, Y:13.48, Z:7.32 [[ 9.96964477e-01 -7.45688405e-02 -2.23901857e-02 7.91567259e+02] [ 7.45793258e-02 9.97215016e-01 -3.67525832e-04 1.34836712e+01] [ 2.23552353e-02 -1.30343475e-03 9.99749241e-01 7.31695194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5692541539999 meters Centerline goodness [0,1] 0.9986293859649122 Centerline is valid? [True, True] Translation: X:791.60, Y:13.49, Z:7.32 [[ 9.97252499e-01 -7.05545268e-02 -2.25723936e-02 7.91597512e+02] [ 7.05641696e-02 9.97507173e-01 -3.70017849e-04 1.34891343e+01] [ 2.25422310e-02 -1.22380099e-03 9.99745143e-01 7.31763520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5992541539999 meters Centerline goodness [0,1] 0.998441547501211 Centerline is valid? [True, True] Translation: X:791.63, Y:13.49, Z:7.32 [[ 9.97426541e-01 -6.79447749e-02 -2.28867567e-02 7.91629125e+02] [ 6.79540192e-02 9.97688384e-01 -3.74467366e-04 1.34915251e+01] [ 2.28592944e-02 -1.18174341e-03 9.99737994e-01 7.31590006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6292541539999 meters Centerline goodness [0,1] 0.9986284894393687 Centerline is valid? [True, True] Translation: X:791.66, Y:13.49, Z:7.32 [[ 9.97518725e-01 -6.67675125e-02 -2.23269502e-02 7.91661014e+02] [ 6.67760414e-02 9.97767923e-01 -3.64162957e-04 1.34943278e+01] [ 2.23014290e-02 -1.12764598e-03 9.99750656e-01 7.31817087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6592541539999 meters Centerline goodness [0,1] 0.9985007179660444 Centerline is valid? [True, True] Translation: X:791.69, Y:13.50, Z:7.32 [[ 9.97765620e-01 -6.31318275e-02 -2.18664254e-02 7.91691935e+02] [ 6.31391520e-02 9.98004670e-01 -3.55958418e-04 1.35019802e+01] [ 2.18452670e-02 -1.02546449e-03 9.99760838e-01 7.31953889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6892541539999 meters Centerline goodness [0,1] 0.9988781881680601 Centerline is valid? [True, True] Translation: X:791.72, Y:13.51, Z:7.32 [[ 9.97858492e-01 -6.15731984e-02 -2.20719685e-02 7.91722871e+02] [ 6.15802944e-02 9.98102068e-01 -3.58689075e-04 1.35060217e+01] [ 2.20521631e-02 -1.00127738e-03 9.99756320e-01 7.32122114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7192541539999 meters Centerline goodness [0,1] 0.9983701289079864 Centerline is valid? [True, True] Translation: X:791.75, Y:13.51, Z:7.32 [[ 9.98005732e-01 -5.92051881e-02 -2.18930331e-02 7.91754121e+02] [ 5.92116178e-02 9.98245390e-01 -3.55006855e-04 1.35085064e+01] [ 2.18756376e-02 -9.42023033e-04 9.99760256e-01 7.31954830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7492541539999 meters Centerline goodness [0,1] 0.9985825205746081 Centerline is valid? [True, True] Translation: X:791.79, Y:13.51, Z:7.32 [[ 9.98098342e-01 -5.77883567e-02 -2.14524035e-02 7.91785196e+02] [ 5.77942195e-02 9.98328457e-01 -3.47110218e-04 1.35114723e+01] [ 2.14366038e-02 -8.93374780e-04 9.99769810e-01 7.32211538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7792541539999 meters Centerline goodness [0,1] 0.9988144886423778 Centerline is valid? [True, True] Translation: X:791.82, Y:13.52, Z:7.32 [[ 9.98301118e-01 -5.43010376e-02 -2.11252306e-02 7.91815795e+02] [ 5.43059588e-02 9.98524284e-01 -3.41079063e-04 1.35155965e+01] [ 2.11125767e-02 -8.06726293e-04 9.99776779e-01 7.32294544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8092541539999 meters Centerline goodness [0,1] 0.9985619726351851 Centerline is valid? [True, True] Translation: X:791.85, Y:13.52, Z:7.32 [[ 9.98428012e-01 -5.20194185e-02 -2.08682999e-02 7.91846807e+02] [ 5.20237381e-02 9.98645792e-01 -3.36206816e-04 1.35175849e+01] [ 2.08575292e-02 -7.49968667e-04 9.99782177e-01 7.32222380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.839254154 meters Centerline goodness [0,1] 0.9987510584250635 Centerline is valid? [True, True] Translation: X:791.88, Y:13.52, Z:7.32 [[ 9.98484198e-01 -5.09897912e-02 -2.07207207e-02 7.91878121e+02] [ 5.09938431e-02 9.98698912e-01 -3.33117618e-04 1.35197237e+01] [ 2.07107468e-02 -7.24016503e-04 9.99785247e-01 7.32397931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8692541539999 meters Centerline goodness [0,1] 0.9986441826963817 Centerline is valid? [True, True] Translation: X:791.91, Y:13.52, Z:7.32 [[ 9.98623297e-01 -4.79611518e-02 -2.12423889e-02 7.91908287e+02] [ 4.79647373e-02 9.98848971e-01 -3.40973429e-04 1.35229913e+01] [ 2.12342918e-02 -6.78381592e-04 9.99774297e-01 7.32419409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8992541539999 meters Centerline goodness [0,1] 0.9987515341317872 Centerline is valid? [True, True] Translation: X:791.94, Y:13.53, Z:7.32 [[ 9.98712590e-01 -4.57673511e-02 -2.18749110e-02 7.91939540e+02] [ 4.57706405e-02 9.98951914e-01 -3.50541574e-04 1.35254124e+01] [ 2.18680276e-02 -6.51138403e-04 9.99760654e-01 7.32429203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9292541539999 meters Centerline goodness [0,1] 0.9987505029754972 Centerline is valid? [True, True] Translation: X:791.97, Y:13.53, Z:7.32 [[ 9.98938148e-01 -3.99769806e-02 -2.29001709e-02 7.91969084e+02] [ 3.99790838e-02 9.99200450e-01 -3.66157969e-04 1.35298250e+01] [ 2.28964990e-02 -5.49758689e-04 9.99737690e-01 7.32183425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9592541539998 meters Centerline goodness [0,1] 0.9986241056686846 Centerline is valid? [True, True] Translation: X:792.00, Y:13.53, Z:7.32 [[ 9.99034693e-01 -3.75537915e-02 -2.27902584e-02 7.91998273e+02] [ 3.75552418e-02 9.99294487e-01 -3.64510367e-04 1.35329462e+01] [ 2.27878683e-02 -4.91735163e-04 9.99740202e-01 7.32318630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9892541539999 meters Centerline goodness [0,1] 0.9987918353504738 Centerline is valid? [True, True] Translation: X:792.03, Y:13.54, Z:7.33 [[ 9.99139145e-01 -3.42162066e-02 -2.34567635e-02 7.92027708e+02] [ 3.42168041e-02 9.99414363e-01 -3.76005340e-04 1.35404018e+01] [ 2.34558918e-02 -4.26933827e-04 9.99724782e-01 7.32651557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0192541539999 meters Centerline goodness [0,1] 0.9988962003820845 Centerline is valid? [True, True] Translation: X:792.06, Y:13.55, Z:7.33 [[ 9.99360414e-01 -2.62656219e-02 -2.42668346e-02 7.92055970e+02] [ 2.62638895e-02 9.99654968e-01 -3.90158924e-04 1.35462515e+01] [ 2.42687095e-02 -2.47432078e-04 9.99705441e-01 7.32609457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0492541539999 meters Centerline goodness [0,1] 0.9988759994061883 Centerline is valid? [True, True] Translation: X:792.08, Y:13.55, Z:7.33 [[ 9.99452484e-01 -2.24074801e-02 -2.43441331e-02 7.92084302e+02] [ 2.24044879e-02 9.99748910e-01 -3.95688242e-04 1.35497355e+01] [ 2.43468869e-02 -1.49946240e-04 9.99703559e-01 7.32651781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0792541539998 meters Centerline goodness [0,1] 0.9991933600798149 Centerline is valid? [True, True] Translation: X:792.11, Y:13.55, Z:7.33 [[ 9.99521019e-01 -1.88558512e-02 -2.45395543e-02 7.92113336e+02] [ 1.88515860e-02 9.99822211e-01 -4.05157792e-04 1.35534738e+01] [ 2.45428311e-02 -5.76457905e-05 9.99698778e-01 7.32798620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1092541539999 meters Centerline goodness [0,1] 0.998895520485971 Centerline is valid? [True, True] Translation: X:792.14, Y:13.56, Z:7.33 [[ 9.99583278e-01 -1.52847886e-02 -2.44876795e-02 7.92140708e+02] [ 1.52793636e-02 9.99883180e-01 -4.08642457e-04 1.35565743e+01] [ 2.44910649e-02 3.43160085e-05 9.99700048e-01 7.32769058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1392541539999 meters Centerline goodness [0,1] 0.999128160418483 Centerline is valid? [True, True] Translation: X:792.17, Y:13.56, Z:7.33 [[ 9.99644937e-01 -1.05947584e-02 -2.44489567e-02 7.92167928e+02] [ 1.05878798e-02 9.99943862e-01 -4.10781074e-04 1.35599905e+01] [ 2.44519364e-02 1.51772606e-04 9.99700995e-01 7.32810503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1692541539999 meters Centerline goodness [0,1] 0.9988752360943104 Centerline is valid? [True, True] Translation: X:792.20, Y:13.56, Z:7.33 [[ 9.99654628e-01 -9.11899780e-03 -2.46468777e-02 7.92197114e+02] [ 9.11144227e-03 9.99958402e-01 -4.18837360e-04 1.35603991e+01] [ 2.46496718e-02 1.94124102e-04 9.99696132e-01 7.32656239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1992541539998 meters Centerline goodness [0,1] 0.9990875331564987 Centerline is valid? [True, True] Translation: X:792.23, Y:13.56, Z:7.33 [[ 9.99661059e-01 -9.62861165e-03 -2.41879565e-02 7.92225314e+02] [ 9.62132653e-03 9.99953627e-01 -4.17549720e-04 1.35586839e+01] [ 2.41908553e-02 1.84687968e-04 9.99707341e-01 7.32907610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2292541539999 meters Centerline goodness [0,1] 0.999194010223344 Centerline is valid? [True, True] Translation: X:792.25, Y:13.56, Z:7.33 [[ 9.99659334e-01 -1.07188130e-02 -2.37975241e-02 7.92254517e+02] [ 1.07119210e-02 9.99942539e-01 -4.17071578e-04 1.35576997e+01] [ 2.38006271e-02 1.62012299e-04 9.99716712e-01 7.32982826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2592541539999 meters Centerline goodness [0,1] 0.999086466964096 Centerline is valid? [True, True] Translation: X:792.28, Y:13.56, Z:7.33 [[ 9.99646179e-01 -1.21762043e-02 -2.36485952e-02 7.92282738e+02] [ 1.21696532e-02 9.99925858e-01 -4.20920172e-04 1.35562854e+01] [ 2.36519670e-02 1.32976040e-04 9.99720244e-01 7.33033628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2892541539999 meters Centerline goodness [0,1] 0.9990891567285899 Centerline is valid? [True, True] Translation: X:792.31, Y:13.55, Z:7.33 [[ 9.99614041e-01 -1.52866469e-02 -2.31967159e-02 7.92311992e+02] [ 1.52810378e-02 9.99883150e-01 -4.19053280e-04 1.35526132e+01] [ 2.32004113e-02 6.44216489e-05 9.99730832e-01 7.33125530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3192541539999 meters Centerline goodness [0,1] 0.9988354859199661 Centerline is valid? [True, True] Translation: X:792.34, Y:13.55, Z:7.33 [[ 9.99563681e-01 -1.73384968e-02 -2.39128547e-02 7.92340293e+02] [ 1.73329626e-02 9.99849677e-01 -4.38698385e-04 1.35507479e+01] [ 2.39168664e-02 2.40263575e-05 9.99713951e-01 7.33140747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3492541539999 meters Centerline goodness [0,1] 0.9990480622778812 Centerline is valid? [True, True] Translation: X:792.37, Y:13.55, Z:7.33 [[ 9.99517193e-01 -1.95896265e-02 -2.41169635e-02 7.92368110e+02] [ 1.95844806e-02 9.99808105e-01 -4.49568596e-04 1.35483748e+01] [ 2.41211425e-02 -2.29666629e-05 9.99709043e-01 7.33183325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3792541539999 meters Centerline goodness [0,1] 0.9989875553680658 Centerline is valid? [True, True] Translation: X:792.40, Y:13.54, Z:7.33 [[ 9.99413219e-01 -2.38900757e-02 -2.45455141e-02 7.92395684e+02] [ 2.38859385e-02 9.99714584e-01 -4.61767950e-04 1.35422804e+01] [ 2.45495401e-02 -1.24795648e-04 9.99698607e-01 7.33195097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4092541539999 meters Centerline goodness [0,1] 0.9987543281817414 Centerline is valid? [True, True] Translation: X:792.42, Y:13.54, Z:7.33 [[ 9.99342813e-01 -2.64715064e-02 -2.47629183e-02 7.92424227e+02] [ 2.64679698e-02 9.99649551e-01 -4.70628085e-04 1.35394677e+01] [ 2.47666984e-02 -1.85105377e-04 9.99693241e-01 7.33175552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4392541539999 meters Centerline goodness [0,1] 0.9988615280823073 Centerline is valid? [True, True] Translation: X:792.45, Y:13.54, Z:7.33 [[ 9.99276184e-01 -2.87223828e-02 -2.49425909e-02 7.92453073e+02] [ 2.87193381e-02 9.99587399e-01 -4.80357549e-04 1.35365991e+01] [ 2.49460966e-02 -2.36324843e-04 9.99688770e-01 7.33058856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4692541539999 meters Centerline goodness [0,1] 0.998948298346725 Centerline is valid? [True, True] Translation: X:792.48, Y:13.53, Z:7.33 [[ 9.99160516e-01 -3.26321962e-02 -2.47669883e-02 7.92481343e+02] [ 3.26303028e-02 9.99467374e-01 -4.80690270e-04 1.35306426e+01] [ 2.47694827e-02 -3.27867590e-04 9.99693136e-01 7.33190966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4992541539999 meters Centerline goodness [0,1] 0.9989884301700702 Centerline is valid? [True, True] Translation: X:792.51, Y:13.53, Z:7.33 [[ 9.99106016e-01 -3.42138684e-02 -2.48310240e-02 7.92509833e+02] [ 3.42123371e-02 9.99414468e-01 -4.86619814e-04 1.35285169e+01] [ 2.48331338e-02 -3.63342580e-04 9.99691544e-01 7.33221976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5292541539999 meters Centerline goodness [0,1] 0.9988013122476447 Centerline is valid? [True, True] Translation: X:792.54, Y:13.53, Z:7.33 [[ 9.99078580e-01 -3.52007700e-02 -2.45539655e-02 7.92538206e+02] [ 3.51994810e-02 9.99380189e-01 -4.84838805e-04 1.35264432e+01] [ 2.45558134e-02 -3.79894778e-04 9.99698388e-01 7.33218248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5592541539999 meters Centerline goodness [0,1] 0.9988657844990548 Centerline is valid? [True, True] Translation: X:792.57, Y:13.53, Z:7.33 [[ 9.99058772e-01 -3.56493991e-02 -2.47121405e-02 7.92566595e+02] [ 3.56481023e-02 9.99364283e-01 -4.93150256e-04 1.35251228e+01] [ 2.47140110e-02 -3.88254823e-04 9.99694487e-01 7.33263210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.589254154 meters Centerline goodness [0,1] 0.9989912575655683 Centerline is valid? [True, True] Translation: X:792.59, Y:13.52, Z:7.33 [[ 9.99064341e-01 -3.53740404e-02 -2.48821019e-02 7.92593720e+02] [ 3.53725264e-02 9.99374071e-01 -5.01122819e-04 1.35217265e+01] [ 2.48842542e-02 -3.79488864e-04 9.99690267e-01 7.33296844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6192541539999 meters Centerline goodness [0,1] 0.9992439198555046 Centerline is valid? [True, True] Translation: X:792.62, Y:13.52, Z:7.33 [[ 9.99065312e-01 -3.51670026e-02 -2.51353163e-02 7.92621581e+02] [ 3.51652473e-02 9.99381380e-01 -5.11979347e-04 1.35220249e+01] [ 2.51377719e-02 -3.72388808e-04 9.99683927e-01 7.33454247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6492541539999 meters Centerline goodness [0,1] 0.9990334916165903 Centerline is valid? [True, True] Translation: X:792.65, Y:13.52, Z:7.34 [[ 9.99097571e-01 -3.37587421e-02 -2.57757863e-02 7.92650211e+02] [ 3.37562478e-02 9.99429954e-01 -5.32007353e-04 1.35203872e+01] [ 2.57790529e-02 -3.38566576e-04 9.99667608e-01 7.33517790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6792541539999 meters Centerline goodness [0,1] 0.998948828995501 Centerline is valid? [True, True] Translation: X:792.68, Y:13.52, Z:7.33 [[ 9.99121262e-01 -3.26548092e-02 -2.62748364e-02 7.92677720e+02] [ 3.26516420e-02 9.99466642e-01 -5.49679847e-04 1.35199916e+01] [ 2.62787722e-02 -3.08719728e-04 9.99654606e-01 7.33391134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7092541539998 meters Centerline goodness [0,1] 0.9990537869548761 Centerline is valid? [True, True] Translation: X:792.71, Y:13.52, Z:7.34 [[ 9.99147884e-01 -3.21028930e-02 -2.59405013e-02 7.92706223e+02] [ 3.20994367e-02 9.99484529e-01 -5.49742010e-04 1.35203236e+01] [ 2.59447780e-02 -2.83401914e-04 9.99663337e-01 7.33743367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7392541539999 meters Centerline goodness [0,1] 0.9992031705424731 Centerline is valid? [True, True] Translation: X:792.73, Y:13.52, Z:7.34 [[ 9.99211277e-01 -3.06363496e-02 -2.52633784e-02 7.92733803e+02] [ 3.06324862e-02 9.99530569e-01 -5.40003102e-04 1.35164379e+01] [ 2.52680628e-02 -2.34302902e-04 9.99680684e-01 7.33534267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7692541539999 meters Centerline goodness [0,1] 0.9989935840986287 Centerline is valid? [True, True] Translation: X:792.76, Y:13.52, Z:7.34 [[ 9.99231630e-01 -3.03624385e-02 -2.47845285e-02 7.92762759e+02] [ 3.03585088e-02 9.99538931e-01 -5.34895935e-04 1.35167947e+01] [ 2.47893419e-02 -2.17936388e-04 9.99692673e-01 7.33772962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7992541539999 meters Centerline goodness [0,1] 0.9989112683723462 Centerline is valid? [True, True] Translation: X:792.79, Y:13.52, Z:7.34 [[ 9.99233559e-01 -3.00651031e-02 -2.50675814e-02 7.92790664e+02] [ 3.00608181e-02 9.99547921e-01 -5.47839759e-04 1.35159201e+01] [ 2.50727198e-02 -2.06132134e-04 9.99685609e-01 7.33631669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8292541539998 meters Centerline goodness [0,1] 0.9991420081195329 Centerline is valid? [True, True] Translation: X:792.82, Y:13.52, Z:7.34 [[ 9.99234682e-01 -3.04100141e-02 -2.46024733e-02 7.92818280e+02] [ 3.04058170e-02 9.99537488e-01 -5.44749264e-04 1.35156560e+01] [ 2.46076602e-02 -2.03725944e-04 9.99697165e-01 7.33977241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8592541539999 meters Centerline goodness [0,1] 0.9989534494306765 Centerline is valid? [True, True] Translation: X:792.84, Y:13.51, Z:7.34 [[ 9.99240484e-01 -3.04001598e-02 -2.43779799e-02 7.92844870e+02] [ 3.03959234e-02 9.99537789e-01 -5.44396260e-04 1.35123281e+01] [ 2.43832618e-02 -1.97008427e-04 9.99702665e-01 7.33767425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8892541539999 meters Centerline goodness [0,1] 0.9989750883724822 Centerline is valid? [True, True] Translation: X:792.87, Y:13.51, Z:7.34 [[ 9.99226946e-01 -3.15630053e-02 -2.34368666e-02 7.92872427e+02] [ 3.15592880e-02 9.99501742e-01 -5.28563551e-04 1.35111259e+01] [ 2.34418721e-02 -2.11495880e-04 9.99725179e-01 7.34019563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9192541539999 meters Centerline goodness [0,1] 0.9989334783245154 Centerline is valid? [True, True] Translation: X:792.90, Y:13.51, Z:7.34 [[ 9.99200717e-01 -3.23686493e-02 -2.34562995e-02 7.92900078e+02] [ 3.23649894e-02 9.99475973e-01 -5.35748327e-04 1.35100356e+01] [ 2.34613492e-02 -2.23842772e-04 9.99724720e-01 7.34153295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9492541539998 meters Centerline goodness [0,1] 0.9992256822367319 Centerline is valid? [True, True] Translation: X:792.93, Y:13.51, Z:7.34 [[ 9.99128836e-01 -3.37845411e-02 -2.44984490e-02 7.92927980e+02] [ 3.37808560e-02 9.99429105e-01 -5.64377712e-04 1.35065810e+01] [ 2.45035302e-02 -2.63692531e-04 9.99699709e-01 7.34125803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9792541539999 meters Centerline goodness [0,1] 0.9990177433175197 Centerline is valid? [True, True] Translation: X:792.96, Y:13.50, Z:7.34 [[ 9.99069924e-01 -3.48696244e-02 -2.53652616e-02 7.92956415e+02] [ 3.48658893e-02 9.99391826e-01 -5.89636622e-04 1.35049636e+01] [ 2.53703955e-02 -2.95294187e-04 9.99678076e-01 7.33948675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0092541539999 meters Centerline goodness [0,1] 0.9989741227702873 Centerline is valid? [True, True] Translation: X:792.99, Y:13.50, Z:7.34 [[ 9.98989971e-01 -3.65367305e-02 -2.61553925e-02 7.92985140e+02] [ 3.65331571e-02 9.99332252e-01 -6.14618975e-04 1.35031157e+01] [ 2.61603834e-02 -3.41540870e-04 9.99657700e-01 7.33868819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0392541539999 meters Centerline goodness [0,1] 0.9989741227702873 Centerline is valid? [True, True] Translation: X:793.01, Y:13.50, Z:7.34 [[ 9.98979482e-01 -3.68225270e-02 -2.61552233e-02 7.93012553e+02] [ 3.68188645e-02 9.99321762e-01 -6.21762652e-04 1.35038405e+01] [ 2.61603787e-02 -3.41877490e-04 9.99657700e-01 7.33894561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0692541539999 meters Centerline goodness [0,1] 0.9989136792846995 Centerline is valid? [True, True] Translation: X:793.04, Y:13.50, Z:7.34 [[ 9.98816194e-01 -4.09178425e-02 -2.63047757e-02 7.93041014e+02] [ 4.09154468e-02 9.99162414e-01 -6.29522513e-04 1.34992548e+01] [ 2.63085019e-02 -4.47494372e-04 9.99653771e-01 7.33929090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0992541539999 meters Centerline goodness [0,1] 0.999080478986855 Centerline is valid? [True, True] Translation: X:793.07, Y:13.50, Z:7.34 [[ 9.98708306e-01 -4.38281084e-02 -2.57063520e-02 7.93068467e+02] [ 4.38267257e-02 9.99038957e-01 -6.17464182e-04 1.34968022e+01] [ 2.57087093e-02 -5.09958630e-04 9.99669346e-01 7.34182993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1292541539999 meters Centerline goodness [0,1] 0.9993945214631702 Centerline is valid? [True, True] Translation: X:793.10, Y:13.50, Z:7.34 [[ 9.98595091e-01 -4.65125499e-02 -2.53855769e-02 7.93097335e+02] [ 4.65119434e-02 9.98917545e-01 -6.14672527e-04 1.34962174e+01] [ 2.53866881e-02 -5.66923546e-04 9.99677545e-01 7.34406660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1592541539999 meters Centerline goodness [0,1] 0.9989524408129059 Centerline is valid? [True, True] Translation: X:793.13, Y:13.49, Z:7.34 [[ 9.98472871e-01 -4.92784339e-02 -2.49712224e-02 7.93126137e+02] [ 4.92785524e-02 9.98784887e-01 -6.10998523e-04 1.34940403e+01] [ 2.49709886e-02 -6.20480239e-04 9.99687984e-01 7.34387654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1892541539999 meters Centerline goodness [0,1] 0.9989741012917949 Centerline is valid? [True, True] Translation: X:793.15, Y:13.49, Z:7.35 [[ 9.98217740e-01 -5.46045919e-02 -2.40765867e-02 7.93154467e+02] [ 5.46061677e-02 9.98507794e-01 -5.92495671e-04 1.34887752e+01] [ 2.40730124e-02 -7.23290439e-04 9.99709941e-01 7.34506642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2192541539999 meters Centerline goodness [0,1] 0.9992681192756472 Centerline is valid? [True, True] Translation: X:793.18, Y:13.49, Z:7.35 [[ 9.98064875e-01 -5.72397147e-02 -2.42923895e-02 7.93183334e+02] [ 5.72420622e-02 9.98360149e-01 -5.99299765e-04 1.34865217e+01] [ 2.42868573e-02 -7.92406423e-04 9.99704717e-01 7.34567124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2492541539999 meters Centerline goodness [0,1] 0.9991015649484967 Centerline is valid? [True, True] Translation: X:793.21, Y:13.48, Z:7.35 [[ 9.97797096e-01 -6.16671873e-02 -2.44563337e-02 7.93213677e+02] [ 6.16708752e-02 9.98096357e-01 -6.04130539e-04 1.34842277e+01] [ 2.44470326e-02 -9.05443806e-04 9.99700717e-01 7.34652955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2792541539999 meters Centerline goodness [0,1] 0.999039405266565 Centerline is valid? [True, True] Translation: X:793.24, Y:13.48, Z:7.34 [[ 9.97700199e-01 -6.31689136e-02 -2.45764196e-02 7.93243330e+02] [ 6.31730748e-02 9.98002401e-01 -6.07825473e-04 1.34821530e+01] [ 2.45657214e-02 -9.46140395e-04 9.99697769e-01 7.34497452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3092541539999 meters Centerline goodness [0,1] 0.9987674695523199 Centerline is valid? [True, True] Translation: X:793.27, Y:13.48, Z:7.34 [[ 9.97575851e-01 -6.50610656e-02 -2.46876174e-02 7.93272716e+02] [ 6.50658206e-02 9.97880787e-01 -6.11478682e-04 1.34807703e+01] [ 2.46750825e-02 -9.96323719e-04 9.99695027e-01 7.34463515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.339254154 meters Centerline goodness [0,1] 0.9989747023498148 Centerline is valid? [True, True] Translation: X:793.30, Y:13.48, Z:7.35 [[ 9.97326651e-01 -6.91641193e-02 -2.35770311e-02 7.93302218e+02] [ 6.91695860e-02 9.97604745e-01 -5.84555041e-04 1.34770912e+01] [ 2.35609883e-02 -1.04782116e-03 9.99721852e-01 7.34745762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3692541539999 meters Centerline goodness [0,1] 0.9990180306290872 Centerline is valid? [True, True] Translation: X:793.33, Y:13.47, Z:7.35 [[ 9.97203553e-01 -7.07543560e-02 -2.40602385e-02 7.93331542e+02] [ 7.07605005e-02 9.97493155e-01 -5.96972953e-04 1.34747980e+01] [ 2.40421616e-02 -1.10721097e-03 9.99710332e-01 7.34576001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3992541539999 meters Centerline goodness [0,1] 0.9989340133352842 Centerline is valid? [True, True] Translation: X:793.36, Y:13.47, Z:7.35 [[ 9.97073567e-01 -7.26976219e-02 -2.36507349e-02 7.93361749e+02] [ 7.27040942e-02 9.97353383e-01 -5.87232785e-04 1.34730634e+01] [ 2.36308309e-02 -1.13399097e-03 9.99720110e-01 7.34692827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4292541539999 meters Centerline goodness [0,1] 0.99887010378306 Centerline is valid? [True, True] Translation: X:793.39, Y:13.47, Z:7.35 [[ 9.96806493e-01 -7.62866799e-02 -2.36041818e-02 7.93392291e+02] [ 7.62941262e-02 9.97085183e-01 -5.86243490e-04 1.34707297e+01] [ 2.35801025e-02 -1.21648910e-03 9.99721211e-01 7.34703206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4592541539998 meters Centerline goodness [0,1] 0.9988284273729576 Centerline is valid? [True, True] Translation: X:793.42, Y:13.47, Z:7.35 [[ 9.96640393e-01 -7.87974366e-02 -2.23358532e-02 7.93423186e+02] [ 7.88047448e-02 9.96889916e-01 -5.54183648e-04 1.34746031e+01] [ 2.23100551e-02 -1.20784940e-03 9.99750370e-01 7.35125891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4892541539999 meters Centerline goodness [0,1] 0.9989967603720347 Centerline is valid? [True, True] Translation: X:793.45, Y:13.47, Z:7.35 [[ 9.96403280e-01 -8.12225258e-02 -2.41537882e-02 7.93453106e+02] [ 8.12317935e-02 9.96695057e-01 -5.98852751e-04 1.34660212e+01] [ 2.41226017e-02 -1.36535669e-03 9.99708075e-01 7.34761690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5192541539999 meters Centerline goodness [0,1] 0.9988516306844281 Centerline is valid? [True, True] Translation: X:793.48, Y:13.46, Z:7.35 [[ 9.96321706e-01 -8.18833475e-02 -2.52621469e-02 7.93483066e+02] [ 8.18936906e-02 9.96640874e-01 -6.26608571e-04 1.34643939e+01] [ 2.52285970e-02 -1.44450672e-03 9.99680665e-01 7.34576241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5492541539999 meters Centerline goodness [0,1] 0.998808926780341 Centerline is valid? [True, True] Translation: X:793.51, Y:13.46, Z:7.35 [[ 9.96241210e-01 -8.29386899e-02 -2.49924895e-02 7.93512998e+02] [ 8.29491266e-02 9.96553590e-01 -6.20620475e-04 1.34648574e+01] [ 2.49578286e-02 -1.45481748e-03 9.99687446e-01 7.34749755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5792541539998 meters Centerline goodness [0,1] 0.9988707417553692 Centerline is valid? [True, True] Translation: X:793.54, Y:13.46, Z:7.35 [[ 9.96194031e-01 -8.34878070e-02 -2.50447403e-02 7.93542344e+02] [ 8.34984455e-02 9.96507713e-01 -6.22510973e-04 1.34647971e+01] [ 2.50092490e-02 -1.47105517e-03 9.99686137e-01 7.34856854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6092541539999 meters Centerline goodness [0,1] 0.9989151976635027 Centerline is valid? [True, True] Translation: X:793.57, Y:13.47, Z:7.35 [[ 9.96256450e-01 -8.27780336e-02 -2.49175385e-02 7.93571978e+02] [ 8.27883258e-02 9.96566961e-01 -6.20039494e-04 1.34659665e+01] [ 2.48833213e-02 -1.44516295e-03 9.99689318e-01 7.34896492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6392541539999 meters Centerline goodness [0,1] 0.9988102692548528 Centerline is valid? [True, True] Translation: X:793.60, Y:13.47, Z:7.35 [[ 9.96344609e-01 -8.14405321e-02 -2.57848690e-02 7.93602560e+02] [ 8.14510990e-02 9.96677132e-01 -6.41952291e-04 1.34745488e+01] [ 2.57514703e-02 -1.46060022e-03 9.99667309e-01 7.34951630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6692541539999 meters Centerline goodness [0,1] 0.9987683957833211 Centerline is valid? [True, True] Translation: X:793.63, Y:13.48, Z:7.35 [[ 9.96448717e-01 -8.01743488e-02 -2.57299188e-02 7.93633536e+02] [ 8.01844576e-02 9.96779837e-01 -6.40281353e-04 1.34784402e+01] [ 2.56983984e-02 -1.42513205e-03 9.99668726e-01 7.35039976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6992541539998 meters Centerline goodness [0,1] 0.9987716778048426 Centerline is valid? [True, True] Translation: X:793.66, Y:13.47, Z:7.35 [[ 9.96725524e-01 -7.68022443e-02 -2.52911877e-02 7.93663207e+02] [ 7.68109254e-02 9.97045478e-01 -6.29485661e-04 1.34725214e+01] [ 2.52648103e-02 -1.31521511e-03 9.99679929e-01 7.34875660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7292541539999 meters Centerline goodness [0,1] 0.9987696799082473 Centerline is valid? [True, True] Translation: X:793.69, Y:13.49, Z:7.35 [[ 9.96904776e-01 -7.47909256e-02 -2.42319112e-02 7.93693076e+02] [ 7.47982977e-02 9.97198501e-01 -6.03285401e-04 1.34858563e+01] [ 2.42091458e-02 -1.21108761e-03 9.99706182e-01 7.35458149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7592541539999 meters Centerline goodness [0,1] 0.999291563352989 Centerline is valid? [True, True] Translation: X:793.72, Y:13.49, Z:7.36 [[ 9.97102247e-01 -7.22194625e-02 -2.39051898e-02 7.93723577e+02] [ 7.22258997e-02 9.97388122e-01 -5.95151240e-04 1.34911103e+01] [ 2.38857338e-02 -1.13314720e-03 9.99714053e-01 7.35628370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7892541539999 meters Centerline goodness [0,1] 0.9990410273515677 Centerline is valid? [True, True] Translation: X:793.75, Y:13.49, Z:7.36 [[ 9.97450501e-01 -6.71481671e-02 -2.41582562e-02 7.93753443e+02] [ 6.71532566e-02 9.97742491e-01 -6.01451662e-04 1.34949294e+01] [ 2.41441051e-02 -1.02238732e-03 9.99707966e-01 7.35654153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8192541539999 meters Centerline goodness [0,1] 0.9987091401207578 Centerline is valid? [True, True] Translation: X:793.78, Y:13.50, Z:7.35 [[ 9.97599752e-01 -6.41541951e-02 -2.60571339e-02 7.93784182e+02] [ 6.41590973e-02 9.97939472e-01 -6.48726728e-04 1.34973196e+01] [ 2.60450610e-02 -1.02463257e-03 9.99660245e-01 7.35367934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8492541539999 meters Centerline goodness [0,1] 0.999123594098867 Centerline is valid? [True, True] Translation: X:793.81, Y:13.50, Z:7.36 [[ 9.97725904e-01 -6.29984285e-02 -2.39628419e-02 7.93813430e+02] [ 6.30022280e-02 9.98013208e-01 -5.97122369e-04 1.35016346e+01] [ 2.39528504e-02 -9.13947973e-04 9.99712672e-01 7.35773233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8792541539999 meters Centerline goodness [0,1] 0.9988543098779319 Centerline is valid? [True, True] Translation: X:793.84, Y:13.50, Z:7.36 [[ 9.97809139e-01 -6.13843036e-02 -2.46756792e-02 7.93843495e+02] [ 6.13878243e-02 9.98113799e-01 -6.15517363e-04 1.35036426e+01] [ 2.46669190e-02 -9.00617409e-04 9.99695320e-01 7.35748915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9092541539999 meters Centerline goodness [0,1] 0.999124215443001 Centerline is valid? [True, True] Translation: X:793.87, Y:13.51, Z:7.36 [[ 9.97943142e-01 -5.91045073e-02 -2.48222210e-02 7.93872883e+02] [ 5.91073546e-02 9.98251440e-01 -6.19622212e-04 1.35064282e+01] [ 2.48154403e-02 -8.48828079e-04 9.99691689e-01 7.35699080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9392541539999 meters Centerline goodness [0,1] 0.9990827026914337 Centerline is valid? [True, True] Translation: X:793.90, Y:13.51, Z:7.36 [[ 9.97978085e-01 -5.87201825e-02 -2.43245208e-02 7.93903673e+02] [ 5.87227986e-02 9.98274143e-01 -6.07363635e-04 1.35098376e+01] [ 2.43182047e-02 -8.22268340e-04 9.99703931e-01 7.35951713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9692541539999 meters Centerline goodness [0,1] 0.9990203026639429 Centerline is valid? [True, True] Translation: X:793.93, Y:13.51, Z:7.36 [[ 9.97984238e-01 -5.77980064e-02 -2.62078586e-02 7.93932009e+02] [ 5.78007022e-02 9.98327927e-01 -6.55308236e-04 1.35092933e+01] [ 2.62019127e-02 -8.60845342e-04 9.99656300e-01 7.35614669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9992541539999 meters Centerline goodness [0,1] 0.9988929041422095 Centerline is valid? [True, True] Translation: X:793.96, Y:13.51, Z:7.36 [[ 9.98056125e-01 -5.65349723e-02 -2.62253442e-02 7.93961201e+02] [ 5.65372068e-02 9.98400277e-01 -6.56863899e-04 1.35133237e+01] [ 2.62205267e-02 -8.27120671e-04 9.99655841e-01 7.35726194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0292541539999 meters Centerline goodness [0,1] 0.9989779529858374 Centerline is valid? [True, True] Translation: X:793.99, Y:13.52, Z:7.36 [[ 9.98091809e-01 -5.57438196e-02 -2.65587382e-02 7.93991262e+02] [ 5.57458061e-02 9.98444771e-01 -6.66172559e-04 1.35151170e+01] [ 2.65545683e-02 -8.15636895e-04 9.99647033e-01 7.35762011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0592541539999 meters Centerline goodness [0,1] 0.9989978704747589 Centerline is valid? [True, True] Translation: X:794.02, Y:13.52, Z:7.36 [[ 9.98143763e-01 -5.44267349e-02 -2.73268797e-02 7.94020432e+02] [ 5.44282204e-02 9.98517447e-01 -6.90005618e-04 1.35177325e+01] [ 2.73239210e-02 -7.98628629e-04 9.99626313e-01 7.35747401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.089254154 meters Centerline goodness [0,1] 0.998955286251567 Centerline is valid? [True, True] Translation: X:794.05, Y:13.52, Z:7.36 [[ 9.98238608e-01 -5.34315565e-02 -2.57827434e-02 7.94048750e+02] [ 5.34324706e-02 9.98571251e-01 -6.53972707e-04 1.35201677e+01] [ 2.57808491e-02 -7.24814871e-04 9.99667356e-01 7.36044398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1192541539999 meters Centerline goodness [0,1] 0.9992052370694162 Centerline is valid? [True, True] Translation: X:794.08, Y:13.52, Z:7.36 [[ 9.98428116e-01 -4.96460451e-02 -2.60108932e-02 7.94077637e+02] [ 4.96456631e-02 9.98766675e-01 -6.60856531e-04 1.35243334e+01] [ 2.60116223e-02 -6.31510302e-04 9.99661441e-01 7.36125938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1492541539999 meters Centerline goodness [0,1] 0.9990600718522851 Centerline is valid? [True, True] Translation: X:794.11, Y:13.53, Z:7.36 [[ 9.98540874e-01 -4.75232083e-02 -2.56450194e-02 7.94105657e+02] [ 4.75220922e-02 9.98869974e-01 -6.53317252e-04 1.35260726e+01] [ 2.56470875e-02 -5.66340994e-04 9.99670899e-01 7.36128615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1792541539999 meters Centerline goodness [0,1] 0.9989760949515212 Centerline is valid? [True, True] Translation: X:794.13, Y:13.53, Z:7.36 [[ 9.98635186e-01 -4.56484335e-02 -2.53768768e-02 7.94134591e+02] [ 4.56466168e-02 9.98957438e-01 -6.51163299e-04 1.35286282e+01] [ 2.53801444e-02 -5.08093989e-04 9.99677743e-01 7.36186348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2092541539998 meters Centerline goodness [0,1] 0.9991006253790968 Centerline is valid? [True, True] Translation: X:794.16, Y:13.53, Z:7.36 [[ 9.98720599e-01 -4.36695619e-02 -2.54977474e-02 7.94163048e+02] [ 4.36669247e-02 9.99045927e-01 -6.60482901e-04 1.35314002e+01] [ 2.55022637e-02 -4.53770336e-04 9.99674661e-01 7.36277465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2392541539999 meters Centerline goodness [0,1] 0.9991029706275033 Centerline is valid? [True, True] Translation: X:794.19, Y:13.53, Z:7.36 [[ 9.98872465e-01 -3.99249541e-02 -2.56865136e-02 7.94191112e+02] [ 3.99209294e-02 9.99202618e-01 -6.69669778e-04 1.35327938e+01] [ 2.56927682e-02 -3.56514795e-04 9.99669823e-01 7.36139086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2692541539999 meters Centerline goodness [0,1] 0.9991866358005381 Centerline is valid? [True, True] Translation: X:794.22, Y:13.53, Z:7.36 [[ 9.98904881e-01 -3.90084839e-02 -2.58336447e-02 7.94219463e+02] [ 3.90039734e-02 9.99238825e-01 -6.78659601e-04 1.35346936e+01] [ 2.58404542e-02 -3.29698402e-04 9.99666025e-01 7.36250214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2992541539999 meters Centerline goodness [0,1] 0.9992903064206395 Centerline is valid? [True, True] Translation: X:794.25, Y:13.54, Z:7.37 [[ 9.98964968e-01 -3.81748589e-02 -2.47320210e-02 7.94247966e+02] [ 3.81703195e-02 9.99271033e-01 -6.55778319e-04 1.35359847e+01] [ 2.47390264e-02 -2.88929576e-04 9.99693902e-01 7.36527459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3292541539998 meters Centerline goodness [0,1] 0.9992267017785859 Centerline is valid? [True, True] Translation: X:794.27, Y:13.53, Z:7.36 [[ 9.98962994e-01 -3.82856037e-02 -2.46404072e-02 7.94274573e+02] [ 3.82809987e-02 9.99266797e-01 -6.58732742e-04 1.35348823e+01] [ 2.46475607e-02 -2.85209764e-04 9.99696162e-01 7.36434232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3592541539999 meters Centerline goodness [0,1] 0.9992478375329071 Centerline is valid? [True, True] Translation: X:794.30, Y:13.54, Z:7.37 [[ 9.98930068e-01 -3.96069154e-02 -2.38749017e-02 7.94302330e+02] [ 3.96028302e-02 9.99215293e-01 -6.44095696e-04 1.35350112e+01] [ 2.38816775e-02 -3.02107120e-04 9.99714746e-01 7.36697974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3892541539999 meters Centerline goodness [0,1] 0.9990399866432924 Centerline is valid? [True, True] Translation: X:794.33, Y:13.53, Z:7.37 [[ 9.98809059e-01 -4.19358122e-02 -2.49369348e-02 7.94331522e+02] [ 4.19319147e-02 9.99120239e-01 -6.79412351e-04 1.35327210e+01] [ 2.49434880e-02 -3.67050214e-04 9.99688795e-01 7.36611571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4192541539999 meters Centerline goodness [0,1] 0.9992276219104876 Centerline is valid? [True, True] Translation: X:794.36, Y:13.53, Z:7.37 [[ 9.98729278e-01 -4.43220289e-02 -2.39872281e-02 7.94360127e+02] [ 4.43189644e-02 9.99017214e-01 -6.59623962e-04 1.35323629e+01] [ 2.39928896e-02 -4.04303343e-04 9.99712047e-01 7.36902059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4492541539998 meters Centerline goodness [0,1] 0.9990826453173213 Centerline is valid? [True, True] Translation: X:794.39, Y:13.53, Z:7.37 [[ 9.98614783e-01 -4.65860855e-02 -2.44592023e-02 7.94388526e+02] [ 4.65834901e-02 9.98914171e-01 -6.76196394e-04 1.35264756e+01] [ 2.44641452e-02 -4.64135293e-04 9.99700600e-01 7.36538930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4792541539999 meters Centerline goodness [0,1] 0.9990814004467734 Centerline is valid? [True, True] Translation: X:794.42, Y:13.53, Z:7.37 [[ 9.98376414e-01 -5.10747415e-02 -2.52172030e-02 7.94418362e+02] [ 5.10733809e-02 9.98694659e-01 -6.98439288e-04 1.35250640e+01] [ 2.52199585e-02 -5.90622500e-04 9.99681752e-01 7.36765632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5092541539999 meters Centerline goodness [0,1] 0.9989768432482095 Centerline is valid? [True, True] Translation: X:794.45, Y:13.52, Z:7.37 [[ 9.98251870e-01 -5.35313602e-02 -2.50519083e-02 7.94447483e+02] [ 5.35306794e-02 9.98565961e-01 -6.98284457e-04 1.35244449e+01] [ 2.50533630e-02 -6.43981910e-04 9.99685908e-01 7.36920687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5392541539999 meters Centerline goodness [0,1] 0.9985613610775197 Centerline is valid? [True, True] Translation: X:794.48, Y:13.52, Z:7.36 [[ 9.98150127e-01 -5.48535914e-02 -2.62184447e-02 7.94476437e+02] [ 5.48532103e-02 9.98494159e-01 -7.34283172e-04 1.35153545e+01] [ 2.62192420e-02 -7.05241021e-04 9.99655968e-01 7.36246001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5692541539999 meters Centerline goodness [0,1] 0.9988530436051968 Centerline is valid? [True, True] Translation: X:794.50, Y:13.52, Z:7.37 [[ 9.97992317e-01 -5.81111159e-02 -2.51879695e-02 7.94504601e+02] [ 5.81117514e-02 9.98309834e-01 -7.07362351e-04 1.35188856e+01] [ 2.51865033e-02 -7.57774831e-04 9.99682483e-01 7.36841018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5992541539999 meters Centerline goodness [0,1] 0.9989569643490415 Centerline is valid? [True, True] Translation: X:794.53, Y:13.52, Z:7.37 [[ 9.97924026e-01 -5.95040458e-02 -2.46354625e-02 7.94534248e+02] [ 5.95050433e-02 9.98227764e-01 -6.93234689e-04 1.35182400e+01] [ 2.46330529e-02 -7.74138709e-04 9.99696261e-01 7.37014439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6292541539999 meters Centerline goodness [0,1] 0.9987490357150304 Centerline is valid? [True, True] Translation: X:794.56, Y:13.52, Z:7.37 [[ 9.97867067e-01 -6.02388874e-02 -2.51514142e-02 7.94564169e+02] [ 6.02401374e-02 9.98183662e-01 -7.08669818e-04 1.35171619e+01] [ 2.51484202e-02 -8.07966377e-04 9.99683402e-01 7.36919471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6592541539999 meters Centerline goodness [0,1] 0.9987490357150304 Centerline is valid? [True, True] Translation: X:794.59, Y:13.52, Z:7.37 [[ 9.97805389e-01 -6.11243782e-02 -2.54600884e-02 7.94593714e+02] [ 6.11259235e-02 9.98129804e-01 -7.18288382e-04 1.35162436e+01] [ 2.54563779e-02 -8.39559396e-04 9.99675581e-01 7.36852470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6892541539999 meters Centerline goodness [0,1] 0.9988761004849418 Centerline is valid? [True, True] Translation: X:794.62, Y:13.51, Z:7.37 [[ 9.97684217e-01 -6.36757018e-02 -2.39083399e-02 7.94623186e+02] [ 6.36777754e-02 9.97970283e-01 -6.75355638e-04 1.35141537e+01] [ 2.39028165e-02 -8.48638238e-04 9.99713927e-01 7.37027711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7192541539999 meters Centerline goodness [0,1] 0.998916237677414 Centerline is valid? [True, True] Translation: X:794.65, Y:13.51, Z:7.37 [[ 9.97595589e-01 -6.51441425e-02 -2.36491150e-02 7.94653920e+02] [ 6.51465753e-02 9.97875482e-01 -6.68370049e-04 1.35143364e+01] [ 2.36424124e-02 -8.73895837e-04 9.99720097e-01 7.37122257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7492541539999 meters Centerline goodness [0,1] 0.9987302776737021 Centerline is valid? [True, True] Translation: X:794.68, Y:13.51, Z:7.37 [[ 9.97472136e-01 -6.68223892e-02 -2.41683038e-02 7.94683888e+02] [ 6.68254154e-02 9.97764450e-01 -6.83316127e-04 1.35095533e+01] [ 2.41599352e-02 -9.33468147e-04 9.99707670e-01 7.36920923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7792541539999 meters Centerline goodness [0,1] 0.9991033073361972 Centerline is valid? [True, True] Translation: X:794.71, Y:13.51, Z:7.37 [[ 9.97166603e-01 -7.12144374e-02 -2.42336640e-02 7.94714370e+02] [ 7.12187701e-02 9.97460484e-01 -6.85337032e-04 1.35076180e+01] [ 2.42209281e-02 -1.04249655e-03 9.99706087e-01 7.37023721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8092541539999 meters Centerline goodness [0,1] 0.9987926979038738 Centerline is valid? [True, True] Translation: X:794.74, Y:13.51, Z:7.37 [[ 9.96974174e-01 -7.37470726e-02 -2.45736675e-02 7.94743485e+02] [ 7.37522819e-02 9.97276349e-01 -6.95501339e-04 1.35051016e+01] [ 2.45580286e-02 -1.11896718e-03 9.99697780e-01 7.36977428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.839254154 meters Centerline goodness [0,1] 0.9991649792288583 Centerline is valid? [True, True] Translation: X:794.77, Y:13.50, Z:7.37 [[ 9.96542253e-01 -7.92879069e-02 -2.48388090e-02 7.94774399e+02] [ 7.92949353e-02 9.96850951e-01 -7.03412677e-04 1.35013901e+01] [ 2.48163625e-02 -1.26861130e-03 9.99691222e-01 7.37223013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8692541539999 meters Centerline goodness [0,1] 0.9991248541423571 Centerline is valid? [True, True] Translation: X:794.80, Y:13.50, Z:7.37 [[ 9.96357358e-01 -8.16431321e-02 -2.46254849e-02 7.94803527e+02] [ 8.16507429e-02 9.96660759e-01 -6.97958639e-04 1.34988933e+01] [ 2.46002380e-02 -1.31527291e-03 9.99696503e-01 7.37237547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8992541539999 meters Centerline goodness [0,1] 0.9988936436697631 Centerline is valid? [True, True] Translation: X:794.83, Y:13.50, Z:7.37 [[ 9.96171075e-01 -8.39599734e-02 -2.43703238e-02 7.94833729e+02] [ 8.39681036e-02 9.96468203e-01 -6.91326602e-04 1.34968740e+01] [ 2.43422966e-02 -1.35765031e-03 9.99702761e-01 7.37296651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9292541539999 meters Centerline goodness [0,1] 0.9988936436697631 Centerline is valid? [True, True] Translation: X:794.86, Y:13.50, Z:7.37 [[ 9.96171075e-01 -8.39599750e-02 -2.43703191e-02 7.94863765e+02] [ 8.39681011e-02 9.96468203e-01 -6.91493330e-04 1.34977263e+01] [ 2.43423058e-02 -1.35748376e-03 9.99702761e-01 7.37324802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9592541539998 meters Centerline goodness [0,1] 0.9988516786370469 Centerline is valid? [True, True] Translation: X:794.89, Y:13.49, Z:7.37 [[ 9.95897768e-01 -8.71056958e-02 -2.44996735e-02 7.94893488e+02] [ 8.71148503e-02 9.96198032e-01 -6.95431625e-04 1.34938255e+01] [ 2.44671025e-02 -1.44170658e-03 9.99699596e-01 7.37180228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9892541539999 meters Centerline goodness [0,1] 0.9990186662212386 Centerline is valid? [True, True] Translation: X:794.92, Y:13.50, Z:7.37 [[ 9.95790528e-01 -8.85762364e-02 -2.35685319e-02 7.94923994e+02] [ 8.85851144e-02 9.96068386e-01 -6.69160272e-04 1.34979632e+01] [ 2.35351412e-02 -1.42147763e-03 9.99722000e-01 7.37495121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0192541539999 meters Centerline goodness [0,1] 0.9990592268935672 Centerline is valid? [True, True] Translation: X:794.96, Y:13.50, Z:7.37 [[ 9.95720311e-01 -8.93228861e-02 -2.37167603e-02 7.94955051e+02] [ 8.93320996e-02 9.96001668e-01 -6.72838598e-04 1.34994607e+01] [ 2.36820327e-02 -1.44870893e-03 9.99718492e-01 7.37495925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0492541539999 meters Centerline goodness [0,1] 0.9991240327862014 Centerline is valid? [True, True] Translation: X:794.99, Y:13.50, Z:7.38 [[ 9.95685254e-01 -8.95979586e-02 -2.41470757e-02 7.94986688e+02] [ 8.96076121e-02 9.95976911e-01 -6.84144737e-04 1.35013090e+01] [ 2.41112278e-02 -1.48256897e-03 9.99708183e-01 7.37589088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0792541539998 meters Centerline goodness [0,1] 0.9989771209084837 Centerline is valid? [True, True] Translation: X:795.02, Y:13.50, Z:7.37 [[ 9.95742459e-01 -8.88628168e-02 -2.45021469e-02 7.95016017e+02] [ 8.88725473e-02 9.96042765e-01 -6.93691882e-04 1.34996730e+01] [ 2.44668295e-02 -1.48682975e-03 9.99699537e-01 7.37475482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1092541539999 meters Centerline goodness [0,1] 0.9991024088840647 Centerline is valid? [True, True] Translation: X:795.05, Y:13.50, Z:7.38 [[ 9.95836467e-01 -8.78320824e-02 -2.43978711e-02 7.95046956e+02] [ 8.78414310e-02 9.96134231e-01 -6.90371110e-04 1.35014783e+01] [ 2.43641913e-02 -1.45564718e-03 9.99702089e-01 7.37531396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1392541539999 meters Centerline goodness [0,1] 0.9990821669204614 Centerline is valid? [True, True] Translation: X:795.08, Y:13.50, Z:7.38 [[ 9.95943323e-01 -8.69141753e-02 -2.32985763e-02 7.95077658e+02] [ 8.69224534e-02 9.96214863e-01 -6.59104356e-04 1.35049770e+01] [ 2.32676735e-02 -1.36873883e-03 9.99728334e-01 7.37893977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1692541539999 meters Centerline goodness [0,1] 0.9989972424166458 Centerline is valid? [True, True] Translation: X:795.11, Y:13.50, Z:7.38 [[ 9.96174554e-01 -8.43502797e-02 -2.28317309e-02 7.95107599e+02] [ 8.43575579e-02 9.96435339e-01 -6.45897548e-04 1.35043060e+01] [ 2.28048252e-02 -1.28260236e-03 9.99739113e-01 7.37746740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1992541539998 meters Centerline goodness [0,1] 0.9989152429230032 Centerline is valid? [True, True] Translation: X:795.14, Y:13.51, Z:7.38 [[ 9.96310195e-01 -8.29202251e-02 -2.21411959e-02 7.95139016e+02] [ 8.29267277e-02 9.96555451e-01 -6.25897350e-04 1.35106830e+01] [ 2.21168290e-02 -1.21250901e-03 9.99754658e-01 7.37907844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2292541539999 meters Centerline goodness [0,1] 0.9988981059897295 Centerline is valid? [True, True] Translation: X:795.17, Y:13.51, Z:7.38 [[ 9.96409095e-01 -8.16062506e-02 -2.25684611e-02 7.95169850e+02] [ 8.16126892e-02 9.96663917e-01 -6.37154866e-04 1.35111252e+01] [ 2.25451666e-02 -1.20700590e-03 9.99745097e-01 7.37914299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2592541539999 meters Centerline goodness [0,1] 0.9992279442450547 Centerline is valid? [True, True] Translation: X:795.20, Y:13.51, Z:7.38 [[ 9.96619467e-01 -7.91486292e-02 -2.20257068e-02 7.95199075e+02] [ 7.91541653e-02 9.96862193e-01 -6.21727075e-04 1.35133781e+01] [ 2.20058032e-02 -1.12380113e-03 9.99757211e-01 7.37987464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2892541539999 meters Centerline goodness [0,1] 0.999248496993988 Centerline is valid? [True, True] Translation: X:795.23, Y:13.52, Z:7.38 [[ 9.96706403e-01 -7.80935593e-02 -2.18573295e-02 7.95229538e+02] [ 7.80987545e-02 9.96945437e-01 -6.17137584e-04 1.35156444e+01] [ 2.18387594e-02 -1.09192523e-03 9.99760910e-01 7.38233518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3192541539999 meters Centerline goodness [0,1] 0.9990646240828119 Centerline is valid? [True, True] Translation: X:795.26, Y:13.52, Z:7.38 [[ 9.96877418e-01 -7.53853443e-02 -2.35045352e-02 7.95259844e+02] [ 7.53906073e-02 9.97153858e-01 -6.63398117e-04 1.35187369e+01] [ 2.34876484e-02 -1.11069458e-03 9.99723510e-01 7.37945375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3492541539999 meters Centerline goodness [0,1] 0.9991020902503707 Centerline is valid? [True, True] Translation: X:795.29, Y:13.53, Z:7.38 [[ 9.97004865e-01 -7.37898652e-02 -2.31593249e-02 7.95289837e+02] [ 7.37945489e-02 9.97273251e-01 -6.53493034e-04 1.35269419e+01] [ 2.31443964e-02 -1.05749620e-03 9.99731573e-01 7.38165086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3792541539999 meters Centerline goodness [0,1] 0.9990412272291467 Centerline is valid? [True, True] Translation: X:795.32, Y:13.52, Z:7.38 [[ 9.97132829e-01 -7.20396491e-02 -2.31605469e-02 7.95319860e+02] [ 7.20438621e-02 9.97401251e-01 -6.53527517e-04 1.35232795e+01] [ 2.31474384e-02 -1.01692151e-03 9.99731545e-01 7.38050287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4092541539999 meters Centerline goodness [0,1] 0.9992694330800701 Centerline is valid? [True, True] Translation: X:795.35, Y:13.53, Z:7.38 [[ 9.97257350e-01 -7.04652659e-02 -2.26368081e-02 7.95349881e+02] [ 7.04688856e-02 9.97513773e-01 -6.38749035e-04 1.35324550e+01] [ 2.26255375e-02 -9.58193472e-04 9.99743551e-01 7.38413615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4392541539999 meters Centerline goodness [0,1] 0.99912416065396 Centerline is valid? [True, True] Translation: X:795.38, Y:13.54, Z:7.39 [[ 9.97526796e-01 -6.66700684e-02 -2.22574474e-02 7.95380257e+02] [ 6.66726244e-02 9.97774707e-01 -6.28044510e-04 1.35382840e+01] [ 2.22497899e-02 -8.57471204e-04 9.99752075e-01 7.38586161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4692541539999 meters Centerline goodness [0,1] 0.9988325550366911 Centerline is valid? [True, True] Translation: X:795.41, Y:13.54, Z:7.39 [[ 9.97669574e-01 -6.44420331e-02 -2.24197391e-02 7.95411110e+02] [ 6.44440701e-02 9.97921120e-01 -6.32383606e-04 1.35405536e+01] [ 2.24138832e-02 -8.13909351e-04 9.99748446e-01 7.38549842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4992541539999 meters Centerline goodness [0,1] 0.9991445323095541 Centerline is valid? [True, True] Translation: X:795.44, Y:13.54, Z:7.39 [[ 9.97815403e-01 -6.20492004e-02 -2.26785761e-02 7.95441447e+02] [ 6.20506715e-02 9.98072796e-01 -6.39510190e-04 1.35432051e+01] [ 2.26745510e-02 -7.69107758e-04 9.99742603e-01 7.38526633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5292541539999 meters Centerline goodness [0,1] 0.9990610720470716 Centerline is valid? [True, True] Translation: X:795.47, Y:13.55, Z:7.38 [[ 9.98049777e-01 -5.75566345e-02 -2.41635537e-02 7.95471635e+02] [ 5.75569893e-02 9.98341990e-01 -6.81384876e-04 1.35486818e+01] [ 2.41627085e-02 -7.10725376e-04 9.99707787e-01 7.38447689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5592541539999 meters Centerline goodness [0,1] 0.999124215443001 Centerline is valid? [True, True] Translation: X:795.50, Y:13.55, Z:7.38 [[ 9.98161214e-01 -5.56971466e-02 -2.39169172e-02 7.95501114e+02] [ 5.56969545e-02 9.98447492e-01 -6.74693714e-04 1.35508184e+01] [ 2.39173645e-02 -6.58646355e-04 9.99713722e-01 7.38494827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.589254154 meters Centerline goodness [0,1] 0.9992063989307269 Centerline is valid? [True, True] Translation: X:795.53, Y:13.56, Z:7.39 [[ 9.98367847e-01 -5.24713759e-02 -2.25476376e-02 7.95530380e+02] [ 5.24703684e-02 9.98622278e-01 -6.36705266e-04 1.35558754e+01] [ 2.25499821e-02 -5.47416787e-04 9.99745567e-01 7.38846760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6192541539999 meters Centerline goodness [0,1] 0.9992488419646955 Centerline is valid? [True, True] Translation: X:795.56, Y:13.56, Z:7.39 [[ 9.98467553e-01 -5.06485880e-02 -2.22994632e-02 7.95560375e+02] [ 5.06471303e-02 9.98716412e-01 -6.30500322e-04 1.35579267e+01] [ 2.23027738e-02 -4.99869706e-04 9.99751137e-01 7.38883798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6492541539999 meters Centerline goodness [0,1] 0.9990398463754201 Centerline is valid? [True, True] Translation: X:795.59, Y:13.56, Z:7.39 [[ 9.98565189e-01 -4.82490550e-02 -2.32291234e-02 7.95590537e+02] [ 4.82468104e-02 9.98835228e-01 -6.57386153e-04 1.35595214e+01] [ 2.32337850e-02 -4.64288182e-04 9.99729951e-01 7.38742704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6792541539999 meters Centerline goodness [0,1] 0.9990819754219783 Centerline is valid? [True, True] Translation: X:795.62, Y:13.56, Z:7.39 [[ 9.98717131e-01 -4.52424829e-02 -2.27422321e-02 7.95618928e+02] [ 4.52395321e-02 9.98975960e-01 -6.44485110e-04 1.35619681e+01] [ 2.27481013e-02 -3.85189621e-04 9.99741154e-01 7.38837331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7092541539998 meters Centerline goodness [0,1] 0.998913860807085 Centerline is valid? [True, True] Translation: X:795.65, Y:13.56, Z:7.39 [[ 9.98772433e-01 -4.36916716e-02 -2.33380485e-02 7.95648657e+02] [ 4.36881176e-02 9.99044999e-01 -6.62374399e-04 1.35634252e+01] [ 2.33447008e-02 -3.58034115e-04 9.99727411e-01 7.38828704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7392541539999 meters Centerline goodness [0,1] 0.9988931584662936 Centerline is valid? [True, True] Translation: X:795.68, Y:13.57, Z:7.39 [[ 9.98813021e-01 -4.25666811e-02 -2.36775428e-02 7.95677177e+02] [ 4.25626121e-02 9.99093573e-01 -6.76010954e-04 1.35657503e+01] [ 2.36848564e-02 -3.32569528e-04 9.99719419e-01 7.38863571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7692541539999 meters Centerline goodness [0,1] 0.9990610132710125 Centerline is valid? [True, True] Translation: X:795.71, Y:13.57, Z:7.39 [[ 9.98848364e-01 -4.18208912e-02 -2.35150693e-02 7.95706410e+02] [ 4.18165358e-02 9.99125077e-01 -6.77131278e-04 1.35669819e+01] [ 2.35228136e-02 -3.06967265e-04 9.99723253e-01 7.38967447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7992541539999 meters Centerline goodness [0,1] 0.9992701947537429 Centerline is valid? [True, True] Translation: X:795.73, Y:13.57, Z:7.39 [[ 9.98928577e-01 -4.03812468e-02 -2.26064970e-02 7.95734724e+02] [ 4.03767265e-02 9.99184312e-01 -6.56553505e-04 1.35683782e+01] [ 2.26145696e-02 -2.56926288e-04 9.99744225e-01 7.39141857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8292541539998 meters Centerline goodness [0,1] 0.9991666319429976 Centerline is valid? [True, True] Translation: X:795.76, Y:13.57, Z:7.39 [[ 9.98946409e-01 -3.94652344e-02 -2.34215256e-02 7.95763060e+02] [ 3.94599860e-02 9.99220916e-01 -6.86392060e-04 1.35686751e+01] [ 2.34303668e-02 -2.38544187e-04 9.99725443e-01 7.39079680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8592541539999 meters Centerline goodness [0,1] 0.9990201188366518 Centerline is valid? [True, True] Translation: X:795.79, Y:13.57, Z:7.39 [[ 9.99009963e-01 -3.79021933e-02 -2.32920055e-02 7.95791155e+02] [ 3.78964918e-02 9.99281434e-01 -6.86292348e-04 1.35679828e+01] [ 2.33012807e-02 -1.97072405e-04 9.99728469e-01 7.39020366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8892541539999 meters Centerline goodness [0,1] 0.9991659020769038 Centerline is valid? [True, True] Translation: X:795.82, Y:13.57, Z:7.39 [[ 9.99028259e-01 -3.73030418e-02 -2.34738182e-02 7.95819250e+02] [ 3.72969683e-02 9.99303983e-01 -6.96646075e-04 1.35686787e+01] [ 2.34834670e-02 -1.79533137e-04 9.99724209e-01 7.39088987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9192541539999 meters Centerline goodness [0,1] 0.9991233562930495 Centerline is valid? [True, True] Translation: X:795.85, Y:13.57, Z:7.39 [[ 9.99066747e-01 -3.66161335e-02 -2.29105649e-02 7.95847699e+02] [ 3.66100270e-02 9.99329393e-01 -6.86056002e-04 1.35693444e+01] [ 2.29203216e-02 -1.53340660e-04 9.99737283e-01 7.39219306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9492541539998 meters Centerline goodness [0,1] 0.9994163991829589 Centerline is valid? [True, True] Translation: X:795.88, Y:13.57, Z:7.39 [[ 9.99141054e-01 -3.48993485e-02 -2.23425570e-02 7.95876645e+02] [ 3.48929858e-02 9.99390827e-01 -6.74682439e-04 1.35693340e+01] [ 2.23524925e-02 -1.05495599e-04 9.99750146e-01 7.39444693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9792541539999 meters Centerline goodness [0,1] 0.9990632220996315 Centerline is valid? [True, True] Translation: X:795.90, Y:13.57, Z:7.39 [[ 9.99176929e-01 -3.35275832e-02 -2.28334282e-02 7.95904452e+02] [ 3.35204342e-02 9.99437790e-01 -6.95876371e-04 1.35693612e+01] [ 2.28439220e-02 -7.00828095e-05 9.99739041e-01 7.39320783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0092541539999 meters Centerline goodness [0,1] 0.9992701643172909 Centerline is valid? [True, True] Translation: X:795.93, Y:13.57, Z:7.40 [[ 9.99215331e-01 -3.29818983e-02 -2.19297934e-02 7.95933267e+02] [ 3.29750439e-02 9.99455948e-01 -6.74196350e-04 1.35692864e+01] [ 2.19400987e-02 -4.94685704e-05 9.99759286e-01 7.39521575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0392541539999 meters Centerline goodness [0,1] 0.9992896243366345 Centerline is valid? [True, True] Translation: X:795.96, Y:13.57, Z:7.40 [[ 9.99244621e-01 -3.22249775e-02 -2.17195436e-02 7.95960724e+02] [ 3.22179448e-02 9.99480640e-01 -6.73732888e-04 1.35688767e+01] [ 2.17299744e-02 -2.65350923e-05 9.99763876e-01 7.39530903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0692541539999 meters Centerline goodness [0,1] 0.9991854126198383 Centerline is valid? [True, True] Translation: X:795.99, Y:13.57, Z:7.40 [[ 9.99292998e-01 -3.09171276e-02 -2.13924332e-02 7.95987846e+02] [ 3.09098959e-02 9.99521951e-01 -6.68701919e-04 1.35664266e+01] [ 2.14028809e-02 6.99126165e-06 9.99770932e-01 7.39538516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0992541539999 meters Centerline goodness [0,1] 0.9992896243366345 Centerline is valid? [True, True] Translation: X:796.02, Y:13.57, Z:7.40 [[ 9.99291740e-01 -3.09943926e-02 -2.13393254e-02 7.96015605e+02] [ 3.09870986e-02 9.99519558e-01 -6.72466044e-04 1.35653411e+01] [ 2.13499157e-02 1.07459844e-05 9.99772065e-01 7.39656732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1292541539999 meters Centerline goodness [0,1] 0.9997284198211749 Centerline is valid? [True, True] Translation: X:796.04, Y:13.56, Z:7.40 [[ 9.99294711e-01 -3.14201802e-02 -2.05633932e-02 7.96043292e+02] [ 3.14134212e-02 9.99506264e-01 -6.51708863e-04 1.35618593e+01] [ 2.05737171e-02 5.28268908e-06 9.99788339e-01 7.39807286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1592541539999 meters Centerline goodness [0,1] 0.9994781229124916 Centerline is valid? [True, True] Translation: X:796.07, Y:13.56, Z:7.40 [[ 9.99273194e-01 -3.21243228e-02 -2.05209819e-02 7.96071258e+02] [ 3.21176579e-02 9.99483881e-01 -6.54366154e-04 1.35603111e+01] [ 2.05314117e-02 -5.19531905e-06 9.99789208e-01 7.39778175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1892541539999 meters Centerline goodness [0,1] 0.9995195320660121 Centerline is valid? [True, True] Translation: X:796.10, Y:13.56, Z:7.40 [[ 9.99235632e-01 -3.31209776e-02 -2.07642077e-02 7.96098878e+02] [ 3.31142436e-02 9.99451350e-01 -6.68150737e-04 1.35582477e+01] [ 2.07749452e-02 -1.99510099e-05 9.99784177e-01 7.39793819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2192541539999 meters Centerline goodness [0,1] 0.9994178067950265 Centerline is valid? [True, True] Translation: X:796.13, Y:13.55, Z:7.40 [[ 9.99157004e-01 -3.49338430e-02 -2.15617217e-02 7.96127375e+02] [ 3.49269180e-02 9.99389625e-01 -6.97786694e-04 1.35527309e+01] [ 2.15729374e-02 -5.58860234e-05 9.99767276e-01 7.39575163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2492541539999 meters Centerline goodness [0,1] 0.9996032491803963 Centerline is valid? [True, True] Translation: X:796.16, Y:13.55, Z:7.40 [[ 9.99116872e-01 -3.65378710e-02 -2.07475374e-02 7.96155631e+02] [ 3.65317226e-02 9.99332266e-01 -6.75402399e-04 1.35505507e+01] [ 2.07583613e-02 -8.31373474e-05 9.99784519e-01 7.39793512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2792541539999 meters Centerline goodness [0,1] 0.9995818261651368 Centerline is valid? [True, True] Translation: X:796.18, Y:13.55, Z:7.40 [[ 9.99062635e-01 -3.77240482e-02 -2.12308306e-02 7.96184711e+02] [ 3.77177575e-02 9.99288189e-01 -6.96798109e-04 1.35486900e+01] [ 2.12420043e-02 -1.04634366e-04 9.99774358e-01 7.39840784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3092541539999 meters Centerline goodness [0,1] 0.999395619281829 Centerline is valid? [True, True] Translation: X:796.21, Y:13.54, Z:7.40 [[ 9.98968663e-01 -3.99183212e-02 -2.16365194e-02 7.96213630e+02] [ 3.99121824e-02 9.99202935e-01 -7.15653063e-04 1.35434348e+01] [ 2.16478414e-02 -1.48645726e-04 9.99765647e-01 7.39759271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.339254154 meters Centerline goodness [0,1] 0.9994777522456654 Centerline is valid? [True, True] Translation: X:796.24, Y:13.54, Z:7.40 [[ 9.98929446e-01 -4.15143280e-02 -2.04088925e-02 7.96240453e+02] [ 4.15091083e-02 9.99137895e-01 -6.79491046e-04 1.35409834e+01] [ 2.04195065e-02 -1.68391318e-04 9.99791486e-01 7.39865935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3692541539999 meters Centerline goodness [0,1] 0.9993727261322294 Centerline is valid? [True, True] Translation: X:796.27, Y:13.54, Z:7.40 [[ 9.98864538e-01 -4.33582541e-02 -1.97407171e-02 7.96268550e+02] [ 4.33536349e-02 9.99059570e-01 -6.62092676e-04 1.35390700e+01] [ 1.97508595e-02 -1.94490946e-04 9.99804914e-01 7.39978865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3992541539999 meters Centerline goodness [0,1] 0.999560687837329 Centerline is valid? [True, True] Translation: X:796.30, Y:13.53, Z:7.40 [[ 9.98759139e-01 -4.59700606e-02 -1.91555432e-02 7.96297025e+02] [ 4.59661234e-02 9.98942790e-01 -6.46016907e-04 1.35323881e+01] [ 1.91649892e-02 -2.35290772e-04 9.99816307e-01 7.39919831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4292541539999 meters Centerline goodness [0,1] 0.9995185968143667 Centerline is valid? [True, True] Translation: X:796.33, Y:13.53, Z:7.40 [[ 9.98703528e-01 -4.71015717e-02 -1.93055760e-02 7.96325523e+02] [ 4.70977190e-02 9.98890072e-01 -6.54431221e-04 1.35309769e+01] [ 1.93149730e-02 -2.55665827e-04 9.99813416e-01 7.39918804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4592541539998 meters Centerline goodness [0,1] 0.99933029174166 Centerline is valid? [True, True] Translation: X:796.35, Y:13.53, Z:7.40 [[ 9.98623898e-01 -4.85623942e-02 -1.97991070e-02 7.96354232e+02] [ 4.85585277e-02 9.98820110e-01 -6.76276095e-04 1.35298092e+01] [ 1.98085879e-02 -2.86070018e-04 9.99803750e-01 7.39927042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4892541539999 meters Centerline goodness [0,1] 0.9995619524405507 Centerline is valid? [True, True] Translation: X:796.38, Y:13.53, Z:7.40 [[ 9.98577725e-01 -4.95259300e-02 -1.97410383e-02 7.96382166e+02] [ 4.95221984e-02 9.98772793e-01 -6.78144495e-04 1.35275422e+01] [ 1.97503977e-02 -3.00439627e-04 9.99804897e-01 7.40013414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5192541539999 meters Centerline goodness [0,1] 0.9997494257673836 Centerline is valid? [True, True] Translation: X:796.41, Y:13.52, Z:7.40 [[ 9.98496704e-01 -5.11747443e-02 -1.96335609e-02 7.96410365e+02] [ 5.11713283e-02 9.98689660e-01 -6.76660837e-04 1.35228655e+01] [ 1.96424622e-02 -3.29031773e-04 9.99807014e-01 7.40138140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5492541539999 meters Centerline goodness [0,1] 0.999770263778952 Centerline is valid? [True, True] Translation: X:796.44, Y:13.52, Z:7.40 [[ 9.98458391e-01 -5.14792825e-02 -2.07539245e-02 7.96439533e+02] [ 5.14754515e-02 9.98674001e-01 -7.19121257e-04 1.35225187e+01] [ 2.07634246e-02 -3.50304980e-04 9.99784355e-01 7.40006182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5792541539998 meters Centerline goodness [0,1] 0.9997078281194566 Centerline is valid? [True, True] Translation: X:796.47, Y:13.52, Z:7.40 [[ 9.98445314e-01 -5.19399094e-02 -2.02287044e-02 7.96467538e+02] [ 5.19362961e-02 9.98650152e-01 -7.04292253e-04 1.35203580e+01] [ 2.02379796e-02 -3.47406684e-04 9.99795131e-01 7.40047882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6092541539999 meters Centerline goodness [0,1] 0.9998537859007833 Centerline is valid? [True, True] Translation: X:796.50, Y:13.52, Z:7.40 [[ 9.98443151e-01 -5.25506271e-02 -1.87004331e-02 7.96496184e+02] [ 5.25475872e-02 9.98618207e-01 -6.54233322e-04 1.35178918e+01] [ 1.87089734e-02 -3.29447862e-04 9.99824918e-01 7.40467534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6392541539999 meters Centerline goodness [0,1] 0.9997281131049484 Centerline is valid? [True, True] Translation: X:796.52, Y:13.52, Z:7.40 [[ 9.98437291e-01 -5.24646472e-02 -1.92467214e-02 7.96524591e+02] [ 5.24613161e-02 9.98622727e-01 -6.78279584e-04 1.35170179e+01] [ 1.92557991e-02 -3.32488707e-04 9.99814535e-01 7.40318611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6692541539999 meters Centerline goodness [0,1] 0.9994571004990499 Centerline is valid? [True, True] Translation: X:796.55, Y:13.52, Z:7.40 [[ 9.98430304e-01 -5.24952541e-02 -1.95237446e-02 7.96553217e+02] [ 5.24917347e-02 9.98621118e-01 -6.93039586e-04 1.35165803e+01] [ 1.95332050e-02 -3.32883497e-04 9.99809153e-01 7.40286822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6992541539998 meters Centerline goodness [0,1] 0.9996031828909171 Centerline is valid? [True, True] Translation: X:796.58, Y:13.51, Z:7.40 [[ 9.98435427e-01 -5.27205670e-02 -1.86343919e-02 7.96581856e+02] [ 5.27173137e-02 9.98609253e-01 -6.66106073e-04 1.35145265e+01] [ 1.86435937e-02 -3.17291182e-04 9.99826143e-01 7.40496235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7292541539999 meters Centerline goodness [0,1] 0.9996651598861543 Centerline is valid? [True, True] Translation: X:796.61, Y:13.51, Z:7.40 [[ 9.98414855e-01 -5.28064149e-02 -1.94745977e-02 7.96609573e+02] [ 5.28028026e-02 9.98604714e-01 -7.00003610e-04 1.35128614e+01] [ 1.94843897e-02 -3.29419336e-04 9.99810107e-01 7.40270239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7592541539999 meters Centerline goodness [0,1] 0.9997910441523706 Centerline is valid? [True, True] Translation: X:796.64, Y:13.51, Z:7.41 [[ 9.98407582e-01 -5.32843758e-02 -1.85223066e-02 7.96637249e+02] [ 5.32811190e-02 9.98579328e-01 -6.69620704e-04 1.35136273e+01] [ 1.85316728e-02 -3.18334834e-04 9.99828223e-01 7.40629594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7892541539999 meters Centerline goodness [0,1] 0.9998118689771943 Centerline is valid? [True, True] Translation: X:796.67, Y:13.51, Z:7.40 [[ 9.98377145e-01 -5.35182992e-02 -1.94645392e-02 7.96665623e+02] [ 5.35146745e-02 9.98566813e-01 -7.07414414e-04 1.35128658e+01] [ 1.94745025e-02 -3.35372099e-04 9.99810298e-01 7.40416971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8192541539999 meters Centerline goodness [0,1] 0.9998747154997808 Centerline is valid? [True, True] Translation: X:796.69, Y:13.51, Z:7.40 [[ 9.98313892e-01 -5.46675938e-02 -1.95148139e-02 7.96693163e+02] [ 5.46641360e-02 9.98504545e-01 -7.10975162e-04 1.35104674e+01] [ 1.95244977e-02 -3.56984060e-04 9.99809315e-01 7.40497891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8492541539999 meters Centerline goodness [0,1] 0.9998747154997808 Centerline is valid? [True, True] Translation: X:796.72, Y:13.51, Z:7.41 [[ 9.98298417e-01 -5.49495009e-02 -1.95146788e-02 7.96720593e+02] [ 5.49460248e-02 9.98489070e-01 -7.14668548e-04 1.35115533e+01] [ 1.95244641e-02 -3.58801542e-04 9.99809315e-01 7.40523617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8792541539999 meters Centerline goodness [0,1] 0.9997706326368906 Centerline is valid? [True, True] Translation: X:796.75, Y:13.51, Z:7.40 [[ 9.98256489e-01 -5.57348496e-02 -1.94321460e-02 7.96749105e+02] [ 5.57314521e-02 9.98445538e-01 -7.16760312e-04 1.35108318e+01] [ 1.94418880e-02 -3.67471083e-04 9.99810921e-01 7.40497955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9092541539999 meters Centerline goodness [0,1] 0.999916593686142 Centerline is valid? [True, True] Translation: X:796.78, Y:13.51, Z:7.41 [[ 9.98149438e-01 -5.80212848e-02 -1.81997031e-02 7.96776677e+02] [ 5.80186234e-02 9.98315273e-01 -6.74652415e-04 1.35075254e+01] [ 1.82081857e-02 -3.82517789e-04 9.99834144e-01 7.40754311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9392541539999 meters Centerline goodness [0,1] 0.9999583402766206 Centerline is valid? [True, True] Translation: X:796.81, Y:13.51, Z:7.41 [[ 9.98070202e-01 -5.94963329e-02 -1.77780415e-02 7.96805423e+02] [ 5.94939685e-02 9.98228445e-01 -6.62317411e-04 1.35069676e+01] [ 1.77859522e-02 -3.96646968e-04 9.99841739e-01 7.40900525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9692541539999 meters Centerline goodness [0,1] 0.9998326849876605 Centerline is valid? [True, True] Translation: X:796.83, Y:13.51, Z:7.41 [[ 9.97956346e-01 -6.11398666e-02 -1.85754966e-02 7.96833882e+02] [ 6.11375105e-02 9.98129111e-01 -6.95223126e-04 1.35055652e+01] [ 1.85832497e-02 -4.41857289e-04 9.99827219e-01 7.40711512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9992541539999 meters Centerline goodness [0,1] 0.9998327584404725 Centerline is valid? [True, True] Translation: X:796.86, Y:13.50, Z:7.41 [[ 9.97743306e-01 -6.44874403e-02 -1.86993472e-02 7.96862792e+02] [ 6.44855824e-02 9.97918391e-01 -7.02939617e-04 1.35021934e+01] [ 1.87057533e-02 -5.04485000e-04 9.99824905e-01 7.40703532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0292541539999 meters Centerline goodness [0,1] 0.9998541605900246 Centerline is valid? [True, True] Translation: X:796.89, Y:13.50, Z:7.41 [[ 9.97636734e-01 -6.63220759e-02 -1.79535438e-02 7.96890654e+02] [ 6.63206077e-02 9.97798135e-01 -6.77817225e-04 1.35007653e+01] [ 1.79589667e-02 -5.14474569e-04 9.99838592e-01 7.40975222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:796.92, Y:13.50, Z:7.41 [[ 9.97485939e-01 -6.84710881e-02 -1.82623079e-02 7.96919141e+02] [ 6.84698726e-02 9.97652944e-01 -6.92541613e-04 1.35023581e+01] [ 1.82668643e-02 -5.59617375e-04 9.99832990e-01 7.41068979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.089254154 meters Centerline goodness [0,1] 0.9999791375461582 Centerline is valid? [True, True] Translation: X:796.95, Y:13.50, Z:7.41 [[ 9.97313848e-01 -7.08526916e-02 -1.85737400e-02 7.96947949e+02] [ 7.08517591e-02 9.97486604e-01 -7.09072087e-04 1.35008219e+01] [ 1.85772965e-02 -6.08814738e-04 9.99827242e-01 7.41054843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:796.98, Y:13.50, Z:7.41 [[ 9.96963284e-01 -7.54834498e-02 -1.91431267e-02 7.96977017e+02] [ 7.54832586e-02 9.97146799e-01 -7.33579739e-04 1.34965254e+01] [ 1.91438807e-02 -7.13633520e-04 9.99816484e-01 7.41019797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1492541539999 meters Centerline goodness [0,1] 0.9999371951347165 Centerline is valid? [True, True] Translation: X:797.01, Y:13.50, Z:7.41 [[ 9.96768198e-01 -7.78427078e-02 -1.98411935e-02 7.97006964e+02] [ 7.78429547e-02 9.96965343e-01 -7.61053068e-04 1.34971994e+01] [ 1.98402247e-02 -7.85903630e-04 9.99802854e-01 7.40944608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1792541539999 meters Centerline goodness [0,1] 0.9997910834412735 Centerline is valid? [True, True] Translation: X:797.04, Y:13.50, Z:7.41 [[ 9.96589042e-01 -7.98188124e-02 -2.09580389e-02 7.97035334e+02] [ 7.98194993e-02 9.96809008e-01 -8.05079414e-04 1.34958884e+01] [ 2.09554225e-02 -8.70526851e-04 9.99780032e-01 7.40780078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2092541539998 meters Centerline goodness [0,1] 0.9998743613367954 Centerline is valid? [True, True] Translation: X:797.06, Y:13.49, Z:7.41 [[ 9.96393160e-01 -8.26295495e-02 -1.93139595e-02 7.97064663e+02] [ 8.26306374e-02 9.96579964e-01 -7.43071480e-04 1.34941920e+01] [ 1.93093048e-02 -8.55533447e-04 9.99813192e-01 7.41010000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2392541539999 meters Centerline goodness [0,1] 0.9999165153507399 Centerline is valid? [True, True] Translation: X:797.09, Y:13.50, Z:7.41 [[ 9.96355255e-01 -8.32050984e-02 -1.87914441e-02 7.97093136e+02] [ 8.32061763e-02 9.96532090e-01 -7.25838984e-04 1.34966272e+01] [ 1.87866706e-02 -8.40370728e-04 9.99823162e-01 7.41196063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:797.12, Y:13.49, Z:7.41 [[ 9.96399405e-01 -8.28820058e-02 -1.78549640e-02 7.97121200e+02] [ 8.28828733e-02 9.96559055e-01 -6.92676372e-04 1.34935601e+01] [ 1.78509365e-02 -7.89688399e-04 9.99840347e-01 7.41368380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:797.15, Y:13.50, Z:7.42 [[ 9.96608526e-01 -8.03498917e-02 -1.77578494e-02 7.97149979e+02] [ 8.03503232e-02 9.96766447e-01 -6.90332086e-04 1.35000039e+01] [ 1.77558966e-02 -7.38858099e-04 9.99842079e-01 7.41507561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3292541539998 meters Centerline goodness [0,1] 0.9998955984298004 Centerline is valid? [True, True] Translation: X:797.18, Y:13.50, Z:7.41 [[ 9.96752939e-01 -7.82769680e-02 -1.88757613e-02 7.97177659e+02] [ 7.82770557e-02 9.96931373e-01 -7.35322518e-04 1.35018119e+01] [ 1.88753974e-02 -7.44604135e-04 9.99821567e-01 7.41272277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3592541539999 meters Centerline goodness [0,1] 0.999874843554443 Centerline is valid? [True, True] Translation: X:797.21, Y:13.51, Z:7.41 [[ 9.96929689e-01 -7.59319452e-02 -1.91189582e-02 7.97206505e+02] [ 7.59315757e-02 9.97112751e-01 -7.46306609e-04 1.35056730e+01] [ 1.91204255e-02 -7.07717403e-04 9.99816937e-01 7.41302952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3892541539999 meters Centerline goodness [0,1] 0.999811900432629 Centerline is valid? [True, True] Translation: X:797.24, Y:13.51, Z:7.41 [[ 9.97092702e-01 -7.35598246e-02 -1.98770382e-02 7.97235790e+02] [ 7.35588940e-02 9.97290571e-01 -7.78944696e-04 1.35087401e+01] [ 1.98804818e-02 -6.85452875e-04 9.99802129e-01 7.41220855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4192541539999 meters Centerline goodness [0,1] 0.9998955831680066 Centerline is valid? [True, True] Translation: X:797.27, Y:13.52, Z:7.42 [[ 9.97448117e-01 -6.86427349e-02 -1.96323411e-02 7.97265203e+02] [ 6.86408270e-02 9.97641138e-01 -7.71816279e-04 1.35182356e+01] [ 1.96390108e-02 -5.77733439e-04 9.99806969e-01 7.41504544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4492541539998 meters Centerline goodness [0,1] 0.999895650722097 Centerline is valid? [True, True] Translation: X:797.29, Y:13.52, Z:7.42 [[ 9.97579985e-01 -6.65958901e-02 -1.99790085e-02 7.97293957e+02] [ 6.65934424e-02 9.97779881e-01 -7.88530411e-04 1.35210177e+01] [ 1.99871656e-02 -5.43848796e-04 9.99800089e-01 7.41564237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:797.32, Y:13.52, Z:7.42 [[ 9.97828132e-01 -6.32137130e-02 -1.85214879e-02 7.97323188e+02] [ 6.32109634e-02 9.97999917e-01 -7.34435030e-04 1.35246756e+01] [ 1.85308698e-02 -4.37921161e-04 9.99828193e-01 7.41884206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5092541539999 meters Centerline goodness [0,1] 0.9999373669046724 Centerline is valid? [True, True] Translation: X:797.35, Y:13.53, Z:7.42 [[ 9.97883186e-01 -6.21509164e-02 -1.91418837e-02 7.97351552e+02] [ 6.21477119e-02 9.98066671e-01 -7.62804232e-04 1.35271928e+01] [ 1.91522851e-02 -4.28434758e-04 9.99816486e-01 7.41793576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5392541539999 meters Centerline goodness [0,1] 0.9999165954252591 Centerline is valid? [True, True] Translation: X:797.38, Y:13.53, Z:7.42 [[ 9.97942380e-01 -6.11543496e-02 -1.92652879e-02 7.97379544e+02] [ 6.11508543e-02 9.98128238e-01 -7.71031053e-04 1.35255309e+01] [ 1.92763797e-02 -4.08644247e-04 9.99814110e-01 7.41635966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5692541539999 meters Centerline goodness [0,1] 0.9999373263417386 Centerline is valid? [True, True] Translation: X:797.41, Y:13.53, Z:7.42 [[ 9.97958195e-01 -6.09808753e-02 -1.89940419e-02 7.97408316e+02] [ 6.09773880e-02 9.98138856e-01 -7.63241187e-04 1.35270746e+01] [ 1.90052344e-02 -3.96524265e-04 9.99819306e-01 7.41741954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5992541539999 meters Centerline goodness [0,1] 0.9998538927155083 Centerline is valid? [True, True] Translation: X:797.44, Y:13.53, Z:7.42 [[ 9.97926530e-01 -6.12390609e-02 -1.98095264e-02 7.97435753e+02] [ 6.12352567e-02 9.98123041e-01 -7.99128796e-04 1.35291631e+01] [ 1.98212826e-02 -4.15569609e-04 9.99803453e-01 7.41620530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6292541539999 meters Centerline goodness [0,1] 0.9999581974751275 Centerline is valid? [True, True] Translation: X:797.46, Y:13.53, Z:7.42 [[ 9.97894665e-01 -6.20640378e-02 -1.88226783e-02 7.97463828e+02] [ 6.20607216e-02 9.98072086e-01 -7.60819165e-04 1.35297878e+01] [ 1.88336093e-02 -4.08931615e-04 9.99822548e-01 7.41802913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6592541539999 meters Centerline goodness [0,1] 0.9997913754615818 Centerline is valid? [True, True] Translation: X:797.49, Y:13.53, Z:7.42 [[ 9.97775975e-01 -6.34490453e-02 -2.04284671e-02 7.97492612e+02] [ 6.34453612e-02 9.97984969e-01 -8.29056767e-04 1.35305194e+01] [ 2.04399060e-02 -4.68878550e-04 9.99790973e-01 7.41547471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6892541539999 meters Centerline goodness [0,1] 0.9998538255930505 Centerline is valid? [True, True] Translation: X:797.52, Y:13.53, Z:7.42 [[ 9.97530093e-01 -6.71407042e-02 -2.06358801e-02 7.97521506e+02] [ 6.71376734e-02 9.97743367e-01 -8.40417371e-04 1.35289707e+01] [ 2.06457387e-02 -5.47103358e-04 9.99786704e-01 7.41607521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7192541539999 meters Centerline goodness [0,1] 0.9999582315226698 Centerline is valid? [True, True] Translation: X:797.55, Y:13.53, Z:7.42 [[ 9.97383023e-01 -6.95779038e-02 -1.96474227e-02 7.97550232e+02] [ 6.95755662e-02 9.97576361e-01 -8.03336823e-04 1.35335782e+01] [ 1.96556989e-02 -5.65746047e-04 9.99806648e-01 7.42081196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7492541539999 meters Centerline goodness [0,1] 0.9998329435349148 Centerline is valid? [True, True] Translation: X:797.58, Y:13.53, Z:7.42 [[ 9.97212225e-01 -7.17818648e-02 -2.03750442e-02 7.97579155e+02] [ 7.17797061e-02 9.97420158e-01 -8.38207493e-04 1.35334536e+01] [ 2.03826479e-02 -6.26643925e-04 9.99792056e-01 7.41891821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7792541539999 meters Centerline goodness [0,1] 0.9998120732496711 Centerline is valid? [True, True] Translation: X:797.61, Y:13.54, Z:7.42 [[ 9.96933349e-01 -7.56997033e-02 -1.98356292e-02 7.97608733e+02] [ 7.56983793e-02 9.97130425e-01 -8.18656834e-04 1.35353845e+01] [ 1.98406815e-02 -6.85378684e-04 9.99802919e-01 7.42100371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:797.64, Y:13.53, Z:7.42 [[ 9.96837214e-01 -7.74972352e-02 -1.75996452e-02 7.97637279e+02] [ 7.74964589e-02 9.96992362e-01 -7.27135096e-04 1.35349233e+01] [ 1.76030628e-02 -6.39074859e-04 9.99844850e-01 7.42493623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.839254154 meters Centerline goodness [0,1] 0.9997702157882643 Centerline is valid? [True, True] Translation: X:797.67, Y:13.54, Z:7.42 [[ 9.96731992e-01 -7.85097534e-02 -1.90145820e-02 7.97666915e+02] [ 7.85090141e-02 9.96913094e-01 -7.86505942e-04 1.35367594e+01] [ 1.90176342e-02 -7.08880453e-04 9.99818897e-01 7.42204388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8692541539999 meters Centerline goodness [0,1] 0.9998329435349148 Centerline is valid? [True, True] Translation: X:797.70, Y:13.54, Z:7.42 [[ 9.96705899e-01 -7.90046721e-02 -1.83197371e-02 7.97696345e+02] [ 7.90040571e-02 9.96874006e-01 -7.58425216e-04 1.35383522e+01] [ 1.83223888e-02 -6.91406669e-04 9.99831892e-01 7.42337445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8992541539999 meters Centerline goodness [0,1] 0.9997709335499052 Centerline is valid? [True, True] Translation: X:797.73, Y:13.54, Z:7.42 [[ 9.96695234e-01 -7.90416250e-02 -1.87358317e-02 7.97726332e+02] [ 7.90409752e-02 9.96871066e-01 -7.76352515e-04 1.35418487e+01] [ 1.87385727e-02 -7.07111559e-04 9.99824167e-01 7.42358794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9292541539999 meters Centerline goodness [0,1] 0.9998956790252248 Centerline is valid? [True, True] Translation: X:797.75, Y:13.54, Z:7.42 [[ 9.96749343e-01 -7.84171799e-02 -1.84795357e-02 7.97754991e+02] [ 7.84164249e-02 9.96920396e-01 -7.66582747e-04 1.35432550e+01] [ 1.84827393e-02 -6.85008272e-04 9.99828945e-01 7.42484495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9592541539998 meters Centerline goodness [0,1] 0.9998537889547999 Centerline is valid? [True, True] Translation: X:797.78, Y:13.54, Z:7.42 [[ 9.96799283e-01 -7.75449471e-02 -1.94414759e-02 7.97783773e+02] [ 7.75439245e-02 9.96988610e-01 -8.07586831e-04 1.35444474e+01] [ 1.94455543e-02 -7.02566364e-04 9.99810670e-01 7.42418159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9892541539999 meters Centerline goodness [0,1] 0.9998329295798178 Centerline is valid? [True, True] Translation: X:797.81, Y:13.55, Z:7.42 [[ 9.97063272e-01 -7.38761962e-02 -2.01776835e-02 7.97813308e+02] [ 7.38743256e-02 9.97267206e-01 -8.39096347e-04 1.35498239e+01] [ 2.01845313e-02 -6.53980610e-04 9.99796058e-01 7.42481725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0192541539999 meters Centerline goodness [0,1] 0.9997699755337613 Centerline is valid? [True, True] Translation: X:797.84, Y:13.55, Z:7.43 [[ 9.97216282e-01 -7.21979083e-02 -1.86319245e-02 7.97841003e+02] [ 7.21959923e-02 9.97390162e-01 -7.76325554e-04 1.35522004e+01] [ 1.86393473e-02 -5.70985798e-04 9.99826109e-01 7.42777319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0492541539999 meters Centerline goodness [0,1] 0.9997282381470023 Centerline is valid? [True, True] Translation: X:797.87, Y:13.56, Z:7.43 [[ 9.97350239e-01 -7.01300537e-02 -1.93462030e-02 7.97870048e+02] [ 7.01275297e-02 9.97537706e-01 -8.09684640e-04 1.35565829e+01] [ 1.93553502e-02 -5.49162259e-04 9.99812517e-01 7.42683464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0792541539998 meters Centerline goodness [0,1] 0.9997493472584856 Centerline is valid? [True, True] Translation: X:797.90, Y:13.56, Z:7.43 [[ 9.97512614e-01 -6.76607870e-02 -1.97636627e-02 7.97898861e+02] [ 6.76576132e-02 9.97708253e-01 -8.29959643e-04 1.35593707e+01] [ 1.97745251e-02 -5.09267033e-04 9.99804335e-01 7.42651564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1092541539999 meters Centerline goodness [0,1] 0.999916401939475 Centerline is valid? [True, True] Translation: X:797.93, Y:13.57, Z:7.43 [[ 9.97797174e-01 -6.41456267e-02 -1.69155897e-02 7.97928210e+02] [ 6.41427846e-02 9.97940478e-01 -7.11069135e-04 1.35669148e+01] [ 1.69263637e-02 -3.75510255e-04 9.99856668e-01 7.43278716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1392541539999 meters Centerline goodness [0,1] 0.9996236592862071 Centerline is valid? [True, True] Translation: X:797.96, Y:13.57, Z:7.43 [[ 9.97925770e-01 -6.17144227e-02 -1.83163361e-02 7.97957593e+02] [ 6.17106711e-02 9.98093783e-01 -7.70495511e-04 1.35693699e+01] [ 1.83289719e-02 -3.61416069e-04 9.99831945e-01 7.42985736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1692541539999 meters Centerline goodness [0,1] 0.999666576364432 Centerline is valid? [True, True] Translation: X:797.99, Y:13.57, Z:7.43 [[ 9.98040899e-01 -5.98527964e-02 -1.82210454e-02 7.97986524e+02] [ 5.98487617e-02 9.98207161e-01 -7.67138074e-04 1.35717591e+01] [ 1.82342934e-02 -3.24871833e-04 9.99833689e-01 7.43084368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1992541539998 meters Centerline goodness [0,1] 0.9996651108273855 Centerline is valid? [True, True] Translation: X:798.02, Y:13.58, Z:7.43 [[ 9.98228241e-01 -5.65696793e-02 -1.84458682e-02 7.98016345e+02] [ 5.65649683e-02 9.98398618e-01 -7.77452809e-04 1.35775437e+01] [ 1.84603095e-02 -2.67314599e-04 9.99829558e-01 7.43080397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2292541539999 meters Centerline goodness [0,1] 0.999770263778952 Centerline is valid? [True, True] Translation: X:798.05, Y:13.58, Z:7.43 [[ 9.98307406e-01 -5.52588079e-02 -1.81324879e-02 7.98045823e+02] [ 5.52540273e-02 9.98472036e-01 -7.64910570e-04 1.35798345e+01] [ 1.81470501e-02 -2.38277094e-04 9.99835300e-01 7.43134921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2592541539999 meters Centerline goodness [0,1] 0.9998121634595316 Centerline is valid? [True, True] Translation: X:798.08, Y:13.58, Z:7.43 [[ 9.98362533e-01 -5.42826253e-02 -1.80457355e-02 7.98075325e+02] [ 5.42777218e-02 9.98525587e-01 -7.61754665e-04 1.35814982e+01] [ 1.80604787e-02 -2.18974096e-04 9.99836872e-01 7.43152219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2892541539999 meters Centerline goodness [0,1] 0.9998953558946024 Centerline is valid? [True, True] Translation: X:798.10, Y:13.58, Z:7.43 [[ 9.98400196e-01 -5.37250988e-02 -1.76255956e-02 7.98104911e+02] [ 5.37203285e-02 9.98555743e-01 -7.44336720e-04 1.35828401e+01] [ 1.76401293e-02 -2.03706858e-04 9.99844380e-01 7.43282090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3192541539999 meters Centerline goodness [0,1] 0.9998535043844045 Centerline is valid? [True, True] Translation: X:798.13, Y:13.58, Z:7.43 [[ 9.98399388e-01 -5.39820377e-02 -1.68701697e-02 7.98134303e+02] [ 5.39776969e-02 9.98541887e-01 -7.12873011e-04 1.35841017e+01] [ 1.68840534e-02 -1.98880929e-04 9.99857434e-01 7.43406207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3492541539999 meters Centerline goodness [0,1] 0.9997493786679477 Centerline is valid? [True, True] Translation: X:798.16, Y:13.58, Z:7.43 [[ 9.98370299e-01 -5.43005506e-02 -1.75555270e-02 7.98163366e+02] [ 5.42958926e-02 9.98524614e-01 -7.42206303e-04 1.35843582e+01] [ 1.75699281e-02 -2.12196281e-04 9.99845614e-01 7.43269099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3792541539999 meters Centerline goodness [0,1] 0.9997069842399381 Centerline is valid? [True, True] Translation: X:798.19, Y:13.59, Z:7.43 [[ 9.98299593e-01 -5.54063876e-02 -1.81122834e-02 7.98193186e+02] [ 5.54016052e-02 9.98463858e-01 -7.66083728e-04 1.35853197e+01] [ 1.81269063e-02 -2.38668503e-04 9.99835666e-01 7.43328191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4092541539999 meters Centerline goodness [0,1] 0.99993736821228 Centerline is valid? [True, True] Translation: X:798.22, Y:13.58, Z:7.44 [[ 9.98155371e-01 -5.85179967e-02 -1.61709642e-02 7.98221783e+02] [ 5.85145817e-02 9.98286319e-01 -6.84652612e-04 1.35832806e+01] [ 1.61833168e-02 -2.62847524e-04 9.99869007e-01 7.43653419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4392541539999 meters Centerline goodness [0,1] 0.9998330550918197 Centerline is valid? [True, True] Translation: X:798.25, Y:13.58, Z:7.43 [[ 9.98081014e-01 -5.94210927e-02 -1.74190624e-02 7.98252460e+02] [ 5.94172581e-02 9.98232961e-01 -7.38046095e-04 1.35837892e+01] [ 1.74321378e-02 -2.98363133e-04 9.99848004e-01 7.43495572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4692541539999 meters Centerline goodness [0,1] 0.9998960931005819 Centerline is valid? [True, True] Translation: X:798.28, Y:13.58, Z:7.43 [[ 9.97997194e-01 -6.06677440e-02 -1.79171798e-02 7.98282054e+02] [ 6.06638850e-02 9.98157962e-01 -7.59308306e-04 1.35817815e+01] [ 1.79302412e-02 -3.29138178e-04 9.99839186e-01 7.43461799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:798.31, Y:13.58, Z:7.44 [[ 9.97835412e-01 -6.31627585e-02 -1.83018069e-02 7.98311797e+02] [ 6.31591423e-02 9.98003167e-01 -7.76111163e-04 1.35809376e+01] [ 1.83142825e-02 -3.81495223e-04 9.99832207e-01 7.43663769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5292541539999 meters Centerline goodness [0,1] 0.9998336936637285 Centerline is valid? [True, True] Translation: X:798.34, Y:13.58, Z:7.43 [[ 9.97786677e-01 -6.32535809e-02 -2.05117425e-02 7.98341831e+02] [ 6.32490459e-02 9.97997395e-01 -8.70413097e-04 1.35799790e+01] [ 2.05257223e-02 -4.28861549e-04 9.99789233e-01 7.43319266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5592541539999 meters Centerline goodness [0,1] 0.9996035058430718 Centerline is valid? [True, True] Translation: X:798.37, Y:13.58, Z:7.43 [[ 9.97739392e-01 -6.36891992e-02 -2.14427503e-02 7.98370121e+02] [ 6.36843169e-02 9.97969678e-01 -9.11166424e-04 1.35792251e+01] [ 2.14572460e-02 -4.56460269e-04 9.99769663e-01 7.43247054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.589254154 meters Centerline goodness [0,1] 0.9997911358035005 Centerline is valid? [True, True] Translation: X:798.40, Y:13.58, Z:7.43 [[ 9.97683907e-01 -6.42534081e-02 -2.23231106e-02 7.98398478e+02] [ 6.42481643e-02 9.97933498e-01 -9.52766435e-04 1.35809945e+01] [ 2.23381984e-02 -4.83659139e-04 9.99750354e-01 7.43372029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6192541539999 meters Centerline goodness [0,1] 0.9998958723811904 Centerline is valid? [True, True] Translation: X:798.43, Y:13.58, Z:7.43 [[ 9.97660349e-01 -6.46395191e-02 -2.22612029e-02 7.98426786e+02] [ 6.46342630e-02 9.97908562e-01 -9.56291792e-04 1.35815200e+01] [ 2.22764592e-02 -4.84782040e-04 9.99751731e-01 7.43491479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6492541539999 meters Centerline goodness [0,1] 0.9998119397371336 Centerline is valid? [True, True] Translation: X:798.46, Y:13.58, Z:7.43 [[ 9.97627724e-01 -6.47908493e-02 -2.32609096e-02 7.98455622e+02] [ 6.47850026e-02 9.97898738e-01 -1.00563727e-03 1.35822443e+01] [ 2.32771885e-02 -5.03706473e-04 9.99728923e-01 7.43445415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6792541539999 meters Centerline goodness [0,1] 0.9998541332388673 Centerline is valid? [True, True] Translation: X:798.48, Y:13.58, Z:7.44 [[ 9.97631477e-01 -6.47803670e-02 -2.31287547e-02 7.98482974e+02] [ 6.47744650e-02 9.97899423e-01 -1.00505296e-03 1.35824689e+01] [ 2.31452786e-02 -4.95480238e-04 9.99731989e-01 7.43536160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7092541539998 meters Centerline goodness [0,1] 0.9999791475519226 Centerline is valid? [True, True] Translation: X:798.51, Y:13.58, Z:7.44 [[ 9.97684149e-01 -6.46480451e-02 -2.11416410e-02 7.98511931e+02] [ 6.46429837e-02 9.97908028e-01 -9.23438415e-04 1.35830015e+01] [ 2.11571117e-02 -4.45358883e-04 9.99776064e-01 7.43852809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7392541539999 meters Centerline goodness [0,1] 0.9999791475519226 Centerline is valid? [True, True] Translation: X:798.54, Y:13.58, Z:7.44 [[ 9.97667580e-01 -6.49033167e-02 -2.11414037e-02 7.98540195e+02] [ 6.48981980e-02 9.97891458e-01 -9.28847718e-04 1.35842821e+01] [ 2.11571115e-02 -4.45357748e-04 9.99776064e-01 7.43879343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7692541539999 meters Centerline goodness [0,1] 0.9998330307014798 Centerline is valid? [True, True] Translation: X:798.57, Y:13.59, Z:7.44 [[ 9.97658112e-01 -6.43968815e-02 -2.30506562e-02 7.98568646e+02] [ 6.43905208e-02 9.97924257e-01 -1.01882950e-03 1.35851022e+01] [ 2.30684184e-02 -4.67800239e-04 9.99733779e-01 7.43747909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7992541539999 meters Centerline goodness [0,1] 0.9998120967910308 Centerline is valid? [True, True] Translation: X:798.60, Y:13.58, Z:7.44 [[ 9.97708706e-01 -6.35135124e-02 -2.33103282e-02 7.98596751e+02] [ 6.35066812e-02 9.97980878e-01 -1.03397001e-03 1.35845664e+01] [ 2.33289328e-02 -4.48760702e-04 9.99727743e-01 7.43616285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8292541539998 meters Centerline goodness [0,1] 0.9998326149725907 Centerline is valid? [True, True] Translation: X:798.62, Y:13.59, Z:7.44 [[ 9.97843183e-01 -6.10588982e-02 -2.40996679e-02 7.98624507e+02] [ 6.10508139e-02 9.98134084e-01 -1.07175632e-03 1.35857027e+01] [ 2.41201402e-02 -4.01859603e-04 9.99708986e-01 7.43597535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8592541539999 meters Centerline goodness [0,1] 0.999895974201602 Centerline is valid? [True, True] Translation: X:798.65, Y:13.59, Z:7.44 [[ 9.97926274e-01 -5.96614670e-02 -2.41590607e-02 7.98653199e+02] [ 5.96528150e-02 9.98218602e-01 -1.07929790e-03 1.35883276e+01] [ 2.41804163e-02 -3.64096241e-04 9.99707545e-01 7.43748264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8892541539999 meters Centerline goodness [0,1] 0.999790733687691 Centerline is valid? [True, True] Translation: X:798.68, Y:13.59, Z:7.44 [[ 9.97979373e-01 -5.81414687e-02 -2.56269536e-02 7.98680598e+02] [ 5.81311173e-02 9.98308295e-01 -1.14935725e-03 1.35896707e+01] [ 2.56504256e-02 -3.42688612e-04 9.99670915e-01 7.43643084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9192541539999 meters Centerline goodness [0,1] 0.9997284027995403 Centerline is valid? [True, True] Translation: X:798.71, Y:13.59, Z:7.44 [[ 9.98055629e-01 -5.66820617e-02 -2.59249791e-02 7.98709353e+02] [ 5.66708364e-02 9.98392233e-01 -1.16809465e-03 1.35919558e+01] [ 2.59495078e-02 -3.03366805e-04 9.99663209e-01 7.43722543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9492541539998 meters Centerline goodness [0,1] 0.9998951891835237 Centerline is valid? [True, True] Translation: X:798.74, Y:13.59, Z:7.44 [[ 9.98206066e-01 -5.44638541e-02 -2.48663971e-02 7.98737701e+02] [ 5.44526849e-02 9.98515716e-01 -1.12657893e-03 1.35927576e+01] [ 2.48908461e-02 -2.29484163e-04 9.99690149e-01 7.43904912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:798.77, Y:13.59, Z:7.44 [[ 9.98285884e-01 -5.37562924e-02 -2.31420670e-02 7.98765411e+02] [ 5.37463492e-02 9.98554066e-01 -1.05187670e-03 1.35929111e+01] [ 2.31651501e-02 -1.93727958e-04 9.99731633e-01 7.44050200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0092541539999 meters Centerline goodness [0,1] 0.9998745766963502 Centerline is valid? [True, True] Translation: X:798.79, Y:13.59, Z:7.44 [[ 9.98381924e-01 -5.14752375e-02 -2.41626621e-02 7.98793765e+02] [ 5.14636077e-02 9.98674261e-01 -1.10331911e-03 1.35933284e+01] [ 2.41874224e-02 -1.41963908e-04 9.99707431e-01 7.43973042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0392541539999 meters Centerline goodness [0,1] 0.9997911270782855 Centerline is valid? [True, True] Translation: X:798.82, Y:13.59, Z:7.44 [[ 9.98417112e-01 -5.07771165e-02 -2.41858579e-02 7.98821334e+02] [ 5.07650945e-02 9.98710003e-01 -1.11119590e-03 1.35938050e+01] [ 2.42110815e-02 -1.18360359e-04 9.99706862e-01 7.43927450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0692541539999 meters Centerline goodness [0,1] 0.999895508975779 Centerline is valid? [True, True] Translation: X:798.85, Y:13.59, Z:7.44 [[ 9.98456622e-01 -5.02718324e-02 -2.36033159e-02 7.98849141e+02] [ 5.02601515e-02 9.98735567e-01 -1.08823763e-03 1.35934783e+01] [ 2.36281788e-02 -9.97481577e-05 9.99720811e-01 7.43935452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:798.88, Y:13.59, Z:7.44 [[ 9.98458326e-01 -5.06716986e-02 -2.26572185e-02 7.98878177e+02] [ 5.06609475e-02 9.98715359e-01 -1.04862152e-03 1.35936833e+01] [ 2.26812475e-02 -1.00831266e-04 9.99742742e-01 7.44201263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1292541539999 meters Centerline goodness [0,1] 0.9997701725794994 Centerline is valid? [True, True] Translation: X:798.91, Y:13.59, Z:7.44 [[ 9.98398775e-01 -5.07299842e-02 -2.50270765e-02 7.98906086e+02] [ 5.07167713e-02 9.98712400e-01 -1.16281583e-03 1.35913377e+01] [ 2.50538412e-02 -1.08338612e-04 9.99686097e-01 7.43891149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1592541539999 meters Centerline goodness [0,1] 0.9997714475679943 Centerline is valid? [True, True] Translation: X:798.93, Y:13.59, Z:7.44 [[ 9.98327648e-01 -5.19316986e-02 -2.53969776e-02 7.98934746e+02] [ 5.19183524e-02 9.98650630e-01 -1.18506019e-03 1.35901557e+01] [ 2.54242499e-02 -1.35490878e-04 9.99676742e-01 7.43908604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1892541539999 meters Centerline goodness [0,1] 0.9999164595559825 Centerline is valid? [True, True] Translation: X:798.96, Y:13.59, Z:7.44 [[ 9.98277312e-01 -5.35486922e-02 -2.39780160e-02 7.98963146e+02] [ 5.35371278e-02 9.98565227e-01 -1.12444015e-03 1.35883416e+01] [ 2.40038253e-02 -1.61211022e-04 9.99711854e-01 7.44048435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2192541539999 meters Centerline goodness [0,1] 0.9997904266912566 Centerline is valid? [True, True] Translation: X:798.99, Y:13.58, Z:7.44 [[ 9.98021603e-01 -5.76109873e-02 -2.51764675e-02 7.98991133e+02] [ 5.75994213e-02 9.98339072e-01 -1.18495132e-03 1.35820637e+01] [ 2.52029174e-02 -2.67542946e-04 9.99682320e-01 7.43924836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2492541539999 meters Centerline goodness [0,1] 0.9997286692269161 Centerline is valid? [True, True] Translation: X:799.02, Y:13.58, Z:7.44 [[ 9.97845281e-01 -6.03881906e-02 -2.56527233e-02 7.99019826e+02] [ 6.03769719e-02 9.98174910e-01 -1.21235763e-03 1.35793297e+01] [ 2.56791169e-02 -3.39088411e-04 9.99670180e-01 7.43905351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2792541539999 meters Centerline goodness [0,1] 0.9998744874905866 Centerline is valid? [True, True] Translation: X:799.05, Y:13.58, Z:7.44 [[ 9.97528308e-01 -6.62483621e-02 -2.34185654e-02 7.99048440e+02] [ 6.62404946e-02 9.97803066e-01 -1.11238125e-03 1.35758036e+01] [ 2.34408098e-02 -4.41625567e-04 9.99725129e-01 7.44410585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3092541539999 meters Centerline goodness [0,1] 0.9996649144484702 Centerline is valid? [True, True] Translation: X:799.08, Y:13.57, Z:7.44 [[ 9.97337870e-01 -6.89252817e-02 -2.38008281e-02 7.99076912e+02] [ 6.89178270e-02 9.97621695e-01 -1.13431392e-03 1.35733635e+01] [ 2.38224054e-02 -5.09007126e-04 9.99716077e-01 7.44417621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.339254154 meters Centerline goodness [0,1] 0.9997282608695652 Centerline is valid? [True, True] Translation: X:799.10, Y:13.57, Z:7.44 [[ 9.97138489e-01 -7.19065828e-02 -2.33297321e-02 7.99104996e+02] [ 7.19001704e-02 9.97411211e-01 -1.11465236e-03 1.35654758e+01] [ 2.33494872e-02 -5.65948937e-04 9.99727203e-01 7.44170274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3692541539999 meters Centerline goodness [0,1] 0.9999163582376681 Centerline is valid? [True, True] Translation: X:799.13, Y:13.56, Z:7.45 [[ 9.96790315e-01 -7.69513555e-02 -2.20806777e-02 7.99134840e+02] [ 7.69468099e-02 9.97034639e-01 -1.05667328e-03 1.35643918e+01] [ 2.20965129e-02 -6.45756018e-04 9.99755634e-01 7.44651490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3992541539999 meters Centerline goodness [0,1] 0.9998954018660308 Centerline is valid? [True, True] Translation: X:799.16, Y:13.56, Z:7.45 [[ 9.96633211e-01 -7.89130701e-02 -2.22479182e-02 7.99163175e+02] [ 7.89089099e-02 9.96881260e-01 -1.06619162e-03 1.35616027e+01] [ 2.22626691e-02 -6.92956988e-04 9.99751916e-01 7.44619870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4292541539999 meters Centerline goodness [0,1] 0.9998746762469714 Centerline is valid? [True, True] Translation: X:799.19, Y:13.56, Z:7.45 [[ 9.96497044e-01 -8.05427194e-02 -2.25058293e-02 7.99192189e+02] [ 8.05387831e-02 9.96750888e-01 -1.08273172e-03 1.35596426e+01] [ 2.25199115e-02 -7.33653144e-04 9.99746125e-01 7.44618911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4592541539998 meters Centerline goodness [0,1] 0.9998114985862394 Centerline is valid? [True, True] Translation: X:799.22, Y:13.56, Z:7.45 [[ 9.96304300e-01 -8.26420693e-02 -2.34100569e-02 7.99221377e+02] [ 8.26382434e-02 9.96578967e-01 -1.13245366e-03 1.35598362e+01] [ 2.34235587e-02 -8.06297532e-04 9.99725306e-01 7.44737492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4892541539999 meters Centerline goodness [0,1] 0.9997279025472507 Centerline is valid? [True, True] Translation: X:799.25, Y:13.55, Z:7.45 [[ 9.96244655e-01 -8.33816697e-02 -2.33256199e-02 7.99249340e+02] [ 8.33779847e-02 9.96517350e-01 -1.13218662e-03 1.35547835e+01] [ 2.33387885e-02 -8.16908310e-04 9.99727280e-01 7.44617120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5192541539999 meters Centerline goodness [0,1] 0.9997493053669543 Centerline is valid? [True, True] Translation: X:799.28, Y:13.56, Z:7.45 [[ 9.96168150e-01 -8.40239614e-02 -2.42691252e-02 7.99278016e+02] [ 8.40200475e-02 9.96463362e-01 -1.18273149e-03 1.35560401e+01] [ 2.42826719e-02 -8.60893606e-04 9.99704762e-01 7.44699888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5492541539999 meters Centerline goodness [0,1] 0.9998122144094144 Centerline is valid? [True, True] Translation: X:799.31, Y:13.55, Z:7.45 [[ 9.96162917e-01 -8.42426438e-02 -2.37196271e-02 7.99305199e+02] [ 8.42388678e-02 9.96444914e-01 -1.16012632e-03 1.35530726e+01] [ 2.37330339e-02 -8.42439711e-04 9.99717977e-01 7.44763474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5792541539998 meters Centerline goodness [0,1] 0.9998329260906794 Centerline is valid? [True, True] Translation: X:799.33, Y:13.55, Z:7.45 [[ 9.96181591e-01 -8.42086074e-02 -2.30466453e-02 7.99333576e+02] [ 8.42049786e-02 9.96447814e-01 -1.12958695e-03 1.35512318e+01] [ 2.30599003e-02 -8.15368553e-04 9.99733753e-01 7.44788624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6092541539999 meters Centerline goodness [0,1] 0.9997911314409842 Centerline is valid? [True, True] Translation: X:799.36, Y:13.55, Z:7.45 [[ 9.96225063e-01 -8.37037136e-02 -2.30067787e-02 7.99362483e+02] [ 8.36998651e-02 9.96490367e-01 -1.13187833e-03 1.35535131e+01] [ 2.30207758e-02 -7.98058717e-04 9.99734668e-01 7.44855395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6392541539999 meters Centerline goodness [0,1] 0.9997707521413834 Centerline is valid? [True, True] Translation: X:799.39, Y:13.55, Z:7.45 [[ 9.96464974e-01 -8.10355260e-02 -2.21539955e-02 7.99391645e+02] [ 8.10311832e-02 9.96710965e-01 -1.09512969e-03 1.35544554e+01] [ 2.21698747e-02 -7.03906091e-04 9.99753970e-01 7.45003361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6692541539999 meters Centerline goodness [0,1] 0.9996871806635941 Centerline is valid? [True, True] Translation: X:799.42, Y:13.56, Z:7.45 [[ 9.96594907e-01 -7.94101095e-02 -2.21951592e-02 7.99420499e+02] [ 7.94052253e-02 9.96841810e-01 -1.10267964e-03 1.35592250e+01] [ 2.22126266e-02 -6.63486706e-04 9.99753049e-01 7.45144044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6992541539998 meters Centerline goodness [0,1] 0.9996669372801266 Centerline is valid? [True, True] Translation: X:799.45, Y:13.56, Z:7.45 [[ 9.96751369e-01 -7.74114662e-02 -2.22299946e-02 7.99448830e+02] [ 7.74059891e-02 9.96999040e-01 -1.10804440e-03 1.35561489e+01] [ 2.22490586e-02 -6.16289950e-04 9.99752269e-01 7.44895977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7292541539999 meters Centerline goodness [0,1] 0.999728425494579 Centerline is valid? [True, True] Translation: X:799.48, Y:13.56, Z:7.45 [[ 9.97107840e-01 -7.28253742e-02 -2.17352283e-02 7.99478172e+02] [ 7.28190208e-02 9.97344581e-01 -1.08468096e-03 1.35638743e+01] [ 2.17565044e-02 -5.01194151e-04 9.99763174e-01 7.45174767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7592541539999 meters Centerline goodness [0,1] 0.999727697367043 Centerline is valid? [True, True] Translation: X:799.51, Y:13.57, Z:7.45 [[ 9.97258572e-01 -7.05441682e-02 -2.23352043e-02 7.99505924e+02] [ 7.05368532e-02 9.97508550e-01 -1.11615277e-03 1.35651473e+01] [ 2.23582953e-02 -4.62362107e-04 9.99749915e-01 7.45179575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7892541539999 meters Centerline goodness [0,1] 0.9997907687157384 Centerline is valid? [True, True] Translation: X:799.53, Y:13.57, Z:7.45 [[ 9.97375871e-01 -6.89684972e-02 -2.20163238e-02 7.99534748e+02] [ 6.89609150e-02 9.97618751e-01 -1.10433262e-03 1.35685048e+01] [ 2.20400617e-02 -4.16831133e-04 9.99757001e-01 7.45304073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8192541539999 meters Centerline goodness [0,1] 0.9999583324652597 Centerline is valid? [True, True] Translation: X:799.56, Y:13.57, Z:7.45 [[ 9.97502956e-01 -6.74841832e-02 -2.08263535e-02 7.99562838e+02] [ 6.74770054e-02 9.97720279e-01 -1.04798640e-03 1.35692478e+01] [ 2.08495977e-02 -3.59930437e-04 9.99782559e-01 7.45422502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8492541539999 meters Centerline goodness [0,1] 0.9998327829104134 Centerline is valid? [True, True] Translation: X:799.59, Y:13.57, Z:7.45 [[ 9.97621852e-01 -6.52175168e-02 -2.23005881e-02 7.99591343e+02] [ 6.52086263e-02 9.97871017e-01 -1.12639284e-03 1.35717702e+01] [ 2.23265710e-02 -3.30476599e-04 9.99750676e-01 7.45458966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8792541539999 meters Centerline goodness [0,1] 0.9998743850099445 Centerline is valid? [True, True] Translation: X:799.62, Y:13.57, Z:7.46 [[ 9.97642434e-01 -6.51234730e-02 -2.16450084e-02 7.99620077e+02] [ 6.51149576e-02 9.97877164e-01 -1.09871633e-03 1.35730229e+01] [ 2.16706118e-02 -3.13287769e-04 9.99765116e-01 7.45575016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9092541539999 meters Centerline goodness [0,1] 0.9998129792406957 Centerline is valid? [True, True] Translation: X:799.65, Y:13.57, Z:7.46 [[ 9.97620292e-01 -6.53437484e-02 -2.19987876e-02 7.99647988e+02] [ 6.53348724e-02 9.97862763e-01 -1.12273843e-03 1.35732446e+01] [ 2.20251349e-02 -3.17221344e-04 9.99757367e-01 7.45644252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9392541539999 meters Centerline goodness [0,1] 0.9998952155416309 Centerline is valid? [True, True] Translation: X:799.68, Y:13.57, Z:7.46 [[ 9.97586262e-01 -6.60810966e-02 -2.13292722e-02 7.99675581e+02] [ 6.60727889e-02 9.97814205e-01 -1.09475314e-03 1.35747022e+01] [ 2.13549932e-02 -3.17173806e-04 9.99771906e-01 7.45801022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9692541539999 meters Centerline goodness [0,1] 0.9998121869782972 Centerline is valid? [True, True] Translation: X:799.70, Y:13.57, Z:7.46 [[ 9.97540758e-01 -6.66577870e-02 -2.16604586e-02 7.99703573e+02] [ 6.66492552e-02 9.97775842e-01 -1.11636402e-03 1.35743009e+01] [ 2.16866967e-02 -3.30034825e-04 9.99764761e-01 7.45705598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9992541539999 meters Centerline goodness [0,1] 0.9998336037272765 Centerline is valid? [True, True] Translation: X:799.73, Y:13.57, Z:7.46 [[ 9.97379449e-01 -6.89857079e-02 -2.17992580e-02 7.99731559e+02] [ 6.89775682e-02 9.97617576e-01 -1.12599205e-03 1.35724646e+01] [ 2.18250003e-02 -3.80618473e-04 9.99761734e-01 7.45687847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0292541539999 meters Centerline goodness [0,1] 0.9997907643378737 Centerline is valid? [True, True] Translation: X:799.76, Y:13.57, Z:7.46 [[ 9.97252848e-01 -7.06045492e-02 -2.23998622e-02 7.99759957e+02] [ 7.05962685e-02 9.97504295e-01 -1.16122207e-03 1.35739839e+01] [ 2.24259463e-02 -4.23314668e-04 9.99748417e-01 7.45756698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0592541539999 meters Centerline goodness [0,1] 0.999708047463141 Centerline is valid? [True, True] Translation: X:799.79, Y:13.57, Z:7.46 [[ 9.97129453e-01 -7.24729766e-02 -2.19208079e-02 7.99787820e+02] [ 7.24654208e-02 9.97370274e-01 -1.13988052e-03 1.35734724e+01] [ 2.19457727e-02 -4.51892136e-04 9.99759060e-01 7.45831701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.089254154 meters Centerline goodness [0,1] 0.9997696431563076 Centerline is valid? [True, True] Translation: X:799.82, Y:13.57, Z:7.46 [[ 9.96805783e-01 -7.62945880e-02 -2.36086283e-02 7.99817073e+02] [ 7.62868548e-02 9.97085154e-01 -1.22933904e-03 1.35720099e+01] [ 2.36336047e-02 -5.75615735e-04 9.99720522e-01 7.45787504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1192541539999 meters Centerline goodness [0,1] 0.9999164665344054 Centerline is valid? [True, True] Translation: X:799.85, Y:13.57, Z:7.46 [[ 9.96694131e-01 -7.83282342e-02 -2.15754019e-02 7.99845203e+02] [ 7.83222177e-02 9.96927462e-01 -1.12503283e-03 1.35715894e+01] [ 2.15972325e-02 -5.68519710e-04 9.99766591e-01 7.45995978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1492541539999 meters Centerline goodness [0,1] 0.9998119829531211 Centerline is valid? [True, True] Translation: X:799.87, Y:13.57, Z:7.46 [[ 9.96537676e-01 -7.97575087e-02 -2.34819102e-02 7.99874338e+02] [ 7.97506735e-02 9.96814085e-01 -1.22891120e-03 1.35712908e+01] [ 2.35051138e-02 -6.48041843e-04 9.99723507e-01 7.45810978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1792541539999 meters Centerline goodness [0,1] 0.9998539049129691 Centerline is valid? [True, True] Translation: X:799.90, Y:13.57, Z:7.46 [[ 9.96309131e-01 -8.26871728e-02 -2.30422944e-02 7.99903077e+02] [ 8.26812408e-02 9.96575308e-01 -1.21166222e-03 1.35705684e+01] [ 2.30635706e-02 -6.97975358e-04 9.99733757e-01 7.45961169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2092541539998 meters Centerline goodness [0,1] 0.9999163862120863 Centerline is valid? [True, True] Translation: X:799.93, Y:13.57, Z:7.46 [[ 9.96240093e-01 -8.40018473e-02 -2.11982914e-02 7.99931786e+02] [ 8.39970142e-02 9.96465377e-01 -1.11986698e-03 1.35717942e+01] [ 2.12174343e-02 -6.64936803e-04 9.99774664e-01 7.46181297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2392541539999 meters Centerline goodness [0,1] 0.9997694162037523 Centerline is valid? [True, True] Translation: X:799.96, Y:13.57, Z:7.46 [[ 9.96174665e-01 -8.44683612e-02 -2.23860165e-02 7.99960979e+02] [ 8.44629579e-02 9.96425911e-01 -1.18846466e-03 1.35736643e+01] [ 2.24063946e-02 -7.06870792e-04 9.99748695e-01 7.46141939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2692541539999 meters Centerline goodness [0,1] 0.9998113405303427 Centerline is valid? [True, True] Translation: X:799.99, Y:13.57, Z:7.46 [[ 9.96153757e-01 -8.47969551e-02 -2.20719080e-02 7.99988830e+02] [ 8.47916485e-02 9.96398007e-01 -1.17787279e-03 1.35746936e+01] [ 2.20922852e-02 -6.98171056e-04 9.99755692e-01 7.46176656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2992541539999 meters Centerline goodness [0,1] 0.9997287032013022 Centerline is valid? [True, True] Translation: X:800.02, Y:13.58, Z:7.46 [[ 9.96239674e-01 -8.36762290e-02 -2.24677600e-02 8.00016310e+02] [ 8.36703565e-02 9.96492762e-01 -1.20296085e-03 1.35753547e+01] [ 2.24896194e-02 -6.81448156e-04 9.99746844e-01 7.46044553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3292541539998 meters Centerline goodness [0,1] 0.9998124531132783 Centerline is valid? [True, True] Translation: X:800.04, Y:13.58, Z:7.46 [[ 9.96295039e-01 -8.32302455e-02 -2.16545800e-02 8.00044431e+02] [ 8.32246342e-02 9.96530135e-01 -1.16177183e-03 1.35767677e+01] [ 2.16761361e-02 -6.44726988e-04 9.99764837e-01 7.46084476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3592541539999 meters Centerline goodness [0,1] 0.9998535013184882 Centerline is valid? [True, True] Translation: X:800.07, Y:13.58, Z:7.46 [[ 9.96427938e-01 -8.14878578e-02 -2.21606302e-02 8.00072920e+02] [ 8.14814532e-02 9.96674144e-01 -1.19330826e-03 1.35813390e+01] [ 2.21841673e-02 -6.16634660e-04 9.99753711e-01 7.46088316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3892541539999 meters Centerline goodness [0,1] 0.9997064250964603 Centerline is valid? [True, True] Translation: X:800.10, Y:13.58, Z:7.46 [[ 9.96455779e-01 -8.08362511e-02 -2.32675979e-02 8.00100991e+02] [ 8.08288619e-02 9.96727199e-01 -1.25941552e-03 1.35848572e+01] [ 2.32932541e-02 -6.25741578e-04 9.99728480e-01 7.46087789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4192541539999 meters Centerline goodness [0,1] 0.9997507218679241 Centerline is valid? [True, True] Translation: X:800.13, Y:13.58, Z:7.46 [[ 9.96511419e-01 -7.98934707e-02 -2.41251922e-02 8.00128620e+02] [ 7.98851504e-02 9.96803214e-01 -1.30998954e-03 1.35843543e+01] [ 2.41527287e-02 -6.21825069e-04 9.99708087e-01 7.45851623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4492541539998 meters Centerline goodness [0,1] 0.9998118532455316 Centerline is valid? [True, True] Translation: X:800.16, Y:13.59, Z:7.46 [[ 9.96605426e-01 -7.87897616e-02 -2.38704550e-02 8.00157464e+02] [ 7.87812317e-02 9.96891082e-01 -1.29900079e-03 1.35921148e+01] [ 2.38985917e-02 -5.85952611e-04 9.99714216e-01 7.46167517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4792541539999 meters Centerline goodness [0,1] 0.9999791783788285 Centerline is valid? [True, True] Translation: X:800.18, Y:13.59, Z:7.46 [[ 9.96661134e-01 -7.85582021e-02 -2.22529143e-02 8.00184892e+02] [ 7.85506669e-02 9.96909384e-01 -1.21386267e-03 1.35932826e+01] [ 2.22794979e-02 -5.38171514e-04 9.99751636e-01 7.46313712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5092541539999 meters Centerline goodness [0,1] 0.9998112732762959 Centerline is valid? [True, True] Translation: X:800.21, Y:13.60, Z:7.46 [[ 9.96672954e-01 -7.83127619e-02 -2.25861270e-02 8.00212325e+02] [ 7.83048228e-02 9.96928696e-01 -1.23706145e-03 1.35962833e+01] [ 2.26136359e-02 -5.35656989e-04 9.99744136e-01 7.46256678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5392541539999 meters Centerline goodness [0,1] 0.9997910703466143 Centerline is valid? [True, True] Translation: X:800.24, Y:13.60, Z:7.46 [[ 9.96692934e-01 -7.81776678e-02 -2.21686059e-02 8.00240931e+02] [ 7.81698555e-02 9.96939309e-01 -1.22007670e-03 1.35995920e+01] [ 2.21961374e-02 -5.16874893e-04 9.99753502e-01 7.46380539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5692541539999 meters Centerline goodness [0,1] 0.9997702445850826 Centerline is valid? [True, True] Translation: X:800.27, Y:13.60, Z:7.46 [[ 9.96778327e-01 -7.74805187e-02 -2.07300687e-02 8.00269854e+02] [ 7.74734309e-02 9.96993758e-01 -1.14600120e-03 1.36025605e+01] [ 2.07565419e-02 -4.63720392e-04 9.99784452e-01 7.46418337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5992541539999 meters Centerline goodness [0,1] 0.9999374843710928 Centerline is valid? [True, True] Translation: X:800.30, Y:13.60, Z:7.47 [[ 9.96828027e-01 -7.71563213e-02 -1.95137388e-02 8.00298063e+02] [ 7.71498855e-02 9.97018917e-01 -1.08353007e-03 1.36041500e+01] [ 1.95391679e-02 -4.25389568e-04 9.99809002e-01 7.46556242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6292541539999 meters Centerline goodness [0,1] 0.9997697877861956 Centerline is valid? [True, True] Translation: X:800.33, Y:13.61, Z:7.47 [[ 9.96847617e-01 -7.66305319e-02 -2.05570014e-02 8.00325953e+02] [ 7.66231591e-02 9.97059464e-01 -1.14722955e-03 1.36085838e+01] [ 2.05844656e-02 -4.31529342e-04 9.99788024e-01 7.46519193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6592541539999 meters Centerline goodness [0,1] 0.9997697877861956 Centerline is valid? [True, True] Translation: X:800.35, Y:13.61, Z:7.47 [[ 9.96825091e-01 -7.69230905e-02 -2.05566633e-02 8.00353379e+02] [ 7.69156554e-02 9.97036936e-01 -1.15326455e-03 1.36101895e+01] [ 2.05844652e-02 -4.31526185e-04 9.99788024e-01 7.46544945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:800.38, Y:13.61, Z:7.47 [[ 9.96945513e-01 -7.56256065e-02 -1.95041503e-02 8.00381385e+02] [ 7.56185871e-02 9.97136211e-01 -1.09820827e-03 1.36140177e+01] [ 1.95313472e-02 -3.80022489e-04 9.99809173e-01 7.46720017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7192541539999 meters Centerline goodness [0,1] 0.9999375507400238 Centerline is valid? [True, True] Translation: X:800.41, Y:13.62, Z:7.47 [[ 9.97003411e-01 -7.48538943e-02 -1.95215979e-02 8.00409681e+02] [ 7.48466392e-02 9.97194446e-01 -1.10303788e-03 1.36173886e+01] [ 1.95493957e-02 -3.61393465e-04 9.99808827e-01 7.46735567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7492541539999 meters Centerline goodness [0,1] 0.9998957138387736 Centerline is valid? [True, True] Translation: X:800.44, Y:13.62, Z:7.47 [[ 9.97053237e-01 -7.41085270e-02 -1.98184020e-02 8.00438276e+02] [ 7.41008017e-02 9.97250122e-01 -1.12488290e-03 1.36205607e+01] [ 1.98472672e-02 -3.46991340e-04 9.99802963e-01 7.46722359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7792541539999 meters Centerline goodness [0,1] 0.9996871545665005 Centerline is valid? [True, True] Translation: X:800.47, Y:13.62, Z:7.47 [[ 9.97117249e-01 -7.30125602e-02 -2.06484186e-02 8.00466725e+02] [ 7.30038273e-02 9.97330966e-01 -1.17741018e-03 1.36236148e+01] [ 2.06792729e-02 -3.33397581e-04 9.99786105e-01 7.46616377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8092541539999 meters Centerline goodness [0,1] 0.9996886804200739 Centerline is valid? [True, True] Translation: X:800.49, Y:13.63, Z:7.47 [[ 9.97292198e-01 -7.11431513e-02 -1.86258859e-02 8.00494812e+02] [ 7.11356342e-02 9.97466082e-01 -1.06665531e-03 1.36265671e+01] [ 1.86545746e-02 -2.61197184e-04 9.99825954e-01 7.46723984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.839254154 meters Centerline goodness [0,1] 0.9997507425793989 Centerline is valid? [True, True] Translation: X:800.52, Y:13.63, Z:7.47 [[ 9.97342837e-01 -7.07376519e-02 -1.74198042e-02 8.00523258e+02] [ 7.07309399e-02 9.97494928e-01 -1.00188588e-03 1.36292180e+01] [ 1.74470374e-02 -2.32895421e-04 9.99847762e-01 7.46885870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8692541539999 meters Centerline goodness [0,1] 0.9996884088076444 Centerline is valid? [True, True] Translation: X:800.55, Y:13.63, Z:7.47 [[ 9.97406425e-01 -7.00013508e-02 -1.67401995e-02 8.00551796e+02] [ 6.99949786e-02 9.97546875e-01 -9.66978504e-04 1.36318286e+01] [ 1.67668235e-02 -2.07259332e-04 9.99859405e-01 7.46982278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8992541539999 meters Centerline goodness [0,1] 0.9998124218424344 Centerline is valid? [True, True] Translation: X:800.58, Y:13.63, Z:7.47 [[ 9.97477058e-01 -6.93212430e-02 -1.52998209e-02 8.00579389e+02] [ 6.93157942e-02 9.97594374e-01 -8.86780394e-04 1.36338911e+01] [ 1.53244880e-02 -1.75976137e-04 9.99882558e-01 7.47090076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9292541539999 meters Centerline goodness [0,1] 0.9997914581247914 Centerline is valid? [True, True] Translation: X:800.61, Y:13.64, Z:7.47 [[ 9.97476898e-01 -6.92699759e-02 -1.55405394e-02 8.00606431e+02] [ 6.92643158e-02 9.97597935e-01 -9.02804393e-04 1.36352770e+01] [ 1.55657473e-02 -1.75878305e-04 9.99878831e-01 7.47044882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9592541539998 meters Centerline goodness [0,1] 0.9997918704601744 Centerline is valid? [True, True] Translation: X:800.63, Y:13.64, Z:7.47 [[ 9.97400137e-01 -7.01207902e-02 -1.66144881e-02 8.00634851e+02] [ 7.01143870e-02 9.97538488e-01 -9.68301291e-04 1.36366653e+01] [ 1.66414894e-02 -1.99130809e-04 9.99861501e-01 7.46947464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9892541539999 meters Centerline goodness [0,1] 0.999813223757938 Centerline is valid? [True, True] Translation: X:800.66, Y:13.64, Z:7.47 [[ 9.97335298e-01 -7.09508782e-02 -1.69786807e-02 8.00663705e+02] [ 7.09442367e-02 9.97479788e-01 -9.93916913e-04 1.36379620e+01] [ 1.70064101e-02 -2.13271121e-04 9.99855358e-01 7.46930272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0192541539999 meters Centerline goodness [0,1] 0.9997502549480738 Centerline is valid? [True, True] Translation: X:800.69, Y:13.64, Z:7.47 [[ 9.97241833e-01 -7.21792171e-02 -1.72883342e-02 8.00692563e+02] [ 7.21724383e-02 9.97391651e-01 -1.01650987e-03 1.36389743e+01] [ 1.73166110e-02 -2.34035068e-04 9.99850029e-01 7.46900125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0492541539999 meters Centerline goodness [0,1] 0.9997291102312982 Centerline is valid? [True, True] Translation: X:800.72, Y:13.64, Z:7.47 [[ 9.97100002e-01 -7.42734291e-02 -1.65844250e-02 8.00720394e+02] [ 7.42674319e-02 9.97237881e-01 -9.78062041e-04 1.36388139e+01] [ 1.66112608e-02 -2.56456988e-04 9.99861991e-01 7.46988636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0792541539998 meters Centerline goodness [0,1] 0.9997295498044437 Centerline is valid? [True, True] Translation: X:800.75, Y:13.64, Z:7.47 [[ 9.96992495e-01 -7.59654600e-02 -1.53366804e-02 8.00748809e+02] [ 7.59604962e-02 9.97110416e-01 -9.06763575e-04 1.36394388e+01] [ 1.53612465e-02 -2.60945374e-04 9.99881975e-01 7.47127708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1092541539999 meters Centerline goodness [0,1] 0.9997499479058137 Centerline is valid? [True, True] Translation: X:800.78, Y:13.64, Z:7.47 [[ 9.96887772e-01 -7.75049202e-02 -1.44138002e-02 8.00777992e+02] [ 7.75006463e-02 9.96991935e-01 -8.55684357e-04 1.36399757e+01] [ 1.44367623e-02 -2.64057560e-04 9.99895750e-01 7.47261385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1392541539999 meters Centerline goodness [0,1] 0.9998330550918197 Centerline is valid? [True, True] Translation: X:800.81, Y:13.64, Z:7.47 [[ 9.96800091e-01 -7.89207575e-02 -1.26922179e-02 8.00806876e+02] [ 7.89175214e-02 9.96880862e-01 -7.56386757e-04 1.36401769e+01] [ 1.27123238e-02 -2.47671993e-04 9.99919164e-01 7.47464149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1692541539999 meters Centerline goodness [0,1] 0.9997279993304599 Centerline is valid? [True, True] Translation: X:800.84, Y:13.64, Z:7.48 [[ 9.96622764e-01 -8.14466228e-02 -1.04648865e-02 8.00835788e+02] [ 8.14445389e-02 9.96677679e-01 -6.25855157e-04 1.36395882e+01] [ 1.04810926e-02 -2.28566362e-04 9.99945046e-01 7.47546084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1992541539998 meters Centerline goodness [0,1] 0.9997302064957975 Centerline is valid? [True, True] Translation: X:800.86, Y:13.64, Z:7.47 [[ 9.96519804e-01 -8.26400760e-02 -1.09040087e-02 8.00863579e+02] [ 8.26378569e-02 9.96579428e-01 -6.54684186e-04 1.36396564e+01] [ 1.09208139e-02 -2.48678153e-04 9.99940335e-01 7.47450430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2292541539999 meters Centerline goodness [0,1] 0.999749655776693 Centerline is valid? [True, True] Translation: X:800.89, Y:13.64, Z:7.47 [[ 9.96381216e-01 -8.42443845e-02 -1.12852055e-02 8.00892135e+02] [ 8.42420953e-02 9.96445086e-01 -6.78902716e-04 1.36408255e+01] [ 1.13022813e-02 -2.74243442e-04 9.99936090e-01 7.47400561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2592541539999 meters Centerline goodness [0,1] 0.9998335275511903 Centerline is valid? [True, True] Translation: X:800.92, Y:13.64, Z:7.47 [[ 9.96245366e-01 -8.57531572e-02 -1.18982144e-02 8.00921165e+02] [ 8.57506837e-02 9.96316367e-01 -7.18830748e-04 1.36417053e+01] [ 1.19160278e-02 -3.04148219e-04 9.99928955e-01 7.47390289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2892541539999 meters Centerline goodness [0,1] 0.9997909873756375 Centerline is valid? [True, True] Translation: X:800.95, Y:13.65, Z:7.47 [[ 9.95984060e-01 -8.85807903e-02 -1.30075212e-02 8.00949812e+02] [ 8.85780300e-02 9.96068928e-01 -7.89302128e-04 1.36450459e+01] [ 1.30263047e-02 -3.66048265e-04 9.99915087e-01 7.47270815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3192541539999 meters Centerline goodness [0,1] 0.9998327864055347 Centerline is valid? [True, True] Translation: X:800.98, Y:13.64, Z:7.47 [[ 9.95881007e-01 -8.96776995e-02 -1.33764800e-02 8.00978117e+02] [ 8.96748380e-02 9.95970762e-01 -8.14766013e-04 1.36413523e+01] [ 1.33956493e-02 -3.88123680e-04 9.99910199e-01 7.47256500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3492541539999 meters Centerline goodness [0,1] 0.9998538316976404 Centerline is valid? [True, True] Translation: X:801.01, Y:13.65, Z:7.47 [[ 9.95826063e-01 -9.03419412e-02 -1.29917279e-02 8.01006923e+02] [ 9.03392696e-02 9.95910732e-01 -7.93550808e-04 1.36472754e+01] [ 1.30102922e-02 -3.83424633e-04 9.99915289e-01 7.47321906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3792541539999 meters Centerline goodness [0,1] 0.9997906504490548 Centerline is valid? [True, True] Translation: X:801.04, Y:13.65, Z:7.47 [[ 9.95886741e-01 -8.98514272e-02 -1.16756268e-02 8.01035641e+02] [ 8.98492033e-02 9.95955124e-01 -7.15945878e-04 1.36498537e+01] [ 1.16927291e-02 -3.36044755e-04 9.99931581e-01 7.47424304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4092541539999 meters Centerline goodness [0,1] 0.9997079012706295 Centerline is valid? [True, True] Translation: X:801.06, Y:13.65, Z:7.47 [[ 9.95950641e-01 -8.92692817e-02 -1.06449942e-02 8.01063891e+02] [ 8.92673727e-02 9.96007483e-01 -6.55287539e-04 1.36525260e+01] [ 1.06609910e-02 -2.97616623e-04 9.99943126e-01 7.47483982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4392541539999 meters Centerline goodness [0,1] 0.9998748827025337 Centerline is valid? [True, True] Translation: X:801.09, Y:13.66, Z:7.48 [[ 9.96046474e-01 -8.83474906e-02 -9.28125445e-03 8.01092389e+02] [ 8.83459801e-02 9.96089684e-01 -5.73412095e-04 1.36563966e+01] [ 9.29562133e-03 -2.48816426e-04 9.99956764e-01 7.47664625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4692541539999 meters Centerline goodness [0,1] 0.9996862909128934 Centerline is valid? [True, True] Translation: X:801.12, Y:13.66, Z:7.48 [[ 9.96182397e-01 -8.68507057e-02 -8.80835036e-03 8.01121795e+02] [ 8.68492666e-02 9.96221314e-01 -5.46485351e-04 1.36595028e+01] [ 8.82252901e-03 -2.20599682e-04 9.99961056e-01 7.47536886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4992541539999 meters Centerline goodness [0,1] 0.9997082239173023 Centerline is valid? [True, True] Translation: X:801.15, Y:13.66, Z:7.47 [[ 9.96399217e-01 -8.43222040e-02 -8.85246584e-03 8.01150918e+02] [ 8.43206477e-02 9.96438521e-01 -5.49552958e-04 1.36623098e+01] [ 8.86727749e-03 -1.98871517e-04 9.99960665e-01 7.47451830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5292541539999 meters Centerline goodness [0,1] 0.999812449204993 Centerline is valid? [True, True] Translation: X:801.18, Y:13.67, Z:7.47 [[ 9.96488909e-01 -8.31961105e-02 -9.39471787e-03 8.01180212e+02] [ 8.31943042e-02 9.96533174e-01 -5.83582132e-04 1.36662563e+01] [ 9.41069978e-03 -2.00053895e-04 9.99955698e-01 7.47483262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5592541539999 meters Centerline goodness [0,1] 0.9997300047768386 Centerline is valid? [True, True] Translation: X:801.21, Y:13.67, Z:7.47 [[ 9.96535221e-01 -8.24302047e-02 -1.10821582e-02 8.01208457e+02] [ 8.24276382e-02 9.96596814e-01 -6.88918933e-04 1.36685653e+01] [ 1.11012312e-02 -2.26944142e-04 9.99938354e-01 7.47264133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.589254154 meters Centerline goodness [0,1] 0.9997913101548479 Centerline is valid? [True, True] Translation: X:801.24, Y:13.67, Z:7.47 [[ 9.96462245e-01 -8.33066971e-02 -1.10900389e-02 8.01236827e+02] [ 8.33041696e-02 9.96523928e-01 -6.90451156e-04 1.36712092e+01] [ 1.11090083e-02 -2.35837972e-04 9.99938265e-01 7.47231547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6192541539999 meters Centerline goodness [0,1] 0.9998539171083936 Centerline is valid? [True, True] Translation: X:801.27, Y:13.67, Z:7.47 [[ 9.96368593e-01 -8.44856879e-02 -1.05733618e-02 8.01265322e+02] [ 8.44834294e-02 9.96424665e-01 -6.60867094e-04 1.36728289e+01] [ 1.05913923e-02 -2.34806651e-04 9.99943882e-01 7.47338505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6492541539999 meters Centerline goodness [0,1] 0.99987564509109 Centerline is valid? [True, True] Translation: X:801.29, Y:13.67, Z:7.48 [[ 9.96277103e-01 -8.56225148e-02 -1.00359029e-02 8.01293801e+02] [ 8.56205132e-02 9.96327622e-01 -6.29708961e-04 1.36740390e+01] [ 1.00529645e-02 -2.31914537e-04 9.99949441e-01 7.47507502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6792541539999 meters Centerline goodness [0,1] 0.9996884282242486 Centerline is valid? [True, True] Translation: X:801.32, Y:13.68, Z:7.47 [[ 9.96069944e-01 -8.81567112e-02 -8.54755884e-03 8.01323704e+02] [ 8.81553356e-02 9.96106594e-01 -5.38305354e-04 1.36756126e+01] [ 8.56173495e-03 -2.17323134e-04 9.99963324e-01 7.47496296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7092541539998 meters Centerline goodness [0,1] 0.9998745399799264 Centerline is valid? [True, True] Translation: X:801.35, Y:13.68, Z:7.48 [[ 9.95960844e-01 -8.95096105e-02 -7.07294660e-03 8.01352363e+02] [ 8.95087015e-02 9.95985941e-01 -4.45595800e-04 1.36767695e+01] [ 7.08444048e-03 -1.89294297e-04 9.99974887e-01 7.47794767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7392541539999 meters Centerline goodness [0,1] 0.9997712764851434 Centerline is valid? [True, True] Translation: X:801.38, Y:13.68, Z:7.48 [[ 9.95887700e-01 -9.03176746e-02 -7.09976413e-03 8.01382300e+02] [ 9.03167762e-02 9.95912988e-01 -4.47712405e-04 1.36781924e+01] [ 7.11118365e-03 -1.95356531e-04 9.99974696e-01 7.47704868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7692541539999 meters Centerline goodness [0,1] 0.9999165467025516 Centerline is valid? [True, True] Translation: X:801.41, Y:13.68, Z:7.48 [[ 9.95799153e-01 -9.13547954e-02 -6.19261879e-03 8.01412345e+02] [ 9.13541302e-02 9.95818392e-01 -3.90797359e-04 1.36815034e+01] [ 6.20242490e-03 -1.76565624e-04 9.99980749e-01 7.47822498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7992541539999 meters Centerline goodness [0,1] 0.9997497184332373 Centerline is valid? [True, True] Translation: X:801.44, Y:13.68, Z:7.48 [[ 9.95638584e-01 -9.30464296e-02 -6.79506619e-03 8.01442264e+02] [ 9.30456680e-02 9.95661750e-01 -4.28815984e-04 1.36803815e+01] [ 6.80548729e-03 -2.05305734e-04 9.99976821e-01 7.47587993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8292541539998 meters Centerline goodness [0,1] 0.9997500208315974 Centerline is valid? [True, True] Translation: X:801.47, Y:13.69, Z:7.47 [[ 9.95557035e-01 -9.38725341e-02 -7.35782129e-03 8.01472315e+02] [ 9.38716637e-02 9.95584198e-01 -4.64329749e-04 1.36857875e+01] [ 7.36891842e-03 -2.28424177e-04 9.99972823e-01 7.47497897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8592541539999 meters Centerline goodness [0,1] 0.9997911096256684 Centerline is valid? [True, True] Translation: X:801.50, Y:13.68, Z:7.47 [[ 9.95430034e-01 -9.52147527e-02 -7.29369187e-03 8.01501453e+02] [ 9.52139339e-02 9.95456727e-01 -4.60207593e-04 1.36834739e+01] [ 7.30437319e-03 -2.36356635e-04 9.99973295e-01 7.47495475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8892541539999 meters Centerline goodness [0,1] 0.9997922077922078 Centerline is valid? [True, True] Translation: X:801.53, Y:13.69, Z:7.47 [[ 9.95129750e-01 -9.82162989e-02 -8.38688653e-03 8.01530739e+02] [ 9.82153196e-02 9.95165047e-01 -5.29542895e-04 1.36885245e+01] [ 8.39834607e-03 -2.96756853e-04 9.99964689e-01 7.47409197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9192541539999 meters Centerline goodness [0,1] 0.9998118571786939 Centerline is valid? [True, True] Translation: X:801.56, Y:13.69, Z:7.48 [[ 9.94950846e-01 -1.00068037e-01 -7.69425588e-03 8.01560463e+02] [ 1.00067266e-01 9.94980556e-01 -4.86061054e-04 1.36896492e+01] [ 7.70427417e-03 -2.86336291e-04 9.99970281e-01 7.47508539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9492541539998 meters Centerline goodness [0,1] 0.9999166423540199 Centerline is valid? [True, True] Translation: X:801.59, Y:13.69, Z:7.48 [[ 9.94790747e-01 -1.01674171e-01 -7.33023789e-03 8.01590032e+02] [ 1.01673513e-01 9.94817713e-01 -4.63313329e-04 1.36913226e+01] [ 7.33935749e-03 -2.84391222e-04 9.99973026e-01 7.47670804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9792541539999 meters Centerline goodness [0,1] 0.9998747651847214 Centerline is valid? [True, True] Translation: X:801.62, Y:13.69, Z:7.48 [[ 9.94644814e-01 -1.03113272e-01 -7.02476938e-03 8.01619798e+02] [ 1.03112702e-01 9.94669580e-01 -4.44242302e-04 1.36941496e+01] [ 7.03313168e-03 -2.82479646e-04 9.99975227e-01 7.47677846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0092541539999 meters Centerline goodness [0,1] 0.9997709144677926 Centerline is valid? [True, True] Translation: X:801.65, Y:13.70, Z:7.48 [[ 9.94473337e-01 -1.04786928e-01 -6.51784085e-03 8.01650024e+02] [ 1.04786471e-01 9.94494658e-01 -4.12497961e-04 1.36969280e+01] [ 6.52518231e-03 -2.72763315e-04 9.99978674e-01 7.47726073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0392541539999 meters Centerline goodness [0,1] 0.999937424387802 Centerline is valid? [True, True] Translation: X:801.68, Y:13.70, Z:7.48 [[ 9.94423044e-01 -1.05315063e-01 -5.61665385e-03 8.01680171e+02] [ 1.05314733e-01 9.94438877e-01 -3.55464074e-04 1.37001548e+01] [ 5.62285467e-03 -2.38034731e-04 9.99984163e-01 7.47931735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0692541539999 meters Centerline goodness [0,1] 0.9998744901160966 Centerline is valid? [True, True] Translation: X:801.71, Y:13.71, Z:7.48 [[ 9.94433025e-01 -1.05238060e-01 -5.28298735e-03 8.01710184e+02] [ 1.05237766e-01 9.94447033e-01 -3.34347150e-04 1.37053527e+01] [ 5.28883714e-03 -2.23483938e-04 9.99985989e-01 7.48069577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0992541539999 meters Centerline goodness [0,1] 0.9997911445279867 Centerline is valid? [True, True] Translation: X:801.74, Y:13.71, Z:7.48 [[ 9.94658727e-01 -1.03024833e-01 -6.31662944e-03 8.01740110e+02] [ 1.03024368e-01 9.94678752e-01 -3.99763791e-04 1.37113908e+01] [ 6.32420269e-03 -2.53138215e-04 9.99979970e-01 7.47727446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1292541539999 meters Centerline goodness [0,1] 0.9997281187911743 Centerline is valid? [True, True] Translation: X:801.77, Y:13.72, Z:7.48 [[ 9.94820584e-01 -1.01386692e-01 -7.26246177e-03 8.01769723e+02] [ 1.01386035e-01 9.94847054e-01 -4.59585344e-04 1.37151653e+01] [ 7.27163453e-03 -2.79107240e-04 9.99973522e-01 7.47596477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1592541539999 meters Centerline goodness [0,1] 0.9999373865130549 Centerline is valid? [True, True] Translation: X:801.80, Y:13.72, Z:7.48 [[ 9.94991782e-01 -9.96974530e-02 -7.19528469e-03 8.01800018e+02] [ 9.96967623e-02 9.95017763e-01 -4.55502180e-04 1.37197588e+01] [ 7.20484848e-03 -2.64125662e-04 9.99974010e-01 7.47785975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1892541539999 meters Centerline goodness [0,1] 0.9997285899202472 Centerline is valid? [True, True] Translation: X:801.83, Y:13.73, Z:7.48 [[ 9.95443489e-01 -9.50197381e-02 -7.96924170e-03 8.01829106e+02] [ 9.50187413e-02 9.95475356e-01 -5.04473420e-04 1.37275825e+01] [ 7.98111865e-03 -2.55052533e-04 9.99968118e-01 7.47637949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2192541539999 meters Centerline goodness [0,1] 0.9998331142958466 Centerline is valid? [True, True] Translation: X:801.86, Y:13.73, Z:7.48 [[ 9.95696549e-01 -9.23502340e-02 -7.73408153e-03 8.01859884e+02] [ 9.23492132e-02 9.95726560e-01 -4.89777691e-04 1.37332011e+01] [ 7.74626148e-03 -2.26566387e-04 9.99969972e-01 7.47713115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2492541539999 meters Centerline goodness [0,1] 0.9998540876308 Centerline is valid? [True, True] Translation: X:801.89, Y:13.74, Z:7.48 [[ 9.95933293e-01 -8.97679515e-02 -7.65446941e-03 8.01890654e+02] [ 8.97668764e-02 9.95962687e-01 -4.84601918e-04 1.37384246e+01] [ 7.66706764e-03 -2.04486625e-04 9.99970587e-01 7.47776903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2792541539999 meters Centerline goodness [0,1] 0.9997702685769183 Centerline is valid? [True, True] Translation: X:801.92, Y:13.75, Z:7.48 [[ 9.96409312e-01 -8.43833095e-02 -6.92392951e-03 8.01920175e+02] [ 8.43823008e-02 9.96433357e-01 -4.38203054e-04 1.37462382e+01] [ 6.93621135e-03 -1.47627500e-04 9.99975933e-01 7.47833074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3092541539999 meters Centerline goodness [0,1] 0.9997717321380398 Centerline is valid? [True, True] Translation: X:801.95, Y:13.75, Z:7.48 [[ 9.96605676e-01 -8.20533890e-02 -6.66087180e-03 8.01951541e+02] [ 8.20524029e-02 9.96627927e-01 -4.21647178e-04 1.37510677e+01] [ 6.67300844e-03 -1.26324566e-04 9.99977727e-01 7.47888242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.339254154 meters Centerline goodness [0,1] 0.9998132043751686 Centerline is valid? [True, True] Translation: X:801.98, Y:13.76, Z:7.48 [[ 9.96941545e-01 -7.78844759e-02 -6.44710777e-03 8.01981172e+02] [ 7.78834665e-02 9.96962386e-01 -4.07853394e-04 1.37578761e+01] [ 6.45928939e-03 -9.55171098e-05 9.99979134e-01 7.47912213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3692541539999 meters Centerline goodness [0,1] 0.9998333298610388 Centerline is valid? [True, True] Translation: X:802.01, Y:13.76, Z:7.48 [[ 9.97092435e-01 -7.59417620e-02 -6.28691533e-03 8.02013183e+02] [ 7.59407632e-02 9.97112252e-01 -3.97788835e-04 1.37642026e+01] [ 6.29896908e-03 -8.08009097e-05 9.99980158e-01 7.47839677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3992541539999 meters Centerline goodness [0,1] 0.9998545031281827 Centerline is valid? [True, True] Translation: X:802.04, Y:13.77, Z:7.48 [[ 9.97235373e-01 -7.39938325e-02 -6.82085649e-03 8.02044760e+02] [ 7.39926151e-02 9.97258696e-01 -4.31010502e-04 1.37666609e+01] [ 6.83405057e-03 -7.48740903e-05 9.99976645e-01 7.47864533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4292541539999 meters Centerline goodness [0,1] 0.9998956790252248 Centerline is valid? [True, True] Translation: X:802.08, Y:13.77, Z:7.48 [[ 9.97388445e-01 -7.18412220e-02 -7.42488947e-03 8.02076896e+02] [ 7.18397243e-02 9.97416079e-01 -4.68576078e-04 1.37719821e+01] [ 7.43936722e-03 -6.60496462e-05 9.99972325e-01 7.47829432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4592541539998 meters Centerline goodness [0,1] 0.9998125663827394 Centerline is valid? [True, True] Translation: X:802.11, Y:13.78, Z:7.48 [[ 9.97706659e-01 -6.71006273e-02 -8.88419588e-03 8.02108950e+02] [ 6.70983018e-02 9.97746212e-01 -5.59896877e-04 1.37783816e+01] [ 8.90174222e-03 -3.75016140e-05 9.99960378e-01 7.47579730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4892541539999 meters Centerline goodness [0,1] 0.9999166388796266 Centerline is valid? [True, True] Translation: X:802.14, Y:13.78, Z:7.48 [[ 9.97876335e-01 -6.45018865e-02 -9.07338879e-03 8.02139659e+02] [ 6.44993598e-02 9.97917585e-01 -5.71130626e-04 1.37821081e+01] [ 9.09133323e-03 -1.53100313e-05 9.99958673e-01 7.47727560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5192541539999 meters Centerline goodness [0,1] 0.9998548561001908 Centerline is valid? [True, True] Translation: X:802.17, Y:13.79, Z:7.48 [[ 9.98050965e-01 -6.17114574e-02 -9.27187572e-03 8.02170079e+02] [ 6.17087033e-02 9.98094032e-01 -5.83101264e-04 1.37859138e+01] [ 9.29018784e-03 9.80935163e-06 9.99956845e-01 7.47663719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5492541539999 meters Centerline goodness [0,1] 0.9998548561001908 Centerline is valid? [True, True] Translation: X:802.20, Y:13.79, Z:7.48 [[ 9.98052968e-01 -6.16790541e-02 -9.27188584e-03 8.02200858e+02] [ 6.16763001e-02 9.98096035e-01 -5.82940192e-04 1.37878147e+01] [ 9.29018769e-03 9.94957490e-06 9.99956845e-01 7.47692604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5792541539998 meters Centerline goodness [0,1] 0.9998127496671105 Centerline is valid? [True, True] Translation: X:802.23, Y:13.79, Z:7.48 [[ 9.98225185e-01 -5.88690132e-02 -8.99549637e-03 8.02231656e+02] [ 5.88663093e-02 9.98265715e-01 -5.65280286e-04 1.37911725e+01] [ 9.01317311e-03 3.47453464e-05 9.99959380e-01 7.47729480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6092541539999 meters Centerline goodness [0,1] 0.9998339353178063 Centerline is valid? [True, True] Translation: X:802.26, Y:13.80, Z:7.48 [[ 9.98546839e-01 -5.33615747e-02 -7.53348726e-03 8.02261934e+02] [ 5.33595235e-02 9.98575254e-01 -4.73155323e-04 1.37966099e+01] [ 7.54800226e-03 7.04844618e-05 9.99971511e-01 7.47993213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6392541539999 meters Centerline goodness [0,1] 0.999833485971193 Centerline is valid? [True, True] Translation: X:802.29, Y:13.80, Z:7.48 [[ 9.98691164e-01 -5.07025619e-02 -6.72374123e-03 8.02293287e+02] [ 5.07008681e-02 9.98713795e-01 -4.22242724e-04 1.37985901e+01] [ 6.73650191e-03 8.07905603e-05 9.99977306e-01 7.47984001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6692541539999 meters Centerline goodness [0,1] 0.999854121079504 Centerline is valid? [True, True] Translation: X:802.32, Y:13.80, Z:7.48 [[ 9.98808442e-01 -4.84567222e-02 -5.80021394e-03 8.02324528e+02] [ 4.84554248e-02 9.98825280e-01 -3.64082537e-04 1.38007382e+01] [ 5.81104256e-03 8.25968807e-05 9.99983112e-01 7.48106266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6992541539998 meters Centerline goodness [0,1] 0.999812683414157 Centerline is valid? [True, True] Translation: X:802.36, Y:13.80, Z:7.48 [[ 9.98943398e-01 -4.55968003e-02 -5.74625800e-03 8.02356035e+02] [ 4.55954805e-02 9.98959920e-01 -3.60554520e-04 1.38012559e+01] [ 5.75672156e-03 9.81701632e-05 9.99983425e-01 7.48053386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7292541539999 meters Centerline goodness [0,1] 0.999853709508882 Centerline is valid? [True, True] Translation: X:802.39, Y:13.80, Z:7.48 [[ 9.98966034e-01 -4.50635959e-02 -6.01122757e-03 8.02387897e+02] [ 4.50621436e-02 9.98984115e-01 -3.76888156e-04 1.38013978e+01] [ 6.02210479e-03 1.05619667e-04 9.99981861e-01 7.48019595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7592541539999 meters Centerline goodness [0,1] 0.9997310938275691 Centerline is valid? [True, True] Translation: X:802.42, Y:13.80, Z:7.48 [[ 9.98963506e-01 -4.50144288e-02 -6.75391822e-03 8.02419408e+02] [ 4.50125988e-02 9.98986330e-01 -4.22789320e-04 1.38009353e+01] [ 6.76610360e-03 1.18339690e-04 9.99977103e-01 7.47878540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7892541539999 meters Centerline goodness [0,1] 0.9999582811848143 Centerline is valid? [True, True] Translation: X:802.45, Y:13.80, Z:7.48 [[ 9.98896764e-01 -4.64640425e-02 -6.80786871e-03 8.02450806e+02] [ 4.64622185e-02 9.98919957e-01 -4.25922014e-04 1.37960899e+01] [ 6.82030598e-03 1.09143438e-04 9.99976735e-01 7.48061934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8192541539999 meters Centerline goodness [0,1] 0.9997300776545824 Centerline is valid? [True, True] Translation: X:802.48, Y:13.79, Z:7.48 [[ 9.98847750e-01 -4.73493236e-02 -7.82396587e-03 8.02482183e+02] [ 4.73469442e-02 9.98878385e-01 -4.89161127e-04 1.37942393e+01] [ 7.83835184e-03 1.18156616e-04 9.99969273e-01 7.47831239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8492541539999 meters Centerline goodness [0,1] 0.9997288899084482 Centerline is valid? [True, True] Translation: X:802.51, Y:13.79, Z:7.48 [[ 9.98797380e-01 -4.84224788e-02 -7.68490074e-03 8.02513800e+02] [ 4.84202171e-02 9.98826938e-01 -4.80199504e-04 1.37918648e+01] [ 7.69913832e-03 1.07517444e-04 9.99970355e-01 7.47888761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8792541539999 meters Centerline goodness [0,1] 0.9998336314103897 Centerline is valid? [True, True] Translation: X:802.54, Y:13.79, Z:7.48 [[ 9.98699749e-01 -5.02258887e-02 -8.72766681e-03 8.02544113e+02] [ 5.02230437e-02 9.98737878e-01 -5.44972132e-04 1.37873288e+01] [ 8.74402314e-03 1.05933539e-04 9.99961765e-01 7.47920726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9092541539999 meters Centerline goodness [0,1] 0.9998748931378886 Centerline is valid? [True, True] Translation: X:802.58, Y:13.79, Z:7.48 [[ 9.98665358e-01 -5.07514026e-02 -9.58116975e-03 8.02575156e+02] [ 5.07479982e-02 9.98711311e-01 -5.98266480e-04 1.37853168e+01] [ 9.59918546e-03 1.11242824e-04 9.99953921e-01 7.47935912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9392541539999 meters Centerline goodness [0,1] 0.9998755444928438 Centerline is valid? [True, True] Translation: X:802.61, Y:13.78, Z:7.48 [[ 9.98633001e-01 -5.13526613e-02 -9.74851834e-03 8.02605362e+02] [ 5.13491655e-02 9.98680576e-01 -6.08715610e-04 1.37802720e+01] [ 9.76691508e-03 1.07305215e-04 9.99952297e-01 7.47907569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9692541539999 meters Centerline goodness [0,1] 0.9997925870615809 Centerline is valid? [True, True] Translation: X:802.64, Y:13.78, Z:7.48 [[ 9.98646831e-01 -5.10219262e-02 -1.00632744e-02 8.02635547e+02] [ 5.10181843e-02 9.98697527e-01 -6.28371567e-04 1.37783532e+01] [ 1.00822279e-02 1.14111289e-04 9.99949167e-01 7.47845123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9992541539999 meters Centerline goodness [0,1] 0.9999168399168399 Centerline is valid? [True, True] Translation: X:802.67, Y:13.78, Z:7.48 [[ 9.98675120e-01 -5.05959869e-02 -9.38359071e-03 8.02665255e+02] [ 5.05927131e-02 9.98719197e-01 -5.86084539e-04 1.37768080e+01] [ 9.40122571e-03 1.10566734e-04 9.99955801e-01 7.48021262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0292541539999 meters Centerline goodness [0,1] 0.9998120418520143 Centerline is valid? [True, True] Translation: X:802.70, Y:13.78, Z:7.48 [[ 9.98709783e-01 -4.97815933e-02 -1.00280844e-02 8.02695078e+02] [ 4.97778095e-02 9.98760120e-01 -6.26714944e-04 1.37754139e+01] [ 1.00468497e-02 1.26730268e-04 9.99949521e-01 7.47878150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0592541539999 meters Centerline goodness [0,1] 0.9997287258461667 Centerline is valid? [True, True] Translation: X:802.72, Y:13.77, Z:7.48 [[ 9.98793329e-01 -4.79175263e-02 -1.07608388e-02 8.02724303e+02] [ 4.79130565e-02 9.98851283e-01 -6.72937036e-04 1.37722403e+01] [ 1.07807231e-02 1.56540346e-04 9.99941874e-01 7.47816312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.089254154 meters Centerline goodness [0,1] 0.9998326009625444 Centerline is valid? [True, True] Translation: X:802.75, Y:13.77, Z:7.48 [[ 9.98829810e-01 -4.70990517e-02 -1.09859142e-02 8.02753002e+02] [ 4.70943336e-02 9.98890209e-01 -6.87910867e-04 1.37710154e+01] [ 1.10061221e-02 1.69731571e-04 9.99939416e-01 7.47800288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1192541539999 meters Centerline goodness [0,1] 0.9999372463707484 Centerline is valid? [True, True] Translation: X:802.78, Y:13.77, Z:7.48 [[ 9.98851308e-01 -4.67670680e-02 -1.04357765e-02 8.02782236e+02] [ 4.67627672e-02 9.98905808e-01 -6.55879089e-04 1.37700175e+01] [ 1.04550313e-02 1.67119900e-04 9.99945331e-01 7.47961561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1492541539999 meters Centerline goodness [0,1] 0.9998534675849364 Centerline is valid? [True, True] Translation: X:802.81, Y:13.76, Z:7.48 [[ 9.98908411e-01 -4.54160676e-02 -1.09255116e-02 8.02811237e+02] [ 4.54112428e-02 9.98968140e-01 -6.89411175e-04 1.37638038e+01] [ 1.09455483e-02 1.92517562e-04 9.99940077e-01 7.47987081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1792541539999 meters Centerline goodness [0,1] 0.9998124882805175 Centerline is valid? [True, True] Translation: X:802.84, Y:13.76, Z:7.48 [[ 9.98926488e-01 -4.48985393e-02 -1.14014109e-02 8.02840652e+02] [ 4.48932177e-02 9.98991530e-01 -7.22388642e-04 1.37617929e+01] [ 1.14223471e-02 2.09767128e-04 9.99934741e-01 7.47985849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:802.87, Y:13.76, Z:7.48 [[ 9.98972709e-01 -4.40742712e-02 -1.05349241e-02 8.02868824e+02] [ 4.40696577e-02 9.99028236e-01 -6.69773538e-04 1.37631894e+01] [ 1.05542064e-02 2.04814987e-04 9.99944282e-01 7.48335622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2392541539999 meters Centerline goodness [0,1] 0.999874558340825 Centerline is valid? [True, True] Translation: X:802.90, Y:13.76, Z:7.48 [[ 9.99065499e-01 -4.15144740e-02 -1.20282128e-02 8.02898139e+02] [ 4.15082548e-02 9.99137867e-01 -7.66339138e-04 1.37560270e+01] [ 1.20496571e-02 2.66352869e-04 9.99927365e-01 7.48145922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2692541539999 meters Centerline goodness [0,1] 0.999874966136662 Centerline is valid? [True, True] Translation: X:802.93, Y:13.75, Z:7.48 [[ 9.99135506e-01 -3.99113439e-02 -1.16329113e-02 8.02927328e+02] [ 3.99053851e-02 9.99203186e-01 -7.43999561e-04 1.37544590e+01] [ 1.16533361e-02 2.79140573e-04 9.99932059e-01 7.48233091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2992541539999 meters Centerline goodness [0,1] 0.9997712241587289 Centerline is valid? [True, True] Translation: X:802.96, Y:13.75, Z:7.48 [[ 9.99194255e-01 -3.84547663e-02 -1.14922159e-02 8.02956536e+02] [ 3.84488213e-02 9.99260298e-01 -7.37880700e-04 1.37521082e+01] [ 1.15120901e-02 2.95424002e-04 9.99933690e-01 7.48238024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3292541539998 meters Centerline goodness [0,1] 0.9998336521666805 Centerline is valid? [True, True] Translation: X:802.98, Y:13.75, Z:7.48 [[ 9.99294301e-01 -3.60627303e-02 -1.05061857e-02 8.02984773e+02] [ 3.60576033e-02 9.99349484e-01 -6.77067621e-04 1.37487589e+01] [ 1.05237682e-02 2.97761937e-04 9.99944579e-01 7.48389004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3592541539999 meters Centerline goodness [0,1] 0.9998548681373363 Centerline is valid? [True, True] Translation: X:803.01, Y:13.75, Z:7.48 [[ 9.99318691e-01 -3.53756738e-02 -1.05221394e-02 8.03012867e+02] [ 3.53704662e-02 9.99374038e-01 -6.80661786e-04 1.37483218e+01] [ 1.05396318e-02 3.08025069e-04 9.99944409e-01 7.48467152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3892541539999 meters Centerline goodness [0,1] 0.999813899629867 Centerline is valid? [True, True] Translation: X:803.04, Y:13.74, Z:7.48 [[ 9.99350996e-01 -3.41452746e-02 -1.14755129e-02 8.03042204e+02] [ 3.41389772e-02 9.99416818e-01 -7.44264551e-04 1.37408203e+01] [ 1.14942337e-02 3.52019249e-04 9.99933877e-01 7.48381426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4192541539999 meters Centerline goodness [0,1] 0.9999793546255962 Centerline is valid? [True, True] Translation: X:803.07, Y:13.74, Z:7.49 [[ 9.99360842e-01 -3.39451697e-02 -1.12086496e-02 8.03070093e+02] [ 3.39391202e-02 9.99423636e-01 -7.29542299e-04 1.37394585e+01] [ 1.12269537e-02 3.48664301e-04 9.99936915e-01 7.48669500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4492541539998 meters Centerline goodness [0,1] 0.9998549793863556 Centerline is valid? [True, True] Translation: X:803.10, Y:13.73, Z:7.49 [[ 9.99317775e-01 -3.45743873e-02 -1.29844671e-02 8.03098547e+02] [ 3.45662881e-02 9.99402048e-01 -8.47732497e-04 1.37301723e+01] [ 1.30060129e-02 3.98329320e-04 9.99915339e-01 7.48516594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4792541539999 meters Centerline goodness [0,1] 0.9997932816537468 Centerline is valid? [True, True] Translation: X:803.13, Y:13.72, Z:7.49 [[ 9.99253799e-01 -3.67420908e-02 -1.19106299e-02 8.03126499e+02] [ 3.67353955e-02 9.99324723e-01 -7.80502238e-04 1.37229629e+01] [ 1.19312642e-02 3.42378127e-04 9.99928761e-01 7.48596178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5092541539999 meters Centerline goodness [0,1] 0.9997927375227988 Centerline is valid? [True, True] Translation: X:803.16, Y:13.71, Z:7.49 [[ 9.99076115e-01 -4.16157105e-02 -1.07261378e-02 8.03156809e+02] [ 4.16105453e-02 9.99133658e-01 -7.04366189e-04 1.37088392e+01] [ 1.07461580e-02 2.57394992e-04 9.99942225e-01 7.48758593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5392541539999 meters Centerline goodness [0,1] 0.9997923588039868 Centerline is valid? [True, True] Translation: X:803.18, Y:13.71, Z:7.49 [[ 9.98988718e-01 -4.35865578e-02 -1.10341691e-02 8.03184841e+02] [ 4.35811854e-02 9.99049624e-01 -7.26984223e-04 1.37060784e+01] [ 1.10553693e-02 2.45366867e-04 9.99938857e-01 7.48753155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5692541539999 meters Centerline goodness [0,1] 0.9997920522364782 Centerline is valid? [True, True] Translation: X:803.22, Y:13.68, Z:7.49 [[ 9.98378197e-01 -5.52012042e-02 -1.39212883e-02 8.03215597e+02] [ 5.51937635e-02 9.98475240e-01 -9.18410481e-04 1.36809116e+01] [ 1.39507590e-02 1.48552708e-04 9.99902672e-01 7.48546567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5992541539999 meters Centerline goodness [0,1] 0.9998130685830598 Centerline is valid? [True, True] Translation: X:803.25, Y:13.68, Z:7.49 [[ 9.98173445e-01 -5.85746328e-02 -1.47914232e-02 8.03245016e+02] [ 5.85665786e-02 9.98283026e-01 -9.77474099e-04 1.36770403e+01] [ 1.48232819e-02 1.09405638e-04 9.99890123e-01 7.48529575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6292541539999 meters Centerline goodness [0,1] 0.9998130685830598 Centerline is valid? [True, True] Translation: X:803.27, Y:13.68, Z:7.49 [[ 9.98157369e-01 -5.88480144e-02 -1.47911759e-02 8.03272449e+02] [ 5.88399349e-02 9.98266948e-01 -9.81205468e-04 1.36789503e+01] [ 1.48232840e-02 1.09085642e-04 9.99890123e-01 7.48555322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6592541539999 meters Centerline goodness [0,1] 0.9997511922040224 Centerline is valid? [True, True] Translation: X:803.30, Y:13.68, Z:7.49 [[ 9.97925723e-01 -6.25554958e-02 -1.52006722e-02 8.03301426e+02] [ 6.25473310e-02 9.98041485e-01 -1.01241940e-03 1.36751619e+01] [ 1.52342338e-02 5.95578849e-05 9.99883951e-01 7.48503873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6892541539999 meters Centerline goodness [0,1] 0.9997511922040224 Centerline is valid? [True, True] Translation: X:803.33, Y:13.68, Z:7.49 [[ 9.97908579e-01 -6.28284542e-02 -1.52004158e-02 8.03328859e+02] [ 6.28202625e-02 9.98024339e-01 -1.01625686e-03 1.36770860e+01] [ 1.52342348e-02 5.92373313e-05 9.99883951e-01 7.48529620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7192541539999 meters Centerline goodness [0,1] 0.9997511922040224 Centerline is valid? [True, True] Translation: X:803.36, Y:13.68, Z:7.49 [[ 9.97891361e-01 -6.31014108e-02 -1.52001369e-02 8.03356291e+02] [ 6.30931875e-02 9.98007118e-01 -1.02041411e-03 1.36790178e+01] [ 1.52342344e-02 5.92373301e-05 9.99883951e-01 7.48555365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7492541539999 meters Centerline goodness [0,1] 0.9998756012605738 Centerline is valid? [True, True] Translation: X:803.38, Y:13.68, Z:7.49 [[ 9.97646792e-01 -6.69167036e-02 -1.49342920e-02 8.03384654e+02] [ 6.69091443e-02 9.97758565e-01 -1.00580715e-03 1.36753171e+01] [ 1.49681230e-02 4.19957733e-06 9.99887971e-01 7.48724883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7792541539999 meters Centerline goodness [0,1] 0.9999375026040581 Centerline is valid? [True, True] Translation: X:803.41, Y:13.67, Z:7.49 [[ 9.97381990e-01 -7.08268613e-02 -1.45850167e-02 8.03413136e+02] [ 7.08200313e-02 9.97488623e-01 -9.84891098e-04 1.36717233e+01] [ 1.46181450e-02 -5.05987000e-05 9.99893148e-01 7.48951335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8092541539999 meters Centerline goodness [0,1] 0.9998336867489918 Centerline is valid? [True, True] Translation: X:803.44, Y:13.66, Z:7.49 [[ 9.96511490e-01 -8.23265115e-02 -1.36819229e-02 8.03443296e+02] [ 8.23215478e-02 9.96605390e-01 -9.26541787e-04 1.36594396e+01] [ 1.37117571e-02 -2.03007532e-04 9.99905969e-01 7.48966798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.839254154 meters Centerline goodness [0,1] 0.9999791484215355 Centerline is valid? [True, True] Translation: X:803.47, Y:13.63, Z:7.49 [[ 9.94373606e-01 -1.05071913e-01 -1.34545717e-02 8.03474439e+02] [ 1.05069181e-01 9.94464497e-01 -9.11648026e-04 1.36345642e+01] [ 1.34758824e-02 -5.07142098e-04 9.99909068e-01 7.49291413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:803.50, Y:13.64, Z:7.49 [[ 9.94110749e-01 -1.07574577e-01 -1.30969005e-02 8.03503535e+02] [ 1.07572204e-01 9.94196878e-01 -8.87572849e-04 1.36408134e+01] [ 1.31163778e-02 -5.26516735e-04 9.99913838e-01 7.49425461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:803.53, Y:13.64, Z:7.49 [[ 9.94080345e-01 -1.07855192e-01 -1.30968063e-02 8.03531003e+02] [ 1.07852825e-01 9.94166474e-01 -8.88958776e-04 1.36427523e+01] [ 1.31162846e-02 -5.28831111e-04 9.99913838e-01 7.49451251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:803.56, Y:13.64, Z:7.49 [[ 9.94049860e-01 -1.08135819e-01 -1.30965545e-02 8.03558469e+02] [ 1.08133428e-01 9.94135989e-01 -8.92655666e-04 1.36446999e+01] [ 1.31162842e-02 -5.28831096e-04 9.99913838e-01 7.49477016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:803.59, Y:13.65, Z:7.50 [[ 9.94019297e-01 -1.08416439e-01 -1.30963016e-02 8.03585936e+02] [ 1.08414023e-01 9.94105425e-01 -8.96352484e-04 1.36466553e+01] [ 1.31162839e-02 -5.28831081e-04 9.99913838e-01 7.49502781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:803.61, Y:13.65, Z:7.50 [[ 9.93988654e-01 -1.08697049e-01 -1.30960477e-02 8.03613401e+02] [ 1.08694609e-01 9.94074782e-01 -9.00049231e-04 1.36486184e+01] [ 1.31162835e-02 -5.28831066e-04 9.99913838e-01 7.49528546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:803.64, Y:13.65, Z:7.50 [[ 9.93957933e-01 -1.08977651e-01 -1.30957928e-02 8.03640866e+02] [ 1.08975187e-01 9.94044059e-01 -9.03745905e-04 1.36505893e+01] [ 1.31162831e-02 -5.28831051e-04 9.99913838e-01 7.49554311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0492541539999 meters Centerline goodness [0,1] 0.9998541180393464 Centerline is valid? [True, True] Translation: X:803.67, Y:13.65, Z:7.49 [[ 9.93649209e-01 -1.11765458e-01 -1.30280797e-02 8.03670356e+02] [ 1.11763223e-01 9.93734456e-01 -9.01840575e-04 1.36514064e+01] [ 1.30472463e-02 -5.59946996e-04 9.99914724e-01 7.49351690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0792541539998 meters Centerline goodness [0,1] 0.9998541180393464 Centerline is valid? [True, True] Translation: X:803.70, Y:13.65, Z:7.49 [[ 9.93617257e-01 -1.12049174e-01 -1.30279838e-02 8.03697824e+02] [ 1.12046944e-01 9.93702504e-01 -9.03222679e-04 1.36533888e+01] [ 1.30471455e-02 -5.62288135e-04 9.99914724e-01 7.49377483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1092541539999 meters Centerline goodness [0,1] 0.999832383506537 Centerline is valid? [True, True] Translation: X:803.73, Y:13.66, Z:7.49 [[ 9.93352457e-01 -1.14384157e-01 -1.29290834e-02 8.03726853e+02] [ 1.14382121e-01 9.93436421e-01 -8.99226306e-04 1.36583172e+01] [ 1.29470796e-02 -5.85607321e-04 9.99916012e-01 7.49360753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1392541539999 meters Centerline goodness [0,1] 0.9998532094700862 Centerline is valid? [True, True] Translation: X:803.76, Y:13.64, Z:7.49 [[ 9.93088810e-01 -1.16702968e-01 -1.24512187e-02 8.03756911e+02] [ 1.16701244e-01 9.93166687e-01 -8.67398629e-04 1.36442500e+01] [ 1.24673636e-02 -5.91668844e-04 9.99922104e-01 7.49358967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1692541539999 meters Centerline goodness [0,1] 0.9998115775149168 Centerline is valid? [True, True] Translation: X:803.78, Y:13.66, Z:7.49 [[ 9.92763379e-01 -1.19496322e-01 -1.18954494e-02 8.03784184e+02] [ 1.19494915e-01 9.92834465e-01 -8.31459193e-04 1.36629528e+01] [ 1.19095684e-02 -5.96003481e-04 9.99928901e-01 7.49487438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1992541539998 meters Centerline goodness [0,1] 0.99985374924263 Centerline is valid? [True, True] Translation: X:803.81, Y:13.67, Z:7.50 [[ 9.92680028e-01 -1.20212647e-01 -1.16310922e-02 8.03812100e+02] [ 1.20211342e-01 9.92747990e-01 -8.13798501e-04 1.36681361e+01] [ 1.16445722e-02 -5.90347683e-04 9.99932025e-01 7.49521010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2292541539999 meters Centerline goodness [0,1] 0.99985374924263 Centerline is valid? [True, True] Translation: X:803.84, Y:13.67, Z:7.50 [[ 9.92646353e-01 -1.20490405e-01 -1.16309896e-02 8.03839574e+02] [ 1.20489102e-01 9.92714315e-01 -8.15261055e-04 1.36701329e+01] [ 1.16444811e-02 -5.92141585e-04 9.99932025e-01 7.49546805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2592541539999 meters Centerline goodness [0,1] 0.999874256014754 Centerline is valid? [True, True] Translation: X:803.87, Y:13.68, Z:7.50 [[ 9.92863951e-01 -1.18670846e-01 -1.17645524e-02 8.03868073e+02] [ 1.18669347e-01 9.92933483e-01 -8.27855690e-04 1.36827524e+01] [ 1.17796603e-02 -5.74143675e-04 9.99930453e-01 7.49564977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2892541539999 meters Centerline goodness [0,1] 0.9999163862120863 Centerline is valid? [True, True] Translation: X:803.90, Y:13.69, Z:7.50 [[ 9.93092901e-01 -1.16762744e-01 -1.15304856e-02 8.03895777e+02] [ 1.16761148e-01 9.93159691e-01 -8.13758318e-04 1.36874714e+01] [ 1.15466302e-02 -5.38175130e-04 9.99933191e-01 7.49587063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3192541539999 meters Centerline goodness [0,1] 0.9997706947947719 Centerline is valid? [True, True] Translation: X:803.93, Y:13.70, Z:7.49 [[ 9.93601155e-01 -1.12299028e-01 -1.20694750e-02 8.03925417e+02] [ 1.12296940e-01 9.93674328e-01 -8.52730638e-04 1.36997415e+01] [ 1.20888883e-02 -5.08090967e-04 9.99926798e-01 7.49349380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:803.95, Y:13.71, Z:7.50 [[ 9.93885056e-01 -1.09908402e-01 -1.06131736e-02 8.03954107e+02] [ 1.09906646e-01 9.93941631e-01 -7.50282307e-04 1.37070046e+01] [ 1.06313374e-02 -4.20763940e-04 9.99943397e-01 7.49932140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3792541539999 meters Centerline goodness [0,1] 0.9998747913188648 Centerline is valid? [True, True] Translation: X:803.98, Y:13.72, Z:7.50 [[ 9.94065394e-01 -1.08216974e-01 -1.10940891e-02 8.03982321e+02] [ 1.08214921e-01 9.94127211e-01 -7.86999715e-04 1.37151356e+01] [ 1.11141026e-02 -4.18216789e-04 9.99938149e-01 7.49588897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4092541539999 meters Centerline goodness [0,1] 0.9998534062113883 Centerline is valid? [True, True] Translation: X:804.01, Y:13.72, Z:7.50 [[ 9.94553247e-01 -1.03768757e-01 -9.79202655e-03 8.04010789e+02] [ 1.03766921e-01 9.94601398e-01 -6.96743019e-04 1.37237722e+01] [ 9.81146345e-03 -3.23140409e-04 9.99951814e-01 7.49651519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4392541539999 meters Centerline goodness [0,1] 0.9998334270306286 Centerline is valid? [True, True] Translation: X:804.04, Y:13.73, Z:7.50 [[ 9.94731754e-01 -1.02022427e-01 -1.00081180e-02 8.04038877e+02] [ 1.02020418e-01 9.94782050e-01 -7.12461757e-04 1.37334727e+01] [ 1.00285832e-02 -3.12324046e-04 9.99949664e-01 7.49708987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4692541539999 meters Centerline goodness [0,1] 0.9998334270306286 Centerline is valid? [True, True] Translation: X:804.07, Y:13.74, Z:7.50 [[ 9.94702503e-01 -1.02307238e-01 -1.00079351e-02 8.04066313e+02] [ 1.02305217e-01 9.94752799e-01 -7.15022299e-04 1.37355051e+01] [ 1.00285734e-02 -3.12629496e-04 9.99949664e-01 7.49734745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4992541539999 meters Centerline goodness [0,1] 0.9999583272560582 Centerline is valid? [True, True] Translation: X:804.09, Y:13.74, Z:7.50 [[ 9.94914992e-01 -1.00335325e-01 -8.77384142e-03 8.04093792e+02] [ 1.00333675e-01 9.94953646e-01 -6.29158368e-04 1.37420584e+01] [ 8.79269232e-03 -2.54352662e-04 9.99961311e-01 7.50041221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5292541539999 meters Centerline goodness [0,1] 0.9999584337850196 Centerline is valid? [True, True] Translation: X:804.12, Y:13.76, Z:7.50 [[ 9.95340448e-01 -9.60965977e-02 -7.92689342e-03 8.04121867e+02] [ 9.60951112e-02 9.95371994e-01 -5.69074898e-04 1.37556613e+01] [ 7.94489387e-03 -1.95312440e-04 9.99968420e-01 7.50220103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5592541539999 meters Centerline goodness [0,1] 0.999812300569355 Centerline is valid? [True, True] Translation: X:804.15, Y:13.76, Z:7.50 [[ 9.95545624e-01 -9.39499665e-02 -7.89400639e-03 8.04149236e+02] [ 9.39484206e-02 9.95576904e-01 -5.67252393e-04 1.37623531e+01] [ 7.91238378e-03 -1.76903795e-04 9.99968681e-01 7.50201727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5892541539998 meters Centerline goodness [0,1] 0.9997280391623606 Centerline is valid? [True, True] Translation: X:804.18, Y:13.77, Z:7.50 [[ 9.95707228e-01 -9.21304743e-02 -8.89336260e-03 8.04178035e+02] [ 9.21284322e-02 9.95746927e-01 -6.39895213e-04 1.37701944e+01] [ 8.91449233e-03 -1.82183264e-04 9.99960249e-01 7.49877838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6192541539999 meters Centerline goodness [0,1] 0.9997918141316567 Centerline is valid? [True, True] Translation: X:804.21, Y:13.78, Z:7.50 [[ 9.96070454e-01 -8.79134007e-02 -1.07183948e-02 8.04205206e+02] [ 8.79101603e-02 9.96128107e-01 -7.74003043e-04 1.37798822e+01] [ 1.07449396e-02 -1.71294244e-04 9.99942257e-01 7.49664273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6492541539999 meters Centerline goodness [0,1] 0.9997493996032161 Centerline is valid? [True, True] Translation: X:804.23, Y:13.79, Z:7.50 [[ 9.96221568e-01 -8.61411824e-02 -1.10582442e-02 8.04233378e+02] [ 8.61376096e-02 9.96282928e-01 -7.99850335e-04 1.37881782e+01] [ 1.10860400e-02 -1.55702569e-04 9.99938536e-01 7.49679114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6792541539999 meters Centerline goodness [0,1] 0.9996226968788647 Centerline is valid? [True, True] Translation: X:804.26, Y:13.79, Z:7.50 [[ 9.96376118e-01 -8.43567154e-02 -1.08893012e-02 8.04261792e+02] [ 8.43531145e-02 9.96435611e-01 -7.90367198e-04 1.37946383e+01] [ 1.09171603e-02 -1.31043472e-04 9.99940397e-01 7.49732322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7092541539998 meters Centerline goodness [0,1] 0.9998331873722841 Centerline is valid? [True, True] Translation: X:804.29, Y:13.80, Z:7.50 [[ 9.96558311e-01 -8.22043886e-02 -1.06757657e-02 8.04289217e+02] [ 8.22007775e-02 9.96615487e-01 -7.77346938e-04 1.38003156e+01] [ 1.07035348e-02 -1.02884692e-04 9.99942710e-01 7.49721848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7392541539999 meters Centerline goodness [0,1] 0.9999166666666667 Centerline is valid? [True, True] Translation: X:804.32, Y:13.81, Z:7.50 [[ 9.96890465e-01 -7.82779240e-02 -9.05363361e-03 8.04317874e+02] [ 7.82751590e-02 9.96931574e-01 -6.59886435e-04 1.38105760e+01] [ 9.07750775e-03 -5.08401163e-05 9.99958797e-01 7.49882635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7692541539999 meters Centerline goodness [0,1] 0.999791048518534 Centerline is valid? [True, True] Translation: X:804.35, Y:13.82, Z:7.50 [[ 9.97035734e-01 -7.63365371e-02 -9.61653384e-03 8.04345626e+02] [ 7.63333039e-02 9.97082109e-01 -7.03343468e-04 1.38161428e+01] [ 9.64216464e-03 -3.28032287e-05 9.99953513e-01 7.49754194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:804.37, Y:13.82, Z:7.50 [[ 9.97194819e-01 -7.43685275e-02 -8.47439851e-03 8.04372074e+02] [ 7.43659265e-02 9.97230827e-01 -6.22053792e-04 1.38216132e+01] [ 8.49719265e-03 -9.89767859e-06 9.99963898e-01 7.50210027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8292541539998 meters Centerline goodness [0,1] 0.999916284715682 Centerline is valid? [True, True] Translation: X:804.40, Y:13.83, Z:7.50 [[ 9.97515296e-01 -6.97750398e-02 -9.73022447e-03 8.04399059e+02] [ 6.97713708e-02 9.97562751e-01 -7.16435353e-04 1.38298174e+01] [ 9.75649880e-03 3.57641241e-05 9.99952404e-01 7.49859376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8592541539999 meters Centerline goodness [0,1] 0.9999374061091637 Centerline is valid? [True, True] Translation: X:804.43, Y:13.83, Z:7.50 [[ 9.97673202e-01 -6.74779192e-02 -9.74235072e-03 8.04427739e+02] [ 6.74741223e-02 9.97720766e-01 -7.18268924e-04 1.38346120e+01] [ 9.76861292e-03 5.92410928e-05 9.99952284e-01 7.49869155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8892541539999 meters Centerline goodness [0,1] 0.9998955700829174 Centerline is valid? [True, True] Translation: X:804.46, Y:13.84, Z:7.50 [[ 9.97979974e-01 -6.25769805e-02 -1.09586996e-02 8.04455900e+02] [ 6.25718474e-02 9.98040133e-01 -8.10978816e-04 1.38403349e+01] [ 1.09879706e-02 1.23634537e-04 9.99939623e-01 7.49744458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9192541539999 meters Centerline goodness [0,1] 0.9999372227337406 Centerline is valid? [True, True] Translation: X:804.48, Y:13.85, Z:7.50 [[ 9.98128384e-01 -6.01622766e-02 -1.09648819e-02 8.04483155e+02] [ 6.01569642e-02 9.98188598e-01 -8.13969594e-04 1.38450606e+01] [ 1.09939904e-02 1.52832146e-04 9.99939553e-01 7.49833089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9492541539998 meters Centerline goodness [0,1] 0.9998535442296427 Centerline is valid? [True, True] Translation: X:804.51, Y:13.85, Z:7.50 [[ 9.98251374e-01 -5.78848110e-02 -1.19809136e-02 8.04512028e+02] [ 5.78782851e-02 9.98323249e-01 -8.90996714e-04 1.38478492e+01] [ 1.20123997e-02 1.96003964e-04 9.99927829e-01 7.49741354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9792541539999 meters Centerline goodness [0,1] 0.9998539475880487 Centerline is valid? [True, True] Translation: X:804.54, Y:13.85, Z:7.50 [[ 9.98391929e-01 -5.55127520e-02 -1.14843231e-02 8.04539336e+02] [ 5.55065700e-02 9.98457955e-01 -8.56579166e-04 1.38527606e+01] [ 1.15141648e-02 2.17746340e-04 9.99933686e-01 7.49756594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0092541539999 meters Centerline goodness [0,1] 0.9998541848935549 Centerline is valid? [True, True] Translation: X:804.57, Y:13.86, Z:7.50 [[ 9.98661458e-01 -5.05004231e-02 -1.11802787e-02 8.04567684e+02] [ 5.04942397e-02 9.98724003e-01 -8.34836768e-04 1.38590619e+01] [ 1.12081723e-02 2.69179631e-04 9.99937150e-01 7.49796059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0392541539999 meters Centerline goodness [0,1] 0.9998336141095235 Centerline is valid? [True, True] Translation: X:804.60, Y:13.86, Z:7.50 [[ 9.98790538e-01 -4.78840944e-02 -1.11613500e-02 8.04595975e+02] [ 4.78777611e-02 9.98852854e-01 -8.34088342e-04 1.38593060e+01] [ 1.11884859e-02 2.98699095e-04 9.99937362e-01 7.49860784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0692541539999 meters Centerline goodness [0,1] 0.9998342518543074 Centerline is valid? [True, True] Translation: X:804.62, Y:13.86, Z:7.50 [[ 9.98903261e-01 -4.54705288e-02 -1.11672287e-02 8.04624708e+02] [ 4.54640234e-02 9.98965627e-01 -8.35850103e-04 1.38622576e+01] [ 1.11936841e-02 3.27226248e-04 9.99937295e-01 7.49863629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:804.65, Y:13.86, Z:7.50 [[ 9.99103451e-01 -4.12025025e-02 -9.72875044e-03 8.04654491e+02] [ 4.11973426e-02 9.99150762e-01 -7.30273822e-04 1.38637726e+01] [ 9.75057753e-03 3.28820431e-04 9.99952408e-01 7.50167944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1292541539999 meters Centerline goodness [0,1] 0.9997914711708894 Centerline is valid? [True, True] Translation: X:804.68, Y:13.87, Z:7.50 [[ 9.99170633e-01 -3.91085676e-02 -1.13387235e-02 8.04683338e+02] [ 3.91014135e-02 9.99234884e-01 -8.52034109e-04 1.38652878e+01] [ 1.13633699e-02 4.07967343e-04 9.99935352e-01 7.49750774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1592541539999 meters Centerline goodness [0,1] 0.9998752780260669 Centerline is valid? [True, True] Translation: X:804.71, Y:13.87, Z:7.50 [[ 9.99248593e-01 -3.71796215e-02 -1.09510568e-02 8.04711358e+02] [ 3.71728056e-02 9.99308512e-01 -8.25362209e-04 1.38687164e+01] [ 1.09741709e-02 4.17660522e-04 9.99939695e-01 7.49843268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1892541539999 meters Centerline goodness [0,1] 0.9998756734355574 Centerline is valid? [True, True] Translation: X:804.74, Y:13.87, Z:7.50 [[ 9.99364458e-01 -3.36470393e-02 -1.17709880e-02 8.04741503e+02] [ 3.36389080e-02 9.99433657e-01 -8.88160306e-04 1.38664330e+01] [ 1.17942055e-02 4.91632662e-04 9.99930325e-01 7.49790494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2192541539999 meters Centerline goodness [0,1] 0.9998552253314306 Centerline is valid? [True, True] Translation: X:804.77, Y:13.87, Z:7.50 [[ 9.99412080e-01 -3.21080114e-02 -1.20237601e-02 8.04770212e+02] [ 3.20994036e-02 9.99484269e-01 -9.08250267e-04 1.38665628e+01] [ 1.20467212e-02 5.21760761e-04 9.99927299e-01 7.49757893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2492541539999 meters Centerline goodness [0,1] 0.9998343822457767 Centerline is valid? [True, True] Translation: X:804.80, Y:13.86, Z:7.50 [[ 9.99489679e-01 -2.97822493e-02 -1.15498734e-02 8.04800591e+02] [ 2.97741247e-02 9.99556270e-01 -8.74790458e-04 1.38624722e+01] [ 1.15708016e-02 5.30456665e-04 9.99932915e-01 7.49773192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2792541539999 meters Centerline goodness [0,1] 0.9998342587221347 Centerline is valid? [True, True] Translation: X:804.83, Y:13.86, Z:7.50 [[ 9.99517978e-01 -2.90952975e-02 -1.08293924e-02 8.04829665e+02] [ 2.90881072e-02 9.99576514e-01 -8.20916432e-04 1.38621479e+01] [ 1.08486911e-02 5.05514205e-04 9.99941023e-01 7.49844978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3092541539999 meters Centerline goodness [0,1] 0.999979287918643 Centerline is valid? [True, True] Translation: X:804.86, Y:13.86, Z:7.50 [[ 9.99539605e-01 -2.88571727e-02 -9.37240135e-03 8.04859014e+02] [ 2.88517573e-02 9.99583447e-01 -7.12525962e-04 1.38614257e+01] [ 9.38905873e-03 4.41787670e-04 9.99955824e-01 7.50192953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3392541539998 meters Centerline goodness [0,1] 0.9998133360987245 Centerline is valid? [True, True] Translation: X:804.89, Y:13.86, Z:7.50 [[ 9.99545208e-01 -2.86362455e-02 -9.45215079e-03 8.04888833e+02] [ 2.86307050e-02 9.99589797e-01 -7.20985703e-04 1.38552716e+01] [ 9.46891982e-03 4.50036062e-04 9.99955068e-01 7.49935729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3692541539999 meters Centerline goodness [0,1] 0.999979288776588 Centerline is valid? [True, True] Translation: X:804.92, Y:13.85, Z:7.50 [[ 9.99541633e-01 -2.91244748e-02 -8.26375867e-03 8.04917021e+02] [ 2.91202421e-02 9.99575716e-01 -6.32085310e-04 1.38509252e+01] [ 8.27866164e-03 3.91152930e-04 9.99965655e-01 7.50267170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3992541539999 meters Centerline goodness [0,1] 0.9998964395932147 Centerline is valid? [True, True] Translation: X:804.95, Y:13.85, Z:7.50 [[ 9.99521967e-01 -2.95136301e-02 -9.20772435e-03 8.04945266e+02] [ 2.95083634e-02 9.99564283e-01 -7.07355439e-04 1.38493757e+01] [ 9.22458901e-03 4.35312424e-04 9.99957358e-01 7.50051592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4292541539999 meters Centerline goodness [0,1] 0.999772228434174 Centerline is valid? [True, True] Translation: X:804.97, Y:13.85, Z:7.50 [[ 9.99484403e-01 -3.03760549e-02 -1.04030408e-02 8.04974757e+02] [ 3.03693656e-02 9.99538424e-01 -8.00419669e-04 1.38462452e+01] [ 1.04225526e-02 4.84073227e-04 9.99945567e-01 7.49853129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4592541539998 meters Centerline goodness [0,1] 0.9997501093271693 Centerline is valid? [True, True] Translation: X:805.00, Y:13.84, Z:7.50 [[ 9.99412638e-01 -3.25574600e-02 -1.06953402e-02 8.05003833e+02] [ 3.25504867e-02 9.99469752e-01 -8.25467087e-04 1.38386864e+01] [ 1.07165441e-02 4.76843710e-04 9.99942462e-01 7.49790790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4892541539999 meters Centerline goodness [0,1] 0.9998127730393177 Centerline is valid? [True, True] Translation: X:805.03, Y:13.84, Z:7.50 [[ 9.99363953e-01 -3.40135851e-02 -1.07128630e-02 8.05032855e+02] [ 3.40066615e-02 9.99421263e-01 -8.27842792e-04 1.38357460e+01] [ 1.07348210e-02 4.63007539e-04 9.99942273e-01 7.49861814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5192541539999 meters Centerline goodness [0,1] 0.9997913406364111 Centerline is valid? [True, True] Translation: X:805.06, Y:13.82, Z:7.50 [[ 9.99318066e-01 -3.55178309e-02 -1.00938862e-02 8.05062724e+02] [ 3.55117364e-02 9.99368953e-01 -7.82421100e-04 1.38249155e+01] [ 1.01153064e-02 4.23436113e-04 9.99948749e-01 7.49857462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5492541539999 meters Centerline goodness [0,1] 0.9998545031281827 Centerline is valid? [True, True] Translation: X:805.09, Y:13.82, Z:7.50 [[ 9.99310450e-01 -3.59168585e-02 -9.41299717e-03 8.05090891e+02] [ 3.59115548e-02 9.99354704e-01 -7.31911570e-04 1.38232843e+01] [ 9.43321097e-03 3.93371516e-04 9.99955429e-01 7.49957024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:805.12, Y:13.82, Z:7.50 [[ 9.99323299e-01 -3.59109769e-02 -7.95901452e-03 8.05120077e+02] [ 3.59071821e-02 9.99354937e-01 -6.19225940e-04 1.38196081e+01] [ 7.97611746e-03 3.33021126e-04 9.99968135e-01 7.50408697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6092541539999 meters Centerline goodness [0,1] 0.9997702253880058 Centerline is valid? [True, True] Translation: X:805.15, Y:13.81, Z:7.50 [[ 9.99300293e-01 -3.62229572e-02 -9.31777720e-03 8.05149265e+02] [ 3.62177433e-02 9.99343657e-01 -7.27749788e-04 1.38119226e+01] [ 9.33802280e-03 3.89771714e-04 9.99956324e-01 7.49907808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:805.18, Y:13.81, Z:7.50 [[ 9.99350683e-01 -3.52026412e-02 -7.68032383e-03 8.05177020e+02] [ 3.51990525e-02 9.99380140e-01 -6.01980403e-04 1.38113559e+01] [ 7.69675441e-03 3.31249405e-04 9.99970325e-01 7.50391251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6692541539999 meters Centerline goodness [0,1] 0.9999169848912502 Centerline is valid? [True, True] Translation: X:805.21, Y:13.81, Z:7.50 [[ 9.99352464e-01 -3.48033719e-02 -9.13117736e-03 8.05206049e+02] [ 3.47982738e-02 9.99394100e-01 -7.16657366e-04 1.38080012e+01] [ 9.15058687e-03 3.98444094e-04 9.99958053e-01 7.50076019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6992541539998 meters Centerline goodness [0,1] 0.9997721104642732 Centerline is valid? [True, True] Translation: X:805.23, Y:13.80, Z:7.50 [[ 9.99410828e-01 -3.26512048e-02 -1.05780650e-02 8.05234721e+02] [ 3.26442124e-02 9.99466689e-01 -8.33068824e-04 1.38031852e+01] [ 1.05996243e-02 4.87265404e-04 9.99943704e-01 7.49793747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7292541539999 meters Centerline goodness [0,1] 0.9998751820262117 Centerline is valid? [True, True] Translation: X:805.26, Y:13.80, Z:7.50 [[ 9.99446690e-01 -3.15734080e-02 -1.04610929e-02 8.05263852e+02] [ 3.15665005e-02 9.99501314e-01 -8.24807756e-04 1.38014941e+01] [ 1.04819181e-02 4.94131287e-04 9.99944941e-01 7.49870400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7592541539999 meters Centerline goodness [0,1] 0.9998962526455576 Centerline is valid? [True, True] Translation: X:805.29, Y:13.80, Z:7.50 [[ 9.99474966e-01 -3.06146973e-02 -1.06081635e-02 8.05291853e+02] [ 3.06075137e-02 9.99531128e-01 -8.38900970e-04 1.38004532e+01] [ 1.06288723e-02 5.13771010e-04 9.99943380e-01 7.49861005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:805.32, Y:13.80, Z:7.50 [[ 9.99520943e-01 -2.91704970e-02 -1.03424403e-02 8.05321007e+02] [ 2.91635807e-02 9.99574317e-01 -8.18947434e-04 1.37991940e+01] [ 1.03619268e-02 5.16932519e-04 9.99946180e-01 7.50193344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:805.35, Y:13.79, Z:7.50 [[ 9.99610708e-01 -2.59593688e-02 -1.02247061e-02 8.05350634e+02] [ 2.59524178e-02 9.99662850e-01 -8.11941431e-04 1.37945978e+01] [ 1.02423363e-02 5.46269503e-04 9.99947397e-01 7.50235534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8492541539999 meters Centerline goodness [0,1] 0.9999585045022615 Centerline is valid? [True, True] Translation: X:805.38, Y:13.79, Z:7.50 [[ 9.99649212e-01 -2.44796247e-02 -1.01094317e-02 8.05378873e+02] [ 2.44727503e-02 9.99700175e-01 -8.03165147e-04 1.37938896e+01] [ 1.01260618e-02 5.55477809e-04 9.99948576e-01 7.50272878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8792541539999 meters Centerline goodness [0,1] 0.9998957964279015 Centerline is valid? [True, True] Translation: X:805.41, Y:13.79, Z:7.50 [[ 9.99662611e-01 -2.38778239e-02 -1.02231862e-02 8.05408046e+02] [ 2.38707536e-02 9.99714722e-01 -8.13073671e-04 1.37926286e+01] [ 1.02396842e-02 5.68764190e-04 9.99947411e-01 7.49963730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9092541539999 meters Centerline goodness [0,1] 0.9999792246644783 Centerline is valid? [True, True] Translation: X:805.44, Y:13.79, Z:7.50 [[ 9.99701887e-01 -2.27066002e-02 -8.97484406e-03 8.05437109e+02] [ 2.27010871e-02 9.99742041e-01 -7.15690021e-04 1.37907779e+01] [ 8.98877980e-03 5.11737947e-04 9.99959469e-01 7.50384257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9392541539999 meters Centerline goodness [0,1] 0.9999376791723794 Centerline is valid? [True, True] Translation: X:805.47, Y:13.79, Z:7.50 [[ 9.99720595e-01 -2.19660361e-02 -8.73074283e-03 8.05465443e+02] [ 2.19607720e-02 9.99758589e-01 -6.98372639e-04 1.37861770e+01] [ 8.74397562e-03 5.06443658e-04 9.99961642e-01 7.50234070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9692541539999 meters Centerline goodness [0,1] 0.9998753246753247 Centerline is valid? [True, True] Translation: X:805.49, Y:13.78, Z:7.50 [[ 9.99707900e-01 -2.23595190e-02 -9.17428669e-03 8.05494121e+02] [ 2.23537155e-02 9.99749855e-01 -7.34647331e-04 1.37800902e+01] [ 9.18841814e-03 5.29353346e-04 9.99957645e-01 7.50122662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9992541539999 meters Centerline goodness [0,1] 0.9998540602522673 Centerline is valid? [True, True] Translation: X:805.52, Y:13.78, Z:7.50 [[ 9.99689228e-01 -2.31266227e-02 -9.30628740e-03 8.05523877e+02] [ 2.31206593e-02 9.99732402e-01 -7.47874840e-04 1.37767566e+01] [ 9.32109288e-03 5.32474921e-04 9.99956416e-01 7.50104083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0292541539999 meters Centerline goodness [0,1] 0.999937737376253 Centerline is valid? [True, True] Translation: X:805.55, Y:13.77, Z:7.50 [[ 9.99633242e-01 -2.54694149e-02 -9.20273952e-03 8.05553502e+02] [ 2.54636630e-02 9.99675473e-01 -7.41668674e-04 1.37698952e+01] [ 9.21864285e-03 5.07061203e-04 9.99957379e-01 7.50246709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0592541539999 meters Centerline goodness [0,1] 0.9998749557134818 Centerline is valid? [True, True] Translation: X:805.58, Y:13.77, Z:7.50 [[ 9.99567711e-01 -2.75844132e-02 -1.01730262e-02 8.05583128e+02] [ 2.75774881e-02 9.99619332e-01 -8.20413530e-04 1.37666929e+01] [ 1.01917842e-02 5.39512367e-04 9.99947917e-01 7.50087184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0892541539998 meters Centerline goodness [0,1] 0.9999791718736982 Centerline is valid? [True, True] Translation: X:805.61, Y:13.76, Z:7.51 [[ 9.99518813e-01 -2.96960092e-02 -8.96042488e-03 8.05612558e+02] [ 2.96907050e-02 9.99558871e-01 -7.24426767e-04 1.37584462e+01] [ 8.97798476e-03 4.58036850e-04 9.99959592e-01 7.50523198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1192541539999 meters Centerline goodness [0,1] 0.9999792539728642 Centerline is valid? [True, True] Translation: X:805.64, Y:13.75, Z:7.50 [[ 9.99323924e-01 -3.55586635e-02 -9.34222782e-03 8.05643207e+02] [ 3.55531467e-02 9.99367501e-01 -7.55986856e-04 1.37482109e+01] [ 9.36320076e-03 4.23330155e-04 9.99956075e-01 7.50428365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1492541539999 meters Centerline goodness [0,1] 0.9997914842153551 Centerline is valid? [True, True] Translation: X:805.67, Y:13.74, Z:7.50 [[ 9.99194364e-01 -3.86945162e-02 -1.06469007e-02 8.05673452e+02] [ 3.86875256e-02 9.99250986e-01 -8.61833499e-04 1.37440824e+01] [ 1.06722743e-02 4.49236930e-04 9.99942949e-01 7.50051231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1792541539999 meters Centerline goodness [0,1] 0.999896450316862 Centerline is valid? [True, True] Translation: X:805.70, Y:13.74, Z:7.50 [[ 9.99096949e-01 -4.13564324e-02 -9.74328202e-03 8.05701962e+02] [ 4.13507013e-02 9.99144382e-01 -7.89015389e-04 1.37418138e+01] [ 9.76757636e-03 3.85411323e-04 9.99952222e-01 7.50207761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2092541539998 meters Centerline goodness [0,1] 0.9999170795414498 Centerline is valid? [True, True] Translation: X:805.73, Y:13.73, Z:7.50 [[ 9.98848755e-01 -4.70734319e-02 -9.23348989e-03 8.05732733e+02] [ 4.70685231e-02 9.98891383e-01 -7.48342113e-04 1.37290749e+01] [ 9.25848052e-03 3.12873856e-04 9.99957090e-01 7.50245519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:805.76, Y:13.73, Z:7.51 [[ 9.98750827e-01 -4.92843008e-02 -8.23666816e-03 8.05761248e+02] [ 4.92804682e-02 9.98784756e-01 -6.67745702e-04 1.37251491e+01] [ 8.25956798e-03 2.61004709e-04 9.99965855e-01 7.50514215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2692541539999 meters Centerline goodness [0,1] 0.9998547988964717 Centerline is valid? [True, True] Translation: X:805.79, Y:13.72, Z:7.50 [[ 9.98466998e-01 -5.45225510e-02 -9.53654120e-03 8.05791555e+02] [ 5.45176430e-02 9.98512507e-01 -7.74052990e-04 1.37154549e+01] [ 9.56455900e-03 2.52956618e-04 9.99954227e-01 7.50161156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2992541539999 meters Centerline goodness [0,1] 0.9999169779991698 Centerline is valid? [True, True] Translation: X:805.82, Y:13.71, Z:7.50 [[ 9.98376672e-01 -5.61744154e-02 -9.40506181e-03 8.05820541e+02] [ 5.61697119e-02 9.98420943e-01 -7.63707634e-04 1.37122691e+01] [ 9.43311152e-03 2.34188273e-04 9.99955480e-01 7.50227585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3292541539998 meters Centerline goodness [0,1] 0.9997719923721085 Centerline is valid? [True, True] Translation: X:805.85, Y:13.71, Z:7.50 [[ 9.98274676e-01 -5.77698156e-02 -1.05033491e-02 8.05850489e+02] [ 5.77640089e-02 9.98329899e-01 -8.55625282e-04 1.37054503e+01] [ 1.05352368e-02 2.47433501e-04 9.99944472e-01 7.50033918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3592541539999 meters Centerline goodness [0,1] 0.9997719923721085 Centerline is valid? [True, True] Translation: X:805.88, Y:13.71, Z:7.50 [[ 9.98257927e-01 -5.80585510e-02 -1.05031286e-02 8.05877946e+02] [ 5.80527319e-02 9.98313149e-01 -8.58324166e-04 1.37077702e+01] [ 1.05352444e-02 2.47093595e-04 9.99944472e-01 7.50059677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3892541539999 meters Centerline goodness [0,1] 0.9999375312343828 Centerline is valid? [True, True] Translation: X:805.91, Y:13.70, Z:7.50 [[ 9.98248721e-01 -5.84652839e-02 -9.01675716e-03 8.05906547e+02] [ 5.84609910e-02 9.98289420e-01 -7.39161537e-04 1.37017963e+01] [ 9.04454856e-03 2.10738499e-04 9.99959075e-01 7.50345606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:805.94, Y:13.70, Z:7.51 [[ 9.98288395e-01 -5.79068312e-02 -8.19015012e-03 8.05935308e+02] [ 5.79032667e-02 9.98321972e-01 -6.71867616e-04 1.36992632e+01] [ 8.21531254e-03 1.96481198e-04 9.99966234e-01 7.50574322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4492541539998 meters Centerline goodness [0,1] 0.9998958593684912 Centerline is valid? [True, True] Translation: X:805.96, Y:13.70, Z:7.50 [[ 9.98316766e-01 -5.73351843e-02 -8.73566444e-03 8.05962956e+02] [ 5.73310852e-02 9.98354962e-01 -7.19132579e-04 1.37003488e+01] [ 8.76252554e-03 2.17096988e-04 9.99961585e-01 7.50371259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:805.99, Y:13.70, Z:7.51 [[ 9.98391372e-01 -5.62214342e-02 -7.33606889e-03 8.05992356e+02] [ 5.62185119e-02 9.98418306e-01 -6.04119686e-04 1.36983782e+01] [ 7.35842995e-03 1.90725006e-04 9.99972908e-01 7.50675209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5092541539999 meters Centerline goodness [0,1] 0.9999167845552135 Centerline is valid? [True, True] Translation: X:806.02, Y:13.70, Z:7.50 [[ 9.98436362e-01 -5.53745350e-02 -7.64796399e-03 8.06019975e+02] [ 5.53713162e-02 9.98465632e-01 -6.32143167e-04 1.36989380e+01] [ 7.67123383e-03 2.07676892e-04 9.99970554e-01 7.50495108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5392541539999 meters Centerline goodness [0,1] 0.9998550784646598 Centerline is valid? [True, True] Translation: X:806.05, Y:13.69, Z:7.50 [[ 9.98550854e-01 -5.32854369e-02 -7.54014861e-03 8.06049260e+02] [ 5.32822458e-02 9.98579298e-01 -6.23601328e-04 1.36947314e+01] [ 7.56266517e-03 2.20941587e-04 9.99971378e-01 7.50443828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5692541539999 meters Centerline goodness [0,1] 0.9996681668291266 Centerline is valid? [True, True] Translation: X:806.08, Y:13.69, Z:7.50 [[ 9.98606076e-01 -5.20619691e-02 -8.68658777e-03 8.06077164e+02] [ 5.20576639e-02 9.98643820e-01 -7.21140181e-04 1.36948389e+01] [ 8.71235117e-03 2.67931500e-04 9.99962011e-01 7.50309812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5992541539999 meters Centerline goodness [0,1] 0.9998961254804196 Centerline is valid? [True, True] Translation: X:806.10, Y:13.70, Z:7.50 [[ 9.98658955e-01 -5.11848065e-02 -7.77221966e-03 8.06104501e+02] [ 5.11813291e-02 9.98689168e-01 -6.45783952e-04 1.36976902e+01] [ 7.79508591e-03 2.47125394e-04 9.99969587e-01 7.50429789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6292541539999 meters Centerline goodness [0,1] 0.999937423082539 Centerline is valid? [True, True] Translation: X:806.13, Y:13.69, Z:7.50 [[ 9.98725211e-01 -4.97924944e-02 -8.28619286e-03 8.06133900e+02] [ 4.97884850e-02 9.98759546e-01 -6.89571352e-04 1.36906190e+01] [ 8.31024970e-03 2.76135305e-04 9.99965431e-01 7.50439716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6592541539999 meters Centerline goodness [0,1] 0.9998752209628783 Centerline is valid? [True, True] Translation: X:806.16, Y:13.69, Z:7.50 [[ 9.98731348e-01 -4.94690493e-02 -9.40789446e-03 8.06161682e+02] [ 4.94638410e-02 9.98775606e-01 -7.85639005e-04 1.36906273e+01] [ 9.43524031e-03 3.19291707e-04 9.99955436e-01 7.50299083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6892541539999 meters Centerline goodness [0,1] 0.9998328143612464 Centerline is valid? [True, True] Translation: X:806.19, Y:13.69, Z:7.50 [[ 9.98743640e-01 -4.90485461e-02 -1.02655476e-02 8.06190483e+02] [ 4.90423058e-02 9.98796333e-01 -8.58885446e-04 1.36876515e+01] [ 1.02953184e-02 3.54360251e-04 9.99946939e-01 7.50255794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7192541539999 meters Centerline goodness [0,1] 0.9999375728316964 Centerline is valid? [True, True] Translation: X:806.22, Y:13.69, Z:7.50 [[ 9.98799343e-01 -4.80541641e-02 -9.52207959e-03 8.06218154e+02] [ 4.80487280e-02 9.98844673e-01 -7.98972612e-04 1.36867540e+01] [ 9.54947244e-03 3.40489508e-04 9.99954345e-01 7.50385597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7492541539999 meters Centerline goodness [0,1] 0.999874739039666 Centerline is valid? [True, True] Translation: X:806.25, Y:13.68, Z:7.50 [[ 9.98784465e-01 -4.81959552e-02 -1.03316423e-02 8.06246447e+02] [ 4.81895501e-02 9.98837831e-01 -8.68137718e-04 1.36841849e+01] [ 1.03614759e-02 3.69205270e-04 9.99946250e-01 7.50288708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7792541539999 meters Centerline goodness [0,1] 0.9998327654326149 Centerline is valid? [True, True] Translation: X:806.27, Y:13.69, Z:7.50 [[ 9.98788262e-01 -4.79510998e-02 -1.10769643e-02 8.06273686e+02] [ 4.79436875e-02 9.98849604e-01 -9.33888769e-04 1.36907556e+01] [ 1.11090024e-02 4.01686626e-04 9.99938212e-01 7.50226150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8092541539999 meters Centerline goodness [0,1] 0.9998950858197994 Centerline is valid? [True, True] Translation: X:806.30, Y:13.68, Z:7.50 [[ 9.98774183e-01 -4.82658690e-02 -1.09789726e-02 8.06302575e+02] [ 4.82585917e-02 9.98834445e-01 -9.26952637e-04 1.36795453e+01] [ 1.10109161e-02 3.95986608e-04 9.99939300e-01 7.50329152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:806.33, Y:13.68, Z:7.51 [[ 9.98764568e-01 -4.86514575e-02 -1.01179623e-02 8.06329894e+02] [ 4.86452698e-02 9.98815751e-01 -8.56908074e-04 1.36797611e+01] [ 1.01476699e-02 3.63658418e-04 9.99948445e-01 7.50583220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8692541539999 meters Centerline goodness [0,1] 0.9998097130896252 Centerline is valid? [True, True] Translation: X:806.36, Y:13.67, Z:7.50 [[ 9.98640652e-01 -5.08447575e-02 -1.14742589e-02 8.06359557e+02] [ 5.08369139e-02 9.98706493e-01 -9.74401638e-04 1.36723889e+01] [ 1.15089601e-02 3.89761176e-04 9.99933694e-01 7.50328682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8992541539999 meters Centerline goodness [0,1] 0.9999366661036987 Centerline is valid? [True, True] Translation: X:806.39, Y:13.67, Z:7.51 [[ 9.98607592e-01 -5.18519747e-02 -9.70823261e-03 8.06387118e+02] [ 5.18463875e-02 9.98654730e-01 -8.26479166e-04 1.36734934e+01] [ 9.73802699e-03 3.21991580e-04 9.99952532e-01 7.50677152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:806.42, Y:13.67, Z:7.51 [[ 9.98551697e-01 -5.29352010e-02 -9.61107936e-03 8.06416554e+02] [ 5.29297626e-02 9.98597901e-01 -8.19506062e-04 1.36699064e+01] [ 9.64098440e-03 3.09607020e-04 9.99953477e-01 7.50744358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9592541539998 meters Centerline goodness [0,1] 0.9999574295991996 Centerline is valid? [True, True] Translation: X:806.45, Y:13.67, Z:7.51 [[ 9.98476191e-01 -5.42065473e-02 -1.03414955e-02 8.06446033e+02] [ 5.42002902e-02 9.98529692e-01 -8.84557973e-04 1.36686877e+01] [ 1.03742392e-02 3.22698018e-04 9.99946134e-01 7.50658927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9892541539999 meters Centerline goodness [0,1] 0.9999151589708783 Centerline is valid? [True, True] Translation: X:806.47, Y:13.67, Z:7.51 [[ 9.98409040e-01 -5.53715222e-02 -1.06481545e-02 8.06474876e+02] [ 5.53649256e-02 9.98465768e-01 -9.13515463e-04 1.36676267e+01] [ 1.06824005e-02 3.22527815e-04 9.99942890e-01 7.50633349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0192541539999 meters Centerline goodness [0,1] 0.9999573041863246 Centerline is valid? [True, True] Translation: X:806.50, Y:13.66, Z:7.51 [[ 9.98341485e-01 -5.65112295e-02 -1.09890985e-02 8.06503530e+02] [ 5.65042446e-02 9.98401911e-01 -9.45302079e-04 1.36644062e+01] [ 1.10249572e-02 3.22803569e-04 9.99939171e-01 7.50715211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0492541539999 meters Centerline goodness [0,1] 0.9998509147445318 Centerline is valid? [True, True] Translation: X:806.53, Y:13.66, Z:7.51 [[ 9.98288046e-01 -5.72997211e-02 -1.17353421e-02 8.06531409e+02] [ 5.72917970e-02 9.98356965e-01 -1.01057647e-03 1.36640935e+01] [ 1.17739663e-02 3.36507571e-04 9.99930628e-01 7.50569737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0792541539998 meters Centerline goodness [0,1] 0.9998508162482418 Centerline is valid? [True, True] Translation: X:806.56, Y:13.66, Z:7.51 [[ 9.98234756e-01 -5.81669253e-02 -1.19992351e-02 8.06560726e+02] [ 5.81586858e-02 9.98306815e-01 -1.03476175e-03 1.36610877e+01] [ 1.20391071e-02 3.35075397e-04 9.99927471e-01 7.50567644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1092541539999 meters Centerline goodness [0,1] 0.9998501744397594 Centerline is valid? [True, True] Translation: X:806.59, Y:13.66, Z:7.51 [[ 9.98213165e-01 -5.84874836e-02 -1.22348549e-02 8.06588770e+02] [ 5.84789030e-02 9.98288084e-01 -1.05821419e-03 1.36574499e+01] [ 1.22758021e-02 3.40842444e-04 9.99924591e-01 7.50593446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1392541539999 meters Centerline goodness [0,1] 0.9998932513503704 Centerline is valid? [True, True] Translation: X:806.62, Y:13.66, Z:7.51 [[ 9.98192848e-01 -5.88672988e-02 -1.20697929e-02 8.06617065e+02] [ 5.88589335e-02 9.98265761e-01 -1.04743837e-03 1.36575276e+01] [ 1.21105209e-02 3.35130349e-04 9.99926609e-01 7.50626737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:806.65, Y:13.66, Z:7.51 [[ 9.98216263e-01 -5.86062186e-02 -1.13843347e-02 8.06645105e+02] [ 5.85987279e-02 9.98281127e-01 -9.90718944e-04 1.36588929e+01] [ 1.14228288e-02 3.21844229e-04 9.99934706e-01 7.50815833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1992541539998 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:806.67, Y:13.66, Z:7.51 [[ 9.98167232e-01 -5.93317200e-02 -1.19131939e-02 8.06674059e+02] [ 5.93235493e-02 9.98238267e-01 -1.03837704e-03 1.36553973e+01] [ 1.19538148e-02 3.29740992e-04 9.99928496e-01 7.50737057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2292541539999 meters Centerline goodness [0,1] 0.9998706673564408 Centerline is valid? [True, True] Translation: X:806.70, Y:13.66, Z:7.50 [[ 9.98118152e-01 -5.98674414e-02 -1.32681787e-02 8.06701290e+02] [ 5.98573030e-02 9.98206270e-01 -1.16027526e-03 1.36600784e+01] [ 1.33138419e-02 3.63894406e-04 9.99911301e-01 7.50479091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:806.73, Y:13.66, Z:7.51 [[ 9.98179769e-01 -5.90177065e-02 -1.24120752e-02 8.06730383e+02] [ 5.90087383e-02 9.98256873e-01 -1.08784698e-03 1.36591429e+01] [ 1.24546416e-02 3.53445952e-04 9.99922375e-01 7.50719228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2892541539999 meters Centerline goodness [0,1] 0.999783254221124 Centerline is valid? [True, True] Translation: X:806.76, Y:13.66, Z:7.50 [[ 9.98139969e-01 -5.93824973e-02 -1.37956843e-02 8.06758770e+02] [ 5.93714035e-02 9.98235226e-01 -1.21267804e-03 1.36598232e+01] [ 1.38433498e-02 3.91353287e-04 9.99904100e-01 7.50343340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:806.79, Y:13.66, Z:7.51 [[ 9.98225173e-01 -5.81972148e-02 -1.26328224e-02 8.06787781e+02] [ 5.81877796e-02 9.98305035e-01 -1.11346458e-03 1.36612240e+01] [ 1.26762108e-02 3.76412481e-04 9.99919583e-01 7.50737295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3492541539999 meters Centerline goodness [0,1] 0.9997835732063629 Centerline is valid? [True, True] Translation: X:806.82, Y:13.65, Z:7.50 [[ 9.98289056e-01 -5.68340549e-02 -1.37423100e-02 8.06816820e+02] [ 5.68227201e-02 9.98383546e-01 -1.21418272e-03 1.36546997e+01] [ 1.37891031e-02 4.31229888e-04 9.99904833e-01 7.50486165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3792541539999 meters Centerline goodness [0,1] 0.999978310378484 Centerline is valid? [True, True] Translation: X:806.84, Y:13.66, Z:7.51 [[ 9.98383307e-01 -5.54970138e-02 -1.22822683e-02 8.06844885e+02] [ 5.54878413e-02 9.98458772e-01 -1.08658318e-03 1.36565387e+01] [ 1.23236406e-02 4.03309957e-04 9.99923980e-01 7.50790045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:806.87, Y:13.66, Z:7.51 [[ 9.98442096e-01 -5.45797335e-02 -1.15945494e-02 8.06872777e+02] [ 5.45714862e-02 9.98509338e-01 -1.02673781e-03 1.36583138e+01] [ 1.16333049e-02 3.92406462e-04 9.99932254e-01 7.50885133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4392541539999 meters Centerline goodness [0,1] 0.9999564592676449 Centerline is valid? [True, True] Translation: X:806.90, Y:13.66, Z:7.51 [[ 9.98433063e-01 -5.48033134e-02 -1.13143928e-02 8.06901125e+02] [ 5.47954585e-02 9.98497096e-01 -1.00330631e-03 1.36573500e+01] [ 1.13523728e-02 3.81756855e-04 9.99935487e-01 7.50802520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4692541539999 meters Centerline goodness [0,1] 0.9998254647002356 Centerline is valid? [True, True] Translation: X:806.93, Y:13.66, Z:7.51 [[ 9.98391666e-01 -5.54631087e-02 -1.17441708e-02 8.06930392e+02] [ 5.54546516e-02 9.98460660e-01 -1.04478945e-03 1.36570453e+01] [ 1.17840398e-02 3.91840183e-04 9.99930489e-01 7.50626864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4992541539999 meters Centerline goodness [0,1] 0.9999781511503419 Centerline is valid? [True, True] Translation: X:806.96, Y:13.66, Z:7.51 [[ 9.98383295e-01 -5.57589032e-02 -1.10336502e-02 8.06958993e+02] [ 5.57514266e-02 9.98444195e-01 -9.84288483e-04 1.36574944e+01] [ 1.10713668e-02 3.67555439e-04 9.99938643e-01 7.50898797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5292541539999 meters Centerline goodness [0,1] 0.9997375098433808 Centerline is valid? [True, True] Translation: X:806.99, Y:13.66, Z:7.51 [[ 9.98272947e-01 -5.74048741e-02 -1.24821108e-02 8.06988238e+02] [ 5.73953858e-02 9.98350901e-01 -1.11734433e-03 1.36575896e+01] [ 1.25256676e-02 3.98999053e-04 9.99921471e-01 7.50599251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.02, Y:13.65, Z:7.51 [[ 9.98208697e-01 -5.87211346e-02 -1.14553491e-02 8.07017175e+02] [ 5.87131987e-02 9.98274363e-01 -1.02812734e-03 1.36542711e+01] [ 1.14959541e-02 3.53705463e-04 9.99933857e-01 7.51021537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5892541539998 meters Centerline goodness [0,1] 0.9999341498748847 Centerline is valid? [True, True] Translation: X:807.05, Y:13.65, Z:7.51 [[ 9.98108784e-01 -6.03673958e-02 -1.16031192e-02 8.07046508e+02] [ 6.03593301e-02 9.98176167e-01 -1.04438945e-03 1.36544843e+01] [ 1.16450041e-02 3.42057780e-04 9.99932136e-01 7.50858675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.07, Y:13.66, Z:7.51 [[ 9.98053539e-01 -6.13156136e-02 -1.13811063e-02 8.07073976e+02] [ 6.13078864e-02 9.98118374e-01 -1.02692414e-03 1.36565795e+01] [ 1.14226578e-02 3.27173695e-04 9.99934706e-01 7.51000976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.10, Y:13.65, Z:7.51 [[ 9.97865362e-01 -6.41892178e-02 -1.20193378e-02 8.07104066e+02] [ 6.41807894e-02 9.97937697e-01 -1.08604344e-03 1.36511206e+01] [ 1.20642625e-02 3.12314547e-04 9.99927175e-01 7.51047788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6792541539999 meters Centerline goodness [0,1] 0.9998671714152886 Centerline is valid? [True, True] Translation: X:807.13, Y:13.65, Z:7.51 [[ 9.97710704e-01 -6.65712466e-02 -1.19004411e-02 8.07132079e+02] [ 6.65631244e-02 9.97781634e-01 -1.07773866e-03 1.36511412e+01] [ 1.19457879e-02 2.83140855e-04 9.99928606e-01 7.50786719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.16, Y:13.65, Z:7.51 [[ 9.97652041e-01 -6.75477142e-02 -1.13009851e-02 8.07161233e+02] [ 6.75404374e-02 9.97716011e-01 -1.02476048e-03 1.36508662e+01] [ 1.13443940e-02 2.59080906e-04 9.99935617e-01 7.51112278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.19, Y:13.65, Z:7.51 [[ 9.97393898e-01 -7.12631478e-02 -1.12683972e-02 8.07189897e+02] [ 7.12561173e-02 9.97457526e-01 -1.02467841e-03 1.36501902e+01] [ 1.13127694e-02 2.19065761e-04 9.99935985e-01 7.51137070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.22, Y:13.65, Z:7.51 [[ 9.97266514e-01 -7.30286777e-02 -1.12388394e-02 8.07219512e+02] [ 7.30217640e-02 9.97329821e-01 -1.02483764e-03 1.36481375e+01] [ 1.12836722e-02 2.01356389e-04 9.99936317e-01 7.51189891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.25, Y:13.65, Z:7.51 [[ 9.97014648e-01 -7.63563455e-02 -1.14673115e-02 8.07248843e+02] [ 7.63493342e-02 9.97080578e-01 -1.04858954e-03 1.36463140e+01] [ 1.15139001e-02 1.69937529e-04 9.99933698e-01 7.51186563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.28, Y:13.65, Z:7.51 [[ 9.96848533e-01 -7.84750691e-02 -1.16045414e-02 8.07277831e+02] [ 7.84679984e-02 9.96916065e-01 -1.06406674e-03 1.36470637e+01] [ 1.16522565e-02 1.50128235e-04 9.99932099e-01 7.51168228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.31, Y:13.65, Z:7.51 [[ 9.96732221e-01 -7.99009435e-02 -1.18625348e-02 8.07306766e+02] [ 7.98936196e-02 9.96802799e-01 -1.09076543e-03 1.36486470e+01] [ 1.19117610e-02 1.39460214e-04 9.99929043e-01 7.51170027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.33, Y:13.65, Z:7.51 [[ 9.96599819e-01 -8.15487693e-02 -1.17727795e-02 8.07334713e+02] [ 8.15416407e-02 9.96669345e-01 -1.08505708e-03 1.36523191e+01] [ 1.18220535e-02 1.21395931e-04 9.99930110e-01 7.51113840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.36, Y:13.66, Z:7.51 [[ 9.96611618e-01 -8.13564161e-02 -1.21002570e-02 8.07362865e+02] [ 8.13488520e-02 9.96685064e-01 -1.11681199e-03 1.36559629e+01] [ 1.21510052e-02 1.28685787e-04 9.99926166e-01 7.51123124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.39, Y:13.66, Z:7.51 [[ 9.96663772e-01 -8.07492693e-02 -1.18693475e-02 8.07391329e+02] [ 8.07419123e-02 9.96734437e-01 -1.09851031e-03 1.36583786e+01] [ 1.19192913e-02 1.36491613e-04 9.99928953e-01 7.51189150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9792541539999 meters Centerline goodness [0,1] 0.9999776755815512 Centerline is valid? [True, True] Translation: X:807.42, Y:13.66, Z:7.51 [[ 9.96753067e-01 -7.96328849e-02 -1.19132800e-02 8.07420362e+02] [ 7.96253580e-02 9.96824247e-01 -1.10555110e-03 1.36629368e+01] [ 1.19634846e-02 1.53362261e-04 9.99928423e-01 7.51143096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0092541539999 meters Centerline goodness [0,1] 0.9999554466473602 Centerline is valid? [True, True] Translation: X:807.45, Y:13.67, Z:7.51 [[ 9.96861195e-01 -7.82356914e-02 -1.21216959e-02 8.07448288e+02] [ 7.82277620e-02 9.96934875e-01 -1.12763915e-03 1.36685902e+01] [ 1.21727631e-02 1.75846564e-04 9.99925894e-01 7.51057652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.48, Y:13.68, Z:7.51 [[ 9.97194819e-01 -7.37431390e-02 -1.28235156e-02 8.07476763e+02] [ 7.37338652e-02 9.97277238e-01 -1.19511680e-03 1.36756860e+01] [ 1.28767319e-02 2.46236907e-04 9.99917061e-01 7.51084360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.51, Y:13.68, Z:7.51 [[ 9.97343441e-01 -7.15935406e-02 -1.34322773e-02 8.07505465e+02] [ 7.15831232e-02 9.97433848e-01 -1.25535518e-03 1.36807855e+01] [ 1.34876833e-02 2.90495899e-04 9.99908995e-01 7.51058281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.53, Y:13.69, Z:7.51 [[ 9.97604866e-01 -6.74642902e-02 -1.52676565e-02 8.07533553e+02] [ 6.74503018e-02 9.97721611e-01 -1.42988490e-03 1.36881877e+01] [ 1.53293370e-02 3.96652099e-04 9.99882420e-01 7.50911020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.56, Y:13.69, Z:7.51 [[ 9.97616150e-01 -6.70743158e-02 -1.62189324e-02 8.07562151e+02] [ 6.70584418e-02 9.97747890e-01 -1.52121840e-03 1.36926622e+01] [ 1.62844402e-02 4.29975709e-04 9.99867307e-01 7.50797816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.59, Y:13.69, Z:7.51 [[ 9.97616352e-01 -6.68992980e-02 -1.69144647e-02 8.07591376e+02] [ 6.68819334e-02 9.97759628e-01 -1.59084753e-03 1.36941377e+01] [ 1.69829966e-02 4.55783403e-04 9.99855675e-01 7.50786881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.62, Y:13.70, Z:7.51 [[ 9.97604016e-01 -6.70943443e-02 -1.68693747e-02 8.07618293e+02] [ 6.70770425e-02 9.97746532e-01 -1.59000512e-03 1.36986598e+01] [ 1.69380405e-02 4.54647725e-04 9.99856438e-01 7.50823582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2192541539999 meters Centerline goodness [0,1] 0.9998673124129238 Centerline is valid? [True, True] Translation: X:807.65, Y:13.70, Z:7.51 [[ 9.97553799e-01 -6.78500324e-02 -1.68163993e-02 8.07646100e+02] [ 6.78329088e-02 9.97695433e-01 -1.58723291e-03 1.37017088e+01] [ 1.68853385e-02 4.42644938e-04 9.99857335e-01 7.50675418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.67, Y:13.70, Z:7.51 [[ 9.97550120e-01 -6.81852754e-02 -1.56373586e-02 8.07674009e+02] [ 6.81704628e-02 9.97672592e-01 -1.47896873e-03 1.37045758e+01] [ 1.57018080e-02 4.09339465e-04 9.99876635e-01 7.51037151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.70, Y:13.71, Z:7.51 [[ 9.97530279e-01 -6.84750237e-02 -1.56369294e-02 8.07701484e+02] [ 6.84601757e-02 9.97652747e-01 -1.48349589e-03 1.37072591e+01] [ 1.57018080e-02 4.09325138e-04 9.99876635e-01 7.51062905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3092541539999 meters Centerline goodness [0,1] 0.9999115239991152 Centerline is valid? [True, True] Translation: X:807.73, Y:13.71, Z:7.51 [[ 9.97451980e-01 -6.98236174e-02 -1.46358990e-02 8.07729038e+02] [ 6.98107101e-02 9.97559286e-01 -1.39156608e-03 1.37095795e+01] [ 1.46973411e-02 3.66277837e-04 9.99891921e-01 7.51065355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.76, Y:13.71, Z:7.51 [[ 9.97459300e-01 -6.99791878e-02 -1.33363190e-02 8.07756694e+02] [ 6.99684592e-02 9.97548396e-01 -1.26992855e-03 1.37126541e+01] [ 1.33924922e-02 3.33580344e-04 9.99910261e-01 7.51323928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.78, Y:13.72, Z:7.51 [[ 9.97423362e-01 -7.05379065e-02 -1.30782648e-02 8.07784724e+02] [ 7.05275883e-02 9.97509047e-01 -1.24906765e-03 1.37155473e+01] [ 1.31337941e-02 3.23470777e-04 9.99913696e-01 7.51359610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.81, Y:13.72, Z:7.51 [[ 9.97397859e-01 -7.08722069e-02 -1.32151788e-02 8.07812742e+02] [ 7.08616502e-02 9.97485350e-01 -1.26596253e-03 1.37189952e+01] [ 1.32716688e-02 3.26218936e-04 9.99911874e-01 7.51362815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4292541539999 meters Centerline goodness [0,1] 0.9998454848464782 Centerline is valid? [True, True] Translation: X:807.84, Y:13.72, Z:7.51 [[ 9.97360241e-01 -7.12382475e-02 -1.40592535e-02 8.07840384e+02] [ 7.12262764e-02 9.97459269e-01 -1.35100669e-03 1.37216361e+01] [ 1.41197761e-02 3.46052079e-04 9.99900251e-01 7.51078868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4592541539998 meters Centerline goodness [0,1] 0.9998452149301256 Centerline is valid? [True, True] Translation: X:807.87, Y:13.72, Z:7.51 [[ 9.97370959e-01 -7.09367664e-02 -1.48035317e-02 8.07869327e+02] [ 7.09233985e-02 9.97480745e-01 -1.42672906e-03 1.37246118e+01] [ 1.48674453e-02 3.73061355e-04 9.99889404e-01 7.51048695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4892541539999 meters Centerline goodness [0,1] 0.9998677161187909 Centerline is valid? [True, True] Translation: X:807.90, Y:13.73, Z:7.51 [[ 9.97408617e-01 -7.04026630e-02 -1.48160811e-02 8.07897828e+02] [ 7.03891578e-02 9.97518580e-01 -1.43168235e-03 1.37286628e+01] [ 1.48801104e-02 3.85080846e-04 9.99889211e-01 7.51091005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.93, Y:13.73, Z:7.51 [[ 9.97577373e-01 -6.78949050e-02 -1.51547491e-02 8.07925986e+02] [ 6.78804273e-02 9.97692383e-01 -1.46826669e-03 1.37347704e+01] [ 1.52194656e-02 4.35998787e-04 9.99884082e-01 7.51334450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.95, Y:13.74, Z:7.51 [[ 9.97641955e-01 -6.69304491e-02 -1.51935905e-02 8.07954586e+02] [ 6.69157265e-02 9.97757539e-01 -1.47588264e-03 1.37377979e+01] [ 1.52583009e-02 4.55712299e-04 9.99883482e-01 7.51387170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:807.98, Y:13.74, Z:7.51 [[ 9.97725893e-01 -6.55439993e-02 -1.57171001e-02 8.07982267e+02] [ 6.55280244e-02 9.97849557e-01 -1.52980200e-03 1.37438483e+01] [ 1.57835707e-02 4.96412543e-04 9.99875308e-01 7.51351510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6092541539999 meters Centerline goodness [0,1] 0.9999560188239434 Centerline is valid? [True, True] Translation: X:808.01, Y:13.75, Z:7.51 [[ 9.97779806e-01 -6.45362335e-02 -1.64478706e-02 8.08010922e+02] [ 6.45185574e-02 9.97915219e-01 -1.60360921e-03 1.37491508e+01] [ 1.65170713e-02 5.38856009e-04 9.99863439e-01 7.51137720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6392541539999 meters Centerline goodness [0,1] 0.9998675116479343 Centerline is valid? [True, True] Translation: X:808.04, Y:13.75, Z:7.51 [[ 9.97754905e-01 -6.45910556e-02 -1.76959013e-02 8.08040148e+02] [ 6.45705203e-02 9.97911647e-01 -1.72997151e-03 1.37513353e+01] [ 1.77706867e-02 5.83454006e-04 9.99841919e-01 7.50979707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.07, Y:13.76, Z:7.51 [[ 9.97807143e-01 -6.40103458e-02 -1.68398876e-02 8.08067757e+02] [ 6.39916163e-02 9.97949073e-01 -1.64926773e-03 1.37568999e+01] [ 1.69109204e-02 5.68039494e-04 9.99856839e-01 7.51209857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6992541539998 meters Centerline goodness [0,1] 0.9999559539278084 Centerline is valid? [True, True] Translation: X:808.10, Y:13.76, Z:7.51 [[ 9.97800032e-01 -6.40401205e-02 -1.71452604e-02 8.08096019e+02] [ 6.40206610e-02 9.97947156e-01 -1.68201326e-03 1.37604377e+01] [ 1.72177802e-02 5.80661980e-04 9.99851594e-01 7.51145811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7292541539999 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:808.12, Y:13.76, Z:7.51 [[ 9.97845704e-01 -6.34536052e-02 -1.66610469e-02 8.08124743e+02] [ 6.34350785e-02 9.97984622e-01 -1.63865064e-03 1.37639549e+01] [ 1.67314469e-02 5.78225683e-04 9.99859852e-01 7.51248700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7592541539999 meters Centerline goodness [0,1] 0.9999561297681459 Centerline is valid? [True, True] Translation: X:808.15, Y:13.77, Z:7.51 [[ 9.97924214e-01 -6.21421289e-02 -1.69002416e-02 8.08153480e+02] [ 6.21228077e-02 9.98067122e-01 -1.66634521e-03 1.37703990e+01] [ 1.69711257e-02 6.12995774e-04 9.99855792e-01 7.51235544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7892541539999 meters Centerline goodness [0,1] 0.999846605601087 Centerline is valid? [True, True] Translation: X:808.18, Y:13.77, Z:7.51 [[ 9.97909498e-01 -6.21053288e-02 -1.78763217e-02 8.08182129e+02] [ 6.20836247e-02 9.98069387e-01 -1.76707180e-03 1.37736533e+01] [ 1.79515540e-02 6.53550890e-04 9.99838644e-01 7.51109333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8192541539999 meters Centerline goodness [0,1] 0.9997810858143608 Centerline is valid? [True, True] Translation: X:808.21, Y:13.78, Z:7.51 [[ 9.97933046e-01 -6.16891776e-02 -1.80022658e-02 8.08210706e+02] [ 6.16670161e-02 9.98095184e-01 -1.78410021e-03 1.37779262e+01] [ 1.80780345e-02 6.70266543e-04 9.99836354e-01 7.51115024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8492541539999 meters Centerline goodness [0,1] 0.9999781042674782 Centerline is valid? [True, True] Translation: X:808.24, Y:13.78, Z:7.51 [[ 9.97992599e-01 -6.11032474e-02 -1.66482656e-02 8.08239297e+02] [ 6.10841461e-02 9.98131250e-01 -1.65392524e-03 1.37826484e+01] [ 1.67182144e-02 6.33660064e-04 9.99860040e-01 7.51367501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8792541539999 meters Centerline goodness [0,1] 0.9998467332282361 Centerline is valid? [True, True] Translation: X:808.27, Y:13.79, Z:7.51 [[ 9.98060399e-01 -5.98329850e-02 -1.71887685e-02 8.08266177e+02] [ 5.98123788e-02 9.98208171e-01 -1.71087609e-03 1.37886336e+01] [ 1.72603359e-02 6.79456546e-04 9.99850798e-01 7.51243816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.30, Y:13.79, Z:7.52 [[ 9.98173023e-01 -5.85508853e-02 -1.49134310e-02 8.08295066e+02] [ 5.85351974e-02 9.98284238e-01 -1.48664768e-03 1.37941426e+01] [ 1.49748876e-02 6.10970978e-04 9.99887683e-01 7.51567913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9392541539999 meters Centerline goodness [0,1] 0.9999562803305208 Centerline is valid? [True, True] Translation: X:808.32, Y:13.80, Z:7.52 [[ 9.98240337e-01 -5.73768562e-02 -1.49708651e-02 8.08323011e+02] [ 5.73608732e-02 9.98352390e-01 -1.49518335e-03 1.37995834e+01] [ 1.50319878e-02 6.33810437e-04 9.99886812e-01 7.51575592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.35, Y:13.81, Z:7.52 [[ 9.98426100e-01 -5.42755374e-02 -1.41240811e-02 8.08350801e+02] [ 5.42609856e-02 9.98525790e-01 -1.41174435e-03 1.38085980e+01] [ 1.41798825e-02 6.43135845e-04 9.99899254e-01 7.51649620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9992541539999 meters Centerline goodness [0,1] 0.9998914035011511 Centerline is valid? [True, True] Translation: X:808.38, Y:13.82, Z:7.51 [[ 9.98453425e-01 -5.33793299e-02 -1.55372226e-02 8.08377647e+02] [ 5.33615916e-02 9.98574046e-01 -1.55429878e-03 1.38174107e+01] [ 1.55980347e-02 7.22804008e-04 9.99878082e-01 7.51409275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.41, Y:13.82, Z:7.52 [[ 9.98576929e-01 -5.14121521e-02 -1.41742101e-02 8.08406626e+02] [ 5.13971780e-02 9.98677284e-01 -1.41893130e-03 1.38222090e+01] [ 1.42284120e-02 6.88397660e-04 9.99898534e-01 7.51608234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.43, Y:13.83, Z:7.52 [[ 9.98615535e-01 -5.06338142e-02 -1.42558625e-02 8.08434064e+02] [ 5.06185750e-02 9.98717037e-01 -1.42801083e-03 1.38279334e+01] [ 1.43098784e-02 7.04422351e-04 9.99897360e-01 7.51611781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0892541539998 meters Centerline goodness [0,1] 0.9997831696264012 Centerline is valid? [True, True] Translation: X:808.46, Y:13.83, Z:7.51 [[ 9.98594392e-01 -5.02120423e-02 -1.69703105e-02 8.08463280e+02] [ 5.01903357e-02 9.98738219e-01 -1.70285773e-03 1.38264448e+01] [ 1.70344016e-02 8.48718599e-04 9.99854544e-01 7.51401239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.49, Y:13.84, Z:7.52 [[ 9.98707828e-01 -4.88496191e-02 -1.40139023e-02 8.08489587e+02] [ 4.88346492e-02 9.98805883e-01 -1.40863876e-03 1.38405263e+01] [ 1.40659795e-02 7.22454558e-04 9.99900808e-01 7.51598243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.52, Y:13.84, Z:7.52 [[ 9.98748881e-01 -4.79608598e-02 -1.41572589e-02 8.08518030e+02] [ 4.79454746e-02 9.98848939e-01 -1.42434465e-03 1.38409605e+01] [ 1.42092758e-02 7.43786129e-04 9.99898767e-01 7.51666282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.55, Y:13.86, Z:7.52 [[ 9.98839104e-01 -4.59930308e-02 -1.43207993e-02 8.08545413e+02] [ 4.59770705e-02 9.98941455e-01 -1.44190039e-03 1.38562013e+01] [ 1.43719575e-02 7.81798090e-04 9.99896412e-01 7.51553679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2092541539998 meters Centerline goodness [0,1] 0.9999138488046522 Centerline is valid? [True, True] Translation: X:808.58, Y:13.85, Z:7.51 [[ 9.98809924e-01 -4.59662024e-02 -1.63047026e-02 8.08575318e+02] [ 4.59454714e-02 9.98942596e-01 -1.64398757e-03 1.38518646e+01] [ 1.63630298e-02 8.92903857e-04 9.99865718e-01 7.51470274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.60, Y:13.86, Z:7.52 [[ 9.98873099e-01 -4.50966024e-02 -1.47928539e-02 8.08603426e+02] [ 4.50793905e-02 9.98982289e-01 -1.49508434e-03 1.38581181e+01] [ 1.48452222e-02 8.26546693e-04 9.99889462e-01 7.51558125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2692541539999 meters Centerline goodness [0,1] 0.9999354769330036 Centerline is valid? [True, True] Translation: X:808.63, Y:13.86, Z:7.51 [[ 9.98830010e-01 -4.54736883e-02 -1.64546293e-02 8.08629736e+02] [ 4.54523844e-02 9.98965116e-01 -1.66656595e-03 1.38631886e+01] [ 1.65133856e-02 9.16713945e-04 9.99863225e-01 7.51404298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2992541539999 meters Centerline goodness [0,1] 0.9998710093518219 Centerline is valid? [True, True] Translation: X:808.66, Y:13.87, Z:7.51 [[ 9.98807356e-01 -4.57318534e-02 -1.71015739e-02 8.08657139e+02] [ 4.57088195e-02 9.98953298e-01 -1.73555077e-03 1.38684845e+01] [ 1.71630436e-02 9.51788118e-04 9.99852251e-01 7.51282970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.68, Y:13.88, Z:7.51 [[ 9.98848355e-01 -4.55707355e-02 -1.50090327e-02 8.08683487e+02] [ 4.55529299e-02 9.98960761e-01 -1.52625010e-03 1.38752473e+01] [ 1.50629871e-02 8.40786984e-04 9.99886193e-01 7.51481250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.71, Y:13.88, Z:7.51 [[ 9.98814133e-01 -4.63141741e-02 -1.50108201e-02 8.08711331e+02] [ 4.62964192e-02 9.98926577e-01 -1.52833704e-03 1.38803573e+01] [ 1.50654908e-02 8.31577411e-04 9.99886163e-01 7.51477189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3892541539999 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:808.74, Y:13.89, Z:7.51 [[ 9.98703849e-01 -4.87258702e-02 -1.47109115e-02 8.08740080e+02] [ 4.87090582e-02 9.98811884e-01 -1.49917789e-03 1.38863858e+01] [ 1.47664820e-02 7.80680083e-04 9.99890665e-01 7.51434214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.77, Y:13.89, Z:7.52 [[ 9.98633687e-01 -5.03339504e-02 -1.40446925e-02 8.08769326e+02] [ 5.03187657e-02 9.98732181e-01 -1.43268302e-03 1.38876711e+01] [ 1.40989990e-02 7.24013931e-04 9.99900342e-01 7.51509450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.80, Y:13.89, Z:7.51 [[ 9.98562778e-01 -5.17814794e-02 -1.38223410e-02 8.08796900e+02] [ 5.17668751e-02 9.98658198e-01 -1.41251156e-03 1.38947287e+01] [ 1.38769361e-02 6.94942064e-04 9.99903469e-01 7.51473019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4792541539999 meters Centerline goodness [0,1] 0.9998294679399727 Centerline is valid? [True, True] Translation: X:808.83, Y:13.89, Z:7.51 [[ 9.98355092e-01 -5.52885248e-02 -1.51752703e-02 8.08826765e+02] [ 5.52713086e-02 9.98470167e-01 -1.55188062e-03 1.38926793e+01] [ 1.52378559e-02 7.10570869e-04 9.99883645e-01 7.51352460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.86, Y:13.90, Z:7.52 [[ 9.98324397e-01 -5.64507731e-02 -1.27164621e-02 8.08855080e+02] [ 5.64387637e-02 9.98405214e-01 -1.30157887e-03 1.38969311e+01] [ 1.27696572e-02 5.81696540e-04 9.99918295e-01 7.51587299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:808.88, Y:13.90, Z:7.52 [[ 9.98247468e-01 -5.77865675e-02 -1.27555618e-02 8.08884057e+02] [ 5.77745514e-02 9.98328798e-01 -1.30882271e-03 1.39007164e+01] [ 1.28098770e-02 5.69582097e-04 9.99917788e-01 7.51626024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5692541539999 meters Centerline goodness [0,1] 0.999914801167224 Centerline is valid? [True, True] Translation: X:808.91, Y:13.91, Z:7.51 [[ 9.98060940e-01 -6.07101198e-02 -1.37347084e-02 8.08911628e+02] [ 6.06964236e-02 9.98155273e-01 -1.41223083e-03 1.39065268e+01] [ 1.37951083e-02 5.75844750e-04 9.99904677e-01 7.51463904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5992541539999 meters Centerline goodness [0,1] 0.9998721690776999 Centerline is valid? [True, True] Translation: X:808.94, Y:13.91, Z:7.51 [[ 9.97985847e-01 -6.19978051e-02 -1.34358555e-02 8.08939843e+02] [ 6.19847902e-02 9.98076135e-01 -1.38333840e-03 1.39104112e+01] [ 1.34957707e-02 5.47733459e-04 9.99908778e-01 7.51473834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6292541539999 meters Centerline goodness [0,1] 0.9999362407549095 Centerline is valid? [True, True] Translation: X:808.97, Y:13.91, Z:7.52 [[ 9.97902733e-01 -6.32392831e-02 -1.38176727e-02 8.08968446e+02] [ 6.32255877e-02 9.97998242e-01 -1.42618828e-03 1.39119648e+01] [ 1.38802042e-02 5.49566704e-04 9.99903514e-01 7.51518800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.00, Y:13.92, Z:7.52 [[ 9.97838960e-01 -6.45088469e-02 -1.24907200e-02 8.08996808e+02] [ 6.44977177e-02 9.97917018e-01 -1.29220437e-03 1.39152139e+01] [ 1.25480607e-02 4.83788930e-04 9.99921153e-01 7.51614175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.03, Y:13.92, Z:7.52 [[ 9.97708196e-01 -6.64034251e-02 -1.29977193e-02 8.09025985e+02] [ 6.63914956e-02 9.97792741e-01 -1.34764273e-03 1.39194674e+01] [ 1.30585181e-02 4.81616168e-04 9.99914618e-01 7.51580826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.05, Y:13.92, Z:7.52 [[ 9.97661404e-01 -6.70381954e-02 -1.33267559e-02 8.09054208e+02] [ 6.70256801e-02 9.97750291e-01 -1.38403896e-03 1.39237786e+01] [ 1.33895580e-02 4.87567377e-04 9.99910237e-01 7.51569656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7492541539999 meters Centerline goodness [0,1] 0.9999787554970151 Centerline is valid? [True, True] Translation: X:809.08, Y:13.93, Z:7.52 [[ 9.97661820e-01 -6.68701893e-02 -1.41163492e-02 8.09082005e+02] [ 6.68560882e-02 9.97761547e-01 -1.46900244e-03 1.39288678e+01] [ 1.41829829e-02 5.21803756e-04 9.99899280e-01 7.51510650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7792541539999 meters Centerline goodness [0,1] 0.9998512853197365 Centerline is valid? [True, True] Translation: X:809.11, Y:13.93, Z:7.51 [[ 9.97641180e-01 -6.68519264e-02 -1.55851473e-02 8.09110198e+02] [ 6.68346963e-02 9.97762740e-01 -1.62436457e-03 1.39335773e+01] [ 1.56588712e-02 5.78904403e-04 9.99877225e-01 7.51362402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8092541539999 meters Centerline goodness [0,1] 0.9998729674796748 Centerline is valid? [True, True] Translation: X:809.14, Y:13.94, Z:7.51 [[ 9.97630690e-01 -6.70773123e-02 -1.52853375e-02 8.09137787e+02] [ 6.70607216e-02 9.97747620e-01 -1.59595627e-03 1.39405847e+01] [ 1.53579616e-02 5.67129191e-04 9.99881899e-01 7.51300730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8392541539998 meters Centerline goodness [0,1] 0.9998725492278607 Centerline is valid? [True, True] Translation: X:809.17, Y:13.94, Z:7.51 [[ 9.97601472e-01 -6.74457078e-02 -1.55685274e-02 8.09165806e+02] [ 6.74285004e-02 9.97722780e-01 -1.62814867e-03 1.39446535e+01] [ 1.56428861e-02 5.74481052e-04 9.99877478e-01 7.51304331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8692541539999 meters Centerline goodness [0,1] 0.9999788095187642 Centerline is valid? [True, True] Translation: X:809.19, Y:13.95, Z:7.52 [[ 9.97683524e-01 -6.65950838e-02 -1.38809394e-02 8.09193923e+02] [ 6.65812840e-02 9.97779944e-01 -1.45444149e-03 1.39479062e+01] [ 1.39469816e-02 5.26861543e-04 9.99902597e-01 7.51525877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.22, Y:13.95, Z:7.52 [[ 9.97687059e-01 -6.64721478e-02 -1.42121621e-02 8.09222114e+02] [ 6.64576386e-02 9.97788133e-01 -1.49127239e-03 1.39525952e+01] [ 1.42798548e-02 5.43316431e-04 9.99897890e-01 7.51566800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.25, Y:13.96, Z:7.52 [[ 9.97687635e-01 -6.65361122e-02 -1.38682403e-02 8.09250153e+02] [ 6.65222523e-02 9.97783875e-01 -1.45882441e-03 1.39572402e+01] [ 1.39345711e-02 5.32904493e-04 9.99902767e-01 7.51593092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9592541539998 meters Centerline goodness [0,1] 0.9999365951600973 Centerline is valid? [True, True] Translation: X:809.28, Y:13.96, Z:7.52 [[ 9.97699354e-01 -6.62677640e-02 -1.43032628e-02 8.09278799e+02] [ 6.62529350e-02 9.97801720e-01 -1.50863703e-03 1.39619635e+01] [ 1.43717942e-02 5.57533050e-04 9.99896565e-01 7.51523838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.31, Y:13.97, Z:7.52 [[ 9.97752363e-01 -6.56508485e-02 -1.34234318e-02 8.09307663e+02] [ 6.56376879e-02 9.97842513e-01 -1.41911245e-03 1.39659036e+01] [ 1.34876368e-02 5.34839769e-04 9.99908895e-01 7.51664244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0192541539999 meters Centerline goodness [0,1] 0.9998094391157974 Centerline is valid? [True, True] Translation: X:809.33, Y:13.97, Z:7.51 [[ 9.97723094e-01 -6.57422248e-02 -1.50528487e-02 8.09334757e+02] [ 6.57256370e-02 9.97836459e-01 -1.59457298e-03 1.39705811e+01] [ 1.51251120e-02 6.01584217e-04 9.99885428e-01 7.51450348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0492541539999 meters Centerline goodness [0,1] 0.9999365348000846 Centerline is valid? [True, True] Translation: X:809.36, Y:13.98, Z:7.52 [[ 9.97843625e-01 -6.42293897e-02 -1.35161274e-02 8.09362004e+02] [ 6.42158621e-02 9.97935003e-01 -1.43291942e-03 1.39767684e+01] [ 1.35802522e-02 5.61879730e-04 9.99907626e-01 7.51594624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0792541539998 meters Centerline goodness [0,1] 0.9998518894672253 Centerline is valid? [True, True] Translation: X:809.39, Y:13.98, Z:7.52 [[ 9.97853844e-01 -6.39534033e-02 -1.40594605e-02 8.09390672e+02] [ 6.39387098e-02 9.97952711e-01 -1.49257883e-03 1.39797364e+01] [ 1.41261323e-02 5.90431753e-04 9.99900047e-01 7.51519943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1092541539999 meters Centerline goodness [0,1] 0.9998306878306878 Centerline is valid? [True, True] Translation: X:809.42, Y:13.98, Z:7.52 [[ 9.97887050e-01 -6.34450741e-02 -1.40056306e-02 8.09419457e+02] [ 6.34303935e-02 9.97985152e-01 -1.49037555e-03 1.39841245e+01] [ 1.40719684e-02 5.98843799e-04 9.99900806e-01 7.51500814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.45, Y:13.99, Z:7.52 [[ 9.98005010e-01 -6.18696105e-02 -1.25758411e-02 8.09446922e+02] [ 6.18576195e-02 9.98084083e-01 -1.34061153e-03 1.39907786e+01] [ 1.26346900e-02 5.60025425e-04 9.99920022e-01 7.51704226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.47, Y:13.99, Z:7.52 [[ 9.97987699e-01 -6.21482558e-02 -1.25756569e-02 8.09474346e+02] [ 6.21362652e-02 9.98066773e-01 -1.34233704e-03 1.39937972e+01] [ 1.26347692e-02 5.58231500e-04 9.99920022e-01 7.51730047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1992541539998 meters Centerline goodness [0,1] 0.9998519270635021 Centerline is valid? [True, True] Translation: X:809.50, Y:14.00, Z:7.52 [[ 9.97966392e-01 -6.23934859e-02 -1.30435537e-02 8.09502431e+02] [ 6.23805673e-02 9.98051461e-01 -1.39533478e-03 1.39972134e+01] [ 1.31051977e-02 5.78832937e-04 9.99913956e-01 7.51514167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.53, Y:14.00, Z:7.52 [[ 9.98021989e-01 -6.16094755e-02 -1.25052785e-02 8.09531381e+02] [ 6.15975202e-02 9.98100171e-01 -1.33930852e-03 1.40016417e+01] [ 1.25640347e-02 5.66365205e-04 9.99920909e-01 7.51767508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.56, Y:14.00, Z:7.52 [[ 9.98015011e-01 -6.17990327e-02 -1.21209350e-02 8.09559726e+02] [ 6.17877786e-02 9.98088462e-01 -1.30112785e-03 1.40036914e+01] [ 1.21781738e-02 5.49619481e-04 9.99925692e-01 7.51784236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.59, Y:14.01, Z:7.52 [[ 9.98006691e-01 -6.19876913e-02 -1.18393857e-02 8.09586129e+02] [ 6.19769332e-02 9.98076769e-01 -1.27377010e-03 1.40073473e+01] [ 1.18955739e-02 5.37462264e-04 9.99929101e-01 7.51818192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3192541539999 meters Centerline goodness [0,1] 0.999957670165933 Centerline is valid? [True, True] Translation: X:809.61, Y:14.01, Z:7.52 [[ 9.97960119e-01 -6.26996112e-02 -1.20149543e-02 8.09614570e+02] [ 6.26885614e-02 9.98032298e-01 -1.29446073e-03 1.40102575e+01] [ 1.20724746e-02 5.38619986e-04 9.99926980e-01 7.51774232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3492541539999 meters Centerline goodness [0,1] 0.999915420886812 Centerline is valid? [True, True] Translation: X:809.64, Y:14.01, Z:7.52 [[ 9.97907533e-01 -6.35359115e-02 -1.19892812e-02 8.09644188e+02] [ 6.35249340e-02 9.97979412e-01 -1.29460954e-03 1.40089969e+01] [ 1.20473100e-02 5.30282315e-04 9.99927288e-01 7.51774550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.67, Y:14.01, Z:7.52 [[ 9.97883213e-01 -6.40387260e-02 -1.13196329e-02 8.09672888e+02] [ 6.40289418e-02 9.97947290e-01 -1.22503157e-03 1.40110178e+01] [ 1.13748464e-02 4.97654328e-04 9.99935181e-01 7.51899532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4092541539999 meters Centerline goodness [0,1] 0.9998936758388977 Centerline is valid? [True, True] Translation: X:809.70, Y:14.01, Z:7.52 [[ 9.97799351e-01 -6.52148044e-02 -1.19784933e-02 8.09702280e+02] [ 6.52038939e-02 9.97871116e-01 -1.29954543e-03 1.40110190e+01] [ 1.20377421e-02 5.15641181e-04 9.99927411e-01 7.51766237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4392541539999 meters Centerline goodness [0,1] 0.9999787554970151 Centerline is valid? [True, True] Translation: X:809.73, Y:14.01, Z:7.52 [[ 9.97752938e-01 -6.59578687e-02 -1.17742671e-02 8.09730233e+02] [ 6.59473477e-02 9.97822283e-01 -1.28001192e-03 1.40145746e+01] [ 1.18330529e-02 5.00653969e-04 9.99929862e-01 7.51851650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4692541539999 meters Centerline goodness [0,1] 0.9999153689911984 Centerline is valid? [True, True] Translation: X:809.76, Y:14.02, Z:7.52 [[ 9.97676053e-01 -6.70133517e-02 -1.23168073e-02 8.09759541e+02] [ 6.70018990e-02 9.97751947e-01 -1.34061101e-03 1.40165790e+01] [ 1.23789573e-02 5.12246022e-04 9.99923247e-01 7.51733486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4992541539999 meters Centerline goodness [0,1] 0.9998300728562629 Centerline is valid? [True, True] Translation: X:809.79, Y:14.02, Z:7.52 [[ 9.97606655e-01 -6.79135014e-02 -1.29891438e-02 8.09788161e+02] [ 6.79007973e-02 9.97691071e-01 -1.41708283e-03 1.40186924e+01] [ 1.30553919e-02 5.31718044e-04 9.99914633e-01 7.51613391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.82, Y:14.02, Z:7.52 [[ 9.97611646e-01 -6.79165790e-02 -1.25833804e-02 8.09816893e+02] [ 6.79046166e-02 9.97690869e-01 -1.37597659e-03 1.40216577e+01] [ 1.26477753e-02 5.18220651e-04 9.99919879e-01 7.51847107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5592541539999 meters Centerline goodness [0,1] 0.9998938947011013 Centerline is valid? [True, True] Translation: X:809.84, Y:14.03, Z:7.52 [[ 9.97485228e-01 -6.96024976e-02 -1.33683642e-02 8.09844481e+02] [ 6.95891057e-02 9.97574664e-01 -1.46489055e-03 1.40253401e+01] [ 1.34379015e-02 5.30914169e-04 9.99909566e-01 7.51583055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5892541539998 meters Centerline goodness [0,1] 0.9999150977437226 Centerline is valid? [True, True] Translation: X:809.87, Y:14.03, Z:7.52 [[ 9.97403184e-01 -7.06951275e-02 -1.37508807e-02 8.09873889e+02] [ 7.06810292e-02 9.97497827e-01 -1.50917734e-03 1.40256963e+01] [ 1.38231651e-02 5.33331890e-04 9.99904313e-01 7.51610002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6192541539999 meters Centerline goodness [0,1] 0.9999147902775707 Centerline is valid? [True, True] Translation: X:809.90, Y:14.02, Z:7.52 [[ 9.97263533e-01 -7.26848581e-02 -1.35039536e-02 8.09903578e+02] [ 7.26713996e-02 9.97354832e-01 -1.48532564e-03 1.40232849e+01] [ 1.35761941e-02 4.99909887e-04 9.99907714e-01 7.51640070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.93, Y:14.03, Z:7.52 [[ 9.97208989e-01 -7.34707681e-02 -1.32769690e-02 8.09932711e+02] [ 7.34577857e-02 9.97297254e-01 -1.46351246e-03 1.40253739e+01] [ 1.33486101e-02 4.84131037e-04 9.99910786e-01 7.51805995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.96, Y:14.03, Z:7.52 [[ 9.97140729e-01 -7.43943321e-02 -1.32608084e-02 8.09960305e+02] [ 7.43814269e-02 9.97228790e-01 -1.46442483e-03 1.40293180e+01] [ 1.33330048e-02 4.73879796e-04 9.99910999e-01 7.51808124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:809.99, Y:14.03, Z:7.52 [[ 9.97072200e-01 -7.54027236e-02 -1.27065524e-02 8.09989260e+02] [ 7.53909360e-02 9.97153064e-01 -1.40482447e-03 1.40303891e+01] [ 1.27763052e-02 4.42752553e-04 9.99918282e-01 7.51848344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7392541539999 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:810.02, Y:14.03, Z:7.52 [[ 9.96904510e-01 -7.77015267e-02 -1.19946488e-02 8.10018479e+02] [ 7.76911558e-02 9.96976589e-01 -1.32887882e-03 1.40261235e+01] [ 1.20616400e-02 3.92887154e-04 9.99927179e-01 7.51910145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7692541539999 meters Centerline goodness [0,1] 0.9998929679974312 Centerline is valid? [True, True] Translation: X:810.05, Y:14.03, Z:7.52 [[ 9.96809320e-01 -7.88943218e-02 -1.21188448e-02 8.10046411e+02] [ 7.88837919e-02 9.96882911e-01 -1.34518939e-03 1.40271705e+01] [ 1.21871971e-02 3.84916881e-04 9.99925659e-01 7.51824958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.07, Y:14.03, Z:7.52 [[ 9.96763571e-01 -7.95976851e-02 -1.12512874e-02 8.10074932e+02] [ 7.95886399e-02 9.96827009e-01 -1.25011395e-03 1.40287118e+01] [ 1.13150934e-02 3.50593379e-04 9.99935921e-01 7.52005459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8292541539998 meters Centerline goodness [0,1] 0.9999785541186815 Centerline is valid? [True, True] Translation: X:810.10, Y:14.03, Z:7.52 [[ 9.96646335e-01 -8.11115801e-02 -1.08164450e-02 8.10102970e+02] [ 8.11032839e-02 9.96704975e-01 -1.20416060e-03 1.40276415e+01] [ 1.08784759e-02 3.22873038e-04 9.99940776e-01 7.52019817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8592541539999 meters Centerline goodness [0,1] 0.9999144769194587 Centerline is valid? [True, True] Translation: X:810.13, Y:14.03, Z:7.52 [[ 9.96573460e-01 -8.19214236e-02 -1.14113423e-02 8.10130576e+02] [ 8.19122255e-02 9.96638736e-01 -1.27190001e-03 1.40287330e+01] [ 1.14771816e-02 3.32813347e-04 9.99934080e-01 7.51916352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.16, Y:14.02, Z:7.52 [[ 9.96562772e-01 -8.21613418e-02 -1.05903756e-02 8.10159666e+02] [ 8.21534175e-02 9.96618994e-01 -1.18186459e-03 1.40245166e+01] [ 1.06516731e-02 3.07766697e-04 9.99943222e-01 7.52133053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.19, Y:14.03, Z:7.52 [[ 9.96560786e-01 -8.22373498e-02 -1.01793205e-02 8.10186399e+02] [ 8.22300048e-02 9.96612728e-01 -1.13871095e-03 1.40302755e+01] [ 1.02384849e-02 2.97749109e-04 9.99947541e-01 7.52153758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.21, Y:14.03, Z:7.52 [[ 9.96550078e-01 -8.24016698e-02 -9.89474778e-03 8.10214661e+02] [ 8.23947250e-02 9.96599158e-01 -1.10817521e-03 1.40318243e+01] [ 9.95241280e-03 2.89077066e-04 9.99950432e-01 7.52178130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9792541539999 meters Centerline goodness [0,1] 0.9998923411493659 Centerline is valid? [True, True] Translation: X:810.24, Y:14.03, Z:7.52 [[ 9.96493174e-01 -8.30007324e-02 -1.05939612e-02 8.10243779e+02] [ 8.29927728e-02 9.96549439e-01 -1.18951903e-03 1.40267708e+01] [ 1.06561370e-02 3.06125380e-04 9.99943175e-01 7.52034247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.27, Y:14.03, Z:7.52 [[ 9.96576432e-01 -8.20119190e-02 -1.04623260e-02 8.10271409e+02] [ 8.20040716e-02 9.96631299e-01 -1.17757953e-03 1.40296468e+01] [ 1.05236571e-02 3.15594677e-04 9.99944575e-01 7.52093943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.30, Y:14.03, Z:7.52 [[ 9.96562387e-01 -8.21479846e-02 -1.07292788e-02 8.10298657e+02] [ 8.21397271e-02 9.96620090e-01 -1.20878016e-03 1.40320701e+01] [ 1.07923136e-02 3.23324813e-04 9.99941709e-01 7.52045581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.33, Y:14.03, Z:7.52 [[ 9.96562036e-01 -8.21136880e-02 -1.10204738e-02 8.10327727e+02] [ 8.21049487e-02 9.96622913e-01 -1.24387362e-03 1.40317074e+01] [ 1.10853958e-02 3.34761784e-04 9.99938499e-01 7.52050881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.35, Y:14.03, Z:7.52 [[ 9.96543218e-01 -8.23115918e-02 -1.12434786e-02 8.10354419e+02] [ 8.23024777e-02 9.96606585e-01 -1.27170062e-03 1.40319908e+01] [ 1.13100005e-02 3.41938480e-04 9.99935981e-01 7.51960277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1292541539999 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:810.38, Y:14.03, Z:7.52 [[ 9.96473911e-01 -8.30585484e-02 -1.18752556e-02 8.10383016e+02] [ 8.30484119e-02 9.96544606e-01 -1.34503087e-03 1.40329502e+01] [ 1.19459382e-02 3.54067052e-04 9.99928582e-01 7.51949772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1592541539999 meters Centerline goodness [0,1] 0.999869918699187 Centerline is valid? [True, True] Translation: X:810.41, Y:14.03, Z:7.52 [[ 9.96351311e-01 -8.44484984e-02 -1.23497681e-02 8.10412309e+02] [ 8.44376028e-02 9.96427783e-01 -1.40194536e-03 1.40320792e+01] [ 1.24240442e-02 3.54045278e-04 9.99922756e-01 7.51770057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1892541539999 meters Centerline goodness [0,1] 0.9998907820008738 Centerline is valid? [True, True] Translation: X:810.44, Y:14.03, Z:7.52 [[ 9.96159829e-01 -8.66253573e-02 -1.27138764e-02 8.10441737e+02] [ 8.66139447e-02 9.96240901e-01 -1.44657757e-03 1.40294563e+01] [ 1.27913939e-02 3.39823480e-04 9.99918129e-01 7.51809310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.47, Y:14.03, Z:7.52 [[ 9.96086384e-01 -8.75256574e-02 -1.22952953e-02 8.10469607e+02] [ 8.75150209e-02 9.96162214e-01 -1.40150933e-03 1.40307867e+01] [ 1.23707766e-02 3.20001339e-04 9.99923428e-01 7.52022914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2492541539999 meters Centerline goodness [0,1] 0.9998469276186311 Centerline is valid? [True, True] Translation: X:810.50, Y:14.03, Z:7.52 [[ 9.95727137e-01 -9.14598674e-02 -1.27499158e-02 8.10497837e+02] [ 9.14487369e-02 9.95808723e-01 -1.45449897e-03 1.40276105e+01] [ 1.28295056e-02 2.82320402e-04 9.99917659e-01 7.51813335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.53, Y:14.03, Z:7.52 [[ 9.95606021e-01 -9.28594593e-02 -1.20735667e-02 8.10527442e+02] [ 9.28495639e-02 9.95679194e-01 -1.37877531e-03 1.40272157e+01] [ 1.21494315e-02 2.51691594e-04 9.99926161e-01 7.52117684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.56, Y:14.03, Z:7.52 [[ 9.95403959e-01 -9.49927158e-02 -1.21384553e-02 8.10556487e+02] [ 9.49828365e-02 9.95477941e-01 -1.38911501e-03 1.40274942e+01] [ 1.22155203e-02 2.29785667e-04 9.99925361e-01 7.52149144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.59, Y:14.03, Z:7.52 [[ 9.95224853e-01 -9.68287009e-02 -1.23164436e-02 8.10585955e+02] [ 9.68186305e-02 9.95301038e-01 -1.41267793e-03 1.40265195e+01] [ 1.23953569e-02 2.13470984e-04 9.99923152e-01 7.52186833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.61, Y:14.02, Z:7.52 [[ 9.94901053e-01 -1.00080963e-01 -1.24778348e-02 8.10613884e+02] [ 1.00070848e-01 9.94979281e-01 -1.43397672e-03 1.40249785e+01] [ 1.25587009e-02 1.77997434e-04 9.99921121e-01 7.52166090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.64, Y:14.03, Z:7.52 [[ 9.94760319e-01 -1.01457554e-01 -1.25806092e-02 8.10641303e+02] [ 1.01447366e-01 9.94839856e-01 -1.44696395e-03 1.40263888e+01] [ 1.26624968e-02 1.63112651e-04 9.99919814e-01 7.52153831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.67, Y:14.03, Z:7.52 [[ 9.94629829e-01 -1.02731329e-01 -1.25609353e-02 8.10670247e+02] [ 1.02721253e-01 9.94709129e-01 -1.44638025e-03 1.40272403e+01] [ 1.26430656e-02 1.48337921e-04 9.99920062e-01 7.52154692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4592541539998 meters Centerline goodness [0,1] 0.9998890885295357 Centerline is valid? [True, True] Translation: X:810.70, Y:14.03, Z:7.52 [[ 9.94461136e-01 -1.04316663e-01 -1.28484628e-02 8.10699337e+02] [ 1.04306210e-01 9.94544125e-01 -1.48283028e-03 1.40280662e+01] [ 1.29330471e-02 1.34442623e-04 9.99916356e-01 7.51983255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.73, Y:14.03, Z:7.52 [[ 9.94396508e-01 -1.04934729e-01 -1.28174966e-02 8.10726502e+02] [ 1.04924338e-01 9.94479103e-01 -1.48236322e-03 1.40287665e+01] [ 1.29022839e-02 1.29189470e-04 9.99916754e-01 7.52180339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5192541539999 meters Centerline goodness [0,1] 0.9999555969983571 Centerline is valid? [True, True] Translation: X:810.75, Y:14.03, Z:7.52 [[ 9.94320893e-01 -1.05578976e-01 -1.33806109e-02 8.10754917e+02] [ 1.05567668e-01 9.94410913e-01 -1.55061979e-03 1.40309291e+01] [ 1.34695383e-02 1.29253770e-04 9.99909273e-01 7.52110214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.78, Y:14.04, Z:7.52 [[ 9.94525513e-01 -1.03682964e-01 -1.29940983e-02 8.10783959e+02] [ 1.03672091e-01 9.94610386e-01 -1.50938075e-03 1.40354513e+01] [ 1.30805621e-02 1.53992323e-04 9.99914434e-01 7.52233549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.81, Y:14.04, Z:7.52 [[ 9.94627349e-01 -1.02694824e-01 -1.30464319e-02 8.10812717e+02] [ 1.02683735e-01 9.94712895e-01 -1.51877454e-03 1.40396808e+01] [ 1.31334244e-02 1.70958334e-04 9.99913738e-01 7.52275993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6092541539999 meters Centerline goodness [0,1] 0.9998226400035471 Centerline is valid? [True, True] Translation: X:810.84, Y:14.04, Z:7.52 [[ 9.94730749e-01 -1.01679356e-01 -1.31165804e-02 8.10839924e+02] [ 1.01668021e-01 9.94817206e-01 -1.52982257e-03 1.40442182e+01] [ 1.32041512e-02 1.88224777e-04 9.99912804e-01 7.52237837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.87, Y:14.05, Z:7.52 [[ 9.94937265e-01 -9.95103090e-02 -1.40547936e-02 8.10868769e+02] [ 9.94970424e-02 9.95036503e-01 -1.64176520e-03 1.40497138e+01] [ 1.41484052e-02 2.35042986e-04 9.99899879e-01 7.52186724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.90, Y:14.05, Z:7.52 [[ 9.95009202e-01 -9.87696931e-02 -1.41857706e-02 8.10897036e+02] [ 9.87560521e-02 9.95110288e-01 -1.66061597e-03 1.40533216e+01] [ 1.42804248e-02 2.51397472e-04 9.99897998e-01 7.52184281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.93, Y:14.06, Z:7.52 [[ 9.95062918e-01 -9.80968805e-02 -1.50595776e-02 8.10925755e+02] [ 9.80813699e-02 9.95176830e-01 -1.76687748e-03 1.40563723e+01] [ 1.51602678e-02 2.81090264e-04 9.99885037e-01 7.52202346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.95, Y:14.06, Z:7.52 [[ 9.95234448e-01 -9.62894059e-02 -1.53865030e-02 8.10953038e+02] [ 9.62729519e-02 9.95353329e-01 -1.80824865e-03 1.40635908e+01] [ 1.54891222e-02 3.18327277e-04 9.99879986e-01 7.52092645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:810.98, Y:14.07, Z:7.52 [[ 9.95317013e-01 -9.53441660e-02 -1.59227465e-02 8.10981320e+02] [ 9.53263828e-02 9.95444308e-01 -1.87384010e-03 1.40671141e+01] [ 1.60288671e-02 3.47207108e-04 9.99871469e-01 7.52125183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.01, Y:14.07, Z:7.52 [[ 9.95411785e-01 -9.43168227e-02 -1.61157117e-02 8.11008697e+02] [ 9.42984173e-02 9.95542163e-01 -1.89987700e-03 1.40728731e+01] [ 1.62230608e-02 3.71473852e-04 9.99868328e-01 7.52120659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8192541539999 meters Centerline goodness [0,1] 0.9999114005360268 Centerline is valid? [True, True] Translation: X:811.04, Y:14.08, Z:7.52 [[ 9.95549164e-01 -9.25971574e-02 -1.75393617e-02 8.11037278e+02] [ 9.25750279e-02 9.95703557e-01 -2.07119395e-03 1.40779174e+01] [ 1.76557915e-02 4.38268505e-04 9.99844028e-01 7.52148231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.07, Y:14.08, Z:7.52 [[ 9.95641897e-01 -9.15016470e-02 -1.80183821e-02 8.11065735e+02] [ 9.14780276e-02 9.95804812e-01 -2.13246184e-03 1.40825417e+01] [ 1.81379153e-02 4.74882298e-04 9.99835382e-01 7.52180568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8792541539999 meters Centerline goodness [0,1] 0.9999558946764875 Centerline is valid? [True, True] Translation: X:811.09, Y:14.09, Z:7.52 [[ 9.95699258e-01 -9.07668972e-02 -1.85568960e-02 8.11093431e+02] [ 9.07416551e-02 9.95872037e-01 -2.19951521e-03 1.40884761e+01] [ 1.86799370e-02 5.06172211e-04 9.99825387e-01 7.52054383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.12, Y:14.09, Z:7.52 [[ 9.95763094e-01 -8.99337865e-02 -1.91774283e-02 8.11121563e+02] [ 8.99066083e-02 9.95947599e-01 -2.27643862e-03 1.40931290e+01] [ 1.93044424e-02 5.42616031e-04 9.99813505e-01 7.52174022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.15, Y:14.10, Z:7.52 [[ 9.95878943e-01 -8.86776570e-02 -1.90106147e-02 8.11150081e+02] [ 8.86506289e-02 9.96060215e-01 -2.26144428e-03 1.40982712e+01] [ 1.91362566e-02 5.66821786e-04 9.99816724e-01 7.52150127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9692541539999 meters Centerline goodness [0,1] 0.9998897682929517 Centerline is valid? [True, True] Translation: X:811.18, Y:14.10, Z:7.52 [[ 9.95878295e-01 -8.86086197e-02 -1.93632022e-02 8.11179192e+02] [ 8.85804687e-02 9.96066349e-01 -2.30841115e-03 1.41018030e+01] [ 1.94915793e-02 5.83695030e-04 9.99809851e-01 7.52193392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9992541539999 meters Centerline goodness [0,1] 0.9999339803261372 Centerline is valid? [True, True] Translation: X:811.21, Y:14.11, Z:7.52 [[ 9.95853484e-01 -8.88032655e-02 -1.97438316e-02 8.11205140e+02] [ 8.87739595e-02 9.96049008e-01 -2.35758178e-03 1.41086650e+01] [ 1.98751849e-02 5.95067917e-04 9.99802292e-01 7.51991201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0292541539999 meters Centerline goodness [0,1] 0.9999339381661235 Centerline is valid? [True, True] Translation: X:811.23, Y:14.11, Z:7.52 [[ 9.95863641e-01 -8.87464270e-02 -1.94854042e-02 8.11233204e+02] [ 8.87177910e-02 9.96054075e-01 -2.33086775e-03 1.41099203e+01] [ 1.96153725e-02 5.92524422e-04 9.99807424e-01 7.52195443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0592541539999 meters Centerline goodness [0,1] 0.9999559296637434 Centerline is valid? [True, True] Translation: X:811.26, Y:14.11, Z:7.52 [[ 9.95775040e-01 -8.95083729e-02 -2.05017506e-02 8.11261060e+02] [ 8.94767047e-02 9.95985881e-01 -2.45864154e-03 1.41121638e+01] [ 2.06395231e-02 6.13824794e-04 9.99786794e-01 7.52200614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0892541539998 meters Centerline goodness [0,1] 0.9999559296637434 Centerline is valid? [True, True] Translation: X:811.29, Y:14.12, Z:7.52 [[ 9.95748638e-01 -8.98017737e-02 -2.05010252e-02 8.11288461e+02] [ 8.97700435e-02 9.95959469e-01 -2.46467882e-03 1.41155247e+01] [ 2.06395227e-02 6.13822651e-04 9.99786794e-01 7.52226371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.32, Y:14.12, Z:7.52 [[ 9.95719864e-01 -9.01521592e-02 -2.03602958e-02 8.11316164e+02] [ 9.01208120e-02 9.95927818e-01 -2.45382118e-03 1.41192901e+01] [ 2.04986023e-02 6.08432097e-04 9.99789696e-01 7.52317682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.34, Y:14.12, Z:7.52 [[ 9.95618278e-01 -9.12764747e-02 -2.03186870e-02 8.11343944e+02] [ 9.12454119e-02 9.95825416e-01 -2.45259374e-03 1.41227932e+01] [ 2.04577290e-02 5.87860198e-04 9.99790546e-01 7.52381468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.37, Y:14.13, Z:7.52 [[ 9.95529951e-01 -9.22429952e-02 -2.02816940e-02 8.11371215e+02] [ 9.22122078e-02 9.95736364e-01 -2.44999152e-03 1.41259021e+01] [ 2.04212148e-02 5.68820154e-04 9.99791303e-01 7.52436191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.40, Y:14.13, Z:7.53 [[ 9.95403216e-01 -9.36877525e-02 -1.98756951e-02 8.11399864e+02] [ 9.36584025e-02 9.95601488e-01 -2.40447980e-03 1.41284935e+01] [ 2.00135419e-02 5.31901075e-04 9.99799568e-01 7.52513605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.43, Y:14.13, Z:7.53 [[ 9.95128215e-01 -9.65674300e-02 -1.98637254e-02 8.11428521e+02] [ 9.65385871e-02 9.95326330e-01 -2.40810100e-03 1.41301837e+01] [ 2.00034330e-02 4.78753267e-04 9.99799797e-01 7.52559835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.46, Y:14.13, Z:7.53 [[ 9.95040822e-01 -9.75511503e-02 -1.94302584e-02 8.11456511e+02] [ 9.75236767e-02 9.95230410e-01 -2.35878999e-03 1.41336728e+01] [ 1.95676867e-02 4.52182095e-04 9.99808432e-01 7.52568262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.48, Y:14.14, Z:7.53 [[ 9.94942341e-01 -9.86045013e-02 -1.91543686e-02 8.11484925e+02] [ 9.85779336e-02 9.95126609e-01 -2.32860549e-03 1.41371155e+01] [ 1.92906329e-02 4.28630121e-04 9.99813827e-01 7.52599812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.51, Y:14.14, Z:7.53 [[ 9.94903044e-01 -9.89740612e-02 -1.92890800e-02 8.11512789e+02] [ 9.89470852e-02 9.95089921e-01 -2.35026562e-03 1.41398661e+01] [ 1.94269844e-02 4.29688182e-04 9.99811186e-01 7.52634882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3592541539999 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:811.54, Y:14.14, Z:7.53 [[ 9.94913773e-01 -9.89315096e-02 -1.89510145e-02 8.11539637e+02] [ 9.89053889e-02 9.95094153e-01 -2.31297405e-03 1.41445367e+01] [ 1.90868697e-02 4.26852279e-04 9.99817738e-01 7.52576833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.57, Y:14.15, Z:7.53 [[ 9.94886184e-01 -9.90704690e-02 -1.96601722e-02 8.11568733e+02] [ 9.90423085e-02 9.95080321e-01 -2.40332144e-03 1.41484922e+01] [ 1.98015486e-02 4.43842458e-04 9.99803832e-01 7.52592400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4192541539999 meters Centerline goodness [0,1] 0.9999560304269446 Centerline is valid? [True, True] Translation: X:811.60, Y:14.15, Z:7.53 [[ 9.94913968e-01 -9.87387418e-02 -1.99212838e-02 8.11597777e+02] [ 9.87096602e-02 9.95113284e-01 -2.44030061e-03 1.41514182e+01] [ 2.00648863e-02 4.61466010e-04 9.99798573e-01 7.52631328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.63, Y:14.16, Z:7.53 [[ 9.94975200e-01 -9.81129417e-02 -1.99550209e-02 8.11625670e+02] [ 9.80835684e-02 9.95175172e-01 -2.44778506e-03 1.41565296e+01] [ 2.00989008e-02 4.78225771e-04 9.99797882e-01 7.52596501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4792541539999 meters Centerline goodness [0,1] 0.9999342090835326 Centerline is valid? [True, True] Translation: X:811.65, Y:14.16, Z:7.53 [[ 9.95115306e-01 -9.66009180e-02 -2.03418554e-02 8.11654050e+02] [ 9.65700051e-02 9.95323058e-01 -2.49883983e-03 1.41616542e+01] [ 2.04881080e-02 5.22220681e-04 9.99789960e-01 7.52541592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.68, Y:14.17, Z:7.53 [[ 9.95307459e-01 -9.48080899e-02 -1.93517028e-02 8.11682131e+02] [ 9.47797144e-02 9.95495424e-01 -2.38030824e-03 1.41661618e+01] [ 1.94902041e-02 5.34989684e-04 9.99809905e-01 7.52696204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5392541539999 meters Centerline goodness [0,1] 0.9999780436930509 Centerline is valid? [True, True] Translation: X:811.71, Y:14.17, Z:7.53 [[ 9.95429237e-01 -9.36087705e-02 -1.89217189e-02 8.11710739e+02] [ 9.35813627e-02 9.95608907e-01 -2.33071728e-03 1.41702670e+01] [ 1.90568075e-02 5.49343886e-04 9.99818252e-01 7.52771705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.74, Y:14.18, Z:7.53 [[ 9.95683509e-01 -9.09205250e-02 -1.86496348e-02 8.11738123e+02] [ 9.08933682e-02 9.95857974e-01 -2.30041897e-03 1.41779426e+01] [ 1.87815429e-02 5.95361102e-04 9.99823434e-01 7.52754510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.77, Y:14.18, Z:7.53 [[ 9.95779783e-01 -8.97870168e-02 -1.89977825e-02 8.11766162e+02] [ 8.97585887e-02 9.95960789e-01 -2.34554448e-03 1.41827617e+01] [ 1.91316459e-02 6.30431622e-04 9.99816775e-01 7.52745411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.79, Y:14.19, Z:7.53 [[ 9.95834445e-01 -8.91517041e-02 -1.91241101e-02 8.11794507e+02] [ 8.91227066e-02 9.96017846e-01 -2.36493191e-03 1.41871343e+01] [ 1.92587927e-02 6.50688207e-04 9.99814321e-01 7.52728027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6592541539999 meters Centerline goodness [0,1] 0.9998902666520355 Centerline is valid? [True, True] Translation: X:811.82, Y:14.19, Z:7.53 [[ 9.95845129e-01 -8.89369831e-02 -1.95625050e-02 8.11823227e+02] [ 8.89064996e-02 9.96037026e-01 -2.42420736e-03 1.41921643e+01] [ 1.97005810e-02 6.74901243e-04 9.99805697e-01 7.52681004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.85, Y:14.20, Z:7.52 [[ 9.95948244e-01 -8.76791689e-02 -1.99864697e-02 8.11849611e+02] [ 8.76470283e-02 9.96148507e-01 -2.48013864e-03 1.42047155e+01] [ 2.01269484e-02 7.18335045e-04 9.99797174e-01 7.52456137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.88, Y:14.20, Z:7.53 [[ 9.95971862e-01 -8.74944661e-02 -1.96155240e-02 8.11878849e+02] [ 8.74634030e-02 9.96164751e-01 -2.43759485e-03 1.42015622e+01] [ 1.97535697e-02 7.12135400e-04 9.99804626e-01 7.52708039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.91, Y:14.21, Z:7.53 [[ 9.96041449e-01 -8.68326215e-02 -1.90138846e-02 8.11906686e+02] [ 8.68032529e-02 9.96222664e-01 -2.36604486e-03 1.42072777e+01] [ 1.91475126e-02 7.06211723e-04 9.99816420e-01 7.52768408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.93, Y:14.21, Z:7.53 [[ 9.96110085e-01 -8.60954900e-02 -1.87687337e-02 8.11934127e+02] [ 8.60667112e-02 9.96286635e-01 -2.33723727e-03 1.42132304e+01] [ 1.89002642e-02 7.12782429e-04 9.99821120e-01 7.52753309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.96, Y:14.22, Z:7.53 [[ 9.96151182e-01 -8.56351902e-02 -1.86932370e-02 8.11962873e+02] [ 8.56065006e-02 9.96326299e-01 -2.33107450e-03 1.42172370e+01] [ 1.88241856e-02 7.21840012e-04 9.99822549e-01 7.52792205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:811.99, Y:14.22, Z:7.53 [[ 9.96247066e-01 -8.43884719e-02 -1.92450064e-02 8.11991032e+02] [ 8.43577343e-02 9.96432632e-01 -2.40487506e-03 1.42224584e+01] [ 1.93792961e-02 7.72384582e-04 9.99811905e-01 7.52793867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8692541539999 meters Centerline goodness [0,1] 0.9999344161948276 Centerline is valid? [True, True] Translation: X:812.02, Y:14.23, Z:7.53 [[ 9.96247649e-01 -8.43087241e-02 -1.95617264e-02 8.12019625e+02] [ 8.42768517e-02 9.96439367e-01 -2.44949408e-03 1.42271803e+01] [ 1.96985880e-02 7.91702005e-04 9.99805651e-01 7.52695794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8992541539999 meters Centerline goodness [0,1] 0.9999127894300789 Centerline is valid? [True, True] Translation: X:812.05, Y:14.23, Z:7.53 [[ 9.96326002e-01 -8.35293736e-02 -1.89034637e-02 8.12047146e+02] [ 8.34994103e-02 9.96505008e-01 -2.37022665e-03 1.42333079e+01] [ 1.90353798e-02 7.83090372e-04 9.99818504e-01 7.52797126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9292541539999 meters Centerline goodness [0,1] 0.9998695311820475 Centerline is valid? [True, True] Translation: X:812.07, Y:14.24, Z:7.53 [[ 9.96245905e-01 -8.42274797e-02 -1.99957119e-02 8.12074746e+02] [ 8.41940467e-02 9.96446218e-01 -2.50950279e-03 1.42392820e+01] [ 2.01360206e-02 8.16561971e-04 9.99796916e-01 7.52577398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.10, Y:14.24, Z:7.53 [[ 9.96296945e-01 -8.40128373e-02 -1.82822506e-02 8.12103022e+02] [ 8.39847848e-02 9.96464387e-01 -2.29817786e-03 1.42422365e+01] [ 1.84106881e-02 7.54236695e-04 9.99830224e-01 7.52876370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.13, Y:14.25, Z:7.53 [[ 9.96273516e-01 -8.43180530e-02 -1.81534233e-02 8.12130103e+02] [ 8.42903652e-02 9.96438612e-01 -2.28635373e-03 1.42475385e+01] [ 1.82815528e-02 7.47674992e-04 9.99832599e-01 7.52903442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.16, Y:14.25, Z:7.53 [[ 9.96260531e-01 -8.46454567e-02 -1.73234332e-02 8.12157983e+02] [ 8.46202223e-02 9.96410879e-01 -2.18584029e-03 1.42516040e+01] [ 1.74462788e-02 7.11753634e-04 9.99847549e-01 7.52983365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.19, Y:14.25, Z:7.53 [[ 9.96234780e-01 -8.50606034e-02 -1.67617471e-02 8.12186289e+02] [ 8.50369576e-02 9.96375543e-01 -2.11971973e-03 1.42542825e+01] [ 1.68812995e-02 6.86370540e-04 9.99857265e-01 7.53039659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.21, Y:14.26, Z:7.53 [[ 9.96207121e-01 -8.53547613e-02 -1.69096832e-02 8.12214573e+02] [ 8.53306528e-02 9.96350383e-01 -2.14345212e-03 1.42572342e+01] [ 1.70309232e-02 6.92407951e-04 9.99854724e-01 7.53082342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.24, Y:14.26, Z:7.53 [[ 9.96193826e-01 -8.55733829e-02 -1.65848701e-02 8.12242340e+02] [ 8.55501400e-02 9.96331638e-01 -2.10718996e-03 1.42627768e+01] [ 1.67043501e-02 6.80331671e-04 9.99860241e-01 7.53101031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1392541539999 meters Centerline goodness [0,1] 0.999869522670436 Centerline is valid? [True, True] Translation: X:812.27, Y:14.27, Z:7.53 [[ 9.96096429e-01 -8.64767041e-02 -1.77110955e-02 8.12269773e+02] [ 8.64502729e-02 9.96253617e-01 -2.25401609e-03 1.42705728e+01] [ 1.78396629e-02 7.14088341e-04 9.99840606e-01 7.52821185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.30, Y:14.28, Z:7.53 [[ 9.96143938e-01 -8.61445024e-02 -1.66246922e-02 8.12297396e+02] [ 8.61211444e-02 9.96282423e-01 -2.11719356e-03 1.42772342e+01] [ 1.67452732e-02 6.77292006e-04 9.99859559e-01 7.52986687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.33, Y:14.28, Z:7.53 [[ 9.96109675e-01 -8.64605462e-02 -1.70320131e-02 8.12325536e+02] [ 8.64360224e-02 9.96255036e-01 -2.17216162e-03 1.42781050e+01] [ 1.71560351e-02 6.91531733e-04 9.99852585e-01 7.53116429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2292541539999 meters Centerline goodness [0,1] 0.9999350846063964 Centerline is valid? [True, True] Translation: X:812.35, Y:14.29, Z:7.53 [[ 9.96078976e-01 -8.68487343e-02 -1.68514393e-02 8.12352090e+02] [ 8.68247259e-02 9.96221277e-01 -2.15251302e-03 1.42869951e+01] [ 1.69747055e-02 6.80951366e-04 9.99855687e-01 7.52924570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.38, Y:14.29, Z:7.53 [[ 9.96088511e-01 -8.68442555e-02 -1.63019765e-02 8.12379877e+02] [ 8.68217419e-02 9.96221681e-01 -2.08505963e-03 1.42923535e+01] [ 1.64214578e-02 6.61537950e-04 9.99864940e-01 7.53061886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2892541539999 meters Centerline goodness [0,1] 0.9999567090196757 Centerline is valid? [True, True] Translation: X:812.41, Y:14.29, Z:7.53 [[ 9.95962048e-01 -8.82677138e-02 -1.63832272e-02 8.12409109e+02] [ 8.82450952e-02 9.96096579e-01 -2.09983098e-03 1.42912762e+01] [ 1.65046239e-02 6.45612517e-04 9.99863581e-01 7.53063302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.44, Y:14.30, Z:7.53 [[ 9.95943408e-01 -8.84633820e-02 -1.64608279e-02 8.12435371e+02] [ 8.84405202e-02 9.96079218e-01 -2.11310018e-03 1.42967013e+01] [ 1.65832206e-02 6.48724013e-04 9.99862278e-01 7.53097924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.46, Y:14.30, Z:7.53 [[ 9.95906702e-01 -8.87871382e-02 -1.69317988e-02 8.12463194e+02] [ 8.87629372e-02 9.96050401e-01 -2.17700687e-03 1.43006823e+01] [ 1.70582152e-02 6.65179537e-04 9.99854277e-01 7.53098981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.49, Y:14.30, Z:7.53 [[ 9.95835927e-01 -8.94675258e-02 -1.75033806e-02 8.12491443e+02] [ 8.94416810e-02 9.95989507e-01 -2.25542982e-03 1.43047856e+01] [ 1.76349711e-02 6.80506264e-04 9.99844260e-01 7.53100660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.52, Y:14.31, Z:7.53 [[ 9.95825113e-01 -8.95930446e-02 -1.74766025e-02 8.12519468e+02] [ 8.95672134e-02 9.95978223e-01 -2.25678991e-03 1.43098518e+01] [ 1.76085082e-02 6.82037484e-04 9.99844726e-01 7.53129475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.55, Y:14.32, Z:7.53 [[ 9.95839386e-01 -8.93389894e-02 -1.79572236e-02 8.12546297e+02] [ 8.93116084e-02 9.96001025e-01 -2.32261183e-03 1.43159214e+01] [ 1.80929129e-02 7.09159815e-04 9.99836058e-01 7.53120450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4692541539999 meters Centerline goodness [0,1] 0.9999785518188058 Centerline is valid? [True, True] Translation: X:812.57, Y:14.32, Z:7.53 [[ 9.95877124e-01 -8.88423614e-02 -1.83245268e-02 8.12573533e+02] [ 8.88137307e-02 9.96045428e-01 -2.37196969e-03 1.43237822e+01] [ 1.84627926e-02 7.34720764e-04 9.99829278e-01 7.53042935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4992541539999 meters Centerline goodness [0,1] 0.9999354297152451 Centerline is valid? [True, True] Translation: X:812.60, Y:14.33, Z:7.53 [[ 9.95848683e-01 -8.90733317e-02 -1.87441008e-02 8.12601283e+02] [ 8.90433482e-02 9.96024788e-01 -2.42984513e-03 1.43294703e+01] [ 1.88860234e-02 7.50720582e-04 9.99821361e-01 7.52981220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5292541539999 meters Centerline goodness [0,1] 0.9999571486726802 Centerline is valid? [True, True] Translation: X:812.63, Y:14.33, Z:7.53 [[ 9.95827609e-01 -8.92725949e-02 -1.89150154e-02 8.12629567e+02] [ 8.92419924e-02 9.96006941e-01 -2.45753437e-03 1.43332020e+01] [ 1.90588771e-02 7.59266909e-04 9.99818075e-01 7.53109783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5592541539999 meters Centerline goodness [0,1] 0.9998287047941246 Centerline is valid? [True, True] Translation: X:812.66, Y:14.34, Z:7.53 [[ 9.95722696e-01 -9.03685401e-02 -1.92312305e-02 8.12656631e+02] [ 9.03370295e-02 9.95908107e-01 -2.50275843e-03 1.43381480e+01] [ 1.93787090e-02 7.54761132e-04 9.99811930e-01 7.52956170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.68, Y:14.34, Z:7.53 [[ 9.95763826e-01 -9.01473977e-02 -1.81066189e-02 8.12683020e+02] [ 9.01193868e-02 9.95928176e-01 -2.35869904e-03 1.43432912e+01] [ 1.82455225e-02 7.16949789e-04 9.99833280e-01 7.53278904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6192541539999 meters Centerline goodness [0,1] 0.9999140173255089 Centerline is valid? [True, True] Translation: X:812.71, Y:14.35, Z:7.53 [[ 9.95615006e-01 -9.17342151e-02 -1.83192027e-02 8.12712176e+02] [ 9.17057497e-02 9.95783282e-01 -2.38969104e-03 1.43475828e+01] [ 1.84611722e-02 6.99236040e-04 9.99829334e-01 7.53139465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6492541539999 meters Centerline goodness [0,1] 0.9999355157663952 Centerline is valid? [True, True] Translation: X:812.74, Y:14.35, Z:7.53 [[ 9.95499246e-01 -9.30182316e-02 -1.81344770e-02 8.12740354e+02] [ 9.29904703e-02 9.95664178e-01 -2.36996208e-03 1.43530798e+01] [ 1.82762988e-02 6.72961921e-04 9.99832748e-01 7.53271857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.77, Y:14.36, Z:7.53 [[ 9.95461277e-01 -9.34943416e-02 -1.77666450e-02 8.12768166e+02] [ 9.34676867e-02 9.95619595e-01 -2.32659203e-03 1.43581492e+01] [ 1.79063431e-02 6.55425065e-04 9.99839454e-01 7.53374945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.80, Y:14.36, Z:7.53 [[ 9.95411836e-01 -9.39805926e-02 -1.79701404e-02 8.12795025e+02] [ 9.39533402e-02 9.95573812e-01 -2.35668729e-03 1.43649130e+01] [ 1.81120841e-02 6.57519704e-04 9.99835747e-01 7.53355737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.82, Y:14.37, Z:7.53 [[ 9.95361543e-01 -9.44917627e-02 -1.80749746e-02 8.12823157e+02] [ 9.44642153e-02 9.95525428e-01 -2.37374469e-03 1.43688514e+01] [ 1.82183961e-02 6.55295892e-04 9.99833817e-01 7.53410840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.85, Y:14.38, Z:7.53 [[ 9.95314767e-01 -9.49995667e-02 -1.79888148e-02 8.12850643e+02] [ 9.49722960e-02 9.95477104e-01 -2.36618211e-03 1.43754135e+01] [ 1.81322395e-02 6.46656950e-04 9.99835388e-01 7.53403299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7992541539999 meters Centerline goodness [0,1] 0.9998499174546001 Centerline is valid? [True, True] Translation: X:812.88, Y:14.38, Z:7.53 [[ 9.95168429e-01 -9.64173232e-02 -1.85337081e-02 8.12879115e+02] [ 9.63885558e-02 9.95340789e-01 -2.44133212e-03 1.43800225e+01] [ 1.86827423e-02 6.43099298e-04 9.99825256e-01 7.53249608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.91, Y:14.38, Z:7.53 [[ 9.95136352e-01 -9.68517776e-02 -1.79826035e-02 8.12907379e+02] [ 9.68246834e-02 9.95298623e-01 -2.37333065e-03 1.43836860e+01] [ 1.81279218e-02 6.20627713e-04 9.99835483e-01 7.53432471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8592541539999 meters Centerline goodness [0,1] 0.9998930138012196 Centerline is valid? [True, True] Translation: X:812.94, Y:14.39, Z:7.53 [[ 9.94934182e-01 -9.86845429e-02 -1.91659759e-02 8.12936410e+02] [ 9.86540047e-02 9.95118567e-01 -2.53467367e-03 1.43874209e+01] [ 1.93225516e-02 6.31033189e-04 9.99813103e-01 7.53219367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8892541539999 meters Centerline goodness [0,1] 0.9998720955020252 Centerline is valid? [True, True] Translation: X:812.97, Y:14.39, Z:7.53 [[ 9.94735028e-01 -1.00708235e-01 -1.89756451e-02 8.12966074e+02] [ 1.00678601e-01 9.94915828e-01 -2.51301841e-03 1.43875646e+01] [ 1.91322513e-02 5.89346036e-04 9.99816788e-01 7.53316659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:812.99, Y:14.39, Z:7.54 [[ 9.94712574e-01 -1.01041691e-01 -1.83703896e-02 8.12993797e+02] [ 1.01013902e-01 9.94882030e-01 -2.43674374e-03 1.43910061e+01] [ 1.85225832e-02 5.68194900e-04 9.99828281e-01 7.53594747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.02, Y:14.40, Z:7.54 [[ 9.94461198e-01 -1.03573699e-01 -1.78721729e-02 8.13021331e+02] [ 1.03547743e-01 9.94621651e-01 -2.37412502e-03 1.43960361e+01] [ 1.80219470e-02 5.10352043e-04 9.99837461e-01 7.53579821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.05, Y:14.40, Z:7.54 [[ 9.94432052e-01 -1.03853240e-01 -1.78717406e-02 8.13048662e+02] [ 1.03827271e-01 9.94592502e-01 -2.37737560e-03 1.43997584e+01] [ 1.80219973e-02 5.08564449e-04 9.99837461e-01 7.53605633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.08, Y:14.40, Z:7.54 [[ 9.94295987e-01 -1.05225724e-01 -1.74079769e-02 8.13077373e+02] [ 1.05201213e-01 9.94448249e-01 -2.32037984e-03 1.44010554e+01] [ 1.75554958e-02 4.75804071e-04 9.99845777e-01 7.53699256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.10, Y:14.40, Z:7.54 [[ 9.94167028e-01 -1.06391290e-01 -1.76865318e-02 8.13104734e+02] [ 1.06366115e-01 9.94324231e-01 -2.36072892e-03 1.44046836e+01] [ 1.78373082e-02 4.65711176e-04 9.99840794e-01 7.53693934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0692541539999 meters Centerline goodness [0,1] 0.9999572439446737 Centerline is valid? [True, True] Translation: X:813.13, Y:14.41, Z:7.54 [[ 9.93893463e-01 -1.08912289e-01 -1.77171300e-02 8.13133817e+02] [ 1.08887373e-01 9.94051273e-01 -2.36781191e-03 1.44068405e+01] [ 1.78696195e-02 4.24181034e-04 9.99840236e-01 7.53592832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0992541539999 meters Centerline goodness [0,1] 0.9999572311442807 Centerline is valid? [True, True] Translation: X:813.16, Y:14.41, Z:7.54 [[ 9.93788102e-01 -1.09879614e-01 -1.76544228e-02 8.13162817e+02] [ 1.09854947e-01 9.93944819e-01 -2.36392681e-03 1.44096199e+01] [ 1.78072695e-02 4.09816651e-04 9.99841354e-01 7.53614215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.19, Y:14.42, Z:7.54 [[ 9.93744001e-01 -1.10322562e-01 -1.73722005e-02 8.13189980e+02] [ 1.10298691e-01 9.93895756e-01 -2.32920484e-03 1.44156698e+01] [ 1.75231202e-02 3.98502347e-04 9.99846379e-01 7.53663990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1592541539999 meters Centerline goodness [0,1] 0.9998713964205337 Centerline is valid? [True, True] Translation: X:813.22, Y:14.42, Z:7.54 [[ 9.93555135e-01 -1.11990355e-01 -1.75029800e-02 8.13219409e+02] [ 1.11966330e-01 9.93709223e-01 -2.34965030e-03 1.44162202e+01] [ 1.76560108e-02 3.74762687e-04 9.99844050e-01 7.53535654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.25, Y:14.42, Z:7.54 [[ 9.93597771e-01 -1.11745927e-01 -1.66227765e-02 8.13247316e+02] [ 1.11724150e-01 9.93736743e-01 -2.23590500e-03 1.44183086e+01] [ 1.67685171e-02 3.64424640e-04 9.99859332e-01 7.53844971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2192541539999 meters Centerline goodness [0,1] 0.9998711810550271 Centerline is valid? [True, True] Translation: X:813.28, Y:14.42, Z:7.54 [[ 9.93518931e-01 -1.12335526e-01 -1.73454024e-02 8.13275649e+02] [ 1.12311811e-01 9.93670262e-01 -2.33840889e-03 1.44221749e+01] [ 1.74982970e-02 3.75159941e-04 9.99846823e-01 7.53614066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.30, Y:14.43, Z:7.54 [[ 9.93755094e-01 -1.10282877e-01 -1.69853123e-02 8.13302688e+02] [ 1.10259778e-01 9.93900157e-01 -2.29327998e-03 1.44274184e+01] [ 1.71346140e-02 4.06161899e-04 9.99853109e-01 7.53797970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2792541539999 meters Centerline goodness [0,1] 0.9998501519886972 Centerline is valid? [True, True] Translation: X:813.33, Y:14.43, Z:7.54 [[ 9.93773737e-01 -1.10006197e-01 -1.76747594e-02 8.13331190e+02] [ 1.09981088e-01 9.93930808e-01 -2.38938501e-03 1.44313894e+01] [ 1.78303351e-02 4.30618799e-04 9.99840934e-01 7.53556040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3092541539999 meters Centerline goodness [0,1] 0.9999139396286495 Centerline is valid? [True, True] Translation: X:813.36, Y:14.44, Z:7.54 [[ 9.93948802e-01 -1.08459356e-01 -1.73881582e-02 8.13359276e+02] [ 1.08434764e-01 9.94100781e-01 -2.35370022e-03 1.44354795e+01] [ 1.75408625e-02 4.53976682e-04 9.99846044e-01 7.53657550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3392541539998 meters Centerline goodness [0,1] 0.9998930160903801 Centerline is valid? [True, True] Translation: X:813.39, Y:14.44, Z:7.54 [[ 9.94333920e-01 -1.04794021e-01 -1.78400730e-02 8.13386693e+02] [ 1.04767518e-01 9.94493805e-01 -2.41637401e-03 1.44420468e+01] [ 1.79950637e-02 5.33622471e-04 9.99837933e-01 7.53629324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3692541539999 meters Centerline goodness [0,1] 0.9998284255903233 Centerline is valid? [True, True] Translation: X:813.41, Y:14.45, Z:7.54 [[ 9.94468819e-01 -1.03450303e-01 -1.81604931e-02 8.13414982e+02] [ 1.03422561e-01 9.94634460e-01 -2.46273443e-03 1.44466420e+01] [ 1.83178229e-02 5.70907890e-04 9.99832052e-01 7.53577406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3992541539999 meters Centerline goodness [0,1] 0.9998927130718394 Centerline is valid? [True, True] Translation: X:813.44, Y:14.45, Z:7.54 [[ 9.94752114e-01 -1.00595324e-01 -1.86765285e-02 8.13443148e+02] [ 1.00565424e-01 9.94927216e-01 -2.53565940e-03 1.44531662e+01] [ 1.88368619e-02 6.44139541e-04 9.99822363e-01 7.53584094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.47, Y:14.46, Z:7.54 [[ 9.94865435e-01 -9.94475920e-02 -1.87867692e-02 8.13472050e+02] [ 9.94170794e-02 9.95042574e-01 -2.55350063e-03 1.44572903e+01] [ 1.89475747e-02 6.72663792e-04 9.99820252e-01 7.53738559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4592541539998 meters Centerline goodness [0,1] 0.9999357064786438 Centerline is valid? [True, True] Translation: X:813.50, Y:14.46, Z:7.54 [[ 9.94792071e-01 -1.00136773e-01 -1.90095375e-02 8.13501160e+02] [ 1.00105565e-01 9.94973454e-01 -2.58864600e-03 1.44576191e+01] [ 1.91732039e-02 6.72204018e-04 9.99815951e-01 7.53683259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.53, Y:14.46, Z:7.54 [[ 9.94821125e-01 -9.99062155e-02 -1.86996661e-02 8.13528686e+02] [ 9.98759148e-02 9.94996634e-01 -2.54968484e-03 1.44613745e+01] [ 1.88608341e-02 6.68834086e-04 9.99821895e-01 7.53833383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5192541539999 meters Centerline goodness [0,1] 0.9999356595963712 Centerline is valid? [True, True] Translation: X:813.56, Y:14.46, Z:7.54 [[ 9.94681249e-01 -1.01176086e-01 -1.93031748e-02 8.13556559e+02] [ 1.01144002e-01 9.94868310e-01 -2.63376024e-03 1.44649478e+01] [ 1.94705904e-02 6.67351580e-04 9.99810207e-01 7.53697603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5492541539999 meters Centerline goodness [0,1] 0.9999141041058237 Centerline is valid? [True, True] Translation: X:813.59, Y:14.46, Z:7.54 [[ 9.94331798e-01 -1.04600775e-01 -1.90513423e-02 8.13585947e+02] [ 1.04570121e-01 9.94514115e-01 -2.60093967e-03 1.44628182e+01] [ 1.92188891e-02 5.93995855e-04 9.99815124e-01 7.53798290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.62, Y:14.46, Z:7.54 [[ 9.93933033e-01 -1.08628599e-01 -1.72323341e-02 8.13616311e+02] [ 1.08604111e-01 9.94082295e-01 -2.35335823e-03 1.44615341e+01] [ 1.73860002e-02 4.67578165e-04 9.99848743e-01 7.54101903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6092541539999 meters Centerline goodness [0,1] 0.9998704131660223 Centerline is valid? [True, True] Translation: X:813.65, Y:14.46, Z:7.54 [[ 9.93559777e-01 -1.11912804e-01 -1.77339646e-02 8.13645646e+02] [ 1.11887349e-01 9.93717940e-01 -2.42422031e-03 1.44613421e+01] [ 1.78938600e-02 4.24401504e-04 9.99839802e-01 7.53938010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.67, Y:14.46, Z:7.54 [[ 9.93353796e-01 -1.13911423e-01 -1.65052476e-02 8.13674052e+02] [ 1.13889581e-01 9.93490843e-01 -2.26033509e-03 1.44631717e+01] [ 1.66552903e-02 3.65536702e-04 9.99861224e-01 7.54200078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.70, Y:14.46, Z:7.54 [[ 9.92815955e-01 -1.18647548e-01 -1.54673306e-02 8.13704223e+02] [ 1.18628883e-01 9.92936396e-01 -2.12189311e-03 1.44605539e+01] [ 1.56098329e-02 2.71777177e-04 9.99878122e-01 7.54326124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6992541539998 meters Centerline goodness [0,1] 0.9999568015897015 Centerline is valid? [True, True] Translation: X:813.73, Y:14.46, Z:7.54 [[ 9.92560327e-01 -1.20773670e-01 -1.54181295e-02 8.13731830e+02] [ 1.20755338e-01 9.92680041e-01 -2.11790042e-03 1.44617804e+01] [ 1.55610561e-02 2.40322496e-04 9.99878891e-01 7.54243860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.76, Y:14.46, Z:7.54 [[ 9.92378345e-01 -1.22264979e-01 -1.53783823e-02 8.13761182e+02] [ 1.22246883e-01 9.92497470e-01 -2.11486884e-03 1.44623820e+01] [ 1.55215799e-02 2.18790747e-04 9.99879509e-01 7.54425769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.79, Y:14.46, Z:7.54 [[ 9.92195144e-01 -1.23715370e-01 -1.55981894e-02 8.13789706e+02] [ 1.23696884e-01 9.92317725e-01 -2.14813053e-03 1.44623050e+01] [ 1.57441165e-02 2.01917258e-04 9.99876033e-01 7.54415611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.82, Y:14.46, Z:7.54 [[ 9.92133624e-01 -1.24126909e-01 -1.62290478e-02 8.13817646e+02] [ 1.24106904e-01 9.92266329e-01 -2.23796218e-03 1.44642810e+01] [ 1.63813290e-02 2.06220653e-04 9.99865796e-01 7.54434084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.85, Y:14.47, Z:7.54 [[ 9.92305390e-01 -1.22649428e-01 -1.69449604e-02 8.13845555e+02] [ 1.22627342e-01 9.92450028e-01 -2.34026446e-03 1.44670940e+01] [ 1.71040585e-02 2.44341577e-04 9.99853685e-01 7.54356595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.87, Y:14.47, Z:7.54 [[ 9.92413015e-01 -1.21663725e-01 -1.77298111e-02 8.13874465e+02] [ 1.21639334e-01 9.92571338e-01 -2.45170977e-03 1.44703962e+01] [ 1.78963865e-02 2.76466262e-04 9.99839809e-01 7.54326949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.90, Y:14.47, Z:7.54 [[ 9.92563645e-01 -1.20394371e-01 -1.79612444e-02 8.13901612e+02] [ 1.20369074e-01 9.92726096e-01 -2.48690053e-03 1.44747077e+01] [ 1.81300049e-02 3.06428704e-04 9.99835591e-01 7.54263354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.93, Y:14.48, Z:7.54 [[ 9.92853804e-01 -1.17845092e-01 -1.88111050e-02 8.13930137e+02] [ 1.17816824e-01 9.93031921e-01 -2.60784739e-03 1.44777495e+01] [ 1.89873497e-02 3.72946563e-04 9.99819654e-01 7.54214410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.96, Y:14.48, Z:7.54 [[ 9.92959052e-01 -1.16921575e-01 -1.90175418e-02 8.13959021e+02] [ 1.16892420e-01 9.93141070e-01 -2.64130667e-03 1.44807432e+01] [ 1.91959275e-02 3.99702874e-04 9.99815661e-01 7.54274085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:813.99, Y:14.48, Z:7.54 [[ 9.93065890e-01 -1.16123979e-01 -1.83128103e-02 8.13986674e+02] [ 1.16096753e-01 9.93234645e-01 -2.54651990e-03 1.44843138e+01] [ 1.84846297e-02 4.02804243e-04 9.99829063e-01 7.54306998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.01, Y:14.49, Z:7.54 [[ 9.93335305e-01 -1.13955058e-01 -1.72978890e-02 8.14014702e+02] [ 1.13930411e-01 9.93485817e-01 -2.40689648e-03 1.44878214e+01] [ 1.74594854e-02 4.20099644e-04 9.99847483e-01 7.54439761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.04, Y:14.49, Z:7.55 [[ 9.93428854e-01 -1.13265242e-01 -1.64346199e-02 8.14043854e+02] [ 1.13242857e-01 9.93564701e-01 -2.28938744e-03 1.44903430e+01] [ 1.65881662e-02 4.13240240e-04 9.99862322e-01 7.54553531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.07, Y:14.49, Z:7.55 [[ 9.93575357e-01 -1.12031316e-01 -1.60310735e-02 8.14072014e+02] [ 1.12009808e-01 9.93704585e-01 -2.23608524e-03 1.44935960e+01] [ 1.61806628e-02 4.26081725e-04 9.99868994e-01 7.54636642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0892541539998 meters Centerline goodness [0,1] 0.9998689441265126 Centerline is valid? [True, True] Translation: X:814.10, Y:14.50, Z:7.54 [[ 9.93773438e-01 -1.10129143e-01 -1.69093444e-02 8.14099600e+02] [ 1.10104912e-01 9.93917169e-01 -2.36015990e-03 1.44982301e+01] [ 1.70664101e-02 4.83662338e-04 9.99854241e-01 7.54445243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.13, Y:14.50, Z:7.55 [[ 9.93815514e-01 -1.09770327e-01 -1.67690303e-02 8.14128921e+02] [ 1.09746399e-01 9.93956859e-01 -2.34329613e-03 1.44995858e+01] [ 1.69249171e-02 4.88463341e-04 9.99856644e-01 7.54704055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.16, Y:14.50, Z:7.55 [[ 9.93739988e-01 -1.10240670e-01 -1.81060848e-02 8.14157014e+02] [ 1.10212759e-01 9.93904784e-01 -2.53523200e-03 1.45029136e+01] [ 1.82752100e-02 5.23839857e-04 9.99832857e-01 7.54600690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.19, Y:14.50, Z:7.54 [[ 9.93464483e-01 -1.12297052e-01 -2.04375442e-02 8.14186251e+02] [ 1.12261803e-01 9.93674527e-01 -2.86757460e-03 1.45041293e+01] [ 2.06302872e-02 5.54477964e-04 9.99787019e-01 7.54413787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.21, Y:14.51, Z:7.54 [[ 9.93319203e-01 -1.13430999e-01 -2.12219067e-02 8.14213613e+02] [ 1.13393174e-01 9.93545722e-01 -2.98116457e-03 1.45072092e+01] [ 2.14230910e-02 5.54828656e-04 9.99770345e-01 7.54353707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.24, Y:14.51, Z:7.54 [[ 9.93025964e-01 -1.15916196e-01 -2.15144190e-02 8.14242795e+02] [ 1.15877819e-01 9.93258865e-01 -3.02617825e-03 1.45079411e+01] [ 2.17201705e-02 5.12029619e-04 9.99763958e-01 7.54372098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.27, Y:14.51, Z:7.55 [[ 9.92865594e-01 -1.17302029e-01 -2.14043479e-02 8.14271966e+02] [ 1.17264247e-01 9.93096168e-01 -3.01615858e-03 1.45088144e+01] [ 2.16103774e-02 4.84675334e-04 9.99766351e-01 7.54511330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.30, Y:14.51, Z:7.55 [[ 9.92721750e-01 -1.18562560e-01 -2.11292997e-02 8.14300932e+02] [ 1.18525913e-01 9.92946479e-01 -2.98282276e-03 1.45116848e+01] [ 2.13339148e-02 4.56743494e-04 9.99772302e-01 7.54595081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3292541539998 meters Centerline goodness [0,1] 0.9999557081164877 Centerline is valid? [True, True] Translation: X:814.33, Y:14.51, Z:7.55 [[ 9.92471212e-01 -1.20872182e-01 -1.97688650e-02 8.14330222e+02] [ 1.20840488e-01 9.92668005e-01 -2.79438346e-03 1.45136714e+01] [ 1.99616830e-02 3.84465837e-04 9.99800672e-01 7.54701735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.36, Y:14.52, Z:7.55 [[ 9.92366867e-01 -1.21985057e-01 -1.81010348e-02 8.14357973e+02] [ 1.21958628e-01 9.92531881e-01 -2.56093467e-03 1.45174673e+01] [ 1.82782499e-02 3.33809338e-04 9.99832883e-01 7.54869630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.39, Y:14.52, Z:7.55 [[ 9.92234920e-01 -1.23157505e-01 -1.73808066e-02 8.14387080e+02] [ 1.23133261e-01 9.92387090e-01 -2.46228776e-03 1.45210923e+01] [ 1.75517373e-02 3.03012507e-04 9.99845910e-01 7.54963082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4192541539999 meters Centerline goodness [0,1] 0.9999116861325149 Centerline is valid? [True, True] Translation: X:814.41, Y:14.52, Z:7.55 [[ 9.92089963e-01 -1.24482750e-01 -1.61725330e-02 8.14414727e+02] [ 1.24461890e-01 9.92221737e-01 -2.29392087e-03 1.45247293e+01] [ 1.63322924e-02 2.62911855e-04 9.99866585e-01 7.54926461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4492541539998 meters Centerline goodness [0,1] 0.999867332950073 Centerline is valid? [True, True] Translation: X:814.44, Y:14.53, Z:7.55 [[ 9.92094723e-01 -1.24429959e-01 -1.62864011e-02 8.14441945e+02] [ 1.24408773e-01 9.92228358e-01 -2.31153351e-03 1.45292136e+01] [ 1.64474531e-02 2.67089018e-04 9.99864696e-01 7.54978036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.47, Y:14.53, Z:7.55 [[ 9.92163756e-01 -1.23936795e-01 -1.58351275e-02 8.14470825e+02] [ 1.23916665e-01 9.92290078e-01 -2.24991427e-03 1.45341622e+01] [ 1.59918870e-02 2.70047207e-04 9.99872085e-01 7.55114568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.50, Y:14.54, Z:7.55 [[ 9.92433505e-01 -1.21709931e-01 -1.61997160e-02 8.14499031e+02] [ 1.21688500e-01 9.92565661e-01 -2.30583230e-03 1.45402357e+01] [ 1.63599246e-02 3.17066091e-04 9.99866117e-01 7.55094198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.53, Y:14.55, Z:7.55 [[ 9.92649962e-01 -1.19828982e-01 -1.69430551e-02 8.14525786e+02] [ 1.19805210e-01 9.92794480e-01 -2.41479726e-03 1.45474859e+01] [ 1.71103343e-02 3.67182126e-04 9.99853540e-01 7.55042670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.55, Y:14.55, Z:7.55 [[ 9.92886556e-01 -1.17785888e-01 -1.74003378e-02 8.14554239e+02] [ 1.17760451e-01 9.93038927e-01 -2.48292918e-03 1.45526882e+01] [ 1.75716668e-02 4.16195384e-04 9.99845520e-01 7.55060182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:814.58, Y:14.56, Z:7.55 [[ 9.93155400e-01 -1.15400691e-01 -1.80286651e-02 8.14581892e+02] [ 1.15372930e-01 9.93318907e-01 -2.57588114e-03 1.45592409e+01] [ 1.82054724e-02 4.78230350e-04 9.99834152e-01 7.55049293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6292541539999 meters Centerline goodness [0,1] 0.9998463699411816 Centerline is valid? [True, True] Translation: X:814.61, Y:14.57, Z:7.55 [[ 9.93662492e-01 -1.10609198e-01 -2.00114391e-02 8.14609440e+02] [ 1.10573992e-01 9.93863778e-01 -2.86071750e-03 1.45710504e+01] [ 2.02050661e-02 6.29842967e-04 9.99795658e-01 7.54719030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6592541539999 meters Centerline goodness [0,1] 0.9998245690978466 Centerline is valid? [True, True] Translation: X:814.64, Y:14.58, Z:7.55 [[ 9.94211560e-01 -1.05297958e-01 -2.13474466e-02 8.14638632e+02] [ 1.05256652e-01 9.94440405e-01 -3.05253179e-03 1.45778052e+01] [ 2.15501888e-02 7.87901620e-04 9.99767457e-01 7.54786742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6892541539999 meters Centerline goodness [0,1] 0.9998684873857484 Centerline is valid? [True, True] Translation: X:814.67, Y:14.59, Z:7.55 [[ 9.94451551e-01 -1.03015162e-01 -2.13070147e-02 8.14665819e+02] [ 1.02973466e-01 9.94679434e-01 -3.04781602e-03 1.45865440e+01] [ 2.15076206e-02 8.36848224e-04 9.99768334e-01 7.54792098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7192541539999 meters Centerline goodness [0,1] 0.9999563070738847 Centerline is valid? [True, True] Translation: X:814.69, Y:14.59, Z:7.55 [[ 9.94696876e-01 -1.00702439e-01 -2.09079578e-02 8.14694785e+02] [ 1.00661758e-01 9.94916207e-01 -2.99180113e-03 1.45922640e+01] [ 2.11029477e-02 8.71303442e-04 9.99776928e-01 7.54995189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7492541539999 meters Centerline goodness [0,1] 0.9998034848683348 Centerline is valid? [True, True] Translation: X:814.72, Y:14.60, Z:7.55 [[ 9.94794253e-01 -9.96211114e-02 -2.14482729e-02 8.14721975e+02] [ 9.95780179e-02 9.95025020e-01 -3.07056982e-03 1.46007480e+01] [ 2.16474617e-02 9.18808716e-04 9.99765244e-01 7.54807743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7792541539999 meters Centerline goodness [0,1] 0.9999345792354494 Centerline is valid? [True, True] Translation: X:814.75, Y:14.61, Z:7.55 [[ 9.94912443e-01 -9.86815688e-02 -2.02775560e-02 8.14748179e+02] [ 9.86428063e-02 9.95118664e-01 -2.90545289e-03 1.46105878e+01] [ 2.04652891e-02 8.90436206e-04 9.99790168e-01 7.54868121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8092541539999 meters Centerline goodness [0,1] 0.9999563175712569 Centerline is valid? [True, True] Translation: X:814.78, Y:14.61, Z:7.55 [[ 9.94940156e-01 -9.85140810e-02 -1.97246524e-02 8.14777015e+02] [ 9.84772913e-02 9.95135274e-01 -2.83023259e-03 1.46108339e+01] [ 1.99075151e-02 8.73481715e-04 9.99801444e-01 7.55111659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8392541539998 meters Centerline goodness [0,1] 0.9999123940515561 Centerline is valid? [True, True] Translation: X:814.81, Y:14.61, Z:7.55 [[ 9.94834500e-01 -9.95335312e-02 -1.99347439e-02 8.14805732e+02] [ 9.94960552e-02 9.95033831e-01 -2.86547348e-03 1.46121556e+01] [ 2.01209553e-02 8.67243495e-04 9.99797177e-01 7.55169659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8692541539999 meters Centerline goodness [0,1] 0.9998690613883857 Centerline is valid? [True, True] Translation: X:814.83, Y:14.61, Z:7.55 [[ 9.94608856e-01 -1.01802369e-01 -1.97357899e-02 8.14834589e+02] [ 1.01766020e-01 9.94804308e-01 -2.84000623e-03 1.46146687e+01] [ 1.99223681e-02 8.16262555e-04 9.99801197e-01 7.55255990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8992541539999 meters Centerline goodness [0,1] 0.9998690613883857 Centerline is valid? [True, True] Translation: X:814.86, Y:14.62, Z:7.55 [[ 9.94579418e-01 -1.02089670e-01 -1.97352589e-02 8.14861904e+02] [ 1.02053305e-01 9.94774867e-01 -2.84369237e-03 1.46186891e+01] [ 1.99224511e-02 8.14229501e-04 9.99801197e-01 7.55281829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9292541539999 meters Centerline goodness [0,1] 0.9999342379271795 Centerline is valid? [True, True] Translation: X:814.89, Y:14.62, Z:7.55 [[ 9.94373147e-01 -1.04049709e-01 -1.98923008e-02 8.14891416e+02] [ 1.04013048e-01 9.94571787e-01 -2.87162103e-03 1.46206488e+01] [ 2.00831125e-02 7.86404002e-04 9.99798005e-01 7.55337877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9592541539998 meters Centerline goodness [0,1] 0.9999561605401022 Centerline is valid? [True, True] Translation: X:814.92, Y:14.62, Z:7.55 [[ 9.94224492e-01 -1.05535879e-01 -1.94894171e-02 8.14920451e+02] [ 1.05500880e-01 9.94415216e-01 -2.81823882e-03 1.46234100e+01] [ 1.96779982e-02 7.45811406e-04 9.99806091e-01 7.55480251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9892541539999 meters Centerline goodness [0,1] 0.9999344376939552 Centerline is valid? [True, True] Translation: X:814.95, Y:14.62, Z:7.55 [[ 9.93844527e-01 -1.09047417e-01 -1.95375853e-02 8.14949027e+02] [ 1.09012864e-01 9.94036316e-01 -2.82812416e-03 1.46245563e+01] [ 1.97294689e-02 6.80867600e-04 9.99805123e-01 7.55481535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0192541539999 meters Centerline goodness [0,1] 0.9995603042694455 Centerline is valid? [True, True] Translation: X:814.98, Y:14.63, Z:7.55 [[ 9.93490672e-01 -1.11980274e-01 -2.08974627e-02 8.14978093e+02] [ 1.11941361e-01 9.93710206e-01 -3.02635331e-03 1.46253824e+01] [ 2.11049139e-02 6.67363366e-04 9.99777044e-01 7.55374659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0492541539999 meters Centerline goodness [0,1] 0.9998239514105893 Centerline is valid? [True, True] Translation: X:815.01, Y:14.63, Z:7.55 [[ 9.93208220e-01 -1.14436143e-01 -2.10190579e-02 8.15007361e+02] [ 1.14397247e-01 9.93430411e-01 -3.04763886e-03 1.46271278e+01] [ 2.12297313e-02 6.22417609e-04 9.99774430e-01 7.55398097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0792541539998 meters Centerline goodness [0,1] 0.9996049079215962 Centerline is valid? [True, True] Translation: X:815.04, Y:14.63, Z:7.55 [[ 9.92685662e-01 -1.18762903e-01 -2.16921573e-02 8.15036725e+02] [ 1.18722434e-01 9.92922490e-01 -3.14859132e-03 1.46257960e+01] [ 2.19125667e-02 5.50215748e-04 9.99759739e-01 7.55385084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1092541539999 meters Centerline goodness [0,1] 0.9998013201174419 Centerline is valid? [True, True] Translation: X:815.07, Y:14.63, Z:7.55 [[ 9.92413801e-01 -1.21004518e-01 -2.17429247e-02 8.15066056e+02] [ 1.20964344e-01 9.92651828e-01 -3.15832191e-03 1.46279737e+01] [ 2.19653252e-02 5.04243631e-04 9.99758606e-01 7.55377003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1392541539999 meters Centerline goodness [0,1] 0.999471505328988 Centerline is valid? [True, True] Translation: X:815.10, Y:14.63, Z:7.55 [[ 9.92252375e-01 -1.22427932e-01 -2.11335461e-02 8.15095406e+02] [ 1.22390215e-01 9.92477298e-01 -3.07383172e-03 1.46301911e+01] [ 2.13508876e-02 4.63477562e-04 9.99771936e-01 7.55476734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1692541539999 meters Centerline goodness [0,1] 0.9999113926854661 Centerline is valid? [True, True] Translation: X:815.12, Y:14.63, Z:7.56 [[ 9.91752349e-01 -1.26413378e-01 -2.11408397e-02 8.15124929e+02] [ 1.26376475e-01 9.91977577e-01 -3.07795997e-03 1.46296110e+01] [ 2.13603343e-02 3.80869225e-04 9.99771769e-01 7.55532978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1992541539998 meters Centerline goodness [0,1] 0.9996247903240046 Centerline is valid? [True, True] Translation: X:815.15, Y:14.63, Z:7.55 [[ 9.91452459e-01 -1.28604199e-01 -2.19768334e-02 8.15154414e+02] [ 1.28564774e-01 9.91695940e-01 -3.20342460e-03 1.46314108e+01] [ 2.22063103e-02 3.50596571e-04 9.99753348e-01 7.55425897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2292541539999 meters Centerline goodness [0,1] 0.9998452217750852 Centerline is valid? [True, True] Translation: X:815.18, Y:14.63, Z:7.56 [[ 9.91464405e-01 -1.28745418e-01 -2.05657922e-02 8.15183293e+02] [ 1.28710821e-01 9.91677623e-01 -3.00271948e-03 1.46346275e+01] [ 2.07812223e-02 3.30049486e-04 9.99783993e-01 7.55664316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2592541539999 meters Centerline goodness [0,1] 0.9997781475318913 Centerline is valid? [True, True] Translation: X:815.21, Y:14.64, Z:7.56 [[ 9.91448223e-01 -1.28857020e-01 -2.06467880e-02 8.15210846e+02] [ 1.28822053e-01 9.91663127e-01 -3.02027505e-03 1.46392030e+01] [ 2.08638420e-02 3.34684701e-04 9.99782270e-01 7.55627606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2892541539999 meters Centerline goodness [0,1] 0.9998234424311977 Centerline is valid? [True, True] Translation: X:815.24, Y:14.65, Z:7.56 [[ 9.91853564e-01 -1.25794656e-01 -2.00552378e-02 8.15238889e+02] [ 1.25760929e-01 9.92056223e-01 -2.93916971e-03 1.46450693e+01] [ 2.02656553e-02 3.93060624e-04 9.99794553e-01 7.55774827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3192541539999 meters Centerline goodness [0,1] 0.9999336297869517 Centerline is valid? [True, True] Translation: X:815.27, Y:14.65, Z:7.56 [[ 9.92052267e-01 -1.24192472e-01 -2.02120958e-02 8.15267703e+02] [ 1.24157776e-01 9.92258052e-01 -2.96739645e-03 1.46508740e+01] [ 2.04241431e-02 4.34323513e-04 9.99791311e-01 7.55797110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:815.30, Y:14.66, Z:7.56 [[ 9.92371704e-01 -1.21632857e-01 -2.00960082e-02 8.15295068e+02] [ 1.21597965e-01 9.92575040e-01 -2.95372709e-03 1.46589086e+01] [ 2.03060664e-02 4.87561493e-04 9.99793692e-01 7.55801538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3792541539999 meters Centerline goodness [0,1] 0.9999561259186136 Centerline is valid? [True, True] Translation: X:815.32, Y:14.67, Z:7.56 [[ 9.92783122e-01 -1.17960210e-01 -2.16116001e-02 8.15324038e+02] [ 1.17918956e-01 9.93018137e-01 -3.17785149e-03 1.46666466e+01] [ 2.18355709e-02 6.06499998e-04 9.99761392e-01 7.55724626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4092541539999 meters Centerline goodness [0,1] 0.9997145680096607 Centerline is valid? [True, True] Translation: X:815.35, Y:14.67, Z:7.55 [[ 9.92857142e-01 -1.17012925e-01 -2.32952857e-02 8.15352336e+02] [ 1.16964638e-01 9.93130159e-01 -3.42937223e-03 1.46732711e+01] [ 2.35365317e-02 6.80152044e-04 9.99722746e-01 7.55498060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4392541539999 meters Centerline goodness [0,1] 0.9997362811243214 Centerline is valid? [True, True] Translation: X:815.38, Y:14.68, Z:7.56 [[ 9.93008266e-01 -1.15668946e-01 -2.35643584e-02 8.15380041e+02] [ 1.15619071e-01 9.93287557e-01 -3.47268295e-03 1.46796276e+01] [ 2.38078655e-02 7.23913663e-04 9.99716290e-01 7.55510790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4692541539999 meters Centerline goodness [0,1] 0.9998687664041995 Centerline is valid? [True, True] Translation: X:815.41, Y:14.69, Z:7.55 [[ 9.93277307e-01 -1.13247556e-01 -2.39829706e-02 8.15407541e+02] [ 1.13195147e-01 9.93566482e-01 -3.53603577e-03 1.46896203e+01] [ 2.42291231e-02 7.97508199e-04 9.99706114e-01 7.55496288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4992541539999 meters Centerline goodness [0,1] 0.9999125568380552 Centerline is valid? [True, True] Translation: X:815.44, Y:14.70, Z:7.56 [[ 9.93330847e-01 -1.12765745e-01 -2.40357195e-02 8.15435717e+02] [ 1.12712864e-01 9.93621267e-01 -3.54797346e-03 1.46957902e+01] [ 2.42824919e-02 8.15176701e-04 9.99704804e-01 7.55560813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5292541539999 meters Centerline goodness [0,1] 0.999912424740011 Centerline is valid? [True, True] Translation: X:815.46, Y:14.70, Z:7.56 [[ 9.93332684e-01 -1.12783058e-01 -2.38780444e-02 8.15463596e+02] [ 1.12730713e-01 9.93619301e-01 -3.53135384e-03 1.46976729e+01] [ 2.41239627e-02 8.16020231e-04 9.99708642e-01 7.55723854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5592541539999 meters Centerline goodness [0,1] 0.9999343903772553 Centerline is valid? [True, True] Translation: X:815.49, Y:14.71, Z:7.56 [[ 9.93368480e-01 -1.12485357e-01 -2.37930012e-02 8.15490164e+02] [ 1.12433200e-01 9.93653040e-01 -3.52288849e-03 1.47072939e+01] [ 2.40382614e-02 8.24403111e-04 9.99710699e-01 7.55653017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:815.52, Y:14.71, Z:7.56 [[ 9.93418206e-01 -1.12191881e-01 -2.30921824e-02 8.15518724e+02] [ 1.12142573e-01 9.93686230e-01 -3.42340450e-03 1.47118508e+01] [ 2.33304618e-02 8.11255613e-04 9.99727479e-01 7.55866418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:815.55, Y:14.72, Z:7.56 [[ 9.93363860e-01 -1.12832832e-01 -2.22933560e-02 8.15547691e+02] [ 1.12786913e-01 9.93613684e-01 -3.31052360e-03 1.47151522e+01] [ 2.25245193e-02 7.74155694e-04 9.99745991e-01 7.56001600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6492541539999 meters Centerline goodness [0,1] 0.999847294938918 Centerline is valid? [True, True] Translation: X:815.58, Y:14.72, Z:7.56 [[ 9.93053010e-01 -1.15517803e-01 -2.23909836e-02 8.15576816e+02] [ 1.15472039e-01 9.93305148e-01 -3.33046921e-03 1.47194661e+01] [ 2.26258078e-02 7.21799934e-04 9.99743743e-01 7.55880218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6792541539999 meters Centerline goodness [0,1] 0.9999127171161735 Centerline is valid? [True, True] Translation: X:815.61, Y:14.72, Z:7.56 [[ 9.92926374e-01 -1.16720820e-01 -2.17592917e-02 8.15605203e+02] [ 1.16677774e-01 9.93164532e-01 -3.24181748e-03 1.47226044e+01] [ 2.19889443e-02 6.80060354e-04 9.99757983e-01 7.56065477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7092541539998 meters Centerline goodness [0,1] 0.9998031366887591 Centerline is valid? [True, True] Translation: X:815.63, Y:14.73, Z:7.56 [[ 9.92667978e-01 -1.18893204e-01 -2.17874089e-02 8.15634042e+02] [ 1.18850446e-01 9.92906843e-01 -3.25158898e-03 1.47256021e+01] [ 2.20194592e-02 6.38305001e-04 9.99757339e-01 7.56031489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7392541539999 meters Centerline goodness [0,1] 0.9998905261314124 Centerline is valid? [True, True] Translation: X:815.66, Y:14.73, Z:7.56 [[ 9.92267020e-01 -1.22414988e-01 -2.05117601e-02 8.15663269e+02] [ 1.22377779e-01 9.92478861e-01 -3.06428132e-03 1.47266963e+01] [ 2.07326022e-02 5.30401651e-04 9.99784916e-01 7.56351161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7692541539999 meters Centerline goodness [0,1] 0.9997819593136079 Centerline is valid? [True, True] Translation: X:815.69, Y:14.73, Z:7.56 [[ 9.91990505e-01 -1.24644847e-01 -2.04572629e-02 8.15690953e+02] [ 1.24608273e-01 9.92201304e-01 -3.05785806e-03 1.47301739e+01] [ 2.06788692e-02 4.84221960e-04 9.99786052e-01 7.56300062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7992541539999 meters Centerline goodness [0,1] 0.9998469945355192 Centerline is valid? [True, True] Translation: X:815.72, Y:14.73, Z:7.56 [[ 9.91696102e-01 -1.27019534e-01 -2.01215945e-02 8.15719716e+02] [ 1.26984566e-01 9.91900122e-01 -3.01129135e-03 1.47328374e+01] [ 2.03411049e-02 4.31153945e-04 9.99793005e-01 7.56421149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8292541539998 meters Centerline goodness [0,1] 0.9998903364477782 Centerline is valid? [True, True] Translation: X:815.75, Y:14.74, Z:7.57 [[ 9.91411223e-01 -1.29312368e-01 -1.95473374e-02 8.15747407e+02] [ 1.29279750e-01 9.91603837e-01 -2.92857190e-03 1.47361346e+01] [ 1.97619154e-02 3.76344162e-04 9.99804643e-01 7.56532073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8592541539999 meters Centerline goodness [0,1] 0.9997375729875129 Centerline is valid? [True, True] Translation: X:815.78, Y:14.74, Z:7.56 [[ 9.90772647e-01 -1.34018137e-01 -2.02163485e-02 8.15776531e+02] [ 1.33984153e-01 9.90978835e-01 -3.03240458e-03 1.47369881e+01] [ 2.04403707e-02 2.95753186e-04 9.99791030e-01 7.56469628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8892541539999 meters Centerline goodness [0,1] 0.9999123729407641 Centerline is valid? [True, True] Translation: X:815.81, Y:14.74, Z:7.57 [[ 9.90530906e-01 -1.35828496e-01 -1.99786107e-02 8.15805031e+02] [ 1.35795574e-01 9.90732331e-01 -3.00169010e-03 1.47397424e+01] [ 2.02011706e-02 2.60259903e-04 9.99795902e-01 7.56654417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:815.83, Y:14.74, Z:7.57 [[ 9.90102439e-01 -1.38786185e-01 -2.08699735e-02 8.15834157e+02] [ 1.38750802e-01 9.90322346e-01 -3.14099897e-03 1.47405059e+01] [ 2.11039284e-02 2.14185176e-04 9.99777264e-01 7.56870968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9492541539998 meters Centerline goodness [0,1] 0.9999338740962793 Centerline is valid? [True, True] Translation: X:815.86, Y:14.74, Z:7.57 [[ 9.89788726e-01 -1.40944529e-01 -2.12818667e-02 8.15862012e+02] [ 1.40908158e-01 9.90017479e-01 -3.20651489e-03 1.47437577e+01] [ 2.15213608e-02 1.74983644e-04 9.99768373e-01 7.56675898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9792541539999 meters Centerline goodness [0,1] 0.9998459540943201 Centerline is valid? [True, True] Translation: X:815.89, Y:14.75, Z:7.57 [[ 9.89479962e-01 -1.42976328e-01 -2.20720195e-02 8.15889868e+02] [ 1.42937609e-01 9.89726098e-01 -3.33018200e-03 1.47464857e+01] [ 2.23213910e-02 1.40226673e-04 9.99750837e-01 7.56591453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0092541539999 meters Centerline goodness [0,1] 0.9998461572273137 Centerline is valid? [True, True] Translation: X:815.92, Y:14.75, Z:7.57 [[ 9.89056945e-01 -1.45818869e-01 -2.24325094e-02 8.15918511e+02] [ 1.45779455e-01 9.89311301e-01 -3.39116232e-03 1.47481099e+01] [ 2.26872305e-02 8.38536490e-05 9.99742608e-01 7.56575956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0392541539999 meters Centerline goodness [0,1] 0.9999339585259543 Centerline is valid? [True, True] Translation: X:815.95, Y:14.75, Z:7.57 [[ 9.88892445e-01 -1.46946812e-01 -2.23241136e-02 8.15945412e+02] [ 1.46907968e-01 9.89144393e-01 -3.37911191e-03 1.47510209e+01] [ 2.25783215e-02 6.19880774e-05 9.99745075e-01 7.56641934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0692541539999 meters Centerline goodness [0,1] 0.9998243919571517 Centerline is valid? [True, True] Translation: X:815.97, Y:14.75, Z:7.57 [[ 9.88654543e-01 -1.48590135e-01 -2.19810521e-02 8.15973811e+02] [ 1.48552773e-01 9.88898868e-01 -3.33207212e-03 1.47538646e+01] [ 2.22321506e-02 2.89219951e-05 9.99752835e-01 7.56636268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0992541539999 meters Centerline goodness [0,1] 0.9998459100114467 Centerline is valid? [True, True] Translation: X:816.00, Y:14.76, Z:7.57 [[ 9.88310746e-01 -1.50925698e-01 -2.15244892e-02 8.16000659e+02] [ 1.50890314e-01 9.88545109e-01 -3.26797999e-03 1.47554959e+01] [ 2.17711507e-02 -1.80572033e-05 9.99762980e-01 7.56720491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1292541539999 meters Centerline goodness [0,1] 0.9999340166278098 Centerline is valid? [True, True] Translation: X:816.03, Y:14.76, Z:7.57 [[ 9.88232123e-01 -1.51518901e-01 -2.09593461e-02 8.16028457e+02] [ 1.51485375e-01 9.88454360e-01 -3.18734351e-03 1.47588485e+01] [ 2.12002998e-02 -2.51991685e-05 9.99775248e-01 7.56885417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1592541539999 meters Centerline goodness [0,1] 0.9999779458791875 Centerline is valid? [True, True] Translation: X:816.06, Y:14.76, Z:7.57 [[ 9.88165785e-01 -1.52027968e-01 -2.03930995e-02 8.16055973e+02] [ 1.51996218e-01 9.88376192e-01 -3.10701928e-03 1.47622972e+01] [ 2.06284078e-02 -2.94238496e-05 9.99787211e-01 7.57008040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:816.08, Y:14.77, Z:7.57 [[ 9.88146558e-01 -1.52240528e-01 -1.97282112e-02 8.16083247e+02] [ 1.52210788e-01 9.88343473e-01 -3.00922228e-03 1.47655164e+01] [ 1.99563744e-02 -2.92939303e-05 9.99800851e-01 7.57101496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2192541539999 meters Centerline goodness [0,1] 0.9997798859809381 Centerline is valid? [True, True] Translation: X:816.11, Y:14.77, Z:7.57 [[ 9.87999777e-01 -1.53155563e-01 -1.99953562e-02 8.16111207e+02] [ 1.53125120e-01 9.88202091e-01 -3.05382510e-03 1.47694178e+01] [ 2.02271631e-02 -4.46128064e-05 9.99795409e-01 7.56880276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2492541539999 meters Centerline goodness [0,1] 0.9998008717392747 Centerline is valid? [True, True] Translation: X:816.14, Y:14.77, Z:7.57 [[ 9.88013584e-01 -1.53162471e-01 -1.92461841e-02 8.16138925e+02] [ 1.53134163e-01 9.88201020e-01 -2.94485417e-03 1.47738174e+01] [ 1.94701399e-02 -3.76923635e-05 9.99810438e-01 7.57052334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2792541539999 meters Centerline goodness [0,1] 0.9998894514581352 Centerline is valid? [True, True] Translation: X:816.17, Y:14.78, Z:7.57 [[ 9.88074872e-01 -1.52894274e-01 -1.82040686e-02 8.16166486e+02] [ 1.52868840e-01 9.88242551e-01 -2.78879774e-03 1.47782495e+01] [ 1.84164264e-02 -2.72938730e-05 9.99830403e-01 7.57115382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3092541539999 meters Centerline goodness [0,1] 0.9997800602634878 Centerline is valid? [True, True] Translation: X:816.19, Y:14.78, Z:7.57 [[ 9.88070797e-01 -1.52889759e-01 -1.84613553e-02 8.16194596e+02] [ 1.52863535e-01 9.88243250e-01 -2.83168311e-03 1.47831179e+01] [ 1.86772451e-02 -2.41646456e-05 9.99825565e-01 7.57028919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:816.22, Y:14.79, Z:7.57 [[ 9.88257968e-01 -1.51808282e-01 -1.73330606e-02 8.16222660e+02] [ 1.51784916e-01 9.88409958e-01 -2.66340862e-03 1.47883799e+01] [ 1.75364972e-02 1.23764281e-06 9.99846224e-01 7.57312378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:816.25, Y:14.79, Z:7.57 [[ 9.88321472e-01 -1.51390074e-01 -1.73699205e-02 8.16249688e+02] [ 1.51366479e-01 9.88474100e-01 -2.67275161e-03 1.47931369e+01] [ 1.75743446e-02 1.23140988e-05 9.99845559e-01 7.57310266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3992541539999 meters Centerline goodness [0,1] 0.9998899575236041 Centerline is valid? [True, True] Translation: X:816.28, Y:14.80, Z:7.57 [[ 9.88377134e-01 -1.51006544e-01 -1.75403772e-02 8.16276816e+02] [ 1.50982385e-01 9.88532763e-01 -2.70116667e-03 1.47979270e+01] [ 1.77471314e-02 2.14833897e-05 9.99842507e-01 7.57136452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:816.30, Y:14.80, Z:7.57 [[ 9.88559141e-01 -1.49819451e-01 -1.74630290e-02 8.16304174e+02] [ 1.49795256e-01 9.88713371e-01 -2.69278856e-03 1.48034837e+01] [ 1.76693624e-02 4.61018472e-05 9.99843884e-01 7.57310892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4592541539998 meters Centerline goodness [0,1] 0.9999559791341096 Centerline is valid? [True, True] Translation: X:816.33, Y:14.81, Z:7.57 [[ 9.88590725e-01 -1.49534599e-01 -1.81047436e-02 8.16331126e+02] [ 1.49508479e-01 9.88756492e-01 -2.79534412e-03 1.48088030e+01] [ 1.83191834e-02 5.66385854e-05 9.99832188e-01 7.57178004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4892541539999 meters Centerline goodness [0,1] 0.9998681057791651 Centerline is valid? [True, True] Translation: X:816.36, Y:14.81, Z:7.57 [[ 9.88590696e-01 -1.49452268e-01 -1.87737961e-02 8.16358553e+02] [ 1.49424099e-01 9.88768939e-01 -2.90226235e-03 1.48143233e+01] [ 1.89966962e-02 6.38919874e-05 9.99819544e-01 7.57081096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5192541539999 meters Centerline goodness [0,1] 0.9998674648229551 Centerline is valid? [True, True] Translation: X:816.39, Y:14.82, Z:7.57 [[ 9.88727602e-01 -1.48514718e-01 -1.90028285e-02 8.16386136e+02] [ 1.48485578e-01 9.88910193e-01 -2.94317448e-03 1.48208848e+01] [ 1.92291955e-02 8.83518748e-05 9.99815098e-01 7.57028913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5492541539999 meters Centerline goodness [0,1] 0.9999120801828733 Centerline is valid? [True, True] Translation: X:816.41, Y:14.83, Z:7.57 [[ 9.88761923e-01 -1.48298658e-01 -1.89041657e-02 8.16414100e+02] [ 1.48269677e-01 9.88942616e-01 -2.93330940e-03 1.48261461e+01] [ 1.91301410e-02 9.74300947e-05 9.99816997e-01 7.57088283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5792541539998 meters Centerline goodness [0,1] 0.9999118301849362 Centerline is valid? [True, True] Translation: X:816.44, Y:14.83, Z:7.57 [[ 9.88748262e-01 -1.48458895e-01 -1.83529416e-02 8.16441428e+02] [ 1.48431511e-01 9.88918575e-01 -2.85295366e-03 1.48311716e+01] [ 1.85731112e-02 9.66981208e-05 9.99827500e-01 7.57153960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6092541539999 meters Centerline goodness [0,1] 0.9999340746275216 Centerline is valid? [True, True] Translation: X:816.47, Y:14.84, Z:7.57 [[ 9.88762285e-01 -1.48533894e-01 -1.69359431e-02 8.16469639e+02] [ 1.48510511e-01 9.88907313e-01 -2.63705416e-03 1.48363578e+01] [ 1.71397699e-02 9.22541234e-05 9.99853099e-01 7.57325286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:816.50, Y:14.84, Z:7.57 [[ 9.88733477e-01 -1.48827161e-01 -1.60183237e-02 8.16497807e+02] [ 1.48806215e-01 9.88863220e-01 -2.49834813e-03 1.48409044e+01] [ 1.62117533e-02 8.65743079e-05 9.99868577e-01 7.57491867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6692541539999 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:816.53, Y:14.85, Z:7.57 [[ 9.88711151e-01 -1.48887647e-01 -1.68145062e-02 8.16525389e+02] [ 1.48864490e-01 9.88854114e-01 -2.62758394e-03 1.48458226e+01] [ 1.70183084e-02 9.48386592e-05 9.99855174e-01 7.57442412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6992541539998 meters Centerline goodness [0,1] 0.9998022325744924 Centerline is valid? [True, True] Translation: X:816.55, Y:14.85, Z:7.57 [[ 9.88932845e-01 -1.47417816e-01 -1.67276627e-02 8.16553130e+02] [ 1.47394609e-01 9.89074301e-01 -2.61865028e-03 1.48529634e+01] [ 1.69309370e-02 1.24101976e-04 9.99856654e-01 7.57438122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7292541539999 meters Centerline goodness [0,1] 0.9998904061547903 Centerline is valid? [True, True] Translation: X:816.58, Y:14.86, Z:7.58 [[ 9.89079098e-01 -1.46424568e-01 -1.68043031e-02 8.16581683e+02] [ 1.46400929e-01 9.89221828e-01 -2.63501070e-03 1.48593179e+01] [ 1.70090138e-02 1.46068420e-04 9.99855326e-01 7.57509145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7592541539999 meters Centerline goodness [0,1] 0.9998247497206949 Centerline is valid? [True, True] Translation: X:816.61, Y:14.87, Z:7.57 [[ 9.89297348e-01 -1.44803895e-01 -1.79607912e-02 8.16609112e+02] [ 1.44776562e-01 9.89460356e-01 -2.81974630e-03 1.48662015e+01] [ 1.81798011e-02 1.89265932e-04 9.99834716e-01 7.57410446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7892541539999 meters Centerline goodness [0,1] 0.9998247497206949 Centerline is valid? [True, True] Translation: X:816.64, Y:14.87, Z:7.57 [[ 9.89255843e-01 -1.45087237e-01 -1.79602679e-02 8.16636357e+02] [ 1.45059890e-01 9.89418849e-01 -2.82307639e-03 1.48705575e+01] [ 1.81798200e-02 1.87430324e-04 9.99834716e-01 7.57436260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8192541539999 meters Centerline goodness [0,1] 0.9997817213454696 Centerline is valid? [True, True] Translation: X:816.66, Y:14.88, Z:7.57 [[ 9.89663671e-01 -1.42038339e-01 -1.97719418e-02 8.16664146e+02] [ 1.42004474e-01 9.89861119e-01 -3.11351685e-03 1.48801527e+01] [ 2.00137153e-02 2.73630323e-04 9.99799668e-01 7.57217343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8492541539999 meters Centerline goodness [0,1] 0.9998689641616982 Centerline is valid? [True, True] Translation: X:816.69, Y:14.89, Z:7.57 [[ 9.89871409e-01 -1.40473353e-01 -2.05385417e-02 8.16692660e+02] [ 1.40436363e-01 9.90084407e-01 -3.23957128e-03 1.48870567e+01] [ 2.07899634e-02 3.22400892e-04 9.99783813e-01 7.57237416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8792541539999 meters Centerline goodness [0,1] 0.9999564488382727 Centerline is valid? [True, True] Translation: X:816.72, Y:14.89, Z:7.57 [[ 9.89969921e-01 -1.39731011e-01 -2.08518740e-02 8.16721203e+02] [ 1.39692605e-01 9.90189438e-01 -3.29435649e-03 1.48939529e+01] [ 2.11076292e-02 3.48461226e-04 9.99777148e-01 7.57267068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9092541539999 meters Centerline goodness [0,1] 0.9999129412788926 Centerline is valid? [True, True] Translation: X:816.75, Y:14.90, Z:7.57 [[ 9.90195596e-01 -1.37919130e-01 -2.21584249e-02 8.16749567e+02] [ 1.37875177e-01 9.90443406e-01 -3.50656477e-03 1.49015279e+01] [ 2.24302882e-02 4.17088237e-04 9.99748322e-01 7.57189947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9392541539999 meters Centerline goodness [0,1] 0.9998911410594152 Centerline is valid? [True, True] Translation: X:816.78, Y:14.91, Z:7.57 [[ 9.90221919e-01 -1.37764247e-01 -2.19445429e-02 8.16777651e+02] [ 1.37720964e-01 9.90464958e-01 -3.47885651e-03 1.49056517e+01] [ 2.22145629e-02 4.22616354e-04 9.99753137e-01 7.57343188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9692541539999 meters Centerline goodness [0,1] 0.9999564184698525 Centerline is valid? [True, True] Translation: X:816.81, Y:14.91, Z:7.57 [[ 9.90234693e-01 -1.37832991e-01 -2.09121950e-02 8.16805140e+02] [ 1.37793622e-01 9.90455402e-01 -3.31892841e-03 1.49124727e+01] [ 2.11700543e-02 4.04950975e-04 9.99775807e-01 7.57385302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9992541539999 meters Centerline goodness [0,1] 0.9998697520948204 Centerline is valid? [True, True] Translation: X:816.83, Y:14.92, Z:7.57 [[ 9.90238449e-01 -1.37743222e-01 -2.13217896e-02 8.16833812e+02] [ 1.37702189e-01 9.90467884e-01 -3.38787969e-03 1.49174270e+01] [ 2.15852053e-02 4.18751633e-04 9.99766925e-01 7.57405897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0292541539999 meters Centerline goodness [0,1] 0.9998908606727348 Centerline is valid? [True, True] Translation: X:816.86, Y:14.92, Z:7.58 [[ 9.90186968e-01 -1.38234324e-01 -2.05192648e-02 8.16862195e+02] [ 1.38196318e-01 9.90399472e-01 -3.26561124e-03 1.49218581e+01] [ 2.07736886e-02 3.97878845e-04 9.99784124e-01 7.57627940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0592541539999 meters Centerline goodness [0,1] 0.9998046154180145 Centerline is valid? [True, True] Translation: X:816.89, Y:14.93, Z:7.57 [[ 9.90203638e-01 -1.37982980e-01 -2.13881326e-02 8.16889377e+02] [ 1.37941548e-01 9.90434510e-01 -3.40757851e-03 1.49292794e+01] [ 2.16537324e-02 4.23884510e-04 9.99765441e-01 7.57492030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0892541539998 meters Centerline goodness [0,1] 0.999803878840706 Centerline is valid? [True, True] Translation: X:816.92, Y:14.93, Z:7.58 [[ 9.90166269e-01 -1.38236811e-01 -2.14789324e-02 8.16917269e+02] [ 1.38194988e-01 9.90399113e-01 -3.42658693e-03 1.49326503e+01] [ 2.17463961e-02 4.24609981e-04 9.99763429e-01 7.57670651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1192541539999 meters Centerline goodness [0,1] 0.9998042244023406 Centerline is valid? [True, True] Translation: X:816.94, Y:14.94, Z:7.58 [[ 9.90272232e-01 -1.37374281e-01 -2.21181873e-02 8.16944562e+02] [ 1.37329626e-01 9.90519104e-01 -3.53262497e-03 1.49404532e+01] [ 2.23937788e-02 4.60778036e-04 9.99749122e-01 7.57624410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1492541539999 meters Centerline goodness [0,1] 0.9997179431546973 Centerline is valid? [True, True] Translation: X:816.97, Y:14.95, Z:7.58 [[ 9.90303830e-01 -1.37011248e-01 -2.29399588e-02 8.16973171e+02] [ 1.36963012e-01 9.90569370e-01 -3.66828197e-03 1.49461012e+01] [ 2.32262164e-02 4.90787840e-04 9.99730115e-01 7.57607635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1792541539999 meters Centerline goodness [0,1] 0.9997832119320152 Centerline is valid? [True, True] Translation: X:817.00, Y:14.95, Z:7.58 [[ 9.90393753e-01 -1.36359132e-01 -2.29434548e-02 8.17000296e+02] [ 1.36310622e-01 9.90659340e-01 -3.67246022e-03 1.49524894e+01] [ 2.32299213e-02 5.09745057e-04 9.99730019e-01 7.57624164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2092541539998 meters Centerline goodness [0,1] 0.999761698440208 Centerline is valid? [True, True] Translation: X:817.03, Y:14.96, Z:7.58 [[ 9.90430902e-01 -1.36096147e-01 -2.29012432e-02 8.17028607e+02] [ 1.36047645e-01 9.90695498e-01 -3.67002853e-03 1.49583977e+01] [ 2.31876353e-02 5.19249465e-04 9.99730996e-01 7.57676101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2392541539999 meters Centerline goodness [0,1] 0.9999783956618489 Centerline is valid? [True, True] Translation: X:817.05, Y:14.97, Z:7.58 [[ 9.90501451e-01 -1.35751158e-01 -2.18746207e-02 8.17054421e+02] [ 1.35706718e-01 9.90742835e-01 -3.51026763e-03 1.49663174e+01] [ 2.21486466e-02 5.08392191e-04 9.99754559e-01 7.57716846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.08, Y:14.97, Z:7.58 [[ 9.90507769e-01 -1.35823222e-01 -2.11284774e-02 8.17081998e+02] [ 1.35781668e-01 9.90732965e-01 -3.39572786e-03 1.49723292e+01] [ 2.13938978e-02 4.94634926e-04 9.99771002e-01 7.57730358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.11, Y:14.98, Z:7.58 [[ 9.90512505e-01 -1.35722983e-01 -2.15464257e-02 8.17110450e+02] [ 1.35679618e-01 9.90746693e-01 -3.46873154e-03 1.49777937e+01] [ 2.18178366e-02 5.12411168e-04 9.99761831e-01 7.57767295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3292541539998 meters Centerline goodness [0,1] 0.9998919853100021 Centerline is valid? [True, True] Translation: X:817.14, Y:14.99, Z:7.58 [[ 9.90464182e-01 -1.35808455e-01 -2.31682682e-02 8.17137916e+02] [ 1.35758249e-01 9.90734959e-01 -3.73359489e-03 1.49855085e+01] [ 2.34606670e-02 5.52708476e-04 9.99724608e-01 7.57558144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3592541539999 meters Centerline goodness [0,1] 0.9998920995273959 Centerline is valid? [True, True] Translation: X:817.17, Y:14.99, Z:7.58 [[ 9.90419048e-01 -1.36162466e-01 -2.30194047e-02 8.17165985e+02] [ 1.36112887e-01 9.90686371e-01 -3.71440243e-03 1.49892639e+01] [ 2.33107727e-02 5.45577276e-04 9.99728118e-01 7.57680359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3892541539999 meters Centerline goodness [0,1] 0.9999568304949383 Centerline is valid? [True, True] Translation: X:817.19, Y:15.00, Z:7.58 [[ 9.90425647e-01 -1.36281660e-01 -2.20079022e-02 8.17192729e+02] [ 1.36236278e-01 9.90669993e-01 -3.55545004e-03 1.49955957e+01] [ 2.22871109e-02 5.23134237e-04 9.99751475e-01 7.57731871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4192541539999 meters Centerline goodness [0,1] 0.9998062891457351 Centerline is valid? [True, True] Translation: X:817.22, Y:15.00, Z:7.58 [[ 9.90486544e-01 -1.35908769e-01 -2.15687694e-02 8.17221507e+02] [ 1.35864996e-01 9.90721217e-01 -3.48885965e-03 1.50008470e+01] [ 2.18428041e-02 5.25227760e-04 9.99761280e-01 7.57831532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4492541539998 meters Centerline goodness [0,1] 0.9999139877432535 Centerline is valid? [True, True] Translation: X:817.25, Y:15.01, Z:7.58 [[ 9.90587615e-01 -1.35210827e-01 -2.13121651e-02 8.17248631e+02] [ 1.35167855e-01 9.90816705e-01 -3.45076560e-03 1.50080269e+01] [ 2.15830301e-02 5.37566022e-04 9.99766915e-01 7.57871956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4792541539999 meters Centerline goodness [0,1] 0.9999569114098587 Centerline is valid? [True, True] Translation: X:817.28, Y:15.01, Z:7.58 [[ 9.90692815e-01 -1.34549532e-01 -2.05953721e-02 8.17277245e+02] [ 1.34509184e-01 9.90906724e-01 -3.33832798e-03 1.50145067e+01] [ 2.08572631e-02 5.36990860e-04 9.99782319e-01 7.57930509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.30, Y:15.02, Z:7.58 [[ 9.90866295e-01 -1.33257878e-01 -2.06475901e-02 8.17303732e+02] [ 1.33216975e-01 9.91081235e-01 -3.35009566e-03 1.50244498e+01] [ 2.09098658e-02 5.68887376e-04 9.99781203e-01 7.57859968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5392541539999 meters Centerline goodness [0,1] 0.9999353406470246 Centerline is valid? [True, True] Translation: X:817.33, Y:15.03, Z:7.58 [[ 9.90839496e-01 -1.33306902e-01 -2.15954391e-02 8.17331690e+02] [ 1.33262086e-01 9.91074625e-01 -3.50766618e-03 1.50300238e+01] [ 2.18702879e-02 5.97680923e-04 9.99760638e-01 7.57788989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5692541539999 meters Centerline goodness [0,1] 0.9998927360878705 Centerline is valid? [True, True] Translation: X:817.36, Y:15.03, Z:7.58 [[ 9.90821719e-01 -1.33363519e-01 -2.20565905e-02 8.17360855e+02] [ 1.33316658e-01 9.91066998e-01 -3.58811540e-03 1.50309124e+01] [ 2.23380826e-02 6.14671738e-04 9.99750285e-01 7.57966906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5992541539999 meters Centerline goodness [0,1] 0.9998062474435426 Centerline is valid? [True, True] Translation: X:817.39, Y:15.04, Z:7.58 [[ 9.90607014e-01 -1.34826464e-01 -2.27940487e-02 8.17388935e+02] [ 1.34776665e-01 9.90869041e-01 -3.71408931e-03 1.50355041e+01] [ 2.30866747e-02 6.07097054e-04 9.99733283e-01 7.57916430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6292541539999 meters Centerline goodness [0,1] 0.9998926808327967 Centerline is valid? [True, True] Translation: X:817.42, Y:15.04, Z:7.58 [[ 9.90452234e-01 -1.36024394e-01 -2.23994930e-02 8.17417137e+02] [ 1.35976478e-01 9.90705321e-01 -3.65561438e-03 1.50400647e+01] [ 2.26885497e-02 5.74907249e-04 9.99742416e-01 7.57980652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.44, Y:15.05, Z:7.58 [[ 9.90284143e-01 -1.37355697e-01 -2.16963031e-02 8.17444800e+02] [ 1.37310986e-01 9.90521646e-01 -3.54434587e-03 1.50455153e+01] [ 2.19774940e-02 5.30768733e-04 9.99758325e-01 7.58047005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6892541539999 meters Centerline goodness [0,1] 0.9998926209088567 Centerline is valid? [True, True] Translation: X:817.47, Y:15.05, Z:7.58 [[ 9.89780438e-01 -1.40967568e-01 -2.15134721e-02 8.17473829e+02] [ 1.40924422e-01 9.90014113e-01 -3.51622269e-03 1.50481518e+01] [ 2.17943144e-02 4.48514820e-04 9.99762375e-01 7.58094532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7192541539999 meters Centerline goodness [0,1] 0.9998493586984591 Centerline is valid? [True, True] Translation: X:817.50, Y:15.05, Z:7.58 [[ 9.89471239e-01 -1.43161094e-01 -2.12501576e-02 8.17502854e+02] [ 1.43119422e-01 9.89699319e-01 -3.47691729e-03 1.50520368e+01] [ 2.15290258e-02 3.98999380e-04 9.99768144e-01 7.58142663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7492541539999 meters Centerline goodness [0,1] 0.9999785398514958 Centerline is valid? [True, True] Translation: X:817.53, Y:15.06, Z:7.58 [[ 9.89186909e-01 -1.45278773e-01 -2.00832651e-02 8.17532025e+02] [ 1.45241891e-01 9.89390703e-01 -3.29083107e-03 1.50555753e+01] [ 2.03482836e-02 3.38315617e-04 9.99792895e-01 7.58326241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7792541539999 meters Centerline goodness [0,1] 0.9998498659517426 Centerline is valid? [True, True] Translation: X:817.56, Y:15.06, Z:7.58 [[ 9.88856308e-01 -1.47449344e-01 -2.05400400e-02 8.17559743e+02] [ 1.47411153e-01 9.89069562e-01 -3.36949289e-03 1.50596347e+01] [ 2.08123579e-02 3.04113316e-04 9.99783353e-01 7.58217774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8092541539999 meters Centerline goodness [0,1] 0.9997202014549524 Centerline is valid? [True, True] Translation: X:817.59, Y:15.06, Z:7.58 [[ 9.88319513e-01 -1.50927514e-01 -2.11051189e-02 8.17589149e+02] [ 1.50887896e-01 9.88544803e-01 -3.46633019e-03 1.50615515e+01] [ 2.13865202e-02 2.41334783e-04 9.99771253e-01 7.58267541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8392541539998 meters Centerline goodness [0,1] 0.9999785232593101 Centerline is valid? [True, True] Translation: X:817.62, Y:15.07, Z:7.58 [[ 9.88171060e-01 -1.52010453e-01 -2.02676882e-02 8.17617005e+02] [ 1.51974081e-01 9.88378863e-01 -3.33192514e-03 1.50661982e+01] [ 2.05386421e-02 2.12348714e-04 9.99789037e-01 7.58291007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.64, Y:15.07, Z:7.58 [[ 9.87989578e-01 -1.53100191e-01 -2.09027419e-02 8.17644901e+02] [ 1.53061657e-01 9.88210651e-01 -3.44059315e-03 1.50694840e+01] [ 2.11830677e-02 1.99861858e-04 9.99775594e-01 7.58324773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.67, Y:15.07, Z:7.58 [[ 9.87769150e-01 -1.54350923e-01 -2.20884188e-02 8.17672350e+02] [ 1.54308116e-01 9.88016072e-01 -3.63975882e-03 1.50729386e+01] [ 2.23855129e-02 1.86819189e-04 9.99749396e-01 7.58253296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.70, Y:15.08, Z:7.58 [[ 9.87714257e-01 -1.54638895e-01 -2.25246105e-02 8.17700117e+02] [ 1.54594409e-01 9.87971041e-01 -3.71364856e-03 1.50772617e+01] [ 2.28279373e-02 1.85844786e-04 9.99739391e-01 7.58209902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.73, Y:15.08, Z:7.58 [[ 9.87693827e-01 -1.54733453e-01 -2.27697736e-02 8.17728026e+02] [ 1.54687910e-01 9.87956235e-01 -3.75871568e-03 1.50813800e+01] [ 2.30771388e-02 1.90251572e-04 9.99733669e-01 7.58224064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9892541539999 meters Centerline goodness [0,1] 0.9998921460773529 Centerline is valid? [True, True] Translation: X:817.76, Y:15.09, Z:7.58 [[ 9.87632650e-01 -1.54949076e-01 -2.39276525e-02 8.17756937e+02] [ 1.54898691e-01 9.87922438e-01 -3.95629490e-03 1.50856068e+01] [ 2.42516890e-02 2.01003973e-04 9.99705864e-01 7.58183151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.78, Y:15.09, Z:7.58 [[ 9.87929273e-01 -1.53008111e-01 -2.41716757e-02 8.17784342e+02] [ 1.52956005e-01 9.88224900e-01 -4.00097788e-03 1.50920346e+01] [ 2.44992338e-02 2.55480228e-04 9.99699816e-01 7.58007232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.81, Y:15.10, Z:7.58 [[ 9.88037234e-01 -1.52229387e-01 -2.46705902e-02 8.17812247e+02] [ 1.52174801e-01 9.88345149e-01 -4.08612383e-03 1.50973504e+01] [ 2.50050863e-02 2.83000332e-04 9.99687284e-01 7.57956699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.84, Y:15.10, Z:7.58 [[ 9.88445748e-01 -1.49483108e-01 -2.50959002e-02 8.17840488e+02] [ 1.49425620e-01 9.88764213e-01 -4.16120963e-03 1.51027711e+01] [ 2.54359585e-02 3.63159532e-04 9.99676388e-01 7.58035664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1092541539999 meters Centerline goodness [0,1] 0.999935268097961 Centerline is valid? [True, True] Translation: X:817.87, Y:15.11, Z:7.58 [[ 9.88679079e-01 -1.47957104e-01 -2.49474279e-02 8.17868561e+02] [ 1.47899698e-01 9.88993697e-01 -4.14093344e-03 1.51070997e+01] [ 2.52855295e-02 4.04337186e-04 9.99680188e-01 7.58155538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.90, Y:15.11, Z:7.58 [[ 9.89041977e-01 -1.45702001e-01 -2.38095365e-02 8.17895703e+02] [ 1.45649000e-01 9.89328424e-01 -3.95454901e-03 1.51146896e+01] [ 2.41316370e-02 4.43379788e-04 9.99708691e-01 7.58152525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1692541539999 meters Centerline goodness [0,1] 0.9999137131393318 Centerline is valid? [True, True] Translation: X:817.92, Y:15.12, Z:7.58 [[ 9.89721554e-01 -1.41096371e-01 -2.33036610e-02 8.17924596e+02] [ 1.41044291e-01 9.89995716e-01 -3.87182378e-03 1.51225435e+01] [ 2.36168248e-02 5.45179109e-04 9.99720935e-01 7.58196706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:817.95, Y:15.13, Z:7.58 [[ 9.90098878e-01 -1.38587002e-01 -2.23126349e-02 8.17951717e+02] [ 1.38538589e-01 9.90350092e-01 -3.70859916e-03 1.51304039e+01] [ 2.26112837e-02 5.80718909e-04 9.99744164e-01 7.58289074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2292541539999 meters Centerline goodness [0,1] 0.9999353545801279 Centerline is valid? [True, True] Translation: X:817.98, Y:15.13, Z:7.58 [[ 9.90427065e-01 -1.36241612e-01 -2.21912641e-02 8.17979929e+02] [ 1.36193092e-01 9.90675438e-01 -3.69038144e-03 1.51340267e+01] [ 2.24871238e-02 6.32756787e-04 9.99746932e-01 7.58379724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2592541539999 meters Centerline goodness [0,1] 0.9998277124520826 Centerline is valid? [True, True] Translation: X:818.01, Y:15.14, Z:7.58 [[ 9.90943333e-01 -1.32305154e-01 -2.29490073e-02 8.18008598e+02] [ 1.32252171e-01 9.91208750e-01 -3.81799431e-03 1.51413120e+01] [ 2.32523972e-02 7.48359955e-04 9.99729346e-01 7.58269955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.04, Y:15.15, Z:7.58 [[ 9.91202449e-01 -1.30411822e-01 -2.25934094e-02 8.18036829e+02] [ 1.30359889e-01 9.91459602e-01 -3.76268598e-03 1.51476034e+01] [ 2.28911514e-02 7.84309213e-04 9.99737656e-01 7.58386598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3192541539999 meters Centerline goodness [0,1] 0.9998713385083844 Centerline is valid? [True, True] Translation: X:818.06, Y:15.15, Z:7.58 [[ 9.91313976e-01 -1.29369760e-01 -2.36657020e-02 8.18064353e+02] [ 1.29312393e-01 9.91596058e-01 -3.94498374e-03 1.51536429e+01] [ 2.39771784e-02 8.50448961e-04 9.99712144e-01 7.58197178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.09, Y:15.16, Z:7.58 [[ 9.91521396e-01 -1.27901532e-01 -2.29460109e-02 8.18092075e+02] [ 1.27847163e-01 9.91786498e-01 -3.82701651e-03 1.51597329e+01] [ 2.32470250e-02 8.60986356e-04 9.99729381e-01 7.58306554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3792541539999 meters Centerline goodness [0,1] 0.999850007499625 Centerline is valid? [True, True] Translation: X:818.12, Y:15.16, Z:7.58 [[ 9.91644567e-01 -1.26879342e-01 -2.32956046e-02 8.18120839e+02] [ 1.26822921e-01 9.91917747e-01 -3.88961477e-03 1.51647312e+01] [ 2.36008354e-02 9.02698729e-04 9.99721054e-01 7.58190011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4092541539999 meters Centerline goodness [0,1] 0.9998496466696737 Centerline is valid? [True, True] Translation: X:818.15, Y:15.17, Z:7.58 [[ 9.91676905e-01 -1.26675373e-01 -2.30274873e-02 8.18149526e+02] [ 1.26620054e-01 9.91943816e-01 -3.85060161e-03 1.51673538e+01] [ 2.33297500e-02 9.02811010e-04 9.99727417e-01 7.58305072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4392541539999 meters Centerline goodness [0,1] 0.9999138079641441 Centerline is valid? [True, True] Translation: X:818.18, Y:15.17, Z:7.58 [[ 9.91701252e-01 -1.26704485e-01 -2.17853076e-02 8.18177752e+02] [ 1.26654849e-01 9.91940137e-01 -3.64886752e-03 1.51696259e+01] [ 2.20720489e-02 8.59371630e-04 9.99756013e-01 7.58481023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.20, Y:15.18, Z:7.59 [[ 9.91654986e-01 -1.27480697e-01 -1.92109551e-02 8.18204572e+02] [ 1.27442172e-01 9.91840771e-01 -3.22148542e-03 1.51778573e+01] [ 1.94648857e-02 7.46316239e-04 9.99810263e-01 7.58547090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4992541539999 meters Centerline goodness [0,1] 0.9998058838754206 Centerline is valid? [True, True] Translation: X:818.23, Y:15.18, Z:7.59 [[ 9.91428641e-01 -1.29248690e-01 -1.90794499e-02 8.18234302e+02] [ 1.29210945e-01 9.91611956e-01 -3.20321121e-03 1.51767742e+01] [ 1.93334215e-02 7.10481592e-04 9.99812839e-01 7.58589313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5292541539999 meters Centerline goodness [0,1] 0.9998489588952422 Centerline is valid? [True, True] Translation: X:818.26, Y:15.18, Z:7.59 [[ 9.91096388e-01 -1.32075403e-01 -1.68534397e-02 8.18263580e+02] [ 1.32046319e-01 9.91239502e-01 -2.83186249e-03 1.51783243e+01] [ 1.70798146e-02 5.81214004e-04 9.99853960e-01 7.58744850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5592541539999 meters Centerline goodness [0,1] 0.9999784175767256 Centerline is valid? [True, True] Translation: X:818.29, Y:15.18, Z:7.59 [[ 9.90895669e-01 -1.33697546e-01 -1.58347515e-02 8.18292484e+02] [ 1.33672047e-01 9.91022045e-01 -2.66268024e-03 1.51812813e+01] [ 1.60485816e-02 5.21774668e-04 9.99871077e-01 7.58872436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.32, Y:15.18, Z:7.59 [[ 9.90669622e-01 -1.35433663e-01 -1.52125604e-02 8.18321821e+02] [ 1.35410277e-01 9.90786301e-01 -2.56171741e-03 1.51836057e+01] [ 1.54193392e-02 4.77878604e-04 9.99881001e-01 7.58916696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6192541539999 meters Centerline goodness [0,1] 0.9999783343443973 Centerline is valid? [True, True] Translation: X:818.35, Y:15.19, Z:7.59 [[ 9.90118214e-01 -1.39328599e-01 -1.59205612e-02 8.18350023e+02] [ 1.39303442e-01 9.90246105e-01 -2.68382894e-03 1.51850555e+01] [ 1.61392078e-02 4.39518956e-04 9.99869658e-01 7.58777829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6492541539999 meters Centerline goodness [0,1] 0.9999564687445586 Centerline is valid? [True, True] Translation: X:818.38, Y:15.19, Z:7.59 [[ 9.89782652e-01 -1.41638156e-01 -1.63992515e-02 8.18379727e+02] [ 1.41611737e-01 9.89918411e-01 -2.76706213e-03 1.51857362e+01] [ 1.66258426e-02 4.16463613e-04 9.99861694e-01 7.58705285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.41, Y:15.19, Z:7.59 [[ 9.89438273e-01 -1.43925999e-01 -1.72397832e-02 8.18407970e+02] [ 1.43897074e-01 9.89588372e-01 -2.91317180e-03 1.51892212e+01] [ 1.74795702e-02 4.01649317e-04 9.99847140e-01 7.58637736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.44, Y:15.19, Z:7.59 [[ 9.89398983e-01 -1.44195937e-01 -1.72390329e-02 8.18435153e+02] [ 1.44166976e-01 9.89549074e-01 -2.91760709e-03 1.51939160e+01] [ 1.74795761e-02 4.01378241e-04 9.99847140e-01 7.58663497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7392541539999 meters Centerline goodness [0,1] 0.9999781435097153 Centerline is valid? [True, True] Translation: X:818.46, Y:15.20, Z:7.59 [[ 9.88988018e-01 -1.46917684e-01 -1.78295939e-02 8.18463562e+02] [ 1.46887060e-01 9.89148653e-01 -3.02232875e-03 1.51963938e+01] [ 1.80801523e-02 3.70110295e-04 9.99836472e-01 7.58516832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.49, Y:15.19, Z:7.59 [[ 9.88188902e-01 -1.52150890e-01 -1.82428247e-02 8.18493900e+02] [ 1.52119640e-01 9.88357236e-01 -3.09673914e-03 1.51939271e+01] [ 1.85015994e-02 2.85071327e-04 9.99828790e-01 7.58512391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.52, Y:15.20, Z:7.59 [[ 9.87746507e-01 -1.55001079e-01 -1.82072324e-02 8.18521561e+02] [ 1.54970381e-01 9.87914273e-01 -3.09359048e-03 1.51951047e+01] [ 1.84666946e-02 2.34101448e-04 9.99829449e-01 7.58525523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8292541539998 meters Centerline goodness [0,1] 0.9997804369305083 Centerline is valid? [True, True] Translation: X:818.55, Y:15.19, Z:7.59 [[ 9.87193780e-01 -1.58379514e-01 -1.90885094e-02 8.18550578e+02] [ 1.58346337e-01 9.87378294e-01 -3.24670667e-03 1.51947537e+01] [ 1.93617916e-02 1.82533083e-04 9.99812526e-01 7.58625732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.58, Y:15.19, Z:7.59 [[ 9.86314764e-01 -1.64039144e-01 -1.65633932e-02 8.18579802e+02] [ 1.64014896e-01 9.86453828e-01 -2.82117585e-03 1.51937520e+01] [ 1.68018059e-02 6.59241789e-05 9.99858838e-01 7.58833914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8892541539999 meters Centerline goodness [0,1] 0.9999779609467977 Centerline is valid? [True, True] Translation: X:818.61, Y:15.20, Z:7.59 [[ 9.85866618e-01 -1.66808301e-01 -1.55564442e-02 8.18607354e+02] [ 1.66787212e-01 9.85989346e-01 -2.65249146e-03 1.51953240e+01] [ 1.57809459e-02 2.03868300e-05 9.99875473e-01 7.58873271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9192541539999 meters Centerline goodness [0,1] 0.9998898241593583 Centerline is valid? [True, True] Translation: X:818.64, Y:15.20, Z:7.59 [[ 9.85362194e-01 -1.69829949e-01 -1.48032097e-02 8.18635909e+02] [ 1.69811157e-01 9.85473383e-01 -2.52650748e-03 1.51974952e+01] [ 1.50172458e-02 -2.42252153e-05 9.99887235e-01 7.58953269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9492541539998 meters Centerline goodness [0,1] 0.9999558362407808 Centerline is valid? [True, True] Translation: X:818.66, Y:15.20, Z:7.59 [[ 9.84675280e-01 -1.73756717e-01 -1.49397460e-02 8.18664636e+02] [ 1.73737978e-01 9.84788605e-01 -2.55308185e-03 1.51974744e+01] [ 1.51561067e-02 -8.16446782e-05 9.99885136e-01 7.58945520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.69, Y:15.20, Z:7.59 [[ 9.84449868e-01 -1.75014623e-01 -1.51108849e-02 8.18692856e+02] [ 1.74995561e-01 9.84565829e-01 -2.58488781e-03 1.52009566e+01] [ 1.53300541e-02 -9.96453134e-05 9.99882483e-01 7.59015703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0092541539999 meters Centerline goodness [0,1] 0.9998676110412391 Centerline is valid? [True, True] Translation: X:818.72, Y:15.20, Z:7.59 [[ 9.84166934e-01 -1.76505848e-01 -1.61595474e-02 8.18721937e+02] [ 1.76484174e-01 9.84299583e-01 -2.76891241e-03 1.52042161e+01] [ 1.63945650e-02 -1.26832334e-04 9.99865592e-01 7.59001195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0392541539999 meters Centerline goodness [0,1] 0.9997793517353986 Centerline is valid? [True, True] Translation: X:818.75, Y:15.21, Z:7.59 [[ 9.84319332e-01 -1.75568460e-01 -1.70636372e-02 8.18748978e+02] [ 1.75544091e-01 9.84467218e-01 -2.92731258e-03 1.52075678e+01] [ 1.73125352e-02 -1.14010312e-04 9.99850120e-01 7.58913010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0692541539999 meters Centerline goodness [0,1] 0.9998897658626924 Centerline is valid? [True, True] Translation: X:818.78, Y:15.21, Z:7.59 [[ 9.84492641e-01 -1.74555954e-01 -1.74487565e-02 8.18776549e+02] [ 1.74530250e-01 9.84647252e-01 -2.99693642e-03 1.52140800e+01] [ 1.77040032e-02 -9.48739885e-05 9.99843267e-01 7.58936716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.80, Y:15.22, Z:7.59 [[ 9.85089346e-01 -1.71086129e-01 -1.81250469e-02 8.18803539e+02] [ 1.71057708e-01 9.85256076e-01 -3.11848457e-03 1.52219941e+01] [ 1.83913420e-02 -2.84430513e-05 9.99830865e-01 7.58943024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1292541539999 meters Centerline goodness [0,1] 0.9999117017284387 Centerline is valid? [True, True] Translation: X:818.83, Y:15.23, Z:7.59 [[ 9.85358924e-01 -1.69473134e-01 -1.86184577e-02 8.18830534e+02] [ 1.69442787e-01 9.85534807e-01 -3.20705056e-03 1.52278298e+01] [ 1.88926470e-02 5.33252594e-06 9.99821518e-01 7.58931085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.86, Y:15.23, Z:7.59 [[ 9.85647911e-01 -1.67759484e-01 -1.88401757e-02 8.18858158e+02] [ 1.67728063e-01 9.85827954e-01 -3.24697042e-03 1.52336224e+01] [ 1.91178820e-02 4.03434255e-05 9.99817236e-01 7.58935924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1892541539999 meters Centerline goodness [0,1] 0.9998020324666754 Centerline is valid? [True, True] Translation: X:818.89, Y:15.24, Z:7.59 [[ 9.85711986e-01 -1.67225699e-01 -2.01853055e-02 8.18886752e+02] [ 1.67189443e-01 9.85918639e-01 -3.48253978e-03 1.52388988e+01] [ 2.04834391e-02 5.80112290e-05 9.99790191e-01 7.58968676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:818.91, Y:15.25, Z:7.59 [[ 9.86167891e-01 -1.64714695e-01 -1.84921428e-02 8.18914025e+02] [ 1.64683768e-01 9.86341248e-01 -3.19347176e-03 1.52458073e+01] [ 1.87655750e-02 1.03943553e-04 9.99823906e-01 7.59051507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2492541539999 meters Centerline goodness [0,1] 0.999933996303793 Centerline is valid? [True, True] Translation: X:818.94, Y:15.25, Z:7.59 [[ 9.86154228e-01 -1.64813308e-01 -1.83415450e-02 8.18940803e+02] [ 1.64782862e-01 9.86324776e-01 -3.16945961e-03 1.52508381e+01] [ 1.86130894e-02 1.03203715e-04 9.99826756e-01 7.59067351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2792541539999 meters Centerline goodness [0,1] 0.9998458353521561 Centerline is valid? [True, True] Translation: X:818.97, Y:15.26, Z:7.59 [[ 9.86144780e-01 -1.64871801e-01 -1.83237918e-02 8.18966926e+02] [ 1.64841382e-01 9.86315000e-01 -3.16868795e-03 1.52557305e+01] [ 1.85954580e-02 1.04265918e-04 9.99827084e-01 7.59077839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3092541539999 meters Centerline goodness [0,1] 0.9998245729447625 Centerline is valid? [True, True] Translation: X:819.00, Y:15.26, Z:7.59 [[ 9.86177452e-01 -1.64902262e-01 -1.61640405e-02 8.18995026e+02] [ 1.64878550e-01 9.86309908e-01 -2.79797094e-03 1.52607997e+01] [ 1.64041450e-02 9.41922987e-05 9.99865439e-01 7.59306561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.02, Y:15.27, Z:7.59 [[ 9.86196475e-01 -1.64906087e-01 -1.49162801e-02 8.19021173e+02] [ 1.64885845e-01 9.86309269e-01 -2.58525239e-03 1.52657670e+01] [ 1.51383892e-02 9.00833355e-05 9.99885404e-01 7.59418084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3692541539999 meters Centerline goodness [0,1] 0.999845960874062 Centerline is valid? [True, True] Translation: X:819.05, Y:15.27, Z:7.59 [[ 9.86113209e-01 -1.65421277e-01 -1.47153215e-02 8.19048981e+02] [ 1.65401584e-01 9.86222994e-01 -2.55381747e-03 1.52704575e+01] [ 1.49350441e-02 8.44156589e-05 9.99888462e-01 7.59490708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3992541539999 meters Centerline goodness [0,1] 0.999890063982762 Centerline is valid? [True, True] Translation: X:819.08, Y:15.28, Z:7.59 [[ 9.86111573e-01 -1.65405198e-01 -1.50028960e-02 8.19075644e+02] [ 1.65384673e-01 9.86225690e-01 -2.60721994e-03 1.52756285e+01] [ 1.52274892e-02 8.97606964e-05 9.99884051e-01 7.59472720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.10, Y:15.28, Z:7.59 [[ 9.86109711e-01 -1.65354073e-01 -1.56738360e-02 8.19102879e+02] [ 1.65331615e-01 9.86234263e-01 -2.72691263e-03 1.52809738e+01] [ 1.59089802e-02 9.76544124e-05 9.99873439e-01 7.59426979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.13, Y:15.29, Z:7.59 [[ 9.86113274e-01 -1.65289811e-01 -1.61210785e-02 8.19130010e+02] [ 1.65265966e-01 9.86245034e-01 -2.80951270e-03 1.52862200e+01] [ 1.63637175e-02 1.06232146e-04 9.99866100e-01 7.59363427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4892541539999 meters Centerline goodness [0,1] 0.9998900857331282 Centerline is valid? [True, True] Translation: X:819.16, Y:15.29, Z:7.59 [[ 9.86089698e-01 -1.65146719e-01 -1.88060897e-02 8.19158299e+02] [ 1.65114136e-01 9.86269002e-01 -3.28308578e-03 1.52919718e+01] [ 1.90900542e-02 1.32265806e-04 9.99817760e-01 7.59148164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5192541539999 meters Centerline goodness [0,1] 0.9998242453534866 Centerline is valid? [True, True] Translation: X:819.19, Y:15.30, Z:7.59 [[ 9.86082240e-01 -1.65034687e-01 -2.01337709e-02 8.19185528e+02] [ 1.64997233e-01 9.86287752e-01 -3.51889656e-03 1.52976353e+01] [ 2.04384316e-02 1.47904909e-04 9.99791102e-01 7.58993519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.21, Y:15.30, Z:7.59 [[ 9.86135311e-01 -1.64769454e-01 -1.97021506e-02 8.19213122e+02] [ 1.64733451e-01 9.86332096e-01 -3.44774036e-03 1.53030825e+01] [ 2.00009458e-02 1.54335259e-04 9.99799949e-01 7.59034575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5792541539998 meters Centerline goodness [0,1] 0.9998685104424624 Centerline is valid? [True, True] Translation: X:819.24, Y:15.31, Z:7.59 [[ 9.85988499e-01 -1.65588610e-01 -2.01765415e-02 8.19240675e+02] [ 1.65550902e-01 9.86194905e-01 -3.53673821e-03 1.53073877e+01] [ 2.04836460e-02 1.46938555e-04 9.99790177e-01 7.59035845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.27, Y:15.31, Z:7.59 [[ 9.85961663e-01 -1.65890990e-01 -1.89678407e-02 8.19268814e+02] [ 1.65857623e-01 9.86144087e-01 -3.32993460e-03 1.53128065e+01] [ 1.92574301e-02 1.37226891e-04 9.99814549e-01 7.59141276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.30, Y:15.32, Z:7.59 [[ 9.85863382e-01 -1.66548068e-01 -1.83066391e-02 8.19296115e+02] [ 1.66517007e-01 9.86033329e-01 -3.21882080e-03 1.53174854e+01] [ 1.85870447e-02 1.24950795e-04 9.99827238e-01 7.59196090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.32, Y:15.32, Z:7.59 [[ 9.85642299e-01 -1.68033017e-01 -1.65578952e-02 8.19323518e+02] [ 1.68007764e-01 9.85781364e-01 -2.91446491e-03 1.53214316e+01] [ 1.68121909e-02 9.07649352e-05 9.99858661e-01 7.59267051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6992541539998 meters Centerline goodness [0,1] 0.9998468003151536 Centerline is valid? [True, True] Translation: X:819.35, Y:15.32, Z:7.59 [[ 9.85383176e-01 -1.69545494e-01 -1.65626711e-02 8.19351792e+02] [ 1.69520390e-01 9.85522359e-01 -2.91830343e-03 1.53247924e+01] [ 1.68176679e-02 6.79366273e-05 9.99858571e-01 7.59329986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7292541539999 meters Centerline goodness [0,1] 0.9999124860524646 Centerline is valid? [True, True] Translation: X:819.38, Y:15.33, Z:7.59 [[ 9.85312116e-01 -1.70041706e-01 -1.56796880e-02 8.19379363e+02] [ 1.70019220e-01 9.85436865e-01 -2.76588024e-03 1.53293741e+01] [ 1.59216576e-02 5.94069784e-05 9.99873241e-01 7.59390021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.41, Y:15.33, Z:7.59 [[ 9.85195984e-01 -1.70781613e-01 -1.49168651e-02 8.19407317e+02] [ 1.70761310e-01 9.85308905e-01 -2.63374382e-03 1.53336732e+01] [ 1.51475150e-02 4.75304083e-05 9.99885269e-01 7.59416518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7892541539999 meters Centerline goodness [0,1] 0.9998900688169207 Centerline is valid? [True, True] Translation: X:819.43, Y:15.34, Z:7.59 [[ 9.85060737e-01 -1.71482339e-01 -1.57845389e-02 8.19433930e+02] [ 1.71459630e-01 9.85187193e-01 -2.79100196e-03 1.53378638e+01] [ 1.60293331e-02 4.28952588e-05 9.99871521e-01 7.59300910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8192541539999 meters Centerline goodness [0,1] 0.9997813156053184 Centerline is valid? [True, True] Translation: X:819.46, Y:15.34, Z:7.59 [[ 9.85209967e-01 -1.70604417e-01 -1.59829497e-02 8.19461576e+02] [ 1.70580958e-01 9.85339601e-01 -2.82981790e-03 1.53432158e+01] [ 1.62314127e-02 6.15779233e-05 9.99868260e-01 7.59296439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.49, Y:15.35, Z:7.59 [[ 9.85476384e-01 -1.69127273e-01 -1.52401532e-02 8.19488764e+02] [ 1.69105701e-01 9.85594216e-01 -2.70250108e-03 1.53505403e+01] [ 1.54776735e-02 8.60541947e-05 9.99880210e-01 7.59373186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8792541539999 meters Centerline goodness [0,1] 0.9997586872586872 Centerline is valid? [True, True] Translation: X:819.52, Y:15.36, Z:7.59 [[ 9.85609434e-01 -1.68287297e-01 -1.59194824e-02 8.19517592e+02] [ 1.68263577e-01 9.85737985e-01 -2.82744702e-03 1.53563132e+01] [ 1.61682619e-02 1.08089406e-04 9.99869279e-01 7.59356135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.54, Y:15.36, Z:7.59 [[ 9.86001424e-01 -1.65992011e-01 -1.57430788e-02 8.19544309e+02] [ 1.65968468e-01 9.86127086e-01 -2.79943195e-03 1.53645019e+01] [ 1.59893597e-02 1.47389221e-04 9.99872151e-01 7.59332922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.57, Y:15.37, Z:7.59 [[ 9.86578083e-01 -1.62419059e-01 -1.68444410e-02 8.19570408e+02] [ 1.62391542e-01 9.86721845e-01 -2.99783260e-03 1.53740107e+01] [ 1.71076830e-02 2.22201197e-04 9.99853628e-01 7.59236807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9692541539999 meters Centerline goodness [0,1] 0.9999124764780535 Centerline is valid? [True, True] Translation: X:819.60, Y:15.38, Z:7.59 [[ 9.86782719e-01 -1.61041728e-01 -1.80396225e-02 8.19598871e+02] [ 1.61009870e-01 9.86947562e-01 -3.21419587e-03 1.53807293e+01] [ 1.83217811e-02 2.67155660e-04 9.99832106e-01 7.59133951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9992541539999 meters Centerline goodness [0,1] 0.9998029944838456 Centerline is valid? [True, True] Translation: X:819.63, Y:15.39, Z:7.59 [[ 9.86980250e-01 -1.59711471e-01 -1.90323743e-02 8.19627029e+02] [ 1.59675670e-01 9.87163689e-01 -3.39587523e-03 1.53864241e+01] [ 1.93304291e-02 3.12654653e-04 9.99813101e-01 7.59142954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0292541539999 meters Centerline goodness [0,1] 0.9999126809142308 Centerline is valid? [True, True] Translation: X:819.65, Y:15.40, Z:7.59 [[ 9.87383581e-01 -1.57240120e-01 -1.86871356e-02 8.19653483e+02] [ 1.57205105e-01 9.87560336e-01 -3.33736929e-03 1.53956773e+01] [ 1.89794422e-02 3.57550536e-04 9.99819810e-01 7.59095098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.68, Y:15.40, Z:7.59 [[ 9.87459566e-01 -1.56871947e-01 -1.77425450e-02 8.19681387e+02] [ 1.56840265e-01 9.87618889e-01 -3.17192535e-03 1.54000457e+01] [ 1.80204587e-02 3.49402570e-04 9.99837557e-01 7.59284537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.71, Y:15.41, Z:7.59 [[ 9.87474079e-01 -1.56832473e-01 -1.72777193e-02 8.19707744e+02] [ 1.56802360e-01 9.87625160e-01 -3.09245469e-03 1.54081256e+01] [ 1.75489076e-02 3.44531693e-04 9.99845947e-01 7.59187089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1192541539999 meters Centerline goodness [0,1] 0.9997603955651397 Centerline is valid? [True, True] Translation: X:819.74, Y:15.41, Z:7.59 [[ 9.87329533e-01 -1.57701018e-01 -1.76290225e-02 8.19736335e+02] [ 1.57669740e-01 9.87486847e-01 -3.15900964e-03 1.54086141e+01] [ 1.79066069e-02 3.39420129e-04 9.99839606e-01 7.59343928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1492541539999 meters Centerline goodness [0,1] 0.999934609180871 Centerline is valid? [True, True] Translation: X:819.77, Y:15.41, Z:7.59 [[ 9.87178940e-01 -1.58668296e-01 -1.73814059e-02 8.19765340e+02] [ 1.58637955e-01 9.87331894e-01 -3.11946970e-03 1.54126736e+01] [ 1.76561773e-02 3.22124109e-04 9.99844066e-01 7.59424633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1792541539999 meters Centerline goodness [0,1] 0.9999125032811269 Centerline is valid? [True, True] Translation: X:819.79, Y:15.42, Z:7.59 [[ 9.87082281e-01 -1.59255595e-01 -1.74993248e-02 8.19792731e+02] [ 1.59224877e-01 9.87237335e-01 -3.14383171e-03 1.54205739e+01] [ 1.77766595e-02 3.16892743e-04 9.99841932e-01 7.59247805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.82, Y:15.42, Z:7.59 [[ 9.87012880e-01 -1.59701248e-01 -1.73518327e-02 8.19820769e+02] [ 1.59671057e-01 9.87165344e-01 -3.12058945e-03 1.54214505e+01] [ 1.76274899e-02 3.09476511e-04 9.99844576e-01 7.59467244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2392541539999 meters Centerline goodness [0,1] 0.9999345278365814 Centerline is valid? [True, True] Translation: X:819.85, Y:15.43, Z:7.59 [[ 9.86789261e-01 -1.60904121e-01 -1.88896394e-02 8.19848779e+02] [ 1.60868449e-01 9.86969990e-01 -3.40296776e-03 1.54252466e+01] [ 1.91910588e-02 3.19265039e-04 9.99815784e-01 7.59368532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2692541539999 meters Centerline goodness [0,1] 0.99986839219127 Centerline is valid? [True, True] Translation: X:819.88, Y:15.43, Z:7.59 [[ 9.86659656e-01 -1.61587421e-01 -1.98047737e-02 8.19876621e+02] [ 1.61548226e-01 9.86858348e-01 -3.57381143e-03 1.54293512e+01] [ 2.01219892e-02 3.26709504e-04 9.99797479e-01 7.59324947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.91, Y:15.43, Z:7.59 [[ 9.86691411e-01 -1.61377865e-01 -1.99309825e-02 8.19905039e+02] [ 1.61338014e-01 9.86892634e-01 -3.60212804e-03 1.54345870e+01] [ 2.02510436e-02 3.38563669e-04 9.99794869e-01 7.59369079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.93, Y:15.44, Z:7.59 [[ 9.86698857e-01 -1.61217233e-01 -2.08415394e-02 8.19932646e+02] [ 1.61173545e-01 9.86918879e-01 -3.77027286e-03 1.54405203e+01] [ 2.11767416e-02 3.61019145e-04 9.99775682e-01 7.59293997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:819.96, Y:15.45, Z:7.59 [[ 9.86668962e-01 -1.61400913e-01 -2.08351783e-02 8.19960556e+02] [ 1.61357202e-01 9.86888856e-01 -3.77342166e-03 1.54454534e+01] [ 2.11710390e-02 3.61211953e-04 9.99775803e-01 7.59335767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3892541539999 meters Centerline goodness [0,1] 0.999956279374795 Centerline is valid? [True, True] Translation: X:819.99, Y:15.45, Z:7.59 [[ 9.86704733e-01 -1.61161226e-01 -2.09959396e-02 8.19989326e+02] [ 1.61116658e-01 9.86928021e-01 -3.80838047e-03 1.54506666e+01] [ 2.13352444e-02 3.74951408e-04 9.99772307e-01 7.59428931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.02, Y:15.46, Z:7.60 [[ 9.86949215e-01 -1.59785747e-01 -1.99940610e-02 8.20017923e+02] [ 1.59744946e-01 9.87151641e-01 -3.63176989e-03 1.54571244e+01] [ 2.03174752e-02 3.90422260e-04 9.99793503e-01 7.59603655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.04, Y:15.46, Z:7.60 [[ 9.87118705e-01 -1.58831237e-01 -1.92171655e-02 8.20044595e+02] [ 1.58793301e-01 9.87305667e-01 -3.49389497e-03 1.54640760e+01] [ 1.95281561e-02 3.97331931e-04 9.99809228e-01 7.59620637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4792541539999 meters Centerline goodness [0,1] 0.9998692497112598 Centerline is valid? [True, True] Translation: X:820.07, Y:15.47, Z:7.60 [[ 9.87214839e-01 -1.58187918e-01 -1.95817470e-02 8.20072631e+02] [ 1.58148332e-01 9.87408935e-01 -3.56367348e-03 1.54703481e+01] [ 1.98989220e-02 4.21290710e-04 9.99801908e-01 7.59617331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.10, Y:15.48, Z:7.60 [[ 9.87738830e-01 -1.54939370e-01 -1.91257999e-02 8.20100601e+02] [ 1.54900904e-01 9.87923864e-01 -3.48552738e-03 1.54788212e+01] [ 1.94348795e-02 4.80187049e-04 9.99811010e-01 7.59743690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5392541539999 meters Centerline goodness [0,1] 0.9997811289369433 Centerline is valid? [True, True] Translation: X:820.13, Y:15.48, Z:7.60 [[ 9.87872029e-01 -1.53926347e-01 -2.03846717e-02 8.20128531e+02] [ 1.53882360e-01 9.88082179e-01 -3.71852749e-03 1.54840926e+01] [ 2.07141102e-02 5.36587909e-04 9.99785296e-01 7.59659701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.15, Y:15.49, Z:7.60 [[ 9.88125610e-01 -1.52242553e-01 -2.07360588e-02 8.20154915e+02] [ 1.52196620e-01 9.88342989e-01 -3.78480226e-03 1.54919202e+01] [ 2.10705463e-02 5.83901985e-04 9.99777821e-01 7.59688135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.18, Y:15.50, Z:7.60 [[ 9.88081990e-01 -1.52525506e-01 -2.07352732e-02 8.20182048e+02] [ 1.52479545e-01 9.88299363e-01 -3.78910240e-03 1.54969555e+01] [ 2.10705920e-02 5.82238822e-04 9.99777821e-01 7.59713950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6292541539999 meters Centerline goodness [0,1] 0.9998907485906569 Centerline is valid? [True, True] Translation: X:820.21, Y:15.50, Z:7.60 [[ 9.88277388e-01 -1.51080557e-01 -2.19652032e-02 8.20209868e+02] [ 1.51028487e-01 9.88521237e-01 -4.02001855e-03 1.55048785e+01] [ 2.23204165e-02 6.55522017e-04 9.99750654e-01 7.59527662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6592541539999 meters Centerline goodness [0,1] 0.999891261798095 Centerline is valid? [True, True] Translation: X:820.24, Y:15.51, Z:7.60 [[ 9.88404410e-01 -1.50162774e-01 -2.25358306e-02 8.20238031e+02] [ 1.50107590e-01 9.88661040e-01 -4.13032088e-03 1.55113478e+01] [ 2.29005181e-02 6.99628153e-04 9.99737504e-01 7.59519605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.26, Y:15.52, Z:7.60 [[ 9.88591983e-01 -1.48905033e-01 -2.26535159e-02 8.20264686e+02] [ 1.48848858e-01 9.88851227e-01 -4.15551060e-03 1.55188532e+01] [ 2.30197334e-02 7.36154489e-04 9.99734740e-01 7.59534066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7192541539999 meters Centerline goodness [0,1] 0.9999127532881105 Centerline is valid? [True, True] Translation: X:820.29, Y:15.52, Z:7.60 [[ 9.88565991e-01 -1.48974539e-01 -2.33209619e-02 8.20293557e+02] [ 1.48914915e-01 9.88840740e-01 -4.28250921e-03 1.55230849e+01] [ 2.36987021e-02 7.60703896e-04 9.99718857e-01 7.59542117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.32, Y:15.53, Z:7.60 [[ 9.88763922e-01 -1.47697497e-01 -2.30511611e-02 8.20319764e+02] [ 1.47638806e-01 9.89032270e-01 -4.23688677e-03 1.55322756e+01] [ 2.34241197e-02 7.86034873e-04 9.99725309e-01 7.59544262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.35, Y:15.53, Z:7.60 [[ 9.88753100e-01 -1.47837851e-01 -2.26114566e-02 8.20347571e+02] [ 1.47781298e-01 9.89011311e-01 -4.16115638e-03 1.55338477e+01] [ 2.29781627e-02 7.72805855e-04 9.99735668e-01 7.59771652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.37, Y:15.54, Z:7.60 [[ 9.88645983e-01 -1.48619213e-01 -2.21686557e-02 8.20374683e+02] [ 1.48564961e-01 9.88894219e-01 -4.08364431e-03 1.55397452e+01] [ 2.25293635e-02 7.43793077e-04 9.99745905e-01 7.59825556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.40, Y:15.55, Z:7.60 [[ 9.88581212e-01 -1.49121407e-01 -2.16793165e-02 8.20402060e+02] [ 1.49069587e-01 9.88818633e-01 -3.99608755e-03 1.55464041e+01] [ 2.20328143e-02 7.18730327e-04 9.99756990e-01 7.59818704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8692541539999 meters Centerline goodness [0,1] 0.9999565500760373 Centerline is valid? [True, True] Translation: X:820.43, Y:15.55, Z:7.60 [[ 9.88429205e-01 -1.50096543e-01 -2.18800138e-02 8.20430252e+02] [ 1.50043896e-01 9.88671091e-01 -4.03765225e-03 1.55511111e+01] [ 2.22381748e-02 7.07970878e-04 9.99752451e-01 7.59853237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.46, Y:15.56, Z:7.60 [[ 9.88281626e-01 -1.51127039e-01 -2.14486984e-02 8.20457681e+02] [ 1.51076614e-01 9.88514119e-01 -3.96151593e-03 1.55573094e+01] [ 2.18010333e-02 6.74696673e-04 9.99762102e-01 7.59863572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9292541539999 meters Centerline goodness [0,1] 0.9999347896967721 Centerline is valid? [True, True] Translation: X:820.49, Y:15.56, Z:7.60 [[ 9.88088598e-01 -1.52416906e-01 -2.12134322e-02 8.20485999e+02] [ 1.52367794e-01 9.88316080e-01 -3.92200036e-03 1.55615779e+01] [ 2.15633554e-02 6.43039963e-04 9.99767277e-01 7.59884789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.51, Y:15.57, Z:7.60 [[ 9.88060640e-01 -1.52680967e-01 -2.06081149e-02 8.20513076e+02] [ 1.52634605e-01 9.88275334e-01 -3.81344345e-03 1.55688792e+01] [ 2.09487319e-02 6.22401895e-04 9.99780358e-01 7.59860814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.54, Y:15.57, Z:7.60 [[ 9.87923306e-01 -1.53535963e-01 -2.08386408e-02 8.20541746e+02] [ 1.53488666e-01 9.88142869e-01 -3.85994031e-03 1.55727487e+01] [ 2.11841940e-02 6.14829807e-04 9.99775401e-01 7.59955411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.57, Y:15.58, Z:7.60 [[ 9.87759659e-01 -1.54622264e-01 -2.05623695e-02 8.20570075e+02] [ 1.54576339e-01 9.87973486e-01 -3.81400120e-03 1.55785367e+01] [ 2.09048054e-02 5.88860728e-04 9.99781297e-01 7.60000402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.60, Y:15.58, Z:7.60 [[ 9.87763844e-01 -1.54593653e-01 -2.05764525e-02 8.20598756e+02] [ 1.54547549e-01 9.87977959e-01 -3.82188751e-03 1.55840862e+01] [ 2.09199211e-02 5.95082000e-04 9.99780977e-01 7.60034063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.63, Y:15.59, Z:7.60 [[ 9.87787684e-01 -1.54422566e-01 -2.07162366e-02 8.20627081e+02] [ 1.54375682e-01 9.88004707e-01 -3.85322398e-03 1.55898453e+01] [ 2.10627640e-02 6.08084032e-04 9.99777970e-01 7.60132850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.65, Y:15.60, Z:7.60 [[ 9.87880043e-01 -1.53793812e-01 -2.09876956e-02 8.20654356e+02] [ 1.53745475e-01 9.88102759e-01 -3.90722132e-03 1.55969726e+01] [ 2.13389064e-02 6.33102730e-04 9.99772099e-01 7.60143876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.68, Y:15.60, Z:7.60 [[ 9.87962635e-01 -1.53238257e-01 -2.11628904e-02 8.20683076e+02] [ 1.53188897e-01 9.88189055e-01 -3.94378827e-03 1.56026890e+01] [ 2.15172759e-02 6.54395617e-04 9.99768262e-01 7.60211642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.71, Y:15.61, Z:7.60 [[ 9.88256716e-01 -1.51241159e-01 -2.17893492e-02 8.20710439e+02] [ 1.51188268e-01 9.88496631e-01 -4.06416610e-03 1.56102550e+01] [ 2.21533675e-02 7.22145488e-04 9.99754323e-01 7.60233595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.74, Y:15.62, Z:7.60 [[ 9.88353821e-01 -1.50558948e-01 -2.21071687e-02 8.20736498e+02] [ 1.50504279e-01 9.88600749e-01 -4.12575865e-03 1.56199494e+01] [ 2.24763334e-02 7.50485834e-04 9.99747094e-01 7.60130139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.76, Y:15.62, Z:7.60 [[ 9.88554620e-01 -1.49219817e-01 -2.22083036e-02 8.20764486e+02] [ 1.49164246e-01 9.88803735e-01 -4.14747744e-03 1.56246628e+01] [ 2.25785394e-02 7.87323128e-04 9.99744762e-01 7.60260691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.79, Y:15.63, Z:7.60 [[ 9.88583564e-01 -1.49058721e-01 -2.20007864e-02 8.20792644e+02] [ 1.49004041e-01 9.88828032e-01 -4.11330483e-03 1.56311001e+01] [ 2.23681182e-02 7.88139484e-04 9.99749492e-01 7.60270765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.82, Y:15.64, Z:7.60 [[ 9.88491471e-01 -1.49630405e-01 -2.22565528e-02 8.20820640e+02] [ 1.49574448e-01 9.88741684e-01 -4.16740970e-03 1.56364809e+01] [ 2.26295527e-02 7.90437341e-04 9.99743606e-01 7.60337798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.85, Y:15.64, Z:7.60 [[ 9.88477401e-01 -1.49712002e-01 -2.23325743e-02 8.20846771e+02] [ 1.49655583e-01 9.88729328e-01 -4.18607919e-03 1.56427188e+01] [ 2.27075775e-02 7.95650256e-04 9.99741833e-01 7.60343093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3492541539999 meters Centerline goodness [0,1] 0.9999351967857606 Centerline is valid? [True, True] Translation: X:820.87, Y:15.65, Z:7.60 [[ 9.88277402e-01 -1.50925908e-01 -2.30031939e-02 8.20874706e+02] [ 1.50866265e-01 9.88544757e-01 -4.31657652e-03 1.56481481e+01] [ 2.33911700e-02 7.95569072e-04 9.99726073e-01 7.60377612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3792541539999 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:820.90, Y:15.65, Z:7.60 [[ 9.88317710e-01 -1.50755626e-01 -2.23795535e-02 8.20902366e+02] [ 1.50698988e-01 9.88570749e-01 -4.20577413e-03 1.56544087e+01] [ 2.27578161e-02 7.84064990e-04 9.99740700e-01 7.60471143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.93, Y:15.66, Z:7.60 [[ 9.88296619e-01 -1.50924515e-01 -2.21717104e-02 8.20928058e+02] [ 1.50868868e-01 9.88544985e-01 -4.17108456e-03 1.56620945e+01] [ 2.25472520e-02 7.77247924e-04 9.99745476e-01 7.60457941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4392541539999 meters Centerline goodness [0,1] 0.9999569735171998 Centerline is valid? [True, True] Translation: X:820.96, Y:15.67, Z:7.61 [[ 9.88087095e-01 -1.52269386e-01 -2.23142530e-02 8.20956908e+02] [ 1.52213259e-01 9.88338739e-01 -4.20248586e-03 1.56666238e+01] [ 2.26939506e-02 7.55896862e-04 9.99742173e-01 7.60579713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:820.98, Y:15.67, Z:7.61 [[ 9.88066581e-01 -1.52521868e-01 -2.14827958e-02 8.20983817e+02] [ 1.52469820e-01 9.88299829e-01 -4.04987421e-03 1.56738029e+01] [ 2.18491378e-02 7.26067365e-04 9.99761015e-01 7.60600370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.01, Y:15.68, Z:7.61 [[ 9.87941930e-01 -1.53282796e-01 -2.17974317e-02 8.21012071e+02] [ 1.53229296e-01 9.88182099e-01 -4.11373034e-03 1.56780854e+01] [ 2.21703959e-02 7.24121574e-04 9.99753944e-01 7.60717445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.04, Y:15.68, Z:7.61 [[ 9.87679971e-01 -1.54846969e-01 -2.25984718e-02 8.21040471e+02] [ 1.54789736e-01 9.87938205e-01 -4.27087087e-03 1.56836342e+01] [ 2.29872251e-02 7.20242135e-04 9.99735499e-01 7.60725888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.07, Y:15.69, Z:7.61 [[ 9.87464499e-01 -1.56146541e-01 -2.30677509e-02 8.21068424e+02] [ 1.56087117e-01 9.87733645e-01 -4.36563500e-03 1.56890360e+01] [ 2.34664724e-02 7.10330858e-04 9.99724372e-01 7.60753358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.10, Y:15.70, Z:7.61 [[ 9.87281659e-01 -1.57307948e-01 -2.30029570e-02 8.21095380e+02] [ 1.57249086e-01 9.87549361e-01 -4.35704990e-03 1.56971002e+01] [ 2.34019541e-02 6.84441483e-04 9.99725902e-01 7.60623120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6192541539999 meters Centerline goodness [0,1] 0.9999784761084805 Centerline is valid? [True, True] Translation: X:821.12, Y:15.70, Z:7.61 [[ 9.86780109e-01 -1.60386306e-01 -2.32647771e-02 8.21124513e+02] [ 1.60326851e-01 9.87054125e-01 -4.41084910e-03 1.57011152e+01] [ 2.36710340e-02 6.22569698e-04 9.99719608e-01 7.60671628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.15, Y:15.71, Z:7.61 [[ 9.86619313e-01 -1.61389737e-01 -2.31448413e-02 8.21151725e+02] [ 1.61331089e-01 9.86890568e-01 -4.39155251e-03 1.57089502e+01] [ 2.35501771e-02 5.98808082e-04 9.99722477e-01 7.60583588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6792541539999 meters Centerline goodness [0,1] 0.9998710176705792 Centerline is valid? [True, True] Translation: X:821.18, Y:15.71, Z:7.61 [[ 9.86196020e-01 -1.63811733e-01 -2.41480258e-02 8.21180829e+02] [ 1.63748499e-01 9.86491456e-01 -4.58659214e-03 1.57106983e+01] [ 2.45731587e-02 5.69075944e-04 9.99697872e-01 7.60708877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.21, Y:15.72, Z:7.61 [[ 9.85955119e-01 -1.65361545e-01 -2.34107204e-02 8.21207902e+02] [ 1.65302466e-01 9.86232879e-01 -4.45011996e-03 1.57164305e+01] [ 2.38243009e-02 5.17768744e-04 9.99716027e-01 7.60783933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.24, Y:15.72, Z:7.61 [[ 9.85794397e-01 -1.66268492e-01 -2.37527784e-02 8.21235440e+02] [ 1.66207812e-01 9.86080387e-01 -4.52026202e-03 1.57208756e+01] [ 2.41737260e-02 5.08151640e-04 9.99707644e-01 7.60853823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7692541539999 meters Centerline goodness [0,1] 0.9999569253300596 Centerline is valid? [True, True] Translation: X:821.26, Y:15.73, Z:7.61 [[ 9.85625101e-01 -1.67235003e-01 -2.39919389e-02 8.21264022e+02] [ 1.67173220e-01 9.85916938e-01 -4.57238779e-03 1.57256404e+01] [ 2.44187222e-02 4.95850509e-04 9.99701696e-01 7.60910681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.29, Y:15.73, Z:7.61 [[ 9.85500668e-01 -1.67886687e-01 -2.45457496e-02 8.21290444e+02] [ 1.67822109e-01 9.85806175e-01 -4.68239629e-03 1.57332304e+01] [ 2.49834636e-02 4.95185213e-04 9.99687742e-01 7.60796933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.32, Y:15.74, Z:7.61 [[ 9.85457971e-01 -1.68208736e-01 -2.40501326e-02 8.21318003e+02] [ 1.68146699e-01 9.85751281e-01 -4.59343310e-03 1.57390753e+01] [ 2.44801046e-02 4.82684861e-04 9.99700201e-01 7.60833091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.35, Y:15.75, Z:7.61 [[ 9.85508322e-01 -1.67864276e-01 -2.43912364e-02 8.21345577e+02] [ 1.67800193e-01 9.85809987e-01 -4.66530463e-03 1.57463448e+01] [ 2.48282625e-02 5.04842346e-04 9.99691604e-01 7.60834180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.37, Y:15.75, Z:7.61 [[ 9.85560637e-01 -1.67500098e-01 -2.47779869e-02 8.21373954e+02] [ 1.67433687e-01 9.85871917e-01 -4.74580782e-03 1.57524798e+01] [ 2.52228447e-02 5.28611665e-04 9.99681714e-01 7.60856154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9192541539999 meters Centerline goodness [0,1] 0.9998493975903614 Centerline is valid? [True, True] Translation: X:821.40, Y:15.76, Z:7.61 [[ 9.85557603e-01 -1.67426998e-01 -2.53852790e-02 8.21400533e+02] [ 1.67357164e-01 9.85884324e-01 -4.86611262e-03 1.57593635e+01] [ 2.58416673e-02 5.47425972e-04 9.99665898e-01 7.60779638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.43, Y:15.77, Z:7.61 [[ 9.85811350e-01 -1.65958293e-01 -2.51759191e-02 8.21428277e+02] [ 1.65889000e-01 9.86132598e-01 -4.83097281e-03 1.57670725e+01] [ 2.56285345e-02 5.86019795e-04 9.99671363e-01 7.60800942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9792541539999 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:821.46, Y:15.77, Z:7.61 [[ 9.85834027e-01 -1.65807388e-01 -2.52820401e-02 8.21456066e+02] [ 1.65737290e-01 9.86157975e-01 -4.85791173e-03 1.57735971e+01] [ 2.57375631e-02 5.98917871e-04 9.99668555e-01 7.60816415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.48, Y:15.78, Z:7.61 [[ 9.85926153e-01 -1.65357896e-01 -2.46249163e-02 8.21483609e+02] [ 1.65291079e-01 9.86233443e-01 -4.73863952e-03 1.57795391e+01] [ 2.50694875e-02 6.01669632e-04 9.99685530e-01 7.60890944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0392541539999 meters Centerline goodness [0,1] 0.9999359877096402 Centerline is valid? [True, True] Translation: X:821.51, Y:15.79, Z:7.61 [[ 9.85913400e-01 -1.65426219e-01 -2.46765940e-02 8.21509634e+02] [ 1.65359022e-01 9.86221983e-01 -4.75339696e-03 1.57883455e+01] [ 2.51229359e-02 6.05940308e-04 9.99684186e-01 7.60796206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.54, Y:15.79, Z:7.61 [[ 9.85924384e-01 -1.65505434e-01 -2.36867059e-02 8.21538017e+02] [ 1.65443425e-01 9.86208705e-01 -4.56763219e-03 1.57926813e+01] [ 2.41160035e-02 5.84530199e-04 9.99708996e-01 7.60979837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0992541539999 meters Centerline goodness [0,1] 0.999914524435327 Centerline is valid? [True, True] Translation: X:821.56, Y:15.80, Z:7.61 [[ 9.85799371e-01 -1.66135781e-01 -2.44642965e-02 8.21564242e+02] [ 1.66069717e-01 9.86102708e-01 -4.72200710e-03 1.57999242e+01] [ 2.49088034e-02 5.92172826e-04 9.99689552e-01 7.60888203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.59, Y:15.81, Z:7.61 [[ 9.85640913e-01 -1.67232968e-01 -2.33479262e-02 8.21591532e+02] [ 1.67173048e-01 9.85917259e-01 -4.50891073e-03 1.58056271e+01] [ 2.37731619e-02 5.41022913e-04 9.99717232e-01 7.60938752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1592541539999 meters Centerline goodness [0,1] 0.9998927383889306 Centerline is valid? [True, True] Translation: X:821.62, Y:15.81, Z:7.61 [[ 9.85266470e-01 -1.69301172e-01 -2.42300644e-02 8.21620350e+02] [ 1.69237145e-01 9.85564228e-01 -4.68405070e-03 1.58069792e+01] [ 2.46733000e-02 5.14411186e-04 9.99695435e-01 7.61166632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.65, Y:15.81, Z:7.61 [[ 9.85074773e-01 -1.70530019e-01 -2.33923993e-02 8.21647993e+02] [ 1.70470602e-01 9.85352369e-01 -4.52575759e-03 1.58128930e+01] [ 2.38215336e-02 4.70493248e-04 9.99716116e-01 7.61088179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.68, Y:15.81, Z:7.61 [[ 9.84396496e-01 -1.74325682e-01 -2.39602753e-02 8.21677013e+02] [ 1.74264354e-01 9.84687972e-01 -4.64032905e-03 1.58143021e+01] [ 2.44023234e-02 3.92501770e-04 9.99702142e-01 7.61175445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.71, Y:15.82, Z:7.61 [[ 9.83942894e-01 -1.76833947e-01 -2.42102577e-02 8.21706021e+02] [ 1.76771934e-01 9.84240641e-01 -4.69508953e-03 1.58176146e+01] [ 2.46589708e-02 3.40005904e-04 9.99695864e-01 7.61235476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.73, Y:15.82, Z:7.61 [[ 9.83479744e-01 -1.79354808e-01 -2.44835851e-02 8.21734139e+02] [ 1.79292071e-01 9.83784414e-01 -4.75195109e-03 1.58208875e+01] [ 2.49388547e-02 2.83734963e-04 9.99688938e-01 7.61232229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3092541539999 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:821.76, Y:15.82, Z:7.61 [[ 9.82974286e-01 -1.82095281e-01 -2.45532550e-02 8.21762227e+02] [ 1.82032984e-01 9.83280866e-01 -4.76772513e-03 1.58237890e+01] [ 2.50109261e-02 2.17048919e-04 9.99687154e-01 7.61278842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.79, Y:15.82, Z:7.61 [[ 9.82033354e-01 -1.87274100e-01 -2.32142811e-02 8.21792031e+02] [ 1.87219761e-01 9.82307693e-01 -4.51188535e-03 1.58242779e+01] [ 2.36485262e-02 8.46497591e-05 9.99720331e-01 7.61495901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3692541539999 meters Centerline goodness [0,1] 0.999913952587876 Centerline is valid? [True, True] Translation: X:821.82, Y:15.83, Z:7.62 [[ 9.81435622e-01 -1.90328757e-01 -2.36449492e-02 8.21820474e+02] [ 1.90273108e-01 9.81720410e-01 -4.60221063e-03 1.58275779e+01] [ 2.40886623e-02 1.77754661e-05 9.99709826e-01 7.61628836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.85, Y:15.83, Z:7.62 [[ 9.80671357e-01 -1.94430814e-01 -2.19168476e-02 8.21849782e+02] [ 1.94383894e-01 9.80916232e-01 -4.27179047e-03 1.58291272e+01] [ 2.23291592e-02 -7.10596291e-05 9.99750671e-01 7.61758267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.88, Y:15.83, Z:7.62 [[ 9.80283954e-01 -1.96446226e-01 -2.12661764e-02 8.21877044e+02] [ 1.96402439e-01 9.80514594e-01 -4.14889925e-03 1.58324863e+01] [ 2.16668319e-02 -1.09629550e-04 9.99765241e-01 7.61773987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.91, Y:15.84, Z:7.62 [[ 9.79979690e-01 -1.97955576e-01 -2.12931191e-02 8.21905113e+02] [ 1.97911985e-01 9.80210982e-01 -4.15646161e-03 1.58359278e+01] [ 2.16945439e-02 -1.40915502e-04 9.99764636e-01 7.61767389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4892541539999 meters Centerline goodness [0,1] 0.9998500203543805 Centerline is valid? [True, True] Translation: X:821.93, Y:15.84, Z:7.62 [[ 9.79469398e-01 -2.00432905e-01 -2.15950986e-02 8.21933674e+02] [ 2.00388580e-01 9.79707412e-01 -4.21950471e-03 1.58387470e+01] [ 2.20026058e-02 -1.94535418e-04 9.99757894e-01 7.61834954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5192541539999 meters Centerline goodness [0,1] 0.9998500203543805 Centerline is valid? [True, True] Translation: X:821.96, Y:15.84, Z:7.62 [[ 9.79411653e-01 -2.00715009e-01 -2.15939469e-02 8.21960734e+02] [ 2.00670622e-01 9.79649655e-01 -4.22539296e-03 1.58441095e+01] [ 2.20026025e-02 -1.94871669e-04 9.99757894e-01 7.61860712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:821.99, Y:15.85, Z:7.62 [[ 9.79268836e-01 -2.01411162e-01 -2.15891274e-02 8.21988252e+02] [ 2.01366879e-01 9.79506764e-01 -4.22834433e-03 1.58479128e+01] [ 2.19983321e-02 -2.06649381e-04 9.99757986e-01 7.61873055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.02, Y:15.85, Z:7.62 [[ 9.79172396e-01 -2.01839089e-01 -2.19636414e-02 8.22015984e+02] [ 2.01793305e-01 9.79418672e-01 -4.30432568e-03 1.58517227e+01] [ 2.23803817e-02 -2.17438905e-04 9.99749504e-01 7.61811513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6092541539999 meters Centerline goodness [0,1] 0.9998709205515995 Centerline is valid? [True, True] Translation: X:822.04, Y:15.86, Z:7.62 [[ 9.79023272e-01 -2.02481773e-01 -2.26840153e-02 8.22044065e+02] [ 2.02432996e-01 9.79286003e-01 -4.45035179e-03 1.58574177e+01] [ 2.31152538e-02 -2.34995222e-04 9.99732779e-01 7.61936513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.07, Y:15.86, Z:7.62 [[ 9.79158819e-01 -2.01924005e-01 -2.17876960e-02 8.22072272e+02] [ 2.01878745e-01 9.79401171e-01 -4.28009700e-03 1.58626248e+01] [ 2.22031493e-02 -2.07578001e-04 9.99753458e-01 7.61995770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.10, Y:15.87, Z:7.62 [[ 9.79211703e-01 -2.01697578e-01 -2.15064818e-02 8.22100222e+02] [ 2.01653292e-01 9.79447829e-01 -4.23089006e-03 1.58681762e+01] [ 2.19178372e-02 -1.93915797e-04 9.99759757e-01 7.62038317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.13, Y:15.87, Z:7.62 [[ 9.79279195e-01 -2.01397375e-01 -2.12451107e-02 8.22127500e+02] [ 2.01353951e-01 9.79509605e-01 -4.18578383e-03 1.58733500e+01] [ 2.16527959e-02 -1.78735967e-04 9.99765535e-01 7.62082209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.16, Y:15.88, Z:7.62 [[ 9.79422028e-01 -2.00714649e-01 -2.11215647e-02 8.22155158e+02] [ 2.00671433e-01 9.79649736e-01 -4.16783333e-03 1.58783708e+01] [ 2.15282804e-02 -1.56426879e-04 9.99768227e-01 7.62161543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.18, Y:15.88, Z:7.62 [[ 9.79421617e-01 -2.00756570e-01 -2.07387417e-02 8.22182442e+02] [ 2.00714782e-01 9.79641147e-01 -4.09860370e-03 1.58831415e+01] [ 2.11393463e-02 -1.48310940e-04 9.99776528e-01 7.62183528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.21, Y:15.89, Z:7.62 [[ 9.79540187e-01 -2.00229117e-01 -2.02317184e-02 8.22210362e+02] [ 2.00189157e-01 9.79749092e-01 -4.00219675e-03 1.58868082e+01] [ 2.06233640e-02 -1.29858095e-04 9.99787307e-01 7.62183008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.24, Y:15.89, Z:7.62 [[ 9.79517020e-01 -2.00393215e-01 -1.97222679e-02 8.22237766e+02] [ 2.00355194e-01 9.79715542e-01 -3.90543564e-03 1.58915168e+01] [ 2.01048352e-02 -1.26018143e-04 9.99797869e-01 7.62253215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8492541539999 meters Centerline goodness [0,1] 0.9998713936639945 Centerline is valid? [True, True] Translation: X:822.27, Y:15.90, Z:7.62 [[ 9.79361874e-01 -2.01113439e-01 -2.00923826e-02 8.22265279e+02] [ 2.01074004e-01 9.79567948e-01 -3.98486234e-03 1.58963736e+01] [ 2.04832633e-02 -1.37433570e-04 9.99790187e-01 7.62291062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8792541539999 meters Centerline goodness [0,1] 0.9999569067677921 Centerline is valid? [True, True] Translation: X:822.29, Y:15.90, Z:7.62 [[ 9.79475051e-01 -2.00705324e-01 -1.86009834e-02 8.22292885e+02] [ 2.00671387e-01 9.79651652e-01 -3.69255336e-03 1.58999767e+01] [ 1.89635993e-02 -1.15921262e-04 9.99820168e-01 7.62342007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.32, Y:15.90, Z:7.62 [[ 9.79580495e-01 -2.00252397e-01 -1.79173629e-02 8.22320235e+02] [ 2.00220770e-01 9.79744338e-01 -3.56027019e-03 1.59049442e+01] [ 1.82673875e-02 -9.98569697e-05 9.99833132e-01 7.62400246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9392541539999 meters Centerline goodness [0,1] 0.999849176936999 Centerline is valid? [True, True] Translation: X:822.35, Y:15.91, Z:7.62 [[ 9.79581191e-01 -2.00247581e-01 -1.79330887e-02 8.22347982e+02] [ 2.00215801e-01 9.79745323e-01 -3.56871906e-03 1.59101856e+01] [ 1.82844871e-02 -9.46376509e-05 9.99832820e-01 7.62420785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9692541539999 meters Centerline goodness [0,1] 0.9998275564752543 Centerline is valid? [True, True] Translation: X:822.38, Y:15.92, Z:7.62 [[ 9.80107224e-01 -1.97726653e-01 -1.71464247e-02 8.22375376e+02] [ 1.97697156e-01 9.80257195e-01 -3.41550650e-03 1.59158535e+01] [ 1.74832429e-02 -4.22368092e-05 9.99847156e-01 7.62355730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.40, Y:15.92, Z:7.62 [[ 9.80427573e-01 -1.96143467e-01 -1.70151395e-02 8.22402675e+02] [ 1.96114128e-01 9.80575209e-01 -3.39245220e-03 1.59217540e+01] [ 1.73500313e-02 -1.08555710e-05 9.99849477e-01 7.62363861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0292541539999 meters Centerline goodness [0,1] 0.9999134929388611 Centerline is valid? [True, True] Translation: X:822.43, Y:15.93, Z:7.62 [[ 9.80619753e-01 -1.95140202e-01 -1.74699960e-02 8.22430184e+02] [ 1.95109020e-01 9.80775357e-01 -3.48838919e-03 1.59275980e+01] [ 1.78148666e-02 1.22295423e-05 9.99841303e-01 7.62404818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0592541539999 meters Centerline goodness [0,1] 0.9999350803921144 Centerline is valid? [True, True] Translation: X:822.46, Y:15.93, Z:7.62 [[ 9.81027398e-01 -1.93043303e-01 -1.78753480e-02 8.22457057e+02] [ 1.93010238e-01 9.81190237e-01 -3.57317537e-03 1.59328817e+01] [ 1.82288945e-02 5.52577583e-05 9.99833838e-01 7.62302963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.49, Y:15.94, Z:7.62 [[ 9.81068556e-01 -1.92833923e-01 -1.78764226e-02 8.22485107e+02] [ 1.92800754e-01 9.81231407e-01 -3.57702006e-03 1.59380529e+01] [ 1.82306781e-02 6.27141508e-05 9.99833805e-01 7.62271463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1192541539999 meters Centerline goodness [0,1] 0.9998922576335466 Centerline is valid? [True, True] Translation: X:822.51, Y:15.94, Z:7.62 [[ 9.80978887e-01 -1.93282864e-01 -1.79487505e-02 8.22513219e+02] [ 1.93249403e-01 9.81143074e-01 -3.59685038e-03 1.59430947e+01] [ 1.83055018e-02 5.98489636e-05 9.99832438e-01 7.62259909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1492541539999 meters Centerline goodness [0,1] 0.9998487107998876 Centerline is valid? [True, True] Translation: X:822.54, Y:15.95, Z:7.62 [[ 9.80691856e-01 -1.94782943e-01 -1.74094267e-02 8.22541115e+02] [ 1.94751609e-01 9.80846371e-01 -3.49385539e-03 1.59460709e+01] [ 1.77565164e-02 3.58816765e-05 9.99842340e-01 7.62285941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.57, Y:15.95, Z:7.62 [[ 9.80549015e-01 -1.95524284e-01 -1.71430054e-02 8.22568219e+02] [ 1.95493950e-01 9.80698860e-01 -3.44408566e-03 1.59497192e+01] [ 1.74855283e-02 2.57409469e-05 9.99847116e-01 7.62358712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.60, Y:15.95, Z:7.62 [[ 9.79719471e-01 -1.99664937e-01 -1.68425658e-02 8.22595647e+02] [ 1.99636232e-01 9.79864231e-01 -3.38585356e-03 1.59500777e+01] [ 1.71794641e-02 -4.51997201e-05 9.99852421e-01 7.62374332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.62, Y:15.95, Z:7.62 [[ 9.79107478e-01 -2.02650419e-01 -1.67736486e-02 8.22624539e+02] [ 2.02622333e-01 9.79251142e-01 -3.37508189e-03 1.59527473e+01] [ 1.71095763e-02 -9.41479086e-05 9.99853616e-01 7.62417789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.65, Y:15.96, Z:7.62 [[ 9.78442649e-01 -2.05792560e-01 -1.73033526e-02 8.22653588e+02] [ 2.05763084e-01 9.78595626e-01 -3.48614494e-03 1.59555801e+01] [ 1.76504079e-02 -1.49398318e-04 9.99844208e-01 7.62424232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.68, Y:15.96, Z:7.62 [[ 9.77749917e-01 -2.09053400e-01 -1.73717153e-02 8.22681664e+02] [ 2.09024150e-01 9.77904205e-01 -3.50301156e-03 1.59576141e+01] [ 1.77201899e-02 -2.06038764e-04 9.99842964e-01 7.62400035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3292541539998 meters Centerline goodness [0,1] 0.9999781128936943 Centerline is valid? [True, True] Translation: X:822.71, Y:15.96, Z:7.62 [[ 9.76493886e-01 -2.14906660e-01 -1.65776084e-02 8.22710464e+02] [ 2.14880841e-01 9.76634548e-01 -3.34435702e-03 1.59584175e+01] [ 1.69089897e-02 -2.96466240e-04 9.99856989e-01 7.62475509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.74, Y:15.96, Z:7.62 [[ 9.75951909e-01 -2.17382056e-01 -1.62145919e-02 8.22738589e+02] [ 2.17357672e-01 9.76086540e-01 -3.27260164e-03 1.59595289e+01] [ 1.65382497e-02 -3.30464114e-04 9.99863179e-01 7.62470908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.77, Y:15.96, Z:7.63 [[ 9.75481513e-01 -2.19522729e-01 -1.56712742e-02 8.22766892e+02] [ 2.19500189e-01 9.75607322e-01 -3.16538631e-03 1.59636163e+01] [ 1.59838841e-02 -3.52071819e-04 9.99872188e-01 7.62571398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4192541539999 meters Centerline goodness [0,1] 0.9998905357181952 Centerline is valid? [True, True] Translation: X:822.80, Y:15.97, Z:7.63 [[ 9.74948048e-01 -2.21952854e-01 -1.46025248e-02 8.22795724e+02] [ 2.21933503e-01 9.75057331e-01 -2.95306470e-03 1.59682814e+01] [ 1.48937400e-02 -3.61704810e-04 9.99889017e-01 7.62656996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4492541539998 meters Centerline goodness [0,1] 0.9999120898441792 Centerline is valid? [True, True] Translation: X:822.82, Y:15.97, Z:7.63 [[ 9.74912581e-01 -2.22122101e-01 -1.43955600e-02 8.22823738e+02] [ 2.22103255e-01 9.75018793e-01 -2.91511742e-03 1.59738629e+01] [ 1.46834535e-02 -3.55316077e-04 9.99892129e-01 7.62702196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.85, Y:15.98, Z:7.63 [[ 9.75463499e-01 -2.19696639e-01 -1.42950322e-02 8.22851217e+02] [ 2.19677749e-01 9.75568187e-01 -2.89795959e-03 1.59765672e+01] [ 1.45824506e-02 -3.13446697e-04 9.99893621e-01 7.62690191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.88, Y:15.99, Z:7.63 [[ 9.75714503e-01 -2.18572440e-01 -1.43978294e-02 8.22878375e+02] [ 2.18553122e-01 9.75820681e-01 -2.92100911e-03 1.59860208e+01] [ 1.46881518e-02 -2.96619619e-04 9.99892079e-01 7.62751733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5392541539999 meters Centerline goodness [0,1] 0.9999780908353965 Centerline is valid? [True, True] Translation: X:822.91, Y:15.99, Z:7.63 [[ 9.76102242e-01 -2.16795700e-01 -1.49678938e-02 8.22905856e+02] [ 2.16774567e-01 9.76216957e-01 -3.03967233e-03 1.59920737e+01] [ 1.52708996e-02 -2.77627716e-04 9.99883354e-01 7.62729866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5692541539999 meters Centerline goodness [0,1] 0.999934398985371 Centerline is valid? [True, True] Translation: X:822.93, Y:16.00, Z:7.63 [[ 9.76950577e-01 -2.12900407e-01 -1.55237393e-02 8.22932751e+02] [ 2.12877161e-01 9.77073880e-01 -3.15400275e-03 1.59996338e+01] [ 1.58393287e-02 -2.23344750e-04 9.99874525e-01 7.62591420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.96, Y:16.01, Z:7.63 [[ 9.77406437e-01 -2.10780938e-01 -1.57496771e-02 8.22961089e+02] [ 2.10756694e-01 9.77533304e-01 -3.20241955e-03 1.60069951e+01] [ 1.60708429e-02 -1.89284387e-04 9.99870838e-01 7.62629047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:822.99, Y:16.01, Z:7.63 [[ 9.77801496e-01 -2.08914200e-01 -1.60963070e-02 8.22988771e+02] [ 2.08888556e-01 9.77933961e-01 -3.27702731e-03 1.60139237e+01] [ 1.64257428e-02 -1.58052122e-04 9.99865076e-01 7.62638325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6592541539999 meters Centerline goodness [0,1] 0.9999563175712569 Centerline is valid? [True, True] Translation: X:823.02, Y:16.02, Z:7.63 [[ 9.78053603e-01 -2.07743957e-01 -1.59247363e-02 8.23016142e+02] [ 2.07718650e-01 9.78183230e-01 -3.24529358e-03 1.60206037e+01] [ 1.62515001e-02 -1.33793652e-04 9.99867927e-01 7.62586092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6892541539999 meters Centerline goodness [0,1] 0.9999781587856285 Centerline is valid? [True, True] Translation: X:823.04, Y:16.03, Z:7.63 [[ 9.78628550e-01 -2.05037468e-01 -1.56779502e-02 8.23042755e+02] [ 2.05012559e-01 9.78754121e-01 -3.19707171e-03 1.60275329e+01] [ 1.60003779e-02 -8.54310389e-05 9.99871982e-01 7.62625315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7192541539999 meters Centerline goodness [0,1] 0.9998907939281424 Centerline is valid? [True, True] Translation: X:823.07, Y:16.03, Z:7.63 [[ 9.78685811e-01 -2.04766032e-01 -1.56510418e-02 8.23070298e+02] [ 2.04741124e-01 9.78810945e-01 -3.19468716e-03 1.60338809e+01] [ 1.59735745e-02 -7.78168941e-05 9.99872411e-01 7.62589166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.10, Y:16.04, Z:7.63 [[ 9.78909831e-01 -2.03713018e-01 -1.53801809e-02 8.23097517e+02] [ 2.03688764e-01 9.79030645e-01 -3.14391314e-03 1.60396869e+01] [ 1.56981245e-02 -5.51625496e-05 9.99876775e-01 7.62774766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7792541539999 meters Centerline goodness [0,1] 0.999846645927354 Centerline is valid? [True, True] Translation: X:823.12, Y:16.05, Z:7.63 [[ 9.79047222e-01 -2.03088976e-01 -1.48797118e-02 8.23123883e+02] [ 2.03066151e-01 9.79160286e-01 -3.04504346e-03 1.60452242e+01] [ 1.51880376e-02 -4.03244572e-05 9.99884654e-01 7.62649221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8092541539999 meters Centerline goodness [0,1] 0.9998474147702502 Centerline is valid? [True, True] Translation: X:823.15, Y:16.05, Z:7.63 [[ 9.79090689e-01 -2.02879857e-01 -1.48723495e-02 8.23150974e+02] [ 2.02856987e-01 9.79203637e-01 -3.04642247e-03 1.60509924e+01] [ 1.51811164e-02 -3.42361187e-05 9.99884760e-01 7.62641652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.18, Y:16.06, Z:7.63 [[ 9.79201201e-01 -2.02307641e-01 -1.53826326e-02 8.23178619e+02] [ 2.02283031e-01 9.79322019e-01 -3.15557727e-03 1.60561460e+01] [ 1.57029483e-02 -2.17005016e-05 9.99876701e-01 7.62767975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8692541539999 meters Centerline goodness [0,1] 0.9997814494273976 Centerline is valid? [True, True] Translation: X:823.21, Y:16.06, Z:7.63 [[ 9.78936860e-01 -2.03582582e-01 -1.53868759e-02 8.23205550e+02] [ 2.03558061e-01 9.79057777e-01 -3.15993420e-03 1.60614623e+01] [ 1.57079481e-02 -3.87465668e-05 9.99876622e-01 7.62546274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8992541539999 meters Centerline goodness [0,1] 0.9998246536910398 Centerline is valid? [True, True] Translation: X:823.23, Y:16.07, Z:7.63 [[ 9.78760915e-01 -2.04372172e-01 -1.60961568e-02 8.23233639e+02] [ 2.04345390e-01 9.78893259e-01 -3.30889768e-03 1.60667023e+01] [ 1.64326660e-02 -5.05557239e-05 9.99864973e-01 7.62615225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.26, Y:16.07, Z:7.63 [[ 9.78394228e-01 -2.06066557e-01 -1.67722652e-02 8.23261842e+02] [ 2.06037659e-01 9.78537975e-01 -3.45182002e-03 1.60697477e+01] [ 1.71236030e-02 -7.84774672e-05 9.99853377e-01 7.62745204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9592541539998 meters Centerline goodness [0,1] 0.9998905165429504 Centerline is valid? [True, True] Translation: X:823.29, Y:16.07, Z:7.63 [[ 9.77921774e-01 -2.08340577e-01 -1.62236992e-02 8.23289077e+02] [ 2.08313820e-01 9.78056333e-01 -3.34080676e-03 1.60738257e+01] [ 1.65637174e-02 -1.12573091e-04 9.99862806e-01 7.62636371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9892541539999 meters Centerline goodness [0,1] 0.9998902353354409 Centerline is valid? [True, True] Translation: X:823.32, Y:16.08, Z:7.63 [[ 9.77481847e-01 -2.10404087e-01 -1.61046179e-02 8.23316469e+02] [ 2.10377977e-01 9.77614494e-01 -3.31774849e-03 1.60775276e+01] [ 1.64421757e-02 -1.45018012e-04 9.99864808e-01 7.62715851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0192541539999 meters Centerline goodness [0,1] 0.9998903725141968 Centerline is valid? [True, True] Translation: X:823.35, Y:16.08, Z:7.63 [[ 9.76530202e-01 -2.14838758e-01 -1.52667323e-02 8.23345220e+02] [ 2.14815800e-01 9.76649510e-01 -3.14750854e-03 1.60804552e+01] [ 1.55864535e-02 -2.05898169e-04 9.99878503e-01 7.62816955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0492541539999 meters Centerline goodness [0,1] 0.9997804562119915 Centerline is valid? [True, True] Translation: X:823.37, Y:16.09, Z:7.63 [[ 9.76010787e-01 -2.17218714e-01 -1.47977945e-02 8.23373741e+02] [ 2.17197360e-01 9.76122931e-01 -3.05462260e-03 1.60850890e+01] [ 1.51079877e-02 -2.32697291e-04 9.99885841e-01 7.62805580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.40, Y:16.09, Z:7.63 [[ 9.75382672e-01 -2.20009387e-01 -1.49837675e-02 8.23402282e+02] [ 2.19987761e-01 9.75497716e-01 -3.09697461e-03 1.60883057e+01] [ 1.52979945e-02 -2.75510103e-04 9.99882941e-01 7.63063685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1092541539999 meters Centerline goodness [0,1] 0.999956136503202 Centerline is valid? [True, True] Translation: X:823.43, Y:16.09, Z:7.63 [[ 9.75016340e-01 -2.21682610e-01 -1.41406438e-02 8.23429486e+02] [ 2.21663486e-01 9.75118834e-01 -2.92543493e-03 1.60934957e+01] [ 1.44373261e-02 -2.82117533e-04 9.99895737e-01 7.63024868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1392541539999 meters Centerline goodness [0,1] 0.9999561807107489 Centerline is valid? [True, True] Translation: X:823.46, Y:16.10, Z:7.63 [[ 9.74746479e-01 -2.22883936e-01 -1.38583175e-02 8.23457633e+02] [ 2.22865660e-01 9.74844945e-01 -2.86907495e-03 1.60993184e+01] [ 1.41491815e-02 -2.91922373e-04 9.99899853e-01 7.63081098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.49, Y:16.10, Z:7.63 [[ 9.74414387e-01 -2.24340313e-01 -1.37122455e-02 8.23485851e+02] [ 2.24322516e-01 9.74510816e-01 -2.84236478e-03 1.61045586e+01] [ 1.40003885e-02 -3.06324262e-04 9.99901943e-01 7.63249431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.51, Y:16.11, Z:7.63 [[ 9.74103918e-01 -2.25673923e-01 -1.38866041e-02 8.23513721e+02] [ 2.25655753e-01 9.74202840e-01 -2.88214984e-03 1.61111369e+01] [ 1.41787952e-02 -3.26078657e-04 9.99899423e-01 7.63271573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2292541539999 meters Centerline goodness [0,1] 0.999868282402529 Centerline is valid? [True, True] Translation: X:823.54, Y:16.12, Z:7.63 [[ 9.73896652e-01 -2.26566261e-01 -1.38939332e-02 8.23541466e+02] [ 2.26548123e-01 9.73995696e-01 -2.88651397e-03 1.61153765e+01] [ 1.41866179e-02 -3.36478211e-04 9.99899308e-01 7.63229333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.57, Y:16.12, Z:7.63 [[ 9.73680031e-01 -2.27463677e-01 -1.44038878e-02 8.23569037e+02] [ 2.27444248e-01 9.73786499e-01 -2.99469871e-03 1.61228820e+01] [ 1.47074967e-02 -3.60203100e-04 9.99891774e-01 7.63246194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.60, Y:16.13, Z:7.63 [[ 9.73451756e-01 -2.28356252e-01 -1.56557188e-02 8.23596888e+02] [ 2.28333345e-01 9.73577558e-01 -3.25924440e-03 1.61305813e+01] [ 1.59863253e-02 -4.02005455e-04 9.99872130e-01 7.63189037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3192541539999 meters Centerline goodness [0,1] 0.9999562152458514 Centerline is valid? [True, True] Translation: X:823.62, Y:16.14, Z:7.63 [[ 9.73414643e-01 -2.28482430e-01 -1.61156117e-02 8.23623820e+02] [ 2.28458124e-01 9.73547949e-01 -3.35808997e-03 1.61366687e+01] [ 1.64565853e-02 -4.12928472e-04 9.99864496e-01 7.63115979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.65, Y:16.14, Z:7.63 [[ 9.73372780e-01 -2.28622428e-01 -1.66498241e-02 8.23650753e+02] [ 2.28596452e-01 9.73515076e-01 -3.47248041e-03 1.61443160e+01] [ 1.70027416e-02 -4.26072800e-04 9.99855352e-01 7.63082181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.68, Y:16.15, Z:7.63 [[ 9.73615165e-01 -2.27566068e-01 -1.69468552e-02 8.23678399e+02] [ 2.27538916e-01 9.73762556e-01 -3.53917064e-03 1.61541926e+01] [ 1.73076082e-02 -4.10278849e-04 9.99850128e-01 7.63055008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.71, Y:16.16, Z:7.63 [[ 9.73551053e-01 -2.27840257e-01 -1.69459257e-02 8.23705400e+02] [ 2.27813069e-01 9.73698438e-01 -3.54361690e-03 1.61599142e+01] [ 1.73076000e-02 -4.10611374e-04 9.99850128e-01 7.63080773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4392541539999 meters Centerline goodness [0,1] 0.9999781783267141 Centerline is valid? [True, True] Translation: X:823.73, Y:16.17, Z:7.63 [[ 9.73778484e-01 -2.26887100e-01 -1.66645420e-02 8.23733267e+02] [ 2.26860589e-01 9.73920991e-01 -3.48938115e-03 1.61686006e+01] [ 1.70216429e-02 -3.82643541e-04 9.99855048e-01 7.63086535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4692541539999 meters Centerline goodness [0,1] 0.9999344792189923 Centerline is valid? [True, True] Translation: X:823.76, Y:16.18, Z:7.63 [[ 9.74044273e-01 -2.25770203e-01 -1.62963006e-02 8.23759737e+02] [ 2.25744644e-01 9.74180523e-01 -3.41527187e-03 1.61763948e+01] [ 1.66466053e-02 -3.52176587e-04 9.99861374e-01 7.63033349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.79, Y:16.19, Z:7.63 [[ 9.75106860e-01 -2.21173269e-01 -1.57796474e-02 8.23787010e+02] [ 2.21148682e-01 9.75234493e-01 -3.30829833e-03 1.61873957e+01] [ 1.61205636e-02 -2.63703834e-04 9.99870020e-01 7.63262916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5292541539999 meters Centerline goodness [0,1] 0.9998478161619236 Centerline is valid? [True, True] Translation: X:823.81, Y:16.20, Z:7.63 [[ 9.75459495e-01 -2.19664952e-01 -1.50360355e-02 8.23814484e+02] [ 2.19642415e-01 9.75575347e-01 -3.15454616e-03 1.61967538e+01] [ 1.53617288e-02 -2.25419163e-04 9.99881976e-01 7.63171740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.84, Y:16.21, Z:7.63 [[ 9.76586650e-01 -2.14653877e-01 -1.42207236e-02 8.23841092e+02] [ 2.14633135e-01 9.76690173e-01 -2.98701904e-03 1.62081651e+01] [ 1.45304163e-02 -1.35155582e-04 9.99894419e-01 7.63384487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.87, Y:16.22, Z:7.63 [[ 9.77044272e-01 -2.12598245e-01 -1.36556678e-02 8.23868916e+02] [ 2.12578871e-01 9.77139692e-01 -2.87172735e-03 1.62171026e+01] [ 1.39540192e-02 -9.71016730e-05 9.99902633e-01 7.63463333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.90, Y:16.23, Z:7.64 [[ 9.77547326e-01 -2.10304036e-01 -1.31695726e-02 8.23897015e+02] [ 2.10285765e-01 9.77636031e-01 -2.77275194e-03 1.62262306e+01] [ 1.34581696e-02 -5.88773888e-05 9.99909433e-01 7.63556465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.92, Y:16.23, Z:7.64 [[ 9.78052556e-01 -2.07949496e-01 -1.30462492e-02 8.23923493e+02] [ 2.07931321e-01 9.78139564e-01 -2.74939794e-03 1.62345238e+01] [ 1.33327884e-02 -2.36681380e-05 9.99911114e-01 7.63561735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.95, Y:16.25, Z:7.64 [[ 9.79014308e-01 -2.03350580e-01 -1.33987201e-02 8.23949903e+02] [ 2.03330949e-01 9.79105990e-01 -2.82584657e-03 1.62463369e+01] [ 1.36934046e-02 4.21697590e-05 9.99906240e-01 7.63546674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:823.98, Y:16.26, Z:7.64 [[ 9.79480335e-01 -2.01067932e-01 -1.37826079e-02 8.23976410e+02] [ 2.01046887e-01 9.79577297e-01 -2.91009465e-03 1.62550864e+01] [ 1.40862565e-02 7.94300588e-05 9.99900781e-01 7.63508006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.00, Y:16.26, Z:7.64 [[ 9.79874952e-01 -1.99117461e-01 -1.40468996e-02 8.24004211e+02] [ 1.99095369e-01 9.79975624e-01 -2.96809384e-03 1.62630316e+01] [ 1.43566185e-02 1.11688156e-04 9.99896932e-01 7.63539823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.03, Y:16.27, Z:7.64 [[ 9.80586561e-01 -1.95560411e-01 -1.43569503e-02 8.24030712e+02] [ 1.95536907e-01 9.80691642e-01 -3.03664016e-03 1.62731909e+01] [ 1.46735878e-02 1.70374875e-04 9.99892323e-01 7.63501727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.06, Y:16.28, Z:7.64 [[ 9.80842479e-01 -1.94279654e-01 -1.42635199e-02 8.24058443e+02] [ 1.94256288e-01 9.80946166e-01 -3.01909841e-03 1.62808496e+01] [ 1.45782945e-02 1.90481541e-04 9.99893713e-01 7.63504445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.09, Y:16.29, Z:7.63 [[ 9.81153887e-01 -1.92647149e-01 -1.49708199e-02 8.24085787e+02] [ 1.92621155e-01 9.81268069e-01 -3.17288023e-03 1.62893355e+01] [ 1.53016339e-02 2.29387145e-04 9.99882897e-01 7.63485535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8592541539999 meters Centerline goodness [0,1] 0.999935149156939 Centerline is valid? [True, True] Translation: X:824.11, Y:16.30, Z:7.63 [[ 9.81142582e-01 -1.92665405e-01 -1.54685023e-02 8.24113054e+02] [ 1.92637586e-01 9.81264482e-01 -3.28283195e-03 1.62952490e+01] [ 1.58111801e-02 2.41111272e-04 9.99874966e-01 7.63396113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.14, Y:16.30, Z:7.64 [[ 9.81330319e-01 -1.91745803e-01 -1.49783848e-02 8.24140449e+02] [ 1.91719561e-01 9.81444590e-01 -3.18216430e-03 1.63021133e+01] [ 1.53106214e-02 2.51104963e-04 9.99882754e-01 7.63518783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.17, Y:16.31, Z:7.63 [[ 9.81370293e-01 -1.91515164e-01 -1.53065080e-02 8.24167549e+02] [ 1.91487708e-01 9.81489620e-01 -3.25336557e-03 1.63082863e+01] [ 1.56462476e-02 2.61748190e-04 9.99877556e-01 7.63499083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.20, Y:16.31, Z:7.64 [[ 9.81285430e-01 -1.91961268e-01 -1.51583702e-02 8.24195478e+02] [ 1.91934352e-01 9.81402469e-01 -3.22454574e-03 1.63142042e+01] [ 1.54954499e-02 2.54787790e-04 9.99879906e-01 7.63516830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.22, Y:16.32, Z:7.64 [[ 9.81186609e-01 -1.92460944e-01 -1.52191561e-02 8.24223232e+02] [ 1.92433800e-01 9.81304602e-01 -3.24209899e-03 1.63190249e+01] [ 1.55586053e-02 2.52424076e-04 9.99878926e-01 7.63538455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.25, Y:16.32, Z:7.64 [[ 9.81064621e-01 -1.93016902e-01 -1.60214080e-02 8.24250510e+02] [ 1.92986812e-01 9.81195397e-01 -3.41803221e-03 1.63242615e+01] [ 1.63798697e-02 2.61390014e-04 9.99865807e-01 7.63564255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.28, Y:16.33, Z:7.64 [[ 9.80803629e-01 -1.94303592e-01 -1.64424882e-02 8.24279057e+02] [ 1.94272001e-01 9.80941411e-01 -3.51264983e-03 1.63285091e+01] [ 1.68116380e-02 2.50904629e-04 9.99858643e-01 7.63518728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.31, Y:16.33, Z:7.63 [[ 9.80569506e-01 -1.95397144e-01 -1.74183607e-02 8.24306991e+02] [ 1.95361773e-01 9.80724168e-01 -3.72619193e-03 1.63335548e+01] [ 1.78106946e-02 2.50908354e-04 9.99841346e-01 7.63483370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.33, Y:16.34, Z:7.63 [[ 9.80223693e-01 -1.96968699e-01 -1.91008569e-02 8.24334059e+02] [ 1.96926377e-01 9.80409746e-01 -4.09044542e-03 1.63368320e+01] [ 1.95323560e-02 2.48088961e-04 9.99809195e-01 7.63385121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.36, Y:16.34, Z:7.63 [[ 9.80021940e-01 -1.97891409e-01 -1.98994109e-02 8.24361987e+02] [ 1.97845574e-01 9.80223919e-01 -4.26591679e-03 1.63406851e+01] [ 2.03500668e-02 2.43681686e-04 9.99792886e-01 7.63431353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1592541539999 meters Centerline goodness [0,1] 0.9998275527580781 Centerline is valid? [True, True] Translation: X:824.39, Y:16.35, Z:7.63 [[ 9.79742269e-01 -1.99134509e-01 -2.12257824e-02 8.24388634e+02] [ 1.99082554e-01 9.79972138e-01 -4.55474591e-03 1.63456760e+01] [ 2.17076825e-02 2.36794122e-04 9.99764332e-01 7.63161008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1892541539999 meters Centerline goodness [0,1] 0.9999352065830112 Centerline is valid? [True, True] Translation: X:824.42, Y:16.35, Z:7.63 [[ 9.79653239e-01 -1.99669201e-01 -2.02914274e-02 8.24416419e+02] [ 1.99621789e-01 9.79863339e-01 -4.35639984e-03 1.63489913e+01] [ 2.07526647e-02 2.17150170e-04 9.99784617e-01 7.63443209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.44, Y:16.35, Z:7.64 [[ 9.79484522e-01 -2.00516606e-01 -2.00788900e-02 8.24444742e+02] [ 2.00470282e-01 9.79690283e-01 -4.31460314e-03 1.63531446e+01] [ 2.05362430e-02 2.00866257e-04 9.99789089e-01 7.63536192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.47, Y:16.36, Z:7.64 [[ 9.79233343e-01 -2.01765387e-01 -1.98189016e-02 8.24473275e+02] [ 2.01720403e-01 9.79433866e-01 -4.26403186e-03 1.63571054e+01] [ 2.02716375e-02 1.77605346e-04 9.99794493e-01 7.63653041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2792541539999 meters Centerline goodness [0,1] 0.9999782693728541 Centerline is valid? [True, True] Translation: X:824.50, Y:16.36, Z:7.64 [[ 9.78769124e-01 -2.04066280e-01 -1.91821473e-02 8.24502276e+02] [ 2.04024484e-01 9.78957066e-01 -4.13200718e-03 1.63599452e+01] [ 1.96217020e-02 1.30653344e-04 9.99807467e-01 7.63725745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.53, Y:16.36, Z:7.64 [[ 9.78560366e-01 -2.05099826e-01 -1.88061799e-02 8.24529939e+02] [ 2.05059742e-01 9.78741053e-01 -4.05627240e-03 1.63640224e+01] [ 1.92383211e-02 1.12917004e-04 9.99814920e-01 7.63785460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3392541539998 meters Centerline goodness [0,1] 0.9999348986589124 Centerline is valid? [True, True] Translation: X:824.56, Y:16.37, Z:7.64 [[ 9.78233550e-01 -2.06593807e-01 -1.94453043e-02 8.24558097e+02] [ 2.06551130e-01 9.78426794e-01 -4.20005832e-03 1.63682499e+01] [ 1.98935128e-02 9.21883975e-05 9.99802100e-01 7.63755752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.59, Y:16.37, Z:7.64 [[ 9.77983458e-01 -2.07789994e-01 -1.92788713e-02 8.24586609e+02] [ 2.07748163e-01 9.78173458e-01 -4.16987064e-03 1.63708731e+01] [ 1.97245376e-02 7.29144048e-05 9.99805450e-01 7.63932772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.61, Y:16.38, Z:7.64 [[ 9.77755558e-01 -2.08819515e-01 -1.97098795e-02 8.24613878e+02] [ 2.08775881e-01 9.77954195e-01 -4.26904007e-03 1.63758917e+01] [ 2.01668182e-02 5.91301860e-05 9.99796627e-01 7.63946973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4292541539999 meters Centerline goodness [0,1] 0.999978265594436 Centerline is valid? [True, True] Translation: X:824.64, Y:16.38, Z:7.64 [[ 9.77482421e-01 -2.10039687e-01 -2.02841260e-02 8.24641974e+02] [ 2.09993609e-01 9.77692860e-01 -4.39953956e-03 1.63795084e+01] [ 2.07557230e-02 4.09357724e-05 9.99784576e-01 7.63974160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4592541539998 meters Centerline goodness [0,1] 0.9999564943116312 Centerline is valid? [True, True] Translation: X:824.67, Y:16.38, Z:7.64 [[ 9.77249707e-01 -2.11040472e-01 -2.10933538e-02 8.24670108e+02] [ 2.10990748e-01 9.77477324e-01 -4.58103370e-03 1.63842561e+01] [ 2.15850585e-02 2.63113441e-05 9.99767015e-01 7.63990325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.70, Y:16.39, Z:7.64 [[ 9.77086804e-01 -2.11860895e-01 -2.04043594e-02 8.24697761e+02] [ 2.11814474e-01 9.77299832e-01 -4.43477749e-03 1.63888151e+01] [ 2.08807329e-02 1.12239152e-05 9.99781974e-01 7.64028515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5192541539999 meters Centerline goodness [0,1] 0.9999342840244464 Centerline is valid? [True, True] Translation: X:824.73, Y:16.39, Z:7.64 [[ 9.76558867e-01 -2.14173784e-01 -2.15027691e-02 8.24726839e+02] [ 2.14122701e-01 9.76795572e-01 -4.67761287e-03 1.63919133e+01] [ 2.20056316e-02 -3.62666627e-05 9.99757846e-01 7.64085488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.75, Y:16.40, Z:7.64 [[ 9.76339722e-01 -2.15246229e-01 -2.07318087e-02 8.24754579e+02] [ 2.15198914e-01 9.76559808e-01 -4.51325331e-03 1.63956443e+01] [ 2.12173119e-02 -5.49942472e-05 9.99774886e-01 7.64226122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5792541539998 meters Centerline goodness [0,1] 0.9999346262802353 Centerline is valid? [True, True] Translation: X:824.78, Y:16.40, Z:7.64 [[ 9.75962952e-01 -2.16911911e-01 -2.11078129e-02 8.24783050e+02] [ 2.16863168e-01 9.76191178e-01 -4.59902995e-03 1.64004072e+01] [ 2.16028451e-02 -8.90243436e-05 9.99766627e-01 7.64207072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.81, Y:16.40, Z:7.64 [[ 9.75784716e-01 -2.17783139e-01 -2.03640190e-02 8.24810955e+02] [ 2.17737845e-01 9.75997180e-01 -4.44253180e-03 1.64049097e+01] [ 2.08427337e-02 -9.90629875e-05 9.99782762e-01 7.64365349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6392541539999 meters Centerline goodness [0,1] 0.9998903556861541 Centerline is valid? [True, True] Translation: X:824.84, Y:16.41, Z:7.64 [[ 9.75408083e-01 -2.19432668e-01 -2.06972608e-02 8.24839012e+02] [ 2.19386159e-01 9.75627637e-01 -4.51957043e-03 1.64093870e+01] [ 2.11845611e-02 -1.32267039e-04 9.99775573e-01 7.64349521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6692541539999 meters Centerline goodness [0,1] 0.9998239436619718 Centerline is valid? [True, True] Translation: X:824.87, Y:16.41, Z:7.64 [[ 9.75448789e-01 -2.19340524e-01 -1.97330808e-02 8.24867643e+02] [ 2.19298149e-01 9.75648359e-01 -4.31301503e-03 1.64146978e+01] [ 2.01985669e-02 -1.20302795e-04 9.99795981e-01 7.64494147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6992541539998 meters Centerline goodness [0,1] 0.9998900784839625 Centerline is valid? [True, True] Translation: X:824.89, Y:16.42, Z:7.64 [[ 9.75433275e-01 -2.19315090e-01 -2.07561251e-02 8.24894938e+02] [ 2.19268112e-01 9.75654076e-01 -4.54076194e-03 1.64206658e+01] [ 2.12466556e-02 -1.21946072e-04 9.99774257e-01 7.64414434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.92, Y:16.43, Z:7.65 [[ 9.75897665e-01 -2.17382604e-01 -1.91976917e-02 8.24923496e+02] [ 2.17341969e-01 9.76086471e-01 -4.20360482e-03 1.64260940e+01] [ 1.96523977e-02 -7.01759818e-05 9.99806871e-01 7.64507484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7592541539999 meters Centerline goodness [0,1] 0.999978027772895 Centerline is valid? [True, True] Translation: X:824.95, Y:16.43, Z:7.65 [[ 9.76063783e-01 -2.16598208e-01 -1.96139724e-02 8.24950579e+02] [ 2.16555522e-01 9.76260833e-01 -4.30026221e-03 1.64320046e+01] [ 2.00797822e-02 -5.01838413e-05 9.99798380e-01 7.64508681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:824.98, Y:16.44, Z:7.65 [[ 9.76501802e-01 -2.14630074e-01 -1.94463965e-02 8.24978316e+02] [ 2.14587609e-01 9.76695414e-01 -4.26927935e-03 1.64383060e+01] [ 1.99095220e-02 -3.99674186e-06 9.99801786e-01 7.64544110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.01, Y:16.45, Z:7.65 [[ 9.76803918e-01 -2.13213094e-01 -1.98565659e-02 8.25006064e+02] [ 2.13168404e-01 9.77005719e-01 -4.36530554e-03 1.64450755e+01] [ 2.03307188e-02 3.12550844e-05 9.99793309e-01 7.64531689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8492541539999 meters Centerline goodness [0,1] 0.9999339948515984 Centerline is valid? [True, True] Translation: X:825.03, Y:16.45, Z:7.64 [[ 9.77086639e-01 -2.11907671e-01 -1.99208017e-02 8.25032924e+02] [ 2.11862344e-01 9.77289689e-01 -4.38314865e-03 1.64519572e+01] [ 2.03972169e-02 6.22482467e-05 9.99791953e-01 7.64492271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8792541539999 meters Centerline goodness [0,1] 0.99997810330859 Centerline is valid? [True, True] Translation: X:825.06, Y:16.46, Z:7.65 [[ 9.77895168e-01 -2.08187067e-01 -1.94726765e-02 8.25061161e+02] [ 2.08142948e-01 9.78089017e-01 -4.28807564e-03 1.64603618e+01] [ 1.99387329e-02 1.40188167e-04 9.99801194e-01 7.64528922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.09, Y:16.47, Z:7.65 [[ 9.78286031e-01 -2.06337520e-01 -1.95261408e-02 8.25088872e+02] [ 2.06292687e-01 9.78480860e-01 -4.30501915e-03 1.64671580e+01] [ 1.99942420e-02 1.83440043e-04 9.99800078e-01 7.64591933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.12, Y:16.47, Z:7.65 [[ 9.78572589e-01 -2.04970379e-01 -1.95660889e-02 8.25115793e+02] [ 2.04925020e-01 9.78768153e-01 -4.31725428e-03 1.64742660e+01] [ 2.00355739e-02 2.15165541e-04 9.99799245e-01 7.64551469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.14, Y:16.48, Z:7.65 [[ 9.78844745e-01 -2.03692784e-01 -1.92928578e-02 8.25143010e+02] [ 2.03648400e-01 9.79034827e-01 -4.25876183e-03 1.64813054e+01] [ 1.97558587e-02 2.39707019e-04 9.99804805e-01 7.64546001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9992541539999 meters Centerline goodness [0,1] 0.999867998415981 Centerline is valid? [True, True] Translation: X:825.17, Y:16.49, Z:7.65 [[ 9.79158872e-01 -2.02045601e-01 -2.06271500e-02 8.25171003e+02] [ 2.01994415e-01 9.79376071e-01 -4.55726851e-03 1.64880420e+01] [ 2.11225132e-02 2.95720800e-04 9.99776851e-01 7.64540528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0292541539999 meters Centerline goodness [0,1] 0.999890545303299 Centerline is valid? [True, True] Translation: X:825.20, Y:16.49, Z:7.65 [[ 9.79305088e-01 -2.01430571e-01 -1.96791540e-02 8.25198457e+02] [ 2.01383746e-01 9.79502749e-01 -4.35334412e-03 1.64948119e+01] [ 2.01526820e-02 3.00190306e-04 9.99796869e-01 7.64583675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.23, Y:16.50, Z:7.65 [[ 9.79526805e-01 -2.00489112e-01 -1.82031405e-02 8.25225641e+02] [ 2.00448788e-01 9.79695884e-01 -4.03213214e-03 1.65012960e+01] [ 1.86419404e-02 3.00784066e-04 9.99826179e-01 7.64749284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0892541539998 meters Centerline goodness [0,1] 0.9999781181619256 Centerline is valid? [True, True] Translation: X:825.25, Y:16.51, Z:7.65 [[ 9.79968953e-01 -1.98360338e-01 -1.77208398e-02 8.25252461e+02] [ 1.98321711e-01 9.80129106e-01 -3.92879324e-03 1.65096098e+01] [ 1.81480276e-02 3.35668136e-04 9.99835255e-01 7.64752430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1192541539999 meters Centerline goodness [0,1] 0.9999560912423983 Centerline is valid? [True, True] Translation: X:825.28, Y:16.52, Z:7.65 [[ 9.80160420e-01 -1.97422191e-01 -1.76076652e-02 8.25280822e+02] [ 1.97383849e-01 9.80318496e-01 -3.90676686e-03 1.65170722e+01] [ 1.80324023e-02 3.53789515e-04 9.99837340e-01 7.64751645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1492541539999 meters Centerline goodness [0,1] 0.9999780557384244 Centerline is valid? [True, True] Translation: X:825.31, Y:16.52, Z:7.65 [[ 9.80383054e-01 -1.96284814e-01 -1.79259321e-02 8.25308753e+02] [ 1.96244796e-01 9.80546849e-01 -3.98211905e-03 1.65244691e+01] [ 1.83588457e-02 3.86131140e-04 9.99831388e-01 7.64774103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1792541539999 meters Centerline goodness [0,1] 0.9998245190725833 Centerline is valid? [True, True] Translation: X:825.34, Y:16.53, Z:7.64 [[ 9.80849560e-01 -1.93715903e-01 -2.02061537e-02 8.25335818e+02] [ 1.93664442e-01 9.81057545e-01 -4.49196678e-03 1.65340823e+01] [ 2.06935650e-02 4.92730148e-04 9.99785744e-01 7.64472366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2092541539998 meters Centerline goodness [0,1] 0.999890295543805 Centerline is valid? [True, True] Translation: X:825.36, Y:16.54, Z:7.64 [[ 9.81044524e-01 -1.92665172e-01 -2.07791559e-02 8.25363970e+02] [ 1.92610439e-01 9.81264413e-01 -4.62289645e-03 1.65413668e+01] [ 2.12805174e-02 5.32984904e-04 9.99773402e-01 7.64475924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2392541539999 meters Centerline goodness [0,1] 0.9998681782230424 Centerline is valid? [True, True] Translation: X:825.39, Y:16.55, Z:7.64 [[ 9.81390817e-01 -1.90687473e-01 -2.25909646e-02 8.25391649e+02] [ 1.90622165e-01 9.81650595e-01 -5.02984778e-03 1.65480923e+01] [ 2.31355628e-02 6.29907847e-04 9.99732139e-01 7.64346808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2692541539999 meters Centerline goodness [0,1] 0.9999779827825359 Centerline is valid? [True, True] Translation: X:825.42, Y:16.55, Z:7.64 [[ 9.81490308e-01 -1.90193775e-01 -2.24299631e-02 8.25420025e+02] [ 1.90129164e-01 9.81746361e-01 -4.99841676e-03 1.65547113e+01] [ 2.29712024e-02 6.41307476e-04 9.99735921e-01 7.64405430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2992541539999 meters Centerline goodness [0,1] 0.9998902907295667 Centerline is valid? [True, True] Translation: X:825.45, Y:16.56, Z:7.64 [[ 9.81412656e-01 -1.90445904e-01 -2.36549424e-02 8.25447125e+02] [ 1.90374019e-01 9.81697460e-01 -5.27534936e-03 1.65617251e+01] [ 2.42266656e-02 6.74008159e-04 9.99706264e-01 7.64289936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3292541539998 meters Centerline goodness [0,1] 0.9998902907295667 Centerline is valid? [True, True] Translation: X:825.47, Y:16.57, Z:7.64 [[ 9.81357686e-01 -1.90729099e-01 -2.36538239e-02 8.25474049e+02] [ 1.90657176e-01 9.81642480e-01 -5.28036115e-03 1.65678111e+01] [ 2.42267169e-02 6.72151733e-04 9.99706264e-01 7.64315761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3592541539999 meters Centerline goodness [0,1] 0.9999780065100731 Centerline is valid? [True, True] Translation: X:825.50, Y:16.57, Z:7.64 [[ 9.81333204e-01 -1.90951102e-01 -2.28652285e-02 8.25501301e+02] [ 1.90883794e-01 9.81599334e-01 -5.11120166e-03 1.65725191e+01] [ 2.34204826e-02 6.51190340e-04 9.99725491e-01 7.64454622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.53, Y:16.58, Z:7.65 [[ 9.80957240e-01 -1.92975516e-01 -2.19850544e-02 8.25529218e+02] [ 1.92913711e-01 9.81203399e-01 -4.91835892e-03 1.65769501e+01] [ 2.25209330e-02 5.83481348e-04 9.99746201e-01 7.64575116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4192541539999 meters Centerline goodness [0,1] 0.999845994763822 Centerline is valid? [True, True] Translation: X:825.56, Y:16.58, Z:7.65 [[ 9.80570766e-01 -1.94874016e-01 -2.24742160e-02 8.25558407e+02] [ 1.94809831e-01 9.80828124e-01 -5.03198924e-03 1.65808611e+01] [ 2.30239471e-02 5.56023325e-04 9.99734759e-01 7.64586659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.59, Y:16.59, Z:7.65 [[ 9.80300300e-01 -1.96398580e-01 -2.09503902e-02 8.25586251e+02] [ 1.96343072e-01 9.80524023e-01 -4.69456703e-03 1.65856718e+01] [ 2.14643672e-02 4.88621488e-04 9.99769495e-01 7.64803832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4792541539999 meters Centerline goodness [0,1] 0.9998237147704987 Centerline is valid? [True, True] Translation: X:825.62, Y:16.59, Z:7.65 [[ 9.79582482e-01 -2.00072053e-01 -1.97315538e-02 8.25615274e+02] [ 2.00023520e-01 9.79781110e-01 -4.42345782e-03 1.65884493e+01] [ 2.02176140e-02 3.86366934e-04 9.99795528e-01 7.64857644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.64, Y:16.59, Z:7.65 [[ 9.79299952e-01 -2.01557257e-01 -1.86084958e-02 8.25642585e+02] [ 2.01514322e-01 9.79476676e-01 -4.17367198e-03 1.65933412e+01] [ 1.90678215e-02 3.37398352e-04 9.99818136e-01 7.65077561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.67, Y:16.60, Z:7.65 [[ 9.78845192e-01 -2.03878336e-01 -1.71963627e-02 8.25671329e+02] [ 2.03841971e-01 9.78996195e-01 -3.86025754e-03 1.65973260e+01] [ 1.76221965e-02 2.73254076e-04 9.99844680e-01 7.65267360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5692541539999 meters Centerline goodness [0,1] 0.9998678879689977 Centerline is valid? [True, True] Translation: X:825.70, Y:16.60, Z:7.65 [[ 9.78667578e-01 -2.04747144e-01 -1.69817100e-02 8.25699879e+02] [ 2.04711734e-01 9.78814865e-01 -3.81653481e-03 1.66034617e+01] [ 1.74033748e-02 2.58763580e-04 9.99848516e-01 7.65200331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.73, Y:16.61, Z:7.65 [[ 9.78600069e-01 -2.05094940e-01 -1.66724551e-02 8.25725588e+02] [ 2.05060791e-01 9.78742051e-01 -3.75096232e-03 1.66102635e+01] [ 1.70873363e-02 2.51825152e-04 9.99853969e-01 7.65289444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6292541539999 meters Centerline goodness [0,1] 0.9998242221831605 Centerline is valid? [True, True] Translation: X:825.75, Y:16.62, Z:7.65 [[ 9.78647851e-01 -2.04775370e-01 -1.77603939e-02 8.25752358e+02] [ 2.04736516e-01 9.78808955e-01 -3.99849468e-03 1.66169752e+01] [ 1.82028258e-02 2.76917056e-04 9.99834276e-01 7.65169331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6592541539999 meters Centerline goodness [0,1] 0.9999559645955348 Centerline is valid? [True, True] Translation: X:825.78, Y:16.62, Z:7.65 [[ 9.78963318e-01 -2.03221143e-01 -1.82205740e-02 8.25780931e+02] [ 2.03179919e-01 9.79132814e-01 -4.10537025e-03 1.66214172e+01] [ 1.86746599e-02 3.16952141e-04 9.99825563e-01 7.65451454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6892541539999 meters Centerline goodness [0,1] 0.9998899526796523 Centerline is valid? [True, True] Translation: X:825.81, Y:16.63, Z:7.65 [[ 9.79178982e-01 -2.02097483e-01 -1.91083581e-02 8.25807913e+02] [ 2.02051860e-01 9.79365345e-01 -4.30893071e-03 1.66298342e+01] [ 1.95848878e-02 3.58335084e-04 9.99808133e-01 7.65331026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7192541539999 meters Centerline goodness [0,1] 0.9999121400487623 Centerline is valid? [True, True] Translation: X:825.84, Y:16.64, Z:7.65 [[ 9.79818428e-01 -1.98796997e-01 -2.08711039e-02 8.25835709e+02] [ 1.98741779e-01 9.80040579e-01 -4.70828646e-03 1.66392520e+01] [ 2.13905220e-02 4.65305517e-04 9.99771088e-01 7.65284613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.86, Y:16.65, Z:7.65 [[ 9.80164462e-01 -1.96998595e-01 -2.16605708e-02 8.25862367e+02] [ 1.96938638e-01 9.80403630e-01 -4.88828188e-03 1.66476029e+01] [ 2.21990869e-02 5.25516859e-04 9.99753432e-01 7.65338575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.89, Y:16.66, Z:7.65 [[ 9.80522832e-01 -1.95175657e-01 -2.19417196e-02 8.25890382e+02] [ 1.95113581e-01 9.80768132e-01 -4.95602233e-03 1.66550243e+01] [ 2.24870343e-02 5.78365566e-04 9.99746967e-01 7.65375914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8092541539999 meters Centerline goodness [0,1] 0.9999779944105803 Centerline is valid? [True, True] Translation: X:825.92, Y:16.67, Z:7.65 [[ 9.81319664e-01 -1.91023322e-01 -2.28431111e-02 8.25917829e+02] [ 1.90954837e-01 9.81585246e-01 -5.16294988e-03 1.66659258e+01] [ 2.34087047e-02 7.04501680e-04 9.99725730e-01 7.65373735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:825.95, Y:16.67, Z:7.65 [[ 9.81613749e-01 -1.89469093e-01 -2.31497302e-02 8.25945723e+02] [ 1.89398224e-01 9.81886395e-01 -5.23651894e-03 1.66743071e+01] [ 2.37225636e-02 7.55721210e-04 9.99718295e-01 7.65454996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8692541539999 meters Centerline goodness [0,1] 0.99995616342276 Centerline is valid? [True, True] Translation: X:825.97, Y:16.68, Z:7.65 [[ 9.82111211e-01 -1.86855122e-01 -2.32966097e-02 8.25973993e+02] [ 1.86782544e-01 9.82387133e-01 -5.27273613e-03 1.66847492e+01] [ 2.38715274e-02 8.27013233e-04 9.99714692e-01 7.65438948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8992541539999 meters Centerline goodness [0,1] 0.9999124055622468 Centerline is valid? [True, True] Translation: X:826.00, Y:16.69, Z:7.65 [[ 9.82064518e-01 -1.86995986e-01 -2.41201751e-02 8.26001802e+02] [ 1.86918118e-01 9.82360304e-01 -5.46353583e-03 1.66917728e+01] [ 2.47163618e-02 8.57046936e-04 9.99694137e-01 7.65408174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.03, Y:16.70, Z:7.65 [[ 9.82015085e-01 -1.87308819e-01 -2.37018686e-02 8.26028151e+02] [ 1.87233628e-01 9.82300720e-01 -5.37259364e-03 1.66999399e+01] [ 2.42886967e-02 8.38181169e-04 9.99704635e-01 7.65466048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.06, Y:16.71, Z:7.66 [[ 9.81875845e-01 -1.88016546e-01 -2.38663861e-02 8.26056762e+02] [ 1.87940398e-01 9.82165509e-01 -5.41468850e-03 1.67063727e+01] [ 2.44587922e-02 8.31093739e-04 9.99700494e-01 7.65563218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.08, Y:16.71, Z:7.66 [[ 9.81794960e-01 -1.88497629e-01 -2.33944410e-02 8.26084354e+02] [ 1.88424452e-01 9.82073312e-01 -5.31380629e-03 1.67134145e+01] [ 2.39766960e-02 8.08983531e-04 9.99712190e-01 7.65661208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0192541539999 meters Centerline goodness [0,1] 0.999869178440607 Centerline is valid? [True, True] Translation: X:826.11, Y:16.72, Z:7.66 [[ 9.81702850e-01 -1.88916345e-01 -2.38773648e-02 8.26111865e+02] [ 1.88840068e-01 9.81992840e-01 -5.43049188e-03 1.67204425e+01] [ 2.44733100e-02 8.22126169e-04 9.99700146e-01 7.65608747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0492541539999 meters Centerline goodness [0,1] 0.9999346191565871 Centerline is valid? [True, True] Translation: X:826.14, Y:16.73, Z:7.66 [[ 9.81655849e-01 -1.89179267e-01 -2.37275862e-02 8.26138258e+02] [ 1.89103919e-01 9.81942229e-01 -5.40058068e-03 1.67286470e+01] [ 2.43207967e-02 8.14532080e-04 9.99703874e-01 7.65562646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.17, Y:16.73, Z:7.66 [[ 9.81352108e-01 -1.90682531e-01 -2.42531022e-02 8.26166268e+02] [ 1.90604146e-01 9.81651432e-01 -5.52504124e-03 1.67346418e+01] [ 2.48616214e-02 7.99269036e-04 9.99690583e-01 7.65602762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1092541539999 meters Centerline goodness [0,1] 0.9999346234309623 Centerline is valid? [True, True] Translation: X:826.19, Y:16.74, Z:7.65 [[ 9.81133726e-01 -1.91754272e-01 -2.46355684e-02 8.26192878e+02] [ 1.91673634e-01 9.81442651e-01 -5.61604410e-03 1.67429869e+01] [ 2.52552980e-02 7.88101334e-04 9.99680723e-01 7.65450894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1392541539999 meters Centerline goodness [0,1] 0.9999562659902473 Centerline is valid? [True, True] Translation: X:826.22, Y:16.74, Z:7.66 [[ 9.80634197e-01 -1.94397170e-01 -2.37973080e-02 8.26222165e+02] [ 1.94322656e-01 9.80922654e-01 -5.42689731e-03 1.67443715e+01] [ 2.43982920e-02 6.97444987e-04 9.99702074e-01 7.65749619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.25, Y:16.75, Z:7.66 [[ 9.80254448e-01 -1.96402741e-01 -2.29604238e-02 8.26250944e+02] [ 1.96333830e-01 9.80523109e-01 -5.24015680e-03 1.67499596e+01] [ 2.35424073e-02 6.28779057e-04 9.99722641e-01 7.65873246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.28, Y:16.75, Z:7.66 [[ 9.79904120e-01 -1.98212776e-01 -2.23520003e-02 8.26279475e+02] [ 1.98147808e-01 9.80158847e-01 -5.10703738e-03 1.67548695e+01] [ 2.29207909e-02 5.75407110e-04 9.99737119e-01 7.65991544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.31, Y:16.76, Z:7.66 [[ 9.79534779e-01 -2.00125085e-01 -2.14841224e-02 8.26306048e+02] [ 2.00065447e-01 9.79770221e-01 -4.91225502e-03 1.67630574e+01] [ 2.20325688e-02 5.13494083e-04 9.99757122e-01 7.65887262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2592541539999 meters Centerline goodness [0,1] 0.999912334531428 Centerline is valid? [True, True] Translation: X:826.34, Y:16.76, Z:7.66 [[ 9.78892700e-01 -2.03349578e-01 -2.04457971e-02 8.26335859e+02] [ 2.03296233e-01 9.79106109e-01 -4.67653662e-03 1.67633264e+01] [ 2.09695766e-02 4.21274034e-04 9.99780025e-01 7.66196500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.36, Y:16.77, Z:7.66 [[ 9.78517369e-01 -2.05211465e-01 -1.97993223e-02 8.26362619e+02] [ 2.05161787e-01 9.78717588e-01 -4.53036418e-03 1.67695338e+01] [ 2.03076277e-02 3.70975691e-04 9.99793710e-01 7.66226479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.39, Y:16.77, Z:7.66 [[ 9.77947431e-01 -2.07960501e-01 -1.92678886e-02 8.26391532e+02] [ 2.07913917e-01 9.78137176e-01 -4.41228602e-03 1.67734547e+01] [ 1.97642194e-02 3.08921571e-04 9.99804621e-01 7.66329595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.42, Y:16.78, Z:7.66 [[ 9.77651450e-01 -2.09370546e-01 -1.90162270e-02 8.26419716e+02] [ 2.09325341e-01 9.77836334e-01 -4.35963140e-03 1.67792898e+01] [ 1.95075361e-02 2.81621761e-04 9.99809670e-01 7.66357383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3792541539999 meters Centerline goodness [0,1] 0.9999126980662622 Centerline is valid? [True, True] Translation: X:826.45, Y:16.78, Z:7.66 [[ 9.77390844e-01 -2.10570159e-01 -1.91662917e-02 8.26447694e+02] [ 2.10524369e-01 9.77578712e-01 -4.39911203e-03 1.67847413e+01] [ 1.96628805e-02 2.64680351e-04 9.99806632e-01 7.66325476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.48, Y:16.79, Z:7.66 [[ 9.77007783e-01 -2.12391908e-01 -1.85867954e-02 8.26475560e+02] [ 2.12349082e-01 9.77184541e-01 -4.27093409e-03 1.67902400e+01] [ 1.90698409e-02 2.25846907e-04 9.99818129e-01 7.66360792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4392541539999 meters Centerline goodness [0,1] 0.9998905405109569 Centerline is valid? [True, True] Translation: X:826.50, Y:16.80, Z:7.66 [[ 9.76868652e-01 -2.12956454e-01 -1.94212579e-02 8.26502783e+02] [ 2.12909696e-01 9.77061664e-01 -4.46830954e-03 1.67959766e+01] [ 1.99273219e-02 2.29977412e-04 9.99801405e-01 7.66276416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.53, Y:16.80, Z:7.66 [[ 9.76751940e-01 -2.13572128e-01 -1.85092737e-02 8.26530661e+02] [ 2.13529672e-01 9.76927275e-01 -4.26360550e-03 1.68024459e+01] [ 1.89928016e-02 2.12205803e-04 9.99819598e-01 7.66305450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.56, Y:16.81, Z:7.66 [[ 9.76684902e-01 -2.13844721e-01 -1.88954117e-02 8.26558122e+02] [ 2.13800420e-01 9.76867641e-01 -4.35801695e-03 1.68080406e+01] [ 1.93902552e-02 2.16562399e-04 9.99811968e-01 7.66325124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5292541539999 meters Centerline goodness [0,1] 0.9998910271778219 Centerline is valid? [True, True] Translation: X:826.59, Y:16.82, Z:7.66 [[ 9.76654784e-01 -2.13886169e-01 -1.99534354e-02 8.26585523e+02] [ 2.13836683e-01 9.76858563e-01 -4.60654855e-03 1.68152193e+01] [ 2.04769612e-02 2.32231254e-04 9.99790298e-01 7.66211593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.61, Y:16.82, Z:7.66 [[ 9.76726491e-01 -2.13638360e-01 -1.90791067e-02 8.26612927e+02] [ 2.13593026e-01 9.76912790e-01 -4.40686403e-03 1.68224686e+01] [ 1.95800985e-02 2.29136718e-04 9.99808265e-01 7.66245871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5892541539998 meters Centerline goodness [0,1] 0.9999345692475463 Centerline is valid? [True, True] Translation: X:826.64, Y:16.83, Z:7.66 [[ 9.76827354e-01 -2.13116202e-01 -1.97434757e-02 8.26641406e+02] [ 2.13067475e-01 9.77026827e-01 -4.56396690e-03 1.68297036e+01] [ 2.02625607e-02 2.51515200e-04 9.99794662e-01 7.66170816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6192541539999 meters Centerline goodness [0,1] 0.9998253313246436 Centerline is valid? [True, True] Translation: X:826.67, Y:16.84, Z:7.66 [[ 9.76861189e-01 -2.12863452e-01 -2.07693994e-02 8.26669197e+02] [ 2.12809352e-01 9.77081918e-01 -4.80675471e-03 1.68360161e+01] [ 2.13165870e-02 2.75609706e-04 9.99772738e-01 7.66143321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6492541539999 meters Centerline goodness [0,1] 0.9999563232949706 Centerline is valid? [True, True] Translation: X:826.70, Y:16.84, Z:7.66 [[ 9.76820801e-01 -2.13038657e-01 -2.08723217e-02 8.26695574e+02] [ 2.12983973e-01 9.77043732e-01 -4.83459750e-03 1.68432479e+01] [ 2.14231272e-02 2.77065393e-04 9.99770460e-01 7.66082408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.72, Y:16.85, Z:7.66 [[ 9.76741348e-01 -2.13341568e-01 -2.14875459e-02 8.26723188e+02] [ 2.13283578e-01 9.76977633e-01 -4.98197753e-03 1.68495557e+01] [ 2.20557146e-02 2.83162774e-04 9.99756703e-01 7.66017359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.75, Y:16.85, Z:7.66 [[ 9.76493937e-01 -2.14390222e-01 -2.22805668e-02 8.26751313e+02] [ 2.14327990e-01 9.76748052e-01 -5.17263826e-03 1.68546375e+01] [ 2.28714633e-02 2.75700808e-04 9.99738376e-01 7.66086313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.78, Y:16.86, Z:7.66 [[ 9.75953640e-01 -2.16797012e-01 -2.26616200e-02 8.26780121e+02] [ 2.16733131e-01 9.76216678e-01 -5.26753338e-03 1.68596807e+01] [ 2.32646369e-02 2.29344497e-04 9.99729315e-01 7.66054352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.81, Y:16.87, Z:7.66 [[ 9.75694497e-01 -2.17988695e-01 -2.23869718e-02 8.26807789e+02] [ 2.17926583e-01 9.75951273e-01 -5.20733269e-03 1.68655047e+01] [ 2.29837333e-02 2.02049569e-04 9.99735819e-01 7.66023829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7992541539999 meters Centerline goodness [0,1] 0.9999127323501178 Centerline is valid? [True, True] Translation: X:826.84, Y:16.87, Z:7.66 [[ 9.75252011e-01 -2.19948140e-01 -2.25018105e-02 8.26836536e+02] [ 2.19885810e-01 9.75511553e-01 -5.23842260e-03 1.68705272e+01] [ 2.31029574e-02 1.60953348e-04 9.99733078e-01 7.66083567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.86, Y:16.87, Z:7.66 [[ 9.74619160e-01 -2.22959935e-01 -2.01583656e-02 8.26864100e+02] [ 2.22910491e-01 9.74827605e-01 -4.69604266e-03 1.68739452e+01] [ 2.06979606e-02 8.33419946e-05 9.99785771e-01 7.66319765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8592541539999 meters Centerline goodness [0,1] 0.9998902425639337 Centerline is valid? [True, True] Translation: X:826.89, Y:16.88, Z:7.66 [[ 9.74166571e-01 -2.24933351e-01 -2.01116826e-02 8.26891346e+02] [ 2.24884470e-01 9.74374151e-01 -4.68929710e-03 1.68789434e+01] [ 2.06510830e-02 4.53513783e-05 9.99786743e-01 7.66369298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.92, Y:16.88, Z:7.67 [[ 9.73583857e-01 -2.27673662e-01 -1.72967582e-02 8.26919612e+02] [ 2.27637860e-01 9.73737492e-01 -4.03742313e-03 1.68829509e+01] [ 1.77617168e-02 -6.62703735e-06 9.99842248e-01 7.66589906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.95, Y:16.89, Z:7.67 [[ 9.73268440e-01 -2.29053028e-01 -1.68301599e-02 8.26946541e+02] [ 2.29019282e-01 9.73413946e-01 -3.93179164e-03 1.68882975e+01] [ 1.72833012e-02 -2.77424166e-05 9.99850632e-01 7.66654253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:826.97, Y:16.89, Z:7.67 [[ 9.72981710e-01 -2.30310538e-01 -1.62372504e-02 8.26973923e+02] [ 2.30279249e-01 9.73117184e-01 -3.79648482e-03 1.68937613e+01] [ 1.66751179e-02 -4.51915343e-05 9.99860960e-01 7.66708587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.00, Y:16.90, Z:7.67 [[ 9.72811198e-01 -2.31073962e-01 -1.55947839e-02 8.27000110e+02] [ 2.31045144e-01 9.72936186e-01 -3.64965498e-03 1.68991681e+01] [ 1.60160698e-02 -5.26738542e-05 9.99871733e-01 7.66754195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.03, Y:16.91, Z:7.67 [[ 9.72669581e-01 -2.31667637e-01 -1.56202565e-02 8.27027330e+02] [ 2.31638752e-01 9.72794995e-01 -3.65871415e-03 1.69056096e+01] [ 1.60429130e-02 -5.95367585e-05 9.99871302e-01 7.66840592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0392541539999 meters Centerline goodness [0,1] 0.9998463766843699 Centerline is valid? [True, True] Translation: X:827.06, Y:16.91, Z:7.67 [[ 9.72529542e-01 -2.32191940e-01 -1.65285690e-02 8.27055872e+02] [ 2.32159592e-01 9.72669984e-01 -3.87627745e-03 1.69126889e+01] [ 1.69768834e-02 -6.74715134e-05 9.99855880e-01 7.66721174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.08, Y:16.92, Z:7.67 [[ 9.72587394e-01 -2.31972082e-01 -1.62084494e-02 8.27082083e+02] [ 2.31940890e-01 9.72722442e-01 -3.80445101e-03 1.69185499e+01] [ 1.66488489e-02 -5.92410903e-05 9.99861397e-01 7.66777836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.11, Y:16.92, Z:7.67 [[ 9.72391885e-01 -2.32742659e-01 -1.68782735e-02 8.27109182e+02] [ 2.32708891e-01 9.72538354e-01 -3.96517348e-03 1.69243515e+01] [ 1.73376334e-02 -7.20217876e-05 9.99849689e-01 7.66782159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1292541539999 meters Centerline goodness [0,1] 0.9999341556560292 Centerline is valid? [True, True] Translation: X:827.14, Y:16.93, Z:7.67 [[ 9.71960507e-01 -2.34433901e-01 -1.82624800e-02 8.27137623e+02] [ 2.34394567e-01 9.72132056e-01 -4.29560919e-03 1.69298665e+01] [ 1.87605787e-02 -1.05463596e-04 9.99823999e-01 7.66671120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.17, Y:16.94, Z:7.67 [[ 9.71865040e-01 -2.34858622e-01 -1.78821886e-02 8.27165522e+02] [ 2.34820891e-01 9.72029535e-01 -4.21102882e-03 1.69358712e+01] [ 1.83710119e-02 -1.06559765e-04 9.99831233e-01 7.66734834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1892541539999 meters Centerline goodness [0,1] 0.9999119311301438 Centerline is valid? [True, True] Translation: X:827.19, Y:16.94, Z:7.67 [[ 9.71762228e-01 -2.35245834e-01 -1.83730703e-02 8.27192431e+02] [ 2.35206004e-01 9.71935895e-01 -4.33021264e-03 1.69418202e+01] [ 1.88761110e-02 -1.13519370e-04 9.99821824e-01 7.66666752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2192541539999 meters Centerline goodness [0,1] 0.9999119311301438 Centerline is valid? [True, True] Translation: X:827.22, Y:16.95, Z:7.67 [[ 9.71698898e-01 -2.35507347e-01 -1.83722980e-02 8.27219263e+02] [ 2.35467503e-01 9.71872562e-01 -4.33348731e-03 1.69482435e+01] [ 1.88761005e-02 -1.15234289e-04 9.99821824e-01 7.66692564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2492541539999 meters Centerline goodness [0,1] 0.9998903965452991 Centerline is valid? [True, True] Translation: X:827.25, Y:16.96, Z:7.67 [[ 9.71714960e-01 -2.35402786e-01 -1.88564381e-02 8.27246414e+02] [ 2.35360689e-01 9.71897894e-01 -4.45311403e-03 1.69551999e+01] [ 1.93748079e-02 -1.10906731e-04 9.99812285e-01 7.66709115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2792541539999 meters Centerline goodness [0,1] 0.999825010390008 Centerline is valid? [True, True] Translation: X:827.27, Y:16.96, Z:7.67 [[ 9.71764270e-01 -2.35136946e-01 -1.96168389e-02 8.27273559e+02] [ 2.35091212e-01 9.71962245e-01 -4.63851912e-03 1.69645517e+01] [ 2.01575140e-02 -1.04199297e-04 9.99796811e-01 7.66756880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3092541539999 meters Centerline goodness [0,1] 0.9999343832020997 Centerline is valid? [True, True] Translation: X:827.30, Y:16.97, Z:7.67 [[ 9.71798040e-01 -2.35036362e-01 -1.91436237e-02 8.27300221e+02] [ 2.34992678e-01 9.71986574e-01 -4.53228300e-03 1.69719213e+01] [ 1.96725965e-02 -9.41476556e-05 9.99806471e-01 7.66860706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.33, Y:16.98, Z:7.67 [[ 9.71749257e-01 -2.35283436e-01 -1.85765101e-02 8.27327862e+02] [ 2.35242242e-01 9.71926796e-01 -4.40352864e-03 1.69787961e+01] [ 1.90910853e-02 -9.08542039e-05 9.99817744e-01 7.66951933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3692541539999 meters Centerline goodness [0,1] 0.9998468070206153 Centerline is valid? [True, True] Translation: X:827.36, Y:16.98, Z:7.67 [[ 9.71282361e-01 -2.37075472e-01 -2.01443903e-02 8.27355356e+02] [ 2.37027332e-01 9.71491226e-01 -4.77920834e-03 1.69847277e+01] [ 2.07031315e-02 -1.32810338e-04 9.99785658e-01 7.66952748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3992541539999 meters Centerline goodness [0,1] 0.999956153812426 Centerline is valid? [True, True] Translation: X:827.38, Y:16.99, Z:7.67 [[ 9.71080906e-01 -2.37950084e-01 -1.95353968e-02 8.27382155e+02] [ 2.37904945e-01 9.71277374e-01 -4.63689302e-03 1.69903918e+01] [ 2.00776380e-02 -1.44769223e-04 9.99798413e-01 7.67065484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4292541539999 meters Centerline goodness [0,1] 0.9998028952497755 Centerline is valid? [True, True] Translation: X:827.41, Y:17.00, Z:7.67 [[ 9.70555388e-01 -2.40061840e-01 -1.98129276e-02 8.27409403e+02] [ 2.40015804e-01 9.70757579e-01 -4.70493048e-03 1.69962119e+01] [ 2.03630239e-02 -1.89020117e-04 9.99792634e-01 7.67058390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4592541539998 meters Centerline goodness [0,1] 0.9998242955349103 Centerline is valid? [True, True] Translation: X:827.44, Y:17.00, Z:7.67 [[ 9.70373655e-01 -2.40798385e-01 -1.97764626e-02 8.27436695e+02] [ 2.40752592e-01 9.70575138e-01 -4.70017072e-03 1.70029861e+01] [ 2.03263364e-02 -2.00312785e-04 9.99793379e-01 7.67118867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4892541539999 meters Centerline goodness [0,1] 0.9998688639244656 Centerline is valid? [True, True] Translation: X:827.46, Y:17.01, Z:7.67 [[ 9.70346405e-01 -2.40927037e-01 -1.95452661e-02 8.27464232e+02] [ 2.40882223e-01 9.70543211e-01 -4.65080267e-03 1.70105892e+01] [ 2.00900294e-02 -1.95217483e-04 9.99798156e-01 7.67138207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5192541539999 meters Centerline goodness [0,1] 0.9999562659902473 Centerline is valid? [True, True] Translation: X:827.49, Y:17.02, Z:7.67 [[ 9.70527855e-01 -2.40174007e-01 -1.98022462e-02 8.27490236e+02] [ 2.40127730e-01 9.70729836e-01 -4.71784867e-03 1.70219297e+01] [ 2.03557358e-02 -1.76264866e-04 9.99792785e-01 7.67244839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.52, Y:17.03, Z:7.67 [[ 9.70766948e-01 -2.39260541e-01 -1.91291963e-02 8.27516767e+02] [ 2.39217108e-01 9.70955391e-01 -4.56111854e-03 1.70299004e+01] [ 1.96648920e-02 -1.48247896e-04 9.99806616e-01 7.67232708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.54, Y:17.04, Z:7.67 [[ 9.70913688e-01 -2.38630508e-01 -1.95471555e-02 8.27543854e+02] [ 2.38584947e-01 9.71110428e-01 -4.66483213e-03 1.70383577e+01] [ 2.00956178e-02 -1.34507679e-04 9.99798054e-01 7.67284696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.57, Y:17.04, Z:7.67 [[ 9.71031558e-01 -2.38138615e-01 -1.96904544e-02 8.27570492e+02] [ 2.38092198e-01 9.71231170e-01 -4.70322287e-03 1.70447469e+01] [ 2.02440021e-02 -1.21165742e-04 9.99795062e-01 7.67141201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.60, Y:17.05, Z:7.67 [[ 9.71110727e-01 -2.37878841e-01 -1.89106384e-02 8.27598296e+02] [ 2.37835906e-01 9.71294829e-01 -4.52066440e-03 1.70535825e+01] [ 1.94431757e-02 -1.07563125e-04 9.99810958e-01 7.67435792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6692541539999 meters Centerline goodness [0,1] 0.9998038831143361 Centerline is valid? [True, True] Translation: X:827.63, Y:17.06, Z:7.67 [[ 9.70769705e-01 -2.39176789e-01 -2.00161018e-02 8.27626180e+02] [ 2.39128852e-01 9.70976027e-01 -4.79031995e-03 1.70607032e+01] [ 2.05808884e-02 -1.36129966e-04 9.99788182e-01 7.67410221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6992541539998 meters Centerline goodness [0,1] 0.9999131567520625 Centerline is valid? [True, True] Translation: X:827.65, Y:17.07, Z:7.68 [[ 9.70479782e-01 -2.40475829e-01 -1.84490763e-02 8.27653266e+02] [ 2.40435243e-01 9.70655116e-01 -4.42032934e-03 1.70681591e+01] [ 1.89706726e-02 -1.45967892e-04 9.99820030e-01 7.67585773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7292541539999 meters Centerline goodness [0,1] 0.9999566009894975 Centerline is valid? [True, True] Translation: X:827.68, Y:17.08, Z:7.68 [[ 9.70495334e-01 -2.40508220e-01 -1.71639959e-02 8.27681346e+02] [ 2.40473015e-01 9.70647093e-01 -4.11710477e-03 1.70760028e+01] [ 1.76503803e-02 -1.31846875e-04 9.99844211e-01 7.67669980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7592541539999 meters Centerline goodness [0,1] 0.9998915118902968 Centerline is valid? [True, True] Translation: X:827.71, Y:17.09, Z:7.68 [[ 9.70528854e-01 -2.40413604e-01 -1.65843992e-02 8.27708025e+02] [ 2.40380671e-01 9.70670533e-01 -3.98108921e-03 1.70851473e+01] [ 1.70550956e-02 -1.22807052e-04 9.99854544e-01 7.67699241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.74, Y:17.09, Z:7.68 [[ 9.70700472e-01 -2.39769089e-01 -1.58548888e-02 8.27735825e+02] [ 2.39738862e-01 9.70829940e-01 -3.80853095e-03 1.70932149e+01] [ 1.63055687e-02 -1.04090207e-04 9.99867050e-01 7.67758506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8192541539999 meters Centerline goodness [0,1] 0.9998700482987156 Centerline is valid? [True, True] Translation: X:827.76, Y:17.10, Z:7.68 [[ 9.70647960e-01 -2.39868834e-01 -1.74779891e-02 8.27763463e+02] [ 2.39832031e-01 9.70805300e-01 -4.20322460e-03 1.71019684e+01] [ 1.79759471e-02 -1.11930251e-04 9.99838413e-01 7.67660800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.79, Y:17.11, Z:7.68 [[ 9.70949614e-01 -2.38680846e-01 -1.69794486e-02 8.27790511e+02] [ 2.38645877e-01 9.71098062e-01 -4.08639499e-03 1.71098656e+01] [ 1.74640539e-02 -8.43917767e-05 9.99847488e-01 7.67647488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8792541539999 meters Centerline goodness [0,1] 0.9999136255668322 Centerline is valid? [True, True] Translation: X:827.82, Y:17.12, Z:7.67 [[ 9.71243483e-01 -2.37364812e-01 -1.85483707e-02 8.27816996e+02] [ 2.37322808e-01 9.71420579e-01 -4.46576607e-03 1.71201250e+01] [ 1.90782847e-02 -6.46052136e-05 9.99817991e-01 7.67454153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.84, Y:17.13, Z:7.67 [[ 9.71333130e-01 -2.36965406e-01 -1.89564450e-02 8.27843852e+02] [ 2.36921383e-01 9.71518087e-01 -4.56781493e-03 1.71288975e+01] [ 1.94989433e-02 -5.43172052e-05 9.99809876e-01 7.67485250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9392541539999 meters Centerline goodness [0,1] 0.9998495561907628 Centerline is valid? [True, True] Translation: X:827.87, Y:17.14, Z:7.67 [[ 9.71241726e-01 -2.37258548e-01 -1.99472171e-02 8.27870005e+02] [ 2.37209785e-01 9.71446539e-01 -4.81043673e-03 1.71393228e+01] [ 2.05189723e-02 -5.95782020e-05 9.99789462e-01 7.67310086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9692541539999 meters Centerline goodness [0,1] 0.9998705920414106 Centerline is valid? [True, True] Translation: X:827.90, Y:17.15, Z:7.67 [[ 9.71205884e-01 -2.37420385e-01 -1.97659211e-02 8.27896949e+02] [ 2.37372456e-01 9.71406999e-01 -4.77073010e-03 1.71472556e+01] [ 2.03334226e-02 -5.85240759e-05 9.99793253e-01 7.67382355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.93, Y:17.15, Z:7.68 [[ 9.71305375e-01 -2.37118763e-01 -1.84542856e-02 8.27925176e+02] [ 2.37076835e-01 9.71480669e-01 -4.45909808e-03 1.71548944e+01] [ 1.89853176e-02 -4.39377072e-05 9.99819762e-01 7.67521139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.95, Y:17.16, Z:7.68 [[ 9.71298140e-01 -2.37220583e-01 -1.75019357e-02 8.27951443e+02] [ 2.37182835e-01 9.71455811e-01 -4.23197817e-03 1.71631226e+01] [ 1.80062695e-02 -4.06461877e-05 9.99837873e-01 7.67604449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:827.98, Y:17.17, Z:7.68 [[ 9.71314860e-01 -2.37197018e-01 -1.68824394e-02 8.27978260e+02] [ 2.37161838e-01 9.71461565e-01 -4.08526924e-03 1.71711103e+01] [ 1.73696547e-02 -3.57876346e-05 9.99849136e-01 7.67669997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0892541539998 meters Centerline goodness [0,1] 0.9999356789091143 Centerline is valid? [True, True] Translation: X:828.00, Y:17.18, Z:7.68 [[ 9.71296474e-01 -2.37256246e-01 -1.71065465e-02 8.28004971e+02] [ 2.37220044e-01 9.71447102e-01 -4.14458866e-03 1.71793520e+01] [ 1.76014346e-02 -3.23913801e-05 9.99845082e-01 7.67636426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.03, Y:17.19, Z:7.68 [[ 9.71676836e-01 -2.35685638e-01 -1.72164394e-02 8.28030572e+02] [ 2.35648656e-01 9.71829347e-01 -4.17498662e-03 1.71878852e+01] [ 1.77154254e-02 -2.93018141e-07 9.99843070e-01 7.67594272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1492541539999 meters Centerline goodness [0,1] 0.9999140782746918 Centerline is valid? [True, True] Translation: X:828.06, Y:17.20, Z:7.68 [[ 9.71550821e-01 -2.36163857e-01 -1.77661158e-02 8.28057626e+02] [ 2.36124487e-01 9.71713246e-01 -4.31208963e-03 1.71958506e+01] [ 1.82819298e-02 -5.60076265e-06 9.99832872e-01 7.67514456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1792541539999 meters Centerline goodness [0,1] 0.9998710204432597 Centerline is valid? [True, True] Translation: X:828.08, Y:17.20, Z:7.68 [[ 9.71507994e-01 -2.36318415e-01 -1.80505800e-02 8.28084685e+02] [ 2.36277699e-01 9.71675669e-01 -4.38660063e-03 1.72033846e+01] [ 1.85759439e-02 -3.33192758e-06 9.99827452e-01 7.67508741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2092541539998 meters Centerline goodness [0,1] 0.9998283630122291 Centerline is valid? [True, True] Translation: X:828.11, Y:17.21, Z:7.68 [[ 9.71482652e-01 -2.36469823e-01 -1.74206975e-02 8.28111613e+02] [ 2.36431830e-01 9.71638834e-01 -4.23872225e-03 1.72111740e+01] [ 1.79289561e-02 -9.62253718e-07 9.99839263e-01 7.67551794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2392541539999 meters Centerline goodness [0,1] 0.9998293333333333 Centerline is valid? [True, True] Translation: X:828.14, Y:17.22, Z:7.68 [[ 9.71434264e-01 -2.36703495e-01 -1.69388815e-02 8.28138000e+02] [ 2.36667545e-01 9.71581935e-01 -4.12523544e-03 1.72182057e+01] [ 1.74339689e-02 -1.48843927e-06 9.99848017e-01 7.67518526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2692541539999 meters Centerline goodness [0,1] 0.9999145134748135 Centerline is valid? [True, True] Translation: X:828.17, Y:17.23, Z:7.68 [[ 9.71593482e-01 -2.36125974e-01 -1.58313167e-02 8.28165494e+02] [ 2.36094445e-01 9.71722452e-01 -3.85860492e-03 1.72252804e+01] [ 1.62947627e-02 1.13094655e-05 9.99867231e-01 7.67688733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2992541539999 meters Centerline goodness [0,1] 0.9999357216318135 Centerline is valid? [True, True] Translation: X:828.19, Y:17.23, Z:7.68 [[ 9.71314262e-01 -2.37284244e-01 -1.56458318e-02 8.28192398e+02] [ 2.37253526e-01 9.71440264e-01 -3.81798702e-03 1.72327317e+01] [ 1.61049391e-02 -3.56350333e-06 9.99870307e-01 7.67618910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3292541539998 meters Centerline goodness [0,1] 0.9998287231309412 Centerline is valid? [True, True] Translation: X:828.22, Y:17.24, Z:7.68 [[ 9.71093735e-01 -2.38184307e-01 -1.56586639e-02 8.28219697e+02] [ 2.38153580e-01 9.71219973e-01 -3.82580643e-03 1.72401364e+01] [ 1.61192542e-02 -1.39502025e-05 9.99870076e-01 7.67536569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.25, Y:17.25, Z:7.68 [[ 9.71196506e-01 -2.37782906e-01 -1.53830154e-02 8.28246491e+02] [ 2.37753128e-01 9.71318326e-01 -3.76302369e-03 1.72471681e+01] [ 1.58365875e-02 -2.72457774e-06 9.99874593e-01 7.67685352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3892541539999 meters Centerline goodness [0,1] 0.999850641176094 Centerline is valid? [True, True] Translation: X:828.27, Y:17.26, Z:7.68 [[ 9.70881693e-01 -2.39120366e-01 -1.44979064e-02 8.28273629e+02] [ 2.39094004e-01 9.70989933e-01 -3.55066966e-03 1.72550974e+01] [ 1.49263586e-02 -1.90823093e-05 9.99888596e-01 7.67539395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4192541539999 meters Centerline goodness [0,1] 0.9999361199241956 Centerline is valid? [True, True] Translation: X:828.30, Y:17.26, Z:7.68 [[ 9.70933355e-01 -2.38957100e-01 -1.37085239e-02 8.28299427e+02] [ 2.38933470e-01 9.71030125e-01 -3.36048817e-03 1.72619044e+01] [ 1.41144021e-02 -1.26151161e-05 9.99900387e-01 7.67653772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4492541539998 meters Centerline goodness [0,1] 0.9999786780383795 Centerline is valid? [True, True] Translation: X:828.33, Y:17.27, Z:7.68 [[ 9.71053967e-01 -2.38533326e-01 -1.24918051e-02 8.28326626e+02] [ 2.38513642e-01 9.71134312e-01 -3.06431326e-03 1.72693220e+01] [ 1.28621614e-02 -3.85239088e-06 9.99917279e-01 7.67834420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4792541539999 meters Centerline goodness [0,1] 0.9999786689419795 Centerline is valid? [True, True] Translation: X:828.35, Y:17.28, Z:7.68 [[ 9.71061697e-01 -2.38561579e-01 -1.12939658e-02 8.28353122e+02] [ 2.38545455e-01 9.71127372e-01 -2.77361639e-03 1.72771339e+01] [ 1.16295577e-02 -7.71579341e-07 9.99932374e-01 7.67825361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.38, Y:17.29, Z:7.68 [[ 9.71561146e-01 -2.36580828e-01 -9.92225640e-03 8.28379386e+02] [ 2.36568252e-01 9.71611811e-01 -2.43939617e-03 1.72865158e+01] [ 1.02176959e-02 2.27316865e-05 9.99947798e-01 7.67908497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5392541539999 meters Centerline goodness [0,1] 0.9998080245728547 Centerline is valid? [True, True] Translation: X:828.40, Y:17.29, Z:7.68 [[ 9.71681036e-01 -2.36086002e-01 -9.96817676e-03 8.28404917e+02] [ 2.36073254e-01 9.71732164e-01 -2.45361417e-03 1.72949750e+01] [ 1.02656619e-02 3.09104321e-05 9.99947306e-01 7.67688802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.43, Y:17.30, Z:7.68 [[ 9.72218887e-01 -2.33857486e-01 -1.00554849e-02 8.28432994e+02] [ 2.33844379e-01 9.72270885e-01 -2.47658439e-03 1.73033173e+01] [ 1.03558230e-02 5.63635138e-05 9.99946375e-01 7.67878266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5992541539999 meters Centerline goodness [0,1] 0.9998504593035676 Centerline is valid? [True, True] Translation: X:828.46, Y:17.31, Z:7.68 [[ 9.72667649e-01 -2.31915486e-01 -1.15261436e-02 8.28459779e+02] [ 2.31898092e-01 9.72735935e-01 -2.84181163e-03 1.73124911e+01] [ 1.18709542e-02 9.12475263e-05 9.99929534e-01 7.67543130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6292541539999 meters Centerline goodness [0,1] 0.9999143395579921 Centerline is valid? [True, True] Translation: X:828.49, Y:17.32, Z:7.68 [[ 9.72821091e-01 -2.31212940e-01 -1.26372601e-02 8.28487939e+02] [ 2.31191947e-01 9.72903163e-01 -3.11764131e-03 1.73200429e+01] [ 1.30156693e-02 1.11274459e-04 9.99915286e-01 7.67536561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6592541539999 meters Centerline goodness [0,1] 0.9999142899997857 Centerline is valid? [True, True] Translation: X:828.51, Y:17.33, Z:7.67 [[ 9.72877095e-01 -2.30952738e-01 -1.30763699e-02 8.28514332e+02] [ 2.30930198e-01 9.72964962e-01 -3.22890773e-03 1.73273395e+01] [ 1.34685749e-02 1.21601679e-04 9.99909287e-01 7.67461686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6892541539999 meters Centerline goodness [0,1] 0.9999142275115257 Centerline is valid? [True, True] Translation: X:828.54, Y:17.33, Z:7.67 [[ 9.72695649e-01 -2.31706299e-01 -1.32425396e-02 8.28541596e+02] [ 2.31683220e-01 9.72785782e-01 -3.27222366e-03 1.73340404e+01] [ 1.36403491e-02 1.14803497e-04 9.99906960e-01 7.67380705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7192541539999 meters Centerline goodness [0,1] 0.9999140616607584 Centerline is valid? [True, True] Translation: X:828.57, Y:17.34, Z:7.67 [[ 9.72432910e-01 -2.32839045e-01 -1.26575650e-02 8.28569196e+02] [ 2.32818008e-01 9.72515280e-01 -3.13136332e-03 1.73401965e+01] [ 1.30387791e-02 9.81316607e-05 9.99914987e-01 7.67443152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7492541539999 meters Centerline goodness [0,1] 0.9998714102014573 Centerline is valid? [True, True] Translation: X:828.60, Y:17.34, Z:7.67 [[ 9.71630990e-01 -2.36208297e-01 -1.17839114e-02 8.28596940e+02] [ 2.36190278e-01 9.71702443e-01 -2.91801786e-03 1.73443064e+01] [ 1.21397155e-02 5.19912640e-05 9.99926310e-01 7.67419895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.62, Y:17.35, Z:7.68 [[ 9.71306732e-01 -2.37559254e-01 -1.13505200e-02 8.28624886e+02] [ 2.37542611e-01 9.71373049e-01 -2.81219321e-03 1.73492802e+01] [ 1.16936517e-02 3.52700554e-05 9.99931626e-01 7.67639279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8092541539999 meters Centerline goodness [0,1] 0.9998281528580327 Centerline is valid? [True, True] Translation: X:828.65, Y:17.35, Z:7.67 [[ 9.70606015e-01 -2.40417973e-01 -1.10978651e-02 8.28652699e+02] [ 2.40402211e-01 9.70669459e-01 -2.75288746e-03 1.73545548e+01] [ 1.14342023e-02 4.01781705e-06 9.99934627e-01 7.67486281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8392541539998 meters Centerline goodness [0,1] 0.9997856652949245 Centerline is valid? [True, True] Translation: X:828.68, Y:17.36, Z:7.67 [[ 9.69846048e-01 -2.43495961e-01 -1.04096627e-02 8.28679335e+02] [ 2.43482241e-01 9.69901911e-01 -2.58491506e-03 1.73581072e+01] [ 1.07257682e-02 -2.75983613e-05 9.99942477e-01 7.67497537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8692541539999 meters Centerline goodness [0,1] 0.9998075113354435 Centerline is valid? [True, True] Translation: X:828.71, Y:17.36, Z:7.68 [[ 9.69594937e-01 -2.44522087e-01 -9.72659811e-03 8.28706638e+02] [ 2.44510147e-01 9.69643722e-01 -2.41659404e-03 1.73638738e+01] [ 1.00222454e-02 -3.51345889e-05 9.99949775e-01 7.67588619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.73, Y:17.37, Z:7.68 [[ 9.69651298e-01 -2.44338274e-01 -8.66996098e-03 8.28734254e+02] [ 2.44328760e-01 9.69690057e-01 -2.15634879e-03 1.73698551e+01] [ 8.93405350e-03 -2.74144134e-05 9.99960090e-01 7.67941596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.76, Y:17.38, Z:7.68 [[ 9.69632828e-01 -2.44441611e-01 -7.77675014e-03 8.28761959e+02] [ 2.44433943e-01 9.69664013e-01 -1.93621783e-03 1.73766483e+01] [ 8.01412695e-03 -2.34813345e-05 9.99967886e-01 7.68025073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9592541539998 meters Centerline goodness [0,1] 0.9997857295907435 Centerline is valid? [True, True] Translation: X:828.79, Y:17.39, Z:7.68 [[ 9.70097089e-01 -2.42615104e-01 -7.03913938e-03 8.28789024e+02] [ 2.42608761e-01 9.70122627e-01 -1.75436738e-03 1.73850238e+01] [ 7.25446441e-03 -5.85019840e-06 9.99973686e-01 7.68001314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9892541539999 meters Centerline goodness [0,1] 0.9999139969898947 Centerline is valid? [True, True] Translation: X:828.82, Y:17.39, Z:7.68 [[ 9.70383173e-01 -2.41452218e-01 -7.57132059e-03 8.28815599e+02] [ 2.41444824e-01 9.70412709e-01 -1.88957279e-03 1.73929168e+01] [ 7.80354727e-03 5.55346978e-06 9.99969552e-01 7.67794547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0192541539999 meters Centerline goodness [0,1] 0.9999136609898768 Centerline is valid? [True, True] Translation: X:828.84, Y:17.40, Z:7.68 [[ 9.71560117e-01 -2.36588389e-01 -9.84246521e-03 8.28841781e+02] [ 2.36575606e-01 9.71609968e-01 -2.46012085e-03 1.74027042e+01] [ 1.01450733e-02 6.16681244e-05 9.99948536e-01 7.67512968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0492541539999 meters Centerline goodness [0,1] 0.9999138803367279 Centerline is valid? [True, True] Translation: X:828.87, Y:17.41, Z:7.68 [[ 9.72287296e-01 -2.33507827e-01 -1.14677682e-02 8.28868321e+02] [ 2.33490245e-01 9.72354916e-01 -2.86760769e-03 1.74112006e+01] [ 1.18203497e-02 1.10526514e-04 9.99930131e-01 7.67540778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.89, Y:17.42, Z:7.67 [[ 9.72886291e-01 -2.30924655e-01 -1.28867850e-02 8.28894427e+02] [ 2.30902204e-01 9.72971622e-01 -3.22403913e-03 1.74195366e+01] [ 1.32829862e-02 1.61036410e-04 9.99911764e-01 7.67444881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1092541539999 meters Centerline goodness [0,1] 0.9998703599671579 Centerline is valid? [True, True] Translation: X:828.92, Y:17.43, Z:7.67 [[ 9.73594147e-01 -2.27831918e-01 -1.43893477e-02 8.28921984e+02] [ 2.27803543e-01 9.73700449e-01 -3.60302516e-03 1.74285960e+01] [ 1.48317985e-02 2.29939818e-04 9.99889976e-01 7.67138454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1392541539999 meters Centerline goodness [0,1] 0.9998703599671579 Centerline is valid? [True, True] Translation: X:828.95, Y:17.44, Z:7.67 [[ 9.73529239e-01 -2.28109171e-01 -1.43884030e-02 8.28948718e+02] [ 2.28080770e-01 9.73635534e-01 -3.60679472e-03 1.74353770e+01] [ 1.48318034e-02 2.29602089e-04 9.99889976e-01 7.67164212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:828.98, Y:17.44, Z:7.67 [[ 9.73988793e-01 -2.26152484e-01 -1.41733656e-02 8.28976404e+02] [ 2.26124660e-01 9.74091878e-01 -3.55694527e-03 1.74427287e+01] [ 1.46105723e-02 2.59477370e-04 9.99893226e-01 7.67397929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1992541539998 meters Centerline goodness [0,1] 0.9998496111373695 Centerline is valid? [True, True] Translation: X:829.00, Y:17.45, Z:7.67 [[ 9.73977966e-01 -2.26225016e-01 -1.37536733e-02 8.29002943e+02] [ 2.26198775e-01 9.74075037e-01 -3.45491135e-03 1.74499858e+01] [ 1.41786972e-02 2.53943459e-04 9.99899445e-01 7.67238172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2292541539999 meters Centerline goodness [0,1] 0.999827589922631 Centerline is valid? [True, True] Translation: X:829.03, Y:17.46, Z:7.67 [[ 9.73985909e-01 -2.26202414e-01 -1.35615888e-02 8.29030589e+02] [ 2.26176854e-01 9.74080286e-01 -3.40987874e-03 1.74556093e+01] [ 1.39813991e-02 2.53856339e-04 9.99902223e-01 7.67281435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2592541539999 meters Centerline goodness [0,1] 0.9998703207400363 Centerline is valid? [True, True] Translation: X:829.06, Y:17.46, Z:7.67 [[ 9.73888055e-01 -2.26684337e-01 -1.25007155e-02 8.29058849e+02] [ 2.26662612e-01 9.73968253e-01 -3.14679260e-03 1.74594237e+01] [ 1.28886286e-02 2.31178909e-04 9.99916911e-01 7.67475522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.09, Y:17.47, Z:7.68 [[ 9.73829709e-01 -2.26937702e-01 -1.24489895e-02 8.29085318e+02] [ 2.26916135e-01 9.73909250e-01 -3.13709106e-03 1.74653725e+01] [ 1.28361103e-02 2.30115897e-04 9.99917587e-01 7.67647619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3192541539999 meters Centerline goodness [0,1] 0.9999352555248618 Centerline is valid? [True, True] Translation: X:829.11, Y:17.47, Z:7.68 [[ 9.73480468e-01 -2.28436638e-01 -1.23483303e-02 8.29113654e+02] [ 2.28415512e-01 9.73558759e-01 -3.11384008e-03 1.74695357e+01] [ 1.27331403e-02 2.10712310e-04 9.99918908e-01 7.67561327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3492541539999 meters Centerline goodness [0,1] 0.9999349663993063 Centerline is valid? [True, True] Translation: X:829.14, Y:17.47, Z:7.68 [[ 9.73497238e-01 -2.28352004e-01 -1.25892548e-02 8.29141124e+02] [ 2.28329991e-01 9.73578612e-01 -3.17819272e-03 1.74746400e+01] [ 1.29823759e-02 2.19457391e-04 9.99915701e-01 7.67743641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3792541539999 meters Centerline goodness [0,1] 0.9999132922916847 Centerline is valid? [True, True] Translation: X:829.17, Y:17.48, Z:7.68 [[ 9.73356639e-01 -2.28959300e-01 -1.24295134e-02 8.29168661e+02] [ 2.28937842e-01 9.73435973e-01 -3.14172024e-03 1.74806810e+01] [ 1.28186616e-02 2.12428275e-04 9.99917815e-01 7.67584319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.20, Y:17.49, Z:7.68 [[ 9.73646866e-01 -2.27661542e-01 -1.34908629e-02 8.29196151e+02] [ 2.27636088e-01 9.73740293e-01 -3.41369625e-03 1.74858061e+01] [ 1.39137641e-02 2.52727411e-04 9.99903167e-01 7.67725297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4392541539999 meters Centerline goodness [0,1] 0.9999130056546325 Centerline is valid? [True, True] Translation: X:829.22, Y:17.49, Z:7.68 [[ 9.73645177e-01 -2.27674261e-01 -1.33977467e-02 8.29222500e+02] [ 2.27649127e-01 9.73737319e-01 -3.39233585e-03 1.74920832e+01] [ 1.38182335e-02 2.52946088e-04 9.99904492e-01 7.67539329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4692541539999 meters Centerline goodness [0,1] 0.9999347173260217 Centerline is valid? [True, True] Translation: X:829.25, Y:17.50, Z:7.68 [[ 9.73877347e-01 -2.26636799e-01 -1.40951775e-02 8.29250864e+02] [ 2.26608824e-01 9.73979302e-01 -3.57225396e-03 1.74980119e+01] [ 1.45380153e-02 2.84845628e-04 9.99894277e-01 7.67603766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4992541539999 meters Centerline goodness [0,1] 0.9998264227906876 Centerline is valid? [True, True] Translation: X:829.28, Y:17.50, Z:7.67 [[ 9.74294885e-01 -2.24735080e-01 -1.56083879e-02 8.29278171e+02] [ 2.24700478e-01 9.74419838e-01 -3.95904454e-03 1.75037954e+01] [ 1.60988590e-02 3.50064624e-04 9.99870344e-01 7.67456398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.31, Y:17.51, Z:7.68 [[ 9.74658241e-01 -2.23109680e-01 -1.62290909e-02 8.29306313e+02] [ 2.23071999e-01 9.74793268e-01 -4.11926380e-03 1.75095871e+01] [ 1.67390562e-02 3.94618672e-04 9.99859814e-01 7.67652075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.33, Y:17.52, Z:7.68 [[ 9.74905035e-01 -2.21975591e-01 -1.69413754e-02 8.29333330e+02] [ 2.21934301e-01 9.75052126e-01 -4.30329857e-03 1.75164889e+01] [ 1.74739513e-02 4.35435130e-04 9.99847224e-01 7.67558623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.36, Y:17.52, Z:7.67 [[ 9.75248417e-01 -2.20390109e-01 -1.78528494e-02 8.29361500e+02] [ 2.20343960e-01 9.75411687e-01 -4.53653669e-03 1.75211121e+01] [ 1.84136857e-02 4.90482711e-04 9.99830333e-01 7.67494963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.39, Y:17.52, Z:7.68 [[ 9.75333796e-01 -2.20014661e-01 -1.78195102e-02 8.29389952e+02] [ 2.19968563e-01 9.75496437e-01 -4.53126547e-03 1.75247656e+01] [ 1.83798136e-02 4.99764302e-04 9.99830952e-01 7.67600457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.42, Y:17.53, Z:7.68 [[ 9.75390793e-01 -2.19776011e-01 -1.76438783e-02 8.29416656e+02] [ 2.19730718e-01 9.75550231e-01 -4.48984380e-03 1.75316021e+01] [ 1.81992495e-02 5.02450262e-04 9.99834254e-01 7.67589166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6792541539999 meters Centerline goodness [0,1] 0.9998693265963934 Centerline is valid? [True, True] Translation: X:829.45, Y:17.53, Z:7.67 [[ 9.75255312e-01 -2.20389407e-01 -1.74809843e-02 8.29445027e+02] [ 2.20344984e-01 9.75411846e-01 -4.45182967e-03 1.75348388e+01] [ 1.80322953e-02 4.89823324e-04 9.99837285e-01 7.67493857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.47, Y:17.54, Z:7.68 [[ 9.75538209e-01 -2.19222557e-01 -1.63301530e-02 8.29473594e+02] [ 2.19183572e-01 9.75674761e-01 -4.16205956e-03 1.75375740e+01] [ 1.68453355e-02 4.80946857e-04 9.99857992e-01 7.67908864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.50, Y:17.54, Z:7.68 [[ 9.75629554e-01 -2.18862256e-01 -1.56935462e-02 8.29502120e+02] [ 2.18826161e-01 9.75755652e-01 -4.00246073e-03 1.75436609e+01] [ 1.61890540e-02 4.70760501e-04 9.99868838e-01 7.68007327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.53, Y:17.55, Z:7.68 [[ 9.76114186e-01 -2.16778837e-01 -1.44232853e-02 8.29530001e+02] [ 2.16748077e-01 9.76220629e-01 -3.68154856e-03 1.75490717e+01] [ 1.48783904e-02 4.67392430e-04 9.99889201e-01 7.68162508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7992541539999 meters Centerline goodness [0,1] 0.9999123018570082 Centerline is valid? [True, True] Translation: X:829.56, Y:17.56, Z:7.68 [[ 9.76371330e-01 -2.15597798e-01 -1.47178360e-02 8.29556395e+02] [ 2.15565604e-01 9.76482126e-01 -3.75873084e-03 1.75567120e+01] [ 1.51820779e-02 4.97257819e-04 9.99884622e-01 7.68015882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8292541539998 meters Centerline goodness [0,1] 0.99986838064318 Centerline is valid? [True, True] Translation: X:829.58, Y:17.57, Z:7.68 [[ 9.76604982e-01 -2.14508715e-01 -1.51235020e-02 8.29581757e+02] [ 2.14474566e-01 9.76721931e-01 -3.86398063e-03 1.75686555e+01] [ 1.56003136e-02 5.29976213e-04 9.99878167e-01 7.67875738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.61, Y:17.57, Z:7.68 [[ 9.76695848e-01 -2.13954023e-01 -1.69969687e-02 8.29611245e+02] [ 2.13910749e-01 9.76843542e-01 -4.34574792e-03 1.75700367e+01] [ 1.75331694e-02 6.08639640e-04 9.99846097e-01 7.68110602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8892541539999 meters Centerline goodness [0,1] 0.9998904733740772 Centerline is valid? [True, True] Translation: X:829.64, Y:17.58, Z:7.68 [[ 9.76644298e-01 -2.14099717e-01 -1.80893933e-02 8.29636886e+02] [ 2.14050662e-01 9.76811594e-01 -4.62852573e-03 1.75838018e+01] [ 1.86608951e-02 6.48376655e-04 9.99825660e-01 7.67669189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.67, Y:17.58, Z:7.68 [[ 9.76786086e-01 -2.13423905e-01 -1.84168097e-02 8.29666515e+02] [ 2.13372872e-01 9.76959456e-01 -4.71575415e-03 1.75847240e+01] [ 1.89989311e-02 6.76635457e-04 9.99819275e-01 7.68043030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9492541539998 meters Centerline goodness [0,1] 0.9999125262421273 Centerline is valid? [True, True] Translation: X:829.69, Y:17.59, Z:7.68 [[ 9.76956987e-01 -2.12590404e-01 -1.89832946e-02 8.29692501e+02] [ 2.12535948e-01 9.77141138e-01 -4.86482348e-03 1.75947905e+01] [ 1.95835729e-02 7.18090780e-04 9.99807966e-01 7.67798724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9792541539999 meters Centerline goodness [0,1] 0.9998470446848028 Centerline is valid? [True, True] Translation: X:829.72, Y:17.60, Z:7.68 [[ 9.76973910e-01 -2.12504589e-01 -1.90729814e-02 8.29719230e+02] [ 2.12449555e-01 9.77159799e-01 -4.89010132e-03 1.76042669e+01] [ 1.96765196e-02 7.25455002e-04 9.99806135e-01 7.67686357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.75, Y:17.61, Z:7.68 [[ 9.77083876e-01 -2.12037584e-01 -1.86322754e-02 8.29748071e+02] [ 2.11984912e-01 9.77261246e-01 -4.78061829e-03 1.76087876e+01] [ 1.92222715e-02 7.21303775e-04 9.99814975e-01 7.68107297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0392541539999 meters Centerline goodness [0,1] 0.9998246844319776 Centerline is valid? [True, True] Translation: X:829.77, Y:17.62, Z:7.68 [[ 9.76825759e-01 -2.13182342e-01 -1.90977830e-02 8.29774982e+02] [ 2.13127143e-01 9.77012165e-01 -4.90410059e-03 1.76163017e+01] [ 1.97042340e-02 7.20195839e-04 9.99805593e-01 7.67811819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0692541539999 meters Centerline goodness [0,1] 0.9998684585534826 Centerline is valid? [True, True] Translation: X:829.80, Y:17.62, Z:7.68 [[ 9.76720783e-01 -2.13680028e-01 -1.89039231e-02 8.29802083e+02] [ 2.13625952e-01 9.76903447e-01 -4.85869833e-03 1.76233592e+01] [ 1.95055144e-02 7.07223060e-04 9.99809499e-01 7.67939905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0992541539999 meters Centerline goodness [0,1] 0.9998468706932383 Centerline is valid? [True, True] Translation: X:829.83, Y:17.63, Z:7.68 [[ 9.76601048e-01 -2.14222942e-01 -1.89452804e-02 8.29829304e+02] [ 2.14168616e-01 9.76784539e-01 -4.87525691e-03 1.76301283e+01] [ 1.95498489e-02 7.03696523e-04 9.99808636e-01 7.67952054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.86, Y:17.64, Z:7.68 [[ 9.76698339e-01 -2.13856558e-01 -1.80479328e-02 8.29857559e+02] [ 2.13807098e-01 9.76864835e-01 -4.64950485e-03 1.76375081e+01] [ 1.86247180e-02 6.82387513e-04 9.99826312e-01 7.68296825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.88, Y:17.65, Z:7.68 [[ 9.76504461e-01 -2.14759074e-01 -1.78207280e-02 8.29884682e+02] [ 2.14710912e-01 9.76666833e-01 -4.59580776e-03 1.76460179e+01] [ 1.83919054e-02 6.61522011e-04 9.99830636e-01 7.68321583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1892541539999 meters Centerline goodness [0,1] 0.9999781138517432 Centerline is valid? [True, True] Translation: X:829.91, Y:17.65, Z:7.68 [[ 9.76313136e-01 -2.15619270e-01 -1.79162168e-02 8.29911465e+02] [ 2.15570674e-01 9.76477294e-01 -4.62376182e-03 1.76544509e+01] [ 1.84917511e-02 6.52028460e-04 9.99828800e-01 7.68267112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:829.94, Y:17.66, Z:7.68 [[ 9.76182609e-01 -2.16295213e-01 -1.68491668e-02 8.29939026e+02] [ 2.16252284e-01 9.76327822e-01 -4.35126788e-03 1.76617473e+01] [ 1.73914687e-02 6.03961214e-04 9.99848575e-01 7.68377213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2492541539999 meters Centerline goodness [0,1] 0.9999780860342297 Centerline is valid? [True, True] Translation: X:829.97, Y:17.67, Z:7.68 [[ 9.75849144e-01 -2.17881198e-01 -1.56917802e-02 8.29966905e+02] [ 2.17844104e-01 9.75975149e-01 -4.05640463e-03 1.76686740e+01] [ 1.61986019e-02 5.40077180e-04 9.99868648e-01 7.68430528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2792541539999 meters Centerline goodness [0,1] 0.9999781592626568 Centerline is valid? [True, True] Translation: X:830.00, Y:17.68, Z:7.68 [[ 9.75706498e-01 -2.18537590e-01 -1.54321242e-02 8.29995004e+02] [ 2.18501731e-01 9.75828390e-01 -3.99338871e-03 1.76762271e+01] [ 1.59318104e-02 5.24429474e-04 9.99872943e-01 7.68494541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3092541539999 meters Centerline goodness [0,1] 0.9999124324087655 Centerline is valid? [True, True] Translation: X:830.02, Y:17.68, Z:7.68 [[ 9.75563031e-01 -2.19184368e-01 -1.53292456e-02 8.30022733e+02] [ 2.19149000e-01 9.75683324e-01 -3.97086684e-03 1.76840585e+01] [ 1.58268413e-02 5.14442043e-04 9.99874615e-01 7.68403312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3392541539998 meters Centerline goodness [0,1] 0.9999562181213196 Centerline is valid? [True, True] Translation: X:830.05, Y:17.69, Z:7.68 [[ 9.75696840e-01 -2.18619915e-01 -1.48664066e-02 8.30049549e+02] [ 2.18586536e-01 9.75809957e-01 -3.85416840e-03 1.76931284e+01] [ 1.53493855e-02 5.10903613e-04 9.99882061e-01 7.68491551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.08, Y:17.70, Z:7.69 [[ 9.75852655e-01 -2.17937550e-01 -1.46567682e-02 8.30077348e+02] [ 2.17904987e-01 9.75962580e-01 -3.80257238e-03 1.77017517e+01] [ 1.51331806e-02 5.16967478e-04 9.99885353e-01 7.68609991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3992541539999 meters Centerline goodness [0,1] 0.9998254380414148 Centerline is valid? [True, True] Translation: X:830.11, Y:17.71, Z:7.68 [[ 9.75798918e-01 -2.18073326e-01 -1.61399175e-02 8.30105482e+02] [ 2.18033782e-01 9.75932220e-01 -4.19188672e-03 1.77102472e+01] [ 1.66656042e-02 5.71391255e-04 9.99860956e-01 7.68238979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4292541539999 meters Centerline goodness [0,1] 0.9997827267789245 Centerline is valid? [True, True] Translation: X:830.13, Y:17.72, Z:7.68 [[ 9.76313650e-01 -2.15646514e-01 -1.75566870e-02 8.30131808e+02] [ 2.15599273e-01 9.76471266e-01 -4.56296036e-03 1.77236982e+01] [ 1.81275869e-02 6.69671534e-04 9.99835458e-01 7.68017435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.16, Y:17.73, Z:7.68 [[ 9.76816554e-01 -2.13378993e-01 -1.72865378e-02 8.30159893e+02] [ 2.13332826e-01 9.76969249e-01 -4.49356131e-03 1.77323012e+01] [ 1.78472474e-02 7.01599109e-04 9.99840479e-01 7.68411475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4892541539999 meters Centerline goodness [0,1] 0.9998263323564528 Centerline is valid? [True, True] Translation: X:830.19, Y:17.74, Z:7.68 [[ 9.76886784e-01 -2.12948948e-01 -1.85730231e-02 8.30187110e+02] [ 2.12895521e-01 9.77063028e-01 -4.83084452e-03 1.77416529e+01] [ 1.91757374e-02 7.65074752e-04 9.99815836e-01 7.68029328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5192541539999 meters Centerline goodness [0,1] 0.9999783610672321 Centerline is valid? [True, True] Translation: X:830.21, Y:17.75, Z:7.68 [[ 9.77600717e-01 -2.09680483e-01 -1.81915773e-02 8.30213524e+02] [ 2.09628609e-01 9.77769621e-01 -4.73447766e-03 1.77532347e+01] [ 1.87798992e-02 8.14953715e-04 9.99823310e-01 7.68354449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.24, Y:17.76, Z:7.68 [[ 9.77755071e-01 -2.08930562e-01 -1.85213881e-02 8.30239298e+02] [ 2.08876626e-01 9.77930112e-01 -4.82187864e-03 1.77629132e+01] [ 1.91200609e-02 8.45931254e-04 9.99816837e-01 7.68326269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5792541539998 meters Centerline goodness [0,1] 0.9998272324802937 Centerline is valid? [True, True] Translation: X:830.27, Y:17.77, Z:7.68 [[ 9.77900844e-01 -2.08108724e-01 -2.00174408e-02 8.30266116e+02] [ 2.08045468e-01 9.78105252e-01 -5.21528201e-03 1.77741241e+01] [ 2.06645097e-02 9.35490833e-04 9.99786029e-01 7.67887213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.29, Y:17.78, Z:7.68 [[ 9.78148938e-01 -2.06994876e-01 -1.94364883e-02 8.30294221e+02] [ 2.06934919e-01 9.78341579e-01 -5.06894738e-03 1.77806358e+01] [ 2.00647708e-02 9.36097366e-04 9.99798244e-01 7.68294796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6392541539999 meters Centerline goodness [0,1] 0.9999783638763279 Centerline is valid? [True, True] Translation: X:830.32, Y:17.79, Z:7.68 [[ 9.78183484e-01 -2.06786528e-01 -1.99098823e-02 8.30321282e+02] [ 2.06723500e-01 9.78385608e-01 -5.19588953e-03 1.77894247e+01] [ 2.05539822e-02 9.66692776e-04 9.99788277e-01 7.68201283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6692541539999 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:830.35, Y:17.80, Z:7.68 [[ 9.78330812e-01 -2.05954910e-01 -2.12461229e-02 8.30347142e+02] [ 2.05882896e-01 9.78560917e-01 -5.54666133e-03 1.77993272e+01] [ 2.19329877e-02 1.05225637e-03 9.99758889e-01 7.68148017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.38, Y:17.80, Z:7.68 [[ 9.78359418e-01 -2.05811390e-01 -2.13194740e-02 8.30376009e+02] [ 2.05738752e-01 9.78591100e-01 -5.56999165e-03 1.78045660e+01] [ 2.20094153e-02 1.06321181e-03 9.99757198e-01 7.68328238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7292541539999 meters Centerline goodness [0,1] 0.9998060553819631 Centerline is valid? [True, True] Translation: X:830.40, Y:17.81, Z:7.68 [[ 9.78247449e-01 -2.06289992e-01 -2.18258504e-02 8.30401978e+02] [ 2.06213863e-01 9.78490300e-01 -5.70750506e-03 1.78135314e+01] [ 2.25337841e-02 1.08255934e-03 9.99745496e-01 7.68013630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.43, Y:17.82, Z:7.68 [[ 9.78362240e-01 -2.05859765e-01 -2.07143773e-02 8.30430400e+02] [ 2.05790990e-01 9.78580948e-01 -5.42184457e-03 1.78202952e+01] [ 2.13868347e-02 1.04169578e-03 9.99770733e-01 7.68440761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7892541539999 meters Centerline goodness [0,1] 0.9998275787749472 Centerline is valid? [True, True] Translation: X:830.46, Y:17.83, Z:7.68 [[ 9.78304983e-01 -2.06047475e-01 -2.15359576e-02 8.30456654e+02] [ 2.05973097e-01 9.78541397e-01 -5.64065814e-03 1.78309151e+01] [ 2.22360694e-02 1.08245610e-03 9.99752162e-01 7.68151830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.48, Y:17.84, Z:7.69 [[ 9.78346761e-01 -2.05928793e-01 -2.07592713e-02 8.30484248e+02] [ 2.05859572e-01 9.78566416e-01 -5.44122230e-03 1.78385624e+01] [ 2.14348301e-02 1.04990751e-03 9.99769696e-01 7.68546527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.51, Y:17.85, Z:7.69 [[ 9.78072522e-01 -2.07199536e-01 -2.10355584e-02 8.30512570e+02] [ 2.07128628e-01 9.78298149e-01 -5.51933467e-03 1.78454617e+01] [ 2.17226515e-02 1.04124321e-03 9.99763493e-01 7.68555530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.54, Y:17.85, Z:7.69 [[ 9.77261046e-01 -2.10931298e-01 -2.16526224e-02 8.30541270e+02] [ 2.10857015e-01 9.77500388e-01 -5.68422949e-03 1.78517776e+01] [ 2.23644287e-02 9.89368740e-04 9.99749395e-01 7.68502781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9092541539999 meters Centerline goodness [0,1] 0.9999783315276273 Centerline is valid? [True, True] Translation: X:830.57, Y:17.86, Z:7.69 [[ 9.76699831e-01 -2.13506709e-01 -2.17330711e-02 8.30569618e+02] [ 2.13432480e-01 9.76941150e-01 -5.70664524e-03 1.78573981e+01] [ 2.24503385e-02 9.35136188e-04 9.99747522e-01 7.68557705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9392541539999 meters Centerline goodness [0,1] 0.9999348774610893 Centerline is valid? [True, True] Translation: X:830.60, Y:17.86, Z:7.68 [[ 9.76016438e-01 -2.16596674e-01 -2.18584852e-02 8.30598666e+02] [ 2.16522333e-01 9.76260787e-01 -5.74073515e-03 1.78632854e+01] [ 2.25830061e-02 8.70201673e-04 9.99744593e-01 7.68407684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9692541539999 meters Centerline goodness [0,1] 0.9998918193816396 Centerline is valid? [True, True] Translation: X:830.63, Y:17.87, Z:7.68 [[ 9.74740497e-01 -2.22277938e-01 -2.17596369e-02 8.30627538e+02] [ 2.22205667e-01 9.74983065e-01 -5.71530975e-03 1.78658973e+01] [ 2.24856647e-02 7.35829251e-04 9.99746895e-01 7.68446081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.66, Y:17.87, Z:7.69 [[ 9.74171406e-01 -2.24892709e-01 -2.03308175e-02 8.30655877e+02] [ 2.24830167e-01 9.74383328e-01 -5.34097841e-03 1.78706858e+01] [ 2.10111567e-02 6.32047361e-04 9.99779041e-01 7.68805635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.68, Y:17.88, Z:7.69 [[ 9.74109770e-01 -2.25159618e-01 -2.03298430e-02 8.30682536e+02] [ 2.25097057e-01 9.74321687e-01 -5.34468566e-03 1.78777894e+01] [ 2.10112143e-02 6.30122700e-04 9.99779041e-01 7.68831457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0592541539999 meters Centerline goodness [0,1] 0.9999132753723738 Centerline is valid? [True, True] Translation: X:830.71, Y:17.88, Z:7.69 [[ 9.72761086e-01 -2.30925967e-01 -2.02254152e-02 8.30713707e+02] [ 2.30865231e-01 9.72971193e-01 -5.32008619e-03 1.78782498e+01] [ 2.09072924e-02 5.05827659e-04 9.99781291e-01 7.68853196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0892541539998 meters Centerline goodness [0,1] 0.9999565028273162 Centerline is valid? [True, True] Translation: X:830.74, Y:17.89, Z:7.69 [[ 9.72178073e-01 -2.33419469e-01 -1.96251111e-02 8.30740343e+02] [ 2.33362769e-01 9.72376037e-01 -5.16335982e-03 1.78855360e+01] [ 2.02882164e-02 4.39934942e-04 9.99794076e-01 7.68871067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1192541539999 meters Centerline goodness [0,1] 0.9998693806465658 Centerline is valid? [True, True] Translation: X:830.77, Y:17.89, Z:7.69 [[ 9.71546015e-01 -2.35977345e-01 -2.03232423e-02 8.30769293e+02] [ 2.35917015e-01 9.71758473e-01 -5.35093625e-03 1.78885234e+01] [ 2.10119826e-02 4.04082131e-04 9.99779142e-01 7.68871975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1492541539999 meters Centerline goodness [0,1] 0.9998913751900934 Centerline is valid? [True, True] Translation: X:830.80, Y:17.89, Z:7.69 [[ 9.70960219e-01 -2.38368102e-01 -2.04181611e-02 8.30798073e+02] [ 2.38307620e-01 9.71174814e-01 -5.38140771e-03 1.78924507e+01] [ 2.11123597e-02 3.59329436e-04 9.99777045e-01 7.68941294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1792541539999 meters Centerline goodness [0,1] 0.9999347698462743 Centerline is valid? [True, True] Translation: X:830.82, Y:17.90, Z:7.69 [[ 9.70857772e-01 -2.38748169e-01 -2.08446078e-02 8.30823229e+02] [ 2.38685129e-01 9.71081449e-01 -5.49808146e-03 1.79012000e+01] [ 2.15544689e-02 3.62557220e-04 9.99767610e-01 7.68817641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2092541539998 meters Centerline goodness [0,1] 0.9998472316186902 Centerline is valid? [True, True] Translation: X:830.85, Y:17.91, Z:7.69 [[ 9.70685894e-01 -2.39407459e-01 -2.12829634e-02 8.30851417e+02] [ 2.39341784e-01 9.70919121e-01 -5.61886929e-03 1.79051934e+01] [ 2.20092354e-02 3.60254725e-04 9.99757703e-01 7.68828634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2392541539999 meters Centerline goodness [0,1] 0.9998692867413185 Centerline is valid? [True, True] Translation: X:830.88, Y:17.91, Z:7.69 [[ 9.70781499e-01 -2.38948394e-01 -2.20668592e-02 8.30878736e+02] [ 2.38877565e-01 9.71032190e-01 -5.83056145e-03 1.79125294e+01] [ 2.28208339e-02 3.88923596e-04 9.99739495e-01 7.68799077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2692541539999 meters Centerline goodness [0,1] 0.9998259886022535 Centerline is valid? [True, True] Translation: X:830.91, Y:17.92, Z:7.69 [[ 9.71159965e-01 -2.37270592e-01 -2.34731522e-02 8.30906864e+02] [ 2.37189830e-01 9.71443490e-01 -6.20731885e-03 1.79201937e+01] [ 2.42756551e-02 4.60706599e-04 9.99705197e-01 7.68713373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2992541539999 meters Centerline goodness [0,1] 0.9997600401387404 Centerline is valid? [True, True] Translation: X:830.93, Y:17.93, Z:7.69 [[ 9.71411725e-01 -2.36176848e-01 -2.40781453e-02 8.30933247e+02] [ 2.36091419e-01 9.71709957e-01 -6.37186736e-03 1.79292985e+01] [ 2.49018611e-02 5.05063184e-04 9.99689773e-01 7.68519963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3292541539998 meters Centerline goodness [0,1] 0.9998686169746869 Centerline is valid? [True, True] Translation: X:830.96, Y:17.94, Z:7.69 [[ 9.71729025e-01 -2.34798554e-01 -2.47455077e-02 8.30961193e+02] [ 2.34707737e-01 9.72043890e-01 -6.55390078e-03 1.79354766e+01] [ 2.55925660e-02 5.60653518e-04 9.99672299e-01 7.68726430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:830.99, Y:17.94, Z:7.69 [[ 9.72359424e-01 -2.32163348e-01 -2.48461450e-02 8.30987942e+02] [ 2.32070812e-01 9.72676603e-01 -6.58515577e-03 1.79435593e+01] [ 2.56960957e-02 6.37073246e-04 9.99669598e-01 7.68875711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3892541539999 meters Centerline goodness [0,1] 0.9998042244023406 Centerline is valid? [True, True] Translation: X:831.02, Y:17.95, Z:7.68 [[ 9.72272462e-01 -2.32312254e-01 -2.67820290e-02 8.31015063e+02] [ 2.32204707e-01 9.72641016e-01 -7.10122279e-03 1.79507400e+01] [ 2.76990009e-02 6.85410175e-04 9.99616074e-01 7.68473776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.04, Y:17.96, Z:7.69 [[ 9.72276896e-01 -2.32414286e-01 -2.57145332e-02 8.31042638e+02] [ 2.32315117e-01 9.72616660e-01 -6.82047899e-03 1.79554495e+01] [ 2.65955601e-02 6.57519354e-04 9.99646059e-01 7.68821458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4492541539998 meters Centerline goodness [0,1] 0.9999342739461923 Centerline is valid? [True, True] Translation: X:831.07, Y:17.96, Z:7.69 [[ 9.71812753e-01 -2.34277669e-01 -2.63428808e-02 8.31071668e+02] [ 2.34174132e-01 9.72169523e-01 -6.99247435e-03 1.79596662e+01] [ 2.72479264e-02 6.26554515e-04 9.99628510e-01 7.68820815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4792541539999 meters Centerline goodness [0,1] 0.9998904397747441 Centerline is valid? [True, True] Translation: X:831.10, Y:17.97, Z:7.69 [[ 9.71330238e-01 -2.36277023e-01 -2.62818652e-02 8.31099552e+02] [ 2.36174512e-01 9.71685565e-01 -6.98306750e-03 1.79650001e+01] [ 2.71876474e-02 5.75757947e-04 9.99630182e-01 7.68798937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5092541539999 meters Centerline goodness [0,1] 0.9999339381661235 Centerline is valid? [True, True] Translation: X:831.13, Y:17.97, Z:7.69 [[ 9.70242076e-01 -2.40909063e-01 -2.43544027e-02 8.31129385e+02] [ 2.40822427e-01 9.70547603e-01 -6.47366101e-03 1.79664460e+01] [ 2.51966708e-02 4.15931947e-04 9.99682427e-01 7.69085454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.16, Y:17.97, Z:7.69 [[ 9.69678486e-01 -2.43283697e-01 -2.31662950e-02 8.31158230e+02] [ 2.43205893e-01 9.69955116e-01 -6.16172490e-03 1.79703860e+01] [ 2.39693136e-02 3.40712601e-04 9.99712637e-01 7.69373873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5692541539999 meters Centerline goodness [0,1] 0.99995612688106 Centerline is valid? [True, True] Translation: X:831.19, Y:17.97, Z:7.69 [[ 9.68876519e-01 -2.46500120e-01 -2.27152248e-02 8.31186126e+02] [ 2.46426118e-01 9.69142726e-01 -6.04521122e-03 1.79745174e+01] [ 2.35044401e-02 2.59438537e-04 9.99723699e-01 7.69354356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5992541539999 meters Centerline goodness [0,1] 0.9999780113461454 Centerline is valid? [True, True] Translation: X:831.22, Y:17.98, Z:7.69 [[ 9.68219228e-01 -2.49157619e-01 -2.17257406e-02 8.31215180e+02] [ 2.49090506e-01 9.68462929e-01 -5.78578354e-03 1.79787414e+01] [ 2.24821464e-02 1.90231151e-04 9.99747227e-01 7.69499362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6292541539999 meters Centerline goodness [0,1] 0.9998680071276151 Centerline is valid? [True, True] Translation: X:831.25, Y:17.98, Z:7.70 [[ 9.66900180e-01 -2.54265214e-01 -2.12895158e-02 8.31245190e+02] [ 2.54201884e-01 9.67134528e-01 -5.67511717e-03 1.79798806e+01] [ 2.20328107e-02 7.54367768e-05 9.99757245e-01 7.69721325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6592541539999 meters Centerline goodness [0,1] 0.999845869297164 Centerline is valid? [True, True] Translation: X:831.27, Y:17.99, Z:7.70 [[ 9.66446313e-01 -2.56036034e-01 -2.06657717e-02 8.31273468e+02] [ 2.55976648e-01 9.66667237e-01 -5.51435017e-03 1.79853306e+01] [ 2.13887967e-02 3.93684323e-05 9.99771233e-01 7.69799640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6892541539999 meters Centerline goodness [0,1] 0.999889976895148 Centerline is valid? [True, True] Translation: X:831.30, Y:17.99, Z:7.70 [[ 9.65989805e-01 -2.57785961e-01 -2.02508046e-02 8.31301326e+02] [ 2.57729248e-01 9.66202048e-01 -5.40707566e-03 1.79905892e+01] [ 2.09602371e-02 3.95531741e-06 9.99780310e-01 7.69837127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7192541539999 meters Centerline goodness [0,1] 0.999955918007494 Centerline is valid? [True, True] Translation: X:831.33, Y:18.00, Z:7.70 [[ 9.66035976e-01 -2.57638293e-01 -1.99249199e-02 8.31328988e+02] [ 2.57583274e-01 9.66241435e-01 -5.32421130e-03 1.79975404e+01] [ 2.06240039e-02 1.10535644e-05 9.99787303e-01 7.69998129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7492541539999 meters Centerline goodness [0,1] 0.9998461639891876 Centerline is valid? [True, True] Translation: X:831.36, Y:18.01, Z:7.70 [[ 9.65889930e-01 -2.58127399e-01 -2.06612886e-02 8.31356585e+02] [ 2.58068222e-01 9.66110887e-01 -5.52692528e-03 1.80053967e+01] [ 2.13877467e-02 6.37946093e-06 9.99771256e-01 7.69837823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7792541539999 meters Centerline goodness [0,1] 0.9998460218648952 Centerline is valid? [True, True] Translation: X:831.38, Y:18.01, Z:7.70 [[ 9.66116437e-01 -2.57244332e-01 -2.10804005e-02 8.31383727e+02] [ 2.57182384e-01 9.66346394e-01 -5.64519675e-03 1.80137947e+01] [ 2.18231639e-02 3.24097121e-05 9.99761846e-01 7.69877433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8092541539999 meters Centerline goodness [0,1] 0.9998459405330458 Centerline is valid? [True, True] Translation: X:831.41, Y:18.02, Z:7.70 [[ 9.66262940e-01 -2.56663719e-01 -2.14398471e-02 8.31410155e+02] [ 2.56599409e-01 9.66500767e-01 -5.74545938e-03 1.80220151e+01] [ 2.21962797e-02 5.01723589e-05 9.99753631e-01 7.69812403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.44, Y:18.03, Z:7.70 [[ 9.66521951e-01 -2.55776175e-01 -2.03437123e-02 8.31437146e+02] [ 2.55717988e-01 9.66736026e-01 -5.45596661e-03 1.80298980e+01] [ 2.10625059e-02 7.10583105e-05 9.99778158e-01 7.70081409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8692541539999 meters Centerline goodness [0,1] 0.9999780489946439 Centerline is valid? [True, True] Translation: X:831.46, Y:18.04, Z:7.70 [[ 9.66460667e-01 -2.55987274e-01 -2.05983956e-02 8.31463853e+02] [ 2.55927534e-01 9.66680149e-01 -5.53058375e-03 1.80381693e+01] [ 2.13278192e-02 7.33950578e-05 9.99772533e-01 7.70088351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.49, Y:18.05, Z:7.70 [[ 9.66364722e-01 -2.56402925e-01 -1.99189639e-02 8.31491019e+02] [ 2.56347026e-01 9.66569985e-01 -5.35413878e-03 1.80455935e+01] [ 2.06258895e-02 6.78836687e-05 9.99787261e-01 7.70170832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.52, Y:18.05, Z:7.70 [[ 9.66191037e-01 -2.57099717e-01 -1.93549741e-02 8.31517837e+02] [ 2.57046963e-01 9.66384878e-01 -5.20834545e-03 1.80527875e+01] [ 2.00434185e-02 5.71193787e-05 9.99799109e-01 7.70252244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9592541539998 meters Centerline goodness [0,1] 0.9998896783019284 Centerline is valid? [True, True] Translation: X:831.54, Y:18.06, Z:7.70 [[ 9.65765616e-01 -2.58749154e-01 -1.85916799e-02 8.31544606e+02] [ 2.58700716e-01 9.65944551e-01 -5.00648340e-03 1.80605835e+01] [ 1.92539553e-02 2.54086153e-05 9.99814625e-01 7.70235724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9892541539999 meters Centerline goodness [0,1] 0.9999780470670881 Centerline is valid? [True, True] Translation: X:831.57, Y:18.07, Z:7.70 [[ 9.65798814e-01 -2.58691339e-01 -1.76476896e-02 8.31571803e+02] [ 2.58647623e-01 9.65960035e-01 -4.75571337e-03 1.80681564e+01] [ 1.82772247e-02 2.85293780e-05 9.99832957e-01 7.70459045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0192541539999 meters Centerline goodness [0,1] 0.9998903412580051 Centerline is valid? [True, True] Translation: X:831.60, Y:18.08, Z:7.70 [[ 9.65594963e-01 -2.59401737e-01 -1.83604527e-02 8.31598612e+02] [ 2.59354438e-01 9.65769506e-01 -4.95348611e-03 1.80775668e+01] [ 1.90169083e-02 2.11963315e-05 9.99819162e-01 7.70257119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0492541539999 meters Centerline goodness [0,1] 0.9998902810998223 Centerline is valid? [True, True] Translation: X:831.63, Y:18.09, Z:7.70 [[ 9.65653617e-01 -2.59106611e-01 -1.94127681e-02 8.31625159e+02] [ 2.59053597e-01 9.65848727e-01 -5.24126103e-03 1.80863931e+01] [ 2.01078428e-02 3.22952548e-05 9.99797816e-01 7.70129717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.65, Y:18.09, Z:7.70 [[ 9.65923201e-01 -2.58138950e-01 -1.88852268e-02 8.31651351e+02] [ 2.58088553e-01 9.66107799e-01 -5.10090479e-03 1.80947969e+01] [ 1.95619071e-02 5.30214410e-05 9.99808646e-01 7.70274019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1092541539999 meters Centerline goodness [0,1] 0.9998460015399846 Centerline is valid? [True, True] Translation: X:831.68, Y:18.11, Z:7.70 [[ 9.66108657e-01 -2.57225615e-01 -2.16574819e-02 8.31678176e+02] [ 2.57158999e-01 9.66351373e-01 -5.85437120e-03 1.81056374e+01] [ 2.24346316e-02 8.65423365e-05 9.99748308e-01 7.69975093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1392541539999 meters Centerline goodness [0,1] 0.99980250597968 Centerline is valid? [True, True] Translation: X:831.71, Y:18.12, Z:7.70 [[ 9.66395901e-01 -2.56098304e-01 -2.21950793e-02 8.31705623e+02] [ 2.56027905e-01 9.66650735e-01 -6.00563685e-03 1.81152571e+01] [ 2.29929231e-02 1.21263175e-04 9.99735620e-01 7.69963438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.73, Y:18.12, Z:7.70 [[ 9.66819950e-01 -2.54542094e-01 -2.16219145e-02 8.31731765e+02] [ 2.54474759e-01 9.67061682e-01 -5.85666102e-03 1.81245548e+01] [ 2.24004917e-02 1.60105242e-04 9.99749065e-01 7.70173125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1992541539998 meters Centerline goodness [0,1] 0.999912468817016 Centerline is valid? [True, True] Translation: X:831.76, Y:18.13, Z:7.70 [[ 9.66905026e-01 -2.54115886e-01 -2.27988256e-02 8.31757812e+02] [ 2.54040789e-01 9.67173760e-01 -6.18023432e-03 1.81337956e+01] [ 2.36209216e-02 1.83867988e-04 9.99720970e-01 7.69940815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2292541539999 meters Centerline goodness [0,1] 0.9999343932468782 Centerline is valid? [True, True] Translation: X:831.78, Y:18.14, Z:7.70 [[ 9.67170978e-01 -2.53112204e-01 -2.26828615e-02 8.31784129e+02] [ 2.53037534e-01 9.67436906e-01 -6.15130978e-03 1.81432109e+01] [ 2.35012090e-02 2.09752950e-04 9.99723786e-01 7.69941674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.81, Y:18.15, Z:7.70 [[ 9.67586019e-01 -2.51565661e-01 -2.21813933e-02 8.31811458e+02] [ 2.51493749e-01 9.67840203e-01 -6.01969844e-03 1.81521163e+01] [ 2.29823936e-02 2.46094293e-04 9.99735840e-01 7.70322151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2892541539999 meters Centerline goodness [0,1] 0.9998906147451324 Centerline is valid? [True, True] Translation: X:831.84, Y:18.16, Z:7.70 [[ 9.67547805e-01 -2.51690714e-01 -2.24283161e-02 8.31836272e+02] [ 2.51617092e-01 9.67807688e-01 -6.09241577e-03 1.81622703e+01] [ 2.32397013e-02 2.51355816e-04 9.99729890e-01 7.69938404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3192541539999 meters Centerline goodness [0,1] 0.9999126217833894 Centerline is valid? [True, True] Translation: X:831.86, Y:18.17, Z:7.70 [[ 9.67716538e-01 -2.51165075e-01 -2.09953855e-02 8.31863414e+02] [ 2.51100314e-01 9.67944235e-01 -5.70887710e-03 1.81703270e+01] [ 2.17562329e-02 2.52626910e-04 9.99763273e-01 7.70246454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.89, Y:18.18, Z:7.70 [[ 9.67865569e-01 -2.50688733e-01 -1.97838193e-02 8.31889946e+02] [ 2.50631057e-01 9.68067712e-01 -5.38306614e-03 1.81801082e+01] [ 2.05015507e-02 2.51644823e-04 9.99789789e-01 7.70352099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.92, Y:18.19, Z:7.71 [[ 9.67988494e-01 -2.50284719e-01 -1.88635878e-02 8.31916625e+02] [ 2.50232134e-01 9.68172245e-01 -5.13645771e-03 1.81873074e+01] [ 1.95487790e-02 2.51756130e-04 9.99808873e-01 7.70598221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4092541539999 meters Centerline goodness [0,1] 0.9998252588353501 Centerline is valid? [True, True] Translation: X:831.94, Y:18.20, Z:7.70 [[ 9.67837007e-01 -2.50803063e-01 -1.97319695e-02 8.31943449e+02] [ 2.50745508e-01 9.68038097e-01 -5.37899856e-03 1.81960665e+01] [ 2.04503675e-02 2.58291159e-04 9.99790836e-01 7.70358266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:831.97, Y:18.20, Z:7.71 [[ 9.68137949e-01 -2.49751427e-01 -1.82520164e-02 8.31970144e+02] [ 2.49701895e-01 9.68309948e-01 -4.98087106e-03 1.82042706e+01] [ 1.89175887e-02 2.64607203e-04 9.99821011e-01 7.70685770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4692541539998 meters Centerline goodness [0,1] 0.99997814876322 Centerline is valid? [True, True] Translation: X:832.00, Y:18.21, Z:7.71 [[ 9.68475916e-01 -2.48398583e-01 -1.87761686e-02 8.31997557e+02] [ 2.48345806e-01 9.68657861e-01 -5.12927885e-03 1.82140977e+01] [ 1.94617889e-02 3.04600297e-04 9.99810555e-01 7.70608928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.02, Y:18.22, Z:7.71 [[ 9.68629743e-01 -2.47756213e-01 -1.93204483e-02 8.32024940e+02] [ 2.47700101e-01 9.68822352e-01 -5.28309945e-03 1.82223843e+01] [ 2.00270029e-02 3.31690278e-04 9.99799384e-01 7.70634931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5292541539999 meters Centerline goodness [0,1] 0.9998908654370839 Centerline is valid? [True, True] Translation: X:832.05, Y:18.23, Z:7.70 [[ 9.68562157e-01 -2.47927409e-01 -2.04779630e-02 8.32053015e+02] [ 2.47864291e-01 9.68778548e-01 -5.60519819e-03 1.82299149e+01] [ 2.12282936e-02 3.53227057e-04 9.99774592e-01 7.70476452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5592541539999 meters Centerline goodness [0,1] 0.9998690013536526 Centerline is valid? [True, True] Translation: X:832.08, Y:18.24, Z:7.70 [[ 9.68766268e-01 -2.47040568e-01 -2.15145394e-02 8.32080674e+02] [ 2.46970547e-01 9.69005057e-01 -5.89482115e-03 1.82382512e+01] [ 2.23039574e-02 3.97246338e-04 9.99751157e-01 7.70374948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.11, Y:18.25, Z:7.70 [[ 9.68954094e-01 -2.46353049e-01 -2.09317649e-02 8.32106704e+02] [ 2.46286534e-01 9.69180072e-01 -5.73862565e-03 1.82472972e+01] [ 2.17003774e-02 4.05252976e-04 9.99764437e-01 7.70481402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6192541539999 meters Centerline goodness [0,1] 0.9999562812862045 Centerline is valid? [True, True] Translation: X:832.14, Y:18.25, Z:7.71 [[ 9.68912477e-01 -2.46392691e-01 -2.23439748e-02 8.32135240e+02] [ 2.46316802e-01 9.69169981e-01 -6.13034868e-03 1.82528463e+01] [ 2.31655827e-02 4.36074900e-04 9.99731547e-01 7.70503304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6492541539999 meters Centerline goodness [0,1] 0.9998471048205666 Centerline is valid? [True, True] Translation: X:832.16, Y:18.26, Z:7.70 [[ 9.68640285e-01 -2.47332918e-01 -2.37155194e-02 8.32162350e+02] [ 2.47247528e-01 9.68930456e-01 -6.51393226e-03 1.82595811e+01] [ 2.45897989e-02 4.46053648e-04 9.99697526e-01 7.70346675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.19, Y:18.27, Z:7.71 [[ 9.68663190e-01 -2.47325475e-01 -2.28414745e-02 8.32190065e+02] [ 2.47246099e-01 9.68932360e-01 -6.28071649e-03 1.82664776e+01] [ 2.36852250e-02 4.36433391e-04 9.99719370e-01 7.70645820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7092541539998 meters Centerline goodness [0,1] 0.9998255674508864 Centerline is valid? [True, True] Translation: X:832.22, Y:18.27, Z:7.70 [[ 9.68375674e-01 -2.48375044e-01 -2.36303249e-02 8.32216138e+02] [ 2.48290285e-01 9.68663849e-01 -6.50240297e-03 1.82743931e+01] [ 2.45048761e-02 4.29588751e-04 9.99699618e-01 7.70297820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.24, Y:18.28, Z:7.71 [[ 9.68319879e-01 -2.48836936e-01 -2.08995349e-02 8.32244153e+02] [ 2.48770652e-01 9.68545321e-01 -5.75529341e-03 1.82797981e+01] [ 2.16742763e-02 3.73774104e-04 9.99765015e-01 7.70809957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7692541539999 meters Centerline goodness [0,1] 0.9998250142175948 Centerline is valid? [True, True] Translation: X:832.27, Y:18.29, Z:7.71 [[ 9.67993347e-01 -2.50070695e-01 -2.12961691e-02 8.32271845e+02] [ 2.50002028e-01 9.68227514e-01 -5.87089208e-03 1.82863885e+01] [ 2.20876749e-02 3.58899020e-04 9.99755973e-01 7.70637019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7992541539999 meters Centerline goodness [0,1] 0.9998908082374266 Centerline is valid? [True, True] Translation: X:832.30, Y:18.29, Z:7.71 [[ 9.67974025e-01 -2.50275881e-01 -1.97045926e-02 8.32299403e+02] [ 2.50217024e-01 9.68174505e-01 -5.43768706e-03 1.82931239e+01] [ 2.04384061e-02 3.33115308e-04 9.99791058e-01 7.70966515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8292541539998 meters Centerline goodness [0,1] 0.9999781659388647 Centerline is valid? [True, True] Translation: X:832.33, Y:18.30, Z:7.71 [[ 9.67763367e-01 -2.51121826e-01 -1.92845733e-02 8.32328072e+02] [ 2.51065515e-01 9.67955438e-01 -5.32701665e-03 1.82995750e+01] [ 2.00043377e-02 3.13600246e-04 9.99799844e-01 7.71006508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8592541539999 meters Centerline goodness [0,1] 0.999846967775786 Centerline is valid? [True, True] Translation: X:832.36, Y:18.31, Z:7.71 [[ 9.67654178e-01 -2.51473167e-01 -2.01652662e-02 8.32356394e+02] [ 2.51411553e-01 9.67864216e-01 -5.57594073e-03 1.83072478e+01] [ 2.09194391e-02 3.25801440e-04 9.99781112e-01 7.70859421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.38, Y:18.31, Z:7.71 [[ 9.67977698e-01 -2.50256416e-01 -1.97712697e-02 8.32382837e+02] [ 2.50196861e-01 9.68179531e-01 -5.47046473e-03 1.83145383e+01] [ 2.05111576e-02 3.48578240e-04 9.99789563e-01 7.71045628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9192541539999 meters Centerline goodness [0,1] 0.9999563918627216 Centerline is valid? [True, True] Translation: X:832.41, Y:18.32, Z:7.71 [[ 9.68118416e-01 -2.49668106e-01 -2.03118183e-02 8.32409273e+02] [ 2.49605078e-01 9.68331399e-01 -5.62201263e-03 1.83227406e+01] [ 2.10722087e-02 3.72840970e-04 9.99777887e-01 7.70916064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9492541539998 meters Centerline goodness [0,1] 0.9999563918627216 Centerline is valid? [True, True] Translation: X:832.44, Y:18.33, Z:7.71 [[ 9.68046905e-01 -2.49945323e-01 -2.03107002e-02 8.32435844e+02] [ 2.49882272e-01 9.68259881e-01 -5.62604982e-03 1.83301770e+01] [ 2.10722410e-02 3.70996201e-04 9.99777887e-01 7.70941880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.46, Y:18.34, Z:7.71 [[ 9.68354297e-01 -2.48762762e-01 -2.01753085e-02 8.32462657e+02] [ 2.48700211e-01 9.68564366e-01 -5.59237388e-03 1.83384711e+01] [ 2.09322593e-02 3.97795780e-04 9.99780817e-01 7.71011194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0092541539999 meters Centerline goodness [0,1] 0.9998687979707419 Centerline is valid? [True, True] Translation: X:832.49, Y:18.35, Z:7.71 [[ 9.68732727e-01 -2.47161111e-01 -2.16399767e-02 8.32490774e+02] [ 2.47088650e-01 9.68974286e-01 -6.00275494e-03 1.83467931e+01] [ 2.24522285e-02 4.68072549e-04 9.99747807e-01 7.70826415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0392541539999 meters Centerline goodness [0,1] 0.9999562545112535 Centerline is valid? [True, True] Translation: X:832.52, Y:18.36, Z:7.71 [[ 9.69071362e-01 -2.45869259e-01 -2.11896803e-02 8.32517027e+02] [ 2.45799395e-01 9.69302876e-01 -5.88145925e-03 1.83562879e+01] [ 2.19852881e-02 4.91143138e-04 9.99758174e-01 7.70849876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0692541539999 meters Centerline goodness [0,1] 0.999978192127358 Centerline is valid? [True, True] Translation: X:832.54, Y:18.36, Z:7.71 [[ 9.69289006e-01 -2.45017615e-01 -2.10995458e-02 8.32544599e+02] [ 2.44948084e-01 9.69518493e-01 -5.85907094e-03 1.83631121e+01] [ 2.18919754e-02 5.10839742e-04 9.99760211e-01 7.71000241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0992541539999 meters Centerline goodness [0,1] 0.9998695198329853 Centerline is valid? [True, True] Translation: X:832.57, Y:18.37, Z:7.71 [[ 9.69390276e-01 -2.44534484e-01 -2.20313158e-02 8.32570978e+02] [ 2.44458476e-01 9.69640442e-01 -6.12105890e-03 1.83718602e+01] [ 2.28592647e-02 5.47953090e-04 9.99738543e-01 7.70768876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1292541539999 meters Centerline goodness [0,1] 0.999825491350915 Centerline is valid? [True, True] Translation: X:832.60, Y:18.38, Z:7.71 [[ 9.69692315e-01 -2.43317613e-01 -2.22115705e-02 8.32598635e+02] [ 2.43239924e-01 9.69946491e-01 -6.17602998e-03 1.83791500e+01] [ 2.30467717e-02 5.86108089e-04 9.99734216e-01 7.70789547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1592541539999 meters Centerline goodness [0,1] 0.9999562353662006 Centerline is valid? [True, True] Translation: X:832.63, Y:18.39, Z:7.71 [[ 9.69957398e-01 -2.42393969e-01 -2.06835613e-02 8.32627245e+02] [ 2.42326275e-01 9.70177735e-01 -5.75666796e-03 1.83858281e+01] [ 2.14621123e-02 5.71552305e-04 9.99769499e-01 7.71203517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.65, Y:18.40, Z:7.71 [[ 9.70250622e-01 -2.41329234e-01 -1.93373324e-02 8.32653980e+02] [ 2.41269787e-01 9.70443140e-01 -5.38533109e-03 1.83953732e+01] [ 2.00654194e-02 5.59606764e-04 9.99798513e-01 7.71296681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2192541539998 meters Centerline goodness [0,1] 0.9998688123141508 Centerline is valid? [True, True] Translation: X:832.68, Y:18.40, Z:7.71 [[ 9.70335562e-01 -2.40952457e-01 -1.97689041e-02 8.32681943e+02] [ 2.40890171e-01 9.70536745e-01 -5.50936231e-03 1.84031356e+01] [ 2.05139422e-02 5.83795483e-04 9.99789397e-01 7.71175104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.71, Y:18.41, Z:7.71 [[ 9.70669903e-01 -2.39690424e-01 -1.86665654e-02 8.32708777e+02] [ 2.39634595e-01 9.70849198e-01 -5.20541471e-03 1.84120695e+01] [ 1.93701081e-02 5.79584561e-04 9.99812214e-01 7.71412629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2792541539999 meters Centerline goodness [0,1] 0.9999344749257383 Centerline is valid? [True, True] Translation: X:832.73, Y:18.42, Z:7.71 [[ 9.71104127e-01 -2.37891503e-01 -1.90894785e-02 8.32734263e+02] [ 2.37832731e-01 9.71291529e-01 -5.32520282e-03 1.84233208e+01] [ 1.98082693e-02 6.31223641e-04 9.99803598e-01 7.71208076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3092541539999 meters Centerline goodness [0,1] 0.999869633234834 Centerline is valid? [True, True] Translation: X:832.76, Y:18.43, Z:7.71 [[ 9.71310400e-01 -2.36952482e-01 -2.02392748e-02 8.32761903e+02] [ 2.36886130e-01 9.71520993e-01 -5.64986825e-03 1.84326794e+01] [ 2.10016307e-02 6.93372312e-04 9.99779201e-01 7.71066308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.79, Y:18.44, Z:7.71 [[ 9.71750712e-01 -2.35192243e-01 -1.96255572e-02 8.32787767e+02] [ 2.35129428e-01 9.71948610e-01 -5.48189848e-03 1.84429584e+01] [ 2.03643331e-02 7.12492712e-04 9.99792372e-01 7.71198519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.82, Y:18.45, Z:7.71 [[ 9.72121195e-01 -2.33563131e-01 -2.07037910e-02 8.32815641e+02] [ 2.33492767e-01 9.72341317e-01 -5.78710509e-03 1.84513122e+01] [ 2.14828058e-02 7.91582065e-04 9.99768905e-01 7.71178364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3992541539999 meters Centerline goodness [0,1] 0.9999564241671569 Centerline is valid? [True, True] Translation: X:832.84, Y:18.46, Z:7.71 [[ 9.72303873e-01 -2.32733805e-01 -2.14512136e-02 8.32841680e+02] [ 2.32657984e-01 9.72540110e-01 -5.99969966e-03 1.84612114e+01] [ 2.22584986e-02 8.42735094e-04 9.99751894e-01 7.71054024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.87, Y:18.47, Z:7.71 [[ 9.72579178e-01 -2.31627268e-01 -2.09416327e-02 8.32869220e+02] [ 2.31554665e-01 9.72804237e-01 -5.86118683e-03 1.84695981e+01] [ 2.17297197e-02 8.51335529e-04 9.99763519e-01 7.71209277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4592541539998 meters Centerline goodness [0,1] 0.9999782215737091 Centerline is valid? [True, True] Translation: X:832.90, Y:18.48, Z:7.71 [[ 9.73116523e-01 -2.29343386e-01 -2.11150316e-02 8.32896669e+02] [ 2.29268965e-01 9.73345148e-01 -5.91306702e-03 1.84800817e+01] [ 2.19083364e-02 9.13081772e-04 9.99759567e-01 7.71225053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.92, Y:18.49, Z:7.71 [[ 9.73334912e-01 -2.28424257e-01 -2.10120741e-02 8.32922194e+02] [ 2.28350288e-01 9.73561241e-01 -5.88691066e-03 1.84904277e+01] [ 2.18012541e-02 9.31822509e-04 9.99761890e-01 7.71202518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:832.95, Y:18.50, Z:7.71 [[ 9.73498476e-01 -2.27812759e-01 -2.00515159e-02 8.32949499e+02] [ 2.27745180e-01 9.73704537e-01 -5.62211611e-03 1.85011902e+01] [ 2.08050418e-02 9.06485362e-04 9.99783141e-01 7.71217407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5492541539999 meters Centerline goodness [0,1] 0.9998918310834198 Centerline is valid? [True, True] Translation: X:832.98, Y:18.51, Z:7.71 [[ 9.73415780e-01 -2.28158738e-01 -2.01322736e-02 8.32976519e+02] [ 2.28090567e-01 9.73623523e-01 -5.65052479e-03 1.85079988e+01] [ 2.08904718e-02 9.08328304e-04 9.99781358e-01 7.71111429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5792541539998 meters Centerline goodness [0,1] 0.9999135826473956 Centerline is valid? [True, True] Translation: X:833.00, Y:18.52, Z:7.71 [[ 9.73430145e-01 -2.28154749e-01 -1.94721007e-02 8.33002065e+02] [ 2.28090893e-01 9.73624482e-01 -5.46927359e-03 1.85167643e+01] [ 2.02063547e-02 8.82546949e-04 9.99795441e-01 7.71208299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.03, Y:18.52, Z:7.72 [[ 9.73436881e-01 -2.28275972e-01 -1.76272331e-02 8.33029497e+02] [ 2.28223602e-01 9.73596138e-01 -4.95446364e-03 1.85243914e+01] [ 1.82927911e-02 7.99906989e-04 9.99832353e-01 7.71568766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6392541539999 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:833.06, Y:18.53, Z:7.72 [[ 9.73377687e-01 -2.28579998e-01 -1.69429256e-02 8.33056938e+02] [ 2.28531577e-01 9.73524830e-01 -4.76691490e-03 1.85306058e+01] [ 1.75839802e-02 7.68015080e-04 9.99845095e-01 7.71639842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6692541539999 meters Centerline goodness [0,1] 0.9999132828928827 Centerline is valid? [True, True] Translation: X:833.09, Y:18.54, Z:7.72 [[ 9.73204196e-01 -2.29291436e-01 -1.72925162e-02 8.33085272e+02] [ 2.29241015e-01 9.73357507e-01 -4.87045011e-03 1.85380146e+01] [ 1.79485529e-02 7.75788513e-04 9.99838611e-01 7.71525614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.11, Y:18.55, Z:7.72 [[ 9.73215114e-01 -2.29321067e-01 -1.62539233e-02 8.33111411e+02] [ 2.29276474e-01 9.73350560e-01 -4.58099583e-03 1.85484663e+01] [ 1.68712842e-02 7.31652156e-04 9.99857402e-01 7.71686255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7292541539999 meters Centerline goodness [0,1] 0.9998489686717873 Centerline is valid? [True, True] Translation: X:833.14, Y:18.56, Z:7.71 [[ 9.73079337e-01 -2.29865589e-01 -1.66857738e-02 8.33137292e+02] [ 2.29818647e-01 9.73222101e-01 -4.70435131e-03 1.85580231e+01] [ 1.73203323e-02 7.43005114e-04 9.99849716e-01 7.71400963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.17, Y:18.56, Z:7.72 [[ 9.73019842e-01 -2.30198244e-01 -1.55292036e-02 8.33165426e+02] [ 2.30157584e-01 9.73143512e-01 -4.38088582e-03 1.85637303e+01] [ 1.61206159e-02 6.88524849e-04 9.99869817e-01 7.71725448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.19, Y:18.57, Z:7.72 [[ 9.72822479e-01 -2.31019498e-01 -1.56976715e-02 8.33192031e+02] [ 2.30977986e-01 9.72948879e-01 -4.43279275e-03 1.85739951e+01] [ 1.62970935e-02 6.86503877e-04 9.99866958e-01 7.71674666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8192541539999 meters Centerline goodness [0,1] 0.9998706366831246 Centerline is valid? [True, True] Translation: X:833.22, Y:18.58, Z:7.71 [[ 9.72623032e-01 -2.31780447e-01 -1.68006495e-02 8.33219720e+02] [ 2.31732926e-01 9.72767854e-01 -4.74905129e-03 1.85816032e+01] [ 1.74438690e-02 7.25772988e-04 9.99847581e-01 7.71476626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.25, Y:18.59, Z:7.72 [[ 9.72569802e-01 -2.32085252e-01 -1.56338376e-02 8.33247400e+02] [ 2.32044075e-01 9.72695215e-01 -4.42332260e-03 1.85902842e+01] [ 1.62335470e-02 6.74250588e-04 9.99868000e-01 7.71747665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8792541539999 meters Centerline goodness [0,1] 0.9998921972359371 Centerline is valid? [True, True] Translation: X:833.27, Y:18.60, Z:7.71 [[ 9.72430096e-01 -2.32566661e-01 -1.71013415e-02 8.33272470e+02] [ 2.32517398e-01 9.72580183e-01 -4.84229570e-03 1.86005527e+01] [ 1.77585824e-02 7.32434650e-04 9.99842036e-01 7.71464641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.30, Y:18.61, Z:7.72 [[ 9.72398508e-01 -2.32771367e-01 -1.60820672e-02 8.33300218e+02] [ 2.32727773e-01 9.72531242e-01 -4.55707784e-03 1.86064983e+01] [ 1.67010700e-02 6.88552011e-04 9.99860290e-01 7.71711402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9392541539999 meters Centerline goodness [0,1] 0.9999137205841117 Centerline is valid? [True, True] Translation: X:833.33, Y:18.62, Z:7.71 [[ 9.72111664e-01 -2.33882453e-01 -1.72600709e-02 8.33325809e+02] [ 2.33832336e-01 9.72264612e-01 -4.89516457e-03 1.86183418e+01] [ 1.79262493e-02 7.22683864e-04 9.99839051e-01 7.71401928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.35, Y:18.62, Z:7.71 [[ 9.71791650e-01 -2.35135301e-01 -1.82312786e-02 8.33354533e+02] [ 2.35079531e-01 9.71962365e-01 -5.17451932e-03 1.86244489e+01] [ 1.89368288e-02 7.42754230e-04 9.99820406e-01 7.71495713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.38, Y:18.63, Z:7.71 [[ 9.71604168e-01 -2.35836349e-01 -1.91456738e-02 8.33380562e+02] [ 2.35774909e-01 9.71792480e-01 -5.43761631e-03 1.86332258e+01] [ 1.98880094e-02 7.69141167e-04 9.99801918e-01 7.71431976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.41, Y:18.64, Z:7.71 [[ 9.71314950e-01 -2.36941945e-01 -2.01440304e-02 8.33407753e+02] [ 2.36874085e-01 9.71523490e-01 -5.72506413e-03 1.86414988e+01] [ 2.09269066e-02 7.89241612e-04 9.99780697e-01 7.71426929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.44, Y:18.65, Z:7.71 [[ 9.71102002e-01 -2.37827246e-01 -1.99775474e-02 8.33435103e+02] [ 2.37760579e-01 9.71307166e-01 -5.68305597e-03 1.86500711e+01] [ 2.07559205e-02 7.68953786e-04 9.99784277e-01 7.71432984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0892541539998 meters Centerline goodness [0,1] 0.999935571161652 Centerline is valid? [True, True] Translation: X:833.46, Y:18.66, Z:7.71 [[ 9.70888846e-01 -2.38668128e-01 -2.03069641e-02 8.33463227e+02] [ 2.38599313e-01 9.71100888e-01 -5.78221859e-03 1.86581377e+01] [ 2.11001422e-02 7.68663860e-04 9.99777072e-01 7.71400446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.49, Y:18.67, Z:7.72 [[ 9.70565938e-01 -2.40099314e-01 -1.88170196e-02 8.33490384e+02] [ 2.40040401e-01 9.70748086e-01 -5.36282037e-03 1.86668020e+01] [ 1.95541953e-02 6.88125848e-04 9.99808562e-01 7.71611480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.52, Y:18.67, Z:7.72 [[ 9.70341854e-01 -2.41017865e-01 -1.86299816e-02 8.33518066e+02] [ 2.40960190e-01 9.70520450e-01 -5.31451563e-03 1.86734109e+01] [ 1.93616713e-02 6.67813058e-04 9.99812322e-01 7.71694417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.55, Y:18.68, Z:7.72 [[ 9.70031063e-01 -2.42300983e-01 -1.81651064e-02 8.33545933e+02] [ 2.42246282e-01 9.70200925e-01 -5.18680829e-03 1.86806965e+01] [ 1.88805718e-02 6.30935675e-04 9.99821547e-01 7.71785388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.57, Y:18.69, Z:7.72 [[ 9.69618072e-01 -2.44005216e-01 -1.73852998e-02 8.33572346e+02] [ 2.43955321e-01 9.69773749e-01 -4.96770530e-03 1.86894863e+01] [ 1.80719533e-02 5.75540455e-04 9.99836523e-01 7.71831251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.60, Y:18.70, Z:7.72 [[ 9.69424586e-01 -2.44753056e-01 -1.76611036e-02 8.33600809e+02] [ 2.44701621e-01 9.69585278e-01 -5.05021492e-03 1.86954856e+01] [ 1.83600016e-02 5.74101829e-04 9.99831276e-01 7.71935492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2692541539999 meters Centerline goodness [0,1] 0.9999357051007287 Centerline is valid? [True, True] Translation: X:833.63, Y:18.71, Z:7.72 [[ 9.69205129e-01 -2.45581251e-01 -1.82007138e-02 8.33627171e+02] [ 2.45526705e-01 9.69375837e-01 -5.20798696e-03 1.87054047e+01] [ 1.89223162e-02 5.78846377e-04 9.99820789e-01 7.71799679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.66, Y:18.71, Z:7.72 [[ 9.69302257e-01 -2.45227041e-01 -1.77998088e-02 8.33655178e+02] [ 2.45174752e-01 9.69465506e-01 -5.09653694e-03 1.87141198e+01] [ 1.85061093e-02 5.76021063e-04 9.99828581e-01 7.71985631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3292541539998 meters Centerline goodness [0,1] 0.9999572155906388 Centerline is valid? [True, True] Translation: X:833.68, Y:18.72, Z:7.72 [[ 9.69284010e-01 -2.45250023e-01 -1.84644018e-02 8.33681149e+02] [ 2.45193684e-01 9.69459677e-01 -5.29075813e-03 1.87247262e+01] [ 1.91980515e-02 6.00892566e-04 9.99815520e-01 7.71840742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.71, Y:18.73, Z:7.72 [[ 9.69301355e-01 -2.45204819e-01 -1.81516100e-02 8.33708213e+02] [ 2.45150289e-01 9.69471115e-01 -5.20517803e-03 1.87339030e+01] [ 1.88737963e-02 5.95513682e-04 9.99821697e-01 7.71952220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.74, Y:18.74, Z:7.72 [[ 9.69517623e-01 -2.44291182e-01 -1.89049422e-02 8.33735475e+02] [ 2.44231750e-01 9.69701708e-01 -5.42667804e-03 1.87432732e+01] [ 1.96578444e-02 6.44072861e-04 9.99806558e-01 7.71984453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4192541539999 meters Centerline goodness [0,1] 0.9999143248800548 Centerline is valid? [True, True] Translation: X:833.76, Y:18.75, Z:7.72 [[ 9.69470479e-01 -2.44427221e-01 -1.95530994e-02 8.33763129e+02] [ 2.44363563e-01 9.69667411e-01 -5.61802676e-03 1.87528877e+01] [ 2.03332019e-02 6.68446062e-04 9.99793036e-01 7.71829437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4492541539998 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:833.79, Y:18.76, Z:7.72 [[ 9.69652253e-01 -2.43748733e-01 -1.90016501e-02 8.33788810e+02] [ 2.43688417e-01 9.69838188e-01 -5.46304200e-03 1.87626155e+01] [ 1.97601355e-02 6.66768949e-04 9.99804527e-01 7.71896811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4792541539999 meters Centerline goodness [0,1] 0.9999785370879121 Centerline is valid? [True, True] Translation: X:833.82, Y:18.77, Z:7.72 [[ 9.69684940e-01 -2.43604148e-01 -1.91868868e-02 8.33816734e+02] [ 2.43542546e-01 9.69874506e-01 -5.52013277e-03 1.87687396e+01] [ 1.99535996e-02 6.79966364e-04 9.99800676e-01 7.72053725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.84, Y:18.78, Z:7.72 [[ 9.69795102e-01 -2.43165685e-01 -1.91809510e-02 8.33843107e+02] [ 2.43103966e-01 9.69984521e-01 -5.52189609e-03 1.87779958e+01] [ 1.99479612e-02 6.92142529e-04 9.99800780e-01 7.72085981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5392541539999 meters Centerline goodness [0,1] 0.9998712694973074 Centerline is valid? [True, True] Translation: X:833.87, Y:18.79, Z:7.72 [[ 9.69644310e-01 -2.43694722e-01 -2.00697202e-02 8.33869644e+02] [ 2.43627171e-01 9.69851725e-01 -5.78216825e-03 1.87866909e+01] [ 2.08737366e-02 7.17117399e-04 9.99781863e-01 7.71900667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.90, Y:18.80, Z:7.72 [[ 9.69781162e-01 -2.43233860e-01 -1.90206846e-02 8.33895967e+02] [ 2.43173026e-01 9.69967427e-01 -5.48360561e-03 1.87967892e+01] [ 1.97832431e-02 6.92579991e-04 9.99804053e-01 7.72135857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5992541539999 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:833.92, Y:18.80, Z:7.72 [[ 9.69933345e-01 -2.42631257e-01 -1.89573039e-02 8.33923440e+02] [ 2.42570641e-01 9.70118330e-01 -5.46893579e-03 1.88049783e+01] [ 1.97177628e-02 7.06017821e-04 9.99805337e-01 7.72199313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:833.95, Y:18.82, Z:7.72 [[ 9.70191323e-01 -2.41599609e-01 -1.89321547e-02 8.33949045e+02] [ 2.41538891e-01 9.70375750e-01 -5.46510520e-03 1.88170476e+01] [ 1.96916711e-02 7.29345988e-04 9.99805834e-01 7.72221830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6592541539999 meters Centerline goodness [0,1] 0.9999144018831586 Centerline is valid? [True, True] Translation: X:833.98, Y:18.83, Z:7.72 [[ 9.70350062e-01 -2.40935495e-01 -1.92573113e-02 8.33976543e+02] [ 2.40872471e-01 9.70540834e-01 -5.56253916e-03 1.88272598e+01] [ 2.00302201e-02 7.59054075e-04 9.99799087e-01 7.72032917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.00, Y:18.84, Z:7.72 [[ 9.70707974e-01 -2.39514565e-01 -1.89420692e-02 8.34003801e+02] [ 2.39453219e-01 9.70892458e-01 -5.47646204e-03 1.88357564e+01] [ 1.97024045e-02 7.80305928e-04 9.99805584e-01 7.72265206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7192541539998 meters Centerline goodness [0,1] 0.9998290963469344 Centerline is valid? [True, True] Translation: X:834.03, Y:18.84, Z:7.72 [[ 9.71200016e-01 -2.37433381e-01 -1.98977037e-02 8.34031668e+02] [ 2.37365182e-01 9.71403437e-01 -5.75616055e-03 1.88441109e+01] [ 2.06954024e-02 8.67361160e-04 9.99785451e-01 7.72035526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.06, Y:18.86, Z:7.72 [[ 9.71611820e-01 -2.35797949e-01 -1.92301739e-02 8.34057303e+02] [ 2.35733895e-01 9.71801710e-01 -5.56476496e-03 1.88552898e+01] [ 2.00000760e-02 8.73587623e-04 9.99799597e-01 7.72345194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7792541539999 meters Centerline goodness [0,1] 0.9999359863437534 Centerline is valid? [True, True] Translation: X:834.08, Y:18.87, Z:7.72 [[ 9.72195380e-01 -2.33356037e-01 -1.95218872e-02 8.34084629e+02] [ 2.33289502e-01 9.72390908e-01 -5.65070283e-03 1.88664367e+01] [ 2.03015313e-02 9.39335833e-04 9.99793461e-01 7.72237371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8092541539999 meters Centerline goodness [0,1] 0.9999575542774677 Centerline is valid? [True, True] Translation: X:834.11, Y:18.88, Z:7.72 [[ 9.72363837e-01 -2.32679028e-01 -1.92103716e-02 8.34110091e+02] [ 2.32614428e-01 9.72553128e-01 -5.56253569e-03 1.88791228e+01] [ 1.99773923e-02 9.40198948e-04 9.99799990e-01 7.72215116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8392541539998 meters Centerline goodness [0,1] 0.9999575542774677 Centerline is valid? [True, True] Translation: X:834.14, Y:18.89, Z:7.72 [[ 9.72299194e-01 -2.32949103e-01 -1.92092005e-02 8.34136571e+02] [ 2.32884476e-01 9.72488475e-01 -5.56657756e-03 1.88868921e+01] [ 1.99774554e-02 9.38854283e-04 9.99799990e-01 7.72240929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8692541539999 meters Centerline goodness [0,1] 0.9998724571137045 Centerline is valid? [True, True] Translation: X:834.16, Y:18.89, Z:7.72 [[ 9.72276947e-01 -2.32999256e-01 -1.97201480e-02 8.34164951e+02] [ 2.32931038e-01 9.72476431e-01 -5.72034375e-03 1.88930529e+01] [ 2.05102150e-02 9.68323811e-04 9.99789174e-01 7.72151922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.19, Y:18.90, Z:7.72 [[ 9.72554834e-01 -2.31876893e-01 -1.92406051e-02 8.34190521e+02] [ 2.31811666e-01 9.72744655e-01 -5.58461588e-03 1.89038998e+01] [ 2.00111391e-02 9.71148442e-04 9.99799285e-01 7.72440885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9292541539999 meters Centerline goodness [0,1] 0.9998935581385447 Centerline is valid? [True, True] Translation: X:834.22, Y:18.91, Z:7.72 [[ 9.72476876e-01 -2.32170250e-01 -1.96392559e-02 8.34218020e+02] [ 2.32102265e-01 9.72674661e-01 -5.70459479e-03 1.89094579e+01] [ 2.04270438e-02 9.89270748e-04 9.99790857e-01 7.72281700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9592541539998 meters Centerline goodness [0,1] 0.9999361810755616 Centerline is valid? [True, True] Translation: X:834.25, Y:18.92, Z:7.72 [[ 9.72465900e-01 -2.32224805e-01 -1.95375048e-02 8.34245900e+02] [ 2.32157416e-01 9.72661638e-01 -5.68081761e-03 1.89178710e+01] [ 2.03226082e-02 9.88624776e-04 9.99792986e-01 7.72419854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9892541539999 meters Centerline goodness [0,1] 0.9998939734509521 Centerline is valid? [True, True] Translation: X:834.27, Y:18.93, Z:7.72 [[ 9.72207424e-01 -2.33311105e-01 -1.94590292e-02 8.34272008e+02] [ 2.33244402e-01 9.72401664e-01 -5.66152114e-03 1.89272851e+01] [ 2.02428881e-02 9.65463260e-04 9.99794626e-01 7.72357117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0192541539999 meters Centerline goodness [0,1] 0.9997672598015361 Centerline is valid? [True, True] Translation: X:834.30, Y:18.94, Z:7.72 [[ 9.72024510e-01 -2.34045066e-01 -1.97802722e-02 8.34298317e+02] [ 2.33976254e-01 9.72225267e-01 -5.75693257e-03 1.89378026e+01] [ 2.05782621e-02 9.67765575e-04 9.99787777e-01 7.72193373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0492541539999 meters Centerline goodness [0,1] 0.9998729594105317 Centerline is valid? [True, True] Translation: X:834.33, Y:18.94, Z:7.72 [[ 9.71520489e-01 -2.36190044e-01 -1.90316095e-02 8.34327173e+02] [ 2.36126687e-01 9.71706473e-01 -5.54240444e-03 1.89431205e+01] [ 1.98021989e-02 8.90688567e-04 9.99803520e-01 7.72432436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0792541539998 meters Centerline goodness [0,1] 0.9998936577480965 Centerline is valid? [True, True] Translation: X:834.35, Y:18.95, Z:7.72 [[ 9.71170150e-01 -2.37661062e-01 -1.85945898e-02 8.34354029e+02] [ 2.37600781e-01 9.71347778e-01 -5.41869210e-03 1.89507436e+01] [ 1.93496256e-02 8.44382947e-04 9.99812422e-01 7.72481551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1092541539999 meters Centerline goodness [0,1] 0.9999787955894827 Centerline is valid? [True, True] Translation: X:834.38, Y:18.96, Z:7.73 [[ 9.70725375e-01 -2.39492214e-01 -1.83228027e-02 8.34382424e+02] [ 2.39433936e-01 9.70897956e-01 -5.34324096e-03 1.89574969e+01] [ 1.90692363e-02 7.99718813e-04 9.99817846e-01 7.72736994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1392541539999 meters Centerline goodness [0,1] 0.9999787365242723 Centerline is valid? [True, True] Translation: X:834.41, Y:18.97, Z:7.73 [[ 9.70241479e-01 -2.41448030e-01 -1.82844407e-02 8.34409088e+02] [ 2.41390280e-01 9.70413451e-01 -5.33535083e-03 1.89652807e+01] [ 1.90316771e-02 7.62892422e-04 9.99818590e-01 7.72739438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.44, Y:18.97, Z:7.73 [[ 9.69207818e-01 -2.45551858e-01 -1.84524039e-02 8.34439629e+02] [ 2.45493764e-01 9.69383211e-01 -5.38540968e-03 1.89683380e+01] [ 1.92098479e-02 6.89631086e-04 9.99815236e-01 7.72857015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.47, Y:18.98, Z:7.73 [[ 9.68599611e-01 -2.47896961e-01 -1.90234428e-02 8.34466080e+02] [ 2.47835643e-01 9.68786177e-01 -5.55321954e-03 1.89770514e+01] [ 1.98062746e-02 6.64159112e-04 9.99803616e-01 7.72789646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2292541539999 meters Centerline goodness [0,1] 0.9998508607465485 Centerline is valid? [True, True] Translation: X:834.50, Y:18.98, Z:7.73 [[ 9.67485556e-01 -2.52172534e-01 -1.95118611e-02 8.34496732e+02] [ 2.52108872e-01 9.67682108e-01 -5.69688935e-03 1.89798650e+01] [ 2.03178779e-02 5.92544879e-04 9.99793395e-01 7.72577550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.53, Y:18.99, Z:7.73 [[ 9.67123138e-01 -2.53577347e-01 -1.92708122e-02 8.34525137e+02] [ 2.53515468e-01 9.67314952e-01 -5.62947844e-03 1.89861070e+01] [ 2.00684530e-02 5.58949893e-04 9.99798452e-01 7.72967678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2892541539999 meters Centerline goodness [0,1] 0.9998299825732138 Centerline is valid? [True, True] Translation: X:834.55, Y:19.00, Z:7.73 [[ 9.66600458e-01 -2.55508439e-01 -1.99747813e-02 8.34551089e+02] [ 2.55442292e-01 9.66806674e-01 -5.83871950e-03 1.89960801e+01] [ 2.08035940e-02 5.41305014e-04 9.99783435e-01 7.72518179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.58, Y:19.00, Z:7.73 [[ 9.66167671e-01 -2.57163233e-01 -1.96749366e-02 8.34579957e+02] [ 2.57099324e-01 9.66367849e-01 -5.75476818e-03 1.90006402e+01] [ 2.04931410e-02 5.01658063e-04 9.99789868e-01 7.72984371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.61, Y:19.01, Z:7.73 [[ 9.65929968e-01 -2.58038856e-01 -1.98808054e-02 8.34607907e+02] [ 2.57973677e-01 9.66134414e-01 -5.82036393e-03 1.90074631e+01] [ 2.07094103e-02 4.93339475e-04 9.99785415e-01 7.73042506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3792541539999 meters Centerline goodness [0,1] 0.999936106319085 Centerline is valid? [True, True] Translation: X:834.64, Y:19.01, Z:7.73 [[ 9.65762553e-01 -2.58610274e-01 -2.05771183e-02 8.34635450e+02] [ 2.58540446e-01 9.65981611e-01 -6.03040605e-03 1.90147710e+01] [ 2.14366429e-02 5.03922998e-04 9.99770082e-01 7.72937077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.66, Y:19.02, Z:7.73 [[ 9.66001485e-01 -2.57701860e-01 -2.07576784e-02 8.34663569e+02] [ 2.57630459e-01 9.66224335e-01 -6.08945039e-03 1.90229786e+01] [ 2.16258367e-02 5.34607914e-04 9.99765991e-01 7.73106326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.69, Y:19.03, Z:7.73 [[ 9.66140578e-01 -2.57142392e-01 -2.12172960e-02 8.34689432e+02] [ 2.57067575e-01 9.66373361e-01 -6.22803751e-03 1.90330404e+01] [ 2.21053221e-02 5.62880928e-04 9.99755489e-01 7.73005242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4692541539998 meters Centerline goodness [0,1] 0.9998289428669176 Centerline is valid? [True, True] Translation: X:834.72, Y:19.04, Z:7.73 [[ 9.66248199e-01 -2.56578811e-01 -2.30593233e-02 8.34717488e+02] [ 2.56490160e-01 9.66523107e-01 -6.77357609e-03 1.90407353e+01] [ 2.40253249e-02 6.30466163e-04 9.99711151e-01 7.72732813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4992541539999 meters Centerline goodness [0,1] 0.9998933447098977 Centerline is valid? [True, True] Translation: X:834.74, Y:19.05, Z:7.73 [[ 9.66392324e-01 -2.56009263e-01 -2.33480928e-02 8.34743399e+02] [ 2.55918091e-01 9.66674105e-01 -6.86336322e-03 1.90496968e+01] [ 2.43270813e-02 6.57502190e-04 9.99703837e-01 7.72764481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5292541539999 meters Centerline goodness [0,1] 0.9998932399538797 Centerline is valid? [True, True] Translation: X:834.77, Y:19.06, Z:7.73 [[ 9.66520016e-01 -2.55501668e-01 -2.36210905e-02 8.34771186e+02] [ 2.55408063e-01 9.66808373e-01 -6.94916646e-03 1.90582758e+01] [ 2.46125917e-02 6.83491508e-04 9.99696831e-01 7.72807614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.80, Y:19.07, Z:7.73 [[ 9.66767771e-01 -2.54615981e-01 -2.30386387e-02 8.34798650e+02] [ 2.54526535e-01 9.67041995e-01 -6.78402649e-03 1.90664883e+01] [ 2.40066527e-02 6.94633294e-04 9.99711557e-01 7.73076185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.83, Y:19.07, Z:7.73 [[ 9.66600390e-01 -2.55269084e-01 -2.28337482e-02 8.34826418e+02] [ 2.55181256e-01 9.66869813e-01 -6.72995695e-03 1.90731243e+01] [ 2.37952118e-02 6.78434476e-04 9.99716624e-01 7.73201124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.85, Y:19.08, Z:7.73 [[ 9.66351706e-01 -2.56253363e-01 -2.23292355e-02 8.34854989e+02] [ 2.56169492e-01 9.66609433e-01 -6.58744840e-03 1.90798486e+01] [ 2.32717055e-02 6.45723083e-04 9.99728969e-01 7.73307336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6492541539999 meters Centerline goodness [0,1] 0.9998933265062298 Centerline is valid? [True, True] Translation: X:834.88, Y:19.09, Z:7.73 [[ 9.65429314e-01 -2.59632896e-01 -2.31732389e-02 8.34881751e+02] [ 2.59543438e-01 9.65707208e-01 -6.84047551e-03 1.90873717e+01] [ 2.41545763e-02 5.89533482e-04 9.99708062e-01 7.72994681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6792541539999 meters Centerline goodness [0,1] 0.9997653883888581 Centerline is valid? [True, True] Translation: X:834.91, Y:19.09, Z:7.73 [[ 9.64793263e-01 -2.61925863e-01 -2.38495578e-02 8.34909217e+02] [ 2.61831685e-01 9.65087839e-01 -7.04498421e-03 1.90943970e+01] [ 2.48621818e-02 5.52383385e-04 9.99690736e-01 7.72879554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7092541539998 meters Centerline goodness [0,1] 0.9998070615473664 Centerline is valid? [True, True] Translation: X:834.94, Y:19.10, Z:7.73 [[ 9.63818900e-01 -2.65537376e-01 -2.33029971e-02 8.34938863e+02] [ 2.65448415e-01 9.64100460e-01 -6.88785855e-03 1.90977663e+01] [ 2.42954141e-02 4.52904608e-04 9.99704720e-01 7.73142342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.97, Y:19.10, Z:7.73 [[ 9.63428416e-01 -2.67077474e-01 -2.18016309e-02 8.34966428e+02] [ 2.66999895e-01 9.63674981e-01 -6.44878950e-03 1.91046100e+01] [ 2.27320126e-02 3.91913908e-04 9.99741518e-01 7.73475532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:834.99, Y:19.11, Z:7.74 [[ 9.62791600e-01 -2.69412586e-01 -2.11941853e-02 8.34994614e+02] [ 2.69339709e-01 9.63024791e-01 -6.27482127e-03 1.91109109e+01] [ 2.21010417e-02 3.32909502e-04 9.99755687e-01 7.73562365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.02, Y:19.11, Z:7.74 [[ 9.61892910e-01 -2.72685789e-01 -2.01119247e-02 8.35023309e+02] [ 2.72620767e-01 9.62103112e-01 -5.95981028e-03 1.91147782e+01] [ 2.09749009e-02 2.49770914e-04 9.99779971e-01 7.73805581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8292541539998 meters Centerline goodness [0,1] 0.9998287377975681 Centerline is valid? [True, True] Translation: X:835.05, Y:19.12, Z:7.74 [[ 9.61338097e-01 -2.74579632e-01 -2.08588052e-02 8.35050302e+02] [ 2.74510054e-01 9.61564339e-01 -6.18489849e-03 1.91217634e+01] [ 2.17553304e-02 2.19826796e-04 9.99763301e-01 7.73598498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8592541539999 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:835.08, Y:19.13, Z:7.74 [[ 9.61079834e-01 -2.75552200e-01 -1.99132540e-02 8.35078175e+02] [ 2.75488916e-01 9.61286091e-01 -5.90839159e-03 1.91285130e+01] [ 2.07704044e-02 1.92555252e-04 9.99784253e-01 7.73853986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.11, Y:19.13, Z:7.74 [[ 9.60776999e-01 -2.76608060e-01 -1.98881887e-02 8.35105734e+02] [ 2.76545088e-01 9.60982805e-01 -5.90449502e-03 1.91348374e+01] [ 2.07454383e-02 1.72922111e-04 9.99784775e-01 7.73933331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9192541539999 meters Centerline goodness [0,1] 0.9998497983005751 Centerline is valid? [True, True] Translation: X:835.13, Y:19.14, Z:7.74 [[ 9.60558976e-01 -2.77235808e-01 -2.16046504e-02 8.35133695e+02] [ 2.77161555e-01 9.60801892e-01 -6.41850677e-03 1.91425212e+01] [ 2.25372288e-02 1.77375812e-04 9.99745989e-01 7.73682553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9492541539998 meters Centerline goodness [0,1] 0.9999143615654705 Centerline is valid? [True, True] Translation: X:835.16, Y:19.15, Z:7.74 [[ 9.60644092e-01 -2.76853881e-01 -2.26904422e-02 8.35161566e+02] [ 2.76771718e-01 9.60912008e-01 -6.74747066e-03 1.91499567e+01] [ 2.36715819e-02 2.01845148e-04 9.99719768e-01 7.73711288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9792541539999 meters Centerline goodness [0,1] 0.9998712971106202 Centerline is valid? [True, True] Translation: X:835.19, Y:19.16, Z:7.74 [[ 9.60646630e-01 -2.76770034e-01 -2.35881367e-02 8.35189376e+02] [ 2.76681052e-01 9.60936159e-01 -7.02101543e-03 1.91581780e+01] [ 2.46099001e-02 2.18324341e-04 9.99697107e-01 7.73639638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0092541539999 meters Centerline goodness [0,1] 0.9999356954536686 Centerline is valid? [True, True] Translation: X:835.22, Y:19.17, Z:7.74 [[ 9.60835097e-01 -2.76150984e-01 -2.31635789e-02 8.35216694e+02] [ 2.76064831e-01 9.61114238e-01 -6.90150575e-03 1.91664208e+01] [ 2.41687031e-02 2.36559451e-04 9.99707866e-01 7.73769053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.24, Y:19.18, Z:7.74 [[ 9.61288612e-01 -2.74612719e-01 -2.26287158e-02 8.35244473e+02] [ 2.74529920e-01 9.61554876e-01 -6.74864493e-03 1.91752965e+01] [ 2.36120157e-02 2.75135984e-04 9.99721160e-01 7.73901310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0692541539999 meters Centerline goodness [0,1] 0.9999139433316839 Centerline is valid? [True, True] Translation: X:835.27, Y:19.18, Z:7.74 [[ 9.61383081e-01 -2.74196823e-01 -2.36362974e-02 8.35271887e+02] [ 2.74106196e-01 9.61673546e-01 -7.05574634e-03 1.91840551e+01] [ 2.46650651e-02 3.04419597e-04 9.99695725e-01 7.73740295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.30, Y:19.19, Z:7.74 [[ 9.61547596e-01 -2.73727364e-01 -2.23506451e-02 8.35297935e+02] [ 2.73646051e-01 9.61807276e-01 -6.67846515e-03 1.91932127e+01] [ 2.33250917e-02 3.05496338e-04 9.99727886e-01 7.73798452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.32, Y:19.20, Z:7.74 [[ 9.61582679e-01 -2.73603398e-01 -2.23591732e-02 8.35324964e+02] [ 2.73521828e-01 9.61842545e-01 -6.68792114e-03 1.91996906e+01] [ 2.33358420e-02 3.15267196e-04 9.99727632e-01 7.73971414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.35, Y:19.21, Z:7.74 [[ 9.61587494e-01 -2.73617046e-01 -2.19819015e-02 8.35351677e+02] [ 2.73538056e-01 9.61838662e-01 -6.58178840e-03 1.92071895e+01] [ 2.29439323e-02 3.16078795e-04 9.99736703e-01 7.74022862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.38, Y:19.21, Z:7.74 [[ 9.61469591e-01 -2.74039700e-01 -2.18739392e-02 8.35379014e+02] [ 2.73961437e-01 9.61718330e-01 -6.55631107e-03 1.92138895e+01] [ 2.28332578e-02 3.11077926e-04 9.99739239e-01 7.74164401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2192541539998 meters Centerline goodness [0,1] 0.9998712888278702 Centerline is valid? [True, True] Translation: X:835.40, Y:19.22, Z:7.74 [[ 9.61183298e-01 -2.74976554e-01 -2.26839782e-02 8.35404932e+02] [ 2.74892532e-01 9.61450884e-01 -6.80394737e-03 1.92217198e+01] [ 2.36804569e-02 3.04184369e-04 9.99719532e-01 7.73952595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.43, Y:19.23, Z:7.74 [[ 9.60936256e-01 -2.75960613e-01 -2.11483240e-02 8.35432991e+02] [ 2.75887722e-01 9.61168908e-01 -6.34782875e-03 1.92281016e+01] [ 2.20788622e-02 2.65295844e-04 9.99756197e-01 7.74296021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2792541539999 meters Centerline goodness [0,1] 0.9998492483955722 Centerline is valid? [True, True] Translation: X:835.46, Y:19.24, Z:7.74 [[ 9.60509099e-01 -2.77319972e-01 -2.27135332e-02 8.35460092e+02] [ 2.77236177e-01 9.60777585e-01 -6.82161714e-03 1.92357221e+01] [ 2.37144243e-02 2.55212224e-04 9.99718741e-01 7.74064047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3092541539999 meters Centerline goodness [0,1] 0.9998061681598898 Centerline is valid? [True, True] Translation: X:835.49, Y:19.24, Z:7.74 [[ 9.60383749e-01 -2.77889610e-01 -2.09861675e-02 8.35488214e+02] [ 2.77818124e-01 9.60612988e-01 -6.30689913e-03 1.92429340e+01] [ 2.19122068e-02 2.26705741e-04 9.99759873e-01 7.74342102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3392541539998 meters Centerline goodness [0,1] 0.9999354672173464 Centerline is valid? [True, True] Translation: X:835.52, Y:19.25, Z:7.74 [[ 9.60030051e-01 -2.78970961e-01 -2.27487215e-02 8.35516552e+02] [ 2.78887112e-01 9.60299512e-01 -6.84299008e-03 1.92494505e+01] [ 2.37545817e-02 2.25150886e-04 9.99717795e-01 7.74223291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3692541539999 meters Centerline goodness [0,1] 0.9998920039742537 Centerline is valid? [True, True] Translation: X:835.54, Y:19.26, Z:7.74 [[ 9.59906701e-01 -2.79304407e-01 -2.38363842e-02 8.35543635e+02] [ 2.79212350e-01 9.60202580e-01 -7.17416405e-03 1.92575319e+01] [ 2.48915332e-02 2.31115300e-04 9.99690131e-01 7.74087558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.57, Y:19.27, Z:7.74 [[ 9.60045431e-01 -2.78917208e-01 -2.27587793e-02 8.35569992e+02] [ 2.78833128e-01 9.60315124e-01 -6.85195889e-03 1.92652540e+01] [ 2.37667292e-02 2.32290202e-04 9.99717504e-01 7.74211353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4292541539999 meters Centerline goodness [0,1] 0.9999568807537245 Centerline is valid? [True, True] Translation: X:835.60, Y:19.27, Z:7.74 [[ 9.59855684e-01 -2.79432557e-01 -2.43826205e-02 8.35598451e+02] [ 2.79336085e-01 9.60165292e-01 -7.34597608e-03 1.92723568e+01] [ 2.54640508e-02 2.40131153e-04 9.99675710e-01 7.74229951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4592541539998 meters Centerline goodness [0,1] 0.9997849323612276 Centerline is valid? [True, True] Translation: X:835.62, Y:19.28, Z:7.74 [[ 9.59786867e-01 -2.79653672e-01 -2.45559396e-02 8.35624130e+02] [ 2.79555778e-01 9.60100915e-01 -7.40278445e-03 1.92802888e+01] [ 2.56463960e-02 2.40340489e-04 9.99671048e-01 7.74186363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4892541539999 meters Centerline goodness [0,1] 0.9998490207919938 Centerline is valid? [True, True] Translation: X:835.65, Y:19.29, Z:7.74 [[ 9.59697778e-01 -2.79959209e-01 -2.45564046e-02 8.35651401e+02] [ 2.79861255e-01 9.60011867e-01 -7.40900904e-03 1.92871448e+01] [ 2.56486601e-02 2.38023315e-04 9.99670991e-01 7.74270739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5192541539999 meters Centerline goodness [0,1] 0.9999783993951831 Centerline is valid? [True, True] Translation: X:835.68, Y:19.29, Z:7.75 [[ 9.59796176e-01 -2.79791326e-01 -2.25413902e-02 8.35679131e+02] [ 2.79708595e-01 9.60060811e-01 -6.80735951e-03 1.92945208e+01] [ 2.35457455e-02 2.28657044e-04 9.99722734e-01 7.74595045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5492541539999 meters Centerline goodness [0,1] 0.9999354769330036 Centerline is valid? [True, True] Translation: X:835.71, Y:19.30, Z:7.75 [[ 9.59782765e-01 -2.79890541e-01 -2.18707254e-02 8.35705970e+02] [ 2.79812539e-01 9.60031892e-01 -6.61128677e-03 1.93019857e+01] [ 2.28470305e-02 2.25695897e-04 9.99738947e-01 7.74688090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5792541539998 meters Centerline goodness [0,1] 0.9999354032987382 Centerline is valid? [True, True] Translation: X:835.73, Y:19.31, Z:7.75 [[ 9.59690502e-01 -2.80205549e-01 -2.18858532e-02 8.35733207e+02] [ 2.80127363e-01 9.59939998e-01 -6.62275678e-03 1.93099905e+01] [ 2.28648391e-02 2.24970435e-04 9.99738540e-01 7.74641856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6092541539999 meters Centerline goodness [0,1] 0.9998704103671706 Centerline is valid? [True, True] Translation: X:835.76, Y:19.32, Z:7.75 [[ 9.59879501e-01 -2.79557624e-01 -2.18832842e-02 8.35760084e+02] [ 2.79479194e-01 9.60128885e-01 -6.62606139e-03 1.93181348e+01] [ 2.28631393e-02 2.44297854e-04 9.99738574e-01 7.74619575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6392541539999 meters Centerline goodness [0,1] 0.999978379780771 Centerline is valid? [True, True] Translation: X:835.79, Y:19.33, Z:7.75 [[ 9.60159528e-01 -2.78672393e-01 -2.08657382e-02 8.35787400e+02] [ 2.78600779e-01 9.60386189e-01 -6.32254701e-03 1.93263924e+01] [ 2.18010860e-02 2.57442842e-04 9.99762295e-01 7.74789449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6692541539999 meters Centerline goodness [0,1] 0.999935583612471 Centerline is valid? [True, True] Translation: X:835.81, Y:19.34, Z:7.75 [[ 9.60880849e-01 -2.76155472e-01 -2.11222415e-02 8.35813404e+02] [ 2.76081389e-01 9.61112923e-01 -6.40432564e-03 1.93361018e+01] [ 2.20694488e-02 3.22336106e-04 9.99756388e-01 7.74707161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.84, Y:19.35, Z:7.75 [[ 9.61392661e-01 -2.74403511e-01 -2.06606942e-02 8.35841094e+02] [ 2.74332138e-01 9.61614572e-01 -6.26844733e-03 1.93450628e+01] [ 2.15877086e-02 3.58546836e-04 9.99766894e-01 7.74824305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7292541539999 meters Centerline goodness [0,1] 0.9998923967546861 Centerline is valid? [True, True] Translation: X:835.87, Y:19.35, Z:7.75 [[ 9.61668533e-01 -2.73302907e-01 -2.23417376e-02 8.35868119e+02] [ 2.73219001e-01 9.61927931e-01 -6.78478088e-03 1.93547132e+01] [ 2.33454418e-02 4.20523047e-04 9.99727370e-01 7.74674589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7592541539999 meters Centerline goodness [0,1] 0.9998923967546861 Centerline is valid? [True, True] Translation: X:835.89, Y:19.36, Z:7.75 [[ 9.61590441e-01 -2.73577690e-01 -2.23398960e-02 8.35894491e+02] [ 2.73493717e-01 9.61849817e-01 -6.79084118e-03 1.93628075e+01] [ 2.33454475e-02 4.20186773e-04 9.99727370e-01 7.74700351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7892541539999 meters Centerline goodness [0,1] 0.9999356361295859 Centerline is valid? [True, True] Translation: X:835.92, Y:19.37, Z:7.75 [[ 9.62721970e-01 -2.69573597e-01 -2.22819210e-02 8.35921104e+02] [ 2.69488904e-01 9.62979650e-01 -6.77677925e-03 1.93742423e+01] [ 2.32838773e-02 5.19423788e-04 9.99728759e-01 7.74630754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.95, Y:19.38, Z:7.75 [[ 9.63344089e-01 -2.67357948e-01 -2.20883086e-02 8.35947976e+02] [ 2.67274096e-01 9.63597117e-01 -6.71969143e-03 1.93834925e+01] [ 2.30807934e-02 5.69742285e-04 9.99733441e-01 7.74716840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:835.98, Y:19.39, Z:7.75 [[ 9.64209323e-01 -2.64133827e-01 -2.31020126e-02 8.35975991e+02] [ 2.64041140e-01 9.64485802e-01 -7.02955447e-03 1.93936825e+01] [ 2.41383063e-02 6.78080203e-04 9.99708399e-01 7.74654887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.00, Y:19.40, Z:7.75 [[ 9.64423450e-01 -2.63321222e-01 -2.34380775e-02 8.36003928e+02] [ 2.63225471e-01 9.64707948e-01 -7.13622912e-03 1.94022841e+01] [ 2.44900203e-02 7.12847713e-04 9.99699820e-01 7.74668499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9092541539999 meters Centerline goodness [0,1] 0.999956758626654 Centerline is valid? [True, True] Translation: X:836.03, Y:19.42, Z:7.74 [[ 9.64464189e-01 -2.63095952e-01 -2.42764988e-02 8.36028334e+02] [ 2.62993043e-01 9.64769382e-01 -7.39593150e-03 1.94160631e+01] [ 2.53670624e-02 7.48560784e-04 9.99677924e-01 7.74306712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.06, Y:19.42, Z:7.74 [[ 9.64530220e-01 -2.62966260e-01 -2.30260648e-02 8.36055163e+02] [ 2.62873522e-01 9.64804763e-01 -7.02004988e-03 1.94241218e+01] [ 2.40616932e-02 7.18107511e-04 9.99710218e-01 7.74434112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9692541539998 meters Centerline goodness [0,1] 0.9998924245358118 Centerline is valid? [True, True] Translation: X:836.08, Y:19.43, Z:7.75 [[ 9.64029110e-01 -2.64724718e-01 -2.38474129e-02 8.36084764e+02] [ 2.64625614e-01 9.64323767e-01 -7.27721940e-03 1.94260280e+01] [ 2.49230869e-02 7.04815066e-04 9.99689123e-01 7.74654162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.11, Y:19.43, Z:7.75 [[ 9.63839842e-01 -2.65590726e-01 -2.17790164e-02 8.36112708e+02] [ 2.65508159e-01 9.64085666e-01 -6.65182610e-03 1.94329126e+01] [ 2.27635009e-02 6.28788461e-04 9.99740680e-01 7.74858893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.14, Y:19.44, Z:7.75 [[ 9.63110447e-01 -2.68333299e-01 -2.03839826e-02 8.36139441e+02] [ 2.68261512e-01 9.63325988e-01 -6.22918824e-03 1.94399340e+01] [ 2.13079188e-02 5.31158281e-04 9.99772819e-01 7.74882235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.17, Y:19.45, Z:7.75 [[ 9.62623178e-01 -2.70107856e-01 -1.99590383e-02 8.36167421e+02] [ 2.70039332e-01 9.62829949e-01 -6.10315410e-03 1.94465786e+01] [ 2.08656697e-02 4.85312217e-04 9.99782170e-01 7.74942466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.20, Y:19.45, Z:7.75 [[ 9.62159136e-01 -2.71809782e-01 -1.92155829e-02 8.36195483e+02] [ 2.71746505e-01 9.62350899e-01 -5.88089780e-03 1.94532008e+01] [ 2.00906190e-02 4.36592040e-04 9.99798068e-01 7.75005256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1192541539999 meters Centerline goodness [0,1] 0.9999783376297035 Centerline is valid? [True, True] Translation: X:836.22, Y:19.46, Z:7.75 [[ 9.61227783e-01 -2.75075186e-01 -1.93595078e-02 8.36224244e+02] [ 2.75011513e-01 9.61422644e-01 -5.93020467e-03 1.94575095e+01] [ 2.02439214e-02 3.76189955e-04 9.99795000e-01 7.75056393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.25, Y:19.46, Z:7.75 [[ 9.60898727e-01 -2.76238242e-01 -1.91329334e-02 8.36252804e+02] [ 2.76176176e-01 9.61089127e-01 -5.86604680e-03 1.94639878e+01] [ 2.00088807e-02 3.52616514e-04 9.99799740e-01 7.75164020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1792541539999 meters Centerline goodness [0,1] 0.9999565802613868 Centerline is valid? [True, True] Translation: X:836.28, Y:19.47, Z:7.75 [[ 9.60175690e-01 -2.78663812e-01 -2.02268289e-02 8.36280999e+02] [ 2.78594861e-01 9.60388658e-01 -6.20717793e-03 1.94701133e+01] [ 2.11553330e-02 3.24890764e-04 9.99776148e-01 7.75084585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2092541539998 meters Centerline goodness [0,1] 0.9998483995322043 Centerline is valid? [True, True] Translation: X:836.31, Y:19.48, Z:7.75 [[ 9.59710469e-01 -2.80201028e-01 -2.10522969e-02 8.36308227e+02] [ 2.80126563e-01 9.59941294e-01 -6.46687230e-03 1.94772830e+01] [ 2.20209934e-02 3.09017466e-04 9.99757461e-01 7.74964177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.34, Y:19.48, Z:7.75 [[ 9.59531753e-01 -2.80902714e-01 -1.98111147e-02 8.36336628e+02] [ 2.80836808e-01 9.59736207e-01 -6.09105459e-03 1.94847448e+01] [ 2.07244378e-02 2.80870080e-04 9.99785186e-01 7.75217661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2692541539999 meters Centerline goodness [0,1] 0.9998266371949898 Centerline is valid? [True, True] Translation: X:836.37, Y:19.49, Z:7.75 [[ 9.58606283e-01 -2.83957426e-01 -2.10279305e-02 8.36365571e+02] [ 2.83883780e-01 9.58836861e-01 -6.47098088e-03 1.94904420e+01] [ 2.19998380e-02 2.33634523e-04 9.99757947e-01 7.74990888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2992541539999 meters Centerline goodness [0,1] 0.9999781683222355 Centerline is valid? [True, True] Translation: X:836.39, Y:19.50, Z:7.75 [[ 9.58332195e-01 -2.84949143e-01 -2.00845672e-02 8.36394155e+02] [ 2.84882065e-01 9.58542614e-01 -6.18593831e-03 1.94975192e+01] [ 2.10145914e-02 2.06450856e-04 9.99779148e-01 7.75232088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3292541539998 meters Centerline goodness [0,1] 0.9999564051703468 Centerline is valid? [True, True] Translation: X:836.42, Y:19.50, Z:7.75 [[ 9.57950053e-01 -2.86233619e-01 -2.00502386e-02 8.36420924e+02] [ 2.86166980e-01 9.58159842e-01 -6.17877661e-03 1.95041517e+01] [ 2.09799070e-02 1.81243147e-04 9.99779881e-01 7.75219929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.45, Y:19.51, Z:7.75 [[ 9.57291466e-01 -2.88508468e-01 -1.88656601e-02 8.36449733e+02] [ 2.88449842e-01 9.57477335e-01 -5.81729996e-03 1.95097072e+01] [ 1.97417822e-02 1.27054929e-04 9.99805104e-01 7.75445328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.48, Y:19.52, Z:7.76 [[ 9.56945920e-01 -2.89657019e-01 -1.87967570e-02 8.36477419e+02] [ 2.89598933e-01 9.57130503e-01 -5.80159991e-03 1.95168217e+01] [ 1.96714237e-02 1.08296580e-04 9.99806493e-01 7.75552443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4192541539999 meters Centerline goodness [0,1] 0.9999345506904902 Centerline is valid? [True, True] Translation: X:836.50, Y:19.52, Z:7.76 [[ 9.56620452e-01 -2.90811818e-01 -1.74870398e-02 8.36504499e+02] [ 2.90761675e-01 9.56780267e-01 -5.40079153e-03 1.95232078e+01] [ 1.83018686e-02 8.19466434e-05 9.99832503e-01 7.75644650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.53, Y:19.53, Z:7.76 [[ 9.56539248e-01 -2.91116976e-01 -1.68396320e-02 8.36531208e+02] [ 2.91070466e-01 9.56687462e-01 -5.20414062e-03 1.95306859e+01] [ 1.76252785e-02 7.64452251e-05 9.99844660e-01 7.75744473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.56, Y:19.54, Z:7.76 [[ 9.56487311e-01 -2.91302099e-01 -1.65864588e-02 8.36558251e+02] [ 2.91256917e-01 9.56631110e-01 -5.13101919e-03 1.95385663e+01] [ 1.73617992e-02 7.68339020e-05 9.99849270e-01 7.75814177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5092541539999 meters Centerline goodness [0,1] 0.9999564099211019 Centerline is valid? [True, True] Translation: X:836.59, Y:19.55, Z:7.76 [[ 9.56452982e-01 -2.91403230e-01 -1.67883886e-02 8.36585083e+02] [ 2.91356864e-01 9.56600309e-01 -5.19874710e-03 1.95460399e+01] [ 1.75747094e-02 8.09449304e-05 9.99845550e-01 7.75796726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5392541539999 meters Centerline goodness [0,1] 0.9998037719393873 Centerline is valid? [True, True] Translation: X:836.61, Y:19.55, Z:7.76 [[ 9.56464671e-01 -2.91319185e-01 -1.75631788e-02 8.36612275e+02] [ 2.91268329e-01 9.56625906e-01 -5.44394913e-03 1.95546628e+01] [ 1.83873186e-02 9.13472883e-05 9.99830935e-01 7.75585016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.64, Y:19.56, Z:7.76 [[ 9.56877666e-01 -2.89969550e-01 -1.74009360e-02 8.36639330e+02] [ 2.89919320e-01 9.57035864e-01 -5.39838834e-03 1.95637412e+01] [ 1.82186881e-02 1.20729697e-04 9.99834019e-01 7.75830043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5992541539999 meters Centerline goodness [0,1] 0.9998904613766815 Centerline is valid? [True, True] Translation: X:836.67, Y:19.57, Z:7.75 [[ 9.57140054e-01 -2.88973762e-01 -1.94186243e-02 8.36665848e+02] [ 2.88910915e-01 9.57337004e-01 -6.02859454e-03 1.95731907e+01] [ 2.03322733e-02 1.59956792e-04 9.99793265e-01 7.75480314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.69, Y:19.58, Z:7.76 [[ 9.57525910e-01 -2.87657123e-01 -1.99376832e-02 8.36693008e+02] [ 2.87590493e-01 9.57733439e-01 -6.19413202e-03 1.95820641e+01] [ 2.08767721e-02 1.97153766e-04 9.99782037e-01 7.75700051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6592541539999 meters Centerline goodness [0,1] 0.9998256624825662 Centerline is valid? [True, True] Translation: X:836.72, Y:19.59, Z:7.75 [[ 9.57589275e-01 -2.87375767e-01 -2.09272443e-02 8.36718829e+02] [ 2.87302189e-01 9.57817896e-01 -6.50626214e-03 1.95912759e+01] [ 2.19142312e-02 2.17883742e-04 9.99759831e-01 7.75367465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6892541539999 meters Centerline goodness [0,1] 0.9999781749929069 Centerline is valid? [True, True] Translation: X:836.75, Y:19.60, Z:7.76 [[ 9.57662427e-01 -2.87196314e-01 -2.00238000e-02 8.36745999e+02] [ 2.87128808e-01 9.57871719e-01 -6.23036936e-03 1.95996758e+01] [ 2.09695709e-02 2.17180814e-04 9.99780091e-01 7.75720779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7192541539998 meters Centerline goodness [0,1] 0.9997602441150828 Centerline is valid? [True, True] Translation: X:836.77, Y:19.61, Z:7.76 [[ 9.57461545e-01 -2.87819791e-01 -2.06678038e-02 8.36772178e+02] [ 2.87747920e-01 9.57684563e-01 -6.43526973e-03 1.96078020e+01] [ 2.16454347e-02 2.14405725e-04 9.99765687e-01 7.75543735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.80, Y:19.62, Z:7.76 [[ 9.57365062e-01 -2.88199247e-01 -1.98325984e-02 8.36798844e+02] [ 2.88133051e-01 9.57570443e-01 -6.17990110e-03 1.96150666e+01] [ 2.07721529e-02 2.01994306e-04 9.99784215e-01 7.75912875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7792541539999 meters Centerline goodness [0,1] 0.9998037591033971 Centerline is valid? [True, True] Translation: X:836.83, Y:19.62, Z:7.76 [[ 9.56510660e-01 -2.91031362e-01 -1.97003470e-02 8.36825345e+02] [ 2.90966566e-01 9.56713502e-01 -6.14263120e-03 1.96222213e+01] [ 2.06352863e-02 1.43349926e-04 9.99787060e-01 7.75745656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.85, Y:19.63, Z:7.76 [[ 9.56150062e-01 -2.92230340e-01 -1.94547496e-02 8.36852901e+02] [ 2.92167311e-01 9.56347956e-01 -6.07032490e-03 1.96289434e+01] [ 2.03794431e-02 1.20099655e-04 9.99792310e-01 7.76023563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8392541539998 meters Centerline goodness [0,1] 0.9998475244505435 Centerline is valid? [True, True] Translation: X:836.88, Y:19.64, Z:7.76 [[ 9.55132078e-01 -2.95541021e-01 -1.94478241e-02 8.36880576e+02] [ 2.95478630e-01 9.55330049e-01 -6.07261702e-03 1.96353074e+01] [ 2.03737982e-02 5.37348793e-05 9.99792431e-01 7.75782806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8692541539999 meters Centerline goodness [0,1] 0.9998474247477059 Centerline is valid? [True, True] Translation: X:836.91, Y:19.64, Z:7.76 [[ 9.54696905e-01 -2.96941492e-01 -1.94825824e-02 8.36907995e+02] [ 2.96879076e-01 9.54895675e-01 -6.08806793e-03 1.96428639e+01] [ 2.04116337e-02 2.82885442e-05 9.99791661e-01 7.75837344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.93, Y:19.65, Z:7.76 [[ 9.54527854e-01 -2.97525540e-01 -1.88448427e-02 8.36934641e+02] [ 2.97467144e-01 9.54713859e-01 -5.89455147e-03 1.96508354e+01] [ 1.97452121e-02 2.07920199e-05 9.99805044e-01 7.76128523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.96, Y:19.66, Z:7.76 [[ 9.54222549e-01 -2.98495349e-01 -1.89698167e-02 8.36961731e+02] [ 2.98436249e-01 9.54411089e-01 -5.93958092e-03 1.96585017e+01] [ 1.98779407e-02 6.40111604e-06 9.99802414e-01 7.76165876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:836.99, Y:19.67, Z:7.76 [[ 9.54217549e-01 -2.98501894e-01 -1.91177444e-02 8.36988781e+02] [ 2.98441751e-01 9.54409042e-01 -5.99186672e-03 1.96667377e+01] [ 2.00347317e-02 1.20112619e-05 9.99799285e-01 7.76225806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9892541539999 meters Centerline goodness [0,1] 0.9999563785469694 Centerline is valid? [True, True] Translation: X:837.01, Y:19.68, Z:7.76 [[ 9.54429319e-01 -2.97822855e-01 -1.91369464e-02 8.37014627e+02] [ 2.97762371e-01 9.54621153e-01 -6.00203572e-03 1.96751332e+01] [ 2.00560773e-02 3.02563250e-05 9.99798856e-01 7.76257359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0192541539999 meters Centerline goodness [0,1] 0.999825388510564 Centerline is valid? [True, True] Translation: X:837.04, Y:19.68, Z:7.76 [[ 9.55023267e-01 -2.95848916e-01 -2.00992286e-02 8.37041551e+02] [ 2.95781669e-01 9.55234742e-01 -6.30807914e-03 1.96849542e+01] [ 2.10657198e-02 7.93789880e-05 9.99778090e-01 7.76007640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0492541539999 meters Centerline goodness [0,1] 0.9998687003523207 Centerline is valid? [True, True] Translation: X:837.07, Y:19.69, Z:7.76 [[ 9.55487178e-01 -2.94355849e-01 -1.99721516e-02 8.37067736e+02] [ 2.94289001e-01 9.55695883e-01 -6.27403151e-03 1.96940420e+01] [ 2.09341009e-02 1.17172134e-04 9.99780851e-01 7.76120415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0792541539998 meters Centerline goodness [0,1] 0.999934560684059 Centerline is valid? [True, True] Translation: X:837.09, Y:19.71, Z:7.76 [[ 9.56673364e-01 -2.90494914e-01 -1.97174797e-02 8.37092869e+02] [ 2.90428860e-01 9.56876514e-01 -6.19785112e-03 1.97060122e+01] [ 2.06676375e-02 2.02793909e-04 9.99786381e-01 7.76040922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.12, Y:19.71, Z:7.76 [[ 9.57350297e-01 -2.88287890e-01 -1.92484060e-02 8.37120931e+02] [ 2.88224421e-01 9.57543749e-01 -6.05410483e-03 1.97145858e+01] [ 2.01765159e-02 2.48038385e-04 9.99796403e-01 7.76383999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1392541539999 meters Centerline goodness [0,1] 0.999714962287318 Centerline is valid? [True, True] Translation: X:837.15, Y:19.72, Z:7.76 [[ 9.57778119e-01 -2.86779312e-01 -2.04621776e-02 8.37147903e+02] [ 2.86707116e-01 9.57996625e-01 -6.44169966e-03 1.97241331e+01] [ 2.14500433e-02 3.03067046e-04 9.99769875e-01 7.76138640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1692541539999 meters Centerline goodness [0,1] 0.999846400280868 Centerline is valid? [True, True] Translation: X:837.17, Y:19.74, Z:7.76 [[ 9.59038119e-01 -2.82526546e-01 -2.06067462e-02 8.37173611e+02] [ 2.82452264e-01 9.59259395e-01 -6.49086675e-03 1.97354087e+01] [ 2.16010571e-02 4.04566498e-04 9.99766588e-01 7.76087357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1992541539998 meters Centerline goodness [0,1] 0.9999781697520084 Centerline is valid? [True, True] Translation: X:837.20, Y:19.75, Z:7.76 [[ 9.59642087e-01 -2.80492185e-01 -2.02780644e-02 8.37200251e+02] [ 2.80419758e-01 9.59856206e-01 -6.38931064e-03 1.97454026e+01] [ 2.12561776e-02 4.45081493e-04 9.99773963e-01 7.76222107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2292541539999 meters Centerline goodness [0,1] 0.9998472016065659 Centerline is valid? [True, True] Translation: X:837.23, Y:19.75, Z:7.76 [[ 9.60049234e-01 -2.79002724e-01 -2.15162146e-02 8.37226597e+02] [ 2.78920759e-01 9.60290175e-01 -6.78157685e-03 1.97548682e+01] [ 2.25538879e-02 5.09328755e-04 9.99745499e-01 7.76017394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.25, Y:19.77, Z:7.76 [[ 9.61039744e-01 -2.75615220e-01 -2.09490293e-02 8.37251566e+02] [ 2.75536671e-01 9.61267871e-01 -6.60479703e-03 1.97673640e+01] [ 2.19580114e-02 5.75246640e-04 9.99758728e-01 7.76071874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.28, Y:19.78, Z:7.76 [[ 9.61353565e-01 -2.74499002e-01 -2.12042641e-02 8.37278525e+02] [ 2.74418211e-01 9.61587191e-01 -6.68724962e-03 1.97762727e+01] [ 2.22253921e-02 6.09975042e-04 9.99752799e-01 7.76069321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.31, Y:19.79, Z:7.76 [[ 9.61782089e-01 -2.72976366e-01 -2.14269967e-02 8.37305015e+02] [ 2.72893448e-01 9.62020517e-01 -6.75945059e-03 1.97851148e+01] [ 2.24583807e-02 6.53831505e-04 9.99747565e-01 7.76087564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.33, Y:19.79, Z:7.76 [[ 9.61908623e-01 -2.72528376e-01 -2.14495856e-02 8.37334012e+02] [ 2.72445074e-01 9.62147513e-01 -6.77087948e-03 1.97883164e+01] [ 2.24829222e-02 6.69133426e-04 9.99747003e-01 7.76344034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3792541539999 meters Centerline goodness [0,1] 0.9999560729189545 Centerline is valid? [True, True] Translation: X:837.36, Y:19.80, Z:7.76 [[ 9.61982532e-01 -2.72258459e-01 -2.15624357e-02 8.37361818e+02] [ 2.72174075e-01 9.62223915e-01 -6.81251501e-03 1.97968824e+01] [ 2.26026561e-02 6.84784461e-04 9.99744293e-01 7.76346085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.39, Y:19.81, Z:7.76 [[ 9.62041802e-01 -2.72057886e-01 -2.14494080e-02 8.37388229e+02] [ 2.71974238e-01 9.62280640e-01 -6.78111718e-03 1.98052409e+01] [ 2.24852065e-02 6.90031803e-04 9.99746938e-01 7.76333622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.42, Y:19.81, Z:7.76 [[ 9.61996029e-01 -2.72264444e-01 -2.08737407e-02 8.37415581e+02] [ 2.72185163e-01 9.62222231e-01 -6.60420927e-03 1.98111759e+01] [ 2.18832687e-02 6.71700571e-04 9.99760307e-01 7.76483355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.44, Y:19.83, Z:7.76 [[ 9.61975047e-01 -2.72378129e-01 -2.03509944e-02 8.37440502e+02] [ 2.72302712e-01 9.62190067e-01 -6.44271598e-03 1.98261276e+01] [ 2.13363796e-02 6.56101031e-04 9.99772138e-01 7.76279131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4992541539999 meters Centerline goodness [0,1] 0.999934116613594 Centerline is valid? [True, True] Translation: X:837.47, Y:19.83, Z:7.76 [[ 9.61803151e-01 -2.73039646e-01 -1.95971926e-02 8.37470529e+02] [ 2.72969773e-01 9.62002581e-01 -6.20783660e-03 1.98280849e+01] [ 2.05475353e-02 6.21275600e-04 9.99788684e-01 7.76480633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5292541539999 meters Centerline goodness [0,1] 0.9998902112335866 Centerline is valid? [True, True] Translation: X:837.50, Y:19.83, Z:7.77 [[ 9.61626841e-01 -2.73627627e-01 -2.00434764e-02 8.37498469e+02] [ 2.73554535e-01 9.61835499e-01 -6.35528402e-03 1.98341418e+01] [ 2.10175084e-02 6.28427834e-04 9.99778910e-01 7.76542335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5592541539999 meters Centerline goodness [0,1] 0.9998677977305277 Centerline is valid? [True, True] Translation: X:837.52, Y:19.84, Z:7.76 [[ 9.61475479e-01 -2.74130603e-01 -2.04283041e-02 8.37524996e+02] [ 2.74054703e-01 9.61692264e-01 -6.48138429e-03 1.98439402e+01] [ 2.14224878e-02 6.33219262e-04 9.99770312e-01 7.76429143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5892541539998 meters Centerline goodness [0,1] 0.9998458285613603 Centerline is valid? [True, True] Translation: X:837.55, Y:19.85, Z:7.76 [[ 9.61342622e-01 -2.74563088e-01 -2.08680153e-02 8.37552203e+02] [ 2.74483882e-01 9.61568874e-01 -6.62564306e-03 1.98496403e+01] [ 2.18851910e-02 6.41579227e-04 9.99760285e-01 7.76492274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6192541539999 meters Centerline goodness [0,1] 0.9998242414921897 Centerline is valid? [True, True] Translation: X:837.58, Y:19.86, Z:7.76 [[ 9.61208369e-01 -2.75021226e-01 -2.10189500e-02 8.37578839e+02] [ 2.74940889e-01 9.61437942e-01 -6.67765849e-03 1.98587354e+01] [ 2.20449139e-02 6.39652423e-04 9.99756777e-01 7.76460113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6492541539999 meters Centerline goodness [0,1] 0.9998242414921897 Centerline is valid? [True, True] Translation: X:837.61, Y:19.87, Z:7.76 [[ 9.61129819e-01 -2.75295718e-01 -2.10175964e-02 8.37605121e+02] [ 2.75215354e-01 9.61359382e-01 -6.68191689e-03 1.98671706e+01] [ 2.20449666e-02 6.37824328e-04 9.99756777e-01 7.76485937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.63, Y:19.88, Z:7.77 [[ 9.61123447e-01 -2.75387567e-01 -2.00850191e-02 8.37631625e+02] [ 2.75314067e-01 9.61333091e-01 -6.39161869e-03 1.98756998e+01] [ 2.10685658e-02 6.13446283e-04 9.99777845e-01 7.76729014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.66, Y:19.88, Z:7.77 [[ 9.60942717e-01 -2.76037845e-01 -1.98040980e-02 8.37658978e+02] [ 2.75966404e-01 9.61146582e-01 -6.30802022e-03 1.98835483e+01] [ 2.07758934e-02 5.96380386e-04 9.99783980e-01 7.76772931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7392541539999 meters Centerline goodness [0,1] 0.9998461437017825 Centerline is valid? [True, True] Translation: X:837.68, Y:19.89, Z:7.77 [[ 9.60737304e-01 -2.76680487e-01 -2.07783808e-02 8.37684603e+02] [ 2.76601901e-01 9.60961773e-01 -6.62260189e-03 1.98928271e+01] [ 2.17995744e-02 6.15241039e-04 9.99762172e-01 7.76520526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7692541539999 meters Centerline goodness [0,1] 0.9999122017603547 Centerline is valid? [True, True] Translation: X:837.71, Y:19.90, Z:7.77 [[ 9.60816385e-01 -2.76476368e-01 -1.98164451e-02 8.37710289e+02] [ 2.76404792e-01 9.61020533e-01 -6.31865214e-03 1.99014307e+01] [ 2.07909687e-02 5.93704112e-04 9.99783668e-01 7.76599958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.74, Y:19.91, Z:7.77 [[ 9.60887178e-01 -2.76244039e-01 -1.96229931e-02 8.37738129e+02] [ 2.76173721e-01 9.61087340e-01 -6.26110460e-03 1.99094566e+01] [ 2.05890031e-02 5.96860109e-04 9.99787846e-01 7.76821462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8292541539998 meters Centerline goodness [0,1] 0.9999779551166175 Centerline is valid? [True, True] Translation: X:837.77, Y:19.92, Z:7.77 [[ 9.60835488e-01 -2.76409896e-01 -1.98175273e-02 8.37765235e+02] [ 2.76338086e-01 9.61039647e-01 -6.32919681e-03 1.99164298e+01] [ 2.07948821e-02 6.04979339e-04 9.99783580e-01 7.76894068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.79, Y:19.92, Z:7.77 [[ 9.60667959e-01 -2.76932907e-01 -2.06212741e-02 8.37790570e+02] [ 2.76855153e-01 9.60889055e-01 -6.59149058e-03 1.99245139e+01] [ 2.16401572e-02 6.23127815e-04 9.99765630e-01 7.76824989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8892541539999 meters Centerline goodness [0,1] 0.999889695338525 Centerline is valid? [True, True] Translation: X:837.82, Y:19.93, Z:7.77 [[ 9.60340810e-01 -2.77980031e-01 -2.17400930e-02 8.37816956e+02] [ 2.77893800e-01 9.60586643e-01 -6.95246467e-03 1.99340386e+01] [ 2.28158893e-02 6.35298479e-04 9.99739482e-01 7.76541925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.85, Y:19.94, Z:7.77 [[ 9.60157719e-01 -2.78619603e-01 -2.16395812e-02 8.37845461e+02] [ 2.78534236e-01 9.60401338e-01 -6.92449444e-03 1.99414165e+01] [ 2.27119827e-02 6.21242559e-04 9.99741857e-01 7.76793992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9492541539998 meters Centerline goodness [0,1] 0.999933689934132 Centerline is valid? [True, True] Translation: X:837.87, Y:19.95, Z:7.77 [[ 9.59235465e-01 -2.81752615e-01 -2.19723923e-02 8.37873935e+02] [ 2.81665291e-01 9.59486920e-01 -7.03669381e-03 1.99484965e+01] [ 2.30648299e-02 5.60986005e-04 9.99733814e-01 7.76679463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9792541539999 meters Centerline goodness [0,1] 0.9998456756101325 Centerline is valid? [True, True] Translation: X:837.90, Y:19.96, Z:7.77 [[ 9.58681367e-01 -2.83602052e-01 -2.23587227e-02 8.37901979e+02] [ 2.83511988e-01 9.58941914e-01 -7.16648874e-03 1.99558578e+01] [ 2.34731473e-02 5.31413282e-04 9.99724326e-01 7.76640303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:837.93, Y:19.96, Z:7.77 [[ 9.57928875e-01 -2.86239982e-01 -2.09509548e-02 8.37928815e+02] [ 2.86161457e-01 9.58157857e-01 -6.71877151e-03 1.99623934e+01] [ 2.19975030e-02 4.40749481e-04 9.99757929e-01 7.76947178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0392541539999 meters Centerline goodness [0,1] 0.9999779497695751 Centerline is valid? [True, True] Translation: X:837.96, Y:19.97, Z:7.77 [[ 9.57376078e-01 -2.88122295e-01 -2.04104772e-02 8.37956695e+02] [ 2.88048112e-01 9.57593541e-01 -6.54944020e-03 1.99699331e+01] [ 2.14319809e-02 3.91077939e-04 9.99770232e-01 7.76965444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0692541539999 meters Centerline goodness [0,1] 0.9999337280197932 Centerline is valid? [True, True] Translation: X:837.98, Y:19.98, Z:7.77 [[ 9.56839275e-01 -2.89891194e-01 -2.05352861e-02 8.37984627e+02] [ 2.89816386e-01 9.57059542e-01 -6.59511467e-03 1.99772919e+01] [ 2.15653571e-02 3.59002349e-04 9.99767376e-01 7.76953270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0992541539999 meters Centerline goodness [0,1] 0.9998459303605229 Centerline is valid? [True, True] Translation: X:838.01, Y:19.98, Z:7.77 [[ 9.55995551e-01 -2.92693607e-01 -2.00738233e-02 8.38011730e+02] [ 2.92622669e-01 9.56206236e-01 -6.45036889e-03 1.99842960e+01] [ 2.10826967e-02 2.92468230e-04 9.99777692e-01 7.77065389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1292541539999 meters Centerline goodness [0,1] 0.9998450298870932 Centerline is valid? [True, True] Translation: X:838.04, Y:19.99, Z:7.77 [[ 9.55342727e-01 -2.94772569e-01 -2.07221349e-02 8.38039654e+02] [ 2.94697371e-01 9.55567405e-01 -6.66286002e-03 1.99912935e+01] [ 2.17654250e-02 2.58556188e-04 9.99763072e-01 7.76934200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1592541539999 meters Centerline goodness [0,1] 0.9998895320577968 Centerline is valid? [True, True] Translation: X:838.07, Y:20.00, Z:7.77 [[ 9.54925902e-01 -2.96136283e-01 -2.04896218e-02 8.38067462e+02] [ 2.96062955e-01 9.55145669e-01 -6.59374159e-03 1.99996556e+01] [ 2.15232196e-02 2.30316656e-04 9.99768322e-01 7.76986320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1892541539999 meters Centerline goodness [0,1] 0.9998675847457628 Centerline is valid? [True, True] Translation: X:838.09, Y:20.01, Z:7.77 [[ 9.54269485e-01 -2.98332598e-01 -1.91679637e-02 8.38094926e+02] [ 2.98268766e-01 9.54461959e-01 -6.17352980e-03 2.00071493e+01] [ 2.01368574e-02 1.74006207e-04 9.99797218e-01 7.77116290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.12, Y:20.02, Z:7.77 [[ 9.54204289e-01 -2.98587760e-01 -1.84261691e-02 8.38121231e+02] [ 2.98528719e-01 9.54382168e-01 -5.93990108e-03 2.00157337e+01] [ 1.93591890e-02 1.67138426e-04 9.99812579e-01 7.77320836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2492541539999 meters Centerline goodness [0,1] 0.999867928681488 Centerline is valid? [True, True] Translation: X:838.15, Y:20.03, Z:7.77 [[ 9.54047969e-01 -2.99134730e-01 -1.76319895e-02 8.38148033e+02] [ 2.99080664e-01 9.54210873e-01 -5.68920518e-03 2.00252877e+01] [ 1.85264749e-02 1.54387533e-04 9.99828358e-01 7.77173129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2792541539999 meters Centerline goodness [0,1] 0.9999780147301308 Centerline is valid? [True, True] Translation: X:838.17, Y:20.03, Z:7.77 [[ 9.54282956e-01 -2.98403113e-01 -1.73095875e-02 8.38174139e+02] [ 2.98350790e-01 9.54439916e-01 -5.59045250e-03 2.00349192e+01] [ 1.81891697e-02 1.70544425e-04 9.99834549e-01 7.77421816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3092541539999 meters Centerline goodness [0,1] 0.9998453995317814 Centerline is valid? [True, True] Translation: X:838.20, Y:20.04, Z:7.77 [[ 9.54164682e-01 -2.98739515e-01 -1.80128352e-02 8.38201059e+02] [ 2.98682807e-01 9.54334674e-01 -5.82321272e-03 2.00445468e+01] [ 1.89298970e-02 1.76179715e-04 9.99820798e-01 7.77146638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.23, Y:20.06, Z:7.77 [[ 9.54746664e-01 -2.96801601e-01 -1.91733623e-02 8.38227650e+02] [ 2.96736845e-01 9.54939137e-01 -6.20401647e-03 2.00559970e+01] [ 2.01507561e-02 2.33820972e-04 9.99796926e-01 7.77235973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3692541539999 meters Centerline goodness [0,1] 0.9999558313641483 Centerline is valid? [True, True] Translation: X:838.25, Y:20.07, Z:7.77 [[ 9.54834870e-01 -2.96460850e-01 -2.00333531e-02 8.38254599e+02] [ 2.96389965e-01 9.55044972e-01 -6.48770413e-03 2.00659713e+01] [ 2.10561035e-02 2.57001298e-04 9.99778263e-01 7.77065234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.28, Y:20.08, Z:7.77 [[ 9.55463791e-01 -2.94378189e-01 -2.07466951e-02 8.38281620e+02] [ 2.94301553e-01 9.55688956e-01 -6.72427006e-03 2.00775192e+01] [ 2.18068658e-02 3.19011979e-04 9.99762151e-01 7.77135801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4292541539999 meters Centerline goodness [0,1] 0.9999116471185917 Centerline is valid? [True, True] Translation: X:838.31, Y:20.09, Z:7.77 [[ 9.55586819e-01 -2.93980654e-01 -2.07173208e-02 8.38308620e+02] [ 2.93904023e-01 9.55811312e-01 -6.72019218e-03 2.00874006e+01] [ 2.17774561e-02 3.32823133e-04 9.99762788e-01 7.77020625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4592541539998 meters Centerline goodness [0,1] 0.9999118981542663 Centerline is valid? [True, True] Translation: X:838.33, Y:20.10, Z:7.77 [[ 9.55909149e-01 -2.92975146e-01 -2.00814130e-02 8.38334915e+02] [ 2.92902845e-01 9.56119994e-01 -6.51775330e-03 2.00979046e+01] [ 2.11097802e-02 3.48477001e-04 9.99777103e-01 7.77107090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4892541539999 meters Centerline goodness [0,1] 0.9998460421844415 Centerline is valid? [True, True] Translation: X:838.36, Y:20.11, Z:7.77 [[ 9.56191924e-01 -2.92163143e-01 -1.83766806e-02 8.38361182e+02] [ 2.92102368e-01 9.56368435e-01 -5.96857096e-03 2.01076875e+01] [ 1.93186738e-02 3.39227421e-04 9.99813319e-01 7.77253275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.39, Y:20.12, Z:7.78 [[ 9.56550784e-01 -2.91045683e-01 -1.74071121e-02 8.38388043e+02] [ 2.90990876e-01 9.56709094e-01 -5.65864941e-03 2.01180366e+01] [ 1.83004680e-02 3.47474723e-04 9.99832472e-01 7.77605352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5492541539999 meters Centerline goodness [0,1] 0.9999780176298608 Centerline is valid? [True, True] Translation: X:838.41, Y:20.13, Z:7.78 [[ 9.56521527e-01 -2.91167267e-01 -1.69761998e-02 8.38414178e+02] [ 2.91115072e-01 9.56672100e-01 -5.52348722e-03 2.01279659e+01] [ 1.78489154e-02 3.41306797e-04 9.99840637e-01 7.77583213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.44, Y:20.14, Z:7.78 [[ 9.56841128e-01 -2.90121758e-01 -1.68647751e-02 8.38441508e+02] [ 2.90069995e-01 9.56989673e-01 -5.49218571e-03 2.01385057e+01] [ 1.77328182e-02 3.63183926e-04 9.99842695e-01 7.77648377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6092541539999 meters Centerline goodness [0,1] 0.9999780108626338 Centerline is valid? [True, True] Translation: X:838.47, Y:20.15, Z:7.78 [[ 9.57569440e-01 -2.87663957e-01 -1.76129107e-02 8.38468198e+02] [ 2.87606992e-01 9.57731310e-01 -5.74080128e-03 2.01500413e+01] [ 1.85198576e-02 4.31619607e-04 9.99828400e-01 7.77583080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6392541539999 meters Centerline goodness [0,1] 0.9999780485127867 Centerline is valid? [True, True] Translation: X:838.49, Y:20.16, Z:7.78 [[ 9.58001303e-01 -2.86173355e-01 -1.83933465e-02 8.38494113e+02] [ 2.86110886e-01 9.58177737e-01 -5.99871939e-03 2.01612020e+01] [ 1.93407688e-02 4.84244332e-04 9.99812833e-01 7.77531204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6692541539999 meters Centerline goodness [0,1] 0.9998030634573304 Centerline is valid? [True, True] Translation: X:838.52, Y:20.17, Z:7.77 [[ 9.58213805e-01 -2.85378086e-01 -1.96380063e-02 8.38520116e+02] [ 2.85306667e-01 9.58414869e-01 -6.40663515e-03 2.01727195e+01] [ 2.06496705e-02 5.36072121e-04 9.99786629e-01 7.77190038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6992541539998 meters Centerline goodness [0,1] 0.9999562784190277 Centerline is valid? [True, True] Translation: X:838.55, Y:20.18, Z:7.77 [[ 9.58990787e-01 -2.82638873e-01 -2.12588427e-02 8.38547378e+02] [ 2.82554472e-01 9.59226173e-01 -6.93684085e-03 2.01844491e+01] [ 2.23526592e-02 6.45585387e-04 9.99749940e-01 7.77483498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.57, Y:20.20, Z:7.77 [[ 9.59132148e-01 -2.82157013e-01 -2.12824579e-02 8.38572472e+02] [ 2.82072271e-01 9.59368014e-01 -6.94611926e-03 2.01973441e+01] [ 2.23776056e-02 6.59055066e-04 9.99749373e-01 7.77327166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7592541539999 meters Centerline goodness [0,1] 0.9998471382088966 Centerline is valid? [True, True] Translation: X:838.60, Y:20.21, Z:7.77 [[ 9.58852824e-01 -2.83191125e-01 -2.01009569e-02 8.38599904e+02] [ 2.83115676e-01 9.59063305e-01 -6.56440585e-03 2.02059941e+01] [ 2.11370717e-02 6.03403076e-04 9.99776405e-01 7.77289312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.63, Y:20.21, Z:7.78 [[ 9.58674004e-01 -2.83825242e-01 -1.96821186e-02 8.38628159e+02] [ 2.83752925e-01 9.58875849e-01 -6.43309041e-03 2.02132105e+01] [ 2.06985816e-02 5.82377820e-04 9.99785592e-01 7.77709214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8192541539999 meters Centerline goodness [0,1] 0.9998468807419721 Centerline is valid? [True, True] Translation: X:838.66, Y:20.22, Z:7.78 [[ 9.57336752e-01 -2.88413364e-01 -1.80020849e-02 8.38656802e+02] [ 2.88353626e-01 9.57505892e-01 -5.88666017e-03 2.02203294e+01] [ 1.89348938e-02 4.44549674e-04 9.99820620e-01 7.77640302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8492541539999 meters Centerline goodness [0,1] 0.9998468807419721 Centerline is valid? [True, True] Translation: X:838.68, Y:20.23, Z:7.78 [[ 9.57252565e-01 -2.88692721e-01 -1.80011101e-02 8.38683010e+02] [ 2.88632976e-01 9.57421703e-01 -5.88963972e-03 2.02289753e+01] [ 1.89349496e-02 4.42158748e-04 9.99820620e-01 7.77666140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.71, Y:20.24, Z:7.78 [[ 9.55747543e-01 -2.93743995e-01 -1.61585767e-02 8.38711698e+02] [ 2.93696527e-01 9.55884077e-01 -5.28966731e-03 2.02352960e+01] [ 1.69995342e-02 3.09868682e-04 9.99855449e-01 7.78116191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.74, Y:20.24, Z:7.78 [[ 9.53858941e-01 -2.99858551e-01 -1.54262665e-02 8.38739261e+02] [ 2.99816066e-01 9.53983654e-01 -5.05119065e-03 2.02409602e+01] [ 1.62310488e-02 1.93080837e-04 9.99868249e-01 7.78226367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9392541539999 meters Centerline goodness [0,1] 0.9998691698829071 Centerline is valid? [True, True] Translation: X:838.77, Y:20.25, Z:7.78 [[ 9.52647621e-01 -3.03690042e-01 -1.53254060e-02 8.38767456e+02] [ 3.03648557e-01 9.52770876e-01 -5.02116087e-03 2.02480794e+01] [ 1.61264770e-02 1.29859540e-04 9.99869951e-01 7.77998824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.79, Y:20.26, Z:7.78 [[ 9.51920239e-01 -3.05981785e-01 -1.49333735e-02 8.38794115e+02] [ 3.05942631e-01 9.52037362e-01 -4.89567651e-03 2.02554231e+01] [ 1.57151173e-02 9.15379725e-05 9.99876506e-01 7.78322978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.82, Y:20.26, Z:7.78 [[ 9.50157407e-01 -3.11423016e-01 -1.47175961e-02 8.38822069e+02] [ 3.11385616e-01 9.50271385e-01 -4.82634514e-03 2.02610275e+01] [ 1.54887454e-02 2.93986788e-06 9.99880042e-01 7.78376088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0292541539999 meters Centerline goodness [0,1] 0.9999128597259438 Centerline is valid? [True, True] Translation: X:838.85, Y:20.27, Z:7.78 [[ 9.49074202e-01 -3.14675863e-01 -1.54032446e-02 8.38850013e+02] [ 3.14635281e-01 9.49199188e-01 -5.05384273e-03 2.02684047e+01] [ 1.62110696e-02 -4.99324314e-05 9.99868591e-01 7.78197359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0592541539999 meters Centerline goodness [0,1] 0.9998473781750791 Centerline is valid? [True, True] Translation: X:838.88, Y:20.28, Z:7.78 [[ 9.48215484e-01 -3.17227712e-01 -1.59365907e-02 8.38877672e+02] [ 3.17184556e-01 9.48349393e-01 -5.23326776e-03 2.02767355e+01] [ 1.67735936e-02 -9.25749090e-05 9.99859309e-01 7.78133282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0892541539998 meters Centerline goodness [0,1] 0.999847358206677 Centerline is valid? [True, True] Translation: X:838.90, Y:20.28, Z:7.78 [[ 9.47129193e-01 -3.20334672e-01 -1.82205708e-02 8.38904190e+02] [ 3.20278762e-01 9.47304423e-01 -5.98700262e-03 2.02842825e+01] [ 1.91782719e-02 -1.65196910e-04 9.99816066e-01 7.78062213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1192541539999 meters Centerline goodness [0,1] 0.9998468706932383 Centerline is valid? [True, True] Translation: X:838.93, Y:20.29, Z:7.78 [[ 9.46615901e-01 -3.21797178e-01 -1.91026542e-02 8.38931212e+02] [ 3.21735945e-01 9.46808606e-01 -6.28061804e-03 2.02941127e+01] [ 2.01076426e-02 -2.00677584e-04 9.99797801e-01 7.78078118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1492541539999 meters Centerline goodness [0,1] 0.9998473115934126 Centerline is valid? [True, True] Translation: X:838.96, Y:20.31, Z:7.78 [[ 9.46221897e-01 -3.22918437e-01 -1.96927655e-02 8.38958075e+02] [ 3.22853488e-01 9.46426771e-01 -6.48024320e-03 2.03053783e+01] [ 2.07303504e-02 -2.26130001e-04 9.99785078e-01 7.78092032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:838.98, Y:20.32, Z:7.78 [[ 9.46323649e-01 -3.22674332e-01 -1.87837083e-02 8.38984352e+02] [ 3.22615126e-01 9.46510028e-01 -6.18446825e-03 2.03150226e+01] [ 1.97745374e-02 -2.07399854e-04 9.99804443e-01 7.78402881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2092541539998 meters Centerline goodness [0,1] 0.9998049710707089 Centerline is valid? [True, True] Translation: X:839.01, Y:20.33, Z:7.78 [[ 9.46038115e-01 -3.23532712e-01 -1.83975152e-02 8.39010570e+02] [ 3.23476044e-01 9.46216961e-01 -6.05910379e-03 2.03251495e+01] [ 1.93683592e-02 -2.19012311e-04 9.99812392e-01 7.78148513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2392541539999 meters Centerline goodness [0,1] 0.9998919129250524 Centerline is valid? [True, True] Translation: X:839.04, Y:20.34, Z:7.79 [[ 9.46262519e-01 -3.22989127e-01 -1.62870810e-02 8.39036369e+02] [ 3.22944586e-01 9.46402658e-01 -5.36688570e-03 2.03377524e+01] [ 1.71475825e-02 -1.81341850e-04 9.99852953e-01 7.78580828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2692541539999 meters Centerline goodness [0,1] 0.9998699468949821 Centerline is valid? [True, True] Translation: X:839.06, Y:20.35, Z:7.79 [[ 9.46378219e-01 -3.22700063e-01 -1.52622468e-02 8.39061915e+02] [ 3.22660861e-01 9.46501264e-01 -5.03247654e-03 2.03479905e+01] [ 1.60697164e-02 -1.61903509e-04 9.99870861e-01 7.78679434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2992541539999 meters Centerline goodness [0,1] 0.9999136423497916 Centerline is valid? [True, True] Translation: X:839.09, Y:20.36, Z:7.79 [[ 9.46714186e-01 -3.21723188e-01 -1.50479626e-02 8.39088483e+02] [ 3.21684907e-01 9.46833761e-01 -4.96482602e-03 2.03588358e+01] [ 1.58452187e-02 -1.40431229e-04 9.99874447e-01 7.78837214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3292541539998 meters Centerline goodness [0,1] 0.9998057120652808 Centerline is valid? [True, True] Translation: X:839.11, Y:20.37, Z:7.79 [[ 9.47497551e-01 -3.19413252e-01 -1.49521082e-02 8.39113923e+02] [ 3.19375105e-01 9.47615516e-01 -4.93729797e-03 2.03731735e+01] [ 1.57458881e-02 -9.72533980e-05 9.99876021e-01 7.78751600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3592541539999 meters Centerline goodness [0,1] 0.9998921693372728 Centerline is valid? [True, True] Translation: X:839.14, Y:20.39, Z:7.79 [[ 9.48140609e-01 -3.17502960e-01 -1.48746544e-02 8.39139848e+02] [ 3.17464908e-01 9.48257279e-01 -4.91583140e-03 2.03858029e+01] [ 1.56657903e-02 -6.12814148e-05 9.99877282e-01 7.78903006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3892541539999 meters Centerline goodness [0,1] 0.9998285616320932 Centerline is valid? [True, True] Translation: X:839.16, Y:20.40, Z:7.79 [[ 9.49617020e-01 -3.12970428e-01 -1.66441164e-02 8.39164116e+02] [ 3.12922024e-01 9.49762871e-01 -5.50417803e-03 2.04023504e+01] [ 1.75306088e-02 1.85505452e-05 9.99846327e-01 7.78694772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4192541539999 meters Centerline goodness [0,1] 0.999871122948707 Centerline is valid? [True, True] Translation: X:839.19, Y:20.42, Z:7.79 [[ 9.50387882e-01 -3.10560518e-01 -1.77493533e-02 8.39190565e+02] [ 3.10504987e-01 9.50553607e-01 -5.87307478e-03 2.04154721e+01] [ 1.86956569e-02 7.04363940e-05 9.99825218e-01 7.78675378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4492541539998 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:839.22, Y:20.43, Z:7.79 [[ 9.51081054e-01 -3.08366494e-01 -1.88397073e-02 8.39216303e+02] [ 3.08303428e-01 9.51267623e-01 -6.23746931e-03 2.04280148e+01] [ 1.98450301e-02 1.23992539e-04 9.99803060e-01 7.78589242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4792541539999 meters Centerline goodness [0,1] 0.999828469735629 Centerline is valid? [True, True] Translation: X:839.24, Y:20.44, Z:7.78 [[ 9.52319899e-01 -3.04383414e-01 -2.09176040e-02 8.39241529e+02] [ 3.04304610e-01 9.52549569e-01 -6.92980044e-03 2.04442792e+01] [ 2.20343710e-02 2.34063546e-04 9.99757186e-01 7.78457032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5092541539999 meters Centerline goodness [0,1] 0.9998715175913832 Centerline is valid? [True, True] Translation: X:839.27, Y:20.46, Z:7.78 [[ 9.52813287e-01 -3.02804740e-01 -2.13572078e-02 8.39266720e+02] [ 3.02722092e-01 9.53052575e-01 -7.07985654e-03 2.04569202e+01] [ 2.24983560e-02 2.80482760e-04 9.99746841e-01 7.78429287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:839.29, Y:20.47, Z:7.79 [[ 9.53602612e-01 -3.00322498e-01 -2.11767532e-02 8.39292048e+02] [ 3.00240522e-01 9.53837660e-01 -7.02477920e-03 2.04716768e+01] [ 2.23088839e-02 3.40728361e-04 9.99751068e-01 7.78668473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:839.32, Y:20.48, Z:7.79 [[ 9.53516309e-01 -3.00596532e-01 -2.11748398e-02 8.39318201e+02] [ 3.00514497e-01 9.53751335e-01 -7.03054363e-03 2.04804358e+01] [ 2.23088887e-02 3.40391700e-04 9.99751068e-01 7.78694232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5992541539999 meters Centerline goodness [0,1] 0.9998284292699665 Centerline is valid? [True, True] Translation: X:839.34, Y:20.49, Z:7.78 [[ 9.53524570e-01 -3.00490784e-01 -2.22751641e-02 8.39344820e+02] [ 3.00399813e-01 9.53784648e-01 -7.40259655e-03 2.04913226e+01] [ 2.34701216e-02 3.67102581e-04 9.99724471e-01 7.78378663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6292541539999 meters Centerline goodness [0,1] 0.9998507112542387 Centerline is valid? [True, True] Translation: X:839.37, Y:20.50, Z:7.78 [[ 9.53716340e-01 -2.99918012e-01 -2.17790911e-02 8.39369953e+02] [ 2.99830814e-01 9.53964907e-01 -7.24143886e-03 2.05033054e+01] [ 2.29483265e-02 3.76235963e-04 9.99736582e-01 7.78460844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:839.40, Y:20.51, Z:7.79 [[ 9.53780450e-01 -2.99810732e-01 -2.04053537e-02 8.39395599e+02] [ 2.99734122e-01 9.53998636e-01 -6.78661930e-03 2.05139324e+01] [ 2.15013809e-02 3.56764034e-04 9.99768755e-01 7.78836183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:839.42, Y:20.52, Z:7.79 [[ 9.53708626e-01 -3.00064678e-01 -2.00261269e-02 8.39422054e+02] [ 2.99990855e-01 9.53918795e-01 -6.66479883e-03 2.05239278e+01] [ 2.11031695e-02 3.48621217e-04 9.99777243e-01 7.78904943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:839.45, Y:20.54, Z:7.79 [[ 9.53679741e-01 -3.00204474e-01 -1.92931285e-02 8.39448229e+02] [ 3.00135866e-01 9.53874813e-01 -6.42673779e-03 2.05353673e+01] [ 2.03325648e-02 3.38489800e-04 9.99793215e-01 7.78988797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7492541539999 meters Centerline goodness [0,1] 0.9997869439236406 Centerline is valid? [True, True] Translation: X:839.48, Y:20.54, Z:7.79 [[ 9.53643229e-01 -3.00242314e-01 -2.04729980e-02 8.39475537e+02] [ 3.00164933e-01 9.53862894e-01 -6.82588667e-03 2.05448888e+01] [ 2.15778531e-02 3.64184542e-04 9.99767105e-01 7.78683717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7792541539999 meters Centerline goodness [0,1] 0.9998512062918482 Centerline is valid? [True, True] Translation: X:839.50, Y:20.56, Z:7.79 [[ 9.53726996e-01 -3.00000781e-01 -2.01084302e-02 8.39500695e+02] [ 2.99925976e-01 9.53938885e-01 -6.70915220e-03 2.05554573e+01] [ 2.11949644e-02 3.67659024e-04 9.99775294e-01 7.78787037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8092541539999 meters Centerline goodness [0,1] 0.9998724733788178 Centerline is valid? [True, True] Translation: X:839.53, Y:20.57, Z:7.79 [[ 9.54170155e-01 -2.98574844e-01 -2.03070784e-02 8.39525890e+02] [ 2.98498165e-01 9.54386137e-01 -6.77845809e-03 2.05677805e+01] [ 2.14046711e-02 4.06176781e-04 9.99770811e-01 7.78795897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:839.55, Y:20.58, Z:7.79 [[ 9.54543165e-01 -2.97434015e-01 -1.95026526e-02 8.39551214e+02] [ 2.97363016e-01 9.54742286e-01 -6.51177948e-03 2.05786633e+01] [ 2.05568318e-02 4.16407000e-04 9.99788599e-01 7.79055424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8692541539999 meters Centerline goodness [0,1] 0.9999150580790385 Centerline is valid? [True, True] Translation: X:839.58, Y:20.59, Z:7.79 [[ 9.54981271e-01 -2.95935069e-01 -2.08136351e-02 8.39578046e+02] [ 2.95853757e-01 9.55207936e-01 -6.95359697e-03 2.05904096e+01] [ 2.19391627e-02 4.82762711e-04 9.99759191e-01 7.78877794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8992541539999 meters Centerline goodness [0,1] 0.9998092695021934 Centerline is valid? [True, True] Translation: X:839.61, Y:20.60, Z:7.79 [[ 9.55048182e-01 -2.95717811e-01 -2.08313841e-02 8.39605316e+02] [ 2.95636187e-01 9.55275213e-01 -6.96509786e-03 2.06007110e+01] [ 2.19594084e-02 4.93493091e-04 9.99758741e-01 7.78781549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9292541539999 meters Centerline goodness [0,1] 0.9998731849597362 Centerline is valid? [True, True] Translation: X:839.63, Y:20.61, Z:7.79 [[ 9.55050384e-01 -2.95745374e-01 -2.03331664e-02 8.39632481e+02] [ 2.95667485e-01 9.55266684e-01 -6.80451261e-03 2.06090010e+01] [ 2.14359996e-02 4.86796190e-04 9.99770104e-01 7.79010138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9592541539998 meters Centerline goodness [0,1] 0.999830519246658 Centerline is valid? [True, True] Translation: X:839.66, Y:20.62, Z:7.79 [[ 9.55034432e-01 -2.95841099e-01 -1.96793830e-02 8.39658171e+02] [ 2.95768079e-01 9.55237050e-01 -6.58955752e-03 2.06209608e+01] [ 2.07479377e-02 4.72721005e-04 9.99784627e-01 7.78938902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9892541539999 meters Centerline goodness [0,1] 0.9998096084280003 Centerline is valid? [True, True] Translation: X:839.68, Y:20.63, Z:7.79 [[ 9.54858098e-01 -2.96421738e-01 -1.94978590e-02 8.39684957e+02] [ 2.96350092e-01 9.55057036e-01 -6.53311348e-03 2.06282944e+01] [ 2.05581243e-02 4.60003994e-04 9.99788554e-01 7.79050819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0192541539999 meters Centerline goodness [0,1] 0.9999366192719668 Centerline is valid? [True, True] Translation: X:839.71, Y:20.64, Z:7.79 [[ 9.54858855e-01 -2.96468966e-01 -1.87275214e-02 8.39711030e+02] [ 2.96402804e-01 9.55042384e-01 -6.27877545e-03 2.06382913e+01] [ 1.97470387e-02 4.44454486e-04 9.99804909e-01 7.79240477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0492541539999 meters Centerline goodness [0,1] 0.99987320907823 Centerline is valid? [True, True] Translation: X:839.74, Y:20.65, Z:7.79 [[ 9.54441645e-01 -2.97755847e-01 -1.95601985e-02 8.39736534e+02] [ 2.97683888e-01 9.54641955e-01 -6.56046999e-03 2.06489938e+01] [ 2.06264044e-02 4.38829825e-04 9.99787157e-01 7.78986580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0792541539998 meters Centerline goodness [0,1] 0.9998736043817148 Centerline is valid? [True, True] Translation: X:839.76, Y:20.66, Z:7.79 [[ 9.54249878e-01 -2.98358588e-01 -1.97312714e-02 8.39764006e+02] [ 2.98285392e-01 9.54453752e-01 -6.62271822e-03 2.06557464e+01] [ 2.08085309e-02 4.34178027e-04 9.99783385e-01 7.79115446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1092541539999 meters Centerline goodness [0,1] 0.9997688250005254 Centerline is valid? [True, True] Translation: X:839.79, Y:20.66, Z:7.79 [[ 9.53938783e-01 -2.99333112e-01 -2.00121791e-02 8.39790570e+02] [ 2.99257945e-01 9.54148578e-01 -6.72106578e-03 2.06649456e+01] [ 2.11064297e-02 4.22681717e-04 9.99777145e-01 7.78997365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1392541539999 meters Centerline goodness [0,1] 0.9997889226612631 Centerline is valid? [True, True] Translation: X:839.82, Y:20.67, Z:7.79 [[ 9.53820997e-01 -2.99737713e-01 -1.95655238e-02 8.39817133e+02] [ 2.99665862e-01 9.54021560e-01 -6.57532581e-03 2.06738893e+01] [ 2.06368047e-02 4.08564253e-04 9.99786955e-01 7.79038978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1692541539999 meters Centerline goodness [0,1] 0.9998526067548219 Centerline is valid? [True, True] Translation: X:839.84, Y:20.68, Z:7.79 [[ 9.53909205e-01 -2.99489970e-01 -1.90521766e-02 8.39842490e+02] [ 2.99421708e-01 9.54099362e-01 -6.40695083e-03 2.06833014e+01] [ 2.00964871e-02 4.07014115e-04 9.99797962e-01 7.79129247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1992541539998 meters Centerline goodness [0,1] 0.9998315186487796 Centerline is valid? [True, True] Translation: X:839.87, Y:20.69, Z:7.79 [[ 9.54333349e-01 -2.98114989e-01 -1.93729661e-02 8.39868293e+02] [ 2.98044078e-01 9.54529861e-01 -6.51709054e-03 2.06937206e+01] [ 2.04349170e-02 4.45479028e-04 9.99791086e-01 7.79097502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2292541539999 meters Centerline goodness [0,1] 0.9999577095491838 Centerline is valid? [True, True] Translation: X:839.90, Y:20.70, Z:7.79 [[ 9.54699372e-01 -2.96973676e-01 -1.88611841e-02 8.39895481e+02] [ 2.96906168e-01 9.54885555e-01 -6.34853356e-03 2.07027946e+01] [ 1.98956196e-02 4.60939102e-04 9.99801956e-01 7.79351044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2592541539999 meters Centerline goodness [0,1] 0.9998521553635922 Centerline is valid? [True, True] Translation: X:839.92, Y:20.71, Z:7.79 [[ 9.54918336e-01 -2.96225800e-01 -1.95255393e-02 8.39923080e+02] [ 2.96153182e-01 9.55117808e-01 -6.57765425e-03 2.07126949e+01] [ 2.05976612e-02 4.98572040e-04 9.99787721e-01 7.79149741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2892541539999 meters Centerline goodness [0,1] 0.999767682527614 Centerline is valid? [True, True] Translation: X:839.95, Y:20.72, Z:7.79 [[ 9.55157837e-01 -2.95387796e-01 -2.04830692e-02 8.39951055e+02] [ 2.95307560e-01 9.55377282e-01 -6.90613698e-03 2.07214640e+01] [ 2.16090476e-02 5.47645660e-04 9.99766347e-01 7.79104067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3192541539999 meters Centerline goodness [0,1] 0.999746466375103 Centerline is valid? [True, True] Translation: X:839.98, Y:20.73, Z:7.79 [[ 9.55729432e-01 -2.93491097e-01 -2.10767309e-02 8.39976010e+02] [ 2.93405575e-01 9.55961611e-01 -7.11109080e-03 2.07329542e+01] [ 2.22355875e-02 6.12248414e-04 9.99752571e-01 7.78957093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3492541539999 meters Centerline goodness [0,1] 0.9997887844545359 Centerline is valid? [True, True] Translation: X:840.00, Y:20.74, Z:7.79 [[ 9.56232009e-01 -2.91869195e-01 -2.08018577e-02 8.40003215e+02] [ 2.91785431e-01 9.56458027e-01 -7.02172305e-03 2.07410972e+01] [ 2.19455285e-02 6.44717306e-04 9.99758960e-01 7.79124522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:840.03, Y:20.75, Z:7.79 [[ 9.56611344e-01 -2.90713439e-01 -1.95047034e-02 8.40029464e+02] [ 2.90639510e-01 9.56809959e-01 -6.58619605e-03 2.07513675e+01] [ 2.05769902e-02 6.31592419e-04 9.99788072e-01 7.79477242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4092541539999 meters Centerline goodness [0,1] 0.9998947013730941 Centerline is valid? [True, True] Translation: X:840.06, Y:20.76, Z:7.79 [[ 9.56732850e-01 -2.90291695e-01 -1.98238530e-02 8.40055445e+02] [ 2.90215194e-01 9.56937984e-01 -6.69595754e-03 2.07627791e+01] [ 2.09139788e-02 6.53059197e-04 9.99781066e-01 7.79175151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4392541539999 meters Centerline goodness [0,1] 0.999851964640697 Centerline is valid? [True, True] Translation: X:840.08, Y:20.77, Z:7.79 [[ 9.56954397e-01 -2.89547476e-01 -2.00135328e-02 8.40083927e+02] [ 2.89469257e-01 9.57163412e-01 -6.76405090e-03 2.07700946e+01] [ 2.11147352e-02 6.79585784e-04 9.99776828e-01 7.79296514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4692541539998 meters Centerline goodness [0,1] 0.9998523206751054 Centerline is valid? [True, True] Translation: X:840.11, Y:20.78, Z:7.79 [[ 9.57658479e-01 -2.87273570e-01 -1.90822842e-02 8.40109259e+02] [ 2.87201931e-01 9.57848321e-01 -6.45322515e-03 2.07818111e+01] [ 2.01317749e-02 6.99516909e-04 9.99797091e-01 7.79393722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:840.14, Y:20.79, Z:7.80 [[ 9.58752385e-01 -2.83724161e-01 -1.71599492e-02 8.40136272e+02] [ 2.83665631e-01 9.58905685e-01 -5.80483051e-03 2.07929258e+01] [ 1.81017435e-02 6.97707274e-04 9.99835907e-01 7.79843021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5292541539999 meters Centerline goodness [0,1] 0.9998519928110794 Centerline is valid? [True, True] Translation: X:840.16, Y:20.80, Z:7.80 [[ 9.58929609e-01 -2.83064085e-01 -1.81308669e-02 8.40162847e+02] [ 2.82998565e-01 9.59100702e-01 -6.13644837e-03 2.08035958e+01] [ 1.91263353e-02 7.53412724e-04 9.99816791e-01 7.79552708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5592541539999 meters Centerline goodness [0,1] 0.9997894470880532 Centerline is valid? [True, True] Translation: X:840.19, Y:20.81, Z:7.79 [[ 9.59378159e-01 -2.81545106e-01 -1.80527206e-02 8.40188696e+02] [ 2.81479808e-01 9.59547674e-01 -6.11387176e-03 2.08148206e+01] [ 1.90437767e-02 7.84038718e-04 9.99818343e-01 7.79484675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5892541539998 meters Centerline goodness [0,1] 0.9998735164534014 Centerline is valid? [True, True] Translation: X:840.22, Y:20.83, Z:7.80 [[ 9.60333328e-01 -2.78329693e-01 -1.71021051e-02 8.40215779e+02] [ 2.78270553e-01 9.60485260e-01 -5.79352080e-03 2.08276387e+01] [ 1.80388288e-02 8.04698850e-04 9.99836963e-01 7.79629864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6192541539999 meters Centerline goodness [0,1] 0.9998104983892363 Centerline is valid? [True, True] Translation: X:840.24, Y:20.84, Z:7.80 [[ 9.60800162e-01 -2.76689563e-01 -1.74909668e-02 8.40241815e+02] [ 2.76627415e-01 9.60958976e-01 -5.92612241e-03 2.08394477e+01] [ 1.84477978e-02 8.55338433e-04 9.99829459e-01 7.79566642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6492541539999 meters Centerline goodness [0,1] 0.9997901320069676 Centerline is valid? [True, True] Translation: X:840.27, Y:20.85, Z:7.80 [[ 9.61710722e-01 -2.73473200e-01 -1.80248884e-02 8.40268249e+02] [ 2.73406618e-01 9.61879158e-01 -6.10794355e-03 2.08531845e+01] [ 1.90081233e-02 9.45951012e-04 9.99818882e-01 7.79515271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6792541539999 meters Centerline goodness [0,1] 0.9998950748116593 Centerline is valid? [True, True] Translation: X:840.30, Y:20.86, Z:7.80 [[ 9.62100948e-01 -2.72164598e-01 -1.69763885e-02 8.40295171e+02] [ 2.72105288e-01 9.62250274e-01 -5.75521176e-03 2.08646740e+01] [ 1.79018993e-02 9.17729614e-04 9.99839327e-01 7.79647728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7092541539998 meters Centerline goodness [0,1] 0.9998741056253803 Centerline is valid? [True, True] Translation: X:840.32, Y:20.88, Z:7.80 [[ 9.62355107e-01 -2.71219069e-01 -1.76879878e-02 8.40321713e+02] [ 2.71154431e-01 9.62517147e-01 -6.00138598e-03 2.08755833e+01] [ 1.86526818e-02 9.79288177e-04 9.99825544e-01 7.79571752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7392541539999 meters Centerline goodness [0,1] 0.9998948696383515 Centerline is valid? [True, True] Translation: X:840.35, Y:20.89, Z:7.80 [[ 9.62826432e-01 -2.69514218e-01 -1.80927838e-02 8.40348540e+02] [ 2.69446230e-01 9.62995850e-01 -6.14174144e-03 2.08877434e+01] [ 1.90785624e-02 1.03839860e-03 9.99817448e-01 7.79596052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7692541539999 meters Centerline goodness [0,1] 0.9998316498316498 Centerline is valid? [True, True] Translation: X:840.38, Y:20.90, Z:7.79 [[ 9.62884066e-01 -2.69265932e-01 -1.87118744e-02 8.40375962e+02] [ 2.69193101e-01 9.63065256e-01 -6.35510459e-03 2.08976408e+01] [ 1.97319692e-02 1.08212146e-03 9.99804720e-01 7.79498265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7992541539999 meters Centerline goodness [0,1] 0.9998318161750793 Centerline is valid? [True, True] Translation: X:840.40, Y:20.91, Z:7.80 [[ 9.62872436e-01 -2.69294335e-01 -1.89005923e-02 8.40402678e+02] [ 2.69219931e-01 9.63057297e-01 -6.42435760e-03 2.09073622e+01] [ 1.99323964e-02 1.09742071e-03 9.99800728e-01 7.79546031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8292541539998 meters Centerline goodness [0,1] 0.9997484065749749 Centerline is valid? [True, True] Translation: X:840.43, Y:20.92, Z:7.79 [[ 9.62611933e-01 -2.70232675e-01 -1.87767860e-02 8.40428697e+02] [ 2.70159319e-01 9.62794445e-01 -6.38734051e-03 2.09191753e+01] [ 1.98042534e-02 1.07580646e-03 9.99803298e-01 7.79430060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8592541539999 meters Centerline goodness [0,1] 0.9999158089705542 Centerline is valid? [True, True] Translation: X:840.46, Y:20.93, Z:7.80 [[ 9.62494806e-01 -2.70767501e-01 -1.69914098e-02 8.40455730e+02] [ 2.70707439e-01 9.62644287e-01 -5.78431498e-03 2.09282818e+01] [ 1.79228881e-02 9.67672088e-04 9.99838904e-01 7.79817793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8892541539999 meters Centerline goodness [0,1] 0.9999579637647652 Centerline is valid? [True, True] Translation: X:840.48, Y:20.94, Z:7.80 [[ 9.61822462e-01 -2.73144976e-01 -1.70109879e-02 8.40483447e+02] [ 2.73085099e-01 9.61972433e-01 -5.79362862e-03 2.09368915e+01] [ 1.79466020e-02 9.26994836e-04 9.99838517e-01 7.79942492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9192541539999 meters Centerline goodness [0,1] 0.9997483538145367 Centerline is valid? [True, True] Translation: X:840.51, Y:20.95, Z:7.79 [[ 9.61089351e-01 -2.75634382e-01 -1.82468060e-02 8.40511466e+02] [ 2.75565921e-01 9.61262084e-01 -6.21522718e-03 2.09451525e+01] [ 1.92530930e-02 9.45190754e-04 9.99814195e-01 7.79423424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9492541539998 meters Centerline goodness [0,1] 0.9998311060442925 Centerline is valid? [True, True] Translation: X:840.54, Y:20.94, Z:7.80 [[ 9.59880523e-01 -2.79841687e-01 -1.78328771e-02 8.40544511e+02] [ 2.79777007e-01 9.60045791e-01 -6.07497085e-03 2.09416374e+01] [ 1.88204087e-02 8.42017204e-04 9.99822526e-01 7.79757372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9792541539999 meters Centerline goodness [0,1] 0.9998528205882972 Centerline is valid? [True, True] Translation: X:840.57, Y:20.96, Z:7.80 [[ 9.59324533e-01 -2.81708876e-01 -1.83452672e-02 8.40568963e+02] [ 2.81640739e-01 9.59499568e-01 -6.25090972e-03 2.09572735e+01] [ 1.93632127e-02 8.29876438e-04 9.99812171e-01 7.79544858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0092541539999 meters Centerline goodness [0,1] 0.999726684046758 Centerline is valid? [True, True] Translation: X:840.60, Y:20.96, Z:7.80 [[ 9.58099572e-01 -2.85809186e-01 -1.89293208e-02 8.40600948e+02] [ 2.85737415e-01 9.58286238e-01 -6.45104653e-03 2.09565397e+01] [ 1.99834760e-02 7.71929722e-04 9.99800012e-01 7.79648056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0392541539999 meters Centerline goodness [0,1] 0.9998527865404837 Centerline is valid? [True, True] Translation: X:840.63, Y:20.97, Z:7.80 [[ 9.57641498e-01 -2.87349173e-01 -1.87939975e-02 8.40627044e+02] [ 2.87278698e-01 9.57825617e-01 -6.40607074e-03 2.09674418e+01] [ 1.98421514e-02 7.35604025e-04 9.99802855e-01 7.79686351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0692541539999 meters Centerline goodness [0,1] 0.9998947634281866 Centerline is valid? [True, True] Translation: X:840.66, Y:20.97, Z:7.80 [[ 9.57228847e-01 -2.88713822e-01 -1.89013975e-02 8.40656253e+02] [ 2.88642733e-01 9.57415175e-01 -6.44630444e-03 2.09719348e+01] [ 1.99576220e-02 7.14837557e-04 9.99800571e-01 7.79869188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0992541539999 meters Centerline goodness [0,1] 0.9998104904087091 Centerline is valid? [True, True] Translation: X:840.68, Y:20.98, Z:7.80 [[ 9.56706600e-01 -2.90378490e-01 -1.98195235e-02 8.40683777e+02] [ 2.90300566e-01 9.56911603e-01 -6.76497537e-03 2.09799646e+01] [ 2.09299354e-02 7.18477680e-04 9.99780687e-01 7.79781091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1292541539999 meters Centerline goodness [0,1] 0.9998732840549103 Centerline is valid? [True, True] Translation: X:840.71, Y:20.98, Z:7.80 [[ 9.56019514e-01 -2.92652272e-01 -1.95278479e-02 8.40712289e+02] [ 2.92576988e-01 9.56218702e-01 -6.67079774e-03 2.09846881e+01] [ 2.06251175e-02 6.64013903e-04 9.99787059e-01 7.80003591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1592541539999 meters Centerline goodness [0,1] 0.9999366420274551 Centerline is valid? [True, True] Translation: X:840.74, Y:20.99, Z:7.80 [[ 9.55319615e-01 -2.95008253e-01 -1.82910728e-02 8.40738901e+02] [ 2.94942571e-01 9.55494530e-01 -6.25157927e-03 2.09919414e+01] [ 1.93212875e-02 5.77440253e-04 9.99813160e-01 7.80183857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:840.77, Y:21.00, Z:7.80 [[ 9.54919423e-01 -2.96315377e-01 -1.80580176e-02 8.40766779e+02] [ 2.96251527e-01 9.55089995e-01 -6.17535293e-03 2.10001905e+01] [ 1.90768839e-02 5.47249184e-04 9.99817870e-01 7.80414316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2192541539998 meters Centerline goodness [0,1] 0.9998308882594175 Centerline is valid? [True, True] Translation: X:840.79, Y:21.01, Z:7.80 [[ 9.54375266e-01 -2.97992430e-01 -1.91927833e-02 8.40793603e+02] [ 2.97920567e-01 9.54568075e-01 -6.56704725e-03 2.10084001e+01] [ 2.02777486e-02 5.49502571e-04 9.99794234e-01 7.80054791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2492541539999 meters Centerline goodness [0,1] 0.9998942671657256 Centerline is valid? [True, True] Translation: X:840.82, Y:21.02, Z:7.80 [[ 9.54167039e-01 -2.98637696e-01 -1.95137869e-02 8.40819512e+02] [ 2.98563504e-01 9.54366401e-01 -6.67880265e-03 2.10181055e+01] [ 2.06178449e-02 5.46588738e-04 9.99787280e-01 7.80079095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2792541539999 meters Centerline goodness [0,1] 0.9998302099030074 Centerline is valid? [True, True] Translation: X:840.85, Y:21.02, Z:7.80 [[ 9.53790554e-01 -2.99744322e-01 -2.09026553e-02 8.40847275e+02] [ 2.99659353e-01 9.54019404e-01 -7.15889062e-03 2.10225954e+01] [ 2.20873756e-02 5.64406096e-04 9.99755885e-01 7.80166664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3092541539999 meters Centerline goodness [0,1] 0.9999150508632956 Centerline is valid? [True, True] Translation: X:840.87, Y:21.03, Z:7.80 [[ 9.53836380e-01 -2.99653837e-01 -2.00932380e-02 8.40873162e+02] [ 2.99575220e-01 9.54047838e-01 -6.88547184e-03 2.10316843e+01] [ 2.12331684e-02 5.48177324e-04 9.99774401e-01 7.80390515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3392541539998 meters Centerline goodness [0,1] 0.9998731286475514 Centerline is valid? [True, True] Translation: X:840.90, Y:21.04, Z:7.80 [[ 9.53935261e-01 -2.99291211e-01 -2.07915647e-02 8.40900546e+02] [ 2.99206857e-01 9.54161640e-01 -7.12892102e-03 2.10414717e+01] [ 2.19721369e-02 5.79550395e-04 9.99758415e-01 7.80247466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3692541539999 meters Centerline goodness [0,1] 0.9998300945099289 Centerline is valid? [True, True] Translation: X:840.93, Y:21.05, Z:7.80 [[ 9.54078462e-01 -2.98800390e-01 -2.12747337e-02 8.40927791e+02] [ 2.98711814e-01 9.54315438e-01 -7.30053870e-03 2.10497780e+01] [ 2.24842107e-02 6.10272425e-04 9.99747012e-01 7.80313830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:840.95, Y:21.06, Z:7.81 [[ 9.54586497e-01 -2.97253796e-01 -2.01196544e-02 8.40953328e+02] [ 2.97174161e-01 9.54798305e-01 -6.90763192e-03 2.10601031e+01] [ 2.12635318e-02 6.14890739e-04 9.99773716e-01 7.80700296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4292541539999 meters Centerline goodness [0,1] 0.999978816700913 Centerline is valid? [True, True] Translation: X:840.98, Y:21.07, Z:7.81 [[ 9.54679807e-01 -2.96949146e-01 -2.01908864e-02 8.40980088e+02] [ 2.96868835e-01 9.54893090e-01 -6.93408490e-03 2.10695101e+01] [ 2.13392085e-02 6.25785914e-04 9.99772097e-01 7.80630894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4592541539998 meters Centerline goodness [0,1] 0.999978816700913 Centerline is valid? [True, True] Translation: X:841.01, Y:21.08, Z:7.81 [[ 9.54595797e-01 -2.97219192e-01 -2.01895171e-02 8.41006145e+02] [ 2.97138857e-01 9.54809071e-01 -6.93807012e-03 2.10785508e+01] [ 2.13392616e-02 6.23962552e-04 9.99772097e-01 7.80656704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4892541539999 meters Centerline goodness [0,1] 0.999893601174643 Centerline is valid? [True, True] Translation: X:841.03, Y:21.09, Z:7.80 [[ 9.54897268e-01 -2.96196370e-01 -2.09503898e-02 8.41033043e+02] [ 2.96109529e-01 9.55126826e-01 -7.20364466e-03 2.10877338e+01] [ 2.21439727e-02 6.75130553e-04 9.99754564e-01 7.80477668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5192541539999 meters Centerline goodness [0,1] 0.9997878389273136 Centerline is valid? [True, True] Translation: X:841.06, Y:21.10, Z:7.80 [[ 9.54975473e-01 -2.95867225e-01 -2.20097835e-02 8.41061003e+02] [ 2.95771182e-01 9.55228802e-01 -7.57257984e-03 2.10955360e+01] [ 2.32648573e-02 7.21768322e-04 9.99729076e-01 7.80404121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5492541539999 meters Centerline goodness [0,1] 0.9997444524894586 Centerline is valid? [True, True] Translation: X:841.09, Y:21.10, Z:7.80 [[ 9.55016108e-01 -2.95687348e-01 -2.26545019e-02 8.41086891e+02] [ 2.95585448e-01 9.55284475e-01 -7.79838998e-03 2.11047069e+01] [ 2.39473792e-02 7.51246954e-04 9.99712938e-01 7.80276058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5792541539998 meters Centerline goodness [0,1] 0.9998302315217622 Centerline is valid? [True, True] Translation: X:841.11, Y:21.11, Z:7.80 [[ 9.54902468e-01 -2.96112030e-01 -2.18847236e-02 8.41114126e+02] [ 2.96016948e-01 9.55152945e-01 -7.53784912e-03 2.11130464e+01] [ 2.31353060e-02 7.19661644e-04 9.99732084e-01 7.80436301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6092541539999 meters Centerline goodness [0,1] 0.9997444524894586 Centerline is valid? [True, True] Translation: X:841.14, Y:21.12, Z:7.81 [[ 9.54404737e-01 -2.97749433e-01 -2.13746101e-02 8.41142804e+02] [ 2.97659008e-01 9.54643822e-01 -7.36804119e-03 2.11178098e+01] [ 2.25989695e-02 6.69748171e-04 9.99744386e-01 7.80545462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6392541539999 meters Centerline goodness [0,1] 0.9999361715708176 Centerline is valid? [True, True] Translation: X:841.17, Y:21.13, Z:7.81 [[ 9.54332896e-01 -2.98094625e-01 -1.97057731e-02 8.41169180e+02] [ 2.98017774e-01 9.54536128e-01 -6.79614938e-03 2.11268942e+01] [ 2.08357680e-02 6.13118281e-04 9.99782724e-01 7.80859445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6692541539999 meters Centerline goodness [0,1] 0.9997872249882974 Centerline is valid? [True, True] Translation: X:841.20, Y:21.13, Z:7.81 [[ 9.54037553e-01 -2.99066665e-01 -1.92737534e-02 8.41197481e+02] [ 2.98993268e-01 9.54232042e-01 -6.65093612e-03 2.11332030e+01] [ 2.03807063e-02 5.82520309e-04 9.99792122e-01 7.80847342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.23, Y:21.14, Z:7.81 [[ 9.54109271e-01 -2.98959485e-01 -1.72836530e-02 8.41225021e+02] [ 2.98900357e-01 9.54265658e-01 -5.96912552e-03 2.11399002e+01] [ 1.82777232e-02 5.29107956e-04 9.99832808e-01 7.81320231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7292541539999 meters Centerline goodness [0,1] 0.9998084984147925 Centerline is valid? [True, True] Translation: X:841.25, Y:21.15, Z:7.81 [[ 9.53797037e-01 -2.99849010e-01 -1.90206027e-02 8.41252374e+02] [ 2.99777447e-01 9.53986503e-01 -6.57538065e-03 2.11479874e+01] [ 2.01170197e-02 5.69630860e-04 9.99797470e-01 7.80879352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7592541539999 meters Centerline goodness [0,1] 0.9998929175679439 Centerline is valid? [True, True] Translation: X:841.28, Y:21.16, Z:7.81 [[ 9.54002721e-01 -2.99144301e-01 -1.97862423e-02 8.41278525e+02] [ 2.99066607e-01 9.54207688e-01 -6.84490537e-03 2.11561662e+01] [ 2.09277989e-02 6.12654010e-04 9.99780802e-01 7.80800088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7892541539999 meters Centerline goodness [0,1] 0.9998287451299396 Centerline is valid? [True, True] Translation: X:841.31, Y:21.16, Z:7.81 [[ 9.54107338e-01 -2.98720091e-01 -2.11067385e-02 8.41305916e+02] [ 2.98631512e-01 9.54340538e-01 -7.30456948e-03 2.11637790e+01] [ 2.23250379e-02 6.66206097e-04 9.99750543e-01 7.80711084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8192541539999 meters Centerline goodness [0,1] 0.9998070615473664 Centerline is valid? [True, True] Translation: X:841.33, Y:21.17, Z:7.81 [[ 9.54362158e-01 -2.97811489e-01 -2.23872277e-02 8.41332447e+02] [ 2.97711525e-01 9.54624419e-01 -7.75023643e-03 2.11709611e+01] [ 2.36795037e-02 7.31596671e-04 9.99719334e-01 7.80548499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8492541539999 meters Centerline goodness [0,1] 0.9998498530705047 Centerline is valid? [True, True] Translation: X:841.36, Y:21.18, Z:7.81 [[ 9.54457959e-01 -2.97498622e-01 -2.24627145e-02 8.41359828e+02] [ 2.97397783e-01 9.54721956e-01 -7.78112833e-03 2.11789813e+01] [ 2.37605217e-02 7.46398371e-04 9.99717400e-01 7.80604968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8792541539999 meters Centerline goodness [0,1] 0.9999356112637363 Centerline is valid? [True, True] Translation: X:841.39, Y:21.19, Z:7.81 [[ 9.54944678e-01 -2.95903812e-01 -2.28384855e-02 8.41388139e+02] [ 2.95798962e-01 9.55217402e-01 -7.91758563e-03 2.11856418e+01] [ 2.41585626e-02 8.05255934e-04 9.99707815e-01 7.80726288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.41, Y:21.20, Z:7.81 [[ 9.55331802e-01 -2.94695144e-01 -2.22692684e-02 8.41414193e+02] [ 2.94595043e-01 9.55590970e-01 -7.72391731e-03 2.11967923e+01] [ 2.35565127e-02 8.18487777e-04 9.99722172e-01 7.80773053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9392541539999 meters Centerline goodness [0,1] 0.999935464440907 Centerline is valid? [True, True] Translation: X:841.44, Y:21.20, Z:7.81 [[ 9.55335071e-01 -2.94629622e-01 -2.29845072e-02 8.41443472e+02] [ 2.94522848e-01 9.55611145e-01 -7.97688294e-03 2.11997568e+01] [ 2.43144772e-02 8.51133516e-04 9.99703997e-01 7.80865961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9692541539998 meters Centerline goodness [0,1] 0.9999353935608916 Centerline is valid? [True, True] Translation: X:841.47, Y:21.21, Z:7.81 [[ 9.55780502e-01 -2.93174706e-01 -2.30699938e-02 8.41471263e+02] [ 2.93066553e-01 9.56058464e-01 -8.01306849e-03 2.12071327e+01] [ 2.44054919e-02 8.97691048e-04 9.99701739e-01 7.80901027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9992541539999 meters Centerline goodness [0,1] 0.9998490891451978 Centerline is valid? [True, True] Translation: X:841.50, Y:21.22, Z:7.81 [[ 9.55900277e-01 -2.92742916e-01 -2.35848607e-02 8.41496733e+02] [ 2.92629650e-01 9.56190732e-01 -8.19591401e-03 2.12184021e+01] [ 2.49509209e-02 9.32846952e-04 9.99688242e-01 7.80659031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0292541539999 meters Centerline goodness [0,1] 0.9997837042804922 Centerline is valid? [True, True] Translation: X:841.52, Y:21.22, Z:7.81 [[ 9.56225399e-01 -2.91690495e-01 -2.34444343e-02 8.41524613e+02] [ 2.91578201e-01 9.56512279e-01 -8.14940202e-03 2.12245052e+01] [ 2.48019924e-02 9.56779204e-04 9.99691925e-01 7.80644855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0592541539999 meters Centerline goodness [0,1] 0.999956796923941 Centerline is valid? [True, True] Translation: X:841.55, Y:21.23, Z:7.81 [[ 9.56426344e-01 -2.91118501e-01 -2.23308450e-02 8.41552181e+02] [ 2.91016363e-01 9.56686550e-01 -7.76676931e-03 2.12325708e+01] [ 2.36246693e-02 9.29701484e-04 9.99720466e-01 7.80976605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.58, Y:21.24, Z:7.81 [[ 9.56587153e-01 -2.90661529e-01 -2.13750971e-02 8.41580821e+02] [ 2.90567703e-01 9.56825509e-01 -7.44015304e-03 2.12381191e+01] [ 2.26148044e-02 9.06241939e-04 9.99743842e-01 7.81262126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.61, Y:21.25, Z:7.81 [[ 9.56859547e-01 -2.89830753e-01 -2.04436503e-02 8.41607551e+02] [ 2.89744661e-01 9.57077502e-01 -7.11946141e-03 2.12455896e+01] [ 2.16295966e-02 8.88886084e-04 9.99765658e-01 7.81372646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1492541539999 meters Centerline goodness [0,1] 0.9997617861706044 Centerline is valid? [True, True] Translation: X:841.64, Y:21.25, Z:7.81 [[ 9.56676047e-01 -2.90358375e-01 -2.15164049e-02 8.41635338e+02] [ 2.90263030e-01 9.56917527e-01 -7.49799846e-03 2.12524873e+01] [ 2.27665316e-02 9.27738645e-04 9.99740378e-01 7.81086852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.66, Y:21.26, Z:7.82 [[ 9.57361929e-01 -2.88218834e-01 -1.96987326e-02 8.41663557e+02] [ 2.88138391e-01 9.57564147e-01 -6.86825397e-03 2.12576889e+01] [ 2.08423603e-02 8.99443755e-04 9.99782370e-01 7.81637344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.69, Y:21.27, Z:7.82 [[ 9.57601479e-01 -2.87425502e-01 -1.96466110e-02 8.41689307e+02] [ 2.87345259e-01 9.57802558e-01 -6.85287828e-03 2.12670070e+01] [ 2.07872662e-02 9.16965851e-04 9.99783501e-01 7.81640694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.72, Y:21.28, Z:7.82 [[ 9.58371596e-01 -2.84807431e-01 -2.02141317e-02 8.41715836e+02] [ 2.84721850e-01 9.58584226e-01 -7.05333821e-03 2.12761963e+01] [ 2.13857910e-02 1.00431401e-03 9.99770793e-01 7.81605389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2692541539999 meters Centerline goodness [0,1] 0.9999128331408399 Centerline is valid? [True, True] Translation: X:841.74, Y:21.29, Z:7.81 [[ 9.58633192e-01 -2.83820137e-01 -2.16456313e-02 8.41741269e+02] [ 2.83721685e-01 9.58876903e-01 -7.55579665e-03 2.12865295e+01] [ 2.28999831e-02 1.10190250e-03 9.99737154e-01 7.81328811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.77, Y:21.29, Z:7.82 [[ 9.59036743e-01 -2.82503510e-01 -2.09831632e-02 8.41769506e+02] [ 2.82410569e-01 9.59265630e-01 -7.32945580e-03 2.12933292e+01] [ 2.21990243e-02 1.10335035e-03 9.99752962e-01 7.81586076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.80, Y:21.30, Z:7.81 [[ 9.59492343e-01 -2.80905285e-01 -2.16024175e-02 8.41795799e+02] [ 2.80806290e-01 9.59734773e-01 -7.54934801e-03 2.13041910e+01] [ 2.28532430e-02 1.17744690e-03 9.99738137e-01 7.81478977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3592541539999 meters Centerline goodness [0,1] 0.9998687922325001 Centerline is valid? [True, True] Translation: X:841.82, Y:21.31, Z:7.81 [[ 9.59150695e-01 -2.81963368e-01 -2.29478608e-02 8.41823929e+02] [ 2.81851844e-01 9.59424385e-01 -8.02420929e-03 2.13114955e+01] [ 2.42792703e-02 1.22852904e-03 9.99704460e-01 7.81235532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3892541539999 meters Centerline goodness [0,1] 0.9998686572391752 Centerline is valid? [True, True] Translation: X:841.85, Y:21.32, Z:7.81 [[ 9.58743480e-01 -2.83336834e-01 -2.30473096e-02 8.41852265e+02] [ 2.83224579e-01 9.59019701e-01 -8.06544310e-03 2.13182130e+01] [ 2.43880611e-02 1.20512643e-03 9.99701841e-01 7.81315672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4192541539999 meters Centerline goodness [0,1] 0.9999780812309581 Centerline is valid? [True, True] Translation: X:841.88, Y:21.33, Z:7.82 [[ 9.58000379e-01 -2.86005964e-01 -2.08772996e-02 8.41879783e+02] [ 2.85914422e-01 9.58227281e-01 -7.30901177e-03 2.13258827e+01] [ 2.20956190e-02 1.03291500e-03 9.99755328e-01 7.81598483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:841.91, Y:21.33, Z:7.82 [[ 9.57304931e-01 -2.88418692e-01 -1.95429459e-02 8.41909674e+02] [ 2.88338952e-01 9.57503953e-01 -6.84320002e-03 2.13313843e+01] [ 2.06861547e-02 9.16036581e-04 9.99785599e-01 7.81892095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4792541539999 meters Centerline goodness [0,1] 0.999869121368118 Centerline is valid? [True, True] Translation: X:841.94, Y:21.34, Z:7.82 [[ 9.56910097e-01 -2.89647461e-01 -2.06740341e-02 8.41935888e+02] [ 2.89558455e-01 9.57132937e-01 -7.24173111e-03 2.13407968e+01] [ 2.18853480e-02 9.43344235e-04 9.99760042e-01 7.81686819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5092541539999 meters Centerline goodness [0,1] 0.9999122864723812 Centerline is valid? [True, True] Translation: X:841.96, Y:21.35, Z:7.82 [[ 9.56707174e-01 -2.90348674e-01 -2.02245219e-02 8.41964104e+02] [ 2.90263558e-01 9.56920486e-01 -7.08872494e-03 2.13485150e+01] [ 2.14114612e-02 9.11392330e-04 9.99770333e-01 7.81810966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5392541539999 meters Centerline goodness [0,1] 0.9998908082374266 Centerline is valid? [True, True] Translation: X:841.99, Y:21.36, Z:7.82 [[ 9.56680362e-01 -2.90409687e-01 -2.06130537e-02 8.41991379e+02] [ 2.90321155e-01 9.56901951e-01 -7.23075293e-03 2.13570500e+01] [ 2.18245520e-02 9.33113759e-04 9.99761381e-01 7.81824633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5692541539999 meters Centerline goodness [0,1] 0.9998906195309766 Centerline is valid? [True, True] Translation: X:842.02, Y:21.37, Z:7.82 [[ 9.56927284e-01 -2.89496815e-01 -2.19491837e-02 8.42016511e+02] [ 2.89396094e-01 9.57178434e-01 -7.70367679e-03 2.13681402e+01] [ 2.32394752e-02 1.01985047e-03 9.99729407e-01 7.81683674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.04, Y:21.38, Z:7.82 [[ 9.57067394e-01 -2.89098233e-01 -2.10764034e-02 8.42043937e+02] [ 2.89005167e-01 9.57298922e-01 -7.40185623e-03 2.13767283e+01] [ 2.23162818e-02 9.92885778e-04 9.99750468e-01 7.81877346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6292541539999 meters Centerline goodness [0,1] 0.9999127647045994 Centerline is valid? [True, True] Translation: X:842.07, Y:21.39, Z:7.82 [[ 9.57034841e-01 -2.89099943e-01 -2.24841321e-02 8.42068616e+02] [ 2.88993932e-01 9.57298330e-01 -7.90030241e-03 2.13900366e+01] [ 2.38079991e-02 1.06308691e-03 9.99715984e-01 7.81627794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6592541539999 meters Centerline goodness [0,1] 0.9999127190207074 Centerline is valid? [True, True] Translation: X:842.10, Y:21.40, Z:7.82 [[ 9.56991585e-01 -2.89237055e-01 -2.25617621e-02 8.42095923e+02] [ 2.89130220e-01 9.57256906e-01 -7.93295118e-03 2.13958677e+01] [ 2.38919060e-02 1.06848030e-03 9.99713977e-01 7.81803466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6892541539999 meters Centerline goodness [0,1] 0.9999782348460116 Centerline is valid? [True, True] Translation: X:842.12, Y:21.41, Z:7.82 [[ 9.57093569e-01 -2.88971772e-01 -2.16151415e-02 8.42123085e+02] [ 2.88873502e-01 9.57337057e-01 -7.60647730e-03 2.14064372e+01] [ 2.28910332e-02 1.03606889e-03 9.99737429e-01 7.81967075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7192541539998 meters Centerline goodness [0,1] 0.9998468941382327 Centerline is valid? [True, True] Translation: X:842.15, Y:21.42, Z:7.82 [[ 9.57070335e-01 -2.88979036e-01 -2.25275366e-02 8.42149349e+02] [ 2.88872200e-01 9.57334812e-01 -7.93152045e-03 2.14172940e+01] [ 2.38584382e-02 1.08344387e-03 9.99714760e-01 7.81848945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7492541539999 meters Centerline goodness [0,1] 0.9998469376598955 Centerline is valid? [True, True] Translation: X:842.17, Y:21.43, Z:7.82 [[ 9.57131653e-01 -2.88780072e-01 -2.24737262e-02 8.42174794e+02] [ 2.88673622e-01 9.57394843e-01 -7.91548233e-03 2.14282772e+01] [ 2.38020631e-02 1.08858674e-03 9.99716098e-01 7.81873898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.20, Y:21.44, Z:7.82 [[ 9.57280144e-01 -2.88412719e-01 -2.08045294e-02 8.42200327e+02] [ 2.88321301e-01 9.57505646e-01 -7.33256631e-03 2.14388969e+01] [ 2.20352597e-02 1.02093117e-03 9.99756673e-01 7.82110051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8092541539999 meters Centerline goodness [0,1] 0.9998253236970239 Centerline is valid? [True, True] Translation: X:842.23, Y:21.45, Z:7.82 [[ 9.57012356e-01 -2.89199430e-01 -2.21594072e-02 8.42226273e+02] [ 2.89095756e-01 9.57268267e-01 -7.81725773e-03 2.14489292e+01] [ 2.34732438e-02 1.07502164e-03 9.99723887e-01 7.81832624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.25, Y:21.46, Z:7.82 [[ 9.57155051e-01 -2.88832069e-01 -2.07423510e-02 8.42252751e+02] [ 2.88741018e-01 9.57379233e-01 -7.32322547e-03 2.14599455e+01] [ 2.19734785e-02 1.02029470e-03 9.99758033e-01 7.82065927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.28, Y:21.47, Z:7.82 [[ 9.57314956e-01 -2.88327048e-01 -2.03859712e-02 8.42279411e+02] [ 2.88238866e-01 9.57531448e-01 -7.20292507e-03 2.14719984e+01] [ 2.15970066e-02 1.01943869e-03 9.99766238e-01 7.82109827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8992541539999 meters Centerline goodness [0,1] 0.9999782277378619 Centerline is valid? [True, True] Translation: X:842.31, Y:21.48, Z:7.82 [[ 9.57386734e-01 -2.88126612e-01 -1.98417718e-02 8.42306308e+02] [ 2.88042921e-01 9.57591798e-01 -7.01595301e-03 2.14835280e+01] [ 2.10218007e-02 1.00169843e-03 9.99778516e-01 7.82151420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.33, Y:21.50, Z:7.82 [[ 9.57898195e-01 -2.86510490e-01 -1.85145400e-02 8.42330863e+02] [ 2.86437259e-01 9.58076613e-01 -6.54979759e-03 2.14968548e+01] [ 1.96149335e-02 9.70785215e-04 9.99807137e-01 7.82321988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9592541539998 meters Centerline goodness [0,1] 0.9997606666521616 Centerline is valid? [True, True] Translation: X:842.36, Y:21.51, Z:7.82 [[ 9.57933940e-01 -2.86284344e-01 -2.00957828e-02 8.42357226e+02] [ 2.86197936e-01 9.58144115e-01 -7.11309461e-03 2.15082963e+01] [ 2.12910237e-02 1.06250320e-03 9.99772756e-01 7.82043190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9892541539999 meters Centerline goodness [0,1] 0.9999565680036483 Centerline is valid? [True, True] Translation: X:842.38, Y:21.52, Z:7.82 [[ 9.58313673e-01 -2.85113262e-01 -1.85830968e-02 8.42383482e+02] [ 2.85039061e-01 9.58493300e-01 -6.58241901e-03 2.15206181e+01] [ 1.96885087e-02 1.01111368e-03 9.99805651e-01 7.82304128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0192541539999 meters Centerline goodness [0,1] 0.9998259204456437 Centerline is valid? [True, True] Translation: X:842.41, Y:21.54, Z:7.82 [[ 9.58875570e-01 -2.83160973e-01 -1.94294550e-02 8.42409744e+02] [ 2.83079400e-01 9.59071764e-01 -6.88505586e-03 2.15353493e+01] [ 2.05838208e-02 1.10183341e-03 9.99787524e-01 7.82112431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0492541539999 meters Centerline goodness [0,1] 0.9998481430059007 Centerline is valid? [True, True] Translation: X:842.44, Y:21.54, Z:7.82 [[ 9.59561699e-01 -2.80742376e-01 -2.06170655e-02 8.42438324e+02] [ 2.80649945e-01 9.59782380e-01 -7.30696623e-03 2.15427081e+01] [ 2.18392712e-02 1.22530665e-03 9.99760744e-01 7.82190531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0792541539998 meters Centerline goodness [0,1] 0.9998699553513373 Centerline is valid? [True, True] Translation: X:842.46, Y:21.56, Z:7.82 [[ 9.59839201e-01 -2.79768434e-01 -2.09363625e-02 8.42460934e+02] [ 2.79672847e-01 9.60066672e-01 -7.42188979e-03 2.15634854e+01] [ 2.21767144e-02 1.26848864e-03 9.99753262e-01 7.81913392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1092541539999 meters Centerline goodness [0,1] 0.9998483568380234 Centerline is valid? [True, True] Translation: X:842.49, Y:21.58, Z:7.82 [[ 9.59990768e-01 -2.79196438e-01 -2.16118967e-02 8.42485507e+02] [ 2.79094384e-01 9.60233093e-01 -7.66369842e-03 2.15758991e+01] [ 2.28921358e-02 1.32532073e-03 9.99737062e-01 7.81771415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1392541539999 meters Centerline goodness [0,1] 0.9998702702702703 Centerline is valid? [True, True] Translation: X:842.51, Y:21.58, Z:7.82 [[ 9.59943368e-01 -2.79328621e-01 -2.20057374e-02 8.42514969e+02] [ 2.79222737e-01 9.60194614e-01 -7.80810076e-03 2.15780012e+01] [ 2.33108165e-02 1.35083232e-03 9.99727353e-01 7.81955795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.54, Y:21.59, Z:7.82 [[ 9.60023951e-01 -2.79144437e-01 -2.07941546e-02 8.42541535e+02] [ 2.79049724e-01 9.60248264e-01 -7.38395426e-03 2.15895118e+01] [ 2.20287406e-02 1.28616986e-03 9.99756511e-01 7.82211574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1992541539998 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:842.57, Y:21.60, Z:7.82 [[ 9.59637353e-01 -2.80488957e-01 -2.05449530e-02 8.42567166e+02] [ 2.80396682e-01 9.59856444e-01 -7.30120424e-03 2.16018158e+01] [ 2.17681127e-02 1.24577167e-03 9.99762270e-01 7.82189861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2292541539999 meters Centerline goodness [0,1] 0.9998493684233177 Centerline is valid? [True, True] Translation: X:842.59, Y:21.61, Z:7.82 [[ 9.59277922e-01 -2.81686962e-01 -2.09362044e-02 8.42593709e+02] [ 2.81591292e-01 9.59505549e-01 -7.44611469e-03 2.16125781e+01] [ 2.21858777e-02 1.24744058e-03 9.99753085e-01 7.82114526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2592541539999 meters Centerline goodness [0,1] 0.9999141336081058 Centerline is valid? [True, True] Translation: X:842.62, Y:21.63, Z:7.82 [[ 9.59096438e-01 -2.82362910e-01 -2.01298357e-02 8.42617647e+02] [ 2.82274533e-01 9.59306924e-01 -7.16331378e-03 2.16295280e+01] [ 2.13333449e-02 1.18816876e-03 9.99771712e-01 7.82149207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2892541539999 meters Centerline goodness [0,1] 0.9998924013858701 Centerline is valid? [True, True] Translation: X:842.65, Y:21.63, Z:7.82 [[ 9.58747157e-01 -2.83492404e-01 -2.08793101e-02 8.42647622e+02] [ 2.83397485e-01 9.58973717e-01 -7.43473684e-03 2.16326140e+01] [ 2.21304011e-02 1.21088883e-03 9.99754359e-01 7.82326871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.67, Y:21.64, Z:7.82 [[ 9.58693527e-01 -2.83733393e-01 -2.00520314e-02 8.42673000e+02] [ 2.83645773e-01 9.58902502e-01 -7.14611827e-03 2.16443519e+01] [ 2.12555355e-02 1.16326338e-03 9.99773399e-01 7.82490116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3492541539999 meters Centerline goodness [0,1] 0.9998499238899727 Centerline is valid? [True, True] Translation: X:842.70, Y:21.65, Z:7.82 [[ 9.58127489e-01 -2.85578449e-01 -2.08964981e-02 8.42700311e+02] [ 2.85483642e-01 9.58354617e-01 -7.45098717e-03 2.16537029e+01] [ 2.21540968e-02 1.17338725e-03 9.99753879e-01 7.82307037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3792541539999 meters Centerline goodness [0,1] 0.9998499238899727 Centerline is valid? [True, True] Translation: X:842.73, Y:21.66, Z:7.82 [[ 9.58044223e-01 -2.85857772e-01 -2.08950138e-02 8.42726296e+02] [ 2.85762941e-01 9.58271341e-01 -7.45514778e-03 2.16630529e+01] [ 2.21542048e-02 1.17134066e-03 9.99753879e-01 7.82332884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4092541539999 meters Centerline goodness [0,1] 0.9998504241543623 Centerline is valid? [True, True] Translation: X:842.75, Y:21.68, Z:7.82 [[ 9.57948765e-01 -2.86187969e-01 -2.07511288e-02 8.42751664e+02] [ 2.86094427e-01 9.58172793e-01 -7.40790232e-03 2.16760430e+01] [ 2.20032195e-02 1.15960858e-03 9.99757227e-01 7.82303103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4392541539999 meters Centerline goodness [0,1] 0.9998926854395604 Centerline is valid? [True, True] Translation: X:842.78, Y:21.68, Z:7.82 [[ 9.57750810e-01 -2.86854982e-01 -2.06786235e-02 8.42779536e+02] [ 2.86762154e-01 9.57973334e-01 -7.38631751e-03 2.16848557e+01] [ 2.19283719e-02 1.14440496e-03 9.99758889e-01 7.82435295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.81, Y:21.70, Z:7.83 [[ 9.57523970e-01 -2.87704712e-01 -1.93350763e-02 8.42805568e+02] [ 2.87623618e-01 9.57718581e-01 -6.91180311e-03 2.16973004e+01] [ 2.05061202e-02 1.05699255e-03 9.99789169e-01 7.82695459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.83, Y:21.71, Z:7.83 [[ 9.57299472e-01 -2.88459688e-01 -1.92023298e-02 8.42830227e+02] [ 2.88379744e-01 9.57491477e-01 -6.86983510e-03 2.17126528e+01] [ 2.03677376e-02 1.03892658e-03 9.99792016e-01 7.82641267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5292541539999 meters Centerline goodness [0,1] 0.9998290744380822 Centerline is valid? [True, True] Translation: X:842.86, Y:21.72, Z:7.82 [[ 9.56661306e-01 -2.90481061e-01 -2.04914535e-02 8.42857184e+02] [ 2.90390355e-01 9.56880145e-01 -7.33690530e-03 2.17220877e+01] [ 2.17390970e-02 1.06841295e-03 9.99763107e-01 7.82463440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5592541539999 meters Centerline goodness [0,1] 0.999807651207523 Centerline is valid? [True, True] Translation: X:842.88, Y:21.73, Z:7.82 [[ 9.56405431e-01 -2.91274828e-01 -2.11571949e-02 8.42884702e+02] [ 2.91178190e-01 9.56638796e-01 -7.58126330e-03 2.17321722e+01] [ 2.24480246e-02 1.09024769e-03 9.99747417e-01 7.82496687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.91, Y:21.74, Z:7.83 [[ 9.56155234e-01 -2.92141360e-01 -2.05083775e-02 8.42909367e+02] [ 2.92050680e-01 9.56374583e-01 -7.35237599e-03 2.17445914e+01] [ 2.17616241e-02 1.04052718e-03 9.99762646e-01 7.82779077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6192541539999 meters Centerline goodness [0,1] 0.9999360899853007 Centerline is valid? [True, True] Translation: X:842.94, Y:21.75, Z:7.83 [[ 9.55754618e-01 -2.93408539e-01 -2.10841045e-02 8.42937439e+02] [ 2.93312902e-01 9.55986579e-01 -7.56323782e-03 2.17528470e+01] [ 2.23752395e-02 1.04435958e-03 9.99749098e-01 7.82749895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6492541539999 meters Centerline goodness [0,1] 0.9998933606330113 Centerline is valid? [True, True] Translation: X:842.96, Y:21.76, Z:7.83 [[ 9.55451275e-01 -2.94378843e-01 -2.13062961e-02 8.42964660e+02] [ 2.94281280e-01 9.55688244e-01 -7.64914089e-03 2.17638137e+01] [ 2.26139220e-02 1.03833732e-03 9.99743733e-01 7.82718265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:842.99, Y:21.78, Z:7.83 [[ 9.55127001e-01 -2.95496088e-01 -2.03586399e-02 8.42989844e+02] [ 2.95407141e-01 9.55343455e-01 -7.31468591e-03 2.17777126e+01] [ 2.16109544e-02 9.72366410e-04 9.99765983e-01 7.82902510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7092541539998 meters Centerline goodness [0,1] 0.9998939307155434 Centerline is valid? [True, True] Translation: X:843.02, Y:21.79, Z:7.83 [[ 9.54416498e-01 -2.97710589e-01 -2.13905011e-02 8.43016231e+02] [ 2.97612867e-01 9.54655676e-01 -7.68910289e-03 2.17895213e+01] [ 2.27096907e-02 9.72518293e-04 9.99741629e-01 7.82695973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7392541539999 meters Centerline goodness [0,1] 0.9998300945099289 Centerline is valid? [True, True] Translation: X:843.04, Y:21.80, Z:7.83 [[ 9.53835475e-01 -2.99492072e-01 -2.24139601e-02 8.43043382e+02] [ 2.99385153e-01 9.54098286e-01 -8.06165056e-03 2.17992997e+01] [ 2.37995214e-02 9.79081410e-04 9.99716272e-01 7.82641967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7692541539999 meters Centerline goodness [0,1] 0.9998300945099289 Centerline is valid? [True, True] Translation: X:843.07, Y:21.81, Z:7.83 [[ 9.53748241e-01 -2.99769923e-01 -2.24117281e-02 8.43069321e+02] [ 2.99662935e-01 9.54011025e-01 -8.06785261e-03 2.18087161e+01] [ 2.37995352e-02 9.78736022e-04 9.99716272e-01 7.82667745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7992541539999 meters Centerline goodness [0,1] 0.9998939217142251 Centerline is valid? [True, True] Translation: X:843.10, Y:21.82, Z:7.83 [[ 9.53078101e-01 -3.01904367e-01 -2.22684947e-02 8.43096194e+02] [ 3.01799229e-01 9.53337768e-01 -8.02026771e-03 2.18189737e+01] [ 2.36507509e-02 9.23326987e-04 9.99719855e-01 7.82799209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8292541539998 meters Centerline goodness [0,1] 0.9999787798408488 Centerline is valid? [True, True] Translation: X:843.12, Y:21.83, Z:7.83 [[ 9.52726570e-01 -3.03073498e-01 -2.14134776e-02 8.43120932e+02] [ 3.02976530e-01 9.52966795e-01 -7.71428322e-03 2.18316137e+01] [ 2.27443279e-02 8.61821458e-04 9.99740943e-01 7.82884389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:843.15, Y:21.84, Z:7.83 [[ 9.52002926e-01 -3.05382549e-01 -2.07828813e-02 8.43148106e+02] [ 3.05291717e-01 9.52229428e-01 -7.48891467e-03 2.18402622e+01] [ 2.20770550e-02 7.84627160e-04 9.99755964e-01 7.83054607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8892541539999 meters Centerline goodness [0,1] 0.9998729486500794 Centerline is valid? [True, True] Translation: X:843.18, Y:21.85, Z:7.83 [[ 9.51413122e-01 -3.07179454e-01 -2.13038478e-02 8.43175683e+02] [ 3.07084367e-01 9.51651300e-01 -7.68079300e-03 2.18501577e+01] [ 2.26332163e-02 7.65528638e-04 9.99743543e-01 7.82851476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9192541539999 meters Centerline goodness [0,1] 0.9998312627871169 Centerline is valid? [True, True] Translation: X:843.20, Y:21.86, Z:7.83 [[ 9.51005680e-01 -3.08420139e-01 -2.15688371e-02 8.43203094e+02] [ 3.08322852e-01 9.51249943e-01 -7.78234570e-03 2.18589009e+01] [ 2.29175872e-02 7.50889585e-04 9.99737076e-01 7.82880313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9492541539998 meters Centerline goodness [0,1] 0.9998515565357536 Centerline is valid? [True, True] Translation: X:843.23, Y:21.87, Z:7.83 [[ 9.50500066e-01 -3.10027536e-01 -2.07978618e-02 8.43229281e+02] [ 3.09937339e-01 9.50727326e-01 -7.50985257e-03 2.18699674e+01] [ 2.21013567e-02 6.92081406e-04 9.99755496e-01 7.82905000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:843.26, Y:21.88, Z:7.83 [[ 9.50484829e-01 -3.10146691e-01 -1.96880651e-02 8.43255987e+02] [ 3.10065769e-01 9.50688486e-01 -7.11490553e-03 2.18774274e+01] [ 2.09238812e-02 6.58014719e-04 9.99780855e-01 7.83301290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0092541539999 meters Centerline goodness [0,1] 0.9999576486532272 Centerline is valid? [True, True] Translation: X:843.28, Y:21.89, Z:7.83 [[ 9.50198504e-01 -3.10981984e-01 -2.03226073e-02 8.43283751e+02] [ 3.10895818e-01 9.50415573e-01 -7.35037273e-03 2.18866877e+01] [ 2.16007560e-02 6.66099540e-04 9.99766455e-01 7.83218199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0392541539999 meters Centerline goodness [0,1] 0.9998305730865348 Centerline is valid? [True, True] Translation: X:843.31, Y:21.90, Z:7.83 [[ 9.50020985e-01 -3.11421790e-01 -2.18310935e-02 8.43308509e+02] [ 3.11322381e-01 9.50271522e-01 -7.89993608e-03 2.18994948e+01] [ 2.32056787e-02 7.08597042e-04 9.99730461e-01 7.82824261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0692541539999 meters Centerline goodness [0,1] 0.9998522115486118 Centerline is valid? [True, True] Translation: X:843.34, Y:21.91, Z:7.83 [[ 9.49877101e-01 -3.11861071e-01 -2.18212016e-02 8.43335031e+02] [ 3.11761818e-01 9.50127456e-01 -7.89845143e-03 2.19092710e+01] [ 2.31961423e-02 6.99540662e-04 9.99730689e-01 7.82807483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0992541539999 meters Centerline goodness [0,1] 0.9998732385439334 Centerline is valid? [True, True] Translation: X:843.36, Y:21.92, Z:7.83 [[ 9.49807505e-01 -3.12089283e-01 -2.15866383e-02 8.43362147e+02] [ 3.11992103e-01 9.50052526e-01 -7.81830357e-03 2.19164993e+01] [ 2.29484490e-02 6.91022743e-04 9.99736411e-01 7.82982401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1292541539999 meters Centerline goodness [0,1] 0.9998514967011053 Centerline is valid? [True, True] Translation: X:843.39, Y:21.93, Z:7.83 [[ 9.49715068e-01 -3.12409535e-01 -2.10135951e-02 8.43390150e+02] [ 3.12317392e-01 9.49947279e-01 -7.61669469e-03 2.19252455e+01] [ 2.23413355e-02 6.70778507e-04 9.99750176e-01 7.83087170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1592541539999 meters Centerline goodness [0,1] 0.9997879379082195 Centerline is valid? [True, True] Translation: X:843.42, Y:21.93, Z:7.83 [[ 9.49578467e-01 -3.12842082e-01 -2.07500770e-02 8.43417300e+02] [ 3.12752205e-01 9.49804927e-01 -7.52728682e-03 2.19328435e+01] [ 2.20633774e-02 6.58117152e-04 9.99756357e-01 7.83163268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1892541539999 meters Centerline goodness [0,1] 0.999851986551921 Centerline is valid? [True, True] Translation: X:843.44, Y:21.94, Z:7.83 [[ 9.49489780e-01 -3.13158810e-01 -2.00179133e-02 8.43443409e+02] [ 3.13075154e-01 9.49700564e-01 -7.26545696e-03 2.19437297e+01] [ 2.12862654e-02 6.31365844e-04 9.99773222e-01 7.83210605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2192541539998 meters Centerline goodness [0,1] 0.9999153851035475 Centerline is valid? [True, True] Translation: X:843.47, Y:21.95, Z:7.83 [[ 9.49217889e-01 -3.14016035e-01 -1.94763808e-02 8.43470102e+02] [ 3.13936986e-01 9.49417492e-01 -7.07074422e-03 2.19525189e+01] [ 2.07115436e-02 5.97320628e-04 9.99785315e-01 7.83296414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2492541539999 meters Centerline goodness [0,1] 0.9999786766744141 Centerline is valid? [True, True] Translation: X:843.50, Y:21.96, Z:7.84 [[ 9.49047053e-01 -3.14544491e-01 -1.92731498e-02 8.43498989e+02] [ 3.14467106e-01 9.49242552e-01 -7.00121185e-03 2.19563845e+01] [ 2.04970865e-02 5.83707825e-04 9.99789742e-01 7.83636930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2792541539999 meters Centerline goodness [0,1] 0.999872811294357 Centerline is valid? [True, True] Translation: X:843.53, Y:21.96, Z:7.83 [[ 9.48282213e-01 -3.16784494e-01 -2.02096137e-02 8.43525306e+02] [ 3.16699822e-01 9.48497372e-01 -7.34557737e-03 2.19645095e+01] [ 2.14957305e-02 5.65299289e-04 9.99768780e-01 7.83313559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3092541539999 meters Centerline goodness [0,1] 0.9998507717233734 Centerline is valid? [True, True] Translation: X:843.55, Y:21.97, Z:7.83 [[ 9.47903693e-01 -3.17891233e-01 -2.05852609e-02 8.43553946e+02] [ 3.17803550e-01 9.48127026e-01 -7.48643434e-03 2.19704615e+01] [ 2.18973140e-02 5.54349781e-04 9.99760071e-01 7.83415085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3392541539998 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:843.58, Y:21.98, Z:7.84 [[ 9.46978764e-01 -3.20682089e-01 -1.98549598e-02 8.43582793e+02] [ 3.20601016e-01 9.47186766e-01 -7.22626010e-03 2.19768697e+01] [ 2.11236874e-02 4.77594563e-04 9.99776756e-01 7.83555820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3692541539999 meters Centerline goodness [0,1] 0.9999572850369485 Centerline is valid? [True, True] Translation: X:843.61, Y:21.99, Z:7.84 [[ 9.46592420e-01 -3.21901338e-01 -1.85018493e-02 8.43609823e+02] [ 3.21831074e-01 9.46773124e-01 -6.73876652e-03 2.19854693e+01] [ 1.96862716e-02 4.24395268e-04 9.99806117e-01 7.83772457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3992541539999 meters Centerline goodness [0,1] 0.9998724354204316 Centerline is valid? [True, True] Translation: X:843.64, Y:21.99, Z:7.84 [[ 9.45883312e-01 -3.23958341e-01 -1.88614508e-02 8.43638065e+02] [ 3.23885619e-01 9.46071265e-01 -6.87516297e-03 2.19935909e+01] [ 2.00715430e-02 3.94149259e-04 9.99798469e-01 7.83628316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4292541539999 meters Centerline goodness [0,1] 0.9998932627444284 Centerline is valid? [True, True] Translation: X:843.67, Y:22.00, Z:7.84 [[ 9.44815023e-01 -3.27140135e-01 -1.74328573e-02 8.43667036e+02] [ 3.27078468e-01 9.44975787e-01 -6.35903937e-03 2.19996891e+01] [ 1.85539250e-02 3.06203675e-04 9.99827814e-01 7.83788026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:843.69, Y:22.01, Z:7.84 [[ 9.44460433e-01 -3.28190122e-01 -1.69036854e-02 8.43693715e+02] [ 3.28132255e-01 9.44611648e-01 -6.16911195e-03 2.20079006e+01] [ 1.79920597e-02 2.79837741e-04 9.99838091e-01 7.83973747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4892541539999 meters Centerline goodness [0,1] 0.9998721418373218 Centerline is valid? [True, True] Translation: X:843.72, Y:22.01, Z:7.84 [[ 9.43344980e-01 -3.31325272e-01 -1.79948072e-02 8.43721458e+02] [ 3.31260194e-01 9.43516565e-01 -6.57087341e-03 2.20148250e+01] [ 1.91554951e-02 2.37637117e-04 9.99816488e-01 7.83703069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5192541539999 meters Centerline goodness [0,1] 0.9998503666018256 Centerline is valid? [True, True] Translation: X:843.75, Y:22.02, Z:7.84 [[ 9.42825738e-01 -3.32785808e-01 -1.82547050e-02 8.43748956e+02] [ 3.32719010e-01 9.43002417e-01 -6.67094075e-03 2.20227413e+01] [ 1.94342253e-02 2.15847277e-04 9.99811114e-01 7.83659537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:843.78, Y:22.03, Z:7.84 [[ 9.42545070e-01 -3.33633786e-01 -1.72420375e-02 8.43776731e+02] [ 3.33574250e-01 9.42702742e-01 -6.30554190e-03 2.20315965e+01] [ 1.83578579e-02 1.91757691e-04 9.99831462e-01 7.83878930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5792541539998 meters Centerline goodness [0,1] 0.9999358467164211 Centerline is valid? [True, True] Translation: X:843.80, Y:22.04, Z:7.84 [[ 9.41514122e-01 -3.36549127e-01 -1.69069157e-02 8.43803762e+02] [ 3.36492295e-01 9.41665900e-01 -6.18617711e-03 2.20377045e+01] [ 1.80026185e-02 1.35326250e-04 9.99837931e-01 7.83810398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6092541539999 meters Centerline goodness [0,1] 0.9999786119131644 Centerline is valid? [True, True] Translation: X:843.83, Y:22.05, Z:7.84 [[ 9.40993378e-01 -3.38028245e-01 -1.63819559e-02 8.43831811e+02] [ 3.37975061e-01 9.41135960e-01 -5.99699549e-03 2.20460023e+01] [ 1.74448017e-02 1.06440488e-04 9.99847822e-01 7.83952236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6392541539999 meters Centerline goodness [0,1] 0.9998073877498609 Centerline is valid? [True, True] Translation: X:843.86, Y:22.05, Z:7.84 [[ 9.39996380e-01 -3.40798579e-01 -1.62214339e-02 8.43859716e+02] [ 3.40746785e-01 9.40136333e-01 -5.94166837e-03 2.20521223e+01] [ 1.72752715e-02 5.77453098e-05 9.99850770e-01 7.83828236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6692541539999 meters Centerline goodness [0,1] 0.9998706562041907 Centerline is valid? [True, True] Translation: X:843.89, Y:22.06, Z:7.84 [[ 9.39620795e-01 -3.41857158e-01 -1.56985910e-02 8.43886442e+02] [ 3.41808740e-01 9.39751926e-01 -5.75355248e-03 2.20601346e+01] [ 1.67196743e-02 4.02419325e-05 9.99860216e-01 7.83965646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6992541539998 meters Centerline goodness [0,1] 0.9999354505551252 Centerline is valid? [True, True] Translation: X:843.91, Y:22.07, Z:7.84 [[ 9.39415858e-01 -3.42416296e-01 -1.57774021e-02 8.43912271e+02] [ 3.42367397e-01 9.39548338e-01 -5.78670091e-03 2.20681036e+01] [ 1.68050926e-02 3.44505173e-05 9.99858784e-01 7.83984441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7292541539999 meters Centerline goodness [0,1] 0.9998498562910214 Centerline is valid? [True, True] Translation: X:843.94, Y:22.08, Z:7.84 [[ 9.39357326e-01 -3.42555720e-01 -1.62294048e-02 8.43938985e+02] [ 3.42503928e-01 9.39497513e-01 -5.95664703e-03 2.20778460e+01] [ 1.72879690e-02 3.67851363e-05 9.99850551e-01 7.83835717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7592541539999 meters Centerline goodness [0,1] 0.9998705864590298 Centerline is valid? [True, True] Translation: X:843.97, Y:22.09, Z:7.84 [[ 9.39937852e-01 -3.40961702e-01 -1.61849225e-02 8.43965269e+02] [ 3.40909871e-01 9.40077185e-01 -5.94534097e-03 2.20878973e+01] [ 1.72422100e-02 7.06511779e-05 9.99851340e-01 7.83923312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:843.99, Y:22.10, Z:7.84 [[ 9.40326638e-01 -3.39904456e-01 -1.58358576e-02 8.43990994e+02] [ 3.39854601e-01 9.40459969e-01 -5.82215886e-03 2.20980206e+01] [ 1.68719678e-02 9.28420046e-05 9.99857654e-01 7.84147758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8192541539999 meters Centerline goodness [0,1] 0.9998274448902118 Centerline is valid? [True, True] Translation: X:844.02, Y:22.11, Z:7.84 [[ 9.40338582e-01 -3.39846437e-01 -1.63631132e-02 8.44017434e+02] [ 3.39793103e-01 9.40480935e-01 -6.02144860e-03 2.21071714e+01] [ 1.74355638e-02 1.02127439e-04 9.99847984e-01 7.83926672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8492541539999 meters Centerline goodness [0,1] 0.9999784147815576 Centerline is valid? [True, True] Translation: X:844.04, Y:22.12, Z:7.84 [[ 9.40755293e-01 -3.38722005e-01 -1.57124721e-02 8.44042153e+02] [ 3.38672599e-01 9.40886491e-01 -5.78638130e-03 2.21174556e+01] [ 1.67436274e-02 1.22185066e-04 9.99859808e-01 7.84027475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8792541539999 meters Centerline goodness [0,1] 0.9998278273969654 Centerline is valid? [True, True] Translation: X:844.07, Y:22.13, Z:7.84 [[ 9.40583856e-01 -3.39154093e-01 -1.66286065e-02 8.44069223e+02] [ 3.39098743e-01 9.40730825e-01 -6.12833952e-03 2.21252239e+01] [ 1.77214941e-02 1.25477660e-04 9.99842954e-01 7.83996375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9092541539999 meters Centerline goodness [0,1] 0.9999140967270853 Centerline is valid? [True, True] Translation: X:844.10, Y:22.13, Z:7.84 [[ 9.40360397e-01 -3.39793043e-01 -1.62176416e-02 8.44095798e+02] [ 3.39740403e-01 9.40500226e-01 -5.98198712e-03 2.21331924e+01] [ 1.72853332e-02 1.15435703e-04 9.99850591e-01 7.84235126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9392541539999 meters Centerline goodness [0,1] 0.9998705306087219 Centerline is valid? [True, True] Translation: X:844.12, Y:22.14, Z:7.84 [[ 9.40091826e-01 -3.40509754e-01 -1.67471215e-02 8.44122138e+02] [ 3.40453636e-01 9.40240977e-01 -6.18278025e-03 2.21422587e+01] [ 1.78516268e-02 1.10762779e-04 9.99840641e-01 7.84169388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9692541539998 meters Centerline goodness [0,1] 0.9998058964349645 Centerline is valid? [True, True] Translation: X:844.15, Y:22.15, Z:7.84 [[ 9.39905605e-01 -3.41015713e-01 -1.69037594e-02 8.44147761e+02] [ 3.40958550e-01 9.40057590e-01 -6.24460250e-03 2.21514538e+01] [ 1.80200149e-02 1.05855587e-04 9.99837621e-01 7.84050414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9992541539999 meters Centerline goodness [0,1] 0.9998278866633679 Centerline is valid? [True, True] Translation: X:844.17, Y:22.16, Z:7.84 [[ 9.39855716e-01 -3.41147244e-01 -1.70232233e-02 8.44173227e+02] [ 3.41089248e-01 9.40009865e-01 -6.29111284e-03 2.21608145e+01] [ 1.81481936e-02 1.06299932e-04 9.99835302e-01 7.83991421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0292541539999 meters Centerline goodness [0,1] 0.9998279014735937 Centerline is valid? [True, True] Translation: X:844.20, Y:22.17, Z:7.84 [[ 9.39635299e-01 -3.41765766e-01 -1.67829474e-02 8.44199965e+02] [ 3.41709426e-01 9.39785163e-01 -6.20610614e-03 2.21697425e+01] [ 1.78933996e-02 9.65850711e-05 9.99839896e-01 7.84020731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0592541539999 meters Centerline goodness [0,1] 0.9996547855355139 Centerline is valid? [True, True] Translation: X:844.23, Y:22.18, Z:7.84 [[ 9.39336641e-01 -3.42594002e-01 -1.66140063e-02 8.44226817e+02] [ 3.42538826e-01 9.39483551e-01 -6.14901965e-03 2.21788880e+01] [ 1.77152028e-02 8.50572673e-05 9.99843070e-01 7.84042687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0892541539998 meters Centerline goodness [0,1] 0.9999140967270853 Centerline is valid? [True, True] Translation: X:844.25, Y:22.19, Z:7.84 [[ 9.39060661e-01 -3.43406377e-01 -1.53991889e-02 8.44254667e+02] [ 3.43359009e-01 9.39186912e-01 -5.70400234e-03 2.21879327e+01] [ 1.64215074e-02 6.89539792e-05 9.99865156e-01 7.84335531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1192541539999 meters Centerline goodness [0,1] 0.9998272884283247 Centerline is valid? [True, True] Translation: X:844.28, Y:22.20, Z:7.84 [[ 9.38733443e-01 -3.44298386e-01 -1.54319152e-02 8.44279875e+02] [ 3.44250870e-01 9.38860276e-01 -5.72019015e-03 2.21970036e+01] [ 1.64578644e-02 5.72835813e-05 9.99864559e-01 7.84267215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.31, Y:22.21, Z:7.85 [[ 9.38793723e-01 -3.44153233e-01 -1.49966164e-02 8.44306518e+02] [ 3.44108278e-01 9.38913494e-01 -5.56281208e-03 2.22066789e+01] [ 1.59949852e-02 6.18732218e-05 9.99872070e-01 7.84576408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.33, Y:22.22, Z:7.85 [[ 9.38719990e-01 -3.44346960e-01 -1.51641583e-02 8.44332902e+02] [ 3.44300938e-01 9.38842461e-01 -5.63001601e-03 2.22160048e+01] [ 1.61754346e-02 6.39746604e-05 9.99869167e-01 7.84601892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2092541539998 meters Centerline goodness [0,1] 0.9997626752966559 Centerline is valid? [True, True] Translation: X:844.36, Y:22.23, Z:7.84 [[ 9.38574628e-01 -3.44709710e-01 -1.59023125e-02 8.44359231e+02] [ 3.44659085e-01 9.38709333e-01 -5.90788291e-03 2.22258135e+01] [ 1.69641537e-02 6.41125292e-05 9.99856096e-01 7.84288848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.38, Y:22.24, Z:7.85 [[ 9.39230054e-01 -3.42941842e-01 -1.54206984e-02 8.44384809e+02] [ 3.42893974e-01 9.39356633e-01 -5.73051789e-03 2.22365871e+01] [ 1.64507697e-02 9.46100785e-05 9.99864672e-01 7.84578827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.41, Y:22.25, Z:7.85 [[ 9.39133162e-01 -3.43207134e-01 -1.54197073e-02 8.44410635e+02] [ 3.43159258e-01 9.39259737e-01 -5.73318377e-03 2.22462719e+01] [ 1.64507798e-02 9.28077025e-05 9.99864672e-01 7.84604634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.44, Y:22.26, Z:7.85 [[ 9.39376296e-01 -3.42535222e-01 -1.55497649e-02 8.44436871e+02] [ 3.42486359e-01 9.39504981e-01 -5.78661028e-03 2.22564938e+01] [ 1.65911994e-02 1.10222165e-04 9.99862351e-01 7.84651394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3292541539998 meters Centerline goodness [0,1] 0.9998922947676798 Centerline is valid? [True, True] Translation: X:844.46, Y:22.27, Z:7.84 [[ 9.39616616e-01 -3.41820829e-01 -1.67073572e-02 8.44463113e+02] [ 3.41764237e-01 9.39765131e-01 -6.22129321e-03 2.22669519e+01] [ 1.78275594e-02 1.35653283e-04 9.99841067e-01 7.84396777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3592541539999 meters Centerline goodness [0,1] 0.999978427354115 Centerline is valid? [True, True] Translation: X:844.49, Y:22.28, Z:7.85 [[ 9.39917634e-01 -3.41023030e-01 -1.60665684e-02 8.44488009e+02] [ 3.40970546e-01 9.40054930e-01 -5.98455883e-03 2.22766538e+01] [ 1.71443292e-02 1.46765789e-04 9.99853014e-01 7.84559625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3892541539999 meters Centerline goodness [0,1] 0.9998482647996012 Centerline is valid? [True, True] Translation: X:844.51, Y:22.29, Z:7.84 [[ 9.39885776e-01 -3.41087288e-01 -1.65586642e-02 8.44514202e+02] [ 3.41031484e-01 9.40031616e-01 -6.17162201e-03 2.22859100e+01] [ 1.76707297e-02 1.53593917e-04 9.99843849e-01 7.84393409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4192541539999 meters Centerline goodness [0,1] 0.999653844489637 Centerline is valid? [True, True] Translation: X:844.54, Y:22.30, Z:7.84 [[ 9.39915720e-01 -3.40994287e-01 -1.67730546e-02 8.44540523e+02] [ 3.40936916e-01 9.40065354e-01 -6.25696469e-03 2.22954991e+01] [ 1.79013567e-02 1.62465955e-04 9.99839745e-01 7.84380810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.57, Y:22.31, Z:7.85 [[ 9.40145931e-01 -3.40390901e-01 -1.61140381e-02 8.44567173e+02] [ 3.40337774e-01 9.40284002e-01 -6.01619566e-03 2.23054760e+01] [ 1.71996305e-02 1.71886015e-04 9.99852061e-01 7.84698614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4792541539999 meters Centerline goodness [0,1] 0.9998482976832889 Centerline is valid? [True, True] Translation: X:844.60, Y:22.31, Z:7.84 [[ 9.40009976e-01 -3.40700884e-01 -1.74399526e-02 8.44595096e+02] [ 3.40638604e-01 9.40171725e-01 -6.51676364e-03 2.23145934e+01] [ 1.86168175e-02 1.85101717e-04 9.99826675e-01 7.84489019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5092541539999 meters Centerline goodness [0,1] 0.9998702337954452 Centerline is valid? [True, True] Translation: X:844.62, Y:22.32, Z:7.85 [[ 9.40020532e-01 -3.40650489e-01 -1.78505904e-02 8.44621221e+02] [ 3.40585126e-01 9.40189984e-01 -6.67577465e-03 2.23240006e+01] [ 1.90570522e-02 1.95719668e-04 9.99818379e-01 7.84504046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.65, Y:22.33, Z:7.85 [[ 9.40171438e-01 -3.40266560e-01 -1.72143813e-02 8.44646378e+02] [ 3.40205636e-01 9.40329000e-01 -6.44182529e-03 2.23327235e+01] [ 1.83791197e-02 1.99990601e-04 9.99831070e-01 7.84730419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5692541539999 meters Centerline goodness [0,1] 0.9999135340783813 Centerline is valid? [True, True] Translation: X:844.67, Y:22.34, Z:7.85 [[ 9.39811876e-01 -3.41255649e-01 -1.72690361e-02 8.44673262e+02] [ 3.41194430e-01 9.39970504e-01 -6.46630228e-03 2.23418202e+01] [ 1.84390468e-02 1.85008748e-04 9.99829969e-01 7.84616908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5992541539999 meters Centerline goodness [0,1] 0.9997410556298821 Centerline is valid? [True, True] Translation: X:844.70, Y:22.35, Z:7.84 [[ 9.39225784e-01 -3.42838066e-01 -1.78041136e-02 8.44700940e+02] [ 3.42773166e-01 9.39394504e-01 -6.67259281e-03 2.23493127e+01] [ 1.90127053e-02 1.64298824e-04 9.99819229e-01 7.84489053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6292541539999 meters Centerline goodness [0,1] 0.9997829578504146 Centerline is valid? [True, True] Translation: X:844.73, Y:22.36, Z:7.85 [[ 9.38767396e-01 -3.44095208e-01 -1.77275072e-02 8.44728329e+02] [ 3.44031017e-01 9.38934751e-01 -6.64767983e-03 2.23566115e+01] [ 1.89324074e-02 1.41812729e-04 9.99820756e-01 7.84504394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6592541539999 meters Centerline goodness [0,1] 0.9999349593495935 Centerline is valid? [True, True] Translation: X:844.76, Y:22.36, Z:7.85 [[ 9.38685124e-01 -3.44352467e-01 -1.70767655e-02 8.44755374e+02] [ 3.44292914e-01 9.38840434e-01 -6.40535845e-03 2.23639728e+01] [ 1.82380589e-02 1.33205355e-04 9.99833664e-01 7.84718930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.78, Y:22.37, Z:7.85 [[ 9.38630591e-01 -3.44533726e-01 -1.64050078e-02 8.44782471e+02] [ 3.44478735e-01 9.38773932e-01 -6.15678076e-03 2.23707760e+01] [ 1.75218123e-02 1.27766444e-04 9.99846473e-01 7.84993104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7192541539998 meters Centerline goodness [0,1] 0.9999348392701998 Centerline is valid? [True, True] Translation: X:844.81, Y:22.38, Z:7.85 [[ 9.38536904e-01 -3.44791543e-01 -1.63484577e-02 8.44807902e+02] [ 3.44736900e-01 9.38679272e-01 -6.13955970e-03 2.23794710e+01] [ 1.74628267e-02 1.26286715e-04 9.99847505e-01 7.84901556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7492541539999 meters Centerline goodness [0,1] 0.9999348392701998 Centerline is valid? [True, True] Translation: X:844.83, Y:22.39, Z:7.85 [[ 9.38439263e-01 -3.45057268e-01 -1.63472350e-02 8.44833700e+02] [ 3.45002608e-01 9.38581625e-01 -6.14281418e-03 2.23892466e+01] [ 1.74628370e-02 1.24819326e-04 9.99847505e-01 7.84927354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7792541539999 meters Centerline goodness [0,1] 0.9999346775247137 Centerline is valid? [True, True] Translation: X:844.86, Y:22.40, Z:7.85 [[ 9.38736666e-01 -3.44296651e-01 -1.52737577e-02 8.44860887e+02] [ 3.44248756e-01 9.38860905e-01 -5.74417167e-03 2.23980603e+01] [ 1.63176330e-02 1.34292482e-04 9.99866850e-01 7.85042771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.89, Y:22.41, Z:7.85 [[ 9.39022485e-01 -3.43535238e-01 -1.48429282e-02 8.44887894e+02] [ 3.43489837e-01 9.39139776e-01 -5.58688808e-03 2.24073795e+01] [ 1.58588772e-02 1.47818549e-04 9.99874229e-01 7.85269452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.91, Y:22.42, Z:7.85 [[ 9.39261393e-01 -3.42906295e-01 -1.42586325e-02 8.44912550e+02] [ 3.42864265e-01 9.39369602e-01 -5.37096355e-03 2.24173049e+01] [ 1.52358631e-02 1.55963149e-04 9.99883915e-01 7.85293156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8692541539999 meters Centerline goodness [0,1] 0.9998473149238756 Centerline is valid? [True, True] Translation: X:844.94, Y:22.43, Z:7.85 [[ 9.39507274e-01 -3.42262988e-01 -1.34955250e-02 8.44939494e+02] [ 3.42225221e-01 9.39604183e-01 -5.08693207e-03 2.24266813e+01] [ 1.44215203e-02 1.60700667e-04 9.99895992e-01 7.85110720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:844.97, Y:22.44, Z:7.85 [[ 9.39826472e-01 -3.41412790e-01 -1.27870794e-02 8.44966435e+02] [ 3.41378752e-01 9.39913442e-01 -4.82380728e-03 2.24370175e+01] [ 1.36656573e-02 1.68304575e-04 9.99906606e-01 7.85347815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9292541539999 meters Centerline goodness [0,1] 0.9998469075321494 Centerline is valid? [True, True] Translation: X:844.99, Y:22.45, Z:7.85 [[ 9.39820160e-01 -3.41389232e-01 -1.38369015e-02 8.44992569e+02] [ 3.41349320e-01 9.39921996e-01 -5.22338840e-03 2.24465724e+01] [ 1.47888167e-02 1.85828794e-04 9.99890622e-01 7.84994900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9592541539998 meters Centerline goodness [0,1] 0.9998686428618342 Centerline is valid? [True, True] Translation: X:845.02, Y:22.46, Z:7.85 [[ 9.39725851e-01 -3.41643409e-01 -1.39680183e-02 8.45019229e+02] [ 3.41602719e-01 9.39829637e-01 -5.27593291e-03 2.24562422e+01] [ 1.49300452e-02 1.86417523e-04 9.99888523e-01 7.85049582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.05, Y:22.46, Z:7.85 [[ 9.39498914e-01 -3.42243593e-01 -1.45297314e-02 8.45046167e+02] [ 3.42199562e-01 9.39611243e-01 -5.49287421e-03 2.24646375e+01] [ 1.55322000e-02 1.88481634e-04 9.99879350e-01 7.85158299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0192541539999 meters Centerline goodness [0,1] 0.9999561576570652 Centerline is valid? [True, True] Translation: X:845.07, Y:22.47, Z:7.85 [[ 9.39137963e-01 -3.43223726e-01 -1.47431140e-02 8.45073212e+02] [ 3.43178439e-01 9.39253662e-01 -5.57827629e-03 2.24738726e+01] [ 1.57621206e-02 1.79252185e-04 9.99875754e-01 7.85053378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.10, Y:22.48, Z:7.85 [[ 9.38882442e-01 -3.43913246e-01 -1.49479234e-02 8.45099605e+02] [ 3.43866703e-01 9.39001411e-01 -5.66053738e-03 2.24832455e+01] [ 1.59828550e-02 1.74486005e-04 9.99872251e-01 7.85145950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0792541539998 meters Centerline goodness [0,1] 0.9999563661750589 Centerline is valid? [True, True] Translation: X:845.13, Y:22.49, Z:7.85 [[ 9.38103247e-01 -3.46023529e-01 -1.51662433e-02 8.45127309e+02] [ 3.45975817e-01 9.38225824e-01 -5.74783670e-03 2.24909855e+01] [ 1.62182478e-02 1.44910863e-04 9.99868465e-01 7.85062662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1092541539999 meters Centerline goodness [0,1] 0.9998031194627349 Centerline is valid? [True, True] Translation: X:845.15, Y:22.50, Z:7.85 [[ 9.37104931e-01 -3.48703979e-01 -1.54881874e-02 8.45154937e+02] [ 3.48654512e-01 9.37232908e-01 -5.87430846e-03 2.24987408e+01] [ 1.65644337e-02 1.04817000e-04 9.99862795e-01 7.84957453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1392541539999 meters Centerline goodness [0,1] 0.9998686083433702 Centerline is valid? [True, True] Translation: X:845.18, Y:22.51, Z:7.85 [[ 9.36651159e-01 -3.49904375e-01 -1.58598805e-02 8.45180853e+02] [ 3.49852616e-01 9.36785419e-01 -6.01884876e-03 2.25070853e+01] [ 1.69633263e-02 8.89409785e-05 9.99856108e-01 7.84925780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.21, Y:22.52, Z:7.85 [[ 9.36250419e-01 -3.50998036e-01 -1.53470233e-02 8.45207950e+02] [ 3.50949663e-01 9.36376192e-01 -5.82752547e-03 2.25158854e+01] [ 1.64160373e-02 6.99905000e-05 9.99865245e-01 7.85195014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.24, Y:22.52, Z:7.85 [[ 9.34845186e-01 -3.54717719e-01 -1.54860733e-02 8.45236166e+02] [ 3.54668891e-01 9.34973443e-01 -5.88537074e-03 2.25218149e+01] [ 1.65667125e-02 9.48207352e-06 9.99862763e-01 7.85327757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2292541539999 meters Centerline goodness [0,1] 0.9999779351735398 Centerline is valid? [True, True] Translation: X:845.26, Y:22.53, Z:7.85 [[ 9.33437532e-01 -3.58439208e-01 -1.46869999e-02 8.45264252e+02] [ 3.58395676e-01 9.33553069e-01 -5.58636486e-03 2.25278936e+01] [ 1.57134661e-02 -4.92346459e-05 9.99876535e-01 7.85487054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.29, Y:22.54, Z:7.86 [[ 9.32654322e-01 -3.60483048e-01 -1.44182807e-02 8.45291313e+02] [ 3.60441267e-01 9.32765762e-01 -5.48882548e-03 2.25363722e+01] [ 1.54275071e-02 -7.77665603e-05 9.99880986e-01 7.85592101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2892541539999 meters Centerline goodness [0,1] 0.9997574742040745 Centerline is valid? [True, True] Translation: X:845.32, Y:22.54, Z:7.85 [[ 9.31819116e-01 -3.62646865e-01 -1.41558092e-02 8.45318772e+02] [ 3.62606775e-01 9.31926628e-01 -5.39328684e-03 2.25447224e+01] [ 1.51480341e-02 -1.07424534e-04 9.99885256e-01 7.85468921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3192541539999 meters Centerline goodness [0,1] 0.9998674003845389 Centerline is valid? [True, True] Translation: X:845.35, Y:22.55, Z:7.86 [[ 9.31017470e-01 -3.64728402e-01 -1.34038315e-02 8.45345593e+02] [ 3.64692632e-01 9.31113944e-01 -5.10964481e-03 2.25516929e+01] [ 1.43441270e-02 -1.31110017e-04 9.99897109e-01 7.85552888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.37, Y:22.56, Z:7.86 [[ 9.30922188e-01 -3.64983996e-01 -1.30599937e-02 8.45371415e+02] [ 3.64950031e-01 9.31013784e-01 -4.98085641e-03 2.25621386e+01] [ 1.39769670e-02 -1.29455344e-04 9.99902309e-01 7.85894958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3792541539999 meters Centerline goodness [0,1] 0.9999557316452334 Centerline is valid? [True, True] Translation: X:845.40, Y:22.57, Z:7.86 [[ 9.30751150e-01 -3.65419739e-01 -1.30656279e-02 8.45397958e+02] [ 3.65385741e-01 9.30842842e-01 -4.98633174e-03 2.25721859e+01] [ 1.39841502e-02 -1.32960125e-04 9.99902208e-01 7.85796637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4092541539999 meters Centerline goodness [0,1] 0.999800818855815 Centerline is valid? [True, True] Translation: X:845.42, Y:22.58, Z:7.86 [[ 9.30742050e-01 -3.65413845e-01 -1.38549057e-02 8.45423671e+02] [ 3.65375592e-01 9.30845155e-01 -5.28903541e-03 2.25817688e+01] [ 1.48294586e-02 -1.39516704e-04 9.99890028e-01 7.85603605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4392541539999 meters Centerline goodness [0,1] 0.9999117737879925 Centerline is valid? [True, True] Translation: X:845.45, Y:22.59, Z:7.86 [[ 9.31261921e-01 -3.64100574e-01 -1.34910063e-02 8.45450388e+02] [ 3.64064135e-01 9.31359629e-01 -5.15235267e-03 2.25932206e+01] [ 1.44409532e-02 -1.13401682e-04 9.99895718e-01 7.85758488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4692541539998 meters Centerline goodness [0,1] 0.9998897002051577 Centerline is valid? [True, True] Translation: X:845.48, Y:22.60, Z:7.86 [[ 9.31437288e-01 -3.63634571e-01 -1.39455248e-02 8.45475650e+02] [ 3.63595533e-01 9.31541672e-01 -5.32926762e-03 2.26036206e+01] [ 1.49287435e-02 -1.06651952e-04 9.99888554e-01 7.85689607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4992541539999 meters Centerline goodness [0,1] 0.9998895076460709 Centerline is valid? [True, True] Translation: X:845.50, Y:22.61, Z:7.86 [[ 9.31799894e-01 -3.62700946e-01 -1.40349681e-02 8.45501361e+02] [ 3.62661255e-01 9.31905583e-01 -5.36641507e-03 2.26145057e+01] [ 1.50256689e-02 -8.95141345e-05 9.99887104e-01 7.85961019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5292541539999 meters Centerline goodness [0,1] 0.9998458726908427 Centerline is valid? [True, True] Translation: X:845.53, Y:22.63, Z:7.86 [[ 9.32108188e-01 -3.61836381e-01 -1.57721218e-02 8.45526514e+02] [ 3.61786066e-01 9.32241614e-01 -6.03453436e-03 2.26257600e+01] [ 1.68869423e-02 -8.12950163e-05 9.99857402e-01 7.85565015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5592541539999 meters Centerline goodness [0,1] 0.9998012499171874 Centerline is valid? [True, True] Translation: X:845.55, Y:22.64, Z:7.86 [[ 9.32069749e-01 -3.61895714e-01 -1.66576109e-02 8.45552420e+02] [ 3.61839538e-01 9.32218582e-01 -6.37678996e-03 2.26364112e+01] [ 1.78362674e-02 -8.37692183e-05 9.99840918e-01 7.85530244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5892541539998 meters Centerline goodness [0,1] 0.9999341180604358 Centerline is valid? [True, True] Translation: X:845.58, Y:22.65, Z:7.86 [[ 9.32100221e-01 -3.61839424e-01 -1.61681208e-02 8.45577446e+02] [ 3.61786429e-01 9.32240433e-01 -6.19315256e-03 2.26470405e+01] [ 1.73135027e-02 -7.67678069e-05 9.99850107e-01 7.85674765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.60, Y:22.66, Z:7.86 [[ 9.31805479e-01 -3.62598145e-01 -1.61596940e-02 8.45603681e+02] [ 3.62545256e-01 9.31945587e-01 -6.19348944e-03 2.26575928e+01] [ 1.73057033e-02 -8.74930086e-05 9.99850241e-01 7.85833213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.63, Y:22.67, Z:7.86 [[ 9.30854344e-01 -3.65020553e-01 -1.64373376e-02 8.45629721e+02] [ 3.64966146e-01 9.30999452e-01 -6.30347926e-03 2.26671424e+01] [ 1.76040518e-02 -1.31450694e-04 9.99845028e-01 7.85791856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6792541539999 meters Centerline goodness [0,1] 0.9997798569069896 Centerline is valid? [True, True] Translation: X:845.66, Y:22.68, Z:7.86 [[ 9.29993550e-01 -3.67159067e-01 -1.74990286e-02 8.45656667e+02] [ 3.67097718e-01 9.30158152e-01 -6.71403532e-03 2.26772937e+01] [ 1.87419830e-02 -1.79843913e-04 9.99824337e-01 7.85520712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7092541539998 meters Centerline goodness [0,1] 0.9998237885462555 Centerline is valid? [True, True] Translation: X:845.68, Y:22.69, Z:7.86 [[ 9.28537671e-01 -3.70825713e-01 -1.74952415e-02 8.45683667e+02] [ 3.70764969e-01 9.28702443e-01 -6.71640521e-03 2.26862594e+01] [ 1.87384893e-02 -2.50187421e-04 9.99824388e-01 7.85608693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7392541539999 meters Centerline goodness [0,1] 0.9999339585259543 Centerline is valid? [True, True] Translation: X:845.71, Y:22.70, Z:7.86 [[ 9.27801172e-01 -3.72713586e-01 -1.64185456e-02 8.45710963e+02] [ 3.72660324e-01 9.27946395e-01 -6.30646929e-03 2.26961058e+01] [ 1.75860370e-02 -2.67390909e-04 9.99845318e-01 7.85861430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7692541539999 meters Centerline goodness [0,1] 0.9998896417772088 Centerline is valid? [True, True] Translation: X:845.74, Y:22.71, Z:7.86 [[ 9.26242651e-01 -3.76618184e-01 -1.52739776e-02 8.45738259e+02] [ 3.76572552e-01 9.26368526e-01 -5.87095899e-03 2.27060050e+01] [ 1.63604420e-02 -3.13828089e-04 9.99866110e-01 7.85990331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7992541539999 meters Centerline goodness [0,1] 0.9999560738837275 Centerline is valid? [True, True] Translation: X:845.76, Y:22.72, Z:7.86 [[ 9.25711732e-01 -3.77958016e-01 -1.43362306e-02 8.45764561e+02] [ 3.77917916e-01 9.25822683e-01 -5.51439825e-03 2.27171164e+01] [ 1.53570185e-02 -3.13175231e-04 9.99882025e-01 7.86238915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8292541539998 meters Centerline goodness [0,1] 0.9998237807832944 Centerline is valid? [True, True] Translation: X:845.79, Y:22.73, Z:7.86 [[ 9.25075106e-01 -3.79526927e-01 -1.39771528e-02 8.45790858e+02] [ 3.79488945e-01 9.25180633e-01 -5.37921471e-03 2.27273540e+01] [ 1.49729479e-02 -3.27997368e-04 9.99887845e-01 7.86083292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8592541539999 meters Centerline goodness [0,1] 0.9999123306886425 Centerline is valid? [True, True] Translation: X:845.82, Y:22.74, Z:7.86 [[ 9.24456746e-01 -3.81052404e-01 -1.33712417e-02 8.45816755e+02] [ 3.81017773e-01 9.24553380e-01 -5.14818492e-03 2.27413596e+01] [ 1.43241549e-02 -3.35406446e-04 9.99897348e-01 7.86319454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8892541539999 meters Centerline goodness [0,1] 0.9999561864703821 Centerline is valid? [True, True] Translation: X:845.84, Y:22.76, Z:7.86 [[ 9.24618623e-01 -3.80627847e-01 -1.42423197e-02 8.45841922e+02] [ 3.80588442e-01 9.24728242e-01 -5.48780058e-03 2.27560844e+01] [ 1.52590849e-02 -3.46339637e-04 9.99883513e-01 7.86225516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9192541539999 meters Centerline goodness [0,1] 0.9998908725828277 Centerline is valid? [True, True] Translation: X:845.87, Y:22.77, Z:7.86 [[ 9.24718455e-01 -3.80344352e-01 -1.52955370e-02 8.45866538e+02] [ 3.80298784e-01 9.24844875e-01 -5.89850921e-03 2.27699427e+01] [ 1.63894637e-02 -3.62413799e-04 9.99865618e-01 7.86102864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9492541539998 meters Centerline goodness [0,1] 0.9998043308113749 Centerline is valid? [True, True] Translation: X:845.89, Y:22.78, Z:7.86 [[ 9.25352894e-01 -3.78717256e-01 -1.71832062e-02 8.45891070e+02] [ 3.78659380e-01 9.25512346e-01 -6.63106678e-03 2.27844926e+01] [ 1.84145689e-02 -3.70505365e-04 9.99830369e-01 7.85847582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.92, Y:22.80, Z:7.86 [[ 9.25638970e-01 -3.78051454e-01 -1.64193405e-02 8.45917044e+02] [ 3.77998444e-01 9.25784523e-01 -6.33975769e-03 2.27982616e+01] [ 1.75975260e-02 -3.38158400e-04 9.99845094e-01 7.86093455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.94, Y:22.81, Z:7.86 [[ 9.25772865e-01 -3.77688800e-01 -1.71980527e-02 8.45941631e+02] [ 3.77630480e-01 9.25932532e-01 -6.64579016e-03 2.28138405e+01] [ 1.84342770e-02 -3.42016704e-04 9.99830016e-01 7.86036006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:845.97, Y:22.83, Z:7.86 [[ 9.25615645e-01 -3.78024217e-01 -1.82584165e-02 8.45967662e+02] [ 3.77958436e-01 9.25795635e-01 -7.06129366e-03 2.28261135e+01] [ 1.95729023e-02 -3.64878666e-04 9.99808366e-01 7.86046445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0692541539999 meters Centerline goodness [0,1] 0.9998916576381365 Centerline is valid? [True, True] Translation: X:845.99, Y:22.84, Z:7.86 [[ 9.25358083e-01 -3.78634092e-01 -1.86719923e-02 8.45993411e+02] [ 3.78565312e-01 9.25546368e-01 -7.22672476e-03 2.28410072e+01] [ 2.00180790e-02 -3.81260410e-04 9.99799545e-01 7.85964578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0992541539999 meters Centerline goodness [0,1] 0.9998274672187716 Centerline is valid? [True, True] Translation: X:846.02, Y:22.85, Z:7.86 [[ 9.25506963e-01 -3.78289129e-01 -1.82810641e-02 8.46018059e+02] [ 3.78223063e-01 9.25687422e-01 -7.07894189e-03 2.28532892e+01] [ 1.96004378e-02 -3.62710033e-04 9.99807827e-01 7.85887559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1292541539999 meters Centerline goodness [0,1] 0.9999784287501617 Centerline is valid? [True, True] Translation: X:846.04, Y:22.87, Z:7.86 [[ 9.25792835e-01 -3.77678757e-01 -1.63212762e-02 8.46043630e+02] [ 3.77625951e-01 9.25936640e-01 -6.32302635e-03 2.28667127e+01] [ 1.75005404e-02 -3.09524957e-04 9.99846806e-01 7.86203188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1592541539999 meters Centerline goodness [0,1] 0.9999142863265262 Centerline is valid? [True, True] Translation: X:846.07, Y:22.88, Z:7.86 [[ 9.26651281e-01 -3.75560651e-01 -1.64803437e-02 8.46068641e+02] [ 3.75506390e-01 9.26797781e-01 -6.38943850e-03 2.28831356e+01] [ 1.76735676e-02 -2.67693001e-04 9.99843774e-01 7.86159130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1892541539999 meters Centerline goodness [0,1] 0.9999142863265262 Centerline is valid? [True, True] Translation: X:846.09, Y:22.89, Z:7.86 [[ 9.26541268e-01 -3.75832057e-01 -1.64785960e-02 8.46094340e+02] [ 3.75777760e-01 9.26687754e-01 -6.39394364e-03 2.28931712e+01] [ 1.76735621e-02 -2.68037233e-04 9.99843774e-01 7.86184889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2192541539998 meters Centerline goodness [0,1] 0.9998079754208539 Centerline is valid? [True, True] Translation: X:846.12, Y:22.91, Z:7.86 [[ 9.28925521e-01 -3.69862527e-01 -1.72941633e-02 8.46117896e+02] [ 3.69801610e-01 9.29086480e-01 -6.71437692e-03 2.29104285e+01] [ 1.85511697e-02 -1.58253353e-04 9.99827900e-01 7.86024894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2492541539999 meters Centerline goodness [0,1] 0.9998288367316374 Centerline is valid? [True, True] Translation: X:846.14, Y:22.92, Z:7.86 [[ 9.29860591e-01 -3.67500926e-01 -1.73882488e-02 8.46144063e+02] [ 3.67438868e-01 9.30023149e-01 -6.75433349e-03 2.29235550e+01] [ 1.86536977e-02 -1.08529933e-04 9.99825999e-01 7.86043950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2792541539999 meters Centerline goodness [0,1] 0.9998292203910853 Centerline is valid? [True, True] Translation: X:846.17, Y:22.94, Z:7.86 [[ 9.30887708e-01 -3.64909875e-01 -1.69958324e-02 8.46170229e+02] [ 3.64850065e-01 9.31042846e-01 -6.60677896e-03 2.29369746e+01] [ 1.82347271e-02 -5.07612472e-05 9.99833732e-01 7.86102559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3092541539999 meters Centerline goodness [0,1] 0.9998292203910853 Centerline is valid? [True, True] Translation: X:846.20, Y:22.95, Z:7.86 [[ 9.30782527e-01 -3.65178162e-01 -1.69940497e-02 8.46195909e+02] [ 3.65118313e-01 9.30937650e-01 -6.61136207e-03 2.29470381e+01] [ 1.82347258e-02 -5.10984693e-05 9.99833732e-01 7.86128314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3392541539998 meters Centerline goodness [0,1] 0.9998501295309055 Centerline is valid? [True, True] Translation: X:846.22, Y:22.96, Z:7.86 [[ 9.31715584e-01 -3.62782808e-01 -1.71669831e-02 8.46221360e+02] [ 3.62721222e-01 9.31873722e-01 -6.68435867e-03 2.29602881e+01] [ 1.84224309e-02 1.09204205e-06 9.99830293e-01 7.86134800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.25, Y:22.98, Z:7.86 [[ 9.33736020e-01 -3.57610079e-01 -1.58768807e-02 8.46245361e+02] [ 3.57556568e-01 9.33870987e-01 -6.18705834e-03 2.29757832e+01] [ 1.70395127e-02 1.00196253e-04 9.99854812e-01 7.86387220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3992541539999 meters Centerline goodness [0,1] 0.999786903062203 Centerline is valid? [True, True] Translation: X:846.27, Y:22.99, Z:7.86 [[ 9.34210478e-01 -3.56274524e-01 -1.78674790e-02 8.46272194e+02] [ 3.56206394e-01 9.34381315e-01 -6.96868421e-03 2.29875172e+01] [ 1.91778032e-02 1.45707536e-04 9.99816078e-01 7.86091324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4292541539999 meters Centerline goodness [0,1] 0.9997000599880024 Centerline is valid? [True, True] Translation: X:846.30, Y:23.00, Z:7.86 [[ 9.34880157e-01 -3.54480278e-01 -1.85155053e-02 8.46298839e+02] [ 3.54406655e-01 9.35063471e-01 -7.22693027e-03 2.29992807e+01] [ 1.98749769e-02 1.94295425e-04 9.99802454e-01 7.86039571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.32, Y:23.01, Z:7.86 [[ 9.35073888e-01 -3.54032818e-01 -1.72507243e-02 8.46324846e+02] [ 3.53968737e-01 9.35232979e-01 -6.73847928e-03 2.30096825e+01] [ 1.85190891e-02 1.94758916e-04 9.99828488e-01 7.86369490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4892541539999 meters Centerline goodness [0,1] 0.999893119001304 Centerline is valid? [True, True] Translation: X:846.35, Y:23.02, Z:7.86 [[ 9.34158537e-01 -3.56373357e-01 -1.85972684e-02 8.46351871e+02] [ 3.56299216e-01 9.34343621e-01 -7.27091259e-03 2.30172346e+01] [ 1.99673986e-02 1.65992922e-04 9.99800618e-01 7.86147167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.38, Y:23.03, Z:7.86 [[ 9.33497049e-01 -3.58118108e-01 -1.82942655e-02 8.46379731e+02] [ 3.58046585e-01 9.33676284e-01 -7.15814452e-03 2.30265760e+01] [ 1.96443830e-02 1.31907511e-04 9.99807022e-01 7.86357249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5492541539999 meters Centerline goodness [0,1] 0.9999356444139351 Centerline is valid? [True, True] Translation: X:846.41, Y:23.03, Z:7.86 [[ 9.32402716e-01 -3.60902192e-01 -1.93593289e-02 8.46407042e+02] [ 3.60822568e-01 9.32603667e-01 -7.58117370e-03 2.30344277e+01] [ 2.07906433e-02 8.34241904e-05 9.99783848e-01 7.86213012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5792541539998 meters Centerline goodness [0,1] 0.9999359371329731 Centerline is valid? [True, True] Translation: X:846.43, Y:23.04, Z:7.86 [[ 9.30371770e-01 -3.66064246e-01 -2.01329689e-02 8.46434407e+02] [ 3.65979233e-01 9.30589580e-01 -7.88884599e-03 2.30394442e+01] [ 2.16233556e-02 -2.86889273e-05 9.99766188e-01 7.86098357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.46, Y:23.05, Z:7.86 [[ 9.28664377e-01 -3.70428623e-01 -1.91078770e-02 8.46462571e+02] [ 3.70352874e-01 9.28860927e-01 -7.49183067e-03 2.30450259e+01] [ 2.05237489e-02 -1.19260903e-04 9.99789359e-01 7.86421665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.49, Y:23.05, Z:7.86 [[ 9.27822107e-01 -3.72543537e-01 -1.89063739e-02 8.46490539e+02] [ 3.72469699e-01 9.28014702e-01 -7.41862139e-03 2.30531092e+01] [ 2.03091524e-02 -1.58890465e-04 9.99793735e-01 7.86473729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6692541539999 meters Centerline goodness [0,1] 0.999935805533563 Centerline is valid? [True, True] Translation: X:846.52, Y:23.06, Z:7.86 [[ 9.26840363e-01 -3.74945859e-01 -1.95587534e-02 8.46517251e+02] [ 3.74867293e-01 9.27046685e-01 -7.67830594e-03 2.30606796e+01] [ 2.10108265e-02 -2.15373063e-04 9.99779225e-01 7.86360071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.54, Y:23.07, Z:7.87 [[ 9.25647010e-01 -3.77918268e-01 -1.88519224e-02 8.46544756e+02] [ 3.77845816e-01 9.25838922e-01 -7.40468020e-03 2.30698412e+01] [ 2.02522075e-02 -2.68999922e-04 9.99794867e-01 7.86663011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7292541539999 meters Centerline goodness [0,1] 0.9998711838206878 Centerline is valid? [True, True] Translation: X:846.57, Y:23.08, Z:7.86 [[ 9.24847657e-01 -3.79834072e-01 -1.95675779e-02 8.46571893e+02] [ 3.79756361e-01 9.25054580e-01 -7.68959886e-03 2.30784154e+01] [ 2.10218492e-02 -3.19204698e-04 9.99778966e-01 7.86422092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.60, Y:23.09, Z:7.87 [[ 9.23782007e-01 -3.82420198e-01 -1.95345059e-02 8.46599625e+02] [ 3.82343241e-01 9.23988448e-01 -7.68068740e-03 2.30857921e+01] [ 2.09869078e-02 -3.73605495e-04 9.99779681e-01 7.86639351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7892541539999 meters Centerline goodness [0,1] 0.9997850710340233 Centerline is valid? [True, True] Translation: X:846.63, Y:23.09, Z:7.86 [[ 9.22232455e-01 -3.86105765e-01 -2.02394811e-02 8.46627630e+02] [ 3.86023966e-01 9.22454398e-01 -7.96123739e-03 2.30923745e+01] [ 2.17438780e-02 -4.70813254e-04 9.99763463e-01 7.86364730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.65, Y:23.10, Z:7.87 [[ 9.21682853e-01 -3.87505819e-01 -1.84379873e-02 8.46653709e+02] [ 3.87438140e-01 9.21867145e-01 -7.25639930e-03 2.31033606e+01] [ 1.98092716e-02 -4.55480684e-04 9.99803673e-01 7.86809654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8492541539999 meters Centerline goodness [0,1] 0.9999570658824034 Centerline is valid? [True, True] Translation: X:846.68, Y:23.11, Z:7.87 [[ 9.21115093e-01 -3.88840929e-01 -1.87007147e-02 8.46680725e+02] [ 3.88771501e-01 9.21304778e-01 -7.36383224e-03 2.31106854e+01] [ 2.00924171e-02 -4.87367887e-04 9.99798008e-01 7.86684777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8792541539999 meters Centerline goodness [0,1] 0.999892122807396 Centerline is valid? [True, True] Translation: X:846.71, Y:23.12, Z:7.87 [[ 9.20635848e-01 -3.89968376e-01 -1.88228830e-02 8.46707442e+02] [ 3.89898195e-01 9.20828108e-01 -7.41573258e-03 2.31217723e+01] [ 2.02245410e-02 -5.11818873e-04 9.99795332e-01 7.86722728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.73, Y:23.13, Z:7.87 [[ 9.20971021e-01 -3.89209231e-01 -1.81260277e-02 8.46733806e+02] [ 3.89143906e-01 9.21149256e-01 -7.14624668e-03 2.31330988e+01] [ 1.94781621e-02 -4.72147110e-04 9.99810171e-01 7.86978954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.76, Y:23.15, Z:7.87 [[ 9.21894500e-01 -3.87025719e-01 -1.79338636e-02 8.46760169e+02] [ 3.86961260e-01 9.22068826e-01 -7.07556175e-03 2.31457401e+01] [ 1.92746809e-02 -4.16789003e-04 9.99814139e-01 7.87063220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.79, Y:23.16, Z:7.87 [[ 9.22366528e-01 -3.85897773e-01 -1.79693207e-02 8.46785834e+02] [ 3.85832780e-01 9.22541466e-01 -7.09297746e-03 2.31561637e+01] [ 1.93146077e-02 -3.90827976e-04 9.99813379e-01 7.87030375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9992541539999 meters Centerline goodness [0,1] 0.9999570529751551 Centerline is valid? [True, True] Translation: X:846.81, Y:23.17, Z:7.87 [[ 9.22786319e-01 -3.84873669e-01 -1.83757527e-02 8.46811945e+02] [ 3.84805427e-01 9.22969186e-01 -7.25707322e-03 2.31699867e+01] [ 1.97533099e-02 -3.74361465e-04 9.99804814e-01 7.86917732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.84, Y:23.18, Z:7.87 [[ 9.23031448e-01 -3.84285622e-01 -1.83713368e-02 8.46837792e+02] [ 3.84217228e-01 9.23214185e-01 -7.25880008e-03 2.31810491e+01] [ 1.97501313e-02 -3.58483349e-04 9.99804883e-01 7.86986348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0592541539999 meters Centerline goodness [0,1] 0.9998922831660132 Centerline is valid? [True, True] Translation: X:846.86, Y:23.19, Z:7.87 [[ 9.22780453e-01 -3.84865528e-01 -1.88351326e-02 8.46863944e+02] [ 3.84793679e-01 9.22972580e-01 -7.44586746e-03 2.31928805e+01] [ 2.02499686e-02 -3.76739008e-04 9.99794877e-01 7.86887043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0892541539998 meters Centerline goodness [0,1] 0.9998066221181324 Centerline is valid? [True, True] Translation: X:846.89, Y:23.20, Z:7.87 [[ 9.22432925e-01 -3.85689368e-01 -1.90055461e-02 8.46891073e+02] [ 3.85616275e-01 9.22628613e-01 -7.51871308e-03 2.32037796e+01] [ 2.04349484e-02 -3.93339418e-04 9.99791107e-01 7.86820331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1192541539999 meters Centerline goodness [0,1] 0.999935572545314 Centerline is valid? [True, True] Translation: X:846.92, Y:23.21, Z:7.87 [[ 9.21831804e-01 -3.87152876e-01 -1.84058634e-02 8.46917204e+02] [ 3.87084548e-01 9.22015446e-01 -7.28487653e-03 2.32137624e+01] [ 1.97908513e-02 -4.09194441e-04 9.99804058e-01 7.87022740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1492541539999 meters Centerline goodness [0,1] 0.9999353239193705 Centerline is valid? [True, True] Translation: X:846.94, Y:23.22, Z:7.87 [[ 9.21219555e-01 -3.88589052e-01 -1.87904361e-02 8.46943702e+02] [ 3.88518099e-01 9.21411064e-01 -7.43900448e-03 2.32238639e+01] [ 2.02044314e-02 -4.47468127e-04 9.99795770e-01 7.87045656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:846.97, Y:23.23, Z:7.87 [[ 9.20849973e-01 -3.89475237e-01 -1.85571153e-02 8.46970452e+02] [ 3.89406142e-01 9.21036823e-01 -7.35027022e-03 2.32345248e+01] [ 1.99545348e-02 -4.57758552e-04 9.99800784e-01 7.87189273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2092541539998 meters Centerline goodness [0,1] 0.9998072103335262 Centerline is valid? [True, True] Translation: X:847.00, Y:23.24, Z:7.87 [[ 9.19435871e-01 -3.92712606e-01 -2.03590060e-02 8.46996961e+02] [ 3.92630152e-01 9.19661067e-01 -8.06759445e-03 2.32447947e+01] [ 2.18916312e-02 -5.75923879e-04 9.99760184e-01 7.86799544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2392541539999 meters Centerline goodness [0,1] 0.9998065597730301 Centerline is valid? [True, True] Translation: X:847.02, Y:23.26, Z:7.87 [[ 9.18486301e-01 -3.94858738e-01 -2.16677595e-02 8.47023142e+02] [ 3.94765897e-01 9.18741603e-01 -8.58796868e-03 2.32552168e+01] [ 2.32981066e-02 -6.65760909e-04 9.99728341e-01 7.86746183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2692541539999 meters Centerline goodness [0,1] 0.9998926416593306 Centerline is valid? [True, True] Translation: X:847.05, Y:23.27, Z:7.87 [[ 9.18213655e-01 -3.95505172e-01 -2.14322820e-02 8.47048517e+02] [ 3.95414468e-01 9.18463503e-01 -8.49660777e-03 2.32681087e+01] [ 2.30452211e-02 -6.72933122e-04 9.99734197e-01 7.86997188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2992541539999 meters Centerline goodness [0,1] 0.9997852095281053 Centerline is valid? [True, True] Translation: X:847.08, Y:23.28, Z:7.87 [[ 9.17824200e-01 -3.96382874e-01 -2.18941706e-02 8.47075030e+02] [ 3.96288415e-01 9.18085027e-01 -8.68194805e-03 2.32766419e+01] [ 2.35420857e-02 -7.07904145e-04 9.99722596e-01 7.86817688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3292541539998 meters Centerline goodness [0,1] 0.9999143633989167 Centerline is valid? [True, True] Translation: X:847.10, Y:23.29, Z:7.87 [[ 9.17854247e-01 -3.96383793e-01 -2.05783989e-02 8.47099873e+02] [ 3.96300254e-01 9.18084665e-01 -8.16437684e-03 2.32912195e+01] [ 2.21289391e-02 -6.61516749e-04 9.99754906e-01 7.87271036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3592541539999 meters Centerline goodness [0,1] 0.9998495723556969 Centerline is valid? [True, True] Translation: X:847.13, Y:23.30, Z:7.87 [[ 9.17757871e-01 -3.96613807e-01 -2.04445169e-02 8.47125747e+02] [ 3.96531271e-01 9.17985325e-01 -8.11754766e-03 2.33032308e+01] [ 2.19872979e-02 -6.56946997e-04 9.99758034e-01 7.87303903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3892541539999 meters Centerline goodness [0,1] 0.9998287267978334 Centerline is valid? [True, True] Translation: X:847.15, Y:23.32, Z:7.87 [[ 9.18015775e-01 -3.96080367e-01 -1.91671346e-02 8.47151215e+02] [ 3.96007589e-01 9.18215652e-01 -7.61608580e-03 2.33182552e+01] [ 2.06161450e-02 -5.98643844e-04 9.99787285e-01 7.87433872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4192541539999 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:847.18, Y:23.33, Z:7.88 [[ 9.18596209e-01 -3.94789232e-01 -1.79573575e-02 8.47177114e+02] [ 3.94725007e-01 9.18771562e-01 -7.14045394e-03 2.33305793e+01] [ 1.93176837e-02 -5.29024150e-04 9.99813256e-01 7.87708455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.20, Y:23.35, Z:7.88 [[ 9.19735769e-01 -3.92111496e-01 -1.82945201e-02 8.47201747e+02] [ 3.92044203e-01 9.19917577e-01 -7.27978287e-03 2.33451512e+01] [ 1.96839372e-02 -4.76783867e-04 9.99806139e-01 7.87744987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4792541539999 meters Centerline goodness [0,1] 0.9997650877717508 Centerline is valid? [True, True] Translation: X:847.23, Y:23.36, Z:7.87 [[ 9.19932573e-01 -3.91575826e-01 -1.98099408e-02 8.47226730e+02] [ 3.91496663e-01 9.20145708e-01 -7.88914541e-03 2.33578542e+01] [ 2.13172306e-02 -4.98043883e-04 9.99772638e-01 7.87359676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5092541539999 meters Centerline goodness [0,1] 0.9998724001531198 Centerline is valid? [True, True] Translation: X:847.25, Y:23.37, Z:7.87 [[ 9.20760369e-01 -3.89619393e-01 -1.99266432e-02 8.47251557e+02] [ 3.89538748e-01 9.20975855e-01 -7.93970122e-03 2.33696665e+01] [ 2.14454188e-02 -4.51637425e-04 9.99769919e-01 7.87419097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.28, Y:23.39, Z:7.88 [[ 9.22438371e-01 -3.85624927e-01 -2.00216887e-02 8.47276872e+02] [ 3.85542484e-01 9.22655563e-01 -7.98150866e-03 2.33851675e+01] [ 2.15509911e-02 -3.56761750e-04 9.99767687e-01 7.87592161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5692541539999 meters Centerline goodness [0,1] 0.9998936373885852 Centerline is valid? [True, True] Translation: X:847.30, Y:23.40, Z:7.87 [[ 9.22730726e-01 -3.84877761e-01 -2.09073132e-02 8.47302178e+02] [ 3.84787525e-01 9.22967490e-01 -8.34102820e-03 2.33972608e+01] [ 2.25070466e-02 -3.48350272e-04 9.99746624e-01 7.87354208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.33, Y:23.41, Z:7.88 [[ 9.24544604e-01 -3.80536325e-01 -2.02331594e-02 8.47326280e+02] [ 3.80450687e-01 9.24765945e-01 -8.07603665e-03 2.34110883e+01] [ 2.17841621e-02 -2.31063312e-04 9.99762670e-01 7.87577970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6292541539999 meters Centerline goodness [0,1] 0.9997879424051572 Centerline is valid? [True, True] Translation: X:847.35, Y:23.42, Z:7.87 [[ 9.24572218e-01 -3.80385295e-01 -2.17541243e-02 8.47351345e+02] [ 3.80286195e-01 9.24828075e-01 -8.68567484e-03 2.34221824e+01] [ 2.34227279e-02 -2.42259505e-04 9.99725621e-01 7.87182287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.38, Y:23.44, Z:7.88 [[ 9.26230747e-01 -3.76372060e-01 -2.09923075e-02 8.47376657e+02] [ 3.76278646e-01 9.26468594e-01 -8.38601527e-03 2.34358966e+01] [ 2.26049755e-02 -1.31571857e-04 9.99744466e-01 7.87501741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6892541539999 meters Centerline goodness [0,1] 0.999809692971327 Centerline is valid? [True, True] Translation: X:847.40, Y:23.45, Z:7.87 [[ 9.26406320e-01 -3.75858730e-01 -2.23952171e-02 8.47403028e+02] [ 3.75752105e-01 9.26676967e-01 -8.95294445e-03 2.34473171e+01] [ 2.41181742e-02 -1.20985630e-04 9.99709107e-01 7.87175384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.43, Y:23.46, Z:7.88 [[ 9.28356173e-01 -3.71156250e-01 -1.99462941e-02 8.47428893e+02] [ 3.71070466e-01 9.28570427e-01 -7.97939892e-03 2.34613183e+01] [ 2.14831426e-02 6.24359725e-06 9.99769211e-01 7.87656100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7492541539999 meters Centerline goodness [0,1] 0.9999787554970151 Centerline is valid? [True, True] Translation: X:847.45, Y:23.47, Z:7.88 [[ 9.29198190e-01 -3.69079277e-01 -1.92668493e-02 8.47454250e+02] [ 3.68998668e-01 9.29397915e-01 -7.71357840e-03 2.34727734e+01] [ 2.07534915e-02 5.80013497e-05 9.99784621e-01 7.87757322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7792541539999 meters Centerline goodness [0,1] 0.9998307737868596 Centerline is valid? [True, True] Translation: X:847.48, Y:23.49, Z:7.88 [[ 9.30440701e-01 -3.65913430e-01 -1.96841139e-02 8.47480653e+02] [ 3.65828450e-01 9.30648883e-01 -7.88682037e-03 2.34853536e+01] [ 2.12048921e-02 1.37209808e-04 9.99775142e-01 7.87557724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.51, Y:23.50, Z:7.88 [[ 9.31508217e-01 -3.63270285e-01 -1.80870464e-02 8.47506193e+02] [ 3.63197974e-01 9.31683780e-01 -7.25023238e-03 2.34975747e+01] [ 1.94852018e-02 1.84472414e-04 9.99810128e-01 7.87874545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8392541539998 meters Centerline goodness [0,1] 0.9998726439123791 Centerline is valid? [True, True] Translation: X:847.53, Y:23.51, Z:7.88 [[ 9.32024542e-01 -3.61940182e-01 -1.81536962e-02 8.47532961e+02] [ 3.61867013e-01 9.32201297e-01 -7.28063840e-03 2.35087822e+01] [ 1.95580547e-02 2.16509876e-04 9.99808700e-01 7.87914395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.56, Y:23.52, Z:7.88 [[ 9.32969301e-01 -3.59497510e-01 -1.81610325e-02 8.47559618e+02] [ 3.59423713e-01 9.33146005e-01 -7.28894624e-03 2.35193022e+01] [ 1.95672529e-02 2.72857362e-04 9.99808506e-01 7.87962868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8992541539999 meters Centerline goodness [0,1] 0.9997874646660008 Centerline is valid? [True, True] Translation: X:847.59, Y:23.53, Z:7.88 [[ 9.32858003e-01 -3.59720061e-01 -1.94273826e-02 8.47585411e+02] [ 3.59635579e-01 9.33060230e-01 -7.80107757e-03 2.35294584e+01] [ 2.09331222e-02 2.90519630e-04 9.99780836e-01 7.87659019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9292541539999 meters Centerline goodness [0,1] 0.9999150598827826 Centerline is valid? [True, True] Translation: X:847.61, Y:23.54, Z:7.88 [[ 9.33492643e-01 -3.58101703e-01 -1.88323113e-02 8.47612426e+02] [ 3.58021911e-01 9.33682531e-01 -7.56595662e-03 2.35403489e+01] [ 2.02927821e-02 3.20384753e-04 9.99794029e-01 7.87873082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9592541539998 meters Centerline goodness [0,1] 0.9999149099108682 Centerline is valid? [True, True] Translation: X:847.64, Y:23.55, Z:7.88 [[ 9.33515252e-01 -3.58051290e-01 -1.86694493e-02 8.47638598e+02] [ 3.57972744e-01 9.33701863e-01 -7.50642349e-03 2.35503134e+01] [ 2.01193842e-02 3.24206839e-04 9.99797532e-01 7.87880101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9892541539999 meters Centerline goodness [0,1] 0.9998508512134319 Centerline is valid? [True, True] Translation: X:847.66, Y:23.56, Z:7.88 [[ 9.33643438e-01 -3.57671354e-01 -1.95226277e-02 8.47663529e+02] [ 3.57585291e-01 9.33847460e-01 -7.85369110e-03 2.35636568e+01] [ 2.10401966e-02 3.51542666e-04 9.99778569e-01 7.87513692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.69, Y:23.57, Z:7.88 [[ 9.33838851e-01 -3.57229904e-01 -1.82152907e-02 8.47690942e+02] [ 3.57154818e-01 9.34016424e-01 -7.33185614e-03 2.35702338e+01] [ 1.96325390e-02 3.41093251e-04 9.99807205e-01 7.88053806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0492541539999 meters Centerline goodness [0,1] 0.9998507685420086 Centerline is valid? [True, True] Translation: X:847.72, Y:23.58, Z:7.88 [[ 9.33460872e-01 -3.58122926e-01 -1.99692347e-02 8.47717747e+02] [ 3.58032792e-01 9.33674377e-01 -8.04225949e-03 2.35784278e+01] [ 2.15248802e-02 3.57493725e-04 9.99768249e-01 7.87730122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0792541539998 meters Centerline goodness [0,1] 0.9998507685420086 Centerline is valid? [True, True] Translation: X:847.74, Y:23.59, Z:7.88 [[ 9.33357012e-01 -3.58393615e-01 -1.99676004e-02 8.47743301e+02] [ 3.58303456e-01 9.33570506e-01 -8.04631556e-03 2.35888006e+01] [ 2.15249109e-02 3.55624813e-04 9.99768249e-01 7.87755929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1092541539999 meters Centerline goodness [0,1] 0.9999150183772759 Centerline is valid? [True, True] Translation: X:847.77, Y:23.60, Z:7.88 [[ 9.33254458e-01 -3.58681350e-01 -1.95909856e-02 8.47769478e+02] [ 3.58594539e-01 9.33459999e-01 -7.89856143e-03 2.35985615e+01] [ 2.11204681e-02 3.46147230e-04 9.99776878e-01 7.87790205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1392541539999 meters Centerline goodness [0,1] 0.9997011356843993 Centerline is valid? [True, True] Translation: X:847.80, Y:23.61, Z:7.88 [[ 9.32625680e-01 -3.60168262e-01 -2.20944461e-02 8.47797988e+02] [ 3.60058144e-01 9.32887290e-01 -8.91279014e-03 2.36052897e+01] [ 2.38217321e-02 3.57011698e-04 9.99716159e-01 7.87512194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1692541539999 meters Centerline goodness [0,1] 0.9999360341151385 Centerline is valid? [True, True] Translation: X:847.82, Y:23.61, Z:7.88 [[ 9.32510234e-01 -3.60502761e-01 -2.15040402e-02 8.47824870e+02] [ 3.60398384e-01 9.32758082e-01 -8.68127804e-03 2.36145282e+01] [ 2.31876920e-02 3.45359293e-04 9.99731070e-01 7.87647542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1992541539998 meters Centerline goodness [0,1] 0.9998071194359315 Centerline is valid? [True, True] Translation: X:847.85, Y:23.62, Z:7.87 [[ 9.32185626e-01 -3.61209324e-01 -2.36174050e-02 8.47852186e+02] [ 3.61083528e-01 9.32484687e-01 -9.53910292e-03 2.36208436e+01] [ 2.54684815e-02 3.64358691e-04 9.99675559e-01 7.87440259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2292541539999 meters Centerline goodness [0,1] 0.9998286901218442 Centerline is valid? [True, True] Translation: X:847.88, Y:23.63, Z:7.87 [[ 9.32042750e-01 -3.61572756e-01 -2.36950029e-02 8.47879146e+02] [ 3.61446103e-01 9.32343827e-01 -9.57618404e-03 2.36294923e+01] [ 2.55543769e-02 3.60946461e-04 9.99673368e-01 7.87439266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.91, Y:23.64, Z:7.88 [[ 9.32667758e-01 -3.60048731e-01 -2.22657523e-02 8.47906661e+02] [ 3.59936294e-01 9.32933418e-01 -9.00561257e-03 2.36371907e+01] [ 2.40149238e-02 3.84992102e-04 9.99711526e-01 7.87788108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2892541539999 meters Centerline goodness [0,1] 0.9998709649669886 Centerline is valid? [True, True] Translation: X:847.93, Y:23.65, Z:7.88 [[ 9.32755185e-01 -3.59746941e-01 -2.34500269e-02 8.47933954e+02] [ 3.59621945e-01 9.33049817e-01 -9.49183825e-03 2.36457377e+01] [ 2.52947031e-02 4.20417048e-04 9.99679949e-01 7.87626598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.96, Y:23.65, Z:7.88 [[ 9.33867550e-01 -3.56946525e-01 -2.19220841e-02 8.47961618e+02] [ 3.56836371e-01 9.34124701e-01 -8.87959703e-03 2.36540676e+01] [ 2.36475015e-02 4.69770611e-04 9.99720248e-01 7.87970566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:847.99, Y:23.66, Z:7.88 [[ 9.34435912e-01 -3.55446214e-01 -2.20797323e-02 8.47987010e+02] [ 3.55333956e-01 9.34696594e-01 -8.94740502e-03 2.36647657e+01] [ 2.38181719e-02 5.15097942e-04 9.99716174e-01 7.87886950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3792541539999 meters Centerline goodness [0,1] 0.9999136982459168 Centerline is valid? [True, True] Translation: X:848.01, Y:23.67, Z:7.88 [[ 9.35206941e-01 -3.53427220e-01 -2.18443789e-02 8.48014929e+02] [ 3.53316723e-01 9.35461855e-01 -8.85494776e-03 2.36713634e+01] [ 2.35641628e-02 5.63224246e-04 9.99722168e-01 7.87877865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4092541539999 meters Centerline goodness [0,1] 0.9998917702065024 Centerline is valid? [True, True] Translation: X:848.04, Y:23.68, Z:7.88 [[ 9.35634671e-01 -3.52312662e-01 -2.15302250e-02 8.48040898e+02] [ 3.52204965e-01 9.35882175e-01 -8.73022617e-03 2.36817608e+01] [ 2.32255231e-02 5.85250139e-04 9.99730080e-01 7.87831377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4392541539999 meters Centerline goodness [0,1] 0.9999350817969359 Centerline is valid? [True, True] Translation: X:848.07, Y:23.69, Z:7.88 [[ 9.36452572e-01 -3.50239727e-01 -1.97158310e-02 8.48067008e+02] [ 3.50148902e-01 9.36659912e-01 -7.99721416e-03 2.36900242e+01] [ 2.12679706e-02 5.85535186e-04 9.99773640e-01 7.88043998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4692541539998 meters Centerline goodness [0,1] 0.9998700764383621 Centerline is valid? [True, True] Translation: X:848.09, Y:23.70, Z:7.88 [[ 9.36651580e-01 -3.49731713e-01 -1.92755357e-02 8.48094296e+02] [ 3.49644702e-01 9.36849712e-01 -7.82293718e-03 2.36994935e+01] [ 2.07942093e-02 5.87777541e-04 9.99783604e-01 7.88012075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4992541539999 meters Centerline goodness [0,1] 0.999803964277935 Centerline is valid? [True, True] Translation: X:848.12, Y:23.71, Z:7.88 [[ 9.37307488e-01 -3.47982011e-01 -1.90576154e-02 8.48120530e+02] [ 3.47896528e-01 9.37501004e-01 -7.73780615e-03 2.37081160e+01] [ 2.05591509e-02 6.22625415e-04 9.99788444e-01 7.87994381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5292541539999 meters Centerline goodness [0,1] 0.9998475908467417 Centerline is valid? [True, True] Translation: X:848.15, Y:23.71, Z:7.88 [[ 9.37699685e-01 -3.46933251e-01 -1.88843702e-02 8.48148827e+02] [ 3.46849027e-01 9.37889602e-01 -7.67116434e-03 2.37148336e+01] [ 2.03728364e-02 6.43222978e-04 9.99792245e-01 7.88157909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5592541539999 meters Centerline goodness [0,1] 0.9999130321346262 Centerline is valid? [True, True] Translation: X:848.18, Y:23.72, Z:7.88 [[ 9.38143076e-01 -3.45741736e-01 -1.87141841e-02 8.48176898e+02] [ 3.45658678e-01 9.38329476e-01 -7.60738774e-03 2.37226238e+01] [ 2.01902620e-02 6.68097982e-04 9.99795933e-01 7.88313055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5892541539998 meters Centerline goodness [0,1] 0.9998911315783744 Centerline is valid? [True, True] Translation: X:848.20, Y:23.74, Z:7.88 [[ 9.38728796e-01 -3.44073301e-01 -2.00452369e-02 8.48201343e+02] [ 3.43977542e-01 9.38942485e-01 -8.15235454e-03 2.37362064e+01] [ 2.16263321e-02 7.57738627e-04 9.99765836e-01 7.87954787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6192541539999 meters Centerline goodness [0,1] 0.9998031323825357 Centerline is valid? [True, True] Translation: X:848.23, Y:23.74, Z:7.88 [[ 9.39069205e-01 -3.43046261e-01 -2.16400431e-02 8.48230244e+02] [ 3.42934332e-01 9.39318129e-01 -8.80320734e-03 2.37406638e+01] [ 2.33467922e-02 8.45707183e-04 9.99727069e-01 7.87827116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6492541539999 meters Centerline goodness [0,1] 0.9998247535596934 Centerline is valid? [True, True] Translation: X:848.26, Y:23.75, Z:7.88 [[ 9.38949928e-01 -3.43360792e-01 -2.18265638e-02 8.48258175e+02] [ 3.43246884e-01 9.39203196e-01 -8.88438298e-03 2.37452007e+01] [ 2.35501273e-02 8.50090744e-04 9.99722296e-01 7.87984726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6792541539999 meters Centerline goodness [0,1] 0.9992133210961059 Centerline is valid? [True, True] Translation: X:848.28, Y:23.75, Z:7.88 [[ 9.38624060e-01 -3.44333220e-01 -2.04818967e-02 8.48284295e+02] [ 3.44233061e-01 9.38847180e-01 -8.34102054e-03 2.37545386e+01] [ 2.21014614e-02 7.78536560e-04 9.99755430e-01 7.88132039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7092541539998 meters Centerline goodness [0,1] 0.9987722798325039 Centerline is valid? [True, True] Translation: X:848.31, Y:23.76, Z:7.88 [[ 9.37634366e-01 -3.46992175e-01 -2.09338758e-02 8.48313839e+02] [ 3.46888163e-01 9.37867737e-01 -8.52702833e-03 2.37588354e+01] [ 2.25920188e-02 7.33521097e-04 9.99744499e-01 7.88179498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7392541539999 meters Centerline goodness [0,1] 0.9977690897444393 Centerline is valid? [True, True] Translation: X:848.34, Y:23.76, Z:7.88 [[ 9.35703672e-01 -3.52194539e-01 -2.04363479e-02 8.48343958e+02] [ 3.52096619e-01 9.35926628e-01 -8.32574467e-03 2.37621558e+01] [ 2.20592040e-02 5.94860844e-04 9.99756489e-01 7.88283201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7692541539999 meters Centerline goodness [0,1] 0.9977053086801112 Centerline is valid? [True, True] Translation: X:848.37, Y:23.77, Z:7.88 [[ 9.34575413e-01 -3.55174764e-01 -2.04861837e-02 8.48372209e+02] [ 3.55077048e-01 9.34799769e-01 -8.34752675e-03 2.37697710e+01] [ 2.21153106e-02 5.27219628e-04 9.99755288e-01 7.88306506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7992541539999 meters Centerline goodness [0,1] 0.9973253166515617 Centerline is valid? [True, True] Translation: X:848.40, Y:23.78, Z:7.88 [[ 9.33295315e-01 -3.58495796e-01 -2.09909330e-02 8.48400056e+02] [ 3.58393945e-01 9.33531226e-01 -8.55750930e-03 2.37776697e+01] [ 2.26635225e-02 4.63660058e-04 9.99743042e-01 7.88192873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8292541539998 meters Centerline goodness [0,1] 0.9972655302445587 Centerline is valid? [True, True] Translation: X:848.43, Y:23.79, Z:7.88 [[ 9.32412296e-01 -3.60850644e-01 -1.98525153e-02 8.48427444e+02] [ 3.60759955e-01 9.32623536e-01 -8.09902896e-03 2.37863837e+01] [ 2.14374628e-02 3.89641680e-04 9.99770115e-01 7.88445802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8592541539999 meters Centerline goodness [0,1] 0.997439237069251 Centerline is valid? [True, True] Translation: X:848.45, Y:23.80, Z:7.89 [[ 9.32368172e-01 -3.60991443e-01 -1.93589629e-02 8.48452998e+02] [ 3.60905113e-01 9.32569049e-01 -7.90366362e-03 2.37984839e+01] [ 2.09067246e-02 3.82375708e-04 9.99781357e-01 7.88508493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8892541539999 meters Centerline goodness [0,1] 0.9974568653673295 Centerline is valid? [True, True] Translation: X:848.48, Y:23.81, Z:7.89 [[ 9.33119207e-01 -3.59076465e-01 -1.87786283e-02 8.48477965e+02] [ 3.58994730e-01 9.33308051e-01 -7.67241375e-03 2.38138430e+01] [ 2.02812281e-02 4.17848051e-04 9.99794227e-01 7.88535041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9192541539999 meters Centerline goodness [0,1] 0.9978225487177231 Centerline is valid? [True, True] Translation: X:848.50, Y:23.83, Z:7.89 [[ 9.34200010e-01 -3.56262076e-01 -1.86460164e-02 8.48502723e+02] [ 3.56180823e-01 9.34385949e-01 -7.62358416e-03 2.38300569e+01] [ 2.01385696e-02 4.80598948e-04 9.99797083e-01 7.88531145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9492541539998 meters Centerline goodness [0,1] 0.9978225487177231 Centerline is valid? [True, True] Translation: X:848.53, Y:23.84, Z:7.89 [[ 9.34099294e-01 -3.56526172e-01 -1.86439867e-02 8.48528235e+02] [ 3.56444873e-01 9.34285212e-01 -7.62854572e-03 2.38405820e+01] [ 2.01385772e-02 4.80265712e-04 9.99797083e-01 7.88556910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9792541539999 meters Centerline goodness [0,1] 0.9976984788040858 Centerline is valid? [True, True] Translation: X:848.55, Y:23.86, Z:7.89 [[ 9.35454659e-01 -3.52951882e-01 -1.86962794e-02 8.48553880e+02] [ 3.52869336e-01 9.35641306e-01 -7.65369273e-03 2.38551647e+01] [ 2.01943965e-02 5.62338835e-04 9.99795914e-01 7.88571093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0092541539999 meters Centerline goodness [0,1] 0.997876113945392 Centerline is valid? [True, True] Translation: X:848.58, Y:23.87, Z:7.89 [[ 9.36615723e-01 -3.49853586e-01 -1.88004337e-02 8.48580218e+02] [ 3.49769464e-01 9.36804177e-01 -7.69773322e-03 2.38679972e+01] [ 2.03054044e-02 6.34000352e-04 9.99793623e-01 7.88627639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0392541539999 meters Centerline goodness [0,1] 0.9978273750740667 Centerline is valid? [True, True] Translation: X:848.60, Y:23.88, Z:7.88 [[ 9.36492331e-01 -3.50139176e-01 -1.96130387e-02 8.48604462e+02] [ 3.50047651e-01 9.36697457e-01 -8.03215997e-03 2.38819108e+01] [ 2.11838574e-02 6.56558086e-04 9.99775381e-01 7.88295131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0692541539999 meters Centerline goodness [0,1] 0.9978496982995063 Centerline is valid? [True, True] Translation: X:848.63, Y:23.89, Z:7.88 [[ 9.37033417e-01 -3.48712783e-01 -1.91773413e-02 8.48630440e+02] [ 3.48624901e-01 9.37229394e-01 -7.85758171e-03 2.38949607e+01] [ 2.07136071e-02 6.77117933e-04 9.99785221e-01 7.88458455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0992541539999 meters Centerline goodness [0,1] 0.9977063218139718 Centerline is valid? [True, True] Translation: X:848.66, Y:23.91, Z:7.88 [[ 9.37172643e-01 -3.48288106e-01 -2.00706924e-02 8.48655489e+02] [ 3.48191667e-01 9.37387259e-01 -8.22732408e-03 2.39083373e+01] [ 2.16794905e-02 7.21975200e-04 9.99764712e-01 7.88155297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1292541539999 meters Centerline goodness [0,1] 0.9980119284294234 Centerline is valid? [True, True] Translation: X:848.68, Y:23.92, Z:7.88 [[ 9.37463505e-01 -3.47525036e-01 -1.97110750e-02 8.48681741e+02] [ 3.47431771e-01 9.37670420e-01 -8.08382552e-03 2.39205509e+01] [ 2.12918238e-02 7.30037700e-04 9.99773037e-01 7.88330696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1592541539999 meters Centerline goodness [0,1] 0.9983187038735316 Centerline is valid? [True, True] Translation: X:848.71, Y:23.93, Z:7.88 [[ 9.37310834e-01 -3.47911887e-01 -2.01424674e-02 8.48707018e+02] [ 3.47814506e-01 9.37526944e-01 -8.26432551e-03 2.39312044e+01] [ 2.17593630e-02 7.40399493e-04 9.99762963e-01 7.88375052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1892541539999 meters Centerline goodness [0,1] 0.9985741236344492 Centerline is valid? [True, True] Translation: X:848.74, Y:23.94, Z:7.89 [[ 9.36492698e-01 -3.50150119e-01 -1.93989871e-02 8.48736605e+02] [ 3.50060237e-01 9.36693361e-01 -7.96101629e-03 2.39353214e+01] [ 2.09584533e-02 6.64619577e-04 9.99780127e-01 7.88669265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2192541539998 meters Centerline goodness [0,1] 0.9986408575750269 Centerline is valid? [True, True] Translation: X:848.76, Y:23.95, Z:7.89 [[ 9.35998837e-01 -3.51543488e-01 -1.79820411e-02 8.48762110e+02] [ 3.51466483e-01 9.36171368e-01 -7.38120012e-03 2.39459963e+01] [ 1.94290848e-02 5.88710004e-04 9.99811064e-01 7.88815350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2492541539999 meters Centerline goodness [0,1] 0.9990149292938137 Centerline is valid? [True, True] Translation: X:848.79, Y:23.95, Z:7.89 [[ 9.34297680e-01 -3.56109512e-01 -1.65487130e-02 8.48791325e+02] [ 3.56044961e-01 9.34444116e-01 -6.79555668e-03 2.39535861e+01] [ 1.78838099e-02 4.56986965e-04 9.99839967e-01 7.89032640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2792541539999 meters Centerline goodness [0,1] 0.9991024518388791 Centerline is valid? [True, True] Translation: X:848.82, Y:23.96, Z:7.89 [[ 9.33020645e-01 -3.59462197e-01 -1.61060334e-02 8.48817943e+02] [ 3.59401498e-01 9.33159569e-01 -6.61685480e-03 2.39629703e+01] [ 1.74080083e-02 3.85129612e-04 9.99848395e-01 7.88946942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3092541539999 meters Centerline goodness [0,1] 0.9991226146084667 Centerline is valid? [True, True] Translation: X:848.84, Y:23.97, Z:7.89 [[ 9.31980936e-01 -3.62164183e-01 -1.57683186e-02 8.48844395e+02] [ 3.62106349e-01 9.32114261e-01 -6.48044080e-03 2.39724284e+01] [ 1.70448582e-02 3.29839015e-04 9.99854671e-01 7.88943229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3392541539998 meters Centerline goodness [0,1] 0.9994304116371284 Centerline is valid? [True, True] Translation: X:848.87, Y:23.98, Z:7.89 [[ 9.30481921e-01 -3.66040145e-01 -1.47650402e-02 8.48872622e+02] [ 3.65989896e-01 9.30599029e-01 -6.06986826e-03 2.39794790e+01] [ 1.59621475e-02 2.44047147e-04 9.99872567e-01 7.89314147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3692541539999 meters Centerline goodness [0,1] 0.9995166534844889 Centerline is valid? [True, True] Translation: X:848.90, Y:23.99, Z:7.89 [[ 9.28414910e-01 -3.71230168e-01 -1.52943529e-02 8.48899373e+02] [ 3.71176930e-01 9.28540864e-01 -6.28891849e-03 2.39873089e+01] [ 1.65360679e-02 1.61814725e-04 9.99863257e-01 7.89111552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3992541539999 meters Centerline goodness [0,1] 0.9994731758714549 Centerline is valid? [True, True] Translation: X:848.93, Y:24.00, Z:7.89 [[ 9.27655100e-01 -3.73136876e-01 -1.49962619e-02 8.48926735e+02] [ 3.73085898e-01 9.27776296e-01 -6.16907524e-03 2.39978002e+01] [ 1.62150857e-02 1.27880288e-04 9.99868519e-01 7.89175231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4292541539999 meters Centerline goodness [0,1] 0.9996050292936607 Centerline is valid? [True, True] Translation: X:848.95, Y:24.01, Z:7.89 [[ 9.27040827e-01 -3.74645848e-01 -1.53555962e-02 8.48952775e+02] [ 3.74592525e-01 9.27167987e-01 -6.32169194e-03 2.40078105e+01] [ 1.66056129e-02 1.08374950e-04 9.99862111e-01 7.89343351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4592541539998 meters Centerline goodness [0,1] 0.9997371418557784 Centerline is valid? [True, True] Translation: X:848.98, Y:24.02, Z:7.89 [[ 9.25286335e-01 -3.78937700e-01 -1.58561365e-02 8.48979658e+02] [ 3.78881409e-01 9.25422184e-01 -6.53146021e-03 2.40161679e+01] [ 1.71486370e-02 3.58755373e-05 9.99852951e-01 7.89064846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4892541539999 meters Centerline goodness [0,1] 0.9996266608103657 Centerline is valid? [True, True] Translation: X:849.01, Y:24.03, Z:7.89 [[ 9.24852088e-01 -3.80010846e-01 -1.55039625e-02 8.49005819e+02] [ 3.79957126e-01 9.24982031e-01 -6.38948656e-03 2.40258592e+01] [ 1.67689609e-02 1.84889587e-05 9.99859391e-01 7.89308327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5192541539999 meters Centerline goodness [0,1] 0.9998463699411816 Centerline is valid? [True, True] Translation: X:849.03, Y:24.03, Z:7.89 [[ 9.23423998e-01 -3.83420617e-01 -1.66358349e-02 8.49032572e+02] [ 3.83359250e-01 9.23573835e-01 -6.85977962e-03 2.40338187e+01] [ 1.79946027e-02 -4.30160511e-05 9.99838083e-01 7.89049794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5492541539999 meters Centerline goodness [0,1] 0.9999123863760815 Centerline is valid? [True, True] Translation: X:849.06, Y:24.04, Z:7.89 [[ 9.22906167e-01 -3.84647875e-01 -1.70358204e-02 8.49059043e+02] [ 3.84583665e-01 9.23063382e-01 -7.02828900e-03 2.40437443e+01] [ 1.84285584e-02 -6.52469810e-05 9.99830178e-01 7.89089119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5792541539998 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:849.09, Y:24.05, Z:7.89 [[ 9.22528762e-01 -3.85532443e-01 -1.74762222e-02 8.49085318e+02] [ 3.85464949e-01 9.22694277e-01 -7.21414183e-03 2.40538424e+01] [ 1.89064959e-02 -8.12177813e-05 9.99821253e-01 7.89199358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6092541539999 meters Centerline goodness [0,1] 0.999802661872081 Centerline is valid? [True, True] Translation: X:849.11, Y:24.06, Z:7.89 [[ 9.21509367e-01 -3.87940163e-01 -1.79698478e-02 8.49111240e+02] [ 3.87869217e-01 9.21684551e-01 -7.42015580e-03 2.40629796e+01] [ 1.94411076e-02 -1.32207723e-04 9.99810995e-01 7.88896937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6392541539999 meters Centerline goodness [0,1] 0.9997577519379846 Centerline is valid? [True, True] Translation: X:849.14, Y:24.07, Z:7.89 [[ 9.21060041e-01 -3.89013033e-01 -1.78118310e-02 8.49136766e+02] [ 3.88943453e-01 9.21232239e-01 -7.35882144e-03 2.40741126e+01] [ 1.92715104e-02 -1.49878675e-04 9.99814276e-01 7.89008453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6692541539999 meters Centerline goodness [0,1] 0.9999340920075575 Centerline is valid? [True, True] Translation: X:849.16, Y:24.08, Z:7.89 [[ 9.21134135e-01 -3.88906375e-01 -1.62399783e-02 8.49162780e+02] [ 3.88848458e-01 9.21277273e-01 -6.71285820e-03 2.40842683e+01] [ 1.75721962e-02 -1.31447680e-04 9.99845588e-01 7.89329558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6992541539998 meters Centerline goodness [0,1] 0.9998241449045986 Centerline is valid? [True, True] Translation: X:849.19, Y:24.10, Z:7.89 [[ 9.21112046e-01 -3.88976127e-01 -1.58168081e-02 8.49188879e+02] [ 3.88921144e-01 9.21247826e-01 -6.54118742e-03 2.40950654e+01] [ 1.71155659e-02 -1.26324587e-04 9.99853510e-01 7.89295553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7292541539999 meters Centerline goodness [0,1] 0.9998463766843699 Centerline is valid? [True, True] Translation: X:849.21, Y:24.11, Z:7.89 [[ 9.21378209e-01 -3.88343850e-01 -1.58508612e-02 8.49214566e+02] [ 3.88288446e-01 9.21514537e-01 -6.56056145e-03 2.41065136e+01] [ 1.71545527e-02 -1.09947904e-04 9.99852844e-01 7.89335429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7592541539999 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:849.24, Y:24.12, Z:7.89 [[ 9.21812531e-01 -3.87294637e-01 -1.62641053e-02 8.49238776e+02] [ 3.87236070e-01 9.21955995e-01 -6.73568747e-03 2.41177637e+01] [ 1.76034850e-02 -8.90070980e-05 9.99845043e-01 7.89351890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7892541539999 meters Centerline goodness [0,1] 0.9998031108485922 Centerline is valid? [True, True] Translation: X:849.26, Y:24.13, Z:7.89 [[ 9.22775580e-01 -3.84942385e-01 -1.74524978e-02 8.49262495e+02] [ 3.84874476e-01 9.22940604e-01 -7.23046402e-03 2.41310072e+01] [ 1.88909309e-02 -4.49253069e-05 9.99821549e-01 7.89102896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8192541539999 meters Centerline goodness [0,1] 0.9999561951069934 Centerline is valid? [True, True] Translation: X:849.29, Y:24.15, Z:7.89 [[ 9.24215906e-01 -3.81415124e-01 -1.86403410e-02 8.49288194e+02] [ 3.81336852e-01 9.24403863e-01 -7.72679514e-03 2.41454446e+01] [ 2.01783197e-02 3.29780169e-05 9.99796396e-01 7.89245151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8492541539999 meters Centerline goodness [0,1] 0.9999781061850027 Centerline is valid? [True, True] Translation: X:849.31, Y:24.16, Z:7.89 [[ 9.24992175e-01 -3.79480824e-01 -1.95903192e-02 8.49313815e+02] [ 3.79393855e-01 9.25199599e-01 -8.12435061e-03 2.41577110e+01] [ 2.12079907e-02 8.25140249e-05 9.99775082e-01 7.89272582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8792541539999 meters Centerline goodness [0,1] 0.9998684873857484 Centerline is valid? [True, True] Translation: X:849.34, Y:24.17, Z:7.89 [[ 9.25500312e-01 -3.78205436e-01 -2.02440518e-02 8.49339891e+02] [ 3.78112165e-01 9.25721683e-01 -8.39978198e-03 2.41698187e+01] [ 2.19172009e-02 1.19478593e-04 9.99759782e-01 7.89044866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9092541539999 meters Centerline goodness [0,1] 0.9998469945355192 Centerline is valid? [True, True] Translation: X:849.36, Y:24.18, Z:7.89 [[ 9.26207971e-01 -3.76458600e-01 -2.04381329e-02 8.49364566e+02] [ 3.76363023e-01 9.26433427e-01 -8.48408470e-03 2.41818876e+01] [ 2.21284761e-02 1.65869389e-04 9.99755122e-01 7.89204758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9392541539999 meters Centerline goodness [0,1] 0.9998248341398261 Centerline is valid? [True, True] Translation: X:849.39, Y:24.19, Z:7.89 [[ 9.27154435e-01 -3.74117788e-01 -2.05069276e-02 8.49390513e+02] [ 3.74020897e-01 9.27381167e-01 -8.51700273e-03 2.41945299e+01] [ 2.22041007e-02 2.26557388e-04 9.99753433e-01 7.89043513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9692541539998 meters Centerline goodness [0,1] 0.9997145429393294 Centerline is valid? [True, True] Translation: X:849.42, Y:24.21, Z:7.89 [[ 9.27741335e-01 -3.72739739e-01 -1.90026891e-02 8.49416193e+02] [ 3.72656133e-01 9.27935896e-01 -7.89808384e-03 2.42058680e+01] [ 2.05772071e-02 2.45910188e-04 9.99788237e-01 7.89177056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9992541539999 meters Centerline goodness [0,1] 0.9997145429393294 Centerline is valid? [True, True] Translation: X:849.44, Y:24.22, Z:7.89 [[ 9.27634402e-01 -3.73005900e-01 -1.90004216e-02 8.49441644e+02] [ 3.72922238e-01 9.27828938e-01 -7.90353640e-03 2.42165329e+01] [ 2.05772067e-02 2.45912517e-04 9.99788237e-01 7.89202803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0292541539999 meters Centerline goodness [0,1] 0.9999343573585401 Centerline is valid? [True, True] Translation: X:849.47, Y:24.23, Z:7.90 [[ 9.28009520e-01 -3.72145482e-01 -1.74948859e-02 8.49465967e+02] [ 3.72074327e-01 9.28174379e-01 -7.28125345e-03 2.42272466e+01] [ 1.89479905e-02 2.47674615e-04 9.99820440e-01 7.89552342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0592541539999 meters Centerline goodness [0,1] 0.9996931103268375 Centerline is valid? [True, True] Translation: X:849.49, Y:24.24, Z:7.90 [[ 9.28009592e-01 -3.72200521e-01 -1.62778729e-02 8.49492272e+02] [ 3.72138864e-01 9.28152314e-01 -6.77846545e-03 2.42378167e+01] [ 1.76312937e-02 2.32851844e-04 9.99844530e-01 7.89524730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:849.52, Y:24.25, Z:7.90 [[ 9.28809642e-01 -3.70280372e-01 -1.43211224e-02 8.49517679e+02] [ 3.70232372e-01 9.28920012e-01 -5.96676298e-03 2.42484948e+01] [ 1.55125524e-02 2.39843863e-04 9.99879644e-01 7.90130102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1192541539999 meters Centerline goodness [0,1] 0.9998685910773342 Centerline is valid? [True, True] Translation: X:849.54, Y:24.26, Z:7.90 [[ 9.28696133e-01 -3.70577384e-01 -1.39962475e-02 8.49543658e+02] [ 3.70531531e-01 9.28801566e-01 -5.83404562e-03 2.42596118e+01] [ 1.51617020e-02 2.32004578e-04 9.99885028e-01 7.89913273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1492541539999 meters Centerline goodness [0,1] 0.9997594524262503 Centerline is valid? [True, True] Translation: X:849.57, Y:24.27, Z:7.90 [[ 9.29262900e-01 -3.69134214e-01 -1.45049959e-02 8.49568425e+02] [ 3.69084735e-01 9.29376059e-01 -6.04965731e-03 2.42721505e+01] [ 1.57137315e-02 2.68149509e-04 9.99876496e-01 7.89754032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1792541539999 meters Centerline goodness [0,1] 0.9999781458979851 Centerline is valid? [True, True] Translation: X:849.59, Y:24.28, Z:7.90 [[ 9.30014774e-01 -3.67240614e-01 -1.43823381e-02 8.49593881e+02] [ 3.67191714e-01 9.30125928e-01 -6.00023786e-03 2.42846637e+01] [ 1.55809166e-02 2.99234461e-04 9.99878565e-01 7.90146381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2092541539998 meters Centerline goodness [0,1] 0.99984690418389 Centerline is valid? [True, True] Translation: X:849.62, Y:24.30, Z:7.90 [[ 9.30598534e-01 -3.65702349e-01 -1.57531180e-02 8.49618377e+02] [ 3.65643420e-01 9.30731789e-01 -6.57461365e-03 2.42979033e+01] [ 1.70662794e-02 3.58301864e-04 9.99854296e-01 7.89663359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2392541539999 meters Centerline goodness [0,1] 0.9999125702170444 Centerline is valid? [True, True] Translation: X:849.64, Y:24.31, Z:7.90 [[ 9.30976303e-01 -3.64717041e-01 -1.62666648e-02 8.49644838e+02] [ 3.64653996e-01 9.31118320e-01 -6.79241038e-03 2.43102839e+01] [ 1.76234975e-02 3.91868770e-04 9.99844617e-01 7.89742178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2692541539999 meters Centerline goodness [0,1] 0.9999781645085922 Centerline is valid? [True, True] Translation: X:849.67, Y:24.32, Z:7.90 [[ 9.31828186e-01 -3.62474722e-01 -1.75587070e-02 8.49671402e+02] [ 3.62400765e-01 9.31993483e-01 -7.33716271e-03 2.43210595e+01] [ 1.90241365e-02 4.73686165e-04 9.99818913e-01 7.89910669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2992541539999 meters Centerline goodness [0,1] 0.9998248609834056 Centerline is valid? [True, True] Translation: X:849.70, Y:24.33, Z:7.90 [[ 9.31892107e-01 -3.62250216e-01 -1.87585392e-02 8.49697267e+02] [ 3.62165682e-01 9.32080746e-01 -7.84232335e-03 2.43328789e+01] [ 2.03253566e-02 5.14500062e-04 9.99793286e-01 7.89596669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3292541539998 meters Centerline goodness [0,1] 0.9999561326548517 Centerline is valid? [True, True] Translation: X:849.72, Y:24.35, Z:7.90 [[ 9.32328727e-01 -3.61128948e-01 -1.86822788e-02 8.49720945e+02] [ 3.61044836e-01 9.32515733e-01 -7.81239591e-03 2.43477830e+01] [ 2.02428012e-02 5.38580863e-04 9.99794948e-01 7.89682561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:849.75, Y:24.36, Z:7.90 [[ 9.32394082e-01 -3.60959501e-01 -1.86953286e-02 8.49748401e+02] [ 3.60875159e-01 9.32581332e-01 -7.82168778e-03 2.43560509e+01] [ 2.02582270e-02 5.46215711e-04 9.99794632e-01 7.89956916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3892541539999 meters Centerline goodness [0,1] 0.9999343171169593 Centerline is valid? [True, True] Translation: X:849.78, Y:24.37, Z:7.90 [[ 9.31535152e-01 -3.63185354e-01 -1.84027023e-02 8.49776331e+02] [ 3.63103959e-01 9.31716778e-01 -7.70465380e-03 2.43650156e+01] [ 1.99443239e-02 4.95061801e-04 9.99800970e-01 7.89898030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4192541539999 meters Centerline goodness [0,1] 0.9998901316223164 Centerline is valid? [True, True] Translation: X:849.80, Y:24.38, Z:7.90 [[ 9.30973079e-01 -3.64659699e-01 -1.76756745e-02 8.49803514e+02] [ 3.64584775e-01 9.31140753e-01 -7.40543252e-03 2.43752272e+01] [ 1.91590036e-02 4.49976513e-04 9.99816348e-01 7.89907361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4492541539998 meters Centerline goodness [0,1] 0.9999342768260089 Centerline is valid? [True, True] Translation: X:849.83, Y:24.39, Z:7.90 [[ 9.30447409e-01 -3.66030993e-01 -1.69979594e-02 8.49830604e+02] [ 3.65961842e-01 9.30602570e-01 -7.12643094e-03 2.43854981e+01] [ 1.84268393e-02 4.10164679e-04 9.99830127e-01 7.90053724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4792541539999 meters Centerline goodness [0,1] 0.9999780229440464 Centerline is valid? [True, True] Translation: X:849.86, Y:24.39, Z:7.90 [[ 9.29435761e-01 -3.68637827e-01 -1.59787070e-02 8.49857341e+02] [ 3.68577045e-01 9.29573040e-01 -6.70262368e-03 2.43939007e+01] [ 1.73242159e-02 3.40273524e-04 9.99849867e-01 7.90311177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5092541539999 meters Centerline goodness [0,1] 0.9998461808912719 Centerline is valid? [True, True] Translation: X:849.88, Y:24.40, Z:7.90 [[ 9.28566265e-01 -3.70815098e-01 -1.61509644e-02 8.49884534e+02] [ 3.70753265e-01 9.28706665e-01 -6.77845495e-03 2.44028539e+01] [ 1.75130617e-02 3.06221829e-04 9.99846588e-01 7.90124968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5392541539999 meters Centerline goodness [0,1] 0.9999560420238253 Centerline is valid? [True, True] Translation: X:849.91, Y:24.41, Z:7.90 [[ 9.27827721e-01 -3.72689415e-01 -1.54375937e-02 8.49912268e+02] [ 3.72633108e-01 9.27956104e-01 -6.48355204e-03 2.44118078e+01] [ 1.67417605e-02 2.63060780e-04 9.99859812e-01 7.90447098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5692541539999 meters Centerline goodness [0,1] 0.9998028822988304 Centerline is valid? [True, True] Translation: X:849.94, Y:24.42, Z:7.90 [[ 9.27331243e-01 -3.73903431e-01 -1.59056869e-02 8.49938003e+02] [ 3.73843776e-01 9.27467607e-01 -6.68357209e-03 2.44227778e+01] [ 1.72510199e-02 2.51643162e-04 9.99851158e-01 7.90196790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:849.96, Y:24.43, Z:7.91 [[ 9.27304983e-01 -3.73949974e-01 -1.63366469e-02 8.49964779e+02] [ 3.73886985e-01 9.27448839e-01 -6.86827704e-03 2.44324187e+01] [ 1.77197963e-02 2.60927846e-04 9.99842958e-01 7.90636135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6292541539999 meters Centerline goodness [0,1] 0.9998459845984599 Centerline is valid? [True, True] Translation: X:849.99, Y:24.44, Z:7.90 [[ 9.26833289e-01 -3.75097411e-01 -1.67924620e-02 8.49989752e+02] [ 3.75030938e-01 9.26985366e-01 -7.06581270e-03 2.44443166e+01] [ 1.82167346e-02 2.51137633e-04 9.99834030e-01 7.90222262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.01, Y:24.46, Z:7.90 [[ 9.27444630e-01 -3.73531552e-01 -1.79063689e-02 8.50014568e+02] [ 3.73455586e-01 9.27617425e-01 -7.53914809e-03 2.44562568e+01] [ 1.94263695e-02 3.04908919e-04 9.99811244e-01 7.90448249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.04, Y:24.47, Z:7.90 [[ 9.27439538e-01 -3.73523207e-01 -1.83389473e-02 8.50041226e+02] [ 3.73443439e-01 9.27620781e-01 -7.72555181e-03 2.44675203e+01] [ 1.98972615e-02 3.16422663e-04 9.99801980e-01 7.90425463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7192541539998 meters Centerline goodness [0,1] 0.9998688524590164 Centerline is valid? [True, True] Translation: X:850.07, Y:24.48, Z:7.90 [[ 9.27119560e-01 -3.74274072e-01 -1.91895706e-02 8.50065200e+02] [ 3.74186804e-01 9.27318078e-01 -8.08813006e-03 2.44808359e+01] [ 2.08220131e-02 3.18179500e-04 9.99783148e-01 7.89899801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7492541539999 meters Centerline goodness [0,1] 0.9998904061547903 Centerline is valid? [True, True] Translation: X:850.09, Y:24.49, Z:7.90 [[ 9.26919086e-01 -3.74774753e-01 -1.91021838e-02 8.50091650e+02] [ 3.74688285e-01 9.27115844e-01 -8.05611571e-03 2.44895106e+01] [ 2.07291660e-02 3.10002934e-04 9.99785080e-01 7.90122005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7792541539999 meters Centerline goodness [0,1] 0.9999341787704594 Centerline is valid? [True, True] Translation: X:850.12, Y:24.50, Z:7.90 [[ 9.26687489e-01 -3.75381084e-01 -1.84211494e-02 8.50118948e+02] [ 3.75300677e-01 9.26870518e-01 -7.77463960e-03 2.45003638e+01] [ 1.99924730e-02 2.91191397e-04 9.99800088e-01 7.90253658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.14, Y:24.51, Z:7.91 [[ 9.26251329e-01 -3.76506930e-01 -1.73495358e-02 8.50144745e+02] [ 3.76435733e-01 9.26413766e-01 -7.32615350e-03 2.45097665e+01] [ 1.88311964e-02 2.54874183e-04 9.99822645e-01 7.90556463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.17, Y:24.52, Z:7.91 [[ 9.25578439e-01 -3.78180112e-01 -1.68628503e-02 8.50172065e+02] [ 3.78113062e-01 9.25732011e-01 -7.12436038e-03 2.45203286e+01] [ 1.83047717e-02 2.18090395e-04 9.99832430e-01 7.90646034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.20, Y:24.53, Z:7.91 [[ 9.25025963e-01 -3.79553277e-01 -1.63180077e-02 8.50199197e+02] [ 3.79490621e-01 9.25169862e-01 -6.89886036e-03 2.45307516e+01] [ 1.77154140e-02 1.89094089e-04 9.99843052e-01 7.90707184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8992541539999 meters Centerline goodness [0,1] 0.9998466828744771 Centerline is valid? [True, True] Translation: X:850.23, Y:24.54, Z:7.90 [[ 9.23911956e-01 -3.82265220e-01 -1.61244983e-02 8.50225958e+02] [ 3.82204390e-01 9.24052640e-01 -6.82069733e-03 2.45401983e+01] [ 1.75072006e-02 1.38869790e-04 9.99846728e-01 7.90482425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.25, Y:24.55, Z:7.91 [[ 9.23859981e-01 -3.82417537e-01 -1.54778139e-02 8.50252156e+02] [ 3.82361450e-01 9.23989616e-01 -6.55068455e-03 2.45503111e+01] [ 1.68064360e-02 1.33795920e-04 9.99858753e-01 7.90843927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9592541539998 meters Centerline goodness [0,1] 0.9999343530493009 Centerline is valid? [True, True] Translation: X:850.28, Y:24.56, Z:7.91 [[ 9.23647854e-01 -3.82907846e-01 -1.60069606e-02 8.50277674e+02] [ 3.82847839e-01 9.23786535e-01 -6.78004097e-03 2.45610495e+01] [ 1.73831456e-02 1.34140007e-04 9.99848893e-01 7.90672971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9892541539999 meters Centerline goodness [0,1] 0.9998903412580051 Centerline is valid? [True, True] Translation: X:850.30, Y:24.57, Z:7.91 [[ 9.23783270e-01 -3.82566265e-01 -1.63561224e-02 8.50303727e+02] [ 3.82503465e-01 9.23928044e-01 -6.93314485e-03 2.45725942e+01] [ 1.77642675e-02 1.48449748e-04 9.99842192e-01 7.90602206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0192541539999 meters Centerline goodness [0,1] 0.9998685392519884 Centerline is valid? [True, True] Translation: X:850.33, Y:24.59, Z:7.90 [[ 9.24677442e-01 -3.80362804e-01 -1.71978634e-02 8.50329016e+02] [ 3.80292925e-01 9.24837335e-01 -7.29350991e-03 2.45857006e+01] [ 1.86794060e-02 2.03918315e-04 9.99825504e-01 7.90471539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0492541539999 meters Centerline goodness [0,1] 0.9998461977896426 Centerline is valid? [True, True] Translation: X:850.36, Y:24.60, Z:7.90 [[ 9.25133840e-01 -3.79235097e-01 -1.75533344e-02 8.50355002e+02] [ 3.79162029e-01 9.25300322e-01 -7.44782535e-03 2.45977659e+01] [ 1.90665827e-02 2.34677385e-04 9.99818189e-01 7.90451330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.38, Y:24.61, Z:7.91 [[ 9.26001110e-01 -3.77133752e-01 -1.70902630e-02 8.50379625e+02] [ 3.77064065e-01 9.26158765e-01 -7.25489620e-03 2.46096607e+01] [ 1.85643631e-02 2.73917905e-04 9.99827630e-01 7.90743488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1092541539999 meters Centerline goodness [0,1] 0.9999122980113574 Centerline is valid? [True, True] Translation: X:850.40, Y:24.62, Z:7.91 [[ 9.27107957e-01 -3.74395129e-01 -1.72951927e-02 8.50403952e+02] [ 3.74323246e-01 9.27269203e-01 -7.34388696e-03 2.46232031e+01] [ 1.87868150e-02 3.34583376e-04 9.99823456e-01 7.90605982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1392541539999 meters Centerline goodness [0,1] 0.9998898945189492 Centerline is valid? [True, True] Translation: X:850.43, Y:24.64, Z:7.91 [[ 9.27571047e-01 -3.73235314e-01 -1.75314903e-02 8.50429724e+02] [ 3.73161179e-01 9.27736636e-01 -7.44772798e-03 2.46354873e+01] [ 1.90443609e-02 3.66225278e-04 9.99818573e-01 7.90544148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.46, Y:24.65, Z:7.91 [[ 9.28610310e-01 -3.70680718e-01 -1.66942448e-02 8.50455723e+02] [ 3.70612996e-01 9.28760272e-01 -7.09679011e-03 2.46488756e+01] [ 1.81355946e-02 4.03048366e-04 9.99835455e-01 7.90787122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1992541539998 meters Centerline goodness [0,1] 0.9998244227899219 Centerline is valid? [True, True] Translation: X:850.48, Y:24.66, Z:7.90 [[ 9.29165446e-01 -3.69253930e-01 -1.74100466e-02 8.50480223e+02] [ 3.69179958e-01 9.29328430e-01 -7.40459924e-03 2.46623699e+01] [ 1.89138287e-02 4.52657467e-04 9.99821015e-01 7.90435290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2292541539999 meters Centerline goodness [0,1] 0.9998242453534866 Centerline is valid? [True, True] Translation: X:850.51, Y:24.67, Z:7.90 [[ 9.29433836e-01 -3.68586018e-01 -1.72363308e-02 8.50507055e+02] [ 3.68513337e-01 9.29593530e-01 -7.33413005e-03 2.46738987e+01] [ 1.87260394e-02 4.64770856e-04 9.99824544e-01 7.90490388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2592541539999 meters Centerline goodness [0,1] 0.999824853314651 Centerline is valid? [True, True] Translation: X:850.53, Y:24.69, Z:7.91 [[ 9.29698511e-01 -3.67933955e-01 -1.68903380e-02 8.50532237e+02] [ 3.67863994e-01 9.29851807e-01 -7.19025369e-03 2.46859941e+01] [ 1.83510498e-02 4.71420960e-04 9.99831494e-01 7.90516942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2892541539999 meters Centerline goodness [0,1] 0.9997365358860079 Centerline is valid? [True, True] Translation: X:850.56, Y:24.70, Z:7.90 [[ 9.29801153e-01 -3.67671650e-01 -1.69521012e-02 8.50558214e+02] [ 3.67601071e-01 9.29955551e-01 -7.21987606e-03 2.46978875e+01] [ 1.84192444e-02 4.81438515e-04 9.99830235e-01 7.90479333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3192541539999 meters Centerline goodness [0,1] 0.9998031797406346 Centerline is valid? [True, True] Translation: X:850.58, Y:24.71, Z:7.91 [[ 9.30212437e-01 -3.66631745e-01 -1.69110958e-02 8.50584725e+02] [ 3.66561244e-01 9.30366008e-01 -7.20733612e-03 2.47097847e+01] [ 1.83759469e-02 5.05401356e-04 9.99831020e-01 7.90537003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3492541539999 meters Centerline goodness [0,1] 0.9999342364855978 Centerline is valid? [True, True] Translation: X:850.61, Y:24.72, Z:7.91 [[ 9.30404401e-01 -3.66151562e-01 -1.67536291e-02 8.50611664e+02] [ 3.66082202e-01 9.30555086e-01 -7.14510622e-03 2.47209966e+01] [ 1.82063666e-02 5.14632838e-04 9.99834118e-01 7.90758337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3792541539999 meters Centerline goodness [0,1] 0.9997584753205692 Centerline is valid? [True, True] Translation: X:850.64, Y:24.73, Z:7.91 [[ 9.30432220e-01 -3.65996473e-01 -1.85058432e-02 8.50638799e+02] [ 3.65911696e-01 9.30616059e-01 -7.89823258e-03 2.47304446e+01] [ 2.01125601e-02 5.77265619e-04 9.99797555e-01 7.90563194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4092541539999 meters Centerline goodness [0,1] 0.9999781320387501 Centerline is valid? [True, True] Translation: X:850.66, Y:24.74, Z:7.91 [[ 9.30710518e-01 -3.65329390e-01 -1.76739554e-02 8.50663276e+02] [ 3.65251877e-01 9.30878141e-01 -7.54670419e-03 2.47437069e+01] [ 1.92093316e-02 5.68351588e-04 9.99815322e-01 7.90795540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4392541539999 meters Centerline goodness [0,1] 0.9999344247961705 Centerline is valid? [True, True] Translation: X:850.69, Y:24.76, Z:7.91 [[ 9.30699119e-01 -3.65326234e-01 -1.83273939e-02 8.50688152e+02] [ 3.65242842e-01 9.30879365e-01 -7.82770662e-03 2.47561714e+01] [ 1.99202594e-02 5.91290206e-04 9.99801397e-01 7.90636925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.71, Y:24.77, Z:7.91 [[ 9.30669703e-01 -3.65440652e-01 -1.75223630e-02 8.50711954e+02] [ 3.65364392e-01 9.30834470e-01 -7.48674419e-03 2.47686264e+01] [ 1.90463802e-02 5.65638490e-04 9.99818441e-01 7.90733991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4992541539999 meters Centerline goodness [0,1] 0.9997372512097392 Centerline is valid? [True, True] Translation: X:850.74, Y:24.78, Z:7.90 [[ 9.30019551e-01 -3.67057194e-01 -1.82387542e-02 8.50738963e+02] [ 3.66974786e-01 9.30198207e-01 -7.79754888e-03 2.47792015e+01] [ 1.98278029e-02 5.58709974e-04 9.99803254e-01 7.90390394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5292541539999 meters Centerline goodness [0,1] 0.999824837975127 Centerline is valid? [True, True] Translation: X:850.77, Y:24.79, Z:7.91 [[ 9.29644925e-01 -3.68054522e-01 -1.72099248e-02 8.50765825e+02] [ 3.67981234e-01 9.29804069e-01 -7.36237188e-03 2.47900825e+01] [ 1.87116124e-02 5.11462303e-04 9.99824792e-01 7.90568383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5592541539999 meters Centerline goodness [0,1] 0.9999123268455199 Centerline is valid? [True, True] Translation: X:850.79, Y:24.80, Z:7.91 [[ 9.29335834e-01 -3.68889208e-01 -1.59893745e-02 8.50792412e+02] [ 3.68825996e-01 9.29473258e-01 -6.84450873e-03 2.48014069e+01] [ 1.73865615e-02 4.63550235e-04 9.99848735e-01 7.90777874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.82, Y:24.81, Z:7.91 [[ 9.28812589e-01 -3.70254267e-01 -1.47969973e-02 8.50820783e+02] [ 3.70200240e-01 9.28930358e-01 -6.33816545e-03 2.48092839e+01] [ 1.60921128e-02 4.09115930e-04 9.99870430e-01 7.91192118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.85, Y:24.82, Z:7.91 [[ 9.28337846e-01 -3.71437614e-01 -1.49312293e-02 8.50845902e+02] [ 3.71382702e-01 9.28457830e-01 -6.39894905e-03 2.48211120e+01] [ 1.62398271e-02 3.95186321e-04 9.99868047e-01 7.91191960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.87, Y:24.83, Z:7.91 [[ 9.28055543e-01 -3.72141233e-01 -1.49603340e-02 8.50871537e+02] [ 3.72086147e-01 9.28176036e-01 -6.41450306e-03 2.48315290e+01] [ 1.62729246e-02 3.86482100e-04 9.99867513e-01 7.91217750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6792541539999 meters Centerline goodness [0,1] 0.9998471382088966 Centerline is valid? [True, True] Translation: X:850.90, Y:24.84, Z:7.91 [[ 9.27769321e-01 -3.72815010e-01 -1.59077174e-02 8.50896723e+02] [ 3.72752728e-01 9.27905602e-01 -6.82628750e-03 2.48433680e+01] [ 1.73058025e-02 4.03575058e-04 9.99850162e-01 7.90884997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7092541539998 meters Centerline goodness [0,1] 0.999868918357984 Centerline is valid? [True, True] Translation: X:850.92, Y:24.86, Z:7.91 [[ 9.27807613e-01 -3.72714905e-01 -1.60197290e-02 8.50922881e+02] [ 3.72651640e-01 9.27945811e-01 -6.87945750e-03 2.48568005e+01] [ 1.74295168e-02 4.13034769e-04 9.99848009e-01 7.90941721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:850.95, Y:24.87, Z:7.91 [[ 9.27813044e-01 -3.72735999e-01 -1.51931308e-02 8.50948232e+02] [ 3.72679019e-01 9.27937346e-01 -6.52913929e-03 2.48680834e+01] [ 1.65319187e-02 3.95659530e-04 9.99863260e-01 7.91294295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7692541539999 meters Centerline goodness [0,1] 0.9997819640676784 Centerline is valid? [True, True] Translation: X:850.97, Y:24.88, Z:7.91 [[ 9.27346443e-01 -3.73855677e-01 -1.61402577e-02 8.50972895e+02] [ 3.73791472e-01 9.27486803e-01 -6.94009233e-03 2.48824233e+01] [ 1.75644689e-02 4.02779235e-04 9.99845652e-01 7.90829218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.00, Y:24.89, Z:7.91 [[ 9.27262760e-01 -3.74090793e-01 -1.54871607e-02 8.50998628e+02] [ 3.74031658e-01 9.27392005e-01 -6.66248302e-03 2.48926079e+01] [ 1.68550426e-02 3.85183993e-04 9.99857869e-01 7.91306927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.02, Y:24.90, Z:7.91 [[ 9.27047169e-01 -3.74626474e-01 -1.54451265e-02 8.51023486e+02] [ 3.74567672e-01 9.27175745e-01 -6.64803377e-03 2.49049757e+01] [ 1.68108761e-02 3.77795799e-04 9.99858616e-01 7.91320153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.05, Y:24.92, Z:7.91 [[ 9.26290129e-01 -3.76495645e-01 -1.54151200e-02 8.51049958e+02] [ 3.76437282e-01 9.26418323e-01 -6.63801936e-03 2.49169877e+01] [ 1.67800350e-02 3.45905930e-04 9.99859145e-01 7.91329010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.08, Y:24.93, Z:7.91 [[ 9.26183688e-01 -3.76757488e-01 -1.54133731e-02 8.51075266e+02] [ 3.76699094e-01 9.26311867e-01 -6.64207391e-03 2.49279820e+01] [ 1.67800415e-02 3.45576833e-04 9.99859145e-01 7.91354771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9192541539999 meters Centerline goodness [0,1] 0.9998472849444772 Centerline is valid? [True, True] Translation: X:851.10, Y:24.94, Z:7.91 [[ 9.25456155e-01 -3.78515727e-01 -1.60233877e-02 8.51102343e+02] [ 3.78452790e-01 9.25594801e-01 -6.91019086e-03 2.49391874e+01] [ 1.74467803e-02 3.30982877e-04 9.99847739e-01 7.91079436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9492541539998 meters Centerline goodness [0,1] 0.9999562860639972 Centerline is valid? [True, True] Translation: X:851.13, Y:24.95, Z:7.91 [[ 9.24568173e-01 -3.80707160e-01 -1.53542200e-02 8.51128444e+02] [ 3.80649596e-01 9.24695614e-01 -6.62612902e-03 2.49511096e+01] [ 1.67205946e-02 2.81730366e-04 9.99860161e-01 7.91311656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9792541539999 meters Centerline goodness [0,1] 0.999738795411506 Centerline is valid? [True, True] Translation: X:851.15, Y:24.96, Z:7.91 [[ 9.23799234e-01 -3.82541239e-01 -1.60367224e-02 8.51152912e+02] [ 3.82478653e-01 9.23938381e-01 -6.92453359e-03 2.49645484e+01] [ 1.74658630e-02 2.63174839e-04 9.99847426e-01 7.91008024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0092541539999 meters Centerline goodness [0,1] 0.999956390911866 Centerline is valid? [True, True] Translation: X:851.18, Y:24.98, Z:7.91 [[ 9.22597389e-01 -3.85478751e-01 -1.48388277e-02 8.51178580e+02] [ 3.85425516e-01 9.22716693e-01 -6.40916244e-03 2.49750074e+01] [ 1.61626299e-02 1.93813716e-04 9.99869357e-01 7.91324197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.21, Y:24.98, Z:7.92 [[ 9.21823932e-01 -3.87337668e-01 -1.44971825e-02 8.51205976e+02] [ 3.87287044e-01 9.21937907e-01 -6.26418693e-03 2.49838564e+01] [ 1.57918577e-02 1.59906466e-04 9.99875288e-01 7.91610614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0692541539999 meters Centerline goodness [0,1] 0.9999782707894223 Centerline is valid? [True, True] Translation: X:851.23, Y:25.00, Z:7.92 [[ 9.20990506e-01 -3.89312055e-01 -1.45812007e-02 8.51233026e+02] [ 3.89261022e-01 9.21105915e-01 -6.30472727e-03 2.49953033e+01] [ 1.58853366e-02 1.30700857e-04 9.99873812e-01 7.91659754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.26, Y:25.01, Z:7.92 [[ 9.19599364e-01 -3.92567528e-01 -1.50912815e-02 8.51258447e+02] [ 3.92513248e-01 9.19723181e-01 -6.52842341e-03 2.50064520e+01] [ 1.64426484e-02 8.00061033e-05 9.99864807e-01 7.91644558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1292541539999 meters Centerline goodness [0,1] 0.999956609463476 Centerline is valid? [True, True] Translation: X:851.28, Y:25.02, Z:7.92 [[ 9.18828809e-01 -3.94345336e-01 -1.56644764e-02 8.51283681e+02] [ 3.94287055e-01 9.18962324e-01 -6.77973179e-03 2.50176982e+01] [ 1.70686192e-02 5.31126314e-05 9.99854319e-01 7.91556833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1592541539999 meters Centerline goodness [0,1] 0.9999348378548621 Centerline is valid? [True, True] Translation: X:851.31, Y:25.03, Z:7.92 [[ 9.17808471e-01 -3.96698654e-01 -1.60557966e-02 8.51308519e+02] [ 3.96637713e-01 9.17948897e-01 -6.95320025e-03 2.50286670e+01] [ 1.74967259e-02 1.33716604e-05 9.99846920e-01 7.91504514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.33, Y:25.04, Z:7.92 [[ 9.17447036e-01 -3.97556613e-01 -1.54814327e-02 8.51333984e+02] [ 3.97500017e-01 9.17577648e-01 -6.70802332e-03 2.50398661e+01] [ 1.68722357e-02 3.86342160e-07 9.99857654e-01 7.91766197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2192541539998 meters Centerline goodness [0,1] 0.999891975975457 Centerline is valid? [True, True] Translation: X:851.36, Y:25.05, Z:7.92 [[ 9.16962804e-01 -3.98660962e-01 -1.57687424e-02 8.51357974e+02] [ 3.98602339e-01 9.17098379e-01 -6.83653774e-03 2.50518885e+01] [ 1.71869488e-02 -1.66067767e-05 9.99852293e-01 7.91646159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2492541539999 meters Centerline goodness [0,1] 0.9998706840812104 Centerline is valid? [True, True] Translation: X:851.38, Y:25.06, Z:7.92 [[ 9.16841201e-01 -3.98944267e-01 -1.56743178e-02 8.51383274e+02] [ 3.98886323e-01 9.16975175e-01 -6.79924736e-03 2.50641798e+01] [ 1.70854811e-02 -1.84408839e-05 9.99854032e-01 7.91683734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2792541539999 meters Centerline goodness [0,1] 0.9999140284136093 Centerline is valid? [True, True] Translation: X:851.41, Y:25.08, Z:7.92 [[ 9.17379975e-01 -3.97721059e-01 -1.52295664e-02 8.51406854e+02] [ 3.97666125e-01 9.17506381e-01 -6.61011597e-03 2.50779921e+01] [ 1.66022067e-02 7.70537067e-06 9.99862174e-01 7.91730077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3092541539999 meters Centerline goodness [0,1] 0.9998708344097132 Centerline is valid? [True, True] Translation: X:851.43, Y:25.09, Z:7.92 [[ 9.17780611e-01 -3.96807116e-01 -1.49286200e-02 8.51431885e+02] [ 3.96754157e-01 9.17902017e-01 -6.48279012e-03 2.50910801e+01] [ 1.62754277e-02 2.67870250e-05 9.99867546e-01 7.91944674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3392541539998 meters Centerline goodness [0,1] 0.99978501558637 Centerline is valid? [True, True] Translation: X:851.46, Y:25.11, Z:7.91 [[ 9.18086347e-01 -3.96012481e-01 -1.70755349e-02 8.51457749e+02] [ 3.95942952e-01 9.18245126e-01 -7.42068394e-03 2.51052605e+01] [ 1.86182102e-02 5.18909144e-05 9.99826665e-01 7.91491017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3692541539999 meters Centerline goodness [0,1] 0.999956979995698 Centerline is valid? [True, True] Translation: X:851.48, Y:25.12, Z:7.92 [[ 9.19642151e-01 -3.92363738e-01 -1.75786979e-02 8.51481991e+02] [ 3.92289308e-01 9.19810132e-01 -7.64326398e-03 2.51205688e+01] [ 1.91680041e-02 1.33132470e-04 9.99816268e-01 7.91748234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3992541539999 meters Centerline goodness [0,1] 0.9999136740331491 Centerline is valid? [True, True] Translation: X:851.51, Y:25.14, Z:7.92 [[ 9.21021056e-01 -3.89014561e-01 -1.96948336e-02 8.51506948e+02] [ 3.88920259e-01 9.21231577e-01 -8.56823310e-03 2.51366120e+01] [ 2.14766700e-02 2.31803320e-04 9.99769323e-01 7.91579341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4292541539999 meters Centerline goodness [0,1] 0.9999140099318529 Centerline is valid? [True, True] Translation: X:851.53, Y:25.15, Z:7.91 [[ 9.21699673e-01 -3.87389103e-01 -1.99848654e-02 8.51531331e+02] [ 3.87291537e-01 9.21916268e-01 -8.69825534e-03 2.51509050e+01] [ 2.17939818e-02 2.77209876e-04 9.99762445e-01 7.91494390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.56, Y:25.17, Z:7.92 [[ 9.22975861e-01 -3.84351136e-01 -1.97424338e-02 8.51555777e+02] [ 3.84255181e-01 9.23186917e-01 -8.59483563e-03 2.51655822e+01] [ 2.15293915e-02 3.46693329e-04 9.99768156e-01 7.91755317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.58, Y:25.18, Z:7.92 [[ 9.23310970e-01 -3.83537184e-01 -1.99017959e-02 8.51582059e+02] [ 3.83439391e-01 9.23525359e-01 -8.66856404e-03 2.51784215e+01] [ 2.17045299e-02 3.72647764e-04 9.99764359e-01 7.91830329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.61, Y:25.19, Z:7.92 [[ 9.23710523e-01 -3.82574727e-01 -1.98858633e-02 8.51607121e+02] [ 3.82476785e-01 9.23924466e-01 -8.66543381e-03 2.51912998e+01] [ 2.16882117e-02 3.98471326e-04 9.99764704e-01 7.91868970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5492541539999 meters Centerline goodness [0,1] 0.9999355019026939 Centerline is valid? [True, True] Translation: X:851.63, Y:25.20, Z:7.92 [[ 9.24000750e-01 -3.81866980e-01 -2.00056098e-02 8.51632372e+02] [ 3.81767592e-01 9.24217200e-01 -8.72200156e-03 2.52046967e+01] [ 2.18201730e-02 4.21642504e-04 9.99761823e-01 7.91795533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5792541539998 meters Centerline goodness [0,1] 0.9998717729526415 Centerline is valid? [True, True] Translation: X:851.66, Y:25.22, Z:7.92 [[ 9.23998185e-01 -3.81884517e-01 -1.97881132e-02 8.51657912e+02] [ 3.81787143e-01 9.24209953e-01 -8.63364549e-03 2.52171639e+01] [ 2.15854267e-02 4.22625557e-04 9.99766918e-01 7.91756230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6092541539999 meters Centerline goodness [0,1] 0.9998067300878304 Centerline is valid? [True, True] Translation: X:851.68, Y:25.23, Z:7.92 [[ 9.23997143e-01 -3.81876792e-01 -1.99848859e-02 8.51682005e+02] [ 3.81777378e-01 9.24213141e-01 -8.72373874e-03 2.52308412e+01] [ 2.18016876e-02 4.30932317e-04 9.99762222e-01 7.91627948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.71, Y:25.24, Z:7.92 [[ 9.23987367e-01 -3.82000860e-01 -1.79635214e-02 8.51708467e+02] [ 3.81920493e-01 9.24161886e-01 -7.84505794e-03 2.52419531e+01] [ 1.95980207e-02 3.88097479e-04 9.99807865e-01 7.92093395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.73, Y:25.26, Z:7.92 [[ 9.23817794e-01 -3.82420561e-01 -1.77537955e-02 8.51732206e+02] [ 3.82342045e-01 9.23988296e-01 -7.75820431e-03 2.52551809e+01] [ 1.93711960e-02 3.79144728e-04 9.99812289e-01 7.91992900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6992541539998 meters Centerline goodness [0,1] 0.9998292130993552 Centerline is valid? [True, True] Translation: X:851.76, Y:25.27, Z:7.92 [[ 9.23320601e-01 -3.83617983e-01 -1.77851633e-02 8.51759676e+02] [ 3.83539318e-01 9.23491805e-01 -7.77671005e-03 2.52652883e+01] [ 1.94077384e-02 3.59087182e-04 9.99811588e-01 7.92045653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7292541539999 meters Centerline goodness [0,1] 0.9998718852091474 Centerline is valid? [True, True] Translation: X:851.78, Y:25.28, Z:7.92 [[ 9.23004799e-01 -3.84350368e-01 -1.83557960e-02 8.51784654e+02] [ 3.84266645e-01 9.23187232e-01 -8.02993195e-03 2.52770909e+01] [ 2.00321438e-02 3.58145603e-04 9.99799272e-01 7.91829362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7592541539999 meters Centerline goodness [0,1] 0.9998498273013966 Centerline is valid? [True, True] Translation: X:851.81, Y:25.29, Z:7.92 [[ 9.22869539e-01 -3.84680317e-01 -1.82446734e-02 8.51810570e+02] [ 3.84597585e-01 9.23049798e-01 -7.98552317e-03 2.52885248e+01] [ 1.99126157e-02 3.52738752e-04 9.99801662e-01 7.91813111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7892541539999 meters Centerline goodness [0,1] 0.99985005890543 Centerline is valid? [True, True] Translation: X:851.84, Y:25.30, Z:7.92 [[ 9.22751635e-01 -3.84961815e-01 -1.82707810e-02 8.51836429e+02] [ 3.84878775e-01 9.22932433e-01 -8.00325328e-03 2.52995456e+01] [ 1.99436432e-02 3.52979256e-04 9.99801043e-01 7.91877557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8192541539999 meters Centerline goodness [0,1] 0.9998927958833619 Centerline is valid? [True, True] Translation: X:851.86, Y:25.31, Z:7.92 [[ 9.22957089e-01 -3.84472878e-01 -1.81884046e-02 8.51861220e+02] [ 3.84390411e-01 9.23136216e-01 -7.97117751e-03 2.53124591e+01] [ 1.98550766e-02 3.65606461e-04 9.99802802e-01 7.91870502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.89, Y:25.32, Z:7.92 [[ 9.23141754e-01 -3.84055644e-01 -1.76228533e-02 8.51886676e+02] [ 3.83978074e-01 9.23309876e-01 -7.72726937e-03 2.53241608e+01] [ 1.92390559e-02 3.66575708e-04 9.99814845e-01 7.92132070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8792541539999 meters Centerline goodness [0,1] 0.9999359549122583 Centerline is valid? [True, True] Translation: X:851.91, Y:25.34, Z:7.92 [[ 9.23313702e-01 -3.83619685e-01 -1.81037119e-02 8.51911706e+02] [ 3.83537662e-01 9.23491086e-01 -7.94208615e-03 2.53362212e+01] [ 1.97653572e-02 3.89581614e-04 9.99804570e-01 7.91977913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:851.94, Y:25.35, Z:7.92 [[ 9.23427675e-01 -3.83366957e-01 -1.76381935e-02 8.51937341e+02] [ 3.83288976e-01 9.23596029e-01 -7.74184660e-03 2.53464797e+01] [ 1.92585337e-02 3.88510285e-04 9.99814462e-01 7.92213587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9392541539999 meters Centerline goodness [0,1] 0.999871783913155 Centerline is valid? [True, True] Translation: X:851.96, Y:25.36, Z:7.92 [[ 9.23463227e-01 -3.83229746e-01 -1.87251222e-02 8.51962803e+02] [ 3.83141731e-01 9.23652957e-01 -8.22366708e-03 2.53590152e+01] [ 2.04470683e-02 4.19878418e-04 9.99790849e-01 7.91853566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9692541539998 meters Centerline goodness [0,1] 0.9999145061662428 Centerline is valid? [True, True] Translation: X:851.99, Y:25.37, Z:7.92 [[ 9.23531673e-01 -3.83068533e-01 -1.86480039e-02 8.51987746e+02] [ 3.82981159e-01 9.23719827e-01 -8.19221021e-03 2.53708219e+01] [ 2.03637089e-02 4.23931444e-04 9.99792548e-01 7.91886389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:852.01, Y:25.38, Z:7.92 [[ 9.23757150e-01 -3.82540016e-01 -1.83266097e-02 8.52014374e+02] [ 3.82455449e-01 9.23938824e-01 -8.05480890e-03 2.53814614e+01] [ 2.00139529e-02 4.31575570e-04 9.99799608e-01 7.92153994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:852.04, Y:25.39, Z:7.92 [[ 9.23949684e-01 -3.82098207e-01 -1.78309436e-02 8.52041645e+02] [ 3.82017966e-01 9.24121622e-01 -7.84227640e-03 2.53924252e+01] [ 1.94744802e-02 4.34128004e-04 9.99810260e-01 7.92241329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0592541539999 meters Centerline goodness [0,1] 0.9999358082807318 Centerline is valid? [True, True] Translation: X:852.07, Y:25.40, Z:7.92 [[ 9.24547385e-01 -3.80657469e-01 -1.76642007e-02 8.52066445e+02] [ 3.80578381e-01 9.24715998e-01 -7.77300886e-03 2.54046373e+01] [ 1.92932229e-02 4.63902106e-04 9.99813761e-01 7.92253431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0892541539998 meters Centerline goodness [0,1] 0.9999143175391997 Centerline is valid? [True, True] Translation: X:852.09, Y:25.42, Z:7.92 [[ 9.24713039e-01 -3.80223789e-01 -1.83211997e-02 8.52092931e+02] [ 3.80138536e-01 9.24894386e-01 -8.06647611e-03 2.54167623e+01] [ 2.00122409e-02 4.94581592e-04 9.99799613e-01 7.92084925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1192541539999 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:852.12, Y:25.43, Z:7.92 [[ 9.25536729e-01 -3.78243314e-01 -1.77132119e-02 8.52118904e+02] [ 3.78163162e-01 9.25706066e-01 -7.80402646e-03 2.54286513e+01] [ 1.93490485e-02 5.24428899e-04 9.99812652e-01 7.92232839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1492541539999 meters Centerline goodness [0,1] 0.9999143798963996 Centerline is valid? [True, True] Translation: X:852.15, Y:25.44, Z:7.92 [[ 9.25847406e-01 -3.77478374e-01 -1.77949124e-02 8.52145535e+02] [ 3.77397233e-01 9.26018238e-01 -7.84545493e-03 2.54398336e+01] [ 1.94399030e-02 5.47943402e-04 9.99810877e-01 7.92193179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1792541539999 meters Centerline goodness [0,1] 0.9998931212859646 Centerline is valid? [True, True] Translation: X:852.17, Y:25.45, Z:7.92 [[ 9.26198312e-01 -3.76617735e-01 -1.77698446e-02 8.52170135e+02] [ 3.76536595e-01 9.26368587e-01 -7.83804425e-03 2.54524112e+01] [ 1.94133723e-02 5.68586585e-04 9.99811381e-01 7.92153408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2092541539998 meters Centerline goodness [0,1] 0.9997434746360546 Centerline is valid? [True, True] Translation: X:852.20, Y:25.46, Z:7.92 [[ 9.26815141e-01 -3.75071719e-01 -1.83002868e-02 8.52197182e+02] [ 3.74985281e-01 9.26995587e-01 -8.07593731e-03 2.54636533e+01] [ 1.99933408e-02 6.22562796e-04 9.99799919e-01 7.92097818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2392541539999 meters Centerline goodness [0,1] 0.9998720027306084 Centerline is valid? [True, True] Translation: X:852.22, Y:25.48, Z:7.92 [[ 9.27300140e-01 -3.73920317e-01 -1.72640577e-02 8.52221905e+02] [ 3.73843128e-01 9.27460630e-01 -7.62203849e-03 2.54767037e+01] [ 1.88617689e-02 6.13868000e-04 9.99821913e-01 7.92199859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2692541539999 meters Centerline goodness [0,1] 0.9999361280844813 Centerline is valid? [True, True] Translation: X:852.25, Y:25.49, Z:7.92 [[ 9.27942350e-01 -3.72338067e-01 -1.69516885e-02 8.52248658e+02] [ 3.72263320e-01 9.28096955e-01 -7.48750773e-03 2.54880273e+01] [ 1.85206946e-02 6.37483693e-04 9.99828274e-01 7.92348575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:852.28, Y:25.50, Z:7.93 [[ 9.28269930e-01 -3.71538290e-01 -1.65600628e-02 8.52275379e+02] [ 3.71466742e-01 9.28417409e-01 -7.31937607e-03 2.54984932e+01] [ 1.80940791e-02 6.42844139e-04 9.99836082e-01 7.92546429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3292541539998 meters Centerline goodness [0,1] 0.9997645497549177 Centerline is valid? [True, True] Translation: X:852.30, Y:25.51, Z:7.92 [[ 9.28067425e-01 -3.71980851e-01 -1.79193086e-02 8.52299752e+02] [ 3.71897061e-01 9.28240146e-01 -7.92506607e-03 2.55098246e+01] [ 1.95813945e-02 6.90857434e-04 9.99808027e-01 7.92175372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3592541539999 meters Centerline goodness [0,1] 0.9999146812277371 Centerline is valid? [True, True] Translation: X:852.33, Y:25.52, Z:7.92 [[ 9.28507745e-01 -3.70916946e-01 -1.71460389e-02 8.52325740e+02] [ 3.70839999e-01 9.28665790e-01 -7.58586441e-03 2.55208548e+01] [ 1.87366655e-02 6.85096792e-04 9.99824219e-01 7.92367739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3892541539999 meters Centerline goodness [0,1] 0.9997215558601782 Centerline is valid? [True, True] Translation: X:852.35, Y:25.53, Z:7.92 [[ 9.28526992e-01 -3.70890079e-01 -1.66785607e-02 8.52352992e+02] [ 3.70817199e-01 9.28676531e-01 -7.38275779e-03 2.55288021e+01] [ 1.82271795e-02 6.70392706e-04 9.99833646e-01 7.92419097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4192541539999 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:852.38, Y:25.54, Z:7.93 [[ 9.28881938e-01 -3.70050865e-01 -1.55146031e-02 8.52379092e+02] [ 3.69987626e-01 9.29011273e-01 -6.87108900e-03 2.55394917e+01] [ 1.69558936e-02 6.42219303e-04 9.99856032e-01 7.92648885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4492541539998 meters Centerline goodness [0,1] 0.9998720900486058 Centerline is valid? [True, True] Translation: X:852.41, Y:25.55, Z:7.93 [[ 9.29222952e-01 -3.69198344e-01 -1.54041768e-02 8.52405584e+02] [ 3.69135834e-01 9.29350393e-01 -6.82518958e-03 2.55500551e+01] [ 1.68357265e-02 6.55889155e-04 9.99858054e-01 7.92799124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4792541539999 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:852.43, Y:25.56, Z:7.93 [[ 9.29411511e-01 -3.68754170e-01 -1.46494145e-02 8.52430311e+02] [ 3.68697531e-01 9.29526740e-01 -6.49390529e-03 2.55630496e+01] [ 1.60116772e-02 6.34307364e-04 9.99871604e-01 7.92826630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5092541539999 meters Centerline goodness [0,1] 0.9997441800972116 Centerline is valid? [True, True] Translation: X:852.45, Y:25.58, Z:7.92 [[ 9.29343811e-01 -3.68871067e-01 -1.59441965e-02 8.52454574e+02] [ 3.68803959e-01 9.29480317e-01 -7.06963831e-03 2.55770808e+01] [ 1.74276019e-02 6.89841813e-04 9.99847890e-01 7.92430252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:852.48, Y:25.59, Z:7.93 [[ 9.29951488e-01 -3.67385656e-01 -1.47651299e-02 8.52481865e+02] [ 3.67327878e-01 9.30068457e-01 -6.54947530e-03 2.55867515e+01] [ 1.61387649e-02 6.67050458e-04 9.99869539e-01 7.92917629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5692541539999 meters Centerline goodness [0,1] 0.9999356802881523 Centerline is valid? [True, True] Translation: X:852.51, Y:25.60, Z:7.93 [[ 9.30585150e-01 -3.65770198e-01 -1.49479409e-02 8.52508073e+02] [ 3.65710700e-01 9.30704927e-01 -6.63498660e-03 2.55984770e+01] [ 1.63390026e-02 7.07798079e-04 9.99866259e-01 7.92808586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5992541539999 meters Centerline goodness [0,1] 0.999914359731946 Centerline is valid? [True, True] Translation: X:852.53, Y:25.61, Z:7.93 [[ 9.31637041e-01 -3.63109228e-01 -1.42868158e-02 8.52532843e+02] [ 3.63054518e-01 9.31746299e-01 -6.34444244e-03 2.56119618e+01] [ 1.56154133e-02 7.23824550e-04 9.99877810e-01 7.92944558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6292541539999 meters Centerline goodness [0,1] 0.9998287011262901 Centerline is valid? [True, True] Translation: X:852.56, Y:25.62, Z:7.93 [[ 9.31996644e-01 -3.62156067e-01 -1.50079815e-02 8.52558184e+02] [ 3.62095547e-01 9.32117148e-01 -6.66612835e-03 2.56249196e+01] [ 1.64033757e-02 7.78485988e-04 9.99865153e-01 7.92648107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6592541539999 meters Centerline goodness [0,1] 0.9998500813843914 Centerline is valid? [True, True] Translation: X:852.58, Y:25.64, Z:7.93 [[ 9.32495960e-01 -3.60878554e-01 -1.47632610e-02 8.52583928e+02] [ 3.60819789e-01 9.32612484e-01 -6.56012216e-03 2.56382279e+01] [ 1.61358089e-02 7.90410685e-04 9.99869497e-01 7.92714222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6892541539999 meters Centerline goodness [0,1] 0.999828902624206 Centerline is valid? [True, True] Translation: X:852.61, Y:25.65, Z:7.93 [[ 9.33658070e-01 -3.57833351e-01 -1.54240702e-02 8.52608165e+02] [ 3.57768740e-01 9.33785046e-01 -6.85685252e-03 2.56534777e+01] [ 1.68563766e-02 8.83705537e-04 9.99857531e-01 7.92646188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:852.64, Y:25.67, Z:7.93 [[ 9.34386749e-01 -3.55936553e-01 -1.51846282e-02 8.52635038e+02] [ 3.55873669e-01 9.34509685e-01 -6.75127880e-03 2.56661670e+01] [ 1.65932090e-02 9.04496111e-04 9.99861914e-01 7.92939647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7492541539999 meters Centerline goodness [0,1] 0.9999141833472786 Centerline is valid? [True, True] Translation: X:852.66, Y:25.68, Z:7.93 [[ 9.34876143e-01 -3.54590752e-01 -1.64923031e-02 8.52661355e+02] [ 3.54516348e-01 9.35021059e-01 -7.33339277e-03 2.56807797e+01] [ 1.80210040e-02 1.00902288e-03 9.99837099e-01 7.92632086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7792541539999 meters Centerline goodness [0,1] 0.9998712446351932 Centerline is valid? [True, True] Translation: X:852.69, Y:25.69, Z:7.93 [[ 9.34908083e-01 -3.54482202e-01 -1.70072148e-02 8.52685817e+02] [ 3.54403027e-01 9.35062178e-01 -7.56421378e-03 2.56932534e+01] [ 1.85841825e-02 1.04443618e-03 9.99826754e-01 7.92541947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8092541539999 meters Centerline goodness [0,1] 0.9998712446351932 Centerline is valid? [True, True] Translation: X:852.71, Y:25.70, Z:7.93 [[ 9.34812139e-01 -3.54735215e-01 -1.70056321e-02 8.52711002e+02] [ 3.54656016e-01 9.34966224e-01 -7.56777081e-03 2.57045723e+01] [ 1.85842464e-02 1.04329429e-03 9.99826754e-01 7.92567768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:852.74, Y:25.72, Z:7.93 [[ 9.34939189e-01 -3.54425633e-01 -1.64676214e-02 8.52737419e+02] [ 3.54351231e-01 9.35083648e-01 -7.33327091e-03 2.57160456e+01] [ 1.79977026e-02 1.02084047e-03 9.99837507e-01 7.92865253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8692541539999 meters Centerline goodness [0,1] 0.9998928050767516 Centerline is valid? [True, True] Translation: X:852.76, Y:25.73, Z:7.93 [[ 9.34408656e-01 -3.55784492e-01 -1.72585959e-02 8.52764526e+02] [ 3.55702906e-01 9.34567440e-01 -7.69050195e-03 2.57264559e+01] [ 1.88654831e-02 1.04713889e-03 9.99821483e-01 7.92653457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:852.79, Y:25.74, Z:7.93 [[ 9.34177908e-01 -3.56436803e-01 -1.62616346e-02 8.52792111e+02] [ 3.56364391e-01 9.34318922e-01 -7.25072840e-03 2.57360163e+01] [ 1.77779794e-02 9.78402791e-04 9.99841481e-01 7.93022920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9292541539999 meters Centerline goodness [0,1] 0.9999784890724488 Centerline is valid? [True, True] Translation: X:852.82, Y:25.75, Z:7.93 [[ 9.33820762e-01 -3.57391373e-01 -1.58174099e-02 8.52818708e+02] [ 3.57322923e-01 9.33954242e-01 -7.05708958e-03 2.57477579e+01] [ 1.72948800e-02 9.38133637e-04 9.99849992e-01 7.93034286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9592541539998 meters Centerline goodness [0,1] 0.9998925886143931 Centerline is valid? [True, True] Translation: X:852.84, Y:25.76, Z:7.93 [[ 9.33476109e-01 -3.58293591e-01 -1.57498473e-02 8.52844834e+02] [ 3.58225775e-01 9.33608512e-01 -7.03140203e-03 2.57595028e+01] [ 1.72234978e-02 9.21644543e-04 9.99851240e-01 7.92901712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9892541539999 meters Centerline goodness [0,1] 0.9998283409149429 Centerline is valid? [True, True] Translation: X:852.87, Y:25.77, Z:7.93 [[ 9.33148166e-01 -3.59160320e-01 -1.54390827e-02 8.52871351e+02] [ 3.59095199e-01 9.33275452e-01 -6.89701432e-03 2.57699165e+01] [ 1.68860507e-02 8.91835788e-04 9.99857023e-01 7.92903006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:852.90, Y:25.78, Z:7.93 [[ 9.33317521e-01 -3.58757029e-01 -1.45533145e-02 8.52895758e+02] [ 3.58699071e-01 9.33430593e-01 -6.50424369e-03 2.57834879e+01] [ 1.59179521e-02 8.50264199e-04 9.99872940e-01 7.93261058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0492541539999 meters Centerline goodness [0,1] 0.9998712363456875 Centerline is valid? [True, True] Translation: X:852.92, Y:25.79, Z:7.93 [[ 9.33172296e-01 -3.59080199e-01 -1.58390743e-02 8.52923680e+02] [ 3.59011534e-01 9.33306252e-01 -7.08233221e-03 2.57895390e+01] [ 1.73258323e-02 9.22625872e-04 9.99849471e-01 7.92984827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0792541539998 meters Centerline goodness [0,1] 0.9998493846286255 Centerline is valid? [True, True] Translation: X:852.95, Y:25.80, Z:7.93 [[ 9.33157257e-01 -3.59109441e-01 -1.60606327e-02 8.52949869e+02] [ 3.59038753e-01 9.33294983e-01 -7.18666418e-03 2.58007333e+01] [ 1.75701069e-02 9.39898309e-04 9.99845192e-01 7.92976708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1092541539999 meters Centerline goodness [0,1] 0.9997209222446438 Centerline is valid? [True, True] Translation: X:852.97, Y:25.82, Z:7.93 [[ 9.33260541e-01 -3.58810234e-01 -1.67325572e-02 8.52971501e+02] [ 3.58733393e-01 9.33410006e-01 -7.49092081e-03 2.58198920e+01] [ 1.83061554e-02 9.88453791e-04 9.99831940e-01 7.92715839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.00, Y:25.83, Z:7.93 [[ 9.34108572e-01 -3.56621704e-01 -1.61906260e-02 8.52999936e+02] [ 3.56549411e-01 9.34248341e-01 -7.24952218e-03 2.58288201e+01] [ 1.77114024e-02 9.99082652e-04 9.99842642e-01 7.93261521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1692541539999 meters Centerline goodness [0,1] 0.9997855687788142 Centerline is valid? [True, True] Translation: X:853.02, Y:25.85, Z:7.93 [[ 9.34421240e-01 -3.55752563e-01 -1.72354198e-02 8.53019139e+02] [ 3.55670465e-01 9.34579554e-01 -7.71864958e-03 2.58537260e+01] [ 1.88538003e-02 1.08234035e-03 9.99821665e-01 7.92686731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.05, Y:25.86, Z:7.93 [[ 9.34761238e-01 -3.54879374e-01 -1.67945841e-02 8.53048888e+02] [ 3.54801222e-01 9.34911479e-01 -7.52451791e-03 2.58578098e+01] [ 1.83717456e-02 1.07488873e-03 9.99830647e-01 7.93230591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2292541539999 meters Centerline goodness [0,1] 0.9997639333004271 Centerline is valid? [True, True] Translation: X:853.08, Y:25.87, Z:7.93 [[ 9.34518088e-01 -3.55478982e-01 -1.76248907e-02 8.53077140e+02] [ 3.55392913e-01 9.34683603e-01 -7.90193734e-03 2.58660599e+01] [ 1.92826690e-02 1.12074213e-03 9.99813444e-01 7.92876707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2592541539999 meters Centerline goodness [0,1] 0.9998287084618019 Centerline is valid? [True, True] Translation: X:853.10, Y:25.88, Z:7.93 [[ 9.34628859e-01 -3.55214616e-01 -1.70725746e-02 8.53102012e+02] [ 3.55133748e-01 9.34784135e-01 -7.65779643e-03 2.58793265e+01] [ 1.86793331e-02 1.09415014e-03 9.99824927e-01 7.93009392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2892541539999 meters Centerline goodness [0,1] 0.9998713550600343 Centerline is valid? [True, True] Translation: X:853.13, Y:25.89, Z:7.93 [[ 9.34642956e-01 -3.55181203e-01 -1.69957957e-02 8.53126768e+02] [ 3.55101021e-01 9.34796834e-01 -7.62519927e-03 2.58927203e+01] [ 1.85959435e-02 1.09161438e-03 9.99826485e-01 7.93092252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3192541539999 meters Centerline goodness [0,1] 0.9998927981818572 Centerline is valid? [True, True] Translation: X:853.15, Y:25.90, Z:7.93 [[ 9.34380946e-01 -3.55899329e-01 -1.63681020e-02 8.53152813e+02] [ 3.55825012e-01 9.34523721e-01 -7.34684503e-03 2.59043061e+01] [ 1.79111168e-02 1.04057192e-03 9.99839042e-01 7.93221974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3492541539999 meters Centerline goodness [0,1] 0.9998501744397594 Centerline is valid? [True, True] Translation: X:853.18, Y:25.92, Z:7.93 [[ 9.34141915e-01 -3.56515985e-01 -1.65902008e-02 8.53179603e+02] [ 3.56439642e-01 9.34288636e-01 -7.45162544e-03 2.59162118e+01] [ 1.81566597e-02 1.04747043e-03 9.99834606e-01 7.93175164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3792541539999 meters Centerline goodness [0,1] 0.9998928946297367 Centerline is valid? [True, True] Translation: X:853.21, Y:25.93, Z:7.93 [[ 9.33826668e-01 -3.57342419e-01 -1.65574624e-02 8.53205630e+02] [ 3.57266414e-01 9.33972872e-01 -7.44196702e-03 2.59285626e+01] [ 1.81235512e-02 1.03408206e-03 9.99835220e-01 7.93281357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4092541539999 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:853.23, Y:25.94, Z:7.94 [[ 9.33095126e-01 -3.59285923e-01 -1.57198014e-02 8.53232890e+02] [ 3.59217636e-01 9.33227049e-01 -7.06856227e-03 2.59382801e+01] [ 1.72097788e-02 9.48811102e-04 9.99851451e-01 7.93575560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4392541539999 meters Centerline goodness [0,1] 0.9997861054072553 Centerline is valid? [True, True] Translation: X:853.26, Y:25.95, Z:7.93 [[ 9.32347289e-01 -3.61148077e-01 -1.73377716e-02 8.53256938e+02] [ 3.61065295e-01 9.32507933e-01 -7.79788380e-03 2.59528221e+01] [ 1.89838003e-02 1.01026820e-03 9.99819281e-01 7.93159062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.29, Y:25.96, Z:7.94 [[ 9.31340295e-01 -3.63804260e-01 -1.58655241e-02 8.53285311e+02] [ 3.63735303e-01 9.31475009e-01 -7.13700603e-03 2.59615692e+01] [ 1.73748124e-02 8.76130093e-04 9.99848663e-01 7.93586683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4992541539999 meters Centerline goodness [0,1] 0.9998073877498609 Centerline is valid? [True, True] Translation: X:853.31, Y:25.97, Z:7.93 [[ 9.30238175e-01 -3.66545274e-01 -1.73637537e-02 8.53313296e+02] [ 3.66463132e-01 9.30399777e-01 -7.81202311e-03 2.59711967e+01] [ 1.90186927e-02 9.03866553e-04 9.99818720e-01 7.93252541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.34, Y:25.98, Z:7.94 [[ 9.28521783e-01 -3.70911093e-01 -1.65002891e-02 8.53340135e+02] [ 3.70837588e-01 9.28668057e-01 -7.42447483e-03 2.59808543e+01] [ 1.80771115e-02 7.74859205e-04 9.99836295e-01 7.93519980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5592541539999 meters Centerline goodness [0,1] 0.9998923156443832 Centerline is valid? [True, True] Translation: X:853.37, Y:25.99, Z:7.93 [[ 9.27119274e-01 -3.74367098e-01 -1.72953170e-02 8.53368401e+02] [ 3.74286886e-01 9.27280282e-01 -7.78489553e-03 2.59907667e+01] [ 1.89520152e-02 7.44116330e-04 9.99820118e-01 7.93269852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.40, Y:26.00, Z:7.93 [[ 9.24849525e-01 -3.79967917e-01 -1.66654737e-02 8.53396772e+02] [ 3.79894301e-01 9.24999466e-01 -7.50390094e-03 2.59983736e+01] [ 1.82667959e-02 6.08860727e-04 9.99832963e-01 7.93451399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.42, Y:26.01, Z:7.93 [[ 9.23530199e-01 -3.83163635e-01 -1.66613494e-02 8.53424943e+02] [ 3.83090525e-01 9.23680317e-01 -7.50477286e-03 2.60072124e+01] [ 1.82653165e-02 5.48079290e-04 9.99833025e-01 7.93499220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6492541539999 meters Centerline goodness [0,1] 0.9998921809634709 Centerline is valid? [True, True] Translation: X:853.45, Y:26.01, Z:7.93 [[ 9.22115262e-01 -3.86501254e-01 -1.78947840e-02 8.53453588e+02] [ 3.86417479e-01 9.22288734e-01 -8.06369247e-03 2.60145069e+01] [ 1.96207850e-02 5.20796577e-04 9.99807358e-01 7.93478669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6792541539999 meters Centerline goodness [0,1] 0.9999569327504899 Centerline is valid? [True, True] Translation: X:853.48, Y:26.02, Z:7.94 [[ 9.19669304e-01 -3.92291312e-01 -1.77735281e-02 8.53481385e+02] [ 3.92209715e-01 9.19840948e-01 -8.01060718e-03 2.60209994e+01] [ 1.94913106e-02 3.96159123e-04 9.99809948e-01 7.93518327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.51, Y:26.03, Z:7.94 [[ 9.18474533e-01 -3.95084305e-01 -1.76896675e-02 8.53509647e+02] [ 3.95003952e-01 9.18644805e-01 -7.97498896e-03 2.60299450e+01] [ 1.94013141e-02 3.37335705e-04 9.99811720e-01 7.93635844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.54, Y:26.04, Z:7.94 [[ 9.17247356e-01 -3.97920965e-01 -1.77818262e-02 8.53536645e+02] [ 3.97840224e-01 9.17419656e-01 -8.02065112e-03 2.60393508e+01] [ 1.95049821e-02 2.82595333e-04 9.99809720e-01 7.93631069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.56, Y:26.05, Z:7.94 [[ 9.15383357e-01 -4.02177942e-01 -1.80613336e-02 8.53563847e+02] [ 4.02095388e-01 9.15561502e-01 -8.15081267e-03 2.60471940e+01] [ 1.98143388e-02 1.98739325e-04 9.99803657e-01 7.93579466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.59, Y:26.06, Z:7.94 [[ 9.14648761e-01 -4.03843191e-01 -1.81196108e-02 8.53591356e+02] [ 4.03760345e-01 9.14828207e-01 -8.18135001e-03 2.60570672e+01] [ 1.98803136e-02 1.67081323e-04 9.99802353e-01 7.93662172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8292541539998 meters Centerline goodness [0,1] 0.9999566818280269 Centerline is valid? [True, True] Translation: X:853.62, Y:26.07, Z:7.94 [[ 9.13627776e-01 -4.06115432e-01 -1.88293374e-02 8.53618004e+02] [ 4.06026321e-01 9.13821777e-01 -8.50803904e-03 2.60660476e+01] [ 2.06619045e-02 1.27974199e-04 9.99786512e-01 7.93654468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8592541539999 meters Centerline goodness [0,1] 0.9998700539276201 Centerline is valid? [True, True] Translation: X:853.64, Y:26.08, Z:7.94 [[ 9.13248633e-01 -4.06956201e-01 -1.90679179e-02 8.53644297e+02] [ 4.06864861e-01 9.13447665e-01 -8.62253218e-03 2.60768874e+01] [ 2.09265381e-02 1.16449948e-04 9.99781009e-01 7.93622596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8892541539999 meters Centerline goodness [0,1] 0.9997829814015061 Centerline is valid? [True, True] Translation: X:853.67, Y:26.09, Z:7.94 [[ 9.13111825e-01 -4.07265765e-01 -1.90102858e-02 8.53670276e+02] [ 4.07174905e-01 9.13309686e-01 -8.60313908e-03 2.60882146e+01] [ 2.08660422e-02 1.15116725e-04 9.99782274e-01 7.93669925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9192541539999 meters Centerline goodness [0,1] 0.999935107073329 Centerline is valid? [True, True] Translation: X:853.70, Y:26.10, Z:7.94 [[ 9.13251833e-01 -4.06978484e-01 -1.84283207e-02 8.53695349e+02] [ 4.06892937e-01 9.13437737e-01 -8.34502280e-03 2.60991765e+01] [ 2.02293682e-02 1.22753861e-04 9.99795358e-01 7.93735233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9492541539998 meters Centerline goodness [0,1] 0.9998482351920909 Centerline is valid? [True, True] Translation: X:853.72, Y:26.11, Z:7.94 [[ 9.13402453e-01 -4.06620685e-01 -1.88567386e-02 8.53721197e+02] [ 4.06530960e-01 9.13597066e-01 -8.54277870e-03 2.61108717e+01] [ 2.07011316e-02 1.37146968e-04 9.99785699e-01 7.93690104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9792541539999 meters Centerline goodness [0,1] 0.9999350494706531 Centerline is valid? [True, True] Translation: X:853.75, Y:26.12, Z:7.94 [[ 9.14085891e-01 -4.05105400e-01 -1.83466182e-02 8.53747725e+02] [ 4.05020071e-01 9.14269974e-01 -8.31603040e-03 2.61228665e+01] [ 2.01426310e-02 1.70817441e-04 9.99797102e-01 7.93860595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.77, Y:26.13, Z:7.94 [[ 9.14581554e-01 -4.04010177e-01 -1.77864808e-02 8.53773483e+02] [ 4.03929694e-01 9.14754470e-01 -8.06610701e-03 2.61347302e+01] [ 1.95290522e-02 1.92624920e-04 9.99809271e-01 7.94015279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.80, Y:26.15, Z:7.94 [[ 9.15630453e-01 -4.01627154e-01 -1.77905271e-02 8.53798249e+02] [ 4.01546139e-01 9.15803237e-01 -8.07026398e-03 2.61469971e+01] [ 1.95338595e-02 2.45661976e-04 9.99809166e-01 7.94005674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0692541539999 meters Centerline goodness [0,1] 0.9999783605989786 Centerline is valid? [True, True] Translation: X:853.82, Y:26.16, Z:7.94 [[ 9.16167598e-01 -4.00398956e-01 -1.78215728e-02 8.53822911e+02] [ 4.00317388e-01 9.16340876e-01 -8.08625891e-03 2.61591780e+01] [ 1.95683652e-02 2.74082934e-04 9.99808484e-01 7.93947516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0992541539999 meters Centerline goodness [0,1] 0.9998913114362107 Centerline is valid? [True, True] Translation: X:853.85, Y:26.17, Z:7.94 [[ 9.16753307e-01 -3.98981897e-01 -1.94118548e-02 8.53849601e+02] [ 3.98884710e-01 9.16958741e-01 -8.81222285e-03 2.61702590e+01] [ 2.13157873e-02 3.35542391e-04 9.99772736e-01 7.93858999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1292541539999 meters Centerline goodness [0,1] 0.9999566320445823 Centerline is valid? [True, True] Translation: X:853.87, Y:26.18, Z:7.94 [[ 9.17059990e-01 -3.98302642e-01 -1.88674635e-02 8.53874294e+02] [ 3.98210596e-01 9.17253992e-01 -8.56941816e-03 2.61824981e+01] [ 2.07194781e-02 3.45446647e-04 9.99785269e-01 7.93920303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1592541539999 meters Centerline goodness [0,1] 0.9998916247615744 Centerline is valid? [True, True] Translation: X:853.90, Y:26.19, Z:7.94 [[ 9.16958763e-01 -3.98528242e-01 -1.90228307e-02 8.53900970e+02] [ 3.98434615e-01 9.17155995e-01 -8.64510896e-03 2.61921434e+01] [ 2.08922233e-02 3.47854197e-04 9.99781673e-01 7.93975384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1892541539999 meters Centerline goodness [0,1] 0.999912909055281 Centerline is valid? [True, True] Translation: X:853.93, Y:26.20, Z:7.94 [[ 9.16513140e-01 -3.99583797e-01 -1.83426597e-02 8.53927724e+02] [ 3.99496839e-01 9.16696617e-01 -8.34190176e-03 2.62027287e+01] [ 2.01479429e-02 3.17627992e-04 9.99796959e-01 7.94069914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2192541539998 meters Centerline goodness [0,1] 0.9997832636164633 Centerline is valid? [True, True] Translation: X:853.95, Y:26.21, Z:7.94 [[ 9.15253666e-01 -4.02487118e-01 -1.77439175e-02 8.53953981e+02] [ 4.02406211e-01 9.15425616e-01 -8.07361847e-03 2.62113439e+01] [ 1.94927640e-02 2.49146291e-04 9.99809967e-01 7.94020113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:853.98, Y:26.22, Z:7.94 [[ 9.14550004e-01 -4.04126496e-01 -1.67351400e-02 8.53981424e+02] [ 4.04054732e-01 9.14703085e-01 -7.61842039e-03 2.62210792e+01] [ 1.83864897e-02 2.05513919e-04 9.99830933e-01 7.94282206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2792541539999 meters Centerline goodness [0,1] 0.9999347811908954 Centerline is valid? [True, True] Translation: X:854.01, Y:26.23, Z:7.94 [[ 9.12490184e-01 -4.08732888e-01 -1.72942616e-02 8.54008729e+02] [ 4.08657004e-01 9.12654048e-01 -7.87659897e-03 2.62286054e+01] [ 1.90031029e-02 1.19898106e-04 9.99819418e-01 7.94184797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.04, Y:26.24, Z:7.94 [[ 9.11555065e-01 -4.10846454e-01 -1.65092238e-02 8.54036087e+02] [ 4.10777590e-01 9.11704549e-01 -7.52238517e-03 2.62383050e+01] [ 1.81420797e-02 7.54491526e-05 9.99835416e-01 7.94388928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3392541539998 meters Centerline goodness [0,1] 0.999782073354109 Centerline is valid? [True, True] Translation: X:854.06, Y:26.25, Z:7.94 [[ 9.10484927e-01 -4.13156174e-01 -1.78654191e-02 8.54062055e+02] [ 4.13075898e-01 9.10660186e-01 -8.14417214e-03 2.62480417e+01] [ 1.96341408e-02 3.53719496e-05 9.99807231e-01 7.94131729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.09, Y:26.26, Z:7.94 [[ 9.09072640e-01 -4.16332612e-01 -1.59402534e-02 8.54089935e+02] [ 4.16269140e-01 9.09212382e-01 -7.26964000e-03 2.62560533e+01] [ 1.75196640e-02 -2.68047542e-05 9.99846519e-01 7.94427260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3992541539999 meters Centerline goodness [0,1] 0.9998473615351069 Centerline is valid? [True, True] Translation: X:854.12, Y:26.27, Z:7.94 [[ 9.08122843e-01 -4.18337291e-01 -1.75160560e-02 8.54117197e+02] [ 4.18260914e-01 9.08291752e-01 -7.99385781e-03 2.62665496e+01] [ 1.92538180e-02 -6.68767069e-05 9.99814626e-01 7.94250736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4292541539999 meters Centerline goodness [0,1] 0.9998466627237081 Centerline is valid? [True, True] Translation: X:854.14, Y:26.28, Z:7.94 [[ 9.07102193e-01 -4.20542323e-01 -1.76001492e-02 8.54143738e+02] [ 4.20465556e-01 9.07272915e-01 -8.03579461e-03 2.62751680e+01] [ 1.93475304e-02 -1.10969598e-04 9.99812813e-01 7.94199584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4592541539998 meters Centerline goodness [0,1] 0.9999781119355615 Centerline is valid? [True, True] Translation: X:854.17, Y:26.29, Z:7.94 [[ 9.06812169e-01 -4.21212307e-01 -1.64888610e-02 8.54170117e+02] [ 4.21144975e-01 9.06962061e-01 -7.53197509e-03 2.62858952e+01] [ 1.81273319e-02 -1.14114269e-04 9.99835680e-01 7.94388866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4892541539999 meters Centerline goodness [0,1] 0.9997587507676112 Centerline is valid? [True, True] Translation: X:854.20, Y:26.30, Z:7.94 [[ 9.06052903e-01 -4.22803249e-01 -1.74799624e-02 8.54196197e+02] [ 4.22727797e-01 9.06221491e-01 -7.98872277e-03 2.62951768e+01] [ 1.92183755e-02 -1.51060530e-04 9.99815299e-01 7.94162260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5192541539999 meters Centerline goodness [0,1] 0.9998899357224619 Centerline is valid? [True, True] Translation: X:854.22, Y:26.31, Z:7.94 [[ 9.05672604e-01 -4.23635598e-01 -1.70298261e-02 8.54221550e+02] [ 4.23564058e-01 9.05832686e-01 -7.78685061e-03 2.63060872e+01] [ 1.87249602e-02 -1.60884983e-04 9.99824660e-01 7.94332507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5492541539999 meters Centerline goodness [0,1] 0.9998024582967515 Centerline is valid? [True, True] Translation: X:854.25, Y:26.32, Z:7.94 [[ 9.05172305e-01 -4.24682936e-01 -1.75357159e-02 8.54247466e+02] [ 4.24607200e-01 9.05342128e-01 -8.02220718e-03 2.63162413e+01] [ 1.92827168e-02 -1.84311458e-04 9.99814054e-01 7.94204065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.27, Y:26.32, Z:7.94 [[ 9.04687724e-01 -4.25758388e-01 -1.64291738e-02 8.54273380e+02] [ 4.25692050e-01 9.04836868e-01 -7.51801891e-03 2.63249712e+01] [ 1.80665817e-02 -1.92309247e-04 9.99836767e-01 7.94463938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.30, Y:26.34, Z:7.94 [[ 9.04426128e-01 -4.26322062e-01 -1.62135261e-02 8.54299308e+02] [ 4.26257477e-01 9.04571424e-01 -7.42315322e-03 2.63357722e+01] [ 1.78309464e-02 -1.97443002e-04 9.99840997e-01 7.94485429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.32, Y:26.35, Z:7.95 [[ 9.04392159e-01 -4.26417514e-01 -1.55861109e-02 8.54324536e+02] [ 4.26357756e-01 9.04526433e-01 -7.14107306e-03 2.63477002e+01] [ 1.71431279e-02 -1.86928803e-04 9.99853028e-01 7.94548527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6692541539999 meters Centerline goodness [0,1] 0.9999120183001936 Centerline is valid? [True, True] Translation: X:854.35, Y:26.36, Z:7.94 [[ 9.04439356e-01 -4.26329475e-01 -1.52522428e-02 8.54349184e+02] [ 4.26272172e-01 9.04567934e-01 -6.99198281e-03 2.63593246e+01] [ 1.67775781e-02 -1.77782246e-04 9.99859231e-01 7.94478140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6992541539998 meters Centerline goodness [0,1] 0.9999120183001936 Centerline is valid? [True, True] Translation: X:854.37, Y:26.37, Z:7.95 [[ 9.04320113e-01 -4.26582400e-01 -1.52508970e-02 8.54374235e+02] [ 4.26525084e-01 9.04448685e-01 -6.99491725e-03 2.63708993e+01] [ 1.67775623e-02 -1.79245765e-04 9.99859231e-01 7.94503943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7292541539999 meters Centerline goodness [0,1] 0.9998900446418754 Centerline is valid? [True, True] Translation: X:854.40, Y:26.38, Z:7.94 [[ 9.05022592e-01 -4.25107214e-01 -1.47636078e-02 8.54399605e+02] [ 4.25053230e-01 9.05142992e-01 -6.77607848e-03 2.63848367e+01] [ 1.62437360e-02 -1.42815076e-04 9.99868052e-01 7.94447129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7592541539999 meters Centerline goodness [0,1] 0.9998899696316184 Centerline is valid? [True, True] Translation: X:854.43, Y:26.40, Z:7.95 [[ 9.05697022e-01 -4.23703512e-01 -1.37199670e-02 8.54425759e+02] [ 4.23656672e-01 9.05800929e-01 -6.30091920e-03 2.63982710e+01] [ 1.50972804e-02 -1.05831803e-04 9.99886024e-01 7.94633509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.45, Y:26.41, Z:7.95 [[ 9.07285361e-01 -4.20290195e-01 -1.37632025e-02 8.54450008e+02] [ 4.20242617e-01 9.07389745e-01 -6.32404438e-03 2.64119905e+01] [ 1.51465227e-02 -4.61713514e-05 9.99885284e-01 7.94645068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8192541539999 meters Centerline goodness [0,1] 0.9999559286926246 Centerline is valid? [True, True] Translation: X:854.47, Y:26.42, Z:7.95 [[ 9.07872797e-01 -4.19019169e-01 -1.37811802e-02 8.54474755e+02] [ 4.18971270e-01 9.07977387e-01 -6.33553008e-03 2.64247565e+01] [ 1.51677086e-02 -2.20631788e-05 9.99884963e-01 7.94595699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.50, Y:26.44, Z:7.95 [[ 9.08746684e-01 -4.17121093e-01 -1.37644134e-02 8.54498410e+02] [ 4.17073036e-01 9.08850919e-01 -6.33159892e-03 2.64368964e+01] [ 1.51508432e-02 1.30538410e-05 9.99885219e-01 7.94717729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8792541539999 meters Centerline goodness [0,1] 0.999934235043953 Centerline is valid? [True, True] Translation: X:854.52, Y:26.45, Z:7.95 [[ 9.10403381e-01 -4.13490960e-01 -1.38170377e-02 8.54523619e+02] [ 4.13442071e-01 9.10508221e-01 -6.35870323e-03 2.64524330e+01] [ 1.52097927e-02 7.64402249e-05 9.99884321e-01 7.94707634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9092541539999 meters Centerline goodness [0,1] 0.9999561470826847 Centerline is valid? [True, True] Translation: X:854.55, Y:26.47, Z:7.95 [[ 9.11240776e-01 -4.11632716e-01 -1.40980804e-02 8.54549132e+02] [ 4.11581529e-01 9.11349820e-01 -6.49233955e-03 2.64664999e+01] [ 1.55207424e-02 1.13575036e-04 9.99879540e-01 7.94604949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9392541539999 meters Centerline goodness [0,1] 0.9999123249238323 Centerline is valid? [True, True] Translation: X:854.57, Y:26.48, Z:7.94 [[ 9.13011614e-01 -4.07656560e-01 -1.50307222e-02 8.54572581e+02] [ 4.07597774e-01 9.13135308e-01 -6.92560343e-03 2.64815776e+01] [ 1.65483508e-02 1.96667456e-04 9.99863047e-01 7.94412854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9692541539998 meters Centerline goodness [0,1] 0.9999559636259551 Centerline is valid? [True, True] Translation: X:854.60, Y:26.49, Z:7.94 [[ 9.13763984e-01 -4.05985001e-01 -1.45450918e-02 8.54597951e+02] [ 4.05929691e-01 9.13879713e-01 -6.70497576e-03 2.64949022e+01] [ 1.60145839e-02 2.22480754e-04 9.99871734e-01 7.94463644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9992541539999 meters Centerline goodness [0,1] 0.9999779822977674 Centerline is valid? [True, True] Translation: X:854.62, Y:26.51, Z:7.94 [[ 9.15331371e-01 -4.02439272e-01 -1.45297585e-02 8.54621591e+02] [ 4.02383578e-01 9.15446639e-01 -6.70123515e-03 2.65091419e+01] [ 1.59980588e-02 2.87314558e-04 9.99871982e-01 7.94471405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.65, Y:26.52, Z:7.95 [[ 9.15825191e-01 -4.01319868e-01 -1.43730161e-02 8.54647807e+02] [ 4.01265186e-01 9.15937918e-01 -6.63174946e-03 2.65223763e+01] [ 1.58262432e-02 3.06132243e-04 9.99874710e-01 7.94530467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.67, Y:26.53, Z:7.95 [[ 9.16244132e-01 -4.00361071e-01 -1.44119042e-02 8.54673964e+02] [ 4.00305925e-01 9.16357412e-01 -6.65284876e-03 2.65334636e+01] [ 1.58699969e-02 3.26462997e-04 9.99874010e-01 7.94602697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0892541539998 meters Centerline goodness [0,1] 0.9999118923324303 Centerline is valid? [True, True] Translation: X:854.70, Y:26.55, Z:7.94 [[ 9.16535420e-01 -3.99683178e-01 -1.47030915e-02 8.54698981e+02] [ 3.99625667e-01 9.16653281e-01 -6.78888260e-03 2.65456461e+01] [ 1.61910392e-02 3.46518625e-04 9.99868856e-01 7.94412366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.73, Y:26.56, Z:7.95 [[ 9.16124830e-01 -4.00633985e-01 -1.44120266e-02 8.54725295e+02] [ 4.00578804e-01 9.16238126e-01 -6.65713658e-03 2.65563888e+01] [ 1.58719234e-02 3.25615727e-04 9.99873980e-01 7.94566870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.75, Y:26.57, Z:7.95 [[ 9.15529703e-01 -4.02001740e-01 -1.41408333e-02 8.54752326e+02] [ 4.01948716e-01 9.15638854e-01 -6.53594653e-03 2.65671875e+01] [ 1.55753583e-02 2.99963391e-04 9.99878652e-01 7.94600323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.78, Y:26.58, Z:7.95 [[ 9.14124928e-01 -4.05204555e-01 -1.35972315e-02 8.54779340e+02] [ 4.05155840e-01 9.14226018e-01 -6.28754617e-03 2.65750456e+01] [ 1.49786852e-02 2.38604934e-04 9.99887785e-01 7.94642108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.81, Y:26.58, Z:7.95 [[ 9.13077693e-01 -4.07568952e-01 -1.32919485e-02 8.54807644e+02] [ 4.07522617e-01 9.13174414e-01 -6.14867785e-03 2.65828748e+01] [ 1.46438775e-02 1.97450936e-04 9.99892753e-01 7.94763328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2392541539999 meters Centerline goodness [0,1] 0.9998676694382568 Centerline is valid? [True, True] Translation: X:854.83, Y:26.59, Z:7.94 [[ 9.10902983e-01 -4.12420426e-01 -1.28509861e-02 8.54834860e+02] [ 4.12377542e-01 9.10993621e-01 -5.94850390e-03 2.65917962e+01] [ 1.41604509e-02 1.19051881e-04 9.99899729e-01 7.94482274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.86, Y:26.60, Z:7.95 [[ 9.10050973e-01 -4.14299107e-01 -1.27858147e-02 8.54862928e+02] [ 4.14256788e-01 9.10140781e-01 -5.92214815e-03 2.66008320e+01] [ 1.40904321e-02 9.28461337e-05 9.99900721e-01 7.94779777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.89, Y:26.61, Z:7.95 [[ 9.08997587e-01 -4.16610966e-01 -1.25971929e-02 8.54890125e+02] [ 4.16570057e-01 9.09084869e-01 -5.83846027e-03 2.66102927e+01] [ 1.38842840e-02 5.95329289e-05 9.99903607e-01 7.94787251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3292541539998 meters Centerline goodness [0,1] 0.9998666518502056 Centerline is valid? [True, True] Translation: X:854.92, Y:26.62, Z:7.95 [[ 9.06999684e-01 -4.20944304e-01 -1.25485400e-02 8.54917284e+02] [ 4.20904070e-01 9.07086486e-01 -5.81984419e-03 2.66176034e+01] [ 1.38324413e-02 -3.13469845e-06 9.99904327e-01 7.94631986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3592541539999 meters Centerline goodness [0,1] 0.9999111939967141 Centerline is valid? [True, True] Translation: X:854.94, Y:26.63, Z:7.95 [[ 9.06394625e-01 -4.22248543e-01 -1.24479614e-02 8.54942941e+02] [ 4.22209025e-01 9.06480098e-01 -5.77679312e-03 2.66272665e+01] [ 1.37230717e-02 -1.95874206e-05 9.99905834e-01 7.94822822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:854.97, Y:26.64, Z:7.95 [[ 9.04965300e-01 -4.25314444e-01 -1.20594407e-02 8.54969652e+02] [ 4.25277593e-01 9.05045645e-01 -5.59900437e-03 2.66362866e+01] [ 1.32956817e-02 -6.17052269e-05 9.99911607e-01 7.94896416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4192541539999 meters Centerline goodness [0,1] 0.9999108555637272 Centerline is valid? [True, True] Translation: X:855.00, Y:26.65, Z:7.95 [[ 9.04236505e-01 -4.26862717e-01 -1.20234943e-02 8.54995717e+02] [ 4.26826167e-01 9.04316435e-01 -5.58650636e-03 2.66472015e+01] [ 1.32577148e-02 -8.04189965e-05 9.99912109e-01 7.94773696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4492541539998 meters Centerline goodness [0,1] 0.9999110735643939 Centerline is valid? [True, True] Translation: X:855.02, Y:26.66, Z:7.95 [[ 9.03673482e-01 -4.28060592e-01 -1.17629881e-02 8.55021148e+02] [ 4.28025658e-01 9.03750032e-01 -5.46950272e-03 2.66582697e+01] [ 1.29720794e-02 -9.22161377e-05 9.99915855e-01 7.94778598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4792541539999 meters Centerline goodness [0,1] 0.999888435192003 Centerline is valid? [True, True] Translation: X:855.05, Y:26.67, Z:7.95 [[ 9.03465022e-01 -4.28492356e-01 -1.20521327e-02 8.55046447e+02] [ 4.28455664e-01 9.03545401e-01 -5.60827966e-03 2.66701503e+01] [ 1.32927540e-02 -9.69200005e-05 9.99911643e-01 7.94736337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.07, Y:26.68, Z:7.95 [[ 9.03498345e-01 -4.28415337e-01 -1.22898173e-02 8.55072020e+02] [ 4.28377116e-01 9.03581922e-01 -5.72330559e-03 2.66820870e+01] [ 1.35568086e-02 -9.36793572e-05 9.99908098e-01 7.94864422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5392541539999 meters Centerline goodness [0,1] 0.999755152918132 Centerline is valid? [True, True] Translation: X:855.10, Y:26.69, Z:7.95 [[ 9.02999319e-01 -4.29433337e-01 -1.33879957e-02 8.55097034e+02] [ 4.29388036e-01 9.03098553e-01 -6.23852687e-03 2.66939230e+01] [ 1.47697110e-02 -1.15259657e-04 9.99890915e-01 7.94516526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5692541539999 meters Centerline goodness [0,1] 0.9999777451373125 Centerline is valid? [True, True] Translation: X:855.12, Y:26.71, Z:7.95 [[ 9.03030121e-01 -4.29350885e-01 -1.39433777e-02 8.55121577e+02] [ 4.29301709e-01 9.03137755e-01 -6.49910653e-03 2.67053391e+01] [ 1.53831880e-02 -1.17026935e-04 9.99881665e-01 7.94704520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5992541539999 meters Centerline goodness [0,1] 0.9999334221038615 Centerline is valid? [True, True] Translation: X:855.15, Y:26.72, Z:7.95 [[ 9.02414600e-01 -4.30644160e-01 -1.39103138e-02 8.55147693e+02] [ 4.30595326e-01 9.02521794e-01 -6.48661315e-03 2.67182343e+01] [ 1.53477834e-02 -1.36101684e-04 9.99882207e-01 7.94688087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.17, Y:26.73, Z:7.95 [[ 9.02236582e-01 -4.31026165e-01 -1.36233330e-02 8.55172111e+02] [ 4.30979319e-01 9.02339419e-01 -6.35609564e-03 2.67294646e+01] [ 1.50325139e-02 -1.36672798e-04 9.99886996e-01 7.94864700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6592541539999 meters Centerline goodness [0,1] 0.9998664529914529 Centerline is valid? [True, True] Translation: X:855.20, Y:26.74, Z:7.95 [[ 9.01497907e-01 -4.32595867e-01 -1.27412468e-02 8.55198139e+02] [ 4.32555013e-01 9.01587929e-01 -5.94703920e-03 2.67423277e+01] [ 1.40600189e-02 -1.50046799e-04 9.99901142e-01 7.94826086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.22, Y:26.75, Z:7.95 [[ 9.01503967e-01 -4.32600379e-01 -1.21453635e-02 8.55223159e+02] [ 4.32563208e-01 9.01585765e-01 -5.67262760e-03 2.67545031e+01] [ 1.34040677e-02 -1.39741132e-04 9.99910152e-01 7.95153686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.25, Y:26.77, Z:7.95 [[ 9.02069856e-01 -4.31430182e-01 -1.17461742e-02 8.55247142e+02] [ 4.31395273e-01 9.02146321e-01 -5.48935962e-03 2.67689420e+01] [ 1.29650432e-02 -1.15458173e-04 9.99915944e-01 7.95209184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.27, Y:26.78, Z:7.95 [[ 9.02337256e-01 -4.30862685e-01 -1.20342559e-02 8.55272081e+02] [ 4.30825965e-01 9.02417495e-01 -5.62612434e-03 2.67828889e+01] [ 1.32840101e-02 -1.08008320e-04 9.99911758e-01 7.95179100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7792541539999 meters Centerline goodness [0,1] 0.999889162288577 Centerline is valid? [True, True] Translation: X:855.30, Y:26.80, Z:7.95 [[ 9.02969954e-01 -4.29494194e-01 -1.34163744e-02 8.55296309e+02] [ 4.29448332e-01 9.03069615e-01 -6.27706023e-03 2.67986293e+01] [ 1.48118810e-02 -9.36428069e-05 9.99890294e-01 7.94913222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8092541539999 meters Centerline goodness [0,1] 0.9999113926854661 Centerline is valid? [True, True] Translation: X:855.32, Y:26.81, Z:7.95 [[ 9.03479531e-01 -4.28388647e-01 -1.44188825e-02 8.55320838e+02] [ 4.28335456e-01 9.03594578e-01 -6.75098852e-03 2.68125199e+01] [ 1.59208708e-02 -7.67386534e-05 9.99873252e-01 7.94874170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8392541539998 meters Centerline goodness [0,1] 0.9998898605634734 Centerline is valid? [True, True] Translation: X:855.34, Y:26.83, Z:7.95 [[ 9.04758640e-01 -4.25630959e-01 -1.58142268e-02 8.55344553e+02] [ 4.25566455e-01 9.04896837e-01 -7.40988186e-03 2.68285613e+01] [ 1.74641189e-02 -2.58498011e-05 9.99847490e-01 7.94737323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.37, Y:26.84, Z:7.95 [[ 9.06347905e-01 -4.22215515e-01 -1.63564688e-02 8.55368425e+02] [ 4.22145859e-01 9.06495481e-01 -7.66919046e-03 2.68448484e+01] [ 1.80651162e-02 4.61391346e-05 9.99836811e-01 7.94930195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.39, Y:26.86, Z:7.95 [[ 9.07057841e-01 -4.20678407e-01 -1.66057509e-02 8.55393305e+02] [ 4.20606263e-01 9.07209828e-01 -7.79107576e-03 2.68588801e+01] [ 1.83424377e-02 8.24735463e-05 9.99831760e-01 7.95037235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9292541539999 meters Centerline goodness [0,1] 0.999956124956125 Centerline is valid? [True, True] Translation: X:855.42, Y:26.87, Z:7.95 [[ 9.07768159e-01 -4.19148795e-01 -1.64698989e-02 8.55417688e+02] [ 4.19077511e-01 9.07917548e-01 -7.73077520e-03 2.68732599e+01] [ 1.81936553e-02 1.15587353e-04 9.99834475e-01 7.95021639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.44, Y:26.89, Z:7.95 [[ 9.08483249e-01 -4.17612703e-01 -1.60566562e-02 8.55443387e+02] [ 4.17544655e-01 9.08625120e-01 -7.54000662e-03 2.68876557e+01] [ 1.77382837e-02 1.45598736e-04 9.99842654e-01 7.95090180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.47, Y:26.90, Z:7.95 [[ 9.09094070e-01 -4.16286664e-01 -1.59180993e-02 8.55467341e+02] [ 4.16219524e-01 9.09233404e-01 -7.47830461e-03 2.69022086e+01] [ 1.75863861e-02 1.73058649e-04 9.99845333e-01 7.95045830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0192541539999 meters Centerline goodness [0,1] 0.9997365185315299 Centerline is valid? [True, True] Translation: X:855.49, Y:26.92, Z:7.95 [[ 9.09904639e-01 -4.14489673e-01 -1.64881546e-02 8.55493123e+02] [ 4.14417281e-01 9.10053989e-01 -7.74945063e-03 2.69162393e+01] [ 1.82171781e-02 2.18284876e-04 9.99834030e-01 7.94851922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.52, Y:26.93, Z:7.95 [[ 9.11207143e-01 -4.11662843e-01 -1.53377687e-02 8.55516379e+02] [ 4.11599748e-01 9.11336182e-01 -7.21184198e-03 2.69313337e+01] [ 1.69467110e-02 2.58460171e-04 9.99856361e-01 7.95202392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.54, Y:26.94, Z:7.95 [[ 9.11470329e-01 -4.11081762e-01 -1.52847481e-02 8.55541651e+02] [ 4.11018973e-01 9.11598438e-01 -7.18973628e-03 2.69444476e+01] [ 1.68891220e-02 2.70909812e-04 9.99857332e-01 7.95226047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.57, Y:26.95, Z:7.95 [[ 9.11557555e-01 -4.10893174e-01 -1.51533571e-02 8.55568209e+02] [ 4.10831354e-01 9.11683456e-01 -7.13268491e-03 2.69547696e+01] [ 1.67458365e-02 2.76378589e-04 9.99859740e-01 7.95398328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1392541539999 meters Centerline goodness [0,1] 0.9999119505161901 Centerline is valid? [True, True] Translation: X:855.59, Y:26.97, Z:7.95 [[ 9.11516840e-01 -4.11017611e-01 -1.41976838e-02 8.55593978e+02] [ 4.10963282e-01 9.11627366e-01 -6.68770314e-03 2.69669481e+01] [ 1.56917608e-02 2.61227311e-04 9.99876843e-01 7.95376089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.62, Y:26.98, Z:7.96 [[ 9.11863178e-01 -4.10288637e-01 -1.29914817e-02 8.55618922e+02] [ 4.10243028e-01 9.11955684e-01 -6.12279256e-03 2.69795804e+01] [ 1.43597678e-02 2.53484286e-04 9.99896861e-01 7.95634900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.64, Y:26.99, Z:7.96 [[ 9.11808154e-01 -4.10414417e-01 -1.28800740e-02 8.55644715e+02] [ 4.10369563e-01 9.11899086e-01 -6.07277967e-03 2.69911286e+01] [ 1.42376841e-02 2.51619676e-04 9.99898607e-01 7.95650908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2292541539999 meters Centerline goodness [0,1] 0.9998021804114647 Centerline is valid? [True, True] Translation: X:855.67, Y:27.00, Z:7.95 [[ 9.11900050e-01 -4.10158563e-01 -1.44309238e-02 8.55670414e+02] [ 4.10102141e-01 9.12014182e-01 -6.80921211e-03 2.70037954e+01] [ 1.59540639e-02 2.91168100e-04 9.99872683e-01 7.95323900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.70, Y:27.02, Z:7.95 [[ 9.12181362e-01 -4.09505110e-01 -1.51897079e-02 8.55695337e+02] [ 4.09442449e-01 9.12307767e-01 -7.17075183e-03 2.70166167e+01] [ 1.67941480e-02 3.21714970e-04 9.99858917e-01 7.95433527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.72, Y:27.03, Z:7.95 [[ 9.12171240e-01 -4.09494290e-01 -1.60640968e-02 8.55721154e+02] [ 4.09424147e-01 9.12312615e-01 -7.58683017e-03 2.70291123e+01] [ 1.77622418e-02 3.43459167e-04 9.99842180e-01 7.95333783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3192541539999 meters Centerline goodness [0,1] 0.9998241642306086 Centerline is valid? [True, True] Translation: X:855.75, Y:27.04, Z:7.95 [[ 9.11686968e-01 -4.10490183e-01 -1.80189604e-02 8.55747301e+02] [ 4.10401997e-01 9.11864943e-01 -8.51631234e-03 2.70406187e+01] [ 1.99267209e-02 3.69193624e-04 9.99801375e-01 7.94960379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3492541539999 meters Centerline goodness [0,1] 0.9998454882571075 Centerline is valid? [True, True] Translation: X:855.77, Y:27.05, Z:7.95 [[ 9.11434218e-01 -4.11066854e-01 -1.76552513e-02 8.55773062e+02] [ 4.10982180e-01 9.11605131e-01 -8.35058041e-03 2.70511224e+01] [ 1.95272645e-02 3.55011069e-04 9.99809262e-01 7.95073918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.80, Y:27.06, Z:7.95 [[ 9.11086843e-01 -4.11882977e-01 -1.65280676e-02 8.55799175e+02] [ 4.11808837e-01 9.11236693e-01 -7.82115545e-03 2.70615938e+01] [ 1.82823825e-02 3.19347526e-04 9.99832812e-01 7.95367248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.83, Y:27.07, Z:7.95 [[ 9.10595860e-01 -4.12985129e-01 -1.60767880e-02 8.55826420e+02] [ 4.12915099e-01 9.10737722e-01 -7.61069009e-03 2.70726985e+01] [ 1.77848391e-02 2.91914368e-04 9.99841795e-01 7.95424848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4392541539999 meters Centerline goodness [0,1] 0.9997789469030461 Centerline is valid? [True, True] Translation: X:855.85, Y:27.08, Z:7.95 [[ 9.09698836e-01 -4.14918725e-01 -1.70434682e-02 8.55853803e+02] [ 4.14840260e-01 9.09858438e-01 -8.07354196e-03 2.70826600e+01] [ 1.88570071e-02 2.74174938e-04 9.99822153e-01 7.95202394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.88, Y:27.09, Z:7.96 [[ 9.09621125e-01 -4.15156833e-01 -1.53040266e-02 8.55879666e+02] [ 4.15093542e-01 9.09749825e-01 -7.25304813e-03 2.70938298e+01] [ 1.69339880e-02 2.44923192e-04 9.99856580e-01 7.95529693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4992541539999 meters Centerline goodness [0,1] 0.9999116997792494 Centerline is valid? [True, True] Translation: X:855.90, Y:27.11, Z:7.95 [[ 9.09250487e-01 -4.15950066e-01 -1.57827418e-02 8.55904893e+02] [ 4.15882834e-01 9.09387423e-01 -7.48215734e-03 2.71055021e+01] [ 1.74648307e-02 2.39383819e-04 9.99847450e-01 7.95344723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5292541539999 meters Centerline goodness [0,1] 0.9999779127553837 Centerline is valid? [True, True] Translation: X:855.93, Y:27.12, Z:7.95 [[ 9.09277590e-01 -4.15899963e-01 -1.55398170e-02 8.55931161e+02] [ 4.15834720e-01 9.09410338e-01 -7.37035376e-03 2.71160993e+01] [ 1.71974001e-02 2.39702052e-04 9.99852085e-01 7.95473205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5592541539999 meters Centerline goodness [0,1] 0.9999337909116991 Centerline is valid? [True, True] Translation: X:855.96, Y:27.13, Z:7.95 [[ 9.09380228e-01 -4.15653774e-01 -1.61102733e-02 8.55957552e+02] [ 4.15583517e-01 9.09522883e-01 -7.64631593e-03 2.71280733e+01] [ 1.78308823e-02 2.58244494e-04 9.99840984e-01 7.95436680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:855.98, Y:27.14, Z:7.96 [[ 9.10370242e-01 -4.13463506e-01 -1.65514960e-02 8.55982661e+02] [ 4.13388891e-01 9.10520637e-01 -7.86088968e-03 2.71416975e+01] [ 1.83206697e-02 3.14115444e-04 9.99832113e-01 7.95513753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.01, Y:27.15, Z:7.96 [[ 9.10252109e-01 -4.13723598e-01 -1.65493935e-02 8.56007553e+02] [ 4.13648946e-01 9.10402486e-01 -7.86531426e-03 2.71536108e+01] [ 1.83206751e-02 3.13779700e-04 9.99832113e-01 7.95539513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.03, Y:27.17, Z:7.96 [[ 9.10920456e-01 -4.12248370e-01 -1.65893176e-02 8.56032586e+02] [ 4.12173034e-01 9.11071436e-01 -7.88857995e-03 2.71670361e+01] [ 1.83661076e-02 3.48199469e-04 9.99831268e-01 7.95517233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.06, Y:27.18, Z:7.96 [[ 9.11464640e-01 -4.11034106e-01 -1.68277503e-02 8.56058693e+02] [ 4.10956308e-01 9.11619887e-01 -8.00593493e-03 2.71802068e+01] [ 1.86312241e-02 3.81656477e-04 9.99826351e-01 7.95548706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7092541539998 meters Centerline goodness [0,1] 0.9998024105907923 Centerline is valid? [True, True] Translation: X:856.08, Y:27.19, Z:7.95 [[ 9.12736287e-01 -4.08157835e-01 -1.78788086e-02 8.56082194e+02] [ 4.08069382e-01 9.12911255e-01 -8.50997859e-03 2.71948842e+01] [ 1.97951800e-02 4.71571882e-04 9.99803945e-01 7.95293452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7392541539999 meters Centerline goodness [0,1] 0.9999780451391939 Centerline is valid? [True, True] Translation: X:856.11, Y:27.21, Z:7.96 [[ 9.13547337e-01 -4.06391739e-01 -1.66438546e-02 8.56107005e+02] [ 4.06314757e-01 9.13698816e-01 -7.92406781e-03 2.72087685e+01] [ 1.84277460e-02 4.76367286e-04 9.99830081e-01 7.95568933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7692541539999 meters Centerline goodness [0,1] 0.9999120492524186 Centerline is valid? [True, True] Translation: X:856.13, Y:27.22, Z:7.95 [[ 9.13807793e-01 -4.05750502e-01 -1.79400994e-02 8.56132298e+02] [ 4.05660860e-01 9.13983724e-01 -8.54508964e-03 2.72220358e+01] [ 1.98641333e-02 5.30973332e-04 9.99802548e-01 7.95415102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7992541539999 meters Centerline goodness [0,1] 0.9998460083155509 Centerline is valid? [True, True] Translation: X:856.16, Y:27.23, Z:7.95 [[ 9.13746865e-01 -4.05865575e-01 -1.84337216e-02 8.56158247e+02] [ 4.05770837e-01 9.13932621e-01 -8.78598095e-03 2.72342004e+01] [ 2.04131067e-02 5.48295919e-04 9.99791480e-01 7.95362605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.18, Y:27.25, Z:7.96 [[ 9.13550966e-01 -4.06341285e-01 -1.76463373e-02 8.56183584e+02] [ 4.06254488e-01 9.13721233e-01 -8.41423698e-03 2.72467954e+01] [ 1.95428850e-02 5.17930591e-04 9.99808885e-01 7.95552789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8592541539999 meters Centerline goodness [0,1] 0.9998232942371833 Centerline is valid? [True, True] Translation: X:856.21, Y:27.26, Z:7.95 [[ 9.13104325e-01 -4.07299093e-01 -1.86531598e-02 8.56208741e+02] [ 4.07202213e-01 9.13294678e-01 -8.89888009e-03 2.72588007e+01] [ 2.06603374e-02 5.29997956e-04 9.99786412e-01 7.95256781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8892541539999 meters Centerline goodness [0,1] 0.9999779424739721 Centerline is valid? [True, True] Translation: X:856.23, Y:27.27, Z:7.96 [[ 9.12536561e-01 -4.08596713e-01 -1.80485656e-02 8.56234042e+02] [ 4.08506187e-01 9.12714900e-01 -8.61435339e-03 2.72698711e+01] [ 1.99929913e-02 4.87961689e-04 9.99800001e-01 7.95535974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9192541539999 meters Centerline goodness [0,1] 0.9999556708114458 Centerline is valid? [True, True] Translation: X:856.26, Y:27.28, Z:7.95 [[ 9.12009883e-01 -4.09751741e-01 -1.84792788e-02 8.56260777e+02] [ 4.09656998e-01 9.12196954e-01 -8.82388982e-03 2.72817254e+01] [ 2.04723460e-02 4.77308853e-04 9.99790306e-01 7.95420605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.29, Y:27.29, Z:7.96 [[ 9.11590988e-01 -4.10692041e-01 -1.82734029e-02 8.56286931e+02] [ 4.10599476e-01 9.11774007e-01 -8.73104418e-03 2.72933867e+01] [ 2.02469841e-02 4.56091538e-04 9.99794905e-01 7.95563487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.31, Y:27.30, Z:7.96 [[ 9.10893951e-01 -4.12244004e-01 -1.80856611e-02 8.56312759e+02] [ 4.12153566e-01 9.11073380e-01 -8.64486573e-03 2.73038765e+01] [ 2.00411585e-02 4.20486187e-04 9.99799067e-01 7.95637010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0092541539999 meters Centerline goodness [0,1] 0.9999555456768171 Centerline is valid? [True, True] Translation: X:856.34, Y:27.31, Z:7.96 [[ 9.10463781e-01 -4.13208143e-01 -1.77407507e-02 8.56340209e+02] [ 4.13121231e-01 9.10636522e-01 -8.48373568e-03 2.73140134e+01] [ 1.96609241e-02 3.95053299e-04 9.99806627e-01 7.95739692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.36, Y:27.33, Z:7.96 [[ 9.10450864e-01 -4.13264415e-01 -1.70806365e-02 8.56364282e+02] [ 4.13183796e-01 9.10610991e-01 -8.17150637e-03 2.73275946e+01] [ 1.89308082e-02 3.82312791e-04 9.99820723e-01 7.95813960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0692541539999 meters Centerline goodness [0,1] 0.9998669711549121 Centerline is valid? [True, True] Translation: X:856.39, Y:27.34, Z:7.96 [[ 9.10290223e-01 -4.13639258e-01 -1.65612457e-02 8.56390343e+02] [ 4.13563461e-01 9.10440789e-01 -7.92673772e-03 2.73385767e+01] [ 1.83568435e-02 3.66505739e-04 9.99831432e-01 7.95953813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0992541539999 meters Centerline goodness [0,1] 0.9999556344276841 Centerline is valid? [True, True] Translation: X:856.41, Y:27.35, Z:7.96 [[ 9.10209681e-01 -4.13810982e-01 -1.66975203e-02 8.56413722e+02] [ 4.13733884e-01 9.10362749e-01 -7.99616741e-03 2.73525567e+01] [ 1.85097024e-02 3.69859051e-04 9.99828612e-01 7.95807262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.44, Y:27.36, Z:7.96 [[ 9.10303427e-01 -4.13627909e-01 -1.61128245e-02 8.56440200e+02] [ 4.13556017e-01 9.10445946e-01 -7.72012500e-03 2.73626603e+01] [ 1.78631149e-02 3.64100736e-04 9.99840376e-01 7.96052286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1592541539999 meters Centerline goodness [0,1] 0.9999112038537528 Centerline is valid? [True, True] Translation: X:856.47, Y:27.37, Z:7.96 [[ 9.10278999e-01 -4.13648992e-01 -1.69309320e-02 8.56466239e+02] [ 4.13569507e-01 9.10436358e-01 -8.11798306e-03 2.73744254e+01] [ 1.87725316e-02 3.87512293e-04 9.99823705e-01 7.95937635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1892541539999 meters Centerline goodness [0,1] 0.9998893976596545 Centerline is valid? [True, True] Translation: X:856.49, Y:27.39, Z:7.96 [[ 9.10260566e-01 -4.13681276e-01 -1.71319572e-02 8.56490687e+02] [ 4.13599827e-01 9.10421686e-01 -8.21808897e-03 2.73877004e+01] [ 1.89969749e-02 3.94827806e-04 9.99819463e-01 7.95848444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2192541539998 meters Centerline goodness [0,1] 0.9998448134435897 Centerline is valid? [True, True] Translation: X:856.52, Y:27.40, Z:7.96 [[ 9.10514270e-01 -4.13114775e-01 -1.73189959e-02 8.56516976e+02] [ 4.13031363e-01 9.10678874e-01 -8.31154236e-03 2.74007402e+01] [ 1.92056646e-02 4.14489426e-04 9.99815468e-01 7.95843029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2492541539999 meters Centerline goodness [0,1] 0.9997560651084402 Centerline is valid? [True, True] Translation: X:856.54, Y:27.42, Z:7.96 [[ 9.10833691e-01 -4.12387648e-01 -1.78441879e-02 8.56540542e+02] [ 4.12298887e-01 9.11008358e-01 -8.56733510e-03 2.74169570e+01] [ 1.97892675e-02 4.46278661e-04 9.99804074e-01 7.95615199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2792541539999 meters Centerline goodness [0,1] 0.9999113828703088 Centerline is valid? [True, True] Translation: X:856.57, Y:27.43, Z:7.96 [[ 9.11390046e-01 -4.11174801e-01 -1.74203025e-02 8.56567495e+02] [ 4.11089914e-01 9.11556398e-01 -8.36752226e-03 2.74273229e+01] [ 1.93201025e-02 4.64765862e-04 9.99813241e-01 7.95948666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3092541539999 meters Centerline goodness [0,1] 0.9998671714152886 Centerline is valid? [True, True] Translation: X:856.59, Y:27.44, Z:7.96 [[ 9.12198419e-01 -4.09310165e-01 -1.89534660e-02 8.56590950e+02] [ 4.09209190e-01 9.12395136e-01 -9.10796747e-03 2.74422713e+01] [ 2.10210338e-02 5.52341052e-04 9.99778881e-01 7.95838571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.62, Y:27.46, Z:7.96 [[ 9.12741241e-01 -4.08120293e-01 -1.84730653e-02 8.56616537e+02] [ 4.08024047e-01 9.12927983e-01 -8.88113867e-03 2.74565755e+01] [ 2.04891512e-02 5.68726661e-04 9.99789914e-01 7.96033682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.64, Y:27.47, Z:7.96 [[ 9.13646119e-01 -4.06055054e-01 -1.92370018e-02 8.56640506e+02] [ 4.05950140e-01 9.13848389e-01 -9.25233660e-03 2.74719496e+01] [ 2.13366612e-02 6.44097848e-04 9.99772140e-01 7.95964542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3992541539999 meters Centerline goodness [0,1] 0.9999338025993513 Centerline is valid? [True, True] Translation: X:856.67, Y:27.49, Z:7.96 [[ 9.13710443e-01 -4.05874548e-01 -1.99769433e-02 8.56666386e+02] [ 4.05761262e-01 9.13928549e-01 -9.61279254e-03 2.74852001e+01] [ 2.21590866e-02 6.77439195e-04 9.99754228e-01 7.95855996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4292541539999 meters Centerline goodness [0,1] 0.9998678443206097 Centerline is valid? [True, True] Translation: X:856.69, Y:27.50, Z:7.96 [[ 9.14073227e-01 -4.05013501e-01 -2.08374516e-02 8.56690813e+02] [ 4.04889926e-01 9.14310411e-01 -1.00309781e-02 2.74995909e+01] [ 2.31145805e-02 7.32174275e-04 9.99732554e-01 7.95692984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4592541539998 meters Centerline goodness [0,1] 0.9999118632117046 Centerline is valid? [True, True] Translation: X:856.72, Y:27.51, Z:7.96 [[ 9.14113609e-01 -4.04926286e-01 -2.07608634e-02 8.56717469e+02] [ 4.04803483e-01 9.14349037e-01 -9.99894495e-03 2.75110274e+01] [ 2.30315111e-02 7.36101844e-04 9.99734469e-01 7.95843010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4892541539999 meters Centerline goodness [0,1] 0.9998901388644753 Centerline is valid? [True, True] Translation: X:856.74, Y:27.52, Z:7.96 [[ 9.13972576e-01 -4.05222708e-01 -2.11822554e-02 8.56740449e+02] [ 4.05094837e-01 9.14217697e-01 -1.02066366e-02 2.75247189e+01] [ 2.35011537e-02 7.47763696e-04 9.99723530e-01 7.95750282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5192541539999 meters Centerline goodness [0,1] 0.9998237303073703 Centerline is valid? [True, True] Translation: X:856.77, Y:27.54, Z:7.96 [[ 9.13734206e-01 -4.05742632e-01 -2.15108486e-02 8.56766693e+02] [ 4.05610761e-01 9.13987063e-01 -1.03710331e-02 2.75359142e+01] [ 2.38686076e-02 7.51336064e-04 9.99714822e-01 7.95806013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.79, Y:27.55, Z:7.96 [[ 9.13904289e-01 -4.05433377e-01 -2.00680575e-02 8.56790503e+02] [ 4.05318438e-01 9.14124319e-01 -9.67955775e-03 2.75497743e+01] [ 2.22691151e-02 7.12235641e-04 9.99751759e-01 7.96055673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5792541539998 meters Centerline goodness [0,1] 0.9999340383896572 Centerline is valid? [True, True] Translation: X:856.82, Y:27.56, Z:7.96 [[ 9.13158214e-01 -4.07105976e-01 -2.01692955e-02 8.56817398e+02] [ 4.06990186e-01 9.13380678e-01 -9.73270270e-03 2.75615445e+01] [ 2.23844862e-02 6.78792097e-04 9.99749206e-01 7.96076285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6092541539999 meters Centerline goodness [0,1] 0.9999341672152732 Centerline is valid? [True, True] Translation: X:856.84, Y:27.57, Z:7.96 [[ 9.12857261e-01 -4.07806929e-01 -1.96247316e-02 8.56842511e+02] [ 4.07697391e-01 9.13067955e-01 -9.47350184e-03 2.75734375e+01] [ 2.17820733e-02 6.47003054e-04 9.99762533e-01 7.96172389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:856.87, Y:27.58, Z:7.96 [[ 9.12491612e-01 -4.08674458e-01 -1.85538790e-02 8.56869453e+02] [ 4.08576646e-01 9.12680027e-01 -8.96056638e-03 2.75848209e+01] [ 2.05957094e-02 5.95759998e-04 9.99787708e-01 7.96453215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6692541539999 meters Centerline goodness [0,1] 0.9998459812097076 Centerline is valid? [True, True] Translation: X:856.90, Y:27.60, Z:7.96 [[ 9.11437986e-01 -4.11058405e-01 -1.76574314e-02 8.56895778e+02] [ 4.10970162e-01 9.11608862e-01 -8.53286204e-03 2.75960660e+01] [ 1.96041756e-02 5.20497142e-04 9.99807684e-01 7.96457225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6992541539998 meters Centerline goodness [0,1] 0.9998458726908427 Centerline is valid? [True, True] Translation: X:856.92, Y:27.61, Z:7.97 [[ 9.10743549e-01 -4.12648514e-01 -1.63521130e-02 8.56922687e+02] [ 4.12573004e-01 9.10890222e-01 -7.90692701e-03 2.76065743e+01] [ 1.81577616e-02 4.54742381e-04 9.99835031e-01 7.96639466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7292541539999 meters Centerline goodness [0,1] 0.9999561259186136 Centerline is valid? [True, True] Translation: X:856.95, Y:27.62, Z:7.97 [[ 9.10575485e-01 -4.13062540e-01 -1.52191755e-02 8.56946350e+02] [ 4.12997134e-01 9.10702565e-01 -7.36236987e-03 2.76205996e+01] [ 1.69012613e-02 4.18517660e-04 9.99857076e-01 7.96785476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7592541539999 meters Centerline goodness [0,1] 0.9998684729711956 Centerline is valid? [True, True] Translation: X:856.97, Y:27.63, Z:7.97 [[ 9.10174950e-01 -4.13911619e-01 -1.60851455e-02 8.56971769e+02] [ 4.13838625e-01 9.10316971e-01 -7.78493128e-03 2.76325912e+01] [ 1.78648545e-02 4.28994919e-04 9.99840319e-01 7.96645908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7892541539999 meters Centerline goodness [0,1] 0.9999780504400887 Centerline is valid? [True, True] Translation: X:857.00, Y:27.64, Z:7.97 [[ 9.09871496e-01 -4.14600127e-01 -1.55111159e-02 8.56998167e+02] [ 4.14532264e-01 9.10003610e-01 -7.51210339e-03 2.76436280e+01] [ 1.72296905e-02 4.05190770e-04 9.99851476e-01 7.96812597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.02, Y:27.66, Z:7.97 [[ 9.09892200e-01 -4.14529677e-01 -1.61657528e-02 8.57024712e+02] [ 4.14455861e-01 9.10035693e-01 -7.83428330e-03 2.76558820e+01] [ 1.79589550e-02 4.28362273e-04 9.99838633e-01 7.96846839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8492541539999 meters Centerline goodness [0,1] 0.9998898120193049 Centerline is valid? [True, True] Translation: X:857.05, Y:27.67, Z:7.97 [[ 9.09811422e-01 -4.14650120e-01 -1.75628557e-02 8.57049465e+02] [ 4.14562939e-01 9.09980802e-01 -8.51522516e-03 2.76691389e+01] [ 1.95127007e-02 4.66340021e-04 9.99809500e-01 7.96621371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8792541539999 meters Centerline goodness [0,1] 0.9998902305159165 Centerline is valid? [True, True] Translation: X:857.08, Y:27.68, Z:7.97 [[ 9.10059606e-01 -4.14087290e-01 -1.79785828e-02 8.57075724e+02] [ 4.13995744e-01 9.10237042e-01 -8.72072662e-03 2.76820101e+01] [ 1.99759141e-02 4.93324265e-04 9.99800340e-01 7.96637032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.10, Y:27.70, Z:7.97 [[ 9.10626584e-01 -4.12856326e-01 -1.75749473e-02 8.57100066e+02] [ 4.12768536e-01 9.10796021e-01 -8.52902747e-03 2.76960483e+01] [ 1.95284550e-02 5.12373879e-04 9.99809170e-01 7.96767415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9392541539999 meters Centerline goodness [0,1] 0.9998679374023287 Centerline is valid? [True, True] Translation: X:857.13, Y:27.71, Z:7.97 [[ 9.11029781e-01 -4.11837650e-01 -2.03589716e-02 8.57125862e+02] [ 4.11719464e-01 9.11257022e-01 -9.88547385e-03 2.77093650e+01] [ 2.26234662e-02 6.23776215e-04 9.99743862e-01 7.96509248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9692541539998 meters Centerline goodness [0,1] 0.999934200425504 Centerline is valid? [True, True] Translation: X:857.15, Y:27.73, Z:7.96 [[ 9.11715368e-01 -4.10316108e-01 -2.03906408e-02 8.57149286e+02] [ 4.10197083e-01 9.11943116e-01 -9.90483831e-03 2.77251545e+01] [ 2.26592192e-02 6.66211935e-04 9.99743025e-01 7.96388364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.18, Y:27.74, Z:7.97 [[ 9.11936653e-01 -4.09843163e-01 -2.00030793e-02 8.57175292e+02] [ 4.09728408e-01 9.12155762e-01 -9.72099865e-03 2.77387788e+01] [ 2.22300089e-02 6.69105121e-04 9.99752659e-01 7.96500495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0292541539999 meters Centerline goodness [0,1] 0.9998905740485413 Centerline is valid? [True, True] Translation: X:857.20, Y:27.75, Z:7.96 [[ 9.11663044e-01 -4.10405754e-01 -2.09191588e-02 8.57200943e+02] [ 4.10280230e-01 9.11902757e-01 -1.01732341e-02 2.77501604e+01] [ 2.32513924e-02 6.91844249e-04 9.99729410e-01 7.96397948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0592541539999 meters Centerline goodness [0,1] 0.9999780605528741 Centerline is valid? [True, True] Translation: X:857.23, Y:27.76, Z:7.97 [[ 9.11628492e-01 -4.10551743e-01 -1.95130581e-02 8.57227228e+02] [ 4.10442428e-01 9.11837073e-01 -9.49558316e-03 2.77631921e+01] [ 2.16911580e-02 6.47457205e-04 9.99764510e-01 7.96629481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0892541539998 meters Centerline goodness [0,1] 0.9999340050156188 Centerline is valid? [True, True] Translation: X:857.25, Y:27.78, Z:7.97 [[ 9.11473017e-01 -4.10904295e-01 -1.93545629e-02 8.57251332e+02] [ 4.10796748e-01 9.11678262e-01 -9.42220010e-03 2.77767431e+01] [ 2.15167567e-02 6.37289672e-04 9.99768285e-01 7.96585746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1192541539999 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:857.28, Y:27.79, Z:7.97 [[ 9.11490396e-01 -4.10932610e-01 -1.78787167e-02 8.57277956e+02] [ 4.10840773e-01 9.11665531e-01 -8.70743727e-03 2.77888830e+01] [ 1.98775797e-02 5.91439658e-04 9.99802246e-01 7.96914495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1492541539999 meters Centerline goodness [0,1] 0.9998684325936321 Centerline is valid? [True, True] Translation: X:857.30, Y:27.80, Z:7.97 [[ 9.11249331e-01 -4.11462301e-01 -1.79842159e-02 8.57302559e+02] [ 4.11369408e-01 9.11426591e-01 -8.76241150e-03 2.78030356e+01] [ 1.99966946e-02 5.86585391e-04 9.99799874e-01 7.96817181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.33, Y:27.82, Z:7.97 [[ 9.11472583e-01 -4.11036889e-01 -1.63219483e-02 8.57325603e+02] [ 4.10960271e-01 9.11618551e-01 -7.95448272e-03 2.78164432e+01] [ 1.81489767e-02 5.42620604e-04 9.99835147e-01 7.97068939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2092541539998 meters Centerline goodness [0,1] 0.9998903965452991 Centerline is valid? [True, True] Translation: X:857.35, Y:27.83, Z:7.97 [[ 9.11489108e-01 -4.10961500e-01 -1.72699387e-02 8.57351003e+02] [ 4.10875635e-01 9.11652516e-01 -8.42038795e-03 2.78304102e+01] [ 1.92046383e-02 5.79294865e-04 9.99815406e-01 7.96891433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2392541539999 meters Centerline goodness [0,1] 0.9998685536520177 Centerline is valid? [True, True] Translation: X:857.38, Y:27.84, Z:7.97 [[ 9.11824749e-01 -4.10199162e-01 -1.76712922e-02 8.57378027e+02] [ 4.10109008e-01 9.11995762e-01 -8.62153014e-03 2.78415952e+01] [ 1.96526880e-02 6.14168440e-04 9.99806679e-01 7.96956422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2692541539999 meters Centerline goodness [0,1] 0.9998029470365424 Centerline is valid? [True, True] Translation: X:857.40, Y:27.86, Z:7.97 [[ 9.11912062e-01 -4.09989322e-01 -1.80318434e-02 8.57400828e+02] [ 4.09895335e-01 9.12090102e-01 -8.80122121e-03 2.78592218e+01] [ 2.00550726e-02 6.34771300e-04 9.99798675e-01 7.96713303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2992541539999 meters Centerline goodness [0,1] 0.9998033173801875 Centerline is valid? [True, True] Translation: X:857.43, Y:27.87, Z:7.97 [[ 9.11903770e-01 -4.10000822e-01 -1.81890068e-02 8.57426383e+02] [ 4.09905115e-01 9.12084926e-01 -8.88170613e-03 2.78723109e+01] [ 2.02314257e-02 6.43494378e-04 9.99795117e-01 7.96704532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3292541539998 meters Centerline goodness [0,1] 0.9999562027811234 Centerline is valid? [True, True] Translation: X:857.45, Y:27.88, Z:7.97 [[ 9.12142637e-01 -4.09489457e-01 -1.77255433e-02 8.57452958e+02] [ 4.09398366e-01 9.12314623e-01 -8.66064438e-03 2.78828385e+01] [ 1.97177149e-02 6.42934523e-04 9.99805380e-01 7.96982571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.48, Y:27.90, Z:7.97 [[ 9.12019323e-01 -4.09777592e-01 -1.74091695e-02 8.57475811e+02] [ 4.09689708e-01 9.12185250e-01 -8.50960073e-03 2.79006187e+01] [ 1.93674314e-02 6.28562707e-04 9.99812236e-01 7.96856989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3892541539999 meters Centerline goodness [0,1] 0.99991265231253 Centerline is valid? [True, True] Translation: X:857.50, Y:27.91, Z:7.97 [[ 9.10822203e-01 -4.12372980e-01 -1.87467108e-02 8.57502895e+02] [ 4.12271537e-01 9.11014895e-01 -9.16733332e-03 2.79106017e+01] [ 2.08588934e-02 6.21075444e-04 9.99782237e-01 7.96653885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4192541539999 meters Centerline goodness [0,1] 0.9998251289673865 Centerline is valid? [True, True] Translation: X:857.53, Y:27.92, Z:7.97 [[ 9.09638623e-01 -4.14969379e-01 -1.89206029e-02 8.57531803e+02] [ 4.14866485e-01 9.09835198e-01 -9.25810774e-03 2.79165242e+01] [ 2.10564617e-02 5.72008353e-04 9.99778124e-01 7.96811773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.56, Y:27.93, Z:7.97 [[ 9.07758792e-01 -4.19166104e-01 -1.65454945e-02 8.57558937e+02] [ 4.19088064e-01 9.07909469e-01 -8.09883594e-03 2.79263940e+01] [ 1.84165686e-02 4.17770275e-04 9.99830313e-01 7.97126614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.59, Y:27.94, Z:7.97 [[ 9.06486590e-01 -4.21930458e-01 -1.60234668e-02 8.57586012e+02] [ 4.21857645e-01 9.06628129e-01 -7.84623975e-03 2.79366798e+01] [ 1.78378932e-02 3.52889166e-04 9.99840830e-01 7.97222343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.61, Y:27.95, Z:7.97 [[ 9.06366662e-01 -4.22188097e-01 -1.60213816e-02 8.57610756e+02] [ 4.22115248e-01 9.06508184e-01 -7.85049589e-03 2.79488911e+01] [ 1.78378994e-02 3.52558288e-04 9.99840830e-01 7.97248104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.64, Y:27.96, Z:7.97 [[ 9.05070770e-01 -4.24997101e-01 -1.49788491e-02 8.57637887e+02] [ 4.24933729e-01 9.05194666e-01 -7.34449417e-03 2.79586970e+01] [ 1.66801630e-02 2.82268795e-04 9.99860837e-01 7.97353356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.67, Y:27.97, Z:7.97 [[ 9.02729878e-01 -4.29979062e-01 -1.40276010e-02 8.57665857e+02] [ 4.29924019e-01 9.02838841e-01 -6.88220703e-03 2.79686120e+01] [ 1.56238679e-02 1.81971329e-04 9.99877923e-01 7.97434604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5992541539999 meters Centerline goodness [0,1] 0.9998018188624402 Centerline is valid? [True, True] Translation: X:857.69, Y:27.98, Z:7.97 [[ 9.01455683e-01 -4.32627208e-01 -1.45378633e-02 8.57691577e+02] [ 4.32568379e-01 9.01572891e-01 -7.13580003e-03 2.79799101e+01] [ 1.61940847e-02 1.43987529e-04 9.99868857e-01 7.97125000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.72, Y:27.99, Z:7.97 [[ 9.00142672e-01 -4.35369692e-01 -1.40143619e-02 8.57718668e+02] [ 4.35315314e-01 9.00251755e-01 -6.88149481e-03 2.79908050e+01] [ 1.56124482e-02 9.36607549e-05 9.99878114e-01 7.97380203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6592541539999 meters Centerline goodness [0,1] 0.999868602588529 Centerline is valid? [True, True] Translation: X:857.74, Y:28.00, Z:7.97 [[ 8.99228316e-01 -4.37220331e-01 -1.50604836e-02 8.57744376e+02] [ 4.37157703e-01 8.99354422e-01 -7.40036918e-03 2.80018523e+01] [ 1.67803044e-02 7.08150797e-05 9.99859198e-01 7.97160619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6892541539999 meters Centerline goodness [0,1] 0.9998246690628562 Centerline is valid? [True, True] Translation: X:857.77, Y:28.01, Z:7.97 [[ 8.98632709e-01 -4.38422561e-01 -1.56496440e-02 8.57768877e+02] [ 4.38355045e-01 8.98768966e-01 -7.69412184e-03 2.80129594e+01] [ 1.74386910e-02 5.40891363e-05 9.99847933e-01 7.97062269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.79, Y:28.02, Z:7.97 [[ 8.97893891e-01 -4.39918132e-01 -1.60809554e-02 8.57793367e+02] [ 4.39847026e-01 8.98037881e-01 -7.90934236e-03 2.80241641e+01] [ 1.79207702e-02 2.85897934e-05 9.99839410e-01 7.97271063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7492541539999 meters Centerline goodness [0,1] 0.9998680767793144 Centerline is valid? [True, True] Translation: X:857.82, Y:28.04, Z:7.97 [[ 8.97235967e-01 -4.41210153e-01 -1.73556837e-02 8.57819940e+02] [ 4.41127472e-01 8.97403812e-01 -8.54120444e-03 2.80361191e+01] [ 1.93435228e-02 7.40696734e-06 9.99812897e-01 7.97071795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7792541539999 meters Centerline goodness [0,1] 0.9998027440494455 Centerline is valid? [True, True] Translation: X:857.84, Y:28.05, Z:7.97 [[ 8.96385135e-01 -4.42925425e-01 -1.76283308e-02 8.57844883e+02] [ 4.42840387e-01 8.96558457e-01 -8.67898620e-03 2.80479488e+01] [ 1.96489727e-02 -2.68226070e-05 9.99806940e-01 7.97012242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.87, Y:28.06, Z:7.97 [[ 8.96068993e-01 -4.43608405e-01 -1.64907243e-02 8.57870248e+02] [ 4.43534043e-01 8.96220722e-01 -8.12223295e-03 2.80608560e+01] [ 1.83824196e-02 -3.61165227e-05 9.99831028e-01 7.97387961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8392541539998 meters Centerline goodness [0,1] 0.9997142480327076 Centerline is valid? [True, True] Translation: X:857.90, Y:28.07, Z:7.97 [[ 8.94604313e-01 -4.46537283e-01 -1.69581104e-02 8.57896658e+02] [ 4.46459071e-01 8.94765023e-01 -8.35772673e-03 2.80718808e+01] [ 1.89055606e-02 -9.42438331e-05 9.99821269e-01 7.97147530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.92, Y:28.08, Z:7.98 [[ 8.94376205e-01 -4.47037373e-01 -1.57731043e-02 8.57921640e+02] [ 4.46969732e-01 8.94515275e-01 -7.77692516e-03 2.80841463e+01] [ 1.75858589e-02 -9.46033794e-05 9.99845352e-01 7.97548072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:857.95, Y:28.10, Z:7.98 [[ 8.93782959e-01 -4.48237553e-01 -1.53335508e-02 8.57946815e+02] [ 4.48173749e-01 8.93914472e-01 -7.56356225e-03 2.80961952e+01] [ 1.70971556e-02 -1.11911905e-04 9.99853827e-01 7.97616038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9292541539999 meters Centerline goodness [0,1] 0.9997804851278674 Centerline is valid? [True, True] Translation: X:857.97, Y:28.11, Z:7.97 [[ 8.92550138e-01 -4.50677620e-01 -1.56184045e-02 8.57972509e+02] [ 4.50611729e-01 8.92686764e-01 -7.70790677e-03 2.81067873e+01] [ 1.74161241e-02 -1.58143018e-04 9.99848315e-01 7.97403900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9592541539998 meters Centerline goodness [0,1] 0.9998017446471055 Centerline is valid? [True, True] Translation: X:858.00, Y:28.12, Z:7.98 [[ 8.92278974e-01 -4.51248524e-01 -1.45945819e-02 8.57997832e+02] [ 4.51191016e-01 8.92398311e-01 -7.20572374e-03 2.81196630e+01] [ 1.62757525e-02 -1.55428462e-04 9.99867529e-01 7.97634702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:858.02, Y:28.13, Z:7.98 [[ 8.92378878e-01 -4.51067291e-01 -1.40796569e-02 8.58021270e+02] [ 4.51013679e-01 8.92489932e-01 -6.95578800e-03 2.81323728e+01] [ 1.57034804e-02 -1.42919546e-04 9.99876683e-01 7.97837923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0192541539999 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:858.05, Y:28.15, Z:7.98 [[ 8.92319532e-01 -4.51194003e-01 -1.37776436e-02 8.58046129e+02] [ 4.51142622e-01 8.92425880e-01 -6.81048958e-03 2.81456522e+01] [ 1.53683778e-02 -1.38549388e-04 9.99881890e-01 7.97788276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0492541539999 meters Centerline goodness [0,1] 0.9999343185550083 Centerline is valid? [True, True] Translation: X:858.07, Y:28.16, Z:7.98 [[ 8.92737609e-01 -4.50377410e-01 -1.34070536e-02 8.58070717e+02] [ 4.50328608e-01 8.92838269e-01 -6.63101802e-03 2.81589474e+01] [ 1.49567912e-02 -1.17820600e-04 9.99888134e-01 7.97798561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0792541539998 meters Centerline goodness [0,1] 0.999934196095635 Centerline is valid? [True, True] Translation: X:858.09, Y:28.18, Z:7.98 [[ 8.94112339e-01 -4.47671251e-01 -1.23925532e-02 8.58094359e+02] [ 4.47629260e-01 8.94198214e-01 -6.13179680e-03 2.81757563e+01] [ 1.38264281e-02 -6.47542264e-05 9.99904408e-01 7.97925056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1092541539999 meters Centerline goodness [0,1] 0.9999127056872245 Centerline is valid? [True, True] Translation: X:858.12, Y:28.19, Z:7.98 [[ 8.95066416e-01 -4.45752175e-01 -1.26928715e-02 8.58117933e+02] [ 4.45707871e-01 8.95156409e-01 -6.28465008e-03 2.81903943e+01] [ 1.41635017e-02 -3.21335085e-05 9.99899692e-01 7.97928857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1392541539999 meters Centerline goodness [0,1] 0.9998473914844448 Centerline is valid? [True, True] Translation: X:858.14, Y:28.21, Z:7.98 [[ 8.97077048e-01 -4.41658381e-01 -1.38073999e-02 8.58140010e+02] [ 4.41605406e-01 8.97183300e-01 -6.84049864e-03 2.82075272e+01] [ 1.54089321e-02 3.90319022e-05 9.99881275e-01 7.97666560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1692541539999 meters Centerline goodness [0,1] 0.9998475510159636 Centerline is valid? [True, True] Translation: X:858.16, Y:28.22, Z:7.98 [[ 8.97948538e-01 -4.39869158e-01 -1.42669793e-02 8.58164847e+02] [ 4.39812323e-01 8.98061868e-01 -7.07119750e-03 2.82229529e+01] [ 1.59230318e-02 7.47781337e-05 9.99873218e-01 7.97620169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1992541539998 meters Centerline goodness [0,1] 0.9998911220956819 Centerline is valid? [True, True] Translation: X:858.19, Y:28.24, Z:7.98 [[ 8.99557643e-01 -4.36548856e-01 -1.48708975e-02 8.58188529e+02] [ 4.36486573e-01 8.99680541e-01 -7.37532687e-03 2.82404934e+01] [ 1.65987477e-02 1.43584550e-04 9.99862221e-01 7.97579385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2292541539999 meters Centerline goodness [0,1] 0.9998701073779009 Centerline is valid? [True, True] Translation: X:858.21, Y:28.26, Z:7.98 [[ 9.00327663e-01 -4.34967018e-01 -1.46216289e-02 8.58212499e+02] [ 4.34906543e-01 9.00446369e-01 -7.25500431e-03 2.82552265e+01] [ 1.63216803e-02 1.72838975e-04 9.99866778e-01 7.97723025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:858.24, Y:28.27, Z:7.98 [[ 9.00575396e-01 -4.34460169e-01 -1.44332526e-02 8.58237104e+02] [ 4.34401127e-01 9.00691028e-01 -7.16465749e-03 2.82682981e+01] [ 1.61126595e-02 1.82493039e-04 9.99870166e-01 7.97805915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2892541539999 meters Centerline goodness [0,1] 0.9999133092043953 Centerline is valid? [True, True] Translation: X:858.26, Y:28.28, Z:7.98 [[ 9.00321020e-01 -4.34986380e-01 -1.44537478e-02 8.58262296e+02] [ 4.34927154e-01 9.00437015e-01 -7.18008430e-03 2.82815886e+01] [ 1.61379284e-02 1.78053405e-04 9.99869759e-01 7.97739535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3192541539999 meters Centerline goodness [0,1] 0.999848067197708 Centerline is valid? [True, True] Translation: X:858.29, Y:28.29, Z:7.98 [[ 9.00097061e-01 -4.35465090e-01 -1.39798743e-02 8.58286852e+02] [ 4.35409685e-01 9.00205603e-01 -6.94825240e-03 2.82945851e+01] [ 1.56104825e-02 1.67128899e-04 9.99878135e-01 7.97801856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3492541539998 meters Centerline goodness [0,1] 0.999891683455731 Centerline is valid? [True, True] Translation: X:858.31, Y:28.31, Z:7.98 [[ 8.99054910e-01 -4.37606520e-01 -1.41704703e-02 8.58313051e+02] [ 4.37549816e-01 8.99166567e-01 -7.04573928e-03 2.83062156e+01] [ 1.58248746e-02 1.34219829e-04 9.99874770e-01 7.97766687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:858.34, Y:28.32, Z:7.98 [[ 8.98626829e-01 -4.38497226e-01 -1.37842306e-02 8.58338291e+02] [ 4.38443628e-01 8.98732535e-01 -6.85683627e-03 2.83186503e+01] [ 1.53950402e-02 1.18128963e-04 9.99881482e-01 7.97963513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4092541539999 meters Centerline goodness [0,1] 0.9996748531420024 Centerline is valid? [True, True] Translation: X:858.37, Y:28.33, Z:7.98 [[ 8.96823125e-01 -4.42157140e-01 -1.43299107e-02 8.58365594e+02] [ 4.42099638e-01 8.96937601e-01 -7.13096373e-03 2.83297897e+01] [ 1.60060422e-02 5.99648669e-05 9.99871893e-01 7.97659508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4392541539999 meters Centerline goodness [0,1] 0.9999348958333333 Centerline is valid? [True, True] Translation: X:858.39, Y:28.34, Z:7.98 [[ 8.96206097e-01 -4.43428244e-01 -1.36391070e-02 8.58391541e+02] [ 4.43376235e-01 8.96309875e-01 -6.79138153e-03 2.83417174e+01] [ 1.52363567e-02 3.92216167e-05 9.99883919e-01 7.97894216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4692541539998 meters Centerline goodness [0,1] 0.9998047383493882 Centerline is valid? [True, True] Translation: X:858.42, Y:28.35, Z:7.98 [[ 8.95191356e-01 -4.45468664e-01 -1.37878817e-02 8.58417619e+02] [ 4.45415680e-01 8.95297531e-01 -6.87040140e-03 2.83533520e+01] [ 1.54048050e-02 8.98523750e-06 9.99881339e-01 7.97747828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4992541539999 meters Centerline goodness [0,1] 0.999935032591983 Centerline is valid? [True, True] Translation: X:858.44, Y:28.36, Z:7.98 [[ 8.94184671e-01 -4.47531531e-01 -1.22189733e-02 8.58443588e+02] [ 4.47490057e-01 8.94268153e-01 -6.09263425e-03 2.83641131e+01] [ 1.36536846e-02 -1.99288940e-05 9.99906784e-01 7.98110909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:858.47, Y:28.38, Z:7.98 [[ 8.93336251e-01 -4.49224203e-01 -1.21638220e-02 8.58469324e+02] [ 4.49183201e-01 8.93419058e-01 -6.06947898e-03 2.83750496e+01] [ 1.35939472e-02 -4.16988990e-05 9.99907597e-01 7.98224085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5592541539999 meters Centerline goodness [0,1] 0.9997828353022933 Centerline is valid? [True, True] Translation: X:858.49, Y:28.39, Z:7.98 [[ 8.92751235e-01 -4.50369040e-01 -1.27656109e-02 8.58494142e+02] [ 4.50323944e-01 8.92842497e-01 -6.37346389e-03 2.83866987e+01] [ 1.42680907e-02 -5.87424924e-05 9.99898204e-01 7.97897962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5892541539998 meters Centerline goodness [0,1] 0.999825814318063 Centerline is valid? [True, True] Translation: X:858.52, Y:28.40, Z:7.98 [[ 8.92518093e-01 -4.50851904e-01 -1.20005947e-02 8.58518990e+02] [ 4.50812065e-01 8.92598766e-01 -5.99369618e-03 2.83991890e+01] [ 1.34139853e-02 -6.05305783e-05 9.99910027e-01 7.98065213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6192541539999 meters Centerline goodness [0,1] 0.9999782679561012 Centerline is valid? [True, True] Translation: X:858.54, Y:28.41, Z:7.98 [[ 8.92014079e-01 -4.51867327e-01 -1.12606041e-02 8.58544106e+02] [ 4.51832283e-01 8.92085150e-01 -5.62793971e-03 2.84110296e+01] [ 1.25884997e-02 -6.77029830e-05 9.99920759e-01 7.98178810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6492541539999 meters Centerline goodness [0,1] 0.9998697322998762 Centerline is valid? [True, True] Translation: X:858.57, Y:28.42, Z:7.98 [[ 8.91409966e-01 -4.53063103e-01 -1.10497811e-02 8.58569186e+02] [ 4.53029410e-01 8.91478445e-01 -5.52595318e-03 2.84225269e+01] [ 1.23542472e-02 -7.99860802e-05 9.99923680e-01 7.98072658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6792541539999 meters Centerline goodness [0,1] 0.9998049330270059 Centerline is valid? [True, True] Translation: X:858.59, Y:28.43, Z:7.98 [[ 8.90648851e-01 -4.54558204e-01 -1.10210108e-02 8.58594914e+02] [ 4.54524778e-01 8.90717031e-01 -5.51340022e-03 2.84345127e+01] [ 1.23227633e-02 -9.88189040e-05 9.99924067e-01 7.98060881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7092541539998 meters Centerline goodness [0,1] 0.999956576490512 Centerline is valid? [True, True] Translation: X:858.62, Y:28.45, Z:7.98 [[ 8.90440468e-01 -4.54982237e-01 -1.03410796e-02 8.58619854e+02] [ 4.54952813e-01 8.90500508e-01 -5.17523632e-03 2.84470758e+01] [ 1.15633772e-02 -9.64633949e-05 9.99933137e-01 7.98330072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7392541539999 meters Centerline goodness [0,1] 0.999956560456984 Centerline is valid? [True, True] Translation: X:858.64, Y:28.46, Z:7.98 [[ 8.89957693e-01 -4.55920961e-01 -1.05537747e-02 8.58644874e+02] [ 4.55890336e-01 8.90020261e-01 -5.28545150e-03 2.84603182e+01] [ 1.18028215e-02 -1.07535688e-04 9.99930338e-01 7.98288714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7692541539999 meters Centerline goodness [0,1] 0.9998696219035202 Centerline is valid? [True, True] Translation: X:858.67, Y:28.47, Z:7.98 [[ 8.89095705e-01 -4.57589469e-01 -1.09866125e-02 8.58671259e+02] [ 4.57556359e-01 8.89163573e-01 -5.50618962e-03 2.84732323e+01] [ 1.22884700e-02 -1.31464891e-04 9.99924485e-01 7.98119596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7992541539999 meters Centerline goodness [0,1] 0.9998477102142935 Centerline is valid? [True, True] Translation: X:858.70, Y:28.49, Z:7.98 [[ 8.88610022e-01 -4.58529350e-01 -1.10934278e-02 8.58697057e+02] [ 4.58495622e-01 8.88679253e-01 -5.56321784e-03 2.84860595e+01] [ 1.24093978e-02 -1.42756947e-04 9.99922990e-01 7.98096742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8292541539998 meters Centerline goodness [0,1] 0.9998698001432198 Centerline is valid? [True, True] Translation: X:858.72, Y:28.50, Z:7.98 [[ 8.87783712e-01 -4.60123760e-01 -1.12341323e-02 8.58723311e+02] [ 4.60089255e-01 8.87854773e-01 -5.63730232e-03 2.84988398e+01] [ 1.25681347e-02 -1.63998361e-04 9.99921004e-01 7.98158223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8592541539999 meters Centerline goodness [0,1] 0.9999131284612879 Centerline is valid? [True, True] Translation: X:858.75, Y:28.51, Z:7.98 [[ 8.87332654e-01 -4.60990657e-01 -1.13302673e-02 8.58748076e+02] [ 4.60955589e-01 8.87404972e-01 -5.68873575e-03 2.85105073e+01] [ 1.26769896e-02 -1.74949054e-04 9.99919628e-01 7.98156465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8892541539999 meters Centerline goodness [0,1] 0.9999564270152506 Centerline is valid? [True, True] Translation: X:858.77, Y:28.52, Z:7.98 [[ 8.86377827e-01 -4.62816472e-01 -1.16301808e-02 8.58773764e+02] [ 4.62779644e-01 8.86454100e-01 -5.84202731e-03 2.85241327e+01] [ 1.30134079e-02 -2.03967431e-04 9.99915301e-01 7.98227853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9192541539999 meters Centerline goodness [0,1] 0.9999347116430903 Centerline is valid? [True, True] Translation: X:858.80, Y:28.54, Z:7.98 [[ 8.85785895e-01 -4.63942452e-01 -1.18638221e-02 8.58798848e+02] [ 4.63904189e-01 8.85865312e-01 -5.96250722e-03 2.85356241e+01] [ 1.32760087e-02 -2.22171969e-04 9.99911845e-01 7.98181883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9492541539998 meters Centerline goodness [0,1] 0.9998910604178922 Centerline is valid? [True, True] Translation: X:858.82, Y:28.55, Z:7.98 [[ 8.84858006e-01 -4.65707441e-01 -1.19535950e-02 8.58824803e+02] [ 4.65668730e-01 8.84938708e-01 -6.00968992e-03 2.85483305e+01] [ 1.33769563e-02 -2.48693188e-04 9.99910494e-01 7.98142081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:858.85, Y:28.56, Z:7.98 [[ 8.84614687e-01 -4.66191448e-01 -1.10629956e-02 8.58850074e+02] [ 4.66158287e-01 8.84683830e-01 -5.56530116e-03 2.85613089e+01] [ 1.23817492e-02 -2.33959955e-04 9.99923316e-01 7.98349836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0092541539999 meters Centerline goodness [0,1] 0.9999131906766787 Centerline is valid? [True, True] Translation: X:858.88, Y:28.57, Z:7.98 [[ 8.84193453e-01 -4.66985175e-01 -1.12598822e-02 8.58876258e+02] [ 4.66950837e-01 8.84265111e-01 -5.66825859e-03 2.85745031e+01] [ 1.26037137e-02 -2.45974291e-04 9.99920540e-01 7.98185842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0392541539999 meters Centerline goodness [0,1] 0.99991348358351 Centerline is valid? [True, True] Translation: X:858.90, Y:28.59, Z:7.98 [[ 8.84178201e-01 -4.67016911e-01 -1.11406719e-02 8.58899408e+02] [ 4.66983262e-01 8.84248351e-01 -5.61123478e-03 2.85875675e+01] [ 1.24716623e-02 -2.41175844e-04 9.99922197e-01 7.98187013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0692541539999 meters Centerline goodness [0,1] 0.9998918544793874 Centerline is valid? [True, True] Translation: X:858.92, Y:28.60, Z:7.98 [[ 8.84403477e-01 -4.66586536e-01 -1.12913821e-02 8.58924008e+02] [ 4.66551915e-01 8.84475522e-01 -5.68876213e-03 2.86008349e+01] [ 1.26412509e-02 -2.36854924e-04 9.99920068e-01 7.98154738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0992541539998 meters Centerline goodness [0,1] 0.9998918240626555 Centerline is valid? [True, True] Translation: X:858.95, Y:28.62, Z:7.98 [[ 8.85333837e-01 -4.64804413e-01 -1.18682539e-02 8.58948787e+02] [ 4.64765977e-01 8.85413355e-01 -5.98141814e-03 2.86166018e+01] [ 1.32885001e-02 -2.20408743e-04 9.99911680e-01 7.98201497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:858.97, Y:28.63, Z:7.98 [[ 8.86031987e-01 -4.63489822e-01 -1.11580913e-02 8.58973707e+02] [ 4.63455704e-01 8.86102223e-01 -5.62675283e-03 2.86309997e+01] [ 1.24951522e-02 -1.85798081e-04 9.99921915e-01 7.98440144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1592541539999 meters Centerline goodness [0,1] 0.9997627162517796 Centerline is valid? [True, True] Translation: X:859.00, Y:28.65, Z:7.98 [[ 8.86755147e-01 -4.62071111e-01 -1.24739180e-02 8.58997916e+02] [ 4.62028273e-01 8.86842858e-01 -6.29438895e-03 2.86470715e+01] [ 1.39708604e-02 -1.81721000e-04 9.99902386e-01 7.98167417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.02, Y:28.66, Z:7.99 [[ 8.87573637e-01 -4.60532484e-01 -1.10846849e-02 8.59022457e+02] [ 4.60498499e-01 8.87642840e-01 -5.59646591e-03 2.86615968e+01] [ 1.24165955e-02 -1.37205163e-04 9.99922902e-01 7.98524533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2192541539998 meters Centerline goodness [0,1] 0.9998268660592551 Centerline is valid? [True, True] Translation: X:859.05, Y:28.68, Z:7.98 [[ 8.87722826e-01 -4.60215673e-01 -1.22359595e-02 8.59046454e+02] [ 4.60174173e-01 8.87807138e-01 -6.18192667e-03 2.86764987e+01] [ 1.37081918e-02 -1.42835149e-04 9.99906028e-01 7.98329511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2492541539999 meters Centerline goodness [0,1] 0.999891908251724 Centerline is valid? [True, True] Translation: X:859.07, Y:28.69, Z:7.98 [[ 8.88771330e-01 -4.58182567e-01 -1.24200623e-02 8.59070203e+02] [ 4.58139562e-01 8.88858101e-01 -6.27847329e-03 2.86915258e+01] [ 1.39163600e-02 -1.09994854e-04 9.99903157e-01 7.98371609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2792541539999 meters Centerline goodness [0,1] 0.9998487238778553 Centerline is valid? [True, True] Translation: X:859.09, Y:28.71, Z:7.98 [[ 8.89027914e-01 -4.57666047e-01 -1.30827433e-02 8.59094614e+02] [ 4.57618234e-01 8.89124164e-01 -6.61614003e-03 2.87052470e+01] [ 1.46601659e-02 -1.04968712e-04 9.99892528e-01 7.98290035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3092541539999 meters Centerline goodness [0,1] 0.9999351673762237 Centerline is valid? [True, True] Translation: X:859.12, Y:28.72, Z:7.98 [[ 8.89403744e-01 -4.56937338e-01 -1.30095989e-02 8.59119067e+02] [ 4.56889912e-01 8.89498882e-01 -6.58383868e-03 2.87194883e+01] [ 1.45804254e-02 -8.82637038e-05 9.99893696e-01 7.98447880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.14, Y:28.73, Z:7.99 [[ 8.89931953e-01 -4.55913889e-01 -1.27924094e-02 8.59143513e+02] [ 4.55867860e-01 8.90023888e-01 -6.47859371e-03 2.87340509e+01] [ 1.43392308e-02 -6.61407527e-05 9.99897186e-01 7.98546176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3692541539999 meters Centerline goodness [0,1] 0.9996545544832351 Centerline is valid? [True, True] Translation: X:859.17, Y:28.75, Z:7.98 [[ 8.89741973e-01 -4.56256131e-01 -1.37682365e-02 8.59167976e+02] [ 4.56202771e-01 8.89848492e-01 -6.97808430e-03 2.87470495e+01] [ 1.54354382e-02 -7.24131462e-05 9.99880864e-01 7.98322511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3992541539999 meters Centerline goodness [0,1] 0.9998491281763907 Centerline is valid? [True, True] Translation: X:859.19, Y:28.76, Z:7.98 [[ 8.89581030e-01 -4.56542842e-01 -1.46364274e-02 8.59192878e+02] [ 4.56482508e-01 8.89701426e-01 -7.42244500e-03 2.87606102e+01] [ 1.64107145e-02 -7.84068402e-05 9.99865332e-01 7.98286619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4292541539999 meters Centerline goodness [0,1] 0.9998491281763907 Centerline is valid? [True, True] Translation: X:859.22, Y:28.77, Z:7.98 [[ 8.89449111e-01 -4.56799844e-01 -1.46349283e-02 8.59217447e+02] [ 4.56739496e-01 8.89569500e-01 -7.42539988e-03 2.87731512e+01] [ 1.64107074e-02 -7.98344762e-05 9.99865332e-01 7.98312413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.24, Y:28.79, Z:7.99 [[ 8.89450090e-01 -4.56837179e-01 -1.33539837e-02 8.59242000e+02] [ 4.56786887e-01 8.89550329e-01 -6.77881167e-03 2.87855604e+01] [ 1.49758538e-02 -7.05099895e-05 9.99887853e-01 7.98595497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.27, Y:28.80, Z:7.99 [[ 8.89045097e-01 -4.57637618e-01 -1.29083965e-02 8.59267185e+02] [ 4.57590674e-01 8.89138799e-01 -6.55516669e-03 2.87981674e+01] [ 1.44772471e-02 -7.89230716e-05 9.99895196e-01 7.98669404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5192541539999 meters Centerline goodness [0,1] 0.9995687889437486 Centerline is valid? [True, True] Translation: X:859.29, Y:28.81, Z:7.98 [[ 8.88204307e-01 -4.59246692e-01 -1.36229807e-02 8.59292819e+02] [ 4.59194539e-01 8.88308766e-01 -6.92180364e-03 2.88101628e+01] [ 1.52802286e-02 -1.07622555e-04 9.99883245e-01 7.98400806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5492541539999 meters Centerline goodness [0,1] 0.9998922460238783 Centerline is valid? [True, True] Translation: X:859.32, Y:28.82, Z:7.99 [[ 8.88073393e-01 -4.59525012e-01 -1.27440963e-02 8.59317731e+02] [ 4.59479365e-01 8.88164823e-01 -6.47769379e-03 2.88230692e+01] [ 1.42955204e-02 -1.02981778e-04 9.99897809e-01 7.98616021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5792541539998 meters Centerline goodness [0,1] 0.9997638116505271 Centerline is valid? [True, True] Translation: X:859.34, Y:28.84, Z:7.98 [[ 8.87878608e-01 -4.59876457e-01 -1.36096042e-02 8.59342191e+02] [ 4.59824382e-01 8.87982900e-01 -6.92141603e-03 2.88356415e+01] [ 1.52680921e-02 -1.12650612e-04 9.99883430e-01 7.98464070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6092541539999 meters Centerline goodness [0,1] 0.9998495755882669 Centerline is valid? [True, True] Translation: X:859.37, Y:28.85, Z:7.98 [[ 8.87934844e-01 -4.59759626e-01 -1.38852184e-02 8.59366381e+02] [ 4.59705378e-01 8.88043397e-01 -7.06337402e-03 2.88482609e+01] [ 1.55781307e-02 -1.11293649e-04 9.99878647e-01 7.98452936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6392541539999 meters Centerline goodness [0,1] 0.9997640801269678 Centerline is valid? [True, True] Translation: X:859.39, Y:28.86, Z:7.98 [[ 8.87807290e-01 -4.59986595e-01 -1.45102827e-02 8.59390846e+02] [ 4.59927327e-01 8.87925852e-01 -7.38481337e-03 2.88612507e+01] [ 1.62809703e-02 -1.17384398e-04 9.99867449e-01 7.98363818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6692541539999 meters Centerline goodness [0,1] 0.9998709760660602 Centerline is valid? [True, True] Translation: X:859.42, Y:28.87, Z:7.99 [[ 8.87643228e-01 -4.60317146e-01 -1.40579244e-02 8.59415206e+02] [ 4.60261480e-01 8.87754534e-01 -7.15946485e-03 2.88743874e+01] [ 1.57756105e-02 -1.15270581e-04 9.99875551e-01 7.98527905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.44, Y:28.89, Z:7.99 [[ 8.87307081e-01 -4.60977160e-01 -1.36456220e-02 8.59440165e+02] [ 4.60924716e-01 8.87411992e-01 -6.95431421e-03 2.88871516e+01] [ 1.53150686e-02 -1.18992201e-04 9.99882710e-01 7.98788360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7292541539999 meters Centerline goodness [0,1] 0.9998712971106202 Centerline is valid? [True, True] Translation: X:859.47, Y:28.90, Z:7.99 [[ 8.86493992e-01 -4.62515301e-01 -1.44221639e-02 8.59465821e+02] [ 4.62456839e-01 8.86611287e-01 -7.35515530e-03 2.88995192e+01] [ 1.61887252e-02 -1.49327370e-04 9.99868943e-01 7.98564060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7592541539999 meters Centerline goodness [0,1] 0.9996788558705146 Centerline is valid? [True, True] Translation: X:859.49, Y:28.91, Z:7.98 [[ 8.85635528e-01 -4.64135723e-01 -1.50910866e-02 8.59491683e+02] [ 4.64071865e-01 8.85764075e-01 -7.70114007e-03 2.89117318e+01] [ 1.69415166e-02 -1.82945433e-04 9.99856465e-01 7.98419521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.52, Y:28.92, Z:7.99 [[ 8.85130430e-01 -4.65122613e-01 -1.43205333e-02 8.59517513e+02] [ 4.65065165e-01 8.85246248e-01 -7.31251178e-03 2.89239155e+01] [ 1.60784130e-02 -1.87454502e-04 9.99870716e-01 7.98773633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8192541539999 meters Centerline goodness [0,1] 0.9997421184965508 Centerline is valid? [True, True] Translation: X:859.54, Y:28.93, Z:7.98 [[ 8.82733102e-01 -4.69601289e-01 -1.60280737e-02 8.59544430e+02] [ 4.69529956e-01 8.82878554e-01 -8.19014487e-03 2.89345193e+01] [ 1.79969451e-02 -2.95948757e-04 9.99837998e-01 7.98462047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.57, Y:28.95, Z:7.99 [[ 8.81883065e-01 -4.71215581e-01 -1.54316849e-02 8.59570098e+02] [ 4.71149648e-01 8.82018015e-01 -7.88867740e-03 2.89451568e+01] [ 1.73282917e-02 -3.13741888e-04 9.99849805e-01 7.98715922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.60, Y:28.96, Z:7.99 [[ 8.79952957e-01 -4.74827388e-01 -1.48910662e-02 8.59596314e+02] [ 4.74766483e-01 8.80078868e-01 -7.61392986e-03 2.89559523e+01] [ 1.67206151e-02 -3.69879036e-04 9.99860132e-01 7.98855147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9092541539999 meters Centerline goodness [0,1] 0.9998278940687993 Centerline is valid? [True, True] Translation: X:859.62, Y:28.97, Z:7.99 [[ 8.78802020e-01 -4.76953256e-01 -1.49198079e-02 8.59622484e+02] [ 4.76892393e-01 8.78928566e-01 -7.63028417e-03 2.89661985e+01] [ 1.67527343e-02 -4.09633766e-04 9.99859579e-01 7.98584115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9392541539999 meters Centerline goodness [0,1] 0.9997404507505299 Centerline is valid? [True, True] Translation: X:859.65, Y:28.98, Z:7.99 [[ 8.78131783e-01 -4.78186317e-01 -1.49136612e-02 8.59647213e+02] [ 4.78125632e-01 8.78258311e-01 -7.63016277e-03 2.89807842e+01] [ 1.67466863e-02 -4.30315257e-04 9.99859672e-01 7.98732209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9692541539998 meters Centerline goodness [0,1] 0.9998061639852684 Centerline is valid? [True, True] Translation: X:859.67, Y:28.99, Z:7.99 [[ 8.77208555e-01 -4.79901915e-01 -1.41175123e-02 8.59672924e+02] [ 4.79847699e-01 8.77322041e-01 -7.22650550e-03 2.89905932e+01] [ 1.58536185e-02 -4.35103345e-04 9.99874229e-01 7.98800007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.70, Y:29.00, Z:7.99 [[ 8.77035172e-01 -4.80245006e-01 -1.31924965e-02 8.59697927e+02] [ 4.80197652e-01 8.77134292e-01 -6.75630591e-03 2.90036115e+01] [ 1.48162732e-02 -4.09487919e-04 9.99890149e-01 7.99168802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0292541539999 meters Centerline goodness [0,1] 0.9998490142789354 Centerline is valid? [True, True] Translation: X:859.72, Y:29.02, Z:7.99 [[ 8.76514924e-01 -4.81181649e-01 -1.36311572e-02 8.59722943e+02] [ 4.81131150e-01 8.76620802e-01 -6.98466037e-03 2.90157064e+01] [ 1.53102464e-02 -4.36215315e-04 9.99882696e-01 7.98983757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0592541539999 meters Centerline goodness [0,1] 0.9999569067677921 Centerline is valid? [True, True] Translation: X:859.75, Y:29.03, Z:7.99 [[ 8.76748974e-01 -4.80766349e-01 -1.32270208e-02 8.59748536e+02] [ 4.80718717e-01 8.76848645e-01 -6.77999631e-03 2.90288265e+01] [ 1.48576893e-02 -4.14121652e-04 9.99889533e-01 7.99269628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:859.77, Y:29.04, Z:7.99 [[ 8.76590503e-01 -4.81053235e-01 -1.32994524e-02 8.59772975e+02] [ 4.81005048e-01 8.76691286e-01 -6.82147855e-03 2.90422125e+01] [ 1.49410084e-02 -4.17460450e-04 9.99888290e-01 7.99277949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1192541539999 meters Centerline goodness [0,1] 0.9999567399204015 Centerline is valid? [True, True] Translation: X:859.80, Y:29.06, Z:7.99 [[ 8.76551133e-01 -4.81113508e-01 -1.37078268e-02 8.59796372e+02] [ 4.81062264e-01 8.76658206e-01 -7.03481197e-03 2.90559551e+01] [ 1.54016219e-02 -4.27945791e-04 9.99881296e-01 7.99204890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1492541539999 meters Centerline goodness [0,1] 0.9998058001035732 Centerline is valid? [True, True] Translation: X:859.82, Y:29.07, Z:7.99 [[ 8.76909689e-01 -4.80473102e-01 -1.32285455e-02 8.59819755e+02] [ 4.80425281e-01 8.77009371e-01 -6.79061312e-03 2.90704905e+01] [ 1.48642653e-02 -4.00573219e-04 9.99889440e-01 7.99130944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1792541539999 meters Centerline goodness [0,1] 0.9997628288055196 Centerline is valid? [True, True] Translation: X:859.84, Y:29.09, Z:7.99 [[ 8.77239243e-01 -4.79882745e-01 -1.28008020e-02 8.59844738e+02] [ 4.79837872e-01 8.77332553e-01 -6.57325527e-03 2.90855645e+01] [ 1.43849521e-02 -3.75992095e-04 9.99896461e-01 7.99113520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2092541539998 meters Centerline goodness [0,1] 0.9998921809634709 Centerline is valid? [True, True] Translation: X:859.87, Y:29.10, Z:7.99 [[ 8.77717477e-01 -4.79020334e-01 -1.23105931e-02 8.59869153e+02] [ 4.78978697e-01 8.77803737e-01 -6.32512820e-03 2.91006603e+01] [ 1.38361496e-02 -3.44836266e-04 9.99904216e-01 7.99161654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2392541539999 meters Centerline goodness [0,1] 0.9999356968319972 Centerline is valid? [True, True] Translation: X:859.89, Y:29.12, Z:7.99 [[ 8.79708082e-01 -4.75359027e-01 -1.21443345e-02 8.59892424e+02] [ 4.75318120e-01 8.79791860e-01 -6.24249236e-03 2.91188718e+01] [ 1.36519117e-02 -2.80851255e-04 9.99906769e-01 7.99235397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2692541539999 meters Centerline goodness [0,1] 0.9998712225274725 Centerline is valid? [True, True] Translation: X:859.92, Y:29.14, Z:7.99 [[ 8.80891997e-01 -4.73146515e-01 -1.27147696e-02 8.59915621e+02] [ 4.73101412e-01 8.80983717e-01 -6.53787668e-03 2.91374151e+01] [ 1.42948785e-02 -2.56212201e-04 9.99897790e-01 7.99225187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2992541539999 meters Centerline goodness [0,1] 0.9997863749973297 Centerline is valid? [True, True] Translation: X:859.94, Y:29.15, Z:7.99 [[ 8.83678245e-01 -4.67897729e-01 -1.35821477e-02 8.59938367e+02] [ 4.67845584e-01 8.83782599e-01 -6.98758989e-03 2.91542920e+01] [ 1.52731433e-02 -1.79566667e-04 9.99883343e-01 7.98956955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3292541539998 meters Centerline goodness [0,1] 0.9999786416061512 Centerline is valid? [True, True] Translation: X:859.96, Y:29.17, Z:7.99 [[ 8.85406377e-01 -4.64625639e-01 -1.33627156e-02 8.59962272e+02] [ 4.64574751e-01 8.85507200e-01 -6.87745935e-03 2.91721333e+01] [ 1.50282248e-02 -1.18633909e-04 9.99887063e-01 7.99330780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3592541539999 meters Centerline goodness [0,1] 0.9998295478757404 Centerline is valid? [True, True] Translation: X:859.99, Y:29.19, Z:7.99 [[ 8.86643214e-01 -4.62246936e-01 -1.38412813e-02 8.59986612e+02] [ 4.62191981e-01 8.86751241e-01 -7.12801249e-03 2.91884302e+01] [ 1.55686753e-02 -7.73253150e-05 9.99878798e-01 7.99066583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3892541539999 meters Centerline goodness [0,1] 0.9998292714157668 Centerline is valid? [True, True] Translation: X:860.01, Y:29.21, Z:7.99 [[ 8.89313258e-01 -4.57092420e-01 -1.37276777e-02 8.60009245e+02] [ 4.57037682e-01 8.89419203e-01 -7.07378941e-03 2.92066232e+01] [ 1.54430357e-02 1.67487212e-05 9.99880749e-01 7.99121981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4192541539999 meters Centerline goodness [0,1] 0.9999359316604378 Centerline is valid? [True, True] Translation: X:860.03, Y:29.22, Z:7.99 [[ 8.90391416e-01 -4.54995351e-01 -1.35039769e-02 8.60032288e+02] [ 4.54942082e-01 8.90493811e-01 -6.96234809e-03 2.92219232e+01] [ 1.51930439e-02 5.56875944e-05 9.99884577e-01 7.99133483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4492541539998 meters Centerline goodness [0,1] 0.9998933424347789 Centerline is valid? [True, True] Translation: X:860.06, Y:29.24, Z:7.99 [[ 8.92008542e-01 -4.51804048e-01 -1.39234646e-02 8.60056937e+02] [ 4.51746968e-01 8.92117194e-01 -7.18250542e-03 2.92377388e+01] [ 1.56664472e-02 1.16973276e-04 9.99877267e-01 7.99145181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:860.08, Y:29.25, Z:7.99 [[ 8.92736175e-01 -4.50358465e-01 -1.41200434e-02 8.60082160e+02] [ 4.50299508e-01 8.92847821e-01 -7.28844317e-03 2.92524733e+01] [ 1.58894621e-02 1.48408273e-04 9.99873744e-01 7.99388200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5092541539999 meters Centerline goodness [0,1] 0.9999361960058699 Centerline is valid? [True, True] Translation: X:860.11, Y:29.27, Z:7.99 [[ 8.93157539e-01 -4.49501004e-01 -1.47803490e-02 8.60107581e+02] [ 4.49436206e-01 8.93279809e-01 -7.63411451e-03 2.92667442e+01] [ 1.66345295e-02 1.75642926e-04 9.99861621e-01 7.99294123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:860.13, Y:29.28, Z:7.99 [[ 8.94088766e-01 -4.47638349e-01 -1.50062519e-02 8.60132463e+02] [ 4.47571211e-01 8.94214662e-01 -7.75564548e-03 2.92812456e+01] [ 1.68905348e-02 2.17869162e-04 9.99857321e-01 7.99336219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:860.16, Y:29.29, Z:7.99 [[ 8.94276850e-01 -4.47245795e-01 -1.54956038e-02 8.60157748e+02] [ 4.47174060e-01 8.94411059e-01 -8.01361912e-03 2.92946547e+01] [ 1.74434968e-02 2.37162032e-04 9.99847823e-01 7.99370441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5992541539998 meters Centerline goodness [0,1] 0.9999148265655942 Centerline is valid? [True, True] Translation: X:860.18, Y:29.31, Z:7.99 [[ 8.94757095e-01 -4.46309471e-01 -1.47511960e-02 8.60182671e+02] [ 4.46244281e-01 8.94878649e-01 -7.63193253e-03 2.93081727e+01] [ 1.66067341e-02 2.46088954e-04 9.99862068e-01 7.99199216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6292541539999 meters Centerline goodness [0,1] 0.9998291474457544 Centerline is valid? [True, True] Translation: X:860.21, Y:29.32, Z:7.99 [[ 8.94930052e-01 -4.45962787e-01 -1.47443229e-02 8.60206978e+02] [ 4.45897580e-01 8.95051467e-01 -7.63019281e-03 2.93207464e+01] [ 1.65997099e-02 2.54030933e-04 9.99862183e-01 7.99155682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6592541539999 meters Centerline goodness [0,1] 0.9998722180811416 Centerline is valid? [True, True] Translation: X:860.23, Y:29.33, Z:7.99 [[ 8.95139468e-01 -4.45561322e-01 -1.41577203e-02 8.60232216e+02] [ 4.45501100e-01 8.95251386e-01 -7.32981930e-03 2.93331970e+01] [ 1.59406027e-02 2.53930590e-04 9.99872908e-01 7.99303215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6892541539999 meters Centerline goodness [0,1] 0.9998722833606505 Centerline is valid? [True, True] Translation: X:860.26, Y:29.35, Z:7.99 [[ 8.95701462e-01 -4.44443679e-01 -1.37371139e-02 8.60258430e+02] [ 4.44386779e-01 8.95806756e-01 -7.11669908e-03 2.93460160e+01] [ 1.54687714e-02 2.69845952e-04 9.99880315e-01 7.99367027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7192541539998 meters Centerline goodness [0,1] 0.9998287744531484 Centerline is valid? [True, True] Translation: X:860.28, Y:29.36, Z:7.99 [[ 8.96268044e-01 -4.43283951e-01 -1.42454032e-02 8.60284213e+02] [ 4.43222542e-01 8.96381194e-01 -7.38463764e-03 2.93585683e+01] [ 1.60428029e-02 3.04730932e-04 9.99871260e-01 7.99256243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7492541539999 meters Centerline goodness [0,1] 0.9998292677721579 Centerline is valid? [True, True] Translation: X:860.31, Y:29.37, Z:7.99 [[ 8.96724129e-01 -4.42345728e-01 -1.47001206e-02 8.60310201e+02] [ 4.42280130e-01 8.96844548e-01 -7.62511824e-03 2.93714301e+01] [ 1.65566615e-02 3.36056237e-04 9.99862873e-01 7.99258342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7792541539999 meters Centerline goodness [0,1] 0.9998498659517426 Centerline is valid? [True, True] Translation: X:860.34, Y:29.38, Z:7.99 [[ 8.97252109e-01 -4.41251254e-01 -1.53617805e-02 8.60335878e+02] [ 4.41179371e-01 8.97383524e-01 -7.97332843e-03 2.93846515e+01] [ 1.73036499e-02 3.76785103e-04 9.99850210e-01 7.99214222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8092541539999 meters Centerline goodness [0,1] 0.9997867894759286 Centerline is valid? [True, True] Translation: X:860.36, Y:29.40, Z:7.99 [[ 8.98748557e-01 -4.38142139e-01 -1.68076610e-02 8.60361071e+02] [ 4.38055477e-01 8.98905576e-01 -8.72724376e-03 2.93991056e+01] [ 1.89322734e-02 4.80909790e-04 9.99820653e-01 7.98979082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8392541539998 meters Centerline goodness [0,1] 0.9998293588157502 Centerline is valid? [True, True] Translation: X:860.39, Y:29.41, Z:7.99 [[ 8.99589279e-01 -4.36375387e-01 -1.77665404e-02 8.60386798e+02] [ 4.36278176e-01 8.99764536e-01 -9.22678966e-03 2.94111631e+01] [ 2.00120469e-02 5.49167207e-04 9.99799588e-01 7.98991129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8692541539999 meters Centerline goodness [0,1] 0.9997644035125295 Centerline is valid? [True, True] Translation: X:860.41, Y:29.42, Z:7.99 [[ 9.00967806e-01 -4.33505974e-01 -1.81544014e-02 8.60413871e+02] [ 4.33403855e-01 9.01150474e-01 -9.42984582e-03 2.94227476e+01] [ 2.04477419e-02 6.27799967e-04 9.99790726e-01 7.99003654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8992541539999 meters Centerline goodness [0,1] 0.9998710038053877 Centerline is valid? [True, True] Translation: X:860.44, Y:29.44, Z:7.99 [[ 9.01452440e-01 -4.32519238e-01 -1.76240714e-02 8.60438538e+02] [ 4.32422779e-01 9.01624483e-01 -9.15597594e-03 2.94363933e+01] [ 1.98504300e-02 6.32626943e-04 9.99802761e-01 7.99092212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9292541539999 meters Centerline goodness [0,1] 0.9998497080041223 Centerline is valid? [True, True] Translation: X:860.47, Y:29.45, Z:7.99 [[ 9.01934716e-01 -4.31540533e-01 -1.69273800e-02 8.60465782e+02] [ 4.31451310e-01 9.02093326e-01 -8.79759422e-03 2.94461540e+01] [ 1.90665951e-02 6.31515359e-04 9.99818017e-01 7.99231327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:860.49, Y:29.45, Z:8.00 [[ 9.01936685e-01 -4.31586568e-01 -1.55965167e-02 8.60493786e+02] [ 4.31510742e-01 9.02071334e-01 -8.11100490e-03 2.94539598e+01] [ 1.75697714e-02 5.85548393e-04 9.99845468e-01 7.99744245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9892541539999 meters Centerline goodness [0,1] 0.9998058252427184 Centerline is valid? [True, True] Translation: X:860.52, Y:29.47, Z:7.99 [[ 9.01403912e-01 -4.32706460e-01 -1.53657534e-02 8.60519320e+02] [ 4.32632956e-01 9.01534695e-01 -7.99487868e-03 2.94653950e+01] [ 1.73121954e-02 5.58883611e-04 9.99849977e-01 7.99381369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0192541539999 meters Centerline goodness [0,1] 0.9998485700687925 Centerline is valid? [True, True] Translation: X:860.55, Y:29.48, Z:8.00 [[ 9.01175354e-01 -4.33226966e-01 -1.40491273e-02 8.60545255e+02] [ 4.33165554e-01 9.01284718e-01 -7.31164397e-03 2.94756914e+01] [ 1.58298650e-02 5.03475338e-04 9.99874573e-01 7.99536320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0492541539999 meters Centerline goodness [0,1] 0.9998060428429809 Centerline is valid? [True, True] Translation: X:860.57, Y:29.48, Z:8.00 [[ 9.00989227e-01 -4.33604957e-01 -1.43232201e-02 8.60572697e+02] [ 4.33541116e-01 9.01102925e-01 -7.45786416e-03 2.94832231e+01] [ 1.61404624e-02 5.09750449e-04 9.99869604e-01 7.99574710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0792541539998 meters Centerline goodness [0,1] 0.999935200984945 Centerline is valid? [True, True] Translation: X:860.60, Y:29.49, Z:8.00 [[ 9.01123842e-01 -4.33373677e-01 -1.27701573e-02 8.60597148e+02] [ 4.33322858e-01 9.01214205e-01 -6.65261973e-03 2.94942341e+01] [ 1.43917174e-02 4.61233197e-04 9.99896327e-01 7.99990605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1092541539999 meters Centerline goodness [0,1] 0.9998486584653968 Centerline is valid? [True, True] Translation: X:860.62, Y:29.51, Z:8.00 [[ 9.01066051e-01 -4.33461045e-01 -1.38381158e-02 8.60621916e+02] [ 4.33401349e-01 9.01172166e-01 -7.21101692e-03 2.95077645e+01] [ 1.55962198e-02 5.00144466e-04 9.99878246e-01 7.99660518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1392541539999 meters Centerline goodness [0,1] 0.9998696162371246 Centerline is valid? [True, True] Translation: X:860.65, Y:29.52, Z:8.00 [[ 9.01297191e-01 -4.32981012e-01 -1.38136453e-02 8.60645805e+02] [ 4.32921446e-01 9.01402898e-01 -7.19979066e-03 2.95212745e+01] [ 1.55690326e-02 5.08927790e-04 9.99878666e-01 7.99647638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1692541539999 meters Centerline goodness [0,1] 0.9998046451052746 Centerline is valid? [True, True] Translation: X:860.67, Y:29.53, Z:7.99 [[ 9.01999173e-01 -4.31472847e-01 -1.51219688e-02 8.60672452e+02] [ 4.31401200e-01 9.02125732e-01 -7.88470151e-03 2.95325108e+01] [ 1.70439518e-02 5.88358748e-04 9.99854568e-01 7.99478223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1992541539998 meters Centerline goodness [0,1] 0.9998696445641784 Centerline is valid? [True, True] Translation: X:860.70, Y:29.54, Z:8.00 [[ 9.02502538e-01 -4.30429159e-01 -1.48293315e-02 8.60699929e+02] [ 4.30360043e-01 9.02624163e-01 -7.73657017e-03 2.95420894e+01] [ 1.67153583e-02 6.00322464e-04 9.99860108e-01 7.99685481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2292541539999 meters Centerline goodness [0,1] 0.9998258560264699 Centerline is valid? [True, True] Translation: X:860.73, Y:29.55, Z:8.00 [[ 9.03373955e-01 -4.28537026e-01 -1.64777257e-02 8.60727213e+02] [ 4.28451282e-01 9.03523941e-01 -8.60154268e-03 2.95547208e+01] [ 1.85740992e-02 7.10506927e-04 9.99827234e-01 7.99547363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2592541539999 meters Centerline goodness [0,1] 0.9998253618284616 Centerline is valid? [True, True] Translation: X:860.75, Y:29.57, Z:8.00 [[ 9.03677890e-01 -4.27891444e-01 -1.65886496e-02 8.60753231e+02] [ 4.27804344e-01 9.03829837e-01 -8.66418280e-03 2.95673684e+01] [ 1.87006462e-02 7.32934066e-04 9.99824859e-01 7.99547382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2892541539999 meters Centerline goodness [0,1] 0.9998033173801875 Centerline is valid? [True, True] Translation: X:860.78, Y:29.58, Z:7.99 [[ 9.03903350e-01 -4.27368859e-01 -1.77367723e-02 8.60781011e+02] [ 4.27269068e-01 9.04076998e-01 -9.26961027e-03 2.95771705e+01] [ 1.99969506e-02 8.00457627e-04 9.99799721e-01 7.99450119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3192541539999 meters Centerline goodness [0,1] 0.9998033173801875 Centerline is valid? [True, True] Translation: X:860.81, Y:29.59, Z:7.99 [[ 9.03781191e-01 -4.27627239e-01 -1.77342778e-02 8.60805438e+02] [ 4.27527404e-01 9.03954813e-01 -9.27438093e-03 2.95900351e+01] [ 1.99969637e-02 8.00121286e-04 9.99799721e-01 7.99475896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3492541539998 meters Centerline goodness [0,1] 0.999671679033423 Centerline is valid? [True, True] Translation: X:860.83, Y:29.60, Z:7.99 [[ 9.03165188e-01 -4.28910982e-01 -1.81111390e-02 8.60832029e+02] [ 4.28807020e-01 9.03346413e-01 -9.47618225e-03 2.95994193e+01] [ 2.04250711e-02 7.92374384e-04 9.99791072e-01 7.99326556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3792541539999 meters Centerline goodness [0,1] 0.9997370554593861 Centerline is valid? [True, True] Translation: X:860.86, Y:29.61, Z:7.99 [[ 9.02452579e-01 -4.30428689e-01 -1.76206454e-02 8.60857720e+02] [ 4.30330523e-01 9.02624283e-01 -9.22192423e-03 2.96104702e+01] [ 1.98742032e-02 7.39647741e-04 9.99802215e-01 7.99412039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4092541539999 meters Centerline goodness [0,1] 0.999779653174096 Centerline is valid? [True, True] Translation: X:860.89, Y:29.62, Z:8.00 [[ 9.00794263e-01 -4.33924294e-01 -1.67153200e-02 8.60885968e+02] [ 4.33836528e-01 9.00949116e-01 -8.74966335e-03 2.96180053e+01] [ 1.88563443e-02 6.29930135e-04 9.99822005e-01 7.99501046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4392541539999 meters Centerline goodness [0,1] 0.9998009025749933 Centerline is valid? [True, True] Translation: X:860.92, Y:29.63, Z:8.00 [[ 8.99604153e-01 -4.36385206e-01 -1.67427679e-02 8.60915113e+02] [ 4.36297516e-01 8.99759753e-01 -8.76722092e-03 2.96257403e+01] [ 1.88903542e-02 5.82200293e-04 9.99821392e-01 7.99652303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4692541539998 meters Centerline goodness [0,1] 0.9997569973711534 Centerline is valid? [True, True] Translation: X:860.94, Y:29.64, Z:8.00 [[ 8.98398698e-01 -4.38879256e-01 -1.62720363e-02 8.60942497e+02] [ 4.38796748e-01 8.98545897e-01 -8.52550149e-03 2.96364924e+01] [ 1.83628372e-02 5.19182821e-04 9.99831254e-01 7.99699673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4992541539999 meters Centerline goodness [0,1] 0.9997337770382696 Centerline is valid? [True, True] Translation: X:860.97, Y:29.64, Z:8.00 [[ 8.95931170e-01 -4.43924387e-01 -1.54427186e-02 8.60971009e+02] [ 4.43850772e-01 8.96064161e-01 -8.09389336e-03 2.96443827e+01] [ 1.74307433e-02 3.97308779e-04 9.99847994e-01 7.99801662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5292541539999 meters Centerline goodness [0,1] 0.9998001731832412 Centerline is valid? [True, True] Translation: X:861.00, Y:29.65, Z:8.00 [[ 8.94646388e-01 -4.46520035e-01 -1.50897241e-02 8.60997776e+02] [ 4.46450068e-01 8.94773570e-01 -7.91168025e-03 2.96547491e+01] [ 1.70346100e-02 3.41347824e-04 9.99854842e-01 7.99882353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5592541539999 meters Centerline goodness [0,1] 0.9999777654252362 Centerline is valid? [True, True] Translation: X:861.02, Y:29.67, Z:8.00 [[ 8.93562275e-01 -4.48713875e-01 -1.42238757e-02 8.61024593e+02] [ 4.48651915e-01 8.93675431e-01 -7.46210176e-03 2.96652321e+01] [ 1.60598769e-02 2.86283541e-04 9.99870991e-01 8.00331460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5892541539998 meters Centerline goodness [0,1] 0.9998444479011578 Centerline is valid? [True, True] Translation: X:861.05, Y:29.68, Z:8.00 [[ 8.92337782e-01 -4.51128187e-01 -1.47187728e-02 8.61050408e+02] [ 4.51062109e-01 8.92459128e-01 -7.72523330e-03 2.96766577e+01] [ 1.66209737e-02 2.54436828e-04 9.99861830e-01 8.00067014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6192541539999 meters Centerline goodness [0,1] 0.9998001643093456 Centerline is valid? [True, True] Translation: X:861.08, Y:29.69, Z:8.00 [[ 8.90452031e-01 -4.54834411e-01 -1.48606553e-02 8.61077259e+02] [ 4.54767517e-01 8.90576006e-01 -7.80275340e-03 2.96873800e+01] [ 1.67835038e-02 1.89834286e-04 9.99859129e-01 8.00135643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6492541539999 meters Centerline goodness [0,1] 0.9999555348051313 Centerline is valid? [True, True] Translation: X:861.10, Y:29.70, Z:8.01 [[ 8.89612911e-01 -4.56498921e-01 -1.40571466e-02 8.61102840e+02] [ 4.56439204e-01 8.89723952e-01 -7.38521839e-03 2.97003255e+01] [ 1.58783243e-02 1.53752825e-04 9.99873920e-01 8.00505335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6792541539999 meters Centerline goodness [0,1] 0.9998221787548067 Centerline is valid? [True, True] Translation: X:861.13, Y:29.71, Z:8.00 [[ 8.88859440e-01 -4.57940897e-01 -1.47997133e-02 8.61127585e+02] [ 4.57874817e-01 8.88982629e-01 -7.78052996e-03 2.97142476e+01] [ 1.67197109e-02 1.39381468e-04 9.99860206e-01 8.00181370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7092541539998 meters Centerline goodness [0,1] 0.9998891843971631 Centerline is valid? [True, True] Translation: X:861.15, Y:29.73, Z:8.00 [[ 8.88393756e-01 -4.58857743e-01 -1.43563766e-02 8.61152046e+02] [ 4.58795598e-01 8.88509739e-01 -7.55262689e-03 2.97276882e+01] [ 1.62213618e-02 1.23064178e-04 9.99868417e-01 8.00295186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7392541539999 meters Centerline goodness [0,1] 0.9998668826126506 Centerline is valid? [True, True] Translation: X:861.18, Y:29.74, Z:8.00 [[ 8.87286175e-01 -4.60986460e-01 -1.46535968e-02 8.61177741e+02] [ 4.60921921e-01 8.87407165e-01 -7.71410645e-03 2.97414179e+01] [ 1.65598054e-02 9.04560321e-05 9.99862873e-01 8.00234979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7692541539999 meters Centerline goodness [0,1] 0.9998009862238242 Centerline is valid? [True, True] Translation: X:861.20, Y:29.75, Z:8.00 [[ 8.86658342e-01 -4.62184670e-01 -1.49102743e-02 8.61201295e+02] [ 4.62117956e-01 8.86783697e-01 -7.85294939e-03 2.97539187e+01] [ 1.68517010e-02 7.25775878e-05 9.99857997e-01 8.00178273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7992541539999 meters Centerline goodness [0,1] 0.9998230753919986 Centerline is valid? [True, True] Translation: X:861.23, Y:29.77, Z:8.00 [[ 8.85321806e-01 -4.64761467e-01 -1.42154061e-02 8.61227330e+02] [ 4.64701109e-01 8.85435926e-01 -7.49005520e-03 2.97670613e+01] [ 1.60679203e-02 2.51942283e-05 9.99870902e-01 8.00213008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8292541539998 meters Centerline goodness [0,1] 0.9999778368794326 Centerline is valid? [True, True] Translation: X:861.25, Y:29.78, Z:8.01 [[ 8.84840362e-01 -4.65683177e-01 -1.40253913e-02 8.61251830e+02] [ 4.65624465e-01 8.84951512e-01 -7.39454344e-03 2.97798761e+01] [ 1.58553057e-02 1.24251763e-05 9.99874297e-01 8.00557228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8592541539999 meters Centerline goodness [0,1] 0.9998231575224369 Centerline is valid? [True, True] Translation: X:861.28, Y:29.79, Z:8.00 [[ 8.83819853e-01 -4.67606429e-01 -1.43769062e-02 8.61276577e+02] [ 4.67544905e-01 8.83936778e-01 -7.58514144e-03 2.97935237e+01] [ 1.62551370e-02 -1.79506486e-05 9.99867876e-01 8.00222027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8892541539999 meters Centerline goodness [0,1] 0.9997351461110621 Centerline is valid? [True, True] Translation: X:861.30, Y:29.81, Z:8.00 [[ 8.82521101e-01 -4.70045672e-01 -1.46141078e-02 8.61300934e+02] [ 4.69982373e-01 8.82642092e-01 -7.71403841e-03 2.98068949e+01] [ 1.65249771e-02 -6.05713984e-05 9.99863451e-01 8.00072473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9192541539999 meters Centerline goodness [0,1] 0.9998671037476743 Centerline is valid? [True, True] Translation: X:861.33, Y:29.82, Z:8.00 [[ 8.81815770e-01 -4.71365877e-01 -1.46682493e-02 8.61325656e+02] [ 4.71302237e-01 8.81937755e-01 -7.74588946e-03 2.98206637e+01] [ 1.65876308e-02 -8.27312127e-05 9.99862412e-01 8.00210547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9492541539998 meters Centerline goodness [0,1] 0.9997571958325976 Centerline is valid? [True, True] Translation: X:861.35, Y:29.83, Z:8.00 [[ 8.80716894e-01 -4.73404051e-01 -1.50451682e-02 8.61350710e+02] [ 4.73337328e-01 8.80845384e-01 -7.94881361e-03 2.98336677e+01] [ 1.70154675e-02 -1.20785266e-04 9.99855219e-01 8.00016168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9792541539999 meters Centerline goodness [0,1] 0.9999335827669419 Centerline is valid? [True, True] Translation: X:861.38, Y:29.85, Z:8.00 [[ 8.80369387e-01 -4.74066974e-01 -1.44998589e-02 8.61375136e+02] [ 4.74005039e-01 8.80488778e-01 -7.66387928e-03 2.98469401e+01] [ 1.64001551e-02 -1.25961457e-04 9.99865500e-01 8.00368868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0092541539999 meters Centerline goodness [0,1] 0.9998012981851901 Centerline is valid? [True, True] Translation: X:861.40, Y:29.86, Z:8.00 [[ 8.79627878e-01 -4.75423683e-01 -1.50704043e-02 8.61400485e+02] [ 4.75356886e-01 8.79756954e-01 -7.97073976e-03 2.98609935e+01] [ 1.70477714e-02 -1.52535543e-04 9.99854665e-01 8.00186576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0392541539999 meters Centerline goodness [0,1] 0.9998673446827328 Centerline is valid? [True, True] Translation: X:861.42, Y:29.87, Z:8.00 [[ 8.79532310e-01 -4.75620615e-01 -1.44203523e-02 8.61424909e+02] [ 4.75559405e-01 8.79650504e-01 -7.63170031e-03 2.98749060e+01] [ 1.63146641e-02 -1.45407141e-04 9.99866896e-01 8.00314497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0692541539999 meters Centerline goodness [0,1] 0.9997571422263435 Centerline is valid? [True, True] Translation: X:861.45, Y:29.89, Z:8.00 [[ 8.79519872e-01 -4.75631813e-01 -1.48044958e-02 8.61448994e+02] [ 4.75567208e-01 8.79644449e-01 -7.84051365e-03 2.98892626e+01] [ 1.67518903e-02 -1.44645174e-04 9.99859667e-01 8.00214750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0992541539998 meters Centerline goodness [0,1] 0.9998898993680224 Centerline is valid? [True, True] Translation: X:861.47, Y:29.90, Z:8.00 [[ 8.80421008e-01 -4.73981155e-01 -1.41672997e-02 8.61472377e+02] [ 4.73921720e-01 8.80534981e-01 -7.50664380e-03 2.99048933e+01] [ 1.60328107e-02 -1.05184148e-04 9.99871461e-01 8.00332557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1292541539999 meters Centerline goodness [0,1] 0.9998676694382568 Centerline is valid? [True, True] Translation: X:861.50, Y:29.92, Z:8.00 [[ 8.80864311e-01 -4.73165273e-01 -1.38812792e-02 8.61496388e+02] [ 4.73108067e-01 8.80973675e-01 -7.35802511e-03 2.99194835e+01] [ 1.57106035e-02 -8.59234374e-05 9.99876577e-01 8.00341941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1592541539999 meters Centerline goodness [0,1] 0.9998461064943059 Centerline is valid? [True, True] Translation: X:861.52, Y:29.94, Z:8.00 [[ 8.82028445e-01 -4.71004433e-01 -1.34404494e-02 8.61520444e+02] [ 4.70950482e-01 8.82130842e-01 -7.12887320e-03 2.99356708e+01] [ 1.52139658e-02 -4.19171611e-05 9.99884260e-01 8.00467649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1892541539999 meters Centerline goodness [0,1] 0.9998468874403955 Centerline is valid? [True, True] Translation: X:861.54, Y:29.95, Z:8.00 [[ 8.82671027e-01 -4.69797836e-01 -1.34852182e-02 8.61543380e+02] [ 4.69743331e-01 8.82774033e-01 -7.15609648e-03 2.99494386e+01] [ 1.52663191e-02 -1.81123061e-05 9.99883463e-01 8.00476276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2192541539998 meters Centerline goodness [0,1] 0.9997804562119915 Centerline is valid? [True, True] Translation: X:861.57, Y:29.96, Z:8.00 [[ 8.83086241e-01 -4.69027622e-01 -1.31064916e-02 8.61567766e+02] [ 4.68976006e-01 8.83183497e-01 -6.95817431e-03 2.99644300e+01] [ 1.48390130e-02 -1.96207372e-06 9.99889896e-01 8.00485857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2492541539999 meters Centerline goodness [0,1] 0.9999781109773449 Centerline is valid? [True, True] Translation: X:861.59, Y:29.98, Z:8.01 [[ 8.84540899e-01 -4.66294958e-01 -1.25063969e-02 8.61590238e+02] [ 4.66247636e-01 8.84629307e-01 -6.64317219e-03 2.99798032e+01] [ 1.41612029e-02 4.50795362e-05 9.99899724e-01 8.00927301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:861.61, Y:29.99, Z:8.01 [[ 8.85103747e-01 -4.65224839e-01 -1.25381701e-02 8.61614547e+02] [ 4.65177129e-01 8.85192547e-01 -6.66292097e-03 2.99948348e+01] [ 1.41984510e-02 6.49063622e-05 9.99899195e-01 8.01032768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3092541539999 meters Centerline goodness [0,1] 0.9999126370506268 Centerline is valid? [True, True] Translation: X:861.64, Y:30.01, Z:8.01 [[ 8.85970532e-01 -4.63558679e-01 -1.30218440e-02 8.61638383e+02] [ 4.63506967e-01 8.86066217e-01 -6.92457666e-03 3.00114955e+01] [ 1.47481637e-02 9.92554492e-05 9.99891235e-01 8.00755478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3392541539998 meters Centerline goodness [0,1] 0.9997813060403271 Centerline is valid? [True, True] Translation: X:861.66, Y:30.03, Z:8.01 [[ 8.86299482e-01 -4.62925874e-01 -1.31477611e-02 8.61662981e+02] [ 4.62873025e-01 8.86396989e-01 -6.99574851e-03 3.00263055e+01] [ 1.48926488e-02 1.14584340e-04 9.99889092e-01 8.00562032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:861.69, Y:30.04, Z:8.01 [[ 8.87307327e-01 -4.60985387e-01 -1.33484319e-02 8.61687229e+02] [ 4.60930628e-01 8.87407713e-01 -7.10682469e-03 3.00415710e+01] [ 1.51216438e-02 1.53236517e-04 9.99885650e-01 8.01064453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:861.71, Y:30.06, Z:8.01 [[ 8.87540647e-01 -4.60531563e-01 -1.35010845e-02 8.61711972e+02] [ 4.60475426e-01 8.87643313e-01 -7.19241924e-03 3.00557602e+01] [ 1.52964834e-02 1.66646807e-04 9.99882988e-01 8.01098256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:861.74, Y:30.07, Z:8.01 [[ 8.87397084e-01 -4.60791474e-01 -1.40581777e-02 8.61736338e+02] [ 4.60730563e-01 8.87508415e-01 -7.49405254e-03 3.00699403e+01] [ 1.59299466e-02 1.73168230e-04 9.99873095e-01 8.01091898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4592541539998 meters Centerline goodness [0,1] 0.9999126084201787 Centerline is valid? [True, True] Translation: X:861.76, Y:30.08, Z:8.01 [[ 8.86763747e-01 -4.61978533e-01 -1.50297047e-02 8.61761118e+02] [ 4.61908984e-01 8.86891091e-01 -8.01770199e-03 3.00833018e+01] [ 1.70337174e-02 1.67451849e-04 9.99854902e-01 8.00790390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4892541539999 meters Centerline goodness [0,1] 0.9998690671031096 Centerline is valid? [True, True] Translation: X:861.79, Y:30.10, Z:8.01 [[ 8.85636801e-01 -4.64090397e-01 -1.63572887e-02 8.61785562e+02] [ 4.64008298e-01 8.85787832e-01 -8.73017471e-03 3.00957836e+01] [ 1.85406775e-02 1.41846307e-04 9.99828097e-01 8.00621786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5192541539999 meters Centerline goodness [0,1] 0.9997828541648571 Centerline is valid? [True, True] Translation: X:861.81, Y:30.11, Z:8.01 [[ 8.84702997e-01 -4.65855719e-01 -1.67049653e-02 8.61810313e+02] [ 4.65770371e-01 8.84860688e-01 -8.91766424e-03 3.01081202e+01] [ 1.89359120e-02 1.08806402e-04 9.99820694e-01 8.00523508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5492541539999 meters Centerline goodness [0,1] 0.999934484942456 Centerline is valid? [True, True] Translation: X:861.84, Y:30.12, Z:8.01 [[ 8.82460486e-01 -4.70068127e-01 -1.73045442e-02 8.61836444e+02] [ 4.69977267e-01 8.82630135e-01 -9.24193527e-03 3.01181488e+01] [ 1.96178514e-02 2.29003022e-05 9.99807551e-01 8.00785840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:861.86, Y:30.13, Z:8.01 [[ 8.81093246e-01 -4.72619291e-01 -1.74842251e-02 8.61862215e+02] [ 4.72526912e-01 8.81266705e-01 -9.34415257e-03 3.01293851e+01] [ 1.98244922e-02 -2.86971525e-05 9.99803475e-01 8.01049939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6092541539999 meters Centerline goodness [0,1] 0.9999125625724091 Centerline is valid? [True, True] Translation: X:861.89, Y:30.14, Z:8.01 [[ 8.77842004e-01 -4.78615520e-01 -1.79053148e-02 8.61890492e+02] [ 4.78519757e-01 8.78024577e-01 -9.57520464e-03 3.01386632e+01] [ 2.03041480e-02 -1.62530052e-04 9.99793836e-01 8.00884543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6392541539999 meters Centerline goodness [0,1] 0.9998680796798733 Centerline is valid? [True, True] Translation: X:861.92, Y:30.15, Z:8.01 [[ 8.76131514e-01 -4.81731852e-01 -1.81105581e-02 8.61916931e+02] [ 4.81634428e-01 8.76318646e-01 -9.69063774e-03 3.01500510e+01] [ 2.05389086e-02 -2.32395191e-04 9.99789027e-01 8.00889564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6692541539999 meters Centerline goodness [0,1] 0.9999560323601829 Centerline is valid? [True, True] Translation: X:861.94, Y:30.16, Z:8.01 [[ 8.74739015e-01 -4.84279824e-01 -1.74558620e-02 8.61943048e+02] [ 4.84189755e-01 8.74913124e-01 -9.34382305e-03 3.01609250e+01] [ 1.97973877e-02 -2.78542965e-04 9.99803974e-01 8.01122675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6992541539998 meters Centerline goodness [0,1] 0.9998463092258376 Centerline is valid? [True, True] Translation: X:861.97, Y:30.17, Z:8.01 [[ 8.73241415e-01 -4.86969550e-01 -1.76093347e-02 8.61969212e+02] [ 4.86878360e-01 8.73418881e-01 -9.42976002e-03 3.01725636e+01] [ 1.99723314e-02 -3.39147010e-04 9.99800476e-01 8.00985731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7292541539999 meters Centerline goodness [0,1] 0.9998687175896549 Centerline is valid? [True, True] Translation: X:862.00, Y:30.18, Z:8.01 [[ 8.71020727e-01 -4.90938962e-01 -1.73732301e-02 8.61995679e+02] [ 4.90850919e-01 8.71193869e-01 -9.30682505e-03 3.01822311e+01] [ 1.97045346e-02 -4.21228469e-04 9.99805758e-01 8.01070086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7592541539999 meters Centerline goodness [0,1] 0.9998027008067345 Centerline is valid? [True, True] Translation: X:862.02, Y:30.19, Z:8.01 [[ 8.70099821e-01 -4.92563683e-01 -1.75305429e-02 8.62021644e+02] [ 4.92474294e-01 8.70276282e-01 -9.39481547e-03 3.01944125e+01] [ 1.98839606e-02 -4.58914501e-04 9.99802189e-01 8.01057103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7892541539999 meters Centerline goodness [0,1] 0.9998465921542845 Centerline is valid? [True, True] Translation: X:862.05, Y:30.21, Z:8.01 [[ 8.69082812e-01 -4.94370632e-01 -1.71097672e-02 8.62046798e+02] [ 4.94285762e-01 8.69251082e-01 -9.17288827e-03 3.02052807e+01] [ 1.94074902e-02 -4.85114770e-04 9.99811539e-01 8.01215261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8192541539999 meters Centerline goodness [0,1] 0.9998679809892624 Centerline is valid? [True, True] Translation: X:862.07, Y:30.22, Z:8.01 [[ 8.68777060e-01 -4.94910235e-01 -1.70376111e-02 8.62072521e+02] [ 4.94826112e-01 8.68943967e-01 -9.13787978e-03 3.02184177e+01] [ 1.93271596e-02 -4.91874553e-04 9.99813092e-01 8.01258551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:862.10, Y:30.23, Z:8.02 [[ 8.69417151e-01 -4.93791586e-01 -1.68430059e-02 8.62096877e+02] [ 4.93709101e-01 8.69580162e-01 -9.03684835e-03 3.02319168e+01] [ 1.91086635e-02 -4.58754338e-04 9.99817308e-01 8.01553760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8792541539999 meters Centerline goodness [0,1] 0.9998464306085736 Centerline is valid? [True, True] Translation: X:862.12, Y:30.25, Z:8.01 [[ 8.69335109e-01 -4.93901110e-01 -1.78370983e-02 8.62121662e+02] [ 4.93808584e-01 8.69517945e-01 -9.57214134e-03 3.02458186e+01] [ 2.02373683e-02 -4.86713714e-04 9.99795085e-01 8.01156853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9092541539999 meters Centerline goodness [0,1] 0.9999123422159888 Centerline is valid? [True, True] Translation: X:862.15, Y:30.26, Z:8.01 [[ 8.69913981e-01 -4.92872421e-01 -1.80677357e-02 8.62146868e+02] [ 4.92777187e-01 8.70101466e-01 -9.69965569e-03 3.02606587e+01] [ 2.05014561e-02 -4.65501883e-04 9.99789715e-01 8.01242132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9392541539999 meters Centerline goodness [0,1] 0.9999123902139869 Centerline is valid? [True, True] Translation: X:862.17, Y:30.28, Z:8.01 [[ 8.71500759e-01 -4.90033751e-01 -1.87975880e-02 8.62170180e+02] [ 4.89929888e-01 8.71703364e-01 -1.00970470e-02 3.02771901e+01] [ 2.13338145e-02 -4.09916028e-04 9.99772324e-01 8.01167718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9692541539998 meters Centerline goodness [0,1] 0.9998035063205467 Centerline is valid? [True, True] Translation: X:862.19, Y:30.30, Z:8.01 [[ 8.73768526e-01 -4.85948043e-01 -1.95720004e-02 8.62192144e+02] [ 4.85834283e-01 8.73987642e-01 -1.05190716e-02 3.02975604e+01] [ 2.22174087e-02 -3.17515103e-04 9.99753112e-01 8.01146739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9992541539999 meters Centerline goodness [0,1] 0.999824853314651 Centerline is valid? [True, True] Translation: X:862.22, Y:30.31, Z:8.01 [[ 8.75145524e-01 -4.83475332e-01 -1.92851017e-02 8.62216414e+02] [ 4.83364149e-01 8.75357952e-01 -1.03709127e-02 3.03137866e+01] [ 2.18954475e-02 -2.45668945e-04 9.99760236e-01 8.01236916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0292541539999 meters Centerline goodness [0,1] 0.9998255636474641 Centerline is valid? [True, True] Translation: X:862.24, Y:30.33, Z:8.01 [[ 8.76615964e-01 -4.80808179e-01 -1.91819325e-02 8.62240309e+02] [ 4.80697412e-01 8.76825790e-01 -1.03214572e-02 3.03297931e+01] [ 2.17818541e-02 -1.72751124e-04 9.99762732e-01 8.01214896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0592541539999 meters Centerline goodness [0,1] 0.9998255978722941 Centerline is valid? [True, True] Translation: X:862.26, Y:30.35, Z:8.01 [[ 8.79424505e-01 -4.75661445e-01 -1.89401639e-02 8.62263246e+02] [ 4.75552128e-01 8.79628438e-01 -1.01972974e-02 3.03480973e+01] [ 2.15107680e-02 -3.92819922e-05 9.99768616e-01 8.01322200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0892541539998 meters Centerline goodness [0,1] 0.9998256472844564 Centerline is valid? [True, True] Translation: X:862.29, Y:30.36, Z:8.01 [[ 8.80581018e-01 -4.73517085e-01 -1.89378362e-02 8.62286027e+02] [ 4.73407207e-01 8.80784633e-01 -1.02003160e-02 3.03634318e+01] [ 2.15101790e-02 1.68964777e-05 9.99768629e-01 8.01352664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1192541539999 meters Centerline goodness [0,1] 0.9998266559771186 Centerline is valid? [True, True] Translation: X:862.31, Y:30.38, Z:8.01 [[ 8.82665162e-01 -4.69646337e-01 -1.82901682e-02 8.62308955e+02] [ 4.69542912e-01 8.82854635e-01 -9.85635009e-03 3.03810128e+01] [ 2.07765585e-02 1.11837994e-04 9.99784138e-01 8.01416048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1492541539999 meters Centerline goodness [0,1] 0.9999347159053816 Centerline is valid? [True, True] Translation: X:862.33, Y:30.40, Z:8.02 [[ 8.83471363e-01 -4.68162823e-01 -1.73758908e-02 8.62332716e+02] [ 4.68069071e-01 8.83642207e-01 -9.36989256e-03 3.03954051e+01] [ 1.97407058e-02 1.44914693e-04 9.99805123e-01 8.01706414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:862.36, Y:30.41, Z:8.02 [[ 8.84961217e-01 -4.65374651e-01 -1.64340358e-02 8.62355371e+02] [ 4.65290235e-01 8.85113775e-01 -8.86584741e-03 3.04113453e+01] [ 1.86719321e-02 1.99334768e-04 9.99825644e-01 8.01907516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2092541539998 meters Centerline goodness [0,1] 0.9998049203424731 Centerline is valid? [True, True] Translation: X:862.38, Y:30.43, Z:8.02 [[ 8.85650686e-01 -4.64023457e-01 -1.74669262e-02 8.62379686e+02] [ 4.63927753e-01 8.85822878e-01 -9.42705211e-03 3.04272732e+01] [ 1.98469762e-02 2.45683335e-04 9.99802999e-01 8.01503771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2392541539999 meters Centerline goodness [0,1] 0.9998049203424731 Centerline is valid? [True, True] Translation: X:862.40, Y:30.44, Z:8.02 [[ 8.85518330e-01 -4.64276084e-01 -1.74643960e-02 8.62403925e+02] [ 4.64180336e-01 8.85690498e-01 -9.43173798e-03 3.04404480e+01] [ 1.98469800e-02 2.45347643e-04 9.99802999e-01 8.01529529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2692541539999 meters Centerline goodness [0,1] 0.999804428605576 Centerline is valid? [True, True] Translation: X:862.43, Y:30.45, Z:8.02 [[ 8.85770319e-01 -4.63791063e-01 -1.75724679e-02 8.62429370e+02] [ 4.63693909e-01 8.85944570e-01 -9.49618298e-03 3.04548719e+01] [ 1.99724773e-02 2.63190680e-04 9.99800496e-01 8.01559562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2992541539999 meters Centerline goodness [0,1] 0.9998271503575827 Centerline is valid? [True, True] Translation: X:862.45, Y:30.47, Z:8.02 [[ 8.85891102e-01 -4.63545616e-01 -1.79559645e-02 8.62454849e+02] [ 4.63444005e-01 8.86073012e-01 -9.70930688e-03 3.04692398e+01] [ 2.04110022e-02 2.79804448e-04 9.99791635e-01 8.01584686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3292541539998 meters Centerline goodness [0,1] 0.9999134611224092 Centerline is valid? [True, True] Translation: X:862.48, Y:30.48, Z:8.02 [[ 8.85972846e-01 -4.63395322e-01 -1.78014433e-02 8.62479478e+02] [ 4.63295298e-01 8.86151620e-01 -9.63192397e-03 3.04830440e+01] [ 2.02381663e-02 2.86298142e-04 9.99795146e-01 8.01695441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3592541539999 meters Centerline goodness [0,1] 0.9998697634035164 Centerline is valid? [True, True] Translation: X:862.50, Y:30.50, Z:8.02 [[ 8.85558247e-01 -4.64172969e-01 -1.81671773e-02 8.62504264e+02] [ 4.64068816e-01 8.85744532e-01 -9.83655476e-03 3.04959208e+01] [ 2.06573408e-02 2.80021726e-04 9.99786575e-01 8.01854069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3892541539999 meters Centerline goodness [0,1] 0.9999137187230371 Centerline is valid? [True, True] Translation: X:862.53, Y:30.51, Z:8.02 [[ 8.84253595e-01 -4.66617079e-01 -1.90809252e-02 8.62529562e+02] [ 4.66502656e-01 8.84459408e-01 -1.03357090e-02 3.05072682e+01] [ 2.16991221e-02 2.38085568e-04 9.99764518e-01 8.01688119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4192541539999 meters Centerline goodness [0,1] 0.9998913893474672 Centerline is valid? [True, True] Translation: X:862.56, Y:30.52, Z:8.02 [[ 8.83144478e-01 -4.68699054e-01 -1.94172260e-02 8.62556315e+02] [ 4.68580969e-01 8.83357889e-01 -1.05221874e-02 3.05195843e+01] [ 2.20840990e-02 1.94069090e-04 9.99756098e-01 8.01734850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4492541539998 meters Centerline goodness [0,1] 0.9998265657857653 Centerline is valid? [True, True] Translation: X:862.58, Y:30.53, Z:8.02 [[ 8.80724209e-01 -4.73213357e-01 -1.98491105e-02 8.62583765e+02] [ 4.73090961e-01 8.80947848e-01 -1.07625073e-02 3.05299847e+01] [ 2.25789934e-02 8.83659353e-05 9.99745058e-01 8.01673873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4792541539999 meters Centerline goodness [0,1] 0.999848225320353 Centerline is valid? [True, True] Translation: X:862.61, Y:30.54, Z:8.02 [[ 8.77769831e-01 -4.78667517e-01 -1.99382024e-02 8.62609882e+02] [ 4.78545319e-01 8.77996245e-01 -1.08153592e-02 3.05385338e+01] [ 2.26826280e-02 -4.79373945e-05 9.99742715e-01 8.01767225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5092541539999 meters Centerline goodness [0,1] 0.9998476173890328 Centerline is valid? [True, True] Translation: X:862.64, Y:30.55, Z:8.02 [[ 8.76210330e-01 -4.81535305e-01 -1.94732631e-02 8.62636127e+02] [ 4.81419329e-01 8.76426686e-01 -1.05685111e-02 3.05499068e+01] [ 2.21559987e-02 -1.14566691e-04 9.99754519e-01 8.01831120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5392541539999 meters Centerline goodness [0,1] 0.9999782528325686 Centerline is valid? [True, True] Translation: X:862.66, Y:30.56, Z:8.02 [[ 8.74727942e-01 -4.84243462e-01 -1.89551067e-02 8.62662010e+02] [ 4.84134110e-01 8.74933277e-01 -1.02919969e-02 3.05606072e+01] [ 2.15682859e-02 -1.74116392e-04 9.99767362e-01 8.02030333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5692541539999 meters Centerline goodness [0,1] 0.9999782556698341 Centerline is valid? [True, True] Translation: X:862.69, Y:30.57, Z:8.02 [[ 8.73227969e-01 -4.86943924e-01 -1.89348885e-02 8.62688205e+02] [ 4.86835383e-01 8.73433202e-01 -1.02835521e-02 3.05717842e+01] [ 2.15458735e-02 -2.38288335e-04 9.99767832e-01 8.02069559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5992541539998 meters Centerline goodness [0,1] 0.9998907462034305 Centerline is valid? [True, True] Translation: X:862.71, Y:30.58, Z:8.02 [[ 8.71481516e-01 -4.90046347e-01 -1.93531670e-02 8.62713941e+02] [ 4.89933622e-01 8.71696321e-01 -1.05151996e-02 3.05848860e+01] [ 2.20230196e-02 -3.17965138e-04 9.99757413e-01 8.02066661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6292541539999 meters Centerline goodness [0,1] 0.9999564346083472 Centerline is valid? [True, True] Translation: X:862.74, Y:30.60, Z:8.02 [[ 8.70366602e-01 -4.92047162e-01 -1.87501745e-02 8.62739581e+02] [ 4.91941736e-01 8.70568473e-01 -1.01913314e-02 3.05958433e+01] [ 2.13379264e-02 -3.53798865e-04 9.99772258e-01 8.02197752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6592541539999 meters Centerline goodness [0,1] 0.9999126026918371 Centerline is valid? [True, True] Translation: X:862.77, Y:30.61, Z:8.02 [[ 8.68349155e-01 -4.95607846e-01 -1.85096509e-02 8.62765379e+02] [ 4.95505859e-01 8.68546300e-01 -1.00632643e-02 3.06079008e+01] [ 2.10639216e-02 -4.33213461e-04 9.99778037e-01 8.02239458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6892541539999 meters Centerline goodness [0,1] 0.9997812199177387 Centerline is valid? [True, True] Translation: X:862.79, Y:30.62, Z:8.02 [[ 8.66907998e-01 -4.98107055e-01 -1.89706485e-02 8.62790861e+02] [ 4.98000450e-01 8.67115395e-01 -1.03171297e-02 3.06190505e+01] [ 2.15887765e-02 -5.03389261e-04 9.99766808e-01 8.02100236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7192541539998 meters Centerline goodness [0,1] 0.9999781392095138 Centerline is valid? [True, True] Translation: X:862.82, Y:30.63, Z:8.02 [[ 8.66540066e-01 -4.98768541e-01 -1.83917480e-02 8.62815905e+02] [ 4.98668389e-01 8.66735077e-01 -1.00072112e-02 3.06321402e+01] [ 2.09320552e-02 -4.99733907e-04 9.99780776e-01 8.02434673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7492541539999 meters Centerline goodness [0,1] 0.9998910271778219 Centerline is valid? [True, True] Translation: X:862.84, Y:30.65, Z:8.02 [[ 8.65647459e-01 -5.00273521e-01 -1.95161933e-02 8.62840765e+02] [ 5.00160982e-01 8.65867246e-01 -1.06256809e-02 3.06470844e+01] [ 2.22141793e-02 -5.63144779e-04 9.99753076e-01 8.02270766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7792541539999 meters Centerline goodness [0,1] 0.9998687491796824 Centerline is valid? [True, True] Translation: X:862.87, Y:30.66, Z:8.02 [[ 8.64759592e-01 -5.01789451e-01 -1.99547983e-02 8.62866345e+02] [ 5.01672109e-01 8.64989579e-01 -1.08684546e-02 3.06588860e+01] [ 2.27143684e-02 -6.12165407e-04 9.99741808e-01 8.02098994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8092541539999 meters Centerline goodness [0,1] 0.9997811576758945 Centerline is valid? [True, True] Translation: X:862.89, Y:30.67, Z:8.02 [[ 8.64117407e-01 -5.02887976e-01 -2.01194209e-02 8.62890607e+02] [ 5.02768879e-01 8.64351359e-01 -1.09628046e-02 3.06743499e+01] [ 2.29033114e-02 -6.42268384e-04 9.99737478e-01 8.02148867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8392541539998 meters Centerline goodness [0,1] 0.9998257156550913 Centerline is valid? [True, True] Translation: X:862.92, Y:30.69, Z:8.02 [[ 8.63676413e-01 -5.03635257e-01 -2.03612736e-02 8.62916376e+02] [ 5.03513394e-01 8.63916132e-01 -1.10985761e-02 3.06856715e+01] [ 2.31800669e-02 -6.66595607e-04 9.99731084e-01 8.02037551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8692541539999 meters Centerline goodness [0,1] 0.9998471448848127 Centerline is valid? [True, True] Translation: X:862.94, Y:30.70, Z:8.02 [[ 8.62876478e-01 -5.05008202e-01 -2.02706604e-02 8.62940491e+02] [ 5.04887732e-01 8.63114262e-01 -1.10520932e-02 3.07006355e+01] [ 2.30772938e-02 -6.97816564e-04 9.99733440e-01 8.02132307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8992541539999 meters Centerline goodness [0,1] 0.9999123882950762 Centerline is valid? [True, True] Translation: X:862.96, Y:30.72, Z:8.02 [[ 8.62523070e-01 -5.05618383e-01 -2.00998695e-02 8.62964827e+02] [ 5.05499983e-01 8.62756951e-01 -1.09641051e-02 3.07163913e+01] [ 2.28849552e-02 -7.03690099e-04 9.99737857e-01 8.02367520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:862.99, Y:30.73, Z:8.03 [[ 8.62866940e-01 -5.05069591e-01 -1.91142054e-02 8.62989106e+02] [ 5.04962291e-01 8.63078377e-01 -1.04307520e-02 3.07294506e+01] [ 2.17653130e-02 -6.51601882e-04 9.99762895e-01 8.02569047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9592541539998 meters Centerline goodness [0,1] 0.9998252664686353 Centerline is valid? [True, True] Translation: X:863.01, Y:30.74, Z:8.02 [[ 8.62728144e-01 -5.05290582e-01 -1.95340337e-02 8.63013047e+02] [ 5.05178452e-01 8.62949004e-01 -1.06652895e-02 3.07448460e+01] [ 2.22459452e-02 -6.66927456e-04 9.99752306e-01 8.02302679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9892541539999 meters Centerline goodness [0,1] 0.9998912783491705 Centerline is valid? [True, True] Translation: X:863.04, Y:30.76, Z:8.03 [[ 8.64234736e-01 -5.02747422e-01 -1.85297361e-02 8.63036997e+02] [ 5.02645851e-01 8.64433172e-01 -1.01212419e-02 3.07618340e+01] [ 2.11061469e-02 -5.66766142e-04 9.99777080e-01 8.02505127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0192541539999 meters Centerline goodness [0,1] 0.999912798936147 Centerline is valid? [True, True] Translation: X:863.06, Y:30.78, Z:8.03 [[ 8.65305623e-01 -5.00933085e-01 -1.76698090e-02 8.63060247e+02] [ 5.00840302e-01 8.65485874e-01 -9.65372028e-03 3.07768000e+01] [ 2.01288380e-02 -4.96334048e-04 9.99797271e-01 8.02649445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0492541539999 meters Centerline goodness [0,1] 0.9997606926858983 Centerline is valid? [True, True] Translation: X:863.08, Y:30.80, Z:8.03 [[ 8.67713117e-01 -4.96738209e-01 -1.80304612e-02 8.63081278e+02] [ 4.96640654e-01 8.67900332e-01 -9.85259588e-03 3.07979864e+01] [ 2.05428041e-02 -4.05433375e-04 9.99788892e-01 8.02563110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0792541539998 meters Centerline goodness [0,1] 0.9999349819032964 Centerline is valid? [True, True] Translation: X:863.11, Y:30.81, Z:8.03 [[ 8.69412995e-01 -4.93765016e-01 -1.78087894e-02 8.63105696e+02] [ 4.93669142e-01 8.69595309e-01 -9.73532476e-03 3.08126824e+01] [ 2.02934025e-02 -3.27631929e-04 9.99794014e-01 8.02591196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1092541539999 meters Centerline goodness [0,1] 0.9998919806429312 Centerline is valid? [True, True] Translation: X:863.13, Y:30.83, Z:8.02 [[ 8.72706981e-01 -4.87874308e-01 -1.90048551e-02 8.63127492e+02] [ 4.87763622e-01 8.72913868e-01 -1.03936913e-02 3.08341361e+01] [ 2.16604165e-02 -1.99230016e-04 9.99765366e-01 8.02447936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1392541539999 meters Centerline goodness [0,1] 0.9997620850005408 Centerline is valid? [True, True] Translation: X:863.15, Y:30.85, Z:8.02 [[ 8.74274072e-01 -4.85032351e-01 -1.97095311e-02 8.63149735e+02] [ 4.84912522e-01 8.74496199e-01 -1.07816808e-02 3.08506262e+01] [ 2.24653740e-02 -1.31254430e-04 9.99747613e-01 8.02294361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1692541539999 meters Centerline goodness [0,1] 0.999804937254817 Centerline is valid? [True, True] Translation: X:863.17, Y:30.87, Z:8.02 [[ 8.77174046e-01 -4.79721840e-01 -2.08002224e-02 8.63170451e+02] [ 4.79586749e-01 8.77420627e-01 -1.13839065e-02 3.08704340e+01] [ 2.37116527e-02 1.01563104e-05 9.99718839e-01 8.02221954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1992541539998 meters Centerline goodness [0,1] 0.9998493749058593 Centerline is valid? [True, True] Translation: X:863.19, Y:30.89, Z:8.02 [[ 8.78324626e-01 -4.77591966e-01 -2.12547837e-02 8.63194657e+02] [ 4.77450104e-01 8.78581760e-01 -1.16400289e-02 3.08869723e+01] [ 2.42332496e-02 7.56253456e-05 9.99706329e-01 8.02245459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2292541539999 meters Centerline goodness [0,1] 0.9999568863308111 Centerline is valid? [True, True] Translation: X:863.22, Y:30.90, Z:8.02 [[ 8.79172678e-01 -4.76050636e-01 -2.07652073e-02 8.63218248e+02] [ 4.75914631e-01 8.79417863e-01 -1.13792341e-02 3.09024941e+01] [ 2.36783859e-02 1.21845769e-04 9.99719620e-01 8.02409976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2592541539999 meters Centerline goodness [0,1] 0.9999141612480954 Centerline is valid? [True, True] Translation: X:863.24, Y:30.92, Z:8.02 [[ 8.79980861e-01 -4.74537912e-01 -2.11531225e-02 8.63241017e+02] [ 4.74396228e-01 8.80235049e-01 -1.15964393e-02 3.09180860e+01] [ 2.41226699e-02 1.69683104e-04 9.99708992e-01 8.02306987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2892541539999 meters Centerline goodness [0,1] 0.9999354005167959 Centerline is valid? [True, True] Translation: X:863.27, Y:30.93, Z:8.02 [[ 8.79653391e-01 -4.75148739e-01 -2.10615126e-02 8.63266114e+02] [ 4.75008317e-01 8.79905478e-01 -1.15519629e-02 3.09316365e+01] [ 2.40210409e-02 1.57329670e-04 9.99711441e-01 8.02459831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:863.29, Y:30.94, Z:8.03 [[ 8.79290108e-01 -4.75850868e-01 -2.03680313e-02 8.63290475e+02] [ 4.75719629e-01 8.79525970e-01 -1.11759686e-02 3.09448360e+01] [ 2.32323069e-02 1.37446382e-04 9.99730084e-01 8.02653010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3492541539998 meters Centerline goodness [0,1] 0.9998714983294783 Centerline is valid? [True, True] Translation: X:863.32, Y:30.96, Z:8.03 [[ 8.77186269e-01 -4.79727180e-01 -2.01514850e-02 8.63316941e+02] [ 4.79599627e-01 8.77417706e-01 -1.10619167e-02 3.09569460e+01] [ 2.29879719e-02 3.87167452e-05 9.99735741e-01 8.02515013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3792541539999 meters Centerline goodness [0,1] 0.9996568070182965 Centerline is valid? [True, True] Translation: X:863.34, Y:30.97, Z:8.03 [[ 8.74297496e-01 -4.84966925e-01 -2.02724149e-02 8.63343948e+02] [ 4.84839088e-01 8.74532488e-01 -1.11348647e-02 3.09676640e+01] [ 2.31289266e-02 -9.36748436e-05 9.99732486e-01 8.02522806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4092541539999 meters Centerline goodness [0,1] 0.9999138376701706 Centerline is valid? [True, True] Translation: X:863.37, Y:30.98, Z:8.03 [[ 8.72784440e-01 -4.87704809e-01 -1.97823561e-02 8.63369224e+02] [ 4.87583623e-01 8.73008588e-01 -1.08726838e-02 3.09794452e+01] [ 2.25728270e-02 -1.56043605e-04 9.99745189e-01 8.02764073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4392541539999 meters Centerline goodness [0,1] 0.9998707732069783 Centerline is valid? [True, True] Translation: X:863.39, Y:30.99, Z:8.03 [[ 8.71302561e-01 -4.90318278e-01 -2.04898143e-02 8.63394967e+02] [ 4.90188881e-01 8.71543421e-01 -1.12661789e-02 3.09907579e+01] [ 2.33817763e-02 -2.27628648e-04 9.99726583e-01 8.02672615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4692541539998 meters Centerline goodness [0,1] 0.9998486551932889 Centerline is valid? [True, True] Translation: X:863.42, Y:31.00, Z:8.03 [[ 8.68453932e-01 -4.95310584e-01 -2.13352515e-02 8.63421718e+02] [ 4.95171658e-01 8.68715884e-01 -1.17363595e-02 3.10020555e+01] [ 2.43474149e-02 -3.72124276e-04 9.99703488e-01 8.02691002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4992541539999 meters Centerline goodness [0,1] 0.9998705417826397 Centerline is valid? [True, True] Translation: X:863.45, Y:31.02, Z:8.03 [[ 8.67301097e-01 -4.97313560e-01 -2.16339873e-02 8.63447815e+02] [ 4.97171160e-01 8.67570769e-01 -1.19078893e-02 3.10151807e+01] [ 2.46909698e-02 -4.28069061e-04 9.99695040e-01 8.02774581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5292541539999 meters Centerline goodness [0,1] 0.9996981587684878 Centerline is valid? [True, True] Translation: X:863.47, Y:31.03, Z:8.03 [[ 8.65617044e-01 -5.00171218e-01 -2.31492181e-02 8.63474228e+02] [ 5.00009083e-01 8.65926359e-01 -1.27458891e-02 3.10269999e+01] [ 2.64206450e-02 -5.41760454e-04 9.99650767e-01 8.02635202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5592541539999 meters Centerline goodness [0,1] 0.9999349466562582 Centerline is valid? [True, True] Translation: X:863.50, Y:31.04, Z:8.03 [[ 8.65163396e-01 -5.00990919e-01 -2.23695548e-02 8.63498434e+02] [ 5.00839646e-01 8.65452370e-01 -1.23225351e-02 3.10410866e+01] [ 2.55332624e-02 -5.42553615e-04 9.99673826e-01 8.02987674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5892541539998 meters Centerline goodness [0,1] 0.9996969762559252 Centerline is valid? [True, True] Translation: X:863.52, Y:31.05, Z:8.03 [[ 8.64423377e-01 -5.02226202e-01 -2.32608568e-02 8.63523376e+02] [ 5.02062945e-01 8.64736078e-01 -1.28185126e-02 3.10534197e+01] [ 2.65522950e-02 -5.97792358e-04 9.99647247e-01 8.02703332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6192541539999 meters Centerline goodness [0,1] 0.99972016531772 Centerline is valid? [True, True] Translation: X:863.55, Y:31.07, Z:8.03 [[ 8.64104068e-01 -5.02792926e-01 -2.28786450e-02 8.63548393e+02] [ 5.02635025e-01 8.64406683e-01 -1.26142027e-02 3.10672007e+01] [ 2.61187855e-02 -5.99624420e-04 9.99658666e-01 8.02806496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6492541539999 meters Centerline goodness [0,1] 0.999805900621118 Centerline is valid? [True, True] Translation: X:863.57, Y:31.08, Z:8.03 [[ 8.63731583e-01 -5.03432818e-01 -2.28724977e-02 8.63573171e+02] [ 5.03275023e-01 8.64034156e-01 -1.26185509e-02 3.10812950e+01] [ 2.61152119e-02 -6.12115891e-04 9.99658752e-01 8.02871408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6792541539999 meters Centerline goodness [0,1] 0.9998922158270279 Centerline is valid? [True, True] Translation: X:863.60, Y:31.09, Z:8.03 [[ 8.63736578e-01 -5.03434124e-01 -2.26540759e-02 8.63597744e+02] [ 5.03279219e-01 8.64033402e-01 -1.25023225e-02 3.10937599e+01] [ 2.58679741e-02 -6.02612401e-04 9.99665186e-01 8.02882893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:863.62, Y:31.11, Z:8.03 [[ 8.63649371e-01 -5.03620046e-01 -2.18314750e-02 8.63621868e+02] [ 5.03476116e-01 8.63925061e-01 -1.20536422e-02 3.11090511e+01] [ 2.49312142e-02 -5.81505707e-04 9.99689000e-01 8.03230765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7392541539999 meters Centerline goodness [0,1] 0.9998491086633183 Centerline is valid? [True, True] Translation: X:863.65, Y:31.12, Z:8.03 [[ 8.63317130e-01 -5.04157718e-01 -2.25505841e-02 8.63645742e+02] [ 5.04004197e-01 8.63611383e-01 -1.24558556e-02 3.11227294e+01] [ 2.57546569e-02 -6.12235488e-04 9.99668106e-01 8.03018553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7692541539999 meters Centerline goodness [0,1] 0.9999570391373459 Centerline is valid? [True, True] Translation: X:863.67, Y:31.14, Z:8.03 [[ 8.63618679e-01 -5.03736905e-01 -2.02954999e-02 8.63669742e+02] [ 5.03612322e-01 8.63856958e-01 -1.12154280e-02 3.11385134e+01] [ 2.31820339e-02 -5.35210706e-04 9.99731117e-01 8.03436526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7992541539999 meters Centerline goodness [0,1] 0.999699138245976 Centerline is valid? [True, True] Translation: X:863.69, Y:31.15, Z:8.03 [[ 8.63693238e-01 -5.03623789e-01 -1.99266261e-02 8.63694818e+02] [ 5.03503517e-01 8.63922920e-01 -1.10179680e-02 3.11532170e+01] [ 2.27639798e-02 -5.16981814e-04 9.99740733e-01 8.03488467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8292541539998 meters Centerline goodness [0,1] 0.9999785103365282 Centerline is valid? [True, True] Translation: X:863.72, Y:31.17, Z:8.04 [[ 8.64092988e-01 -5.02960912e-01 -1.93295052e-02 8.63719384e+02] [ 5.02847438e-01 8.64309026e-01 -1.06940436e-02 3.11691283e+01] [ 2.20853517e-02 -4.79144080e-04 9.99755974e-01 8.03740917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8592541539999 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:863.74, Y:31.18, Z:8.04 [[ 8.64892039e-01 -5.01592300e-01 -1.91552936e-02 8.63742052e+02] [ 5.01480440e-01 8.65104025e-01 -1.06016265e-02 3.11848064e+01] [ 2.18890158e-02 -4.36742734e-04 9.99760311e-01 8.03716097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8892541539999 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:863.77, Y:31.20, Z:8.04 [[ 8.65498747e-01 -5.00549965e-01 -1.90171123e-02 8.63766570e+02] [ 5.00439364e-01 8.65707554e-01 -1.05296574e-02 3.12006463e+01] [ 2.17338774e-02 -4.03506326e-04 9.99763710e-01 8.03731110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9192541539999 meters Centerline goodness [0,1] 0.9998294170327093 Centerline is valid? [True, True] Translation: X:863.79, Y:31.22, Z:8.03 [[ 8.66897892e-01 -4.98072855e-01 -2.02848779e-02 8.63789721e+02] [ 4.97946176e-01 8.67135112e-01 -1.12384363e-02 3.12175598e+01] [ 2.31872899e-02 -3.58200617e-04 9.99731074e-01 8.03436755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9492541539998 meters Centerline goodness [0,1] 0.9997869166844237 Centerline is valid? [True, True] Translation: X:863.81, Y:31.24, Z:8.03 [[ 8.68258809e-01 -4.95660357e-01 -2.11530620e-02 8.63813298e+02] [ 4.95521723e-01 8.68516391e-01 -1.17261197e-02 3.12356636e+01] [ 2.41839537e-02 -3.00494969e-04 9.99707480e-01 8.03302741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9792541539999 meters Centerline goodness [0,1] 0.9999147993524751 Centerline is valid? [True, True] Translation: X:863.84, Y:31.25, Z:8.03 [[ 8.69060508e-01 -4.94286356e-01 -2.03674018e-02 8.63837000e+02] [ 4.94157365e-01 8.69299106e-01 -1.12943531e-02 3.12505939e+01] [ 2.32880089e-02 -2.49225352e-04 9.99728766e-01 8.03469932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0092541539999 meters Centerline goodness [0,1] 0.9998717756929455 Centerline is valid? [True, True] Translation: X:863.86, Y:31.27, Z:8.03 [[ 8.69619783e-01 -4.93278372e-01 -2.09256091e-02 8.63860429e+02] [ 4.93141786e-01 8.69871484e-01 -1.16095071e-02 3.12667687e+01] [ 2.39293094e-02 -2.23435206e-04 9.99713628e-01 8.03428928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0392541539999 meters Centerline goodness [0,1] 0.9998077046343183 Centerline is valid? [True, True] Translation: X:863.88, Y:31.28, Z:8.03 [[ 8.69274394e-01 -4.93903260e-01 -2.05328391e-02 8.63883836e+02] [ 4.93771751e-01 8.69516830e-01 -1.13991636e-02 3.12816500e+01] [ 2.34837332e-02 -2.29534923e-04 9.99724193e-01 8.03475502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0692541539999 meters Centerline goodness [0,1] 0.9998930687140444 Centerline is valid? [True, True] Translation: X:863.91, Y:31.29, Z:8.04 [[ 8.68193183e-01 -4.95823817e-01 -1.99834730e-02 8.63908599e+02] [ 4.95699660e-01 8.68423094e-01 -1.10985321e-02 3.12939402e+01] [ 2.28570260e-02 -2.70130857e-04 9.99738708e-01 8.03596961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:863.93, Y:31.31, Z:8.04 [[ 8.66525760e-01 -4.98763315e-01 -1.91901657e-02 8.63934836e+02] [ 4.98649443e-01 8.66738165e-01 -1.06623730e-02 3.13060645e+01] [ 2.19508495e-02 -3.29944587e-04 9.99758997e-01 8.03812928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:863.96, Y:31.32, Z:8.04 [[ 8.66386316e-01 -4.99005609e-01 -1.91873434e-02 8.63958905e+02] [ 4.98891684e-01 8.66598692e-01 -1.06674503e-02 3.13195340e+01] [ 2.19508442e-02 -3.30273131e-04 9.99758997e-01 8.03838687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1592541539999 meters Centerline goodness [0,1] 0.9998932011876028 Centerline is valid? [True, True] Translation: X:863.98, Y:31.33, Z:8.04 [[ 8.64961452e-01 -5.01440716e-01 -1.99723395e-02 8.63983724e+02] [ 5.01317823e-01 8.65191912e-01 -1.11083330e-02 3.13320092e+01] [ 2.28500771e-02 -4.04209918e-04 9.99738821e-01 8.03589103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1892541539999 meters Centerline goodness [0,1] 0.9998932011876028 Centerline is valid? [True, True] Translation: X:864.01, Y:31.35, Z:8.04 [[ 8.64823100e-01 -5.01679379e-01 -1.99701363e-02 8.64007787e+02] [ 5.01556459e-01 8.65053545e-01 -1.11122929e-02 3.13454906e+01] [ 2.28500454e-02 -4.05983225e-04 9.99738821e-01 8.03614912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:864.03, Y:31.36, Z:8.04 [[ 8.63897555e-01 -5.03291625e-01 -1.94565069e-02 8.64033722e+02] [ 5.03175211e-01 8.64116517e-01 -1.08329617e-02 3.13586741e+01] [ 2.22648278e-02 -4.31462800e-04 9.99752015e-01 8.03893332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2492541539999 meters Centerline goodness [0,1] 0.9999147194269146 Centerline is valid? [True, True] Translation: X:864.06, Y:31.37, Z:8.04 [[ 8.60919409e-01 -5.08334180e-01 -2.03502511e-02 8.64060481e+02] [ 5.08208093e-01 8.61159696e-01 -1.13363302e-02 3.13717299e+01] [ 2.32874602e-02 -5.82495557e-04 9.99728641e-01 8.03814310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2792541539999 meters Centerline goodness [0,1] 0.9997226074895977 Centerline is valid? [True, True] Translation: X:864.09, Y:31.38, Z:8.04 [[ 8.59324792e-01 -5.10991256e-01 -2.11857947e-02 8.64086816e+02] [ 5.10855322e-01 8.59585642e-01 -1.18052500e-02 3.13845520e+01] [ 2.42433845e-02 -6.78331962e-04 9.99705856e-01 8.03638168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3092541539999 meters Centerline goodness [0,1] 0.9997645043887818 Centerline is valid? [True, True] Translation: X:864.11, Y:31.40, Z:8.04 [[ 8.58073108e-01 -5.13083314e-01 -2.13554107e-02 8.64111934e+02] [ 5.12945782e-01 8.58338490e-01 -1.19021496e-02 3.13962392e+01] [ 2.44369653e-02 -7.41253344e-04 9.99701098e-01 8.03649620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3392541539998 meters Centerline goodness [0,1] 0.999892722279437 Centerline is valid? [True, True] Translation: X:864.14, Y:31.41, Z:8.04 [[ 8.55794921e-01 -5.16886258e-01 -2.10630052e-02 8.64138105e+02] [ 5.16753563e-01 8.56053677e-01 -1.17412971e-02 3.14071933e+01] [ 2.40999782e-02 -8.36240538e-04 9.99709204e-01 8.03777702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3692541539999 meters Centerline goodness [0,1] 0.99976418633567 Centerline is valid? [True, True] Translation: X:864.16, Y:31.42, Z:8.04 [[ 8.54722690e-01 -5.18632157e-01 -2.16750848e-02 8.64162528e+02] [ 5.18492119e-01 8.54996994e-01 -1.20856396e-02 3.14219921e+01] [ 2.48001337e-02 -9.08490285e-04 9.99692017e-01 8.03738561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3992541539999 meters Centerline goodness [0,1] 0.9999145043389048 Centerline is valid? [True, True] Translation: X:864.19, Y:31.43, Z:8.04 [[ 8.53676368e-01 -5.20366398e-01 -2.13417352e-02 8.64187650e+02] [ 5.20231103e-01 8.53942577e-01 -1.19027113e-02 3.14343041e+01] [ 2.44183874e-02 -9.41571126e-04 9.99701383e-01 8.03857063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4292541539999 meters Centerline goodness [0,1] 0.9997641812802812 Centerline is valid? [True, True] Translation: X:864.21, Y:31.45, Z:8.04 [[ 8.53117916e-01 -5.21264089e-01 -2.17617001e-02 8.64211345e+02] [ 5.21123571e-01 8.53394859e-01 -1.21424213e-02 3.14503512e+01] [ 2.49007312e-02 -9.81617742e-04 9.99689447e-01 8.03805835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4592541539998 meters Centerline goodness [0,1] 0.9998281159358013 Centerline is valid? [True, True] Translation: X:864.24, Y:31.46, Z:8.04 [[ 8.53204291e-01 -5.21176936e-01 -2.04215221e-02 8.64235772e+02] [ 5.21053076e-01 8.53448161e-01 -1.13986366e-02 3.14632770e+01] [ 2.33694170e-02 -9.15331225e-04 9.99726479e-01 8.04006695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4892541539999 meters Centerline goodness [0,1] 0.9999145481734673 Centerline is valid? [True, True] Translation: X:864.26, Y:31.48, Z:8.04 [[ 8.53384653e-01 -5.20921236e-01 -1.93829961e-02 8.64260864e+02] [ 5.20809487e-01 8.53604317e-01 -1.08235305e-02 3.14780807e+01] [ 2.21836160e-02 -8.58213431e-04 9.99753545e-01 8.04149402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5192541539999 meters Centerline goodness [0,1] 0.9999356940752808 Centerline is valid? [True, True] Translation: X:864.29, Y:31.49, Z:8.04 [[ 8.53712065e-01 -5.20404818e-01 -1.88291233e-02 8.64285370e+02] [ 5.20299109e-01 8.53919294e-01 -1.05203322e-02 3.14938248e+01] [ 2.15533832e-02 -8.15441519e-04 9.99767366e-01 8.04259593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5492541539999 meters Centerline goodness [0,1] 0.9999360532037345 Centerline is valid? [True, True] Translation: X:864.31, Y:31.51, Z:8.04 [[ 8.55188528e-01 -5.17986182e-01 -1.85174691e-02 8.64308404e+02] [ 5.17883294e-01 8.55388666e-01 -1.03500444e-02 3.15101224e+01] [ 2.12008132e-02 -7.38648673e-04 9.99774965e-01 8.04295236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5792541539998 meters Centerline goodness [0,1] 0.9998716220553309 Centerline is valid? [True, True] Translation: X:864.33, Y:31.53, Z:8.04 [[ 8.55978775e-01 -5.16658744e-01 -1.90808471e-02 8.64331521e+02] [ 5.16549070e-01 8.56191111e-01 -1.06695449e-02 3.15272475e+01] [ 2.18493653e-02 -7.23289827e-04 9.99761012e-01 8.04282761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6092541539999 meters Centerline goodness [0,1] 0.9997865983781477 Centerline is valid? [True, True] Translation: X:864.36, Y:31.54, Z:8.04 [[ 8.57145411e-01 -5.14714243e-01 -1.92611585e-02 8.64355140e+02] [ 5.14601906e-01 8.57361528e-01 -1.07744237e-02 3.15420867e+01] [ 2.20595256e-02 -6.76581029e-04 9.99756430e-01 8.04203748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6392541539999 meters Centerline goodness [0,1] 0.9998295551389126 Centerline is valid? [True, True] Translation: X:864.38, Y:31.56, Z:8.04 [[ 8.60142626e-01 -5.09705282e-01 -1.88464297e-02 8.64377358e+02] [ 5.09596486e-01 8.60348906e-01 -1.05442867e-02 3.15612982e+01] [ 2.15889838e-02 -5.34483926e-04 9.99766788e-01 8.04255425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6692541539999 meters Centerline goodness [0,1] 0.9997026717070892 Centerline is valid? [True, True] Translation: X:864.40, Y:31.58, Z:8.04 [[ 8.61707456e-01 -5.07046427e-01 -1.90835498e-02 8.64400775e+02] [ 5.06934130e-01 8.61918616e-01 -1.06812019e-02 3.15775162e+01] [ 2.18643321e-02 -4.70031408e-04 9.99760836e-01 8.04298211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6992541539998 meters Centerline goodness [0,1] 0.9998943453638746 Centerline is valid? [True, True] Translation: X:864.42, Y:31.60, Z:8.04 [[ 8.65056978e-01 -5.01306361e-01 -1.91926662e-02 8.64422785e+02] [ 5.01191278e-01 8.65269801e-01 -1.07459118e-02 3.15975330e+01] [ 2.19938284e-02 -3.23370929e-04 9.99758054e-01 8.04363507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7292541539999 meters Centerline goodness [0,1] 0.9998515974474761 Centerline is valid? [True, True] Translation: X:864.45, Y:31.61, Z:8.04 [[ 8.66264563e-01 -4.99220118e-01 -1.91044977e-02 8.64446065e+02] [ 4.99105488e-01 8.66475160e-01 -1.07008391e-02 3.16143574e+01] [ 2.18956469e-02 -2.65401962e-04 9.99760226e-01 8.04359035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7592541539999 meters Centerline goodness [0,1] 0.999724687096296 Centerline is valid? [True, True] Translation: X:864.47, Y:31.63, Z:8.04 [[ 8.68375550e-01 -4.95503904e-01 -1.99946138e-02 8.64467845e+02] [ 4.95377260e-01 8.68605693e-01 -1.12035794e-02 3.16316483e+01] [ 2.29188528e-02 -1.75962547e-04 9.99737313e-01 8.04200434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7892541539999 meters Centerline goodness [0,1] 0.9998511588347863 Centerline is valid? [True, True] Translation: X:864.49, Y:31.65, Z:8.04 [[ 8.69212724e-01 -4.94055224e-01 -1.94596028e-02 8.64491741e+02] [ 4.93934800e-01 8.69430514e-01 -1.09084783e-02 3.16472318e+01] [ 2.23081631e-02 -1.29986851e-04 9.99751134e-01 8.04413232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8192541539999 meters Centerline goodness [0,1] 0.9997662806756613 Centerline is valid? [True, True] Translation: X:864.52, Y:31.66, Z:8.04 [[ 8.69493637e-01 -4.93531579e-01 -2.01840481e-02 8.64516196e+02] [ 4.93401709e-01 8.69727870e-01 -1.13219453e-02 3.16620210e+01] [ 2.31423667e-02 -1.14484452e-04 9.99732173e-01 8.04311437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8492541539998 meters Centerline goodness [0,1] 0.999894058818544 Centerline is valid? [True, True] Translation: X:864.54, Y:31.68, Z:8.04 [[ 8.69940446e-01 -4.92746958e-01 -2.01011531e-02 8.64540103e+02] [ 4.92617840e-01 8.70172642e-01 -1.12799178e-02 3.16767181e+01] [ 2.30496187e-02 -8.93299298e-05 9.99734318e-01 8.04457242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8792541539999 meters Centerline goodness [0,1] 0.9998310418382648 Centerline is valid? [True, True] Translation: X:864.56, Y:31.69, Z:8.05 [[ 8.69571854e-01 -4.93393686e-01 -2.01856602e-02 8.64564322e+02] [ 4.93263524e-01 8.69806105e-01 -1.13329455e-02 3.16908497e+01] [ 2.31492143e-02 -1.02039425e-04 9.99732016e-01 8.04518772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9092541539999 meters Centerline goodness [0,1] 0.999810106551324 Centerline is valid? [True, True] Translation: X:864.59, Y:31.70, Z:8.05 [[ 8.68742261e-01 -4.94886754e-01 -1.93386830e-02 8.64587760e+02] [ 4.94767548e-01 8.68957469e-01 -1.08623179e-02 3.17034419e+01] [ 2.21801102e-02 -1.31598160e-04 9.99753982e-01 8.04560517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9392541539999 meters Centerline goodness [0,1] 0.9998315009056826 Centerline is valid? [True, True] Translation: X:864.61, Y:31.72, Z:8.05 [[ 8.68189394e-01 -4.95868256e-01 -1.90223293e-02 8.64611826e+02] [ 4.95753086e-01 8.68397748e-01 -1.06877609e-02 3.17160903e+01] [ 2.18186693e-02 -1.51377813e-04 9.99761933e-01 8.04606573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9692541539998 meters Centerline goodness [0,1] 0.9999366232888288 Centerline is valid? [True, True] Translation: X:864.64, Y:31.73, Z:8.05 [[ 8.67590664e-01 -4.96953979e-01 -1.79772532e-02 8.64636655e+02] [ 4.96851246e-01 8.67776881e-01 -1.01056260e-02 3.17297863e+01] [ 2.06222758e-02 -1.64473884e-04 9.99787325e-01 8.05037610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9992541539999 meters Centerline goodness [0,1] 0.9997675990872983 Centerline is valid? [True, True] Translation: X:864.66, Y:31.74, Z:8.05 [[ 8.66170702e-01 -4.99373907e-01 -1.93394875e-02 8.64661953e+02] [ 4.99255510e-01 8.66386546e-01 -1.08760895e-02 3.17421708e+01] [ 2.21867070e-02 -2.34795598e-04 9.99753817e-01 8.04671952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0292541539999 meters Centerline goodness [0,1] 0.9997677462944977 Centerline is valid? [True, True] Translation: X:864.69, Y:31.76, Z:8.05 [[ 8.65611674e-01 -5.00321747e-01 -1.98640203e-02 8.64687375e+02] [ 5.00196979e-01 8.65839524e-01 -1.11759411e-02 3.17558255e+01] [ 2.27906202e-02 -2.61897871e-04 9.99740226e-01 8.04677159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0592541539999 meters Centerline goodness [0,1] 0.9998099341104917 Centerline is valid? [True, True] Translation: X:864.71, Y:31.77, Z:8.05 [[ 8.64659233e-01 -5.01916575e-01 -2.10751480e-02 8.64712891e+02] [ 5.01776427e-01 8.64915979e-01 -1.18644784e-02 3.17694911e+01] [ 2.41832106e-02 -3.16281631e-04 9.99707493e-01 8.04644258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0892541539998 meters Centerline goodness [0,1] 0.9997468087350987 Centerline is valid? [True, True] Translation: X:864.74, Y:31.78, Z:8.05 [[ 8.64111635e-01 -5.02828171e-01 -2.17924865e-02 8.64737718e+02] [ 5.02678499e-01 8.64386319e-01 -1.22726919e-02 3.17828745e+01] [ 2.50081824e-02 -3.49638565e-04 9.99687185e-01 8.04509942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1192541539999 meters Centerline goodness [0,1] 0.9999157877007937 Centerline is valid? [True, True] Translation: X:864.76, Y:31.80, Z:8.05 [[ 8.63145608e-01 -5.04470990e-01 -2.21060852e-02 8.64763104e+02] [ 5.04317375e-01 8.63428551e-01 -1.24548625e-02 3.17962801e+01] [ 2.53701419e-02 -3.98122948e-04 9.99678047e-01 8.04751907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1492541539999 meters Centerline goodness [0,1] 0.9998736230174611 Centerline is valid? [True, True] Translation: X:864.79, Y:31.81, Z:8.05 [[ 8.62502001e-01 -5.05548436e-01 -2.26070079e-02 8.64788560e+02] [ 5.05388034e-01 8.62798116e-01 -1.27415250e-02 3.18088052e+01] [ 2.59467419e-02 -4.35720432e-04 9.99663232e-01 8.04604860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1792541539999 meters Centerline goodness [0,1] 0.9996838777660696 Centerline is valid? [True, True] Translation: X:864.81, Y:31.82, Z:8.05 [[ 8.61071579e-01 -5.07951894e-01 -2.32510276e-02 8.64814186e+02] [ 5.07782938e-01 8.61385283e-01 -1.31103827e-02 3.18223960e+01] [ 2.66875367e-02 -5.17497171e-04 9.99643690e-01 8.04632848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2092541539998 meters Centerline goodness [0,1] 0.9997469582270206 Centerline is valid? [True, True] Translation: X:864.84, Y:31.83, Z:8.05 [[ 8.60302511e-01 -5.09258917e-01 -2.31288566e-02 8.64839000e+02] [ 5.09092088e-01 8.60613183e-01 -1.30458529e-02 3.18343090e+01] [ 2.65487159e-02 -5.51337900e-04 9.99647369e-01 8.04683711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2392541539999 meters Centerline goodness [0,1] 0.9997472939392663 Centerline is valid? [True, True] Translation: X:864.86, Y:31.85, Z:8.05 [[ 8.59458099e-01 -5.10701489e-01 -2.27104803e-02 8.64864741e+02] [ 5.10541000e-01 8.59757904e-01 -1.28154094e-02 3.18480760e+01] [ 2.60703636e-02 -5.80323936e-04 9.99659942e-01 8.04788605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2692541539999 meters Centerline goodness [0,1] 0.9998305084745762 Centerline is valid? [True, True] Translation: X:864.89, Y:31.86, Z:8.05 [[ 8.57744610e-01 -5.13659861e-01 -2.06816660e-02 8.64889933e+02] [ 5.13527473e-01 8.57993696e-01 -1.16770198e-02 3.18622558e+01] [ 2.37427555e-02 -6.04702863e-04 9.99717918e-01 8.05087174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2992541539999 meters Centerline goodness [0,1] 0.9997456225887141 Centerline is valid? [True, True] Translation: X:864.91, Y:31.88, Z:8.05 [[ 8.56797435e-01 -5.15236587e-01 -2.07223218e-02 8.64914516e+02] [ 5.15103974e-01 8.57047750e-01 -1.17068931e-02 3.18769981e+01] [ 2.37918389e-02 -6.43714357e-04 9.99716727e-01 8.05188291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3292541539998 meters Centerline goodness [0,1] 0.9998515659789223 Centerline is valid? [True, True] Translation: X:864.94, Y:31.89, Z:8.05 [[ 8.55388204e-01 -5.17609072e-01 -1.97956876e-02 8.64940233e+02] [ 5.17488573e-01 8.55616968e-01 -1.11884700e-02 3.18870926e+01] [ 2.27287798e-02 -6.73556872e-04 9.99741441e-01 8.05209135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3592541539999 meters Centerline goodness [0,1] 0.9997670429276351 Centerline is valid? [True, True] Translation: X:864.96, Y:31.90, Z:8.05 [[ 8.54638507e-01 -5.18838737e-01 -1.99846838e-02 8.64964203e+02] [ 5.18716131e-01 8.54871841e-01 -1.13009817e-02 3.19042647e+01] [ 2.29477305e-02 -7.08123746e-04 9.99736415e-01 8.05272302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3892541539999 meters Centerline goodness [0,1] 0.9997890072792489 Centerline is valid? [True, True] Translation: X:864.99, Y:31.92, Z:8.05 [[ 8.54280405e-01 -5.19439766e-01 -1.96804367e-02 8.64989290e+02] [ 5.19320876e-01 8.54506775e-01 -1.11354731e-02 3.19189296e+01] [ 2.26012740e-02 -7.07645109e-04 9.99744308e-01 8.05308718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:865.01, Y:31.94, Z:8.06 [[ 8.54846611e-01 -5.18557369e-01 -1.83173856e-02 8.65013077e+02] [ 5.18454052e-01 8.55042605e-01 -1.03701766e-02 3.19351304e+01] [ 2.10396766e-02 -6.31812493e-04 9.99778442e-01 8.05675631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4492541539998 meters Centerline goodness [0,1] 0.9997049401450009 Centerline is valid? [True, True] Translation: X:865.04, Y:31.95, Z:8.05 [[ 8.56345181e-01 -5.15999930e-01 -2.04206566e-02 8.65036227e+02] [ 5.15870624e-01 8.56588395e-01 -1.15681094e-02 3.19532436e+01] [ 2.34612411e-02 -6.28122067e-04 9.99724550e-01 8.05336330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4792541539999 meters Centerline goodness [0,1] 0.9997890695859436 Centerline is valid? [True, True] Translation: X:865.06, Y:31.97, Z:8.05 [[ 8.57676782e-01 -5.13792416e-01 -2.01963164e-02 8.65059768e+02] [ 5.13665227e-01 8.57914356e-01 -1.14451877e-02 3.19687901e+01] [ 2.32071604e-02 -5.57873647e-04 9.99730522e-01 8.05388048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5092541539999 meters Centerline goodness [0,1] 0.9999790703028527 Centerline is valid? [True, True] Translation: X:865.08, Y:31.98, Z:8.06 [[ 8.59384574e-01 -5.10975047e-01 -1.90435128e-02 8.65083063e+02] [ 5.10861230e-01 8.59595426e-01 -1.07938464e-02 3.19848708e+01] [ 2.18851027e-02 -4.52527277e-04 9.99760390e-01 8.05623209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5392541539999 meters Centerline goodness [0,1] 0.9997689803633308 Centerline is valid? [True, True] Translation: X:865.10, Y:32.00, Z:8.05 [[ 8.62390750e-01 -5.05834540e-01 -2.03374616e-02 8.65104853e+02] [ 5.05703248e-01 8.62630455e-01 -1.15292365e-02 3.20046376e+01] [ 2.33755998e-02 -3.42013445e-04 9.99726695e-01 8.05357912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5692541539999 meters Centerline goodness [0,1] 0.999832059786716 Centerline is valid? [True, True] Translation: X:865.13, Y:32.02, Z:8.05 [[ 8.63976361e-01 -5.03132324e-01 -2.00676691e-02 8.65128490e+02] [ 5.03003659e-01 8.64209347e-01 -1.13808315e-02 3.20224228e+01] [ 2.30687315e-02 -2.61341570e-04 9.99733847e-01 8.05448223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5992541539998 meters Centerline goodness [0,1] 0.999979081248431 Centerline is valid? [True, True] Translation: X:865.15, Y:32.04, Z:8.06 [[ 8.66622633e-01 -4.98613592e-01 -1.87002293e-02 8.65150473e+02] [ 4.98500732e-01 8.66824359e-01 -1.06090050e-02 3.20404379e+01] [ 2.14996084e-02 -1.28074191e-04 9.99768849e-01 8.05544664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6292541539999 meters Centerline goodness [0,1] 0.9998535718021128 Centerline is valid? [True, True] Translation: X:865.17, Y:32.06, Z:8.05 [[ 8.67211711e-01 -4.97566859e-01 -1.92631268e-02 8.65174111e+02] [ 4.97446728e-01 8.67425622e-01 -1.09335558e-02 3.20559611e+01] [ 2.21495048e-02 -1.00671704e-04 9.99754665e-01 8.05446299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6592541539999 meters Centerline goodness [0,1] 0.9997480791031617 Centerline is valid? [True, True] Translation: X:865.20, Y:32.07, Z:8.05 [[ 8.67572684e-01 -4.96915025e-01 -1.98266555e-02 8.65197970e+02] [ 4.96787418e-01 8.67799200e-01 -1.12610174e-02 3.20710567e+01] [ 2.28013245e-02 -7.98819270e-05 9.99740013e-01 8.05462302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6892541539999 meters Centerline goodness [0,1] 0.9998325028265148 Centerline is valid? [True, True] Translation: X:865.22, Y:32.09, Z:8.06 [[ 8.67948304e-01 -4.96306027e-01 -1.86029214e-02 8.65222182e+02] [ 4.96193410e-01 8.68147640e-01 -1.05724187e-02 3.20862122e+01] [ 2.13972375e-02 -5.43340771e-05 9.99771051e-01 8.05646793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7192541539998 meters Centerline goodness [0,1] 0.9997691355174513 Centerline is valid? [True, True] Translation: X:865.24, Y:32.10, Z:8.06 [[ 8.68033852e-01 -4.96167730e-01 -1.82979749e-02 8.65244955e+02] [ 4.96058651e-01 8.68226688e-01 -1.04035295e-02 3.21001720e+01] [ 2.10486857e-02 -4.62529905e-05 9.99778451e-01 8.05617235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7492541539999 meters Centerline goodness [0,1] 0.9998116839638433 Centerline is valid? [True, True] Translation: X:865.27, Y:32.11, Z:8.06 [[ 8.67948958e-01 -4.96323722e-01 -1.80933571e-02 8.65268776e+02] [ 4.96216996e-01 8.68137524e-01 -1.02923148e-02 3.21142514e+01] [ 2.08158422e-02 -4.50274294e-05 9.99783326e-01 8.05683141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7792541539999 meters Centerline goodness [0,1] 0.9998107613700877 Centerline is valid? [True, True] Translation: X:865.29, Y:32.13, Z:8.06 [[ 8.67669430e-01 -4.96815384e-01 -1.80065273e-02 8.65292713e+02] [ 4.96709644e-01 8.67856251e-01 -1.02497802e-02 3.21290684e+01] [ 2.07193258e-02 -5.05948714e-05 9.99785330e-01 8.05689395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8092541539999 meters Centerline goodness [0,1] 0.9998319151171342 Centerline is valid? [True, True] Translation: X:865.32, Y:32.14, Z:8.06 [[ 8.67450131e-01 -4.97196412e-01 -1.80554062e-02 8.65316141e+02] [ 4.97090061e-01 8.67638015e-01 -1.02833234e-02 3.21427832e+01] [ 2.07783883e-02 -5.48927332e-05 9.99784104e-01 8.05720325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8392541539998 meters Centerline goodness [0,1] 0.9998737187717046 Centerline is valid? [True, True] Translation: X:865.34, Y:32.16, Z:8.06 [[ 8.67155872e-01 -4.97704835e-01 -1.81821615e-02 8.65340382e+02] [ 4.97596973e-01 8.67346466e-01 -1.03614592e-02 3.21570657e+01] [ 2.09271819e-02 -6.23883739e-05 9.99781001e-01 8.05707099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8692541539999 meters Centerline goodness [0,1] 0.9999579292791182 Centerline is valid? [True, True] Translation: X:865.36, Y:32.17, Z:8.06 [[ 8.67017545e-01 -4.97963140e-01 -1.76999362e-02 8.65364896e+02] [ 4.97860842e-01 8.67198194e-01 -1.00932655e-02 3.21711061e+01] [ 2.03754269e-02 -6.10668596e-05 9.99792398e-01 8.05880806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8992541539999 meters Centerline goodness [0,1] 0.9998313872613076 Centerline is valid? [True, True] Translation: X:865.39, Y:32.18, Z:8.06 [[ 8.66457850e-01 -4.98911153e-01 -1.83971735e-02 8.65389445e+02] [ 4.98800757e-01 8.66653134e-01 -1.04952513e-02 3.21843080e+01] [ 2.11801660e-02 -8.28312307e-05 9.99775672e-01 8.05694298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9292541539999 meters Centerline goodness [0,1] 0.9998531447992279 Centerline is valid? [True, True] Translation: X:865.41, Y:32.20, Z:8.06 [[ 8.66162472e-01 -4.99418221e-01 -1.85475620e-02 8.65413357e+02] [ 4.99306052e-01 8.66361029e-01 -1.05846174e-02 3.21973550e+01] [ 2.13550356e-02 -9.29116110e-05 9.99771951e-01 8.05737737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9592541539998 meters Centerline goodness [0,1] 0.9998110791578328 Centerline is valid? [True, True] Translation: X:865.44, Y:32.21, Z:8.06 [[ 8.65430238e-01 -5.00658982e-01 -1.92636140e-02 8.65438579e+02] [ 5.00538216e-01 8.65644597e-01 -1.09966649e-02 3.22103407e+01] [ 2.21810225e-02 -1.25328691e-04 9.99753963e-01 8.05725994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9892541539999 meters Centerline goodness [0,1] 0.9999157735149817 Centerline is valid? [True, True] Translation: X:865.46, Y:32.22, Z:8.06 [[ 8.65145968e-01 -5.01162634e-01 -1.89332796e-02 8.65463112e+02] [ 5.01045987e-01 8.65353106e-01 -1.08130269e-02 3.22234850e+01] [ 2.18030573e-02 -1.31597095e-04 9.99762276e-01 8.05857122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0192541539999 meters Centerline goodness [0,1] 0.9998943855350428 Centerline is valid? [True, True] Translation: X:865.49, Y:32.24, Z:8.06 [[ 8.64628003e-01 -5.02013332e-01 -2.00257486e-02 8.65487860e+02] [ 5.01882957e-01 8.64859867e-01 -1.14415030e-02 3.22356517e+01] [ 2.30632533e-02 -1.57938102e-04 9.99733995e-01 8.05755120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0492541539999 meters Centerline goodness [0,1] 0.9998943855350428 Centerline is valid? [True, True] Translation: X:865.51, Y:32.25, Z:8.06 [[ 8.64489195e-01 -5.02252419e-01 -2.00234678e-02 8.65511751e+02] [ 5.02122015e-01 8.64721043e-01 -1.14454938e-02 3.22494028e+01] [ 2.30632408e-02 -1.59718289e-04 9.99733995e-01 8.05780918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0792541539998 meters Centerline goodness [0,1] 0.9998320738874895 Centerline is valid? [True, True] Translation: X:865.54, Y:32.26, Z:8.06 [[ 8.64113174e-01 -5.02874489e-01 -2.06318016e-02 8.65536850e+02] [ 5.02736111e-01 8.64359426e-01 -1.17977125e-02 3.22614161e+01] [ 2.37660609e-02 -1.77792915e-04 9.99717531e-01 8.05664807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1092541539999 meters Centerline goodness [0,1] 0.9998320738874895 Centerline is valid? [True, True] Translation: X:865.56, Y:32.28, Z:8.06 [[ 8.63976476e-01 -5.03109406e-01 -2.06294602e-02 8.65560734e+02] [ 5.02970997e-01 8.64222711e-01 -1.18018059e-02 3.22751802e+01] [ 2.37660475e-02 -1.79537461e-04 9.99717531e-01 8.05690604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1392541539999 meters Centerline goodness [0,1] 0.999748770019889 Centerline is valid? [True, True] Translation: X:865.59, Y:32.29, Z:8.06 [[ 8.63817673e-01 -5.03367266e-01 -2.09862720e-02 8.65585546e+02] [ 5.03223919e-01 8.64072545e-01 -1.20135347e-02 3.22876297e+01] [ 2.41808816e-02 -1.83290467e-04 9.99707583e-01 8.05697045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1692541539999 meters Centerline goodness [0,1] 0.9997485120295079 Centerline is valid? [True, True] Translation: X:865.61, Y:32.30, Z:8.06 [[ 8.63675004e-01 -5.03605776e-01 -2.11354923e-02 8.65609909e+02] [ 5.03460270e-01 8.63933555e-01 -1.21065348e-02 3.23009650e+01] [ 2.43565818e-02 -1.84769140e-04 9.99703317e-01 8.05675603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1992541539998 meters Centerline goodness [0,1] 0.999705393405021 Centerline is valid? [True, True] Translation: X:865.63, Y:32.31, Z:8.06 [[ 8.63567220e-01 -5.03792502e-01 -2.10895891e-02 8.65634729e+02] [ 5.03647501e-01 8.63824682e-01 -1.20877341e-02 3.23143606e+01] [ 2.43074174e-02 -1.83147908e-04 9.99704514e-01 8.05736543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2292541539999 meters Centerline goodness [0,1] 0.9999157983370172 Centerline is valid? [True, True] Translation: X:865.66, Y:32.33, Z:8.06 [[ 8.63880067e-01 -5.03331408e-01 -1.92021681e-02 8.65660077e+02] [ 5.03211003e-01 8.64093439e-01 -1.10097813e-02 3.23268230e+01] [ 2.21340362e-02 -1.51611671e-04 9.99755001e-01 8.06028626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2592541539999 meters Centerline goodness [0,1] 0.9998530060267529 Centerline is valid? [True, True] Translation: X:865.69, Y:32.34, Z:8.06 [[ 8.64206250e-01 -5.02736381e-01 -2.00919995e-02 8.65685016e+02] [ 5.02604344e-01 8.64439768e-01 -1.15222118e-02 3.23396947e+01] [ 2.31609585e-02 -1.40758741e-04 9.99731739e-01 8.05992837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2892541539999 meters Centerline goodness [0,1] 0.9998313765992876 Centerline is valid? [True, True] Translation: X:865.71, Y:32.35, Z:8.06 [[ 8.64444411e-01 -5.02319444e-01 -2.02740527e-02 8.65709639e+02] [ 5.02184770e-01 8.64682115e-01 -1.16316926e-02 3.23538199e+01] [ 2.33734362e-02 -1.26368854e-04 9.99726796e-01 8.05959123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3192541539999 meters Centerline goodness [0,1] 0.9998736602724727 Centerline is valid? [True, True] Translation: X:865.73, Y:32.37, Z:8.06 [[ 8.64848341e-01 -5.01634102e-01 -2.00143656e-02 8.65734049e+02] [ 5.01502515e-01 8.65079891e-01 -1.14895519e-02 3.23681445e+01] [ 2.30775762e-02 -1.00534801e-04 9.99733672e-01 8.06009905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3492541539998 meters Centerline goodness [0,1] 0.9998317666603579 Centerline is valid? [True, True] Translation: X:865.76, Y:32.38, Z:8.06 [[ 8.65916950e-01 -4.99803466e-01 -1.96043464e-02 8.65757493e+02] [ 4.99676657e-01 8.66138841e-01 -1.12581293e-02 3.23823037e+01] [ 2.26069379e-02 -4.72292440e-05 9.99744429e-01 8.06065071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3792541539999 meters Centerline goodness [0,1] 0.9999158620979786 Centerline is valid? [True, True] Translation: X:865.78, Y:32.40, Z:8.06 [[ 8.66626928e-01 -4.98568883e-01 -1.96681662e-02 8.65780542e+02] [ 4.98440871e-01 8.66850084e-01 -1.12973459e-02 3.23962289e+01] [ 2.26818567e-02 -1.28336890e-05 9.99742734e-01 8.06038222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4092541539999 meters Centerline goodness [0,1] 0.9997694741915879 Centerline is valid? [True, True] Translation: X:865.81, Y:32.41, Z:8.06 [[ 8.66601021e-01 -4.98554691e-01 -2.11161226e-02 8.65806181e+02] [ 4.98407006e-01 8.66858247e-01 -1.21341351e-02 3.24105038e+01] [ 2.43542150e-02 -8.96951446e-06 9.99703392e-01 8.05844076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4392541539999 meters Centerline goodness [0,1] 0.9998950770134721 Centerline is valid? [True, True] Translation: X:865.83, Y:32.42, Z:8.06 [[ 8.66894255e-01 -4.98099057e-01 -1.97909004e-02 8.65831665e+02] [ 4.97969069e-01 8.67120135e-01 -1.13788051e-02 3.24247600e+01] [ 2.28288603e-02 8.96449899e-06 9.99739388e-01 8.06427210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4692541539998 meters Centerline goodness [0,1] 0.9998522645730447 Centerline is valid? [True, True] Translation: X:865.86, Y:32.44, Z:8.06 [[ 8.67131706e-01 -4.97675765e-01 -2.00359321e-02 8.65856476e+02] [ 4.97542251e-01 8.67363149e-01 -1.15271589e-02 3.24375590e+01] [ 2.31152168e-02 2.68421696e-05 9.99732807e-01 8.06461875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:865.88, Y:32.45, Z:8.07 [[ 8.67543923e-01 -4.97009481e-01 -1.86846790e-02 8.65880601e+02] [ 4.96893125e-01 8.67745109e-01 -1.07540068e-02 3.24511888e+01] [ 2.15583821e-02 4.52847315e-05 9.99767590e-01 8.06639605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5292541539999 meters Centerline goodness [0,1] 0.9999154369794089 Centerline is valid? [True, True] Translation: X:865.90, Y:32.46, Z:8.06 [[ 8.67917950e-01 -4.96338933e-01 -1.91336346e-02 8.65904864e+02] [ 4.96216703e-01 8.68128827e-01 -1.10147394e-02 3.24648982e+01] [ 2.20775037e-02 6.54609620e-05 9.99756260e-01 8.06116638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5592541539999 meters Centerline goodness [0,1] 0.9998521928250175 Centerline is valid? [True, True] Translation: X:865.93, Y:32.48, Z:8.07 [[ 8.68054780e-01 -4.96098772e-01 -1.91548294e-02 8.65929874e+02] [ 4.95976096e-01 8.68266090e-01 -1.10322002e-02 3.24771661e+01] [ 2.21045497e-02 7.62166364e-05 9.99755662e-01 8.06591414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5892541539998 meters Centerline goodness [0,1] 0.9998101025446259 Centerline is valid? [True, True] Translation: X:865.95, Y:32.49, Z:8.07 [[ 8.68087371e-01 -4.96058192e-01 -1.87239682e-02 8.65953982e+02] [ 4.95940870e-01 8.68289274e-01 -1.07883962e-02 3.24903331e+01] [ 2.16094930e-02 7.92894378e-05 9.99766484e-01 8.06530209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6192541539999 meters Centerline goodness [0,1] 0.9999153439153439 Centerline is valid? [True, True] Translation: X:865.98, Y:32.50, Z:8.07 [[ 8.68331809e-01 -4.95669976e-01 -1.76393064e-02 8.65980132e+02] [ 4.95565689e-01 8.68510948e-01 -1.01676193e-02 3.25033040e+01] [ 2.03597144e-02 8.74322103e-05 9.99792716e-01 8.06804413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.00, Y:32.52, Z:8.07 [[ 8.68547680e-01 -4.95312368e-01 -1.70465520e-02 8.66003255e+02] [ 4.95214821e-01 8.68714941e-01 -9.83015257e-03 3.25164197e+01] [ 1.96775905e-02 9.62510233e-05 9.99806373e-01 8.06905714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.03, Y:32.53, Z:8.07 [[ 8.68843003e-01 -4.94786429e-01 -1.72692181e-02 8.66028549e+02] [ 4.94686115e-01 8.69014601e-01 -9.96350458e-03 3.25294943e+01] [ 1.99370095e-02 1.13878823e-04 9.99801232e-01 8.06894019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.05, Y:32.54, Z:8.07 [[ 8.68824739e-01 -4.94832028e-01 -1.68771026e-02 8.66053618e+02] [ 4.94736100e-01 8.68988636e-01 -9.74375744e-03 3.25429161e+01] [ 1.94875336e-02 1.15905607e-04 9.99810093e-01 8.06911527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.08, Y:32.56, Z:8.07 [[ 8.69062393e-01 -4.94408601e-01 -1.70496827e-02 8.66078326e+02] [ 4.94310536e-01 8.69229612e-01 -9.84765542e-03 3.25554671e+01] [ 1.96888546e-02 1.30389201e-04 9.99806147e-01 8.06898340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.10, Y:32.57, Z:8.07 [[ 8.69015029e-01 -4.94495958e-01 -1.69300840e-02 8.66102978e+02] [ 4.94399195e-01 8.69179919e-01 -9.78289773e-03 3.25690971e+01] [ 1.95528924e-02 1.31265232e-04 9.99808815e-01 8.06889352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7992541539999 meters Centerline goodness [0,1] 0.9999576683740422 Centerline is valid? [True, True] Translation: X:866.13, Y:32.58, Z:8.07 [[ 8.69131092e-01 -4.94269394e-01 -1.75758717e-02 8.66129236e+02] [ 4.94164933e-01 8.69308774e-01 -1.01623944e-02 3.25820585e+01] [ 2.03018200e-02 1.47073522e-04 9.99793886e-01 8.06785319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8292541539998 meters Centerline goodness [0,1] 0.9998509528372193 Centerline is valid? [True, True] Translation: X:866.16, Y:32.59, Z:8.07 [[ 8.68987200e-01 -4.94498519e-01 -1.82335080e-02 8.66155502e+02] [ 4.94386012e-01 8.69178458e-01 -1.05489166e-02 3.25948313e+01] [ 2.10645960e-02 1.52482178e-04 9.99778105e-01 8.06775000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8592541539999 meters Centerline goodness [0,1] 0.9998512284281221 Centerline is valid? [True, True] Translation: X:866.18, Y:32.61, Z:8.07 [[ 8.68587636e-01 -4.95215921e-01 -1.77963503e-02 8.66181146e+02] [ 4.95108815e-01 8.68769920e-01 -1.02999123e-02 3.26064054e+01] [ 2.05616143e-02 1.35246549e-04 9.99788579e-01 8.06762707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.21, Y:32.62, Z:8.07 [[ 8.68143131e-01 -4.96055145e-01 -1.60249018e-02 8.66206975e+02] [ 4.95968379e-01 8.68291012e-01 -9.27820983e-03 3.26195639e+01] [ 1.85167819e-02 1.06969556e-04 9.99828544e-01 8.07110304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.23, Y:32.63, Z:8.07 [[ 8.67581094e-01 -4.97059159e-01 -1.53374741e-02 8.66233052e+02] [ 4.96979745e-01 8.67716650e-01 -8.88527319e-03 3.26322530e+01] [ 1.77250880e-02 8.62810826e-05 9.99842895e-01 8.07223571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9492541539998 meters Centerline goodness [0,1] 0.9998291547430914 Centerline is valid? [True, True] Translation: X:866.26, Y:32.64, Z:8.07 [[ 8.66329001e-01 -4.99224415e-01 -1.57811909e-02 8.66258528e+02] [ 4.99140622e-01 8.66472724e-01 -9.14647160e-03 3.26419439e+01] [ 1.82401134e-02 4.68201308e-05 9.99833634e-01 8.07056182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.28, Y:32.65, Z:8.07 [[ 8.66107261e-01 -4.99648698e-01 -1.44703718e-02 8.66283173e+02] [ 4.99578274e-01 8.66228132e-01 -8.38875965e-03 3.26548185e+01] [ 1.67260760e-02 3.64822587e-05 9.99860109e-01 8.07254894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.31, Y:32.67, Z:8.07 [[ 8.65245720e-01 -5.01116329e-01 -1.52403758e-02 8.66309145e+02] [ 5.01038372e-01 8.65379931e-01 -8.83887105e-03 3.26658342e+01] [ 1.76180180e-02 1.17822528e-05 9.99844791e-01 8.07203046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0392541539999 meters Centerline goodness [0,1] 0.9999572091829093 Centerline is valid? [True, True] Translation: X:866.33, Y:32.68, Z:8.07 [[ 8.64857957e-01 -5.01785807e-01 -1.52222840e-02 8.66334391e+02] [ 5.01708036e-01 8.64991910e-01 -8.83417684e-03 3.26781225e+01] [ 1.76000171e-02 3.16592146e-06 9.99845108e-01 8.07180860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.36, Y:32.69, Z:8.07 [[ 8.64682588e-01 -5.02087808e-01 -1.52267911e-02 8.66359464e+02] [ 5.02009935e-01 8.64816647e-01 -8.84263781e-03 3.26912184e+01] [ 1.76081630e-02 2.07456610e-06 9.99844964e-01 8.07283948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0992541539998 meters Centerline goodness [0,1] 0.9998285542839999 Centerline is valid? [True, True] Translation: X:866.39, Y:32.70, Z:8.07 [[ 8.64294057e-01 -5.02732955e-01 -1.59799646e-02 8.66385156e+02] [ 5.02647211e-01 8.64441771e-01 -9.28471644e-03 3.27022460e+01] [ 1.84814818e-02 -7.55937225e-06 9.99829203e-01 8.07108387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.41, Y:32.72, Z:8.07 [[ 8.64322255e-01 -5.02712023e-01 -1.50884599e-02 8.66410152e+02] [ 5.02635509e-01 8.64453945e-01 -8.77058626e-03 3.27160835e+01] [ 1.74523578e-02 -3.38281412e-06 9.99847696e-01 8.07348799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1592541539999 meters Centerline goodness [0,1] 0.9999785061794734 Centerline is valid? [True, True] Translation: X:866.44, Y:32.73, Z:8.07 [[ 8.63748396e-01 -5.03703506e-01 -1.48824292e-02 8.66435460e+02] [ 5.03629121e-01 8.63876599e-01 -8.65629911e-03 3.27275297e+01] [ 1.72167905e-02 -1.83602618e-05 9.99851780e-01 8.07387662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.46, Y:32.74, Z:8.07 [[ 8.63379655e-01 -5.04344915e-01 -1.45526086e-02 8.66459845e+02] [ 5.04273811e-01 8.63502291e-01 -8.46862929e-03 3.27399737e+01] [ 1.68373210e-02 -2.68571575e-05 9.99858242e-01 8.07393914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.49, Y:32.75, Z:8.07 [[ 8.61801881e-01 -5.07048998e-01 -1.41007722e-02 8.66486476e+02] [ 5.06982543e-01 8.61917228e-01 -8.20931333e-03 3.27501098e+01] [ 1.63162226e-02 -7.40437018e-05 9.99866879e-01 8.07482266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2492541539999 meters Centerline goodness [0,1] 0.9999137112779359 Centerline is valid? [True, True] Translation: X:866.51, Y:32.76, Z:8.07 [[ 8.60868741e-01 -5.08619024e-01 -1.45498801e-02 8.66512075e+02] [ 5.08548426e-01 8.60991683e-01 -8.47474067e-03 3.27615061e+01] [ 1.68377401e-02 -1.03679300e-04 9.99858230e-01 8.07406805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2792541539999 meters Centerline goodness [0,1] 0.9997838632286511 Centerline is valid? [True, True] Translation: X:866.54, Y:32.77, Z:8.07 [[ 8.58684170e-01 -5.12298329e-01 -1.45573809e-02 8.66539297e+02] [ 5.12228132e-01 8.58807541e-01 -8.48225931e-03 3.27722665e+01] [ 1.68474358e-02 -1.73118253e-04 9.99858057e-01 8.07377845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3092541539999 meters Centerline goodness [0,1] 0.9997846034549606 Centerline is valid? [True, True] Translation: X:866.57, Y:32.78, Z:8.07 [[ 8.57721268e-01 -5.13914877e-01 -1.43431123e-02 8.66565461e+02] [ 5.13846877e-01 8.57841162e-01 -8.36222699e-03 3.27848803e+01] [ 1.66015849e-02 -1.97703507e-04 9.99862165e-01 8.07430028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3392541539998 meters Centerline goodness [0,1] 0.9998488186255453 Centerline is valid? [True, True] Translation: X:866.59, Y:32.80, Z:8.07 [[ 8.56434298e-01 -5.16068338e-01 -1.39199104e-02 8.66591569e+02] [ 5.16004522e-01 8.56547382e-01 -8.11884346e-03 3.27952249e+01] [ 1.61129408e-02 -2.29480690e-04 9.99870152e-01 8.07445845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.62, Y:32.81, Z:8.08 [[ 8.56161455e-01 -5.16549829e-01 -1.27999356e-02 8.66615677e+02] [ 5.16495898e-01 8.56257103e-01 -7.46727285e-03 3.28080654e+01] [ 1.48172543e-02 -2.17923039e-04 9.99890195e-01 8.07645068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.64, Y:32.82, Z:8.08 [[ 8.55655239e-01 -5.17377006e-01 -1.32342667e-02 8.66642306e+02] [ 5.17319405e-01 8.55757546e-01 -7.72369421e-03 3.28206611e+01] [ 1.53213854e-02 -2.37523549e-04 9.99882592e-01 8.07579999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.67, Y:32.83, Z:8.08 [[ 8.55705531e-01 -5.17280550e-01 -1.37432147e-02 8.66666688e+02] [ 5.17218345e-01 8.55815853e-01 -8.02554787e-03 3.28339343e+01] [ 1.59131209e-02 -2.40737074e-04 9.99873349e-01 8.07540745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.69, Y:32.85, Z:8.08 [[ 8.55648252e-01 -5.17356338e-01 -1.44391367e-02 8.66690532e+02] [ 5.17287590e-01 8.55770038e-01 -8.43749570e-03 3.28480435e+01] [ 1.67217724e-02 -2.49657767e-04 9.99860150e-01 8.07510154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4892541539999 meters Centerline goodness [0,1] 0.99978253778406 Centerline is valid? [True, True] Translation: X:866.72, Y:32.86, Z:8.07 [[ 8.55546345e-01 -5.17453473e-01 -1.68034369e-02 8.66715765e+02] [ 5.17360281e-01 8.55711295e-01 -9.82442889e-03 3.28592747e+01] [ 1.94625756e-02 -2.88176593e-04 9.99810545e-01 8.07129606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5192541539999 meters Centerline goodness [0,1] 0.9997822015071656 Centerline is valid? [True, True] Translation: X:866.74, Y:32.87, Z:8.07 [[ 8.55521285e-01 -5.17482960e-01 -1.71673317e-02 8.66739875e+02] [ 5.17385593e-01 8.55693462e-01 -1.00422726e-02 3.28731310e+01] [ 1.98866784e-02 -2.90752099e-04 9.99802198e-01 8.07155562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.76, Y:32.89, Z:8.07 [[ 8.55692816e-01 -5.17243191e-01 -1.57888116e-02 8.66764868e+02] [ 5.17160696e-01 8.55838428e-01 -9.24119668e-03 3.28882779e+01] [ 1.82926178e-02 -2.57727216e-04 9.99832643e-01 8.07430649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5792541539998 meters Centerline goodness [0,1] 0.999826034010351 Centerline is valid? [True, True] Translation: X:866.79, Y:32.90, Z:8.07 [[ 8.55426875e-01 -5.17644064e-01 -1.70142327e-02 8.66791041e+02] [ 5.17548230e-01 8.55596017e-01 -9.96422087e-03 3.29011375e+01] [ 1.97152295e-02 -2.82023704e-04 9.99805596e-01 8.07252075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6092541539999 meters Centerline goodness [0,1] 0.9999346988528766 Centerline is valid? [True, True] Translation: X:866.82, Y:32.91, Z:8.07 [[ 8.55583382e-01 -5.17407131e-01 -1.63382062e-02 8.66815906e+02] [ 5.17318653e-01 8.55739325e-01 -9.57180407e-03 3.29145664e+01] [ 1.89337652e-02 -2.62582327e-04 9.99820706e-01 8.07358771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6392541539999 meters Centerline goodness [0,1] 0.99984690418389 Centerline is valid? [True, True] Translation: X:866.84, Y:32.93, Z:8.07 [[ 8.55402255e-01 -5.17687936e-01 -1.69169680e-02 8.66841437e+02] [ 5.17593058e-01 8.55569474e-01 -9.91470467e-03 3.29274909e+01] [ 1.96063644e-02 -2.75044467e-04 9.99807739e-01 8.07305347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6692541539999 meters Centerline goodness [0,1] 0.9998909630146545 Centerline is valid? [True, True] Translation: X:866.87, Y:32.94, Z:8.07 [[ 8.55366583e-01 -5.17774304e-01 -1.60554912e-02 8.66866322e+02] [ 5.17688763e-01 8.55517214e-01 -9.41496098e-03 3.29425198e+01] [ 1.86105740e-02 -2.58504391e-04 9.99826775e-01 8.07477207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6992541539998 meters Centerline goodness [0,1] 0.9999128957798006 Centerline is valid? [True, True] Translation: X:866.89, Y:32.96, Z:8.07 [[ 8.55435471e-01 -5.17650903e-01 -1.63614478e-02 8.66890189e+02] [ 5.17561970e-01 8.55591887e-01 -9.59850040e-03 3.29551937e+01] [ 1.89673944e-02 -2.57165426e-04 9.99820070e-01 8.07443185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.91, Y:32.97, Z:8.08 [[ 8.56082990e-01 -5.16605183e-01 -1.55241502e-02 8.66914805e+02] [ 5.16524880e-01 8.56223707e-01 -9.11106105e-03 3.29702489e+01] [ 1.79989668e-02 -2.18785456e-04 9.99837982e-01 8.07642072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:866.94, Y:32.98, Z:8.08 [[ 8.56641540e-01 -5.15686553e-01 -1.52529224e-02 8.66939092e+02] [ 5.15608824e-01 8.56777300e-01 -8.95538633e-03 3.29844351e+01] [ 1.76865300e-02 -1.92985452e-04 9.99843562e-01 8.07643226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7892541539999 meters Centerline goodness [0,1] 0.999934544978509 Centerline is valid? [True, True] Translation: X:866.96, Y:33.00, Z:8.08 [[ 8.57905527e-01 -5.13579635e-01 -1.52991995e-02 8.66963301e+02] [ 5.13501038e-01 8.58041920e-01 -8.98594862e-03 3.29995099e+01] [ 1.77423547e-02 -1.47059826e-04 9.99842581e-01 8.07630300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8192541539999 meters Centerline goodness [0,1] 0.999760999456817 Centerline is valid? [True, True] Translation: X:866.99, Y:33.01, Z:8.08 [[ 8.58422469e-01 -5.12689687e-01 -1.61291470e-02 8.66987082e+02] [ 5.12602061e-01 8.58573974e-01 -9.47936686e-03 3.30136585e+01] [ 1.87080395e-02 -1.30532496e-04 9.99824981e-01 8.07527580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8492541539998 meters Centerline goodness [0,1] 0.9999782210993989 Centerline is valid? [True, True] Translation: X:867.01, Y:33.03, Z:8.08 [[ 8.59758376e-01 -5.10479700e-01 -1.50336488e-02 8.67011864e+02] [ 5.10403148e-01 8.59889801e-01 -8.84056072e-03 3.30295234e+01] [ 1.74402081e-02 -7.24755740e-05 9.99847905e-01 8.07718025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:867.03, Y:33.05, Z:8.08 [[ 8.61895464e-01 -5.06853277e-01 -1.53611278e-02 8.67034627e+02] [ 5.06772710e-01 8.62032340e-01 -9.03689354e-03 3.30451280e+01] [ 1.78221681e-02 4.25717772e-06 9.99841173e-01 8.07657480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9092541539999 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:867.06, Y:33.06, Z:8.07 [[ 8.62241288e-01 -5.06231630e-01 -1.64163968e-02 8.67059761e+02] [ 5.06139421e-01 8.62397551e-01 -9.66179728e-03 3.30602152e+01] [ 1.90485678e-02 2.18149376e-05 9.99818559e-01 8.07440604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9392541539999 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:867.08, Y:33.07, Z:8.07 [[ 8.62104033e-01 -5.06465418e-01 -1.64139367e-02 8.67083484e+02] [ 5.06373172e-01 8.62260274e-01 -9.66597554e-03 3.30742907e+01] [ 1.90485679e-02 2.14993071e-05 9.99818559e-01 8.07466360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9692541539998 meters Centerline goodness [0,1] 0.999912800837112 Centerline is valid? [True, True] Translation: X:867.11, Y:33.09, Z:8.08 [[ 8.63289287e-01 -5.04402919e-01 -1.75869696e-02 8.67108056e+02] [ 5.04296457e-01 8.63468407e-01 -1.03631094e-02 3.30886693e+01] [ 2.04129753e-02 7.73148514e-05 9.99791631e-01 8.07538711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9992541539999 meters Centerline goodness [0,1] 0.9999782400557055 Centerline is valid? [True, True] Translation: X:867.13, Y:33.10, Z:8.08 [[ 8.63686141e-01 -5.03734000e-01 -1.72715808e-02 8.67131099e+02] [ 5.03631105e-01 8.63858813e-01 -1.01814552e-02 3.31025323e+01] [ 2.00489524e-02 9.50764251e-05 9.99798995e-01 8.07589408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0292541539999 meters Centerline goodness [0,1] 0.9999781940295253 Centerline is valid? [True, True] Translation: X:867.16, Y:33.12, Z:8.08 [[ 8.63625400e-01 -5.03841458e-01 -1.71742386e-02 8.67156449e+02] [ 5.03739644e-01 8.63796143e-01 -1.01289053e-02 3.31151717e+01] [ 1.99384035e-02 9.62351104e-05 9.99801206e-01 8.07721972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0592541539999 meters Centerline goodness [0,1] 0.9999562726835454 Centerline is valid? [True, True] Translation: X:867.18, Y:33.13, Z:8.08 [[ 8.63118946e-01 -5.04724195e-01 -1.67084365e-02 8.67181190e+02] [ 5.04627872e-01 8.63280650e-01 -9.86051014e-03 3.31282486e+01] [ 1.94009080e-02 7.92503425e-05 9.99811782e-01 8.07760985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0892541539998 meters Centerline goodness [0,1] 0.9998903965452991 Centerline is valid? [True, True] Translation: X:867.21, Y:33.14, Z:8.08 [[ 8.61966834e-01 -5.06711453e-01 -1.60212388e-02 8.67206732e+02] [ 5.06623153e-01 8.62115713e-01 -9.45933439e-03 3.31393693e+01] [ 1.86053148e-02 3.69020112e-05 9.99826905e-01 8.07797736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1192541539999 meters Centerline goodness [0,1] 0.9998683228723171 Centerline is valid? [True, True] Translation: X:867.23, Y:33.15, Z:8.08 [[ 8.61127573e-01 -5.08142509e-01 -1.58269998e-02 8.67230960e+02] [ 5.08056529e-01 8.61273006e-01 -9.34734157e-03 3.31516331e+01] [ 1.83811493e-02 8.24298767e-06 9.99831052e-01 8.07785345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1492541539999 meters Centerline goodness [0,1] 0.9997807546425205 Centerline is valid? [True, True] Translation: X:867.26, Y:33.16, Z:8.08 [[ 8.59358865e-01 -5.11112567e-01 -1.63182362e-02 8.67258128e+02] [ 5.11021624e-01 8.59513782e-01 -9.64152584e-03 3.31631170e+01] [ 1.89536539e-02 -5.34408533e-05 9.99820362e-01 8.07754990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1792541539999 meters Centerline goodness [0,1] 0.9999339352565514 Centerline is valid? [True, True] Translation: X:867.28, Y:33.18, Z:8.08 [[ 8.58649987e-01 -5.12312633e-01 -1.59989514e-02 8.67283267e+02] [ 5.12225319e-01 8.58799023e-01 -9.45841984e-03 3.31760298e+01] [ 1.85855518e-02 -7.35959079e-05 9.99827271e-01 8.07861686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2092541539998 meters Centerline goodness [0,1] 0.9997577039141832 Centerline is valid? [True, True] Translation: X:867.31, Y:33.19, Z:8.08 [[ 8.57623382e-01 -5.13979749e-01 -1.75200607e-02 8.67309656e+02] [ 5.13875260e-01 8.57802311e-01 -1.03640417e-02 3.31890510e+01] [ 2.03556561e-02 -1.14681224e-04 9.99792796e-01 8.07662581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:867.33, Y:33.20, Z:8.08 [[ 8.56944609e-01 -5.15114778e-01 -1.73983732e-02 8.67334114e+02] [ 5.15011869e-01 8.57121197e-01 -1.02970026e-02 3.32003108e+01] [ 2.02166527e-02 -1.36407869e-04 9.99795613e-01 8.07876090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2692541539999 meters Centerline goodness [0,1] 0.9998236953455572 Centerline is valid? [True, True] Translation: X:867.36, Y:33.21, Z:8.08 [[ 8.56062580e-01 -5.16531993e-01 -1.87499053e-02 8.67358998e+02] [ 5.16412737e-01 8.56267872e-01 -1.11002910e-02 3.32125871e+01] [ 2.17885969e-02 -1.80146160e-04 9.99762584e-01 8.07659633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2992541539999 meters Centerline goodness [0,1] 0.9999117737879925 Centerline is valid? [True, True] Translation: X:867.38, Y:33.23, Z:8.08 [[ 8.55555565e-01 -5.17409622e-01 -1.76623394e-02 8.67383990e+02] [ 5.17303948e-01 8.55737838e-01 -1.04583759e-02 3.32251194e+01] [ 2.05255965e-02 -1.89076219e-04 9.99789310e-01 8.07922002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3292541539998 meters Centerline goodness [0,1] 0.9999336503372774 Centerline is valid? [True, True] Translation: X:867.41, Y:33.24, Z:8.08 [[ 8.54711272e-01 -5.18793750e-01 -1.79356108e-02 8.67409594e+02] [ 5.18685001e-01 8.54899407e-01 -1.06242039e-02 3.32382906e+01] [ 2.08449136e-02 -2.22305489e-04 9.99782696e-01 8.07874153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3592541539999 meters Centerline goodness [0,1] 0.9999779721126947 Centerline is valid? [True, True] Translation: X:867.43, Y:33.25, Z:8.08 [[ 8.54229287e-01 -5.19595831e-01 -1.76775785e-02 8.67434449e+02] [ 5.19490239e-01 8.54412148e-01 -1.04773031e-02 3.32515601e+01] [ 2.05479008e-02 -2.33310333e-04 9.99788842e-01 8.07993793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3892541539999 meters Centerline goodness [0,1] 0.9998015347975655 Centerline is valid? [True, True] Translation: X:867.46, Y:33.26, Z:8.08 [[ 8.52526451e-01 -5.22360270e-01 -1.83956151e-02 8.67460444e+02] [ 5.22246478e-01 8.52724840e-01 -1.09070380e-02 3.32616516e+01] [ 2.13838013e-02 -3.08506831e-04 9.99771293e-01 8.07850806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4192541539999 meters Centerline goodness [0,1] 0.9998229971015775 Centerline is valid? [True, True] Translation: X:867.49, Y:33.28, Z:8.08 [[ 8.51650519e-01 -5.23801473e-01 -1.79835962e-02 8.67485644e+02] [ 5.23692955e-01 8.51840305e-01 -1.06669096e-02 3.32765868e+01] [ 2.09064951e-02 -3.33403520e-04 9.99781380e-01 8.08100664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4492541539998 meters Centerline goodness [0,1] 0.9999556098102319 Centerline is valid? [True, True] Translation: X:867.51, Y:33.29, Z:8.08 [[ 8.49930831e-01 -5.26624714e-01 -1.68521005e-02 8.67512612e+02] [ 5.26529871e-01 8.50097801e-01 -1.00011855e-02 3.32881682e+01] [ 1.95928051e-02 -3.72818412e-04 9.99807973e-01 8.08394695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4792541539999 meters Centerline goodness [0,1] 0.9997786435275368 Centerline is valid? [True, True] Translation: X:867.54, Y:33.30, Z:8.08 [[ 8.48675793e-01 -5.28627500e-01 -1.73886390e-02 8.67537725e+02] [ 5.28526852e-01 8.48853805e-01 -1.03240011e-02 3.33001814e+01] [ 2.02179633e-02 -4.28632763e-04 9.99795504e-01 8.08284657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5092541539999 meters Centerline goodness [0,1] 0.9997785552947429 Centerline is valid? [True, True] Translation: X:867.56, Y:33.32, Z:8.08 [[ 8.47817754e-01 -5.30014693e-01 -1.70141706e-02 8.67562589e+02] [ 5.29918525e-01 8.47988340e-01 -1.01060743e-02 3.33154592e+01] [ 1.97841862e-02 -4.48014950e-04 9.99804173e-01 8.08404318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5392541539999 meters Centerline goodness [0,1] 0.9999778058903167 Centerline is valid? [True, True] Translation: X:867.59, Y:33.33, Z:8.09 [[ 8.47027720e-01 -5.31329469e-01 -1.52655546e-02 8.67587749e+02] [ 5.31252200e-01 8.47165163e-01 -9.07115502e-03 3.33284288e+01] [ 1.77522180e-02 -4.26339721e-04 9.99842326e-01 8.08688666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5692541539999 meters Centerline goodness [0,1] 0.9998892678389512 Centerline is valid? [True, True] Translation: X:867.61, Y:33.34, Z:8.09 [[ 8.46288104e-01 -5.32503822e-01 -1.53663646e-02 8.67612729e+02] [ 5.32425653e-01 8.46427479e-01 -9.13493687e-03 3.33431513e+01] [ 1.78709021e-02 -4.50658312e-04 9.99840201e-01 8.08787571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5992541539998 meters Centerline goodness [0,1] 0.999977783208549 Centerline is valid? [True, True] Translation: X:867.64, Y:33.36, Z:8.09 [[ 8.46170017e-01 -5.32683978e-01 -1.56231155e-02 8.67637272e+02] [ 5.32603141e-01 8.46314107e-01 -9.29117560e-03 3.33570469e+01] [ 1.81713234e-02 -4.59006154e-04 9.99834783e-01 8.08763665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6292541539999 meters Centerline goodness [0,1] 0.999977804905116 Centerline is valid? [True, True] Translation: X:867.66, Y:33.37, Z:8.09 [[ 8.46282232e-01 -5.32507202e-01 -1.55712272e-02 8.67661260e+02] [ 5.32426809e-01 8.46425352e-01 -9.26373461e-03 3.33729856e+01] [ 1.81128868e-02 -4.50804789e-04 9.99835847e-01 8.08786465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:867.68, Y:33.39, Z:8.09 [[ 8.47306539e-01 -5.30855647e-01 -1.62453262e-02 8.67683390e+02] [ 5.30767734e-01 8.47462151e-01 -9.67030876e-03 3.33916055e+01] [ 1.89008371e-02 -4.28779108e-04 9.99821271e-01 8.08828910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6892541539999 meters Centerline goodness [0,1] 0.9999116334555738 Centerline is valid? [True, True] Translation: X:867.71, Y:33.41, Z:8.09 [[ 8.47789223e-01 -5.30067014e-01 -1.68046195e-02 8.67707180e+02] [ 5.29972674e-01 8.47955650e-01 -1.00089966e-02 3.34080719e+01] [ 1.95550110e-02 -4.20469652e-04 9.99808694e-01 8.08682754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7192541539998 meters Centerline goodness [0,1] 0.9999779982838661 Centerline is valid? [True, True] Translation: X:867.73, Y:33.43, Z:8.09 [[ 8.50179657e-01 -5.26226158e-01 -1.67505670e-02 8.67728155e+02] [ 5.26131605e-01 8.50344591e-01 -9.98053742e-03 3.34266302e+01] [ 1.94957739e-02 -3.27752817e-04 9.99809886e-01 8.08681536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:867.75, Y:33.44, Z:8.09 [[ 8.51413419e-01 -5.24229046e-01 -1.67062028e-02 8.67751148e+02] [ 5.24134532e-01 8.51577260e-01 -9.95800930e-03 3.34446381e+01] [ 1.94469001e-02 -2.77915054e-04 9.99810853e-01 8.08801818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7792541539999 meters Centerline goodness [0,1] 0.999735694462799 Centerline is valid? [True, True] Translation: X:867.77, Y:33.46, Z:8.09 [[ 8.52303368e-01 -5.22755640e-01 -1.74788235e-02 8.67774384e+02] [ 5.22651789e-01 8.52482538e-01 -1.04225477e-02 3.34606724e+01] [ 2.03488375e-02 -2.52165885e-04 9.99792909e-01 8.08672121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8092541539999 meters Centerline goodness [0,1] 0.9999781076229257 Centerline is valid? [True, True] Translation: X:867.80, Y:33.48, Z:8.09 [[ 8.55173267e-01 -5.18083463e-01 -1.63770851e-02 8.67796391e+02] [ 5.17991363e-01 8.55330058e-01 -9.76928450e-03 3.34793436e+01] [ 1.90691179e-02 -1.28757678e-04 9.99818160e-01 8.08830777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8392541539998 meters Centerline goodness [0,1] 0.9998254228041462 Centerline is valid? [True, True] Translation: X:867.82, Y:33.50, Z:8.09 [[ 8.57294693e-01 -5.14528388e-01 -1.75027450e-02 8.67817542e+02] [ 5.14422316e-01 8.57473344e-01 -1.04472840e-02 3.34978365e+01] [ 2.03835614e-02 -4.74015157e-05 9.99792233e-01 8.08762669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:867.84, Y:33.52, Z:8.09 [[ 8.58792411e-01 -5.12072702e-01 -1.60357033e-02 8.67840493e+02] [ 5.11983135e-01 8.58942110e-01 -9.57713382e-03 3.35153711e+01] [ 1.86779296e-02 1.47602040e-05 9.99825552e-01 8.08947835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8992541539999 meters Centerline goodness [0,1] 0.9998028088779826 Centerline is valid? [True, True] Translation: X:867.86, Y:33.53, Z:8.09 [[ 8.59347635e-01 -5.11106111e-01 -1.70934557e-02 8.67864223e+02] [ 5.11004027e-01 8.59517621e-01 -1.02148373e-02 3.35318605e+01] [ 1.99129922e-02 4.32715760e-05 9.99801716e-01 8.08798508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:867.88, Y:33.55, Z:8.09 [[ 8.61402899e-01 -5.07682817e-01 -1.55949312e-02 8.67884735e+02] [ 5.07597205e-01 8.61544046e-01 -9.32385197e-03 3.35497131e+01] [ 1.81692795e-02 1.15649653e-04 9.99834918e-01 8.08971486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9592541539998 meters Centerline goodness [0,1] 0.9998907843865359 Centerline is valid? [True, True] Translation: X:867.91, Y:33.57, Z:8.09 [[ 8.61794587e-01 -5.07016367e-01 -1.56362799e-02 8.67908288e+02] [ 5.06930098e-01 8.61936416e-01 -9.35362174e-03 3.35659930e+01] [ 1.82199184e-02 1.34399664e-04 9.99833994e-01 8.08996383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9892541539999 meters Centerline goodness [0,1] 0.9998043860983721 Centerline is valid? [True, True] Translation: X:867.93, Y:33.58, Z:8.09 [[ 8.62289221e-01 -5.06138829e-01 -1.67566216e-02 8.67931171e+02] [ 5.06039503e-01 8.62452003e-01 -1.00281419e-02 3.35828416e+01] [ 1.95274139e-02 1.67646187e-04 9.99809308e-01 8.08765657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:867.95, Y:33.60, Z:8.09 [[ 8.62755519e-01 -5.05389368e-01 -1.53134226e-02 8.67954968e+02] [ 5.05306231e-01 8.62891393e-01 -9.16821122e-03 3.35978287e+01] [ 1.78473370e-02 1.71956992e-04 9.99840709e-01 8.09099862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:867.98, Y:33.61, Z:8.09 [[ 8.63010896e-01 -5.04955156e-01 -1.52474423e-02 8.67978204e+02] [ 5.04872558e-01 8.63145559e-01 -9.13477213e-03 3.36142128e+01] [ 1.77734124e-02 1.85392717e-04 9.99842023e-01 8.09122290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0792541539998 meters Centerline goodness [0,1] 0.9998044838373306 Centerline is valid? [True, True] Translation: X:868.00, Y:33.63, Z:8.09 [[ 8.62874267e-01 -5.05142851e-01 -1.66942708e-02 8.68000786e+02] [ 5.05043768e-01 8.63035723e-01 -1.00066859e-02 3.36309030e+01] [ 1.94625579e-02 2.03174322e-04 9.99810566e-01 8.08750775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1092541539999 meters Centerline goodness [0,1] 0.9998048399687745 Centerline is valid? [True, True] Translation: X:868.02, Y:33.65, Z:8.09 [[ 8.62771451e-01 -5.05301883e-01 -1.71880688e-02 8.68024898e+02] [ 5.05196784e-01 8.62942619e-01 -1.03076033e-02 3.36462160e+01] [ 2.00407685e-02 2.09748763e-04 9.99799142e-01 8.08726646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1392541539999 meters Centerline goodness [0,1] 0.9998911268372346 Centerline is valid? [True, True] Translation: X:868.05, Y:33.66, Z:8.09 [[ 8.62384209e-01 -5.05976001e-01 -1.67858037e-02 8.68048820e+02] [ 5.05875771e-01 8.62547534e-01 -1.00725274e-02 3.36607441e+01] [ 1.95750107e-02 1.94857194e-04 9.99808372e-01 8.08755258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1692541539999 meters Centerline goodness [0,1] 0.9998474779387733 Centerline is valid? [True, True] Translation: X:868.07, Y:33.67, Z:8.09 [[ 8.61991948e-01 -5.06608962e-01 -1.78112961e-02 8.68074022e+02] [ 5.06496110e-01 8.62175922e-01 -1.06943790e-02 3.36742958e+01] [ 2.07743389e-02 1.97116437e-04 9.99784171e-01 8.08772726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:868.10, Y:33.69, Z:8.09 [[ 8.61537269e-01 -5.07409337e-01 -1.70087858e-02 8.68099027e+02] [ 5.07306469e-01 8.61705132e-01 -1.02182130e-02 3.36890988e+01] [ 1.98413747e-02 1.74704216e-04 9.99803125e-01 8.08956478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2292541539999 meters Centerline goodness [0,1] 0.9999132189269521 Centerline is valid? [True, True] Translation: X:868.13, Y:33.70, Z:8.09 [[ 8.60324870e-01 -5.09452079e-01 -1.73117763e-02 8.68125106e+02] [ 5.09345805e-01 8.60499019e-01 -1.04062273e-02 3.37022370e+01] [ 2.01982406e-02 1.35055470e-04 9.99795986e-01 8.08979332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2592541539999 meters Centerline goodness [0,1] 0.999891062791407 Centerline is valid? [True, True] Translation: X:868.15, Y:33.72, Z:8.09 [[ 8.59339495e-01 -5.11083653e-01 -1.81420124e-02 8.68150003e+02] [ 5.10967158e-01 8.59530970e-01 -1.09121440e-02 3.37153035e+01] [ 2.11706399e-02 1.07263757e-04 9.99775871e-01 8.08900341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2892541539999 meters Centerline goodness [0,1] 0.9998478293950132 Centerline is valid? [True, True] Translation: X:868.18, Y:33.73, Z:8.09 [[ 8.57874683e-01 -5.13534129e-01 -1.82682095e-02 8.68175466e+02] [ 5.13416468e-01 8.58069167e-01 -1.09924538e-02 3.37276038e+01] [ 2.13203875e-02 5.09482259e-05 9.99772693e-01 8.08889492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3192541539999 meters Centerline goodness [0,1] 0.9998692155110404 Centerline is valid? [True, True] Translation: X:868.20, Y:33.74, Z:8.09 [[ 8.57054388e-01 -5.14898193e-01 -1.83746368e-02 8.68200312e+02] [ 5.14779364e-01 8.57251335e-01 -1.10614493e-02 3.37414191e+01] [ 2.14472022e-02 2.13798032e-05 9.99769982e-01 8.08907633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3492541539998 meters Centerline goodness [0,1] 0.9997392494730667 Centerline is valid? [True, True] Translation: X:868.23, Y:33.75, Z:8.09 [[ 8.55326572e-01 -5.17739416e-01 -1.90355329e-02 8.68226080e+02] [ 5.17612487e-01 8.55538365e-01 -1.14638113e-02 3.37532756e+01] [ 2.22208957e-02 -4.77270700e-05 9.99753084e-01 8.08808134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3792541539999 meters Centerline goodness [0,1] 0.999804143454039 Centerline is valid? [True, True] Translation: X:868.25, Y:33.77, Z:8.09 [[ 8.54481656e-01 -5.19133333e-01 -1.90179521e-02 8.68251298e+02] [ 5.19006868e-01 8.54693264e-01 -1.14583914e-02 3.37665299e+01] [ 2.22029485e-02 -7.94625198e-05 9.99753481e-01 8.08915037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4092541539999 meters Centerline goodness [0,1] 0.9998248878187589 Centerline is valid? [True, True] Translation: X:868.28, Y:33.78, Z:8.09 [[ 8.53440024e-01 -5.20854004e-01 -1.87411841e-02 8.68276062e+02] [ 5.20731452e-01 8.53645765e-01 -1.12987505e-02 3.37796404e+01] [ 2.18833319e-02 -1.16318119e-04 9.99760524e-01 8.08974569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4392541539999 meters Centerline goodness [0,1] 0.9999343329320346 Centerline is valid? [True, True] Translation: X:868.30, Y:33.79, Z:8.09 [[ 8.51962929e-01 -5.23324393e-01 -1.70513030e-02 8.68301661e+02] [ 5.23223318e-01 8.52133531e-01 -1.02861777e-02 3.37918807e+01] [ 1.99129947e-02 -1.58197276e-04 9.99801704e-01 8.09220996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4692541539998 meters Centerline goodness [0,1] 0.9997810762292569 Centerline is valid? [True, True] Translation: X:868.33, Y:33.81, Z:8.09 [[ 8.50150149e-01 -5.26294947e-01 -1.60733815e-02 8.68327235e+02] [ 5.26205557e-01 8.50302055e-01 -9.70191507e-03 3.38050139e+01] [ 1.87732982e-02 -2.09818109e-04 9.99823744e-01 8.09487786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4992541539999 meters Centerline goodness [0,1] 0.9998247919404293 Centerline is valid? [True, True] Translation: X:868.35, Y:33.82, Z:8.09 [[ 8.48952191e-01 -5.28199659e-01 -1.68907220e-02 8.68352929e+02] [ 5.28101205e-01 8.49120164e-01 -1.02012181e-02 3.38187234e+01] [ 1.97305325e-02 -2.59664149e-04 9.99805300e-01 8.09436589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5292541539999 meters Centerline goodness [0,1] 0.999868527729693 Centerline is valid? [True, True] Translation: X:868.38, Y:33.83, Z:8.09 [[ 8.47920826e-01 -5.29861274e-01 -1.66524462e-02 8.68377642e+02] [ 5.29765825e-01 8.48084280e-01 -1.00610739e-02 3.38321263e+01] [ 1.94536512e-02 -2.90902825e-04 9.99810718e-01 8.09445998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5592541539999 meters Centerline goodness [0,1] 0.9998464811281444 Centerline is valid? [True, True] Translation: X:868.40, Y:33.84, Z:8.09 [[ 8.45742015e-01 -5.33321352e-01 -1.69935301e-02 8.68403285e+02] [ 5.33222607e-01 8.45912640e-01 -1.02692311e-02 3.38446887e+01] [ 1.98518421e-02 -3.76214210e-04 9.99802862e-01 8.09479845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5892541539998 meters Centerline goodness [0,1] 0.9999342940996101 Centerline is valid? [True, True] Translation: X:868.43, Y:33.86, Z:8.10 [[ 8.44735669e-01 -5.34922785e-01 -1.67111944e-02 8.68427820e+02] [ 5.34827568e-01 8.44900852e-01 -1.01006136e-02 3.38576613e+01] [ 1.95223507e-02 -4.05258897e-04 9.99809339e-01 8.09537123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6192541539999 meters Centerline goodness [0,1] 0.9997803838889621 Centerline is valid? [True, True] Translation: X:868.45, Y:33.87, Z:8.09 [[ 8.42384265e-01 -5.38587781e-01 -1.76621812e-02 8.68454485e+02] [ 5.38482142e-01 8.42569248e-01 -1.06792222e-02 3.38710525e+01] [ 2.06333094e-02 -5.14760414e-04 9.99786978e-01 8.09474794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6492541539999 meters Centerline goodness [0,1] 0.9997591363944908 Centerline is valid? [True, True] Translation: X:868.48, Y:33.88, Z:8.09 [[ 8.41377029e-01 -5.40157029e-01 -1.77504463e-02 8.68478406e+02] [ 5.40050607e-01 8.41564067e-01 -1.07360797e-02 3.38845911e+01] [ 2.07373067e-02 -5.53048516e-04 9.99784806e-01 8.09452828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6792541539999 meters Centerline goodness [0,1] 0.9998244651673066 Centerline is valid? [True, True] Translation: X:868.50, Y:33.90, Z:8.10 [[ 8.40544732e-01 -5.41463748e-01 -1.73655600e-02 8.68503743e+02] [ 5.41362088e-01 8.40723906e-01 -1.05073151e-02 3.38992818e+01] [ 2.02889717e-02 -5.69187478e-04 9.99793996e-01 8.09527383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7092541539998 meters Centerline goodness [0,1] 0.9999780354946407 Centerline is valid? [True, True] Translation: X:868.53, Y:33.91, Z:8.10 [[ 8.39936124e-01 -5.42459923e-01 -1.56377873e-02 8.68527480e+02] [ 5.42377600e-01 8.40081514e-01 -9.46518177e-03 3.39136660e+01] [ 1.82714978e-02 -5.31437475e-04 9.99832921e-01 8.09769598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:868.55, Y:33.93, Z:8.10 [[ 8.40015800e-01 -5.42355881e-01 -1.49517416e-02 8.68552042e+02] [ 5.42280551e-01 8.40148704e-01 -9.05309315e-03 3.39292696e+01] [ 1.74716846e-02 -5.03297373e-04 9.99847232e-01 8.09845416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7692541539999 meters Centerline goodness [0,1] 0.9999127818237321 Centerline is valid? [True, True] Translation: X:868.58, Y:33.95, Z:8.10 [[ 8.40816542e-01 -5.41113508e-01 -1.49570434e-02 8.68575236e+02] [ 5.41037844e-01 8.40949432e-01 -9.06115975e-03 3.39459209e+01] [ 1.74812331e-02 -4.73553493e-04 9.99847079e-01 8.09800803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7992541539999 meters Centerline goodness [0,1] 0.9999781052262825 Centerline is valid? [True, True] Translation: X:868.60, Y:33.97, Z:8.10 [[ 8.41897738e-01 -5.39450726e-01 -1.41814243e-02 8.68597557e+02] [ 5.39382395e-01 8.42017069e-01 -8.59582556e-03 3.39655272e+01] [ 1.65780257e-02 -4.12404524e-04 9.99862490e-01 8.09967408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:868.62, Y:33.99, Z:8.10 [[ 8.44991005e-01 -5.34567275e-01 -1.51006502e-02 8.68619498e+02] [ 5.34488946e-01 8.45125859e-01 -9.15691863e-03 3.39861825e+01] [ 1.76569390e-02 -3.33616740e-04 9.99844048e-01 8.09891055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:868.64, Y:34.00, Z:8.10 [[ 8.44838521e-01 -5.34808281e-01 -1.50989068e-02 8.68643057e+02] [ 5.34729939e-01 8.44973367e-01 -9.15979261e-03 3.40005545e+01] [ 1.76569071e-02 -3.35291902e-04 9.99844048e-01 8.09916867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8892541539999 meters Centerline goodness [0,1] 0.9998478360106949 Centerline is valid? [True, True] Translation: X:868.67, Y:34.02, Z:8.10 [[ 8.46313923e-01 -5.32437597e-01 -1.62157267e-02 8.68665663e+02] [ 5.32346683e-01 8.46469205e-01 -9.84351415e-03 3.40184467e+01] [ 1.89671703e-02 -3.01685218e-04 9.99820062e-01 8.09766860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9192541539999 meters Centerline goodness [0,1] 0.9998481825279778 Centerline is valid? [True, True] Translation: X:868.69, Y:34.04, Z:8.10 [[ 8.48391048e-01 -5.29120965e-01 -1.62367920e-02 8.68687388e+02] [ 5.29029134e-01 8.48546377e-01 -9.86008875e-03 3.40355793e+01] [ 1.89948507e-02 -2.24525006e-04 9.99819556e-01 8.09708491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9492541539998 meters Centerline goodness [0,1] 0.9998485274706251 Centerline is valid? [True, True] Translation: X:868.71, Y:34.06, Z:8.10 [[ 8.52143737e-01 -5.23037450e-01 -1.68189452e-02 8.68708056e+02] [ 5.22937684e-01 8.52309696e-01 -1.02156985e-02 3.40558957e+01] [ 1.96781430e-02 -9.00167942e-05 9.99806363e-01 8.09602320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9792541539999 meters Centerline goodness [0,1] 0.9997835310416486 Centerline is valid? [True, True] Translation: X:868.73, Y:34.08, Z:8.10 [[ 8.55005304e-01 -5.18340387e-01 -1.70050726e-02 8.68728549e+02] [ 5.18237380e-01 8.55174393e-01 -1.03332136e-02 3.40756111e+01] [ 1.98984246e-02 2.22882012e-05 9.99802006e-01 8.09584334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:868.75, Y:34.09, Z:8.10 [[ 8.56439693e-01 -5.15998971e-01 -1.60035763e-02 8.68750649e+02] [ 5.15907218e-01 8.56589199e-01 -9.73069186e-03 3.40925829e+01] [ 1.87295176e-02 7.73901995e-05 9.99824584e-01 8.09858915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0392541539999 meters Centerline goodness [0,1] 0.9997841151961313 Centerline is valid? [True, True] Translation: X:868.77, Y:34.11, Z:8.10 [[ 8.56904130e-01 -5.15198475e-01 -1.69069271e-02 8.68773764e+02] [ 5.15095828e-01 8.57070896e-01 -1.02843427e-02 3.41085386e+01] [ 1.97889129e-02 1.04008118e-04 9.99804175e-01 8.09656925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0692541539999 meters Centerline goodness [0,1] 0.9998485438573715 Centerline is valid? [True, True] Translation: X:868.80, Y:34.12, Z:8.10 [[ 8.57283627e-01 -5.14585694e-01 -1.63201203e-02 8.68796810e+02] [ 5.14489858e-01 8.57438948e-01 -9.93156361e-03 3.41244522e+01] [ 1.91041473e-02 1.17630496e-04 9.99817492e-01 8.09753115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0992541539998 meters Centerline goodness [0,1] 0.9998060929891843 Centerline is valid? [True, True] Translation: X:868.82, Y:34.14, Z:8.10 [[ 8.57010486e-01 -5.15069301e-01 -1.53831710e-02 8.68819665e+02] [ 5.14984164e-01 8.57148531e-01 -9.36520709e-03 3.41404790e+01] [ 1.80093931e-02 1.03991214e-04 9.99837812e-01 8.09762594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1292541539999 meters Centerline goodness [0,1] 0.999719743025913 Centerline is valid? [True, True] Translation: X:868.84, Y:34.15, Z:8.10 [[ 8.56137325e-01 -5.16523114e-01 -1.52562841e-02 8.68843587e+02] [ 5.16439539e-01 8.56273243e-01 -9.29166658e-03 3.41548458e+01] [ 1.78629084e-02 7.59942340e-05 9.99840443e-01 8.09776557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1592541539999 meters Centerline goodness [0,1] 0.9998063558319169 Centerline is valid? [True, True] Translation: X:868.87, Y:34.17, Z:8.10 [[ 8.53899517e-01 -5.20249597e-01 -1.39989582e-02 8.68869273e+02] [ 5.20179653e-01 8.54014260e-01 -8.53067966e-03 3.41683026e+01] [ 1.63933926e-02 2.37004963e-06 9.99865619e-01 8.09896666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1892541539999 meters Centerline goodness [0,1] 0.9998278125739868 Centerline is valid? [True, True] Translation: X:868.89, Y:34.18, Z:8.10 [[ 8.52326395e-01 -5.22836943e-01 -1.34628294e-02 8.68893935e+02] [ 5.22772502e-01 8.52432713e-01 -8.20859008e-03 3.41817062e+01] [ 1.57679103e-02 -4.15990255e-05 9.99875678e-01 8.09946134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2192541539998 meters Centerline goodness [0,1] 0.9998275341697926 Centerline is valid? [True, True] Translation: X:868.92, Y:34.19, Z:8.10 [[ 8.48974782e-01 -5.28250731e-01 -1.38918807e-02 8.68919785e+02] [ 5.28182778e-01 8.49088420e-01 -8.47400603e-03 3.41932202e+01] [ 1.62718349e-02 -1.43234733e-04 9.99867595e-01 8.09870534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2492541539999 meters Centerline goodness [0,1] 0.9998054600868945 Centerline is valid? [True, True] Translation: X:868.95, Y:34.21, Z:8.10 [[ 8.47007931e-01 -5.31378362e-01 -1.46492851e-02 8.68945253e+02] [ 5.31303209e-01 8.47134577e-01 -8.93915110e-03 3.42066733e+01] [ 1.71599874e-02 -2.11680330e-04 9.99852734e-01 8.09830483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2792541539999 meters Centerline goodness [0,1] 0.9998490110221954 Centerline is valid? [True, True] Translation: X:868.97, Y:34.22, Z:8.10 [[ 8.43806028e-01 -5.36431629e-01 -1.52477812e-02 8.68971077e+02] [ 5.36350966e-01 8.43943720e-01 -9.30798715e-03 3.42185054e+01] [ 1.78613679e-02 -3.24026511e-04 9.99840421e-01 8.09779873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3092541539999 meters Centerline goodness [0,1] 0.9998057959130828 Centerline is valid? [True, True] Translation: X:869.00, Y:34.23, Z:8.10 [[ 8.42143349e-01 -5.39018338e-01 -1.59314720e-02 8.68996123e+02] [ 5.38930673e-01 8.42293938e-01 -9.72894882e-03 3.42325251e+01] [ 1.86630641e-02 -3.92789368e-04 9.99825753e-01 8.09701465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.02, Y:34.25, Z:8.10 [[ 8.41141956e-01 -5.40594767e-01 -1.54113119e-02 8.69018444e+02] [ 5.40512937e-01 8.41283026e-01 -9.41466498e-03 3.42502979e+01] [ 1.80547937e-02 -4.10943742e-04 9.99836914e-01 8.10039687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3692541539999 meters Centerline goodness [0,1] 0.9999784682298731 Centerline is valid? [True, True] Translation: X:869.04, Y:34.26, Z:8.10 [[ 8.38674428e-01 -5.44378651e-01 -1.66459636e-02 8.69043283e+02] [ 5.44283885e-01 8.38839438e-01 -1.01709779e-02 3.42647524e+01] [ 1.95001540e-02 -5.29990700e-04 9.99809713e-01 8.09903419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3992541539999 meters Centerline goodness [0,1] 0.9997621158711966 Centerline is valid? [True, True] Translation: X:869.07, Y:34.28, Z:8.10 [[ 8.37168878e-01 -5.46648918e-01 -1.79786114e-02 8.69068251e+02] [ 5.46538798e-01 8.37361671e-01 -1.09896943e-02 3.42799940e+01] [ 2.10621046e-02 -6.25778667e-04 9.99777973e-01 8.09726641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4292541539999 meters Centerline goodness [0,1] 0.9998707119462161 Centerline is valid? [True, True] Translation: X:869.09, Y:34.29, Z:8.10 [[ 8.35003989e-01 -5.49967311e-01 -1.74440480e-02 8.69092804e+02] [ 5.49864284e-01 8.35185900e-01 -1.06668751e-02 3.42936991e+01] [ 2.04354555e-02 -6.84975717e-04 9.99790940e-01 8.09801545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4592541539998 meters Centerline goodness [0,1] 0.9997197490676267 Centerline is valid? [True, True] Translation: X:869.12, Y:34.31, Z:8.10 [[ 8.33943499e-01 -5.51592979e-01 -1.68352490e-02 8.69117457e+02] [ 5.51497269e-01 8.34113122e-01 -1.02986475e-02 3.43089023e+01] [ 1.97231637e-02 -6.96103669e-04 9.99805237e-01 8.09934951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.14, Y:34.32, Z:8.10 [[ 8.31900748e-01 -5.54714471e-01 -1.52643496e-02 8.69141966e+02] [ 5.54636259e-01 8.32040487e-01 -9.34068359e-03 3.43249340e+01] [ 1.78819692e-02 -6.95640101e-04 9.99839863e-01 8.10203220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5192541539999 meters Centerline goodness [0,1] 0.999827582491002 Centerline is valid? [True, True] Translation: X:869.17, Y:34.34, Z:8.10 [[ 8.30361973e-01 -5.57012604e-01 -1.53607627e-02 8.69167420e+02] [ 5.56933766e-01 8.30503702e-01 -9.40113963e-03 3.43382006e+01] [ 1.79937236e-02 -7.48578565e-04 9.99837820e-01 8.10089425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5492541539999 meters Centerline goodness [0,1] 0.9998922947676798 Centerline is valid? [True, True] Translation: X:869.19, Y:34.36, Z:8.10 [[ 8.28679849e-01 -5.59547374e-01 -1.40158775e-02 8.69191511e+02] [ 5.59482055e-01 8.28798047e-01 -8.58069265e-03 3.43556412e+01] [ 1.64176359e-02 -7.30984846e-04 9.99864954e-01 8.10349759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.22, Y:34.37, Z:8.11 [[ 8.28772953e-01 -5.59434860e-01 -1.29626630e-02 8.69215170e+02] [ 5.59378933e-01 8.28874047e-01 -7.93871734e-03 3.43699610e+01] [ 1.51856102e-02 -6.71646408e-04 9.99884466e-01 8.10530634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.24, Y:34.39, Z:8.11 [[ 8.28591795e-01 -5.59710597e-01 -1.26366137e-02 8.69238439e+02] [ 5.59657439e-01 8.28687888e-01 -7.74180919e-03 3.43863944e+01] [ 1.48049814e-02 -6.57375299e-04 9.99890184e-01 8.10620058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.26, Y:34.41, Z:8.11 [[ 8.29776183e-01 -5.57954538e-01 -1.25785275e-02 8.69261347e+02] [ 5.57901599e-01 8.29871285e-01 -7.71078749e-03 3.44052056e+01] [ 1.47408277e-02 -6.19352813e-04 9.99891156e-01 8.10643877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.28, Y:34.42, Z:8.11 [[ 8.30924379e-01 -5.56239016e-01 -1.27606283e-02 8.69283794e+02] [ 5.56184280e-01 8.31022144e-01 -7.82577651e-03 3.44245315e+01] [ 1.49573669e-02 -5.94632365e-04 9.99887956e-01 8.10657506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6992541539998 meters Centerline goodness [0,1] 0.9999361199241956 Centerline is valid? [True, True] Translation: X:869.31, Y:34.44, Z:8.11 [[ 8.33662638e-01 -5.52117427e-01 -1.31511523e-02 8.69305771e+02] [ 5.52058747e-01 8.33766191e-01 -8.06715560e-03 3.44426241e+01] [ 1.54190034e-02 -5.34922441e-04 9.99880977e-01 8.10549917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7292541539999 meters Centerline goodness [0,1] 0.9997654084026445 Centerline is valid? [True, True] Translation: X:869.33, Y:34.46, Z:8.10 [[ 8.35290306e-01 -5.49625614e-01 -1.42052667e-02 8.69328428e+02] [ 5.49556766e-01 8.35410921e-01 -8.71520625e-03 3.44605048e+01] [ 1.66573355e-02 -5.26873145e-04 9.99861118e-01 8.10370302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7592541539999 meters Centerline goodness [0,1] 0.9999150346233909 Centerline is valid? [True, True] Translation: X:869.35, Y:34.48, Z:8.10 [[ 8.39122789e-01 -5.43752470e-01 -1.43595218e-02 8.69348729e+02] [ 5.43681232e-01 8.39245543e-01 -8.81120628e-03 3.44822408e+01] [ 1.68422799e-02 -4.13318524e-04 9.99858073e-01 8.10399108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7892541539999 meters Centerline goodness [0,1] 0.9999362461747705 Centerline is valid? [True, True] Translation: X:869.37, Y:34.50, Z:8.10 [[ 8.40641173e-01 -5.41390854e-01 -1.47770766e-02 8.69370356e+02] [ 5.41314994e-01 8.40770958e-01 -9.07049697e-03 3.45019467e+01] [ 1.73348210e-02 -3.74019943e-04 9.99849671e-01 8.10414518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8192541539999 meters Centerline goodness [0,1] 0.9999147993524751 Centerline is valid? [True, True] Translation: X:869.39, Y:34.52, Z:8.10 [[ 8.42051326e-01 -5.39175870e-01 -1.54578429e-02 8.69392145e+02] [ 5.39092387e-01 8.42193129e-01 -9.49380775e-03 3.45208994e+01] [ 1.81373211e-02 -3.38932035e-04 9.99835448e-01 8.10405989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8492541539998 meters Centerline goodness [0,1] 0.9999574594801548 Centerline is valid? [True, True] Translation: X:869.41, Y:34.54, Z:8.10 [[ 8.44527601e-01 -5.35288858e-01 -1.54586538e-02 8.69412319e+02] [ 5.35204638e-01 8.44669033e-01 -9.49845208e-03 3.45406310e+01] [ 1.81418617e-02 -2.51838254e-04 9.99835391e-01 8.10421490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8792541539999 meters Centerline goodness [0,1] 0.9997889137501583 Centerline is valid? [True, True] Translation: X:869.43, Y:34.56, Z:8.10 [[ 8.44828839e-01 -5.34778284e-01 -1.66258772e-02 8.69434810e+02] [ 5.34680669e-01 8.44992380e-01 -1.02206005e-02 3.45571224e+01] [ 1.95144948e-02 -2.54877096e-04 9.99809542e-01 8.10245855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.46, Y:34.58, Z:8.11 [[ 8.45510955e-01 -5.33745289e-01 -1.50728691e-02 8.69457934e+02] [ 5.33664802e-01 8.45645271e-01 -9.27121405e-03 3.45752507e+01] [ 1.76947673e-02 -2.04946638e-04 9.99843414e-01 8.10508455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.48, Y:34.59, Z:8.11 [[ 8.45396891e-01 -5.33941493e-01 -1.45113107e-02 8.69479047e+02] [ 5.33866856e-01 8.45521403e-01 -8.92960409e-03 3.45917827e+01] [ 1.70375099e-02 -1.98048271e-04 9.99854831e-01 8.10562235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9692541539998 meters Centerline goodness [0,1] 0.9998738753888842 Centerline is valid? [True, True] Translation: X:869.50, Y:34.61, Z:8.10 [[ 8.44515120e-01 -5.35315983e-01 -1.51990438e-02 8.69503618e+02] [ 5.35234255e-01 8.44651848e-01 -9.35672152e-03 3.46069235e+01] [ 1.78467030e-02 -2.33156110e-04 9.99840708e-01 8.10427923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9992541539999 meters Centerline goodness [0,1] 0.9996841041192823 Centerline is valid? [True, True] Translation: X:869.53, Y:34.62, Z:8.10 [[ 8.43213400e-01 -5.37354232e-01 -1.55432212e-02 8.69527801e+02] [ 5.37269008e-01 8.43356599e-01 -9.57398566e-03 3.46234844e+01] [ 1.82530999e-02 -2.77978046e-04 9.99833360e-01 8.10378955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0292541539999 meters Centerline goodness [0,1] 0.9998518800651728 Centerline is valid? [True, True] Translation: X:869.55, Y:34.64, Z:8.10 [[ 8.42527999e-01 -5.38421563e-01 -1.57731016e-02 8.69551487e+02] [ 5.38333917e-01 8.42675577e-01 -9.71929307e-03 3.46389062e+01] [ 1.85246845e-02 -3.02419040e-04 9.99828358e-01 8.10363659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0592541539999 meters Centerline goodness [0,1] 0.9998311310001267 Centerline is valid? [True, True] Translation: X:869.57, Y:34.65, Z:8.10 [[ 8.41151558e-01 -5.40547508e-01 -1.65059842e-02 8.69574721e+02] [ 5.40451886e-01 8.41313413e-01 -1.01734363e-02 3.46538898e+01] [ 1.93859315e-02 -3.63288489e-04 9.99812009e-01 8.10343128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0892541539998 meters Centerline goodness [0,1] 0.9998099702286691 Centerline is valid? [True, True] Translation: X:869.60, Y:34.67, Z:8.10 [[ 8.40118246e-01 -5.42131081e-01 -1.71820529e-02 8.69599233e+02] [ 5.42027704e-01 8.40293830e-01 -1.05947091e-02 3.46689484e+01] [ 2.01816941e-02 -4.12340295e-04 9.99796244e-01 8.10297166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1192541539999 meters Centerline goodness [0,1] 0.9998733749788958 Centerline is valid? [True, True] Translation: X:869.62, Y:34.68, Z:8.10 [[ 8.39263600e-01 -5.43460830e-01 -1.69391908e-02 8.69623585e+02] [ 5.43360513e-01 8.39434416e-01 -1.04505768e-02 3.46837787e+01] [ 1.98988189e-02 -4.33298679e-04 9.99801905e-01 8.10384309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1492541539999 meters Centerline goodness [0,1] 0.9998945592576972 Centerline is valid? [True, True] Translation: X:869.65, Y:34.70, Z:8.10 [[ 8.37248874e-01 -5.46552571e-01 -1.71642044e-02 8.69648547e+02] [ 5.46450102e-01 8.37424641e-01 -1.05951594e-02 3.46986956e+01] [ 2.01645393e-02 -5.08595998e-04 9.99796546e-01 8.10489410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.67, Y:34.71, Z:8.11 [[ 8.36552818e-01 -5.47653507e-01 -1.59693221e-02 8.69672780e+02] [ 5.47564913e-01 8.36705081e-01 -9.86275710e-03 3.47142777e+01] [ 1.87629864e-02 -4.93523219e-04 9.99823838e-01 8.10690750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2092541539998 meters Centerline goodness [0,1] 0.9999366594176889 Centerline is valid? [True, True] Translation: X:869.70, Y:34.73, Z:8.11 [[ 8.34542975e-01 -5.50693071e-01 -1.65880618e-02 8.69697356e+02] [ 5.50598009e-01 8.34707616e-01 -1.02483328e-02 3.47301870e+01] [ 1.94898674e-02 -5.80679675e-04 9.99809886e-01 8.10688973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2392541539999 meters Centerline goodness [0,1] 0.9998520428652956 Centerline is valid? [True, True] Translation: X:869.72, Y:34.74, Z:8.11 [[ 8.33601317e-01 -5.52088856e-01 -1.75139924e-02 8.69722039e+02] [ 5.51983154e-01 8.33785031e-01 -1.08221900e-02 3.47436706e+01] [ 2.05777152e-02 -6.46036947e-04 9.99788048e-01 8.10585936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.75, Y:34.76, Z:8.11 [[ 8.32506074e-01 -5.53776244e-01 -1.62944523e-02 8.69745743e+02] [ 5.53685000e-01 8.32665279e-01 -1.00724544e-02 3.47596430e+01] [ 1.91457106e-02 -6.36614329e-04 9.99816501e-01 8.10833707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2992541539999 meters Centerline goodness [0,1] 0.9998311915764596 Centerline is valid? [True, True] Translation: X:869.77, Y:34.77, Z:8.11 [[ 8.31869101e-01 -5.54720402e-01 -1.67055150e-02 8.69770817e+02] [ 5.54624569e-01 8.32036554e-01 -1.03324756e-02 3.47739989e+01] [ 1.96312341e-02 -6.70021865e-04 9.99807064e-01 8.10769198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.80, Y:34.79, Z:8.11 [[ 8.31961480e-01 -5.54602200e-01 -1.60154819e-02 8.69795715e+02] [ 5.54514031e-01 8.32115373e-01 -9.90934825e-03 3.47872503e+01] [ 1.88224751e-02 -6.36613404e-04 9.99822639e-01 8.10822350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.82, Y:34.80, Z:8.11 [[ 8.32408340e-01 -5.53924658e-01 -1.62428134e-02 8.69818747e+02] [ 5.53833765e-01 8.32566562e-01 -1.00538564e-02 3.48040840e+01] [ 1.90923023e-02 -6.26904538e-04 9.99817529e-01 8.10902440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3892541539999 meters Centerline goodness [0,1] 0.9997048157206714 Centerline is valid? [True, True] Translation: X:869.84, Y:34.82, Z:8.11 [[ 8.32823630e-01 -5.53271173e-01 -1.71991462e-02 8.69842912e+02] [ 5.53169041e-01 8.33000956e-01 -1.06498305e-02 3.48187264e+01] [ 2.02191495e-02 -6.44604746e-04 9.99795364e-01 8.10724989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4192541539999 meters Centerline goodness [0,1] 0.9999153421236429 Centerline is valid? [True, True] Translation: X:869.87, Y:34.84, Z:8.11 [[ 8.35584385e-01 -5.49108731e-01 -1.66834113e-02 8.69865053e+02] [ 5.49011763e-01 8.35750755e-01 -1.03324332e-02 3.48356167e+01] [ 1.96168028e-02 -5.25769220e-04 9.99807434e-01 8.10817319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4492541539998 meters Centerline goodness [0,1] 0.9999580228775318 Centerline is valid? [True, True] Translation: X:869.89, Y:34.85, Z:8.11 [[ 8.37493967e-01 -5.46222648e-01 -1.56420954e-02 8.69888149e+02] [ 5.46136874e-01 8.37639920e-01 -9.68912206e-03 3.48527622e+01] [ 1.83948615e-02 -4.28143840e-04 9.99830709e-01 8.10943926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.91, Y:34.87, Z:8.11 [[ 8.39126318e-01 -5.43717662e-01 -1.54313695e-02 8.69911472e+02] [ 5.43633701e-01 8.39268116e-01 -9.56185733e-03 3.48700557e+01] [ 1.81500071e-02 -3.65406379e-04 9.99835208e-01 8.10981931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:869.93, Y:34.89, Z:8.11 [[ 8.42940407e-01 -5.37796645e-01 -1.50412413e-02 8.69932355e+02] [ 5.37715864e-01 8.43074561e-01 -9.32378667e-03 3.48889889e+01] [ 1.76951891e-02 -2.28517521e-04 9.99843402e-01 8.11011756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5392541539999 meters Centerline goodness [0,1] 0.9999578805492376 Centerline is valid? [True, True] Translation: X:869.95, Y:34.91, Z:8.11 [[ 8.44332277e-01 -5.35599737e-01 -1.53598972e-02 8.69954925e+02] [ 5.35515064e-01 8.44471958e-01 -9.52514543e-03 3.49069373e+01] [ 1.80726678e-02 -1.83068596e-04 9.99836659e-01 8.11085886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5692541539999 meters Centerline goodness [0,1] 0.9998531293930047 Centerline is valid? [True, True] Translation: X:869.98, Y:34.92, Z:8.11 [[ 8.46780030e-01 -5.31694998e-01 -1.62483682e-02 8.69976498e+02] [ 5.31599447e-01 8.46935900e-01 -1.00801247e-02 3.49242321e+01] [ 1.91208783e-02 -1.01975275e-04 9.99817174e-01 8.10943997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.00, Y:34.94, Z:8.11 [[ 8.48163819e-01 -5.29522338e-01 -1.49743203e-02 8.69999584e+02] [ 5.29440815e-01 8.48295993e-01 -9.29152109e-03 3.49405699e+01] [ 1.76227239e-02 -4.72843411e-05 9.99844707e-01 8.10952607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.02, Y:34.95, Z:8.11 [[ 8.48221378e-01 -5.29425614e-01 -1.51331929e-02 8.70023099e+02] [ 5.29342286e-01 8.48356362e-01 -9.39297200e-03 3.49547020e+01] [ 1.78112204e-02 -4.33192495e-05 9.99841367e-01 8.10896675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.05, Y:34.97, Z:8.11 [[ 8.47911291e-01 -5.29917533e-01 -1.52921614e-02 8.70046895e+02] [ 5.29832434e-01 8.48049177e-01 -9.49666593e-03 3.49691966e+01] [ 1.80009547e-02 -4.99528367e-05 9.99837968e-01 8.11060406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.07, Y:34.98, Z:8.11 [[ 8.46972476e-01 -5.31421471e-01 -1.51275901e-02 8.70071589e+02] [ 5.31338362e-01 8.47107557e-01 -9.39848748e-03 3.49820740e+01] [ 1.78092540e-02 -7.76087380e-05 9.99841400e-01 8.10963481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7192541539998 meters Centerline goodness [0,1] 0.9999162689441514 Centerline is valid? [True, True] Translation: X:870.10, Y:35.00, Z:8.11 [[ 8.46092279e-01 -5.32807687e-01 -1.56148847e-02 8.70095939e+02] [ 5.32719329e-01 8.46236348e-01 -9.70356021e-03 3.49950463e+01] [ 1.83840144e-02 -1.08243508e-04 9.99830994e-01 8.10828372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7492541539999 meters Centerline goodness [0,1] 0.9999162689441514 Centerline is valid? [True, True] Translation: X:870.12, Y:35.01, Z:8.11 [[ 8.45953261e-01 -5.33028436e-01 -1.56130311e-02 8.70119291e+02] [ 5.32940061e-01 8.46097320e-01 -9.70654193e-03 3.50096855e+01] [ 1.83840066e-02 -1.09528946e-04 9.99830994e-01 8.10854155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7792541539999 meters Centerline goodness [0,1] 0.9998530553981149 Centerline is valid? [True, True] Translation: X:870.14, Y:35.02, Z:8.11 [[ 8.44356635e-01 -5.35565322e-01 -1.52203174e-02 8.70144965e+02] [ 5.35481654e-01 8.44493790e-01 -9.46769188e-03 3.50238318e+01] [ 1.79240310e-02 -1.56092257e-04 9.99839339e-01 8.11002885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.17, Y:35.04, Z:8.11 [[ 8.43077800e-01 -5.37626447e-01 -1.33276748e-02 8.70169548e+02] [ 5.37562504e-01 8.43183120e-01 -8.29342818e-03 3.50362208e+01] [ 1.56964367e-02 -1.72453032e-04 9.99876788e-01 8.11173927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.19, Y:35.05, Z:8.11 [[ 8.42927674e-01 -5.37861828e-01 -1.33263078e-02 8.70192912e+02] [ 5.37797880e-01 8.43032991e-01 -8.29562422e-03 3.50508560e+01] [ 1.56964167e-02 -1.74248841e-04 9.99876788e-01 8.11199725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8692541539999 meters Centerline goodness [0,1] 0.9997893273221395 Centerline is valid? [True, True] Translation: X:870.22, Y:35.06, Z:8.11 [[ 8.40947226e-01 -5.40910989e-01 -1.49353361e-02 8.70219315e+02] [ 5.40831069e-01 8.41079804e-01 -9.30153437e-03 3.50618779e+01] [ 1.75931117e-02 -2.55394239e-04 9.99845197e-01 8.11019451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8992541539999 meters Centerline goodness [0,1] 0.9999577693785764 Centerline is valid? [True, True] Translation: X:870.24, Y:35.08, Z:8.11 [[ 8.40266590e-01 -5.41985604e-01 -1.42710398e-02 8.70244267e+02] [ 5.41912738e-01 8.40387729e-01 -8.89092734e-03 3.50770934e+01] [ 1.68119613e-02 -2.62909044e-04 9.99858634e-01 8.11155604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9292541539999 meters Centerline goodness [0,1] 0.9999788310506149 Centerline is valid? [True, True] Translation: X:870.27, Y:35.09, Z:8.11 [[ 8.38858661e-01 -5.44142921e-01 -1.49876202e-02 8.70270330e+02] [ 5.44062802e-01 8.38992480e-01 -9.34272053e-03 3.50905046e+01] [ 1.76582759e-02 -3.16984637e-04 9.99844030e-01 8.11116665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9592541539998 meters Centerline goodness [0,1] 0.9998737320594301 Centerline is valid? [True, True] Translation: X:870.30, Y:35.10, Z:8.11 [[ 8.38147201e-01 -5.45206823e-01 -1.60869182e-02 8.70295101e+02] [ 5.45114639e-01 8.38301491e-01 -1.00319663e-02 3.51031270e+01] [ 1.89551840e-02 -3.60950121e-04 9.99820269e-01 8.10964638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9892541539999 meters Centerline goodness [0,1] 0.9999788207387327 Centerline is valid? [True, True] Translation: X:870.32, Y:35.12, Z:8.11 [[ 8.37295755e-01 -5.46519283e-01 -1.58899921e-02 8.70319943e+02] [ 5.46429509e-01 8.37446432e-01 -9.91286926e-03 3.51173041e+01] [ 1.87245914e-02 -3.82757250e-04 9.99824606e-01 8.11074854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0192541539999 meters Centerline goodness [0,1] 0.99983119513842 Centerline is valid? [True, True] Translation: X:870.35, Y:35.13, Z:8.11 [[ 8.36582117e-01 -5.47582689e-01 -1.68392740e-02 8.70345612e+02] [ 5.47481963e-01 8.36751467e-01 -1.05110456e-02 3.51315815e+01] [ 1.98459539e-02 -4.25846002e-04 9.99802959e-01 8.10958626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.37, Y:35.14, Z:8.11 [[ 8.35453105e-01 -5.49363986e-01 -1.47418181e-02 8.70371066e+02] [ 5.49286986e-01 8.35583058e-01 -9.20654817e-03 3.51447694e+01] [ 1.73757595e-02 -4.05849585e-04 9.99848948e-01 8.11211506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.40, Y:35.16, Z:8.11 [[ 8.34672975e-01 -5.50558585e-01 -1.43620559e-02 8.70395807e+02] [ 5.50485614e-01 8.34796425e-01 -8.97319794e-03 3.51574052e+01] [ 1.69296641e-02 -4.16419319e-04 9.99856596e-01 8.11265386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1092541539999 meters Centerline goodness [0,1] 0.9999155957882299 Centerline is valid? [True, True] Translation: X:870.42, Y:35.17, Z:8.11 [[ 8.32877536e-01 -5.53275704e-01 -1.41776094e-02 8.70421808e+02] [ 5.53204928e-01 8.32998068e-01 -8.86153576e-03 3.51708454e+01] [ 1.67127937e-02 -4.62549295e-04 9.99860225e-01 8.11302965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1392541539999 meters Centerline goodness [0,1] 0.9998729109741373 Centerline is valid? [True, True] Translation: X:870.45, Y:35.18, Z:8.11 [[ 8.31944432e-01 -5.54665274e-01 -1.46593133e-02 8.70446849e+02] [ 5.54589732e-01 8.32073423e-01 -9.16777376e-03 3.51848375e+01] [ 1.72826708e-02 -5.02826327e-04 9.99850517e-01 8.11308235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.47, Y:35.20, Z:8.11 [[ 8.31514091e-01 -5.55349858e-01 -1.30710410e-02 8.70470797e+02] [ 5.55289814e-01 8.31616694e-01 -8.17898478e-03 3.52002470e+01] [ 1.54122939e-02 -4.57274837e-04 9.99881119e-01 8.11464361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1992541539998 meters Centerline goodness [0,1] 0.9998939689541098 Centerline is valid? [True, True] Translation: X:870.50, Y:35.21, Z:8.11 [[ 8.30391310e-01 -5.57007570e-01 -1.38866704e-02 8.70495968e+02] [ 5.56939953e-01 8.30507256e-01 -8.69402666e-03 3.52116982e+01] [ 1.63756192e-02 -5.14597384e-04 9.99865778e-01 8.11355877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.52, Y:35.23, Z:8.12 [[ 8.30421012e-01 -5.56983411e-01 -1.30546077e-02 8.70519230e+02] [ 5.56923600e-01 8.30523479e-01 -8.17650586e-03 3.52281506e+01] [ 1.53963364e-02 -4.80476857e-04 9.99881354e-01 8.11530315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2592541539999 meters Centerline goodness [0,1] 0.9998303143426802 Centerline is valid? [True, True] Translation: X:870.54, Y:35.24, Z:8.11 [[ 8.30317164e-01 -5.57107344e-01 -1.43113533e-02 8.70543047e+02] [ 5.57035416e-01 8.30440323e-01 -8.96746509e-03 3.52420151e+01] [ 1.68805655e-02 -5.26090439e-04 9.99857375e-01 8.11415083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2892541539999 meters Centerline goodness [0,1] 0.9998090955370779 Centerline is valid? [True, True] Translation: X:870.57, Y:35.26, Z:8.11 [[ 8.31398524e-01 -5.55496117e-01 -1.41618837e-02 8.70565902e+02] [ 5.55425421e-01 8.31518988e-01 -8.87553650e-03 3.52575287e+01] [ 1.67062012e-02 -4.86762245e-04 9.99860323e-01 8.11388332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.59, Y:35.27, Z:8.12 [[ 8.32538182e-01 -5.53806570e-01 -1.33588663e-02 8.70588576e+02] [ 5.53743417e-01 8.32645244e-01 -8.37414054e-03 3.52731754e+01] [ 1.57608505e-02 -4.25592526e-04 9.99875700e-01 8.11552456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3492541539998 meters Centerline goodness [0,1] 0.9998516414810419 Centerline is valid? [True, True] Translation: X:870.61, Y:35.29, Z:8.11 [[ 8.34167999e-01 -5.51316896e-01 -1.46092212e-02 8.70611971e+02] [ 5.51240920e-01 8.34295818e-01 -9.16172033e-03 3.52906390e+01] [ 1.72394233e-02 -4.10786601e-04 9.99851306e-01 8.11358691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3792541539999 meters Centerline goodness [0,1] 0.9999575758861337 Centerline is valid? [True, True] Translation: X:870.64, Y:35.31, Z:8.12 [[ 8.35406721e-01 -5.49452553e-01 -1.40535685e-02 8.70635313e+02] [ 5.49381906e-01 8.35524845e-01 -8.81789584e-03 3.53071706e+01] [ 1.65871210e-02 -3.54246811e-04 9.99862361e-01 8.11528120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4092541539999 meters Centerline goodness [0,1] 0.9998308954088103 Centerline is valid? [True, True] Translation: X:870.66, Y:35.32, Z:8.11 [[ 8.36403300e-01 -5.47893193e-01 -1.55746160e-02 8.70659105e+02] [ 5.47806050e-01 8.36548220e-01 -9.77788160e-03 3.53242071e+01] [ 1.83861520e-02 -3.53616417e-04 9.99830898e-01 8.11417703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4392541539999 meters Centerline goodness [0,1] 0.9998731447418495 Centerline is valid? [True, True] Translation: X:870.68, Y:35.34, Z:8.11 [[ 8.36907381e-01 -5.47122834e-01 -1.55769345e-02 8.70682971e+02] [ 5.47035464e-01 8.37052264e-01 -9.78301598e-03 3.53382116e+01] [ 1.83912198e-02 -3.33657349e-04 9.99830812e-01 8.11381935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.71, Y:35.36, Z:8.12 [[ 8.37469638e-01 -5.46283917e-01 -1.47813322e-02 8.70706737e+02] [ 5.46205057e-01 8.37600020e-01 -9.28665218e-03 3.53552391e+01] [ 1.74539929e-02 -2.96349171e-04 9.99847624e-01 8.11626232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4992541539999 meters Centerline goodness [0,1] 0.9998727519511368 Centerline is valid? [True, True] Translation: X:870.73, Y:35.37, Z:8.11 [[ 8.36848656e-01 -5.47207862e-01 -1.57443044e-02 8.70732133e+02] [ 5.47118482e-01 8.36996681e-01 -9.89556923e-03 3.53671759e+01] [ 1.85928638e-02 -3.32906103e-04 9.99827082e-01 8.11396721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5292541539999 meters Centerline goodness [0,1] 0.9999577443958505 Centerline is valid? [True, True] Translation: X:870.76, Y:35.38, Z:8.12 [[ 8.36979887e-01 -5.47021249e-01 -1.52453686e-02 8.70756094e+02] [ 5.46937381e-01 8.37118661e-01 -9.58377274e-03 3.53815522e+01] [ 1.80047099e-02 -3.16836961e-04 9.99837852e-01 8.11529491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:870.78, Y:35.40, Z:8.12 [[ 8.36711949e-01 -5.47441581e-01 -1.48603601e-02 8.70779713e+02] [ 5.47361898e-01 8.36843843e-01 -9.34533671e-03 3.53967596e+01] [ 1.75518267e-02 -3.14640016e-04 9.99845905e-01 8.11710803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5892541539998 meters Centerline goodness [0,1] 0.9997871525264995 Centerline is valid? [True, True] Translation: X:870.80, Y:35.41, Z:8.12 [[ 8.35868762e-01 -5.48692497e-01 -1.61231525e-02 8.70803973e+02] [ 5.48598809e-01 8.36024169e-01 -1.01457172e-02 3.54119997e+01] [ 1.90462241e-02 -3.64654142e-04 9.99818538e-01 8.11585827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6192541539999 meters Centerline goodness [0,1] 0.9997459080610668 Centerline is valid? [True, True] Translation: X:870.83, Y:35.43, Z:8.12 [[ 8.36032662e-01 -5.48444710e-01 -1.60558009e-02 8.70828094e+02] [ 5.48351686e-01 8.36186746e-01 -1.01071309e-02 3.54259239e+01] [ 1.89688504e-02 -3.54333927e-04 9.99820012e-01 8.11608645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6492541539999 meters Centerline goodness [0,1] 0.9997238566603649 Centerline is valid? [True, True] Translation: X:870.85, Y:35.44, Z:8.12 [[ 8.36212655e-01 -5.48172183e-01 -1.59891447e-02 8.70852360e+02] [ 5.48079807e-01 8.36365434e-01 -1.00690299e-02 3.54423461e+01] [ 1.88923301e-02 -3.43477125e-04 9.99821465e-01 8.11702135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6792541539999 meters Centerline goodness [0,1] 0.9999788256717556 Centerline is valid? [True, True] Translation: X:870.88, Y:35.46, Z:8.12 [[ 8.37065330e-01 -5.46889397e-01 -1.52846209e-02 8.70876458e+02] [ 5.46804704e-01 8.37204813e-01 -9.62899120e-03 3.54570284e+01] [ 1.80623513e-02 -2.97607876e-04 9.99836818e-01 8.11836239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7092541539998 meters Centerline goodness [0,1] 0.999830634063724 Centerline is valid? [True, True] Translation: X:870.90, Y:35.47, Z:8.12 [[ 8.37605586e-01 -5.46030124e-01 -1.63702449e-02 8.70900067e+02] [ 5.45932721e-01 8.37765490e-01 -1.03173838e-02 3.54723934e+01] [ 1.93480286e-02 -2.95153978e-04 9.99812766e-01 8.11673620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7392541539999 meters Centerline goodness [0,1] 0.9998938271080627 Centerline is valid? [True, True] Translation: X:870.92, Y:35.49, Z:8.12 [[ 8.39775999e-01 -5.42693770e-01 -1.61165915e-02 8.70923543e+02] [ 5.42598631e-01 8.39930609e-01 -1.01635393e-02 3.54886335e+01] [ 1.90525080e-02 -2.09744114e-04 9.99818462e-01 8.11893298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7692541539999 meters Centerline goodness [0,1] 0.9998515156014679 Centerline is valid? [True, True] Translation: X:870.95, Y:35.50, Z:8.12 [[ 8.40398276e-01 -5.41690599e-01 -1.73791041e-02 8.70945944e+02] [ 5.41579659e-01 8.40577930e-01 -1.09643622e-02 3.55030366e+01] [ 2.05477833e-02 -1.97738194e-04 9.99788852e-01 8.11684581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7992541539999 meters Centerline goodness [0,1] 0.9999151715655088 Centerline is valid? [True, True] Translation: X:870.97, Y:35.52, Z:8.12 [[ 8.42519796e-01 -5.38392121e-01 -1.71557068e-02 8.70968914e+02] [ 5.38283237e-01 8.42694436e-01 -1.08280001e-02 3.55200854e+01] [ 2.02867286e-02 -1.11824900e-04 9.99794197e-01 8.11769650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8292541539998 meters Centerline goodness [0,1] 0.9998095520240388 Centerline is valid? [True, True] Translation: X:870.99, Y:35.54, Z:8.12 [[ 8.43198319e-01 -5.37307932e-01 -1.77983249e-02 8.70992352e+02] [ 5.37190351e-01 8.43386139e-01 -1.12404398e-02 3.55358570e+01] [ 2.10504380e-02 -8.31684677e-05 9.99778412e-01 8.11690877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:871.01, Y:35.55, Z:8.12 [[ 8.45063514e-01 -5.34363486e-01 -1.79811537e-02 8.71014896e+02] [ 5.34242681e-01 8.45254793e-01 -1.13618870e-02 3.55508448e+01] [ 2.12700339e-02 -4.78365356e-06 9.99773767e-01 8.11855390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8892541539999 meters Centerline goodness [0,1] 0.9997237158098314 Centerline is valid? [True, True] Translation: X:871.04, Y:35.56, Z:8.12 [[ 8.44831975e-01 -5.34672605e-01 -1.95994842e-02 8.71038913e+02] [ 5.34529069e-01 8.45059291e-01 -1.23882816e-02 3.55646930e+01] [ 2.31864010e-02 -1.04776534e-05 9.99731159e-01 8.11562114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9192541539999 meters Centerline goodness [0,1] 0.9998089374800977 Centerline is valid? [True, True] Translation: X:871.06, Y:35.58, Z:8.12 [[ 8.45026535e-01 -5.34366378e-01 -1.95634498e-02 8.71062834e+02] [ 5.34223157e-01 8.45252965e-01 -1.23711057e-02 3.55790321e+01] [ 2.31467669e-02 2.66469198e-06 9.99732078e-01 8.11671748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9492541539998 meters Centerline goodness [0,1] 0.9998513611075721 Centerline is valid? [True, True] Translation: X:871.09, Y:35.59, Z:8.12 [[ 8.44862548e-01 -5.34619873e-01 -1.97197085e-02 8.71087182e+02] [ 5.34474239e-01 8.45092652e-01 -1.24778636e-02 3.55930400e+01] [ 2.33358946e-02 2.40346508e-06 9.99727681e-01 8.11747023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:871.11, Y:35.61, Z:8.12 [[ 8.44740618e-01 -5.34828331e-01 -1.92858777e-02 8.71112162e+02] [ 5.34688985e-01 8.44960743e-01 -1.22079127e-02 3.56054238e+01] [ 2.28249471e-02 5.73374062e-07 9.99739477e-01 8.11913013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0092541539999 meters Centerline goodness [0,1] 0.99980817596658 Centerline is valid? [True, True] Translation: X:871.14, Y:35.62, Z:8.12 [[ 8.43581034e-01 -5.36633415e-01 -1.98901113e-02 8.71137739e+02] [ 5.36485576e-01 8.43815487e-01 -1.25956707e-02 3.56187942e+01] [ 2.35428418e-02 -4.52888719e-05 9.99722828e-01 8.11890970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0392541539999 meters Centerline goodness [0,1] 0.999914571898426 Centerline is valid? [True, True] Translation: X:871.16, Y:35.63, Z:8.12 [[ 8.42865385e-01 -5.37774488e-01 -1.94047341e-02 8.71161733e+02] [ 5.37633970e-01 8.43088723e-01 -1.22930648e-02 3.56314828e+01] [ 2.29708092e-02 -7.12454050e-05 9.99736134e-01 8.11953663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0692541539999 meters Centerline goodness [0,1] 0.9999144641176974 Centerline is valid? [True, True] Translation: X:871.19, Y:35.64, Z:8.12 [[ 8.40707907e-01 -5.41119550e-01 -1.99961924e-02 8.71189051e+02] [ 5.40971144e-01 8.40945662e-01 -1.26734003e-02 3.56423000e+01] [ 2.36735359e-02 -1.62735252e-04 9.99719729e-01 8.12021394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0992541539998 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:871.22, Y:35.66, Z:8.12 [[ 8.39667061e-01 -5.42735242e-01 -1.99419966e-02 8.71215257e+02] [ 5.42587931e-01 8.39903814e-01 -1.26459679e-02 3.56553704e+01] [ 2.36127715e-02 -2.01883966e-04 9.99721159e-01 8.12132339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1292541539999 meters Centerline goodness [0,1] 0.9998496563573883 Centerline is valid? [True, True] Translation: X:871.24, Y:35.66, Z:8.12 [[ 8.36754394e-01 -5.47162475e-01 -2.13380094e-02 8.71242982e+02] [ 5.46995134e-01 8.37026348e-01 -1.35357510e-02 3.56642120e+01] [ 2.52667311e-02 -3.45688201e-04 9.99680685e-01 8.12042818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1592541539999 meters Centerline goodness [0,1] 0.9998064807448341 Centerline is valid? [True, True] Translation: X:871.27, Y:35.68, Z:8.12 [[ 8.35535988e-01 -5.49072494e-01 -1.99752023e-02 8.71268029e+02] [ 5.48926261e-01 8.35774645e-01 -1.26768604e-02 3.56764046e+01] [ 2.36552829e-02 -3.72940064e-04 9.99720105e-01 8.12267552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1892541539999 meters Centerline goodness [0,1] 0.9998923666422698 Centerline is valid? [True, True] Translation: X:871.30, Y:35.69, Z:8.12 [[ 8.32946540e-01 -5.52974271e-01 -2.04821174e-02 8.71295941e+02] [ 5.52821592e-01 8.33198183e-01 -1.30028831e-02 3.56858453e+01] [ 2.42559229e-02 -4.92250257e-04 9.99705661e-01 8.12257891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2192541539998 meters Centerline goodness [0,1] 0.9998925516826407 Centerline is valid? [True, True] Translation: X:871.32, Y:35.70, Z:8.12 [[ 8.31886360e-01 -5.54568796e-01 -2.04581309e-02 8.71320671e+02] [ 5.54416893e-01 8.32137707e-01 -1.29901795e-02 3.56979082e+01] [ 2.42279304e-02 -5.35980278e-04 9.99706317e-01 8.12288229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2492541539999 meters Centerline goodness [0,1] 0.9998923666422698 Centerline is valid? [True, True] Translation: X:871.35, Y:35.71, Z:8.12 [[ 8.30797963e-01 -5.56192556e-01 -2.06054726e-02 8.71346774e+02] [ 5.56038824e-01 8.31053248e-01 -1.30891451e-02 3.57115236e+01] [ 2.44043300e-02 -5.83007638e-04 9.99702000e-01 8.12273196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2792541539999 meters Centerline goodness [0,1] 0.9997846312887664 Centerline is valid? [True, True] Translation: X:871.37, Y:35.73, Z:8.12 [[ 8.29137819e-01 -5.58625250e-01 -2.16404013e-02 8.71372183e+02] [ 5.58456314e-01 8.29419898e-01 -1.37542229e-02 3.57252603e+01] [ 2.56324357e-02 -6.81072338e-04 9.99671203e-01 8.12395218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:871.40, Y:35.73, Z:8.12 [[ 8.28770558e-01 -5.59214883e-01 -2.04469234e-02 8.71399809e+02] [ 5.59064141e-01 8.29022487e-01 -1.30001094e-02 3.57336972e+01] [ 2.42208139e-02 -6.57033711e-04 9.99706417e-01 8.12430910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3392541539998 meters Centerline goodness [0,1] 0.9998483338388872 Centerline is valid? [True, True] Translation: X:871.42, Y:35.75, Z:8.13 [[ 8.28170244e-01 -5.60075671e-01 -2.11964439e-02 8.71422429e+02] [ 5.59913884e-01 8.28441154e-01 -1.34795011e-02 3.57509704e+01] [ 2.51095471e-02 -7.04861478e-04 9.99684457e-01 8.12606148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3692541539999 meters Centerline goodness [0,1] 0.9998919386211368 Centerline is valid? [True, True] Translation: X:871.45, Y:35.77, Z:8.13 [[ 8.28044142e-01 -5.60265416e-01 -2.11083406e-02 8.71446932e+02] [ 5.60104874e-01 8.28312845e-01 -1.34298240e-02 3.57652227e+01] [ 2.50085756e-02 -7.02397363e-04 9.99686990e-01 8.12654443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3992541539999 meters Centerline goodness [0,1] 0.9999783914603051 Centerline is valid? [True, True] Translation: X:871.47, Y:35.78, Z:8.13 [[ 8.28895459e-01 -5.59059052e-01 -1.96289095e-02 8.71472313e+02] [ 5.58919731e-01 8.29127614e-01 -1.24953783e-02 3.57801066e+01] [ 2.32605252e-02 -6.13622488e-04 9.99729249e-01 8.12790009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4292541539999 meters Centerline goodness [0,1] 0.9998483239799788 Centerline is valid? [True, True] Translation: X:871.50, Y:35.79, Z:8.13 [[ 8.28982212e-01 -5.58892373e-01 -2.06835185e-02 8.71495831e+02] [ 5.58737432e-01 8.29239961e-01 -1.31745697e-02 3.57948576e+01] [ 2.45147666e-02 -6.35172131e-04 9.99699266e-01 8.12700014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4592541539998 meters Centerline goodness [0,1] 0.9998274113865337 Centerline is valid? [True, True] Translation: X:871.52, Y:35.81, Z:8.13 [[ 8.31182537e-01 -5.55615835e-01 -2.06551215e-02 8.71519412e+02] [ 5.55460198e-01 8.31438969e-01 -1.31609157e-02 3.58117318e+01] [ 2.44858861e-02 -5.33974587e-04 9.99700033e-01 8.12713031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:871.54, Y:35.83, Z:8.13 [[ 8.32992805e-01 -5.52948898e-01 -1.92484555e-02 8.71542812e+02] [ 5.52812985e-01 8.33215061e-01 -1.22664804e-02 3.58279630e+01] [ 2.28208398e-02 -4.22906220e-04 9.99739481e-01 8.12839429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5192541539999 meters Centerline goodness [0,1] 0.9998276233570351 Centerline is valid? [True, True] Translation: X:871.57, Y:35.85, Z:8.13 [[ 8.35363790e-01 -5.49300405e-01 -2.08902814e-02 8.71565726e+02] [ 5.49139038e-01 8.35624883e-01 -1.33180985e-02 3.58462570e+01] [ 2.47720758e-02 -3.46211824e-04 9.99693065e-01 8.12678767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5492541539999 meters Centerline goodness [0,1] 0.9999135135135135 Centerline is valid? [True, True] Translation: X:871.59, Y:35.86, Z:8.13 [[ 8.36927822e-01 -5.46919199e-01 -2.07656107e-02 8.71588863e+02] [ 5.46758843e-01 8.37185354e-01 -1.32457594e-02 3.58632926e+01] [ 2.46290253e-02 -2.68036736e-04 9.99696624e-01 8.12683506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5792541539998 meters Centerline goodness [0,1] 0.9998487140695915 Centerline is valid? [True, True] Translation: X:871.61, Y:35.88, Z:8.13 [[ 8.39350434e-01 -5.43177893e-01 -2.11807690e-02 8.71611810e+02] [ 5.43009681e-01 8.39617623e-01 -1.35179150e-02 3.58815216e+01] [ 2.51263795e-02 -1.55094792e-04 9.99684271e-01 8.12603690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6092541539999 meters Centerline goodness [0,1] 0.9997839752867728 Centerline is valid? [True, True] Translation: X:871.63, Y:35.90, Z:8.13 [[ 8.40245137e-01 -5.41758367e-01 -2.20449887e-02 8.71634840e+02] [ 5.41575439e-01 8.40534270e-01 -1.40778149e-02 3.58976088e+01] [ 2.61563425e-02 -1.10208920e-04 9.99657858e-01 8.12562744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6392541539999 meters Centerline goodness [0,1] 0.9998061890302992 Centerline is valid? [True, True] Translation: X:871.66, Y:35.91, Z:8.13 [[ 8.41173071e-01 -5.40323949e-01 -2.18608219e-02 8.71657825e+02] [ 5.40143359e-01 8.41457086e-01 -1.39686848e-02 3.59136723e+01] [ 2.59425584e-02 -5.78962977e-05 9.99663434e-01 8.12588921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6692541539999 meters Centerline goodness [0,1] 0.9998061890302992 Centerline is valid? [True, True] Translation: X:871.68, Y:35.93, Z:8.13 [[ 8.41023947e-01 -5.40556189e-01 -2.18569661e-02 8.71681021e+02] [ 5.40375522e-01 8.41307912e-01 -1.39747166e-02 3.59286020e+01] [ 2.59425580e-02 -5.78981690e-05 9.99663434e-01 8.12614667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6992541539998 meters Centerline goodness [0,1] 0.9998921274621907 Centerline is valid? [True, True] Translation: X:871.70, Y:35.94, Z:8.13 [[ 8.42623290e-01 -5.38078552e-01 -2.13883864e-02 8.71703946e+02] [ 5.37904536e-01 8.42894698e-01 -1.36835178e-02 3.59449515e+01] [ 2.53909649e-02 2.51407564e-05 9.99677597e-01 8.12775853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7292541539999 meters Centerline goodness [0,1] 0.9998490826380355 Centerline is valid? [True, True] Translation: X:871.73, Y:35.96, Z:8.13 [[ 8.42979651e-01 -5.37538253e-01 -2.09268639e-02 8.71727092e+02] [ 5.37371294e-01 8.43239363e-01 -1.33965730e-02 3.59600225e+01] [ 2.48475258e-02 4.75425310e-05 9.99691251e-01 8.12822179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:871.75, Y:35.98, Z:8.13 [[ 8.43402055e-01 -5.36922433e-01 -1.96792923e-02 8.71751701e+02] [ 5.36774457e-01 8.43631611e-01 -1.26050195e-02 3.59753782e+01] [ 2.33699908e-02 6.77579017e-05 9.99726882e-01 8.12943137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:871.78, Y:35.99, Z:8.13 [[ 8.43035697e-01 -5.37525204e-01 -1.89068532e-02 8.71776422e+02] [ 5.37388623e-01 8.43247682e-01 -1.21167408e-02 3.59903373e+01] [ 2.24562137e-02 5.45172406e-05 9.99747826e-01 8.12993243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8192541539999 meters Centerline goodness [0,1] 0.9998915777604303 Centerline is valid? [True, True] Translation: X:871.80, Y:36.00, Z:8.13 [[ 8.42198451e-01 -5.38811811e-01 -1.95857501e-02 8.71801186e+02] [ 5.38665428e-01 8.42426158e-01 -1.25588379e-02 3.60044200e+01] [ 2.32663984e-02 2.68673866e-05 9.99729300e-01 8.12992545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:871.83, Y:36.02, Z:8.13 [[ 8.41353717e-01 -5.40183206e-01 -1.80562061e-02 8.71826802e+02] [ 5.40058979e-01 8.41547446e-01 -1.15842611e-02 3.60174109e+01] [ 2.14527774e-02 -4.95507379e-06 9.99769863e-01 8.13114981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8792541539999 meters Centerline goodness [0,1] 0.9998696757097244 Centerline is valid? [True, True] Translation: X:871.85, Y:36.03, Z:8.13 [[ 8.40175531e-01 -5.41970780e-01 -1.93067598e-02 8.71852045e+02] [ 5.41829100e-01 8.40397330e-01 -1.23917202e-02 3.60304047e+01] [ 2.29412996e-02 -4.97441646e-05 9.99736813e-01 8.12946722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:871.88, Y:36.04, Z:8.13 [[ 8.39189085e-01 -5.43522920e-01 -1.85611044e-02 8.71876758e+02] [ 5.43392259e-01 8.39394322e-01 -1.19174246e-02 3.60417019e+01] [ 2.20574791e-02 -8.49877753e-05 9.99756701e-01 8.13029736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9392541539999 meters Centerline goodness [0,1] 0.9999564876860152 Centerline is valid? [True, True] Translation: X:871.90, Y:36.06, Z:8.13 [[ 8.38239300e-01 -5.44966554e-01 -1.91397776e-02 8.71902158e+02] [ 5.44827856e-01 8.38457775e-01 -1.22950114e-02 3.60555480e+01] [ 2.27482653e-02 -1.21722289e-04 9.99741217e-01 8.12965973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9692541539998 meters Centerline goodness [0,1] 0.9999563347378992 Centerline is valid? [True, True] Translation: X:871.93, Y:36.07, Z:8.13 [[ 8.37689312e-01 -5.45815746e-01 -1.90207418e-02 8.71926231e+02] [ 5.45678823e-01 8.37905217e-01 -1.22257861e-02 3.60695848e+01] [ 2.26106053e-02 -1.37805711e-04 9.99744338e-01 8.13049944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9992541539999 meters Centerline goodness [0,1] 0.9997607707531372 Centerline is valid? [True, True] Translation: X:871.95, Y:36.08, Z:8.13 [[ 8.37063569e-01 -5.46725961e-01 -2.03790306e-02 8.71952742e+02] [ 5.46568859e-01 8.37311588e-01 -1.31067605e-02 3.60826181e+01] [ 2.42294047e-02 -1.67351774e-04 9.99706411e-01 8.12943100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0292541539999 meters Centerline goodness [0,1] 0.9999123479785252 Centerline is valid? [True, True] Translation: X:871.98, Y:36.10, Z:8.13 [[ 8.37424826e-01 -5.46207083e-01 -1.94289180e-02 8.71977582e+02] [ 5.46064038e-01 8.37650167e-01 -1.25005596e-02 3.60959220e+01] [ 2.31025306e-02 -1.41154430e-04 9.99733091e-01 8.13011904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.00, Y:36.11, Z:8.13 [[ 8.37427633e-01 -5.46201227e-01 -1.94725470e-02 8.72001821e+02] [ 5.46057394e-01 8.37653987e-01 -1.25348153e-02 3.61103402e+01] [ 2.31577882e-02 -1.36127541e-04 9.99731813e-01 8.13041301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0892541539998 meters Centerline goodness [0,1] 0.9999781296474499 Centerline is valid? [True, True] Translation: X:872.03, Y:36.12, Z:8.13 [[ 8.37222242e-01 -5.46492566e-01 -2.01194751e-02 8.72026531e+02] [ 5.46338984e-01 8.37463942e-01 -1.29560814e-02 3.61241300e+01] [ 2.39297371e-02 -1.44934057e-04 9.99713632e-01 8.12986152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1192541539999 meters Centerline goodness [0,1] 0.9997588036661843 Centerline is valid? [True, True] Translation: X:872.05, Y:36.14, Z:8.13 [[ 8.36450254e-01 -5.47636262e-01 -2.11068044e-02 8.72051898e+02] [ 5.47467532e-01 8.36716494e-01 -1.35945343e-02 3.61358685e+01] [ 2.51052713e-02 -1.84138416e-04 9.99684796e-01 8.12868380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1492541539999 meters Centerline goodness [0,1] 0.9999123479785252 Centerline is valid? [True, True] Translation: X:872.08, Y:36.15, Z:8.13 [[ 8.36083243e-01 -5.48243459e-01 -1.98474543e-02 8.72076844e+02] [ 5.48094317e-01 8.36318764e-01 -1.27884528e-02 3.61501872e+01] [ 2.36099841e-02 -1.86065822e-04 9.99721228e-01 8.13013420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1792541539999 meters Centerline goodness [0,1] 0.9998011708825804 Centerline is valid? [True, True] Translation: X:872.10, Y:36.16, Z:8.13 [[ 8.34713073e-01 -5.50325479e-01 -1.98985640e-02 8.72103004e+02] [ 5.50176059e-01 8.34950183e-01 -1.28255837e-02 3.61609506e+01] [ 2.36725551e-02 -2.42031103e-04 9.99719737e-01 8.12990881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2092541539998 meters Centerline goodness [0,1] 0.9998010434167477 Centerline is valid? [True, True] Translation: X:872.13, Y:36.17, Z:8.13 [[ 8.33823330e-01 -5.51689964e-01 -1.94123117e-02 8.72127413e+02] [ 5.51547998e-01 8.34049226e-01 -1.25177704e-02 3.61745068e+01] [ 2.30967519e-02 -2.69212680e-04 9.99733198e-01 8.13151663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2392541539999 meters Centerline goodness [0,1] 0.999911631503369 Centerline is valid? [True, True] Translation: X:872.15, Y:36.19, Z:8.13 [[ 8.32784433e-01 -5.53281633e-01 -1.86955064e-02 8.72152841e+02] [ 5.53150256e-01 8.32994205e-01 -1.20602326e-02 3.61855859e+01] [ 2.22459537e-02 -2.97850160e-04 9.99752484e-01 8.13267862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2692541539999 meters Centerline goodness [0,1] 0.9997558160184692 Centerline is valid? [True, True] Translation: X:872.18, Y:36.20, Z:8.13 [[ 8.31933155e-01 -5.54539209e-01 -1.93259241e-02 8.72178526e+02] [ 5.54399038e-01 8.32157528e-01 -1.24722069e-02 3.61999331e+01] [ 2.29985410e-02 -3.38231292e-04 9.99735441e-01 8.13250854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2992541539999 meters Centerline goodness [0,1] 0.9998664113639399 Centerline is valid? [True, True] Translation: X:872.20, Y:36.21, Z:8.13 [[ 8.31717460e-01 -5.54867367e-01 -1.91903767e-02 8.72202617e+02] [ 5.54729134e-01 8.31938753e-01 -1.23895072e-02 3.62131044e+01] [ 2.28397513e-02 -3.40891597e-04 9.99739081e-01 8.13262654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.23, Y:36.23, Z:8.13 [[ 8.32165534e-01 -5.54241039e-01 -1.78156023e-02 8.72227331e+02] [ 5.54121658e-01 8.32356164e-01 -1.15067311e-02 3.62287525e+01] [ 2.12064290e-02 -2.96506115e-04 9.99775074e-01 8.13475976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3592541539999 meters Centerline goodness [0,1] 0.9999332205502627 Centerline is valid? [True, True] Translation: X:872.25, Y:36.24, Z:8.14 [[ 8.32438320e-01 -5.53827908e-01 -1.79190231e-02 8.72250159e+02] [ 5.53706895e-01 8.32631112e-01 -1.15804230e-02 3.62445421e+01] [ 2.13334976e-02 -2.81898758e-04 9.99772375e-01 8.13508862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3892541539999 meters Centerline goodness [0,1] 0.9998666073810583 Centerline is valid? [True, True] Translation: X:872.27, Y:36.26, Z:8.13 [[ 8.33563793e-01 -5.52130832e-01 -1.79707146e-02 8.72273825e+02] [ 5.52008579e-01 8.33757453e-01 -1.16206416e-02 3.62611705e+01] [ 2.13993317e-02 -2.33442589e-04 9.99770981e-01 8.13445360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4192541539999 meters Centerline goodness [0,1] 0.9999777753083676 Centerline is valid? [True, True] Translation: X:872.30, Y:36.28, Z:8.14 [[ 8.34122235e-01 -5.51285103e-01 -1.80230857e-02 8.72297735e+02] [ 5.51161801e-01 8.34316901e-01 -1.16608989e-02 3.62774316e+01] [ 2.14654448e-02 -2.07021310e-04 9.99769569e-01 8.13506802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4492541539998 meters Centerline goodness [0,1] 0.9999557100781717 Centerline is valid? [True, True] Translation: X:872.32, Y:36.29, Z:8.13 [[ 8.34704621e-01 -5.50385682e-01 -1.85417545e-02 8.72320265e+02] [ 5.50254854e-01 8.34910514e-01 -1.20012063e-02 3.62930193e+01] [ 2.20859979e-02 -1.85228002e-04 9.99756057e-01 8.13464567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.34, Y:36.31, Z:8.14 [[ 8.34938818e-01 -5.50041631e-01 -1.82037113e-02 8.72343779e+02] [ 5.49915329e-01 8.35137220e-01 -1.17879068e-02 3.63090558e+01] [ 2.16864363e-02 -1.68318916e-04 9.99764807e-01 8.13514923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.37, Y:36.32, Z:8.14 [[ 8.34808556e-01 -5.50238433e-01 -1.82302283e-02 8.72367026e+02] [ 5.50111651e-01 8.35007568e-01 -1.18123927e-02 3.63244639e+01] [ 2.17220110e-02 -1.67574520e-04 9.99764035e-01 8.13535586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.39, Y:36.34, Z:8.14 [[ 8.34427984e-01 -5.50827470e-01 -1.78616401e-02 8.72390519e+02] [ 5.50705747e-01 8.34619116e-01 -1.15806776e-02 3.63402289e+01] [ 2.12866216e-02 -1.73266384e-04 9.99773399e-01 8.13591745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5692541539999 meters Centerline goodness [0,1] 0.9999778122919902 Centerline is valid? [True, True] Translation: X:872.41, Y:36.36, Z:8.14 [[ 8.33929109e-01 -5.51580845e-01 -1.79112601e-02 8.72413701e+02] [ 5.51458464e-01 8.34121416e-01 -1.16200617e-02 3.63553279e+01] [ 2.13495691e-02 -1.87008322e-04 9.99772054e-01 8.13615054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.44, Y:36.37, Z:8.14 [[ 8.33282177e-01 -5.52567536e-01 -1.76048812e-02 8.72436997e+02] [ 5.52449436e-01 8.33468101e-01 -1.14256142e-02 3.63702012e+01] [ 2.09865304e-02 -2.05045965e-04 9.99779737e-01 8.13650628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6292541539999 meters Centerline goodness [0,1] 0.9998453551308958 Centerline is valid? [True, True] Translation: X:872.46, Y:36.39, Z:8.14 [[ 8.32433117e-01 -5.53834774e-01 -1.79485147e-02 8.72461094e+02] [ 5.53712217e-01 8.32626559e-01 -1.16530796e-02 3.63853709e+01] [ 2.13982907e-02 -2.37902506e-04 9.99771002e-01 8.13593512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.49, Y:36.40, Z:8.14 [[ 8.32530811e-01 -5.53714249e-01 -1.71166458e-02 8.72485060e+02] [ 5.53602648e-01 8.32706721e-01 -1.11187071e-02 3.64022700e+01] [ 2.04097326e-02 -2.19154220e-04 9.99791676e-01 8.13781435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6892541539999 meters Centerline goodness [0,1] 0.9999116763822646 Centerline is valid? [True, True] Translation: X:872.51, Y:36.42, Z:8.14 [[ 8.31815751e-01 -5.54773583e-01 -1.75735163e-02 8.72508931e+02] [ 5.54656050e-01 8.32001329e-01 -1.14216594e-02 3.64188583e+01] [ 2.09576238e-02 -2.46540946e-04 9.99780334e-01 8.13823856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7192541539998 meters Centerline goodness [0,1] 0.9997795122811659 Centerline is valid? [True, True] Translation: X:872.53, Y:36.44, Z:8.14 [[ 8.31345159e-01 -5.55469714e-01 -1.78500079e-02 8.72532978e+02] [ 5.55348478e-01 8.31536727e-01 -1.16077511e-02 3.64350880e+01] [ 2.12906914e-02 -2.62927064e-04 9.99773293e-01 8.13856460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7492541539999 meters Centerline goodness [0,1] 0.9997795997531517 Centerline is valid? [True, True] Translation: X:872.56, Y:36.45, Z:8.14 [[ 8.30217696e-01 -5.57143068e-01 -1.81708345e-02 8.72556475e+02] [ 5.57017692e-01 8.30416467e-01 -1.18229323e-02 3.64513141e+01] [ 2.16764250e-02 -3.05868695e-04 9.99764992e-01 8.13756444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7792541539999 meters Centerline goodness [0,1] 0.9999560323601829 Centerline is valid? [True, True] Translation: X:872.58, Y:36.47, Z:8.14 [[ 8.29836187e-01 -5.57734631e-01 -1.74351795e-02 8.72579980e+02] [ 5.57619195e-01 8.30019271e-01 -1.13508881e-02 3.64673948e+01] [ 2.08023183e-02 -3.02813089e-04 9.99783563e-01 8.13889973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8092541539999 meters Centerline goodness [0,1] 0.999868195597733 Centerline is valid? [True, True] Translation: X:872.60, Y:36.48, Z:8.14 [[ 8.28043982e-01 -5.60362731e-01 -1.83513992e-02 8.72604851e+02] [ 5.60235384e-01 8.28247223e-01 -1.19520865e-02 3.64808638e+01] [ 2.18969992e-02 -3.84249876e-04 9.99760158e-01 8.13759025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8392541539998 meters Centerline goodness [0,1] 0.9998018624925699 Centerline is valid? [True, True] Translation: X:872.63, Y:36.50, Z:8.14 [[ 8.26742844e-01 -5.62275078e-01 -1.85204204e-02 8.72628705e+02] [ 5.62145746e-01 8.26950148e-01 -1.20670197e-02 3.64975776e+01] [ 2.21004488e-02 -4.34853372e-04 9.99755661e-01 8.13862371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8692541539999 meters Centerline goodness [0,1] 0.9999342321604735 Centerline is valid? [True, True] Translation: X:872.65, Y:36.51, Z:8.14 [[ 8.25865371e-01 -5.63590996e-01 -1.76515681e-02 8.72652262e+02] [ 5.63473732e-01 8.26053867e-01 -1.15048663e-02 3.65120770e+01] [ 2.10651852e-02 -4.44724306e-04 9.99778005e-01 8.13999861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8992541539999 meters Centerline goodness [0,1] 0.9998026402350774 Centerline is valid? [True, True] Translation: X:872.68, Y:36.53, Z:8.14 [[ 8.23478565e-01 -5.67050635e-01 -1.83474673e-02 8.72677103e+02] [ 5.66924756e-01 8.23682749e-01 -1.19603187e-02 3.65270628e+01] [ 2.18945986e-02 -5.52567365e-04 9.99760132e-01 8.14018801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.70, Y:36.54, Z:8.14 [[ 8.22728896e-01 -5.68182940e-01 -1.68911260e-02 8.72700319e+02] [ 5.68076406e-01 8.22902098e-01 -1.10152223e-02 3.65422840e+01] [ 2.01584044e-02 -5.32908468e-04 9.99796657e-01 8.14207176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9592541539998 meters Centerline goodness [0,1] 0.9998679955118474 Centerline is valid? [True, True] Translation: X:872.73, Y:36.55, Z:8.14 [[ 8.20880381e-01 -5.70838069e-01 -1.73002518e-02 8.72726574e+02] [ 5.70726808e-01 8.21062439e-01 -1.12863848e-02 3.65540415e+01] [ 2.06472851e-02 -6.08945593e-04 9.99786637e-01 8.13984877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9892541539999 meters Centerline goodness [0,1] 0.9998246383165278 Centerline is valid? [True, True] Translation: X:872.75, Y:36.57, Z:8.14 [[ 8.20104379e-01 -5.71969209e-01 -1.67341523e-02 8.72749289e+02] [ 5.71865266e-01 8.20274861e-01 -1.09210588e-02 3.65718283e+01] [ 1.99731138e-02 -6.13272265e-04 9.99800329e-01 8.14255610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.77, Y:36.59, Z:8.14 [[ 8.19844322e-01 -5.72345440e-01 -1.66127755e-02 8.72772812e+02] [ 5.72242953e-01 8.20012391e-01 -1.08480970e-02 3.65875269e+01] [ 1.98315406e-02 -6.12792956e-04 9.99803148e-01 8.14317962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0492541539999 meters Centerline goodness [0,1] 0.999890437374003 Centerline is valid? [True, True] Translation: X:872.80, Y:36.60, Z:8.14 [[ 8.19567221e-01 -5.72728939e-01 -1.70626220e-02 8.72797507e+02] [ 5.72620777e-01 8.19744571e-01 -1.11483130e-02 3.66034815e+01] [ 2.03719532e-02 -6.33619956e-04 9.99792269e-01 8.14243763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.82, Y:36.62, Z:8.14 [[ 8.20706486e-01 -5.71099742e-01 -1.69100497e-02 8.72820160e+02] [ 5.70993041e-01 8.20880470e-01 -1.10545008e-02 3.66205355e+01] [ 2.01943521e-02 -5.83020201e-04 9.99795903e-01 8.14332126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1092541539999 meters Centerline goodness [0,1] 0.9998245344680105 Centerline is valid? [True, True] Translation: X:872.84, Y:36.64, Z:8.14 [[ 8.21239750e-01 -5.70342546e-01 -1.65726527e-02 8.72843811e+02] [ 5.70239822e-01 8.21406768e-01 -1.08382386e-02 3.66379366e+01] [ 1.97943977e-02 -5.49594232e-04 9.99803921e-01 8.14381972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.87, Y:36.66, Z:8.14 [[ 8.22842678e-01 -5.68041007e-01 -1.61041156e-02 8.72865384e+02] [ 5.67943521e-01 8.23000113e-01 -1.05342660e-02 3.66551980e+01] [ 1.92375840e-02 -4.78184485e-04 9.99814826e-01 8.14451169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.89, Y:36.67, Z:8.15 [[ 8.23620858e-01 -5.66916876e-01 -1.59354211e-02 8.72887241e+02] [ 5.66821138e-01 8.23774883e-01 -1.04278295e-02 3.66741463e+01] [ 1.90389122e-02 -4.43955598e-04 9.99818645e-01 8.14610477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:872.91, Y:36.69, Z:8.15 [[ 8.24355116e-01 -5.65855389e-01 -1.56946418e-02 8.72911094e+02] [ 5.65762258e-01 8.24504403e-01 -1.02741022e-02 3.66885925e+01] [ 1.87539574e-02 -4.09927254e-04 9.99824045e-01 8.14569237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2292541539999 meters Centerline goodness [0,1] 0.9998033904229291 Centerline is valid? [True, True] Translation: X:872.93, Y:36.71, Z:8.15 [[ 8.25562962e-01 -5.64091002e-01 -1.57206224e-02 8.72932708e+02] [ 5.63997170e-01 8.25712545e-01 -1.02949561e-02 3.67082487e+01] [ 1.87880072e-02 -3.67252063e-04 9.99823422e-01 8.14651219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2592541539999 meters Centerline goodness [0,1] 0.9999344949561116 Centerline is valid? [True, True] Translation: X:872.96, Y:36.72, Z:8.15 [[ 8.26406943e-01 -5.62865108e-01 -1.53112725e-02 8.72955581e+02] [ 5.62775821e-01 8.26548706e-01 -1.00305792e-02 3.67243254e+01] [ 1.83013755e-02 -3.27473661e-04 9.99832462e-01 8.14615045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2892541539999 meters Centerline goodness [0,1] 0.9999781887977666 Centerline is valid? [True, True] Translation: X:872.98, Y:36.74, Z:8.15 [[ 8.27749248e-01 -5.60901201e-01 -1.48669094e-02 8.72977812e+02] [ 5.60816642e-01 8.27882702e-01 -9.74295348e-03 3.67438406e+01] [ 1.77728914e-02 -2.72887773e-04 9.99842012e-01 8.14758033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3192541539999 meters Centerline goodness [0,1] 0.9999127551910661 Centerline is valid? [True, True] Translation: X:873.00, Y:36.76, Z:8.15 [[ 8.27803000e-01 -5.60826518e-01 -1.46904495e-02 8.73000106e+02] [ 5.60743845e-01 8.27933299e-01 -9.63291592e-03 3.67602278e+01] [ 1.75651070e-02 -2.63422421e-04 9.99845687e-01 8.14747521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3492541539998 meters Centerline goodness [0,1] 0.9999782835302293 Centerline is valid? [True, True] Translation: X:873.02, Y:36.78, Z:8.15 [[ 8.27992245e-01 -5.60555265e-01 -1.43749159e-02 8.73022545e+02] [ 5.60475969e-01 8.28116981e-01 -9.43158203e-03 3.67780626e+01] [ 1.71910349e-02 -2.47518153e-04 9.99852193e-01 8.14822521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3792541539999 meters Centerline goodness [0,1] 0.9999782068604803 Centerline is valid? [True, True] Translation: X:873.05, Y:36.79, Z:8.15 [[ 8.27551398e-01 -5.61200220e-01 -1.45944093e-02 8.73046707e+02] [ 5.61118490e-01 8.27680038e-01 -9.58096984e-03 3.67945928e+01] [ 1.74563436e-02 -2.60447932e-04 9.99847593e-01 8.14835636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4092541539999 meters Centerline goodness [0,1] 0.9998267573303304 Centerline is valid? [True, True] Translation: X:873.07, Y:36.81, Z:8.15 [[ 8.25953920e-01 -5.63527963e-01 -1.53738950e-02 8.73070733e+02] [ 5.63437566e-01 8.26096926e-01 -1.00984285e-02 3.68109244e+01] [ 1.83910743e-02 -3.21393377e-04 9.99830818e-01 8.14659366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.09, Y:36.83, Z:8.15 [[ 8.25762678e-01 -5.63811066e-01 -1.52670389e-02 8.73093945e+02] [ 5.63721861e-01 8.25903735e-01 -1.00341364e-02 3.68272262e+01] [ 1.82664616e-02 -3.20548213e-04 9.99833103e-01 8.14856264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.12, Y:36.84, Z:8.15 [[ 8.25041210e-01 -5.64865825e-01 -1.52840224e-02 8.73117413e+02] [ 5.64776493e-01 8.25182698e-01 -1.00512875e-02 3.68438430e+01] [ 1.82897397e-02 -3.39330155e-04 9.99832671e-01 8.14915436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4992541539999 meters Centerline goodness [0,1] 0.9999782674838092 Centerline is valid? [True, True] Translation: X:873.14, Y:36.86, Z:8.15 [[ 8.24020419e-01 -5.66347001e-01 -1.55378229e-02 8.73141290e+02] [ 5.66254833e-01 8.24166813e-01 -1.02239472e-02 3.68598845e+01] [ 1.85960598e-02 -3.73626081e-04 9.99827009e-01 8.14868408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.16, Y:36.88, Z:8.15 [[ 8.22731450e-01 -5.68224468e-01 -1.52942839e-02 8.73164638e+02] [ 5.68135412e-01 8.22873496e-01 -1.00679631e-02 3.68753538e+01] [ 1.83061239e-02 -4.05994404e-04 9.99832346e-01 8.14873864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.19, Y:36.89, Z:8.15 [[ 8.22570941e-01 -5.68456855e-01 -1.52921979e-02 8.73187645e+02] [ 5.68367781e-01 8.22712975e-01 -1.00711309e-02 3.68905912e+01] [ 1.83060930e-02 -4.07372942e-04 9.99832346e-01 8.14899665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5892541539998 meters Centerline goodness [0,1] 0.9998266108931706 Centerline is valid? [True, True] Translation: X:873.21, Y:36.91, Z:8.15 [[ 8.20604219e-01 -5.71302230e-01 -1.49157179e-02 8.73210339e+02] [ 5.71217885e-01 8.20739639e-01 -9.82719207e-03 3.69077216e+01] [ 1.78562177e-02 -4.55889557e-04 9.99840461e-01 8.14819113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6192541539999 meters Centerline goodness [0,1] 0.999891781918923 Centerline is valid? [True, True] Translation: X:873.23, Y:36.92, Z:8.15 [[ 8.20635913e-01 -5.71271126e-01 -1.43527014e-02 8.73233211e+02] [ 5.71192993e-01 8.20761299e-01 -9.45805165e-03 3.69228600e+01] [ 1.71832536e-02 -4.36545591e-04 9.99852262e-01 8.15079429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.26, Y:36.94, Z:8.15 [[ 8.19879884e-01 -5.72360138e-01 -1.41720657e-02 8.73256334e+02] [ 5.72284082e-01 8.20002237e-01 -9.34140228e-03 3.69375394e+01] [ 1.69677719e-02 -4.51619807e-04 9.99855935e-01 8.15129072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.28, Y:36.96, Z:8.15 [[ 8.18648175e-01 -5.74111420e-01 -1.45342025e-02 8.73278819e+02] [ 5.74031629e-01 8.18777033e-01 -9.58429227e-03 3.69561185e+01] [ 1.74027229e-02 -4.96928589e-04 9.99848438e-01 8.15189379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7092541539998 meters Centerline goodness [0,1] 0.9999783886583679 Centerline is valid? [True, True] Translation: X:873.30, Y:36.97, Z:8.15 [[ 8.18280073e-01 -5.74636545e-01 -1.45107546e-02 8.73302558e+02] [ 5.74557023e-01 8.18408570e-01 -9.57292831e-03 3.69708136e+01] [ 1.73766803e-02 -5.03919454e-04 9.99848887e-01 8.15159035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.32, Y:36.99, Z:8.15 [[ 8.17848829e-01 -5.75237448e-01 -1.50057235e-02 8.73323868e+02] [ 5.75152434e-01 8.17986306e-01 -9.90358612e-03 3.69903505e+01] [ 1.79713899e-02 -5.30942065e-04 9.99838361e-01 8.15181810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7692541539999 meters Centerline goodness [0,1] 0.9998922762038134 Centerline is valid? [True, True] Translation: X:873.35, Y:37.01, Z:8.15 [[ 8.17273502e-01 -5.76042180e-01 -1.54735018e-02 8.73346843e+02] [ 5.75951822e-01 8.17419777e-01 -1.02179695e-02 3.70080746e+01] [ 1.85343278e-02 -5.61115823e-04 9.99828067e-01 8.15016721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7992541539999 meters Centerline goodness [0,1] 0.9999353991257348 Centerline is valid? [True, True] Translation: X:873.37, Y:37.03, Z:8.15 [[ 8.17323894e-01 -5.75964543e-01 -1.57002493e-02 8.73368373e+02] [ 5.75871388e-01 8.17474482e-01 -1.03738111e-02 3.70264266e+01] [ 1.88095006e-02 -5.62560676e-04 9.99822927e-01 8.15028007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.39, Y:37.04, Z:8.15 [[ 8.17545213e-01 -5.75649974e-01 -1.57140634e-02 8.73391356e+02] [ 5.75556483e-01 8.17696034e-01 -1.03889770e-02 3.70436638e+01] [ 1.88297416e-02 -5.50872658e-04 9.99822553e-01 8.15179205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.41, Y:37.06, Z:8.15 [[ 8.17136709e-01 -5.76225048e-01 -1.58837402e-02 8.73414670e+02] [ 5.76129552e-01 8.17290874e-01 -1.05055090e-02 3.70591660e+01] [ 1.90351733e-02 -5.66655109e-04 9.99818654e-01 8.15154750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8892541539999 meters Centerline goodness [0,1] 0.9998931167165456 Centerline is valid? [True, True] Translation: X:873.44, Y:37.08, Z:8.15 [[ 8.15728696e-01 -5.78230063e-01 -1.53847237e-02 8.73436196e+02] [ 5.78140752e-01 8.15873548e-01 -1.01796499e-02 3.70790169e+01] [ 1.84381687e-02 -5.90703173e-04 9.99829828e-01 8.15129753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9192541539999 meters Centerline goodness [0,1] 0.9998498595113999 Centerline is valid? [True, True] Translation: X:873.46, Y:37.10, Z:8.15 [[ 8.14755183e-01 -5.79612440e-01 -1.49469698e-02 8.73459331e+02] [ 5.79528275e-01 8.14892054e-01 -9.89537026e-03 3.70959977e+01] [ 1.79156467e-02 -5.99887443e-04 9.99839322e-01 8.15138208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9492541539998 meters Centerline goodness [0,1] 0.9999144787479689 Centerline is valid? [True, True] Translation: X:873.48, Y:37.11, Z:8.15 [[ 8.13918810e-01 -5.80803609e-01 -1.42597011e-02 8.73481550e+02] [ 5.80727121e-01 8.14043497e-01 -9.44434822e-03 3.71125804e+01] [ 1.70933285e-02 -5.94062498e-04 9.99853722e-01 8.15294524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.50, Y:37.13, Z:8.16 [[ 8.13693445e-01 -5.81125134e-01 -1.40198111e-02 8.73504270e+02] [ 5.81051179e-01 8.13814004e-01 -9.28950284e-03 3.71293585e+01] [ 1.68078822e-02 -5.87420178e-04 9.99858565e-01 8.15503644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0092541539999 meters Centerline goodness [0,1] 0.9999359754145591 Centerline is valid? [True, True] Translation: X:873.53, Y:37.15, Z:8.15 [[ 8.12877461e-01 -5.82263730e-01 -1.41131870e-02 8.73526847e+02] [ 5.82188864e-01 8.12999739e-01 -9.35685804e-03 3.71477240e+01] [ 1.69221764e-02 -6.10561312e-04 9.99856623e-01 8.15474773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0392541539999 meters Centerline goodness [0,1] 0.9997448599919205 Centerline is valid? [True, True] Translation: X:873.55, Y:37.17, Z:8.15 [[ 8.12583987e-01 -5.82664141e-01 -1.44832136e-02 8.73549487e+02] [ 5.82585270e-01 8.12712803e-01 -9.60744225e-03 3.71652320e+01] [ 1.73686052e-02 -6.30853162e-04 9.99848955e-01 8.15427855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0692541539999 meters Centerline goodness [0,1] 0.9999573915081276 Centerline is valid? [True, True] Translation: X:873.57, Y:37.19, Z:8.16 [[ 8.12933107e-01 -5.82162828e-01 -1.50400923e-02 8.73570340e+02] [ 5.82077589e-01 8.13071973e-01 -9.98236738e-03 3.71857480e+01] [ 1.80400408e-02 -6.39503754e-04 9.99837061e-01 8.15519588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0992541539998 meters Centerline goodness [0,1] 0.9998729351969504 Centerline is valid? [True, True] Translation: X:873.59, Y:37.20, Z:8.15 [[ 8.12851380e-01 -5.82268350e-01 -1.53689056e-02 8.73592885e+02] [ 5.82179290e-01 8.12996398e-01 -1.02044569e-02 3.72029920e+01] [ 1.84365971e-02 -6.52751678e-04 9.99829818e-01 8.15380649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.61, Y:37.22, Z:8.16 [[ 8.13701152e-01 -5.81078463e-01 -1.54355177e-02 8.73613632e+02] [ 5.80988347e-01 8.13847300e-01 -1.02524286e-02 3.72241083e+01] [ 1.85196199e-02 -6.25442931e-04 9.99828302e-01 8.15669042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1592541539999 meters Centerline goodness [0,1] 0.9997256689457247 Centerline is valid? [True, True] Translation: X:873.64, Y:37.24, Z:8.15 [[ 8.13043661e-01 -5.81973550e-01 -1.63337425e-02 8.73636702e+02] [ 5.81872702e-01 8.13207431e-01 -1.08550508e-02 3.72423640e+01] [ 1.96000733e-02 -6.78528647e-04 9.99807670e-01 8.15287950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1892541539999 meters Centerline goodness [0,1] 0.9999787897427196 Centerline is valid? [True, True] Translation: X:873.66, Y:37.26, Z:8.16 [[ 8.13586781e-01 -5.81213552e-01 -1.63510423e-02 8.73658327e+02] [ 5.81112220e-01 8.13750808e-01 -1.08724763e-02 3.72617406e+01] [ 1.96249045e-02 -6.56087467e-04 9.99807198e-01 8.15687862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2192541539998 meters Centerline goodness [0,1] 0.9999154065771386 Centerline is valid? [True, True] Translation: X:873.68, Y:37.28, Z:8.16 [[ 8.13157293e-01 -5.81808804e-01 -1.65448338e-02 8.73679567e+02] [ 5.81705058e-01 8.13325311e-01 -1.10074479e-02 3.72814968e+01] [ 1.98605622e-02 -6.73426978e-04 9.99802533e-01 8.15634829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2492541539999 meters Centerline goodness [0,1] 0.9998738674346739 Centerline is valid? [True, True] Translation: X:873.70, Y:37.30, Z:8.16 [[ 8.12919696e-01 -5.82144856e-01 -1.63992345e-02 8.73702784e+02] [ 5.82042918e-01 8.13084814e-01 -1.09145388e-02 3.72975292e+01] [ 1.96878112e-02 -6.72414797e-04 9.99805950e-01 8.15556578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2792541539999 meters Centerline goodness [0,1] 0.9998734897843001 Centerline is valid? [True, True] Translation: X:873.72, Y:37.32, Z:8.16 [[ 8.12450429e-01 -5.82817926e-01 -1.57342125e-02 8.73723275e+02] [ 5.82724177e-01 8.12602505e-01 -1.04739142e-02 3.73162540e+01] [ 1.88900455e-02 -6.59169913e-04 9.99821350e-01 8.15569273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3092541539999 meters Centerline goodness [0,1] 0.9998951628121527 Centerline is valid? [True, True] Translation: X:873.74, Y:37.33, Z:8.16 [[ 8.12352062e-01 -5.82973548e-01 -1.50322909e-02 8.73744609e+02] [ 5.82887964e-01 8.12490888e-01 -1.00088723e-02 3.73326499e+01] [ 1.80485072e-02 -6.31413413e-04 9.99836913e-01 8.15618477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.77, Y:37.35, Z:8.16 [[ 8.12500844e-01 -5.82767649e-01 -1.49748299e-02 8.73766036e+02] [ 5.82682613e-01 8.12638592e-01 -9.97456059e-03 3.73523881e+01] [ 1.79819760e-02 -6.21234140e-04 9.99838118e-01 8.15950068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3692541539999 meters Centerline goodness [0,1] 0.9998740871317049 Centerline is valid? [True, True] Translation: X:873.79, Y:37.37, Z:8.16 [[ 8.11701740e-01 -5.83882955e-01 -1.48654047e-02 8.73786236e+02] [ 5.83799247e-01 8.11837600e-01 -9.90709849e-03 3.73737317e+01] [ 1.78528804e-02 -6.36802969e-04 9.99840422e-01 8.15790346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3992541539999 meters Centerline goodness [0,1] 0.9998325238653492 Centerline is valid? [True, True] Translation: X:873.81, Y:37.39, Z:8.16 [[ 8.11814948e-01 -5.83733854e-01 -1.45354064e-02 8.73807596e+02] [ 5.83653731e-01 8.11944831e-01 -9.69089586e-03 3.73918594e+01] [ 1.74588520e-02 -6.16430042e-04 9.99847393e-01 8.15672737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4292541539999 meters Centerline goodness [0,1] 0.9997699707235467 Centerline is valid? [True, True] Translation: X:873.83, Y:37.41, Z:8.16 [[ 8.11916526e-01 -5.83597305e-01 -1.43436436e-02 8.73829798e+02] [ 5.83519203e-01 8.12042993e-01 -9.56645729e-03 3.74113635e+01] [ 1.72306140e-02 -6.02626708e-04 9.99851360e-01 8.15755763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4592541539998 meters Centerline goodness [0,1] 0.9998745871828101 Centerline is valid? [True, True] Translation: X:873.85, Y:37.43, Z:8.16 [[ 8.12173325e-01 -5.83239992e-01 -1.43388355e-02 8.73851566e+02] [ 5.83161823e-01 8.12299675e-01 -9.56695115e-03 3.74286674e+01] [ 1.72272599e-02 -5.91838920e-04 9.99851425e-01 8.15729994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4892541539999 meters Centerline goodness [0,1] 0.9999583333333333 Centerline is valid? [True, True] Translation: X:873.87, Y:37.45, Z:8.16 [[ 8.13259798e-01 -5.81729394e-01 -1.41213756e-02 8.73872781e+02] [ 5.81653295e-01 8.13382205e-01 -9.42512700e-03 3.74480878e+01] [ 1.69689491e-02 -5.48667795e-04 9.99855866e-01 8.15848402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.89, Y:37.47, Z:8.16 [[ 8.13778724e-01 -5.81003097e-01 -1.41276052e-02 8.73894968e+02] [ 5.80926735e-01 8.13901174e-01 -9.43436889e-03 3.74671677e+01] [ 1.69798720e-02 -5.29614887e-04 9.99855691e-01 8.15996848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5492541539999 meters Centerline goodness [0,1] 0.9999166180271826 Centerline is valid? [True, True] Translation: X:873.92, Y:37.49, Z:8.16 [[ 8.14328666e-01 -5.80240966e-01 -1.37566025e-02 8.73915500e+02] [ 5.80168397e-01 8.14444703e-01 -9.19011251e-03 3.74866028e+01] [ 1.65364718e-02 -4.97373963e-04 9.99863139e-01 8.15822493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5792541539998 meters Centerline goodness [0,1] 0.9998962720162645 Centerline is valid? [True, True] Translation: X:873.94, Y:37.50, Z:8.16 [[ 8.14637478e-01 -5.79805979e-01 -1.38132543e-02 8.73937715e+02] [ 5.79732713e-01 8.14754434e-01 -9.23008855e-03 3.75037099e+01] [ 1.66060707e-02 -4.88819345e-04 9.99861990e-01 8.15774493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:873.96, Y:37.53, Z:8.16 [[ 8.16329577e-01 -5.77449021e-01 -1.25955887e-02 8.73956455e+02] [ 5.77387795e-01 8.16426645e-01 -8.41827475e-03 3.75271566e+01] [ 1.51444987e-02 -4.00452508e-04 9.99885235e-01 8.16125041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6392541539999 meters Centerline goodness [0,1] 0.9997706422018349 Centerline is valid? [True, True] Translation: X:873.98, Y:37.54, Z:8.16 [[ 8.16513359e-01 -5.77188233e-01 -1.26363570e-02 8.73979433e+02] [ 5.77126556e-01 8.16611038e-01 -8.44697126e-03 3.75428997e+01] [ 1.51944810e-02 -3.95712310e-04 9.99884479e-01 8.15686693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6692541539999 meters Centerline goodness [0,1] 0.9998958094563337 Centerline is valid? [True, True] Translation: X:874.00, Y:37.56, Z:8.16 [[ 8.17354035e-01 -5.76005057e-01 -1.22700991e-02 8.74000401e+02] [ 5.75946732e-01 8.17446050e-01 -8.20477062e-03 3.75641668e+01] [ 1.47561334e-02 -3.60721102e-04 9.99891057e-01 8.16058305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6992541539998 meters Centerline goodness [0,1] 0.9998956311186257 Centerline is valid? [True, True] Translation: X:874.02, Y:37.58, Z:8.16 [[ 8.18524801e-01 -5.74345227e-01 -1.20295506e-02 8.74020842e+02] [ 5.74288939e-01 8.18613130e-01 -8.04727745e-03 3.75835938e+01] [ 1.44694635e-02 -3.21541680e-04 9.99895260e-01 8.15933187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7292541539999 meters Centerline goodness [0,1] 0.9999791336282448 Centerline is valid? [True, True] Translation: X:874.04, Y:37.60, Z:8.16 [[ 8.19283229e-01 -5.73262914e-01 -1.20258762e-02 8.74043370e+02] [ 5.73206506e-01 8.19371431e-01 -8.04735794e-03 3.76016375e+01] [ 1.44669112e-02 -3.00245057e-04 9.99895304e-01 8.16155828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7592541539999 meters Centerline goodness [0,1] 0.9998956724950966 Centerline is valid? [True, True] Translation: X:874.06, Y:37.62, Z:8.16 [[ 8.19557362e-01 -5.72878472e-01 -1.16613494e-02 8.74064722e+02] [ 5.72825335e-01 8.19640273e-01 -7.80756847e-03 3.76224106e+01] [ 1.40308995e-02 -2.81166177e-04 9.99901523e-01 8.16034254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7892541539999 meters Centerline goodness [0,1] 0.9998335933437338 Centerline is valid? [True, True] Translation: X:874.09, Y:37.64, Z:8.16 [[ 8.19343148e-01 -5.73191609e-01 -1.13219281e-02 8.74086558e+02] [ 5.73141492e-01 8.19421323e-01 -7.58457674e-03 3.76394880e+01] [ 1.36248450e-02 -2.74695786e-04 9.99907140e-01 8.15978647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:874.11, Y:37.66, Z:8.16 [[ 8.19887617e-01 -5.72431560e-01 -1.03152619e-02 8.74107678e+02] [ 5.72389859e-01 8.19952470e-01 -6.91351642e-03 3.76572924e+01] [ 1.24155395e-02 -2.36044805e-04 9.99922896e-01 8.16343715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8492541539998 meters Centerline goodness [0,1] 0.9998129481450692 Centerline is valid? [True, True] Translation: X:874.13, Y:37.68, Z:8.16 [[ 8.19542756e-01 -5.72919431e-01 -1.06299767e-02 8.74129496e+02] [ 5.72875158e-01 8.19611654e-01 -7.12667162e-03 3.76750170e+01] [ 1.27954614e-02 -2.49037483e-04 9.99918104e-01 8.16035124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8792541539999 meters Centerline goodness [0,1] 0.9998332742846425 Centerline is valid? [True, True] Translation: X:874.15, Y:37.69, Z:8.16 [[ 8.19427590e-01 -5.73086413e-01 -1.05065247e-02 8.74150700e+02] [ 5.73043126e-01 8.19494907e-01 -7.04787605e-03 3.76914819e+01] [ 1.26490855e-02 -2.45467657e-04 9.99919967e-01 8.16041955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9092541539999 meters Centerline goodness [0,1] 0.9997278797647207 Centerline is valid? [True, True] Translation: X:874.17, Y:37.71, Z:8.16 [[ 8.19548513e-01 -5.72914109e-01 -1.04718087e-02 8.74172725e+02] [ 5.72871052e-01 8.19615377e-01 -7.02788856e-03 3.77094601e+01] [ 1.26092319e-02 -2.39300425e-04 9.99920472e-01 8.15972105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9392541539999 meters Centerline goodness [0,1] 0.9998741003420274 Centerline is valid? [True, True] Translation: X:874.19, Y:37.73, Z:8.16 [[ 8.20388674e-01 -5.71708023e-01 -1.05999531e-02 8.74194005e+02] [ 5.71663751e-01 8.20457121e-01 -7.11814597e-03 3.77294374e+01] [ 1.27663082e-02 -2.19962636e-04 9.99918483e-01 8.16122775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9692541539998 meters Centerline goodness [0,1] 0.9998335552596538 Centerline is valid? [True, True] Translation: X:874.22, Y:37.75, Z:8.16 [[ 8.21022297e-01 -5.70796247e-01 -1.06785884e-02 8.74215767e+02] [ 5.70751197e-01 8.21091714e-01 -7.17414978e-03 3.77466101e+01] [ 1.28630782e-02 -2.04680153e-04 9.99917246e-01 8.16210637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9992541539999 meters Centerline goodness [0,1] 0.9998532156262451 Centerline is valid? [True, True] Translation: X:874.24, Y:37.76, Z:8.16 [[ 8.21549376e-01 -5.70025308e-01 -1.13036231e-02 8.74238455e+02] [ 5.69974725e-01 8.21627110e-01 -7.59637752e-03 3.77647797e+01] [ 1.36174906e-02 -2.01980228e-04 9.99907257e-01 8.16058459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0292541539999 meters Centerline goodness [0,1] 0.9997709049255441 Centerline is valid? [True, True] Translation: X:874.26, Y:37.78, Z:8.16 [[ 8.23127901e-01 -5.67729233e-01 -1.19990213e-02 8.74260049e+02] [ 5.67671940e-01 8.23215336e-01 -8.06719043e-03 3.77832300e+01] [ 1.44577582e-02 -1.71178157e-04 9.99895466e-01 8.16001072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0592541539999 meters Centerline goodness [0,1] 0.9998951078291516 Centerline is valid? [True, True] Translation: X:874.28, Y:37.80, Z:8.16 [[ 8.23706549e-01 -5.66904896e-01 -1.12409714e-02 8.74282388e+02] [ 5.66854508e-01 8.23783235e-01 -7.55971261e-03 3.78017349e+01] [ 1.35457619e-02 -1.45010545e-04 9.99908241e-01 8.16157886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0892541539998 meters Centerline goodness [0,1] 0.9998332638599416 Centerline is valid? [True, True] Translation: X:874.30, Y:37.82, Z:8.16 [[ 8.24655171e-01 -5.65526428e-01 -1.11224382e-02 8.74303750e+02] [ 5.65476928e-01 8.24730165e-01 -7.48320484e-03 3.78192575e+01] [ 1.34049604e-02 -1.18418629e-04 9.99910142e-01 8.16077721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1192541539999 meters Centerline goodness [0,1] 0.9998952001676797 Centerline is valid? [True, True] Translation: X:874.33, Y:37.84, Z:8.16 [[ 8.24933004e-01 -5.65119446e-01 -1.12049783e-02 8.74325980e+02] [ 5.65069138e-01 8.25009091e-01 -7.54118340e-03 3.78371260e+01] [ 1.35058784e-02 -1.10616372e-04 9.99908785e-01 8.16233679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1492541539999 meters Centerline goodness [0,1] 0.9999791257880015 Centerline is valid? [True, True] Translation: X:874.35, Y:37.85, Z:8.16 [[ 8.25410052e-01 -5.64433972e-01 -1.06083230e-02 8.74348774e+02] [ 5.64388779e-01 8.25478215e-01 -7.14308600e-03 3.78534090e+01] [ 1.27887399e-02 -9.12434643e-05 9.99918217e-01 8.16474987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1792541539999 meters Centerline goodness [0,1] 0.9998122770790313 Centerline is valid? [True, True] Translation: X:874.37, Y:37.87, Z:8.16 [[ 8.25082603e-01 -5.64886551e-01 -1.19114678e-02 8.74371498e+02] [ 5.64829581e-01 8.25168573e-01 -8.02315782e-03 3.78711708e+01] [ 1.43611428e-02 -1.08181429e-04 9.99896868e-01 8.16102716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:874.39, Y:37.89, Z:8.17 [[ 8.24750104e-01 -5.65404466e-01 -1.02496647e-02 8.74394317e+02] [ 5.65362281e-01 8.24813785e-01 -6.90726788e-03 3.78881237e+01] [ 1.23594648e-02 -9.80038987e-05 9.99923614e-01 8.16614236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2392541539999 meters Centerline goodness [0,1] 0.9998534338358459 Centerline is valid? [True, True] Translation: X:874.42, Y:37.90, Z:8.16 [[ 8.24157373e-01 -5.66253980e-01 -1.10024649e-02 8.74417256e+02] [ 5.66205393e-01 8.24230803e-01 -7.41862912e-03 3.79037614e+01] [ 1.32693987e-02 -1.15537068e-04 9.99911951e-01 8.16320252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2692541539999 meters Centerline goodness [0,1] 0.9998322780829385 Centerline is valid? [True, True] Translation: X:874.44, Y:37.92, Z:8.16 [[ 8.23146569e-01 -5.67727624e-01 -1.07270823e-02 8.74440947e+02] [ 5.67681536e-01 8.23216452e-01 -7.23507860e-03 3.79206333e+01] [ 1.29382646e-02 -1.34036442e-04 9.99916288e-01 8.16326466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2992541539999 meters Centerline goodness [0,1] 0.999958081824279 Centerline is valid? [True, True] Translation: X:874.46, Y:37.94, Z:8.17 [[ 8.22858816e-01 -5.68153642e-01 -1.02375756e-02 8.74463733e+02] [ 5.68111650e-01 8.22922488e-01 -6.90877838e-03 3.79360903e+01] [ 1.23499788e-02 -1.31136795e-04 9.99923728e-01 8.16533679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3292541539998 meters Centerline goodness [0,1] 0.9999161144199312 Centerline is valid? [True, True] Translation: X:874.49, Y:37.95, Z:8.16 [[ 8.22123564e-01 -5.69211525e-01 -1.05396805e-02 8.74487875e+02] [ 5.69167048e-01 8.22191108e-01 -7.11712749e-03 3.79523033e+01] [ 1.27167826e-02 -1.47680636e-04 9.99919128e-01 8.16424416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3592541539999 meters Centerline goodness [0,1] 0.999707125224886 Centerline is valid? [True, True] Translation: X:874.51, Y:37.97, Z:8.16 [[ 8.21795238e-01 -5.69662537e-01 -1.17124466e-02 8.74511623e+02] [ 5.69607603e-01 8.21878681e-01 -7.91281456e-03 3.79668146e+01] [ 1.41338442e-02 -1.68785308e-04 9.99900098e-01 8.16148611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:874.53, Y:37.98, Z:8.17 [[ 8.21781390e-01 -5.69707136e-01 -1.04463666e-02 8.74534363e+02] [ 5.69663415e-01 8.21847770e-01 -7.05949201e-03 3.79839048e+01] [ 1.26071661e-02 -1.49553707e-04 9.99920515e-01 8.16600882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4192541539999 meters Centerline goodness [0,1] 0.9999583792895345 Centerline is valid? [True, True] Translation: X:874.56, Y:38.00, Z:8.17 [[ 8.21622183e-01 -5.69933523e-01 -1.06191857e-02 8.74556622e+02] [ 5.69888305e-01 8.21690791e-01 -7.18076976e-03 3.80008105e+01] [ 1.28182485e-02 -1.51869981e-04 9.99917831e-01 8.16528421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4492541539998 meters Centerline goodness [0,1] 0.9997904662126768 Centerline is valid? [True, True] Translation: X:874.58, Y:38.02, Z:8.16 [[ 8.21337534e-01 -5.70324510e-01 -1.16021224e-02 8.74579150e+02] [ 5.70270498e-01 8.21419458e-01 -7.85072670e-03 3.80170874e+01] [ 1.40076709e-02 -1.68251589e-04 9.99901874e-01 8.16291946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4792541539999 meters Centerline goodness [0,1] 0.9997904662126768 Centerline is valid? [True, True] Translation: X:874.60, Y:38.03, Z:8.16 [[ 8.21169073e-01 -5.70567084e-01 -1.15998029e-02 8.74601928e+02] [ 5.70513048e-01 8.21250981e-01 -7.85415272e-03 3.80325798e+01] [ 1.40076705e-02 -1.68251584e-04 9.99901874e-01 8.16317691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5092541539999 meters Centerline goodness [0,1] 0.9998958593684912 Centerline is valid? [True, True] Translation: X:874.62, Y:38.05, Z:8.16 [[ 8.20898002e-01 -5.70969620e-01 -1.09618599e-02 8.74624014e+02] [ 5.70921351e-01 8.20971173e-01 -7.42596150e-03 3.80475985e+01] [ 1.32393694e-02 -1.62402877e-04 9.99912343e-01 8.16417200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5392541539999 meters Centerline goodness [0,1] 0.9997486910994764 Centerline is valid? [True, True] Translation: X:874.65, Y:38.06, Z:8.16 [[ 8.20388641e-01 -5.71697025e-01 -1.11798865e-02 8.74648055e+02] [ 5.71646846e-01 8.20464796e-01 -7.57640751e-03 3.80634233e+01] [ 1.35041129e-02 -1.75348195e-04 9.99908800e-01 8.16313940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5692541539999 meters Centerline goodness [0,1] 0.999706879946401 Centerline is valid? [True, True] Translation: X:874.67, Y:38.08, Z:8.16 [[ 8.19173065e-01 -5.73448868e-01 -1.05775910e-02 8.74671491e+02] [ 5.73404054e-01 8.19241332e-01 -7.17151998e-03 3.80780603e+01] [ 1.27780998e-02 -1.90517568e-04 9.99918339e-01 8.16417989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5992541539998 meters Centerline goodness [0,1] 0.9999165762909819 Centerline is valid? [True, True] Translation: X:874.70, Y:38.09, Z:8.17 [[ 8.18485834e-01 -5.74437692e-01 -1.01131845e-02 8.74695836e+02] [ 5.74396775e-01 8.18548288e-01 -6.85897295e-03 3.80939441e+01] [ 1.22181825e-02 -1.95008378e-04 9.99925336e-01 8.16557288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6292541539999 meters Centerline goodness [0,1] 0.9998332430066286 Centerline is valid? [True, True] Translation: X:874.72, Y:38.11, Z:8.16 [[ 8.17651885e-01 -5.75614255e-01 -1.06594927e-02 8.74719157e+02] [ 5.75568845e-01 8.17721335e-01 -7.23353034e-03 3.81103700e+01] [ 1.28802177e-02 -2.20762152e-04 9.99917022e-01 8.16437884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:874.74, Y:38.13, Z:8.17 [[ 8.17522588e-01 -5.75820346e-01 -9.36736777e-03 8.74741533e+02] [ 5.75785258e-01 8.17576230e-01 -6.35965568e-03 3.81252630e+01] [ 1.13205564e-02 -1.94430097e-04 9.99935902e-01 8.16843732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6892541539999 meters Centerline goodness [0,1] 0.99993711087353 Centerline is valid? [True, True] Translation: X:874.76, Y:38.14, Z:8.17 [[ 8.17071066e-01 -5.76459085e-01 -9.47609511e-03 8.74764910e+02] [ 5.76423188e-01 8.17125989e-01 -6.43635521e-03 3.81425054e+01] [ 1.14534590e-02 -2.03281334e-04 9.99934386e-01 8.16718826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7192541539998 meters Centerline goodness [0,1] 0.9999164996659987 Centerline is valid? [True, True] Translation: X:874.79, Y:38.16, Z:8.17 [[ 8.16931593e-01 -5.76656215e-01 -9.50696816e-03 8.74788340e+02] [ 5.76620055e-01 8.16986884e-01 -6.46098565e-03 3.81586812e+01] [ 1.14928358e-02 -2.03725202e-04 9.99933934e-01 8.16708908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7492541539999 meters Centerline goodness [0,1] 0.9998332430066286 Centerline is valid? [True, True] Translation: X:874.81, Y:38.17, Z:8.17 [[ 8.17189517e-01 -5.76278826e-01 -1.01984281e-02 8.74812446e+02] [ 5.76237137e-01 8.17253125e-01 -6.93478315e-03 3.81730700e+01] [ 1.23310659e-02 -2.09680909e-04 9.99923948e-01 8.16626477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7792541539999 meters Centerline goodness [0,1] 0.9998952133456283 Centerline is valid? [True, True] Translation: X:874.83, Y:38.19, Z:8.17 [[ 8.17881304e-01 -5.75303331e-01 -9.81068847e-03 8.74834672e+02] [ 5.75264661e-01 8.17940122e-01 -6.67287046e-03 3.81910512e+01] [ 1.18634803e-02 -1.86126392e-04 9.99929609e-01 8.16760570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8092541539999 meters Centerline goodness [0,1] 0.9998326009625444 Centerline is valid? [True, True] Translation: X:874.86, Y:38.21, Z:8.17 [[ 8.18150408e-01 -5.74917234e-01 -1.00041962e-02 8.74857215e+02] [ 5.74876947e-01 8.18211551e-01 -6.80835364e-03 3.82080404e+01] [ 1.20997887e-02 -1.80924434e-04 9.99926779e-01 8.16710559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8392541539998 meters Centerline goodness [0,1] 0.9997491953350333 Centerline is valid? [True, True] Translation: X:874.88, Y:38.23, Z:8.17 [[ 8.18907151e-01 -5.73835388e-01 -1.01992422e-02 8.74879700e+02] [ 5.73793379e-01 8.18970647e-01 -6.94536776e-03 3.82255745e+01] [ 1.23383777e-02 -1.64646294e-04 9.99923866e-01 8.16742739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8692541539999 meters Centerline goodness [0,1] 0.9999162759544541 Centerline is valid? [True, True] Translation: X:874.90, Y:38.24, Z:8.17 [[ 8.19149670e-01 -5.73501135e-01 -9.50088184e-03 8.74902074e+02] [ 5.73464619e-01 8.19204753e-01 -6.47325096e-03 3.82417372e+01] [ 1.14955843e-02 -1.45858207e-04 9.99933913e-01 8.16887982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8992541539999 meters Centerline goodness [0,1] 0.9997490064839991 Centerline is valid? [True, True] Translation: X:874.93, Y:38.26, Z:8.17 [[ 8.19764025e-01 -5.72604813e-01 -1.05200254e-02 8.74925092e+02] [ 5.72559910e-01 8.19831511e-01 -7.17234309e-03 3.82590981e+01] [ 1.27315665e-02 -1.43715967e-04 9.99918940e-01 8.16722936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9292541539999 meters Centerline goodness [0,1] 0.9998749166110741 Centerline is valid? [True, True] Translation: X:874.95, Y:38.28, Z:8.17 [[ 8.20385288e-01 -5.71715076e-01 -1.04809816e-02 8.74947919e+02] [ 5.71670391e-01 8.20452227e-01 -7.14898422e-03 3.82752642e+01] [ 1.26863268e-02 -1.26745397e-04 9.99919517e-01 8.16783604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:874.97, Y:38.29, Z:8.17 [[ 8.21260827e-01 -5.70468574e-01 -9.81126902e-03 8.74971274e+02] [ 5.70429314e-01 8.21319424e-01 -6.69341501e-03 3.82909644e+01] [ 1.18765687e-02 -9.95959125e-05 9.99929466e-01 8.17078361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9892541539999 meters Centerline goodness [0,1] 0.9998952901509917 Centerline is valid? [True, True] Translation: X:874.99, Y:38.31, Z:8.17 [[ 8.22206700e-01 -5.69091074e-01 -1.05589691e-02 8.74993660e+02] [ 5.69045461e-01 8.22274493e-01 -7.20565205e-03 3.83091540e+01] [ 1.27830432e-02 -8.39980198e-05 9.99918290e-01 8.16830819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0192541539999 meters Centerline goodness [0,1] 0.9998953558946024 Centerline is valid? [True, True] Translation: X:875.02, Y:38.33, Z:8.17 [[ 8.22622826e-01 -5.68496772e-01 -1.01541390e-02 8.75016463e+02] [ 5.68454497e-01 8.22685490e-01 -6.93319443e-03 3.83259199e+01] [ 1.22951615e-02 -6.87619845e-05 9.99924409e-01 8.16924167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0492541539999 meters Centerline goodness [0,1] 0.9998749869778102 Centerline is valid? [True, True] Translation: X:875.04, Y:38.34, Z:8.17 [[ 8.23650576e-01 -5.67005016e-01 -1.02489248e-02 8.75038724e+02] [ 5.66961787e-01 8.23714337e-01 -7.00160539e-03 3.83434751e+01] [ 1.24121317e-02 -4.38724260e-05 9.99922966e-01 8.16786963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0792541539998 meters Centerline goodness [0,1] 0.9999164298846732 Centerline is valid? [True, True] Translation: X:875.06, Y:38.36, Z:8.17 [[ 8.24166960e-01 -5.66258688e-01 -9.99598495e-03 8.75061362e+02] [ 5.66217488e-01 8.24227576e-01 -6.83078265e-03 3.83600401e+01] [ 1.21069565e-02 -3.01961153e-05 9.99926708e-01 8.16886214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1092541539999 meters Centerline goodness [0,1] 0.999874657920575 Centerline is valid? [True, True] Translation: X:875.08, Y:38.38, Z:8.17 [[ 8.24843050e-01 -5.65265497e-01 -1.04336223e-02 8.75083481e+02] [ 5.65220480e-01 8.24909036e-01 -7.13380679e-03 3.83762383e+01] [ 1.26392842e-02 -1.30260561e-05 9.99920121e-01 8.16804309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:875.11, Y:38.39, Z:8.17 [[ 8.24808472e-01 -5.65320845e-01 -1.01649388e-02 8.75107223e+02] [ 5.65278092e-01 8.24871106e-01 -6.95251916e-03 3.83919273e+01] [ 1.23151683e-02 -1.15204860e-05 9.99924165e-01 8.17144818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1692541539999 meters Centerline goodness [0,1] 0.999854345700077 Centerline is valid? [True, True] Translation: X:875.13, Y:38.41, Z:8.17 [[ 8.23395495e-01 -5.67359450e-01 -1.10956839e-02 8.75131041e+02] [ 5.67308639e-01 8.23470250e-01 -7.59309900e-03 3.84060286e+01] [ 1.34449820e-02 -4.25538063e-05 9.99909611e-01 8.16825182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1992541539998 meters Centerline goodness [0,1] 0.9998533140546091 Centerline is valid? [True, True] Translation: X:875.15, Y:38.42, Z:8.17 [[ 8.22075072e-01 -5.69257745e-01 -1.17556949e-02 8.75154707e+02] [ 5.69200881e-01 8.22159117e-01 -8.04634067e-03 3.84199892e+01] [ 1.42454935e-02 -7.66558388e-05 9.99898525e-01 8.16775592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:875.18, Y:38.43, Z:8.17 [[ 8.19333885e-01 -5.73214204e-01 -1.08379631e-02 8.75180791e+02] [ 5.73166190e-01 8.19405552e-01 -7.42021554e-03 3.84326423e+01] [ 1.31340601e-02 -1.32320010e-04 9.99913736e-01 8.17183025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:875.21, Y:38.45, Z:8.17 [[ 8.17675229e-01 -5.75581660e-01 -1.06288595e-02 8.75205160e+02] [ 5.75535632e-01 8.17744291e-01 -7.28083937e-03 3.84474795e+01] [ 1.28824068e-02 -1.63925386e-04 9.99917005e-01 8.17235982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2892541539999 meters Centerline goodness [0,1] 0.9999162479061977 Centerline is valid? [True, True] Translation: X:875.23, Y:38.46, Z:8.17 [[ 8.14596258e-01 -5.79922501e-01 -1.10828642e-02 8.75230121e+02] [ 5.79872800e-01 8.14671612e-01 -7.59604807e-03 3.84620235e+01] [ 1.34340141e-02 -2.38939174e-04 9.99909731e-01 8.17047682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3192541539999 meters Centerline goodness [0,1] 0.9998324923051153 Centerline is valid? [True, True] Translation: X:875.26, Y:38.48, Z:8.17 [[ 8.13154214e-01 -5.81934396e-01 -1.15144635e-02 8.75255190e+02] [ 5.81880887e-01 8.13235686e-01 -7.89631351e-03 3.84772000e+01] [ 1.39591091e-02 -2.79125643e-04 9.99902528e-01 8.16948316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3492541539998 meters Centerline goodness [0,1] 0.9998952221290863 Centerline is valid? [True, True] Translation: X:875.28, Y:38.49, Z:8.17 [[ 8.10778630e-01 -5.85243222e-01 -1.13306980e-02 8.75279947e+02] [ 5.85191672e-01 8.10857733e-01 -7.77453024e-03 3.84924710e+01] [ 1.37375752e-02 -3.27207144e-04 9.99905582e-01 8.17052178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:875.30, Y:38.51, Z:8.17 [[ 8.10034388e-01 -5.86284537e-01 -1.07113139e-02 8.75303832e+02] [ 5.86238518e-01 8.10105140e-01 -7.35275182e-03 3.85066547e+01] [ 1.29880952e-02 -3.23402969e-04 9.99915599e-01 8.17320157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4092541539999 meters Centerline goodness [0,1] 0.9999791074711684 Centerline is valid? [True, True] Translation: X:875.33, Y:38.52, Z:8.17 [[ 8.09032406e-01 -5.87662667e-01 -1.09158583e-02 8.75328013e+02] [ 5.87614969e-01 8.09105968e-01 -7.49544269e-03 3.85226338e+01] [ 1.32368779e-02 -3.50265696e-04 9.99912327e-01 8.17314371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4392541539999 meters Centerline goodness [0,1] 0.9996240837040286 Centerline is valid? [True, True] Translation: X:875.35, Y:38.54, Z:8.17 [[ 8.08802442e-01 -5.87948222e-01 -1.24698385e-02 8.75351786e+02] [ 5.87885949e-01 8.08898465e-01 -8.56648353e-03 3.85369836e+01] [ 1.51234820e-02 -4.02250036e-04 9.99885553e-01 8.16867359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4692541539998 meters Centerline goodness [0,1] 0.999854360852197 Centerline is valid? [True, True] Translation: X:875.37, Y:38.55, Z:8.17 [[ 8.08882107e-01 -5.87848060e-01 -1.20165039e-02 8.75374539e+02] [ 5.87790184e-01 8.08971267e-01 -8.25763964e-03 3.85543356e+01] [ 1.45752438e-02 -3.83726074e-04 9.99893702e-01 8.16981162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4992541539999 meters Centerline goodness [0,1] 0.9999375598384881 Centerline is valid? [True, True] Translation: X:875.40, Y:38.57, Z:8.17 [[ 8.08973146e-01 -5.87742766e-01 -1.09950102e-02 8.75397497e+02] [ 5.87694251e-01 8.09047787e-01 -7.55950817e-03 3.85726143e+01] [ 1.33385349e-02 -3.46265169e-04 9.99910978e-01 8.17167053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5292541539999 meters Centerline goodness [0,1] 0.9998958723811904 Centerline is valid? [True, True] Translation: X:875.42, Y:38.59, Z:8.17 [[ 8.08427792e-01 -5.88503433e-01 -1.04026702e-02 8.75420676e+02] [ 5.88460020e-01 8.08494648e-01 -7.15598442e-03 3.85891738e+01] [ 1.26218246e-02 -3.36458851e-04 9.99920285e-01 8.17204460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5592541539999 meters Centerline goodness [0,1] 0.9998750052081163 Centerline is valid? [True, True] Translation: X:875.44, Y:38.60, Z:8.17 [[ 8.08012427e-01 -5.89072794e-01 -1.04479830e-02 8.75444130e+02] [ 5.89029009e-01 8.08079900e-01 -7.19042416e-03 3.86038448e+01] [ 1.26784883e-02 -3.44212996e-04 9.99919565e-01 8.17207301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5892541539998 meters Centerline goodness [0,1] 0.9997708953825005 Centerline is valid? [True, True] Translation: X:875.47, Y:38.62, Z:8.17 [[ 8.07419982e-01 -5.89882047e-01 -1.05897939e-02 8.75467465e+02] [ 5.89837107e-01 8.07489344e-01 -7.29012449e-03 3.86213479e+01] [ 1.28514593e-02 -3.60061219e-04 9.99917352e-01 8.17084535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6192541539999 meters Centerline goodness [0,1] 0.999937147765603 Centerline is valid? [True, True] Translation: X:875.49, Y:38.64, Z:8.17 [[ 8.07136802e-01 -5.90279924e-01 -9.98973969e-03 8.75490148e+02] [ 5.90239919e-01 8.07198547e-01 -6.88069895e-03 3.86374632e+01] [ 1.21252418e-02 -3.42677800e-04 9.99926428e-01 8.17326046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6492541539999 meters Centerline goodness [0,1] 0.9998326324818511 Centerline is valid? [True, True] Translation: X:875.51, Y:38.65, Z:8.17 [[ 8.07003509e-01 -5.90445723e-01 -1.09171593e-02 8.75512377e+02] [ 5.90397896e-01 8.07077263e-01 -7.52438942e-03 3.86541820e+01] [ 1.32537346e-02 -3.73259190e-04 9.99912096e-01 8.17122375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6792541539999 meters Centerline goodness [0,1] 0.999895591889578 Centerline is valid? [True, True] Translation: X:875.53, Y:38.67, Z:8.17 [[ 8.07668953e-01 -5.89531699e-01 -1.11012894e-02 8.75534491e+02] [ 5.89482107e-01 8.07745161e-01 -7.65505201e-03 3.86715975e+01] [ 1.34799086e-02 -3.61263608e-04 9.99909077e-01 8.17160523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7092541539998 meters Centerline goodness [0,1] 0.999937064697491 Centerline is valid? [True, True] Translation: X:875.56, Y:38.69, Z:8.17 [[ 8.08192445e-01 -5.88821339e-01 -1.06959102e-02 8.75557250e+02] [ 5.88775223e-01 8.08263149e-01 -7.37687430e-03 3.86881020e+01] [ 1.29887711e-02 -3.35552823e-04 9.99915586e-01 8.17302973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7392541539999 meters Centerline goodness [0,1] 0.9998739945817671 Centerline is valid? [True, True] Translation: X:875.58, Y:38.71, Z:8.17 [[ 8.08613059e-01 -5.88233360e-01 -1.12443313e-02 8.75580583e+02] [ 5.88182305e-01 8.08691163e-01 -7.75743670e-03 3.87054560e+01] [ 1.36563744e-02 -3.40952090e-04 9.99906689e-01 8.17215965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7692541539999 meters Centerline goodness [0,1] 0.9998330655426413 Centerline is valid? [True, True] Translation: X:875.60, Y:38.72, Z:8.17 [[ 8.09908397e-01 -5.86444678e-01 -1.14467480e-02 8.75602543e+02] [ 5.86391531e-01 8.09989223e-01 -7.90126297e-03 3.87242427e+01] [ 1.39053962e-02 -3.12976874e-04 9.99903266e-01 8.17269178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7992541539999 meters Centerline goodness [0,1] 0.9999162338750209 Centerline is valid? [True, True] Translation: X:875.63, Y:38.74, Z:8.17 [[ 8.10385330e-01 -5.85801113e-01 -1.06147952e-02 8.75626036e+02] [ 5.85755309e-01 8.10454798e-01 -7.33063586e-03 3.87413852e+01] [ 1.28971063e-02 -2.77032873e-04 9.99916790e-01 8.17402905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8292541539998 meters Centerline goodness [0,1] 0.9999790558371382 Centerline is valid? [True, True] Translation: X:875.65, Y:38.76, Z:8.18 [[ 8.11138885e-01 -5.84764891e-01 -1.01848611e-02 8.75648184e+02] [ 5.84722604e-01 8.11202787e-01 -7.03670171e-03 3.87583534e+01] [ 1.23768038e-02 -2.47576137e-04 9.99923374e-01 8.17620362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8592541539999 meters Centerline goodness [0,1] 0.9998540176430106 Centerline is valid? [True, True] Translation: X:875.67, Y:38.78, Z:8.17 [[ 8.10965944e-01 -5.84986815e-01 -1.11653110e-02 8.75670406e+02] [ 5.84935982e-01 8.11042756e-01 -7.71657359e-03 3.87754526e+01] [ 1.35696384e-02 -2.73113762e-04 9.99907891e-01 8.17342898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8892541539999 meters Centerline goodness [0,1] 0.9998741135495782 Centerline is valid? [True, True] Translation: X:875.69, Y:38.79, Z:8.17 [[ 8.10745395e-01 -5.85288438e-01 -1.13731479e-02 8.75691727e+02] [ 5.85235659e-01 8.10825114e-01 -7.86498339e-03 3.87939409e+01] [ 1.38249178e-02 -2.79472606e-04 9.99904392e-01 8.17430649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9192541539999 meters Centerline goodness [0,1] 0.9998546451264587 Centerline is valid? [True, True] Translation: X:875.72, Y:38.81, Z:8.17 [[ 8.10589540e-01 -5.85505589e-01 -1.13049828e-02 8.75715654e+02] [ 5.85453406e-01 8.10668322e-01 -7.82183732e-03 3.88076545e+01] [ 1.37443209e-02 -2.78241174e-04 9.99905504e-01 8.17356041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9492541539998 meters Centerline goodness [0,1] 0.9998741346758968 Centerline is valid? [True, True] Translation: X:875.74, Y:38.83, Z:8.17 [[ 8.09726165e-01 -5.86699931e-01 -1.12573257e-02 8.75736879e+02] [ 5.86648277e-01 8.09804361e-01 -7.79078242e-03 3.88267408e+01] [ 1.36870830e-02 -2.95690354e-04 9.99906284e-01 8.17494103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9792541539999 meters Centerline goodness [0,1] 0.9998542213336665 Centerline is valid? [True, True] Translation: X:875.76, Y:38.84, Z:8.18 [[ 8.08890817e-01 -5.87855220e-01 -1.10401947e-02 8.75760389e+02] [ 5.87805627e-01 8.08966097e-01 -7.64197640e-03 3.88423457e+01] [ 1.34235189e-02 -3.07964044e-04 9.99909853e-01 8.17569029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0092541539999 meters Centerline goodness [0,1] 0.9998124609293603 Centerline is valid? [True, True] Translation: X:875.79, Y:38.86, Z:8.18 [[ 8.06625744e-01 -5.90944086e-01 -1.18320549e-02 8.75785748e+02] [ 5.90887419e-01 8.06712428e-01 -8.19252539e-03 3.88585030e+01] [ 1.43863902e-02 -3.83110507e-04 9.99896437e-01 8.17534229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:875.81, Y:38.87, Z:8.18 [[ 8.05325677e-01 -5.92739116e-01 -1.05305945e-02 8.75809786e+02] [ 5.92694351e-01 8.05394441e-01 -7.29396663e-03 3.88722225e+01] [ 1.28047016e-02 -3.67405251e-04 9.99917949e-01 8.17960593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:875.83, Y:38.89, Z:8.18 [[ 8.01776456e-01 -5.97516630e-01 -1.13309515e-02 8.75834960e+02] [ 5.97465255e-01 8.01856377e-01 -7.84978519e-03 3.88857020e+01] [ 1.37761729e-02 -4.76076876e-04 9.99904991e-01 8.17979698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0992541539998 meters Centerline goodness [0,1] 0.9998546028580924 Centerline is valid? [True, True] Translation: X:875.86, Y:38.90, Z:8.18 [[ 7.99754023e-01 -6.00187944e-01 -1.29589692e-02 8.75859058e+02] [ 6.00121070e-01 7.99858786e-01 -8.97909187e-03 3.89024500e+01] [ 1.57544881e-02 -5.95885634e-04 9.99875713e-01 8.17680495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1292541539999 meters Centerline goodness [0,1] 0.9997703788748565 Centerline is valid? [True, True] Translation: X:875.88, Y:38.92, Z:8.18 [[ 7.96356831e-01 -6.04676631e-01 -1.34896206e-02 8.75883287e+02] [ 6.04604768e-01 7.96470757e-01 -9.34920652e-03 3.89197346e+01] [ 1.63973351e-02 -7.10584488e-04 9.99865302e-01 8.17724662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1592541539999 meters Centerline goodness [0,1] 0.9999582951038452 Centerline is valid? [True, True] Translation: X:875.91, Y:38.93, Z:8.18 [[ 7.95288926e-01 -6.06099575e-01 -1.26027313e-02 8.75906408e+02] [ 6.06036988e-01 7.95388478e-01 -8.73721071e-03 3.89343675e+01] [ 1.53196870e-02 -6.89114401e-04 9.99882409e-01 8.18010697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1892541539999 meters Centerline goodness [0,1] 0.999771604169262 Centerline is valid? [True, True] Translation: X:875.93, Y:38.95, Z:8.18 [[ 7.93437791e-01 -6.08484580e-01 -1.42473829e-02 8.75931091e+02] [ 6.08404937e-01 7.93565264e-01 -9.87953207e-03 3.89490248e+01] [ 1.73177711e-02 -8.29383968e-04 9.99849692e-01 8.17775721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2192541539998 meters Centerline goodness [0,1] 0.9998543426692746 Centerline is valid? [True, True] Translation: X:875.95, Y:38.97, Z:8.18 [[ 7.93175313e-01 -6.08813243e-01 -1.48107448e-02 8.75951561e+02] [ 6.08727170e-01 7.93313106e-01 -1.02737093e-02 3.89695322e+01] [ 1.80043283e-02 -8.66850176e-04 9.99837533e-01 8.17893871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2492541539999 meters Centerline goodness [0,1] 0.9997709621671144 Centerline is valid? [True, True] Translation: X:875.97, Y:38.99, Z:8.18 [[ 7.93513663e-01 -6.08351279e-01 -1.56457069e-02 8.75974074e+02] [ 6.08255051e-01 7.93667379e-01 -1.08574316e-02 3.89865417e+01] [ 1.90226196e-02 -9.01059963e-04 9.99818648e-01 8.17841925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2792541539999 meters Centerline goodness [0,1] 0.9999167083125104 Centerline is valid? [True, True] Translation: X:876.00, Y:39.01, Z:8.18 [[ 7.94210640e-01 -6.07447229e-01 -1.54052962e-02 8.75995645e+02] [ 6.07353685e-01 7.94359566e-01 -1.06949226e-02 3.90064116e+01] [ 1.87339455e-02 -8.62442071e-04 9.99824132e-01 8.18073281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3092541539999 meters Centerline goodness [0,1] 0.9998549343059643 Centerline is valid? [True, True] Translation: X:876.02, Y:39.03, Z:8.18 [[ 7.95867655e-01 -6.05267249e-01 -1.56918011e-02 8.76015413e+02] [ 6.05169696e-01 7.96021909e-01 -1.08976769e-02 3.90268257e+01] [ 1.90870244e-02 -8.23093946e-04 9.99817487e-01 8.18047875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3392541539998 meters Centerline goodness [0,1] 0.9998134367032192 Centerline is valid? [True, True] Translation: X:876.04, Y:39.04, Z:8.18 [[ 7.96737436e-01 -6.04121172e-01 -1.57184131e-02 8.76037050e+02] [ 6.04023027e-01 7.96892074e-01 -1.09181146e-02 3.90449752e+01] [ 1.91217429e-02 -7.95412843e-04 9.99816846e-01 8.18096219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3692541539999 meters Centerline goodness [0,1] 0.9998134367032192 Centerline is valid? [True, True] Translation: X:876.06, Y:39.06, Z:8.18 [[ 7.96567992e-01 -6.04344629e-01 -1.57163818e-02 8.76059644e+02] [ 6.04246470e-01 7.96722621e-01 -1.09210379e-02 3.90607595e+01] [ 1.91216675e-02 -7.97218968e-04 9.99816846e-01 8.18122020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:876.08, Y:39.08, Z:8.19 [[ 7.98943500e-01 -6.01250278e-01 -1.36889152e-02 8.76079455e+02] [ 6.01175303e-01 7.99060517e-01 -9.51554791e-03 3.90827138e+01] [ 1.66594975e-02 -6.27052608e-04 9.99861024e-01 8.18688982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4292541539999 meters Centerline goodness [0,1] 0.9998958550302021 Centerline is valid? [True, True] Translation: X:876.10, Y:39.10, Z:8.19 [[ 7.99637129e-01 -6.00303314e-01 -1.47102954e-02 8.76100826e+02] [ 6.00216512e-01 7.99772160e-01 -1.02288952e-02 3.91018466e+01] [ 1.79053244e-02 -6.49957852e-04 9.99839476e-01 8.18523799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4592541539998 meters Centerline goodness [0,1] 0.9997706278541193 Centerline is valid? [True, True] Translation: X:876.12, Y:39.13, Z:8.19 [[ 8.01925705e-01 -5.97228710e-01 -1.52653569e-02 8.76119839e+02] [ 5.97134608e-01 8.02070762e-01 -1.06184901e-02 3.91253134e+01] [ 1.85855636e-02 -6.00232769e-04 9.99827093e-01 8.18550815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4892541539999 meters Centerline goodness [0,1] 0.9998755393295718 Centerline is valid? [True, True] Translation: X:876.14, Y:39.14, Z:8.19 [[ 8.02886116e-01 -5.95957275e-01 -1.44503138e-02 8.76141319e+02] [ 5.95872720e-01 8.03015963e-01 -1.00531248e-02 3.91430038e+01] [ 1.75950655e-02 -5.39033466e-04 9.99845050e-01 8.18676306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5192541539999 meters Centerline goodness [0,1] 0.9995845450768591 Centerline is valid? [True, True] Translation: X:876.16, Y:39.17, Z:8.19 [[ 8.04147757e-01 -5.94207038e-01 -1.62598055e-02 8.76160954e+02] [ 5.94099537e-01 8.04311931e-01 -1.13162299e-02 3.91659670e+01] [ 1.98021390e-02 -5.60022007e-04 9.99803762e-01 8.18573601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5492541539999 meters Centerline goodness [0,1] 0.9997295723082044 Centerline is valid? [True, True] Translation: X:876.18, Y:39.18, Z:8.19 [[ 8.04729477e-01 -5.93449404e-01 -1.51087107e-02 8.76182995e+02] [ 5.93356389e-01 8.04871141e-01 -1.05186434e-02 3.91825785e+01] [ 1.84028479e-02 -5.00187612e-04 9.99830528e-01 8.18858341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5792541539998 meters Centerline goodness [0,1] 0.9999165797705943 Centerline is valid? [True, True] Translation: X:876.20, Y:39.20, Z:8.19 [[ 8.04088017e-01 -5.94310930e-01 -1.53941614e-02 8.76203950e+02] [ 5.94214451e-01 8.04235190e-01 -1.07212420e-02 3.92024843e+01] [ 1.87522776e-02 -5.26611003e-04 9.99824022e-01 8.18948073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6092541539999 meters Centerline goodness [0,1] 0.9997912012193849 Centerline is valid? [True, True] Translation: X:876.23, Y:39.22, Z:8.19 [[ 8.02106716e-01 -5.96955842e-01 -1.63871280e-02 8.76226675e+02] [ 5.96846970e-01 8.02273853e-01 -1.14175274e-02 3.92217119e+01] [ 1.99627240e-02 -6.22532260e-04 9.99800531e-01 8.19013351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6392541539999 meters Centerline goodness [0,1] 0.9998128314443173 Centerline is valid? [True, True] Translation: X:876.25, Y:39.24, Z:8.19 [[ 8.00729809e-01 -5.98792182e-01 -1.67241447e-02 8.76249467e+02] [ 5.98679083e-01 8.00904154e-01 -1.16572900e-02 3.92394628e+01] [ 2.03747311e-02 -6.78056059e-04 9.99792184e-01 8.19017948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6692541539999 meters Centerline goodness [0,1] 0.9997502341554793 Centerline is valid? [True, True] Translation: X:876.27, Y:39.26, Z:8.19 [[ 7.99221801e-01 -6.00744860e-01 -1.87116397e-02 8.76272106e+02] [ 6.00603710e-01 7.99440402e-01 -1.30471548e-02 3.92571569e+01] [ 2.27968519e-02 -8.10709656e-04 9.99739789e-01 8.18861298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6992541539998 meters Centerline goodness [0,1] 0.9997296679074217 Centerline is valid? [True, True] Translation: X:876.29, Y:39.27, Z:8.19 [[ 7.98792948e-01 -6.01283197e-01 -1.97064390e-02 8.76294662e+02] [ 6.01126741e-01 7.99035521e-01 -1.37433066e-02 3.92735827e+01] [ 2.40097641e-02 -8.68011019e-04 9.99711347e-01 8.18777708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7292541539999 meters Centerline goodness [0,1] 0.999874843554443 Centerline is valid? [True, True] Translation: X:876.32, Y:39.29, Z:8.19 [[ 7.98602118e-01 -6.01527685e-01 -1.99775257e-02 8.76316026e+02] [ 6.01366817e-01 7.98851467e-01 -1.39386404e-02 3.92916739e+01] [ 2.43435539e-02 -8.82393284e-04 9.99703262e-01 8.18889259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:876.34, Y:39.31, Z:8.19 [[ 7.99029132e-01 -6.01002130e-01 -1.86784682e-02 8.76338164e+02] [ 6.00861244e-01 7.99247014e-01 -1.30374782e-02 3.93091279e+01] [ 2.27642621e-02 -8.05842780e-04 9.99740536e-01 8.19038653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7892541539999 meters Centerline goodness [0,1] 0.9998545635868775 Centerline is valid? [True, True] Translation: X:876.36, Y:39.33, Z:8.19 [[ 7.98871642e-01 -6.01143652e-01 -2.07462984e-02 8.76359879e+02] [ 6.00969723e-01 7.99140482e-01 -1.44873058e-02 3.93289228e+01] [ 2.52881588e-02 -8.94399400e-04 9.99679803e-01 8.18913839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8192541539999 meters Centerline goodness [0,1] 0.9998752391250104 Centerline is valid? [True, True] Translation: X:876.38, Y:39.35, Z:8.19 [[ 7.99090174e-01 -6.00865674e-01 -2.03797862e-02 8.76382977e+02] [ 6.00697561e-01 7.99349546e-01 -1.42388347e-02 3.93467166e+01] [ 2.48461998e-02 -8.63974986e-04 9.99690912e-01 8.18993435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8492541539998 meters Centerline goodness [0,1] 0.9999168191648644 Centerline is valid? [True, True] Translation: X:876.40, Y:39.36, Z:8.19 [[ 7.99593664e-01 -6.00209733e-01 -1.99561669e-02 8.76404658e+02] [ 6.00048227e-01 7.99842234e-01 -1.39472346e-02 3.93647508e+01] [ 2.43330510e-02 -8.22542161e-04 9.99703569e-01 8.19012575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:876.43, Y:39.38, Z:8.19 [[ 7.99994046e-01 -5.99735302e-01 -1.80857367e-02 8.76427732e+02] [ 5.99602431e-01 8.00198124e-01 -1.26446675e-02 3.93816848e+01] [ 2.20556260e-02 -7.28592984e-04 9.99756480e-01 8.19193825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9092541539999 meters Centerline goodness [0,1] 0.999979160588505 Centerline is valid? [True, True] Translation: X:876.45, Y:39.40, Z:8.19 [[ 7.99978872e-01 -5.99751736e-01 -1.82115133e-02 8.76449617e+02] [ 5.99616911e-01 8.00185805e-01 -1.27372796e-02 3.93980859e+01] [ 2.22118000e-02 -7.30376777e-04 9.99753021e-01 8.19167683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9392541539999 meters Centerline goodness [0,1] 0.9998960650217225 Centerline is valid? [True, True] Translation: X:876.47, Y:39.42, Z:8.19 [[ 8.00840280e-01 -5.98567787e-01 -1.92730236e-02 8.76471408e+02] [ 5.98416311e-01 8.01071823e-01 -1.34852818e-02 3.94172063e+01] [ 2.35109314e-02 -7.33734870e-04 9.99723311e-01 8.19058343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:876.49, Y:39.44, Z:8.19 [[ 8.02169673e-01 -5.96861099e-01 -1.67524610e-02 8.76492662e+02] [ 5.96746216e-01 8.02344364e-01 -1.17249751e-02 3.94366747e+01] [ 2.04394241e-02 -5.91548296e-04 9.99790918e-01 8.19320767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9992541539999 meters Centerline goodness [0,1] 0.9997716515818318 Centerline is valid? [True, True] Translation: X:876.51, Y:39.46, Z:8.19 [[ 8.02785746e-01 -5.95990963e-01 -1.81608653e-02 8.76514634e+02] [ 5.95855622e-01 8.02990906e-01 -1.27154431e-02 3.94557892e+01] [ 2.21612989e-02 -6.13477191e-04 9.99754220e-01 8.19207058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0292541539999 meters Centerline goodness [0,1] 0.9998958137984205 Centerline is valid? [True, True] Translation: X:876.54, Y:39.48, Z:8.19 [[ 8.05037558e-01 -5.92986016e-01 -1.67962670e-02 8.76536565e+02] [ 5.92869479e-01 8.05212611e-01 -1.17657415e-02 3.94759045e+01] [ 2.05014862e-02 -4.86130214e-04 9.99789704e-01 8.19268904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0592541539999 meters Centerline goodness [0,1] 0.999792526815909 Centerline is valid? [True, True] Translation: X:876.56, Y:39.49, Z:8.19 [[ 8.05567729e-01 -5.92238485e-01 -1.77259756e-02 8.76558986e+02] [ 5.92108367e-01 8.05762582e-01 -1.24235031e-02 3.94941147e+01] [ 2.16406045e-02 -4.87725255e-04 9.99765696e-01 8.19241054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0892541539998 meters Centerline goodness [0,1] 0.999792328619193 Centerline is valid? [True, True] Translation: X:876.58, Y:39.51, Z:8.19 [[ 8.06726212e-01 -5.90721834e-01 -1.55091398e-02 8.76581714e+02] [ 5.90621846e-01 8.06875186e-01 -1.08751824e-02 3.95111972e+01] [ 1.89381478e-02 -3.86742061e-04 9.99820582e-01 8.19367956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1192541539999 meters Centerline goodness [0,1] 0.9997923199933543 Centerline is valid? [True, True] Translation: X:876.61, Y:39.53, Z:8.20 [[ 8.07222030e-01 -5.90102192e-01 -1.31147650e-02 8.76605148e+02] [ 5.90030543e-01 8.07328500e-01 -9.20064508e-03 3.95283477e+01] [ 1.60172443e-02 -3.11148487e-04 9.99871667e-01 8.19604473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1492541539999 meters Centerline goodness [0,1] 0.9999792548336238 Centerline is valid? [True, True] Translation: X:876.63, Y:39.54, Z:8.20 [[ 8.08165516e-01 -5.88818782e-01 -1.26862462e-02 8.76628300e+02] [ 5.88751528e-01 8.08265035e-01 -8.90345401e-03 3.95441701e+01] [ 1.54963702e-02 -2.73582362e-04 9.99879887e-01 8.19560278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1792541539999 meters Centerline goodness [0,1] 0.9998540572095739 Centerline is valid? [True, True] Translation: X:876.65, Y:39.56, Z:8.19 [[ 8.08469749e-01 -5.88369319e-01 -1.40786836e-02 8.76648863e+02] [ 5.88286355e-01 8.08592271e-01 -9.88457091e-03 3.95628525e+01] [ 1.71996930e-02 -2.90920882e-04 9.99852032e-01 8.19470316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2092541539998 meters Centerline goodness [0,1] 0.9999584130416701 Centerline is valid? [True, True] Translation: X:876.67, Y:39.58, Z:8.19 [[ 8.09497821e-01 -5.86968496e-01 -1.34633862e-02 8.76672631e+02] [ 5.86892344e-01 8.09609736e-01 -9.45788463e-03 3.95783867e+01] [ 1.64515689e-02 -2.45421290e-04 9.99864634e-01 8.19399208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2392541539999 meters Centerline goodness [0,1] 0.9999376985857579 Centerline is valid? [True, True] Translation: X:876.70, Y:39.59, Z:8.19 [[ 8.09675416e-01 -5.86724332e-01 -1.34267736e-02 8.76696415e+02] [ 5.86648502e-01 8.09786701e-01 -9.43575981e-03 3.95923529e+01] [ 1.64090126e-02 -2.36893857e-04 9.99865335e-01 8.19333641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2692541539999 meters Centerline goodness [0,1] 0.9997922336955393 Centerline is valid? [True, True] Translation: X:876.72, Y:39.61, Z:8.19 [[ 8.08928959e-01 -5.87716047e-01 -1.49595254e-02 8.76719363e+02] [ 5.87622014e-01 8.09067221e-01 -1.05167055e-02 3.96096350e+01] [ 1.82840983e-02 -2.83278799e-04 9.99832792e-01 8.19278770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2992541539999 meters Centerline goodness [0,1] 0.9999791558103178 Centerline is valid? [True, True] Translation: X:876.74, Y:39.62, Z:8.19 [[ 8.08713084e-01 -5.88060849e-01 -1.29454782e-02 8.76744324e+02] [ 5.87990407e-01 8.08816652e-01 -9.10521848e-03 3.96248223e+01] [ 1.58249409e-02 -2.48307691e-04 9.99874747e-01 8.19492453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3292541539998 meters Centerline goodness [0,1] 0.9997299655186739 Centerline is valid? [True, True] Translation: X:876.77, Y:39.64, Z:8.19 [[ 8.07623735e-01 -5.89506716e-01 -1.50244615e-02 8.76768202e+02] [ 5.89412001e-01 8.07763413e-01 -1.05717488e-02 3.96394092e+01] [ 1.83683272e-02 -3.17602631e-04 9.99831238e-01 8.19241651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3592541539999 meters Centerline goodness [0,1] 0.9997497445308753 Centerline is valid? [True, True] Translation: X:876.79, Y:39.66, Z:8.19 [[ 8.06851730e-01 -5.90571145e-01 -1.46972481e-02 8.76792550e+02] [ 5.90480623e-01 8.06985510e-01 -1.03450779e-02 3.96556616e+01] [ 1.79699707e-02 -3.31496258e-04 9.99838472e-01 8.19235935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3892541539999 meters Centerline goodness [0,1] 0.9997081813444503 Centerline is valid? [True, True] Translation: X:876.82, Y:39.67, Z:8.19 [[ 8.05436275e-01 -5.92525346e-01 -1.36426524e-02 8.76817498e+02] [ 5.92447548e-01 8.05551734e-01 -9.60762604e-03 3.96706352e+01] [ 1.66826242e-02 -3.44225415e-04 9.99860776e-01 8.19337346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4192541539999 meters Centerline goodness [0,1] 0.9998125195292157 Centerline is valid? [True, True] Translation: X:876.84, Y:39.69, Z:8.19 [[ 8.04514961e-01 -5.93779292e-01 -1.34844660e-02 8.76841614e+02] [ 5.93703398e-01 8.04627878e-01 -9.50022726e-03 3.96852970e+01] [ 1.64910154e-02 -3.62698291e-04 9.99863948e-01 8.19277135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4492541539998 meters Centerline goodness [0,1] 0.9998122183274912 Centerline is valid? [True, True] Translation: X:876.87, Y:39.70, Z:8.19 [[ 8.02784417e-01 -5.96136052e-01 -1.26090537e-02 8.76866949e+02] [ 5.96069950e-01 8.02883342e-01 -8.88554682e-03 3.96971654e+01] [ 1.54205940e-02 -3.82699487e-04 9.99881022e-01 8.19283849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4792541539999 meters Centerline goodness [0,1] 0.9997495930887692 Centerline is valid? [True, True] Translation: X:876.89, Y:39.71, Z:8.19 [[ 8.02042276e-01 -5.97138548e-01 -1.23992504e-02 8.76891057e+02] [ 5.97074707e-01 8.02138018e-01 -8.74036654e-03 3.97131099e+01] [ 1.51651200e-02 -3.93135348e-04 9.99884926e-01 8.19278063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5092541539999 meters Centerline goodness [0,1] 0.9998747651847214 Centerline is valid? [True, True] Translation: X:876.91, Y:39.73, Z:8.19 [[ 8.01572190e-01 -5.97784245e-01 -1.16628258e-02 8.76913263e+02] [ 5.97727773e-01 8.01656943e-01 -8.22530595e-03 3.97313618e+01] [ 1.42665435e-02 -3.78018370e-04 9.99898156e-01 8.19433013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5392541539999 meters Centerline goodness [0,1] 0.9996671520698981 Centerline is valid? [True, True] Translation: X:876.94, Y:39.75, Z:8.19 [[ 8.01180125e-01 -5.98306202e-01 -1.18361853e-02 8.76936730e+02] [ 5.98248031e-01 8.01267456e-01 -8.35205480e-03 3.97479615e+01] [ 1.44810363e-02 -3.89474223e-04 9.99895068e-01 8.19293784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5692541539999 meters Centerline goodness [0,1] 0.999792294111538 Centerline is valid? [True, True] Translation: X:876.96, Y:39.76, Z:8.19 [[ 8.01475863e-01 -5.97939658e-01 -1.02277070e-02 8.76960708e+02] [ 5.97896158e-01 8.01541052e-01 -7.21986970e-03 3.97614747e+01] [ 1.25149735e-02 -3.28555442e-04 9.99921631e-01 8.19455881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5992541539998 meters Centerline goodness [0,1] 0.999749462388041 Centerline is valid? [True, True] Translation: X:876.98, Y:39.78, Z:8.20 [[ 8.01332112e-01 -5.98146330e-01 -9.37088985e-03 8.76982491e+02] [ 5.98109809e-01 8.01386845e-01 -6.61670433e-03 3.97797212e+01] [ 1.14674653e-02 -3.02643482e-04 9.99934201e-01 8.19645731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6292541539999 meters Centerline goodness [0,1] 0.9997299430803108 Centerline is valid? [True, True] Translation: X:877.01, Y:39.80, Z:8.20 [[ 8.01059288e-01 -5.98511253e-01 -9.39662262e-03 8.77005465e+02] [ 5.98474509e-01 8.01114340e-01 -6.63896570e-03 3.97962973e+01] [ 1.15012648e-02 -3.05433973e-04 9.99933812e-01 8.19550910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6592541539999 meters Centerline goodness [0,1] 0.9998331282201038 Centerline is valid? [True, True] Translation: X:877.03, Y:39.81, Z:8.20 [[ 8.00496129e-01 -5.99275989e-01 -8.61601688e-03 8.77029560e+02] [ 5.99245107e-01 8.00542445e-01 -6.09061827e-03 3.98107347e+01] [ 1.05474485e-02 -2.87589608e-04 9.99944333e-01 8.19607909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6892541539999 meters Centerline goodness [0,1] 0.9996458111965331 Centerline is valid? [True, True] Translation: X:877.05, Y:39.83, Z:8.20 [[ 8.00068198e-01 -5.99841888e-01 -8.97708732e-03 8.77051067e+02] [ 5.99808381e-01 8.00118501e-01 -6.34744030e-03 3.98294937e+01] [ 1.09901942e-02 -3.06147084e-04 9.99939559e-01 8.19544195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7192541539998 meters Centerline goodness [0,1] 0.9998538103293444 Centerline is valid? [True, True] Translation: X:877.07, Y:39.84, Z:8.20 [[ 8.00256259e-01 -5.99602964e-01 -8.13660075e-03 8.77074123e+02] [ 5.99575399e-01 8.00297577e-01 -5.75591493e-03 3.98444361e+01] [ 9.96296552e-03 -2.72298685e-04 9.99950331e-01 8.19681350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7492541539999 meters Centerline goodness [0,1] 0.9996866055199214 Centerline is valid? [True, True] Translation: X:877.10, Y:39.86, Z:8.19 [[ 8.00825260e-01 -5.98829887e-01 -9.03711713e-03 8.77096612e+02] [ 5.98795814e-01 8.00876196e-01 -6.39463579e-03 3.98618093e+01] [ 1.10669110e-02 -2.90402044e-04 9.99938718e-01 8.19465443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7792541539999 meters Centerline goodness [0,1] 0.9997712717291857 Centerline is valid? [True, True] Translation: X:877.12, Y:39.88, Z:8.19 [[ 8.02927273e-01 -5.95999485e-01 -9.61294480e-03 8.77119086e+02] [ 5.95960683e-01 8.02984772e-01 -6.80583720e-03 3.98807501e+01] [ 1.17753237e-02 -2.64344850e-04 9.99930634e-01 8.19464963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8092541539999 meters Centerline goodness [0,1] 0.9996044139079742 Centerline is valid? [True, True] Translation: X:877.14, Y:39.90, Z:8.19 [[ 8.04059599e-01 -5.94468554e-01 -9.76213407e-03 8.77141278e+02] [ 5.94428384e-01 8.04118822e-01 -6.91494976e-03 3.98991573e+01] [ 1.19606359e-02 -2.42857845e-04 9.99928440e-01 8.19346559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8392541539998 meters Centerline goodness [0,1] 0.9995616140951507 Centerline is valid? [True, True] Translation: X:877.16, Y:39.92, Z:8.19 [[ 8.06166182e-01 -5.91609426e-01 -9.71461937e-03 8.77162752e+02] [ 5.91569401e-01 8.06224689e-01 -6.88442693e-03 3.99165127e+01] [ 1.19050578e-02 -1.96879383e-04 9.99929113e-01 8.19301048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8692541539999 meters Centerline goodness [0,1] 0.9996678568463008 Centerline is valid? [True, True] Translation: X:877.19, Y:39.93, Z:8.19 [[ 8.06755466e-01 -5.90795972e-01 -1.02828667e-02 8.77185331e+02] [ 5.90751036e-01 8.06820973e-01 -7.28918079e-03 3.99344843e+01] [ 1.26028511e-02 -1.94027687e-04 9.99920562e-01 8.19304318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8992541539999 meters Centerline goodness [0,1] 0.9998539171083936 Centerline is valid? [True, True] Translation: X:877.21, Y:39.95, Z:8.19 [[ 8.07158550e-01 -5.90259340e-01 -9.43324864e-03 8.77209243e+02] [ 5.90221449e-01 8.07213654e-01 -6.69018589e-03 3.99510377e+01] [ 1.15635918e-02 -1.67664933e-04 9.99933125e-01 8.19483418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9292541539999 meters Centerline goodness [0,1] 0.9998329470233248 Centerline is valid? [True, True] Translation: X:877.23, Y:39.97, Z:8.19 [[ 8.06973758e-01 -5.90513882e-01 -9.31182705e-03 8.77232392e+02] [ 5.90476936e-01 8.07027464e-01 -6.60763330e-03 3.99672077e+01] [ 1.14167994e-02 -1.66232435e-04 9.99934812e-01 8.19420817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9592541539998 meters Centerline goodness [0,1] 0.9996043809603131 Centerline is valid? [True, True] Translation: X:877.26, Y:39.98, Z:8.19 [[ 8.06438893e-01 -5.91244341e-01 -9.29739464e-03 8.77255718e+02] [ 5.91207517e-01 8.06492467e-01 -6.60092136e-03 3.99823944e+01] [ 1.14010361e-02 -1.73449884e-04 9.99934991e-01 8.19342288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9892541539999 meters Centerline goodness [0,1] 0.99962420927368 Centerline is valid? [True, True] Translation: X:877.28, Y:40.00, Z:8.19 [[ 8.04647691e-01 -5.93690276e-01 -8.59933104e-03 8.77279935e+02] [ 5.93658900e-01 8.04693618e-01 -6.10662973e-03 3.99976852e+01] [ 1.05452735e-02 -1.91383896e-04 9.99944379e-01 8.19347027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0192541539999 meters Centerline goodness [0,1] 0.9996038117480243 Centerline is valid? [True, True] Translation: X:877.30, Y:40.01, Z:8.19 [[ 8.03152297e-01 -5.95707813e-01 -8.86504082e-03 8.77304764e+02] [ 5.95674556e-01 8.03201191e-01 -6.29849258e-03 4.00114220e+01] [ 1.08724726e-02 -2.22030468e-04 9.99940868e-01 8.19299082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0492541539999 meters Centerline goodness [0,1] 0.9996879096186255 Centerline is valid? [True, True] Translation: X:877.33, Y:40.03, Z:8.19 [[ 8.02542976e-01 -5.96528471e-01 -8.86318661e-03 8.77328476e+02] [ 5.96495264e-01 8.02591883e-01 -6.29845409e-03 4.00257346e+01] [ 1.08707288e-02 -2.32068747e-04 9.99940885e-01 8.19339667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0792541539998 meters Centerline goodness [0,1] 0.9997711670480549 Centerline is valid? [True, True] Translation: X:877.35, Y:40.04, Z:8.20 [[ 8.01945831e-01 -5.97343930e-01 -7.94432556e-03 8.77352590e+02] [ 5.97317277e-01 8.01985151e-01 -5.64696624e-03 4.00410147e+01] [ 9.74441214e-03 -2.16721874e-04 9.99952499e-01 8.19527962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1092541539999 meters Centerline goodness [0,1] 0.999771722663789 Centerline is valid? [True, True] Translation: X:877.38, Y:40.06, Z:8.20 [[ 8.01517590e-01 -5.97930606e-01 -6.96729054e-03 8.77377817e+02] [ 5.97910109e-01 8.01547848e-01 -4.95474286e-03 4.00560293e+01] [ 8.54720914e-03 -1.94499894e-04 9.99963453e-01 8.19600467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1392541539999 meters Centerline goodness [0,1] 0.9998329644631896 Centerline is valid? [True, True] Translation: X:877.40, Y:40.07, Z:8.20 [[ 8.01602992e-01 -5.97820759e-01 -6.55614107e-03 8.77400869e+02] [ 5.97802588e-01 8.01629782e-01 -4.66458904e-03 4.00714981e+01] [ 8.04418610e-03 -1.80129566e-04 9.99967629e-01 8.19737381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1692541539999 meters Centerline goodness [0,1] 0.9997919440745673 Centerline is valid? [True, True] Translation: X:877.42, Y:40.09, Z:8.20 [[ 8.02684634e-01 -5.96366352e-01 -6.67486639e-03 8.77424930e+02] [ 5.96347441e-01 8.02712369e-01 -4.75206287e-03 4.00883544e+01] [ 8.19196821e-03 -1.66131648e-04 9.99966431e-01 8.19677144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1992541539998 meters Centerline goodness [0,1] 0.9996674564575799 Centerline is valid? [True, True] Translation: X:877.45, Y:40.11, Z:8.20 [[ 8.03538662e-01 -5.95211900e-01 -6.95794574e-03 8.77448370e+02] [ 5.95191287e-01 8.03568771e-01 -4.95609992e-03 4.01056072e+01] [ 8.54111756e-03 -1.58890778e-04 9.99963511e-01 8.19573179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2292541539999 meters Centerline goodness [0,1] 0.9996671866874675 Centerline is valid? [True, True] Translation: X:877.47, Y:40.12, Z:8.20 [[ 8.05348139e-01 -5.92767172e-01 -6.43855898e-03 8.77471848e+02] [ 5.92749426e-01 8.05373867e-01 -4.58833183e-03 4.01227526e+01] [ 7.90525962e-03 -1.21247639e-04 9.99968746e-01 8.19555531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2592541539999 meters Centerline goodness [0,1] 0.9997295723082044 Centerline is valid? [True, True] Translation: X:877.50, Y:40.14, Z:8.20 [[ 8.06135087e-01 -5.91695263e-01 -6.55260038e-03 8.77495525e+02] [ 5.91676828e-01 8.06161710e-01 -4.67213526e-03 4.01400641e+01] [ 8.04693583e-03 -1.10649640e-04 9.99967617e-01 8.19577796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2892541539999 meters Centerline goodness [0,1] 0.9997295723082044 Centerline is valid? [True, True] Translation: X:877.52, Y:40.16, Z:8.20 [[ 8.05964719e-01 -5.91927317e-01 -6.55154958e-03 8.77517892e+02] [ 5.91908877e-01 8.05991339e-01 -4.67360824e-03 4.01561059e+01] [ 8.04692861e-03 -1.11157005e-04 9.99967617e-01 8.19603548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3192541539999 meters Centerline goodness [0,1] 0.9996454935980315 Centerline is valid? [True, True] Translation: X:877.54, Y:40.17, Z:8.20 [[ 8.06827812e-01 -5.90747539e-01 -6.79901805e-03 8.77541473e+02] [ 5.90727609e-01 8.06856453e-01 -4.85346952e-03 4.01713623e+01] [ 8.35300676e-03 -1.00453483e-04 9.99965108e-01 8.19582399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3492541539998 meters Centerline goodness [0,1] 0.9997500260389542 Centerline is valid? [True, True] Translation: X:877.56, Y:40.19, Z:8.20 [[ 8.08394129e-01 -5.88593032e-01 -7.56142365e-03 8.77564696e+02] [ 5.88568277e-01 8.08429487e-01 -5.39882879e-03 4.01886406e+01] [ 9.29059085e-03 -8.60325907e-05 9.99956838e-01 8.19544600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3792541539999 meters Centerline goodness [0,1] 0.9997298532895557 Centerline is valid? [True, True] Translation: X:877.59, Y:40.21, Z:8.20 [[ 8.09088129e-01 -5.87631257e-01 -8.11819521e-03 8.77588443e+02] [ 5.87602643e-01 8.09128852e-01 -5.79956511e-03 4.02057703e+01] [ 9.97667171e-03 -7.79136743e-05 9.99950229e-01 8.19517942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4092541539999 meters Centerline goodness [0,1] 0.9996038613097596 Centerline is valid? [True, True] Translation: X:877.61, Y:40.22, Z:8.19 [[ 8.10445381e-01 -5.85761136e-01 -7.88516211e-03 8.77613010e+02] [ 5.85734024e-01 8.10483737e-01 -5.63598981e-03 4.02213547e+01] [ 9.69213945e-03 -5.09458204e-05 9.99953029e-01 8.19499733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4392541539999 meters Centerline goodness [0,1] 0.9996681599469056 Centerline is valid? [True, True] Translation: X:877.64, Y:40.24, Z:8.20 [[ 8.11098484e-01 -5.84848016e-01 -8.48813165e-03 8.77636442e+02] [ 5.84816512e-01 8.11142896e-01 -6.07044180e-03 4.02368355e+01] [ 1.04353735e-02 -4.02734083e-05 9.99945549e-01 8.19528383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4692541539998 meters Centerline goodness [0,1] 0.9996652299451814 Centerline is valid? [True, True] Translation: X:877.66, Y:40.25, Z:8.20 [[ 8.12237689e-01 -5.83269508e-01 -8.16191380e-03 8.77660768e+02] [ 5.83240266e-01 8.12278696e-01 -5.84053007e-03 4.02514635e+01] [ 1.00363518e-02 -1.64581265e-05 9.99949634e-01 8.19558543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4992541539999 meters Centerline goodness [0,1] 0.9995828118481435 Centerline is valid? [True, True] Translation: X:877.68, Y:40.27, Z:8.20 [[ 8.12943759e-01 -5.82282533e-01 -8.33649047e-03 8.77684471e+02] [ 5.82251936e-01 8.12986502e-01 -5.96916681e-03 4.02668113e+01] [ 1.02531958e-02 -1.34081896e-06 9.99947435e-01 8.19577582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5292541539999 meters Centerline goodness [0,1] 0.9996662425165315 Centerline is valid? [True, True] Translation: X:877.71, Y:40.28, Z:8.20 [[ 8.13791126e-01 -5.81101114e-01 -8.09307266e-03 8.77707763e+02] [ 5.81072186e-01 8.13831368e-01 -5.79828729e-03 4.02818506e+01] [ 9.95578760e-03 1.59353223e-05 9.99950440e-01 8.19639745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5592541539999 meters Centerline goodness [0,1] 0.9998324642415866 Centerline is valid? [True, True] Translation: X:877.73, Y:40.30, Z:8.20 [[ 8.15998075e-01 -5.78009098e-01 -7.25419542e-03 8.77732887e+02] [ 5.77985708e-01 8.16030318e-01 -5.20012048e-03 4.02966675e+01] [ 8.92536034e-03 5.04670213e-05 9.99960167e-01 8.19791486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5892541539998 meters Centerline goodness [0,1] 0.9997081570115278 Centerline is valid? [True, True] Translation: X:877.76, Y:40.31, Z:8.20 [[ 8.17211311e-01 -5.76285499e-01 -7.79081197e-03 8.77755530e+02] [ 5.76258411e-01 8.17248443e-01 -5.58799968e-03 4.03123993e+01] [ 9.58731214e-03 7.70556211e-05 9.99954038e-01 8.19725848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6192541539999 meters Centerline goodness [0,1] 0.9997294541216624 Centerline is valid? [True, True] Translation: X:877.78, Y:40.33, Z:8.20 [[ 8.19723846e-01 -5.72702976e-01 -8.00737032e-03 8.77781471e+02] [ 5.72674178e-01 8.19762945e-01 -5.74455668e-03 4.03264116e+01] [ 9.85407018e-03 1.23335883e-04 9.99951440e-01 8.19770509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6492541539999 meters Centerline goodness [0,1] 0.999686199033493 Centerline is valid? [True, True] Translation: X:877.81, Y:40.34, Z:8.20 [[ 8.20624830e-01 -5.71412234e-01 -7.93400160e-03 8.77805919e+02] [ 5.71383871e-01 8.20663171e-01 -5.69491563e-03 4.03411932e+01] [ 9.76528737e-03 1.40028620e-04 9.99952309e-01 8.19809289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6792541539999 meters Centerline goodness [0,1] 0.9996668054977093 Centerline is valid? [True, True] Translation: X:877.83, Y:40.35, Z:8.20 [[ 8.21821305e-01 -5.69693009e-01 -7.72124753e-03 8.77830978e+02] [ 5.69666044e-01 8.21857561e-01 -5.54507803e-03 4.03539238e+01] [ 9.50475784e-03 1.58530727e-04 9.99954816e-01 8.19855660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7092541539998 meters Centerline goodness [0,1] 0.9997911794186435 Centerline is valid? [True, True] Translation: X:877.86, Y:40.37, Z:8.20 [[ 8.22575401e-01 -5.68612667e-01 -7.02459754e-03 8.77857635e+02] [ 5.68590303e-01 8.22605380e-01 -5.04549581e-03 4.03655755e+01] [ 8.64740456e-03 1.56182700e-04 9.99962598e-01 8.20064412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7392541539999 meters Centerline goodness [0,1] 0.9998541940052906 Centerline is valid? [True, True] Translation: X:877.88, Y:40.38, Z:8.20 [[ 8.22748727e-01 -5.68361206e-01 -7.07619357e-03 8.77881869e+02] [ 5.68338478e-01 8.22779140e-01 -5.08541686e-03 4.03800520e+01] [ 8.71249812e-03 1.62347165e-04 9.99962032e-01 8.20134593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7692541539999 meters Centerline goodness [0,1] 0.9998745819397993 Centerline is valid? [True, True] Translation: X:877.91, Y:40.39, Z:8.20 [[ 8.22869380e-01 -5.68181647e-01 -7.45647857e-03 8.77907981e+02] [ 5.68156394e-01 8.22903145e-01 -5.35974343e-03 4.03936386e+01] [ 9.18126752e-03 1.73922780e-04 9.99957836e-01 8.20143365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7992541539999 meters Centerline goodness [0,1] 0.9999582140693228 Centerline is valid? [True, True] Translation: X:877.94, Y:40.40, Z:8.20 [[ 8.23135172e-01 -5.67784843e-01 -8.29825406e-03 8.77936186e+02] [ 5.67753509e-01 8.23176975e-01 -5.96831586e-03 4.04044381e+01] [ 1.02196510e-02 2.01367845e-04 9.99947758e-01 8.20154695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8292541539998 meters Centerline goodness [0,1] 0.9998746736292429 Centerline is valid? [True, True] Translation: X:877.96, Y:40.42, Z:8.20 [[ 8.22956965e-01 -5.68027748e-01 -9.29043150e-03 8.77960877e+02] [ 5.67988443e-01 8.23009372e-01 -6.68593085e-03 4.04178194e+01] [ 1.14439064e-02 2.25375643e-04 9.99934491e-01 8.19918123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8592541539999 meters Centerline goodness [0,1] 0.9999582149423366 Centerline is valid? [True, True] Translation: X:877.99, Y:40.43, Z:8.20 [[ 8.22680847e-01 -5.68409676e-01 -1.03278298e-02 8.77987336e+02] [ 5.68361079e-01 8.22745634e-01 -7.43672544e-03 4.04268018e+01] [ 1.27242836e-02 2.48115108e-04 9.99919012e-01 8.19983634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8892541539999 meters Centerline goodness [0,1] 0.9998326009625444 Centerline is valid? [True, True] Translation: X:878.01, Y:40.44, Z:8.20 [[ 8.21920464e-01 -5.69491845e-01 -1.12155542e-02 8.78014035e+02] [ 5.69434594e-01 8.21996943e-01 -8.07892279e-03 4.04392233e+01] [ 1.38200319e-02 2.53707418e-04 9.99904467e-01 8.19737273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9192541539999 meters Centerline goodness [0,1] 0.9999372844151772 Centerline is valid? [True, True] Translation: X:878.04, Y:40.45, Z:8.20 [[ 8.21303337e-01 -5.70390869e-01 -1.07277507e-02 8.78038953e+02] [ 5.70338524e-01 8.21373364e-01 -7.73080529e-03 4.04519092e+01] [ 1.32210694e-02 2.30886700e-04 9.99912571e-01 8.19982675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9492541539998 meters Centerline goodness [0,1] 0.9999581624968622 Centerline is valid? [True, True] Translation: X:878.07, Y:40.46, Z:8.20 [[ 8.19467301e-01 -5.73013129e-01 -1.13708655e-02 8.78068385e+02] [ 5.72954548e-01 8.19546163e-01 -8.19587021e-03 4.04588052e+01] [ 1.40152904e-02 2.01258553e-04 9.99901761e-01 8.20018094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9792541539999 meters Centerline goodness [0,1] 0.99970805355132 Centerline is valid? [True, True] Translation: X:878.10, Y:40.47, Z:8.20 [[ 8.18135247e-01 -5.74893009e-01 -1.23590605e-02 8.78096199e+02] [ 5.74823972e-01 8.18228571e-01 -8.91110398e-03 4.04695119e+01] [ 1.52354678e-02 1.86204034e-04 9.99883916e-01 8.19767165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0092541539999 meters Centerline goodness [0,1] 0.9999583662933511 Centerline is valid? [True, True] Translation: X:878.13, Y:40.48, Z:8.20 [[ 8.16168205e-01 -5.77692386e-01 -1.18730359e-02 8.78126100e+02] [ 5.77628902e-01 8.16254549e-01 -8.56518381e-03 4.04764737e+01] [ 1.46394610e-02 1.32422031e-04 9.99892829e-01 8.20096407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0392541539999 meters Centerline goodness [0,1] 0.999811770611118 Centerline is valid? [True, True] Translation: X:878.16, Y:40.48, Z:8.20 [[ 8.13619993e-01 -5.81263708e-01 -1.24502721e-02 8.78156494e+02] [ 5.81194241e-01 8.13715243e-01 -8.98655476e-03 4.04837616e+01] [ 1.53545344e-02 7.56141558e-05 9.99882109e-01 8.19939310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0692541539999 meters Centerline goodness [0,1] 0.9999583862175152 Centerline is valid? [True, True] Translation: X:878.18, Y:40.50, Z:8.20 [[ 8.12480665e-01 -5.82864713e-01 -1.19956554e-02 8.78182462e+02] [ 5.82800351e-01 8.12569212e-01 -8.66182267e-03 4.04953771e+01] [ 1.47959710e-02 4.64912675e-05 9.99890533e-01 8.20206640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0992541539998 meters Centerline goodness [0,1] 0.9997494780793319 Centerline is valid? [True, True] Translation: X:878.21, Y:40.50, Z:8.20 [[ 8.09498132e-01 -5.87010989e-01 -1.14399954e-02 8.78212087e+02] [ 5.86952826e-01 8.09578964e-01 -8.26322707e-03 4.05026387e+01] [ 1.41121847e-02 -2.56707731e-05 9.99900418e-01 8.20208214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1292541539999 meters Centerline goodness [0,1] 0.9998540054643669 Centerline is valid? [True, True] Translation: X:878.24, Y:40.51, Z:8.20 [[ 8.08123219e-01 -5.88899982e-01 -1.15617349e-02 8.78237992e+02] [ 5.88840697e-01 8.08205919e-01 -8.35616880e-03 4.05147257e+01] [ 1.42652102e-02 -5.52060083e-05 9.99898245e-01 8.20234668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1592541539999 meters Centerline goodness [0,1] 0.9999582750923164 Centerline is valid? [True, True] Translation: X:878.27, Y:40.52, Z:8.21 [[ 8.06464096e-01 -5.91183678e-01 -1.08406988e-02 8.78266222e+02] [ 5.91131716e-01 8.06536950e-01 -7.83854853e-03 4.05239244e+01] [ 1.33774461e-02 -8.67729121e-05 9.99910514e-01 8.20580735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1892541539999 meters Centerline goodness [0,1] 0.9999582794442822 Centerline is valid? [True, True] Translation: X:878.29, Y:40.54, Z:8.21 [[ 8.05821155e-01 -5.92055455e-01 -1.10726791e-02 8.78290849e+02] [ 5.92001304e-01 8.05897219e-01 -8.00801315e-03 4.05365924e+01] [ 1.36646292e-02 -1.02014061e-04 9.99906629e-01 8.20601481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2192541539998 meters Centerline goodness [0,1] 0.9997277714955816 Centerline is valid? [True, True] Translation: X:878.32, Y:40.55, Z:8.20 [[ 8.04364212e-01 -5.94023615e-01 -1.15827544e-02 8.78318456e+02] [ 5.93964519e-01 8.04447590e-01 -8.37998082e-03 4.05481838e+01] [ 1.42956254e-02 -1.39188504e-04 9.99897803e-01 8.20338173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2492541539999 meters Centerline goodness [0,1] 0.9998955766258719 Centerline is valid? [True, True] Translation: X:878.34, Y:40.56, Z:8.20 [[ 8.03852079e-01 -5.94720507e-01 -1.13733323e-02 8.78343336e+02] [ 5.94663553e-01 8.03932520e-01 -8.23174796e-03 4.05620142e+01] [ 1.40389810e-02 -1.46198476e-04 9.99901438e-01 8.20396665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2792541539999 meters Centerline goodness [0,1] 0.9998954543553715 Centerline is valid? [True, True] Translation: X:878.37, Y:40.58, Z:8.20 [[ 8.03116905e-01 -5.95705838e-01 -1.17384627e-02 8.78368924e+02] [ 5.95645236e-01 8.03202669e-01 -8.49858323e-03 4.05764436e+01] [ 1.44910202e-02 -1.66603499e-04 9.99894986e-01 8.20406461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3092541539999 meters Centerline goodness [0,1] 0.9998323413530052 Centerline is valid? [True, True] Translation: X:878.40, Y:40.59, Z:8.20 [[ 8.01553284e-01 -5.97793352e-01 -1.24675811e-02 8.78395883e+02] [ 5.97725167e-01 8.01650212e-01 -9.03121529e-03 4.05879763e+01] [ 1.53934395e-02 -2.13186746e-04 9.99881491e-01 8.20290264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3392541539998 meters Centerline goodness [0,1] 0.9996659428762318 Centerline is valid? [True, True] Translation: X:878.42, Y:40.60, Z:8.20 [[ 8.00794151e-01 -5.98797233e-01 -1.30614601e-02 8.78420502e+02] [ 5.98722471e-01 8.00900628e-01 -9.46502396e-03 4.06019089e+01] [ 1.61285618e-02 -2.40653857e-04 9.99869897e-01 8.20155524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:878.45, Y:40.61, Z:8.20 [[ 8.00398483e-01 -5.99322034e-01 -1.32426712e-02 8.78446289e+02] [ 5.99245227e-01 8.00507986e-01 -9.59805983e-03 4.06139897e+01] [ 1.63531928e-02 -2.53334987e-04 9.99866246e-01 8.20449516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3992541539999 meters Centerline goodness [0,1] 0.9997056783063889 Centerline is valid? [True, True] Translation: X:878.47, Y:40.63, Z:8.20 [[ 7.99531209e-01 -6.00453250e-01 -1.43436586e-02 8.78470851e+02] [ 6.00363260e-01 7.99659806e-01 -1.03995091e-02 4.06287653e+01] [ 1.77144663e-02 -2.96673507e-04 9.99843043e-01 8.20082504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4292541539999 meters Centerline goodness [0,1] 0.9997256515775035 Centerline is valid? [True, True] Translation: X:878.49, Y:40.65, Z:8.20 [[ 7.99379480e-01 -6.00667552e-01 -1.38180273e-02 8.78493806e+02] [ 6.00583978e-01 7.99498849e-01 -1.00237653e-02 4.06455709e+01] [ 1.70684475e-02 -2.86093503e-04 9.99854283e-01 8.20300986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4592541539998 meters Centerline goodness [0,1] 0.9999367008482086 Centerline is valid? [True, True] Translation: X:878.52, Y:40.66, Z:8.20 [[ 7.99537851e-01 -6.00442609e-01 -1.44186613e-02 8.78517983e+02] [ 6.00351489e-01 7.99667799e-01 -1.04642436e-02 4.06590092e+01] [ 1.78133169e-02 -2.89705874e-04 9.99841288e-01 8.20356094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4892541539999 meters Centerline goodness [0,1] 0.9998308203100218 Centerline is valid? [True, True] Translation: X:878.54, Y:40.67, Z:8.20 [[ 7.99722737e-01 -6.00190902e-01 -1.46432534e-02 8.78541443e+02] [ 6.00096828e-01 7.99856737e-01 -1.06300289e-02 4.06721783e+01] [ 1.80925515e-02 -2.86294111e-04 9.99836275e-01 8.20082265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5192541539999 meters Centerline goodness [0,1] 0.9999579115722133 Centerline is valid? [True, True] Translation: X:878.56, Y:40.69, Z:8.20 [[ 8.01201664e-01 -5.98230790e-01 -1.39933947e-02 8.78564073e+02] [ 5.98144545e-01 8.01323823e-01 -1.01604279e-02 4.06881296e+01] [ 1.72915214e-02 -2.29521005e-04 9.99850464e-01 8.20290591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5492541539999 meters Centerline goodness [0,1] 0.9998309097057829 Centerline is valid? [True, True] Translation: X:878.59, Y:40.71, Z:8.20 [[ 8.01709995e-01 -5.97550156e-01 -1.39604739e-02 8.78587627e+02] [ 5.97464159e-01 8.01831507e-01 -1.01396579e-02 4.07055838e+01] [ 1.72529020e-02 -2.11817665e-04 9.99851135e-01 8.20160424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5792541539998 meters Centerline goodness [0,1] 0.9998101986587372 Centerline is valid? [True, True] Translation: X:878.61, Y:40.72, Z:8.20 [[ 8.03581822e-01 -5.95056288e-01 -1.28167697e-02 8.78610091e+02] [ 5.94983439e-01 8.03684014e-01 -9.31200747e-03 4.07225016e+01] [ 1.58418015e-02 -1.42805774e-04 9.99874501e-01 8.20291989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6092541539999 meters Centerline goodness [0,1] 0.9999151337703944 Centerline is valid? [True, True] Translation: X:878.63, Y:40.74, Z:8.21 [[ 8.04584208e-01 -5.93710802e-01 -1.23181381e-02 8.78631801e+02] [ 5.93643312e-01 8.04678490e-01 -8.95244201e-03 4.07409472e+01] [ 1.52273023e-02 -1.09586821e-04 9.99884052e-01 8.20659976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6392541539999 meters Centerline goodness [0,1] 0.999978742852284 Centerline is valid? [True, True] Translation: X:878.65, Y:40.76, Z:8.21 [[ 8.06522073e-01 -5.91084850e-01 -1.18679040e-02 8.78654579e+02] [ 5.91021853e-01 8.06609384e-01 -8.62969514e-03 4.07582983e+01] [ 1.46736448e-02 -5.41509781e-05 9.99892335e-01 8.20875875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6692541539999 meters Centerline goodness [0,1] 0.9998939104604286 Centerline is valid? [True, True] Translation: X:878.68, Y:40.78, Z:8.21 [[ 8.07308327e-01 -5.90018626e-01 -1.14579876e-02 8.78676844e+02] [ 5.89959752e-01 8.07389633e-01 -8.33498163e-03 4.07752398e+01] [ 1.41688548e-02 -3.08514264e-05 9.99899616e-01 8.20753528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6992541539998 meters Centerline goodness [0,1] 0.9999575001593745 Centerline is valid? [True, True] Translation: X:878.70, Y:40.79, Z:8.21 [[ 8.08721465e-01 -5.88063594e-01 -1.22801082e-02 8.78697934e+02] [ 5.87995709e-01 8.08814694e-01 -8.93515854e-03 4.07913559e+01] [ 1.51867734e-02 5.40359524e-06 9.99884674e-01 8.20767160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:878.72, Y:40.81, Z:8.21 [[ 8.09107561e-01 -5.87522861e-01 -1.27217292e-02 8.78720784e+02] [ 5.87449877e-01 8.09207567e-01 -9.26039918e-03 4.08079543e+01] [ 1.57352157e-02 1.92807650e-05 9.99876194e-01 8.20839667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7592541539999 meters Centerline goodness [0,1] 0.9999150725068473 Centerline is valid? [True, True] Translation: X:878.74, Y:40.82, Z:8.21 [[ 8.09107933e-01 -5.87513156e-01 -1.31394033e-02 8.78743782e+02] [ 5.87435206e-01 8.09214613e-01 -9.57020826e-03 4.08238514e+01] [ 1.62552204e-02 2.47833522e-05 9.99867875e-01 8.20646674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7892541539999 meters Centerline goodness [0,1] 0.9998080122872136 Centerline is valid? [True, True] Translation: X:878.77, Y:40.84, Z:8.20 [[ 8.08759169e-01 -5.87975843e-01 -1.38929536e-02 8.78767740e+02] [ 5.87888688e-01 8.08878487e-01 -1.01233971e-02 4.08386084e+01] [ 1.71900242e-02 1.98799594e-05 9.99852240e-01 8.20421949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8192541539999 meters Centerline goodness [0,1] 0.9998504209581606 Centerline is valid? [True, True] Translation: X:878.79, Y:40.85, Z:8.20 [[ 8.08117542e-01 -5.88849532e-01 -1.42220457e-02 8.78791377e+02] [ 5.88758265e-01 8.08242679e-01 -1.03671162e-02 4.08536261e+01] [ 1.75995358e-02 4.50153789e-06 9.99845116e-01 8.20470178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:878.82, Y:40.87, Z:8.21 [[ 8.06251997e-01 -5.91384600e-01 -1.48987355e-02 8.78816419e+02] [ 5.91284781e-01 8.06389641e-01 -1.08652880e-02 4.08660309e+01] [ 1.84397499e-02 -4.92354089e-05 9.99829972e-01 8.20631011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8792541539999 meters Centerline goodness [0,1] 0.9999358823655132 Centerline is valid? [True, True] Translation: X:878.84, Y:40.88, Z:8.20 [[ 8.04652321e-01 -5.93554429e-01 -1.50924633e-02 8.78841686e+02] [ 5.93452298e-01 8.04793843e-01 -1.10108930e-02 4.08808492e+01] [ 1.86818859e-02 -9.67164072e-05 9.99825474e-01 8.20440337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9092541539999 meters Centerline goodness [0,1] 0.9997654184082573 Centerline is valid? [True, True] Translation: X:878.87, Y:40.89, Z:8.20 [[ 8.01541360e-01 -5.97736843e-01 -1.55600222e-02 8.78868581e+02] [ 5.97628957e-01 8.01692352e-01 -1.13579113e-02 4.08926740e+01] [ 1.92633928e-02 -1.95284211e-04 9.99814425e-01 8.20431021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9392541539999 meters Centerline goodness [0,1] 0.9998713302309622 Centerline is valid? [True, True] Translation: X:878.89, Y:40.91, Z:8.20 [[ 7.99940432e-01 -5.99877495e-01 -1.55658462e-02 8.78893765e+02] [ 5.99769856e-01 8.00091827e-01 -1.13660912e-02 4.09058294e+01] [ 1.92723686e-02 -2.43729417e-04 9.99814241e-01 8.20416404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9692541539998 meters Centerline goodness [0,1] 0.999764977352363 Centerline is valid? [True, True] Translation: X:878.92, Y:40.92, Z:8.21 [[ 7.98537256e-01 -6.01743928e-01 -1.55723148e-02 8.78918658e+02] [ 6.01636477e-01 7.98689028e-01 -1.13748056e-02 4.09205728e+01] [ 1.92821571e-02 -2.85666587e-04 9.99814041e-01 8.20562474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:878.95, Y:40.93, Z:8.21 [[ 7.96579561e-01 -6.04358732e-01 -1.45439385e-02 8.78945360e+02] [ 6.04265346e-01 7.96712257e-01 -1.06288386e-02 4.09327941e+01] [ 1.80109655e-02 -3.21682378e-04 9.99837738e-01 8.20946039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0292541539999 meters Centerline goodness [0,1] 0.9999142734676383 Centerline is valid? [True, True] Translation: X:878.97, Y:40.95, Z:8.21 [[ 7.95650557e-01 -6.05578522e-01 -1.46575491e-02 8.78969468e+02] [ 6.05483777e-01 7.95785481e-01 -1.07174210e-02 4.09495166e+01] [ 1.81545047e-02 -3.47586174e-04 9.99835133e-01 8.20878919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:878.99, Y:40.96, Z:8.21 [[ 7.95763826e-01 -6.05434344e-01 -1.44633561e-02 8.78993474e+02] [ 6.05342001e-01 7.95895182e-01 -1.05792448e-02 4.09637926e+01] [ 1.79163536e-02 -3.36696625e-04 9.99839433e-01 8.21084713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0892541539998 meters Centerline goodness [0,1] 0.9999356098817368 Centerline is valid? [True, True] Translation: X:879.02, Y:40.98, Z:8.21 [[ 7.96131703e-01 -6.04949934e-01 -1.44875564e-02 8.79016651e+02] [ 6.04857166e-01 7.96263444e-01 -1.05989118e-02 4.09797139e+01] [ 1.79477225e-02 -3.24772630e-04 9.99838874e-01 8.20944985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1192541539999 meters Centerline goodness [0,1] 0.999892867090913 Centerline is valid? [True, True] Translation: X:879.04, Y:41.00, Z:8.21 [[ 7.97696327e-01 -6.02861348e-01 -1.54520155e-02 8.79040924e+02] [ 6.02755350e-01 7.97845919e-01 -1.13083443e-02 4.09963917e+01] [ 1.91456912e-02 -2.93160286e-04 9.99816661e-01 8.20888265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1492541539999 meters Centerline goodness [0,1] 0.999892802778552 Centerline is valid? [True, True] Translation: X:879.06, Y:41.01, Z:8.21 [[ 7.98346292e-01 -6.01988770e-01 -1.58971184e-02 8.79064174e+02] [ 6.01876288e-01 7.98504505e-01 -1.16399791e-02 4.10132625e+01] [ 1.97010574e-02 -2.75364499e-04 9.99805877e-01 8.20829359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1792541539999 meters Centerline goodness [0,1] 0.999892802778552 Centerline is valid? [True, True] Translation: X:879.09, Y:41.03, Z:8.21 [[ 7.98175483e-01 -6.02215310e-01 -1.58940138e-02 8.79086385e+02] [ 6.02102788e-01 7.98333668e-01 -1.16442175e-02 4.10296245e+01] [ 1.97010523e-02 -2.75701101e-04 9.99805877e-01 8.20855117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2092541539998 meters Centerline goodness [0,1] 0.9999142183143899 Centerline is valid? [True, True] Translation: X:879.11, Y:41.05, Z:8.21 [[ 7.99899149e-01 -5.99900976e-01 -1.67383199e-02 8.79109036e+02] [ 5.99775575e-01 8.00074227e-01 -1.22674793e-02 4.10451197e+01] [ 2.07511712e-02 -2.26489189e-04 9.99784646e-01 8.20891153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:879.13, Y:41.06, Z:8.21 [[ 8.00657859e-01 -5.98892407e-01 -1.65794234e-02 8.79132259e+02] [ 5.98769068e-01 8.00829474e-01 -1.21555010e-02 4.10622284e+01] [ 2.05571282e-02 -1.94848464e-04 9.99788661e-01 8.21154668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2692541539999 meters Centerline goodness [0,1] 0.999978427354115 Centerline is valid? [True, True] Translation: X:879.16, Y:41.08, Z:8.21 [[ 8.01634459e-01 -5.97597090e-01 -1.61217730e-02 8.79156667e+02] [ 5.97480087e-01 8.01796542e-01 -1.18258597e-02 4.10786924e+01] [ 1.99934812e-02 -1.52421701e-04 9.99800099e-01 8.21226112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2992541539999 meters Centerline goodness [0,1] 0.9999567875893957 Centerline is valid? [True, True] Translation: X:879.18, Y:41.10, Z:8.21 [[ 8.01793648e-01 -5.97392638e-01 -1.57791643e-02 8.79179972e+02] [ 5.97280391e-01 8.01948887e-01 -1.15809159e-02 4.10951202e+01] [ 1.95724371e-02 -1.39080623e-04 9.99808432e-01 8.21439533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3292541539998 meters Centerline goodness [0,1] 0.9999783722992409 Centerline is valid? [True, True] Translation: X:879.20, Y:41.11, Z:8.21 [[ 8.01885943e-01 -5.97284173e-01 -1.51838978e-02 8.79203465e+02] [ 5.97180135e-01 8.02029675e-01 -1.11483817e-02 4.11104597e+01] [ 1.88366886e-02 -1.27791622e-04 9.99822566e-01 8.21458097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3592541539999 meters Centerline goodness [0,1] 0.9999136348915039 Centerline is valid? [True, True] Translation: X:879.23, Y:41.12, Z:8.21 [[ 8.01059036e-01 -5.98407895e-01 -1.45743623e-02 8.79227197e+02] [ 5.98312172e-01 8.01191594e-01 -1.07039580e-02 4.11230919e+01] [ 1.80821895e-02 -1.45516097e-04 9.99836493e-01 8.21379370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3892541539999 meters Centerline goodness [0,1] 0.9999350522829122 Centerline is valid? [True, True] Translation: X:879.25, Y:41.14, Z:8.21 [[ 8.00314578e-01 -5.99415168e-01 -1.40724035e-02 8.79251149e+02] [ 5.99325994e-01 8.00438274e-01 -1.03402976e-02 4.11378628e+01] [ 1.74622216e-02 -1.58466305e-04 9.99847511e-01 8.21483686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:879.28, Y:41.15, Z:8.22 [[ 7.98612913e-01 -6.01686234e-01 -1.38235980e-02 8.79276634e+02] [ 6.01600455e-01 7.98732518e-01 -1.01615409e-02 4.11510631e+01] [ 1.71554165e-02 -2.01145120e-04 9.99852815e-01 8.21669080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:879.30, Y:41.17, Z:8.22 [[ 7.97706619e-01 -6.02881925e-01 -1.40546747e-02 8.79300374e+02] [ 6.02793406e-01 7.97830390e-01 -1.03333366e-02 4.11652215e+01] [ 1.74430285e-02 -2.29094222e-04 9.99847833e-01 8.21691461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4792541539999 meters Centerline goodness [0,1] 0.9999345949245662 Centerline is valid? [True, True] Translation: X:879.33, Y:41.18, Z:8.22 [[ 7.95445670e-01 -6.05859902e-01 -1.41409449e-02 8.79325903e+02] [ 6.05770728e-01 7.95571300e-01 -1.03986829e-02 4.11784741e+01] [ 1.75502749e-02 -2.94583241e-04 9.99845939e-01 8.21564022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:879.35, Y:41.19, Z:8.22 [[ 7.94661660e-01 -6.06889210e-01 -1.40830733e-02 8.79349799e+02] [ 6.06800893e-01 7.94786378e-01 -1.03580254e-02 4.11938776e+01] [ 1.74792086e-02 -3.14495823e-04 9.99847178e-01 8.21751913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:879.37, Y:41.21, Z:8.22 [[ 7.92563182e-01 -6.09611632e-01 -1.47397460e-02 8.79374751e+02] [ 6.09515317e-01 7.92700136e-01 -1.08430612e-02 4.12078480e+01] [ 1.82942549e-02 -3.90289819e-04 9.99832570e-01 8.21683990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5692541539999 meters Centerline goodness [0,1] 0.9999562037402006 Centerline is valid? [True, True] Translation: X:879.40, Y:41.22, Z:8.21 [[ 7.91313128e-01 -6.11212000e-01 -1.56020609e-02 8.79399017e+02] [ 6.11104343e-01 7.91466795e-01 -1.14801405e-02 4.12216859e+01] [ 1.93653128e-02 -4.50101268e-04 9.99812373e-01 8.21488517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5992541539998 meters Centerline goodness [0,1] 0.9998466123236042 Centerline is valid? [True, True] Translation: X:879.42, Y:41.24, Z:8.21 [[ 7.89830140e-01 -6.13105588e-01 -1.64283051e-02 8.79422253e+02] [ 6.12986576e-01 7.90000802e-01 -1.20909241e-02 4.12380214e+01] [ 2.03913873e-02 -5.20554214e-04 9.99791939e-01 8.21347674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:879.45, Y:41.25, Z:8.22 [[ 7.87068867e-01 -6.16644372e-01 -1.65020187e-02 8.79447326e+02] [ 6.16525023e-01 7.87241604e-01 -1.21471862e-02 4.12524284e+01] [ 2.04815696e-02 -6.13235368e-04 9.99790043e-01 8.21558494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6592541539999 meters Centerline goodness [0,1] 0.9998249835922117 Centerline is valid? [True, True] Translation: X:879.47, Y:41.27, Z:8.21 [[ 7.84929899e-01 -6.19338085e-01 -1.74754310e-02 8.79472125e+02] [ 6.19204860e-01 7.85124076e-01 -1.28656725e-02 4.12660901e+01] [ 2.16885826e-02 -7.22220788e-04 9.99764514e-01 8.21252755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:879.50, Y:41.28, Z:8.21 [[ 7.80758611e-01 -6.24592806e-01 -1.73152255e-02 8.79498404e+02] [ 6.24463252e-01 7.80950120e-01 -1.27497940e-02 4.12772599e+01] [ 2.14857571e-02 -8.58210563e-04 9.99768786e-01 8.21482954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7192541539998 meters Centerline goodness [0,1] 0.9999341874341874 Centerline is valid? [True, True] Translation: X:879.52, Y:41.29, Z:8.22 [[ 7.75767291e-01 -6.30791881e-01 -1.69326193e-02 8.79523752e+02] [ 6.30669400e-01 7.75951412e-01 -1.24705222e-02 4.12919576e+01] [ 2.10051940e-02 -1.00466167e-03 9.99778862e-01 8.21549251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7492541539999 meters Centerline goodness [0,1] 0.9999338449325218 Centerline is valid? [True, True] Translation: X:879.55, Y:41.31, Z:8.22 [[ 7.73170483e-01 -6.33984645e-01 -1.64582274e-02 8.79546140e+02] [ 6.33869556e-01 7.73344912e-01 -1.21257580e-02 4.13103713e+01] [ 2.04154308e-02 -1.05709111e-03 9.99791025e-01 8.21829153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7792541539999 meters Centerline goodness [0,1] 0.9997792738108376 Centerline is valid? [True, True] Translation: X:879.57, Y:41.32, Z:8.22 [[ 7.70783167e-01 -6.36905257e-01 -1.56525712e-02 8.79573218e+02] [ 6.36801684e-01 7.70941331e-01 -1.15360046e-02 4.13205761e+01] [ 1.94145560e-02 -1.07582558e-03 9.99810941e-01 8.21727916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8092541539999 meters Centerline goodness [0,1] 0.9997140091517072 Centerline is valid? [True, True] Translation: X:879.60, Y:41.34, Z:8.22 [[ 7.68355647e-01 -6.39830279e-01 -1.57102832e-02 8.79597244e+02] [ 6.39726469e-01 7.68515380e-01 -1.15825784e-02 4.13358912e+01] [ 1.94844786e-02 -1.15074447e-03 9.99809497e-01 8.21670009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8392541539998 meters Centerline goodness [0,1] 0.9998459473139814 Centerline is valid? [True, True] Translation: X:879.62, Y:41.35, Z:8.22 [[ 7.64369552e-01 -6.44600280e-01 -1.51547461e-02 8.79621356e+02] [ 6.44504536e-01 7.64518790e-01 -1.11768565e-02 4.13497550e+01] [ 1.87906930e-02 -1.22405383e-03 9.99822690e-01 8.21728686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8692541539999 meters Centerline goodness [0,1] 0.9999120589205233 Centerline is valid? [True, True] Translation: X:879.64, Y:41.37, Z:8.22 [[ 7.61575784e-01 -6.47904469e-01 -1.49038338e-02 8.79639671e+02] [ 6.47812424e-01 7.61720525e-01 -1.09956994e-02 4.13738583e+01] [ 1.84767189e-02 -1.28083029e-03 9.99828470e-01 8.22040447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8992541539999 meters Centerline goodness [0,1] 0.9999117932433624 Centerline is valid? [True, True] Translation: X:879.66, Y:41.39, Z:8.22 [[ 7.60655046e-01 -6.48985438e-01 -1.48930014e-02 8.79662923e+02] [ 6.48893659e-01 7.60799713e-01 -1.09916583e-02 4.13887951e+01] [ 1.84640174e-02 -1.30311378e-03 9.99828676e-01 8.22007057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9292541539999 meters Centerline goodness [0,1] 0.9999780325996221 Centerline is valid? [True, True] Translation: X:879.68, Y:41.41, Z:8.22 [[ 7.59990879e-01 -6.49758048e-01 -1.51110101e-02 8.79684367e+02] [ 6.49663638e-01 7.60139913e-01 -1.11565770e-02 4.14080073e+01] [ 1.87355576e-02 -1.33817699e-03 9.99823579e-01 8.22018209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9592541539998 meters Centerline goodness [0,1] 0.999890191944481 Centerline is valid? [True, True] Translation: X:879.70, Y:41.43, Z:8.22 [[ 7.59819441e-01 -6.49949334e-01 -1.55009780e-02 8.79703958e+02] [ 6.49849905e-01 7.59976301e-01 -1.14508763e-02 4.14283689e+01] [ 1.92228654e-02 -1.37271063e-03 9.99814281e-01 8.21825063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9892541539999 meters Centerline goodness [0,1] 0.9999127190207074 Centerline is valid? [True, True] Translation: X:879.73, Y:41.45, Z:8.22 [[ 7.59899396e-01 -6.49862999e-01 -1.51983821e-02 8.79725939e+02] [ 6.49767282e-01 7.60050189e-01 -1.12334129e-02 4.14463370e+01] [ 1.88517126e-02 -1.33914773e-03 9.99821394e-01 8.21923114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0192541539999 meters Centerline goodness [0,1] 0.9998034333639104 Centerline is valid? [True, True] Translation: X:879.74, Y:41.47, Z:8.22 [[ 7.59908087e-01 -6.49829953e-01 -1.61472083e-02 8.79742341e+02] [ 6.49721768e-01 7.60078302e-01 -1.19415041e-02 4.14708114e+01] [ 2.00330897e-02 -1.41674717e-03 9.99798314e-01 8.21802327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0492541539999 meters Centerline goodness [0,1] 0.9998038446449589 Centerline is valid? [True, True] Translation: X:879.76, Y:41.49, Z:8.22 [[ 7.60035221e-01 -6.49677500e-01 -1.62974889e-02 8.79763950e+02] [ 6.49567121e-01 7.60208608e-01 -1.20593581e-02 4.14899390e+01] [ 2.02241850e-02 -1.42077606e-03 9.99794461e-01 8.21856416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0792541539998 meters Centerline goodness [0,1] 0.9998484618881649 Centerline is valid? [True, True] Translation: X:879.78, Y:41.51, Z:8.22 [[ 7.60127064e-01 -6.49551545e-01 -1.70187539e-02 8.79783416e+02] [ 6.49431042e-01 7.60316126e-01 -1.25980231e-02 4.15104678e+01] [ 2.11226984e-02 -1.47640875e-03 9.99775801e-01 8.21728789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:879.80, Y:41.53, Z:8.22 [[ 7.60476123e-01 -6.49165808e-01 -1.61189344e-02 8.79804045e+02] [ 6.49057535e-01 7.60645671e-01 -1.19364701e-02 4.15319570e+01] [ 2.00095459e-02 -1.38471530e-03 9.99798830e-01 8.22004251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1392541539999 meters Centerline goodness [0,1] 0.9999352736844377 Centerline is valid? [True, True] Translation: X:879.83, Y:41.54, Z:8.22 [[ 7.60400673e-01 -6.49252856e-01 -1.61723537e-02 8.79827847e+02] [ 6.49143797e-01 7.60571365e-01 -1.19803805e-02 4.15449610e+01] [ 2.00785254e-02 -1.38829373e-03 9.99797442e-01 8.21808477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1692541539999 meters Centerline goodness [0,1] 0.9997420630655804 Centerline is valid? [True, True] Translation: X:879.85, Y:41.57, Z:8.22 [[ 7.60858595e-01 -6.48724018e-01 -1.58539372e-02 8.79847392e+02] [ 6.48619010e-01 7.61022564e-01 -1.17489559e-02 4.15673790e+01] [ 1.96870338e-02 -1.34387094e-03 9.99805288e-01 8.21814253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1992541539998 meters Centerline goodness [0,1] 0.9997410332772239 Centerline is valid? [True, True] Translation: X:879.87, Y:41.59, Z:8.22 [[ 7.61108633e-01 -6.48410702e-01 -1.66496572e-02 8.79865682e+02] [ 6.48294681e-01 7.61289438e-01 -1.23450013e-02 4.15907427e+01] [ 2.06798391e-02 -1.39799718e-03 9.99785172e-01 8.21750998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2292541539999 meters Centerline goodness [0,1] 0.9997857709034041 Centerline is valid? [True, True] Translation: X:879.89, Y:41.61, Z:8.22 [[ 7.61919770e-01 -6.47460336e-01 -1.65341277e-02 8.79887294e+02] [ 6.47345604e-01 7.62097938e-01 -1.22638866e-02 4.16087033e+01] [ 2.05410048e-02 -1.35919722e-03 9.99788087e-01 8.21731799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2592541539999 meters Centerline goodness [0,1] 0.9997437868306431 Centerline is valid? [True, True] Translation: X:879.91, Y:41.63, Z:8.22 [[ 7.63833334e-01 -6.45196366e-01 -1.67417925e-02 8.79906382e+02] [ 6.45078094e-01 7.64015662e-01 -1.24226261e-02 4.16313420e+01] [ 2.08060249e-02 -1.31094769e-03 9.99782672e-01 8.21696916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2892541539999 meters Centerline goodness [0,1] 0.9998285910181693 Centerline is valid? [True, True] Translation: X:879.92, Y:41.66, Z:8.22 [[ 7.65046270e-01 -6.43760437e-01 -1.66344316e-02 8.79924907e+02] [ 6.43643240e-01 7.65226053e-01 -1.23477577e-02 4.16552134e+01] [ 2.06780983e-02 -1.26003348e-03 9.99785391e-01 8.21842855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3192541539999 meters Centerline goodness [0,1] 0.9998724544024489 Centerline is valid? [True, True] Translation: X:879.94, Y:41.68, Z:8.22 [[ 7.68218547e-01 -6.39967195e-01 -1.68004008e-02 8.79944748e+02] [ 6.39846680e-01 7.68401345e-01 -1.24739293e-02 4.16755892e+01] [ 2.08923561e-02 -1.16697688e-03 9.99781050e-01 8.21727227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3492541539998 meters Centerline goodness [0,1] 0.9998088766192398 Centerline is valid? [True, True] Translation: X:879.97, Y:41.69, Z:8.21 [[ 7.70021526e-01 -6.37787327e-01 -1.71515647e-02 8.79970405e+02] [ 6.37661133e-01 7.70211692e-01 -1.27369095e-02 4.16877081e+01] [ 2.13337751e-02 -1.12919169e-03 9.99771771e-01 8.21496383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3792541539999 meters Centerline goodness [0,1] 0.9997663501773615 Centerline is valid? [True, True] Translation: X:879.98, Y:41.72, Z:8.22 [[ 7.71860033e-01 -6.35553391e-01 -1.74349408e-02 8.79982004e+02] [ 6.35422366e-01 7.72056160e-01 -1.29500028e-02 4.17215622e+01] [ 2.16911716e-02 -1.08296178e-03 9.99764132e-01 8.21810942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4092541539999 meters Centerline goodness [0,1] 0.9997027222151442 Centerline is valid? [True, True] Translation: X:880.00, Y:41.74, Z:8.22 [[ 7.75790625e-01 -6.30740663e-01 -1.77516596e-02 8.80001101e+02] [ 6.30603459e-01 7.75993100e-01 -1.31903643e-02 4.17449834e+01] [ 2.20948645e-02 -9.61297009e-04 9.99755417e-01 8.21770312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4392541539999 meters Centerline goodness [0,1] 0.9997456279809221 Centerline is valid? [True, True] Translation: X:880.02, Y:41.77, Z:8.22 [[ 7.80001039e-01 -6.25544439e-01 -1.71036313e-02 8.80019513e+02] [ 6.25415684e-01 7.80188149e-01 -1.27151416e-02 4.17685567e+01] [ 2.12979365e-02 -7.79055638e-04 9.99772870e-01 8.21931601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4692541539998 meters Centerline goodness [0,1] 0.9997040732207403 Centerline is valid? [True, True] Translation: X:880.04, Y:41.79, Z:8.22 [[ 7.82044090e-01 -6.22970266e-01 -1.77507563e-02 8.80039971e+02] [ 6.22830829e-01 7.82245173e-01 -1.32002801e-02 4.17891906e+01] [ 2.21088254e-02 -7.32517242e-04 9.99755302e-01 8.21855924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4992541539999 meters Centerline goodness [0,1] 0.9997887353699244 Centerline is valid? [True, True] Translation: X:880.06, Y:41.81, Z:8.22 [[ 7.84036236e-01 -6.20468696e-01 -1.74865139e-02 8.80059952e+02] [ 6.20332709e-01 7.84230945e-01 -1.30059928e-02 4.18086111e+01] [ 2.17832767e-02 -6.50286898e-04 9.99762505e-01 8.21862828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5292541539999 meters Centerline goodness [0,1] 0.9998741927367273 Centerline is valid? [True, True] Translation: X:880.08, Y:41.83, Z:8.22 [[ 7.87793222e-01 -6.15709221e-01 -1.68521533e-02 8.80078912e+02] [ 6.15581787e-01 7.87973291e-01 -1.25362047e-02 4.18310862e+01] [ 2.09977036e-02 -4.97941530e-04 9.99779400e-01 8.21984778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5592541539999 meters Centerline goodness [0,1] 0.9998529288175477 Centerline is valid? [True, True] Translation: X:880.10, Y:41.85, Z:8.22 [[ 7.89297137e-01 -6.13771512e-01 -1.71627868e-02 8.80099533e+02] [ 6.13638831e-01 7.89483582e-01 -1.27694493e-02 4.18493846e+01] [ 2.13872626e-02 -4.52862630e-04 9.99771164e-01 8.21941943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5892541539998 meters Centerline goodness [0,1] 0.9998739919354839 Centerline is valid? [True, True] Translation: X:880.12, Y:41.87, Z:8.22 [[ 7.92225021e-01 -6.10002521e-01 -1.66265143e-02 8.80119822e+02] [ 6.09877129e-01 7.92399401e-01 -1.23724540e-02 4.18706520e+01] [ 2.07220681e-02 -3.38363156e-04 9.99785218e-01 8.22077167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6192541539999 meters Centerline goodness [0,1] 0.9998538805160105 Centerline is valid? [True, True] Translation: X:880.14, Y:41.89, Z:8.22 [[ 7.93547371e-01 -6.08296373e-01 -1.60652639e-02 8.80141283e+02] [ 6.08178873e-01 7.93709924e-01 -1.19589193e-02 4.18901581e+01] [ 2.00257266e-02 -2.80585087e-04 9.99799426e-01 8.22130159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6492541539999 meters Centerline goodness [0,1] 0.9999373355057025 Centerline is valid? [True, True] Translation: X:880.16, Y:41.91, Z:8.22 [[ 7.94812565e-01 -6.06662022e-01 -1.53028661e-02 8.80163166e+02] [ 6.06554996e-01 7.94959836e-01 -1.13971791e-02 4.19092993e+01] [ 1.90793996e-02 -2.23408750e-04 9.99817947e-01 8.22292981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.18, Y:41.93, Z:8.23 [[ 7.97254454e-01 -6.03470254e-01 -1.44564172e-02 8.80184257e+02] [ 6.03374120e-01 7.97385499e-01 -1.07720504e-02 4.19299719e+01] [ 1.80279494e-02 -1.34562907e-04 9.99837474e-01 8.22521910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7092541539998 meters Centerline goodness [0,1] 0.9998539658697375 Centerline is valid? [True, True] Translation: X:880.20, Y:41.95, Z:8.22 [[ 7.97815586e-01 -6.02703274e-01 -1.54613718e-02 8.80204915e+02] [ 6.02593061e-01 7.97965380e-01 -1.15262591e-02 4.19471477e+01] [ 1.92845535e-02 -1.21086213e-04 9.99814028e-01 8.22247725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7392541539999 meters Centerline goodness [0,1] 0.9999790272855016 Centerline is valid? [True, True] Translation: X:880.23, Y:41.97, Z:8.23 [[ 7.99946788e-01 -5.99905002e-01 -1.41111230e-02 8.80226697e+02] [ 5.99812680e-01 8.00071238e-01 -1.05244194e-02 4.19666646e+01] [ 1.76035555e-02 -4.50549709e-05 9.99845044e-01 8.22625319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7692541539999 meters Centerline goodness [0,1] 0.9999165832499166 Centerline is valid? [True, True] Translation: X:880.25, Y:41.98, Z:8.22 [[ 8.00346007e-01 -5.99359781e-01 -1.46329159e-02 8.80248261e+02] [ 5.99260314e-01 8.00479764e-01 -1.09189442e-02 4.19832299e+01] [ 1.82577291e-02 -2.99923741e-05 9.99833313e-01 8.22410496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7992541539999 meters Centerline goodness [0,1] 0.9999582323949545 Centerline is valid? [True, True] Translation: X:880.27, Y:42.00, Z:8.23 [[ 8.01224268e-01 -5.98205270e-01 -1.37886598e-02 8.80270302e+02] [ 5.98116693e-01 8.01342907e-01 -1.02940127e-02 4.20003472e+01] [ 1.72073774e-02 5.85137946e-07 9.99851942e-01 8.22676658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8292541539998 meters Centerline goodness [0,1] 0.9999161214561315 Centerline is valid? [True, True] Translation: X:880.29, Y:42.02, Z:8.23 [[ 8.01698129e-01 -5.97557307e-01 -1.43309200e-02 8.80292573e+02] [ 5.97461403e-01 8.01826206e-01 -1.07054668e-02 4.20176032e+01] [ 1.78880371e-02 2.03810961e-05 9.99839996e-01 8.22525626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8592541539999 meters Centerline goodness [0,1] 0.9998949778403243 Centerline is valid? [True, True] Translation: X:880.32, Y:42.03, Z:8.22 [[ 8.01354867e-01 -5.97996861e-01 -1.51700754e-02 8.80316401e+02] [ 5.97889349e-01 8.01498443e-01 -1.13389887e-02 4.20335467e+01] [ 1.89394714e-02 1.65273152e-05 9.99820632e-01 8.22411812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8892541539999 meters Centerline goodness [0,1] 0.999853024544901 Centerline is valid? [True, True] Translation: X:880.34, Y:42.05, Z:8.22 [[ 8.00462502e-01 -5.99149012e-01 -1.67405108e-02 8.80340362e+02] [ 5.99018190e-01 8.00637534e-01 -1.25198217e-02 4.20493790e+01] [ 2.09043201e-02 -6.22268411e-06 9.99781481e-01 8.22361225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9192541539999 meters Centerline goodness [0,1] 0.9998529905913979 Centerline is valid? [True, True] Translation: X:880.36, Y:42.06, Z:8.22 [[ 7.99189627e-01 -6.00824599e-01 -1.74854743e-02 8.80364469e+02] [ 6.00682117e-01 7.99380885e-01 -1.30841501e-02 4.20647996e+01] [ 2.18388332e-02 -4.64946869e-05 9.99761503e-01 8.22372710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.39, Y:42.08, Z:8.23 [[ 7.96621276e-01 -6.04240495e-01 -1.69695820e-02 8.80389756e+02] [ 6.04106964e-01 7.96801988e-01 -1.27030911e-02 4.20767326e+01] [ 2.11971187e-02 -1.31890012e-04 9.99775307e-01 8.22501363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9792541539999 meters Centerline goodness [0,1] 0.9998319857187861 Centerline is valid? [True, True] Translation: X:880.41, Y:42.09, Z:8.22 [[ 7.94417522e-01 -6.07080067e-01 -1.88306317e-02 8.80414358e+02] [ 6.06916355e-01 7.94640636e-01 -1.40995914e-02 4.20905414e+01] [ 2.35231660e-02 -2.27655866e-04 9.99723266e-01 8.22184447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0092541539999 meters Centerline goodness [0,1] 0.9999790246460409 Centerline is valid? [True, True] Translation: X:880.44, Y:42.10, Z:8.23 [[ 7.91345436e-01 -6.11125753e-01 -1.72544051e-02 8.80441263e+02] [ 6.10989159e-01 7.91533458e-01 -1.29241373e-02 4.21034143e+01] [ 2.15557121e-02 -3.14797418e-04 9.99767599e-01 8.22531420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0392541539999 meters Centerline goodness [0,1] 0.9999790575916231 Centerline is valid? [True, True] Translation: X:880.47, Y:42.12, Z:8.23 [[ 7.90024967e-01 -6.12845979e-01 -1.67438696e-02 8.80465628e+02] [ 6.12717635e-01 7.90202307e-01 -1.25464895e-02 4.21182313e+01] [ 2.09201100e-02 -3.47224195e-04 9.99781090e-01 8.22591834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.49, Y:42.13, Z:8.23 [[ 7.87918849e-01 -6.15581914e-01 -1.55818997e-02 8.80491818e+02] [ 6.15471210e-01 7.88072812e-01 -1.16804079e-02 4.21317235e+01] [ 1.94699194e-02 -3.86997147e-04 9.99810368e-01 8.22770889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.51, Y:42.15, Z:8.23 [[ 7.87743186e-01 -6.15806767e-01 -1.55787657e-02 8.80513839e+02] [ 6.15696025e-01 7.87897122e-01 -1.16845869e-02 4.21483246e+01] [ 1.94699124e-02 -3.87330405e-04 9.99810368e-01 8.22796648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1292541539999 meters Centerline goodness [0,1] 0.9998100504421603 Centerline is valid? [True, True] Translation: X:880.54, Y:42.16, Z:8.23 [[ 7.86393781e-01 -6.17506868e-01 -1.64344102e-02 8.80538782e+02] [ 6.17383852e-01 7.86565361e-01 -1.23333354e-02 4.21636941e+01] [ 2.05426571e-02 -4.47481199e-04 9.99788877e-01 8.22617782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1592541539999 meters Centerline goodness [0,1] 0.9997891852008011 Centerline is valid? [True, True] Translation: X:880.56, Y:42.18, Z:8.23 [[ 7.85264997e-01 -6.18963666e-01 -1.55840824e-02 8.80563901e+02] [ 6.18853263e-01 7.85419487e-01 -1.16990598e-02 4.21770664e+01] [ 1.94813349e-02 -4.57398064e-04 9.99810116e-01 8.22704558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1892541539999 meters Centerline goodness [0,1] 0.9999365616409389 Centerline is valid? [True, True] Translation: X:880.59, Y:42.19, Z:8.23 [[ 7.84889647e-01 -6.19457349e-01 -1.48604937e-02 8.80586312e+02] [ 6.19356970e-01 7.85030187e-01 -1.11601402e-02 4.21942488e+01] [ 1.85791670e-02 -4.44471810e-04 9.99827294e-01 8.22957251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2192541539998 meters Centerline goodness [0,1] 0.9999789336198361 Centerline is valid? [True, True] Translation: X:880.61, Y:42.21, Z:8.23 [[ 7.84611918e-01 -6.19820197e-01 -1.43896313e-02 8.80609019e+02] [ 6.19726057e-01 7.84743738e-01 -1.08111151e-02 4.22095159e+01] [ 1.79931206e-02 -4.35099691e-04 9.99838016e-01 8.23050572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2492541539999 meters Centerline goodness [0,1] 0.9998731179157503 Centerline is valid? [True, True] Translation: X:880.63, Y:42.23, Z:8.23 [[ 7.83209791e-01 -6.21589967e-01 -1.44338552e-02 8.80633513e+02] [ 6.21495472e-01 7.83342638e-01 -1.08484948e-02 4.22252118e+01] [ 1.80499697e-02 -4.73928301e-04 9.99836974e-01 8.22998379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2792541539999 meters Centerline goodness [0,1] 0.9998735857404715 Centerline is valid? [True, True] Translation: X:880.66, Y:42.24, Z:8.23 [[ 7.82631019e-01 -6.22324728e-01 -1.41640572e-02 8.80657204e+02] [ 6.22233757e-01 7.82759033e-01 -1.06511389e-02 4.22417817e+01] [ 1.77155108e-02 -4.77442849e-04 9.99842954e-01 8.23051322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3092541539999 meters Centerline goodness [0,1] 0.9999788377703475 Centerline is valid? [True, True] Translation: X:880.68, Y:42.26, Z:8.23 [[ 7.82339027e-01 -6.22716615e-01 -1.30255363e-02 8.80679159e+02] [ 6.22639652e-01 7.82447328e-01 -9.80015732e-03 4.22595462e+01] [ 1.62945168e-02 -4.43169827e-04 9.99867137e-01 8.23301449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3392541539998 meters Centerline goodness [0,1] 0.9998314405511894 Centerline is valid? [True, True] Translation: X:880.70, Y:42.27, Z:8.23 [[ 7.81717415e-01 -6.23471875e-01 -1.41670083e-02 8.80703076e+02] [ 6.23380864e-01 7.81845622e-01 -1.06640796e-02 4.22748109e+01] [ 1.77251671e-02 -4.95145108e-04 9.99842774e-01 8.23048968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3692541539999 meters Centerline goodness [0,1] 0.9998940790170533 Centerline is valid? [True, True] Translation: X:880.73, Y:42.29, Z:8.23 [[ 7.81446977e-01 -6.23800050e-01 -1.46328228e-02 8.80725971e+02] [ 6.23702956e-01 7.81583797e-01 -1.10177974e-02 4.22912832e+01] [ 1.83096797e-02 -5.16710379e-04 9.99832230e-01 8.23056092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3992541539999 meters Centerline goodness [0,1] 0.9999788695192816 Centerline is valid? [True, True] Translation: X:880.75, Y:42.31, Z:8.23 [[ 7.81024160e-01 -6.24316397e-01 -1.51755568e-02 8.80748708e+02] [ 6.24211978e-01 7.81171389e-01 -1.14309782e-02 4.23087353e+01] [ 1.89912579e-02 -5.44894160e-04 9.99819501e-01 8.23072600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4292541539999 meters Centerline goodness [0,1] 0.9999576360940479 Centerline is valid? [True, True] Translation: X:880.77, Y:42.33, Z:8.23 [[ 7.80358190e-01 -6.25126042e-01 -1.60787912e-02 8.80771354e+02] [ 6.25008908e-01 7.80523592e-01 -1.21155582e-02 4.23257312e+01] [ 2.01236268e-02 -5.94912625e-04 9.99797322e-01 8.22980499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.79, Y:42.34, Z:8.23 [[ 7.78735355e-01 -6.27132134e-01 -1.66292896e-02 8.80794555e+02] [ 6.27007245e-01 7.78912602e-01 -1.25328601e-02 4.23403938e+01] [ 2.08125225e-02 -6.66903843e-04 9.99783174e-01 8.23025729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4892541539999 meters Centerline goodness [0,1] 0.9997022860180755 Centerline is valid? [True, True] Translation: X:880.82, Y:42.36, Z:8.23 [[ 7.76701784e-01 -6.29606147e-01 -1.81779339e-02 8.80818442e+02] [ 6.29457529e-01 7.76914062e-01 -1.37025423e-02 4.23558453e+01] [ 2.27498974e-02 -7.99448322e-04 9.99740868e-01 8.22635505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5192541539999 meters Centerline goodness [0,1] 0.999893592117304 Centerline is valid? [True, True] Translation: X:880.84, Y:42.37, Z:8.23 [[ 7.75408643e-01 -6.31224247e-01 -1.72449148e-02 8.80841912e+02] [ 6.31090795e-01 7.75599968e-01 -1.30037607e-02 4.23725756e+01] [ 2.15834445e-02 -7.99878536e-04 9.99766730e-01 8.22915406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5492541539999 meters Centerline goodness [0,1] 0.9997874285228409 Centerline is valid? [True, True] Translation: X:880.87, Y:42.39, Z:8.23 [[ 7.72965547e-01 -6.34230440e-01 -1.66135967e-02 8.80866295e+02] [ 6.34107149e-01 7.73143604e-01 -1.25336369e-02 4.23892234e+01] [ 2.07939101e-02 -8.46730897e-04 9.99783425e-01 8.23132677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5792541539998 meters Centerline goodness [0,1] 0.9999366687777074 Centerline is valid? [True, True] Translation: X:880.89, Y:42.40, Z:8.23 [[ 7.72392868e-01 -6.34933071e-01 -1.64088995e-02 8.80890370e+02] [ 6.34812880e-01 7.72566676e-01 -1.23830030e-02 4.24039301e+01] [ 2.05393471e-02 -8.52037531e-04 9.99788682e-01 8.23149078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6092541539999 meters Centerline goodness [0,1] 0.9998305156561162 Centerline is valid? [True, True] Translation: X:880.91, Y:42.43, Z:8.23 [[ 7.72151110e-01 -6.35234995e-01 -1.60985697e-02 8.80908069e+02] [ 6.35119273e-01 7.72318454e-01 -1.21537756e-02 4.24270246e+01] [ 2.01537260e-02 -8.39960591e-04 9.99796540e-01 8.23291036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6392541539999 meters Centerline goodness [0,1] 0.9998517263291675 Centerline is valid? [True, True] Translation: X:880.93, Y:42.45, Z:8.23 [[ 7.72624360e-01 -6.34668135e-01 -1.57466231e-02 8.80930524e+02] [ 6.34557168e-01 7.72784391e-01 -1.18947567e-02 4.24451201e+01] [ 1.97179677e-02 -8.01953778e-04 9.99805260e-01 8.23350358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.95, Y:42.46, Z:8.24 [[ 7.75027850e-01 -6.31754567e-01 -1.47647853e-02 8.80951502e+02] [ 6.31656411e-01 7.75168179e-01 -1.11567169e-02 4.24641074e+01] [ 1.84934986e-02 -6.79504994e-04 9.99828750e-01 8.23631457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6992541539998 meters Centerline goodness [0,1] 0.9999789593283818 Centerline is valid? [True, True] Translation: X:880.97, Y:42.48, Z:8.24 [[ 7.76109633e-01 -6.30419927e-01 -1.49851054e-02 8.80973540e+02] [ 6.30318536e-01 7.76254009e-01 -1.13250881e-02 4.24811440e+01] [ 1.87718094e-02 -6.55879682e-04 9.99823579e-01 8.23581899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7292541539999 meters Centerline goodness [0,1] 0.9998310168560686 Centerline is valid? [True, True] Translation: X:881.00, Y:42.50, Z:8.23 [[ 7.76607543e-01 -6.29791333e-01 -1.56077601e-02 8.80995665e+02] [ 6.29681131e-01 7.76764080e-01 -1.17998570e-02 4.25000677e+01] [ 1.95549951e-02 -6.64054066e-04 9.99808562e-01 8.23345448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7592541539999 meters Centerline goodness [0,1] 0.9997471022128557 Centerline is valid? [True, True] Translation: X:881.01, Y:42.52, Z:8.23 [[ 7.78346915e-01 -6.27634366e-01 -1.58487264e-02 8.81014717e+02] [ 6.27520211e-01 7.78508011e-01 -1.19858900e-02 4.25222246e+01] [ 1.98611169e-02 -6.16215625e-04 9.99802559e-01 8.23446263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7892541539999 meters Centerline goodness [0,1] 0.9998320456835741 Centerline is valid? [True, True] Translation: X:881.04, Y:42.54, Z:8.24 [[ 7.79303597e-01 -6.26456458e-01 -1.54340431e-02 8.81036376e+02] [ 6.26347931e-01 7.79456209e-01 -1.16742306e-02 4.25400251e+01] [ 1.93435579e-02 -5.69311019e-04 9.99812734e-01 8.23524987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8192541539999 meters Centerline goodness [0,1] 0.999791074711683 Centerline is valid? [True, True] Translation: X:881.06, Y:42.56, Z:8.24 [[ 7.81121180e-01 -6.24204232e-01 -1.47911663e-02 8.81057020e+02] [ 6.24104090e-01 7.81261056e-01 -1.11914403e-02 4.25605615e+01] [ 1.85415066e-02 -4.89356325e-04 9.99827972e-01 8.23572628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8492541539998 meters Centerline goodness [0,1] 0.9999370541334452 Centerline is valid? [True, True] Translation: X:881.08, Y:42.58, Z:8.24 [[ 7.82264783e-01 -6.22798661e-01 -1.35512974e-02 8.81077956e+02] [ 6.22714313e-01 7.82382040e-01 -1.02580677e-02 4.25801083e+01] [ 1.69910025e-02 -4.14061784e-04 9.99855557e-01 8.23848277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8792541539999 meters Centerline goodness [0,1] 0.9998952221290863 Centerline is valid? [True, True] Translation: X:881.10, Y:42.60, Z:8.24 [[ 7.83425768e-01 -6.21339306e-01 -1.34734387e-02 8.81098751e+02] [ 6.21255643e-01 7.83541527e-01 -1.02029655e-02 4.25989337e+01] [ 1.68965023e-02 -3.77183758e-04 9.99857173e-01 8.23745323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9092541539999 meters Centerline goodness [0,1] 0.9998951386267354 Centerline is valid? [True, True] Translation: X:881.12, Y:42.62, Z:8.24 [[ 7.83436186e-01 -6.21325174e-01 -1.35192973e-02 8.81120815e+02] [ 6.21240875e-01 7.83552734e-01 -1.02414714e-02 4.26168364e+01] [ 1.69563664e-02 -3.75200818e-04 9.99856160e-01 8.23717873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9392541539999 meters Centerline goodness [0,1] 0.9998954565412842 Centerline is valid? [True, True] Translation: X:881.14, Y:42.63, Z:8.24 [[ 7.82894598e-01 -6.21996339e-01 -1.40214985e-02 8.81142508e+02] [ 6.21905683e-01 7.83020047e-01 -1.06267445e-02 4.26338913e+01] [ 1.75889105e-02 -4.00428721e-04 9.99845223e-01 8.23724609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9692541539998 meters Centerline goodness [0,1] 0.9999582193068584 Centerline is valid? [True, True] Translation: X:881.17, Y:42.65, Z:8.24 [[ 7.82302187e-01 -6.22741441e-01 -1.40137334e-02 8.81165408e+02] [ 6.22650934e-01 7.82427585e-01 -1.06249294e-02 4.26513470e+01] [ 1.75813154e-02 -4.13758739e-04 9.99845351e-01 8.23756153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9992541539999 meters Centerline goodness [0,1] 0.9999790453040527 Centerline is valid? [True, True] Translation: X:881.19, Y:42.67, Z:8.24 [[ 7.81567136e-01 -6.23667036e-01 -1.38651128e-02 8.81187092e+02] [ 6.23578488e-01 7.81689995e-01 -1.05176677e-02 4.26701561e+01] [ 1.73977425e-02 -4.25722676e-04 9.99848557e-01 8.23911181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0292541539999 meters Centerline goodness [0,1] 0.9998115341123257 Centerline is valid? [True, True] Translation: X:881.21, Y:42.68, Z:8.24 [[ 7.79124813e-01 -6.26685020e-01 -1.51793408e-02 8.81212017e+02] [ 6.26579384e-01 7.79272480e-01 -1.15185511e-02 4.26849498e+01] [ 1.90473460e-02 -5.36673073e-04 9.99818439e-01 8.23573359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0592541539999 meters Centerline goodness [0,1] 0.9998532156262451 Centerline is valid? [True, True] Translation: X:881.24, Y:42.70, Z:8.24 [[ 7.78167463e-01 -6.27882917e-01 -1.47797570e-02 8.81235539e+02] [ 6.27782956e-01 7.78307613e-01 -1.12169610e-02 4.27004153e+01] [ 1.85461356e-02 -5.49805477e-04 9.99827854e-01 8.23638850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0892541539998 meters Centerline goodness [0,1] 0.9999580765522157 Centerline is valid? [True, True] Translation: X:881.26, Y:42.72, Z:8.24 [[ 7.76136543e-01 -6.30387524e-01 -1.49544568e-02 8.81258836e+02] [ 6.30285612e-01 7.76280356e-01 -1.13514808e-02 4.27168496e+01] [ 1.87646829e-02 -6.15279895e-04 9.99823739e-01 8.23813436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1192541539999 meters Centerline goodness [0,1] 0.9998318126392801 Centerline is valid? [True, True] Translation: X:881.28, Y:42.74, Z:8.24 [[ 7.74504479e-01 -6.32372437e-01 -1.57452714e-02 8.81281425e+02] [ 6.32259785e-01 7.74664197e-01 -1.19559849e-02 4.27350649e+01] [ 1.97579333e-02 -6.95138057e-04 9.99804551e-01 8.23659396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1492541539999 meters Centerline goodness [0,1] 0.9998318444561219 Centerline is valid? [True, True] Translation: X:881.30, Y:42.75, Z:8.24 [[ 7.72362783e-01 -6.34991396e-01 -1.55453780e-02 8.81304685e+02] [ 6.34882004e-01 7.72518846e-01 -1.18099141e-02 4.27533619e+01] [ 1.95082913e-02 -7.47942644e-04 9.99809415e-01 8.23707271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1792541539999 meters Centerline goodness [0,1] 0.9999789571145996 Centerline is valid? [True, True] Translation: X:881.33, Y:42.77, Z:8.24 [[ 7.71686351e-01 -6.35839702e-01 -1.44239428e-02 8.81329035e+02] [ 6.35745601e-01 7.71820814e-01 -1.09618380e-02 4.27667273e+01] [ 1.81026711e-02 -7.10857426e-04 9.99835881e-01 8.23919358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2092541539998 meters Centerline goodness [0,1] 0.9997897657991002 Centerline is valid? [True, True] Translation: X:881.35, Y:42.79, Z:8.24 [[ 7.70334422e-01 -6.37463573e-01 -1.50023960e-02 8.81350535e+02] [ 6.37362031e-01 7.70480103e-01 -1.14040254e-02 4.27859152e+01] [ 1.88286984e-02 -7.77044290e-04 9.99822422e-01 8.23747903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2392541539999 meters Centerline goodness [0,1] 0.9999372135367615 Centerline is valid? [True, True] Translation: X:881.37, Y:42.80, Z:8.24 [[ 7.69144897e-01 -6.38935882e-01 -1.33066422e-02 8.81372210e+02] [ 6.38856191e-01 7.69259658e-01 -1.01166438e-02 4.28041693e+01] [ 1.67001498e-02 -7.19865752e-04 9.99860284e-01 8.24091254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2692541539999 meters Centerline goodness [0,1] 0.999874461229443 Centerline is valid? [True, True] Translation: X:881.39, Y:42.82, Z:8.24 [[ 7.68914882e-01 -6.39226793e-01 -1.26099662e-02 8.81394040e+02] [ 6.39155240e-01 7.69017968e-01 -9.58871906e-03 4.28211807e+01] [ 1.58266567e-02 -6.86817164e-04 9.99874515e-01 8.24150296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2992541539999 meters Centerline goodness [0,1] 0.9998955329906816 Centerline is valid? [True, True] Translation: X:881.42, Y:42.84, Z:8.24 [[ 7.69576933e-01 -6.38440901e-01 -1.20233023e-02 8.81415492e+02] [ 6.38375713e-01 7.69670585e-01 -9.14543039e-03 4.28407080e+01] [ 1.50927989e-02 -6.37271897e-04 9.99885894e-01 8.24282656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3292541539998 meters Centerline goodness [0,1] 0.9998531293930047 Centerline is valid? [True, True] Translation: X:881.44, Y:42.86, Z:8.24 [[ 7.70935134e-01 -6.36797296e-01 -1.21746954e-02 8.81436598e+02] [ 6.36730198e-01 7.71031019e-01 -9.26411087e-03 4.28603634e+01] [ 1.52864285e-02 -6.09967648e-04 9.99882970e-01 8.24253495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3592541539999 meters Centerline goodness [0,1] 0.999832754944182 Centerline is valid? [True, True] Translation: X:881.46, Y:42.88, Z:8.24 [[ 7.75002473e-01 -6.31844953e-01 -1.19633379e-02 8.81455429e+02] [ 6.31779535e-01 7.75094642e-01 -9.10577368e-03 4.28834726e+01] [ 1.50261562e-02 -5.01194912e-04 9.99886975e-01 8.24252635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3892541539999 meters Centerline goodness [0,1] 0.9998123514448939 Centerline is valid? [True, True] Translation: X:881.48, Y:42.90, Z:8.24 [[ 7.77253256e-01 -6.29074295e-01 -1.19544172e-02 8.81475772e+02] [ 6.29008597e-01 7.77345054e-01 -9.10224281e-03 4.29041611e+01] [ 1.50186941e-02 -4.44683355e-04 9.99887114e-01 8.24252786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4192541539999 meters Centerline goodness [0,1] 0.999958544067656 Centerline is valid? [True, True] Translation: X:881.49, Y:42.93, Z:8.24 [[ 7.82058518e-01 -6.23110830e-01 -1.08336036e-02 8.81493224e+02] [ 6.23056280e-01 7.82133495e-01 -8.25027410e-03 4.29269381e+01] [ 1.36141594e-02 -2.97747597e-04 9.99907279e-01 8.24420485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.51, Y:42.95, Z:8.25 [[ 7.83967994e-01 -6.20710856e-01 -1.05933234e-02 8.81513894e+02] [ 6.20658444e-01 7.84039522e-01 -8.06996826e-03 4.29477471e+01] [ 1.33147011e-02 -2.48238767e-04 9.99911325e-01 8.24519688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.54, Y:42.97, Z:8.24 [[ 7.85323735e-01 -6.18989550e-01 -1.08889678e-02 8.81535128e+02] [ 6.18933945e-01 7.85399191e-01 -8.29959850e-03 4.29671103e+01] [ 1.36895512e-02 -2.21680110e-04 9.99906269e-01 8.24493106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.55, Y:42.99, Z:8.24 [[ 7.87587336e-01 -6.16101223e-01 -1.12014088e-02 8.81554586e+02] [ 6.16042039e-01 7.87666968e-01 -8.54129785e-03 4.29872441e+01] [ 1.40852838e-02 -1.73520683e-04 9.99900782e-01 8.24443215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5392541539999 meters Centerline goodness [0,1] 0.9998751872191712 Centerline is valid? [True, True] Translation: X:881.58, Y:43.01, Z:8.24 [[ 7.89051934e-01 -6.14193567e-01 -1.27791983e-02 8.81575250e+02] [ 6.14116230e-01 7.89155396e-01 -9.74771078e-03 4.30071966e+01] [ 1.60717545e-02 -1.56463019e-04 9.99870829e-01 8.24092001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5692541539999 meters Centerline goodness [0,1] 0.9999164560663338 Centerline is valid? [True, True] Translation: X:881.60, Y:43.03, Z:8.24 [[ 7.89785599e-01 -6.13248987e-01 -1.28213406e-02 8.81597318e+02] [ 6.13170933e-01 7.89889652e-01 -9.78496955e-03 4.30257971e+01] [ 1.61280669e-02 -1.33645318e-04 9.99869925e-01 8.24140579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5992541539998 meters Centerline goodness [0,1] 0.9998957334111858 Centerline is valid? [True, True] Translation: X:881.62, Y:43.04, Z:8.24 [[ 7.90424504e-01 -6.12414773e-01 -1.33135094e-02 8.81618972e+02] [ 6.12330396e-01 7.90536610e-01 -1.01663079e-02 4.30439668e+01] [ 1.67508137e-02 -1.16567570e-04 9.99859688e-01 8.24145135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6292541539999 meters Centerline goodness [0,1] 0.9997918661282937 Centerline is valid? [True, True] Translation: X:881.64, Y:43.06, Z:8.24 [[ 7.91994656e-01 -6.10367994e-01 -1.39777550e-02 8.81639704e+02] [ 6.10274589e-01 7.92117988e-01 -1.06779865e-02 4.30627282e+01] [ 1.75895323e-02 -7.33604498e-05 9.99845290e-01 8.24006083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6592541539999 meters Centerline goodness [0,1] 0.9998533908599673 Centerline is valid? [True, True] Translation: X:881.66, Y:43.08, Z:8.24 [[ 7.92854841e-01 -6.09271388e-01 -1.30221706e-02 8.81662279e+02] [ 6.09190118e-01 7.92961773e-01 -9.95120238e-03 4.30809874e+01] [ 1.63890664e-02 -4.31186627e-05 9.99865689e-01 8.24274529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6892541539999 meters Centerline goodness [0,1] 0.9999583064062206 Centerline is valid? [True, True] Translation: X:881.68, Y:43.10, Z:8.24 [[ 7.94377672e-01 -6.07303729e-01 -1.20952390e-02 8.81683881e+02] [ 6.07233331e-01 7.94469749e-01 -9.24664167e-03 4.30982775e+01] [ 1.52248214e-02 6.93424708e-07 9.99884096e-01 8.24496447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7192541539998 meters Centerline goodness [0,1] 0.9998126405196103 Centerline is valid? [True, True] Translation: X:881.71, Y:43.12, Z:8.24 [[ 7.94959448e-01 -6.06541657e-01 -1.21117560e-02 8.81706168e+02] [ 6.06470922e-01 7.95051707e-01 -9.26301904e-03 4.31154140e+01] [ 1.52478792e-02 1.82966432e-05 9.99883744e-01 8.24339159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.73, Y:43.13, Z:8.25 [[ 7.97013140e-01 -6.03862584e-01 -1.09560289e-02 8.81728143e+02] [ 6.03804385e-01 7.97088436e-01 -8.38386314e-03 4.31324352e+01] [ 1.37956252e-02 6.67507698e-05 9.99904834e-01 8.24739439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.75, Y:43.15, Z:8.25 [[ 7.97812294e-01 -6.02801904e-01 -1.11986081e-02 8.81751011e+02] [ 6.02740923e-01 7.97890880e-01 -8.57458958e-03 4.31496033e+01] [ 1.41040462e-02 9.10535927e-05 9.99900529e-01 8.24746434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8092541539999 meters Centerline goodness [0,1] 0.9997912622372513 Centerline is valid? [True, True] Translation: X:881.77, Y:43.17, Z:8.24 [[ 7.99345590e-01 -6.00732348e-01 -1.29334820e-02 8.81773409e+02] [ 6.00650659e-01 7.99450201e-01 -9.90769993e-03 4.31657933e+01] [ 1.62915506e-02 1.51171775e-04 9.99867272e-01 8.24319620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8392541539998 meters Centerline goodness [0,1] 0.9998130647003842 Centerline is valid? [True, True] Translation: X:881.80, Y:43.18, Z:8.24 [[ 8.00166092e-01 -5.99645673e-01 -1.26211325e-02 8.81795801e+02] [ 5.99567710e-01 8.00265605e-01 -9.67075333e-03 4.31830892e+01] [ 1.58992836e-02 1.70985405e-04 9.99873584e-01 8.24313248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.82, Y:43.20, Z:8.25 [[ 8.01348318e-01 -5.98088333e-01 -1.14551178e-02 8.81820064e+02] [ 5.98023914e-01 8.01430166e-01 -8.77990295e-03 4.31996166e+01] [ 1.44316345e-02 1.85326077e-04 9.99895841e-01 8.24773593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8992541539999 meters Centerline goodness [0,1] 0.9998545484769148 Centerline is valid? [True, True] Translation: X:881.84, Y:43.21, Z:8.25 [[ 8.02590805e-01 -5.96412294e-01 -1.18479710e-02 8.81843448e+02] [ 5.96343140e-01 8.02678220e-01 -9.08487425e-03 4.32142335e+01] [ 1.49284389e-02 2.25980336e-04 9.99888539e-01 8.24528526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.87, Y:43.23, Z:8.25 [[ 8.03512217e-01 -5.95195331e-01 -1.05183491e-02 8.81867065e+02] [ 5.95140692e-01 8.03581028e-01 -8.06770229e-03 4.32311354e+01] [ 1.32542045e-02 2.22599812e-04 9.99912134e-01 8.24899947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.89, Y:43.25, Z:8.25 [[ 8.03872949e-01 -5.94707913e-01 -1.05252420e-02 8.81889707e+02] [ 5.94653114e-01 8.03941816e-01 -8.07648569e-03 4.32466028e+01] [ 1.32648321e-02 2.33600460e-04 9.99911991e-01 8.24910829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.91, Y:43.26, Z:8.25 [[ 8.03703643e-01 -5.94936719e-01 -1.05239562e-02 8.81911524e+02] [ 5.94881919e-01 8.03772509e-01 -8.07816073e-03 4.32634482e+01] [ 1.32648611e-02 2.31935937e-04 9.99911991e-01 8.24936620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0192541539999 meters Centerline goodness [0,1] 0.9998330202462952 Centerline is valid? [True, True] Translation: X:881.94, Y:43.28, Z:8.25 [[ 8.03627683e-01 -5.95004775e-01 -1.23233302e-02 8.81937639e+02] [ 5.94929548e-01 8.03722118e-01 -9.46522452e-03 4.32769349e+01] [ 1.55363868e-02 2.75003211e-04 9.99879265e-01 8.24594909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0492541539999 meters Centerline goodness [0,1] 0.9999581931060432 Centerline is valid? [True, True] Translation: X:881.96, Y:43.29, Z:8.25 [[ 8.03609982e-01 -5.95043173e-01 -1.16025384e-02 8.81961267e+02] [ 5.94976426e-01 8.03693694e-01 -8.91624625e-03 4.32920803e+01] [ 1.46304384e-02 2.61947644e-04 9.99892935e-01 8.24776536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0792541539998 meters Centerline goodness [0,1] 0.9998331073328466 Centerline is valid? [True, True] Translation: X:881.99, Y:43.30, Z:8.24 [[ 8.02259628e-01 -5.96809004e-01 -1.40890623e-02 8.81988997e+02] [ 5.96710731e-01 8.02383282e-01 -1.08338724e-02 4.33034372e+01] [ 1.77705807e-02 2.84483784e-04 9.99842050e-01 8.24488007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1092541539999 meters Centerline goodness [0,1] 0.999832091510127 Centerline is valid? [True, True] Translation: X:882.02, Y:43.31, Z:8.24 [[ 7.99792280e-01 -6.00089258e-01 -1.50063894e-02 8.82016799e+02] [ 5.99978224e-01 7.99933016e-01 -1.15455942e-02 4.33142792e+01] [ 1.89324934e-02 2.30570221e-04 9.99820738e-01 8.24452625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.04, Y:43.33, Z:8.25 [[ 7.98738588e-01 -6.01512862e-01 -1.41047969e-02 8.82041119e+02] [ 6.01414925e-01 7.98863093e-01 -1.08557355e-02 4.33287741e+01] [ 1.77976662e-02 1.88059454e-04 9.99841591e-01 8.24676124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.07, Y:43.34, Z:8.25 [[ 7.96758702e-01 -6.04137693e-01 -1.39002925e-02 8.82067722e+02] [ 6.04042910e-01 7.96879935e-01 -1.07019843e-02 4.33416104e+01] [ 1.75423363e-02 1.30525984e-04 9.99846113e-01 8.24819803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1992541539998 meters Centerline goodness [0,1] 0.9998731930002536 Centerline is valid? [True, True] Translation: X:882.10, Y:43.35, Z:8.25 [[ 7.91901356e-01 -6.10480675e-01 -1.43383707e-02 8.82097729e+02] [ 6.10380750e-01 7.92031152e-01 -1.10451267e-02 4.33498072e+01] [ 1.80992727e-02 -5.21458756e-06 9.99836195e-01 8.24694939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.12, Y:43.36, Z:8.25 [[ 7.89841762e-01 -6.13166184e-01 -1.33124559e-02 8.82123037e+02] [ 6.13080335e-01 7.89953940e-01 -1.02603454e-02 4.33623441e+01] [ 1.68075238e-02 -5.75556019e-05 9.99858742e-01 8.25026100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2592541539999 meters Centerline goodness [0,1] 0.9998730051221267 Centerline is valid? [True, True] Translation: X:882.15, Y:43.37, Z:8.25 [[ 7.84667151e-01 -6.19769489e-01 -1.35367083e-02 8.82152654e+02] [ 6.19681625e-01 7.84783882e-01 -1.04375299e-02 4.33699630e+01] [ 1.70922531e-02 -1.98462507e-04 9.99853897e-01 8.24845362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2892541539999 meters Centerline goodness [0,1] 0.99991503101368 Centerline is valid? [True, True] Translation: X:882.18, Y:43.38, Z:8.25 [[ 7.82497292e-01 -6.22526013e-01 -1.26233998e-02 8.82178290e+02] [ 6.22449937e-01 7.82599071e-01 -9.73503757e-03 4.33820264e+01] [ 1.59393751e-02 -2.39793876e-04 9.99872931e-01 8.25028238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3192541539999 meters Centerline goodness [0,1] 0.9998507526331499 Centerline is valid? [True, True] Translation: X:882.21, Y:43.39, Z:8.25 [[ 7.78092131e-01 -6.28019201e-01 -1.28265038e-02 8.82208092e+02] [ 6.27941371e-01 7.78197762e-01 -9.89338542e-03 4.33906047e+01] [ 1.61947926e-02 -3.56327042e-04 9.99868792e-01 8.24970444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3492541539998 meters Centerline goodness [0,1] 0.999786543715847 Centerline is valid? [True, True] Translation: X:882.23, Y:43.40, Z:8.25 [[ 7.76417599e-01 -6.30096850e-01 -1.23964844e-02 8.82233468e+02] [ 6.30024390e-01 7.76516460e-01 -9.56325874e-03 4.34042925e+01] [ 1.56518533e-02 -3.85005105e-04 9.99877428e-01 8.25040299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3792541539999 meters Centerline goodness [0,1] 0.9999357312710212 Centerline is valid? [True, True] Translation: X:882.26, Y:43.42, Z:8.25 [[ 7.73586381e-01 -6.33588262e-01 -1.14028684e-02 8.82260818e+02] [ 6.33527307e-01 7.73670305e-01 -8.79835427e-03 4.34150393e+01] [ 1.43965947e-02 -4.17741474e-04 9.99896276e-01 8.25293441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4092541539999 meters Centerline goodness [0,1] 0.9999785357058533 Centerline is valid? [True, True] Translation: X:882.28, Y:43.43, Z:8.25 [[ 7.72311471e-01 -6.35153024e-01 -1.07530662e-02 8.82284971e+02] [ 6.35098936e-01 7.72386212e-01 -8.29945365e-03 4.34304705e+01] [ 1.35769432e-02 -4.19497662e-04 9.99907741e-01 8.25449137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4392541539999 meters Centerline goodness [0,1] 0.999720183387503 Centerline is valid? [True, True] Translation: X:882.31, Y:43.44, Z:8.25 [[ 7.68689377e-01 -6.39529431e-01 -1.08972223e-02 8.82312469e+02] [ 6.39474262e-01 7.68766452e-01 -8.41494850e-03 4.34413073e+01] [ 1.37590261e-02 -5.00011650e-04 9.99905215e-01 8.25220841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.34, Y:43.46, Z:8.26 [[ 7.67389728e-01 -6.41101324e-01 -1.01043440e-02 8.82335038e+02] [ 6.41053980e-01 7.67456093e-01 -7.80634395e-03 4.34594503e+01] [ 1.27592978e-02 -4.86921774e-04 9.99918478e-01 8.25688091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.36, Y:43.47, Z:8.26 [[ 7.65432765e-01 -6.43432275e-01 -1.03725506e-02 8.82361439e+02] [ 6.43382554e-01 7.65502854e-01 -8.01687943e-03 4.34711802e+01] [ 1.30985360e-02 -5.37135873e-04 9.99914066e-01 8.25686763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5292541539999 meters Centerline goodness [0,1] 0.999869991982839 Centerline is valid? [True, True] Translation: X:882.39, Y:43.48, Z:8.25 [[ 7.60772979e-01 -6.48914798e-01 -1.15783992e-02 8.82387922e+02] [ 6.48853445e-01 7.60860756e-01 -8.95078572e-03 4.34824314e+01] [ 1.46178469e-02 -7.03168302e-04 9.99892906e-01 8.25380950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5592541539999 meters Centerline goodness [0,1] 0.9999134648667359 Centerline is valid? [True, True] Translation: X:882.41, Y:43.50, Z:8.25 [[ 7.58549846e-01 -6.51511255e-01 -1.16282451e-02 8.82412387e+02] [ 6.51449626e-01 7.58638594e-01 -8.99268849e-03 4.34975021e+01] [ 1.46804733e-02 -7.53813429e-04 9.99891952e-01 8.25404218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5892541539998 meters Centerline goodness [0,1] 0.9998263248160129 Centerline is valid? [True, True] Translation: X:882.43, Y:43.52, Z:8.25 [[ 7.54302020e-01 -6.56413894e-01 -1.22172572e-02 8.82431520e+02] [ 6.56346445e-01 7.54400430e-01 -9.45175025e-03 4.35194811e+01] [ 1.54209643e-02 -8.89279008e-04 9.99880694e-01 8.25389723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6192541539999 meters Centerline goodness [0,1] 0.9998484028153762 Centerline is valid? [True, True] Translation: X:882.46, Y:43.54, Z:8.25 [[ 7.52595117e-01 -6.58361854e-01 -1.26593886e-02 8.82455733e+02] [ 6.58289678e-01 7.52700967e-01 -9.79565048e-03 4.35358594e+01] [ 1.59778166e-02 -9.61386126e-04 9.99871884e-01 8.25461551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6492541539999 meters Centerline goodness [0,1] 0.9999566968345386 Centerline is valid? [True, True] Translation: X:882.48, Y:43.55, Z:8.26 [[ 7.51637359e-01 -6.59457002e-01 -1.25595787e-02 8.82479535e+02] [ 6.59386059e-01 7.51741653e-01 -9.72169708e-03 4.35528869e+01] [ 1.58525997e-02 -9.74420408e-04 9.99873865e-01 8.25633550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6792541539999 meters Centerline goodness [0,1] 0.999848080387178 Centerline is valid? [True, True] Translation: X:882.50, Y:43.57, Z:8.25 [[ 7.50170572e-01 -6.61098159e-01 -1.39045780e-02 8.82502144e+02] [ 6.61011388e-01 7.50298597e-01 -1.07684311e-02 4.35714396e+01] [ 1.75515754e-02 -1.11292432e-03 9.99845340e-01 8.25457365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7092541539998 meters Centerline goodness [0,1] 0.9999131341209173 Centerline is valid? [True, True] Translation: X:882.52, Y:43.59, Z:8.26 [[ 7.50274953e-01 -6.60980577e-01 -1.38626367e-02 8.82522900e+02] [ 6.60894215e-01 7.50402200e-01 -1.07413120e-02 4.35919207e+01] [ 1.75023517e-02 -1.10279909e-03 9.99846214e-01 8.25600858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7392541539999 meters Centerline goodness [0,1] 0.9998056533287266 Centerline is valid? [True, True] Translation: X:882.55, Y:43.61, Z:8.25 [[ 7.51011716e-01 -6.60119442e-01 -1.49574635e-02 8.82545871e+02] [ 6.60018609e-01 7.51159749e-01 -1.15959796e-02 4.36086855e+01] [ 1.88901761e-02 -1.16348772e-03 9.99820888e-01 8.25403773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7692541539999 meters Centerline goodness [0,1] 0.999826573305296 Centerline is valid? [True, True] Translation: X:882.57, Y:43.63, Z:8.25 [[ 7.51595789e-01 -6.59453214e-01 -1.50075859e-02 8.82566241e+02] [ 6.59351456e-01 7.51744734e-01 -1.16409556e-02 4.36293581e+01] [ 1.89585393e-02 -1.14598043e-03 9.99819614e-01 8.25452735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7992541539999 meters Centerline goodness [0,1] 0.9997625882200591 Centerline is valid? [True, True] Translation: X:882.59, Y:43.65, Z:8.25 [[ 7.52627585e-01 -6.58254764e-01 -1.58866080e-02 8.82587476e+02] [ 6.58140347e-01 7.52794316e-01 -1.23288979e-02 4.36482941e+01] [ 2.00749039e-02 -1.17654907e-03 9.99797787e-01 8.25364381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.61, Y:43.67, Z:8.26 [[ 7.53462893e-01 -6.57320689e-01 -1.49392445e-02 8.82609538e+02] [ 6.57219236e-01 7.53610209e-01 -1.15986370e-02 4.36667538e+01] [ 1.88823912e-02 -1.07921626e-03 9.99821129e-01 8.25777733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.63, Y:43.68, Z:8.26 [[ 7.53309260e-01 -6.57500565e-01 -1.47704494e-02 8.82630973e+02] [ 6.57401317e-01 7.53453296e-01 -1.14734304e-02 4.36849304e+01] [ 1.86726307e-02 -1.06707148e-03 9.99825082e-01 8.25795779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.65, Y:43.70, Z:8.26 [[ 7.52178870e-01 -6.58806984e-01 -1.41529489e-02 8.82652403e+02] [ 6.58715985e-01 7.52311277e-01 -1.09997195e-02 4.37047036e+01] [ 1.78941151e-02 -1.04901705e-03 9.99839337e-01 8.25896836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9192541539999 meters Centerline goodness [0,1] 0.9999784296807592 Centerline is valid? [True, True] Translation: X:882.67, Y:43.72, Z:8.26 [[ 7.50842949e-01 -6.60337077e-01 -1.37771548e-02 8.82674748e+02] [ 6.60251009e-01 7.50968599e-01 -1.07130032e-02 4.37238571e+01] [ 1.74204039e-02 -1.05259743e-03 9.99847699e-01 8.25888772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9492541539998 meters Centerline goodness [0,1] 0.9998492581346771 Centerline is valid? [True, True] Translation: X:882.70, Y:43.74, Z:8.26 [[ 7.48115041e-01 -6.63430873e-01 -1.35411343e-02 8.82697437e+02] [ 6.63348141e-01 7.48236770e-01 -1.05347143e-02 4.37423527e+01] [ 1.71210292e-02 -1.10130802e-03 9.99852818e-01 8.25730565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9792541539998 meters Centerline goodness [0,1] 0.9999138970208369 Centerline is valid? [True, True] Translation: X:882.72, Y:43.76, Z:8.26 [[ 7.47418682e-01 -6.64219068e-01 -1.33545591e-02 8.82719546e+02] [ 6.64138662e-01 7.47537168e-01 -1.03933035e-02 4.37587129e+01] [ 1.68864597e-02 -1.10112981e-03 9.99856807e-01 8.25835301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0092541539999 meters Centerline goodness [0,1] 0.9998074330829964 Centerline is valid? [True, True] Translation: X:882.74, Y:43.78, Z:8.26 [[ 7.47068713e-01 -6.64610956e-01 -1.34393445e-02 8.82740918e+02] [ 6.64529530e-01 7.47188755e-01 -1.04627448e-02 4.37777355e+01] [ 1.69953819e-02 -1.11445201e-03 9.99854947e-01 8.25725371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0392541539999 meters Centerline goodness [0,1] 0.9999145791957631 Centerline is valid? [True, True] Translation: X:882.76, Y:43.80, Z:8.26 [[ 7.49468966e-01 -6.61900252e-01 -1.35766487e-02 8.82760930e+02] [ 6.61816646e-01 7.49591176e-01 -1.05733877e-02 4.37982829e+01] [ 1.71754640e-02 -1.06082617e-03 9.99851928e-01 8.25972863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0692541539999 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:882.78, Y:43.82, Z:8.26 [[ 7.53716770e-01 -6.57056807e-01 -1.36888012e-02 8.82777124e+02] [ 6.56970957e-01 7.53840460e-01 -1.06640841e-02 4.38242075e+01] [ 1.73260812e-02 -9.55445818e-04 9.99849436e-01 8.26036547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0992541539998 meters Centerline goodness [0,1] 0.9999150526673463 Centerline is valid? [True, True] Translation: X:882.80, Y:43.84, Z:8.26 [[ 7.56030635e-01 -6.54389803e-01 -1.38443264e-02 8.82796802e+02] [ 6.54301477e-01 7.56156845e-01 -1.07890345e-02 4.38440590e+01] [ 1.75287163e-02 -9.01522564e-04 9.99845954e-01 8.25872574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.82, Y:43.87, Z:8.26 [[ 7.58902947e-01 -6.51071424e-01 -1.31269996e-02 8.82815394e+02] [ 6.50991485e-01 7.59016068e-01 -1.02320462e-02 4.38678545e+01] [ 1.66253965e-02 -7.80434966e-04 9.99861484e-01 8.26135288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1592541539999 meters Centerline goodness [0,1] 0.9997887353699244 Centerline is valid? [True, True] Translation: X:882.83, Y:43.89, Z:8.26 [[ 7.63440992e-01 -6.45742806e-01 -1.31939807e-02 8.82832173e+02] [ 6.45661191e-01 7.63554705e-01 -1.02878147e-02 4.38937247e+01] [ 1.67176083e-02 -6.64701863e-04 9.99860030e-01 8.25766147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1892541539999 meters Centerline goodness [0,1] 0.9998946037099494 Centerline is valid? [True, True] Translation: X:882.85, Y:43.92, Z:8.26 [[ 7.65804441e-01 -6.42953124e-01 -1.24434174e-02 8.82851415e+02] [ 6.42880096e-01 7.65905320e-01 -9.70683027e-03 4.39160296e+01] [ 1.57715164e-02 -5.66091622e-04 9.99875462e-01 8.25939012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2192541539998 meters Centerline goodness [0,1] 0.9999366861532617 Centerline is valid? [True, True] Translation: X:882.87, Y:43.94, Z:8.26 [[ 7.68773317e-01 -6.39402750e-01 -1.23170414e-02 8.82869833e+02] [ 6.39330678e-01 7.68871828e-01 -9.61233163e-03 4.39400758e+01] [ 1.56163774e-02 -4.84958345e-04 9.99877939e-01 8.26003825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2492541539999 meters Centerline goodness [0,1] 0.9998311523849726 Centerline is valid? [True, True] Translation: X:882.89, Y:43.96, Z:8.26 [[ 7.69256248e-01 -6.38809271e-01 -1.29437135e-02 8.82890630e+02] [ 6.38729533e-01 7.69364979e-01 -1.01050877e-02 4.39585469e+01] [ 1.64136636e-02 -4.94130221e-04 9.99865165e-01 8.25761145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2792541539999 meters Centerline goodness [0,1] 0.9999368035221504 Centerline is valid? [True, True] Translation: X:882.91, Y:43.98, Z:8.26 [[ 7.69811651e-01 -6.38148558e-01 -1.25075917e-02 8.82911155e+02] [ 6.38073967e-01 7.69913116e-01 -9.76765200e-03 4.39796487e+01] [ 1.58629719e-02 -4.61516343e-04 9.99874069e-01 8.26153754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.93, Y:44.00, Z:8.26 [[ 7.70130393e-01 -6.37763363e-01 -1.25327898e-02 8.82930407e+02] [ 6.37688357e-01 7.70232230e-01 -9.79134909e-03 4.40005756e+01] [ 1.58977224e-02 -4.51398628e-04 9.99873521e-01 8.26120133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3392541539998 meters Centerline goodness [0,1] 0.9998116366680619 Centerline is valid? [True, True] Translation: X:882.95, Y:44.02, Z:8.26 [[ 7.70259217e-01 -6.37598673e-01 -1.29873821e-02 8.82948173e+02] [ 6.37518033e-01 7.70368561e-01 -1.01507188e-02 4.40236881e+01] [ 1.64771556e-02 -4.61005574e-04 9.99864136e-01 8.25783150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.97, Y:44.04, Z:8.26 [[ 7.70725098e-01 -6.37063904e-01 -1.15067888e-02 8.82969567e+02] [ 6.37000491e-01 7.70810889e-01 -8.99714709e-03 4.40409656e+01] [ 1.46013157e-02 -3.95503029e-04 9.99893317e-01 8.26268095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3992541539999 meters Centerline goodness [0,1] 0.9998533171283684 Centerline is valid? [True, True] Translation: X:882.99, Y:44.06, Z:8.26 [[ 7.69692597e-01 -6.38317729e-01 -1.11258215e-02 8.82990131e+02] [ 6.38258540e-01 7.69772898e-01 -8.70182419e-03 4.40619257e+01] [ 1.41188845e-02 -4.03420908e-04 9.99900242e-01 8.26007397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4292541539999 meters Centerline goodness [0,1] 0.9997911052620585 Centerline is valid? [True, True] Translation: X:883.01, Y:44.08, Z:8.26 [[ 7.68949937e-01 -6.39205864e-01 -1.14829584e-02 8.83011824e+02] [ 6.39142859e-01 7.69035551e-01 -8.98484860e-03 4.40790722e+01] [ 1.45739712e-02 -4.30352128e-04 9.99893701e-01 8.25904628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4592541539998 meters Centerline goodness [0,1] 0.9997695997318978 Centerline is valid? [True, True] Translation: X:883.03, Y:44.10, Z:8.26 [[ 7.67909139e-01 -6.40447169e-01 -1.19573548e-02 8.83033662e+02] [ 6.40378956e-01 7.68002085e-01 -9.35899294e-03 4.40978329e+01] [ 1.51772139e-02 -4.70382146e-04 9.99884709e-01 8.25834251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.06, Y:44.12, Z:8.26 [[ 7.65715383e-01 -6.43068057e-01 -1.19760669e-02 8.83055615e+02] [ 6.42999879e-01 7.65808856e-01 -9.37827538e-03 4.41174596e+01] [ 1.52022474e-02 -5.19519843e-04 9.99884304e-01 8.26169833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5192541539999 meters Centerline goodness [0,1] 0.9997495878633584 Centerline is valid? [True, True] Translation: X:883.08, Y:44.13, Z:8.26 [[ 7.63992253e-01 -6.45078317e-01 -1.37768377e-02 8.83077980e+02] [ 6.44988347e-01 7.64116192e-01 -1.07925267e-02 4.41344985e+01] [ 1.74891297e-02 -6.40492987e-04 9.99846848e-01 8.25679454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5492541539999 meters Centerline goodness [0,1] 0.9998953558946024 Centerline is valid? [True, True] Translation: X:883.10, Y:44.15, Z:8.26 [[ 7.62176574e-01 -6.47235013e-01 -1.31798282e-02 8.83100499e+02] [ 6.47152937e-01 7.62290237e-01 -1.03281902e-02 4.41526669e+01] [ 1.67316207e-02 -6.57459867e-04 9.99859800e-01 8.25952085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5792541539998 meters Centerline goodness [0,1] 0.9998536054877029 Centerline is valid? [True, True] Translation: X:883.12, Y:44.17, Z:8.26 [[ 7.61723312e-01 -6.47762783e-01 -1.34526026e-02 8.83122889e+02] [ 6.47677264e-01 7.61841792e-01 -1.05472743e-02 4.41711965e+01] [ 1.70808866e-02 -6.78840162e-04 9.99853881e-01 8.25930641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.14, Y:44.19, Z:8.26 [[ 7.61931814e-01 -6.47534489e-01 -1.26093447e-02 8.83143687e+02] [ 6.47459246e-01 7.62035886e-01 -9.89107182e-03 4.41909562e+01] [ 1.60135833e-02 -6.27714545e-04 9.99871577e-01 8.26353387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6392541539999 meters Centerline goodness [0,1] 0.999792384669684 Centerline is valid? [True, True] Translation: X:883.16, Y:44.21, Z:8.26 [[ 7.62362070e-01 -6.47011253e-01 -1.34355251e-02 8.83162925e+02] [ 6.46925675e-01 7.62480171e-01 -1.05432400e-02 4.42111786e+01] [ 1.70659164e-02 -6.54019931e-04 9.99854153e-01 8.26051104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6692541539999 meters Centerline goodness [0,1] 0.9998339594445943 Centerline is valid? [True, True] Translation: X:883.18, Y:44.23, Z:8.26 [[ 7.63208259e-01 -6.45984432e-01 -1.47400057e-02 8.83183977e+02] [ 6.45881195e-01 7.63350272e-01 -1.15691334e-02 4.42300393e+01] [ 1.87252674e-02 -6.90634295e-04 9.99824428e-01 8.25935369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.20, Y:44.25, Z:8.26 [[ 7.66313272e-01 -6.42301766e-01 -1.45743260e-02 8.83203155e+02] [ 6.42200135e-01 7.66451623e-01 -1.14409535e-02 4.42513726e+01] [ 1.85190605e-02 -5.92279647e-04 9.99828332e-01 8.26251089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.22, Y:44.27, Z:8.26 [[ 7.67887227e-01 -6.40412524e-01 -1.48662897e-02 8.83224224e+02] [ 6.40306357e-01 7.68030919e-01 -1.16737695e-02 4.42705478e+01] [ 1.88937983e-02 -5.54841348e-04 9.99821342e-01 8.26259287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7592541539999 meters Centerline goodness [0,1] 0.9997091211302722 Centerline is valid? [True, True] Translation: X:883.24, Y:44.29, Z:8.26 [[ 7.70643745e-01 -6.37053900e-01 -1.64483263e-02 8.83242677e+02] [ 6.36923081e-01 7.70819083e-01 -1.29201294e-02 4.42937860e+01] [ 2.09095026e-02 -5.19501707e-04 9.99781237e-01 8.25978703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7892541539999 meters Centerline goodness [0,1] 0.9997088489133825 Centerline is valid? [True, True] Translation: X:883.26, Y:44.31, Z:8.26 [[ 7.71901030e-01 -6.35532150e-01 -1.63611062e-02 8.83263123e+02] [ 6.35402329e-01 7.72074259e-01 -1.28537489e-02 4.43125336e+01] [ 2.08009596e-02 -4.74063008e-04 9.99783524e-01 8.25982094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8192541539999 meters Centerline goodness [0,1] 0.9997282438279993 Centerline is valid? [True, True] Translation: X:883.28, Y:44.33, Z:8.26 [[ 7.72921292e-01 -6.34316829e-01 -1.53244063e-02 8.83282059e+02] [ 6.34202618e-01 7.73073084e-01 -1.20435466e-02 4.43345612e+01] [ 1.94863103e-02 -4.10064937e-04 9.99810040e-01 8.26163266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8492541539998 meters Centerline goodness [0,1] 0.9998544002329596 Centerline is valid? [True, True] Translation: X:883.30, Y:44.35, Z:8.26 [[ 7.73223885e-01 -6.33980143e-01 -1.39284697e-02 8.83303337e+02] [ 6.33885664e-01 7.73349241e-01 -1.09506429e-02 4.43520641e+01] [ 1.77140616e-02 -3.61758595e-04 9.99843028e-01 8.26457829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8792541539999 meters Centerline goodness [0,1] 0.999728294946286 Centerline is valid? [True, True] Translation: X:883.32, Y:44.37, Z:8.27 [[ 7.72678731e-01 -6.34653242e-01 -1.35218793e-02 8.83324802e+02] [ 6.34564225e-01 7.72796953e-01 -1.06354399e-02 4.43705732e+01] [ 1.71994836e-02 -3.62722689e-04 9.99852012e-01 8.26553210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9092541539999 meters Centerline goodness [0,1] 0.999728294946286 Centerline is valid? [True, True] Translation: X:883.35, Y:44.39, Z:8.27 [[ 7.72493212e-01 -6.34879107e-01 -1.35187692e-02 8.83346429e+02] [ 6.34790056e-01 7.72611408e-01 -1.06393923e-02 4.43876678e+01] [ 1.71994832e-02 -3.62721981e-04 9.99852012e-01 8.26578958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.37, Y:44.41, Z:8.27 [[ 7.71327627e-01 -6.36331966e-01 -1.16327553e-02 8.83368944e+02] [ 6.36266124e-01 7.71415269e-01 -9.15986930e-03 4.44063707e+01] [ 1.48024027e-02 -3.36267888e-04 9.99890382e-01 8.26974024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9692541539998 meters Centerline goodness [0,1] 0.9998335864206519 Centerline is valid? [True, True] Translation: X:883.39, Y:44.42, Z:8.27 [[ 7.70161629e-01 -6.37710828e-01 -1.32651943e-02 8.83391411e+02] [ 6.37625331e-01 7.70275751e-01 -1.04501102e-02 4.44228478e+01] [ 1.68820059e-02 -4.09950031e-04 9.99857405e-01 8.26624735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9992541539999 meters Centerline goodness [0,1] 0.999811770611118 Centerline is valid? [True, True] Translation: X:883.41, Y:44.44, Z:8.27 [[ 7.68627110e-01 -6.39554626e-01 -1.34998588e-02 8.83413111e+02] [ 6.39466289e-01 7.68745519e-01 -1.06391736e-02 4.44423349e+01] [ 1.71822887e-02 -4.55147356e-04 9.99852270e-01 8.26607160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0292541539999 meters Centerline goodness [0,1] 0.9997501613541254 Centerline is valid? [True, True] Translation: X:883.44, Y:44.46, Z:8.27 [[ 7.68280031e-01 -6.39962802e-01 -1.39070158e-02 8.83435060e+02] [ 6.39869050e-01 7.68405743e-01 -1.09641349e-02 4.44593662e+01] [ 1.77028694e-02 -4.75143092e-04 9.99843179e-01 8.26505016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.46, Y:44.48, Z:8.27 [[ 7.68365945e-01 -6.39897075e-01 -1.20626774e-02 8.83455098e+02] [ 6.39826490e-01 7.68460517e-01 -9.51292596e-03 4.44801091e+01] [ 1.53569848e-02 -4.08612187e-04 9.99881991e-01 8.26935338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0892541539998 meters Centerline goodness [0,1] 0.9995426005239303 Centerline is valid? [True, True] Translation: X:883.48, Y:44.50, Z:8.27 [[ 7.68196371e-01 -6.40064048e-01 -1.38690101e-02 8.83477123e+02] [ 6.39970659e-01 7.68321414e-01 -1.09435279e-02 4.44983012e+01] [ 1.76604162e-02 -4.68981063e-04 9.99843933e-01 8.26566591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1192541539999 meters Centerline goodness [0,1] 0.9997709717045952 Centerline is valid? [True, True] Translation: X:883.50, Y:44.52, Z:8.27 [[ 7.68900472e-01 -6.39203978e-01 -1.45030598e-02 8.83498483e+02] [ 6.39101625e-01 7.69037097e-01 -1.14479777e-02 4.45165943e+01] [ 1.84709839e-02 -4.66573571e-04 9.99829288e-01 8.26536478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1492541539999 meters Centerline goodness [0,1] 0.9998543153863764 Centerline is valid? [True, True] Translation: X:883.52, Y:44.54, Z:8.26 [[ 7.70747844e-01 -6.36953528e-01 -1.54260813e-02 8.83518422e+02] [ 6.36837194e-01 7.70902078e-01 -1.21809096e-02 4.45376936e+01] [ 1.96506715e-02 -4.35492546e-04 9.99806812e-01 8.26471409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1792541539999 meters Centerline goodness [0,1] 0.9998118217743116 Centerline is valid? [True, True] Translation: X:883.54, Y:44.56, Z:8.26 [[ 7.72036827e-01 -6.35369693e-01 -1.62632121e-02 8.83538741e+02] [ 6.35239900e-01 7.72207993e-01 -1.28485612e-02 4.45587003e+01] [ 2.07221688e-02 -4.11478790e-04 9.99785188e-01 8.26324098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.56, Y:44.58, Z:8.27 [[ 7.72427493e-01 -6.34936259e-01 -1.45504661e-02 8.83559817e+02] [ 6.34832190e-01 7.72564446e-01 -1.15007692e-02 4.45792576e+01] [ 1.85434281e-02 -3.53593999e-04 9.99827993e-01 8.26757864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2392541539999 meters Centerline goodness [0,1] 0.999937567635062 Centerline is valid? [True, True] Translation: X:883.58, Y:44.60, Z:8.27 [[ 7.72018355e-01 -6.35424704e-01 -1.49366647e-02 8.83581716e+02] [ 6.35315015e-01 7.72162747e-01 -1.18120134e-02 4.45981923e+01] [ 1.90391812e-02 -3.70396230e-04 9.99818670e-01 8.26632493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.60, Y:44.62, Z:8.27 [[ 7.71036780e-01 -6.36652425e-01 -1.32654843e-02 8.83602840e+02] [ 6.36565997e-01 7.71150806e-01 -1.04959681e-02 4.46165502e+01] [ 1.69119725e-02 -3.51578853e-04 9.99856921e-01 8.26951206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2992541539999 meters Centerline goodness [0,1] 0.9999164124211142 Centerline is valid? [True, True] Translation: X:883.63, Y:44.63, Z:8.27 [[ 7.70059584e-01 -6.37822825e-01 -1.37942091e-02 8.83625963e+02] [ 6.37729468e-01 7.70183025e-01 -1.09194179e-02 4.46322129e+01] [ 1.75887197e-02 -3.88371254e-04 9.99845231e-01 8.26755934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3292541539998 meters Centerline goodness [0,1] 0.9998544365655347 Centerline is valid? [True, True] Translation: X:883.65, Y:44.65, Z:8.27 [[ 7.68682606e-01 -6.39482045e-01 -1.37755319e-02 8.83648491e+02] [ 6.39389132e-01 7.68805915e-01 -1.09088392e-02 4.46504544e+01] [ 1.75667172e-02 -4.22490434e-04 9.99845604e-01 8.26744391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3592541539999 meters Centerline goodness [0,1] 0.9998129792406957 Centerline is valid? [True, True] Translation: X:883.67, Y:44.67, Z:8.27 [[ 7.68311587e-01 -6.39931384e-01 -1.36062560e-02 8.83668755e+02] [ 6.39840708e-01 7.68431939e-01 -1.07806622e-02 4.46695250e+01] [ 1.73543658e-02 -4.22928802e-04 9.99849312e-01 8.26757152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3892541539999 meters Centerline goodness [0,1] 0.9998534798534798 Centerline is valid? [True, True] Translation: X:883.69, Y:44.69, Z:8.27 [[ 7.68886582e-01 -6.39249199e-01 -1.31865550e-02 8.83689895e+02] [ 6.39163834e-01 7.68999551e-01 -1.04538954e-02 4.46885691e+01] [ 1.68230991e-02 -3.90509094e-04 9.99858405e-01 8.26828990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4192541539999 meters Centerline goodness [0,1] 0.999854254721106 Centerline is valid? [True, True] Translation: X:883.71, Y:44.71, Z:8.27 [[ 7.69660281e-01 -6.38323015e-01 -1.29143991e-02 8.83710866e+02] [ 6.38240921e-01 7.69768537e-01 -1.02433722e-02 4.47084282e+01] [ 1.64796783e-02 -3.58581284e-04 9.99864137e-01 8.26820876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.73, Y:44.73, Z:8.27 [[ 7.72146050e-01 -6.35345604e-01 -1.12445978e-02 8.83731065e+02] [ 6.35283007e-01 7.72227880e-01 -8.92199488e-03 4.47294714e+01] [ 1.43519422e-02 -2.54418816e-04 9.99896973e-01 8.27173152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4792541539998 meters Centerline goodness [0,1] 0.9998332430066286 Centerline is valid? [True, True] Translation: X:883.75, Y:44.75, Z:8.27 [[ 7.72800207e-01 -6.34522448e-01 -1.26926735e-02 8.83752545e+02] [ 6.34442550e-01 7.72904387e-01 -1.00727054e-02 4.47469967e+01] [ 1.62015808e-02 -2.68583312e-04 9.99868710e-01 8.26856919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5092541539999 meters Centerline goodness [0,1] 0.9998748879204287 Centerline is valid? [True, True] Translation: X:883.77, Y:44.77, Z:8.27 [[ 7.74364356e-01 -6.32616378e-01 -1.25045260e-02 8.83773212e+02] [ 6.32538534e-01 7.74465279e-01 -9.92640830e-03 4.47682208e+01] [ 1.59639297e-02 -2.22937784e-04 9.99872544e-01 8.26916867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5392541539999 meters Centerline goodness [0,1] 0.9999791571136771 Centerline is valid? [True, True] Translation: X:883.79, Y:44.79, Z:8.27 [[ 7.75205441e-01 -6.31597040e-01 -1.19039238e-02 8.83794625e+02] [ 6.31526324e-01 7.75296810e-01 -9.45295996e-03 4.47862562e+01] [ 1.51995357e-02 -1.89655257e-04 9.99884462e-01 8.27080663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5692541539999 meters Centerline goodness [0,1] 0.9998113128433058 Centerline is valid? [True, True] Translation: X:883.82, Y:44.81, Z:8.27 [[ 7.75141206e-01 -6.31639523e-01 -1.36975730e-02 8.83816404e+02] [ 6.31545829e-01 7.75262192e-01 -1.08811427e-02 4.48055535e+01] [ 1.74921702e-02 -2.16223010e-04 9.99846977e-01 8.26779764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5992541539998 meters Centerline goodness [0,1] 0.9998951759994968 Centerline is valid? [True, True] Translation: X:883.84, Y:44.82, Z:8.27 [[ 7.74999573e-01 -6.31812723e-01 -1.37238788e-02 8.83838416e+02] [ 6.31718591e-01 7.75121047e-01 -1.09080392e-02 4.48235318e+01] [ 1.75295053e-02 -2.15903659e-04 9.99846323e-01 8.26790722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6292541539999 meters Centerline goodness [0,1] 0.9996440908615095 Centerline is valid? [True, True] Translation: X:883.86, Y:44.84, Z:8.27 [[ 7.74246252e-01 -6.32725913e-01 -1.41654412e-02 8.83860805e+02] [ 6.32625697e-01 7.74375788e-01 -1.12635386e-02 4.48409999e+01] [ 1.80961074e-02 -2.40669623e-04 9.99836223e-01 8.26647369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6592541539999 meters Centerline goodness [0,1] 0.9997707808039342 Centerline is valid? [True, True] Translation: X:883.88, Y:44.86, Z:8.27 [[ 7.72630109e-01 -6.34701129e-01 -1.40424568e-02 8.83884532e+02] [ 6.34602934e-01 7.72757657e-01 -1.11677895e-02 4.48565890e+01] [ 1.79396246e-02 -2.82813825e-04 9.99839032e-01 8.26676411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6892541539999 meters Centerline goodness [0,1] 0.9995628642797668 Centerline is valid? [True, True] Translation: X:883.91, Y:44.87, Z:8.26 [[ 7.71369273e-01 -6.36219154e-01 -1.46503657e-02 8.83907597e+02] [ 6.36112505e-01 7.71508314e-01 -1.16534010e-02 4.48731704e+01] [ 1.87169959e-02 -3.30205326e-04 9.99824767e-01 8.26499923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7192541539998 meters Centerline goodness [0,1] 0.9998743613367954 Centerline is valid? [True, True] Translation: X:883.93, Y:44.89, Z:8.27 [[ 7.70405865e-01 -6.37407852e-01 -1.36393964e-02 8.83929782e+02] [ 6.37315538e-01 7.70526521e-01 -1.08528645e-02 4.48921678e+01] [ 1.74272177e-02 -3.31488762e-04 9.99848080e-01 8.26784250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.95, Y:44.91, Z:8.27 [[ 7.69147168e-01 -6.38975682e-01 -1.10775647e-02 8.83952977e+02] [ 6.38914909e-01 7.69226879e-01 -8.81747886e-03 4.49079084e+01] [ 1.41553151e-02 -2.95682337e-04 9.99899765e-01 8.27102456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7792541539999 meters Centerline goodness [0,1] 0.999708473023343 Centerline is valid? [True, True] Translation: X:883.98, Y:44.93, Z:8.27 [[ 7.67242269e-01 -6.41268877e-01 -1.06549648e-02 8.83976498e+02] [ 6.41212840e-01 7.67316182e-01 -8.48352646e-03 4.49251814e+01] [ 1.36159484e-02 -3.23180174e-04 9.99907246e-01 8.27031621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.00, Y:44.94, Z:8.27 [[ 7.66718059e-01 -6.41913534e-01 -9.50962776e-03 8.83998140e+02] [ 6.41868902e-01 7.66776973e-01 -7.57537350e-03 4.49434492e+01] [ 1.21544984e-02 -2.95758663e-04 9.99926088e-01 8.27323069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8392541539998 meters Centerline goodness [0,1] 0.9998750858784585 Centerline is valid? [True, True] Translation: X:884.02, Y:44.96, Z:8.27 [[ 7.65585542e-01 -6.43253043e-01 -1.02127755e-02 8.84021590e+02] [ 6.43201629e-01 7.65653583e-01 -8.13974942e-03 4.49590059e+01] [ 1.30553667e-02 -3.37199366e-04 9.99914718e-01 8.27093164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8692541539999 meters Centerline goodness [0,1] 0.9998544728799817 Centerline is valid? [True, True] Translation: X:884.04, Y:44.98, Z:8.27 [[ 7.63888167e-01 -6.45281347e-01 -9.31941668e-03 8.84043875e+02] [ 6.45238668e-01 7.63944939e-01 -7.42916743e-03 4.49764572e+01] [ 1.19134244e-02 -3.38194908e-04 9.99928975e-01 8.27205437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8992541539999 meters Centerline goodness [0,1] 0.9999164595559825 Centerline is valid? [True, True] Translation: X:884.07, Y:44.99, Z:8.27 [[ 7.62890025e-01 -6.46460706e-01 -9.34693114e-03 8.84065759e+02] [ 6.46417834e-01 7.62947199e-01 -7.45354786e-03 4.49948540e+01] [ 1.19496407e-02 -3.55785662e-04 9.99928537e-01 8.27218227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.09, Y:45.01, Z:8.27 [[ 7.61759873e-01 -6.47794620e-01 -9.16655244e-03 8.84087431e+02] [ 6.47753445e-01 7.61814935e-01 -7.31295147e-03 4.50132504e+01] [ 1.17205072e-02 -3.66952934e-04 9.99931245e-01 8.27335678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9592541539998 meters Centerline goodness [0,1] 0.999937317175094 Centerline is valid? [True, True] Translation: X:884.11, Y:45.03, Z:8.27 [[ 7.61207119e-01 -6.48436923e-01 -9.65813287e-03 8.84109928e+02] [ 6.48391238e-01 7.61268285e-01 -7.70723925e-03 4.50317115e+01] [ 1.23500887e-02 -3.95443343e-04 9.99923657e-01 8.27307524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9892541539999 meters Centerline goodness [0,1] 0.9999167551143576 Centerline is valid? [True, True] Translation: X:884.13, Y:45.05, Z:8.27 [[ 7.60812068e-01 -6.48888557e-01 -1.04229159e-02 8.84132562e+02] [ 6.48835344e-01 7.60883338e-01 -8.32126598e-03 4.50486452e+01] [ 1.33301973e-02 -4.31836655e-04 9.99911056e-01 8.27072232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0192541539999 meters Centerline goodness [0,1] 0.9999170520291147 Centerline is valid? [True, True] Translation: X:884.15, Y:45.07, Z:8.27 [[ 7.61215791e-01 -6.48402072e-01 -1.11924850e-02 8.84153540e+02] [ 6.48340618e-01 7.61297936e-01 -8.93838382e-03 4.50688117e+01] [ 1.43164823e-02 -4.52503716e-04 9.99897412e-01 8.27063409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0492541539999 meters Centerline goodness [0,1] 0.9998546330522906 Centerline is valid? [True, True] Translation: X:884.17, Y:45.09, Z:8.27 [[ 7.62581154e-01 -6.46783488e-01 -1.18786732e-02 8.84173436e+02] [ 6.46714008e-01 7.62673536e-01 -9.49049149e-03 4.50885434e+01] [ 1.51978429e-02 -4.44834402e-04 9.99884407e-01 8.26922534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0792541539998 meters Centerline goodness [0,1] 0.9998954281172878 Centerline is valid? [True, True] Translation: X:884.20, Y:45.11, Z:8.27 [[ 7.63288293e-01 -6.45943538e-01 -1.21625422e-02 8.84195091e+02] [ 6.45870537e-01 7.63385064e-01 -9.72080731e-03 4.51083481e+01] [ 1.55637957e-02 -4.35649224e-04 9.99878782e-01 8.26994434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1092541539999 meters Centerline goodness [0,1] 0.9999790952420771 Centerline is valid? [True, True] Translation: X:884.22, Y:45.13, Z:8.27 [[ 7.64428195e-01 -6.44601686e-01 -1.17558655e-02 8.84215918e+02] [ 6.44533270e-01 7.64518484e-01 -9.39953793e-03 4.51272282e+01] [ 1.50465345e-02 -3.91774629e-04 9.99886718e-01 8.27228600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.24, Y:45.15, Z:8.27 [[ 7.65501951e-01 -6.43330203e-01 -1.15331493e-02 8.84236271e+02] [ 6.43264163e-01 7.65588742e-01 -9.22466281e-03 4.51481945e+01] [ 1.47641534e-02 -3.57364233e-04 9.99890940e-01 8.27271977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1692541539999 meters Centerline goodness [0,1] 0.9999582890154122 Centerline is valid? [True, True] Translation: X:884.26, Y:45.17, Z:8.27 [[ 7.65508645e-01 -6.43315558e-01 -1.18998726e-02 8.84257097e+02] [ 6.43245171e-01 7.65601045e-01 -9.52314294e-03 4.51666362e+01] [ 1.52369409e-02 -3.64487313e-04 9.99883845e-01 8.27188637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1992541539998 meters Centerline goodness [0,1] 0.9998321760473263 Centerline is valid? [True, True] Translation: X:884.28, Y:45.19, Z:8.27 [[ 7.66076626e-01 -6.42630814e-01 -1.23385679e-02 8.84278082e+02] [ 6.42554965e-01 7.66175899e-01 -9.87975395e-03 4.51867296e+01] [ 1.58025477e-02 -3.59559520e-04 9.99875067e-01 8.27013636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2292541539998 meters Centerline goodness [0,1] 0.9999581441098299 Centerline is valid? [True, True] Translation: X:884.30, Y:45.21, Z:8.27 [[ 7.66847822e-01 -6.41729474e-01 -1.13004778e-02 8.84299180e+02] [ 6.41665702e-01 7.66931018e-01 -9.05208853e-03 4.52051294e+01] [ 1.44756790e-02 -3.09554663e-04 9.99895174e-01 8.27277034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2592541539999 meters Centerline goodness [0,1] 0.9998332151940958 Centerline is valid? [True, True] Translation: X:884.32, Y:45.22, Z:8.27 [[ 7.66957090e-01 -6.41595095e-01 -1.15133019e-02 8.84319748e+02] [ 6.41528831e-01 7.67043440e-01 -9.22608632e-03 4.52236785e+01] [ 1.47506144e-02 -3.10102813e-04 9.99891156e-01 8.27152571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2892541539999 meters Centerline goodness [0,1] 0.9997692759459686 Centerline is valid? [True, True] Translation: X:884.34, Y:45.24, Z:8.27 [[ 7.67860624e-01 -6.40527825e-01 -1.06848927e-02 8.84339977e+02] [ 6.40470598e-01 7.67934916e-01 -8.56609090e-03 4.52426707e+01] [ 1.36921217e-02 -2.65795689e-04 9.99906223e-01 8.27188901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3192541539999 meters Centerline goodness [0,1] 0.9998741505159828 Centerline is valid? [True, True] Translation: X:884.36, Y:45.26, Z:8.27 [[ 7.68237948e-01 -6.40090697e-01 -9.71358121e-03 8.84361573e+02] [ 6.40043338e-01 7.68299320e-01 -7.78975786e-03 4.52620981e+01] [ 1.24490894e-02 -2.32725341e-04 9.99922480e-01 8.27348957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3492541539998 meters Centerline goodness [0,1] 0.9999165623696287 Centerline is valid? [True, True] Translation: X:884.38, Y:45.28, Z:8.28 [[ 7.69057017e-01 -6.39116271e-01 -9.03869057e-03 8.84382736e+02] [ 6.39075157e-01 7.69110105e-01 -7.25191019e-03 4.52826243e+01] [ 1.15865620e-02 -1.99270185e-04 9.99932854e-01 8.27629388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3792541539999 meters Centerline goodness [0,1] 0.999895099026519 Centerline is valid? [True, True] Translation: X:884.40, Y:45.30, Z:8.27 [[ 7.68373265e-01 -6.39929179e-01 -9.65254471e-03 8.84404024e+02] [ 6.39882314e-01 7.68433860e-01 -7.74773080e-03 4.53014189e+01] [ 1.23753412e-02 -2.23343437e-04 9.99923398e-01 8.27389440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.43, Y:45.32, Z:8.28 [[ 7.68223145e-01 -6.40109505e-01 -9.64475271e-03 8.84425613e+02] [ 6.40062703e-01 7.68283653e-01 -7.74370775e-03 4.53192980e+01] [ 1.23667268e-02 -2.24350969e-04 9.99923504e-01 8.27645189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4392541539999 meters Centerline goodness [0,1] 0.999831897457449 Centerline is valid? [True, True] Translation: X:884.45, Y:45.34, Z:8.27 [[ 7.66696917e-01 -6.41925708e-01 -1.03548481e-02 8.84448117e+02] [ 6.41871869e-01 7.66766791e-01 -8.31811150e-03 4.53366198e+01] [ 1.32793633e-02 -2.69015285e-04 9.99911789e-01 8.27342062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.47, Y:45.35, Z:8.28 [[ 7.66445916e-01 -6.42231080e-01 -9.99488542e-03 8.84470404e+02] [ 6.42180926e-01 7.66511037e-01 -8.03044073e-03 4.53531759e+01] [ 1.28185886e-02 -2.63626271e-04 9.99917804e-01 8.27682833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.49, Y:45.37, Z:8.28 [[ 7.65651972e-01 -6.43181014e-01 -9.75910438e-03 8.84493271e+02] [ 6.43133249e-01 7.65714117e-01 -7.84311470e-03 4.53708933e+01] [ 1.25172265e-02 -2.71308268e-04 9.99921620e-01 8.27758118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5292541539999 meters Centerline goodness [0,1] 0.9998537797923673 Centerline is valid? [True, True] Translation: X:884.52, Y:45.39, Z:8.28 [[ 7.64495724e-01 -6.44555015e-01 -9.75292830e-03 8.84516017e+02] [ 6.44507380e-01 7.64557877e-01 -7.84157243e-03 4.53865699e+01] [ 1.25110030e-02 -2.90985668e-04 9.99921692e-01 8.27596874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5592541539999 meters Centerline goodness [0,1] 0.9999582977126296 Centerline is valid? [True, True] Translation: X:884.54, Y:45.41, Z:8.28 [[ 7.63791510e-01 -6.45379640e-01 -1.03754736e-02 8.84537852e+02] [ 6.45325771e-01 7.63861910e-01 -8.34456589e-03 4.54051757e+01] [ 1.33108420e-02 -3.22051934e-04 9.99911355e-01 8.27648479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5892541539998 meters Centerline goodness [0,1] 0.9997283744254074 Centerline is valid? [True, True] Translation: X:884.56, Y:45.42, Z:8.27 [[ 7.63536063e-01 -6.45660869e-01 -1.16069944e-02 8.84560473e+02] [ 6.45593420e-01 7.63624195e-01 -9.33945009e-03 4.54212373e+01] [ 1.48934992e-02 -3.62392264e-04 9.99889020e-01 8.27254243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6192541539999 meters Centerline goodness [0,1] 0.9998112336926884 Centerline is valid? [True, True] Translation: X:884.58, Y:45.44, Z:8.27 [[ 7.64992934e-01 -6.43920013e-01 -1.23623237e-02 8.84582549e+02] [ 6.43843233e-01 7.65092737e-01 -9.94969255e-03 4.54378189e+01] [ 1.58651302e-02 -3.47953935e-04 9.99874080e-01 8.27265491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6492541539999 meters Centerline goodness [0,1] 0.9995802816310256 Centerline is valid? [True, True] Translation: X:884.60, Y:45.46, Z:8.27 [[ 7.65996644e-01 -6.42718342e-01 -1.27386921e-02 8.84602825e+02] [ 6.42636596e-01 7.66102489e-01 -1.02558171e-02 4.54593513e+01] [ 1.63507455e-02 -3.30428241e-04 9.99866263e-01 8.27342106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6792541539999 meters Centerline goodness [0,1] 0.9999791083441274 Centerline is valid? [True, True] Translation: X:884.62, Y:45.48, Z:8.28 [[ 7.69155667e-01 -6.38950426e-01 -1.19127342e-02 8.84624350e+02] [ 6.38878435e-01 7.69247879e-01 -9.59406207e-03 4.54774765e+01] [ 1.52939756e-02 -2.31461769e-04 9.99883014e-01 8.27707158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7092541539998 meters Centerline goodness [0,1] 0.9998321584424303 Centerline is valid? [True, True] Translation: X:884.64, Y:45.50, Z:8.27 [[ 7.69975566e-01 -6.37953210e-01 -1.23826472e-02 8.84644897e+02] [ 6.37875249e-01 7.70075097e-01 -9.97555514e-03 4.54976023e+01] [ 1.58995056e-02 -2.17650433e-04 9.99873571e-01 8.27487361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7392541539999 meters Centerline goodness [0,1] 0.9999370910920986 Centerline is valid? [True, True] Translation: X:884.67, Y:45.52, Z:8.28 [[ 7.73006836e-01 -6.34287053e-01 -1.18476368e-02 8.84666013e+02] [ 6.34215178e-01 7.73097612e-01 -9.54939459e-03 4.55170201e+01] [ 1.52164371e-02 -1.32203787e-04 9.99884215e-01 8.27759093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7692541539999 meters Centerline goodness [0,1] 0.9999163424938302 Centerline is valid? [True, True] Translation: X:884.69, Y:45.53, Z:8.28 [[ 7.74439916e-01 -6.32533174e-01 -1.20249966e-02 8.84687929e+02] [ 6.32458860e-01 7.74533263e-01 -9.69616314e-03 4.55347687e+01] [ 1.54469047e-02 -9.62198944e-05 9.99880685e-01 8.27649553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7992541539999 meters Centerline goodness [0,1] 0.9999163424938302 Centerline is valid? [True, True] Translation: X:884.71, Y:45.55, Z:8.28 [[ 7.74269734e-01 -6.32741508e-01 -1.20234395e-02 8.84709306e+02] [ 6.32667190e-01 7.74363077e-01 -9.69809372e-03 4.55521301e+01] [ 1.54468940e-02 -9.78952195e-05 9.99880685e-01 8.27675331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8292541539998 meters Centerline goodness [0,1] 0.999874835721885 Centerline is valid? [True, True] Translation: X:884.73, Y:45.57, Z:8.28 [[ 7.75430948e-01 -6.31317530e-01 -1.20425248e-02 8.84730085e+02] [ 6.31242717e-01 7.75524450e-01 -9.71901423e-03 4.55715605e+01] [ 1.54750565e-02 -6.53316536e-05 9.99880252e-01 8.27717041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.75, Y:45.59, Z:8.28 [[ 7.78602002e-01 -6.27421077e-01 -1.10324736e-02 8.84751642e+02] [ 6.27357828e-01 7.78680160e-01 -8.90866231e-03 4.55908953e+01] [ 1.41802508e-02 1.49936071e-05 9.99899455e-01 8.28112258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8892541539999 meters Centerline goodness [0,1] 0.9998333749895859 Centerline is valid? [True, True] Translation: X:884.77, Y:45.61, Z:8.28 [[ 7.79285212e-01 -6.26565417e-01 -1.14165258e-02 8.84773202e+02] [ 6.26497538e-01 7.79368833e-01 -9.22265276e-03 4.56085845e+01] [ 1.46762796e-02 3.46516083e-05 9.99892297e-01 8.27754705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9192541539999 meters Centerline goodness [0,1] 0.9998958983968353 Centerline is valid? [True, True] Translation: X:884.79, Y:45.63, Z:8.28 [[ 7.80803472e-01 -6.24687696e-01 -1.05461531e-02 8.84794467e+02] [ 6.24629581e-01 7.80874688e-01 -8.52103983e-03 4.56262186e+01] [ 1.35582127e-02 6.58183187e-05 9.99908081e-01 8.27821569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9492541539998 meters Centerline goodness [0,1] 0.9998534184902105 Centerline is valid? [True, True] Translation: X:884.82, Y:45.64, Z:8.28 [[ 7.81000699e-01 -6.24430526e-01 -1.11546418e-02 8.84816794e+02] [ 6.24365457e-01 7.81080349e-01 -9.01466153e-03 4.56435019e+01] [ 1.43417013e-02 7.58839593e-05 9.99897150e-01 8.27723293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9792541539998 meters Centerline goodness [0,1] 0.999916401939475 Centerline is valid? [True, True] Translation: X:884.84, Y:45.66, Z:8.28 [[ 7.80635086e-01 -6.24878027e-01 -1.16753160e-02 8.84841496e+02] [ 6.24806734e-01 7.80722387e-01 -9.43926758e-03 4.56579642e+01] [ 1.50135715e-02 7.38074089e-05 9.99887287e-01 8.27843791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0092541539999 meters Centerline goodness [0,1] 0.9999165780308245 Centerline is valid? [True, True] Translation: X:884.86, Y:45.67, Z:8.28 [[ 7.79834662e-01 -6.25874080e-01 -1.18125305e-02 8.84864038e+02] [ 6.25801146e-01 7.79924120e-01 -9.55477988e-03 4.56730197e+01] [ 1.51929665e-02 5.88534306e-05 9.99884578e-01 8.27841028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0392541539999 meters Centerline goodness [0,1] 0.9998953843578692 Centerline is valid? [True, True] Translation: X:884.89, Y:45.68, Z:8.28 [[ 7.76980729e-01 -6.29411373e-01 -1.19276931e-02 8.84889383e+02] [ 6.29337377e-01 7.77072277e-01 -9.65102254e-03 4.56848582e+01] [ 1.53431430e-02 -7.88458204e-06 9.99882287e-01 8.27815437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.91, Y:45.70, Z:8.28 [[ 7.75285303e-01 -6.31512938e-01 -1.11404153e-02 8.84913721e+02] [ 6.31448546e-01 7.75365338e-01 -9.01808568e-03 4.56991565e+01] [ 1.43329296e-02 -4.30097276e-05 9.99897277e-01 8.28157385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0992541539998 meters Centerline goodness [0,1] 0.9999374283032642 Centerline is valid? [True, True] Translation: X:884.94, Y:45.71, Z:8.28 [[ 7.72560502e-01 -6.34839442e-01 -1.13645350e-02 8.84939246e+02] [ 6.34772716e-01 7.72644078e-01 -9.20477300e-03 4.57141065e+01] [ 1.46242936e-02 -1.02652697e-04 9.99893054e-01 8.28018638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.97, Y:45.72, Z:8.28 [[ 7.67901448e-01 -6.40476987e-01 -1.07979060e-02 8.84966361e+02] [ 6.40417254e-01 7.67977337e-01 -8.74930055e-03 4.57249166e+01] [ 1.38962727e-02 -1.96564721e-04 9.99903423e-01 8.28252495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1592541539999 meters Centerline goodness [0,1] 0.9998750052081163 Centerline is valid? [True, True] Translation: X:884.99, Y:45.74, Z:8.28 [[ 7.64713818e-01 -6.44269636e-01 -1.13760016e-02 8.84991337e+02] [ 6.44203711e-01 7.64798379e-01 -9.22059001e-03 4.57400734e+01] [ 1.46408938e-02 -2.77349865e-04 9.99892778e-01 8.27982832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1892541539999 meters Centerline goodness [0,1] 0.9997505404955929 Centerline is valid? [True, True] Translation: X:885.02, Y:45.75, Z:8.28 [[ 7.59994246e-01 -6.49817211e-01 -1.20970417e-02 8.85019273e+02] [ 6.49743305e-01 7.60090408e-01 -9.80868561e-03 4.57515089e+01] [ 1.55686981e-02 -4.05427205e-04 9.99878718e-01 8.27871929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2192541539998 meters Centerline goodness [0,1] 0.999937369519833 Centerline is valid? [True, True] Translation: X:885.04, Y:45.77, Z:8.28 [[ 7.58140450e-01 -6.51991320e-01 -1.14182578e-02 8.85042854e+02] [ 6.51925687e-01 7.58226311e-01 -9.26067185e-03 4.57685563e+01] [ 1.46955012e-02 -4.22965662e-04 9.99891926e-01 8.28194002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.07, Y:45.78, Z:8.28 [[ 7.56194912e-01 -6.54252457e-01 -1.10895110e-02 8.85067696e+02] [ 6.54190735e-01 7.56276087e-01 -8.99791087e-03 4.57830492e+01] [ 1.42736373e-02 -4.50480946e-04 9.99898025e-01 8.28381611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.09, Y:45.80, Z:8.28 [[ 7.56072043e-01 -6.54388783e-01 -1.14187089e-02 8.85091225e+02] [ 6.54323320e-01 7.56158122e-01 -9.26756268e-03 4.57977069e+01] [ 1.46989385e-02 -4.64582450e-04 9.99891857e-01 8.28364696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3092541539999 meters Centerline goodness [0,1] 0.9997289125221562 Centerline is valid? [True, True] Translation: X:885.11, Y:45.82, Z:8.28 [[ 7.56057170e-01 -6.54380555e-01 -1.27923685e-02 8.85112620e+02] [ 6.54298323e-01 7.56165208e-01 -1.03867018e-02 4.58161598e+01] [ 1.64699996e-02 -5.17084879e-04 9.99864227e-01 8.27983383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3392541539998 meters Centerline goodness [0,1] 0.9998961060549392 Centerline is valid? [True, True] Translation: X:885.13, Y:45.83, Z:8.28 [[ 7.58705138e-01 -6.51328146e-01 -1.17541160e-02 8.85134858e+02] [ 6.51258297e-01 7.58796070e-01 -9.54748643e-03 4.58332551e+01] [ 1.51375237e-02 -4.11238583e-04 9.99885337e-01 8.28135755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3692541539999 meters Centerline goodness [0,1] 0.9999582585465626 Centerline is valid? [True, True] Translation: X:885.16, Y:45.85, Z:8.28 [[ 7.60516936e-01 -6.49219714e-01 -1.13027704e-02 8.85156729e+02] [ 6.49154857e-01 7.60600840e-01 -9.18332390e-03 4.58529308e+01] [ 1.45588915e-02 -3.53174911e-04 9.99893951e-01 8.28341098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3992541539999 meters Centerline goodness [0,1] 0.9998755754634814 Centerline is valid? [True, True] Translation: X:885.18, Y:45.87, Z:8.28 [[ 7.64499345e-01 -6.44522527e-01 -1.14657751e-02 8.85176698e+02] [ 6.44455204e-01 7.64585275e-01 -9.31916123e-03 4.58732867e+01] [ 1.47729721e-02 -2.64685766e-04 9.99890839e-01 8.28152842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4292541539999 meters Centerline goodness [0,1] 0.9998121869782972 Centerline is valid? [True, True] Translation: X:885.20, Y:45.89, Z:8.28 [[ 7.66579286e-01 -6.42038213e-01 -1.19637697e-02 8.85196468e+02] [ 6.41964563e-01 7.66672605e-01 -9.72712651e-03 4.58944667e+01] [ 1.54174814e-02 -2.23702510e-04 9.99881119e-01 8.28175378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4592541539998 meters Centerline goodness [0,1] 0.999853562612443 Centerline is valid? [True, True] Translation: X:885.22, Y:45.92, Z:8.28 [[ 7.71223048e-01 -6.36461320e-01 -1.14890493e-02 8.85216344e+02] [ 6.36392721e-01 7.71308613e-01 -9.34489958e-03 4.59155484e+01] [ 1.48092698e-02 -1.04545393e-04 9.99890331e-01 8.28207071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4892541539999 meters Centerline goodness [0,1] 0.9999582158153139 Centerline is valid? [True, True] Translation: X:885.24, Y:45.94, Z:8.28 [[ 7.73687684e-01 -6.33474535e-01 -1.08342647e-02 8.85237583e+02] [ 6.33413200e-01 7.73763537e-01 -8.81510705e-03 4.59353619e+01] [ 1.39673048e-02 -4.24265449e-05 9.99902452e-01 8.28375198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5192541539999 meters Centerline goodness [0,1] 0.9998126171143036 Centerline is valid? [True, True] Translation: X:885.26, Y:45.95, Z:8.28 [[ 7.75639967e-01 -6.31066110e-01 -1.17561478e-02 8.85258633e+02] [ 6.30993533e-01 7.75729054e-01 -9.57062927e-03 4.59546680e+01] [ 1.51592852e-02 5.30933556e-06 9.99885091e-01 8.28172182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5492541539999 meters Centerline goodness [0,1] 0.9998128625787537 Centerline is valid? [True, True] Translation: X:885.28, Y:45.97, Z:8.28 [[ 7.79703070e-01 -6.26038934e-01 -1.17633703e-02 8.85278427e+02] [ 6.25965624e-01 7.79791794e-01 -9.58099964e-03 4.59741672e+01] [ 1.51710585e-02 1.06869383e-04 9.99884907e-01 8.28181790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5792541539998 meters Centerline goodness [0,1] 0.9998752053911271 Centerline is valid? [True, True] Translation: X:885.30, Y:45.99, Z:8.28 [[ 7.81502075e-01 -6.23802485e-01 -1.11788286e-02 8.85299763e+02] [ 6.23736006e-01 7.81582010e-01 -9.10804377e-03 4.59931092e+01] [ 1.44187917e-02 1.45317199e-04 9.99896033e-01 8.28293674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6092541539999 meters Centerline goodness [0,1] 0.999875314311839 Centerline is valid? [True, True] Translation: X:885.32, Y:46.01, Z:8.29 [[ 7.85478411e-01 -6.18813090e-01 -9.69667516e-03 8.85319955e+02] [ 6.18762650e-01 7.85538234e-01 -7.90356362e-03 4.60123323e+01] [ 1.25079377e-02 2.08138174e-04 9.99921751e-01 8.28577986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6392541539999 meters Centerline goodness [0,1] 0.999875355755448 Centerline is valid? [True, True] Translation: X:885.34, Y:46.03, Z:8.28 [[ 7.87205316e-01 -6.16601031e-01 -1.05337262e-02 8.85342799e+02] [ 6.16541266e-01 7.87275744e-01 -8.58892321e-03 4.60299531e+01] [ 1.35888860e-02 2.66769141e-04 9.99907631e-01 8.28420203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6692541539999 meters Centerline goodness [0,1] 0.9998754359740907 Centerline is valid? [True, True] Translation: X:885.36, Y:46.05, Z:8.28 [[ 7.90557802e-01 -6.12298489e-01 -1.04365816e-02 8.85364730e+02] [ 6.12239401e-01 7.90626616e-01 -8.51299947e-03 4.60485974e+01] [ 1.34639359e-02 3.40331661e-04 9.99909299e-01 8.28396166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6992541539998 meters Centerline goodness [0,1] 0.9997702445850826 Centerline is valid? [True, True] Translation: X:885.39, Y:46.07, Z:8.28 [[ 7.91849040e-01 -6.10622794e-01 -1.07192361e-02 8.85387466e+02] [ 6.10560279e-01 7.91921498e-01 -8.74563424e-03 4.60669584e+01] [ 1.38290771e-02 3.80482305e-04 9.99904301e-01 8.28285471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7292541539998 meters Centerline goodness [0,1] 0.9998336279505043 Centerline is valid? [True, True] Translation: X:885.41, Y:46.08, Z:8.28 [[ 7.94281224e-01 -6.07462229e-01 -1.03429664e-02 8.85410575e+02] [ 6.07403716e-01 7.94348451e-01 -8.44186381e-03 4.60835201e+01] [ 1.33440327e-02 4.22857697e-04 9.99910875e-01 8.28313265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.44, Y:46.10, Z:8.29 [[ 7.95446411e-01 -6.05943416e-01 -9.87843542e-03 8.85435700e+02] [ 6.05889900e-01 7.95507631e-01 -8.06462992e-03 4.60981799e+01] [ 1.27450802e-02 4.29736679e-04 9.99918686e-01 8.28682589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.46, Y:46.12, Z:8.29 [[ 7.96022226e-01 -6.05175685e-01 -1.05359857e-02 8.85456960e+02] [ 6.05114684e-01 7.96091807e-01 -8.60545724e-03 4.61168064e+01] [ 1.35954254e-02 4.74655587e-04 9.99907465e-01 8.28587527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8192541539999 meters Centerline goodness [0,1] 0.9998955329906816 Centerline is valid? [True, True] Translation: X:885.48, Y:46.13, Z:8.28 [[ 7.96192161e-01 -6.04928760e-01 -1.17999046e-02 8.85482600e+02] [ 6.04852181e-01 7.96279414e-01 -9.64025445e-03 4.61300582e+01] [ 1.52276883e-02 5.38297027e-04 9.99883907e-01 8.28182401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8492541539998 meters Centerline goodness [0,1] 0.9998118807742151 Centerline is valid? [True, True] Translation: X:885.51, Y:46.14, Z:8.28 [[ 7.95814562e-01 -6.05399204e-01 -1.30761813e-02 8.85507136e+02] [ 6.05305161e-01 7.95921765e-01 -1.06867328e-02 4.61446855e+01] [ 1.68773569e-02 5.89577571e-04 9.99857393e-01 8.28038330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.53, Y:46.16, Z:8.28 [[ 7.95787908e-01 -6.05441998e-01 -1.27119326e-02 8.85531546e+02] [ 6.05353033e-01 7.95889223e-01 -1.03947385e-02 4.61590276e+01] [ 1.64107014e-02 5.76800262e-04 9.99865169e-01 8.28413310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9092541539999 meters Centerline goodness [0,1] 0.999810876691603 Centerline is valid? [True, True] Translation: X:885.56, Y:46.17, Z:8.28 [[ 7.94321012e-01 -6.07318403e-01 -1.47813239e-02 8.85563697e+02] [ 6.07198300e-01 7.94458280e-01 -1.20940332e-02 4.61657885e+01] [ 1.90880741e-02 6.31349950e-04 9.99817607e-01 8.28091242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9392541539999 meters Centerline goodness [0,1] 0.9999159540268527 Centerline is valid? [True, True] Translation: X:885.59, Y:46.18, Z:8.28 [[ 7.93214022e-01 -6.08766802e-01 -1.46456697e-02 8.85591550e+02] [ 6.08649059e-01 7.93348995e-01 -1.19873033e-02 4.61761780e+01] [ 1.89165996e-02 5.94423972e-04 9.99820888e-01 8.28241735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9692541539998 meters Centerline goodness [0,1] 0.9999789628694646 Centerline is valid? [True, True] Translation: X:885.61, Y:46.19, Z:8.28 [[ 7.92481371e-01 -6.09730842e-01 -1.41977897e-02 8.85614516e+02] [ 6.09620271e-01 7.92608346e-01 -1.16247673e-02 4.61929261e+01] [ 1.83412658e-02 5.57151109e-04 9.99831630e-01 8.28349682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9992541539999 meters Centerline goodness [0,1] 0.9998101906529442 Centerline is valid? [True, True] Translation: X:885.64, Y:46.20, Z:8.28 [[ 7.91111635e-01 -6.11501811e-01 -1.44193043e-02 8.85643102e+02] [ 6.11387945e-01 7.91242855e-01 -1.18121262e-02 4.62044433e+01] [ 1.86323081e-02 5.28921634e-04 9.99826264e-01 8.28195259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.67, Y:46.21, Z:8.29 [[ 7.88908253e-01 -6.14372394e-01 -1.30510421e-02 8.85672133e+02] [ 6.14279446e-01 7.89016087e-01 -1.06947420e-02 4.62132732e+01] [ 1.68680364e-02 4.20183299e-04 9.99857636e-01 8.28660230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.70, Y:46.23, Z:8.29 [[ 7.87137810e-01 -6.16643950e-01 -1.28182440e-02 8.85699026e+02] [ 6.16554532e-01 7.87242087e-01 -1.05074086e-02 4.62262174e+01] [ 1.65703911e-02 3.67632233e-04 9.99862634e-01 8.28740538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.73, Y:46.23, Z:8.29 [[ 7.83579130e-01 -6.21160359e-01 -1.27888745e-02 8.85729484e+02] [ 6.21071867e-01 7.83683439e-01 -1.04882421e-02 4.62347799e+01] [ 1.65373094e-02 2.75557415e-04 9.99863211e-01 8.28762513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.76, Y:46.25, Z:8.29 [[ 7.81453223e-01 -6.23826254e-01 -1.31020820e-02 8.85756284e+02] [ 6.23733665e-01 7.81563019e-01 -1.07500419e-02 4.62481776e+01] [ 1.69462611e-02 2.28445305e-04 9.99856376e-01 8.28771631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.78, Y:46.26, Z:8.29 [[ 7.79334995e-01 -6.26474128e-01 -1.29279784e-02 8.85782154e+02] [ 6.26384275e-01 7.79442196e-01 -1.06114389e-02 4.62605728e+01] [ 1.67244038e-02 1.71983326e-04 9.99860123e-01 8.28807453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.81, Y:46.27, Z:8.29 [[ 7.75199782e-01 -6.31580729e-01 -1.30797868e-02 8.85812960e+02] [ 6.31489408e-01 7.75310117e-01 -1.07400703e-02 4.62685893e+01] [ 1.69241125e-02 6.59533881e-05 9.99856775e-01 8.28906936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.84, Y:46.28, Z:8.29 [[ 7.72989373e-01 -6.34290408e-01 -1.27713181e-02 8.85838795e+02] [ 6.34203620e-01 7.73094870e-01 -1.04923900e-02 4.62819513e+01] [ 1.65286628e-02 1.08898570e-05 9.99863392e-01 8.28992194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.87, Y:46.29, Z:8.29 [[ 7.68980493e-01 -6.39152632e-01 -1.23658595e-02 8.85867757e+02] [ 6.39071826e-01 7.69079909e-01 -1.01634467e-02 4.62904560e+01] [ 1.60063278e-02 -8.71801415e-05 9.99871887e-01 8.28996160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.89, Y:46.30, Z:8.29 [[ 7.66571569e-01 -6.42042048e-01 -1.22490318e-02 8.85893620e+02] [ 6.41963080e-01 7.66669413e-01 -1.00705442e-02 4.63043458e+01] [ 1.58566709e-02 -1.43633296e-04 9.99874265e-01 8.29028563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2992541539999 meters Centerline goodness [0,1] 0.9999781047468909 Centerline is valid? [True, True] Translation: X:885.92, Y:46.32, Z:8.29 [[ 7.62283336e-01 -6.47131568e-01 -1.20353254e-02 8.85922381e+02] [ 6.47055885e-01 7.62378302e-01 -9.89977362e-03 4.63153918e+01] [ 1.55819270e-02 -2.41095690e-04 9.99878565e-01 8.29033966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3292541539998 meters Centerline goodness [0,1] 0.9999342408101533 Centerline is valid? [True, True] Translation: X:885.95, Y:46.33, Z:8.29 [[ 7.60361171e-01 -6.49384980e-01 -1.22489897e-02 8.85947490e+02] [ 6.49306816e-01 7.60459772e-01 -1.00793932e-02 4.63295807e+01] [ 1.58602704e-02 -2.89373299e-04 9.99874176e-01 8.28939510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.97, Y:46.34, Z:8.29 [[ 7.58927756e-01 -6.51061345e-01 -1.21567337e-02 8.85972806e+02] [ 6.50984519e-01 7.59025048e-01 -1.00066489e-02 4.63447866e+01] [ 1.57422077e-02 -3.19521876e-04 9.99876033e-01 8.29120261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3892541539999 meters Centerline goodness [0,1] 0.9998672066927827 Centerline is valid? [True, True] Translation: X:886.00, Y:46.36, Z:8.29 [[ 7.56316918e-01 -6.54082806e-01 -1.26649958e-02 8.86000182e+02] [ 6.53999778e-01 7.56422849e-01 -1.04289825e-02 4.63556996e+01] [ 1.64015104e-02 -3.95288514e-04 9.99865408e-01 8.28829312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.02, Y:46.37, Z:8.29 [[ 7.55844992e-01 -6.54629712e-01 -1.25812871e-02 8.86023423e+02] [ 6.54547818e-01 7.55949587e-01 -1.03622434e-02 4.63706288e+01] [ 1.62942512e-02 -4.02804275e-04 9.99867159e-01 8.29093455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4492541539998 meters Centerline goodness [0,1] 0.9999778255759807 Centerline is valid? [True, True] Translation: X:886.05, Y:46.39, Z:8.29 [[ 7.55553229e-01 -6.54959909e-01 -1.29164948e-02 8.86048531e+02] [ 6.54873574e-01 7.55663512e-01 -1.06423061e-02 4.63859227e+01] [ 1.67308076e-02 -4.17842356e-04 9.99859943e-01 8.29058728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.07, Y:46.41, Z:8.29 [[ 7.56658754e-01 -6.53688706e-01 -1.25939057e-02 8.86069756e+02] [ 6.53606372e-01 7.56763460e-01 -1.03815354e-02 4.64063986e+01] [ 1.63169001e-02 -3.76177356e-04 9.99866800e-01 8.29171877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.09, Y:46.42, Z:8.29 [[ 7.58327895e-01 -6.51760955e-01 -1.21020973e-02 8.86091337e+02] [ 6.51684626e-01 7.58424390e-01 -9.97960052e-03 4.64243098e+01] [ 1.56828397e-02 -3.18941283e-04 9.99876966e-01 8.29167439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5392541539999 meters Centerline goodness [0,1] 0.9999335607033707 Centerline is valid? [True, True] Translation: X:886.11, Y:46.44, Z:8.29 [[ 7.61931630e-01 -6.47540832e-01 -1.22906953e-02 8.86111489e+02] [ 6.47461525e-01 7.62030718e-01 -1.01369677e-02 4.64436749e+01] [ 1.59299879e-02 -2.34075939e-04 9.99873082e-01 8.28999496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5692541539999 meters Centerline goodness [0,1] 0.9998669357521457 Centerline is valid? [True, True] Translation: X:886.13, Y:46.46, Z:8.29 [[ 7.65081382e-01 -6.43796570e-01 -1.32836331e-02 8.86131510e+02] [ 6.43703301e-01 7.65196673e-01 -1.09595542e-02 4.64645369e+01] [ 1.72203153e-02 -1.65767645e-04 9.99851706e-01 8.28860090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.15, Y:46.48, Z:8.29 [[ 7.66383486e-01 -6.42252637e-01 -1.29577640e-02 8.86152679e+02] [ 6.42163578e-01 7.66493011e-01 -1.06959928e-02 4.64836671e+01] [ 1.68015651e-02 -1.23771880e-04 9.99858836e-01 8.29114800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.17, Y:46.50, Z:8.29 [[ 7.67233472e-01 -6.41232815e-01 -1.31634843e-02 8.86173313e+02] [ 6.41140655e-01 7.67346380e-01 -1.08716872e-02 4.65023498e+01] [ 1.70722346e-02 -9.85226260e-05 9.99854254e-01 8.29144177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6592541539999 meters Centerline goodness [0,1] 0.9999557600424703 Centerline is valid? [True, True] Translation: X:886.19, Y:46.52, Z:8.29 [[ 7.68826146e-01 -6.39317127e-01 -1.34152053e-02 8.86191427e+02] [ 6.39221034e-01 7.68943176e-01 -1.10843062e-02 4.65225523e+01] [ 1.74019174e-02 -5.33770484e-05 9.99848574e-01 8.28932633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.21, Y:46.54, Z:8.29 [[ 7.69600047e-01 -6.38390744e-01 -1.31539302e-02 8.86211532e+02] [ 6.38298150e-01 7.69712451e-01 -1.08726324e-02 4.65420815e+01] [ 1.70657317e-02 -2.85509304e-05 9.99854369e-01 8.29087203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.23, Y:46.56, Z:8.29 [[ 7.69420411e-01 -6.38607301e-01 -1.31508655e-02 8.86232746e+02] [ 6.38514676e-01 7.69532789e-01 -1.08763384e-02 4.65597276e+01] [ 1.70657313e-02 -2.85438290e-05 9.99854369e-01 8.29112946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.25, Y:46.58, Z:8.29 [[ 7.70700274e-01 -6.37072549e-01 -1.26354356e-02 8.86252596e+02] [ 6.36986740e-01 7.70803845e-01 -1.04559380e-02 4.65805715e+01] [ 1.64006334e-02 9.78939113e-06 9.99865501e-01 8.29134040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.27, Y:46.60, Z:8.29 [[ 7.71073871e-01 -6.36615382e-01 -1.28818031e-02 8.86273700e+02] [ 6.36526025e-01 7.71181467e-01 -1.06660646e-02 4.65991955e+01] [ 1.67243886e-02 2.47207748e-05 9.99860137e-01 8.29170282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8092541539999 meters Centerline goodness [0,1] 0.9998460895758668 Centerline is valid? [True, True] Translation: X:886.30, Y:46.62, Z:8.29 [[ 7.70847375e-01 -6.36879264e-01 -1.33838332e-02 8.86295296e+02] [ 6.36782732e-01 7.70963554e-01 -1.10883157e-02 4.66179115e+01] [ 1.73803659e-02 2.48051974e-05 9.99848950e-01 8.28911143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8392541539998 meters Centerline goodness [0,1] 0.9998678210296742 Centerline is valid? [True, True] Translation: X:886.32, Y:46.64, Z:8.29 [[ 7.71410855e-01 -6.36193804e-01 -1.35180439e-02 8.86315114e+02] [ 6.36095135e-01 7.71529288e-01 -1.12043159e-02 4.66360702e+01] [ 1.75576831e-02 4.43689551e-05 9.99845851e-01 8.28905166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.34, Y:46.65, Z:8.29 [[ 7.71928267e-01 -6.35579078e-01 -1.28835242e-02 8.86336557e+02] [ 6.35489301e-01 7.72035771e-01 -1.06825262e-02 4.66548734e+01] [ 1.67361317e-02 5.88021606e-05 9.99859939e-01 8.29199102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8992541539999 meters Centerline goodness [0,1] 0.9999561066608142 Centerline is valid? [True, True] Translation: X:886.36, Y:46.67, Z:8.29 [[ 7.72732454e-01 -6.34586858e-01 -1.35674250e-02 8.86357899e+02] [ 6.34487031e-01 7.72851546e-01 -1.12558712e-02 4.66749166e+01] [ 1.76284333e-02 8.94218048e-05 9.99844603e-01 8.29079986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9292541539999 meters Centerline goodness [0,1] 0.9999342436928742 Centerline is valid? [True, True] Translation: X:886.38, Y:46.69, Z:8.29 [[ 7.73245551e-01 -6.33956572e-01 -1.37979002e-02 8.86379471e+02] [ 6.33853120e-01 7.73368640e-01 -1.14529165e-02 4.66947253e+01] [ 1.79315150e-02 1.10074607e-04 9.99839211e-01 8.28976965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9592541539998 meters Centerline goodness [0,1] 0.9997579278625031 Centerline is valid? [True, True] Translation: X:886.40, Y:46.71, Z:8.29 [[ 7.74589942e-01 -6.32296580e-01 -1.45415510e-02 8.86399672e+02] [ 6.32181292e-01 7.74726409e-01 -1.20749887e-02 4.67144294e+01] [ 1.89006977e-02 1.60268293e-04 9.99821353e-01 8.28694029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9892541539999 meters Centerline goodness [0,1] 0.9999560536145902 Centerline is valid? [True, True] Translation: X:886.42, Y:46.73, Z:8.29 [[ 7.75549690e-01 -6.31124300e-01 -1.43107273e-02 8.86421499e+02] [ 6.31012359e-01 7.75681689e-01 -1.18878415e-02 4.67331894e+01] [ 1.86032748e-02 1.89365966e-04 9.99826926e-01 8.28947241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.44, Y:46.75, Z:8.29 [[ 7.76529843e-01 -6.29921399e-01 -1.41574863e-02 8.86442046e+02] [ 6.29811569e-01 7.76658859e-01 -1.17645259e-02 4.67513423e+01] [ 1.84062638e-02 2.18956797e-04 9.99830566e-01 8.29102772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0492541539999 meters Centerline goodness [0,1] 0.9998905309250137 Centerline is valid? [True, True] Translation: X:886.46, Y:46.77, Z:8.29 [[ 7.77864273e-01 -6.28258102e-01 -1.47963112e-02 8.86464097e+02] [ 6.28137791e-01 7.78004938e-01 -1.22976405e-02 4.67692022e+01] [ 1.92376954e-02 2.71772963e-04 9.99814901e-01 8.28963859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0792541539998 meters Centerline goodness [0,1] 0.9999560352597217 Centerline is valid? [True, True] Translation: X:886.49, Y:46.79, Z:8.29 [[ 7.78664196e-01 -6.27278393e-01 -1.42789534e-02 8.86486568e+02] [ 6.27166108e-01 7.78795053e-01 -1.18717333e-02 4.67880933e+01] [ 1.85672601e-02 2.88818023e-04 9.99827572e-01 8.29130431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1092541539999 meters Centerline goodness [0,1] 0.9999560255931048 Centerline is valid? [True, True] Translation: X:886.51, Y:46.81, Z:8.29 [[ 7.79339333e-01 -6.26432928e-01 -1.45599167e-02 8.86508325e+02] [ 6.26315952e-01 7.79475263e-01 -1.21095859e-02 4.68063409e+01] [ 1.89349382e-02 3.18368503e-04 9.99820667e-01 8.29149165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.53, Y:46.82, Z:8.29 [[ 7.80657562e-01 -6.24789851e-01 -1.45400267e-02 8.86529282e+02] [ 6.24672868e-01 7.80792875e-01 -1.20952461e-02 4.68246385e+01] [ 1.89097362e-02 3.59485170e-04 9.99821130e-01 8.29231204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1692541539999 meters Centerline goodness [0,1] 0.9999339134265889 Centerline is valid? [True, True] Translation: X:886.55, Y:46.84, Z:8.29 [[ 7.80057334e-01 -6.25524057e-01 -1.51726735e-02 8.86551455e+02] [ 6.25396713e-01 7.80204796e-01 -1.26264703e-02 4.68412318e+01] [ 1.97359536e-02 3.60430637e-04 9.99805162e-01 8.28992496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.57, Y:46.86, Z:8.29 [[ 7.79502024e-01 -6.26219761e-01 -1.50135036e-02 8.86574439e+02] [ 6.26095074e-01 7.79646517e-01 -1.25006827e-02 4.68583576e+01] [ 1.95334004e-02 3.44426836e-04 9.99809146e-01 8.29180419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2292541539998 meters Centerline goodness [0,1] 0.9999117660034411 Centerline is valid? [True, True] Translation: X:886.60, Y:46.88, Z:8.29 [[ 7.77962379e-01 -6.28117687e-01 -1.55790747e-02 8.86598656e+02] [ 6.27983676e-01 7.78118290e-01 -1.29780340e-02 4.68752691e+01] [ 2.02740956e-02 3.13017614e-04 9.99794410e-01 8.29025522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2592541539999 meters Centerline goodness [0,1] 0.9998895857256426 Centerline is valid? [True, True] Translation: X:886.62, Y:46.89, Z:8.29 [[ 7.74927459e-01 -6.31867310e-01 -1.52031557e-02 8.86624156e+02] [ 6.31740284e-01 7.75076549e-01 -1.26710748e-02 4.68896269e+01] [ 1.97900474e-02 2.14717921e-04 9.99804135e-01 8.29054538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.65, Y:46.91, Z:8.29 [[ 7.73802941e-01 -6.33259729e-01 -1.45300814e-02 8.86647026e+02] [ 6.33143872e-01 7.73939329e-01 -1.21141338e-02 4.69058160e+01] [ 1.89167946e-02 1.74320334e-04 9.99821046e-01 8.29422582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.67, Y:46.92, Z:8.30 [[ 7.71803802e-01 -6.35731348e-01 -1.28274621e-02 8.86669281e+02] [ 6.35641358e-01 7.71910385e-01 -1.06967983e-02 4.69228134e+01] [ 1.67019412e-02 1.02164177e-04 9.99860508e-01 8.29589009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3492541539998 meters Centerline goodness [0,1] 0.9999338434736587 Centerline is valid? [True, True] Translation: X:886.69, Y:46.94, Z:8.30 [[ 7.68692448e-01 -6.39503041e-01 -1.21565509e-02 8.86692735e+02] [ 6.39422632e-01 7.68788567e-01 -1.01408777e-02 4.69393874e+01] [ 1.58309395e-02 2.20423134e-05 9.99874683e-01 8.29555238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3792541539999 meters Centerline goodness [0,1] 0.9998232239531544 Centerline is valid? [True, True] Translation: X:886.72, Y:46.96, Z:8.29 [[ 7.66547952e-01 -6.42063294e-01 -1.26080864e-02 8.86715081e+02] [ 6.41977053e-01 7.66651633e-01 -1.05232088e-02 4.69560607e+01] [ 1.64225761e-02 -2.75579777e-05 9.99865140e-01 8.29431943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4092541539999 meters Centerline goodness [0,1] 0.9999112314418233 Centerline is valid? [True, True] Translation: X:886.74, Y:46.97, Z:8.30 [[ 7.64467873e-01 -6.44551647e-01 -1.19182798e-02 8.86737639e+02] [ 6.44474801e-01 7.64560769e-01 -9.95296704e-03 4.69726446e+01] [ 1.55274505e-02 -7.23074699e-05 9.99879439e-01 8.29615012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4392541539999 meters Centerline goodness [0,1] 0.9999334929502527 Centerline is valid? [True, True] Translation: X:886.76, Y:46.99, Z:8.30 [[ 7.60422859e-01 -6.49320439e-01 -1.18339771e-02 8.86762270e+02] [ 6.49245168e-01 7.60514918e-01 -9.88795792e-03 4.69883510e+01] [ 1.54203693e-02 -1.64123199e-04 9.99881086e-01 8.29714896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.79, Y:47.01, Z:8.30 [[ 7.58893513e-01 -6.51111258e-01 -1.16088324e-02 8.86785011e+02] [ 6.51038960e-01 7.58982274e-01 -9.70465186e-03 4.70062557e+01] [ 1.51297061e-02 -1.93004799e-04 9.99885521e-01 8.29904888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.81, Y:47.02, Z:8.30 [[ 7.55391983e-01 -6.55153149e-01 -1.25420851e-02 8.86807070e+02] [ 6.55069242e-01 7.55496040e-01 -1.04891220e-02 4.70231243e+01] [ 1.63474769e-02 -2.92535527e-04 9.99866328e-01 8.29785267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.83, Y:47.04, Z:8.30 [[ 7.53617490e-01 -6.57174370e-01 -1.35102056e-02 8.86829534e+02] [ 6.57077260e-01 7.53738495e-01 -1.13029013e-02 4.70410876e+01] [ 1.76111391e-02 -3.59184759e-04 9.99844847e-01 8.29701826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.85, Y:47.06, Z:8.30 [[ 7.50743469e-01 -6.60429316e-01 -1.47432227e-02 8.86850832e+02] [ 6.60314214e-01 7.50888072e-01 -1.23386657e-02 4.70606240e+01] [ 1.92193265e-02 -4.71986823e-04 9.99815180e-01 8.29632453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5892541539998 meters Centerline goodness [0,1] 0.9997788686922294 Centerline is valid? [True, True] Translation: X:886.87, Y:47.08, Z:8.29 [[ 7.49250716e-01 -6.62098137e-01 -1.57931126e-02 8.86872733e+02] [ 6.61966379e-01 7.49416943e-01 -1.32196209e-02 4.70786122e+01] [ 2.05883125e-02 -5.49699136e-04 9.99787887e-01 8.29246700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6192541539999 meters Centerline goodness [0,1] 0.9998005805322284 Centerline is valid? [True, True] Translation: X:886.89, Y:47.10, Z:8.29 [[ 7.47938131e-01 -6.63589504e-01 -1.54117376e-02 8.86894860e+02] [ 6.63464303e-01 7.48096678e-01 -1.29026965e-02 4.70956610e+01] [ 2.00915637e-02 -5.74719048e-04 9.99797979e-01 8.29349556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.92, Y:47.12, Z:8.30 [[ 7.48020776e-01 -6.63526038e-01 -1.40753548e-02 8.86915411e+02] [ 6.63421530e-01 7.48153010e-01 -1.17876010e-02 4.71167769e+01] [ 1.83518993e-02 -5.20522967e-04 9.99831454e-01 8.29850712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6792541539999 meters Centerline goodness [0,1] 0.99986781811773 Centerline is valid? [True, True] Translation: X:886.94, Y:47.13, Z:8.30 [[ 7.47766285e-01 -6.63816876e-01 -1.38830131e-02 8.86935311e+02] [ 6.63715179e-01 7.47894971e-01 -1.16306962e-02 4.71349300e+01] [ 1.81036881e-02 -5.17323985e-04 9.99835981e-01 8.29647891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7092541539998 meters Centerline goodness [0,1] 0.9999560294602616 Centerline is valid? [True, True] Translation: X:886.95, Y:47.16, Z:8.30 [[ 7.49195343e-01 -6.62228713e-01 -1.26281257e-02 8.86954830e+02] [ 6.62144287e-01 7.49301638e-01 -1.05829509e-02 4.71568989e+01] [ 1.64706093e-02 -4.32943762e-04 9.99864257e-01 8.29887236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7392541539999 meters Centerline goodness [0,1] 0.9998903653028111 Centerline is valid? [True, True] Translation: X:886.98, Y:47.18, Z:8.30 [[ 7.50141442e-01 -6.61155220e-01 -1.27118979e-02 8.86975990e+02] [ 6.61069431e-01 7.50249031e-01 -1.06582697e-02 4.71775419e+01] [ 1.65838597e-02 -4.08237309e-04 9.99862395e-01 8.29798157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7692541539999 meters Centerline goodness [0,1] 0.999716268715352 Centerline is valid? [True, True] Translation: X:886.99, Y:47.20, Z:8.30 [[ 7.53206957e-01 -6.57664262e-01 -1.25299050e-02 8.86994418e+02] [ 6.57580346e-01 7.53311101e-01 -1.05106830e-02 4.72003909e+01] [ 1.63514171e-02 -3.22699653e-04 9.99866255e-01 8.29734779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.01, Y:47.22, Z:8.30 [[ 7.55465610e-01 -6.55088822e-01 -1.14170093e-02 8.87014323e+02] [ 6.55018789e-01 7.55551837e-01 -9.58163148e-03 4.72217734e+01] [ 1.49029620e-02 -2.39762511e-04 9.99888916e-01 8.30136578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8292541539998 meters Centerline goodness [0,1] 0.9999127570939388 Centerline is valid? [True, True] Translation: X:887.03, Y:47.24, Z:8.30 [[ 7.57074426e-01 -6.53225957e-01 -1.15828623e-02 8.87034569e+02] [ 6.53153583e-01 7.57163000e-01 -9.72569595e-03 4.72429284e+01] [ 1.51231918e-02 -2.02312340e-04 9.99885618e-01 8.29985868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8592541539999 meters Centerline goodness [0,1] 0.9999348675640469 Centerline is valid? [True, True] Translation: X:887.05, Y:47.27, Z:8.30 [[ 7.60768513e-01 -6.48915754e-01 -1.18158609e-02 8.87051950e+02] [ 6.48839858e-01 7.60860257e-01 -9.92509692e-03 4.72653481e+01] [ 1.54307707e-02 -1.15900311e-04 9.99880932e-01 8.29998811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8892541539999 meters Centerline goodness [0,1] 0.9995660004773995 Centerline is valid? [True, True] Translation: X:887.07, Y:47.29, Z:8.30 [[ 7.63300983e-01 -6.45924907e-01 -1.23540866e-02 8.87070376e+02] [ 6.45841493e-01 7.63400951e-01 -1.03804483e-02 4.72879247e+01] [ 1.61361115e-02 -5.53753481e-05 9.99869803e-01 8.29872109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9192541539999 meters Centerline goodness [0,1] 0.9999564649542882 Centerline is valid? [True, True] Translation: X:887.09, Y:47.31, Z:8.30 [[ 7.64426270e-01 -6.44591384e-01 -1.24267686e-02 8.87090669e+02] [ 6.44506722e-01 7.64527270e-01 -1.04469635e-02 4.73078691e+01] [ 1.62346262e-02 -2.32025021e-05 9.99868210e-01 8.29948369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.11, Y:47.33, Z:8.30 [[ 7.66200576e-01 -6.42483219e-01 -1.23284294e-02 8.87110023e+02] [ 6.42399525e-01 7.66299754e-01 -1.03700444e-02 4.73288063e+01] [ 1.61098520e-02 2.57568251e-05 9.99870228e-01 8.30066271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9792541539998 meters Centerline goodness [0,1] 0.9998269709094841 Centerline is valid? [True, True] Translation: X:887.13, Y:47.35, Z:8.30 [[ 7.66358442e-01 -6.42277211e-01 -1.32182971e-02 8.87131377e+02] [ 6.42180860e-01 7.66472428e-01 -1.11247177e-02 4.73483692e+01] [ 1.72766129e-02 3.69839074e-05 9.99850748e-01 8.29776312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0092541539999 meters Centerline goodness [0,1] 0.9999783122600794 Centerline is valid? [True, True] Translation: X:887.15, Y:47.37, Z:8.30 [[ 7.66869260e-01 -6.41680537e-01 -1.25549445e-02 8.87150543e+02] [ 6.41593469e-01 7.66972024e-01 -1.05704559e-02 4.73675675e+01] [ 1.64121470e-02 5.09872454e-05 9.99865310e-01 8.30028526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.17, Y:47.39, Z:8.30 [[ 7.66590240e-01 -6.42011594e-01 -1.26695492e-02 8.87171225e+02] [ 6.41922930e-01 7.66694927e-01 -1.06696154e-02 4.73856034e+01] [ 1.65636959e-02 4.63488756e-05 9.99862812e-01 8.30093125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0692541539999 meters Centerline goodness [0,1] 0.9998916693749323 Centerline is valid? [True, True] Translation: X:887.19, Y:47.40, Z:8.30 [[ 7.65645827e-01 -6.43124519e-01 -1.33161769e-02 8.87192627e+02] [ 6.43026663e-01 7.65761616e-01 -1.12186740e-02 4.74031182e+01] [ 1.74120214e-02 2.68741189e-05 9.99848399e-01 8.29868027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.21, Y:47.42, Z:8.30 [[ 7.65385962e-01 -6.43450136e-01 -1.25000864e-02 8.87214164e+02] [ 6.43363857e-01 7.65488029e-01 -1.05368810e-02 4.74210302e+01] [ 1.63486240e-02 2.26770307e-05 9.99866352e-01 8.30189828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1292541539999 meters Centerline goodness [0,1] 0.9998259545306212 Centerline is valid? [True, True] Translation: X:887.24, Y:47.44, Z:8.30 [[ 7.64510901e-01 -6.44483385e-01 -1.28159750e-02 8.87235694e+02] [ 6.44392729e-01 7.64618315e-01 -1.08094234e-02 4.74387562e+01] [ 1.67658230e-02 5.40092745e-06 9.99859444e-01 8.30207965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1592541539999 meters Centerline goodness [0,1] 0.999848386398094 Centerline is valid? [True, True] Translation: X:887.26, Y:47.46, Z:8.30 [[ 7.64415598e-01 -6.44558598e-01 -1.45947903e-02 8.87257766e+02] [ 6.44440904e-01 7.64554912e-01 -1.23169452e-02 4.74576468e+01] [ 1.90975115e-02 9.78518023e-06 9.99817626e-01 8.29860100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1892541539999 meters Centerline goodness [0,1] 0.9998044923317548 Centerline is valid? [True, True] Translation: X:887.28, Y:47.48, Z:8.30 [[ 7.64713853e-01 -6.44185813e-01 -1.54065270e-02 8.87279774e+02] [ 6.44054447e-01 7.64869033e-01 -1.30088802e-02 4.74765976e+01] [ 2.01641115e-02 2.54286069e-05 9.99796683e-01 8.29830295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2192541539998 meters Centerline goodness [0,1] 0.9998699638065929 Centerline is valid? [True, True] Translation: X:887.30, Y:47.50, Z:8.30 [[ 7.65336873e-01 -6.43434151e-01 -1.58733835e-02 8.87300940e+02] [ 6.43294446e-01 7.65501463e-01 -1.34076618e-02 4.74953769e+01] [ 2.07780458e-02 5.01185232e-05 9.99784112e-01 8.29839953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2492541539999 meters Centerline goodness [0,1] 0.9998696728789261 Centerline is valid? [True, True] Translation: X:887.32, Y:47.51, Z:8.30 [[ 7.66769863e-01 -6.41716249e-01 -1.62552278e-02 8.87322254e+02] [ 6.41569246e-01 7.66942139e-01 -1.37352599e-02 4.75146711e+01] [ 2.12809586e-02 1.02929112e-04 9.99773529e-01 8.29810643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.34, Y:47.53, Z:8.30 [[ 7.68889371e-01 -6.39194934e-01 -1.54586833e-02 8.87342861e+02] [ 6.39061391e-01 7.69044737e-01 -1.30664118e-02 4.75340931e+01] [ 2.02404033e-02 1.67577509e-04 9.99795128e-01 8.30119672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3092541539999 meters Centerline goodness [0,1] 0.9999566837044096 Centerline is valid? [True, True] Translation: X:887.36, Y:47.55, Z:8.30 [[ 7.69186684e-01 -6.38839705e-01 -1.53517787e-02 8.87363676e+02] [ 6.38707830e-01 7.69339846e-01 -1.29811002e-02 4.75523772e+01] [ 2.01035773e-02 1.79588138e-04 9.99797887e-01 8.30043135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.38, Y:47.57, Z:8.30 [[ 7.69562333e-01 -6.38406287e-01 -1.45336556e-02 8.87384996e+02] [ 6.38287885e-01 7.69699537e-01 -1.22962586e-02 4.75700903e+01] [ 1.90365568e-02 1.86081187e-04 9.99818771e-01 8.30285462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3692541539999 meters Centerline goodness [0,1] 0.9997609007520758 Centerline is valid? [True, True] Translation: X:887.41, Y:47.59, Z:8.30 [[ 7.69258357e-01 -6.38754726e-01 -1.52964234e-02 8.87406051e+02] [ 6.38623529e-01 7.69410400e-01 -1.29469857e-02 4.75878160e+01] [ 2.00391756e-02 1.90921038e-04 9.99799177e-01 8.29901510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3992541539999 meters Centerline goodness [0,1] 0.9999565981641023 Centerline is valid? [True, True] Translation: X:887.43, Y:47.60, Z:8.30 [[ 7.68705146e-01 -6.39458074e-01 -1.36297712e-02 8.87429827e+02] [ 6.39353949e-01 7.68825954e-01 -1.15403689e-02 4.76046131e+01] [ 1.78585039e-02 1.56892921e-04 9.99840512e-01 8.30316358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4292541539999 meters Centerline goodness [0,1] 0.9999782924870297 Centerline is valid? [True, True] Translation: X:887.45, Y:47.62, Z:8.31 [[ 7.67124504e-01 -6.41382237e-01 -1.21991975e-02 8.87454367e+02] [ 6.41298989e-01 7.67221490e-01 -1.03340175e-02 4.76202224e+01] [ 1.59875417e-02 1.04145069e-04 9.99872186e-01 8.30642579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4592541539998 meters Centerline goodness [0,1] 0.9999127932327548 Centerline is valid? [True, True] Translation: X:887.48, Y:47.64, Z:8.30 [[ 7.65712732e-01 -6.43061013e-01 -1.25118144e-02 8.87475941e+02] [ 6.42973597e-01 7.65814944e-01 -1.06031078e-02 4.76361277e+01] [ 1.64001797e-02 7.41683687e-05 9.99865505e-01 8.30489307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4892541539999 meters Centerline goodness [0,1] 0.9998260377932894 Centerline is valid? [True, True] Translation: X:887.50, Y:47.65, Z:8.30 [[ 7.64555389e-01 -6.44437007e-01 -1.24900359e-02 8.87498692e+02] [ 6.44350011e-01 7.64657402e-01 -1.05887013e-02 4.76532113e+01] [ 1.63743494e-02 4.76939118e-05 9.99865930e-01 8.30463308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5192541539999 meters Centerline goodness [0,1] 0.9998914200091207 Centerline is valid? [True, True] Translation: X:887.52, Y:47.67, Z:8.31 [[ 7.63476461e-01 -6.45735890e-01 -1.13514107e-02 8.87521034e+02] [ 6.45664121e-01 7.63560842e-01 -9.62719544e-03 4.76696393e+01] [ 1.48841183e-02 2.09385166e-05 9.99889225e-01 8.30656412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5492541539999 meters Centerline goodness [0,1] 0.9999781497181314 Centerline is valid? [True, True] Translation: X:887.54, Y:47.69, Z:8.31 [[ 7.63290476e-01 -6.45959593e-01 -1.11289158e-02 8.87543252e+02] [ 6.45890590e-01 7.63371603e-01 -9.44152661e-03 4.76872606e+01] [ 1.45943430e-02 1.85653211e-05 9.99893497e-01 8.30773385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5792541539998 meters Centerline goodness [0,1] 0.9997822536744693 Centerline is valid? [True, True] Translation: X:887.56, Y:47.71, Z:8.30 [[ 7.63115528e-01 -6.46143529e-01 -1.23786440e-02 8.87564435e+02] [ 6.46058104e-01 7.63215920e-01 -1.05065120e-02 4.77051519e+01] [ 1.62362929e-02 2.03591950e-05 9.99868183e-01 8.30437372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6092541539999 meters Centerline goodness [0,1] 0.9997822536744693 Centerline is valid? [True, True] Translation: X:887.59, Y:47.72, Z:8.30 [[ 7.62932583e-01 -6.46359565e-01 -1.23768447e-02 8.87585418e+02] [ 6.46274134e-01 7.63032969e-01 -1.05086314e-02 4.77230658e+01] [ 1.62362949e-02 1.85427110e-05 9.99868183e-01 8.30463183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.61, Y:47.74, Z:8.31 [[ 7.63743297e-01 -6.45415709e-01 -1.16076621e-02 8.87606870e+02] [ 6.45340375e-01 7.63831500e-01 -9.86102128e-03 4.77415251e+01] [ 1.52307560e-02 4.03959166e-05 9.99884004e-01 8.30788532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6692541539999 meters Centerline goodness [0,1] 0.9998688409915621 Centerline is valid? [True, True] Translation: X:887.63, Y:47.76, Z:8.30 [[ 7.64370072e-01 -6.44639470e-01 -1.33546339e-02 8.87627873e+02] [ 6.44539545e-01 7.64486723e-01 -1.13501249e-02 4.77604867e+01] [ 1.75261788e-02 6.81061817e-05 9.99846402e-01 8.30352717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6992541539998 meters Centerline goodness [0,1] 0.9998471014809314 Centerline is valid? [True, True] Translation: X:887.65, Y:47.78, Z:8.30 [[ 7.64790775e-01 -6.44120738e-01 -1.42669208e-02 8.87649612e+02] [ 6.44006525e-01 7.64923831e-01 -1.21296823e-02 4.77793559e+01] [ 1.87260876e-02 8.86790644e-05 9.99824648e-01 8.30265493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7292541539998 meters Centerline goodness [0,1] 0.9999560893143347 Centerline is valid? [True, True] Translation: X:887.67, Y:47.80, Z:8.30 [[ 7.65680284e-01 -6.43061115e-01 -1.43563561e-02 8.87670564e+02] [ 6.42945190e-01 7.65814853e-01 -1.22104209e-02 4.77973277e+01] [ 1.88463576e-02 1.18928394e-04 9.99822385e-01 8.30305902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7592541539999 meters Centerline goodness [0,1] 0.9999126103294591 Centerline is valid? [True, True] Translation: X:887.69, Y:47.82, Z:8.30 [[ 7.65670959e-01 -6.43063534e-01 -1.47401759e-02 8.87692177e+02] [ 6.42941225e-01 7.65812820e-01 -1.25421991e-02 4.78153415e+01] [ 1.93536466e-02 1.26130881e-04 9.99812693e-01 8.30198337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.71, Y:47.83, Z:8.30 [[ 7.65924419e-01 -6.42773930e-01 -1.41936364e-02 8.87714321e+02] [ 6.42660348e-01 7.66055910e-01 -1.20838530e-02 4.78325113e+01] [ 1.86403047e-02 1.33630720e-04 9.99826245e-01 8.30393186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8192541539999 meters Centerline goodness [0,1] 0.9999559888211605 Centerline is valid? [True, True] Translation: X:887.74, Y:47.85, Z:8.30 [[ 7.65602956e-01 -6.43153007e-01 -1.43639881e-02 8.87736571e+02] [ 6.43036616e-01 7.65737679e-01 -1.22358908e-02 4.78498901e+01] [ 1.88685969e-02 1.31263837e-04 9.99821964e-01 8.30368963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.76, Y:47.87, Z:8.31 [[ 7.65403706e-01 -6.43415644e-01 -1.31710121e-02 8.87758789e+02] [ 6.43317745e-01 7.65517012e-01 -1.12242394e-02 4.78664316e+01] [ 1.73044850e-02 1.17928595e-04 9.99850259e-01 8.30530499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.78, Y:47.88, Z:8.31 [[ 7.65098668e-01 -6.43786192e-01 -1.27814724e-02 8.87780741e+02] [ 6.43693978e-01 7.65205415e-01 -1.08966433e-02 4.78833114e+01] [ 1.67955604e-02 1.09650428e-04 9.99858939e-01 8.30619013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.80, Y:47.90, Z:8.31 [[ 7.64835183e-01 -6.44104037e-01 -1.25352396e-02 8.87801492e+02] [ 6.44015308e-01 7.64937892e-01 -1.06913368e-02 4.79003699e+01] [ 1.64750130e-02 1.04224354e-04 9.99864272e-01 8.30604474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9392541539999 meters Centerline goodness [0,1] 0.9999120066874918 Centerline is valid? [True, True] Translation: X:887.83, Y:47.92, Z:8.31 [[ 7.63366525e-01 -6.45838236e-01 -1.28265649e-02 8.87825012e+02] [ 6.45745505e-01 7.63474274e-01 -1.09442004e-02 4.79158567e+01] [ 1.68609354e-02 7.17396652e-05 9.99857842e-01 8.30573642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.85, Y:47.93, Z:8.31 [[ 7.62554757e-01 -6.46803911e-01 -1.24476197e-02 8.87847185e+02] [ 6.46716632e-01 7.62656344e-01 -1.06253944e-02 4.79313459e+01] [ 1.63658028e-02 5.23623280e-05 9.99866070e-01 8.30739648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9992541539999 meters Centerline goodness [0,1] 0.9999779205581683 Centerline is valid? [True, True] Translation: X:887.87, Y:47.95, Z:8.31 [[ 7.61620942e-01 -6.47897889e-01 -1.27226586e-02 8.87869439e+02] [ 6.47806792e-01 7.61727198e-01 -1.08644392e-02 4.79483739e+01] [ 1.67302423e-02 3.27598214e-05 9.99860039e-01 8.30753658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.89, Y:47.96, Z:8.31 [[ 7.60783696e-01 -6.48881993e-01 -1.26620553e-02 8.87891703e+02] [ 6.48791819e-01 7.60889059e-01 -1.08173846e-02 4.79638876e+01] [ 1.66536254e-02 1.46519199e-05 9.99861319e-01 8.30789009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.91, Y:47.98, Z:8.31 [[ 7.60379297e-01 -6.49350377e-01 -1.29387849e-02 8.87913728e+02] [ 6.49256212e-01 7.60489374e-01 -1.10581738e-02 4.79812955e+01] [ 1.70204378e-02 7.81991989e-06 9.99855142e-01 8.30805818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0892541539998 meters Centerline goodness [0,1] 0.9998230871295887 Centerline is valid? [True, True] Translation: X:887.94, Y:48.00, Z:8.31 [[ 7.59500462e-01 -6.50355109e-01 -1.40456597e-02 8.87936399e+02] [ 6.50244191e-01 7.59630326e-01 -1.20108333e-02 4.79988678e+01] [ 1.84808159e-02 -1.08752004e-05 9.99829215e-01 8.30541416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1192541539999 meters Centerline goodness [0,1] 0.9999114593709189 Centerline is valid? [True, True] Translation: X:887.96, Y:48.02, Z:8.31 [[ 7.59644175e-01 -6.50196765e-01 -1.35975921e-02 8.87957077e+02] [ 6.50092696e-01 7.59765863e-01 -1.16327186e-02 4.80167875e+01] [ 1.78945423e-02 -2.96840849e-06 9.99839880e-01 8.30619398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.98, Y:48.04, Z:8.31 [[ 7.60790439e-01 -6.48869748e-01 -1.28824976e-02 8.87977397e+02] [ 6.48776062e-01 7.60899501e-01 -1.10259237e-02 4.80367464e+01] [ 1.69566743e-02 3.05612506e-05 9.99856225e-01 8.30798030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.00, Y:48.05, Z:8.31 [[ 7.61273177e-01 -6.48303421e-01 -1.28772437e-02 8.87996903e+02] [ 6.48209648e-01 7.61382080e-01 -1.10263582e-02 4.80549821e+01] [ 1.69529283e-02 4.69171503e-05 9.99856288e-01 8.30767184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.02, Y:48.07, Z:8.31 [[ 7.61647387e-01 -6.47859040e-01 -1.31119375e-02 8.88017946e+02] [ 6.47761667e-01 7.61760239e-01 -1.12321826e-02 4.80736300e+01] [ 1.72650236e-02 6.15520480e-05 9.99850946e-01 8.30791709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2392541539999 meters Centerline goodness [0,1] 0.9998899211835675 Centerline is valid? [True, True] Translation: X:888.04, Y:48.09, Z:8.31 [[ 7.62124378e-01 -6.47267585e-01 -1.45294653e-02 8.88039278e+02] [ 6.47147777e-01 7.62262859e-01 -1.24535001e-02 4.80935080e+01] [ 1.91360187e-02 8.84048883e-05 9.99816886e-01 8.30507726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2692541539999 meters Centerline goodness [0,1] 0.9999337455830388 Centerline is valid? [True, True] Translation: X:888.06, Y:48.11, Z:8.31 [[ 7.63016239e-01 -6.46215803e-01 -1.45380447e-02 8.88060288e+02] [ 6.46095543e-01 7.63154717e-01 -1.24670545e-02 4.81131135e+01] [ 1.91511850e-02 1.19599140e-04 9.99816592e-01 8.30586809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2992541539999 meters Centerline goodness [0,1] 0.9999117231638418 Centerline is valid? [True, True] Translation: X:888.08, Y:48.13, Z:8.31 [[ 7.63452214e-01 -6.45709748e-01 -1.41293327e-02 8.88081011e+02] [ 6.45595950e-01 7.63582938e-01 -1.21229277e-02 4.81322156e+01] [ 1.86168100e-02 1.33436048e-04 9.99826683e-01 8.30659350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3292541539998 meters Centerline goodness [0,1] 0.9999339745141624 Centerline is valid? [True, True] Translation: X:888.10, Y:48.15, Z:8.31 [[ 7.63899218e-01 -6.45192026e-01 -1.36100927e-02 8.88100565e+02] [ 6.45086273e-01 7.64020437e-01 -1.16821143e-02 4.81506002e+01] [ 1.79355959e-02 1.44273985e-04 9.99839134e-01 8.30679363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.12, Y:48.17, Z:8.31 [[ 7.64559491e-01 -6.44420682e-01 -1.30678511e-02 8.88121052e+02] [ 6.44322999e-01 7.64671144e-01 -1.12211218e-02 4.81698687e+01] [ 1.72237316e-02 1.59298193e-04 9.99851648e-01 8.30898626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.14, Y:48.19, Z:8.31 [[ 7.64750597e-01 -6.44196264e-01 -1.29498248e-02 8.88140008e+02] [ 6.44100223e-01 7.64860213e-01 -1.11245954e-02 4.81886181e+01] [ 1.70712285e-02 1.66555934e-04 9.99854262e-01 8.30861280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4192541539999 meters Centerline goodness [0,1] 0.9999338682655851 Centerline is valid? [True, True] Translation: X:888.16, Y:48.21, Z:8.31 [[ 7.64321207e-01 -6.44702288e-01 -1.31168687e-02 8.88161377e+02] [ 6.44603748e-01 7.64433735e-01 -1.12727224e-02 4.82064829e+01] [ 1.72945268e-02 1.60798040e-04 9.99850426e-01 8.30832616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.18, Y:48.22, Z:8.31 [[ 7.64293359e-01 -6.44739422e-01 -1.29127469e-02 8.88181642e+02] [ 6.44643836e-01 7.64402414e-01 -1.11028627e-02 4.82246921e+01] [ 1.70289882e-02 1.61721550e-04 9.99854983e-01 8.30962495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.20, Y:48.24, Z:8.31 [[ 7.63470893e-01 -6.45713907e-01 -1.28742533e-02 8.88202615e+02] [ 6.45618971e-01 7.63579420e-01 -1.10731035e-02 4.82427171e+01] [ 1.69805718e-02 1.42130096e-04 9.99855810e-01 8.30982495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.22, Y:48.26, Z:8.31 [[ 7.62703334e-01 -6.46623978e-01 -1.26907682e-02 8.88224359e+02] [ 6.46531792e-01 7.62808898e-01 -1.09190923e-02 4.82606402e+01] [ 1.67411778e-02 1.23042988e-04 9.99859849e-01 8.31057169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5392541539999 meters Centerline goodness [0,1] 0.9998677190352309 Centerline is valid? [True, True] Translation: X:888.25, Y:48.28, Z:8.31 [[ 7.61457997e-01 -6.48089847e-01 -1.26991684e-02 8.88246223e+02] [ 6.47997636e-01 7.61563879e-01 -1.09326243e-02 4.82783551e+01] [ 1.67565507e-02 9.57030952e-05 9.99859595e-01 8.30933914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5692541539999 meters Centerline goodness [0,1] 0.9999121844127332 Centerline is valid? [True, True] Translation: X:888.27, Y:48.30, Z:8.31 [[ 7.60239487e-01 -6.49531559e-01 -1.20281490e-02 8.88267693e+02] [ 6.49448950e-01 7.60334630e-01 -1.03591382e-02 4.82961239e+01] [ 1.58740054e-02 6.37571441e-05 9.99873998e-01 8.31061080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.29, Y:48.31, Z:8.31 [[ 7.59639910e-01 -6.50241217e-01 -1.15571299e-02 8.88288595e+02] [ 6.50164994e-01 7.59727818e-01 -9.95603984e-03 4.83138601e+01] [ 1.52541005e-02 4.89639379e-05 9.99883648e-01 8.31263573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6292541539999 meters Centerline goodness [0,1] 0.9998244497597156 Centerline is valid? [True, True] Translation: X:888.31, Y:48.33, Z:8.31 [[ 7.57620300e-01 -6.52582003e-01 -1.21741890e-02 8.88310760e+02] [ 6.52497644e-01 7.57718107e-01 -1.04926310e-02 4.83318557e+01] [ 1.60719056e-02 5.80065895e-06 9.99870839e-01 8.30993585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6592541539999 meters Centerline goodness [0,1] 0.9998244266432569 Centerline is valid? [True, True] Translation: X:888.33, Y:48.35, Z:8.31 [[ 7.56917761e-01 -6.53387552e-01 -1.26574436e-02 8.88331993e+02] [ 6.53296393e-01 7.57023584e-01 -1.09139801e-02 4.83494570e+01] [ 1.67130421e-02 -8.07686070e-06 9.99860327e-01 8.30981013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6892541539999 meters Centerline goodness [0,1] 0.9998457674172653 Centerline is valid? [True, True] Translation: X:888.35, Y:48.37, Z:8.31 [[ 7.55156982e-01 -6.55418387e-01 -1.28324148e-02 8.88353529e+02] [ 6.55324935e-01 7.55266003e-01 -1.10677169e-02 4.83664762e+01] [ 1.69458718e-02 -5.15377120e-05 9.99856407e-01 8.30987542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7192541539998 meters Centerline goodness [0,1] 0.9999339076028287 Centerline is valid? [True, True] Translation: X:888.38, Y:48.38, Z:8.31 [[ 7.54259129e-01 -6.56449881e-01 -1.29120418e-02 8.88375261e+02] [ 6.56355340e-01 7.54369637e-01 -1.11408792e-02 4.83844182e+01] [ 1.70538811e-02 -7.17777544e-05 9.99854569e-01 8.31143630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.40, Y:48.40, Z:8.31 [[ 7.53516136e-01 -6.57301673e-01 -1.29593253e-02 8.88396234e+02] [ 6.57206454e-01 7.53627563e-01 -1.11881104e-02 4.84024512e+01] [ 1.71204685e-02 -8.65305024e-05 9.99853430e-01 8.31321376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7792541539999 meters Centerline goodness [0,1] 0.9998461369381251 Centerline is valid? [True, True] Translation: X:888.42, Y:48.42, Z:8.31 [[ 7.51415211e-01 -6.59682136e-01 -1.39520530e-02 8.88418117e+02] [ 6.59572086e-01 7.51544715e-01 -1.20501004e-02 4.84201576e+01] [ 1.84348277e-02 -1.47755956e-04 9.99830053e-01 8.30966613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.44, Y:48.44, Z:8.31 [[ 7.50267414e-01 -6.61000080e-01 -1.33304767e-02 8.88439595e+02] [ 6.60899752e-01 7.50385811e-01 -1.15174733e-02 4.84389169e+01] [ 1.76160514e-02 -1.68923866e-04 9.99844811e-01 8.31313656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.46, Y:48.46, Z:8.31 [[ 7.49549388e-01 -6.61815119e-01 -1.32839141e-02 8.88461272e+02] [ 6.61715539e-01 7.49667069e-01 -1.14817820e-02 4.84568468e+01] [ 1.75573299e-02 -1.84009689e-04 9.99845841e-01 8.31299970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8692541539999 meters Centerline goodness [0,1] 0.9999122210274529 Centerline is valid? [True, True] Translation: X:888.48, Y:48.48, Z:8.31 [[ 7.48350820e-01 -6.63166659e-01 -1.34548562e-02 8.88483253e+02] [ 6.63064648e-01 7.48471734e-01 -1.16334090e-02 4.84755694e+01] [ 1.77854685e-02 -2.15568354e-04 9.99841803e-01 8.31160538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8992541539999 meters Centerline goodness [0,1] 0.9998899211835675 Centerline is valid? [True, True] Translation: X:888.51, Y:48.49, Z:8.31 [[ 7.46340292e-01 -6.65429635e-01 -1.34003876e-02 8.88505428e+02] [ 6.65328741e-01 7.46460535e-01 -1.15903307e-02 4.84926579e+01] [ 1.77154100e-02 -2.65332255e-04 9.99843035e-01 8.31188577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9292541539999 meters Centerline goodness [0,1] 0.9998456585968162 Centerline is valid? [True, True] Translation: X:888.53, Y:48.51, Z:8.31 [[ 7.44958762e-01 -6.66972096e-01 -1.35891688e-02 8.88527202e+02] [ 6.66868526e-01 7.45082634e-01 -1.17575029e-02 4.85110915e+01] [ 1.79669800e-02 -3.03334198e-04 9.99838535e-01 8.31192373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9592541539998 meters Centerline goodness [0,1] 0.99984642723942 Centerline is valid? [True, True] Translation: X:888.55, Y:48.53, Z:8.31 [[ 7.42954006e-01 -6.69206921e-01 -1.34700339e-02 8.88549199e+02] [ 6.69105454e-01 7.43076021e-01 -1.16584090e-02 4.85282962e+01] [ 1.78111472e-02 -3.51211458e-04 9.99841307e-01 8.31224490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9892541539999 meters Centerline goodness [0,1] 0.9997796774477835 Centerline is valid? [True, True] Translation: X:888.57, Y:48.55, Z:8.31 [[ 7.42160914e-01 -6.70099168e-01 -1.28172563e-02 8.88570639e+02] [ 6.70007392e-01 7.42271501e-01 -1.10956776e-02 4.85457822e+01] [ 1.69490884e-02 -3.52878269e-04 9.99856292e-01 8.31472202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0192541539999 meters Centerline goodness [0,1] 0.9999780132799789 Centerline is valid? [True, True] Translation: X:888.59, Y:48.57, Z:8.32 [[ 7.41169299e-01 -6.71194800e-01 -1.28689564e-02 8.88592643e+02] [ 6.71102380e-01 7.41280918e-01 -1.11443790e-02 4.85651255e+01] [ 1.70195610e-02 -3.76515689e-04 9.99855086e-01 8.31523441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0492541539999 meters Centerline goodness [0,1] 0.9997579118799242 Centerline is valid? [True, True] Translation: X:888.61, Y:48.58, Z:8.31 [[ 7.39357227e-01 -6.73180870e-01 -1.33569382e-02 8.88612831e+02] [ 6.73081559e-01 7.39477740e-01 -1.15709722e-02 4.85838891e+01] [ 1.76665156e-02 -4.35226903e-04 9.99843840e-01 8.31225101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0792541539998 meters Centerline goodness [0,1] 0.9998034505350514 Centerline is valid? [True, True] Translation: X:888.63, Y:48.60, Z:8.31 [[ 7.38548242e-01 -6.74079851e-01 -1.27612335e-02 8.88632897e+02] [ 6.73989298e-01 7.38658355e-01 -1.10571703e-02 4.86029993e+01] [ 1.68796074e-02 -4.34681108e-04 9.99857435e-01 8.31330360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1092541539999 meters Centerline goodness [0,1] 0.9997813395141364 Centerline is valid? [True, True] Translation: X:888.65, Y:48.62, Z:8.31 [[ 7.38019539e-01 -6.74658568e-01 -1.27662091e-02 8.88653897e+02] [ 6.74567965e-01 7.38129811e-01 -1.10653721e-02 4.86228273e+01] [ 1.68884676e-02 -4.45214920e-04 9.99857281e-01 8.31324891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1392541539999 meters Centerline goodness [0,1] 0.9998682881854503 Centerline is valid? [True, True] Translation: X:888.67, Y:48.64, Z:8.31 [[ 7.37891845e-01 -6.74800429e-01 -1.26493824e-02 8.88674590e+02] [ 6.74711405e-01 7.38000127e-01 -1.09695902e-02 4.86423745e+01] [ 1.67375300e-02 -4.40311457e-04 9.99859821e-01 8.31443588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1692541539999 meters Centerline goodness [0,1] 0.9999124093984716 Centerline is valid? [True, True] Translation: X:888.69, Y:48.66, Z:8.32 [[ 7.38241015e-01 -6.74436226e-01 -1.16610665e-02 8.88693996e+02] [ 6.74360469e-01 7.38333001e-01 -1.01162260e-02 4.86626581e+01] [ 1.54324995e-02 -3.95549306e-04 9.99880834e-01 8.31526797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1992541539998 meters Centerline goodness [0,1] 0.9999344892343975 Centerline is valid? [True, True] Translation: X:888.71, Y:48.69, Z:8.32 [[ 7.38573227e-01 -6.74075065e-01 -1.15063451e-02 8.88712405e+02] [ 6.74001216e-01 7.38662753e-01 -9.98494305e-03 4.86860699e+01] [ 1.52299097e-02 -3.80678980e-04 9.99883946e-01 8.31680454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2292541539998 meters Centerline goodness [0,1] 0.999912593142932 Centerline is valid? [True, True] Translation: X:888.73, Y:48.71, Z:8.32 [[ 7.39896228e-01 -6.72615737e-01 -1.19013607e-02 8.88730716e+02] [ 6.72536457e-01 7.39991853e-01 -1.03330521e-02 4.87086394e+01] [ 1.57570834e-02 -3.58712646e-04 9.99875785e-01 8.31640442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2592541539999 meters Centerline goodness [0,1] 0.9999345321229051 Centerline is valid? [True, True] Translation: X:888.75, Y:48.73, Z:8.32 [[ 7.40816825e-01 -6.71597261e-01 -1.21470477e-02 8.88750615e+02] [ 6.71514473e-01 7.40916327e-01 -1.05503450e-02 4.87287900e+01] [ 1.60855287e-02 -3.41045249e-04 9.99870561e-01 8.31611734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2892541539999 meters Centerline goodness [0,1] 0.9997167138810198 Centerline is valid? [True, True] Translation: X:888.77, Y:48.75, Z:8.31 [[ 7.43491269e-01 -6.68619531e-01 -1.29867802e-02 8.88770926e+02] [ 6.68524380e-01 7.43604625e-01 -1.12834403e-02 4.87486549e+01] [ 1.72013584e-02 -2.92839794e-04 9.99852003e-01 8.31376064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.79, Y:48.77, Z:8.31 [[ 7.45197635e-01 -6.66713344e-01 -1.31834205e-02 8.88790851e+02] [ 6.66614914e-01 7.45314199e-01 -1.14586498e-02 4.87705176e+01] [ 1.74654252e-02 -2.49305987e-04 9.99847437e-01 8.31419745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3492541539998 meters Centerline goodness [0,1] 0.9998916224124851 Centerline is valid? [True, True] Translation: X:888.81, Y:48.79, Z:8.31 [[ 7.46528095e-01 -6.65207353e-01 -1.39635506e-02 8.88808992e+02] [ 6.65096582e-01 7.46658642e-01 -1.21412212e-02 4.87940432e+01] [ 1.85024354e-02 -2.23347058e-04 9.99828790e-01 8.31364140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3792541539999 meters Centerline goodness [0,1] 0.9997623368766745 Centerline is valid? [True, True] Translation: X:888.83, Y:48.82, Z:8.31 [[ 7.49762579e-01 -6.61540897e-01 -1.48228345e-02 8.88827377e+02] [ 6.61415224e-01 7.49909077e-01 -1.28949200e-02 4.88174178e+01] [ 1.96462951e-02 -1.35919894e-04 9.99806984e-01 8.31202129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4092541539999 meters Centerline goodness [0,1] 0.9999137559292799 Centerline is valid? [True, True] Translation: X:888.85, Y:48.84, Z:8.31 [[ 7.51458077e-01 -6.59623458e-01 -1.44101626e-02 8.88847666e+02] [ 6.59504220e-01 7.51596226e-01 -1.25417807e-02 4.88388869e+01] [ 1.91034766e-02 -7.89405888e-05 9.99817509e-01 8.31362463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4392541539999 meters Centerline goodness [0,1] 0.9998918591573666 Centerline is valid? [True, True] Translation: X:888.86, Y:48.86, Z:8.31 [[ 7.54992197e-01 -6.55587358e-01 -1.38563106e-02 8.88864931e+02] [ 6.55476360e-01 7.55119338e-01 -1.20634673e-02 4.88612503e+01] [ 1.83718247e-02 2.53396157e-05 9.99831223e-01 8.31386405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4692541539998 meters Centerline goodness [0,1] 0.9997835919409639 Centerline is valid? [True, True] Translation: X:888.88, Y:48.88, Z:8.31 [[ 7.56494507e-01 -6.53852812e-01 -1.38766364e-02 8.88884364e+02] [ 6.53741112e-01 7.56621765e-01 -1.20856787e-02 4.88813203e+01] [ 1.84016201e-02 7.10218180e-05 9.99830673e-01 8.31417127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.90, Y:48.90, Z:8.32 [[ 7.60093898e-01 -6.49701931e-01 -1.20277793e-02 8.88901144e+02] [ 6.49617431e-01 7.60189041e-01 -1.04793115e-02 4.89038500e+01] [ 1.59518149e-02 1.51805690e-04 9.99872750e-01 8.31748142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.92, Y:48.92, Z:8.32 [[ 7.59918648e-01 -6.49906933e-01 -1.20260647e-02 8.88921871e+02] [ 6.49822427e-01 7.60013787e-01 -1.04812789e-02 4.89220393e+01] [ 1.59518308e-02 1.50112801e-04 9.99872750e-01 8.31773944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5592541539999 meters Centerline goodness [0,1] 0.9999138599362564 Centerline is valid? [True, True] Translation: X:888.94, Y:48.94, Z:8.32 [[ 7.61190811e-01 -6.48412907e-01 -1.22168315e-02 8.88942728e+02] [ 6.48325414e-01 7.61288819e-01 -1.06532196e-02 4.89415234e+01] [ 1.62082224e-02 1.88650523e-04 9.99868620e-01 8.31744488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.96, Y:48.96, Z:8.32 [[ 7.62677799e-01 -6.46680214e-01 -1.12816603e-02 8.88961976e+02] [ 6.46605361e-01 7.62761205e-01 -9.84127342e-03 4.89614164e+01] [ 1.49693696e-02 2.10938706e-04 9.99887930e-01 8.31932199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6192541539999 meters Centerline goodness [0,1] 0.9999353977346139 Centerline is valid? [True, True] Translation: X:888.98, Y:48.98, Z:8.32 [[ 7.64846742e-01 -6.44103279e-01 -1.18501956e-02 8.88982031e+02] [ 6.44020329e-01 7.64938487e-01 -1.03405253e-02 4.89821043e+01] [ 1.57250369e-02 2.77150226e-04 9.99876316e-01 8.31823545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6492541539999 meters Centerline goodness [0,1] 0.9998493197864646 Centerline is valid? [True, True] Translation: X:889.00, Y:49.00, Z:8.32 [[ 7.65500600e-01 -6.43305368e-01 -1.29242138e-02 8.89000333e+02] [ 6.43206510e-01 7.65609626e-01 -1.12820975e-02 4.90041502e+01] [ 1.71527363e-02 3.23513913e-04 9.99852829e-01 8.31537789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6792541539999 meters Centerline goodness [0,1] 0.9998710426204139 Centerline is valid? [True, True] Translation: X:889.02, Y:49.02, Z:8.31 [[ 7.66307088e-01 -6.42331064e-01 -1.35738819e-02 8.89020068e+02] [ 6.42221826e-01 7.66427212e-01 -1.18513402e-02 4.90239672e+01] [ 1.80158764e-02 3.64322728e-04 9.99837635e-01 8.31404796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7092541539998 meters Centerline goodness [0,1] 0.9999351897859102 Centerline is valid? [True, True] Translation: X:889.04, Y:49.04, Z:8.32 [[ 7.66205069e-01 -6.42438148e-01 -1.42484260e-02 8.89044496e+02] [ 6.42317720e-01 7.66337444e-01 -1.24445687e-02 4.90399265e+01] [ 1.89139681e-02 3.83075056e-04 9.99821042e-01 8.31614807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.07, Y:49.06, Z:8.32 [[ 7.65133967e-01 -6.43691319e-01 -1.52150344e-02 8.89068443e+02] [ 6.43554100e-01 7.65285136e-01 -1.32958770e-02 4.90567211e+01] [ 2.02022803e-02 3.81429373e-04 9.99795840e-01 8.31646799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.09, Y:49.07, Z:8.32 [[ 7.64262807e-01 -6.44714128e-01 -1.56861401e-02 8.89090260e+02] [ 6.44568397e-01 7.64423676e-01 -1.37122470e-02 4.90738582e+01] [ 2.08313362e-02 3.68970257e-04 9.99782936e-01 8.31566411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7992541539999 meters Centerline goodness [0,1] 0.9999567483402175 Centerline is valid? [True, True] Translation: X:889.11, Y:49.09, Z:8.31 [[ 7.62883296e-01 -6.46325556e-01 -1.65030976e-02 8.89112447e+02] [ 6.46164564e-01 7.63061700e-01 -1.44290903e-02 4.90914244e+01] [ 2.19187716e-02 3.43995126e-04 9.99759696e-01 8.31354332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8292541539998 meters Centerline goodness [0,1] 0.9998915071822245 Centerline is valid? [True, True] Translation: X:889.14, Y:49.10, Z:8.31 [[ 7.59084737e-01 -6.50743310e-01 -1.79862946e-02 8.89139497e+02] [ 6.50553167e-01 7.59297758e-01 -1.57318368e-02 4.91049620e+01] [ 2.38943408e-02 2.40756288e-04 9.99714460e-01 8.31244249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8592541539999 meters Centerline goodness [0,1] 0.9999782116088548 Centerline is valid? [True, True] Translation: X:889.16, Y:49.12, Z:8.31 [[ 7.56552575e-01 -6.53693933e-01 -1.76760804e-02 8.89164317e+02] [ 6.53510915e-01 7.56759023e-01 -1.54681944e-02 4.91201203e+01] [ 2.34879981e-02 1.50990838e-04 9.99724108e-01 8.31481499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.19, Y:49.13, Z:8.32 [[ 7.50558388e-01 -6.60585615e-01 -1.69926940e-02 8.89192754e+02] [ 6.60418062e-01 7.50750719e-01 -1.48775205e-02 4.91308704e+01] [ 2.25851533e-02 -5.58341935e-05 9.99744921e-01 8.31646316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9192541539999 meters Centerline goodness [0,1] 0.999760348583878 Centerline is valid? [True, True] Translation: X:889.22, Y:49.15, Z:8.32 [[ 7.46807855e-01 -6.64803629e-01 -1.77246054e-02 8.89218247e+02] [ 6.64622325e-01 7.47018139e-01 -1.55262441e-02 4.91450889e+01] [ 2.35625052e-02 -1.85047357e-04 9.99722349e-01 8.31545713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.25, Y:49.16, Z:8.32 [[ 7.40583559e-01 -6.71786731e-01 -1.54460253e-02 8.89246695e+02] [ 6.71650460e-01 7.40744534e-01 -1.35349665e-02 4.91558498e+01] [ 2.05341697e-02 -3.50556327e-04 9.99789090e-01 8.32025879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9792541539998 meters Centerline goodness [0,1] 0.9997591522157996 Centerline is valid? [True, True] Translation: X:889.27, Y:49.17, Z:8.32 [[ 7.36976747e-01 -6.75725123e-01 -1.61503140e-02 8.89272038e+02] [ 6.75576960e-01 7.37153533e-01 -1.41576748e-02 4.91716999e+01] [ 2.14719576e-02 -4.76902869e-04 9.99769337e-01 8.31875919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0092541539999 meters Centerline goodness [0,1] 0.9998903075775526 Centerline is valid? [True, True] Translation: X:889.30, Y:49.19, Z:8.32 [[ 7.34309799e-01 -6.78638978e-01 -1.54355529e-02 8.89296394e+02] [ 6.78504183e-01 7.34471819e-01 -1.35359127e-02 4.91868742e+01] [ 2.05229766e-02 -5.33533844e-04 9.99789239e-01 8.32041123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0392541539999 meters Centerline goodness [0,1] 0.999867467750486 Centerline is valid? [True, True] Translation: X:889.32, Y:49.20, Z:8.32 [[ 7.29888018e-01 -6.83395595e-01 -1.52951686e-02 8.89323014e+02] [ 6.83264167e-01 7.30047963e-01 -1.34182317e-02 4.92002605e+01] [ 2.03361671e-02 -6.56834053e-04 9.99792983e-01 8.32083513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0692541539999 meters Centerline goodness [0,1] 0.9998670772502714 Centerline is valid? [True, True] Translation: X:889.35, Y:49.22, Z:8.32 [[ 7.28148539e-01 -6.85248312e-01 -1.53119692e-02 8.89346439e+02] [ 6.85116891e-01 7.28309175e-01 -1.34384612e-02 4.92152299e+01] [ 2.03605305e-02 -7.05292786e-04 9.99792454e-01 8.32113390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0992541539998 meters Centerline goodness [0,1] 0.9999336297869517 Centerline is valid? [True, True] Translation: X:889.37, Y:49.23, Z:8.32 [[ 7.28673500e-01 -6.84706501e-01 -1.45580813e-02 8.89367413e+02] [ 6.84587537e-01 7.28818619e-01 -1.27798078e-02 4.92337144e+01] [ 1.93606182e-02 -6.53973714e-04 9.99812352e-01 8.32270127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1292541539999 meters Centerline goodness [0,1] 0.9999338799259455 Centerline is valid? [True, True] Translation: X:889.39, Y:49.25, Z:8.32 [[ 7.29229529e-01 -6.84110524e-01 -1.47337804e-02 8.89388877e+02] [ 6.83988468e-01 7.29378076e-01 -1.29382132e-02 4.92538183e+01] [ 1.95976642e-02 -6.42808784e-04 9.99807741e-01 8.32222571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1592541539999 meters Centerline goodness [0,1] 0.9999779551166175 Centerline is valid? [True, True] Translation: X:889.41, Y:49.27, Z:8.32 [[ 7.30409910e-01 -6.82849889e-01 -1.47442405e-02 8.89409436e+02] [ 6.82727282e-01 7.30558460e-01 -1.29535686e-02 4.92741323e+01] [ 1.96168725e-02 -6.04880364e-04 9.99807388e-01 8.32330850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1892541539999 meters Centerline goodness [0,1] 0.9997787512721802 Centerline is valid? [True, True] Translation: X:889.43, Y:49.29, Z:8.32 [[ 7.31835946e-01 -6.81291783e-01 -1.60516266e-02 8.89429927e+02] [ 6.81145990e-01 7.32011704e-01 -1.41068991e-02 4.92934760e+01] [ 2.13608930e-02 -6.09565198e-04 9.99771644e-01 8.32026107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2192541539998 meters Centerline goodness [0,1] 0.9998451532982348 Centerline is valid? [True, True] Translation: X:889.45, Y:49.31, Z:8.32 [[ 7.32651498e-01 -6.80412022e-01 -1.61636562e-02 8.89450327e+02] [ 6.80263919e-01 7.32829542e-01 -1.42078391e-02 4.93118334e+01] [ 2.15123893e-02 -5.86157527e-04 9.99768410e-01 8.32061580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2492541539999 meters Centerline goodness [0,1] 0.9998459405330458 Centerline is valid? [True, True] Translation: X:889.47, Y:49.33, Z:8.32 [[ 7.33396682e-01 -6.79602754e-01 -1.64134840e-02 8.89471233e+02] [ 6.79449781e-01 7.33580106e-01 -1.44299437e-02 4.93306686e+01] [ 2.18472348e-02 -5.69265332e-04 9.99761159e-01 8.32008710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.49, Y:49.35, Z:8.32 [[ 7.33528771e-01 -6.79480100e-01 -1.55671214e-02 8.89492170e+02] [ 6.79342376e-01 7.33693743e-01 -1.36904275e-02 4.93504132e+01] [ 2.07238726e-02 -5.33082764e-04 9.99785095e-01 8.32235765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3092541539999 meters Centerline goodness [0,1] 0.9999337265557691 Centerline is valid? [True, True] Translation: X:889.51, Y:49.37, Z:8.32 [[ 7.32842744e-01 -6.80214462e-01 -1.58049983e-02 8.89513027e+02] [ 6.80072575e-01 7.33012942e-01 -1.39039172e-02 4.93697192e+01] [ 2.10429138e-02 -5.59161077e-04 9.99778417e-01 8.32157604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.53, Y:49.39, Z:8.32 [[ 7.30990339e-01 -6.82213744e-01 -1.54121036e-02 8.89532124e+02] [ 6.82079168e-01 7.31152550e-01 -1.35631199e-02 4.93920984e+01] [ 2.05215456e-02 -5.97765162e-04 9.99789232e-01 8.32474638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.55, Y:49.41, Z:8.33 [[ 7.27942542e-01 -6.85472009e-01 -1.50924050e-02 8.89554944e+02] [ 6.85343555e-01 7.28098670e-01 -1.32867464e-02 4.94084671e+01] [ 2.00964528e-02 -6.71494545e-04 9.99797820e-01 8.32557628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3992541539999 meters Centerline goodness [0,1] 0.9999778907804554 Centerline is valid? [True, True] Translation: X:889.58, Y:49.42, Z:8.33 [[ 7.26301999e-01 -6.87207762e-01 -1.51953392e-02 8.89577776e+02] [ 6.87077866e-01 7.26460577e-01 -1.33804397e-02 4.94247187e+01] [ 2.02339569e-02 -7.22141184e-04 9.99795012e-01 8.32545755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.60, Y:49.44, Z:8.33 [[ 7.24976048e-01 -6.88610123e-01 -1.50275811e-02 8.89597792e+02] [ 6.88483316e-01 7.25131392e-01 -1.32358799e-02 4.94449369e+01] [ 2.00113317e-02 -7.50542962e-04 9.99799472e-01 8.32677539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4592541539998 meters Centerline goodness [0,1] 0.9998679926075861 Centerline is valid? [True, True] Translation: X:889.62, Y:49.46, Z:8.33 [[ 7.22450455e-01 -6.91245273e-01 -1.56624799e-02 8.89619315e+02] [ 6.91108061e-01 7.22619707e-01 -1.37988075e-02 4.94629434e+01] [ 2.08563772e-02 -8.55511369e-04 9.99782116e-01 8.32501032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.64, Y:49.48, Z:8.33 [[ 7.22385294e-01 -6.91320352e-01 -1.53511508e-02 8.89640381e+02] [ 6.91188445e-01 7.22547902e-01 -1.35300329e-02 4.94824617e+01] [ 2.04455288e-02 -8.36641259e-04 9.99790618e-01 8.32691041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5192541539999 meters Centerline goodness [0,1] 0.9998247996145592 Centerline is valid? [True, True] Translation: X:889.66, Y:49.50, Z:8.32 [[ 7.22393150e-01 -6.91288912e-01 -1.63639133e-02 8.89659425e+02] [ 6.91138881e-01 7.22577923e-01 -1.44288864e-02 4.95021905e+01] [ 2.17987316e-02 -8.86408033e-04 9.99761986e-01 8.32427923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5492541539999 meters Centerline goodness [0,1] 0.9998467399395717 Centerline is valid? [True, True] Translation: X:889.68, Y:49.52, Z:8.32 [[ 7.23270527e-01 -6.90376748e-01 -1.61149308e-02 8.89679793e+02] [ 6.90230950e-01 7.23449538e-01 -1.42127332e-02 4.95217067e+01] [ 2.14704797e-02 -8.43372948e-04 9.99769127e-01 8.32448603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5792541539998 meters Centerline goodness [0,1] 0.9999122268059335 Centerline is valid? [True, True] Translation: X:889.70, Y:49.54, Z:8.33 [[ 7.24520123e-01 -6.89066996e-01 -1.60395098e-02 8.89698860e+02] [ 6.88922132e-01 7.24697205e-01 -1.41512250e-02 4.95436158e+01] [ 2.13749300e-02 -7.97125996e-04 9.99771212e-01 8.32643758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6092541539999 meters Centerline goodness [0,1] 0.999824837975127 Centerline is valid? [True, True] Translation: X:889.72, Y:49.57, Z:8.33 [[ 7.27736212e-01 -6.85666909e-01 -1.61522394e-02 8.89716749e+02] [ 6.85519008e-01 7.27915108e-01 -1.42578040e-02 4.95655899e+01] [ 2.15335635e-02 -6.96746840e-04 9.99767883e-01 8.32616348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6392541539999 meters Centerline goodness [0,1] 0.9998688868493509 Centerline is valid? [True, True] Translation: X:889.74, Y:49.59, Z:8.33 [[ 7.29858541e-01 -6.83409709e-01 -1.60524086e-02 8.89736027e+02] [ 6.83262989e-01 7.30034781e-01 -1.41741449e-02 4.95857982e+01] [ 2.14055648e-02 -6.22895969e-04 9.99770681e-01 8.32665831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.75, Y:49.61, Z:8.33 [[ 7.35065336e-01 -6.77811365e-01 -1.58336642e-02 8.89751887e+02] [ 6.77667209e-01 7.35235711e-01 -1.39857827e-02 4.96122324e+01] [ 2.11211978e-02 -4.49490931e-04 9.99776822e-01 8.32963503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6992541539998 meters Centerline goodness [0,1] 0.9998911220956819 Centerline is valid? [True, True] Translation: X:889.77, Y:49.63, Z:8.33 [[ 7.37240988e-01 -6.75410038e-01 -1.72338588e-02 8.89770717e+02] [ 6.75238418e-01 7.37442278e-01 -1.52303936e-02 4.96343410e+01] [ 2.29957368e-02 -4.08493138e-04 9.99735480e-01 8.32791512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.79, Y:49.66, Z:8.33 [[ 7.40513078e-01 -6.71833415e-01 -1.67404956e-02 8.89788805e+02] [ 6.71670448e-01 7.40702222e-01 -1.47995889e-02 4.96556789e+01] [ 2.23425806e-02 -2.84807044e-04 9.99750333e-01 8.32899120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7592541539999 meters Centerline goodness [0,1] 0.9999783413831193 Centerline is valid? [True, True] Translation: X:889.81, Y:49.68, Z:8.33 [[ 7.45917981e-01 -6.65790796e-01 -1.81378483e-02 8.89805407e+02] [ 6.65597524e-01 7.46138462e-01 -1.60415374e-02 4.96802070e+01] [ 2.42136542e-02 -1.06835735e-04 9.99706801e-01 8.32787030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7892541539999 meters Centerline goodness [0,1] 0.9998918544793874 Centerline is valid? [True, True] Translation: X:889.82, Y:49.70, Z:8.33 [[ 7.47951406e-01 -6.63458753e-01 -1.97782353e-02 8.89824783e+02] [ 6.63227878e-01 7.48212859e-01 -1.75014036e-02 4.97018169e+01] [ 2.64097894e-02 -2.72776639e-05 9.99651200e-01 8.32671225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.84, Y:49.73, Z:8.33 [[ 7.52853113e-01 -6.57890873e-01 -1.97936854e-02 8.89841792e+02] [ 6.57657565e-01 7.53113252e-01 -1.75202083e-02 4.97250896e+01] [ 2.64332719e-02 1.72676420e-04 9.99650565e-01 8.32794768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8492541539998 meters Centerline goodness [0,1] 0.9998488904239703 Centerline is valid? [True, True] Translation: X:889.86, Y:49.75, Z:8.33 [[ 7.53883692e-01 -6.56659303e-01 -2.13995050e-02 8.89862306e+02] [ 6.56385883e-01 7.54187313e-01 -1.89491207e-02 4.97457000e+01] [ 2.85823516e-02 2.39100113e-04 9.99591413e-01 8.32648873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8792541539999 meters Centerline goodness [0,1] 0.9999135807803655 Centerline is valid? [True, True] Translation: X:889.88, Y:49.77, Z:8.33 [[ 7.56594536e-01 -6.53545080e-01 -2.10603010e-02 8.89881819e+02] [ 6.53278790e-01 7.56887508e-01 -1.86580383e-02 4.97678058e+01] [ 2.81341479e-02 3.58321914e-04 9.99604092e-01 8.32877642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.90, Y:49.79, Z:8.33 [[ 7.57792823e-01 -6.52204528e-01 -1.94753754e-02 8.89901360e+02] [ 6.51976134e-01 7.58042945e-01 -1.72631051e-02 4.97876509e+01] [ 2.60222462e-02 3.84377193e-04 9.99661290e-01 8.33056706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9392541539999 meters Centerline goodness [0,1] 0.9999784427006985 Centerline is valid? [True, True] Translation: X:889.92, Y:49.81, Z:8.33 [[ 7.58209974e-01 -6.51721953e-01 -1.93940927e-02 8.89922203e+02] [ 6.51495069e-01 7.58457863e-01 -1.72001455e-02 4.98070681e+01] [ 2.59193145e-02 4.06166082e-04 9.99663956e-01 8.33137672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9692541539998 meters Centerline goodness [0,1] 0.9999569225467391 Centerline is valid? [True, True] Translation: X:889.94, Y:49.83, Z:8.33 [[ 7.58584164e-01 -6.51298389e-01 -1.89861583e-02 8.89942422e+02] [ 6.51080672e-01 7.58821610e-01 -1.68440898e-02 4.98256230e+01] [ 2.53776358e-02 4.16139091e-04 9.99677849e-01 8.33243543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.96, Y:49.84, Z:8.33 [[ 7.58535030e-01 -6.51384404e-01 -1.79712657e-02 8.89964512e+02] [ 6.51189213e-01 7.58747785e-01 -1.59501623e-02 4.98436882e+01] [ 2.40253450e-02 3.96062500e-04 9.99711271e-01 8.33472051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.99, Y:49.86, Z:8.34 [[ 7.57503226e-01 -6.52585662e-01 -1.79113862e-02 8.89986421e+02] [ 6.52391986e-01 7.57714870e-01 -1.59019503e-02 4.98612893e+01] [ 2.39491084e-02 3.60533831e-04 9.99713114e-01 8.33551797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.01, Y:49.88, Z:8.34 [[ 7.56618956e-01 -6.53608878e-01 -1.79774511e-02 8.90009216e+02] [ 6.53413912e-01 7.56832427e-01 -1.59667451e-02 4.98797176e+01] [ 2.40419243e-02 3.34025318e-04 9.99710895e-01 8.33605967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.03, Y:49.90, Z:8.34 [[ 7.55750724e-01 -6.54601864e-01 -1.83642028e-02 8.90031145e+02] [ 6.54398481e-01 7.55973743e-01 -1.63195302e-02 4.98976139e+01] [ 2.45656500e-02 3.15990300e-04 9.99698169e-01 8.33649786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.05, Y:49.92, Z:8.34 [[ 7.54717917e-01 -6.55780416e-01 -1.87859421e-02 8.90052309e+02] [ 6.55567697e-01 7.54951628e-01 -1.67043327e-02 4.99154476e+01] [ 2.51368518e-02 2.91602417e-04 9.99683977e-01 8.33628278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1492541539999 meters Centerline goodness [0,1] 0.9998701607842289 Centerline is valid? [True, True] Translation: X:890.08, Y:49.93, Z:8.33 [[ 7.51333837e-01 -6.59564145e-01 -2.17394469e-02 8.90075574e+02] [ 6.59280647e-01 7.51648255e-01 -1.93372503e-02 4.99318589e+01] [ 2.90945743e-02 1.96333868e-04 9.99576644e-01 8.33468076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1792541539999 meters Centerline goodness [0,1] 0.9998278125739868 Centerline is valid? [True, True] Translation: X:890.10, Y:49.95, Z:8.33 [[ 7.49504208e-01 -6.61610875e-01 -2.26824258e-02 8.90098021e+02] [ 6.61303065e-01 7.49847341e-01 -2.01797405e-02 4.99485576e+01] [ 3.03594924e-02 1.24842735e-04 9.99539037e-01 8.33437887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2092541539998 meters Centerline goodness [0,1] 0.9998273145250071 Centerline is valid? [True, True] Translation: X:890.12, Y:49.96, Z:8.34 [[ 7.45353693e-01 -6.66302915e-01 -2.20974645e-02 8.90123235e+02] [ 6.66012595e-01 7.45681180e-01 -1.96672607e-02 4.99630344e+01] [ 2.95820165e-02 -5.81243300e-05 9.99562355e-01 8.33614795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.15, Y:49.98, Z:8.34 [[ 7.43194270e-01 -6.68739050e-01 -2.12216861e-02 8.90146583e+02] [ 6.68472130e-01 7.43497184e-01 -1.88931206e-02 4.99793046e+01] [ 2.84128314e-02 -1.44846688e-04 9.99596264e-01 8.33685591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.17, Y:50.00, Z:8.34 [[ 7.40470049e-01 -6.71750235e-01 -2.13478013e-02 8.90169798e+02] [ 6.71481281e-01 7.40777669e-01 -1.90087971e-02 4.99953665e+01] [ 2.85831384e-02 -2.59204044e-04 9.99591385e-01 8.33706071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2992541539999 meters Centerline goodness [0,1] 0.9999127951339685 Centerline is valid? [True, True] Translation: X:890.20, Y:50.01, Z:8.34 [[ 7.34814434e-01 -6.77955134e-01 -2.06054472e-02 8.90195326e+02] [ 6.77706785e-01 7.35103128e-01 -1.83549580e-02 5.00100837e+01] [ 2.75909667e-02 -4.76963288e-04 9.99619183e-01 8.33847112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3292541539998 meters Centerline goodness [0,1] 0.9997817118159394 Centerline is valid? [True, True] Translation: X:890.22, Y:50.03, Z:8.34 [[ 7.31436237e-01 -6.81572481e-01 -2.14472354e-02 8.90219070e+02] [ 6.81304713e-01 7.31750336e-01 -1.91136944e-02 5.00258660e+01] [ 2.87213898e-02 -6.31653882e-04 9.99587256e-01 8.33712212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.24, Y:50.04, Z:8.34 [[ 7.29513584e-01 -6.83679383e-01 -1.98099029e-02 8.90241760e+02] [ 6.83451600e-01 7.29782207e-01 -1.76589991e-02 5.00416127e+01] [ 2.65300083e-02 -6.56630118e-04 9.99647802e-01 8.33834986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3892541539999 meters Centerline goodness [0,1] 0.9998690899570178 Centerline is valid? [True, True] Translation: X:890.27, Y:50.06, Z:8.34 [[ 7.24779131e-01 -6.88674722e-01 -2.05508536e-02 8.90266422e+02] [ 6.88431457e-01 7.25069910e-01 -1.83236074e-02 5.00568913e+01] [ 2.75198108e-02 -8.67285819e-04 9.99620882e-01 8.33965345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4192541539999 meters Centerline goodness [0,1] 0.9998690899570178 Centerline is valid? [True, True] Translation: X:890.29, Y:50.08, Z:8.34 [[ 7.24586923e-01 -6.88877074e-01 -2.05467126e-02 8.90286975e+02] [ 6.88633758e-01 7.24877660e-01 -1.83282503e-02 5.00753234e+01] [ 2.75197644e-02 -8.68749409e-04 9.99620882e-01 8.33991160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4492541539998 meters Centerline goodness [0,1] 0.9998686859844174 Centerline is valid? [True, True] Translation: X:890.31, Y:50.09, Z:8.34 [[ 7.22751493e-01 -6.90815907e-01 -2.00913425e-02 8.90308300e+02] [ 6.90583752e-01 7.23030114e-01 -1.79314266e-02 5.00943277e+01] [ 2.69139604e-02 -9.14789401e-04 9.99637335e-01 8.34182656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4792541539998 meters Centerline goodness [0,1] 0.9999126561271727 Centerline is valid? [True, True] Translation: X:890.33, Y:50.11, Z:8.34 [[ 7.21209970e-01 -6.92482228e-01 -1.80150913e-02 8.90330831e+02] [ 6.92295966e-01 7.21434407e-01 -1.60838849e-02 5.01107367e+01] [ 2.41345112e-02 -8.71916889e-04 9.99708340e-01 8.34357253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.35, Y:50.13, Z:8.34 [[ 7.20595047e-01 -6.93128190e-01 -1.77789358e-02 8.90352372e+02] [ 6.92946895e-01 7.20813804e-01 -1.58764236e-02 5.01279392e+01] [ 2.38196991e-02 -8.79386181e-04 9.99715884e-01 8.34364027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.37, Y:50.15, Z:8.34 [[ 7.20081600e-01 -6.93663955e-01 -1.76863303e-02 8.90373863e+02] [ 6.93484567e-01 7.20298222e-01 -1.57996059e-02 5.01479459e+01] [ 2.36990494e-02 -8.88191667e-04 9.99718744e-01 8.34408154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.39, Y:50.17, Z:8.34 [[ 7.19846724e-01 -6.93912424e-01 -1.74997611e-02 8.90394576e+02] [ 6.93736730e-01 7.20058865e-01 -1.56390429e-02 5.01654307e+01] [ 2.34529843e-02 -8.82513221e-04 9.99724551e-01 8.34336841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.41, Y:50.19, Z:8.34 [[ 7.20112847e-01 -6.93628479e-01 -1.78050721e-02 8.90413345e+02] [ 6.93446346e-01 7.20332391e-01 -1.59189102e-02 5.01875986e+01] [ 2.38673796e-02 -8.83450466e-04 9.99714743e-01 8.34493369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.43, Y:50.21, Z:8.34 [[ 7.20429301e-01 -6.93292367e-01 -1.80918859e-02 8.90434401e+02] [ 6.93104090e-01 7.20655892e-01 -1.61804141e-02 5.02057567e+01] [ 2.42557818e-02 -8.82715679e-04 9.99705396e-01 8.34419440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.46, Y:50.22, Z:8.34 [[ 7.20824315e-01 -6.92881422e-01 -1.81008552e-02 8.90455394e+02] [ 6.92692738e-01 7.21051027e-01 -1.61922033e-02 5.02243211e+01] [ 2.42709171e-02 -8.66597089e-04 9.99705042e-01 8.34357875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.47, Y:50.25, Z:8.34 [[ 7.22148198e-01 -6.91496831e-01 -1.82787523e-02 8.90473924e+02] [ 6.91303811e-01 7.22379024e-01 -1.63580543e-02 5.02464908e+01] [ 2.45157300e-02 -8.23231697e-04 9.99699105e-01 8.34365446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.49, Y:50.27, Z:8.34 [[ 7.22847181e-01 -6.90757453e-01 -1.86036150e-02 8.90494155e+02] [ 6.90557056e-01 7.23086088e-01 -1.66571855e-02 5.02674400e+01] [ 2.49580902e-02 -8.06258045e-04 9.99688173e-01 8.34426540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.51, Y:50.29, Z:8.34 [[ 7.24746488e-01 -6.88771645e-01 -1.83343641e-02 8.90514239e+02] [ 6.88576250e-01 7.24977998e-01 -1.64210107e-02 5.02871245e+01] [ 2.46023372e-02 -7.23537869e-04 9.99697055e-01 8.34361370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.53, Y:50.31, Z:8.35 [[ 7.25521349e-01 -6.87958624e-01 -1.82127355e-02 8.90533377e+02] [ 6.87765408e-01 7.25749585e-01 -1.63182069e-02 5.03088268e+01] [ 2.44441364e-02 -6.86881958e-04 9.99700961e-01 8.34512772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.55, Y:50.33, Z:8.34 [[ 7.27411838e-01 -6.85961748e-01 -1.81245002e-02 8.90552890e+02] [ 6.85769640e-01 7.27637344e-01 -1.62448712e-02 5.03287407e+01] [ 2.43314234e-02 -6.12520305e-04 9.99703759e-01 8.34479472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.57, Y:50.35, Z:8.35 [[ 7.28202575e-01 -6.85116021e-01 -1.83588474e-02 8.90573284e+02] [ 6.84918479e-01 7.28433726e-01 -1.64615657e-02 5.03497843e+01] [ 2.46512861e-02 -5.86959326e-04 9.99695939e-01 8.34538503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8692541539999 meters Centerline goodness [0,1] 0.9997837884586279 Centerline is valid? [True, True] Translation: X:890.59, Y:50.37, Z:8.35 [[ 7.28322062e-01 -6.84989205e-01 -1.83510962e-02 8.90592358e+02] [ 6.84791571e-01 7.28552989e-01 -1.64635028e-02 5.03709357e+01] [ 2.46470677e-02 -5.75943675e-04 9.99696049e-01 8.34571314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.61, Y:50.39, Z:8.35 [[ 7.29428777e-01 -6.83827806e-01 -1.76971980e-02 8.90612468e+02] [ 6.83643470e-01 7.29643249e-01 -1.58851024e-02 5.03912903e+01] [ 2.37753158e-02 -5.11523077e-04 9.99717196e-01 8.34689117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.63, Y:50.41, Z:8.35 [[ 7.30298863e-01 -6.82926485e-01 -1.65827063e-02 8.90631301e+02] [ 6.82764290e-01 7.30486971e-01 -1.48898873e-02 5.04125119e+01] [ 2.22821493e-02 -4.48011917e-04 9.99751622e-01 8.34756059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.65, Y:50.43, Z:8.35 [[ 7.30621166e-01 -6.82596456e-01 -1.59621627e-02 8.90651661e+02] [ 6.82445977e-01 7.30795392e-01 -1.43382054e-02 5.04332384e+01] [ 2.14522831e-02 -4.17517409e-04 9.99769786e-01 8.34800584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.67, Y:50.45, Z:8.35 [[ 7.31047004e-01 -6.82140828e-01 -1.59426887e-02 8.90672106e+02] [ 6.81990458e-01 7.31220714e-01 -1.43276959e-02 5.04542134e+01] [ 2.14311305e-02 -3.98542398e-04 9.99770248e-01 8.34816448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0192541539999 meters Centerline goodness [0,1] 0.9998929106875134 Centerline is valid? [True, True] Translation: X:890.69, Y:50.48, Z:8.35 [[ 7.31712971e-01 -6.81407348e-01 -1.67378292e-02 8.90689647e+02] [ 6.81241227e-01 7.31904279e-01 -1.50504620e-02 5.04768425e+01] [ 2.25059842e-02 -3.89881040e-04 9.99746632e-01 8.34713627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0492541539999 meters Centerline goodness [0,1] 0.9998718496369073 Centerline is valid? [True, True] Translation: X:890.71, Y:50.50, Z:8.35 [[ 7.32155384e-01 -6.80905276e-01 -1.77904235e-02 8.90709136e+02] [ 6.80717231e-01 7.32371389e-01 -1.60062367e-02 5.04973482e+01] [ 2.39279282e-02 -3.91195498e-04 9.99713610e-01 8.34662608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0792541539998 meters Centerline goodness [0,1] 0.999914302853715 Centerline is valid? [True, True] Translation: X:890.73, Y:50.52, Z:8.35 [[ 7.33220010e-01 -6.79767601e-01 -1.74477979e-02 8.90728864e+02] [ 6.79586213e-01 7.33427496e-01 -1.57062516e-02 5.05185492e+01] [ 2.34732956e-02 -3.41144946e-04 9.99724406e-01 8.34811385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1092541539999 meters Centerline goodness [0,1] 0.9997857204079883 Centerline is valid? [True, True] Translation: X:890.75, Y:50.54, Z:8.35 [[ 7.34044604e-01 -6.78856068e-01 -1.82471314e-02 8.90746595e+02] [ 6.78657251e-01 7.34271296e-01 -1.64316863e-02 5.05387713e+01] [ 2.45530947e-02 -3.21957337e-04 9.99698475e-01 8.34678586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.77, Y:50.56, Z:8.35 [[ 7.34048185e-01 -6.78837894e-01 -1.87716732e-02 8.90766693e+02] [ 6.78627280e-01 7.34288096e-01 -1.69117238e-02 5.05581141e+01] [ 2.52641351e-02 -3.24949405e-04 9.99680758e-01 8.34692757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1692541539999 meters Centerline goodness [0,1] 0.9999139099928975 Centerline is valid? [True, True] Translation: X:890.79, Y:50.58, Z:8.35 [[ 7.31983369e-01 -6.81060524e-01 -1.88920748e-02 8.90788057e+02] [ 6.80847710e-01 7.32227017e-01 -1.70291164e-02 5.05777362e+01] [ 2.54311465e-02 -3.97595833e-04 9.99676497e-01 8.34725242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1992541539998 meters Centerline goodness [0,1] 0.9998069456659302 Centerline is valid? [True, True] Translation: X:890.81, Y:50.60, Z:8.35 [[ 7.30484567e-01 -6.82668075e-01 -1.88837956e-02 8.90808927e+02] [ 6.82455847e-01 7.30728471e-01 -1.70270175e-02 5.05954174e+01] [ 2.54227284e-02 -4.49383215e-04 9.99676689e-01 8.34712582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.83, Y:50.61, Z:8.35 [[ 7.29362663e-01 -6.83890745e-01 -1.79876297e-02 8.90830746e+02] [ 6.83698391e-01 7.29584288e-01 -1.62257863e-02 5.06132771e+01] [ 2.42201571e-02 -4.63630766e-04 9.99706541e-01 8.35005715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2592541539999 meters Centerline goodness [0,1] 0.999914381729061 Centerline is valid? [True, True] Translation: X:890.85, Y:50.63, Z:8.35 [[ 7.27377000e-01 -6.86006760e-01 -1.78164214e-02 8.90852566e+02] [ 6.85818539e-01 7.27594976e-01 -1.60773646e-02 5.06310397e+01] [ 2.39923196e-02 -5.24526852e-04 9.99712005e-01 8.35006492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.88, Y:50.65, Z:8.35 [[ 7.24791064e-01 -6.88765202e-01 -1.67454529e-02 8.90875005e+02] [ 6.88599535e-01 7.24984252e-01 -1.51167058e-02 5.06491492e+01] [ 2.25520506e-02 -5.74457794e-04 9.99745505e-01 8.35231561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.90, Y:50.67, Z:8.35 [[ 7.23567513e-01 -6.90053355e-01 -1.66259231e-02 8.90896602e+02] [ 6.89890224e-01 7.23758247e-01 -1.50159478e-02 5.06679520e+01] [ 2.23949542e-02 -6.05009842e-04 9.99749018e-01 8.35262183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.92, Y:50.69, Z:8.35 [[ 7.22232082e-01 -6.91443240e-01 -1.69430338e-02 8.90916931e+02] [ 6.91274095e-01 7.22430491e-01 -1.53072178e-02 5.06863009e+01] [ 2.28242365e-02 -6.56916629e-04 9.99739277e-01 8.35277456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.94, Y:50.71, Z:8.35 [[ 7.22075343e-01 -6.91595307e-01 -1.74106288e-02 8.90937942e+02] [ 6.91416606e-01 7.22284898e-01 -1.57354034e-02 5.07063851e+01] [ 2.34579654e-02 -6.75851040e-04 9.99724596e-01 8.35270104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.96, Y:50.73, Z:8.35 [[ 7.22315011e-01 -6.91337789e-01 -1.76942158e-02 8.90958566e+02] [ 6.91152960e-01 7.22531389e-01 -1.59993188e-02 5.07272104e+01] [ 2.38455600e-02 -6.72861470e-04 9.99715428e-01 8.35260573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4392541539999 meters Centerline goodness [0,1] 0.9997863247863248 Centerline is valid? [True, True] Translation: X:890.98, Y:50.75, Z:8.35 [[ 7.23406356e-01 -6.90152358e-01 -1.93123624e-02 8.90976868e+02] [ 6.89931529e-01 7.23663771e-01 -1.74709140e-02 5.07502520e+01] [ 2.60332495e-02 -6.85637486e-04 9.99660842e-01 8.35079930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4692541539998 meters Centerline goodness [0,1] 0.9998081882312824 Centerline is valid? [True, True] Translation: X:890.99, Y:50.77, Z:8.35 [[ 7.24841783e-01 -6.88642945e-01 -1.93722667e-02 8.90993877e+02] [ 6.88419982e-01 7.25100339e-01 -1.75336164e-02 5.07741493e+01] [ 2.61212384e-02 -6.27157706e-04 9.99658586e-01 8.35305991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4992541539999 meters Centerline goodness [0,1] 0.9999786993844122 Centerline is valid? [True, True] Translation: X:891.02, Y:50.79, Z:8.35 [[ 7.26906136e-01 -6.86477933e-01 -1.88551765e-02 8.91015222e+02] [ 6.86265860e-01 7.27150442e-01 -1.70705413e-02 5.07923233e+01] [ 2.54290999e-02 -5.30982706e-04 9.99676487e-01 8.35155868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5292541539999 meters Centerline goodness [0,1] 0.9998935785284039 Centerline is valid? [True, True] Translation: X:891.03, Y:50.82, Z:8.35 [[ 7.29227554e-01 -6.83981786e-01 -1.99020584e-02 8.91030015e+02] [ 6.83744382e-01 7.29498939e-01 -1.80254841e-02 5.08192258e+01] [ 2.68476333e-02 -4.63240950e-04 9.99639430e-01 8.35417471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5592541539999 meters Centerline goodness [0,1] 0.9999572302296736 Centerline is valid? [True, True] Translation: X:891.05, Y:50.84, Z:8.35 [[ 7.30598089e-01 -6.82518606e-01 -1.98691905e-02 8.91049856e+02] [ 6.82281199e-01 7.30868107e-01 -1.80048695e-02 5.08399667e+01] [ 2.68104161e-02 -4.02051911e-04 9.99640455e-01 8.35460366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5892541539998 meters Centerline goodness [0,1] 0.9999786762197203 Centerline is valid? [True, True] Translation: X:891.07, Y:50.86, Z:8.35 [[ 7.31993055e-01 -6.81010767e-01 -2.02608662e-02 8.91069373e+02] [ 6.80763178e-01 7.32273319e-01 -1.83652294e-02 5.08604860e+01] [ 2.73434107e-02 -3.49631350e-04 9.99626038e-01 8.35469931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6192541539999 meters Centerline goodness [0,1] 0.9998082495312767 Centerline is valid? [True, True] Translation: X:891.09, Y:50.88, Z:8.35 [[ 7.32804305e-01 -6.80113782e-01 -2.10497946e-02 8.91087714e+02] [ 6.79845920e-01 7.33106499e-01 -1.90888733e-02 5.08821674e+01] [ 2.84143470e-02 -3.22208425e-04 9.99596179e-01 8.35321801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6492541539999 meters Centerline goodness [0,1] 0.9999364420245334 Centerline is valid? [True, True] Translation: X:891.11, Y:50.90, Z:8.35 [[ 7.33808575e-01 -6.79056240e-01 -2.01890717e-02 8.91109131e+02] [ 6.78809181e-01 7.34086204e-01 -1.83177956e-02 5.09014751e+01] [ 2.72593324e-02 -2.62771763e-04 9.99628361e-01 8.35460196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6792541539999 meters Centerline goodness [0,1] 0.9999787748864456 Centerline is valid? [True, True] Translation: X:891.13, Y:50.92, Z:8.36 [[ 7.33940241e-01 -6.78935863e-01 -1.94374897e-02 8.91129427e+02] [ 6.78706686e-01 7.34197544e-01 -1.76409004e-02 5.09203475e+01] [ 2.62479972e-02 -2.44987537e-04 9.99655432e-01 8.35511596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7092541539998 meters Centerline goodness [0,1] 0.9998511746571702 Centerline is valid? [True, True] Translation: X:891.15, Y:50.94, Z:8.36 [[ 7.33251004e-01 -6.79673614e-01 -1.96658015e-02 8.91150275e+02] [ 6.79439103e-01 7.33514625e-01 -1.78549806e-02 5.09402953e+01] [ 2.65607123e-02 -2.69532047e-04 9.99647166e-01 8.35585559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.17, Y:50.96, Z:8.36 [[ 7.33405230e-01 -6.79542901e-01 -1.83906047e-02 8.91171343e+02] [ 6.79337574e-01 7.33635732e-01 -1.67054924e-02 5.09594490e+01] [ 2.48441035e-02 -2.41533257e-04 9.99691308e-01 8.35908829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.19, Y:50.98, Z:8.36 [[ 7.33000294e-01 -6.79990194e-01 -1.79973497e-02 8.91192037e+02] [ 6.79793469e-01 7.33221165e-01 -1.63573418e-02 5.09780405e+01] [ 2.43188697e-02 -2.44544490e-04 9.99704223e-01 8.35978572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7992541539999 meters Centerline goodness [0,1] 0.9999366393511869 Centerline is valid? [True, True] Translation: X:891.21, Y:51.00, Z:8.36 [[ 7.32311417e-01 -6.80732810e-01 -1.79674832e-02 8.91213138e+02] [ 6.80536827e-01 7.32531755e-01 -1.63357038e-02 5.09964757e+01] [ 2.42820016e-02 -2.64711606e-04 9.99705114e-01 8.35909465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8292541539998 meters Centerline goodness [0,1] 0.9998732546103636 Centerline is valid? [True, True] Translation: X:891.23, Y:51.02, Z:8.36 [[ 7.31897799e-01 -6.81158107e-01 -1.86880901e-02 8.91234107e+02] [ 6.80946059e-01 7.32136293e-01 -1.69974284e-02 5.10164790e+01] [ 2.52601651e-02 -2.85200858e-04 9.99680870e-01 8.35950112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8592541539999 meters Centerline goodness [0,1] 0.9998308131542772 Centerline is valid? [True, True] Translation: X:891.25, Y:51.04, Z:8.36 [[ 7.31789758e-01 -6.81265649e-01 -1.89964500e-02 8.91254548e+02] [ 6.81046337e-01 7.32036224e-01 -1.72873907e-02 5.10350796e+01] [ 2.56833950e-02 -2.86727279e-04 9.99670086e-01 8.35942604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8892541539999 meters Centerline goodness [0,1] 0.9998513295386968 Centerline is valid? [True, True] Translation: X:891.28, Y:51.05, Z:8.36 [[ 7.31553884e-01 -6.81504659e-01 -1.95016429e-02 8.91275747e+02] [ 6.81273361e-01 7.31813714e-01 -1.77565534e-02 5.10545856e+01] [ 2.63727436e-02 -2.96074234e-04 9.99652135e-01 8.35965542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9192541539999 meters Centerline goodness [0,1] 0.9998307344011171 Centerline is valid? [True, True] Translation: X:891.30, Y:51.07, Z:8.36 [[ 7.31318371e-01 -6.81748813e-01 -1.97988931e-02 8.91295931e+02] [ 6.81510234e-01 7.31586266e-01 -1.80370671e-02 5.10737710e+01] [ 2.67813473e-02 -3.02309707e-04 9.99641270e-01 8.35922701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9492541539998 meters Centerline goodness [0,1] 0.999978750982767 Centerline is valid? [True, True] Translation: X:891.32, Y:51.09, Z:8.36 [[ 7.31164425e-01 -6.81915766e-01 -1.97350218e-02 8.91316731e+02] [ 6.81678514e-01 7.31430651e-01 -1.79890469e-02 5.10926065e+01] [ 2.67018145e-02 -2.99989178e-04 9.99643398e-01 8.35915731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9792541539998 meters Centerline goodness [0,1] 0.9999150454506839 Centerline is valid? [True, True] Translation: X:891.34, Y:51.11, Z:8.36 [[ 7.30689583e-01 -6.82402868e-01 -2.04709373e-02 8.91338012e+02] [ 6.82147509e-01 7.30976211e-01 -1.86696192e-02 5.11121934e+01] [ 2.77039698e-02 -3.22502622e-04 9.99616119e-01 8.35869710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0092541539999 meters Centerline goodness [0,1] 0.9999788815678324 Centerline is valid? [True, True] Translation: X:891.36, Y:51.13, Z:8.36 [[ 7.30442523e-01 -6.82677231e-01 -2.01374931e-02 8.91359241e+02] [ 6.82429962e-01 7.30719984e-01 -1.83752861e-02 5.11301286e+01] [ 2.72592581e-02 -3.20338273e-04 9.99628346e-01 8.35919383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0392541539999 meters Centerline goodness [0,1] 0.9999362935592788 Centerline is valid? [True, True] Translation: X:891.38, Y:51.15, Z:8.36 [[ 7.29696909e-01 -6.83445237e-01 -2.10957134e-02 8.91381378e+02] [ 6.83173907e-01 7.30001698e-01 -1.92596319e-02 5.11490048e+01] [ 2.85628103e-02 -3.58347071e-04 9.99591935e-01 8.35940649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0692541539999 meters Centerline goodness [0,1] 0.9999153188246253 Centerline is valid? [True, True] Translation: X:891.40, Y:51.17, Z:8.36 [[ 7.29458241e-01 -6.83694395e-01 -2.12755569e-02 8.91401885e+02] [ 6.83418336e-01 7.29768347e-01 -1.94303264e-02 5.11671721e+01] [ 2.88106332e-02 -3.66493988e-04 9.99584820e-01 8.35935030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0992541539998 meters Centerline goodness [0,1] 0.9999363759755684 Centerline is valid? [True, True] Translation: X:891.42, Y:51.19, Z:8.36 [[ 7.29677460e-01 -6.83461827e-01 -2.12305530e-02 8.91421745e+02] [ 6.83186573e-01 7.29986171e-01 -1.93983750e-02 5.11863792e+01] [ 2.87560589e-02 -3.49871764e-04 9.99586398e-01 8.36167985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1292541539999 meters Centerline goodness [0,1] 0.9998725735887525 Centerline is valid? [True, True] Translation: X:891.44, Y:51.20, Z:8.36 [[ 7.29976268e-01 -6.83145536e-01 -2.11382556e-02 8.91442418e+02] [ 6.82872347e-01 7.30282184e-01 -1.93207202e-02 5.12034803e+01] [ 2.86357552e-02 -3.31062996e-04 9.99589858e-01 8.36009952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.46, Y:51.22, Z:8.36 [[ 7.31197286e-01 -6.81860959e-01 -2.04000565e-02 8.91462726e+02] [ 6.81605807e-01 7.31481758e-01 -1.86537251e-02 5.12244502e+01] [ 2.76415161e-02 -2.65243845e-04 9.99617865e-01 8.36400051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1892541539999 meters Centerline goodness [0,1] 0.9999149659863945 Centerline is valid? [True, True] Translation: X:891.48, Y:51.24, Z:8.36 [[ 7.31808541e-01 -6.81175809e-01 -2.13489439e-02 8.91483890e+02] [ 6.80895905e-01 7.32119838e-01 -1.95271385e-02 5.12432418e+01] [ 2.89313997e-02 -2.46281775e-04 9.99581369e-01 8.36207027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2192541539998 meters Centerline goodness [0,1] 0.9998512505578104 Centerline is valid? [True, True] Translation: X:891.50, Y:51.26, Z:8.36 [[ 7.32547417e-01 -6.80364322e-01 -2.18785469e-02 8.91504302e+02] [ 6.80069734e-01 7.32874030e-01 -2.00203184e-02 5.12630022e+01] [ 2.96553292e-02 -2.13105007e-04 9.99560161e-01 8.36289596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.53, Y:51.28, Z:8.36 [[ 7.33820274e-01 -6.79026330e-01 -2.07616952e-02 8.91525126e+02] [ 6.78760249e-01 7.34113903e-01 -1.90079472e-02 5.12826085e+01] [ 2.81483458e-02 -1.43796396e-04 9.99603746e-01 8.36451405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.54, Y:51.30, Z:8.36 [[ 7.34648595e-01 -6.78131203e-01 -2.07247315e-02 8.91544538e+02] [ 6.77865539e-01 7.34940856e-01 -1.89802625e-02 5.13009963e+01] [ 2.81025601e-02 -1.04758055e-04 9.99605040e-01 8.36469361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3092541539999 meters Centerline goodness [0,1] 0.9999146120183584 Centerline is valid? [True, True] Translation: X:891.56, Y:51.32, Z:8.37 [[ 7.36381323e-01 -6.76247503e-01 -2.07812867e-02 8.91564501e+02] [ 6.75979396e-01 7.36674497e-01 -1.90405590e-02 5.13214689e+01] [ 2.81851744e-02 -2.66096129e-05 9.99602719e-01 8.36693173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3392541539998 meters Centerline goodness [0,1] 0.9999146120183584 Centerline is valid? [True, True] Translation: X:891.58, Y:51.34, Z:8.37 [[ 7.36183596e-01 -6.76462917e-01 -2.07758356e-02 8.91584789e+02] [ 6.76194728e-01 7.36476694e-01 -1.90465061e-02 5.13401532e+01] [ 2.81851738e-02 -2.67851860e-05 9.99602719e-01 8.36718926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3692541539999 meters Centerline goodness [0,1] 0.9999573014517507 Centerline is valid? [True, True] Translation: X:891.60, Y:51.36, Z:8.37 [[ 7.37455692e-01 -6.75067574e-01 -2.10445324e-02 8.91604447e+02] [ 6.74791654e-01 7.37755901e-01 -1.92990763e-02 5.13593742e+01] [ 2.85539086e-02 3.15388677e-05 9.99592254e-01 8.36767382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.62, Y:51.38, Z:8.37 [[ 7.38527102e-01 -6.73908109e-01 -2.06295881e-02 8.91624527e+02] [ 6.73642270e-01 7.38815169e-01 -1.89272056e-02 5.13783628e+01] [ 2.79966499e-02 8.12916993e-05 9.99608014e-01 8.36934212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4292541539999 meters Centerline goodness [0,1] 0.9999362149979801 Centerline is valid? [True, True] Translation: X:891.64, Y:51.40, Z:8.37 [[ 7.39914841e-01 -6.72384769e-01 -2.06094652e-02 8.91644123e+02] [ 6.72118686e-01 7.40201798e-01 -1.89148064e-02 5.13983258e+01] [ 2.79731910e-02 1.43339300e-04 9.99608663e-01 8.36785104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4592541539998 meters Centerline goodness [0,1] 0.9997239270317909 Centerline is valid? [True, True] Translation: X:891.66, Y:51.42, Z:8.37 [[ 7.41868620e-01 -6.70228391e-01 -2.06120169e-02 8.91664820e+02] [ 6.69961194e-01 7.42154870e-01 -1.89247889e-02 5.14191358e+01] [ 2.79812396e-02 2.30455542e-04 9.99608422e-01 8.36974976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4892541539999 meters Centerline goodness [0,1] 0.9999362908534902 Centerline is valid? [True, True] Translation: X:891.68, Y:51.44, Z:8.37 [[ 7.43468098e-01 -6.68488431e-01 -1.94526325e-02 8.91683203e+02] [ 6.68249697e-01 7.43722487e-01 -1.78663234e-02 5.14387992e+01] [ 2.64107907e-02 2.83825728e-04 9.99651134e-01 8.36842453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5192541539999 meters Centerline goodness [0,1] 0.999915124766593 Centerline is valid? [True, True] Translation: X:891.70, Y:51.46, Z:8.37 [[ 7.43635826e-01 -6.68294589e-01 -1.97002504e-02 8.91704358e+02] [ 6.68049471e-01 7.43896668e-01 -1.81011494e-02 5.14582524e+01] [ 2.67518509e-02 2.99921360e-04 9.99642060e-01 8.36820215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5492541539999 meters Centerline goodness [0,1] 0.9999787541429421 Centerline is valid? [True, True] Translation: X:891.73, Y:51.48, Z:8.37 [[ 7.43332278e-01 -6.68640370e-01 -1.94211345e-02 8.91725965e+02] [ 6.68402009e-01 7.43585887e-01 -1.78544878e-02 5.14758369e+01] [ 2.63795128e-02 2.90691736e-04 9.99651958e-01 8.36949813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5792541539998 meters Centerline goodness [0,1] 0.9998721309379196 Centerline is valid? [True, True] Translation: X:891.75, Y:51.50, Z:8.37 [[ 7.43038885e-01 -6.68931009e-01 -2.06039034e-02 8.91746266e+02] [ 6.68662663e-01 7.43324434e-01 -1.89480616e-02 5.14951568e+01] [ 2.79903308e-02 3.02085691e-04 9.99608148e-01 8.36654961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6092541539999 meters Centerline goodness [0,1] 0.9999573205864152 Centerline is valid? [True, True] Translation: X:891.77, Y:51.51, Z:8.37 [[ 7.42159880e-01 -6.69906198e-01 -2.06009478e-02 8.91769257e+02] [ 6.69638070e-01 7.42445697e-01 -1.89536974e-02 5.15116885e+01] [ 2.79922844e-02 2.71494824e-04 9.99608102e-01 8.36737275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6392541539999 meters Centerline goodness [0,1] 0.9998294606693668 Centerline is valid? [True, True] Translation: X:891.79, Y:51.53, Z:8.37 [[ 7.41838555e-01 -6.70235322e-01 -2.14516179e-02 8.91791584e+02] [ 6.69944419e-01 7.42148594e-01 -1.97468964e-02 5.15305251e+01] [ 2.91553556e-02 2.77617356e-04 9.99574854e-01 8.36733199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6692541539999 meters Centerline goodness [0,1] 0.9999356444139351 Centerline is valid? [True, True] Translation: X:891.81, Y:51.55, Z:8.37 [[ 7.41112655e-01 -6.71056011e-01 -2.08773411e-02 8.91813708e+02] [ 6.70780530e-01 7.41406616e-01 -1.92278717e-02 5.15493931e+01] [ 2.83815777e-02 2.45905123e-04 9.99597132e-01 8.36763279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6992541539998 meters Centerline goodness [0,1] 0.9999142348678145 Centerline is valid? [True, True] Translation: X:891.84, Y:51.57, Z:8.37 [[ 7.40267369e-01 -6.71994975e-01 -2.06633749e-02 8.91835973e+02] [ 6.71725326e-01 7.40555675e-01 -1.90362400e-02 5.15661592e+01] [ 2.80946372e-02 2.11795083e-04 9.99605245e-01 8.36730802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.86, Y:51.58, Z:8.37 [[ 7.39755351e-01 -6.72585841e-01 -1.97561926e-02 8.91857719e+02] [ 6.72339451e-01 7.40019089e-01 -1.82046902e-02 5.15839396e+01] [ 2.68641765e-02 1.84149347e-04 9.99639076e-01 8.36766506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7592541539999 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:891.88, Y:51.60, Z:8.37 [[ 7.38606816e-01 -6.73869487e-01 -1.89706616e-02 8.91882023e+02] [ 6.73642539e-01 7.38850388e-01 -1.74881238e-02 5.16008141e+01] [ 2.58011937e-02 1.37402772e-04 9.99667084e-01 8.36926513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.90, Y:51.62, Z:8.37 [[ 7.37800605e-01 -6.74774096e-01 -1.81710550e-02 8.91903933e+02] [ 6.74566007e-01 7.38024328e-01 -1.67568961e-02 5.16182729e+01] [ 2.47178000e-02 1.05672082e-04 9.99694463e-01 8.36960436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.93, Y:51.64, Z:8.37 [[ 7.37020744e-01 -6.75635134e-01 -1.78210384e-02 8.91926319e+02] [ 6.75435055e-01 7.37236162e-01 -1.64416268e-02 5.16361028e+01] [ 2.42468546e-02 8.08659560e-05 9.99705999e-01 8.37004564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8492541539998 meters Centerline goodness [0,1] 0.9998927406898919 Centerline is valid? [True, True] Translation: X:891.95, Y:51.65, Z:8.37 [[ 7.35633809e-01 -6.77149311e-01 -1.76552985e-02 8.91949301e+02] [ 6.76953228e-01 7.35845642e-01 -1.62947333e-02 5.16516614e+01] [ 2.40255419e-02 3.51454498e-05 9.99711344e-01 8.36884945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8792541539999 meters Centerline goodness [0,1] 0.9999785610153503 Centerline is valid? [True, True] Translation: X:891.97, Y:51.67, Z:8.37 [[ 7.34625719e-01 -6.78260937e-01 -1.69456220e-02 8.91972497e+02] [ 6.78080455e-01 7.34821136e-01 -1.56459394e-02 5.16695110e+01] [ 2.30640307e-02 3.41434581e-06 9.99733990e-01 8.37067640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.99, Y:51.69, Z:8.37 [[ 7.33730074e-01 -6.79244309e-01 -1.63507578e-02 8.91994986e+02] [ 6.79076417e-01 7.33912234e-01 -1.51013997e-02 5.16868023e+01] [ 2.22575610e-02 -2.30628407e-05 9.99752270e-01 8.37076391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9392541539999 meters Centerline goodness [0,1] 0.9998713026318612 Centerline is valid? [True, True] Translation: X:892.02, Y:51.70, Z:8.37 [[ 7.32668342e-01 -6.80416558e-01 -1.51791906e-02 8.92019236e+02] [ 6.80272053e-01 7.32825562e-01 -1.40224446e-02 5.17022231e+01] [ 2.06648023e-02 -5.21779512e-05 9.99786459e-01 8.37080054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.04, Y:51.72, Z:8.37 [[ 7.32034594e-01 -6.81119938e-01 -1.41768243e-02 8.92041731e+02] [ 6.80993926e-01 7.32171855e-01 -1.31014147e-02 5.17204519e+01] [ 1.93035065e-02 -6.36424615e-05 9.99813668e-01 8.37245868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.06, Y:51.74, Z:8.37 [[ 7.32011336e-01 -6.81162240e-01 -1.33194349e-02 8.92064384e+02] [ 6.81050943e-01 7.32132502e-01 -1.23131120e-02 5.17366542e+01] [ 1.81388182e-02 -5.78761004e-05 9.99835476e-01 8.37288250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0292541539999 meters Centerline goodness [0,1] 0.9999352555248618 Centerline is valid? [True, True] Translation: X:892.09, Y:51.76, Z:8.37 [[ 7.32179050e-01 -6.80994806e-01 -1.26457036e-02 8.92085787e+02] [ 6.80894389e-01 7.32288244e-01 -1.16943913e-02 5.17550030e+01] [ 1.72241198e-02 -4.80003253e-05 9.99851653e-01 8.37327570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.11, Y:51.77, Z:8.37 [[ 7.32215180e-01 -6.80961158e-01 -1.23625200e-02 8.92106581e+02] [ 6.80865076e-01 7.32319534e-01 -1.14389277e-02 5.17733759e+01] [ 1.68427803e-02 -4.14515877e-05 9.99858149e-01 8.37364024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.13, Y:51.79, Z:8.37 [[ 7.33325404e-01 -6.79774267e-01 -1.18657777e-02 8.92128565e+02] [ 6.79685498e-01 7.33421397e-01 -1.09854015e-02 5.17912750e+01] [ 1.61702086e-02 -9.12302915e-06 9.99869254e-01 8.37409100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.15, Y:51.81, Z:8.37 [[ 7.33818827e-01 -6.79243869e-01 -1.17343513e-02 8.92149883e+02] [ 6.79156888e-01 7.33912642e-01 -1.08699435e-02 5.18098919e+01] [ 1.59953312e-02 7.10364831e-06 9.99872066e-01 8.37434469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1492541539999 meters Centerline goodness [0,1] 0.9998265206548845 Centerline is valid? [True, True] Translation: X:892.17, Y:51.83, Z:8.37 [[ 7.35122720e-01 -6.77835031e-01 -1.15869718e-02 8.92170502e+02] [ 6.77749970e-01 7.35214030e-01 -1.07381659e-02 5.18272762e+01] [ 1.57976093e-02 4.07999463e-05 9.99875209e-01 8.37208454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.19, Y:51.85, Z:8.37 [[ 7.35571745e-01 -6.77340903e-01 -1.19795725e-02 8.92191020e+02] [ 6.77249843e-01 7.35669286e-01 -1.11063729e-02 5.18461563e+01] [ 1.63358042e-02 5.63704513e-05 9.99866560e-01 8.37359024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2092541539998 meters Centerline goodness [0,1] 0.999847614071752 Centerline is valid? [True, True] Translation: X:892.21, Y:51.86, Z:8.37 [[ 7.36000954e-01 -6.76890388e-01 -1.10452988e-02 8.92211738e+02] [ 6.76812863e-01 7.36083826e-01 -1.02445200e-02 5.18641539e+01] [ 1.50646829e-02 6.43761481e-05 9.99886519e-01 8.37215206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.23, Y:51.88, Z:8.37 [[ 7.36745707e-01 -6.76080888e-01 -1.09725353e-02 8.92233165e+02] [ 6.76004235e-01 7.36827406e-01 -1.01807736e-02 5.18827748e+01] [ 1.49678911e-02 8.31609123e-05 9.99887971e-01 8.37426471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2692541539999 meters Centerline goodness [0,1] 0.9998910888932453 Centerline is valid? [True, True] Translation: X:892.25, Y:51.90, Z:8.37 [[ 7.37042900e-01 -6.75772033e-01 -9.99615971e-03 8.92253275e+02] [ 6.75708326e-01 7.37110679e-01 -9.27929794e-03 5.19002447e+01] [ 1.36389661e-02 8.47523191e-05 9.99906981e-01 8.37350587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.28, Y:51.92, Z:8.38 [[ 7.37870946e-01 -6.74865998e-01 -1.01168784e-02 8.92275391e+02] [ 6.74800602e-01 7.37940291e-01 -9.39538360e-03 5.19187451e+01] [ 1.38062771e-02 1.05704968e-04 9.99904683e-01 8.37556093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.30, Y:51.94, Z:8.38 [[ 7.38314340e-01 -6.74382083e-01 -1.00370031e-02 8.92296232e+02] [ 6.74317605e-01 7.38382551e-01 -9.32609004e-03 5.19372587e+01] [ 1.37004960e-02 1.17458133e-04 9.99906137e-01 8.37575715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3592541539999 meters Centerline goodness [0,1] 0.9998684902682798 Centerline is valid? [True, True] Translation: X:892.32, Y:51.96, Z:8.37 [[ 7.38797303e-01 -6.73866595e-01 -9.07507614e-03 8.92316536e+02] [ 6.73813797e-01 7.38853029e-01 -8.43614024e-03 5.19558824e+01] [ 1.23899806e-02 1.17686136e-04 9.99923234e-01 8.37389234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3892541539999 meters Centerline goodness [0,1] 0.9999560449220897 Centerline is valid? [True, True] Translation: X:892.34, Y:51.97, Z:8.37 [[ 7.40202367e-01 -6.72313006e-01 -9.78156123e-03 8.92337888e+02] [ 6.72251490e-01 7.40266977e-01 -9.09596840e-03 5.19749246e+01] [ 1.33563046e-02 1.57188224e-04 9.99910788e-01 8.37439111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.36, Y:51.99, Z:8.38 [[ 7.40468634e-01 -6.72015201e-01 -1.00882024e-02 8.92359389e+02] [ 6.71949674e-01 7.40537332e-01 -9.38594056e-03 5.19945260e+01] [ 1.37781853e-02 1.71230246e-04 9.99905062e-01 8.37526456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.38, Y:52.01, Z:8.38 [[ 7.41090056e-01 -6.71345228e-01 -9.00634061e-03 8.92380144e+02] [ 6.71292913e-01 7.41144761e-01 -8.38263315e-03 5.20136565e+01] [ 1.23026429e-02 1.66393449e-04 9.99924306e-01 8.37570026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.40, Y:52.03, Z:8.38 [[ 7.41176401e-01 -6.71253077e-01 -8.76635332e-03 8.92401939e+02] [ 6.71203481e-01 7.41228223e-01 -8.16141265e-03 5.20308751e+01] [ 1.19762419e-02 1.65039600e-04 9.99928269e-01 8.37666201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5092541539999 meters Centerline goodness [0,1] 0.9999780127965524 Centerline is valid? [True, True] Translation: X:892.42, Y:52.05, Z:8.38 [[ 7.40999401e-01 -6.71461556e-01 -7.69843322e-03 8.92423041e+02] [ 6.71423280e-01 7.41039377e-01 -7.17090767e-03 5.20491307e+01] [ 1.05198310e-02 1.44731006e-04 9.99944655e-01 8.37683988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5392541539999 meters Centerline goodness [0,1] 0.9999339061467284 Centerline is valid? [True, True] Translation: X:892.44, Y:52.07, Z:8.38 [[ 7.41203321e-01 -6.71248902e-01 -6.52295608e-03 8.92444249e+02] [ 6.71221387e-01 7.41232012e-01 -6.07896954e-03 5.20670246e+01] [ 8.91552549e-03 1.27404784e-04 9.99960248e-01 8.37687844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5692541539999 meters Centerline goodness [0,1] 0.9998680477667085 Centerline is valid? [True, True] Translation: X:892.47, Y:52.09, Z:8.38 [[ 7.41660338e-01 -6.70732707e-01 -7.58804298e-03 8.92465151e+02] [ 6.70695399e-01 7.41699137e-01 -7.07608278e-03 5.20861821e+01] [ 1.03742051e-02 1.58784431e-04 9.99946174e-01 8.37778620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.49, Y:52.11, Z:8.38 [[ 7.41694787e-01 -6.70694826e-01 -7.56926001e-03 8.92486140e+02] [ 6.70657678e-01 7.41733392e-01 -7.06068490e-03 5.21055589e+01] [ 1.03499377e-02 1.60490840e-04 9.99946425e-01 8.37722406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6292541539999 meters Centerline goodness [0,1] 0.9999558450160062 Centerline is valid? [True, True] Translation: X:892.51, Y:52.12, Z:8.38 [[ 7.42444468e-01 -6.69870977e-01 -7.00612602e-03 8.92506987e+02] [ 6.69839082e-01 7.42477506e-01 -6.53883450e-03 5.21246395e+01] [ 9.58206643e-03 1.61744479e-04 9.99954078e-01 8.37542672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.53, Y:52.14, Z:8.38 [[ 7.42499245e-01 -6.69800307e-01 -7.90065574e-03 8.92528032e+02] [ 6.69759723e-01 7.42541255e-01 -7.37555462e-03 5.21437766e+01] [ 1.08067116e-02 1.84802737e-04 9.99941589e-01 8.37568383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.55, Y:52.16, Z:8.38 [[ 7.42473383e-01 -6.69826347e-01 -8.12038834e-03 8.92549565e+02] [ 6.69783426e-01 7.42517763e-01 -7.58513807e-03 5.21619724e+01] [ 1.11102579e-02 1.92861608e-04 9.99938261e-01 8.37514883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.57, Y:52.18, Z:8.38 [[ 7.42389404e-01 -6.69918956e-01 -8.15880837e-03 8.92569359e+02] [ 6.69875588e-01 7.42434209e-01 -7.62507716e-03 5.21810340e+01] [ 1.11655622e-02 1.95389929e-04 9.99937644e-01 8.37505065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.59, Y:52.20, Z:8.37 [[ 7.42316652e-01 -6.69998963e-01 -8.20840578e-03 8.92588477e+02] [ 6.69955050e-01 7.42362008e-01 -7.67337179e-03 5.21996503e+01] [ 1.12347597e-02 1.96808747e-04 9.99936869e-01 8.37494288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7792541539999 meters Centerline goodness [0,1] 0.9998679926075861 Centerline is valid? [True, True] Translation: X:892.61, Y:52.22, Z:8.37 [[ 7.42462841e-01 -6.69846124e-01 -7.42292380e-03 8.92609335e+02] [ 6.69810188e-01 7.42499924e-01 -6.94083626e-03 5.22184697e+01] [ 1.01608126e-02 1.81363025e-04 9.99948361e-01 8.37297186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.63, Y:52.24, Z:8.37 [[ 7.42991889e-01 -6.69244825e-01 -8.62654748e-03 8.92630435e+02] [ 6.69196187e-01 7.43041933e-01 -8.07146400e-03 5.22388789e+01] [ 1.18116720e-02 2.24179607e-04 9.99930215e-01 8.37492005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.65, Y:52.26, Z:8.37 [[ 7.43375959e-01 -6.68812167e-01 -9.08130884e-03 8.92650402e+02] [ 6.68758186e-01 7.43431386e-01 -8.50078109e-03 5.22587148e+01] [ 1.24367558e-02 2.46076663e-04 9.99922630e-01 8.37467284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.67, Y:52.28, Z:8.37 [[ 7.43339918e-01 -6.68849434e-01 -9.28440420e-03 8.92669691e+02] [ 6.68792993e-01 7.43397855e-01 -8.69264756e-03 5.22780725e+01] [ 1.27160786e-02 2.52247457e-04 9.99919116e-01 8.37489675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8992541539999 meters Centerline goodness [0,1] 0.999867873422739 Centerline is valid? [True, True] Translation: X:892.69, Y:52.30, Z:8.37 [[ 7.42845114e-01 -6.69411663e-01 -8.31641516e-03 8.92691347e+02] [ 6.69366388e-01 7.42891633e-01 -7.78849370e-03 5.22967925e+01] [ 1.13919038e-02 2.18915714e-04 9.99935086e-01 8.37331250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.71, Y:52.32, Z:8.38 [[ 7.42435837e-01 -6.69853938e-01 -9.20488905e-03 8.92710560e+02] [ 6.69798454e-01 7.42492859e-01 -8.62472281e-03 5.23157229e+01] [ 1.26118689e-02 2.37882845e-04 9.99920439e-01 8.37565816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9592541539998 meters Centerline goodness [0,1] 0.9998684989151161 Centerline is valid? [True, True] Translation: X:892.73, Y:52.33, Z:8.37 [[ 7.41371734e-01 -6.71043981e-01 -8.24184137e-03 8.92732241e+02] [ 6.70999549e-01 7.41417519e-01 -7.72447030e-03 5.23343756e+01] [ 1.12941049e-02 1.96432101e-04 9.99936200e-01 8.37439055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.75, Y:52.35, Z:8.38 [[ 7.40839107e-01 -6.71624096e-01 -8.85949455e-03 8.92752035e+02] [ 6.71572750e-01 7.40892051e-01 -8.30716225e-03 5.23534349e+01] [ 1.21432194e-02 2.04475544e-04 9.99926247e-01 8.37699447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0192541539999 meters Centerline goodness [0,1] 0.9999779624038609 Centerline is valid? [True, True] Translation: X:892.78, Y:52.37, Z:8.38 [[ 7.38766222e-01 -6.73907741e-01 -8.53375081e-03 8.92775157e+02] [ 6.73860233e-01 7.38815491e-01 -8.00357601e-03 5.23716251e+01] [ 1.16985391e-02 1.62216311e-04 9.99931557e-01 8.37723018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0492541539999 meters Centerline goodness [0,1] 0.9999560690594386 Centerline is valid? [True, True] Translation: X:892.80, Y:52.39, Z:8.38 [[ 7.37242140e-01 -6.75574016e-01 -8.58928065e-03 8.92797025e+02] [ 6.75525955e-01 7.37292160e-01 -8.05942749e-03 5.23900939e+01] [ 1.17775491e-02 1.39467550e-04 9.99930633e-01 8.37720051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.82, Y:52.41, Z:8.38 [[ 7.34611397e-01 -6.78420788e-01 -9.55661903e-03 8.92820693e+02] [ 6.78361469e-01 7.34673548e-01 -8.97187821e-03 5.24075363e+01] [ 1.31077039e-02 1.08001868e-04 9.99914085e-01 8.37865759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.84, Y:52.43, Z:8.38 [[ 7.33140166e-01 -6.80007878e-01 -9.73568146e-03 8.92843354e+02] [ 6.79946393e-01 7.33204800e-01 -9.14455887e-03 5.24257733e+01] [ 1.33566204e-02 8.45019063e-05 9.99910793e-01 8.37929027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1392541539999 meters Centerline goodness [0,1] 0.9999559267502589 Centerline is valid? [True, True] Translation: X:892.87, Y:52.44, Z:8.38 [[ 7.31134072e-01 -6.82168543e-01 -9.43648191e-03 8.92865912e+02] [ 6.82110904e-01 7.31194965e-01 -8.86783527e-03 5.24443429e+01] [ 1.29492663e-02 4.68493132e-05 9.99916154e-01 8.37880714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1692541539999 meters Centerline goodness [0,1] 0.9998676694382568 Centerline is valid? [True, True] Translation: X:892.89, Y:52.46, Z:8.38 [[ 7.29117348e-01 -6.84326872e-01 -9.19919828e-03 8.92886790e+02] [ 6.84272219e-01 7.29175378e-01 -8.64862048e-03 5.24613267e+01] [ 1.26263123e-02 1.11034152e-05 9.99920285e-01 8.37770706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1992541539998 meters Centerline goodness [0,1] 0.9999336297869517 Centerline is valid? [True, True] Translation: X:892.91, Y:52.48, Z:8.38 [[ 7.26167261e-01 -6.87445659e-01 -9.97872503e-03 8.92909508e+02] [ 6.87381605e-01 7.26235819e-01 -9.38428900e-03 5.24782290e+01] [ 1.36980963e-02 -4.46285807e-05 9.99906176e-01 8.37916482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2292541539998 meters Centerline goodness [0,1] 0.9999336297869517 Centerline is valid? [True, True] Translation: X:892.93, Y:52.50, Z:8.38 [[ 7.25975984e-01 -6.87647678e-01 -9.97707396e-03 8.92929548e+02] [ 6.87583619e-01 7.26044537e-01 -9.38604410e-03 5.24971945e+01] [ 1.36980915e-02 -4.60300191e-05 9.99906176e-01 8.37942279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2592541539999 meters Centerline goodness [0,1] 0.9999337089824328 Centerline is valid? [True, True] Translation: X:892.95, Y:52.52, Z:8.38 [[ 7.24650270e-01 -6.89036551e-01 -1.05174791e-02 8.92950634e+02] [ 6.88965442e-01 7.24726587e-01 -9.89921013e-03 5.25155460e+01] [ 1.44432143e-02 -7.27143236e-05 9.99895689e-01 8.38013335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2892541539999 meters Centerline goodness [0,1] 0.9998235942668137 Centerline is valid? [True, True] Translation: X:892.97, Y:52.53, Z:8.38 [[ 7.21901441e-01 -6.91913108e-01 -1.07033218e-02 8.92973670e+02] [ 6.91839724e-01 7.21980772e-01 -1.00777731e-02 5.25339188e+01] [ 1.47005358e-02 -1.29824337e-04 9.99891933e-01 8.37744441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.99, Y:52.55, Z:8.38 [[ 7.21842343e-01 -6.91951236e-01 -1.21292358e-02 8.92994335e+02] [ 6.91856923e-01 7.21944226e-01 -1.14250806e-02 5.25524575e+01] [ 1.66622304e-02 -1.44588767e-04 9.99861165e-01 8.37998161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3492541539998 meters Centerline goodness [0,1] 0.9999116880823067 Centerline is valid? [True, True] Translation: X:893.02, Y:52.57, Z:8.38 [[ 7.20963170e-01 -6.92871264e-01 -1.18961758e-02 8.93015168e+02] [ 6.92780619e-01 7.21061292e-01 -1.12083766e-02 5.25710840e+01] [ 1.63438339e-02 -1.60613307e-04 9.99866418e-01 8.37839602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3792541539999 meters Centerline goodness [0,1] 0.99984498870632 Centerline is valid? [True, True] Translation: X:893.04, Y:52.59, Z:8.38 [[ 7.20444632e-01 -6.93404491e-01 -1.22369719e-02 8.93035377e+02] [ 6.93308582e-01 7.20548528e-01 -1.15338152e-02 5.25919761e+01] [ 1.68149313e-02 -1.74522425e-04 9.99858604e-01 8.37861485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4092541539999 meters Centerline goodness [0,1] 0.999977922995408 Centerline is valid? [True, True] Translation: X:893.05, Y:52.61, Z:8.38 [[ 7.21017499e-01 -6.92798465e-01 -1.28083430e-02 8.93054862e+02] [ 6.92693203e-01 7.21131237e-01 -1.20774815e-02 5.26111132e+01] [ 1.76037569e-02 -1.64176612e-04 9.99845028e-01 8.38072009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4392541539999 meters Centerline goodness [0,1] 0.9999779701716124 Centerline is valid? [True, True] Translation: X:893.07, Y:52.63, Z:8.38 [[ 7.22144122e-01 -6.91620300e-01 -1.30087825e-02 8.93073691e+02] [ 6.91511460e-01 7.22261270e-01 -1.22702294e-02 5.26322449e+01] [ 1.78820795e-02 -1.34848128e-04 9.99840094e-01 8.38127298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.09, Y:52.65, Z:8.38 [[ 7.23083054e-01 -6.90643389e-01 -1.27517121e-02 8.93093900e+02] [ 6.90538575e-01 7.23195477e-01 -1.20323541e-02 5.26533955e+01] [ 1.75320463e-02 -1.05157765e-04 9.99846296e-01 8.38151923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.11, Y:52.67, Z:8.38 [[ 7.24068750e-01 -6.89606660e-01 -1.29267140e-02 8.93113057e+02] [ 6.89498670e-01 7.24184126e-01 -1.22039082e-02 5.26739046e+01] [ 1.77772174e-02 -7.64835556e-05 9.99841970e-01 8.38174473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5292541539999 meters Centerline goodness [0,1] 0.9998899284534948 Centerline is valid? [True, True] Translation: X:893.13, Y:52.69, Z:8.38 [[ 7.24850686e-01 -6.88781750e-01 -1.30836900e-02 8.93132174e+02] [ 6.88670861e-01 7.24968756e-01 -1.23591020e-02 5.26940420e+01] [ 1.79979904e-02 -5.18525335e-05 9.99838022e-01 8.37995489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5592541539999 meters Centerline goodness [0,1] 0.9999560787069571 Centerline is valid? [True, True] Translation: X:893.15, Y:52.72, Z:8.38 [[ 7.28520402e-01 -6.84887004e-01 -1.37045694e-02 8.93150269e+02] [ 6.84764514e-01 7.28649291e-01 -1.29526475e-02 5.27170858e+01] [ 1.88569247e-02 5.18652219e-05 9.99822191e-01 8.38258044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.17, Y:52.74, Z:8.38 [[ 7.30171572e-01 -6.83127553e-01 -1.36463206e-02 8.93168886e+02] [ 6.83005703e-01 7.30299073e-01 -1.29024319e-02 5.27383721e+01] [ 1.87799020e-02 1.00474157e-04 9.99823637e-01 8.38244779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.19, Y:52.76, Z:8.38 [[ 7.31580847e-01 -6.81621289e-01 -1.34863858e-02 8.93188664e+02] [ 6.81501935e-01 7.31705130e-01 -1.27559762e-02 5.27601756e+01] [ 1.85628026e-02 1.41029880e-04 9.99827686e-01 8.38329480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6492541539999 meters Centerline goodness [0,1] 0.9999345249787206 Centerline is valid? [True, True] Translation: X:893.21, Y:52.78, Z:8.38 [[ 7.33789938e-01 -6.79261428e-01 -1.24995736e-02 8.93205545e+02] [ 6.79158488e-01 7.33896367e-01 -1.18267086e-02 5.27821640e+01] [ 1.72068186e-02 1.89128266e-04 9.99851934e-01 8.38263084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6792541539999 meters Centerline goodness [0,1] 0.9999346675668024 Centerline is valid? [True, True] Translation: X:893.23, Y:52.80, Z:8.38 [[ 7.34424853e-01 -6.78581550e-01 -1.21332515e-02 8.93225136e+02] [ 6.78484399e-01 7.34525044e-01 -1.14839188e-02 5.28028480e+01] [ 1.67049525e-02 2.01853533e-04 9.99860442e-01 8.38355011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.24, Y:52.82, Z:8.39 [[ 7.35409831e-01 -6.77512990e-01 -1.21872625e-02 8.93243874e+02] [ 6.77414757e-01 7.35510772e-01 -1.15391328e-02 5.28240745e+01] [ 1.67817752e-02 2.30160261e-04 9.99859150e-01 8.38565188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.26, Y:52.84, Z:8.39 [[ 7.35541554e-01 -6.77377335e-01 -1.17714790e-02 8.93264295e+02] [ 6.77285612e-01 7.35635707e-01 -1.11492375e-02 5.28431067e+01] [ 1.62117610e-02 2.28074139e-04 9.99868555e-01 8.38704008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.28, Y:52.86, Z:8.39 [[ 7.35203094e-01 -6.77740468e-01 -1.20112149e-02 8.93284646e+02] [ 6.77644911e-01 7.35301167e-01 -1.13828686e-02 5.28627496e+01] [ 1.65464910e-02 2.29381618e-04 9.99863071e-01 8.38737079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7992541539999 meters Centerline goodness [0,1] 0.9998480408118963 Centerline is valid? [True, True] Translation: X:893.31, Y:52.88, Z:8.38 [[ 7.34046410e-01 -6.78993643e-01 -1.19791487e-02 8.93305495e+02] [ 6.78898661e-01 7.34144121e-01 -1.13586187e-02 5.28825705e+01] [ 1.65068515e-02 2.05125238e-04 9.99863732e-01 8.38398899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8292541539998 meters Centerline goodness [0,1] 0.9999129980859579 Centerline is valid? [True, True] Translation: X:893.33, Y:52.90, Z:8.38 [[ 7.32616415e-01 -6.80528906e-01 -1.23933737e-02 8.93325163e+02] [ 6.80427387e-01 7.32721213e-01 -1.17556875e-02 5.29018183e+01] [ 1.70809730e-02 1.79618767e-04 9.99854093e-01 8.38444974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8592541539999 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:893.35, Y:52.92, Z:8.39 [[ 7.31474581e-01 -6.81750961e-01 -1.26714472e-02 8.93345844e+02] [ 6.81644941e-01 7.31584310e-01 -1.20237904e-02 5.29210134e+01] [ 1.74674626e-02 1.57669213e-04 9.99847420e-01 8.38522580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.37, Y:52.94, Z:8.39 [[ 7.27789844e-01 -6.85673294e-01 -1.31938584e-02 8.93368211e+02] [ 6.85558869e-01 7.27909424e-01 -1.25263178e-02 5.29391645e+01] [ 1.81928954e-02 7.13602340e-05 9.99834493e-01 8.38620228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9192541539999 meters Centerline goodness [0,1] 0.9998910081743869 Centerline is valid? [True, True] Translation: X:893.39, Y:52.96, Z:8.38 [[ 7.24658574e-01 -6.88978817e-01 -1.33469407e-02 8.93389842e+02] [ 6.88862154e-01 7.24781477e-01 -1.26784749e-02 5.29574491e+01] [ 1.84088160e-02 -6.63684272e-06 9.99830543e-01 8.38435303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9492541539998 meters Centerline goodness [0,1] 0.9999126694757985 Centerline is valid? [True, True] Translation: X:893.41, Y:52.98, Z:8.38 [[ 7.21685215e-01 -6.92091950e-01 -1.33859191e-02 8.93412433e+02] [ 6.91975010e-01 7.21809342e-01 -1.27223793e-02 5.29761105e+01] [ 1.84671377e-02 -8.11684983e-05 9.99829465e-01 8.38490929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9792541539998 meters Centerline goodness [0,1] 0.9998260264439806 Centerline is valid? [True, True] Translation: X:893.44, Y:52.99, Z:8.38 [[ 7.14710581e-01 -6.99285141e-01 -1.37505422e-02 8.93436416e+02] [ 6.99162965e-01 7.14842793e-01 -1.30740316e-02 5.29913208e+01] [ 1.89719520e-02 -2.69721143e-04 9.99819980e-01 8.38321256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0092541539999 meters Centerline goodness [0,1] 0.9998692810457517 Centerline is valid? [True, True] Translation: X:893.46, Y:53.01, Z:8.38 [[ 7.11068024e-01 -7.02991901e-01 -1.35886863e-02 8.93458368e+02] [ 7.02873193e-01 7.11197762e-01 -1.29235600e-02 5.30095888e+01] [ 1.87494013e-02 -3.61593063e-04 9.99824149e-01 8.38447480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.48, Y:53.03, Z:8.39 [[ 7.07676878e-01 -7.06402295e-01 -1.37562206e-02 8.93480820e+02] [ 7.06281188e-01 7.07810421e-01 -1.30878542e-02 5.30278906e+01] [ 1.89820865e-02 -4.53787999e-04 9.99819721e-01 8.38779137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0692541539999 meters Centerline goodness [0,1] 0.9999343027330063 Centerline is valid? [True, True] Translation: X:893.51, Y:53.04, Z:8.39 [[ 7.00599940e-01 -7.13428765e-01 -1.33835869e-02 8.93506943e+02] [ 7.13315320e-01 7.00727485e-01 -1.27375370e-02 5.30404137e+01] [ 1.84655725e-02 -6.22799851e-04 9.99829303e-01 8.38518423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0992541539998 meters Centerline goodness [0,1] 0.9999563423631879 Centerline is valid? [True, True] Translation: X:893.53, Y:53.06, Z:8.39 [[ 6.98349055e-01 -7.15634366e-01 -1.32684581e-02 8.93528561e+02] [ 7.15523184e-01 6.98474769e-01 -1.26321489e-02 5.30588874e+01] [ 1.83076831e-02 -6.72240114e-04 9.99832174e-01 8.38734376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1292541539999 meters Centerline goodness [0,1] 0.9999345464065977 Centerline is valid? [True, True] Translation: X:893.55, Y:53.08, Z:8.39 [[ 6.95881467e-01 -7.18039448e-01 -1.29744031e-02 8.93546578e+02] [ 7.17933449e-01 6.96002041e-01 -1.23580877e-02 5.30817939e+01] [ 1.79038055e-02 -7.14993737e-04 9.99839458e-01 8.38745030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.57, Y:53.10, Z:8.39 [[ 6.93975885e-01 -7.19882636e-01 -1.29019506e-02 8.93565555e+02] [ 7.19778029e-01 6.94095398e-01 -1.22950440e-02 5.31041489e+01] [ 1.78061732e-02 -7.54076516e-04 9.99841173e-01 8.39036887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1892541539999 meters Centerline goodness [0,1] 0.9996947230702137 Centerline is valid? [True, True] Translation: X:893.59, Y:53.12, Z:8.39 [[ 6.93645412e-01 -7.20198940e-01 -1.30203619e-02 8.93585560e+02] [ 7.20092347e-01 6.93767182e-01 -1.24141084e-02 5.31246530e+01] [ 1.79737274e-02 -7.64873615e-04 9.99838167e-01 8.39052313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.61, Y:53.14, Z:8.39 [[ 6.94209675e-01 -7.19652167e-01 -1.31789818e-02 8.93605640e+02] [ 7.19542748e-01 6.94334349e-01 -1.25716431e-02 5.31447350e+01] [ 1.81978299e-02 -7.55484497e-04 9.99834120e-01 8.39075351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.62, Y:53.17, Z:8.39 [[ 6.95148772e-01 -7.18740599e-01 -1.34214661e-02 8.93624525e+02] [ 7.18626828e-01 6.95277932e-01 -1.28093542e-02 5.31668275e+01] [ 1.85382521e-02 -7.40618796e-04 9.99827878e-01 8.39094843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2792541539999 meters Centerline goodness [0,1] 0.9997824289630565 Centerline is valid? [True, True] Translation: X:893.64, Y:53.19, Z:8.39 [[ 6.95983599e-01 -7.17915434e-01 -1.42919606e-02 8.93643436e+02] [ 7.17786114e-01 6.96129910e-01 -1.36470858e-02 5.31885384e+01] [ 1.97465148e-02 -7.60422958e-04 9.99804729e-01 8.38719391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.66, Y:53.21, Z:8.39 [[ 7.01257243e-01 -7.12771000e-01 -1.39921785e-02 8.93659971e+02] [ 7.12645934e-01 7.01396566e-01 -1.33652141e-02 5.32110132e+01] [ 1.93404030e-02 -5.99015939e-04 9.99812777e-01 8.39101392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3392541539998 meters Centerline goodness [0,1] 0.9998490370721819 Centerline is valid? [True, True] Translation: X:893.68, Y:53.24, Z:8.39 [[ 7.03622412e-01 -7.10431577e-01 -1.42294399e-02 8.93676068e+02] [ 7.10301663e-01 7.03766071e-01 -1.35964897e-02 5.32357258e+01] [ 1.96735726e-02 -5.40399965e-04 9.99806310e-01 8.38862511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3692541539999 meters Centerline goodness [0,1] 0.9998495788206979 Centerline is valid? [True, True] Translation: X:893.69, Y:53.26, Z:8.39 [[ 7.10319335e-01 -7.03738266e-01 -1.41029990e-02 8.93689364e+02] [ 7.03609194e-01 7.10459241e-01 -1.34821919e-02 5.32640957e+01] [ 1.95075403e-02 -3.46338126e-04 9.99809650e-01 8.38880207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3992541539999 meters Centerline goodness [0,1] 0.9999570188257543 Centerline is valid? [True, True] Translation: X:893.71, Y:53.29, Z:8.39 [[ 7.13892903e-01 -7.00123901e-01 -1.35442437e-02 8.93705474e+02] [ 7.00004084e-01 7.14021336e-01 -1.29542940e-02 5.32887776e+01] [ 1.87404898e-02 -2.33047314e-04 9.99824354e-01 8.39181694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.72, Y:53.31, Z:8.39 [[ 7.17436585e-01 -6.96499395e-01 -1.31658525e-02 8.93721807e+02] [ 6.96385481e-01 7.17557367e-01 -1.25971005e-02 5.33114799e+01] [ 1.82211273e-02 -1.30887762e-04 9.99833973e-01 8.39251861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4592541539998 meters Centerline goodness [0,1] 0.9998499271074522 Centerline is valid? [True, True] Translation: X:893.73, Y:53.34, Z:8.39 [[ 7.23627894e-01 -6.90038440e-01 -1.44783694e-02 8.93734327e+02] [ 6.89899253e-01 7.23772720e-01 -1.38589642e-02 5.33391652e+01] [ 2.00422668e-02 4.01168846e-05 9.99799133e-01 8.38938972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4892541539999 meters Centerline goodness [0,1] 0.9999571017974347 Centerline is valid? [True, True] Translation: X:893.75, Y:53.36, Z:8.39 [[ 7.26590652e-01 -6.86922949e-01 -1.42438579e-02 8.93752248e+02] [ 6.86787490e-01 7.26730243e-01 -1.36417548e-02 5.33628075e+01] [ 1.97222767e-02 1.29468085e-04 9.99805489e-01 8.39173448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.77, Y:53.39, Z:8.39 [[ 7.29514211e-01 -6.83813905e-01 -1.44069340e-02 8.93769985e+02] [ 6.83674578e-01 7.29656422e-01 -1.38049733e-02 5.33864384e+01] [ 1.99521447e-02 2.21269700e-04 9.99800912e-01 8.39324058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.79, Y:53.41, Z:8.39 [[ 7.34160996e-01 -6.78817148e-01 -1.46598590e-02 8.93785181e+02] [ 6.78671742e-01 7.34307254e-01 -1.40542724e-02 5.34131757e+01] [ 2.03051220e-02 3.68866587e-04 9.99793762e-01 8.39322713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.80, Y:53.44, Z:8.39 [[ 7.36180377e-01 -6.76616430e-01 -1.51214969e-02 8.93801372e+02] [ 6.76461145e-01 7.36335526e-01 -1.45021824e-02 5.34369208e+01] [ 2.09469102e-02 4.47116961e-04 9.99780489e-01 8.39239258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.82, Y:53.46, Z:8.39 [[ 7.37528991e-01 -6.75139810e-01 -1.54020650e-02 8.93821184e+02] [ 6.74978260e-01 7.37689626e-01 -1.47771757e-02 5.34582175e+01] [ 2.13386032e-02 5.02536398e-04 9.99772180e-01 8.39345959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6392541539999 meters Centerline goodness [0,1] 0.9999151589708783 Centerline is valid? [True, True] Translation: X:893.84, Y:53.48, Z:8.39 [[ 7.38765194e-01 -6.73749337e-01 -1.69652487e-02 8.93838888e+02] [ 6.73552760e-01 7.38959719e-01 -1.62853710e-02 5.34816490e+01] [ 2.35088933e-02 6.04075239e-04 9.99723445e-01 8.39097762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6692541539999 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:893.86, Y:53.50, Z:8.39 [[ 7.38711484e-01 -6.73802625e-01 -1.71862008e-02 8.93857385e+02] [ 6.73600775e-01 7.38911121e-01 -1.65030931e-02 5.35022525e+01] [ 2.38189024e-02 6.14386239e-04 9.99716101e-01 8.39008116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6992541539998 meters Centerline goodness [0,1] 0.999936096792059 Centerline is valid? [True, True] Translation: X:893.88, Y:53.52, Z:8.39 [[ 7.38534659e-01 -6.74003832e-01 -1.68935414e-02 8.93876871e+02] [ 6.73808687e-01 7.38727603e-01 -1.62290326e-02 5.35218619e+01] [ 2.34181555e-02 6.02688149e-04 9.99725576e-01 8.39212276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7292541539998 meters Centerline goodness [0,1] 0.9998305874380585 Centerline is valid? [True, True] Translation: X:893.90, Y:53.54, Z:8.39 [[ 7.36830095e-01 -6.75853686e-01 -1.74128292e-02 8.93896528e+02] [ 6.75646662e-01 7.37035599e-01 -1.67366276e-02 5.35423304e+01] [ 2.41453865e-02 5.67130992e-04 9.99708297e-01 8.39021573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7592541539999 meters Centerline goodness [0,1] 0.9998508194275728 Centerline is valid? [True, True] Translation: X:893.92, Y:53.56, Z:8.39 [[ 7.35514872e-01 -6.77273254e-01 -1.78553217e-02 8.93917727e+02] [ 6.77055781e-01 7.35731369e-01 -1.71703768e-02 5.35613414e+01] [ 2.47657573e-02 5.40018695e-04 9.99693136e-01 8.39122980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7892541539999 meters Centerline goodness [0,1] 0.9998086856705567 Centerline is valid? [True, True] Translation: X:893.94, Y:53.58, Z:8.39 [[ 7.33894538e-01 -6.79013350e-01 -1.84303695e-02 8.93939059e+02] [ 6.78781965e-01 7.34125751e-01 -1.77320699e-02 5.35810326e+01] [ 2.55705211e-02 5.03266831e-04 9.99672894e-01 8.39077281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8192541539999 meters Centerline goodness [0,1] 0.9998512473968294 Centerline is valid? [True, True] Translation: X:893.96, Y:53.60, Z:8.39 [[ 7.30540281e-01 -6.82611835e-01 -1.87611500e-02 8.93961694e+02] [ 6.82373020e-01 7.30781042e-01 -1.80590844e-02 5.35992871e+01] [ 2.60376375e-02 3.90786002e-04 9.99660887e-01 8.39106903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8492541539998 meters Centerline goodness [0,1] 0.9998937052233253 Centerline is valid? [True, True] Translation: X:893.98, Y:53.62, Z:8.39 [[ 7.28252909e-01 -6.85036501e-01 -1.93052490e-02 8.93984130e+02] [ 6.84784233e-01 7.28508676e-01 -1.85920442e-02 5.36169911e+01] [ 2.68002703e-02 3.19780095e-04 9.99640757e-01 8.39289711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.00, Y:53.64, Z:8.39 [[ 7.26383904e-01 -6.87052487e-01 -1.80361738e-02 8.94004890e+02] [ 6.86832775e-01 7.26607752e-01 -1.73756723e-02 5.36354640e+01] [ 2.50432226e-02 2.33573320e-04 9.99686342e-01 8.39419494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.03, Y:53.65, Z:8.40 [[ 7.21472243e-01 -6.92200692e-01 -1.83304314e-02 8.94029921e+02] [ 6.91975217e-01 7.21705064e-01 -1.76663764e-02 5.36510156e+01] [ 2.54578431e-02 6.15959460e-05 9.99675895e-01 8.39672693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9392541539999 meters Centerline goodness [0,1] 0.9998300548073247 Centerline is valid? [True, True] Translation: X:894.05, Y:53.67, Z:8.39 [[ 7.18061006e-01 -6.95687328e-01 -2.01874505e-02 8.94052215e+02] [ 6.95415053e-01 7.18344721e-01 -1.94619257e-02 5.36677708e+01] [ 2.80409636e-02 -6.38069923e-05 9.99606773e-01 8.39229207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9692541539998 meters Centerline goodness [0,1] 0.9998725817069803 Centerline is valid? [True, True] Translation: X:894.07, Y:53.69, Z:8.40 [[ 7.15212415e-01 -6.98616301e-01 -2.01609634e-02 8.94074949e+02] [ 6.98345689e-01 7.15496495e-01 -1.94438802e-02 5.36860822e+01] [ 2.80089103e-02 -1.72817318e-04 9.99607659e-01 8.39567872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.10, Y:53.70, Z:8.40 [[ 7.12587264e-01 -7.01337996e-01 -1.85581816e-02 8.94097645e+02] [ 7.01109406e-01 7.12828838e-01 -1.79066764e-02 5.37046272e+01] [ 2.57874396e-02 -2.51246173e-04 9.99667417e-01 8.39873431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0292541539999 meters Centerline goodness [0,1] 0.9997445232164527 Centerline is valid? [True, True] Translation: X:894.12, Y:53.72, Z:8.40 [[ 7.06156002e-01 -7.07740063e-01 -2.11590162e-02 8.94122126e+02] [ 7.07445430e-01 7.06472722e-01 -2.04268537e-02 5.37198019e+01] [ 2.94051705e-02 -5.44303943e-04 9.99567426e-01 8.39573835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0592541539999 meters Centerline goodness [0,1] 0.9998291474457544 Centerline is valid? [True, True] Translation: X:894.15, Y:53.74, Z:8.39 [[ 7.03581790e-01 -7.10307873e-01 -2.08660102e-02 8.94145699e+02] [ 7.10022308e-01 7.03890842e-01 -2.01495486e-02 5.37350704e+01] [ 2.89997765e-02 -6.38477265e-04 9.99579214e-01 8.39427813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.17, Y:53.76, Z:8.40 [[ 6.99311877e-01 -7.14574183e-01 -1.86181601e-02 8.94165277e+02] [ 7.14348236e-01 6.99559299e-01 -1.79829118e-02 5.37555976e+01] [ 2.58746316e-02 -7.24186039e-04 9.99664933e-01 8.40072121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1192541539999 meters Centerline goodness [0,1] 0.999893146410788 Centerline is valid? [True, True] Translation: X:894.19, Y:53.77, Z:8.40 [[ 6.96844291e-01 -7.16938588e-01 -2.01766067e-02 8.94187216e+02] [ 7.16674065e-01 6.97135779e-01 -1.94933520e-02 5.37733663e+01] [ 2.80413707e-02 -8.76219744e-04 9.99606379e-01 8.39918425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1492541539999 meters Centerline goodness [0,1] 0.999893146410788 Centerline is valid? [True, True] Translation: X:894.21, Y:53.79, Z:8.40 [[ 6.96643786e-01 -7.17133544e-01 -2.01721464e-02 8.94207007e+02] [ 7.16868970e-01 6.96935226e-01 -1.94979672e-02 5.37925968e+01] [ 2.80413257e-02 -8.77648122e-04 9.99606379e-01 8.39944233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1792541539999 meters Centerline goodness [0,1] 0.9998721472863261 Centerline is valid? [True, True] Translation: X:894.23, Y:53.81, Z:8.40 [[ 6.94771868e-01 -7.18948361e-01 -2.01322114e-02 8.94227738e+02] [ 7.18685309e-01 6.95062851e-01 -1.94694514e-02 5.38125943e+01] [ 2.79906824e-02 -9.41897463e-04 9.99607740e-01 8.40038726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.25, Y:53.83, Z:8.40 [[ 6.92377635e-01 -7.21306491e-01 -1.81702333e-02 8.94249092e+02] [ 7.21092814e-01 6.92615392e-01 -1.75804571e-02 5.38319784e+01] [ 2.52658811e-02 -9.30109394e-04 9.99680334e-01 8.40322495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.27, Y:53.85, Z:8.40 [[ 6.91128459e-01 -7.22510034e-01 -1.79082082e-02 8.94269554e+02] [ 7.22302717e-01 6.91359774e-01 -1.73334292e-02 5.38502332e+01] [ 2.49045913e-02 -9.55521253e-04 9.99689376e-01 8.40361224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.29, Y:53.87, Z:8.40 [[ 6.88944658e-01 -7.24592528e-01 -1.79144238e-02 8.94289246e+02] [ 7.24385586e-01 6.89176767e-01 -1.73466743e-02 5.38713153e+01] [ 2.49154753e-02 -1.02605173e-03 9.99689035e-01 8.40456163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2992541539999 meters Centerline goodness [0,1] 0.9999363422242027 Centerline is valid? [True, True] Translation: X:894.31, Y:53.89, Z:8.40 [[ 6.87914751e-01 -7.25548587e-01 -1.87761261e-02 8.94310594e+02] [ 7.25321443e-01 6.88170053e-01 -1.81874326e-02 5.38896949e+01] [ 2.61170337e-02 -1.10732369e-03 9.99658279e-01 8.40324226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3292541539998 meters Centerline goodness [0,1] 0.999936096792059 Centerline is valid? [True, True] Translation: X:894.33, Y:53.91, Z:8.41 [[ 6.87228706e-01 -7.26210589e-01 -1.82998739e-02 8.94328754e+02] [ 7.25994873e-01 6.87471434e-01 -1.77333550e-02 5.39118158e+01] [ 2.54587907e-02 -1.09874402e-03 9.99675269e-01 8.40502091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3592541539999 meters Centerline goodness [0,1] 0.9997871525264995 Centerline is valid? [True, True] Translation: X:894.35, Y:53.93, Z:8.40 [[ 6.86503567e-01 -7.26857558e-01 -1.97722645e-02 8.94349133e+02] [ 7.26605836e-01 6.86787178e-01 -1.91658908e-02 5.39304982e+01] [ 2.75102103e-02 -1.20919038e-03 9.99620791e-01 8.40350988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.37, Y:53.95, Z:8.41 [[ 6.87169773e-01 -7.26295770e-01 -1.70925975e-02 8.94366868e+02] [ 7.26107425e-01 6.87381557e-01 -1.65711269e-02 5.39522673e+01] [ 2.37846757e-02 -1.02388440e-03 9.99716580e-01 8.40626693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.39, Y:53.97, Z:8.41 [[ 6.87404407e-01 -7.26076678e-01 -1.69658144e-02 8.94385668e+02] [ 7.25890911e-01 6.87613008e-01 -1.64540807e-02 5.39738295e+01] [ 2.36128389e-02 -1.00472286e-03 9.99720673e-01 8.40621667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.40, Y:54.00, Z:8.41 [[ 6.89027346e-01 -7.24542591e-01 -1.67137714e-02 8.94402228e+02] [ 7.24361672e-01 6.89229399e-01 -1.62173991e-02 5.39984228e+01] [ 2.32698189e-02 -9.32583938e-04 9.99728786e-01 8.40674557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4792541539998 meters Centerline goodness [0,1] 0.9999157202755947 Centerline is valid? [True, True] Translation: X:894.42, Y:54.02, Z:8.41 [[ 6.89988349e-01 -7.23620890e-01 -1.69966551e-02 8.94421437e+02] [ 7.23433398e-01 6.90197055e-01 -1.64967929e-02 5.40187142e+01] [ 2.36684653e-02 -9.13353053e-04 9.99719445e-01 8.40609557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5092541539999 meters Centerline goodness [0,1] 0.9999163127392933 Centerline is valid? [True, True] Translation: X:894.44, Y:54.04, Z:8.41 [[ 6.91204842e-01 -7.22439989e-01 -1.77856544e-02 8.94437658e+02] [ 7.22234134e-01 6.91433031e-01 -1.72690435e-02 5.40435278e+01] [ 2.47734365e-02 -9.08960239e-04 9.99692678e-01 8.40625864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5392541539999 meters Centerline goodness [0,1] 0.9999370316730685 Centerline is valid? [True, True] Translation: X:894.45, Y:54.07, Z:8.41 [[ 6.95184922e-01 -7.18613136e-01 -1.76942274e-02 8.94452723e+02] [ 7.18408020e-01 6.95409647e-01 -1.71854388e-02 5.40692562e+01] [ 2.46544185e-02 -7.64616929e-04 9.99695741e-01 8.40650201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.47, Y:54.09, Z:8.41 [[ 6.97665930e-01 -7.16226653e-01 -1.67819098e-02 8.94469798e+02] [ 7.16041322e-01 6.97867445e-01 -1.63050387e-02 5.40937885e+01] [ 2.33896518e-02 -6.41070875e-04 9.99726219e-01 8.40813957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5992541539998 meters Centerline goodness [0,1] 0.9999791636280291 Centerline is valid? [True, True] Translation: X:894.49, Y:54.12, Z:8.41 [[ 6.99960110e-01 -7.13977453e-01 -1.70892152e-02 8.94487175e+02] [ 7.13784484e-01 7.00168457e-01 -1.66084885e-02 5.41160109e+01] [ 2.38234158e-02 -5.72737183e-04 9.99716018e-01 8.40806521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6292541539999 meters Centerline goodness [0,1] 0.9998124101131792 Centerline is valid? [True, True] Translation: X:894.50, Y:54.14, Z:8.41 [[ 7.04335256e-01 -7.09633465e-01 -1.82261530e-02 8.94501508e+02] [ 7.09412328e-01 7.04570893e-01 -1.77202063e-02 5.41430569e+01] [ 2.54164683e-02 -4.48891565e-04 9.99676849e-01 8.40654615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6592541539999 meters Centerline goodness [0,1] 0.9998336832914076 Centerline is valid? [True, True] Translation: X:894.52, Y:54.17, Z:8.41 [[ 7.06687174e-01 -7.07305127e-01 -1.76832115e-02 8.94518721e+02] [ 7.07096116e-01 7.06908293e-01 -1.71973293e-02 5.41651543e+01] [ 2.46641681e-02 -3.50598101e-04 9.99695732e-01 8.40603202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6892541539999 meters Centerline goodness [0,1] 0.999812901482236 Centerline is valid? [True, True] Translation: X:894.53, Y:54.19, Z:8.41 [[ 7.11063362e-01 -7.02915867e-01 -1.72678784e-02 8.94532719e+02] [ 7.02715115e-01 7.11272977e-01 -1.67993853e-02 5.41929477e+01] [ 2.40907297e-02 -1.88971813e-04 9.99709758e-01 8.40840677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7192541539998 meters Centerline goodness [0,1] 0.9997908649824326 Centerline is valid? [True, True] Translation: X:894.55, Y:54.22, Z:8.41 [[ 7.13181236e-01 -7.00781036e-01 -1.66872471e-02 8.94550016e+02] [ 7.00592863e-01 7.13376428e-01 -1.62392490e-02 5.42154403e+01] [ 2.32844464e-02 -1.09438504e-04 9.99728875e-01 8.40828737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7492541539999 meters Centerline goodness [0,1] 0.9998534675849364 Centerline is valid? [True, True] Translation: X:894.57, Y:54.24, Z:8.41 [[ 7.15179102e-01 -6.98751266e-01 -1.62947890e-02 8.94567645e+02] [ 6.98571180e-01 7.15364709e-01 -1.58631772e-02 5.42385560e+01] [ 2.27411322e-02 -3.80571302e-05 9.99741386e-01 8.40875536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7792541539999 meters Centerline goodness [0,1] 0.9999165954252591 Centerline is valid? [True, True] Translation: X:894.58, Y:54.26, Z:8.41 [[ 7.17328128e-01 -6.96567312e-01 -1.53080384e-02 8.94584703e+02] [ 6.96407766e-01 7.17491448e-01 -1.49078830e-02 5.42610477e+01] [ 2.13677306e-02 3.32069707e-05 9.99771683e-01 8.40902377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8092541539999 meters Centerline goodness [0,1] 0.9998116997238262 Centerline is valid? [True, True] Translation: X:894.60, Y:54.29, Z:8.41 [[ 7.20692712e-01 -6.93054697e-01 -1.66493899e-02 8.94600512e+02] [ 6.92864864e-01 7.20884986e-01 -1.62208616e-02 5.42865992e+01] [ 2.32442395e-02 1.54479508e-04 9.99729804e-01 8.40702081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8392541539998 meters Centerline goodness [0,1] 0.9997507943430316 Centerline is valid? [True, True] Translation: X:894.62, Y:54.31, Z:8.41 [[ 7.22173888e-01 -6.91496993e-01 -1.72274117e-02 8.94618750e+02] [ 6.91293102e-01 7.22379306e-01 -1.67924237e-02 5.43087889e+01] [ 2.40566362e-02 2.17859052e-04 9.99710574e-01 8.40595191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8692541539999 meters Centerline goodness [0,1] 0.9998751742359623 Centerline is valid? [True, True] Translation: X:894.64, Y:54.33, Z:8.41 [[ 7.23559088e-01 -6.90060689e-01 -1.66880606e-02 8.94637619e+02] [ 6.89868797e-01 7.23751460e-01 -1.62747380e-02 5.43301177e+01] [ 2.33085651e-02 2.63162313e-04 9.99728284e-01 8.40732445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.65, Y:54.35, Z:8.41 [[ 7.26124187e-01 -6.87390969e-01 -1.54052079e-02 8.94654053e+02] [ 6.87226748e-01 7.26287512e-01 -1.50282264e-02 5.43534967e+01] [ 2.15188772e-02 3.25487795e-04 9.99768389e-01 8.40792493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9292541539999 meters Centerline goodness [0,1] 0.9998746029092125 Centerline is valid? [True, True] Translation: X:894.67, Y:54.37, Z:8.41 [[ 7.26235806e-01 -6.87253490e-01 -1.62540579e-02 8.94673583e+02] [ 6.87070505e-01 7.26417591e-01 -1.58620548e-02 5.43749616e+01] [ 2.27084861e-02 3.51908443e-04 9.99742067e-01 8.40584032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9592541539998 meters Centerline goodness [0,1] 0.9998334582396536 Centerline is valid? [True, True] Translation: X:894.69, Y:54.40, Z:8.41 [[ 7.26769293e-01 -6.86675055e-01 -1.68453044e-02 8.94693635e+02] [ 6.86478165e-01 7.26964385e-01 -1.64472215e-02 5.43957139e+01] [ 2.35398331e-02 3.89401834e-04 9.99722824e-01 8.40567842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.71, Y:54.42, Z:8.41 [[ 7.27990551e-01 -6.85407024e-01 -1.57152618e-02 8.94713813e+02] [ 6.85235207e-01 7.28160041e-01 -1.53513714e-02 5.44170111e+01] [ 2.19651635e-02 4.07002573e-04 9.99758654e-01 8.40846161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0192541539999 meters Centerline goodness [0,1] 0.9999584933070458 Centerline is valid? [True, True] Translation: X:894.73, Y:54.44, Z:8.41 [[ 7.27861481e-01 -6.85535978e-01 -1.60651026e-02 8.94731989e+02] [ 6.85356343e-01 7.28038633e-01 -1.56981525e-02 5.44377366e+01] [ 2.24576636e-02 4.15760532e-04 9.99747708e-01 8.40632182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0492541539999 meters Centerline goodness [0,1] 0.9998119475960634 Centerline is valid? [True, True] Translation: X:894.75, Y:54.46, Z:8.41 [[ 7.27166766e-01 -6.86261213e-01 -1.65541856e-02 8.94753784e+02] [ 6.86070504e-01 7.27355057e-01 -1.61828703e-02 5.44559583e+01] [ 2.31464468e-02 4.10307032e-04 9.99732001e-01 8.40618625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0792541539998 meters Centerline goodness [0,1] 0.9999584372402327 Centerline is valid? [True, True] Translation: X:894.77, Y:54.48, Z:8.41 [[ 7.26999503e-01 -6.86460953e-01 -1.55911111e-02 8.94772058e+02] [ 6.86291724e-01 7.27166565e-01 -1.52465409e-02 5.44766673e+01] [ 2.18034897e-02 3.84177156e-04 9.99762202e-01 8.40670214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1092541539999 meters Centerline goodness [0,1] 0.9998546058780766 Centerline is valid? [True, True] Translation: X:894.79, Y:54.49, Z:8.41 [[ 7.26115618e-01 -6.87385692e-01 -1.60317939e-02 8.94793883e+02] [ 6.87206844e-01 7.26292484e-01 -1.56837972e-02 5.44942404e+01] [ 2.24245892e-02 3.71091626e-04 9.99748468e-01 8.40705808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1392541539999 meters Centerline goodness [0,1] 0.9998542820267289 Centerline is valid? [True, True] Translation: X:894.81, Y:54.51, Z:8.41 [[ 7.25026813e-01 -6.88547546e-01 -1.54401204e-02 8.94814351e+02] [ 6.88381797e-01 7.25191126e-01 -1.51106807e-02 5.45136241e+01] [ 2.16014604e-02 3.26950811e-04 9.99766608e-01 8.40713852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1692541539999 meters Centerline goodness [0,1] 0.9999164001922796 Centerline is valid? [True, True] Translation: X:894.84, Y:54.53, Z:8.41 [[ 7.24386905e-01 -6.89232471e-01 -1.49068081e-02 8.94837033e+02] [ 6.89078002e-01 7.24540207e-01 -1.45943444e-02 5.45311213e+01] [ 2.08594778e-02 2.99998420e-04 9.99782372e-01 8.41064795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.86, Y:54.55, Z:8.41 [[ 7.24319099e-01 -6.89311978e-01 -1.45203081e-02 8.94857169e+02] [ 6.89165331e-01 7.24464569e-01 -1.42209631e-02 5.45497178e+01] [ 2.03221289e-02 2.93622238e-04 9.99793441e-01 8.41255375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2292541539998 meters Centerline goodness [0,1] 0.999854121079504 Centerline is valid? [True, True] Translation: X:894.88, Y:54.57, Z:8.41 [[ 7.22949041e-01 -6.90734093e-01 -1.52018686e-02 8.94879473e+02] [ 6.90573546e-01 7.23108802e-01 -1.48941959e-02 5.45687797e+01] [ 2.12805339e-02 2.69736318e-04 9.99773507e-01 8.41100008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2592541539999 meters Centerline goodness [0,1] 0.9998535718021128 Centerline is valid? [True, True] Translation: X:894.90, Y:54.59, Z:8.41 [[ 7.22315873e-01 -6.91397792e-01 -1.51285508e-02 8.94900271e+02] [ 6.91238771e-01 7.22474241e-01 -1.48301111e-02 5.45879191e+01] [ 2.11834944e-02 2.54583772e-04 9.99775572e-01 8.41118909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.92, Y:54.61, Z:8.41 [[ 7.22001561e-01 -6.91745368e-01 -1.42158815e-02 8.94922864e+02] [ 6.91604892e-01 7.22141461e-01 -1.39421465e-02 5.46068391e+01] [ 1.99102927e-02 2.34478334e-04 9.99801743e-01 8.41388454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3192541539999 meters Centerline goodness [0,1] 0.9998956681412237 Centerline is valid? [True, True] Translation: X:894.94, Y:54.63, Z:8.41 [[ 7.20671769e-01 -6.93116661e-01 -1.48827629e-02 8.94944636e+02] [ 6.92962833e-01 7.20825395e-01 -1.46035108e-02 5.46254292e+01] [ 2.08498101e-02 2.11136384e-04 9.99782597e-01 8.41279554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3492541539998 meters Centerline goodness [0,1] 0.9998743244941561 Centerline is valid? [True, True] Translation: X:894.97, Y:54.64, Z:8.41 [[ 7.20008259e-01 -6.93809829e-01 -1.46979131e-02 8.94965425e+02] [ 6.93659844e-01 7.20158236e-01 -1.44269351e-02 5.46437572e+01] [ 2.05943725e-02 1.92160371e-04 9.99787895e-01 8.41301902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3792541539999 meters Centerline goodness [0,1] 0.999958301190501 Centerline is valid? [True, True] Translation: X:894.99, Y:54.66, Z:8.42 [[ 7.18584708e-01 -6.95289879e-01 -1.44222551e-02 8.94988983e+02] [ 6.95145666e-01 7.18729408e-01 -1.41612563e-02 5.46607305e+01] [ 2.02118770e-02 1.50494131e-04 9.99795708e-01 8.41576837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4092541539999 meters Centerline goodness [0,1] 0.999937369519833 Centerline is valid? [True, True] Translation: X:895.01, Y:54.68, Z:8.41 [[ 7.17063834e-01 -6.96859337e-01 -1.43708579e-02 8.95010185e+02] [ 6.96716373e-01 7.17207817e-01 -1.41153609e-02 5.46791948e+01] [ 2.01433127e-02 1.09202819e-04 9.99797097e-01 8.41350952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4392541539999 meters Centerline goodness [0,1] 0.9998326079678608 Centerline is valid? [True, True] Translation: X:895.03, Y:54.70, Z:8.41 [[ 7.15565623e-01 -6.98402296e-01 -1.41447177e-02 8.95033053e+02] [ 6.98264004e-01 7.15705407e-01 -1.38979037e-02 5.46975656e+01] [ 1.98297788e-02 6.81148904e-05 9.99803368e-01 8.41349505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4692541539998 meters Centerline goodness [0,1] 0.9998747756396877 Centerline is valid? [True, True] Translation: X:895.05, Y:54.71, Z:8.41 [[ 7.14517869e-01 -6.99476114e-01 -1.40492042e-02 8.95054618e+02] [ 6.99339750e-01 7.14655976e-01 -1.38112558e-02 5.47149816e+01] [ 1.97009913e-02 4.32221591e-05 9.99805916e-01 8.41492490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4992541539999 meters Centerline goodness [0,1] 0.9998330272165638 Centerline is valid? [True, True] Translation: X:895.08, Y:54.73, Z:8.41 [[ 7.12500403e-01 -7.01546613e-01 -1.32485974e-02 8.95077542e+02] [ 7.01425620e-01 7.12623568e-01 -1.30288019e-02 5.47314145e+01] [ 1.85815746e-02 -9.87901585e-06 9.99827348e-01 8.41410874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5292541539999 meters Centerline goodness [0,1] 0.9997906986479133 Centerline is valid? [True, True] Translation: X:895.10, Y:54.75, Z:8.41 [[ 7.11469948e-01 -7.02594455e-01 -1.30975030e-02 8.95098909e+02] [ 7.02476303e-01 7.11590493e-01 -1.28846088e-02 5.47493681e+01] [ 1.83727133e-02 -3.36735955e-05 9.99831207e-01 8.41446541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5592541539999 meters Centerline goodness [0,1] 0.9998328388148272 Centerline is valid? [True, True] Translation: X:895.12, Y:54.77, Z:8.42 [[ 7.09871049e-01 -7.04227012e-01 -1.21412317e-02 8.95120971e+02] [ 7.04125617e-01 7.09974866e-01 -1.19501020e-02 5.47668795e+01] [ 1.70355540e-02 -6.59208090e-05 9.99854882e-01 8.41713648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5892541539998 meters Centerline goodness [0,1] 0.9998533755053308 Centerline is valid? [True, True] Translation: X:895.14, Y:54.79, Z:8.42 [[ 7.09100856e-01 -7.05008213e-01 -1.18065573e-02 8.95142032e+02] [ 7.04912331e-01 7.09199135e-01 -1.16272107e-02 5.47855580e+01] [ 1.65704793e-02 -7.77227584e-05 9.99862697e-01 8.41756670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6192541539999 meters Centerline goodness [0,1] 0.9999791009216493 Centerline is valid? [True, True] Translation: X:895.16, Y:54.80, Z:8.42 [[ 7.08627524e-01 -7.05482704e-01 -1.18822125e-02 8.95163157e+02] [ 7.05385545e-01 7.08727132e-01 -1.17083703e-02 5.48041272e+01] [ 1.66812992e-02 -8.46674547e-05 9.99860854e-01 8.42000268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6492541539999 meters Centerline goodness [0,1] 0.9998328283355972 Centerline is valid? [True, True] Translation: X:895.18, Y:54.82, Z:8.42 [[ 7.07449436e-01 -7.06667048e-01 -1.17037780e-02 8.95183728e+02] [ 7.06572840e-01 7.07546233e-01 -1.15390419e-02 5.48228436e+01] [ 1.64352247e-02 -1.06283046e-04 9.99864927e-01 8.41804811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6792541539999 meters Centerline goodness [0,1] 0.999769561118676 Centerline is valid? [True, True] Translation: X:895.21, Y:54.84, Z:8.42 [[ 7.06309764e-01 -7.07802915e-01 -1.18975058e-02 8.95205365e+02] [ 7.07705644e-01 7.06409949e-01 -1.17347740e-02 5.48410983e+01] [ 1.67104237e-02 -1.31546507e-04 9.99860362e-01 8.41739784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.23, Y:54.86, Z:8.42 [[ 7.06434370e-01 -7.07672379e-01 -1.22590564e-02 8.95225920e+02] [ 7.07569013e-01 7.06540719e-01 -1.20956747e-02 5.48600915e+01] [ 1.72212974e-02 -1.29328063e-04 9.99851694e-01 8.42066976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7392541539999 meters Centerline goodness [0,1] 0.9997915363769022 Centerline is valid? [True, True] Translation: X:895.25, Y:54.88, Z:8.42 [[ 7.05348972e-01 -7.08757242e-01 -1.20830302e-02 8.95247455e+02] [ 7.08656876e-01 7.05452443e-01 -1.19282433e-02 5.48793545e+01] [ 1.69782320e-02 -1.49148329e-04 9.99855848e-01 8.41767869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.27, Y:54.90, Z:8.42 [[ 7.05653118e-01 -7.08448064e-01 -1.24506421e-02 8.95267257e+02] [ 7.08341333e-01 7.05762936e-01 -1.22977406e-02 5.48985101e+01] [ 1.74995122e-02 -1.41365413e-04 9.99846862e-01 8.42176701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7992541539999 meters Centerline goodness [0,1] 0.9997914450770611 Centerline is valid? [True, True] Translation: X:895.29, Y:54.92, Z:8.42 [[ 7.04824673e-01 -7.09283661e-01 -1.17842436e-02 8.95287462e+02] [ 7.09188059e-01 7.04923164e-01 -1.16460420e-02 5.49178443e+01] [ 1.65673336e-02 -1.48827108e-04 9.99862741e-01 8.41888549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8292541539998 meters Centerline goodness [0,1] 0.9999165762909819 Centerline is valid? [True, True] Translation: X:895.31, Y:54.94, Z:8.42 [[ 7.04722757e-01 -7.09386652e-01 -1.16796465e-02 8.95307827e+02] [ 7.09292644e-01 7.04819521e-01 -1.15493398e-02 5.49373635e+01] [ 1.64249903e-02 -1.45204745e-04 9.99865090e-01 8.42034384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8592541539999 meters Centerline goodness [0,1] 0.99997906635964 Centerline is valid? [True, True] Translation: X:895.33, Y:54.96, Z:8.42 [[ 7.04676975e-01 -7.09423531e-01 -1.21907430e-02 8.95327912e+02] [ 7.09321030e-01 7.04782400e-01 -1.20600894e-02 5.49555139e+01] [ 1.71475323e-02 -1.48683074e-04 9.99852959e-01 8.42229731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8892541539999 meters Centerline goodness [0,1] 0.9998115735700528 Centerline is valid? [True, True] Translation: X:895.35, Y:54.98, Z:8.42 [[ 7.02204345e-01 -7.11881027e-01 -1.15957468e-02 8.95349430e+02] [ 7.11788556e-01 7.02300053e-01 -1.14754755e-02 5.49751419e+01] [ 1.63128669e-02 -1.95591104e-04 9.99866917e-01 8.41998682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.37, Y:54.99, Z:8.42 [[ 7.01283517e-01 -7.12779880e-01 -1.20943092e-02 8.95371188e+02] [ 7.12679314e-01 7.01387763e-01 -1.19750329e-02 5.49945287e+01] [ 1.70183630e-02 -2.21470845e-04 9.99855153e-01 8.42362472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9492541539998 meters Centerline goodness [0,1] 0.9997073211523184 Centerline is valid? [True, True] Translation: X:895.39, Y:55.01, Z:8.42 [[ 6.98904032e-01 -7.15122159e-01 -1.15521528e-02 8.95392179e+02] [ 7.15030661e-01 6.98999448e-01 -1.14422566e-02 5.50133886e+01] [ 1.62575597e-02 -2.63104183e-04 9.99867803e-01 8.42010891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9792541539998 meters Centerline goodness [0,1] 0.9998749583194398 Centerline is valid? [True, True] Translation: X:895.41, Y:55.03, Z:8.42 [[ 6.97044249e-01 -7.16934681e-01 -1.15748938e-02 8.95413793e+02] [ 7.16843032e-01 6.97140280e-01 -1.14672430e-02 5.50308013e+01] [ 1.62905889e-02 -3.04206165e-04 9.99867253e-01 8.42174825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0092541539999 meters Centerline goodness [0,1] 0.9999371793529473 Centerline is valid? [True, True] Translation: X:895.44, Y:55.05, Z:8.42 [[ 6.92821858e-01 -7.21026742e-01 -1.08771066e-02 8.95436953e+02] [ 7.20946269e-01 6.92907135e-01 -1.07786429e-02 5.50480769e+01] [ 1.53085145e-02 -3.74130017e-04 9.99882748e-01 8.42498104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0392541539999 meters Centerline goodness [0,1] 0.9999371793529473 Centerline is valid? [True, True] Translation: X:895.46, Y:55.07, Z:8.43 [[ 6.92620367e-01 -7.21220327e-01 -1.08750988e-02 8.95456484e+02] [ 7.21139846e-01 6.92705637e-01 -1.07806684e-02 5.50675441e+01] [ 1.53084794e-02 -3.75556543e-04 9.99882748e-01 8.42523897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0692541539999 meters Centerline goodness [0,1] 0.9998743113308335 Centerline is valid? [True, True] Translation: X:895.48, Y:55.09, Z:8.42 [[ 6.90304836e-01 -7.23439350e-01 -1.07116582e-02 8.95477823e+02] [ 7.23361470e-01 6.90387814e-01 -1.06230725e-02 5.50865241e+01] [ 1.50803469e-02 -4.15242495e-04 9.99886199e-01 8.42470053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0992541539998 meters Centerline goodness [0,1] 0.9997711956069556 Centerline is valid? [True, True] Translation: X:895.50, Y:55.11, Z:8.42 [[ 6.88216790e-01 -7.25429056e-01 -1.05040272e-02 8.95499403e+02] [ 7.25354350e-01 6.88296799e-01 -1.04202857e-02 5.51058318e+01] [ 1.47890663e-02 -4.47726280e-04 9.99890536e-01 8.42426003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1292541539999 meters Centerline goodness [0,1] 0.9998742797276061 Centerline is valid? [True, True] Translation: X:895.52, Y:55.12, Z:8.43 [[ 6.86073284e-01 -7.27467305e-01 -9.73494016e-03 8.95520621e+02] [ 7.27403293e-01 6.86142197e-01 -9.66096802e-03 5.51235862e+01] [ 1.37075916e-02 -4.53095472e-04 9.99905944e-01 8.42616533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1592541539999 meters Centerline goodness [0,1] 0.9999791392869808 Centerline is valid? [True, True] Translation: X:895.54, Y:55.14, Z:8.43 [[ 6.85894072e-01 -7.27634554e-01 -9.86297471e-03 8.95540125e+02] [ 7.27568820e-01 6.85964827e-01 -9.79125326e-03 5.51432180e+01] [ 1.38901079e-02 -4.60230304e-04 9.99903422e-01 8.42914920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1892541539999 meters Centerline goodness [0,1] 0.9999791449426486 Centerline is valid? [True, True] Translation: X:895.56, Y:55.16, Z:8.43 [[ 6.85521795e-01 -7.27986675e-01 -9.76066360e-03 8.95558685e+02] [ 7.27922261e-01 6.85591125e-01 -9.69488845e-03 5.51641728e+01] [ 1.37495739e-02 -4.58946979e-04 9.99905365e-01 8.42910751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2192541539998 meters Centerline goodness [0,1] 0.9997699274225597 Centerline is valid? [True, True] Translation: X:895.58, Y:55.19, Z:8.43 [[ 6.86543801e-01 -7.27014406e-01 -1.03760809e-02 8.95575272e+02] [ 7.26941421e-01 6.86622050e-01 -1.03117186e-02 5.51881824e+01] [ 1.46212139e-02 -4.63356567e-04 9.99892997e-01 8.42598890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.59, Y:55.21, Z:8.43 [[ 6.88357537e-01 -7.25290349e-01 -1.08540463e-02 8.95594700e+02] [ 7.25210188e-01 6.88442963e-01 -1.07921223e-02 5.52099761e+01] [ 1.52998139e-02 -4.42626278e-04 9.99882853e-01 8.42933850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2792541539999 meters Centerline goodness [0,1] 0.9998119554543365 Centerline is valid? [True, True] Translation: X:895.61, Y:55.23, Z:8.43 [[ 6.89469157e-01 -7.24229261e-01 -1.11471748e-02 8.95611989e+02] [ 7.24144486e-01 6.89559132e-01 -1.10890628e-02 5.52336769e+01] [ 1.57176599e-02 -4.26598356e-04 9.99876379e-01 8.42621380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3092541539999 meters Centerline goodness [0,1] 0.999813021980305 Centerline is valid? [True, True] Translation: X:895.63, Y:55.26, Z:8.43 [[ 6.93502398e-01 -7.20359288e-01 -1.17012714e-02 8.95629730e+02] [ 7.20265241e-01 6.93601018e-01 -1.16452143e-02 5.52563443e+01] [ 1.65047521e-02 -3.52035055e-04 9.99863725e-01 8.42515678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3392541539998 meters Centerline goodness [0,1] 0.9998337765957447 Centerline is valid? [True, True] Translation: X:895.65, Y:55.28, Z:8.43 [[ 6.95490681e-01 -7.18438864e-01 -1.17605877e-02 8.95647197e+02] [ 7.18343512e-01 6.95590042e-01 -1.17086758e-02 5.52799977e+01] [ 1.65925154e-02 -3.04866954e-04 9.99862288e-01 8.42607583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3692541539999 meters Centerline goodness [0,1] 0.9998957594963099 Centerline is valid? [True, True] Translation: X:895.67, Y:55.30, Z:8.43 [[ 6.97962185e-01 -7.16032241e-01 -1.21085889e-02 8.95665095e+02] [ 7.15930724e-01 6.98067164e-01 -1.20595692e-02 5.53015797e+01] [ 1.70876487e-02 -2.51787613e-04 9.99853964e-01 8.42700572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3992541539999 meters Centerline goodness [0,1] 0.9997501717569172 Centerline is valid? [True, True] Translation: X:895.68, Y:55.33, Z:8.43 [[ 7.01934008e-01 -7.12127535e-01 -1.27679738e-02 8.95681088e+02] [ 7.12013931e-01 7.02050103e-01 -1.27206223e-02 5.53261895e+01] [ 1.80224628e-02 -1.61937799e-04 9.99837569e-01 8.42525424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4292541539999 meters Centerline goodness [0,1] 0.9999166631942997 Centerline is valid? [True, True] Translation: X:895.70, Y:55.35, Z:8.43 [[ 7.04060890e-01 -7.10035357e-01 -1.21678235e-02 8.95700101e+02] [ 7.09931770e-01 7.04166019e-01 -1.21284540e-02 5.53486184e+01] [ 1.71797990e-02 -9.91543413e-05 9.99852411e-01 8.42791555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4592541539998 meters Centerline goodness [0,1] 0.9997920089852118 Centerline is valid? [True, True] Translation: X:895.72, Y:55.37, Z:8.43 [[ 7.06612637e-01 -7.07498674e-01 -1.20086366e-02 8.95717216e+02] [ 7.07397314e-01 7.06714670e-01 -1.19755648e-02 5.53722945e+01] [ 1.69593759e-02 -3.27918417e-05 9.99856179e-01 8.42678929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4892541539999 meters Centerline goodness [0,1] 0.9998745137407454 Centerline is valid? [True, True] Translation: X:895.74, Y:55.39, Z:8.43 [[ 7.07299858e-01 -7.06813427e-01 -1.19033842e-02 8.95736014e+02] [ 7.06713631e-01 7.07400014e-01 -1.18770122e-02 5.53931758e+01] [ 1.68152858e-02 -1.16748502e-05 9.99858613e-01 8.42809305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5192541539999 meters Centerline goodness [0,1] 0.9999376467898489 Centerline is valid? [True, True] Translation: X:895.75, Y:55.41, Z:8.43 [[ 7.07703191e-01 -7.06417776e-01 -1.14069982e-02 8.95754553e+02] [ 7.06326001e-01 7.07795116e-01 -1.13866177e-02 5.54129783e+01] [ 1.61175267e-02 1.28628147e-06 9.99870104e-01 8.42931338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5492541539999 meters Centerline goodness [0,1] 0.9998326149725907 Centerline is valid? [True, True] Translation: X:895.77, Y:55.43, Z:8.43 [[ 7.06762941e-01 -7.07344298e-01 -1.22551588e-02 8.95774627e+02] [ 7.07238426e-01 7.06869184e-01 -1.22378635e-02 5.54342389e+01] [ 1.73191771e-02 -1.80508664e-05 9.99850012e-01 8.42794255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.79, Y:55.45, Z:8.43 [[ 7.06238409e-01 -7.07877570e-01 -1.16899299e-02 8.95794957e+02] [ 7.07781213e-01 7.06335150e-01 -1.16794630e-02 5.54538248e+01] [ 1.65246383e-02 -2.54273638e-05 9.99863459e-01 8.43151859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6092541539999 meters Centerline goodness [0,1] 0.9998333506926362 Centerline is valid? [True, True] Translation: X:895.82, Y:55.47, Z:8.43 [[ 7.04534112e-01 -7.09557300e-01 -1.26539612e-02 8.95815045e+02] [ 7.09444537e-01 7.04647738e-01 -1.26496848e-02 5.54740205e+01] [ 1.78922613e-02 -6.51491801e-05 9.99839919e-01 8.42795044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6392541539999 meters Centerline goodness [0,1] 0.999729161024188 Centerline is valid? [True, True] Translation: X:895.84, Y:55.49, Z:8.43 [[ 7.01214962e-01 -7.12829393e-01 -1.31084994e-02 8.95836325e+02] [ 7.12708868e-01 7.01337461e-01 -1.31086059e-02 5.54929357e+01] [ 1.85376812e-02 -1.50593221e-04 9.99828151e-01 8.42703125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6692541539999 meters Centerline goodness [0,1] 0.9998331073328466 Centerline is valid? [True, True] Translation: X:895.86, Y:55.51, Z:8.43 [[ 6.99477092e-01 -7.14533002e-01 -1.32055462e-02 8.95857217e+02] [ 7.14410906e-01 6.99601709e-01 -1.32101009e-02 5.55128667e+01] [ 1.86776758e-02 -1.94023270e-04 9.99825538e-01 8.42852812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6992541539998 meters Centerline goodness [0,1] 0.9997919743712426 Centerline is valid? [True, True] Translation: X:895.88, Y:55.53, Z:8.43 [[ 6.97558695e-01 -7.16403984e-01 -1.33116108e-02 8.95878147e+02] [ 7.16280132e-01 6.97685656e-01 -1.33228589e-02 5.55331976e+01] [ 1.88318690e-02 -2.41366276e-04 9.99822635e-01 8.42831003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7292541539998 meters Centerline goodness [0,1] 0.9997912753078689 Centerline is valid? [True, True] Translation: X:895.90, Y:55.55, Z:8.43 [[ 6.94146642e-01 -7.19705148e-01 -1.35992229e-02 8.95899995e+02] [ 7.19576385e-01 6.94279762e-01 -1.36175510e-02 5.55527188e+01] [ 1.92422868e-02 -3.33102341e-04 9.99814795e-01 8.42802455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7592541539999 meters Centerline goodness [0,1] 0.9999164647899089 Centerline is valid? [True, True] Translation: X:895.92, Y:55.57, Z:8.43 [[ 6.92740635e-01 -7.21071563e-01 -1.28923738e-02 8.95920418e+02] [ 7.20955983e-01 6.92860505e-01 -1.29147880e-02 5.55709329e+01] [ 1.82451030e-02 -3.48235632e-04 9.99833484e-01 8.42979891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7892541539999 meters Centerline goodness [0,1] 0.9999582297779913 Centerline is valid? [True, True] Translation: X:895.94, Y:55.59, Z:8.43 [[ 6.90397475e-01 -7.23314974e-01 -1.29141039e-02 8.95940959e+02] [ 7.23199337e-01 6.90518126e-01 -1.29396909e-02 5.55903879e+01] [ 1.82768950e-02 -4.05941442e-04 9.99832881e-01 8.43089316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8192541539999 meters Centerline goodness [0,1] 0.9998538988144933 Centerline is valid? [True, True] Translation: X:895.96, Y:55.61, Z:8.43 [[ 6.89414678e-01 -7.24237254e-01 -1.37040820e-02 8.95961228e+02] [ 7.24107165e-01 6.89550719e-01 -1.37339271e-02 5.56088908e+01] [ 1.93962812e-02 -4.54853038e-04 9.99811771e-01 8.42847706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8492541539998 meters Centerline goodness [0,1] 0.9997920695319485 Centerline is valid? [True, True] Translation: X:895.98, Y:55.63, Z:8.43 [[ 6.88781462e-01 -7.24831863e-01 -1.41020967e-02 8.95980327e+02] [ 7.24694129e-01 6.88925641e-01 -1.41379287e-02 5.56307826e+01] [ 1.99629172e-02 -4.81763481e-04 9.99800605e-01 8.42853974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8792541539999 meters Centerline goodness [0,1] 0.9999584691737442 Centerline is valid? [True, True] Translation: X:896.00, Y:55.65, Z:8.43 [[ 6.88822406e-01 -7.24802564e-01 -1.35991281e-02 8.95998815e+02] [ 7.24674345e-01 6.88956481e-01 -1.36404398e-02 5.56525854e+01] [ 1.92558332e-02 -4.59098666e-04 9.99814484e-01 8.43179224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9092541539999 meters Centerline goodness [0,1] 0.9999166388796266 Centerline is valid? [True, True] Translation: X:896.02, Y:55.67, Z:8.43 [[ 6.88988406e-01 -7.24639792e-01 -1.38617610e-02 8.96018367e+02] [ 7.24506387e-01 6.89127682e-01 -1.39115939e-02 5.56733708e+01] [ 1.96334178e-02 -4.58007511e-04 9.99807141e-01 8.43110928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9392541539999 meters Centerline goodness [0,1] 0.9998332499583125 Centerline is valid? [True, True] Translation: X:896.04, Y:55.69, Z:8.43 [[ 6.89549783e-01 -7.24101730e-01 -1.40634507e-02 8.96037600e+02] [ 7.23964198e-01 6.89693037e-01 -1.41192935e-02 5.56935785e+01] [ 1.99232689e-02 -4.45479100e-04 9.99801413e-01 8.43023212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9692541539998 meters Centerline goodness [0,1] 0.9997509443360592 Centerline is valid? [True, True] Translation: X:896.06, Y:55.71, Z:8.43 [[ 6.90429020e-01 -7.23261174e-01 -1.41789143e-02 8.96056566e+02] [ 7.23121095e-01 6.90574468e-01 -1.42403027e-02 5.57149425e+01] [ 2.00910543e-02 -4.21153798e-04 9.99798066e-01 8.43022978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9992541539999 meters Centerline goodness [0,1] 0.9999792789059262 Centerline is valid? [True, True] Translation: X:896.07, Y:55.74, Z:8.43 [[ 6.94122647e-01 -7.19746296e-01 -1.26102761e-02 8.96074535e+02] [ 7.19634843e-01 6.94237128e-01 -1.26689709e-02 5.57362685e+01] [ 1.78729668e-02 -2.80974446e-04 9.99840226e-01 8.43389080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0292541539999 meters Centerline goodness [0,1] 0.9997918141316567 Centerline is valid? [True, True] Translation: X:896.09, Y:55.76, Z:8.43 [[ 6.95468387e-01 -7.18423547e-01 -1.38321669e-02 8.96093028e+02] [ 7.18289088e-01 6.95605876e-01 -1.39015009e-02 5.57582670e+01] [ 1.96089022e-02 -2.67440101e-04 9.99807691e-01 8.43134476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0592541539999 meters Centerline goodness [0,1] 0.9997297802905901 Centerline is valid? [True, True] Translation: X:896.11, Y:55.78, Z:8.43 [[ 6.99247929e-01 -7.14764477e-01 -1.28092117e-02 8.96110391e+02] [ 7.14648441e-01 6.99365227e-01 -1.28796378e-02 5.57815083e+01] [ 1.81642248e-02 -1.48023125e-04 9.99835006e-01 8.43256420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0892541539998 meters Centerline goodness [0,1] 0.9999582367558312 Centerline is valid? [True, True] Translation: X:896.13, Y:55.80, Z:8.43 [[ 7.01201371e-01 -7.12865079e-01 -1.18328796e-02 8.96128953e+02] [ 7.12765691e-01 7.01301199e-01 -1.19037120e-02 5.58034786e+01] [ 1.67841533e-02 -8.71714615e-05 9.99859132e-01 8.43473655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1192541539999 meters Centerline goodness [0,1] 0.9998333749895859 Centerline is valid? [True, True] Translation: X:896.15, Y:55.82, Z:8.43 [[ 7.03041460e-01 -7.11039576e-01 -1.24670284e-02 8.96146052e+02] [ 7.10928871e-01 7.03151989e-01 -1.25467294e-02 5.58240394e+01] [ 1.76874369e-02 -4.22994780e-05 9.99843564e-01 8.43261460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1492541539999 meters Centerline goodness [0,1] 0.9999374986978895 Centerline is valid? [True, True] Translation: X:896.16, Y:55.85, Z:8.43 [[ 7.05083383e-01 -7.09025977e-01 -1.18147060e-02 8.96164311e+02] [ 7.08926194e-01 7.05182362e-01 -1.18948684e-02 5.58456287e+01] [ 1.67652930e-02 1.11195105e-05 9.99859453e-01 8.43457664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1792541539999 meters Centerline goodness [0,1] 0.9999166232412715 Centerline is valid? [True, True] Translation: X:896.18, Y:55.87, Z:8.43 [[ 7.08950144e-01 -7.05152389e-01 -1.22393394e-02 8.96182401e+02] [ 7.05044604e-01 7.09055777e-01 -1.23292689e-02 5.58687460e+01] [ 1.73723877e-02 1.11556754e-04 9.99849082e-01 8.43420211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2092541539998 meters Centerline goodness [0,1] 0.9998957551496956 Centerline is valid? [True, True] Translation: X:896.20, Y:55.89, Z:8.43 [[ 7.10792009e-01 -7.03280570e-01 -1.30828076e-02 8.96200581e+02] [ 7.03157008e-01 7.10912379e-01 -1.31837469e-02 5.58902936e+01] [ 1.85726029e-02 1.71634095e-04 9.99827500e-01 8.43241975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2392541539999 meters Centerline goodness [0,1] 0.9998959438929471 Centerline is valid? [True, True] Translation: X:896.22, Y:55.91, Z:8.43 [[ 7.13687826e-01 -7.00334974e-01 -1.34391996e-02 8.96219584e+02] [ 7.00204016e-01 7.13814302e-01 -1.35453823e-02 5.59112865e+01] [ 1.90793978e-02 2.56992900e-04 9.99817939e-01 8.43304851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2692541539999 meters Centerline goodness [0,1] 0.9998540876308 Centerline is valid? [True, True] Translation: X:896.24, Y:55.93, Z:8.43 [[ 7.14636746e-01 -6.99367978e-01 -1.33697962e-02 8.96238967e+02] [ 6.99238154e-01 7.14761744e-01 -1.34778726e-02 5.59316078e+01] [ 1.89822113e-02 2.83111412e-04 9.99819782e-01 8.43250995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.26, Y:55.95, Z:8.44 [[ 7.15328825e-01 -6.98681280e-01 -1.22123578e-02 8.96259122e+02] [ 6.98572787e-01 7.15433010e-01 -1.23154258e-02 5.59509684e+01] [ 1.73416814e-02 2.78358250e-04 9.99849583e-01 8.43571348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3292541539998 meters Centerline goodness [0,1] 0.9998756708593216 Centerline is valid? [True, True] Translation: X:896.28, Y:55.97, Z:8.43 [[ 7.15118579e-01 -6.98898525e-01 -1.20942146e-02 8.96279363e+02] [ 6.98792050e-01 7.15220788e-01 -1.22022283e-02 5.59684786e+01] [ 1.71781531e-02 2.74699186e-04 9.99852407e-01 8.43463123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3592541539999 meters Centerline goodness [0,1] 0.9999373669046724 Centerline is valid? [True, True] Translation: X:896.30, Y:55.99, Z:8.44 [[ 7.14713348e-01 -6.99323608e-01 -1.14596088e-02 8.96301945e+02] [ 6.99227988e-01 7.14805167e-01 -1.15669185e-02 5.59871538e+01] [ 1.62804068e-02 2.54151844e-04 9.99867433e-01 8.43650775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3892541539999 meters Centerline goodness [0,1] 0.9997091453026966 Centerline is valid? [True, True] Translation: X:896.32, Y:56.01, Z:8.43 [[ 7.14044816e-01 -6.99999626e-01 -1.18543061e-02 8.96322165e+02] [ 6.99897314e-01 7.14143166e-01 -1.19703332e-02 5.60057343e+01] [ 1.68449004e-02 2.50557340e-04 9.99858083e-01 8.43488651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4192541539999 meters Centerline goodness [0,1] 0.9998332151940958 Centerline is valid? [True, True] Translation: X:896.35, Y:56.02, Z:8.44 [[ 7.12861984e-01 -7.01214351e-01 -1.12350375e-02 8.96346190e+02] [ 7.01122534e-01 7.12950481e-01 -1.13491870e-02 5.60226209e+01] [ 1.59682382e-02 2.13265984e-04 9.99872477e-01 8.43541676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.37, Y:56.04, Z:8.44 [[ 7.12380241e-01 -7.01708692e-01 -1.09225920e-02 8.96367684e+02] [ 7.01621906e-01 7.12463944e-01 -1.10376524e-02 5.60410705e+01] [ 1.55271696e-02 1.99475664e-04 9.99879426e-01 8.43745096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4792541539998 meters Centerline goodness [0,1] 0.9999168468318643 Centerline is valid? [True, True] Translation: X:896.39, Y:56.06, Z:8.44 [[ 7.11548520e-01 -7.02544498e-01 -1.13987972e-02 8.96388811e+02] [ 7.02450021e-01 7.11639791e-01 -1.15228833e-02 5.60592925e+01] [ 1.62071759e-02 1.92005245e-04 9.99868637e-01 8.43557886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5092541539999 meters Centerline goodness [0,1] 0.9998953274158432 Centerline is valid? [True, True] Translation: X:896.41, Y:56.08, Z:8.44 [[ 7.10394514e-01 -7.03714170e-01 -1.12250787e-02 8.96411774e+02] [ 7.03622624e-01 7.10483174e-01 -1.13518146e-02 5.60755621e+01] [ 1.59636623e-02 1.66047530e-04 9.99872559e-01 8.43579028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5392541539999 meters Centerline goodness [0,1] 0.9997691694296387 Centerline is valid? [True, True] Translation: X:896.43, Y:56.09, Z:8.44 [[ 7.09633318e-01 -7.04470640e-01 -1.19026082e-02 8.96433962e+02] [ 7.04367740e-01 7.09733113e-01 -1.20414035e-02 5.60933219e+01] [ 1.69304904e-02 1.61167852e-04 9.99856656e-01 8.43531789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.46, Y:56.11, Z:8.44 [[ 7.09509054e-01 -7.04617786e-01 -1.05203397e-02 8.96455434e+02] [ 7.04537353e-01 7.09587031e-01 -1.06472133e-02 5.61116503e+01] [ 1.49673125e-02 1.42321958e-04 9.99887973e-01 8.43926813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5992541539998 meters Centerline goodness [0,1] 0.999831964544519 Centerline is valid? [True, True] Translation: X:896.48, Y:56.13, Z:8.44 [[ 7.08701485e-01 -7.05424387e-01 -1.08921785e-02 8.96476904e+02] [ 7.05338202e-01 7.08785170e-01 -1.10273692e-02 5.61300741e+01] [ 1.54991898e-02 1.32443349e-04 9.99879872e-01 8.43704407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6292541539999 meters Centerline goodness [0,1] 0.9998739230930868 Centerline is valid? [True, True] Translation: X:896.50, Y:56.15, Z:8.44 [[ 7.07835981e-01 -7.06299189e-01 -1.04728331e-02 8.96499563e+02] [ 7.06219542e-01 7.07913444e-01 -1.06073208e-02 5.61466918e+01] [ 1.49058014e-02 1.12123945e-04 9.99888896e-01 8.43790768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6592541539999 meters Centerline goodness [0,1] 0.999895121030331 Centerline is valid? [True, True] Translation: X:896.52, Y:56.16, Z:8.44 [[ 7.06895427e-01 -7.07238130e-01 -1.06340464e-02 8.96520955e+02] [ 7.07156063e-01 7.06975402e-01 -1.07742162e-02 5.61645680e+01] [ 1.51379457e-02 9.63137616e-05 9.99885410e-01 8.43843069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6892541539999 meters Centerline goodness [0,1] 0.9998737639385651 Centerline is valid? [True, True] Translation: X:896.54, Y:56.18, Z:8.44 [[ 7.05654377e-01 -7.08471517e-01 -1.09549470e-02 8.96542465e+02] [ 7.08384468e-01 7.05739403e-01 -1.11058848e-02 5.61823306e+01] [ 1.55995408e-02 7.66019327e-05 9.99878317e-01 8.43789621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7192541539998 meters Centerline goodness [0,1] 0.9998734764455316 Centerline is valid? [True, True] Translation: X:896.57, Y:56.20, Z:8.44 [[ 7.02411407e-01 -7.11679231e-01 -1.14406211e-02 8.96567064e+02] [ 7.11584606e-01 7.02504571e-01 -1.16050238e-02 5.61981797e+01] [ 1.62961430e-02 1.05311894e-05 9.99867209e-01 8.43798055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7492541539999 meters Centerline goodness [0,1] 0.9998734203919748 Centerline is valid? [True, True] Translation: X:896.59, Y:56.21, Z:8.44 [[ 7.00686706e-01 -7.13374430e-01 -1.16216294e-02 8.96587902e+02] [ 7.13276936e-01 7.00783077e-01 -1.17937222e-02 5.62149049e+01] [ 1.65575811e-02 -2.57358596e-05 9.99862914e-01 8.43796624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7792541539999 meters Centerline goodness [0,1] 0.9998313125988403 Centerline is valid? [True, True] Translation: X:896.61, Y:56.23, Z:8.44 [[ 6.98690252e-01 -7.15319077e-01 -1.22698704e-02 8.96610526e+02] [ 7.15210616e-01 6.98797977e-01 -1.24563709e-02 5.62335087e+01] [ 1.74844403e-02 -7.23966275e-05 9.99847133e-01 8.43725930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8092541539999 meters Centerline goodness [0,1] 0.9997893761321033 Centerline is valid? [True, True] Translation: X:896.63, Y:56.25, Z:8.44 [[ 6.96989098e-01 -7.16971318e-01 -1.25828050e-02 8.96632531e+02] [ 7.16857439e-01 6.97102659e-01 -1.27787307e-02 5.62513230e+01] [ 1.79334902e-02 -1.13441384e-04 9.99839176e-01 8.43681278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8392541539998 meters Centerline goodness [0,1] 0.9998103186646434 Centerline is valid? [True, True] Translation: X:896.66, Y:56.27, Z:8.44 [[ 6.93654929e-01 -7.20206857e-01 -1.20383761e-02 8.96657154e+02] [ 7.20103068e-01 6.93759359e-01 -1.22280046e-02 5.62667502e+01] [ 1.71584288e-02 -1.86855927e-04 9.99852766e-01 8.43731269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.68, Y:56.29, Z:8.44 [[ 6.92246072e-01 -7.21571658e-01 -1.13893797e-02 8.96680096e+02] [ 7.21478884e-01 6.92339729e-01 -1.15723959e-02 5.62851556e+01] [ 1.62356329e-02 -2.06251368e-04 9.99868172e-01 8.44133204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8992541539999 meters Centerline goodness [0,1] 0.9999577907688412 Centerline is valid? [True, True] Translation: X:896.70, Y:56.30, Z:8.44 [[ 6.89433577e-01 -7.24259335e-01 -1.13911672e-02 8.96704974e+02] [ 7.24166828e-01 6.89527624e-01 -1.15784444e-02 5.63003004e+01] [ 1.62403209e-02 -2.66537125e-04 9.99868082e-01 8.44045789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9292541539999 meters Centerline goodness [0,1] 0.9998304366256888 Centerline is valid? [True, True] Translation: X:896.73, Y:56.32, Z:8.44 [[ 6.87872614e-01 -7.25739829e-01 -1.15311455e-02 8.96725049e+02] [ 7.25645208e-01 6.87969191e-01 -1.17228320e-02 5.63203911e+01] [ 1.64407989e-02 -3.03705358e-04 9.99864795e-01 8.43851621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9592541539998 meters Centerline goodness [0,1] 0.9998304366256888 Centerline is valid? [True, True] Translation: X:896.74, Y:56.34, Z:8.44 [[ 6.87664037e-01 -7.25937499e-01 -1.15290965e-02 8.96744340e+02] [ 7.25842872e-01 6.87760608e-01 -1.17248469e-02 5.63401037e+01] [ 1.64407644e-02 -3.05556950e-04 9.99864795e-01 8.43877428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9892541539999 meters Centerline goodness [0,1] 0.9998726358020761 Centerline is valid? [True, True] Translation: X:896.77, Y:56.36, Z:8.44 [[ 6.85906014e-01 -7.27594148e-01 -1.18192825e-02 8.96766696e+02] [ 7.27494851e-01 6.86007750e-01 -1.20253225e-02 5.63566927e+01] [ 1.68576736e-02 -3.50226141e-04 9.99857838e-01 8.43863270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0192541539999 meters Centerline goodness [0,1] 0.9998092209856916 Centerline is valid? [True, True] Translation: X:896.79, Y:56.38, Z:8.44 [[ 6.85174343e-01 -7.28277567e-01 -1.21616177e-02 8.96786959e+02] [ 7.28172460e-01 6.85282165e-01 -1.23783219e-02 5.63774571e+01] [ 1.73489939e-02 -3.74446502e-04 9.99849425e-01 8.43821758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0492541539999 meters Centerline goodness [0,1] 0.9998942604576407 Centerline is valid? [True, True] Translation: X:896.81, Y:56.40, Z:8.44 [[ 6.85562047e-01 -7.27919809e-01 -1.17230966e-02 8.96807410e+02] [ 7.27822024e-01 6.85662183e-01 -1.19361577e-02 5.63958713e+01] [ 1.67266497e-02 -3.49351181e-04 9.99860039e-01 8.44169224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0792541539998 meters Centerline goodness [0,1] 0.9996408956485002 Centerline is valid? [True, True] Translation: X:896.83, Y:56.42, Z:8.44 [[ 6.85381719e-01 -7.28089313e-01 -1.17410642e-02 8.96827017e+02] [ 7.27991182e-01 6.85482188e-01 -1.19586426e-02 5.64162793e+01] [ 1.67552502e-02 -3.51156167e-04 9.99859559e-01 8.43853362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1092541539999 meters Centerline goodness [0,1] 0.9999149569469544 Centerline is valid? [True, True] Translation: X:896.85, Y:56.44, Z:8.44 [[ 6.86810594e-01 -7.26759207e-01 -1.05954334e-02 8.96846801e+02] [ 7.26679051e-01 6.86892259e-01 -1.07973014e-02 5.64374420e+01] [ 1.51249594e-02 -2.83778442e-04 9.99885571e-01 8.44244618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1392541539999 meters Centerline goodness [0,1] 0.9998522146687497 Centerline is valid? [True, True] Translation: X:896.87, Y:56.46, Z:8.44 [[ 6.87385270e-01 -7.26218738e-01 -1.03844113e-02 8.96866556e+02] [ 7.26141622e-01 6.87463654e-01 -1.05862886e-02 5.64567033e+01] [ 1.48268665e-02 -2.63694412e-04 9.99890041e-01 8.44249787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1692541539999 meters Centerline goodness [0,1] 0.999873235865799 Centerline is valid? [True, True] Translation: X:896.89, Y:56.48, Z:8.44 [[ 6.87776028e-01 -7.25845816e-01 -1.05823619e-02 8.96886738e+02] [ 7.25765639e-01 6.87857386e-01 -1.07913548e-02 5.64774869e+01] [ 1.51120155e-02 -2.58279567e-04 9.99885774e-01 8.44209300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1992541539998 meters Centerline goodness [0,1] 0.9998521022607226 Centerline is valid? [True, True] Translation: X:896.91, Y:56.50, Z:8.44 [[ 6.88960984e-01 -7.24723148e-01 -1.04461436e-02 8.96906552e+02] [ 7.24644814e-01 6.89040135e-01 -1.06576959e-02 5.64983448e+01] [ 1.49216911e-02 -2.27007132e-04 9.99888640e-01 8.44223477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2292541539998 meters Centerline goodness [0,1] 0.999788717515318 Centerline is valid? [True, True] Translation: X:896.93, Y:56.52, Z:8.44 [[ 6.89415010e-01 -7.24289266e-01 -1.05831893e-02 8.96926144e+02] [ 7.24208730e-01 6.89496202e-01 -1.08029191e-02 5.65190659e+01] [ 1.51215072e-02 -2.16743488e-04 9.99885640e-01 8.44179944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2592541539999 meters Centerline goodness [0,1] 0.9999575371549894 Centerline is valid? [True, True] Translation: X:896.94, Y:56.54, Z:8.44 [[ 6.90381706e-01 -7.23372871e-01 -1.02366888e-02 8.96944999e+02] [ 7.23297346e-01 6.90457570e-01 -1.04543761e-02 5.65407379e+01] [ 1.46304113e-02 -1.86659783e-04 9.99892952e-01 8.44486493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2892541539999 meters Centerline goodness [0,1] 0.999830422248601 Centerline is valid? [True, True] Translation: X:896.96, Y:56.56, Z:8.45 [[ 6.91408247e-01 -7.22393879e-01 -1.00855588e-02 8.96963854e+02] [ 7.22320406e-01 6.91481784e-01 -1.03040703e-02 5.65611826e+01] [ 1.44175775e-02 -1.60685695e-04 9.99896048e-01 8.44587047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3192541539999 meters Centerline goodness [0,1] 0.9999156509636877 Centerline is valid? [True, True] Translation: X:896.98, Y:56.58, Z:8.44 [[ 6.93840761e-01 -7.20058110e-01 -1.00656069e-02 8.96981174e+02] [ 7.19984654e-01 6.93913760e-01 -1.02855381e-02 5.65834106e+01] [ 1.43908483e-02 -1.10556936e-04 9.99896440e-01 8.44433997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3492541539998 meters Centerline goodness [0,1] 0.9998944279048162 Centerline is valid? [True, True] Translation: X:897.00, Y:56.60, Z:8.44 [[ 6.94858865e-01 -7.19071664e-01 -1.03488723e-02 8.96999702e+02] [ 7.18993855e-01 6.94935920e-01 -1.05784241e-02 5.66041036e+01] [ 1.47984481e-02 -9.02638062e-05 9.99890493e-01 8.44368670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3792541539999 meters Centerline goodness [0,1] 0.9998945703742752 Centerline is valid? [True, True] Translation: X:897.02, Y:56.62, Z:8.44 [[ 6.95795122e-01 -7.18160915e-01 -1.06793871e-02 8.97018139e+02] [ 7.18077872e-01 6.95877070e-01 -1.09212381e-02 5.66240545e+01] [ 1.52747469e-02 -6.96873590e-05 9.99883332e-01 8.44302811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.04, Y:56.64, Z:8.44 [[ 6.97258439e-01 -7.16727800e-01 -1.14861112e-02 8.97036779e+02] [ 7.16631467e-01 6.97353038e-01 -1.17507911e-02 5.66449334e+01] [ 1.64319932e-02 -3.79705187e-05 9.99864985e-01 8.44442479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4392541539999 meters Centerline goodness [0,1] 0.9998098216549742 Centerline is valid? [True, True] Translation: X:897.06, Y:56.67, Z:8.44 [[ 6.97309479e-01 -7.16663444e-01 -1.23692602e-02 8.97056452e+02] [ 7.16551594e-01 6.97419176e-01 -1.26612052e-02 5.66658774e+01] [ 1.77003821e-02 -3.44346953e-05 9.99843335e-01 8.44084717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4692541539998 meters Centerline goodness [0,1] 0.9998945659279252 Centerline is valid? [True, True] Translation: X:897.08, Y:56.69, Z:8.44 [[ 6.97302900e-01 -7.16665662e-01 -1.26093161e-02 8.97076146e+02] [ 7.16549305e-01 6.97416897e-01 -1.29137685e-02 5.66860311e+01] [ 1.80488046e-02 -3.03884361e-05 9.99837107e-01 8.44171057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4992541539999 meters Centerline goodness [0,1] 0.9999367355546183 Centerline is valid? [True, True] Translation: X:897.10, Y:56.71, Z:8.44 [[ 6.97068361e-01 -7.16891590e-01 -1.27337927e-02 8.97095610e+02] [ 7.16772828e-01 6.97184658e-01 -1.30485648e-02 5.67059010e+01] [ 1.82322113e-02 -3.14948881e-05 9.99833779e-01 8.44242472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5292541539999 meters Centerline goodness [0,1] 0.9998097653772987 Centerline is valid? [True, True] Translation: X:897.12, Y:56.72, Z:8.44 [[ 6.96188326e-01 -7.17737846e-01 -1.31984768e-02 8.97115796e+02] [ 7.17610304e-01 6.96313422e-01 -1.35303330e-02 5.67249673e+01] [ 1.89015086e-02 -5.17030388e-05 9.99821349e-01 8.44072485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5592541539999 meters Centerline goodness [0,1] 0.9999364272091544 Centerline is valid? [True, True] Translation: X:897.14, Y:56.74, Z:8.44 [[ 6.95426641e-01 -7.18488435e-01 -1.24962052e-02 8.97135999e+02] [ 7.18374138e-01 6.95538902e-01 -1.28153511e-02 5.67444888e+01] [ 1.78992784e-02 -6.48140289e-05 9.99839793e-01 8.44339543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.16, Y:56.76, Z:8.45 [[ 6.94761340e-01 -7.19136346e-01 -1.22309302e-02 8.97156465e+02] [ 7.19026832e-01 6.94868988e-01 -1.25500835e-02 5.67639175e+01] [ 1.75241153e-02 -7.50541039e-05 9.99846438e-01 8.44623783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6192541539999 meters Centerline goodness [0,1] 0.9998945192185984 Centerline is valid? [True, True] Translation: X:897.18, Y:56.78, Z:8.45 [[ 6.92952688e-01 -7.20894478e-01 -1.13014899e-02 8.97177173e+02] [ 7.20801125e-01 6.93044833e-01 -1.16016073e-02 5.67818563e+01] [ 1.61959738e-02 -1.06761703e-04 9.99868831e-01 8.44529007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6492541539999 meters Centerline goodness [0,1] 0.9998937865108869 Centerline is valid? [True, True] Translation: X:897.20, Y:56.80, Z:8.45 [[ 6.92169980e-01 -7.21647909e-01 -1.11810235e-02 8.97195926e+02] [ 7.21556549e-01 6.92260270e-01 -1.14832377e-02 5.68021596e+01] [ 1.60270328e-02 -1.19388356e-04 9.99871552e-01 8.44688734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6792541539999 meters Centerline goodness [0,1] 0.9998521178831731 Centerline is valid? [True, True] Translation: X:897.22, Y:56.82, Z:8.45 [[ 6.91627235e-01 -7.22168224e-01 -1.11724283e-02 8.97215759e+02] [ 7.22076990e-01 6.91717457e-01 -1.14795824e-02 5.68210444e+01] [ 1.60183533e-02 -1.27761550e-04 9.99871690e-01 8.44614007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.24, Y:56.84, Z:8.45 [[ 6.91375220e-01 -7.22414965e-01 -1.08131592e-02 8.97235391e+02] [ 7.22329469e-01 6.91459762e-01 -1.11146390e-02 5.68408369e+01] [ 1.55062461e-02 -1.26277552e-04 9.99879763e-01 8.44967422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.25, Y:56.86, Z:8.45 [[ 6.91283898e-01 -7.22498954e-01 -1.10378213e-02 8.97254361e+02] [ 7.22409798e-01 6.91372002e-01 -1.13507251e-02 5.68598968e+01] [ 1.58321276e-02 -1.27256806e-04 9.99874656e-01 8.44975111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7692541539999 meters Centerline goodness [0,1] 0.9997449467576357 Centerline is valid? [True, True] Translation: X:897.27, Y:56.88, Z:8.45 [[ 6.90976999e-01 -7.22783169e-01 -1.16309110e-02 8.97274112e+02] [ 7.22684134e-01 6.91074867e-01 -1.19654189e-02 5.68798926e+01] [ 1.66862337e-02 -1.37645643e-04 9.99860766e-01 8.44566825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.29, Y:56.90, Z:8.45 [[ 6.91700436e-01 -7.22101326e-01 -1.09627195e-02 8.97293167e+02] [ 7.22013188e-01 6.91787296e-01 -1.12824488e-02 5.68998415e+01] [ 1.57309413e-02 -1.11153289e-04 9.99876255e-01 8.45008006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.31, Y:56.92, Z:8.45 [[ 6.92529856e-01 -7.21299309e-01 -1.13888708e-02 8.97311610e+02] [ 7.21204009e-01 6.92623490e-01 -1.17251385e-02 5.69207544e+01] [ 1.63455337e-02 -9.36908125e-05 9.99866398e-01 8.44996449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8592541539999 meters Centerline goodness [0,1] 0.999873031995937 Centerline is valid? [True, True] Translation: X:897.33, Y:56.94, Z:8.45 [[ 6.92953000e-01 -7.20888895e-01 -1.16336156e-02 8.97330614e+02] [ 7.20789310e-01 6.93050643e-01 -1.19823560e-02 5.69405400e+01] [ 1.67006322e-02 -8.21762498e-05 9.99860531e-01 8.44683116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8892541539999 meters Centerline goodness [0,1] 0.9997456010175959 Centerline is valid? [True, True] Translation: X:897.35, Y:56.96, Z:8.45 [[ 6.93704398e-01 -7.20158613e-01 -1.20739779e-02 8.97349594e+02] [ 7.20051147e-01 6.93809461e-01 -1.24409296e-02 5.69608235e+01] [ 1.73364827e-02 -6.35540670e-05 9.99849710e-01 8.44587744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9192541539999 meters Centerline goodness [0,1] 0.9999573987688244 Centerline is valid? [True, True] Translation: X:897.37, Y:56.98, Z:8.45 [[ 6.94395102e-01 -7.19504811e-01 -1.13256254e-02 8.97369683e+02] [ 7.19410069e-01 6.94487455e-01 -1.16759103e-02 5.69819035e+01] [ 1.62663783e-02 -4.00740163e-05 9.99867693e-01 8.44927381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.39, Y:57.00, Z:8.45 [[ 6.94837402e-01 -7.19079134e-01 -1.12331780e-02 8.97389194e+02] [ 7.18985777e-01 6.94928197e-01 -1.15867931e-02 5.70026078e+01] [ 1.61380733e-02 -2.55580368e-05 9.99869772e-01 8.45112622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9792541539998 meters Centerline goodness [0,1] 0.9998516320474777 Centerline is valid? [True, True] Translation: X:897.41, Y:57.02, Z:8.45 [[ 6.95164447e-01 -7.18758344e-01 -1.15253615e-02 8.97407942e+02] [ 7.18659934e-01 6.95259982e-01 -1.18935734e-02 5.70218819e+01] [ 1.65617278e-02 -1.48261291e-05 9.99862845e-01 8.44768759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.43, Y:57.04, Z:8.45 [[ 6.96171396e-01 -7.17792059e-01 -1.09520570e-02 8.97427513e+02] [ 7.17703008e-01 6.96257539e-01 -1.13062872e-02 5.70420078e+01] [ 1.57410154e-02 1.07894451e-05 9.99876102e-01 8.45181241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0392541539999 meters Centerline goodness [0,1] 0.9999787365242723 Centerline is valid? [True, True] Translation: X:897.45, Y:57.06, Z:8.45 [[ 6.96582758e-01 -7.17398001e-01 -1.06098896e-02 8.97446485e+02] [ 7.17314307e-01 6.96663554e-01 -1.09579716e-02 5.70617633e+01] [ 1.52527503e-02 2.25084909e-05 9.99883670e-01 8.45137431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0692541539999 meters Centerline goodness [0,1] 0.9999147848317 Centerline is valid? [True, True] Translation: X:897.47, Y:57.08, Z:8.45 [[ 6.96847537e-01 -7.17143947e-01 -1.03956902e-02 8.97465793e+02] [ 7.17063509e-01 6.96925074e-01 -1.07408059e-02 5.70815042e+01] [ 1.49477210e-02 3.03340422e-05 9.99888276e-01 8.45063294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0992541539998 meters Centerline goodness [0,1] 0.9998730131854643 Centerline is valid? [True, True] Translation: X:897.48, Y:57.10, Z:8.45 [[ 6.98321294e-01 -7.15714585e-01 -1.00001863e-02 8.97484302e+02] [ 7.15639929e-01 6.98392890e-01 -1.03374678e-02 5.71014327e+01] [ 1.43827354e-02 6.23412609e-05 9.99896561e-01 8.45038242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1292541539999 meters Centerline goodness [0,1] 0.9998085554444704 Centerline is valid? [True, True] Translation: X:897.50, Y:57.12, Z:8.45 [[ 6.99169975e-01 -7.14885033e-01 -1.00367027e-02 8.97502972e+02] [ 7.14809692e-01 6.99242006e-01 -1.03789283e-02 5.71218192e+01] [ 1.44378246e-02 8.23026857e-05 9.99895766e-01 8.44985137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1592541539999 meters Centerline goodness [0,1] 0.9998084372738496 Centerline is valid? [True, True] Translation: X:897.52, Y:57.14, Z:8.45 [[ 7.01410416e-01 -7.12690178e-01 -9.80501936e-03 8.97522122e+02] [ 7.12618010e-01 7.01478934e-01 -1.01428668e-02 5.71434024e+01] [ 1.41067360e-02 1.27079025e-04 9.99900487e-01 8.45115760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1892541539999 meters Centerline goodness [0,1] 0.99987254652052 Centerline is valid? [True, True] Translation: X:897.54, Y:57.16, Z:8.45 [[ 7.02405795e-01 -7.11710508e-01 -9.70832005e-03 8.97541423e+02] [ 7.11639592e-01 7.02472868e-01 -1.00479220e-02 5.71643395e+01] [ 1.39710431e-02 1.48893717e-04 9.99902389e-01 8.45149984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2192541539998 meters Centerline goodness [0,1] 0.9998510099397655 Centerline is valid? [True, True] Translation: X:897.56, Y:57.19, Z:8.45 [[ 7.03258761e-01 -7.10865368e-01 -9.87636267e-03 8.97561173e+02] [ 7.10791818e-01 7.03328087e-01 -1.02271186e-02 5.71852787e+01] [ 1.42164277e-02 1.72272991e-04 9.99898927e-01 8.45064161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2492541539999 meters Centerline goodness [0,1] 0.9998720545900416 Centerline is valid? [True, True] Translation: X:897.58, Y:57.21, Z:8.45 [[ 7.05314093e-01 -7.08824027e-01 -1.00264049e-02 8.97580513e+02] [ 7.08747939e-01 7.05385321e-01 -1.03878895e-02 5.72064240e+01] [ 1.44356645e-02 2.20531048e-04 9.99895776e-01 8.45060719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2792541539999 meters Centerline goodness [0,1] 0.9998725735887525 Centerline is valid? [True, True] Translation: X:897.60, Y:57.23, Z:8.45 [[ 7.06341316e-01 -7.07801584e-01 -9.94299472e-03 8.97599321e+02] [ 7.07726597e-01 7.06411253e-01 -1.03055968e-02 5.72276269e+01] [ 1.43181611e-02 2.42347004e-04 9.99897461e-01 8.45033246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3092541539999 meters Centerline goodness [0,1] 0.9998512853197365 Centerline is valid? [True, True] Translation: X:897.62, Y:57.25, Z:8.45 [[ 7.06982006e-01 -7.07158518e-01 -1.01624186e-02 8.97619161e+02] [ 7.07080071e-01 7.07054992e-01 -1.05362171e-02 5.72483526e+01] [ 1.46361645e-02 2.63272242e-04 9.99892851e-01 8.44986812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3392541539998 meters Centerline goodness [0,1] 0.9998718058285616 Centerline is valid? [True, True] Translation: X:897.64, Y:57.27, Z:8.45 [[ 7.07496386e-01 -7.06642331e-01 -1.02702978e-02 8.97639858e+02] [ 7.06562075e-01 7.07570871e-01 -1.06535429e-02 5.72687480e+01] [ 1.47952080e-02 2.80740240e-04 9.99890506e-01 8.45017472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3692541539999 meters Centerline goodness [0,1] 0.9999572485143858 Centerline is valid? [True, True] Translation: X:897.66, Y:57.29, Z:8.45 [[ 7.07790872e-01 -7.06349050e-01 -1.01539023e-02 8.97660112e+02] [ 7.06270511e-01 7.07863644e-01 -1.05369335e-02 5.72875386e+01] [ 1.46303313e-02 2.86543580e-04 9.99892930e-01 8.45163668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3992541539999 meters Centerline goodness [0,1] 0.9998504593035676 Centerline is valid? [True, True] Translation: X:897.68, Y:57.31, Z:8.45 [[ 7.07157657e-01 -7.06975655e-01 -1.06522772e-02 8.97680430e+02] [ 7.06889257e-01 7.07237824e-01 -1.10561758e-02 5.73065958e+01] [ 1.53501405e-02 2.88479089e-04 9.99882138e-01 8.44986208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4292541539999 meters Centerline goodness [0,1] 0.9998501872659176 Centerline is valid? [True, True] Translation: X:897.70, Y:57.32, Z:8.45 [[ 7.05119917e-01 -7.09007831e-01 -1.06676352e-02 8.97703825e+02] [ 7.08921363e-01 7.05200563e-01 -1.10755112e-02 5.73244833e+01] [ 1.53754465e-02 2.47049050e-04 9.99881760e-01 8.45067222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4592541539998 meters Centerline goodness [0,1] 0.9998714460180405 Centerline is valid? [True, True] Translation: X:897.73, Y:57.34, Z:8.45 [[ 7.03860443e-01 -7.10258344e-01 -1.06564874e-02 8.97725642e+02] [ 7.10172114e-01 7.03941073e-01 -1.10694921e-02 5.73433751e+01] [ 1.53637383e-02 2.23437462e-04 9.99881946e-01 8.45147363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4892541539999 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:897.75, Y:57.36, Z:8.45 [[ 7.02501620e-01 -7.11609398e-01 -1.01753794e-02 8.97747949e+02] [ 7.11530847e-01 7.02575284e-01 -1.05747437e-02 5.73627212e+01] [ 1.46740571e-02 1.88678222e-04 9.99892312e-01 8.45382656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5192541539999 meters Centerline goodness [0,1] 0.9999786292821576 Centerline is valid? [True, True] Translation: X:897.77, Y:57.38, Z:8.45 [[ 6.99512259e-01 -7.14549711e-01 -1.00653010e-02 8.97771331e+02] [ 7.14473098e-01 6.99584659e-01 -1.04641074e-02 5.73789508e+01] [ 1.45186551e-02 1.28384636e-04 9.99894591e-01 8.45476003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.79, Y:57.40, Z:8.46 [[ 6.97878864e-01 -7.16143282e-01 -1.01926678e-02 8.97793224e+02] [ 7.16064842e-01 6.97953286e-01 -1.05996240e-02 5.73976505e+01] [ 1.47048555e-02 9.86425388e-05 9.99891873e-01 8.45566424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5792541539998 meters Centerline goodness [0,1] 0.9998284623796556 Centerline is valid? [True, True] Translation: X:897.81, Y:57.42, Z:8.45 [[ 6.95767901e-01 -7.18185874e-01 -1.07739841e-02 8.97814929e+02] [ 7.18098382e-01 6.95851311e-01 -1.12101629e-02 5.74161964e+01] [ 1.55480716e-02 6.28909854e-05 9.99879119e-01 8.45255438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6092541539999 meters Centerline goodness [0,1] 0.9998714763087996 Centerline is valid? [True, True] Translation: X:897.84, Y:57.43, Z:8.45 [[ 6.93506482e-01 -7.20356217e-01 -1.16482034e-02 8.97837530e+02] [ 7.20254157e-01 6.93604297e-01 -1.21255499e-02 5.74318255e+01] [ 1.68139592e-02 1.94805846e-05 9.99858635e-01 8.45237607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6392541539999 meters Centerline goodness [0,1] 0.9999357009666288 Centerline is valid? [True, True] Translation: X:897.86, Y:57.45, Z:8.45 [[ 6.92645836e-01 -7.21181202e-01 -1.18076566e-02 8.97858598e+02] [ 7.21076360e-01 6.92746472e-01 -1.22967114e-02 5.74504267e+01] [ 1.70478696e-02 3.04385505e-06 9.99854675e-01 8.45373581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6692541539999 meters Centerline goodness [0,1] 0.9998922111798564 Centerline is valid? [True, True] Translation: X:897.88, Y:57.47, Z:8.45 [[ 6.91790810e-01 -7.21999972e-01 -1.18960410e-02 8.97879218e+02] [ 7.21893558e-01 6.91893085e-01 -1.23955767e-02 5.74690456e+01] [ 1.71803945e-02 -1.25292755e-05 9.99852406e-01 8.45305516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6992541539998 meters Centerline goodness [0,1] 0.9999569011959918 Centerline is valid? [True, True] Translation: X:897.90, Y:57.49, Z:8.46 [[ 6.91899641e-01 -7.21896456e-01 -1.18487633e-02 8.97901017e+02] [ 7.21790756e-01 6.92001089e-01 -1.23530340e-02 5.74875249e+01] [ 1.71169686e-02 -5.26802498e-06 9.99853494e-01 8.45510269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7292541539998 meters Centerline goodness [0,1] 0.9999354713815577 Centerline is valid? [True, True] Translation: X:897.92, Y:57.51, Z:8.46 [[ 6.92102100e-01 -7.21695543e-01 -1.22566992e-02 8.97920650e+02] [ 7.21582280e-01 6.92210621e-01 -1.27855424e-02 5.75069587e+01] [ 1.77114863e-02 4.68374301e-06 9.99843139e-01 8.45590458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7592541539999 meters Centerline goodness [0,1] 0.9999137112779359 Centerline is valid? [True, True] Translation: X:897.94, Y:57.53, Z:8.46 [[ 6.92753250e-01 -7.21076283e-01 -1.19133693e-02 8.97940559e+02] [ 7.20969066e-01 6.92855680e-01 -1.24343014e-02 5.75272342e+01] [ 1.72203254e-02 2.47319367e-05 9.99851719e-01 8.45741277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.96, Y:57.55, Z:8.46 [[ 6.93188470e-01 -7.20652992e-01 -1.22069815e-02 8.97960243e+02] [ 7.20540230e-01 6.93295942e-01 -1.27480701e-02 5.75471620e+01] [ 1.76499856e-02 4.11939886e-05 9.99844226e-01 8.45812091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8192541539999 meters Centerline goodness [0,1] 0.9998922529899795 Centerline is valid? [True, True] Translation: X:897.98, Y:57.57, Z:8.46 [[ 6.94180315e-01 -7.19685716e-01 -1.28903310e-02 8.97980330e+02] [ 7.19559700e-01 6.94299982e-01 -1.34674933e-02 5.75669741e+01] [ 1.86421192e-02 7.35060428e-05 9.99826218e-01 8.45550007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8492541539998 meters Centerline goodness [0,1] 0.9998922529899795 Centerline is valid? [True, True] Translation: X:898.00, Y:57.59, Z:8.46 [[ 6.93976438e-01 -7.19882362e-01 -1.28875793e-02 8.97999346e+02] [ 7.19756331e-01 6.94096089e-01 -1.34701262e-02 5.75869584e+01] [ 1.86421247e-02 7.20334076e-05 9.99826218e-01 8.45575803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8792541539999 meters Centerline goodness [0,1] 0.9999135247319266 Centerline is valid? [True, True] Translation: X:898.02, Y:57.61, Z:8.46 [[ 6.94556290e-01 -7.19320316e-01 -1.30323901e-02 8.98018917e+02] [ 7.19191190e-01 6.94678541e-01 -1.36293014e-02 5.76067243e+01] [ 1.88571552e-02 9.35368517e-05 9.99822184e-01 8.45632745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9092541539999 meters Centerline goodness [0,1] 0.999718797317759 Centerline is valid? [True, True] Translation: X:898.04, Y:57.63, Z:8.45 [[ 6.95721755e-01 -7.18182510e-01 -1.36059671e-02 8.98038502e+02] [ 7.18041426e-01 6.95854773e-01 -1.42353933e-02 5.76266493e+01] [ 1.96913876e-02 1.34224852e-04 9.99806097e-01 8.45445513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9392541539999 meters Centerline goodness [0,1] 0.9998264905545796 Centerline is valid? [True, True] Translation: X:898.06, Y:57.65, Z:8.46 [[ 6.96492008e-01 -7.17448379e-01 -1.29114455e-02 8.98058760e+02] [ 7.17321099e-01 6.96611657e-01 -1.35144556e-02 5.76466693e+01] [ 1.86901877e-02 1.51058058e-04 9.99825312e-01 8.45814998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9692541539998 meters Centerline goodness [0,1] 0.9998490370721819 Centerline is valid? [True, True] Translation: X:898.08, Y:57.67, Z:8.45 [[ 6.96678507e-01 -7.17251584e-01 -1.37558430e-02 8.98077788e+02] [ 7.17106951e-01 6.96814277e-01 -1.44043094e-02 5.76670895e+01] [ 1.99167815e-02 1.70762119e-04 9.99801627e-01 8.45409909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9992541539999 meters Centerline goodness [0,1] 0.9999567333693888 Centerline is valid? [True, True] Translation: X:898.10, Y:57.69, Z:8.46 [[ 6.98203829e-01 -7.15789052e-01 -1.25477267e-02 8.98098750e+02] [ 7.15668379e-01 6.98316543e-01 -1.31444887e-02 5.76855176e+01] [ 1.81709662e-02 1.97521119e-04 9.99834875e-01 8.45880583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0292541539999 meters Centerline goodness [0,1] 0.9998482351920909 Centerline is valid? [True, True] Translation: X:898.12, Y:57.71, Z:8.46 [[ 6.98423848e-01 -7.15569404e-01 -1.28279817e-02 8.98119029e+02] [ 7.15443104e-01 6.98541612e-01 -1.34454919e-02 5.77056767e+01] [ 1.85820616e-02 2.12961180e-04 9.99827316e-01 8.45798206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0592541539999 meters Centerline goodness [0,1] 0.9999566874566874 Centerline is valid? [True, True] Translation: X:898.14, Y:57.73, Z:8.46 [[ 6.98990260e-01 -7.15032117e-01 -1.19033051e-02 8.98139060e+02] [ 7.14923179e-01 6.99091572e-01 -1.24828838e-02 5.77251929e+01] [ 1.72471631e-02 2.15465498e-04 9.99851233e-01 8.46041377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.16, Y:57.75, Z:8.46 [[ 6.99870664e-01 -7.14177922e-01 -1.14433543e-02 8.98160057e+02] [ 7.14077018e-01 6.99964172e-01 -1.20070688e-02 5.77452351e+01] [ 1.65851215e-02 2.31958883e-04 9.99862431e-01 8.46234598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1192541539999 meters Centerline goodness [0,1] 0.9998914365120722 Centerline is valid? [True, True] Translation: X:898.18, Y:57.77, Z:8.46 [[ 6.99941878e-01 -7.14096468e-01 -1.21491580e-02 8.98179860e+02] [ 7.13982627e-01 7.00047263e-01 -1.27529588e-02 5.77652757e+01] [ 1.76118276e-02 2.52042154e-04 9.99844868e-01 8.46035485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.20, Y:57.79, Z:8.46 [[ 7.00440937e-01 -7.13617324e-01 -1.15242408e-02 8.98199604e+02] [ 7.13514748e-01 7.00535688e-01 -1.21018079e-02 5.77853181e+01] [ 1.67092017e-02 2.53885861e-04 9.99860359e-01 8.46274297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.22, Y:57.81, Z:8.46 [[ 7.00707280e-01 -7.13357098e-01 -1.14437124e-02 8.98220026e+02] [ 7.13255808e-01 7.00800672e-01 -1.20237800e-02 5.78059180e+01] [ 1.65970102e-02 2.62855842e-04 9.99862226e-01 8.46265555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2092541539998 meters Centerline goodness [0,1] 0.9998253618284616 Centerline is valid? [True, True] Translation: X:898.24, Y:57.82, Z:8.46 [[ 7.00623808e-01 -7.13413552e-01 -1.29376753e-02 8.98239835e+02] [ 7.13284000e-01 7.00743187e-01 -1.35985623e-02 5.78249971e+01] [ 1.87673865e-02 2.99239734e-04 9.99823832e-01 8.45795795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2392541539999 meters Centerline goodness [0,1] 0.9999127704117237 Centerline is valid? [True, True] Translation: X:898.26, Y:57.84, Z:8.46 [[ 7.00772853e-01 -7.13271124e-01 -1.27166072e-02 8.98259380e+02] [ 7.13145848e-01 7.00888160e-01 -1.33711313e-02 5.78449628e+01] [ 1.84501613e-02 3.01330196e-04 9.99829736e-01 8.45964139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2692541539999 meters Centerline goodness [0,1] 0.999826158760512 Centerline is valid? [True, True] Translation: X:898.28, Y:57.86, Z:8.46 [[ 7.00161504e-01 -7.13858047e-01 -1.34371483e-02 8.98279602e+02] [ 7.13718118e-01 7.00290364e-01 -1.41369797e-02 5.78642179e+01] [ 1.95017022e-02 3.07832742e-04 9.99809776e-01 8.45723003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.30, Y:57.88, Z:8.46 [[ 6.99939295e-01 -7.14085991e-01 -1.28910759e-02 8.98301408e+02] [ 7.13957103e-01 7.00057934e-01 -1.35699749e-02 5.78825464e+01] [ 1.87146290e-02 2.94483444e-04 9.99824823e-01 8.46035254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.32, Y:57.90, Z:8.46 [[ 6.99500814e-01 -7.14520958e-01 -1.25861876e-02 8.98321531e+02] [ 7.14398062e-01 6.99613981e-01 -1.32546875e-02 5.79015471e+01] [ 1.82762248e-02 2.80116718e-04 9.99832937e-01 8.46049655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.34, Y:57.92, Z:8.46 [[ 6.98815037e-01 -7.15194192e-01 -1.24422993e-02 8.98344078e+02] [ 7.15074106e-01 6.98925746e-01 -1.31082099e-02 5.79200835e+01] [ 1.80711590e-02 2.63048135e-04 9.99836669e-01 8.46130462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.37, Y:57.94, Z:8.46 [[ 6.98334219e-01 -7.15666468e-01 -1.22810996e-02 8.98365020e+02] [ 7.15549426e-01 6.98442155e-01 -1.29451076e-02 5.79391873e+01] [ 1.78420171e-02 2.52277878e-04 9.99840787e-01 8.46190052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4192541539999 meters Centerline goodness [0,1] 0.9999340702810804 Centerline is valid? [True, True] Translation: X:898.39, Y:57.96, Z:8.46 [[ 6.97894473e-01 -7.16087796e-01 -1.27111322e-02 8.98385774e+02] [ 7.15962341e-01 6.98010174e-01 -1.34061197e-02 5.79583506e+01] [ 1.84724583e-02 2.55364872e-04 9.99829337e-01 8.46098587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4492541539998 meters Centerline goodness [0,1] 0.9999558907855851 Centerline is valid? [True, True] Translation: X:898.41, Y:57.98, Z:8.46 [[ 6.98236756e-01 -7.15761719e-01 -1.22716945e-02 8.98405883e+02] [ 7.15644629e-01 6.98344539e-01 -1.29487748e-02 5.79766474e+01] [ 1.78381081e-02 2.59138271e-04 9.99840855e-01 8.46113359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.43, Y:58.00, Z:8.46 [[ 6.98717156e-01 -7.15297086e-01 -1.20172920e-02 8.98426809e+02] [ 7.15184635e-01 6.98820440e-01 -1.26858374e-02 5.79970141e+01] [ 1.74720718e-02 2.69229578e-04 9.99847315e-01 8.46236881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5092541539999 meters Centerline goodness [0,1] 0.9998455496226998 Centerline is valid? [True, True] Translation: X:898.45, Y:58.02, Z:8.46 [[ 6.98643434e-01 -7.15355155e-01 -1.28200901e-02 8.98446278e+02] [ 7.15227088e-01 6.98760988e-01 -1.35385983e-02 5.80168587e+01] [ 1.86430849e-02 2.89377117e-04 9.99826161e-01 8.45914687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.47, Y:58.04, Z:8.46 [[ 7.00422413e-01 -7.13629099e-01 -1.19143858e-02 8.98467538e+02] [ 7.13518161e-01 7.00523668e-01 -1.25866646e-02 5.80362231e+01] [ 1.73285194e-02 3.14851364e-04 9.99849800e-01 8.46255914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5692541539999 meters Centerline goodness [0,1] 0.9998893780835859 Centerline is valid? [True, True] Translation: X:898.49, Y:58.06, Z:8.46 [[ 7.00489668e-01 -7.13547144e-01 -1.28334783e-02 8.98488560e+02] [ 7.13418281e-01 7.00607132e-01 -1.35647834e-02 5.80566692e+01] [ 1.86703389e-02 3.46352584e-04 9.99825634e-01 8.46056335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.51, Y:58.08, Z:8.46 [[ 7.02060563e-01 -7.12012813e-01 -1.21950656e-02 8.98508414e+02] [ 7.11896143e-01 7.02166373e-01 -1.28943833e-02 5.80764760e+01] [ 1.77439311e-02 3.71017822e-04 9.99842495e-01 8.46242229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6292541539999 meters Centerline goodness [0,1] 0.9999778648427297 Centerline is valid? [True, True] Translation: X:898.53, Y:58.10, Z:8.46 [[ 7.02382813e-01 -7.11690095e-01 -1.24736948e-02 8.98528466e+02] [ 7.11567900e-01 7.02493457e-01 -1.31934754e-02 5.80972051e+01] [ 1.81523547e-02 3.90989513e-04 9.99835156e-01 8.46270080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6592541539999 meters Centerline goodness [0,1] 0.9999335474581903 Centerline is valid? [True, True] Translation: X:898.55, Y:58.12, Z:8.46 [[ 7.02789051e-01 -7.11287637e-01 -1.25477947e-02 8.98547643e+02] [ 7.11163798e-01 7.02900939e-01 -1.32786126e-02 5.81191125e+01] [ 1.82647697e-02 4.08526216e-04 9.99833102e-01 8.46169743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6892541539999 meters Centerline goodness [0,1] 0.9999337075175675 Centerline is valid? [True, True] Translation: X:898.57, Y:58.14, Z:8.46 [[ 7.03514676e-01 -7.10573717e-01 -1.23326132e-02 8.98566092e+02] [ 7.10453862e-01 7.03622635e-01 -1.30574733e-02 5.81418959e+01] [ 1.79558031e-02 4.24371406e-04 9.99838692e-01 8.46148225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7192541539998 meters Centerline goodness [0,1] 0.9999778501340066 Centerline is valid? [True, True] Translation: X:898.58, Y:58.16, Z:8.46 [[ 7.03828579e-01 -7.10264250e-01 -1.22485215e-02 8.98584766e+02] [ 7.10145861e-01 7.03935016e-01 -1.29749724e-02 5.81637738e+01] [ 1.78378222e-02 4.33919490e-04 9.99840799e-01 8.46266321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7492541539999 meters Centerline goodness [0,1] 0.9998895271763146 Centerline is valid? [True, True] Translation: X:898.60, Y:58.19, Z:8.46 [[ 7.03430052e-01 -7.10653133e-01 -1.25812206e-02 8.98603341e+02] [ 7.10528153e-01 7.03542416e-01 -1.33346707e-02 5.81852671e+01] [ 1.83277479e-02 4.40696710e-04 9.99831936e-01 8.46098776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7792541539999 meters Centerline goodness [0,1] 0.9998017053341265 Centerline is valid? [True, True] Translation: X:898.62, Y:58.21, Z:8.46 [[ 7.03072090e-01 -7.11004749e-01 -1.27233444e-02 8.98620971e+02] [ 7.10876877e-01 7.03187068e-01 -1.34912542e-02 5.82063296e+01] [ 1.85392371e-02 4.40592964e-04 9.99828036e-01 8.45973055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8092541539999 meters Centerline goodness [0,1] 0.9999558284376519 Centerline is valid? [True, True] Translation: X:898.64, Y:58.23, Z:8.46 [[ 7.02738905e-01 -7.11349463e-01 -1.18309818e-02 8.98640649e+02] [ 7.11238868e-01 7.02838372e-01 -1.25497376e-02 5.82274442e+01] [ 1.72425171e-02 4.04534762e-04 9.99851255e-01 8.46236034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8392541539998 meters Centerline goodness [0,1] 0.9998672507633081 Centerline is valid? [True, True] Translation: X:898.66, Y:58.25, Z:8.46 [[ 7.01900900e-01 -7.12170685e-01 -1.21672306e-02 8.98661604e+02] [ 7.12053722e-01 7.02006236e-01 -1.29128868e-02 5.82478046e+01] [ 1.77376512e-02 3.99845087e-04 9.99842596e-01 8.46138229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.68, Y:58.27, Z:8.46 [[ 7.01486922e-01 -7.12598519e-01 -1.09293211e-02 8.98681784e+02] [ 7.12504111e-01 7.01571968e-01 -1.16045540e-02 5.82685800e+01] [ 1.59370933e-02 3.53256598e-04 9.99872934e-01 8.46420752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.70, Y:58.29, Z:8.46 [[ 7.00997120e-01 -7.13084610e-01 -1.06479152e-02 8.98700934e+02] [ 7.12994993e-01 7.01077903e-01 -1.13098667e-02 5.82890661e+01] [ 1.55299099e-02 3.36273739e-04 9.99879347e-01 8.46402506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9292541539999 meters Centerline goodness [0,1] 0.9999778127842737 Centerline is valid? [True, True] Translation: X:898.72, Y:58.31, Z:8.46 [[ 6.99604647e-01 -7.14445994e-01 -1.09662951e-02 8.98723052e+02] [ 7.14351063e-01 6.99690518e-01 -1.16506628e-02 5.83086709e+01] [ 1.59967821e-02 3.17073301e-04 9.99871993e-01 8.46300709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.74, Y:58.33, Z:8.46 [[ 6.98697023e-01 -7.15328232e-01 -1.13132965e-02 8.98742086e+02] [ 7.15227237e-01 6.98788541e-01 -1.20239339e-02 5.83297561e+01] [ 1.65066613e-02 3.09509051e-04 9.99863708e-01 8.46258439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9892541539999 meters Centerline goodness [0,1] 0.9997783589698125 Centerline is valid? [True, True] Translation: X:898.76, Y:58.35, Z:8.46 [[ 6.97172616e-01 -7.16793942e-01 -1.25215413e-02 8.98763364e+02] [ 7.16670328e-01 6.97284985e-01 -1.33150684e-02 5.83494564e+01] [ 1.82752431e-02 3.09083934e-04 9.99832946e-01 8.45928693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0192541539999 meters Centerline goodness [0,1] 0.9999557375235144 Centerline is valid? [True, True] Translation: X:898.78, Y:58.37, Z:8.46 [[ 6.96282439e-01 -7.17667393e-01 -1.20115968e-02 8.98783582e+02] [ 7.17553664e-01 6.96385982e-01 -1.27790170e-02 5.83700099e+01] [ 1.75357914e-02 2.78839827e-04 9.99846197e-01 8.46171561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.80, Y:58.39, Z:8.46 [[ 6.94457467e-01 -7.19448181e-01 -1.10968815e-02 8.98803697e+02] [ 7.19351277e-01 6.94546087e-01 -1.18098724e-02 5.83897276e+01] [ 1.62038868e-02 2.18898214e-04 9.99868684e-01 8.46350249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.82, Y:58.41, Z:8.46 [[ 6.93132336e-01 -7.20734340e-01 -1.04678549e-02 8.98823751e+02] [ 7.20648208e-01 6.93211352e-01 -1.11436638e-02 5.84099631e+01] [ 1.52880571e-02 1.80392820e-04 9.99883115e-01 8.46419127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.84, Y:58.43, Z:8.46 [[ 6.91774623e-01 -7.22045362e-01 -9.91801054e-03 8.98843984e+02] [ 7.21968104e-01 6.91845701e-01 -1.05632734e-02 5.84303379e+01] [ 1.44888955e-02 1.46917182e-04 9.99895020e-01 8.46474464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1392541539999 meters Centerline goodness [0,1] 0.9998894172287958 Centerline is valid? [True, True] Translation: X:898.87, Y:58.45, Z:8.47 [[ 6.88943862e-01 -7.24758986e-01 -8.98702680e-03 8.98865328e+02] [ 7.24695726e-01 6.89002471e-01 -9.57603101e-03 5.84496151e+01] [ 1.31323982e-02 8.44878750e-05 9.99913763e-01 8.46525682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1692541539999 meters Centerline goodness [0,1] 0.9998670153818875 Centerline is valid? [True, True] Translation: X:898.89, Y:58.47, Z:8.46 [[ 6.87301070e-01 -7.26315960e-01 -9.07557184e-03 8.98885757e+02] [ 7.26251518e-01 6.87360984e-01 -9.67519921e-03 5.84695378e+01] [ 1.32654456e-02 5.86269345e-05 9.99912008e-01 8.46288609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1992541539998 meters Centerline goodness [0,1] 0.9998006688666917 Centerline is valid? [True, True] Translation: X:898.91, Y:58.49, Z:8.46 [[ 6.85209189e-01 -7.28290873e-01 -8.98734501e-03 8.98905480e+02] [ 7.28227791e-01 6.85268126e-01 -9.58542612e-03 5.84885292e+01] [ 1.31397194e-02 2.31876577e-05 9.99913670e-01 8.46143456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2292541539998 meters Centerline goodness [0,1] 0.9999110340072507 Centerline is valid? [True, True] Translation: X:898.93, Y:58.51, Z:8.46 [[ 6.84460287e-01 -7.29000800e-01 -8.48232368e-03 8.98925343e+02] [ 7.28944627e-01 6.84512844e-01 -9.04969917e-03 5.85089523e+01] [ 1.24034974e-02 1.10154207e-05 9.99923074e-01 8.46358983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2592541539999 meters Centerline goodness [0,1] 0.9998229148220295 Centerline is valid? [True, True] Translation: X:898.94, Y:58.53, Z:8.46 [[ 6.83500672e-01 -7.29899051e-01 -8.61433868e-03 8.98944726e+02] [ 7.29841123e-01 6.83554955e-01 -9.19564255e-03 5.85296227e+01] [ 1.26002647e-02 -1.87075196e-06 9.99920614e-01 8.46243538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.96, Y:58.55, Z:8.47 [[ 6.83522124e-01 -7.29884926e-01 -8.09317845e-03 8.98962943e+02] [ 7.29833746e-01 6.83570036e-01 -8.64347096e-03 5.85500795e+01] [ 1.18409935e-02 1.32889001e-06 9.99929893e-01 8.46517133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.98, Y:58.57, Z:8.46 [[ 6.82404900e-01 -7.30922727e-01 -8.69020533e-03 8.98981660e+02] [ 7.30863754e-01 6.82460231e-01 -9.28468085e-03 5.85710247e+01] [ 1.27171038e-02 -1.54443865e-05 9.99919134e-01 8.46430727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3492541539998 meters Centerline goodness [0,1] 0.9998893609488405 Centerline is valid? [True, True] Translation: X:899.00, Y:58.59, Z:8.46 [[ 6.81733634e-01 -7.31542885e-01 -9.17930835e-03 8.98999976e+02] [ 7.31477077e-01 6.81795429e-01 -9.81217221e-03 5.85910824e+01] [ 1.34364352e-02 -2.51658271e-05 9.99909727e-01 8.46164577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3792541539999 meters Centerline goodness [0,1] 0.9999778177059071 Centerline is valid? [True, True] Translation: X:899.02, Y:58.61, Z:8.46 [[ 6.81570183e-01 -7.31700564e-01 -8.73898995e-03 8.99018329e+02] [ 7.31640887e-01 6.81626206e-01 -9.34497665e-03 5.86125600e+01] [ 1.27944492e-02 -2.45449080e-05 9.99918147e-01 8.46367293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4092541539999 meters Centerline goodness [0,1] 0.9999337704483741 Centerline is valid? [True, True] Translation: X:899.04, Y:58.63, Z:8.46 [[ 6.80681575e-01 -7.32525658e-01 -8.87432211e-03 8.99036123e+02] [ 7.32464126e-01 6.80739420e-01 -9.49453276e-03 5.86326072e+01] [ 1.29960897e-02 -3.73690718e-05 9.99915547e-01 8.46295396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.05, Y:58.65, Z:8.46 [[ 6.80477004e-01 -7.32720951e-01 -8.42937512e-03 8.99054857e+02] [ 7.32665408e-01 6.80529211e-01 -9.02182766e-03 5.86535712e+01] [ 1.23469181e-02 -3.67653065e-05 9.99923773e-01 8.46473103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4692541539998 meters Centerline goodness [0,1] 0.9999112845990064 Centerline is valid? [True, True] Translation: X:899.07, Y:58.67, Z:8.46 [[ 6.79303699e-01 -7.33811588e-01 -8.18767178e-03 8.99073376e+02] [ 7.33759205e-01 6.79353038e-01 -8.76799734e-03 5.86743394e+01] [ 1.19963778e-02 -5.16465156e-05 9.99928040e-01 8.46432125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4992541539999 meters Centerline goodness [0,1] 0.9998892653865745 Centerline is valid? [True, True] Translation: X:899.09, Y:58.69, Z:8.46 [[ 6.78418180e-01 -7.34628231e-01 -8.37471898e-03 8.99091968e+02] [ 7.34573425e-01 6.78469866e-01 -8.97353398e-03 5.86949252e+01] [ 1.22742059e-02 -6.40374137e-05 9.99924667e-01 8.46327252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5292541539999 meters Centerline goodness [0,1] 0.9999556717939625 Centerline is valid? [True, True] Translation: X:899.11, Y:58.72, Z:8.46 [[ 6.78289061e-01 -7.34751964e-01 -7.96871537e-03 8.99110045e+02] [ 7.34702302e-01 6.78335866e-01 -8.54287809e-03 5.87156563e+01] [ 1.16823619e-02 -6.00927622e-05 9.99931757e-01 8.46431065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5592541539999 meters Centerline goodness [0,1] 0.9999335959980521 Centerline is valid? [True, True] Translation: X:899.13, Y:58.74, Z:8.46 [[ 6.78002324e-01 -7.35017884e-01 -7.84597212e-03 8.99128400e+02] [ 7.34969717e-01 6.78047717e-01 -8.41478816e-03 5.87365259e+01] [ 1.15049633e-02 -6.13059752e-05 9.99933814e-01 8.46361111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.15, Y:58.76, Z:8.47 [[ 6.78452121e-01 -7.34602766e-01 -7.84192825e-03 8.99146684e+02] [ 7.34554566e-01 6.78497438e-01 -8.41524405e-03 5.87578635e+01] [ 1.15025898e-02 -5.09840312e-05 9.99933842e-01 8.46529225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6192541539999 meters Centerline goodness [0,1] 0.9998454029461782 Centerline is valid? [True, True] Translation: X:899.16, Y:58.78, Z:8.46 [[ 6.78123038e-01 -7.34901420e-01 -8.30951002e-03 8.99164790e+02] [ 7.34847262e-01 6.78173945e-01 -8.92200354e-03 5.87783917e+01] [ 1.21920863e-02 -5.60045440e-05 9.99925672e-01 8.46216502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6492541539999 meters Centerline goodness [0,1] 0.9998673182813295 Centerline is valid? [True, True] Translation: X:899.18, Y:58.80, Z:8.46 [[ 6.79109392e-01 -7.33985204e-01 -8.72664560e-03 8.99181522e+02] [ 7.33925349e-01 6.79165458e-01 -9.37347833e-03 5.87996322e+01] [ 1.28068307e-02 -3.90892479e-05 9.99917988e-01 8.46151650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6792541539999 meters Centerline goodness [0,1] 0.9998675116479343 Centerline is valid? [True, True] Translation: X:899.20, Y:58.82, Z:8.46 [[ 6.79388897e-01 -7.33727557e-01 -8.63704839e-03 8.99199801e+02] [ 7.33668861e-01 6.79443796e-01 -9.28068954e-03 5.88210318e+01] [ 1.26778866e-02 -3.15360251e-05 9.99919632e-01 8.46136848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.22, Y:58.84, Z:8.46 [[ 6.80163408e-01 -7.33012185e-01 -8.41871598e-03 8.99217484e+02] [ 7.32956309e-01 6.80215507e-01 -9.05052278e-03 5.88418854e+01] [ 1.23606846e-02 -1.47165701e-05 9.99923604e-01 8.46352845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7392541539999 meters Centerline goodness [0,1] 0.9998679635579419 Centerline is valid? [True, True] Translation: X:899.23, Y:58.86, Z:8.46 [[ 6.80584047e-01 -7.32617257e-01 -8.79257694e-03 8.99234826e+02] [ 7.32556234e-01 6.80640841e-01 -9.45562188e-03 5.88623473e+01] [ 1.29119387e-02 -5.71164298e-06 9.99916637e-01 8.46080272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7692541539999 meters Centerline goodness [0,1] 0.9998679635579419 Centerline is valid? [True, True] Translation: X:899.25, Y:58.88, Z:8.46 [[ 6.80384755e-01 -7.32802368e-01 -8.79057571e-03 8.99253541e+02] [ 7.32741337e-01 6.80441540e-01 -9.45748210e-03 5.88826176e+01] [ 1.29119381e-02 -6.49155364e-06 9.99916637e-01 8.46106045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.27, Y:58.90, Z:8.46 [[ 6.81141258e-01 -7.32106421e-01 -8.17161396e-03 8.99271744e+02] [ 7.32053578e-01 6.81190273e-01 -8.79609087e-03 5.89037210e+01] [ 1.20060986e-02 9.32117173e-06 9.99927924e-01 8.46404178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.29, Y:58.93, Z:8.46 [[ 6.81342291e-01 -7.31924040e-01 -7.73842182e-03 8.99290584e+02] [ 7.31876590e-01 6.81386234e-01 -8.33411589e-03 5.89250308e+01] [ 1.13727939e-02 1.48158385e-05 9.99935328e-01 8.46444554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.31, Y:58.95, Z:8.46 [[ 6.81869717e-01 -7.31432113e-01 -7.79445218e-03 8.99308862e+02] [ 7.31383888e-01 6.81914264e-01 -8.39907711e-03 5.89462248e+01] [ 1.14585028e-02 2.63395932e-05 9.99934349e-01 8.46477491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.33, Y:58.97, Z:8.46 [[ 6.82007143e-01 -7.31302767e-01 -7.90698672e-03 8.99327138e+02] [ 7.31253078e-01 6.82052976e-01 -8.52485811e-03 5.89667037e+01] [ 1.16272361e-02 3.20057382e-05 9.99932401e-01 8.46479515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9192541539999 meters Centerline goodness [0,1] 0.9999338711810607 Centerline is valid? [True, True] Translation: X:899.35, Y:58.99, Z:8.46 [[ 6.81764594e-01 -7.31528785e-01 -7.91676108e-03 8.99346098e+02] [ 7.31478952e-01 6.81810557e-01 -8.53854535e-03 5.89872882e+01] [ 1.16439230e-02 3.03338070e-05 9.99932207e-01 8.46366996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.37, Y:59.01, Z:8.47 [[ 6.82220506e-01 -7.31102589e-01 -8.01158409e-03 8.99365406e+02] [ 7.31051468e-01 6.82267545e-01 -8.64577287e-03 5.90078965e+01] [ 1.17869907e-02 4.14432345e-05 9.99930530e-01 8.46536232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.38, Y:59.03, Z:8.47 [[ 6.82043835e-01 -7.31265910e-01 -8.14718589e-03 8.99383818e+02] [ 7.31212997e-01 6.82092492e-01 -8.79695736e-03 5.90281509e+01] [ 1.19900494e-02 4.25823227e-05 9.99928116e-01 8.46526882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0092541539999 meters Centerline goodness [0,1] 0.9998679461220178 Centerline is valid? [True, True] Translation: X:899.40, Y:59.05, Z:8.46 [[ 6.81517254e-01 -7.31754666e-01 -8.32714507e-03 8.99403201e+02] [ 7.31699376e-01 6.81568124e-01 -8.99529892e-03 5.90489981e+01] [ 1.22578686e-02 3.74845659e-05 9.99924869e-01 8.46351224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0392541539999 meters Centerline goodness [0,1] 0.9999779585179307 Centerline is valid? [True, True] Translation: X:899.42, Y:59.07, Z:8.46 [[ 6.81199190e-01 -7.32039709e-01 -9.24810559e-03 8.99422251e+02] [ 7.31971453e-01 6.81261964e-01 -9.99645356e-03 5.90694701e+01] [ 1.36181835e-02 4.02267849e-05 9.99907267e-01 8.46408658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0692541539999 meters Centerline goodness [0,1] 0.9999338493087253 Centerline is valid? [True, True] Translation: X:899.44, Y:59.09, Z:8.46 [[ 6.80600243e-01 -7.32591750e-01 -9.62484235e-03 8.99440801e+02] [ 7.32517799e-01 6.80668294e-01 -1.04090283e-02 5.90892379e+01] [ 1.41768933e-02 3.40188866e-05 9.99899502e-01 8.46272745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.46, Y:59.11, Z:8.46 [[ 6.80318167e-01 -7.32850875e-01 -9.83802811e-03 8.99459991e+02] [ 7.32773573e-01 6.80389296e-01 -1.06440482e-02 5.91095774e+01] [ 1.44941890e-02 3.22923384e-05 9.99894953e-01 8.46396427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1292541539999 meters Centerline goodness [0,1] 0.9998461470833883 Centerline is valid? [True, True] Translation: X:899.48, Y:59.13, Z:8.46 [[ 6.78572536e-01 -7.34453762e-01 -1.08159639e-02 8.99479198e+02] [ 7.34360435e-01 6.78658730e-01 -1.17080892e-02 5.91283800e+01] [ 1.59393985e-02 1.97182774e-06 9.99872960e-01 8.46110781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1592541539999 meters Centerline goodness [0,1] 0.9998679083283799 Centerline is valid? [True, True] Translation: X:899.50, Y:59.15, Z:8.46 [[ 6.77759979e-01 -7.35208248e-01 -1.04996697e-02 8.99498967e+02] [ 7.35120317e-01 6.77841303e-01 -1.13704758e-02 5.91484983e+01] [ 1.54767774e-02 -1.20670970e-05 9.99880227e-01 8.46199268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1892541539999 meters Centerline goodness [0,1] 0.9999120105587329 Centerline is valid? [True, True] Translation: X:899.52, Y:59.17, Z:8.46 [[ 6.75895388e-01 -7.36930012e-01 -9.97909472e-03 8.99519069e+02] [ 7.36850684e-01 6.75969049e-01 -1.08126689e-02 5.91679886e+01] [ 1.47137394e-02 -4.48697383e-05 9.99891746e-01 8.46372286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2192541539998 meters Centerline goodness [0,1] 0.9998896588250872 Centerline is valid? [True, True] Translation: X:899.54, Y:59.19, Z:8.46 [[ 6.74213903e-01 -7.38469865e-01 -9.89301002e-03 8.99538616e+02] [ 7.38391977e-01 6.74286477e-01 -1.07254523e-02 5.91876827e+01] [ 1.45911462e-02 -7.36701868e-05 9.99893541e-01 8.46376469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2492541539999 meters Centerline goodness [0,1] 0.9999780137633841 Centerline is valid? [True, True] Translation: X:899.56, Y:59.21, Z:8.47 [[ 6.72889635e-01 -7.39683179e-01 -9.39858946e-03 8.99557785e+02] [ 7.39612934e-01 6.72955263e-01 -1.01942286e-02 5.92064335e+01] [ 1.38653296e-02 -9.17275803e-05 9.99903867e-01 8.46570315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2792541539999 meters Centerline goodness [0,1] 0.9997793273898844 Centerline is valid? [True, True] Translation: X:899.58, Y:59.23, Z:8.46 [[ 6.70786533e-01 -7.41582701e-01 -1.00261665e-02 8.99578440e+02] [ 7.41502908e-01 6.70861445e-01 -1.08793124e-02 5.92269261e+01] [ 1.47940785e-02 -1.36735367e-04 9.99890552e-01 8.46313912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3092541539999 meters Centerline goodness [0,1] 0.9998451532982348 Centerline is valid? [True, True] Translation: X:899.60, Y:59.25, Z:8.46 [[ 6.67361522e-01 -7.44666090e-01 -1.00505356e-02 8.99600489e+02] [ 7.44586175e-01 6.67437169e-01 -1.09111755e-02 5.92459108e+01] [ 1.48332834e-02 -2.01791181e-04 9.99889960e-01 8.46431786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3392541539998 meters Centerline goodness [0,1] 0.9999116236936877 Centerline is valid? [True, True] Translation: X:899.62, Y:59.27, Z:8.47 [[ 6.66170357e-01 -7.45742628e-01 -9.21884728e-03 8.99620698e+02] [ 7.45675432e-01 6.66234111e-01 -1.00129436e-02 5.92660497e+01] [ 1.36089894e-02 -2.03941699e-04 9.99907373e-01 8.46737057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.64, Y:59.29, Z:8.47 [[ 6.64997682e-01 -7.46786069e-01 -9.41544778e-03 8.99640584e+02] [ 7.46716024e-01 6.65064294e-01 -1.02305474e-02 5.92860598e+01] [ 1.39019084e-02 -2.27375398e-04 9.99903338e-01 8.46764666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3992541539999 meters Centerline goodness [0,1] 0.9999558235592958 Centerline is valid? [True, True] Translation: X:899.66, Y:59.31, Z:8.47 [[ 6.63538002e-01 -7.48079455e-01 -9.71846166e-03 8.99660741e+02] [ 7.48004924e-01 6.63609117e-01 -1.05628351e-02 5.93069215e+01] [ 1.43510997e-02 -2.60614659e-04 9.99896984e-01 8.46673892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4292541539999 meters Centerline goodness [0,1] 0.9999336576735958 Centerline is valid? [True, True] Translation: X:899.68, Y:59.33, Z:8.47 [[ 6.62067667e-01 -7.49377325e-01 -1.00014655e-02 8.99680234e+02] [ 7.49298475e-01 6.62143140e-01 -1.08745921e-02 5.93264857e+01] [ 1.47715746e-02 -2.94367038e-04 9.99890851e-01 8.46639313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.70, Y:59.35, Z:8.47 [[ 6.61455314e-01 -7.49925155e-01 -9.44084016e-03 8.99698976e+02] [ 7.49854912e-01 6.61522622e-01 -1.02680355e-02 5.93476075e+01] [ 1.39455874e-02 -2.87413746e-04 9.99902714e-01 8.46819724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.72, Y:59.37, Z:8.47 [[ 6.60363017e-01 -7.50883035e-01 -9.76489635e-03 8.99718613e+02] [ 7.50807919e-01 6.60435136e-01 -1.06254758e-02 5.93671244e+01] [ 1.44275702e-02 -3.14890254e-04 9.99895868e-01 8.46792717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.74, Y:59.39, Z:8.47 [[ 6.59639043e-01 -7.51517219e-01 -9.90974497e-03 8.99738355e+02] [ 7.51439872e-01 6.59713392e-01 -1.07869964e-02 5.93877742e+01] [ 1.46442050e-02 -3.31053514e-04 9.99892713e-01 8.46852148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5492541539999 meters Centerline goodness [0,1] 0.9998227539603411 Centerline is valid? [True, True] Translation: X:899.76, Y:59.41, Z:8.47 [[ 6.58485910e-01 -7.52515607e-01 -1.07966236e-02 8.99756581e+02] [ 7.52423828e-01 6.58574306e-01 -1.17587030e-02 5.94108628e+01] [ 1.59589864e-02 -3.80696622e-04 9.99872575e-01 8.46676637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5792541539998 meters Centerline goodness [0,1] 0.9999558693733451 Centerline is valid? [True, True] Translation: X:899.78, Y:59.43, Z:8.47 [[ 6.58198197e-01 -7.52770765e-01 -1.05503009e-02 8.99775718e+02] [ 7.52683083e-01 6.58282641e-01 -1.14952672e-02 5.94304145e+01] [ 1.55983810e-02 -3.74868850e-04 9.99878268e-01 8.46794076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6092541539999 meters Centerline goodness [0,1] 0.9998672654469836 Centerline is valid? [True, True] Translation: X:899.79, Y:59.45, Z:8.47 [[ 6.57858356e-01 -7.53059021e-01 -1.11577206e-02 8.99792467e+02] [ 7.52960911e-01 6.57952848e-01 -1.21620935e-02 5.94542684e+01] [ 1.65000282e-02 -4.00392639e-04 9.99863785e-01 8.46773419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6392541539999 meters Centerline goodness [0,1] 0.99993380844163 Centerline is valid? [True, True] Translation: X:899.81, Y:59.47, Z:8.47 [[ 6.58126170e-01 -7.52826618e-01 -1.10465944e-02 8.99810230e+02] [ 7.52730345e-01 6.58218758e-01 -1.20455501e-02 5.94746842e+01] [ 1.63392864e-02 -3.87615097e-04 9.99866430e-01 8.46876585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6692541539999 meters Centerline goodness [0,1] 0.9999779283554417 Centerline is valid? [True, True] Translation: X:899.83, Y:59.50, Z:8.47 [[ 6.58883521e-01 -7.52163811e-01 -1.10502071e-02 8.99827313e+02] [ 7.52067314e-01 6.58976074e-01 -1.20535882e-02 5.94980964e+01] [ 1.63480949e-02 -3.68588883e-04 9.99866293e-01 8.46985211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.85, Y:59.52, Z:8.47 [[ 6.59483583e-01 -7.51637425e-01 -1.10717721e-02 8.99845573e+02] [ 7.51540406e-01 6.59576422e-01 -1.20814995e-02 5.95192349e+01] [ 1.63835870e-02 -3.53333509e-04 9.99865718e-01 8.47050433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.86, Y:59.54, Z:8.47 [[ 6.59889800e-01 -7.51277515e-01 -1.12936858e-02 8.99863684e+02] [ 7.51176448e-01 6.59986344e-01 -1.23276030e-02 5.95418982e+01] [ 1.67151293e-02 -3.48691345e-04 9.99860232e-01 8.47111803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.88, Y:59.56, Z:8.47 [[ 6.61634876e-01 -7.49747133e-01 -1.08870385e-02 8.99880151e+02] [ 7.49652938e-01 6.61724375e-01 -1.18879242e-02 5.95645723e+01] [ 1.61171558e-02 -2.96035112e-04 9.99870066e-01 8.47190476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.90, Y:59.59, Z:8.47 [[ 6.62547700e-01 -7.48939999e-01 -1.09280686e-02 8.99897163e+02] [ 7.48844922e-01 6.62637761e-01 -1.19365103e-02 5.95884401e+01] [ 1.61810809e-02 -2.74921246e-04 9.99869040e-01 8.47259205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8192541539999 meters Centerline goodness [0,1] 0.9998906960475691 Centerline is valid? [True, True] Translation: X:899.91, Y:59.61, Z:8.47 [[ 6.63168496e-01 -7.48383845e-01 -1.13651639e-02 8.99914618e+02] [ 7.48280838e-01 6.63265821e-01 -1.24192796e-02 5.96105418e+01] [ 1.68325130e-02 -2.68259350e-04 9.99858287e-01 8.47062778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8492541539998 meters Centerline goodness [0,1] 0.9998906530201636 Centerline is valid? [True, True] Translation: X:899.93, Y:59.63, Z:8.47 [[ 6.64112692e-01 -7.47539924e-01 -1.17641111e-02 8.99932094e+02] [ 7.47429336e-01 6.64216830e-01 -1.28604155e-02 5.96332144e+01] [ 1.74275946e-02 -2.52076628e-04 9.99848096e-01 8.47046955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.95, Y:59.66, Z:8.47 [[ 6.66882204e-01 -7.45073095e-01 -1.15848459e-02 8.99948326e+02] [ 7.44965369e-01 6.66982796e-01 -1.26707759e-02 5.96568400e+01] [ 1.71675471e-02 -1.80394020e-04 9.99852611e-01 8.47215420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9092541539999 meters Centerline goodness [0,1] 0.999825476122952 Centerline is valid? [True, True] Translation: X:899.96, Y:59.68, Z:8.47 [[ 6.67384631e-01 -7.44604038e-01 -1.27507452e-02 8.99964822e+02] [ 7.44473334e-01 6.67506400e-01 -1.39521125e-02 5.96779208e+01] [ 1.89000033e-02 -1.81164387e-04 9.99821363e-01 8.46898473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9392541539999 meters Centerline goodness [0,1] 0.9999131284612879 Centerline is valid? [True, True] Translation: X:899.98, Y:59.70, Z:8.47 [[ 6.69867262e-01 -7.42370693e-01 -1.27908334e-02 8.99981250e+02] [ 7.42238647e-01 6.69989359e-01 -1.40017713e-02 5.97022792e+01] [ 1.89642270e-02 -1.14522674e-04 9.99820156e-01 8.46964177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.00, Y:59.72, Z:8.47 [[ 6.71259700e-01 -7.41119199e-01 -1.23591325e-02 8.99998862e+02] [ 7.40995584e-01 6.71373464e-01 -1.35357587e-02 5.97249855e+01] [ 1.83292042e-02 -7.20533160e-05 9.99832003e-01 8.47142788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.02, Y:59.75, Z:8.47 [[ 6.72227129e-01 -7.40238131e-01 -1.25776191e-02 9.00016417e+02] [ 7.40109815e-01 6.72344784e-01 -1.37823932e-02 5.97473435e+01] [ 1.86587496e-02 -4.39207196e-05 9.99825909e-01 8.47162034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0292541539999 meters Centerline goodness [0,1] 0.9998482187384808 Centerline is valid? [True, True] Translation: X:900.03, Y:59.77, Z:8.47 [[ 6.73711986e-01 -7.38881633e-01 -1.28876925e-02 9.00032589e+02] [ 7.38746507e-01 6.73835242e-01 -1.41302872e-02 5.97708713e+01] [ 1.91247910e-02 -9.93980841e-07 9.99817104e-01 8.46924795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0592541539999 meters Centerline goodness [0,1] 0.9998041477161448 Centerline is valid? [True, True] Translation: X:900.05, Y:59.79, Z:8.47 [[ 6.74599860e-01 -7.38068255e-01 -1.30491493e-02 9.00050069e+02] [ 7.37929409e-01 6.74726056e-01 -1.43156468e-02 5.97928959e+01] [ 1.93705255e-02 2.79823253e-05 9.99812373e-01 8.46934883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0892541539998 meters Centerline goodness [0,1] 0.9999564715868283 Centerline is valid? [True, True] Translation: X:900.07, Y:59.81, Z:8.47 [[ 6.76384135e-01 -7.36450045e-01 -1.20761904e-02 9.00066504e+02] [ 7.36330772e-01 6.76491926e-01 -1.32539869e-02 5.98141444e+01] [ 1.79303445e-02 7.27158255e-05 9.99839236e-01 8.47237047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1192541539999 meters Centerline goodness [0,1] 0.9999566226386449 Centerline is valid? [True, True] Translation: X:900.08, Y:59.84, Z:8.47 [[ 6.77496881e-01 -7.35427260e-01 -1.20300407e-02 9.00084824e+02] [ 7.35308641e-01 6.77603671e-01 -1.32086533e-02 5.98371315e+01] [ 1.78656034e-02 1.03028539e-04 9.99840392e-01 8.47205266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1492541539999 meters Centerline goodness [0,1] 0.999978315552086 Centerline is valid? [True, True] Translation: X:900.10, Y:59.86, Z:8.47 [[ 6.80511170e-01 -7.32648591e-01 -1.14275489e-02 9.00100926e+02] [ 7.32541059e-01 6.80607091e-01 -1.25532663e-02 5.98611700e+01] [ 1.69748037e-02 1.71489146e-04 9.99855903e-01 8.47347088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1792541539999 meters Centerline goodness [0,1] 0.9998913279721799 Centerline is valid? [True, True] Translation: X:900.12, Y:59.88, Z:8.47 [[ 6.81601980e-01 -7.31632322e-01 -1.15276302e-02 9.00118170e+02] [ 7.31522644e-01 6.81699423e-01 -1.26695575e-02 5.98841468e+01] [ 1.71278366e-02 2.02872955e-04 9.99853287e-01 8.47200028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.13, Y:59.91, Z:8.47 [[ 6.84664979e-01 -7.28773823e-01 -1.10716770e-02 9.00133295e+02] [ 7.28672205e-01 6.84754441e-01 -1.21726698e-02 5.99077056e+01] [ 1.64525031e-02 2.66577396e-04 9.99864613e-01 8.47390870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2392541539999 meters Centerline goodness [0,1] 0.9999133279885593 Centerline is valid? [True, True] Translation: X:900.15, Y:59.93, Z:8.47 [[ 6.85227336e-01 -7.28235748e-01 -1.16702097e-02 9.00151727e+02] [ 7.28122694e-01 6.85326643e-01 -1.28349492e-02 5.99294435e+01] [ 1.73447745e-02 2.97513554e-04 9.99849524e-01 8.47245308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2692541539999 meters Centerline goodness [0,1] 0.999740282226647 Centerline is valid? [True, True] Translation: X:900.17, Y:59.95, Z:8.47 [[ 6.85669252e-01 -7.27804777e-01 -1.25651858e-02 9.00170504e+02] [ 7.27673511e-01 6.85784290e-01 -1.38263850e-02 5.99518772e+01] [ 1.86799161e-02 3.36974157e-04 9.99825458e-01 8.47112254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2992541539999 meters Centerline goodness [0,1] 0.999934997399896 Centerline is valid? [True, True] Translation: X:900.19, Y:59.97, Z:8.47 [[ 6.87085727e-01 -7.26464826e-01 -1.27303203e-02 9.00187509e+02] [ 7.26329766e-01 6.87203545e-01 -1.40128172e-02 5.99743882e+01] [ 1.89281400e-02 3.81596153e-04 9.99820774e-01 8.47243512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3292541539998 meters Centerline goodness [0,1] 0.999697225286014 Centerline is valid? [True, True] Translation: X:900.21, Y:59.99, Z:8.47 [[ 6.86951967e-01 -7.26571343e-01 -1.38231325e-02 9.00207851e+02] [ 7.26412004e-01 6.87090905e-01 -1.52213128e-02 5.99944314e+01] [ 2.05571183e-02 4.15021420e-04 9.99788594e-01 8.47162668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3592541539999 meters Centerline goodness [0,1] 0.9999783507609707 Centerline is valid? [True, True] Translation: X:900.23, Y:60.02, Z:8.47 [[ 6.87882382e-01 -7.25696262e-01 -1.35190349e-02 9.00225171e+02] [ 7.25543589e-01 6.88015078e-01 -1.48914001e-02 6.00162960e+01] [ 2.01079333e-02 4.34882716e-04 9.99797720e-01 8.47451255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3892541539999 meters Centerline goodness [0,1] 0.9999134292825452 Centerline is valid? [True, True] Translation: X:900.24, Y:60.04, Z:8.47 [[ 6.87362720e-01 -7.26171443e-01 -1.44057977e-02 9.00244252e+02] [ 7.25998044e-01 6.87513513e-01 -1.58748125e-02 6.00365281e+01] [ 2.14320161e-02 4.53173362e-04 9.99770205e-01 8.47336781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4192541539999 meters Centerline goodness [0,1] 0.9998061472849851 Centerline is valid? [True, True] Translation: X:900.26, Y:60.06, Z:8.47 [[ 6.86816518e-01 -7.26671607e-01 -1.52133392e-02 9.00259786e+02] [ 7.26478188e-01 6.86984830e-01 -1.67715495e-02 6.00588111e+01] [ 2.26387421e-02 4.66818146e-04 9.99743602e-01 8.47005714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4492541539998 meters Centerline goodness [0,1] 0.9998054180269388 Centerline is valid? [True, True] Translation: X:900.28, Y:60.08, Z:8.47 [[ 6.85950832e-01 -7.27482470e-01 -1.55148950e-02 9.00282139e+02] [ 7.27281350e-01 6.86126118e-01 -1.71110307e-02 6.00769761e+01] [ 2.30931495e-02 4.53631978e-04 9.99733215e-01 8.47268604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4792541539998 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:900.30, Y:60.10, Z:8.48 [[ 6.84008955e-01 -7.29311348e-01 -1.53852832e-02 9.00302855e+02] [ 7.29113893e-01 6.84181850e-01 -1.69743137e-02 6.00961436e+01] [ 2.29058912e-02 3.92958833e-04 9.99737548e-01 8.47500638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5092541539999 meters Centerline goodness [0,1] 0.9998485209149337 Centerline is valid? [True, True] Translation: X:900.32, Y:60.12, Z:8.47 [[ 6.81960138e-01 -7.31219183e-01 -1.57758483e-02 9.00324071e+02] [ 7.31011913e-01 6.82142499e-01 -1.74124422e-02 6.01159137e+01] [ 2.34936884e-02 3.42258436e-04 9.99723927e-01 8.47471516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5392541539999 meters Centerline goodness [0,1] 0.9999136814846785 Centerline is valid? [True, True] Translation: X:900.34, Y:60.14, Z:8.48 [[ 6.80300066e-01 -7.32785334e-01 -1.47469776e-02 9.00344830e+02] [ 7.32604413e-01 6.80459828e-01 -1.62848562e-02 6.01355711e+01] [ 2.19680296e-02 2.74887867e-04 9.99758636e-01 8.47769592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5692541539999 meters Centerline goodness [0,1] 0.9999566141698122 Centerline is valid? [True, True] Translation: X:900.37, Y:60.16, Z:8.48 [[ 6.77877551e-01 -7.35020194e-01 -1.50778231e-02 9.00366024e+02] [ 7.34831422e-01 6.78045182e-01 -1.66586857e-02 6.01553535e+01] [ 2.24679157e-02 2.12890843e-04 9.99747542e-01 8.47742245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.39, Y:60.17, Z:8.48 [[ 6.73179103e-01 -7.39342429e-01 -1.42361783e-02 9.00390272e+02] [ 7.39174948e-01 6.73329613e-01 -1.57362188e-02 6.01729760e+01] [ 2.12200947e-02 7.02673311e-05 9.99774826e-01 8.47987828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.41, Y:60.19, Z:8.48 [[ 6.70576407e-01 -7.41703478e-01 -1.42559478e-02 9.00410591e+02] [ 7.41535936e-01 6.70727926e-01 -1.57640499e-02 6.01907489e+01] [ 2.12541129e-02 -2.97647612e-07 9.99774106e-01 8.48043275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.43, Y:60.21, Z:8.48 [[ 6.70366200e-01 -7.41893542e-01 -1.42523829e-02 9.00429035e+02] [ 7.41725974e-01 6.70517690e-01 -1.57672727e-02 6.02112639e+01] [ 2.12541126e-02 -1.51588309e-06 9.99774106e-01 8.48069063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6892541539999 meters Centerline goodness [0,1] 0.9998912783491705 Centerline is valid? [True, True] Translation: X:900.45, Y:60.23, Z:8.48 [[ 6.65168873e-01 -7.46534822e-01 -1.53665198e-02 9.00452330e+02] [ 7.46341118e-01 6.65346328e-01 -1.70058735e-02 6.02275843e+01] [ 2.29195343e-02 -1.56887840e-04 9.99737301e-01 8.47947158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7192541539998 meters Centerline goodness [0,1] 0.9998478955259555 Centerline is valid? [True, True] Translation: X:900.47, Y:60.25, Z:8.48 [[ 6.62821066e-01 -7.48608854e-01 -1.59065501e-02 9.00473440e+02] [ 7.48401731e-01 6.63011863e-01 -1.76101819e-02 6.02478946e+01] [ 2.37293695e-02 -2.32090111e-04 9.99718392e-01 8.48038643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7492541539999 meters Centerline goodness [0,1] 0.9998693209042994 Centerline is valid? [True, True] Translation: X:900.49, Y:60.27, Z:8.48 [[ 6.60818705e-01 -7.50372260e-01 -1.61279564e-02 9.00493947e+02] [ 7.50159721e-01 6.61015419e-01 -1.78608230e-02 6.02666852e+01] [ 2.40630940e-02 -2.95777384e-04 9.99710398e-01 8.48050345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.52, Y:60.29, Z:8.48 [[ 6.57233130e-01 -7.53515380e-01 -1.60992423e-02 9.00516049e+02] [ 7.53304373e-01 6.57430155e-01 -1.78357402e-02 6.02858282e+01] [ 2.40236319e-02 -4.05390299e-04 9.99711309e-01 8.48255424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8092541539999 meters Centerline goodness [0,1] 0.9999128654206422 Centerline is valid? [True, True] Translation: X:900.54, Y:60.31, Z:8.48 [[ 6.54980138e-01 -7.55449867e-01 -1.72196881e-02 9.00536792e+02] [ 7.55208876e-01 6.55206262e-01 -1.90868412e-02 6.03060991e+01] [ 2.57015991e-02 -5.02959446e-04 9.99669533e-01 8.48097519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8392541539998 meters Centerline goodness [0,1] 0.9998040922942969 Centerline is valid? [True, True] Translation: X:900.56, Y:60.32, Z:8.48 [[ 6.52961307e-01 -7.57175584e-01 -1.80739241e-02 9.00556640e+02] [ 7.56910570e-01 6.53211131e-01 -2.00401266e-02 6.03249936e+01] [ 2.69799830e-02 -5.94916934e-04 9.99635797e-01 8.47981547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8692541539999 meters Centerline goodness [0,1] 0.9999564355572982 Centerline is valid? [True, True] Translation: X:900.58, Y:60.34, Z:8.48 [[ 6.49969647e-01 -7.59761882e-01 -1.73591939e-02 9.00578429e+02] [ 7.59518239e-01 6.50201070e-01 -1.92512993e-02 6.03429106e+01] [ 2.59133698e-02 -6.71864176e-04 9.99663966e-01 8.48138717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.60, Y:60.36, Z:8.48 [[ 6.48278251e-01 -7.61207764e-01 -1.72641334e-02 9.00598841e+02] [ 7.60967105e-01 6.48507688e-01 -1.91531695e-02 6.03636886e+01] [ 2.57754646e-02 -7.20854380e-04 9.99667498e-01 8.48265390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9292541539999 meters Centerline goodness [0,1] 0.9998247535596934 Centerline is valid? [True, True] Translation: X:900.62, Y:60.38, Z:8.48 [[ 6.46405390e-01 -7.62782407e-01 -1.79741513e-02 9.00618042e+02] [ 7.62521976e-01 6.46654730e-01 -1.99473334e-02 6.03846568e+01] [ 2.68385450e-02 -8.11621563e-04 9.99639452e-01 8.48210872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.64, Y:60.40, Z:8.48 [[ 6.44587939e-01 -7.64344291e-01 -1.68580379e-02 9.00638439e+02] [ 7.64115619e-01 6.44807827e-01 -1.87132735e-02 6.04035792e+01] [ 2.51735785e-02 -8.19139727e-04 9.99682760e-01 8.48295401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.66, Y:60.42, Z:8.48 [[ 6.43983335e-01 -7.64846711e-01 -1.71747840e-02 9.00657195e+02] [ 7.64609411e-01 6.44211754e-01 -1.90699853e-02 6.04248531e+01] [ 2.56498133e-02 -8.51248747e-04 9.99670627e-01 8.48341138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0192541539999 meters Centerline goodness [0,1] 0.9999346547593116 Centerline is valid? [True, True] Translation: X:900.68, Y:60.44, Z:8.48 [[ 6.43311492e-01 -7.65399570e-01 -1.77150583e-02 9.00676358e+02] [ 7.65147202e-01 6.43554731e-01 -1.96740213e-02 6.04447144e+01] [ 2.64590970e-02 -8.98103279e-04 9.99649493e-01 8.48184327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0492541539999 meters Centerline goodness [0,1] 0.9998470212858953 Centerline is valid? [True, True] Translation: X:900.69, Y:60.47, Z:8.48 [[ 6.43557277e-01 -7.65182971e-01 -1.81397816e-02 9.00693298e+02] [ 7.64918030e-01 6.43812241e-01 -2.01545439e-02 6.04671379e+01] [ 2.71005272e-02 -9.04842671e-04 9.99632304e-01 8.48220881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.71, Y:60.49, Z:8.48 [[ 6.44665952e-01 -7.64279035e-01 -1.68334987e-02 9.00712533e+02] [ 7.64050345e-01 6.44885198e-01 -1.87123325e-02 6.04891225e+01] [ 2.51571176e-02 -7.98436896e-04 9.99683191e-01 8.48406834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1092541539999 meters Centerline goodness [0,1] 0.9998694914516901 Centerline is valid? [True, True] Translation: X:900.73, Y:60.51, Z:8.48 [[ 6.46238679e-01 -7.62932437e-01 -1.75973584e-02 9.00729753e+02] [ 7.62681763e-01 6.46477763e-01 -1.95711359e-02 6.05130199e+01] [ 2.63077553e-02 -7.73559322e-04 9.99653592e-01 8.48304027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1392541539999 meters Centerline goodness [0,1] 0.9998045390378977 Centerline is valid? [True, True] Translation: X:900.75, Y:60.54, Z:8.48 [[ 6.47083566e-01 -7.62211536e-01 -1.77885595e-02 9.00747601e+02] [ 7.61954849e-01 6.47327597e-01 -1.97937054e-02 6.05356560e+01] [ 2.66020161e-02 -7.45897715e-04 9.99645825e-01 8.48287773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1692541539999 meters Centerline goodness [0,1] 0.9999566536627655 Centerline is valid? [True, True] Translation: X:900.77, Y:60.56, Z:8.48 [[ 6.48171671e-01 -7.61319537e-01 -1.63109820e-02 9.00765157e+02] [ 7.61103231e-01 6.48376548e-01 -1.81582968e-02 6.05581611e+01] [ 2.43999243e-02 -6.44647487e-04 9.99702070e-01 8.48410499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.78, Y:60.58, Z:8.49 [[ 6.49263759e-01 -7.60400100e-01 -1.57562749e-02 9.00782217e+02] [ 7.60197785e-01 6.49454654e-01 -1.75493702e-02 6.05814002e+01] [ 2.35775290e-02 -5.83715232e-04 9.99721841e-01 8.48515305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.80, Y:60.60, Z:8.49 [[ 6.51020524e-01 -7.58908615e-01 -1.51654498e-02 9.00798191e+02] [ 7.58720670e-01 6.51196942e-01 -1.68964036e-02 6.06048358e+01] [ 2.26985208e-02 -5.06434642e-04 9.99742227e-01 8.48525291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2592541539999 meters Centerline goodness [0,1] 0.9999565302440827 Centerline is valid? [True, True] Translation: X:900.81, Y:60.63, Z:8.49 [[ 6.51302588e-01 -7.58657149e-01 -1.56290764e-02 9.00814927e+02] [ 7.58457291e-01 6.51489886e-01 -1.74202943e-02 6.06280225e+01] [ 2.33982160e-02 -5.08104192e-04 9.99726095e-01 8.48628897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2892541539999 meters Centerline goodness [0,1] 0.9997840406003672 Centerline is valid? [True, True] Translation: X:900.83, Y:60.65, Z:8.49 [[ 6.51371312e-01 -7.58584364e-01 -1.62842517e-02 9.00832874e+02] [ 7.58367198e-01 6.51574623e-01 -1.81577310e-02 6.06494974e+01] [ 2.43845760e-02 -5.22017274e-04 9.99702516e-01 8.48545427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.85, Y:60.67, Z:8.49 [[ 6.51886752e-01 -7.58179271e-01 -1.44171838e-02 9.00849746e+02] [ 7.58008821e-01 6.52046007e-01 -1.60820696e-02 6.06731258e+01] [ 2.15937589e-02 -4.44664363e-04 9.99766729e-01 8.48663061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3492541539998 meters Centerline goodness [0,1] 0.9997627469588474 Centerline is valid? [True, True] Translation: X:900.87, Y:60.69, Z:8.49 [[ 6.51193732e-01 -7.58739299e-01 -1.61678534e-02 9.00867895e+02] [ 7.58524962e-01 6.51394205e-01 -1.80408127e-02 6.06947822e+01] [ 2.42199196e-02 -5.15656254e-04 9.99706522e-01 8.48510358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3792541539999 meters Centerline goodness [0,1] 0.9999784524553427 Centerline is valid? [True, True] Translation: X:900.89, Y:60.72, Z:8.49 [[ 6.51090999e-01 -7.58861094e-01 -1.45034895e-02 9.00885569e+02] [ 7.58688524e-01 6.51252352e-01 -1.61894276e-02 6.07174985e+01] [ 2.17309584e-02 -4.62840481e-04 9.99763748e-01 8.48719651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.90, Y:60.74, Z:8.49 [[ 6.50112148e-01 -7.59718510e-01 -1.34900480e-02 9.00902646e+02] [ 7.59569240e-01 6.50251937e-01 -1.50661454e-02 6.07394577e+01] [ 2.02179594e-02 -4.51941370e-04 9.99795494e-01 8.48782411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.92, Y:60.76, Z:8.49 [[ 6.49240275e-01 -7.60467315e-01 -1.32863716e-02 9.00921295e+02] [ 7.60322517e-01 6.49376045e-01 -1.48466298e-02 6.07612946e+01] [ 1.99182282e-02 -4.62897499e-04 9.99801505e-01 8.48835595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.94, Y:60.78, Z:8.49 [[ 6.48328028e-01 -7.61245672e-01 -1.32588007e-02 9.00939826e+02] [ 7.61101538e-01 6.48463410e-01 -1.48207543e-02 6.07818626e+01] [ 1.98800822e-02 -4.82583190e-04 9.99802255e-01 8.48818159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.96, Y:60.80, Z:8.49 [[ 6.45910001e-01 -7.63297614e-01 -1.33050083e-02 9.00957398e+02] [ 7.63152801e-01 6.46046791e-01 -1.48776942e-02 6.08049958e+01] [ 1.99517664e-02 -5.44102831e-04 9.99800796e-01 8.48842520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5292541539999 meters Centerline goodness [0,1] 0.9998924199066205 Centerline is valid? [True, True] Translation: X:900.98, Y:60.82, Z:8.49 [[ 6.44201451e-01 -7.64722209e-01 -1.42980583e-02 9.00976115e+02] [ 7.64555195e-01 6.44359798e-01 -1.59939116e-02 6.08249043e+01] [ 2.14439933e-02 -6.28353706e-04 9.99769854e-01 8.48711097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5592541539999 meters Centerline goodness [0,1] 0.9998705417826397 Centerline is valid? [True, True] Translation: X:900.99, Y:60.85, Z:8.49 [[ 6.42573610e-01 -7.66092394e-01 -1.41986051e-02 9.00994255e+02] [ 7.65927962e-01 6.42730114e-01 -1.58857592e-02 6.08466511e+01] [ 2.12958304e-02 -6.67339049e-04 9.99772995e-01 8.48741299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5892541539998 meters Centerline goodness [0,1] 0.9997627827737163 Centerline is valid? [True, True] Translation: X:901.01, Y:60.87, Z:8.49 [[ 6.39236482e-01 -7.68889443e-01 -1.36288034e-02 9.01013025e+02] [ 7.68738475e-01 6.39381339e-01 -1.52532323e-02 6.08674332e+01] [ 2.04420519e-02 -7.26563045e-04 9.99790775e-01 8.48705306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.03, Y:60.89, Z:8.49 [[ 6.37884517e-01 -7.70027324e-01 -1.26989854e-02 9.01032116e+02] [ 7.69896353e-01 6.38010518e-01 -1.42191385e-02 6.08895280e+01] [ 1.90512114e-02 -7.06734232e-04 9.99818259e-01 8.48804638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.05, Y:60.91, Z:8.49 [[ 6.36427382e-01 -7.71231735e-01 -1.27200331e-02 9.01051018e+02] [ 7.71100479e-01 6.36554053e-01 -1.42474335e-02 6.09101293e+01] [ 1.90850615e-02 -7.40966797e-04 9.99817589e-01 8.48826718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6792541539999 meters Centerline goodness [0,1] 0.9998709344346928 Centerline is valid? [True, True] Translation: X:901.07, Y:60.93, Z:8.49 [[ 6.33752913e-01 -7.73432490e-01 -1.26265087e-02 9.01069377e+02] [ 7.73303542e-01 6.33878178e-01 -1.41452577e-02 6.09304635e+01] [ 1.89440702e-02 -7.99525594e-04 9.99820225e-01 8.48841103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.09, Y:60.95, Z:8.49 [[ 6.32687599e-01 -7.74305960e-01 -1.25172507e-02 9.01086047e+02] [ 7.74179313e-01 6.32810884e-01 -1.40277047e-02 6.09545303e+01] [ 1.87827879e-02 -8.15441726e-04 9.99823255e-01 8.48924531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7392541539999 meters Centerline goodness [0,1] 0.9997861099822472 Centerline is valid? [True, True] Translation: X:901.10, Y:60.98, Z:8.49 [[ 6.31526194e-01 -7.75241535e-01 -1.32374480e-02 9.01103354e+02] [ 7.75099996e-01 6.31664289e-01 -1.48399019e-02 6.09767554e+01] [ 1.98661315e-02 -8.88559164e-04 9.99802254e-01 8.48826933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7692541539999 meters Centerline goodness [0,1] 0.999872144561882 Centerline is valid? [True, True] Translation: X:901.12, Y:61.00, Z:8.49 [[ 6.31471640e-01 -7.75292079e-01 -1.28748145e-02 9.01120738e+02] [ 7.75158105e-01 6.31602287e-01 -1.44382714e-02 6.10001645e+01] [ 1.93256398e-02 -8.62657917e-04 9.99812870e-01 8.48911438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.14, Y:61.02, Z:8.49 [[ 6.32208714e-01 -7.74709189e-01 -1.17394563e-02 9.01137791e+02] [ 7.74597594e-01 6.32317235e-01 -1.31712821e-02 6.10239255e+01] [ 1.76269739e-02 -7.66355304e-04 9.99844339e-01 8.49057688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8292541539998 meters Centerline goodness [0,1] 0.9998721391126455 Centerline is valid? [True, True] Translation: X:901.15, Y:61.05, Z:8.49 [[ 6.33023581e-01 -7.74035882e-01 -1.22310915e-02 9.01153681e+02] [ 7.73914490e-01 6.33141259e-01 -1.37298421e-02 6.10485997e+01] [ 1.83713991e-02 -7.74505115e-04 9.99830932e-01 8.48996432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.17, Y:61.07, Z:8.49 [[ 6.34155304e-01 -7.73124451e-01 -1.12086534e-02 9.01170392e+02] [ 7.73022265e-01 6.34253986e-01 -1.25880631e-02 6.10719925e+01] [ 1.68412725e-02 -6.81751595e-04 9.99857943e-01 8.49121376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8892541539999 meters Centerline goodness [0,1] 0.9999151085549354 Centerline is valid? [True, True] Translation: X:901.19, Y:61.10, Z:8.49 [[ 6.34816774e-01 -7.72582739e-01 -1.11164417e-02 9.01187005e+02] [ 7.72482041e-01 6.34913757e-01 -1.24907002e-02 6.10958442e+01] [ 1.67080812e-02 -6.57945575e-04 9.99860194e-01 8.49181764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9192541539999 meters Centerline goodness [0,1] 0.9998298704889097 Centerline is valid? [True, True] Translation: X:901.20, Y:61.12, Z:8.49 [[ 6.35440449e-01 -7.72066220e-01 -1.13660869e-02 9.01202213e+02] [ 7.71960755e-01 6.35541756e-01 -1.27777241e-02 6.11214565e+01] [ 1.70888720e-02 -6.54690311e-04 9.99853760e-01 8.49117649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9492541539998 meters Centerline goodness [0,1] 0.9998097332036701 Centerline is valid? [True, True] Translation: X:901.22, Y:61.14, Z:8.49 [[ 6.35721423e-01 -7.71835293e-01 -1.13381102e-02 9.01220008e+02] [ 7.71730231e-01 6.35822197e-01 -1.27508401e-02 6.11434780e+01] [ 1.70505705e-02 -6.43980240e-04 9.99854421e-01 8.49094360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.24, Y:61.17, Z:8.49 [[ 6.36781050e-01 -7.70971645e-01 -1.06120892e-02 9.01236961e+02] [ 7.70879431e-01 6.36869207e-01 -1.19379799e-02 6.11670064e+01] [ 1.59623569e-02 -5.78761926e-04 9.99872426e-01 8.49265139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0092541539999 meters Centerline goodness [0,1] 0.9999367382227659 Centerline is valid? [True, True] Translation: X:901.25, Y:61.19, Z:8.49 [[ 6.37467975e-01 -7.70409705e-01 -1.01718544e-02 9.01252290e+02] [ 7.70324850e-01 6.37548897e-01 -1.14468506e-02 6.11906116e+01] [ 1.53038194e-02 -5.38631498e-04 9.99882745e-01 8.49232511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0392541539999 meters Centerline goodness [0,1] 0.9999157327041375 Centerline is valid? [True, True] Translation: X:901.27, Y:61.21, Z:8.49 [[ 6.37643932e-01 -7.70260953e-01 -1.04058131e-02 9.01269983e+02] [ 7.70172073e-01 6.37728600e-01 -1.17136834e-02 6.12135294e+01] [ 1.56586775e-02 -5.45107489e-04 9.99877247e-01 8.49242264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.29, Y:61.24, Z:8.49 [[ 6.38287022e-01 -7.69734059e-01 -9.95775468e-03 9.01287204e+02] [ 7.69652545e-01 6.38364490e-01 -1.12132939e-02 6.12354980e+01] [ 1.49879312e-02 -5.06711279e-04 9.99887546e-01 8.49379234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0992541539998 meters Centerline goodness [0,1] 0.9998525135898192 Centerline is valid? [True, True] Translation: X:901.30, Y:61.26, Z:8.49 [[ 6.38223505e-01 -7.69779559e-01 -1.04970355e-02 9.01302452e+02] [ 7.69688921e-01 6.38309601e-01 -1.18244857e-02 6.12597862e+01] [ 1.58026059e-02 -5.32787184e-04 9.99874989e-01 8.49228256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1292541539999 meters Centerline goodness [0,1] 0.9999156580778475 Centerline is valid? [True, True] Translation: X:901.32, Y:61.28, Z:8.49 [[ 6.38611316e-01 -7.69460513e-01 -1.03007830e-02 9.01319243e+02] [ 7.69373121e-01 6.38694181e-01 -1.16079667e-02 6.12823740e+01] [ 1.55109222e-02 -5.12166738e-04 9.99879567e-01 8.49234424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.33, Y:61.31, Z:8.49 [[ 6.38822782e-01 -7.69282858e-01 -1.04564199e-02 9.01333749e+02] [ 7.69192725e-01 6.38908147e-01 -1.17869396e-02 6.13078505e+01] [ 1.57481824e-02 -5.13236536e-04 9.99875858e-01 8.49362631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1892541539999 meters Centerline goodness [0,1] 0.9998743376547218 Centerline is valid? [True, True] Translation: X:901.35, Y:61.33, Z:8.49 [[ 6.37877771e-01 -7.70063323e-01 -1.06970678e-02 9.01348008e+02] [ 7.69969003e-01 6.37967229e-01 -1.20643758e-02 6.13333409e+01] [ 1.61147121e-02 -5.40813457e-04 9.99870003e-01 8.49194970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2192541539998 meters Centerline goodness [0,1] 0.9998739257422622 Centerline is valid? [True, True] Translation: X:901.36, Y:61.36, Z:8.49 [[ 6.37514140e-01 -7.70363201e-01 -1.07823802e-02 9.01364830e+02] [ 7.70267305e-01 6.37605079e-01 -1.21672714e-02 6.13558059e+01] [ 1.62481186e-02 -5.48507386e-04 9.99867840e-01 8.49220682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2492541539999 meters Centerline goodness [0,1] 0.9998745662081364 Centerline is valid? [True, True] Translation: X:901.38, Y:61.38, Z:8.49 [[ 6.37277567e-01 -7.70558689e-01 -1.07986143e-02 9.01380548e+02] [ 7.70462414e-01 6.37368814e-01 -1.21927849e-02 6.13793509e+01] [ 1.62779564e-02 -5.49738182e-04 9.99867354e-01 8.49269695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2792541539999 meters Centerline goodness [0,1] 0.9998952265202632 Centerline is valid? [True, True] Translation: X:901.40, Y:61.40, Z:8.49 [[ 6.37423385e-01 -7.70440221e-01 -1.06439655e-02 9.01398013e+02] [ 7.70346588e-01 6.37512023e-01 -1.20231463e-02 6.14005658e+01] [ 1.60487714e-02 -5.35707892e-04 9.99871067e-01 8.49283850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3092541539999 meters Centerline goodness [0,1] 0.9998958333333333 Centerline is valid? [True, True] Translation: X:901.41, Y:61.42, Z:8.49 [[ 6.37487788e-01 -7.70386206e-01 -1.06964205e-02 9.01414955e+02] [ 7.70291576e-01 6.37577295e-01 -1.20863888e-02 6.14234168e+01] [ 1.61309820e-02 -5.34437368e-04 9.99869744e-01 8.49322258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3392541539998 meters Centerline goodness [0,1] 0.999811470945578 Centerline is valid? [True, True] Translation: X:901.43, Y:61.45, Z:8.49 [[ 6.38063090e-01 -7.69911412e-01 -1.05787749e-02 9.01429256e+02] [ 7.69818688e-01 6.38150574e-01 -1.19596627e-02 6.14496319e+01] [ 1.59587321e-02 -5.12719275e-04 9.99872520e-01 8.49275699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3692541539999 meters Centerline goodness [0,1] 0.9997084123050007 Centerline is valid? [True, True] Translation: X:901.45, Y:61.47, Z:8.49 [[ 6.38535799e-01 -7.69522496e-01 -1.03519061e-02 9.01446216e+02] [ 7.69433564e-01 6.38619519e-01 -1.17090212e-02 6.14729093e+01] [ 1.56212845e-02 -4.88474767e-04 9.99877861e-01 8.49338794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3992541539999 meters Centerline goodness [0,1] 0.9999164316306278 Centerline is valid? [True, True] Translation: X:901.46, Y:61.50, Z:8.49 [[ 6.39346786e-01 -7.68851959e-01 -1.01169300e-02 9.01463113e+02] [ 7.68766848e-01 6.39426662e-01 -1.14489302e-02 6.14960083e+01] [ 1.52715672e-02 -4.57723671e-04 9.99883278e-01 8.49412731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4292541539999 meters Centerline goodness [0,1] 0.9998329156223893 Centerline is valid? [True, True] Translation: X:901.48, Y:61.52, Z:8.49 [[ 6.40817631e-01 -7.67622164e-01 -1.04392611e-02 9.01478326e+02] [ 7.67531287e-01 6.40902506e-01 -1.18195758e-02 6.15217712e+01] [ 1.57635170e-02 -4.38266878e-04 9.99875652e-01 8.49319149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4592541539998 meters Centerline goodness [0,1] 0.9998544970795485 Centerline is valid? [True, True] Translation: X:901.50, Y:61.55, Z:8.49 [[ 6.41893951e-01 -7.66725719e-01 -1.01895801e-02 9.01495464e+02] [ 7.66638941e-01 6.41974695e-01 -1.15423316e-02 6.15451712e+01] [ 1.53912551e-02 -4.02776104e-04 9.99881466e-01 8.49445351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.51, Y:61.57, Z:8.50 [[ 6.44108912e-01 -7.64866525e-01 -1.01444250e-02 9.01509913e+02] [ 7.64780194e-01 6.44188695e-01 -1.14969772e-02 6.15706587e+01] [ 1.53285768e-02 -3.52949829e-04 9.99882448e-01 8.49656604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5192541539999 meters Centerline goodness [0,1] 0.9998542668582017 Centerline is valid? [True, True] Translation: X:901.53, Y:61.59, Z:8.50 [[ 6.44777953e-01 -7.64300603e-01 -1.02946931e-02 9.01527592e+02] [ 7.64211553e-01 6.44860041e-01 -1.16717752e-02 6.15916696e+01] [ 1.55593810e-02 -3.41620062e-04 9.99878887e-01 8.49609942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5492541539999 meters Centerline goodness [0,1] 0.9999167776298269 Centerline is valid? [True, True] Translation: X:901.54, Y:61.62, Z:8.50 [[ 6.45105175e-01 -7.64025122e-01 -1.02433540e-02 9.01544018e+02] [ 7.63936868e-01 6.45186410e-01 -1.16171630e-02 6.16156590e+01] [ 1.54846771e-02 -3.30983775e-04 9.99880050e-01 8.49636063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5792541539998 meters Centerline goodness [0,1] 0.9999167776298269 Centerline is valid? [True, True] Translation: X:901.56, Y:61.64, Z:8.50 [[ 6.44885467e-01 -7.64210620e-01 -1.02402670e-02 9.01562193e+02] [ 7.64122346e-01 6.44966681e-01 -1.16198837e-02 6.16363819e+01] [ 1.54846695e-02 -3.31322706e-04 9.99880050e-01 8.49661820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6092541539999 meters Centerline goodness [0,1] 0.9998130608175474 Centerline is valid? [True, True] Translation: X:901.58, Y:61.66, Z:8.50 [[ 6.44741300e-01 -7.64332896e-01 -1.01921363e-02 9.01578917e+02] [ 7.64245385e-01 6.44821770e-01 -1.15704644e-02 6.16573579e+01] [ 1.54157979e-02 -3.29336860e-04 9.99881115e-01 8.49536608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6392541539999 meters Centerline goodness [0,1] 0.99975069597374 Centerline is valid? [True, True] Translation: X:901.60, Y:61.68, Z:8.50 [[ 6.44214059e-01 -7.64780101e-01 -9.98219605e-03 9.01595444e+02] [ 7.64696148e-01 6.44291307e-01 -1.13363093e-02 6.16798346e+01] [ 1.51012259e-02 -3.30337050e-04 9.99885915e-01 8.49629671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6692541539999 meters Centerline goodness [0,1] 0.9998545514991585 Centerline is valid? [True, True] Translation: X:901.61, Y:61.70, Z:8.50 [[ 6.43605298e-01 -7.65294718e-01 -9.80890210e-03 9.01613509e+02] [ 7.65213626e-01 6.43679954e-01 -1.11455127e-02 6.17030229e+01] [ 1.48433957e-02 -3.32594530e-04 9.99889775e-01 8.49726143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6992541539998 meters Centerline goodness [0,1] 0.9997716563220062 Centerline is valid? [True, True] Translation: X:901.63, Y:61.72, Z:8.50 [[ 6.42626565e-01 -7.66116133e-01 -9.85740533e-03 9.01631321e+02] [ 7.66034264e-01 6.42702067e-01 -1.12053099e-02 6.17241885e+01] [ 1.49199435e-02 -3.50280421e-04 9.99888630e-01 8.49689915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7292541539998 meters Centerline goodness [0,1] 0.9998123905611607 Centerline is valid? [True, True] Translation: X:901.65, Y:61.75, Z:8.50 [[ 6.40685250e-01 -7.67744958e-01 -9.49156520e-03 9.01649494e+02] [ 7.67669178e-01 6.40755446e-01 -1.07931295e-02 6.17468315e+01] [ 1.43681428e-02 -3.71383190e-04 9.99896704e-01 8.49798429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7592541539999 meters Centerline goodness [0,1] 0.9999374061091637 Centerline is valid? [True, True] Translation: X:901.67, Y:61.77, Z:8.50 [[ 6.39656169e-01 -7.68603869e-01 -9.38494076e-03 9.01668174e+02] [ 7.68529799e-01 6.39724898e-01 -1.06771767e-02 6.17690887e+01] [ 1.42102996e-02 -3.82884673e-04 9.99898955e-01 8.49866656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7892541539999 meters Centerline goodness [0,1] 0.9996243425995492 Centerline is valid? [True, True] Translation: X:901.69, Y:61.79, Z:8.50 [[ 6.37178721e-01 -7.70657666e-01 -9.48894753e-03 9.01685613e+02] [ 7.70582111e-01 6.37249227e-01 -1.07997043e-02 6.17917994e+01] [ 1.43696994e-02 -4.30671437e-04 9.99896658e-01 8.49708313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8192541539999 meters Centerline goodness [0,1] 0.9999164595559825 Centerline is valid? [True, True] Translation: X:901.70, Y:61.81, Z:8.50 [[ 6.36841685e-01 -7.70939189e-01 -9.24314897e-03 9.01703804e+02] [ 7.70867483e-01 6.36908618e-01 -1.05231500e-02 6.18137509e+01] [ 1.39997499e-02 -4.23662420e-04 9.99901909e-01 8.49899972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.72, Y:61.84, Z:8.50 [[ 6.36793752e-01 -7.70978862e-01 -9.23644747e-03 9.01720551e+02] [ 7.70907178e-01 6.36860595e-01 -1.05216406e-02 6.18362618e+01] [ 1.39942920e-02 -4.20328636e-04 9.99901987e-01 8.50088472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8792541539999 meters Centerline goodness [0,1] 0.9998342071995524 Centerline is valid? [True, True] Translation: X:901.74, Y:61.86, Z:8.50 [[ 6.36302930e-01 -7.71380684e-01 -9.50902157e-03 9.01739874e+02] [ 7.71304681e-01 6.36373827e-01 -1.08370485e-02 6.18569503e+01] [ 1.44107823e-02 -4.38707116e-04 9.99896063e-01 8.49808992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.76, Y:61.88, Z:8.50 [[ 6.37569335e-01 -7.70336978e-01 -9.28891799e-03 9.01756248e+02] [ 7.70264311e-01 6.37636870e-01 -1.05883683e-02 6.18815292e+01] [ 1.40795682e-02 -4.04103111e-04 9.99900796e-01 8.50099320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9392541539999 meters Centerline goodness [0,1] 0.9998538683144754 Centerline is valid? [True, True] Translation: X:901.77, Y:61.90, Z:8.50 [[ 6.37791575e-01 -7.70150305e-01 -9.50867743e-03 9.01774007e+02] [ 7.70074084e-01 6.37862323e-01 -1.08426412e-02 6.19041479e+01] [ 1.44156905e-02 -4.07040840e-04 9.99896006e-01 8.49922994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9692541539998 meters Centerline goodness [0,1] 0.9999582419876814 Centerline is valid? [True, True] Translation: X:901.79, Y:61.93, Z:8.50 [[ 6.38568276e-01 -7.69507370e-01 -9.43214487e-03 9.01791573e+02] [ 7.69432237e-01 6.38637815e-01 -1.07598292e-02 6.19261580e+01] [ 1.43034923e-02 -3.86510751e-04 9.99897625e-01 8.49990081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9992541539999 meters Centerline goodness [0,1] 0.9999582097037067 Centerline is valid? [True, True] Translation: X:901.81, Y:61.95, Z:8.50 [[ 6.39789050e-01 -7.68493909e-01 -9.33186746e-03 9.01806632e+02] [ 7.68420206e-01 6.39857003e-01 -1.06491061e-02 6.19515113e+01] [ 1.41548339e-02 -3.57614042e-04 9.99899751e-01 8.50142481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0292541539999 meters Centerline goodness [0,1] 0.9998960520571298 Centerline is valid? [True, True] Translation: X:901.83, Y:61.97, Z:8.50 [[ 6.39107751e-01 -7.69058257e-01 -9.52260226e-03 9.01825342e+02] [ 7.68981504e-01 6.39178580e-01 -1.08714781e-02 6.19720947e+01] [ 1.44474434e-02 -3.74659077e-04 9.99895560e-01 8.49949113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0592541539999 meters Centerline goodness [0,1] 0.9999168157051949 Centerline is valid? [True, True] Translation: X:901.84, Y:62.00, Z:8.50 [[ 6.38401314e-01 -7.69648625e-01 -9.20634376e-03 9.01841615e+02] [ 7.69576897e-01 6.38467583e-01 -1.05140275e-02 6.19960679e+01] [ 1.39700589e-02 -3.72820479e-04 9.99902344e-01 8.50076969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0892541539998 meters Centerline goodness [0,1] 0.9996467092001081 Centerline is valid? [True, True] Translation: X:901.86, Y:62.02, Z:8.50 [[ 6.37506416e-01 -7.70389969e-01 -9.21217660e-03 9.01861381e+02] [ 7.70318169e-01 6.37572855e-01 -1.05248953e-02 6.20155653e+01] [ 1.39817075e-02 -3.86618740e-04 9.99902176e-01 8.49946316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1192541539999 meters Centerline goodness [0,1] 0.9997284822155851 Centerline is valid? [True, True] Translation: X:901.88, Y:62.04, Z:8.50 [[ 6.36754824e-01 -7.71011146e-01 -9.22534094e-03 9.01877996e+02] [ 7.70939163e-01 6.36821524e-01 -1.05429547e-02 6.20394990e+01] [ 1.40036313e-02 -3.98899364e-04 9.99901865e-01 8.49971558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1492541539999 meters Centerline goodness [0,1] 0.9998329574876806 Centerline is valid? [True, True] Translation: X:901.89, Y:62.06, Z:8.50 [[ 6.36271802e-01 -7.71412095e-01 -9.03182283e-03 9.01894630e+02] [ 7.71343071e-01 6.36335778e-01 -1.03269114e-02 6.20634282e+01] [ 1.37135764e-02 -3.95911438e-04 9.99905886e-01 8.50121042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1792541539999 meters Centerline goodness [0,1] 0.9998749374687343 Centerline is valid? [True, True] Translation: X:901.91, Y:62.09, Z:8.50 [[ 6.36485112e-01 -7.71238441e-01 -8.83006117e-03 9.01912017e+02] [ 7.71172382e-01 6.36546246e-01 -1.01012392e-02 6.20865094e+01] [ 1.34112062e-02 -3.80210966e-04 9.99909993e-01 8.50233546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.93, Y:62.11, Z:8.51 [[ 6.38415937e-01 -7.69646908e-01 -8.29020187e-03 9.01927576e+02] [ 7.69588489e-01 6.38469680e-01 -9.48819455e-03 6.21114882e+01] [ 1.25956021e-02 -3.22629309e-04 9.99920620e-01 8.50565451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2392541539999 meters Centerline goodness [0,1] 0.9998120418520143 Centerline is valid? [True, True] Translation: X:901.94, Y:62.14, Z:8.50 [[ 6.39114473e-01 -7.69063318e-01 -8.61994594e-03 9.01943540e+02] [ 7.69000039e-01 6.39172520e-01 -9.87064287e-03 6.21354563e+01] [ 1.31007819e-02 -3.20268045e-04 9.99914130e-01 8.50300207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2692541539999 meters Centerline goodness [0,1] 0.9997487174117894 Centerline is valid? [True, True] Translation: X:901.96, Y:62.16, Z:8.50 [[ 6.40416228e-01 -7.67983016e-01 -8.31515917e-03 9.01960024e+02] [ 7.67923981e-01 6.40470145e-01 -9.52644521e-03 6.21591827e+01] [ 1.26417593e-02 -2.84520021e-04 9.99920049e-01 8.50385863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2992541539999 meters Centerline goodness [0,1] 0.9998534798534798 Centerline is valid? [True, True] Translation: X:901.98, Y:62.18, Z:8.50 [[ 6.41777852e-01 -7.66844209e-01 -8.43490081e-03 9.01976329e+02] [ 7.66783309e-01 6.41833226e-01 -9.66784239e-03 6.21813432e+01] [ 1.28275285e-02 -2.63134031e-04 9.99917689e-01 8.50366410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3292541539998 meters Centerline goodness [0,1] 0.9996674841015836 Centerline is valid? [True, True] Translation: X:901.99, Y:62.21, Z:8.50 [[ 6.44665757e-01 -7.64415980e-01 -8.61808025e-03 9.01990524e+02] [ 7.64352152e-01 6.44723323e-01 -9.88056936e-03 6.22070760e+01] [ 1.31091424e-02 -2.17583450e-04 9.99914048e-01 8.50376166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3592541539999 meters Centerline goodness [0,1] 0.9998125976054139 Centerline is valid? [True, True] Translation: X:902.01, Y:62.23, Z:8.50 [[ 6.46281785e-01 -7.63046341e-01 -8.95187374e-03 9.02007659e+02] [ 7.62977268e-01 6.46343751e-01 -1.02686469e-02 6.22309975e+01] [ 1.36214411e-02 -1.93636742e-04 9.99907205e-01 8.50326887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3892541539999 meters Centerline goodness [0,1] 0.9999581642471657 Centerline is valid? [True, True] Translation: X:902.02, Y:62.26, Z:8.51 [[ 6.49954912e-01 -7.59917621e-01 -9.15536615e-03 9.02022408e+02] [ 7.59844984e-01 6.50019379e-01 -1.05075193e-02 6.22565984e+01] [ 1.39360145e-02 -1.27245263e-04 9.99902881e-01 8.50541699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.04, Y:62.28, Z:8.51 [[ 6.51674062e-01 -7.58442700e-01 -9.25140759e-03 9.02038926e+02] [ 7.58368321e-01 6.51739720e-01 -1.06220503e-02 6.22795474e+01] [ 1.40857263e-02 -9.38597730e-05 9.99900787e-01 8.50640189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4492541539998 meters Centerline goodness [0,1] 0.9999790184847149 Centerline is valid? [True, True] Translation: X:902.06, Y:62.30, Z:8.51 [[ 6.52840566e-01 -7.57439486e-01 -9.19891014e-03 9.02055536e+02] [ 7.57365818e-01 6.52905368e-01 -1.05640010e-02 6.23019027e+01] [ 1.40076093e-02 -7.03317211e-05 9.99901886e-01 8.50579572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4792541539998 meters Centerline goodness [0,1] 0.9998111742861339 Centerline is valid? [True, True] Translation: X:902.07, Y:62.32, Z:8.50 [[ 6.54157538e-01 -7.56299311e-01 -9.44820926e-03 9.02071107e+02] [ 7.56221434e-01 6.54225764e-01 -1.08532041e-02 6.23248175e+01] [ 1.43895327e-02 -4.52331026e-05 9.99896464e-01 8.50358263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5092541539999 meters Centerline goodness [0,1] 0.9997709717045952 Centerline is valid? [True, True] Translation: X:902.09, Y:62.35, Z:8.50 [[ 6.54328624e-01 -7.56153808e-01 -9.24502248e-03 9.02088717e+02] [ 7.56079178e-01 6.54393931e-01 -1.06235775e-02 6.23463803e+01] [ 1.40829452e-02 -3.86581368e-05 9.99900830e-01 8.50420912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.11, Y:62.37, Z:8.51 [[ 6.54524619e-01 -7.55998266e-01 -8.00905677e-03 9.02106950e+02] [ 7.55942187e-01 6.54573617e-01 -9.20810251e-03 6.23681861e+01] [ 1.22038268e-02 -2.74541106e-05 9.99925530e-01 8.50860958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5692541539999 meters Centerline goodness [0,1] 0.9998322604994444 Centerline is valid? [True, True] Translation: X:902.13, Y:62.39, Z:8.51 [[ 6.52378264e-01 -7.57847611e-01 -8.34264034e-03 9.02126270e+02] [ 7.57786842e-01 6.52431602e-01 -9.59720623e-03 6.23902175e+01] [ 1.27162220e-02 -6.09343366e-05 9.99919144e-01 8.50574871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5992541539998 meters Centerline goodness [0,1] 0.9999374152498175 Centerline is valid? [True, True] Translation: X:902.14, Y:62.41, Z:8.51 [[ 6.51651873e-01 -7.58475580e-01 -8.03931992e-03 9.02144908e+02] [ 7.58419148e-01 6.51701457e-01 -9.25237293e-03 6.24101155e+01] [ 1.22569354e-02 -6.78480160e-05 9.99924879e-01 8.50769120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6292541539999 meters Centerline goodness [0,1] 0.9998115893485179 Centerline is valid? [True, True] Translation: X:902.17, Y:62.43, Z:8.51 [[ 6.48343452e-01 -7.61300623e-01 -8.49295709e-03 9.02165684e+02] [ 7.61237841e-01 6.48399064e-01 -9.77775833e-03 6.24304759e+01] [ 1.29506389e-02 -1.25814733e-04 9.99916129e-01 8.50620670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6592541539999 meters Centerline goodness [0,1] 0.9999581607464123 Centerline is valid? [True, True] Translation: X:902.19, Y:62.45, Z:8.51 [[ 6.47041272e-01 -7.62413141e-01 -7.98717093e-03 9.02185603e+02] [ 7.62357644e-01 6.47090553e-01 -9.19992363e-03 6.24517595e+01] [ 1.21825655e-02 -1.36350533e-04 9.99925780e-01 8.50856497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.20, Y:62.47, Z:8.51 [[ 6.45581212e-01 -7.63650119e-01 -7.96207346e-03 9.02204578e+02] [ 7.63595016e-01 6.45630290e-01 -9.17495521e-03 6.24718128e+01] [ 1.21470114e-02 -1.56620906e-04 9.99926210e-01 8.50945324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7192541539998 meters Centerline goodness [0,1] 0.9998326464866222 Centerline is valid? [True, True] Translation: X:902.22, Y:62.49, Z:8.51 [[ 6.43442273e-01 -7.65445131e-01 -8.70587765e-03 9.02223741e+02] [ 7.65379377e-01 6.43501133e-01 -1.00349558e-02 6.24931833e+01] [ 1.32834502e-02 -2.06384436e-04 9.99911750e-01 8.50655074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7492541539999 meters Centerline goodness [0,1] 0.9998127145978566 Centerline is valid? [True, True] Translation: X:902.24, Y:62.51, Z:8.51 [[ 6.40674731e-01 -7.67753936e-01 -9.47542813e-03 9.02244386e+02] [ 7.67676227e-01 6.40744738e-01 -1.09265998e-02 6.25119044e+01] [ 1.44602707e-02 -2.73664509e-04 9.99895407e-01 8.50559769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7792541539999 meters Centerline goodness [0,1] 0.999895805113885 Centerline is valid? [True, True] Translation: X:902.26, Y:62.53, Z:8.51 [[ 6.39221699e-01 -7.68963578e-01 -9.52026784e-03 9.02262276e+02] [ 7.68885219e-01 6.39292520e-01 -1.09815827e-02 6.25343125e+01] [ 1.45306731e-02 -3.00327288e-04 9.99894379e-01 8.50765608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8092541539999 meters Centerline goodness [0,1] 0.9998749400754529 Centerline is valid? [True, True] Translation: X:902.28, Y:62.55, Z:8.51 [[ 6.38192046e-01 -7.69817637e-01 -9.57702474e-03 9.02281315e+02] [ 7.69738372e-01 6.38263821e-01 -1.10514131e-02 6.25543148e+01] [ 1.46202411e-02 -3.18879494e-04 9.99893068e-01 8.50738405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8392541539998 meters Centerline goodness [0,1] 0.999812049702412 Centerline is valid? [True, True] Translation: X:902.30, Y:62.57, Z:8.51 [[ 6.36590207e-01 -7.71132828e-01 -1.03474680e-02 9.02300646e+02] [ 7.71040424e-01 6.36674188e-01 -1.19433586e-02 6.25737653e+01] [ 1.57978817e-02 -3.75290962e-04 9.99875135e-01 8.50634526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8692541539999 meters Centerline goodness [0,1] 0.9998122535828274 Centerline is valid? [True, True] Translation: X:902.32, Y:62.60, Z:8.51 [[ 6.36041802e-01 -7.71582907e-01 -1.05187785e-02 9.02317770e+02] [ 7.71487402e-01 6.36128656e-01 -1.21459034e-02 6.25977550e+01] [ 1.60628678e-02 -3.89802803e-04 9.99870908e-01 8.50686889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8992541539999 meters Centerline goodness [0,1] 0.9998129248165624 Centerline is valid? [True, True] Translation: X:902.34, Y:62.62, Z:8.51 [[ 6.35576284e-01 -7.71963694e-01 -1.07164703e-02 9.02337010e+02] [ 7.71864543e-01 6.35666494e-01 -1.23788078e-02 6.26181081e+01] [ 1.63680913e-02 -4.03986850e-04 9.99865952e-01 8.50665807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9292541539999 meters Centerline goodness [0,1] 0.9998322253213934 Centerline is valid? [True, True] Translation: X:902.35, Y:62.64, Z:8.51 [[ 6.34638964e-01 -7.72730672e-01 -1.09861291e-02 9.02354362e+02] [ 7.72626543e-01 6.34733898e-01 -1.26926267e-02 6.26405976e+01] [ 1.67812505e-02 -4.32939543e-04 9.99859091e-01 8.50724739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9592541539998 meters Centerline goodness [0,1] 0.9999791231732776 Centerline is valid? [True, True] Translation: X:902.37, Y:62.66, Z:8.51 [[ 6.34581013e-01 -7.72789659e-01 -1.01528741e-02 9.02372459e+02] [ 7.72700697e-01 6.34662101e-01 -1.17324007e-02 6.26611978e+01] [ 1.55103224e-02 -3.99974203e-04 9.99879628e-01 8.51014969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9892541539999 meters Centerline goodness [0,1] 0.9997910965342915 Centerline is valid? [True, True] Translation: X:902.39, Y:62.68, Z:8.51 [[ 6.34866334e-01 -7.72539067e-01 -1.13193483e-02 9.02390459e+02] [ 7.72428385e-01 6.34967085e-01 -1.30840017e-02 6.26816296e+01] [ 1.72953161e-02 -4.36793696e-04 9.99850329e-01 8.50700386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0192541539999 meters Centerline goodness [0,1] 0.9998957551496956 Centerline is valid? [True, True] Translation: X:902.41, Y:62.70, Z:8.51 [[ 6.35684552e-01 -7.71872396e-01 -1.08699007e-02 9.02407648e+02] [ 7.71770158e-01 6.35777355e-01 -1.25689326e-02 6.27045732e+01] [ 1.66124488e-02 -3.99188714e-04 9.99861924e-01 8.50909395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0492541539999 meters Centerline goodness [0,1] 0.9999165327713206 Centerline is valid? [True, True] Translation: X:902.43, Y:62.73, Z:8.51 [[ 6.36591317e-01 -7.71127038e-01 -1.07044611e-02 9.02425594e+02] [ 7.71027683e-01 6.36681203e-01 -1.23837822e-02 6.27274217e+01] [ 1.63647984e-02 -3.70027645e-04 9.99866019e-01 8.51018997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0792541539998 meters Centerline goodness [0,1] 0.9998332847080399 Centerline is valid? [True, True] Translation: X:902.44, Y:62.75, Z:8.51 [[ 6.39123477e-01 -7.69028299e-01 -1.08007620e-02 9.02442376e+02] [ 7.68926773e-01 6.39214655e-01 -1.24997285e-02 6.27496556e+01] [ 1.65166503e-02 -3.16125146e-04 9.99863541e-01 8.50965267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.46, Y:62.77, Z:8.51 [[ 6.40588243e-01 -7.67827114e-01 -9.39289678e-03 9.02459653e+02] [ 7.67750172e-01 6.40657055e-01 -1.08724960e-02 6.27733187e+01] [ 1.43658229e-02 -2.46604977e-04 9.99896776e-01 8.51461494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.48, Y:62.80, Z:8.52 [[ 6.41425810e-01 -7.67131706e-01 -9.04852794e-03 9.02477569e+02] [ 7.67060185e-01 6.41489593e-01 -1.04773980e-02 6.27959457e+01] [ 1.38420807e-02 -2.20292003e-04 9.99904170e-01 8.51557674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1692541539999 meters Centerline goodness [0,1] 0.9999790474993191 Centerline is valid? [True, True] Translation: X:902.49, Y:62.82, Z:8.52 [[ 6.42629461e-01 -7.66124796e-01 -8.95390606e-03 9.02494326e+02] [ 7.66054594e-01 6.42691807e-01 -1.03730504e-02 6.28196787e+01] [ 1.37016532e-02 -1.93153069e-04 9.99906109e-01 8.51546929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1992541539998 meters Centerline goodness [0,1] 0.9998749218261413 Centerline is valid? [True, True] Translation: X:902.51, Y:62.84, Z:8.51 [[ 6.42694057e-01 -7.66066508e-01 -9.29802983e-03 9.02511639e+02] [ 7.65990733e-01 6.42761282e-01 -1.07763843e-02 6.28400365e+01] [ 1.42318407e-02 -1.96286510e-04 9.99898703e-01 8.51302486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2292541539998 meters Centerline goodness [0,1] 0.9998743771198861 Centerline is valid? [True, True] Translation: X:902.53, Y:62.86, Z:8.51 [[ 6.42570406e-01 -7.66162889e-01 -9.88435420e-03 9.02528088e+02] [ 7.66077199e-01 6.42646391e-01 -1.14604388e-02 6.28632927e+01] [ 1.51327075e-02 -2.08039569e-04 9.99885472e-01 8.51363533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2592541539999 meters Centerline goodness [0,1] 0.999812371005066 Centerline is valid? [True, True] Translation: X:902.55, Y:62.88, Z:8.51 [[ 6.42137682e-01 -7.66517382e-01 -1.05023753e-02 9.02546700e+02] [ 7.66420600e-01 6.42223521e-01 -1.21824465e-02 6.28839981e+01] [ 1.60829294e-02 -2.26428878e-04 9.99870636e-01 8.51228503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2892541539999 meters Centerline goodness [0,1] 0.9998540024193885 Centerline is valid? [True, True] Translation: X:902.57, Y:62.90, Z:8.51 [[ 6.41594968e-01 -7.66970869e-01 -1.05632668e-02 9.02565726e+02] [ 7.66872987e-01 6.41681875e-01 -1.22553037e-02 6.29042384e+01] [ 1.61777177e-02 -2.37742795e-04 9.99869104e-01 8.51210756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3192541539999 meters Centerline goodness [0,1] 0.9999370805369128 Centerline is valid? [True, True] Translation: X:902.58, Y:62.93, Z:8.52 [[ 6.39725966e-01 -7.68538871e-01 -9.93445829e-03 9.02583019e+02] [ 7.68452431e-01 6.39803046e-01 -1.15292721e-02 6.29277048e+01] [ 1.52167904e-02 -2.58583878e-04 9.99884185e-01 8.51534918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3492541539998 meters Centerline goodness [0,1] 0.9998533447864072 Centerline is valid? [True, True] Translation: X:902.60, Y:62.95, Z:8.51 [[ 6.38219619e-01 -7.69785815e-01 -1.02721677e-02 9.02601990e+02] [ 7.69693484e-01 6.38302210e-01 -1.19259534e-02 6.29488606e+01] [ 1.57371771e-02 -2.95043074e-04 9.99876119e-01 8.51486113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.62, Y:62.97, Z:8.52 [[ 6.37385392e-01 -7.70489777e-01 -9.23934700e-03 9.02621406e+02] [ 7.70415128e-01 6.37452292e-01 -1.07287215e-02 6.29690700e+01] [ 1.41560131e-02 -2.79802379e-04 9.99899759e-01 8.51805477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.64, Y:62.99, Z:8.52 [[ 6.36350622e-01 -7.71345422e-01 -9.17194763e-03 9.02640530e+02] [ 7.71271903e-01 6.36416650e-01 -1.06535787e-02 6.29907325e+01] [ 1.40547694e-02 -2.94654061e-04 9.99901183e-01 8.51826749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4392541539999 meters Centerline goodness [0,1] 0.9997902948454473 Centerline is valid? [True, True] Translation: X:902.66, Y:63.01, Z:8.51 [[ 6.35189360e-01 -7.72277876e-01 -1.10163085e-02 9.02658453e+02] [ 7.72171831e-01 6.35284773e-01 -1.28031930e-02 6.30133436e+01] [ 1.68861157e-02 -3.74031082e-04 9.99857349e-01 8.51451180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4692541539998 meters Centerline goodness [0,1] 0.9997902948454473 Centerline is valid? [True, True] Translation: X:902.68, Y:63.03, Z:8.51 [[ 6.34962353e-01 -7.72464580e-01 -1.10128041e-02 9.02676370e+02] [ 7.72358511e-01 6.35057739e-01 -1.28062070e-02 6.30342641e+01] [ 1.68861078e-02 -3.74373584e-04 9.99857349e-01 8.51476935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4992541539999 meters Centerline goodness [0,1] 0.9998747913188648 Centerline is valid? [True, True] Translation: X:902.70, Y:63.05, Z:8.51 [[ 6.35547712e-01 -7.71982579e-01 -1.10454815e-02 9.02695517e+02] [ 7.71875717e-01 6.35643586e-01 -1.28494984e-02 6.30546655e+01] [ 1.69405784e-02 -3.59269664e-04 9.99856434e-01 8.51486577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5292541539999 meters Centerline goodness [0,1] 0.9998955177097482 Centerline is valid? [True, True] Translation: X:902.71, Y:63.08, Z:8.52 [[ 6.37066302e-01 -7.70730883e-01 -1.09741563e-02 9.02712709e+02] [ 7.70625141e-01 6.37160735e-01 -1.27706900e-02 6.30784550e+01] [ 1.68350667e-02 -3.21184523e-04 9.99858229e-01 8.51572527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.73, Y:63.10, Z:8.52 [[ 6.38397124e-01 -7.69644414e-01 -9.82791795e-03 9.02730928e+02] [ 7.69559398e-01 6.38472716e-01 -1.14422144e-02 6.31008490e+01] [ 1.50812938e-02 -2.58489862e-04 9.99886237e-01 8.51857082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5892541539998 meters Centerline goodness [0,1] 0.9999163547395495 Centerline is valid? [True, True] Translation: X:902.75, Y:63.12, Z:8.52 [[ 6.38247313e-01 -7.69764732e-01 -1.01304187e-02 9.02748238e+02] [ 7.69674316e-01 6.38327649e-01 -1.18008649e-02 6.31228621e+01] [ 1.55504160e-02 -2.65252799e-04 9.99879050e-01 8.51738168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6192541539999 meters Centerline goodness [0,1] 0.9998538133823407 Centerline is valid? [True, True] Translation: X:902.77, Y:63.14, Z:8.52 [[ 6.38822582e-01 -7.69287163e-01 -1.01473851e-02 9.02767107e+02] [ 7.69196305e-01 6.38903121e-01 -1.18256857e-02 6.31428068e+01] [ 1.55805442e-02 -2.50816072e-04 9.99878584e-01 8.51619213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6492541539999 meters Centerline goodness [0,1] 0.9999161794597766 Centerline is valid? [True, True] Translation: X:902.78, Y:63.17, Z:8.52 [[ 6.38921983e-01 -7.69203853e-01 -1.02045491e-02 9.02784031e+02] [ 7.69111893e-01 6.39003421e-01 -1.18964231e-02 6.31658260e+01] [ 1.56715163e-02 -2.47553811e-04 9.99877164e-01 8.51796417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6792541539999 meters Centerline goodness [0,1] 0.9999371121918498 Centerline is valid? [True, True] Translation: X:902.80, Y:63.19, Z:8.52 [[ 6.39037864e-01 -7.69107004e-01 -1.02481519e-02 9.02801507e+02] [ 7.69014159e-01 6.39119986e-01 -1.19526887e-02 6.31859515e+01] [ 1.57426952e-02 -2.42753264e-04 9.99876047e-01 8.51826541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7092541539998 meters Centerline goodness [0,1] 0.9998952396915857 Centerline is valid? [True, True] Translation: X:902.82, Y:63.21, Z:8.52 [[ 6.38874275e-01 -7.69229129e-01 -1.12342582e-02 9.02820046e+02] [ 7.69117486e-01 6.38972986e-01 -1.31078891e-02 6.32081502e+01] [ 1.72613576e-02 -2.66171330e-04 9.99850976e-01 8.51721372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7392541539999 meters Centerline goodness [0,1] 0.9998123357938196 Centerline is valid? [True, True] Translation: X:902.84, Y:63.23, Z:8.52 [[ 6.38953812e-01 -7.69155911e-01 -1.17137112e-02 9.02838507e+02] [ 7.69034423e-01 6.39061117e-01 -1.36728069e-02 6.32280726e+01] [ 1.80022976e-02 -2.71955041e-04 9.99837909e-01 8.51564523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7692541539999 meters Centerline goodness [0,1] 0.9998746893339738 Centerline is valid? [True, True] Translation: X:902.86, Y:63.25, Z:8.52 [[ 6.38967895e-01 -7.69148468e-01 -1.14308009e-02 9.02856474e+02] [ 7.69032684e-01 6.39070079e-01 -1.33478798e-02 6.32490870e+01] [ 1.75715841e-02 -2.61792835e-04 9.99845574e-01 8.51656613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7992541539999 meters Centerline goodness [0,1] 0.9997501093271693 Centerline is valid? [True, True] Translation: X:902.87, Y:63.27, Z:8.52 [[ 6.39180415e-01 -7.68969283e-01 -1.16034104e-02 9.02874599e+02] [ 7.68849808e-01 6.39285677e-01 -1.35571398e-02 6.32709980e+01] [ 1.78429182e-02 -2.55821601e-04 9.99840770e-01 8.51570687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8292541539998 meters Centerline goodness [0,1] 0.9997706804536357 Centerline is valid? [True, True] Translation: X:902.89, Y:63.29, Z:8.52 [[ 6.39653213e-01 -7.68583356e-01 -1.11082126e-02 9.02892639e+02] [ 7.68473688e-01 6.39749617e-01 -1.29853190e-02 6.32936321e+01] [ 1.70867748e-02 -2.30268077e-04 9.99853984e-01 8.51645944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8592541539998 meters Centerline goodness [0,1] 0.9998748226654427 Centerline is valid? [True, True] Translation: X:902.91, Y:63.32, Z:8.52 [[ 6.40951745e-01 -7.67507572e-01 -1.06295478e-02 9.02910940e+02] [ 7.67406905e-01 6.41039851e-01 -1.24318773e-02 6.33164094e+01] [ 1.63555237e-02 -1.88954951e-04 9.99866222e-01 8.51801519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8892541539999 meters Centerline goodness [0,1] 0.999958296843071 Centerline is valid? [True, True] Translation: X:902.93, Y:63.34, Z:8.52 [[ 6.41643537e-01 -7.66932029e-01 -1.04323639e-02 9.02929829e+02] [ 7.66834888e-01 6.41728319e-01 -1.22073939e-02 6.33382903e+01] [ 1.60569847e-02 -1.67105164e-04 9.99871064e-01 8.51924032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9192541539999 meters Centerline goodness [0,1] 0.9999167273862808 Centerline is valid? [True, True] Translation: X:902.95, Y:63.36, Z:8.52 [[ 6.42244065e-01 -7.66423675e-01 -1.08310453e-02 9.02947846e+02] [ 7.66318795e-01 6.42335369e-01 -1.26798334e-02 6.33584681e+01] [ 1.66752880e-02 -1.56485877e-04 9.99860945e-01 8.51787326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9492541539998 meters Centerline goodness [0,1] 0.9998950836183562 Centerline is valid? [True, True] Translation: X:902.97, Y:63.38, Z:8.52 [[ 6.42749559e-01 -7.65995340e-01 -1.11419640e-02 9.02965877e+02] [ 7.65884179e-01 6.42846108e-01 -1.30501492e-02 6.33802571e+01] [ 1.71589217e-02 -1.45476289e-04 9.99852764e-01 8.51783420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9792541539998 meters Centerline goodness [0,1] 0.9999161952650325 Centerline is valid? [True, True] Translation: X:902.98, Y:63.40, Z:8.52 [[ 6.44243489e-01 -7.64740766e-01 -1.10402826e-02 9.02984305e+02] [ 7.64631352e-01 6.44338071e-01 -1.29362064e-02 6.34014384e+01] [ 1.70065187e-02 -1.07679461e-04 9.99855373e-01 8.51774649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.00, Y:63.42, Z:8.52 [[ 6.45106341e-01 -7.64025401e-01 -1.01486663e-02 9.03002781e+02] [ 7.63932803e-01 6.45186159e-01 -1.18950379e-02 6.34231419e+01] [ 1.56358901e-02 -7.93346834e-05 9.99877749e-01 8.52013194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0392541539999 meters Centerline goodness [0,1] 0.9997484382206197 Centerline is valid? [True, True] Translation: X:903.02, Y:63.44, Z:8.52 [[ 6.46232145e-01 -7.63063613e-01 -1.08599275e-02 9.03021438e+02] [ 7.62957326e-01 6.46323387e-01 -1.27357479e-02 6.34436697e+01] [ 1.67372109e-02 -5.54115708e-05 9.99859922e-01 8.51722217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0692541539999 meters Centerline goodness [0,1] 0.9998957442815738 Centerline is valid? [True, True] Translation: X:903.04, Y:63.46, Z:8.52 [[ 6.47030214e-01 -7.62403025e-01 -9.67107837e-03 9.03040288e+02] [ 7.62318591e-01 6.47102485e-01 -1.13463588e-02 6.34647683e+01] [ 1.49086772e-02 -3.10058497e-05 9.99888859e-01 8.51950898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0992541539998 meters Centerline goodness [0,1] 0.9998116918441645 Centerline is valid? [True, True] Translation: X:903.06, Y:63.49, Z:8.52 [[ 6.47524084e-01 -7.61982495e-01 -9.75896007e-03 9.03058927e+02] [ 7.61896405e-01 6.47597619e-01 -1.14539092e-02 6.34854447e+01] [ 1.50475577e-02 -1.86344967e-05 9.99886779e-01 8.51947069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1292541539999 meters Centerline goodness [0,1] 0.9998532033134109 Centerline is valid? [True, True] Translation: X:903.08, Y:63.51, Z:8.52 [[ 6.48776166e-01 -7.60922575e-01 -9.29094991e-03 9.03078984e+02] [ 7.60844347e-01 6.48842689e-01 -1.09107820e-02 6.35055426e+01] [ 1.43306252e-02 9.68858021e-06 9.99897311e-01 8.52080824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1592541539999 meters Centerline goodness [0,1] 0.9998951342281879 Centerline is valid? [True, True] Translation: X:903.10, Y:63.53, Z:8.52 [[ 6.49434867e-01 -7.60361752e-01 -9.18475845e-03 9.03098072e+02] [ 7.60285156e-01 6.49499812e-01 -1.07923976e-02 6.35263474e+01] [ 1.41716252e-02 2.59237620e-05 9.99899577e-01 8.52155454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1892541539999 meters Centerline goodness [0,1] 0.9999166840241617 Centerline is valid? [True, True] Translation: X:903.12, Y:63.55, Z:8.52 [[ 6.50271151e-01 -7.59646431e-01 -9.20494955e-03 9.03115904e+02] [ 7.59569345e-01 6.50336296e-01 -1.08218409e-02 6.35466778e+01] [ 1.42070856e-02 4.53334345e-05 9.99899073e-01 8.52151274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2192541539998 meters Centerline goodness [0,1] 0.9997909305680417 Centerline is valid? [True, True] Translation: X:903.14, Y:63.57, Z:8.52 [[ 6.52201685e-01 -7.57980330e-01 -9.93886657e-03 9.03135674e+02] [ 7.57890184e-01 6.52277403e-01 -1.16901120e-02 6.35680990e+01] [ 1.53437731e-02 9.17413561e-05 9.99882273e-01 8.51976536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2492541539999 meters Centerline goodness [0,1] 0.9997485910624123 Centerline is valid? [True, True] Translation: X:903.16, Y:63.59, Z:8.52 [[ 6.53166877e-01 -7.57142292e-01 -1.04201381e-02 9.03155081e+02] [ 7.57042993e-01 6.53249979e-01 -1.22626466e-02 6.35900468e+01] [ 1.60915233e-02 1.21062094e-04 9.99870516e-01 8.51920797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2792541539999 meters Centerline goodness [0,1] 0.9998334304988756 Centerline is valid? [True, True] Translation: X:903.17, Y:63.61, Z:8.52 [[ 6.54360175e-01 -7.56108819e-01 -1.05931658e-02 9.03173614e+02] [ 7.56005982e-01 6.54445896e-01 -1.24709388e-02 6.36110855e+01] [ 1.63620407e-02 1.51988914e-04 9.99866121e-01 8.51955684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.19, Y:63.63, Z:8.52 [[ 6.56631542e-01 -7.54151911e-01 -9.48228735e-03 9.03194581e+02] [ 7.54069261e-01 6.56699979e-01 -1.11663196e-02 6.36312630e+01] [ 1.46481192e-02 1.81856263e-04 9.99892694e-01 8.52321793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3392541539998 meters Centerline goodness [0,1] 0.9998540572095739 Centerline is valid? [True, True] Translation: X:903.21, Y:63.65, Z:8.52 [[ 6.56942035e-01 -7.53867422e-01 -1.05391145e-02 9.03213661e+02] [ 7.53765205e-01 6.57026533e-01 -1.24157589e-02 6.36519413e+01] [ 1.62843141e-02 2.12416120e-04 9.99867379e-01 8.51998364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3692541539999 meters Centerline goodness [0,1] 0.9998120182968858 Centerline is valid? [True, True] Translation: X:903.23, Y:63.67, Z:8.52 [[ 6.57557050e-01 -7.53326015e-01 -1.08922922e-02 9.03233984e+02] [ 7.53216688e-01 6.57647216e-01 -1.28359356e-02 6.36723346e+01] [ 1.68329298e-02 2.36103645e-04 9.99858288e-01 8.51979525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3992541539999 meters Centerline goodness [0,1] 0.9998745084915921 Centerline is valid? [True, True] Translation: X:903.26, Y:63.69, Z:8.52 [[ 6.58494743e-01 -7.52503209e-01 -1.11173123e-02 9.03257222e+02] [ 7.52389087e-01 6.58588528e-01 -1.31077234e-02 6.36910087e+01] [ 1.71853383e-02 2.66822506e-04 9.99852286e-01 8.52044270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4292541539999 meters Centerline goodness [0,1] 0.9997284198211749 Centerline is valid? [True, True] Translation: X:903.28, Y:63.71, Z:8.52 [[ 6.58653954e-01 -7.52349084e-01 -1.20757427e-02 9.03278886e+02] [ 7.52214266e-01 6.58764575e-01 -1.42454323e-02 6.37111006e+01] [ 1.86726095e-02 2.99264348e-04 9.99825607e-01 8.51940330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4592541539998 meters Centerline goodness [0,1] 0.999916706578098 Centerline is valid? [True, True] Translation: X:903.30, Y:63.73, Z:8.52 [[ 6.58977179e-01 -7.52073873e-01 -1.15744694e-02 9.03297615e+02] [ 7.51949861e-01 6.59078752e-01 -1.36603641e-02 6.37307852e+01] [ 1.79020898e-02 2.98447525e-04 9.99839700e-01 8.52049670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4892541539999 meters Centerline goodness [0,1] 0.9998544335385128 Centerline is valid? [True, True] Translation: X:903.32, Y:63.75, Z:8.52 [[ 6.59050667e-01 -7.52004182e-01 -1.19133575e-02 9.03321446e+02] [ 7.51872669e-01 6.59158260e-01 -1.40669198e-02 6.37480206e+01] [ 1.84311705e-02 3.13484940e-04 9.99830082e-01 8.51976952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5192541539999 meters Centerline goodness [0,1] 0.9997713905688218 Centerline is valid? [True, True] Translation: X:903.34, Y:63.77, Z:8.52 [[ 6.58958810e-01 -7.52082312e-01 -1.20616197e-02 9.03341483e+02] [ 7.51947414e-01 6.59069112e-01 -1.42475586e-02 6.37669563e+01] [ 1.86647778e-02 3.18850503e-04 9.99825747e-01 8.51948552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5492541539999 meters Centerline goodness [0,1] 0.9998331560616488 Centerline is valid? [True, True] Translation: X:903.36, Y:63.79, Z:8.52 [[ 6.58648635e-01 -7.52360890e-01 -1.16218497e-02 9.03362827e+02] [ 7.52235591e-01 6.58751090e-01 -1.37337532e-02 6.37862245e+01] [ 1.79886449e-02 3.03348792e-04 9.99838145e-01 8.52045917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.38, Y:63.80, Z:8.52 [[ 6.58975644e-01 -7.52095594e-01 -1.01645189e-02 9.03382894e+02] [ 7.51999642e-01 6.59053975e-01 -1.20164942e-02 6.38048488e+01] [ 1.57365189e-02 2.74862481e-04 9.99876136e-01 8.52410761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.41, Y:63.82, Z:8.53 [[ 6.58337609e-01 -7.52658470e-01 -9.83972487e-03 9.03409170e+02] [ 7.52568556e-01 6.58411089e-01 -1.16364161e-02 6.38210567e+01] [ 1.52368311e-02 2.55622785e-04 9.99883880e-01 8.52521430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6392541539999 meters Centerline goodness [0,1] 0.9999791362403505 Centerline is valid? [True, True] Translation: X:903.43, Y:63.84, Z:8.53 [[ 6.57691902e-01 -7.53223475e-01 -9.78567554e-03 9.03430113e+02] [ 7.53134543e-01 6.57764652e-01 -1.15767986e-02 6.38401653e+01] [ 1.51565879e-02 2.44036413e-04 9.99885103e-01 8.52503300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.45, Y:63.86, Z:8.53 [[ 6.56686637e-01 -7.54101578e-01 -9.66805433e-03 9.03454837e+02] [ 7.54014814e-01 6.56757764e-01 -1.14411678e-02 6.38564816e+01] [ 1.49773725e-02 2.23405838e-04 9.99887808e-01 8.52557598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6992541539998 meters Centerline goodness [0,1] 0.9999582079572049 Centerline is valid? [True, True] Translation: X:903.48, Y:63.88, Z:8.52 [[ 6.55844871e-01 -7.54829192e-01 -1.00197525e-02 9.03476179e+02] [ 7.54736013e-01 6.55921370e-01 -1.18620326e-02 6.38753950e+01] [ 1.55259783e-02 2.17385150e-04 9.99879441e-01 8.52477659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7292541539998 meters Centerline goodness [0,1] 0.9998536911629462 Centerline is valid? [True, True] Translation: X:903.50, Y:63.89, Z:8.52 [[ 6.54835238e-01 -7.55694113e-01 -1.08267382e-02 9.03497384e+02] [ 7.55585358e-01 6.54924699e-01 -1.28220737e-02 6.38940696e+01] [ 1.67802639e-02 2.15820838e-04 9.99859178e-01 8.52306828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7592541539999 meters Centerline goodness [0,1] 0.9998121948165769 Centerline is valid? [True, True] Translation: X:903.52, Y:63.91, Z:8.52 [[ 6.53605755e-01 -7.56755178e-01 -1.10053430e-02 9.03522823e+02] [ 7.56642831e-01 6.53698372e-01 -1.30408920e-02 6.39100337e+01] [ 1.70629374e-02 1.96488144e-04 9.99854398e-01 8.52325887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7892541539999 meters Centerline goodness [0,1] 0.9998125507675004 Centerline is valid? [True, True] Translation: X:903.54, Y:63.93, Z:8.52 [[ 6.52971062e-01 -7.57295864e-01 -1.14790091e-02 9.03542804e+02] [ 7.57173620e-01 6.53071924e-01 -1.36077679e-02 6.39290253e+01] [ 1.78017249e-02 1.93875790e-04 9.99841518e-01 8.52248038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8192541539999 meters Centerline goodness [0,1] 0.9998118375112375 Centerline is valid? [True, True] Translation: X:903.57, Y:63.95, Z:8.52 [[ 6.52178982e-01 -7.57971841e-01 -1.18854840e-02 9.03565575e+02] [ 7.57840823e-01 6.52287249e-01 -1.40937214e-02 6.39450061e+01] [ 1.84353936e-02 1.84323871e-04 9.99830037e-01 8.52151316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8492541539998 meters Centerline goodness [0,1] 0.9999373040752351 Centerline is valid? [True, True] Translation: X:903.59, Y:63.96, Z:8.52 [[ 6.51930659e-01 -7.58189924e-01 -1.15954450e-02 9.03586676e+02] [ 7.58065151e-01 6.52033747e-01 -1.37556847e-02 6.39641397e+01] [ 1.79900430e-02 1.77649798e-04 9.99838150e-01 8.52317770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8792541539999 meters Centerline goodness [0,1] 0.9997900438808289 Centerline is valid? [True, True] Translation: X:903.61, Y:63.98, Z:8.52 [[ 6.51022203e-01 -7.58959183e-01 -1.22902197e-02 9.03607787e+02] [ 7.58818983e-01 6.51138180e-01 -1.45884271e-02 6.39825676e+01] [ 1.90746521e-02 1.71337949e-04 9.99818048e-01 8.52227166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9092541539999 meters Centerline goodness [0,1] 0.9999372634308539 Centerline is valid? [True, True] Translation: X:903.63, Y:64.00, Z:8.52 [[ 6.51033386e-01 -7.58961522e-01 -1.15298914e-02 9.03628540e+02] [ 7.58837997e-01 6.51135455e-01 -1.36935153e-02 6.40018404e+01] [ 1.79003723e-02 1.65615880e-04 9.99839762e-01 8.52431389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9392541539999 meters Centerline goodness [0,1] 0.9999789189644995 Centerline is valid? [True, True] Translation: X:903.65, Y:64.02, Z:8.53 [[ 6.50942236e-01 -7.59043496e-01 -1.12773034e-02 9.03652221e+02] [ 7.58925202e-01 6.51039895e-01 -1.34012703e-02 6.40179630e+01] [ 1.75141215e-02 1.64823037e-04 9.99846602e-01 8.52588770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9692541539998 meters Centerline goodness [0,1] 0.9998739257422622 Centerline is valid? [True, True] Translation: X:903.67, Y:64.04, Z:8.52 [[ 6.50716839e-01 -7.59225007e-01 -1.20409862e-02 9.03672366e+02] [ 7.59090067e-01 6.50828210e-01 -1.43146973e-02 6.40379501e+01] [ 1.87046896e-02 1.74621503e-04 9.99825037e-01 8.52380351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9992541539999 meters Centerline goodness [0,1] 0.9997894603869718 Centerline is valid? [True, True] Translation: X:903.69, Y:64.06, Z:8.52 [[ 6.50821863e-01 -7.59126620e-01 -1.25569699e-02 9.03693407e+02] [ 7.58979746e-01 6.50942961e-01 -1.49333835e-02 6.40577405e+01] [ 1.95102001e-02 1.88486641e-04 9.99809640e-01 8.52335867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0292541539999 meters Centerline goodness [0,1] 0.9998518926009775 Centerline is valid? [True, True] Translation: X:903.71, Y:64.08, Z:8.52 [[ 6.51263570e-01 -7.58759610e-01 -1.18159414e-02 9.03714205e+02] [ 7.58629393e-01 6.51370722e-01 -1.40579779e-02 6.40775265e+01] [ 1.83631841e-02 1.91528351e-04 9.99831364e-01 8.52486769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0592541539999 meters Centerline goodness [0,1] 0.9998300042498938 Centerline is valid? [True, True] Translation: X:903.74, Y:64.10, Z:8.53 [[ 6.52492309e-01 -7.57701967e-01 -1.18960230e-02 9.03737608e+02] [ 7.57569687e-01 6.52600703e-01 -1.41595276e-02 6.40954494e+01] [ 1.84920549e-02 2.26916455e-04 9.99828982e-01 8.52512172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.76, Y:64.12, Z:8.53 [[ 6.53910212e-01 -7.56500557e-01 -1.04087447e-02 9.03756286e+02] [ 7.56399058e-01 6.53993008e-01 -1.23940151e-02 6.41161150e+01] [ 1.61833256e-02 2.31408305e-04 9.99869015e-01 8.52672732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1192541539999 meters Centerline goodness [0,1] 0.999851263200391 Centerline is valid? [True, True] Translation: X:903.78, Y:64.13, Z:8.53 [[ 6.54705387e-01 -7.55802280e-01 -1.11252034e-02 9.03780274e+02] [ 7.55686133e-01 6.54799848e-01 -1.32524369e-02 6.41336512e+01] [ 1.73010035e-02 2.69279907e-04 9.99850290e-01 8.52597615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1492541539999 meters Centerline goodness [0,1] 0.9999148791283623 Centerline is valid? [True, True] Translation: X:903.80, Y:64.15, Z:8.53 [[ 6.55912879e-01 -7.54768620e-01 -1.01303931e-02 9.03800070e+02] [ 7.54672127e-01 6.55991048e-01 -1.20717102e-02 6.41535990e+01] [ 1.57567953e-02 2.72864924e-04 9.99875817e-01 8.52765367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1792541539999 meters Centerline goodness [0,1] 0.9998083475298126 Centerline is valid? [True, True] Translation: X:903.82, Y:64.17, Z:8.53 [[ 6.56284875e-01 -7.54435360e-01 -1.08374124e-02 9.03819415e+02] [ 7.54324840e-01 6.56374280e-01 -1.29166745e-02 6.41731601e+01] [ 1.68581948e-02 3.02088731e-04 9.99857845e-01 8.52595432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2092541539998 meters Centerline goodness [0,1] 0.9998503985809237 Centerline is valid? [True, True] Translation: X:903.84, Y:64.19, Z:8.53 [[ 6.58151229e-01 -7.52821625e-01 -9.82653214e-03 9.03842286e+02] [ 7.52730528e-01 6.58224508e-01 -1.17153504e-02 6.41921461e+01] [ 1.52876334e-02 3.13741508e-04 9.99883088e-01 8.52731377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2392541539999 meters Centerline goodness [0,1] 0.9999141391375277 Centerline is valid? [True, True] Translation: X:903.86, Y:64.21, Z:8.53 [[ 6.59232983e-01 -7.51883067e-01 -9.15033553e-03 9.03862618e+02] [ 7.51803910e-01 6.59296408e-01 -1.09145102e-02 6.42130644e+01] [ 1.42392188e-02 3.15947105e-04 9.99898567e-01 8.52861851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.88, Y:64.23, Z:8.53 [[ 6.61415401e-01 -7.49976678e-01 -8.04047588e-03 9.03882950e+02] [ 7.49915373e-01 6.61464196e-01 -9.59434295e-03 6.42323344e+01] [ 1.25140204e-02 3.16169725e-04 9.99921647e-01 8.53023703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2992541539999 meters Centerline goodness [0,1] 0.9998921809634709 Centerline is valid? [True, True] Translation: X:903.90, Y:64.25, Z:8.53 [[ 6.61184189e-01 -7.50176985e-01 -8.36419479e-03 9.03903468e+02] [ 7.50110620e-01 6.61237011e-01 -9.98361137e-03 6.42515296e+01] [ 1.30201906e-02 3.26934651e-04 9.99915180e-01 8.52897404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3292541539998 meters Centerline goodness [0,1] 0.9998708927764508 Centerline is valid? [True, True] Translation: X:903.92, Y:64.27, Z:8.53 [[ 6.61177865e-01 -7.50185013e-01 -8.14108839e-03 9.03922796e+02] [ 7.50122080e-01 6.61227906e-01 -9.72221906e-03 6.42709355e+01] [ 1.26765779e-02 3.21305890e-04 9.99919597e-01 8.52911309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.94, Y:64.29, Z:8.53 [[ 6.61654834e-01 -7.49771810e-01 -7.42380226e-03 9.03943347e+02] [ 7.49719423e-01 6.61696412e-01 -8.86821171e-03 6.42906978e+01] [ 1.15614385e-02 3.01926404e-04 9.99933119e-01 8.53097019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.96, Y:64.31, Z:8.53 [[ 6.61441449e-01 -7.49960077e-01 -7.42241200e-03 9.03960992e+02] [ 7.49907689e-01 6.61483025e-01 -8.86937517e-03 6.43119074e+01] [ 1.15614768e-02 3.00448538e-04 9.99933119e-01 8.53122821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4192541539999 meters Centerline goodness [0,1] 0.9999784226993204 Centerline is valid? [True, True] Translation: X:903.98, Y:64.33, Z:8.53 [[ 6.60984075e-01 -7.50361208e-01 -7.62296289e-03 9.03981014e+02] [ 7.50305922e-01 6.61027960e-01 -9.11365996e-03 6.43317384e+01] [ 1.18775285e-02 3.04429902e-04 9.99929413e-01 8.53078999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4492541539998 meters Centerline goodness [0,1] 0.9998264039579897 Centerline is valid? [True, True] Translation: X:904.01, Y:64.35, Z:8.53 [[ 6.59560021e-01 -7.51594180e-01 -9.31487093e-03 9.04005984e+02] [ 7.51511698e-01 6.59625703e-01 -1.11400007e-02 6.43492827e+01] [ 1.45170880e-02 3.47264609e-04 9.99894561e-01 8.52772349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4792541539998 meters Centerline goodness [0,1] 0.9998254951574906 Centerline is valid? [True, True] Translation: X:904.03, Y:64.37, Z:8.53 [[ 6.58859574e-01 -7.52201095e-01 -9.87800932e-03 9.04027485e+02] [ 7.52108307e-01 6.58933521e-01 -1.18198859e-02 6.43684827e+01] [ 1.53998826e-02 3.58312126e-04 9.99881351e-01 8.52731301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.05, Y:64.39, Z:8.53 [[ 6.58702608e-01 -7.52330945e-01 -1.04414239e-02 9.04047768e+02] [ 7.52227183e-01 6.58785249e-01 -1.25004292e-02 6.43871907e+01] [ 1.62831158e-02 3.79742445e-04 9.99867349e-01 8.52730029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5392541539999 meters Centerline goodness [0,1] 0.9998688495923408 Centerline is valid? [True, True] Translation: X:904.07, Y:64.41, Z:8.52 [[ 6.57439239e-01 -7.53414537e-01 -1.18398696e-02 9.04069071e+02] [ 7.53281175e-01 6.57545718e-01 -1.41809812e-02 6.44066432e+01] [ 1.84694130e-02 4.04382634e-04 9.99829344e-01 8.52494976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.09, Y:64.42, Z:8.53 [[ 6.57106645e-01 -7.53697249e-01 -1.23009638e-02 9.04091328e+02] [ 7.53553189e-01 6.57221639e-01 -1.47413890e-02 6.44248497e+01] [ 1.91950039e-02 4.17234201e-04 9.99815672e-01 8.52576619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.11, Y:64.44, Z:8.53 [[ 6.56203218e-01 -7.54486368e-01 -1.21514325e-02 9.04112715e+02] [ 7.54345775e-01 6.56315599e-01 -1.45700666e-02 6.44445025e+01] [ 1.89680913e-02 3.94542805e-04 9.99820012e-01 8.52657475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.13, Y:64.46, Z:8.53 [[ 6.55256020e-01 -7.55309970e-01 -1.20994991e-02 9.04132896e+02] [ 7.55170622e-01 6.55367615e-01 -1.45127856e-02 6.44635309e+01] [ 1.88912715e-02 3.72403879e-04 9.99821475e-01 8.52705727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.15, Y:64.48, Z:8.53 [[ 6.53106990e-01 -7.57171335e-01 -1.19511100e-02 9.04154286e+02] [ 7.57035603e-01 6.53216249e-01 -1.43396967e-02 6.44833086e+01] [ 1.86642666e-02 3.17940388e-04 9.99825757e-01 8.52747431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.18, Y:64.50, Z:8.53 [[ 6.48021477e-01 -7.61537041e-01 -1.13798929e-02 9.04178575e+02] [ 7.61414518e-01 6.48121363e-01 -1.36613123e-02 6.44997622e+01] [ 1.77791470e-02 1.88008069e-04 9.99841921e-01 8.52814676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.20, Y:64.52, Z:8.53 [[ 6.45612414e-01 -7.63589186e-01 -1.07780601e-02 9.04199902e+02] [ 7.63479455e-01 6.45702361e-01 -1.29454100e-02 6.45201204e+01] [ 1.68443939e-02 1.28889935e-04 9.99858115e-01 8.52948367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7492541539999 meters Centerline goodness [0,1] 0.9998005230728313 Centerline is valid? [True, True] Translation: X:904.22, Y:64.54, Z:8.53 [[ 6.43435971e-01 -7.65427125e-01 -1.05578425e-02 9.04219973e+02] [ 7.65321976e-01 6.43522579e-01 -1.26871440e-02 6.45408998e+01] [ 1.65052941e-02 8.32159377e-05 9.99863775e-01 8.52863822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7792541539999 meters Centerline goodness [0,1] 0.9999335724724325 Centerline is valid? [True, True] Translation: X:904.24, Y:64.56, Z:8.53 [[ 6.42079668e-01 -7.66584124e-01 -9.08187711e-03 9.04237919e+02] [ 7.66506366e-01 6.42143892e-01 -1.09184221e-02 6.45639655e+01] [ 1.42017610e-02 4.91802296e-05 9.99899149e-01 8.53145279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8092541539999 meters Centerline goodness [0,1] 0.9998896880377708 Centerline is valid? [True, True] Translation: X:904.26, Y:64.59, Z:8.53 [[ 6.41794660e-01 -7.66822339e-01 -9.11672856e-03 9.04255098e+02] [ 7.66743927e-01 6.41859406e-01 -1.09660081e-02 6.45864459e+01] [ 1.42606380e-02 4.77291804e-05 9.99898311e-01 8.53135853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.27, Y:64.61, Z:8.53 [[ 6.43086097e-01 -7.65737240e-01 -9.31409017e-03 9.04267923e+02] [ 7.65655191e-01 6.43153538e-01 -1.12095596e-02 6.46107704e+01] [ 1.45739673e-02 7.73304623e-05 9.99893791e-01 8.53128037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.29, Y:64.63, Z:8.53 [[ 6.44021475e-01 -7.64941394e-01 -1.00500639e-02 9.04285472e+02] [ 7.64845669e-01 6.44099877e-01 -1.21016817e-02 6.46343271e+01] [ 1.57303222e-02 1.06995041e-04 9.99876265e-01 8.53106483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.30, Y:64.66, Z:8.53 [[ 6.45382222e-01 -7.63785644e-01 -1.06432259e-02 9.04302092e+02] [ 7.63678047e-01 6.45469960e-01 -1.28207641e-02 6.46573556e+01] [ 1.66621981e-02 1.46295244e-04 9.99861165e-01 8.53076130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9292541539999 meters Centerline goodness [0,1] 0.9999779759938333 Centerline is valid? [True, True] Translation: X:904.32, Y:64.68, Z:8.53 [[ 6.48308146e-01 -7.61293457e-01 -1.13498938e-02 9.04316689e+02] [ 7.61170648e-01 6.48407450e-01 -1.36756846e-02 6.46816259e+01] [ 1.77705649e-02 2.26851679e-04 9.99842065e-01 8.52927027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.33, Y:64.71, Z:8.53 [[ 6.50234680e-01 -7.59646991e-01 -1.14591062e-02 9.04333366e+02] [ 7.59521444e-01 6.50335584e-01 -1.38131639e-02 6.47051831e+01] [ 1.79453930e-02 2.78361295e-04 9.99838930e-01 8.52977984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.35, Y:64.73, Z:8.53 [[ 6.51558434e-01 -7.58510138e-01 -1.15748291e-02 9.04350621e+02] [ 7.58381735e-01 6.51661162e-01 -1.39597349e-02 6.47282798e+01] [ 1.81314670e-02 3.17444029e-04 9.99835561e-01 8.52994596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0192541539999 meters Centerline goodness [0,1] 0.9998897439855344 Centerline is valid? [True, True] Translation: X:904.37, Y:64.75, Z:8.53 [[ 6.53093421e-01 -7.57183857e-01 -1.18991831e-02 9.04367288e+02] [ 7.57047797e-01 6.53201707e-01 -1.43583555e-02 6.47518566e+01] [ 1.86444817e-02 3.69097196e-04 9.99826108e-01 8.52864121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0492541539999 meters Centerline goodness [0,1] 0.999889761001852 Centerline is valid? [True, True] Translation: X:904.38, Y:64.77, Z:8.53 [[ 6.53521120e-01 -7.56821864e-01 -1.14372793e-02 9.04383129e+02] [ 7.56696005e-01 6.53621091e-01 -1.38067665e-02 6.47737462e+01] [ 1.79249097e-02 3.68469915e-04 9.99839268e-01 8.52890481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0792541539998 meters Centerline goodness [0,1] 0.9999339454389325 Centerline is valid? [True, True] Translation: X:904.40, Y:64.80, Z:8.53 [[ 6.53266385e-01 -7.57045565e-01 -1.11822815e-02 9.04400531e+02] [ 7.56925183e-01 6.53361986e-01 -1.35049232e-02 6.47954636e+01] [ 1.75299199e-02 3.58161913e-04 9.99846275e-01 8.52965879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.42, Y:64.82, Z:8.53 [[ 6.51690651e-01 -7.58417853e-01 -1.00824519e-02 9.04420546e+02] [ 7.58320053e-01 6.51768574e-01 -1.21829250e-02 6.48161113e+01] [ 1.58111732e-02 2.93772869e-04 9.99874952e-01 8.53271452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1392541539999 meters Centerline goodness [0,1] 0.9998463935397511 Centerline is valid? [True, True] Translation: X:904.44, Y:64.84, Z:8.53 [[ 6.50317599e-01 -7.59600931e-01 -9.66677350e-03 9.04438770e+02] [ 7.59511093e-01 6.50389391e-01 -1.16849901e-02 6.48376914e+01] [ 1.51630963e-02 2.56932994e-04 9.99885001e-01 8.53305385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.46, Y:64.86, Z:8.53 [[ 6.48832027e-01 -7.60873694e-01 -9.39267280e-03 9.04458858e+02] [ 7.60788963e-01 6.48899971e-01 -1.13570297e-02 6.48588018e+01] [ 1.47361703e-02 2.22962818e-04 9.99891392e-01 8.53397520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1992541539998 meters Centerline goodness [0,1] 0.9998679344955098 Centerline is valid? [True, True] Translation: X:904.48, Y:64.88, Z:8.53 [[ 6.45807894e-01 -7.63443859e-01 -9.25406958e-03 9.04479329e+02] [ 7.63361791e-01 6.45874172e-01 -1.11950842e-02 6.48795646e+01] [ 1.45237828e-02 1.65670610e-04 9.99894511e-01 8.53214941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2292541539998 meters Centerline goodness [0,1] 0.9999561114768488 Centerline is valid? [True, True] Translation: X:904.50, Y:64.90, Z:8.53 [[ 6.45170223e-01 -7.63986334e-01 -8.95906712e-03 9.04496040e+02] [ 7.63909401e-01 6.45232406e-01 -1.08429000e-02 6.49013222e+01] [ 1.40645079e-02 1.51600631e-04 9.99901078e-01 8.53281527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.51, Y:64.92, Z:8.53 [[ 6.44489339e-01 -7.64564494e-01 -8.63863887e-03 9.04514576e+02] [ 7.64492964e-01 6.44547218e-01 -1.04590926e-02 6.49219791e+01] [ 1.35646615e-02 1.36595043e-04 9.99907986e-01 8.53404570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2892541539999 meters Centerline goodness [0,1] 0.9998461808912719 Centerline is valid? [True, True] Translation: X:904.53, Y:64.94, Z:8.53 [[ 6.42691536e-01 -7.66070555e-01 -9.13754139e-03 9.04533474e+02] [ 7.65990602e-01 6.42756480e-01 -1.10682125e-02 6.49423367e+01] [ 1.43522456e-02 1.14175649e-04 9.99896995e-01 8.53141448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3192541539999 meters Centerline goodness [0,1] 0.9997353855652826 Centerline is valid? [True, True] Translation: X:904.55, Y:64.96, Z:8.53 [[ 6.42323575e-01 -7.66379233e-01 -9.12665478e-03 9.04551325e+02] [ 7.66299453e-01 6.42388402e-01 -1.10584788e-02 6.49638968e+01] [ 1.43378457e-02 1.09371110e-04 9.99897202e-01 8.53241638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3492541539998 meters Centerline goodness [0,1] 0.9999119660188833 Centerline is valid? [True, True] Translation: X:904.57, Y:64.99, Z:8.53 [[ 6.42106537e-01 -7.66554962e-01 -9.62728190e-03 9.04568474e+02] [ 7.66466109e-01 6.42178695e-01 -1.16716564e-02 6.49853673e+01] [ 1.51294015e-02 1.15461600e-04 9.99885537e-01 8.53165598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3792541539999 meters Centerline goodness [0,1] 0.9999779502557771 Centerline is valid? [True, True] Translation: X:904.59, Y:65.01, Z:8.53 [[ 6.42365182e-01 -7.66342766e-01 -9.25950747e-03 9.04585899e+02] [ 7.66260465e-01 6.42431904e-01 -1.12315660e-02 6.50078660e+01] [ 1.45558323e-02 1.19572407e-04 9.99894051e-01 8.53277015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4092541539999 meters Centerline goodness [0,1] 0.9999559306348192 Centerline is valid? [True, True] Translation: X:904.60, Y:65.03, Z:8.53 [[ 6.41952249e-01 -7.66680128e-01 -9.94445683e-03 9.04603473e+02] [ 7.66585130e-01 6.42029257e-01 -1.20694546e-02 6.50293294e+01] [ 1.56380432e-02 1.24740774e-04 9.99877711e-01 8.53168393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.62, Y:65.05, Z:8.53 [[ 6.42786910e-01 -7.65975419e-01 -1.03269521e-02 9.04620235e+02] [ 7.65872770e-01 6.42869843e-01 -1.25405771e-02 6.50524720e+01] [ 1.62446599e-02 1.51787439e-04 9.99868035e-01 8.53146284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4692541539998 meters Centerline goodness [0,1] 0.9999560565113265 Centerline is valid? [True, True] Translation: X:904.64, Y:65.07, Z:8.53 [[ 6.42845526e-01 -7.65922815e-01 -1.05768738e-02 9.04638336e+02] [ 7.65815015e-01 6.42932512e-01 -1.28510150e-02 6.50745483e+01] [ 1.66431016e-02 1.61288693e-04 9.99861481e-01 8.53099764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.65, Y:65.10, Z:8.53 [[ 6.43671141e-01 -7.65230293e-01 -1.04909665e-02 9.04654706e+02] [ 7.65124053e-01 6.43756604e-01 -1.27522073e-02 6.50966369e+01] [ 1.65120043e-02 1.81336959e-04 9.99863651e-01 8.53124874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5292541539999 meters Centerline goodness [0,1] 0.9998899575236041 Centerline is valid? [True, True] Translation: X:904.67, Y:65.12, Z:8.53 [[ 6.43617758e-01 -7.65267460e-01 -1.10406213e-02 9.04671873e+02] [ 7.65149727e-01 6.43712418e-01 -1.34245451e-02 6.51178682e+01] [ 1.73803525e-02 1.92547248e-04 9.99848932e-01 8.52975830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5592541539999 meters Centerline goodness [0,1] 0.999823749724609 Centerline is valid? [True, True] Translation: X:904.69, Y:65.14, Z:8.53 [[ 6.44153986e-01 -7.64826879e-01 -1.02707094e-02 9.04689061e+02] [ 7.64724852e-01 6.44235832e-01 -1.24937302e-02 6.51399788e+01] [ 1.61722997e-02 1.93619331e-04 9.99869201e-01 8.53036374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5892541539998 meters Centerline goodness [0,1] 0.9998901774732033 Centerline is valid? [True, True] Translation: X:904.71, Y:65.16, Z:8.53 [[ 6.44600511e-01 -7.64457916e-01 -9.70961172e-03 9.04707001e+02] [ 7.64366593e-01 6.44673605e-01 -1.18175842e-02 6.51611723e+01] [ 1.52935762e-02 1.95917967e-04 9.99883027e-01 8.53262616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.72, Y:65.18, Z:8.54 [[ 6.45493078e-01 -7.63716703e-01 -8.68815045e-03 9.04723982e+02] [ 7.63643443e-01 6.45551516e-01 -1.05797993e-02 6.51843154e+01] [ 1.36886182e-02 1.94538123e-04 9.99906288e-01 8.53538573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.74, Y:65.21, Z:8.54 [[ 6.45841198e-01 -7.63425333e-01 -8.42071501e-03 9.04741720e+02] [ 7.63356421e-01 6.45896062e-01 -1.02592272e-02 6.52072489e+01] [ 1.32710606e-02 1.97824730e-04 9.99911916e-01 8.53551756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6792541539999 meters Centerline goodness [0,1] 0.9999780619967971 Centerline is valid? [True, True] Translation: X:904.76, Y:65.23, Z:8.54 [[ 6.45643698e-01 -7.63593403e-01 -8.32645212e-03 9.04759613e+02] [ 7.63525970e-01 6.45697357e-01 -1.01497316e-02 6.52285419e+01] [ 1.31266362e-02 1.95647838e-04 9.99913823e-01 8.53542154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.78, Y:65.25, Z:8.54 [[ 6.45893117e-01 -7.63381250e-01 -8.43490644e-03 9.04775802e+02] [ 7.63311959e-01 6.45948159e-01 -1.02873312e-02 6.52509278e+01] [ 1.33016680e-02 2.06051459e-04 9.99911508e-01 8.53530801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7392541539999 meters Centerline goodness [0,1] 0.999955861581921 Centerline is valid? [True, True] Translation: X:904.79, Y:65.27, Z:8.53 [[ 6.45273591e-01 -7.63897989e-01 -9.04745426e-03 9.04794167e+02] [ 7.63818249e-01 6.45336980e-01 -1.10392267e-02 6.52721373e+01] [ 1.42714999e-02 2.12710800e-04 9.99898134e-01 8.53418462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7692541539999 meters Centerline goodness [0,1] 0.9999339076028287 Centerline is valid? [True, True] Translation: X:904.81, Y:65.29, Z:8.53 [[ 6.44059706e-01 -7.64917304e-01 -9.41343265e-03 9.04813847e+02] [ 7.64830995e-01 6.44128463e-01 -1.14922765e-02 6.52928482e+01] [ 1.48541011e-02 2.02027159e-04 9.99889651e-01 8.53363241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7992541539999 meters Centerline goodness [0,1] 0.9999120008799912 Centerline is valid? [True, True] Translation: X:904.83, Y:65.31, Z:8.53 [[ 6.42841389e-01 -7.65937497e-01 -9.73133226e-03 9.04833162e+02] [ 7.65845281e-01 6.42915014e-01 -1.18865511e-02 6.53142019e+01] [ 1.53607748e-02 1.88472124e-04 9.99881999e-01 8.53361032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8292541539998 meters Centerline goodness [0,1] 0.9998458591152313 Centerline is valid? [True, True] Translation: X:904.85, Y:65.34, Z:8.53 [[ 6.41489849e-01 -7.67072067e-01 -9.55080833e-03 9.04852543e+02] [ 7.66983278e-01 6.41560923e-01 -1.16719070e-02 6.53352524e+01] [ 1.50806192e-02 1.62099579e-04 9.99886268e-01 8.53356602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.87, Y:65.36, Z:8.54 [[ 6.40850260e-01 -7.67620422e-01 -8.35652811e-03 9.04869864e+02] [ 7.67552448e-01 6.40904727e-01 -1.02161721e-02 6.53571160e+01] [ 1.31978807e-02 1.32962961e-04 9.99912895e-01 8.53646576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8892541539999 meters Centerline goodness [0,1] 0.9999117114730941 Centerline is valid? [True, True] Translation: X:904.89, Y:65.38, Z:8.54 [[ 6.37936596e-01 -7.70044258e-01 -8.29103467e-03 9.04889934e+02] [ 7.69977512e-01 6.37990466e-01 -1.01388480e-02 6.53783434e+01] [ 1.30969627e-02 8.40318961e-05 9.99914228e-01 8.53614462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.91, Y:65.40, Z:8.54 [[ 6.36865227e-01 -7.70934433e-01 -7.92358788e-03 9.04907533e+02] [ 7.70873490e-01 6.36914512e-01 -9.69364188e-03 6.53987895e+01] [ 1.25198104e-02 6.54595956e-05 9.99921622e-01 8.53808482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.93, Y:65.42, Z:8.54 [[ 6.33832127e-01 -7.73429474e-01 -7.98020740e-03 9.04928537e+02] [ 7.73367812e-01 6.33882362e-01 -9.76622287e-03 6.54194111e+01] [ 1.26119973e-02 1.85102767e-05 9.99920465e-01 8.53885500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.95, Y:65.44, Z:8.54 [[ 6.32344522e-01 -7.74646763e-01 -7.92454634e-03 9.04946481e+02] [ 7.74585997e-01 6.32394175e-01 -9.70260647e-03 6.54394914e+01] [ 1.25275296e-02 -2.85257232e-06 9.99921527e-01 8.53881283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0092541539999 meters Centerline goodness [0,1] 0.9998671420030557 Centerline is valid? [True, True] Translation: X:904.97, Y:65.46, Z:8.54 [[ 6.30264161e-01 -7.76332632e-01 -8.64471330e-03 9.04965978e+02] [ 7.76260417e-01 6.30323443e-01 -1.05887685e-02 6.54603420e+01] [ 1.36693720e-02 -3.68274563e-05 9.99906569e-01 8.53666332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0392541539999 meters Centerline goodness [0,1] 0.9999114064230343 Centerline is valid? [True, True] Translation: X:904.98, Y:65.48, Z:8.54 [[ 6.28892299e-01 -7.77443612e-01 -8.71246237e-03 9.04983407e+02] [ 7.77370283e-01 6.28952643e-01 -1.06778175e-02 6.54820488e+01] [ 1.37811272e-02 -5.76121467e-05 9.99905034e-01 8.53755598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0692541539999 meters Centerline goodness [0,1] 0.9999337353389437 Centerline is valid? [True, True] Translation: X:905.00, Y:65.50, Z:8.54 [[ 6.28839094e-01 -7.77486144e-01 -8.75725752e-03 9.04999429e+02] [ 7.77411989e-01 6.28900065e-01 -1.07380911e-02 6.55032623e+01] [ 1.38561569e-02 -5.54655116e-05 9.99903997e-01 8.53778617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0992541539998 meters Centerline goodness [0,1] 0.9998232942371833 Centerline is valid? [True, True] Translation: X:905.02, Y:65.53, Z:8.54 [[ 6.28294082e-01 -7.77917545e-01 -9.53095995e-03 9.05017161e+02] [ 7.77829684e-01 6.28366365e-01 -1.16916598e-02 6.55261436e+01] [ 1.50840819e-02 -6.76629254e-05 9.99886226e-01 8.53562240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.03, Y:65.55, Z:8.54 [[ 6.29755391e-01 -7.76735893e-01 -9.46038745e-03 9.05031513e+02] [ 7.76649119e-01 6.29826445e-01 -1.16101448e-02 6.55492666e+01] [ 1.49764184e-02 -3.58503213e-05 9.99887847e-01 8.53767353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1592541539999 meters Centerline goodness [0,1] 0.9998458421423537 Centerline is valid? [True, True] Translation: X:905.05, Y:65.57, Z:8.54 [[ 6.29823558e-01 -7.76670654e-01 -1.02460235e-02 9.05048851e+02] [ 7.76568772e-01 6.29906893e-01 -1.25797039e-02 6.55717283e+01] [ 1.62243277e-02 -3.37480384e-05 9.99868376e-01 8.53559681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1892541539999 meters Centerline goodness [0,1] 0.9999119989439873 Centerline is valid? [True, True] Translation: X:905.06, Y:65.60, Z:8.54 [[ 6.31654292e-01 -7.75179098e-01 -1.04986355e-02 9.05064295e+02] [ 7.75071797e-01 6.31741534e-01 -1.28974644e-02 6.55958574e+01] [ 1.66302689e-02 9.54245472e-06 9.99861707e-01 8.53709440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2192541539998 meters Centerline goodness [0,1] 0.9998904493766569 Centerline is valid? [True, True] Translation: X:905.08, Y:65.62, Z:8.54 [[ 6.32516373e-01 -7.74471834e-01 -1.07895934e-02 9.05079771e+02] [ 7.74358289e-01 6.32608391e-01 -1.32613765e-02 6.56178351e+01] [ 1.70961499e-02 3.30267186e-05 9.99853850e-01 8.53596679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.10, Y:65.64, Z:8.54 [[ 6.33879439e-01 -7.73359678e-01 -1.05671915e-02 9.05095492e+02] [ 7.73250513e-01 6.33967511e-01 -1.29937921e-02 6.56408526e+01] [ 1.67481309e-02 6.54114115e-05 9.99859738e-01 8.53814067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.11, Y:65.66, Z:8.54 [[ 6.33657608e-01 -7.73541498e-01 -1.05634635e-02 9.05112839e+02] [ 7.73432308e-01 6.33745649e-01 -1.29968224e-02 6.56623095e+01] [ 1.67481305e-02 6.54114102e-05 9.99859738e-01 8.53839810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.13, Y:65.69, Z:8.54 [[ 6.34707871e-01 -7.72676158e-01 -1.08385584e-02 9.05128604e+02] [ 7.72560978e-01 6.34800399e-01 -1.33412515e-02 6.56854444e+01] [ 1.71887882e-02 9.43500684e-05 9.99852257e-01 8.53753975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.14, Y:65.71, Z:8.54 [[ 6.36372888e-01 -7.71305976e-01 -1.07999541e-02 9.05144793e+02] [ 7.71191332e-01 6.36464511e-01 -1.32987174e-02 6.57097498e+01] [ 1.71311677e-02 1.34112206e-04 9.99853242e-01 8.53804875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.16, Y:65.73, Z:8.54 [[ 6.37050822e-01 -7.70745603e-01 -1.08381527e-02 9.05162332e+02] [ 7.70629947e-01 6.37142991e-01 -1.33526680e-02 6.57326249e+01] [ 1.71969632e-02 1.54123077e-04 9.99852109e-01 8.53891364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.18, Y:65.76, Z:8.54 [[ 6.38232779e-01 -7.69774478e-01 -1.03039674e-02 9.05178099e+02] [ 7.69669729e-01 6.38315926e-01 -1.26998435e-02 6.57551828e+01] [ 1.63532019e-02 1.74804661e-04 9.99866262e-01 8.53940909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.20, Y:65.78, Z:8.54 [[ 6.38598034e-01 -7.69476379e-01 -9.93246985e-03 9.05195561e+02] [ 7.69378931e-01 6.38675246e-01 -1.22470599e-02 6.57775639e+01] [ 1.57674459e-02 1.79115352e-04 9.99875670e-01 8.54020857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4592541539998 meters Centerline goodness [0,1] 0.9999781186407299 Centerline is valid? [True, True] Translation: X:905.21, Y:65.80, Z:8.54 [[ 6.38491118e-01 -7.69568533e-01 -9.66260759e-03 9.05213115e+02] [ 7.69476213e-01 6.38564204e-01 -1.19212062e-02 6.57992587e+01] [ 1.53443805e-02 1.76437558e-04 9.99882252e-01 8.54024803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.23, Y:65.82, Z:8.54 [[ 6.39238739e-01 -7.68954069e-01 -9.13642467e-03 9.05230661e+02] [ 7.68871380e-01 6.39304001e-01 -1.12781168e-02 6.58216626e+01] [ 1.45133067e-02 1.84673732e-04 9.99894659e-01 8.54159214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5192541539999 meters Centerline goodness [0,1] 0.9998686284813453 Centerline is valid? [True, True] Translation: X:905.25, Y:65.84, Z:8.54 [[ 6.38500648e-01 -7.69562462e-01 -9.51526336e-03 9.05248183e+02] [ 7.69472742e-01 6.38571519e-01 -1.17522321e-02 6.58434097e+01] [ 1.51202528e-02 1.82072013e-04 9.99885666e-01 8.53964191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.27, Y:65.87, Z:8.54 [[ 6.39367297e-01 -7.68848226e-01 -9.04788494e-03 9.05265452e+02] [ 7.68766958e-01 6.39431285e-01 -1.11801741e-02 6.58659207e+01] [ 1.43813577e-02 1.92522734e-04 9.99896564e-01 8.54199881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5792541539998 meters Centerline goodness [0,1] 0.9999564042200715 Centerline is valid? [True, True] Translation: X:905.28, Y:65.89, Z:8.54 [[ 6.39157699e-01 -7.69023001e-01 -9.00332258e-03 9.05282520e+02] [ 7.68942495e-01 6.39221079e-01 -1.11288275e-02 6.58872541e+01] [ 1.43134379e-02 1.90038467e-04 9.99897539e-01 8.54081098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6092541539998 meters Centerline goodness [0,1] 0.9999561941475381 Centerline is valid? [True, True] Translation: X:905.30, Y:65.91, Z:8.54 [[ 6.38742276e-01 -7.69366292e-01 -9.15492342e-03 9.05300954e+02] [ 7.69283011e-01 6.38807853e-01 -1.13215317e-02 6.59088428e+01] [ 1.45586418e-02 1.88813864e-04 9.99894000e-01 8.54109718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6392541539999 meters Centerline goodness [0,1] 0.9999344863731656 Centerline is valid? [True, True] Translation: X:905.32, Y:65.93, Z:8.54 [[ 6.38817731e-01 -7.69299031e-01 -9.53455612e-03 9.05318965e+02] [ 7.69208588e-01 6.38888848e-01 -1.17978149e-02 6.59312221e+01] [ 1.51675692e-02 2.02590913e-04 9.99884945e-01 8.54046522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.34, Y:65.95, Z:8.54 [[ 6.38779290e-01 -7.69326749e-01 -9.86776194e-03 9.05335637e+02] [ 7.69229789e-01 6.38855468e-01 -1.22156822e-02 6.59520880e+01] [ 1.57019248e-02 2.12548390e-04 9.99876695e-01 8.54040208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6992541539998 meters Centerline goodness [0,1] 0.9998468137254902 Centerline is valid? [True, True] Translation: X:905.35, Y:65.97, Z:8.54 [[ 6.37671709e-01 -7.70236826e-01 -1.04891917e-02 9.05353773e+02] [ 7.70127293e-01 6.37757939e-01 -1.29908900e-02 6.59729663e+01] [ 1.66956272e-02 2.05910232e-04 9.99860597e-01 8.53770080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7292541539998 meters Centerline goodness [0,1] 0.9999781176831003 Centerline is valid? [True, True] Translation: X:905.37, Y:65.99, Z:8.54 [[ 6.38145503e-01 -7.69840599e-01 -1.07596055e-02 9.05372226e+02] [ 7.69725161e-01 6.38236164e-01 -1.33332436e-02 6.59948144e+01] [ 1.71316415e-02 2.26610384e-04 9.99853217e-01 8.53915728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7592541539999 meters Centerline goodness [0,1] 0.9999562659902473 Centerline is valid? [True, True] Translation: X:905.39, Y:66.02, Z:8.54 [[ 6.37827801e-01 -7.70099835e-01 -1.10427102e-02 9.05389307e+02] [ 7.69978177e-01 6.37923344e-01 -1.36899530e-02 6.60155983e+01] [ 1.75870332e-02 2.29186795e-04 9.99845310e-01 8.53816344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7892541539999 meters Centerline goodness [0,1] 0.9999563490331311 Centerline is valid? [True, True] Translation: X:905.41, Y:66.04, Z:8.54 [[ 6.37774402e-01 -7.70140585e-01 -1.12823326e-02 9.05406998e+02] [ 7.70013484e-01 6.37874144e-01 -1.39932838e-02 6.60371519e+01] [ 1.79735040e-02 2.37009972e-04 9.99838435e-01 8.53804048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.43, Y:66.06, Z:8.54 [[ 6.37999146e-01 -7.69947713e-01 -1.17307009e-02 9.05426586e+02] [ 7.69810123e-01 6.38106929e-01 -1.45575100e-02 6.60588121e+01] [ 1.86939631e-02 2.57266653e-04 9.99825220e-01 8.53859979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8492541539998 meters Centerline goodness [0,1] 0.9999122807017544 Centerline is valid? [True, True] Translation: X:905.44, Y:66.08, Z:8.54 [[ 6.36949852e-01 -7.70808343e-01 -1.22222805e-02 9.05444359e+02] [ 7.70658999e-01 6.37067059e-01 -1.51746561e-02 6.60798511e+01] [ 1.94831638e-02 2.46284506e-04 9.99810155e-01 8.53669015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8792541539999 meters Centerline goodness [0,1] 0.9998028822988304 Centerline is valid? [True, True] Translation: X:905.46, Y:66.10, Z:8.54 [[ 6.35891256e-01 -7.71680846e-01 -1.22874952e-02 9.05464255e+02] [ 7.71529928e-01 6.36009922e-01 -1.52626710e-02 6.61012495e+01] [ 1.95928797e-02 2.25228762e-04 9.99808016e-01 8.53622536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9092541539999 meters Centerline goodness [0,1] 0.9999779813281663 Centerline is valid? [True, True] Translation: X:905.48, Y:66.12, Z:8.54 [[ 6.36034678e-01 -7.71578646e-01 -1.12374923e-02 9.05482164e+02] [ 7.71452274e-01 6.36133906e-01 -1.39657662e-02 6.61226713e+01] [ 1.79242368e-02 2.13522629e-04 9.99839325e-01 8.53979835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9392541539999 meters Centerline goodness [0,1] 0.9999779895670547 Centerline is valid? [True, True] Translation: X:905.50, Y:66.14, Z:8.54 [[ 6.34968703e-01 -7.72461587e-01 -1.08555276e-02 9.05501437e+02] [ 7.72343662e-01 6.35061463e-01 -1.34983547e-02 6.61445458e+01] [ 1.73208878e-02 1.86834839e-04 9.99849965e-01 8.53986101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9692541539998 meters Centerline goodness [0,1] 0.9999559665345663 Centerline is valid? [True, True] Translation: X:905.52, Y:66.17, Z:8.54 [[ 6.33228190e-01 -7.73901636e-01 -9.91551772e-03 9.05521778e+02] [ 7.73803332e-01 6.33305802e-01 -1.23354538e-02 6.61654993e+01] [ 1.58259828e-02 1.38496452e-04 9.99874752e-01 8.54188585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9992541539999 meters Centerline goodness [0,1] 0.9998900059396792 Centerline is valid? [True, True] Translation: X:905.54, Y:66.19, Z:8.54 [[ 6.31450299e-01 -7.75353143e-01 -9.90070013e-03 9.05540612e+02] [ 7.75255213e-01 6.31527903e-01 -1.23232638e-02 6.61870484e+01] [ 1.58074497e-02 1.05959236e-04 9.99875049e-01 8.54030535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.56, Y:66.21, Z:8.54 [[ 6.31276992e-01 -7.75504175e-01 -9.09026615e-03 9.05558780e+02] [ 7.75421555e-01 6.31342431e-01 -1.13202292e-02 6.62089241e+01] [ 1.45179557e-02 9.74119283e-05 9.99894604e-01 8.54281533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0592541539999 meters Centerline goodness [0,1] 0.999867786077874 Centerline is valid? [True, True] Translation: X:905.58, Y:66.23, Z:8.54 [[ 6.28943297e-01 -7.77392102e-01 -9.58376857e-03 9.05578079e+02] [ 7.77300376e-01 6.29016308e-01 -1.19419110e-02 6.62296081e+01] [ 1.53118940e-02 6.13179583e-05 9.99882764e-01 8.54069367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0892541539998 meters Centerline goodness [0,1] 0.999890295543805 Centerline is valid? [True, True] Translation: X:905.60, Y:66.25, Z:8.54 [[ 6.28311739e-01 -7.77902537e-01 -9.59172284e-03 9.05595495e+02] [ 7.77810617e-01 6.28384946e-01 -1.19584293e-02 6.62502076e+01] [ 1.53297867e-02 5.30776591e-05 9.99882491e-01 8.54094526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.61, Y:66.27, Z:8.54 [[ 6.28373515e-01 -7.77855685e-01 -9.34124799e-03 9.05612703e+02] [ 7.77768407e-01 6.28442941e-01 -1.16522781e-02 6.62721985e+01] [ 1.49342321e-02 5.66553920e-05 9.99888477e-01 8.54311739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.63, Y:66.29, Z:8.54 [[ 6.28018322e-01 -7.78144916e-01 -9.13655047e-03 9.05629780e+02] [ 7.78061358e-01 6.28084777e-01 -1.14033107e-02 6.62943501e+01] [ 1.46119565e-02 5.26911712e-05 9.99893238e-01 8.54334904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1792541539999 meters Centerline goodness [0,1] 0.9998900712338404 Centerline is valid? [True, True] Translation: X:905.65, Y:66.32, Z:8.54 [[ 6.27097794e-01 -7.78881922e-01 -9.55552786e-03 9.05647293e+02] [ 7.78790503e-01 6.27170591e-01 -1.19332629e-02 6.63161761e+01] [ 1.52875488e-02 4.15684765e-05 9.99883138e-01 8.54208235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.66, Y:66.34, Z:8.54 [[ 6.27651933e-01 -7.78438450e-01 -9.30756174e-03 9.05664007e+02] [ 7.78351565e-01 6.27720938e-01 -1.16303292e-02 6.63387052e+01] [ 1.48960468e-02 5.52433356e-05 9.99889046e-01 8.54415187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2392541539999 meters Centerline goodness [0,1] 0.9999780127965524 Centerline is valid? [True, True] Translation: X:905.68, Y:66.36, Z:8.54 [[ 6.27419278e-01 -7.78623839e-01 -9.48513093e-03 9.05680011e+02] [ 7.78533520e-01 6.27490968e-01 -1.18593275e-02 6.63618798e+01] [ 1.51857891e-02 5.62783515e-05 9.99884688e-01 8.54324115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2692541539999 meters Centerline goodness [0,1] 0.9999560478199718 Centerline is valid? [True, True] Translation: X:905.70, Y:66.38, Z:8.54 [[ 6.27126174e-01 -7.78859270e-01 -9.53936482e-03 9.05696228e+02] [ 7.78767853e-01 6.27198720e-01 -1.19329982e-02 6.63837488e+01] [ 1.52772037e-02 5.45448602e-05 9.99883295e-01 8.54200020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2992541539999 meters Centerline goodness [0,1] 0.9999122922422489 Centerline is valid? [True, True] Translation: X:905.71, Y:66.41, Z:8.54 [[ 6.26365237e-01 -7.79464587e-01 -1.00770910e-02 9.05713951e+02] [ 7.79362560e-01 6.26446291e-01 -1.26112879e-02 6.64055603e+01] [ 1.61428085e-02 4.55649023e-05 9.99869695e-01 8.54191403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.73, Y:66.43, Z:8.54 [[ 6.26379640e-01 -7.79458703e-01 -9.62683244e-03 9.05731372e+02] [ 7.79365484e-01 6.26453612e-01 -1.20546582e-02 6.64280223e+01] [ 1.54268722e-02 4.79715217e-05 9.99880998e-01 8.54376351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.75, Y:66.45, Z:8.54 [[ 6.26075041e-01 -7.79704695e-01 -9.52003509e-03 9.05747948e+02] [ 7.79613469e-01 6.26147416e-01 -1.19269720e-02 6.64500503e+01] [ 1.52604614e-02 4.52318795e-05 9.99883551e-01 8.54330712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3892541539999 meters Centerline goodness [0,1] 0.9999780345297192 Centerline is valid? [True, True] Translation: X:905.76, Y:66.47, Z:8.54 [[ 6.25707628e-01 -7.80001740e-01 -9.34075640e-03 9.05764282e+02] [ 7.79913876e-01 6.25777343e-01 -1.17073793e-02 6.64714841e+01] [ 1.49770100e-02 4.04110306e-05 9.99887837e-01 8.54321035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.78, Y:66.49, Z:8.55 [[ 6.25855615e-01 -7.79891770e-01 -8.57772649e-03 9.05780233e+02] [ 7.79817591e-01 6.25914392e-01 -1.07563334e-02 6.64942440e+01] [ 1.37576983e-02 4.28496290e-05 9.99905357e-01 8.54552273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4492541539998 meters Centerline goodness [0,1] 0.9998687664041995 Centerline is valid? [True, True] Translation: X:905.80, Y:66.52, Z:8.54 [[ 6.25061058e-01 -7.80527556e-01 -8.68381784e-03 9.05797054e+02] [ 7.80451503e-01 6.25121375e-01 -1.08957555e-02 6.65169440e+01] [ 1.39328775e-02 3.32137576e-05 9.99902932e-01 8.54348376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4792541539998 meters Centerline goodness [0,1] 0.999956401368997 Centerline is valid? [True, True] Translation: X:905.81, Y:66.54, Z:8.55 [[ 6.26066090e-01 -7.79725953e-01 -8.28785401e-03 9.05812677e+02] [ 7.79656530e-01 6.26120943e-01 -1.04048069e-02 6.65398237e+01] [ 1.33020970e-02 5.24172975e-05 9.99911522e-01 8.54517999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.83, Y:66.56, Z:8.55 [[ 6.26484007e-01 -7.79392992e-01 -8.02205323e-03 9.05829065e+02] [ 7.79327849e-01 6.26535363e-01 -1.00768298e-02 6.65620824e+01] [ 1.28799105e-02 6.11632214e-05 9.99917049e-01 8.54611432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5392541539999 meters Centerline goodness [0,1] 0.9999781635549733 Centerline is valid? [True, True] Translation: X:905.85, Y:66.58, Z:8.55 [[ 6.26549901e-01 -7.79339536e-01 -8.06897105e-03 9.05845248e+02] [ 7.79273558e-01 6.26601854e-01 -1.01409338e-02 6.65839658e+01] [ 1.29592628e-02 6.58652862e-05 9.99916023e-01 8.54542025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5692541539999 meters Centerline goodness [0,1] 0.9998472982701075 Centerline is valid? [True, True] Translation: X:905.86, Y:66.61, Z:8.54 [[ 6.26384973e-01 -7.79464008e-01 -8.81622611e-03 9.05861831e+02] [ 7.79385189e-01 6.26447009e-01 -1.10847726e-02 6.66072435e+01] [ 1.41630798e-02 7.20989346e-05 9.99899696e-01 8.54282342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.88, Y:66.63, Z:8.55 [[ 6.27393529e-01 -7.78657761e-01 -8.33370928e-03 9.05878092e+02] [ 7.78587188e-01 6.27448869e-01 -1.04836344e-02 6.66295068e+01] [ 1.33921397e-02 8.88450865e-05 9.99910317e-01 8.54547857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.89, Y:66.65, Z:8.55 [[ 6.27439741e-01 -7.78618794e-01 -8.49387695e-03 9.05894909e+02] [ 7.78545400e-01 6.27497223e-01 -1.06908572e-02 6.66519919e+01] [ 1.36539866e-02 9.49998564e-05 9.99906775e-01 8.54513374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.91, Y:66.67, Z:8.54 [[ 6.27578704e-01 -7.78502899e-01 -8.84346416e-03 9.05911391e+02] [ 7.78423237e-01 6.27641000e-01 -1.11372840e-02 6.66741966e+01] [ 1.42209286e-02 1.05564267e-04 9.99898872e-01 8.54477131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6892541539999 meters Centerline goodness [0,1] 0.9998257232485186 Centerline is valid? [True, True] Translation: X:905.93, Y:66.70, Z:8.54 [[ 6.26974191e-01 -7.78982789e-01 -9.44342851e-03 9.05926448e+02] [ 7.78891903e-01 6.27045296e-01 -1.18995573e-02 6.66963872e+01] [ 1.51910077e-02 1.05305280e-04 9.99884604e-01 8.54090461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.94, Y:66.72, Z:8.54 [[ 6.27812344e-01 -7.78312238e-01 -9.03996970e-03 9.05943169e+02] [ 7.78228799e-01 6.27877413e-01 -1.13969289e-02 6.67189984e+01] [ 1.45463620e-02 1.19967875e-04 9.99894189e-01 8.54404210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7492541539999 meters Centerline goodness [0,1] 0.9998694062336758 Centerline is valid? [True, True] Translation: X:905.96, Y:66.74, Z:8.54 [[ 6.26826932e-01 -7.79101244e-01 -9.44715233e-03 9.05960646e+02] [ 7.79010105e-01 6.26898109e-01 -1.19170686e-02 6.67409127e+01] [ 1.52070049e-02 1.10512423e-04 9.99884361e-01 8.54214532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7792541539999 meters Centerline goodness [0,1] 0.9999781606936163 Centerline is valid? [True, True] Translation: X:905.98, Y:66.76, Z:8.54 [[ 6.26751732e-01 -7.79167543e-01 -8.95578798e-03 9.05978438e+02] [ 7.79085555e-01 6.26815705e-01 -1.13035413e-02 6.67623380e+01] [ 1.44209811e-02 1.07189029e-04 9.99896007e-01 8.54485606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8092541539999 meters Centerline goodness [0,1] 0.9999132132783685 Centerline is valid? [True, True] Translation: X:905.99, Y:66.78, Z:8.54 [[ 6.26015290e-01 -7.79759086e-01 -8.97906689e-03 9.05993895e+02] [ 7.79676645e-01 6.26079674e-01 -1.13389469e-02 6.67843313e+01] [ 1.44632581e-02 9.75853983e-05 9.99895397e-01 8.54280306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8392541539998 meters Centerline goodness [0,1] 0.9997815783150952 Centerline is valid? [True, True] Translation: X:906.01, Y:66.80, Z:8.54 [[ 6.24864914e-01 -7.80680257e-01 -9.06508755e-03 9.06012474e+02] [ 7.80596245e-01 6.24930661e-01 -1.14530050e-02 6.68048592e+01] [ 1.46061860e-02 8.04076937e-05 9.99893321e-01 8.54230419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.03, Y:66.83, Z:8.55 [[ 6.25371016e-01 -7.80284628e-01 -8.18486336e-03 9.06030250e+02] [ 7.80216031e-01 6.25424570e-01 -1.03466197e-02 6.68264535e+01] [ 1.31923229e-02 8.45144472e-05 9.99912974e-01 8.54606341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.05, Y:66.85, Z:8.55 [[ 6.25142551e-01 -7.80467711e-01 -8.18183584e-03 9.06047309e+02] [ 7.80399099e-01 6.25196085e-01 -1.03490134e-02 6.68481392e+01] [ 1.31923225e-02 8.45113181e-05 9.99912974e-01 8.54632084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9292541539999 meters Centerline goodness [0,1] 0.9999125893227858 Centerline is valid? [True, True] Translation: X:906.06, Y:66.87, Z:8.54 [[ 6.24621097e-01 -7.80883915e-01 -8.29436996e-03 9.06063590e+02] [ 7.80813365e-01 6.24676160e-01 -1.04968701e-02 6.68693810e+01] [ 1.33781322e-02 8.02115835e-05 9.99910506e-01 8.54446794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9592541539998 meters Centerline goodness [0,1] 0.9998694176025071 Centerline is valid? [True, True] Translation: X:906.08, Y:66.89, Z:8.54 [[ 6.25280772e-01 -7.80354802e-01 -8.38684215e-03 9.06080583e+02] [ 7.80282565e-01 6.25337008e-01 -1.06181476e-02 6.68917835e+01] [ 1.35305253e-02 9.52168474e-05 9.99908454e-01 8.54389120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9892541539999 meters Centerline goodness [0,1] 0.9998905979913791 Centerline is valid? [True, True] Translation: X:906.10, Y:66.91, Z:8.54 [[ 6.25950274e-01 -7.79819118e-01 -8.27027131e-03 9.06097798e+02] [ 7.79748752e-01 6.26004897e-01 -1.04762797e-02 6.69147288e+01] [ 1.33468335e-02 1.08896413e-04 9.99910921e-01 8.54409884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.11, Y:66.94, Z:8.55 [[ 6.27426961e-01 -7.78631510e-01 -8.26919406e-03 9.06114994e+02] [ 7.78560985e-01 6.27481436e-01 -1.04804791e-02 6.69380034e+01] [ 1.33491971e-02 1.37663314e-04 9.99910886e-01 8.54630215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.13, Y:66.96, Z:8.55 [[ 6.29266151e-01 -7.77144890e-01 -8.36249454e-03 9.06132276e+02] [ 7.77072559e-01 6.29321691e-01 -1.06041572e-02 6.69612945e+01] [ 1.35036657e-02 1.74572131e-04 9.99908806e-01 8.54600176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0792541539998 meters Centerline goodness [0,1] 0.9999563242487771 Centerline is valid? [True, True] Translation: X:906.15, Y:66.98, Z:8.54 [[ 6.29602499e-01 -7.76867804e-01 -8.78119109e-03 9.06150363e+02] [ 7.76787939e-01 6.29663703e-01 -1.11409086e-02 6.69843918e+01] [ 1.41842105e-02 1.93220542e-04 9.99899380e-01 8.54466432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1092541539998 meters Centerline goodness [0,1] 0.9997810234961788 Centerline is valid? [True, True] Translation: X:906.17, Y:67.01, Z:8.54 [[ 6.29240273e-01 -7.77156082e-01 -9.22514049e-03 9.06168601e+02] [ 7.77067871e-01 6.29307861e-01 -1.17106581e-02 6.70061583e+01] [ 1.49064626e-02 2.00257441e-04 9.99888872e-01 8.54256607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.19, Y:67.03, Z:8.55 [[ 6.30400025e-01 -7.76220328e-01 -8.82104480e-03 9.06185369e+02] [ 7.76139515e-01 6.30461700e-01 -1.12025965e-02 6.70278228e+01] [ 1.42570140e-02 2.15755685e-04 9.99898340e-01 8.54601605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1692541539999 meters Centerline goodness [0,1] 0.9998905141455724 Centerline is valid? [True, True] Translation: X:906.20, Y:67.05, Z:8.54 [[ 6.29500803e-01 -7.76948370e-01 -8.94255541e-03 9.06204262e+02] [ 7.76865339e-01 6.29564284e-01 -1.13603423e-02 6.70496593e+01] [ 1.44563130e-02 2.04183284e-04 9.99895481e-01 8.54409432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1992541539998 meters Centerline goodness [0,1] 0.9998905141455724 Centerline is valid? [True, True] Translation: X:906.22, Y:67.07, Z:8.54 [[ 6.29279806e-01 -7.77127409e-01 -8.93958233e-03 9.06221262e+02] [ 7.77044362e-01 6.29343267e-01 -1.13626816e-02 6.70713905e+01] [ 1.44563173e-02 2.03854038e-04 9.99895481e-01 8.54435189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.24, Y:67.09, Z:8.55 [[ 6.28652825e-01 -7.77642482e-01 -8.23386325e-03 9.06240607e+02] [ 7.77572000e-01 6.28706719e-01 -1.04712405e-02 6.70932190e+01] [ 1.33195666e-02 1.80353416e-04 9.99911274e-01 8.54770161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.26, Y:67.11, Z:8.55 [[ 6.27948054e-01 -7.78216901e-01 -7.72629673e-03 9.06259661e+02] [ 7.78154823e-01 6.27995564e-01 -9.83072962e-03 6.71148675e+01] [ 1.25025200e-02 1.60932472e-04 9.99921827e-01 8.54841868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2892541539999 meters Centerline goodness [0,1] 0.999934220624027 Centerline is valid? [True, True] Translation: X:906.28, Y:67.14, Z:8.55 [[ 6.26713404e-01 -7.79212118e-01 -7.66716287e-03 9.06278364e+02] [ 7.79150992e-01 6.26760285e-01 -9.76097509e-03 6.71374183e+01] [ 1.24113433e-02 1.43456370e-04 9.99922966e-01 8.54710566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.30, Y:67.16, Z:8.55 [[ 6.26084450e-01 -7.79723055e-01 -7.08661017e-03 9.06295178e+02] [ 7.79670822e-01 6.26124542e-01 -9.02591961e-03 6.71580458e+01] [ 1.14748182e-02 1.25764734e-04 9.99934154e-01 8.54951403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3492541539998 meters Centerline goodness [0,1] 0.9999122210274529 Centerline is valid? [True, True] Translation: X:906.31, Y:67.18, Z:8.55 [[ 6.25072934e-01 -7.80535637e-01 -6.92430557e-03 9.06313207e+02] [ 7.80485786e-01 6.25111276e-01 -8.82214295e-03 6.71796858e+01] [ 1.12144585e-02 1.10160704e-04 9.99937110e-01 8.54798024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3792541539999 meters Centerline goodness [0,1] 0.999912194051147 Centerline is valid? [True, True] Translation: X:906.33, Y:67.20, Z:8.55 [[ 6.24641195e-01 -7.80881089e-01 -6.93566775e-03 9.06330400e+02] [ 7.80831036e-01 6.24679689e-01 -8.84190245e-03 6.72016926e+01] [ 1.12370452e-02 1.07431880e-04 9.99936857e-01 8.54818114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.35, Y:67.22, Z:8.55 [[ 6.24775721e-01 -7.80777570e-01 -6.45632165e-03 9.06347424e+02] [ 7.80734144e-01 6.24809071e-01 -8.23539971e-03 6.72241925e+01] [ 1.04639837e-02 1.04607037e-04 9.99945246e-01 8.55091122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.36, Y:67.25, Z:8.55 [[ 6.24750603e-01 -7.80799600e-01 -6.21844958e-03 9.06362881e+02] [ 7.80759270e-01 6.24781541e-01 -7.93651781e-03 6.72471657e+01] [ 1.00820024e-02 1.03232135e-04 9.99949170e-01 8.55042376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4692541539998 meters Centerline goodness [0,1] 0.999868789363191 Centerline is valid? [True, True] Translation: X:906.38, Y:67.27, Z:8.55 [[ 6.24545176e-01 -7.80960023e-01 -6.69073133e-03 9.06378476e+02] [ 7.80913287e-01 6.24581004e-01 -8.54447043e-03 6.72693637e+01] [ 1.08517935e-02 1.11526789e-04 9.99941111e-01 8.54725708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.40, Y:67.29, Z:8.55 [[ 6.25330816e-01 -7.80330032e-01 -6.81258908e-03 9.06395211e+02] [ 7.80281500e-01 6.25367911e-01 -8.70381121e-03 6.72924128e+01] [ 1.10522199e-02 1.27024139e-04 9.99938914e-01 8.54979268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.41, Y:67.32, Z:8.55 [[ 6.26250809e-01 -7.79583874e-01 -7.67518482e-03 9.06409980e+02] [ 7.79522158e-01 6.26297819e-01 -9.81060055e-03 6.73158683e+01] [ 1.24551375e-02 1.60919896e-04 9.99922419e-01 8.54801403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5592541539999 meters Centerline goodness [0,1] 0.999912276854248 Centerline is valid? [True, True] Translation: X:906.43, Y:67.34, Z:8.55 [[ 6.26035496e-01 -7.79753608e-01 -7.99177509e-03 9.06427363e+02] [ 7.79686669e-01 6.26086482e-01 -1.02183722e-02 6.73377292e+01] [ 1.29713550e-02 1.65983215e-04 9.99915855e-01 8.54575566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.44, Y:67.36, Z:8.55 [[ 6.26417913e-01 -7.79444888e-01 -8.14035167e-03 9.06444627e+02] [ 7.79375330e-01 6.26470777e-01 -1.04144249e-02 6.73603446e+01] [ 1.32171627e-02 1.79393023e-04 9.99912633e-01 8.54775717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.46, Y:67.38, Z:8.55 [[ 6.26674134e-01 -7.79237687e-01 -8.25566890e-03 9.06460284e+02] [ 7.79166059e-01 6.26728483e-01 -1.05669832e-02 6.73821630e+01] [ 1.34082544e-02 1.89518062e-04 9.99910087e-01 8.54751589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6492541539999 meters Centerline goodness [0,1] 0.9999563328311609 Centerline is valid? [True, True] Translation: X:906.48, Y:67.40, Z:8.55 [[ 6.26380362e-01 -7.79472673e-01 -8.36623676e-03 9.06476097e+02] [ 7.79399081e-01 6.26436203e-01 -1.07124082e-02 6.74040107e+01] [ 1.35909430e-02 1.89404861e-04 9.99907621e-01 8.54736247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.49, Y:67.43, Z:8.55 [[ 6.26170372e-01 -7.79640936e-01 -8.40696892e-03 9.06493535e+02] [ 7.79566574e-01 6.26226777e-01 -1.07694831e-02 6.74255633e+01] [ 1.36609989e-02 1.89739290e-04 9.99906666e-01 8.54813753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7092541539998 meters Centerline goodness [0,1] 0.9998905021571075 Centerline is valid? [True, True] Translation: X:906.51, Y:67.45, Z:8.55 [[ 6.25355833e-01 -7.80299199e-01 -7.95248460e-03 9.06510948e+02] [ 7.80232642e-01 6.25406372e-01 -1.01928376e-02 6.74490210e+01] [ 1.29269976e-02 1.69362379e-04 9.99916429e-01 8.54620105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7392541539999 meters Centerline goodness [0,1] 0.9998470480269196 Centerline is valid? [True, True] Translation: X:906.53, Y:67.47, Z:8.55 [[ 6.24869324e-01 -7.80688836e-01 -7.95417253e-03 9.06527392e+02] [ 7.80622218e-01 6.24919926e-01 -1.01999129e-02 6.74704151e+01] [ 1.29336791e-02 1.64408886e-04 9.99916343e-01 8.54590233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.55, Y:67.49, Z:8.55 [[ 6.24276750e-01 -7.81170676e-01 -7.13548232e-03 9.06545583e+02] [ 7.81117054e-01 6.24317512e-01 -9.15377602e-03 6.74922519e+01] [ 1.16054680e-02 1.40842617e-04 9.99932644e-01 8.55042913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7992541539999 meters Centerline goodness [0,1] 0.9998907008263017 Centerline is valid? [True, True] Translation: X:906.56, Y:67.51, Z:8.55 [[ 6.23647750e-01 -7.81671223e-01 -7.32003332e-03 9.06560912e+02] [ 7.81614763e-01 6.23690693e-01 -9.39588967e-03 6.75149422e+01] [ 1.19099332e-02 1.38279354e-04 9.99929065e-01 8.54920441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8292541539998 meters Centerline goodness [0,1] 0.9999564488382727 Centerline is valid? [True, True] Translation: X:906.58, Y:67.54, Z:8.55 [[ 6.23150665e-01 -7.82070488e-01 -7.00013030e-03 9.06579310e+02] [ 7.82018836e-01 6.23189968e-01 -8.98908737e-03 6.75363606e+01] [ 1.13925109e-02 1.27322019e-04 9.99935095e-01 8.55007157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.60, Y:67.56, Z:8.55 [[ 6.23015238e-01 -7.82183465e-01 -6.40628130e-03 9.06595839e+02] [ 7.82140165e-01 6.23048163e-01 -8.23098601e-03 6.75586740e+01] [ 1.04295630e-02 1.17419790e-04 9.99945604e-01 8.55160651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.61, Y:67.58, Z:8.55 [[ 6.22710332e-01 -7.82431851e-01 -5.67814583e-03 9.06612650e+02] [ 7.82397810e-01 6.22736211e-01 -7.29924108e-03 6.75815954e+01] [ 9.24714573e-03 1.02743978e-04 9.99957239e-01 8.55212744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9192541539999 meters Centerline goodness [0,1] 0.9998687175896549 Centerline is valid? [True, True] Translation: X:906.63, Y:67.60, Z:8.55 [[ 6.22052730e-01 -7.82951108e-01 -6.16141904e-03 9.06628439e+02] [ 7.82911002e-01 6.22083234e-01 -7.92543404e-03 6.76031729e+01] [ 1.00381429e-02 1.06195127e-04 9.99949611e-01 8.54917992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9492541539998 meters Centerline goodness [0,1] 0.9999563937643083 Centerline is valid? [True, True] Translation: X:906.64, Y:67.63, Z:8.55 [[ 6.22199770e-01 -7.82835306e-01 -6.02739320e-03 9.06643846e+02] [ 7.82796897e-01 6.22228954e-01 -7.75540809e-03 6.76253608e+01] [ 9.82162584e-03 1.07188433e-04 9.99951761e-01 8.55065142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9792541539998 meters Centerline goodness [0,1] 0.99991259505288 Centerline is valid? [True, True] Translation: X:906.66, Y:67.65, Z:8.55 [[ 6.21760351e-01 -7.83177676e-01 -6.84056328e-03 9.06662001e+02] [ 7.83128184e-01 6.21797968e-01 -8.80536921e-03 6.76471365e+01] [ 1.11496169e-02 1.17791556e-04 9.99937834e-01 8.54857780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.68, Y:67.67, Z:8.55 [[ 6.21876368e-01 -7.83083256e-01 -7.09912951e-03 9.06677945e+02] [ 7.83029883e-01 6.21916874e-01 -9.14354793e-03 6.76684272e+01] [ 1.15752277e-02 1.27325829e-04 9.99932997e-01 8.54989123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0392541539999 meters Centerline goodness [0,1] 0.9999781415987234 Centerline is valid? [True, True] Translation: X:906.69, Y:67.69, Z:8.55 [[ 6.21536066e-01 -7.83344522e-01 -8.01745333e-03 9.06694099e+02] [ 7.83276411e-01 6.21587758e-01 -1.03307125e-02 6.76907761e+01] [ 1.30760579e-02 1.41028317e-04 9.99914495e-01 8.54779238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0692541539999 meters Centerline goodness [0,1] 0.9998467097339319 Centerline is valid? [True, True] Translation: X:906.71, Y:67.71, Z:8.55 [[ 6.21017186e-01 -7.83743516e-01 -9.15188260e-03 9.06712802e+02] [ 7.83654728e-01 6.21084598e-01 -1.17978642e-02 6.77122522e+01] [ 1.49305929e-02 1.54760378e-04 9.99888521e-01 8.54593292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.73, Y:67.73, Z:8.55 [[ 6.21449777e-01 -7.83407256e-01 -8.55838020e-03 9.06728823e+02] [ 7.83329501e-01 6.21508686e-01 -1.10384295e-02 6.77344542e+01] [ 1.39666934e-02 1.55797858e-04 9.99902449e-01 8.54841324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1292541539999 meters Centerline goodness [0,1] 0.9999343587948275 Centerline is valid? [True, True] Translation: X:906.75, Y:67.76, Z:8.55 [[ 6.20834607e-01 -7.83887410e-01 -9.21518380e-03 9.06746435e+02] [ 7.83797225e-01 6.20902974e-01 -1.18914744e-02 6.77569818e+01] [ 1.50433121e-02 1.59803316e-04 9.99886830e-01 8.54678497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1592541539999 meters Centerline goodness [0,1] 0.999825228295539 Centerline is valid? [True, True] Translation: X:906.76, Y:67.78, Z:8.55 [[ 6.20211396e-01 -7.84383006e-01 -9.00691074e-03 9.06764279e+02] [ 7.84296804e-01 6.20276775e-01 -1.16295027e-02 6.77788424e+01] [ 1.47087619e-02 1.48658819e-04 9.99891809e-01 8.54807177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.78, Y:67.80, Z:8.55 [[ 6.19508081e-01 -7.84934761e-01 -9.33590374e-03 9.06781263e+02] [ 7.84842116e-01 6.19578405e-01 -1.20603513e-02 6.77999581e+01] [ 1.52509133e-02 1.44274658e-04 9.99883688e-01 8.54844513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.80, Y:67.82, Z:8.55 [[ 6.18489554e-01 -7.85738807e-01 -9.23031336e-03 9.06798276e+02] [ 7.85648283e-01 6.18558414e-01 -1.19274197e-02 6.78209119e+01] [ 1.50813246e-02 1.25204673e-04 9.99886263e-01 8.54857470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.82, Y:67.84, Z:8.55 [[ 6.15952380e-01 -7.87733360e-01 -8.87799353e-03 9.06817965e+02] [ 7.87649766e-01 6.16016353e-01 -1.14759824e-02 6.78422120e+01] [ 1.45090034e-02 7.59091231e-05 9.99894736e-01 8.54952605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2792541539999 meters Centerline goodness [0,1] 0.9999782006844985 Centerline is valid? [True, True] Translation: X:906.84, Y:67.86, Z:8.55 [[ 6.14399199e-01 -7.88948798e-01 -8.56843812e-03 9.06836327e+02] [ 7.88870970e-01 6.14458942e-01 -1.10815858e-02 6.78639014e+01] [ 1.40077572e-02 4.91253123e-05 9.99901885e-01 8.55030883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3092541539999 meters Centerline goodness [0,1] 0.9999781687988473 Centerline is valid? [True, True] Translation: X:906.85, Y:67.89, Z:8.55 [[ 6.12528842e-01 -7.90405603e-01 -8.20974378e-03 9.06854361e+02] [ 7.90334205e-01 6.12583857e-01 -1.06236655e-02 6.78854983e+01] [ 1.34261612e-02 1.88601717e-05 9.99909865e-01 8.55051177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.87, Y:67.91, Z:8.55 [[ 6.09793685e-01 -7.92525376e-01 -7.42904282e-03 9.06872639e+02] [ 7.92467005e-01 6.09838936e-01 -9.61859708e-03 6.79067023e+01] [ 1.21535018e-02 -2.19115565e-05 9.99926143e-01 8.55242796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.89, Y:67.93, Z:8.55 [[ 6.08394432e-01 -7.93601232e-01 -7.30072085e-03 9.06889725e+02] [ 7.93544871e-01 6.08438233e-01 -9.45800171e-03 6.79286593e+01] [ 1.19479195e-02 -3.92540104e-05 9.99928620e-01 8.55289825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.91, Y:67.95, Z:8.55 [[ 6.06088529e-01 -7.95364050e-01 -7.26110032e-03 9.06907873e+02] [ 7.95308366e-01 6.06132018e-01 -9.41165402e-03 6.79499149e+01] [ 1.18868767e-02 -7.05182926e-05 9.99929346e-01 8.55280177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4292541539999 meters Centerline goodness [0,1] 0.9999124170699131 Centerline is valid? [True, True] Translation: X:906.93, Y:67.97, Z:8.55 [[ 6.04426182e-01 -7.96621075e-01 -7.99083033e-03 9.06925347e+02] [ 7.96553698e-01 6.04478992e-01 -1.03612163e-02 6.79726377e+01] [ 1.30842524e-02 -1.02535027e-04 9.99914392e-01 8.55096036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4592541539998 meters Centerline goodness [0,1] 0.9998474978758632 Centerline is valid? [True, True] Translation: X:906.94, Y:67.99, Z:8.55 [[ 6.03229179e-01 -7.97517678e-01 -8.95049512e-03 9.06942360e+02] [ 7.97433163e-01 6.03295563e-01 -1.16109650e-02 6.79942720e+01] [ 1.46597438e-02 -1.33348754e-04 9.99892531e-01 8.54945046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4892541539999 meters Centerline goodness [0,1] 0.9999345635388038 Centerline is valid? [True, True] Translation: X:906.96, Y:68.02, Z:8.55 [[ 6.02395024e-01 -7.98145332e-01 -9.17950536e-03 9.06959743e+02] [ 7.98056445e-01 6.02464942e-01 -1.19123530e-02 6.80172061e+01] [ 1.50381191e-02 -1.49821270e-04 9.99886910e-01 8.55011642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.98, Y:68.04, Z:8.55 [[ 6.00750669e-01 -7.99374310e-01 -9.96728465e-03 9.06977068e+02] [ 7.99269566e-01 6.00833318e-01 -1.29416178e-02 6.80401687e+01] [ 1.63338735e-02 -1.91861726e-04 9.99866575e-01 8.55014630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.99, Y:68.06, Z:8.55 [[ 5.99917682e-01 -7.99990606e-01 -1.06679371e-02 9.06993703e+02] [ 7.99870619e-01 6.00012485e-01 -1.38568220e-02 6.80619042e+01] [ 1.74862228e-02 -2.20016905e-04 9.99847080e-01 8.54930701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.01, Y:68.08, Z:8.55 [[ 5.99061878e-01 -8.00623053e-01 -1.12957393e-02 9.07010597e+02] [ 8.00488571e-01 5.99168311e-01 -1.46759048e-02 6.80847494e+01] [ 1.85179167e-02 -2.50335068e-04 9.99828497e-01 8.54879287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.03, Y:68.11, Z:8.55 [[ 5.97759707e-01 -8.01582075e-01 -1.22274296e-02 9.07026878e+02] [ 8.01424613e-01 5.97884677e-01 -1.58903286e-02 6.81067034e+01] [ 2.00479954e-02 -3.00764918e-04 9.99798974e-01 8.54771924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6392541539999 meters Centerline goodness [0,1] 0.9999564829521965 Centerline is valid? [True, True] Translation: X:907.04, Y:68.13, Z:8.55 [[ 5.96693373e-01 -8.02372424e-01 -1.24704004e-02 9.07044319e+02] [ 8.02208692e-01 5.96823578e-01 -1.62120647e-02 6.81293788e+01] [ 2.04507427e-02 -3.30232044e-04 9.99790807e-01 8.54694722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.06, Y:68.15, Z:8.55 [[ 5.94675755e-01 -8.03874676e-01 -1.20934975e-02 9.07061850e+02] [ 8.03720883e-01 5.94798597e-01 -1.57280475e-02 6.81505869e+01] [ 1.98365744e-02 -3.66707978e-04 9.99803169e-01 8.54881254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6992541539998 meters Centerline goodness [0,1] 0.9999563166171588 Centerline is valid? [True, True] Translation: X:907.08, Y:68.17, Z:8.55 [[ 5.93326059e-01 -8.04867004e-01 -1.23811734e-02 9.07080190e+02] [ 8.04705891e-01 5.93455088e-01 -1.61086192e-02 6.81730121e+01] [ 2.03129664e-02 -4.05539633e-04 9.99793588e-01 8.54896480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7292541539998 meters Centerline goodness [0,1] 0.9999127266380119 Centerline is valid? [True, True] Translation: X:907.10, Y:68.20, Z:8.55 [[ 5.92167639e-01 -8.05723864e-01 -1.21054666e-02 9.07098378e+02] [ 8.05569875e-01 5.92291210e-01 -1.57575019e-02 6.81956157e+01] [ 1.98661567e-02 -4.20716537e-04 9.99802560e-01 8.54948364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.12, Y:68.22, Z:8.55 [[ 5.90933988e-01 -8.06654253e-01 -1.02926244e-02 9.07115003e+02] [ 8.06542972e-01 5.91023495e-01 -1.34038175e-02 6.82164050e+01] [ 1.68954293e-02 -3.80672505e-04 9.99857190e-01 8.55255403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7892541539999 meters Centerline goodness [0,1] 0.9998911529083943 Centerline is valid? [True, True] Translation: X:907.13, Y:68.24, Z:8.55 [[ 5.90392362e-01 -8.07040637e-01 -1.10575532e-02 9.07130216e+02] [ 8.06912131e-01 5.90495755e-01 -1.44075009e-02 6.82412445e+01] [ 1.81568769e-02 -4.16395307e-04 9.99835064e-01 8.55297949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.15, Y:68.26, Z:8.56 [[ 5.91092460e-01 -8.06547877e-01 -9.49877957e-03 9.07146185e+02] [ 8.06452922e-01 5.91168678e-01 -1.23806129e-02 6.82635501e+01] [ 1.56009380e-02 -3.42231625e-04 9.99878239e-01 8.55506685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.16, Y:68.29, Z:8.56 [[ 5.92055725e-01 -8.05842301e-01 -9.39167809e-03 9.07162220e+02] [ 8.05749330e-01 5.92130125e-01 -1.22447380e-02 6.82871359e+01] [ 1.54284233e-02 -3.17771108e-04 9.99880924e-01 8.55511886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8792541539999 meters Centerline goodness [0,1] 0.999912836939705 Centerline is valid? [True, True] Translation: X:907.17, Y:68.31, Z:8.55 [[ 5.95548217e-01 -8.03247728e-01 -1.07428499e-02 9.07174454e+02] [ 8.03125518e-01 5.95645035e-01 -1.40140660e-02 6.83146155e+01] [ 1.76556919e-02 -2.81804881e-04 9.99844086e-01 8.55388926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9092541539999 meters Centerline goodness [0,1] 0.999869918699187 Centerline is valid? [True, True] Translation: X:907.19, Y:68.34, Z:8.55 [[ 5.97900307e-01 -8.01488571e-01 -1.14583051e-02 9.07190025e+02] [ 8.01349111e-01 5.98010043e-01 -1.49529271e-02 6.83380801e+01] [ 1.88367817e-02 -2.41742902e-04 9.99822543e-01 8.55266113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9392541539999 meters Centerline goodness [0,1] 0.9997401134837788 Centerline is valid? [True, True] Translation: X:907.20, Y:68.36, Z:8.55 [[ 6.03184590e-01 -7.97497857e-01 -1.28654053e-02 9.07203481e+02] [ 7.97320995e-01 6.03321765e-01 -1.67951939e-02 6.83648639e+01] [ 2.11561102e-02 -1.27255580e-04 9.99776176e-01 8.55192237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.22, Y:68.39, Z:8.55 [[ 6.06316855e-01 -7.95151631e-01 -1.06656256e-02 9.07218673e+02] [ 7.95029608e-01 6.06410655e-01 -1.39298205e-02 6.83896485e+01] [ 1.75440685e-02 -3.36031768e-05 9.99846090e-01 8.55364950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9992541539999 meters Centerline goodness [0,1] 0.9998274448902118 Centerline is valid? [True, True] Translation: X:907.23, Y:68.41, Z:8.55 [[ 6.08880391e-01 -7.93153871e-01 -1.30998368e-02 9.07233199e+02] [ 7.92969181e-01 6.09021293e-01 -1.71155787e-02 6.84134559e+01] [ 2.15533671e-02 3.35733877e-05 9.99767699e-01 8.55201555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0292541539999 meters Centerline goodness [0,1] 0.9999351673762237 Centerline is valid? [True, True] Translation: X:907.25, Y:68.44, Z:8.55 [[ 6.14392744e-01 -7.88902008e-01 -1.24570495e-02 9.07245299e+02] [ 7.88734058e-01 6.14518991e-01 -1.62786748e-02 6.84389600e+01] [ 2.04973728e-02 1.76200507e-04 9.99789891e-01 8.55151647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0592541539999 meters Centerline goodness [0,1] 0.9999352457424076 Centerline is valid? [True, True] Translation: X:907.26, Y:68.46, Z:8.55 [[ 6.16583176e-01 -7.87190506e-01 -1.25017542e-02 9.07261175e+02] [ 7.87020872e-01 6.16709859e-01 -1.63430823e-02 6.84631914e+01] [ 2.05750743e-02 2.37728075e-04 9.99788282e-01 8.55138538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0892541539998 meters Centerline goodness [0,1] 0.9999352457424076 Centerline is valid? [True, True] Translation: X:907.28, Y:68.49, Z:8.55 [[ 6.16358010e-01 -7.87366891e-01 -1.24973442e-02 9.07277870e+02] [ 7.87197224e-01 6.16484650e-01 -1.63464544e-02 6.84851493e+01] [ 2.05750778e-02 2.37393474e-04 9.99788282e-01 8.55164294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1192541539999 meters Centerline goodness [0,1] 0.9998921111686518 Centerline is valid? [True, True] Translation: X:907.29, Y:68.51, Z:8.55 [[ 6.17848534e-01 -7.86191898e-01 -1.28642467e-02 9.07293679e+02] [ 7.86011669e-01 6.17982374e-01 -1.68357362e-02 6.85090546e+01] [ 2.11859971e-02 2.90486974e-04 9.99775509e-01 8.55092193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.31, Y:68.53, Z:8.55 [[ 6.19926615e-01 -7.84580465e-01 -1.11572881e-02 9.07309996e+02] [ 7.84444506e-01 6.20026936e-01 -1.46087963e-02 6.85328799e+01] [ 1.83795954e-02 3.04108340e-04 9.99831035e-01 8.55226136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.33, Y:68.56, Z:8.55 [[ 6.20113542e-01 -7.84436144e-01 -1.09147060e-02 9.07327256e+02] [ 7.84305871e-01 6.20209515e-01 -1.42989176e-02 6.85551348e+01] [ 1.79859923e-02 3.06484504e-04 9.99838192e-01 8.55297258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2092541539998 meters Centerline goodness [0,1] 0.9998916106655105 Centerline is valid? [True, True] Translation: X:907.35, Y:68.58, Z:8.55 [[ 6.20156774e-01 -7.84386761e-01 -1.19576230e-02 9.07346126e+02] [ 7.84230210e-01 6.20271950e-01 -1.56743872e-02 6.85765513e+01] [ 1.97117599e-02 3.43048208e-04 9.99805646e-01 8.55361811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2392541539999 meters Centerline goodness [0,1] 0.9999348915945049 Centerline is valid? [True, True] Translation: X:907.36, Y:68.60, Z:8.55 [[ 6.20656542e-01 -7.84004665e-01 -1.10517471e-02 9.07361471e+02] [ 7.83870766e-01 6.20754842e-01 -1.44930152e-02 6.85989022e+01] [ 1.82230171e-02 3.32043202e-04 9.99833892e-01 8.55342922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.38, Y:68.62, Z:8.55 [[ 6.20826772e-01 -7.83883629e-01 -1.00287970e-02 9.07378580e+02] [ 7.83773262e-01 6.20907692e-01 -1.31571850e-02 6.86207895e+01] [ 1.65406591e-02 3.08029787e-04 9.99863146e-01 8.55456447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2992541539999 meters Centerline goodness [0,1] 0.9998697775366251 Centerline is valid? [True, True] Translation: X:907.40, Y:68.64, Z:8.55 [[ 6.20470442e-01 -7.84142484e-01 -1.17044893e-02 9.07397722e+02] [ 7.83992018e-01 6.20580726e-01 -1.53648242e-02 6.86423679e+01] [ 1.93117918e-02 3.57193080e-04 9.99813446e-01 8.55341307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.42, Y:68.67, Z:8.55 [[ 6.20089922e-01 -7.84464140e-01 -1.02225820e-02 9.07416054e+02] [ 7.84349300e-01 6.20174104e-01 -1.34259840e-02 6.86652551e+01] [ 1.68719836e-02 3.07242355e-04 9.99857611e-01 8.55470201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.43, Y:68.69, Z:8.55 [[ 6.19166213e-01 -7.85194120e-01 -1.01683576e-02 9.07434738e+02] [ 7.85080476e-01 6.19249635e-01 -1.33617203e-02 6.86873738e+01] [ 1.67882959e-02 2.90146740e-04 9.99859025e-01 8.55478949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3892541539999 meters Centerline goodness [0,1] 0.9999782976691697 Centerline is valid? [True, True] Translation: X:907.46, Y:68.71, Z:8.55 [[ 6.16364672e-01 -7.87386683e-01 -1.08075384e-02 9.07455349e+02] [ 7.87258501e-01 6.16459365e-01 -1.42092650e-02 6.87073529e+01] [ 1.78505942e-02 2.49762465e-04 9.99840634e-01 8.55458437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.47, Y:68.73, Z:8.56 [[ 6.14655985e-01 -7.88719818e-01 -1.09118649e-02 9.07474066e+02] [ 7.88589251e-01 6.14752797e-01 -1.43524086e-02 6.87281115e+01] [ 1.80281286e-02 2.16814489e-04 9.99837457e-01 8.55502329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4492541539998 meters Centerline goodness [0,1] 0.9998912523380747 Centerline is valid? [True, True] Translation: X:907.49, Y:68.75, Z:8.55 [[ 6.12228259e-01 -7.90592537e-01 -1.18321673e-02 9.07494038e+02] [ 7.90439234e-01 6.12342558e-01 -1.55694541e-02 6.87493277e+01] [ 1.95544339e-02 1.79450502e-04 9.99808778e-01 8.55387244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.51, Y:68.77, Z:8.56 [[ 6.10037950e-01 -7.92296663e-01 -1.09406478e-02 9.07513818e+02] [ 7.92165739e-01 6.10136037e-01 -1.44034195e-02 6.87709173e+01] [ 1.80870647e-02 1.19826120e-04 9.99836408e-01 8.55534455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5092541539999 meters Centerline goodness [0,1] 0.9999782490483958 Centerline is valid? [True, True] Translation: X:907.53, Y:68.79, Z:8.56 [[ 6.06089678e-01 -7.95319777e-01 -1.10342161e-02 9.07534128e+02] [ 7.95187007e-01 6.06190111e-01 -1.45317666e-02 6.87907456e+01] [ 1.82462340e-02 3.32884628e-05 9.99833523e-01 8.55532498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5392541539999 meters Centerline goodness [0,1] 0.9998907843865359 Centerline is valid? [True, True] Translation: X:907.55, Y:68.81, Z:8.56 [[ 6.03386060e-01 -7.97378673e-01 -1.06072808e-02 9.07551281e+02] [ 7.97256205e-01 6.03479288e-01 -1.39746878e-02 6.88135571e+01] [ 1.75443923e-02 -2.45886054e-05 9.99846085e-01 8.55634879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.57, Y:68.84, Z:8.56 [[ 6.02416810e-01 -7.98121419e-01 -9.80757341e-03 9.07567337e+02] [ 7.98016727e-01 6.02496638e-01 -1.29268508e-02 6.88352286e+01] [ 1.62262265e-02 -3.92554056e-05 9.99868345e-01 8.55766258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.59, Y:68.86, Z:8.56 [[ 6.00944120e-01 -7.99227098e-01 -1.01099123e-02 9.07585504e+02] [ 7.99115918e-01 6.01029152e-01 -1.33307097e-02 6.88583232e+01] [ 1.67306164e-02 -6.79802787e-05 9.99860031e-01 8.55789002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.60, Y:68.88, Z:8.56 [[ 5.99344818e-01 -8.00423969e-01 -1.03565745e-02 9.07603025e+02] [ 8.00307380e-01 5.99434283e-01 -1.36615547e-02 6.88796009e+01] [ 1.71431216e-02 -1.00461025e-04 9.99853041e-01 8.55769531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.62, Y:68.90, Z:8.56 [[ 5.96655437e-01 -8.02426119e-01 -1.07057065e-02 9.07621587e+02] [ 8.02301760e-01 5.96751454e-01 -1.41275919e-02 6.89018705e+01] [ 1.77249947e-02 -1.59902597e-04 9.99842887e-01 8.55791104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.64, Y:68.92, Z:8.56 [[ 5.95810216e-01 -8.03052041e-01 -1.08446420e-02 9.07638890e+02] [ 8.02924432e-01 5.95908876e-01 -1.43166887e-02 6.89238688e+01] [ 1.79594645e-02 -1.77398609e-04 9.99838700e-01 8.55762152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.66, Y:68.95, Z:8.56 [[ 5.94900815e-01 -8.03722132e-01 -1.11245171e-02 9.07655638e+02] [ 8.03587861e-01 5.95004785e-01 -1.46919889e-02 6.89473943e+01] [ 1.84274176e-02 -1.99250736e-04 9.99830181e-01 8.55817724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7492541539999 meters Centerline goodness [0,1] 0.9998258598171528 Centerline is valid? [True, True] Translation: X:907.67, Y:68.97, Z:8.56 [[ 5.93560007e-01 -8.04699262e-01 -1.20671283e-02 9.07670949e+02] [ 8.04541356e-01 5.93682607e-01 -1.59427027e-02 6.89703789e+01] [ 1.99931253e-02 -2.45553004e-04 9.99800087e-01 8.55590253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7792541539999 meters Centerline goodness [0,1] 0.9998908201589658 Centerline is valid? [True, True] Translation: X:907.69, Y:68.99, Z:8.56 [[ 5.93167335e-01 -8.04993504e-01 -1.17461445e-02 9.07686416e+02] [ 8.04843825e-01 5.93283574e-01 -1.55247428e-02 6.89933552e+01] [ 1.94661117e-02 -2.45041543e-04 9.99810487e-01 8.55678268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.70, Y:69.02, Z:8.56 [[ 5.93357131e-01 -8.04862803e-01 -1.10987585e-02 9.07702589e+02] [ 8.04729030e-01 5.93460881e-01 -1.46754878e-02 6.90162145e+01] [ 1.83984333e-02 -2.23687837e-04 9.99830709e-01 8.55809374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8392541539998 meters Centerline goodness [0,1] 0.9998697747102487 Centerline is valid? [True, True] Translation: X:907.72, Y:69.04, Z:8.56 [[ 5.93755425e-01 -8.04561578e-01 -1.16259718e-02 9.07717289e+02] [ 8.04414600e-01 5.93869193e-01 -1.53796230e-02 6.90403415e+01] [ 1.92781603e-02 -2.20366843e-04 9.99814135e-01 8.55760161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.73, Y:69.06, Z:8.56 [[ 5.94756855e-01 -8.03830657e-01 -1.09798722e-02 9.07732319e+02] [ 8.03699294e-01 5.94858170e-01 -1.45328209e-02 6.90649106e+01] [ 1.82133936e-02 -1.81020666e-04 9.99834106e-01 8.56062041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.75, Y:69.09, Z:8.56 [[ 5.96836862e-01 -8.02299580e-01 -1.00570916e-02 9.07746688e+02] [ 8.02189073e-01 5.96921578e-01 -1.33162139e-02 6.90884535e+01] [ 1.66868878e-02 -1.20081661e-04 9.99860757e-01 8.56118183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9292541539999 meters Centerline goodness [0,1] 0.9998056827014422 Centerline is valid? [True, True] Translation: X:907.76, Y:69.11, Z:8.56 [[ 5.97391229e-01 -8.01885193e-01 -1.01909965e-02 9.07761869e+02] [ 8.01771607e-01 5.97478138e-01 -1.34968800e-02 6.91109183e+01] [ 1.69118459e-02 -1.07933877e-04 9.99856979e-01 8.55962731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9592541539998 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:907.78, Y:69.14, Z:8.56 [[ 5.98539313e-01 -8.01039316e-01 -9.31157941e-03 9.07777836e+02] [ 8.00944316e-01 5.98611735e-01 -1.23366993e-02 6.91356716e+01] [ 1.54562019e-02 -7.40570495e-05 9.99880543e-01 8.56153038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9892541539999 meters Centerline goodness [0,1] 0.9998488120950324 Centerline is valid? [True, True] Translation: X:907.79, Y:69.16, Z:8.56 [[ 5.99222168e-01 -8.00528846e-01 -9.29299342e-03 9.07793243e+02] [ 8.00434064e-01 5.99294221e-01 -1.23185440e-02 6.91594948e+01] [ 1.54305870e-02 -5.68838679e-05 9.99880940e-01 8.56089269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.81, Y:69.18, Z:8.56 [[ 6.01284322e-01 -7.98990608e-01 -8.43641701e-03 9.07808309e+02] [ 7.98912258e-01 6.01343503e-01 -1.11891126e-02 6.91843360e+01] [ 1.40131804e-02 -1.21190011e-05 9.99901810e-01 8.56248188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.82, Y:69.21, Z:8.56 [[ 6.01942464e-01 -7.98494054e-01 -8.51567717e-03 9.07823808e+02] [ 7.98414100e-01 6.02002696e-01 -1.12994745e-02 6.92060960e+01] [ 1.41490238e-02 2.59676554e-06 9.99899898e-01 8.56236947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.84, Y:69.23, Z:8.56 [[ 6.03162251e-01 -7.97572909e-01 -8.52954936e-03 9.07839858e+02] [ 7.97492535e-01 6.03222557e-01 -1.13226994e-02 6.92294220e+01] [ 1.41758949e-02 2.71729334e-05 9.99899517e-01 8.56210188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.86, Y:69.25, Z:8.56 [[ 6.03826780e-01 -7.97067343e-01 -8.76762049e-03 9.07856429e+02] [ 7.96982261e-01 6.03890428e-01 -1.16458750e-02 6.92523561e+01] [ 1.45772288e-02 4.44532251e-05 9.99893746e-01 8.56205202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.87, Y:69.28, Z:8.56 [[ 6.05164111e-01 -7.96047718e-01 -9.18858387e-03 9.07873083e+02] [ 7.95954042e-01 6.05233860e-01 -1.22122264e-02 6.92757871e+01] [ 1.52827570e-02 7.67106379e-05 9.99883209e-01 8.56169174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1692541539999 meters Centerline goodness [0,1] 0.9999135863812136 Centerline is valid? [True, True] Translation: X:907.89, Y:69.30, Z:8.56 [[ 6.05387696e-01 -7.95869544e-01 -9.86944400e-03 9.07889207e+02] [ 7.95761352e-01 6.05468133e-01 -1.31228567e-02 6.92980744e+01] [ 1.64197158e-02 9.06939079e-05 9.99865183e-01 8.56027716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1992541539998 meters Centerline goodness [0,1] 0.9999784049927657 Centerline is valid? [True, True] Translation: X:907.91, Y:69.32, Z:8.56 [[ 6.05661095e-01 -7.95659525e-01 -1.00278881e-02 9.07905455e+02] [ 7.95547734e-01 6.05744096e-01 -1.33376300e-02 6.93203135e+01] [ 1.66865463e-02 1.00419952e-04 9.99860765e-01 8.56073619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.92, Y:69.34, Z:8.56 [[ 6.04845438e-01 -7.96269760e-01 -1.07919447e-02 9.07922538e+02] [ 7.96140287e-01 6.04941701e-01 -1.43590713e-02 6.93418533e+01] [ 1.79621916e-02 9.31167852e-05 9.99838662e-01 8.55969053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.94, Y:69.36, Z:8.56 [[ 6.03380569e-01 -7.97379236e-01 -1.08739680e-02 9.07940715e+02] [ 7.97247844e-01 6.03478541e-01 -1.44749752e-02 6.93634593e+01] [ 1.81042510e-02 6.46712316e-05 9.99836103e-01 8.55963558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2892541539999 meters Centerline goodness [0,1] 0.9998488186255453 Centerline is valid? [True, True] Translation: X:907.96, Y:69.38, Z:8.56 [[ 6.00976234e-01 -7.99181886e-01 -1.16567540e-02 9.07959345e+02] [ 7.99031047e-01 6.01089272e-01 -1.55265032e-02 6.93842348e+01] [ 1.94152499e-02 1.69510651e-05 9.99811506e-01 8.55784440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.98, Y:69.41, Z:8.56 [[ 5.98764470e-01 -8.00845636e-01 -1.12861481e-02 9.07977914e+02] [ 8.00704367e-01 5.98870827e-01 -1.50415882e-02 6.94051902e+01] [ 1.88049351e-02 -3.04994658e-05 9.99823171e-01 8.55970925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.00, Y:69.42, Z:8.56 [[ 5.93109211e-01 -8.05041796e-01 -1.13653105e-02 9.07999911e+02] [ 8.04899141e-01 5.93218072e-01 -1.51555879e-02 6.94244477e+01] [ 1.89429893e-02 -1.59009914e-04 9.99820553e-01 8.56072781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.02, Y:69.45, Z:8.56 [[ 5.90250741e-01 -8.07139885e-01 -1.13696064e-02 9.08019947e+02] [ 8.06997356e-01 5.90360192e-01 -1.51693840e-02 6.94459288e+01] [ 1.89559779e-02 -2.21502191e-04 9.99820295e-01 8.56101353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.04, Y:69.46, Z:8.56 [[ 5.85118635e-01 -8.10869623e-01 -1.12533256e-02 9.08041674e+02] [ 8.10730564e-01 5.85226744e-01 -1.50203179e-02 6.94641730e+01] [ 1.87652666e-02 -3.34747089e-04 9.99823861e-01 8.56145461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4392541539999 meters Centerline goodness [0,1] 0.9999125702170444 Centerline is valid? [True, True] Translation: X:908.06, Y:69.48, Z:8.56 [[ 5.82193217e-01 -8.12970596e-01 -1.13959256e-02 9.08060930e+02] [ 8.12828285e-01 5.82304599e-01 -1.52162106e-02 6.94846546e+01] [ 1.90062317e-02 -4.04156039e-04 9.99819284e-01 8.56042282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.08, Y:69.51, Z:8.56 [[ 5.80349552e-01 -8.14286161e-01 -1.15085131e-02 9.08079719e+02] [ 8.14141137e-01 5.80463478e-01 -1.53740174e-02 6.95069769e+01] [ 1.91991211e-02 -4.47249771e-04 9.99815580e-01 8.56175865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.10, Y:69.53, Z:8.56 [[ 5.77554485e-01 -8.16260198e-01 -1.22517753e-02 9.08098354e+02] [ 8.16096136e-01 5.77684166e-01 -1.63738257e-02 6.95286242e+01] [ 2.04429588e-02 -5.41850018e-04 9.99790874e-01 8.56133343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.11, Y:69.55, Z:8.56 [[ 5.77395663e-01 -8.16365878e-01 -1.26886466e-02 9.08114146e+02] [ 8.16189826e-01 5.77534793e-01 -1.69626004e-02 6.95515902e+01] [ 2.11758230e-02 -5.62212319e-04 9.99775609e-01 8.56097916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5592541539999 meters Centerline goodness [0,1] 0.9998471048205666 Centerline is valid? [True, True] Translation: X:908.13, Y:69.57, Z:8.56 [[ 5.76495092e-01 -8.16989288e-01 -1.34874819e-02 9.08131190e+02] [ 8.16790369e-01 5.76652514e-01 -1.80380611e-02 6.95745264e+01] [ 2.25144930e-02 -6.17591598e-04 9.99746326e-01 8.55941272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.15, Y:69.60, Z:8.56 [[ 5.75496493e-01 -8.17684130e-01 -1.40161003e-02 9.08148100e+02] [ 8.17469284e-01 5.75666764e-01 -1.87549229e-02 6.95981501e+01] [ 2.34042059e-02 -6.64339141e-04 9.99725863e-01 8.56050329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6192541539999 meters Centerline goodness [0,1] 0.9998908273106399 Centerline is valid? [True, True] Translation: X:908.17, Y:69.62, Z:8.56 [[ 5.74081038e-01 -8.18671005e-01 -1.44480839e-02 9.08165907e+02] [ 8.18442816e-01 5.74262366e-01 -1.93414655e-02 6.96200014e+01] [ 2.41312878e-02 -7.21361921e-04 9.99708538e-01 8.55965137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6492541539999 meters Centerline goodness [0,1] 0.9998689498514765 Centerline is valid? [True, True] Translation: X:908.18, Y:69.64, Z:8.56 [[ 5.71227174e-01 -8.20672866e-01 -1.39843650e-02 9.08182562e+02] [ 8.20459485e-01 5.71397801e-01 -1.87293255e-02 6.96436517e+01] [ 2.33612847e-02 -7.74905236e-04 9.99726788e-01 8.56048802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6792541539999 meters Centerline goodness [0,1] 0.9998907676847119 Centerline is valid? [True, True] Translation: X:908.20, Y:69.67, Z:8.56 [[ 5.70005507e-01 -8.21524399e-01 -1.38341624e-02 9.08199511e+02] [ 8.21315658e-01 5.70172804e-01 -1.85354549e-02 6.96664266e+01] [ 2.31151916e-02 -7.96902830e-04 9.99732491e-01 8.56148179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.22, Y:69.69, Z:8.56 [[ 5.69407063e-01 -8.21952976e-01 -1.29962121e-02 9.08215786e+02] [ 8.21768751e-01 5.69554848e-01 -1.74182416e-02 6.96884427e+01] [ 2.17190312e-02 -7.61811221e-04 9.99763824e-01 8.56246769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7392541539999 meters Centerline goodness [0,1] 0.9998915895145378 Centerline is valid? [True, True] Translation: X:908.23, Y:69.71, Z:8.56 [[ 5.68424715e-01 -8.22637124e-01 -1.27084819e-02 9.08231254e+02] [ 8.22460980e-01 5.68566245e-01 -1.70400225e-02 6.97127775e+01] [ 2.12433689e-02 -7.66260497e-04 9.99774041e-01 8.56237828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.25, Y:69.74, Z:8.57 [[ 5.70028213e-01 -8.21549115e-01 -1.11753616e-02 9.08245482e+02] [ 8.21412605e-01 5.70137394e-01 -1.49894893e-02 6.97363623e+01] [ 1.86860932e-02 -6.35151062e-04 9.99825198e-01 8.56537470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7992541539999 meters Centerline goodness [0,1] 0.9998483732617077 Centerline is valid? [True, True] Translation: X:908.26, Y:69.76, Z:8.56 [[ 5.70926454e-01 -8.20930134e-01 -1.08027039e-02 9.08261323e+02] [ 8.20802372e-01 5.71028340e-01 -1.44948529e-02 6.97604018e+01] [ 1.80679116e-02 -5.91390003e-04 9.99836587e-01 8.56475393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8292541539998 meters Centerline goodness [0,1] 0.9998917561482508 Centerline is valid? [True, True] Translation: X:908.28, Y:69.78, Z:8.57 [[ 5.73160264e-01 -8.19376296e-01 -1.04783961e-02 9.08276205e+02] [ 8.19255703e-01 5.73255800e-01 -1.40670290e-02 6.97847516e+01] [ 1.75329915e-02 -5.21823700e-04 9.99846149e-01 8.56600787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.29, Y:69.81, Z:8.57 [[ 5.80203139e-01 -8.14410476e-01 -9.99469994e-03 9.08286138e+02] [ 8.14299898e-01 5.80289112e-01 -1.34246847e-02 6.98115021e+01] [ 1.67330194e-02 -3.49638927e-04 9.99859932e-01 8.56768286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8892541539999 meters Centerline goodness [0,1] 0.9998711810550271 Centerline is valid? [True, True] Translation: X:908.30, Y:69.84, Z:8.57 [[ 5.83446430e-01 -8.12084946e-01 -1.04069565e-02 9.08299700e+02] [ 8.11964558e-01 5.83539165e-01 -1.39857245e-02 6.98373975e+01] [ 1.74304630e-02 -2.90158829e-04 9.99848036e-01 8.56632745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9192541539999 meters Centerline goodness [0,1] 0.9998923133251492 Centerline is valid? [True, True] Translation: X:908.31, Y:69.87, Z:8.57 [[ 5.92220393e-01 -8.05713707e-01 -1.00214221e-02 9.08307015e+02] [ 8.05601033e-01 5.92305170e-01 -1.34744663e-02 6.98678044e+01] [ 1.67923023e-02 -9.34142027e-05 9.99858995e-01 8.56722530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.32, Y:69.89, Z:8.57 [[ 5.97308218e-01 -8.01952172e-01 -9.77781948e-03 9.08319832e+02] [ 8.01844288e-01 5.97388243e-01 -1.31539026e-02 6.98941199e+01] [ 1.63899551e-02 1.66454058e-05 9.99865676e-01 8.56904173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.33, Y:69.92, Z:8.57 [[ 6.01694778e-01 -7.98666922e-01 -9.72329595e-03 9.08333008e+02] [ 7.98559690e-01 6.01773326e-01 -1.30875806e-02 6.99198465e+01] [ 1.63038378e-02 1.10096685e-04 9.99867078e-01 8.56909645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.35, Y:69.94, Z:8.57 [[ 6.01459024e-01 -7.98844522e-01 -9.71971234e-03 9.08349400e+02] [ 7.98737271e-01 6.01537545e-01 -1.30902418e-02 6.99420255e+01] [ 1.63038398e-02 1.09747536e-04 9.99867078e-01 8.56935399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.36, Y:69.97, Z:8.57 [[ 6.09341315e-01 -7.92850035e-01 -9.59078424e-03 9.08360143e+02] [ 7.92744761e-01 6.09416728e-01 -1.29226947e-02 6.99697455e+01] [ 1.60905433e-02 2.71287813e-04 9.99870502e-01 8.56960178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0692541539999 meters Centerline goodness [0,1] 0.9999572996285068 Centerline is valid? [True, True] Translation: X:908.37, Y:69.99, Z:8.57 [[ 6.12233596e-01 -7.90618588e-01 -9.60583731e-03 9.08373905e+02] [ 7.90512657e-01 6.12308858e-01 -1.29461221e-02 6.99946046e+01] [ 1.61171840e-02 3.32514889e-04 9.99870054e-01 8.56847448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0992541539998 meters Centerline goodness [0,1] 0.9998717647310266 Centerline is valid? [True, True] Translation: X:908.39, Y:70.02, Z:8.57 [[ 6.14257955e-01 -7.89038094e-01 -1.02981305e-02 9.08389845e+02] [ 7.88916061e-01 6.14344142e-01 -1.38825230e-02 7.00181483e+01] [ 1.72804356e-02 4.03089677e-04 9.99850601e-01 8.56764257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1292541539999 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:908.40, Y:70.04, Z:8.57 [[ 6.16999121e-01 -7.86900800e-01 -9.96076659e-03 9.08403373e+02] [ 7.86786285e-01 6.17079354e-01 -1.34318080e-02 7.00420999e+01] [ 1.67160838e-02 4.50419162e-04 9.99860175e-01 8.56885209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1592541539999 meters Centerline goodness [0,1] 0.9998508512134319 Centerline is valid? [True, True] Translation: X:908.42, Y:70.06, Z:8.57 [[ 6.16654226e-01 -7.87162675e-01 -1.06060839e-02 9.08421140e+02] [ 7.87032758e-01 6.16745244e-01 -1.43088277e-02 7.00643721e+01] [ 1.78046269e-02 4.76263629e-04 9.99841372e-01 8.56735028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1892541539999 meters Centerline goodness [0,1] 0.9998930229572733 Centerline is valid? [True, True] Translation: X:908.44, Y:70.09, Z:8.57 [[ 6.16230249e-01 -7.87494043e-01 -1.06495635e-02 9.08436493e+02] [ 7.87362988e-01 6.16322082e-01 -1.43741566e-02 7.00861371e+01] [ 1.78831239e-02 4.72717940e-04 9.99839972e-01 8.56753410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2192541539998 meters Centerline goodness [0,1] 0.9999572987168265 Centerline is valid? [True, True] Translation: X:908.45, Y:70.11, Z:8.57 [[ 6.14202218e-01 -7.89081165e-01 -1.03223137e-02 9.08453502e+02] [ 7.88958196e-01 6.14288810e-01 -1.39363748e-02 7.01080014e+01] [ 1.73378127e-02 4.15878277e-04 9.99849602e-01 8.56806271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.47, Y:70.13, Z:8.57 [[ 6.12772837e-01 -7.90195277e-01 -1.00435867e-02 9.08473375e+02] [ 7.90078923e-01 6.12855025e-01 -1.35652126e-02 7.01293635e+01] [ 1.68744295e-02 3.77167661e-04 9.99857546e-01 8.56988306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.49, Y:70.15, Z:8.57 [[ 6.08924008e-01 -7.93161681e-01 -1.03004827e-02 9.08494393e+02] [ 7.93039590e-01 6.09011045e-01 -1.39196380e-02 7.01494980e+01] [ 1.73136312e-02 3.07311130e-04 9.99850061e-01 8.57013299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.51, Y:70.17, Z:8.57 [[ 6.06364069e-01 -7.95114043e-01 -1.07830621e-02 9.08513738e+02] [ 7.94980406e-01 6.06459880e-01 -1.45797235e-02 7.01716020e+01] [ 1.81320375e-02 2.68297353e-04 9.99835565e-01 8.56978235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3392541539998 meters Centerline goodness [0,1] 0.9998926785292666 Centerline is valid? [True, True] Translation: X:908.53, Y:70.19, Z:8.57 [[ 6.03218186e-01 -7.97485014e-01 -1.20611619e-02 9.08533658e+02] [ 7.97318102e-01 6.03338712e-01 -1.63169482e-02 7.01930114e+01] [ 2.02894875e-02 2.26097150e-04 9.99794122e-01 8.56787017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.55, Y:70.21, Z:8.57 [[ 6.00606681e-01 -7.99456973e-01 -1.18390444e-02 9.08553314e+02] [ 7.99296374e-01 6.00723332e-01 -1.60244923e-02 7.02149797e+01] [ 1.99228823e-02 1.61511878e-04 9.99801507e-01 8.56912389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.58, Y:70.23, Z:8.57 [[ 5.94268216e-01 -8.04160632e-01 -1.30754147e-02 9.08575936e+02] [ 8.03965637e-01 5.94412044e-01 -1.77080676e-02 7.02329641e+01] [ 2.20123149e-02 1.11576286e-05 9.99757700e-01 8.56839703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.60, Y:70.25, Z:8.57 [[ 5.91185280e-01 -8.06419788e-01 -1.36780950e-02 9.08596172e+02] [ 8.06206817e-01 5.91343488e-01 -1.85323639e-02 7.02532867e+01] [ 2.30333174e-02 -7.13127152e-05 9.99734695e-01 8.56877736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.62, Y:70.27, Z:8.57 [[ 5.87770062e-01 -8.08902758e-01 -1.42366579e-02 9.08616693e+02] [ 8.08672552e-01 5.87942429e-01 -1.92977712e-02 7.02741873e+01] [ 2.39803556e-02 -1.70142281e-04 9.99712415e-01 8.56952350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.64, Y:70.29, Z:8.57 [[ 5.81429535e-01 -8.13455610e-01 -1.51547128e-02 9.08640267e+02] [ 8.13196103e-01 5.81626881e-01 -2.05491943e-02 7.02910428e+01] [ 2.55302457e-02 -3.75844885e-04 9.99673980e-01 8.56953914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.66, Y:70.31, Z:8.57 [[ 5.78337956e-01 -8.15642273e-01 -1.59025735e-02 9.08659773e+02] [ 8.15357094e-01 5.78556344e-01 -2.15723383e-02 7.03130243e+01] [ 2.67958458e-02 -4.90174080e-04 9.99640807e-01 8.57164272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.68, Y:70.33, Z:8.57 [[ 5.75158771e-01 -8.17881246e-01 -1.62066738e-02 9.08679803e+02] [ 8.17585631e-01 5.75386747e-01 -2.19960631e-02 7.03332904e+01] [ 2.73152728e-02 -5.99115032e-04 9.99626689e-01 8.57203483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.70, Y:70.35, Z:8.57 [[ 5.69525364e-01 -8.21808517e-01 -1.64809068e-02 9.08702817e+02] [ 8.21504102e-01 5.69763225e-01 -2.23803222e-02 7.03515724e+01] [ 2.77825540e-02 -7.92971419e-04 9.99613676e-01 8.57371677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.72, Y:70.37, Z:8.57 [[ 5.66840154e-01 -8.23663876e-01 -1.64335119e-02 9.08722663e+02] [ 8.23361662e-01 5.67077645e-01 -2.23275116e-02 7.03716163e+01] [ 2.77094420e-02 -8.74593527e-04 9.99615637e-01 8.57477517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.74, Y:70.39, Z:8.58 [[ 5.64316536e-01 -8.25400437e-01 -1.61544530e-02 9.08742395e+02] [ 8.25108808e-01 5.64546934e-01 -2.19593895e-02 7.03927195e+01] [ 2.72452366e-02 -9.37134845e-04 9.99628340e-01 8.57583089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.76, Y:70.41, Z:8.58 [[ 5.60891330e-01 -8.27733401e-01 -1.60727060e-02 9.08762932e+02] [ 8.27445365e-01 5.61120609e-01 -2.18593423e-02 7.04133702e+01] [ 2.71124343e-02 -1.03857051e-03 9.99631851e-01 8.57780287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.78, Y:70.44, Z:8.58 [[ 5.60166249e-01 -8.28225562e-01 -1.60059975e-02 9.08779313e+02] [ 8.27939810e-01 5.60393890e-01 -2.17797718e-02 7.04367497e+01] [ 2.70082269e-02 -1.05170942e-03 9.99634658e-01 8.57909408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.80, Y:70.46, Z:8.58 [[ 5.61489370e-01 -8.27327465e-01 -1.60919898e-02 9.08796008e+02] [ 8.27038050e-01 5.61719010e-01 -2.19047562e-02 7.04608072e+01] [ 2.71615830e-02 -1.00940010e-03 9.99630547e-01 8.58038166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.81, Y:70.48, Z:8.58 [[ 5.62931358e-01 -8.26348743e-01 -1.60012576e-02 9.08812747e+02] [ 8.26061932e-01 5.63157926e-01 -2.17907030e-02 7.04837714e+01] [ 2.70179551e-02 -9.51359725e-04 9.99634496e-01 8.58030440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7892541539999 meters Centerline goodness [0,1] 0.9999565434673967 Centerline is valid? [True, True] Translation: X:908.83, Y:70.51, Z:8.58 [[ 5.65043436e-01 -8.24904462e-01 -1.60793230e-02 9.08828684e+02] [ 8.24614068e-01 5.65271484e-01 -2.19040803e-02 7.05063603e+01] [ 2.71579563e-02 -8.82479180e-04 9.99630765e-01 8.57994940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8192541539999 meters Centerline goodness [0,1] 0.9998691156581301 Centerline is valid? [True, True] Translation: X:908.84, Y:70.53, Z:8.58 [[ 5.67680477e-01 -8.23086876e-01 -1.63361955e-02 9.08842074e+02] [ 8.22786105e-01 5.67914916e-01 -2.22637381e-02 7.05317063e+01] [ 2.76025597e-02 -8.02505163e-04 9.99618655e-01 8.58107230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.85, Y:70.56, Z:8.58 [[ 5.74139610e-01 -8.18617580e-01 -1.51316223e-02 9.08852011e+02] [ 8.18357688e-01 5.74338723e-01 -2.06331126e-02 7.05598467e+01] [ 2.55813053e-02 -5.36792229e-04 9.99672601e-01 8.58381060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8792541539999 meters Centerline goodness [0,1] 0.9999565821465787 Centerline is valid? [True, True] Translation: X:908.87, Y:70.59, Z:8.58 [[ 5.76743354e-01 -8.16787653e-01 -1.50011333e-02 9.08866626e+02] [ 8.16531407e-01 5.76938238e-01 -2.04629173e-02 7.05854038e+01] [ 2.53685856e-02 -4.47044931e-04 9.99678066e-01 8.58411138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.88, Y:70.61, Z:8.59 [[ 5.79147748e-01 -8.15091040e-01 -1.46452045e-02 9.08880441e+02] [ 8.14846054e-01 5.79332778e-01 -1.99860114e-02 7.06108016e+01] [ 2.47748658e-02 -3.58733591e-04 9.99692992e-01 8.58517456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.89, Y:70.64, Z:8.58 [[ 5.82161403e-01 -8.12941327e-01 -1.46458136e-02 9.08894082e+02] [ 8.12695481e-01 5.82345542e-01 -1.99931430e-02 7.06358363e+01] [ 2.47821765e-02 -2.63350343e-04 9.99692840e-01 8.58378984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.91, Y:70.66, Z:8.58 [[ 5.82834756e-01 -8.12454930e-01 -1.48537646e-02 9.08908707e+02] [ 8.12201667e-01 5.83023953e-01 -2.02860203e-02 7.06593607e+01] [ 2.51415778e-02 -2.40854725e-04 9.99683872e-01 8.58449799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.92, Y:70.68, Z:8.58 [[ 5.83201784e-01 -8.12191446e-01 -1.48571183e-02 9.08923645e+02] [ 8.11937679e-01 5.83390954e-01 -2.03026980e-02 7.06830386e+01] [ 2.51571861e-02 -2.22484467e-04 9.99683483e-01 8.58447519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.94, Y:70.71, Z:8.58 [[ 5.82995103e-01 -8.12340522e-01 -1.48184265e-02 9.08939098e+02] [ 8.12087905e-01 5.83183356e-01 -2.02585145e-02 7.07051076e+01] [ 2.50986719e-02 -2.23250167e-04 9.99684954e-01 8.58429441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.96, Y:70.73, Z:8.58 [[ 5.82541059e-01 -8.12669359e-01 -1.46433195e-02 9.08955107e+02] [ 8.12422539e-01 5.82725030e-01 -2.00289242e-02 7.07287045e+01] [ 2.48099217e-02 -2.28892118e-04 9.99692160e-01 8.58442070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:908.97, Y:70.75, Z:8.59 [[ 5.82100986e-01 -8.12989634e-01 -1.43630365e-02 9.08970799e+02] [ 8.12751989e-01 5.82278114e-01 -1.96571333e-02 7.07523397e+01] [ 2.43443274e-02 -2.31149832e-04 9.99703606e-01 8.58507882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1192541539999 meters Centerline goodness [0,1] 0.9999568584309412 Centerline is valid? [True, True] Translation: X:908.99, Y:70.77, Z:8.58 [[ 5.81277574e-01 -8.13579312e-01 -1.43207813e-02 9.08985972e+02] [ 8.13343032e-01 5.81453902e-01 -1.96079447e-02 7.07747954e+01] [ 2.42794923e-02 -2.50049154e-04 9.99705178e-01 8.58414220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.00, Y:70.80, Z:8.58 [[ 5.80822859e-01 -8.13910203e-01 -1.39638161e-02 9.09002447e+02] [ 8.13685450e-01 5.80990635e-01 -1.91277737e-02 7.07966345e+01] [ 2.36811365e-02 -2.52305767e-04 9.99719531e-01 8.58398852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.02, Y:70.82, Z:8.59 [[ 5.80106908e-01 -8.14433209e-01 -1.32107211e-02 9.09018698e+02] [ 8.14231963e-01 5.80257256e-01 -1.81060106e-02 7.08192986e+01] [ 2.24117531e-02 -2.53169504e-04 9.99748793e-01 8.58516622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2092541539998 meters Centerline goodness [0,1] 0.9996986071343997 Centerline is valid? [True, True] Translation: X:909.04, Y:70.84, Z:8.58 [[ 5.79544651e-01 -8.14831263e-01 -1.33420327e-02 9.09035087e+02] [ 8.14625862e-01 5.79698147e-01 -1.82965427e-02 7.08419777e+01] [ 2.26429466e-02 -2.65101437e-04 9.99743580e-01 8.58477640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2392541539999 meters Centerline goodness [0,1] 0.9998710564772629 Centerline is valid? [True, True] Translation: X:909.05, Y:70.87, Z:8.59 [[ 5.80016725e-01 -8.14500562e-01 -1.30166210e-02 9.09051135e+02] [ 8.14304763e-01 5.80162715e-01 -1.78599060e-02 7.08657721e+01] [ 2.20986616e-02 -2.40452281e-04 9.99755766e-01 8.58541623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.07, Y:70.89, Z:8.59 [[ 5.81287537e-01 -8.13602825e-01 -1.24596779e-02 9.09066015e+02] [ 8.13423032e-01 5.81421024e-01 -1.71045034e-02 7.08905863e+01] [ 2.11605910e-02 -1.92354343e-04 9.99776071e-01 8.58724867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2992541539999 meters Centerline goodness [0,1] 0.9998926877427939 Centerline is valid? [True, True] Translation: X:909.08, Y:70.92, Z:8.59 [[ 5.84246606e-01 -8.11483319e-01 -1.22770421e-02 9.09080269e+02] [ 8.11308172e-01 5.84375573e-01 -1.68593956e-02 7.09151070e+01] [ 2.08555218e-02 -1.10419950e-04 9.99782494e-01 8.58503283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3292541539998 meters Centerline goodness [0,1] 0.9999569587018744 Centerline is valid? [True, True] Translation: X:909.09, Y:70.94, Z:8.59 [[ 5.85405227e-01 -8.10643880e-01 -1.25387569e-02 9.09094127e+02] [ 8.10460839e-01 5.85539489e-01 -1.72259766e-02 7.09393339e+01] [ 2.13060698e-02 -7.79947248e-05 9.99772997e-01 8.58631431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3592541539998 meters Centerline goodness [0,1] 0.9999355587060188 Centerline is valid? [True, True] Translation: X:909.11, Y:70.96, Z:8.58 [[ 5.89228074e-01 -8.07858697e-01 -1.32137131e-02 9.09107172e+02] [ 8.07654542e-01 5.89376216e-01 -1.81608658e-02 7.09644114e+01] [ 2.24592617e-02 2.87765819e-05 9.99747759e-01 8.58367107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3892541539999 meters Centerline goodness [0,1] 0.9999569466569079 Centerline is valid? [True, True] Translation: X:909.12, Y:70.99, Z:8.58 [[ 5.91374478e-01 -8.06281211e-01 -1.36687469e-02 9.09122023e+02] [ 8.06062134e-01 5.91532416e-01 -1.87946108e-02 7.09884261e+01] [ 2.32392485e-02 9.67938850e-05 9.99729928e-01 8.58369665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4192541539999 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:909.14, Y:71.01, Z:8.58 [[ 5.93358643e-01 -8.04813776e-01 -1.41530093e-02 9.09137656e+02] [ 8.04578225e-01 5.93527387e-01 -1.94710081e-02 7.10131921e+01] [ 2.40707342e-02 1.66087794e-04 9.99710244e-01 8.58348326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4492541539998 meters Centerline goodness [0,1] 0.9999141833472786 Centerline is valid? [True, True] Translation: X:909.15, Y:71.04, Z:8.58 [[ 5.94635741e-01 -8.03859841e-01 -1.47543823e-02 9.09153797e+02] [ 8.03603278e-01 5.94818719e-01 -2.03092073e-02 7.10376400e+01] [ 2.51019389e-02 2.19910560e-04 9.99684873e-01 8.58298383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4792541539998 meters Centerline goodness [0,1] 0.9998286901218442 Centerline is valid? [True, True] Translation: X:909.17, Y:71.06, Z:8.58 [[ 5.96977240e-01 -8.02112732e-01 -1.52754877e-02 9.09168275e+02] [ 8.01836855e-01 5.97172562e-01 -2.10378151e-02 7.10629051e+01] [ 2.59968015e-02 3.10647753e-04 9.99661978e-01 8.58145540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.18, Y:71.09, Z:8.58 [[ 5.98298253e-01 -8.01137767e-01 -1.47471898e-02 9.09184399e+02] [ 8.00880078e-01 5.98479873e-01 -2.03209638e-02 7.10867322e+01] [ 2.51057878e-02 3.47266658e-04 9.99684740e-01 8.58221892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5392541539999 meters Centerline goodness [0,1] 0.9998709427631154 Centerline is valid? [True, True] Translation: X:909.20, Y:71.11, Z:8.58 [[ 5.98134577e-01 -8.01254830e-01 -1.50241760e-02 9.09201246e+02] [ 8.00987120e-01 5.98323133e-01 -2.07138248e-02 7.11101032e+01] [ 2.55863642e-02 3.55483402e-04 9.99672552e-01 8.58202885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5692541539999 meters Centerline goodness [0,1] 0.9999785508987173 Centerline is valid? [True, True] Translation: X:909.22, Y:71.13, Z:8.58 [[ 5.98144211e-01 -8.01263143e-01 -1.41731594e-02 9.09218677e+02] [ 8.01024663e-01 5.98312008e-01 -1.95507134e-02 7.11335155e+01] [ 2.41452375e-02 3.41095849e-04 9.99708403e-01 8.58179665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.24, Y:71.16, Z:8.58 [[ 5.97126753e-01 -8.02026148e-01 -1.39175534e-02 9.09236588e+02] [ 8.01796160e-01 5.97288842e-01 -1.92082294e-02 7.11556840e+01] [ 2.37183015e-02 3.10706761e-04 9.99718633e-01 8.58204661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6292541539999 meters Centerline goodness [0,1] 0.9998060177601518 Centerline is valid? [True, True] Translation: X:909.26, Y:71.18, Z:8.58 [[ 5.92446309e-01 -8.05487482e-01 -1.40458963e-02 9.09257553e+02] [ 8.05254047e-01 5.92612761e-01 -1.93916225e-02 7.11751532e+01] [ 2.39434866e-02 1.77980345e-04 9.99713298e-01 8.58208007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.28, Y:71.20, Z:8.58 [[ 5.90553223e-01 -8.06890153e-01 -1.32352373e-02 9.09276810e+02] [ 8.06683084e-01 5.90701504e-01 -1.82793556e-02 7.11968868e+01] [ 2.25675066e-02 1.18290279e-04 9.99745314e-01 8.58277294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6892541539999 meters Centerline goodness [0,1] 0.9997632270007318 Centerline is valid? [True, True] Translation: X:909.30, Y:71.22, Z:8.58 [[ 5.86389596e-01 -8.09922269e-01 -1.31590659e-02 9.09296438e+02] [ 8.09718202e-01 5.86537227e-01 -1.81800483e-02 7.12168330e+01] [ 2.24427080e-02 5.45595847e-06 9.99748131e-01 8.58339055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7192541539998 meters Centerline goodness [0,1] 0.9999785117218557 Centerline is valid? [True, True] Translation: X:909.32, Y:71.24, Z:8.59 [[ 5.80394448e-01 -8.14253289e-01 -1.15700343e-02 9.09318748e+02] [ 8.14096263e-01 5.80509744e-01 -1.59910150e-02 7.12353228e+01] [ 1.97372542e-02 -1.38025330e-04 9.99805192e-01 8.58617309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.34, Y:71.26, Z:8.59 [[ 5.77401329e-01 -8.16390646e-01 -1.06779239e-02 9.09338479e+02] [ 8.16257155e-01 5.77500023e-01 -1.47641721e-02 7.12554463e+01] [ 1.82198333e-02 -1.91079204e-04 9.99833987e-01 8.58650993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7792541539999 meters Centerline goodness [0,1] 0.9998923411493659 Centerline is valid? [True, True] Translation: X:909.36, Y:71.28, Z:8.59 [[ 5.73619195e-01 -8.19055224e-01 -1.04670428e-02 9.09357917e+02] [ 8.18927295e-01 5.73714623e-01 -1.44781593e-02 7.12769557e+01] [ 1.78635075e-02 -2.66796938e-04 9.99840399e-01 8.58776592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8092541539999 meters Centerline goodness [0,1] 0.9999135097733957 Centerline is valid? [True, True] Translation: X:909.38, Y:71.30, Z:8.59 [[ 5.69545275e-01 -8.21894686e-01 -1.03588099e-02 9.09379131e+02] [ 8.21769750e-01 5.69639363e-01 -1.43344051e-02 7.12967119e+01] [ 1.76821572e-02 -3.48463952e-04 9.99843598e-01 8.58785529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.40, Y:71.32, Z:8.59 [[ 5.68567748e-01 -8.22570863e-01 -1.03871313e-02 9.09397096e+02] [ 8.22445251e-01 5.68662502e-01 -1.43794061e-02 7.13191070e+01] [ 1.77348526e-02 -3.67180307e-04 9.99842658e-01 8.58760732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.41, Y:71.34, Z:8.59 [[ 5.67962972e-01 -8.22986954e-01 -1.05135784e-02 9.09414182e+02] [ 8.22858200e-01 5.68060145e-01 -1.45620965e-02 7.13404742e+01] [ 1.79567603e-02 -3.80452550e-04 9.99838692e-01 8.58694727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.43, Y:71.36, Z:8.59 [[ 5.67735521e-01 -8.23143926e-01 -1.05097490e-02 9.09430260e+02] [ 8.23015147e-01 5.67832662e-01 -1.45648601e-02 7.13628947e+01] [ 1.79567549e-02 -3.80694156e-04 9.99838692e-01 8.58720484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.45, Y:71.39, Z:8.59 [[ 5.67854708e-01 -8.23055191e-01 -1.10083661e-02 9.09446582e+02] [ 8.22913713e-01 5.67961267e-01 -1.52649808e-02 7.13851420e+01] [ 1.88162472e-02 -3.90644228e-04 9.99822882e-01 8.58697929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9592541539998 meters Centerline goodness [0,1] 0.9998914718586529 Centerline is valid? [True, True] Translation: X:909.46, Y:71.41, Z:8.59 [[ 5.69071617e-01 -8.22208077e-01 -1.14617961e-02 9.09462803e+02] [ 8.22054355e-01 5.69186911e-01 -1.59027527e-02 7.14090843e+01] [ 1.95992760e-02 -3.72414197e-04 9.99807846e-01 8.58702147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.48, Y:71.43, Z:8.59 [[ 5.69850948e-01 -8.21666185e-01 -1.16007509e-02 9.09479236e+02] [ 8.21508431e-01 5.69968908e-01 -1.61040964e-02 7.14325612e+01] [ 1.98442587e-02 -3.53180055e-04 9.99803021e-01 8.58675465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.50, Y:71.45, Z:8.58 [[ 5.72800256e-01 -8.19607328e-01 -1.19872986e-02 9.09496619e+02] [ 8.19438312e-01 5.72925602e-01 -1.66465291e-02 7.14548621e+01] [ 2.05114475e-02 -2.87715607e-04 9.99789577e-01 8.58432659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.51, Y:71.48, Z:8.59 [[ 5.74391064e-01 -8.18496471e-01 -1.17657781e-02 9.09510764e+02] [ 8.18333283e-01 5.74511505e-01 -1.63452737e-02 7.14794223e+01] [ 2.01381237e-02 -2.39748734e-04 9.99797179e-01 8.58624434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0792541539998 meters Centerline goodness [0,1] 0.999935033998874 Centerline is valid? [True, True] Translation: X:909.53, Y:71.50, Z:8.59 [[ 5.78577724e-01 -8.15547909e-01 -1.13765700e-02 9.09525008e+02] [ 8.15394601e-01 5.78689548e-01 -1.58130537e-02 7.15047651e+01] [ 1.94798050e-02 -1.27313138e-04 9.99810242e-01 8.58711896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1092541539998 meters Centerline goodness [0,1] 0.9999567033966186 Centerline is valid? [True, True] Translation: X:909.54, Y:71.53, Z:8.59 [[ 5.81311621e-01 -8.13606116e-01 -1.10402763e-02 9.09539619e+02] [ 8.13461257e-01 5.81416447e-01 -1.53524716e-02 7.15274025e+01] [ 1.89098630e-02 -5.62669528e-05 9.99821191e-01 8.58606757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1392541539999 meters Centerline goodness [0,1] 0.9998701495444413 Centerline is valid? [True, True] Translation: X:909.55, Y:71.55, Z:8.59 [[ 5.83548927e-01 -8.12003955e-01 -1.09648113e-02 9.09554211e+02] [ 8.11860646e-01 5.83651932e-01 -1.52549414e-02 7.15517487e+01] [ 1.87867060e-02 1.05926263e-07 9.99823514e-01 8.58789211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.57, Y:71.58, Z:8.59 [[ 5.86304723e-01 -8.10023202e-01 -1.04490803e-02 9.09568825e+02] [ 8.09892592e-01 5.86397824e-01 -1.45458408e-02 7.15753776e+01] [ 1.79097865e-02 6.56624471e-05 9.99839605e-01 8.58966106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1992541539998 meters Centerline goodness [0,1] 0.9998697492673396 Centerline is valid? [True, True] Translation: X:909.58, Y:71.60, Z:8.59 [[ 5.91280642e-01 -8.06400978e-01 -1.02306241e-02 9.09583341e+02] [ 8.06275087e-01 5.91369117e-01 -1.42496606e-02 7.16004026e+01] [ 1.75410153e-02 1.76851157e-04 9.99846129e-01 8.59018232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.60, Y:71.62, Z:8.59 [[ 5.93610677e-01 -8.04690649e-01 -9.96614761e-03 9.09598903e+02] [ 8.04570819e-01 5.93694289e-01 -1.38884298e-02 7.16249386e+01] [ 1.70927345e-02 2.25848669e-04 9.99853883e-01 8.59151729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2592541539999 meters Centerline goodness [0,1] 0.999934840685476 Centerline is valid? [True, True] Translation: X:909.62, Y:71.65, Z:8.59 [[ 5.95356101e-01 -8.03401339e-01 -9.86925807e-03 9.09615202e+02] [ 8.03283529e-01 5.95437838e-01 -1.37605781e-02 7.16490641e+01] [ 1.69317965e-02 2.64631668e-04 9.99856612e-01 8.59203337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.63, Y:71.67, Z:8.59 [[ 5.98012750e-01 -8.01425359e-01 -9.90681881e-03 9.09629576e+02] [ 8.01306266e-01 5.98094715e-01 -1.38195248e-02 7.16726781e+01] [ 1.70005336e-02 3.25856039e-04 9.99855427e-01 8.59212540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.65, Y:71.70, Z:8.59 [[ 5.98696421e-01 -8.00915341e-01 -9.85960535e-03 9.09645672e+02] [ 8.00797206e-01 5.98777503e-01 -1.37599456e-02 7.16967230e+01] [ 1.69242614e-02 3.42485740e-04 9.99856716e-01 8.59232962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.66, Y:71.72, Z:8.59 [[ 5.99867894e-01 -8.00033473e-01 -1.02445998e-02 9.09660502e+02] [ 7.99905694e-01 5.99955243e-01 -1.43034087e-02 7.17201049e+01] [ 1.75895071e-02 3.85441965e-04 9.99845218e-01 8.59179152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.68, Y:71.74, Z:8.59 [[ 5.99900884e-01 -8.00002282e-01 -1.07367940e-02 9.09678061e+02] [ 7.99861806e-01 5.99996818e-01 -1.49969908e-02 7.17426617e+01] [ 1.84396691e-02 4.08756565e-04 9.99829891e-01 8.59172769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.69, Y:71.76, Z:8.59 [[ 5.99360149e-01 -8.00400957e-01 -1.12125151e-02 9.09694644e+02] [ 8.00247650e-01 5.99464872e-01 -1.56705209e-02 7.17648548e+01] [ 1.92642088e-02 4.19496884e-04 9.99814340e-01 8.59154543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4392541539999 meters Centerline goodness [0,1] 0.9999132189269521 Centerline is valid? [True, True] Translation: X:909.71, Y:71.79, Z:8.59 [[ 5.98048127e-01 -8.01369843e-01 -1.20337785e-02 9.09710815e+02] [ 8.01193247e-01 5.98169036e-01 -1.68281240e-02 7.17882212e+01] [ 2.06837848e-02 4.22646013e-04 9.99785978e-01 8.58985393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4692541539998 meters Centerline goodness [0,1] 0.9999346604521496 Centerline is valid? [True, True] Translation: X:909.73, Y:71.81, Z:8.59 [[ 5.94650601e-01 -8.03883896e-01 -1.27021325e-02 9.09731540e+02] [ 8.03687497e-01 5.94786140e-01 -1.77722935e-02 7.18089998e+01] [ 2.18419129e-02 3.59759978e-04 9.99761372e-01 8.58995686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4992541539999 meters Centerline goodness [0,1] 0.9999345835150458 Centerline is valid? [True, True] Translation: X:909.75, Y:71.83, Z:8.59 [[ 5.91942018e-01 -8.05880726e-01 -1.26847315e-02 9.09750914e+02] [ 8.05685120e-01 5.92077842e-01 -1.77571664e-02 7.18311257e+01] [ 2.18205066e-02 2.91313487e-04 9.99761862e-01 8.59031964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.77, Y:71.85, Z:8.59 [[ 5.85675863e-01 -8.10453147e-01 -1.22261940e-02 9.09773338e+02] [ 8.10272225e-01 5.85803449e-01 -1.71242589e-02 7.18499798e+01] [ 2.10405561e-02 1.22719642e-04 9.99778615e-01 8.59149114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.79, Y:71.87, Z:8.59 [[ 5.81691952e-01 -8.13320121e-01 -1.20355245e-02 9.09793190e+02] [ 8.13145214e-01 5.81816448e-01 -1.68665845e-02 7.18709778e+01] [ 2.07203987e-02 2.45273449e-05 9.99785309e-01 8.59245658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.81, Y:71.89, Z:8.59 [[ 5.78683349e-01 -8.15475206e-01 -1.12147102e-02 9.09810923e+02] [ 8.15323577e-01 5.78792006e-01 -1.57250898e-02 7.18930102e+01] [ 1.93144055e-02 -4.37699728e-05 9.99813459e-01 8.59402286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6192541539999 meters Centerline goodness [0,1] 0.9999781887977666 Centerline is valid? [True, True] Translation: X:909.83, Y:71.92, Z:8.59 [[ 5.73029096e-01 -8.19462667e-01 -1.08900455e-02 9.09830259e+02] [ 8.19320248e-01 5.73132542e-01 -1.52781227e-02 7.19150071e+01] [ 1.87612906e-02 -1.67625957e-04 9.99823977e-01 8.59499298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.85, Y:71.94, Z:8.60 [[ 5.70504938e-01 -8.21219672e-01 -1.10619817e-02 9.09848336e+02] [ 8.21072928e-01 5.70612128e-01 -1.55256564e-02 7.19367880e+01] [ 1.90620753e-02 -2.25230058e-04 9.99818277e-01 8.59506546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.87, Y:71.96, Z:8.59 [[ 5.65504339e-01 -8.24655145e-01 -1.21956937e-02 9.09866873e+02] [ 8.24477410e-01 5.65635708e-01 -1.71244417e-02 7.19579358e+01] [ 2.10200788e-02 -3.71127915e-04 9.99778985e-01 8.59399384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7092541539998 meters Centerline goodness [0,1] 0.9997822631567488 Centerline is valid? [True, True] Translation: X:909.88, Y:71.98, Z:8.59 [[ 5.62775029e-01 -8.26498007e-01 -1.36128947e-02 9.09884405e+02] [ 8.26276851e-01 5.62939436e-01 -1.91247643e-02 7.19811805e+01] [ 2.34698149e-02 -4.85079914e-04 9.99724428e-01 8.59274863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7392541539999 meters Centerline goodness [0,1] 0.9998474712919182 Centerline is valid? [True, True] Translation: X:909.90, Y:72.00, Z:8.59 [[ 5.61025142e-01 -8.27676531e-01 -1.42249615e-02 9.09901497e+02] [ 8.27435165e-01 5.61205180e-01 -1.99948315e-02 7.20043712e+01] [ 2.45323749e-02 -5.52630161e-04 9.99698883e-01 8.59221524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7692541539999 meters Centerline goodness [0,1] 0.9999782116088548 Centerline is valid? [True, True] Translation: X:909.92, Y:72.03, Z:8.59 [[ 5.59870251e-01 -8.28455163e-01 -1.43994794e-02 9.09917678e+02] [ 8.28207840e-01 5.60055084e-01 -2.02503415e-02 7.20281237e+01] [ 2.48410016e-02 -5.88197958e-04 9.99691242e-01 8.59208769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7992541539999 meters Centerline goodness [0,1] 0.9999781473306965 Centerline is valid? [True, True] Translation: X:909.93, Y:72.05, Z:8.59 [[ 5.55952426e-01 -8.31064926e-01 -1.57476671e-02 9.09934277e+02] [ 8.30769826e-01 5.56174887e-01 -2.21583134e-02 7.20507596e+01] [ 2.71734540e-02 -7.63718602e-04 9.99630442e-01 8.59001708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8292541539998 meters Centerline goodness [0,1] 0.9999781788028891 Centerline is valid? [True, True] Translation: X:909.95, Y:72.07, Z:8.59 [[ 5.53670923e-01 -8.32585574e-01 -1.58041272e-02 9.09950949e+02] [ 8.32288657e-01 5.53895807e-01 -2.22491818e-02 7.20739791e+01] [ 2.72781875e-02 -8.34870784e-04 9.99627532e-01 8.59002435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8592541539998 meters Centerline goodness [0,1] 0.9999123882950762 Centerline is valid? [True, True] Translation: X:909.96, Y:72.10, Z:8.59 [[ 5.48808901e-01 -8.35802166e-01 -1.56054382e-02 9.09964860e+02] [ 8.35513632e-01 5.49029861e-01 -2.19814092e-02 7.20988454e+01] [ 2.69399610e-02 -9.74963349e-04 9.99636578e-01 8.59265359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.98, Y:72.12, Z:8.59 [[ 5.47141864e-01 -8.36912782e-01 -1.45868422e-02 9.09981504e+02] [ 8.36660876e-01 5.47335434e-01 -2.05548439e-02 7.21212165e+01] [ 2.51865072e-02 -9.57824529e-04 9.99682311e-01 8.59383174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.00, Y:72.15, Z:8.60 [[ 5.45531980e-01 -8.37977280e-01 -1.37454427e-02 9.09997787e+02] [ 8.37753735e-01 5.45704304e-01 -1.93776152e-02 7.21455340e+01] [ 2.37389485e-02 -9.44187157e-04 9.99717746e-01 8.59512707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9492541539998 meters Centerline goodness [0,1] 0.9998262569225758 Centerline is valid? [True, True] Translation: X:910.01, Y:72.17, Z:8.60 [[ 5.43997721e-01 -8.38996541e-01 -1.22997600e-02 9.10011025e+02] [ 8.38817626e-01 5.44136041e-01 -1.73482114e-02 7.21712051e+01] [ 2.12478321e-02 -8.79868014e-04 9.99773852e-01 8.59826167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9792541539998 meters Centerline goodness [0,1] 0.9998484192291035 Centerline is valid? [True, True] Translation: X:910.03, Y:72.20, Z:8.60 [[ 5.44682001e-01 -8.38568203e-01 -1.11752676e-02 9.10025510e+02] [ 8.38420267e-01 5.44796073e-01 -1.57700682e-02 7.21964273e+01] [ 1.93125196e-02 -7.79898530e-04 9.99813192e-01 8.59902384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0092541539999 meters Centerline goodness [0,1] 0.9999131887926731 Centerline is valid? [True, True] Translation: X:910.04, Y:72.22, Z:8.60 [[ 5.46236739e-01 -8.37568227e-01 -1.02415802e-02 9.10040017e+02] [ 8.37443671e-01 5.46332321e-01 -1.44600255e-02 7.22202836e+01] [ 1.77065642e-02 -6.78149397e-04 9.99842997e-01 8.59928766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0392541539999 meters Centerline goodness [0,1] 0.9996120438821475 Centerline is valid? [True, True] Translation: X:910.05, Y:72.25, Z:8.60 [[ 5.51166299e-01 -8.34338785e-01 -9.72126374e-03 9.10049312e+02] [ 8.34225933e-01 5.51251757e-01 -1.37328946e-02 7.22488445e+01] [ 1.68167503e-02 -5.40621631e-04 9.99858442e-01 8.59905574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.06, Y:72.27, Z:8.60 [[ 5.54671408e-01 -8.32025050e-01 -8.59918244e-03 9.10061706e+02] [ 8.31936374e-01 5.54737908e-01 -1.21541540e-02 7.22743724e+01] [ 1.48828531e-02 -4.12410928e-04 9.99889159e-01 8.59916469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0992541539998 meters Centerline goodness [0,1] 0.9998708232862556 Centerline is valid? [True, True] Translation: X:910.07, Y:72.30, Z:8.60 [[ 5.62028464e-01 -8.27066553e-01 -9.21534918e-03 9.10069162e+02] [ 8.26963915e-01 5.62103931e-01 -1.30328329e-02 7.23033215e+01] [ 1.59590042e-02 -2.95938194e-04 9.99872603e-01 8.59780312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.08, Y:72.33, Z:8.60 [[ 5.66207717e-01 -8.24216567e-01 -8.71047842e-03 9.10081118e+02] [ 8.24124429e-01 5.66274678e-01 -1.23253541e-02 7.23303437e+01] [ 1.50912844e-02 -1.99807470e-04 9.99886100e-01 8.59746864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1592541539999 meters Centerline goodness [0,1] 0.999871729091842 Centerline is valid? [True, True] Translation: X:910.09, Y:72.36, Z:8.60 [[ 5.70054237e-01 -8.21549347e-01 -9.73845471e-03 9.10093653e+02] [ 8.21433689e-01 5.70137396e-01 -1.37856517e-02 7.23559321e+01] [ 1.68778503e-02 -1.40925647e-04 9.99857549e-01 8.59607402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.11, Y:72.38, Z:8.60 [[ 5.74174309e-01 -8.18680491e-01 -9.27987070e-03 9.10105569e+02] [ 8.18575055e-01 5.74249293e-01 -1.31388619e-02 7.23813845e+01] [ 1.60854891e-02 -5.22737252e-05 9.99870619e-01 8.59555282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2192541539998 meters Centerline goodness [0,1] 0.9999147721219611 Centerline is valid? [True, True] Translation: X:910.11, Y:72.41, Z:8.59 [[ 5.80508112e-01 -8.14197540e-01 -9.62791665e-03 9.10114283e+02] [ 8.14083342e-01 5.80587943e-01 -1.36364933e-02 7.24103591e+01] [ 1.66926516e-02 7.81684122e-05 9.99860665e-01 8.59450567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2492541539999 meters Centerline goodness [0,1] 0.9998720491331329 Centerline is valid? [True, True] Translation: X:910.13, Y:72.44, Z:8.60 [[ 5.83154356e-01 -8.12306062e-01 -9.47934154e-03 9.10127818e+02] [ 8.12195011e-01 5.83231381e-01 -1.34321151e-02 7.24355023e+01] [ 1.64396380e-02 1.33922516e-04 9.99864851e-01 8.59501683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2792541539999 meters Centerline goodness [0,1] 0.999935957646657 Centerline is valid? [True, True] Translation: X:910.14, Y:72.46, Z:8.60 [[ 5.87262290e-01 -8.09355924e-01 -8.12348410e-03 9.10138240e+02] [ 8.09274040e-01 5.87318443e-01 -1.15141599e-02 7.24627577e+01] [ 1.40901256e-02 1.87707138e-04 9.99900712e-01 8.59512011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.15, Y:72.49, Z:8.60 [[ 5.88785573e-01 -8.08256428e-01 -7.28665276e-03 9.10152508e+02] [ 8.08190416e-01 5.88830628e-01 -1.03316802e-02 7.24875682e+01] [ 1.26412512e-02 1.94141291e-04 9.99920077e-01 8.59562561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3392541539998 meters Centerline goodness [0,1] 0.9998723186925434 Centerline is valid? [True, True] Translation: X:910.17, Y:72.51, Z:8.60 [[ 5.89501354e-01 -8.07734934e-01 -7.24093601e-03 9.10168491e+02] [ 8.07669640e-01 5.89545786e-01 -1.02721967e-02 7.25112723e+01] [ 1.25660754e-02 2.07189661e-04 9.99921022e-01 8.59576320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.18, Y:72.54, Z:8.60 [[ 5.90626021e-01 -8.06924821e-01 -5.76520058e-03 9.10183045e+02] [ 8.06883358e-01 5.90654130e-01 -8.18204875e-03 7.25355718e+01] [ 1.00075378e-02 1.80686492e-04 9.99949907e-01 8.59612843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3992541539999 meters Centerline goodness [0,1] 0.9999362705527467 Centerline is valid? [True, True] Translation: X:910.20, Y:72.56, Z:8.60 [[ 5.90266655e-01 -8.07187936e-01 -5.73684974e-03 9.10199734e+02] [ 8.07146875e-01 5.90294507e-01 -8.14355651e-03 7.25579664e+01] [ 9.95981146e-03 1.76389527e-04 9.99950384e-01 8.59646973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4292541539999 meters Centerline goodness [0,1] 0.999640226868704 Centerline is valid? [True, True] Translation: X:910.21, Y:72.58, Z:8.60 [[ 5.89658556e-01 -8.07628241e-01 -6.27790128e-03 9.10213856e+02] [ 8.07579034e-01 5.89691945e-01 -8.91707613e-03 7.25805845e+01] [ 1.09037103e-02 1.88128787e-04 9.99940535e-01 8.59573421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4592541539998 meters Centerline goodness [0,1] 0.9998937120020407 Centerline is valid? [True, True] Translation: X:910.23, Y:72.60, Z:8.59 [[ 5.88049539e-01 -8.08801226e-01 -6.19001399e-03 9.10233221e+02] [ 8.08753422e-01 5.88082094e-01 -8.79509501e-03 7.26028210e+01] [ 1.07537200e-02 1.65756571e-04 9.99942163e-01 8.59498688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4892541539999 meters Centerline goodness [0,1] 0.9997869257649366 Centerline is valid? [True, True] Translation: X:910.25, Y:72.63, Z:8.59 [[ 5.86995828e-01 -8.09561208e-01 -6.82262101e-03 9.10251097e+02] [ 8.09503119e-01 5.87035451e-01 -9.69944150e-03 7.26258216e+01] [ 1.18574120e-02 1.70598708e-04 9.99929684e-01 8.59404939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5192541539999 meters Centerline goodness [0,1] 0.9999573296921337 Centerline is valid? [True, True] Translation: X:910.27, Y:72.65, Z:8.59 [[ 5.85317685e-01 -8.10772644e-01 -7.13630594e-03 9.10268878e+02] [ 8.10709111e-01 5.85361166e-01 -1.01509570e-02 7.26482781e+01] [ 1.24074346e-02 1.56066393e-04 9.99923013e-01 8.59307855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5492541539999 meters Centerline goodness [0,1] 0.9999787649706957 Centerline is valid? [True, True] Translation: X:910.28, Y:72.67, Z:8.59 [[ 5.84554654e-01 -8.11318521e-01 -7.62319446e-03 9.10284749e+02] [ 8.11245995e-01 5.84604338e-01 -1.08491583e-02 7.26701501e+01] [ 1.32586757e-02 1.57640035e-04 9.99912087e-01 8.59240215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5792541539998 meters Centerline goodness [0,1] 0.999829711147534 Centerline is valid? [True, True] Translation: X:910.30, Y:72.69, Z:8.59 [[ 5.83543155e-01 -8.12036890e-01 -8.57183472e-03 9.10302028e+02] [ 8.11945171e-01 5.83606086e-01 -1.22055542e-02 7.26922098e+01] [ 1.49139352e-02 1.62607816e-04 9.99888768e-01 8.59139762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6092541539998 meters Centerline goodness [0,1] 0.999743759475561 Centerline is valid? [True, True] Translation: X:910.32, Y:72.71, Z:8.59 [[ 5.81122596e-01 -8.13762768e-01 -9.31053126e-03 9.10320345e+02] [ 8.13654680e-01 5.81197161e-01 -1.32635413e-02 7.27136301e+01] [ 1.62046304e-02 1.32186199e-04 9.99868688e-01 8.59024797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6392541539999 meters Centerline goodness [0,1] 0.9997223645993507 Centerline is valid? [True, True] Translation: X:910.34, Y:72.73, Z:8.59 [[ 5.79173654e-01 -8.15147072e-01 -9.65042829e-03 9.10337991e+02] [ 8.15031089e-01 5.79254039e-01 -1.37507328e-02 7.27349043e+01] [ 1.67989191e-02 9.86630787e-05 9.99858883e-01 8.58984795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6692541539999 meters Centerline goodness [0,1] 0.9997866621154584 Centerline is valid? [True, True] Translation: X:910.36, Y:72.76, Z:8.59 [[ 5.76657936e-01 -8.16922405e-01 -1.01690401e-02 9.10357023e+02] [ 8.16793787e-01 5.76747589e-01 -1.44957635e-02 7.27562460e+01] [ 1.77068833e-02 5.30882812e-05 9.99843219e-01 8.58945780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6992541539998 meters Centerline goodness [0,1] 0.9998291255500021 Centerline is valid? [True, True] Translation: X:910.38, Y:72.78, Z:8.59 [[ 5.70030224e-01 -8.21557336e-01 -1.04445072e-02 9.10380146e+02] [ 8.21422269e-01 5.70125895e-01 -1.48969792e-02 7.27758936e+01] [ 1.81934066e-02 -8.76223997e-05 9.99834482e-01 8.58959464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7292541539998 meters Centerline goodness [0,1] 0.9994869602394185 Centerline is valid? [True, True] Translation: X:910.40, Y:72.80, Z:8.59 [[ 5.66039188e-01 -8.24313060e-01 -1.03738276e-02 9.10400376e+02] [ 8.24180164e-01 5.66134215e-01 -1.48023003e-02 7.27961616e+01] [ 1.80747082e-02 -1.71220859e-04 9.99836624e-01 8.58962192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7592541539999 meters Centerline goodness [0,1] 0.9992457059115105 Centerline is valid? [True, True] Translation: X:910.43, Y:72.81, Z:8.59 [[ 5.57909883e-01 -8.29843753e-01 -9.79327592e-03 9.10425420e+02] [ 8.29726062e-01 5.57995734e-01 -1.39793557e-02 7.28139285e+01] [ 1.70652871e-02 -3.26515582e-04 9.99854324e-01 8.59147523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7892541539999 meters Centerline goodness [0,1] 0.9991351351351352 Centerline is valid? [True, True] Translation: X:910.45, Y:72.83, Z:8.59 [[ 5.53905750e-01 -8.32525323e-01 -9.48717654e-03 9.10446313e+02] [ 8.32415152e-01 5.53986852e-01 -1.35492813e-02 7.28336054e+01] [ 1.65358909e-02 -3.92244671e-04 9.99863196e-01 8.59177120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8192541539999 meters Centerline goodness [0,1] 0.9991351351351352 Centerline is valid? [True, True] Translation: X:910.46, Y:72.86, Z:8.59 [[ 5.53677276e-01 -8.32677328e-01 -9.48372900e-03 9.10462061e+02] [ 8.32567137e-01 5.53758353e-01 -1.35516942e-02 7.28562526e+01] [ 1.65358827e-02 -3.92575949e-04 9.99863196e-01 8.59202881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8492541539998 meters Centerline goodness [0,1] 0.9993750673418813 Centerline is valid? [True, True] Translation: X:910.48, Y:72.88, Z:8.59 [[ 5.49966006e-01 -8.35134981e-01 -9.32500384e-03 9.10482334e+02] [ 8.35028677e-01 5.50044868e-01 -1.33323748e-02 7.28767589e+01] [ 1.62635031e-02 -4.54292685e-04 9.99867637e-01 8.59298451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8792541539999 meters Centerline goodness [0,1] 0.9992634953643532 Centerline is valid? [True, True] Translation: X:910.51, Y:72.89, Z:8.59 [[ 5.44137029e-01 -8.38952073e-01 -8.62047654e-03 9.10505048e+02] [ 8.38861602e-01 5.44205059e-01 -1.23315078e-02 7.28947667e+01] [ 1.50368510e-02 -5.21356722e-04 9.99886804e-01 8.59460516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9092541539999 meters Centerline goodness [0,1] 0.9992624088858035 Centerline is valid? [True, True] Translation: X:910.52, Y:72.92, Z:8.60 [[ 5.42098878e-01 -8.40271971e-01 -8.47470778e-03 9.10522943e+02] [ 8.40184599e-01 5.42164843e-01 -1.21294085e-02 7.29177167e+01] [ 1.47866906e-02 -5.44980228e-04 9.99890522e-01 8.59500409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9392541539999 meters Centerline goodness [0,1] 0.9991992381941739 Centerline is valid? [True, True] Translation: X:910.54, Y:72.94, Z:8.60 [[ 5.40728590e-01 -8.41152893e-01 -8.62572067e-03 9.10541548e+02] [ 8.41062394e-01 5.40797078e-01 -1.23518902e-02 7.29398457e+01] [ 1.50545927e-02 -5.75749106e-04 9.99886507e-01 8.59506021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9692541539998 meters Centerline goodness [0,1] 0.9988900254641218 Centerline is valid? [True, True] Translation: X:910.57, Y:72.96, Z:8.59 [[ 5.40460526e-01 -8.41320093e-01 -9.10611248e-03 9.10565439e+02] [ 8.41219160e-01 5.40536890e-01 -1.30459091e-02 7.29565055e+01] [ 1.58979752e-02 -6.09437381e-04 9.99873433e-01 8.59277984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9992541539999 meters Centerline goodness [0,1] 0.9992405502755718 Centerline is valid? [True, True] Translation: X:910.58, Y:72.98, Z:8.60 [[ 5.41341820e-01 -8.40752012e-01 -9.22429436e-03 9.10575806e+02] [ 8.40648268e-01 5.41420074e-01 -1.32209414e-02 7.29847746e+01] [ 1.61097513e-02 -5.97338579e-04 9.99870051e-01 8.59521844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0292541539999 meters Centerline goodness [0,1] 0.9993048767242315 Centerline is valid? [True, True] Translation: X:910.59, Y:73.01, Z:8.59 [[ 5.45294172e-01 -8.38184844e-01 -1.00216451e-02 9.10590044e+02] [ 8.38061810e-01 5.45385966e-01 -1.43718719e-02 7.30081889e+01] [ 1.75119498e-02 -5.61860079e-04 9.99846496e-01 8.59402303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0592541539999 meters Centerline goodness [0,1] 0.9995662263864489 Centerline is valid? [True, True] Translation: X:910.60, Y:73.03, Z:8.59 [[ 5.47956759e-01 -8.36440214e-01 -1.05431909e-02 9.10604339e+02] [ 8.36303600e-01 5.48057925e-01 -1.51261324e-02 7.30316165e+01] [ 1.84303847e-02 -5.28841997e-04 9.99830006e-01 8.59414842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0892541539998 meters Centerline goodness [0,1] 0.9995425932782993 Centerline is valid? [True, True] Translation: X:910.62, Y:73.06, Z:8.60 [[ 5.50864886e-01 -8.34525874e-01 -1.06978049e-02 9.10616257e+02] [ 8.34384751e-01 5.50968553e-01 -1.53538645e-02 7.30586174e+01] [ 1.87073513e-02 -4.68180464e-04 9.99824893e-01 8.59550305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1192541539999 meters Centerline goodness [0,1] 0.9995013658240471 Centerline is valid? [True, True] Translation: X:910.63, Y:73.08, Z:8.59 [[ 5.54106071e-01 -8.32377367e-01 -1.06949228e-02 9.10632430e+02] [ 8.32235788e-01 5.54209136e-01 -1.53566775e-02 7.30805718e+01] [ 1.87097747e-02 -3.91469273e-04 9.99824880e-01 8.59478870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1492541539999 meters Centerline goodness [0,1] 0.9996323926911017 Centerline is valid? [True, True] Translation: X:910.64, Y:73.11, Z:8.60 [[ 5.60446673e-01 -8.28125155e-01 -1.04045601e-02 9.10642930e+02] [ 8.27990299e-01 5.60543193e-01 -1.49463720e-02 7.31080819e+01] [ 1.82096720e-02 -2.38230315e-04 9.99834162e-01 8.59750554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1792541539999 meters Centerline goodness [0,1] 0.9996113570117673 Centerline is valid? [True, True] Translation: X:910.66, Y:73.13, Z:8.60 [[ 5.65718253e-01 -8.24537481e-01 -1.00399965e-02 9.10656659e+02] [ 8.24411211e-01 5.65807326e-01 -1.44299963e-02 7.31344087e+01] [ 1.75787764e-02 -1.13773364e-04 9.99845475e-01 8.59880198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2092541539998 meters Centerline goodness [0,1] 0.999741713301765 Centerline is valid? [True, True] Translation: X:910.67, Y:73.16, Z:8.60 [[ 5.67869729e-01 -8.23060393e-01 -9.77551193e-03 9.10670699e+02] [ 8.22940353e-01 5.67953859e-01 -1.40566505e-02 7.31582315e+01] [ 1.71215120e-02 -6.23169448e-05 9.99853414e-01 8.59950631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2392541539999 meters Centerline goodness [0,1] 0.9996102377549695 Centerline is valid? [True, True] Translation: X:910.69, Y:73.18, Z:8.60 [[ 5.69226789e-01 -8.22117109e-01 -1.02137796e-02 9.10685463e+02] [ 8.21985763e-01 5.69318415e-01 -1.46951488e-02 7.31819591e+01] [ 1.78960261e-02 -3.07090596e-05 9.99839853e-01 8.60038615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2692541539999 meters Centerline goodness [0,1] 0.9996984578271733 Centerline is valid? [True, True] Translation: X:910.70, Y:73.21, Z:8.60 [[ 5.69917382e-01 -8.21632704e-01 -1.06713522e-02 9.10701216e+02] [ 8.21489057e-01 5.70017281e-01 -1.53632607e-02 7.32055605e+01] [ 1.87058126e-02 -1.06097643e-05 9.99825031e-01 8.59952693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2992541539999 meters Centerline goodness [0,1] 0.9995901550939408 Centerline is valid? [True, True] Translation: X:910.72, Y:73.23, Z:8.60 [[ 5.70281771e-01 -8.21375242e-01 -1.10187701e-02 9.10716472e+02] [ 8.21221889e-01 5.70388211e-01 -1.58712778e-02 7.32284726e+01] [ 1.93212512e-02 2.24515316e-06 9.99813327e-01 8.59977645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3292541539998 meters Centerline goodness [0,1] 0.9998275490407416 Centerline is valid? [True, True] Translation: X:910.73, Y:73.25, Z:8.60 [[ 5.69678358e-01 -8.21788161e-01 -1.14362027e-02 9.10733116e+02] [ 8.21622937e-01 5.69793136e-01 -1.64782042e-02 7.32510058e+01] [ 2.00578630e-02 -8.97014319e-06 9.99798821e-01 8.59913127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3592541539998 meters Centerline goodness [0,1] 0.9997204601655736 Centerline is valid? [True, True] Translation: X:910.75, Y:73.27, Z:8.60 [[ 5.66737061e-01 -8.23806649e-01 -1.23170136e-02 9.10751477e+02] [ 8.23615292e-01 5.66870884e-01 -1.77553372e-02 7.32731718e+01] [ 2.16091212e-02 -8.18731321e-05 9.99766492e-01 8.59923146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3892541539999 meters Centerline goodness [0,1] 0.9996550014015568 Centerline is valid? [True, True] Translation: X:910.77, Y:73.30, Z:8.60 [[ 5.64673601e-01 -8.25216274e-01 -1.27210965e-02 9.10769979e+02] [ 8.25012289e-01 5.64816858e-01 -1.83477307e-02 7.32960424e+01] [ 2.23259357e-02 -1.34581745e-04 9.99750736e-01 8.59961342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4192541539999 meters Centerline goodness [0,1] 0.9996542260065265 Centerline is valid? [True, True] Translation: X:910.79, Y:73.32, Z:8.60 [[ 5.59625828e-01 -8.28625279e-01 -1.41095905e-02 9.10789733e+02] [ 8.28375217e-01 5.59803591e-01 -2.03577874e-02 7.33156804e+01] [ 2.47675767e-02 -2.95291487e-04 9.99693193e-01 8.59910447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4492541539998 meters Centerline goodness [0,1] 0.999783484172693 Centerline is valid? [True, True] Translation: X:910.81, Y:73.34, Z:8.60 [[ 5.57338085e-01 -8.30167729e-01 -1.39928887e-02 9.10807131e+02] [ 8.29922067e-01 5.57513601e-01 -2.01977214e-02 7.33385686e+01] [ 2.45687223e-02 -3.56047781e-04 9.99698080e-01 8.59940199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4792541539998 meters Centerline goodness [0,1] 0.9996542035876378 Centerline is valid? [True, True] Translation: X:910.83, Y:73.36, Z:8.60 [[ 5.54730397e-01 -8.31903068e-01 -1.45420692e-02 9.10825787e+02] [ 8.31638048e-01 5.54920795e-01 -2.10016201e-02 7.33606598e+01] [ 2.55410088e-02 -4.43501016e-04 9.99673677e-01 8.59903782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5092541539999 meters Centerline goodness [0,1] 0.9996538669551108 Centerline is valid? [True, True] Translation: X:910.85, Y:73.38, Z:8.60 [[ 5.49398542e-01 -8.35432077e-01 -1.46453728e-02 9.10846839e+02] [ 8.35164220e-01 5.49593376e-01 -2.11623928e-02 7.33801460e+01] [ 2.57287417e-02 -6.04703596e-04 9.99668778e-01 8.59861994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5392541539999 meters Centerline goodness [0,1] 0.9997392268074842 Centerline is valid? [True, True] Translation: X:910.87, Y:73.40, Z:8.60 [[ 5.43751645e-01 -8.39116367e-01 -1.47604597e-02 9.10866138e+02] [ 8.38845311e-01 5.43951393e-01 -2.13407314e-02 7.34009589e+01] [ 2.59363296e-02 -7.77684574e-04 9.99663294e-01 8.60098792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5692541539999 meters Centerline goodness [0,1] 0.9993927169410285 Centerline is valid? [True, True] Translation: X:910.88, Y:73.42, Z:8.60 [[ 5.40786580e-01 -8.41026205e-01 -1.49932662e-02 9.10884977e+02] [ 8.40746948e-01 5.40993674e-01 -2.16890244e-02 7.34227776e+01] [ 2.63523001e-02 -8.76409524e-04 9.99652334e-01 8.60111469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5992541539998 meters Centerline goodness [0,1] 0.9996747614917606 Centerline is valid? [True, True] Translation: X:910.90, Y:73.44, Z:8.60 [[ 5.38648907e-01 -8.42404815e-01 -1.45424725e-02 9.10902839e+02] [ 8.42142347e-01 5.38844412e-01 -2.10467923e-02 7.34443567e+01] [ 2.55660493e-02 -9.10000261e-04 9.99672721e-01 8.60188466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6292541539999 meters Centerline goodness [0,1] 0.9995865070729053 Centerline is valid? [True, True] Translation: X:910.92, Y:73.47, Z:8.60 [[ 5.36766529e-01 -8.43594493e-01 -1.51665523e-02 9.10920326e+02] [ 8.43309188e-01 5.36979819e-01 -2.19610457e-02 7.34676233e+01] [ 2.66703498e-02 -1.00213862e-03 9.99643781e-01 8.60285675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6592541539999 meters Centerline goodness [0,1] 0.9996526722528546 Centerline is valid? [True, True] Translation: X:910.94, Y:73.49, Z:8.60 [[ 5.36116937e-01 -8.44017884e-01 -1.45753528e-02 9.10936784e+02] [ 8.43754243e-01 5.36314140e-01 -2.11168454e-02 7.34903834e+01] [ 2.56399630e-02 -9.76917286e-04 9.99670765e-01 8.60417546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6892541539999 meters Centerline goodness [0,1] 0.9995876736111111 Centerline is valid? [True, True] Translation: X:910.95, Y:73.51, Z:8.60 [[ 5.36567819e-01 -8.43714166e-01 -1.55364483e-02 9.10952566e+02] [ 8.43414126e-01 5.36791736e-01 -2.25220836e-02 7.35118651e+01] [ 2.73420380e-02 -1.01903472e-03 9.99625617e-01 8.60334930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7192541539998 meters Centerline goodness [0,1] 0.999630932221788 Centerline is valid? [True, True] Translation: X:910.96, Y:73.54, Z:8.60 [[ 5.39925318e-01 -8.41550774e-01 -1.65210516e-02 9.10964088e+02] [ 8.41210082e-01 5.40177169e-01 -2.39629942e-02 7.35380535e+01] [ 2.90903712e-02 -9.59447946e-04 9.99576325e-01 8.60343670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7492541539999 meters Centerline goodness [0,1] 0.9998482483524107 Centerline is valid? [True, True] Translation: X:910.98, Y:73.56, Z:8.60 [[ 5.42703941e-01 -8.39763957e-01 -1.63990570e-02 9.10977758e+02] [ 8.39427073e-01 5.42950987e-01 -2.37994839e-02 7.35628480e+01] [ 2.88898329e-02 -8.49738712e-04 9.99582240e-01 8.60379077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7792541539999 meters Centerline goodness [0,1] 0.9998487598306111 Centerline is valid? [True, True] Translation: X:910.99, Y:73.59, Z:8.60 [[ 5.45229051e-01 -8.38125397e-01 -1.64651576e-02 9.10990350e+02] [ 8.37784646e-01 5.45477080e-01 -2.39090558e-02 7.35887149e+01] [ 2.90201529e-02 -7.58344406e-04 9.99578539e-01 8.60478468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8092541539999 meters Centerline goodness [0,1] 0.999826806087766 Centerline is valid? [True, True] Translation: X:911.00, Y:73.62, Z:8.60 [[ 5.50220107e-01 -8.34827610e-01 -1.79079742e-02 9.11001637e+02] [ 8.34422264e-01 5.50511098e-01 -2.60195489e-02 7.36152859e+01] [ 3.15803763e-02 -6.26333439e-04 9.99501019e-01 8.60481552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.01, Y:73.64, Z:8.61 [[ 5.53042852e-01 -8.32980096e-01 -1.69636037e-02 9.11014591e+02] [ 8.32615196e-01 5.53302741e-01 -2.46579003e-02 7.36394095e+01] [ 2.99255486e-02 -4.87278750e-04 9.99552012e-01 8.60533668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8692541539999 meters Centerline goodness [0,1] 0.999784436300927 Centerline is valid? [True, True] Translation: X:911.03, Y:73.67, Z:8.61 [[ 5.56505672e-01 -8.30653319e-01 -1.77904997e-02 9.11026370e+02] [ 8.30250376e-01 5.56789840e-01 -2.58725092e-02 7.36659603e+01] [ 3.13966551e-02 -3.72370929e-04 9.99506934e-01 8.60643792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8992541539999 meters Centerline goodness [0,1] 0.9998496240601503 Centerline is valid? [True, True] Translation: X:911.04, Y:73.69, Z:8.61 [[ 5.58075992e-01 -8.29608830e-01 -1.73313738e-02 9.11040443e+02] [ 8.29225509e-01 5.58344965e-01 -2.52181548e-02 7.36911518e+01] [ 3.05980892e-02 -2.97970558e-04 9.99531724e-01 8.60738616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9292541539999 meters Centerline goodness [0,1] 0.9997848259241726 Centerline is valid? [True, True] Translation: X:911.05, Y:73.72, Z:8.61 [[ 5.59972570e-01 -8.28316015e-01 -1.79805191e-02 9.11053227e+02] [ 8.27902306e-01 5.60261124e-01 -2.61771783e-02 7.37150924e+01] [ 3.17567619e-02 -2.27611451e-04 9.99495601e-01 8.60665801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9592541539998 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:911.07, Y:73.74, Z:8.61 [[ 5.60866520e-01 -8.27738796e-01 -1.66502976e-02 9.11067792e+02] [ 8.27383421e-01 5.61113586e-01 -2.42532228e-02 7.37404068e+01] [ 2.94180416e-02 -1.73359509e-04 9.99567181e-01 8.60838686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9892541539999 meters Centerline goodness [0,1] 0.9999141667739582 Centerline is valid? [True, True] Translation: X:911.08, Y:73.76, Z:8.61 [[ 5.61221829e-01 -8.27493816e-01 -1.68536052e-02 9.11082975e+02] [ 8.27129269e-01 5.61474808e-01 -2.45603870e-02 7.37633786e+01] [ 2.97864431e-02 -1.56284829e-04 9.99556273e-01 8.60642807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0192541539999 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:911.10, Y:73.79, Z:8.61 [[ 5.61570193e-01 -8.27267349e-01 -1.63600411e-02 9.11097086e+02] [ 8.26923388e-01 5.61808433e-01 -2.38536096e-02 7.37877057e+01] [ 2.89245214e-02 -1.33024455e-04 9.99581590e-01 8.60909155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.11, Y:73.81, Z:8.61 [[ 5.63355253e-01 -8.26061372e-01 -1.59206747e-02 9.11110011e+02] [ 8.25734834e-01 5.63580168e-01 -2.32245356e-02 7.38115939e+01] [ 2.81574682e-02 -6.25915563e-05 9.99603498e-01 8.60817790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0792541539998 meters Centerline goodness [0,1] 0.9999784816663797 Centerline is valid? [True, True] Translation: X:911.12, Y:73.84, Z:8.61 [[ 5.64258425e-01 -8.25451471e-01 -1.55659220e-02 9.11124284e+02] [ 8.25138756e-01 5.64473089e-01 -2.27192621e-02 7.38361569e+01] [ 2.75401924e-02 -2.45105091e-05 9.99620697e-01 8.61110900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.14, Y:73.86, Z:8.61 [[ 5.66931683e-01 -8.23627012e-01 -1.50669580e-02 9.11136837e+02] [ 8.23333035e-01 5.67131855e-01 -2.20039067e-02 7.38618608e+01] [ 2.66679637e-02 6.95875875e-05 9.99644344e-01 8.61300314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.15, Y:73.89, Z:8.61 [[ 5.68307196e-01 -8.22674066e-01 -1.53072810e-02 9.11151406e+02] [ 8.22369946e-01 5.68513295e-01 -2.23675095e-02 7.38864265e+01] [ 2.71035627e-02 1.23368738e-04 9.99632623e-01 8.61410564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1692541539999 meters Centerline goodness [0,1] 0.9998291182501708 Centerline is valid? [True, True] Translation: X:911.17, Y:73.91, Z:8.61 [[ 5.69551702e-01 -8.21817743e-01 -1.50484703e-02 9.11165383e+02] [ 8.21523253e-01 5.69750445e-01 -2.19994522e-02 7.39101131e+01] [ 2.66534128e-02 1.67157211e-04 9.99644721e-01 8.61370478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.18, Y:73.93, Z:8.61 [[ 5.70943076e-01 -8.20846747e-01 -1.53173816e-02 9.11180550e+02] [ 8.20540984e-01 5.71148464e-01 -2.24036924e-02 7.39348039e+01] [ 2.71384970e-02 2.22693694e-04 9.99631658e-01 8.61396218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.19, Y:73.96, Z:8.61 [[ 5.73695241e-01 -8.18913659e-01 -1.59433297e-02 9.11194361e+02] [ 8.18581281e-01 5.73916639e-01 -2.33319059e-02 7.39601886e+01] [ 2.82569587e-02 3.34492117e-04 9.99600636e-01 8.61402133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.21, Y:73.99, Z:8.61 [[ 5.74975988e-01 -8.18006226e-01 -1.63837493e-02 9.11208984e+02] [ 8.17654482e-01 5.75209229e-01 -2.39894104e-02 7.39851575e+01] [ 2.90475708e-02 3.97088885e-04 9.99577951e-01 8.61333796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.22, Y:74.01, Z:8.61 [[ 5.77892672e-01 -8.15928204e-01 -1.73558588e-02 9.11221600e+02] [ 8.15532107e-01 5.78152986e-01 -2.54265032e-02 7.40107764e+01] [ 3.07805427e-02 5.39529786e-04 9.99526021e-01 8.61199370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.24, Y:74.04, Z:8.61 [[ 5.79400942e-01 -8.14843643e-01 -1.80107270e-02 9.11235631e+02] [ 8.14416166e-01 5.79680468e-01 -2.63981778e-02 7.40355886e+01] [ 3.19508540e-02 6.26901814e-04 9.99489245e-01 8.61097154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.25, Y:74.06, Z:8.61 [[ 5.80591565e-01 -8.13983481e-01 -1.85560653e-02 9.11250676e+02] [ 8.13529042e-01 5.80887601e-01 -2.72046415e-02 7.40596096e+01] [ 3.29231171e-02 6.98887353e-04 9.99457643e-01 8.61089951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.27, Y:74.08, Z:8.61 [[ 5.81733373e-01 -8.13154216e-01 -1.91442888e-02 9.11266221e+02] [ 8.12669631e-01 5.82047780e-01 -2.80793903e-02 7.40840110e+01] [ 3.39757653e-02 7.76736307e-04 9.99422355e-01 8.61041514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.28, Y:74.11, Z:8.61 [[ 5.81272801e-01 -8.13479420e-01 -1.93174566e-02 9.11282967e+02] [ 8.12985621e-01 5.81593186e-01 -2.83504309e-02 7.41060699e+01] [ 3.42973932e-02 7.74519952e-04 9.99411371e-01 8.61239154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4392541539999 meters Centerline goodness [0,1] 0.999892722279437 Centerline is valid? [True, True] Translation: X:911.30, Y:74.13, Z:8.61 [[ 5.80508616e-01 -8.14019073e-01 -1.95625928e-02 9.11297819e+02] [ 8.13512550e-01 5.80837647e-01 -2.87220894e-02 7.41283012e+01] [ 3.47430190e-02 7.59005570e-04 9.99395991e-01 8.61206570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4692541539998 meters Centerline goodness [0,1] 0.9998282229665894 Centerline is valid? [True, True] Translation: X:911.32, Y:74.15, Z:8.61 [[ 5.78114265e-01 -8.15694625e-01 -2.06440259e-02 9.11316170e+02] [ 8.15130984e-01 5.78482310e-01 -3.03265043e-02 7.41502144e+01] [ 3.66793704e-02 7.04599629e-04 9.99326837e-01 8.61381457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.33, Y:74.17, Z:8.61 [[ 5.76962851e-01 -8.16566055e-01 -1.82687154e-02 9.11332856e+02] [ 8.16124647e-01 5.77251711e-01 -2.68518772e-02 7.41735653e+01] [ 3.24719787e-02 5.82986758e-04 9.99472476e-01 8.61498471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.35, Y:74.19, Z:8.62 [[ 5.73600438e-01 -8.18951880e-01 -1.73308081e-02 9.11351826e+02] [ 8.18555277e-01 5.73862031e-01 -2.54877833e-02 7.41949109e+01] [ 3.08187608e-02 4.33579203e-04 9.99524895e-01 8.61667612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.37, Y:74.22, Z:8.62 [[ 5.71627191e-01 -8.20340905e-01 -1.68271557e-02 9.11370033e+02] [ 8.19967212e-01 5.71874700e-01 -2.47608272e-02 7.42172739e+01] [ 2.99353440e-02 3.56246198e-04 9.99551774e-01 8.61839471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.39, Y:74.24, Z:8.62 [[ 5.69838592e-01 -8.21594004e-01 -1.63484340e-02 9.11387935e+02] [ 8.21241409e-01 5.70072985e-01 -2.40694922e-02 7.42404374e+01] [ 2.90951510e-02 2.89714566e-04 9.99576604e-01 8.61954456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.41, Y:74.26, Z:8.62 [[ 5.67463732e-01 -8.23246635e-01 -1.58079425e-02 9.11405385e+02] [ 8.22917369e-01 5.67683836e-01 -2.32823063e-02 7.42623356e+01] [ 2.81409938e-02 2.03233985e-04 9.99603943e-01 8.62022442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6492541539999 meters Centerline goodness [0,1] 0.9998922529899795 Centerline is valid? [True, True] Translation: X:911.42, Y:74.29, Z:8.62 [[ 5.66306989e-01 -8.24018435e-01 -1.70297781e-02 9.11422494e+02] [ 8.23636401e-01 5.66562958e-01 -2.50897110e-02 7.42850942e+01] [ 3.03228258e-02 1.82133561e-04 9.99540141e-01 8.62060922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.44, Y:74.31, Z:8.62 [[ 5.65893241e-01 -8.24312746e-01 -1.65329195e-02 9.11438839e+02] [ 8.23952472e-01 5.66134674e-01 -2.43691399e-02 7.43088568e+01] [ 2.94476516e-02 1.67991683e-04 9.99566310e-01 8.62060224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.45, Y:74.33, Z:8.62 [[ 5.65654034e-01 -8.24477047e-01 -1.65261284e-02 9.11454263e+02] [ 8.24116709e-01 5.65895371e-01 -2.43737455e-02 7.43317238e+01] [ 2.94476532e-02 1.67648945e-04 9.99566310e-01 8.62085981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7392541539999 meters Centerline goodness [0,1] 0.9999137856711785 Centerline is valid? [True, True] Translation: X:911.47, Y:74.36, Z:8.62 [[ 5.64739430e-01 -8.25073384e-01 -1.79802027e-02 9.11471449e+02] [ 8.24646634e-01 5.65025563e-01 -2.65337796e-02 7.43551050e+01] [ 3.20515895e-02 1.57357917e-04 9.99486203e-01 8.62047725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7692541539999 meters Centerline goodness [0,1] 0.9999136311618768 Centerline is valid? [True, True] Translation: X:911.49, Y:74.38, Z:8.62 [[ 5.63557069e-01 -8.25853750e-01 -1.92097005e-02 9.11488683e+02] [ 8.25366672e-01 5.63884356e-01 -2.83600022e-02 7.43768467e+01] [ 3.42532638e-02 1.27433177e-04 9.99413177e-01 8.61939407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7992541539999 meters Centerline goodness [0,1] 0.9998921856132482 Centerline is valid? [True, True] Translation: X:911.51, Y:74.40, Z:8.62 [[ 5.62605926e-01 -8.26491661e-01 -1.96496149e-02 9.11505952e+02] [ 8.25981900e-01 5.62948954e-01 -2.90237060e-02 7.44003582e+01] [ 3.50495812e-02 9.86827131e-05 9.99385570e-01 8.61924940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.52, Y:74.42, Z:8.62 [[ 5.62137718e-01 -8.26832387e-01 -1.86919616e-02 9.11522046e+02] [ 8.26370820e-01 5.62448395e-01 -2.76237378e-02 7.44239634e+01] [ 3.33534648e-02 8.18533249e-05 9.99443615e-01 8.61845326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.54, Y:74.45, Z:8.62 [[ 5.60926313e-01 -8.27654586e-01 -1.86964559e-02 9.11539121e+02] [ 8.27192712e-01 5.61237815e-01 -2.76465569e-02 7.44461533e+01] [ 3.33749576e-02 4.21091886e-05 9.99442900e-01 8.61877393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8892541539999 meters Centerline goodness [0,1] 0.9998704942801641 Centerline is valid? [True, True] Translation: X:911.56, Y:74.47, Z:8.62 [[ 5.59976646e-01 -8.28272838e-01 -1.97550568e-02 9.11555969e+02] [ 8.27757109e-01 5.60325000e-01 -2.92243614e-02 7.44681495e+01] [ 3.52749970e-02 1.25711890e-05 9.99377644e-01 8.61943598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.57, Y:74.49, Z:8.62 [[ 5.59837058e-01 -8.28415299e-01 -1.76227323e-02 9.11572498e+02] [ 8.28004588e-01 5.60114356e-01 -2.60827496e-02 7.44914748e+01] [ 3.14780942e-02 1.03865855e-05 9.99504442e-01 8.62065012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.59, Y:74.51, Z:8.62 [[ 5.59576626e-01 -8.28597511e-01 -1.73252430e-02 9.11589133e+02] [ 8.28200179e-01 5.59844768e-01 -2.56573285e-02 7.45146114e+01] [ 3.09590452e-02 8.47198729e-06 9.99520654e-01 8.62135390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9792541539998 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:911.61, Y:74.54, Z:8.62 [[ 5.59348900e-01 -8.28752286e-01 -1.72758795e-02 9.11605145e+02] [ 8.28356823e-01 5.59615625e-01 -2.55993434e-02 7.45370712e+01] [ 3.08833665e-02 8.37197744e-06 9.99522995e-01 8.62220630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.62, Y:74.56, Z:8.62 [[ 5.59611613e-01 -8.28595084e-01 -1.62797333e-02 9.11621326e+02] [ 8.28243641e-01 5.59848360e-01 -2.41305871e-02 7.45602048e+01] [ 2.91086679e-02 2.01711663e-05 9.99576253e-01 8.62237378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.64, Y:74.58, Z:8.62 [[ 5.59846042e-01 -8.28443288e-01 -1.59414240e-02 9.11636654e+02] [ 8.28105929e-01 5.60072958e-01 -2.36400420e-02 7.45836950e+01] [ 2.85127946e-02 3.35961858e-05 9.99593427e-01 8.62373991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.65, Y:74.61, Z:8.62 [[ 5.61240220e-01 -8.27513323e-01 -1.52024928e-02 9.11652196e+02] [ 8.27205820e-01 5.61446073e-01 -2.25574248e-02 7.46074888e+01] [ 2.72019494e-02 8.45435436e-05 9.99629955e-01 8.62488931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0992541539998 meters Centerline goodness [0,1] 0.999805615550756 Centerline is valid? [True, True] Translation: X:911.67, Y:74.63, Z:8.63 [[ 5.61315203e-01 -8.27444354e-01 -1.61580619e-02 9.11668665e+02] [ 8.27096546e-01 5.61547710e-01 -2.39890466e-02 7.46311527e+01] [ 2.89231238e-02 1.01139379e-04 9.99581634e-01 8.62700635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.68, Y:74.66, Z:8.63 [[ 5.63123908e-01 -8.26241308e-01 -1.47229136e-02 9.11683211e+02] [ 8.25951830e-01 5.63316320e-01 -2.18700319e-02 7.46561996e+01] [ 2.63635813e-02 1.55120416e-04 9.99652408e-01 8.62684322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1592541539999 meters Centerline goodness [0,1] 0.9999567174515236 Centerline is valid? [True, True] Translation: X:911.70, Y:74.68, Z:8.63 [[ 5.64255281e-01 -8.25461581e-01 -1.51378893e-02 9.11697815e+02] [ 8.25155073e-01 5.64458269e-01 -2.24937558e-02 7.46800570e+01] [ 2.71124380e-02 2.01114331e-04 9.99632370e-01 8.62642288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1892541539999 meters Centerline goodness [0,1] 0.99991391184573 Centerline is valid? [True, True] Translation: X:911.71, Y:74.71, Z:8.62 [[ 5.67200001e-01 -8.23443808e-01 -1.49818145e-02 9.11711035e+02] [ 8.23142629e-01 5.67397749e-01 -2.22712157e-02 7.47057404e+01] [ 2.68397425e-02 3.00063332e-04 9.99639704e-01 8.62478688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.73, Y:74.73, Z:8.63 [[ 5.68308935e-01 -8.22677739e-01 -1.50430428e-02 9.11726664e+02] [ 8.22373491e-01 5.68507889e-01 -2.23745703e-02 7.47304817e+01] [ 2.69591494e-02 3.44668585e-04 9.99636477e-01 8.62528587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.74, Y:74.75, Z:8.62 [[ 5.70012902e-01 -8.21498709e-01 -1.50054317e-02 9.11740559e+02] [ 8.21195379e-01 5.70210232e-01 -2.23257897e-02 7.47542356e+01] [ 2.68968581e-02 4.03596982e-04 9.99638133e-01 8.62491699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.76, Y:74.78, Z:8.62 [[ 5.69897630e-01 -8.21577749e-01 -1.50563510e-02 9.11755638e+02] [ 8.21272175e-01 5.70096341e-01 -2.24093085e-02 7.47769309e+01] [ 2.69945598e-02 4.05649683e-04 9.99635498e-01 8.62492681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.77, Y:74.80, Z:8.62 [[ 5.69500803e-01 -8.21857573e-01 -1.47974764e-02 9.11771229e+02] [ 8.21562353e-01 5.69692881e-01 -2.20299961e-02 7.48003736e+01] [ 2.65355361e-02 3.89050895e-04 9.99647795e-01 8.62461126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3392541539998 meters Centerline goodness [0,1] 0.9999140635070682 Centerline is valid? [True, True] Translation: X:911.79, Y:74.82, Z:8.63 [[ 5.67554063e-01 -8.23199332e-01 -1.50081791e-02 9.11788680e+02] [ 8.22895839e-01 5.67752364e-01 -2.23537653e-02 7.48220909e+01] [ 2.69225339e-02 3.36802211e-04 9.99637466e-01 8.62506726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.81, Y:74.85, Z:8.63 [[ 5.66909808e-01 -8.23655171e-01 -1.43327959e-02 9.11805927e+02] [ 8.23378227e-01 5.67090879e-01 -2.13595516e-02 7.48450102e+01] [ 2.57209030e-02 3.07627197e-04 9.99669116e-01 8.62677873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3992541539999 meters Centerline goodness [0,1] 0.9998926162965508 Centerline is valid? [True, True] Translation: X:911.82, Y:74.87, Z:8.63 [[ 5.65287667e-01 -8.24768605e-01 -1.43736538e-02 9.11824013e+02] [ 8.24490136e-01 5.65470316e-01 -2.14321795e-02 7.48673364e+01] [ 2.58044633e-02 2.64410964e-04 9.99666974e-01 8.62803716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.84, Y:74.89, Z:8.63 [[ 5.63738490e-01 -8.25846506e-01 -1.32839419e-02 9.11841807e+02] [ 8.25608710e-01 5.63894942e-01 -1.98179541e-02 7.48905257e+01] [ 2.38573358e-02 2.04805345e-04 9.99715352e-01 8.62886811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.86, Y:74.91, Z:8.63 [[ 5.62891901e-01 -8.26426366e-01 -1.31213648e-02 9.11857391e+02] [ 8.26194333e-01 5.63044784e-01 -1.95830621e-02 7.49122131e+01] [ 2.35718748e-02 1.82349796e-04 9.99722128e-01 8.62876079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4892541539999 meters Centerline goodness [0,1] 0.999848792500108 Centerline is valid? [True, True] Translation: X:911.88, Y:74.93, Z:8.63 [[ 5.61192446e-01 -8.27572169e-01 -1.36873741e-02 9.11875730e+02] [ 8.27319770e-01 5.61359318e-01 -2.04380619e-02 7.49338263e+01] [ 2.45975062e-02 1.45850737e-04 9.99697425e-01 8.62924605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5192541539999 meters Centerline goodness [0,1] 0.9997845245534271 Centerline is valid? [True, True] Translation: X:911.89, Y:74.96, Z:8.63 [[ 5.61325054e-01 -8.27483231e-01 -1.36266626e-02 9.11891855e+02] [ 8.27232730e-01 5.61490408e-01 -2.03600778e-02 7.49568877e+01] [ 2.44988633e-02 1.56200432e-04 9.99699846e-01 8.62935167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5492541539999 meters Centerline goodness [0,1] 0.999935200984945 Centerline is valid? [True, True] Translation: X:911.91, Y:74.98, Z:8.63 [[ 5.61920024e-01 -8.27079752e-01 -1.36003553e-02 9.11907384e+02] [ 8.26829791e-01 5.62084558e-01 -2.03333724e-02 7.49798169e+01] [ 2.44618703e-02 1.80550170e-04 9.99700747e-01 8.62930538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5792541539998 meters Centerline goodness [0,1] 0.9998920785668034 Centerline is valid? [True, True] Translation: X:911.92, Y:75.00, Z:8.63 [[ 5.64123084e-01 -8.25569812e-01 -1.41290957e-02 9.11922348e+02] [ 8.25299305e-01 5.64299936e-01 -2.11338653e-02 7.50028321e+01] [ 2.54205289e-02 2.61368417e-04 9.99676812e-01 8.62836277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6092541539998 meters Centerline goodness [0,1] 0.9999350691513538 Centerline is valid? [True, True] Translation: X:911.94, Y:75.03, Z:8.63 [[ 5.65601852e-01 -8.24556921e-01 -1.41573447e-02 9.11937887e+02] [ 8.24284754e-01 5.65778920e-01 -2.11862734e-02 7.50270319e+01] [ 2.54792156e-02 3.13312058e-04 9.99675303e-01 8.62879730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6392541539999 meters Centerline goodness [0,1] 0.9999567183881928 Centerline is valid? [True, True] Translation: X:911.95, Y:75.05, Z:8.63 [[ 5.68452869e-01 -8.22592051e-01 -1.42707036e-02 9.11952330e+02] [ 8.22314588e-01 5.68631821e-01 -2.13674895e-02 7.50525926e+01] [ 2.56915032e-02 4.11402893e-04 9.99669834e-01 8.62792860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.97, Y:75.08, Z:8.63 [[ 5.69573198e-01 -8.21820746e-01 -1.40368526e-02 9.11968328e+02] [ 8.21551781e-01 5.69745964e-01 -2.10287333e-02 7.50771386e+01] [ 2.52792894e-02 4.45401659e-04 9.99680328e-01 8.62834035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.98, Y:75.10, Z:8.63 [[ 5.70147444e-01 -8.21418181e-01 -1.42850782e-02 9.11984432e+02] [ 8.21139311e-01 5.70326174e-01 -2.14076219e-02 7.51005134e+01] [ 2.57317638e-02 4.75461623e-04 9.99668770e-01 8.62899193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7292541539998 meters Centerline goodness [0,1] 0.9996751699943696 Centerline is valid? [True, True] Translation: X:912.00, Y:75.12, Z:8.63 [[ 5.69921712e-01 -8.21579851e-01 -1.39925093e-02 9.12002007e+02] [ 8.21312090e-01 5.70093267e-01 -2.09789753e-02 7.51225245e+01] [ 2.52129388e-02 4.64156476e-04 9.99681996e-01 8.62991505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.02, Y:75.15, Z:8.63 [[ 5.69430409e-01 -8.21923603e-01 -1.38058322e-02 9.12018783e+02] [ 8.21662719e-01 5.69597567e-01 -2.07120065e-02 7.51452057e+01] [ 2.48874554e-02 4.50308658e-04 9.99690158e-01 8.63072525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7892541539999 meters Centerline goodness [0,1] 0.9999136684436579 Centerline is valid? [True, True] Translation: X:912.04, Y:75.17, Z:8.63 [[ 5.66799721e-01 -8.23742089e-01 -1.36765525e-02 9.12036610e+02] [ 8.23486376e-01 5.66964578e-01 -2.05269557e-02 7.51663631e+01] [ 2.46630382e-02 3.72218121e-04 9.99695752e-01 8.63084877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8192541539999 meters Centerline goodness [0,1] 0.9999566715050153 Centerline is valid? [True, True] Translation: X:912.05, Y:75.19, Z:8.63 [[ 5.65751208e-01 -8.24470281e-01 -1.32033019e-02 9.12053168e+02] [ 8.24231933e-01 5.65905155e-01 -1.98261629e-02 7.51887156e+01] [ 2.38178987e-02 3.34092575e-04 9.99716258e-01 8.63179915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8492541539998 meters Centerline goodness [0,1] 0.9998914647911783 Centerline is valid? [True, True] Translation: X:912.07, Y:75.21, Z:8.63 [[ 5.62821502e-01 -8.26488081e-01 -1.22232920e-02 9.12071458e+02] [ 8.26284142e-01 5.62954170e-01 -1.83608217e-02 7.52100172e+01] [ 2.20561535e-02 2.33952878e-04 9.99756706e-01 8.63329346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8792541539999 meters Centerline goodness [0,1] 0.9999567502108427 Centerline is valid? [True, True] Translation: X:912.09, Y:75.23, Z:8.63 [[ 5.62150299e-01 -8.26948805e-01 -1.19463387e-02 9.12087991e+02] [ 8.26753946e-01 5.62277180e-01 -1.79522828e-02 7.52326545e+01] [ 2.15627724e-02 2.15198491e-04 9.99767473e-01 8.63458068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.11, Y:75.26, Z:8.64 [[ 5.61472881e-01 -8.27416465e-01 -1.14103773e-02 9.12105094e+02] [ 8.27238600e-01 5.61588778e-01 -1.71564409e-02 7.52557777e+01] [ 2.06034615e-02 1.93771775e-04 9.99787707e-01 8.63616962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.12, Y:75.28, Z:8.64 [[ 5.60113642e-01 -8.28341512e-01 -1.10926722e-02 9.12123823e+02] [ 8.28173404e-01 5.60223450e-01 -1.66883046e-02 7.52775900e+01] [ 2.00379906e-02 1.60690979e-04 9.99799206e-01 8.63810467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9692541539998 meters Centerline goodness [0,1] 0.9998700905036159 Centerline is valid? [True, True] Translation: X:912.14, Y:75.30, Z:8.64 [[ 5.59560558e-01 -8.28714390e-01 -1.11553339e-02 9.12140338e+02] [ 8.28544242e-01 5.59671721e-01 -1.67929803e-02 7.53008469e+01] [ 2.01599093e-02 1.54001771e-04 9.99796757e-01 8.63845364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9992541539999 meters Centerline goodness [0,1] 0.9999131435519945 Centerline is valid? [True, True] Translation: X:912.16, Y:75.32, Z:8.64 [[ 5.58631155e-01 -8.29333710e-01 -1.16974113e-02 9.12155399e+02] [ 8.29146530e-01 5.58753592e-01 -1.76197301e-02 7.53229174e+01] [ 2.11486068e-02 1.44062180e-04 9.99776333e-01 8.63718391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0292541539999 meters Centerline goodness [0,1] 0.9998910604178922 Centerline is valid? [True, True] Translation: X:912.17, Y:75.35, Z:8.64 [[ 5.58406289e-01 -8.29478162e-01 -1.21817493e-02 9.12170973e+02] [ 8.29274949e-01 5.58539127e-01 -1.83603338e-02 7.53461468e+01] [ 2.20334796e-02 1.50506313e-04 9.99757222e-01 8.63650656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0592541539999 meters Centerline goodness [0,1] 0.999978283058614 Centerline is valid? [True, True] Translation: X:912.19, Y:75.37, Z:8.64 [[ 5.59254527e-01 -8.28893985e-01 -1.30051864e-02 9.12186330e+02] [ 8.28662008e-01 5.59405689e-01 -1.96099884e-02 7.53696022e+01] [ 2.35297767e-02 1.90070933e-04 9.99723118e-01 8.63570259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0892541539998 meters Centerline goodness [0,1] 0.999912909055281 Centerline is valid? [True, True] Translation: X:912.20, Y:75.39, Z:8.63 [[ 5.58564470e-01 -8.29332833e-01 -1.45871681e-02 9.12202984e+02] [ 8.29040853e-01 5.58754878e-01 -2.20056790e-02 7.53933606e+01] [ 2.64006834e-02 1.98232184e-04 9.99651422e-01 8.63391992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.22, Y:75.42, Z:8.63 [[ 5.58956332e-01 -8.29061437e-01 -1.49983938e-02 9.12219259e+02] [ 8.28752305e-01 5.59157476e-01 -2.26392241e-02 7.54168263e+01] [ 2.71557717e-02 2.24384185e-04 9.99631189e-01 8.63427085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1492541539999 meters Centerline goodness [0,1] 0.9998256510842323 Centerline is valid? [True, True] Translation: X:912.24, Y:75.44, Z:8.63 [[ 5.56919515e-01 -8.30432229e-01 -1.49320784e-02 9.12236840e+02] [ 8.30125972e-01 5.57119633e-01 -2.25518318e-02 7.54396844e+01] [ 2.70467220e-02 1.64049114e-04 9.99634157e-01 8.63494519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1792541539999 meters Centerline goodness [0,1] 0.9999781420765027 Centerline is valid? [True, True] Translation: X:912.25, Y:75.46, Z:8.64 [[ 5.57228561e-01 -8.30234083e-01 -1.44117645e-02 9.12252851e+02] [ 8.29948414e-01 5.57414870e-01 -2.17782418e-02 7.54633838e+01] [ 2.61143705e-02 1.74437247e-04 9.99658946e-01 8.63678141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.27, Y:75.49, Z:8.64 [[ 5.56801323e-01 -8.30529558e-01 -1.38902853e-02 9.12269416e+02] [ 8.30263991e-01 5.56974530e-01 -2.10018606e-02 7.54876106e+01] [ 2.51792012e-02 1.61260040e-04 9.99682941e-01 8.63817747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.29, Y:75.51, Z:8.64 [[ 5.55997041e-01 -8.31077674e-01 -1.33112582e-02 9.12285217e+02] [ 8.30833664e-01 5.56156345e-01 -2.01380742e-02 7.55107682e+01] [ 2.41394446e-02 1.37268190e-04 9.99708592e-01 8.63899114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.30, Y:75.53, Z:8.64 [[ 5.53983183e-01 -8.32438422e-01 -1.22027299e-02 9.12302242e+02] [ 8.32233469e-01 5.54117557e-01 -1.84712308e-02 7.55343999e+01] [ 2.21379091e-02 7.72310158e-05 9.99754923e-01 8.64061721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2992541539999 meters Centerline goodness [0,1] 0.9998909939174606 Centerline is valid? [True, True] Translation: X:912.32, Y:75.56, Z:8.64 [[ 5.51889802e-01 -8.33835055e-01 -1.16939337e-02 9.12318569e+02] [ 8.33646935e-01 5.52013678e-01 -1.77112085e-02 7.55569674e+01] [ 2.12234379e-02 2.60233147e-05 9.99774757e-01 8.64111820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3292541539998 meters Centerline goodness [0,1] 0.999934600627834 Centerline is valid? [True, True] Translation: X:912.34, Y:75.58, Z:8.64 [[ 5.50233158e-01 -8.34940897e-01 -1.08245689e-02 9.12335946e+02] [ 8.34779735e-01 5.50339622e-01 -1.64041226e-02 7.55791503e+01] [ 1.96536620e-02 -1.00385875e-05 9.99806848e-01 8.64348535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3592541539998 meters Centerline goodness [0,1] 0.9998910176769328 Centerline is valid? [True, True] Translation: X:912.35, Y:75.60, Z:8.64 [[ 5.48269280e-01 -8.36235074e-01 -1.05687424e-02 9.12352222e+02] [ 8.36081492e-01 5.48371133e-01 -1.60261852e-02 7.56020064e+01] [ 1.91972514e-02 -4.96648834e-05 9.99815715e-01 8.64383687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3892541539999 meters Centerline goodness [0,1] 0.9999344606108271 Centerline is valid? [True, True] Translation: X:912.37, Y:75.62, Z:8.64 [[ 5.47499620e-01 -8.36741108e-01 -1.04155423e-02 9.12367743e+02] [ 8.36591854e-01 5.47598680e-01 -1.58036757e-02 7.56249101e+01] [ 1.89271224e-02 -6.10513803e-05 9.99820864e-01 8.64432900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4192541539999 meters Centerline goodness [0,1] 0.9998912026459517 Centerline is valid? [True, True] Translation: X:912.38, Y:75.65, Z:8.64 [[ 5.46726611e-01 -8.37247393e-01 -1.03351872e-02 9.12382481e+02] [ 8.37100349e-01 5.46824285e-01 -1.56909918e-02 7.56473596e+01] [ 1.87887733e-02 -7.29060426e-05 9.99823473e-01 8.64339620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4492541539998 meters Centerline goodness [0,1] 0.9999129943011267 Centerline is valid? [True, True] Translation: X:912.40, Y:75.67, Z:8.64 [[ 5.47004057e-01 -8.37061576e-01 -1.06995097e-02 9.12397215e+02] [ 8.36903759e-01 5.47108685e-01 -1.62537868e-02 7.56714038e+01] [ 1.94592151e-02 -6.35725787e-05 9.99810650e-01 8.64335827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.41, Y:75.70, Z:8.64 [[ 5.48346115e-01 -8.36176727e-01 -1.11812029e-02 9.12411474e+02] [ 8.36003979e-01 5.48460099e-01 -1.69960909e-02 7.56954331e+01] [ 2.03441794e-02 -2.77897099e-05 9.99793035e-01 8.64378574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.43, Y:75.72, Z:8.64 [[ 5.49994489e-01 -8.35079926e-01 -1.21481973e-02 9.12425299e+02] [ 8.34875491e-01 5.50128636e-01 -1.84769837e-02 7.57211247e+01] [ 2.21128294e-02 2.00070393e-05 9.99755481e-01 8.64292308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.44, Y:75.75, Z:8.64 [[ 5.50958283e-01 -8.34434146e-01 -1.28306988e-02 9.12439723e+02] [ 8.34205645e-01 5.51107660e-01 -1.95266119e-02 7.57455123e+01] [ 2.33647681e-02 5.49072113e-05 9.99727005e-01 8.64262841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.45, Y:75.77, Z:8.64 [[ 5.52078424e-01 -8.33687975e-01 -1.31823443e-02 9.12452959e+02] [ 8.33446282e-01 5.52235775e-01 -2.00734500e-02 7.57696041e+01] [ 2.40147560e-02 9.53427708e-05 9.99711600e-01 8.64129910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.47, Y:75.79, Z:8.64 [[ 5.52181020e-01 -8.33617615e-01 -1.33339042e-02 9.12467506e+02] [ 8.33370019e-01 5.52341978e-01 -2.03162540e-02 7.57931650e+01] [ 2.43008623e-02 1.06173893e-04 9.99704685e-01 8.64123144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.48, Y:75.82, Z:8.64 [[ 5.51948745e-01 -8.33771516e-01 -1.33282404e-02 9.12482567e+02] [ 8.33523875e-01 5.52109634e-01 -2.03199697e-02 7.58162765e+01] [ 2.43008619e-02 1.06175166e-04 9.99704685e-01 8.64148888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6592541539999 meters Centerline goodness [0,1] 0.9998263738171717 Centerline is valid? [True, True] Translation: X:912.50, Y:75.84, Z:8.64 [[ 5.49914352e-01 -8.35121455e-01 -1.28980986e-02 9.12497648e+02] [ 8.34889635e-01 5.50065589e-01 -1.96760160e-02 7.58398491e+01] [ 2.35266633e-02 5.16347996e-05 9.99723208e-01 8.64099740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6892541539999 meters Centerline goodness [0,1] 0.9999130302437328 Centerline is valid? [True, True] Translation: X:912.51, Y:75.86, Z:8.64 [[ 5.49154633e-01 -8.35629623e-01 -1.23419119e-02 9.12512643e+02] [ 8.35417264e-01 5.49293303e-01 -1.88377965e-02 7.58626749e+01] [ 2.25207504e-02 3.42169295e-05 9.99746375e-01 8.64221893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7192541539998 meters Centerline goodness [0,1] 0.999891709261024 Centerline is valid? [True, True] Translation: X:912.53, Y:75.89, Z:8.64 [[ 5.46717921e-01 -8.37241571e-01 -1.12279359e-02 9.12529519e+02] [ 8.37065969e-01 5.46833202e-01 -1.71468065e-02 7.58853482e+01] [ 2.04958273e-02 -2.40566354e-05 9.99789938e-01 8.64462484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7492541539999 meters Centerline goodness [0,1] 0.9999348081185623 Centerline is valid? [True, True] Translation: X:912.55, Y:75.91, Z:8.65 [[ 5.45632401e-01 -8.37956250e-01 -1.07054137e-02 9.12545739e+02] [ 8.37796557e-01 5.45737410e-01 -1.63587235e-02 7.59083160e+01] [ 1.95502394e-02 -4.31091416e-05 9.99808875e-01 8.64670887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.56, Y:75.93, Z:8.65 [[ 5.43920013e-01 -8.39075096e-01 -1.01981854e-02 9.12561613e+02] [ 8.38930205e-01 5.44015605e-01 -1.55927068e-02 7.59300220e+01] [ 1.86314240e-02 -7.43804832e-05 9.99826417e-01 8.64819251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.58, Y:75.95, Z:8.65 [[ 5.43686074e-01 -8.39226749e-01 -1.01940028e-02 9.12576638e+02] [ 8.39081834e-01 5.43781628e-01 -1.55954412e-02 7.59531565e+01] [ 1.86314229e-02 -7.45783509e-05 9.99826417e-01 8.64845000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8392541539998 meters Centerline goodness [0,1] 0.9999783146116147 Centerline is valid? [True, True] Translation: X:912.59, Y:75.98, Z:8.65 [[ 5.42231405e-01 -8.40166263e-01 -1.02836221e-02 9.12591163e+02] [ 8.40018773e-01 5.42328903e-01 -1.57423396e-02 7.59768950e+01] [ 1.88032881e-02 -1.02444668e-04 9.99823197e-01 8.64889926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8692541539999 meters Centerline goodness [0,1] 0.9997623882144554 Centerline is valid? [True, True] Translation: X:912.61, Y:76.00, Z:8.65 [[ 5.41383718e-01 -8.40707992e-01 -1.06649846e-02 9.12605810e+02] [ 8.40549270e-01 5.41488742e-01 -1.63360631e-02 7.59995560e+01] [ 1.95088279e-02 -1.20366437e-04 9.99809677e-01 8.64579049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8992541539999 meters Centerline goodness [0,1] 0.9998698904911634 Centerline is valid? [True, True] Translation: X:912.62, Y:76.02, Z:8.65 [[ 5.41479400e-01 -8.40641070e-01 -1.10747584e-02 9.12619224e+02] [ 8.40469694e-01 5.41592630e-01 -1.69739980e-02 7.60239975e+01] [ 2.02670474e-02 -1.16928589e-04 9.99794595e-01 8.64643677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9292541539999 meters Centerline goodness [0,1] 0.9998051399744516 Centerline is valid? [True, True] Translation: X:912.63, Y:76.05, Z:8.65 [[ 5.41383674e-01 -8.40699434e-01 -1.13215906e-02 9.12633597e+02] [ 8.40520119e-01 5.41502029e-01 -1.73632309e-02 7.60478097e+01] [ 2.07279227e-02 -1.15854991e-04 9.99785147e-01 8.64613425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.65, Y:76.07, Z:8.65 [[ 5.42409182e-01 -8.40034967e-01 -1.15556424e-02 9.12647024e+02] [ 8.39847787e-01 5.42532254e-01 -1.77327147e-02 7.60713881e+01] [ 2.11654091e-02 -8.65934237e-05 9.99775984e-01 8.64797703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9892541539999 meters Centerline goodness [0,1] 0.9997840872287596 Centerline is valid? [True, True] Translation: X:912.66, Y:76.10, Z:8.65 [[ 5.41477260e-01 -8.40635382e-01 -1.15987507e-02 9.12661760e+02] [ 8.40446713e-01 5.41601462e-01 -1.78095250e-02 7.60951275e+01] [ 2.12532172e-02 -1.04679077e-04 9.99774119e-01 8.64586349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0192541539999 meters Centerline goodness [0,1] 0.9999134405228193 Centerline is valid? [True, True] Translation: X:912.68, Y:76.12, Z:8.65 [[ 5.41453778e-01 -8.40649746e-01 -1.16537893e-02 9.12676797e+02] [ 8.40459045e-01 5.41579168e-01 -1.79052813e-02 7.61190888e+01] [ 2.13635197e-02 -9.96504160e-05 9.99771769e-01 8.64777238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0492541539999 meters Centerline goodness [0,1] 0.9998059926708343 Centerline is valid? [True, True] Translation: X:912.69, Y:76.14, Z:8.65 [[ 5.41007921e-01 -8.40937373e-01 -1.16087783e-02 9.12691555e+02] [ 8.40747972e-01 5.41132445e-01 -1.78472446e-02 7.61432311e+01] [ 2.12903016e-02 -1.04556106e-04 9.99773330e-01 8.64666281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0792541539998 meters Centerline goodness [0,1] 0.9999784603454961 Centerline is valid? [True, True] Translation: X:912.70, Y:76.17, Z:8.65 [[ 5.41531949e-01 -8.40605847e-01 -1.11784429e-02 9.12704760e+02] [ 8.40429961e-01 5.41647305e-01 -1.71952854e-02 7.61671199e+01] [ 2.05092309e-02 -8.29019016e-05 9.99789660e-01 8.64899822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.72, Y:76.19, Z:8.65 [[ 5.41624881e-01 -8.40545140e-01 -1.12408043e-02 9.12719129e+02] [ 8.40367065e-01 5.41741508e-01 -1.73012629e-02 7.61909597e+01] [ 2.06321028e-02 -7.56072678e-05 9.99787133e-01 8.65019475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1392541539999 meters Centerline goodness [0,1] 0.9998702337954452 Centerline is valid? [True, True] Translation: X:912.73, Y:76.21, Z:8.65 [[ 5.40943612e-01 -8.40982974e-01 -1.12980970e-02 9.12733079e+02] [ 8.40802961e-01 5.41061577e-01 -1.73997298e-02 7.62141531e+01] [ 2.07458427e-02 -8.72007278e-05 9.99784778e-01 8.64805670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1692541539999 meters Centerline goodness [0,1] 0.9997837931332699 Centerline is valid? [True, True] Translation: X:912.75, Y:76.24, Z:8.65 [[ 5.40762059e-01 -8.41102620e-01 -1.10805489e-02 9.12746750e+02] [ 8.40929308e-01 5.40875564e-01 -1.70740552e-02 7.62381231e+01] [ 2.03542307e-02 -8.49570838e-05 9.99792828e-01 8.64787453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1992541539998 meters Centerline goodness [0,1] 0.9997405180988626 Centerline is valid? [True, True] Translation: X:912.76, Y:76.26, Z:8.65 [[ 5.40493905e-01 -8.41272224e-01 -1.12864061e-02 9.12761475e+02] [ 8.41092236e-01 5.40611725e-01 -1.74015304e-02 7.62625325e+01] [ 2.07409876e-02 -8.74874069e-05 9.99784879e-01 8.64787126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2292541539998 meters Centerline goodness [0,1] 0.9998274746603407 Centerline is valid? [True, True] Translation: X:912.77, Y:76.29, Z:8.65 [[ 5.40537606e-01 -8.41249748e-01 -1.08608814e-02 9.12774697e+02] [ 8.41082867e-01 5.40646702e-01 -1.67557349e-02 7.62868962e+01] [ 1.99676575e-02 -7.77964984e-05 9.99800623e-01 8.64964539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.79, Y:76.31, Z:8.65 [[ 5.41303017e-01 -8.40760745e-01 -1.06024876e-02 9.12788265e+02] [ 8.40601432e-01 5.41406840e-01 -1.63666342e-02 7.63100321e+01] [ 1.95006828e-02 -5.31577587e-05 9.99809842e-01 8.65260980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2892541539999 meters Centerline goodness [0,1] 0.999892445362244 Centerline is valid? [True, True] Translation: X:912.80, Y:76.33, Z:8.65 [[ 5.40824417e-01 -8.41068023e-01 -1.06550757e-02 9.12802002e+02] [ 8.40906994e-01 5.40929364e-01 -1.64575211e-02 7.63341515e+01] [ 1.96055381e-02 -5.92984693e-05 9.99807791e-01 8.65117499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3192541539999 meters Centerline goodness [0,1] 0.9998927889872847 Centerline is valid? [True, True] Translation: X:912.81, Y:76.36, Z:8.65 [[ 5.41463711e-01 -8.40658635e-01 -1.04933045e-02 9.12813774e+02] [ 8.40502189e-01 5.41565378e-01 -1.62176161e-02 7.63596615e+01] [ 1.93162895e-02 -3.83947910e-05 9.99813422e-01 8.65223418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3492541539998 meters Centerline goodness [0,1] 0.9999355960584788 Centerline is valid? [True, True] Translation: X:912.83, Y:76.38, Z:8.65 [[ 5.41966191e-01 -8.40340032e-01 -1.00637490e-02 9.12827221e+02] [ 8.40195905e-01 5.42059619e-01 -1.55631526e-02 7.63844662e+01] [ 1.85334921e-02 -2.08182141e-05 9.99828240e-01 8.65325595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3792541539999 meters Centerline goodness [0,1] 0.9998923944389446 Centerline is valid? [True, True] Translation: X:912.84, Y:76.41, Z:8.65 [[ 5.41721112e-01 -8.40497715e-01 -1.00909849e-02 9.12840797e+02] [ 8.40352653e-01 5.41815089e-01 -1.56149585e-02 7.64090776e+01] [ 1.85917849e-02 -2.10332553e-05 9.99827158e-01 8.65275700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4092541539999 meters Centerline goodness [0,1] 0.9999138784825389 Centerline is valid? [True, True] Translation: X:912.85, Y:76.43, Z:8.65 [[ 5.41719798e-01 -8.40498519e-01 -1.00946011e-02 9.12853480e+02] [ 8.40353171e-01 5.41813843e-01 -1.56303738e-02 7.64337204e+01] [ 1.86067006e-02 -1.57470861e-05 9.99826880e-01 8.65466026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4392541539999 meters Centerline goodness [0,1] 0.9997858030244613 Centerline is valid? [True, True] Translation: X:912.87, Y:76.46, Z:8.65 [[ 5.41053030e-01 -8.40923012e-01 -1.04931887e-02 9.12867154e+02] [ 8.40765877e-01 5.41154772e-01 -1.62558320e-02 7.64574020e+01] [ 1.93483423e-02 -2.70479029e-05 9.99812803e-01 8.65309414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4692541539998 meters Centerline goodness [0,1] 0.9998288696842645 Centerline is valid? [True, True] Translation: X:912.88, Y:76.48, Z:8.65 [[ 5.40040911e-01 -8.41577667e-01 -1.01412361e-02 9.12879799e+02] [ 8.41430869e-01 5.40136120e-01 -1.57182823e-02 7.64823298e+01] [ 1.87058033e-02 -4.46335381e-05 9.99825030e-01 8.65446086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4992541539999 meters Centerline goodness [0,1] 0.9998930549911236 Centerline is valid? [True, True] Translation: X:912.89, Y:76.51, Z:8.65 [[ 5.39488059e-01 -8.41934339e-01 -9.96008167e-03 9.12893402e+02] [ 8.41792633e-01 5.39579990e-01 -1.54465693e-02 7.65060509e+01] [ 1.83792579e-02 -5.10836857e-05 9.99831086e-01 8.65464269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5292541539999 meters Centerline goodness [0,1] 0.9998075483801989 Centerline is valid? [True, True] Translation: X:912.91, Y:76.53, Z:8.66 [[ 5.38707772e-01 -8.42428910e-01 -1.03666808e-02 9.12907029e+02] [ 8.42275314e-01 5.38807505e-01 -1.60862918e-02 7.65312449e+01] [ 1.91372027e-02 -6.57889268e-05 9.99816865e-01 8.65534365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5592541539999 meters Centerline goodness [0,1] 0.999872201750836 Centerline is valid? [True, True] Translation: X:912.92, Y:76.56, Z:8.66 [[ 5.38554807e-01 -8.42531300e-01 -9.98639229e-03 9.12921127e+02] [ 8.42388618e-01 5.38647384e-01 -1.55052152e-02 7.65560993e+01] [ 1.84427732e-02 -6.20149933e-05 9.99829916e-01 8.65648475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.93, Y:76.58, Z:8.66 [[ 5.39297208e-01 -8.42057699e-01 -9.86678171e-03 9.12933179e+02] [ 8.41918161e-01 5.39387458e-01 -1.53290965e-02 7.65813778e+01] [ 1.82300020e-02 -4.00837617e-05 9.99833819e-01 8.65931502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.95, Y:76.61, Z:8.66 [[ 5.39841539e-01 -8.41705898e-01 -1.01140622e-02 9.12945812e+02] [ 8.41559037e-01 5.39936275e-01 -1.57227951e-02 7.66050987e+01] [ 1.86949185e-02 -2.37625472e-05 9.99825234e-01 8.65909025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.96, Y:76.63, Z:8.66 [[ 5.41451470e-01 -8.40667285e-01 -1.04317803e-02 9.12956359e+02] [ 8.40510669e-01 5.41551951e-01 -1.62265341e-02 7.66319487e+01] [ 1.92904674e-02 1.78581290e-05 9.99813921e-01 8.65934259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.97, Y:76.66, Z:8.66 [[ 5.42368014e-01 -8.40074926e-01 -1.05383606e-02 9.12968543e+02] [ 8.39914777e-01 5.42470384e-01 -1.64027425e-02 7.66575275e+01] [ 1.94962813e-02 4.49980674e-05 9.99809928e-01 8.65957945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7092541539998 meters Centerline goodness [0,1] 0.999957796113022 Centerline is valid? [True, True] Translation: X:912.98, Y:76.68, Z:8.66 [[ 5.43431734e-01 -8.39382012e-01 -1.09448082e-02 9.12980009e+02] [ 8.39208962e-01 5.43541933e-01 -1.70436115e-02 7.66830128e+01] [ 2.02550631e-02 7.70581806e-05 9.99794842e-01 8.65776964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.99, Y:76.71, Z:8.66 [[ 5.46791921e-01 -8.37190029e-01 -1.14651539e-02 9.12989038e+02] [ 8.36999522e-01 5.46912083e-01 -1.78598208e-02 7.67108377e+01] [ 2.12224951e-02 1.69277381e-04 9.99774763e-01 8.65749455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7692541539999 meters Centerline goodness [0,1] 0.999894336432798 Centerline is valid? [True, True] Translation: X:913.00, Y:76.74, Z:8.66 [[ 5.47761653e-01 -8.36549081e-01 -1.19501796e-02 9.13002305e+02] [ 8.36341770e-01 5.47891953e-01 -1.86239613e-02 7.67368828e+01] [ 2.21272650e-02 2.07057448e-04 9.99755141e-01 8.65622286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7992541539999 meters Centerline goodness [0,1] 0.9999366620922622 Centerline is valid? [True, True] Translation: X:913.01, Y:76.76, Z:8.66 [[ 5.49309724e-01 -8.35535071e-01 -1.18310446e-02 9.13014762e+02] [ 8.35331476e-01 5.49437061e-01 -1.84456170e-02 7.67618742e+01] [ 2.19123743e-02 2.49512796e-04 9.99759864e-01 8.65682547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.03, Y:76.79, Z:8.66 [[ 5.51531041e-01 -8.34067770e-01 -1.20194157e-02 9.13025807e+02] [ 8.33857164e-01 5.51661903e-01 -1.87450071e-02 7.67876353e+01] [ 2.22652600e-02 3.15977403e-04 9.99752048e-01 8.65862017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.04, Y:76.81, Z:8.66 [[ 5.52020588e-01 -8.33745374e-01 -1.19131246e-02 9.13040908e+02] [ 8.33538214e-01 5.52149022e-01 -1.85877173e-02 7.68124814e+01] [ 2.20752434e-02 3.30758074e-04 9.99756257e-01 8.66069457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.05, Y:76.84, Z:8.66 [[ 5.52388639e-01 -8.33507595e-01 -1.14839043e-02 9.13053858e+02] [ 8.33314816e-01 5.52507898e-01 -1.79287331e-02 7.68374196e+01] [ 2.12886830e-02 3.33920854e-04 9.99773315e-01 8.66172898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.07, Y:76.86, Z:8.66 [[ 5.52151075e-01 -8.33666216e-01 -1.13943030e-02 9.13068041e+02] [ 8.33476228e-01 5.52268530e-01 -1.78002312e-02 7.68611903e+01] [ 2.11321664e-02 3.31536101e-04 9.99776636e-01 8.66231394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9492541539998 meters Centerline goodness [0,1] 0.9998530831549343 Centerline is valid? [True, True] Translation: X:913.08, Y:76.89, Z:8.66 [[ 5.51668932e-01 -8.33978829e-01 -1.18618250e-02 9.13081477e+02] [ 8.33772797e-01 5.51796339e-01 -1.85397660e-02 7.68850168e+01] [ 2.20070839e-02 3.37745866e-04 9.99757758e-01 8.65978597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9792541539998 meters Centerline goodness [0,1] 0.9998535932401907 Centerline is valid? [True, True] Translation: X:913.09, Y:76.91, Z:8.66 [[ 5.51678749e-01 -8.33974644e-01 -1.16983496e-02 9.13093778e+02] [ 8.33774112e-01 5.51802664e-01 -1.82907103e-02 7.69086891e+01] [ 2.17091691e-02 3.36815089e-04 9.99764271e-01 8.65977614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0092541539999 meters Centerline goodness [0,1] 0.9999790052696773 Centerline is valid? [True, True] Translation: X:913.11, Y:76.93, Z:8.66 [[ 5.52127169e-01 -8.33685194e-01 -1.11618688e-02 9.13109721e+02] [ 8.33502395e-01 5.52239880e-01 -1.74605950e-02 7.69320845e+01] [ 2.07206686e-02 3.37024500e-04 9.99785247e-01 8.66268436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0392541539999 meters Centerline goodness [0,1] 0.9998325589183306 Centerline is valid? [True, True] Translation: X:913.12, Y:76.96, Z:8.66 [[ 5.52229601e-01 -8.33610507e-01 -1.16614966e-02 9.13123297e+02] [ 8.33410783e-01 5.52352599e-01 -1.82503139e-02 7.69560852e+01] [ 2.16549114e-02 3.59546513e-04 9.99765440e-01 8.66029215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0692541539999 meters Centerline goodness [0,1] 0.9998738303017559 Centerline is valid? [True, True] Translation: X:913.14, Y:76.98, Z:8.66 [[ 5.52832638e-01 -8.33212552e-01 -1.15289938e-02 9.13138166e+02] [ 8.33017089e-01 5.52952713e-01 -1.80506683e-02 7.69812010e+01] [ 2.14150318e-02 3.75149673e-04 9.99770602e-01 8.66118094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.15, Y:77.01, Z:8.66 [[ 5.54491667e-01 -8.32118351e-01 -1.08646787e-02 9.13150317e+02] [ 8.31944416e-01 5.54597955e-01 -1.70175169e-02 7.70062885e+01] [ 2.01861167e-02 3.97262544e-04 9.99796161e-01 8.66274326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.17, Y:77.03, Z:8.66 [[ 5.55058845e-01 -8.31737116e-01 -1.10927726e-02 9.13166419e+02] [ 8.31555566e-01 5.55169515e-01 -1.73824772e-02 7.70305188e+01] [ 2.06160206e-02 4.24040887e-04 9.99787377e-01 8.66338342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1592541539999 meters Centerline goodness [0,1] 0.9998534706522649 Centerline is valid? [True, True] Translation: X:913.18, Y:77.06, Z:8.66 [[ 5.56016643e-01 -8.31084346e-01 -1.20126060e-02 9.13181698e+02] [ 8.30871045e-01 5.56146175e-01 -1.88345133e-02 7.70551205e+01] [ 2.23338341e-02 4.91376348e-04 9.99750448e-01 8.66093048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.20, Y:77.08, Z:8.66 [[ 5.56932641e-01 -8.30479244e-01 -1.14130939e-02 9.13196834e+02] [ 8.30286373e-01 5.57049351e-01 -1.79041618e-02 7.70794019e+01] [ 2.12266913e-02 4.95275728e-04 9.99774566e-01 8.66351718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.21, Y:77.10, Z:8.66 [[ 5.57527006e-01 -8.30072568e-01 -1.19653650e-02 9.13211726e+02] [ 8.29860250e-01 5.57655126e-01 -1.87810236e-02 7.71040982e+01] [ 2.22621596e-02 5.41347058e-04 9.99752021e-01 8.66303577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2492541539999 meters Centerline goodness [0,1] 0.9999156491849602 Centerline is valid? [True, True] Translation: X:913.23, Y:77.13, Z:8.66 [[ 5.58858740e-01 -8.29165030e-01 -1.27381922e-02 9.13226288e+02] [ 8.28923994e-01 5.59003551e-01 -2.00010647e-02 7.71283645e+01] [ 2.37048781e-02 6.18776655e-04 9.99718808e-01 8.66055412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2792541539999 meters Centerline goodness [0,1] 0.9999577390385631 Centerline is valid? [True, True] Translation: X:913.24, Y:77.15, Z:8.66 [[ 5.59483130e-01 -8.28745440e-01 -1.26341997e-02 9.13240429e+02] [ 8.28508125e-01 5.59625406e-01 -1.98416838e-02 7.71528232e+01] [ 2.35141241e-02 6.33550296e-04 9.99723304e-01 8.66074630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3092541539999 meters Centerline goodness [0,1] 0.9999790057104467 Centerline is valid? [True, True] Translation: X:913.25, Y:77.18, Z:8.66 [[ 5.60058525e-01 -8.28357907e-01 -1.25549459e-02 9.13254871e+02] [ 8.28123350e-01 5.60198856e-01 -1.97220652e-02 7.71765080e+01] [ 2.33701950e-02 6.48466895e-04 9.99726669e-01 8.66093301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3392541539998 meters Centerline goodness [0,1] 0.9999789482548104 Centerline is valid? [True, True] Translation: X:913.27, Y:77.20, Z:8.66 [[ 5.59936380e-01 -8.28443435e-01 -1.23581864e-02 9.13271682e+02] [ 8.28215978e-01 5.60072375e-01 -1.94223798e-02 7.71986947e+01] [ 2.30118218e-02 6.40049631e-04 9.99734988e-01 8.66207625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.29, Y:77.22, Z:8.66 [[ 5.59327904e-01 -8.28864203e-01 -1.16802968e-02 9.13288562e+02] [ 8.28660882e-01 5.59449533e-01 -1.83674174e-02 7.72221469e+01] [ 2.17586314e-02 5.94404049e-04 9.99763076e-01 8.66348623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3992541539999 meters Centerline goodness [0,1] 0.9998101426039997 Centerline is valid? [True, True] Translation: X:913.31, Y:77.24, Z:8.66 [[ 5.56980723e-01 -8.30444185e-01 -1.16159383e-02 9.13306208e+02] [ 8.30243303e-01 5.57101581e-01 -1.82725349e-02 7.72441154e+01] [ 2.16455779e-02 5.33394773e-04 9.99765565e-01 8.66143329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.32, Y:77.27, Z:8.67 [[ 5.56345646e-01 -8.30882561e-01 -1.06626645e-02 9.13323577e+02] [ 8.30713258e-01 5.56447610e-01 -1.67791812e-02 7.72671075e+01] [ 1.98747433e-02 4.77407666e-04 9.99802364e-01 8.66570668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4592541539998 meters Centerline goodness [0,1] 0.9999364150823424 Centerline is valid? [True, True] Translation: X:913.34, Y:77.29, Z:8.67 [[ 5.53559936e-01 -8.32745917e-01 -1.02778808e-02 9.13343992e+02] [ 8.32588765e-01 5.53655197e-01 -1.61824196e-02 7.72883332e+01] [ 1.91662459e-02 4.00691094e-04 9.99816230e-01 8.66608755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4892541539999 meters Centerline goodness [0,1] 0.9999151031496731 Centerline is valid? [True, True] Translation: X:913.36, Y:77.31, Z:8.67 [[ 5.52518426e-01 -8.33434828e-01 -1.04774326e-02 9.13360119e+02] [ 8.33271516e-01 5.52617623e-01 -1.65028249e-02 7.73112622e+01] [ 1.95440430e-02 3.87568706e-04 9.99808922e-01 8.66577369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5192541539999 meters Centerline goodness [0,1] 0.9999151031496731 Centerline is valid? [True, True] Translation: X:913.37, Y:77.33, Z:8.67 [[ 5.52283548e-01 -8.33590530e-01 -1.04743018e-02 9.13374825e+02] [ 8.33427208e-01 5.52382729e-01 -1.65048120e-02 7.73345848e+01] [ 1.95440784e-02 3.85768073e-04 9.99808922e-01 8.66603169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.39, Y:77.36, Z:8.67 [[ 5.51599641e-01 -8.34047214e-01 -1.01528909e-02 9.13393436e+02] [ 8.33893663e-01 5.51692952e-01 -1.60076672e-02 7.73574229e+01] [ 1.89524286e-02 3.63392117e-04 9.99820321e-01 8.66853109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5792541539998 meters Centerline goodness [0,1] 0.9999788400093104 Centerline is valid? [True, True] Translation: X:913.41, Y:77.38, Z:8.67 [[ 5.50681176e-01 -8.34647896e-01 -1.06364091e-02 9.13407746e+02] [ 8.34479321e-01 5.50783767e-01 -1.67781166e-02 7.73807139e+01] [ 1.98621812e-02 3.63529549e-04 9.99802661e-01 8.66650601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6092541539998 meters Centerline goodness [0,1] 0.9998513800424629 Centerline is valid? [True, True] Translation: X:913.43, Y:77.40, Z:8.66 [[ 5.48833973e-01 -8.35852583e-01 -1.14773504e-02 9.13427904e+02] [ 8.35656365e-01 5.48953857e-01 -1.81136243e-02 7.74020300e+01] [ 2.14408554e-02 3.50251465e-04 9.99770057e-01 8.66465799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.45, Y:77.43, Z:8.67 [[ 5.48646733e-01 -8.35983343e-01 -1.08909501e-02 9.13445281e+02] [ 8.35806509e-01 5.48754718e-01 -1.71970726e-02 7.74258041e+01] [ 2.03529265e-02 3.32390743e-04 9.99792802e-01 8.66751389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.46, Y:77.45, Z:8.67 [[ 5.47220087e-01 -8.36915709e-01 -1.10576772e-02 9.13462755e+02] [ 8.36733426e-01 5.47331710e-01 -1.74692167e-02 7.74469419e+01] [ 2.06724793e-02 3.07178138e-04 9.99786254e-01 8.66719943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.48, Y:77.47, Z:8.67 [[ 5.46251454e-01 -8.37547706e-01 -1.10990213e-02 9.13480293e+02] [ 8.37363991e-01 5.46364124e-01 -1.75439440e-02 7.74694065e+01] [ 2.07579971e-02 2.89484107e-04 9.99784488e-01 8.66817586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7292541539998 meters Centerline goodness [0,1] 0.9998935309399088 Centerline is valid? [True, True] Translation: X:913.50, Y:77.49, Z:8.67 [[ 5.45368314e-01 -8.38125243e-01 -1.09306326e-02 9.13497857e+02] [ 8.37946978e-01 5.45477776e-01 -1.72874830e-02 7.74920318e+01] [ 2.04514931e-02 2.68754936e-04 9.99790810e-01 8.66906896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.52, Y:77.51, Z:8.67 [[ 5.43526738e-01 -8.39329494e-01 -1.02316105e-02 9.13517048e+02] [ 8.39173345e-01 5.43622990e-01 -1.61907913e-02 7.75142495e+01] [ 1.91515474e-02 2.14033121e-04 9.99816569e-01 8.67055150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.53, Y:77.54, Z:8.67 [[ 5.42634935e-01 -8.39905747e-01 -1.02792680e-02 9.13533791e+02] [ 8.39748054e-01 5.42732251e-01 -1.62760380e-02 7.75373396e+01] [ 1.92492281e-02 1.99951566e-04 9.99814696e-01 8.67116184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.55, Y:77.56, Z:8.67 [[ 5.41834678e-01 -8.40424682e-01 -1.00764789e-02 9.13550855e+02] [ 8.40273053e-01 5.41928335e-01 -1.59648340e-02 7.75603283e+01] [ 1.88779699e-02 1.83307020e-04 9.99821778e-01 8.67218513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.57, Y:77.58, Z:8.67 [[ 5.40914926e-01 -8.41017711e-01 -1.00126121e-02 9.13567695e+02] [ 8.40867962e-01 5.41007562e-01 -1.58709997e-02 7.75815593e+01] [ 1.87646907e-02 1.65575864e-04 9.99823914e-01 8.67239612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8792541539999 meters Centerline goodness [0,1] 0.9999149822525453 Centerline is valid? [True, True] Translation: X:913.58, Y:77.60, Z:8.67 [[ 5.40486746e-01 -8.41293900e-01 -9.93232688e-03 9.13582642e+02] [ 8.41146492e-01 5.40577977e-01 -1.57489696e-02 7.76038549e+01] [ 1.86187092e-02 1.57567394e-04 9.99826644e-01 8.67227038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.60, Y:77.63, Z:8.67 [[ 5.40494997e-01 -8.41290876e-01 -9.73754104e-03 9.13599331e+02] [ 8.41149056e-01 5.40582682e-01 -1.54476466e-02 7.76262000e+01] [ 1.82599102e-02 1.58652253e-04 9.99833261e-01 8.67358323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.62, Y:77.65, Z:8.67 [[ 5.40571678e-01 -8.41240678e-01 -9.81745778e-03 9.13615107e+02] [ 8.41096325e-01 5.40660794e-01 -1.55845271e-02 7.76497357e+01] [ 1.84182527e-02 1.67126332e-04 9.99830356e-01 8.67408429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9692541539998 meters Centerline goodness [0,1] 0.9999571596872657 Centerline is valid? [True, True] Translation: X:913.63, Y:77.67, Z:8.67 [[ 5.40935536e-01 -8.41005551e-01 -9.92018845e-03 9.13628244e+02] [ 8.40857970e-01 5.41026461e-01 -1.57557167e-02 7.76731490e+01] [ 1.86177296e-02 1.81357519e-04 9.99826659e-01 8.67209790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.64, Y:77.70, Z:8.67 [[ 5.41733443e-01 -8.40490287e-01 -1.00475572e-02 9.13642645e+02] [ 8.40338666e-01 5.41826573e-01 -1.59653083e-02 7.76965547e+01] [ 1.88627201e-02 2.05590621e-04 9.99822062e-01 8.67261537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.66, Y:77.72, Z:8.67 [[ 5.43412217e-01 -8.39397065e-01 -1.07577711e-02 9.13659470e+02] [ 8.39222839e-01 5.43518626e-01 -1.71035245e-02 7.77199539e+01] [ 2.02036972e-02 2.66096997e-04 9.99795849e-01 8.67378532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0592541539999 meters Centerline goodness [0,1] 0.9998503538063578 Centerline is valid? [True, True] Translation: X:913.67, Y:77.74, Z:8.67 [[ 5.43818640e-01 -8.39123203e-01 -1.15558527e-02 9.13674258e+02] [ 8.38921871e-01 5.43941320e-01 -1.83830236e-02 7.77446259e+01] [ 2.17113274e-02 3.02573311e-04 9.99764236e-01 8.67124861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0892541539998 meters Centerline goodness [0,1] 0.9998503729987389 Centerline is valid? [True, True] Translation: X:913.69, Y:77.77, Z:8.67 [[ 5.46619586e-01 -8.37299401e-01 -1.16936235e-02 9.13687776e+02] [ 8.37092622e-01 5.46744515e-01 -1.86112111e-02 7.77692253e+01] [ 2.19765804e-02 3.84606566e-04 9.99758412e-01 8.67094223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.70, Y:77.79, Z:8.67 [[ 5.48188046e-01 -8.36285068e-01 -1.08236300e-02 9.13703116e+02] [ 8.36107549e-01 5.48294744e-01 -1.72348612e-02 7.77934455e+01] [ 2.03477965e-02 3.98226129e-04 9.99792883e-01 8.67408839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.72, Y:77.82, Z:8.67 [[ 5.49423880e-01 -8.35472217e-01 -1.09350188e-02 9.13718377e+02] [ 8.35290661e-01 5.49532513e-01 -1.74220668e-02 7.78176444e+01] [ 2.05648012e-02 4.38180448e-04 9.99788426e-01 8.67480672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1792541539999 meters Centerline goodness [0,1] 0.9999140801202878 Centerline is valid? [True, True] Translation: X:913.73, Y:77.84, Z:8.67 [[ 5.51389903e-01 -8.34170518e-01 -1.13455450e-02 9.13732079e+02] [ 8.33974597e-01 5.51506379e-01 -1.80855247e-02 7.78421963e+01] [ 2.13435519e-02 5.10279402e-04 9.99772070e-01 8.67283819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.75, Y:77.87, Z:8.67 [[ 5.52527579e-01 -8.33426056e-01 -1.06903869e-02 9.13746171e+02] [ 8.33251847e-01 5.52630752e-01 -1.70472927e-02 7.78662659e+01] [ 2.01154945e-02 5.11314703e-04 9.99797532e-01 8.67457065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.77, Y:77.89, Z:8.68 [[ 5.53594666e-01 -8.32719385e-01 -1.05533146e-02 9.13765188e+02] [ 8.32549344e-01 5.53694989e-01 -1.68359330e-02 7.78887917e+01] [ 1.98629252e-02 5.34127578e-04 9.99802570e-01 8.67567960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.78, Y:77.91, Z:8.68 [[ 5.53725912e-01 -8.32629162e-01 -1.07838950e-02 9.13779821e+02] [ 8.32451394e-01 5.53830634e-01 -1.72135399e-02 7.79121938e+01] [ 2.03049467e-02 5.54514714e-04 9.99793680e-01 8.67561099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.80, Y:77.93, Z:8.68 [[ 5.53753463e-01 -8.32613326e-01 -1.05901548e-02 9.13795942e+02] [ 8.32441694e-01 5.53854445e-01 -1.69138773e-02 7.79346319e+01] [ 1.99481239e-02 5.50431714e-04 9.99800865e-01 8.67618998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.81, Y:77.96, Z:8.68 [[ 5.54436377e-01 -8.32157802e-01 -1.06628240e-02 9.13811205e+02] [ 8.31983575e-01 5.54538602e-01 -1.70373099e-02 7.79584947e+01] [ 2.00906779e-02 5.74809931e-04 9.99797997e-01 8.67593330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.83, Y:77.98, Z:8.68 [[ 5.54645776e-01 -8.32014960e-01 -1.09164640e-02 9.13827572e+02] [ 8.31832157e-01 5.54752871e-01 -1.74503174e-02 7.79821001e+01] [ 2.05748649e-02 5.98079066e-04 9.99788136e-01 8.67606998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.84, Y:78.01, Z:8.68 [[ 5.55472906e-01 -8.31463058e-01 -1.09102722e-02 9.13843493e+02] [ 8.31280158e-01 5.55579692e-01 -1.74500608e-02 7.80066337e+01] [ 2.05706066e-02 6.23543205e-04 9.99788208e-01 8.67656161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4192541539999 meters Centerline goodness [0,1] 0.9999140117803861 Centerline is valid? [True, True] Translation: X:913.86, Y:78.03, Z:8.67 [[ 5.55626891e-01 -8.31348048e-01 -1.17975098e-02 9.13857927e+02] [ 8.31133981e-01 5.55751704e-01 -1.88772136e-02 7.80304240e+01] [ 2.22500208e-02 6.83376223e-04 9.99752204e-01 8.67475239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4492541539998 meters Centerline goodness [0,1] 0.9999784454886408 Centerline is valid? [True, True] Translation: X:913.87, Y:78.05, Z:8.68 [[ 5.56036177e-01 -8.31077484e-01 -1.15751907e-02 9.13873462e+02] [ 8.30871161e-01 5.56156223e-01 -1.85302135e-02 7.80536324e+01] [ 2.18376576e-02 6.85976967e-04 9.99761295e-01 8.67575803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.89, Y:78.08, Z:8.68 [[ 5.56911204e-01 -8.30476784e-01 -1.25786099e-02 9.13891054e+02] [ 8.30232696e-01 5.57052696e-01 -2.01485436e-02 7.80768655e+01] [ 2.37398463e-02 7.77776511e-04 9.99717868e-01 8.67638381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.90, Y:78.10, Z:8.68 [[ 5.57082090e-01 -8.30352216e-01 -1.32190377e-02 9.13904629e+02] [ 8.30082382e-01 5.57238290e-01 -2.11831674e-02 7.81015636e+01] [ 2.49556439e-02 8.27872837e-04 9.99688217e-01 8.67519396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5392541539999 meters Centerline goodness [0,1] 0.9999134854547421 Centerline is valid? [True, True] Translation: X:913.92, Y:78.12, Z:8.67 [[ 5.56432105e-01 -8.30772451e-01 -1.41579173e-02 9.13920919e+02] [ 8.30462748e-01 5.56611509e-01 -2.26991782e-02 7.81249279e+01] [ 2.67383117e-02 8.72928620e-04 9.99642086e-01 8.67312844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5692541539999 meters Centerline goodness [0,1] 0.9998271503575827 Centerline is valid? [True, True] Translation: X:913.94, Y:78.15, Z:8.67 [[ 5.55560557e-01 -8.31340551e-01 -1.50118628e-02 9.13937279e+02] [ 8.30992132e-01 5.55762602e-01 -2.40833319e-02 7.81481236e+01] [ 2.83644823e-02 9.05009401e-04 9.99597237e-01 8.67266496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.96, Y:78.17, Z:8.68 [[ 5.54593684e-01 -8.32007368e-01 -1.37689886e-02 9.13957131e+02] [ 8.31714143e-01 5.54763995e-01 -2.21018935e-02 7.81700196e+01] [ 2.60274773e-02 8.05708026e-04 9.99660903e-01 8.67668799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.98, Y:78.19, Z:8.68 [[ 5.52936168e-01 -8.33106842e-01 -1.39493124e-02 9.13975428e+02] [ 8.32805897e-01 5.53111558e-01 -2.24040677e-02 7.81930916e+01] [ 2.63805080e-02 7.70949731e-04 9.99651677e-01 8.67766493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.99, Y:78.21, Z:8.68 [[ 5.49313288e-01 -8.35495405e-01 -1.42245840e-02 9.13994737e+02] [ 8.35182888e-01 5.49497015e-01 -2.28598761e-02 7.82140884e+01] [ 2.69156879e-02 6.77104581e-04 9.99637478e-01 8.67808230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.01, Y:78.24, Z:8.68 [[ 5.47535561e-01 -8.36661911e-01 -1.42006074e-02 9.14010949e+02] [ 8.36350628e-01 5.47719325e-01 -2.28290860e-02 7.82367695e+01] [ 2.68781738e-02 6.23049524e-04 9.99638522e-01 8.67752549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.03, Y:78.26, Z:8.68 [[ 5.44225463e-01 -8.38817483e-01 -1.42785003e-02 9.14032757e+02] [ 8.38503260e-01 5.44412486e-01 -2.29636337e-02 7.82576680e+01] [ 2.70356913e-02 5.24825165e-04 9.99634331e-01 8.67994945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.05, Y:78.28, Z:8.68 [[ 5.42986407e-01 -8.39618060e-01 -1.43970537e-02 9.14049605e+02] [ 8.39298507e-01 5.43177012e-01 -2.31678429e-02 7.82808500e+01] [ 2.72722879e-02 4.96398143e-04 9.99627919e-01 8.67998370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.07, Y:78.30, Z:8.68 [[ 5.41813178e-01 -8.40373129e-01 -1.45425067e-02 9.14066127e+02] [ 8.40046955e-01 5.42008102e-01 -2.34164911e-02 7.83037822e+01] [ 2.75607463e-02 4.70975015e-04 9.99620020e-01 8.68049686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.09, Y:78.33, Z:8.68 [[ 5.40398493e-01 -8.41280407e-01 -1.47222510e-02 9.14085762e+02] [ 8.40946062e-01 5.40598820e-01 -2.37199669e-02 7.83256768e+01] [ 2.79139749e-02 4.37615369e-04 9.99610233e-01 8.68286374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.10, Y:78.35, Z:8.68 [[ 5.39817390e-01 -8.41651559e-01 -1.48269909e-02 9.14101518e+02] [ 8.41312153e-01 5.40020804e-01 -2.39038051e-02 7.83484035e+01] [ 2.81255584e-02 4.29562017e-04 9.99604306e-01 8.68339366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8692541539999 meters Centerline goodness [0,1] 0.9999342191816866 Centerline is valid? [True, True] Translation: X:914.12, Y:78.37, Z:8.68 [[ 5.39771219e-01 -8.41667036e-01 -1.56087376e-02 9.14115893e+02] [ 8.41290570e-01 5.39996659e-01 -2.51750917e-02 7.83722140e+01] [ 2.96177110e-02 4.57306188e-04 9.99561195e-01 8.68173013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.13, Y:78.39, Z:8.68 [[ 5.39978343e-01 -8.41542388e-01 -1.51591174e-02 9.14133409e+02] [ 8.41186875e-01 5.40190892e-01 -2.44630599e-02 7.83947194e+01] [ 2.87755190e-02 4.57871960e-04 9.99585794e-01 8.68396574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.15, Y:78.42, Z:8.68 [[ 5.40377231e-01 -8.41280692e-01 -1.54675306e-02 9.14148222e+02] [ 8.40910155e-01 5.40598335e-01 -2.49710282e-02 7.84180044e+01] [ 2.93693652e-02 4.86971509e-04 9.99568509e-01 8.68358021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.16, Y:78.44, Z:8.68 [[ 5.40771640e-01 -8.41016563e-01 -1.60366777e-02 9.14164376e+02] [ 8.40617751e-01 5.41009116e-01 -2.59023728e-02 7.84424498e+01] [ 3.04603134e-02 5.26552662e-04 9.99535838e-01 8.68352864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9892541539999 meters Centerline goodness [0,1] 0.9999559626563326 Centerline is valid? [True, True] Translation: X:914.18, Y:78.47, Z:8.68 [[ 5.40776262e-01 -8.41005042e-01 -1.64788890e-02 9.14180205e+02] [ 8.40583447e-01 5.41027002e-01 -2.66317596e-02 7.84667031e+01] [ 3.13129681e-02 5.49942066e-04 9.99509477e-01 8.68364168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.20, Y:78.49, Z:8.68 [[ 5.40566737e-01 -8.41147780e-01 -1.60628242e-02 9.14195804e+02] [ 8.40746789e-01 5.40805070e-01 -2.59752345e-02 7.84897246e+01] [ 3.05358677e-02 5.36579868e-04 9.99533528e-01 8.68455332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0492541539999 meters Centerline goodness [0,1] 0.9998684123955524 Centerline is valid? [True, True] Translation: X:914.21, Y:78.51, Z:8.68 [[ 5.39104836e-01 -8.42067772e-01 -1.69659417e-02 9.14211754e+02] [ 8.41620325e-01 5.39371483e-01 -2.74523714e-02 7.85119154e+01] [ 3.22677023e-02 5.20824822e-04 9.99479126e-01 8.68437311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0792541539998 meters Centerline goodness [0,1] 0.999868267943004 Centerline is valid? [True, True] Translation: X:914.23, Y:78.53, Z:8.69 [[ 5.37936224e-01 -8.42818146e-01 -1.67985515e-02 9.14227218e+02] [ 8.42379409e-01 5.38198238e-01 -2.71953588e-02 7.85343838e+01] [ 3.19616927e-02 4.78614730e-04 9.99488980e-01 8.68506458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1092541539998 meters Centerline goodness [0,1] 0.9998679606522743 Centerline is valid? [True, True] Translation: X:914.24, Y:78.56, Z:8.69 [[ 5.36278789e-01 -8.43881194e-01 -1.64192451e-02 9.14243774e+02] [ 8.43462112e-01 5.36529925e-01 -2.65952247e-02 7.85582173e+01] [ 3.12526263e-02 4.13443767e-04 9.99511432e-01 8.68607467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.26, Y:78.58, Z:8.69 [[ 5.33315073e-01 -8.45797396e-01 -1.42055490e-02 9.14262284e+02] [ 8.45484044e-01 5.33504164e-01 -2.30225368e-02 7.85799971e+01] [ 2.70511212e-02 2.67700924e-04 9.99634016e-01 8.68957524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1692541539999 meters Centerline goodness [0,1] 0.9998455598455599 Centerline is valid? [True, True] Translation: X:914.28, Y:78.60, Z:8.69 [[ 5.31683364e-01 -8.46808231e-01 -1.51202087e-02 9.14278157e+02] [ 8.46453183e-01 5.31898264e-01 -2.45203305e-02 7.86036287e+01] [ 2.88064304e-02 2.38502971e-04 9.99584980e-01 8.69057991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.29, Y:78.63, Z:8.69 [[ 5.29502059e-01 -8.48200948e-01 -1.35174249e-02 9.14294223e+02] [ 8.47917332e-01 5.29674549e-01 -2.19333257e-02 7.86273570e+01] [ 2.57637036e-02 1.52082299e-04 9.99668049e-01 8.69145421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.31, Y:78.65, Z:8.69 [[ 5.28540090e-01 -8.48801916e-01 -1.34417323e-02 9.14308590e+02] [ 8.48521347e-01 5.28710971e-01 -2.18227602e-02 7.86503790e+01] [ 2.56299920e-02 1.28606852e-04 9.99671490e-01 8.69087356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.32, Y:78.67, Z:8.69 [[ 5.27730393e-01 -8.49300973e-01 -1.37291642e-02 9.14323828e+02] [ 8.49008082e-01 5.27908936e-01 -2.23031644e-02 7.86743161e+01] [ 2.61898477e-02 1.13886359e-04 9.99656981e-01 8.69135245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2892541539999 meters Centerline goodness [0,1] 0.9998679432155827 Centerline is valid? [True, True] Translation: X:914.34, Y:78.70, Z:8.69 [[ 5.26945211e-01 -8.49766713e-01 -1.50092662e-02 9.14338391e+02] [ 8.49416515e-01 5.27158915e-01 -2.43939074e-02 7.86985596e+01] [ 2.86413990e-02 1.05134043e-04 9.99589745e-01 8.69001071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.35, Y:78.72, Z:8.69 [[ 5.26525564e-01 -8.50039857e-01 -1.42503375e-02 9.14353206e+02] [ 8.49723961e-01 5.26718363e-01 -2.31723251e-02 7.87222307e+01] [ 2.72033143e-02 9.19683403e-05 9.99629917e-01 8.69080241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3492541539998 meters Centerline goodness [0,1] 0.9998900760673614 Centerline is valid? [True, True] Translation: X:914.37, Y:78.75, Z:8.69 [[ 5.26292396e-01 -8.50170639e-01 -1.50399208e-02 9.14366493e+02] [ 8.49818523e-01 5.26507242e-01 -2.44663282e-02 7.87466465e+01] [ 2.87191811e-02 9.52391781e-05 9.99587515e-01 8.69064762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3792541539999 meters Centerline goodness [0,1] 0.9998023888986475 Centerline is valid? [True, True] Translation: X:914.38, Y:78.77, Z:8.69 [[ 5.26366575e-01 -8.50121729e-01 -1.52077089e-02 9.14380226e+02] [ 8.49761316e-01 5.26586208e-01 -2.47521815e-02 7.87714192e+01] [ 2.90505371e-02 1.05798314e-04 9.99577938e-01 8.69166700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.39, Y:78.80, Z:8.69 [[ 5.27329229e-01 -8.49553443e-01 -1.35215204e-02 9.14394616e+02] [ 8.49268049e-01 5.27502541e-01 -2.20192981e-02 7.87970311e+01] [ 2.58392069e-02 1.28024253e-04 9.99666104e-01 8.69268966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.41, Y:78.82, Z:8.69 [[ 5.27091886e-01 -8.49700811e-01 -1.35157888e-02 9.14408981e+02] [ 8.49415375e-01 5.27265129e-01 -2.20228163e-02 7.88205918e+01] [ 2.58392090e-02 1.27528982e-04 9.99666104e-01 8.69294730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4692541539998 meters Centerline goodness [0,1] 0.9998020934119096 Centerline is valid? [True, True] Translation: X:914.42, Y:78.85, Z:8.69 [[ 5.27440752e-01 -8.49466094e-01 -1.46153395e-02 9.14421398e+02] [ 8.49131928e-01 5.27643185e-01 -2.38251632e-02 7.88453173e+01] [ 2.79503526e-02 1.56010556e-04 9.99609300e-01 8.69260711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4992541539999 meters Centerline goodness [0,1] 0.9999341180604358 Centerline is valid? [True, True] Translation: X:914.43, Y:78.87, Z:8.69 [[ 5.29682584e-01 -8.48083259e-01 -1.38255508e-02 9.14433357e+02] [ 8.47783454e-01 5.29862941e-01 -2.25494784e-02 7.88713695e+01] [ 2.64494822e-02 2.22992789e-04 9.99650126e-01 8.69326838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.45, Y:78.90, Z:8.69 [[ 5.30834289e-01 -8.47368600e-01 -1.34689681e-02 9.14447074e+02] [ 8.47083477e-01 5.31005074e-01 -2.19816925e-02 7.88964786e+01] [ 2.57786864e-02 2.59295804e-04 9.99667641e-01 8.69293068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.46, Y:78.92, Z:8.69 [[ 5.33178651e-01 -8.45886207e-01 -1.40374701e-02 9.14459331e+02] [ 8.45575622e-01 5.33363291e-01 -2.29230696e-02 7.89225001e+01] [ 2.68773796e-02 3.52348808e-04 9.99638676e-01 8.69208326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5892541539998 meters Centerline goodness [0,1] 0.9998686629892304 Centerline is valid? [True, True] Translation: X:914.47, Y:78.95, Z:8.69 [[ 5.33555530e-01 -8.45632775e-01 -1.49568480e-02 9.14472759e+02] [ 8.45279665e-01 5.33764979e-01 -2.44383869e-02 7.89477552e+01] [ 2.86493426e-02 3.96516982e-04 9.99589445e-01 8.69203171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.49, Y:78.97, Z:8.69 [[ 5.34887896e-01 -8.44808508e-01 -1.39112640e-02 9.14485354e+02] [ 8.44502441e-01 5.35068604e-01 -2.27423961e-02 7.89718418e+01] [ 2.66564503e-02 4.16536005e-04 9.99644567e-01 8.69185839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6492541539999 meters Centerline goodness [0,1] 0.9999122499122499 Centerline is valid? [True, True] Translation: X:914.50, Y:79.00, Z:8.69 [[ 5.36311007e-01 -8.43905279e-01 -1.39421662e-02 9.14498534e+02] [ 8.43597199e-01 5.36491994e-01 -2.28058194e-02 7.89979035e+01] [ 2.67258119e-02 4.69439621e-04 9.99642691e-01 8.69376464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.51, Y:79.02, Z:8.70 [[ 5.37815607e-01 -8.42970403e-01 -1.24608657e-02 9.14511379e+02] [ 8.42723779e-01 5.37959740e-01 -2.03948799e-02 7.90228065e+01] [ 2.38957242e-02 4.67616855e-04 9.99714347e-01 8.69554142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7092541539998 meters Centerline goodness [0,1] 0.9998245690978466 Centerline is valid? [True, True] Translation: X:914.52, Y:79.05, Z:8.70 [[ 5.37632999e-01 -8.43082978e-01 -1.27220455e-02 9.14524761e+02] [ 8.42825623e-01 5.37783285e-01 -2.08352546e-02 7.90469786e+01] [ 2.44075519e-02 4.79254448e-04 9.99701976e-01 8.69620801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7392541539999 meters Centerline goodness [0,1] 0.9998473282442748 Centerline is valid? [True, True] Translation: X:914.54, Y:79.07, Z:8.70 [[ 5.37684060e-01 -8.43059269e-01 -1.21211214e-02 9.14539440e+02] [ 8.42825361e-01 5.37820466e-01 -1.98634402e-02 7.90709403e+01] [ 2.32650445e-02 4.64266668e-04 9.99729224e-01 8.69742387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.55, Y:79.09, Z:8.70 [[ 5.37774118e-01 -8.43015294e-01 -1.11450581e-02 9.14553379e+02] [ 8.42817315e-01 5.37889417e-01 -1.82742413e-02 7.90945526e+01] [ 2.14002737e-02 4.34166064e-04 9.99770894e-01 8.69819795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7992541539999 meters Centerline goodness [0,1] 0.9998247765901525 Centerline is valid? [True, True] Translation: X:914.57, Y:79.12, Z:8.70 [[ 5.37039591e-01 -8.43481793e-01 -1.12669007e-02 9.14567467e+02] [ 8.43279321e-01 5.37157597e-01 -1.84852099e-02 7.91193438e+01] [ 2.16440393e-02 4.26145189e-04 9.99765650e-01 8.69890347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8292541539998 meters Centerline goodness [0,1] 0.9998473914844448 Centerline is valid? [True, True] Translation: X:914.58, Y:79.14, Z:8.70 [[ 5.36531202e-01 -8.43811232e-01 -1.08108284e-02 9.14581595e+02] [ 8.43624654e-01 5.36639957e-01 -1.77482119e-02 7.91439625e+01] [ 2.07776631e-02 4.02188103e-04 9.99784040e-01 8.69884579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8592541539998 meters Centerline goodness [0,1] 0.9998690613883857 Centerline is valid? [True, True] Translation: X:914.60, Y:79.17, Z:8.70 [[ 5.35298873e-01 -8.44597891e-01 -1.04651265e-02 9.14595388e+02] [ 8.44422991e-01 5.35401036e-01 -1.71913748e-02 7.91686287e+01] [ 2.01228384e-02 3.65530116e-04 9.99797448e-01 8.69859697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.61, Y:79.19, Z:8.70 [[ 5.34635947e-01 -8.45023624e-01 -9.97388145e-03 9.14610178e+02] [ 8.44864642e-01 5.34728865e-01 -1.63944514e-02 7.91924621e+01] [ 1.91870211e-02 3.38483288e-04 9.99815855e-01 8.69879378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9192541539999 meters Centerline goodness [0,1] 0.9999564308121297 Centerline is valid? [True, True] Translation: X:914.62, Y:79.22, Z:8.70 [[ 5.33407456e-01 -8.45796031e-01 -1.02742141e-02 9.14624062e+02] [ 8.45627275e-01 5.33506296e-01 -1.68980354e-02 7.92159254e+01] [ 1.97736491e-02 3.25382418e-04 9.99804429e-01 8.69813108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.64, Y:79.24, Z:8.70 [[ 5.30870345e-01 -8.47388741e-01 -1.04402739e-02 9.14641704e+02] [ 8.47214596e-01 5.30972924e-01 -1.71808693e-02 7.92389472e+01] [ 2.01023780e-02 2.75661556e-04 9.99797889e-01 8.69850598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.66, Y:79.26, Z:8.70 [[ 5.29252917e-01 -8.48396682e-01 -1.06967551e-02 9.14656228e+02] [ 8.48213896e-01 5.29360944e-01 -1.76118699e-02 7.92620310e+01] [ 2.06042964e-02 2.47997205e-04 9.99787678e-01 8.69774856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0092541539999 meters Centerline goodness [0,1] 0.9999345849414535 Centerline is valid? [True, True] Translation: X:914.67, Y:79.28, Z:8.70 [[ 5.26275033e-01 -8.50241234e-01 -1.11549497e-02 9.14672720e+02] [ 8.50042648e-01 5.26393207e-01 -1.83763110e-02 7.92847081e+01] [ 2.14961871e-02 1.88810715e-04 9.99768912e-01 8.69758531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0392541539999 meters Centerline goodness [0,1] 0.9999127494819501 Centerline is valid? [True, True] Translation: X:914.69, Y:79.31, Z:8.70 [[ 5.24897948e-01 -8.51091225e-01 -1.12192458e-02 9.14687731e+02] [ 8.50890283e-01 5.25017811e-01 -1.84939255e-02 7.93087839e+01] [ 2.16303216e-02 1.61076339e-04 9.99766024e-01 8.69747710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0692541539999 meters Centerline goodness [0,1] 0.9998036349355268 Centerline is valid? [True, True] Translation: X:914.70, Y:79.33, Z:8.70 [[ 5.23438982e-01 -8.51989778e-01 -1.11825506e-02 9.14702479e+02] [ 8.51790099e-01 5.23558402e-01 -1.84452345e-02 7.93322928e+01] [ 2.15698696e-02 1.29768950e-04 9.99767335e-01 8.69794143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.72, Y:79.35, Z:8.70 [[ 5.21776260e-01 -8.53016227e-01 -1.06231619e-02 9.14718015e+02] [ 8.52836057e-01 5.21884383e-01 -1.75313988e-02 7.93544904e+01] [ 2.04986299e-02 8.76521515e-05 9.99789877e-01 8.69933152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1292541539999 meters Centerline goodness [0,1] 0.9999782329509589 Centerline is valid? [True, True] Translation: X:914.73, Y:79.38, Z:8.70 [[ 5.20196411e-01 -8.53984324e-01 -1.03183581e-02 9.14732972e+02] [ 8.53814360e-01 5.20298733e-01 -1.70372328e-02 7.93778391e+01] [ 1.99181583e-02 5.27450035e-05 9.99801612e-01 8.69969894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.75, Y:79.40, Z:8.70 [[ 5.17461810e-01 -8.55653011e-01 -9.54988252e-03 9.14749058e+02] [ 8.55507530e-01 5.17549925e-01 -1.57778615e-02 7.94007845e+01] [ 1.84429157e-02 -5.55564783e-06 9.99829915e-01 8.70113026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.76, Y:79.42, Z:8.70 [[ 5.15607207e-01 -8.56772513e-01 -9.49043156e-03 9.14764572e+02] [ 8.56628844e-01 5.15694540e-01 -1.56896232e-02 7.94245561e+01] [ 1.83366016e-02 -4.00946336e-05 9.99831870e-01 8.70153846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2192541539998 meters Centerline goodness [0,1] 0.9999344204957811 Centerline is valid? [True, True] Translation: X:914.78, Y:79.45, Z:8.70 [[ 5.13611059e-01 -8.57973586e-01 -9.21986823e-03 9.14779734e+02] [ 8.57838039e-01 5.13693799e-01 -1.52505507e-02 7.94473664e+01] [ 1.78207588e-02 -7.63022077e-05 9.99841195e-01 8.70119582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.80, Y:79.47, Z:8.70 [[ 5.11442459e-01 -8.59269313e-01 -9.10268067e-03 9.14795202e+02] [ 8.59137254e-01 5.11523444e-01 -1.50646743e-02 7.94714537e+01] [ 1.76008469e-02 -1.15738018e-04 9.99845086e-01 8.70267282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2792541539999 meters Centerline goodness [0,1] 0.9999125663948939 Centerline is valid? [True, True] Translation: X:914.81, Y:79.50, Z:8.70 [[ 5.07518236e-01 -8.61590062e-01 -9.37040553e-03 9.14811277e+02] [ 8.61450341e-01 5.07604694e-01 -1.55172383e-02 7.94957461e+01] [ 1.81259601e-02 -1.96857624e-04 9.99835692e-01 8.70299947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3092541539999 meters Centerline goodness [0,1] 0.9998251060294696 Centerline is valid? [True, True] Translation: X:914.83, Y:79.52, Z:8.70 [[ 5.06164177e-01 -8.62386034e-01 -9.38909270e-03 9.14827283e+02] [ 8.62245753e-01 5.06251202e-01 -1.55557898e-02 7.95184544e+01] [ 1.81683353e-02 -2.21921790e-04 9.99834918e-01 8.70246504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.84, Y:79.54, Z:8.70 [[ 5.04671595e-01 -8.63262974e-01 -9.14427798e-03 9.14840502e+02] [ 8.63129924e-01 5.04754374e-01 -1.51577197e-02 7.95439178e+01] [ 1.77007125e-02 -2.43029393e-04 9.99843301e-01 8.70463951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3692541539999 meters Centerline goodness [0,1] 0.9998908963952169 Centerline is valid? [True, True] Translation: X:914.85, Y:79.57, Z:8.70 [[ 5.03815734e-01 -8.63761579e-01 -9.25419975e-03 9.14853450e+02] [ 8.63625225e-01 5.03900652e-01 -1.53493814e-02 7.95687384e+01] [ 1.79214032e-02 -2.58900488e-04 9.99839365e-01 8.70432138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3992541539999 meters Centerline goodness [0,1] 0.999913062377744 Centerline is valid? [True, True] Translation: X:914.86, Y:79.59, Z:8.70 [[ 5.03476953e-01 -8.63957787e-01 -9.37552936e-03 9.14864298e+02] [ 8.63817688e-01 5.03564169e-01 -1.55604884e-02 7.95948331e+01] [ 1.81647857e-02 -2.64400829e-04 9.99834972e-01 8.70421335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4292541539999 meters Centerline goodness [0,1] 0.9997829861111112 Centerline is valid? [True, True] Translation: X:914.88, Y:79.62, Z:8.70 [[ 5.02981914e-01 -8.64244958e-01 -9.47876969e-03 9.14877300e+02] [ 8.64101619e-01 5.03071147e-01 -1.57421011e-02 7.96202764e+01] [ 1.83735271e-02 -2.72628061e-04 9.99831155e-01 8.70419693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.89, Y:79.64, Z:8.71 [[ 5.02843846e-01 -8.64330244e-01 -9.01640858e-03 9.14890493e+02] [ 8.64200397e-01 5.02924609e-01 -1.49837066e-02 7.96446836e+01] [ 1.74854445e-02 -2.57519250e-04 9.99847085e-01 8.70541698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4892541539999 meters Centerline goodness [0,1] 0.9998485995457986 Centerline is valid? [True, True] Translation: X:914.90, Y:79.67, Z:8.71 [[ 5.01552738e-01 -8.65082682e-01 -8.76382919e-03 9.14902465e+02] [ 8.64959972e-01 5.01629226e-01 -1.45728118e-02 7.96689726e+01] [ 1.70028800e-02 -2.71327767e-04 9.99855404e-01 8.70549710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5192541539999 meters Centerline goodness [0,1] 0.9999350916289838 Centerline is valid? [True, True] Translation: X:914.92, Y:79.69, Z:8.71 [[ 5.00825205e-01 -8.65507650e-01 -8.40367556e-03 9.14915892e+02] [ 8.65394744e-01 5.00895632e-01 -1.39822432e-02 7.96938289e+01] [ 1.63111028e-02 -2.69836863e-04 9.99866929e-01 8.70687194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5492541539999 meters Centerline goodness [0,1] 0.999805821053313 Centerline is valid? [True, True] Translation: X:914.93, Y:79.72, Z:8.71 [[ 4.99723170e-01 -8.66148882e-01 -7.92896186e-03 9.14927706e+02] [ 8.66048326e-01 4.99785996e-01 -1.32005950e-02 7.97191771e+01] [ 1.53964647e-02 -2.70220950e-04 9.99881431e-01 8.70704428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.94, Y:79.74, Z:8.71 [[ 4.99543582e-01 -8.66253521e-01 -7.81319668e-03 9.14940915e+02] [ 8.66155773e-01 4.99604610e-01 -1.30157761e-02 7.97431615e+01] [ 1.51784709e-02 -2.65498007e-04 9.99884765e-01 8.70771933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6092541539998 meters Centerline goodness [0,1] 0.9999352219727069 Centerline is valid? [True, True] Translation: X:914.95, Y:79.77, Z:8.71 [[ 4.98824437e-01 -8.66668285e-01 -7.76305657e-03 9.14952970e+02] [ 8.66571724e-01 4.98884766e-01 -1.29397489e-02 7.97693541e+01] [ 1.50873407e-02 -2.72582327e-04 9.99886142e-01 8.70784177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6392541539999 meters Centerline goodness [0,1] 0.9998925470643858 Centerline is valid? [True, True] Translation: X:914.97, Y:79.79, Z:8.71 [[ 4.98218007e-01 -8.67014044e-01 -8.09101835e-03 9.14967073e+02] [ 8.66909084e-01 4.98283617e-01 -1.34936208e-02 7.97933310e+01] [ 1.57307806e-02 -2.91412457e-04 9.99876221e-01 8.70633348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6692541539999 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:914.98, Y:79.82, Z:8.71 [[ 4.97052496e-01 -8.67682391e-01 -8.12926222e-03 9.14978345e+02] [ 8.67576421e-01 4.97118871e-01 -1.35640051e-02 7.98204556e+01] [ 1.58104580e-02 -3.10733623e-04 9.99874959e-01 8.70604126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.99, Y:79.84, Z:8.71 [[ 4.96270188e-01 -8.68128418e-01 -8.30362209e-03 9.14991960e+02] [ 8.68017800e-01 4.96339543e-01 -1.38620694e-02 7.98438665e+01] [ 1.61554724e-02 -3.28359989e-04 9.99869438e-01 8.70540691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7292541539998 meters Centerline goodness [0,1] 0.9998925447551095 Centerline is valid? [True, True] Translation: X:915.00, Y:79.87, Z:8.71 [[ 4.93349157e-01 -8.69792689e-01 -8.20291830e-03 9.15002169e+02] [ 8.69684860e-01 4.93417205e-01 -1.37006000e-02 7.98710768e+01] [ 1.59641427e-02 -3.74774399e-04 9.99872495e-01 8.70587787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.02, Y:79.90, Z:8.71 [[ 4.92193114e-01 -8.70451059e-01 -7.80336085e-03 9.15016481e+02] [ 8.70353470e-01 4.92254827e-01 -1.30392859e-02 7.98952526e+01] [ 1.51913023e-02 -3.73835447e-04 9.99884536e-01 8.70668170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7892541539999 meters Centerline goodness [0,1] 0.9998712805440543 Centerline is valid? [True, True] Translation: X:915.03, Y:79.92, Z:8.71 [[ 4.90252598e-01 -8.71547561e-01 -7.56563444e-03 9.15029399e+02] [ 8.71455884e-01 4.90310814e-01 -1.26470530e-02 7.99207573e+01] [ 1.47320206e-02 -3.92866044e-04 9.99891401e-01 8.70641761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.04, Y:79.95, Z:8.71 [[ 4.87715835e-01 -8.72976108e-01 -6.78076516e-03 9.15040398e+02] [ 8.72902524e-01 4.87762816e-01 -1.13410289e-02 7.99481371e+01] [ 1.32078523e-02 -3.87747667e-04 9.99912697e-01 8.70812661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.05, Y:79.97, Z:8.71 [[ 4.86359295e-01 -8.73733927e-01 -6.60761967e-03 9.15054190e+02] [ 8.73664051e-01 4.86404017e-01 -1.10570348e-02 7.99720479e+01] [ 1.28748792e-02 -3.95148102e-04 9.99917037e-01 8.70879185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8792541539999 meters Centerline goodness [0,1] 0.9998940161519384 Centerline is valid? [True, True] Translation: X:915.07, Y:80.00, Z:8.71 [[ 4.84035549e-01 -8.75024576e-01 -6.44819655e-03 9.15065511e+02] [ 8.74958096e-01 4.84078318e-01 -1.07940859e-02 7.99973166e+01] [ 1.25665226e-02 -4.17180479e-04 9.99920951e-01 8.70828221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9092541539999 meters Centerline goodness [0,1] 0.9997882073873263 Centerline is valid? [True, True] Translation: X:915.08, Y:80.02, Z:8.71 [[ 4.82993767e-01 -8.75598783e-01 -6.61758405e-03 9.15076701e+02] [ 8.75528754e-01 4.83038898e-01 -1.10825882e-02 8.00241543e+01] [ 1.29004512e-02 -4.41064108e-04 9.99916688e-01 8.70814921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.09, Y:80.05, Z:8.71 [[ 4.82965051e-01 -8.75615482e-01 -6.50284442e-03 9.15088344e+02] [ 8.75547781e-01 4.83008635e-01 -1.08968170e-02 8.00498638e+01] [ 1.26823517e-02 -4.30769224e-04 9.99919483e-01 8.70925382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9692541539998 meters Centerline goodness [0,1] 0.9999363408734032 Centerline is valid? [True, True] Translation: X:915.10, Y:80.08, Z:8.71 [[ 4.83310457e-01 -8.75423273e-01 -6.71527464e-03 9.15096286e+02] [ 8.75350960e-01 4.83356910e-01 -1.12602808e-02 8.00782800e+01] [ 1.31033863e-02 -4.36010663e-04 9.99914052e-01 8.70787892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9992541539999 meters Centerline goodness [0,1] 0.9998521772183976 Centerline is valid? [True, True] Translation: X:915.11, Y:80.10, Z:8.71 [[ 4.84098033e-01 -8.74985323e-01 -7.05539671e-03 9.15107933e+02] [ 8.74905354e-01 4.84149242e-01 -1.18377904e-02 8.01030134e+01] [ 1.37737578e-02 -4.42153306e-04 9.99905040e-01 8.70656450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0292541539999 meters Centerline goodness [0,1] 0.9998308489269478 Centerline is valid? [True, True] Translation: X:915.12, Y:80.13, Z:8.71 [[ 4.85195732e-01 -8.74376085e-01 -7.18082505e-03 9.15119466e+02] [ 8.74293097e-01 4.85248676e-01 -1.20541671e-02 8.01303713e+01] [ 1.40243613e-02 -4.29515333e-04 9.99901562e-01 8.70584193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.13, Y:80.16, Z:8.71 [[ 4.86652124e-01 -8.73563846e-01 -7.47776384e-03 9.15130215e+02] [ 8.73473656e-01 4.86709390e-01 -1.25595119e-02 8.01572616e+01] [ 1.46110334e-02 -4.19516587e-04 9.99893165e-01 8.70754226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0892541539998 meters Centerline goodness [0,1] 0.9998113563478589 Centerline is valid? [True, True] Translation: X:915.14, Y:80.18, Z:8.71 [[ 4.89021593e-01 -8.72241052e-01 -7.30956419e-03 9.15139405e+02] [ 8.72154649e-01 4.89076080e-01 -1.22823601e-02 8.01842345e+01] [ 1.42881117e-02 -3.68731085e-04 9.99897852e-01 8.70550241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.15, Y:80.21, Z:8.71 [[ 4.90709831e-01 -8.71291982e-01 -7.35817556e-03 9.15149673e+02] [ 8.71204260e-01 4.90764877e-01 -1.23681849e-02 8.02115886e+01] [ 1.43874344e-02 -3.41283982e-04 9.99896437e-01 8.70799572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.16, Y:80.24, Z:8.71 [[ 4.93928114e-01 -8.69473850e-01 -7.08817883e-03 9.15157634e+02] [ 8.69392169e-01 4.93978896e-01 -1.19208482e-02 8.02406775e+01] [ 1.38662765e-02 -2.74365085e-04 9.99903821e-01 8.70875235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1792541539999 meters Centerline goodness [0,1] 0.999916296978321 Centerline is valid? [True, True] Translation: X:915.17, Y:80.27, Z:8.71 [[ 4.95467027e-01 -8.68600915e-01 -6.69897371e-03 9.15168704e+02] [ 8.68527799e-01 4.95512257e-01 -1.12723496e-02 8.02673417e+01] [ 1.31105967e-02 -2.33167352e-04 9.99914025e-01 8.70772429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.18, Y:80.29, Z:8.71 [[ 4.98042792e-01 -8.67126815e-01 -6.66809508e-03 9.15179613e+02] [ 8.67054173e-01 4.98087392e-01 -1.12254865e-02 8.02935300e+01] [ 1.30552144e-02 -1.90827043e-04 9.99914759e-01 8.70920340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2392541539999 meters Centerline goodness [0,1] 0.9998333090242327 Centerline is valid? [True, True] Translation: X:915.19, Y:80.32, Z:8.71 [[ 5.02550649e-01 -8.64528338e-01 -5.79644020e-03 9.15186011e+02] [ 8.64473253e-01 5.02584065e-01 -9.75980130e-03 8.03222605e+01] [ 1.13508233e-02 -1.06073039e-04 9.99935572e-01 8.70763185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2692541539999 meters Centerline goodness [0,1] 0.9996049321107022 Centerline is valid? [True, True] Translation: X:915.20, Y:80.35, Z:8.71 [[ 5.05081336e-01 -8.63054313e-01 -5.48607691e-03 9.15196632e+02] [ 8.63004858e-01 5.05111125e-01 -9.23936621e-03 8.03493924e+01] [ 1.07451533e-02 -6.78795931e-05 9.99942267e-01 8.70850846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2992541539999 meters Centerline goodness [0,1] 0.9992728179343874 Centerline is valid? [True, True] Translation: X:915.20, Y:80.38, Z:8.71 [[ 5.12363672e-01 -8.58752740e-01 -5.21526978e-03 9.15202752e+02] [ 8.58707773e-01 5.12390214e-01 -8.78803548e-03 8.03782345e+01] [ 1.02190027e-02 2.42774333e-05 9.99947784e-01 8.71043973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3292541539998 meters Centerline goodness [0,1] 0.9992728179343874 Centerline is valid? [True, True] Translation: X:915.22, Y:80.40, Z:8.71 [[ 5.12122411e-01 -8.58896654e-01 -5.21284420e-03 9.15216739e+02] [ 8.58851680e-01 5.12148940e-01 -8.78947407e-03 8.04019782e+01] [ 1.02190025e-02 2.42266527e-05 9.99947784e-01 8.71069715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3592541539998 meters Centerline goodness [0,1] 0.9977296396584046 Centerline is valid? [True, True] Translation: X:915.23, Y:80.43, Z:8.71 [[ 5.15689578e-01 -8.56760123e-01 -5.13331052e-03 9.15226452e+02] [ 8.56716351e-01 5.15715122e-01 -8.66062546e-03 8.04289120e+01] [ 1.00674044e-02 6.84032305e-05 9.99949320e-01 8.71055210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3892541539999 meters Centerline goodness [0,1] 0.9967783505154639 Centerline is valid? [True, True] Translation: X:915.24, Y:80.46, Z:8.71 [[ 5.18856323e-01 -8.54847981e-01 -4.80067529e-03 9.15237096e+02] [ 8.54809595e-01 5.18878522e-01 -8.10160648e-03 8.04564633e+01] [ 9.41660924e-03 9.99064457e-05 9.99955658e-01 8.70921384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4192541539999 meters Centerline goodness [0,1] 0.9953989007328448 Centerline is valid? [True, True] Translation: X:915.24, Y:80.49, Z:8.71 [[ 5.25790081e-01 -8.50601719e-01 -4.63747946e-03 9.15244743e+02] [ 8.50565694e-01 5.25810503e-01 -7.83039053e-03 8.04851051e+01] [ 9.09897906e-03 1.72660730e-04 9.99958589e-01 8.70785972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4492541539998 meters Centerline goodness [0,1] 0.9944903581267217 Centerline is valid? [True, True] Translation: X:915.26, Y:80.51, Z:8.71 [[ 5.29236689e-01 -8.48460374e-01 -4.84974857e-03 9.15255339e+02] [ 8.48420843e-01 5.29258863e-01 -8.19324922e-03 8.05112785e+01] [ 9.51841971e-03 2.21540322e-04 9.99954674e-01 8.70805989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4792541539998 meters Centerline goodness [0,1] 0.9932804926251846 Centerline is valid? [True, True] Translation: X:915.26, Y:80.54, Z:8.71 [[ 5.33174423e-01 -8.45990746e-01 -4.96919651e-03 9.15264326e+02] [ 8.45949113e-01 5.33197508e-01 -8.39737779e-03 8.05379490e+01] [ 9.75366709e-03 2.73579675e-04 9.99952394e-01 8.70678671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5092541539999 meters Centerline goodness [0,1] 0.993019524494176 Centerline is valid? [True, True] Translation: X:915.28, Y:80.56, Z:8.71 [[ 5.35268416e-01 -8.44667383e-01 -4.97354650e-03 9.15276470e+02] [ 8.44625591e-01 5.35291438e-01 -8.40763061e-03 8.05626279e+01] [ 9.76394819e-03 2.99554463e-04 9.99952287e-01 8.70792455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5392541539999 meters Centerline goodness [0,1] 0.9929948921088294 Centerline is valid? [True, True] Translation: X:915.29, Y:80.59, Z:8.71 [[ 5.35216790e-01 -8.44699638e-01 -5.05070505e-03 9.15291301e+02] [ 8.44656518e-01 5.35240534e-01 -8.54036493e-03 8.05864898e+01] [ 9.91738523e-03 3.04835762e-04 9.99950775e-01 8.70644543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5692541539999 meters Centerline goodness [0,1] 0.9923141012289106 Centerline is valid? [True, True] Translation: X:915.30, Y:80.61, Z:8.71 [[ 5.35972527e-01 -8.44220851e-01 -4.96044157e-03 9.15300543e+02] [ 8.44179186e-01 5.35995391e-01 -8.39308137e-03 8.06131848e+01] [ 9.74438811e-03 3.10959510e-04 9.99952474e-01 8.70776503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5992541539998 meters Centerline goodness [0,1] 0.99228577963529 Centerline is valid? [True, True] Translation: X:915.32, Y:80.64, Z:8.70 [[ 5.34886204e-01 -8.44905368e-01 -5.62738183e-03 9.15319369e+02] [ 8.44851753e-01 5.34915697e-01 -9.52426310e-03 8.06359954e+01] [ 1.10572759e-02 3.40093536e-04 9.99938809e-01 8.70491773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6292541539999 meters Centerline goodness [0,1] 0.9921217286465587 Centerline is valid? [True, True] Translation: X:915.34, Y:80.66, Z:8.70 [[ 5.33913126e-01 -8.45517886e-01 -6.02317968e-03 9.15336192e+02] [ 8.45456430e-01 5.33946982e-01 -1.02002912e-02 8.06595125e+01] [ 1.18405873e-02 3.53733373e-04 9.99929835e-01 8.70414913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6592541539999 meters Centerline goodness [0,1] 0.9924212537115094 Centerline is valid? [True, True] Translation: X:915.35, Y:80.68, Z:8.70 [[ 5.33743228e-01 -8.45623069e-01 -6.30802078e-03 9.15350199e+02] [ 8.45555598e-01 5.33780373e-01 -1.06885036e-02 8.06823927e+01] [ 1.24055429e-02 3.71134142e-04 9.99922979e-01 8.70425915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6892541539999 meters Centerline goodness [0,1] 0.9927512150542102 Centerline is valid? [True, True] Translation: X:915.37, Y:80.71, Z:8.70 [[ 5.33109441e-01 -8.46021649e-01 -6.45700872e-03 9.15367023e+02] [ 8.45950922e-01 5.33148413e-01 -1.09456342e-02 8.07060301e+01] [ 1.27027875e-02 3.72908450e-04 9.99919247e-01 8.70431611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7192541539998 meters Centerline goodness [0,1] 0.9926324797027947 Centerline is valid? [True, True] Translation: X:915.38, Y:80.73, Z:8.70 [[ 5.32630445e-01 -8.46321963e-01 -6.62911758e-03 9.15381182e+02] [ 8.46247366e-01 5.32671562e-01 -1.12429400e-02 8.07298663e+01] [ 1.30462895e-02 3.78458850e-04 9.99914822e-01 8.70416882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7492541539999 meters Centerline goodness [0,1] 0.9931479828076659 Centerline is valid? [True, True] Translation: X:915.40, Y:80.75, Z:8.71 [[ 5.32492668e-01 -8.46413044e-01 -6.04304714e-03 9.15398974e+02] [ 8.46351021e-01 5.32526845e-01 -1.02522147e-02 8.07517899e+01] [ 1.18956930e-02 3.44690013e-04 9.99929184e-01 8.70645351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7792541539999 meters Centerline goodness [0,1] 0.9928506110233603 Centerline is valid? [True, True] Translation: X:915.41, Y:80.78, Z:8.71 [[ 5.31820595e-01 -8.46835551e-01 -6.03362353e-03 9.15414025e+02] [ 8.46773671e-01 5.31854713e-01 -1.02427643e-02 8.07752744e+01] [ 1.18829481e-02 3.38199466e-04 9.99929338e-01 8.70623676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8092541539999 meters Centerline goodness [0,1] 0.993564025409562 Centerline is valid? [True, True] Translation: X:915.43, Y:80.80, Z:8.71 [[ 5.32735436e-01 -8.46263853e-01 -5.51789034e-03 9.15430559e+02] [ 8.46212011e-01 5.32763913e-01 -9.37262894e-03 8.07986448e+01] [ 1.08714499e-02 3.23826489e-04 9.99940852e-01 8.70953473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8392541539998 meters Centerline goodness [0,1] 0.9932320212589271 Centerline is valid? [True, True] Translation: X:915.45, Y:80.82, Z:8.71 [[ 5.33470726e-01 -8.45804179e-01 -4.92703936e-03 9.15445842e+02] [ 8.45762785e-01 5.33493394e-01 -8.37318456e-03 8.08219798e+01] [ 9.71061744e-03 2.99742310e-04 9.99952806e-01 8.70960541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8692541539999 meters Centerline goodness [0,1] 0.9934826968725273 Centerline is valid? [True, True] Translation: X:915.46, Y:80.85, Z:8.71 [[ 5.34304148e-01 -8.45278373e-01 -4.85286471e-03 9.15460523e+02] [ 8.45238168e-01 5.34326098e-01 -8.24980199e-03 8.08460455e+01] [ 9.56639146e-03 3.06076948e-04 9.99954194e-01 8.71088117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8992541539999 meters Centerline goodness [0,1] 0.9936785699334366 Centerline is valid? [True, True] Translation: X:915.48, Y:80.87, Z:8.71 [[ 5.34888412e-01 -8.44905842e-01 -5.33906753e-03 9.15479665e+02] [ 8.44857123e-01 5.34914945e-01 -9.07981077e-03 8.08685952e+01] [ 1.05275322e-02 3.45936326e-04 9.99944524e-01 8.70908530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9292541539999 meters Centerline goodness [0,1] 0.9938272896570484 Centerline is valid? [True, True] Translation: X:915.49, Y:80.89, Z:8.71 [[ 5.35076358e-01 -8.44784233e-01 -5.73506386e-03 9.15494973e+02] [ 8.44727951e-01 5.35106959e-01 -9.75868831e-03 8.08923599e+01] [ 1.13128586e-02 3.77074651e-04 9.99935936e-01 8.70898423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9592541539998 meters Centerline goodness [0,1] 0.9937946400683006 Centerline is valid? [True, True] Translation: X:915.51, Y:80.92, Z:8.71 [[ 5.35377624e-01 -8.44590462e-01 -6.14428268e-03 9.15511586e+02] [ 8.44525801e-01 5.35412723e-01 -1.04588512e-02 8.09166204e+01] [ 1.21231731e-02 4.10429661e-04 9.99926427e-01 8.70840430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9892541539999 meters Centerline goodness [0,1] 0.9941922633399728 Centerline is valid? [True, True] Translation: X:915.53, Y:80.94, Z:8.71 [[ 5.36581222e-01 -8.43814512e-01 -7.59355280e-03 9.15527603e+02] [ 8.43715557e-01 5.36634686e-01 -1.29333975e-02 8.09391330e+01] [ 1.49883523e-02 5.33019603e-04 9.99887526e-01 8.70688944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0192541539999 meters Centerline goodness [0,1] 0.9942728146816605 Centerline is valid? [True, True] Translation: X:915.54, Y:80.96, Z:8.71 [[ 5.37553197e-01 -8.43196827e-01 -7.46135225e-03 9.15542316e+02] [ 8.43101157e-01 5.37604703e-01 -1.27130526e-02 8.09627449e+01] [ 1.47308637e-02 5.43267349e-04 9.99891347e-01 8.70850907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0492541539999 meters Centerline goodness [0,1] 0.9945748936972414 Centerline is valid? [True, True] Translation: X:915.56, Y:80.99, Z:8.71 [[ 5.37933887e-01 -8.42946944e-01 -8.22093394e-03 9.15557084e+02] [ 8.42830691e-01 5.37996356e-01 -1.40124079e-02 8.09861429e+01] [ 1.62345489e-02 6.08893595e-04 9.99868026e-01 8.70769673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0792541539998 meters Centerline goodness [0,1] 0.9947586900918277 Centerline is valid? [True, True] Translation: X:915.58, Y:81.01, Z:8.71 [[ 5.38036839e-01 -8.42874954e-01 -8.84144734e-03 9.15575738e+02] [ 8.42740361e-01 5.38109073e-01 -1.50767735e-02 8.10087466e+01] [ 1.74654978e-02 6.60815037e-04 9.99847248e-01 8.70761785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1092541539998 meters Centerline goodness [0,1] 0.9947022095149999 Centerline is valid? [True, True] Translation: X:915.59, Y:81.03, Z:8.70 [[ 5.37473442e-01 -8.43218738e-01 -1.02205538e-02 9.15590728e+02] [ 8.43038760e-01 5.37570079e-01 -1.74373150e-02 8.10313540e+01] [ 2.01977346e-02 7.55770695e-04 9.99795719e-01 8.70463861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1392541539999 meters Centerline goodness [0,1] 0.9946855438390119 Centerline is valid? [True, True] Translation: X:915.61, Y:81.05, Z:8.70 [[ 5.36333325e-01 -8.43939728e-01 -1.05971797e-02 9.15607529e+02] [ 8.43746188e-01 5.36437469e-01 -1.80890148e-02 8.10541819e+01] [ 2.09507624e-02 7.60411490e-04 9.99780220e-01 8.70418488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1692541539999 meters Centerline goodness [0,1] 0.994986249206685 Centerline is valid? [True, True] Translation: X:915.63, Y:81.07, Z:8.71 [[ 5.33240180e-01 -8.45896927e-01 -1.06442769e-02 9.15629946e+02] [ 8.45701874e-01 5.33345959e-01 -1.81776788e-02 8.10744137e+01] [ 2.10535247e-02 6.91183786e-04 9.99778111e-01 8.70637818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1992541539998 meters Centerline goodness [0,1] 0.9953389830508474 Centerline is valid? [True, True] Translation: X:915.65, Y:81.10, Z:8.71 [[ 5.31034165e-01 -8.47286705e-01 -1.03901173e-02 9.15650741e+02] [ 8.47100949e-01 5.31135433e-01 -1.77520415e-02 8.10956058e+01] [ 2.05596282e-02 6.25462275e-04 9.99788433e-01 8.70898638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2292541539998 meters Centerline goodness [0,1] 0.9954284746767127 Centerline is valid? [True, True] Translation: X:915.67, Y:81.12, Z:8.71 [[ 5.27997201e-01 -8.49179086e-01 -1.06693213e-02 9.15670202e+02] [ 8.48983364e-01 5.28104678e-01 -1.82399831e-02 8.11175607e+01] [ 2.11235307e-02 5.72583718e-04 9.99776709e-01 8.70907300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2592541539999 meters Centerline goodness [0,1] 0.9956168347589259 Centerline is valid? [True, True] Translation: X:915.69, Y:81.14, Z:8.71 [[ 5.21822989e-01 -8.52991497e-01 -1.03089459e-02 9.15692645e+02] [ 8.52809297e-01 5.21924647e-01 -1.76342132e-02 8.11369457e+01] [ 2.04223269e-02 4.10372919e-04 9.99791358e-01 8.71111171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2892541539999 meters Centerline goodness [0,1] 0.9958660955912123 Centerline is valid? [True, True] Translation: X:915.71, Y:81.16, Z:8.71 [[ 5.18277129e-01 -8.55157650e-01 -9.70627366e-03 9.15710751e+02] [ 8.54996360e-01 5.18367918e-01 -1.66110044e-02 8.11579729e+01] [ 1.92364484e-02 3.10275040e-04 9.99814914e-01 8.71272013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3192541539999 meters Centerline goodness [0,1] 0.9959889054832516 Centerline is valid? [True, True] Translation: X:915.73, Y:81.18, Z:8.71 [[ 5.14493671e-01 -8.57440926e-01 -9.55617316e-03 9.15730664e+02] [ 8.57284833e-01 5.14582362e-01 -1.63617716e-02 8.11801920e+01] [ 1.89466907e-02 2.25665597e-04 9.99820470e-01 8.71410197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3492541539998 meters Centerline goodness [0,1] 0.9963127943903323 Centerline is valid? [True, True] Translation: X:915.75, Y:81.20, Z:8.71 [[ 5.07389041e-01 -8.61667276e-01 -9.26642202e-03 9.15754042e+02] [ 8.61521090e-01 5.07473645e-01 -1.58717004e-02 8.11989526e+01] [ 1.83785898e-02 6.99088499e-05 9.99831097e-01 8.71470993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3792541539999 meters Centerline goodness [0,1] 0.9963982012318578 Centerline is valid? [True, True] Translation: X:915.77, Y:81.22, Z:8.72 [[ 5.04013100e-01 -8.63641059e-01 -9.74246822e-03 9.15772442e+02] [ 8.63479690e-01 5.04107251e-01 -1.66944257e-02 8.12208365e+01] [ 1.93292404e-02 1.78582126e-06 9.99813173e-01 8.71556924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4092541539999 meters Centerline goodness [0,1] 0.9966301241308706 Centerline is valid? [True, True] Translation: X:915.79, Y:81.24, Z:8.72 [[ 5.00865932e-01 -8.65469095e-01 -9.82670882e-03 9.15789733e+02] [ 8.65305066e-01 5.00962316e-01 -1.68493213e-02 8.12421995e+01] [ 1.95053777e-02 -6.38499124e-05 9.99809750e-01 8.71511378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4392541539999 meters Centerline goodness [0,1] 0.9966517857142857 Centerline is valid? [True, True] Translation: X:915.81, Y:81.26, Z:8.71 [[ 4.95838744e-01 -8.68343065e-01 -1.11472911e-02 9.15809685e+02] [ 8.68132468e-01 4.95963995e-01 -1.91241643e-02 8.12634018e+01] [ 2.21349905e-02 -1.94823720e-04 9.99754972e-01 8.71378471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4692541539998 meters Centerline goodness [0,1] 0.9969975122244145 Centerline is valid? [True, True] Translation: X:915.83, Y:81.29, Z:8.71 [[ 4.93711091e-01 -8.69560626e-01 -1.06618858e-02 9.15826444e+02] [ 8.69368089e-01 4.93826146e-01 -1.82992796e-02 8.12854249e+01] [ 2.11774510e-02 -2.34546040e-04 9.99775705e-01 8.71432841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4992541539999 meters Centerline goodness [0,1] 0.9969776779931782 Centerline is valid? [True, True] Translation: X:915.84, Y:81.31, Z:8.72 [[ 4.90075898e-01 -8.71607370e-01 -1.12342005e-02 9.15844819e+02] [ 8.71393910e-01 4.90204530e-01 -1.92917618e-02 8.13078903e+01] [ 2.23218977e-02 -3.34986379e-04 9.99750779e-01 8.71514412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5292541539999 meters Centerline goodness [0,1] 0.997163730124624 Centerline is valid? [True, True] Translation: X:915.86, Y:81.33, Z:8.71 [[ 4.88622720e-01 -8.72416892e-01 -1.16877819e-02 9.15861403e+02] [ 8.72185867e-01 4.88762335e-01 -2.00796890e-02 8.13301459e+01] [ 2.32304075e-02 -3.82525945e-04 9.99730064e-01 8.71370624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5592541539999 meters Centerline goodness [0,1] 0.9972083360384341 Centerline is valid? [True, True] Translation: X:915.88, Y:81.35, Z:8.71 [[ 4.87206596e-01 -8.73213799e-01 -1.12869224e-02 9.15877035e+02] [ 8.72998341e-01 4.87337153e-01 -1.94009452e-02 8.13537473e+01] [ 2.24417097e-02 -4.01196050e-04 9.99748073e-01 8.71497600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5892541539998 meters Centerline goodness [0,1] 0.9975576016945489 Centerline is valid? [True, True] Translation: X:915.89, Y:81.38, Z:8.72 [[ 4.85086604e-01 -8.74399298e-01 -1.08099114e-02 9.15894009e+02] [ 8.74201724e-01 4.85206844e-01 -1.85920723e-02 8.13768136e+01] [ 2.15019380e-02 -4.31278026e-04 9.99768714e-01 8.71538088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6192541539999 meters Centerline goodness [0,1] 0.9975994809688581 Centerline is valid? [True, True] Translation: X:915.91, Y:81.40, Z:8.72 [[ 4.84067069e-01 -8.74967136e-01 -1.05632960e-02 9.15909503e+02] [ 8.74778425e-01 4.84182109e-01 -1.81767047e-02 8.13989701e+01] [ 2.10185782e-02 -4.41799295e-04 9.99778988e-01 8.71504345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6492541539999 meters Centerline goodness [0,1] 0.9977359955151149 Centerline is valid? [True, True] Translation: X:915.93, Y:81.42, Z:8.72 [[ 4.83025183e-01 -8.75557315e-01 -9.27685887e-03 9.15925440e+02] [ 8.75411742e-01 4.83114088e-01 -1.59705633e-02 8.14207990e+01] [ 1.84649248e-02 -4.06886904e-04 9.99829426e-01 8.71681613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6792541539999 meters Centerline goodness [0,1] 0.9977910602910602 Centerline is valid? [True, True] Translation: X:915.94, Y:81.45, Z:8.72 [[ 4.82762201e-01 -8.75703246e-01 -9.19138541e-03 9.15939836e+02] [ 8.75560195e-01 4.82849522e-01 -1.58330078e-02 8.14450018e+01] [ 1.83030724e-02 -4.04033485e-04 9.99832403e-01 8.71748110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7092541539998 meters Centerline goodness [0,1] 0.9978386790006052 Centerline is valid? [True, True] Translation: X:915.95, Y:81.47, Z:8.72 [[ 4.82985577e-01 -8.75581463e-01 -9.05722027e-03 9.15954279e+02] [ 8.75442357e-01 4.83070337e-01 -1.56118595e-02 8.14691316e+01] [ 1.80447292e-02 -3.88771293e-04 9.99837105e-01 8.71841241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7392541539999 meters Centerline goodness [0,1] 0.9978746475818694 Centerline is valid? [True, True] Translation: X:915.97, Y:81.50, Z:8.72 [[ 4.85063325e-01 -8.74435957e-01 -8.67916016e-03 9.15967893e+02] [ 8.74307889e-01 4.85140855e-01 -1.49688050e-02 8.14953187e+01] [ 1.72998765e-02 -3.27439875e-04 9.99850292e-01 8.71937810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7692541539999 meters Centerline goodness [0,1] 0.997875430875626 Centerline is valid? [True, True] Translation: X:915.98, Y:81.52, Z:8.72 [[ 4.86953781e-01 -8.73385392e-01 -8.60067433e-03 9.15980612e+02] [ 8.73259327e-01 4.87029646e-01 -1.48415406e-02 8.15208812e+01] [ 1.71511682e-02 -2.83474748e-04 9.99852868e-01 8.71922633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7992541539999 meters Centerline goodness [0,1] 0.9979002056499621 Centerline is valid? [True, True] Translation: X:915.99, Y:81.55, Z:8.72 [[ 4.89394869e-01 -8.72018123e-01 -8.77808696e-03 9.15993007e+02] [ 8.71886475e-01 4.89473530e-01 -1.51538328e-02 8.15458938e+01] [ 1.75110581e-02 -2.37287276e-04 9.99846642e-01 8.71881947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8292541539998 meters Centerline goodness [0,1] 0.9979015230183454 Centerline is valid? [True, True] Translation: X:916.00, Y:81.57, Z:8.72 [[ 4.94845870e-01 -8.68933855e-01 -9.02884969e-03 9.16002778e+02] [ 8.68793951e-01 4.94928216e-01 -1.55926962e-02 8.15737705e+01] [ 1.80176541e-02 -1.28228659e-04 9.99837661e-01 8.71846727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8592541539998 meters Centerline goodness [0,1] 0.9977399913904433 Centerline is valid? [True, True] Translation: X:916.01, Y:81.60, Z:8.72 [[ 4.97284457e-01 -8.67536847e-01 -9.38020125e-03 9.16014844e+02] [ 8.67385402e-01 4.97372912e-01 -1.62095893e-02 8.15993148e+01] [ 1.87278740e-02 -7.54728143e-05 9.99824615e-01 8.71815144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8892541539999 meters Centerline goodness [0,1] 0.9977808419873314 Centerline is valid? [True, True] Translation: X:916.03, Y:81.63, Z:8.72 [[ 5.01424932e-01 -8.65144191e-01 -9.92803610e-03 9.16026171e+02] [ 8.64973837e-01 5.01523208e-01 -1.71678147e-02 8.16251640e+01] [ 1.98317757e-02 2.08788406e-05 9.99803331e-01 8.71710666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9192541539999 meters Centerline goodness [0,1] 0.9979119128600336 Centerline is valid? [True, True] Translation: X:916.04, Y:81.65, Z:8.72 [[ 5.03018933e-01 -8.64215045e-01 -1.02131512e-02 9.16038861e+02] [ 8.64034347e-01 5.03122601e-01 -1.76719051e-02 8.16496633e+01] [ 2.04107935e-02 6.47894440e-05 9.99791676e-01 8.71664035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9492541539998 meters Centerline goodness [0,1] 0.9978993871407844 Centerline is valid? [True, True] Translation: X:916.05, Y:81.67, Z:8.72 [[ 5.03888850e-01 -8.63705138e-01 -1.04623642e-02 9.16052255e+02] [ 8.63515165e-01 5.03997446e-01 -1.81144846e-02 8.16744712e+01] [ 2.09185782e-02 9.32766519e-05 9.99781178e-01 8.71686592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9792541539998 meters Centerline goodness [0,1] 0.9979538209701042 Centerline is valid? [True, True] Translation: X:916.06, Y:81.70, Z:8.71 [[ 5.04822859e-01 -8.63157534e-01 -1.06279563e-02 9.16064436e+02] [ 8.62961133e-01 5.04934706e-01 -1.84126524e-02 8.16992585e+01] [ 2.12594436e-02 1.23614589e-04 9.99773985e-01 8.71475379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0092541539999 meters Centerline goodness [0,1] 0.9980585875145606 Centerline is valid? [True, True] Translation: X:916.08, Y:81.72, Z:8.72 [[ 5.06490930e-01 -8.62182766e-01 -1.03834047e-02 9.16078586e+02] [ 8.61994866e-01 5.06597325e-01 -1.80000117e-02 8.17234701e+01] [ 2.07795049e-02 1.66401102e-04 9.99784069e-01 8.71753330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0392541539999 meters Centerline goodness [0,1] 0.9982046290287692 Centerline is valid? [True, True] Translation: X:916.09, Y:81.75, Z:8.72 [[ 5.08008253e-01 -8.61290233e-01 -1.03319397e-02 9.16093484e+02] [ 8.61103770e-01 5.08113266e-01 -1.79222204e-02 8.17476788e+01] [ 2.06860290e-02 2.07763592e-04 9.99786000e-01 8.71957522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0692541539999 meters Centerline goodness [0,1] 0.9980534648325979 Centerline is valid? [True, True] Translation: X:916.11, Y:81.77, Z:8.72 [[ 5.08673043e-01 -8.60898626e-01 -1.02611943e-02 9.16107839e+02] [ 8.60714392e-01 5.08776478e-01 -1.78109689e-02 8.17722711e+01] [ 2.05540930e-02 2.28002109e-04 9.99788716e-01 8.72035378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0992541539998 meters Centerline goodness [0,1] 0.9982479667762588 Centerline is valid? [True, True] Translation: X:916.12, Y:81.80, Z:8.72 [[ 5.09513764e-01 -8.60401490e-01 -1.02469271e-02 9.16122993e+02] [ 8.60217442e-01 5.09616730e-01 -1.77972522e-02 8.17969579e+01] [ 2.05347878e-02 2.53359540e-04 9.99789107e-01 8.72194549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1292541539999 meters Centerline goodness [0,1] 0.9981665228645384 Centerline is valid? [True, True] Translation: X:916.14, Y:81.82, Z:8.72 [[ 5.10209392e-01 -8.59987872e-01 -1.03555416e-02 9.16135296e+02] [ 8.59799589e-01 5.10314397e-01 -1.79967511e-02 8.18211673e+01] [ 2.07615696e-02 2.78420966e-04 9.99784417e-01 8.72094918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1592541539999 meters Centerline goodness [0,1] 0.9983396584440227 Centerline is valid? [True, True] Translation: X:916.15, Y:81.85, Z:8.72 [[ 5.12529469e-01 -8.58600729e-01 -1.08780028e-02 9.16149728e+02] [ 8.58392407e-01 5.12644770e-01 -1.89160263e-02 8.18463742e+01] [ 2.18178652e-02 3.57425856e-04 9.99761898e-01 8.72133784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1892541539999 meters Centerline goodness [0,1] 0.9983655210976816 Centerline is valid? [True, True] Translation: X:916.16, Y:81.87, Z:8.72 [[ 5.13885719e-01 -8.57787998e-01 -1.10099522e-02 9.16163122e+02] [ 8.57574220e-01 5.14003493e-01 -1.91537465e-02 8.18710722e+01] [ 2.20890077e-02 4.00985562e-04 9.99755928e-01 8.72128691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2192541539998 meters Centerline goodness [0,1] 0.9983566501610915 Centerline is valid? [True, True] Translation: X:916.18, Y:81.90, Z:8.72 [[ 5.15072022e-01 -8.57068353e-01 -1.16038749e-02 9.16178082e+02] [ 8.56830533e-01 5.15202511e-01 -2.01943033e-02 8.18951398e+01] [ 2.32862437e-02 4.58966283e-04 9.99728733e-01 8.72145083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2492541539999 meters Centerline goodness [0,1] 0.9983566501610915 Centerline is valid? [True, True] Translation: X:916.19, Y:81.92, Z:8.72 [[ 5.14827213e-01 -8.57215493e-01 -1.15991075e-02 9.16191757e+02] [ 8.56977649e-01 5.14957658e-01 -2.01970416e-02 8.19191022e+01] [ 2.32862662e-02 4.57810749e-04 9.99728733e-01 8.72170872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2792541539999 meters Centerline goodness [0,1] 0.9985486211901307 Centerline is valid? [True, True] Translation: X:916.21, Y:81.94, Z:8.72 [[ 5.17337142e-01 -8.55689135e-01 -1.25851080e-02 9.16207310e+02] [ 8.55408323e-01 5.17489873e-01 -2.19278818e-02 8.19438040e+01] [ 2.52761162e-02 5.78701581e-04 9.99680340e-01 8.72154929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3092541539999 meters Centerline goodness [0,1] 0.9985700667302193 Centerline is valid? [True, True] Translation: X:916.22, Y:81.97, Z:8.72 [[ 5.18085280e-01 -8.55228388e-01 -1.31166375e-02 9.16219146e+02] [ 8.54922931e-01 5.18250909e-01 -2.28643430e-02 8.19687299e+01] [ 2.63519445e-02 6.31965347e-04 9.99652527e-01 8.71928370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3392541539998 meters Centerline goodness [0,1] 0.9984202211690363 Centerline is valid? [True, True] Translation: X:916.24, Y:81.99, Z:8.72 [[ 5.17894670e-01 -8.55340717e-01 -1.33180208e-02 9.16237380e+02] [ 8.55025490e-01 5.18065484e-01 -2.32285470e-02 8.19906045e+01] [ 2.67679289e-02 6.42693416e-04 9.99641468e-01 8.72198959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3692541539999 meters Centerline goodness [0,1] 0.9985229272107218 Centerline is valid? [True, True] Translation: X:916.26, Y:82.01, Z:8.72 [[ 5.15876419e-01 -8.56563174e-01 -1.30786091e-02 9.16255321e+02] [ 8.56259349e-01 5.16041859e-01 -2.28194399e-02 8.20128389e+01] [ 2.62954016e-02 5.73329661e-04 9.99654052e-01 8.72234468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3992541539999 meters Centerline goodness [0,1] 0.9983874131055372 Centerline is valid? [True, True] Translation: X:916.27, Y:82.04, Z:8.72 [[ 5.13355633e-01 -8.58076892e-01 -1.30399717e-02 9.16273526e+02] [ 8.57775074e-01 5.13520981e-01 -2.27623516e-02 8.20357842e+01] [ 2.62281469e-02 4.99818727e-04 9.99655858e-01 8.72402135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4292541539999 meters Centerline goodness [0,1] 0.9987991004170397 Centerline is valid? [True, True] Translation: X:916.30, Y:82.06, Z:8.73 [[ 5.07034050e-01 -8.61838424e-01 -1.22883244e-02 9.16295279e+02] [ 8.61571172e-01 5.07182850e-01 -2.14632528e-02 8.20560038e+01] [ 2.47302834e-02 2.95333914e-04 9.99694116e-01 8.72568096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4592541539998 meters Centerline goodness [0,1] 0.998823888138694 Centerline is valid? [True, True] Translation: X:916.31, Y:82.08, Z:8.73 [[ 5.02894542e-01 -8.64262967e-01 -1.21079705e-02 9.16313751e+02] [ 8.64004012e-01 5.03040248e-01 -2.11560013e-02 8.20777930e+01] [ 2.43751450e-02 1.77902480e-04 9.99702866e-01 8.72607033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4892541539999 meters Centerline goodness [0,1] 0.9988007500763159 Centerline is valid? [True, True] Translation: X:916.33, Y:82.10, Z:8.73 [[ 4.98322362e-01 -8.66906744e-01 -1.21458088e-02 9.16332572e+02] [ 8.66646699e-01 4.98470354e-01 -2.12321584e-02 8.20993439e+01] [ 2.44606269e-02 5.43342614e-05 9.99700793e-01 8.72625228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5192541539999 meters Centerline goodness [0,1] 0.9990325843190713 Centerline is valid? [True, True] Translation: X:916.36, Y:82.12, Z:8.73 [[ 4.89139485e-01 -8.72131496e-01 -1.13674076e-02 9.16355451e+02] [ 8.71904832e-01 4.89271519e-01 -1.98832994e-02 8.21171023e+01] [ 2.29026005e-02 -1.85590796e-04 9.99737684e-01 8.72825506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5492541539999 meters Centerline goodness [0,1] 0.9990104670595479 Centerline is valid? [True, True] Translation: X:916.37, Y:82.14, Z:8.73 [[ 4.84718084e-01 -8.74600486e-01 -1.10620464e-02 9.16374361e+02] [ 8.74386217e-01 4.84844209e-01 -1.93607010e-02 8.21392599e+01] [ 2.22962477e-02 -2.88019026e-04 9.99751366e-01 8.72899832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5792541539998 meters Centerline goodness [0,1] 0.9990948228281267 Centerline is valid? [True, True] Translation: X:916.40, Y:82.16, Z:8.73 [[ 4.78105633e-01 -8.78226299e-01 -1.15573015e-02 9.16395176e+02] [ 8.77993214e-01 4.78245068e-01 -2.02378690e-02 8.21584704e+01] [ 2.33006513e-02 -4.71393129e-04 9.99728392e-01 8.72878976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6092541539998 meters Centerline goodness [0,1] 0.9992253209384684 Centerline is valid? [True, True] Translation: X:916.41, Y:82.18, Z:8.73 [[ 4.76853560e-01 -8.78906648e-01 -1.15665611e-02 9.16409721e+02] [ 8.78673145e-01 4.76993557e-01 -2.02645052e-02 8.21839667e+01] [ 2.33277835e-02 -5.00025197e-04 9.99727745e-01 8.73016962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6392541539999 meters Centerline goodness [0,1] 0.9993577392421323 Centerline is valid? [True, True] Translation: X:916.42, Y:82.21, Z:8.73 [[ 4.76395291e-01 -8.79161801e-01 -1.10478496e-02 9.16423792e+02] [ 8.78948582e-01 4.76523131e-01 -1.93674111e-02 8.22088163e+01] [ 2.22916439e-02 -4.83948279e-04 9.99751393e-01 8.73060664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6692541539999 meters Centerline goodness [0,1] 0.9991811079388265 Centerline is valid? [True, True] Translation: X:916.44, Y:82.23, Z:8.73 [[ 4.78105806e-01 -8.78212866e-01 -1.25299721e-02 9.16435857e+02] [ 8.77937883e-01 4.78269715e-01 -2.19807408e-02 8.22345219e+01] [ 2.52964756e-02 -4.91417406e-04 9.99679872e-01 8.72926249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6992541539998 meters Centerline goodness [0,1] 0.9993164880716144 Centerline is valid? [True, True] Translation: X:916.45, Y:82.26, Z:8.73 [[ 4.79283164e-01 -8.77573321e-01 -1.23578123e-02 9.16449208e+02] [ 8.77305296e-01 4.79442247e-01 -2.16921642e-02 8.22600036e+01] [ 2.49613219e-02 -4.44885128e-04 9.99688319e-01 8.73069954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7292541539998 meters Centerline goodness [0,1] 0.9992274412855378 Centerline is valid? [True, True] Translation: X:916.46, Y:82.29, Z:8.73 [[ 4.80338423e-01 -8.76992903e-01 -1.25876155e-02 9.16462742e+02] [ 8.76714258e-01 4.80503149e-01 -2.21095786e-02 8.22850891e+01] [ 2.54383324e-02 -4.15661879e-04 9.99676307e-01 8.73030573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7592541539999 meters Centerline goodness [0,1] 0.9992256808477689 Centerline is valid? [True, True] Translation: X:916.48, Y:82.31, Z:8.73 [[ 4.83094299e-01 -8.75472422e-01 -1.29590475e-02 9.16475367e+02] [ 8.75176317e-01 4.83267961e-01 -2.27704148e-02 8.23095512e+01] [ 2.61975627e-02 -3.41193868e-04 9.99656727e-01 8.72957353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7892541539999 meters Centerline goodness [0,1] 0.999336782066587 Centerline is valid? [True, True] Translation: X:916.49, Y:82.34, Z:8.73 [[ 4.84148707e-01 -8.74887962e-01 -1.30798675e-02 9.16487434e+02] [ 8.74585798e-01 4.84325262e-01 -2.29939578e-02 8.23352479e+01] [ 2.64520471e-02 -3.06971399e-04 9.99650036e-01 8.73036367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8192541539999 meters Centerline goodness [0,1] 0.9994270351271541 Centerline is valid? [True, True] Translation: X:916.50, Y:82.36, Z:8.73 [[ 4.86635131e-01 -8.73514049e-01 -1.26275683e-02 9.16497533e+02] [ 8.73231626e-01 4.86798890e-01 -2.22119090e-02 8.23627552e+01] [ 2.55495008e-02 -2.17696735e-04 9.99673535e-01 8.73123733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8492541539998 meters Centerline goodness [0,1] 0.999449327077689 Centerline is valid? [True, True] Translation: X:916.51, Y:82.39, Z:8.73 [[ 4.87798584e-01 -8.72871893e-01 -1.21325830e-02 9.16509211e+02] [ 8.72610664e-01 4.87949413e-01 -2.13541687e-02 8.23891101e+01] [ 2.45595404e-02 -1.70488063e-04 9.99698354e-01 8.73232043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8792541539999 meters Centerline goodness [0,1] 0.9994730139212156 Centerline is valid? [True, True] Translation: X:916.52, Y:82.41, Z:8.73 [[ 4.89123683e-01 -8.72135909e-01 -1.17038008e-02 9.16520888e+02] [ 8.71892338e-01 4.89263672e-01 -2.06109205e-02 8.24138308e+01] [ 2.37017684e-02 -1.23164917e-04 9.99719066e-01 8.73231772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9092541539999 meters Centerline goodness [0,1] 0.9995623536620057 Centerline is valid? [True, True] Translation: X:916.53, Y:82.44, Z:8.73 [[ 4.92126883e-01 -8.70454952e-01 -1.09228082e-02 9.16531416e+02] [ 8.70242162e-01 4.92248084e-01 -1.92458558e-02 8.24410457e+01] [ 2.21293819e-02 -3.40852061e-05 9.99755115e-01 8.73389419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9392541539999 meters Centerline goodness [0,1] 0.999540239950959 Centerline is valid? [True, True] Translation: X:916.54, Y:82.47, Z:8.73 [[ 4.93290598e-01 -8.69800726e-01 -1.05395850e-02 9.16543001e+02] [ 8.69602238e-01 4.93403178e-01 -1.85809232e-02 8.24659180e+01] [ 2.13619652e-02 5.47996605e-07 9.99771807e-01 8.73449552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9692541539998 meters Centerline goodness [0,1] 0.9994748358862144 Centerline is valid? [True, True] Translation: X:916.55, Y:82.49, Z:8.73 [[ 4.94534041e-01 -8.69095396e-01 -1.04534630e-02 9.16554542e+02] [ 8.68899740e-01 4.94644510e-01 -1.84404570e-02 8.24909176e+01] [ 2.11972644e-02 3.64223996e-05 9.99775312e-01 8.73478615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9992541539999 meters Centerline goodness [0,1] 0.999367682009463 Centerline is valid? [True, True] Translation: X:916.56, Y:82.52, Z:8.73 [[ 4.97530538e-01 -8.67374931e-01 -1.11396972e-02 9.16564438e+02] [ 8.67152072e-01 4.97655216e-01 -1.96613986e-02 8.25175173e+01] [ 2.25975326e-02 1.22334703e-04 9.99744636e-01 8.73387195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0292541539999 meters Centerline goodness [0,1] 0.9996277480949461 Centerline is valid? [True, True] Translation: X:916.57, Y:82.54, Z:8.73 [[ 4.99550527e-01 -8.66221474e-01 -1.04703790e-02 9.16574968e+02] [ 8.66024128e-01 4.99660213e-01 -1.84900388e-02 8.25423676e+01] [ 2.12481005e-02 1.69107830e-04 9.99774219e-01 8.73402479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0592541539999 meters Centerline goodness [0,1] 0.9996294116364746 Centerline is valid? [True, True] Translation: X:916.58, Y:82.57, Z:8.73 [[ 5.03589309e-01 -8.63883690e-01 -1.01379493e-02 9.16584207e+02] [ 8.63697974e-01 5.03691274e-01 -1.79139793e-02 8.25701640e+01] [ 2.05819911e-02 2.65162180e-04 9.99788133e-01 8.73416709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0892541539998 meters Centerline goodness [0,1] 0.9996943298181262 Centerline is valid? [True, True] Translation: X:916.60, Y:82.60, Z:8.74 [[ 5.05400940e-01 -8.62823011e-01 -1.03121908e-02 9.16597116e+02] [ 8.62630462e-01 5.05506034e-01 -1.82300812e-02 8.25954647e+01] [ 2.09422082e-02 3.17890249e-04 9.99780637e-01 8.73502232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1192541539999 meters Centerline goodness [0,1] 0.9996075524353552 Centerline is valid? [True, True] Translation: X:916.61, Y:82.62, Z:8.74 [[ 5.06540097e-01 -8.62154022e-01 -1.03717268e-02 9.16610032e+02] [ 8.61958921e-01 5.06646148e-01 -1.83439036e-02 8.26208867e+01] [ 2.10700657e-02 3.51920265e-04 9.99777940e-01 8.73545019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1492541539999 meters Centerline goodness [0,1] 0.9994762112614579 Centerline is valid? [True, True] Translation: X:916.62, Y:82.65, Z:8.73 [[ 5.07550321e-01 -8.61555374e-01 -1.07242141e-02 9.16620445e+02] [ 8.61346471e-01 5.07663454e-01 -1.89756289e-02 8.26466610e+01] [ 2.17928466e-02 3.93822627e-04 9.99762430e-01 8.73336436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1792541539999 meters Centerline goodness [0,1] 0.9994574417292417 Centerline is valid? [True, True] Translation: X:916.63, Y:82.67, Z:8.74 [[ 5.08962163e-01 -8.60730243e-01 -1.00481451e-02 9.16633922e+02] [ 8.60546584e-01 5.09061180e-01 -1.77846126e-02 8.26716271e+01] [ 2.04228745e-02 4.04797973e-04 9.99791349e-01 8.73509034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2092541539998 meters Centerline goodness [0,1] 0.9996304106789573 Centerline is valid? [True, True] Translation: X:916.65, Y:82.70, Z:8.74 [[ 5.09569987e-01 -8.60374377e-01 -9.71389140e-03 9.16646976e+02] [ 8.60202514e-01 5.09662402e-01 -1.72009120e-02 8.26967411e+01] [ 1.97500292e-02 4.09154727e-04 9.99804865e-01 8.73553013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2392541539999 meters Centerline goodness [0,1] 0.9996092053842813 Centerline is valid? [True, True] Translation: X:916.66, Y:82.72, Z:8.73 [[ 5.09687258e-01 -8.60295657e-01 -1.05015232e-02 9.16658898e+02] [ 8.60094528e-01 5.09795233e-01 -1.86071015e-02 8.27211482e+01] [ 2.13612351e-02 4.51499860e-04 9.99771721e-01 8.73375038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2692541539999 meters Centerline goodness [0,1] 0.9997177900792359 Centerline is valid? [True, True] Translation: X:916.67, Y:82.74, Z:8.73 [[ 5.09965935e-01 -8.60133863e-01 -1.02217189e-02 9.16671238e+02] [ 8.59943044e-01 5.10068166e-01 -1.81225434e-02 8.27449852e+01] [ 2.08015867e-02 4.51783702e-04 9.99783522e-01 8.73350386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2992541539999 meters Centerline goodness [0,1] 0.9997826086956522 Centerline is valid? [True, True] Translation: X:916.69, Y:82.77, Z:8.73 [[ 5.09851957e-01 -8.60195803e-01 -1.06847015e-02 9.16686129e+02] [ 8.59987051e-01 5.09963680e-01 -1.89556512e-02 8.27694488e+01] [ 2.17543813e-02 4.75870970e-04 9.99763232e-01 8.73305470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3292541539998 meters Centerline goodness [0,1] 0.999738795411506 Centerline is valid? [True, True] Translation: X:916.70, Y:82.79, Z:8.73 [[ 5.08536456e-01 -8.60964623e-01 -1.14276350e-02 9.16700636e+02] [ 8.60725710e-01 5.08664612e-01 -2.02870536e-02 8.27922434e+01] [ 2.32792689e-02 4.80647065e-04 9.99728886e-01 8.73162735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3592541539998 meters Centerline goodness [0,1] 0.9996508989352417 Centerline is valid? [True, True] Translation: X:916.72, Y:82.82, Z:8.73 [[ 5.07282937e-01 -8.61702773e-01 -1.15044706e-02 9.16715357e+02] [ 8.61460518e-01 5.07413168e-01 -2.04365525e-02 8.28156741e+01] [ 2.34477538e-02 4.56467148e-04 9.99724959e-01 8.73192179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3892541539999 meters Centerline goodness [0,1] 0.9996079114751242 Centerline is valid? [True, True] Translation: X:916.73, Y:82.84, Z:8.73 [[ 5.06016558e-01 -8.62448235e-01 -1.14142689e-02 9.16730415e+02] [ 8.62209662e-01 5.06145099e-01 -2.02888538e-02 8.28397895e+01] [ 2.32753624e-02 4.25003055e-04 9.99729002e-01 8.73195865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4192541539999 meters Centerline goodness [0,1] 0.9997586766706156 Centerline is valid? [True, True] Translation: X:916.75, Y:82.86, Z:8.73 [[ 5.03103699e-01 -8.64153228e-01 -1.12190206e-02 9.16747700e+02] [ 8.63922897e-01 5.03228654e-01 -1.99536998e-02 8.28620238e+01] [ 2.28887868e-02 3.46411429e-04 9.99737957e-01 8.73217179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4492541539998 meters Centerline goodness [0,1] 0.9998025623025623 Centerline is valid? [True, True] Translation: X:916.76, Y:82.88, Z:8.73 [[ 5.01092675e-01 -8.65322710e-01 -1.10787463e-02 9.16763405e+02] [ 8.65098163e-01 5.01215045e-01 -1.97141434e-02 8.28847131e+01] [ 2.26119303e-02 2.94409779e-04 9.99744274e-01 8.73223248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4792541539998 meters Centerline goodness [0,1] 0.9996710814840803 Centerline is valid? [True, True] Translation: X:916.78, Y:82.91, Z:8.73 [[ 4.97981926e-01 -8.67110360e-01 -1.15596397e-02 9.16780239e+02] [ 8.66866103e-01 4.98116023e-01 -2.05812355e-02 8.29078291e+01] [ 2.36042443e-02 2.28423416e-04 9.99721355e-01 8.73169996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5092541539999 meters Centerline goodness [0,1] 0.9997811241463842 Centerline is valid? [True, True] Translation: X:916.80, Y:82.93, Z:8.73 [[ 4.91997674e-01 -8.70530858e-01 -1.06917305e-02 9.16801381e+02] [ 8.70322519e-01 4.92113829e-01 -1.90444705e-02 8.29272262e+01] [ 2.18403477e-02 6.45814023e-05 9.99761469e-01 8.73381889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5392541539999 meters Centerline goodness [0,1] 0.9997804465716732 Centerline is valid? [True, True] Translation: X:916.82, Y:82.95, Z:8.73 [[ 4.87884678e-01 -8.72842994e-01 -1.06606484e-02 9.16819683e+02] [ 8.72636208e-01 4.88001134e-01 -1.89984617e-02 8.29495561e+01] [ 2.17850827e-02 -3.38094011e-05 9.99762676e-01 8.73419520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5692541539999 meters Centerline goodness [0,1] 0.9997571851132401 Centerline is valid? [True, True] Translation: X:916.84, Y:82.97, Z:8.74 [[ 4.79768574e-01 -8.77340262e-01 -9.80711982e-03 9.16842446e+02] [ 8.77165990e-01 4.79868752e-01 -1.74873373e-02 8.29693763e+01] [ 2.00484755e-02 -2.12597068e-04 9.99798987e-01 8.73625466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5992541539998 meters Centerline goodness [0,1] 0.9998672801274111 Centerline is valid? [True, True] Translation: X:916.86, Y:82.99, Z:8.74 [[ 4.76211112e-01 -8.79283441e-01 -9.14368472e-03 9.16859717e+02] [ 8.79132128e-01 4.76298811e-01 -1.63139052e-02 8.29905738e+01] [ 1.86996728e-02 -2.69644084e-04 9.99825109e-01 8.73770363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6292541539999 meters Centerline goodness [0,1] 0.9998226793155421 Centerline is valid? [True, True] Translation: X:916.88, Y:83.01, Z:8.74 [[ 4.72811794e-01 -8.81117366e-01 -9.01086201e-03 9.16877038e+02] [ 8.80970570e-01 4.72897534e-01 -1.60865426e-02 8.30131702e+01] [ 1.84353465e-02 -3.32397180e-04 9.99829999e-01 8.73814759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6592541539999 meters Centerline goodness [0,1] 0.9998668146503884 Centerline is valid? [True, True] Translation: X:916.89, Y:83.04, Z:8.74 [[ 4.69050490e-01 -8.83124295e-01 -9.11683884e-03 9.16893152e+02] [ 8.82974225e-01 4.69138902e-01 -1.62852403e-02 8.30361037e+01] [ 1.86589551e-02 -4.11333762e-04 9.99825822e-01 8.73771866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6892541539999 meters Centerline goodness [0,1] 0.9998231340643792 Centerline is valid? [True, True] Translation: X:916.91, Y:83.06, Z:8.74 [[ 4.68350825e-01 -8.83493380e-01 -9.32478050e-03 9.16905900e+02] [ 8.83336278e-01 4.68443445e-01 -1.66660886e-02 8.30585079e+01] [ 1.90925112e-02 -4.31340563e-04 9.99817628e-01 8.73716670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7192541539998 meters Centerline goodness [0,1] 0.9999113160695282 Centerline is valid? [True, True] Translation: X:916.92, Y:83.08, Z:8.74 [[ 4.69494097e-01 -8.82886412e-01 -9.32079643e-03 9.16918652e+02] [ 8.82729159e-01 4.69586438e-01 -1.66676056e-02 8.30813498e+01] [ 1.90925221e-02 -4.02396363e-04 9.99817640e-01 8.73784436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7492541539999 meters Centerline goodness [0,1] 0.9999111328341961 Centerline is valid? [True, True] Translation: X:916.93, Y:83.11, Z:8.74 [[ 4.70003101e-01 -8.82612396e-01 -9.61475315e-03 9.16930727e+02] [ 8.82444814e-01 4.70101265e-01 -1.72032142e-02 8.31054460e+01] [ 1.97036778e-02 -3.98925027e-04 9.99805784e-01 8.73712699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7792541539999 meters Centerline goodness [0,1] 0.9999557345845691 Centerline is valid? [True, True] Translation: X:916.94, Y:83.13, Z:8.74 [[ 4.71237787e-01 -8.81951088e-01 -9.86040492e-03 9.16942165e+02] [ 8.81774458e-01 4.71340788e-01 -1.76540842e-02 8.31303906e+01] [ 2.02176498e-02 -3.75381663e-04 9.99795532e-01 8.73634493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8092541539999 meters Centerline goodness [0,1] 0.9999337206990256 Centerline is valid? [True, True] Translation: X:916.95, Y:83.16, Z:8.74 [[ 4.72820227e-01 -8.81102446e-01 -9.97559383e-03 9.16953373e+02] [ 8.80921257e-01 4.72925328e-01 -1.78710070e-02 8.31562656e+01] [ 2.04638990e-02 -3.37939060e-04 9.99790535e-01 8.73573632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8392541539998 meters Centerline goodness [0,1] 0.9999557561277763 Centerline is valid? [True, True] Translation: X:916.96, Y:83.18, Z:8.73 [[ 4.76575693e-01 -8.79076041e-01 -1.00460879e-02 9.16961326e+02] [ 8.78891619e-01 4.76681501e-01 -1.80074453e-02 8.31834028e+01] [ 2.06186979e-02 -2.47511779e-04 9.99787381e-01 8.73467901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8692541539999 meters Centerline goodness [0,1] 0.9999557424208896 Centerline is valid? [True, True] Translation: X:916.97, Y:83.21, Z:8.73 [[ 4.78484277e-01 -8.78041122e-01 -9.82773148e-03 9.16972002e+02] [ 8.77864216e-01 4.78585155e-01 -1.76257674e-02 8.32100629e+01] [ 2.01795550e-02 -1.93761223e-04 9.99796353e-01 8.73473041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8992541539999 meters Centerline goodness [0,1] 0.9998898726928329 Centerline is valid? [True, True] Translation: X:916.98, Y:83.24, Z:8.73 [[ 4.82659281e-01 -8.75754559e-01 -9.69386828e-03 9.16978567e+02] [ 8.75581785e-01 4.82756610e-01 -1.73952226e-02 8.32380194e+01] [ 1.99137245e-02 -9.18088565e-05 9.99801698e-01 8.73432462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9292541539999 meters Centerline goodness [0,1] 0.9999779992519746 Centerline is valid? [True, True] Translation: X:916.99, Y:83.26, Z:8.74 [[ 4.85107115e-01 -8.74406726e-01 -9.16318357e-03 9.16989185e+02] [ 8.74251941e-01 4.85193648e-01 -1.64519904e-02 8.32638446e+01] [ 1.88316495e-02 -2.99534367e-05 9.99822668e-01 8.73573858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9592541539998 meters Centerline goodness [0,1] 0.9998461403200282 Centerline is valid? [True, True] Translation: X:917.00, Y:83.29, Z:8.74 [[ 4.86701606e-01 -8.73516794e-01 -9.48451859e-03 9.16999082e+02] [ 8.73350590e-01 4.86794012e-01 -1.70392842e-02 8.32892940e+01] [ 1.95011077e-02 9.73706552e-06 9.99809835e-01 8.73520424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.01, Y:83.32, Z:8.74 [[ 4.91207766e-01 -8.70998268e-01 -8.77200250e-03 9.17005988e+02] [ 8.70855522e-01 4.91286073e-01 -1.57687496e-02 8.33152614e+01] [ 1.80441162e-02 1.06585430e-04 9.99837186e-01 8.73697074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0192541539999 meters Centerline goodness [0,1] 0.9998685536520177 Centerline is valid? [True, True] Translation: X:917.02, Y:83.34, Z:8.74 [[ 4.92057348e-01 -8.70514488e-01 -9.17014980e-03 9.17016658e+02] [ 8.70358217e-01 4.92142771e-01 -1.64944454e-02 8.33418669e+01] [ 1.88716766e-02 1.34897833e-04 9.99821905e-01 8.73607276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.03, Y:83.37, Z:8.74 [[ 4.94399687e-01 -8.69189635e-01 -8.85033521e-03 9.17030995e+02] [ 8.69043702e-01 4.94478862e-01 -1.59279295e-02 8.33668185e+01] [ 1.82206949e-02 1.83435269e-04 9.99833973e-01 8.74069547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.04, Y:83.39, Z:8.74 [[ 4.94072126e-01 -8.69375680e-01 -8.86910588e-03 9.17038928e+02] [ 8.69228986e-01 4.94151691e-01 -1.59710986e-02 8.33930164e+01] [ 1.82675684e-02 1.81590736e-04 9.99833118e-01 8.73623892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.06, Y:83.42, Z:8.74 [[ 4.93347860e-01 -8.69784725e-01 -9.07862053e-03 9.17056571e+02] [ 8.69630892e-01 4.93431355e-01 -1.63588060e-02 8.34155797e+01] [ 1.87083156e-02 1.75533088e-04 9.99824969e-01 8.74039329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.07, Y:83.44, Z:8.74 [[ 4.93101882e-01 -8.69924248e-01 -9.07399715e-03 9.17069882e+02] [ 8.69770391e-01 4.93185333e-01 -1.63613706e-02 8.34397459e+01] [ 1.87083153e-02 1.75528560e-04 9.99824969e-01 8.74065073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1692541539999 meters Centerline goodness [0,1] 0.9999781716580809 Centerline is valid? [True, True] Translation: X:917.08, Y:83.46, Z:8.74 [[ 4.90168536e-01 -8.71576674e-01 -9.42904272e-03 9.17083894e+02] [ 8.71410642e-01 4.90259203e-01 -1.70119597e-02 8.34632608e+01] [ 1.94499022e-02 1.22159211e-04 9.99810825e-01 8.73948289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.10, Y:83.49, Z:8.74 [[ 4.87690234e-01 -8.72968962e-01 -9.13387078e-03 9.17097513e+02] [ 8.72813226e-01 4.87775755e-01 -1.64889517e-02 8.34864963e+01] [ 1.88496238e-02 6.93374862e-05 9.99822328e-01 8.73659214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2292541539998 meters Centerline goodness [0,1] 0.9998684383633732 Centerline is valid? [True, True] Translation: X:917.12, Y:83.51, Z:8.74 [[ 4.81645810e-01 -8.76313850e-01 -9.55774863e-03 9.17115653e+02] [ 8.76143744e-01 4.81740629e-01 -1.72657857e-02 8.35079473e+01] [ 1.97346029e-02 -5.79683374e-05 9.99805252e-01 8.74116698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2592541539999 meters Centerline goodness [0,1] 0.9998908940144456 Centerline is valid? [True, True] Translation: X:917.13, Y:83.53, Z:8.74 [[ 4.78217703e-01 -8.78193134e-01 -9.20039208e-03 9.17131440e+02] [ 8.78035652e-01 4.78306181e-01 -1.66309976e-02 8.35318297e+01] [ 1.90058323e-02 -1.25034809e-04 9.99819365e-01 8.74185195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.15, Y:83.55, Z:8.74 [[ 4.75190505e-01 -8.79839521e-01 -8.74071630e-03 9.17147150e+02] [ 8.79697482e-01 4.75270855e-01 -1.58099311e-02 8.35549845e+01] [ 1.80644100e-02 -1.76456953e-04 9.99836810e-01 8.74257274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.16, Y:83.58, Z:8.74 [[ 4.71932259e-01 -8.81589360e-01 -8.95225208e-03 9.17162739e+02] [ 8.81440487e-01 4.72017098e-01 -1.62027011e-02 8.35786933e+01] [ 1.85097449e-02 -2.44300088e-04 9.99828650e-01 8.74247514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.18, Y:83.60, Z:8.74 [[ 4.66466825e-01 -8.84491027e-01 -9.18281276e-03 9.17179954e+02] [ 8.84334744e-01 4.66557061e-01 -1.66303649e-02 8.36006335e+01] [ 1.89937146e-02 -3.63166872e-04 9.99819537e-01 8.74162016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3792541539999 meters Centerline goodness [0,1] 0.9999340340384362 Centerline is valid? [True, True] Translation: X:917.19, Y:83.62, Z:8.74 [[ 4.63821958e-01 -8.85876919e-01 -9.55384413e-03 9.17193719e+02] [ 8.85707863e-01 4.63920141e-01 -1.73113682e-02 8.36249632e+01] [ 1.97679622e-02 -4.32522198e-04 9.99804501e-01 8.74187419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.21, Y:83.65, Z:8.74 [[ 4.61041882e-01 -8.87325387e-01 -9.69746192e-03 9.17209168e+02] [ 8.87151339e-01 4.61143589e-01 -1.75810209e-02 8.36484435e+01] [ 2.00720086e-02 -4.97529372e-04 9.99798413e-01 8.74253387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4392541539999 meters Centerline goodness [0,1] 0.9999121998331797 Centerline is valid? [True, True] Translation: X:917.22, Y:83.67, Z:8.74 [[ 4.59444988e-01 -8.88145825e-01 -1.03583970e-02 9.17222327e+02] [ 8.87947194e-01 4.59561394e-01 -1.87911190e-02 8.36737990e+01] [ 2.14495733e-02 -5.64224071e-04 9.99769772e-01 8.74187225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4692541539998 meters Centerline goodness [0,1] 0.9998903268260584 Centerline is valid? [True, True] Translation: X:917.24, Y:83.70, Z:8.74 [[ 4.58774313e-01 -8.88487955e-01 -1.07370368e-02 9.17236075e+02] [ 8.88274372e-01 4.58899552e-01 -1.94895181e-02 8.36987919e+01] [ 2.22434234e-02 -5.96144327e-04 9.99752407e-01 8.74120040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.25, Y:83.72, Z:8.74 [[ 4.59527292e-01 -8.88097515e-01 -1.08384528e-02 9.17250078e+02] [ 8.87879551e-01 4.59654729e-01 -1.96833355e-02 8.37225232e+01] [ 2.24626674e-02 -5.78210697e-04 9.99747515e-01 8.74095301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5292541539999 meters Centerline goodness [0,1] 0.9999341657705897 Centerline is valid? [True, True] Translation: X:917.26, Y:83.75, Z:8.74 [[ 4.60242769e-01 -8.87725525e-01 -1.09538047e-02 9.17263597e+02] [ 8.87502597e-01 4.60372758e-01 -1.99013601e-02 8.37457946e+01] [ 2.27097786e-02 -5.62073053e-04 9.99741942e-01 8.74065532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.28, Y:83.77, Z:8.74 [[ 4.61290734e-01 -8.87182348e-01 -1.08783951e-02 9.17276191e+02] [ 8.86962132e-01 4.61418685e-01 -1.97730763e-02 8.37695595e+01] [ 2.25618190e-02 -5.27587614e-04 9.99745311e-01 8.74066289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5892541539998 meters Centerline goodness [0,1] 0.9998682650507179 Centerline is valid? [True, True] Translation: X:917.29, Y:83.80, Z:8.74 [[ 4.63881130e-01 -8.85827556e-01 -1.11282479e-02 9.17286599e+02] [ 8.85596454e-01 4.64014356e-01 -2.02385051e-02 8.37962476e+01] [ 2.30914923e-02 -4.66876274e-04 9.99733247e-01 8.74125046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6192541539999 meters Centerline goodness [0,1] 0.9999781959313608 Centerline is valid? [True, True] Translation: X:917.30, Y:83.82, Z:8.74 [[ 4.66140976e-01 -8.84648127e-01 -1.05015004e-02 9.17299345e+02] [ 8.84441773e-01 4.66259098e-01 -1.91102866e-02 8.38218566e+01] [ 2.18022994e-02 -3.79878011e-04 9.99762229e-01 8.74211590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.31, Y:83.85, Z:8.74 [[ 4.70840768e-01 -8.82161706e-01 -9.98476897e-03 9.17308098e+02] [ 8.81974365e-01 4.70946562e-01 -1.81812118e-02 8.38493390e+01] [ 2.07410614e-02 -2.45854544e-04 9.99784851e-01 8.74390480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6792541539999 meters Centerline goodness [0,1] 0.9999347073802425 Centerline is valid? [True, True] Translation: X:917.32, Y:83.88, Z:8.74 [[ 4.73511464e-01 -8.80733404e-01 -9.77568996e-03 9.17319260e+02] [ 8.80553376e-01 4.73612331e-01 -1.78076412e-02 8.38750959e+01] [ 2.03136717e-02 -1.75894549e-04 9.99793641e-01 8.74382372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.33, Y:83.90, Z:8.74 [[ 4.76786829e-01 -8.78970996e-01 -9.18188668e-03 9.17330880e+02] [ 8.78811719e-01 4.76875224e-01 -1.67327023e-02 8.39015623e+01] [ 1.90861743e-02 -9.12175294e-05 9.99817838e-01 8.74499882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.34, Y:83.93, Z:8.75 [[ 4.83553082e-01 -8.75274619e-01 -8.41184937e-03 9.17338661e+02] [ 8.75140225e-01 4.83626239e-01 -1.53377584e-02 8.39282723e+01] [ 1.74929417e-02 5.50726066e-05 9.99846985e-01 8.74594827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7692541539999 meters Centerline goodness [0,1] 0.9998910722844321 Centerline is valid? [True, True] Translation: X:917.35, Y:83.95, Z:8.75 [[ 4.86508513e-01 -8.73636309e-01 -8.31066530e-03 9.17348872e+02] [ 8.73504737e-01 4.86579476e-01 -1.51620435e-02 8.39546795e+01] [ 1.72899109e-02 1.17057704e-04 9.99850511e-01 8.74613318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.36, Y:83.98, Z:8.75 [[ 4.90159500e-01 -8.71599762e-01 -7.58420167e-03 9.17360125e+02] [ 8.71489815e-01 4.90218139e-01 -1.38448059e-02 8.39813782e+01] [ 1.57850428e-02 1.76608622e-04 9.99875393e-01 8.74772841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8292541539998 meters Centerline goodness [0,1] 0.9999565349676186 Centerline is valid? [True, True] Translation: X:917.37, Y:84.01, Z:8.75 [[ 4.96932749e-01 -8.67758590e-01 -7.27133629e-03 9.17366564e+02] [ 8.67657022e-01 4.96985860e-01 -1.32796010e-02 8.40090111e+01] [ 1.51372392e-02 2.90042650e-04 9.99885383e-01 8.74785444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8592541539998 meters Centerline goodness [0,1] 0.9999783197831978 Centerline is valid? [True, True] Translation: X:917.38, Y:84.04, Z:8.75 [[ 4.99994614e-01 -8.65998153e-01 -7.25158686e-03 9.17377333e+02] [ 8.65896874e-01 5.00047078e-01 -1.32485257e-02 8.40358407e+01] [ 1.50993336e-02 3.45065098e-04 9.99885939e-01 8.74785439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8892541539999 meters Centerline goodness [0,1] 0.9999566893325826 Centerline is valid? [True, True] Translation: X:917.38, Y:84.06, Z:8.75 [[ 5.04838239e-01 -8.63180045e-01 -7.65266113e-03 9.17384877e+02] [ 8.63066823e-01 5.04896031e-01 -1.39877627e-02 8.40627043e+01] [ 1.59377559e-02 4.56799567e-04 9.99872882e-01 8.74701820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.40, Y:84.09, Z:8.75 [[ 5.06446237e-01 -8.62239439e-01 -7.44039538e-03 9.17396924e+02] [ 8.62132231e-01 5.06500665e-01 -1.36048444e-02 8.40894521e+01] [ 1.54991986e-02 4.75517577e-04 9.99879767e-01 8.74709912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9492541539998 meters Centerline goodness [0,1] 0.999869522670436 Centerline is valid? [True, True] Translation: X:917.41, Y:84.12, Z:8.75 [[ 5.07114704e-01 -8.61840759e-01 -8.07362663e-03 9.17409307e+02] [ 8.61714325e-01 5.07178688e-01 -1.47715884e-02 8.41160572e+01] [ 1.68255283e-02 5.33729970e-04 9.99858298e-01 8.74598656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9792541539998 meters Centerline goodness [0,1] 0.9999349410131853 Centerline is valid? [True, True] Translation: X:917.42, Y:84.14, Z:8.75 [[ 5.07581033e-01 -8.61567117e-01 -7.97481429e-03 9.17420846e+02] [ 8.61443617e-01 5.07643390e-01 -1.45973472e-02 8.41415251e+01] [ 1.66249561e-02 5.39483697e-04 9.99861650e-01 8.74557236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.44, Y:84.17, Z:8.75 [[ 5.06627162e-01 -8.62130949e-01 -7.69058822e-03 9.17435166e+02] [ 8.62016065e-01 5.06685278e-01 -1.40830810e-02 8.41662719e+01] [ 1.60381678e-02 5.05460777e-04 9.99871253e-01 8.74599699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.45, Y:84.19, Z:8.75 [[ 5.02886331e-01 -8.64316868e-01 -7.85428221e-03 9.17451349e+02] [ 8.64197184e-01 5.02947463e-01 -1.43901608e-02 8.41880371e+01] [ 1.63879500e-02 4.48966595e-04 9.99865608e-01 8.74640375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0692541539999 meters Centerline goodness [0,1] 0.9999348265299473 Centerline is valid? [True, True] Translation: X:917.47, Y:84.21, Z:8.75 [[ 4.99958820e-01 -8.66011704e-01 -8.05648238e-03 9.17468952e+02] [ 8.65885882e-01 5.00023562e-01 -1.47674123e-02 8.42108538e+01] [ 1.68171829e-02 4.07103682e-04 9.99858498e-01 8.74661157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0992541539998 meters Centerline goodness [0,1] 0.9998481397114655 Centerline is valid? [True, True] Translation: X:917.49, Y:84.24, Z:8.75 [[ 4.96552095e-01 -8.67966665e-01 -8.35969726e-03 9.17485355e+02] [ 8.67831310e-01 4.96622331e-01 -1.53322392e-02 8.42351097e+01] [ 1.74594849e-02 3.58448469e-04 9.99847507e-01 8.74677420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1292541539999 meters Centerline goodness [0,1] 0.9999131680632136 Centerline is valid? [True, True] Translation: X:917.50, Y:84.26, Z:8.75 [[ 4.92987368e-01 -8.69998311e-01 -8.14830063e-03 9.17502361e+02] [ 8.69869847e-01 4.93054621e-01 -1.49529123e-02 8.42584552e+01] [ 1.70265658e-02 2.83635872e-04 9.99854997e-01 8.74753695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1592541539999 meters Centerline goodness [0,1] 0.9998044710943101 Centerline is valid? [True, True] Translation: X:917.52, Y:84.28, Z:8.75 [[ 4.85244785e-01 -8.74336516e-01 -8.55313072e-03 9.17521708e+02] [ 8.74195498e-01 4.85320138e-01 -1.57033440e-02 8.42787898e+01] [ 1.78810136e-02 1.42857385e-04 9.99840112e-01 8.74686193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.54, Y:84.30, Z:8.75 [[ 4.81294780e-01 -8.76521095e-01 -8.13049619e-03 9.17539844e+02] [ 8.76393864e-01 4.81363445e-01 -1.49341450e-02 8.43010804e+01] [ 1.70038168e-02 6.22090455e-05 9.99855423e-01 8.74834904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.56, Y:84.32, Z:8.75 [[ 4.72501616e-01 -8.81289878e-01 -8.38893859e-03 9.17560278e+02] [ 8.81154998e-01 4.72576068e-01 -1.54184776e-02 8.43215991e+01] [ 1.75525598e-02 -1.06699598e-04 9.99845936e-01 8.74856200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2492541539999 meters Centerline goodness [0,1] 0.9999344863731656 Centerline is valid? [True, True] Translation: X:917.58, Y:84.34, Z:8.75 [[ 4.68116873e-01 -8.83622665e-01 -8.80785442e-03 9.17577186e+02] [ 8.83474240e-01 4.68199685e-01 -1.61963486e-02 8.43443252e+01] [ 1.84352954e-02 -1.99728450e-04 9.99830036e-01 8.74819041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.59, Y:84.37, Z:8.75 [[ 4.63884638e-01 -8.85854202e-01 -8.56597663e-03 9.17594545e+02] [ 8.85714061e-01 4.63963637e-01 -1.57590057e-02 8.43662847e+01] [ 1.79344831e-02 -2.76645286e-04 9.99839126e-01 8.74870907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3092541539999 meters Centerline goodness [0,1] 0.9999560873861016 Centerline is valid? [True, True] Translation: X:917.61, Y:84.39, Z:8.75 [[ 4.55206342e-01 -8.90346213e-01 -8.41470264e-03 9.17614556e+02] [ 8.90211560e-01 4.55283898e-01 -1.54903372e-02 8.43877922e+01] [ 1.76228417e-02 -4.39565820e-04 9.99844609e-01 8.74967100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3392541539998 meters Centerline goodness [0,1] 0.9999561941475381 Centerline is valid? [True, True] Translation: X:917.63, Y:84.41, Z:8.75 [[ 4.50945592e-01 -8.92511450e-01 -8.44893881e-03 9.17631171e+02] [ 8.92375900e-01 4.51024434e-01 -1.55632002e-02 8.44109081e+01] [ 1.77010123e-02 -5.21472825e-04 9.99843189e-01 8.75004409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3692541539999 meters Centerline goodness [0,1] 0.999889770723104 Centerline is valid? [True, True] Translation: X:917.65, Y:84.43, Z:8.75 [[ 4.43279959e-01 -8.96339541e-01 -8.84902897e-03 9.17651272e+02] [ 8.96191396e-01 4.43367723e-01 -1.63108904e-02 8.44305733e+01] [ 1.85434698e-02 -7.00132779e-04 9.99827810e-01 8.74950130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.66, Y:84.46, Z:8.75 [[ 4.40180304e-01 -8.97868680e-01 -8.55178216e-03 9.17663702e+02] [ 8.97730433e-01 4.40262755e-01 -1.57726142e-02 8.44566489e+01] [ 1.79267675e-02 -7.34401000e-04 9.99839033e-01 8.75126703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.68, Y:84.48, Z:8.75 [[ 4.37599093e-01 -8.99130922e-01 -8.40353908e-03 9.17678319e+02] [ 8.98997486e-01 4.37679101e-01 -1.55088381e-02 8.44797715e+01] [ 1.76225293e-02 -7.68107032e-04 9.99844416e-01 8.75151191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.69, Y:84.50, Z:8.75 [[ 4.34611291e-01 -9.00581852e-01 -8.08418608e-03 9.17692194e+02] [ 9.00458472e-01 4.34685750e-01 -1.49277937e-02 8.45031109e+01] [ 1.69577806e-02 -7.91686151e-04 9.99855893e-01 8.75191763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.70, Y:84.53, Z:8.75 [[ 4.33539424e-01 -9.01098592e-01 -8.05583970e-03 9.17704858e+02] [ 9.00976033e-01 4.33613514e-01 -1.48831943e-02 8.45280916e+01] [ 1.69043464e-02 -8.05667004e-04 9.99856787e-01 8.75247313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5192541539999 meters Centerline goodness [0,1] 0.9998899526796523 Centerline is valid? [True, True] Translation: X:917.72, Y:84.55, Z:8.75 [[ 4.32584694e-01 -9.01552939e-01 -8.53115378e-03 9.17716316e+02] [ 9.01415398e-01 4.32667939e-01 -1.57713345e-02 8.45542514e+01] [ 1.79098497e-02 -8.67675475e-04 9.99839229e-01 8.75217060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.73, Y:84.58, Z:8.75 [[ 4.32810755e-01 -9.01449230e-01 -8.00856707e-03 9.17729614e+02] [ 9.01327859e-01 4.32884090e-01 -1.48140065e-02 8.45777124e+01] [ 1.68208561e-02 -8.06683265e-04 9.99858194e-01 8.75255314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.74, Y:84.61, Z:8.75 [[ 4.33264207e-01 -9.01231962e-01 -7.94209019e-03 9.17737751e+02] [ 9.01112416e-01 4.33336277e-01 -1.46998161e-02 8.46065654e+01] [ 1.66895399e-02 -7.87811897e-04 9.99860410e-01 8.75355032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6092541539998 meters Centerline goodness [0,1] 0.999934360231052 Centerline is valid? [True, True] Translation: X:917.75, Y:84.63, Z:8.75 [[ 4.35864097e-01 -8.99977162e-01 -7.97471388e-03 9.17745018e+02] [ 8.99856265e-01 4.35936419e-01 -1.47695618e-02 8.46342699e+01] [ 1.67687365e-02 -7.38574545e-04 9.99859122e-01 8.75313707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6392541539999 meters Centerline goodness [0,1] 0.9998693152117094 Centerline is valid? [True, True] Translation: X:917.76, Y:84.66, Z:8.75 [[ 4.37726586e-01 -8.99074891e-01 -7.73151522e-03 9.17755601e+02] [ 8.98960960e-01 4.37794336e-01 -1.43286974e-02 8.46600140e+01] [ 1.62673856e-02 -6.78278544e-04 9.99867447e-01 8.75330850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.76, Y:84.69, Z:8.75 [[ 4.42581893e-01 -8.96697962e-01 -7.35073999e-03 9.17762340e+02] [ 8.96594514e-01 4.42642581e-01 -1.36317043e-02 8.46890769e+01] [ 1.54772720e-02 -5.57487637e-04 9.99880064e-01 8.75409339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.77, Y:84.72, Z:8.75 [[ 4.45043362e-01 -8.95480327e-01 -7.16869409e-03 9.17771916e+02] [ 8.95381656e-01 4.45100815e-01 -1.33024336e-02 8.47161313e+01] [ 1.51028592e-02 -4.98557407e-04 9.99885821e-01 8.75475734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7292541539998 meters Centerline goodness [0,1] 0.999848887161885 Centerline is valid? [True, True] Translation: X:917.78, Y:84.74, Z:8.76 [[ 4.47443883e-01 -8.94282735e-01 -7.23613093e-03 9.17781610e+02] [ 8.94181907e-01 4.47502156e-01 -1.34364418e-02 8.47429424e+01] [ 1.52541621e-02 -4.58363661e-04 9.99883543e-01 8.75514704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.79, Y:84.77, Z:8.76 [[ 4.50030243e-01 -8.92985083e-01 -7.10085843e-03 9.17791483e+02] [ 8.92887699e-01 4.50086081e-01 -1.31938319e-02 8.47700414e+01] [ 1.49778926e-02 -4.02645758e-04 9.99887744e-01 8.75538104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.80, Y:84.80, Z:8.75 [[ 4.55797769e-01 -8.90054134e-01 -7.21327125e-03 9.17795981e+02] [ 8.89953169e-01 4.55854739e-01 -1.34094605e-02 8.47981817e+01] [ 1.52233497e-02 -3.07471413e-04 9.99884071e-01 8.75475757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.80, Y:84.83, Z:8.75 [[ 4.61160655e-01 -8.87287152e-01 -7.23606815e-03 9.17799731e+02] [ 8.87185114e-01 4.61217373e-01 -1.34576711e-02 8.48272375e+01] [ 1.52782190e-02 -2.13583518e-04 9.99883258e-01 8.75450905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.81, Y:84.86, Z:8.75 [[ 4.63548421e-01 -8.86042197e-01 -7.21715962e-03 9.17808727e+02] [ 8.85940411e-01 4.63604571e-01 -1.34309235e-02 8.48551174e+01] [ 1.52462731e-02 -1.68089979e-04 9.99883755e-01 8.75462006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8792541539999 meters Centerline goodness [0,1] 0.999935754668494 Centerline is valid? [True, True] Translation: X:917.82, Y:84.88, Z:8.75 [[ 4.65732046e-01 -8.84895854e-01 -7.27936383e-03 9.17817440e+02] [ 8.84792037e-01 4.65788913e-01 -1.35550599e-02 8.48823236e+01] [ 1.53854632e-02 -1.27697400e-04 9.99881629e-01 8.75485081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.83, Y:84.91, Z:8.76 [[ 4.67925526e-01 -8.83738787e-01 -7.17349621e-03 9.17827301e+02] [ 8.83637706e-01 4.67980502e-01 -1.33661536e-02 8.49082581e+01] [ 1.51692447e-02 -8.44072787e-05 9.99884937e-01 8.75518928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9392541539999 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:917.83, Y:84.94, Z:8.76 [[ 4.71884683e-01 -8.81630471e-01 -7.24969534e-03 9.17833551e+02] [ 8.81526856e-01 4.71940369e-01 -1.35162835e-02 8.49363476e+01] [ 1.53377913e-02 -1.26739888e-05 9.99882369e-01 8.75514148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9692541539998 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:917.84, Y:84.96, Z:8.75 [[ 4.73513180e-01 -8.80755217e-01 -7.45095370e-03 9.17842667e+02] [ 8.80645514e-01 4.73571798e-01 -1.39007917e-02 8.49620251e+01] [ 1.57717563e-02 2.05591230e-05 9.99875618e-01 8.75491819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9992541539999 meters Centerline goodness [0,1] 0.999978708001533 Centerline is valid? [True, True] Translation: X:917.85, Y:84.99, Z:8.76 [[ 4.75100844e-01 -8.79899577e-01 -7.47816837e-03 9.17852418e+02] [ 8.79788821e-01 4.75159691e-01 -1.39606299e-02 8.49885512e+01] [ 1.58372765e-02 5.34980990e-05 9.99874581e-01 8.75514701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0292541539999 meters Centerline goodness [0,1] 0.9999573524394405 Centerline is valid? [True, True] Translation: X:917.86, Y:85.02, Z:8.76 [[ 4.78584057e-01 -8.78011255e-01 -7.31683429e-03 9.17860025e+02] [ 8.77904888e-01 4.78639971e-01 -1.36669596e-02 8.50166925e+01] [ 1.55018737e-02 1.17304404e-04 9.99879832e-01 8.75580250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0592541539999 meters Centerline goodness [0,1] 0.9999573524394405 Centerline is valid? [True, True] Translation: X:917.87, Y:85.04, Z:8.76 [[ 4.78325045e-01 -8.78152411e-01 -7.31398459e-03 9.17872981e+02] [ 8.78046037e-01 4.78380946e-01 -1.36684846e-02 8.50410359e+01] [ 1.55018836e-02 1.15963335e-04 9.99879832e-01 8.75606034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.88, Y:85.07, Z:8.76 [[ 4.79682102e-01 -8.77410999e-01 -7.41752382e-03 9.17883269e+02] [ 8.77301382e-01 4.79739427e-01 -1.38696837e-02 8.50672371e+01] [ 1.57278916e-02 1.45635131e-04 9.99876298e-01 8.75595217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.89, Y:85.09, Z:8.76 [[ 4.82930042e-01 -8.75625194e-01 -7.68730545e-03 9.17891705e+02] [ 8.75507146e-01 4.82991175e-01 -1.43792729e-02 8.50945883e+01] [ 1.63037543e-02 2.13892028e-04 9.99867062e-01 8.75631778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1492541539999 meters Centerline goodness [0,1] 0.9999152093269741 Centerline is valid? [True, True] Translation: X:917.90, Y:85.12, Z:8.76 [[ 4.83776026e-01 -8.75157679e-01 -7.73267213e-03 9.17903647e+02] [ 8.75038056e-01 4.83837765e-01 -1.44712818e-02 8.51212167e+01] [ 1.64060121e-02 2.34476785e-04 9.99865385e-01 8.75522119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1792541539999 meters Centerline goodness [0,1] 0.9999789074035014 Centerline is valid? [True, True] Translation: X:917.91, Y:85.15, Z:8.76 [[ 4.85432610e-01 -8.74236934e-01 -8.06003859e-03 9.17914439e+02] [ 8.74106708e-01 4.85499438e-01 -1.50917003e-02 8.51471227e+01] [ 1.71068660e-02 2.80669655e-04 9.99853627e-01 8.75600491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.93, Y:85.17, Z:8.76 [[ 4.86860697e-01 -8.73440558e-01 -8.26156708e-03 9.17926094e+02] [ 8.73303525e-01 4.86930683e-01 -1.54746121e-02 8.51730572e+01] [ 1.75389643e-02 3.19124784e-04 9.99846130e-01 8.75644905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.94, Y:85.20, Z:8.76 [[ 4.88628381e-01 -8.72446096e-01 -8.95065675e-03 9.17936298e+02] [ 8.72284923e-01 4.88710199e-01 -1.67736095e-02 8.52001185e+01] [ 1.90083474e-02 3.88538748e-04 9.99819250e-01 8.75548933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.95, Y:85.23, Z:8.76 [[ 4.88473364e-01 -8.72527941e-01 -9.42148876e-03 9.17950488e+02] [ 8.72349156e-01 4.88564042e-01 -1.76670989e-02 8.52254757e+01] [ 2.00180381e-02 4.11079460e-04 9.99799534e-01 8.75588333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2992541539999 meters Centerline goodness [0,1] 0.9998520866349709 Centerline is valid? [True, True] Translation: X:917.96, Y:85.25, Z:8.75 [[ 4.87281487e-01 -8.73191192e-01 -9.68992573e-03 9.17962731e+02] [ 8.73002049e-01 4.87377660e-01 -1.81779763e-02 8.52506684e+01] [ 2.05955021e-02 3.98466311e-04 9.99787811e-01 8.75345415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3292541539998 meters Centerline goodness [0,1] 0.9999155209191324 Centerline is valid? [True, True] Translation: X:917.98, Y:85.28, Z:8.76 [[ 4.86104957e-01 -8.73847994e-01 -9.57362777e-03 9.17977560e+02] [ 8.73663333e-01 4.86199081e-01 -1.79675701e-02 8.52753508e+01] [ 2.03556141e-02 3.69997341e-04 9.99792735e-01 8.75520100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3592541539998 meters Centerline goodness [0,1] 0.9999157717414192 Centerline is valid? [True, True] Translation: X:917.99, Y:85.30, Z:8.76 [[ 4.82669743e-01 -8.75755137e-01 -9.10272895e-03 9.17993089e+02] [ 8.75588342e-01 4.82755489e-01 -1.70936749e-02 8.53004848e+01] [ 1.93642660e-02 2.80356332e-04 9.99812456e-01 8.75642879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.01, Y:85.32, Z:8.76 [[ 4.81037523e-01 -8.76654530e-01 -8.92955836e-03 9.18007134e+02] [ 8.76494014e-01 4.81120335e-01 -1.67769854e-02 8.53234536e+01] [ 1.90038123e-02 2.43655056e-04 9.99819382e-01 8.75857047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.02, Y:85.35, Z:8.76 [[ 4.78914800e-01 -8.77820206e-01 -8.50296037e-03 9.18022180e+02] [ 8.77674694e-01 4.78990239e-01 -1.59837903e-02 8.53477179e+01] [ 1.81037291e-02 1.92040610e-04 9.99836096e-01 8.75962510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.04, Y:85.37, Z:8.76 [[ 4.74497585e-01 -8.80217739e-01 -8.29301906e-03 9.18038662e+02] [ 8.80079572e-01 4.74570039e-01 -1.55956823e-02 8.53703317e+01] [ 1.76632146e-02 1.01596931e-04 9.99843988e-01 8.76040539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4792541539998 meters Centerline goodness [0,1] 0.9999788435906658 Centerline is valid? [True, True] Translation: X:918.05, Y:85.39, Z:8.76 [[ 4.72157039e-01 -8.81476239e-01 -8.20791273e-03 9.18054014e+02] [ 8.81340966e-01 4.72228373e-01 -1.54423168e-02 8.53945055e+01] [ 1.74880446e-02 5.72288596e-05 9.99847071e-01 8.76085112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.07, Y:85.42, Z:8.76 [[ 4.69999409e-01 -8.82627880e-01 -8.28138444e-03 9.18069494e+02] [ 8.82490161e-01 4.70072362e-01 -1.55913346e-02 8.54184064e+01] [ 1.76541965e-02 1.96777391e-05 9.99844152e-01 8.76217087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.09, Y:85.44, Z:8.76 [[ 4.66482728e-01 -8.84490109e-01 -8.43276486e-03 9.18085255e+02] [ 8.84347409e-01 4.66558941e-01 -1.58875602e-02 8.54413903e+01] [ 1.79867717e-02 -4.62213246e-05 9.99838224e-01 8.76272236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.10, Y:85.47, Z:8.76 [[ 4.64960959e-01 -8.85289245e-01 -8.61740900e-03 9.18099352e+02] [ 8.85140150e-01 4.65040803e-01 -1.62470628e-02 8.54656416e+01] [ 1.83907967e-02 -7.33648034e-05 9.99830872e-01 8.76273555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5992541539998 meters Centerline goodness [0,1] 0.9998518612574863 Centerline is valid? [True, True] Translation: X:918.11, Y:85.49, Z:8.76 [[ 4.62376269e-01 -8.86639664e-01 -8.84829315e-03 9.18114340e+02] [ 8.86482554e-01 4.62460907e-01 -1.66910623e-02 8.54890880e+01] [ 1.88909476e-02 -1.26306382e-04 9.99821542e-01 8.76007772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.13, Y:85.51, Z:8.76 [[ 4.61828985e-01 -8.86925989e-01 -8.73374640e-03 9.18129094e+02] [ 8.86772818e-01 4.61911541e-01 -1.64832401e-02 8.55133071e+01] [ 1.86536323e-02 -1.32410866e-04 9.99825997e-01 8.76258899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6592541539999 meters Centerline goodness [0,1] 0.9998734177215189 Centerline is valid? [True, True] Translation: X:918.14, Y:85.54, Z:8.76 [[ 4.60804871e-01 -8.87457929e-01 -8.79173638e-03 9.18142589e+02] [ 8.87302634e-01 4.60888708e-01 -1.66022673e-02 8.55375272e+01] [ 1.87858258e-02 -1.50525206e-04 9.99823519e-01 8.76080570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.16, Y:85.56, Z:8.76 [[ 4.60757490e-01 -8.87482527e-01 -8.79200083e-03 9.18156692e+02] [ 8.87327057e-01 4.60841342e-01 -1.66117748e-02 8.55607361e+01] [ 1.87943773e-02 -1.47380556e-04 9.99823359e-01 8.76285146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7192541539998 meters Centerline goodness [0,1] 0.9999787915420669 Centerline is valid? [True, True] Translation: X:918.17, Y:85.58, Z:8.76 [[ 4.60457957e-01 -8.87636939e-01 -8.89573778e-03 9.18171053e+02] [ 8.87477595e-01 4.60543855e-01 -1.68189290e-02 8.55847981e+01] [ 1.90259801e-02 -1.50358259e-04 9.99818978e-01 8.76347024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.18, Y:85.61, Z:8.76 [[ 4.60712283e-01 -8.87506142e-01 -8.77723854e-03 9.18184207e+02] [ 8.87350789e-01 4.60795864e-01 -1.66056949e-02 8.56084350e+01] [ 1.87821715e-02 -1.38041927e-04 9.99823590e-01 8.76342298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.20, Y:85.63, Z:8.76 [[ 4.61227917e-01 -8.87239684e-01 -8.63432546e-03 9.18197055e+02] [ 8.87089104e-01 4.61308713e-01 -1.63460363e-02 8.56336822e+01] [ 1.84859417e-02 -1.20167770e-04 9.99829113e-01 8.76411090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8092541539999 meters Centerline goodness [0,1] 0.9999363908148337 Centerline is valid? [True, True] Translation: X:918.21, Y:85.66, Z:8.76 [[ 4.62721459e-01 -8.86465031e-01 -8.28251670e-03 9.18209383e+02] [ 8.86326173e-01 4.62795573e-01 -1.56898775e-02 8.56575677e+01] [ 1.77416398e-02 -8.09683271e-05 9.99842601e-01 8.76283151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8392541539998 meters Centerline goodness [0,1] 0.9999152075295714 Centerline is valid? [True, True] Translation: X:918.22, Y:85.68, Z:8.76 [[ 4.63546381e-01 -8.86034934e-01 -8.17613206e-03 9.18222376e+02] [ 8.85899382e-01 4.63618477e-01 -1.54981478e-02 8.56829867e+01] [ 1.75225063e-02 -5.91200039e-05 9.99846467e-01 8.76319783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8692541539999 meters Centerline goodness [0,1] 0.999936412386867 Centerline is valid? [True, True] Translation: X:918.23, Y:85.71, Z:8.76 [[ 4.64911725e-01 -8.85320846e-01 -8.00553670e-03 9.18234869e+02] [ 8.85190613e-01 4.64980645e-01 -1.51848320e-02 8.57067451e+01] [ 1.71658679e-02 -2.68194887e-05 9.99852655e-01 8.76328399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8992541539999 meters Centerline goodness [0,1] 0.9999786338482576 Centerline is valid? [True, True] Translation: X:918.25, Y:85.73, Z:8.77 [[ 4.68247259e-01 -8.83560340e-01 -8.10122576e-03 9.18247093e+02] [ 8.83426532e-01 4.68317332e-01 -1.53765765e-02 8.57315320e+01] [ 1.73800776e-02 4.32020186e-05 9.99848954e-01 8.76537596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9292541539999 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:918.26, Y:85.76, Z:8.77 [[ 4.70235023e-01 -8.82505298e-01 -7.96382828e-03 9.18259245e+02] [ 8.82375658e-01 4.70302447e-01 -1.51263803e-02 8.57564281e+01] [ 1.70945187e-02 8.58655735e-05 9.99853874e-01 8.76566135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.27, Y:85.78, Z:8.77 [[ 4.76065373e-01 -8.79371150e-01 -8.25481234e-03 9.18269214e+02] [ 8.79231212e-01 4.76136889e-01 -1.56888078e-02 8.57827311e+01] [ 1.77267056e-02 2.11009466e-04 9.99842847e-01 8.76599273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9892541539998 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:918.28, Y:85.81, Z:8.76 [[ 4.78431205e-01 -8.78086496e-01 -8.22722026e-03 9.18281173e+02] [ 8.77947148e-01 4.78501867e-01 -1.56450703e-02 8.58089054e+01] [ 1.76744653e-02 2.62025299e-04 9.99843760e-01 8.76345812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0192541539999 meters Centerline goodness [0,1] 0.9998934129183543 Centerline is valid? [True, True] Translation: X:918.29, Y:85.83, Z:8.77 [[ 4.81877877e-01 -8.76198407e-01 -8.37040651e-03 9.18291391e+02] [ 8.76053707e-01 4.81950449e-01 -1.59269132e-02 8.58348268e+01] [ 1.79892571e-02 3.41901476e-04 9.99838122e-01 8.76536137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.30, Y:85.86, Z:8.77 [[ 4.84776903e-01 -8.74597967e-01 -8.35166718e-03 9.18304573e+02] [ 8.74453509e-01 4.84848669e-01 -1.59006208e-02 8.58601560e+01] [ 1.79559454e-02 4.05109045e-04 9.99838697e-01 8.76615344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0792541539998 meters Centerline goodness [0,1] 0.999936100875418 Centerline is valid? [True, True] Translation: X:918.31, Y:85.89, Z:8.77 [[ 4.89677322e-01 -8.71863793e-01 -8.34551232e-03 9.18313972e+02] [ 8.71719017e-01 4.89748168e-01 -1.58961544e-02 8.58860579e+01] [ 1.79464808e-02 5.09044507e-04 9.99838819e-01 8.76563565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1092541539998 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:918.32, Y:85.91, Z:8.77 [[ 4.91512763e-01 -8.70831142e-01 -8.26594193e-03 9.18324603e+02] [ 8.70688895e-01 4.91581963e-01 -1.57487082e-02 8.59114447e+01] [ 1.77778535e-02 5.43627219e-04 9.99841814e-01 8.76585068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1392541539999 meters Centerline goodness [0,1] 0.999936023202252 Centerline is valid? [True, True] Translation: X:918.34, Y:85.94, Z:8.76 [[ 4.91967962e-01 -8.70576110e-01 -8.04750266e-03 9.18338526e+02] [ 8.70441139e-01 4.92033479e-01 -1.53388172e-02 8.59362960e+01] [ 1.73132485e-02 5.41329233e-04 9.99849968e-01 8.76480632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1692541539999 meters Centerline goodness [0,1] 0.9999150833244879 Centerline is valid? [True, True] Translation: X:918.35, Y:85.96, Z:8.77 [[ 4.92600287e-01 -8.70220469e-01 -7.82894019e-03 9.18352131e+02] [ 8.70092570e-01 4.92662197e-01 -1.49291493e-02 8.59607681e+01] [ 1.68486742e-02 5.42200552e-04 9.99857904e-01 8.76515052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.37, Y:85.98, Z:8.77 [[ 4.92384857e-01 -8.70342805e-01 -7.78169054e-03 9.18368200e+02] [ 8.70216339e-01 4.92446050e-01 -1.48462368e-02 8.59834589e+01] [ 1.67533782e-02 5.38307942e-04 9.99859507e-01 8.76790158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.38, Y:86.01, Z:8.77 [[ 4.91241510e-01 -8.70987816e-01 -7.87420123e-03 9.18380409e+02] [ 8.70858250e-01 4.91304332e-01 -1.50320020e-02 8.60077304e+01] [ 1.69613198e-02 5.27030273e-04 9.99856008e-01 8.76703596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.40, Y:86.03, Z:8.77 [[ 4.90294000e-01 -8.71519683e-01 -8.07691358e-03 9.18397241e+02] [ 8.71383273e-01 4.90360241e-01 -1.54280951e-02 8.60306417e+01] [ 1.74064859e-02 5.26215084e-04 9.99848357e-01 8.76747433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2892541539999 meters Centerline goodness [0,1] 0.9998081228014071 Centerline is valid? [True, True] Translation: X:918.41, Y:86.05, Z:8.76 [[ 4.89190571e-01 -8.72137699e-01 -8.27157264e-03 9.18410332e+02] [ 8.71994550e-01 4.89260219e-01 -1.58095717e-02 8.60546870e+01] [ 1.78350749e-02 5.21127155e-04 9.99840807e-01 8.76366569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.43, Y:86.08, Z:8.77 [[ 4.88785496e-01 -8.72360451e-01 -8.71683512e-03 9.18426172e+02] [ 8.72201316e-01 4.88862912e-01 -1.66708704e-02 8.60779999e+01] [ 1.88043454e-02 5.45644592e-04 9.99823034e-01 8.76644806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3492541539998 meters Centerline goodness [0,1] 0.9998932217144322 Centerline is valid? [True, True] Translation: X:918.44, Y:86.10, Z:8.76 [[ 4.88068435e-01 -8.72761110e-01 -8.78904179e-03 9.18438724e+02] [ 8.72599193e-01 4.88147266e-01 -1.68194752e-02 8.61022343e+01] [ 1.89697306e-02 5.39744162e-04 9.99819913e-01 8.76334837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3792541539999 meters Centerline goodness [0,1] 0.999957184449392 Centerline is valid? [True, True] Translation: X:918.45, Y:86.13, Z:8.76 [[ 4.87783151e-01 -8.72919185e-01 -8.92715691e-03 9.18453465e+02] [ 8.72751957e-01 4.87864527e-01 -1.70945799e-02 8.61257897e+01] [ 1.92774299e-02 5.47254372e-04 9.99814023e-01 8.76477690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4092541539999 meters Centerline goodness [0,1] 0.999871514840036 Centerline is valid? [True, True] Translation: X:918.47, Y:86.15, Z:8.76 [[ 4.87167695e-01 -8.73260489e-01 -9.15180903e-03 9.18470571e+02] [ 8.73084551e-01 4.87253335e-01 -1.75372402e-02 8.61488457e+01] [ 1.97738284e-02 5.53273812e-04 9.99804326e-01 8.76380746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.48, Y:86.17, Z:8.77 [[ 4.87061839e-01 -8.73318735e-01 -9.22781838e-03 9.18484255e+02] [ 8.73139631e-01 4.87148922e-01 -1.76949705e-02 8.61725091e+01] [ 1.99486710e-02 5.61370917e-04 9.99800848e-01 8.76608214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4692541539998 meters Centerline goodness [0,1] 0.9999785853480951 Centerline is valid? [True, True] Translation: X:918.50, Y:86.20, Z:8.77 [[ 4.86149848e-01 -8.73825946e-01 -9.30275326e-03 9.18501590e+02] [ 8.73643825e-01 4.86238536e-01 -1.78480636e-02 8.61959203e+01] [ 2.01194582e-02 5.49540485e-04 9.99797432e-01 8.76596653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.52, Y:86.22, Z:8.77 [[ 4.85667821e-01 -8.74093637e-01 -9.33177768e-03 9.18516782e+02] [ 8.73910218e-01 4.85757159e-01 -1.79140573e-02 8.62197586e+01] [ 2.01915413e-02 5.45145328e-04 9.99795981e-01 8.76686312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.53, Y:86.24, Z:8.77 [[ 4.84982343e-01 -8.74474620e-01 -9.28799490e-03 9.18529597e+02] [ 8.74292757e-01 4.85070981e-01 -1.78414782e-02 8.62437878e+01] [ 2.01072567e-02 5.32375238e-04 9.99797687e-01 8.76643695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.55, Y:86.27, Z:8.77 [[ 4.84503440e-01 -8.74741577e-01 -9.14275326e-03 9.18545127e+02] [ 8.74565182e-01 4.84589419e-01 -1.75737877e-02 8.62668137e+01] [ 1.98030043e-02 5.18626948e-04 9.99803767e-01 8.76745215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.56, Y:86.29, Z:8.77 [[ 4.83940415e-01 -8.75056736e-01 -8.79673576e-03 9.18560714e+02] [ 8.74893294e-01 4.84020109e-01 -1.69191675e-02 8.62893380e+01] [ 1.90630285e-02 4.91663819e-04 9.99818163e-01 8.76821863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.58, Y:86.31, Z:8.77 [[ 4.83416256e-01 -8.75349040e-01 -8.53114869e-03 9.18576209e+02] [ 8.75195176e-01 4.83491299e-01 -1.64185410e-02 8.63133757e+01] [ 1.84966903e-02 4.70569470e-04 9.99828811e-01 8.76918546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.59, Y:86.34, Z:8.77 [[ 4.82695994e-01 -8.75748801e-01 -8.28347528e-03 9.18592056e+02] [ 8.75603605e-01 4.82766857e-01 -1.59527313e-02 8.63364077e+01] [ 1.79695726e-02 4.47278679e-04 9.99838434e-01 8.76971590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.61, Y:86.36, Z:8.77 [[ 4.82070528e-01 -8.76094043e-01 -8.19964538e-03 9.18606885e+02] [ 8.75951629e-01 4.82140062e-01 -1.58020344e-02 8.63607339e+01] [ 1.77974457e-02 4.35202340e-04 9.99841518e-01 8.77009105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.63, Y:86.38, Z:8.77 [[ 4.80953872e-01 -8.76707293e-01 -8.22772056e-03 9.18625401e+02] [ 8.76563796e-01 4.81024061e-01 -1.58671207e-02 8.63830121e+01] [ 1.78685520e-02 4.19231207e-04 9.99840257e-01 8.77098940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7392541539998 meters Centerline goodness [0,1] 0.999825399943255 Centerline is valid? [True, True] Translation: X:918.64, Y:86.41, Z:8.77 [[ 4.79726304e-01 -8.77378483e-01 -8.34694013e-03 9.18638536e+02] [ 8.77230713e-01 4.79798743e-01 -1.61072244e-02 8.64065678e+01] [ 1.81369835e-02 4.04866984e-04 9.99835429e-01 8.76881557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.65, Y:86.43, Z:8.77 [[ 4.79333325e-01 -8.77593395e-01 -8.33046501e-03 9.18653588e+02] [ 8.77446058e-01 4.79405541e-01 -1.60855048e-02 8.64301377e+01] [ 1.81102039e-02 4.00784835e-04 9.99835916e-01 8.77102129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7992541539999 meters Centerline goodness [0,1] 0.9998468673433671 Centerline is valid? [True, True] Translation: X:918.67, Y:86.45, Z:8.77 [[ 4.78328156e-01 -8.78142885e-01 -8.20053625e-03 9.18667972e+02] [ 8.77999993e-01 4.78398296e-01 -1.58456116e-02 8.64541305e+01] [ 1.78378337e-02 3.79331419e-04 9.99840821e-01 8.77098617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.68, Y:86.48, Z:8.77 [[ 4.76712734e-01 -8.79019220e-01 -8.37734584e-03 9.18684248e+02] [ 8.78870029e-01 4.76786201e-01 -1.61984731e-02 8.64774614e+01] [ 1.82329721e-02 3.59420234e-04 9.99833701e-01 8.77087485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.70, Y:86.50, Z:8.77 [[ 4.75865468e-01 -8.79477671e-01 -8.43102220e-03 9.18699628e+02] [ 8.79326424e-01 4.75940021e-01 -1.63137046e-02 8.65007300e+01] [ 1.83601998e-02 3.49508070e-04 9.99831376e-01 8.77144732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.71, Y:86.52, Z:8.77 [[ 4.74531572e-01 -8.80200092e-01 -8.22099282e-03 9.18712036e+02] [ 8.80056217e-01 4.74602672e-01 -1.59172463e-02 8.65248314e+01] [ 1.79120668e-02 3.18300065e-04 9.99839515e-01 8.77084933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.73, Y:86.55, Z:8.77 [[ 4.73921327e-01 -8.80529374e-01 -8.16077895e-03 9.18729315e+02] [ 8.80387471e-01 4.73991484e-01 -1.58105801e-02 8.65471672e+01] [ 1.77898199e-02 3.08323556e-04 9.99841701e-01 8.77298676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.74, Y:86.57, Z:8.77 [[ 4.73660050e-01 -8.80669992e-01 -8.15608567e-03 9.18741912e+02] [ 8.80528068e-01 4.73730166e-01 -1.58130012e-02 8.65717237e+01] [ 1.77898195e-02 3.08324600e-04 9.99841701e-01 8.77324422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.75, Y:86.60, Z:8.77 [[ 4.73309168e-01 -8.80858646e-01 -8.15331065e-03 9.18754105e+02] [ 8.80716673e-01 4.73379289e-01 -1.58173896e-02 8.65953752e+01] [ 1.77924928e-02 3.05758886e-04 9.99841654e-01 8.77254919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.77, Y:86.62, Z:8.77 [[ 4.72957686e-01 -8.81043628e-01 -8.55296104e-03 9.18768552e+02] [ 8.80887245e-01 4.73034909e-01 -1.66023292e-02 8.66188701e+01] [ 1.86732255e-02 3.18004908e-04 9.99825590e-01 8.77213895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.78, Y:86.64, Z:8.77 [[ 4.72696098e-01 -8.81183232e-01 -8.63197636e-03 9.18782064e+02] [ 8.81023756e-01 4.72774798e-01 -1.67670028e-02 8.66433255e+01] [ 1.88557826e-02 3.20720589e-04 9.99822162e-01 8.77186158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0692541539999 meters Centerline goodness [0,1] 0.9999780533304071 Centerline is valid? [True, True] Translation: X:918.80, Y:86.67, Z:8.77 [[ 4.72386819e-01 -8.81345316e-01 -9.00706146e-03 9.18795651e+02] [ 8.81171460e-01 4.72472563e-01 -1.75081416e-02 8.66676496e+01] [ 1.96863080e-02 3.33849806e-04 9.99806150e-01 8.77189811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.81, Y:86.69, Z:8.77 [[ 4.72072293e-01 -8.81510933e-01 -9.28577301e-03 9.18809401e+02] [ 8.81325931e-01 4.72163486e-01 -1.80622576e-02 8.66916131e+01] [ 2.03064805e-02 3.42898802e-04 9.99793743e-01 8.77138791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.82, Y:86.72, Z:8.77 [[ 4.71952022e-01 -8.81574816e-01 -9.33443800e-03 9.18822505e+02] [ 8.81387630e-01 4.72044195e-01 -1.81693117e-02 8.67168261e+01] [ 2.04238749e-02 3.47785204e-04 9.99791350e-01 8.77145397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.83, Y:86.74, Z:8.77 [[ 4.71750762e-01 -8.81683800e-01 -9.21390594e-03 9.18834927e+02] [ 8.81501183e-01 4.71840607e-01 -1.79473149e-02 8.67421674e+01] [ 2.01713518e-02 3.44590495e-04 9.99796478e-01 8.77155652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1892541539999 meters Centerline goodness [0,1] 0.999934200425504 Centerline is valid? [True, True] Translation: X:918.85, Y:86.77, Z:8.77 [[ 4.71429283e-01 -8.81853948e-01 -9.38329004e-03 9.18846990e+02] [ 8.81664334e-01 4.71522527e-01 -1.82895683e-02 8.67665271e+01] [ 2.05531606e-02 3.49325900e-04 9.99788700e-01 8.77036617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2192541539998 meters Centerline goodness [0,1] 0.99986839219127 Centerline is valid? [True, True] Translation: X:918.86, Y:86.79, Z:8.77 [[ 4.71153067e-01 -8.82003881e-01 -9.16197159e-03 9.18860646e+02] [ 8.81822897e-01 4.71242017e-01 -1.78700872e-02 8.67915192e+01] [ 2.00789922e-02 3.40310049e-04 9.99798339e-01 8.77239698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.87, Y:86.82, Z:8.77 [[ 4.70763987e-01 -8.82215286e-01 -8.80096518e-03 9.18873610e+02] [ 8.82048093e-01 4.70846136e-01 -1.71778646e-02 8.68159454e+01] [ 1.92984752e-02 3.23845488e-04 9.99813715e-01 8.77293711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2792541539999 meters Centerline goodness [0,1] 0.9999340514398769 Centerline is valid? [True, True] Translation: X:918.89, Y:86.84, Z:8.77 [[ 4.70382342e-01 -8.82420722e-01 -8.60938108e-03 9.18886147e+02] [ 8.82260541e-01 4.70461019e-01 -1.68156661e-02 8.68411040e+01] [ 1.88888704e-02 3.14075179e-04 9.99821540e-01 8.77305715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.90, Y:86.87, Z:8.77 [[ 4.70449991e-01 -8.82385826e-01 -8.48878990e-03 9.18898705e+02] [ 8.82229880e-01 4.70526464e-01 -1.65917307e-02 8.68659080e+01] [ 1.86345083e-02 3.16515446e-04 9.99826312e-01 8.77385812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.91, Y:86.89, Z:8.77 [[ 4.70413410e-01 -8.82405433e-01 -8.47797945e-03 9.18911010e+02] [ 8.82249670e-01 4.70489692e-01 -1.65822320e-02 8.68915159e+01] [ 1.86210535e-02 3.20809739e-04 9.99826562e-01 8.77389224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.92, Y:86.92, Z:8.77 [[ 4.70829892e-01 -8.82184263e-01 -8.37497037e-03 9.18921785e+02] [ 8.82032028e-01 4.70904255e-01 -1.63915732e-02 8.69161643e+01] [ 1.84041971e-02 3.30650553e-04 9.99830574e-01 8.77335407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.93, Y:86.94, Z:8.77 [[ 4.70702320e-01 -8.82251339e-01 -8.47942378e-03 9.18934002e+02] [ 8.82095088e-01 4.70778569e-01 -1.66070498e-02 8.69415574e+01] [ 1.86435229e-02 3.37318809e-04 9.99826138e-01 8.77339152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.95, Y:86.97, Z:8.77 [[ 4.70599960e-01 -8.82305690e-01 -8.50576699e-03 9.18946489e+02] [ 8.82148257e-01 4.70676697e-01 -1.66703281e-02 8.69666855e+01] [ 1.87117916e-02 3.41708185e-04 9.99824861e-01 8.77372213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.96, Y:86.99, Z:8.77 [[ 4.70229561e-01 -8.82503732e-01 -8.44529316e-03 9.18957476e+02] [ 8.82348357e-01 4.70305273e-01 -1.65628297e-02 8.69909693e+01] [ 1.85886250e-02 3.36641612e-04 9.99827160e-01 8.77360372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.97, Y:87.02, Z:8.77 [[ 4.69115684e-01 -8.83098484e-01 -8.21849497e-03 9.18971738e+02] [ 8.82951243e-01 4.69187567e-01 -1.61285308e-02 8.70153671e+01] [ 1.80990967e-02 3.09616406e-04 9.99836150e-01 8.77450047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.98, Y:87.04, Z:8.77 [[ 4.67987946e-01 -8.83696972e-01 -8.18198162e-03 9.18983884e+02] [ 8.83550945e-01 4.68059374e-01 -1.60670326e-02 8.70393340e+01] [ 1.80280413e-02 2.89979995e-04 9.99837440e-01 8.77472103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5492541539999 meters Centerline goodness [0,1] 0.9999339716077914 Centerline is valid? [True, True] Translation: X:919.00, Y:87.06, Z:8.77 [[ 4.66638739e-01 -8.84411432e-01 -8.04405936e-03 9.18997210e+02] [ 8.84270219e-01 4.66707993e-01 -1.58059931e-02 8.70639681e+01] [ 1.77332278e-02 2.62566545e-04 9.99842719e-01 8.77474719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5792541539998 meters Centerline goodness [0,1] 0.9998684816203064 Centerline is valid? [True, True] Translation: X:919.01, Y:87.09, Z:8.77 [[ 4.65152318e-01 -8.85189969e-01 -8.48767969e-03 9.19008896e+02] [ 8.85032671e-01 4.65229682e-01 -1.66887355e-02 8.70883296e+01] [ 1.87214217e-02 2.50930159e-04 9.99824707e-01 8.77198871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.02, Y:87.11, Z:8.78 [[ 4.62439414e-01 -8.86615185e-01 -7.95628693e-03 9.19024366e+02] [ 8.86477015e-01 4.62507816e-01 -1.56531856e-02 8.71126285e+01] [ 1.75581969e-02 1.85584494e-04 9.99845826e-01 8.77527980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.04, Y:87.14, Z:8.78 [[ 4.60617057e-01 -8.87563683e-01 -7.91429722e-03 9.19037783e+02] [ 8.87426928e-01 4.60685018e-01 -1.55808344e-02 8.71373622e+01] [ 1.74749809e-02 1.53437621e-04 9.99847289e-01 8.77514060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6692541539999 meters Centerline goodness [0,1] 0.9998905476993126 Centerline is valid? [True, True] Translation: X:919.05, Y:87.16, Z:8.77 [[ 4.55888935e-01 -8.89994770e-01 -8.63647592e-03 9.19051973e+02] [ 8.89832149e-01 4.55970728e-01 -1.70129725e-02 8.71612378e+01] [ 1.90794367e-02 7.10119769e-05 9.99817968e-01 8.77226939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6992541539998 meters Centerline goodness [0,1] 0.9998902329257316 Centerline is valid? [True, True] Translation: X:919.07, Y:87.19, Z:8.77 [[ 4.53302075e-01 -8.91313218e-01 -8.83043685e-03 9.19066345e+02] [ 8.91143258e-01 4.53388076e-01 -1.74053690e-02 8.71858263e+01] [ 1.95172502e-02 2.07056354e-05 9.99809520e-01 8.77334067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.08, Y:87.21, Z:8.78 [[ 4.51215213e-01 -8.92375674e-01 -8.39572969e-03 9.19080691e+02] [ 8.92222010e-01 4.51293315e-01 -1.65598543e-02 8.72101851e+01] [ 1.85665479e-02 -1.87966137e-05 9.99827627e-01 8.77528010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.10, Y:87.23, Z:8.78 [[ 4.45947359e-01 -8.95017518e-01 -8.63684506e-03 9.19095892e+02] [ 8.94855171e-01 4.46030970e-01 -1.70468834e-02 8.72332575e+01] [ 1.91095596e-02 -1.26712826e-04 9.99817388e-01 8.77508827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7892541539999 meters Centerline goodness [0,1] 0.9996707276918011 Centerline is valid? [True, True] Translation: X:919.11, Y:87.26, Z:8.77 [[ 4.43150377e-01 -8.96397918e-01 -9.40829352e-03 9.19109504e+02] [ 8.96205323e-01 4.43250193e-01 -1.85818392e-02 8.72580904e+01] [ 2.08269499e-02 -1.97213694e-04 9.99783076e-01 8.77333404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.12, Y:87.28, Z:8.78 [[ 4.41526677e-01 -8.97204181e-01 -8.87984986e-03 9.19122868e+02] [ 8.97032551e-01 4.41615909e-01 -1.75496885e-02 8.72828820e+01] [ 1.96671368e-02 -2.16858738e-04 9.99806560e-01 8.77591172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.14, Y:87.31, Z:8.78 [[ 4.38549951e-01 -8.98661626e-01 -9.01238354e-03 9.19136445e+02] [ 8.98484899e-01 4.38642456e-01 -1.78236345e-02 8.73068911e+01] [ 1.99706304e-02 -2.80936497e-04 9.99800528e-01 8.77599546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.15, Y:87.33, Z:8.78 [[ 4.37392961e-01 -8.99225530e-01 -8.99133650e-03 9.19148826e+02] [ 8.99049512e-01 4.37485263e-01 -1.77937848e-02 8.73323518e+01] [ 1.99342027e-02 -3.00780498e-04 9.99801249e-01 8.77681564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.16, Y:87.36, Z:8.78 [[ 4.36809513e-01 -8.99507708e-01 -9.12868285e-03 9.19160574e+02] [ 8.99326090e-01 4.36904778e-01 -1.80775564e-02 8.73568599e+01] [ 2.02492665e-02 -3.13214055e-04 9.99794914e-01 8.77742412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9392541539999 meters Centerline goodness [0,1] 0.9998242453534866 Centerline is valid? [True, True] Translation: X:919.17, Y:87.38, Z:8.78 [[ 4.36338619e-01 -8.99728995e-01 -9.81557126e-03 9.19172427e+02] [ 8.99518795e-01 4.36448873e-01 -1.94504072e-02 8.73813441e+01] [ 2.17840904e-02 -3.42326999e-04 9.99762640e-01 8.77591248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.18, Y:87.41, Z:8.78 [[ 4.37939725e-01 -8.98958830e-01 -9.04545693e-03 9.19183905e+02] [ 8.98779934e-01 4.38033043e-01 -1.79355177e-02 8.74068284e+01] [ 2.00855011e-02 -2.75199489e-04 9.99798228e-01 8.77901471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.19, Y:87.43, Z:8.78 [[ 4.39268590e-01 -8.98312202e-01 -8.84841597e-03 9.19194821e+02] [ 8.98140650e-01 4.39357637e-01 -1.75567459e-02 8.74312633e+01] [ 1.96590582e-02 -2.34995073e-04 9.99806714e-01 8.77939747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.20, Y:87.46, Z:8.78 [[ 4.43974554e-01 -8.95992226e-01 -9.19387138e-03 9.19203166e+02] [ 8.95806256e-01 4.44069718e-01 -1.82547929e-02 8.74589800e+01] [ 2.04388724e-02 -1.31263977e-04 9.99791096e-01 8.77955276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0592541539999 meters Centerline goodness [0,1] 0.9998244266432569 Centerline is valid? [True, True] Translation: X:919.21, Y:87.48, Z:8.78 [[ 4.46380324e-01 -8.94785591e-01 -1.01661864e-02 9.19212227e+02] [ 8.94557557e-01 4.46496069e-01 -2.01999355e-02 8.74846884e+01] [ 2.26137735e-02 -7.73850760e-05 9.99744273e-01 8.77689751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.22, Y:87.51, Z:8.78 [[ 4.53952328e-01 -8.90973261e-01 -9.69181256e-03 9.19218387e+02] [ 8.90764843e-01 4.54055761e-01 -1.92707238e-02 8.75134211e+01] [ 2.15703230e-02 1.14864055e-04 9.99767327e-01 8.77968888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.23, Y:87.54, Z:8.78 [[ 4.57406548e-01 -8.89204083e-01 -9.76463874e-03 9.19227891e+02] [ 8.88991828e-01 4.57510716e-01 -1.94287192e-02 8.75401832e+01] [ 2.17435233e-02 2.06139339e-04 9.99763560e-01 8.77986273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.24, Y:87.57, Z:8.78 [[ 4.60707467e-01 -8.87496212e-01 -9.95511012e-03 9.19236583e+02] [ 8.87274901e-01 4.60814914e-01 -1.98208257e-02 8.75666144e+01] [ 2.21783710e-02 2.98683068e-04 9.99753985e-01 8.77941063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.24, Y:87.59, Z:8.78 [[ 4.66368251e-01 -8.84537424e-01 -9.70566295e-03 9.19244150e+02] [ 8.84326201e-01 4.66469032e-01 -1.93342419e-02 8.75940161e+01] [ 2.16292517e-02 4.33904529e-04 9.99765966e-01 8.78065695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.25, Y:87.62, Z:8.78 [[ 4.68347702e-01 -8.83493777e-01 -9.44333923e-03 9.19253726e+02] [ 8.83293423e-01 4.68442657e-01 -1.88203582e-02 8.76194565e+01] [ 2.10513323e-02 4.73232084e-04 9.99778284e-01 8.78134234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2392541539998 meters Centerline goodness [0,1] 0.9999345192622504 Centerline is valid? [True, True] Translation: X:919.26, Y:87.65, Z:8.78 [[ 4.70983071e-01 -8.82091518e-01 -9.46049635e-03 9.19262047e+02] [ 8.81889914e-01 4.71077764e-01 -1.88658336e-02 8.76462598e+01] [ 2.10980212e-02 5.42371923e-04 9.99777265e-01 8.78097591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.28, Y:87.67, Z:8.78 [[ 4.72086795e-01 -8.81505580e-01 -9.05375192e-03 9.19275367e+02] [ 8.81320602e-01 4.72173284e-01 -1.80661456e-02 8.76714215e+01] [ 2.02003479e-02 5.49530660e-04 9.99795801e-01 8.78349494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.29, Y:87.70, Z:8.78 [[ 4.72708604e-01 -8.81173572e-01 -8.92813750e-03 9.19288928e+02] [ 8.80993411e-01 4.72792578e-01 -1.78266232e-02 8.76968851e+01] [ 1.99295063e-02 5.61167848e-04 9.99801230e-01 8.78460942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.30, Y:87.72, Z:8.78 [[ 4.73137135e-01 -8.80940943e-01 -9.18183097e-03 9.19296443e+02] [ 8.80750150e-01 4.73225850e-01 -1.83430685e-02 8.77238208e+01] [ 2.05042398e-02 5.91887857e-04 9.99789591e-01 8.78301268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.31, Y:87.75, Z:8.78 [[ 4.73329650e-01 -8.80833911e-01 -9.52177276e-03 9.19311471e+02] [ 8.80628483e-01 4.73425002e-01 -1.90326752e-02 8.77489515e+01] [ 2.12724711e-02 6.23585221e-04 9.99773521e-01 8.78387462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3892541539999 meters Centerline goodness [0,1] 0.9999565557389869 Centerline is valid? [True, True] Translation: X:919.32, Y:87.77, Z:8.78 [[ 4.72746233e-01 -8.81140979e-01 -1.00784153e-02 9.19320897e+02] [ 8.80910600e-01 4.72853202e-01 -2.01584904e-02 8.77739883e+01] [ 2.25280829e-02 6.51667519e-04 9.99745998e-01 8.78183938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.34, Y:87.80, Z:8.78 [[ 4.72310862e-01 -8.81375971e-01 -9.94219742e-03 9.19336056e+02] [ 8.81151527e-01 4.72415061e-01 -1.98996588e-02 8.77975758e+01] [ 2.22359249e-02 6.38242547e-04 9.99752548e-01 8.78383798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4492541539998 meters Centerline goodness [0,1] 0.9999348222820892 Centerline is valid? [True, True] Translation: X:919.35, Y:87.82, Z:8.78 [[ 4.70434699e-01 -8.82375658e-01 -1.02172714e-02 9.19349847e+02] [ 8.82138538e-01 4.70545239e-01 -2.04640726e-02 8.78227177e+01] [ 2.28646879e-02 6.13961031e-04 9.99738380e-01 8.78382100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.36, Y:87.85, Z:8.78 [[ 4.69442807e-01 -8.82902467e-01 -1.03288041e-02 9.19361965e+02] [ 8.82659980e-01 4.69556038e-01 -2.06999201e-02 8.78466620e+01] [ 2.31259628e-02 6.00606564e-04 9.99732379e-01 8.78353600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5092541539999 meters Centerline goodness [0,1] 0.9999345364086674 Centerline is valid? [True, True] Translation: X:919.38, Y:87.87, Z:8.78 [[ 4.66671273e-01 -8.84356357e-01 -1.14785385e-02 9.19375291e+02] [ 8.84056997e-01 4.66812042e-01 -2.30161765e-02 8.78702762e+01] [ 2.57128220e-02 5.93306115e-04 9.99669195e-01 8.78194308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.39, Y:87.90, Z:8.78 [[ 4.65384887e-01 -8.85036042e-01 -1.13186069e-02 9.19389137e+02] [ 8.84744846e-01 4.65522176e-01 -2.27081568e-02 8.78957839e+01] [ 2.53665998e-02 5.53953851e-04 9.99678063e-01 8.78252804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.40, Y:87.92, Z:8.78 [[ 4.61912409e-01 -8.86847277e-01 -1.17827911e-02 9.19404770e+02] [ 8.86531895e-01 4.62062417e-01 -2.36542335e-02 8.79198007e+01] [ 2.64220775e-02 4.80363863e-04 9.99650761e-01 8.78231010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.42, Y:87.94, Z:8.78 [[ 4.59835686e-01 -8.87925166e-01 -1.18339310e-02 9.19419385e+02] [ 8.87606982e-01 4.59987736e-01 -2.37724345e-02 8.79445840e+01] [ 2.65516060e-02 4.27533983e-04 9.99647353e-01 8.78264788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.43, Y:87.97, Z:8.78 [[ 4.57277614e-01 -8.89244252e-01 -1.19098227e-02 9.19433637e+02] [ 8.88922064e-01 4.57432542e-01 -2.39381245e-02 8.79683884e+01] [ 2.67347801e-02 3.59464266e-04 9.99642497e-01 8.78309840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.45, Y:87.99, Z:8.78 [[ 4.51790258e-01 -8.92049899e-01 -1.15125834e-02 9.19451043e+02] [ 8.91749388e-01 4.51936875e-01 -2.31536038e-02 8.79910226e+01] [ 2.58571309e-02 1.94233478e-04 9.99665630e-01 8.78402669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.47, Y:88.01, Z:8.78 [[ 4.48533848e-01 -8.93692534e-01 -1.14473503e-02 9.19466602e+02] [ 8.93395547e-01 4.48679890e-01 -2.30380663e-02 8.80148871e+01] [ 2.57251437e-02 1.06340784e-04 9.99669048e-01 8.78471163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.48, Y:88.04, Z:8.79 [[ 4.45536739e-01 -8.95190861e-01 -1.14165475e-02 9.19481650e+02] [ 8.94895625e-01 4.45682984e-01 -2.29890961e-02 8.80374593e+01] [ 2.56677897e-02 2.58685387e-05 9.99670528e-01 8.78529417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7492541539999 meters Centerline goodness [0,1] 0.9999561316926586 Centerline is valid? [True, True] Translation: X:919.50, Y:88.06, Z:8.79 [[ 4.39962032e-01 -8.97945848e-01 -1.12545149e-02 9.19499376e+02] [ 8.97659458e-01 4.40105939e-01 -2.26772958e-02 8.80597601e+01] [ 2.53161625e-02 -1.25572620e-04 9.99679487e-01 8.78850020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7792541539999 meters Centerline goodness [0,1] 0.9998027613412229 Centerline is valid? [True, True] Translation: X:919.51, Y:88.08, Z:8.79 [[ 4.37348853e-01 -8.99216773e-01 -1.16265188e-02 9.19514675e+02] [ 8.98911168e-01 4.37503321e-01 -2.34426161e-02 8.80846351e+01] [ 2.61666342e-02 -1.98606376e-04 9.99657575e-01 8.78851550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8092541539999 meters Centerline goodness [0,1] 0.9998902835074168 Centerline is valid? [True, True] Translation: X:919.53, Y:88.11, Z:8.79 [[ 4.35710905e-01 -9.00017116e-01 -1.11891809e-02 9.19528756e+02] [ 8.99734034e-01 4.35854491e-01 -2.25728156e-02 8.81082618e+01] [ 2.51927751e-02 -2.32064910e-04 9.99682585e-01 8.78920951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8392541539998 meters Centerline goodness [0,1] 0.9997802535873602 Centerline is valid? [True, True] Translation: X:919.54, Y:88.13, Z:8.79 [[ 4.33918468e-01 -9.00879753e-01 -1.14207756e-02 9.19543448e+02] [ 9.00584780e-01 4.34068649e-01 -2.30534659e-02 8.81317582e+01] [ 2.57258013e-02 -2.82052062e-04 9.99668997e-01 8.78897575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8692541539999 meters Centerline goodness [0,1] 0.9997802535873602 Centerline is valid? [True, True] Translation: X:919.56, Y:88.16, Z:8.79 [[ 4.33668003e-01 -9.01000427e-01 -1.14145903e-02 9.19555621e+02] [ 9.00705416e-01 4.33818107e-01 -2.30565288e-02 8.81565250e+01] [ 2.57257982e-02 -2.82304543e-04 9.99668997e-01 8.78923331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.57, Y:88.18, Z:8.79 [[ 4.33963527e-01 -9.00868849e-01 -1.05344376e-02 9.19567720e+02] [ 9.00617222e-01 4.34091300e-01 -2.12923412e-02 8.81828298e+01] [ 2.37545146e-02 -2.47396402e-04 9.99717791e-01 8.79184731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9292541539999 meters Centerline goodness [0,1] 0.9999559820406726 Centerline is valid? [True, True] Translation: X:919.58, Y:88.21, Z:8.79 [[ 4.35717846e-01 -9.00016996e-01 -1.09254068e-02 9.19579948e+02] [ 8.99745718e-01 4.35854753e-01 -2.20969889e-02 8.82073968e+01] [ 2.46495561e-02 -2.02035534e-04 9.99696133e-01 8.79077610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.59, Y:88.23, Z:8.79 [[ 4.37439374e-01 -8.99178472e-01 -1.11744828e-02 9.19591048e+02] [ 8.98894039e-01 4.37582051e-01 -2.26153686e-02 8.82318077e+01] [ 2.52250057e-02 -1.51823336e-04 9.99681787e-01 8.79063289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.60, Y:88.26, Z:8.79 [[ 4.39469525e-01 -8.98184935e-01 -1.14174706e-02 9.19602471e+02] [ 8.97887266e-01 4.39617804e-01 -2.31223875e-02 8.82580466e+01] [ 2.57875034e-02 -9.00167946e-05 9.99667443e-01 8.79075334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.61, Y:88.28, Z:8.79 [[ 4.44664819e-01 -8.95616709e-01 -1.19962323e-02 9.19611422e+02] [ 8.95286714e-01 4.44826602e-01 -2.43103603e-02 8.82842508e+01] [ 2.71090081e-02 6.98945777e-05 9.99632481e-01 8.79079241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.62, Y:88.31, Z:8.79 [[ 4.47416061e-01 -8.94241990e-01 -1.22528329e-02 9.19622030e+02] [ 8.93896751e-01 4.47583776e-01 -2.48467598e-02 8.83107746e+01] [ 2.77031851e-02 1.64071882e-04 9.99616180e-01 8.79129215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.63, Y:88.34, Z:8.79 [[ 4.53263207e-01 -8.91284688e-01 -1.28090063e-02 9.19631583e+02] [ 8.90905702e-01 4.53444008e-01 -2.59915654e-02 8.83382909e+01] [ 2.89740514e-02 3.69403582e-04 9.99580096e-01 8.79319681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.64, Y:88.36, Z:8.79 [[ 4.55860391e-01 -8.89959270e-01 -1.27985180e-02 9.19642409e+02] [ 8.89580038e-01 4.56039787e-01 -2.59820646e-02 8.83645852e+01] [ 2.89596127e-02 4.58888006e-04 9.99580477e-01 8.79390887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.65, Y:88.39, Z:8.80 [[ 4.58298429e-01 -8.88706520e-01 -1.27777536e-02 9.19654150e+02] [ 8.88327617e-01 4.58476199e-01 -2.59541805e-02 8.83910985e+01] [ 2.89239453e-02 5.43928755e-04 9.99581467e-01 8.79558487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.66, Y:88.42, Z:8.80 [[ 4.60676627e-01 -8.87477433e-01 -1.26827206e-02 9.19664485e+02] [ 8.87103302e-01 4.60850755e-01 -2.57742760e-02 8.84174653e+01] [ 2.87189296e-02 6.22723254e-04 9.99587333e-01 8.79643076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.68, Y:88.44, Z:8.80 [[ 4.64456824e-01 -8.85511926e-01 -1.21855839e-02 9.19675091e+02] [ 8.85165487e-01 4.64616087e-01 -2.47780599e-02 8.84444300e+01] [ 2.76028858e-02 7.22080671e-04 9.99618707e-01 8.79909626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2292541539998 meters Centerline goodness [0,1] 0.9999120376478867 Centerline is valid? [True, True] Translation: X:919.69, Y:88.47, Z:8.80 [[ 4.65792163e-01 -8.84802806e-01 -1.27143993e-02 9.19685502e+02] [ 8.84424937e-01 4.65964964e-01 -2.58685849e-02 8.84704875e+01] [ 2.88130611e-02 8.04452351e-04 9.99584494e-01 8.79915749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2592541539999 meters Centerline goodness [0,1] 0.9999120453845816 Centerline is valid? [True, True] Translation: X:919.70, Y:88.50, Z:8.80 [[ 4.67626981e-01 -8.83834566e-01 -1.27069324e-02 9.19695294e+02] [ 8.83456388e-01 4.67798784e-01 -2.58671323e-02 8.84971887e+01] [ 2.88065531e-02 8.70148386e-04 9.99584626e-01 8.79992273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.71, Y:88.52, Z:8.80 [[ 4.67959442e-01 -8.83664853e-01 -1.22632916e-02 9.19708346e+02] [ 8.83312108e-01 4.68119314e-01 -2.49805416e-02 8.85216035e+01] [ 2.78151103e-02 8.57566413e-04 9.99612717e-01 8.80217952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3192541539999 meters Centerline goodness [0,1] 0.9999118515580238 Centerline is valid? [True, True] Translation: X:919.72, Y:88.55, Z:8.80 [[ 4.67674450e-01 -8.83806354e-01 -1.29204379e-02 9.19718583e+02] [ 8.83414444e-01 4.67852025e-01 -2.63325483e-02 8.85480382e+01] [ 2.93177266e-02 9.00958559e-04 9.99569737e-01 8.80051637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.73, Y:88.57, Z:8.80 [[ 4.67117015e-01 -8.84099271e-01 -1.30450163e-02 9.19733905e+02] [ 8.83699384e-01 4.67298267e-01 -2.66031571e-02 8.85719346e+01] [ 2.96157453e-02 8.98914470e-04 9.99560953e-01 8.80388522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3792541539999 meters Centerline goodness [0,1] 0.9999341657705897 Centerline is valid? [True, True] Translation: X:919.74, Y:88.60, Z:8.80 [[ 4.66115598e-01 -8.84618356e-01 -1.36606724e-02 9.19744575e+02] [ 8.84179438e-01 4.66314836e-01 -2.78782400e-02 8.85972450e+01] [ 3.10317770e-02 9.15996836e-04 9.99517979e-01 8.80256992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4092541539999 meters Centerline goodness [0,1] 0.9999340833186852 Centerline is valid? [True, True] Translation: X:919.76, Y:88.62, Z:8.80 [[ 4.65148835e-01 -8.85119031e-01 -1.41725589e-02 9.19757477e+02] [ 8.84646163e-01 4.65363776e-01 -2.89434332e-02 8.86221366e+01] [ 3.22137791e-02 9.25304423e-04 9.99480573e-01 8.80205039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.77, Y:88.65, Z:8.80 [[ 4.63173210e-01 -8.86136285e-01 -1.52663650e-02 9.19771136e+02] [ 8.85587339e-01 4.63423798e-01 -3.12001253e-02 8.86468763e+01] [ 3.47223600e-02 9.31362589e-04 9.99396563e-01 8.80213536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.79, Y:88.67, Z:8.80 [[ 4.61656818e-01 -8.86922467e-01 -1.55409170e-02 9.19786184e+02] [ 8.86353258e-01 4.61917451e-01 -3.17831715e-02 8.86714737e+01] [ 3.53678297e-02 8.98175403e-04 9.99373959e-01 8.80319598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.80, Y:88.70, Z:8.80 [[ 4.57314153e-01 -8.89151394e-01 -1.65397836e-02 9.19801869e+02] [ 8.88507233e-01 4.57612483e-01 -3.38483711e-02 8.86956645e+01] [ 3.76651378e-02 7.83621776e-04 9.99290110e-01 8.80257817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.82, Y:88.72, Z:8.80 [[ 4.54208596e-01 -8.90738279e-01 -1.67293086e-02 9.19817286e+02] [ 8.90079480e-01 4.54516082e-01 -3.42585917e-02 8.87207324e+01] [ 3.81191789e-02 6.70132496e-04 9.99272975e-01 8.80335683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5592541539999 meters Centerline goodness [0,1] 0.9999339017780422 Centerline is valid? [True, True] Translation: X:919.83, Y:88.74, Z:8.80 [[ 4.50316720e-01 -8.92707561e-01 -1.69723854e-02 9.19831634e+02] [ 8.92030403e-01 4.50636154e-01 -3.47680452e-02 8.87447167e+01] [ 3.86860673e-02 5.16748321e-04 9.99251280e-01 8.80159723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5892541539998 meters Centerline goodness [0,1] 0.9998894929938558 Centerline is valid? [True, True] Translation: X:919.85, Y:88.77, Z:8.80 [[ 4.42019271e-01 -8.96839204e-01 -1.72744213e-02 9.19850802e+02] [ 8.96140057e-01 4.42356658e-01 -3.54060101e-02 8.87670896e+01] [ 3.93949532e-02 1.69837899e-04 9.99223703e-01 8.80302394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.87, Y:88.79, Z:8.80 [[ 4.38579339e-01 -8.98536950e-01 -1.67186384e-02 9.19865218e+02] [ 8.97882482e-01 4.38897880e-01 -3.42884780e-02 8.87917053e+01] [ 3.81472394e-02 2.68454903e-05 9.99272129e-01 8.80478809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6492541539999 meters Centerline goodness [0,1] 0.9999556963427331 Centerline is valid? [True, True] Translation: X:919.88, Y:88.82, Z:8.81 [[ 4.35279453e-01 -9.00144322e-01 -1.64923420e-02 9.19878806e+02] [ 8.99507708e-01 4.35591769e-01 -3.38480980e-02 8.88166279e+01] [ 3.76521017e-02 -1.01607178e-04 9.99290903e-01 8.80632263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6792541539999 meters Centerline goodness [0,1] 0.9998671302345151 Centerline is valid? [True, True] Translation: X:919.89, Y:88.84, Z:8.81 [[ 4.29419778e-01 -9.02959514e-01 -1.62102169e-02 9.19894360e+02] [ 9.02345661e-01 4.29725502e-01 -3.32911606e-02 8.88392958e+01] [ 3.70265138e-02 -3.31336114e-04 9.99314229e-01 8.80712174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.91, Y:88.86, Z:8.81 [[ 4.27378746e-01 -9.03936690e-01 -1.56801786e-02 9.19907653e+02] [ 9.03362396e-01 4.27666113e-01 -3.22192016e-02 8.88634063e+01] [ 3.58299995e-02 -3.95081722e-04 9.99357821e-01 8.80816929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.92, Y:88.89, Z:8.81 [[ 4.23298811e-01 -9.05858117e-01 -1.54656895e-02 9.19922181e+02] [ 9.05300011e-01 4.23580900e-01 -3.17979770e-02 8.88882341e+01] [ 3.53554263e-02 -5.41042960e-04 9.99374655e-01 8.80821321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7692541539999 meters Centerline goodness [0,1] 0.9998673358834325 Centerline is valid? [True, True] Translation: X:919.93, Y:88.91, Z:8.81 [[ 4.21126178e-01 -9.06870220e-01 -1.54643463e-02 9.19934546e+02] [ 9.06312156e-01 4.21409567e-01 -3.18159185e-02 8.89128573e+01] [ 3.53697325e-02 -6.17008888e-04 9.99374105e-01 8.80737012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.95, Y:88.94, Z:8.81 [[ 4.19978578e-01 -9.07408416e-01 -1.50983490e-02 9.19946150e+02] [ 9.06876076e-01 4.20249402e-01 -3.10841375e-02 8.89382043e+01] [ 3.45510801e-02 -6.37659613e-04 9.99402730e-01 8.80832942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8292541539998 meters Centerline goodness [0,1] 0.9999337879891412 Centerline is valid? [True, True] Translation: X:919.96, Y:88.96, Z:8.81 [[ 4.17391114e-01 -9.08606428e-01 -1.47991989e-02 9.19956927e+02] [ 9.08095055e-01 4.17652785e-01 -3.04880628e-02 8.89636753e+01] [ 3.38825765e-02 -7.13632807e-04 9.99425566e-01 8.80809697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8592541539998 meters Centerline goodness [0,1] 0.9998674970186829 Centerline is valid? [True, True] Translation: X:919.97, Y:88.99, Z:8.81 [[ 4.16322023e-01 -9.09100371e-01 -1.45769897e-02 9.19966442e+02] [ 9.08603840e-01 4.16576496e-01 -3.00513849e-02 8.89906919e+01] [ 3.33921564e-02 -7.33655432e-04 9.99442057e-01 8.81132812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.98, Y:89.02, Z:8.81 [[ 4.15926067e-01 -9.09292275e-01 -1.38947944e-02 9.19977256e+02] [ 9.08840606e-01 4.16157495e-01 -2.86651911e-02 8.90164682e+01] [ 3.18474596e-02 -7.05553132e-04 9.99492492e-01 8.81285244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.99, Y:89.04, Z:8.81 [[ 4.15368742e-01 -9.09554614e-01 -1.33869812e-02 9.19986797e+02] [ 9.09134899e-01 4.15583837e-01 -2.76371100e-02 8.90431824e+01] [ 3.07008739e-02 -6.90980184e-04 9.99528378e-01 8.81411550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.00, Y:89.07, Z:8.81 [[ 4.15359252e-01 -9.09562142e-01 -1.31682160e-02 9.19997231e+02] [ 9.09155515e-01 4.15567392e-01 -2.72027904e-02 8.90682923e+01] [ 3.02149094e-02 -6.73025496e-04 9.99543199e-01 8.81387766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.01, Y:89.09, Z:8.81 [[ 4.15984232e-01 -9.09282399e-01 -1.27529636e-02 9.20006201e+02] [ 9.08900479e-01 4.16179201e-01 -2.63589107e-02 8.90947187e+01] [ 2.92752117e-02 -6.26283528e-04 9.99571193e-01 8.81367431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.02, Y:89.12, Z:8.81 [[ 4.16296435e-01 -9.09141508e-01 -1.26094047e-02 9.20016150e+02] [ 9.08767597e-01 4.16486922e-01 -2.60787060e-02 8.91217712e+01] [ 2.89608862e-02 -6.02546116e-04 9.99580364e-01 8.81413129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.03, Y:89.15, Z:8.81 [[ 4.16725734e-01 -9.08947774e-01 -1.23938303e-02 9.20025196e+02] [ 9.08586034e-01 4.16909602e-01 -2.56476557e-02 8.91470161e+01] [ 2.84794865e-02 -5.72823013e-04 9.99594213e-01 8.81370693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.03, Y:89.18, Z:8.81 [[ 4.18444751e-01 -9.08163335e-01 -1.19727940e-02 9.20031795e+02] [ 9.07825016e-01 4.18615710e-01 -2.47916756e-02 8.91751426e+01] [ 2.75268904e-02 -4.95255387e-04 9.99620941e-01 8.81370955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0992541539998 meters Centerline goodness [0,1] 0.9999346590290332 Centerline is valid? [True, True] Translation: X:920.04, Y:89.20, Z:8.81 [[ 4.19293658e-01 -9.07776864e-01 -1.15755468e-02 9.20040872e+02] [ 9.07460128e-01 4.19453172e-01 -2.39823295e-02 8.92011930e+01] [ 2.66260037e-02 -4.48708514e-04 9.99645364e-01 8.81393820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.05, Y:89.23, Z:8.82 [[ 4.21250680e-01 -9.06875748e-01 -1.11463796e-02 9.20047137e+02] [ 9.06581390e-01 4.21397958e-01 -2.31072264e-02 8.92300388e+01] [ 2.56524448e-02 -3.71165478e-04 9.99670853e-01 8.81606550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.06, Y:89.26, Z:8.82 [[ 4.21858733e-01 -9.06597484e-01 -1.07801143e-02 9.20057337e+02] [ 9.06321677e-01 4.21996314e-01 -2.23635824e-02 8.92556326e+01] [ 2.48239360e-02 -3.35978743e-04 9.99691782e-01 8.81527724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.07, Y:89.28, Z:8.82 [[ 4.22203645e-01 -9.06437723e-01 -1.07115380e-02 9.20065660e+02] [ 9.06164970e-01 4.22339382e-01 -2.22372211e-02 8.92824561e+01] [ 2.46805604e-02 -3.17784679e-04 9.99695338e-01 8.81671303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2192541539998 meters Centerline goodness [0,1] 0.9998919316143255 Centerline is valid? [True, True] Translation: X:920.07, Y:89.31, Z:8.82 [[ 4.22879733e-01 -9.06125184e-01 -1.04824704e-02 9.20072181e+02] [ 9.05863501e-01 4.23009538e-01 -2.17772340e-02 8.93106537e+01] [ 2.41670851e-02 -2.86536470e-04 9.99707892e-01 8.81779529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.08, Y:89.34, Z:8.82 [[ 4.22982225e-01 -9.06079973e-01 -1.02528000e-02 9.20082188e+02] [ 9.05829284e-01 4.23106380e-01 -2.13142875e-02 8.93357020e+01] [ 2.36504742e-02 -2.71721751e-04 9.99720251e-01 8.81663494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.09, Y:89.36, Z:8.82 [[ 4.23324505e-01 -9.05920649e-01 -1.02049663e-02 9.20088492e+02] [ 9.05671903e-01 4.23447414e-01 -2.12295074e-02 8.93634746e+01] [ 2.35535157e-02 -2.55380540e-04 9.99722545e-01 8.81740322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.10, Y:89.39, Z:8.82 [[ 4.23154490e-01 -9.06001567e-01 -1.00716475e-02 9.20097760e+02] [ 9.05758948e-01 4.23274259e-01 -2.09673547e-02 8.93897027e+01] [ 2.32595254e-02 -2.50054582e-04 9.99729429e-01 8.81748590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.11, Y:89.42, Z:8.82 [[ 4.23329015e-01 -9.05921428e-01 -9.94541180e-03 9.20107102e+02] [ 9.05684488e-01 4.23445758e-01 -2.07195300e-02 8.94159109e+01] [ 2.29816086e-02 -2.36226969e-04 9.99735860e-01 8.81762645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.11, Y:89.44, Z:8.82 [[ 4.24615390e-01 -9.05322904e-01 -9.60262655e-03 9.20114196e+02] [ 9.05101549e-01 4.24723914e-01 -2.00195497e-02 8.94442651e+01] [ 2.22026220e-02 -1.90743262e-04 9.99753473e-01 8.81845477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3992541539999 meters Centerline goodness [0,1] 0.9997215021744253 Centerline is valid? [True, True] Translation: X:920.12, Y:89.47, Z:8.82 [[ 4.24884124e-01 -9.05197977e-01 -9.49230937e-03 9.20123376e+02] [ 9.04981356e-01 4.24990108e-01 -1.98028479e-02 8.94699049e+01] [ 2.19596354e-02 -1.76447333e-04 9.99758843e-01 8.81797329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.13, Y:89.50, Z:8.82 [[ 4.26200758e-01 -9.04578617e-01 -9.51000398e-03 9.20132404e+02] [ 9.04360726e-01 4.26306823e-01 -1.98537165e-02 8.94967374e+01] [ 2.20134270e-02 -1.38805072e-04 9.99757666e-01 8.81942697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.14, Y:89.52, Z:8.82 [[ 4.28257145e-01 -9.03605330e-01 -9.65532304e-03 9.20138466e+02] [ 9.03380165e-01 4.28365966e-01 -2.01711787e-02 8.95243351e+01] [ 2.23627964e-02 -8.39759000e-05 9.99749918e-01 8.81885156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.15, Y:89.55, Z:8.82 [[ 4.29244424e-01 -9.03135695e-01 -9.75405154e-03 9.20147489e+02] [ 9.02905474e-01 4.29355230e-01 -2.03909744e-02 8.95501825e+01] [ 2.26037699e-02 -5.42744513e-05 9.99744501e-01 8.81857391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5192541539999 meters Centerline goodness [0,1] 0.999978835978836 Centerline is valid? [True, True] Translation: X:920.15, Y:89.58, Z:8.82 [[ 4.30786552e-01 -9.02399640e-01 -9.89125435e-03 9.20153997e+02] [ 9.02162386e-01 4.30900093e-01 -2.06915382e-02 8.95767719e+01] [ 2.29341791e-02 -9.88122470e-06 9.99736977e-01 8.81793972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.16, Y:89.60, Z:8.82 [[ 4.31263943e-01 -9.02174374e-01 -9.63377781e-03 9.20163696e+02] [ 9.01948940e-01 4.31371532e-01 -2.01670738e-02 8.96028454e+01] [ 2.23499547e-02 8.15609447e-06 9.99750209e-01 8.81954017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5792541539998 meters Centerline goodness [0,1] 0.9999576880765 Centerline is valid? [True, True] Translation: X:920.17, Y:89.63, Z:8.82 [[ 4.31610403e-01 -9.02007101e-01 -9.78004050e-03 9.20173522e+02] [ 9.01774378e-01 4.31721193e-01 -2.04886120e-02 8.96290418e+01] [ 2.27031242e-02 2.37081293e-05 9.99742251e-01 8.81934032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.18, Y:89.66, Z:8.82 [[ 4.32161439e-01 -9.01741821e-01 -9.90851134e-03 9.20182460e+02] [ 9.01502514e-01 4.32275012e-01 -2.07733273e-02 8.96561842e+01] [ 2.30153798e-02 4.48831304e-05 9.99735110e-01 8.81990620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6392541539999 meters Centerline goodness [0,1] 0.9999366848170191 Centerline is valid? [True, True] Translation: X:920.19, Y:89.68, Z:8.82 [[ 4.32041844e-01 -9.01798446e-01 -9.97031819e-03 9.20192861e+02] [ 9.01555796e-01 4.32156870e-01 -2.09185934e-02 8.96826691e+01] [ 2.31730966e-02 4.89095446e-05 9.99731467e-01 8.81942270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.20, Y:89.71, Z:8.82 [[ 4.32200089e-01 -9.01724208e-01 -9.82528249e-03 9.20202052e+02] [ 9.01488219e-01 4.32311750e-01 -2.06286718e-02 8.97086783e+01] [ 2.28489578e-02 5.83373843e-05 9.99738927e-01 8.81800888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6992541539998 meters Centerline goodness [0,1] 0.9996611964002118 Centerline is valid? [True, True] Translation: X:920.21, Y:89.73, Z:8.82 [[ 4.31521922e-01 -9.02051972e-01 -9.54308765e-03 9.20213460e+02] [ 9.01829114e-01 4.31627429e-01 -2.00502272e-02 8.97344302e+01] [ 2.22054054e-02 4.58782966e-05 9.99753429e-01 8.81963532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.22, Y:89.76, Z:8.82 [[ 4.31717812e-01 -9.01958688e-01 -9.50027484e-03 9.20224765e+02] [ 9.01737477e-01 4.31822326e-01 -1.99750194e-02 8.97600908e+01] [ 2.21190731e-02 5.68178275e-05 9.99755342e-01 8.82128590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.24, Y:89.79, Z:8.82 [[ 4.31458553e-01 -9.02082796e-01 -9.49453165e-03 9.20236536e+02] [ 9.01861554e-01 4.31563004e-01 -1.99777495e-02 8.97850215e+01] [ 2.21190727e-02 5.68178274e-05 9.99755342e-01 8.82154333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.25, Y:89.81, Z:8.82 [[ 4.31704113e-01 -9.01970151e-01 -9.02253316e-03 9.20245420e+02] [ 9.01770071e-01 4.31798383e-01 -1.89972414e-02 8.98102591e+01] [ 2.10308599e-02 6.49368960e-05 9.99778825e-01 8.82224707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.26, Y:89.84, Z:8.82 [[ 4.31881840e-01 -9.01888339e-01 -8.68906550e-03 9.20256279e+02] [ 9.01702511e-01 4.31969233e-01 -1.83074506e-02 8.98356536e+01] [ 2.02646852e-02 7.17032724e-05 9.99794648e-01 8.82296218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8492541539998 meters Centerline goodness [0,1] 0.9998306842472856 Centerline is valid? [True, True] Translation: X:920.27, Y:89.86, Z:8.82 [[ 4.32253718e-01 -9.01710585e-01 -8.64545684e-03 9.20265952e+02] [ 9.01526313e-01 4.32340159e-01 -1.82289476e-02 8.98617145e+01] [ 2.01750132e-02 8.54235489e-05 9.99796460e-01 8.82284265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.28, Y:89.89, Z:8.82 [[ 4.33143223e-01 -9.01290460e-01 -7.90290298e-03 9.20277608e+02] [ 9.01136195e-01 4.33215301e-01 -1.66751909e-02 8.98871525e+01] [ 1.84528490e-02 1.01154003e-04 9.99829727e-01 8.82498811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.29, Y:89.91, Z:8.82 [[ 4.33542744e-01 -9.01098092e-01 -7.93211821e-03 9.20288366e+02] [ 9.00942428e-01 4.33615286e-01 -1.67488727e-02 8.99123741e+01] [ 1.85318649e-02 1.14970388e-04 9.99828264e-01 8.82484909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9392541539999 meters Centerline goodness [0,1] 0.9998306519898391 Centerline is valid? [True, True] Translation: X:920.30, Y:89.94, Z:8.82 [[ 4.33084052e-01 -9.01319447e-01 -7.83950109e-03 9.20299629e+02] [ 9.01167221e-01 4.33154987e-01 -1.65649428e-02 8.99384637e+01] [ 1.83260241e-02 1.09311155e-04 9.99832058e-01 8.82393355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9692541539998 meters Centerline goodness [0,1] 0.9999577023940445 Centerline is valid? [True, True] Translation: X:920.31, Y:89.96, Z:8.83 [[ 4.34075821e-01 -9.00847653e-01 -7.18943463e-03 9.20310542e+02] [ 9.00719393e-01 4.34135338e-01 -1.52014418e-02 8.99635987e+01] [ 1.68153708e-02 1.22915128e-04 9.99858604e-01 8.82575445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9992541539999 meters Centerline goodness [0,1] 0.9999788873640874 Centerline is valid? [True, True] Translation: X:920.32, Y:89.99, Z:8.83 [[ 4.34004279e-01 -9.00881993e-01 -7.20563965e-03 9.20322357e+02] [ 9.00752979e-01 4.34064073e-01 -1.52463384e-02 8.99886591e+01] [ 1.68628610e-02 1.26474720e-04 9.99857804e-01 8.82601922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.34, Y:90.01, Z:8.83 [[ 4.33995314e-01 -9.00885493e-01 -7.30726942e-03 9.20335396e+02] [ 9.00752612e-01 4.34056806e-01 -1.54732063e-02 9.00140751e+01] [ 1.71113571e-02 1.33257013e-04 9.99853581e-01 8.82648303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.35, Y:90.04, Z:8.83 [[ 4.33939230e-01 -9.00911953e-01 -7.37546886e-03 9.20347007e+02] [ 9.00776406e-01 4.34001882e-01 -1.56279510e-02 9.00388966e+01] [ 1.72803752e-02 1.37932675e-04 9.99850674e-01 8.82646774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.36, Y:90.06, Z:8.83 [[ 4.33756169e-01 -9.00999050e-01 -7.50310205e-03 9.20357866e+02] [ 9.00858639e-01 4.33821036e-01 -1.59066479e-02 9.00631767e+01] [ 1.75868782e-02 1.40372370e-04 9.99845329e-01 8.82598166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1192541539999 meters Centerline goodness [0,1] 0.9999789818823827 Centerline is valid? [True, True] Translation: X:920.37, Y:90.09, Z:8.83 [[ 4.33365537e-01 -9.01188563e-01 -7.31341848e-03 9.20370328e+02] [ 9.01055030e-01 4.33427222e-01 -1.55137259e-02 9.00884735e+01] [ 1.71506270e-02 1.33321660e-04 9.99852908e-01 8.82586036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.38, Y:90.11, Z:8.83 [[ 4.33023463e-01 -9.01353119e-01 -7.29625346e-03 9.20383208e+02] [ 9.01220045e-01 4.33084908e-01 -1.54884816e-02 9.01129298e+01] [ 1.71204884e-02 1.31346058e-04 9.99853425e-01 8.82662794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1792541539999 meters Centerline goodness [0,1] 0.9999157735149817 Centerline is valid? [True, True] Translation: X:920.40, Y:90.14, Z:8.83 [[ 4.31779689e-01 -9.01945938e-01 -7.73469334e-03 9.20397321e+02] [ 9.01796254e-01 4.31848944e-01 -1.64318643e-02 9.01368646e+01] [ 1.81608724e-02 1.19827786e-04 9.99835071e-01 8.82661485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2092541539998 meters Centerline goodness [0,1] 0.999915883330179 Centerline is valid? [True, True] Translation: X:920.41, Y:90.16, Z:8.83 [[ 4.31813315e-01 -9.01931908e-01 -7.48965164e-03 9.20410056e+02] [ 9.01791355e-01 4.31878246e-01 -1.59227372e-02 9.01607991e+01] [ 1.75958424e-02 1.21546852e-04 9.99845174e-01 8.82756072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.42, Y:90.19, Z:8.83 [[ 4.31487163e-01 -9.02085905e-01 -7.73615060e-03 9.20423899e+02] [ 9.01935751e-01 4.31556491e-01 -1.64589361e-02 9.01855784e+01] [ 1.81859603e-02 1.24308844e-04 9.99834614e-01 8.82784969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2692541539999 meters Centerline goodness [0,1] 0.9998320985581464 Centerline is valid? [True, True] Translation: X:920.44, Y:90.21, Z:8.83 [[ 4.31150981e-01 -9.02243952e-01 -8.04255107e-03 9.20435264e+02] [ 9.02081482e-01 4.31225967e-01 -1.71220824e-02 9.02101243e+01] [ 1.89164521e-02 1.27166229e-04 9.99821060e-01 8.82617212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2992541539999 meters Centerline goodness [0,1] 0.9998113523937285 Centerline is valid? [True, True] Translation: X:920.45, Y:90.23, Z:8.83 [[ 4.31286905e-01 -9.02179914e-01 -7.93772904e-03 9.20447442e+02] [ 9.02021440e-01 4.31359924e-01 -1.69096693e-02 9.02349550e+01] [ 1.86795822e-02 1.32917158e-04 9.99825513e-01 8.82636155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.46, Y:90.26, Z:8.83 [[ 4.32475337e-01 -9.01612894e-01 -7.69881797e-03 9.20461454e+02] [ 9.01463505e-01 4.32543829e-01 -1.64129280e-02 9.02591171e+01] [ 1.81281838e-02 1.57983156e-04 9.99835658e-01 8.82841753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.47, Y:90.28, Z:8.83 [[ 4.32494945e-01 -9.01601793e-01 -7.89487598e-03 9.20473561e+02] [ 9.01444468e-01 4.32566964e-01 -1.68431953e-02 9.02838176e+01] [ 1.86009176e-02 1.67804525e-04 9.99826974e-01 8.82802867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3892541539999 meters Centerline goodness [0,1] 0.9999367048547376 Centerline is valid? [True, True] Translation: X:920.49, Y:90.31, Z:8.83 [[ 4.32866551e-01 -9.01420462e-01 -8.22796428e-03 9.20487737e+02] [ 9.01249301e-01 4.32944702e-01 -1.75665436e-02 9.03081560e+01] [ 1.93970954e-02 1.88522084e-04 9.99811841e-01 8.82767360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.50, Y:90.33, Z:8.83 [[ 4.33282394e-01 -9.01224331e-01 -7.81486806e-03 9.20500554e+02] [ 9.01069682e-01 4.33352822e-01 -1.66960749e-02 9.03319269e+01] [ 1.84335040e-02 1.92374628e-04 9.99830070e-01 8.82866222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4492541539998 meters Centerline goodness [0,1] 0.9998521053854768 Centerline is valid? [True, True] Translation: X:920.51, Y:90.36, Z:8.83 [[ 4.32814291e-01 -9.01444354e-01 -8.35863363e-03 9.20513509e+02] [ 9.01267216e-01 4.32894949e-01 -1.78709170e-02 9.03566112e+01] [ 1.97280475e-02 2.01425832e-04 9.99805363e-01 8.82766225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.53, Y:90.38, Z:8.83 [[ 4.33639410e-01 -9.01052977e-01 -7.77147181e-03 9.20527591e+02] [ 9.00899606e-01 4.33708993e-01 -1.66255786e-02 9.03801577e+01] [ 1.83510843e-02 2.08190189e-04 9.99831583e-01 8.83007509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.54, Y:90.41, Z:8.83 [[ 4.33719548e-01 -9.01016859e-01 -7.48155494e-03 9.20540554e+02] [ 9.00874541e-01 4.33784021e-01 -1.60151301e-02 9.04051755e+01] [ 1.76752812e-02 2.06132604e-04 9.99843759e-01 8.83055448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5392541539999 meters Centerline goodness [0,1] 0.9997672893439675 Centerline is valid? [True, True] Translation: X:920.55, Y:90.43, Z:8.83 [[ 4.34817536e-01 -9.00486553e-01 -7.59466125e-03 9.20553936e+02] [ 9.00339650e-01 4.34883793e-01 -1.62665791e-02 9.04299223e+01] [ 1.79506308e-02 2.35219187e-04 9.99838847e-01 8.82950999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.57, Y:90.46, Z:8.83 [[ 4.35842847e-01 -8.99994559e-01 -7.12794907e-03 9.20567186e+02] [ 8.99864959e-01 4.35901062e-01 -1.52748377e-02 9.04551143e+01] [ 1.68543514e-02 2.43237138e-04 9.99857926e-01 8.83157803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5992541539998 meters Centerline goodness [0,1] 0.9998301017265913 Centerline is valid? [True, True] Translation: X:920.58, Y:90.48, Z:8.83 [[ 4.36498679e-01 -8.99671833e-01 -7.71335355e-03 9.20579490e+02] [ 8.99519805e-01 4.36566734e-01 -1.65410584e-02 9.04809322e+01] [ 1.82489179e-02 2.81835849e-04 9.99833435e-01 8.82979897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6292541539999 meters Centerline goodness [0,1] 0.9997670133226019 Centerline is valid? [True, True] Translation: X:920.59, Y:90.51, Z:8.83 [[ 4.38740420e-01 -8.98578978e-01 -7.91601582e-03 9.20593369e+02] [ 8.98418503e-01 4.38811695e-01 -1.69849596e-02 9.05057258e+01] [ 1.87359680e-02 3.40093216e-04 9.99824409e-01 8.82993905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6592541539999 meters Centerline goodness [0,1] 0.9999787365242723 Centerline is valid? [True, True] Translation: X:920.61, Y:90.53, Z:8.83 [[ 4.40017517e-01 -8.97956701e-01 -7.63852101e-03 9.20605710e+02] [ 8.97807073e-01 4.40083669e-01 -1.63958356e-02 9.05302458e+01] [ 1.80843388e-02 3.56536695e-04 9.99836401e-01 8.83132858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6892541539999 meters Centerline goodness [0,1] 0.999957414189592 Centerline is valid? [True, True] Translation: X:920.62, Y:90.56, Z:8.83 [[ 4.40847552e-01 -8.97548317e-01 -7.77527027e-03 9.20618193e+02] [ 8.97393067e-01 4.40915946e-01 -1.66976510e-02 9.05552567e+01] [ 1.84151892e-02 3.83644929e-04 9.99830352e-01 8.83144198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7192541539998 meters Centerline goodness [0,1] 0.9998719918074757 Centerline is valid? [True, True] Translation: X:920.63, Y:90.58, Z:8.83 [[ 4.41762492e-01 -8.97095857e-01 -8.05753893e-03 9.20634735e+02] [ 8.96928831e-01 4.41835767e-01 -1.73155418e-02 9.05789864e+01] [ 1.90938097e-02 4.22317942e-04 9.99817607e-01 8.83167905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.65, Y:90.60, Z:8.83 [[ 4.42550762e-01 -8.96707452e-01 -8.03551117e-03 9.20645560e+02] [ 8.96541086e-01 4.42623487e-01 -1.72780454e-02 9.06041948e+01] [ 1.90500580e-02 4.42246244e-04 9.99818433e-01 8.83193346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7792541539999 meters Centerline goodness [0,1] 0.9999363692281588 Centerline is valid? [True, True] Translation: X:920.66, Y:90.63, Z:8.83 [[ 4.43021246e-01 -8.96472157e-01 -8.35750224e-03 9.20658105e+02] [ 8.96291944e-01 4.43099815e-01 -1.79806698e-02 9.06283333e+01] [ 1.98223776e-02 4.75056827e-04 9.99803405e-01 8.83021125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8092541539999 meters Centerline goodness [0,1] 0.9999143945554937 Centerline is valid? [True, True] Translation: X:920.67, Y:90.65, Z:8.83 [[ 4.43151307e-01 -8.96406454e-01 -8.50814435e-03 9.20671272e+02] [ 8.96219419e-01 4.43232701e-01 -1.83173746e-02 9.06527191e+01] [ 2.01909006e-02 4.92204308e-04 9.99796022e-01 8.83011564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.68, Y:90.68, Z:8.83 [[ 4.43328800e-01 -8.96320294e-01 -8.33700457e-03 9.20684579e+02] [ 8.96140443e-01 4.43406911e-01 -1.79615789e-02 9.06776662e+01] [ 1.97960132e-02 4.91758273e-04 9.99803919e-01 8.83116735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.70, Y:90.70, Z:8.83 [[ 4.43357800e-01 -8.96303241e-01 -8.62328500e-03 9.20699109e+02] [ 8.96110587e-01 4.43441354e-01 -1.85898095e-02 9.07006601e+01] [ 2.04860277e-02 5.14520071e-04 9.99790007e-01 8.83094336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8992541539999 meters Centerline goodness [0,1] 0.9998498691717068 Centerline is valid? [True, True] Translation: X:920.71, Y:90.73, Z:8.83 [[ 4.42859264e-01 -8.96542223e-01 -9.36559639e-03 9.20712122e+02] [ 8.96314733e-01 4.42957940e-01 -2.02030339e-02 9.07252404e+01] [ 2.22614382e-02 5.52578677e-04 9.99752031e-01 8.82904090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.73, Y:90.75, Z:8.83 [[ 4.42955286e-01 -8.96499735e-01 -8.87915166e-03 9.20727169e+02] [ 8.96294972e-01 4.43043950e-01 -1.91672119e-02 9.07477660e+01] [ 2.11172548e-02 5.31878837e-04 9.99776864e-01 8.83090401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9592541539998 meters Centerline goodness [0,1] 0.9998924407348448 Centerline is valid? [True, True] Translation: X:920.74, Y:90.77, Z:8.83 [[ 4.42318949e-01 -8.96812107e-01 -9.05500740e-03 9.20743978e+02] [ 8.96598901e-01 4.42411303e-01 -1.95614495e-02 9.07707953e+01] [ 2.15489824e-02 5.33690101e-04 9.99767651e-01 8.83184161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.75, Y:90.80, Z:8.83 [[ 4.42134494e-01 -8.96906561e-01 -8.70112003e-03 9.20754381e+02] [ 8.96709483e-01 4.42219806e-01 -1.88081325e-02 9.07956174e+01] [ 2.07169451e-02 5.13347316e-04 9.99785249e-01 8.83191979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.77, Y:90.82, Z:8.83 [[ 4.41309905e-01 -8.97315193e-01 -8.42684728e-03 9.20769139e+02] [ 8.97130200e-01 4.41390089e-01 -1.82261620e-02 9.08181278e+01] [ 2.00741389e-02 4.83406630e-04 9.99798377e-01 8.83249549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0492541539999 meters Centerline goodness [0,1] 0.9999348944204518 Centerline is valid? [True, True] Translation: X:920.79, Y:90.84, Z:8.83 [[ 4.40400221e-01 -8.97762043e-01 -8.42377624e-03 9.20786290e+02] [ 8.97577006e-01 4.40480527e-01 -1.82325069e-02 9.08417110e+01] [ 2.00789620e-02 4.68612208e-04 9.99798288e-01 8.83368321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.80, Y:90.87, Z:8.84 [[ 4.38650842e-01 -8.98620956e-01 -8.11272670e-03 9.20803365e+02] [ 8.98449240e-01 4.38725657e-01 -1.75716173e-02 9.08653762e+01] [ 1.93494849e-02 4.18931581e-04 9.99812693e-01 8.83502103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1092541539998 meters Centerline goodness [0,1] 0.9998254723155461 Centerline is valid? [True, True] Translation: X:920.82, Y:90.89, Z:8.83 [[ 4.37170470e-01 -8.99338703e-01 -8.47799536e-03 9.20817159e+02] [ 8.99151037e-01 4.37252476e-01 -1.83761843e-02 9.08902275e+01] [ 2.02334382e-02 4.10526801e-04 9.99795199e-01 8.83338339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.83, Y:90.92, Z:8.84 [[ 4.36300228e-01 -8.99765474e-01 -8.01269041e-03 9.20831752e+02] [ 8.99597683e-01 4.36373638e-01 -1.73797696e-02 9.09150661e+01] [ 1.91342435e-02 3.74599715e-04 9.99816853e-01 8.83522854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.85, Y:90.94, Z:8.84 [[ 4.34199184e-01 -9.00782701e-01 -7.84817490e-03 9.20849150e+02] [ 9.00621679e-01 4.34269983e-01 -1.70344996e-02 9.09389929e+01] [ 1.87526093e-02 3.28129373e-04 9.99824101e-01 8.83530504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1992541539998 meters Centerline goodness [0,1] 0.9999341643258427 Centerline is valid? [True, True] Translation: X:920.86, Y:90.96, Z:8.83 [[ 4.31593264e-01 -9.02031923e-01 -8.10334511e-03 9.20864687e+02] [ 9.01860273e-01 4.31669234e-01 -1.75988962e-02 9.09623719e+01] [ 1.93727309e-02 2.87480004e-04 9.99812290e-01 8.83415146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.88, Y:90.99, Z:8.84 [[ 4.30326839e-01 -9.02637156e-01 -8.06076869e-03 9.20879887e+02] [ 9.02467198e-01 4.30402248e-01 -1.75174834e-02 9.09859752e+01] [ 1.92813044e-02 2.63663931e-04 9.99814064e-01 8.83562154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.89, Y:91.01, Z:8.84 [[ 4.28825501e-01 -9.03351516e-01 -8.04536848e-03 9.20894840e+02] [ 9.03182083e-01 4.28900900e-01 -1.74969205e-02 9.10105029e+01] [ 1.92565355e-02 2.36693046e-04 9.99814548e-01 8.83635506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.91, Y:91.03, Z:8.84 [[ 4.27702055e-01 -9.03884171e-01 -8.02231069e-03 9.20908425e+02] [ 9.03715570e-01 4.27777229e-01 -1.74588288e-02 9.10345787e+01] [ 1.92125209e-02 2.17289898e-04 9.99815399e-01 8.83643313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.92, Y:91.06, Z:8.84 [[ 4.26174855e-01 -9.04608240e-01 -7.67626708e-03 9.20923970e+02] [ 9.04453811e-01 4.26243944e-01 -1.67154006e-02 9.10576495e+01] [ 1.83928515e-02 1.80854418e-04 9.99830821e-01 8.83717677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.94, Y:91.08, Z:8.84 [[ 4.25679482e-01 -9.04840914e-01 -7.73948163e-03 9.20939066e+02] [ 9.04683766e-01 4.25749797e-01 -1.68639900e-02 9.10813592e+01] [ 1.85543108e-02 1.76871127e-04 9.99827838e-01 8.83804747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.95, Y:91.11, Z:8.84 [[ 4.25826385e-01 -9.04770431e-01 -7.89668996e-03 9.20951594e+02] [ 9.04606571e-01 4.25899556e-01 -1.72197397e-02 9.11065233e+01] [ 1.89431080e-02 1.89221856e-04 9.99820545e-01 8.83802956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.96, Y:91.13, Z:8.84 [[ 4.26094997e-01 -9.04643026e-01 -8.00307208e-03 9.20963383e+02] [ 9.04474442e-01 4.26170100e-01 -1.74650713e-02 9.11321719e+01] [ 1.92103250e-02 2.03205355e-04 9.99815444e-01 8.83728799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.98, Y:91.16, Z:8.84 [[ 4.26906020e-01 -9.04259765e-01 -8.09488418e-03 9.20975127e+02] [ 9.04086965e-01 4.26982699e-01 -1.76786552e-02 9.11581846e+01] [ 1.94424721e-02 2.28645060e-04 9.99810951e-01 8.83703784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.98, Y:91.19, Z:8.84 [[ 4.29126334e-01 -9.03209189e-01 -7.98441924e-03 9.20984734e+02] [ 9.03040650e-01 4.29200517e-01 -1.74499213e-02 9.11850582e+01] [ 1.91878462e-02 2.77965631e-04 9.99815858e-01 8.83661295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.00, Y:91.21, Z:8.84 [[ 4.29329161e-01 -9.03114020e-01 -7.84467176e-03 9.20995243e+02] [ 9.02951078e-01 4.29400731e-01 -1.71569963e-02 9.12108121e+01] [ 1.88632316e-02 2.82643978e-04 9.99822033e-01 8.83619204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.00, Y:91.24, Z:8.83 [[ 4.28081562e-01 -9.03704410e-01 -8.03208795e-03 9.21004429e+02] [ 9.03533453e-01 4.28156825e-01 -1.75793265e-02 9.12362237e+01] [ 1.93255081e-02 2.68125384e-04 9.99813209e-01 8.83499728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.02, Y:91.26, Z:8.83 [[ 4.26791843e-01 -9.04315997e-01 -7.82941636e-03 9.21015404e+02] [ 9.04153439e-01 4.26863585e-01 -1.71475578e-02 9.12618938e+01] [ 1.88489036e-02 2.39444080e-04 9.99822315e-01 8.83456734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5892541539998 meters Centerline goodness [0,1] 0.9998895125292792 Centerline is valid? [True, True] Translation: X:921.03, Y:91.29, Z:8.83 [[ 4.24465328e-01 -9.05412512e-01 -7.57423498e-03 9.21026415e+02] [ 9.05260360e-01 4.24532858e-01 -1.65991739e-02 9.12868507e+01] [ 1.82446113e-02 1.89119097e-04 9.99833535e-01 8.83441890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.04, Y:91.31, Z:8.84 [[ 4.23453210e-01 -9.05897172e-01 -6.13948965e-03 9.21038879e+02] [ 9.05797150e-01 4.23497691e-01 -1.34621196e-02 9.13119120e+01] [ 1.47953558e-02 1.39445524e-04 9.99890533e-01 8.83618901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6492541539999 meters Centerline goodness [0,1] 0.999911678332487 Centerline is valid? [True, True] Translation: X:921.05, Y:91.34, Z:8.84 [[ 4.22843803e-01 -9.06181760e-01 -6.14299042e-03 9.21051471e+02] [ 9.06081508e-01 4.22888402e-01 -1.34796480e-02 9.13372963e+01] [ 1.48128106e-02 1.33735628e-04 9.99890275e-01 8.83720724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6792541539999 meters Centerline goodness [0,1] 0.999911678332487 Centerline is valid? [True, True] Translation: X:921.06, Y:91.36, Z:8.84 [[ 4.22586917e-01 -9.06301610e-01 -6.13913848e-03 9.21062836e+02] [ 9.06201345e-01 4.22631487e-01 -1.34814024e-02 9.13624410e+01] [ 1.48128099e-02 1.33768717e-04 9.99890275e-01 8.83746465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.07, Y:91.39, Z:8.84 [[ 4.22180192e-01 -9.06498088e-01 -5.01022013e-03 9.21074958e+02] [ 9.06431237e-01 4.22209907e-01 -1.10094299e-02 9.13878145e+01] [ 1.20953918e-02 1.06543216e-04 9.99926842e-01 8.83834260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.09, Y:91.41, Z:8.84 [[ 4.22104250e-01 -9.06535696e-01 -4.58633380e-03 9.21085774e+02] [ 9.06479602e-01 4.22129154e-01 -1.00850602e-02 9.14138372e+01] [ 1.10784922e-02 9.95287206e-05 9.99938627e-01 8.83751429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.10, Y:91.44, Z:8.84 [[ 4.21722056e-01 -9.06712573e-01 -4.77683490e-03 9.21096599e+02] [ 9.06651638e-01 4.21749096e-01 -1.05122055e-02 9.14398131e+01] [ 1.15461747e-02 1.02303744e-04 9.99933335e-01 8.83660797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.11, Y:91.47, Z:8.83 [[ 4.20402261e-01 -9.07323317e-01 -5.13203470e-03 9.21107423e+02] [ 9.07252917e-01 4.20433574e-01 -1.13028749e-02 9.14659416e+01] [ 1.24130416e-02 9.57006979e-05 9.99922951e-01 8.83403445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.12, Y:91.49, Z:8.83 [[ 4.19555280e-01 -9.07714078e-01 -5.34035258e-03 9.21119340e+02] [ 9.07637760e-01 4.19589257e-01 -1.17707948e-02 9.14913700e+01] [ 1.29252708e-02 9.13934755e-05 9.99916461e-01 8.83337402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.13, Y:91.52, Z:8.83 [[ 4.18606090e-01 -9.08151350e-01 -5.48344431e-03 9.21130710e+02] [ 9.08070804e-01 4.18641994e-01 -1.20952532e-02 9.15163160e+01] [ 1.32799206e-02 8.37909751e-05 9.99911814e-01 8.83290973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8892541539999 meters Centerline goodness [0,1] 0.9999560767777924 Centerline is valid? [True, True] Translation: X:921.14, Y:91.54, Z:8.83 [[ 4.18200976e-01 -9.08335117e-01 -5.93796648e-03 9.21142864e+02] [ 9.08240544e-01 4.18243121e-01 -1.31075079e-02 9.15411182e+01] [ 1.43895233e-02 8.84706869e-05 9.99896462e-01 8.83303447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.15, Y:91.57, Z:8.83 [[ 4.18147833e-01 -9.08361680e-01 -5.60792141e-03 9.21154674e+02] [ 9.08277209e-01 4.18185427e-01 -1.23879115e-02 9.15668365e+01] [ 1.35978551e-02 8.64311584e-05 9.99907541e-01 8.83320585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.17, Y:91.59, Z:8.83 [[ 4.18761083e-01 -9.08079078e-01 -5.61633446e-03 9.21165855e+02] [ 9.07994200e-01 4.18798732e-01 -1.24158854e-02 9.15931297e+01] [ 1.36267196e-02 9.96905118e-05 9.99907147e-01 8.83346137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.18, Y:91.62, Z:8.83 [[ 4.20082884e-01 -9.07469198e-01 -5.47961620e-03 9.21176010e+02] [ 9.07388234e-01 4.20118603e-01 -1.21223923e-02 9.16190041e+01] [ 1.33027863e-02 1.20270254e-04 9.99911507e-01 8.83371802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0092541539999 meters Centerline goodness [0,1] 0.9999122248798578 Centerline is valid? [True, True] Translation: X:921.19, Y:91.64, Z:8.83 [[ 4.20805963e-01 -9.07130836e-01 -5.99902497e-03 9.21186168e+02] [ 9.07033633e-01 4.20848697e-01 -1.32801564e-02 9.16443469e+01] [ 1.45715212e-02 1.47051596e-04 9.99893819e-01 8.83331494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0392541539999 meters Centerline goodness [0,1] 0.9998686313576949 Centerline is valid? [True, True] Translation: X:921.20, Y:91.67, Z:8.83 [[ 4.21679950e-01 -9.06722506e-01 -6.34953665e-03 9.21196412e+02] [ 9.06613452e-01 4.21727716e-01 -1.40634916e-02 9.16696472e+01] [ 1.54294599e-02 1.73717080e-04 9.99880944e-01 8.83246732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.21, Y:91.69, Z:8.83 [[ 4.21363892e-01 -9.06873138e-01 -5.79503160e-03 9.21207899e+02] [ 9.06782209e-01 4.21403710e-01 -1.28428229e-02 9.16948143e+01] [ 1.40888590e-02 1.56670301e-04 9.99900735e-01 8.83263012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0992541539998 meters Centerline goodness [0,1] 0.9999121361889072 Centerline is valid? [True, True] Translation: X:921.22, Y:91.72, Z:8.83 [[ 4.21257998e-01 -9.06921577e-01 -5.91198298e-03 9.21220202e+02] [ 9.06826803e-01 4.21299449e-01 -1.31119638e-02 9.17205264e+01] [ 1.43822380e-02 1.62374980e-04 9.99896557e-01 8.83330172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.23, Y:91.75, Z:8.83 [[ 4.20768249e-01 -9.07153523e-01 -5.15429780e-03 9.21232832e+02] [ 9.07081405e-01 4.20799794e-01 -1.14393124e-02 9.17459042e+01] [ 1.25461400e-02 1.37931764e-04 9.99921285e-01 8.83448180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1592541539999 meters Centerline goodness [0,1] 0.9999779293297137 Centerline is valid? [True, True] Translation: X:921.24, Y:91.77, Z:8.84 [[ 4.20296974e-01 -9.07374097e-01 -4.76459050e-03 9.21244910e+02] [ 9.07312400e-01 4.20323961e-01 -1.05818879e-02 9.17717429e+01] [ 1.16044025e-02 1.24563418e-04 9.99932659e-01 8.83523017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.26, Y:91.80, Z:8.84 [[ 4.19602169e-01 -9.07697934e-01 -4.29887296e-03 9.21256825e+02] [ 9.07647657e-01 4.19624176e-01 -9.55417818e-03 9.17960120e+01] [ 1.04762188e-02 1.07091921e-04 9.99945117e-01 8.83621270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.27, Y:91.82, Z:8.84 [[ 4.19254896e-01 -9.07859411e-01 -4.07716062e-03 9.21268656e+02] [ 9.07814125e-01 4.19274708e-01 -9.06825719e-03 9.18210853e+01] [ 9.94215295e-03 1.00607220e-04 9.99950571e-01 8.83656377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.28, Y:91.85, Z:8.84 [[ 4.18305922e-01 -9.08297586e-01 -3.95617529e-03 9.21281590e+02] [ 9.08254907e-01 4.18324620e-01 -8.80552719e-03 9.18462714e+01] [ 9.65300462e-03 9.01885487e-05 9.99953405e-01 8.83642735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.29, Y:91.87, Z:8.84 [[ 4.17664357e-01 -9.08593072e-01 -3.88775630e-03 9.21294609e+02] [ 9.08551809e-01 4.17682442e-01 -8.65954594e-03 9.18712818e+01] [ 9.49185099e-03 8.45556721e-05 9.99954948e-01 8.83626239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.31, Y:91.90, Z:8.84 [[ 4.17011490e-01 -9.08892830e-01 -3.90390376e-03 9.21306503e+02] [ 9.08851173e-01 4.17029755e-01 -8.70225887e-03 9.18961991e+01] [ 9.53746472e-03 8.08744215e-05 9.99954514e-01 8.83628639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.32, Y:91.92, Z:8.84 [[ 4.16882050e-01 -9.08951949e-01 -3.96364393e-03 9.21318548e+02] [ 9.08908943e-01 4.16900884e-01 -8.84233550e-03 9.19214949e+01] [ 9.68970474e-03 8.36195363e-05 9.99953050e-01 8.83620759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3692541539999 meters Centerline goodness [0,1] 0.9999779614325068 Centerline is valid? [True, True] Translation: X:921.33, Y:91.95, Z:8.84 [[ 4.16893324e-01 -9.08947062e-01 -3.89807124e-03 9.21328728e+02] [ 9.08905404e-01 4.16911539e-01 -8.70261432e-03 9.19463997e+01] [ 9.53536660e-03 8.50837919e-05 9.99954534e-01 8.83557931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.34, Y:91.97, Z:8.84 [[ 4.17252316e-01 -9.08782386e-01 -3.88323871e-03 9.21341048e+02] [ 9.08740994e-01 4.17270376e-01 -8.67406161e-03 9.19716114e+01] [ 9.50319488e-03 9.04140938e-05 9.99954840e-01 8.83541424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4292541539999 meters Centerline goodness [0,1] 0.9998677511075845 Centerline is valid? [True, True] Translation: X:921.35, Y:92.00, Z:8.84 [[ 4.17606921e-01 -9.08616901e-01 -4.44815513e-03 9.21351891e+02] [ 9.08562486e-01 4.17630595e-01 -9.94460110e-03 9.19972524e+01] [ 1.08935183e-02 1.11507357e-04 9.99940658e-01 8.83524071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4592541539998 meters Centerline goodness [0,1] 0.9998676986174505 Centerline is valid? [True, True] Translation: X:921.36, Y:92.02, Z:8.83 [[ 4.17884370e-01 -9.08488376e-01 -4.63939821e-03 9.21362944e+02] [ 9.08429079e-01 4.17910105e-01 -1.03804403e-02 9.20226542e+01] [ 1.13693607e-02 1.23259497e-04 9.99935359e-01 8.83488318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.37, Y:92.05, Z:8.83 [[ 4.18404335e-01 -9.08250321e-01 -4.37796043e-03 9.21373442e+02] [ 9.08197429e-01 4.18427219e-01 -9.80264237e-03 9.20475691e+01] [ 1.07351109e-02 1.25415650e-04 9.99942369e-01 8.83460363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.38, Y:92.07, Z:8.83 [[ 4.19499486e-01 -9.07743492e-01 -4.68334632e-03 9.21383780e+02] [ 9.07682842e-01 4.19525600e-01 -1.04942200e-02 9.20734753e+01] [ 1.14908436e-02 1.51326788e-04 9.99933967e-01 8.83439102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.39, Y:92.10, Z:8.83 [[ 4.20347335e-01 -9.07350593e-01 -4.79786664e-03 9.21394211e+02] [ 9.07286826e-01 4.20374682e-01 -1.07583135e-02 9.20993454e+01] [ 1.17784638e-02 1.69187228e-04 9.99930617e-01 8.83456943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5792541539998 meters Centerline goodness [0,1] 0.999911921433919 Centerline is valid? [True, True] Translation: X:921.40, Y:92.13, Z:8.83 [[ 4.21490104e-01 -9.06818330e-01 -5.15843775e-03 9.21404075e+02] [ 9.06744471e-01 4.21521620e-01 -1.15752852e-02 9.21262821e+01] [ 1.26710738e-02 2.01483250e-04 9.99919698e-01 8.83435285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6092541539998 meters Centerline goodness [0,1] 0.9999560236592713 Centerline is valid? [True, True] Translation: X:921.41, Y:92.15, Z:8.83 [[ 4.21848541e-01 -9.06652835e-01 -4.94421329e-03 9.21414985e+02] [ 9.06584877e-01 4.21877466e-01 -1.11024609e-02 9.21525165e+01] [ 1.21519298e-02 2.01207934e-04 9.99926142e-01 8.83492459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.43, Y:92.18, Z:8.84 [[ 4.21658847e-01 -9.06742774e-01 -4.62151462e-03 9.21426203e+02] [ 9.06683319e-01 4.21684130e-01 -1.03852363e-02 9.21783142e+01] [ 1.13655573e-02 1.88776536e-04 9.99935392e-01 8.83525168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6692541539999 meters Centerline goodness [0,1] 0.9999338624338624 Centerline is valid? [True, True] Translation: X:921.44, Y:92.20, Z:8.84 [[ 4.19595252e-01 -9.07700760e-01 -4.37674772e-03 9.21438133e+02] [ 9.07647410e-01 4.19618048e-01 -9.84235588e-03 9.22028551e+01] [ 1.07704762e-02 1.57262054e-04 9.99941984e-01 8.83661312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6992541539998 meters Centerline goodness [0,1] 0.9997794685191311 Centerline is valid? [True, True] Translation: X:921.45, Y:92.23, Z:8.84 [[ 4.17680684e-01 -9.08583478e-01 -4.34860523e-03 9.21451620e+02] [ 9.08530781e-01 4.17703298e-01 -9.78649245e-03 9.22280318e+01] [ 1.07082721e-02 1.36787148e-04 9.99942655e-01 8.83727797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7292541539998 meters Centerline goodness [0,1] 0.9998451772720235 Centerline is valid? [True, True] Translation: X:921.47, Y:92.25, Z:8.84 [[ 4.15754046e-01 -9.09467414e-01 -4.19478656e-03 9.21465015e+02] [ 9.09418353e-01 4.15775192e-01 -9.44716394e-03 9.22531737e+01] [ 1.03359759e-02 1.12880742e-04 9.99946576e-01 8.83810339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7592541539999 meters Centerline goodness [0,1] 0.9999339803261372 Centerline is valid? [True, True] Translation: X:921.48, Y:92.28, Z:8.84 [[ 4.11764550e-01 -9.11282029e-01 -3.87539587e-03 9.21480119e+02] [ 9.11240177e-01 4.11782781e-01 -8.73393748e-03 9.22767893e+01] [ 9.55490156e-03 6.49094162e-05 9.99954349e-01 8.83949066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.49, Y:92.30, Z:8.84 [[ 4.10530474e-01 -9.11838975e-01 -3.79666410e-03 9.21492785e+02] [ 9.11798787e-01 4.10548026e-01 -8.56103250e-03 9.23024259e+01] [ 9.36499605e-03 5.27710065e-05 9.99956146e-01 8.84044995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8192541539999 meters Centerline goodness [0,1] 0.9998680477667085 Centerline is valid? [True, True] Translation: X:921.50, Y:92.33, Z:8.84 [[ 4.08770955e-01 -9.12628602e-01 -3.91672950e-03 9.21502696e+02] [ 9.12585805e-01 4.08789717e-01 -8.83830991e-03 9.23279146e+01] [ 9.66721316e-03 3.84926397e-05 9.99953271e-01 8.83975064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8492541539998 meters Centerline goodness [0,1] 0.9998675993556502 Centerline is valid? [True, True] Translation: X:921.51, Y:92.35, Z:8.84 [[ 4.08345844e-01 -9.12818336e-01 -4.04447972e-03 9.21513584e+02] [ 9.12772635e-01 4.08365871e-01 -9.13411768e-03 9.23536023e+01] [ 9.98941758e-03 3.81885806e-05 9.99950104e-01 8.83925772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8792541539999 meters Centerline goodness [0,1] 0.999955861581921 Centerline is valid? [True, True] Translation: X:921.52, Y:92.38, Z:8.84 [[ 4.07706035e-01 -9.13101399e-01 -4.65022620e-03 9.21524155e+02] [ 9.13040897e-01 4.07732552e-01 -1.05112446e-02 9.23784617e+01] [ 1.14938807e-02 3.96511559e-05 9.99933942e-01 8.83834525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9092541539999 meters Centerline goodness [0,1] 0.9998231575224369 Centerline is valid? [True, True] Translation: X:921.54, Y:92.40, Z:8.84 [[ 4.07110484e-01 -9.13366371e-01 -4.78806638e-03 9.21535363e+02] [ 9.13302144e-01 4.07138638e-01 -1.08315967e-02 9.24041574e+01] [ 1.18426230e-02 3.67052662e-05 9.99929873e-01 8.83765093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9392541539999 meters Centerline goodness [0,1] 0.9999339294366383 Centerline is valid? [True, True] Translation: X:921.55, Y:92.43, Z:8.84 [[ 4.06752105e-01 -9.13525307e-01 -4.92334868e-03 9.21547114e+02] [ 9.13457306e-01 4.06781899e-01 -1.11461401e-02 9.24300361e+01] [ 1.21850102e-02 3.64471366e-05 9.99925759e-01 8.83863965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.56, Y:92.46, Z:8.84 [[ 4.05843042e-01 -9.13929428e-01 -4.94231282e-03 9.21558492e+02] [ 9.13860827e-01 4.05873134e-01 -1.11976961e-02 9.24556885e+01] [ 1.22398560e-02 2.79209619e-05 9.99925090e-01 8.83942466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9992541539999 meters Centerline goodness [0,1] 0.999867415035135 Centerline is valid? [True, True] Translation: X:921.57, Y:92.48, Z:8.84 [[ 4.04911968e-01 -9.14343174e-01 -4.78111874e-03 9.21568867e+02] [ 9.14278907e-01 4.04940194e-01 -1.08406253e-02 9.24809275e+01] [ 1.18481189e-02 1.82229126e-05 9.99929808e-01 8.83848568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.58, Y:92.51, Z:8.84 [[ 4.04351903e-01 -9.14591750e-01 -4.63357748e-03 9.21579459e+02] [ 9.14531320e-01 4.04378450e-01 -1.05134698e-02 9.25073256e+01] [ 1.14892516e-02 1.35897859e-05 9.99933996e-01 8.83965722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0592541539999 meters Centerline goodness [0,1] 0.9998457402265415 Centerline is valid? [True, True] Translation: X:921.59, Y:92.53, Z:8.84 [[ 4.03960225e-01 -9.14765810e-01 -4.43266359e-03 9.21590451e+02] [ 9.14710436e-01 4.03984544e-01 -1.00651306e-02 9.25333760e+01] [ 1.09979650e-02 1.13087892e-05 9.99939520e-01 8.83877776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.60, Y:92.56, Z:8.84 [[ 4.04872031e-01 -9.14360832e-01 -4.78621611e-03 9.21600414e+02] [ 9.14296136e-01 4.04900320e-01 -1.08768543e-02 9.25597622e+01] [ 1.18833100e-02 2.77152026e-05 9.99929391e-01 8.83940280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1192541539999 meters Centerline goodness [0,1] 0.999736778608875 Centerline is valid? [True, True] Translation: X:921.61, Y:92.59, Z:8.84 [[ 4.05376477e-01 -9.14138362e-01 -4.57887676e-03 9.21610611e+02] [ 9.14079049e-01 4.05402335e-01 -1.04133897e-02 9.25858790e+01] [ 1.13755663e-02 3.58879280e-05 9.99935296e-01 8.83855839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1492541539999 meters Centerline goodness [0,1] 0.9996054275630768 Centerline is valid? [True, True] Translation: X:921.62, Y:92.61, Z:8.84 [[ 4.06518300e-01 -9.13632144e-01 -4.37930140e-03 9.21620497e+02] [ 9.13577778e-01 4.06541884e-01 -9.96690451e-03 9.26123079e+01] [ 1.08864538e-02 5.08966280e-05 9.99940740e-01 8.83814630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1792541539999 meters Centerline goodness [0,1] 0.9997145429393294 Centerline is valid? [True, True] Translation: X:921.63, Y:92.64, Z:8.84 [[ 4.07835768e-01 -9.13045669e-01 -4.19426194e-03 9.21628999e+02] [ 9.12995697e-01 4.07857330e-01 -9.55285170e-03 9.26381819e+01] [ 1.04328504e-02 6.66515121e-05 9.99945574e-01 8.83813293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2092541539998 meters Centerline goodness [0,1] 0.9998685450123787 Centerline is valid? [True, True] Translation: X:921.64, Y:92.67, Z:8.84 [[ 4.11692457e-01 -9.11313568e-01 -4.11108236e-03 9.21635122e+02] [ 9.11265405e-01 4.11712968e-01 -9.36986916e-03 9.26667248e+01] [ 1.02314748e-02 1.11217328e-04 9.99947651e-01 8.83845406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.64, Y:92.69, Z:8.84 [[ 4.13555870e-01 -9.10469507e-01 -4.10099610e-03 9.21644205e+02] [ 9.10421472e-01 4.13576182e-01 -9.35332434e-03 9.26939359e+01] [ 1.02119909e-02 1.34487278e-04 9.99947847e-01 8.83857024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.65, Y:92.72, Z:8.84 [[ 4.17033772e-01 -9.08881268e-01 -4.20408666e-03 9.21649600e+02] [ 9.08830638e-01 4.17054922e-01 -9.59493705e-03 9.27214821e+01] [ 1.04739936e-02 1.80610022e-04 9.99945130e-01 8.83817921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.66, Y:92.75, Z:8.84 [[ 4.17889416e-01 -9.08488093e-01 -4.22146078e-03 9.21660479e+02] [ 9.08436989e-01 4.17910694e-01 -9.63789945e-03 9.27482532e+01] [ 1.05201105e-02 1.92645052e-04 9.99944644e-01 8.83807476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3292541539998 meters Centerline goodness [0,1] 0.9999128957798006 Centerline is valid? [True, True] Translation: X:921.67, Y:92.77, Z:8.84 [[ 4.18408183e-01 -9.08248961e-01 -4.29162279e-03 9.21670031e+02] [ 9.08196060e-01 4.18430142e-01 -9.80478058e-03 9.27736473e+01] [ 1.07009261e-02 2.04765520e-04 9.99942722e-01 8.83837114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.68, Y:92.80, Z:8.84 [[ 4.17919764e-01 -9.08472981e-01 -4.46251114e-03 9.21680004e+02] [ 9.08415731e-01 4.17943536e-01 -1.02009686e-02 9.27994400e+01] [ 1.11323820e-02 2.09371057e-04 9.99938011e-01 8.83872694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3892541539999 meters Centerline goodness [0,1] 0.9998472016065659 Centerline is valid? [True, True] Translation: X:921.69, Y:92.82, Z:8.84 [[ 4.17663793e-01 -9.08591657e-01 -4.26117820e-03 9.21691610e+02] [ 9.08539385e-01 4.17685482e-01 -9.74802274e-03 9.28249928e+01] [ 1.06368044e-02 1.99947932e-04 9.99943408e-01 8.83911794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4192541539999 meters Centerline goodness [0,1] 0.9999782073354109 Centerline is valid? [True, True] Translation: X:921.70, Y:92.85, Z:8.84 [[ 4.16721526e-01 -9.09023828e-01 -4.34161466e-03 9.21700981e+02] [ 9.08969504e-01 4.16744096e-01 -9.93982812e-03 9.28505450e+01] [ 1.08448829e-02 1.95745022e-04 9.99941173e-01 8.83937468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.71, Y:92.88, Z:8.84 [[ 4.14940860e-01 -9.09836123e-01 -4.72350754e-03 9.21712021e+02] [ 9.09771781e-01 4.14967699e-01 -1.08219899e-02 9.28767818e+01] [ 1.18063404e-02 1.93171903e-04 9.99930284e-01 8.83895402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.72, Y:92.90, Z:8.84 [[ 4.13761926e-01 -9.10371690e-01 -4.94506140e-03 9.21722629e+02] [ 9.10301102e-01 4.13791432e-01 -1.13381591e-02 9.29012944e+01] [ 1.23681631e-02 1.89803718e-04 9.99923493e-01 8.83846606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.74, Y:92.93, Z:8.84 [[ 4.10714133e-01 -9.11748340e-01 -5.37262899e-03 9.21736084e+02] [ 9.11665018e-01 4.10749238e-01 -1.23270973e-02 9.29268959e+01] [ 1.34460138e-02 1.64875165e-04 9.99909585e-01 8.83806740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.75, Y:92.95, Z:8.84 [[ 4.08645614e-01 -9.12676693e-01 -5.47872235e-03 9.21749403e+02] [ 9.12590005e-01 4.08682315e-01 -1.25796759e-02 9.29522135e+01] [ 1.37202339e-02 1.40802106e-04 9.99905863e-01 8.83851601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.76, Y:92.98, Z:8.84 [[ 4.08381520e-01 -9.12794915e-01 -5.47514017e-03 9.21760349e+02] [ 9.12708217e-01 4.08418197e-01 -1.25812350e-02 9.29775413e+01] [ 1.37202342e-02 1.40738434e-04 9.99905863e-01 8.83877346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5992541539998 meters Centerline goodness [0,1] 0.9999128274419213 Centerline is valid? [True, True] Translation: X:921.77, Y:93.00, Z:8.84 [[ 4.06818317e-01 -9.13492143e-01 -5.56426193e-03 9.21773140e+02] [ 9.13402522e-01 4.06856350e-01 -1.27962081e-02 9.30022567e+01] [ 1.39530908e-02 1.23320945e-04 9.99902643e-01 8.83916440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6292541539999 meters Centerline goodness [0,1] 0.9999562717274854 Centerline is valid? [True, True] Translation: X:921.79, Y:93.03, Z:8.84 [[ 4.03738023e-01 -9.14857213e-01 -5.64695994e-03 9.21786067e+02] [ 9.14764907e-01 4.03777504e-01 -1.29958758e-02 9.30265739e+01] [ 1.41694861e-02 8.12884284e-05 9.99899604e-01 8.83928723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.80, Y:93.05, Z:8.84 [[ 4.02215390e-01 -9.15528318e-01 -5.53892396e-03 9.21797337e+02] [ 9.15439455e-01 4.02253522e-01 -1.27557311e-02 9.30509146e+01] [ 1.39062847e-02 6.00018316e-05 9.99903301e-01 8.83952608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6892541539999 meters Centerline goodness [0,1] 0.9999561797506628 Centerline is valid? [True, True] Translation: X:921.81, Y:93.08, Z:8.84 [[ 3.99651851e-01 -9.16651695e-01 -5.29796591e-03 9.21810555e+02] [ 9.16570369e-01 3.99686965e-01 -1.22101770e-02 9.30753435e+01] [ 1.33100073e-02 2.38612634e-05 9.99911418e-01 8.84032518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7192541539998 meters Centerline goodness [0,1] 0.9998901509326186 Centerline is valid? [True, True] Translation: X:921.82, Y:93.10, Z:8.84 [[ 3.98219758e-01 -9.17274559e-01 -5.32986455e-03 9.21823135e+02] [ 9.17192179e-01 3.98255425e-01 -1.22932167e-02 9.31004652e+01] [ 1.33989024e-02 6.89169906e-06 9.99910231e-01 8.84088336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7492541539999 meters Centerline goodness [0,1] 0.9997364664543757 Centerline is valid? [True, True] Translation: X:921.84, Y:93.13, Z:8.84 [[ 3.96685617e-01 -9.17938964e-01 -5.34598159e-03 9.21836227e+02] [ 9.17856016e-01 3.96721638e-01 -1.23400570e-02 9.31258372e+01] [ 1.34482857e-02 -1.17182396e-05 9.99909568e-01 8.84102984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7792541539999 meters Centerline goodness [0,1] 0.9998680854806086 Centerline is valid? [True, True] Translation: X:921.85, Y:93.15, Z:8.84 [[ 3.94711414e-01 -9.18789102e-01 -5.43016199e-03 9.21849299e+02] [ 9.18703469e-01 3.94748763e-01 -1.25439586e-02 9.31495441e+01] [ 1.36688022e-02 -3.74650121e-05 9.99906577e-01 8.84153497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8092541539999 meters Centerline goodness [0,1] 0.9995607967147594 Centerline is valid? [True, True] Translation: X:921.86, Y:93.17, Z:8.84 [[ 3.93783348e-01 -9.19186040e-01 -5.63010971e-03 9.21861021e+02] [ 9.19093888e-01 3.93823591e-01 -1.30155486e-02 9.31745569e+01] [ 1.41809806e-02 -4.92931222e-05 9.99899444e-01 8.84144340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8392541539998 meters Centerline goodness [0,1] 0.999648382559775 Centerline is valid? [True, True] Translation: X:921.87, Y:93.20, Z:8.84 [[ 3.92889226e-01 -9.19565361e-01 -6.13213594e-03 9.21872739e+02] [ 9.19455909e-01 3.92937072e-01 -1.41876532e-02 9.31999058e+01] [ 1.54560180e-02 -6.40525468e-05 9.99880547e-01 8.84087033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8692541539999 meters Centerline goodness [0,1] 0.9997357817557302 Centerline is valid? [True, True] Translation: X:921.88, Y:93.23, Z:8.84 [[ 3.92359219e-01 -9.19788869e-01 -6.53292692e-03 9.21883915e+02] [ 9.19664472e-01 3.92413596e-01 -1.51270696e-02 9.32254567e+01] [ 1.64773196e-02 -7.28555701e-05 9.99864237e-01 8.84077067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8992541539999 meters Centerline goodness [0,1] 0.9996709516079498 Centerline is valid? [True, True] Translation: X:921.90, Y:93.25, Z:8.84 [[ 3.91991766e-01 -9.19943977e-01 -6.74789441e-03 9.21895387e+02] [ 9.19811064e-01 3.92049835e-01 -1.56375535e-02 9.32505249e+01] [ 1.70311841e-02 -7.69957140e-05 9.99854956e-01 8.84034288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9292541539999 meters Centerline goodness [0,1] 0.9997807065634525 Centerline is valid? [True, True] Translation: X:921.91, Y:93.28, Z:8.84 [[ 3.91791082e-01 -9.20029773e-01 -6.70558917e-03 9.21906887e+02] [ 9.19898325e-01 3.91848454e-01 -1.55518988e-02 9.32763127e+01] [ 1.69357847e-02 -7.53649898e-05 9.99856576e-01 8.84132500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9592541539998 meters Centerline goodness [0,1] 0.9996493919141011 Centerline is valid? [True, True] Translation: X:921.92, Y:93.30, Z:8.84 [[ 3.91459010e-01 -9.20171533e-01 -6.64782882e-03 9.21917784e+02] [ 9.20042157e-01 3.91515446e-01 -1.54300195e-02 9.33008946e+01] [ 1.68009924e-02 -7.60625931e-05 9.99858850e-01 8.84162697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9892541539998 meters Centerline goodness [0,1] 0.9993429553866707 Centerline is valid? [True, True] Translation: X:921.93, Y:93.33, Z:8.84 [[ 3.91172611e-01 -9.20291606e-01 -6.88103434e-03 9.21929307e+02] [ 9.20152789e-01 3.91233119e-01 -1.59841103e-02 9.33264171e+01] [ 1.74021311e-02 -7.90567716e-05 9.99848568e-01 8.84140020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0192541539999 meters Centerline goodness [0,1] 0.9993852369033505 Centerline is valid? [True, True] Translation: X:921.94, Y:93.35, Z:8.84 [[ 3.91379696e-01 -9.20203901e-01 -6.83484449e-03 9.21940029e+02] [ 9.20066720e-01 3.91439365e-01 -1.58888348e-02 9.33527414e+01] [ 1.72963950e-02 -6.99456100e-05 9.99850404e-01 8.84217751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0492541539999 meters Centerline goodness [0,1] 0.9994726665494814 Centerline is valid? [True, True] Translation: X:921.95, Y:93.38, Z:8.84 [[ 3.91782296e-01 -9.20032342e-01 -6.86461299e-03 9.21950620e+02] [ 9.19893725e-01 3.91842426e-01 -1.59701901e-02 9.33790138e+01] [ 1.73829380e-02 -5.78766644e-05 9.99848904e-01 8.84274492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0792541539998 meters Centerline goodness [0,1] 0.9997803066918581 Centerline is valid? [True, True] Translation: X:921.96, Y:93.41, Z:8.84 [[ 3.92494885e-01 -9.19727743e-01 -6.97456012e-03 9.21960815e+02] [ 9.19584384e-01 3.92556847e-01 -1.62383417e-02 9.34052432e+01] [ 1.76727647e-02 -4.02305114e-05 9.99843824e-01 8.84265727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1092541539998 meters Centerline goodness [0,1] 0.9998901847093189 Centerline is valid? [True, True] Translation: X:921.97, Y:93.43, Z:8.84 [[ 3.92930810e-01 -9.19541080e-01 -7.04135378e-03 9.21971098e+02] [ 9.19394705e-01 3.92993895e-01 -1.64065780e-02 9.34313824e+01] [ 1.78537315e-02 -2.71333997e-05 9.99840609e-01 8.84366625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1392541539999 meters Centerline goodness [0,1] 0.9997364838157143 Centerline is valid? [True, True] Translation: X:921.98, Y:93.46, Z:8.84 [[ 3.93505835e-01 -9.19294266e-01 -7.15618919e-03 9.21981111e+02] [ 9.19142831e-01 3.93570900e-01 -1.66854421e-02 9.34561910e+01] [ 1.81552991e-02 -1.17411568e-05 9.99835179e-01 8.84346430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1692541539999 meters Centerline goodness [0,1] 0.9996707132351327 Centerline is valid? [True, True] Translation: X:921.99, Y:93.48, Z:8.84 [[ 3.93481728e-01 -9.19303599e-01 -7.28161189e-03 9.21992277e+02] [ 9.19146601e-01 3.93549098e-01 -1.69892019e-02 9.34819965e+01] [ 1.84839063e-02 -7.92828576e-06 9.99829158e-01 8.84313148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1992541539998 meters Centerline goodness [0,1] 0.9999562688590545 Centerline is valid? [True, True] Translation: X:922.00, Y:93.51, Z:8.84 [[ 3.93931335e-01 -9.19113325e-01 -6.98567523e-03 9.22003009e+02] [ 9.18968589e-01 3.93993269e-01 -1.63106458e-02 9.35071297e+01] [ 1.77436410e-02 5.65838711e-06 9.99842569e-01 8.84426727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2292541539998 meters Centerline goodness [0,1] 0.9997581992438231 Centerline is valid? [True, True] Translation: X:922.01, Y:93.53, Z:8.84 [[ 3.93691931e-01 -9.19213981e-01 -7.23324922e-03 9.22014010e+02] [ 9.19058587e-01 3.93758373e-01 -1.69013940e-02 9.35331670e+01] [ 1.83841501e-02 6.16262451e-06 9.99830997e-01 8.84400227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2592541539999 meters Centerline goodness [0,1] 0.9998906601937502 Centerline is valid? [True, True] Translation: X:922.02, Y:93.56, Z:8.84 [[ 3.93426788e-01 -9.19329001e-01 -7.03924645e-03 9.22023901e+02] [ 9.19181618e-01 3.93489756e-01 -1.64610166e-02 9.35585560e+01] [ 1.79029613e-02 5.85895302e-06 9.99839729e-01 8.84439280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2892541539999 meters Centerline goodness [0,1] 0.9999344104593454 Centerline is valid? [True, True] Translation: X:922.03, Y:93.59, Z:8.84 [[ 3.92455945e-01 -9.19743793e-01 -7.04892709e-03 9.22034342e+02] [ 9.19595835e-01 3.92519242e-01 -1.64967927e-02 9.35851317e+01] [ 1.79396622e-02 -7.89962804e-06 9.99839071e-01 8.84412570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3192541539999 meters Centerline goodness [0,1] 0.9998683199824426 Centerline is valid? [True, True] Translation: X:922.05, Y:93.61, Z:8.84 [[ 3.91104813e-01 -9.20317752e-01 -7.22909605e-03 9.22045559e+02] [ 9.20161988e-01 3.91171617e-01 -1.69317011e-02 9.36111689e+01] [ 1.84103623e-02 -2.98696085e-05 9.99830514e-01 8.84374728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3492541539998 meters Centerline goodness [0,1] 0.9997144049737472 Centerline is valid? [True, True] Translation: X:922.06, Y:93.64, Z:8.84 [[ 3.89807013e-01 -9.20870154e-01 -6.97512120e-03 9.22056688e+02] [ 9.20725008e-01 3.89869410e-01 -1.63494230e-02 9.36373481e+01] [ 1.77750821e-02 -4.90487816e-05 9.99842010e-01 8.84473442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3792541539999 meters Centerline goodness [0,1] 0.9995607774239595 Centerline is valid? [True, True] Translation: X:922.07, Y:93.66, Z:8.84 [[ 3.86936069e-01 -9.22078915e-01 -7.13822645e-03 9.22069526e+02] [ 9.21926903e-01 3.87001893e-01 -1.67427954e-02 9.36620493e+01] [ 1.82006857e-02 -1.02531581e-04 9.99834349e-01 8.84305397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4092541539999 meters Centerline goodness [0,1] 0.9997152432479793 Centerline is valid? [True, True] Translation: X:922.08, Y:93.69, Z:8.85 [[ 3.85651989e-01 -9.22617933e-01 -6.97801173e-03 9.22080573e+02] [ 9.22472572e-01 3.85715095e-01 -1.63774265e-02 9.36880492e+01] [ 1.78016318e-02 -1.21037326e-04 9.99841531e-01 8.84513652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4392541539999 meters Centerline goodness [0,1] 0.9996275931564766 Centerline is valid? [True, True] Translation: X:922.09, Y:93.71, Z:8.85 [[ 3.83725206e-01 -9.23421116e-01 -6.95768810e-03 9.22091894e+02] [ 9.23276540e-01 3.83788248e-01 -1.63405091e-02 9.37131952e+01] [ 1.77594501e-02 -1.53604955e-04 9.99842277e-01 8.84564582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4692541539998 meters Centerline goodness [0,1] 0.9995407527281475 Centerline is valid? [True, True] Translation: X:922.10, Y:93.74, Z:8.84 [[ 3.82987356e-01 -9.23726319e-01 -7.09740263e-03 9.22102688e+02] [ 9.23575743e-01 3.83053078e-01 -1.66789095e-02 9.37377090e+01] [ 1.81254296e-02 -1.67177448e-04 9.99835707e-01 8.84441300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4992541539999 meters Centerline goodness [0,1] 0.999561893496309 Centerline is valid? [True, True] Translation: X:922.11, Y:93.76, Z:8.84 [[ 3.82573814e-01 -9.23896904e-01 -7.19636831e-03 9.22112207e+02] [ 9.23741894e-01 3.82641452e-01 -1.69243181e-02 9.37638692e+01] [ 1.83899539e-02 -1.72785981e-04 9.99830876e-01 8.84471744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5292541539999 meters Centerline goodness [0,1] 0.9996724247122797 Centerline is valid? [True, True] Translation: X:922.12, Y:93.79, Z:8.84 [[ 3.83574203e-01 -9.23477234e-01 -7.78650989e-03 9.22120756e+02] [ 9.23295361e-01 3.83653195e-01 -1.83276394e-02 9.37892852e+01] [ 1.99124771e-02 -1.59238788e-04 9.99801714e-01 8.84344542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5592541539999 meters Centerline goodness [0,1] 0.9996725319827097 Centerline is valid? [True, True] Translation: X:922.13, Y:93.82, Z:8.84 [[ 3.83917417e-01 -9.23329198e-01 -8.40288518e-03 9.22130346e+02] [ 9.23117000e-01 3.84009332e-01 -1.97948909e-02 9.38158755e+01] [ 2.15039871e-02 -1.57242750e-04 9.99768750e-01 8.84207196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5892541539998 meters Centerline goodness [0,1] 0.9998255332141144 Centerline is valid? [True, True] Translation: X:922.14, Y:93.84, Z:8.84 [[ 3.85960508e-01 -9.22470575e-01 -9.08426815e-03 9.22138295e+02] [ 9.22221921e-01 3.86067385e-01 -2.14173341e-02 9.38428509e+01] [ 2.32640002e-02 -1.11466073e-04 9.99729350e-01 8.84137628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6192541539999 meters Centerline goodness [0,1] 0.9997382084733191 Centerline is valid? [True, True] Translation: X:922.15, Y:93.87, Z:8.84 [[ 3.86585833e-01 -9.22206046e-01 -9.34890603e-03 9.22148104e+02] [ 9.21942181e-01 3.86698849e-01 -2.20593514e-02 9.38685096e+01] [ 2.39584785e-02 -9.13180609e-05 9.99712950e-01 8.84003914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6492541539999 meters Centerline goodness [0,1] 0.9998690528153644 Centerline is valid? [True, True] Translation: X:922.16, Y:93.89, Z:8.84 [[ 3.87275880e-01 -9.21917023e-01 -9.29491838e-03 9.22157497e+02] [ 9.21655683e-01 3.87387401e-01 -2.19500184e-02 9.38939653e+01] [ 2.38368299e-02 -6.60016494e-05 9.99715860e-01 8.84055932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6792541539999 meters Centerline goodness [0,1] 0.9999563347378992 Centerline is valid? [True, True] Translation: X:922.17, Y:93.92, Z:8.84 [[ 3.88515387e-01 -9.21398961e-01 -8.93019864e-03 9.22166527e+02] [ 9.21157213e-01 3.88618005e-01 -2.11053274e-02 9.39202837e+01] [ 2.29168627e-02 -2.63724689e-05 9.99737374e-01 8.84277355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7092541539998 meters Centerline goodness [0,1] 0.9998036435038726 Centerline is valid? [True, True] Translation: X:922.18, Y:93.95, Z:8.84 [[ 3.88629430e-01 -9.21351669e-01 -8.84695600e-03 9.22176559e+02] [ 9.21114011e-01 3.88730115e-01 -2.09254815e-02 9.39454219e+01] [ 2.27188055e-02 -1.67971673e-05 9.99741894e-01 8.84238802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7392541539998 meters Centerline goodness [0,1] 0.9999782528325686 Centerline is valid? [True, True] Translation: X:922.18, Y:93.97, Z:8.84 [[ 3.90652962e-01 -9.20502327e-01 -8.10733740e-03 9.22184795e+02] [ 9.20302256e-01 3.90737078e-01 -1.91909753e-02 9.39713781e+01] [ 2.08331747e-02 3.58104504e-05 9.99782965e-01 8.84457445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7692541539999 meters Centerline goodness [0,1] 0.9996961673683754 Centerline is valid? [True, True] Translation: X:922.19, Y:94.00, Z:8.84 [[ 3.91044920e-01 -9.20334578e-01 -8.25435270e-03 9.22194792e+02] [ 9.20126822e-01 3.91132025e-01 -1.95542708e-02 9.39973175e+01] [ 2.12250133e-02 5.15469515e-05 9.99774723e-01 8.84373634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7992541539999 meters Centerline goodness [0,1] 0.9999127818237321 Centerline is valid? [True, True] Translation: X:922.20, Y:94.02, Z:8.85 [[ 3.92692504e-01 -9.19638358e-01 -7.60844675e-03 9.22203944e+02] [ 9.19461453e-01 3.92766195e-01 -1.80375585e-02 9.40242015e+01] [ 1.95763713e-02 8.75405126e-05 9.99808361e-01 8.84662015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8292541539998 meters Centerline goodness [0,1] 0.9999564156206415 Centerline is valid? [True, True] Translation: X:922.21, Y:94.05, Z:8.85 [[ 3.96021570e-01 -9.18212795e-01 -7.22351928e-03 9.22210918e+02] [ 9.18052851e-01 3.96087413e-01 -1.71383984e-02 9.40510910e+01] [ 1.85978418e-02 1.55602991e-04 9.99827033e-01 8.84738982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.22, Y:94.08, Z:8.85 [[ 3.97522592e-01 -9.17563981e-01 -7.22012719e-03 9.22220193e+02] [ 9.17403824e-01 3.97588110e-01 -1.71440638e-02 9.40778871e+01] [ 1.86014121e-02 1.91380390e-04 9.99826960e-01 8.84781158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.23, Y:94.10, Z:8.85 [[ 4.00794674e-01 -9.16139704e-01 -7.18837387e-03 9.22226728e+02] [ 9.15980546e-01 4.00859047e-01 -1.70781664e-02 9.41044199e+01] [ 1.85275110e-02 2.60427507e-04 9.99828317e-01 8.84809739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9192541539999 meters Centerline goodness [0,1] 0.9998693692712982 Centerline is valid? [True, True] Translation: X:922.24, Y:94.13, Z:8.85 [[ 4.01726219e-01 -9.15730953e-01 -7.27099058e-03 9.22235535e+02] [ 9.15567875e-01 4.01791912e-01 -1.72836595e-02 9.41310567e+01] [ 1.87486072e-02 2.86213812e-04 9.99824188e-01 8.84703949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9492541539998 meters Centerline goodness [0,1] 0.9998267985884085 Centerline is valid? [True, True] Translation: X:922.25, Y:94.16, Z:8.85 [[ 4.02879265e-01 -9.15223503e-01 -7.36465731e-03 9.22245931e+02] [ 9.15055872e-01 4.02946446e-01 -1.75189240e-02 9.41577108e+01] [ 1.90012935e-02 3.18938307e-04 9.99819408e-01 8.84785785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9792541539998 meters Centerline goodness [0,1] 0.9999134236613134 Centerline is valid? [True, True] Translation: X:922.25, Y:94.18, Z:8.85 [[ 4.05624951e-01 -9.14011464e-01 -7.17236545e-03 9.22252886e+02] [ 9.13852096e-01 4.05688189e-01 -1.70715906e-02 9.41844805e+01] [ 1.85133735e-02 3.70181900e-04 9.99828544e-01 8.84823499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.26, Y:94.21, Z:8.85 [[ 4.07078183e-01 -9.13364898e-01 -7.20533294e-03 9.22262662e+02] [ 9.13203769e-01 4.07141744e-01 -1.71603247e-02 9.42119626e+01] [ 1.86072301e-02 4.05656624e-04 9.99826788e-01 8.84971425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0392541539999 meters Centerline goodness [0,1] 0.9998920715781294 Centerline is valid? [True, True] Translation: X:922.27, Y:94.24, Z:8.85 [[ 4.07343544e-01 -9.13239525e-01 -8.05028867e-03 9.22272863e+02] [ 9.13038065e-01 4.07422819e-01 -1.91869424e-02 9.42392009e+01] [ 2.08021455e-02 4.65457135e-04 9.99783504e-01 8.84734845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.28, Y:94.27, Z:8.85 [[ 4.07420380e-01 -9.13202844e-01 -8.31859869e-03 9.22280872e+02] [ 9.12987412e-01 4.07505002e-01 -1.98408522e-02 9.42654509e+01] [ 2.15085933e-02 4.88791681e-04 9.99768544e-01 8.84701386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.29, Y:94.29, Z:8.85 [[ 4.06304331e-01 -9.13698955e-01 -8.42671459e-03 9.22290242e+02] [ 9.13477655e-01 4.06391429e-01 -2.01141822e-02 9.42910811e+01] [ 2.18028519e-02 4.74863888e-04 9.99762177e-01 8.84571833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1292541539999 meters Centerline goodness [0,1] 0.9998913917066707 Centerline is valid? [True, True] Translation: X:922.31, Y:94.31, Z:8.85 [[ 4.02249806e-01 -9.15489476e-01 -8.60892353e-03 9.22306071e+02] [ 9.15258543e-01 4.02341728e-01 -2.05653685e-02 9.43147806e+01] [ 2.22911076e-02 3.93024702e-04 9.99751445e-01 8.84606439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1592541539999 meters Centerline goodness [0,1] 0.9998918568184276 Centerline is valid? [True, True] Translation: X:922.32, Y:94.34, Z:8.85 [[ 3.99746255e-01 -9.16586440e-01 -8.49881316e-03 9.22317649e+02] [ 9.16361344e-01 3.99836451e-01 -2.03150355e-02 9.43399277e+01] [ 2.20186214e-02 3.32875517e-04 9.99757505e-01 8.84603191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1892541539999 meters Centerline goodness [0,1] 0.9999783488860502 Centerline is valid? [True, True] Translation: X:922.33, Y:94.36, Z:8.85 [[ 3.95250811e-01 -9.18539102e-01 -7.91921572e-03 9.22332849e+02] [ 9.18343858e-01 3.95330080e-01 -1.89390044e-02 9.43631537e+01] [ 2.05269203e-02 2.13093730e-04 9.99789278e-01 8.84935982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2192541539998 meters Centerline goodness [0,1] 0.9997613365155131 Centerline is valid? [True, True] Translation: X:922.35, Y:94.39, Z:8.85 [[ 3.91531281e-01 -9.20131330e-01 -7.84803087e-03 9.22347294e+02] [ 9.19939651e-01 3.91609905e-01 -1.87808823e-02 9.43874504e+01] [ 2.03542448e-02 1.33588135e-04 9.99792822e-01 8.84988428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2492541539999 meters Centerline goodness [0,1] 0.9998917678637141 Centerline is valid? [True, True] Translation: X:922.36, Y:94.41, Z:8.85 [[ 3.87060232e-01 -9.22025417e-01 -7.31491287e-03 9.22361528e+02] [ 9.21859017e-01 3.87129345e-01 -1.75163479e-02 9.44114889e+01] [ 1.89823354e-02 3.65632858e-05 9.99819819e-01 8.85177496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2792541539999 meters Centerline goodness [0,1] 0.9998481726493873 Centerline is valid? [True, True] Translation: X:922.37, Y:94.44, Z:8.85 [[ 3.84489719e-01 -9.23099769e-01 -7.38049730e-03 9.22374307e+02] [ 9.22930337e-01 3.84560549e-01 -1.76855283e-02 9.44362750e+01] [ 1.91637552e-02 -1.17810678e-05 9.99816358e-01 8.85329941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3092541539999 meters Centerline goodness [0,1] 0.9998695340190046 Centerline is valid? [True, True] Translation: X:922.39, Y:94.46, Z:8.85 [[ 3.82146054e-01 -9.24072289e-01 -7.40251743e-03 9.22386672e+02] [ 9.23901754e-01 3.82217740e-01 -1.77523937e-02 9.44617477e+01] [ 1.92338685e-02 -5.51916462e-05 9.99815011e-01 8.85357482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3392541539998 meters Centerline goodness [0,1] 0.9998470179426099 Centerline is valid? [True, True] Translation: X:922.40, Y:94.49, Z:8.85 [[ 3.78764908e-01 -9.25463446e-01 -7.38610759e-03 9.22400078e+02] [ 9.25293659e-01 3.78836898e-01 -1.77270546e-02 9.44865488e+01] [ 1.92038712e-02 -1.19932306e-04 9.99815581e-01 8.85353002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3692541539999 meters Centerline goodness [0,1] 0.9996722386102918 Centerline is valid? [True, True] Translation: X:922.41, Y:94.51, Z:8.85 [[ 3.76671391e-01 -9.26314666e-01 -7.73325184e-03 9.22412089e+02] [ 9.26128437e-01 3.76750730e-01 -1.85743252e-02 9.45111556e+01] [ 2.01191781e-02 -1.65567535e-04 9.99797575e-01 8.85199758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3992541539999 meters Centerline goodness [0,1] 0.9998253122543453 Centerline is valid? [True, True] Translation: X:922.42, Y:94.54, Z:8.85 [[ 3.76038894e-01 -9.26572311e-01 -7.64869344e-03 9.22422778e+02] [ 9.26389908e-01 3.76116635e-01 -1.83851886e-02 9.45360709e+01] [ 1.99120076e-02 -1.72126409e-04 9.99801722e-01 8.85350154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4292541539999 meters Centerline goodness [0,1] 0.9998911552778805 Centerline is valid? [True, True] Translation: X:922.43, Y:94.56, Z:8.85 [[ 3.75950326e-01 -9.26608418e-01 -7.62839779e-03 9.22432827e+02] [ 9.26426693e-01 3.76027674e-01 -1.83513316e-02 9.45617239e+01] [ 1.98729870e-02 -1.67962239e-04 9.99802499e-01 8.85361164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4592541539998 meters Centerline goodness [0,1] 0.9998904637763708 Centerline is valid? [True, True] Translation: X:922.44, Y:94.59, Z:8.86 [[ 3.76888796e-01 -9.26226286e-01 -7.72677237e-03 9.22441273e+02] [ 9.26039458e-01 3.76967965e-01 -1.86030917e-02 9.45886796e+01] [ 2.01434182e-02 -1.43999279e-04 9.99797090e-01 8.85511659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4892541539998 meters Centerline goodness [0,1] 0.9998904637763708 Centerline is valid? [True, True] Translation: X:922.45, Y:94.61, Z:8.86 [[ 3.76625021e-01 -9.26333618e-01 -7.72147540e-03 9.22451783e+02] [ 9.26146768e-01 3.76704137e-01 -1.86052905e-02 9.46141905e+01] [ 2.01434178e-02 -1.44001572e-04 9.99797090e-01 8.85537402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5192541539999 meters Centerline goodness [0,1] 0.9998911576472637 Centerline is valid? [True, True] Translation: X:922.46, Y:94.64, Z:8.85 [[ 3.77204971e-01 -9.26097224e-01 -7.76800873e-03 9.22461422e+02] [ 9.25907776e-01 3.77284927e-01 -1.87316461e-02 9.46394772e+01] [ 2.02780780e-02 -1.26789670e-04 9.99794371e-01 8.85476965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5492541539999 meters Centerline goodness [0,1] 0.99991253963048 Centerline is valid? [True, True] Translation: X:922.47, Y:94.67, Z:8.85 [[ 3.79400007e-01 -9.25200669e-01 -7.70428017e-03 9.22469441e+02] [ 9.25013894e-01 3.79478215e-01 -1.85897853e-02 9.46655330e+01] [ 2.01228883e-02 -7.36015320e-05 9.99797511e-01 8.85461941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5792541539998 meters Centerline goodness [0,1] 0.9999344520188779 Centerline is valid? [True, True] Translation: X:922.48, Y:94.69, Z:8.85 [[ 3.80395067e-01 -9.24791037e-01 -7.81865427e-03 9.22479160e+02] [ 9.24598324e-01 3.80475408e-01 -1.88786353e-02 9.46919560e+01] [ 2.04335984e-02 -4.77748868e-05 9.99791211e-01 8.85443826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6092541539998 meters Centerline goodness [0,1] 0.9997599406398673 Centerline is valid? [True, True] Translation: X:922.49, Y:94.72, Z:8.85 [[ 3.80746564e-01 -9.24643698e-01 -8.12933906e-03 9.22488856e+02] [ 9.24434999e-01 3.80833338e-01 -1.96443994e-02 9.47183110e+01] [ 2.12599934e-02 -3.55079700e-05 9.99773980e-01 8.85340932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6392541539999 meters Centerline goodness [0,1] 0.9999346604521496 Centerline is valid? [True, True] Translation: X:922.50, Y:94.75, Z:8.86 [[ 3.83764700e-01 -9.23395484e-01 -8.08916333e-03 9.22496597e+02] [ 9.23188232e-01 3.83849942e-01 -1.95629978e-02 9.47450728e+01] [ 2.11694087e-02 3.97675996e-05 9.99775902e-01 8.85526852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6692541539999 meters Centerline goodness [0,1] 0.9999782196763444 Centerline is valid? [True, True] Translation: X:922.51, Y:94.77, Z:8.86 [[ 3.84850617e-01 -9.22943630e-01 -8.06594209e-03 9.22505812e+02] [ 9.22737190e-01 3.84935127e-01 -1.95198929e-02 9.47701931e+01] [ 2.11206253e-02 6.94980974e-05 9.99776932e-01 8.85532785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6992541539998 meters Centerline goodness [0,1] 0.9998698312144748 Centerline is valid? [True, True] Translation: X:922.51, Y:94.80, Z:8.85 [[ 3.85475911e-01 -9.22684350e-01 -7.86848720e-03 9.22514894e+02] [ 9.22487572e-01 3.85556200e-01 -1.90550900e-02 9.47964121e+01] [ 2.06155773e-02 8.66965179e-05 9.99787473e-01 8.85467499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7292541539998 meters Centerline goodness [0,1] 0.9999782173041736 Centerline is valid? [True, True] Translation: X:922.52, Y:94.82, Z:8.85 [[ 3.86385160e-01 -9.22305372e-01 -7.70129885e-03 9.22523480e+02] [ 9.22116508e-01 3.86461886e-01 -1.86642825e-02 9.48224079e+01] [ 2.01904265e-02 1.10106958e-04 9.99796147e-01 8.85475186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7592541539999 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:922.53, Y:94.85, Z:8.86 [[ 3.86418928e-01 -9.22293251e-01 -7.45458689e-03 9.22533797e+02] [ 9.22116033e-01 3.86490810e-01 -1.80797112e-02 9.48481386e+01] [ 1.95559249e-02 1.12348522e-04 9.99808758e-01 8.85629936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7892541539999 meters Centerline goodness [0,1] 0.999978324482497 Centerline is valid? [True, True] Translation: X:922.54, Y:94.87, Z:8.86 [[ 3.86335648e-01 -9.22329787e-01 -7.24777044e-03 9.22544491e+02] [ 9.22162013e-01 3.86403611e-01 -1.75917871e-02 9.48738441e+01] [ 1.90259940e-02 1.12715907e-04 9.99818983e-01 8.85775789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.55, Y:94.90, Z:8.86 [[ 3.86312045e-01 -9.22341285e-01 -7.03972191e-03 9.22553932e+02] [ 9.22182750e-01 3.86376165e-01 -1.71007357e-02 9.48993011e+01] [ 1.84926953e-02 1.14310088e-04 9.99828989e-01 8.85858298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8492541539998 meters Centerline goodness [0,1] 0.9998914789252072 Centerline is valid? [True, True] Translation: X:922.57, Y:94.93, Z:8.86 [[ 3.85452853e-01 -9.22700881e-01 -7.01304004e-03 9.22565044e+02] [ 9.22543345e-01 3.85516633e-01 -1.70500110e-02 9.49255424e+01] [ 1.84357037e-02 1.02141964e-04 9.99830043e-01 8.85815576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8792541539999 meters Centerline goodness [0,1] 0.999978397995334 Centerline is valid? [True, True] Translation: X:922.57, Y:94.95, Z:8.86 [[ 3.85270505e-01 -9.22778749e-01 -6.78365386e-03 9.22573984e+02] [ 9.22631160e-01 3.85330209e-01 -1.65037025e-02 9.49515651e+01] [ 1.78432127e-02 9.95793817e-05 9.99840792e-01 8.85935411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.58, Y:94.98, Z:8.86 [[ 3.84323807e-01 -9.23173152e-01 -6.82220664e-03 9.22584953e+02] [ 9.23023732e-01 3.84384343e-01 -1.66092595e-02 9.49778864e+01] [ 1.79555719e-02 8.62752031e-05 9.99838782e-01 8.86011463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.60, Y:95.00, Z:8.86 [[ 3.83095921e-01 -9.23682808e-01 -6.89817083e-03 9.22595008e+02] [ 9.23529880e-01 3.83158015e-01 -1.68076076e-02 9.50030214e+01] [ 1.81679877e-02 6.82590430e-05 9.99834946e-01 8.85979608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9692541539998 meters Centerline goodness [0,1] 0.999827485821491 Centerline is valid? [True, True] Translation: X:922.61, Y:95.03, Z:8.86 [[ 3.79421984e-01 -9.25193270e-01 -7.50807852e-03 9.22606708e+02] [ 9.25012100e-01 3.79496262e-01 -1.83085407e-02 9.50285699e+01] [ 1.97882264e-02 1.59933728e-06 9.99804194e-01 8.85773340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9992541539999 meters Centerline goodness [0,1] 0.9999135359474298 Centerline is valid? [True, True] Translation: X:922.62, Y:95.05, Z:8.86 [[ 3.77674001e-01 -9.25907879e-01 -7.54644546e-03 9.22617775e+02] [ 9.25724696e-01 3.77749386e-01 -1.84170939e-02 9.50543268e+01] [ 1.99031975e-02 -3.02733751e-05 9.99801911e-01 8.85863520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0292541539999 meters Centerline goodness [0,1] 0.9999567754484547 Centerline is valid? [True, True] Translation: X:922.63, Y:95.08, Z:8.86 [[ 3.74633017e-01 -9.27141956e-01 -7.60898568e-03 9.22629507e+02] [ 9.26955688e-01 3.74710269e-01 -1.85840757e-02 9.50792399e+01] [ 2.00812414e-02 -9.09842023e-05 9.99798347e-01 8.85908456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0592541539999 meters Centerline goodness [0,1] 0.9998700511132288 Centerline is valid? [True, True] Translation: X:922.64, Y:95.11, Z:8.86 [[ 3.72629937e-01 -9.27945478e-01 -8.00748879e-03 9.22640996e+02] [ 9.27739054e-01 3.72715940e-01 -1.95723409e-02 9.51053845e+01] [ 2.11465839e-02 -1.35619907e-04 9.99776377e-01 8.85784956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0892541539998 meters Centerline goodness [0,1] 0.9999783643444397 Centerline is valid? [True, True] Translation: X:922.65, Y:95.13, Z:8.86 [[ 3.71779744e-01 -9.28286679e-01 -7.97894930e-03 9.22651641e+02] [ 9.28081481e-01 3.71865324e-01 -1.95178100e-02 9.51311625e+01] [ 2.10852176e-02 -1.48788686e-04 9.99777671e-01 8.85909217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1192541539999 meters Centerline goodness [0,1] 0.99993502696381 Centerline is valid? [True, True] Translation: X:922.66, Y:95.16, Z:8.86 [[ 3.69829454e-01 -9.29060208e-01 -8.56186490e-03 9.22662056e+02] [ 9.28823830e-01 3.69928493e-01 -2.09571845e-02 9.51562226e+01] [ 2.26377640e-02 -2.01880039e-04 9.99743713e-01 8.85759371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1492541539999 meters Centerline goodness [0,1] 0.9999350677459851 Centerline is valid? [True, True] Translation: X:922.67, Y:95.18, Z:8.85 [[ 3.69417339e-01 -9.29220546e-01 -8.94467879e-03 9.22674794e+02] [ 9.28962316e-01 3.69525548e-01 -2.19062881e-02 9.51805543e+01] [ 2.36610603e-02 -2.16706883e-04 9.99720014e-01 8.85193238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1792541539999 meters Centerline goodness [0,1] 0.9999133223541649 Centerline is valid? [True, True] Translation: X:922.68, Y:95.21, Z:8.86 [[ 3.69652313e-01 -9.29126162e-01 -9.04118561e-03 9.22681933e+02] [ 9.28861929e-01 3.69762806e-01 -2.21581720e-02 9.52079876e+01] [ 2.39308315e-02 -2.07193575e-04 9.99713595e-01 8.85695246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2092541539998 meters Centerline goodness [0,1] 0.9998053549028937 Centerline is valid? [True, True] Translation: X:922.69, Y:95.23, Z:8.86 [[ 3.69465135e-01 -9.29196942e-01 -9.41048942e-03 9.22691943e+02] [ 9.28910248e-01 3.69584900e-01 -2.30814375e-02 9.52339584e+01] [ 2.49251759e-02 -2.13713644e-04 9.99689297e-01 8.85562453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.70, Y:95.26, Z:8.86 [[ 3.71282496e-01 -9.28475854e-01 -9.04967009e-03 9.22701077e+02] [ 9.28210173e-01 3.71392737e-01 -2.22105636e-02 9.52590342e+01] [ 2.39829538e-02 -1.53602342e-04 9.99712356e-01 8.85812862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2692541539999 meters Centerline goodness [0,1] 0.9999136684436579 Centerline is valid? [True, True] Translation: X:922.71, Y:95.29, Z:8.86 [[ 3.71223761e-01 -9.28498205e-01 -9.16530047e-03 9.22711290e+02] [ 9.28225320e-01 3.71336856e-01 -2.25098915e-02 9.52852569e+01] [ 2.43038077e-02 -1.51257401e-04 9.99704607e-01 8.85747799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2992541539999 meters Centerline goodness [0,1] 0.9999135191230839 Centerline is valid? [True, True] Translation: X:922.72, Y:95.31, Z:8.86 [[ 3.72850727e-01 -9.27848851e-01 -8.87948738e-03 9.22719681e+02] [ 9.27592144e-01 3.72956432e-01 -2.18246155e-02 9.53109516e+01] [ 2.35616063e-02 -9.92189821e-05 9.99722382e-01 8.85798174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.73, Y:95.34, Z:8.86 [[ 3.74770238e-01 -9.27079319e-01 -8.43835032e-03 9.22728975e+02] [ 9.26846945e-01 3.74865223e-01 -2.07558515e-02 9.53375259e+01] [ 2.24055648e-02 -4.23838020e-05 9.99748963e-01 8.85987724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3592541539998 meters Centerline goodness [0,1] 0.9998921925871623 Centerline is valid? [True, True] Translation: X:922.74, Y:95.36, Z:8.86 [[ 3.77247766e-01 -9.26074252e-01 -8.40256910e-03 9.22737533e+02] [ 9.25843237e-01 3.77341330e-01 -2.06838357e-02 9.53635836e+01] [ 2.23254043e-02 2.34690292e-05 9.99750757e-01 8.86015116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3892541539999 meters Centerline goodness [0,1] 0.9997847008418197 Centerline is valid? [True, True] Translation: X:922.75, Y:95.39, Z:8.86 [[ 3.78741885e-01 -9.25464665e-01 -8.35097543e-03 9.22746923e+02] [ 9.25235981e-01 3.78833935e-01 -2.05725259e-02 9.53901193e+01] [ 2.22027787e-02 6.50542929e-05 9.99753486e-01 8.86019751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.75, Y:95.42, Z:8.86 [[ 3.83143560e-01 -9.23659360e-01 -7.37559571e-03 9.22753544e+02] [ 9.23480367e-01 3.83214513e-01 -1.81837562e-02 9.54158452e+01] [ 1.96220320e-02 1.55771263e-04 9.99807457e-01 8.86410238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.76, Y:95.44, Z:8.86 [[ 3.85316152e-01 -9.22756299e-01 -7.23011257e-03 9.22761913e+02] [ 9.22583866e-01 3.85383926e-01 -1.78392956e-02 9.54424332e+01] [ 1.92476916e-02 2.03383550e-04 9.99814725e-01 8.86429206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.77, Y:95.47, Z:8.86 [[ 3.89549968e-01 -9.20975210e-01 -7.44876925e-03 9.22768019e+02] [ 9.20791615e-01 3.89621058e-01 -1.83911303e-02 9.54687300e+01] [ 1.98399725e-02 3.05499973e-04 9.99803122e-01 8.86320562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5092541539999 meters Centerline goodness [0,1] 0.9998701411133235 Centerline is valid? [True, True] Translation: X:922.78, Y:95.50, Z:8.86 [[ 3.90733441e-01 -9.20467725e-01 -8.15756134e-03 9.22777299e+02] [ 9.20247108e-01 3.90818413e-01 -2.01550999e-02 9.54955545e+01] [ 2.17402441e-02 3.68299296e-04 9.99763585e-01 8.86079289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.79, Y:95.52, Z:8.86 [[ 3.92629288e-01 -9.19663371e-01 -7.84386768e-03 9.22786267e+02] [ 9.19458948e-01 3.92707425e-01 -1.93938288e-02 9.55225992e+01] [ 2.09161391e-02 4.02470860e-04 9.99781153e-01 8.86244836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.79, Y:95.55, Z:8.86 [[ 3.95322155e-01 -9.18507570e-01 -8.01484621e-03 9.22793995e+02] [ 9.18293580e-01 3.95403103e-01 -1.98314713e-02 9.55486629e+01] [ 2.13844516e-02 4.79838163e-04 9.99771211e-01 8.86203093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5992541539998 meters Centerline goodness [0,1] 0.9998484618881649 Centerline is valid? [True, True] Translation: X:922.80, Y:95.57, Z:8.86 [[ 3.96189075e-01 -9.18125786e-01 -8.90272376e-03 9.22803738e+02] [ 9.17861255e-01 3.96288689e-01 -2.20452377e-02 9.55747466e+01] [ 2.37683499e-02 5.62617115e-04 9.99717335e-01 8.85915222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.81, Y:95.60, Z:8.86 [[ 3.98307657e-01 -9.17208916e-01 -8.87780065e-03 9.22812481e+02] [ 9.16945252e-01 3.98406097e-01 -2.19996917e-02 9.56009575e+01] [ 2.37152832e-02 6.22188486e-04 9.99718560e-01 8.85997516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.82, Y:95.63, Z:8.86 [[ 3.98782556e-01 -9.17000535e-01 -9.08247785e-03 9.22822367e+02] [ 9.16724120e-01 3.98885432e-01 -2.25233246e-02 9.56270840e+01] [ 2.42767688e-02 6.55782441e-04 9.99705061e-01 8.85905657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6892541539999 meters Centerline goodness [0,1] 0.9999566358058152 Centerline is valid? [True, True] Translation: X:922.83, Y:95.65, Z:8.86 [[ 3.98849911e-01 -9.16966150e-01 -9.58268433e-03 9.22833307e+02] [ 9.16657997e-01 3.98964395e-01 -2.37808427e-02 9.56532910e+01] [ 2.56293776e-02 7.00942773e-04 9.99671268e-01 8.85733607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7192541539998 meters Centerline goodness [0,1] 0.9998262833318857 Centerline is valid? [True, True] Translation: X:922.85, Y:95.68, Z:8.85 [[ 3.98097088e-01 -9.17284062e-01 -1.04239403e-02 9.22845693e+02] [ 9.16919094e-01 3.98232837e-01 -2.58840136e-02 9.56779686e+01] [ 2.78941485e-02 7.46440558e-04 9.99610604e-01 8.85462832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.86, Y:95.70, Z:8.86 [[ 3.96883979e-01 -9.17815971e-01 -9.84631061e-03 9.22859329e+02] [ 9.17490113e-01 3.97005524e-01 -2.44643862e-02 9.57019326e+01] [ 2.63628441e-02 6.75630319e-04 9.99652212e-01 8.85725348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.87, Y:95.73, Z:8.86 [[ 3.95506211e-01 -9.18411174e-01 -9.78531192e-03 9.22871594e+02] [ 9.18089055e-01 3.95626727e-01 -2.43306640e-02 9.57261437e+01] [ 2.62168847e-02 6.39140979e-04 9.99656074e-01 8.85764542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.88, Y:95.75, Z:8.86 [[ 3.94020442e-01 -9.19051528e-01 -9.60107785e-03 9.22884416e+02] [ 9.18741142e-01 3.94136954e-01 -2.38909037e-02 9.57500360e+01] [ 2.57411111e-02 5.92599206e-04 9.99668467e-01 8.85863142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8392541539998 meters Centerline goodness [0,1] 0.9999781392095138 Centerline is valid? [True, True] Translation: X:922.90, Y:95.77, Z:8.86 [[ 3.90944219e-01 -9.20365289e-01 -9.50538412e-03 9.22899923e+02] [ 9.20060966e-01 3.91059428e-01 -2.36715507e-02 9.57717872e+01] [ 2.55036436e-02 5.08722993e-04 9.99674600e-01 8.86001791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8692541539999 meters Centerline goodness [0,1] 0.9998243379737385 Centerline is valid? [True, True] Translation: X:922.91, Y:95.80, Z:8.86 [[ 3.88908821e-01 -9.21223735e-01 -9.83663044e-03 9.22913184e+02] [ 9.20897553e-01 3.89032908e-01 -2.45172237e-02 9.57952322e+01] [ 2.64126214e-02 4.76435681e-04 9.99651012e-01 8.85909458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.93, Y:95.82, Z:8.86 [[ 3.86680814e-01 -9.22171014e-01 -8.86393153e-03 9.22927181e+02] [ 9.21905994e-01 3.86782211e-01 -2.21101612e-02 9.58176031e+01] [ 2.38177608e-02 3.77863533e-04 9.99716245e-01 8.86235963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9292541539999 meters Centerline goodness [0,1] 0.9998242105957064 Centerline is valid? [True, True] Translation: X:922.94, Y:95.84, Z:8.86 [[ 3.85009607e-01 -9.22863422e-01 -9.52399032e-03 9.22939602e+02] [ 9.22557152e-01 3.85127210e-01 -2.37767201e-02 9.58406973e+01] [ 2.56106131e-02 3.67840271e-04 9.99671927e-01 8.86046210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.96, Y:95.86, Z:8.87 [[ 3.84317328e-01 -9.23158001e-01 -8.91603388e-03 9.22957730e+02] [ 9.22889266e-01 3.84420595e-01 -2.22757576e-02 9.58640578e+01] [ 2.39915509e-02 3.32447673e-04 9.99712106e-01 8.86964549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9892541539998 meters Centerline goodness [0,1] 0.9999559607169596 Centerline is valid? [True, True] Translation: X:922.97, Y:95.89, Z:8.87 [[ 3.82923379e-01 -9.23734349e-01 -9.19450353e-03 9.22970509e+02] [ 9.23448300e-01 3.83033622e-01 -2.29887388e-02 9.58884011e+01] [ 2.47572917e-02 3.12276899e-04 9.99693443e-01 8.86924361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.98, Y:95.91, Z:8.87 [[ 3.82226329e-01 -9.24021804e-01 -9.31338905e-03 9.22982807e+02] [ 9.23727917e-01 3.82339656e-01 -2.33049851e-02 9.59138428e+01] [ 2.50951923e-02 3.04741433e-04 9.99685020e-01 8.86979571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0492541539999 meters Centerline goodness [0,1] 0.9998900252941824 Centerline is valid? [True, True] Translation: X:923.00, Y:95.94, Z:8.87 [[ 3.80925228e-01 -9.24551185e-01 -1.00537022e-02 9.22995106e+02] [ 9.24208509e-01 3.81057762e-01 -2.51716987e-02 9.59393607e+01] [ 2.71035651e-02 2.96817982e-04 9.99632587e-01 8.86717689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.01, Y:95.96, Z:8.87 [[ 3.80771273e-01 -9.24617824e-01 -9.75277207e-03 9.23006796e+02] [ 9.24294953e-01 3.80896042e-01 -2.44345083e-02 9.59646292e+01] [ 2.63073742e-02 2.89520843e-04 9.99653859e-01 8.86911770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1092541539998 meters Centerline goodness [0,1] 0.9999558167277869 Centerline is valid? [True, True] Translation: X:923.02, Y:95.99, Z:8.87 [[ 3.78531824e-01 -9.25533611e-01 -1.00594870e-02 9.23018440e+02] [ 9.25189895e-01 3.78665389e-01 -2.52226251e-02 9.59892947e+01] [ 2.71535668e-02 2.40630522e-04 9.99631245e-01 8.86829211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1392541539999 meters Centerline goodness [0,1] 0.9999778648427297 Centerline is valid? [True, True] Translation: X:923.03, Y:96.02, Z:8.87 [[ 3.77771157e-01 -9.25846760e-01 -9.83514736e-03 9.23028967e+02] [ 9.25517796e-01 3.77899098e-01 -2.46795552e-02 9.60153392e+01] [ 2.65661795e-02 2.20620191e-04 9.99647032e-01 8.86853160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.04, Y:96.04, Z:8.87 [[ 3.77385202e-01 -9.26007931e-01 -9.47206754e-03 9.23039356e+02] [ 9.25702390e-01 3.77503997e-01 -2.37869030e-02 9.60419272e+01] [ 2.56026042e-02 2.08509649e-04 9.99672178e-01 8.86924572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1992541539998 meters Centerline goodness [0,1] 0.9998893315626384 Centerline is valid? [True, True] Translation: X:923.05, Y:96.07, Z:8.87 [[ 3.77080640e-01 -9.26128359e-01 -9.82113593e-03 9.23048692e+02] [ 9.25799390e-01 3.77208453e-01 -2.46834442e-02 9.60685101e+01] [ 2.65646532e-02 2.15247282e-04 9.99647074e-01 8.86855120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.06, Y:96.10, Z:8.87 [[ 3.77999419e-01 -9.25759504e-01 -9.26172389e-03 9.23057556e+02] [ 9.25466387e-01 3.78112795e-01 -2.32955147e-02 9.60957416e+01] [ 2.50680205e-02 2.34276883e-04 9.99685720e-01 8.86995436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.07, Y:96.12, Z:8.87 [[ 3.78137514e-01 -9.25703396e-01 -9.23270035e-03 9.23067152e+02] [ 9.25411626e-01 3.78250133e-01 -2.32413194e-02 9.61224994e+01] [ 2.50068384e-02 2.44366483e-04 9.99687250e-01 8.87013923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2892541539999 meters Centerline goodness [0,1] 0.9999340818703171 Centerline is valid? [True, True] Translation: X:923.08, Y:96.15, Z:8.87 [[ 3.77755996e-01 -9.25857396e-01 -9.40693908e-03 9.23076296e+02] [ 9.25554034e-01 3.77873024e-01 -2.37003883e-02 9.61484958e+01] [ 2.54978083e-02 2.46333394e-04 9.99674848e-01 8.86951258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.09, Y:96.18, Z:8.87 [[ 3.78025853e-01 -9.25753155e-01 -8.80629148e-03 9.23086070e+02] [ 9.25486840e-01 3.78128333e-01 -2.22052563e-02 9.61751292e+01] [ 2.38864944e-02 2.44054087e-04 9.99714647e-01 8.87115363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3492541539998 meters Centerline goodness [0,1] 0.9998025276461295 Centerline is valid? [True, True] Translation: X:923.09, Y:96.20, Z:8.87 [[ 3.77191012e-01 -9.26094194e-01 -8.74547621e-03 9.23094930e+02] [ 9.25831196e-01 3.77292315e-01 -2.20704745e-02 9.62007407e+01] [ 2.37389392e-02 2.27949907e-04 9.99718166e-01 8.87113420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3792541539999 meters Centerline goodness [0,1] 0.9998025276461295 Centerline is valid? [True, True] Translation: X:923.11, Y:96.23, Z:8.87 [[ 3.76933443e-01 -9.26199118e-01 -8.73919463e-03 9.23105009e+02] [ 9.25936090e-01 3.77034669e-01 -2.20729621e-02 9.62264256e+01] [ 2.37389374e-02 2.28101891e-04 9.99718166e-01 8.87139159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4092541539999 meters Centerline goodness [0,1] 0.9998682245453747 Centerline is valid? [True, True] Translation: X:923.11, Y:96.25, Z:8.87 [[ 3.76872466e-01 -9.26228135e-01 -8.28173542e-03 9.23114637e+02] [ 9.25991554e-01 3.76963386e-01 -2.09343830e-02 9.62529603e+01] [ 2.25119255e-02 2.20775498e-04 9.99746550e-01 8.87416921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4392541539999 meters Centerline goodness [0,1] 0.999890437374003 Centerline is valid? [True, True] Translation: X:923.12, Y:96.28, Z:8.87 [[ 3.76635853e-01 -9.26325410e-01 -8.16511055e-03 9.23122959e+02] [ 9.26095079e-01 3.76724286e-01 -2.06571583e-02 9.62791681e+01] [ 2.22112461e-02 2.18557747e-04 9.99753276e-01 8.87321791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.13, Y:96.31, Z:8.87 [[ 3.76383323e-01 -9.26431327e-01 -7.78406588e-03 9.23131733e+02] [ 9.26221671e-01 3.76463748e-01 -1.97094569e-02 9.63055068e+01] [ 2.11898770e-02 2.08540392e-04 9.99775448e-01 8.87456792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.14, Y:96.33, Z:8.87 [[ 3.75399388e-01 -9.26831897e-01 -7.61148169e-03 9.23141727e+02] [ 9.26631190e-01 3.75476497e-01 -1.92882785e-02 9.63320486e+01] [ 2.07349242e-02 1.87771610e-04 9.99784991e-01 8.87462648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5292541539999 meters Centerline goodness [0,1] 0.999846508058327 Centerline is valid? [True, True] Translation: X:923.15, Y:96.36, Z:8.87 [[ 3.72809733e-01 -9.27873136e-01 -8.02163076e-03 9.23151013e+02] [ 9.27650131e-01 3.72895996e-01 -2.03423431e-02 9.63574428e+01] [ 2.18663476e-02 1.42556664e-04 9.99760893e-01 8.87242019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.16, Y:96.38, Z:8.87 [[ 3.72017638e-01 -9.28197157e-01 -7.27423581e-03 9.23160796e+02] [ 9.28013583e-01 3.72088731e-01 -1.84598287e-02 9.63826496e+01] [ 1.98410217e-02 1.16792243e-04 9.99803141e-01 8.87395353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.17, Y:96.41, Z:8.87 [[ 3.70422022e-01 -9.28837281e-01 -6.98789434e-03 9.23171457e+02] [ 9.28667729e-01 3.70487919e-01 -1.77468607e-02 9.64091419e+01] [ 1.90728763e-02 8.43960746e-05 9.99818093e-01 8.87445891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.18, Y:96.43, Z:8.88 [[ 3.67573196e-01 -9.29972532e-01 -6.40587358e-03 9.23182197e+02] [ 9.29830008e-01 3.67629010e-01 -1.62809052e-02 9.64338276e+01] [ 1.74957796e-02 2.80508800e-05 9.99846937e-01 8.87505021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.19, Y:96.46, Z:8.88 [[ 3.66053117e-01 -9.30573188e-01 -6.21742955e-03 9.23192638e+02] [ 9.30438798e-01 3.66105915e-01 -1.58146051e-02 9.64601454e+01] [ 1.69928852e-02 4.04781058e-06 9.99855610e-01 8.87532956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6792541539999 meters Centerline goodness [0,1] 0.9998903388529444 Centerline is valid? [True, True] Translation: X:923.20, Y:96.49, Z:8.87 [[ 3.62901919e-01 -9.31804327e-01 -6.54929260e-03 9.23203268e+02] [ 9.31655155e-01 3.62961008e-01 -1.66726819e-02 9.64863637e+01] [ 1.79128150e-02 -5.11339652e-05 9.99839551e-01 8.87414362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7092541539998 meters Centerline goodness [0,1] 0.9998687664041995 Centerline is valid? [True, True] Translation: X:923.21, Y:96.51, Z:8.87 [[ 3.61298472e-01 -9.32426861e-01 -6.60016585e-03 9.23213948e+02] [ 9.32275206e-01 3.61358744e-01 -1.68166022e-02 9.65113734e+01] [ 1.80652793e-02 -7.73582830e-05 9.99836807e-01 8.87283530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.22, Y:96.54, Z:8.87 [[ 3.58735527e-01 -9.33418907e-01 -6.16159794e-03 9.23224668e+02] [ 9.33286664e-01 3.58788421e-01 -1.57121751e-02 9.65373730e+01] [ 1.68767513e-02 -1.14021777e-04 9.99857571e-01 8.87300595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.24, Y:96.56, Z:8.87 [[ 3.57511573e-01 -9.33888651e-01 -6.12062901e-03 9.23236056e+02] [ 9.33758008e-01 3.57563939e-01 -1.56208776e-02 9.65624079e+01] [ 1.67766765e-02 -1.30541829e-04 9.99859253e-01 8.87270672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.25, Y:96.59, Z:8.87 [[ 3.56271214e-01 -9.34364156e-01 -5.86908985e-03 9.23246229e+02] [ 9.34243894e-01 3.56319525e-01 -1.49913918e-02 9.65883253e+01] [ 1.60986905e-02 -1.42159996e-04 9.99870398e-01 8.87364508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8292541539998 meters Centerline goodness [0,1] 0.9998686371100164 Centerline is valid? [True, True] Translation: X:923.26, Y:96.61, Z:8.87 [[ 3.55006651e-01 -9.34844242e-01 -6.04332560e-03 9.23256952e+02] [ 9.34716581e-01 3.55058048e-01 -1.54497750e-02 9.66137523e+01] [ 1.65888646e-02 -1.64023761e-04 9.99862382e-01 8.87281387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8592541539998 meters Centerline goodness [0,1] 0.9998683777558407 Centerline is valid? [True, True] Translation: X:923.27, Y:96.64, Z:8.87 [[ 3.55749623e-01 -9.34560909e-01 -6.17364204e-03 9.23265980e+02] [ 9.34427404e-01 3.55803156e-01 -1.57968714e-02 9.66397055e+01] [ 1.69597398e-02 -1.49089248e-04 9.99856162e-01 8.87139380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8892541539999 meters Centerline goodness [0,1] 0.9998463395895072 Centerline is valid? [True, True] Translation: X:923.28, Y:96.67, Z:8.87 [[ 3.56638954e-01 -9.34221315e-01 -6.26034077e-03 9.23275111e+02] [ 9.34083749e-01 3.56693872e-01 -1.60322281e-02 9.66661188e+01] [ 1.72106744e-02 -1.29965515e-04 9.99851877e-01 8.87090005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.28, Y:96.69, Z:8.87 [[ 3.58407028e-01 -9.33546628e-01 -5.92416562e-03 9.23284114e+02] [ 9.33423156e-01 3.58455975e-01 -1.51830917e-02 9.66931298e+01] [ 1.62976767e-02 -8.80265749e-05 9.99867180e-01 8.87177393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9492541539998 meters Centerline goodness [0,1] 0.9999781176831003 Centerline is valid? [True, True] Translation: X:923.29, Y:96.72, Z:8.87 [[ 3.61685946e-01 -9.32282101e-01 -5.77587433e-03 9.23292276e+02] [ 9.32164382e-01 3.61732061e-01 -1.48148875e-02 9.67195988e+01] [ 1.59009734e-02 -2.57277096e-05 9.99873571e-01 8.87288775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.30, Y:96.74, Z:8.87 [[ 3.63696613e-01 -9.31500354e-01 -5.64491029e-03 9.23300681e+02] [ 9.31387631e-01 3.63740417e-01 -1.44910370e-02 9.67449082e+01] [ 1.55516881e-02 1.27414609e-05 9.99879065e-01 8.87344917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0092541539999 meters Centerline goodness [0,1] 0.9998684729711956 Centerline is valid? [True, True] Translation: X:923.31, Y:96.77, Z:8.87 [[ 3.67683252e-01 -9.29933786e-01 -5.67283313e-03 9.23308358e+02] [ 9.29819562e-01 3.67727001e-01 -1.45751565e-02 9.67725873e+01] [ 1.56399844e-02 8.43297093e-05 9.99877684e-01 8.87440283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0392541539999 meters Centerline goodness [0,1] 0.9999562650338946 Centerline is valid? [True, True] Translation: X:923.32, Y:96.80, Z:8.88 [[ 3.69817716e-01 -9.29089584e-01 -5.23467591e-03 9.23316214e+02] [ 9.28992086e-01 3.69854744e-01 -1.34599973e-02 9.67997199e+01] [ 1.44416130e-02 1.14772963e-04 9.99895708e-01 8.87554417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0692541539999 meters Centerline goodness [0,1] 0.9998905668636463 Centerline is valid? [True, True] Translation: X:923.32, Y:96.83, Z:8.88 [[ 3.72719221e-01 -9.27929450e-01 -5.22665224e-03 9.23323761e+02] [ 9.27832002e-01 3.72755830e-01 -1.34487161e-02 9.68272365e+01] [ 1.44277249e-02 1.63139790e-04 9.99895902e-01 8.87523832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0992541539998 meters Centerline goodness [0,1] 0.9999563871080291 Centerline is valid? [True, True] Translation: X:923.33, Y:96.85, Z:8.88 [[ 3.73993287e-01 -9.27418549e-01 -4.88432858e-03 9.23332459e+02] [ 9.27333318e-01 3.74025140e-01 -1.25742810e-02 9.68533504e+01] [ 1.34884831e-02 1.73296045e-04 9.99909011e-01 8.87597281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1292541539999 meters Centerline goodness [0,1] 0.9998691698829071 Centerline is valid? [True, True] Translation: X:923.34, Y:96.88, Z:8.88 [[ 3.75382945e-01 -9.26857678e-01 -4.74221494e-03 9.23342614e+02] [ 9.26777171e-01 3.75412849e-01 -1.22175542e-02 9.68793292e+01] [ 1.31042223e-02 1.91284917e-04 9.99914118e-01 8.87611327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.35, Y:96.91, Z:8.88 [[ 3.76034901e-01 -9.26594396e-01 -4.53634975e-03 9.23353053e+02] [ 9.26520607e-01 3.76062212e-01 -1.16951789e-02 9.69050734e+01] [ 1.25426369e-02 1.94773904e-04 9.99921319e-01 8.87744737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.36, Y:96.93, Z:8.88 [[ 3.76750826e-01 -9.26302356e-01 -4.77072431e-03 9.23363591e+02] [ 9.26220615e-01 3.76780967e-01 -1.23074966e-02 9.69313896e+01] [ 1.31979812e-02 2.18116304e-04 9.99912879e-01 8.87703018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2192541539998 meters Centerline goodness [0,1] 0.9999127171161735 Centerline is valid? [True, True] Translation: X:923.37, Y:96.96, Z:8.88 [[ 3.76979459e-01 -9.26206554e-01 -5.28268806e-03 9.23372766e+02] [ 9.26106146e-01 3.77016388e-01 -1.36400145e-02 9.69566230e+01] [ 1.46251308e-02 2.49675421e-04 9.99893016e-01 8.87563405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.38, Y:96.98, Z:8.87 [[ 3.77757158e-01 -9.25887303e-01 -5.67732456e-03 9.23382117e+02] [ 9.25771111e-01 3.77799710e-01 -1.46707174e-02 9.69842785e+01] [ 1.57283225e-02 2.86065450e-04 9.99876261e-01 8.87489351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.39, Y:97.01, Z:8.87 [[ 3.77848981e-01 -9.25846632e-01 -6.17757973e-03 9.23390922e+02] [ 9.25708834e-01 3.77899343e-01 -1.59762906e-02 9.70103506e+01] [ 1.71260982e-02 3.17985007e-04 9.99853287e-01 8.87399751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.40, Y:97.04, Z:8.87 [[ 3.77287882e-01 -9.26072634e-01 -6.58258314e-03 9.23400753e+02] [ 9.25915960e-01 3.77345154e-01 -1.70373395e-02 9.70358653e+01] [ 1.82617198e-02 3.33062961e-04 9.99833185e-01 8.87317667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3392541539998 meters Centerline goodness [0,1] 0.999802692155917 Centerline is valid? [True, True] Translation: X:923.41, Y:97.06, Z:8.87 [[ 3.75867392e-01 -9.26647345e-01 -6.95707917e-03 9.23411760e+02] [ 9.26472136e-01 3.75931629e-01 -1.80219746e-02 9.70606216e+01] [ 1.93154011e-02 3.28332611e-04 9.99813386e-01 8.87129704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3692541539999 meters Centerline goodness [0,1] 0.9998909487459106 Centerline is valid? [True, True] Translation: X:923.42, Y:97.08, Z:8.87 [[ 3.73989400e-01 -9.27404418e-01 -7.27829219e-03 9.23423516e+02] [ 9.27212456e-01 3.74060088e-01 -1.88709046e-02 9.70847912e+01] [ 2.02234789e-02 3.08995096e-04 9.99795437e-01 8.87191280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3992541539999 meters Centerline goodness [0,1] 0.9999560864219217 Centerline is valid? [True, True] Translation: X:923.44, Y:97.11, Z:8.87 [[ 3.72541766e-01 -9.27986988e-01 -7.26513991e-03 9.23435850e+02] [ 9.27795504e-01 3.72612492e-01 -1.88529576e-02 9.71100140e+01] [ 2.02023812e-02 2.82949955e-04 9.99795871e-01 8.87375855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.45, Y:97.13, Z:8.87 [[ 3.69542907e-01 -9.29185466e-01 -7.23939446e-03 9.23448451e+02] [ 9.28995360e-01 3.69613745e-01 -1.87962742e-02 9.71347471e+01] [ 2.01410045e-02 2.20665945e-04 9.99797125e-01 8.87425353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.46, Y:97.16, Z:8.87 [[ 3.67734036e-01 -9.29903550e-01 -7.14609849e-03 9.23460140e+02] [ 9.29718237e-01 3.67803418e-01 -1.85646429e-02 9.71604792e+01] [ 1.98916868e-02 1.82992961e-04 9.99802124e-01 8.87498069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4892541539998 meters Centerline goodness [0,1] 0.9998470346575762 Centerline is valid? [True, True] Translation: X:923.47, Y:97.19, Z:8.87 [[ 3.65555809e-01 -9.30760947e-01 -7.28072958e-03 9.23471761e+02] [ 9.30568425e-01 3.65628278e-01 -1.89306118e-02 9.71860910e+01] [ 2.02819148e-02 1.44978061e-04 9.99794290e-01 8.87455268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5192541539999 meters Centerline goodness [0,1] 0.9998902931367386 Centerline is valid? [True, True] Translation: X:923.48, Y:97.21, Z:8.88 [[ 3.62886647e-01 -9.31807920e-01 -6.87615473e-03 9.23484374e+02] [ 9.31636107e-01 3.62951777e-01 -1.78933609e-02 9.72118202e+01] [ 1.91688879e-02 8.71877041e-05 9.99816256e-01 8.87647867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.49, Y:97.24, Z:8.88 [[ 3.62220625e-01 -9.32067520e-01 -6.80866813e-03 9.23494629e+02] [ 9.31898840e-01 3.62284602e-01 -1.77318587e-02 9.72368606e+01] [ 1.89939652e-02 7.78549938e-05 9.99819595e-01 8.87832099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.51, Y:97.26, Z:8.88 [[ 3.60634008e-01 -9.32681558e-01 -6.94429879e-03 9.23505521e+02] [ 9.32505918e-01 3.60700857e-01 -1.80998734e-02 9.72630547e+01] [ 1.93862327e-02 5.18301900e-05 9.99812068e-01 8.87856225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6092541539998 meters Centerline goodness [0,1] 0.9998019540533404 Centerline is valid? [True, True] Translation: X:923.52, Y:97.29, Z:8.88 [[ 3.59630016e-01 -9.33065434e-01 -7.42611224e-03 9.23515797e+02] [ 9.32864302e-01 3.59706678e-01 -1.93726836e-02 9.72887740e+01] [ 2.07472036e-02 3.94435057e-05 9.99784753e-01 8.87723208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.52, Y:97.32, Z:8.88 [[ 3.61480176e-01 -9.32350193e-01 -7.42966941e-03 9.23524322e+02] [ 9.32148374e-01 3.61556511e-01 -1.93984329e-02 9.73154529e+01] [ 2.07723780e-02 8.65946925e-05 9.99784227e-01 8.87842399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.53, Y:97.34, Z:8.88 [[ 3.62729677e-01 -9.31861359e-01 -7.84780662e-03 9.23533216e+02] [ 9.31635699e-01 3.62814540e-01 -2.05069376e-02 9.73419040e+01] [ 2.19569211e-02 1.27178054e-04 9.99758910e-01 8.87851234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6992541539998 meters Centerline goodness [0,1] 0.9999339846844468 Centerline is valid? [True, True] Translation: X:923.54, Y:97.37, Z:8.88 [[ 3.65298784e-01 -9.30852262e-01 -8.41814804e-03 9.23539420e+02] [ 9.30591923e-01 3.65395708e-01 -2.20147737e-02 9.73687968e+01] [ 2.35684570e-02 2.08109493e-04 9.99722204e-01 8.87687208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7292541539998 meters Centerline goodness [0,1] 0.9998682737271949 Centerline is valid? [True, True] Translation: X:923.55, Y:97.40, Z:8.88 [[ 3.66224347e-01 -9.30484834e-01 -8.81482290e-03 9.23548202e+02] [ 9.30198811e-01 3.66330331e-01 -2.30707561e-02 9.73960059e+01] [ 2.46961257e-02 2.49534819e-04 9.99694973e-01 8.87691676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.56, Y:97.42, Z:8.88 [[ 3.68576059e-01 -9.29556579e-01 -8.73239053e-03 9.23555721e+02] [ 9.29275171e-01 3.68679354e-01 -2.28733749e-02 9.74237753e+01] [ 2.44815483e-02 3.15784697e-04 9.99700232e-01 8.87904999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7892541539999 meters Centerline goodness [0,1] 0.9999779653174096 Centerline is valid? [True, True] Translation: X:923.56, Y:97.45, Z:8.88 [[ 3.68563179e-01 -9.29562712e-01 -8.62253340e-03 9.23563985e+02] [ 9.29287870e-01 3.68663890e-01 -2.26051239e-02 9.74493558e+01] [ 2.41916970e-02 3.18600648e-04 9.99707287e-01 8.87934386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.57, Y:97.48, Z:8.88 [[ 3.68054579e-01 -9.29768298e-01 -8.16943151e-03 9.23574273e+02] [ 9.29521220e-01 3.68145115e-01 -2.14354108e-02 9.74757223e+01] [ 2.29375017e-02 2.95741170e-04 9.99736857e-01 8.88120458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8492541539998 meters Centerline goodness [0,1] 0.9998908106219427 Centerline is valid? [True, True] Translation: X:923.58, Y:97.50, Z:8.88 [[ 3.65263620e-01 -9.30871246e-01 -7.82375024e-03 9.23584793e+02] [ 9.30644585e-01 3.65347333e-01 -2.05422032e-02 9.75011591e+01] [ 2.19805326e-02 2.22188705e-04 9.99758374e-01 8.88243770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8792541539999 meters Centerline goodness [0,1] 0.9998033087833555 Centerline is valid? [True, True] Translation: X:923.60, Y:97.53, Z:8.88 [[ 3.63071542e-01 -9.31729744e-01 -7.66420541e-03 9.23595807e+02] [ 9.31512108e-01 3.63152385e-01 -2.01379449e-02 9.75268375e+01] [ 2.15463967e-02 1.72214575e-04 9.99767835e-01 8.88328678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.61, Y:97.55, Z:8.89 [[ 3.58500591e-01 -9.33501549e-01 -7.22391689e-03 9.23608564e+02] [ 9.33308253e-01 3.58573359e-01 -1.89960666e-02 9.75527627e+01] [ 2.03231617e-02 6.79598515e-05 9.99793461e-01 8.88600074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.62, Y:97.58, Z:8.89 [[ 3.55151722e-01 -9.34781838e-01 -7.08308935e-03 9.23619684e+02] [ 9.34595956e-01 3.55222347e-01 -1.86408856e-02 9.75780963e+01] [ 1.99412329e-02 5.15943987e-07 9.99801154e-01 8.88668472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.63, Y:97.60, Z:8.89 [[ 3.48081711e-01 -9.37438735e-01 -6.90944363e-03 9.23632431e+02] [ 9.37262076e-01 3.48150252e-01 -1.81989846e-02 9.76035962e+01] [ 1.94659577e-02 -1.41225779e-04 9.99810510e-01 8.88735035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.64, Y:97.63, Z:8.89 [[ 3.44123719e-01 -9.38899885e-01 -6.77294440e-03 9.23643828e+02] [ 9.38730141e-01 3.44190297e-01 -1.78538790e-02 9.76297914e+01] [ 1.90941867e-02 -2.14023810e-04 9.99817666e-01 8.88758316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0292541539999 meters Centerline goodness [0,1] 0.9999126160567996 Centerline is valid? [True, True] Translation: X:923.66, Y:97.65, Z:8.89 [[ 3.37363888e-01 -9.41347050e-01 -7.16512625e-03 9.23656220e+02] [ 9.41157290e-01 3.37439770e-01 -1.89039128e-02 9.76545225e+01] [ 2.02129411e-02 -3.66013298e-04 9.99795631e-01 8.88695591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.67, Y:97.68, Z:8.89 [[ 3.35023574e-01 -9.42181934e-01 -7.23938666e-03 9.23666908e+02] [ 9.41988089e-01 3.35101524e-01 -1.91156601e-02 9.76807857e+01] [ 2.04363591e-02 -4.15219226e-04 9.99791070e-01 8.88752040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0892541539998 meters Centerline goodness [0,1] 0.9998912901682828 Centerline is valid? [True, True] Translation: X:923.68, Y:97.71, Z:8.89 [[ 3.31214632e-01 -9.43522196e-01 -7.92046117e-03 9.23677357e+02] [ 9.43290134e-01 3.31308884e-01 -2.09319398e-02 9.77064524e+01] [ 2.23738689e-02 -5.38328153e-04 9.99749529e-01 8.88550446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1192541539999 meters Centerline goodness [0,1] 0.9999126923496672 Centerline is valid? [True, True] Translation: X:923.69, Y:97.73, Z:8.89 [[ 3.30104552e-01 -9.43908227e-01 -8.26094809e-03 9.23686554e+02] [ 9.43655564e-01 3.30207386e-01 -2.18462743e-02 9.77329700e+01] [ 2.33487041e-02 -5.83935031e-04 9.99727211e-01 8.88516163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1492541539999 meters Centerline goodness [0,1] 0.9998047807036571 Centerline is valid? [True, True] Translation: X:923.70, Y:97.76, Z:8.88 [[ 3.29225306e-01 -9.44214404e-01 -8.35809286e-03 9.23695787e+02] [ 9.43955517e-01 3.29330822e-01 -2.21176676e-02 9.77590637e+01] [ 2.36363979e-02 -6.07971988e-04 9.99720436e-01 8.88445235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1792541539999 meters Centerline goodness [0,1] 0.9998698086186695 Centerline is valid? [True, True] Translation: X:923.70, Y:97.79, Z:8.88 [[ 3.28730430e-01 -9.44386226e-01 -8.42383132e-03 9.23702517e+02] [ 9.44122869e-01 3.28837761e-01 -2.23099945e-02 9.77852856e+01] [ 2.38393253e-02 -6.19157720e-04 9.99715611e-01 8.88442490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.71, Y:97.81, Z:8.89 [[ 3.29657872e-01 -9.44066489e-01 -8.00942110e-03 9.23708179e+02] [ 9.43827928e-01 3.29754680e-01 -2.12295594e-02 9.78131654e+01] [ 2.26832597e-02 -5.61023921e-04 9.99742544e-01 8.88547545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2392541539998 meters Centerline goodness [0,1] 0.9997837697580384 Centerline is valid? [True, True] Translation: X:923.72, Y:97.84, Z:8.88 [[ 3.29843669e-01 -9.43999492e-01 -8.25308549e-03 9.23717405e+02] [ 9.43745738e-01 3.29946416e-01 -2.18939309e-02 9.78387926e+01] [ 2.33909357e-02 -5.67239749e-04 9.99726234e-01 8.88484610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.72, Y:97.87, Z:8.89 [[ 3.31092888e-01 -9.43565275e-01 -7.87852304e-03 9.23723819e+02] [ 9.43333533e-01 3.31186224e-01 -2.09172192e-02 9.78667765e+01] [ 2.23460200e-02 -5.06532435e-04 9.99750168e-01 8.88682424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.73, Y:97.89, Z:8.89 [[ 3.30834318e-01 -9.43656013e-01 -7.87289080e-03 9.23733460e+02] [ 9.43424247e-01 3.30927593e-01 -2.09193394e-02 9.78926303e+01] [ 2.23460172e-02 -5.06640678e-04 9.99750168e-01 8.88708177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3292541539998 meters Centerline goodness [0,1] 0.9998481067592492 Centerline is valid? [True, True] Translation: X:923.74, Y:97.92, Z:8.89 [[ 3.33460036e-01 -9.42725707e-01 -8.52327341e-03 9.23737170e+02] [ 9.42453281e-01 3.33568609e-01 -2.26670790e-02 9.79211796e+01] [ 2.42119346e-02 -4.74221989e-04 9.99706736e-01 8.88795736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3592541539998 meters Centerline goodness [0,1] 0.9998491574365383 Centerline is valid? [True, True] Translation: X:923.74, Y:97.95, Z:8.89 [[ 3.35347089e-01 -9.42057278e-01 -8.39135678e-03 9.23743879e+02] [ 9.41792567e-01 3.35451807e-01 -2.23348850e-02 9.79487721e+01] [ 2.38556368e-02 -4.12978746e-04 9.99715329e-01 8.88832491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3892541539999 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:923.75, Y:97.98, Z:8.89 [[ 3.40247605e-01 -9.40300031e-01 -8.21092482e-03 9.23748780e+02] [ 9.40045717e-01 3.40346551e-01 -2.18694883e-02 9.79758765e+01] [ 2.33584405e-02 -2.77603709e-04 9.99727116e-01 8.88603516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.75, Y:98.00, Z:8.89 [[ 3.43026435e-01 -9.39292061e-01 -7.95539791e-03 9.23754436e+02] [ 9.39052723e-01 3.43118616e-01 -2.12037592e-02 9.80038002e+01] [ 2.26461678e-02 -1.97088125e-04 9.99743523e-01 8.88693818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.76, Y:98.03, Z:8.89 [[ 3.48094693e-01 -9.37425403e-01 -7.98110023e-03 9.23756584e+02] [ 9.37183632e-01 3.48186169e-01 -2.12892391e-02 9.80320069e+01] [ 2.27359823e-02 -6.90853302e-05 9.99741502e-01 8.88687060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4792541539998 meters Centerline goodness [0,1] 0.9998504848562518 Centerline is valid? [True, True] Translation: X:923.76, Y:98.06, Z:8.89 [[ 3.49861549e-01 -9.36763634e-01 -8.41372855e-03 9.23762724e+02] [ 9.36494280e-01 3.49962703e-01 -2.24626477e-02 9.80587907e+01] [ 2.39866827e-02 -2.05919382e-05 9.99712278e-01 8.88643508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.76, Y:98.09, Z:8.89 [[ 3.54461547e-01 -9.35038866e-01 -7.70263133e-03 9.23764521e+02] [ 9.34812329e-01 3.54545216e-01 -2.05815513e-02 9.80869815e+01] [ 2.19754815e-02 9.48537954e-05 9.99758505e-01 8.88833325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5392541539999 meters Centerline goodness [0,1] 0.9997867258147074 Centerline is valid? [True, True] Translation: X:923.77, Y:98.11, Z:8.89 [[ 3.55552308e-01 -9.34621058e-01 -8.12620164e-03 9.23772344e+02] [ 9.34368380e-01 3.55645133e-01 -2.17317456e-02 9.81147043e+01] [ 2.32009911e-02 1.33906446e-04 9.99730812e-01 8.88924302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5692541539999 meters Centerline goodness [0,1] 0.9999360899853007 Centerline is valid? [True, True] Translation: X:923.78, Y:98.14, Z:8.89 [[ 3.57089927e-01 -9.34038947e-01 -7.61767600e-03 9.23779166e+02] [ 9.33816412e-01 3.57171131e-01 -2.03885021e-02 9.81417209e+01] [ 2.17644690e-02 1.67017861e-04 9.99763112e-01 8.89121938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5992541539998 meters Centerline goodness [0,1] 0.9998719617592454 Centerline is valid? [True, True] Translation: X:923.78, Y:98.17, Z:8.89 [[ 3.58993374e-01 -9.33308140e-01 -7.72489895e-03 9.23784660e+02] [ 9.33078751e-01 3.59076410e-01 -2.06924159e-02 9.81706693e+01] [ 2.20862291e-02 2.20501130e-04 9.99756045e-01 8.89113490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.79, Y:98.20, Z:8.89 [[ 3.59747697e-01 -9.33021552e-01 -7.23723213e-03 9.23792220e+02] [ 9.32819833e-01 3.59820414e-01 -1.94017520e-02 9.81983262e+01] [ 2.07063566e-02 2.28701915e-04 9.99785574e-01 8.89193866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6592541539999 meters Centerline goodness [0,1] 0.9999786734911496 Centerline is valid? [True, True] Translation: X:923.80, Y:98.23, Z:8.89 [[ 3.59550001e-01 -9.33094859e-01 -7.60132282e-03 9.23799351e+02] [ 9.32871974e-01 3.59630262e-01 -2.03949765e-02 9.82251271e+01] [ 2.17641134e-02 2.41952793e-04 9.99763104e-01 8.89086609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6892541539999 meters Centerline goodness [0,1] 0.9999147266990706 Centerline is valid? [True, True] Translation: X:923.81, Y:98.25, Z:8.89 [[ 3.58806696e-01 -9.33374905e-01 -8.30917323e-03 9.23806935e+02] [ 9.33108290e-01 3.58902806e-01 -2.23090608e-02 9.82514655e+01] [ 2.38049031e-02 2.51281984e-04 9.99716592e-01 8.88913613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7192541539998 meters Centerline goodness [0,1] 0.999957387876851 Centerline is valid? [True, True] Translation: X:923.82, Y:98.28, Z:8.89 [[ 3.58362698e-01 -9.33546118e-01 -8.23537739e-03 9.23816433e+02] [ 9.33283871e-01 3.58457230e-01 -2.21275869e-02 9.82782409e+01] [ 2.36091534e-02 2.43756846e-04 9.99721235e-01 8.89078576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.82, Y:98.30, Z:8.89 [[ 3.58392379e-01 -9.33536060e-01 -8.08249067e-03 9.23823278e+02] [ 9.33283098e-01 3.58483422e-01 -2.17323522e-02 9.83040857e+01] [ 2.31853734e-02 2.45457480e-04 9.99731153e-01 8.88980068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.83, Y:98.33, Z:8.89 [[ 3.58168927e-01 -9.33618773e-01 -8.42656611e-03 9.23830935e+02] [ 9.33343420e-01 3.58267946e-01 -2.26746260e-02 9.83314169e+01] [ 2.41884250e-02 2.56466431e-04 9.99707384e-01 8.88973838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8092541539999 meters Centerline goodness [0,1] 0.9999787270251872 Centerline is valid? [True, True] Translation: X:923.84, Y:98.36, Z:8.89 [[ 3.58014835e-01 -9.33674440e-01 -8.79879952e-03 9.23839579e+02] [ 9.33373754e-01 3.58122839e-01 -2.36953056e-02 9.83575265e+01] [ 2.52747522e-02 2.70702376e-04 9.99680506e-01 8.88895736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8392541539998 meters Centerline goodness [0,1] 0.9998514588859416 Centerline is valid? [True, True] Translation: X:923.85, Y:98.38, Z:8.89 [[ 3.56922515e-01 -9.34087746e-01 -9.29520121e-03 9.23848626e+02] [ 9.33751730e-01 3.57043433e-01 -2.50538009e-02 9.83834504e+01] [ 2.67212390e-02 2.62855428e-04 9.99642889e-01 8.88741151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8692541539999 meters Centerline goodness [0,1] 0.9998506507360785 Centerline is valid? [True, True] Translation: X:923.86, Y:98.41, Z:8.89 [[ 3.56152298e-01 -9.34381038e-01 -9.36040129e-03 9.23858814e+02] [ 9.34039793e-01 3.56275193e-01 -2.52517513e-02 9.84093564e+01] [ 2.69296363e-02 2.50481943e-04 9.99637300e-01 8.88890069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8992541539999 meters Centerline goodness [0,1] 0.9998726736413216 Centerline is valid? [True, True] Translation: X:923.87, Y:98.44, Z:8.89 [[ 3.54384048e-01 -9.35056820e-01 -8.98277601e-03 9.23869162e+02] [ 9.34742251e-01 3.54497820e-01 -2.42532578e-02 9.84354944e+01] [ 2.58625486e-02 1.98387403e-04 9.99665489e-01 8.88995788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9292541539999 meters Centerline goodness [0,1] 0.9998294424901396 Centerline is valid? [True, True] Translation: X:923.88, Y:98.46, Z:8.89 [[ 3.53166407e-01 -9.35520382e-01 -8.66626410e-03 9.23879237e+02] [ 9.35227242e-01 3.53272682e-01 -2.34183447e-02 9.84620248e+01] [ 2.49698931e-02 1.65646393e-04 9.99688190e-01 8.89068027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9592541539998 meters Centerline goodness [0,1] 0.9998293406148004 Centerline is valid? [True, True] Translation: X:923.89, Y:98.49, Z:8.89 [[ 3.50913259e-01 -9.36372543e-01 -8.14525785e-03 9.23890204e+02] [ 9.36113406e-01 3.51007763e-01 -2.20281944e-02 9.84883945e+01] [ 2.34856451e-02 1.05100401e-04 9.99724169e-01 8.89232445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9892541539998 meters Centerline goodness [0,1] 0.9998725844128264 Centerline is valid? [True, True] Translation: X:923.90, Y:98.51, Z:8.89 [[ 3.50064742e-01 -9.36694346e-01 -7.64056518e-03 9.23899747e+02] [ 9.36466032e-01 3.50148104e-01 -2.06803372e-02 9.85140197e+01] [ 2.20464844e-02 8.43271762e-05 9.99756943e-01 8.89316918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0192541539999 meters Centerline goodness [0,1] 0.9998300114742255 Centerline is valid? [True, True] Translation: X:923.91, Y:98.54, Z:8.89 [[ 3.49167928e-01 -9.37028217e-01 -7.73818769e-03 9.23909473e+02] [ 9.36793706e-01 3.49253656e-01 -2.09627337e-02 9.85398604e+01] [ 2.23452633e-02 7.04287569e-05 9.99750311e-01 8.89360175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0492541539999 meters Centerline goodness [0,1] 0.9999574947399741 Centerline is valid? [True, True] Translation: X:923.92, Y:98.57, Z:8.89 [[ 3.49286671e-01 -9.36988589e-01 -7.15575473e-03 9.23918702e+02] [ 9.36787730e-01 3.49359955e-01 -1.94002582e-02 9.85668631e+01] [ 2.06777547e-02 7.28283598e-05 9.99786190e-01 8.89489773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0792541539998 meters Centerline goodness [0,1] 0.999808278124534 Centerline is valid? [True, True] Translation: X:923.93, Y:98.59, Z:8.89 [[ 3.50063659e-01 -9.36694503e-01 -7.67096594e-03 9.23927129e+02] [ 9.36463220e-01 3.50147681e-01 -2.08143951e-02 9.85937746e+01] [ 2.21827004e-02 1.02785848e-04 9.99753928e-01 8.89361857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1092541539998 meters Centerline goodness [0,1] 0.9999787089081928 Centerline is valid? [True, True] Translation: X:923.94, Y:98.62, Z:8.89 [[ 3.51214297e-01 -9.36266230e-01 -7.35280315e-03 9.23935256e+02] [ 9.36053293e-01 3.51291231e-01 -1.99675772e-02 9.86203602e+01] [ 2.12779435e-02 1.30282989e-04 9.99773590e-01 8.89444752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.94, Y:98.65, Z:8.89 [[ 3.52294639e-01 -9.35859514e-01 -7.44697935e-03 9.23943726e+02] [ 9.35640619e-01 3.52373302e-01 -2.02407400e-02 9.86471685e+01] [ 2.15666058e-02 1.63007808e-04 9.99767400e-01 8.89405974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1692541539999 meters Centerline goodness [0,1] 0.9998302062993463 Centerline is valid? [True, True] Translation: X:923.95, Y:98.67, Z:8.89 [[ 3.54810543e-01 -9.34900717e-01 -8.37425739e-03 9.23952718e+02] [ 9.34623225e-01 3.54909263e-01 -2.27781073e-02 9.86741028e+01] [ 2.42673704e-02 2.55137188e-04 9.99705471e-01 8.89271471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1992541539998 meters Centerline goodness [0,1] 0.9998081309825826 Centerline is valid? [True, True] Translation: X:923.96, Y:98.70, Z:8.89 [[ 3.56255005e-01 -9.34350719e-01 -8.43239757e-03 9.23960427e+02] [ 9.34068801e-01 3.56354660e-01 -2.29528113e-02 9.87008991e+01] [ 2.44508999e-02 3.00614415e-04 9.99700987e-01 8.89145757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2292541539998 meters Centerline goodness [0,1] 0.999871937163835 Centerline is valid? [True, True] Translation: X:923.97, Y:98.73, Z:8.89 [[ 3.59209145e-01 -9.33220300e-01 -8.28622754e-03 9.23970648e+02] [ 9.32947341e-01 3.59304507e-01 -2.25727794e-02 9.87283153e+01] [ 2.40426549e-02 3.77734858e-04 9.99710862e-01 8.89386199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.98, Y:98.75, Z:8.89 [[ 3.60378061e-01 -9.32772869e-01 -7.90110940e-03 9.23977884e+02] [ 9.32524191e-01 3.60464448e-01 -2.15409874e-02 9.87540581e+01] [ 2.29409177e-02 3.94923625e-04 9.99736745e-01 8.89429335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2892541539999 meters Centerline goodness [0,1] 0.9998078483282804 Centerline is valid? [True, True] Translation: X:923.99, Y:98.78, Z:8.89 [[ 3.61246979e-01 -9.32435371e-01 -8.05605566e-03 9.23989219e+02] [ 9.32176454e-01 3.61336540e-01 -2.19764299e-02 9.87800923e+01] [ 2.34025479e-02 4.29253524e-04 9.99726031e-01 8.89418190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3192541539999 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:924.00, Y:98.81, Z:8.90 [[ 3.61822983e-01 -9.32216756e-01 -7.48656146e-03 9.23997748e+02] [ 9.31992831e-01 3.61900188e-01 -2.04356661e-02 9.88060488e+01] [ 2.17598583e-02 4.16672052e-04 9.99763139e-01 8.89526804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.01, Y:98.83, Z:8.90 [[ 3.62098308e-01 -9.32113421e-01 -7.02753204e-03 9.24009473e+02] [ 9.31915773e-01 3.62166272e-01 -1.91985275e-02 9.88312314e+01] [ 2.04403402e-02 4.02686365e-04 9.99790993e-01 8.89705890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.02, Y:98.86, Z:8.90 [[ 3.62265838e-01 -9.32049511e-01 -6.86818892e-03 9.24020151e+02] [ 9.31860384e-01 3.62330714e-01 -1.87797387e-02 9.88570608e+01] [ 1.99922021e-02 4.03064597e-04 9.99800055e-01 8.89786254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4092541539999 meters Centerline goodness [0,1] 0.9998293988441772 Centerline is valid? [True, True] Translation: X:924.03, Y:98.88, Z:8.90 [[ 3.62581130e-01 -9.31925613e-01 -7.04098821e-03 9.24030516e+02] [ 9.31726490e-01 3.62649238e-01 -1.92685568e-02 9.88826691e+01] [ 2.05102706e-02 4.26139873e-04 9.99789551e-01 8.89631782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4392541539999 meters Centerline goodness [0,1] 0.9999147902775707 Centerline is valid? [True, True] Translation: X:924.04, Y:98.91, Z:8.90 [[ 3.63944221e-01 -9.31395222e-01 -6.89529510e-03 9.24040823e+02] [ 9.31203855e-01 3.64009253e-01 -1.88850222e-02 9.89092847e+01] [ 2.00993707e-02 4.52169320e-04 9.99797885e-01 8.89716174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4692541539998 meters Centerline goodness [0,1] 0.99987221263817 Centerline is valid? [True, True] Translation: X:924.05, Y:98.94, Z:8.90 [[ 3.64833722e-01 -9.31047287e-01 -6.87783068e-03 9.24050188e+02] [ 9.30856515e-01 3.64898236e-01 -1.88527519e-02 9.89360436e+01] [ 2.00625118e-02 4.75846149e-04 9.99798614e-01 8.89664725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.06, Y:98.96, Z:8.90 [[ 3.66363817e-01 -9.30448564e-01 -6.55918039e-03 9.24058893e+02] [ 9.30274689e-01 3.66422200e-01 -1.79937479e-02 9.89629084e+01] [ 1.91456862e-02 4.90418673e-04 9.99816584e-01 8.89817950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5292541539999 meters Centerline goodness [0,1] 0.9998511050135069 Centerline is valid? [True, True] Translation: X:924.07, Y:98.99, Z:8.90 [[ 3.67876110e-01 -9.29849257e-01 -6.89395375e-03 9.24069678e+02] [ 9.29656755e-01 3.67940283e-01 -1.89279120e-02 9.89896627e+01] [ 2.01366682e-02 5.54115960e-04 9.99797083e-01 8.89693554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5592541539999 meters Centerline goodness [0,1] 0.9998929863236522 Centerline is valid? [True, True] Translation: X:924.08, Y:99.02, Z:8.90 [[ 3.68661595e-01 -9.29538565e-01 -6.83268990e-03 9.24079922e+02] [ 9.29349111e-01 3.68724464e-01 -1.87749792e-02 9.90162623e+01] [ 1.99714471e-02 5.71659478e-04 9.99800387e-01 8.89795688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5892541539998 meters Centerline goodness [0,1] 0.9999144476526575 Centerline is valid? [True, True] Translation: X:924.09, Y:99.04, Z:8.90 [[ 3.68946389e-01 -9.29426921e-01 -6.64534077e-03 9.24092265e+02] [ 9.29247400e-01 3.69005794e-01 -1.82754654e-02 9.90420312e+01] [ 1.94378788e-02 5.67501317e-04 9.99810906e-01 8.89885199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6192541539999 meters Centerline goodness [0,1] 0.9999572174210661 Centerline is valid? [True, True] Translation: X:924.10, Y:99.07, Z:8.90 [[ 3.68405976e-01 -9.29642049e-01 -6.53436211e-03 9.24104642e+02] [ 9.29468203e-01 3.68463506e-01 -1.79862229e-02 9.90675022e+01] [ 1.91284231e-02 5.52750182e-04 9.99816882e-01 8.89990022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6492541539999 meters Centerline goodness [0,1] 0.9999357436600411 Centerline is valid? [True, True] Translation: X:924.12, Y:99.09, Z:8.90 [[ 3.65120494e-01 -9.30937643e-01 -6.49076864e-03 9.24116426e+02] [ 9.30766066e-01 3.65177859e-01 -1.78791024e-02 9.90927959e+01] [ 1.90146144e-02 4.86639511e-04 9.99819087e-01 8.89902717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6792541539999 meters Centerline goodness [0,1] 0.9999358398562813 Centerline is valid? [True, True] Translation: X:924.13, Y:99.12, Z:8.90 [[ 3.62326965e-01 -9.32029312e-01 -6.36655490e-03 9.24129306e+02] [ 9.31864184e-01 3.62382645e-01 -1.75488395e-02 9.91184135e+01] [ 1.86631618e-02 4.25653247e-04 9.99825737e-01 8.89946061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.15, Y:99.14, Z:8.90 [[ 3.55525021e-01 -9.34646602e-01 -6.13906331e-03 9.24149271e+02] [ 9.34493196e-01 3.55577907e-01 -1.69357313e-02 9.91417643e+01] [ 1.80118390e-02 2.84163327e-04 9.99837733e-01 8.90203136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7392541539998 meters Centerline goodness [0,1] 0.999828141783029 Centerline is valid? [True, True] Translation: X:924.17, Y:99.16, Z:8.90 [[ 3.46112641e-01 -9.38171818e-01 -6.29909539e-03 9.24168733e+02] [ 9.38010661e-01 3.46169940e-01 -1.73888639e-02 9.91636655e+01] [ 1.84942995e-02 1.09886971e-04 9.99828960e-01 8.90118245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7692541539999 meters Centerline goodness [0,1] 0.999849199681165 Centerline is valid? [True, True] Translation: X:924.18, Y:99.19, Z:8.90 [[ 3.41548921e-01 -9.39843642e-01 -6.18570252e-03 9.24182935e+02] [ 9.39688302e-01 3.41604929e-01 -1.70870755e-02 9.91888263e+01] [ 1.81722457e-02 2.34398834e-05 9.99834871e-01 8.90165663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.20, Y:99.21, Z:8.90 [[ 3.37844161e-01 -9.41182313e-01 -6.09726300e-03 9.24196504e+02] [ 9.41031335e-01 3.37899174e-01 -1.68574824e-02 9.92142865e+01] [ 1.79262244e-02 -4.25135349e-05 9.99839311e-01 8.90352953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8292541539998 meters Centerline goodness [0,1] 0.9999784886097188 Centerline is valid? [True, True] Translation: X:924.21, Y:99.24, Z:8.90 [[ 3.31224114e-01 -9.43531527e-01 -6.23245587e-03 9.24213500e+02] [ 9.43373912e-01 3.31282703e-01 -1.72462541e-02 9.92388580e+01] [ 1.83370893e-02 -1.67161032e-04 9.99831847e-01 8.90328151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8592541539998 meters Centerline goodness [0,1] 0.9999568258354201 Centerline is valid? [True, True] Translation: X:924.23, Y:99.26, Z:8.90 [[ 3.28499276e-01 -9.44483434e-01 -6.26648833e-03 9.24225909e+02] [ 9.44324042e-01 3.28558969e-01 -1.73524575e-02 9.92633859e+01] [ 1.84480196e-02 -2.17325860e-04 9.99829797e-01 8.90313642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8892541539999 meters Centerline goodness [0,1] 0.9999134349030471 Centerline is valid? [True, True] Translation: X:924.24, Y:99.29, Z:8.90 [[ 3.25596325e-01 -9.45487445e-01 -6.36586256e-03 9.24238455e+02] [ 9.45322975e-01 3.25658433e-01 -1.76368480e-02 9.92890689e+01] [ 1.87485152e-02 -2.75303248e-04 9.99824193e-01 8.90360153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.25, Y:99.31, Z:8.90 [[ 3.25096497e-01 -9.45659379e-01 -6.37241498e-03 9.24249287e+02] [ 9.45494385e-01 3.25158824e-01 -1.76665830e-02 9.93139311e+01] [ 1.87786168e-02 -2.81738355e-04 9.99823627e-01 8.90449264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9492541539998 meters Centerline goodness [0,1] 0.9999133336222212 Centerline is valid? [True, True] Translation: X:924.26, Y:99.34, Z:8.90 [[ 3.23541150e-01 -9.46192695e-01 -6.36463366e-03 9.24261404e+02] [ 9.46027932e-01 3.23603599e-01 -1.76596454e-02 9.93394569e+01] [ 1.87690458e-02 -3.07499247e-04 9.99823799e-01 8.90403783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.27, Y:99.36, Z:8.91 [[ 3.24425656e-01 -9.45889637e-01 -6.38651265e-03 9.24271823e+02] [ 9.45723389e-01 3.24488385e-01 -1.77358454e-02 9.93649687e+01] [ 1.88485015e-02 -2.85911112e-04 9.99822310e-01 8.90528961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0092541539999 meters Centerline goodness [0,1] 0.9998700848778798 Centerline is valid? [True, True] Translation: X:924.28, Y:99.39, Z:8.90 [[ 3.24602815e-01 -9.45827678e-01 -6.55861877e-03 9.24281564e+02] [ 9.45652018e-01 3.24668942e-01 -1.82301610e-02 9.93915845e+01] [ 1.93719707e-02 -2.84609504e-04 9.99812305e-01 8.90411501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.29, Y:99.42, Z:8.91 [[ 3.26208652e-01 -9.45275864e-01 -6.43866385e-03 9.24289857e+02] [ 9.45106168e-01 3.26272099e-01 -1.79122777e-02 9.94181300e+01] [ 1.90328001e-02 -2.42080955e-04 9.99818831e-01 8.90612087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0692541539999 meters Centerline goodness [0,1] 0.9998699835312473 Centerline is valid? [True, True] Translation: X:924.30, Y:99.45, Z:8.91 [[ 3.28984615e-01 -9.44312703e-01 -6.53013120e-03 9.24297129e+02] [ 9.44137651e-01 3.29049367e-01 -1.81826969e-02 9.94452164e+01] [ 1.93188872e-02 -1.83515195e-04 9.99813356e-01 8.90511979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0992541539998 meters Centerline goodness [0,1] 0.9999568481919392 Centerline is valid? [True, True] Translation: X:924.30, Y:99.47, Z:8.91 [[ 3.31346210e-01 -9.43487014e-01 -6.47640978e-03 9.24304939e+02] [ 9.43314372e-01 3.31409472e-01 -1.80487715e-02 9.94726460e+01] [ 1.91751251e-02 -1.28898379e-04 9.99816132e-01 8.90656099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.31, Y:99.50, Z:8.91 [[ 3.36389524e-01 -9.41700958e-01 -6.43388805e-03 9.24311313e+02] [ 9.41529973e-01 3.36451045e-01 -1.79444436e-02 9.94996337e+01] [ 1.90629881e-02 -2.13756252e-05 9.99818285e-01 8.90598425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1592541539999 meters Centerline goodness [0,1] 0.9997842921547057 Centerline is valid? [True, True] Translation: X:924.32, Y:99.53, Z:8.90 [[ 3.37599797e-01 -9.41266927e-01 -6.55352169e-03 9.24319658e+02] [ 9.41089155e-01 3.37663400e-01 -1.82929047e-02 9.95268550e+01] [ 1.94313906e-02 8.23273499e-06 9.99811193e-01 8.90494901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1892541539999 meters Centerline goodness [0,1] 0.9997842921547057 Centerline is valid? [True, True] Translation: X:924.33, Y:99.55, Z:8.91 [[ 3.37333184e-01 -9.41362546e-01 -6.54833975e-03 9.24328884e+02] [ 9.41184756e-01 3.37396736e-01 -1.82947600e-02 9.95528528e+01] [ 1.94313903e-02 8.23207804e-06 9.99811193e-01 8.90520642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.34, Y:99.58, Z:8.91 [[ 3.42701785e-01 -9.39422750e-01 -6.35479780e-03 9.24335503e+02] [ 9.39254695e-01 3.42760678e-01 -1.77689419e-02 9.95799959e+01] [ 1.88707231e-02 1.20674455e-04 9.99821925e-01 8.90846070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.34, Y:99.61, Z:8.91 [[ 3.44666893e-01 -9.38703460e-01 -6.36769760e-03 9.24343383e+02] [ 9.38534326e-01 3.44725670e-01 -1.78194215e-02 9.96064225e+01] [ 1.89222614e-02 1.65461873e-04 9.99820944e-01 8.90856085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.35, Y:99.63, Z:8.91 [[ 3.48393842e-01 -9.37327387e-01 -6.25307581e-03 9.24351475e+02] [ 9.37163805e-01 3.48449870e-01 -1.75126136e-02 9.96344558e+01] [ 1.85939358e-02 2.41130415e-04 9.99827089e-01 8.90921399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3092541539999 meters Centerline goodness [0,1] 0.999826978393927 Centerline is valid? [True, True] Translation: X:924.36, Y:99.66, Z:8.91 [[ 3.49271540e-01 -9.37001207e-01 -6.17493455e-03 9.24359446e+02] [ 9.36841380e-01 3.49326024e-01 -1.73077136e-02 9.96606050e+01] [ 1.83744138e-02 2.60157562e-04 9.99831142e-01 8.90678119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3392541539998 meters Centerline goodness [0,1] 0.9999566921461207 Centerline is valid? [True, True] Translation: X:924.37, Y:99.69, Z:8.91 [[ 3.52117972e-01 -9.35936749e-01 -5.94440322e-03 9.24368033e+02] [ 9.35788241e-01 3.52168009e-01 -1.66751603e-02 9.96871778e+01] [ 1.77003239e-02 3.08920988e-04 9.99843289e-01 8.90918474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3692541539999 meters Centerline goodness [0,1] 0.9998261965282756 Centerline is valid? [True, True] Translation: X:924.38, Y:99.71, Z:8.91 [[ 3.52469416e-01 -9.35804581e-01 -5.92433880e-03 9.24377593e+02] [ 9.35656801e-01 3.52519056e-01 -1.66332639e-02 9.97140268e+01] [ 1.76539268e-02 3.19568906e-04 9.99844106e-01 8.90811497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.39, Y:99.74, Z:8.91 [[ 3.54416708e-01 -9.35069960e-01 -5.74173139e-03 9.24385970e+02] [ 9.34930820e-01 3.54463042e-01 -1.61342682e-02 9.97405008e+01] [ 1.71219011e-02 3.50132587e-04 9.99853348e-01 8.91129836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.40, Y:99.77, Z:8.91 [[ 3.55625542e-01 -9.34610548e-01 -5.79629424e-03 9.24395878e+02] [ 9.34468454e-01 3.55672572e-01 -1.63012326e-02 9.97666303e+01] [ 1.72968868e-02 3.80680577e-04 9.99850325e-01 8.91145579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.40, Y:99.79, Z:8.91 [[ 3.56089913e-01 -9.34432849e-01 -5.93494194e-03 9.24404649e+02] [ 9.34283605e-01 3.56139140e-01 -1.67050491e-02 9.97926859e+01] [ 1.77234117e-02 4.03580537e-04 9.99842847e-01 8.91100136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.41, Y:99.82, Z:8.91 [[ 3.57656446e-01 -9.33831689e-01 -6.34376851e-03 9.24414186e+02] [ 9.33660789e-01 3.57712394e-01 -1.78710451e-02 9.98193986e+01] [ 1.89577929e-02 4.68766556e-04 9.99820175e-01 8.90990521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5192541539999 meters Centerline goodness [0,1] 0.9999564583197266 Centerline is valid? [True, True] Translation: X:924.43, Y:99.85, Z:8.91 [[ 3.57777860e-01 -9.33783886e-01 -6.53123324e-03 9.24425120e+02] [ 9.33602411e-01 3.57837132e-01 -1.84153792e-02 9.98458962e+01] [ 1.95331022e-02 4.91039876e-04 9.99809090e-01 8.90853787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5492541539999 meters Centerline goodness [0,1] 0.9998478591610519 Centerline is valid? [True, True] Translation: X:924.43, Y:99.87, Z:8.91 [[ 3.57806263e-01 -9.33769196e-01 -7.05458947e-03 9.24433709e+02] [ 9.33557092e-01 3.57875398e-01 -1.99086672e-02 9.98721058e+01] [ 2.11147642e-02 5.37583784e-04 9.99776914e-01 8.90572598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5792541539998 meters Centerline goodness [0,1] 0.9999564478899002 Centerline is valid? [True, True] Translation: X:924.45, Y:99.90, Z:8.91 [[ 3.59161047e-01 -9.33243230e-01 -7.77284625e-03 9.24446335e+02] [ 9.32985171e-01 3.59244587e-01 -2.19544184e-02 9.98982317e+01] [ 2.32811652e-02 6.33221584e-04 9.99728756e-01 8.90676549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.46, Y:99.93, Z:8.91 [[ 3.60021277e-01 -9.32907816e-01 -8.22726364e-03 9.24457451e+02] [ 9.32618132e-01 3.60114589e-01 -2.32573070e-02 9.99252986e+01] [ 2.46596811e-02 7.00230100e-04 9.99695659e-01 8.90731517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.47, Y:99.95, Z:8.91 [[ 3.59748313e-01 -9.33012896e-01 -8.25153570e-03 9.24468158e+02] [ 9.32721014e-01 3.59842248e-01 -2.33466709e-02 9.99511061e+01] [ 2.47519962e-02 7.02544723e-04 9.99693376e-01 8.90757754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6692541539999 meters Centerline goodness [0,1] 0.9998470112556005 Centerline is valid? [True, True] Translation: X:924.48, Y:99.98, Z:8.91 [[ 3.58124127e-01 -9.33639500e-01 -8.02454417e-03 9.24481827e+02] [ 9.33363147e-01 3.58213433e-01 -2.27238333e-02 9.99766489e+01] [ 2.40903679e-02 6.48139176e-04 9.99709575e-01 8.90670776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6992541539998 meters Centerline goodness [0,1] 0.9998686744878305 Centerline is valid? [True, True] Translation: X:924.49, Y:100.00, Z:8.91 [[ 3.57171898e-01 -9.34007214e-01 -7.66552550e-03 9.24492143e+02] [ 9.33754785e-01 3.57253641e-01 -2.17218098e-02 1.00002374e+02] [ 2.30268639e-02 6.00698901e-04 9.99734666e-01 8.90749705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7292541539998 meters Centerline goodness [0,1] 0.9999120937081072 Centerline is valid? [True, True] Translation: X:924.51, Y:100.03, Z:8.91 [[ 3.54903304e-01 -9.34876278e-01 -7.07030182e-03 9.24507354e+02] [ 9.34661418e-01 3.54973362e-01 -2.00485744e-02 1.00028010e+02] [ 2.12527054e-02 5.06966971e-04 9.99774007e-01 8.91087006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.52, Y:100.05, Z:8.91 [[ 3.52058809e-01 -9.35954882e-01 -6.56151502e-03 9.24521153e+02] [ 9.35769748e-01 3.52119704e-01 -1.86196711e-02 1.00054251e+02] [ 1.97376108e-02 4.15151949e-04 9.99805108e-01 8.91402322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7892541539999 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:924.53, Y:100.08, Z:8.91 [[ 3.50038966e-01 -9.36713695e-01 -6.33850866e-03 9.24532974e+02] [ 9.36540787e-01 3.50096160e-01 -1.80009320e-02 1.00081092e+02] [ 1.90808071e-02 3.64755741e-04 9.99817878e-01 8.91406018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8192541539999 meters Centerline goodness [0,1] 0.9999780195625892 Centerline is valid? [True, True] Translation: X:924.55, Y:100.11, Z:8.91 [[ 3.46756424e-01 -9.37933454e-01 -6.38892020e-03 9.24545704e+02] [ 9.37757743e-01 3.46815142e-01 -1.81568746e-02 1.00105871e+02] [ 1.92457144e-02 3.04753504e-04 9.99814738e-01 8.91440273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.56, Y:100.13, Z:8.92 [[ 3.44479526e-01 -9.38771487e-01 -6.47701784e-03 9.24557754e+02] [ 9.38590840e-01 3.44540310e-01 -1.84176437e-02 1.00132151e+02] [ 1.95215525e-02 2.65231571e-04 9.99809401e-01 8.91522540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.57, Y:100.16, Z:8.92 [[ 3.44209358e-01 -9.38870609e-01 -6.47277916e-03 9.24566836e+02] [ 9.38689952e-01 3.44270111e-01 -1.84191336e-02 1.00158211e+02] [ 1.95215675e-02 2.64105374e-04 9.99809401e-01 8.91548327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9092541539999 meters Centerline goodness [0,1] 0.9999118224103344 Centerline is valid? [True, True] Translation: X:924.57, Y:100.18, Z:8.91 [[ 3.44243986e-01 -9.38855353e-01 -6.83410076e-03 9.24574186e+02] [ 9.38653568e-01 3.44311697e-01 -1.94662216e-02 1.00184806e+02] [ 2.06290272e-02 2.86276655e-04 9.99787158e-01 8.91344083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.58, Y:100.21, Z:8.91 [[ 3.45236481e-01 -9.38490055e-01 -6.94188848e-03 9.24582084e+02] [ 9.38281397e-01 3.45306119e-01 -1.97915224e-02 1.00211677e+02] [ 2.09712235e-02 3.19310729e-04 9.99780029e-01 8.91496566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9692541539998 meters Centerline goodness [0,1] 0.9998241874162143 Centerline is valid? [True, True] Translation: X:924.59, Y:100.24, Z:8.91 [[ 3.46207792e-01 -9.38128076e-01 -7.47511259e-03 9.24588054e+02] [ 9.37885619e-01 3.46288280e-01 -2.13305614e-02 1.00238354e+02] [ 2.25993424e-02 3.74005964e-04 9.99744532e-01 8.91109870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.60, Y:100.27, Z:8.91 [[ 3.48205598e-01 -9.37388086e-01 -7.51256842e-03 9.24596300e+02] [ 9.37142604e-01 3.48286364e-01 -2.14557188e-02 1.00265026e+02] [ 2.27288603e-02 4.30653455e-04 9.99741573e-01 8.91484351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0292541539999 meters Centerline goodness [0,1] 0.9998246421604086 Centerline is valid? [True, True] Translation: X:924.60, Y:100.29, Z:8.91 [[ 3.47225975e-01 -9.37749514e-01 -7.74412868e-03 9.24604541e+02] [ 9.37488266e-01 3.47312060e-01 -2.21378548e-02 1.00291133e+02] [ 2.34493919e-02 4.26808454e-04 9.99724934e-01 8.91174528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0592541539999 meters Centerline goodness [0,1] 0.9999341802145725 Centerline is valid? [True, True] Translation: X:924.61, Y:100.32, Z:8.91 [[ 3.46880342e-01 -9.37878103e-01 -7.66105087e-03 9.24614121e+02] [ 9.37621986e-01 3.46964676e-01 -2.19208864e-02 1.00317429e+02] [ 2.32172334e-02 4.20754829e-04 9.99730355e-01 8.91387639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0892541539998 meters Centerline goodness [0,1] 0.99984704134254 Centerline is valid? [True, True] Translation: X:924.62, Y:100.34, Z:8.91 [[ 3.44543188e-01 -9.38739997e-01 -7.56370755e-03 9.24624510e+02] [ 9.38490108e-01 3.44626007e-01 -2.16617866e-02 1.00343592e+02] [ 2.29414358e-02 3.64956289e-04 9.99736744e-01 8.91437629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1192541539999 meters Centerline goodness [0,1] 0.9998244343494196 Centerline is valid? [True, True] Translation: X:924.63, Y:100.37, Z:8.91 [[ 3.42762475e-01 -9.39392243e-01 -7.49003338e-03 9.24634056e+02] [ 9.39146911e-01 3.42844147e-01 -2.14702383e-02 1.00369525e+02] [ 2.27368894e-02 3.24950307e-04 9.99741431e-01 8.91395853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.65, Y:100.39, Z:8.92 [[ 3.39416940e-01 -9.40609642e-01 -7.04572545e-03 9.24645029e+02] [ 9.40392515e-01 3.39489980e-01 -2.02106599e-02 1.00394461e+02] [ 2.14022948e-02 2.34092876e-04 9.99770917e-01 8.91767576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.66, Y:100.42, Z:8.92 [[ 3.36916674e-01 -9.41508832e-01 -6.94795015e-03 9.24656059e+02] [ 9.41297567e-01 3.36988259e-01 -1.99450370e-02 1.00420727e+02] [ 2.11198061e-02 1.79726946e-04 9.99776936e-01 8.91836651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.67, Y:100.45, Z:8.92 [[ 3.32184153e-01 -9.43192419e-01 -6.46134409e-03 9.24669308e+02] [ 9.43009712e-01 3.32246979e-01 -1.85641758e-02 1.00446441e+02] [ 1.96563519e-02 7.36147798e-05 9.99806793e-01 8.92067021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2392541539998 meters Centerline goodness [0,1] 0.9998023064250412 Centerline is valid? [True, True] Translation: X:924.68, Y:100.47, Z:8.92 [[ 3.28882366e-01 -9.44347716e-01 -6.61663916e-03 9.24680005e+02] [ 9.44156051e-01 3.28948918e-01 -1.90252504e-02 1.00471090e+02] [ 2.01429881e-02 9.92946490e-06 9.99797109e-01 8.91731837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2692541539999 meters Centerline goodness [0,1] 0.9999562841530054 Centerline is valid? [True, True] Translation: X:924.69, Y:100.50, Z:8.92 [[ 3.25311890e-01 -9.45585981e-01 -6.27119077e-03 9.24690965e+02] [ 9.45413762e-01 3.25372325e-01 -1.80462875e-02 1.00496239e+02] [ 1.91047883e-02 -5.81981823e-05 9.99817485e-01 8.92024439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2992541539999 meters Centerline goodness [0,1] 0.9999121265377856 Centerline is valid? [True, True] Translation: X:924.70, Y:100.52, Z:8.92 [[ 3.22174463e-01 -9.46659276e-01 -6.31114320e-03 9.24700848e+02] [ 9.46484734e-01 3.22236251e-01 -1.81782203e-02 1.00522627e+02] [ 1.92422600e-02 -1.16842339e-04 9.99814844e-01 8.91918095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.71, Y:100.55, Z:8.92 [[ 3.18440105e-01 -9.47920914e-01 -6.46836377e-03 9.24711679e+02] [ 9.47737583e-01 3.18505734e-01 -1.86432850e-02 1.00547374e+02] [ 1.97325707e-02 -1.93541818e-04 9.99805275e-01 8.92075356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.72, Y:100.57, Z:8.92 [[ 3.14557905e-01 -9.49214874e-01 -6.66691954e-03 9.24721531e+02] [ 9.49020143e-01 3.14628424e-01 -1.92282012e-02 1.00573550e+02] [ 2.03492970e-02 -2.78658245e-04 9.99792893e-01 8.92142838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3892541539999 meters Centerline goodness [0,1] 0.9999119815161184 Centerline is valid? [True, True] Translation: X:924.73, Y:100.60, Z:8.92 [[ 3.12210314e-01 -9.49988754e-01 -6.78878415e-03 9.24731256e+02] [ 9.49786661e-01 3.12283940e-01 -1.95969129e-02 1.00600800e+02] [ 2.07368751e-02 -3.29538323e-04 9.99784914e-01 8.91952215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4192541539999 meters Centerline goodness [0,1] 0.9998460421844415 Centerline is valid? [True, True] Translation: X:924.74, Y:100.63, Z:8.92 [[ 3.10622497e-01 -9.50508218e-01 -6.91320252e-03 9.24742248e+02] [ 9.50298453e-01 3.10699202e-01 -1.99713996e-02 1.00625574e+02] [ 2.11309059e-02 -3.66039658e-04 9.99776650e-01 8.91764987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.75, Y:100.65, Z:8.92 [[ 3.08990378e-01 -9.51041583e-01 -6.69732554e-03 9.24749874e+02] [ 9.50844528e-01 3.09062712e-01 -1.93629723e-02 1.00652615e+02] [ 2.04848854e-02 -3.85143202e-04 9.99790089e-01 8.92183673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4792541539998 meters Centerline goodness [0,1] 0.9998239978879746 Centerline is valid? [True, True] Translation: X:924.76, Y:100.68, Z:8.92 [[ 3.07878690e-01 -9.51404140e-01 -6.39326315e-03 9.24758674e+02] [ 9.51224332e-01 3.07944822e-01 -1.85001771e-02 1.00679124e+02] [ 1.95699174e-02 -3.85617165e-04 9.99808416e-01 8.92219547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5092541539999 meters Centerline goodness [0,1] 0.9999341932087391 Centerline is valid? [True, True] Translation: X:924.77, Y:100.71, Z:8.92 [[ 3.06776394e-01 -9.51761311e-01 -6.21693749e-03 9.24765964e+02] [ 9.51591051e-01 3.06839132e-01 -1.80061056e-02 1.00706548e+02] [ 1.90451144e-02 -3.92133916e-04 9.99818548e-01 8.92163787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.77, Y:100.73, Z:8.92 [[ 3.06826854e-01 -9.51746116e-01 -6.05083520e-03 9.24774546e+02] [ 9.51584527e-01 3.06886282e-01 -1.75412975e-02 1.00731848e+02] [ 1.85517800e-02 -3.75740031e-04 9.99827830e-01 8.92325794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5692541539999 meters Centerline goodness [0,1] 0.9996940425717907 Centerline is valid? [True, True] Translation: X:924.78, Y:100.76, Z:8.92 [[ 3.07242410e-01 -9.51611568e-01 -6.12582684e-03 9.24781222e+02] [ 9.51445609e-01 3.07303254e-01 -1.77753368e-02 1.00759137e+02] [ 1.87977026e-02 -3.67053730e-04 9.99823240e-01 8.92013274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5992541539998 meters Centerline goodness [0,1] 0.999956245898053 Centerline is valid? [True, True] Translation: X:924.79, Y:100.79, Z:8.92 [[ 3.08426838e-01 -9.51229549e-01 -5.93563030e-03 9.24788003e+02] [ 9.51073389e-01 3.08483773e-01 -1.72386548e-02 1.00786977e+02] [ 1.82289635e-02 -3.28356229e-04 9.99833785e-01 8.92289383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6292541539999 meters Centerline goodness [0,1] 0.9998908749645343 Centerline is valid? [True, True] Translation: X:924.79, Y:100.81, Z:8.92 [[ 3.11558215e-01 -9.50207677e-01 -6.07036250e-03 9.24793566e+02] [ 9.50043903e-01 3.11617229e-01 -1.76432395e-02 1.00813718e+02] [ 1.86563712e-02 -2.70214670e-04 9.99825918e-01 8.92221240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6592541539999 meters Centerline goodness [0,1] 0.9999342436928742 Centerline is valid? [True, True] Translation: X:924.80, Y:100.84, Z:8.92 [[ 3.13509893e-01 -9.49565042e-01 -6.14637697e-03 9.24799594e+02] [ 9.49396760e-01 3.13570052e-01 -1.78777585e-02 1.00841887e+02] [ 1.89034142e-02 -2.30496244e-04 9.99821288e-01 8.92344488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6892541539999 meters Centerline goodness [0,1] 0.9998686946055367 Centerline is valid? [True, True] Translation: X:924.81, Y:100.87, Z:8.92 [[ 3.15536443e-01 -9.48892850e-01 -6.25396669e-03 9.24806665e+02] [ 9.48718167e-01 3.15598358e-01 -1.82075542e-02 1.00868792e+02] [ 1.92507596e-02 -1.88104936e-04 9.99814669e-01 8.92211114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7192541539998 meters Centerline goodness [0,1] 0.9999562506835831 Centerline is valid? [True, True] Translation: X:924.81, Y:100.90, Z:8.92 [[ 3.20397946e-01 -9.47263286e-01 -6.11739019e-03 9.24810680e+02] [ 9.47095548e-01 3.20456330e-01 -1.78258938e-02 1.00897445e+02] [ 1.88461712e-02 -8.23732385e-05 9.99822392e-01 8.92383427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7492541539999 meters Centerline goodness [0,1] 0.9999127837254431 Centerline is valid? [True, True] Translation: X:924.82, Y:100.93, Z:8.92 [[ 3.24471851e-01 -9.45875527e-01 -6.12410465e-03 9.24815118e+02] [ 9.45706860e-01 3.24529640e-01 -1.78619109e-02 1.00926127e+02] [ 1.88825979e-02 4.07953818e-06 9.99821708e-01 8.92400833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7792541539999 meters Centerline goodness [0,1] 0.9998040240397178 Centerline is valid? [True, True] Translation: X:924.82, Y:100.95, Z:8.92 [[ 3.25744783e-01 -9.45438617e-01 -6.01320546e-03 9.24822371e+02] [ 9.45275623e-01 3.25800278e-01 -1.75549508e-02 1.00953552e+02] [ 1.85562324e-02 3.42971021e-05 9.99827818e-01 8.92362410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.83, Y:100.98, Z:8.93 [[ 3.28766774e-01 -9.44394696e-01 -5.57371943e-03 9.24828121e+02] [ 9.44254253e-01 3.28814004e-01 -1.62867107e-02 1.00981213e+02] [ 1.72138003e-02 9.15210631e-05 9.99851827e-01 8.92719773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.84, Y:101.01, Z:8.93 [[ 3.29744274e-01 -9.44054131e-01 -5.52367136e-03 9.24835566e+02] [ 9.43915891e-01 3.29790516e-01 -1.61557205e-02 1.01008149e+02] [ 1.70735291e-02 1.13375139e-04 9.99854230e-01 8.92757933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8692541539999 meters Centerline goodness [0,1] 0.9997405124878366 Centerline is valid? [True, True] Translation: X:924.84, Y:101.03, Z:8.92 [[ 3.30039764e-01 -9.43949412e-01 -5.76731644e-03 9.24842383e+02] [ 9.43798443e-01 3.30090126e-01 -1.68821762e-02 1.01034502e+02] [ 1.78396545e-02 1.28605169e-04 9.99840852e-01 8.92355093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8992541539999 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:924.85, Y:101.06, Z:8.93 [[ 3.32406735e-01 -9.43121336e-01 -5.28280101e-03 9.24848338e+02] [ 9.42994383e-01 3.32448671e-01 -1.54750005e-02 1.01062141e+02] [ 1.63510633e-02 1.62342709e-04 9.99866299e-01 8.92798864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9292541539999 meters Centerline goodness [0,1] 0.999913476097772 Centerline is valid? [True, True] Translation: X:924.86, Y:101.09, Z:8.93 [[ 3.33236449e-01 -9.42828385e-01 -5.30148629e-03 9.24855178e+02] [ 9.42700261e-01 3.33278567e-01 -1.55439759e-02 1.01089966e+02] [ 1.64221734e-02 1.82106811e-04 9.99865130e-01 8.92635103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.86, Y:101.12, Z:8.93 [[ 3.34037208e-01 -9.42545711e-01 -5.16979786e-03 9.24863283e+02] [ 9.42423619e-01 3.34077154e-01 -1.51716058e-02 1.01116735e+02] [ 1.60270433e-02 1.95741234e-04 9.99871540e-01 8.92919929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9892541539998 meters Centerline goodness [0,1] 0.9998487696329423 Centerline is valid? [True, True] Translation: X:924.87, Y:101.14, Z:8.93 [[ 3.33549177e-01 -9.42716104e-01 -5.59405364e-03 9.24870778e+02] [ 9.42572906e-01 3.33596018e-01 -1.64320988e-02 1.01142326e+02] [ 1.73569581e-02 2.08109615e-04 9.99849335e-01 8.92544192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.88, Y:101.17, Z:8.93 [[ 3.34786367e-01 -9.42276904e-01 -5.68546242e-03 9.24878827e+02] [ 9.42128661e-01 3.34834554e-01 -1.67154827e-02 1.01169905e+02] [ 1.76543026e-02 2.39678622e-04 9.99844122e-01 8.92929737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.89, Y:101.20, Z:8.93 [[ 3.35287172e-01 -9.42095874e-01 -6.15436447e-03 9.24886585e+02] [ 9.41921821e-01 3.35343537e-01 -1.81106439e-02 1.01197579e+02] [ 1.91257892e-02 2.75336367e-04 9.99817047e-01 8.92884580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.89, Y:101.22, Z:8.93 [[ 3.35433524e-01 -9.42041357e-01 -6.51409224e-03 9.24892602e+02] [ 9.41846059e-01 3.35496636e-01 -1.91835619e-02 1.01224254e+02] [ 2.02571647e-02 2.99537684e-04 9.99794758e-01 8.92695590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.90, Y:101.25, Z:8.93 [[ 3.35174059e-01 -9.42133736e-01 -6.50958953e-03 9.24901382e+02] [ 9.41938425e-01 3.35237133e-01 -1.91850900e-02 1.01250402e+02] [ 2.02571767e-02 2.98711973e-04 9.99794758e-01 8.92721363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.91, Y:101.28, Z:8.93 [[ 3.35042335e-01 -9.42178481e-01 -6.80763965e-03 9.24911026e+02] [ 9.41964483e-01 3.35111341e-01 -2.00823919e-02 1.01277189e+02] [ 2.12025148e-02 3.15896736e-04 9.99775152e-01 8.92746896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.92, Y:101.30, Z:8.93 [[ 3.33693587e-01 -9.42654136e-01 -7.19505882e-03 9.24920712e+02] [ 9.42414734e-01 3.33771005e-01 -2.12458566e-02 1.01303551e+02] [ 2.24289966e-02 3.08876654e-04 9.99748391e-01 8.92757835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.93, Y:101.33, Z:8.93 [[ 3.32035851e-01 -9.43238988e-01 -7.23916056e-03 9.24930706e+02] [ 9.42996322e-01 3.32114641e-01 -2.13963201e-02 1.01329857e+02] [ 2.25860745e-02 2.77843579e-04 9.99744863e-01 8.92800791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2292541539998 meters Centerline goodness [0,1] 0.9999353071830591 Centerline is valid? [True, True] Translation: X:924.94, Y:101.35, Z:8.93 [[ 3.26601388e-01 -9.45134238e-01 -7.26676381e-03 9.24942787e+02] [ 9.44889813e-01 3.26682183e-01 -2.14939915e-02 1.01354765e+02] [ 2.26886295e-02 1.53676352e-04 9.99742568e-01 8.92698630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.95, Y:101.38, Z:8.93 [[ 3.23325183e-01 -9.46264361e-01 -6.67726532e-03 9.24954521e+02] [ 9.46057917e-01 3.23394117e-01 -1.97652080e-02 1.01380637e+02] [ 2.08625002e-02 7.35097688e-05 9.99782352e-01 8.93047511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.97, Y:101.40, Z:8.93 [[ 3.15478805e-01 -9.48912554e-01 -6.17162804e-03 9.24968683e+02] [ 9.48736375e-01 3.15539154e-01 -1.82847803e-02 1.01404992e+02] [ 1.92980479e-02 -8.67873675e-05 9.99813772e-01 8.93295524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.98, Y:101.43, Z:8.93 [[ 3.11147602e-01 -9.50342496e-01 -6.02580434e-03 9.24980028e+02] [ 9.50174503e-01 3.11205902e-01 -1.78689952e-02 1.01430931e+02] [ 1.88569314e-02 -1.65670618e-04 9.99822179e-01 8.93400147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.99, Y:101.46, Z:8.93 [[ 3.07370972e-01 -9.51571262e-01 -5.93460220e-03 9.24990899e+02] [ 9.51408286e-01 3.07428170e-01 -1.76122854e-02 1.01455802e+02] [ 1.85838085e-02 -2.32724429e-04 9.99827279e-01 8.93452406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.00, Y:101.48, Z:8.93 [[ 3.00427236e-01 -9.53786852e-01 -5.84096173e-03 9.25003342e+02] [ 9.53629143e-01 3.00483797e-01 -1.73477538e-02 1.01481469e+02] [ 1.83011739e-02 -3.58373607e-04 9.99832455e-01 8.93497457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4092541539999 meters Centerline goodness [0,1] 0.9999565878011721 Centerline is valid? [True, True] Translation: X:925.01, Y:101.51, Z:8.93 [[ 2.96978646e-01 -9.54865653e-01 -5.93879797e-03 9.25013323e+02] [ 9.54702535e-01 2.97037713e-01 -1.76540605e-02 1.01508386e+02] [ 1.86213030e-02 -4.26906504e-04 9.99826517e-01 8.93429452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.02, Y:101.53, Z:8.93 [[ 2.92064665e-01 -9.56378604e-01 -6.18032481e-03 9.25023743e+02] [ 9.56202009e-01 2.92129550e-01 -1.83859657e-02 1.01533419e+02] [ 1.93893997e-02 -5.39748089e-04 9.99811862e-01 8.93461878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.03, Y:101.56, Z:8.93 [[ 2.89413634e-01 -9.57183248e-01 -6.32279513e-03 9.25032636e+02] [ 9.56998324e-01 2.89482065e-01 -1.88239688e-02 1.01560678e+02] [ 1.98483234e-02 -6.02991115e-04 9.99802821e-01 8.93442052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.04, Y:101.59, Z:8.93 [[ 2.84809553e-01 -9.58559994e-01 -6.80118024e-03 9.25042665e+02] [ 9.58346057e-01 2.84889770e-01 -2.02646110e-02 1.01585575e+02] [ 2.13624321e-02 -7.46329462e-04 9.99771519e-01 8.93392091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5292541539999 meters Centerline goodness [0,1] 0.9998272958853245 Centerline is valid? [True, True] Translation: X:925.05, Y:101.61, Z:8.93 [[ 2.82112993e-01 -9.59352923e-01 -7.36404747e-03 9.25053069e+02] [ 9.59101930e-01 2.82207756e-01 -2.19606657e-02 1.01611331e+02] [ 2.31462202e-02 -8.67483003e-04 9.99731714e-01 8.93098426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.06, Y:101.64, Z:8.94 [[ 2.78136188e-01 -9.60516276e-01 -6.98170240e-03 9.25059558e+02] [ 9.60290619e-01 2.78222318e-01 -2.08391263e-02 1.01638838e+02] [ 2.19587854e-02 -9.08348166e-04 9.99758464e-01 8.93512159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5892541539998 meters Centerline goodness [0,1] 0.9999567314973066 Centerline is valid? [True, True] Translation: X:925.07, Y:101.66, Z:8.93 [[ 2.75904336e-01 -9.61159670e-01 -6.99189738e-03 9.25071619e+02] [ 9.60933128e-01 2.75991261e-01 -2.08889288e-02 1.01663701e+02] [ 2.20072985e-02 -9.55399806e-04 9.99757354e-01 8.93427464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6192541539999 meters Centerline goodness [0,1] 0.999978379780771 Centerline is valid? [True, True] Translation: X:925.08, Y:101.69, Z:8.93 [[ 2.72651013e-01 -9.62085817e-01 -7.23224718e-03 9.25083448e+02] [ 9.61843354e-01 2.72744854e-01 -2.16242083e-02 1.01687985e+02] [ 2.27769024e-02 -1.06042658e-03 9.99740010e-01 8.93336916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.09, Y:101.72, Z:8.94 [[ 2.71076384e-01 -9.62530545e-01 -7.24873939e-03 9.25085597e+02] [ 9.62286735e-01 2.71171072e-01 -2.16907659e-02 1.01716985e+02] [ 2.28436731e-02 -1.09551137e-03 9.99738449e-01 8.93518274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6792541539999 meters Centerline goodness [0,1] 0.9998055651572761 Centerline is valid? [True, True] Translation: X:925.10, Y:101.74, Z:8.93 [[ 2.69851914e-01 -9.62873620e-01 -7.37131952e-03 9.25099627e+02] [ 9.62621309e-01 2.69950167e-01 -2.20708460e-02 1.01740725e+02] [ 2.32413244e-02 -1.13992919e-03 9.99729234e-01 8.93173484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.10, Y:101.77, Z:8.94 [[ 2.69951430e-01 -9.62850667e-01 -6.69460581e-03 9.25100085e+02] [ 9.62642275e-01 2.70032464e-01 -2.00579005e-02 1.01770602e+02] [ 2.11205238e-02 -1.02985164e-03 9.99776406e-01 8.93680441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.10, Y:101.80, Z:8.94 [[ 2.71845599e-01 -9.62321076e-01 -6.17388894e-03 9.25103316e+02] [ 9.62143390e-01 2.71914184e-01 -1.85141455e-02 1.01799184e+02] [ 1.94953204e-02 -9.07177472e-04 9.99809537e-01 8.93815497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7692541539999 meters Centerline goodness [0,1] 0.9997632626708275 Centerline is valid? [True, True] Translation: X:925.11, Y:101.83, Z:8.94 [[ 2.73502064e-01 -9.61847795e-01 -6.74101280e-03 9.25109217e+02] [ 9.61635491e-01 2.73583477e-01 -2.02302709e-02 1.01826116e+02] [ 2.13026712e-02 -9.49376301e-04 9.99772622e-01 8.93559803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.11, Y:101.85, Z:8.94 [[ 2.76660958e-01 -9.60946657e-01 -6.34330837e-03 9.25114739e+02] [ 9.60758141e-01 2.76732442e-01 -1.90512224e-02 1.01852754e+02] [ 2.00626077e-02 -8.23655732e-04 9.99798386e-01 8.93795873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8292541539998 meters Centerline goodness [0,1] 0.99980795903126 Centerline is valid? [True, True] Translation: X:925.11, Y:101.88, Z:8.93 [[ 2.84245862e-01 -9.58725764e-01 -7.01428197e-03 9.25113043e+02] [ 9.58494103e-01 2.84331459e-01 -2.10873217e-02 1.01882599e+02] [ 2.22113397e-02 -7.29163963e-04 9.99753032e-01 8.93463715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.11, Y:101.91, Z:8.94 [[ 2.89027709e-01 -9.57297984e-01 -6.59950492e-03 9.25114556e+02] [ 9.57092155e-01 2.89102469e-01 -1.98587380e-02 1.01911493e+02] [ 2.09186630e-02 -5.76608834e-04 9.99781015e-01 8.93790775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8892541539999 meters Centerline goodness [0,1] 0.9998512853197365 Centerline is valid? [True, True] Translation: X:925.11, Y:101.94, Z:8.93 [[ 2.98179166e-01 -9.54482089e-01 -7.28880686e-03 9.25112922e+02] [ 9.54229804e-01 2.98267955e-01 -2.19478336e-02 1.01940403e+02] [ 2.31228316e-02 -4.10810019e-04 9.99732547e-01 8.93385331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9192541539999 meters Centerline goodness [0,1] 0.999978838218178 Centerline is valid? [True, True] Translation: X:925.12, Y:101.97, Z:8.94 [[ 3.02711211e-01 -9.53057478e-01 -6.88238482e-03 9.25116789e+02] [ 9.52831956e-01 3.02789308e-01 -2.07340072e-02 1.01967303e+02] [ 2.18446131e-02 -2.81339775e-04 9.99761338e-01 8.93541126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9492541539998 meters Centerline goodness [0,1] 0.9999788072733438 Centerline is valid? [True, True] Translation: X:925.12, Y:102.00, Z:8.94 [[ 3.09690826e-01 -9.50812161e-01 -6.91565285e-03 9.25116497e+02] [ 9.50583552e-01 3.09768011e-01 -2.08492309e-02 1.01997658e+02] [ 2.19659503e-02 -1.17090303e-04 9.99758713e-01 8.93611327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9792541539998 meters Centerline goodness [0,1] 0.999894316332354 Centerline is valid? [True, True] Translation: X:925.12, Y:102.02, Z:8.93 [[ 3.12029432e-01 -9.50046233e-01 -7.05612882e-03 9.25121577e+02] [ 9.49807631e-01 3.12109199e-01 -2.12911190e-02 1.02024744e+02] [ 2.24298301e-02 -5.85092356e-05 9.99748418e-01 8.93415745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0092541539999 meters Centerline goodness [0,1] 0.9998090590856051 Centerline is valid? [True, True] Translation: X:925.13, Y:102.05, Z:8.93 [[ 3.13870214e-01 -9.49438570e-01 -7.20351946e-03 9.25127797e+02] [ 9.49189270e-01 3.13952866e-01 -2.17561151e-02 1.02052449e+02] [ 2.29176603e-02 -8.90688410e-06 9.99737356e-01 8.93347291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.13, Y:102.08, Z:8.94 [[ 3.16970689e-01 -9.48412096e-01 -6.63917486e-03 9.25132402e+02] [ 9.48199710e-01 3.17040205e-01 -2.00703160e-02 1.02080502e+02] [ 2.11398158e-02 6.64382073e-05 9.99776527e-01 8.93748670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.14, Y:102.11, Z:8.94 [[ 3.17805170e-01 -9.48133472e-01 -6.54168847e-03 9.25139323e+02] [ 9.47926844e-01 3.17872477e-01 -1.97936095e-02 1.02107026e+02] [ 2.08464064e-02 8.94693221e-05 9.99782686e-01 8.93755464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0992541539998 meters Centerline goodness [0,1] 0.9998734444210082 Centerline is valid? [True, True] Translation: X:925.15, Y:102.13, Z:8.94 [[ 3.18657821e-01 -9.47846609e-01 -6.63320278e-03 9.25145709e+02] [ 9.47633723e-01 3.18726831e-01 -2.00881749e-02 1.02133387e+02] [ 2.11546882e-02 1.15407395e-04 9.99776208e-01 8.93579634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1292541539999 meters Centerline goodness [0,1] 0.999957960230378 Centerline is valid? [True, True] Translation: X:925.15, Y:102.16, Z:8.94 [[ 3.19215767e-01 -9.47662068e-01 -6.15617802e-03 9.25153743e+02] [ 9.47478343e-01 3.19275099e-01 -1.86601268e-02 1.02160671e+02] [ 1.96490087e-02 1.23761325e-04 9.99806932e-01 8.93834507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.16, Y:102.19, Z:8.94 [[ 3.20548033e-01 -9.47214100e-01 -5.86573824e-03 9.25161259e+02] [ 9.47046910e-01 3.20601662e-01 -1.77967662e-02 1.02188108e+02] [ 1.87379134e-02 1.49589137e-04 9.99824419e-01 8.94080704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1892541539999 meters Centerline goodness [0,1] 0.9999366634294642 Centerline is valid? [True, True] Translation: X:925.17, Y:102.22, Z:8.94 [[ 3.20899362e-01 -9.47092533e-01 -6.27163275e-03 9.25169198e+02] [ 9.46900997e-01 3.20960595e-01 -1.90472646e-02 1.02215288e+02] [ 2.00524691e-02 1.73639765e-04 9.99798914e-01 8.93910841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.18, Y:102.24, Z:8.94 [[ 3.21735081e-01 -9.46810273e-01 -6.06990194e-03 9.25176893e+02] [ 9.46630472e-01 3.21792277e-01 -1.84521009e-02 1.02242401e+02] [ 1.94238863e-02 1.90734049e-04 9.99811320e-01 8.94031905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.18, Y:102.27, Z:8.94 [[ 3.23615779e-01 -9.46166060e-01 -6.52795534e-03 9.25183483e+02] [ 9.45957649e-01 3.23681515e-01 -1.98595988e-02 1.02269243e+02] [ 2.09034569e-02 2.51710261e-04 9.99781467e-01 8.93906030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2792541539999 meters Centerline goodness [0,1] 0.9999578290389238 Centerline is valid? [True, True] Translation: X:925.19, Y:102.30, Z:8.94 [[ 3.24392738e-01 -9.45894215e-01 -7.31340427e-03 9.25191855e+02] [ 9.45632156e-01 3.24475022e-01 -2.22662369e-02 1.02295478e+02] [ 2.34345217e-02 3.07215319e-04 9.99725327e-01 8.93675161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.20, Y:102.32, Z:8.94 [[ 3.24405771e-01 -9.45890008e-01 -7.27925967e-03 9.25201140e+02] [ 9.45629907e-01 3.24487279e-01 -2.21829867e-02 1.02322280e+02] [ 2.33446926e-02 3.12803256e-04 9.99727427e-01 8.93759615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.21, Y:102.35, Z:8.94 [[ 3.23863954e-01 -9.46074388e-01 -7.44260784e-03 9.25210799e+02] [ 9.45802002e-01 3.23949309e-01 -2.27028403e-02 1.02348915e+02] [ 2.38896034e-02 3.13398242e-04 9.99714554e-01 8.93802398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3692541539999 meters Centerline goodness [0,1] 0.9998735670937289 Centerline is valid? [True, True] Translation: X:925.22, Y:102.37, Z:8.94 [[ 3.21674189e-01 -9.46818861e-01 -7.73044179e-03 9.25221336e+02] [ 9.46524684e-01 3.21766947e-01 -2.36020085e-02 1.02374173e+02] [ 2.48342275e-02 2.75102977e-04 9.99691545e-01 8.93586729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3992541539999 meters Centerline goodness [0,1] 0.9999788927116533 Centerline is valid? [True, True] Translation: X:925.23, Y:102.40, Z:8.94 [[ 3.20490826e-01 -9.47223320e-01 -7.32211347e-03 9.25232570e+02] [ 9.46959060e-01 3.20574370e-01 -2.23743590e-02 1.02400727e+02] [ 2.35407966e-02 2.37035125e-04 9.99722849e-01 8.93963880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4292541539999 meters Centerline goodness [0,1] 0.9999576728534846 Centerline is valid? [True, True] Translation: X:925.25, Y:102.43, Z:8.94 [[ 3.17178888e-01 -9.48339021e-01 -7.11715904e-03 9.25245279e+02] [ 9.48089199e-01 3.17258690e-01 -2.17668308e-02 1.02426907e+02] [ 2.29003156e-02 1.56277579e-04 9.99737741e-01 8.94054617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4592541539998 meters Centerline goodness [0,1] 0.9999152937190293 Centerline is valid? [True, True] Translation: X:925.26, Y:102.45, Z:8.94 [[ 3.15054449e-01 -9.49045262e-01 -7.33385464e-03 9.25256090e+02] [ 9.48779715e-01 3.15139776e-01 -2.24493583e-02 1.02451984e+02] [ 2.36166464e-02 1.14557690e-04 9.99721082e-01 8.93993300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.27, Y:102.48, Z:8.94 [[ 3.11412868e-01 -9.50248537e-01 -7.05292762e-03 9.25270094e+02] [ 9.50002900e-01 3.11492724e-01 -2.16049294e-02 1.02475990e+02] [ 2.27269881e-02 2.77513202e-05 9.99741708e-01 8.94199248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.28, Y:102.50, Z:8.94 [[ 3.09145830e-01 -9.50988674e-01 -7.02828550e-03 9.25281260e+02] [ 9.50744525e-01 3.09225712e-01 -2.15478089e-02 1.02501175e+02] [ 2.26650488e-02 -2.06886865e-05 9.99743115e-01 8.94212345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5492541539999 meters Centerline goodness [0,1] 0.999915131969787 Centerline is valid? [True, True] Translation: X:925.30, Y:102.53, Z:8.94 [[ 3.05455808e-01 -9.52176603e-01 -7.51443287e-03 9.25295306e+02] [ 9.51897313e-01 3.05548205e-01 -2.30608074e-02 1.02526800e+02] [ 2.42539827e-02 -1.08910913e-04 9.99705823e-01 8.94224931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5792541539998 meters Centerline goodness [0,1] 0.999914998512474 Centerline is valid? [True, True] Translation: X:925.31, Y:102.55, Z:8.94 [[ 3.04364811e-01 -9.52526286e-01 -7.46567370e-03 9.25305724e+02] [ 9.52250191e-01 3.04456331e-01 -2.29328788e-02 1.02552933e+02] [ 2.41171415e-02 -1.29227891e-04 9.99709131e-01 8.94296489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6092541539998 meters Centerline goodness [0,1] 0.9999359644816325 Centerline is valid? [True, True] Translation: X:925.32, Y:102.58, Z:8.94 [[ 3.04255264e-01 -9.52564631e-01 -7.02556360e-03 9.25315738e+02] [ 9.52319681e-01 3.04336344e-01 -2.16012553e-02 1.02579001e+02] [ 2.27147261e-02 -1.18286865e-04 9.99741980e-01 8.94495227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6392541539999 meters Centerline goodness [0,1] 0.9998725654694901 Centerline is valid? [True, True] Translation: X:925.33, Y:102.60, Z:8.94 [[ 3.03699865e-01 -9.52738355e-01 -7.48460310e-03 9.25326265e+02] [ 9.52459880e-01 3.03792050e-01 -2.30340425e-02 1.02604006e+02] [ 2.42191786e-02 -1.33348572e-04 9.99706664e-01 8.94374765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.34, Y:102.63, Z:8.95 [[ 3.04451632e-01 -9.52502213e-01 -6.98124604e-03 9.25336082e+02] [ 9.52259441e-01 3.04531646e-01 -2.15042684e-02 1.02629891e+02] [ 2.26088736e-02 -1.00947843e-04 9.99744382e-01 8.94599007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6992541539998 meters Centerline goodness [0,1] 0.9999361199241956 Centerline is valid? [True, True] Translation: X:925.35, Y:102.66, Z:8.95 [[ 3.04609967e-01 -9.52449173e-01 -7.30352155e-03 9.25345786e+02] [ 9.52182912e-01 3.04697497e-01 -2.25196946e-02 1.02655671e+02] [ 2.36742293e-02 -9.45649812e-05 9.99719722e-01 8.94504397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7292541539998 meters Centerline goodness [0,1] 0.9999574314113615 Centerline is valid? [True, True] Translation: X:925.35, Y:102.68, Z:8.95 [[ 3.04770338e-01 -9.52397807e-01 -7.31147359e-03 9.25354938e+02] [ 9.52130413e-01 3.04858016e-01 -2.25669378e-02 1.02681340e+02] [ 2.37216634e-02 -8.37431157e-05 9.99718598e-01 8.94535325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.37, Y:102.71, Z:8.95 [[ 3.04437075e-01 -9.52505844e-01 -7.11930698e-03 9.25365430e+02] [ 9.52251866e-01 3.04520295e-01 -2.19948601e-02 1.02707850e+02] [ 2.31182063e-02 -8.33224717e-05 9.99732735e-01 8.94614355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7892541539999 meters Centerline goodness [0,1] 0.9998931578272576 Centerline is valid? [True, True] Translation: X:925.37, Y:102.73, Z:8.95 [[ 3.03185851e-01 -9.52902088e-01 -7.48006185e-03 9.25374988e+02] [ 9.52621298e-01 3.03278088e-01 -2.31314647e-02 1.02734832e+02] [ 2.43105598e-02 -1.12533423e-04 9.99704448e-01 8.94627151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.39, Y:102.76, Z:8.95 [[ 3.02104526e-01 -9.53248267e-01 -7.11314382e-03 9.25386609e+02] [ 9.52993971e-01 3.02188228e-01 -2.20173974e-02 1.02760496e+02] [ 2.31375543e-02 -1.27227772e-04 9.99732283e-01 8.94875034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8492541539998 meters Centerline goodness [0,1] 0.999829048870654 Centerline is valid? [True, True] Translation: X:925.40, Y:102.79, Z:8.95 [[ 3.00243851e-01 -9.53831491e-01 -7.68873546e-03 9.25396519e+02] [ 9.53533993e-01 3.00342229e-01 -2.38216277e-02 1.02785989e+02] [ 2.50310706e-02 -1.79173403e-04 9.99686658e-01 8.94715799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.41, Y:102.81, Z:8.95 [[ 2.98825989e-01 -9.54280750e-01 -7.16088517e-03 9.25407167e+02] [ 9.54022357e-01 2.98911712e-01 -2.22065534e-02 1.02811673e+02] [ 2.33317588e-02 -1.95749277e-04 9.99727758e-01 8.95019280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.42, Y:102.84, Z:8.95 [[ 2.98108519e-01 -9.54504993e-01 -7.17837540e-03 9.25416718e+02] [ 9.54244916e-01 2.98194861e-01 -2.22815191e-02 1.02837405e+02] [ 2.34083759e-02 -2.07617567e-04 9.99725965e-01 8.95084848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.43, Y:102.86, Z:8.95 [[ 2.96864815e-01 -9.54893540e-01 -7.04341767e-03 9.25426606e+02] [ 9.54642769e-01 2.96948272e-01 -2.18839427e-02 1.02862970e+02] [ 2.29883663e-02 -2.27375139e-04 9.99735707e-01 8.95133694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.44, Y:102.89, Z:8.95 [[ 2.96477599e-01 -9.55014141e-01 -7.00165372e-03 9.25435154e+02] [ 9.54765875e-01 2.96560175e-01 -2.17758395e-02 1.02889301e+02] [ 2.28726464e-02 -2.28891409e-04 9.99738361e-01 8.95190671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.44, Y:102.92, Z:8.95 [[ 2.96208273e-01 -9.55097755e-01 -6.99550969e-03 9.25443519e+02] [ 9.54849465e-01 2.96290779e-01 -2.17778137e-02 1.02915585e+02] [ 2.28726460e-02 -2.28890102e-04 9.99738361e-01 8.95216415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.45, Y:102.94, Z:8.95 [[ 2.96385826e-01 -9.55042683e-01 -6.99394460e-03 9.25452424e+02] [ 9.54794005e-01 2.96468254e-01 -2.17940885e-02 1.02941840e+02] [ 2.28877673e-02 -2.18317462e-04 9.99738017e-01 8.95219860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0592541539999 meters Centerline goodness [0,1] 0.9996782496782497 Centerline is valid? [True, True] Translation: X:925.46, Y:102.97, Z:8.95 [[ 2.96100499e-01 -9.55124950e-01 -7.79903650e-03 9.25461092e+02] [ 9.54815130e-01 2.96203091e-01 -2.43268772e-02 1.02969281e+02] [ 2.55453060e-02 -2.43437588e-04 9.99673636e-01 8.95150847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0892541539998 meters Centerline goodness [0,1] 0.9999144201968335 Centerline is valid? [True, True] Translation: X:925.47, Y:102.99, Z:8.95 [[ 2.98122102e-01 -9.54497731e-01 -7.56927334e-03 9.25469160e+02] [ 9.54205132e-01 2.98218125e-01 -2.36329532e-02 1.02994932e+02] [ 2.48148947e-02 -1.77133778e-04 9.99692047e-01 8.95141115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1192541539999 meters Centerline goodness [0,1] 0.9999140210218601 Centerline is valid? [True, True] Translation: X:925.48, Y:103.02, Z:8.95 [[ 2.99349828e-01 -9.54111780e-01 -7.77116951e-03 9.25476981e+02] [ 9.53802618e-01 2.99450648e-01 -2.42873523e-02 1.03021975e+02] [ 2.54999307e-02 -1.41747064e-04 9.99674814e-01 8.95127735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1492541539999 meters Centerline goodness [0,1] 0.9998286314075788 Centerline is valid? [True, True] Translation: X:925.48, Y:103.05, Z:8.95 [[ 3.00605539e-01 -9.53714990e-01 -8.00168634e-03 9.25484635e+02] [ 9.53386429e-01 3.00711999e-01 -2.50322037e-02 1.03048823e+02] [ 2.62797910e-02 -1.03880090e-04 9.99654621e-01 8.95055465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1792541539999 meters Centerline goodness [0,1] 0.9998932285549552 Centerline is valid? [True, True] Translation: X:925.49, Y:103.08, Z:8.95 [[ 3.04205084e-01 -9.52573891e-01 -7.88974873e-03 9.25490733e+02] [ 9.52253564e-01 3.04307380e-01 -2.47016003e-02 1.03075077e+02] [ 2.59310083e-02 1.31105522e-06 9.99663735e-01 8.95085925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.50, Y:103.10, Z:8.95 [[ 3.08503503e-01 -9.51191749e-01 -7.73600127e-03 9.25497454e+02] [ 9.50882802e-01 3.08600457e-01 -2.42416011e-02 1.03102383e+02] [ 2.54457445e-02 1.22588305e-04 9.99676197e-01 8.95269187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2392541539998 meters Centerline goodness [0,1] 0.9999354769330036 Centerline is valid? [True, True] Translation: X:925.51, Y:103.13, Z:8.95 [[ 3.10203733e-01 -9.50636147e-01 -8.03487126e-03 9.25505676e+02] [ 9.50302053e-01 3.10307722e-01 -2.52016949e-02 1.03130300e+02] [ 2.64509247e-02 1.82105188e-04 9.99650096e-01 8.95270506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.51, Y:103.16, Z:8.95 [[ 3.12249293e-01 -9.49969244e-01 -7.66906867e-03 9.25512748e+02] [ 9.49664228e-01 3.12343370e-01 -2.40722291e-02 1.03156352e+02] [ 2.52632601e-02 2.33496348e-04 9.99680806e-01 8.95319159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.52, Y:103.18, Z:8.95 [[ 3.16193514e-01 -9.48665628e-01 -7.42880681e-03 9.25517739e+02] [ 9.48378600e-01 3.16280594e-01 -2.33370406e-02 1.03183361e+02] [ 2.44886358e-02 3.33699493e-04 9.99700053e-01 8.95215422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.53, Y:103.21, Z:8.95 [[ 3.17645342e-01 -9.48180366e-01 -7.44515837e-03 9.25527493e+02] [ 9.47891401e-01 3.17732356e-01 -2.34102847e-02 1.03210116e+02] [ 2.45627400e-02 3.78966285e-04 9.99698219e-01 8.95466535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3592541539998 meters Centerline goodness [0,1] 0.9998069663692519 Centerline is valid? [True, True] Translation: X:925.53, Y:103.24, Z:8.95 [[ 3.20741530e-01 -9.47136013e-01 -7.63177623e-03 9.25534031e+02] [ 9.46831591e-01 3.20831958e-01 -2.40165384e-02 1.03236454e+02] [ 2.51954461e-02 4.77094441e-04 9.99682431e-01 8.95278287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.54, Y:103.26, Z:8.96 [[ 3.22196426e-01 -9.46645809e-01 -7.15366956e-03 9.25543233e+02] [ 9.46377763e-01 3.22275460e-01 -2.25312450e-02 1.03263615e+02] [ 2.36345608e-02 4.89412808e-04 9.99720545e-01 8.95549532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.55, Y:103.29, Z:8.96 [[ 3.25044532e-01 -9.45672219e-01 -7.07861273e-03 9.25549852e+02] [ 9.45409027e-01 3.25121114e-01 -2.23166535e-02 1.03290465e+02] [ 2.34056457e-02 5.61721826e-04 9.99725893e-01 8.95517415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4492541539998 meters Centerline goodness [0,1] 0.9998927590940289 Centerline is valid? [True, True] Translation: X:925.56, Y:103.32, Z:8.95 [[ 3.26162934e-01 -9.45285562e-01 -7.27646143e-03 9.25558851e+02] [ 9.45006820e-01 3.26243514e-01 -2.29625782e-02 1.03317793e+02] [ 2.40800919e-02 6.13236199e-04 9.99709844e-01 8.95439128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4792541539998 meters Centerline goodness [0,1] 0.9999142863265262 Centerline is valid? [True, True] Translation: X:925.56, Y:103.34, Z:8.95 [[ 3.29418268e-01 -9.44156919e-01 -7.16353400e-03 9.25564417e+02] [ 9.43886154e-01 3.29495425e-01 -2.26206367e-02 1.03344476e+02] [ 2.37177824e-02 6.90090409e-04 9.99718456e-01 8.95385111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.57, Y:103.37, Z:8.95 [[ 3.30945108e-01 -9.43623769e-01 -7.03684274e-03 9.25571584e+02] [ 9.43362004e-01 3.31019127e-01 -2.22366075e-02 1.03370862e+02] [ 2.33123209e-02 7.20806416e-04 9.99727971e-01 8.95441863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.58, Y:103.40, Z:8.95 [[ 3.32220998e-01 -9.43175243e-01 -7.04774184e-03 9.25581246e+02] [ 9.42912088e-01 3.32294875e-01 -2.22914906e-02 1.03397485e+02] [ 2.33667106e-02 7.60300275e-04 9.99726672e-01 8.95473782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.59, Y:103.42, Z:8.95 [[ 3.34776983e-01 -9.42268071e-01 -7.43325526e-03 9.25588009e+02] [ 9.41974697e-01 3.34858353e-01 -2.35277227e-02 1.03423797e+02] [ 2.46585095e-02 8.74601652e-04 9.99695550e-01 8.95299430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5992541539998 meters Centerline goodness [0,1] 0.9999139858936865 Centerline is valid? [True, True] Translation: X:925.60, Y:103.45, Z:8.95 [[ 3.34966619e-01 -9.42199110e-01 -7.62901070e-03 9.25598670e+02] [ 9.41889574e-01 3.35052251e-01 -2.41664973e-02 1.03450140e+02] [ 2.53257695e-02 9.09284258e-04 9.99678838e-01 8.95262717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.61, Y:103.48, Z:8.95 [[ 3.35447204e-01 -9.42029345e-01 -7.47572133e-03 9.25611181e+02] [ 9.41731557e-01 3.35529259e-01 -2.37021431e-02 1.03475415e+02] [ 2.48364376e-02 9.10694956e-04 9.99691113e-01 8.95443502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.62, Y:103.50, Z:8.96 [[ 3.34785343e-01 -9.42265610e-01 -7.36854106e-03 9.25623440e+02] [ 9.41975809e-01 3.34865246e-01 -2.33846788e-02 1.03501081e+02] [ 2.45020469e-02 8.87860286e-04 9.99699386e-01 8.95555147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.63, Y:103.53, Z:8.96 [[ 3.32628632e-01 -9.43030953e-01 -7.12850652e-03 9.25634773e+02] [ 9.42759471e-01 3.32704021e-01 -2.26409916e-02 1.03526266e+02] [ 2.37228386e-02 8.10575032e-04 9.99718245e-01 8.95533743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.65, Y:103.55, Z:8.96 [[ 3.30950157e-01 -9.43622797e-01 -6.92897701e-03 9.25645496e+02] [ 9.43366101e-01 3.31021831e-01 -2.20215016e-02 1.03551783e+02] [ 2.30736335e-02 7.51457380e-04 9.99733486e-01 8.95560800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.66, Y:103.58, Z:8.96 [[ 3.27404421e-01 -9.44861627e-01 -6.54607006e-03 9.25662951e+02] [ 9.44632400e-01 3.27469243e-01 -2.08212213e-02 1.03576368e+02] [ 2.18168096e-02 6.33330019e-04 9.99761784e-01 8.95758570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7792541539999 meters Centerline goodness [0,1] 0.9999347272687713 Centerline is valid? [True, True] Translation: X:925.68, Y:103.60, Z:8.96 [[ 3.23742703e-01 -9.46121770e-01 -6.65269027e-03 9.25676738e+02] [ 9.45884930e-01 3.23810561e-01 -2.11759524e-02 1.03600277e+02] [ 2.21892409e-02 5.62880598e-04 9.99753630e-01 8.95730916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.69, Y:103.63, Z:8.96 [[ 3.22592912e-01 -9.46515257e-01 -6.53312398e-03 9.25687670e+02] [ 9.46286566e-01 3.22658622e-01 -2.08122337e-02 1.03626019e+02] [ 2.18070655e-02 5.31671630e-04 9.99762056e-01 8.95783838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8392541539998 meters Centerline goodness [0,1] 0.9999122749303683 Centerline is valid? [True, True] Translation: X:925.70, Y:103.65, Z:8.96 [[ 3.19786417e-01 -9.47464743e-01 -6.87082617e-03 9.25700960e+02] [ 9.47211511e-01 3.19859832e-01 -2.19098353e-02 1.03651795e+02] [ 2.29564977e-02 4.98342067e-04 9.99736341e-01 8.95672163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8692541539999 meters Centerline goodness [0,1] 0.9998906219237416 Centerline is valid? [True, True] Translation: X:925.71, Y:103.68, Z:8.96 [[ 3.18519526e-01 -9.47891035e-01 -6.92077121e-03 9.25712245e+02] [ 9.47633702e-01 3.18594346e-01 -2.20909333e-02 1.03678104e+02] [ 2.31447162e-02 4.78037547e-04 9.99732011e-01 8.95698038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.72, Y:103.70, Z:8.96 [[ 3.17905643e-01 -9.48098432e-01 -6.73536217e-03 9.25724328e+02] [ 9.47854265e-01 3.17976656e-01 -2.15206474e-02 1.03704065e+02] [ 2.25453800e-02 4.57393489e-04 9.99745716e-01 8.95878647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9292541539999 meters Centerline goodness [0,1] 0.9998900204561951 Centerline is valid? [True, True] Translation: X:925.74, Y:103.73, Z:8.96 [[ 3.16043537e-01 -9.48720247e-01 -6.80997270e-03 9.25737516e+02] [ 9.48470282e-01 3.16116613e-01 -2.17809968e-02 1.03729518e+02] [ 2.28168182e-02 4.24686549e-04 9.99739572e-01 8.95939150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9592541539998 meters Centerline goodness [0,1] 0.9999337558239672 Centerline is valid? [True, True] Translation: X:925.75, Y:103.76, Z:8.96 [[ 3.15084011e-01 -9.49039239e-01 -6.82560091e-03 9.25747066e+02] [ 9.48787796e-01 3.15157669e-01 -2.18486100e-02 1.03755409e+02] [ 2.28863287e-02 4.08100819e-04 9.99737990e-01 8.95912421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.76, Y:103.78, Z:8.96 [[ 3.13636215e-01 -9.49517753e-01 -6.95429344e-03 9.25759641e+02] [ 9.49256400e-01 3.13713066e-01 -2.22800098e-02 1.03780873e+02] [ 2.33369176e-02 3.86410384e-04 9.99727582e-01 8.95923702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.77, Y:103.81, Z:8.96 [[ 3.12521802e-01 -9.49885624e-01 -6.88657836e-03 9.25770128e+02] [ 9.49628917e-01 3.12597457e-01 -2.20850635e-02 1.03807208e+02] [ 2.31310112e-02 3.62369907e-04 9.99732377e-01 8.95945816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.78, Y:103.83, Z:8.96 [[ 3.11557158e-01 -9.50202630e-01 -6.86291809e-03 9.25780741e+02] [ 9.49947249e-01 3.11632546e-01 -2.20313625e-02 1.03833281e+02] [ 2.30729672e-02 3.44618544e-04 9.99733724e-01 8.95991764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0792541539998 meters Centerline goodness [0,1] 0.9998222775136624 Centerline is valid? [True, True] Translation: X:925.79, Y:103.86, Z:8.96 [[ 3.09740044e-01 -9.50793767e-01 -7.23307186e-03 9.25792020e+02] [ 9.50509665e-01 3.09824317e-01 -2.32436951e-02 1.03858748e+02] [ 2.43409420e-02 3.24398435e-04 9.99703663e-01 8.95859216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.80, Y:103.89, Z:8.96 [[ 3.11037172e-01 -9.50374079e-01 -6.70726690e-03 9.25798775e+02] [ 9.50129193e-01 3.11109298e-01 -2.15759384e-02 1.03885314e+02] [ 2.25919056e-02 3.38148769e-04 9.99744713e-01 8.95988811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.81, Y:103.91, Z:8.96 [[ 3.10815452e-01 -9.50446765e-01 -6.68598329e-03 9.25806485e+02] [ 9.50202947e-01 3.10887170e-01 -2.15296591e-02 1.03912151e+02] [ 2.25413812e-02 3.38709676e-04 9.99745853e-01 8.96009764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.81, Y:103.94, Z:8.96 [[ 3.10658088e-01 -9.50497613e-01 -6.77055141e-03 9.25814277e+02] [ 9.50247098e-01 3.10731666e-01 -2.18239363e-02 1.03939201e+02] [ 2.28474241e-02 3.46085475e-04 9.99738904e-01 8.96007052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.82, Y:103.97, Z:8.96 [[ 3.09666348e-01 -9.50821498e-01 -6.72543786e-03 9.25821539e+02] [ 9.50573898e-01 3.09739200e-01 -2.17000671e-02 1.03966835e+02] [ 2.27160220e-02 3.26754851e-04 9.99741904e-01 8.96020831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.83, Y:103.99, Z:8.96 [[ 3.09249060e-01 -9.50958501e-01 -6.55353613e-03 9.25829765e+02] [ 9.50722961e-01 3.09318332e-01 -2.11664912e-02 1.03993635e+02] [ 2.21555836e-02 3.15120240e-04 9.99754485e-01 8.96126249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.84, Y:104.02, Z:8.96 [[ 3.09500878e-01 -9.50879832e-01 -6.06222798e-03 9.25836520e+02] [ 9.50677878e-01 3.09560096e-01 -1.95989571e-02 1.04021165e+02] [ 2.05128769e-02 3.02668410e-04 9.99789543e-01 8.96267118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2892541539999 meters Centerline goodness [0,1] 0.9999338128226625 Centerline is valid? [True, True] Translation: X:925.84, Y:104.05, Z:8.96 [[ 3.11365658e-01 -9.50272501e-01 -5.79660847e-03 9.25840071e+02] [ 9.50087459e-01 3.11419433e-01 -1.87552028e-02 1.04048979e+02] [ 1.96277300e-02 3.32441072e-04 9.99807302e-01 8.96271072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.85, Y:104.08, Z:8.96 [[ 3.12818307e-01 -9.49796291e-01 -5.63143029e-03 9.25846943e+02] [ 9.49621292e-01 3.12868789e-01 -1.82352142e-02 1.04076685e+02] [ 1.90816376e-02 3.56582727e-04 9.99817865e-01 8.96344265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.85, Y:104.10, Z:8.96 [[ 3.14196275e-01 -9.49340987e-01 -5.69138318e-03 9.25852694e+02] [ 9.49161831e-01 3.14247571e-01 -1.84467603e-02 1.04103816e+02] [ 1.93007689e-02 3.93859691e-04 9.99813645e-01 8.96341099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.86, Y:104.13, Z:8.96 [[ 3.14913530e-01 -9.49102237e-01 -5.86626916e-03 9.25859474e+02] [ 9.48911497e-01 3.14967875e-01 -1.90317561e-02 1.04131541e+02] [ 1.99107687e-02 4.26787251e-04 9.99801670e-01 8.96342861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.86, Y:104.16, Z:8.96 [[ 3.16364294e-01 -9.48617607e-01 -6.18622470e-03 9.25863554e+02] [ 9.48404986e-01 3.16424394e-01 -2.00894190e-02 1.04159080e+02] [ 2.10146490e-02 4.88528498e-04 9.99779049e-01 8.96170377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4392541539999 meters Centerline goodness [0,1] 0.9999340847669896 Centerline is valid? [True, True] Translation: X:925.87, Y:104.19, Z:8.96 [[ 3.15669910e-01 -9.48847164e-01 -6.44728688e-03 9.25869826e+02] [ 9.48615809e-01 3.15735347e-01 -2.09579995e-02 1.04186146e+02] [ 2.19215747e-02 4.99811545e-04 9.99759568e-01 8.96107061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.88, Y:104.21, Z:8.96 [[ 3.15040006e-01 -9.49057695e-01 -6.26789456e-03 9.25879118e+02] [ 9.48838645e-01 3.15101989e-01 -2.03951691e-02 1.04212513e+02] [ 2.13312182e-02 4.78073624e-04 9.99772349e-01 8.96262344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4992541539999 meters Centerline goodness [0,1] 0.9999343918120982 Centerline is valid? [True, True] Translation: X:925.89, Y:104.24, Z:8.96 [[ 3.12371632e-01 -9.49938575e-01 -6.37707358e-03 9.25886216e+02] [ 9.49711637e-01 3.12436422e-01 -2.07674904e-02 1.04238638e+02] [ 2.17202703e-02 4.30793889e-04 9.99763994e-01 8.96182101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5292541539999 meters Centerline goodness [0,1] 0.9998682419078572 Centerline is valid? [True, True] Translation: X:925.90, Y:104.27, Z:8.96 [[ 3.10353934e-01 -9.50598717e-01 -6.52036243e-03 9.25896072e+02] [ 9.50361217e-01 3.10422165e-01 -2.12517469e-02 1.04265525e+02] [ 2.22259484e-02 3.98863693e-04 9.99752894e-01 8.96254146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5592541539999 meters Centerline goodness [0,1] 0.9998679693688935 Centerline is valid? [True, True] Translation: X:925.91, Y:104.29, Z:8.96 [[ 3.06548610e-01 -9.51832223e-01 -6.58553652e-03 9.25906166e+02] [ 9.51589865e-01 3.06619175e-01 -2.14804589e-02 1.04291349e+02] [ 2.24650447e-02 3.18075002e-04 9.99747578e-01 8.96238065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.92, Y:104.32, Z:8.96 [[ 3.04273232e-01 -9.52563760e-01 -6.33114483e-03 9.25916177e+02] [ 9.52339573e-01 3.04338982e-01 -2.06669081e-02 1.04318224e+02] [ 2.16133619e-02 2.58987166e-04 9.99766370e-01 8.96299547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.93, Y:104.34, Z:8.96 [[ 2.99919458e-01 -9.53940493e-01 -6.77167046e-03 9.25928315e+02] [ 9.53683854e-01 2.99995841e-01 -2.21269423e-02 1.04343482e+02] [ 2.31392592e-02 1.78267747e-04 9.99732236e-01 8.96221901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.94, Y:104.37, Z:8.96 [[ 2.97559792e-01 -9.54678094e-01 -6.92149091e-03 9.25938210e+02] [ 9.54409615e-01 2.97640253e-01 -2.26399368e-02 1.04369224e+02] [ 2.36739660e-02 1.30797421e-04 9.99719724e-01 8.96177032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.95, Y:104.39, Z:8.96 [[ 2.93762176e-01 -9.55852546e-01 -7.04948832e-03 9.25950030e+02] [ 9.55573795e-01 2.93846744e-01 -2.30827633e-02 1.04393444e+02] [ 2.41351873e-02 4.45364692e-05 9.99708703e-01 8.96108282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7092541539998 meters Centerline goodness [0,1] 0.9998458183740446 Centerline is valid? [True, True] Translation: X:925.96, Y:104.42, Z:8.96 [[ 2.91560905e-01 -9.56523427e-01 -7.42775836e-03 9.25959985e+02] [ 9.56213540e-01 2.91655504e-01 -2.43460914e-02 1.04420022e+02] [ 2.54539534e-02 -4.15467170e-06 9.99675996e-01 8.96093475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7392541539998 meters Centerline goodness [0,1] 0.999955855736547 Centerline is valid? [True, True] Translation: X:925.97, Y:104.45, Z:8.96 [[ 2.90319649e-01 -9.56903739e-01 -7.05241836e-03 9.25970013e+02] [ 9.56623953e-01 2.90405293e-01 -2.31382277e-02 1.04446420e+02] [ 2.41891162e-02 -2.90301823e-05 9.99707400e-01 8.96284122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.98, Y:104.47, Z:8.96 [[ 2.88547684e-01 -9.57443022e-01 -6.56452525e-03 9.25980705e+02] [ 9.57200297e-01 2.88622340e-01 -2.15577524e-02 1.04473025e+02] [ 2.25349883e-02 -6.31259834e-05 9.99746053e-01 8.96470933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7992541539999 meters Centerline goodness [0,1] 0.9998235825964231 Centerline is valid? [True, True] Translation: X:925.99, Y:104.50, Z:8.96 [[ 2.87844807e-01 -9.57653451e-01 -6.72573126e-03 9.25989279e+02] [ 9.57398188e-01 2.87923362e-01 -2.21098974e-02 1.04498674e+02] [ 2.31101147e-02 -7.49837936e-05 9.99732923e-01 8.96414023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8292541539998 meters Centerline goodness [0,1] 0.9999559471365639 Centerline is valid? [True, True] Translation: X:926.00, Y:104.52, Z:8.97 [[ 2.88220208e-01 -9.57544077e-01 -6.20106126e-03 9.25998469e+02] [ 9.57326628e-01 2.88286903e-01 -2.04056167e-02 1.04524943e+02] [ 2.13269621e-02 -5.51299895e-05 9.99772553e-01 8.96693201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.01, Y:104.55, Z:8.97 [[ 2.88736847e-01 -9.57390354e-01 -5.89434969e-03 9.26006585e+02] [ 9.57193452e-01 2.88797003e-01 -1.94161223e-02 1.04550578e+02] [ 2.02910787e-02 -3.58829946e-05 9.99794114e-01 8.96769223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8892541539999 meters Centerline goodness [0,1] 0.9999116139296447 Centerline is valid? [True, True] Translation: X:926.01, Y:104.58, Z:8.97 [[ 2.89020743e-01 -9.57304407e-01 -5.93997821e-03 9.26014344e+02] [ 9.57104003e-01 2.89081775e-01 -1.95871250e-02 1.04577672e+02] [ 2.04679805e-02 -2.40915050e-05 9.99790509e-01 8.96870126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9192541539999 meters Centerline goodness [0,1] 0.9999116139296447 Centerline is valid? [True, True] Translation: X:926.02, Y:104.60, Z:8.97 [[ 2.88742970e-01 -9.57388261e-01 -5.93429147e-03 9.26022283e+02] [ 9.57187839e-01 2.88803943e-01 -1.95888482e-02 1.04604105e+02] [ 2.04679801e-02 -2.40894344e-05 9.99790509e-01 8.96895868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9492541539998 meters Centerline goodness [0,1] 0.999823317652775 Centerline is valid? [True, True] Translation: X:926.03, Y:104.63, Z:8.97 [[ 2.90607142e-01 -9.56824868e-01 -5.80189772e-03 9.26028969e+02] [ 9.56632768e-01 2.90665052e-01 -1.91722486e-02 1.04630242e+02] [ 2.00308931e-02 2.13068872e-05 9.99799361e-01 8.96867465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.03, Y:104.66, Z:8.97 [[ 2.93480101e-01 -9.55950604e-01 -5.27950477e-03 9.26034986e+02] [ 9.55791120e-01 2.93527574e-01 -1.74613204e-02 1.04656732e+02] [ 1.82418400e-02 7.84463000e-05 9.99833601e-01 8.96968878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0092541539999 meters Centerline goodness [0,1] 0.9999779546306299 Centerline is valid? [True, True] Translation: X:926.04, Y:104.68, Z:8.97 [[ 2.94453161e-01 -9.55651234e-01 -5.29659910e-03 9.26042735e+02] [ 9.55490381e-01 2.94500777e-01 -1.75334935e-02 1.04684117e+02] [ 1.83157573e-02 1.01943108e-04 9.99832247e-01 8.97041187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0392541539999 meters Centerline goodness [0,1] 0.9998901292080513 Centerline is valid? [True, True] Translation: X:926.05, Y:104.71, Z:8.97 [[ 2.95266876e-01 -9.55399961e-01 -5.32779431e-03 9.26049418e+02] [ 9.55236816e-01 2.95314914e-01 -1.76557769e-02 1.04710344e+02] [ 1.84417057e-02 1.23860838e-04 9.99829930e-01 8.96970242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.05, Y:104.74, Z:8.97 [[ 2.97562435e-01 -9.54688041e-01 -5.22897295e-03 9.26053559e+02] [ 9.54530492e-01 2.97608327e-01 -1.73442931e-02 1.04736911e+02] [ 1.81145750e-02 1.69795964e-04 9.99835903e-01 8.96874425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0992541539998 meters Centerline goodness [0,1] 0.9998244227899219 Centerline is valid? [True, True] Translation: X:926.06, Y:104.76, Z:8.97 [[ 2.98238716e-01 -9.54475043e-01 -5.57312658e-03 9.26062183e+02] [ 9.54295714e-01 2.98290717e-01 -1.85023939e-02 1.04764173e+02] [ 1.93224851e-02 1.99719386e-04 9.99813283e-01 8.96950267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.07, Y:104.79, Z:8.97 [[ 3.00424748e-01 -9.53790057e-01 -5.43119050e-03 9.26067513e+02] [ 9.53619362e-01 3.00473740e-01 -1.80456195e-02 1.04791172e+02] [ 1.88436626e-02 2.42062285e-04 9.99822413e-01 8.96972172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.07, Y:104.82, Z:8.97 [[ 3.01856610e-01 -9.53338662e-01 -5.28984409e-03 9.26073108e+02] [ 9.53176409e-01 3.01902838e-01 -1.75900286e-02 1.04818917e+02] [ 1.83662733e-02 2.67511817e-04 9.99831290e-01 8.96950049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1892541539999 meters Centerline goodness [0,1] 0.9998461538461538 Centerline is valid? [True, True] Translation: X:926.08, Y:104.85, Z:8.97 [[ 3.01978421e-01 -9.53299432e-01 -5.40621355e-03 9.26080566e+02] [ 9.53129611e-01 3.02026678e-01 -1.79952614e-02 1.04846231e+02] [ 1.87876932e-02 2.81358394e-04 9.99823456e-01 8.96913894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.09, Y:104.87, Z:8.97 [[ 3.02094438e-01 -9.53264192e-01 -5.13129102e-03 9.26086604e+02] [ 9.53110935e-01 3.02137890e-01 -1.70950626e-02 1.04872924e+02] [ 1.78464685e-02 2.73633755e-04 9.99840702e-01 8.96942368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2492541539999 meters Centerline goodness [0,1] 0.9999559936630875 Centerline is valid? [True, True] Translation: X:926.10, Y:104.90, Z:8.97 [[ 3.01049914e-01 -9.53595588e-01 -4.93996254e-03 9.26096813e+02] [ 9.53453346e-01 3.01090338e-01 -1.64719766e-02 1.04899102e+02] [ 1.71949792e-02 2.48863330e-04 9.99852124e-01 8.97096997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2792541539999 meters Centerline goodness [0,1] 0.999934106483922 Centerline is valid? [True, True] Translation: X:926.11, Y:104.93, Z:8.97 [[ 3.00118196e-01 -9.53890339e-01 -4.72121314e-03 9.26105170e+02] [ 9.53760188e-01 3.00155244e-01 -1.57585758e-02 1.04925985e+02] [ 1.64490501e-02 2.26530203e-04 9.99864680e-01 8.97104204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.11, Y:104.95, Z:8.97 [[ 2.99091027e-01 -9.54213483e-01 -4.60294383e-03 9.26114026e+02] [ 9.54089556e-01 2.99126371e-01 -1.53796261e-02 1.04952230e+02] [ 1.60523085e-02 2.08287535e-04 9.99871132e-01 8.97144922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.12, Y:104.98, Z:8.97 [[ 2.98533440e-01 -9.54388038e-01 -4.61059302e-03 9.26120602e+02] [ 9.54263454e-01 2.98568971e-01 -1.54217168e-02 1.04978878e+02] [ 1.60948821e-02 2.04177753e-04 9.99870448e-01 8.97032740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3692541539999 meters Centerline goodness [0,1] 0.9999780677705888 Centerline is valid? [True, True] Translation: X:926.13, Y:105.01, Z:8.97 [[ 2.98530465e-01 -9.54387860e-01 -4.83469275e-03 9.26129380e+02] [ 9.54250569e-01 2.98569531e-01 -1.61891126e-02 1.05005293e+02] [ 1.68941844e-02 2.19434997e-04 9.99857259e-01 8.97032824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3992541539999 meters Centerline goodness [0,1] 0.999845512127298 Centerline is valid? [True, True] Translation: X:926.14, Y:105.03, Z:8.97 [[ 2.98656347e-01 -9.54347786e-01 -4.96890454e-03 9.26137648e+02] [ 9.54202455e-01 2.98697589e-01 -1.66560730e-02 1.05032516e+02] [ 1.73798862e-02 2.33101001e-04 9.99848931e-01 8.96974290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4292541539999 meters Centerline goodness [0,1] 0.9999559616866674 Centerline is valid? [True, True] Translation: X:926.14, Y:105.06, Z:8.97 [[ 2.99104919e-01 -9.54207520e-01 -4.92506359e-03 9.26144525e+02] [ 9.54064419e-01 2.99145364e-01 -1.65267910e-02 1.05058337e+02] [ 1.72432982e-02 2.44416537e-04 9.99851293e-01 8.97030785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.15, Y:105.09, Z:8.97 [[ 3.00558019e-01 -9.53750568e-01 -4.97305305e-03 9.26148532e+02] [ 9.53604303e-01 3.00599029e-01 -1.67050169e-02 1.05085454e+02] [ 1.74273142e-02 2.78501984e-04 9.99848094e-01 8.96960472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.16, Y:105.11, Z:8.97 [[ 3.02061105e-01 -9.53275966e-01 -4.90108522e-03 9.26157558e+02] [ 9.53133578e-01 3.02100709e-01 -1.64785944e-02 1.05112360e+02] [ 1.71892693e-02 3.06153548e-04 9.99852207e-01 8.97144230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5192541539999 meters Centerline goodness [0,1] 0.9998900131984162 Centerline is valid? [True, True] Translation: X:926.17, Y:105.14, Z:8.97 [[ 3.02275606e-01 -9.53207952e-01 -4.90496261e-03 9.26165538e+02] [ 9.53065050e-01 3.02315235e-01 -1.65078373e-02 1.05139735e+02] [ 1.72182467e-02 3.15168080e-04 9.99851705e-01 8.97145421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.17, Y:105.17, Z:8.97 [[ 3.03702222e-01 -9.52755027e-01 -4.77703093e-03 9.26172573e+02] [ 9.52619162e-01 3.03739602e-01 -1.60930696e-02 1.05167048e+02] [ 1.67837264e-02 3.36809779e-04 9.99859087e-01 8.97298101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5792541539998 meters Centerline goodness [0,1] 0.9998677481925586 Centerline is valid? [True, True] Translation: X:926.18, Y:105.19, Z:8.97 [[ 3.03560331e-01 -9.52799987e-01 -4.82798913e-03 9.26181205e+02] [ 9.52660935e-01 3.03598529e-01 -1.62811571e-02 1.05194309e+02] [ 1.69784567e-02 3.42876810e-04 9.99855797e-01 8.97221228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.19, Y:105.22, Z:8.97 [[ 3.03350453e-01 -9.52866974e-01 -4.79926440e-03 9.26188383e+02] [ 9.52729287e-01 3.03388222e-01 -1.62016245e-02 1.05220805e+02] [ 1.68940332e-02 3.42370368e-04 9.99857227e-01 8.97302239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6392541539999 meters Centerline goodness [0,1] 0.999845576880653 Centerline is valid? [True, True] Translation: X:926.20, Y:105.25, Z:8.97 [[ 3.02014748e-01 -9.53290294e-01 -4.97075078e-03 9.26198713e+02] [ 9.53142319e-01 3.02055464e-01 -1.67992896e-02 1.05247253e+02] [ 1.75160421e-02 3.35800279e-04 9.99846526e-01 8.97234494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6692541539999 meters Centerline goodness [0,1] 0.9999560043115775 Centerline is valid? [True, True] Translation: X:926.21, Y:105.27, Z:8.97 [[ 2.99282574e-01 -9.54152002e-01 -4.88864676e-03 9.26207949e+02] [ 9.54008735e-01 2.99322362e-01 -1.65365415e-02 1.05272909e+02] [ 1.72416554e-02 2.85286979e-04 9.99851311e-01 8.97271054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.22, Y:105.30, Z:8.97 [[ 2.97391978e-01 -9.54743037e-01 -4.87280095e-03 9.26218129e+02] [ 9.54600534e-01 2.97431787e-01 -1.64970503e-02 1.05298898e+02] [ 1.71997698e-02 2.54512025e-04 9.99852041e-01 8.97422683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7292541539998 meters Centerline goodness [0,1] 0.9999341151666886 Centerline is valid? [True, True] Translation: X:926.23, Y:105.33, Z:8.97 [[ 2.94573525e-01 -9.55616599e-01 -4.83271436e-03 9.26228062e+02] [ 9.55476256e-01 2.94613092e-01 -1.63783299e-02 1.05325116e+02] [ 1.70751849e-02 2.07078553e-04 9.99854187e-01 8.97388013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.24, Y:105.35, Z:8.98 [[ 2.89227965e-01 -9.57249028e-01 -4.63486863e-03 9.26240230e+02] [ 9.57119901e-01 2.89265078e-01 -1.57229238e-02 1.05351632e+02] [ 1.63914592e-02 1.11384261e-04 9.99865645e-01 8.97554136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7892541539999 meters Centerline goodness [0,1] 0.9999339367113695 Centerline is valid? [True, True] Translation: X:926.25, Y:105.38, Z:8.98 [[ 2.83283317e-01 -9.59026147e-01 -4.40591955e-03 9.26251255e+02] [ 9.58909449e-01 2.83317577e-01 -1.49606024e-02 1.05376743e+02] [ 1.55958833e-02 1.32111831e-05 9.99878377e-01 8.97562098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8192541539999 meters Centerline goodness [0,1] 0.9999779793887078 Centerline is valid? [True, True] Translation: X:926.26, Y:105.40, Z:8.98 [[ 2.80254387e-01 -9.59916588e-01 -4.19793923e-03 9.26260094e+02] [ 9.59810525e-01 2.80285824e-01 -1.42692715e-02 1.05402012e+02] [ 1.48739332e-02 -3.02003287e-05 9.99889376e-01 8.97674376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.27, Y:105.43, Z:8.98 [[ 2.77166990e-01 -9.60812874e-01 -4.13296401e-03 9.26269085e+02] [ 9.60709948e-01 2.77197793e-01 -1.40634135e-02 1.05428507e+02] [ 1.46579572e-02 -7.26656563e-05 9.99892564e-01 8.97765561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.28, Y:105.45, Z:8.98 [[ 2.70426881e-01 -9.62731475e-01 -4.17250108e-03 9.26280697e+02] [ 9.62626577e-01 2.70459013e-01 -1.42125132e-02 1.05454040e+02] [ 1.48113243e-02 -1.73114820e-04 9.99890291e-01 8.97749398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.29, Y:105.48, Z:8.98 [[ 2.66216274e-01 -9.63903641e-01 -4.32053373e-03 9.26290531e+02] [ 9.63791090e-01 2.66251221e-01 -1.47316775e-02 1.05480430e+02] [ 1.53502650e-02 -2.42279610e-04 9.99882148e-01 8.97749452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9392541539999 meters Centerline goodness [0,1] 0.9998452936106261 Centerline is valid? [True, True] Translation: X:926.30, Y:105.51, Z:8.98 [[ 2.57385807e-01 -9.66298053e-01 -4.54075879e-03 9.26302399e+02] [ 9.66173832e-01 2.57425550e-01 -1.54988331e-02 1.05506175e+02] [ 1.61453995e-02 -3.97982672e-04 9.99869575e-01 8.97558148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.31, Y:105.53, Z:8.98 [[ 2.53159557e-01 -9.67413638e-01 -4.59264927e-03 9.26308353e+02] [ 9.67286474e-01 2.53200776e-01 -1.56921732e-02 1.05533841e+02] [ 1.63436847e-02 -4.69783910e-04 9.99866323e-01 8.97818805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9992541539999 meters Centerline goodness [0,1] 0.9998893487064864 Centerline is valid? [True, True] Translation: X:926.32, Y:105.56, Z:8.98 [[ 2.44229986e-01 -9.69706021e-01 -4.68481617e-03 9.26324163e+02] [ 9.69573821e-01 2.44274105e-01 -1.60239892e-02 1.05557668e+02] [ 1.66829381e-02 -6.28736447e-04 9.99860632e-01 8.97564085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.33, Y:105.58, Z:8.98 [[ 2.40799797e-01 -9.70563240e-01 -4.73877263e-03 9.26333125e+02] [ 9.70427851e-01 2.40845428e-01 -1.62254854e-02 1.05584151e+02] [ 1.68891714e-02 -6.91543357e-04 9.99857129e-01 8.97709979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0592541539999 meters Centerline goodness [0,1] 0.9998230832172317 Centerline is valid? [True, True] Translation: X:926.34, Y:105.61, Z:8.98 [[ 2.34816646e-01 -9.72029390e-01 -4.47292682e-03 9.26336306e+02] [ 9.71908779e-01 2.34858054e-01 -1.53303537e-02 1.05612176e+02] [ 1.59520572e-02 -7.47454616e-04 9.99872478e-01 8.97704951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.34, Y:105.64, Z:8.98 [[ 2.33814744e-01 -9.72271246e-01 -4.39214374e-03 9.26341149e+02] [ 9.72154751e-01 2.33854801e-01 -1.50689072e-02 1.05640143e+02] [ 1.56781891e-02 -7.46510726e-04 9.99876811e-01 8.97957048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1192541539999 meters Centerline goodness [0,1] 0.9999779487971069 Centerline is valid? [True, True] Translation: X:926.35, Y:105.67, Z:8.98 [[ 2.33551877e-01 -9.72335458e-01 -4.15667449e-03 9.26345528e+02] [ 9.72230917e-01 2.33587793e-01 -1.42754053e-02 1.05666593e+02] [ 1.48514312e-02 -7.07199743e-04 9.99889461e-01 8.97995583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.35, Y:105.70, Z:8.98 [[ 2.34756728e-01 -9.72045519e-01 -4.09733467e-03 9.26346182e+02] [ 9.71943676e-01 2.34791510e-01 -1.40868158e-02 1.05695557e+02] [ 1.46550455e-02 -6.75403748e-04 9.99892381e-01 8.98119347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1792541539999 meters Centerline goodness [0,1] 0.9999780994721973 Centerline is valid? [True, True] Translation: X:926.35, Y:105.72, Z:8.98 [[ 2.39163201e-01 -9.70970737e-01 -4.09768709e-03 9.26348653e+02] [ 9.70868497e-01 2.39197536e-01 -1.41031991e-02 1.05723359e+02] [ 1.46739503e-02 -6.05349065e-04 9.99892149e-01 8.98004151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2092541539998 meters Centerline goodness [0,1] 0.9999781878462679 Centerline is valid? [True, True] Translation: X:926.35, Y:105.75, Z:8.98 [[ 2.42527288e-01 -9.70135593e-01 -4.17682117e-03 9.26351382e+02] [ 9.70028999e-01 2.42562603e-01 -1.43918248e-02 1.05751309e+02] [ 1.49751621e-02 -5.61227414e-04 9.99887708e-01 8.97970580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2392541539998 meters Centerline goodness [0,1] 0.9996960684280225 Centerline is valid? [True, True] Translation: X:926.35, Y:105.78, Z:8.98 [[ 2.50417593e-01 -9.68127786e-01 -4.42934494e-03 9.26349269e+02] [ 9.68007320e-01 2.50456337e-01 -1.52791331e-02 1.05780110e+02] [ 1.59015108e-02 -4.61474610e-04 9.99873456e-01 8.97740728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2692541539999 meters Centerline goodness [0,1] 0.9999347471451876 Centerline is valid? [True, True] Translation: X:926.35, Y:105.81, Z:8.98 [[ 2.54969185e-01 -9.66939265e-01 -4.37862277e-03 9.26350073e+02] [ 9.66821112e-01 2.55006500e-01 -1.51202977e-02 1.05809182e+02] [ 1.57369868e-02 -3.78134952e-04 9.99876094e-01 8.97785382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.35, Y:105.84, Z:8.98 [[ 2.60291363e-01 -9.65519692e-01 -4.48672664e-03 9.26352409e+02] [ 9.65395203e-01 2.60329863e-01 -1.55068991e-02 1.05836428e+02] [ 1.61402453e-02 -2.95152479e-04 9.99869694e-01 8.97893438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3292541539998 meters Centerline goodness [0,1] 0.9998924893026856 Centerline is valid? [True, True] Translation: X:926.35, Y:105.87, Z:8.98 [[ 2.68824186e-01 -9.63180726e-01 -4.05544120e-03 9.26348723e+02] [ 9.63078607e-01 2.68854740e-01 -1.40258979e-02 1.05866462e+02] [ 1.45997991e-02 -1.35208073e-04 9.99893408e-01 8.97804477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.35, Y:105.90, Z:8.98 [[ 2.77417916e-01 -9.60742038e-01 -3.74642567e-03 9.26346284e+02] [ 9.60654508e-01 2.77443211e-01 -1.29684561e-02 1.05897097e+02] [ 1.34987614e-02 -1.33863729e-06 9.99908888e-01 8.98060167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3892541539999 meters Centerline goodness [0,1] 0.9998500428449014 Centerline is valid? [True, True] Translation: X:926.35, Y:105.92, Z:8.98 [[ 2.79566492e-01 -9.60119845e-01 -3.52979754e-03 9.26349478e+02] [ 9.60041984e-01 2.79588773e-01 -1.22273410e-02 1.05924950e+02] [ 1.27266046e-02 2.96010063e-05 9.99919013e-01 8.97915322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4192541539999 meters Centerline goodness [0,1] 0.9998506571087217 Centerline is valid? [True, True] Translation: X:926.35, Y:105.95, Z:8.98 [[ 2.83504242e-01 -9.58965047e-01 -3.37390199e-03 9.26350144e+02] [ 9.58893683e-01 2.83524306e-01 -1.16993042e-02 1.05953579e+02] [ 1.21758070e-02 8.15890604e-05 9.99925869e-01 8.97895277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4492541539998 meters Centerline goodness [0,1] 0.9999356885611388 Centerline is valid? [True, True] Translation: X:926.36, Y:105.98, Z:8.98 [[ 2.84650330e-01 -9.58625391e-01 -3.39834362e-03 9.26355947e+02] [ 9.58552820e-01 2.84670598e-01 -1.17958927e-02 1.05981031e+02] [ 1.22752507e-02 1.00212885e-04 9.99924651e-01 8.98016718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4792541539998 meters Centerline goodness [0,1] 0.9999573087431693 Centerline is valid? [True, True] Translation: X:926.36, Y:106.01, Z:8.98 [[ 2.85381267e-01 -9.58407998e-01 -3.41211345e-03 9.26360684e+02] [ 9.58334674e-01 2.85401642e-01 -1.18556466e-02 1.06007686e+02] [ 1.23363693e-02 1.13432810e-04 9.99923898e-01 8.98043706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.36, Y:106.04, Z:8.98 [[ 2.85807886e-01 -9.58280165e-01 -3.60237674e-03 9.26363808e+02] [ 9.58198289e-01 2.85830558e-01 -1.25271873e-02 1.06035214e+02] [ 1.30342244e-02 1.28577674e-04 9.99915043e-01 8.98051882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5392541539999 meters Centerline goodness [0,1] 0.9998935649360325 Centerline is valid? [True, True] Translation: X:926.37, Y:106.06, Z:8.98 [[ 2.84803878e-01 -9.58579290e-01 -3.53497837e-03 9.26370421e+02] [ 9.58500313e-01 2.84825792e-01 -1.23052328e-02 1.06062907e+02] [ 1.28023944e-02 1.16300167e-04 9.99918039e-01 8.97862378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5692541539999 meters Centerline goodness [0,1] 0.9999574413754947 Centerline is valid? [True, True] Translation: X:926.37, Y:106.09, Z:8.98 [[ 2.85265294e-01 -9.58440730e-01 -3.88318279e-03 9.26374591e+02] [ 9.58345228e-01 2.85291689e-01 -1.35305411e-02 1.06089593e+02] [ 1.40760614e-02 1.38364078e-04 9.99900918e-01 8.97844469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5992541539998 meters Centerline goodness [0,1] 0.9999361607047859 Centerline is valid? [True, True] Translation: X:926.38, Y:106.12, Z:8.98 [[ 2.85314310e-01 -9.58425301e-01 -4.08498367e-03 9.26380397e+02] [ 9.58319465e-01 2.85343513e-01 -1.42436824e-02 1.06116298e+02] [ 1.48171292e-02 1.49207056e-04 9.99890209e-01 8.97753537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.39, Y:106.14, Z:8.98 [[ 2.86017687e-01 -9.58213957e-01 -4.46034089e-03 9.26387513e+02] [ 9.58087481e-01 2.86052407e-01 -1.55691908e-02 1.06144022e+02] [ 1.61945072e-02 1.79667169e-04 9.99868844e-01 8.97866168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6592541539999 meters Centerline goodness [0,1] 0.9998302026955322 Centerline is valid? [True, True] Translation: X:926.39, Y:106.17, Z:8.97 [[ 2.85957113e-01 -9.58230234e-01 -4.83201538e-03 9.26391597e+02] [ 9.58081509e-01 2.85997866e-01 -1.68832299e-02 1.06170749e+02] [ 1.75599674e-02 1.98415083e-04 9.99845792e-01 8.97391517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6892541539999 meters Centerline goodness [0,1] 0.9999787025599522 Centerline is valid? [True, True] Translation: X:926.40, Y:106.20, Z:8.98 [[ 2.85969140e-01 -9.58224777e-01 -5.18917791e-03 9.26398181e+02] [ 9.58052915e-01 2.86016134e-01 -1.81489202e-02 1.06198043e+02] [ 1.88749336e-02 2.18524079e-04 9.99821829e-01 8.97587042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7192541539998 meters Centerline goodness [0,1] 0.9999787978373794 Centerline is valid? [True, True] Translation: X:926.41, Y:106.23, Z:8.98 [[ 2.85461863e-01 -9.58375789e-01 -5.23186096e-03 9.26405623e+02] [ 9.58200735e-01 2.85509721e-01 -1.83180323e-02 1.06225083e+02] [ 1.90493058e-02 2.15926606e-04 9.99818522e-01 8.97595586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7492541539999 meters Centerline goodness [0,1] 0.9998306197200991 Centerline is valid? [True, True] Translation: X:926.41, Y:106.25, Z:8.97 [[ 2.83006544e-01 -9.59104151e-01 -5.15016292e-03 9.26413618e+02] [ 9.58934276e-01 2.83053351e-01 -1.80514359e-02 1.06251310e+02] [ 1.87709780e-02 1.70006743e-04 9.99823795e-01 8.97401224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.42, Y:106.28, Z:8.98 [[ 2.82325906e-01 -9.59305044e-01 -5.09072727e-03 9.26422522e+02] [ 9.59138740e-01 2.82371753e-01 -1.78625735e-02 1.06277904e+02] [ 1.85731344e-02 1.60353498e-04 9.99827492e-01 8.97810560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.43, Y:106.30, Z:8.98 [[ 2.82047861e-01 -9.59386857e-01 -5.08555421e-03 9.26430005e+02] [ 9.59220539e-01 2.82093660e-01 -1.78640465e-02 1.06304445e+02] [ 1.85731341e-02 1.60348057e-04 9.99827492e-01 8.97836302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8392541539998 meters Centerline goodness [0,1] 0.9998301341939867 Centerline is valid? [True, True] Translation: X:926.44, Y:106.33, Z:8.98 [[ 2.80228359e-01 -9.59920414e-01 -4.98649443e-03 9.26438336e+02] [ 9.59760252e-01 2.80272692e-01 -1.75350326e-02 1.06331045e+02] [ 1.82298140e-02 1.27974272e-04 9.99833815e-01 8.97619683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8692541539999 meters Centerline goodness [0,1] 0.9998513358535446 Centerline is valid? [True, True] Translation: X:926.45, Y:106.36, Z:8.98 [[ 2.77821484e-01 -9.60620986e-01 -4.74809269e-03 9.26447543e+02] [ 9.60475570e-01 2.77862042e-01 -1.67142013e-02 1.06357796e+02] [ 1.73753273e-02 8.31371834e-05 9.99849034e-01 8.97751621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.46, Y:106.38, Z:8.98 [[ 2.76430396e-01 -9.61022839e-01 -4.61939192e-03 9.26456568e+02] [ 9.60884962e-01 2.76468984e-01 -1.62785163e-02 1.06384193e+02] [ 1.69211446e-02 6.11724829e-05 9.99856825e-01 8.98198569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.46, Y:106.41, Z:8.98 [[ 2.75669766e-01 -9.61241979e-01 -4.47645069e-03 9.26464192e+02] [ 9.61112265e-01 2.75706104e-01 -1.57910756e-02 1.06409890e+02] [ 1.64132296e-02 5.07504628e-05 9.99865293e-01 8.98267944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9592541539998 meters Centerline goodness [0,1] 0.9999573660761868 Centerline is valid? [True, True] Translation: X:926.47, Y:106.44, Z:8.98 [[ 2.74579367e-01 -9.61554014e-01 -4.47774259e-03 9.26472027e+02] [ 9.61423999e-01 2.74615873e-01 -1.58119086e-02 1.06436430e+02] [ 1.64336633e-02 3.66146635e-05 9.99864958e-01 8.98219399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9892541539998 meters Centerline goodness [0,1] 0.9999787333588533 Centerline is valid? [True, True] Translation: X:926.48, Y:106.46, Z:8.98 [[ 2.73063074e-01 -9.61986478e-01 -4.30982116e-03 9.26480482e+02] [ 9.61865828e-01 2.73097083e-01 -1.52352155e-02 1.06463541e+02] [ 1.58330709e-02 1.47050724e-05 9.99874649e-01 8.98365556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0192541539999 meters Centerline goodness [0,1] 0.9999573688024896 Centerline is valid? [True, True] Translation: X:926.49, Y:106.49, Z:8.98 [[ 2.71824835e-01 -9.62337447e-01 -4.23053119e-03 9.26488430e+02] [ 9.62221015e-01 2.71857754e-01 -1.49693262e-02 1.06489603e+02] [ 1.55556458e-02 -1.67140105e-06 9.99879004e-01 8.98332698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0492541539999 meters Centerline goodness [0,1] 0.9999150526673463 Centerline is valid? [True, True] Translation: X:926.50, Y:106.52, Z:8.98 [[ 2.68157343e-01 -9.63366268e-01 -4.13203563e-03 9.26498350e+02] [ 9.63255116e-01 2.68189171e-01 -1.46338573e-02 1.06515710e+02] [ 1.52059317e-02 -5.60281559e-05 9.99884382e-01 8.98278372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.51, Y:106.54, Z:8.99 [[ 2.65860431e-01 -9.64002780e-01 -4.10760798e-03 9.26507772e+02] [ 9.63892778e-01 2.65892146e-01 -1.45629611e-02 1.06542278e+02] [ 1.51309157e-02 -8.75785525e-05 9.99885517e-01 8.98557276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1092541539998 meters Centerline goodness [0,1] 0.9998294824793248 Centerline is valid? [True, True] Translation: X:926.52, Y:106.57, Z:8.98 [[ 2.58948806e-01 -9.65881858e-01 -4.21341406e-03 9.26520563e+02] [ 9.65766106e-01 2.58983008e-01 -1.49542481e-02 1.06567328e+02] [ 1.55352395e-02 -1.96787815e-04 9.99879302e-01 8.98216372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1392541539999 meters Centerline goodness [0,1] 0.9999572640441035 Centerline is valid? [True, True] Translation: X:926.53, Y:106.59, Z:8.98 [[ 2.55324696e-01 -9.66845634e-01 -4.33807390e-03 9.26531126e+02] [ 9.66722811e-01 2.55361416e-01 -1.54127743e-02 1.06593456e+02] [ 1.60095503e-02 -2.58453072e-04 9.99871806e-01 8.98430813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1692541539999 meters Centerline goodness [0,1] 0.9999148156824329 Centerline is valid? [True, True] Translation: X:926.55, Y:106.62, Z:8.98 [[ 2.47092509e-01 -9.68981911e-01 -4.39856462e-03 9.26545088e+02] [ 9.68855731e-01 2.47131338e-01 -1.56420461e-02 1.06617395e+02] [ 1.62438828e-02 -3.96542142e-04 9.99867981e-01 8.98313158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.55, Y:106.64, Z:8.99 [[ 2.43164751e-01 -9.69975358e-01 -4.32529647e-03 9.26553960e+02] [ 9.69853279e-01 2.43202797e-01 -1.53953406e-02 1.06644055e+02] [ 1.59850252e-02 -4.51298802e-04 9.99872129e-01 8.98574025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2292541539998 meters Centerline goodness [0,1] 0.9998721663541844 Centerline is valid? [True, True] Translation: X:926.57, Y:106.67, Z:8.98 [[ 2.38698039e-01 -9.71083922e-01 -4.38882739e-03 9.26566654e+02] [ 9.70958134e-01 2.38737799e-01 -1.56386134e-02 1.06668830e+02] [ 1.62341850e-02 -5.28461284e-04 9.99868077e-01 8.98268153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2592541539999 meters Centerline goodness [0,1] 0.9998069787891136 Centerline is valid? [True, True] Translation: X:926.57, Y:106.70, Z:8.98 [[ 2.31805668e-01 -9.72752186e-01 -4.39503954e-03 9.26574781e+02] [ 9.72626048e-01 2.31846445e-01 -1.56778915e-02 1.06696050e+02] [ 1.62696775e-02 -6.40505823e-04 9.99867435e-01 8.98344872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2892541539999 meters Centerline goodness [0,1] 0.999893166958677 Centerline is valid? [True, True] Translation: X:926.58, Y:106.72, Z:8.98 [[ 2.29304259e-01 -9.73345145e-01 -4.33428190e-03 9.26583871e+02] [ 9.73222304e-01 2.29344243e-01 -1.54779067e-02 1.06722742e+02] [ 1.60593880e-02 -6.69069874e-04 9.99870816e-01 8.98489848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3192541539999 meters Centerline goodness [0,1] 0.9999145737228772 Centerline is valid? [True, True] Translation: X:926.59, Y:106.75, Z:8.99 [[ 2.27166899e-01 -9.73845948e-01 -4.38962750e-03 9.26593138e+02] [ 9.73719805e-01 2.27208197e-01 -1.56900127e-02 1.06748876e+02] [ 1.62770146e-02 -7.10015702e-04 9.99867269e-01 8.98548708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.60, Y:106.78, Z:8.99 [[ 2.27523249e-01 -9.73762673e-01 -4.40769902e-03 9.26599648e+02] [ 9.73635255e-01 2.27564851e-01 -1.57679956e-02 1.06775830e+02] [ 1.63573229e-02 -7.03905569e-04 9.99865962e-01 8.98749737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3792541539999 meters Centerline goodness [0,1] 0.9998933924649794 Centerline is valid? [True, True] Translation: X:926.60, Y:106.80, Z:8.98 [[ 2.31088963e-01 -9.72921283e-01 -4.69761484e-03 9.26603645e+02] [ 9.72776102e-01 2.31135697e-01 -1.68209702e-02 1.06802690e+02] [ 1.74512664e-02 -6.82586878e-04 9.99847482e-01 8.98443699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.61, Y:106.83, Z:8.99 [[ 2.34385127e-01 -9.72132472e-01 -4.69779890e-03 9.26608242e+02] [ 9.71986866e-01 2.34431381e-01 -1.68362669e-02 1.06830544e+02] [ 1.74683932e-02 -6.20028285e-04 9.99847224e-01 8.98639452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4392541539999 meters Centerline goodness [0,1] 0.999851253718657 Centerline is valid? [True, True] Translation: X:926.61, Y:106.86, Z:8.98 [[ 2.41962850e-01 -9.70272480e-01 -5.02927239e-03 9.26607860e+02] [ 9.70104802e-01 2.42014569e-01 -1.80449771e-02 1.06858282e+02] [ 1.87257019e-02 -5.12707211e-04 9.99824527e-01 8.98285199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4692541539998 meters Centerline goodness [0,1] 0.9998510099397655 Centerline is valid? [True, True] Translation: X:926.61, Y:106.89, Z:8.98 [[ 2.45971300e-01 -9.69263758e-01 -5.08789260e-03 9.26610998e+02] [ 9.69091546e-01 2.46023531e-01 -1.82756311e-02 1.06886772e+02] [ 1.89656482e-02 -4.35352974e-04 9.99820041e-01 8.98273669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.61, Y:106.92, Z:8.99 [[ 2.54548996e-01 -9.67048074e-01 -4.77829784e-03 9.26608342e+02] [ 9.66895458e-01 2.54593721e-01 -1.71817039e-02 1.06916498e+02] [ 1.78320583e-02 -2.46529009e-04 9.99840966e-01 8.98686954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5292541539999 meters Centerline goodness [0,1] 0.999893730074389 Centerline is valid? [True, True] Translation: X:926.61, Y:106.94, Z:8.98 [[ 2.57931106e-01 -9.66150798e-01 -4.91735654e-03 9.26612219e+02] [ 9.65988689e-01 2.57977909e-01 -1.76988912e-02 1.06943709e+02] [ 1.83683672e-02 -1.85016215e-04 9.99831270e-01 8.98436304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.61, Y:106.97, Z:8.99 [[ 2.64579266e-01 -9.64352524e-01 -4.69274739e-03 9.26613187e+02] [ 9.64204393e-01 2.64620875e-01 -1.69021363e-02 1.06973298e+02] [ 1.75414168e-02 -5.28128108e-05 9.99846136e-01 8.98687101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.62, Y:107.00, Z:8.99 [[ 2.68825616e-01 -9.63178108e-01 -4.55203247e-03 9.26615629e+02] [ 9.63038326e-01 2.68864151e-01 -1.64088770e-02 1.07001246e+02] [ 1.70285494e-02 2.73447285e-05 9.99855003e-01 8.98660209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6192541539999 meters Centerline goodness [0,1] 0.9998090914876016 Centerline is valid? [True, True] Translation: X:926.62, Y:107.03, Z:8.98 [[ 2.69842204e-01 -9.62892661e-01 -4.78636295e-03 9.26621898e+02] [ 9.62737723e-01 2.69884644e-01 -1.72729542e-02 1.07028753e+02] [ 1.79237667e-02 5.29598516e-05 9.99839355e-01 8.98410513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6492541539999 meters Centerline goodness [0,1] 0.9999155227032734 Centerline is valid? [True, True] Translation: X:926.63, Y:107.06, Z:8.99 [[ 2.70646948e-01 -9.62668174e-01 -4.49618306e-03 9.26628358e+02] [ 9.62531131e-01 2.70684283e-01 -1.62431892e-02 1.07056405e+02] [ 1.68538474e-02 6.84534142e-05 9.99857961e-01 8.98647638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.63, Y:107.08, Z:8.99 [[ 2.71423665e-01 -9.62449796e-01 -4.42549903e-03 9.26634136e+02] [ 9.62316701e-01 2.71459727e-01 -1.60057220e-02 1.07084082e+02] [ 1.66060487e-02 8.56001030e-05 9.99862106e-01 8.98874314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7092541539998 meters Centerline goodness [0,1] 0.9999788435906658 Centerline is valid? [True, True] Translation: X:926.64, Y:107.11, Z:8.99 [[ 2.71209854e-01 -9.62509420e-01 -4.56419360e-03 9.26641651e+02] [ 9.62367532e-01 2.71248242e-01 -1.65264521e-02 1.07111570e+02] [ 1.71448953e-02 8.97049465e-05 9.99853011e-01 8.98834922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7392541539998 meters Centerline goodness [0,1] 0.9997882208433047 Centerline is valid? [True, True] Translation: X:926.65, Y:107.14, Z:8.99 [[ 2.69784768e-01 -9.62908773e-01 -4.78273376e-03 9.26649759e+02] [ 9.62752669e-01 2.69827149e-01 -1.73380635e-02 1.07138115e+02] [ 1.79854849e-02 7.29557613e-05 9.99838245e-01 8.98558098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7692541539999 meters Centerline goodness [0,1] 0.9998519552481865 Centerline is valid? [True, True] Translation: X:926.66, Y:107.16, Z:8.99 [[ 2.68713363e-01 -9.63209099e-01 -4.62179560e-03 9.26657911e+02] [ 9.63063044e-01 2.68753101e-01 -1.67733396e-02 1.07164913e+02] [ 1.73983552e-02 5.61399431e-05 9.99848636e-01 8.98669014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.67, Y:107.19, Z:8.99 [[ 2.66989053e-01 -9.63689347e-01 -4.43716271e-03 9.26667189e+02] [ 9.63554496e-01 2.67025920e-01 -1.61211234e-02 1.07191112e+02] [ 1.67205923e-02 2.87153851e-05 9.99860201e-01 8.99025647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8292541539998 meters Centerline goodness [0,1] 0.9999148174964863 Centerline is valid? [True, True] Translation: X:926.68, Y:107.22, Z:8.99 [[ 2.65575144e-01 -9.64078622e-01 -4.71741210e-03 9.26675525e+02] [ 9.63925916e-01 2.65617038e-01 -1.71586137e-02 1.07217238e+02] [ 1.77952777e-02 9.66552350e-06 9.99841651e-01 8.98803004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.69, Y:107.24, Z:8.99 [[ 2.64111759e-01 -9.64479834e-01 -4.86095961e-03 9.26685500e+02] [ 9.64317395e-01 2.64156488e-01 -1.77006197e-02 1.07242312e+02] [ 1.83559448e-02 -1.25661039e-05 9.99831515e-01 8.98960273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8892541539999 meters Centerline goodness [0,1] 0.9998721254875216 Centerline is valid? [True, True] Translation: X:926.69, Y:107.27, Z:8.99 [[ 2.62826319e-01 -9.64828453e-01 -5.32756982e-03 9.26694736e+02] [ 9.64632931e-01 2.62880307e-01 -1.94230152e-02 1.07269062e+02] [ 2.01403909e-02 -3.42697091e-05 9.99797161e-01 8.98648226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9192541539999 meters Centerline goodness [0,1] 0.9998293478956463 Centerline is valid? [True, True] Translation: X:926.70, Y:107.30, Z:8.99 [[ 2.62296338e-01 -9.64970893e-01 -5.63984468e-03 9.26703858e+02] [ 9.64751306e-01 2.62356961e-01 -2.05849953e-02 1.07295818e+02] [ 2.13435738e-02 -4.16786418e-05 9.99772199e-01 8.98661588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.71, Y:107.32, Z:8.99 [[ 2.62382987e-01 -9.64947848e-01 -5.55146474e-03 9.26713667e+02] [ 9.64734604e-01 2.62441707e-01 -2.02853080e-02 1.07321740e+02] [ 2.10312002e-02 -3.31704338e-05 9.99778819e-01 8.99008758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9792541539998 meters Centerline goodness [0,1] 0.9998934515311015 Centerline is valid? [True, True] Translation: X:926.72, Y:107.35, Z:8.99 [[ 2.62821963e-01 -9.64827217e-01 -5.74946701e-03 9.26721538e+02] [ 9.64597950e-01 2.62884843e-01 -2.10322321e-02 1.07347388e+02] [ 2.18039177e-02 -1.81915541e-05 9.99762266e-01 8.98938759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0092541539999 meters Centerline goodness [0,1] 0.9999572603910675 Centerline is valid? [True, True] Translation: X:926.73, Y:107.37, Z:8.99 [[ 2.64874278e-01 -9.64264634e-01 -5.94416036e-03 9.26729409e+02] [ 9.64018914e-01 2.64940965e-01 -2.17673589e-02 1.07373050e+02] [ 2.25643459e-02 3.53304306e-05 9.99745392e-01 8.98773990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0392541539999 meters Centerline goodness [0,1] 0.9998723349929785 Centerline is valid? [True, True] Translation: X:926.74, Y:107.40, Z:8.99 [[ 2.65760080e-01 -9.64020187e-01 -6.05472606e-03 9.26737513e+02] [ 9.63764617e-01 2.65829035e-01 -2.21965385e-02 1.07400013e+02] [ 2.30074332e-02 6.36231209e-05 9.99735292e-01 8.98693650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.75, Y:107.43, Z:8.99 [[ 2.68567178e-01 -9.63243922e-01 -5.72857127e-03 9.26746896e+02] [ 9.63014465e-01 2.68628236e-01 -2.10240757e-02 1.07426500e+02] [ 2.17901691e-02 1.29679685e-04 9.99762558e-01 8.99114930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0992541539998 meters Centerline goodness [0,1] 0.9998715973292245 Centerline is valid? [True, True] Translation: X:926.76, Y:107.45, Z:8.99 [[ 2.69621670e-01 -9.62948222e-01 -5.90566123e-03 9.26755188e+02] [ 9.62703762e-01 2.69686289e-01 -2.16973002e-02 1.07453026e+02] [ 2.24860525e-02 1.64660034e-04 9.99747143e-01 8.98890714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.77, Y:107.48, Z:8.99 [[ 2.71870439e-01 -9.62318548e-01 -5.42932900e-03 9.26765570e+02] [ 9.62111375e-01 2.71924569e-01 -1.99682466e-02 1.07479184e+02] [ 2.06921820e-02 2.05156777e-04 9.99785873e-01 8.99395151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1592541539999 meters Centerline goodness [0,1] 0.9998283887852071 Centerline is valid? [True, True] Translation: X:926.77, Y:107.51, Z:8.99 [[ 2.72150013e-01 -9.62238101e-01 -5.67522975e-03 9.26774718e+02] [ 9.62011191e-01 2.72209085e-01 -2.08969601e-02 1.07505856e+02] [ 2.16527003e-02 2.27473436e-04 9.99765527e-01 8.99179370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.78, Y:107.53, Z:9.00 [[ 2.72678431e-01 -9.62091314e-01 -5.17465507e-03 9.26783455e+02] [ 9.61902229e-01 2.72727435e-01 -1.90747865e-02 1.07532312e+02] [ 1.97629568e-02 2.23770605e-04 9.99804669e-01 8.99534545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2192541539998 meters Centerline goodness [0,1] 0.9998499303247936 Centerline is valid? [True, True] Translation: X:926.80, Y:107.56, Z:8.99 [[ 2.72472083e-01 -9.62149950e-01 -5.14169428e-03 9.26795044e+02] [ 9.61962845e-01 2.72520500e-01 -1.89753012e-02 1.07558266e+02] [ 1.96583022e-02 2.24120988e-04 9.99806732e-01 8.99375816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.81, Y:107.58, Z:9.00 [[ 2.72746494e-01 -9.62074850e-01 -4.61876841e-03 9.26806961e+02] [ 9.61923528e-01 2.72785518e-01 -1.70642414e-02 1.07584509e+02] [ 1.76770106e-02 2.11310011e-04 9.99843727e-01 8.99827631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.82, Y:107.61, Z:9.00 [[ 2.72638479e-01 -9.62105812e-01 -4.54599641e-03 9.26816463e+02] [ 9.61958887e-01 2.72676295e-01 -1.68148337e-02 1.07611425e+02] [ 1.74172347e-02 2.11309055e-04 9.99848286e-01 8.99873611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.83, Y:107.64, Z:9.00 [[ 2.72488696e-01 -9.62147969e-01 -4.60389535e-03 9.26827517e+02] [ 9.61996945e-01 2.72527500e-01 -1.70481693e-02 1.07636195e+02] [ 1.76575496e-02 2.16500175e-04 9.99844070e-01 8.99888048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.84, Y:107.66, Z:9.00 [[ 2.72052613e-01 -9.62271468e-01 -4.58236504e-03 9.26836604e+02] [ 9.62121532e-01 2.72091119e-01 -1.69876379e-02 1.07661646e+02] [ 1.75935401e-02 2.12739205e-04 9.99845199e-01 8.99884483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3692541539999 meters Centerline goodness [0,1] 0.999935283458452 Centerline is valid? [True, True] Translation: X:926.85, Y:107.69, Z:9.00 [[ 2.71217369e-01 -9.62505498e-01 -4.92991880e-03 9.26846360e+02] [ 9.62331568e-01 2.71262083e-01 -1.82985318e-02 1.07687959e+02] [ 1.89497375e-02 2.18663177e-04 9.99820414e-01 8.99737413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3992541539999 meters Centerline goodness [0,1] 0.999956642386403 Centerline is valid? [True, True] Translation: X:926.86, Y:107.71, Z:9.00 [[ 2.69936191e-01 -9.62864448e-01 -5.14859917e-03 9.26858892e+02] [ 9.62674366e-01 2.69985207e-01 -1.91325145e-02 1.07713978e+02] [ 1.98120636e-02 2.08133635e-04 9.99803700e-01 8.99744168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4292541539999 meters Centerline goodness [0,1] 0.9999130642672405 Centerline is valid? [True, True] Translation: X:926.87, Y:107.74, Z:9.00 [[ 2.68800627e-01 -9.63180946e-01 -5.35616313e-03 9.26868747e+02] [ 9.62974799e-01 2.68853912e-01 -1.99276152e-02 1.07739874e+02] [ 2.06339246e-02 1.98705342e-04 9.99787078e-01 8.99640025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4592541539998 meters Centerline goodness [0,1] 0.9999347755190782 Centerline is valid? [True, True] Translation: X:926.88, Y:107.77, Z:9.00 [[ 2.66866154e-01 -9.63717912e-01 -5.49925241e-03 9.26882093e+02] [ 9.63500203e-01 2.66922756e-01 -2.04841477e-02 1.07765428e+02] [ 2.12088156e-02 1.67994905e-04 9.99775054e-01 8.99675042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4892541539998 meters Centerline goodness [0,1] 0.9998697294715359 Centerline is valid? [True, True] Translation: X:926.89, Y:107.79, Z:9.00 [[ 2.65753402e-01 -9.64024251e-01 -5.68969418e-03 9.26891680e+02] [ 9.63790716e-01 2.65814257e-01 -2.12187923e-02 1.07790859e+02] [ 2.19678322e-02 1.55291832e-04 9.99758666e-01 8.99518463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.90, Y:107.82, Z:9.00 [[ 2.64357453e-01 -9.64407926e-01 -5.69994573e-03 9.26903948e+02] [ 9.64173080e-01 2.64418863e-01 -2.12823328e-02 1.07815555e+02] [ 2.20320236e-02 1.30409054e-04 9.99757257e-01 8.99683118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5492541539999 meters Centerline goodness [0,1] 0.9998906386701663 Centerline is valid? [True, True] Translation: X:926.91, Y:107.84, Z:8.99 [[ 2.62645105e-01 -9.64873507e-01 -6.05516628e-03 9.26913911e+02] [ 9.64607957e-01 2.62714874e-01 -2.26359053e-02 1.07841121e+02] [ 2.34315675e-02 1.04348134e-04 9.99725438e-01 8.99391465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.93, Y:107.87, Z:9.00 [[ 2.60924833e-01 -9.65340939e-01 -5.92473348e-03 9.26928126e+02] [ 9.65086241e-01 2.60992081e-01 -2.21738822e-02 1.07866440e+02] [ 2.29516648e-02 6.78377580e-05 9.99736574e-01 8.99779809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6092541539998 meters Centerline goodness [0,1] 0.9999561162918267 Centerline is valid? [True, True] Translation: X:926.94, Y:107.89, Z:9.00 [[ 2.59590213e-01 -9.65699859e-01 -6.05830249e-03 9.26938675e+02] [ 9.65433021e-01 2.59660894e-01 -2.27002766e-02 1.07893165e+02] [ 2.34947581e-02 4.38843678e-05 9.99723959e-01 8.99751190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.95, Y:107.92, Z:9.00 [[ 2.58159526e-01 -9.66085397e-01 -5.71524059e-03 9.26951387e+02] [ 9.65847475e-01 2.58222781e-01 -2.14394534e-02 1.07917634e+02] [ 2.21881482e-02 1.47484471e-05 9.99753813e-01 8.99924636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6692541539999 meters Centerline goodness [0,1] 0.9998239940157966 Centerline is valid? [True, True] Translation: X:926.96, Y:107.94, Z:9.00 [[ 2.57203363e-01 -9.66339046e-01 -5.93961742e-03 9.26960641e+02] [ 9.66081514e-01 2.57271936e-01 -2.23082825e-02 1.07943495e+02] [ 2.30854613e-02 -3.89285399e-07 9.99733495e-01 8.99542207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.97, Y:107.97, Z:9.00 [[ 2.57685203e-01 -9.66214170e-01 -5.33980105e-03 9.26969594e+02] [ 9.66005539e-01 2.57740523e-01 -2.00778679e-02 1.07970450e+02] [ 2.07758036e-02 1.54920652e-05 9.99784160e-01 9.00098422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.98, Y:108.00, Z:9.00 [[ 2.57410624e-01 -9.66287389e-01 -5.33409275e-03 9.26976607e+02] [ 9.66078742e-01 2.57465885e-01 -2.00793848e-02 1.07997141e+02] [ 2.07758032e-02 1.54933503e-05 9.99784160e-01 9.00124163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7592541539999 meters Centerline goodness [0,1] 0.9998891327967361 Centerline is valid? [True, True] Translation: X:926.99, Y:108.02, Z:9.00 [[ 2.57878825e-01 -9.66163661e-01 -5.12750340e-03 9.26986872e+02] [ 9.65970406e-01 2.57929795e-01 -1.93234734e-02 1.08023745e+02] [ 1.99921737e-02 3.00980757e-05 9.99800136e-01 9.00089557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7892541539999 meters Centerline goodness [0,1] 0.9999778344231408 Centerline is valid? [True, True] Translation: X:927.00, Y:108.05, Z:9.00 [[ 2.59410411e-01 -9.65755707e-01 -4.70673563e-03 9.26996592e+02] [ 9.65592513e-01 2.59453100e-01 -1.77535345e-02 1.08050677e+02] [ 1.83667544e-02 6.06629893e-05 9.99831315e-01 9.00291758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.00, Y:108.08, Z:9.00 [[ 2.60181628e-01 -9.65548646e-01 -4.61864589e-03 9.27004751e+02] [ 9.65391185e-01 2.60222608e-01 -1.74371789e-02 1.08077840e+02] [ 1.80383206e-02 7.80335826e-05 9.99837293e-01 9.00368470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.01, Y:108.10, Z:9.00 [[ 2.61904059e-01 -9.65083396e-01 -4.50575751e-03 9.27010911e+02] [ 9.64933130e-01 2.61942790e-01 -1.70302497e-02 1.08104807e+02] [ 1.76158619e-02 1.12536828e-04 9.99844822e-01 9.00443637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8792541539999 meters Centerline goodness [0,1] 0.9999556668809434 Centerline is valid? [True, True] Translation: X:927.01, Y:108.13, Z:9.00 [[ 2.65555160e-01 -9.64084828e-01 -4.57169434e-03 9.27014723e+02] [ 9.63929671e-01 2.65594444e-01 -1.72968351e-02 1.08131663e+02] [ 1.78898329e-02 1.86472001e-04 9.99839947e-01 9.00305257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9092541539999 meters Centerline goodness [0,1] 0.9999778466991581 Centerline is valid? [True, True] Translation: X:927.02, Y:108.16, Z:9.00 [[ 2.66985125e-01 -9.63690071e-01 -4.51555426e-03 9.27021480e+02] [ 9.63538349e-01 2.67023222e-01 -1.71011458e-02 1.08159002e+02] [ 1.76859623e-02 2.14841875e-04 9.99843568e-01 9.00389311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.03, Y:108.19, Z:9.00 [[ 2.68253763e-01 -9.63337084e-01 -4.64555652e-03 9.27026576e+02] [ 9.63176088e-01 2.68293868e-01 -1.76131811e-02 1.08185574e+02] [ 1.82138049e-02 2.50313144e-04 9.99834084e-01 9.00371929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.03, Y:108.21, Z:9.00 [[ 2.68356594e-01 -9.63307902e-01 -4.75653850e-03 9.27033740e+02] [ 9.63138741e-01 2.68398615e-01 -1.80540531e-02 1.08212862e+02] [ 1.86682604e-02 2.63717689e-04 9.99825698e-01 9.00364668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.04, Y:108.24, Z:9.00 [[ 2.67611341e-01 -9.63514198e-01 -4.95583676e-03 9.27039844e+02] [ 9.63330150e-01 2.67657093e-01 -1.88335362e-02 1.08239436e+02] [ 1.94728444e-02 2.65960908e-04 9.99810351e-01 9.00254744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.05, Y:108.27, Z:9.00 [[ 2.66831688e-01 -9.63729957e-01 -5.04181847e-03 9.27046574e+02] [ 9.63539050e-01 2.66879189e-01 -1.91832542e-02 1.08266223e+02] [ 1.98330332e-02 2.60711133e-04 9.99803272e-01 9.00239859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0592541539999 meters Centerline goodness [0,1] 0.9998666962897134 Centerline is valid? [True, True] Translation: X:927.05, Y:108.29, Z:9.00 [[ 2.65702938e-01 -9.64040243e-01 -5.32523013e-03 9.27053722e+02] [ 9.63826827e-01 2.65756173e-01 -2.02855501e-02 1.08293870e+02] [ 2.09712994e-02 2.57330605e-04 9.99780045e-01 8.99985987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0892541539998 meters Centerline goodness [0,1] 0.9999114162329753 Centerline is valid? [True, True] Translation: X:927.06, Y:108.32, Z:9.00 [[ 2.64806751e-01 -9.64287374e-01 -5.21974126e-03 9.27060387e+02] [ 9.64081898e-01 2.64858082e-01 -1.99070217e-02 1.08320131e+02] [ 2.05785804e-02 2.39255676e-04 9.99788210e-01 9.00065057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1192541539999 meters Centerline goodness [0,1] 0.9998671449448652 Centerline is valid? [True, True] Translation: X:927.07, Y:108.35, Z:9.00 [[ 2.64281341e-01 -9.64430965e-01 -5.31855590e-03 9.27067458e+02] [ 9.64217162e-01 2.64334745e-01 -2.03078370e-02 1.08347122e+02] [ 2.09913859e-02 2.38739509e-04 9.99779628e-01 9.00053449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1492541539999 meters Centerline goodness [0,1] 0.9997787365859055 Centerline is valid? [True, True] Translation: X:927.07, Y:108.37, Z:9.00 [[ 2.63355471e-01 -9.64684440e-01 -5.27513925e-03 9.27074690e+02] [ 9.64473684e-01 2.63408203e-01 -2.01651284e-02 1.08374641e+02] [ 2.08425005e-02 2.22863902e-04 9.99782747e-01 9.00053863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.08, Y:108.40, Z:9.00 [[ 2.63285681e-01 -9.64705575e-01 -4.87898587e-03 9.27080596e+02] [ 9.64524882e-01 2.63330799e-01 -1.86719493e-02 1.08401503e+02] [ 1.92977209e-02 2.10153615e-04 9.99813760e-01 9.00393014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.09, Y:108.43, Z:9.00 [[ 2.62870836e-01 -9.64819572e-01 -4.70282823e-03 9.27087307e+02] [ 9.64651326e-01 2.62912824e-01 -1.80185085e-02 1.08429182e+02] [ 1.86210435e-02 1.99950912e-04 9.99826593e-01 9.00466664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2392541539998 meters Centerline goodness [0,1] 0.99995561375086 Centerline is valid? [True, True] Translation: X:927.09, Y:108.46, Z:9.00 [[ 2.62565902e-01 -9.64902568e-01 -4.70976029e-03 9.27093946e+02] [ 9.64733452e-01 2.62608063e-01 -1.80657690e-02 1.08456372e+02] [ 1.86685279e-02 1.99791630e-04 9.99825708e-01 9.00433161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2692541539999 meters Centerline goodness [0,1] 0.9998450950452544 Centerline is valid? [True, True] Translation: X:927.10, Y:108.48, Z:9.00 [[ 2.62436020e-01 -9.64936949e-01 -4.90098738e-03 9.27098889e+02] [ 9.64753387e-01 2.62481694e-01 -1.88218801e-02 1.08483552e+02] [ 1.94483470e-02 2.11295136e-04 9.99810841e-01 9.00190516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.11, Y:108.51, Z:9.01 [[ 2.63030606e-01 -9.64776071e-01 -4.69402920e-03 9.27105274e+02] [ 9.64607276e-01 2.63072397e-01 -1.80476421e-02 1.08511231e+02] [ 1.86468027e-02 2.19187524e-04 9.99826109e-01 9.00511273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3292541539998 meters Centerline goodness [0,1] 0.9998451498728017 Centerline is valid? [True, True] Translation: X:927.11, Y:108.54, Z:9.00 [[ 2.63577506e-01 -9.64626230e-01 -4.80987168e-03 9.27110133e+02] [ 9.64448613e-01 2.63621279e-01 -1.85120134e-02 1.08537440e+02] [ 1.91251582e-02 2.40476249e-04 9.99817069e-01 9.00360758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3592541539998 meters Centerline goodness [0,1] 0.9999779415008603 Centerline is valid? [True, True] Translation: X:927.12, Y:108.56, Z:9.01 [[ 2.63789253e-01 -9.64567860e-01 -4.90646674e-03 9.27117652e+02] [ 9.64382624e-01 2.63834756e-01 -1.89043716e-02 1.08564001e+02] [ 1.95290457e-02 2.55058783e-04 9.99809257e-01 9.00523870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3892541539999 meters Centerline goodness [0,1] 0.9999336943308653 Centerline is valid? [True, True] Translation: X:927.12, Y:108.59, Z:9.00 [[ 2.63641798e-01 -9.64607834e-01 -4.97276411e-03 9.27121656e+02] [ 9.64417093e-01 2.63688561e-01 -1.91836650e-02 1.08591099e+02] [ 1.98159746e-02 2.61797216e-04 9.99803610e-01 9.00333809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.13, Y:108.62, Z:9.01 [[ 2.63923900e-01 -9.64531892e-01 -4.73342819e-03 9.27128371e+02] [ 9.64358664e-01 2.63966215e-01 -1.82812800e-02 1.08618782e+02] [ 1.88823427e-02 2.60144237e-04 9.99821679e-01 9.00546225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4492541539998 meters Centerline goodness [0,1] 0.9999558742415885 Centerline is valid? [True, True] Translation: X:927.14, Y:108.65, Z:9.01 [[ 2.63754387e-01 -9.64578226e-01 -4.74006656e-03 9.27136393e+02] [ 9.64404119e-01 2.63796846e-01 -1.83280934e-02 1.08645468e+02] [ 1.89292944e-02 2.62775333e-04 9.99820790e-01 9.00614909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4792541539998 meters Centerline goodness [0,1] 0.9999778501340066 Centerline is valid? [True, True] Translation: X:927.14, Y:108.67, Z:9.01 [[ 2.63782952e-01 -9.64571927e-01 -4.42174946e-03 9.27142148e+02] [ 9.64420072e-01 2.63819891e-01 -1.71169326e-02 1.08673119e+02] [ 1.76770581e-02 2.50731077e-04 9.99843717e-01 9.00706003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5092541539999 meters Centerline goodness [0,1] 0.9999118651536851 Centerline is valid? [True, True] Translation: X:927.15, Y:108.70, Z:9.01 [[ 2.63204851e-01 -9.64729478e-01 -4.49909770e-03 9.27147742e+02] [ 9.64571958e-01 2.63243183e-01 -1.74346084e-02 1.08699900e+02] [ 1.80040375e-02 2.49170021e-04 9.99837883e-01 9.00540193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.15, Y:108.73, Z:9.01 [[ 2.63037945e-01 -9.64775282e-01 -4.43778203e-03 9.27154621e+02] [ 9.64621726e-01 2.63075262e-01 -1.72142844e-02 1.08726751e+02] [ 1.77753868e-02 2.47229042e-04 9.99841975e-01 9.00763685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.16, Y:108.75, Z:9.01 [[ 2.62785498e-01 -9.64844231e-01 -4.40362234e-03 9.27161523e+02] [ 9.64692689e-01 2.62822277e-01 -1.71016755e-02 1.08753871e+02] [ 1.76578230e-02 2.45930050e-04 9.99844058e-01 9.00777550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.17, Y:108.78, Z:9.01 [[ 2.62295148e-01 -9.64976910e-01 -4.56278159e-03 9.27168327e+02] [ 9.64813847e-01 2.62334711e-01 -1.77409338e-02 1.08781008e+02] [ 1.83165675e-02 2.51126005e-04 9.99832206e-01 9.00800931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6292541539999 meters Centerline goodness [0,1] 0.9999116763822646 Centerline is valid? [True, True] Translation: X:927.17, Y:108.81, Z:9.01 [[ 2.61488143e-01 -9.65195085e-01 -4.73287553e-03 9.27174700e+02] [ 9.65019242e-01 2.61530851e-01 -1.84249074e-02 1.08807597e+02] [ 1.90214230e-02 2.50578874e-04 9.99819045e-01 9.00585341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6592541539999 meters Centerline goodness [0,1] 0.9999118535005178 Centerline is valid? [True, True] Translation: X:927.18, Y:108.83, Z:9.00 [[ 2.60675993e-01 -9.65414102e-01 -4.86197713e-03 9.27181948e+02] [ 9.65228123e-01 2.60721213e-01 -1.89504327e-02 1.08834972e+02] [ 1.95626356e-02 2.47005801e-04 9.99808603e-01 9.00469776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6892541539999 meters Centerline goodness [0,1] 0.9998231223330164 Centerline is valid? [True, True] Translation: X:927.19, Y:108.86, Z:9.00 [[ 2.59802328e-01 -9.65648525e-01 -5.06718866e-03 9.27189064e+02] [ 9.65446070e-01 2.59851623e-01 -1.97742240e-02 1.08861053e+02] [ 2.04116675e-02 2.45292057e-04 9.99791630e-01 9.00339195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7192541539998 meters Centerline goodness [0,1] 0.9998238894025449 Centerline is valid? [True, True] Translation: X:927.20, Y:108.89, Z:9.00 [[ 2.57362773e-01 -9.66301925e-01 -4.99927106e-03 9.27198743e+02] [ 9.66104512e-01 2.57411249e-01 -1.95325741e-02 1.08887539e+02] [ 2.01612325e-02 1.97139105e-04 9.99796722e-01 9.00458546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7492541539999 meters Centerline goodness [0,1] 0.9999114181947029 Centerline is valid? [True, True] Translation: X:927.21, Y:108.91, Z:9.00 [[ 2.55973190e-01 -9.66671679e-01 -4.85702151e-03 9.27205610e+02] [ 9.66484962e-01 2.56019211e-01 -1.89995516e-02 1.08913897e+02] [ 1.96098193e-02 1.69137595e-04 9.99807695e-01 9.00478032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.21, Y:108.94, Z:9.01 [[ 2.54514483e-01 -9.67057431e-01 -4.72258147e-03 9.27214688e+02] [ 9.66880555e-01 2.54558254e-01 -1.84956039e-02 1.08940108e+02] [ 1.90884833e-02 1.41226856e-04 9.99817788e-01 9.00809855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8092541539999 meters Centerline goodness [0,1] 0.9998015873015873 Centerline is valid? [True, True] Translation: X:927.22, Y:108.97, Z:9.01 [[ 2.50415962e-01 -9.68126124e-01 -4.86361979e-03 9.27224737e+02] [ 9.67938274e-01 2.50463179e-01 -1.90707578e-02 1.08966573e+02] [ 1.96810565e-02 6.79383984e-05 9.99806307e-01 9.00614078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8392541539998 meters Centerline goodness [0,1] 0.9999335827669419 Centerline is valid? [True, True] Translation: X:927.23, Y:108.99, Z:9.01 [[ 2.46864886e-01 -9.69038771e-01 -4.64633465e-03 9.27234183e+02] [ 9.68867094e-01 2.46908607e-01 -1.82398778e-02 1.08992876e+02] [ 1.88223688e-02 1.10459588e-06 9.99822844e-01 9.00850522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.24, Y:109.02, Z:9.01 [[ 2.45155164e-01 -9.69473442e-01 -4.49340281e-03 9.27242135e+02] [ 9.69312568e-01 2.45196339e-01 -1.76607150e-02 1.09018896e+02] [ 1.82233601e-02 -2.58963375e-05 9.99833940e-01 9.01027918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8992541539999 meters Centerline goodness [0,1] 0.9998003106279122 Centerline is valid? [True, True] Translation: X:927.25, Y:109.05, Z:9.01 [[ 2.43002290e-01 -9.70014433e-01 -4.67840620e-03 9.27250536e+02] [ 9.69839705e-01 2.43047313e-01 -1.84106082e-02 1.09046096e+02] [ 1.89956297e-02 -6.34841400e-05 9.99819565e-01 9.00751257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9292541539999 meters Centerline goodness [0,1] 0.9997792494481236 Centerline is valid? [True, True] Translation: X:927.26, Y:109.07, Z:9.01 [[ 2.41353050e-01 -9.70427487e-01 -4.38150863e-03 9.27259199e+02] [ 9.70273945e-01 2.41392802e-01 -1.72622633e-02 1.09071672e+02] [ 1.78094394e-02 -8.49637691e-05 9.99841396e-01 9.01146171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9592541539998 meters Centerline goodness [0,1] 0.9999556157209116 Centerline is valid? [True, True] Translation: X:927.27, Y:109.10, Z:9.01 [[ 2.40368294e-01 -9.70671775e-01 -4.40311416e-03 9.27266362e+02] [ 9.70516381e-01 2.40408599e-01 -1.73683611e-02 1.09098559e+02] [ 1.79175244e-02 -9.84910797e-05 9.99839463e-01 9.01153874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9892541539998 meters Centerline goodness [0,1] 0.9998452388848357 Centerline is valid? [True, True] Translation: X:927.27, Y:109.12, Z:9.01 [[ 2.39728274e-01 -9.70829634e-01 -4.49185045e-03 9.27272808e+02] [ 9.70667605e-01 2.39770328e-01 -1.77366858e-02 1.09124628e+02] [ 1.82963127e-02 -1.08108639e-04 9.99832603e-01 9.01011911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.28, Y:109.15, Z:9.01 [[ 2.40671786e-01 -9.70597176e-01 -4.26771824e-03 9.27278437e+02] [ 9.70450588e-01 2.40709608e-01 -1.68683232e-02 1.09152103e+02] [ 1.73996276e-02 -8.18802197e-05 9.99848612e-01 9.01340620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.28, Y:109.18, Z:9.01 [[ 2.42198403e-01 -9.70217488e-01 -4.23791783e-03 9.27283303e+02] [ 9.70072530e-01 2.42235472e-01 -1.67708664e-02 1.09179170e+02] [ 1.72979619e-02 -4.92106190e-05 9.99850378e-01 9.01312545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0792541539998 meters Centerline goodness [0,1] 0.9998674413980514 Centerline is valid? [True, True] Translation: X:927.29, Y:109.21, Z:9.01 [[ 2.42708298e-01 -9.70089032e-01 -4.46668996e-03 9.27289149e+02] [ 9.69927573e-01 2.42749393e-01 -1.76984318e-02 1.09206978e+02] [ 1.82533409e-02 -3.68094889e-05 9.99833393e-01 9.01075071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1092541539998 meters Centerline goodness [0,1] 0.9997563622671598 Centerline is valid? [True, True] Translation: X:927.29, Y:109.23, Z:9.01 [[ 2.43859065e-01 -9.69799328e-01 -4.69254947e-03 9.27294320e+02] [ 9.69620623e-01 2.43904210e-01 -1.86167642e-02 1.09233176e+02] [ 1.91990580e-02 -1.01260290e-05 9.99815681e-01 9.00915000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1392541539999 meters Centerline goodness [0,1] 0.999867420894467 Centerline is valid? [True, True] Translation: X:927.30, Y:109.26, Z:9.01 [[ 2.47066595e-01 -9.68986084e-01 -4.90578552e-03 9.27298303e+02] [ 9.68790116e-01 2.47115287e-01 -1.94870826e-02 1.09261287e+02] [ 2.00950065e-02 6.19306352e-05 9.99798073e-01 9.01026786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1692541539999 meters Centerline goodness [0,1] 0.9997128721618518 Centerline is valid? [True, True] Translation: X:927.30, Y:109.29, Z:9.01 [[ 2.49720204e-01 -9.68304706e-01 -5.08106496e-03 9.27302624e+02] [ 9.68093837e-01 2.49771858e-01 -2.02074606e-02 1.09289691e+02] [ 2.08360863e-02 1.27263516e-04 9.99782897e-01 9.00961317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1992541539998 meters Centerline goodness [0,1] 0.9999119350080359 Centerline is valid? [True, True] Translation: X:927.31, Y:109.32, Z:9.01 [[ 2.50900781e-01 -9.68001429e-01 -4.69372717e-03 9.27307540e+02] [ 9.67821008e-01 2.50944638e-01 -1.86891731e-02 1.09316650e+02] [ 1.92690119e-02 1.46440373e-04 9.99814325e-01 9.01129040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2292541539998 meters Centerline goodness [0,1] 0.9999559985039491 Centerline is valid? [True, True] Translation: X:927.31, Y:109.34, Z:9.01 [[ 2.51905580e-01 -9.67741287e-01 -4.51440978e-03 9.27312813e+02] [ 9.67573931e-01 2.51945974e-01 -1.79976119e-02 1.09343477e+02] [ 1.85544195e-02 1.65673647e-04 9.99827838e-01 9.01259061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2592541539999 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:927.32, Y:109.37, Z:9.01 [[ 2.52359782e-01 -9.67623890e-01 -4.30666061e-03 9.27319304e+02] [ 9.67471201e-01 2.52396469e-01 -1.71900682e-02 1.09370613e+02] [ 1.77205066e-02 1.71511748e-04 9.99842965e-01 9.01441990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2892541539999 meters Centerline goodness [0,1] 0.9997575116284196 Centerline is valid? [True, True] Translation: X:927.33, Y:109.40, Z:9.01 [[ 2.52144622e-01 -9.67680072e-01 -4.28579528e-03 9.27325447e+02] [ 9.67528500e-01 2.52180984e-01 -1.71275627e-02 1.09398211e+02] [ 1.76547972e-02 1.71993740e-04 9.99844127e-01 9.01261695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3192541539999 meters Centerline goodness [0,1] 0.9998898144475297 Centerline is valid? [True, True] Translation: X:927.33, Y:109.42, Z:9.01 [[ 2.52481292e-01 -9.67593765e-01 -3.93741381e-03 9.27330659e+02] [ 9.67465520e-01 2.52511936e-01 -1.57540378e-02 1.09424562e+02] [ 1.62377528e-02 1.68287737e-04 9.99868145e-01 9.01451641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3492541539998 meters Centerline goodness [0,1] 0.9999559150924681 Centerline is valid? [True, True] Translation: X:927.34, Y:109.45, Z:9.02 [[ 2.52781387e-01 -9.67515527e-01 -3.90838722e-03 9.27336500e+02] [ 9.67388843e-01 2.52811538e-01 -1.56573736e-02 1.09451622e+02] [ 1.61368374e-02 1.76962428e-04 9.99869777e-01 9.01558073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3792541539999 meters Centerline goodness [0,1] 0.9998681318681318 Centerline is valid? [True, True] Translation: X:927.34, Y:109.48, Z:9.01 [[ 2.52342479e-01 -9.67628842e-01 -4.20691796e-03 9.27342556e+02] [ 9.67481713e-01 2.52377474e-01 -1.68744007e-02 1.09479426e+02] [ 1.73898881e-02 1.88011900e-04 9.99848767e-01 9.01396280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.35, Y:109.51, Z:9.02 [[ 2.52689093e-01 -9.67539019e-01 -4.05830738e-03 9.27348300e+02] [ 9.67401808e-01 2.52721608e-01 -1.62951410e-02 1.09506360e+02] [ 1.67918067e-02 1.91590499e-04 9.99858989e-01 9.01592494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4392541539999 meters Centerline goodness [0,1] 0.9998240636889446 Centerline is valid? [True, True] Translation: X:927.35, Y:109.53, Z:9.01 [[ 2.51602072e-01 -9.67820225e-01 -4.51776062e-03 9.27354550e+02] [ 9.67649916e-01 2.51642552e-01 -1.81566982e-02 1.09533119e+02] [ 1.87092805e-02 1.96652186e-04 9.99824947e-01 9.01241531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.36, Y:109.56, Z:9.02 [[ 2.52129352e-01 -9.67684169e-01 -4.25887188e-03 9.27360222e+02] [ 9.67532550e-01 2.52165241e-01 -1.71305486e-02 1.09559706e+02] [ 1.76509001e-02 1.98516945e-04 9.99844191e-01 9.01505198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.37, Y:109.59, Z:9.02 [[ 2.52065113e-01 -9.67700881e-01 -4.26433702e-03 9.27366978e+02] [ 9.67548564e-01 2.52101100e-01 -1.71700882e-02 1.09586530e+02] [ 1.76905535e-02 2.02027054e-04 9.99843490e-01 9.01558573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5292541539999 meters Centerline goodness [0,1] 0.9999560777423959 Centerline is valid? [True, True] Translation: X:927.37, Y:109.61, Z:9.01 [[ 2.52114376e-01 -9.67686616e-01 -4.57766062e-03 9.27372594e+02] [ 9.67510649e-01 2.52155832e-01 -1.84548332e-02 1.09614576e+02] [ 1.90127789e-02 2.23793366e-04 9.99819216e-01 9.01373005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.38, Y:109.64, Z:9.01 [[ 2.52116170e-01 -9.67685824e-01 -4.64563256e-03 9.27378358e+02] [ 9.67504137e-01 2.52158860e-01 -1.87524398e-02 1.09640767e+02] [ 1.93179075e-02 2.33124572e-04 9.99813365e-01 9.01407011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.39, Y:109.67, Z:9.01 [[ 2.51607247e-01 -9.67817041e-01 -4.89581249e-03 9.27385575e+02] [ 9.67614761e-01 2.51654759e-01 -1.97878113e-02 1.09668127e+02] [ 2.03830355e-02 2.41496291e-04 9.99792215e-01 9.01341064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.39, Y:109.69, Z:9.01 [[ 2.51328983e-01 -9.67889368e-01 -4.89011763e-03 9.27392126e+02] [ 9.67687075e-01 2.51376436e-01 -1.97892190e-02 1.09694934e+02] [ 2.03830350e-02 2.41500668e-04 9.99792215e-01 9.01366808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6492541539999 meters Centerline goodness [0,1] 0.9998027959156843 Centerline is valid? [True, True] Translation: X:927.40, Y:109.72, Z:9.01 [[ 2.50306482e-01 -9.68151814e-01 -5.36008849e-03 9.27399004e+02] [ 9.67908180e-01 2.50363743e-01 -2.17198420e-02 1.09721119e+02] [ 2.23700762e-02 2.48543748e-04 9.99749728e-01 9.01038134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6792541539999 meters Centerline goodness [0,1] 0.9999122325836534 Centerline is valid? [True, True] Translation: X:927.41, Y:109.75, Z:9.01 [[ 2.49326004e-01 -9.68404703e-01 -5.37357257e-03 9.27407957e+02] [ 9.68159282e-01 2.49383795e-01 -2.18019978e-02 1.09748052e+02] [ 2.24532392e-02 2.33330836e-04 9.99747867e-01 9.01160873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.42, Y:109.78, Z:9.01 [[ 2.47367174e-01 -9.68908132e-01 -5.14915459e-03 9.27416662e+02] [ 9.68682369e-01 2.47420690e-01 -2.09157957e-02 1.09775297e+02] [ 2.15394919e-02 1.85985993e-04 9.99767981e-01 9.01289176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.42, Y:109.80, Z:9.01 [[ 2.45827610e-01 -9.69300672e-01 -4.99936697e-03 9.27424737e+02] [ 9.69087451e-01 2.45878393e-01 -2.03304696e-02 1.09802725e+02] [ 2.09355741e-02 1.52966953e-04 9.99780815e-01 9.01352253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7692541539999 meters Centerline goodness [0,1] 0.9999561095505618 Centerline is valid? [True, True] Translation: X:927.43, Y:109.83, Z:9.01 [[ 2.44030215e-01 -9.69754860e-01 -4.97654229e-03 9.27433085e+02] [ 9.69543190e-01 2.44080924e-01 -2.02609454e-02 1.09830092e+02] [ 2.08628293e-02 1.19310174e-04 9.99782340e-01 9.01335198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7992541539999 meters Centerline goodness [0,1] 0.9998894441250608 Centerline is valid? [True, True] Translation: X:927.44, Y:109.86, Z:9.01 [[ 2.41409758e-01 -9.70412066e-01 -4.66376699e-03 9.27442890e+02] [ 9.70225859e-01 2.41454795e-01 -1.90095985e-02 1.09856784e+02] [ 1.95732326e-02 6.41952315e-05 9.99808424e-01 9.01466573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8292541539998 meters Centerline goodness [0,1] 0.9998673094785262 Centerline is valid? [True, True] Translation: X:927.45, Y:109.88, Z:9.02 [[ 2.40479502e-01 -9.70644255e-01 -4.39767063e-03 9.27450396e+02] [ 9.70478334e-01 2.40519704e-01 -1.79464798e-02 1.09884167e+02] [ 1.84773739e-02 4.79164469e-05 9.99829278e-01 9.01574824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.46, Y:109.91, Z:9.02 [[ 2.40902033e-01 -9.70542291e-01 -3.72455588e-03 9.27456658e+02] [ 9.70422995e-01 2.40930819e-01 -1.52168212e-02 1.09910802e+02] [ 1.56659288e-02 5.13684936e-05 9.99877280e-01 9.01894578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.46, Y:109.94, Z:9.02 [[ 2.41027788e-01 -9.70510938e-01 -3.75838521e-03 9.27463147e+02] [ 9.70389156e-01 2.41057082e-01 -1.53743274e-02 1.09937893e+02] [ 1.58269382e-02 5.85438648e-05 9.99874744e-01 9.01908283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.47, Y:109.96, Z:9.02 [[ 2.41908528e-01 -9.70291387e-01 -3.85848561e-03 9.27468142e+02] [ 9.70162731e-01 2.41939285e-01 -1.58005520e-02 1.09964031e+02] [ 1.62646588e-02 7.89293418e-05 9.99867719e-01 9.01764881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9492541539998 meters Centerline goodness [0,1] 0.9999779312779997 Centerline is valid? [True, True] Translation: X:927.47, Y:109.99, Z:9.02 [[ 2.42209658e-01 -9.70215540e-01 -4.03574769e-03 9.27474163e+02] [ 9.70074498e-01 2.42243260e-01 -1.65430086e-02 1.09991074e+02] [ 1.70279167e-02 9.19005254e-05 9.99855010e-01 9.01699047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.48, Y:110.02, Z:9.02 [[ 2.43413294e-01 -9.69914319e-01 -4.02267273e-03 9.27479135e+02] [ 9.69773863e-01 2.43446504e-01 -1.65061945e-02 1.10017197e+02] [ 1.69889000e-02 1.16744313e-04 9.99855671e-01 9.01669944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.48, Y:110.04, Z:9.02 [[ 2.44399616e-01 -9.69665881e-01 -4.11178449e-03 9.27484402e+02] [ 9.69518803e-01 2.44434161e-01 -1.68888147e-02 1.10044762e+02] [ 1.73815680e-02 1.41167459e-04 9.99848919e-01 9.01714143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.49, Y:110.07, Z:9.02 [[ 2.44828355e-01 -9.69557646e-01 -4.12887082e-03 9.27489973e+02] [ 9.69408961e-01 2.44863119e-01 -1.69799455e-02 1.10072432e+02] [ 1.74740442e-02 1.54607752e-04 9.99847305e-01 9.01728258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.50, Y:110.10, Z:9.02 [[ 2.45278732e-01 -9.69444319e-01 -4.00704511e-03 9.27495783e+02] [ 9.69303926e-01 2.45311407e-01 -1.64988689e-02 1.10100268e+02] [ 1.69777086e-02 1.62777096e-04 9.99855855e-01 9.01747345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0992541539998 meters Centerline goodness [0,1] 0.9999121805567752 Centerline is valid? [True, True] Translation: X:927.50, Y:110.13, Z:9.02 [[ 2.45895115e-01 -9.69287445e-01 -4.17634189e-03 9.27500875e+02] [ 9.69134534e-01 2.45930508e-01 -1.72174684e-02 1.10128348e+02] [ 1.77157658e-02 1.86254218e-04 9.99843046e-01 9.01620653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1292541539999 meters Centerline goodness [0,1] 0.9998460557278265 Centerline is valid? [True, True] Translation: X:927.51, Y:110.16, Z:9.02 [[ 2.46394373e-01 -9.69159029e-01 -4.53765035e-03 9.27506978e+02] [ 9.68978043e-01 2.46436056e-01 -1.87302601e-02 1.10156088e+02] [ 1.92708413e-02 2.18147137e-04 9.99814276e-01 9.01526318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1592541539999 meters Centerline goodness [0,1] 0.9999558450160062 Centerline is valid? [True, True] Translation: X:927.51, Y:110.18, Z:9.02 [[ 2.46616207e-01 -9.69103468e-01 -4.34902418e-03 9.27511706e+02] [ 9.68936810e-01 2.46654455e-01 -1.79732579e-02 1.10183163e+02] [ 1.84906527e-02 2.18567080e-04 9.99829009e-01 9.01567046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.52, Y:110.21, Z:9.02 [[ 2.46438016e-01 -9.69149621e-01 -4.16124124e-03 9.27519280e+02] [ 9.68996678e-01 2.46473056e-01 -1.72183108e-02 1.10210216e+02] [ 1.77127532e-02 2.11017422e-04 9.99843095e-01 9.01766571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.52, Y:110.24, Z:9.02 [[ 2.45169235e-01 -9.69471805e-01 -4.05790587e-03 9.27524491e+02] [ 9.69326103e-01 2.45202743e-01 -1.68083590e-02 1.10236536e+02] [ 1.72902398e-02 1.87458435e-04 9.99850495e-01 9.01664254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.53, Y:110.26, Z:9.02 [[ 2.43859472e-01 -9.69802225e-01 -4.02513985e-03 9.27533045e+02] [ 9.69658615e-01 2.43892632e-01 -1.66899472e-02 1.10263164e+02] [ 1.71676499e-02 1.66990182e-04 9.99852611e-01 9.01808387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2792541539999 meters Centerline goodness [0,1] 0.9998893585005864 Centerline is valid? [True, True] Translation: X:927.54, Y:110.29, Z:9.02 [[ 2.40885455e-01 -9.70544977e-01 -4.07979455e-03 9.27541084e+02] [ 9.70397177e-01 2.40919971e-01 -1.69377444e-02 1.10288901e+02] [ 1.74217467e-02 1.21035148e-04 9.99848223e-01 9.01743515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.55, Y:110.32, Z:9.02 [[ 2.39967226e-01 -9.70773289e-01 -3.86669365e-03 9.27548510e+02] [ 9.70640238e-01 2.39998355e-01 -1.60722991e-02 1.10316209e+02] [ 1.65305587e-02 1.03656584e-04 9.99863356e-01 9.01969986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.56, Y:110.34, Z:9.02 [[ 2.38313431e-01 -9.71181077e-01 -3.74495948e-03 9.27556569e+02] [ 9.71056027e-01 2.38342842e-01 -1.55847066e-02 1.10343445e+02] [ 1.60281564e-02 7.74794327e-05 9.99871538e-01 9.02029800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.57, Y:110.37, Z:9.02 [[ 2.35100169e-01 -9.71964259e-01 -3.65931805e-03 9.27565930e+02] [ 9.71844671e-01 2.35128644e-01 -1.52464960e-02 1.10370166e+02] [ 1.56794596e-02 2.81650174e-05 9.99877069e-01 9.02162626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3992541539999 meters Centerline goodness [0,1] 0.9999115826702034 Centerline is valid? [True, True] Translation: X:927.57, Y:110.40, Z:9.02 [[ 2.31291346e-01 -9.72877560e-01 -3.68336338e-03 9.27574912e+02] [ 9.72756212e-01 2.31320672e-01 -1.53654921e-02 1.10396726e+02] [ 1.58007806e-02 -2.91092516e-05 9.99875159e-01 9.02042740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4292541539999 meters Centerline goodness [0,1] 0.9999335562888972 Centerline is valid? [True, True] Translation: X:927.58, Y:110.42, Z:9.02 [[ 2.29633302e-01 -9.73270327e-01 -3.66295169e-03 9.27582275e+02] [ 9.73150080e-01 2.29662509e-01 -1.52988245e-02 1.10423936e+02] [ 1.57311346e-02 -5.14821505e-05 9.99876257e-01 9.02063271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.59, Y:110.45, Z:9.02 [[ 2.27212867e-01 -9.73837785e-01 -3.77904558e-03 9.27590714e+02] [ 9.73709549e-01 2.27244274e-01 -1.58036008e-02 1.10449593e+02] [ 1.62489101e-02 -8.89113138e-05 9.99867974e-01 9.02078250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4892541539998 meters Centerline goodness [0,1] 0.9999115161704198 Centerline is valid? [True, True] Translation: X:927.60, Y:110.48, Z:9.02 [[ 2.25136430e-01 -9.74319333e-01 -3.92741023e-03 9.27597703e+02] [ 9.74180543e-01 2.25170649e-01 -1.64452858e-02 1.10476621e+02] [ 1.69072974e-02 -1.23573696e-04 9.99857054e-01 9.02038087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5192541539999 meters Centerline goodness [0,1] 0.9998669976946267 Centerline is valid? [True, True] Translation: X:927.60, Y:110.50, Z:9.02 [[ 2.24121894e-01 -9.74552945e-01 -3.99166761e-03 9.27604648e+02] [ 9.74409251e-01 2.24157395e-01 -1.67353986e-02 1.10503839e+02] [ 1.72042938e-02 -1.38748609e-04 9.99851986e-01 9.02042726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.61, Y:110.53, Z:9.02 [[ 2.24346743e-01 -9.74501786e-01 -3.84816345e-03 9.27610696e+02] [ 9.74367898e-01 2.24379708e-01 -1.61538454e-02 1.10530694e+02] [ 1.66054010e-02 -1.25464330e-04 9.99862113e-01 9.02152921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.62, Y:110.56, Z:9.02 [[ 2.24279122e-01 -9.74516778e-01 -3.99047620e-03 9.27616533e+02] [ 9.74372432e-01 2.24314584e-01 -1.67729445e-02 1.10558163e+02] [ 1.72406378e-02 -1.26388732e-04 9.99851361e-01 9.02172898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.62, Y:110.59, Z:9.02 [[ 2.24154579e-01 -9.74544516e-01 -4.20837276e-03 9.27622592e+02] [ 9.74383573e-01 2.24194042e-01 -1.77111040e-02 1.10585618e+02] [ 1.82037514e-02 -1.30544225e-04 9.99834289e-01 9.02186648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6392541539999 meters Centerline goodness [0,1] 0.9999779234827914 Centerline is valid? [True, True] Translation: X:927.63, Y:110.61, Z:9.02 [[ 2.23493929e-01 -9.74696020e-01 -4.25820702e-03 9.27628932e+02] [ 9.74530852e-01 2.23534447e-01 -1.79435076e-02 1.10612441e+02] [ 1.84413214e-02 -1.39489099e-04 9.99829935e-01 9.02131643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6692541539999 meters Centerline goodness [0,1] 0.9999334826278796 Centerline is valid? [True, True] Translation: X:927.63, Y:110.64, Z:9.02 [[ 2.22142238e-01 -9.75004992e-01 -4.25341290e-03 9.27634859e+02] [ 9.74839833e-01 2.22182897e-01 -1.79460156e-02 1.10640071e+02] [ 1.84424904e-02 -1.59828270e-04 9.99829910e-01 9.02155009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6992541539998 meters Centerline goodness [0,1] 0.9999558489149871 Centerline is valid? [True, True] Translation: X:927.64, Y:110.67, Z:9.02 [[ 2.21605778e-01 -9.75127759e-01 -4.09056133e-03 9.27640653e+02] [ 9.74974644e-01 2.21643471e-01 -1.72804968e-02 1.10666136e+02] [ 1.77573384e-02 -1.58735636e-04 9.99842313e-01 9.02230124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.65, Y:110.69, Z:9.02 [[ 2.20985523e-01 -9.75269358e-01 -3.88295240e-03 9.27646247e+02] [ 9.75131072e-01 2.21019579e-01 -1.64237394e-02 1.10693692e+02] [ 1.68757783e-02 -1.56978884e-04 9.99857582e-01 9.02337618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7592541539999 meters Centerline goodness [0,1] 0.9998011796673073 Centerline is valid? [True, True] Translation: X:927.65, Y:110.72, Z:9.02 [[ 2.19608342e-01 -9.75579077e-01 -4.20006617e-03 9.27652032e+02] [ 9.75416921e-01 2.19648420e-01 -1.77877136e-02 1.10721424e+02] [ 1.82758591e-02 -1.90485309e-04 9.99832964e-01 9.02217919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7892541539999 meters Centerline goodness [0,1] 0.999977939067705 Centerline is valid? [True, True] Translation: X:927.66, Y:110.75, Z:9.02 [[ 2.20037839e-01 -9.75484030e-01 -3.77574293e-03 9.27657713e+02] [ 9.75352664e-01 2.20070174e-01 -1.60093294e-02 1.10747866e+02] [ 1.64477736e-02 -1.60022680e-04 9.99864713e-01 9.02373104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8192541539999 meters Centerline goodness [0,1] 0.9998676022772408 Centerline is valid? [True, True] Translation: X:927.66, Y:110.78, Z:9.02 [[ 2.20665573e-01 -9.75341750e-01 -3.89559956e-03 9.27660893e+02] [ 9.75201529e-01 2.20699906e-01 -1.65387278e-02 1.10776200e+02] [ 1.69906702e-02 -1.49466794e-04 9.99855637e-01 9.02421326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.67, Y:110.80, Z:9.03 [[ 2.21952706e-01 -9.75051019e-01 -3.53647590e-03 9.27665712e+02] [ 9.74935143e-01 2.21980850e-01 -1.50322420e-02 1.10803069e+02] [ 1.54422328e-02 -1.11387861e-04 9.99880755e-01 9.02587732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8792541539999 meters Centerline goodness [0,1] 0.9999780127965524 Centerline is valid? [True, True] Translation: X:927.67, Y:110.83, Z:9.03 [[ 2.23015935e-01 -9.74808019e-01 -3.63588601e-03 9.27670628e+02] [ 9.74685184e-01 2.23045553e-01 -1.54749481e-02 1.10830427e+02] [ 1.58960717e-02 -9.26841937e-05 9.99873645e-01 9.02620953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.67, Y:110.86, Z:9.03 [[ 2.25671373e-01 -9.74196799e-01 -3.60935896e-03 9.27673509e+02] [ 9.74075367e-01 2.25700231e-01 -1.53813292e-02 1.10858399e+02] [ 1.57990748e-02 -4.46619699e-05 9.99875186e-01 9.02680060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9392541539999 meters Centerline goodness [0,1] 0.9998682042833608 Centerline is valid? [True, True] Translation: X:927.68, Y:110.89, Z:9.03 [[ 2.27214668e-01 -9.73837086e-01 -3.85033099e-03 9.27676618e+02] [ 9.73698481e-01 2.27247288e-01 -1.64297832e-02 1.10886560e+02] [ 1.68749095e-02 -1.59737039e-05 9.99857608e-01 9.02519928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9692541539998 meters Centerline goodness [0,1] 0.9998025579711735 Centerline is valid? [True, True] Translation: X:927.68, Y:110.91, Z:9.02 [[ 2.27778874e-01 -9.73704927e-01 -3.93685267e-03 9.27681398e+02] [ 9.73559626e-01 2.27812893e-01 -1.68208192e-02 1.10913966e+02] [ 1.72753804e-02 -1.33354265e-06 9.99850769e-01 9.02493450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9992541539999 meters Centerline goodness [0,1] 0.9999562898854795 Centerline is valid? [True, True] Translation: X:927.69, Y:110.94, Z:9.03 [[ 2.28842702e-01 -9.73455934e-01 -3.81601790e-03 9.27686373e+02] [ 9.73319033e-01 2.28874516e-01 -1.63253286e-02 1.10941413e+02] [ 1.67653772e-02 2.17294621e-05 9.99859451e-01 9.02622306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.69, Y:110.97, Z:9.03 [[ 2.29928040e-01 -9.73200210e-01 -3.80095104e-03 9.27690561e+02] [ 9.73063993e-01 2.29959451e-01 -1.62824018e-02 1.10968137e+02] [ 1.67201014e-02 4.52121326e-05 9.99860208e-01 9.02628071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0592541539999 meters Centerline goodness [0,1] 0.9998688180506362 Centerline is valid? [True, True] Translation: X:927.70, Y:110.99, Z:9.02 [[ 2.29322440e-01 -9.73341886e-01 -4.09776297e-03 9.27696268e+02] [ 9.73183136e-01 2.29359045e-01 -1.75787730e-02 1.10994741e+02] [ 1.80500151e-02 4.33333120e-05 9.99837084e-01 9.02458755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.70, Y:111.02, Z:9.03 [[ 2.29854494e-01 -9.73216717e-01 -4.01675554e-03 9.27700955e+02] [ 9.73063764e-01 2.29889581e-01 -1.72537281e-02 1.11022435e+02] [ 1.77150269e-02 5.72876896e-05 9.99843075e-01 9.02507590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1192541539999 meters Centerline goodness [0,1] 0.9999342782658225 Centerline is valid? [True, True] Translation: X:927.71, Y:111.05, Z:9.02 [[ 2.29214802e-01 -9.73366116e-01 -4.35643986e-03 9.27706995e+02] [ 9.73185748e-01 2.29256191e-01 -1.87376541e-02 1.11050065e+02] [ 1.92373384e-02 5.53224920e-05 9.99814944e-01 9.02409348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1492541539999 meters Centerline goodness [0,1] 0.9999126332343177 Centerline is valid? [True, True] Translation: X:927.71, Y:111.08, Z:9.02 [[ 2.29053269e-01 -9.73403147e-01 -4.57322091e-03 9.27712026e+02] [ 9.73203941e-01 2.29098910e-01 -1.96920950e-02 1.11076236e+02] [ 2.02160672e-02 5.98621143e-05 9.99795633e-01 9.02273512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1792541539999 meters Centerline goodness [0,1] 0.9999126275092287 Centerline is valid? [True, True] Translation: X:927.72, Y:111.10, Z:9.02 [[ 2.28944386e-01 -9.73428405e-01 -4.64853160e-03 9.27717938e+02] [ 9.73222129e-01 2.28991565e-01 -2.00387346e-02 1.11103892e+02] [ 2.05707480e-02 6.37019655e-05 9.99788398e-01 9.02304363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.72, Y:111.13, Z:9.02 [[ 2.29852624e-01 -9.73214506e-01 -4.61490112e-03 9.27722919e+02] [ 9.73010647e-01 2.29898931e-01 -1.99188783e-02 1.11131309e+02] [ 2.04463021e-02 8.80585150e-05 9.99790949e-01 9.02385564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.73, Y:111.16, Z:9.02 [[ 2.30012569e-01 -9.73176317e-01 -4.69837670e-03 9.27728629e+02] [ 9.72964458e-01 2.30060528e-01 -2.03055868e-02 1.11158431e+02] [ 2.08418272e-02 9.91866472e-05 9.99782781e-01 9.02424775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.73, Y:111.19, Z:9.02 [[ 2.30458767e-01 -9.73070453e-01 -4.75926563e-03 9.27734206e+02] [ 9.72852473e-01 2.30507874e-01 -2.05957660e-02 1.11186375e+02] [ 2.11381796e-02 1.16411493e-04 9.99776557e-01 9.02420071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.74, Y:111.21, Z:9.02 [[ 2.30967885e-01 -9.72949507e-01 -4.80546664e-03 9.27738893e+02] [ 9.72726668e-01 2.31017831e-01 -2.08228628e-02 1.11214604e+02] [ 2.13697426e-02 1.35007030e-04 9.99771632e-01 9.02381696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.74, Y:111.24, Z:9.02 [[ 2.30982619e-01 -9.72946060e-01 -4.79515902e-03 9.27744686e+02] [ 9.72723597e-01 2.31032344e-01 -2.08052944e-02 1.11242052e+02] [ 2.13502660e-02 1.41297064e-04 9.99772047e-01 9.02441284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3592541539998 meters Centerline goodness [0,1] 0.9997815640017474 Centerline is valid? [True, True] Translation: X:927.75, Y:111.27, Z:9.02 [[ 2.30281605e-01 -9.73110904e-01 -5.05479452e-03 9.27750404e+02] [ 9.72863071e-01 2.30337033e-01 -2.19612665e-02 1.11269916e+02] [ 2.25350543e-02 1.39652763e-04 9.99746044e-01 9.02332916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.76, Y:111.30, Z:9.03 [[ 2.31211847e-01 -9.72892320e-01 -4.64924947e-03 9.27756270e+02] [ 9.72682090e-01 2.31258535e-01 -2.02248072e-02 1.11297767e+02] [ 2.07517382e-02 1.53973325e-04 9.99784648e-01 9.02575580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4192541539999 meters Centerline goodness [0,1] 0.9999782016348774 Centerline is valid? [True, True] Translation: X:927.76, Y:111.32, Z:9.03 [[ 2.31236555e-01 -9.72886490e-01 -4.64038823e-03 9.27761174e+02] [ 9.72676497e-01 2.31283055e-01 -2.02133884e-02 1.11324004e+02] [ 2.07385757e-02 1.60477724e-04 9.99784920e-01 9.02589707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.77, Y:111.35, Z:9.03 [[ 2.31213810e-01 -9.72891882e-01 -4.64320542e-03 9.27766660e+02] [ 9.72681076e-01 2.31260368e-01 -2.02525622e-02 1.11351216e+02] [ 2.07773427e-02 1.66314028e-04 9.99784114e-01 9.02643167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.77, Y:111.38, Z:9.03 [[ 2.30264941e-01 -9.73117078e-01 -4.60538490e-03 9.27771848e+02] [ 9.72909189e-01 2.30310942e-01 -2.01141953e-02 1.11377539e+02] [ 2.06341375e-02 1.50972710e-04 9.99787082e-01 9.02613732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5092541539999 meters Centerline goodness [0,1] 0.9998479384802538 Centerline is valid? [True, True] Translation: X:927.78, Y:111.41, Z:9.03 [[ 2.28457304e-01 -9.73541549e-01 -4.91056013e-03 9.27778443e+02] [ 9.73304650e-01 2.28510037e-01 -2.14760564e-02 1.11405020e+02] [ 2.20299455e-02 1.26890930e-04 9.99757303e-01 9.02510938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5392541539999 meters Centerline goodness [0,1] 0.9998479384802538 Centerline is valid? [True, True] Translation: X:927.78, Y:111.43, Z:9.03 [[ 2.28187410e-01 -9.73604874e-01 -4.90460331e-03 9.27784503e+02] [ 9.73367961e-01 2.28240078e-01 -2.14774172e-02 1.11431934e+02] [ 2.20299451e-02 1.26892479e-04 9.99757303e-01 9.02536681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.79, Y:111.46, Z:9.03 [[ 2.26701033e-01 -9.73953388e-01 -4.63039181e-03 9.27791144e+02] [ 9.73741766e-01 2.26748297e-01 -2.03022708e-02 1.11458213e+02] [ 2.08233989e-02 9.37398737e-05 9.99783165e-01 9.02670594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.80, Y:111.49, Z:9.03 [[ 2.25408917e-01 -9.74253169e-01 -4.64568328e-03 9.27797616e+02] [ 9.74039664e-01 2.25456774e-01 -2.03954738e-02 1.11485472e+02] [ 2.09177557e-02 7.22418713e-05 9.99781197e-01 9.02684346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.80, Y:111.51, Z:9.03 [[ 2.23620534e-01 -9.74664928e-01 -4.70472013e-03 9.27804546e+02] [ 9.74445499e-01 2.23670016e-01 -2.06807466e-02 1.11513008e+02] [ 2.12091032e-02 4.01462323e-05 9.99775061e-01 9.02682398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6592541539999 meters Centerline goodness [0,1] 0.999978195455933 Centerline is valid? [True, True] Translation: X:927.81, Y:111.54, Z:9.03 [[ 2.22830645e-01 -9.74844461e-01 -4.97810175e-03 9.27810753e+02] [ 9.74598182e-01 2.22886242e-01 -2.19113643e-02 1.11540567e+02] [ 2.24697225e-02 3.08745143e-05 9.99747523e-01 9.02741090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6892541539999 meters Centerline goodness [0,1] 0.9998910675381264 Centerline is valid? [True, True] Translation: X:927.82, Y:111.57, Z:9.03 [[ 2.22459074e-01 -9.74927259e-01 -5.36658555e-03 9.27816338e+02] [ 9.74640329e-01 2.22523794e-01 -2.36514284e-02 1.11567928e+02] [ 2.42526153e-02 3.09841755e-05 9.99705862e-01 9.02651781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7192541539998 meters Centerline goodness [0,1] 0.9998261209763307 Centerline is valid? [True, True] Translation: X:927.82, Y:111.59, Z:9.02 [[ 2.22673792e-01 -9.74877630e-01 -5.47620305e-03 9.27820773e+02] [ 9.74578051e-01 2.22741116e-01 -2.41664796e-02 1.11594910e+02] [ 2.47791360e-02 4.42543698e-05 9.99692949e-01 9.02333809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.83, Y:111.62, Z:9.03 [[ 2.23388951e-01 -9.74715656e-01 -5.17366424e-03 9.27826794e+02] [ 9.74447512e-01 2.23448845e-01 -2.28617811e-02 1.11622024e+02] [ 2.34397853e-02 6.56050669e-05 9.99725248e-01 9.02776242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7792541539999 meters Centerline goodness [0,1] 0.9998253389515971 Centerline is valid? [True, True] Translation: X:927.83, Y:111.65, Z:9.03 [[ 2.23022621e-01 -9.74797786e-01 -5.49427621e-03 9.27832257e+02] [ 9.74494623e-01 2.23090278e-01 -2.43096324e-02 1.11649164e+02] [ 2.49226954e-02 6.74553067e-05 9.99689379e-01 9.02651151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.84, Y:111.68, Z:9.03 [[ 2.24945835e-01 -9.74358716e-01 -4.94618120e-03 9.27836955e+02] [ 9.74112320e-01 2.25000180e-01 -2.19113441e-02 1.11676709e+02] [ 2.24624007e-02 1.10729538e-04 9.99747682e-01 9.02921342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8392541539998 meters Centerline goodness [0,1] 0.9998480869810543 Centerline is valid? [True, True] Translation: X:927.84, Y:111.70, Z:9.03 [[ 2.26041343e-01 -9.74105510e-01 -4.87506180e-03 9.27840895e+02] [ 9.73865438e-01 2.26093863e-01 -2.16257586e-02 1.11703593e+02] [ 2.21679922e-02 1.40661323e-04 9.99754250e-01 9.02928822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8692541539998 meters Centerline goodness [0,1] 0.9999130944880179 Centerline is valid? [True, True] Translation: X:927.85, Y:111.73, Z:9.03 [[ 2.27118226e-01 -9.73856582e-01 -4.54640767e-03 9.27845680e+02] [ 9.73647194e-01 2.27163669e-01 -2.01942574e-02 1.11731282e+02] [ 2.06990891e-02 1.59886838e-04 9.99785738e-01 9.03039743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.85, Y:111.76, Z:9.03 [[ 2.28473904e-01 -9.73540517e-01 -4.30551416e-03 9.27850044e+02] [ 9.73352195e-01 2.28514394e-01 -1.91488114e-02 1.11758855e+02] [ 1.96260157e-02 1.84222044e-04 9.99807374e-01 9.03132230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9292541539999 meters Centerline goodness [0,1] 0.9999129318038353 Centerline is valid? [True, True] Translation: X:927.86, Y:111.79, Z:9.03 [[ 2.28456288e-01 -9.73543042e-01 -4.65516542e-03 9.27855896e+02] [ 9.73322299e-01 2.28503619e-01 -2.07315608e-02 1.11786384e+02] [ 2.12467889e-02 2.05279093e-04 9.99774240e-01 9.03064636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.86, Y:111.81, Z:9.03 [[ 2.28331143e-01 -9.73573248e-01 -4.47427568e-03 9.27861622e+02] [ 9.73368802e-01 2.28374889e-01 -1.99520917e-02 1.11813045e+02] [ 2.04466349e-02 2.00563549e-04 9.99790926e-01 9.03115892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9892541539998 meters Centerline goodness [0,1] 0.9999132019789949 Centerline is valid? [True, True] Translation: X:927.87, Y:111.84, Z:9.03 [[ 2.27034967e-01 -9.73874565e-01 -4.84305346e-03 9.27868319e+02] [ 9.73634418e-01 2.27086534e-01 -2.16269806e-02 1.11840124e+02] [ 2.21617586e-02 1.94717299e-04 9.99754379e-01 9.03055244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0192541539999 meters Centerline goodness [0,1] 0.9999782263156749 Centerline is valid? [True, True] Translation: X:927.87, Y:111.87, Z:9.03 [[ 2.26397147e-01 -9.74023248e-01 -4.80048348e-03 9.27874355e+02] [ 9.73786715e-01 2.26447960e-01 -2.14652310e-02 1.11867352e+02] [ 2.19946937e-02 1.85020010e-04 9.99758070e-01 9.03061718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0492541539999 meters Centerline goodness [0,1] 0.9999350030331918 Centerline is valid? [True, True] Translation: X:927.88, Y:111.89, Z:9.03 [[ 2.24800249e-01 -9.74392031e-01 -5.00179534e-03 9.27879072e+02] [ 9.74134619e-01 2.24855828e-01 -2.23964552e-02 1.11894113e+02] [ 2.29476103e-02 1.62306711e-04 9.99736656e-01 9.02656652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.89, Y:111.92, Z:9.03 [[ 2.23879428e-01 -9.74604922e-01 -4.82165809e-03 9.27887847e+02] [ 9.74365262e-01 2.23931300e-01 -2.16127042e-02 1.11921351e+02] [ 2.21435680e-02 1.40583700e-04 9.99754791e-01 9.03174293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1092541539998 meters Centerline goodness [0,1] 0.9999346405228758 Centerline is valid? [True, True] Translation: X:927.90, Y:111.95, Z:9.03 [[ 2.21432753e-01 -9.75161589e-01 -5.23552373e-03 9.27895423e+02] [ 9.74878495e-01 2.21494617e-01 -2.34958597e-02 1.11948818e+02] [ 2.40719002e-02 9.87534035e-05 9.99710225e-01 9.03099572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1392541539999 meters Centerline goodness [0,1] 0.9999782229965157 Centerline is valid? [True, True] Translation: X:927.90, Y:111.98, Z:9.03 [[ 2.20052044e-01 -9.75474466e-01 -5.16365489e-03 9.27902864e+02] [ 9.75198600e-01 2.20112609e-01 -2.31976388e-02 1.11976409e+02] [ 2.37652899e-02 6.90988320e-05 9.99717563e-01 9.03130961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1692541539999 meters Centerline goodness [0,1] 0.9999348604928889 Centerline is valid? [True, True] Translation: X:927.91, Y:112.00, Z:9.03 [[ 2.16315223e-01 -9.76309766e-01 -5.19286194e-03 9.27912002e+02] [ 9.76030328e-01 2.16377543e-01 -2.33571739e-02 1.12002359e+02] [ 2.39274557e-02 -1.58784825e-05 9.99713697e-01 9.03089757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.92, Y:112.03, Z:9.03 [[ 2.14050372e-01 -9.76809303e-01 -5.10139325e-03 9.27920084e+02] [ 9.76538996e-01 2.14111144e-01 -2.29784051e-02 1.12028522e+02] [ 2.35377850e-02 -6.31732941e-05 9.99722946e-01 9.02997137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2292541539998 meters Centerline goodness [0,1] 0.9998468405391213 Centerline is valid? [True, True] Translation: X:927.93, Y:112.06, Z:9.03 [[ 2.09702381e-01 -9.77750727e-01 -5.33179318e-03 9.27930226e+02] [ 9.77454946e-01 2.09770084e-01 -2.40487271e-02 1.12055419e+02] [ 2.46321111e-02 -1.68512273e-04 9.99696569e-01 9.03183394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.94, Y:112.08, Z:9.03 [[ 2.07892568e-01 -9.78139841e-01 -4.80963081e-03 9.27938145e+02] [ 9.77898653e-01 2.07948111e-01 -2.17211374e-02 1.12082826e+02] [ 2.22464636e-02 -1.87668461e-04 9.99752499e-01 9.03359313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2892541539999 meters Centerline goodness [0,1] 0.9998474380489506 Centerline is valid? [True, True] Translation: X:927.95, Y:112.11, Z:9.03 [[ 2.04324053e-01 -9.78890663e-01 -4.97500179e-03 9.27947007e+02] [ 9.78632343e-01 2.04384428e-01 -2.24887247e-02 1.12108498e+02] [ 2.30308155e-02 -2.73710286e-04 9.99734718e-01 9.03355561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.95, Y:112.14, Z:9.03 [[ 2.03040243e-01 -9.79159538e-01 -4.61074568e-03 9.27953919e+02] [ 9.78937284e-01 2.03092398e-01 -2.08631854e-02 1.12135805e+02] [ 2.13647944e-02 -2.77564616e-04 9.99771708e-01 9.03454867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3492541539998 meters Centerline goodness [0,1] 0.9997808315251934 Centerline is valid? [True, True] Translation: X:927.96, Y:112.16, Z:9.03 [[ 2.01084960e-01 -9.79560422e-01 -5.12033090e-03 9.27961507e+02] [ 9.79285687e-01 2.01149837e-01 -2.32009865e-02 1.12163229e+02] [ 2.37567218e-02 -3.48897339e-04 9.99717708e-01 9.03409964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3792541539999 meters Centerline goodness [0,1] 0.999934338681083 Centerline is valid? [True, True] Translation: X:927.97, Y:112.19, Z:9.03 [[ 1.98478306e-01 -9.80094261e-01 -4.64779263e-03 9.27971487e+02] [ 9.79867440e-01 1.98532375e-01 -2.10878244e-02 1.12189149e+02] [ 2.15907930e-02 -3.68745011e-04 9.99766824e-01 9.03395591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.98, Y:112.22, Z:9.03 [[ 1.96066885e-01 -9.80579109e-01 -4.73165196e-03 9.27979340e+02] [ 9.80343524e-01 1.96123513e-01 -2.14975118e-02 1.12216684e+02] [ 2.20079991e-02 -4.23694202e-04 9.99757705e-01 9.03477923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4392541539999 meters Centerline goodness [0,1] 0.9997803018652371 Centerline is valid? [True, True] Translation: X:927.99, Y:112.24, Z:9.03 [[ 1.94609809e-01 -9.80867238e-01 -5.14631730e-03 9.27986128e+02] [ 9.80587909e-01 1.94677226e-01 -2.34121745e-02 1.12243984e+02] [ 2.39661057e-02 -4.90177719e-04 9.99712651e-01 9.03435894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4692541539998 meters Centerline goodness [0,1] 0.999846356453029 Centerline is valid? [True, True] Translation: X:927.99, Y:112.27, Z:9.04 [[ 1.93446359e-01 -9.81098008e-01 -5.02049818e-03 9.27991087e+02] [ 9.80831537e-01 1.93510850e-01 -2.28702145e-02 1.12271194e+02] [ 2.34094428e-02 -5.00103211e-04 9.99725836e-01 9.03588056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.00, Y:112.30, Z:9.04 [[ 1.93096555e-01 -9.81169206e-01 -4.55084369e-03 9.27998029e+02] [ 9.80949688e-01 1.93149637e-01 -2.07587777e-02 1.12297369e+02] [ 2.12468672e-02 -4.55700246e-04 9.99774156e-01 9.03583717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.00, Y:112.32, Z:9.04 [[ 1.92735014e-01 -9.81240713e-01 -4.45838096e-03 9.28003103e+02] [ 9.81029454e-01 1.92786051e-01 -2.03654077e-02 1.12324896e+02] [ 2.08428808e-02 -4.48675907e-04 9.99782663e-01 9.03677249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.01, Y:112.35, Z:9.04 [[ 1.92847160e-01 -9.81219765e-01 -4.21258693e-03 9.28010573e+02] [ 9.81030629e-01 1.92892715e-01 -1.92693060e-02 1.12350718e+02] [ 1.97200012e-02 -4.16645871e-04 9.99805455e-01 9.03725717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5892541539998 meters Centerline goodness [0,1] 0.9999341672152732 Centerline is valid? [True, True] Translation: X:928.02, Y:112.38, Z:9.04 [[ 1.93762579e-01 -9.81039644e-01 -4.15699246e-03 9.28015525e+02] [ 9.80854910e-01 1.93806778e-01 -1.90415106e-02 1.12378815e+02] [ 1.94861301e-02 -3.87874263e-04 9.99810052e-01 9.03785903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6192541539998 meters Centerline goodness [0,1] 0.9999562478123907 Centerline is valid? [True, True] Translation: X:928.02, Y:112.41, Z:9.04 [[ 1.94654742e-01 -9.80863272e-01 -4.09557659e-03 9.28020570e+02] [ 9.80683429e-01 1.94697490e-01 -1.87856312e-02 1.12406792e+02] [ 1.92235341e-02 -3.59751909e-04 9.99815146e-01 9.03804496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.02, Y:112.43, Z:9.04 [[ 1.96350106e-01 -9.80525974e-01 -3.93082764e-03 9.28024806e+02] [ 9.80359806e-01 1.96389205e-01 -1.80535816e-02 1.12434473e+02] [ 1.84739777e-02 -3.08802781e-04 9.99829294e-01 9.03809489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.03, Y:112.46, Z:9.04 [[ 2.00944320e-01 -9.79594526e-01 -3.99312682e-03 9.28027025e+02] [ 9.79422409e-01 2.00983871e-01 -1.83638048e-02 1.12462440e+02] [ 1.87916367e-02 -2.20855607e-04 9.99823397e-01 9.03742046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.03, Y:112.49, Z:9.04 [[ 2.06990393e-01 -9.78334493e-01 -4.07388686e-03 9.28028067e+02] [ 9.78154701e-01 2.07030454e-01 -1.87555920e-02 1.12490278e+02] [ 1.91926613e-02 -1.02664215e-04 9.99815799e-01 9.03648902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7392541539998 meters Centerline goodness [0,1] 0.9998253694527516 Centerline is valid? [True, True] Translation: X:928.03, Y:112.52, Z:9.04 [[ 2.09094270e-01 -9.77884547e-01 -4.62594692e-03 9.28031565e+02] [ 9.77652067e-01 2.09145426e-01 -2.13219951e-02 1.12518597e+02] [ 2.18179452e-02 -6.42595527e-05 9.99761958e-01 9.03644428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.03, Y:112.55, Z:9.04 [[ 2.14997873e-01 -9.76605175e-01 -4.27153680e-03 9.28032656e+02] [ 9.76406185e-01 2.15040292e-01 -1.97138442e-02 1.12547032e+02] [ 2.01711948e-02 6.76796372e-05 9.99796538e-01 9.03596759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.04, Y:112.57, Z:9.04 [[ 2.17021189e-01 -9.76157307e-01 -4.32617191e-03 9.28036221e+02] [ 9.75952541e-01 2.17064273e-01 -1.99934981e-02 1.12574651e+02] [ 2.04558566e-02 1.16874257e-04 9.99790750e-01 9.03608502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.04, Y:112.60, Z:9.04 [[ 2.18675619e-01 -9.75788405e-01 -4.23825311e-03 9.28040676e+02] [ 9.75591266e-01 2.18716632e-01 -1.96141889e-02 1.12602366e+02] [ 2.00662745e-02 1.54342177e-04 9.99798640e-01 9.03686012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.04, Y:112.63, Z:9.04 [[ 2.20548630e-01 -9.75367484e-01 -4.07094184e-03 9.28044801e+02] [ 9.75185028e-01 2.20586115e-01 -1.88660143e-02 1.12630391e+02] [ 1.92992902e-02 1.90952073e-04 9.99813733e-01 9.03796559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.05, Y:112.66, Z:9.04 [[ 2.20614453e-01 -9.75353042e-01 -3.96315829e-03 9.28049589e+02] [ 9.75179621e-01 2.20649963e-01 -1.83929385e-02 1.12656754e+02] [ 1.88140793e-02 1.92956861e-04 9.99822981e-01 9.03851038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9192541539999 meters Centerline goodness [0,1] 0.9999781253417915 Centerline is valid? [True, True] Translation: X:928.06, Y:112.68, Z:9.04 [[ 2.20082832e-01 -9.75473827e-01 -3.78931611e-03 9.28055586e+02] [ 9.75314870e-01 2.20115378e-01 -1.76103741e-02 1.12684702e+02] [ 1.80125458e-02 1.79964661e-04 9.99837745e-01 9.04002791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9492541539998 meters Centerline goodness [0,1] 0.9998043605851792 Centerline is valid? [True, True] Translation: X:928.06, Y:112.71, Z:9.04 [[ 2.18692879e-01 -9.75785439e-01 -4.02527590e-03 9.28061171e+02] [ 9.75605600e-01 2.18729854e-01 -1.87340271e-02 1.12711031e+02] [ 1.91608389e-02 1.69916606e-04 9.99816400e-01 9.03984077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.07, Y:112.74, Z:9.04 [[ 2.17034716e-01 -9.76156956e-01 -3.67810548e-03 9.28068267e+02] [ 9.76006439e-01 2.17065842e-01 -1.71421268e-02 1.12738301e+02] [ 1.75317973e-02 1.30581994e-04 9.99846298e-01 9.04082467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.07, Y:112.76, Z:9.04 [[ 2.15590593e-01 -9.76476844e-01 -3.69729361e-03 9.28074414e+02] [ 9.76324351e-01 2.15622266e-01 -1.72568852e-02 1.12764423e+02] [ 1.76481676e-02 1.10664329e-04 9.99844253e-01 9.04075349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.08, Y:112.79, Z:9.04 [[ 2.13021198e-01 -9.77040208e-01 -3.79480572e-03 9.28081735e+02] [ 9.76879238e-01 2.13054984e-01 -1.77349427e-02 1.12790875e+02] [ 1.81362544e-02 7.08518131e-05 9.99835522e-01 9.04039167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0692541539999 meters Centerline goodness [0,1] 0.9999565302440827 Centerline is valid? [True, True] Translation: X:928.09, Y:112.82, Z:9.04 [[ 2.11215379e-01 -9.77431835e-01 -3.88211181e-03 9.28088633e+02] [ 9.77263029e-01 2.11251048e-01 -1.81649680e-02 1.12817814e+02] [ 1.85751182e-02 4.28762528e-05 9.99827467e-01 9.04069029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0992541539998 meters Centerline goodness [0,1] 0.9999564061205807 Centerline is valid? [True, True] Translation: X:928.10, Y:112.85, Z:9.04 [[ 2.07980137e-01 -9.78124764e-01 -4.02601403e-03 9.28096156e+02] [ 9.77942830e-01 2.08019100e-01 -1.88646645e-02 1.12845213e+02] [ 1.92894834e-02 -1.37360314e-05 9.99813941e-01 9.04008496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.10, Y:112.87, Z:9.04 [[ 2.06255698e-01 -9.78489537e-01 -4.10041753e-03 9.28102615e+02] [ 9.78300362e-01 2.06296448e-01 -1.92399825e-02 1.12872318e+02] [ 1.96720231e-02 -4.30839541e-05 9.99806486e-01 9.04002024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1592541539999 meters Centerline goodness [0,1] 0.9998692611073584 Centerline is valid? [True, True] Translation: X:928.11, Y:112.90, Z:9.04 [[ 2.01987835e-01 -9.79377372e-01 -4.56920687e-03 9.28111453e+02] [ 9.79142026e-01 2.02039463e-01 -2.14697110e-02 1.12899533e+02] [ 2.19501092e-02 -1.37282035e-04 9.99759058e-01 9.03909209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.12, Y:112.93, Z:9.04 [[ 1.99896275e-01 -9.79806780e-01 -4.48919318e-03 9.28118900e+02] [ 9.79579104e-01 1.99946600e-01 -2.11219344e-02 1.12926950e+02] [ 2.15930135e-02 -1.75323816e-04 9.99766828e-01 9.03904240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2192541539998 meters Centerline goodness [0,1] 0.9999780648840729 Centerline is valid? [True, True] Translation: X:928.13, Y:112.95, Z:9.04 [[ 1.95142897e-01 -9.80763979e-01 -4.61161904e-03 9.28127471e+02] [ 9.80523313e-01 1.95197177e-01 -2.17277404e-02 1.12953930e+02] [ 2.22099601e-02 -2.81785769e-04 9.99753289e-01 9.03976930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2492541539999 meters Centerline goodness [0,1] 0.9998685306104562 Centerline is valid? [True, True] Translation: X:928.14, Y:112.98, Z:9.04 [[ 1.92621471e-01 -9.81261366e-01 -4.80637972e-03 9.28135003e+02] [ 9.80999386e-01 1.92681114e-01 -2.26758302e-02 1.12980413e+02] [ 2.31770147e-02 -3.47203788e-04 9.99731317e-01 9.03962367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2792541539999 meters Centerline goodness [0,1] 0.9998907509777788 Centerline is valid? [True, True] Translation: X:928.14, Y:113.01, Z:9.04 [[ 1.89017296e-01 -9.81962267e-01 -4.75052273e-03 9.28143474e+02] [ 9.81705883e-01 1.89076513e-01 -2.24417181e-02 1.13007794e+02] [ 2.29351327e-02 -4.21743223e-04 9.99736866e-01 9.04005457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.15, Y:113.03, Z:9.04 [[ 1.87722186e-01 -9.82211709e-01 -4.53219304e-03 9.28150299e+02] [ 9.81977894e-01 1.87776403e-01 -2.14345030e-02 1.13034256e+02] [ 2.19042587e-02 -4.26781635e-04 9.99759982e-01 9.04060802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.16, Y:113.06, Z:9.04 [[ 1.85963589e-01 -9.82546405e-01 -4.48397731e-03 9.28156951e+02] [ 9.82317083e-01 1.86017080e-01 -2.12318974e-02 1.13061728e+02] [ 2.16954208e-02 -4.56327674e-04 9.99764523e-01 9.04158861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3692541539998 meters Centerline goodness [0,1] 0.9999341989822776 Centerline is valid? [True, True] Translation: X:928.17, Y:113.09, Z:9.04 [[ 1.82802670e-01 -9.83139965e-01 -4.35814355e-03 9.28165299e+02] [ 9.82923006e-01 1.82853910e-01 -2.06594426e-02 1.13087667e+02] [ 2.11080273e-02 -5.07118275e-04 9.99777072e-01 9.04241083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3992541539999 meters Centerline goodness [0,1] 0.9998901726485964 Centerline is valid? [True, True] Translation: X:928.17, Y:113.11, Z:9.04 [[ 1.81267986e-01 -9.83424210e-01 -4.32914373e-03 9.28172157e+02] [ 9.83209701e-01 1.81318893e-01 -2.05461113e-02 1.13114958e+02] [ 2.09904988e-02 -5.32103895e-04 9.99779534e-01 9.04338079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4292541539999 meters Centerline goodness [0,1] 0.9998901726485964 Centerline is valid? [True, True] Translation: X:928.18, Y:113.14, Z:9.04 [[ 1.80990876e-01 -9.83475272e-01 -4.32349167e-03 9.28177770e+02] [ 9.83260750e-01 1.81041726e-01 -2.05473011e-02 1.13141985e+02] [ 2.09904949e-02 -5.32245647e-04 9.99779534e-01 9.04363834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4592541539998 meters Centerline goodness [0,1] 0.9998466526463372 Centerline is valid? [True, True] Translation: X:928.19, Y:113.17, Z:9.04 [[ 1.79427090e-01 -9.83762703e-01 -4.10646006e-03 9.28185029e+02] [ 9.83568802e-01 1.79473283e-01 -1.95385066e-02 1.13167955e+02] [ 1.99582539e-02 -5.33248617e-04 9.99800672e-01 9.04489830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4892541539998 meters Centerline goodness [0,1] 0.9998468070206153 Centerline is valid? [True, True] Translation: X:928.19, Y:113.20, Z:9.05 [[ 1.78950792e-01 -9.83849680e-01 -4.05229146e-03 9.28189687e+02] [ 9.83660422e-01 1.78995879e-01 -1.93041390e-02 1.13195313e+02] [ 1.97177145e-02 -5.31587748e-04 9.99805446e-01 9.04590926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5192541539999 meters Centerline goodness [0,1] 0.9999127380614761 Centerline is valid? [True, True] Translation: X:928.19, Y:113.22, Z:9.05 [[ 1.79846582e-01 -9.83686571e-01 -3.99226236e-03 9.28194348e+02] [ 9.83502395e-01 1.79890186e-01 -1.90410256e-02 1.13221860e+02] [ 1.94485700e-02 -5.01936226e-04 9.99810733e-01 9.04595481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.20, Y:113.25, Z:9.05 [[ 1.81023673e-01 -9.83471009e-01 -3.89926638e-03 9.28197804e+02] [ 9.83294845e-01 1.81065070e-01 -1.86195459e-02 1.13250464e+02] [ 1.90178046e-02 -4.63549932e-04 9.99819038e-01 9.04673788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5792541539998 meters Centerline goodness [0,1] 0.9998254418503164 Centerline is valid? [True, True] Translation: X:928.20, Y:113.28, Z:9.05 [[ 1.82854149e-01 -9.83130827e-01 -4.25876779e-03 9.28201981e+02] [ 9.82920063e-01 1.82903151e-01 -2.03614098e-02 1.13277448e+02] [ 2.07968717e-02 -4.62860048e-04 9.99783615e-01 9.04507561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.20, Y:113.31, Z:9.05 [[ 1.86330899e-01 -9.82479279e-01 -3.90666036e-03 9.28202695e+02] [ 9.82301357e-01 1.86371514e-01 -1.87003636e-02 1.13305867e+02] [ 1.91008099e-02 -3.53062211e-04 9.99817501e-01 9.04696592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.21, Y:113.33, Z:9.05 [[ 1.87549765e-01 -9.82247565e-01 -3.84799821e-03 9.28207612e+02] [ 9.82074398e-01 1.87588964e-01 -1.84460645e-02 1.13332525e+02] [ 1.88404439e-02 -3.19465458e-04 9.99822452e-01 9.04649163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6692541539999 meters Centerline goodness [0,1] 0.9998476339732707 Centerline is valid? [True, True] Translation: X:928.21, Y:113.36, Z:9.05 [[ 1.88661866e-01 -9.82033986e-01 -3.99393135e-03 9.28211932e+02] [ 9.81846845e-01 1.88703892e-01 -1.91732900e-02 1.13359810e+02] [ 1.95824928e-02 -3.04160221e-04 9.99808198e-01 9.04549084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6992541539998 meters Centerline goodness [0,1] 0.9998036006546644 Centerline is valid? [True, True] Translation: X:928.21, Y:113.39, Z:9.05 [[ 1.91823061e-01 -9.81421341e-01 -4.00815715e-03 9.28213294e+02] [ 9.81232203e-01 1.91864785e-01 -1.92683027e-02 1.13388728e+02] [ 1.96793477e-02 -2.36828075e-04 9.99806315e-01 9.04638656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.22, Y:113.42, Z:9.05 [[ 1.94117125e-01 -9.80971159e-01 -3.75850337e-03 9.28217664e+02] [ 9.80804380e-01 1.94153429e-01 -1.80890383e-02 1.13415361e+02] [ 1.84745512e-02 -1.74964465e-04 9.99829316e-01 9.04638106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.22, Y:113.44, Z:9.05 [[ 1.97500288e-01 -9.80295211e-01 -3.86454152e-03 9.28219637e+02] [ 9.80118312e-01 1.97538063e-01 -1.86227659e-02 1.13443602e+02] [ 1.90192022e-02 -1.09706292e-04 9.99819113e-01 9.04686205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7892541539999 meters Centerline goodness [0,1] 0.9998479516920804 Centerline is valid? [True, True] Translation: X:928.22, Y:113.47, Z:9.05 [[ 1.98385501e-01 -9.80115646e-01 -4.06362294e-03 9.28224303e+02] [ 9.79919403e-01 1.98427094e-01 -1.96125603e-02 1.13469968e+02] [ 2.00289101e-02 -9.11753715e-05 9.99799397e-01 9.04566365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8192541539999 meters Centerline goodness [0,1] 0.9998692383131742 Centerline is valid? [True, True] Translation: X:928.23, Y:113.50, Z:9.05 [[ 2.01442014e-01 -9.79492335e-01 -3.98514083e-03 9.28227412e+02] [ 9.79302916e-01 2.01481428e-01 -1.92622123e-02 1.13498425e+02] [ 1.96701212e-02 -2.24411942e-05 9.99806524e-01 9.04570834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8492541539998 meters Centerline goodness [0,1] 0.9998258029395753 Centerline is valid? [True, True] Translation: X:928.23, Y:113.53, Z:9.05 [[ 2.02618892e-01 -9.79249382e-01 -4.02902716e-03 9.28231493e+02] [ 9.79055160e-01 2.02658946e-01 -1.95024369e-02 1.13526599e+02] [ 1.99142676e-02 6.92232252e-06 9.99801691e-01 9.04549038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8792541539999 meters Centerline goodness [0,1] 0.9998254266137128 Centerline is valid? [True, True] Translation: X:928.24, Y:113.55, Z:9.05 [[ 2.05800094e-01 -9.78586379e-01 -3.87559282e-03 9.28235178e+02] [ 9.78406044e-01 2.05836569e-01 -1.87861891e-02 1.13554864e+02] [ 1.91816475e-02 7.42960432e-05 9.99816013e-01 9.04544160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9092541539999 meters Centerline goodness [0,1] 0.9999564213186909 Centerline is valid? [True, True] Translation: X:928.24, Y:113.58, Z:9.05 [[ 2.07574925e-01 -9.78211771e-01 -3.79226808e-03 9.28240289e+02] [ 9.78038552e-01 2.07609533e-01 -1.84084982e-02 1.13582651e+02] [ 1.87947206e-02 1.12158240e-04 9.99823357e-01 9.04624359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.24, Y:113.61, Z:9.05 [[ 2.09276892e-01 -9.77849347e-01 -3.71988835e-03 9.28244894e+02] [ 9.77682129e-01 2.09309898e-01 -1.80837261e-02 1.13608911e+02] [ 1.84617692e-02 1.47637620e-04 9.99829556e-01 9.04645805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9692541539998 meters Centerline goodness [0,1] 0.9999561912689199 Centerline is valid? [True, True] Translation: X:928.25, Y:113.64, Z:9.05 [[ 2.11442007e-01 -9.77383893e-01 -3.60614603e-03 9.28250998e+02] [ 9.77226216e-01 2.11472673e-01 -1.75565456e-02 1.13636733e+02] [ 1.79220862e-02 1.88170799e-04 9.99839369e-01 9.04750563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9992541539999 meters Centerline goodness [0,1] 0.9998687147170802 Centerline is valid? [True, True] Translation: X:928.26, Y:113.66, Z:9.05 [[ 2.12276512e-01 -9.77203015e-01 -3.59866202e-03 9.28255893e+02] [ 9.77045497e-01 2.12306911e-01 -1.75463221e-02 1.13663805e+02] [ 1.79103397e-02 2.08615525e-04 9.99839575e-01 9.04718368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0292541539999 meters Centerline goodness [0,1] 0.999868946989057 Centerline is valid? [True, True] Translation: X:928.26, Y:113.69, Z:9.05 [[ 2.14912708e-01 -9.76626807e-01 -3.55060182e-03 9.28261912e+02] [ 9.76472946e-01 2.14941881e-01 -1.73370422e-02 1.13692013e+02] [ 1.76949932e-02 2.58884078e-04 9.99843398e-01 9.04771338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0592541539999 meters Centerline goodness [0,1] 0.9997815449143657 Centerline is valid? [True, True] Translation: X:928.27, Y:113.72, Z:9.05 [[ 2.16121211e-01 -9.76359566e-01 -3.69049379e-03 9.28267164e+02] [ 9.76192840e-01 2.16152514e-01 -1.80452056e-02 1.13719668e+02] [ 1.84163186e-02 2.97318065e-04 9.99830361e-01 9.04687410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0892541539998 meters Centerline goodness [0,1] 0.9998251518992874 Centerline is valid? [True, True] Translation: X:928.27, Y:113.75, Z:9.05 [[ 2.17463318e-01 -9.76061125e-01 -3.79293534e-03 9.28272669e+02] [ 9.75884491e-01 2.17496132e-01 -1.85713045e-02 1.13747087e+02] [ 1.89516772e-02 3.37110728e-04 9.99820344e-01 9.04656993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.28, Y:113.77, Z:9.05 [[ 2.20550801e-01 -9.75367381e-01 -3.97699185e-03 9.28279538e+02] [ 9.75172520e-01 2.20586250e-01 -1.95003270e-02 1.13774415e+02] [ 1.98972526e-02 4.22559574e-04 9.99801941e-01 9.04637792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.29, Y:113.80, Z:9.05 [[ 2.22583112e-01 -9.74904053e-01 -4.34126346e-03 9.28286832e+02] [ 9.74671080e-01 2.22624851e-01 -2.13181181e-02 1.13802078e+02] [ 2.17495928e-02 5.13749122e-04 9.99763318e-01 9.04550493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1792541539999 meters Centerline goodness [0,1] 0.9998247382026902 Centerline is valid? [True, True] Translation: X:928.29, Y:113.83, Z:9.04 [[ 2.22599477e-01 -9.74898900e-01 -4.64836343e-03 9.28293062e+02] [ 9.74631180e-01 2.22647310e-01 -2.28525484e-02 1.13828492e+02] [ 2.33138699e-02 5.56525395e-04 9.99728040e-01 9.04420602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2092541539998 meters Centerline goodness [0,1] 0.9998243996663594 Centerline is valid? [True, True] Translation: X:928.30, Y:113.85, Z:9.04 [[ 2.23185214e-01 -9.74764603e-01 -4.72535693e-03 9.28299250e+02] [ 9.74487262e-01 2.23234463e-01 -2.32583492e-02 1.13854963e+02] [ 2.37262780e-02 5.86119513e-04 9.99718320e-01 9.04339356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2392541539998 meters Centerline goodness [0,1] 0.999867727783779 Centerline is valid? [True, True] Translation: X:928.31, Y:113.88, Z:9.04 [[ 2.23023329e-01 -9.74801990e-01 -4.65564621e-03 9.28307686e+02] [ 9.74532028e-01 2.23071161e-01 -2.29474155e-02 1.13882393e+02] [ 2.34077267e-02 5.80732640e-04 9.99725833e-01 9.04483576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.32, Y:113.91, Z:9.05 [[ 2.22242298e-01 -9.74981368e-01 -4.43771635e-03 9.28317196e+02] [ 9.74735422e-01 2.22285937e-01 -2.19047732e-02 1.13909160e+02] [ 2.23431877e-02 5.42567812e-04 9.99750213e-01 9.04671422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.33, Y:113.94, Z:9.05 [[ 2.20730707e-01 -9.75325267e-01 -4.31022884e-03 9.28325548e+02] [ 9.75092661e-01 2.20772220e-01 -2.13056081e-02 1.13936567e+02] [ 2.17314767e-02 4.99929428e-04 9.99763719e-01 9.04761704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3292541539998 meters Centerline goodness [0,1] 0.9998675905901045 Centerline is valid? [True, True] Translation: X:928.34, Y:113.96, Z:9.05 [[ 2.15711112e-01 -9.76448226e-01 -4.19254741e-03 9.28336938e+02] [ 9.76227735e-01 2.15751510e-01 -2.07532265e-02 1.13962742e+02] [ 2.11689997e-02 3.83820504e-04 9.99775838e-01 9.04920950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3592541539998 meters Centerline goodness [0,1] 0.9997795511661743 Centerline is valid? [True, True] Translation: X:928.35, Y:113.99, Z:9.05 [[ 2.13059394e-01 -9.77030646e-01 -4.10007996e-03 9.28346184e+02] [ 9.76819278e-01 2.13098593e-01 -2.03245817e-02 1.13990023e+02] [ 2.07314604e-02 3.25305904e-04 9.99785027e-01 9.05055697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3892541539999 meters Centerline goodness [0,1] 0.9999779803584797 Centerline is valid? [True, True] Translation: X:928.35, Y:114.02, Z:9.05 [[ 2.11625367e-01 -9.77343328e-01 -3.83715285e-03 9.28352269e+02] [ 9.77157801e-01 2.11659966e-01 -1.90444321e-02 1.14016235e+02] [ 1.94251202e-02 2.80781088e-04 9.99811275e-01 9.05151085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4192541539999 meters Centerline goodness [0,1] 0.9999778985987712 Centerline is valid? [True, True] Translation: X:928.36, Y:114.04, Z:9.05 [[ 2.07984990e-01 -9.78124800e-01 -3.75772652e-03 9.28358443e+02] [ 9.77946643e-01 2.08018829e-01 -1.86689754e-02 1.14042655e+02] [ 1.90422656e-02 2.08010617e-04 9.99818658e-01 9.05138436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4492541539998 meters Centerline goodness [0,1] 0.9999117660034411 Centerline is valid? [True, True] Translation: X:928.37, Y:114.07, Z:9.05 [[ 2.05860073e-01 -9.78573888e-01 -3.84403387e-03 9.28365394e+02] [ 9.78387070e-01 2.05895885e-01 -1.91213193e-02 1.14069684e+02] [ 1.95030945e-02 1.75363143e-04 9.99809781e-01 9.05201982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4792541539998 meters Centerline goodness [0,1] 0.9998677452774043 Centerline is valid? [True, True] Translation: X:928.37, Y:114.10, Z:9.05 [[ 2.02378169e-01 -9.79299338e-01 -3.98545265e-03 9.28371552e+02] [ 9.79098053e-01 2.02417374e-01 -1.98547188e-02 1.14097205e+02] [ 2.02504378e-02 1.16012696e-04 9.99794932e-01 9.05187717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.38, Y:114.12, Z:9.05 [[ 2.01464141e-01 -9.79488150e-01 -3.89398707e-03 9.28377918e+02] [ 9.79295465e-01 2.01501744e-01 -1.94277810e-02 1.14124633e+02] [ 1.98139264e-02 1.00637314e-04 9.99803680e-01 9.05304573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5392541539999 meters Centerline goodness [0,1] 0.9999119427627958 Centerline is valid? [True, True] Translation: X:928.38, Y:114.15, Z:9.05 [[ 1.97818386e-01 -9.80230735e-01 -3.94876437e-03 9.28384485e+02] [ 9.80032117e-01 1.97857791e-01 -1.97317831e-02 1.14150750e+02] [ 2.01229940e-02 3.33935761e-05 9.99797512e-01 9.05324445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5692541539999 meters Centerline goodness [0,1] 0.9999778756167171 Centerline is valid? [True, True] Translation: X:928.39, Y:114.18, Z:9.05 [[ 1.96953146e-01 -9.80404836e-01 -3.97698213e-03 9.28389726e+02] [ 9.80202767e-01 1.96993294e-01 -1.99042392e-02 1.14177033e+02] [ 2.02976512e-02 2.19536471e-05 9.99793981e-01 9.05342710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5992541539998 meters Centerline goodness [0,1] 0.9998018843004315 Centerline is valid? [True, True] Translation: X:928.40, Y:114.20, Z:9.05 [[ 1.95051925e-01 -9.80783724e-01 -4.24648766e-03 9.28395033e+02] [ 9.80552702e-01 1.95098144e-01 -2.12864302e-02 1.14204569e+02] [ 2.17058662e-02 -1.19457674e-05 9.99764400e-01 9.05210862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6292541539999 meters Centerline goodness [0,1] 0.999735292171266 Centerline is valid? [True, True] Translation: X:928.40, Y:114.23, Z:9.05 [[ 1.92979141e-01 -9.81192800e-01 -4.44305285e-03 9.28399226e+02] [ 9.80939209e-01 1.93030274e-01 -2.23065395e-02 1.14231693e+02] [ 2.27446596e-02 -5.36679323e-05 9.99741305e-01 9.05006129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6592541539999 meters Centerline goodness [0,1] 0.999846076038437 Centerline is valid? [True, True] Translation: X:928.40, Y:114.26, Z:9.05 [[ 1.91354599e-01 -9.81511028e-01 -4.41817076e-03 9.28403804e+02] [ 9.81259714e-01 1.91405579e-01 -2.22098721e-02 1.14258452e+02] [ 2.26448969e-02 -8.54118079e-05 9.99743568e-01 9.04880865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.41, Y:114.29, Z:9.05 [[ 1.90608481e-01 -9.81656548e-01 -4.33928697e-03 9.28408859e+02] [ 9.81413534e-01 1.90657843e-01 -2.18417393e-02 1.14285708e+02] [ 2.22684055e-02 -9.54142057e-05 9.99752024e-01 9.05095368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7192541539998 meters Centerline goodness [0,1] 0.9999118321283724 Centerline is valid? [True, True] Translation: X:928.41, Y:114.31, Z:9.05 [[ 1.89011857e-01 -9.81965644e-01 -4.24171425e-03 9.28414598e+02] [ 9.81732833e-01 1.89059406e-01 -2.13818869e-02 1.14313051e+02] [ 2.17982143e-02 -1.22800003e-04 9.99762383e-01 9.05106035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.42, Y:114.34, Z:9.05 [[ 1.87487190e-01 -9.82259226e-01 -3.92005487e-03 9.28419571e+02] [ 9.82059876e-01 1.87528115e-01 -1.97890269e-02 1.14340502e+02] [ 2.01730747e-02 -1.39539551e-04 9.99796493e-01 9.05382674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7792541539999 meters Centerline goodness [0,1] 0.9998678966952157 Centerline is valid? [True, True] Translation: X:928.42, Y:114.37, Z:9.05 [[ 1.86205451e-01 -9.82503582e-01 -3.77379997e-03 9.28424608e+02] [ 9.82318313e-01 1.86243625e-01 -1.90799432e-02 1.14367063e+02] [ 1.94489587e-02 -1.54283392e-04 9.99810839e-01 9.05346021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8092541539999 meters Centerline goodness [0,1] 0.9997587243096225 Centerline is valid? [True, True] Translation: X:928.43, Y:114.39, Z:9.05 [[ 1.86300935e-01 -9.82486700e-01 -3.44193414e-03 9.28427237e+02] [ 9.82332118e-01 1.86332679e-01 -1.74282083e-02 1.14393969e+02] [ 1.77643277e-02 -1.34230952e-04 9.99842193e-01 9.05313664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8392541539998 meters Centerline goodness [0,1] 0.9998684845030906 Centerline is valid? [True, True] Translation: X:928.43, Y:114.42, Z:9.05 [[ 1.87084050e-01 -9.82338169e-01 -3.35856636e-03 9.28430577e+02] [ 9.82190520e-01 1.87114161e-01 -1.70315496e-02 1.14422396e+02] [ 1.73591765e-02 -1.12420766e-04 9.99849312e-01 9.05370584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8692541539998 meters Centerline goodness [0,1] 0.9998469175760492 Centerline is valid? [True, True] Translation: X:928.43, Y:114.45, Z:9.05 [[ 1.89402157e-01 -9.81894260e-01 -3.23799013e-03 9.28432310e+02] [ 9.81756552e-01 1.89429822e-01 -1.64443174e-02 1.14449938e+02] [ 1.67599528e-02 -6.43288368e-05 9.99859540e-01 9.05295390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.44, Y:114.48, Z:9.05 [[ 1.91054554e-01 -9.81574252e-01 -3.18509392e-03 9.28435755e+02] [ 9.81440564e-01 1.91081099e-01 -1.61997620e-02 1.14477921e+02] [ 1.65098805e-02 -3.09420780e-05 9.99863702e-01 9.05444184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9292541539999 meters Centerline goodness [0,1] 0.9998688381243852 Centerline is valid? [True, True] Translation: X:928.44, Y:114.51, Z:9.05 [[ 1.93216070e-01 -9.81151432e-01 -3.06885628e-03 9.28437309e+02] [ 9.81026915e-01 1.93240439e-01 -1.56308863e-02 1.14505761e+02] [ 1.59292936e-02 9.50781103e-06 9.99873121e-01 9.05210298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.44, Y:114.53, Z:9.05 [[ 1.95120582e-01 -9.80774596e-01 -3.02502492e-03 9.28440701e+02] [ 9.80653208e-01 1.95144025e-01 -1.54303065e-02 1.14534152e+02] [ 1.57239682e-02 4.42700013e-05 9.99876370e-01 9.05488550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.44, Y:114.56, Z:9.06 [[ 1.97879397e-01 -9.80222358e-01 -2.80592484e-03 9.28441948e+02] [ 9.80117552e-01 1.97899271e-01 -1.43339376e-02 1.14561448e+02] [ 1.46057366e-02 8.62547564e-05 9.99893327e-01 9.05529298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0192541539999 meters Centerline goodness [0,1] 0.9999565557389869 Centerline is valid? [True, True] Translation: X:928.44, Y:114.59, Z:9.05 [[ 2.00399018e-01 -9.79710653e-01 -2.69633292e-03 9.28443434e+02] [ 9.79613532e-01 2.00417118e-01 -1.37951999e-02 1.14590246e+02] [ 1.40556956e-02 1.23180296e-04 9.99901206e-01 9.05496582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.45, Y:114.62, Z:9.05 [[ 2.01536758e-01 -9.79477045e-01 -2.76647244e-03 9.28447627e+02] [ 9.79374468e-01 2.01555691e-01 -1.41758708e-02 1.14617986e+02] [ 1.44425383e-02 1.47546572e-04 9.99895690e-01 9.05488528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0792541539998 meters Centerline goodness [0,1] 0.9998694147604849 Centerline is valid? [True, True] Translation: X:928.45, Y:114.65, Z:9.05 [[ 2.01239220e-01 -9.79538295e-01 -2.73938175e-03 9.28451474e+02] [ 9.79437409e-01 2.01257811e-01 -1.40589596e-02 1.14645315e+02] [ 1.43226113e-02 1.46161109e-04 9.99897415e-01 9.05231248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.46, Y:114.67, Z:9.05 [[ 2.03094790e-01 -9.79154492e-01 -2.99770212e-03 9.28455935e+02] [ 9.79033239e-01 2.03116819e-01 -1.54102111e-02 1.14673251e+02] [ 1.56978612e-02 1.94883570e-04 9.99876762e-01 9.05331788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.46, Y:114.70, Z:9.05 [[ 2.03480943e-01 -9.79073829e-01 -3.15337856e-03 9.28459741e+02] [ 9.78939216e-01 2.03505260e-01 -1.62363880e-02 1.14699674e+02] [ 1.65383517e-02 2.16829604e-04 9.99863209e-01 9.05248862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1692541539999 meters Centerline goodness [0,1] 0.9999563737893726 Centerline is valid? [True, True] Translation: X:928.46, Y:114.73, Z:9.05 [[ 2.03339451e-01 -9.79103303e-01 -3.12896921e-03 9.28464777e+02] [ 9.78970347e-01 2.03363407e-01 -1.61364215e-02 1.14727014e+02] [ 1.64355415e-02 2.18003016e-04 9.99864904e-01 9.05158716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.47, Y:114.75, Z:9.05 [[ 2.03855737e-01 -9.78995543e-01 -3.25035769e-03 9.28469293e+02] [ 9.78851597e-01 2.03881505e-01 -1.67893921e-02 1.14753676e+02] [ 1.70994279e-02 2.40996083e-04 9.99853765e-01 9.05193702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2292541539998 meters Centerline goodness [0,1] 0.9999346277047787 Centerline is valid? [True, True] Translation: X:928.48, Y:114.78, Z:9.05 [[ 2.03207904e-01 -9.79130545e-01 -3.15013724e-03 9.28475220e+02] [ 9.78994935e-01 2.03232192e-01 -1.62970630e-02 1.14781048e+02] [ 1.65971615e-02 2.27723610e-04 9.99862232e-01 9.05126111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2592541539999 meters Centerline goodness [0,1] 0.9999563480804068 Centerline is valid? [True, True] Translation: X:928.48, Y:114.81, Z:9.05 [[ 2.02472272e-01 -9.79282491e-01 -3.28350430e-03 9.28481869e+02] [ 9.79134708e-01 2.02498764e-01 -1.70139290e-02 1.14808337e+02] [ 1.73263484e-02 2.29855835e-04 9.99849861e-01 9.05190337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2892541539999 meters Centerline goodness [0,1] 0.9999127304461656 Centerline is valid? [True, True] Translation: X:928.49, Y:114.83, Z:9.05 [[ 2.01706720e-01 -9.79440277e-01 -3.33810501e-03 9.28487482e+02] [ 9.79287067e-01 2.01734214e-01 -1.73247438e-02 1.14834450e+02] [ 1.76419619e-02 2.25554192e-04 9.99844343e-01 9.05180654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.49, Y:114.86, Z:9.05 [[ 2.00941397e-01 -9.79597472e-01 -3.36859452e-03 9.28493640e+02] [ 9.79440961e-01 2.00969511e-01 -1.75117205e-02 1.14861109e+02] [ 1.78314220e-02 2.19490146e-04 9.99840983e-01 9.05213371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.50, Y:114.89, Z:9.05 [[ 2.00665420e-01 -9.79654060e-01 -3.36348252e-03 9.28498765e+02] [ 9.79497539e-01 2.00693486e-01 -1.75127027e-02 1.14888217e+02] [ 1.78314193e-02 2.19670992e-04 9.99840983e-01 9.05239107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.51, Y:114.92, Z:9.05 [[ 1.99379548e-01 -9.79916823e-01 -3.28871533e-03 9.28507795e+02] [ 9.79766778e-01 1.99406572e-01 -1.71487481e-02 1.14915572e+02] [ 1.74601382e-02 1.96935613e-04 9.99847541e-01 9.05385441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4092541539999 meters Centerline goodness [0,1] 0.9998259052924791 Centerline is valid? [True, True] Translation: X:928.51, Y:114.94, Z:9.05 [[ 1.97726014e-01 -9.80252586e-01 -3.04806287e-03 9.28513546e+02] [ 9.80123362e-01 1.97749442e-01 -1.59171136e-02 1.14941994e+02] [ 1.62055445e-02 1.59749793e-04 9.99868669e-01 9.05166547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.52, Y:114.97, Z:9.06 [[ 1.97403357e-01 -9.80317977e-01 -2.92884946e-03 9.28522011e+02] [ 9.80198313e-01 1.97425024e-01 -1.53175550e-02 1.14969429e+02] [ 1.55943027e-02 1.52883474e-04 9.99878390e-01 9.05600781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4692541539998 meters Centerline goodness [0,1] 0.9999122922422489 Centerline is valid? [True, True] Translation: X:928.53, Y:115.00, Z:9.05 [[ 1.96276451e-01 -9.80545006e-01 -2.65433246e-03 9.28527793e+02] [ 9.80446467e-01 1.96294358e-01 -1.39014513e-02 1.14995559e+02] [ 1.41520291e-02 1.26096641e-04 9.99899847e-01 9.05479017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.53, Y:115.02, Z:9.06 [[ 1.96674576e-01 -9.80465355e-01 -2.60761746e-03 9.28534110e+02] [ 9.80369950e-01 1.96691816e-01 -1.36781163e-02 1.15022686e+02] [ 1.39238162e-02 1.33707925e-04 9.99903050e-01 9.05731882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5292541539999 meters Centerline goodness [0,1] 0.9998242916758181 Centerline is valid? [True, True] Translation: X:928.54, Y:115.05, Z:9.05 [[ 1.95676008e-01 -9.80665798e-01 -2.34339395e-03 9.28540245e+02] [ 9.80588544e-01 1.95690009e-01 -1.23096906e-02 1.15050474e+02] [ 1.25302714e-02 1.10805860e-04 9.99921487e-01 9.05488155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.55, Y:115.08, Z:9.06 [[ 1.96567382e-01 -9.80487024e-01 -2.54158334e-03 9.28545102e+02] [ 9.80395827e-01 1.96583765e-01 -1.33732949e-02 1.15077165e+02] [ 1.36119761e-02 1.36995867e-04 9.99907343e-01 9.05734702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.55, Y:115.10, Z:9.06 [[ 1.96986255e-01 -9.80402823e-01 -2.59242741e-03 9.28552057e+02] [ 9.80307622e-01 1.97003255e-01 -1.36632382e-02 1.15104358e+02] [ 1.39061939e-02 1.50093765e-04 9.99903293e-01 9.05730959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.56, Y:115.13, Z:9.06 [[ 1.97663092e-01 -9.80266376e-01 -2.67109962e-03 9.28558283e+02] [ 9.80164972e-01 1.97681067e-01 -1.41005108e-02 1.15131242e+02] [ 1.43502825e-02 1.69032281e-04 9.99897015e-01 9.05688257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6492541539999 meters Centerline goodness [0,1] 0.9999121805567752 Centerline is valid? [True, True] Translation: X:928.57, Y:115.16, Z:9.06 [[ 1.97691376e-01 -9.80260453e-01 -2.75034323e-03 9.28565173e+02] [ 9.80152590e-01 1.97710426e-01 -1.45426497e-02 1.15158584e+02] [ 1.47993559e-02 1.79200405e-04 9.99890467e-01 9.05766451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.57, Y:115.19, Z:9.06 [[ 1.97960656e-01 -9.80206312e-01 -2.67656028e-03 9.28571202e+02] [ 9.80103837e-01 1.97978665e-01 -1.41744868e-02 1.15185749e+02] [ 1.44238233e-02 1.82683703e-04 9.99895955e-01 9.05838859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7092541539998 meters Centerline goodness [0,1] 0.9998244921240841 Centerline is valid? [True, True] Translation: X:928.57, Y:115.21, Z:9.06 [[ 1.98367804e-01 -9.80124911e-01 -2.31807903e-03 9.28574888e+02] [ 9.80047818e-01 1.98381278e-01 -1.22940030e-02 1.15212701e+02] [ 1.25095221e-02 1.66906082e-04 9.99921739e-01 9.05603520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.58, Y:115.24, Z:9.06 [[ 1.99589608e-01 -9.79876672e-01 -2.38677734e-03 9.28579811e+02] [ 9.79794650e-01 1.99603786e-01 -1.26796279e-02 1.15241101e+02] [ 1.29008813e-02 1.92170282e-04 9.99916762e-01 9.05950743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.58, Y:115.27, Z:9.06 [[ 2.00403700e-01 -9.79710758e-01 -2.27781670e-03 9.28582765e+02] [ 9.79635818e-01 2.00416548e-01 -1.21190874e-02 1.15267922e+02] [ 1.23297125e-02 1.97279135e-04 9.99923967e-01 9.05990900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.59, Y:115.30, Z:9.06 [[ 2.00169555e-01 -9.79758621e-01 -2.27894166e-03 9.28588179e+02] [ 9.79683361e-01 2.00182430e-01 -1.21452926e-02 1.15295456e+02] [ 1.23556592e-02 1.98476591e-04 9.99923646e-01 9.05998440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.59, Y:115.32, Z:9.06 [[ 1.98933509e-01 -9.80009948e-01 -2.44142699e-03 9.28593487e+02] [ 9.79923300e-01 1.98948389e-01 -1.30331955e-02 1.15322162e+02] [ 1.32583792e-02 2.00328118e-04 9.99912084e-01 9.05892134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.60, Y:115.35, Z:9.06 [[ 1.97615306e-01 -9.80276550e-01 -2.46482284e-03 9.28599915e+02] [ 9.80187966e-01 1.97630588e-01 -1.31795812e-02 1.15349608e+02] [ 1.34067588e-02 1.88497290e-04 9.99910108e-01 9.05901691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.61, Y:115.38, Z:9.06 [[ 1.94728412e-01 -9.80854386e-01 -2.34904932e-03 9.28608044e+02] [ 9.80773733e-01 1.94742526e-01 -1.25791103e-02 1.15376983e+02] [ 1.27957353e-02 1.45624311e-04 9.99918121e-01 9.06008194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9192541539999 meters Centerline goodness [0,1] 0.9999560603730474 Centerline is valid? [True, True] Translation: X:928.61, Y:115.40, Z:9.06 [[ 1.93155753e-01 -9.81165823e-01 -2.11743183e-03 9.28613786e+02] [ 9.81100125e-01 1.93167324e-01 -1.13547223e-02 1.15404753e+02] [ 1.15498840e-02 1.15817290e-04 9.99933291e-01 9.05973498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.62, Y:115.43, Z:9.06 [[ 1.91117943e-01 -9.81565227e-01 -1.90695186e-03 9.28619488e+02] [ 9.81511807e-01 1.91127437e-01 -1.02408616e-02 1.15431195e+02] [ 1.04165445e-02 8.55166393e-05 9.99945743e-01 9.06167338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9792541539998 meters Centerline goodness [0,1] 0.999934279705573 Centerline is valid? [True, True] Translation: X:928.63, Y:115.46, Z:9.06 [[ 1.89500117e-01 -9.81878990e-01 -1.83186341e-03 9.28625291e+02] [ 9.81829553e-01 1.89508958e-01 -9.85309566e-03 1.15459141e+02] [ 1.00217021e-02 6.85851417e-05 9.99949779e-01 9.06064524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.63, Y:115.49, Z:9.06 [[ 1.88680128e-01 -9.82036607e-01 -1.97794587e-03 9.28630679e+02] [ 9.81978787e-01 1.88690483e-01 -1.06566141e-02 1.15487108e+02] [ 1.08384048e-02 6.83904386e-05 9.99941260e-01 9.06210947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.64, Y:115.51, Z:9.06 [[ 1.88482614e-01 -9.82074395e-01 -2.04633944e-03 9.28635610e+02] [ 9.82012309e-01 1.88493708e-01 -1.10429822e-02 1.15514586e+02] [ 1.12307522e-02 7.18796226e-05 9.99936931e-01 9.06237793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0692541539999 meters Centerline goodness [0,1] 0.9998235903768551 Centerline is valid? [True, True] Translation: X:928.64, Y:115.54, Z:9.06 [[ 1.88130400e-01 -9.82141996e-01 -2.01308928e-03 9.28639657e+02] [ 9.82081724e-01 1.88141157e-01 -1.08807988e-02 1.15542552e+02] [ 1.10652344e-02 6.99908383e-05 9.99938776e-01 9.05885284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0992541539998 meters Centerline goodness [0,1] 0.9999339919470175 Centerline is valid? [True, True] Translation: X:928.64, Y:115.57, Z:9.06 [[ 1.90755316e-01 -9.81635087e-01 -2.22839205e-03 9.28640990e+02] [ 9.81560945e-01 1.90768297e-01 -1.20651799e-02 1.15571435e+02] [ 1.22687105e-02 1.14194599e-04 9.99924730e-01 9.06025200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.64, Y:115.60, Z:9.06 [[ 1.92093780e-01 -9.81373936e-01 -2.27565454e-03 9.28643052e+02] [ 9.81296371e-01 1.92107209e-01 -1.23390408e-02 1.15598878e+02] [ 1.25463827e-02 1.37161450e-04 9.99921282e-01 9.06189973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.64, Y:115.63, Z:9.06 [[ 1.93887458e-01 -9.81021085e-01 -2.29897755e-03 9.28643488e+02] [ 9.80941696e-01 1.93901018e-01 -1.24813781e-02 1.15627919e+02] [ 1.26902692e-02 1.64819744e-04 9.99919462e-01 9.06180816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.65, Y:115.66, Z:9.06 [[ 1.94158595e-01 -9.80967380e-01 -2.33236469e-03 9.28646890e+02] [ 9.80885410e-01 1.94172525e-01 -1.26823659e-02 1.15655902e+02] [ 1.28938684e-02 1.74607850e-04 9.99916855e-01 9.06183264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2192541539998 meters Centerline goodness [0,1] 0.999890977279665 Centerline is valid? [True, True] Translation: X:928.65, Y:115.68, Z:9.06 [[ 1.93963276e-01 -9.81005966e-01 -2.35422920e-03 9.28649245e+02] [ 9.80922182e-01 1.93977481e-01 -1.28222160e-02 1.15682820e+02] [ 1.30353378e-02 1.77723369e-04 9.99915021e-01 9.05925170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2492541539999 meters Centerline goodness [0,1] 0.9999781511503419 Centerline is valid? [True, True] Translation: X:928.65, Y:115.71, Z:9.06 [[ 1.93840944e-01 -9.81029853e-01 -2.47294996e-03 9.28653257e+02] [ 9.80937087e-01 1.93856625e-01 -1.34922390e-02 1.15710022e+02] [ 1.37156870e-02 1.89540032e-04 9.99905918e-01 9.06135325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.66, Y:115.74, Z:9.06 [[ 1.93399330e-01 -9.81116645e-01 -2.61313225e-03 9.28657685e+02] [ 9.81012719e-01 1.93416881e-01 -1.42812719e-02 1.15737535e+02] [ 1.45170174e-02 1.98472424e-04 9.99894603e-01 9.06205273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3092541539999 meters Centerline goodness [0,1] 0.9998474613205491 Centerline is valid? [True, True] Translation: X:928.66, Y:115.76, Z:9.06 [[ 1.91902662e-01 -9.81410327e-01 -2.67191816e-03 9.28660348e+02] [ 9.81301349e-01 1.91921173e-01 -1.46262307e-02 1.15764410e+02] [ 1.48671315e-02 1.84855704e-04 9.99889461e-01 9.05760105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3392541539998 meters Centerline goodness [0,1] 0.9999781683222355 Centerline is valid? [True, True] Translation: X:928.66, Y:115.79, Z:9.06 [[ 1.91736955e-01 -9.81442722e-01 -2.66904953e-03 9.28664307e+02] [ 9.81333632e-01 1.91755440e-01 -1.46339735e-02 1.15792142e+02] [ 1.48742116e-02 1.86645451e-04 9.99889355e-01 9.06065045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.67, Y:115.82, Z:9.06 [[ 1.90506326e-01 -9.81682662e-01 -2.54777065e-03 9.28668928e+02] [ 9.81582971e-01 1.90523290e-01 -1.39909381e-02 1.15819210e+02] [ 1.42200710e-02 1.64513930e-04 9.99898876e-01 9.06287890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.68, Y:115.85, Z:9.06 [[ 1.89326682e-01 -9.81911121e-01 -2.44079313e-03 9.28675456e+02] [ 9.81819343e-01 1.89342359e-01 -1.34257111e-02 1.15846316e+02] [ 1.36450005e-02 1.45427423e-04 9.99906892e-01 9.06460224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4292541539999 meters Centerline goodness [0,1] 0.9998254494676209 Centerline is valid? [True, True] Translation: X:928.68, Y:115.87, Z:9.06 [[ 1.86546984e-01 -9.82443330e-01 -2.30789931e-03 9.28680536e+02] [ 9.82361054e-01 1.86561230e-01 -1.27148648e-02 1.15872840e+02] [ 1.29221986e-02 1.04729276e-04 9.99916499e-01 9.06219889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4592541539998 meters Centerline goodness [0,1] 0.9999782139822662 Centerline is valid? [True, True] Translation: X:928.69, Y:115.90, Z:9.07 [[ 1.85504498e-01 -9.82640808e-01 -2.26359021e-03 9.28685875e+02] [ 9.82561419e-01 1.85518285e-01 -1.24909628e-02 1.15900130e+02] [ 1.26940672e-02 9.30133874e-05 9.99919423e-01 9.06556755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.69, Y:115.93, Z:9.07 [[ 1.83221643e-01 -9.83068972e-01 -2.28591496e-03 9.28691798e+02] [ 9.82987784e-01 1.83235890e-01 -1.26343033e-02 1.15927496e+02] [ 1.28392532e-02 6.78513294e-05 9.99917571e-01 9.06662197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5192541539999 meters Centerline goodness [0,1] 0.9998475211292149 Centerline is valid? [True, True] Translation: X:928.70, Y:115.95, Z:9.06 [[ 1.81818297e-01 -9.83329491e-01 -2.28451214e-03 9.28696678e+02] [ 9.83248161e-01 1.81832641e-01 -1.26469293e-02 1.15954802e+02] [ 1.28514974e-02 5.32007770e-05 9.99917415e-01 9.06304083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.70, Y:115.98, Z:9.07 [[ 1.81410986e-01 -9.83404660e-01 -2.30850075e-03 9.28701781e+02] [ 9.83321349e-01 1.81425667e-01 -1.28004844e-02 1.15982332e+02] [ 1.30068773e-02 5.21504334e-05 9.99915406e-01 9.06677600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.71, Y:116.01, Z:9.07 [[ 1.80897734e-01 -9.83498819e-01 -2.46621192e-03 9.28706690e+02] [ 9.83403422e-01 1.80914537e-01 -1.36981795e-02 1.16009979e+02] [ 1.39183170e-02 5.26884070e-05 9.99903134e-01 9.06677602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6092541539998 meters Centerline goodness [0,1] 0.9999348477609347 Centerline is valid? [True, True] Translation: X:928.71, Y:116.04, Z:9.06 [[ 1.80559796e-01 -9.83560423e-01 -2.65606777e-03 9.28710681e+02] [ 9.83449391e-01 1.80579321e-01 -1.47784805e-02 1.16036972e+02] [ 1.50151595e-02 5.62911881e-05 9.99887265e-01 9.06405698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.72, Y:116.07, Z:9.07 [[ 1.81097459e-01 -9.83461462e-01 -2.69494619e-03 9.28715316e+02] [ 9.83346756e-01 1.81117496e-01 -1.50203287e-02 1.16065130e+02] [ 1.52600164e-02 7.00767758e-05 9.99883557e-01 9.06631554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6692541539999 meters Centerline goodness [0,1] 0.9999347911142025 Centerline is valid? [True, True] Translation: X:928.72, Y:116.09, Z:9.06 [[ 1.80743850e-01 -9.83526450e-01 -2.71716312e-03 9.28719698e+02] [ 9.83409471e-01 1.80764259e-01 -1.51689158e-02 1.16092849e+02] [ 1.54101959e-02 6.96042916e-05 9.99881253e-01 9.06468763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6992541539998 meters Centerline goodness [0,1] 0.9999783056730664 Centerline is valid? [True, True] Translation: X:928.72, Y:116.12, Z:9.07 [[ 1.81743457e-01 -9.83342376e-01 -2.66241438e-03 9.28723077e+02] [ 9.83229674e-01 1.81762935e-01 -1.48876750e-02 1.16119535e+02] [ 1.51236099e-02 8.79726797e-05 9.99885628e-01 9.06603542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.73, Y:116.15, Z:9.07 [[ 1.82116901e-01 -9.83273592e-01 -2.54532611e-03 9.28727686e+02] [ 9.83170243e-01 1.82134663e-01 -1.42561839e-02 1.16147527e+02] [ 1.44813213e-02 9.38031404e-05 9.99895136e-01 9.06733683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.73, Y:116.17, Z:9.07 [[ 1.83016508e-01 -9.83106746e-01 -2.46644716e-03 9.28731794e+02] [ 9.83009377e-01 1.83033096e-01 -1.38365980e-02 1.16174267e+02] [ 1.40542943e-02 1.07785170e-04 9.99901228e-01 9.06824181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.74, Y:116.20, Z:9.07 [[ 1.83498924e-01 -9.83016797e-01 -2.47408162e-03 9.28736263e+02] [ 9.82918489e-01 1.83515563e-01 -1.39025845e-02 1.16201819e+02] [ 1.41205066e-02 1.19288737e-04 9.99900294e-01 9.06893487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.74, Y:116.23, Z:9.07 [[ 1.85006901e-01 -9.82734157e-01 -2.45419351e-03 9.28741202e+02] [ 9.82637112e-01 1.85023123e-01 -1.38112518e-02 1.16228942e+02] [ 1.40268715e-02 1.43595288e-04 9.99901608e-01 9.06983508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.74, Y:116.26, Z:9.07 [[ 1.85430350e-01 -9.82654355e-01 -2.45023040e-03 9.28744430e+02] [ 9.82557338e-01 1.85446474e-01 -1.38088298e-02 1.16255567e+02] [ 1.40236933e-02 1.53084279e-04 9.99901651e-01 9.06951156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.75, Y:116.28, Z:9.07 [[ 1.86689710e-01 -9.82416080e-01 -2.36596377e-03 9.28748570e+02] [ 9.82325291e-01 1.86704625e-01 -1.33568325e-02 1.16283598e+02] [ 1.35637034e-02 1.69437130e-04 9.99907994e-01 9.06994428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.75, Y:116.31, Z:9.07 [[ 1.87127057e-01 -9.82332906e-01 -2.35077423e-03 9.28753839e+02] [ 9.82242977e-01 1.87141738e-01 -1.32929997e-02 1.16311136e+02] [ 1.34980790e-02 1.78448442e-04 9.99908881e-01 9.07042506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.76, Y:116.34, Z:9.07 [[ 1.87118624e-01 -9.82334490e-01 -2.36012381e-03 9.28759363e+02] [ 9.82243538e-01 1.87133417e-01 -1.33684925e-02 1.16338560e+02] [ 1.35739893e-02 1.83277557e-04 9.99907852e-01 9.07090634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9692541539998 meters Centerline goodness [0,1] 0.9999347102222029 Centerline is valid? [True, True] Translation: X:928.76, Y:116.37, Z:9.07 [[ 1.86203130e-01 -9.82508377e-01 -2.38419003e-03 9.28764683e+02] [ 9.82415259e-01 1.86218310e-01 -1.35277839e-02 1.16366434e+02] [ 1.37351408e-02 1.76651038e-04 9.99905653e-01 9.06944283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.77, Y:116.39, Z:9.07 [[ 1.84762021e-01 -9.82780713e-01 -2.25064720e-03 9.28771561e+02] [ 9.82697486e-01 1.84775666e-01 -1.27907805e-02 1.16393828e+02] [ 1.29863972e-02 1.51545115e-04 9.99915662e-01 9.07179875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0292541539999 meters Centerline goodness [0,1] 0.9998912286808215 Centerline is valid? [True, True] Translation: X:928.78, Y:116.42, Z:9.07 [[ 1.83046555e-01 -9.83101688e-01 -2.24268617e-03 9.28777716e+02] [ 9.83018792e-01 1.83060245e-01 -1.27671977e-02 1.16421675e+02] [ 1.29620003e-02 1.32388905e-04 9.99915981e-01 9.06954797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0592541539999 meters Centerline goodness [0,1] 0.9998697209857779 Centerline is valid? [True, True] Translation: X:928.78, Y:116.45, Z:9.07 [[ 1.81622226e-01 -9.83365874e-01 -2.21911550e-03 9.28783428e+02] [ 9.83284454e-01 1.81635745e-01 -1.26546229e-02 1.16448086e+02] [ 1.28471950e-02 1.16339007e-04 9.99917465e-01 9.06977013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.79, Y:116.47, Z:9.07 [[ 1.78673549e-01 -9.83906279e-01 -2.04889749e-03 9.28791384e+02] [ 9.83836675e-01 1.78685280e-01 -1.17032857e-02 1.16474973e+02] [ 1.18810441e-02 7.52871045e-05 9.99929415e-01 9.07382997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1192541539998 meters Centerline goodness [0,1] 0.9999344434246755 Centerline is valid? [True, True] Translation: X:928.80, Y:116.50, Z:9.07 [[ 1.74469030e-01 -9.84660455e-01 -2.08468299e-03 9.28798575e+02] [ 9.84588204e-01 1.74481482e-01 -1.19281924e-02 1.16501749e+02] [ 1.21089579e-02 2.85458730e-05 9.99926683e-01 9.07169277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.80, Y:116.53, Z:9.07 [[ 1.72898775e-01 -9.84937361e-01 -2.09954441e-03 9.28804656e+02] [ 9.84863849e-01 1.72911522e-01 -1.20334755e-02 1.16529544e+02] [ 1.22152551e-02 1.28077938e-05 9.99925391e-01 9.07339699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.81, Y:116.56, Z:9.07 [[ 1.71159537e-01 -9.85241108e-01 -2.09095558e-03 9.28810640e+02] [ 9.85167979e-01 1.71172308e-01 -1.20038957e-02 1.16557191e+02] [ 1.21846452e-02 -5.36126294e-06 9.99925764e-01 9.07360715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2092541539998 meters Centerline goodness [0,1] 0.9998465921542845 Centerline is valid? [True, True] Translation: X:928.82, Y:116.58, Z:9.07 [[ 1.68128449e-01 -9.85762342e-01 -2.33000440e-03 9.28817473e+02] [ 9.85671257e-01 1.68144588e-01 -1.34004341e-02 1.16584908e+02] [ 1.36014209e-02 -4.36241651e-05 9.99907495e-01 9.06987555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2392541539998 meters Centerline goodness [0,1] 0.9998465921542845 Centerline is valid? [True, True] Translation: X:928.82, Y:116.61, Z:9.07 [[ 1.67848595e-01 -9.85810042e-01 -2.32619478e-03 9.28822118e+02] [ 9.85718951e-01 1.67864708e-01 -1.34010955e-02 1.16612105e+02] [ 1.36014206e-02 -4.36192296e-05 9.99907495e-01 9.07013295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.83, Y:116.64, Z:9.07 [[ 1.67431893e-01 -9.85881119e-01 -2.23179743e-03 9.28827399e+02] [ 9.85797002e-01 1.67446761e-01 -1.28784097e-02 1.16640044e+02] [ 1.30702882e-02 -4.38427102e-05 9.99914579e-01 9.07349000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2992541539999 meters Centerline goodness [0,1] 0.9999125816814913 Centerline is valid? [True, True] Translation: X:928.83, Y:116.67, Z:9.07 [[ 1.67158988e-01 -9.85927082e-01 -2.37954736e-03 9.28832233e+02] [ 9.85831122e-01 1.67175917e-01 -1.37554524e-02 1.16667587e+02] [ 1.39596761e-02 -4.64843438e-05 9.99902558e-01 9.07321550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3292541539998 meters Centerline goodness [0,1] 0.9997381170616735 Centerline is valid? [True, True] Translation: X:928.84, Y:116.70, Z:9.07 [[ 1.66507475e-01 -9.86036815e-01 -2.58094406e-03 9.28836439e+02] [ 9.85923528e-01 1.66527467e-01 -1.49465797e-02 1.16695743e+02] [ 1.51676759e-02 -5.58962352e-05 9.99884963e-01 9.07016719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3592541539998 meters Centerline goodness [0,1] 0.99991242090513 Centerline is valid? [True, True] Translation: X:928.84, Y:116.72, Z:9.07 [[ 1.67820145e-01 -9.85814005e-01 -2.67309864e-03 9.28840405e+02] [ 9.85692029e-01 1.67841430e-01 -1.55073894e-02 1.16723828e+02] [ 1.57360584e-02 -3.23996782e-05 9.99876180e-01 9.07249843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3892541539999 meters Centerline goodness [0,1] 0.999803510610427 Centerline is valid? [True, True] Translation: X:928.84, Y:116.75, Z:9.07 [[ 1.67515813e-01 -9.85865030e-01 -2.93169473e-03 9.28844557e+02] [ 9.85717788e-01 1.67541461e-01 -1.70382232e-02 1.16751286e+02] [ 1.72885689e-02 -3.56518297e-05 9.99850541e-01 9.06872524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4192541539999 meters Centerline goodness [0,1] 0.9998905860212701 Centerline is valid? [True, True] Translation: X:928.85, Y:116.78, Z:9.07 [[ 1.68222036e-01 -9.85744358e-01 -3.06726820e-03 9.28848441e+02] [ 9.85582688e-01 1.68249996e-01 -1.78522694e-02 1.16777560e+02] [ 1.81138417e-02 -1.99013346e-05 9.99835931e-01 9.06940799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.85, Y:116.81, Z:9.07 [[ 1.70259062e-01 -9.85393762e-01 -3.31446755e-03 9.28852029e+02] [ 9.85204358e-01 1.70291319e-01 -1.93193994e-02 1.16805807e+02] [ 1.96016407e-02 2.38749307e-05 9.99807869e-01 9.07102337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.85, Y:116.83, Z:9.07 [[ 1.72325303e-01 -9.85034454e-01 -3.33380598e-03 9.28853881e+02] [ 9.84842088e-01 1.72357533e-01 -1.94664586e-02 1.16833441e+02] [ 1.97497390e-02 7.12909492e-05 9.99804952e-01 9.07086447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5092541539999 meters Centerline goodness [0,1] 0.9999124055622468 Centerline is valid? [True, True] Translation: X:928.86, Y:116.86, Z:9.07 [[ 1.72790033e-01 -9.84952824e-01 -3.39703831e-03 9.28857541e+02] [ 9.84752362e-01 1.72823400e-01 -1.98710124e-02 1.16861701e+02] [ 2.01590975e-02 8.82713928e-05 9.99796781e-01 9.07020662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.86, Y:116.89, Z:9.07 [[ 1.73890894e-01 -9.84759897e-01 -3.14665830e-03 9.28861384e+02] [ 9.84587295e-01 1.73919328e-01 -1.84370841e-02 1.16889861e+02] [ 1.87033658e-02 1.07881255e-04 9.99825071e-01 9.07325486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.87, Y:116.92, Z:9.07 [[ 1.74561591e-01 -9.84641806e-01 -2.96052743e-03 9.28865229e+02] [ 9.84488491e-01 1.74586654e-01 -1.73755908e-02 1.16917456e+02] [ 1.76256017e-02 1.18505591e-04 9.99844650e-01 9.07441410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.87, Y:116.94, Z:9.08 [[ 1.75203510e-01 -9.84528722e-01 -2.63168477e-03 9.28868708e+02] [ 9.84407163e-01 1.75223232e-01 -1.54711473e-02 1.16944631e+02] [ 1.56929212e-02 1.19949972e-04 9.99876851e-01 9.07648729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.87, Y:116.97, Z:9.08 [[ 1.74839019e-01 -9.84593876e-01 -2.49346137e-03 9.28872694e+02] [ 9.84484382e-01 1.74856762e-01 -1.46838227e-02 1.16972870e+02] [ 1.48936005e-02 1.12531375e-04 9.99889078e-01 9.07763740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.88, Y:117.00, Z:9.08 [[ 1.74420573e-01 -9.84668201e-01 -2.44909902e-03 9.28877225e+02] [ 9.84562219e-01 1.74437733e-01 -1.44469625e-02 1.17000756e+02] [ 1.46526798e-02 1.08557104e-04 9.99892638e-01 9.07821336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.88, Y:117.03, Z:9.08 [[ 1.74081280e-01 -9.84728218e-01 -2.45863292e-03 9.28881665e+02] [ 9.84621049e-01 1.74098607e-01 -1.45280573e-02 1.17028771e+02] [ 1.47342326e-02 1.08241087e-04 9.99891439e-01 9.07836028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7192541539998 meters Centerline goodness [0,1] 0.9999781492406861 Centerline is valid? [True, True] Translation: X:928.89, Y:117.06, Z:9.08 [[ 1.73988379e-01 -9.84744428e-01 -2.54070220e-03 9.28885934e+02] [ 9.84629582e-01 1.74006890e-01 -1.50395535e-02 1.17056346e+02] [ 1.52522162e-02 1.15056986e-04 9.99883672e-01 9.07868929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.89, Y:117.08, Z:9.08 [[ 1.74715642e-01 -9.84614769e-01 -2.86390437e-03 9.28888810e+02] [ 9.84468360e-01 1.74739051e-01 -1.69797649e-02 1.17083716e+02] [ 1.72189633e-02 1.47207299e-04 9.99851732e-01 9.07688238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.89, Y:117.11, Z:9.08 [[ 1.74589062e-01 -9.84636584e-01 -3.07515720e-03 9.28892645e+02] [ 9.84467286e-01 1.74616068e-01 -1.82589902e-02 1.17111604e+02] [ 1.85154416e-02 1.60428299e-04 9.99828562e-01 9.07574182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8092541539999 meters Centerline goodness [0,1] 0.9999134292825452 Centerline is valid? [True, True] Translation: X:928.90, Y:117.14, Z:9.07 [[ 1.74647690e-01 -9.84624805e-01 -3.48979206e-03 9.28896648e+02] [ 9.84405982e-01 1.74682450e-01 -2.07582149e-02 1.17140231e+02] [ 2.10486587e-02 1.90002104e-04 9.99778434e-01 9.07319012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.90, Y:117.17, Z:9.07 [[ 1.74775027e-01 -9.84601162e-01 -3.77374849e-03 9.28900790e+02] [ 9.84344393e-01 1.74815631e-01 -2.24858058e-02 1.17168504e+02] [ 2.27992608e-02 2.15289159e-04 9.99740040e-01 9.07301343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.91, Y:117.20, Z:9.07 [[ 1.74427931e-01 -9.84662577e-01 -3.80881320e-03 9.28905668e+02] [ 9.84400116e-01 1.74469377e-01 -2.27342762e-02 1.17196297e+02] [ 2.30501123e-02 2.16096622e-04 9.99734288e-01 9.07328618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8992541539999 meters Centerline goodness [0,1] 0.9999781578315096 Centerline is valid? [True, True] Translation: X:928.91, Y:117.22, Z:9.07 [[ 1.73824706e-01 -9.84768691e-01 -3.94934472e-03 9.28910087e+02] [ 9.84485475e-01 1.73869430e-01 -2.36171627e-02 1.17223444e+02] [ 2.39441127e-02 2.17173839e-04 9.99713275e-01 9.07303899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.91, Y:117.25, Z:9.07 [[ 1.73033396e-01 -9.84907928e-01 -3.97709664e-03 9.28914602e+02] [ 9.84619685e-01 1.73078972e-01 -2.38273904e-02 1.17249965e+02] [ 2.41561375e-02 2.07006634e-04 9.99708177e-01 9.07322481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.92, Y:117.28, Z:9.07 [[ 1.71282043e-01 -9.85214566e-01 -3.83681760e-03 9.28919899e+02] [ 9.84945435e-01 1.71324932e-01 -2.30273481e-02 1.17277355e+02] [ 2.33442212e-02 1.65115250e-04 9.99727473e-01 9.07459953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.92, Y:117.31, Z:9.08 [[ 1.70183930e-01 -9.85405182e-01 -3.74919225e-03 9.28924841e+02] [ 9.85147364e-01 1.70225163e-01 -2.25402964e-02 1.17305454e+02] [ 2.28495317e-02 1.42489356e-04 9.99738905e-01 9.07529316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0192541539999 meters Centerline goodness [0,1] 0.9998479351769383 Centerline is valid? [True, True] Translation: X:928.93, Y:117.33, Z:9.07 [[ 1.68914851e-01 -9.85622793e-01 -3.93489714e-03 9.28929678e+02] [ 9.85338011e-01 1.68960631e-01 -2.36919785e-02 1.17332580e+02] [ 2.40161967e-02 1.24723299e-04 9.99711562e-01 9.07370840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0492541539999 meters Centerline goodness [0,1] 0.9999128331408399 Centerline is valid? [True, True] Translation: X:928.94, Y:117.36, Z:9.08 [[ 1.67169334e-01 -9.85920988e-01 -3.77082275e-03 9.28936435e+02] [ 9.85658745e-01 1.67211836e-01 -2.27385058e-02 1.17360036e+02] [ 2.30488963e-02 8.44364637e-05 9.99734335e-01 9.07581712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0792541539998 meters Centerline goodness [0,1] 0.9999781673689496 Centerline is valid? [True, True] Translation: X:928.94, Y:117.39, Z:9.08 [[ 1.65898544e-01 -9.86136185e-01 -3.61919373e-03 9.28942151e+02] [ 9.85893847e-01 1.65938006e-01 -2.18609383e-02 1.17387990e+02] [ 2.21584241e-02 5.85570008e-05 9.99754470e-01 9.07711756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.95, Y:117.41, Z:9.08 [[ 1.64348165e-01 -9.86395813e-01 -3.60285516e-03 9.28948150e+02] [ 9.86154874e-01 1.64387649e-01 -2.18005762e-02 1.17414181e+02] [ 2.20962620e-02 2.99115265e-05 9.99755847e-01 9.07756456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1392541539999 meters Centerline goodness [0,1] 0.9998907915428971 Centerline is valid? [True, True] Translation: X:928.95, Y:117.44, Z:9.08 [[ 1.63256142e-01 -9.86575748e-01 -3.96546556e-03 9.28953722e+02] [ 9.86282871e-01 1.63304295e-01 -2.40375952e-02 1.17442419e+02] [ 2.43624860e-02 1.32143099e-05 9.99703191e-01 9.07724285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.96, Y:117.47, Z:9.08 [[ 1.62460858e-01 -9.86707618e-01 -3.81383683e-03 9.28958906e+02] [ 9.86435806e-01 1.62505618e-01 -2.31586845e-02 1.17469267e+02] [ 2.34706203e-02 2.74555721e-07 9.99724527e-01 9.07664290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.96, Y:117.50, Z:9.08 [[ 1.61853589e-01 -9.86807253e-01 -3.85497048e-03 9.28963759e+02] [ 9.86528577e-01 1.61899491e-01 -2.34504239e-02 1.17496747e+02] [ 2.37651662e-02 -7.50326035e-06 9.99717569e-01 9.07769844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.97, Y:117.52, Z:9.08 [[ 1.61135631e-01 -9.86924369e-01 -3.94952127e-03 9.28969182e+02] [ 9.86630816e-01 1.61184025e-01 -2.40695342e-02 1.17523141e+02] [ 2.43914096e-02 -1.82598128e-05 9.99702485e-01 9.07785503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2592541539999 meters Centerline goodness [0,1] 0.9999343243065741 Centerline is valid? [True, True] Translation: X:928.97, Y:117.55, Z:9.08 [[ 1.60771133e-01 -9.86983383e-01 -4.05522648e-03 9.28974169e+02] [ 9.86672796e-01 1.60822267e-01 -2.47586714e-02 1.17551037e+02] [ 2.50885680e-02 -2.07020066e-05 9.99685232e-01 9.07786945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2892541539999 meters Centerline goodness [0,1] 0.9998681869109602 Centerline is valid? [True, True] Translation: X:928.98, Y:117.58, Z:9.08 [[ 1.59725008e-01 -9.87153081e-01 -4.08855195e-03 9.28979515e+02] [ 9.86836295e-01 1.59777322e-01 -2.50067027e-02 1.17578277e+02] [ 2.53387015e-02 -4.05356677e-05 9.99678923e-01 9.07776989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.98, Y:117.61, Z:9.08 [[ 1.59377610e-01 -9.87210311e-01 -3.81833129e-03 9.28984913e+02] [ 9.86933069e-01 1.59423338e-01 -2.33947873e-02 1.17606278e+02] [ 2.37043064e-02 -3.98321323e-05 9.99719013e-01 9.07973776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.99, Y:117.63, Z:9.08 [[ 1.58080782e-01 -9.87419637e-01 -3.59548563e-03 9.28992033e+02] [ 9.87172986e-01 1.58121654e-01 -2.20689468e-02 1.17632683e+02] [ 2.23598356e-02 -6.06899046e-05 9.99749986e-01 9.07955299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3792541539999 meters Centerline goodness [0,1] 0.9998674823862005 Centerline is valid? [True, True] Translation: X:929.00, Y:117.66, Z:9.08 [[ 1.57553629e-01 -9.87502897e-01 -3.85784672e-03 9.28997632e+02] [ 9.87217933e-01 1.57600837e-01 -2.37219162e-02 1.17660890e+02] [ 2.40334609e-02 -7.10614817e-05 9.99711152e-01 9.07830401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.00, Y:117.69, Z:9.08 [[ 1.58834680e-01 -9.87299131e-01 -3.45987858e-03 9.29003719e+02] [ 9.87069134e-01 1.58872356e-01 -2.13095926e-02 1.17688799e+02] [ 2.15886213e-02 -3.04370350e-05 9.99766938e-01 9.08055452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.01, Y:117.72, Z:9.08 [[ 1.60044681e-01 -9.87103999e-01 -3.37565027e-03 9.29007894e+02] [ 9.86884252e-01 1.60080276e-01 -2.08273256e-02 1.17716493e+02] [ 2.10991114e-02 1.92657856e-06 9.99777389e-01 9.08072515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4692541539998 meters Centerline goodness [0,1] 0.9999338245025808 Centerline is valid? [True, True] Translation: X:929.01, Y:117.74, Z:9.08 [[ 1.63678461e-01 -9.86508168e-01 -3.31585384e-03 9.29010333e+02] [ 9.86295221e-01 1.63712023e-01 -2.04965848e-02 1.17744052e+02] [ 2.07628935e-02 8.44386705e-05 9.99784424e-01 9.08071019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.01, Y:117.77, Z:9.08 [[ 1.65707881e-01 -9.86169593e-01 -3.22978400e-03 9.29013274e+02] [ 9.85966719e-01 1.65739303e-01 -2.00028313e-02 1.17771358e+02] [ 2.02614861e-02 1.30167258e-04 9.99794707e-01 9.08052132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5292541539999 meters Centerline goodness [0,1] 0.9999558742415885 Centerline is valid? [True, True] Translation: X:929.02, Y:117.80, Z:9.08 [[ 1.67866691e-01 -9.85804047e-01 -3.33992852e-03 9.29016282e+02] [ 9.85586249e-01 1.67899810e-01 -2.07219792e-02 1.17799053e+02] [ 2.09885844e-02 1.86742465e-04 9.99779698e-01 9.08000843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5592541539999 meters Centerline goodness [0,1] 0.9999558011049724 Centerline is valid? [True, True] Translation: X:929.02, Y:117.83, Z:9.08 [[ 1.72394816e-01 -9.85022489e-01 -3.27475107e-03 9.29018498e+02] [ 9.84812276e-01 1.72425683e-01 -2.03510445e-02 1.17827271e+02] [ 2.06108877e-02 2.83399515e-04 9.99787533e-01 9.08044776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.02, Y:117.86, Z:9.08 [[ 1.75768815e-01 -9.84426626e-01 -3.08891902e-03 9.29021763e+02] [ 9.84238881e-01 1.75795628e-01 -1.92281555e-02 1.17855335e+02] [ 1.94717267e-02 3.39475916e-04 9.99810350e-01 9.08166057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.03, Y:117.88, Z:9.08 [[ 1.76662291e-01 -9.84266591e-01 -3.11660079e-03 9.29025852e+02] [ 9.84074769e-01 1.76689400e-01 -1.94346156e-02 1.17883491e+02] [ 1.96795132e-02 3.66395527e-04 9.99806272e-01 9.08229546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6492541539999 meters Centerline goodness [0,1] 0.9999779963473937 Centerline is valid? [True, True] Translation: X:929.03, Y:117.91, Z:9.08 [[ 1.77540808e-01 -9.84108185e-01 -3.21575839e-03 9.29026755e+02] [ 9.83903413e-01 1.77569476e-01 -2.00787422e-02 1.17910644e+02] [ 2.03306751e-02 4.00800453e-04 9.99793230e-01 9.08027136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6792541539999 meters Centerline goodness [0,1] 0.9999122017603547 Centerline is valid? [True, True] Translation: X:929.03, Y:117.94, Z:9.08 [[ 1.77068713e-01 -9.84192504e-01 -3.43300826e-03 9.29032170e+02] [ 9.83958469e-01 1.77101484e-01 -2.14661705e-02 1.17938241e+02] [ 2.17348350e-02 4.23049642e-04 9.99763681e-01 9.08045255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7092541539998 meters Centerline goodness [0,1] 0.999845831956833 Centerline is valid? [True, True] Translation: X:929.04, Y:117.97, Z:9.08 [[ 1.76395527e-01 -9.84312723e-01 -3.61675124e-03 9.29036425e+02] [ 9.84051991e-01 1.76432058e-01 -2.26584996e-02 1.17966147e+02] [ 2.29411603e-02 4.37786713e-04 9.99736721e-01 9.07950544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.04, Y:117.99, Z:9.08 [[ 1.74776003e-01 -9.84602774e-01 -3.27503259e-03 9.29041281e+02] [ 9.84388431e-01 1.74806300e-01 -2.05468799e-02 1.17992653e+02] [ 2.08030113e-02 3.67197366e-04 9.99783527e-01 9.08054420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.05, Y:118.02, Z:9.08 [[ 1.73696325e-01 -9.84793983e-01 -3.22459957e-03 9.29046270e+02] [ 9.84585583e-01 1.73725913e-01 -2.02617352e-02 1.18020047e+02] [ 2.05138315e-02 3.44494704e-04 9.99789510e-01 9.08121405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.05, Y:118.05, Z:9.08 [[ 1.72374234e-01 -9.85026667e-01 -3.09644424e-03 9.29051646e+02] [ 9.84833844e-01 1.72401764e-01 -1.94918272e-02 1.18047553e+02] [ 1.97338020e-02 3.10405705e-04 9.99805221e-01 9.08220937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.06, Y:118.07, Z:9.08 [[ 1.71328576e-01 -9.85209317e-01 -3.02004582e-03 9.29055758e+02] [ 9.85025238e-01 1.71354949e-01 -1.90463104e-02 1.18074329e+02] [ 1.92821023e-02 2.88355887e-04 9.99814041e-01 9.08231276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.06, Y:118.10, Z:9.08 [[ 1.70518916e-01 -9.85349661e-01 -3.05680757e-03 9.29061162e+02] [ 9.85160380e-01 1.70546079e-01 -1.93147629e-02 1.18101811e+02] [ 1.95531216e-02 2.82086711e-04 9.99808780e-01 9.08243691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8892541539999 meters Centerline goodness [0,1] 0.9998452970297029 Centerline is valid? [True, True] Translation: X:929.07, Y:118.13, Z:9.08 [[ 1.68368847e-01 -9.85718468e-01 -3.32163991e-03 9.29067098e+02] [ 9.85494173e-01 1.68401397e-01 -2.10286625e-02 1.18129057e+02] [ 2.12877098e-02 2.67114882e-04 9.99773355e-01 9.08170271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.07, Y:118.16, Z:9.08 [[ 1.67039146e-01 -9.85945473e-01 -3.07391555e-03 9.29072435e+02] [ 9.85752736e-01 1.67067274e-01 -1.94953505e-02 1.18156553e+02] [ 1.97349033e-02 2.26366046e-04 9.99805222e-01 9.08233436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.08, Y:118.18, Z:9.08 [[ 1.65299985e-01 -9.86238641e-01 -3.04260277e-03 9.29077338e+02] [ 9.86049148e-01 1.65327869e-01 -1.93332342e-02 1.18182928e+02] [ 1.95702097e-02 1.95627456e-04 9.99808466e-01 9.08246577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.08, Y:118.21, Z:9.08 [[ 1.63935817e-01 -9.86466381e-01 -3.02096469e-03 9.29082731e+02] [ 9.86278909e-01 1.63963558e-01 -1.92318819e-02 1.18210447e+02] [ 1.94669331e-02 1.73280514e-04 9.99810486e-01 9.08298297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.09, Y:118.24, Z:9.08 [[ 1.61626797e-01 -9.86847734e-01 -2.88580917e-03 9.29088234e+02] [ 9.86676105e-01 1.61652507e-01 -1.84046159e-02 1.18237891e+02] [ 1.86290518e-02 1.27320161e-04 9.99826456e-01 9.08366774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0392541539999 meters Centerline goodness [0,1] 0.9998673564133174 Centerline is valid? [True, True] Translation: X:929.09, Y:118.27, Z:9.08 [[ 1.60623257e-01 -9.87010534e-01 -3.22091748e-03 9.29093062e+02] [ 9.86795929e-01 1.60655497e-01 -2.05816665e-02 1.18265951e+02] [ 2.08317798e-02 1.27506056e-04 9.99782987e-01 9.08336077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0692541539999 meters Centerline goodness [0,1] 0.9998237031160474 Centerline is valid? [True, True] Translation: X:929.10, Y:118.29, Z:9.08 [[ 1.59098467e-01 -9.87257324e-01 -3.26403121e-03 9.29096967e+02] [ 9.87036169e-01 1.59131913e-01 -2.08958259e-02 1.18293734e+02] [ 2.11489687e-02 1.02777019e-04 9.99776330e-01 9.08294852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0992541539998 meters Centerline goodness [0,1] 0.9999557629780363 Centerline is valid? [True, True] Translation: X:929.10, Y:118.32, Z:9.08 [[ 1.58601737e-01 -9.87338051e-01 -3.01045918e-03 9.29100395e+02] [ 9.87149263e-01 1.58630280e-01 -1.93071521e-02 1.18321581e+02] [ 1.95402359e-02 9.03753002e-05 9.99809067e-01 9.08350820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.10, Y:118.35, Z:9.08 [[ 1.58529254e-01 -9.87349902e-01 -2.94053831e-03 9.29104004e+02] [ 9.87169092e-01 1.58556497e-01 -1.88950196e-02 1.18348403e+02] [ 1.91222372e-02 9.26048341e-05 9.99817149e-01 9.08333809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.11, Y:118.38, Z:9.08 [[ 1.58249217e-01 -9.87394840e-01 -2.93499883e-03 9.29108164e+02] [ 9.87214022e-01 1.58276405e-01 -1.88958804e-02 1.18375679e+02] [ 1.91222359e-02 9.27862893e-05 9.99817149e-01 9.08359543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.11, Y:118.40, Z:9.08 [[ 1.58217964e-01 -9.87399655e-01 -2.99952228e-03 9.29111803e+02] [ 9.87210080e-01 1.58246363e-01 -1.93480141e-02 1.18403159e+02] [ 1.95788860e-02 1.00044780e-04 9.99808310e-01 9.08328589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.12, Y:118.43, Z:9.08 [[ 1.57973826e-01 -9.87438666e-01 -3.02515798e-03 9.29115323e+02] [ 9.87245112e-01 1.58002756e-01 -1.95504107e-02 1.18430737e+02] [ 1.97828147e-02 1.01880743e-04 9.99804296e-01 9.08338903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2492541539999 meters Centerline goodness [0,1] 0.9999117679497077 Centerline is valid? [True, True] Translation: X:929.12, Y:118.46, Z:9.08 [[ 1.57133189e-01 -9.87572192e-01 -3.21346769e-03 9.29118201e+02] [ 9.87352971e-01 1.57166015e-01 -2.08075740e-02 1.18458818e+02] [ 2.10540293e-02 9.67335871e-05 9.99778335e-01 9.08254696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2792541539999 meters Centerline goodness [0,1] 0.9998455428067079 Centerline is valid? [True, True] Translation: X:929.12, Y:118.49, Z:9.08 [[ 1.56187726e-01 -9.87721865e-01 -3.30337925e-03 9.29122186e+02] [ 9.87489357e-01 1.56222632e-01 -2.14303253e-02 1.18487091e+02] [ 2.16832635e-02 8.51019235e-05 9.99764887e-01 9.08210695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3092541539999 meters Centerline goodness [0,1] 0.9999780788285326 Centerline is valid? [True, True] Translation: X:929.13, Y:118.51, Z:9.08 [[ 1.54735164e-01 -9.87951551e-01 -2.95997503e-03 9.29125899e+02] [ 9.87764249e-01 1.54763463e-01 -1.92368902e-02 1.18514210e+02] [ 1.94632115e-02 5.28658394e-05 9.99810572e-01 9.08266088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.13, Y:118.54, Z:9.08 [[ 1.53363609e-01 -9.88165566e-01 -2.90124254e-03 9.29130581e+02] [ 9.87984994e-01 1.53391046e-01 -1.88901533e-02 1.18542292e+02] [ 1.91116237e-02 3.06779925e-05 9.99817356e-01 9.08290427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3692541539998 meters Centerline goodness [0,1] 0.9999780518853431 Centerline is valid? [True, True] Translation: X:929.14, Y:118.57, Z:9.08 [[ 1.52018909e-01 -9.88373005e-01 -3.00903012e-03 9.29135352e+02] [ 9.88178051e-01 1.52048686e-01 -1.96299735e-02 1.18569006e+02] [ 1.98592549e-02 1.06696377e-05 9.99802785e-01 9.08274545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3992541539999 meters Centerline goodness [0,1] 0.9997577039141832 Centerline is valid? [True, True] Translation: X:929.14, Y:118.60, Z:9.08 [[ 1.48671806e-01 -9.88880390e-01 -3.50264492e-03 9.29141672e+02] [ 9.88615308e-01 1.48713049e-01 -2.28954701e-02 1.18596890e+02] [ 2.31617704e-02 -5.88574907e-05 9.99731728e-01 9.08262562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.15, Y:118.62, Z:9.08 [[ 1.47303396e-01 -9.89086767e-01 -3.01291402e-03 9.29146344e+02] [ 9.88890106e-01 1.47334187e-01 -1.97229554e-02 1.18623934e+02] [ 1.99516194e-02 -7.41825525e-05 9.99800944e-01 9.08240736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4592541539998 meters Centerline goodness [0,1] 0.9998461606083249 Centerline is valid? [True, True] Translation: X:929.15, Y:118.65, Z:9.08 [[ 1.44863773e-01 -9.89446091e-01 -3.30452932e-03 9.29150330e+02] [ 9.89208808e-01 1.44901400e-01 -2.16683925e-02 1.18651715e+02] [ 2.19185372e-02 -1.29904406e-04 9.99759752e-01 9.08292572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4892541539998 meters Centerline goodness [0,1] 0.9998684412480541 Centerline is valid? [True, True] Translation: X:929.15, Y:118.68, Z:9.08 [[ 1.43508059e-01 -9.89643900e-01 -3.22320740e-03 9.29154587e+02] [ 9.89417367e-01 1.43544172e-01 -2.11741324e-02 1.18679940e+02] [ 2.14175236e-02 -1.50438744e-04 9.99770607e-01 9.08297525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5192541539999 meters Centerline goodness [0,1] 0.9998683950779759 Centerline is valid? [True, True] Translation: X:929.16, Y:118.71, Z:9.08 [[ 1.41907610e-01 -9.89875030e-01 -3.10733582e-03 9.29158946e+02] [ 9.89663754e-01 1.41941521e-01 -2.04513563e-02 1.18708165e+02] [ 2.06853469e-02 -1.73014559e-04 9.99786020e-01 9.08348818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.16, Y:118.74, Z:9.08 [[ 1.41800173e-01 -9.89891126e-01 -2.87556141e-03 9.29163276e+02] [ 9.89709531e-01 1.41829239e-01 -1.89608058e-02 1.18736265e+02] [ 1.91769721e-02 -1.57325001e-04 9.99816093e-01 9.08449564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5792541539998 meters Centerline goodness [0,1] 0.9999780205288261 Centerline is valid? [True, True] Translation: X:929.17, Y:118.76, Z:9.08 [[ 1.41370510e-01 -9.89952511e-01 -2.89911775e-03 9.29167645e+02] [ 9.89767231e-01 1.41400141e-01 -1.91527608e-02 1.18764454e+02] [ 1.93702593e-02 -1.61816183e-04 9.99812366e-01 9.08497595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6092541539998 meters Centerline goodness [0,1] 0.999780889151822 Centerline is valid? [True, True] Translation: X:929.17, Y:118.79, Z:9.08 [[ 1.41178960e-01 -9.89979136e-01 -3.13245482e-03 9.29171482e+02] [ 9.89761978e-01 1.41213600e-01 -2.07351194e-02 1.18792295e+02] [ 2.09696808e-02 -1.73022098e-04 9.99780097e-01 9.08466932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6392541539999 meters Centerline goodness [0,1] 0.999956176870152 Centerline is valid? [True, True] Translation: X:929.17, Y:118.82, Z:9.09 [[ 1.42177435e-01 -9.89837423e-01 -2.73011004e-03 9.29173817e+02] [ 9.89671858e-01 1.42203587e-01 -1.81039527e-02 1.18820804e+02] [ 1.83082013e-02 -1.27939512e-04 9.99832383e-01 9.08592625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.18, Y:118.85, Z:9.09 [[ 1.44065650e-01 -9.89564441e-01 -2.70289970e-03 9.29175599e+02] [ 9.89401484e-01 1.44090977e-01 -1.79581244e-02 1.18849358e+02] [ 1.81601848e-02 -8.71041170e-05 9.99835086e-01 9.08582737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.18, Y:118.88, Z:9.09 [[ 1.46360959e-01 -9.89227589e-01 -2.69200483e-03 9.29176993e+02] [ 9.89065329e-01 1.46385708e-01 -1.79164767e-02 1.18876188e+02] [ 1.81175441e-02 -4.02959310e-05 9.99835863e-01 9.08503159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7292541539998 meters Centerline goodness [0,1] 0.9999561855105483 Centerline is valid? [True, True] Translation: X:929.18, Y:118.90, Z:9.09 [[ 1.47080511e-01 -9.89120491e-01 -2.82441499e-03 9.29179826e+02] [ 9.88941230e-01 1.47107625e-01 -1.88305836e-02 1.18904230e+02] [ 1.90412091e-02 -2.35685731e-05 9.99818699e-01 9.08534321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.18, Y:118.93, Z:9.08 [[ 1.48913092e-01 -9.88846403e-01 -2.77179876e-03 9.29181623e+02] [ 9.88673016e-01 1.48938885e-01 -1.85169118e-02 1.18931467e+02] [ 1.87232102e-02 1.70079480e-05 9.99824705e-01 9.08473568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7892541539999 meters Centerline goodness [0,1] 0.9998905572823185 Centerline is valid? [True, True] Translation: X:929.19, Y:118.96, Z:9.08 [[ 1.49554345e-01 -9.88749448e-01 -2.83335334e-03 9.29185202e+02] [ 9.88567517e-01 1.49581178e-01 -1.89666784e-02 1.18958988e+02] [ 1.91771091e-02 3.55880919e-05 9.99816102e-01 9.08449799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8192541539999 meters Centerline goodness [0,1] 0.9998691670300915 Centerline is valid? [True, True] Translation: X:929.19, Y:118.99, Z:9.08 [[ 1.49120065e-01 -9.88814647e-01 -2.96642959e-03 9.29189550e+02] [ 9.88614442e-01 1.49149563e-01 -1.98970546e-02 1.18986893e+02] [ 2.01169407e-02 3.43949321e-05 9.99797633e-01 9.08389913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.19, Y:119.01, Z:9.08 [[ 1.48778605e-01 -9.88866768e-01 -2.72815555e-03 9.29193375e+02] [ 9.88696799e-01 1.48803613e-01 -1.83337055e-02 1.19014047e+02] [ 1.85355515e-02 3.03444730e-05 9.99828201e-01 9.08448775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.20, Y:119.04, Z:9.08 [[ 1.47878455e-01 -9.89001790e-01 -2.72428773e-03 9.29197726e+02] [ 9.88831656e-01 1.47903545e-01 -1.83438903e-02 1.19041734e+02] [ 1.85450721e-02 1.88041998e-05 9.99828025e-01 9.08485284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.20, Y:119.07, Z:9.09 [[ 1.46671093e-01 -9.89181595e-01 -2.71345048e-03 9.29202447e+02] [ 9.89012184e-01 1.46696191e-01 -1.83065112e-02 1.19069368e+02] [ 1.85065168e-02 1.40042346e-06 9.99828740e-01 9.08539409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9392541539999 meters Centerline goodness [0,1] 0.9998689784687951 Centerline is valid? [True, True] Translation: X:929.21, Y:119.10, Z:9.09 [[ 1.43837288e-01 -9.89597120e-01 -2.89375940e-03 9.29208780e+02] [ 9.89403742e-01 1.43866385e-01 -1.95626782e-02 1.19096797e+02] [ 1.97754847e-02 -4.92537907e-05 9.99804445e-01 9.08558425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.21, Y:119.12, Z:9.09 [[ 1.42912428e-01 -9.89731500e-01 -2.75608654e-03 9.29213306e+02] [ 9.89555435e-01 1.42938989e-01 -1.86677720e-02 1.19124733e+02] [ 1.88700342e-02 -5.94437971e-05 9.99821943e-01 9.08636304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9992541539999 meters Centerline goodness [0,1] 0.9998687147170802 Centerline is valid? [True, True] Translation: X:929.22, Y:119.15, Z:9.09 [[ 1.41482382e-01 -9.89936476e-01 -2.91701282e-03 9.29218260e+02] [ 9.89738494e-01 1.41512423e-01 -1.97976782e-02 1.19152736e+02] [ 2.00112374e-02 -8.60572037e-05 9.99799751e-01 9.08605764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0292541539999 meters Centerline goodness [0,1] 0.9999781090606598 Centerline is valid? [True, True] Translation: X:929.22, Y:119.18, Z:9.09 [[ 1.40633759e-01 -9.90057639e-01 -2.83168008e-03 9.29222831e+02] [ 9.89870349e-01 1.40662232e-01 -1.92569252e-02 1.19179929e+02] [ 1.94637763e-02 -9.48223764e-05 9.99810558e-01 9.08655151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0592541539999 meters Centerline goodness [0,1] 0.9999122499122499 Centerline is valid? [True, True] Translation: X:929.23, Y:119.21, Z:9.09 [[ 1.39524205e-01 -9.90214343e-01 -2.92430143e-03 9.29226852e+02] [ 9.90013775e-01 1.39554800e-01 -1.99294812e-02 1.19207246e+02] [ 2.01425585e-02 -1.14453680e-04 9.99797112e-01 9.08748332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0892541539998 meters Centerline goodness [0,1] 0.9998687721447006 Centerline is valid? [True, True] Translation: X:929.23, Y:119.23, Z:9.09 [[ 1.39343631e-01 -9.90239548e-01 -2.99829156e-03 9.29230929e+02] [ 9.90027945e-01 1.39375836e-01 -2.04705813e-02 1.19233844e+02] [ 2.06886686e-02 -1.15947312e-04 9.99785960e-01 9.08719669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1192541539998 meters Centerline goodness [0,1] 0.9998680622746063 Centerline is valid? [True, True] Translation: X:929.23, Y:119.26, Z:9.09 [[ 1.39504096e-01 -9.90216776e-01 -3.05663151e-03 9.29234897e+02] [ 9.89996045e-01 1.39537536e-01 -2.09070909e-02 1.19260809e+02] [ 2.11290670e-02 -1.09428279e-04 9.99776750e-01 9.08744029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.24, Y:119.29, Z:9.09 [[ 1.40209200e-01 -9.90117543e-01 -2.93803288e-03 9.29238638e+02] [ 9.89912779e-01 1.40239954e-01 -2.01356539e-02 1.19289027e+02] [ 2.03486937e-02 -8.51923658e-05 9.99792940e-01 9.08810501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.24, Y:119.32, Z:9.09 [[ 1.40237435e-01 -9.90113524e-01 -2.94491001e-03 9.29242845e+02] [ 9.89906995e-01 1.40268330e-01 -2.02222044e-02 1.19316567e+02] [ 2.04353556e-02 -7.92769472e-05 9.99791173e-01 9.08849028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.25, Y:119.34, Z:9.09 [[ 1.41136287e-01 -9.89985756e-01 -2.95830333e-03 9.29246128e+02] [ 9.89776489e-01 1.41167277e-01 -2.03544184e-02 1.19344545e+02] [ 2.05681999e-02 -5.53120534e-05 9.99788451e-01 9.08928054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2392541539998 meters Centerline goodness [0,1] 0.9998902714683872 Centerline is valid? [True, True] Translation: X:929.25, Y:119.37, Z:9.09 [[ 1.41308913e-01 -9.89960931e-01 -3.02413470e-03 9.29249894e+02] [ 9.89741347e-01 1.41341261e-01 -2.08497896e-02 1.19371998e+02] [ 2.10679121e-02 -4.68500503e-05 9.99778046e-01 9.08950952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2692541539999 meters Centerline goodness [0,1] 0.9998901050595631 Centerline is valid? [True, True] Translation: X:929.25, Y:119.40, Z:9.09 [[ 1.42506841e-01 -9.89789006e-01 -3.08618518e-03 9.29253388e+02] [ 9.89559336e-01 1.42540254e-01 -2.13212696e-02 1.19399488e+02] [ 2.15434638e-02 -1.55365949e-05 9.99767913e-01 9.08989663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2992541539999 meters Centerline goodness [0,1] 0.9998903893370747 Centerline is valid? [True, True] Translation: X:929.26, Y:119.43, Z:9.09 [[ 1.42858473e-01 -9.89738342e-01 -3.07740486e-03 9.29256927e+02] [ 9.89509179e-01 1.42891615e-01 -2.12972252e-02 1.19426217e+02] [ 2.15184158e-02 -2.63127620e-06 9.99768452e-01 9.08976937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.26, Y:119.45, Z:9.09 [[ 1.43654419e-01 -9.89623694e-01 -2.88992508e-03 9.29260426e+02] [ 9.89420883e-01 1.43683483e-01 -2.00342844e-02 1.19453833e+02] [ 2.02416370e-02 1.86612472e-05 9.99795117e-01 9.09050878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.26, Y:119.48, Z:9.09 [[ 1.43372768e-01 -9.89664577e-01 -2.87652274e-03 9.29264600e+02] [ 9.89462845e-01 1.43401620e-01 -1.99813219e-02 1.19481238e+02] [ 2.01873045e-02 1.85650516e-05 9.99796215e-01 9.09081256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3892541539999 meters Centerline goodness [0,1] 0.9998902618352611 Centerline is valid? [True, True] Translation: X:929.27, Y:119.51, Z:9.09 [[ 1.42574922e-01 -9.89779565e-01 -2.96722434e-03 9.29269811e+02] [ 9.89564034e-01 1.42605795e-01 -2.06545377e-02 1.19508339e+02] [ 2.08665827e-02 8.56060195e-06 9.99782269e-01 9.09072076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4192541539999 meters Centerline goodness [0,1] 0.999890624316402 Centerline is valid? [True, True] Translation: X:929.27, Y:119.53, Z:9.09 [[ 1.42337296e-01 -9.89813967e-01 -2.89924513e-03 9.29273827e+02] [ 9.89607348e-01 1.42366820e-01 -2.02233703e-02 1.19534835e+02] [ 2.04301306e-02 9.42555187e-06 9.99791283e-01 9.09022741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.28, Y:119.56, Z:9.09 [[ 1.43244422e-01 -9.89683449e-01 -2.77596164e-03 9.29277470e+02] [ 9.89493244e-01 1.43271314e-01 -1.94023348e-02 1.19562293e+02] [ 1.95998853e-02 3.24809391e-05 9.99807903e-01 9.09313827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4792541539998 meters Centerline goodness [0,1] 0.9999562142872781 Centerline is valid? [True, True] Translation: X:929.28, Y:119.59, Z:9.09 [[ 1.43320971e-01 -9.89672321e-01 -2.79234931e-03 9.29281062e+02] [ 9.89479083e-01 1.43348164e-01 -1.95562891e-02 1.19590301e+02] [ 1.97545962e-02 3.98551050e-05 9.99804858e-01 9.09347279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.28, Y:119.62, Z:9.09 [[ 1.45260731e-01 -9.89389859e-01 -2.65074895e-03 9.29282509e+02] [ 9.89214973e-01 1.45284892e-01 -1.86020909e-02 1.19617015e+02] [ 1.87898339e-02 7.99927626e-05 9.99823452e-01 9.09386561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5392541539999 meters Centerline goodness [0,1] 0.9999125511029492 Centerline is valid? [True, True] Translation: X:929.29, Y:119.65, Z:9.09 [[ 1.45570404e-01 -9.89343975e-01 -2.78508616e-03 9.29285532e+02] [ 9.89150088e-01 1.45597012e-01 -1.95860374e-02 1.19645295e+02] [ 1.97828283e-02 9.62791589e-05 9.99804296e-01 9.09354170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.29, Y:119.67, Z:9.10 [[ 1.48002338e-01 -9.88983446e-01 -2.65556426e-03 9.29287873e+02] [ 9.88806416e-01 1.48026090e-01 -1.87122442e-02 1.19673337e+02] [ 1.88991925e-02 1.43616907e-04 9.99821384e-01 9.09503280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.29, Y:119.70, Z:9.09 [[ 1.48854501e-01 -9.88855386e-01 -2.71353762e-03 9.29290076e+02] [ 9.88669726e-01 1.48879135e-01 -1.91618463e-02 1.19700461e+02] [ 1.93522841e-02 1.69534574e-04 9.99812713e-01 9.09417426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.29, Y:119.73, Z:9.09 [[ 1.50737080e-01 -9.88569882e-01 -2.81428798e-03 9.29293047e+02] [ 9.88369293e-01 1.50763189e-01 -1.99148432e-02 1.19728686e+02] [ 2.01115053e-02 2.20349499e-04 9.99797719e-01 9.09441391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.30, Y:119.76, Z:9.10 [[ 1.51469196e-01 -9.88458017e-01 -2.79855344e-03 9.29296927e+02] [ 9.88258842e-01 1.51494857e-01 -1.98436383e-02 1.19756987e+02] [ 2.00385698e-02 2.40004752e-04 9.99799179e-01 9.09508506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6892541539999 meters Centerline goodness [0,1] 0.9999344763568855 Centerline is valid? [True, True] Translation: X:929.30, Y:119.78, Z:9.09 [[ 1.52113539e-01 -9.88358762e-01 -2.90312085e-03 9.29297581e+02] [ 9.88143539e-01 1.52141002e-01 -2.06267223e-02 1.19784781e+02] [ 2.08282855e-02 2.68903620e-04 9.99783032e-01 9.09283209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7192541539998 meters Centerline goodness [0,1] 0.9999782073354109 Centerline is valid? [True, True] Translation: X:929.30, Y:119.81, Z:9.09 [[ 1.51806350e-01 -9.88405957e-01 -2.91476519e-03 9.29303252e+02] [ 9.88188155e-01 1.51834091e-01 -2.07504138e-02 1.19812465e+02] [ 2.09523933e-02 2.69708147e-04 9.99780438e-01 9.09410593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7492541539999 meters Centerline goodness [0,1] 0.9999782528325686 Centerline is valid? [True, True] Translation: X:929.31, Y:119.84, Z:9.09 [[ 1.49584778e-01 -9.88744501e-01 -2.95075821e-03 9.29308717e+02] [ 9.88520427e-01 1.49613699e-01 -2.10500815e-02 1.19839629e+02] [ 2.12546262e-02 2.31886993e-04 9.99774068e-01 9.09456722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7792541539999 meters Centerline goodness [0,1] 0.9999782163551606 Centerline is valid? [True, True] Translation: X:929.31, Y:119.87, Z:9.10 [[ 1.47772515e-01 -9.89017281e-01 -2.84648372e-03 9.29313976e+02] [ 9.88807964e-01 1.47799803e-01 -2.03476709e-02 1.19867365e+02] [ 2.05449079e-02 1.92200734e-04 9.99788913e-01 9.09522509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.32, Y:119.89, Z:9.10 [[ 1.45272644e-01 -9.89387623e-01 -2.82675126e-03 9.29319910e+02] [ 9.89180401e-01 1.45300070e-01 -2.02490445e-02 1.19894741e+02] [ 2.04448812e-02 1.45465289e-04 9.99790971e-01 9.09599260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.33, Y:119.92, Z:9.10 [[ 1.39785209e-01 -9.90177991e-01 -2.76450625e-03 9.29327939e+02] [ 9.89979104e-01 1.39812538e-01 -1.98450792e-02 1.19921336e+02] [ 2.00366733e-02 3.72451115e-05 9.99799245e-01 9.09676047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8692541539998 meters Centerline goodness [0,1] 0.9998690442412205 Centerline is valid? [True, True] Translation: X:929.33, Y:119.95, Z:9.10 [[ 1.36019244e-01 -9.90702116e-01 -2.84305051e-03 9.29334738e+02] [ 9.90490972e-01 1.36048949e-01 -2.04528089e-02 1.19948954e+02] [ 2.06494351e-02 -3.40402446e-05 9.99786777e-01 9.09598239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8992541539999 meters Centerline goodness [0,1] 0.9999561037706861 Centerline is valid? [True, True] Translation: X:929.34, Y:119.98, Z:9.10 [[ 1.30160543e-01 -9.91489096e-01 -2.75790668e-03 9.29342719e+02] [ 9.91289802e-01 1.30189676e-01 -1.98790400e-02 1.19975957e+02] [ 2.00689024e-02 -1.46418121e-04 9.99798589e-01 9.09752207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.35, Y:120.00, Z:9.10 [[ 1.27326148e-01 -9.91857308e-01 -2.67077646e-03 9.29348430e+02] [ 9.91669752e-01 1.27354010e-01 -1.92888177e-02 1.20003499e+02] [ 1.94718889e-02 -1.92557379e-04 9.99810386e-01 9.09834868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9592541539998 meters Centerline goodness [0,1] 0.9999341079312086 Centerline is valid? [True, True] Translation: X:929.36, Y:120.03, Z:9.10 [[ 1.21893336e-01 -9.92539528e-01 -2.70198114e-03 9.29356040e+02] [ 9.92346923e-01 1.21922916e-01 -1.95547213e-02 1.20030130e+02] [ 1.97382672e-02 -2.97712471e-04 9.99805137e-01 9.09800010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.36, Y:120.06, Z:9.10 [[ 1.20357060e-01 -9.92727291e-01 -2.58925250e-03 9.29360875e+02] [ 9.92549748e-01 1.20384509e-01 -1.87767995e-02 1.20057903e+02] [ 1.89519472e-02 -3.10041536e-04 9.99820348e-01 9.09928769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.37, Y:120.08, Z:9.10 [[ 1.18728627e-01 -9.92923454e-01 -2.55504360e-03 9.29365739e+02] [ 9.92749872e-01 1.18755652e-01 -1.85684184e-02 1.20084320e+02] [ 1.87404440e-02 -3.31916395e-04 9.99824327e-01 9.09998050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.37, Y:120.11, Z:9.10 [[ 1.18451512e-01 -9.92956564e-01 -2.54967555e-03 9.29369416e+02] [ 9.92782975e-01 1.18478486e-01 -1.85691558e-02 1.20111672e+02] [ 1.87404469e-02 -3.31729883e-04 9.99824327e-01 9.10023787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.37, Y:120.14, Z:9.10 [[ 1.17389363e-01 -9.93082930e-01 -2.45609723e-03 9.29374106e+02] [ 9.92921220e-01 1.17414577e-01 -1.79239471e-02 1.20138986e+02] [ 1.80883476e-02 -3.34630326e-04 9.99836336e-01 9.10114737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1092541539998 meters Centerline goodness [0,1] 0.9999780190794391 Centerline is valid? [True, True] Translation: X:929.38, Y:120.17, Z:9.10 [[ 1.18664949e-01 -9.92931127e-01 -2.53108243e-03 9.29376830e+02] [ 9.92758731e-01 1.18691517e-01 -1.85047781e-02 1.20165624e+02] [ 1.86743882e-02 -3.16885622e-04 9.99825568e-01 9.10076741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1392541539999 meters Centerline goodness [0,1] 0.9999779881135813 Centerline is valid? [True, True] Translation: X:929.38, Y:120.19, Z:9.10 [[ 1.20153272e-01 -9.92752026e-01 -2.57031166e-03 9.29377846e+02] [ 9.92573547e-01 1.20180413e-01 -1.88260799e-02 1.20193376e+02] [ 1.89985301e-02 -2.89208266e-04 9.99819470e-01 9.10167744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1692541539999 meters Centerline goodness [0,1] 0.9998462720983858 Centerline is valid? [True, True] Translation: X:929.38, Y:120.22, Z:9.10 [[ 1.24331638e-01 -9.92236590e-01 -2.86239726e-03 9.29377880e+02] [ 9.92014125e-01 1.24364375e-01 -2.10113546e-02 1.20221482e+02] [ 2.12042151e-02 -2.27162386e-04 9.99775140e-01 9.09977539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:120.25, Z:9.10 [[ 1.27617372e-01 -9.91819312e-01 -2.87365713e-03 9.29378671e+02] [ 9.91594051e-01 1.27649632e-01 -2.11378634e-02 1.20250042e+02] [ 2.13317624e-02 -1.51942740e-04 9.99772441e-01 9.09994137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:120.28, Z:9.10 [[ 1.33834058e-01 -9.90998917e-01 -3.09712699e-03 9.29376869e+02] [ 9.90735890e-01 1.33869889e-01 -2.28308822e-02 1.20278739e+02] [ 2.30399916e-02 -1.28852463e-05 9.99734544e-01 9.09851903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2592541539999 meters Centerline goodness [0,1] 0.9999344434246755 Centerline is valid? [True, True] Translation: X:929.38, Y:120.31, Z:9.10 [[ 1.36213003e-01 -9.90674181e-01 -3.26871828e-03 9.29377900e+02] [ 9.90379806e-01 1.36252207e-01 -2.41490408e-02 1.20305559e+02] [ 2.43692013e-02 5.21407915e-05 9.99703026e-01 9.09736812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:120.33, Z:9.10 [[ 1.42491307e-01 -9.89790742e-01 -3.24262805e-03 9.29376721e+02] [ 9.89499574e-01 1.42528040e-01 -2.40073073e-02 1.20333695e+02] [ 2.42243759e-02 2.12253517e-04 9.99706524e-01 9.09846272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3192541539999 meters Centerline goodness [0,1] 0.9998686169746869 Centerline is valid? [True, True] Translation: X:929.38, Y:120.36, Z:9.10 [[ 1.44086300e-01 -9.89559757e-01 -3.25958115e-03 9.29379687e+02] [ 9.89264253e-01 1.44122931e-01 -2.41830060e-02 1.20362056e+02] [ 2.44003099e-02 2.59852730e-04 9.99702234e-01 9.09942057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:120.39, Z:9.10 [[ 1.47925207e-01 -9.88994367e-01 -2.87677012e-03 9.29379390e+02] [ 9.88763135e-01 1.47952833e-01 -2.13874093e-02 1.20389768e+02] [ 2.15776536e-02 3.19292704e-04 9.99767124e-01 9.10190631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:120.42, Z:9.10 [[ 1.49072188e-01 -9.88822582e-01 -2.71727250e-03 9.29381537e+02] [ 9.88615373e-01 1.49096582e-01 -2.02448555e-02 1.20417349e+02] [ 2.04237063e-02 3.31607536e-04 9.99791359e-01 9.10285635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:120.45, Z:9.10 [[ 1.49907947e-01 -9.88696866e-01 -2.47265470e-03 9.29384184e+02] [ 9.88524566e-01 1.49927990e-01 -1.84602565e-02 1.20445425e+02] [ 1.86223179e-02 3.23059224e-04 9.99826537e-01 9.10475882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.39, Y:120.47, Z:9.11 [[ 1.50081790e-01 -9.88670817e-01 -2.33935694e-03 9.29387388e+02] [ 9.88515937e-01 1.50099692e-01 -1.75021463e-02 1.20473382e+02] [ 1.76549981e-02 3.14261828e-04 9.99844089e-01 9.10540831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4692541539998 meters Centerline goodness [0,1] 0.9999344520188779 Centerline is valid? [True, True] Translation: X:929.39, Y:120.50, Z:9.11 [[ 1.49792318e-01 -9.88715023e-01 -2.20544442e-03 9.29391000e+02] [ 9.88576789e-01 1.49808259e-01 -1.65353415e-02 1.20501544e+02] [ 1.66791344e-02 2.96615973e-04 9.99860850e-01 9.10575507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.39, Y:120.53, Z:9.11 [[ 1.50202406e-01 -9.88652949e-01 -2.14102782e-03 9.29394222e+02] [ 9.88522082e-01 1.50217365e-01 -1.60883831e-02 1.20528953e+02] [ 1.62274469e-02 3.00060572e-04 9.99868281e-01 9.10683512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5292541539999 meters Centerline goodness [0,1] 0.9999128559290648 Centerline is valid? [True, True] Translation: X:929.40, Y:120.56, Z:9.10 [[ 1.50590431e-01 -9.88593506e-01 -2.32420983e-03 9.29396812e+02] [ 9.88438551e-01 1.50607985e-01 -1.75061664e-02 1.20557610e+02] [ 1.76565270e-02 3.38922553e-04 9.99844054e-01 9.10497142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5592541539999 meters Centerline goodness [0,1] 0.9998911979109999 Centerline is valid? [True, True] Translation: X:929.40, Y:120.59, Z:9.10 [[ 1.51240781e-01 -9.88493832e-01 -2.48412062e-03 9.29397023e+02] [ 9.88316051e-01 1.51260701e-01 -1.87505842e-02 1.20585027e+02] [ 1.89105866e-02 3.80756706e-04 9.99821106e-01 9.10299066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.40, Y:120.61, Z:9.10 [[ 1.52329212e-01 -9.88326481e-01 -2.56478904e-03 9.29401850e+02] [ 9.88136152e-01 1.52350221e-01 -1.93998912e-02 1.20613209e+02] [ 1.95641723e-02 4.20809365e-04 9.99808515e-01 9.10447263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.40, Y:120.64, Z:9.10 [[ 1.53790935e-01 -9.88099359e-01 -2.82940322e-03 9.29403075e+02] [ 9.87866972e-01 1.53816143e-01 -2.14345638e-02 1.20640194e+02] [ 2.16146866e-02 5.01367623e-04 9.99766250e-01 9.10235987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.41, Y:120.67, Z:9.10 [[ 1.54035987e-01 -9.88060798e-01 -2.96217080e-03 9.29406298e+02] [ 9.87805243e-01 1.54063533e-01 -2.24773228e-02 1.20668329e+02] [ 2.26653240e-02 5.36268764e-04 9.99742965e-01 9.10150583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6792541539999 meters Centerline goodness [0,1] 0.9999124477422462 Centerline is valid? [True, True] Translation: X:929.41, Y:120.69, Z:9.10 [[ 1.52455353e-01 -9.88305122e-01 -3.21746471e-03 9.29410461e+02] [ 9.88002270e-01 1.52488302e-01 -2.44710574e-02 1.20694770e+02] [ 2.46754971e-02 5.51881255e-04 9.99695361e-01 9.09882245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.42, Y:120.72, Z:9.10 [[ 1.50982925e-01 -9.88531114e-01 -3.22370743e-03 9.29415504e+02] [ 9.88225775e-01 1.51016426e-01 -2.45735126e-02 1.20722729e+02] [ 2.47785146e-02 5.24430051e-04 9.99692828e-01 9.09986564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7392541539998 meters Centerline goodness [0,1] 0.9999344061570754 Centerline is valid? [True, True] Translation: X:929.43, Y:120.75, Z:9.10 [[ 1.44754124e-01 -9.89462577e-01 -3.17065949e-03 9.29425268e+02] [ 9.89166416e-01 1.44788376e-01 -2.42100823e-02 1.20750070e+02] [ 2.44140451e-02 3.68199371e-04 9.99701865e-01 9.09976468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7692541539999 meters Centerline goodness [0,1] 0.9999344606108271 Centerline is valid? [True, True] Translation: X:929.43, Y:120.78, Z:9.10 [[ 1.40711801e-01 -9.90045717e-01 -3.10928432e-03 9.29432631e+02] [ 9.89759996e-01 1.40745891e-01 -2.37853656e-02 1.20776959e+02] [ 2.39862184e-02 2.69436396e-04 9.99712253e-01 9.10117792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.44, Y:120.80, Z:9.11 [[ 1.31832840e-01 -9.91268161e-01 -2.74507709e-03 9.29444424e+02] [ 9.91044826e-01 1.31861406e-01 -2.10409914e-02 1.20804182e+02] [ 2.12192346e-02 5.33992120e-05 9.99774845e-01 9.10503493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8292541539998 meters Centerline goodness [0,1] 0.9998901557591335 Centerline is valid? [True, True] Translation: X:929.45, Y:120.83, Z:9.11 [[ 1.26134412e-01 -9.92009781e-01 -2.58946368e-03 9.29452168e+02] [ 9.91810303e-01 1.26160976e-01 -1.98929790e-02 1.20829885e+02] [ 2.00607190e-02 -5.90675365e-05 9.99798762e-01 9.10529708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.46, Y:120.86, Z:9.11 [[ 1.16759446e-01 -9.93157656e-01 -2.25882508e-03 9.29463209e+02] [ 9.93005403e-01 1.16781101e-01 -1.73909402e-02 1.20856644e+02] [ 1.75357335e-02 -2.12468956e-04 9.99846215e-01 9.10909247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8892541539999 meters Centerline goodness [0,1] 0.9998678152056575 Centerline is valid? [True, True] Translation: X:929.48, Y:120.88, Z:9.11 [[ 1.06877784e-01 -9.94269570e-01 -2.27210173e-03 9.29475624e+02] [ 9.94115128e-01 1.06901237e-01 -1.75282117e-02 1.20881677e+02] [ 1.76706580e-02 -3.85354284e-04 9.99843787e-01 9.10824643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9192541539999 meters Centerline goodness [0,1] 0.9998673915926269 Centerline is valid? [True, True] Translation: X:929.48, Y:120.91, Z:9.11 [[ 1.02673272e-01 -9.94712467e-01 -2.30365655e-03 9.29482529e+02] [ 9.94553187e-01 1.02698069e-01 -1.78063086e-02 1.20909239e+02] [ 1.79487382e-02 -4.62876995e-04 9.99838801e-01 9.10828261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.49, Y:120.93, Z:9.11 [[ 9.60099216e-02 -9.95377471e-01 -2.40519421e-03 9.29490844e+02] [ 9.95203340e-01 9.60381367e-02 -1.86276038e-02 1.20934498e+02] [ 1.87724875e-02 -6.05222532e-04 9.99823598e-01 9.10877856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.49, Y:120.96, Z:9.11 [[ 9.27282726e-02 -9.95688364e-01 -2.47966096e-03 9.29489485e+02] [ 9.95502649e-01 9.27588977e-02 -1.92421923e-02 1.20963384e+02] [ 1.93892376e-02 -6.84213798e-04 9.99811777e-01 9.11022837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.50, Y:120.99, Z:9.11 [[ 8.99169011e-02 -9.95946003e-01 -2.55150116e-03 9.29495493e+02] [ 9.95748582e-01 8.99499148e-02 -1.98437493e-02 1.20990629e+02] [ 1.99928101e-02 -7.56365215e-04 9.99799838e-01 9.10929738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.50, Y:121.02, Z:9.11 [[ 8.54486708e-02 -9.96338865e-01 -2.71875352e-03 9.29498601e+02] [ 9.96113864e-01 8.54872022e-02 -2.11921951e-02 1.21019024e+02] [ 2.13470263e-02 -8.97343167e-04 9.99771724e-01 9.10920589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0692541539999 meters Centerline goodness [0,1] 0.999977939067705 Centerline is valid? [True, True] Translation: X:929.50, Y:121.05, Z:9.11 [[ 8.33219190e-02 -9.96518877e-01 -2.75435414e-03 9.29500807e+02] [ 9.96287034e-01 8.33620027e-02 -2.15156537e-02 1.21047858e+02] [ 2.16703635e-02 -9.51401759e-04 9.99764717e-01 9.10946392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0992541539998 meters Centerline goodness [0,1] 0.9998454063604241 Centerline is valid? [True, True] Translation: X:929.50, Y:121.08, Z:9.11 [[ 8.16363093e-02 -9.96658110e-01 -2.85048880e-03 9.29503259e+02] [ 9.96408752e-01 8.16797104e-02 -2.23164289e-02 1.21075895e+02] [ 2.24746769e-02 -1.01842110e-03 9.99746894e-01 9.10897100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1292541539999 meters Centerline goodness [0,1] 0.9998233956599484 Centerline is valid? [True, True] Translation: X:929.51, Y:121.10, Z:9.11 [[ 8.13976447e-02 -9.96677585e-01 -2.86632784e-03 9.29506229e+02] [ 9.96424257e-01 8.14416445e-02 -2.24935195e-02 1.21102687e+02] [ 2.26522252e-02 -1.02515908e-03 9.99742880e-01 9.11001876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1592541539999 meters Centerline goodness [0,1] 0.9998463159743567 Centerline is valid? [True, True] Translation: X:929.51, Y:121.13, Z:9.11 [[ 8.17484956e-02 -9.96648613e-01 -2.95399237e-03 9.29508144e+02] [ 9.96378271e-01 8.17951895e-02 -2.32354724e-02 1.21130411e+02] [ 2.33992237e-02 -1.04382890e-03 9.99725656e-01 9.10946064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1892541539999 meters Centerline goodness [0,1] 0.9999342681858019 Centerline is valid? [True, True] Translation: X:929.50, Y:121.16, Z:9.11 [[ 8.53860376e-02 -9.96344249e-01 -2.71338114e-03 9.29502664e+02] [ 9.96115013e-01 8.54246431e-02 -2.13895292e-02 1.21159201e+02] [ 2.15431240e-02 -8.76472540e-04 9.99767536e-01 9.11164250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2192541539998 meters Centerline goodness [0,1] 0.9998470914611504 Centerline is valid? [True, True] Translation: X:929.50, Y:121.19, Z:9.11 [[ 8.75833528e-02 -9.96153764e-01 -2.61443652e-03 9.29502682e+02] [ 9.95939931e-01 8.76187606e-02 -2.06544638e-02 1.21188091e+02] [ 2.08040956e-02 -7.94834539e-04 9.99783255e-01 9.11197777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2492541539999 meters Centerline goodness [0,1] 0.9996745497938815 Centerline is valid? [True, True] Translation: X:929.50, Y:121.22, Z:9.11 [[ 9.43726204e-02 -9.95534013e-01 -2.41606670e-03 9.29498182e+02] [ 9.95350379e-01 9.44016392e-02 -1.91299036e-02 1.21215887e+02] [ 1.92725504e-02 -5.99493779e-04 9.99814087e-01 9.11300526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2792541539999 meters Centerline goodness [0,1] 0.9997605833061269 Centerline is valid? [True, True] Translation: X:929.50, Y:121.25, Z:9.11 [[ 9.83705030e-02 -9.95147226e-01 -2.28961169e-03 9.29495307e+02] [ 9.94981466e-01 9.83959212e-02 -1.81693590e-02 1.21245250e+02] [ 1.83064756e-02 -4.90792213e-04 9.99832302e-01 9.11396856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3092541539999 meters Centerline goodness [0,1] 0.9998915118902968 Centerline is valid? [True, True] Translation: X:929.49, Y:121.27, Z:9.11 [[ 1.07932886e-01 -9.94155725e-01 -2.21054601e-03 9.29487817e+02] [ 9.94000296e-01 1.07955105e-01 -1.75814627e-02 1.21273037e+02] [ 1.77173516e-02 -2.99665371e-04 9.99842991e-01 9.11422477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.48, Y:121.30, Z:9.12 [[ 1.19351458e-01 -9.92849873e-01 -2.08768729e-03 9.29478519e+02] [ 9.92710380e-01 1.19369684e-01 -1.66426975e-02 1.21302376e+02] [ 1.67729066e-02 -8.61386419e-05 9.99859321e-01 9.11570145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3692541539998 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:929.48, Y:121.33, Z:9.12 [[ 1.24386055e-01 -9.92231694e-01 -2.09173497e-03 9.29475219e+02] [ 9.92090908e-01 1.24403642e-01 -1.67142113e-02 1.21329956e+02] [ 1.68445896e-02 3.82355961e-06 9.99858120e-01 9.11542287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3992541539999 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:929.47, Y:121.36, Z:9.12 [[ 1.34081879e-01 -9.90968267e-01 -1.98586785e-03 9.29466630e+02] [ 9.90840649e-01 1.34096483e-01 -1.59041296e-02 1.21360148e+02] [ 1.60267857e-02 1.64776992e-04 9.99871549e-01 9.11552580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4292541539999 meters Centerline goodness [0,1] 0.999914089347079 Centerline is valid? [True, True] Translation: X:929.46, Y:121.39, Z:9.11 [[ 1.37208693e-01 -9.90540146e-01 -1.99847590e-03 9.29464513e+02] [ 9.90410286e-01 1.37223067e-01 -1.60404003e-02 1.21387792e+02] [ 1.61628974e-02 2.21571264e-04 9.99869347e-01 9.11371554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.46, Y:121.42, Z:9.12 [[ 1.40025152e-01 -9.90146024e-01 -1.95139596e-03 9.29464616e+02] [ 9.90021638e-01 1.40038497e-01 -1.56963566e-02 1.21415902e+02] [ 1.58149556e-02 2.65960500e-04 9.99874900e-01 9.11547678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.46, Y:121.44, Z:9.12 [[ 1.41658303e-01 -9.89913688e-01 -1.95343810e-03 9.29463635e+02] [ 9.89788471e-01 1.41671459e-01 -1.57473900e-02 1.21443765e+02] [ 1.58653033e-02 2.97258015e-04 9.99874094e-01 9.11540218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5192541539999 meters Centerline goodness [0,1] 0.9997648467228184 Centerline is valid? [True, True] Translation: X:929.47, Y:121.47, Z:9.11 [[ 1.38355765e-01 -9.90380499e-01 -2.03719717e-03 9.29467414e+02] [ 9.90243744e-01 1.38370518e-01 -1.64598965e-02 1.21471797e+02] [ 1.65834485e-02 2.59999815e-04 9.99862451e-01 9.11255736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5492541539999 meters Centerline goodness [0,1] 0.9998717976111622 Centerline is valid? [True, True] Translation: X:929.47, Y:121.50, Z:9.11 [[ 1.34882320e-01 -9.90859494e-01 -2.05520143e-03 9.29471588e+02] [ 9.90719813e-01 1.34897816e-01 -1.66382627e-02 1.21498379e+02] [ 1.67634227e-02 2.08078691e-04 9.99859462e-01 9.11259780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5792541539998 meters Centerline goodness [0,1] 0.9998717976111622 Centerline is valid? [True, True] Translation: X:929.47, Y:121.53, Z:9.11 [[ 1.34602337e-01 -9.90897574e-01 -2.05134616e-03 9.29474882e+02] [ 9.90757891e-01 1.34617808e-01 -1.66387382e-02 1.21525757e+02] [ 1.67634330e-02 2.07225648e-04 9.99859462e-01 9.11285550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6092541539998 meters Centerline goodness [0,1] 0.999893139559735 Centerline is valid? [True, True] Translation: X:929.48, Y:121.55, Z:9.11 [[ 1.31248121e-01 -9.91347237e-01 -2.14168955e-03 9.29479748e+02] [ 9.91194303e-01 1.31265493e-01 -1.74133448e-02 1.21553541e+02] [ 1.75438012e-02 1.62638300e-04 9.99846082e-01 9.11258732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6392541539999 meters Centerline goodness [0,1] 0.9998505869797225 Centerline is valid? [True, True] Translation: X:929.48, Y:121.58, Z:9.11 [[ 1.29721532e-01 -9.91547941e-01 -2.23734991e-03 9.29483617e+02] [ 9.91380235e-01 1.29740740e-01 -1.82365051e-02 1.21580407e+02] [ 1.83726446e-02 1.47602904e-04 9.99831198e-01 9.11150847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6692541539999 meters Centerline goodness [0,1] 0.9998930069331508 Centerline is valid? [True, True] Translation: X:929.49, Y:121.61, Z:9.11 [[ 1.28772301e-01 -9.91670877e-01 -2.56256255e-03 9.29488473e+02] [ 9.91449817e-01 1.28797702e-01 -2.09382945e-02 1.21607362e+02] [ 2.10939490e-02 1.55620181e-04 9.99777486e-01 9.11175718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6992541539998 meters Centerline goodness [0,1] 0.9997426714987241 Centerline is valid? [True, True] Translation: X:929.49, Y:121.64, Z:9.11 [[ 1.26727943e-01 -9.91933859e-01 -2.69208604e-03 9.29493257e+02] [ 9.91688831e-01 1.26756473e-01 -2.20467408e-02 1.21635025e+02] [ 2.22101480e-02 1.24226452e-04 9.99753317e-01 9.10884876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7292541539998 meters Centerline goodness [0,1] 0.9998288184191381 Centerline is valid? [True, True] Translation: X:929.50, Y:121.66, Z:9.11 [[ 1.25585414e-01 -9.92078823e-01 -2.81288866e-03 9.29497843e+02] [ 9.91810029e-01 1.25616863e-01 -2.30926583e-02 1.21662077e+02] [ 2.32630835e-02 1.10249873e-04 9.99729372e-01 9.10890287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7592541539999 meters Centerline goodness [0,1] 0.9998500781735238 Centerline is valid? [True, True] Translation: X:929.50, Y:121.69, Z:9.11 [[ 1.22608955e-01 -9.92451002e-01 -2.83788119e-03 9.29504699e+02] [ 9.92176200e-01 1.22641784e-01 -2.33533776e-02 1.21689915e+02] [ 2.35251258e-02 4.76550439e-05 9.99723245e-01 9.10996156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7892541539999 meters Centerline goodness [0,1] 0.999635880740233 Centerline is valid? [True, True] Translation: X:929.51, Y:121.72, Z:9.11 [[ 1.19787853e-01 -9.92795477e-01 -2.83047031e-03 9.29510215e+02] [ 9.92520906e-01 1.19821288e-01 -2.33475737e-02 1.21717943e+02] [ 2.35185162e-02 -1.25452367e-05 9.99723401e-01 9.11004379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8192541539999 meters Centerline goodness [0,1] 0.9997859634853706 Centerline is valid? [True, True] Translation: X:929.52, Y:121.75, Z:9.11 [[ 1.14427514e-01 -9.93428254e-01 -2.57826538e-03 9.29518705e+02] [ 9.93199538e-01 1.14456493e-01 -2.13164032e-02 1.21745094e+02] [ 2.14714165e-02 -1.21548953e-04 9.99769455e-01 9.11305074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8492541539998 meters Centerline goodness [0,1] 0.9997432715758846 Centerline is valid? [True, True] Translation: X:929.53, Y:121.77, Z:9.11 [[ 1.11225431e-01 -9.93792042e-01 -2.50601423e-03 9.29525047e+02] [ 9.93575017e-01 1.11253514e-01 -2.07687614e-02 1.21773062e+02] [ 2.09186327e-02 -1.79898697e-04 9.99781165e-01 9.11434388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8792541539999 meters Centerline goodness [0,1] 0.9997850386930353 Centerline is valid? [True, True] Translation: X:929.53, Y:121.80, Z:9.12 [[ 1.04402007e-01 -9.94532467e-01 -2.32233602e-03 9.29534291e+02] [ 9.94345401e-01 1.04427416e-01 -1.92909109e-02 1.21799271e+02] [ 1.94279527e-02 -2.95194332e-04 9.99811216e-01 9.11568544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9092541539999 meters Centerline goodness [0,1] 0.9999569818463392 Centerline is valid? [True, True] Translation: X:929.54, Y:121.83, Z:9.12 [[ 1.01247169e-01 -9.94858747e-01 -2.25490343e-03 9.29540761e+02] [ 9.94681670e-01 1.01271698e-01 -1.87728072e-02 1.21825772e+02] [ 1.89046494e-02 -3.42217524e-04 9.99821233e-01 9.11763449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9392541539999 meters Centerline goodness [0,1] 0.9996985032841607 Centerline is valid? [True, True] Translation: X:929.55, Y:121.85, Z:9.12 [[ 9.47425480e-02 -9.95499421e-01 -2.18020952e-03 9.29548359e+02] [ 9.95333269e-01 9.47665787e-02 -1.81928362e-02 1.21852919e+02] [ 1.83175689e-02 -4.46399408e-04 9.99832120e-01 9.11780768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9692541539998 meters Centerline goodness [0,1] 0.9996985032841607 Centerline is valid? [True, True] Translation: X:929.55, Y:121.88, Z:9.12 [[ 9.44563914e-02 -9.95526624e-01 -2.17493547e-03 9.29551570e+02] [ 9.95360466e-01 9.44803735e-02 -1.81934671e-02 1.21880325e+02] [ 1.83175696e-02 -4.46355533e-04 9.99832120e-01 9.11806514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9992541539999 meters Centerline goodness [0,1] 0.9998058168637266 Centerline is valid? [True, True] Translation: X:929.56, Y:121.91, Z:9.12 [[ 8.98562726e-02 -9.95952534e-01 -2.09764312e-03 9.29558440e+02] [ 9.95797335e-01 8.98793159e-02 -1.75890781e-02 1.21907802e+02] [ 1.77064216e-02 -5.08338435e-04 9.99843100e-01 9.11888262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0292541539999 meters Centerline goodness [0,1] 0.9998067342381034 Centerline is valid? [True, True] Translation: X:929.56, Y:121.94, Z:9.12 [[ 8.86798741e-02 -9.96058117e-01 -2.02652581e-03 9.29562432e+02] [ 9.95912604e-01 8.87015729e-02 -1.70328110e-02 1.21935464e+02] [ 1.71454257e-02 -5.07775054e-04 9.99852877e-01 9.11967680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.57, Y:121.96, Z:9.12 [[ 8.86593912e-02 -9.96059981e-01 -2.00647608e-03 9.29567116e+02] [ 9.95916634e-01 8.86806864e-02 -1.69054286e-02 1.21962207e+02] [ 1.70167566e-02 -4.99457896e-04 9.99855080e-01 9.12245230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0892541539998 meters Centerline goodness [0,1] 0.999935339253384 Centerline is valid? [True, True] Translation: X:929.57, Y:121.99, Z:9.12 [[ 8.88667486e-02 -9.96041475e-01 -2.02040301e-03 9.29569871e+02] [ 9.95895384e-01 8.88883317e-02 -1.70659963e-02 1.21990534e+02] [ 1.71780304e-02 -4.95510424e-04 9.99852324e-01 9.12230492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.57, Y:122.02, Z:9.12 [[ 9.01437318e-02 -9.95926757e-01 -2.00070691e-03 9.29572006e+02] [ 9.95782780e-01 9.01647314e-02 -1.69403506e-02 1.22018588e+02] [ 1.70517417e-02 -4.65203070e-04 9.99854500e-01 9.12375682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1492541539999 meters Centerline goodness [0,1] 0.9998071607636434 Centerline is valid? [True, True] Translation: X:929.57, Y:122.05, Z:9.12 [[ 9.30593556e-02 -9.95658458e-01 -2.04716061e-03 9.29572799e+02] [ 9.95506943e-01 9.30809174e-02 -1.73743935e-02 1.22047305e+02] [ 1.74895135e-02 -4.21112736e-04 9.99846958e-01 9.12177685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.57, Y:122.08, Z:9.12 [[ 9.53635963e-02 -9.95440456e-01 -2.02052173e-03 9.29574401e+02] [ 9.95292130e-01 9.53842737e-02 -1.71876575e-02 1.22075373e+02] [ 1.73020156e-02 -3.71932549e-04 9.99850240e-01 9.12458308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2092541539998 meters Centerline goodness [0,1] 0.9998074660391486 Centerline is valid? [True, True] Translation: X:929.58, Y:122.10, Z:9.12 [[ 9.69926590e-02 -9.95282990e-01 -2.04769741e-03 9.29576582e+02] [ 9.95129878e-01 9.70136615e-02 -1.74606893e-02 1.22103813e+02] [ 1.75769817e-02 -3.44166192e-04 9.99845454e-01 9.12254558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2392541539998 meters Centerline goodness [0,1] 0.9998715175913832 Centerline is valid? [True, True] Translation: X:929.58, Y:122.13, Z:9.12 [[ 1.01640810e-01 -9.94819104e-01 -2.02405445e-03 9.29576806e+02] [ 9.94668825e-01 1.01660640e-01 -1.72928738e-02 1.22130720e+02] [ 1.74090479e-02 -2.55602165e-04 9.99848418e-01 9.12340916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2692541539999 meters Centerline goodness [0,1] 0.999828418230563 Centerline is valid? [True, True] Translation: X:929.58, Y:122.16, Z:9.12 [[ 1.06177745e-01 -9.94344980e-01 -2.08522773e-03 9.29575848e+02] [ 9.94184893e-01 1.06198069e-01 -1.78429135e-02 1.22158212e+02] [ 1.79634586e-02 -1.78581585e-04 9.99838628e-01 9.12284829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2992541539999 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:929.58, Y:122.19, Z:9.13 [[ 1.08261897e-01 -9.94120345e-01 -2.02518184e-03 9.29576295e+02] [ 9.93968707e-01 1.08280755e-01 -1.73634155e-02 1.22186392e+02] [ 1.74806128e-02 -1.33171084e-04 9.99847194e-01 9.12509373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.58, Y:122.21, Z:9.13 [[ 1.09925492e-01 -9.93937832e-01 -1.99322976e-03 9.29577563e+02] [ 9.93790172e-01 1.09943519e-01 -1.71323378e-02 1.22214206e+02] [ 1.72476213e-02 -9.75714862e-05 9.99851244e-01 9.12556864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3592541539998 meters Centerline goodness [0,1] 0.9997649472199667 Centerline is valid? [True, True] Translation: X:929.58, Y:122.24, Z:9.12 [[ 1.13087608e-01 -9.93582990e-01 -2.00886280e-03 9.29578010e+02] [ 9.93432165e-01 1.13105442e-01 -1.73116088e-02 1.22241887e+02] [ 1.74277333e-02 -3.79405032e-05 9.99848125e-01 9.12273794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3892541539999 meters Centerline goodness [0,1] 0.9998929336188437 Centerline is valid? [True, True] Translation: X:929.58, Y:122.27, Z:9.12 [[ 1.14445035e-01 -9.93427655e-01 -1.95635734e-03 9.29579989e+02] [ 9.93283855e-01 1.14461755e-01 -1.69023483e-02 1.22269532e+02] [ 1.70151883e-02 -8.82831389e-06 9.99855231e-01 9.12414006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4192541539999 meters Centerline goodness [0,1] 0.9997641762246757 Centerline is valid? [True, True] Translation: X:929.58, Y:122.30, Z:9.12 [[ 1.18631584e-01 -9.92936569e-01 -1.87529144e-03 9.29579886e+02] [ 9.92803723e-01 1.18646387e-01 -1.62420187e-02 1.22297905e+02] [ 1.63497909e-02 6.50200810e-05 9.99866331e-01 9.12431884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4492541539998 meters Centerline goodness [0,1] 0.9997643328477162 Centerline is valid? [True, True] Translation: X:929.58, Y:122.33, Z:9.12 [[ 1.19598951e-01 -9.92820544e-01 -1.85991901e-03 9.29581912e+02] [ 9.92689191e-01 1.19613382e-01 -1.61496089e-02 1.22325757e+02] [ 1.62561347e-02 8.51547858e-05 9.99867857e-01 9.12368985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.58, Y:122.35, Z:9.13 [[ 1.20784710e-01 -9.92677243e-01 -1.71597526e-03 9.29583894e+02] [ 9.92564878e-01 1.20796856e-01 -1.49359540e-02 1.22353356e+02] [ 1.50338661e-02 1.00818092e-04 9.99886980e-01 9.12681888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5092541539999 meters Centerline goodness [0,1] 0.999849552957359 Centerline is valid? [True, True] Translation: X:929.59, Y:122.38, Z:9.12 [[ 1.21892719e-01 -9.92541839e-01 -1.69207706e-03 9.29587135e+02] [ 9.92432005e-01 1.21904404e-01 -1.47659068e-02 1.22380595e+02] [ 1.48620519e-02 1.20585099e-04 9.99889546e-01 9.12459996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.59, Y:122.41, Z:9.13 [[ 1.22968984e-01 -9.92409202e-01 -1.61391218e-03 9.29590114e+02] [ 9.92308759e-01 1.22979500e-01 -1.41198002e-02 1.22408441e+02] [ 1.42110978e-02 1.34798290e-04 9.99899008e-01 9.12738425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5692541539999 meters Centerline goodness [0,1] 0.9998707954692277 Centerline is valid? [True, True] Translation: X:929.59, Y:122.44, Z:9.13 [[ 1.24122805e-01 -9.92265555e-01 -1.61194525e-03 9.29593230e+02] [ 9.92164827e-01 1.24133174e-01 -1.41390078e-02 1.22435604e+02] [ 1.42297463e-02 1.55657925e-04 9.99898740e-01 9.12535251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.60, Y:122.46, Z:9.13 [[ 1.25040009e-01 -9.92150532e-01 -1.52239417e-03 9.29596067e+02] [ 9.92060223e-01 1.25049169e-01 -1.33872471e-02 1.22463164e+02] [ 1.34725385e-02 1.63634793e-04 9.99909228e-01 9.12766852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6292541539999 meters Centerline goodness [0,1] 0.9999354783207157 Centerline is valid? [True, True] Translation: X:929.60, Y:122.49, Z:9.13 [[ 1.25896431e-01 -9.92042128e-01 -1.58258689e-03 9.29599812e+02] [ 9.91944042e-01 1.25906239e-01 -1.39511956e-02 1.22490017e+02] [ 1.40394313e-02 1.86568084e-04 9.99901425e-01 9.12623204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.60, Y:122.52, Z:9.13 [[ 1.26229705e-01 -9.91999791e-01 -1.57368104e-03 9.29604460e+02] [ 9.91902348e-01 1.26239364e-01 -1.39052179e-02 1.22517869e+02] [ 1.39926338e-02 1.94313638e-04 9.99902079e-01 9.12817122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6892541539999 meters Centerline goodness [0,1] 0.9999354005167959 Centerline is valid? [True, True] Translation: X:929.61, Y:122.55, Z:9.13 [[ 1.26583461e-01 -9.91954552e-01 -1.67160788e-03 9.29608300e+02] [ 9.91844010e-01 1.26594312e-01 -1.48101317e-02 1.22545609e+02] [ 1.49025936e-02 2.16743458e-04 9.99888927e-01 9.12683705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7192541539998 meters Centerline goodness [0,1] 0.999956855638968 Centerline is valid? [True, True] Translation: X:929.61, Y:122.57, Z:9.13 [[ 1.27573710e-01 -9.91827541e-01 -1.75441276e-03 9.29613870e+02] [ 9.91705126e-01 1.27585531e-01 -1.55844757e-02 1.22573279e+02] [ 1.56809499e-02 2.48309251e-04 9.99877016e-01 9.12710997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7492541539999 meters Centerline goodness [0,1] 0.9999137577887497 Centerline is valid? [True, True] Translation: X:929.62, Y:122.60, Z:9.13 [[ 1.28068491e-01 -9.91763619e-01 -1.83995782e-03 9.29617099e+02] [ 9.91628294e-01 1.28081414e-01 -1.63852784e-02 1.22600295e+02] [ 1.64859874e-02 2.73883637e-04 9.99864059e-01 9.12653881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7792541539999 meters Centerline goodness [0,1] 0.99989154954017 Centerline is valid? [True, True] Translation: X:929.62, Y:122.63, Z:9.13 [[ 1.28966007e-01 -9.91646961e-01 -2.01832185e-03 9.29621403e+02] [ 9.91483289e-01 1.28981396e-01 -1.80190684e-02 1.22628398e+02] [ 1.81288804e-02 3.22714912e-04 9.99835606e-01 9.12501908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8092541539999 meters Centerline goodness [0,1] 0.9996975392658846 Centerline is valid? [True, True] Translation: X:929.63, Y:122.66, Z:9.12 [[ 1.28891326e-01 -9.91656353e-01 -2.16904315e-03 9.29625379e+02] [ 9.91466322e-01 1.28909095e-01 -1.94159112e-02 1.22655782e+02] [ 1.95335211e-02 3.52009302e-04 9.99809141e-01 9.12163712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8392541539998 meters Centerline goodness [0,1] 0.9999782825869782 Centerline is valid? [True, True] Translation: X:929.63, Y:122.68, Z:9.12 [[ 1.29704317e-01 -9.91550650e-01 -2.02443986e-03 9.29630505e+02] [ 9.91384238e-01 1.29719644e-01 -1.81688338e-02 1.22682159e+02] [ 1.82779286e-02 3.49578417e-04 9.99832884e-01 9.12455254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8692541539998 meters Centerline goodness [0,1] 0.9998052538191889 Centerline is valid? [True, True] Translation: X:929.64, Y:122.71, Z:9.12 [[ 1.29511506e-01 -9.91575734e-01 -2.08187736e-03 9.29635265e+02] [ 9.91398788e-01 1.29527731e-01 -1.87352402e-02 1.22709688e+02] [ 1.88470704e-02 3.62458480e-04 9.99822313e-01 9.12350952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8992541539999 meters Centerline goodness [0,1] 0.999847948389339 Centerline is valid? [True, True] Translation: X:929.64, Y:122.74, Z:9.13 [[ 1.29779955e-01 -9.91540997e-01 -1.90106158e-03 9.29639436e+02] [ 9.91392704e-01 1.29793430e-01 -1.71514672e-02 1.22736237e+02] [ 1.72531282e-02 3.41218065e-04 9.99851095e-01 9.12636942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9292541539999 meters Centerline goodness [0,1] 0.9999349847214095 Centerline is valid? [True, True] Translation: X:929.65, Y:122.76, Z:9.13 [[ 1.30656370e-01 -9.91426136e-01 -1.76922322e-03 9.29646954e+02] [ 9.91297020e-01 1.30667913e-01 -1.60035566e-02 1.22764012e+02] [ 1.60975250e-02 3.37140903e-04 9.99870370e-01 9.12729911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9592541539998 meters Centerline goodness [0,1] 0.9996749165619175 Centerline is valid? [True, True] Translation: X:929.65, Y:122.79, Z:9.13 [[ 1.32682932e-01 -9.91157252e-01 -1.59430264e-03 9.29650759e+02] [ 9.91051880e-01 1.32692080e-01 -1.44562762e-02 1.22790937e+02] [ 1.45399944e-02 3.38064499e-04 9.99894232e-01 9.12768241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9892541539998 meters Centerline goodness [0,1] 0.9998266259237587 Centerline is valid? [True, True] Translation: X:929.65, Y:122.82, Z:9.13 [[ 1.34360481e-01 -9.90931362e-01 -1.51547889e-03 9.29653453e+02] [ 9.90835690e-01 1.34368574e-01 -1.37739579e-02 1.22818006e+02] [ 1.38526796e-02 3.49085031e-04 9.99903986e-01 9.12890951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0192541539999 meters Centerline goodness [0,1] 0.9998911955433695 Centerline is valid? [True, True] Translation: X:929.66, Y:122.85, Z:9.13 [[ 1.35289892e-01 -9.90804912e-01 -1.50724746e-03 9.29657727e+02] [ 9.90709809e-01 1.35297796e-01 -1.37324760e-02 1.22846574e+02] [ 1.38101319e-02 3.64620349e-04 9.99904569e-01 9.12815866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0492541539999 meters Centerline goodness [0,1] 0.9996957778308959 Centerline is valid? [True, True] Translation: X:929.66, Y:122.87, Z:9.13 [[ 1.37956145e-01 -9.90436902e-01 -1.68681798e-03 9.29663199e+02] [ 9.90317125e-01 1.37965706e-01 -1.54095980e-02 1.22874590e+02] [ 1.54949576e-02 4.55364018e-04 9.99879842e-01 9.12653845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0792541539998 meters Centerline goodness [0,1] 0.9998036263664332 Centerline is valid? [True, True] Translation: X:929.67, Y:122.90, Z:9.13 [[ 1.40271573e-01 -9.90111555e-01 -1.73072682e-03 9.29669045e+02] [ 9.89984795e-01 1.40281323e-01 -1.58510742e-02 1.22902419e+02] [ 1.59371204e-02 5.10061882e-04 9.99872866e-01 9.12706743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1092541539998 meters Centerline goodness [0,1] 0.9998688782534584 Centerline is valid? [True, True] Translation: X:929.67, Y:122.93, Z:9.13 [[ 1.41067518e-01 -9.89998398e-01 -1.76840888e-03 9.29672546e+02] [ 9.89865523e-01 1.41077573e-01 -1.62285156e-02 1.22929159e+02] [ 1.63156873e-02 5.38829423e-04 9.99866745e-01 9.12787264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1392541539999 meters Centerline goodness [0,1] 0.9997586766706156 Centerline is valid? [True, True] Translation: X:929.68, Y:122.96, Z:9.12 [[ 1.40618329e-01 -9.90062024e-01 -1.91704801e-03 9.29678720e+02] [ 9.89905247e-01 1.40630195e-01 -1.76280930e-02 1.22956006e+02] [ 1.77225003e-02 5.81137096e-04 9.99842775e-01 9.12438679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.68, Y:122.98, Z:9.13 [[ 1.40025981e-01 -9.90146018e-01 -1.89414563e-03 9.29680757e+02] [ 9.89992115e-01 1.40037629e-01 -1.74663606e-02 1.22983095e+02] [ 1.75594990e-02 5.70555034e-04 9.99845657e-01 9.12652904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.69, Y:123.01, Z:9.13 [[ 1.37304217e-01 -9.90527022e-01 -1.94198214e-03 9.29688374e+02] [ 9.90364398e-01 1.37316879e-01 -1.79564359e-02 1.23010464e+02] [ 1.80530019e-02 5.42224409e-04 9.99836884e-01 9.12651187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.69, Y:123.04, Z:9.13 [[ 1.35848690e-01 -9.90727768e-01 -1.90327619e-03 9.29691575e+02] [ 9.90570782e-01 1.35861059e-01 -1.76436623e-02 1.23038356e+02] [ 1.77386473e-02 5.11538627e-04 9.99842527e-01 9.12674295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2592541539999 meters Centerline goodness [0,1] 0.9999780325996221 Centerline is valid? [True, True] Translation: X:929.69, Y:123.07, Z:9.13 [[ 1.34212951e-01 -9.90950747e-01 -1.87089264e-03 9.29694514e+02] [ 9.90798311e-01 1.34225132e-01 -1.73873690e-02 1.23066722e+02] [ 1.74811472e-02 4.79932846e-04 9.99847078e-01 9.12620184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2892541539999 meters Centerline goodness [0,1] 0.9999780716180953 Centerline is valid? [True, True] Translation: X:929.70, Y:123.10, Z:9.13 [[ 1.30855428e-01 -9.91399734e-01 -1.85080166e-03 9.29698211e+02] [ 9.91249856e-01 1.30867836e-01 -1.72433339e-02 1.23095046e+02] [ 1.73372471e-02 4.21776960e-04 9.99849610e-01 9.12685398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3192541539999 meters Centerline goodness [0,1] 0.9997807498355624 Centerline is valid? [True, True] Translation: X:929.70, Y:123.12, Z:9.12 [[ 1.28902232e-01 -9.91655556e-01 -1.86342787e-03 9.29701374e+02] [ 9.91502988e-01 1.28915094e-01 -1.73989504e-02 1.23122379e+02] [ 1.74939898e-02 3.95169233e-04 9.99846890e-01 9.12487276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3492541539998 meters Centerline goodness [0,1] 0.9998464912280701 Centerline is valid? [True, True] Translation: X:929.71, Y:123.15, Z:9.13 [[ 1.26925212e-01 -9.91910899e-01 -1.66087872e-03 9.29708349e+02] [ 9.91789237e-01 1.26935663e-01 -1.55385502e-02 1.23150678e+02] [ 1.56236820e-02 3.24992148e-04 9.99877890e-01 9.12757099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.71, Y:123.18, Z:9.13 [[ 1.27127808e-01 -9.91885266e-01 -1.46254040e-03 9.29708754e+02] [ 9.91790518e-01 1.27135884e-01 -1.37126349e-02 1.23177785e+02] [ 1.37873019e-02 2.92723521e-04 9.99904908e-01 9.13075616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4092541539999 meters Centerline goodness [0,1] 0.9998905165429504 Centerline is valid? [True, True] Translation: X:929.71, Y:123.21, Z:9.13 [[ 1.27212286e-01 -9.91874399e-01 -1.48703698e-03 9.29712915e+02] [ 9.91775993e-01 1.27220616e-01 -1.39748058e-02 1.23205960e+02] [ 1.40504338e-02 3.02959409e-04 9.99901242e-01 9.12962126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4392541539999 meters Centerline goodness [0,1] 0.9998252550184574 Centerline is valid? [True, True] Translation: X:929.71, Y:123.23, Z:9.13 [[ 1.28923612e-01 -9.91653159e-01 -1.64738250e-03 9.29712065e+02] [ 9.91531664e-01 1.28933611e-01 -1.55268380e-02 1.23233416e+02] [ 1.56096409e-02 3.68344122e-04 9.99878094e-01 9.12733263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4692541539998 meters Centerline goodness [0,1] 0.999847354878102 Centerline is valid? [True, True] Translation: X:929.71, Y:123.26, Z:9.13 [[ 1.29763541e-01 -9.91543386e-01 -1.77130672e-03 9.29713233e+02] [ 9.91402149e-01 1.29774963e-01 -1.67403159e-02 1.23261561e+02] [ 1.68286207e-02 4.16205371e-04 9.99858302e-01 9.12662934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4992541539999 meters Centerline goodness [0,1] 0.9999128502331256 Centerline is valid? [True, True] Translation: X:929.71, Y:123.29, Z:9.12 [[ 1.31749485e-01 -9.91280799e-01 -2.10990612e-03 9.29712590e+02] [ 9.91079371e-01 1.31765262e-01 -1.99898999e-02 1.23288940e+02] [ 2.00936163e-02 5.42574593e-04 9.99797956e-01 9.12477732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5292541539999 meters Centerline goodness [0,1] 0.9999128502331256 Centerline is valid? [True, True] Translation: X:929.72, Y:123.32, Z:9.13 [[ 1.31468470e-01 -9.91318118e-01 -2.10498412e-03 9.29715400e+02] [ 9.91116687e-01 1.31484204e-01 -1.99904186e-02 1.23316392e+02] [ 2.00936363e-02 5.41824850e-04 9.99797956e-01 9.12503509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5592541539999 meters Centerline goodness [0,1] 0.9999125568380552 Centerline is valid? [True, True] Translation: X:929.72, Y:123.34, Z:9.12 [[ 1.32272241e-01 -9.91210822e-01 -2.27172671e-03 9.29717411e+02] [ 9.90974900e-01 1.32290340e-01 -2.16336130e-02 1.23344795e+02] [ 2.17439988e-02 6.10302318e-04 9.99763385e-01 9.12387719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5892541539998 meters Centerline goodness [0,1] 0.9998693806465658 Centerline is valid? [True, True] Translation: X:929.72, Y:123.37, Z:9.12 [[ 1.32544471e-01 -9.91174435e-01 -2.28111606e-03 9.29717702e+02] [ 9.90935338e-01 1.32562620e-01 -2.17785869e-02 1.23371871e+02] [ 2.18887692e-02 6.26192765e-04 9.99760216e-01 9.12290414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.72, Y:123.40, Z:9.13 [[ 1.32772708e-01 -9.91144129e-01 -2.17320233e-03 9.29720521e+02] [ 9.90925990e-01 1.32789098e-01 -2.08023283e-02 1.23400003e+02] [ 2.09066831e-02 6.08498788e-04 9.99781246e-01 9.12625367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.72, Y:123.43, Z:9.13 [[ 1.31654892e-01 -9.91293502e-01 -2.04492820e-03 9.29723663e+02] [ 9.91099353e-01 1.31669594e-01 -1.96262524e-02 1.23428096e+02] [ 1.97246314e-02 5.57165133e-04 9.99805295e-01 9.12750335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.73, Y:123.46, Z:9.13 [[ 1.30681837e-01 -9.91422352e-01 -1.99441124e-03 9.29727152e+02] [ 9.91236699e-01 1.30695975e-01 -1.91929515e-02 1.23455908e+02] [ 1.92889826e-02 5.31236543e-04 9.99813809e-01 9.12820604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7092541539998 meters Centerline goodness [0,1] 0.9999564279645323 Centerline is valid? [True, True] Translation: X:929.73, Y:123.48, Z:9.13 [[ 1.29375237e-01 -9.91593705e-01 -1.99289535e-03 9.29729681e+02] [ 9.91407315e-01 1.29389570e-01 -1.92321267e-02 1.23482467e+02] [ 1.93283156e-02 5.12389917e-04 9.99813059e-01 9.12846971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.73, Y:123.51, Z:9.13 [[ 1.26461612e-01 -9.91969556e-01 -1.96493560e-03 9.29734942e+02] [ 9.91787401e-01 1.26476055e-01 -1.90146874e-02 1.23509831e+02] [ 1.91105084e-02 4.55829662e-04 9.99817274e-01 9.12933969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7692541539999 meters Centerline goodness [0,1] 0.9998691584708986 Centerline is valid? [True, True] Translation: X:929.74, Y:123.54, Z:9.13 [[ 1.23237340e-01 -9.92375240e-01 -1.98505529e-03 9.29740924e+02] [ 9.92188369e-01 1.23252664e-01 -1.92619393e-02 1.23537645e+02] [ 1.93597350e-02 4.04241407e-04 9.99812501e-01 9.12777494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.74, Y:123.56, Z:9.13 [[ 1.22595628e-01 -9.92454823e-01 -1.93300229e-03 9.29742157e+02] [ 9.92276642e-01 1.22610252e-01 -1.88093577e-02 1.23564969e+02] [ 1.89044437e-02 3.87871995e-04 9.99821220e-01 9.13007077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.75, Y:123.59, Z:9.13 [[ 1.21873287e-01 -9.92543762e-01 -1.94490329e-03 9.29747021e+02] [ 9.92362335e-01 1.21888202e-01 -1.89805687e-02 1.23592571e+02] [ 1.90761058e-02 3.83175525e-04 9.99817961e-01 9.13113260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.75, Y:123.62, Z:9.13 [[ 1.21584159e-01 -9.92579232e-01 -1.93937735e-03 9.29749757e+02] [ 9.92397801e-01 1.21599022e-01 -1.89811337e-02 1.23620029e+02] [ 1.90761055e-02 3.83171370e-04 9.99817961e-01 9.13139006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8892541539999 meters Centerline goodness [0,1] 0.9999343458659781 Centerline is valid? [True, True] Translation: X:929.75, Y:123.65, Z:9.13 [[ 1.21048496e-01 -9.92644701e-01 -1.93906123e-03 9.29752465e+02] [ 9.92462259e-01 1.21063430e-01 -1.90344669e-02 1.23646595e+02] [ 1.91292121e-02 3.79648495e-04 9.99816948e-01 9.12929262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9192541539999 meters Centerline goodness [0,1] 0.9999341079312086 Centerline is valid? [True, True] Translation: X:929.76, Y:123.67, Z:9.13 [[ 1.20558926e-01 -9.92704219e-01 -1.96950077e-03 9.29756839e+02] [ 9.92514875e-01 1.20574403e-01 -1.93916660e-02 1.23674860e+02] [ 1.94876601e-02 3.83079614e-04 9.99810024e-01 9.12986822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9492541539998 meters Centerline goodness [0,1] 0.9998022412656559 Centerline is valid? [True, True] Translation: X:929.76, Y:123.70, Z:9.13 [[ 1.19713891e-01 -9.92806131e-01 -2.13798828e-03 9.29759204e+02] [ 9.92581611e-01 1.19732293e-01 -2.11168902e-02 1.23702353e+02] [ 2.12209643e-02 4.05857248e-04 9.99774728e-01 9.12669842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9792541539998 meters Centerline goodness [0,1] 0.9998678355874708 Centerline is valid? [True, True] Translation: X:929.76, Y:123.73, Z:9.13 [[ 1.18941345e-01 -9.92898696e-01 -2.26637045e-03 9.29764043e+02] [ 9.92644876e-01 1.18962191e-01 -2.24532407e-02 1.23729969e+02] [ 2.25634058e-02 4.20917650e-04 9.99745325e-01 9.12664347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0092541539999 meters Centerline goodness [0,1] 0.9999558771620191 Centerline is valid? [True, True] Translation: X:929.77, Y:123.76, Z:9.13 [[ 1.18621384e-01 -9.92936867e-01 -2.31203408e-03 9.29767218e+02] [ 9.92671433e-01 1.18643139e-01 -2.29615314e-02 1.23756619e+02] [ 2.30736580e-02 4.28638445e-04 9.99733676e-01 9.12764753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.77, Y:123.78, Z:9.13 [[ 1.17422557e-01 -9.93079285e-01 -2.34024463e-03 9.29771619e+02] [ 9.92805923e-01 1.17445149e-01 -2.33031267e-02 1.23783559e+02] [ 2.34167028e-02 4.12903981e-04 9.99725706e-01 9.12848948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.78, Y:123.81, Z:9.13 [[ 1.16098863e-01 -9.93234883e-01 -2.34996255e-03 9.29775690e+02] [ 9.92957677e-01 1.16121984e-01 -2.34677803e-02 1.23811300e+02] [ 2.35819004e-02 3.91169257e-04 9.99721832e-01 9.12888852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0992541539998 meters Centerline goodness [0,1] 0.999933714841247 Centerline is valid? [True, True] Translation: X:929.78, Y:123.84, Z:9.13 [[ 1.14288573e-01 -9.93444934e-01 -2.29917744e-03 9.29779816e+02] [ 9.93178128e-01 1.14311168e-01 -2.30252765e-02 1.23839059e+02] [ 2.31371660e-02 3.48033254e-04 9.99732239e-01 9.12795624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1292541539999 meters Centerline goodness [0,1] 0.9998238001894147 Centerline is valid? [True, True] Translation: X:929.79, Y:123.87, Z:9.13 [[ 1.10982120e-01 -9.93820079e-01 -2.14917697e-03 9.29785497e+02] [ 9.93585765e-01 1.11002624e-01 -2.15811420e-02 1.23866001e+02] [ 2.16863366e-02 2.59729255e-04 9.99764790e-01 9.12805310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.79, Y:123.89, Z:9.13 [[ 1.10043200e-01 -9.93924788e-01 -2.00248228e-03 9.29790700e+02] [ 9.93720268e-01 1.10061180e-01 -2.01634962e-02 1.23893570e+02] [ 2.02613942e-02 2.28948410e-04 9.99794691e-01 9.13361913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.79, Y:123.92, Z:9.13 [[ 1.08397605e-01 -9.94105849e-01 -1.87637840e-03 9.29794593e+02] [ 9.93925425e-01 1.08413681e-01 -1.89399892e-02 1.23920056e+02] [ 1.90317791e-02 1.88069265e-04 9.99818862e-01 9.13452220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2192541539998 meters Centerline goodness [0,1] 0.9999116978299741 Centerline is valid? [True, True] Translation: X:929.80, Y:123.95, Z:9.13 [[ 1.04716733e-01 -9.94500517e-01 -1.76828900e-03 9.29800327e+02] [ 9.94339580e-01 1.04731599e-01 -1.78911342e-02 1.23948248e+02] [ 1.79779380e-02 1.15221389e-04 9.99838377e-01 9.13434044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2492541539999 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:929.80, Y:123.98, Z:9.14 [[ 1.03428378e-01 -9.94635395e-01 -1.73261268e-03 9.29803599e+02] [ 9.94480020e-01 1.03442845e-01 -1.75803028e-02 1.23975405e+02] [ 1.76652178e-02 9.52535052e-05 9.99843953e-01 9.13603312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2792541539999 meters Centerline goodness [0,1] 0.9999780243929238 Centerline is valid? [True, True] Translation: X:929.81, Y:124.00, Z:9.14 [[ 1.01210725e-01 -9.94863417e-01 -1.78085192e-03 9.29807768e+02] [ 9.94698309e-01 1.01226371e-01 -1.81244439e-02 1.24003119e+02] [ 1.82116153e-02 6.29777056e-05 9.99834153e-01 9.13574945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3092541539999 meters Centerline goodness [0,1] 0.9998460861917327 Centerline is valid? [True, True] Translation: X:929.81, Y:124.03, Z:9.13 [[ 9.97698095e-02 -9.95008693e-01 -1.91972240e-03 9.29810685e+02] [ 9.94815670e-01 9.97882666e-02 -1.95980534e-02 1.24029906e+02] [ 1.96917993e-02 4.55241270e-05 9.99806097e-01 9.13268607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3392541539998 meters Centerline goodness [0,1] 0.9999121130226528 Centerline is valid? [True, True] Translation: X:929.81, Y:124.06, Z:9.13 [[ 9.93696958e-02 -9.95048535e-01 -2.01930361e-03 9.29812606e+02] [ 9.94833663e-01 9.93902004e-02 -2.06778021e-02 1.24058166e+02] [ 2.07761157e-02 4.58757070e-05 9.99784152e-01 9.13470207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.81, Y:124.09, Z:9.13 [[ 9.88728185e-02 -9.95097860e-01 -2.10133985e-03 9.29814942e+02] [ 9.94863745e-01 9.88951363e-02 -2.15842699e-02 1.24085399e+02] [ 2.16862731e-02 4.35507678e-05 9.99764824e-01 9.13416213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3992541539999 meters Centerline goodness [0,1] 0.9999559121770567 Centerline is valid? [True, True] Translation: X:929.82, Y:124.11, Z:9.13 [[ 9.81588579e-02 -9.95168264e-01 -2.22820084e-03 9.29817165e+02] [ 9.94903669e-01 9.81841382e-02 -2.29470052e-02 1.24112579e+02] [ 2.30549053e-02 3.56066365e-05 9.99734200e-01 9.13261819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.82, Y:124.14, Z:9.13 [[ 9.77623780e-02 -9.95207209e-01 -2.26461672e-03 9.29819068e+02] [ 9.94932435e-01 9.77885983e-02 -2.33846171e-02 1.24140839e+02] [ 2.34939932e-02 3.29951488e-05 9.99723978e-01 9.13492432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.82, Y:124.17, Z:9.13 [[ 9.64429907e-02 -9.95335988e-01 -2.24069285e-03 9.29820694e+02] [ 9.95065345e-01 9.64690161e-02 -2.32096708e-02 1.24167942e+02] [ 2.33175780e-02 8.77425449e-06 9.99728108e-01 9.13481113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4892541539998 meters Centerline goodness [0,1] 0.999889976895148 Centerline is valid? [True, True] Translation: X:929.82, Y:124.20, Z:9.13 [[ 9.52038350e-02 -9.95455170e-01 -2.28774335e-03 9.29823557e+02] [ 9.95171257e-01 9.52313173e-02 -2.37731921e-02 1.24195340e+02] [ 2.38830118e-02 -1.33973638e-05 9.99714760e-01 9.13318292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.83, Y:124.22, Z:9.14 [[ 9.24531012e-02 -9.95714725e-01 -2.14736809e-03 9.29826608e+02] [ 9.95463166e-01 9.24780105e-02 -2.23808677e-02 1.24223231e+02] [ 2.24835439e-02 -6.84452034e-05 9.99747211e-01 9.13597079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5492541539999 meters Centerline goodness [0,1] 0.9996489765472456 Centerline is valid? [True, True] Translation: X:929.83, Y:124.25, Z:9.13 [[ 9.02260800e-02 -9.95918853e-01 -2.21177937e-03 9.29830067e+02] [ 9.95650419e-01 9.02531110e-02 -2.31218453e-02 1.24251265e+02] [ 2.32271017e-02 -1.15965586e-04 9.99730208e-01 9.13405211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.83, Y:124.28, Z:9.14 [[ 8.82636159e-02 -9.96095224e-01 -1.95920643e-03 9.29833250e+02] [ 9.95883446e-01 8.82852495e-02 -2.05396614e-02 1.24278754e+02] [ 2.06324276e-02 -1.38236469e-04 9.99787119e-01 9.13918707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6092541539998 meters Centerline goodness [0,1] 0.9998465551634188 Centerline is valid? [True, True] Translation: X:929.84, Y:124.31, Z:9.14 [[ 8.68835297e-02 -9.96216524e-01 -1.97209013e-03 9.29836142e+02] [ 9.96000648e-01 8.69057566e-02 -2.07388217e-02 1.24305287e+02] [ 2.08317429e-02 -1.62341009e-04 9.99782983e-01 9.13723255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.33, Z:9.14 [[ 8.67136578e-02 -9.96231635e-01 -1.80839730e-03 9.29837496e+02] [ 9.96048950e-01 8.67323883e-02 -1.90783372e-02 1.24331667e+02] [ 1.91632897e-02 -1.46899821e-04 9.99816357e-01 9.14059565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.36, Z:9.14 [[ 8.68848794e-02 -9.96216829e-01 -1.74556352e-03 9.29837238e+02] [ 9.96045523e-01 8.69023098e-02 -1.84744570e-02 1.24359590e+02] [ 1.85562585e-02 -1.33509761e-04 9.99827809e-01 9.14160663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.39, Z:9.14 [[ 8.72709650e-02 -9.96183075e-01 -1.74914271e-03 9.29838407e+02] [ 9.96010010e-01 8.72884072e-02 -1.85686111e-02 1.24387865e+02] [ 1.86504159e-02 -1.21663039e-04 9.99826058e-01 9.14182389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.41, Z:9.14 [[ 8.91822347e-02 -9.96013648e-01 -1.82799472e-03 9.29837414e+02] [ 9.95823379e-01 8.92009275e-02 -1.94677523e-02 1.24414714e+02] [ 1.95532058e-02 -8.41822199e-05 9.99808814e-01 9.14083109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.44, Z:9.14 [[ 9.01840541e-02 -9.95923303e-01 -1.90046748e-03 9.29838032e+02] [ 9.95716297e-01 9.02040557e-02 -2.03048050e-02 1.24442755e+02] [ 2.03934583e-02 -6.11568144e-05 9.99792030e-01 9.14103563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.47, Z:9.14 [[ 9.31195332e-02 -9.95652988e-01 -1.96989739e-03 9.29836698e+02] [ 9.95429059e-01 9.31403668e-02 -2.11154231e-02 1.24469913e+02] [ 2.12071111e-02 5.36523921e-06 9.99775104e-01 9.14022225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.50, Z:9.14 [[ 9.47058657e-02 -9.95503206e-01 -2.04118458e-03 9.29836811e+02] [ 9.95261133e-01 9.47278480e-02 -2.19524775e-02 1.24497103e+02] [ 2.20471188e-02 4.75167144e-05 9.99756932e-01 9.13982787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.83, Y:124.53, Z:9.14 [[ 9.78609363e-02 -9.95197924e-01 -2.08085814e-03 9.29834674e+02] [ 9.94944703e-01 9.78829751e-02 -2.24490745e-02 1.24525683e+02] [ 2.25449529e-02 1.26548661e-04 9.99745822e-01 9.13953911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8792541539999 meters Centerline goodness [0,1] 0.9997406078422896 Centerline is valid? [True, True] Translation: X:929.84, Y:124.55, Z:9.14 [[ 9.85309311e-02 -9.95131439e-01 -2.25279234e-03 9.29835597e+02] [ 9.94832855e-01 9.85565505e-02 -2.43761726e-02 1.24552962e+02] [ 2.44795232e-02 1.60655149e-04 9.99700319e-01 9.13557045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9092541539999 meters Centerline goodness [0,1] 0.9999349028968211 Centerline is valid? [True, True] Translation: X:929.84, Y:124.58, Z:9.14 [[ 9.96964829e-02 -9.95015511e-01 -2.17813541e-03 9.29836812e+02] [ 9.94734690e-01 9.97200925e-02 -2.36389487e-02 1.24581207e+02] [ 2.37383245e-02 1.90053194e-04 9.99718188e-01 9.13880292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9392541539999 meters Centerline goodness [0,1] 0.9999129109514479 Centerline is valid? [True, True] Translation: X:929.84, Y:124.61, Z:9.14 [[ 1.00490000e-01 -9.94935887e-01 -2.08320534e-03 9.29838176e+02] [ 9.94677376e-01 1.00511378e-01 -2.26799619e-02 1.24609533e+02] [ 2.27744938e-02 2.06992150e-04 9.99740606e-01 9.14016873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.64, Z:9.14 [[ 9.98054439e-02 -9.95005054e-01 -1.95337163e-03 9.29840343e+02] [ 9.94776322e-01 9.98243841e-02 -2.13345210e-02 1.24636052e+02] [ 2.14229503e-02 1.86133493e-04 9.99770485e-01 9.14270891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:124.66, Z:9.14 [[ 9.88633286e-02 -9.95099184e-01 -1.91238495e-03 9.29843080e+02] [ 9.94878552e-01 9.88816788e-02 -2.09542356e-02 1.24664263e+02] [ 2.10406426e-02 1.69014714e-04 9.99778607e-01 9.14343875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.85, Y:124.69, Z:9.14 [[ 9.78141084e-02 -9.95202917e-01 -1.88506556e-03 9.29845856e+02] [ 9.94987200e-01 9.78321544e-02 -2.07205391e-02 1.24691762e+02] [ 2.08055610e-02 1.51144950e-04 9.99783529e-01 9.14380195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0592541539999 meters Centerline goodness [0,1] 0.9998914152930701 Centerline is valid? [True, True] Translation: X:929.85, Y:124.72, Z:9.14 [[ 9.52227743e-02 -9.95454006e-01 -1.98609408e-03 9.29849039e+02] [ 9.95213264e-01 9.52434231e-02 -2.18917781e-02 1.24718823e+02] [ 2.19814206e-02 1.08008668e-04 9.99758374e-01 9.14195122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.85, Y:124.75, Z:9.14 [[ 9.40747396e-02 -9.95563356e-01 -1.88354645e-03 9.29851599e+02] [ 9.95345662e-01 9.40935564e-02 -2.08186546e-02 1.24746621e+02] [ 2.09035192e-02 8.37297224e-05 9.99781494e-01 9.14446674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1192541539998 meters Centerline goodness [0,1] 0.9999565868588421 Centerline is valid? [True, True] Translation: X:929.86, Y:124.77, Z:9.14 [[ 9.15200722e-02 -9.95801271e-01 -1.97607199e-03 9.29855164e+02] [ 9.95560101e-01 9.15413950e-02 -2.19148038e-02 1.24773386e+02] [ 2.20036819e-02 3.83459928e-05 9.99757889e-01 9.14338876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1492541539999 meters Centerline goodness [0,1] 0.9999134011690842 Centerline is valid? [True, True] Translation: X:929.86, Y:124.80, Z:9.14 [[ 8.97198646e-02 -9.95965025e-01 -2.00389036e-03 9.29858223e+02] [ 9.95715375e-01 8.97422401e-02 -2.22984779e-02 1.24800437e+02] [ 2.23883377e-02 5.31197533e-06 9.99749350e-01 9.14296714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.86, Y:124.83, Z:9.15 [[ 8.86683705e-02 -9.96059342e-01 -1.92523110e-03 9.29860853e+02] [ 9.95827468e-01 8.86892682e-02 -2.14911001e-02 1.24828713e+02] [ 2.15771583e-02 -1.16171896e-05 9.99767186e-01 9.14504941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2092541539998 meters Centerline goodness [0,1] 0.9999783783783783 Centerline is valid? [True, True] Translation: X:929.86, Y:124.86, Z:9.15 [[ 8.59632160e-02 -9.96296351e-01 -1.97666179e-03 9.29864368e+02] [ 9.96050431e-01 8.59859135e-02 -2.21350671e-02 1.24856337e+02] [ 2.22230516e-02 -6.60532768e-05 9.99753035e-01 9.14547731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2392541539998 meters Centerline goodness [0,1] 0.9997830520241247 Centerline is valid? [True, True] Translation: X:929.87, Y:124.88, Z:9.14 [[ 8.41951746e-02 -9.96447072e-01 -2.09894805e-03 9.29867683e+02] [ 9.96167982e-01 8.42212675e-02 -2.35824001e-02 1.24882853e+02] [ 2.36753896e-02 -1.05380546e-04 9.99719693e-01 9.14165676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2692541539999 meters Centerline goodness [0,1] 0.9998483535528596 Centerline is valid? [True, True] Translation: X:929.87, Y:124.91, Z:9.14 [[ 8.21249144e-02 -9.96619744e-01 -2.14109174e-03 9.29870799e+02] [ 9.96327481e-01 8.21526809e-02 -2.41347707e-02 1.24910339e+02] [ 2.42290854e-02 -1.51162563e-04 9.99706421e-01 9.14343775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:124.94, Z:9.15 [[ 8.14999598e-02 -9.96671217e-01 -2.05959545e-03 9.29873360e+02] [ 9.96399081e-01 8.15258342e-02 -2.32896856e-02 1.24938066e+02] [ 2.33800695e-02 -1.54070572e-04 9.99726637e-01 9.14649455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3292541539998 meters Centerline goodness [0,1] 0.9997828635949103 Centerline is valid? [True, True] Translation: X:929.88, Y:124.97, Z:9.14 [[ 7.89711361e-02 -9.96874504e-01 -2.18712788e-03 9.29877463e+02] [ 9.96565725e-01 7.90011097e-02 -2.48108831e-02 1.24966699e+02] [ 2.49061224e-02 -2.20273051e-04 9.99689770e-01 9.14401200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3592541539998 meters Centerline goodness [0,1] 0.9999129602228218 Centerline is valid? [True, True] Translation: X:929.88, Y:124.99, Z:9.15 [[ 7.82717123e-02 -9.96929935e-01 -2.06008095e-03 9.29879885e+02] [ 9.96654265e-01 7.82985138e-02 -2.34439700e-02 1.24994030e+02] [ 2.35332967e-02 -2.18188794e-04 9.99723030e-01 9.14731462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3892541539999 meters Centerline goodness [0,1] 0.9999783460730604 Centerline is valid? [True, True] Translation: X:929.88, Y:125.02, Z:9.15 [[ 7.72622556e-02 -9.97008690e-01 -2.05311144e-03 9.29882846e+02] [ 9.96733094e-01 7.72891718e-02 -2.34419193e-02 1.25022450e+02] [ 2.35304805e-02 -2.35228562e-04 9.99723092e-01 9.14770407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4192541539999 meters Centerline goodness [0,1] 0.9998478227787561 Centerline is valid? [True, True] Translation: X:929.89, Y:125.05, Z:9.15 [[ 7.48207285e-02 -9.97194829e-01 -2.08149334e-03 9.29886663e+02] [ 9.96909814e-01 7.48491098e-02 -2.38418310e-02 1.25051044e+02] [ 2.39307485e-02 -2.91197979e-04 9.99713576e-01 9.14665303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4492541539998 meters Centerline goodness [0,1] 0.9999129033662849 Centerline is valid? [True, True] Translation: X:929.89, Y:125.08, Z:9.15 [[ 7.29642558e-02 -9.97332568e-01 -1.99144634e-03 9.29890417e+02] [ 9.97070081e-01 7.29907434e-02 -2.28824091e-02 1.25078419e+02] [ 2.29667290e-02 -3.16013611e-04 9.99736180e-01 9.14818132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4792541539998 meters Centerline goodness [0,1] 0.999869397705753 Centerline is valid? [True, True] Translation: X:929.89, Y:125.11, Z:9.15 [[ 7.19201272e-02 -9.97408302e-01 -2.04313648e-03 9.29893040e+02] [ 9.97130221e-01 7.19483234e-02 -2.35533876e-02 1.25106492e+02] [ 2.36393446e-02 -3.43310494e-04 9.99720493e-01 9.14869760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.90, Y:125.13, Z:9.15 [[ 7.13336503e-02 -9.97450574e-01 -1.96540748e-03 9.29896243e+02] [ 9.97191523e-01 7.13599196e-02 -2.27338765e-02 1.25133566e+02] [ 2.28161695e-02 -3.38197280e-04 9.99739620e-01 9.15116932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5392541539999 meters Centerline goodness [0,1] 0.9997181082897847 Centerline is valid? [True, True] Translation: X:929.90, Y:125.16, Z:9.15 [[ 6.92718851e-02 -9.97595708e-01 -2.05179265e-03 9.29900433e+02] [ 9.97312121e-01 6.93011197e-02 -2.37884197e-02 1.25160391e+02] [ 2.38734169e-02 -3.98409002e-04 9.99714910e-01 9.14790447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5692541539999 meters Centerline goodness [0,1] 0.9998696700480049 Centerline is valid? [True, True] Translation: X:929.90, Y:125.19, Z:9.15 [[ 6.86780849e-02 -9.97636949e-01 -1.95941969e-03 9.29901448e+02] [ 9.97377040e-01 6.87049229e-02 -2.27743894e-02 1.25188812e+02] [ 2.28551941e-02 -3.90178760e-04 9.99738710e-01 9.15019687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.90, Y:125.22, Z:9.15 [[ 6.89973886e-02 -9.97615134e-01 -1.84508963e-03 9.29902426e+02] [ 9.97383165e-01 6.90211375e-02 -2.15152074e-02 1.25216670e+02] [ 2.15912467e-02 -3.55768206e-04 9.99766819e-01 9.15363941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6292541539999 meters Centerline goodness [0,1] 0.9998479351769383 Centerline is valid? [True, True] Translation: X:929.90, Y:125.25, Z:9.15 [[ 6.81589751e-02 -9.97672771e-01 -1.84289190e-03 9.29904462e+02] [ 9.97439813e-01 6.81828888e-02 -2.15618589e-02 1.25245041e+02] [ 2.16373332e-02 -3.68539552e-04 9.99765818e-01 9.15301752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.91, Y:125.27, Z:9.15 [[ 6.84801513e-02 -9.97650887e-01 -1.78239984e-03 9.29907075e+02] [ 9.97431732e-01 6.85024712e-02 -2.09129723e-02 1.25271510e+02] [ 2.09859442e-02 -3.45698646e-04 9.99779711e-01 9.15451558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.91, Y:125.30, Z:9.16 [[ 6.82594090e-02 -9.97666056e-01 -1.75880115e-03 9.29908061e+02] [ 9.97451409e-01 6.82812099e-02 -2.06969474e-02 1.25299136e+02] [ 2.07687349e-02 -3.41557289e-04 9.99784248e-01 9.15580492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7192541539998 meters Centerline goodness [0,1] 0.9997835638378461 Centerline is valid? [True, True] Translation: X:929.91, Y:125.33, Z:9.15 [[ 6.78464892e-02 -9.97694020e-01 -1.86997484e-03 9.29908018e+02] [ 9.97449682e-01 6.78712620e-02 -2.20822126e-02 1.25327569e+02] [ 2.21582090e-02 -3.67005215e-04 9.99754409e-01 9.15409469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7492541539999 meters Centerline goodness [0,1] 0.9998482713774791 Centerline is valid? [True, True] Translation: X:929.91, Y:125.35, Z:9.15 [[ 6.77153427e-02 -9.97702878e-01 -1.89720348e-03 9.29910450e+02] [ 9.97449573e-01 6.77409050e-02 -2.24837705e-02 1.25354125e+02] [ 2.25606408e-02 -3.69868576e-04 9.99745408e-01 9.15222636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7792541539999 meters Centerline goodness [0,1] 0.9998482713774791 Centerline is valid? [True, True] Translation: X:929.91, Y:125.38, Z:9.15 [[ 6.74075166e-02 -9.97723736e-01 -1.89031195e-03 9.29912578e+02] [ 9.97470423e-01 6.74330019e-02 -2.24843505e-02 1.25380807e+02] [ 2.25606396e-02 -3.69916033e-04 9.99745408e-01 9.15247601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.91, Y:125.41, Z:9.16 [[ 6.81505471e-02 -9.97673412e-01 -1.80745349e-03 9.29912779e+02] [ 9.97440203e-01 6.81736996e-02 -2.15728582e-02 1.25409033e+02] [ 2.16458879e-02 -3.32624683e-04 9.99765645e-01 9.15587641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.91, Y:125.44, Z:9.16 [[ 6.72577909e-02 -9.97733912e-01 -1.85196095e-03 9.29913534e+02] [ 9.97487422e-01 6.72823437e-02 -2.21794961e-02 1.25437034e+02] [ 2.22538397e-02 -3.55563842e-04 9.99752289e-01 9.15549178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.91, Y:125.47, Z:9.16 [[ 6.58238016e-02 -9.97829464e-01 -1.89436154e-03 9.29914634e+02] [ 9.97569861e-01 6.58498919e-02 -2.27632183e-02 1.25465642e+02] [ 2.28385534e-02 -3.91396418e-04 9.99739090e-01 9.15598048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8992541539999 meters Centerline goodness [0,1] 0.9997188277279118 Centerline is valid? [True, True] Translation: X:929.92, Y:125.49, Z:9.16 [[ 6.45408418e-02 -9.97913270e-01 -1.89365531e-03 9.29916612e+02] [ 9.97652138e-01 6.45672783e-02 -2.28315236e-02 1.25493867e+02] [ 2.29061486e-02 -4.15643513e-04 9.99737533e-01 9.15594492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.92, Y:125.52, Z:9.16 [[ 6.38408259e-02 -9.97958402e-01 -1.83741550e-03 9.29918384e+02] [ 9.97710892e-01 6.38659194e-02 -2.22288143e-02 1.25521790e+02] [ 2.23007802e-02 -4.14103592e-04 9.99751221e-01 9.15645826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9592541539998 meters Centerline goodness [0,1] 0.9999136852099607 Centerline is valid? [True, True] Translation: X:929.92, Y:125.55, Z:9.15 [[ 6.22119478e-02 -9.98061166e-01 -1.89251180e-03 9.29918894e+02] [ 9.97796895e-01 6.22390321e-02 -2.29708350e-02 1.25549251e+02] [ 2.30440865e-02 -4.59282014e-04 9.99734344e-01 9.15458408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.92, Y:125.58, Z:9.16 [[ 6.21648678e-02 -9.98064321e-01 -1.77193625e-03 9.29917458e+02] [ 9.97831129e-01 6.21886523e-02 -2.15779885e-02 1.25577618e+02] [ 2.16464147e-02 -4.26700343e-04 9.99765598e-01 9.15786195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.92, Y:125.60, Z:9.16 [[ 6.19864763e-02 -9.98075438e-01 -1.75989043e-03 9.29920229e+02] [ 9.97844020e-01 6.20100071e-02 -2.14958307e-02 1.25604534e+02] [ 2.15635914e-02 -4.23645345e-04 9.99767389e-01 9.15735997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0492541539999 meters Centerline goodness [0,1] 0.9999141483516484 Centerline is valid? [True, True] Translation: X:929.92, Y:125.63, Z:9.16 [[ 6.19809212e-02 -9.98075764e-01 -1.77058407e-03 9.29919620e+02] [ 9.97840079e-01 6.20047684e-02 -2.16929659e-02 1.25633166e+02] [ 2.17610082e-02 -4.22209733e-04 9.99763112e-01 9.15726063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.92, Y:125.66, Z:9.16 [[ 6.25971139e-02 -9.98037377e-01 -1.73059609e-03 9.29918917e+02] [ 9.97810648e-01 6.26197862e-02 -2.12761169e-02 1.25661717e+02] [ 2.13427294e-02 -3.94983695e-04 9.99772140e-01 9.15863662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.92, Y:125.69, Z:9.16 [[ 6.32063682e-02 -9.97998899e-01 -1.77552227e-03 9.29919434e+02] [ 9.97758585e-01 6.32301163e-02 -2.19033709e-02 1.25690336e+02] [ 2.19718066e-02 -3.87110064e-04 9.99758516e-01 9.15864271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.92, Y:125.72, Z:9.16 [[ 6.54941935e-02 -9.97851408e-01 -1.75426666e-03 9.29918274e+02] [ 9.97615470e-01 6.55168582e-02 -2.17005786e-02 1.25717916e+02] [ 2.17688870e-02 -3.28821663e-04 9.99762976e-01 9.15777795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1692541539999 meters Centerline goodness [0,1] 0.9998074248421953 Centerline is valid? [True, True] Translation: X:929.92, Y:125.75, Z:9.16 [[ 6.54413552e-02 -9.97854710e-01 -1.84583632e-03 9.29916886e+02] [ 9.97591865e-01 6.54664859e-02 -2.29043588e-02 1.25746393e+02] [ 2.29760628e-02 -3.42499012e-04 9.99735957e-01 9.15573290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1992541539998 meters Centerline goodness [0,1] 0.9998505295524428 Centerline is valid? [True, True] Translation: X:929.91, Y:125.77, Z:9.16 [[ 6.80927431e-02 -9.97677338e-01 -1.81843133e-03 9.29914326e+02] [ 9.97420422e-01 6.81164765e-02 -2.26417184e-02 1.25774459e+02] [ 2.27129945e-02 -2.72003828e-04 9.99741990e-01 9.15527822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2292541539998 meters Centerline goodness [0,1] 0.9997443436021987 Centerline is valid? [True, True] Translation: X:929.91, Y:125.80, Z:9.16 [[ 6.92028457e-02 -9.97600940e-01 -1.82530522e-03 9.29912965e+02] [ 9.97340198e-01 6.92264907e-02 -2.28083730e-02 1.25802467e+02] [ 2.28800138e-02 -2.42045947e-04 9.99738189e-01 9.15601735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2592541539999 meters Centerline goodness [0,1] 0.9998722153597137 Centerline is valid? [True, True] Translation: X:929.91, Y:125.83, Z:9.16 [[ 7.17085281e-02 -9.97424056e-01 -1.77194944e-03 9.29911586e+02] [ 9.97176479e-01 7.17302080e-02 -2.22226494e-02 1.25829500e+02] [ 2.22925074e-02 -1.73392829e-04 9.99751476e-01 9.15735193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2892541539999 meters Centerline goodness [0,1] 0.99993615662907 Centerline is valid? [True, True] Translation: X:929.91, Y:125.86, Z:9.16 [[ 7.28678155e-02 -9.97340166e-01 -1.69567003e-03 9.29912030e+02] [ 9.97111785e-01 7.28874163e-02 -2.13427569e-02 1.25858036e+02] [ 2.14095817e-02 -1.35572505e-04 9.99770779e-01 9.15898089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3192541539999 meters Centerline goodness [0,1] 0.9998726060554588 Centerline is valid? [True, True] Translation: X:929.91, Y:125.89, Z:9.16 [[ 7.51361397e-02 -9.97171905e-01 -1.65906681e-03 9.29910220e+02] [ 9.96951619e-01 7.51544125e-02 -2.09590909e-02 1.25885247e+02] [ 2.10245028e-02 -7.92241653e-05 9.99778958e-01 9.15872893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3492541539998 meters Centerline goodness [0,1] 0.9999787310972627 Centerline is valid? [True, True] Translation: X:929.91, Y:125.91, Z:9.16 [[ 7.94746377e-02 -9.96835705e-01 -1.53629140e-03 9.29907439e+02] [ 9.96645379e-01 7.94894833e-02 -1.94784773e-02 1.25912622e+02] [ 1.95389606e-02 1.69072023e-05 9.99809096e-01 9.16114790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.91, Y:125.94, Z:9.16 [[ 8.19054463e-02 -9.96638963e-01 -1.50824978e-03 9.29906917e+02] [ 9.96454144e-01 8.19193028e-02 -1.91929034e-02 1.25941292e+02] [ 1.92519501e-02 6.91015707e-05 9.99814662e-01 9.16221259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4092541539999 meters Centerline goodness [0,1] 0.9999788511970222 Centerline is valid? [True, True] Translation: X:929.90, Y:125.97, Z:9.16 [[ 8.70830678e-02 -9.96199872e-01 -1.53421048e-03 9.29903663e+02] [ 9.96007200e-01 8.70963994e-02 -1.95927481e-02 1.25970370e+02] [ 1.96519173e-02 1.78111925e-04 9.99806867e-01 9.16115783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4392541539999 meters Centerline goodness [0,1] 0.9998726249867318 Centerline is valid? [True, True] Translation: X:929.90, Y:126.00, Z:9.16 [[ 8.92034092e-02 -9.96012101e-01 -1.62656817e-03 9.29902771e+02] [ 9.95793997e-01 8.92179158e-02 -2.08441437e-02 1.25997674e+02] [ 2.09061384e-02 2.39641865e-04 9.99781414e-01 9.15795843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.90, Y:126.03, Z:9.16 [[ 9.23905234e-02 -9.95721624e-01 -1.56189066e-03 9.29904044e+02] [ 9.95519136e-01 9.24032360e-02 -2.00821309e-02 1.26025625e+02] [ 2.01405357e-02 3.00506538e-04 9.99797114e-01 9.16211911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4992541539999 meters Centerline goodness [0,1] 0.9998519114007066 Centerline is valid? [True, True] Translation: X:929.90, Y:126.05, Z:9.16 [[ 9.55507926e-02 -9.95423163e-01 -1.66534236e-03 9.29900772e+02] [ 9.95191199e-01 9.55644826e-02 -2.14920298e-02 1.26053781e+02] [ 2.15528119e-02 3.96246430e-04 9.99767633e-01 9.15735682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.90, Y:126.08, Z:9.16 [[ 9.76994900e-02 -9.95214667e-01 -1.60511239e-03 9.29901181e+02] [ 9.94997532e-01 9.77117090e-02 -2.07926351e-02 1.26081451e+02] [ 2.08499737e-02 4.34346978e-04 9.99782521e-01 9.16083302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.90, Y:126.11, Z:9.16 [[ 9.94467095e-02 -9.95041546e-01 -1.63520760e-03 9.29901283e+02] [ 9.94814460e-01 9.94589564e-02 -2.12627987e-02 1.26109742e+02] [ 2.13200041e-02 4.87787200e-04 9.99772584e-01 9.16042751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5892541539998 meters Centerline goodness [0,1] 0.9999155708466133 Centerline is valid? [True, True] Translation: X:929.90, Y:126.14, Z:9.16 [[ 9.93731421e-02 -9.95048756e-01 -1.71800280e-03 9.29904837e+02] [ 9.94796164e-01 9.93866346e-02 -2.24251791e-02 1.26137350e+02] [ 2.24848931e-02 5.19397917e-04 9.99747048e-01 9.15915560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6192541539998 meters Centerline goodness [0,1] 0.9998729782369379 Centerline is valid? [True, True] Translation: X:929.91, Y:126.17, Z:9.16 [[ 9.95718677e-02 -9.95028867e-01 -1.73114382e-03 9.29906630e+02] [ 9.94770408e-01 9.95854696e-02 -2.26841468e-02 1.26165012e+02] [ 2.27437777e-02 5.36612222e-04 9.99741183e-01 9.15848676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6492541539999 meters Centerline goodness [0,1] 0.9999366634294642 Centerline is valid? [True, True] Translation: X:929.91, Y:126.19, Z:9.16 [[ 1.00210370e-01 -9.94964705e-01 -1.76543980e-03 9.29906928e+02] [ 9.94693922e-01 1.00224295e-01 -2.32183711e-02 1.26192216e+02] [ 2.32783997e-02 5.70649322e-04 9.99728858e-01 9.15818187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6792541539999 meters Centerline goodness [0,1] 0.999809692971327 Centerline is valid? [True, True] Translation: X:929.91, Y:126.22, Z:9.16 [[ 9.93441274e-02 -9.95051389e-01 -1.86463089e-03 9.29910595e+02] [ 9.94747090e-01 9.93598707e-02 -2.46138829e-02 1.26219705e+02] [ 2.46773478e-02 5.90408566e-04 9.99695294e-01 9.15638842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.91, Y:126.25, Z:9.16 [[ 9.94232516e-02 -9.95043764e-01 -1.71026916e-03 9.29912182e+02] [ 9.94786222e-01 9.94364392e-02 -2.26443697e-02 1.26246318e+02] [ 2.27022019e-02 5.50024670e-04 9.99742121e-01 9.16023273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7392541539998 meters Centerline goodness [0,1] 0.9998938947011013 Centerline is valid? [True, True] Translation: X:929.92, Y:126.27, Z:9.16 [[ 9.80808225e-02 -9.95176911e-01 -1.75164165e-03 9.29918244e+02] [ 9.94904928e-01 9.80949777e-02 -2.32714299e-02 1.26274106e+02] [ 2.33310169e-02 5.39764068e-04 9.99727649e-01 9.15963620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7692541539999 meters Centerline goodness [0,1] 0.9997034652207066 Centerline is valid? [True, True] Translation: X:929.92, Y:126.30, Z:9.16 [[ 9.60580376e-02 -9.95374172e-01 -1.76386980e-03 9.29924414e+02] [ 9.95096334e-01 9.60729074e-02 -2.35219559e-02 1.26301970e+02] [ 2.35826075e-02 5.04252551e-04 9.99721764e-01 9.15922771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7992541539999 meters Centerline goodness [0,1] 0.9998725194407853 Centerline is valid? [True, True] Translation: X:929.93, Y:126.33, Z:9.16 [[ 9.50684923e-02 -9.95469346e-01 -1.66238302e-03 9.29928900e+02] [ 9.95220795e-01 9.50819094e-02 -2.22485989e-02 1.26329976e+02] [ 2.23058607e-02 4.60702601e-04 9.99751087e-01 9.16149590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8292541539998 meters Centerline goodness [0,1] 0.9998718058285616 Centerline is valid? [True, True] Translation: X:929.94, Y:126.36, Z:9.16 [[ 9.30724326e-02 -9.95658000e-01 -1.63373197e-03 9.29936808e+02] [ 9.95416199e-01 9.30858394e-02 -2.19457815e-02 1.26357989e+02] [ 2.20025702e-02 4.16303998e-04 9.99757827e-01 9.16294465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.94, Y:126.39, Z:9.17 [[ 9.29386150e-02 -9.95670641e-01 -1.54569788e-03 9.29939762e+02] [ 9.95452824e-01 9.29506192e-02 -2.08292680e-02 1.26385010e+02] [ 2.08827642e-02 3.97174000e-04 9.99781852e-01 9.16560272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.95, Y:126.41, Z:9.17 [[ 9.16226832e-02 -9.95792634e-01 -1.52131261e-03 9.29947207e+02] [ 9.95580185e-01 9.16345643e-02 -2.05718661e-02 1.26412699e+02] [ 2.06247176e-02 3.70260880e-04 9.99787219e-01 9.16627126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9192541539999 meters Centerline goodness [0,1] 0.9998496272904986 Centerline is valid? [True, True] Translation: X:929.95, Y:126.44, Z:9.16 [[ 8.93023669e-02 -9.96003226e-01 -1.63159387e-03 9.29953325e+02] [ 9.95757180e-01 8.93165750e-02 -2.21401844e-02 1.26439803e+02] [ 2.21974234e-02 3.52499558e-04 9.99753545e-01 9.16244278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9492541539998 meters Centerline goodness [0,1] 0.9999141612480954 Centerline is valid? [True, True] Translation: X:929.96, Y:126.47, Z:9.16 [[ 8.85120535e-02 -9.96073750e-01 -1.64332639e-03 9.29958152e+02] [ 9.95822407e-01 8.85266379e-02 -2.23778492e-02 1.26467433e+02] [ 2.24354664e-02 3.44248146e-04 9.99748234e-01 9.16377353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.96, Y:126.49, Z:9.17 [[ 8.78010619e-02 -9.96136771e-01 -1.58325892e-03 9.29961884e+02] [ 9.95901627e-01 8.78147390e-02 -2.16453280e-02 1.26494740e+02] [ 2.17007406e-02 3.23712644e-04 9.99764459e-01 9.16611133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.97, Y:126.52, Z:9.17 [[ 8.67343456e-02 -9.96230247e-01 -1.56480304e-03 9.29967421e+02] [ 9.95998711e-01 8.67479257e-02 -2.14794136e-02 1.26522363e+02] [ 2.15341850e-02 3.04461073e-04 9.99768066e-01 9.16746435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0392541539999 meters Centerline goodness [0,1] 0.9999784180425164 Centerline is valid? [True, True] Translation: X:929.97, Y:126.55, Z:9.17 [[ 8.46106310e-02 -9.96412965e-01 -1.49841846e-03 9.29974304e+02] [ 9.96199271e-01 8.46235188e-02 -2.06367000e-02 1.26549232e+02] [ 2.06894769e-02 2.53360831e-04 9.99785918e-01 9.16802350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0692541539999 meters Centerline goodness [0,1] 0.999828082692225 Centerline is valid? [True, True] Translation: X:929.98, Y:126.58, Z:9.17 [[ 8.21753757e-02 -9.96616706e-01 -1.53283061e-03 9.29981725e+02] [ 9.96391498e-01 8.21893926e-02 -2.11869639e-02 1.26575960e+02] [ 2.12412646e-02 2.13747333e-04 9.99774356e-01 9.16572752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0992541539998 meters Centerline goodness [0,1] 0.9996544798842507 Centerline is valid? [True, True] Translation: X:929.99, Y:126.60, Z:9.17 [[ 8.08978858e-02 -9.96721203e-01 -1.54163157e-03 9.29986601e+02] [ 9.96491534e-01 8.09123392e-02 -2.13966422e-02 1.26603946e+02] [ 2.14512239e-02 1.94720309e-04 9.99769877e-01 9.16587887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.99, Y:126.63, Z:9.17 [[ 8.13675141e-02 -9.96682931e-01 -1.56918627e-03 9.29991022e+02] [ 9.96443301e-01 8.13823605e-02 -2.18554212e-02 1.26631036e+02] [ 2.19106294e-02 2.14716149e-04 9.99759910e-01 9.16625519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1592541539999 meters Centerline goodness [0,1] 0.9999349522983522 Centerline is valid? [True, True] Translation: X:930.00, Y:126.66, Z:9.17 [[ 8.05919037e-02 -9.96745831e-01 -1.64120417e-03 9.29996924e+02] [ 9.96481775e-01 8.06083301e-02 -2.29427247e-02 1.26658730e+02] [ 2.30003599e-02 2.13567810e-04 9.99735434e-01 9.16667610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.00, Y:126.69, Z:9.17 [[ 8.15664131e-02 -9.96666543e-01 -1.65011216e-03 9.30002600e+02] [ 9.96397409e-01 8.15827345e-02 -2.31616422e-02 1.26686078e+02] [ 2.32190545e-02 2.45044599e-04 9.99730371e-01 9.16869847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.01, Y:126.71, Z:9.17 [[ 8.17588342e-02 -9.96650773e-01 -1.65218554e-03 9.30005917e+02] [ 9.96378667e-01 8.17751196e-02 -2.32890903e-02 1.26712928e+02] [ 2.33461975e-02 2.57886440e-04 9.99727407e-01 9.16881542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.01, Y:126.74, Z:9.17 [[ 8.17367714e-02 -9.96652579e-01 -1.65454379e-03 9.30009913e+02] [ 9.96377388e-01 8.17530836e-02 -2.34208165e-02 1.26740689e+02] [ 2.34776812e-02 2.65791909e-04 9.99724326e-01 9.16952389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2792541539999 meters Centerline goodness [0,1] 0.999956547244009 Centerline is valid? [True, True] Translation: X:930.02, Y:126.77, Z:9.17 [[ 8.11031073e-02 -9.96704234e-01 -1.71927661e-03 9.30015299e+02] [ 9.96404504e-01 8.11208813e-02 -2.44431297e-02 1.26767892e+02] [ 2.45020401e-02 2.69318809e-04 9.99699744e-01 9.16752225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3092541539999 meters Centerline goodness [0,1] 0.9998044371047999 Centerline is valid? [True, True] Translation: X:930.02, Y:126.80, Z:9.17 [[ 7.97225403e-02 -9.96815510e-01 -1.77623999e-03 9.30019623e+02] [ 9.96492883e-01 7.97419279e-02 -2.53605956e-02 1.26795649e+02] [ 2.54214759e-02 2.51800598e-04 9.99676790e-01 9.16535351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3392541539998 meters Centerline goodness [0,1] 0.9998258256950643 Centerline is valid? [True, True] Translation: X:930.03, Y:126.82, Z:9.17 [[ 7.76202741e-02 -9.96981498e-01 -1.72782433e-03 9.30027298e+02] [ 9.96673770e-01 7.76392434e-02 -2.47698140e-02 1.26822963e+02] [ 2.48291932e-02 2.00562562e-04 9.99691688e-01 9.16611228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3692541539998 meters Centerline goodness [0,1] 0.9997601081694073 Centerline is valid? [True, True] Translation: X:930.03, Y:126.85, Z:9.17 [[ 7.58318813e-02 -9.97119184e-01 -1.69059896e-03 9.30032288e+02] [ 9.96822195e-01 7.58505550e-02 -2.43352649e-02 1.26850817e+02] [ 2.43933924e-02 1.60162350e-04 9.99702424e-01 9.16674907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.04, Y:126.88, Z:9.17 [[ 7.38083940e-02 -9.97271240e-01 -1.54756910e-03 9.30039923e+02] [ 9.97020437e-01 7.38245378e-02 -2.23648564e-02 1.26877439e+02] [ 2.24180766e-02 1.07756109e-04 9.99748678e-01 9.17185771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4292541539999 meters Centerline goodness [0,1] 0.9998897877311702 Centerline is valid? [True, True] Translation: X:930.05, Y:126.91, Z:9.17 [[ 7.11055167e-02 -9.97467621e-01 -1.53302797e-03 9.30045310e+02] [ 9.97219481e-01 7.11220209e-02 -2.22478050e-02 1.26905094e+02] [ 2.23004972e-02 5.31763094e-05 9.99751312e-01 9.17126256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4592541539998 meters Centerline goodness [0,1] 0.9999560748484583 Centerline is valid? [True, True] Translation: X:930.05, Y:126.93, Z:9.17 [[ 6.95305604e-02 -9.97578734e-01 -1.47340728e-03 9.30049728e+02] [ 9.97347551e-01 6.95461660e-02 -2.14754179e-02 1.26932226e+02] [ 2.15258900e-02 2.36987012e-05 9.99768291e-01 9.17229572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4892541539998 meters Centerline goodness [0,1] 0.9998232591021562 Centerline is valid? [True, True] Translation: X:930.06, Y:126.96, Z:9.17 [[ 6.65621648e-02 -9.97781219e-01 -1.45500030e-03 9.30056455e+02] [ 9.97553942e-01 6.65780568e-02 -2.12954186e-02 1.26960430e+02] [ 2.13450398e-02 -3.39721263e-05 9.99772168e-01 9.17170153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.06, Y:126.99, Z:9.18 [[ 6.75262334e-02 -9.97716600e-01 -1.33973232e-03 9.30059563e+02] [ 9.97522351e-01 6.75395220e-02 -1.96868342e-02 1.26987545e+02] [ 1.97323662e-02 -7.03517335e-06 9.99805298e-01 9.17523790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.06, Y:127.02, Z:9.18 [[ 6.91041820e-02 -9.97608573e-01 -1.32185181e-03 9.30060045e+02] [ 9.97417855e-01 6.91168170e-02 -1.95061055e-02 1.27015607e+02] [ 1.95508203e-02 2.95148699e-05 9.99808864e-01 9.17555928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5792541539998 meters Centerline goodness [0,1] 0.999758247071493 Centerline is valid? [True, True] Translation: X:930.06, Y:127.04, Z:9.17 [[ 7.17278827e-02 -9.97423196e-01 -1.44171964e-03 9.30059756e+02] [ 9.97194343e-01 7.17423077e-02 -2.13654707e-02 1.27044173e+02] [ 2.14138484e-02 9.48253063e-05 9.99770693e-01 9.17192679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.06, Y:127.07, Z:9.18 [[ 7.44207109e-02 -9.97225962e-01 -1.39209018e-03 9.30059855e+02] [ 9.97010750e-01 7.44335707e-02 -2.07173312e-02 1.27071511e+02] [ 2.07634788e-02 1.53869642e-04 9.99784404e-01 9.17506950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6392541539999 meters Centerline goodness [0,1] 0.9999117036775418 Centerline is valid? [True, True] Translation: X:930.06, Y:127.10, Z:9.17 [[ 7.50438243e-02 -9.97179174e-01 -1.45568332e-03 9.30061398e+02] [ 9.96941771e-01 7.50577217e-02 -2.17587567e-02 1.27100104e+02] [ 2.18066393e-02 1.81628808e-04 9.99762190e-01 9.17370491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6692541539999 meters Centerline goodness [0,1] 0.9999117036775418 Centerline is valid? [True, True] Translation: X:930.06, Y:127.13, Z:9.17 [[ 7.47574534e-02 -9.97200693e-01 -1.44955515e-03 9.30063162e+02] [ 9.96963286e-01 7.47712852e-02 -2.17591654e-02 1.27127645e+02] [ 2.18066399e-02 1.81506522e-04 9.99762190e-01 9.17396239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6992541539998 meters Centerline goodness [0,1] 0.9999559432549123 Centerline is valid? [True, True] Translation: X:930.06, Y:127.16, Z:9.17 [[ 7.64164955e-02 -9.97074856e-01 -1.50054914e-03 9.30064263e+02] [ 9.96818242e-01 7.64308722e-02 -2.26211011e-02 1.27155648e+02] [ 2.26696194e-02 2.32850517e-04 9.99742984e-01 9.17416965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7292541539998 meters Centerline goodness [0,1] 0.9998456347718703 Centerline is valid? [True, True] Translation: X:930.07, Y:127.18, Z:9.17 [[ 7.53573256e-02 -9.97155385e-01 -1.55300050e-03 9.30065285e+02] [ 9.96878062e-01 7.53729935e-02 -2.35168345e-02 1.27182977e+02] [ 2.35669924e-02 2.24013620e-04 9.99722235e-01 9.17159510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.07, Y:127.21, Z:9.17 [[ 7.52347368e-02 -9.97164713e-01 -1.50622847e-03 9.30066679e+02] [ 9.96901547e-01 7.52494855e-02 -2.29089784e-02 1.27210639e+02] [ 2.29573678e-02 2.21989470e-04 9.99736420e-01 9.17478037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7892541539999 meters Centerline goodness [0,1] 0.9998898071625344 Centerline is valid? [True, True] Translation: X:930.07, Y:127.24, Z:9.17 [[ 7.14151297e-02 -9.97445564e-01 -1.49211820e-03 9.30070329e+02] [ 9.97185099e-01 7.14305789e-02 -2.27936379e-02 1.27238748e+02] [ 2.28419959e-02 1.39892578e-04 9.99739078e-01 9.17387429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8192541539999 meters Centerline goodness [0,1] 0.9998240869010708 Centerline is valid? [True, True] Translation: X:930.07, Y:127.27, Z:9.17 [[ 6.91572220e-02 -9.97604681e-01 -1.47590979e-03 9.30073149e+02] [ 9.97347625e-01 6.91729051e-02 -2.26456102e-02 1.27266855e+02] [ 2.26934597e-02 9.41123675e-05 9.99742466e-01 9.17392733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8492541539998 meters Centerline goodness [0,1] 0.999734759736528 Centerline is valid? [True, True] Translation: X:930.08, Y:127.29, Z:9.17 [[ 6.54695731e-02 -9.97853503e-01 -1.45631815e-03 9.30077069e+02] [ 9.97601073e-01 6.54857663e-02 -2.24435810e-02 1.27294644e+02] [ 2.24907740e-02 1.65471145e-05 9.99747050e-01 9.17416450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.08, Y:127.32, Z:9.18 [[ 6.49035047e-02 -9.97890626e-01 -1.35387079e-03 9.30079545e+02] [ 9.97670567e-01 6.49176232e-02 -2.09557347e-02 1.27322608e+02] [ 2.09994213e-02 9.38358974e-06 9.99779488e-01 9.17949097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9092541539999 meters Centerline goodness [0,1] 0.9998674882395813 Centerline is valid? [True, True] Translation: X:930.08, Y:127.35, Z:9.18 [[ 6.24700574e-02 -9.98045875e-01 -1.38693105e-03 9.30082108e+02] [ 9.97812768e-01 6.24854409e-02 -2.15696522e-02 1.27349356e+02] [ 2.16141654e-02 -3.64401032e-05 9.99766386e-01 9.17649684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9392541539999 meters Centerline goodness [0,1] 0.9999339439844989 Centerline is valid? [True, True] Translation: X:930.08, Y:127.38, Z:9.18 [[ 6.11266587e-02 -9.98129122e-01 -1.33727053e-03 9.30083324e+02] [ 9.97910441e-01 6.11412578e-02 -2.08925503e-02 1.27377640e+02] [ 2.09352253e-02 -5.73844297e-05 9.99780833e-01 9.17815317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9692541539998 meters Centerline goodness [0,1] 0.9998238351096627 Centerline is valid? [True, True] Translation: X:930.08, Y:127.41, Z:9.18 [[ 6.02356350e-02 -9.98183245e-01 -1.37035772e-03 9.30084941e+02] [ 9.97951513e-01 6.02511777e-02 -2.15075024e-02 1.27405928e+02] [ 2.15509942e-02 -7.20324904e-05 9.99767748e-01 9.17638644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9992541539999 meters Centerline goodness [0,1] 0.9999780089283751 Centerline is valid? [True, True] Translation: X:930.09, Y:127.43, Z:9.18 [[ 6.08102234e-02 -9.98148489e-01 -1.30809089e-03 9.30085524e+02] [ 9.97935439e-01 6.08242692e-02 -2.06220285e-02 1.27433766e+02] [ 2.06634103e-02 -5.13600981e-05 9.99786488e-01 9.17946998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.09, Y:127.46, Z:9.18 [[ 6.13554859e-02 -9.98115137e-01 -1.29531666e-03 9.30086491e+02] [ 9.97904246e-01 6.13691482e-02 -2.05169087e-02 1.27461307e+02] [ 2.05577297e-02 -3.37770950e-05 9.99788667e-01 9.18034612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0592541539999 meters Centerline goodness [0,1] 0.9998234735982701 Centerline is valid? [True, True] Translation: X:930.09, Y:127.49, Z:9.18 [[ 6.15161858e-02 -9.98105148e-01 -1.36837238e-03 9.30087035e+02] [ 9.97867511e-01 6.15313976e-02 -2.17788406e-02 1.27489456e+02] [ 2.18217708e-02 -2.57031361e-05 9.99761876e-01 9.17735205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.09, Y:127.52, Z:9.18 [[ 6.29586712e-02 -9.98015294e-01 -1.29567246e-03 9.30087221e+02] [ 9.97800585e-01 6.29720012e-02 -2.07007068e-02 1.27516119e+02] [ 2.07412131e-02 1.04662559e-05 9.99784878e-01 9.18045769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1192541539998 meters Centerline goodness [0,1] 0.9999780354946407 Centerline is valid? [True, True] Translation: X:930.09, Y:127.54, Z:9.18 [[ 6.35531608e-02 -9.97977659e-01 -1.26042121e-03 9.30087721e+02] [ 9.97772840e-01 6.35656524e-02 -2.02179822e-02 1.27543847e+02] [ 2.02572141e-02 2.73026269e-05 9.99794801e-01 9.18028578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1492541539999 meters Centerline goodness [0,1] 0.9999780610342028 Centerline is valid? [True, True] Translation: X:930.09, Y:127.57, Z:9.18 [[ 6.54186080e-02 -9.97857144e-01 -1.23508825e-03 9.30086812e+02] [ 9.97658647e-01 6.54302288e-02 -1.99025051e-02 1.27571597e+02] [ 1.99406690e-02 6.97977010e-05 9.99801163e-01 9.18079516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.09, Y:127.60, Z:9.18 [[ 6.66019205e-02 -9.97778886e-01 -1.21599792e-03 9.30087177e+02] [ 9.97584626e-01 6.66129478e-02 -1.96882800e-02 1.27599111e+02] [ 1.97255513e-02 9.82164231e-05 9.99805428e-01 9.18139367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.09, Y:127.63, Z:9.18 [[ 6.79942583e-02 -9.97684985e-01 -1.20489833e-03 9.30087076e+02] [ 9.97492416e-01 6.80048071e-02 -1.96016813e-02 1.27627549e+02] [ 1.96382420e-02 1.30924837e-04 9.99807143e-01 9.18132263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.09, Y:127.66, Z:9.18 [[ 6.81325088e-02 -9.97675523e-01 -1.22999503e-03 9.30088441e+02] [ 9.97472936e-01 6.81434606e-02 -2.01049969e-02 1.27655872e+02] [ 2.01420794e-02 1.42917128e-04 9.99797118e-01 9.18142192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.09, Y:127.68, Z:9.18 [[ 6.77465245e-02 -9.97701736e-01 -1.28664150e-03 9.30090484e+02] [ 9.97477844e-01 6.77585786e-02 -2.11358786e-02 1.27682839e+02] [ 2.11744838e-02 1.48485933e-04 9.99775784e-01 9.18057969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2992541539999 meters Centerline goodness [0,1] 0.9998685507722642 Centerline is valid? [True, True] Translation: X:930.09, Y:127.71, Z:9.18 [[ 6.64106293e-02 -9.97791422e-01 -1.38078465e-03 9.30092663e+02] [ 9.97530918e-01 6.64248414e-02 -2.27993097e-02 1.27710322e+02] [ 2.28406741e-02 1.36741130e-04 9.99739108e-01 9.17755022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.10, Y:127.74, Z:9.18 [[ 6.56093461e-02 -9.97844530e-01 -1.30659407e-03 9.30095400e+02] [ 9.97609056e-01 6.56222477e-02 -2.16769895e-02 1.27737983e+02] [ 2.17160071e-02 1.18743037e-04 9.99764173e-01 9.18072314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3592541539998 meters Centerline goodness [0,1] 0.9998685075608152 Centerline is valid? [True, True] Translation: X:930.10, Y:127.77, Z:9.18 [[ 6.44327049e-02 -9.97921171e-01 -1.32800215e-03 9.30098026e+02] [ 9.97675580e-01 6.44463090e-02 -2.21384244e-02 1.27766168e+02] [ 2.21779872e-02 1.01523251e-04 9.99754033e-01 9.17885975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3892541539999 meters Centerline goodness [0,1] 0.9998905548867243 Centerline is valid? [True, True] Translation: X:930.10, Y:127.79, Z:9.18 [[ 6.34676297e-02 -9.97983077e-01 -1.27970865e-03 9.30101051e+02] [ 9.97752875e-01 6.34804749e-02 -2.14343002e-02 1.27794236e+02] [ 2.14723054e-02 8.35512402e-05 9.99769440e-01 9.18043491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4192541539999 meters Centerline goodness [0,1] 0.9999343530493009 Centerline is valid? [True, True] Translation: X:930.10, Y:127.82, Z:9.18 [[ 6.33374280e-02 -9.97991434e-01 -1.21162054e-03 9.30103481e+02] [ 9.97783116e-01 6.33489621e-02 -2.03902633e-02 1.27822361e+02] [ 2.04260630e-02 8.25323100e-05 9.99791363e-01 9.18247995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4492541539998 meters Centerline goodness [0,1] 0.9999124304917028 Centerline is valid? [True, True] Translation: X:930.11, Y:127.85, Z:9.18 [[ 6.28697299e-02 -9.98021072e-01 -1.15650132e-03 9.30106341e+02] [ 9.97829406e-01 6.28803205e-02 -1.95586825e-02 1.27848990e+02] [ 1.95926985e-02 7.56580611e-05 9.99808042e-01 9.18292667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4792541539998 meters Centerline goodness [0,1] 0.999890418164285 Centerline is valid? [True, True] Translation: X:930.11, Y:127.88, Z:9.18 [[ 6.28469231e-02 -9.98022520e-01 -1.14661960e-03 9.30108395e+02] [ 9.97832223e-01 6.28573302e-02 -1.94887214e-02 1.27876557e+02] [ 1.95222562e-02 8.06721909e-05 9.99809419e-01 9.18337596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5092541539999 meters Centerline goodness [0,1] 0.9999121458379091 Centerline is valid? [True, True] Translation: X:930.11, Y:127.90, Z:9.18 [[ 6.42166446e-02 -9.97935330e-01 -1.13965797e-03 9.30109174e+02] [ 9.97745423e-01 6.42266570e-02 -1.94681253e-02 1.27904104e+02] [ 1.95011265e-02 1.13089165e-04 9.99809829e-01 9.18310050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5392541539999 meters Centerline goodness [0,1] 0.9998898168756474 Centerline is valid? [True, True] Translation: X:930.11, Y:127.93, Z:9.18 [[ 6.50033363e-02 -9.97884384e-01 -1.14970180e-03 9.30110554e+02] [ 9.97689124e-01 6.50133603e-02 -1.97401694e-02 1.27932568e+02] [ 1.97731528e-02 1.36131888e-04 9.99804483e-01 9.18320404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5692541539999 meters Centerline goodness [0,1] 0.9999779929577465 Centerline is valid? [True, True] Translation: X:930.11, Y:127.96, Z:9.19 [[ 6.80897297e-02 -9.97678565e-01 -1.12699481e-03 9.30111178e+02] [ 9.97489099e-01 6.80987629e-02 -1.94436827e-02 1.27961086e+02] [ 1.94752924e-02 1.99750064e-04 9.99810319e-01 9.18528807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.11, Y:127.99, Z:9.19 [[ 6.94596804e-02 -9.97584130e-01 -1.12068132e-03 9.30111128e+02] [ 9.97395043e-01 6.94683351e-02 -1.94236811e-02 1.27988415e+02] [ 1.94546079e-02 2.31400694e-04 9.99810714e-01 9.18528488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.11, Y:128.02, Z:9.19 [[ 7.16104555e-02 -9.97432013e-01 -1.15014242e-03 9.30111610e+02] [ 9.97230929e-01 7.16191147e-02 -2.00293866e-02 1.28016531e+02] [ 2.00603235e-02 2.87355901e-04 9.99798730e-01 9.18579899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6592541539999 meters Centerline goodness [0,1] 0.9998903821279022 Centerline is valid? [True, True] Translation: X:930.11, Y:128.05, Z:9.18 [[ 7.17184586e-02 -9.97424159e-01 -1.22838973e-03 9.30113091e+02] [ 9.97192491e-01 7.17282777e-02 -2.14985939e-02 1.28045065e+02] [ 2.15313272e-02 3.16905005e-04 9.99768124e-01 9.18426591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.11, Y:128.07, Z:9.19 [[ 7.25615559e-02 -9.97363227e-01 -1.18881705e-03 9.30113331e+02] [ 9.97144069e-01 7.25705351e-02 -2.09098952e-02 1.28072105e+02] [ 2.09410337e-02 3.31832655e-04 9.99780657e-01 9.18568185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.12, Y:128.10, Z:9.19 [[ 7.33167767e-02 -9.97308001e-01 -1.18362209e-03 9.30115834e+02] [ 9.97088485e-01 7.33254752e-02 -2.09267203e-02 1.28100433e+02] [ 2.09571752e-02 3.54103722e-04 9.99780312e-01 9.18664742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.12, Y:128.13, Z:9.19 [[ 7.27302091e-02 -9.97350944e-01 -1.18762620e-03 9.30116858e+02] [ 9.97127598e-01 7.27390579e-02 -2.11088511e-02 1.28127940e+02] [ 2.11393194e-02 3.51036295e-04 9.99776478e-01 9.18616971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7792541539999 meters Centerline goodness [0,1] 0.9999121593429519 Centerline is valid? [True, True] Translation: X:930.12, Y:128.16, Z:9.19 [[ 7.04252372e-02 -9.97516300e-01 -1.23173886e-03 9.30120897e+02] [ 9.97273504e-01 7.04352735e-02 -2.20097743e-02 1.28156223e+02] [ 2.20418665e-02 3.21663051e-04 9.99756997e-01 9.18559838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8092541539999 meters Centerline goodness [0,1] 0.9999779852060585 Centerline is valid? [True, True] Translation: X:930.12, Y:128.18, Z:9.19 [[ 6.91684890e-02 -9.97604291e-01 -1.18257861e-03 9.30123562e+02] [ 9.97378246e-01 6.91779918e-02 -2.12377147e-02 1.28184606e+02] [ 2.12686437e-02 2.89502457e-04 9.99773755e-01 9.18688869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.13, Y:128.21, Z:9.19 [[ 6.77201006e-02 -9.97703649e-01 -1.19057644e-03 9.30126489e+02] [ 9.97472177e-01 6.77300358e-02 -2.14918308e-02 1.28212737e+02] [ 2.15231158e-02 2.67862077e-04 9.99768315e-01 9.18804772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8692541539998 meters Centerline goodness [0,1] 0.9998455802872207 Centerline is valid? [True, True] Translation: X:930.13, Y:128.24, Z:9.19 [[ 6.46328753e-02 -9.97908385e-01 -1.20269892e-03 9.30130675e+02] [ 9.97669754e-01 6.46437213e-02 -2.18231948e-02 1.28240396e+02] [ 2.18552960e-02 2.10599489e-04 9.99761122e-01 9.18737156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.13, Y:128.27, Z:9.19 [[ 6.30464115e-02 -9.98009939e-01 -1.14569607e-03 9.30134449e+02] [ 9.97791551e-01 6.30565830e-02 -2.08779490e-02 1.28266890e+02] [ 2.09086442e-02 1.73113902e-04 9.99781375e-01 9.18976314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9292541539999 meters Centerline goodness [0,1] 0.999933532735128 Centerline is valid? [True, True] Translation: X:930.14, Y:128.29, Z:9.19 [[ 6.16747426e-02 -9.98095634e-01 -1.15370815e-03 9.30137172e+02] [ 9.97872146e-01 6.16853467e-02 -2.11210547e-02 1.28294437e+02] [ 2.11519993e-02 1.51382381e-04 9.99776260e-01 9.18962452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9592541539998 meters Centerline goodness [0,1] 0.9999336077546143 Centerline is valid? [True, True] Translation: X:930.14, Y:128.32, Z:9.19 [[ 6.05233297e-02 -9.98166151e-01 -1.12328183e-03 9.30139050e+02] [ 9.97952037e-01 6.05336124e-02 -2.06740089e-02 1.28321084e+02] [ 2.07040922e-02 1.30278467e-04 9.99785639e-01 9.18993964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9892541539998 meters Centerline goodness [0,1] 0.9999112629500633 Centerline is valid? [True, True] Translation: X:930.14, Y:128.35, Z:9.19 [[ 6.06400813e-02 -9.98159132e-01 -1.06173953e-03 9.30140572e+02] [ 9.97965816e-01 6.06492326e-02 -1.96443605e-02 1.28349334e+02] [ 1.96725915e-02 1.31655862e-04 9.99806467e-01 9.19153497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:128.38, Z:9.19 [[ 6.05722743e-02 -9.98163260e-01 -1.05204845e-03 9.30140954e+02] [ 9.97971725e-01 6.05812605e-02 -1.95537072e-02 1.28376312e+02] [ 1.95815266e-02 1.34497908e-04 9.99808254e-01 9.19112698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0492541539999 meters Centerline goodness [0,1] 0.9998676227247656 Centerline is valid? [True, True] Translation: X:930.14, Y:128.40, Z:9.19 [[ 6.14808367e-02 -9.98107668e-01 -1.09087980e-03 9.30141219e+02] [ 9.97899750e-01 6.14902954e-02 -2.03723510e-02 1.28404519e+02] [ 2.04008783e-02 1.63920508e-04 9.99791867e-01 9.18997164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0792541539998 meters Centerline goodness [0,1] 0.9998236137140337 Centerline is valid? [True, True] Translation: X:930.14, Y:128.43, Z:9.19 [[ 6.33217825e-02 -9.97992500e-01 -1.14936815e-03 9.30140688e+02] [ 9.97759185e-01 6.33318319e-02 -2.15797812e-02 1.28433068e+02] [ 2.16092514e-02 2.19677577e-04 9.99766469e-01 9.18856317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:128.46, Z:9.19 [[ 6.44956006e-02 -9.97917392e-01 -1.09390845e-03 9.30140842e+02] [ 9.97703854e-01 6.45044300e-02 -2.06445721e-02 1.28461003e+02] [ 2.06721395e-02 2.40087399e-04 9.99786280e-01 9.19136603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1392541539999 meters Centerline goodness [0,1] 0.999955834290257 Centerline is valid? [True, True] Translation: X:930.14, Y:128.49, Z:9.19 [[ 6.54324840e-02 -9.97856360e-01 -1.12883846e-03 9.30140914e+02] [ 9.97626961e-01 6.54416474e-02 -2.13971369e-02 1.28489006e+02] [ 2.14251422e-02 2.73908136e-04 9.99770418e-01 9.19044949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1692541539999 meters Centerline goodness [0,1] 0.9999336562064619 Centerline is valid? [True, True] Translation: X:930.14, Y:128.52, Z:9.19 [[ 6.66907676e-02 -9.97773029e-01 -1.15079827e-03 9.30140298e+02] [ 9.97532482e-01 6.66999602e-02 -2.19103284e-02 1.28517452e+02] [ 2.19382929e-02 3.13257962e-04 9.99759278e-01 9.18936838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:128.54, Z:9.19 [[ 6.81346372e-02 -9.97675519e-01 -1.10941091e-03 9.30139771e+02] [ 9.97449524e-01 6.81428186e-02 -2.12368552e-02 1.28544578e+02] [ 2.12630889e-02 3.40384042e-04 9.99773857e-01 9.19088924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2292541539998 meters Centerline goodness [0,1] 0.9998681376642785 Centerline is valid? [True, True] Translation: X:930.14, Y:128.57, Z:9.19 [[ 6.77597639e-02 -9.97700998e-01 -1.15417824e-03 9.30140523e+02] [ 9.97453604e-01 6.77686665e-02 -2.22197382e-02 1.28572599e+02] [ 2.22468721e-02 3.54364969e-04 9.99752445e-01 9.18882810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:128.60, Z:9.19 [[ 6.82305212e-02 -9.97668981e-01 -1.09596882e-03 9.30141176e+02] [ 9.97443435e-01 6.82384024e-02 -2.12158996e-02 1.28599426e+02] [ 2.12412321e-02 3.54404983e-04 9.99774317e-01 9.19138765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:128.63, Z:9.19 [[ 6.79873523e-02 -9.97685596e-01 -1.08235097e-03 9.30142662e+02] [ 9.97463142e-01 6.79950514e-02 -2.10701921e-02 1.28627627e+02] [ 2.10950217e-02 3.52901376e-04 9.99777413e-01 9.19210470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:128.66, Z:9.19 [[ 6.67203072e-02 -9.97771182e-01 -1.03399266e-03 9.30144548e+02] [ 9.97565921e-01 6.67275565e-02 -2.02402316e-02 1.28655803e+02] [ 2.02641156e-02 3.18958631e-04 9.99794611e-01 9.19362601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3492541539998 meters Centerline goodness [0,1] 0.9999120917761857 Centerline is valid? [True, True] Translation: X:930.15, Y:128.68, Z:9.19 [[ 6.41759483e-02 -9.97938092e-01 -1.00627947e-03 9.30145093e+02] [ 9.97741857e-01 6.41832854e-02 -1.97912495e-02 1.28682883e+02] [ 1.98150281e-02 2.66115063e-04 9.99803628e-01 9.19211512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.15, Y:128.71, Z:9.19 [[ 6.28933073e-02 -9.98019839e-01 -9.12519164e-04 9.30147665e+02] [ 9.97856979e-01 6.28995299e-02 -1.80304849e-02 1.28710864e+02] [ 1.80521786e-02 2.23433209e-04 9.99837021e-01 9.19471756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4092541539999 meters Centerline goodness [0,1] 0.9998901123052241 Centerline is valid? [True, True] Translation: X:930.15, Y:128.74, Z:9.19 [[ 6.04713102e-02 -9.98169504e-01 -9.28270960e-04 9.30149822e+02] [ 9.97999015e-01 6.04781385e-02 -1.84488577e-02 1.28739320e+02] [ 1.84712272e-02 1.89213092e-04 9.99829374e-01 9.19394332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.15, Y:128.77, Z:9.20 [[ 5.70946859e-02 -9.98368448e-01 -7.98981105e-04 9.30153079e+02] [ 9.98241018e-01 5.71001640e-02 -1.59512127e-02 1.28766506e+02] [ 1.59708094e-02 1.13153767e-04 9.99872452e-01 9.19721543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:128.79, Z:9.20 [[ 5.49792523e-02 -9.98487181e-01 -7.94596836e-04 9.30155435e+02] [ 9.98359996e-01 5.49849315e-02 -1.59366322e-02 1.28794263e+02] [ 1.59562138e-02 8.28904308e-05 9.99872688e-01 9.19758142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4992541539999 meters Centerline goodness [0,1] 0.9998465046925709 Centerline is valid? [True, True] Translation: X:930.16, Y:128.82, Z:9.19 [[ 5.01867309e-02 -9.98739497e-01 -8.41806899e-04 9.30158368e+02] [ 9.98595087e-01 5.01937891e-02 -1.69833943e-02 1.28822318e+02] [ 1.70042402e-02 1.17168062e-05 9.99855417e-01 9.19477897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5292541539999 meters Centerline goodness [0,1] 0.9998243958118401 Centerline is valid? [True, True] Translation: X:930.16, Y:128.85, Z:9.19 [[ 4.79801035e-02 -9.98847924e-01 -8.56462535e-04 9.30160101e+02] [ 9.98696686e-01 4.79877422e-02 -1.73811837e-02 1.28850081e+02] [ 1.74022590e-02 -2.13952997e-05 9.99848569e-01 9.19459975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5592541539999 meters Centerline goodness [0,1] 0.99986856516977 Centerline is valid? [True, True] Translation: X:930.16, Y:128.88, Z:9.19 [[ 4.47174560e-02 -9.98999275e-01 -8.93083795e-04 9.30162016e+02] [ 9.98832781e-01 4.47263080e-02 -1.82382551e-02 1.28876842e+02] [ 1.82599480e-02 -7.64729994e-05 9.99833270e-01 9.19305825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5892541539998 meters Centerline goodness [0,1] 0.99986856516977 Centerline is valid? [True, True] Translation: X:930.16, Y:128.90, Z:9.19 [[ 4.44344285e-02 -9.99011909e-01 -8.87689244e-04 9.30163280e+02] [ 9.98845411e-01 4.44432291e-02 -1.82385181e-02 1.28904408e+02] [ 1.82599485e-02 -7.62462022e-05 9.99833270e-01 9.19331557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:128.93, Z:9.20 [[ 4.32213024e-02 -9.99065152e-01 -8.60920839e-04 9.30164874e+02] [ 9.98906716e-01 4.32297801e-02 -1.77921131e-02 1.28932925e+02] [ 1.78126976e-02 -9.09813055e-05 9.99841337e-01 9.19573540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6492541539999 meters Centerline goodness [0,1] 0.999977998767931 Centerline is valid? [True, True] Translation: X:930.17, Y:128.96, Z:9.20 [[ 4.01387232e-02 -9.99193721e-01 -8.89532959e-04 9.30166935e+02] [ 9.99022578e-01 4.01483118e-02 -1.84933044e-02 1.28961165e+02] [ 1.85141068e-02 -1.46365885e-04 9.99828589e-01 9.19518455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6792541539999 meters Centerline goodness [0,1] 0.999824079164376 Centerline is valid? [True, True] Translation: X:930.17, Y:128.99, Z:9.19 [[ 3.83447597e-02 -9.99264112e-01 -9.56020593e-04 9.30168566e+02] [ 9.99064106e-01 3.83562125e-02 -1.99928466e-02 1.28989312e+02] [ 2.00148035e-02 -1.88504960e-04 9.99799666e-01 9.19238963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7092541539998 meters Centerline goodness [0,1] 0.9999560342932513 Centerline is valid? [True, True] Translation: X:930.17, Y:129.02, Z:9.19 [[ 3.74361452e-02 -9.99298598e-01 -9.19980883e-04 9.30170118e+02] [ 9.99111189e-01 3.74469417e-02 -1.93535053e-02 1.29016270e+02] [ 1.93743812e-02 -1.94642561e-04 9.99812280e-01 9.19419613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7392541539998 meters Centerline goodness [0,1] 0.9998679751793337 Centerline is valid? [True, True] Translation: X:930.17, Y:129.04, Z:9.19 [[ 3.61106836e-02 -9.99347369e-01 -9.24897978e-04 9.30170622e+02] [ 9.99155610e-01 3.61218735e-02 -1.95774855e-02 1.29044673e+02] [ 1.95981177e-02 -2.17160619e-04 9.99807915e-01 9.19336556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.17, Y:129.07, Z:9.20 [[ 3.62977525e-02 -9.99340648e-01 -8.61794746e-04 9.30170972e+02] [ 9.99172193e-01 3.63074577e-02 -1.83493224e-02 1.29071863e+02] [ 1.83685133e-02 -1.95042184e-04 9.99831266e-01 9.19551281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7992541539999 meters Centerline goodness [0,1] 0.9999780422467173 Centerline is valid? [True, True] Translation: X:930.17, Y:129.10, Z:9.20 [[ 3.70016404e-02 -9.99314831e-01 -8.64789748e-04 9.30169857e+02] [ 9.99143101e-01 3.70113141e-02 -1.85263637e-02 1.29100515e+02] [ 1.85456770e-02 -1.78542864e-04 9.99827998e-01 9.19541918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.17, Y:129.13, Z:9.20 [[ 3.77302761e-02 -9.99287591e-01 -8.58155858e-04 9.30170063e+02] [ 9.99116564e-01 3.77396955e-02 -1.84880176e-02 1.29126693e+02] [ 1.85072331e-02 -1.59839725e-04 9.99828714e-01 9.19592207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8592541539998 meters Centerline goodness [0,1] 0.9999124669015471 Centerline is valid? [True, True] Translation: X:930.17, Y:129.15, Z:9.19 [[ 3.77863698e-02 -9.99285454e-01 -8.78500698e-04 9.30169832e+02] [ 9.99103966e-01 3.77962501e-02 -1.90449323e-02 1.29152637e+02] [ 1.90645278e-02 -1.58074677e-04 9.99818243e-01 9.19445760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8892541539999 meters Centerline goodness [0,1] 0.9998689384010485 Centerline is valid? [True, True] Translation: X:930.17, Y:129.18, Z:9.20 [[ 3.94309163e-02 -9.99221929e-01 -8.59536614e-04 9.30168038e+02] [ 9.99045897e-01 3.94401035e-02 -1.87556163e-02 1.29181184e+02] [ 1.87749234e-02 -1.19165390e-04 9.99823728e-01 9.19503842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9192541539999 meters Centerline goodness [0,1] 0.999956252597502 Centerline is valid? [True, True] Translation: X:930.17, Y:129.21, Z:9.20 [[ 4.07535106e-02 -9.99168878e-01 -8.39275610e-04 9.30167040e+02] [ 9.98998932e-01 4.07620579e-02 -1.84279207e-02 1.29209037e+02] [ 1.84468155e-02 -8.74329748e-05 9.99829839e-01 9.19795031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9492541539998 meters Centerline goodness [0,1] 0.9999564668495059 Centerline is valid? [True, True] Translation: X:930.16, Y:129.24, Z:9.20 [[ 4.26595092e-02 -9.99089320e-01 -8.34878885e-04 9.30164738e+02] [ 9.98918866e-01 4.26676525e-02 -1.84545778e-02 1.29236743e+02] [ 1.84733939e-02 -4.67130361e-05 9.99829351e-01 9.19749301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9792541539998 meters Centerline goodness [0,1] 0.9998042371775351 Centerline is valid? [True, True] Translation: X:930.16, Y:129.26, Z:9.20 [[ 4.28081914e-02 -9.99082944e-01 -8.54483327e-04 9.30164084e+02] [ 9.98901957e-01 4.28167004e-02 -1.90160699e-02 1.29264493e+02] [ 1.90352172e-02 -3.95015087e-05 9.99818813e-01 9.19588716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0092541539999 meters Centerline goodness [0,1] 0.9998693578940493 Centerline is valid? [True, True] Translation: X:930.16, Y:129.29, Z:9.20 [[ 4.38125651e-02 -9.99039434e-01 -8.17066349e-04 9.30162787e+02] [ 9.98872124e-01 4.38201806e-02 -1.82830844e-02 1.29291801e+02] [ 1.83013263e-02 -1.51159723e-05 9.99832517e-01 9.19698917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:129.32, Z:9.20 [[ 4.39077179e-02 -9.99035285e-01 -7.81696260e-04 9.30163422e+02] [ 9.98880482e-01 4.39146748e-02 -1.75864816e-02 1.29320100e+02] [ 1.76038436e-02 -8.63886501e-06 9.99845040e-01 9.20024886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0692541539999 meters Centerline goodness [0,1] 0.9998699468949821 Centerline is valid? [True, True] Translation: X:930.16, Y:129.35, Z:9.20 [[ 4.23874298e-02 -9.99100966e-01 -7.52425538e-04 9.30163710e+02] [ 9.98955715e-01 4.23940972e-02 -1.70358641e-02 1.29348399e+02] [ 1.70524467e-02 -2.95332972e-05 9.99854596e-01 9.19932716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0992541539998 meters Centerline goodness [0,1] 0.9999783587257618 Centerline is valid? [True, True] Translation: X:930.16, Y:129.38, Z:9.20 [[ 4.14944108e-02 -9.99138477e-01 -7.19345675e-04 9.30164822e+02] [ 9.99004016e-01 4.15006278e-02 -1.63912951e-02 1.29376719e+02] [ 1.64070270e-02 -3.84820835e-05 9.99865395e-01 9.20207397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1292541539999 meters Centerline goodness [0,1] 0.9999135378163976 Centerline is valid? [True, True] Translation: X:930.17, Y:129.41, Z:9.20 [[ 3.87257659e-02 -9.99249630e-01 -7.00960634e-04 9.30165106e+02] [ 9.99120310e-01 3.87320312e-02 -1.60759536e-02 1.29405169e+02] [ 1.60910404e-02 -7.77903885e-05 9.99870528e-01 9.20120234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1592541539999 meters Centerline goodness [0,1] 0.9998700567418893 Centerline is valid? [True, True] Translation: X:930.17, Y:129.43, Z:9.20 [[ 3.70071564e-02 -9.99314762e-01 -6.90346427e-04 9.30165779e+02] [ 9.99187690e-01 3.70134596e-02 -1.59362344e-02 1.29432780e+02] [ 1.59508664e-02 -1.00030933e-04 9.99872772e-01 9.20071451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1892541539999 meters Centerline goodness [0,1] 0.9999135359474298 Centerline is valid? [True, True] Translation: X:930.17, Y:129.46, Z:9.20 [[ 3.48852398e-02 -9.99391078e-01 -7.03034453e-04 9.30166180e+02] [ 9.99257524e-01 3.48920714e-02 -1.63384360e-02 1.29460692e+02] [ 1.63530175e-02 -1.32542209e-04 9.99866272e-01 9.20110419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2192541539998 meters Centerline goodness [0,1] 0.9999132132783685 Centerline is valid? [True, True] Translation: X:930.17, Y:129.49, Z:9.20 [[ 3.38846930e-02 -9.99425485e-01 -7.26410504e-04 9.30166737e+02] [ 9.99280937e-01 3.38921469e-02 -1.69979936e-02 1.29488457e+02] [ 1.70128476e-02 -1.49916373e-04 9.99855260e-01 9.20089520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2492541539999 meters Centerline goodness [0,1] 0.9997841291771005 Centerline is valid? [True, True] Translation: X:930.17, Y:129.52, Z:9.20 [[ 3.35059171e-02 -9.99438200e-01 -7.99318709e-04 9.30166334e+02] [ 9.99260796e-01 3.35150301e-02 -1.88309303e-02 1.29515863e+02] [ 1.88471403e-02 -1.67780260e-04 9.99822363e-01 9.19818062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.17, Y:129.54, Z:9.20 [[ 3.41321423e-02 -9.99417029e-01 -7.73783038e-04 9.30166344e+02] [ 9.99248677e-01 3.41405953e-02 -1.83439552e-02 1.29543470e+02] [ 1.83596786e-02 -1.47083189e-04 9.99831436e-01 9.20119262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3092541539999 meters Centerline goodness [0,1] 0.9998274188329198 Centerline is valid? [True, True] Translation: X:930.16, Y:129.57, Z:9.20 [[ 3.56989662e-02 -9.99362230e-01 -8.46618417e-04 9.30163737e+02] [ 9.99157748e-01 3.57087877e-02 -2.02157701e-02 1.29570654e+02] [ 2.02331088e-02 -1.24223256e-04 9.99795282e-01 9.19787271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3392541539998 meters Centerline goodness [0,1] 0.9999568761050498 Centerline is valid? [True, True] Translation: X:930.16, Y:129.60, Z:9.20 [[ 3.70757798e-02 -9.99312127e-01 -8.12062478e-04 9.30162538e+02] [ 9.99121423e-01 3.70845686e-02 -1.95222034e-02 1.29598709e+02] [ 1.95388896e-02 -8.75481029e-05 9.99809094e-01 9.19981511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3692541539998 meters Centerline goodness [0,1] 0.9997852372055065 Centerline is valid? [True, True] Translation: X:930.16, Y:129.63, Z:9.20 [[ 3.79413402e-02 -9.99279609e-01 -8.47805458e-04 9.30160993e+02] [ 9.99068838e-01 3.79507497e-02 -2.05231009e-02 1.29627391e+02] [ 2.05404911e-02 -6.83420603e-05 9.99789020e-01 9.19774817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3992541539999 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:930.16, Y:129.65, Z:9.20 [[ 4.17707423e-02 -9.99126916e-01 -7.81037532e-04 9.30157385e+02] [ 9.98945972e-01 4.17780413e-02 -1.90142118e-02 1.29654990e+02] [ 1.90302410e-02 1.40234428e-05 9.99818908e-01 9.20092070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4292541539999 meters Centerline goodness [0,1] 0.9998921134966016 Centerline is valid? [True, True] Translation: X:930.15, Y:129.68, Z:9.20 [[ 4.47913192e-02 -9.98996038e-01 -8.08481078e-04 9.30154074e+02] [ 9.98799704e-01 4.47985444e-02 -1.98051197e-02 1.29683277e+02] [ 1.98214548e-02 7.95867746e-05 9.99803533e-01 9.20077822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.15, Y:129.71, Z:9.20 [[ 4.66852099e-02 -9.98909353e-01 -7.71669547e-04 9.30152449e+02] [ 9.98727882e-01 4.66914374e-02 -1.90401297e-02 1.29710195e+02] [ 1.90553940e-02 1.18204561e-04 9.99818423e-01 9.20218620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.15, Y:129.74, Z:9.20 [[ 4.79001518e-02 -9.98851823e-01 -7.82228024e-04 9.30151636e+02] [ 9.98662556e-01 4.79063029e-02 -1.94444011e-02 1.29737869e+02] [ 1.94595491e-02 1.50207926e-04 9.99810634e-01 9.20282405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5192541539999 meters Centerline goodness [0,1] 0.9999358329946741 Centerline is valid? [True, True] Translation: X:930.15, Y:129.77, Z:9.20 [[ 4.92656988e-02 -9.98785404e-01 -7.79534635e-04 9.30149681e+02] [ 9.98594635e-01 4.92715248e-02 -1.95210512e-02 1.29765128e+02] [ 1.95357499e-02 1.83279125e-04 9.99809142e-01 9.20171849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5492541539999 meters Centerline goodness [0,1] 0.9999359207125617 Centerline is valid? [True, True] Translation: X:930.15, Y:129.79, Z:9.20 [[ 5.15497325e-02 -9.98670153e-01 -7.42018719e-04 9.30148202e+02] [ 9.98494832e-01 5.15545870e-02 -1.87135155e-02 1.29793727e+02] [ 1.87268838e-02 2.23774861e-04 9.99824612e-01 9.20312928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5792541539998 meters Centerline goodness [0,1] 0.9999786178583647 Centerline is valid? [True, True] Translation: X:930.15, Y:129.82, Z:9.20 [[ 5.31319164e-02 -9.98587269e-01 -6.82937161e-04 9.30145047e+02] [ 9.98436668e-01 5.31357650e-02 -1.73438621e-02 1.29820661e+02] [ 1.73556483e-02 2.39643127e-04 9.99849351e-01 9.20435088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6092541539998 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:930.15, Y:129.85, Z:9.21 [[ 5.31868132e-02 -9.98584359e-01 -6.64114547e-04 9.30145001e+02] [ 9.98439712e-01 5.31904134e-02 -1.69976650e-02 1.29847270e+02] [ 1.70089270e-02 2.40973297e-04 9.99855309e-01 9.20506168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.15, Y:129.87, Z:9.21 [[ 5.28301285e-02 -9.98603296e-01 -6.59172625e-04 9.30147877e+02] [ 9.98458545e-01 5.28336948e-02 -1.70039595e-02 1.29874776e+02] [ 1.70150365e-02 2.40164823e-04 9.99855205e-01 9.20736292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.15, Y:129.90, Z:9.21 [[ 5.16496482e-02 -9.98665048e-01 -6.60522684e-04 9.30148178e+02] [ 9.98517502e-01 5.16533721e-02 -1.71676469e-02 1.29902487e+02] [ 1.71788472e-02 2.27159463e-04 9.99852407e-01 9.20717399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6992541539998 meters Centerline goodness [0,1] 0.9999358110276655 Centerline is valid? [True, True] Translation: X:930.15, Y:129.93, Z:9.21 [[ 5.02188376e-02 -9.98738016e-01 -6.66079406e-04 9.30148963e+02] [ 9.98585637e-01 5.02228113e-02 -1.74469432e-02 1.29929167e+02] [ 1.74583778e-02 2.11027877e-04 9.99847569e-01 9.20538654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7292541539998 meters Centerline goodness [0,1] 0.9996792747332635 Centerline is valid? [True, True] Translation: X:930.15, Y:129.96, Z:9.20 [[ 4.74183572e-02 -9.98874866e-01 -7.07906021e-04 9.30151601e+02] [ 9.98699944e-01 4.74233016e-02 -1.86936291e-02 1.29956881e+02] [ 1.87061675e-02 1.79435479e-04 9.99825008e-01 9.20429086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.15, Y:129.99, Z:9.21 [[ 4.62166039e-02 -9.98931209e-01 -6.81492502e-04 9.30153379e+02] [ 9.98766596e-01 4.62213599e-02 -1.81348479e-02 1.29985099e+02] [ 1.81469651e-02 1.57479137e-04 9.99835318e-01 9.20750071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:130.01, Z:9.21 [[ 4.27495471e-02 -9.99085578e-01 -6.96407814e-04 9.30156090e+02] [ 9.98911303e-01 4.27550973e-02 -1.86604241e-02 1.30012213e+02] [ 1.86731356e-02 1.02075042e-04 9.99825637e-01 9.20719068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8192541539999 meters Centerline goodness [0,1] 0.9999785880992655 Centerline is valid? [True, True] Translation: X:930.16, Y:130.04, Z:9.21 [[ 4.09765090e-02 -9.99159856e-01 -7.13254739e-04 9.30158495e+02] [ 9.98974511e-01 4.09826456e-02 -1.92444761e-02 1.30040099e+02] [ 1.92575390e-02 7.60481441e-05 9.99814554e-01 9.20705654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:130.07, Z:9.21 [[ 3.77112672e-02 -9.99288409e-01 -7.32777019e-04 9.30161588e+02] [ 9.99089652e-01 3.77183809e-02 -1.99296677e-02 1.30068468e+02] [ 1.99431251e-02 1.94630892e-05 9.99801116e-01 9.20738360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:130.10, Z:9.21 [[ 3.62909489e-02 -9.99340997e-01 -7.33825328e-04 9.30163665e+02] [ 9.99138471e-01 3.62983672e-02 -2.01182820e-02 1.30096633e+02] [ 2.01316606e-02 -3.08157279e-06 9.99797338e-01 9.20782725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9092541539999 meters Centerline goodness [0,1] 0.9999140191737242 Centerline is valid? [True, True] Translation: X:930.17, Y:130.12, Z:9.21 [[ 3.39428326e-02 -9.99423470e-01 -7.82161698e-04 9.30166396e+02] [ 9.99189776e-01 3.39518094e-02 -2.16117106e-02 1.30123814e+02] [ 2.16258066e-02 -4.79652979e-05 9.99766134e-01 9.20566053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9392541539999 meters Centerline goodness [0,1] 0.9996995385771006 Centerline is valid? [True, True] Translation: X:930.17, Y:130.15, Z:9.20 [[ 3.28267921e-02 -9.99460719e-01 -8.19757944e-04 9.30168080e+02] [ 9.99200248e-01 3.28369512e-02 -2.28166626e-02 1.30150901e+02] [ 2.28312764e-02 -7.01045014e-05 9.99739330e-01 9.20316054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9692541539998 meters Centerline goodness [0,1] 0.9998927843894071 Centerline is valid? [True, True] Translation: X:930.17, Y:130.18, Z:9.21 [[ 3.26922455e-02 -9.99465156e-01 -7.86647524e-04 9.30169590e+02] [ 9.99221714e-01 3.27016440e-02 -2.20583104e-02 1.30179162e+02] [ 2.20722374e-02 -6.48995872e-05 9.99756376e-01 9.20547371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.17, Y:130.21, Z:9.21 [[ 3.26571777e-02 -9.99466322e-01 -7.61835944e-04 9.30171709e+02] [ 9.99234379e-01 3.26660109e-02 -2.15310818e-02 1.30206911e+02] [ 2.15444772e-02 -5.81083037e-05 9.99767889e-01 9.20820711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0292541539999 meters Centerline goodness [0,1] 0.9998708455312554 Centerline is valid? [True, True] Translation: X:930.17, Y:130.23, Z:9.21 [[ 3.16853280e-02 -9.99497589e-01 -7.80307290e-04 9.30173491e+02] [ 9.99250229e-01 3.16948456e-02 -2.22354639e-02 1.30234889e+02] [ 2.22490243e-02 -7.51842713e-05 9.99752457e-01 9.20723546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0592541539999 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:930.18, Y:130.26, Z:9.21 [[ 3.15543214e-02 -9.99501785e-01 -7.11241165e-04 9.30175590e+02] [ 9.99292955e-01 3.15622670e-02 -2.04307076e-02 1.30262282e+02] [ 2.04429771e-02 -6.60611703e-05 9.99791018e-01 9.20896992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0892541539998 meters Centerline goodness [0,1] 0.9997852787082367 Centerline is valid? [True, True] Translation: X:930.18, Y:130.29, Z:9.21 [[ 3.06332523e-02 -9.99530417e-01 -7.41498189e-04 9.30177495e+02] [ 9.99299562e-01 3.06421130e-02 -2.14812996e-02 1.30290630e+02] [ 2.14939334e-02 -8.29367441e-05 9.99768975e-01 9.20769069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.18, Y:130.32, Z:9.21 [[ 3.09617287e-02 -9.99520344e-01 -6.72973414e-04 9.30178823e+02] [ 9.99327108e-01 3.09689754e-02 -1.96533169e-02 1.30318717e+02] [ 1.96647313e-02 -6.40199114e-05 9.99806628e-01 9.21187485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.18, Y:130.35, Z:9.21 [[ 3.20956355e-02 -9.99484589e-01 -6.52441801e-04 9.30180200e+02] [ 9.99299860e-01 3.21022468e-02 -1.92155065e-02 1.30346785e+02] [ 1.92265474e-02 -3.52511100e-05 9.99815152e-01 9.21227461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.18, Y:130.37, Z:9.21 [[ 3.28748473e-02 -9.99459267e-01 -6.46237359e-04 9.30181002e+02] [ 9.99275327e-01 3.28811948e-02 -1.91741721e-02 1.30373706e+02] [ 1.91850530e-02 -1.54210694e-05 9.99815950e-01 9.21185787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2092541539998 meters Centerline goodness [0,1] 0.9999354297152451 Centerline is valid? [True, True] Translation: X:930.18, Y:130.40, Z:9.21 [[ 3.36630546e-02 -9.99433038e-01 -6.34038817e-04 9.30181442e+02] [ 9.99253343e-01 3.36690248e-02 -1.89513580e-02 1.30401595e+02] [ 1.89619608e-02 4.39519180e-06 9.99820206e-01 9.21193958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2392541539998 meters Centerline goodness [0,1] 0.999721323072306 Centerline is valid? [True, True] Translation: X:930.18, Y:130.43, Z:9.21 [[ 3.50042026e-02 -9.99386908e-01 -7.16281847e-04 9.30181799e+02] [ 9.99153501e-01 3.50115071e-02 -2.15980607e-02 1.30430163e+02] [ 2.16098972e-02 4.03473760e-05 9.99766478e-01 9.20804298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2692541539999 meters Centerline goodness [0,1] 0.9998064516129033 Centerline is valid? [True, True] Translation: X:930.18, Y:130.46, Z:9.21 [[ 3.57798682e-02 -9.99359441e-01 -7.13230820e-04 9.30182739e+02] [ 9.99124076e-01 3.57869200e-02 -2.16882026e-02 1.30458036e+02] [ 2.16998344e-02 6.33949459e-05 9.99764529e-01 9.20880539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.18, Y:130.49, Z:9.21 [[ 3.73736273e-02 -9.99301144e-01 -6.59879703e-04 9.30183978e+02] [ 9.99096240e-01 3.73793265e-02 -2.02358293e-02 1.30486162e+02] [ 2.02463533e-02 9.70030140e-05 9.99795017e-01 9.21089157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3292541539998 meters Centerline goodness [0,1] 0.9998924731182796 Centerline is valid? [True, True] Translation: X:930.18, Y:130.51, Z:9.21 [[ 3.78399859e-02 -9.99283582e-01 -6.76340337e-04 9.30184862e+02] [ 9.99064463e-01 3.78458516e-02 -2.09258158e-02 1.30513830e+02] [ 2.09364208e-02 1.16124979e-04 9.99780802e-01 9.21027791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3592541539998 meters Centerline goodness [0,1] 0.9998703907718229 Centerline is valid? [True, True] Translation: X:930.19, Y:130.54, Z:9.21 [[ 3.90538756e-02 -9.99236854e-01 -7.10023158e-04 9.30186033e+02] [ 9.98991042e-01 3.90600169e-02 -2.21633197e-02 1.30542097e+02] [ 2.21741394e-02 1.56256757e-04 9.99754111e-01 9.20958755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3892541539999 meters Centerline goodness [0,1] 0.9998487663656397 Centerline is valid? [True, True] Translation: X:930.19, Y:130.57, Z:9.21 [[ 3.97142504e-02 -9.99210829e-01 -7.05541178e-04 9.30186464e+02] [ 9.98963784e-01 3.97201201e-02 -2.22187070e-02 1.30570061e+02] [ 2.22291969e-02 1.77589211e-04 9.99752885e-01 9.20933294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4192541539999 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:930.19, Y:130.60, Z:9.21 [[ 4.13241925e-02 -9.99145575e-01 -6.56425153e-04 9.30186928e+02] [ 9.98928504e-01 4.13288976e-02 -2.08270352e-02 1.30596826e+02] [ 2.08363694e-02 2.04938616e-04 9.99782878e-01 9.21102878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4492541539998 meters Centerline goodness [0,1] 0.9998700370394438 Centerline is valid? [True, True] Translation: X:930.19, Y:130.62, Z:9.21 [[ 4.13485535e-02 -9.99144572e-01 -6.49539697e-04 9.30188183e+02] [ 9.98928589e-01 4.13531209e-02 -2.07748524e-02 1.30624710e+02] [ 2.07839415e-02 2.10166324e-04 9.99783968e-01 9.21135066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4792541539998 meters Centerline goodness [0,1] 0.9998700370394438 Centerline is valid? [True, True] Translation: X:930.19, Y:130.65, Z:9.21 [[ 4.10616148e-02 -9.99156409e-01 -6.43571201e-04 9.30188965e+02] [ 9.98940424e-01 4.10661201e-02 -2.07750378e-02 1.30652286e+02] [ 2.07839411e-02 2.10167309e-04 9.99783968e-01 9.21160809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:130.68, Z:9.21 [[ 4.12191157e-02 -9.99149940e-01 -6.18001555e-04 9.30190019e+02] [ 9.98947636e-01 4.12232062e-02 -2.01064338e-02 1.30679606e+02] [ 2.01148182e-02 2.11418230e-04 9.99797654e-01 9.21229781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:130.71, Z:9.21 [[ 4.12883679e-02 -9.99147092e-01 -5.99663106e-04 9.30192201e+02] [ 9.98953515e-01 4.12921728e-02 -1.96680502e-02 1.30707253e+02] [ 1.96760365e-02 2.13026123e-04 9.99806385e-01 9.21345608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5692541539999 meters Centerline goodness [0,1] 0.9999133542727174 Centerline is valid? [True, True] Translation: X:930.19, Y:130.73, Z:9.21 [[ 4.08534514e-02 -9.99164946e-01 -6.37453781e-04 9.30192195e+02] [ 9.98941779e-01 4.08577995e-02 -2.11178408e-02 1.30734825e+02] [ 2.11262513e-02 2.25957470e-04 9.99776790e-01 9.21058831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5992541539998 meters Centerline goodness [0,1] 0.9999351645739232 Centerline is valid? [True, True] Translation: X:930.19, Y:130.76, Z:9.21 [[ 4.07876846e-02 -9.99167637e-01 -6.31384126e-04 9.30194738e+02] [ 9.98944400e-01 4.07919184e-02 -2.11212224e-02 1.30763266e+02] [ 2.11293973e-02 2.30768121e-04 9.99776723e-01 9.21203507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:130.79, Z:9.21 [[ 4.13268112e-02 -9.99145481e-01 -6.34363330e-04 9.30196056e+02] [ 9.98915607e-01 4.13309110e-02 -2.14328125e-02 1.30790511e+02] [ 2.14407165e-02 2.52074364e-04 9.99770090e-01 9.21152669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6592541539999 meters Centerline goodness [0,1] 0.9999566696275755 Centerline is valid? [True, True] Translation: X:930.20, Y:130.82, Z:9.21 [[ 4.11353176e-02 -9.99153375e-01 -6.48039745e-04 9.30198463e+02] [ 9.98908539e-01 4.11395840e-02 -2.21193330e-02 1.30818328e+02] [ 2.21272663e-02 2.62553354e-04 9.99755128e-01 9.21228298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6892541539999 meters Centerline goodness [0,1] 0.9998915895145378 Centerline is valid? [True, True] Translation: X:930.20, Y:130.85, Z:9.21 [[ 4.11207715e-02 -9.99153959e-01 -6.69197690e-04 9.30199426e+02] [ 9.98887306e-01 4.11252579e-02 -2.30838400e-02 1.30845038e+02] [ 2.30918311e-02 2.80772232e-04 9.99733309e-01 9.21120499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7192541539998 meters Centerline goodness [0,1] 0.9999350803921144 Centerline is valid? [True, True] Translation: X:930.20, Y:130.87, Z:9.21 [[ 4.15967670e-02 -9.99134276e-01 -6.37784341e-04 9.30201455e+02] [ 9.98887119e-01 4.16006635e-02 -2.22240500e-02 1.30872783e+02] [ 2.22313423e-02 2.87374065e-04 9.99752812e-01 9.21205338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7492541539999 meters Centerline goodness [0,1] 0.9998693806465658 Centerline is valid? [True, True] Translation: X:930.20, Y:130.90, Z:9.21 [[ 4.17582583e-02 -9.99127542e-01 -6.34769812e-04 9.30202650e+02] [ 9.98877712e-01 4.17620124e-02 -2.23439092e-02 1.30900804e+02] [ 2.23509244e-02 2.98985315e-04 9.99750142e-01 9.21159530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7792541539999 meters Centerline goodness [0,1] 0.9998480507076496 Centerline is valid? [True, True] Translation: X:930.20, Y:130.93, Z:9.21 [[ 4.24978197e-02 -9.99096376e-01 -6.05909726e-04 9.30203899e+02] [ 9.98863984e-01 4.25010039e-02 -2.15500930e-02 1.30928132e+02] [ 2.15563716e-02 3.10610565e-04 9.99767586e-01 9.21184101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8092541539999 meters Centerline goodness [0,1] 0.9997388010970354 Centerline is valid? [True, True] Translation: X:930.21, Y:130.96, Z:9.21 [[ 4.25160297e-02 -9.99095617e-01 -5.79145843e-04 9.30206387e+02] [ 9.98878797e-01 4.25188693e-02 -2.08157126e-02 1.30956225e+02] [ 2.08215118e-02 3.06504951e-04 9.99783162e-01 9.21283727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8392541539998 meters Centerline goodness [0,1] 0.9998259204456437 Centerline is valid? [True, True] Translation: X:930.21, Y:130.98, Z:9.21 [[ 4.25655107e-02 -9.99093511e-01 -5.77772255e-04 9.30208915e+02] [ 9.98872929e-01 4.25682546e-02 -2.09955876e-02 1.30983028e+02] [ 2.10011501e-02 3.16566843e-04 9.99779401e-01 9.21236612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8692541539998 meters Centerline goodness [0,1] 0.9999563833035285 Centerline is valid? [True, True] Translation: X:930.21, Y:131.01, Z:9.21 [[ 4.23028998e-02 -9.99104685e-01 -5.42120340e-04 9.30211441e+02] [ 9.98906289e-01 4.23053040e-02 -1.99120006e-02 1.31011263e+02] [ 1.99171077e-02 3.00807952e-04 9.99801589e-01 9.21437143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:131.04, Z:9.21 [[ 4.18795528e-02 -9.99122525e-01 -5.31240927e-04 9.30213662e+02] [ 9.98927891e-01 4.18818810e-02 -1.97225163e-02 1.31039493e+02] [ 1.97274597e-02 2.95298784e-04 9.99805351e-01 9.21499275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:131.07, Z:9.22 [[ 4.05032485e-02 -9.99179266e-01 -5.30916069e-04 9.30217676e+02] [ 9.98980600e-01 4.05057830e-02 -1.99259431e-02 1.31067660e+02] [ 1.99310944e-02 2.76690572e-04 9.99801318e-01 9.21514904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9592541539998 meters Centerline goodness [0,1] 0.9998687319506432 Centerline is valid? [True, True] Translation: X:930.22, Y:131.10, Z:9.21 [[ 3.89707931e-02 -9.99240206e-01 -5.36146096e-04 9.30220947e+02] [ 9.99033116e-01 3.89736323e-02 -2.03442657e-02 1.31095701e+02] [ 2.03497038e-02 2.57204465e-04 9.99792890e-01 9.21340578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:131.12, Z:9.22 [[ 3.91478242e-02 -9.99233303e-01 -5.04970224e-04 9.30223513e+02] [ 9.99045578e-01 3.91502582e-02 -1.93698128e-02 1.31124173e+02] [ 1.93747318e-02 2.53797758e-04 9.99812260e-01 9.21629983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0192541539999 meters Centerline goodness [0,1] 0.9998683893044374 Centerline is valid? [True, True] Translation: X:930.23, Y:131.15, Z:9.21 [[ 3.85500405e-02 -9.99256547e-01 -4.98395535e-04 9.30225777e+02] [ 9.99069376e-01 3.85524665e-02 -1.93413964e-02 1.31151536e+02] [ 1.93462314e-02 2.47679899e-04 9.99812813e-01 9.21460246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0492541539999 meters Centerline goodness [0,1] 0.9999561682263473 Centerline is valid? [True, True] Translation: X:930.23, Y:131.18, Z:9.22 [[ 3.88410270e-02 -9.99245285e-01 -4.85826226e-04 9.30226949e+02] [ 9.99063271e-01 3.88432253e-02 -1.90731190e-02 1.31179768e+02] [ 1.90775952e-02 2.55448390e-04 9.99817973e-01 9.21578194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.23, Y:131.21, Z:9.22 [[ 3.91385883e-02 -9.99233672e-01 -4.89877808e-04 9.30229654e+02] [ 9.99044292e-01 3.91407086e-02 -1.94552796e-02 1.31207696e+02] [ 1.94595446e-02 2.72042550e-04 9.99810608e-01 9.21570634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.23, Y:131.24, Z:9.22 [[ 3.88733130e-02 -9.99244028e-01 -4.88895356e-04 9.30232267e+02] [ 9.99050979e-01 3.88754135e-02 -1.96428920e-02 1.31235662e+02] [ 1.96470485e-02 2.75152905e-04 9.99806940e-01 9.21519314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.23, Y:131.26, Z:9.21 [[ 3.85392588e-02 -9.99256973e-01 -4.76740970e-04 9.30233694e+02] [ 9.99069723e-01 3.85412667e-02 -1.93457716e-02 1.31262989e+02] [ 1.93497713e-02 2.69274228e-04 9.99812739e-01 9.21485062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1692541539999 meters Centerline goodness [0,1] 0.9998231809742728 Centerline is valid? [True, True] Translation: X:930.24, Y:131.29, Z:9.21 [[ 3.73291248e-02 -9.99302903e-01 -4.93786561e-04 9.30235588e+02] [ 9.99097790e-01 3.73314678e-02 -2.02476722e-02 1.31290741e+02] [ 2.02519914e-02 2.62486822e-04 9.99794873e-01 9.21269779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1992541539998 meters Centerline goodness [0,1] 0.9998675847457628 Centerline is valid? [True, True] Translation: X:930.24, Y:131.32, Z:9.22 [[ 3.68100483e-02 -9.99322177e-01 -4.55059757e-04 9.30238479e+02] [ 9.99143976e-01 3.68120784e-02 -1.88729193e-02 1.31319176e+02] [ 1.88768785e-02 2.40042858e-04 9.99821787e-01 9.21540218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2292541539998 meters Centerline goodness [0,1] 0.9999779905359305 Centerline is valid? [True, True] Translation: X:930.24, Y:131.35, Z:9.22 [[ 3.60521890e-02 -9.99349815e-01 -4.31364270e-04 9.30240208e+02] [ 9.99185936e-01 3.60540892e-02 -1.80988296e-02 1.31347276e+02] [ 1.81026145e-02 2.21489313e-04 9.99836110e-01 9.21620155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2592541539999 meters Centerline goodness [0,1] 0.9998679577464789 Centerline is valid? [True, True] Translation: X:930.24, Y:131.38, Z:9.22 [[ 3.41037806e-02 -9.99418218e-01 -3.96169019e-04 9.30243203e+02] [ 9.99276775e-01 3.41056193e-02 -1.68146817e-02 1.31375171e+02] [ 1.68184108e-02 1.77561716e-04 9.99858545e-01 9.21542923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:131.40, Z:9.22 [[ 3.35688662e-02 -9.99436338e-01 -3.72148742e-04 9.30245466e+02] [ 9.99308541e-01 3.35705252e-02 -1.59831223e-02 1.31403245e+02] [ 1.59866064e-02 1.64643876e-04 9.99872192e-01 9.21819042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:131.43, Z:9.22 [[ 3.19726873e-02 -9.99488675e-01 -3.68849504e-04 9.30248036e+02] [ 9.99359929e-01 3.19744891e-02 -1.60426088e-02 1.31430456e+02] [ 1.60461996e-02 1.44311899e-04 9.99871241e-01 9.21831970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3492541539998 meters Centerline goodness [0,1] 0.9998672037537072 Centerline is valid? [True, True] Translation: X:930.25, Y:131.46, Z:9.22 [[ 3.04941167e-02 -9.99534877e-01 -3.71762571e-04 9.30248876e+02] [ 9.99400588e-01 3.04961138e-02 -1.63844801e-02 1.31457683e+02] [ 1.63881966e-02 1.28090516e-04 9.99865696e-01 9.21619050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:131.49, Z:9.22 [[ 3.10145525e-02 -9.99518866e-01 -3.65976914e-04 9.30249098e+02] [ 9.99385324e-01 3.10163913e-02 -1.63388501e-02 1.31485994e+02] [ 1.63423402e-02 1.40990168e-04 9.99866445e-01 9.21770311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4092541539999 meters Centerline goodness [0,1] 0.9999779575462341 Centerline is valid? [True, True] Translation: X:930.25, Y:131.51, Z:9.22 [[ 3.16944666e-02 -9.99497530e-01 -3.84859110e-04 9.30247661e+02] [ 9.99345907e-01 3.16963622e-02 -1.74097393e-02 1.31514441e+02] [ 1.74131901e-02 1.67185026e-04 9.99848365e-01 9.21676039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:131.54, Z:9.22 [[ 3.15875502e-02 -9.99500912e-01 -3.91245954e-04 9.30247865e+02] [ 9.99339956e-01 3.15894850e-02 -1.79375722e-02 1.31542650e+02] [ 1.79409791e-02 1.75616250e-04 9.99839032e-01 9.21722941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4692541539998 meters Centerline goodness [0,1] 0.9996260037399626 Centerline is valid? [True, True] Translation: X:930.25, Y:131.57, Z:9.21 [[ 3.12461158e-02 -9.99511641e-01 -4.00975045e-04 9.30245562e+02] [ 9.99337686e-01 3.12481587e-02 -1.86478429e-02 1.31569716e+02] [ 1.86512658e-02 1.81963186e-04 9.99826033e-01 9.21434452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:131.60, Z:9.22 [[ 3.17890607e-02 -9.99494531e-01 -3.71682535e-04 9.30246013e+02] [ 9.99340961e-01 3.17906921e-02 -1.75213054e-02 1.31597990e+02] [ 1.75242650e-02 1.85548261e-04 9.99846421e-01 9.21786875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5292541539999 meters Centerline goodness [0,1] 0.9998455462147791 Centerline is valid? [True, True] Translation: X:930.25, Y:131.63, Z:9.22 [[ 3.06285113e-02 -9.99530781e-01 -3.35952976e-04 9.30246400e+02] [ 9.99402016e-01 3.06299582e-02 -1.60441639e-02 1.31626506e+02] [ 1.60469259e-02 1.55656773e-04 9.99871228e-01 9.21770930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:131.65, Z:9.22 [[ 3.06360059e-02 -9.99530554e-01 -3.25710715e-04 9.30246431e+02] [ 9.99406138e-01 3.06373317e-02 -1.57710386e-02 1.31654901e+02] [ 1.57736138e-02 1.57644344e-04 9.99875576e-01 9.22028748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5892541539998 meters Centerline goodness [0,1] 0.9999780060263488 Centerline is valid? [True, True] Translation: X:930.25, Y:131.68, Z:9.22 [[ 2.96864245e-02 -9.99559211e-01 -3.15814823e-04 9.30245717e+02] [ 9.99439306e-01 2.96877551e-02 -1.54825872e-02 1.31681593e+02] [ 1.54851384e-02 1.43984907e-04 9.99880088e-01 9.21980726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6192541539998 meters Centerline goodness [0,1] 0.9998020585906572 Centerline is valid? [True, True] Translation: X:930.24, Y:131.71, Z:9.22 [[ 2.91731115e-02 -9.99574327e-01 -3.06396573e-04 9.30244921e+02] [ 9.99458729e-01 2.91743976e-02 -1.52021164e-02 1.31709013e+02] [ 1.52045842e-02 1.37262307e-04 9.99884394e-01 9.21993562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.24, Y:131.74, Z:9.22 [[ 2.89854373e-02 -9.99579791e-01 -2.94512803e-04 9.30244787e+02] [ 9.99469841e-01 2.89866173e-02 -1.48260963e-02 1.31736843e+02] [ 1.48284031e-02 1.35384219e-04 9.99890044e-01 9.22019352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6792541539999 meters Centerline goodness [0,1] 0.9999559384018858 Centerline is valid? [True, True] Translation: X:930.24, Y:131.76, Z:9.22 [[ 2.85523445e-02 -9.99592258e-01 -2.85837132e-04 9.30244413e+02] [ 9.99485628e-01 2.85534738e-02 -1.46006561e-02 1.31763896e+02] [ 1.46028644e-02 1.31192857e-04 9.99893364e-01 9.21952866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.24, Y:131.79, Z:9.22 [[ 2.83463937e-02 -9.99598122e-01 -2.74949716e-04 9.30244656e+02] [ 9.99496450e-01 2.83474321e-02 -1.42572758e-02 1.31792387e+02] [ 1.42593403e-02 1.29331089e-04 9.99898322e-01 9.22137346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7392541539998 meters Centerline goodness [0,1] 0.9998461775111521 Centerline is valid? [True, True] Translation: X:930.24, Y:131.82, Z:9.22 [[ 2.74826770e-02 -9.99622241e-01 -2.78794499e-04 9.30244445e+02] [ 9.99514358e-01 2.74838070e-02 -1.46863475e-02 1.31819704e+02] [ 1.46884619e-02 1.24961040e-04 9.99892111e-01 9.21905182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.24, Y:131.85, Z:9.22 [[ 2.71988277e-02 -9.99630008e-01 -2.66920384e-04 9.30244094e+02] [ 9.99527928e-01 2.71998649e-02 -1.42859385e-02 1.31846312e+02] [ 1.42879130e-02 1.21766401e-04 9.99897915e-01 9.22129556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.24, Y:131.87, Z:9.22 [[ 2.68310449e-02 -9.99639949e-01 -2.61333396e-04 9.30244995e+02] [ 9.99538922e-01 2.68320488e-02 -1.42121298e-02 1.31874118e+02] [ 1.42140248e-02 1.20113393e-04 9.99898968e-01 9.22153719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.24, Y:131.90, Z:9.22 [[ 2.66277904e-02 -9.99645383e-01 -2.61476833e-04 9.30244951e+02] [ 9.99540898e-01 2.66287878e-02 -1.44534304e-02 1.31900732e+02] [ 1.44552678e-02 1.23506127e-04 9.99895510e-01 9.22112685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:131.93, Z:9.22 [[ 2.62547333e-02 -9.99655254e-01 -2.50426610e-04 9.30245421e+02] [ 9.99556246e-01 2.62556576e-02 -1.40695621e-02 1.31928618e+02] [ 1.40712868e-02 1.19077120e-04 9.99900987e-01 9.22157923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8892541539999 meters Centerline goodness [0,1] 0.999956136503202 Centerline is valid? [True, True] Translation: X:930.25, Y:131.96, Z:9.22 [[ 2.52859379e-02 -9.99680231e-01 -2.40103938e-04 9.30246444e+02] [ 9.99586273e-01 2.52868532e-02 -1.37061427e-02 1.31956354e+02] [ 1.37078314e-02 1.06568072e-04 9.99906038e-01 9.22136749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9192541539999 meters Centerline goodness [0,1] 0.9999560381588781 Centerline is valid? [True, True] Translation: X:930.25, Y:131.98, Z:9.22 [[ 2.45645551e-02 -9.99698220e-01 -2.28750729e-04 9.30246417e+02] [ 9.99610046e-01 2.45654267e-02 -1.32776427e-02 1.31983709e+02] [ 1.32792551e-02 9.74978586e-05 9.99911822e-01 9.22166334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9492541539998 meters Centerline goodness [0,1] 0.9999340137251451 Centerline is valid? [True, True] Translation: X:930.25, Y:132.01, Z:9.22 [[ 2.40266967e-02 -9.99711293e-01 -2.22182403e-04 9.30246810e+02] [ 9.99625149e-01 2.40275431e-02 -1.31239813e-02 1.32011951e+02] [ 1.31255308e-02 9.32268002e-05 9.99913852e-01 9.22262523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.04, Z:9.22 [[ 2.34780605e-02 -9.99724331e-01 -2.04524477e-04 9.30247278e+02] [ 9.99648940e-01 2.34788018e-02 -1.22776939e-02 1.32040078e+02] [ 1.22791114e-02 8.38037645e-05 9.99924605e-01 9.22291651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0092541539999 meters Centerline goodness [0,1] 0.9999562688590545 Centerline is valid? [True, True] Translation: X:930.25, Y:132.07, Z:9.22 [[ 2.28867468e-02 -9.99738043e-01 -2.07125347e-04 9.30248102e+02] [ 9.99657948e-01 2.28875351e-02 -1.26549137e-02 1.32068189e+02] [ 1.26563392e-02 8.25753063e-05 9.99919902e-01 9.22262874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.10, Z:9.22 [[ 2.26170657e-02 -9.99744180e-01 -2.07573997e-04 9.30248828e+02] [ 9.99660829e-01 2.26178605e-02 -1.29096647e-02 1.32096667e+02] [ 1.29110571e-02 8.44751417e-05 9.99916645e-01 9.22292082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.12, Z:9.22 [[ 2.25992175e-02 -9.99744580e-01 -2.21911395e-04 9.30249400e+02] [ 9.99645640e-01 2.26001030e-02 -1.40651797e-02 1.32124872e+02] [ 1.40666024e-02 9.60292960e-05 9.99901056e-01 9.22178615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.15, Z:9.22 [[ 2.25831073e-02 -9.99744943e-01 -2.30806846e-04 9.30249870e+02] [ 9.99633776e-01 2.25840381e-02 -1.49088955e-02 1.32152507e+02] [ 1.49103054e-02 1.05966866e-04 9.99888830e-01 9.22126517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.18, Z:9.22 [[ 2.35054303e-02 -9.99723681e-01 -2.38897747e-04 9.30250226e+02] [ 9.99599855e-01 2.35062789e-02 -1.57348305e-02 1.32180482e+02] [ 1.57360982e-02 1.31051807e-04 9.99876171e-01 9.22088725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.21, Z:9.22 [[ 2.48609906e-02 -9.99690890e-01 -2.36651789e-04 9.30250632e+02] [ 9.99564541e-01 2.48616111e-02 -1.58943249e-02 1.32208928e+02] [ 1.58952953e-02 1.58599925e-04 9.99873649e-01 9.22151618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1892541539999 meters Centerline goodness [0,1] 0.9998898605634734 Centerline is valid? [True, True] Translation: X:930.25, Y:132.24, Z:9.22 [[ 2.51503874e-02 -9.99683653e-01 -2.30020859e-04 9.30250459e+02] [ 9.99559997e-01 2.51508944e-02 -1.57240398e-02 1.32236442e+02] [ 1.57248507e-02 1.65546041e-04 9.99876343e-01 9.21946150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2192541539998 meters Centerline goodness [0,1] 0.9999561422744616 Centerline is valid? [True, True] Translation: X:930.25, Y:132.26, Z:9.22 [[ 2.58441789e-02 -9.99665957e-01 -2.28854685e-04 9.30250184e+02] [ 9.99539879e-01 2.58445543e-02 -1.58773164e-02 1.32263996e+02] [ 1.58779273e-02 1.81586821e-04 9.99873921e-01 9.22104985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.29, Z:9.22 [[ 2.67085734e-02 -9.99643237e-01 -2.27468796e-04 9.30250593e+02] [ 9.99514348e-01 2.67087826e-02 -1.60533419e-02 1.32291831e+02] [ 1.60536900e-02 2.01403534e-04 9.99871111e-01 9.22216523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2792541539999 meters Centerline goodness [0,1] 0.999867873422739 Centerline is valid? [True, True] Translation: X:930.25, Y:132.32, Z:9.22 [[ 2.60146814e-02 -9.99661538e-01 -2.16070219e-04 9.30251200e+02] [ 9.99540499e-01 2.60148941e-02 -1.55568556e-02 1.32320267e+02] [ 1.55572112e-02 1.88735706e-04 9.99878961e-01 9.21965506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3092541539999 meters Centerline goodness [0,1] 0.9998675905901045 Centerline is valid? [True, True] Translation: X:930.25, Y:132.35, Z:9.22 [[ 2.46633745e-02 -9.99695792e-01 -2.01561306e-04 9.30254176e+02] [ 9.99586778e-01 2.46636618e-02 -1.47640708e-02 1.32348742e+02] [ 1.47645507e-02 1.62653791e-04 9.99890985e-01 9.22115406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3392541539998 meters Centerline goodness [0,1] 0.9998677919044576 Centerline is valid? [True, True] Translation: X:930.26, Y:132.38, Z:9.22 [[ 2.37452752e-02 -9.99718023e-01 -1.90493299e-04 9.30255586e+02] [ 9.99617500e-01 2.37455890e-02 -1.41774552e-02 1.32376200e+02] [ 1.41779809e-02 1.46227141e-04 9.99899477e-01 9.22443204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.40, Z:9.23 [[ 2.25251386e-02 -9.99746260e-01 -1.81321199e-04 9.30256934e+02] [ 9.99651142e-01 2.25254968e-02 -1.37911780e-02 1.32404525e+02] [ 1.37917630e-02 1.29390253e-04 9.99904881e-01 9.22527297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.43, Z:9.23 [[ 2.22430232e-02 -9.99752578e-01 -1.77429174e-04 9.30257209e+02] [ 9.99657459e-01 2.22433545e-02 -1.37912282e-02 1.32432117e+02] [ 1.37917626e-02 1.29390212e-04 9.99904881e-01 9.22553037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.46, Z:9.23 [[ 2.01027532e-02 -9.99797906e-01 -1.65510322e-04 9.30259028e+02] [ 9.99711816e-01 2.01031942e-02 -1.31204409e-02 1.32459616e+02] [ 1.31211166e-02 9.82943614e-05 9.99913910e-01 9.22621532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.49, Z:9.23 [[ 1.80800789e-02 -9.99836530e-01 -1.57789238e-04 9.30260889e+02] [ 9.99755296e-01 1.80806213e-02 -1.27451756e-02 1.32486219e+02] [ 1.27459450e-02 7.26831535e-05 9.99918765e-01 9.22649079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.51, Z:9.23 [[ 1.73668848e-02 -9.99849172e-01 -1.57301936e-04 9.30261628e+02] [ 9.99763977e-01 1.73674584e-02 -1.30523041e-02 1.32513092e+02] [ 1.30530674e-02 6.94130526e-05 9.99914803e-01 9.22676513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5192541539999 meters Centerline goodness [0,1] 0.9998673886617305 Centerline is valid? [True, True] Translation: X:930.26, Y:132.54, Z:9.22 [[ 1.61051368e-02 -9.99870291e-01 -1.63184150e-04 9.30261959e+02] [ 9.99773432e-01 1.61058480e-02 -1.39171185e-02 1.32539258e+02] [ 1.39179415e-02 6.09899182e-05 9.99903139e-01 9.22334598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5492541539999 meters Centerline goodness [0,1] 0.9998896831700644 Centerline is valid? [True, True] Translation: X:930.26, Y:132.57, Z:9.22 [[ 1.60710443e-02 -9.99870839e-01 -1.62383508e-04 9.30261843e+02] [ 9.99769465e-01 1.60717272e-02 -1.42378848e-02 1.32566471e+02] [ 1.42386557e-02 6.64716055e-05 9.99898623e-01 9.22329179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.59, Z:9.22 [[ 1.69263617e-02 -9.99856724e-01 -1.71134127e-04 9.30261356e+02] [ 9.99738157e-01 1.69269900e-02 -1.53978532e-02 1.32592734e+02] [ 1.53985439e-02 8.95403159e-05 9.99881431e-01 9.22431257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.62, Z:9.22 [[ 1.78179962e-02 -9.99841231e-01 -1.80058354e-04 9.30260715e+02] [ 9.99703291e-01 1.78185289e-02 -1.66081324e-02 1.32619930e+02] [ 1.66087039e-02 1.15918710e-04 9.99862059e-01 9.22364248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6392541539999 meters Centerline goodness [0,1] 0.9999339017780422 Centerline is valid? [True, True] Translation: X:930.26, Y:132.65, Z:9.22 [[ 1.83258529e-02 -9.99832052e-01 -1.75717542e-04 9.30260980e+02] [ 9.99693277e-01 1.83262370e-02 -1.66583497e-02 1.32648204e+02] [ 1.66587722e-02 1.29614820e-04 9.99861225e-01 9.22317412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6692541539999 meters Centerline goodness [0,1] 0.9999337543611713 Centerline is valid? [True, True] Translation: X:930.26, Y:132.68, Z:9.22 [[ 1.92237560e-02 -9.99815191e-01 -1.76698060e-04 9.30260306e+02] [ 9.99666809e-01 1.92239473e-02 -1.72253120e-02 1.32676739e+02] [ 1.72255254e-02 1.54496009e-04 9.99851618e-01 9.22356830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.70, Z:9.22 [[ 2.18300396e-02 -9.99761681e-01 -1.76346118e-04 9.30256661e+02] [ 9.99604983e-01 2.18297404e-02 -1.77014489e-02 1.32704114e+02] [ 1.77010799e-02 2.10146874e-04 9.99843302e-01 9.22354822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.73, Z:9.23 [[ 2.29884483e-02 -9.99735716e-01 -1.72336019e-04 9.30258212e+02] [ 9.99577253e-01 2.29878731e-02 -1.78009260e-02 1.32731982e+02] [ 1.78001832e-02 2.36952503e-04 9.99841536e-01 9.22542065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7592541539999 meters Centerline goodness [0,1] 0.9999340601371549 Centerline is valid? [True, True] Translation: X:930.25, Y:132.76, Z:9.22 [[ 2.48914987e-02 -9.99690146e-01 -1.60785755e-04 9.30253473e+02] [ 9.99544738e-01 2.48906208e-02 -1.70520648e-02 1.32759365e+02] [ 1.70507832e-02 2.63738895e-04 9.99854590e-01 9.22300370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.79, Z:9.23 [[ 2.58397916e-02 -9.99666085e-01 -1.55613334e-04 9.30256422e+02] [ 9.99521768e-01 2.58387057e-02 -1.69881108e-02 1.32787460e+02] [ 1.69864590e-02 2.83430326e-04 9.99855680e-01 9.22679501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8192541539999 meters Centerline goodness [0,1] 0.9999117874076524 Centerline is valid? [True, True] Translation: X:930.26, Y:132.82, Z:9.23 [[ 2.72081456e-02 -9.99629780e-01 -1.42219686e-04 9.30255646e+02] [ 9.99501680e-01 2.72069361e-02 -1.60054698e-02 1.32815998e+02] [ 1.60034136e-02 2.93330339e-04 9.99871894e-01 9.22643518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:132.84, Z:9.23 [[ 2.79162658e-02 -9.99610257e-01 -1.30011882e-04 9.30255745e+02] [ 9.99496297e-01 2.79150467e-02 -1.50964641e-02 1.32844401e+02] [ 1.50942096e-02 2.91490510e-04 9.99886033e-01 9.22944197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8792541539999 meters Centerline goodness [0,1] 0.9999121959785758 Centerline is valid? [True, True] Translation: X:930.25, Y:132.87, Z:9.23 [[ 2.85756879e-02 -9.99591624e-01 -1.20648072e-04 9.30253879e+02] [ 9.99487578e-01 2.85744545e-02 -1.44250451e-02 1.32871375e+02] [ 1.44226017e-02 2.91619337e-04 9.99895946e-01 9.22820842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9092541539999 meters Centerline goodness [0,1] 0.9999780229440464 Centerline is valid? [True, True] Translation: X:930.25, Y:132.90, Z:9.23 [[ 2.89685358e-02 -9.99580317e-01 -1.13833582e-04 9.30254268e+02] [ 9.99482403e-01 2.89672917e-02 -1.39936809e-02 1.32899734e+02] [ 1.39911055e-02 2.91601785e-04 9.99902077e-01 9.23036909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.93, Z:9.23 [[ 3.02004556e-02 -9.99543856e-01 -1.13027768e-04 9.30252571e+02] [ 9.99439818e-01 3.01989433e-02 -1.44247931e-02 1.32927324e+02] [ 1.44216267e-02 3.22670873e-04 9.99895951e-01 9.23080977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.96, Z:9.23 [[ 3.10282535e-02 -9.99518501e-01 -1.18355228e-04 9.30251873e+02] [ 9.99394901e-01 3.10262784e-02 -1.57226784e-02 1.32955727e+02] [ 1.57187801e-02 3.69563640e-04 9.99876384e-01 9.23027152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:132.98, Z:9.23 [[ 3.11702912e-02 -9.99514081e-01 -1.18817608e-04 9.30250692e+02] [ 9.99379158e-01 3.11680363e-02 -1.64272028e-02 1.32983087e+02] [ 1.64229238e-02 3.93296854e-04 9.99865057e-01 9.22990586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.01, Z:9.23 [[ 3.14961038e-02 -9.99503868e-01 -1.18984920e-04 9.30249496e+02] [ 9.99357013e-01 3.14935164e-02 -1.71382383e-02 1.33010591e+02] [ 1.71334827e-02 4.20879317e-04 9.99853123e-01 9.22953618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0592541539999 meters Centerline goodness [0,1] 0.9999560468540536 Centerline is valid? [True, True] Translation: X:930.25, Y:133.04, Z:9.23 [[ 3.13975137e-02 -9.99506970e-01 -1.17211886e-04 9.30249851e+02] [ 9.99352478e-01 3.13947221e-02 -1.75783030e-02 1.33038919e+02] [ 1.75733162e-02 4.34779023e-04 9.99845483e-01 9.22824699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0892541539998 meters Centerline goodness [0,1] 0.9999558693733451 Centerline is valid? [True, True] Translation: X:930.25, Y:133.07, Z:9.23 [[ 3.13135365e-02 -9.99509604e-01 -1.16669541e-04 9.30249753e+02] [ 9.99341914e-01 3.13104207e-02 -1.83138526e-02 1.33067106e+02] [ 1.83085245e-02 4.56878729e-04 9.99832281e-01 9.22851728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1192541539998 meters Centerline goodness [0,1] 0.9999780489946439 Centerline is valid? [True, True] Translation: X:930.25, Y:133.09, Z:9.23 [[ 3.03909569e-02 -9.99538082e-01 -1.15080668e-04 9.30247151e+02] [ 9.99358555e-01 3.03876801e-02 -1.89491006e-02 1.33094725e+02] [ 1.89438447e-02 4.60874451e-04 9.99820443e-01 9.22796459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1492541539999 meters Centerline goodness [0,1] 0.999867759851891 Centerline is valid? [True, True] Translation: X:930.25, Y:133.12, Z:9.23 [[ 2.92006287e-02 -9.99573564e-01 -1.16351170e-04 9.30247901e+02] [ 9.99370864e-01 2.91970509e-02 -2.01347613e-02 1.33122549e+02] [ 2.01295722e-02 4.71669719e-04 9.99797268e-01 9.22514828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1792541539999 meters Centerline goodness [0,1] 0.9998680883807849 Centerline is valid? [True, True] Translation: X:930.25, Y:133.15, Z:9.23 [[ 2.75264759e-02 -9.99621069e-01 -1.10135645e-04 9.30250449e+02] [ 9.99420555e-01 2.75231608e-02 -2.00257413e-02 1.33150686e+02] [ 2.00211842e-02 4.41166258e-04 9.99799459e-01 9.22722554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2092541539998 meters Centerline goodness [0,1] 0.9999120569870724 Centerline is valid? [True, True] Translation: X:930.25, Y:133.18, Z:9.23 [[ 2.66226116e-02 -9.99645550e-01 -1.04180988e-04 9.30251055e+02] [ 9.99446159e-01 2.66193826e-02 -1.99695750e-02 1.33178966e+02] [ 1.99652700e-02 4.27518951e-04 9.99800583e-01 9.22759912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.21, Z:9.23 [[ 2.63912815e-02 -9.99651685e-01 -9.39896294e-05 9.30251378e+02] [ 9.99470468e-01 2.63882872e-02 -1.90379018e-02 1.33206668e+02] [ 1.90337508e-02 4.08494766e-04 9.99818758e-01 9.23045771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.24, Z:9.23 [[ 2.59280251e-02 -9.99663809e-01 -8.60421903e-05 9.30251735e+02] [ 9.99496854e-01 2.59252677e-02 -1.82734467e-02 1.33235222e+02] [ 1.82695340e-02 3.87795486e-04 9.99833023e-01 9.23147871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.26, Z:9.23 [[ 2.58359235e-02 -9.99666194e-01 -8.03504192e-05 9.30250527e+02] [ 9.99504649e-01 2.58331933e-02 -1.79750343e-02 1.33262525e+02] [ 1.79711098e-02 3.84090994e-04 9.99838433e-01 9.23190197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.29, Z:9.23 [[ 2.53046315e-02 -9.99679784e-01 -7.37848765e-05 9.30251839e+02] [ 9.99524336e-01 2.53019981e-02 -1.76326321e-02 1.33291105e+02] [ 1.76288527e-02 3.72437478e-04 9.99844530e-01 9.23278501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3592541539998 meters Centerline goodness [0,1] 0.9999779444199383 Centerline is valid? [True, True] Translation: X:930.25, Y:133.32, Z:9.23 [[ 2.46992584e-02 -9.99694924e-01 -6.83880671e-05 9.30250529e+02] [ 9.99541173e-01 2.46966593e-02 -1.75362226e-02 1.33318618e+02] [ 1.75325617e-02 3.64775004e-04 9.99846226e-01 9.23221672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.35, Z:9.23 [[ 2.35168869e-02 -9.99723438e-01 -6.15969069e-05 9.30252056e+02] [ 9.99578632e-01 2.35145292e-02 -1.70184059e-02 1.33347163e+02] [ 1.70151477e-02 3.38648975e-04 9.99855175e-01 9.23374419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.37, Z:9.23 [[ 2.26830769e-02 -9.99742704e-01 -5.62086803e-05 9.30250922e+02] [ 9.99600003e-01 2.26807890e-02 -1.68942498e-02 1.33373373e+02] [ 1.68911779e-02 3.27027370e-04 9.99857280e-01 9.23372037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.40, Z:9.23 [[ 2.18058108e-02 -9.99762224e-01 -5.26990953e-05 9.30253349e+02] [ 9.99608828e-01 2.18033884e-02 -1.75158153e-02 1.33401631e+02] [ 1.75127995e-02 3.29268074e-04 9.99846585e-01 9.23451825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.43, Z:9.23 [[ 2.12654178e-02 -9.99773864e-01 -5.09309870e-05 9.30252891e+02] [ 9.99597013e-01 2.12626142e-02 -1.88072516e-02 1.33430189e+02] [ 1.88040815e-02 3.49033601e-04 9.99823127e-01 9.23343011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:133.46, Z:9.23 [[ 2.07639533e-02 -9.99784405e-01 -4.68045296e-05 9.30252490e+02] [ 9.99595099e-01 2.07609327e-02 -1.94582025e-02 1.33457072e+02] [ 1.94549791e-02 3.57243630e-04 9.99810670e-01 9.23310041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5392541539999 meters Centerline goodness [0,1] 0.9998682158624174 Centerline is valid? [True, True] Translation: X:930.25, Y:133.49, Z:9.23 [[ 1.99512469e-02 -9.99800953e-01 -4.13898887e-05 9.30252591e+02] [ 9.99608200e-01 1.99482133e-02 -1.96345432e-02 1.33485049e+02] [ 1.96314606e-02 3.50359947e-04 9.99807223e-01 9.23287850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5692541539999 meters Centerline goodness [0,1] 0.9999559548978154 Centerline is valid? [True, True] Translation: X:930.25, Y:133.51, Z:9.23 [[ 1.90390299e-02 -9.99818741e-01 -3.60170024e-05 9.30253042e+02] [ 9.99622574e-01 1.90360080e-02 -1.98075702e-02 1.33513214e+02] [ 1.98046655e-02 3.41113514e-04 9.99803810e-01 9.23305627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5992541539998 meters Centerline goodness [0,1] 0.9998023585216418 Centerline is valid? [True, True] Translation: X:930.25, Y:133.54, Z:9.23 [[ 1.62642218e-02 -9.99867728e-01 -3.32016675e-05 9.30251579e+02] [ 9.99625747e-01 1.62610162e-02 -2.19987490e-02 1.33540190e+02] [ 2.19963790e-02 3.24603291e-04 9.99757998e-01 9.22708756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6292541539999 meters Centerline goodness [0,1] 0.999934022432373 Centerline is valid? [True, True] Translation: X:930.26, Y:133.57, Z:9.23 [[ 1.30508998e-02 -9.99914833e-01 -2.64775716e-05 9.30256492e+02] [ 9.99686139e-01 1.30484812e-02 -2.13860145e-02 1.33568989e+02] [ 2.13845386e-02 2.52637470e-04 9.99771293e-01 9.23135003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:133.60, Z:9.23 [[ 1.12408262e-02 -9.99936820e-01 -1.99524612e-05 9.30258070e+02] [ 9.99725312e-01 1.12388589e-02 -2.05667050e-02 1.33597020e+02] [ 2.05656298e-02 2.11239776e-04 9.99788483e-01 9.23366078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6892541539999 meters Centerline goodness [0,1] 0.9999120801828733 Centerline is valid? [True, True] Translation: X:930.26, Y:133.63, Z:9.23 [[ 8.56338025e-03 -9.99963334e-01 -1.44551726e-05 9.30259124e+02] [ 9.99737590e-01 8.56175419e-03 -2.12472891e-02 1.33625352e+02] [ 2.12466338e-02 1.67497237e-04 9.99774251e-01 9.23176297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7192541539998 meters Centerline goodness [0,1] 0.9999339716077914 Centerline is valid? [True, True] Translation: X:930.26, Y:133.65, Z:9.23 [[ 3.66878507e-03 -9.99993270e-01 -8.16001155e-06 9.30262249e+02] [ 9.99793050e-01 3.66821379e-03 -2.00100151e-02 1.33653777e+02] [ 2.00099104e-02 6.52541220e-05 9.99799780e-01 9.23394009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7492541539999 meters Centerline goodness [0,1] 0.9999780031235564 Centerline is valid? [True, True] Translation: X:930.26, Y:133.68, Z:9.23 [[ 8.20106188e-04 -9.99999664e-01 -2.47305675e-06 9.30263844e+02] [ 9.99807039e-01 8.19996752e-04 -1.96268123e-02 1.33682137e+02] [ 1.96268077e-02 1.36234907e-05 9.99807376e-01 9.23494807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7792541539999 meters Centerline goodness [0,1] 0.9999779658029262 Centerline is valid? [True, True] Translation: X:930.27, Y:133.71, Z:9.24 [[-5.38962260e-03 -9.99985476e-01 3.24371234e-06 9.30267258e+02] [ 9.99803174e-01 -5.38870198e-03 -1.90938307e-02 1.33709688e+02] [ 1.90935709e-02 -9.96654677e-05 9.99817696e-01 9.23541261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.27, Y:133.74, Z:9.24 [[-8.34584176e-03 -9.99965173e-01 8.84227578e-06 9.30269159e+02] [ 9.99785314e-01 -8.34450834e-03 -1.89656305e-02 1.33738212e+02] [ 1.89650437e-02 -1.49443773e-04 9.99820136e-01 9.23625347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8392541539998 meters Centerline goodness [0,1] 0.9998893903194408 Centerline is valid? [True, True] Translation: X:930.27, Y:133.77, Z:9.24 [[-1.33940096e-02 -9.99910296e-01 1.40274726e-05 9.30271876e+02] [ 9.99732180e-01 -1.33918885e-02 -1.88739296e-02 1.33767059e+02] [ 1.88724244e-02 -2.38773878e-04 9.99821871e-01 9.23658579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8692541539998 meters Centerline goodness [0,1] 0.9998671066911781 Centerline is valid? [True, True] Translation: X:930.27, Y:133.80, Z:9.23 [[-1.56905873e-02 -9.99876895e-01 2.01845507e-05 9.30272873e+02] [ 9.99680096e-01 -1.56878995e-02 -1.98392363e-02 1.33795640e+02] [ 1.98371107e-02 -2.91111176e-04 9.99803183e-01 9.23487610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.27, Y:133.82, Z:9.24 [[-1.77779799e-02 -9.99841959e-01 2.40147823e-05 9.30273047e+02] [ 9.99667442e-01 -1.77753256e-02 -1.86827138e-02 1.33823358e+02] [ 1.86801880e-02 -3.08134115e-04 9.99825463e-01 9.23722388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9292541539999 meters Centerline goodness [0,1] 0.9998451464472171 Centerline is valid? [True, True] Translation: X:930.27, Y:133.85, Z:9.23 [[-1.84902400e-02 -9.99829040e-01 3.16166516e-05 9.30273281e+02] [ 9.99630511e-01 -1.84871986e-02 -1.99265133e-02 1.33850109e+02] [ 1.99236912e-02 -3.36841044e-04 9.99801447e-01 9.23415160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.27, Y:133.88, Z:9.24 [[-1.74502358e-02 -9.99847732e-01 3.64547680e-05 9.30269207e+02] [ 9.99658725e-01 -1.74476459e-02 -1.94425845e-02 1.33877980e+02] [ 1.94402601e-02 -3.02835356e-04 9.99810974e-01 9.23659168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.27, Y:133.90, Z:9.24 [[-1.67329908e-02 -9.99859993e-01 4.32534417e-05 9.30267914e+02] [ 9.99661380e-01 -1.67305291e-02 -1.99302522e-02 1.33904606e+02] [ 1.99281855e-02 -2.90253932e-04 9.99801372e-01 9.23592885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0192541539999 meters Centerline goodness [0,1] 0.9999779346866725 Centerline is valid? [True, True] Translation: X:930.26, Y:133.93, Z:9.24 [[-1.41251163e-02 -9.99900234e-01 5.22055872e-05 9.30263289e+02] [ 9.99674682e-01 -1.41230389e-02 -2.12384181e-02 1.33933189e+02] [ 2.12370366e-02 -2.47806522e-04 9.99774438e-01 9.23520650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:133.96, Z:9.24 [[-1.24675286e-02 -9.99922276e-01 5.82845838e-05 9.30261224e+02] [ 9.99694616e-01 -1.24659338e-02 -2.13371665e-02 1.33961328e+02] [ 2.13362347e-02 -2.07754950e-04 9.99772335e-01 9.23560955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.26, Y:133.99, Z:9.24 [[-1.09943990e-02 -9.99939558e-01 6.26055738e-05 9.30258740e+02] [ 9.99723004e-01 -1.09933209e-02 -2.08101690e-02 1.33989305e+02] [ 2.08095995e-02 -1.66207069e-04 9.99783443e-01 9.23583622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.25, Y:134.02, Z:9.24 [[-7.00980198e-03 -9.99975429e-01 6.72357047e-05 9.30253538e+02] [ 9.99766708e-01 -7.00971253e-03 -2.04302072e-02 1.34017604e+02] [ 2.04301765e-02 -7.59916879e-05 9.99791279e-01 9.23717087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1392541539999 meters Centerline goodness [0,1] 0.9998904757732411 Centerline is valid? [True, True] Translation: X:930.25, Y:134.05, Z:9.24 [[-5.63680914e-03 -9.99984110e-01 7.49053401e-05 9.30251034e+02] [ 9.99765544e-01 -5.63714314e-03 -2.09064740e-02 1.34045539e+02] [ 2.09065640e-02 -4.29580256e-05 9.99781433e-01 9.23594793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1692541539999 meters Centerline goodness [0,1] 0.9998907438161 Centerline is valid? [True, True] Translation: X:930.25, Y:134.07, Z:9.24 [[-1.89724693e-03 -9.99998197e-01 7.67321880e-05 9.30246079e+02] [ 9.99801022e-01 -1.89839654e-03 -1.98573134e-02 1.34073325e+02] [ 1.98574232e-02 3.90426931e-05 9.99802821e-01 9.23678482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.24, Y:134.10, Z:9.24 [[ 1.89810415e-04 -9.99999979e-01 7.78322411e-05 9.30243617e+02] [ 9.99823539e-01 1.88314888e-04 -1.87844379e-02 1.34101596e+02] [ 1.87844228e-02 8.13839887e-05 9.99823554e-01 9.23932606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2292541539998 meters Centerline goodness [0,1] 0.9998480243161094 Centerline is valid? [True, True] Translation: X:930.24, Y:134.13, Z:9.24 [[ 3.75378636e-03 -9.99992951e-01 8.61924528e-05 9.30238793e+02] [ 9.99803318e-01 3.75139596e-03 -1.94743788e-02 1.34130452e+02] [ 1.94739181e-02 1.59278158e-04 9.99810353e-01 9.23729453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2592541539999 meters Centerline goodness [0,1] 0.9999348180336773 Centerline is valid? [True, True] Translation: X:930.24, Y:134.16, Z:9.24 [[ 5.35337229e-03 -9.99985667e-01 8.74617557e-05 9.30236385e+02] [ 9.99812258e-01 5.35081512e-03 -1.86230351e-02 1.34158830e+02] [ 1.86223002e-02 1.87141375e-04 9.99826572e-01 9.23902937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2892541539999 meters Centerline goodness [0,1] 0.9999348180336773 Centerline is valid? [True, True] Translation: X:930.24, Y:134.19, Z:9.24 [[ 5.06968296e-03 -9.99987145e-01 9.27458949e-05 9.30236171e+02] [ 9.99813737e-01 5.06707660e-03 -1.86230091e-02 1.34186418e+02] [ 1.86222998e-02 1.87141372e-04 9.99826572e-01 9.23928679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3192541539999 meters Centerline goodness [0,1] 0.9998915683553088 Centerline is valid? [True, True] Translation: X:930.23, Y:134.21, Z:9.24 [[ 7.24008577e-03 -9.99973786e-01 9.68136863e-05 9.30231720e+02] [ 9.99804101e-01 7.23707361e-03 -1.84224160e-02 1.34214472e+02] [ 1.84212325e-02 2.30174593e-04 9.99830288e-01 9.23908903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.23, Y:134.24, Z:9.24 [[ 8.14244735e-03 -9.99966845e-01 9.54920201e-05 9.30229884e+02] [ 9.99817501e-01 8.13958081e-03 -1.72832712e-02 1.34242620e+02] [ 1.72819209e-02 2.36202719e-04 9.99850629e-01 9.24196501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.23, Y:134.27, Z:9.24 [[ 8.85021738e-03 -9.99960831e-01 1.01284876e-04 9.30225273e+02] [ 9.99809618e-01 8.84711752e-03 -1.73912616e-02 1.34269700e+02] [ 1.73896843e-02 2.55182039e-04 9.99848755e-01 9.24132324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:134.30, Z:9.24 [[ 8.63118053e-03 -9.99962745e-01 1.06521113e-04 9.30223815e+02] [ 9.99811939e-01 8.62802873e-03 -1.73679177e-02 1.34296815e+02] [ 1.73663516e-02 2.56406713e-04 9.99849161e-01 9.24136979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4392541539999 meters Centerline goodness [0,1] 0.9999565330783274 Centerline is valid? [True, True] Translation: X:930.22, Y:134.32, Z:9.24 [[ 7.94284300e-03 -9.99968448e-01 1.16769131e-04 9.30223748e+02] [ 9.99804193e-01 7.93942172e-03 -1.81257142e-02 1.34324403e+02] [ 1.81242152e-02 2.60715969e-04 9.99835709e-01 9.24150891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4692541539998 meters Centerline goodness [0,1] 0.9998698679159347 Centerline is valid? [True, True] Translation: X:930.22, Y:134.35, Z:9.24 [[ 6.81996232e-03 -9.99976736e-01 1.26488198e-04 9.30221166e+02] [ 9.99800906e-01 6.81639101e-03 -1.87532923e-02 1.34351389e+02] [ 1.87519938e-02 2.54359762e-04 9.99824134e-01 9.23930642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:134.38, Z:9.24 [[ 6.30932401e-03 -9.99980088e-01 1.30265553e-04 9.30219571e+02] [ 9.99808864e-01 6.30583294e-03 -1.85059982e-02 1.34379597e+02] [ 1.85048082e-02 2.47000993e-04 9.99828741e-01 9.24171947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:134.41, Z:9.24 [[ 5.87710872e-03 -9.99982720e-01 1.40108406e-04 9.30217982e+02] [ 9.99800059e-01 5.87335711e-03 -1.91139951e-02 1.34407494e+02] [ 1.91128419e-02 2.52415420e-04 9.99817301e-01 9.24132128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:134.44, Z:9.24 [[ 6.02437734e-03 -9.99981843e-01 1.46290010e-04 9.30216629e+02] [ 9.99797362e-01 6.02045579e-03 -1.92090976e-02 1.34435936e+02] [ 1.92078681e-02 2.61983219e-04 9.99815478e-01 9.24111886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5892541539998 meters Centerline goodness [0,1] 0.9999136926595606 Centerline is valid? [True, True] Translation: X:930.22, Y:134.46, Z:9.24 [[ 5.90275702e-03 -9.99982564e-01 1.68742745e-04 9.30215573e+02] [ 9.99754909e-01 5.89781240e-03 -2.13386362e-02 1.34464297e+02] [ 2.13372689e-02 2.94658172e-04 9.99772291e-01 9.23903474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6192541539998 meters Centerline goodness [0,1] 0.999891894229314 Centerline is valid? [True, True] Translation: X:930.22, Y:134.49, Z:9.24 [[ 5.47005616e-03 -9.99985023e-01 1.78709391e-04 9.30215215e+02] [ 9.99747338e-01 5.46485943e-03 -2.18035603e-02 1.34492852e+02] [ 2.18022571e-02 2.97930937e-04 9.99762258e-01 9.23894167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6492541539999 meters Centerline goodness [0,1] 0.9998922529899795 Centerline is valid? [True, True] Translation: X:930.21, Y:134.52, Z:9.24 [[ 4.59019432e-03 -9.99989447e-01 1.89443964e-04 9.30214288e+02] [ 9.99741266e-01 4.58483433e-03 -2.22796046e-02 1.34519480e+02] [ 2.22785009e-02 2.91662663e-04 9.99751761e-01 9.23853256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:134.55, Z:9.24 [[ 3.40388073e-03 -9.99994189e-01 1.86538090e-04 9.30215060e+02] [ 9.99769299e-01 3.39915904e-03 -2.12083494e-02 1.34547720e+02] [ 2.12075921e-02 2.58685747e-04 9.99775060e-01 9.24176746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:134.58, Z:9.24 [[ 2.16564678e-03 -9.99997637e-01 1.89184333e-04 9.30214934e+02] [ 9.99780707e-01 2.16123636e-03 -2.08294622e-02 1.34575762e+02] [ 2.08290041e-02 2.34252104e-04 9.99783025e-01 9.24228291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7392541539998 meters Centerline goodness [0,1] 0.9999783816503448 Centerline is valid? [True, True] Translation: X:930.22, Y:134.60, Z:9.24 [[ 1.08210405e-03 -9.99999398e-01 1.84466490e-04 9.30215058e+02] [ 9.99805329e-01 1.07825980e-03 -1.97013290e-02 1.34603452e+02] [ 1.97011182e-02 2.05749468e-04 9.99805893e-01 9.24321516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:134.63, Z:9.24 [[-8.21734143e-04 -9.99999647e-01 1.76430990e-04 9.30216000e+02] [ 9.99830859e-01 -8.24837045e-04 -1.83731827e-02 1.34630194e+02] [ 1.83733217e-02 1.61303277e-04 9.99831183e-01 9.24479802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:134.66, Z:9.25 [[-1.89288748e-03 -9.99998194e-01 1.71013114e-04 9.30215997e+02] [ 9.99847178e-01 -1.89557366e-03 -1.73789151e-02 1.34657849e+02] [ 1.73792079e-02 1.38090649e-04 9.99848961e-01 9.24556268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:134.68, Z:9.25 [[-3.31113195e-03 -9.99994504e-01 1.67981811e-04 9.30215921e+02] [ 9.99856768e-01 -3.31346392e-03 -1.65971196e-02 1.34684522e+02] [ 1.65975850e-02 1.13002497e-04 9.99862244e-01 9.24661894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8592541539998 meters Centerline goodness [0,1] 0.9998274300012943 Centerline is valid? [True, True] Translation: X:930.21, Y:134.71, Z:9.24 [[-4.86954471e-03 -9.99988128e-01 1.79872513e-04 9.30214831e+02] [ 9.99839422e-01 -4.87192253e-03 -1.72451135e-02 1.34712221e+02] [ 1.72457851e-02 9.58677781e-05 9.99851276e-01 9.24361337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:134.74, Z:9.25 [[-4.17451136e-03 -9.99991272e-01 1.73167949e-04 9.30214127e+02] [ 9.99860823e-01 -4.17676384e-03 -1.61520650e-02 1.34740185e+02] [ 1.61526473e-02 1.05716869e-04 9.99869532e-01 9.24709917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9192541539999 meters Centerline goodness [0,1] 0.9998702955100629 Centerline is valid? [True, True] Translation: X:930.21, Y:134.77, Z:9.25 [[-3.92911640e-03 -9.99992265e-01 1.80298859e-04 9.30212778e+02] [ 9.99858200e-01 -3.93154197e-03 -1.63744672e-02 1.34768623e+02] [ 1.63750494e-02 1.15936105e-04 9.99865913e-01 9.24691211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9492541539998 meters Centerline goodness [0,1] 0.9998488838996589 Centerline is valid? [True, True] Translation: X:930.21, Y:134.80, Z:9.24 [[-4.08333506e-03 -9.99991643e-01 2.01751181e-04 9.30211817e+02] [ 9.99832678e-01 -4.08628326e-03 -1.78302732e-02 1.34796471e+02] [ 1.78309486e-02 1.28910444e-04 9.99841008e-01 9.24437391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9792541539998 meters Centerline goodness [0,1] 0.9998484651686366 Centerline is valid? [True, True] Translation: X:930.21, Y:134.82, Z:9.24 [[-2.01950690e-03 -9.99997940e-01 2.02765227e-04 9.30208818e+02] [ 9.99844343e-01 -2.02275060e-03 -1.75270686e-02 1.34823184e+02] [ 1.75274426e-02 1.67337630e-04 9.99846369e-01 9.24444239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0092541539999 meters Centerline goodness [0,1] 0.9998924777428928 Centerline is valid? [True, True] Translation: X:930.21, Y:134.85, Z:9.24 [[ 9.68504953e-04 -9.99999507e-01 2.17063261e-04 9.30205783e+02] [ 9.99830730e-01 9.64353296e-04 -1.83734043e-02 1.34851169e+02] [ 1.83731859e-02 2.34821251e-04 9.99831171e-01 9.24418992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0392541539999 meters Centerline goodness [0,1] 0.9998923967546861 Centerline is valid? [True, True] Translation: X:930.20, Y:134.88, Z:9.24 [[ 2.14790008e-03 -9.99997668e-01 2.26368932e-04 9.30203335e+02] [ 9.99822084e-01 2.14328066e-03 -1.87405275e-02 1.34878457e+02] [ 1.87399987e-02 2.66581438e-04 9.99824355e-01 9.24340918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:134.91, Z:9.24 [[ 5.11719850e-03 -9.99986879e-01 2.35478248e-04 9.30200318e+02] [ 9.99805007e-01 5.11177624e-03 -1.90739992e-02 1.34906425e+02] [ 1.90725453e-02 3.33037772e-04 9.99818047e-01 9.24491810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:134.94, Z:9.24 [[ 6.02799944e-03 -9.99981801e-01 2.45181116e-04 9.30198860e+02] [ 9.99793076e-01 6.02209773e-03 -1.94303710e-02 1.34935122e+02] [ 1.94285409e-02 3.62256647e-04 9.99811182e-01 9.24478503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:134.96, Z:9.24 [[ 6.53754156e-03 -9.99978599e-01 2.50671573e-04 9.30195415e+02] [ 9.99789976e-01 6.53143891e-03 -1.94253553e-02 1.34962392e+02] [ 1.94233023e-02 3.77612993e-04 9.99811279e-01 9.24360342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1592541539999 meters Centerline goodness [0,1] 0.9999570021928882 Centerline is valid? [True, True] Translation: X:930.19, Y:134.99, Z:9.24 [[ 6.87410203e-03 -9.99976341e-01 2.54000618e-04 9.30194995e+02] [ 9.99791326e-01 6.86794338e-03 -1.92389060e-02 1.34989411e+02] [ 1.92367063e-02 3.86197817e-04 9.99814883e-01 9.24335265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:135.02, Z:9.24 [[ 6.62408753e-03 -9.99978029e-01 2.50863965e-04 9.30194327e+02] [ 9.99805508e-01 6.61828405e-03 -1.85780425e-02 1.35015395e+02] [ 1.85759740e-02 3.73877753e-04 9.99827382e-01 9.24497271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.04, Z:9.25 [[ 5.66096950e-03 -9.99983948e-01 2.40159721e-04 9.30195131e+02] [ 9.99832490e-01 5.65593156e-03 -1.74069884e-02 1.35042620e+02] [ 1.74053506e-02 3.38659923e-04 9.99848458e-01 9.24656199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2492541539999 meters Centerline goodness [0,1] 0.9999139248133244 Centerline is valid? [True, True] Translation: X:930.20, Y:135.07, Z:9.25 [[ 4.15608596e-03 -9.99991333e-01 2.48908466e-04 9.30198954e+02] [ 9.99835319e-01 4.15104018e-03 -1.76664564e-02 1.35070966e+02] [ 1.76652700e-02 3.22290786e-04 9.99843905e-01 9.24681210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.10, Z:9.25 [[ 3.02804862e-03 -9.99995388e-01 2.34410255e-04 9.30200055e+02] [ 9.99862263e-01 3.02382014e-03 -1.63190501e-02 1.35098926e+02] [ 1.63182660e-02 2.83792846e-04 9.99866808e-01 9.24970051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3092541539999 meters Centerline goodness [0,1] 0.999935571161652 Centerline is valid? [True, True] Translation: X:930.20, Y:135.13, Z:9.25 [[ 1.57136710e-03 -9.99998734e-01 2.52069519e-04 9.30200017e+02] [ 9.99850244e-01 1.56678942e-03 -1.72346938e-02 1.35125871e+02] [ 1.72342770e-02 2.79113801e-04 9.99851440e-01 9.24838626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.15, Z:9.25 [[-4.11347986e-04 -9.99999883e-01 2.53477932e-04 9.30201057e+02] [ 9.99854570e-01 -4.15609747e-04 -1.70489532e-02 1.35154134e+02] [ 1.70490566e-02 2.46428016e-04 9.99854624e-01 9.25016668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3692541539998 meters Centerline goodness [0,1] 0.9999137670848963 Centerline is valid? [True, True] Translation: X:930.20, Y:135.18, Z:9.25 [[-1.96473197e-03 -9.99998031e-01 2.77672896e-04 9.30201152e+02] [ 9.99830343e-01 -1.96948784e-03 -1.83140811e-02 1.35182268e+02] [ 1.83145919e-02 2.41643527e-04 9.99832245e-01 9.24860557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.21, Z:9.25 [[-3.57738719e-03 -9.99993562e-01 2.81309433e-04 9.30201774e+02] [ 9.99827667e-01 -3.58191796e-03 -1.82155606e-02 1.35209810e+02] [ 1.82164510e-02 2.16096841e-04 9.99834043e-01 9.25026015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.24, Z:9.25 [[-4.63899979e-03 -9.99989198e-01 2.88050293e-04 9.30201813e+02] [ 9.99821776e-01 -4.64349421e-03 -1.82990181e-02 1.35236873e+02] [ 1.83001580e-02 2.03109814e-04 9.99832517e-01 9.25017586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.26, Z:9.25 [[-6.45865752e-03 -9.99979094e-01 3.13167517e-04 9.30202292e+02] [ 9.99789077e-01 -6.46353533e-03 -1.94942296e-02 1.35264360e+02] [ 1.94958463e-02 1.87194910e-04 9.99809920e-01 9.24941258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.29, Z:9.25 [[-7.50079073e-03 -9.99971815e-01 3.28696691e-04 9.30202332e+02] [ 9.99770510e-01 -7.50587611e-03 -2.00646373e-02 1.35291920e+02] [ 2.00665389e-02 1.78120613e-04 9.99798631e-01 9.24940305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5192541539999 meters Centerline goodness [0,1] 0.9999350944375933 Centerline is valid? [True, True] Translation: X:930.20, Y:135.32, Z:9.25 [[-9.36531705e-03 -9.99956080e-01 3.59104133e-04 9.30204247e+02] [ 9.99724566e-01 -9.37087592e-03 -2.15169465e-02 1.35320227e+02] [ 2.15193666e-02 1.57492198e-04 9.99768419e-01 9.24856855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.35, Z:9.25 [[-9.91887869e-03 -9.99950743e-01 3.57744237e-04 9.30204476e+02] [ 9.99728571e-01 -9.92421589e-03 -2.10782675e-02 1.35348739e+02] [ 2.10807796e-02 1.48574357e-04 9.99777765e-01 9.25021346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5792541539998 meters Centerline goodness [0,1] 0.9999351225103263 Centerline is valid? [True, True] Translation: X:930.21, Y:135.38, Z:9.25 [[-1.18559415e-02 -9.99929642e-01 3.83907110e-04 9.30205403e+02] [ 9.99682379e-01 -1.18615470e-02 -2.22361175e-02 1.35376873e+02] [ 2.22391067e-02 1.20155064e-04 9.99752673e-01 9.24930530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6092541539998 meters Centerline goodness [0,1] 0.999870639472209 Centerline is valid? [True, True] Translation: X:930.21, Y:135.40, Z:9.25 [[-1.27318857e-02 -9.99918862e-01 4.10268735e-04 9.30205566e+02] [ 9.99645855e-01 -1.27379961e-02 -2.33646686e-02 1.35404640e+02] [ 2.33679989e-02 1.12647150e-04 9.99726925e-01 9.24859226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6392541539999 meters Centerline goodness [0,1] 0.9998698820263706 Centerline is valid? [True, True] Translation: X:930.21, Y:135.43, Z:9.25 [[-1.35892685e-02 -9.99907574e-01 4.19478631e-04 9.30205941e+02] [ 9.99631359e-01 -1.35953738e-02 -2.35013079e-02 1.35432722e+02] [ 2.35048387e-02 9.99584104e-05 9.99723718e-01 9.24915208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6692541539999 meters Centerline goodness [0,1] 0.9999566499046297 Centerline is valid? [True, True] Translation: X:930.21, Y:135.46, Z:9.25 [[-1.38889473e-02 -9.99903453e-01 4.25679263e-04 9.30205949e+02] [ 9.99627991e-01 -1.38951124e-02 -2.34692405e-02 1.35460688e+02] [ 2.34728894e-02 9.95578633e-05 9.99724469e-01 9.24997075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6992541539998 meters Centerline goodness [0,1] 0.9998916552904722 Centerline is valid? [True, True] Translation: X:930.21, Y:135.49, Z:9.25 [[-1.43166919e-02 -9.99897410e-01 4.48670067e-04 9.30205597e+02] [ 9.99601323e-01 -1.43233705e-02 -2.43318042e-02 1.35488096e+02] [ 2.43357345e-02 1.00140249e-04 9.99703837e-01 9.24906987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7292541539998 meters Centerline goodness [0,1] 0.999956738048886 Centerline is valid? [True, True] Translation: X:930.20, Y:135.52, Z:9.25 [[-1.38559896e-02 -9.99903909e-01 4.30115549e-04 9.30204842e+02] [ 9.99638762e-01 -1.38622201e-02 -2.30257260e-02 1.35515005e+02] [ 2.30294758e-02 1.10915955e-04 9.99734780e-01 9.24998141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.54, Z:9.25 [[-1.29659937e-02 -9.99915846e-01 4.29483314e-04 9.30204376e+02] [ 9.99658405e-01 -1.29724008e-02 -2.26890105e-02 1.35542959e+02] [ 2.26926725e-02 1.35151038e-04 9.99742479e-01 9.25149407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7892541539999 meters Centerline goodness [0,1] 0.9999567324333679 Centerline is valid? [True, True] Translation: X:930.20, Y:135.57, Z:9.25 [[-1.29332813e-02 -9.99916258e-01 4.54269952e-04 9.30203920e+02] [ 9.99636885e-01 -1.29404056e-02 -2.36356741e-02 1.35571221e+02] [ 2.36395732e-02 1.48418179e-04 9.99720535e-01 9.25184113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8192541539999 meters Centerline goodness [0,1] 0.9999568193104044 Centerline is valid? [True, True] Translation: X:930.20, Y:135.60, Z:9.25 [[-1.27838089e-02 -9.99918177e-01 4.61767612e-04 9.30203240e+02] [ 9.99638023e-01 -1.27911575e-02 -2.36687243e-02 1.35599006e+02] [ 2.36726942e-02 1.59024016e-04 9.99719750e-01 9.25254581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.63, Z:9.25 [[-1.23909980e-02 -9.99923134e-01 4.35603734e-04 9.30202527e+02] [ 9.99681003e-01 -1.23975835e-02 -2.20043543e-02 1.35625686e+02] [ 2.20080634e-02 1.62808867e-04 9.99757780e-01 9.25386388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.65, Z:9.26 [[-1.16570639e-02 -9.99931967e-01 4.18577359e-04 9.30202430e+02] [ 9.99714695e-01 -1.16632566e-02 -2.08445829e-02 1.35653838e+02] [ 2.08480468e-02 1.75471302e-04 9.99782640e-01 9.25554060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.68, Z:9.26 [[-1.15269926e-02 -9.99933469e-01 4.31047928e-04 9.30201696e+02] [ 9.99709495e-01 -1.15335339e-02 -2.11637164e-02 1.35681857e+02] [ 2.11672798e-02 1.86968705e-04 9.99775931e-01 9.25578273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.71, Z:9.25 [[-1.05364561e-02 -9.99944391e-01 4.45456474e-04 9.30199378e+02] [ 9.99710797e-01 -1.05436232e-02 -2.16137447e-02 1.35709303e+02] [ 2.16172395e-02 2.17595375e-04 9.99766297e-01 9.25413305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.74, Z:9.26 [[-1.02356585e-02 -9.99947510e-01 4.55691551e-04 9.30199702e+02] [ 9.99708888e-01 -1.02431712e-02 -2.18452888e-02 1.35737554e+02] [ 2.18488098e-02 2.31957978e-04 9.99761259e-01 9.25558543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.76, Z:9.26 [[-9.91390872e-03 -9.99950746e-01 4.69705229e-04 9.30198817e+02] [ 9.99704639e-01 -9.92188982e-03 -2.21853783e-02 1.35763998e+02] [ 2.21889459e-02 2.49622681e-04 9.99753764e-01 9.25535551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.79, Z:9.26 [[-8.75037396e-03 -9.99961599e-01 4.81244820e-04 9.30198917e+02] [ 9.99710489e-01 -8.75896179e-03 -2.24102241e-02 1.35792343e+02] [ 2.24135787e-02 2.85007653e-04 9.99748744e-01 9.25599404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0592541539999 meters Centerline goodness [0,1] 0.999913337377589 Centerline is valid? [True, True] Translation: X:930.20, Y:135.82, Z:9.25 [[-7.70529047e-03 -9.99970168e-01 5.40913064e-04 9.30198834e+02] [ 9.99661347e-01 -7.71635432e-03 -2.48525384e-02 1.35820128e+02] [ 2.48559709e-02 3.49233854e-04 9.99690982e-01 9.25478614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.85, Z:9.26 [[-6.56753989e-03 -9.99978298e-01 5.20766377e-04 9.30199600e+02] [ 9.99699345e-01 -6.57800908e-03 -2.36209369e-02 1.35848607e+02] [ 2.36238499e-02 3.65478361e-04 9.99720851e-01 9.25720897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.88, Z:9.26 [[-5.54626745e-03 -9.99984475e-01 5.36694130e-04 9.30199125e+02] [ 9.99695775e-01 -5.55756352e-03 -2.40306225e-02 1.35877139e+02] [ 2.40332322e-02 4.03250595e-04 9.99711079e-01 9.25730371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:135.90, Z:9.25 [[-2.94406349e-03 -9.99995508e-01 5.62080929e-04 9.30194651e+02] [ 9.99686836e-01 -2.95712210e-03 -2.48492626e-02 1.35904569e+02] [ 2.48508132e-02 4.88747098e-04 9.99691051e-01 9.25440203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.93, Z:9.26 [[-6.35008297e-04 -9.99999632e-01 5.76997531e-04 9.30195969e+02] [ 9.99682164e-01 -6.49348297e-04 -2.52021672e-02 1.35933168e+02] [ 2.52025326e-02 5.60810555e-04 9.99682208e-01 9.25641846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:135.96, Z:9.26 [[-9.20987835e-04 -9.99999405e-01 5.84033442e-04 9.30195254e+02] [ 9.99681941e-01 -9.35414279e-04 -2.52020047e-02 1.35960753e+02] [ 2.52025361e-02 5.60636946e-04 9.99682208e-01 9.25667601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:135.99, Z:9.26 [[-3.09686878e-04 -9.99999776e-01 5.93645789e-04 9.30194694e+02] [ 9.99678418e-01 -3.24640174e-04 -2.53565547e-02 1.35988169e+02] [ 2.53567417e-02 5.85602292e-04 9.99678295e-01 9.25705751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2692541539999 meters Centerline goodness [0,1] 0.9999130604881653 Centerline is valid? [True, True] Translation: X:930.19, Y:136.02, Z:9.25 [[-2.07291131e-04 -9.99999784e-01 6.24406383e-04 9.30192095e+02] [ 9.99652318e-01 -2.23682536e-04 -2.63665242e-02 1.36015268e+02] [ 2.63666582e-02 6.18723741e-04 9.99652148e-01 9.25472787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2992541539999 meters Centerline goodness [0,1] 0.9999128976765456 Centerline is valid? [True, True] Translation: X:930.19, Y:136.04, Z:9.26 [[-2.33853365e-04 -9.99999784e-01 6.14916664e-04 9.30193457e+02] [ 9.99669498e-01 -2.49583585e-04 -2.57066603e-02 1.36043021e+02] [ 2.57068082e-02 6.08701844e-04 9.99669340e-01 9.25659038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:136.07, Z:9.26 [[-4.44580494e-04 -9.99999732e-01 5.81925862e-04 9.30192950e+02] [ 9.99709231e-01 -4.58481001e-04 -2.41090044e-02 1.36068875e+02] [ 2.41092648e-02 5.71038262e-04 9.99709166e-01 9.25804183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3592541539998 meters Centerline goodness [0,1] 0.9998694516971279 Centerline is valid? [True, True] Translation: X:930.19, Y:136.10, Z:9.26 [[-9.84956559e-04 -9.99999306e-01 6.46458029e-04 9.30194050e+02] [ 9.99647706e-01 -1.00175615e-03 -2.65228205e-02 1.36095162e+02] [ 2.65234496e-02 6.20106460e-04 9.99647999e-01 9.25676460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3892541539999 meters Centerline goodness [0,1] 0.9999346704122297 Centerline is valid? [True, True] Translation: X:930.20, Y:136.12, Z:9.26 [[-1.18851638e-03 -9.99999094e-01 6.32834164e-04 9.30198709e+02] [ 9.99669274e-01 -1.20438087e-03 -2.56883693e-02 1.36123639e+02] [ 2.56891082e-02 6.02093821e-04 9.99669799e-01 9.26137520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:136.15, Z:9.26 [[-1.41503847e-03 -9.99998809e-01 6.16403214e-04 9.30194329e+02] [ 9.99693088e-01 -1.42985094e-03 -2.47322689e-02 1.36150867e+02] [ 2.47331208e-02 5.81216921e-04 9.99693921e-01 9.25939797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4492541539998 meters Centerline goodness [0,1] 0.9999564659019177 Centerline is valid? [True, True] Translation: X:930.20, Y:136.18, Z:9.26 [[-1.52566449e-03 -9.99998611e-01 6.71820812e-04 9.30200920e+02] [ 9.99643690e-01 -1.54302565e-03 -2.66479123e-02 1.36179362e+02] [ 2.66489119e-02 6.30925662e-04 9.99644656e-01 9.26262057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4792541539998 meters Centerline goodness [0,1] 0.999846656005608 Centerline is valid? [True, True] Translation: X:930.20, Y:136.21, Z:9.26 [[-1.99983995e-03 -9.99997720e-01 7.48939741e-04 9.30202604e+02] [ 9.99566273e-01 -2.02098099e-03 -2.93799487e-02 1.36207553e+02] [ 2.93813953e-02 6.89859711e-04 9.99568036e-01 9.26234606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.24, Z:9.26 [[-2.14475520e-03 -9.99997444e-01 7.15913361e-04 9.30202237e+02] [ 9.99611671e-01 -2.16381717e-03 -2.77817245e-02 1.36235652e+02] [ 2.77832026e-02 6.56050354e-04 9.99613757e-01 9.26319459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.26, Z:9.26 [[-2.38565900e-03 -9.99996879e-01 7.41644109e-04 9.30202681e+02] [ 9.99592090e-01 -2.40579919e-03 -2.84581438e-02 1.36263744e+02] [ 2.84598393e-02 6.73450158e-04 9.99594710e-01 9.26343320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.29, Z:9.26 [[-3.18082510e-03 -9.99994644e-01 7.71395869e-04 9.30203596e+02] [ 9.99566710e-01 -3.20203497e-03 -2.92598682e-02 1.36290567e+02] [ 2.92621816e-02 6.77991108e-04 9.99571541e-01 9.26276897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:136.32, Z:9.26 [[-4.17200998e-03 -9.99990978e-01 7.98367693e-04 9.30205127e+02] [ 9.99542727e-01 -4.19404778e-03 -2.99457444e-02 1.36318795e+02] [ 2.99488226e-02 6.73068676e-04 9.99551207e-01 9.26381470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:136.35, Z:9.27 [[-6.68532094e-03 -9.99977329e-01 8.05135376e-04 9.30208555e+02] [ 9.99530926e-01 -6.70639638e-03 -2.98823066e-02 1.36347252e+02] [ 2.98870287e-02 6.04984898e-04 9.99553100e-01 9.26517973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6592541539999 meters Centerline goodness [0,1] 0.9999559587774156 Centerline is valid? [True, True] Translation: X:930.21, Y:136.38, Z:9.27 [[-1.03796278e-02 -9.99945789e-01 8.26293842e-04 9.30211775e+02] [ 9.99485151e-01 -1.03999277e-02 -3.03525101e-02 1.36375274e+02] [ 3.03594581e-02 5.10820668e-04 9.99538915e-01 9.26564637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:136.40, Z:9.27 [[-1.24245577e-02 -9.99922491e-01 8.01772922e-04 9.30213122e+02] [ 9.99497523e-01 -1.24426529e-02 -2.91527450e-02 1.36402938e+02] [ 2.91604616e-02 4.39160088e-04 9.99574647e-01 9.26651682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7192541539998 meters Centerline goodness [0,1] 0.9998460591133005 Centerline is valid? [True, True] Translation: X:930.21, Y:136.43, Z:9.27 [[-1.47525516e-02 -9.99890811e-01 8.54008281e-04 9.30214620e+02] [ 9.99418570e-01 -1.47718304e-02 -3.07297149e-02 1.36431097e+02] [ 3.07389748e-02 4.00170030e-04 9.99527366e-01 9.26709543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:136.46, Z:9.27 [[-1.80281874e-02 -9.99837199e-01 7.48093665e-04 9.30218300e+02] [ 9.99481585e-01 -1.80417270e-02 -2.66656751e-02 1.36459567e+02] [ 2.66748308e-02 2.66972053e-04 9.99644128e-01 9.27000686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:136.49, Z:9.27 [[-2.01968351e-02 -9.99795753e-01 7.35653411e-04 9.30219395e+02] [ 9.99458628e-01 -2.02091280e-02 -2.59623226e-02 1.36487202e+02] [ 2.59718868e-02 2.10898400e-04 9.99662651e-01 9.27050761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:136.52, Z:9.27 [[-2.07192407e-02 -9.99785068e-01 7.28716939e-04 9.30219382e+02] [ 9.99460900e-01 -2.07310787e-02 -2.54584372e-02 1.36515091e+02] [ 2.54680724e-02 2.00844600e-04 9.99675616e-01 9.27182100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.22, Y:136.54, Z:9.27 [[-2.08648302e-02 -9.99782032e-01 7.40146187e-04 9.30217713e+02] [ 9.99454556e-01 -2.08769390e-02 -2.55879531e-02 1.36542154e+02] [ 2.55978277e-02 2.05854181e-04 9.99672301e-01 9.27141615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:136.57, Z:9.27 [[-1.95270848e-02 -9.99809033e-01 7.68871902e-04 9.30214358e+02] [ 9.99462766e-01 -1.95405567e-02 -2.63124716e-02 1.36569870e+02] [ 2.63224709e-02 2.54652975e-04 9.99653471e-01 9.27071763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:136.60, Z:9.27 [[-1.88296834e-02 -9.99822392e-01 7.92172088e-04 9.30211965e+02] [ 9.99461976e-01 -1.88441653e-02 -2.68450396e-02 1.36598270e+02] [ 2.68551996e-02 2.86262283e-04 9.99639293e-01 9.27104404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.21, Y:136.63, Z:9.27 [[-1.64612209e-02 -9.99864138e-01 8.56709613e-04 9.30207317e+02] [ 9.99451210e-01 -1.64790438e-02 -2.87353612e-02 1.36625224e+02] [ 2.87455749e-02 3.83220332e-04 9.99586687e-01 9.26956207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9592541539998 meters Centerline goodness [0,1] 0.9999779633751295 Centerline is valid? [True, True] Translation: X:930.21, Y:136.65, Z:9.27 [[-1.57657572e-02 -9.99875325e-01 8.80497139e-04 9.30205393e+02] [ 9.99447388e-01 -1.57847703e-02 -2.92533671e-02 1.36654039e+02] [ 2.92636184e-02 4.18809083e-04 9.99571641e-01 9.27014132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.68, Z:9.27 [[-1.46721827e-02 -9.99891965e-01 8.86802585e-04 9.30202944e+02] [ 9.99466051e-01 -1.46918171e-02 -2.91849853e-02 1.36681820e+02] [ 2.91948611e-02 4.58121641e-04 9.99573634e-01 9.27037986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0192541539999 meters Centerline goodness [0,1] 0.9998019758410526 Centerline is valid? [True, True] Translation: X:930.20, Y:136.71, Z:9.27 [[-1.48615423e-02 -9.99889102e-01 9.57818267e-04 9.30200212e+02] [ 9.99401316e-01 -1.48842107e-02 -3.12325250e-02 1.36709475e+02] [ 3.12433178e-02 4.93081344e-04 9.99511687e-01 9.27028246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.74, Z:9.27 [[-1.52819441e-02 -9.99882851e-01 8.63955319e-04 9.30199333e+02] [ 9.99492725e-01 -1.53001164e-02 -2.79320302e-02 1.36737553e+02] [ 2.79419766e-02 4.36661333e-04 9.99609451e-01 9.27121401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.77, Z:9.27 [[-1.74131007e-02 -9.99848031e-01 8.36319616e-04 9.30198343e+02] [ 9.99488916e-01 -1.74292615e-02 -2.67979195e-02 1.36765543e+02] [ 2.68084235e-02 3.69257315e-04 9.99640521e-01 9.27212968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.79, Z:9.27 [[-1.87174518e-02 -9.99824476e-01 8.20932971e-04 9.30197507e+02] [ 9.99484614e-01 -1.87324941e-02 -2.60691330e-02 1.36793750e+02] [ 2.60799354e-02 3.32562132e-04 9.99659805e-01 9.27276649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.82, Z:9.27 [[-2.08426328e-02 -9.99782439e-01 8.11594678e-04 9.30196736e+02] [ 9.99456115e-01 -2.08565655e-02 -2.55436414e-02 1.36821675e+02] [ 2.55550112e-02 2.78756524e-04 9.99673379e-01 9.27289802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.85, Z:9.27 [[-2.21023426e-02 -9.99755381e-01 8.15087172e-04 9.30196659e+02] [ 9.99432131e-01 -2.21159229e-02 -2.54224565e-02 1.36849739e+02] [ 2.54342641e-02 2.52728465e-04 9.99676465e-01 9.27403446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1992541539998 meters Centerline goodness [0,1] 0.9999779861753181 Centerline is valid? [True, True] Translation: X:930.20, Y:136.88, Z:9.27 [[-2.33456142e-02 -9.99727127e-01 8.08352999e-04 9.30196350e+02] [ 9.99414897e-01 -2.33585251e-02 -2.49848430e-02 1.36877464e+02] [ 2.49969073e-02 2.24593524e-04 9.99687503e-01 9.27421754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.90, Z:9.27 [[-2.53110049e-02 -9.99679298e-01 8.08871760e-04 9.30195653e+02] [ 9.99372366e-01 -2.53232767e-02 -2.47710762e-02 1.36904332e+02] [ 2.47836154e-02 1.81383252e-04 9.99692823e-01 9.27248386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.93, Z:9.27 [[-2.65677824e-02 -9.99646686e-01 8.10154786e-04 9.30195532e+02] [ 9.99344178e-01 -2.65796724e-02 -2.45913537e-02 1.36932842e+02] [ 2.46041989e-02 1.56285734e-04 9.99697259e-01 9.27319264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.20, Y:136.96, Z:9.27 [[-2.86389515e-02 -9.99589483e-01 8.22398018e-04 9.30195500e+02] [ 9.99283035e-01 -2.86505343e-02 -2.47499981e-02 1.36961256e+02] [ 2.47634000e-02 1.12994390e-04 9.99693334e-01 9.27322394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:136.99, Z:9.27 [[-2.96946862e-02 -9.99558680e-01 8.19079868e-04 9.30194912e+02] [ 9.99260134e-01 -2.97058347e-02 -2.44284438e-02 1.36988906e+02] [ 2.44419944e-02 9.30788874e-05 9.99701246e-01 9.27312084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3492541539998 meters Centerline goodness [0,1] 0.9998903749177812 Centerline is valid? [True, True] Translation: X:930.19, Y:137.02, Z:9.27 [[-3.21733137e-02 -9.99481940e-01 8.54537242e-04 9.30194638e+02] [ 9.99163236e-01 -3.21846329e-02 -2.52384136e-02 1.37015629e+02] [ 2.52528416e-02 4.18187990e-05 9.99681095e-01 9.27312067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:137.04, Z:9.27 [[-3.24433069e-02 -9.99473252e-01 8.06807910e-04 9.30194343e+02] [ 9.99194017e-01 -3.24533130e-02 -2.36241291e-02 1.37043947e+02] [ 2.36378688e-02 3.97127646e-05 9.99720586e-01 9.27413309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:137.07, Z:9.27 [[-3.35839975e-02 -9.99435593e-01 7.81227408e-04 9.30194340e+02] [ 9.99178026e-01 -3.35930776e-02 -2.26887167e-02 1.37071886e+02] [ 2.27021548e-02 1.86074550e-05 9.99742273e-01 9.27465768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:137.10, Z:9.28 [[-3.39281200e-02 -9.99423963e-01 7.90716524e-04 9.30193603e+02] [ 9.99164493e-01 -3.39373283e-02 -2.27721953e-02 1.37100346e+02] [ 2.27859125e-02 1.74381015e-05 9.99740367e-01 9.27540651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:137.13, Z:9.28 [[-3.45533116e-02 -9.99402547e-01 7.86241066e-04 9.30192715e+02] [ 9.99150230e-01 -3.45622544e-02 -2.24559051e-02 1.37128784e+02] [ 2.24696630e-02 9.64705620e-06 9.99747525e-01 9.27535703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4992541539999 meters Centerline goodness [0,1] 0.9999121998331797 Centerline is valid? [True, True] Translation: X:930.19, Y:137.16, Z:9.28 [[-3.48682643e-02 -9.99391610e-01 7.84216622e-04 9.30192257e+02] [ 9.99144053e-01 -3.48770812e-02 -2.22429721e-02 1.37155989e+02] [ 2.22567908e-02 7.97154394e-06 9.99752287e-01 9.27516486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:137.18, Z:9.28 [[-3.46809740e-02 -9.99398134e-01 7.74409283e-04 9.30191410e+02] [ 9.99160138e-01 -3.46896146e-02 -2.18094018e-02 1.37184550e+02] [ 2.18231394e-02 1.73875913e-05 9.99761847e-01 9.27581424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.19, Y:137.21, Z:9.28 [[-3.43220638e-02 -9.99410536e-01 7.58795057e-04 9.30189942e+02] [ 9.99185599e-01 -3.43304370e-02 -2.12028330e-02 1.37212648e+02] [ 2.12163844e-02 3.04521072e-05 9.99774907e-01 9.27615924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5892541539998 meters Centerline goodness [0,1] 0.9999559849468518 Centerline is valid? [True, True] Translation: X:930.19, Y:137.24, Z:9.28 [[-3.40587033e-02 -9.99419527e-01 7.83001748e-04 9.30188119e+02] [ 9.99184030e-01 -3.40676749e-02 -2.16948805e-02 1.37239455e+02] [ 2.17089623e-02 4.34633420e-05 9.99764332e-01 9.27667335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6192541539998 meters Centerline goodness [0,1] 0.9999339904946313 Centerline is valid? [True, True] Translation: X:930.18, Y:137.27, Z:9.28 [[-3.16746625e-02 -9.99497943e-01 7.59491036e-04 9.30184889e+02] [ 9.99279937e-01 -3.16836160e-02 -2.08747885e-02 1.37267006e+02] [ 2.08883716e-02 9.77422734e-05 9.99781809e-01 9.27675482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.18, Y:137.30, Z:9.28 [[-3.01509939e-02 -9.99545089e-01 7.30387857e-04 9.30182994e+02] [ 9.99346520e-01 -3.01595624e-02 -1.99231792e-02 1.37295406e+02] [ 1.99361441e-02 1.29206909e-04 9.99801247e-01 9.27693244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6792541539999 meters Centerline goodness [0,1] 0.9999780393534786 Centerline is valid? [True, True] Translation: X:930.18, Y:137.32, Z:9.28 [[-2.75077240e-02 -9.99621310e-01 7.50072445e-04 9.30179042e+02] [ 9.99415247e-01 -2.75172835e-02 -2.02968797e-02 1.37322023e+02] [ 2.03098334e-02 1.91312872e-04 9.99793716e-01 9.27606487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7092541539998 meters Centerline goodness [0,1] 0.9999342061977762 Centerline is valid? [True, True] Translation: X:930.18, Y:137.35, Z:9.28 [[-2.49668477e-02 -9.99688011e-01 7.32496575e-04 9.30176066e+02] [ 9.99494510e-01 -2.49764277e-02 -1.96698490e-02 1.37349949e+02] [ 1.96820073e-02 2.41032181e-04 9.99806261e-01 9.27577167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.17, Y:137.38, Z:9.28 [[-2.40457838e-02 -9.99710608e-01 7.07568745e-04 9.30174950e+02] [ 9.99532718e-01 -2.40548538e-02 -1.88602421e-02 1.37378358e+02] [ 1.88718046e-02 2.53728808e-04 9.99821879e-01 9.27671165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7692541539999 meters Centerline goodness [0,1] 0.9999123978887892 Centerline is valid? [True, True] Translation: X:930.17, Y:137.40, Z:9.28 [[-2.39593506e-02 -9.99712677e-01 7.16079300e-04 9.30172450e+02] [ 9.99533308e-01 -2.39686173e-02 -1.89386399e-02 1.37404987e+02] [ 1.89503618e-02 2.61987597e-04 9.99820391e-01 9.27691877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7992541539999 meters Centerline goodness [0,1] 0.999934029686641 Centerline is valid? [True, True] Translation: X:930.17, Y:137.43, Z:9.28 [[-2.27423611e-02 -9.99741135e-01 6.69811683e-04 9.30171798e+02] [ 9.99586551e-01 -2.27506244e-02 -1.75822561e-02 1.37433126e+02] [ 1.75929433e-02 2.69672733e-04 9.99845196e-01 9.27810372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.17, Y:137.46, Z:9.28 [[-2.15872268e-02 -9.99766779e-01 6.16580099e-04 9.30170523e+02] [ 9.99637730e-01 -2.15943482e-02 -1.60652850e-02 1.37460292e+02] [ 1.60748529e-02 2.69551780e-04 9.99870755e-01 9.27818567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8592541539998 meters Centerline goodness [0,1] 0.9999341252936914 Centerline is valid? [True, True] Translation: X:930.17, Y:137.49, Z:9.28 [[-2.18711552e-02 -9.99760600e-01 6.29195718e-04 9.30168886e+02] [ 9.99628307e-01 -2.18784980e-02 -1.62659078e-02 1.37488146e+02] [ 1.62757796e-02 2.73207656e-04 9.99867503e-01 9.27832000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8892541539999 meters Centerline goodness [0,1] 0.9999342220663041 Centerline is valid? [True, True] Translation: X:930.17, Y:137.52, Z:9.28 [[-2.15627026e-02 -9.99767305e-01 6.21253503e-04 9.30167405e+02] [ 9.99640223e-01 -2.15698684e-02 -1.59425925e-02 1.37516670e+02] [ 1.59522831e-02 2.77264609e-04 9.99872716e-01 9.27855736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.17, Y:137.54, Z:9.28 [[-2.11105892e-02 -9.99776997e-01 5.46270245e-04 9.30166547e+02] [ 9.99680091e-01 -2.11161499e-02 -1.39220961e-02 1.37543971e+02] [ 1.39305266e-02 2.52191836e-04 9.99902934e-01 9.27884720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.17, Y:137.57, Z:9.28 [[-2.14665167e-02 -9.99769416e-01 5.51405433e-04 9.30165158e+02] [ 9.99672163e-01 -2.14721207e-02 -1.39468836e-02 1.37571814e+02] [ 1.39555075e-02 2.51833653e-04 9.99902585e-01 9.27923966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.60, Z:9.28 [[-2.21178360e-02 -9.99755243e-01 5.06452640e-04 9.30163937e+02] [ 9.99674310e-01 -2.21224906e-02 -1.27228156e-02 1.37599198e+02] [ 1.27309056e-02 2.24886544e-04 9.99918933e-01 9.27924841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.63, Z:9.28 [[-2.27842326e-02 -9.99740279e-01 5.03439660e-04 9.30162954e+02] [ 9.99661497e-01 -2.27887582e-02 -1.25524200e-02 1.37626681e+02] [ 1.25606326e-02 2.17271987e-04 9.99921089e-01 9.27942289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.66, Z:9.28 [[-2.38717883e-02 -9.99714889e-01 5.26837609e-04 9.30163344e+02] [ 9.99629961e-01 -2.38766283e-02 -1.30325318e-02 1.37655203e+02] [ 1.30413952e-02 2.15532820e-04 9.99914934e-01 9.27877401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0692541539999 meters Centerline goodness [0,1] 0.9999338770112409 Centerline is valid? [True, True] Translation: X:930.16, Y:137.68, Z:9.28 [[-2.47834725e-02 -9.99692683e-01 5.65127645e-04 9.30160634e+02] [ 9.99596439e-01 -2.47889291e-02 -1.38733044e-02 1.37682110e+02] [ 1.38830498e-02 2.21070923e-04 9.99903601e-01 9.27811642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0992541539998 meters Centerline goodness [0,1] 0.9999338770112409 Centerline is valid? [True, True] Translation: X:930.16, Y:137.71, Z:9.28 [[-2.50948919e-02 -9.99684911e-01 5.69417369e-04 9.30159417e+02] [ 9.99588669e-01 -2.51003780e-02 -1.38731285e-02 1.37708852e+02] [ 1.38830499e-02 2.21038490e-04 9.99903601e-01 9.27836604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1292541539999 meters Centerline goodness [0,1] 0.9998242183208456 Centerline is valid? [True, True] Translation: X:930.16, Y:137.74, Z:9.28 [[-2.61978403e-02 -9.99656597e-01 6.01655290e-04 9.30160692e+02] [ 9.99550761e-01 -2.62038224e-02 -1.45477119e-02 1.37737073e+02] [ 1.45584819e-02 2.20266368e-04 9.99893995e-01 9.27783386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.77, Z:9.28 [[-2.65937493e-02 -9.99646137e-01 6.11778751e-04 9.30159900e+02] [ 9.99538215e-01 -2.65998686e-02 -1.46902409e-02 1.37765241e+02] [ 1.47013158e-02 2.20827657e-04 9.99891905e-01 9.27785319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1892541539999 meters Centerline goodness [0,1] 0.9999559994719937 Centerline is valid? [True, True] Translation: X:930.16, Y:137.79, Z:9.28 [[-2.76467049e-02 -9.99617551e-01 6.42079995e-04 9.30158583e+02] [ 9.99500351e-01 -2.76532964e-02 -1.53083063e-02 1.37792380e+02] [ 1.53202073e-02 2.18534952e-04 9.99882615e-01 9.27739598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2192541539998 meters Centerline goodness [0,1] 0.9998453175409908 Centerline is valid? [True, True] Translation: X:930.16, Y:137.82, Z:9.28 [[-2.92049792e-02 -9.99573219e-01 6.70606858e-04 9.30158409e+02] [ 9.99447174e-01 -2.92119468e-02 -1.58747880e-02 1.37820601e+02] [ 1.58876027e-02 2.06613276e-04 9.99873763e-01 9.27761587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.85, Z:9.28 [[-3.10835038e-02 -9.99516599e-01 6.19065380e-04 9.30159217e+02] [ 9.99410545e-01 -3.10892242e-02 -1.45609941e-02 1.37847530e+02] [ 1.45732016e-02 1.66093754e-04 9.99893791e-01 9.27770550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.88, Z:9.28 [[-3.27226068e-02 -9.99464288e-01 6.06541178e-04 9.30159064e+02] [ 9.99363811e-01 -3.27279179e-02 -1.41723851e-02 1.37875608e+02] [ 1.41846436e-02 1.42397918e-04 9.99899383e-01 9.27839238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.90, Z:9.28 [[-3.45981659e-02 -9.99401136e-01 5.80716046e-04 9.30159215e+02] [ 9.99310187e-01 -3.46028519e-02 -1.34830460e-02 1.37903804e+02] [ 1.34950659e-02 1.13826797e-04 9.99908931e-01 9.27891318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.93, Z:9.28 [[-3.90236593e-02 -9.99238140e-01 5.41287807e-04 9.30161615e+02] [ 9.99160070e-01 -3.90273767e-02 -1.24907479e-02 1.37931873e+02] [ 1.25023567e-02 5.33984733e-05 9.99921841e-01 9.28001869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3692541539998 meters Centerline goodness [0,1] 0.9998898144475297 Centerline is valid? [True, True] Translation: X:930.16, Y:137.96, Z:9.28 [[-4.34849112e-02 -9.99053931e-01 5.51985821e-04 9.30163302e+02] [ 9.98973779e-01 -4.34884145e-02 -1.26548713e-02 1.37959808e+02] [ 1.26669039e-02 1.12340754e-06 9.99919772e-01 9.28090514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:137.99, Z:9.28 [[-4.54562985e-02 -9.98966186e-01 5.34079426e-04 9.30163820e+02] [ 9.98892088e-01 -4.54594317e-02 -1.21670682e-02 1.37987760e+02] [ 1.21787687e-02 -1.95821729e-05 9.99925836e-01 9.28100789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:138.02, Z:9.28 [[-4.71859515e-02 -9.98885974e-01 5.45851414e-04 9.30163724e+02] [ 9.98809593e-01 -4.71890936e-02 -1.23525828e-02 1.38015162e+02] [ 1.23645799e-02 -3.76667432e-05 9.99923555e-01 9.28106179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4592541539998 meters Centerline goodness [0,1] 0.999933598937583 Centerline is valid? [True, True] Translation: X:930.16, Y:138.04, Z:9.28 [[-4.98373257e-02 -9.98757173e-01 5.91173203e-04 9.30162817e+02] [ 9.98668853e-01 -4.98407804e-02 -1.32822895e-02 1.38042768e+02] [ 1.32952465e-02 -7.15675246e-05 9.99911612e-01 9.28116193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:138.07, Z:9.28 [[-5.04959599e-02 -9.98724095e-01 5.83896208e-04 9.30162197e+02] [ 9.98639085e-01 -5.04992801e-02 -1.30307648e-02 1.38069570e+02] [ 1.30436251e-02 -7.48994036e-05 9.99914926e-01 9.28098842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.16, Y:138.10, Z:9.28 [[-5.13533730e-02 -9.98680355e-01 6.16950913e-04 9.30160142e+02] [ 9.98586732e-01 -5.13570066e-02 -1.36746815e-02 1.38097305e+02] [ 1.36883205e-02 -8.61620228e-05 9.99906307e-01 9.28113655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5492541539999 meters Centerline goodness [0,1] 0.9999337031225829 Centerline is valid? [True, True] Translation: X:930.16, Y:138.13, Z:9.28 [[-5.15370217e-02 -9.98670860e-01 6.69356716e-04 9.30157561e+02] [ 9.98562097e-01 -5.15412876e-02 -1.47388731e-02 1.38125796e+02] [ 1.47537826e-02 -9.12033787e-05 9.99891153e-01 9.28131372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5792541539998 meters Centerline goodness [0,1] 0.99991192725191 Centerline is valid? [True, True] Translation: X:930.15, Y:138.15, Z:9.28 [[-5.09104755e-02 -9.98702977e-01 6.98362734e-04 9.30154477e+02] [ 9.98586083e-01 -5.09152014e-02 -1.52799750e-02 1.38153785e+02] [ 1.52957138e-02 -8.05354854e-05 9.99883010e-01 9.28053045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.15, Y:138.18, Z:9.28 [[-5.00739727e-02 -9.98745246e-01 7.28099051e-04 9.30151762e+02] [ 9.98619781e-01 -5.00792229e-02 -1.58304921e-02 1.38182016e+02] [ 1.58470913e-02 -6.56015125e-05 9.99874425e-01 9.28034491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6392541539999 meters Centerline goodness [0,1] 0.9999121824847966 Centerline is valid? [True, True] Translation: X:930.15, Y:138.21, Z:9.28 [[-4.91463902e-02 -9.98791262e-01 8.05045647e-04 9.30147154e+02] [ 9.98639853e-01 -4.91529571e-02 -1.73905631e-02 1.38209947e+02] [ 1.74091128e-02 -5.07327315e-05 9.99848449e-01 9.28004216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6692541539999 meters Centerline goodness [0,1] 0.9998243186859038 Centerline is valid? [True, True] Translation: X:930.14, Y:138.24, Z:9.28 [[-4.88541823e-02 -9.98805558e-01 8.51976026e-04 9.30144321e+02] [ 9.98638105e-01 -4.88615919e-02 -1.82887776e-02 1.38237974e+02] [ 1.83085616e-02 -4.26675478e-05 9.99832383e-01 9.28065504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:138.26, Z:9.28 [[-4.85745282e-02 -9.98819230e-01 8.13593102e-04 9.30142854e+02] [ 9.98668367e-01 -4.85813316e-02 -1.73593724e-02 1.38264563e+02] [ 1.73784004e-02 -3.07136318e-05 9.99848984e-01 9.28051153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:138.29, Z:9.28 [[-4.82074995e-02 -9.98837047e-01 7.68858862e-04 9.30139639e+02] [ 9.98703933e-01 -4.82136269e-02 -1.63064800e-02 1.38292378e+02] [ 1.63245858e-02 -1.82322543e-05 9.99866745e-01 9.28244834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.14, Y:138.32, Z:9.28 [[-4.79313468e-02 -9.98850357e-01 7.41818205e-04 9.30136475e+02] [ 9.98727741e-01 -4.79370860e-02 -1.56504345e-02 1.38319326e+02] [ 1.56680026e-02 -9.27198232e-06 9.99877249e-01 9.28271969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7892541539999 meters Centerline goodness [0,1] 0.9999562449408212 Centerline is valid? [True, True] Translation: X:930.13, Y:138.35, Z:9.28 [[-4.82854504e-02 -9.98833318e-01 7.19454662e-04 9.30134000e+02] [ 9.98719115e-01 -4.82908089e-02 -1.51038979e-02 1.38347736e+02] [ 1.51210195e-02 -1.07653923e-05 9.99885671e-01 9.28381203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8192541539999 meters Centerline goodness [0,1] 0.9999781114564636 Centerline is valid? [True, True] Translation: X:930.13, Y:138.37, Z:9.28 [[-4.83719437e-02 -9.98829150e-01 6.95422425e-04 9.30131125e+02] [ 9.98723717e-01 -4.83769418e-02 -1.45123743e-02 1.38374293e+02] [ 1.45290249e-02 -7.45688355e-06 9.99894448e-01 9.28483099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8492541539998 meters Centerline goodness [0,1] 0.9999563328311609 Centerline is valid? [True, True] Translation: X:930.13, Y:138.40, Z:9.29 [[-4.88378358e-02 -9.98806493e-01 6.74418612e-04 9.30128873e+02] [ 9.98708521e-01 -4.88424913e-02 -1.39893492e-02 1.38401928e+02] [ 1.40055931e-02 -9.66192316e-06 9.99901917e-01 9.28542918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8792541539999 meters Centerline goodness [0,1] 0.9999563728377288 Centerline is valid? [True, True] Translation: X:930.13, Y:138.43, Z:9.29 [[-4.89988235e-02 -9.98798585e-01 7.08374129e-04 9.30125329e+02] [ 9.98691831e-01 -4.90039430e-02 -1.46027798e-02 1.38428618e+02] [ 1.46199489e-02 -8.07157225e-06 9.99893123e-01 9.28523495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.12, Y:138.46, Z:9.29 [[-4.91742389e-02 -9.98789944e-01 7.36183621e-04 9.30122760e+02] [ 9.98676060e-01 -4.91797488e-02 -1.50824571e-02 1.38456469e+02] [ 1.51004118e-02 -6.45938928e-06 9.99885982e-01 9.28509534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.12, Y:138.48, Z:9.28 [[-4.88431641e-02 -9.98806156e-01 7.79215289e-04 9.30118390e+02] [ 9.98680083e-01 -4.88493791e-02 -1.58691856e-02 1.38484290e+02] [ 1.58883044e-02 3.08555408e-06 9.99873773e-01 9.28487435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.12, Y:138.51, Z:9.28 [[-4.85895478e-02 -9.98818508e-01 8.02808656e-04 9.30115168e+02] [ 9.98686232e-01 -4.85961779e-02 -1.62548717e-02 1.38512194e+02] [ 1.62746801e-02 1.19370869e-05 9.99867559e-01 9.28473634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.11, Y:138.54, Z:9.28 [[-4.87050806e-02 -9.98812863e-01 8.24474487e-04 9.30111929e+02] [ 9.98675074e-01 -4.87120560e-02 -1.65901253e-02 1.38538610e+02] [ 1.66105924e-02 1.53587308e-05 9.99862034e-01 9.28401056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0292541539999 meters Centerline goodness [0,1] 0.9998910153014516 Centerline is valid? [True, True] Translation: X:930.11, Y:138.57, Z:9.28 [[-4.78140448e-02 -9.98855852e-01 8.97215204e-04 9.30106363e+02] [ 9.98694569e-01 -4.78224471e-02 -1.79491449e-02 1.38565950e+02] [ 1.79715154e-02 3.78227332e-05 9.99838499e-01 9.28388474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0592541539999 meters Centerline goodness [0,1] 0.9998482483524107 Centerline is valid? [True, True] Translation: X:930.10, Y:138.59, Z:9.28 [[-4.73383730e-02 -9.98878497e-01 9.09007949e-04 9.30102885e+02] [ 9.98714650e-01 -4.73470719e-02 -1.80914848e-02 1.38592822e+02] [ 1.81142340e-02 5.14180991e-05 9.99835922e-01 9.28300464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0892541539998 meters Centerline goodness [0,1] 0.9998913728301723 Centerline is valid? [True, True] Translation: X:930.10, Y:138.62, Z:9.28 [[-4.68632755e-02 -9.98900830e-01 9.82473574e-04 9.30098114e+02] [ 9.98711768e-01 -4.68735200e-02 -1.94339130e-02 1.38621107e+02] [ 1.94586038e-02 7.04711015e-05 9.99810661e-01 9.28314260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.10, Y:138.65, Z:9.28 [[-4.65858701e-02 -9.98913785e-01 1.00351510e-03 9.30095078e+02] [ 9.98718591e-01 -4.65966047e-02 -1.97467178e-02 1.38647572e+02] [ 1.97720290e-02 8.23111565e-05 9.99804511e-01 9.28194249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1492541539999 meters Centerline goodness [0,1] 0.9998702786846259 Centerline is valid? [True, True] Translation: X:930.09, Y:138.68, Z:9.28 [[-4.57654735e-02 -9.98951646e-01 1.06307752e-03 9.30089110e+02] [ 9.98734912e-01 -4.57776880e-02 -2.08081649e-02 1.38675589e+02] [ 2.08350158e-02 1.09437118e-04 9.99782922e-01 9.28185812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1792541539999 meters Centerline goodness [0,1] 0.9999567773167358 Centerline is valid? [True, True] Translation: X:930.09, Y:138.70, Z:9.28 [[-4.59235930e-02 -9.98944365e-01 1.08620244e-03 9.30086260e+02] [ 9.98720639e-01 -4.59362955e-02 -2.11409903e-02 1.38703793e+02] [ 2.11685693e-02 1.13942560e-04 9.99775914e-01 9.28189109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2092541539998 meters Centerline goodness [0,1] 0.9999568872601854 Centerline is valid? [True, True] Translation: X:930.08, Y:138.73, Z:9.28 [[-4.71494076e-02 -9.98887295e-01 1.05096650e-03 9.30083539e+02] [ 9.98680119e-01 -4.71610326e-02 -2.03434873e-02 1.38731976e+02] [ 2.03704157e-02 9.03959761e-05 9.99792497e-01 9.28308911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2392541539998 meters Centerline goodness [0,1] 0.9999135060329541 Centerline is valid? [True, True] Translation: X:930.08, Y:138.76, Z:9.28 [[-4.82861082e-02 -9.98833012e-01 1.03282794e-03 9.30081516e+02] [ 9.98634784e-01 -4.82971014e-02 -1.98986989e-02 1.38758627e+02] [ 1.99253599e-02 7.05871797e-05 9.99801468e-01 9.28260857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.08, Y:138.79, Z:9.29 [[-4.96877852e-02 -9.98764331e-01 9.66811920e-04 9.30081388e+02] [ 9.98592224e-01 -4.96971707e-02 -1.85408127e-02 1.38786317e+02] [ 1.85659502e-02 4.41989444e-05 9.99827637e-01 9.28573137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2992541539999 meters Centerline goodness [0,1] 0.999956783854448 Centerline is valid? [True, True] Translation: X:930.08, Y:138.81, Z:9.29 [[-5.17972707e-02 -9.98657211e-01 9.04229848e-04 9.30079719e+02] [ 9.98508245e-01 -5.18051619e-02 -1.72484893e-02 1.38813929e+02] [ 1.72721720e-02 9.45628919e-06 9.99850825e-01 9.28757802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3292541539998 meters Centerline goodness [0,1] 0.999913670306902 Centerline is valid? [True, True] Translation: X:930.08, Y:138.84, Z:9.29 [[-5.27727743e-02 -9.98606149e-01 8.90656517e-04 9.30077820e+02] [ 9.98463006e-01 -5.27802895e-02 -1.69075767e-02 1.38841186e+02] [ 1.69310192e-02 -2.97214520e-06 9.99856660e-01 9.28773873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.07, Y:138.87, Z:9.29 [[-5.39811276e-02 -9.98541566e-01 8.82341211e-04 9.30074955e+02] [ 9.98402376e-01 -5.39883348e-02 -1.66719767e-02 1.38869336e+02] [ 1.66952979e-02 -1.90405400e-05 9.99860624e-01 9.28803752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.07, Y:138.90, Z:9.29 [[-5.43225389e-02 -9.98523045e-01 8.89622161e-04 9.30072757e+02] [ 9.98383123e-01 -5.43298193e-02 -1.67155564e-02 1.38895957e+02] [ 1.67392013e-02 -1.98477124e-05 9.99859890e-01 9.28776751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4192541539999 meters Centerline goodness [0,1] 0.9999356333676622 Centerline is valid? [True, True] Translation: X:930.07, Y:138.92, Z:9.29 [[-5.43974612e-02 -9.98518899e-01 9.61105945e-04 9.30069203e+02] [ 9.98357462e-01 -5.44059483e-02 -1.79547141e-02 1.38924113e+02] [ 1.79804112e-02 -1.71635713e-05 9.99838339e-01 9.28636909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4492541539998 meters Centerline goodness [0,1] 0.9998498884885916 Centerline is valid? [True, True] Translation: X:930.07, Y:138.95, Z:9.29 [[-5.51169279e-02 -9.98479400e-01 1.00645093e-03 9.30066862e+02] [ 9.98304329e-01 -5.51261102e-02 -1.86970077e-02 1.38951611e+02] [ 1.87240587e-02 -2.57772989e-05 9.99824689e-01 9.28579424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4792541539998 meters Centerline goodness [0,1] 0.9999358178939711 Centerline is valid? [True, True] Translation: X:930.06, Y:138.98, Z:9.29 [[-5.52642199e-02 -9.98471230e-01 1.03360946e-03 9.30064429e+02] [ 9.98288592e-01 -5.52738799e-02 -1.90967407e-02 1.38979429e+02] [ 1.91246778e-02 -2.35259471e-05 9.99817106e-01 9.28547200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.06, Y:139.01, Z:9.29 [[-5.58263712e-02 -9.98439965e-01 1.02642169e-03 9.30061944e+02] [ 9.98261713e-01 -5.58357990e-02 -1.88657195e-02 1.39007687e+02] [ 1.88935994e-02 -2.85671829e-05 9.99821500e-01 9.28603470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5392541539999 meters Centerline goodness [0,1] 0.9998283224961909 Centerline is valid? [True, True] Translation: X:930.06, Y:139.04, Z:9.29 [[-5.55814546e-02 -9.98453604e-01 1.05042365e-03 9.30058777e+02] [ 9.98268874e-01 -5.55913764e-02 -1.92055982e-02 1.39035571e+02] [ 1.92342932e-02 -1.88698549e-05 9.99815004e-01 9.28601579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.06, Y:139.06, Z:9.29 [[-5.58299730e-02 -9.98439750e-01 1.03880859e-03 9.30057034e+02] [ 9.98260982e-01 -5.58396337e-02 -1.88930472e-02 1.39062905e+02] [ 1.89215760e-02 -1.77962252e-05 9.99820971e-01 9.28656291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.05, Y:139.09, Z:9.29 [[-5.47085092e-02 -9.98501867e-01 1.00064924e-03 9.30052916e+02] [ 9.98337851e-01 -5.47176590e-02 -1.80973044e-02 1.39088663e+02] [ 1.81249454e-02 8.90946357e-06 9.99835730e-01 9.28663831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6292541539999 meters Centerline goodness [0,1] 0.9998505965466459 Centerline is valid? [True, True] Translation: X:930.05, Y:139.12, Z:9.29 [[-5.34909681e-02 -9.98567806e-01 1.02671934e-03 9.30048981e+02] [ 9.98397070e-01 -5.35008077e-02 -1.84649609e-02 1.39116139e+02] [ 1.84934458e-02 3.73649498e-05 9.99828981e-01 9.28664593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.04, Y:139.14, Z:9.29 [[-5.05720839e-02 -9.98719846e-01 1.06470227e-03 9.30044286e+02] [ 9.98538203e-01 -5.05831917e-02 -1.90472651e-02 1.39143125e+02] [ 1.90767377e-02 9.98860031e-05 9.99818018e-01 9.28609270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6892541539999 meters Centerline goodness [0,1] 0.999828432949452 Centerline is valid? [True, True] Translation: X:930.04, Y:139.17, Z:9.29 [[-4.85397381e-02 -9.98820628e-01 1.11637051e-03 9.30040227e+02] [ 9.98623022e-01 -4.85523411e-02 -1.98678309e-02 1.39171636e+02] [ 1.98986017e-02 1.50453989e-04 9.99801992e-01 9.28649585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.04, Y:139.20, Z:9.29 [[-4.66187089e-02 -9.98912144e-01 1.10619577e-03 9.30036363e+02] [ 9.98719963e-01 -4.66314389e-02 -1.95944817e-02 1.39199175e+02] [ 1.96247493e-02 1.91310359e-04 9.99807398e-01 9.28641062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7492541539998 meters Centerline goodness [0,1] 0.9998507717233734 Centerline is valid? [True, True] Translation: X:930.03, Y:139.23, Z:9.29 [[-4.14958449e-02 -9.99138014e-01 1.15095429e-03 9.30028670e+02] [ 9.98932055e-01 -4.15106621e-02 -2.02883013e-02 1.39227065e+02] [ 2.03185900e-02 3.07844925e-04 9.99793509e-01 9.28595434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7792541539999 meters Centerline goodness [0,1] 0.9998507080702952 Centerline is valid? [True, True] Translation: X:930.02, Y:139.26, Z:9.29 [[-3.93443623e-02 -9.99225053e-01 1.14684727e-03 9.30024249e+02] [ 9.99022604e-01 -3.93594792e-02 -2.01163895e-02 1.39255303e+02] [ 2.01459397e-02 3.54259828e-04 9.99796987e-01 9.28602024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.02, Y:139.28, Z:9.29 [[-3.55681835e-02 -9.99366621e-01 1.12307662e-03 9.30019640e+02] [ 9.99174427e-01 -3.55833731e-02 -1.96032481e-02 1.39283027e+02] [ 1.96307946e-02 4.24897510e-04 9.99807207e-01 9.28721215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8392541539998 meters Centerline goodness [0,1] 0.9999572201664135 Centerline is valid? [True, True] Translation: X:930.02, Y:139.31, Z:9.29 [[-3.41546568e-02 -9.99415945e-01 1.10792517e-03 9.30016445e+02] [ 9.99230713e-01 -3.41696624e-02 -1.92461872e-02 1.39311570e+02] [ 1.92728038e-02 4.49725938e-04 9.99814161e-01 9.28756742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8692541539998 meters Centerline goodness [0,1] 0.9998295442439222 Centerline is valid? [True, True] Translation: X:930.01, Y:139.34, Z:9.29 [[-3.21676288e-02 -9.99481932e-01 1.05374036e-03 9.30013198e+02] [ 9.99315942e-01 -3.21814966e-02 -1.82208711e-02 1.39339817e+02] [ 1.82453424e-02 4.66897319e-04 9.99833431e-01 9.28859034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8992541539999 meters Centerline goodness [0,1] 0.9999575118966689 Centerline is valid? [True, True] Translation: X:930.01, Y:139.37, Z:9.29 [[-3.18005692e-02 -9.99493736e-01 9.97625993e-04 9.30010437e+02] [ 9.99346398e-01 -3.18130164e-02 -1.71670690e-02 1.39366485e+02] [ 1.71901154e-02 4.51051376e-04 9.99852137e-01 9.28923422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9292541539999 meters Centerline goodness [0,1] 0.9998081882312824 Centerline is valid? [True, True] Translation: X:930.01, Y:139.39, Z:9.29 [[-3.10945886e-02 -9.99515968e-01 9.77947276e-04 9.30006827e+02] [ 9.99375762e-01 -3.11066125e-02 -1.67470617e-02 1.39394200e+02] [ 1.67693762e-02 4.56593812e-04 9.99859280e-01 9.28919862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.01, Y:139.42, Z:9.29 [[-3.13846760e-02 -9.99506931e-01 9.46673618e-04 9.30005950e+02] [ 9.99376746e-01 -3.13958727e-02 -1.61375049e-02 1.39421861e+02] [ 1.61592696e-02 4.39613236e-04 9.99869334e-01 9.28989937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.00, Y:139.45, Z:9.29 [[-3.15989097e-02 -9.99500168e-01 9.60735859e-04 9.30002424e+02] [ 9.99367450e-01 -3.16103757e-02 -1.62936805e-02 1.39448666e+02] [ 1.63159057e-02 4.45265605e-04 9.99866788e-01 9.28939062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.00, Y:139.48, Z:9.29 [[-3.19150267e-02 -9.99490119e-01 9.65799364e-04 9.30000724e+02] [ 9.99357405e-01 -3.19265331e-02 -1.62933807e-02 1.39475370e+02] [ 1.63159077e-02 4.45175065e-04 9.99866788e-01 9.28964032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0492541539999 meters Centerline goodness [0,1] 0.9999573296921337 Centerline is valid? [True, True] Translation: X:930.00, Y:139.50, Z:9.29 [[-3.24129564e-02 -9.99474044e-01 1.01806983e-03 9.29998511e+02] [ 9.99328212e-01 -3.24256242e-02 -1.70793581e-02 1.39501779e+02] [ 1.71033867e-02 4.63793412e-04 9.99853619e-01 9.28887817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.00, Y:139.53, Z:9.29 [[-3.25761792e-02 -9.99468723e-01 1.03217055e-03 9.29998260e+02] [ 9.99320383e-01 -3.25891334e-02 -1.72255884e-02 1.39529603e+02] [ 1.72500743e-02 4.70325217e-04 9.99851096e-01 9.28892916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1092541539998 meters Centerline goodness [0,1] 0.9998717263495457 Centerline is valid? [True, True] Translation: X:930.00, Y:139.56, Z:9.29 [[-3.22305442e-02 -9.99479798e-01 1.15171796e-03 9.29996796e+02] [ 9.99296885e-01 -3.22466875e-02 -1.91281901e-02 1.39557516e+02] [ 1.91553787e-02 5.34396189e-04 9.99816376e-01 9.28753564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1392541539999 meters Centerline goodness [0,1] 0.9998935127997615 Centerline is valid? [True, True] Translation: X:929.99, Y:139.58, Z:9.29 [[-3.19804273e-02 -9.99487767e-01 1.20630187e-03 9.29994607e+02] [ 9.99288870e-01 -3.19981374e-02 -1.99467571e-02 1.39584777e+02] [ 1.99751392e-02 5.67538220e-04 9.99800316e-01 9.28696365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1692541539999 meters Centerline goodness [0,1] 0.9998930504160339 Centerline is valid? [True, True] Translation: X:929.99, Y:139.61, Z:9.29 [[-3.14448858e-02 -9.99504700e-01 1.25484085e-03 9.29992979e+02] [ 9.99291391e-01 -3.14641096e-02 -2.06573587e-02 1.39613593e+02] [ 2.06866095e-02 6.04383373e-04 9.99785827e-01 9.28625818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1992541539998 meters Centerline goodness [0,1] 0.9999357395308985 Centerline is valid? [True, True] Translation: X:929.99, Y:139.64, Z:9.29 [[-3.14983489e-02 -9.99502977e-01 1.28582034e-03 9.29990976e+02] [ 9.99281143e-01 -3.15184588e-02 -2.10661901e-02 1.39640680e+02] [ 2.10962468e-02 6.21345818e-04 9.99777256e-01 9.28635540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2292541539998 meters Centerline goodness [0,1] 0.9999359617478174 Centerline is valid? [True, True] Translation: X:929.99, Y:139.67, Z:9.29 [[-3.17262976e-02 -9.99495770e-01 1.28351683e-03 9.29990262e+02] [ 9.99276959e-01 -3.17462195e-02 -2.09221657e-02 1.39668241e+02] [ 2.09523629e-02 6.18805939e-04 9.99780284e-01 9.28680834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.99, Y:139.70, Z:9.29 [[-3.24111865e-02 -9.99473839e-01 1.24895020e-03 9.29991995e+02] [ 9.99268653e-01 -3.24298496e-02 -2.02599212e-02 1.39696078e+02] [ 2.02897645e-02 5.91388701e-04 9.99793967e-01 9.28853373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.99, Y:139.72, Z:9.29 [[-3.40914083e-02 -9.99417989e-01 1.20765883e-03 9.29993180e+02] [ 9.99227569e-01 -3.41084953e-02 -1.95160409e-02 1.39723678e+02] [ 1.95458738e-02 5.41396680e-04 9.99808815e-01 9.28987588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3192541539999 meters Centerline goodness [0,1] 0.9998930229572733 Centerline is valid? [True, True] Translation: X:929.99, Y:139.75, Z:9.29 [[-3.53180474e-02 -9.99375412e-01 1.19243508e-03 9.29991207e+02] [ 9.99190937e-01 -3.53344467e-02 -1.92080200e-02 1.39750705e+02] [ 1.92381570e-02 5.13080563e-04 9.99814798e-01 9.28972832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3492541539998 meters Centerline goodness [0,1] 0.9998283409149429 Centerline is valid? [True, True] Translation: X:929.99, Y:139.78, Z:9.29 [[-3.65077273e-02 -9.99332679e-01 1.17555401e-03 9.29992511e+02] [ 9.99154754e-01 -3.65234168e-02 -1.88631445e-02 1.39779437e+02] [ 1.88934919e-02 4.85909843e-04 9.99821384e-01 9.29067324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:930.00, Y:139.81, Z:9.29 [[-3.86029009e-02 -9.99254015e-01 1.10918204e-03 9.29995411e+02] [ 9.99096900e-01 -3.86165055e-02 -1.77242886e-02 1.39808401e+02] [ 1.77538993e-02 4.23971384e-04 9.99842297e-01 9.29304127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4092541539999 meters Centerline goodness [0,1] 0.9998930481283422 Centerline is valid? [True, True] Translation: X:929.99, Y:139.83, Z:9.29 [[-3.94892030e-02 -9.99219375e-01 1.11495578e-03 9.29991902e+02] [ 9.99061828e-01 -3.95027805e-02 -1.77480573e-02 1.39834998e+02] [ 1.77782466e-02 4.13053124e-04 9.99841869e-01 9.29175402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4392541539999 meters Centerline goodness [0,1] 0.9999136777590746 Centerline is valid? [True, True] Translation: X:929.99, Y:139.86, Z:9.29 [[-3.92458499e-02 -9.99228890e-01 1.17836374e-03 9.29993389e+02] [ 9.99054275e-01 -3.92610263e-02 -1.86849647e-02 1.39863014e+02] [ 1.87168203e-02 4.43942010e-04 9.99824726e-01 9.29242766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4692541539998 meters Centerline goodness [0,1] 0.9999784765717483 Centerline is valid? [True, True] Translation: X:929.99, Y:139.89, Z:9.29 [[-3.76862272e-02 -9.99288848e-01 1.24374662e-03 9.29990319e+02] [ 9.99096018e-01 -3.77033955e-02 -1.96367365e-02 1.39890459e+02] [ 1.96696653e-02 5.02587779e-04 9.99806407e-01 9.29108799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4992541539998 meters Centerline goodness [0,1] 0.9999784343325426 Centerline is valid? [True, True] Translation: X:929.99, Y:139.92, Z:9.29 [[-3.62638777e-02 -9.99341422e-01 1.28569027e-03 9.29989717e+02] [ 9.99137180e-01 -3.62824682e-02 -2.02108236e-02 1.39918671e+02] [ 2.02441612e-02 5.51658114e-04 9.99794914e-01 9.29139401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5292541539999 meters Centerline goodness [0,1] 0.9999136852099607 Centerline is valid? [True, True] Translation: X:929.99, Y:139.95, Z:9.29 [[-3.47856872e-02 -9.99393933e-01 1.31283874e-03 9.29987268e+02] [ 9.99182836e-01 -3.48053331e-02 -2.05486871e-02 1.39947389e+02] [ 2.05819270e-02 5.96965736e-04 9.99787991e-01 9.29100076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5592541539999 meters Centerline goodness [0,1] 0.9998710038053877 Centerline is valid? [True, True] Translation: X:929.98, Y:139.97, Z:9.29 [[-3.13727425e-02 -9.99506898e-01 1.30837870e-03 9.29983698e+02] [ 9.99299149e-01 -3.13929109e-02 -2.03886070e-02 1.39974529e+02] [ 2.04196272e-02 6.67815206e-04 9.99791275e-01 9.29074844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.98, Y:140.00, Z:9.29 [[-2.96229046e-02 -9.99560319e-01 1.28507843e-03 9.29980782e+02] [ 9.99361692e-01 -2.96426512e-02 -1.99379540e-02 1.40002218e+02] [ 1.99672808e-02 6.93638046e-04 9.99800393e-01 9.29136821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.98, Y:140.03, Z:9.29 [[-2.64936729e-02 -9.99648188e-01 1.25921175e-03 9.29977495e+02] [ 9.99458949e-01 -2.65131758e-02 -1.94643578e-02 1.40029441e+02] [ 1.94908957e-02 7.42848126e-04 9.99809758e-01 9.29172457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.98, Y:140.06, Z:9.29 [[-2.55272377e-02 -9.99673354e-01 1.24301340e-03 9.29975328e+02] [ 9.99490370e-01 -2.55463655e-02 -1.91411349e-02 1.40057277e+02] [ 1.91666370e-02 7.53759620e-04 9.99816019e-01 9.29233126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6792541539999 meters Centerline goodness [0,1] 0.9999569624066622 Centerline is valid? [True, True] Translation: X:929.97, Y:140.09, Z:9.29 [[-2.44608257e-02 -9.99700017e-01 1.24251370e-03 9.29973545e+02] [ 9.99518788e-01 -2.44800689e-02 -1.90504263e-02 1.40085385e+02] [ 1.90751284e-02 7.75926625e-04 9.99817752e-01 9.29195305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7092541539998 meters Centerline goodness [0,1] 0.9999136311618768 Centerline is valid? [True, True] Translation: X:929.97, Y:140.11, Z:9.29 [[-2.44405549e-02 -9.99700537e-01 1.22302314e-03 9.29974484e+02] [ 9.99526471e-01 -2.44591405e-02 -1.86704366e-02 1.40113986e+02] [ 1.86947596e-02 7.66128176e-04 9.99824944e-01 9.29231092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7392541539998 meters Centerline goodness [0,1] 0.9999569281130206 Centerline is valid? [True, True] Translation: X:929.97, Y:140.14, Z:9.29 [[-2.45176979e-02 -9.99698630e-01 1.23760788e-03 9.29973763e+02] [ 9.99521750e-01 -2.45366598e-02 -1.88208493e-02 1.40141221e+02] [ 1.88455440e-02 7.75572097e-04 9.99822106e-01 9.29210208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7692541539999 meters Centerline goodness [0,1] 0.9998485307482581 Centerline is valid? [True, True] Translation: X:929.97, Y:140.17, Z:9.29 [[-2.49435406e-02 -9.99688064e-01 1.26305161e-03 9.29973936e+02] [ 9.99505236e-01 -2.49631541e-02 -1.91343774e-02 1.40169165e+02] [ 1.91599384e-02 7.85147576e-04 9.99816123e-01 9.29175045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.98, Y:140.20, Z:9.29 [[-2.48532312e-02 -9.99690326e-01 1.25284070e-03 9.29977271e+02] [ 9.99512027e-01 -2.48724798e-02 -1.88962153e-02 1.40197236e+02] [ 1.89215249e-02 7.82597337e-04 9.99820666e-01 9.29361517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8292541539998 meters Centerline goodness [0,1] 0.9998274560552141 Centerline is valid? [True, True] Translation: X:929.97, Y:140.22, Z:9.29 [[-2.54062639e-02 -9.99676384e-01 1.28392037e-03 9.29971715e+02] [ 9.99490860e-01 -2.54263044e-02 -1.92749314e-02 1.40224337e+02] [ 1.93013391e-02 7.93562684e-04 9.99813397e-01 9.29191507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8592541539998 meters Centerline goodness [0,1] 0.9999349875392783 Centerline is valid? [True, True] Translation: X:929.97, Y:140.25, Z:9.29 [[-2.49544090e-02 -9.99687818e-01 1.24282805e-03 9.29970371e+02] [ 9.99515514e-01 -2.49732022e-02 -1.85762368e-02 1.40252440e+02] [ 1.86014750e-02 7.78666904e-04 9.99826674e-01 9.29298686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8892541539999 meters Centerline goodness [0,1] 0.9999567950573546 Centerline is valid? [True, True] Translation: X:929.97, Y:140.28, Z:9.29 [[-2.35298205e-02 -9.99722415e-01 1.19990929e-03 9.29968231e+02] [ 9.99563195e-01 -2.35475078e-02 -1.78587182e-02 1.40279308e+02] [ 1.78820158e-02 7.79172735e-04 9.99839800e-01 9.29364830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9192541539999 meters Centerline goodness [0,1] 0.99991348358351 Centerline is valid? [True, True] Translation: X:929.97, Y:140.31, Z:9.29 [[-2.31213927e-02 -9.99731943e-01 1.20106960e-03 9.29966866e+02] [ 9.99573797e-01 -2.31391187e-02 -1.77990113e-02 1.40307741e+02] [ 1.78220319e-02 7.89019773e-04 9.99840864e-01 9.29387014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.97, Y:140.34, Z:9.30 [[-2.23334435e-02 -9.99749863e-01 1.19499017e-03 9.29969763e+02] [ 9.99594620e-01 -2.23510556e-02 -1.76359540e-02 1.40336864e+02] [ 1.76582519e-02 8.00634159e-04 9.99843760e-01 9.29509945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9792541539998 meters Centerline goodness [0,1] 0.9998703375545662 Centerline is valid? [True, True] Translation: X:929.96, Y:140.36, Z:9.29 [[-2.28712610e-02 -9.99737651e-01 1.23851800e-03 9.29963802e+02] [ 9.99572348e-01 -2.28900239e-02 -1.81980321e-02 1.40363945e+02] [ 1.82216076e-02 8.21776406e-04 9.99833635e-01 9.29280371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0092541539999 meters Centerline goodness [0,1] 0.9998913657497936 Centerline is valid? [True, True] Translation: X:929.97, Y:140.39, Z:9.29 [[-2.31092393e-02 -9.99732201e-01 1.22023344e-03 9.29967430e+02] [ 9.99573149e-01 -2.31273505e-02 -1.78506429e-02 1.40392761e+02] [ 1.78740833e-02 8.07197800e-04 9.99839920e-01 9.29348721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.97, Y:140.42, Z:9.29 [[-2.32904522e-02 -9.99728013e-01 1.20632144e-03 9.29966474e+02] [ 9.99573882e-01 -2.33080652e-02 -1.75724023e-02 1.40421122e+02] [ 1.75957398e-02 7.96538212e-04 9.99844866e-01 9.29485360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0692541539999 meters Centerline goodness [0,1] 0.9999349424240452 Centerline is valid? [True, True] Translation: X:929.97, Y:140.45, Z:9.29 [[-2.40116377e-02 -9.99710951e-01 1.20636150e-03 9.29965339e+02] [ 9.99558100e-01 -2.40290824e-02 -1.74988158e-02 1.40449073e+02] [ 1.75227455e-02 7.85653189e-04 9.99846156e-01 9.29471257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0992541539998 meters Centerline goodness [0,1] 0.9998694545375427 Centerline is valid? [True, True] Translation: X:929.96, Y:140.48, Z:9.29 [[-2.48301889e-02 -9.99690935e-01 1.22299795e-03 9.29963609e+02] [ 9.99535166e-01 -2.48479302e-02 -1.76644176e-02 1.40475909e+02] [ 1.76893471e-02 7.83818635e-04 9.99843224e-01 9.29362126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.96, Y:140.50, Z:9.29 [[-2.41111536e-02 -9.99708416e-01 1.31735329e-03 9.29963446e+02] [ 9.99529272e-01 -2.41317968e-02 -1.89443950e-02 1.40504381e+02] [ 1.89706612e-02 8.59961954e-04 9.99819671e-01 9.29422061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1592541539999 meters Centerline goodness [0,1] 0.9997608955548309 Centerline is valid? [True, True] Translation: X:929.96, Y:140.53, Z:9.29 [[-2.46060624e-02 -9.99696245e-01 1.39985362e-03 9.29960388e+02] [ 9.99495812e-01 -2.46291879e-02 -2.00380656e-02 1.40530417e+02] [ 2.00664562e-02 9.06089942e-04 9.99798238e-01 9.29188903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1892541539999 meters Centerline goodness [0,1] 0.999934554973822 Centerline is valid? [True, True] Translation: X:929.96, Y:140.56, Z:9.29 [[-2.43639519e-02 -9.99702105e-01 1.44913007e-03 9.29959455e+02] [ 9.99489178e-01 -2.43887014e-02 -2.06536943e-02 1.40558138e+02] [ 2.06828841e-02 9.45184209e-04 9.99785639e-01 9.29249471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2192541539998 meters Centerline goodness [0,1] 0.9999563423631879 Centerline is valid? [True, True] Translation: X:929.96, Y:140.59, Z:9.29 [[-2.44409999e-02 -9.99700171e-01 1.48534538e-03 9.29957877e+02] [ 9.99478364e-01 -2.44668977e-02 -2.10800935e-02 1.40585757e+02] [ 2.11101148e-02 9.69352012e-04 9.99776687e-01 9.29326701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.95, Y:140.61, Z:9.29 [[-2.46453312e-02 -9.99695129e-01 1.50231835e-03 9.29954483e+02] [ 9.99470325e-01 -2.46716812e-02 -2.12220890e-02 1.40611674e+02] [ 2.12526837e-02 9.78497198e-04 9.99773657e-01 9.29368005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2792541539999 meters Centerline goodness [0,1] 0.9998039685478426 Centerline is valid? [True, True] Translation: X:929.95, Y:140.64, Z:9.29 [[-2.64338787e-02 -9.99649426e-01 1.50806549e-03 9.29954026e+02] [ 9.99424787e-01 -2.64599394e-02 -2.12124059e-02 1.40639610e+02] [ 2.12448727e-02 9.46471869e-04 9.99773854e-01 9.29292058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3092541539999 meters Centerline goodness [0,1] 0.9998474380489506 Centerline is valid? [True, True] Translation: X:929.95, Y:140.67, Z:9.29 [[-2.83465197e-02 -9.99597176e-01 1.40020290e-03 9.29953092e+02] [ 9.99404913e-01 -2.83685541e-02 -1.96225745e-02 1.40668054e+02] [ 1.96543918e-02 8.43137969e-04 9.99806478e-01 9.29464701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.95, Y:140.70, Z:9.30 [[-2.93670034e-02 -9.99567740e-01 1.38303437e-03 9.29952133e+02] [ 9.99381569e-01 -2.93882494e-02 -1.93082804e-02 1.40696529e+02] [ 1.93405792e-02 8.15152727e-04 9.99812621e-01 9.29738875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3692541539998 meters Centerline goodness [0,1] 0.9999563070738847 Centerline is valid? [True, True] Translation: X:929.95, Y:140.72, Z:9.30 [[-3.08767803e-02 -9.99522285e-01 1.35128126e-03 9.29951729e+02] [ 9.99345920e-01 -3.08967370e-02 -1.87916151e-02 1.40724361e+02] [ 1.88243882e-02 7.70172848e-04 9.99822509e-01 9.29773747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3992541539999 meters Centerline goodness [0,1] 0.99982519010576 Centerline is valid? [True, True] Translation: X:929.95, Y:140.75, Z:9.30 [[-3.24576144e-02 -9.99472179e-01 1.36629881e-03 9.29949415e+02] [ 9.99293252e-01 -3.24776761e-02 -1.89260922e-02 1.40751337e+02] [ 1.89604769e-02 7.51037375e-04 9.99819952e-01 9.29690398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.95, Y:140.78, Z:9.30 [[-3.33685790e-02 -9.99442122e-01 1.40816632e-03 9.29949394e+02] [ 9.99253542e-01 -3.33896576e-02 -1.94290891e-02 1.40779273e+02] [ 1.94652683e-02 7.58794084e-04 9.99810246e-01 9.29940887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.94, Y:140.81, Z:9.30 [[-3.38060297e-02 -9.99427395e-01 1.42616241e-03 9.29944618e+02] [ 9.99235630e-01 -3.38275009e-02 -1.95922498e-02 1.40805691e+02] [ 1.96292747e-02 7.62736116e-04 9.99807036e-01 9.29912102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.94, Y:140.83, Z:9.30 [[-3.41846344e-02 -9.99414552e-01 1.40112048e-03 9.29942974e+02] [ 9.99231094e-01 -3.42052248e-02 -1.91630757e-02 1.40832566e+02] [ 1.91997823e-02 7.44960411e-04 9.99815390e-01 9.30021067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5192541539999 meters Centerline goodness [0,1] 0.9999345149742426 Centerline is valid? [True, True] Translation: X:929.94, Y:140.86, Z:9.30 [[-3.48167121e-02 -9.99392679e-01 1.43866517e-03 9.29940071e+02] [ 9.99200875e-01 -3.48382358e-02 -1.95935962e-02 1.40860172e+02] [ 1.96318171e-02 7.55330905e-04 9.99806992e-01 9.29950197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5492541539999 meters Centerline goodness [0,1] 0.9999344391267292 Centerline is valid? [True, True] Translation: X:929.94, Y:140.89, Z:9.30 [[-3.47737323e-02 -9.99394134e-01 1.46729808e-03 9.29937536e+02] [ 9.99196291e-01 -3.47960652e-02 -1.98999108e-02 1.40887630e+02] [ 1.99389103e-02 7.74124632e-04 9.99800900e-01 9.29974524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5792541539998 meters Centerline goodness [0,1] 0.9998692981309633 Centerline is valid? [True, True] Translation: X:929.93, Y:140.91, Z:9.30 [[-3.48943556e-02 -9.99389817e-01 1.54210582e-03 9.29934843e+02] [ 9.99173178e-01 -3.49189236e-02 -2.08237683e-02 1.40914352e+02] [ 2.08649107e-02 8.14198791e-04 9.99781973e-01 9.29932251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.94, Y:140.94, Z:9.30 [[-3.48269879e-02 -9.99392122e-01 1.57060235e-03 9.29936224e+02] [ 9.99169249e-01 -3.48524150e-02 -2.11215760e-02 1.40943029e+02] [ 2.11634760e-02 8.33696700e-04 9.99775681e-01 9.30240610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.93, Y:140.97, Z:9.30 [[-3.43754892e-02 -9.99407656e-01 1.63185524e-03 9.29928140e+02] [ 9.99168891e-01 -3.44029740e-02 -2.18623434e-02 1.40970049e+02] [ 2.19055341e-02 8.78970236e-04 9.99759659e-01 9.30079335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6692541539999 meters Centerline goodness [0,1] 0.9999564791644 Centerline is valid? [True, True] Translation: X:929.93, Y:141.00, Z:9.30 [[-3.46194691e-02 -9.99399092e-01 1.71694036e-03 9.29928685e+02] [ 9.99136774e-01 -3.46497499e-02 -2.29151059e-02 1.40998195e+02] [ 2.29608276e-02 9.22149446e-04 9.99735940e-01 9.30153661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6992541539998 meters Centerline goodness [0,1] 0.9998913917066707 Centerline is valid? [True, True] Translation: X:929.92, Y:141.02, Z:9.30 [[-3.42371568e-02 -9.99412116e-01 1.79994732e-03 9.29919469e+02] [ 9.99126148e-01 -3.42704520e-02 -2.39264817e-02 1.41024718e+02] [ 2.39741007e-02 9.79199727e-04 9.99712100e-01 9.29892621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.92, Y:141.05, Z:9.30 [[-3.36949460e-02 -9.99430608e-01 1.76349883e-03 9.29920297e+02] [ 9.99158204e-01 -3.37269691e-02 -2.33532553e-02 1.41053013e+02] [ 2.33994356e-02 9.75127651e-04 9.99725720e-01 9.30191374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7592541539999 meters Centerline goodness [0,1] 0.9999345806620437 Centerline is valid? [True, True] Translation: X:929.92, Y:141.08, Z:9.30 [[-3.42739969e-02 -9.99410660e-01 1.90412256e-03 9.29920157e+02] [ 9.99095605e-01 -3.43110411e-02 -2.51142499e-02 1.41080660e+02] [ 2.51647815e-02 1.04163475e-03 9.99682774e-01 9.30284467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.92, Y:141.11, Z:9.30 [[-3.44214451e-02 -9.99405685e-01 1.85515601e-03 9.29918298e+02] [ 9.99108399e-01 -3.44564910e-02 -2.43958518e-02 1.41109152e+02] [ 2.44452752e-02 1.01376148e-03 9.99700656e-01 9.30417635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8192541539999 meters Centerline goodness [0,1] 0.9998912948952082 Centerline is valid? [True, True] Translation: X:929.91, Y:141.14, Z:9.30 [[-3.51215981e-02 -9.99381036e-01 2.00479062e-03 9.29913063e+02] [ 9.99035694e-01 -3.51622054e-02 -2.62926146e-02 1.41135445e+02] [ 2.63468333e-02 1.07941875e-03 9.99652279e-01 9.30309072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8492541539998 meters Centerline goodness [0,1] 0.9998912996217226 Centerline is valid? [True, True] Translation: X:929.91, Y:141.16, Z:9.30 [[-3.58645459e-02 -9.99354586e-01 2.03593557e-03 9.29911955e+02] [ 9.99001025e-01 -3.59060539e-02 -2.66027813e-02 1.41162729e+02] [ 2.66587139e-02 1.07980505e-03 9.99644010e-01 9.30388835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8792541539999 meters Centerline goodness [0,1] 0.9999129961935834 Centerline is valid? [True, True] Translation: X:929.91, Y:141.19, Z:9.30 [[-3.68901506e-02 -9.99317118e-01 2.10107206e-03 9.29909539e+02] [ 9.98943668e-01 -3.69338458e-02 -2.73393528e-02 1.41190113e+02] [ 2.73982840e-02 1.09029978e-03 9.99624002e-01 9.30410053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9092541539999 meters Centerline goodness [0,1] 0.9999129961935834 Centerline is valid? [True, True] Translation: X:929.91, Y:141.22, Z:9.30 [[-3.72048651e-02 -9.99305432e-01 2.10968748e-03 9.29907361e+02] [ 9.98931996e-01 -3.72486780e-02 -2.73386889e-02 1.41216807e+02] [ 2.73982834e-02 1.09030209e-03 9.99624002e-01 9.30435034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.90, Y:141.24, Z:9.30 [[-3.74504580e-02 -9.99296367e-01 2.05780901e-03 9.29903964e+02] [ 9.98944033e-01 -3.74919375e-02 -2.65550944e-02 1.41243087e+02] [ 2.66135606e-02 1.06113559e-03 9.99645233e-01 9.30471549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9692541539998 meters Centerline goodness [0,1] 0.999891377549912 Centerline is valid? [True, True] Translation: X:929.90, Y:141.27, Z:9.31 [[-3.80620299e-02 -9.99272902e-01 2.22469821e-03 9.29903804e+02] [ 9.98864347e-01 -3.81101282e-02 -2.85943261e-02 1.41271019e+02] [ 2.86583188e-02 1.13381363e-03 9.99588623e-01 9.30605692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.90, Y:141.30, Z:9.31 [[-3.81829220e-02 -9.99268547e-01 2.10609887e-03 9.29900121e+02] [ 9.98905072e-01 -3.82258787e-02 -2.69710846e-02 1.41297701e+02] [ 2.70318640e-02 1.07395802e-03 9.99633996e-01 9.30667512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.90, Y:141.32, Z:9.31 [[-3.84868577e-02 -9.99256724e-01 2.18198205e-03 9.29897149e+02] [ 9.98869690e-01 -3.85327231e-02 -2.78311415e-02 1.41324502e+02] [ 2.78945330e-02 1.10838255e-03 9.99610257e-01 9.30754129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.89, Y:141.35, Z:9.31 [[-3.84398237e-02 -9.99258557e-01 2.17191900e-03 9.29891180e+02] [ 9.98878286e-01 -3.84851573e-02 -2.75873662e-02 1.41350401e+02] [ 2.76504983e-02 1.10902924e-03 9.99617037e-01 9.30674803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.89, Y:141.38, Z:9.31 [[-3.78608154e-02 -9.99280579e-01 2.20969920e-03 9.29886392e+02] [ 9.98889915e-01 -3.79078483e-02 -2.79630491e-02 1.41378518e+02] [ 2.80266969e-02 1.14854240e-03 9.99606515e-01 9.30765180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1192541539998 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:929.89, Y:141.41, Z:9.31 [[-3.79630510e-02 -9.99276565e-01 2.27024655e-03 9.29888641e+02] [ 9.98867081e-01 -3.80125358e-02 -2.86286942e-02 1.41407490e+02] [ 2.86942810e-02 1.18084197e-03 9.99587537e-01 9.31052769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1492541539999 meters Centerline goodness [0,1] 0.9999782896593647 Centerline is valid? [True, True] Translation: X:929.88, Y:141.43, Z:9.31 [[-3.82641225e-02 -9.99264979e-01 2.31508968e-03 9.29884437e+02] [ 9.98841660e-01 -3.83153498e-02 -2.91079565e-02 1.41434104e+02] [ 2.91752650e-02 1.19861760e-03 9.99573593e-01 9.31021980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.88, Y:141.46, Z:9.31 [[-3.92121190e-02 -9.99228288e-01 2.28858200e-03 9.29875842e+02] [ 9.98817006e-01 -3.92616891e-02 -2.86898774e-02 1.41459639e+02] [ 2.87575907e-02 1.16088373e-03 9.99585741e-01 9.30770303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2092541539998 meters Centerline goodness [0,1] 0.9998700511132288 Centerline is valid? [True, True] Translation: X:929.88, Y:141.49, Z:9.31 [[-4.19317904e-02 -9.99117475e-01 2.44861818e-03 9.29881273e+02] [ 9.98649730e-01 -4.19871311e-02 -3.05908251e-02 1.41488278e+02] [ 3.06666384e-02 1.16258381e-03 9.99528992e-01 9.31129478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.88, Y:141.52, Z:9.31 [[-4.36042098e-02 -9.99046200e-01 2.31588210e-03 9.29879223e+02] [ 9.98630544e-01 -4.36529105e-02 -2.88350473e-02 1.41515243e+02] [ 2.89086394e-02 1.05538114e-03 9.99581501e-01 9.31205411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.88, Y:141.54, Z:9.31 [[-4.70868299e-02 -9.98888233e-01 2.26482285e-03 9.29877969e+02] [ 9.98493374e-01 -4.71319270e-02 -2.80991660e-02 1.41543079e+02] [ 2.81746717e-02 9.38309961e-04 9.99602575e-01 9.31263423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.88, Y:141.57, Z:9.31 [[-4.93472353e-02 -9.98779094e-01 2.27411492e-03 9.29876141e+02] [ 9.98383731e-01 -4.93917135e-02 -2.81137692e-02 1.41570918e+02] [ 2.81917674e-02 8.83102553e-04 9.99602143e-01 9.31305176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3292541539998 meters Centerline goodness [0,1] 0.9999351014580539 Centerline is valid? [True, True] Translation: X:929.87, Y:141.60, Z:9.31 [[-5.09576763e-02 -9.98698054e-01 2.34767431e-03 9.29874046e+02] [ 9.98279609e-01 -5.10043095e-02 -2.89202814e-02 1.41599363e+02] [ 2.90023703e-02 8.69925048e-04 9.99578964e-01 9.31334263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:141.63, Z:9.31 [[-5.41949923e-02 -9.98527833e-01 2.25153430e-03 9.29873023e+02] [ 9.98145555e-01 -5.42365634e-02 -2.76377549e-02 1.41626981e+02] [ 2.77191830e-02 7.49531041e-04 9.99615469e-01 9.31465766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:141.65, Z:9.31 [[-5.74039358e-02 -9.98348410e-01 2.28903500e-03 9.29870221e+02] [ 9.97955893e-01 -5.74455672e-02 -2.80007540e-02 1.41654228e+02] [ 2.80860032e-02 6.77002477e-04 9.99605281e-01 9.31362606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:141.68, Z:9.31 [[-5.93241701e-02 -9.98236045e-01 2.33264223e-03 9.29870170e+02] [ 9.97831190e-01 -5.93665550e-02 -2.84346394e-02 1.41682496e+02] [ 2.85229629e-02 6.40721787e-04 9.99592932e-01 9.31483970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4492541539998 meters Centerline goodness [0,1] 0.9999135004216855 Centerline is valid? [True, True] Translation: X:929.87, Y:141.71, Z:9.31 [[-6.36336705e-02 -9.97970242e-01 2.48049891e-03 9.29868636e+02] [ 9.97515453e-01 -6.36795620e-02 -3.01302881e-02 1.41709275e+02] [ 3.02270880e-02 5.57035171e-04 9.99542902e-01 9.31368361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:141.74, Z:9.31 [[-6.58927102e-02 -9.97823709e-01 2.44877937e-03 9.29867999e+02] [ 9.97383370e-01 -6.59363834e-02 -2.96446771e-02 1.41737757e+02] [ 2.97416253e-02 4.89003710e-04 9.99557500e-01 9.31490599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:141.77, Z:9.32 [[-7.01886487e-02 -9.97530550e-01 2.52092995e-03 9.29867660e+02] [ 9.97066856e-01 -7.02328841e-02 -3.04142538e-02 1.41765900e+02] [ 3.05161995e-02 3.78800328e-04 9.99534201e-01 9.31507473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:141.79, Z:9.31 [[-7.25977113e-02 -9.97358072e-01 2.53939855e-03 9.29866007e+02] [ 9.96890771e-01 -7.26414268e-02 -3.05289063e-02 1.41793133e+02] [ 3.06327167e-02 3.15174247e-04 9.99530659e-01 9.31473765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:141.82, Z:9.32 [[-7.67361024e-02 -9.97048383e-01 2.46833214e-03 9.29866104e+02] [ 9.96609206e-01 -7.67755575e-02 -2.95906166e-02 1.41820430e+02] [ 2.96927840e-02 1.89293949e-04 9.99559054e-01 9.31520698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.87, Y:141.85, Z:9.32 [[-7.87483317e-02 -9.96891418e-01 2.49012632e-03 9.29865059e+02] [ 9.96447156e-01 -7.87875719e-02 -2.97587517e-02 1.41848341e+02] [ 2.98624352e-02 1.37827243e-04 9.99554009e-01 9.31584693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.86, Y:141.88, Z:9.32 [[-8.20059071e-02 -9.96629021e-01 2.37199190e-03 9.29864790e+02] [ 9.96228498e-01 -8.20401914e-02 -2.82522108e-02 1.41876799e+02] [ 2.83515718e-02 4.61977552e-05 9.99598012e-01 9.31774327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6592541539999 meters Centerline goodness [0,1] 0.9998917748917749 Centerline is valid? [True, True] Translation: X:929.86, Y:141.91, Z:9.32 [[-8.34389698e-02 -9.96510116e-01 2.35106227e-03 9.29862431e+02] [ 9.96119264e-01 -8.34720851e-02 -2.79074071e-02 1.41905212e+02] [ 2.80062616e-02 1.33731191e-05 9.99607748e-01 9.31851715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6892541539999 meters Centerline goodness [0,1] 0.9999350016249594 Centerline is valid? [True, True] Translation: X:929.86, Y:141.93, Z:9.32 [[-8.33907682e-02 -9.96514466e-01 2.21352507e-03 9.29859456e+02] [ 9.96169925e-01 -8.34201386e-02 -2.62023081e-02 1.41932221e+02] [ 2.62956316e-02 2.00165002e-05 9.99654210e-01 9.31951825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.86, Y:141.96, Z:9.32 [[-8.25237600e-02 -9.96586776e-01 2.15127097e-03 9.29856280e+02] [ 9.96263340e-01 -8.25517814e-02 -2.53881984e-02 1.41960238e+02] [ 2.54791340e-02 4.81028136e-05 9.99675353e-01 9.32079473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.85, Y:141.99, Z:9.32 [[-8.03265185e-02 -9.96766468e-01 2.06372924e-03 9.29850640e+02] [ 9.96470787e-01 -8.03529541e-02 -2.42770299e-02 1.41988429e+02] [ 2.43643561e-02 1.06356606e-04 9.99703139e-01 9.32125139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7792541539999 meters Centerline goodness [0,1] 0.9999566630552547 Centerline is valid? [True, True] Translation: X:929.84, Y:142.01, Z:9.32 [[-7.66429611e-02 -9.97056504e-01 2.04567541e-03 9.29843884e+02] [ 9.96767536e-01 -7.66699977e-02 -2.40039591e-02 1.42014983e+02] [ 2.40901454e-02 1.99328333e-04 9.99709770e-01 9.31979789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.84, Y:142.04, Z:9.32 [[-7.46171269e-02 -9.97210005e-01 2.11918101e-03 9.29840049e+02] [ 9.96901699e-01 -7.46467529e-02 -2.47964499e-02 1.42043626e+02] [ 2.48854579e-02 2.62375297e-04 9.99690275e-01 9.32017481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.83, Y:142.07, Z:9.32 [[-7.13707250e-02 -9.97447432e-01 2.20009544e-03 9.29831880e+02] [ 9.97117535e-01 -7.14037056e-02 -2.56540964e-02 1.42070405e+02] [ 2.57457075e-02 3.62802280e-04 9.99668459e-01 9.31622715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8692541539998 meters Centerline goodness [0,1] 0.9998489882210813 Centerline is valid? [True, True] Translation: X:929.83, Y:142.10, Z:9.32 [[-7.12266127e-02 -9.97457638e-01 2.24277186e-03 9.29829168e+02] [ 9.97117163e-01 -7.12609010e-02 -2.60623850e-02 1.42098572e+02] [ 2.61559470e-02 3.79970908e-04 9.99657802e-01 9.31683519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8992541539999 meters Centerline goodness [0,1] 0.9998274151098071 Centerline is valid? [True, True] Translation: X:929.83, Y:142.13, Z:9.32 [[-7.07460148e-02 -9.97491747e-01 2.28407098e-03 9.29825494e+02] [ 9.97141053e-01 -7.07817107e-02 -2.64512728e-02 1.42125522e+02] [ 2.65465967e-02 4.06218808e-04 9.99647494e-01 9.31624089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9292541539999 meters Centerline goodness [0,1] 0.9998060135790494 Centerline is valid? [True, True] Translation: X:929.82, Y:142.15, Z:9.32 [[-7.07238658e-02 -9.97493506e-01 2.20028249e-03 9.29822695e+02] [ 9.97170221e-01 -7.07569651e-02 -2.53968947e-02 1.42153772e+02] [ 2.54889228e-02 3.97889603e-04 9.99675025e-01 9.31736555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.82, Y:142.18, Z:9.32 [[-7.13516253e-02 -9.97449188e-01 2.01574033e-03 9.29821129e+02] [ 9.97179553e-01 -7.13792093e-02 -2.31936817e-02 1.42181270e+02] [ 2.32784010e-02 3.55148154e-04 9.99728958e-01 9.32000847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.82, Y:142.21, Z:9.32 [[-7.26405149e-02 -9.97356256e-01 1.96345994e-03 9.29819522e+02] [ 9.97102198e-01 -7.26663306e-02 -2.25124808e-02 1.42207302e+02] [ 2.25956410e-02 3.22452019e-04 9.99744634e-01 9.32078873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0192541539999 meters Centerline goodness [0,1] 0.9999784068579819 Centerline is valid? [True, True] Translation: X:929.82, Y:142.24, Z:9.32 [[-7.58505112e-02 -9.97117532e-01 1.82399083e-03 9.29820093e+02] [ 9.96899669e-01 -7.58720679e-02 -2.08441715e-02 1.42235804e+02] [ 2.09224788e-02 2.37294791e-04 9.99781073e-01 9.32222485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0492541539999 meters Centerline goodness [0,1] 0.9999353267079139 Centerline is valid? [True, True] Translation: X:929.82, Y:142.26, Z:9.32 [[-7.78846152e-02 -9.96960829e-01 1.75842436e-03 9.29819749e+02] [ 9.96759318e-01 -7.79042275e-02 -2.00447995e-02 1.42264399e+02] [ 2.01208686e-02 1.91544370e-04 9.99797536e-01 9.32326131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0792541539998 meters Centerline goodness [0,1] 0.9998702281821131 Centerline is valid? [True, True] Translation: X:929.82, Y:142.29, Z:9.32 [[-8.01186731e-02 -9.96783877e-01 1.70313350e-03 9.29819195e+02] [ 9.96595813e-01 -8.01366403e-02 -1.93624653e-02 1.42292233e+02] [ 1.94366766e-02 1.46040687e-04 9.99811079e-01 9.32377207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1092541539998 meters Centerline goodness [0,1] 0.9998702534382838 Centerline is valid? [True, True] Translation: X:929.82, Y:142.32, Z:9.32 [[-8.26716636e-02 -9.96575454e-01 1.66124080e-03 9.29819318e+02] [ 9.96397502e-01 -8.26882943e-02 -1.88325024e-02 1.42319511e+02] [ 1.89053748e-02 9.83418793e-05 9.99821273e-01 9.32392978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1392541539999 meters Centerline goodness [0,1] 0.9998707509370557 Centerline is valid? [True, True] Translation: X:929.82, Y:142.35, Z:9.32 [[-8.35508239e-02 -9.96502139e-01 1.65748433e-03 9.29817883e+02] [ 9.96325990e-01 -8.35672187e-02 -1.87360949e-02 1.42347228e+02] [ 1.88090699e-02 8.59785541e-05 9.99823090e-01 9.32478827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.82, Y:142.37, Z:9.33 [[-8.36303422e-02 -9.96495431e-01 1.67984063e-03 9.29816522e+02] [ 9.96315724e-01 -8.36471620e-02 -1.89243171e-02 1.42374102e+02] [ 1.89985094e-02 9.10045146e-05 9.99819508e-01 9.32581122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.81, Y:142.40, Z:9.33 [[-8.27700324e-02 -9.96567167e-01 1.73334569e-03 9.29814128e+02] [ 9.96377139e-01 -8.27880983e-02 -1.94609234e-02 1.42401931e+02] [ 1.95376177e-02 1.16284763e-04 9.99809116e-01 9.32618005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2292541539998 meters Centerline goodness [0,1] 0.9998701073779009 Centerline is valid? [True, True] Translation: X:929.81, Y:142.43, Z:9.33 [[-8.27468619e-02 -9.96569021e-01 1.77307642e-03 9.29811009e+02] [ 9.96371512e-01 -8.27657619e-02 -1.98403504e-02 1.42428884e+02] [ 1.99190286e-02 1.24916097e-04 9.99801589e-01 9.32516171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2592541539999 meters Centerline goodness [0,1] 0.9999783620036785 Centerline is valid? [True, True] Translation: X:929.81, Y:142.46, Z:9.33 [[-8.18451887e-02 -9.96643475e-01 1.77444091e-03 9.29807925e+02] [ 9.96447094e-01 -8.18642865e-02 -1.97845386e-02 1.42455264e+02] [ 1.98633946e-02 1.48867196e-04 9.99802692e-01 9.32584366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2892541539999 meters Centerline goodness [0,1] 0.9999783305885412 Centerline is valid? [True, True] Translation: X:929.81, Y:142.48, Z:9.33 [[-8.21582637e-02 -9.96617809e-01 1.72117953e-03 9.29805361e+02] [ 9.96434388e-01 -8.21761642e-02 -1.91203837e-02 1.42481365e+02] [ 1.91971548e-02 1.44144952e-04 9.99815707e-01 9.32628812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.80, Y:142.51, Z:9.33 [[-8.24926067e-02 -9.96590219e-01 1.70460087e-03 9.29803073e+02] [ 9.96411588e-01 -8.25100943e-02 -1.88688222e-02 1.42508063e+02] [ 1.89451304e-02 1.41945731e-04 9.99820515e-01 9.32711905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.80, Y:142.53, Z:9.33 [[-8.35721458e-02 -9.96500390e-01 1.63393604e-03 9.29801719e+02] [ 9.96337383e-01 -8.35880284e-02 -1.80239217e-02 1.42534267e+02] [ 1.80974225e-02 1.21653746e-04 9.99836221e-01 9.32887419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.80, Y:142.56, Z:9.33 [[-8.47049201e-02 -9.96404895e-01 1.53704573e-03 9.29800888e+02] [ 9.96261512e-01 -8.47188061e-02 -1.69033488e-02 1.42560090e+02] [ 1.69727962e-02 9.95026923e-05 9.99855947e-01 9.33069079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.80, Y:142.59, Z:9.33 [[-8.52468959e-02 -9.96358661e-01 1.54419148e-03 9.29798709e+02] [ 9.96214787e-01 -8.52608279e-02 -1.69319258e-02 1.42587731e+02] [ 1.70019300e-02 9.49522688e-05 9.99855452e-01 9.33123329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4392541539999 meters Centerline goodness [0,1] 0.9999782424229238 Centerline is valid? [True, True] Translation: X:929.80, Y:142.62, Z:9.33 [[-8.55427112e-02 -9.96333311e-01 1.54199066e-03 9.29796854e+02] [ 9.96190766e-01 -8.55565558e-02 -1.68532726e-02 1.42616217e+02] [ 1.69234043e-02 9.44422195e-05 9.99856784e-01 9.33250033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.79, Y:142.64, Z:9.33 [[-8.52020547e-02 -9.96362416e-01 1.59537754e-03 9.29793142e+02] [ 9.96210823e-01 -8.52169207e-02 -1.73802343e-02 1.42642951e+02] [ 1.74529654e-02 1.08500706e-04 9.99847680e-01 9.33200754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.79, Y:142.67, Z:9.33 [[-8.44786805e-02 -9.96423942e-01 1.63710922e-03 9.29789701e+02] [ 9.96265407e-01 -8.44944426e-02 -1.77743444e-02 1.42670019e+02] [ 1.78491090e-02 1.29442124e-04 9.99840684e-01 9.33195232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.79, Y:142.70, Z:9.33 [[-8.24388249e-02 -9.96594471e-01 1.81685184e-03 9.29785278e+02] [ 9.96400575e-01 -8.24586249e-02 -1.96588420e-02 1.42697571e+02] [ 1.97417084e-02 1.89660386e-04 9.99805096e-01 9.33084162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.78, Y:142.73, Z:9.33 [[-8.15389041e-02 -9.96668365e-01 1.89147581e-03 9.29782186e+02] [ 9.96459540e-01 -8.15605398e-02 -2.04025377e-02 1.42725508e+02] [ 2.04888337e-02 2.21178546e-04 9.99790057e-01 9.33086909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5892541539998 meters Centerline goodness [0,1] 0.999847108160056 Centerline is valid? [True, True] Translation: X:929.78, Y:142.75, Z:9.33 [[-7.99601271e-02 -9.96795721e-01 2.16095393e-03 9.29778520e+02] [ 9.96524761e-01 -7.99887781e-02 -2.32421326e-02 1.42751844e+02] [ 2.33405104e-02 2.95000217e-04 9.99727530e-01 9.32873625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.77, Y:142.78, Z:9.33 [[-7.98824479e-02 -9.96802002e-01 2.13612861e-03 9.29774819e+02] [ 9.96538875e-01 -7.99104440e-02 -2.29039776e-02 1.42777407e+02] [ 2.30014298e-02 2.99109398e-04 9.99735387e-01 9.32836127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.77, Y:142.80, Z:9.33 [[-8.10337696e-02 -9.96709006e-01 2.16485511e-03 9.29774375e+02] [ 9.96440594e-01 -8.10621890e-02 -2.31314633e-02 1.42804436e+02] [ 2.32308257e-02 2.82719838e-04 9.99730088e-01 9.32971577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.77, Y:142.83, Z:9.33 [[-8.24054032e-02 -9.96596588e-01 2.14241792e-03 9.29773193e+02] [ 9.96335330e-01 -8.24328566e-02 -2.28196066e-02 1.42832644e+02] [ 2.29185477e-02 2.54107787e-04 9.99737303e-01 9.33066421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7092541539998 meters Centerline goodness [0,1] 0.9998914388692273 Centerline is valid? [True, True] Translation: X:929.77, Y:142.86, Z:9.33 [[-8.58324555e-02 -9.96307306e-01 2.13108714e-03 9.29773687e+02] [ 9.96050347e-01 -8.58587174e-02 -2.26271502e-02 1.42859217e+02] [ 2.27265675e-02 1.80526224e-04 9.99741702e-01 9.33020764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.77, Y:142.89, Z:9.33 [[-8.76346292e-02 -9.96150642e-01 2.01734947e-03 9.29773165e+02] [ 9.95921824e-01 -8.76577371e-02 -2.13504713e-02 1.42886147e+02] [ 2.14451220e-02 1.38081732e-04 9.99770017e-01 9.33146402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7692541539999 meters Centerline goodness [0,1] 0.9997824620940199 Centerline is valid? [True, True] Translation: X:929.77, Y:142.91, Z:9.33 [[-9.10621229e-02 -9.95842915e-01 2.13967291e-03 9.29774553e+02] [ 9.95587210e-01 -9.10872261e-02 -2.25660183e-02 1.42912192e+02] [ 2.26671063e-02 7.53214533e-05 9.99743065e-01 9.33055244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7992541539999 meters Centerline goodness [0,1] 0.9999126236920859 Centerline is valid? [True, True] Translation: X:929.77, Y:142.94, Z:9.33 [[-9.25868534e-02 -9.95702363e-01 2.11636406e-03 9.29773659e+02] [ 9.95453818e-01 -9.26110264e-02 -2.22462006e-02 1.42939130e+02] [ 2.23465932e-02 4.70369661e-05 9.99750283e-01 9.33076184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8292541539998 meters Centerline goodness [0,1] 0.9999126236920859 Centerline is valid? [True, True] Translation: X:929.77, Y:142.97, Z:9.33 [[-9.28911865e-02 -9.95674003e-01 2.12316295e-03 9.29770994e+02] [ 9.95425465e-01 -9.29154354e-02 -2.22455523e-02 1.42965759e+02] [ 2.23465927e-02 4.70347161e-05 9.99750283e-01 9.33101143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8592541539998 meters Centerline goodness [0,1] 0.9999343674112319 Centerline is valid? [True, True] Translation: X:929.77, Y:142.99, Z:9.33 [[-9.47024166e-02 -9.95503218e-01 2.19005502e-03 9.29771314e+02] [ 9.95240493e-01 -9.47277354e-02 -2.28695551e-02 1.42992579e+02] [ 2.29741746e-02 1.38293117e-05 9.99736059e-01 9.33065593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8892541539999 meters Centerline goodness [0,1] 0.9999781138517432 Centerline is valid? [True, True] Translation: X:929.77, Y:143.02, Z:9.33 [[-9.52000975e-02 -9.95455821e-01 2.15649986e-03 9.29769683e+02] [ 9.95202757e-01 -9.52245187e-02 -2.24446923e-02 1.43020214e+02] [ 2.25480512e-02 9.41771897e-06 9.99745760e-01 9.33182915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.77, Y:143.05, Z:9.33 [[-9.47723157e-02 -9.95496621e-01 2.16477075e-03 9.29767897e+02] [ 9.95243297e-01 -9.47970325e-02 -2.24566744e-02 1.43047097e+02] [ 2.25607574e-02 2.62025384e-05 9.99745473e-01 9.33166661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9492541539998 meters Centerline goodness [0,1] 0.999672439019064 Centerline is valid? [True, True] Translation: X:929.76, Y:143.08, Z:9.33 [[-9.44782530e-02 -9.95524177e-01 2.33957332e-03 9.29764998e+02] [ 9.95230144e-01 -9.45072065e-02 -2.41939675e-02 1.43075359e+02] [ 2.43067861e-02 4.26101069e-05 9.99704546e-01 9.33172038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.76, Y:143.10, Z:9.33 [[-9.24334024e-02 -9.95716704e-01 2.07644781e-03 9.29761164e+02] [ 9.95486500e-01 -9.24566805e-02 -2.14100756e-02 1.43101905e+02] [ 2.15103514e-02 8.80696278e-05 9.99768622e-01 9.33249379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0092541539999 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:929.76, Y:143.13, Z:9.33 [[-9.15579785e-02 -9.95797596e-01 2.06973218e-03 9.29757607e+02] [ 9.95570375e-01 -9.15812997e-02 -2.12719068e-02 1.43129250e+02] [ 2.13720624e-02 1.12951267e-04 9.99771585e-01 9.33363500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0392541539999 meters Centerline goodness [0,1] 0.9998691499105857 Centerline is valid? [True, True] Translation: X:929.75, Y:143.16, Z:9.33 [[-8.98143908e-02 -9.95956243e-01 2.13019847e-03 9.29752957e+02] [ 9.95717118e-01 -8.98395048e-02 -2.18239273e-02 1.43156394e+02] [ 2.19270526e-02 1.60972352e-04 9.99759560e-01 9.33432999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.75, Y:143.18, Z:9.33 [[-8.90665004e-02 -9.96023923e-01 1.87156477e-03 9.29748739e+02] [ 9.95840473e-01 -8.90860162e-02 -1.91163292e-02 1.43182787e+02] [ 1.92070515e-02 1.61155404e-04 9.99815515e-01 9.33408202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.75, Y:143.21, Z:9.34 [[-8.73499950e-02 -9.96176146e-01 1.75053118e-03 9.29745089e+02] [ 9.96016694e-01 -8.73673346e-02 -1.78240002e-02 1.43209750e+02] [ 1.79087831e-02 1.86631945e-04 9.99839607e-01 9.33568731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.74, Y:143.24, Z:9.34 [[-8.52993079e-02 -9.96353834e-01 1.75094267e-03 9.29740568e+02] [ 9.96195176e-01 -8.53169735e-02 -1.77816006e-02 1.43236405e+02] [ 1.78661510e-02 2.27522417e-04 9.99840362e-01 9.33555346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.74, Y:143.26, Z:9.34 [[-8.45772559e-02 -9.96415454e-01 1.71204875e-03 9.29738654e+02] [ 9.96264516e-01 -8.45942453e-02 -1.73443682e-02 1.43263958e+02] [ 1.74270260e-02 2.38714353e-04 9.99848109e-01 9.33661453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.73, Y:143.29, Z:9.34 [[-8.38129206e-02 -9.96479975e-01 1.74761309e-03 9.29732830e+02] [ 9.96323599e-01 -8.38307309e-02 -1.76548630e-02 1.43291189e+02] [ 1.77392211e-02 2.61482537e-04 9.99842613e-01 9.33558470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2192541539998 meters Centerline goodness [0,1] 0.9998695623817909 Centerline is valid? [True, True] Translation: X:929.73, Y:143.32, Z:9.34 [[-8.21981115e-02 -9.96613911e-01 2.04503591e-03 9.29727369e+02] [ 9.96401076e-01 -8.22228254e-02 -2.05986211e-02 1.43318029e+02] [ 2.06970210e-02 3.44508218e-04 9.99785734e-01 9.33524834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.72, Y:143.34, Z:9.33 [[-8.12684979e-02 -9.96690608e-01 1.80664208e-03 9.29723737e+02] [ 9.96525444e-01 -8.12879247e-02 -1.81469860e-02 1.43344966e+02] [ 1.82337887e-02 3.25586499e-04 9.99833698e-01 9.33499399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.72, Y:143.37, Z:9.34 [[-7.96560333e-02 -9.96820537e-01 1.93233444e-03 9.29721732e+02] [ 9.96632771e-01 -7.96785402e-02 -1.93507381e-02 1.43372915e+02] [ 1.94431788e-02 3.84424780e-04 9.99810890e-01 9.33541339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.72, Y:143.40, Z:9.33 [[-7.90832474e-02 -9.96865991e-01 2.00912542e-03 9.29718027e+02] [ 9.96664024e-01 -7.91076747e-02 -2.00698658e-02 1.43400148e+02] [ 2.01659039e-02 4.15232860e-04 9.99796561e-01 9.33466484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.71, Y:143.43, Z:9.33 [[-7.89824396e-02 -9.96873791e-01 2.10223911e-03 9.29714020e+02] [ 9.96653820e-01 -7.90091818e-02 -2.09454849e-02 1.43426698e+02] [ 2.10461011e-02 4.40879142e-04 9.99778409e-01 9.33350624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.71, Y:143.45, Z:9.33 [[-7.97286409e-02 -9.96814223e-01 2.17901086e-03 9.29711364e+02] [ 9.96579350e-01 -7.97571647e-02 -2.16424150e-02 1.43452368e+02] [ 2.17472589e-02 4.46036891e-04 9.99763401e-01 9.33207406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.71, Y:143.48, Z:9.33 [[-8.07034254e-02 -9.96735715e-01 2.20700073e-03 9.29711886e+02] [ 9.96496195e-01 -8.07324223e-02 -2.18542647e-02 1.43480666e+02] [ 2.19611027e-02 4.35553813e-04 9.99758731e-01 9.33398878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4292541539999 meters Centerline goodness [0,1] 0.9999782518866488 Centerline is valid? [True, True] Translation: X:929.71, Y:143.51, Z:9.33 [[-8.32827059e-02 -9.96523354e-01 2.27946737e-03 9.29711898e+02] [ 9.96269245e-01 -8.33129510e-02 -2.25065129e-02 1.43508063e+02] [ 2.26181749e-02 3.96559937e-04 9.99744098e-01 9.33425236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.71, Y:143.54, Z:9.34 [[-8.53337186e-02 -9.96349904e-01 2.24166868e-03 9.29712140e+02] [ 9.96105467e-01 -8.53624418e-02 -2.20715240e-02 1.43536976e+02] [ 2.21823151e-02 3.49493211e-04 9.99753881e-01 9.33555530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4892541539998 meters Centerline goodness [0,1] 0.9999346618752042 Centerline is valid? [True, True] Translation: X:929.71, Y:143.56, Z:9.34 [[-8.96979360e-02 -9.95966272e-01 2.33771550e-03 9.29713531e+02] [ 9.95701508e-01 -8.97279942e-02 -2.29650594e-02 1.43564858e+02] [ 2.30821831e-02 2.67748423e-04 9.99733535e-01 9.33665217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5192541539999 meters Centerline goodness [0,1] 0.999956330924256 Centerline is valid? [True, True] Translation: X:929.71, Y:143.59, Z:9.34 [[-9.22892674e-02 -9.95729762e-01 2.22099875e-03 9.29712939e+02] [ 9.95491837e-01 -9.23157671e-02 -2.17669869e-02 1.43592193e+02] [ 2.18790699e-02 2.02126851e-04 9.99760604e-01 9.33658552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5492541539999 meters Centerline goodness [0,1] 0.9998694403342328 Centerline is valid? [True, True] Translation: X:929.71, Y:143.62, Z:9.34 [[-9.47626675e-02 -9.95497248e-01 2.29464698e-03 9.29712239e+02] [ 9.95244658e-01 -9.47903127e-02 -2.24246995e-02 1.43620783e+02] [ 2.25412369e-02 1.58710808e-04 9.99745901e-01 9.33789640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.71, Y:143.65, Z:9.34 [[-9.83471853e-02 -9.95150225e-01 1.96473422e-03 9.29713283e+02] [ 9.94965928e-01 -9.83667828e-02 -1.91514409e-02 1.43649631e+02] [ 1.92518253e-02 7.13532995e-05 9.99814664e-01 9.33792843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6092541539998 meters Centerline goodness [0,1] 0.9999124707324012 Centerline is valid? [True, True] Translation: X:929.71, Y:143.68, Z:9.34 [[-1.00571020e-01 -9.94927816e-01 2.02743956e-03 9.29712145e+02] [ 9.94732617e-01 -1.00591448e-01 -1.97073918e-02 1.43677716e+02] [ 1.98113754e-02 3.47677533e-05 9.99803735e-01 9.33887242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.71, Y:143.71, Z:9.34 [[-1.00793729e-01 -9.94905612e-01 1.85660296e-03 9.29709818e+02] [ 9.94742797e-01 -1.00810821e-01 -1.79985053e-02 1.43706153e+02] [ 1.80939796e-02 3.27059593e-05 9.99836290e-01 9.33881125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.71, Y:143.73, Z:9.34 [[-1.00945648e-01 -9.94890336e-01 1.78743307e-03 9.29707007e+02] [ 9.94740272e-01 -1.00961466e-01 -1.72792921e-02 1.43733322e+02] [ 1.73714626e-02 3.37623188e-05 9.99849104e-01 9.33889152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.70, Y:143.76, Z:9.34 [[-9.99084225e-02 -9.94995196e-01 1.69334068e-03 9.29703079e+02] [ 9.94861280e-01 -9.99227572e-02 -1.63241195e-02 1.43761017e+02] [ 1.64116238e-02 5.37220499e-05 9.99865319e-01 9.33919133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.70, Y:143.79, Z:9.34 [[-9.73058716e-02 -9.95253118e-01 1.67277719e-03 9.29697452e+02] [ 9.95123208e-01 -9.73201975e-02 -1.60804040e-02 1.43787705e+02] [ 1.61668672e-02 9.99016841e-05 9.99869303e-01 9.33826500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.69, Y:143.81, Z:9.34 [[-9.58709477e-02 -9.95392328e-01 1.69549098e-03 9.29692959e+02] [ 9.95259682e-01 -9.58858515e-02 -1.62501984e-02 1.43814187e+02] [ 1.63378964e-02 1.29531898e-04 9.99866519e-01 9.33762423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.69, Y:143.84, Z:9.34 [[-9.23679853e-02 -9.95723480e-01 1.70497349e-03 9.29687168e+02] [ 9.95590191e-01 -9.23835190e-02 -1.62928537e-02 1.43841357e+02] [ 1.63806884e-02 1.92516815e-04 9.99865809e-01 9.33699728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.68, Y:143.87, Z:9.34 [[-9.04470207e-02 -9.95899620e-01 1.81178508e-03 9.29682720e+02] [ 9.95750005e-01 -9.04648399e-02 -1.72638545e-02 1.43869026e+02] [ 1.73569690e-02 2.42620798e-04 9.99849327e-01 9.33661358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.68, Y:143.90, Z:9.34 [[-8.89928042e-02 -9.96030532e-01 1.86006795e-03 9.29678200e+02] [ 9.95873739e-01 -8.90118023e-02 -1.76747029e-02 1.43896294e+02] [ 1.77701118e-02 2.79471444e-04 9.99842060e-01 9.33612129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.67, Y:143.92, Z:9.34 [[-8.60088539e-02 -9.96292450e-01 1.95716513e-03 9.29673691e+02] [ 9.96119912e-01 -8.60303883e-02 -1.85443846e-02 1.43923952e+02] [ 1.86440060e-02 3.54589889e-04 9.99826123e-01 9.33553456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9092541539999 meters Centerline goodness [0,1] 0.9999562946613929 Centerline is valid? [True, True] Translation: X:929.67, Y:143.95, Z:9.33 [[-8.49323808e-02 -9.96384584e-01 2.06193758e-03 9.29667804e+02] [ 9.96194025e-01 -8.49564706e-02 -1.94900783e-02 1.43950059e+02] [ 1.95947885e-02 3.98751142e-04 9.99807924e-01 9.33450072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9392541539999 meters Centerline goodness [0,1] 0.9998907820008738 Centerline is valid? [True, True] Translation: X:929.67, Y:143.98, Z:9.34 [[-8.35904130e-02 -9.96497826e-01 2.17383444e-03 9.29665718e+02] [ 9.96286853e-01 -8.36174560e-02 -2.05092129e-02 1.43977925e+02] [ 2.06191566e-02 4.51389095e-04 9.99787301e-01 9.33533645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.66, Y:144.01, Z:9.34 [[-8.34598149e-02 -9.96509021e-01 2.05668686e-03 9.29663167e+02] [ 9.96321009e-01 -8.34840283e-02 -1.93614321e-02 1.44005447e+02] [ 1.94655423e-02 4.33218785e-04 9.99810435e-01 9.33534513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.66, Y:144.03, Z:9.34 [[-8.39527369e-02 -9.96467918e-01 1.90423118e-03 9.29660533e+02] [ 9.96307582e-01 -8.39733957e-02 -1.78793610e-02 1.44033591e+02] [ 1.79761144e-02 3.96178669e-04 9.99838338e-01 9.33693818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0292541539999 meters Centerline goodness [0,1] 0.9999125319804947 Centerline is valid? [True, True] Translation: X:929.66, Y:144.06, Z:9.34 [[-8.43761620e-02 -9.96432153e-01 1.90468171e-03 9.29657295e+02] [ 9.96272601e-01 -8.43967434e-02 -1.78352203e-02 1.44061858e+02] [ 1.79323359e-02 3.92714764e-04 9.99839126e-01 9.33830061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.65, Y:144.09, Z:9.34 [[-8.50249161e-02 -9.96377260e-01 1.76641775e-03 9.29654691e+02] [ 9.96240730e-01 -8.50425135e-02 -1.64978598e-02 1.44090209e+02] [ 1.65883129e-02 3.57048163e-04 9.99862341e-01 9.33821267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.65, Y:144.12, Z:9.34 [[-8.59237152e-02 -9.96300216e-01 1.73078529e-03 9.29650319e+02] [ 9.96169871e-01 -8.59404761e-02 -1.61190198e-02 1.44116311e+02] [ 1.62081274e-02 3.39150096e-04 9.99868582e-01 9.33795645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.65, Y:144.14, Z:9.34 [[-8.59871942e-02 -9.96294725e-01 1.73899040e-03 9.29650235e+02] [ 9.96163922e-01 -8.60040895e-02 -1.61473859e-02 1.44144124e+02] [ 1.62371157e-02 3.43851086e-04 9.99868110e-01 9.33906838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.65, Y:144.17, Z:9.34 [[-8.61013737e-02 -9.96284857e-01 1.74254061e-03 9.29646881e+02] [ 9.96154226e-01 -8.61183080e-02 -1.61367335e-02 1.44172425e+02] [ 1.62268478e-02 3.46444274e-04 9.99868276e-01 9.33856754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1792541539999 meters Centerline goodness [0,1] 0.9999341050365717 Centerline is valid? [True, True] Translation: X:929.64, Y:144.20, Z:9.34 [[-8.61397277e-02 -9.96281354e-01 1.84712550e-03 9.29643396e+02] [ 9.96135385e-01 -8.61587325e-02 -1.70577557e-02 1.44200583e+02] [ 1.71534699e-02 3.70636640e-04 9.99852800e-01 9.33911945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.64, Y:144.23, Z:9.34 [[-8.52407529e-02 -9.96358570e-01 1.90116140e-03 9.29638405e+02] [ 9.96204819e-01 -8.52610057e-02 -1.75077271e-02 1.44227471e+02] [ 1.76060688e-02 4.01574313e-04 9.99844921e-01 9.33732560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2392541539998 meters Centerline goodness [0,1] 0.9999560950980176 Centerline is valid? [True, True] Translation: X:929.63, Y:144.25, Z:9.34 [[-8.36016007e-02 -9.96497120e-01 2.06445230e-03 9.29633729e+02] [ 9.96316891e-01 -8.36257546e-02 -1.89574968e-02 1.44254868e+02] [ 1.90637323e-02 4.71971626e-04 9.99818159e-01 9.33706184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.63, Y:144.28, Z:9.34 [[-8.28696601e-02 -9.96558271e-01 2.05698705e-03 9.29630266e+02] [ 9.96380299e-01 -8.28937471e-02 -1.88394821e-02 1.44282531e+02] [ 1.89451531e-02 4.88319891e-04 9.99820405e-01 9.33739459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2992541539999 meters Centerline goodness [0,1] 0.9998901991786898 Centerline is valid? [True, True] Translation: X:929.63, Y:144.31, Z:9.34 [[-8.24792175e-02 -9.96590463e-01 2.15124012e-03 9.29627057e+02] [ 9.96396841e-01 -8.25056116e-02 -1.96509592e-02 1.44310940e+02] [ 1.97614479e-02 5.22693119e-04 9.99804587e-01 9.33841055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.62, Y:144.34, Z:9.34 [[-8.11718107e-02 -9.96698012e-01 2.05165204e-03 9.29621064e+02] [ 9.96522700e-01 -8.11960274e-02 -1.87006225e-02 1.44337789e+02] [ 1.88054593e-02 5.26554445e-04 9.99823023e-01 9.33831469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3592541539998 meters Centerline goodness [0,1] 0.9999780485127867 Centerline is valid? [True, True] Translation: X:929.62, Y:144.36, Z:9.34 [[-8.09402915e-02 -9.96716930e-01 2.00747765e-03 9.29616535e+02] [ 9.96549898e-01 -8.09634928e-02 -1.82541190e-02 1.44364971e+02] [ 1.83567219e-02 5.23057934e-04 9.99831364e-01 9.33897183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.61, Y:144.39, Z:9.34 [[-7.96320100e-02 -9.96822600e-01 1.85661332e-03 9.29610588e+02] [ 9.96680519e-01 -7.96520199e-02 -1.68373996e-02 1.44392886e+02] [ 1.69317835e-02 5.09654354e-04 9.99856517e-01 9.34011291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4192541539999 meters Centerline goodness [0,1] 0.9998475178077417 Centerline is valid? [True, True] Translation: X:929.60, Y:144.42, Z:9.34 [[-7.93159003e-02 -9.96847934e-01 1.78441984e-03 9.29604988e+02] [ 9.96717416e-01 -7.93344040e-02 -1.61383246e-02 1.44419090e+02] [ 1.62290214e-02 4.98536582e-04 9.99868176e-01 9.34115581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.60, Y:144.45, Z:9.34 [[-7.78888958e-02 -9.96960724e-01 1.62326282e-03 9.29598889e+02] [ 9.96853325e-01 -7.79043439e-02 -1.46411147e-02 1.44447007e+02] [ 1.47230755e-02 4.77774684e-04 9.99891496e-01 9.34197235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4792541539998 meters Centerline goodness [0,1] 0.9998910414260498 Centerline is valid? [True, True] Translation: X:929.59, Y:144.47, Z:9.34 [[-7.73054250e-02 -9.97006275e-01 1.53604617e-03 9.29592848e+02] [ 9.96910602e-01 -7.73192979e-02 -1.38194984e-02 1.44473456e+02] [ 1.38968927e-02 4.62978508e-04 9.99903326e-01 9.34298684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.59, Y:144.50, Z:9.34 [[-7.50701843e-02 -9.97177247e-01 1.41636645e-03 9.29585146e+02] [ 9.97096343e-01 -7.50821472e-02 -1.27103584e-02 1.44500478e+02] [ 1.27808240e-02 4.58084861e-04 9.99918217e-01 9.34294986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.58, Y:144.53, Z:9.34 [[-7.42587873e-02 -9.97237976e-01 1.43223530e-03 9.29579200e+02] [ 9.97155700e-01 -7.42710709e-02 -1.28186595e-02 1.44528116e+02] [ 1.28896277e-02 4.76263482e-04 9.99916812e-01 9.34284025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.57, Y:144.56, Z:9.34 [[-7.32365759e-02 -9.97313503e-01 1.47687354e-03 9.29573384e+02] [ 9.97226481e-01 -7.32497095e-02 -1.31842714e-02 1.44555861e+02] [ 1.32570325e-02 5.07206507e-04 9.99911993e-01 9.34221748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.57, Y:144.58, Z:9.34 [[-7.10672834e-02 -9.97470284e-01 1.57307509e-03 9.29566784e+02] [ 9.97372120e-01 -7.10823768e-02 -1.40053460e-02 1.44583001e+02] [ 1.40817344e-02 5.73619347e-04 9.99900683e-01 9.34109517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.56, Y:144.61, Z:9.34 [[-6.91146482e-02 -9.97607418e-01 1.61417537e-03 9.29558291e+02] [ 9.97504661e-01 -6.91307184e-02 -1.43316010e-02 1.44609575e+02] [ 1.44089006e-02 6.19623898e-04 9.99895994e-01 9.34026829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6592541539999 meters Centerline goodness [0,1] 0.9999138747739212 Centerline is valid? [True, True] Translation: X:929.55, Y:144.64, Z:9.34 [[-6.89336989e-02 -9.97619962e-01 1.59865515e-03 9.29553551e+02] [ 9.97519706e-01 -6.89494568e-02 -1.41565919e-02 1.44637303e+02] [ 1.42331251e-02 6.18823775e-04 9.99898512e-01 9.34048500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.55, Y:144.67, Z:9.34 [[-6.87676320e-02 -9.97631264e-01 1.69515004e-03 9.29549215e+02] [ 9.97519137e-01 -6.87853423e-02 -1.49715810e-02 1.44665285e+02] [ 1.50527188e-02 6.61384429e-04 9.99886483e-01 9.34013727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.55, Y:144.69, Z:9.34 [[-6.90855499e-02 -9.97609291e-01 1.69960066e-03 9.29546078e+02] [ 9.97497169e-01 -6.91032911e-02 -1.49710760e-02 1.44691879e+02] [ 1.50527325e-02 6.61061828e-04 9.99886483e-01 9.34038720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.54, Y:144.72, Z:9.34 [[-6.91925013e-02 -9.97602019e-01 1.61538406e-03 9.29539860e+02] [ 9.97501288e-01 -6.92084926e-02 -1.41903111e-02 1.44718675e+02] [ 1.42680813e-02 6.29484564e-04 9.99898008e-01 9.34071901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.54, Y:144.75, Z:9.34 [[-6.95211267e-02 -9.97579270e-01 1.55356995e-03 9.29537994e+02] [ 9.97486595e-01 -6.95358650e-02 -1.36108953e-02 1.44746363e+02] [ 1.36859758e-02 6.03420427e-04 9.99906161e-01 9.34153360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8092541539999 meters Centerline goodness [0,1] 0.9999143872265742 Centerline is valid? [True, True] Translation: X:929.53, Y:144.77, Z:9.34 [[-7.05158706e-02 -9.97509726e-01 1.36305616e-03 9.29528842e+02] [ 9.97438685e-01 -7.05271314e-02 -1.19160974e-02 1.44773161e+02] [ 1.19825555e-02 5.19290968e-04 9.99928072e-01 9.34219013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.52, Y:144.80, Z:9.34 [[-7.12442376e-02 -9.97458000e-01 1.34075371e-03 9.29523765e+02] [ 9.97389528e-01 -7.12550712e-02 -1.16980842e-02 1.44799436e+02] [ 1.17638832e-02 5.03832620e-04 9.99930676e-01 9.34247003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8692541539998 meters Centerline goodness [0,1] 0.9999142918362974 Centerline is valid? [True, True] Translation: X:929.52, Y:144.83, Z:9.34 [[-7.30194504e-02 -9.97329783e-01 1.20956776e-03 9.29522189e+02] [ 9.97274325e-01 -7.30281567e-02 -1.05266046e-02 1.44828045e+02] [ 1.05868288e-02 4.37623987e-04 9.99943862e-01 9.34379761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.52, Y:144.85, Z:9.34 [[-7.40252319e-02 -9.97255606e-01 1.23353776e-03 9.29518387e+02] [ 9.97198197e-01 -7.40342173e-02 -1.07093808e-02 1.44854864e+02] [ 1.07713141e-02 4.37317229e-04 9.99941892e-01 9.34425476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.52, Y:144.88, Z:9.34 [[-7.50984634e-02 -9.97175345e-01 1.24585555e-03 9.29515133e+02] [ 9.97117100e-01 -7.51075531e-02 -1.07863019e-02 1.44881877e+02] [ 1.08494075e-02 4.32229175e-04 9.99941050e-01 9.34456233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.51, Y:144.91, Z:9.34 [[-7.63904879e-02 -9.97077302e-01 1.16116024e-03 9.29509001e+02] [ 9.97026951e-01 -7.63983083e-02 -1.00278178e-02 1.44908015e+02] [ 1.00872202e-02 3.91678157e-04 9.99949046e-01 9.34488600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9892541539998 meters Centerline goodness [0,1] 0.9998720900486058 Centerline is valid? [True, True] Translation: X:929.51, Y:144.94, Z:9.35 [[-7.66590571e-02 -9.97056814e-01 1.04832622e-03 9.29506245e+02] [ 9.97015903e-01 -7.66654154e-02 -9.03902863e-03 1.44936354e+02] [ 9.09279545e-03 3.52274502e-04 9.99958598e-01 9.34508025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.50, Y:144.96, Z:9.34 [[-7.75356761e-02 -9.96988838e-01 1.21448330e-03 9.29498854e+02] [ 9.96934238e-01 -7.75441495e-02 -1.04417011e-02 1.44962181e+02] [ 1.05044355e-02 4.01155628e-04 9.99944746e-01 9.34446052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.50, Y:144.99, Z:9.34 [[-7.79202013e-02 -9.96958829e-01 1.23891004e-03 9.29495259e+02] [ 9.96902341e-01 -7.79289843e-02 -1.06205107e-02 1.44989437e+02] [ 1.06847589e-02 4.07519984e-04 9.99942833e-01 9.34378028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.49, Y:145.02, Z:9.34 [[-7.79764846e-02 -9.96954364e-01 1.29009622e-03 9.29490031e+02] [ 9.96893459e-01 -7.79859916e-02 -1.10280078e-02 1.45016216e+02] [ 1.10950299e-02 4.26163201e-04 9.99938357e-01 9.34324263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.48, Y:145.04, Z:9.34 [[-7.74129376e-02 -9.96998178e-01 1.36753186e-03 9.29482827e+02] [ 9.96930113e-01 -7.74236445e-02 -1.16588453e-02 1.45042611e+02] [ 1.17297269e-02 4.60788219e-04 9.99931098e-01 9.34203262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1392541539999 meters Centerline goodness [0,1] 0.9998295260825094 Centerline is valid? [True, True] Translation: X:929.48, Y:145.07, Z:9.34 [[-7.72969974e-02 -9.97007227e-01 1.32766440e-03 9.29476382e+02] [ 9.96943307e-01 -7.73070874e-02 -1.12985419e-02 1.45067769e+02] [ 1.13673658e-02 4.50262777e-04 9.99935288e-01 9.34031053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1692541539999 meters Centerline goodness [0,1] 0.999850007499625 Centerline is valid? [True, True] Translation: X:929.47, Y:145.09, Z:9.34 [[-7.81407823e-02 -9.96941411e-01 1.35687124e-03 9.29472589e+02] [ 9.96874953e-01 -7.81512524e-02 -1.15199643e-02 1.45094812e+02] [ 1.15907707e-02 4.52451925e-04 9.99932722e-01 9.34027523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.47, Y:145.12, Z:9.34 [[-7.92469074e-02 -9.96853920e-01 1.47989183e-03 9.29467589e+02] [ 9.96775298e-01 -7.92592572e-02 -1.25289657e-02 1.45121479e+02] [ 1.26068437e-02 4.82237833e-04 9.99920414e-01 9.34084768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2292541539998 meters Centerline goodness [0,1] 0.9999143175391997 Centerline is valid? [True, True] Translation: X:929.46, Y:145.15, Z:9.34 [[-7.95721690e-02 -9.96828269e-01 1.29289764e-03 9.29462095e+02] [ 9.96768541e-01 -7.95815648e-02 -1.09201649e-02 1.45147749e+02] [ 1.09884199e-02 4.19778486e-04 9.99939537e-01 9.34063131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2592541539999 meters Centerline goodness [0,1] 0.9999572055204878 Centerline is valid? [True, True] Translation: X:929.46, Y:145.17, Z:9.34 [[-8.01939096e-02 -9.96778433e-01 1.30066264e-03 9.29457982e+02] [ 9.96718297e-01 -8.02033689e-02 -1.09570495e-02 1.45174273e+02] [ 1.10260682e-02 4.17705605e-04 9.99939124e-01 9.34135226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2892541539999 meters Centerline goodness [0,1] 0.9999572375454351 Centerline is valid? [True, True] Translation: X:929.45, Y:145.20, Z:9.34 [[-8.13105487e-02 -9.96688084e-01 1.20712966e-03 9.29452615e+02] [ 9.96636524e-01 -8.13186293e-02 -1.01448961e-02 1.45201096e+02] [ 1.02094592e-02 3.78182437e-04 9.99947811e-01 9.34188529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3192541539999 meters Centerline goodness [0,1] 0.9998935059956124 Centerline is valid? [True, True] Translation: X:929.45, Y:145.23, Z:9.34 [[-8.17188158e-02 -9.96654769e-01 1.14339420e-03 9.29447886e+02] [ 9.96608709e-01 -8.17260393e-02 -9.58833213e-03 1.45226957e+02] [ 9.64970202e-03 3.55969474e-04 9.99953377e-01 9.34207637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3492541539998 meters Centerline goodness [0,1] 0.9998506762233884 Centerline is valid? [True, True] Translation: X:929.45, Y:145.26, Z:9.34 [[-8.27468835e-02 -9.96569945e-01 1.13976241e-03 9.29450162e+02] [ 9.96524412e-01 -8.27540052e-02 -9.53265770e-03 1.45255282e+02] [ 9.59428006e-03 3.47003345e-04 9.99953914e-01 9.34147729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.44, Y:145.28, Z:9.34 [[-8.37152630e-02 -9.96488942e-01 1.24210262e-03 9.29444234e+02] [ 9.96435142e-01 -8.37236584e-02 -1.03613423e-02 1.45281626e+02] [ 1.04289564e-02 3.70272204e-04 9.99945548e-01 9.34182842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4092541539999 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:929.44, Y:145.31, Z:9.34 [[-8.48336821e-02 -9.96394392e-01 1.20942757e-03 9.29441201e+02] [ 9.96343622e-01 -8.48415759e-02 -1.00645298e-02 1.45309874e+02] [ 1.01308508e-02 3.51194320e-04 9.99948620e-01 9.34016016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4392541539999 meters Centerline goodness [0,1] 0.9998718003504123 Centerline is valid? [True, True] Translation: X:929.44, Y:145.34, Z:9.34 [[-8.60928670e-02 -9.96286411e-01 1.18574755e-03 9.29437917e+02] [ 9.96237829e-01 -8.61003853e-02 -9.84440239e-03 1.45337796e+02] [ 9.90993764e-03 3.33753744e-04 9.99950840e-01 9.34038036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4692541539998 meters Centerline goodness [0,1] 0.999936206859889 Centerline is valid? [True, True] Translation: X:929.43, Y:145.36, Z:9.34 [[-8.74925239e-02 -9.96164428e-01 1.22074769e-03 9.29434451e+02] [ 9.96113177e-01 -8.75004121e-02 -1.01102670e-02 1.45364467e+02] [ 1.01783043e-02 3.31430084e-04 9.99948145e-01 9.34107245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.43, Y:145.39, Z:9.34 [[-8.94342806e-02 -9.95991965e-01 1.23059628e-03 9.29432330e+02] [ 9.95940115e-01 -8.94421875e-02 -1.01676819e-02 1.45392067e+02] [ 1.02369967e-02 3.16260887e-04 9.99947551e-01 9.34181480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.43, Y:145.42, Z:9.34 [[-9.24312282e-02 -9.95718321e-01 1.22200815e-03 9.29432140e+02] [ 9.95667408e-01 -9.24388644e-02 -1.00732165e-02 1.45420123e+02] [ 1.01430472e-02 2.85633916e-04 9.99948517e-01 9.34300246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.43, Y:145.45, Z:9.34 [[-9.56873566e-02 -9.95410742e-01 1.17683701e-03 9.29433190e+02] [ 9.95363718e-01 -9.56942789e-02 -9.67852670e-03 1.45448343e+02] [ 9.74672602e-03 2.45268230e-04 9.99952469e-01 9.34398975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5892541539998 meters Centerline goodness [0,1] 0.999829613222014 Centerline is valid? [True, True] Translation: X:929.43, Y:145.48, Z:9.34 [[-9.73334465e-02 -9.95251123e-01 1.18388441e-03 9.29428763e+02] [ 9.95203753e-01 -9.73403677e-02 -9.71303645e-03 1.45475173e+02] [ 9.78215018e-03 2.32802899e-04 9.99952127e-01 9.34347333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.43, Y:145.50, Z:9.34 [[-9.91761246e-02 -9.95069182e-01 1.19133593e-03 9.29426376e+02] [ 9.95021437e-01 -9.91830392e-02 -9.75015968e-03 1.45503158e+02] [ 9.82024374e-03 2.18421738e-04 9.99951756e-01 9.34473805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6492541539999 meters Centerline goodness [0,1] 0.9998717482846333 Centerline is valid? [True, True] Translation: X:929.43, Y:145.53, Z:9.34 [[-1.01266688e-01 -9.94858463e-01 1.30244013e-03 9.29425937e+02] [ 9.94801664e-01 -1.01274827e-01 -1.06329077e-02 1.45531014e+02] [ 1.07101426e-02 2.18910265e-04 9.99942621e-01 9.34371112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.42, Y:145.56, Z:9.34 [[-1.02108343e-01 -9.94772318e-01 1.38622764e-03 9.29423482e+02] [ 9.94708286e-01 -1.02117501e-01 -1.12889652e-02 1.45559309e+02] [ 1.13715082e-02 2.26194592e-04 9.99935317e-01 9.34452227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.42, Y:145.59, Z:9.34 [[-1.02852501e-01 -9.94695407e-01 1.55287727e-03 9.29420823e+02] [ 9.94615460e-01 -1.02863926e-01 -1.26134703e-02 1.45586235e+02] [ 1.27062961e-02 2.47188773e-04 9.99919241e-01 9.34387221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7392541539998 meters Centerline goodness [0,1] 0.999871668734226 Centerline is valid? [True, True] Translation: X:929.42, Y:145.61, Z:9.34 [[-1.02872408e-01 -9.94693194e-01 1.64852701e-03 9.29417556e+02] [ 9.94603564e-01 -1.02885273e-01 -1.33555585e-02 1.45613777e+02] [ 1.34542923e-02 2.65712375e-04 9.99909452e-01 9.34283091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.42, Y:145.64, Z:9.34 [[-1.03146254e-01 -9.94664696e-01 1.72996743e-03 9.29415201e+02] [ 9.94566473e-01 -1.03160385e-01 -1.39809027e-02 1.45639728e+02] [ 1.40847744e-02 2.78489865e-04 9.99900766e-01 9.34290305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.41, Y:145.67, Z:9.34 [[-1.03328214e-01 -9.94645716e-01 1.78324058e-03 9.29412200e+02] [ 9.94541768e-01 -1.03343201e-01 -1.43824149e-02 1.45665942e+02] [ 1.44896931e-02 2.87397999e-04 9.99894978e-01 9.34295032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8292541539998 meters Centerline goodness [0,1] 0.9998717482846333 Centerline is valid? [True, True] Translation: X:929.41, Y:145.69, Z:9.34 [[-1.03532575e-01 -9.94624311e-01 1.86729366e-03 9.29410998e+02] [ 9.94510820e-01 -1.03548975e-01 -1.50279013e-02 1.45693644e+02] [ 1.51404723e-02 3.01166439e-04 9.99885331e-01 9.34285959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8592541539998 meters Centerline goodness [0,1] 0.9997857571342874 Centerline is valid? [True, True] Translation: X:929.41, Y:145.72, Z:9.34 [[-1.03909328e-01 -9.94584750e-01 2.00650321e-03 9.29408187e+02] [ 9.94454347e-01 -1.03928202e-01 -1.61083798e-02 1.45720956e+02] [ 1.62296811e-02 3.21564922e-04 9.99868238e-01 9.34207766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.41, Y:145.75, Z:9.34 [[-1.04257365e-01 -9.94548399e-01 1.97082798e-03 9.29405615e+02] [ 9.94423203e-01 -1.04275517e-01 -1.57832209e-02 1.45748117e+02] [ 1.59026862e-02 3.14320049e-04 9.99873495e-01 9.34358161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9192541539999 meters Centerline goodness [0,1] 0.9998932171535965 Centerline is valid? [True, True] Translation: X:929.41, Y:145.78, Z:9.34 [[-1.04970777e-01 -9.94473157e-01 2.06802115e-03 9.29405787e+02] [ 9.94335988e-01 -1.04990652e-01 -1.65198947e-02 1.45776446e+02] [ 1.66457147e-02 3.22201667e-04 9.99861399e-01 9.34406476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9492541539998 meters Centerline goodness [0,1] 0.999957261304385 Centerline is valid? [True, True] Translation: X:929.40, Y:145.80, Z:9.34 [[-1.05636910e-01 -9.94402561e-01 2.09512598e-03 9.29400057e+02] [ 9.94262441e-01 -1.05657202e-01 -1.66959599e-02 1.45802808e+02] [ 1.68238704e-02 3.19395457e-04 9.99858418e-01 9.34325587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9792541539998 meters Centerline goodness [0,1] 0.9998500107135204 Centerline is valid? [True, True] Translation: X:929.40, Y:145.83, Z:9.34 [[-1.06873273e-01 -9.94270283e-01 2.16986793e-03 9.29398296e+02] [ 9.94120703e-01 -1.06894838e-01 -1.72488392e-02 1.45830295e+02] [ 1.73819559e-02 3.13670737e-04 9.99848873e-01 9.34290037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0092541539999 meters Centerline goodness [0,1] 0.9998501808531131 Centerline is valid? [True, True] Translation: X:929.40, Y:145.86, Z:9.35 [[-1.09653055e-01 -9.93967418e-01 2.23155036e-03 9.29402472e+02] [ 9.93809896e-01 -1.09675409e-01 -1.76973204e-02 1.45859371e+02] [ 1.78353061e-02 2.77171591e-04 9.99840900e-01 9.34517731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0392541539999 meters Centerline goodness [0,1] 0.9998286534301442 Centerline is valid? [True, True] Translation: X:929.40, Y:145.89, Z:9.34 [[-1.11289687e-01 -9.93785455e-01 2.25298727e-03 9.29400137e+02] [ 9.93625610e-01 -1.11312198e-01 -1.78253187e-02 1.45886572e+02] [ 1.79653274e-02 2.54851706e-04 9.99838578e-01 9.34486999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.40, Y:145.92, Z:9.35 [[-1.14221084e-01 -9.93452676e-01 2.30745302e-03 9.29401507e+02] [ 9.93285740e-01 -1.14244192e-01 -1.82127458e-02 1.45915201e+02] [ 1.83571142e-02 2.11680614e-04 9.99831472e-01 9.34621337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0992541539998 meters Centerline goodness [0,1] 0.9999785600960508 Centerline is valid? [True, True] Translation: X:929.40, Y:145.94, Z:9.35 [[-1.15834524e-01 -9.93265595e-01 2.41264335e-03 9.29400065e+02] [ 9.93083923e-01 -1.15859482e-01 -1.89974448e-02 1.45942176e+02] [ 1.91490359e-02 1.95397342e-04 9.99816621e-01 9.34647775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1292541539999 meters Centerline goodness [0,1] 0.9998068503734227 Centerline is valid? [True, True] Translation: X:929.40, Y:145.97, Z:9.35 [[-1.17147425e-01 -9.93111316e-01 2.52880728e-03 9.29398235e+02] [ 9.92912638e-01 -1.17174572e-01 -1.98648927e-02 1.45970583e+02] [ 2.00243616e-02 1.83763685e-04 9.99799475e-01 9.34601617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1592541539999 meters Centerline goodness [0,1] 0.9999570797029915 Centerline is valid? [True, True] Translation: X:929.40, Y:146.00, Z:9.35 [[-1.19347308e-01 -9.92849596e-01 2.42887849e-03 9.29398685e+02] [ 9.92667139e-01 -1.19371939e-01 -1.90339279e-02 1.45997485e+02] [ 1.91877675e-02 1.39419813e-04 9.99815888e-01 9.34758968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1892541539999 meters Centerline goodness [0,1] 0.9998286240654656 Centerline is valid? [True, True] Translation: X:929.40, Y:146.03, Z:9.35 [[-1.20644361e-01 -9.92692805e-01 2.43568545e-03 9.29397212e+02] [ 9.92510188e-01 -1.20668886e-01 -1.90406771e-02 1.46025817e+02] [ 1.91954546e-02 1.20292299e-04 9.99815743e-01 9.34791190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2192541539998 meters Centerline goodness [0,1] 0.999806522346669 Centerline is valid? [True, True] Translation: X:929.40, Y:146.05, Z:9.35 [[-1.21935914e-01 -9.92534986e-01 2.43597244e-03 9.29395882e+02] [ 9.92353124e-01 -1.21960202e-01 -1.89996227e-02 1.46054161e+02] [ 1.91548819e-02 1.00608514e-04 9.99816523e-01 9.34887830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2492541539998 meters Centerline goodness [0,1] 0.9998923620080944 Centerline is valid? [True, True] Translation: X:929.40, Y:146.08, Z:9.35 [[-1.23955208e-01 -9.92285062e-01 2.33706882e-03 9.29395927e+02] [ 9.92118378e-01 -1.23977221e-01 -1.81871418e-02 1.46082606e+02] [ 1.83365725e-02 6.42579745e-05 9.99831869e-01 9.35002634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.39, Y:146.11, Z:9.35 [[-1.24727777e-01 -9.92188527e-01 2.21569566e-03 9.29394094e+02] [ 9.92039360e-01 -1.24747445e-01 -1.72041493e-02 1.46110346e+02] [ 1.73461619e-02 5.22220156e-05 9.99849543e-01 9.35099892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3092541539999 meters Centerline goodness [0,1] 0.9998276122136747 Centerline is valid? [True, True] Translation: X:929.39, Y:146.14, Z:9.35 [[-1.25420663e-01 -9.92101262e-01 2.17785078e-03 9.29392851e+02] [ 9.91957805e-01 -1.25439562e-01 -1.68709612e-02 1.46137692e+02] [ 1.70108906e-02 4.43689337e-05 9.99855303e-01 9.35114766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.39, Y:146.17, Z:9.35 [[-1.25530497e-01 -9.92087345e-01 2.18948764e-03 9.29390123e+02] [ 9.91943024e-01 -1.25549580e-01 -1.69215913e-02 1.46165715e+02] [ 1.70625859e-02 4.76712332e-05 9.99854422e-01 9.35168972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3692541539998 meters Centerline goodness [0,1] 0.9999784366576819 Centerline is valid? [True, True] Translation: X:929.39, Y:146.19, Z:9.35 [[-1.24460300e-01 -9.92222184e-01 2.18420160e-03 9.29387649e+02] [ 9.92079264e-01 -1.24479444e-01 -1.68404842e-02 1.46192223e+02] [ 1.69813902e-02 7.09294144e-05 9.99855803e-01 9.35184949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:146.22, Z:9.35 [[-1.23916009e-01 -9.92290166e-01 2.24700328e-03 9.29384477e+02] [ 9.92139699e-01 -1.23936348e-01 -1.72800248e-02 1.46219566e+02] [ 1.74252840e-02 8.80694620e-05 9.99848164e-01 9.35225642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:146.25, Z:9.35 [[-1.23135462e-01 -9.92387357e-01 2.23438166e-03 9.29381205e+02] [ 9.92239289e-01 -1.23155687e-01 -1.71426559e-02 1.46247368e+02] [ 1.72873318e-02 1.06172410e-04 9.99850557e-01 9.35271495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.38, Y:146.28, Z:9.35 [[-1.20783507e-01 -9.92676163e-01 2.31969508e-03 9.29377101e+02] [ 9.92517346e-01 -1.20805677e-01 -1.77568693e-02 1.46275197e+02] [ 1.79070533e-02 1.57600656e-04 9.99839643e-01 9.35251683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.37, Y:146.30, Z:9.35 [[-1.19219412e-01 -9.92865062e-01 2.38747877e-03 9.29372823e+02] [ 9.92697524e-01 -1.19243155e-01 -1.82399750e-02 1.46301935e+02] [ 1.83945245e-02 1.95485174e-04 9.99830787e-01 9.35234204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.37, Y:146.33, Z:9.35 [[-1.17534581e-01 -9.93065786e-01 2.44273369e-03 9.29368373e+02] [ 9.92891015e-01 -1.17559727e-01 -1.86317790e-02 1.46328216e+02] [ 1.87897494e-02 2.35489990e-04 9.99823429e-01 9.35205015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5492541539999 meters Centerline goodness [0,1] 0.9997388693040867 Centerline is valid? [True, True] Translation: X:929.36, Y:146.36, Z:9.35 [[-1.15080895e-01 -9.93352505e-01 2.68130654e-03 9.29363478e+02] [ 9.93142830e-01 -1.15111699e-01 -2.04111704e-02 1.46355697e+02] [ 2.05841370e-02 3.13984609e-04 9.99788075e-01 9.34969724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.36, Y:146.38, Z:9.35 [[-1.14076910e-01 -9.93468506e-01 2.60515363e-03 9.29359043e+02] [ 9.93271524e-01 -1.14106174e-01 -1.97853528e-02 1.46381710e+02] [ 1.99533890e-02 3.30573004e-04 9.99800857e-01 9.35113092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6092541539998 meters Centerline goodness [0,1] 0.9999129753720303 Centerline is valid? [True, True] Translation: X:929.36, Y:146.41, Z:9.35 [[-1.13481876e-01 -9.93536542e-01 2.64651925e-03 9.29355618e+02] [ 9.93334278e-01 -1.13512181e-01 -2.00498832e-02 1.46408492e+02] [ 2.02207038e-02 3.53579933e-04 9.99795478e-01 9.35065690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6392541539999 meters Centerline goodness [0,1] 0.9999129753720303 Centerline is valid? [True, True] Translation: X:929.35, Y:146.44, Z:9.35 [[-1.13789228e-01 -9.93501371e-01 2.65272444e-03 9.29351988e+02] [ 9.93299117e-01 -1.13819595e-01 -2.00490627e-02 1.46435008e+02] [ 2.02207033e-02 3.53581483e-04 9.99795478e-01 9.35090652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.35, Y:146.46, Z:9.35 [[-1.12424191e-01 -9.93657170e-01 2.49597593e-03 9.29348779e+02] [ 9.93478949e-01 -1.12451307e-01 -1.88223506e-02 1.46462251e+02] [ 1.89836394e-02 3.63611990e-04 9.99819728e-01 9.35296748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6992541539998 meters Centerline goodness [0,1] 0.9998690928131955 Centerline is valid? [True, True] Translation: X:929.35, Y:146.49, Z:9.35 [[-1.12363087e-01 -9.93664157e-01 2.46576347e-03 9.29346815e+02] [ 9.93491029e-01 -1.12389546e-01 -1.85516909e-02 1.46489509e+02] [ 1.87112763e-02 3.65188620e-04 9.99824862e-01 9.35353866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.34, Y:146.52, Z:9.36 [[-1.11789353e-01 -9.93729122e-01 2.36087848e-03 9.29342401e+02] [ 9.93571190e-01 -1.11813685e-01 -1.77197563e-02 1.46515458e+02] [ 1.78726163e-02 3.64820758e-04 9.99840205e-01 9.35515917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7592541539999 meters Centerline goodness [0,1] 0.999912579770959 Centerline is valid? [True, True] Translation: X:929.34, Y:146.54, Z:9.35 [[-1.10777322e-01 -9.93842497e-01 2.34021980e-03 9.29338406e+02] [ 9.93687974e-01 -1.10801374e-01 -1.75289909e-02 1.46542688e+02] [ 1.76803556e-02 3.83633603e-04 9.99843617e-01 9.35472739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7892541539999 meters Centerline goodness [0,1] 0.9999129393840461 Centerline is valid? [True, True] Translation: X:929.33, Y:146.57, Z:9.35 [[-1.10111283e-01 -9.93916484e-01 2.35126846e-03 9.29334286e+02] [ 9.93761064e-01 -1.10135655e-01 -1.75808463e-02 1.46570473e+02] [ 1.77328514e-02 4.00749506e-04 9.99842680e-01 9.35453042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.33, Y:146.60, Z:9.36 [[-1.08210759e-01 -9.94124900e-01 2.47300769e-03 9.29331251e+02] [ 9.93953743e-01 -1.08238030e-01 -1.84522286e-02 1.46598288e+02] [ 1.86114934e-02 4.61325600e-04 9.99826685e-01 9.35524282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8492541539998 meters Centerline goodness [0,1] 0.9999346063301072 Centerline is valid? [True, True] Translation: X:929.33, Y:146.62, Z:9.35 [[-1.07298468e-01 -9.94223633e-01 2.53094244e-03 9.29325519e+02] [ 9.94045073e-01 -1.07327179e-01 -1.88485732e-02 1.46624359e+02] [ 1.90113359e-02 4.93447832e-04 9.99819146e-01 9.35369600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.33, Y:146.65, Z:9.35 [[-1.06663900e-01 -9.94291670e-01 2.62431835e-03 9.29325307e+02] [ 9.94100461e-01 -1.06694871e-01 -1.95058446e-02 1.46652537e+02] [ 1.96745001e-02 5.28266633e-04 9.99806299e-01 9.35478933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9092541539999 meters Centerline goodness [0,1] 0.9998039984319874 Centerline is valid? [True, True] Translation: X:929.32, Y:146.68, Z:9.35 [[-1.05853371e-01 -9.94377759e-01 2.81733068e-03 9.29318366e+02] [ 9.94158417e-01 -1.05889217e-01 -2.08929399e-02 1.46679198e+02] [ 2.10737996e-02 5.89284902e-04 9.99777749e-01 9.35098332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.32, Y:146.71, Z:9.35 [[-1.05616847e-01 -9.94403131e-01 2.73774000e-03 9.29317033e+02] [ 9.94196957e-01 -1.05650719e-01 -2.02567369e-02 1.46706867e+02] [ 2.04326067e-02 5.82400093e-04 9.99791063e-01 9.35434444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9692541539998 meters Centerline goodness [0,1] 0.9998907032155114 Centerline is valid? [True, True] Translation: X:929.32, Y:146.74, Z:9.35 [[-1.05848751e-01 -9.94378444e-01 2.74810139e-03 9.29317313e+02] [ 9.94171635e-01 -1.05882804e-01 -2.02877228e-02 1.46735164e+02] [ 2.04646509e-02 5.84654341e-04 9.99790406e-01 9.35468758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9992541539998 meters Centerline goodness [0,1] 0.999869109947644 Centerline is valid? [True, True] Translation: X:929.31, Y:146.76, Z:9.35 [[-1.06019554e-01 -9.94360375e-01 2.70161433e-03 9.29313670e+02] [ 9.94161385e-01 -1.06052406e-01 -1.99004311e-02 1.46761835e+02] [ 2.00747128e-02 5.76005814e-04 9.99798317e-01 9.35485991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0292541539999 meters Centerline goodness [0,1] 0.9999564734814685 Centerline is valid? [True, True] Translation: X:929.31, Y:146.79, Z:9.36 [[-1.06373963e-01 -9.94322807e-01 2.59536578e-03 9.29308404e+02] [ 9.94139894e-01 -1.06404195e-01 -1.90792601e-02 1.46787993e+02] [ 1.92471012e-02 5.50620160e-04 9.99814606e-01 9.35524086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.31, Y:146.82, Z:9.36 [[-1.06541613e-01 -9.94304901e-01 2.57844554e-03 9.29307231e+02] [ 9.94125120e-01 -1.06571400e-01 -1.89151232e-02 1.46815211e+02] [ 1.90821883e-02 5.48049742e-04 9.99817768e-01 9.35678657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0892541539998 meters Centerline goodness [0,1] 0.9998252092027354 Centerline is valid? [True, True] Translation: X:929.31, Y:146.84, Z:9.36 [[-1.06556063e-01 -9.94303079e-01 2.68199907e-03 9.29305937e+02] [ 9.94109455e-01 -1.06588262e-01 -1.96299416e-02 1.46843599e+02] [ 1.98039810e-02 5.74511331e-04 9.99803717e-01 9.35625033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.30, Y:146.87, Z:9.36 [[-1.06916464e-01 -9.94264596e-01 2.60439816e-03 9.29303172e+02] [ 9.94082779e-01 -1.06946739e-01 -1.90216443e-02 1.46871988e+02] [ 1.91910794e-02 5.55260409e-04 9.99815680e-01 9.35819406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.30, Y:146.90, Z:9.36 [[-1.07430595e-01 -9.94209052e-01 2.65128421e-03 9.29296939e+02] [ 9.94021456e-01 -1.07461847e-01 -1.93208700e-02 1.46898751e+02] [ 1.94938957e-02 5.59780839e-04 9.99809819e-01 9.35721217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.30, Y:146.93, Z:9.36 [[-1.07637408e-01 -9.94186552e-01 2.69975138e-03 9.29295808e+02] [ 9.93992893e-01 -1.07669748e-01 -1.96304426e-02 1.46926522e+02] [ 1.98070036e-02 5.70563726e-04 9.99803659e-01 9.35836898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.29, Y:146.95, Z:9.36 [[-1.07639154e-01 -9.94186156e-01 2.77497482e-03 9.29291143e+02] [ 9.93982466e-01 -1.07673294e-01 -2.01325201e-02 1.46953214e+02] [ 2.03142635e-02 5.91228887e-04 9.99793469e-01 9.35804745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.29, Y:146.98, Z:9.36 [[-1.06833216e-01 -9.94272865e-01 2.85201686e-03 9.29285410e+02] [ 9.94058712e-01 -1.06869424e-01 -2.06446728e-02 1.46979584e+02] [ 2.08312314e-02 6.29535419e-04 9.99782808e-01 9.35782198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.28, Y:147.01, Z:9.36 [[-1.06429513e-01 -9.94316094e-01 2.87484027e-03 9.29280366e+02] [ 9.94099479e-01 -1.06466361e-01 -2.07639310e-02 1.47005998e+02] [ 2.09519846e-02 6.47982155e-04 9.99780273e-01 9.35796759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.28, Y:147.03, Z:9.36 [[-1.06081121e-01 -9.94353274e-01 2.89181338e-03 9.29275594e+02] [ 9.94135034e-01 -1.06118453e-01 -2.08424444e-02 1.47033456e+02] [ 2.10316276e-02 6.63863127e-04 9.99778590e-01 9.35814041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.27, Y:147.06, Z:9.36 [[-1.05578881e-01 -9.94406490e-01 2.97192846e-03 9.29267473e+02] [ 9.94176820e-01 -1.05618401e-01 -2.13823253e-02 1.47059592e+02] [ 2.15766134e-02 6.97100395e-04 9.99766955e-01 9.35693805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3592541539998 meters Centerline goodness [0,1] 0.9999561826307949 Centerline is valid? [True, True] Translation: X:929.27, Y:147.09, Z:9.36 [[-1.05635970e-01 -9.94400369e-01 2.99120812e-03 9.29267104e+02] [ 9.94168621e-01 -1.05675960e-01 -2.14789128e-02 1.47087038e+02] [ 2.16747376e-02 7.04819481e-04 9.99764827e-01 9.35816215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3892541539999 meters Centerline goodness [0,1] 0.9998908201589658 Centerline is valid? [True, True] Translation: X:929.26, Y:147.11, Z:9.36 [[-1.05642038e-01 -9.94399556e-01 3.04663784e-03 9.29261450e+02] [ 9.94160113e-01 -1.05683491e-01 -2.18327720e-02 1.47112415e+02] [ 2.20324781e-02 7.22387301e-04 9.99756995e-01 9.35738082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4192541539999 meters Centerline goodness [0,1] 0.9999125377181091 Centerline is valid? [True, True] Translation: X:929.26, Y:147.14, Z:9.36 [[-1.07224060e-01 -9.94230075e-01 3.09162843e-03 9.29256507e+02] [ 9.93984234e-01 -1.07266329e-01 -2.21196153e-02 1.47138966e+02] [ 2.23236144e-02 7.01274959e-04 9.99750551e-01 9.35693513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.25, Y:147.17, Z:9.36 [[-1.08258468e-01 -9.94118271e-01 2.99445197e-03 9.29254580e+02] [ 9.93888426e-01 -1.08297857e-01 -2.13862180e-02 1.47166949e+02] [ 2.15847228e-02 6.60911956e-04 9.99766804e-01 9.35872788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4792541539998 meters Centerline goodness [0,1] 0.999890562073192 Centerline is valid? [True, True] Translation: X:929.25, Y:147.19, Z:9.36 [[-1.09922208e-01 -9.93935995e-01 2.88911093e-03 9.29248684e+02] [ 9.93722831e-01 -1.09958491e-01 -2.05928387e-02 1.47193563e+02] [ 2.07856459e-02 6.07365198e-04 9.99783771e-01 9.35842862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5092541539999 meters Centerline goodness [0,1] 0.9998691556175855 Centerline is valid? [True, True] Translation: X:929.25, Y:147.22, Z:9.36 [[-1.10482518e-01 -9.93874088e-01 2.81266815e-03 9.29246713e+02] [ 9.93672897e-01 -1.10516769e-01 -2.00054450e-02 1.47220644e+02] [ 2.01937404e-02 5.84620163e-04 9.99795915e-01 9.36028497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5392541539999 meters Centerline goodness [0,1] 0.999912457322945 Centerline is valid? [True, True] Translation: X:929.24, Y:147.25, Z:9.36 [[-1.10892715e-01 -9.93828577e-01 2.75063211e-03 9.29240535e+02] [ 9.93637039e-01 -1.10925367e-01 -1.95191542e-02 1.47245899e+02] [ 1.97038081e-02 5.68597942e-04 9.99805699e-01 9.36065855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5692541539999 meters Centerline goodness [0,1] 0.9999782011596983 Centerline is valid? [True, True] Translation: X:929.24, Y:147.27, Z:9.36 [[-1.10751548e-01 -9.93844347e-01 2.74023024e-03 9.29238030e+02] [ 9.93655143e-01 -1.10783955e-01 -1.94003140e-02 1.47273055e+02] [ 1.95844659e-02 5.74229061e-04 9.99808041e-01 9.36331345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.23, Y:147.30, Z:9.36 [[-1.10747404e-01 -9.93844601e-01 2.81453295e-03 9.29232745e+02] [ 9.93645916e-01 -1.10781565e-01 -1.98805939e-02 1.47300323e+02] [ 2.00700193e-02 5.94925000e-04 9.99798400e-01 9.36298392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.23, Y:147.33, Z:9.36 [[-1.11066896e-01 -9.93808480e-01 2.97488566e-03 9.29226914e+02] [ 9.93587526e-01 -1.11104959e-01 -2.09646526e-02 1.47327427e+02] [ 2.11653741e-02 6.27330382e-04 9.99775792e-01 9.36167380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.22, Y:147.36, Z:9.36 [[-1.11406854e-01 -9.93770237e-01 3.03791159e-03 9.29223692e+02] [ 9.93540802e-01 -1.11446438e-01 -2.13627465e-02 1.47355401e+02] [ 2.15682261e-02 6.38332730e-04 9.99767175e-01 9.36224299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.22, Y:147.38, Z:9.36 [[-1.11588982e-01 -9.93749494e-01 3.13723552e-03 9.29217039e+02] [ 9.93505918e-01 -1.11631119e-01 -2.20109865e-02 1.47381373e+02] [ 2.22236198e-02 6.60678479e-04 9.99752807e-01 9.36155541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.21, Y:147.41, Z:9.36 [[-1.10922647e-01 -9.93823790e-01 3.23124413e-03 9.29213103e+02] [ 9.93566560e-01 -1.10967485e-01 -2.26209567e-02 1.47409114e+02] [ 2.28398080e-02 7.01279715e-04 9.99738892e-01 9.36289207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.21, Y:147.44, Z:9.36 [[-1.10758910e-01 -9.93842354e-01 3.13663957e-03 9.29209447e+02] [ 9.93600942e-01 -1.10801171e-01 -2.19150465e-02 1.47436633e+02] [ 2.21276447e-02 6.89281378e-04 9.99754916e-01 9.36403054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7792541539999 meters Centerline goodness [0,1] 0.9998255940701983 Centerline is valid? [True, True] Translation: X:929.20, Y:147.46, Z:9.36 [[-1.11078465e-01 -9.93806187e-01 3.29198418e-03 9.29204282e+02] [ 9.93541467e-01 -1.11124892e-01 -2.29480274e-02 1.47462128e+02] [ 2.31717130e-02 7.21691147e-04 9.99731239e-01 9.36305222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8092541539999 meters Centerline goodness [0,1] 0.9999566000477399 Centerline is valid? [True, True] Translation: X:929.20, Y:147.49, Z:9.37 [[-1.10703814e-01 -9.93849046e-01 2.95618509e-03 9.29198892e+02] [ 9.93636537e-01 -1.10741304e-01 -2.05619809e-02 1.47488560e+02] [ 2.07628769e-02 6.61083805e-04 9.99784210e-01 9.36608137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8392541539998 meters Centerline goodness [0,1] 0.9998693408244594 Centerline is valid? [True, True] Translation: X:929.19, Y:147.51, Z:9.37 [[-1.10791917e-01 -9.93839039e-01 3.01938892e-03 9.29193013e+02] [ 9.93618373e-01 -1.10830975e-01 -2.09528982e-02 1.47514697e+02] [ 2.11584500e-02 6.78708546e-04 9.99775905e-01 9.36552743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.19, Y:147.54, Z:9.37 [[-1.10412358e-01 -9.93881858e-01 2.82196861e-03 9.29188341e+02] [ 9.93689969e-01 -1.10446521e-01 -1.95399900e-02 1.47541454e+02] [ 1.97321182e-02 6.46705540e-04 9.99805094e-01 9.36794062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.18, Y:147.57, Z:9.37 [[-1.09168165e-01 -9.94019307e-01 2.81585524e-03 9.29181546e+02] [ 9.93828976e-01 -1.09202396e-01 -1.94628599e-02 1.47567569e+02] [ 1.96539566e-02 6.73753831e-04 9.99806615e-01 9.36829092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.18, Y:147.60, Z:9.37 [[-1.08681917e-01 -9.94072466e-01 2.85902694e-03 9.29178958e+02] [ 9.93876958e-01 -1.08717278e-01 -1.97267870e-02 1.47595271e+02] [ 1.99206814e-02 6.97575976e-04 9.99801320e-01 9.36942209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9592541539998 meters Centerline goodness [0,1] 0.999869786015018 Centerline is valid? [True, True] Translation: X:929.17, Y:147.62, Z:9.37 [[-1.07414134e-01 -9.94209472e-01 3.11913386e-03 9.29172959e+02] [ 9.93977773e-01 -1.07456484e-01 -2.14776815e-02 1.47623346e+02] [ 2.16884856e-02 7.93343158e-04 9.99764462e-01 9.36827532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.16, Y:147.65, Z:9.37 [[-1.06364911e-01 -9.94322818e-01 2.93940546e-03 9.29159538e+02] [ 9.94117848e-01 -1.06402709e-01 -2.02031764e-02 1.47649546e+02] [ 2.04012400e-02 7.73206373e-04 9.99791574e-01 9.36733364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0192541539999 meters Centerline goodness [0,1] 0.9999135639734641 Centerline is valid? [True, True] Translation: X:929.15, Y:147.68, Z:9.37 [[-1.05581948e-01 -9.94405716e-01 3.11849962e-03 9.29152050e+02] [ 9.94176003e-01 -1.05624637e-01 -2.13895299e-02 1.47675340e+02] [ 2.15992612e-02 8.41989252e-04 9.99766354e-01 9.36567326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0492541539999 meters Centerline goodness [0,1] 0.9998702001081666 Centerline is valid? [True, True] Translation: X:929.15, Y:147.70, Z:9.37 [[-1.04587994e-01 -9.94510344e-01 3.24469430e-03 9.29152790e+02] [ 9.94262760e-01 -1.04634413e-01 -2.22082040e-02 1.47703684e+02] [ 2.24257952e-02 9.03367215e-04 9.99748102e-01 9.36734815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.14, Y:147.73, Z:9.37 [[-1.02596452e-01 -9.94718276e-01 3.08522458e-03 9.29143896e+02] [ 9.94495258e-01 -1.02638838e-01 -2.10819944e-02 1.47729858e+02] [ 2.12873090e-02 9.05303382e-04 9.99772990e-01 9.36833014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1092541539998 meters Centerline goodness [0,1] 0.9999351421467949 Centerline is valid? [True, True] Translation: X:929.14, Y:147.76, Z:9.37 [[-1.01661983e-01 -9.94813845e-01 3.20248551e-03 9.29140036e+02] [ 9.94574435e-01 -1.01707840e-01 -2.18451125e-02 1.47757820e+02] [ 2.20575383e-02 9.64292761e-04 9.99756238e-01 9.36846449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1392541539999 meters Centerline goodness [0,1] 0.999870867768595 Centerline is valid? [True, True] Translation: X:929.13, Y:147.78, Z:9.37 [[-1.01976779e-01 -9.94781231e-01 3.32244043e-03 9.29130792e+02] [ 9.94524615e-01 -1.02026007e-01 -2.26160163e-02 1.47783489e+02] [ 2.28369639e-02 9.97940292e-04 9.99738704e-01 9.36663759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.13, Y:147.81, Z:9.37 [[-1.02425312e-01 -9.94736017e-01 3.05140479e-03 9.29126135e+02] [ 9.94520460e-01 -1.02466700e-01 -2.07275147e-02 1.47810280e+02] [ 2.09310728e-02 9.11662338e-04 9.99780505e-01 9.36857417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.12, Y:147.84, Z:9.37 [[-1.03493367e-01 -9.94625488e-01 3.04323367e-03 9.29121085e+02] [ 9.94411923e-01 -1.03534265e-01 -2.06296717e-02 1.47837879e+02] [ 2.08338762e-02 8.91193657e-04 9.99782554e-01 9.36859830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2292541539998 meters Centerline goodness [0,1] 0.9999355614743535 Centerline is valid? [True, True] Translation: X:929.12, Y:147.86, Z:9.37 [[-1.05760449e-01 -9.94386834e-01 3.09063165e-03 9.29115495e+02] [ 9.94167304e-01 -1.05802095e-01 -2.09114597e-02 1.47864548e+02] [ 2.11210755e-02 8.60999565e-04 9.99776554e-01 9.36798645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.11, Y:147.89, Z:9.37 [[-1.09033631e-01 -9.94034007e-01 2.83901212e-03 9.29114409e+02] [ 9.93849352e-01 -1.09068136e-01 -1.91730871e-02 1.47892520e+02] [ 1.93683464e-02 7.31039049e-04 9.99812149e-01 9.36981054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2892541539999 meters Centerline goodness [0,1] 0.99991387662827 Centerline is valid? [True, True] Translation: X:929.11, Y:147.92, Z:9.37 [[-1.11554096e-01 -9.93753921e-01 2.97111615e-03 9.29111390e+02] [ 9.93552382e-01 -1.11591346e-01 -2.00258710e-02 1.47921267e+02] [ 2.02323387e-02 7.17991584e-04 9.99795047e-01 9.36942118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.11, Y:147.95, Z:9.37 [[-1.14048433e-01 -9.93471425e-01 2.73540620e-03 9.29107374e+02] [ 9.93301151e-01 -1.14079557e-01 -1.84032149e-02 1.47949157e+02] [ 1.85951221e-02 6.18224290e-04 9.99826905e-01 9.37031277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.10, Y:147.98, Z:9.37 [[-1.19249866e-01 -9.92860468e-01 2.74968955e-03 9.29104009e+02] [ 9.92688868e-01 -1.19280397e-01 -1.84661460e-02 1.47975675e+02] [ 1.86622904e-02 5.27500772e-04 9.99825705e-01 9.36918633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3792541539999 meters Centerline goodness [0,1] 0.9999142201539748 Centerline is valid? [True, True] Translation: X:929.10, Y:148.00, Z:9.37 [[-1.21948087e-01 -9.92532084e-01 2.95395039e-03 9.29100123e+02] [ 9.92334655e-01 -1.21982765e-01 -1.98024627e-02 1.48002603e+02] [ 2.00149106e-02 5.16434900e-04 9.99799548e-01 9.36786501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4092541539999 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:929.10, Y:148.03, Z:9.37 [[-1.26823358e-01 -9.91921048e-01 2.91041303e-03 9.29098331e+02] [ 9.91729976e-01 -1.26856064e-01 -1.94728851e-02 1.48030679e+02] [ 1.96847682e-02 4.16727154e-04 9.99806149e-01 9.36840697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.09, Y:148.06, Z:9.37 [[-1.29175750e-01 -9.91617494e-01 2.89343334e-03 9.29094490e+02] [ 9.91429309e-01 -1.29207613e-01 -1.93214345e-02 1.48058831e+02] [ 1.95333260e-02 3.72773835e-04 9.99809137e-01 9.36850098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4692541539998 meters Centerline goodness [0,1] 0.9998716632443532 Centerline is valid? [True, True] Translation: X:929.09, Y:148.09, Z:9.37 [[-1.31194865e-01 -9.91352215e-01 2.94832757e-03 9.29090205e+02] [ 9.91157561e-01 -1.31227537e-01 -1.96474415e-02 1.48085769e+02] [ 1.98644364e-02 3.44613731e-04 9.99802623e-01 9.36836946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4992541539998 meters Centerline goodness [0,1] 0.9998928165662715 Centerline is valid? [True, True] Translation: X:929.09, Y:148.11, Z:9.37 [[-1.32976090e-01 -9.91114171e-01 3.17157723e-03 9.29086444e+02] [ 9.90889853e-01 -1.33013477e-01 -2.10882662e-02 1.48113005e+02] [ 2.13227420e-02 3.38448511e-04 9.99772587e-01 9.36770055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5292541539999 meters Centerline goodness [0,1] 0.9998928165662715 Centerline is valid? [True, True] Translation: X:929.08, Y:148.14, Z:9.37 [[-1.33289437e-01 -9.91072058e-01 3.17824894e-03 9.29082346e+02] [ 9.90847752e-01 -1.33326894e-01 -2.10872612e-02 1.48139448e+02] [ 2.13227414e-02 3.38451638e-04 9.99772587e-01 9.36795016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5592541539999 meters Centerline goodness [0,1] 0.9999140985718887 Centerline is valid? [True, True] Translation: X:929.08, Y:148.17, Z:9.37 [[-1.35600694e-01 -9.90758671e-01 3.11584872e-03 9.29079027e+02] [ 9.90543866e-01 -1.35636180e-01 -2.06319204e-02 1.48167247e+02] [ 2.08638759e-02 2.88682110e-04 9.99782284e-01 9.36902081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.07, Y:148.19, Z:9.37 [[-1.36182074e-01 -9.90679413e-01 2.95707650e-03 9.29073129e+02] [ 9.90486678e-01 -1.36213913e-01 -1.95425415e-02 1.48193986e+02] [ 1.97631885e-02 2.67601033e-04 9.99804653e-01 9.36919985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6192541539998 meters Centerline goodness [0,1] 0.9999143982194829 Centerline is valid? [True, True] Translation: X:929.07, Y:148.22, Z:9.37 [[-1.36387402e-01 -9.90650630e-01 3.13132582e-03 9.29067985e+02] [ 9.90435411e-01 -1.36423046e-01 -2.06506287e-02 1.48220642e+02] [ 2.08847433e-02 2.84890387e-04 9.99781849e-01 9.36866419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.06, Y:148.25, Z:9.37 [[-1.36072672e-01 -9.90694479e-01 2.94558274e-03 9.29063650e+02] [ 9.90504791e-01 -1.36104263e-01 -1.93878294e-02 1.48248093e+02] [ 1.96083219e-02 2.79460082e-04 9.99807699e-01 9.37051204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.06, Y:148.28, Z:9.37 [[-1.35674458e-01 -9.90748884e-01 3.01502996e-03 9.29058081e+02] [ 9.90550950e-01 -1.35707625e-01 -1.98054612e-02 1.48275847e+02] [ 2.00314012e-02 2.99445568e-04 9.99799307e-01 9.37067243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7092541539998 meters Centerline goodness [0,1] 0.9999359111301004 Centerline is valid? [True, True] Translation: X:929.05, Y:148.30, Z:9.37 [[-1.34782621e-01 -9.90870308e-01 3.11079362e-03 9.29050709e+02] [ 9.90660421e-01 -1.34818104e-01 -2.03962965e-02 1.48302331e+02] [ 2.06294759e-02 3.32673826e-04 9.99787134e-01 9.36968997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7392541539998 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:929.05, Y:148.33, Z:9.37 [[-1.33815252e-01 -9.91001539e-01 3.07062688e-03 9.29045001e+02] [ 9.90797814e-01 -1.33850012e-01 -2.00964291e-02 1.48329529e+02] [ 2.03265956e-02 3.53161678e-04 9.99793331e-01 9.37026318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.04, Y:148.36, Z:9.37 [[-1.30536652e-01 -9.91438976e-01 2.99000324e-03 9.29037967e+02] [ 9.91246647e-01 -1.30570234e-01 -1.95320153e-02 1.48356564e+02] [ 1.97552067e-02 4.14186803e-04 9.99804761e-01 9.37141900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7992541539999 meters Centerline goodness [0,1] 0.9998931555441588 Centerline is valid? [True, True] Translation: X:929.03, Y:148.38, Z:9.37 [[-1.28973291e-01 -9.91642725e-01 3.25522418e-03 9.29031317e+02] [ 9.91415725e-01 -1.29013434e-01 -2.12225091e-02 1.48384320e+02] [ 2.14651144e-02 4.90143597e-04 9.99769478e-01 9.37036127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.02, Y:148.41, Z:9.37 [[-1.24741255e-01 -9.92184335e-01 3.14090620e-03 9.29023243e+02] [ 9.91973933e-01 -1.24779508e-01 -2.04399075e-02 1.48411721e+02] [ 2.06720768e-02 5.65997367e-04 9.99786150e-01 9.37168919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.01, Y:148.44, Z:9.37 [[-1.22839843e-01 -9.92421666e-01 3.10004058e-03 9.29014763e+02] [ 9.92217522e-01 -1.22877478e-01 -2.01374151e-02 1.48438212e+02] [ 2.03657322e-02 6.02237682e-04 9.99792416e-01 9.37112860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:929.01, Y:148.47, Z:9.37 [[-1.21309371e-01 -9.92610037e-01 3.05804098e-03 9.29010559e+02] [ 9.92412164e-01 -1.21346277e-01 -1.98287348e-02 1.48466374e+02] [ 2.00532830e-02 6.29425725e-04 9.99798715e-01 9.37248485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9192541539999 meters Centerline goodness [0,1] 0.9997659275652211 Centerline is valid? [True, True] Translation: X:929.00, Y:148.49, Z:9.37 [[-1.19232254e-01 -9.92861306e-01 3.17751034e-03 9.28998066e+02] [ 9.92648562e-01 -1.19272519e-01 -2.05644904e-02 1.48492453e+02] [ 2.07966765e-02 7.02200537e-04 9.99783479e-01 9.36982180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9492541539998 meters Centerline goodness [0,1] 0.9998935105318084 Centerline is valid? [True, True] Translation: X:929.00, Y:148.52, Z:9.37 [[-1.18189524e-01 -9.92986315e-01 3.06833383e-03 9.28996941e+02] [ 9.92788724e-01 -1.18227253e-01 -1.98208696e-02 1.48520943e+02] [ 2.00446129e-02 7.03588081e-04 9.99798839e-01 9.37266800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9792541539998 meters Centerline goodness [0,1] 0.9998514178977755 Centerline is valid? [True, True] Translation: X:928.99, Y:148.55, Z:9.37 [[-1.17965918e-01 -9.93012922e-01 3.06267009e-03 9.28992201e+02] [ 9.92816818e-01 -1.18003525e-01 -1.97467606e-02 1.48548849e+02] [ 1.99701943e-02 7.11225636e-04 9.99800323e-01 9.37298702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.99, Y:148.58, Z:9.37 [[-1.17503643e-01 -9.93068429e-01 2.82656873e-03 9.28986252e+02] [ 9.92902023e-01 -1.17535731e-01 -1.81913246e-02 1.48576141e+02] [ 1.83974530e-02 6.68958903e-04 9.99830529e-01 9.37489357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0392541539999 meters Centerline goodness [0,1] 0.9999151049515037 Centerline is valid? [True, True] Translation: X:928.98, Y:148.60, Z:9.37 [[-1.17932243e-01 -9.93017030e-01 3.02727741e-03 9.28980839e+02] [ 9.92826880e-01 -1.17968940e-01 -1.94451952e-02 1.48604141e+02] [ 1.96665347e-02 7.12346904e-04 9.99806341e-01 9.37377031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0692541539999 meters Centerline goodness [0,1] 0.9998934696921274 Centerline is valid? [True, True] Translation: X:928.98, Y:148.63, Z:9.37 [[-1.18767206e-01 -9.92917307e-01 3.09400991e-03 9.28975717e+02] [ 9.92719351e-01 -1.18805347e-01 -1.98388268e-02 1.48629832e+02] [ 2.00658994e-02 7.15281483e-04 9.99798404e-01 9.37283828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.97, Y:148.66, Z:9.37 [[-1.18996334e-01 -9.92890126e-01 3.01175850e-03 9.28972085e+02] [ 9.92703201e-01 -1.19032408e-01 -1.92779997e-02 1.48657718e+02] [ 1.94994324e-02 6.95771018e-04 9.99809626e-01 9.37392910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1292541539999 meters Centerline goodness [0,1] 0.9999362177102158 Centerline is valid? [True, True] Translation: X:928.97, Y:148.69, Z:9.37 [[-1.20049493e-01 -9.92762841e-01 3.17181226e-03 9.28967839e+02] [ 9.92556320e-01 -1.20089253e-01 -2.02613455e-02 1.48685006e+02] [ 2.04956115e-02 7.15838057e-04 9.99789687e-01 9.37308569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1592541539999 meters Centerline goodness [0,1] 0.9998505742219186 Centerline is valid? [True, True] Translation: X:928.96, Y:148.71, Z:9.37 [[-1.21905110e-01 -9.92536246e-01 3.30821549e-03 9.28964558e+02] [ 9.92312387e-01 -1.21947913e-01 -2.10910751e-02 1.48711498e+02] [ 2.13370865e-02 7.11673394e-04 9.99772085e-01 9.37213175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1892541539999 meters Centerline goodness [0,1] 0.99980795903126 Centerline is valid? [True, True] Translation: X:928.96, Y:148.74, Z:9.37 [[-1.23060537e-01 -9.92393538e-01 3.34217356e-03 9.28960564e+02] [ 9.92165902e-01 -1.23103929e-01 -2.12660753e-02 1.48738410e+02] [ 2.15157504e-02 6.98975991e-04 9.99768265e-01 9.37195520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2192541539998 meters Centerline goodness [0,1] 0.9999145335669416 Centerline is valid? [True, True] Translation: X:928.96, Y:148.77, Z:9.37 [[-1.25332653e-01 -9.92109395e-01 3.26722438e-03 9.28957943e+02] [ 9.91892585e-01 -1.25373598e-01 -2.07499749e-02 1.48766071e+02] [ 2.09958687e-02 6.40086216e-04 9.99779358e-01 9.37256300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.95, Y:148.79, Z:9.37 [[-1.26588014e-01 -9.91950450e-01 3.12736458e-03 9.28954573e+02] [ 9.91752459e-01 -1.26625256e-01 -1.98268528e-02 1.48794192e+02] [ 2.00632589e-02 5.91729598e-04 9.99798537e-01 9.37380769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2792541539999 meters Centerline goodness [0,1] 0.9998294061200554 Centerline is valid? [True, True] Translation: X:928.95, Y:148.82, Z:9.37 [[-1.29443236e-01 -9.91580964e-01 3.41176238e-03 9.28953170e+02] [ 9.91346067e-01 -1.29486857e-01 -2.15900334e-02 1.48821858e+02] [ 2.18500446e-02 5.87553436e-04 9.99761087e-01 9.37264704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3092541539999 meters Centerline goodness [0,1] 0.9999357202545478 Centerline is valid? [True, True] Translation: X:928.95, Y:148.85, Z:9.37 [[-1.30641160e-01 -9.91424317e-01 3.27268707e-03 9.28950002e+02] [ 9.91208882e-01 -1.30681018e-01 -2.06742422e-02 1.48849624e+02] [ 2.09246245e-02 5.43009495e-04 9.99780909e-01 9.37368851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3392541539998 meters Centerline goodness [0,1] 0.9999359439723278 Centerline is valid? [True, True] Translation: X:928.95, Y:148.88, Z:9.37 [[-1.31915137e-01 -9.91255757e-01 3.22823372e-03 9.28946519e+02] [ 9.91046887e-01 -1.31953630e-01 -2.03545431e-02 1.48875660e+02] [ 2.06025352e-02 5.14258630e-04 9.99787613e-01 9.37384299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3692541539998 meters Centerline goodness [0,1] 0.9999572549103422 Centerline is valid? [True, True] Translation: X:928.95, Y:148.90, Z:9.38 [[-1.33015357e-01 -9.91109113e-01 3.10515665e-03 9.28946570e+02] [ 9.90916568e-01 -1.33050738e-01 -1.95411587e-02 1.48903699e+02] [ 1.97805639e-02 4.77676970e-04 9.99804231e-01 9.37644884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.94, Y:148.93, Z:9.38 [[-1.32956662e-01 -9.91117470e-01 2.94731304e-03 9.28938210e+02] [ 9.90944649e-01 -1.32988533e-01 -1.85135616e-02 1.48929531e+02] [ 1.87410731e-02 4.59122739e-04 9.99824265e-01 9.37592029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4292541539999 meters Centerline goodness [0,1] 0.9998927912860758 Centerline is valid? [True, True] Translation: X:928.93, Y:148.96, Z:9.38 [[-1.31201335e-01 -9.91350755e-01 3.14502958e-03 9.28932633e+02] [ 9.91154833e-01 -1.31237952e-01 -1.97154260e-02 1.48955361e+02] [ 1.99576497e-02 5.30521060e-04 9.99800686e-01 9.37514213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4592541539998 meters Centerline goodness [0,1] 0.9998712446351932 Centerline is valid? [True, True] Translation: X:928.93, Y:148.98, Z:9.37 [[-1.30594441e-01 -9.91430620e-01 3.22758060e-03 9.28927250e+02] [ 9.91225107e-01 -1.30633110e-01 -2.01935011e-02 1.48981973e+02] [ 2.04420842e-02 5.62099944e-04 9.99790881e-01 9.37459103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4892541539998 meters Centerline goodness [0,1] 0.999893038976597 Centerline is valid? [True, True] Translation: X:928.92, Y:149.01, Z:9.37 [[-1.29897219e-01 -9.91521845e-01 3.33813361e-03 9.28922003e+02] [ 9.91302873e-01 -1.29938713e-01 -2.08457475e-02 1.49008450e+02] [ 2.11027668e-02 6.01296808e-04 9.99777131e-01 9.37412639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.92, Y:149.04, Z:9.38 [[-1.29058890e-01 -9.91630711e-01 3.51233939e-03 9.28923527e+02] [ 9.91389238e-01 -1.29105005e-01 -2.18923746e-02 1.49037377e+02] [ 2.21626116e-02 6.56689901e-04 9.99754163e-01 9.37624354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.91, Y:149.06, Z:9.37 [[-1.29253695e-01 -9.91604813e-01 3.65746081e-03 9.28913397e+02] [ 9.91343970e-01 -1.29303618e-01 -2.27532065e-02 1.49062921e+02] [ 2.30351120e-02 6.84865704e-04 9.99734422e-01 9.37314513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.92, Y:149.09, Z:9.38 [[-1.30464236e-01 -9.91446155e-01 3.68852747e-03 9.28918262e+02] [ 9.91181798e-01 -1.30514658e-01 -2.29034497e-02 1.49092429e+02] [ 2.31889441e-02 6.67920210e-04 9.99730877e-01 9.37657368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.91, Y:149.12, Z:9.37 [[-1.31831316e-01 -9.91265327e-01 3.68168410e-03 9.28908370e+02] [ 9.91002842e-01 -1.31881161e-01 -2.28194123e-02 1.49118806e+02] [ 2.31056370e-02 6.40246257e-04 9.99732824e-01 9.37374116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6392541539999 meters Centerline goodness [0,1] 0.9998709427631154 Centerline is valid? [True, True] Translation: X:928.91, Y:149.15, Z:9.37 [[-1.33960046e-01 -9.90979634e-01 3.75116448e-03 9.28906733e+02] [ 9.90708021e-01 -1.34011180e-01 -2.32082021e-02 1.49145711e+02] [ 2.35015536e-02 6.07336918e-04 9.99723616e-01 9.37362341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.91, Y:149.17, Z:9.38 [[-1.37875254e-01 -9.90443923e-01 3.35402839e-03 9.28912485e+02] [ 9.90227377e-01 -1.37915259e-01 -2.07152839e-02 1.49174345e+02] [ 2.09798987e-02 4.65125713e-04 9.99779790e-01 9.37953255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.91, Y:149.20, Z:9.38 [[-1.40086217e-01 -9.90133807e-01 3.30082342e-03 9.28912909e+02] [ 9.89924582e-01 -1.40124484e-01 -2.03580652e-02 1.49203634e+02] [ 2.06197348e-02 4.15681900e-04 9.99787304e-01 9.38178217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.91, Y:149.23, Z:9.38 [[-1.41974427e-01 -9.89865132e-01 3.20652042e-03 9.28907644e+02] [ 9.89668081e-01 -1.42010153e-01 -1.97536143e-02 1.49230594e+02] [ 2.00087725e-02 3.68882850e-04 9.99799736e-01 9.38061420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7592541539999 meters Centerline goodness [0,1] 0.999784133837021 Centerline is valid? [True, True] Translation: X:928.91, Y:149.26, Z:9.38 [[-1.44356824e-01 -9.89520254e-01 3.28247609e-03 9.28909616e+02] [ 9.89314321e-01 -1.44393755e-01 -2.01895556e-02 1.49259377e+02] [ 2.04519432e-02 3.32900490e-04 9.99790782e-01 9.38227547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7892541539999 meters Centerline goodness [0,1] 0.9999569725915408 Centerline is valid? [True, True] Translation: X:928.91, Y:149.29, Z:9.38 [[-1.44694902e-01 -9.89471637e-01 3.04374623e-03 9.28905519e+02] [ 9.89295196e-01 -1.44726586e-01 -1.86877253e-02 1.49286112e+02] [ 1.89314851e-02 3.07144953e-04 9.99820736e-01 9.38316244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.90, Y:149.31, Z:9.38 [[-1.43705032e-01 -9.89616223e-01 2.93160131e-03 9.28901680e+02] [ 9.89453216e-01 -1.43734577e-01 -1.79639839e-02 1.49312086e+02] [ 1.81988224e-02 3.19167467e-04 9.99834337e-01 9.38392021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8492541539998 meters Centerline goodness [0,1] 0.9999138228197173 Centerline is valid? [True, True] Translation: X:928.90, Y:149.34, Z:9.38 [[-1.42883641e-01 -9.89734606e-01 3.11052471e-03 9.28897523e+02] [ 9.89551856e-01 -1.42917041e-01 -1.90221676e-02 1.49340294e+02] [ 1.92714445e-02 3.60068931e-04 9.99814224e-01 9.38375247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8792541539999 meters Centerline goodness [0,1] 0.9998919736415686 Centerline is valid? [True, True] Translation: X:928.89, Y:149.37, Z:9.38 [[-1.41764224e-01 -9.89895561e-01 3.11175813e-03 9.28893456e+02] [ 9.89713349e-01 -1.41797844e-01 -1.89962613e-02 1.49368461e+02] [ 1.92455553e-02 3.86758331e-04 9.99814712e-01 9.38405739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.89, Y:149.40, Z:9.38 [[-1.38130581e-01 -9.90409088e-01 3.12740122e-03 9.28887278e+02] [ 9.90225688e-01 -1.38165203e-01 -1.90647254e-02 1.49395094e+02] [ 1.93139753e-02 4.63411428e-04 9.99813360e-01 9.38348378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9392541539999 meters Centerline goodness [0,1] 0.9998920133039609 Centerline is valid? [True, True] Translation: X:928.88, Y:149.42, Z:9.38 [[-1.36673275e-01 -9.90610163e-01 3.45280798e-03 9.28880351e+02] [ 9.90387385e-01 -1.36715786e-01 -2.10147691e-02 1.49421352e+02] [ 2.12894971e-02 5.47460156e-04 9.99773203e-01 9.38097642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9692541539998 meters Centerline goodness [0,1] 0.9999784031272272 Centerline is valid? [True, True] Translation: X:928.88, Y:149.45, Z:9.38 [[-1.33399790e-01 -9.91056149e-01 3.49356753e-03 9.28876934e+02] [ 9.90829069e-01 -1.33444040e-01 -2.12236963e-02 1.49449329e+02] [ 2.15000704e-02 6.30291645e-04 9.99768648e-01 9.38122683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.87, Y:149.48, Z:9.38 [[-1.32222484e-01 -9.91213783e-01 3.52864329e-03 9.28871151e+02] [ 9.90982916e-01 -1.32267879e-01 -2.14025381e-02 1.49475247e+02] [ 2.16812169e-02 6.66928458e-04 9.99764712e-01 9.38050847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.87, Y:149.50, Z:9.38 [[-1.31412392e-01 -9.91321091e-01 3.64392600e-03 9.28866706e+02] [ 9.91075742e-01 -1.31460977e-01 -2.20654747e-02 1.49502751e+02] [ 2.23530045e-02 7.11729845e-04 9.99749887e-01 9.38033301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.86, Y:149.53, Z:9.38 [[-1.30445556e-01 -9.91449069e-01 3.56370257e-03 9.28862164e+02] [ 9.91215296e-01 -1.30492227e-01 -2.15410307e-02 1.49529271e+02] [ 2.18218703e-02 7.22464768e-04 9.99761614e-01 9.38013249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.86, Y:149.56, Z:9.38 [[-1.30383353e-01 -9.91457960e-01 3.36065146e-03 9.28859429e+02] [ 9.91250843e-01 -1.30424844e-01 -2.02762480e-02 1.49556483e+02] [ 2.05413600e-02 6.87563384e-04 9.99788768e-01 9.38100369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.86, Y:149.58, Z:9.38 [[-1.30930811e-01 -9.91386113e-01 3.27077559e-03 9.28857865e+02] [ 9.91190662e-01 -1.30969979e-01 -1.96960763e-02 1.49583584e+02] [ 1.99547899e-02 6.63138981e-04 9.99800663e-01 9.38197451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1492541539999 meters Centerline goodness [0,1] 0.9999567436629466 Centerline is valid? [True, True] Translation: X:928.85, Y:149.61, Z:9.38 [[-1.31477392e-01 -9.91313658e-01 3.30558951e-03 9.28854098e+02] [ 9.91114812e-01 -1.31517261e-01 -1.98655261e-02 1.49609776e+02] [ 2.01277094e-02 6.64351173e-04 9.99797196e-01 9.38187718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1792541539999 meters Centerline goodness [0,1] 0.9998037334263782 Centerline is valid? [True, True] Translation: X:928.86, Y:149.64, Z:9.38 [[-1.33033518e-01 -9.91105461e-01 3.47104540e-03 9.28856480e+02] [ 9.90887002e-01 -1.33077107e-01 -2.08190568e-02 1.49638445e+02] [ 2.10957976e-02 6.69781393e-04 9.99777235e-01 9.38273153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2092541539998 meters Centerline goodness [0,1] 0.9998689899122233 Centerline is valid? [True, True] Translation: X:928.85, Y:149.67, Z:9.38 [[-1.33601999e-01 -9.91029244e-01 3.39750744e-03 9.28853100e+02] [ 9.90820668e-01 -1.33643617e-01 -2.03417761e-02 1.49665897e+02] [ 2.06133501e-02 6.48618648e-04 9.99787312e-01 9.38276394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2392541539998 meters Centerline goodness [0,1] 0.9997379969869653 Centerline is valid? [True, True] Translation: X:928.85, Y:149.69, Z:9.38 [[-1.33877944e-01 -9.90991867e-01 3.43728336e-03 9.28850113e+02] [ 9.90779024e-01 -1.33920463e-01 -2.05483685e-02 1.49692878e+02] [ 2.08235887e-02 6.54614918e-04 9.99782951e-01 9.38189191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2692541539999 meters Centerline goodness [0,1] 0.9999123537403042 Centerline is valid? [True, True] Translation: X:928.85, Y:149.72, Z:9.38 [[-1.34140214e-01 -9.90955827e-01 3.59899275e-03 9.28846844e+02] [ 9.90723221e-01 -1.34186741e-01 -2.14806322e-02 1.49720420e+02] [ 2.17692947e-02 6.84189104e-04 9.99762787e-01 9.38159221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2992541539999 meters Centerline goodness [0,1] 0.9999125166765085 Centerline is valid? [True, True] Translation: X:928.84, Y:149.75, Z:9.38 [[-1.34399823e-01 -9.90920171e-01 3.72847391e-03 9.28842480e+02] [ 9.90671274e-01 -1.34449669e-01 -2.22196564e-02 1.49747044e+02] [ 2.25191979e-02 7.07374111e-04 9.99746160e-01 9.38032803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.84, Y:149.77, Z:9.38 [[-1.35296515e-01 -9.90797577e-01 3.87495699e-03 9.28839472e+02] [ 9.90529605e-01 -1.35350083e-01 -2.30533646e-02 1.49774319e+02] [ 2.33656936e-02 7.19219725e-04 9.99726726e-01 9.37908576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3592541539998 meters Centerline goodness [0,1] 0.9999343142406726 Centerline is valid? [True, True] Translation: X:928.84, Y:149.80, Z:9.38 [[-1.36255100e-01 -9.90665725e-01 3.99606927e-03 9.28837233e+02] [ 9.90381739e-01 -1.36311761e-01 -2.37300209e-02 1.49802423e+02] [ 2.40532296e-02 7.24297661e-04 9.99710417e-01 9.37932845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.84, Y:149.83, Z:9.38 [[-1.37992761e-01 -9.90425689e-01 3.86675190e-03 9.28835359e+02] [ 9.90160618e-01 -1.38045322e-01 -2.29224539e-02 1.49830783e+02] [ 2.32367742e-02 6.65572754e-04 9.99729768e-01 9.38084100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4192541539999 meters Centerline goodness [0,1] 0.9999780552568632 Centerline is valid? [True, True] Translation: X:928.83, Y:149.86, Z:9.38 [[-1.39025350e-01 -9.90281723e-01 3.74977433e-03 9.28831146e+02] [ 9.90033258e-01 -1.39074495e-01 -2.21908338e-02 1.49857988e+02] [ 2.24966751e-02 6.27312874e-04 9.99746721e-01 9.38177054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4492541539998 meters Centerline goodness [0,1] 0.9999780552568632 Centerline is valid? [True, True] Translation: X:928.83, Y:149.89, Z:9.38 [[-1.39307405e-01 -9.90242061e-01 3.75609626e-03 9.28826462e+02] [ 9.89993609e-01 -1.39356621e-01 -2.21897642e-02 1.49885186e+02] [ 2.24966747e-02 6.27312825e-04 9.99746721e-01 9.38202805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.82, Y:149.91, Z:9.38 [[-1.40456042e-01 -9.90080736e-01 3.49820620e-03 9.28823103e+02] [ 9.89865876e-01 -1.40498463e-01 -2.06332346e-02 1.49913819e+02] [ 2.09200607e-02 5.64692485e-04 9.99780992e-01 9.38431343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5092541539999 meters Centerline goodness [0,1] 0.9998023672017392 Centerline is valid? [True, True] Translation: X:928.82, Y:149.94, Z:9.38 [[-1.43464339e-01 -9.89649951e-01 3.31040521e-03 9.28816890e+02] [ 9.89458054e-01 -1.43501729e-01 -1.94939374e-02 1.49940939e+02] [ 1.97672231e-02 4.78822240e-04 9.99804495e-01 9.38464674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.81, Y:149.97, Z:9.39 [[-1.44817845e-01 -9.89454158e-01 2.87436728e-03 9.28814471e+02] [ 9.89309893e-01 -1.44845826e-01 -1.69003676e-02 1.49969705e+02] [ 1.71384791e-02 3.96165168e-04 9.99853047e-01 9.38718266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5692541539999 meters Centerline goodness [0,1] 0.9998031366887591 Centerline is valid? [True, True] Translation: X:928.81, Y:150.00, Z:9.39 [[-1.49184414e-01 -9.88804615e-01 3.07325028e-03 9.28812520e+02] [ 9.88640006e-01 -1.49215664e-01 -1.80450677e-02 1.49996941e+02] [ 1.83016233e-02 3.46295331e-04 9.99832451e-01 9.38590140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5992541539998 meters Centerline goodness [0,1] 0.9998464912280701 Centerline is valid? [True, True] Translation: X:928.81, Y:150.02, Z:9.39 [[-1.51442281e-01 -9.88461210e-01 3.11005292e-03 9.28810932e+02] [ 9.88293032e-01 -1.51473890e-01 -1.82357979e-02 1.50024923e+02] [ 1.84964707e-02 3.11972804e-04 9.99828877e-01 9.38626827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.81, Y:150.05, Z:9.39 [[-1.53123022e-01 -9.88202549e-01 3.01049650e-03 9.28807158e+02] [ 9.88045456e-01 -1.53152364e-01 -1.76218512e-02 1.50051999e+02] [ 1.78750229e-02 2.76196284e-04 9.99840191e-01 9.38605257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6592541539999 meters Centerline goodness [0,1] 0.9999118787451533 Centerline is valid? [True, True] Translation: X:928.80, Y:150.08, Z:9.39 [[-1.53904161e-01 -9.88080658e-01 3.18153321e-03 9.28803195e+02] [ 9.87905812e-01 -1.53936783e-01 -1.85895925e-02 1.50079611e+02] [ 1.88577717e-02 2.82039527e-04 9.99822137e-01 9.38581291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6892541539999 meters Centerline goodness [0,1] 0.9999121439082782 Centerline is valid? [True, True] Translation: X:928.80, Y:150.11, Z:9.39 [[-1.53623161e-01 -9.88124132e-01 3.25959306e-03 9.28797766e+02] [ 9.87941260e-01 -1.53657446e-01 -1.90119858e-02 1.50107088e+02] [ 1.92870627e-02 2.99605114e-04 9.99813942e-01 9.38552729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.79, Y:150.13, Z:9.38 [[-1.52133637e-01 -9.88353426e-01 3.58627661e-03 9.28790641e+02] [ 9.88132902e-01 -1.52175458e-01 -2.08805795e-02 1.50133411e+02] [ 2.11831356e-02 3.67079424e-04 9.99775545e-01 9.38415249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7492541539998 meters Centerline goodness [0,1] 0.9998683344305465 Centerline is valid? [True, True] Translation: X:928.78, Y:150.16, Z:9.38 [[-1.51942831e-01 -9.88381406e-01 3.94615254e-03 9.28784820e+02] [ 9.88115312e-01 -1.51993502e-01 -2.29369855e-02 1.50161644e+02] [ 2.32702795e-02 4.14143226e-04 9.99729125e-01 9.38315082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7792541539999 meters Centerline goodness [0,1] 0.9999121574139143 Centerline is valid? [True, True] Translation: X:928.78, Y:150.19, Z:9.38 [[-1.51772227e-01 -9.88407066e-01 4.08211626e-03 9.28779240e+02] [ 9.88123301e-01 -1.51826480e-01 -2.36867307e-02 1.50189304e+02] [ 2.40319053e-02 4.38646339e-04 9.99711096e-01 9.38306020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8092541539999 meters Centerline goodness [0,1] 0.9999780922753363 Centerline is valid? [True, True] Translation: X:928.77, Y:150.22, Z:9.38 [[-1.51982209e-01 -9.88374872e-01 4.06442787e-03 9.28773587e+02] [ 9.88094552e-01 -1.52035916e-01 -2.35422343e-02 1.50216284e+02] [ 2.38864918e-02 4.38038258e-04 9.99714581e-01 9.38234193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.77, Y:150.24, Z:9.38 [[-1.53112521e-01 -9.88200361e-01 4.07451685e-03 9.28768979e+02] [ 9.87919670e-01 -1.53166153e-01 -2.35553701e-02 1.50242244e+02] [ 2.39015033e-02 4.18673245e-04 9.99714231e-01 9.38244043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8692541539998 meters Centerline goodness [0,1] 0.9998904421753801 Centerline is valid? [True, True] Translation: X:928.77, Y:150.27, Z:9.38 [[-1.57301523e-01 -9.87542366e-01 4.03800848e-03 9.28766875e+02] [ 9.87267457e-01 -1.57353016e-01 -2.33022782e-02 1.50270146e+02] [ 2.36473798e-02 3.21110504e-04 9.99720310e-01 9.38335025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.76, Y:150.30, Z:9.38 [[-1.59760866e-01 -9.87148566e-01 3.76482861e-03 9.28763948e+02] [ 9.86910151e-01 -1.59805025e-01 -2.16958029e-02 1.50296809e+02] [ 2.20186193e-02 2.49407316e-04 9.99757530e-01 9.38430420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9292541539999 meters Centerline goodness [0,1] 0.9997812390619532 Centerline is valid? [True, True] Translation: X:928.76, Y:150.32, Z:9.38 [[-1.63275775e-01 -9.86572789e-01 3.89283442e-03 9.28761934e+02] [ 9.86318547e-01 -1.63322073e-01 -2.23969711e-02 1.50324238e+02] [ 2.27320280e-02 1.82691985e-04 9.99741577e-01 9.38461214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9592541539998 meters Centerline goodness [0,1] 0.999934065934066 Centerline is valid? [True, True] Translation: X:928.76, Y:150.35, Z:9.39 [[-1.69266004e-01 -9.85564083e-01 3.52972639e-03 9.28761816e+02] [ 9.85355538e-01 -1.69302797e-01 -2.02738063e-02 1.50352521e+02] [ 2.05787278e-02 4.63692624e-05 9.99788234e-01 9.38665151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.76, Y:150.38, Z:9.39 [[-1.72176028e-01 -9.85060136e-01 3.45601433e-03 9.28759254e+02] [ 9.84860809e-01 -1.72210710e-01 -1.98155900e-02 1.50379808e+02] [ 2.01147104e-02 -8.07649103e-06 9.99797679e-01 9.38771981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.76, Y:150.41, Z:9.39 [[-1.76740260e-01 -9.84251548e-01 3.43094179e-03 9.28758219e+02] [ 9.84055673e-01 -1.76773533e-01 -1.96354152e-02 1.50407066e+02] [ 1.99326875e-02 -9.41306543e-05 9.99801320e-01 9.38860582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0492541539999 meters Centerline goodness [0,1] 0.9999780345297192 Centerline is valid? [True, True] Translation: X:928.75, Y:150.43, Z:9.39 [[-1.78664561e-01 -9.83903982e-01 3.45392895e-03 9.28754537e+02] [ 9.83706142e-01 -1.78697898e-01 -1.97303562e-02 1.50433846e+02] [ 2.00299858e-02 -1.27464310e-04 9.99799372e-01 9.38862635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0792541539998 meters Centerline goodness [0,1] 0.9999560777423959 Centerline is valid? [True, True] Translation: X:928.75, Y:150.46, Z:9.39 [[-1.80281811e-01 -9.83608501e-01 3.57578838e-03 9.28750320e+02] [ 9.83397188e-01 -1.80317199e-01 -2.03882137e-02 1.50461175e+02] [ 2.06987964e-02 -1.59203857e-04 9.99785744e-01 9.38859146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.75, Y:150.49, Z:9.39 [[-1.82145781e-01 -9.83264626e-01 3.68636229e-03 9.28746907e+02] [ 9.83040778e-01 -1.82182973e-01 -2.09807896e-02 1.50488373e+02] [ 2.13012607e-02 -1.97717860e-04 9.99773083e-01 9.38853030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1392541539999 meters Centerline goodness [0,1] 0.9998236525956133 Centerline is valid? [True, True] Translation: X:928.74, Y:150.52, Z:9.39 [[-1.83444626e-01 -9.83022374e-01 3.88349911e-03 9.28741611e+02] [ 9.82774723e-01 -1.83485582e-01 -2.20654775e-02 1.50515918e+02] [ 2.24034241e-02 -2.31188500e-04 9.99748985e-01 9.38886636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1692541539999 meters Centerline goodness [0,1] 0.9998902497914746 Centerline is valid? [True, True] Translation: X:928.74, Y:150.54, Z:9.39 [[-1.83608361e-01 -9.82991690e-01 3.91254132e-03 9.28736285e+02] [ 9.82741142e-01 -1.83649899e-01 -2.21937711e-02 1.50543840e+02] [ 2.25348304e-02 -2.29946625e-04 9.99746032e-01 9.38945914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.73, Y:150.57, Z:9.39 [[-1.83173546e-01 -9.83072893e-01 3.89089165e-03 9.28731790e+02] [ 9.82825981e-01 -1.83214743e-01 -2.20329050e-02 1.50570334e+02] [ 2.23728204e-02 -2.11775919e-04 9.99749675e-01 9.38944747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2292541539998 meters Centerline goodness [0,1] 0.9999560478199718 Centerline is valid? [True, True] Translation: X:928.73, Y:150.60, Z:9.39 [[-1.82774885e-01 -9.83147167e-01 3.87152877e-03 9.28725703e+02] [ 9.82903555e-01 -1.82815780e-01 -2.18859044e-02 1.50597360e+02] [ 2.22248414e-02 -1.94854264e-04 9.99752979e-01 9.39065216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2592541539999 meters Centerline goodness [0,1] 0.9998686342339187 Centerline is valid? [True, True] Translation: X:928.72, Y:150.62, Z:9.39 [[-1.80377037e-01 -9.83590772e-01 3.64923307e-03 9.28718920e+02] [ 9.83375128e-01 -1.80413903e-01 -2.05956700e-02 1.50624073e+02] [ 2.09160834e-02 -1.26420894e-04 9.99781227e-01 9.39186466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2892541539999 meters Centerline goodness [0,1] 0.9999780282556632 Centerline is valid? [True, True] Translation: X:928.71, Y:150.65, Z:9.39 [[-1.78678087e-01 -9.83901090e-01 3.57588268e-03 9.28713070e+02] [ 9.83694832e-01 -1.78713846e-01 -2.01454340e-02 1.50649566e+02] [ 2.04601742e-02 -8.19702983e-05 9.99790665e-01 9.39288817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.71, Y:150.68, Z:9.39 [[-1.77070061e-01 -9.84191887e-01 3.53880310e-03 9.28706364e+02] [ 9.83990660e-01 -1.77105415e-01 -1.99010716e-02 1.50677173e+02] [ 2.02132144e-02 -4.17347660e-05 9.99795691e-01 9.39442114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3492541539998 meters Centerline goodness [0,1] 0.9998033775369759 Centerline is valid? [True, True] Translation: X:928.70, Y:150.70, Z:9.39 [[-1.73330965e-01 -9.84857736e-01 3.40834423e-03 9.28697424e+02] [ 9.84671827e-01 -1.73364468e-01 -1.91351717e-02 1.50703476e+02] [ 1.94363076e-02 3.93827734e-05 9.99811096e-01 9.39359907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.69, Y:150.73, Z:9.40 [[-1.70483490e-01 -9.85354987e-01 3.30581690e-03 9.28690183e+02] [ 9.85180775e-01 -1.70515510e-01 -1.85283772e-02 1.50730794e+02] [ 1.88207219e-02 9.80448459e-05 9.99822870e-01 9.39566868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4092541539999 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:928.68, Y:150.76, Z:9.40 [[-1.64799152e-01 -9.86321449e-01 3.35229771e-03 9.28679546e+02] [ 9.86143093e-01 -1.64833105e-01 -1.87576033e-02 1.50757657e+02] [ 1.90535962e-02 2.14608111e-04 9.99818441e-01 9.39556942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4392541539999 meters Centerline goodness [0,1] 0.999912800837112 Centerline is valid? [True, True] Translation: X:928.67, Y:150.78, Z:9.39 [[-1.62583081e-01 -9.86689270e-01 3.32074654e-03 9.28670967e+02] [ 9.86514848e-01 -1.62616783e-01 -1.85535976e-02 1.50783152e+02] [ 1.88466448e-02 2.59464711e-04 9.99822353e-01 9.39437554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.66, Y:150.81, Z:9.40 [[-1.60073856e-01 -9.87099339e-01 3.35488193e-03 9.28663764e+02] [ 9.86921932e-01 -1.60108699e-01 -1.87164551e-02 1.50810475e+02] [ 1.90121463e-02 3.14991405e-04 9.99819203e-01 9.39565463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4992541539998 meters Centerline goodness [0,1] 0.9998691156581301 Centerline is valid? [True, True] Translation: X:928.65, Y:150.84, Z:9.39 [[-1.57079714e-01 -9.87579621e-01 3.52925537e-03 9.28654000e+02] [ 9.87383971e-01 -1.57118856e-01 -1.96610819e-02 1.50836342e+02] [ 1.99713964e-02 3.96373054e-04 9.99800473e-01 9.39312723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5292541539999 meters Centerline goodness [0,1] 0.99993462912926 Centerline is valid? [True, True] Translation: X:928.65, Y:150.86, Z:9.39 [[-1.56048468e-01 -9.87742739e-01 3.62735500e-03 9.28647199e+02] [ 9.87536696e-01 -1.56090020e-01 -2.01786915e-02 1.50863946e+02] [ 2.04975499e-02 4.33292283e-04 9.99789809e-01 9.39339237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.64, Y:150.89, Z:9.39 [[-1.53610617e-01 -9.88124477e-01 3.71444581e-03 9.28639489e+02] [ 9.87909130e-01 -1.53654706e-01 -2.06344771e-02 1.50890533e+02] [ 2.09601739e-02 4.99860189e-04 9.99780186e-01 9.39395458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5892541539998 meters Centerline goodness [0,1] 0.9998477632065418 Centerline is valid? [True, True] Translation: X:928.63, Y:150.92, Z:9.39 [[-1.53688678e-01 -9.88112113e-01 3.77383006e-03 9.28633168e+02] [ 9.87890506e-01 -1.53734155e-01 -2.09322021e-02 1.50917120e+02] [ 2.12635291e-02 5.11088415e-04 9.99773775e-01 9.39238601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6192541539998 meters Centerline goodness [0,1] 0.9999346647211272 Centerline is valid? [True, True] Translation: X:928.63, Y:150.94, Z:9.39 [[-1.53610430e-01 -9.88123540e-01 3.96293560e-03 9.28628185e+02] [ 9.87880021e-01 -1.53660576e-01 -2.19429049e-02 1.50944857e+02] [ 2.22912478e-02 5.44245855e-04 9.99751371e-01 9.39323288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6492541539999 meters Centerline goodness [0,1] 0.9999564668495059 Centerline is valid? [True, True] Translation: X:928.62, Y:150.97, Z:9.39 [[-1.54523207e-01 -9.87980627e-01 4.10597105e-03 9.28621276e+02] [ 9.87720117e-01 -1.54576775e-01 -2.26934076e-02 1.50970403e+02] [ 2.30553348e-02 5.48892083e-04 9.99734040e-01 9.39242919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6792541539999 meters Centerline goodness [0,1] 0.9998483371249052 Centerline is valid? [True, True] Translation: X:928.62, Y:151.00, Z:9.39 [[-1.56134367e-01 -9.87727506e-01 4.05386024e-03 9.28615560e+02] [ 9.87474346e-01 -1.56186150e-01 -2.23674285e-02 1.50997370e+02] [ 2.27260812e-02 5.10758705e-04 9.99741599e-01 9.39102811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.61, Y:151.03, Z:9.39 [[-1.59191323e-01 -9.87239611e-01 4.00907760e-03 9.28614230e+02] [ 9.86992624e-01 -1.59241187e-01 -2.20862989e-02 1.51025670e+02] [ 2.24428794e-02 4.40982880e-04 9.99748030e-01 9.39404019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.61, Y:151.05, Z:9.40 [[-1.61309005e-01 -9.86896120e-01 3.93103506e-03 9.28613033e+02] [ 9.86659302e-01 -1.61356424e-01 -2.16223439e-02 1.51054310e+02] [ 2.19733051e-02 3.90713517e-04 9.99758481e-01 9.39646738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.61, Y:151.08, Z:9.40 [[-1.64173427e-01 -9.86424284e-01 3.77056988e-03 9.28610043e+02] [ 9.86206962e-01 -1.64216411e-01 -2.07074416e-02 1.51080883e+02] [ 2.10455127e-02 3.18950620e-04 9.99778468e-01 9.39737269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7992541539999 meters Centerline goodness [0,1] 0.9999782764538483 Centerline is valid? [True, True] Translation: X:928.61, Y:151.11, Z:9.40 [[-1.69422718e-01 -9.85536882e-01 3.60522950e-03 9.28609258e+02] [ 9.85338615e-01 -1.69460951e-01 -1.97686531e-02 1.51109453e+02] [ 2.00936824e-02 2.03112888e-04 9.99798081e-01 9.39879223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8292541539998 meters Centerline goodness [0,1] 0.9999782405291904 Centerline is valid? [True, True] Translation: X:928.61, Y:151.14, Z:9.40 [[-1.71988423e-01 -9.85092534e-01 3.56122969e-03 9.28605881e+02] [ 9.84899656e-01 -1.72025220e-01 -1.94933955e-02 1.51135433e+02] [ 1.98154197e-02 1.54815542e-04 9.99803643e-01 9.39897975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.60, Y:151.16, Z:9.40 [[-1.74115092e-01 -9.84718972e-01 3.53281085e-03 9.28602226e+02] [ 9.84529766e-01 -1.74150889e-01 -1.93030406e-02 1.51162685e+02] [ 1.96233125e-02 1.17206756e-04 9.99807437e-01 9.39988554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.60, Y:151.19, Z:9.40 [[-1.76798034e-01 -9.84241160e-01 3.43418490e-03 9.28600223e+02] [ 9.84062873e-01 -1.76831371e-01 -1.87330918e-02 1.51190773e+02] [ 1.90451516e-02 6.74800655e-05 9.99818622e-01 9.40187688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.60, Y:151.22, Z:9.40 [[-1.77613624e-01 -9.84094125e-01 3.48638522e-03 9.28595749e+02] [ 9.83910863e-01 -1.77647828e-01 -1.89911280e-02 1.51217831e+02] [ 1.93084062e-02 5.72092307e-05 9.99813574e-01 9.40120372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9492541539998 meters Centerline goodness [0,1] 0.9999131963282046 Centerline is valid? [True, True] Translation: X:928.59, Y:151.24, Z:9.40 [[-1.78802812e-01 -9.83878272e-01 3.61948950e-03 9.28591941e+02] [ 9.83681305e-01 -1.78839438e-01 -1.96861790e-02 1.51243532e+02] [ 2.00161113e-02 4.04799891e-05 9.99799657e-01 9.40059462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9792541539998 meters Centerline goodness [0,1] 0.9999347357887179 Centerline is valid? [True, True] Translation: X:928.59, Y:151.27, Z:9.40 [[-1.78883081e-01 -9.83863291e-01 3.72405961e-03 9.28587064e+02] [ 9.83655507e-01 -1.78921835e-01 -2.02193167e-02 1.51270685e+02] [ 2.05593591e-02 4.62980668e-05 9.99788633e-01 9.40242647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.58, Y:151.30, Z:9.40 [[-1.78684292e-01 -9.83898942e-01 3.84661585e-03 9.28581585e+02] [ 9.83678003e-01 -1.78725682e-01 -2.08498886e-02 1.51298366e+02] [ 2.12016724e-02 5.82838114e-05 9.99775218e-01 9.40344316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.58, Y:151.32, Z:9.40 [[-1.78835903e-01 -9.83871045e-01 3.93519986e-03 9.28575442e+02] [ 9.83640576e-01 -1.78879183e-01 -2.12944925e-02 1.51324712e+02] [ 2.16549599e-02 6.26024646e-05 9.99765502e-01 9.40300697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0692541539999 meters Centerline goodness [0,1] 0.9998915165979605 Centerline is valid? [True, True] Translation: X:928.57, Y:151.35, Z:9.40 [[-1.79546464e-01 -9.83741371e-01 3.99778586e-03 9.28570336e+02] [ 9.83504306e-01 -1.79590958e-01 -2.15955642e-02 1.51351061e+02] [ 2.19624161e-02 5.44324162e-05 9.99758796e-01 9.40213063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0992541539998 meters Centerline goodness [0,1] 0.9998696926919318 Centerline is valid? [True, True] Translation: X:928.57, Y:151.38, Z:9.40 [[-1.80470363e-01 -9.83572142e-01 4.03602036e-03 9.28565454e+02] [ 9.83331326e-01 -1.80515483e-01 -2.17638332e-02 1.51378267e+02] [ 2.21348642e-02 4.10183720e-05 9.99754993e-01 9.40221416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1292541539999 meters Centerline goodness [0,1] 0.9999783122600794 Centerline is valid? [True, True] Translation: X:928.56, Y:151.40, Z:9.40 [[-1.83019016e-01 -9.83101467e-01 3.94280559e-03 9.28562504e+02] [ 9.82872350e-01 -1.83061481e-01 -2.12235389e-02 1.51404214e+02] [ 2.15866681e-02 -9.03660834e-06 9.99766981e-01 9.40487615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1592541539999 meters Centerline goodness [0,1] 0.9999782797567333 Centerline is valid? [True, True] Translation: X:928.56, Y:151.43, Z:9.41 [[-1.85637999e-01 -9.82610714e-01 3.83645740e-03 9.28558490e+02] [ 9.82394406e-01 -1.85677628e-01 -2.06167289e-02 1.51432480e+02] [ 2.09705630e-02 -5.83340139e-05 9.99780092e-01 9.40635402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.55, Y:151.46, Z:9.41 [[-1.88200648e-01 -9.82123222e-01 3.80682986e-03 9.28554860e+02] [ 9.81910810e-01 -1.88239116e-01 -2.04253835e-02 1.51460324e+02] [ 2.07768378e-02 -1.06103031e-04 9.99784133e-01 9.40791743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2192541539998 meters Centerline goodness [0,1] 0.9997602702408195 Centerline is valid? [True, True] Translation: X:928.55, Y:151.49, Z:9.41 [[-1.94422147e-01 -9.80910802e-01 3.74522428e-03 9.28552633e+02] [ 9.80705600e-01 -1.94458083e-01 -2.00643859e-02 1.51489109e+02] [ 2.04096620e-02 -2.27998565e-04 9.99791675e-01 9.40793946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2492541539998 meters Centerline goodness [0,1] 0.9999346889014673 Centerline is valid? [True, True] Translation: X:928.55, Y:151.52, Z:9.41 [[-1.97466600e-01 -9.80302936e-01 3.61867003e-03 9.28549765e+02] [ 9.80111861e-01 -1.97499562e-01 -1.93562274e-02 1.51515994e+02] [ 1.96896523e-02 -2.75507005e-04 9.99806102e-01 9.40928429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.55, Y:151.54, Z:9.41 [[-2.03267343e-01 -9.79116812e-01 3.55744742e-03 9.28545808e+02] [ 9.78932554e-01 -2.03298117e-01 -1.89981601e-02 1.51543752e+02] [ 1.93246403e-02 -3.79204440e-04 9.99813190e-01 9.41157446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3092541539999 meters Centerline goodness [0,1] 0.9998474513478763 Centerline is valid? [True, True] Translation: X:928.54, Y:151.57, Z:9.41 [[-2.06319353e-01 -9.78477592e-01 3.73193017e-03 9.28542518e+02] [ 9.78275353e-01 -2.06352601e-01 -1.98981888e-02 1.51571326e+02] [ 2.02400253e-02 -4.54526119e-04 9.99795046e-01 9.40978263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3392541539998 meters Centerline goodness [0,1] 0.9998474513478763 Centerline is valid? [True, True] Translation: X:928.54, Y:151.60, Z:9.41 [[-2.06627220e-01 -9.78412602e-01 3.73786794e-03 9.28537471e+02] [ 9.78210373e-01 -2.06660526e-01 -1.98970738e-02 1.51597623e+02] [ 2.02400175e-02 -4.54855852e-04 9.99795046e-01 9.41003240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.53, Y:151.62, Z:9.41 [[-2.08730358e-01 -9.77966153e-01 3.72029144e-03 9.28533234e+02] [ 9.77766416e-01 -2.08762936e-01 -1.97704690e-02 1.51624684e+02] [ 2.01115085e-02 -4.89121032e-04 9.99797624e-01 9.41138824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3992541539999 meters Centerline goodness [0,1] 0.999848067197708 Centerline is valid? [True, True] Translation: X:928.53, Y:151.65, Z:9.41 [[-2.11860871e-01 -9.77290848e-01 4.19164427e-03 9.28527051e+02] [ 9.77038025e-01 -2.11901438e-01 -2.22368666e-02 1.51651584e+02] [ 2.26201017e-02 -6.15726079e-04 9.99743943e-01 9.40991757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4292541539999 meters Centerline goodness [0,1] 0.9998693664271718 Centerline is valid? [True, True] Translation: X:928.52, Y:151.68, Z:9.41 [[-2.12718286e-01 -9.77103962e-01 4.33335715e-03 9.28521418e+02] [ 9.76834579e-01 -2.12761429e-01 -2.29516750e-02 1.51679366e+02] [ 2.33481439e-02 -6.49267859e-04 9.99727184e-01 9.40966432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.51, Y:151.71, Z:9.41 [[-2.12391586e-01 -9.77174647e-01 4.41848944e-03 9.28513016e+02] [ 9.76895450e-01 -2.12436558e-01 -2.33663818e-02 1.51706138e+02] [ 2.37716845e-02 -6.46420652e-04 9.99717205e-01 9.41069209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4892541539998 meters Centerline goodness [0,1] 0.9998262116307866 Centerline is valid? [True, True] Translation: X:928.51, Y:151.73, Z:9.41 [[-2.12085179e-01 -9.77240010e-01 4.67330254e-03 9.28505206e+02] [ 9.76928677e-01 -2.12135611e-01 -2.46747446e-02 1.51733422e+02] [ 2.51045216e-02 -6.67664369e-04 9.99684609e-01 9.41046895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5192541539999 meters Centerline goodness [0,1] 0.999869709669714 Centerline is valid? [True, True] Translation: X:928.50, Y:151.76, Z:9.41 [[-2.11259470e-01 -9.77418870e-01 4.66784580e-03 9.28498888e+02] [ 9.77109276e-01 -2.11310071e-01 -2.46072666e-02 1.51759337e+02] [ 2.50379695e-02 -6.37522670e-04 9.99686298e-01 9.41064104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5492541539999 meters Centerline goodness [0,1] 0.999870505460353 Centerline is valid? [True, True] Translation: X:928.49, Y:151.79, Z:9.41 [[-2.10237251e-01 -9.77638816e-01 4.75855013e-03 9.28492859e+02] [ 9.77318235e-01 -2.10290200e-01 -2.50419457e-02 1.51785176e+02] [ 2.54826546e-02 -6.14132016e-04 9.99675076e-01 9.41040620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5792541539998 meters Centerline goodness [0,1] 0.9997625779715525 Centerline is valid? [True, True] Translation: X:928.48, Y:151.81, Z:9.41 [[-2.07084930e-01 -9.78311350e-01 4.76811724e-03 9.28481089e+02] [ 9.77990710e-01 -2.07139152e-01 -2.50508231e-02 1.51811559e+02] [ 2.54951684e-02 -5.24473605e-04 9.99674808e-01 9.41188230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6092541539998 meters Centerline goodness [0,1] 0.9999568714553727 Centerline is valid? [True, True] Translation: X:928.47, Y:151.84, Z:9.41 [[-2.04933572e-01 -9.78764892e-01 4.63880158e-03 9.28472641e+02] [ 9.78462450e-01 -2.04985577e-01 -2.43340687e-02 1.51838354e+02] [ 2.47682196e-02 -4.47974463e-04 9.99693120e-01 9.41310033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6392541539999 meters Centerline goodness [0,1] 0.9998485733445822 Centerline is valid? [True, True] Translation: X:928.46, Y:151.87, Z:9.41 [[-2.02621639e-01 -9.79246954e-01 4.45812177e-03 9.28463235e+02] [ 9.78968525e-01 -2.02670344e-01 -2.33529091e-02 1.51866017e+02] [ 2.37717941e-02 -3.67443827e-04 9.99717343e-01 9.41424103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6692541539999 meters Centerline goodness [0,1] 0.9999139359252964 Centerline is valid? [True, True] Translation: X:928.45, Y:151.89, Z:9.42 [[-1.96364204e-01 -9.80521065e-01 4.42042703e-03 9.28450591e+02] [ 9.80248417e-01 -1.96413843e-01 -2.31223431e-02 1.51892820e+02] [ 2.35401775e-02 -2.07283891e-04 9.99722870e-01 9.41533853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6992541539998 meters Centerline goodness [0,1] 0.9998497886311453 Centerline is valid? [True, True] Translation: X:928.44, Y:151.92, Z:9.42 [[-1.93145030e-01 -9.81160043e-01 4.46856243e-03 9.28442203e+02] [ 9.80882465e-01 -1.93196675e-01 -2.33374046e-02 1.51919093e+02] [ 2.37610403e-02 -1.24369184e-04 9.99717659e-01 9.41501210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.43, Y:151.95, Z:9.42 [[-1.86197070e-01 -9.82504326e-01 3.98758516e-03 9.28428407e+02] [ 9.82284227e-01 -1.86239759e-01 -2.07954026e-02 1.51945588e+02] [ 2.11742199e-02 4.48989695e-05 9.99775800e-01 9.41679883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.42, Y:151.97, Z:9.42 [[-1.82925521e-01 -9.83118520e-01 4.02864189e-03 9.28419544e+02] [ 9.82894697e-01 -1.82969837e-01 -2.09774387e-02 1.51972305e+02] [ 2.13604285e-02 1.22421830e-04 9.99771833e-01 9.41762141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7892541539999 meters Centerline goodness [0,1] 0.999871382636656 Centerline is valid? [True, True] Translation: X:928.41, Y:152.00, Z:9.42 [[-1.79542138e-01 -9.83740309e-01 4.43012283e-03 9.28410831e+02] [ 9.83470693e-01 -1.79596649e-01 -2.30312824e-02 1.51998785e+02] [ 2.34524361e-02 2.21810276e-04 9.99724929e-01 9.41606812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.40, Y:152.02, Z:9.41 [[-1.73107797e-01 -9.84892337e-01 4.55801021e-03 9.28397062e+02] [ 9.84608189e-01 -1.73167349e-01 -2.36597448e-02 1.52024344e+02] [ 2.40915999e-02 3.92167890e-04 9.99709678e-01 9.41410483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8492541539998 meters Centerline goodness [0,1] 0.9997008610927117 Centerline is valid? [True, True] Translation: X:928.39, Y:152.05, Z:9.41 [[-1.70552797e-01 -9.85334338e-01 5.29025531e-03 9.28389307e+02] [ 9.84952992e-01 -1.70633987e-01 -2.74161731e-02 1.52051350e+02] [ 2.79167941e-02 5.34747781e-04 9.99610107e-01 9.41219900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8792541539999 meters Centerline goodness [0,1] 0.9999358851061102 Centerline is valid? [True, True] Translation: X:928.38, Y:152.08, Z:9.41 [[-1.68616015e-01 -9.85669298e-01 4.96728863e-03 9.28381527e+02] [ 9.85334264e-01 -1.68688234e-01 -2.57034780e-02 1.52078463e+02] [ 2.61730523e-02 5.60421648e-04 9.99657270e-01 9.41358797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9092541539999 meters Centerline goodness [0,1] 0.9997432276287072 Centerline is valid? [True, True] Translation: X:928.37, Y:152.10, Z:9.41 [[-1.66807235e-01 -9.85972999e-01 5.70892500e-03 9.28373557e+02] [ 9.85531988e-01 -1.66903405e-01 -2.94949821e-02 1.52104155e+02] [ 3.00340950e-02 7.06351800e-04 9.99548625e-01 9.41156144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9392541539999 meters Centerline goodness [0,1] 0.9999143615654705 Centerline is valid? [True, True] Translation: X:928.37, Y:152.13, Z:9.41 [[-1.67238271e-01 -9.85901586e-01 5.42431241e-03 9.28368820e+02] [ 9.85504605e-01 -1.67324891e-01 -2.79831139e-02 1.52131828e+02] [ 2.84962189e-02 6.65837279e-04 9.99593679e-01 9.41395251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.36, Y:152.16, Z:9.41 [[-1.69289635e-01 -9.85553779e-01 4.97677214e-03 9.28362383e+02] [ 9.85220202e-01 -1.69361842e-01 -2.56460422e-02 1.52158368e+02] [ 2.61184291e-02 5.61607323e-04 9.99658698e-01 9.41409694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9992541539998 meters Centerline goodness [0,1] 0.999829289631479 Centerline is valid? [True, True] Translation: X:928.36, Y:152.19, Z:9.41 [[-1.71348959e-01 -9.85195987e-01 5.32933392e-03 9.28359846e+02] [ 9.84814332e-01 -1.71430937e-01 -2.74256222e-02 1.52186784e+02] [ 2.79332257e-02 5.49052616e-04 9.99609641e-01 9.41487666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0292541539999 meters Centerline goodness [0,1] 0.9997859680664355 Centerline is valid? [True, True] Translation: X:928.36, Y:152.21, Z:9.42 [[-1.73670643e-01 -9.84789546e-01 5.29699040e-03 9.28356750e+02] [ 9.84413462e-01 -1.73750720e-01 -2.72180633e-02 1.52214886e+02] [ 2.77244201e-02 4.87450126e-04 9.99615486e-01 9.41607347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0592541539999 meters Centerline goodness [0,1] 0.9998077908764736 Centerline is valid? [True, True] Translation: X:928.36, Y:152.24, Z:9.42 [[-1.78134997e-01 -9.83992527e-01 5.16033077e-03 9.28355104e+02] [ 9.83636058e-01 -1.78209366e-01 -2.64863531e-02 1.52242139e+02] [ 2.69819928e-02 3.57740989e-04 9.99635856e-01 9.41666587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.35, Y:152.27, Z:9.42 [[-1.80278833e-01 -9.83604224e-01 4.71937059e-03 9.28351115e+02] [ 9.83306688e-01 -1.80340379e-01 -2.41930697e-02 1.52270500e+02] [ 2.46474986e-02 2.79090285e-04 9.99696165e-01 9.41828952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1192541539998 meters Centerline goodness [0,1] 0.9998931989063568 Centerline is valid? [True, True] Translation: X:928.35, Y:152.30, Z:9.42 [[-1.82358427e-01 -9.83219032e-01 5.07341303e-03 9.28347907e+02] [ 9.82876129e-01 -1.82428815e-01 -2.59661738e-02 1.52297543e+02] [ 2.64559730e-02 2.51385939e-04 9.99649948e-01 9.41796281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1492541539999 meters Centerline goodness [0,1] 0.9999571303024457 Centerline is valid? [True, True] Translation: X:928.35, Y:152.33, Z:9.42 [[-1.84586601e-01 -9.82803955e-01 4.91651047e-03 9.28345093e+02] [ 9.82482776e-01 -1.84651965e-01 -2.51246242e-02 1.52325059e+02] [ 2.56004233e-02 1.92717885e-04 9.99672237e-01 9.41845534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1792541539999 meters Centerline goodness [0,1] 0.9998931121467356 Centerline is valid? [True, True] Translation: X:928.34, Y:152.35, Z:9.42 [[-1.85643823e-01 -9.82604297e-01 5.01657714e-03 9.28340905e+02] [ 9.82270853e-01 -1.85711508e-01 -2.55970033e-02 1.52352938e+02] [ 2.60833615e-02 1.75711951e-04 9.99659756e-01 9.41860600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.34, Y:152.38, Z:9.42 [[-1.86420111e-01 -9.82458703e-01 4.73692857e-03 9.28337256e+02] [ 9.82162244e-01 -1.86480221e-01 -2.41340897e-02 1.52379731e+02] [ 2.45940899e-02 1.53352721e-04 9.99697508e-01 9.41886442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2392541539998 meters Centerline goodness [0,1] 0.99978601844521 Centerline is valid? [True, True] Translation: X:928.33, Y:152.41, Z:9.42 [[-1.86750703e-01 -9.82393479e-01 5.21792685e-03 9.28333080e+02] [ 9.82034647e-01 -1.86823511e-01 -2.65504750e-02 1.52407068e+02] [ 2.70578450e-02 1.65865079e-04 9.99633856e-01 9.41797176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2692541539999 meters Centerline goodness [0,1] 0.9998930366884159 Centerline is valid? [True, True] Translation: X:928.33, Y:152.44, Z:9.42 [[-1.86450101e-01 -9.82451283e-01 5.08297094e-03 9.28328731e+02] [ 9.82111727e-01 -1.86519290e-01 -2.58284800e-02 1.52435189e+02] [ 2.63232954e-02 1.76322670e-04 9.99653466e-01 9.41991766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2992541539999 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:928.32, Y:152.46, Z:9.42 [[-1.85742206e-01 -9.82585052e-01 5.14276933e-03 9.28323890e+02] [ 9.82238619e-01 -1.85813275e-01 -2.60906487e-02 1.52461613e+02] [ 2.65918762e-02 2.05291992e-04 9.99646352e-01 9.41770015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.32, Y:152.49, Z:9.42 [[-1.85497856e-01 -9.82632179e-01 4.95432919e-03 9.28318608e+02] [ 9.82311717e-01 -1.85563884e-01 -2.50945481e-02 1.52488517e+02] [ 2.55780551e-02 2.11710730e-04 9.99672806e-01 9.41795665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.31, Y:152.52, Z:9.42 [[-1.85299597e-01 -9.82669157e-01 5.03862852e-03 9.28313976e+02] [ 9.82338795e-01 -1.85367948e-01 -2.54797032e-02 1.52515173e+02] [ 2.59721187e-02 2.28261541e-04 9.99662642e-01 9.41839695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.31, Y:152.54, Z:9.42 [[-1.85333233e-01 -9.82662450e-01 5.10909452e-03 9.28309416e+02] [ 9.82323910e-01 -1.85403488e-01 -2.57930571e-02 1.52542044e+02] [ 2.62931126e-02 2.38475031e-04 9.99654248e-01 9.41923114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4192541539999 meters Centerline goodness [0,1] 0.9999354755452317 Centerline is valid? [True, True] Translation: X:928.31, Y:152.57, Z:9.42 [[-1.86076417e-01 -9.82522507e-01 5.00900310e-03 9.28306331e+02] [ 9.82198163e-01 -1.86143691e-01 -2.52447068e-02 1.52568381e+02] [ 2.57358870e-02 2.22389047e-04 9.99668752e-01 9.41949522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4492541539998 meters Centerline goodness [0,1] 0.9998285359110102 Centerline is valid? [True, True] Translation: X:928.30, Y:152.60, Z:9.42 [[-1.86559679e-01 -9.82430489e-01 5.08137357e-03 9.28302725e+02] [ 9.82097743e-01 -1.86628738e-01 -2.55682752e-02 1.52596610e+02] [ 2.60673835e-02 2.20396279e-04 9.99660164e-01 9.42167933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4792541539998 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:928.30, Y:152.62, Z:9.42 [[-1.86113142e-01 -9.82519142e-01 4.24659727e-03 9.28298750e+02] [ 9.82287285e-01 -1.86161477e-01 -2.13446540e-02 1.52623823e+02] [ 2.17620840e-02 1.98857879e-04 9.99763158e-01 9.42379141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5092541539999 meters Centerline goodness [0,1] 0.9999141851883635 Centerline is valid? [True, True] Translation: X:928.29, Y:152.65, Z:9.42 [[-1.86141634e-01 -9.82514664e-01 4.02826392e-03 9.28293706e+02] [ 9.82306547e-01 -1.86185116e-01 -2.02225084e-02 1.52651105e+02] [ 2.06189139e-02 1.92739262e-04 9.99787389e-01 9.42467933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5392541539999 meters Centerline goodness [0,1] 0.9998068918165043 Centerline is valid? [True, True] Translation: X:928.29, Y:152.68, Z:9.42 [[-1.85858164e-01 -9.82566886e-01 4.36544219e-03 9.28288622e+02] [ 9.82323124e-01 -1.85909294e-01 -2.18863984e-02 1.52678208e+02] [ 2.23164266e-02 2.20508991e-04 9.99750933e-01 9.42450216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5692541539999 meters Centerline goodness [0,1] 0.9998067425381146 Centerline is valid? [True, True] Translation: X:928.28, Y:152.71, Z:9.42 [[-1.83563043e-01 -9.82998287e-01 4.35620974e-03 9.28282162e+02] [ 9.82756317e-01 -1.83614515e-01 -2.18112854e-02 1.52705623e+02] [ 2.22403196e-02 2.77346721e-04 9.99752615e-01 9.42384400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5992541539998 meters Centerline goodness [0,1] 0.9999140653532989 Centerline is valid? [True, True] Translation: X:928.28, Y:152.73, Z:9.42 [[-1.82183450e-01 -9.83255468e-01 4.22782699e-03 9.28275950e+02] [ 9.83028286e-01 -1.82232244e-01 -2.11376154e-02 1.52733200e+02] [ 2.15541224e-02 3.05149814e-04 9.99767636e-01 9.42374688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6292541539999 meters Centerline goodness [0,1] 0.9998489425981874 Centerline is valid? [True, True] Translation: X:928.27, Y:152.76, Z:9.42 [[-1.81229767e-01 -9.83430231e-01 4.55547005e-03 9.28270144e+02] [ 9.83167322e-01 -1.81286660e-01 -2.27412201e-02 1.52760895e+02] [ 2.31902493e-02 3.57403267e-04 9.99731006e-01 9.42262474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6592541539999 meters Centerline goodness [0,1] 0.9998491249245625 Centerline is valid? [True, True] Translation: X:928.26, Y:152.79, Z:9.42 [[-1.78691459e-01 -9.83893215e-01 4.84813842e-03 9.28264244e+02] [ 9.83596526e-01 -1.78756647e-01 -2.41647394e-02 1.52787165e+02] [ 2.46421601e-02 4.50579572e-04 9.99696234e-01 9.42176408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.26, Y:152.81, Z:9.42 [[-1.77388341e-01 -9.84130663e-01 4.49618527e-03 9.28259133e+02] [ 9.83876314e-01 -1.77444732e-01 -2.23777880e-02 1.52814966e+02] [ 2.28204917e-02 4.54131509e-04 9.99739476e-01 9.42312571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.25, Y:152.84, Z:9.42 [[-1.76913841e-01 -9.84216120e-01 4.48585873e-03 9.28253627e+02] [ 9.83963766e-01 -1.76970079e-01 -2.22912107e-02 1.52841666e+02] [ 2.27332317e-02 4.70298737e-04 9.99741456e-01 9.42337361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.25, Y:152.87, Z:9.42 [[-1.76208735e-01 -9.84342900e-01 4.42008999e-03 9.28249811e+02] [ 9.84098694e-01 -1.76263495e-01 -2.19303815e-02 1.52869183e+02] [ 2.23661158e-02 4.85480015e-04 9.99749729e-01 9.42374560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.24, Y:152.90, Z:9.42 [[-1.76742550e-01 -9.84247287e-01 4.39878230e-03 9.28244833e+02] [ 9.84006147e-01 -1.76796637e-01 -2.17910939e-02 1.52895320e+02] [ 2.22255149e-02 4.77015319e-04 9.99752869e-01 9.42319716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8092541539999 meters Centerline goodness [0,1] 0.999870301117572 Centerline is valid? [True, True] Translation: X:928.24, Y:152.92, Z:9.42 [[-1.78224481e-01 -9.83978655e-01 4.69486402e-03 9.28239598e+02] [ 9.83704805e-01 -1.78285660e-01 -2.32180990e-02 1.52921357e+02] [ 2.36831408e-02 4.80326650e-04 9.99719400e-01 9.42120451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.24, Y:152.95, Z:9.42 [[-1.79425236e-01 -9.83761721e-01 4.41156227e-03 9.28239863e+02] [ 9.83520607e-01 -1.79478946e-01 -2.17835607e-02 1.52949631e+02] [ 2.22216157e-02 4.30341878e-04 9.99752977e-01 9.42332781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8692541539998 meters Centerline goodness [0,1] 0.999804992199688 Centerline is valid? [True, True] Translation: X:928.24, Y:152.98, Z:9.42 [[-1.81490371e-01 -9.83381663e-01 4.66372922e-03 9.28236695e+02] [ 9.83112896e-01 -1.81549815e-01 -2.29934416e-02 1.52976249e+02] [ 2.34580280e-02 4.11884098e-04 9.99724738e-01 9.42268490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.23, Y:153.00, Z:9.42 [[-1.82846391e-01 -9.83132786e-01 4.13781264e-03 9.28234922e+02] [ 9.82921761e-01 -1.82892884e-01 -2.03716766e-02 1.53004573e+02] [ 2.07848397e-02 3.42258539e-04 9.99783913e-01 9.42466712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.23, Y:153.03, Z:9.43 [[-1.83584347e-01 -9.82995577e-01 4.06001908e-03 9.28230881e+02] [ 9.82792970e-01 -1.83628947e-01 -1.99596465e-02 1.53032737e+02] [ 2.03657812e-02 3.25879539e-04 9.99792543e-01 9.42501622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.23, Y:153.06, Z:9.43 [[-1.84408844e-01 -9.82841299e-01 4.04459601e-03 9.28226761e+02] [ 9.82640778e-01 -1.84452927e-01 -1.98549555e-02 1.53060620e+02] [ 2.02603079e-02 3.12955584e-04 9.99794690e-01 9.42555884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.22, Y:153.09, Z:9.43 [[-1.84019381e-01 -9.82914213e-01 4.06425061e-03 9.28224304e+02] [ 9.82712354e-01 -1.84063965e-01 -1.99220229e-02 1.53088508e+02] [ 2.03297215e-02 3.27950964e-04 9.99793276e-01 9.42633221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.22, Y:153.12, Z:9.43 [[-1.83360767e-01 -9.83037296e-01 4.06255431e-03 9.28219776e+02] [ 9.82836242e-01 -1.83405439e-01 -1.98838219e-02 1.53115881e+02] [ 2.02916330e-02 3.46912776e-04 9.99794043e-01 9.42658343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0492541539999 meters Centerline goodness [0,1] 0.9998033904229291 Centerline is valid? [True, True] Translation: X:928.21, Y:153.14, Z:9.42 [[-1.82036701e-01 -9.83281819e-01 4.41631535e-03 9.28214212e+02] [ 9.83044879e-01 -1.82089800e-01 -2.15886634e-02 1.53142897e+02] [ 2.20319062e-02 4.11507107e-04 9.99757183e-01 9.42447645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0792541539998 meters Centerline goodness [0,1] 0.9999341426470265 Centerline is valid? [True, True] Translation: X:928.21, Y:153.17, Z:9.43 [[-1.80354464e-01 -9.83592524e-01 4.24434262e-03 9.28209398e+02] [ 9.83374286e-01 -1.80403871e-01 -2.07233399e-02 1.53170684e+02] [ 2.11490180e-02 4.36230546e-04 9.99776239e-01 9.42536103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.20, Y:153.20, Z:9.43 [[-1.78551678e-01 -9.83921879e-01 4.12733247e-03 9.28203204e+02] [ 9.83716164e-01 -1.78598764e-01 -2.01243874e-02 1.53197790e+02] [ 2.05379615e-02 4.66880530e-04 9.99788965e-01 9.42575014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.20, Y:153.22, Z:9.43 [[-1.76826000e-01 -9.84233545e-01 4.11032204e-03 9.28196562e+02] [ 9.84030062e-01 -1.76873046e-01 -2.00190799e-02 1.53224178e+02] [ 2.04304551e-02 5.04786634e-04 9.99791149e-01 9.42588193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.19, Y:153.25, Z:9.43 [[-1.73867042e-01 -9.84761361e-01 3.91316060e-03 9.28193110e+02] [ 9.84577498e-01 -1.73910224e-01 -1.90363713e-02 1.53251956e+02] [ 1.94268215e-02 5.43012317e-04 9.99811134e-01 9.42802381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1992541539998 meters Centerline goodness [0,1] 0.9997588829705618 Centerline is valid? [True, True] Translation: X:928.19, Y:153.28, Z:9.43 [[-1.73696467e-01 -9.84791053e-01 4.01491244e-03 9.28187315e+02] [ 9.84598105e-01 -1.73741941e-01 -1.95015515e-02 1.53278683e+02] [ 1.99025122e-02 5.65724586e-04 9.99801765e-01 9.42733326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.18, Y:153.31, Z:9.43 [[-1.73483691e-01 -9.84830101e-01 3.61685240e-03 9.28183057e+02] [ 9.84673975e-01 -1.73520617e-01 -1.75430597e-02 1.53306720e+02] [ 1.79045317e-02 5.17985688e-04 9.99839567e-01 9.42895554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.18, Y:153.33, Z:9.43 [[-1.73767233e-01 -9.84780093e-01 3.62190392e-03 9.28177403e+02] [ 9.84623977e-01 -1.73804203e-01 -1.75420171e-02 1.53333736e+02] [ 1.79045313e-02 5.17985677e-04 9.99839567e-01 9.42921304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2892541539999 meters Centerline goodness [0,1] 0.9999338507673311 Centerline is valid? [True, True] Translation: X:928.17, Y:153.36, Z:9.43 [[-1.75529507e-01 -9.84467045e-01 3.74568628e-03 9.28173842e+02] [ 9.84300496e-01 -1.75568735e-01 -1.81150020e-02 1.53361946e+02] [ 1.84912479e-02 5.07163504e-04 9.99828894e-01 9.42906245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3192541539999 meters Centerline goodness [0,1] 0.9998023107674735 Centerline is valid? [True, True] Translation: X:928.17, Y:153.39, Z:9.43 [[-1.77603218e-01 -9.84094792e-01 3.81274525e-03 9.28168524e+02] [ 9.83922636e-01 -1.77643487e-01 -1.84129800e-02 1.53389359e+02] [ 1.87974271e-02 4.81241857e-04 9.99823197e-01 9.42832608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3492541539998 meters Centerline goodness [0,1] 0.9999779614325068 Centerline is valid? [True, True] Translation: X:928.17, Y:153.42, Z:9.43 [[-1.79461311e-01 -9.83758177e-01 3.67237734e-03 9.28165313e+02] [ 9.83598837e-01 -1.79498357e-01 -1.77106714e-02 1.53417611e+02] [ 1.80822035e-02 4.33765782e-04 9.99836410e-01 9.42956745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3792541539999 meters Centerline goodness [0,1] 0.9998898023053358 Centerline is valid? [True, True] Translation: X:928.16, Y:153.44, Z:9.43 [[-1.80880376e-01 -9.83497930e-01 3.75649126e-03 9.28160433e+02] [ 9.83331639e-01 -1.80918888e-01 -1.80899000e-02 1.53444143e+02] [ 1.84709994e-02 4.21768787e-04 9.99829308e-01 9.42907087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4092541539999 meters Centerline goodness [0,1] 0.9998236098249328 Centerline is valid? [True, True] Translation: X:928.16, Y:153.47, Z:9.43 [[-1.81771862e-01 -9.83333491e-01 3.77301029e-03 9.28155781e+02] [ 9.83166192e-01 -1.81810550e-01 -1.81428373e-02 1.53471704e+02] [ 1.85264326e-02 4.11638844e-04 9.99828286e-01 9.42891514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4392541539999 meters Centerline goodness [0,1] 0.9999340050156188 Centerline is valid? [True, True] Translation: X:928.15, Y:153.50, Z:9.43 [[-1.81895497e-01 -9.83310925e-01 3.69507553e-03 9.28151130e+02] [ 9.83150925e-01 -1.81932572e-01 -1.77425479e-02 1.53499809e+02] [ 1.81186958e-02 4.05527355e-04 9.99835761e-01 9.43047186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.14, Y:153.53, Z:9.43 [[-1.81617314e-01 -9.83363291e-01 3.43360903e-03 9.28143414e+02] [ 9.83225545e-01 -1.81649359e-01 -1.64632185e-02 1.53526311e+02] [ 1.68130376e-02 3.86006591e-04 9.99858576e-01 9.43090695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.14, Y:153.55, Z:9.43 [[-1.81476954e-01 -9.83389457e-01 3.36023401e-03 9.28138143e+02] [ 9.83257944e-01 -1.81507653e-01 -1.60868689e-02 1.53553400e+02] [ 1.64295655e-02 3.84580813e-04 9.99864952e-01 9.43197264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5292541539999 meters Centerline goodness [0,1] 0.9999122229536976 Centerline is valid? [True, True] Translation: X:928.13, Y:153.58, Z:9.43 [[-1.81763795e-01 -9.83337106e-01 3.17167277e-03 9.28131084e+02] [ 9.83220278e-01 -1.81791104e-01 -1.51617562e-02 1.53580007e+02] [ 1.54856993e-02 3.62594638e-04 9.99880024e-01 9.43174638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5592541539999 meters Centerline goodness [0,1] 0.9998240056318198 Centerline is valid? [True, True] Translation: X:928.13, Y:153.61, Z:9.43 [[-1.82107788e-01 -9.83273900e-01 3.03178010e-03 9.28126086e+02] [ 9.83167455e-01 -1.82132696e-01 -1.44719524e-02 1.53608071e+02] [ 1.47820794e-02 3.45292278e-04 9.99890679e-01 9.43179542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.12, Y:153.63, Z:9.43 [[-1.80326475e-01 -9.83602177e-01 3.02004635e-03 9.28118199e+02] [ 9.83496844e-01 -1.80351376e-01 -1.43992760e-02 1.53634050e+02] [ 1.47078287e-02 3.73635362e-04 9.99891764e-01 9.43370211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.11, Y:153.66, Z:9.43 [[-1.79856087e-01 -9.83688337e-01 3.00726877e-03 9.28113921e+02] [ 9.83584102e-01 -1.79880822e-01 -1.43249471e-02 1.53661454e+02] [ 1.46322334e-02 3.81472821e-04 9.99892870e-01 9.43486035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6492541539999 meters Centerline goodness [0,1] 0.9999340746275216 Centerline is valid? [True, True] Translation: X:928.11, Y:153.69, Z:9.43 [[-1.80373542e-01 -9.83593867e-01 2.91369115e-03 9.28106813e+02] [ 9.83496296e-01 -1.80396703e-01 -1.38587713e-02 1.53687377e+02] [ 1.41570227e-02 3.65848781e-04 9.99899717e-01 9.43417543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6792541539999 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:928.10, Y:153.72, Z:9.44 [[-1.78983823e-01 -9.83847675e-01 2.92288917e-03 9.28099537e+02] [ 9.83749813e-01 -1.79007261e-01 -1.38818728e-02 1.53715173e+02] [ 1.41808667e-02 3.90761005e-04 9.99899370e-01 9.43508833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.09, Y:153.74, Z:9.43 [[-1.76055545e-01 -9.84375569e-01 3.03040786e-03 9.28089353e+02] [ 9.84270719e-01 -1.76081044e-01 -1.43742138e-02 1.53740392e+02] [ 1.46832223e-02 4.52081672e-04 9.99892093e-01 9.43443620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7392541539998 meters Centerline goodness [0,1] 0.999934553546107 Centerline is valid? [True, True] Translation: X:928.08, Y:153.77, Z:9.43 [[-1.76082582e-01 -9.84370576e-01 3.08131265e-03 9.28081997e+02] [ 9.84262432e-01 -1.76108933e-01 -1.45982176e-02 1.53767615e+02] [ 1.49127025e-02 4.62328438e-04 9.99888693e-01 9.43330965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7692541539999 meters Centerline goodness [0,1] 0.9999780869946313 Centerline is valid? [True, True] Translation: X:928.07, Y:153.80, Z:9.43 [[-1.73627205e-01 -9.84805541e-01 3.41175593e-03 9.28074759e+02] [ 9.84673431e-01 -1.73659828e-01 -1.61399628e-02 1.53795312e+02] [ 1.64872097e-02 5.57128800e-04 9.99863922e-01 9.43293525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7992541539999 meters Centerline goodness [0,1] 0.9998469108802625 Centerline is valid? [True, True] Translation: X:928.07, Y:153.82, Z:9.43 [[-1.73977525e-01 -9.84743329e-01 3.52083250e-03 9.28067313e+02] [ 9.84603034e-01 -1.74012203e-01 -1.66318396e-02 1.53821161e+02] [ 1.69907609e-02 5.73056077e-04 9.99855482e-01 9.43127295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8292541539998 meters Centerline goodness [0,1] 0.9998904349731565 Centerline is valid? [True, True] Translation: X:928.06, Y:153.85, Z:9.43 [[-1.73408247e-01 -9.84843520e-01 3.58060657e-03 9.28060210e+02] [ 9.84698886e-01 -1.73444182e-01 -1.68884625e-02 1.53847072e+02] [ 1.72535282e-02 5.97220630e-04 9.99850968e-01 9.43131866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8592541539998 meters Centerline goodness [0,1] 0.9998467399395717 Centerline is valid? [True, True] Translation: X:928.05, Y:153.87, Z:9.43 [[-1.73212096e-01 -9.84878596e-01 3.42361265e-03 9.28053781e+02] [ 9.84746753e-01 -1.73244962e-01 -1.61250037e-02 1.53874440e+02] [ 1.64742947e-02 5.78345750e-04 9.99864122e-01 9.43175001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.05, Y:153.90, Z:9.43 [[-1.71909678e-01 -9.85107003e-01 3.35487706e-03 9.28046911e+02] [ 9.84980799e-01 -1.71941392e-01 -1.57791743e-02 1.53901947e+02] [ 1.61210173e-02 5.91896712e-04 9.99869873e-01 9.43407146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9192541539999 meters Centerline goodness [0,1] 0.9999124285745561 Centerline is valid? [True, True] Translation: X:928.04, Y:153.93, Z:9.43 [[-1.73607857e-01 -9.84809773e-01 3.16604879e-03 9.28041232e+02] [ 9.84697637e-01 -1.73635897e-01 -1.48707243e-02 1.53929371e+02] [ 1.51945743e-02 5.35926190e-04 9.99884412e-01 9.43356273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.04, Y:153.96, Z:9.44 [[-1.74998970e-01 -9.84563999e-01 3.01546343e-03 9.28035266e+02] [ 9.84462522e-01 -1.75024253e-01 -1.41440422e-02 1.53955843e+02] [ 1.44534940e-02 4.93417908e-04 9.99895421e-01 9.43552742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9792541539998 meters Centerline goodness [0,1] 0.9999125855023056 Centerline is valid? [True, True] Translation: X:928.03, Y:153.98, Z:9.44 [[-1.77737542e-01 -9.84073891e-01 2.81855455e-03 9.28031605e+02] [ 9.83985409e-01 -1.77759376e-01 -1.32029909e-02 1.53984059e+02] [ 1.34937431e-02 4.26749404e-04 9.99908864e-01 9.43515375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.03, Y:154.01, Z:9.44 [[-1.80568893e-01 -9.83558285e-01 2.82404125e-03 9.28028063e+02] [ 9.83469641e-01 -1.80590550e-01 -1.32105845e-02 1.54011883e+02] [ 1.35033750e-02 3.91938216e-04 9.99908748e-01 9.43583725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.02, Y:154.04, Z:9.44 [[-1.82699636e-01 -9.83164279e-01 2.97375559e-03 9.28024192e+02] [ 9.83066220e-01 -1.82723429e-01 -1.38908712e-02 1.54039837e+02] [ 1.42003832e-02 3.85541543e-04 9.99899095e-01 9.43573563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0692541539999 meters Centerline goodness [0,1] 0.9999126504050837 Centerline is valid? [True, True] Translation: X:928.02, Y:154.07, Z:9.43 [[-1.85860603e-01 -9.82570895e-01 3.20493411e-03 9.28018951e+02] [ 9.82457231e-01 -1.85887865e-01 -1.49495802e-02 1.54066300e+02] [ 1.52847808e-02 3.70172690e-04 9.99883112e-01 9.43360207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.02, Y:154.09, Z:9.43 [[-1.88889183e-01 -9.81990953e-01 3.82697894e-03 9.28016273e+02] [ 9.81829250e-01 -1.88927543e-01 -1.78243245e-02 1.54094524e+02] [ 1.82263471e-02 3.90617788e-04 9.99833810e-01 9.43340018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.01, Y:154.12, Z:9.43 [[-1.91025207e-01 -9.81576691e-01 4.07061022e-03 9.28010922e+02] [ 9.81394182e-01 -1.91068198e-01 -1.89315389e-02 1.54121183e+02] [ 1.93605215e-02 3.78472055e-04 9.99812496e-01 9.43241688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1592541539999 meters Centerline goodness [0,1] 0.9999341946522188 Centerline is valid? [True, True] Translation: X:928.01, Y:154.15, Z:9.43 [[-1.93361133e-01 -9.81117995e-01 4.35347826e-03 9.28008056e+02] [ 9.80909736e-01 -1.93409798e-01 -2.02172988e-02 1.54149370e+02] [ 2.06775610e-02 3.61129412e-04 9.99786131e-01 9.43225264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1892541539999 meters Centerline goodness [0,1] 0.9999561557348299 Centerline is valid? [True, True] Translation: X:928.00, Y:154.18, Z:9.43 [[-1.96205905e-01 -9.80551629e-01 4.66330525e-03 9.28003987e+02] [ 9.80313225e-01 -1.96261039e-01 -2.16237426e-02 1.54176285e+02] [ 2.21184211e-02 3.28793820e-04 9.99755304e-01 9.43195434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.00, Y:154.20, Z:9.43 [[-1.97520040e-01 -9.80287354e-01 4.74734750e-03 9.28000100e+02] [ 9.80040918e-01 -1.97576838e-01 -2.19816177e-02 1.54203814e+02] [ 2.24862677e-02 3.10784798e-04 9.99747104e-01 9.43378871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:928.00, Y:154.23, Z:9.43 [[-1.99755995e-01 -9.79835095e-01 4.55286863e-03 9.27995766e+02] [ 9.79608842e-01 -1.99807712e-01 -2.10569651e-02 1.54230766e+02] [ 2.15420516e-02 2.53775361e-04 9.99767911e-01 9.43465196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2792541539999 meters Centerline goodness [0,1] 0.999912236435044 Centerline is valid? [True, True] Translation: X:927.99, Y:154.26, Z:9.44 [[-2.01434667e-01 -9.79491773e-01 4.46556857e-03 9.27991115e+02] [ 9.79274555e-01 -2.01484042e-01 -2.06282830e-02 1.54258206e+02] [ 2.11049743e-02 2.17766353e-04 9.99777242e-01 9.43532026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.99, Y:154.28, Z:9.44 [[-2.01721362e-01 -9.79433417e-01 4.32130706e-03 9.27986212e+02] [ 9.79230572e-01 -2.01767533e-01 -1.99336158e-02 1.54284661e+02] [ 2.03955489e-02 2.10519864e-04 9.99791967e-01 9.43736293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3392541539998 meters Centerline goodness [0,1] 0.9999780653652117 Centerline is valid? [True, True] Translation: X:927.98, Y:154.31, Z:9.44 [[-2.02883507e-01 -9.79194635e-01 4.01870008e-03 9.27980645e+02] [ 9.79019641e-01 -2.02923225e-01 -1.85123669e-02 1.54312636e+02] [ 1.89426980e-02 1.78532386e-04 9.99820555e-01 9.43851954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3692541539998 meters Centerline goodness [0,1] 0.9998462991019476 Centerline is valid? [True, True] Translation: X:927.97, Y:154.34, Z:9.44 [[-2.03731089e-01 -9.79018510e-01 4.04974876e-03 9.27974413e+02] [ 9.78841300e-01 -2.03771265e-01 -1.86274428e-02 1.54338658e+02] [ 1.90618337e-02 1.69072133e-04 9.99818292e-01 9.43769615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.97, Y:154.37, Z:9.44 [[-2.03499440e-01 -9.79066773e-01 4.02896594e-03 9.27968547e+02] [ 9.78891933e-01 -2.03539242e-01 -1.85030124e-02 1.54365238e+02] [ 1.89357373e-02 1.78569584e-04 9.99820687e-01 9.43939044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4292541539999 meters Centerline goodness [0,1] 0.9998687348224639 Centerline is valid? [True, True] Translation: X:927.96, Y:154.39, Z:9.44 [[-2.03826084e-01 -9.78997557e-01 4.32559176e-03 9.27961443e+02] [ 9.78796604e-01 -2.03871888e-01 -1.98358636e-02 1.54392215e+02] [ 2.03011285e-02 1.90808125e-04 9.99793893e-01 9.43783354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.96, Y:154.42, Z:9.44 [[-2.03596158e-01 -9.79045250e-01 4.35934528e-03 9.27955216e+02] [ 9.78841695e-01 -2.03642723e-01 -1.99644106e-02 1.54417222e+02] [ 2.04338103e-02 2.02431631e-04 9.99791187e-01 9.43813991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4892541539998 meters Centerline goodness [0,1] 0.9998030591479026 Centerline is valid? [True, True] Translation: X:927.95, Y:154.44, Z:9.44 [[-2.03971422e-01 -9.78965425e-01 4.72822911e-03 9.27948367e+02] [ 9.78726586e-01 -2.04026101e-01 -2.16245330e-02 1.54444860e+02] [ 2.21343523e-02 2.16856806e-04 9.99754982e-01 9.43674776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5192541539999 meters Centerline goodness [0,1] 0.9996930026533342 Centerline is valid? [True, True] Translation: X:927.94, Y:154.47, Z:9.44 [[-2.04606109e-01 -9.78832080e-01 4.90910629e-03 9.27942541e+02] [ 9.78575319e-01 -2.04664877e-01 -2.24194610e-02 1.54471832e+02] [ 2.29496093e-02 2.16771574e-04 9.99736600e-01 9.43737374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5492541539999 meters Centerline goodness [0,1] 0.9999561797506628 Centerline is valid? [True, True] Translation: X:927.94, Y:154.50, Z:9.44 [[-2.04759927e-01 -9.78800847e-01 4.71967617e-03 9.27935234e+02] [ 9.78564196e-01 -2.04814204e-01 -2.15233962e-02 1.54497984e+02] [ 2.20337751e-02 2.11377084e-04 9.99757205e-01 9.43749759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.93, Y:154.52, Z:9.44 [[-2.05132440e-01 -9.78722960e-01 4.69576426e-03 9.27929107e+02] [ 9.78489362e-01 -2.05186073e-01 -2.13832611e-02 1.54524256e+02] [ 2.18917941e-02 2.08354845e-04 9.99760324e-01 9.43807832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.92, Y:154.55, Z:9.44 [[-2.07516913e-01 -9.78220653e-01 4.59178874e-03 9.27924392e+02] [ 9.77997819e-01 -2.07567648e-01 -2.08790954e-02 1.54551537e+02] [ 2.13774691e-02 1.57993953e-04 9.99771463e-01 9.43947179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6392541539999 meters Centerline goodness [0,1] 0.9998026056060008 Centerline is valid? [True, True] Translation: X:927.92, Y:154.58, Z:9.44 [[-2.09811412e-01 -9.77731095e-01 4.59110614e-03 9.27919253e+02] [ 9.77508842e-01 -2.09861606e-01 -2.08463310e-02 1.54579626e+02] [ 2.13456029e-02 1.14048711e-04 9.99772150e-01 9.43897448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.92, Y:154.61, Z:9.44 [[-2.13696337e-01 -9.76891062e-01 4.21061718e-03 9.27916716e+02] [ 9.76704448e-01 -2.13737813e-01 -1.90936810e-02 1.54606452e+02] [ 1.95524144e-02 3.22788427e-05 9.99808833e-01 9.44133868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.91, Y:154.63, Z:9.44 [[-2.16053473e-01 -9.76372907e-01 4.10418114e-03 9.27912288e+02] [ 9.76195988e-01 -2.16092451e-01 -1.85861854e-02 1.54634564e+02] [ 1.90339305e-02 -9.12475044e-06 9.99818838e-01 9.44261222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.91, Y:154.66, Z:9.44 [[-2.18416001e-01 -9.75847686e-01 3.96803376e-03 9.27908146e+02] [ 9.75682630e-01 -2.18452037e-01 -1.79475096e-02 1.54660146e+02] [ 1.83808608e-02 -4.84816633e-05 9.99831057e-01 9.44265579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7592541539999 meters Centerline goodness [0,1] 0.9998685910773342 Centerline is valid? [True, True] Translation: X:927.90, Y:154.69, Z:9.44 [[-2.22589680e-01 -9.74904062e-01 3.98805599e-03 9.27904006e+02] [ 9.74737605e-01 -2.22625369e-01 -1.80151584e-02 1.54687149e+02] [ 1.84508935e-02 -1.22680183e-04 9.99829760e-01 9.44190693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.90, Y:154.71, Z:9.44 [[-2.23776701e-01 -9.74633146e-01 3.77075175e-03 9.27898431e+02] [ 9.74484710e-01 -2.23808430e-01 -1.70098831e-02 1.54713707e+02] [ 1.74223219e-02 -1.31875604e-04 9.99848211e-01 9.44433503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8192541539999 meters Centerline goodness [0,1] 0.9998904037525755 Centerline is valid? [True, True] Translation: X:927.89, Y:154.74, Z:9.44 [[-2.26036624e-01 -9.74110636e-01 3.98921086e-03 9.27893783e+02] [ 9.73944837e-01 -2.26071754e-01 -1.79726488e-02 1.54739958e+02] [ 1.84091963e-02 -1.77205555e-04 9.99830521e-01 9.44229213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.89, Y:154.77, Z:9.44 [[-2.26975288e-01 -9.73892336e-01 3.99200386e-03 9.27887576e+02] [ 9.73726669e-01 -2.27010311e-01 -1.79636406e-02 1.54766051e+02] [ 1.84008779e-02 -1.90181860e-04 9.99830671e-01 9.44416850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8792541539999 meters Centerline goodness [0,1] 0.9999122883957547 Centerline is valid? [True, True] Translation: X:927.88, Y:154.79, Z:9.44 [[-2.28329461e-01 -9.73574953e-01 4.17956301e-03 9.27880618e+02] [ 9.73393810e-01 -2.28367605e-01 -1.87810428e-02 1.54793375e+02] [ 1.92392296e-02 -2.19904604e-04 9.99814885e-01 9.44367632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9092541539999 meters Centerline goodness [0,1] 0.9999341989822776 Centerline is valid? [True, True] Translation: X:927.87, Y:154.82, Z:9.44 [[-2.29882679e-01 -9.73208703e-01 4.33293678e-03 9.27874551e+02] [ 9.73014423e-01 -2.29923369e-01 -1.94467612e-02 1.54819239e+02] [ 1.99220007e-02 -2.54463576e-04 9.99801505e-01 9.44299743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.87, Y:154.85, Z:9.44 [[-2.30563710e-01 -9.73047782e-01 4.28826527e-03 9.27867793e+02] [ 9.72857920e-01 -2.30603438e-01 -1.92229392e-02 1.54846587e+02] [ 1.96937271e-02 -2.60239346e-04 9.99806026e-01 9.44409128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9692541539998 meters Centerline goodness [0,1] 0.9998907056046166 Centerline is valid? [True, True] Translation: X:927.86, Y:154.87, Z:9.44 [[-2.32153561e-01 -9.72669785e-01 4.26774652e-03 9.27860620e+02] [ 9.72482170e-01 -2.32192611e-01 -1.91055066e-02 1.54873830e+02] [ 1.95742882e-02 -2.85104009e-04 9.99808365e-01 9.44427378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9992541539998 meters Centerline goodness [0,1] 0.999824784265627 Centerline is valid? [True, True] Translation: X:927.85, Y:154.90, Z:9.44 [[-2.33099833e-01 -9.72443650e-01 4.22079867e-03 9.27854818e+02] [ 9.72260601e-01 -2.33137857e-01 -1.88696282e-02 1.54899856e+02] [ 1.93336781e-02 -2.94790921e-04 9.99813044e-01 9.44451368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0292541539999 meters Centerline goodness [0,1] 0.9998028434357817 Centerline is valid? [True, True] Translation: X:927.85, Y:154.93, Z:9.45 [[-2.33661861e-01 -9.72309473e-01 4.05269717e-03 9.27847017e+02] [ 9.72141150e-01 -2.33696826e-01 -1.80935644e-02 1.54926417e+02] [ 1.85396465e-02 -2.87982241e-04 9.99828085e-01 9.44629278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0592541539999 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:927.84, Y:154.95, Z:9.45 [[-2.32811163e-01 -9.72515102e-01 3.65218152e-03 9.27840469e+02] [ 9.72378740e-01 -2.32839683e-01 -1.62870546e-02 1.54952333e+02] [ 1.66897793e-02 -2.40504455e-04 9.99860687e-01 9.44853981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0892541539998 meters Centerline goodness [0,1] 0.9999564194195066 Centerline is valid? [True, True] Translation: X:927.83, Y:154.98, Z:9.45 [[-2.32517739e-01 -9.72585171e-01 3.68603692e-03 9.27832464e+02] [ 9.72446594e-01 -2.32546837e-01 -1.64192272e-02 1.54978828e+02] [ 1.68262731e-02 -2.33287522e-04 9.99858401e-01 9.44854120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1192541539998 meters Centerline goodness [0,1] 0.9999781916517643 Centerline is valid? [True, True] Translation: X:927.83, Y:155.00, Z:9.45 [[-2.31538854e-01 -9.72818726e-01 3.67212311e-03 9.27825008e+02] [ 9.72681612e-01 -2.31567877e-01 -1.63340156e-02 1.55004013e+02] [ 1.67403820e-02 -2.10152619e-04 9.99859848e-01 9.44901281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1492541539999 meters Centerline goodness [0,1] 0.9999781916517643 Centerline is valid? [True, True] Translation: X:927.82, Y:155.03, Z:9.45 [[-2.31844956e-01 -9.72745801e-01 3.67743452e-03 9.27819021e+02] [ 9.72608696e-01 -2.31874024e-01 -1.63328201e-02 1.55030106e+02] [ 1.67403837e-02 -2.09977145e-04 9.99859848e-01 9.44926234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1792541539999 meters Centerline goodness [0,1] 0.9998481924052829 Centerline is valid? [True, True] Translation: X:927.81, Y:155.06, Z:9.45 [[-2.28837146e-01 -9.73456128e-01 4.09001202e-03 9.27806665e+02] [ 9.73287143e-01 -2.28873631e-01 -1.81382952e-02 1.55056183e+02] [ 1.85929305e-02 -1.69959596e-04 9.99827122e-01 9.44775666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2092541539998 meters Centerline goodness [0,1] 0.9998477532733047 Centerline is valid? [True, True] Translation: X:927.80, Y:155.08, Z:9.45 [[-2.26599924e-01 -9.73978911e-01 4.19002065e-03 9.27797384e+02] [ 9.73802124e-01 -2.26638625e-01 -1.85568465e-02 1.55082450e+02] [ 1.90235976e-02 -1.24728986e-04 9.99819027e-01 9.44763863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2392541539998 meters Centerline goodness [0,1] 0.9997190768432881 Centerline is valid? [True, True] Translation: X:927.78, Y:155.11, Z:9.45 [[-2.21476382e-01 -9.75155820e-01 4.39761413e-03 9.27784325e+02] [ 9.74961832e-01 -2.21520036e-01 -1.94499507e-02 1.55108337e+02] [ 1.99408922e-02 -2.01987785e-05 9.99801160e-01 9.44602132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.78, Y:155.13, Z:9.45 [[-2.18782361e-01 -9.75765121e-01 4.08737314e-03 9.27775430e+02] [ 9.75598097e-01 -2.18820536e-01 -1.80534468e-02 1.55134345e+02] [ 1.85103249e-02 3.78577380e-05 9.99828669e-01 9.44834524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2992541539999 meters Centerline goodness [0,1] 0.9998491411823021 Centerline is valid? [True, True] Translation: X:927.77, Y:155.16, Z:9.45 [[-2.17295460e-01 -9.76096068e-01 4.37593988e-03 9.27765789e+02] [ 9.75905256e-01 -2.17339504e-01 -1.92995232e-02 1.55160179e+02] [ 1.97892533e-02 7.68039458e-05 9.99804171e-01 9.44619291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.76, Y:155.19, Z:9.45 [[-2.14211489e-01 -9.76778334e-01 4.18616158e-03 9.27756176e+02] [ 9.76604304e-01 -2.14252343e-01 -1.84381903e-02 1.55186560e+02] [ 1.89069197e-02 1.38551231e-04 9.99821239e-01 9.44881339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3592541539998 meters Centerline goodness [0,1] 0.9998494526528593 Centerline is valid? [True, True] Translation: X:927.75, Y:155.21, Z:9.45 [[-2.13177587e-01 -9.77003251e-01 4.46813124e-03 9.27746762e+02] [ 9.76805571e-01 -2.13224336e-01 -1.96534546e-02 1.55213111e+02] [ 2.01542033e-02 1.74819460e-04 9.99796868e-01 9.44782490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.74, Y:155.24, Z:9.45 [[-2.12407118e-01 -9.77172064e-01 4.23957495e-03 9.27739840e+02] [ 9.76994584e-01 -2.12449342e-01 -1.86241955e-02 1.55240310e+02] [ 1.90997385e-02 1.86130074e-04 9.99817566e-01 9.45002844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4192541539999 meters Centerline goodness [0,1] 0.9998926693141569 Centerline is valid? [True, True] Translation: X:927.73, Y:155.27, Z:9.45 [[-2.12326863e-01 -9.77188918e-01 4.37284756e-03 9.27732231e+02] [ 9.77000618e-01 -2.12371794e-01 -1.91836733e-02 1.55267274e+02] [ 1.96747424e-02 1.99065608e-04 9.99806414e-01 9.44980100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.73, Y:155.29, Z:9.45 [[-2.11714484e-01 -9.77322446e-01 4.22063385e-03 9.27725223e+02] [ 9.77147532e-01 -2.11756446e-01 -1.84907606e-02 1.55293497e+02] [ 1.89651818e-02 2.09420114e-04 9.99820123e-01 9.45142070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4792541539998 meters Centerline goodness [0,1] 0.9999141575637917 Centerline is valid? [True, True] Translation: X:927.72, Y:155.32, Z:9.45 [[-2.10710490e-01 -9.77538262e-01 4.47613404e-03 9.27715531e+02] [ 9.77342117e-01 -2.10757882e-01 -1.95832201e-02 1.55320249e+02] [ 2.00867274e-02 2.48324423e-04 9.99798211e-01 9.45023915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5092541539999 meters Centerline goodness [0,1] 0.9998286020353508 Centerline is valid? [True, True] Translation: X:927.71, Y:155.35, Z:9.45 [[-2.10207941e-01 -9.77645139e-01 4.75437831e-03 9.27707290e+02] [ 9.77424463e-01 -2.10261513e-01 -2.07729403e-02 1.55347164e+02] [ 2.13082268e-02 2.80408670e-04 9.99772915e-01 9.44909381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.70, Y:155.37, Z:9.45 [[-2.08785302e-01 -9.77949184e-01 4.90837709e-03 9.27699319e+02] [ 9.77714692e-01 -2.08842734e-01 -2.14171246e-02 1.55373932e+02] [ 2.19699384e-02 3.27411567e-04 9.99758578e-01 9.44979646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5692541539999 meters Centerline goodness [0,1] 0.9998926647060087 Centerline is valid? [True, True] Translation: X:927.69, Y:155.40, Z:9.45 [[-2.08856772e-01 -9.77931782e-01 5.31785187e-03 9.27692573e+02] [ 9.77657259e-01 -2.08924153e-01 -2.31728835e-02 1.55401728e+02] [ 2.37725270e-02 3.59222831e-04 9.99717329e-01 9.44913176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.69, Y:155.43, Z:9.45 [[-2.08786221e-01 -9.77947547e-01 5.18737650e-03 9.27685588e+02] [ 9.77687041e-01 -2.08850344e-01 -2.25739523e-02 1.55428103e+02] [ 2.31595267e-02 3.58500594e-04 9.99731718e-01 9.44968891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.68, Y:155.46, Z:9.45 [[-2.09822196e-01 -9.77725037e-01 5.32904129e-03 9.27679835e+02] [ 9.77450797e-01 -2.09889567e-01 -2.31583354e-02 1.55455189e+02] [ 2.37609945e-02 3.49742882e-04 9.99717607e-01 9.45083715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6592541539999 meters Centerline goodness [0,1] 0.9999140727374277 Centerline is valid? [True, True] Translation: X:927.67, Y:155.48, Z:9.45 [[-2.10584897e-01 -9.77560187e-01 5.48476091e-03 9.27673640e+02] [ 9.77270417e-01 -2.10656025e-01 -2.38027753e-02 1.55482395e+02] [ 2.44240434e-02 3.47589588e-04 9.99701628e-01 9.45057242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.67, Y:155.51, Z:9.45 [[-2.10910816e-01 -9.77491464e-01 5.20252589e-03 9.27667845e+02] [ 9.77231303e-01 -2.10974718e-01 -2.25532359e-02 1.55508933e+02] [ 2.31431970e-02 3.27349754e-04 9.99732107e-01 9.45212994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7192541539998 meters Centerline goodness [0,1] 0.9998287964389659 Centerline is valid? [True, True] Translation: X:927.66, Y:155.54, Z:9.45 [[-2.11754934e-01 -9.77308183e-01 5.34447373e-03 9.27661737e+02] [ 9.77034229e-01 -2.11822123e-01 -2.31409604e-02 1.55536091e+02] [ 2.37479277e-02 3.21521242e-04 9.99717927e-01 9.45116218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.66, Y:155.56, Z:9.45 [[-2.11866374e-01 -9.77285219e-01 5.12256229e-03 9.27656362e+02] [ 9.77034086e-01 -2.11928064e-01 -2.21560653e-02 1.55562527e+02] [ 2.27384098e-02 3.10792752e-04 9.99741401e-01 9.45296096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7792541539999 meters Centerline goodness [0,1] 0.9999138673557278 Centerline is valid? [True, True] Translation: X:927.65, Y:155.59, Z:9.45 [[-2.12519356e-01 -9.77142915e-01 5.21989515e-03 9.27651700e+02] [ 9.76882717e-01 -2.12583230e-01 -2.25505618e-02 1.55589989e+02] [ 2.31447839e-02 3.06794480e-04 9.99732077e-01 9.45346435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8092541539999 meters Centerline goodness [0,1] 0.9998072805139187 Centerline is valid? [True, True] Translation: X:927.65, Y:155.62, Z:9.45 [[-2.12983006e-01 -9.77040608e-01 5.46719050e-03 9.27645364e+02] [ 9.76755919e-01 -2.13052930e-01 -2.35865059e-02 1.55616871e+02] [ 2.42097750e-02 3.16585737e-04 9.99706850e-01 9.45182819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8392541539998 meters Centerline goodness [0,1] 0.9998276456394347 Centerline is valid? [True, True] Translation: X:927.64, Y:155.65, Z:9.45 [[-2.12623946e-01 -9.77118298e-01 5.55786924e-03 9.27640608e+02] [ 9.76824901e-01 -2.12696306e-01 -2.39456482e-02 1.55645002e+02] [ 2.45798693e-02 3.37646845e-04 9.99697812e-01 9.45313515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8692541539998 meters Centerline goodness [0,1] 0.9998924569290001 Centerline is valid? [True, True] Translation: X:927.63, Y:155.67, Z:9.45 [[-2.12287182e-01 -9.77191864e-01 5.49668084e-03 9.27634525e+02] [ 9.76905687e-01 -2.12358045e-01 -2.36503676e-02 1.55671147e+02] [ 2.42782112e-02 3.49068870e-04 9.99705180e-01 9.45387780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8992541539999 meters Centerline goodness [0,1] 0.9999356361295859 Centerline is valid? [True, True] Translation: X:927.63, Y:155.70, Z:9.46 [[-2.11488264e-01 -9.77366009e-01 5.32905557e-03 9.27628298e+02] [ 9.77097830e-01 -2.11555080e-01 -2.28971261e-02 1.55698100e+02] [ 2.35062615e-02 3.64535178e-04 9.99723623e-01 9.45501916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9292541539999 meters Centerline goodness [0,1] 0.9998487729001037 Centerline is valid? [True, True] Translation: X:927.62, Y:155.73, Z:9.45 [[-2.09591718e-01 -9.77772717e-01 5.64135355e-03 9.27621172e+02] [ 9.77473152e-01 -2.09667162e-01 -2.42057673e-02 1.55725345e+02] [ 2.48505455e-02 4.40943263e-04 9.99691080e-01 9.45468829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9592541539998 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:927.61, Y:155.75, Z:9.46 [[-2.08060540e-01 -9.78100173e-01 5.55550565e-03 9.27614884e+02] [ 9.77810511e-01 -2.08134146e-01 -2.38071790e-02 1.55752256e+02] [ 2.44420963e-02 4.78897302e-04 9.99701133e-01 9.45604512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9892541539998 meters Centerline goodness [0,1] 0.9999138673557278 Centerline is valid? [True, True] Translation: X:927.61, Y:155.78, Z:9.46 [[-2.05964585e-01 -9.78542010e-01 5.84162628e-03 9.27608930e+02] [ 9.78222613e-01 -2.06046638e-01 -2.50060413e-02 1.55779093e+02] [ 2.56731093e-02 5.64052004e-04 9.99670232e-01 9.45633955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.60, Y:155.81, Z:9.46 [[-2.05131339e-01 -9.78717221e-01 5.80819436e-03 9.27601946e+02] [ 9.78402303e-01 -2.05212706e-01 -2.48330033e-02 1.55805670e+02] [ 2.54964032e-02 5.88723526e-04 9.99674741e-01 9.45648008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0492541539999 meters Centerline goodness [0,1] 0.9999783751054213 Centerline is valid? [True, True] Translation: X:927.60, Y:155.83, Z:9.46 [[-2.04768568e-01 -9.78792477e-01 5.92621050e-03 9.27595920e+02] [ 9.78465527e-01 -2.04853376e-01 -2.53042807e-02 1.55832854e+02] [ 2.59816438e-02 6.17071371e-04 9.99662230e-01 9.45655231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0792541539998 meters Centerline goodness [0,1] 0.9998705529546288 Centerline is valid? [True, True] Translation: X:927.59, Y:155.86, Z:9.46 [[-2.04729473e-01 -9.78800263e-01 5.99069038e-03 9.27590755e+02] [ 9.78467090e-01 -2.04816128e-01 -2.55442235e-02 1.55859627e+02] [ 2.62296827e-02 6.32037970e-04 9.99655743e-01 9.45672470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.59, Y:155.89, Z:9.46 [[-2.04631519e-01 -9.78823616e-01 5.50179591e-03 9.27586140e+02] [ 9.78543357e-01 -2.04704618e-01 -2.34289807e-02 1.55887584e+02] [ 2.40590826e-02 5.89437947e-04 9.99710365e-01 9.45919529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1392541539999 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:927.58, Y:155.92, Z:9.46 [[-2.05595668e-01 -9.78622339e-01 5.36081180e-03 9.27582605e+02] [ 9.78356885e-01 -2.05664791e-01 -2.27991252e-02 1.55915608e+02] [ 2.34142635e-02 5.57385761e-04 9.99725693e-01 9.46100465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1692541539999 meters Centerline goodness [0,1] 0.9999567726457302 Centerline is valid? [True, True] Translation: X:927.57, Y:155.94, Z:9.46 [[-2.05940029e-01 -9.78550012e-01 5.34581950e-03 9.27574368e+02] [ 9.78286598e-01 -2.06008660e-01 -2.27104445e-02 1.55941932e+02] [ 2.33245908e-02 5.52753963e-04 9.99727792e-01 9.45978752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.57, Y:155.97, Z:9.46 [[-2.06000401e-01 -9.78537348e-01 5.33785986e-03 9.27569263e+02] [ 9.78275347e-01 -2.06068796e-01 -2.26494273e-02 1.55968477e+02] [ 2.32632769e-02 5.56105606e-04 9.99729219e-01 9.46041104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.57, Y:156.00, Z:9.46 [[-2.06037987e-01 -9.78529343e-01 5.35465987e-03 9.27566771e+02] [ 9.78266393e-01 -2.06106787e-01 -2.26904789e-02 1.55996945e+02] [ 2.33069312e-02 5.63183184e-04 9.99728198e-01 9.46226373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2592541539999 meters Centerline goodness [0,1] 0.9998485143586747 Centerline is valid? [True, True] Translation: X:927.56, Y:156.02, Z:9.46 [[-2.06377964e-01 -9.78454925e-01 5.83921376e-03 9.27559658e+02] [ 9.78142987e-01 -2.06459648e-01 -2.47125545e-02 1.56023101e+02] [ 2.53856827e-02 6.11459311e-04 9.99677545e-01 9.45895435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.55, Y:156.05, Z:9.46 [[-2.06008767e-01 -9.78533132e-01 5.77032439e-03 9.27551355e+02] [ 9.78229371e-01 -2.06088631e-01 -2.43879814e-02 1.56048164e+02] [ 2.50536461e-02 6.20562806e-04 9.99685916e-01 9.45803671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3192541539999 meters Centerline goodness [0,1] 0.999848583171101 Centerline is valid? [True, True] Translation: X:927.55, Y:156.08, Z:9.46 [[-2.05699653e-01 -9.78596303e-01 6.07686628e-03 9.27548574e+02] [ 9.78260391e-01 -2.05788308e-01 -2.56472141e-02 1.56075820e+02] [ 2.63488169e-02 6.69134544e-04 9.99652586e-01 9.45862119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3492541539998 meters Centerline goodness [0,1] 0.999891377549912 Centerline is valid? [True, True] Translation: X:927.54, Y:156.10, Z:9.46 [[-2.05921033e-01 -9.78549844e-01 6.06062015e-03 9.27542862e+02] [ 9.78216638e-01 -2.06009116e-01 -2.55431503e-02 1.56102687e+02] [ 2.62437888e-02 6.68727555e-04 9.99655349e-01 9.45925824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3792541539999 meters Centerline goodness [0,1] 0.9998477665173329 Centerline is valid? [True, True] Translation: X:927.54, Y:156.13, Z:9.46 [[-2.06726822e-01 -9.78379842e-01 6.07502800e-03 9.27537533e+02] [ 9.78045932e-01 -2.06815024e-01 -2.55675799e-02 1.56129767e+02] [ 2.62712118e-02 6.56151900e-04 9.99654637e-01 9.45954934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4092541539999 meters Centerline goodness [0,1] 0.9999565226842895 Centerline is valid? [True, True] Translation: X:927.53, Y:156.16, Z:9.46 [[-2.08019304e-01 -9.78108246e-01 5.67691174e-03 9.27533209e+02] [ 9.77817321e-01 -2.08095924e-01 -2.38615546e-02 1.56157297e+02] [ 2.45205255e-02 5.87318641e-04 9.99699154e-01 9.46064514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4392541539999 meters Centerline goodness [0,1] 0.9998260453586727 Centerline is valid? [True, True] Translation: X:927.53, Y:156.18, Z:9.46 [[-2.09339570e-01 -9.77825987e-01 5.76912368e-03 9.27528131e+02] [ 9.77526267e-01 -2.09418274e-01 -2.42153807e-02 1.56182624e+02] [ 2.48865884e-02 5.70232553e-04 9.99690118e-01 9.46010106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.52, Y:156.21, Z:9.46 [[-2.10167343e-01 -9.77650362e-01 5.42753901e-03 9.27523703e+02] [ 9.77385746e-01 -2.10236763e-01 -2.27509606e-02 1.56210010e+02] [ 2.33835531e-02 5.23290312e-04 9.99726430e-01 9.46207710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.52, Y:156.24, Z:9.46 [[-2.11913589e-01 -9.77274273e-01 5.25603726e-03 9.27518812e+02] [ 9.77026625e-01 -2.11978235e-01 -2.20045720e-02 1.56236989e+02] [ 2.26186676e-02 4.72220526e-04 9.99744054e-01 9.46186128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5292541539999 meters Centerline goodness [0,1] 0.999912661848512 Centerline is valid? [True, True] Translation: X:927.51, Y:156.26, Z:9.46 [[-2.12836876e-01 -9.77073692e-01 5.24075981e-03 9.27513890e+02] [ 9.76828071e-01 -2.12900901e-01 -2.19118045e-02 1.56263474e+02] [ 2.25252102e-02 4.55681286e-04 9.99746171e-01 9.46187343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.51, Y:156.29, Z:9.46 [[-2.13114890e-01 -9.77014411e-01 4.98841704e-03 9.27508609e+02] [ 9.76792479e-01 -2.13172823e-01 -2.08278633e-02 1.56289572e+02] [ 2.14125176e-02 4.33920434e-04 9.99770632e-01 9.46286317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.50, Y:156.32, Z:9.46 [[-2.13098858e-01 -9.77018682e-01 4.83453285e-03 9.27502095e+02] [ 9.76810807e-01 -2.13153263e-01 -2.01577033e-02 1.56316242e+02] [ 2.07249491e-02 4.26840394e-04 9.99785124e-01 9.46322569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.50, Y:156.34, Z:9.46 [[-2.12614296e-01 -9.77124177e-01 4.84804318e-03 9.27497474e+02] [ 9.76915715e-01 -2.12669098e-01 -2.01876194e-02 1.56343955e+02] [ 2.07568400e-02 4.43953082e-04 9.99784455e-01 9.46462803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.49, Y:156.37, Z:9.46 [[-2.11495380e-01 -9.77366261e-01 4.98968383e-03 9.27489907e+02] [ 9.77146092e-01 -2.11553670e-01 -2.07499069e-02 1.56370273e+02] [ 2.13358448e-02 4.87140611e-04 9.99772246e-01 9.46395398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6792541539999 meters Centerline goodness [0,1] 0.999802817518568 Centerline is valid? [True, True] Translation: X:927.48, Y:156.40, Z:9.46 [[-2.10943033e-01 -9.77483661e-01 5.36000788e-03 9.27482108e+02] [ 9.77230207e-01 -2.11010426e-01 -2.22648236e-02 1.56396311e+02] [ 2.28945188e-02 5.41352180e-04 9.99737740e-01 9.46197968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.47, Y:156.42, Z:9.46 [[-2.10630304e-01 -9.77552018e-01 5.18916282e-03 9.27473785e+02] [ 9.77315060e-01 -2.10693532e-01 -2.15292496e-02 1.56421604e+02] [ 2.21392844e-02 5.36734585e-04 9.99754752e-01 9.46145923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7392541539998 meters Centerline goodness [0,1] 0.9998472149467434 Centerline is valid? [True, True] Translation: X:927.47, Y:156.45, Z:9.46 [[-2.09794952e-01 -9.77729285e-01 5.61460527e-03 9.27468676e+02] [ 9.77452689e-01 -2.09869189e-01 -2.32629435e-02 1.56448975e+02] [ 2.39231938e-02 6.07562908e-04 9.99713615e-01 9.46084114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7692541539999 meters Centerline goodness [0,1] 0.9999342940996101 Centerline is valid? [True, True] Translation: X:927.46, Y:156.48, Z:9.46 [[-2.09710499e-01 -9.77748279e-01 5.45982259e-03 9.27462539e+02] [ 9.77487415e-01 -2.09780705e-01 -2.25922552e-02 1.56475785e+02] [ 2.32349041e-02 5.99074769e-04 9.99729854e-01 9.46167727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.46, Y:156.50, Z:9.46 [[-2.09921698e-01 -9.77704729e-01 5.13260970e-03 9.27457701e+02] [ 9.77474776e-01 -2.09983677e-01 -2.12112520e-02 1.56503965e+02] [ 2.18161056e-02 5.64294484e-04 9.99761841e-01 9.46372006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8292541539998 meters Centerline goodness [0,1] 0.9998690470993933 Centerline is valid? [True, True] Translation: X:927.45, Y:156.53, Z:9.46 [[-2.10400923e-01 -9.77600655e-01 5.33029107e-03 9.27450809e+02] [ 9.77353270e-01 -2.10467629e-01 -2.19991580e-02 1.56530415e+02] [ 2.26282450e-02 5.80934255e-04 9.99743780e-01 9.46355744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8592541539998 meters Centerline goodness [0,1] 0.9998252893644901 Centerline is valid? [True, True] Translation: X:927.44, Y:156.56, Z:9.46 [[-2.11180112e-01 -9.77433369e-01 5.19323632e-03 9.27444985e+02] [ 9.77199132e-01 -2.11243229e-01 -2.14045270e-02 1.56557410e+02] [ 2.20185349e-02 5.54615621e-04 9.99757409e-01 9.46427463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8892541539999 meters Centerline goodness [0,1] 0.9999781186407299 Centerline is valid? [True, True] Translation: X:927.44, Y:156.59, Z:9.47 [[-2.12678536e-01 -9.77110129e-01 4.86163747e-03 9.27440059e+02] [ 9.76905191e-01 -2.12733526e-01 -2.00173776e-02 1.56585637e+02] [ 2.05934157e-02 4.92092314e-04 9.99787812e-01 9.46602391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.43, Y:156.61, Z:9.47 [[-2.13781335e-01 -9.76870394e-01 4.66630051e-03 9.27433415e+02] [ 9.76681855e-01 -2.13831775e-01 -1.91970212e-02 1.56611503e+02] [ 1.97508050e-02 4.53526216e-04 9.99804831e-01 9.46567928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9492541539998 meters Centerline goodness [0,1] 0.9998683835303924 Centerline is valid? [True, True] Translation: X:927.43, Y:156.64, Z:9.46 [[-2.16783640e-01 -9.76207224e-01 4.93049706e-03 9.27428807e+02] [ 9.75997025e-01 -2.16839296e-01 -2.02614430e-02 1.56639580e+02] [ 2.08484926e-02 4.19801083e-04 9.99782558e-01 9.46498614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9792541539998 meters Centerline goodness [0,1] 0.9999121882683526 Centerline is valid? [True, True] Translation: X:927.42, Y:156.67, Z:9.47 [[-2.18590893e-01 -9.75804342e-01 4.88958796e-03 9.27423507e+02] [ 9.75598058e-01 -2.18645236e-01 -2.00671201e-02 1.56665500e+02] [ 2.06506681e-02 3.83782814e-04 9.99786679e-01 9.46502817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0092541539999 meters Centerline goodness [0,1] 0.9999560023758717 Centerline is valid? [True, True] Translation: X:927.42, Y:156.69, Z:9.47 [[-2.20537656e-01 -9.75366477e-01 4.83509390e-03 9.27418829e+02] [ 9.75165183e-01 -2.20590384e-01 -1.98178754e-02 1.56693635e+02] [ 2.03962666e-02 3.44427423e-04 9.99791915e-01 9.46553458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0392541539999 meters Centerline goodness [0,1] 0.9999779142188259 Centerline is valid? [True, True] Translation: X:927.42, Y:156.72, Z:9.47 [[-2.24615816e-01 -9.74434946e-01 4.92661738e-03 9.27415054e+02] [ 9.74226241e-01 -2.24669677e-01 -2.01684930e-02 1.56720523e+02] [ 2.07597459e-02 2.69477425e-04 9.99784457e-01 9.46522119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0692541539999 meters Centerline goodness [0,1] 0.9999779142188259 Centerline is valid? [True, True] Translation: X:927.41, Y:156.75, Z:9.47 [[-2.24921345e-01 -9.74364438e-01 4.93257646e-03 9.27408582e+02] [ 9.74155748e-01 -2.24975264e-01 -2.01670360e-02 1.56746501e+02] [ 2.07597504e-02 2.69100843e-04 9.99784457e-01 9.46547094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0992541539998 meters Centerline goodness [0,1] 0.9999779517142542 Centerline is valid? [True, True] Translation: X:927.40, Y:156.77, Z:9.47 [[-2.27138171e-01 -9.73849725e-01 4.99648426e-03 9.27403426e+02] [ 9.73636050e-01 -2.27193003e-01 -2.04005533e-02 1.56773074e+02] [ 2.10022394e-02 2.31012838e-04 9.99779402e-01 9.46551577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1292541539999 meters Centerline goodness [0,1] 0.9998234697029877 Centerline is valid? [True, True] Translation: X:927.40, Y:156.80, Z:9.46 [[-2.29692536e-01 -9.73248638e-01 5.33170103e-03 9.27398369e+02] [ 9.73005814e-01 -2.29754326e-01 -2.17401695e-02 1.56800430e+02] [ 2.23835717e-02 1.94221452e-04 9.99749438e-01 9.46476513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1592541539999 meters Centerline goodness [0,1] 0.9999779088519231 Centerline is valid? [True, True] Translation: X:927.39, Y:156.83, Z:9.47 [[-2.33810374e-01 -9.72269664e-01 4.94053720e-03 9.27394804e+02] [ 9.72061431e-01 -2.33862545e-01 -2.01217404e-02 1.56827561e+02] [ 2.07191644e-02 9.78340270e-05 9.99785330e-01 9.46558501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.39, Y:156.85, Z:9.47 [[-2.35822414e-01 -9.71783492e-01 4.96330304e-03 9.27389664e+02] [ 9.71573749e-01 -2.35874631e-01 -2.01893025e-02 1.56853904e+02] [ 2.07903481e-02 6.11249094e-05 9.99783855e-01 9.46612704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2192541539998 meters Centerline goodness [0,1] 0.9997568469683238 Centerline is valid? [True, True] Translation: X:927.39, Y:156.88, Z:9.47 [[-2.40267178e-01 -9.70692842e-01 5.20473262e-03 9.27386453e+02] [ 9.70462549e-01 -2.40323543e-01 -2.11432072e-02 1.56881689e+02] [ 2.17743797e-02 -2.90206510e-05 9.99762910e-01 9.46585258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2492541539998 meters Centerline goodness [0,1] 0.9999115357395613 Centerline is valid? [True, True] Translation: X:927.38, Y:156.91, Z:9.47 [[-2.42357351e-01 -9.70174227e-01 4.98835048e-03 9.27381634e+02] [ 9.69963129e-01 -2.42408674e-01 -2.02376754e-02 1.56908376e+02] [ 2.08432905e-02 -6.62333706e-05 9.99782753e-01 9.46808776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2792541539999 meters Centerline goodness [0,1] 0.999955721844628 Centerline is valid? [True, True] Translation: X:927.38, Y:156.93, Z:9.47 [[-2.44828383e-01 -9.69553980e-01 4.91363177e-03 9.27376631e+02] [ 9.69349583e-01 -2.44877660e-01 -1.99077125e-02 1.56934946e+02] [ 2.05048406e-02 -1.10946161e-04 9.99789748e-01 9.46815320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3092541539999 meters Centerline goodness [0,1] 0.9999114711285217 Centerline is valid? [True, True] Translation: X:927.37, Y:156.96, Z:9.47 [[-2.46989465e-01 -9.69005143e-01 5.02355280e-03 9.27371839e+02] [ 9.68791964e-01 -2.47040500e-01 -2.03254226e-02 1.56961509e+02] [ 2.09364600e-02 -1.53387676e-04 9.99780797e-01 9.46827413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.37, Y:156.99, Z:9.47 [[-2.51067171e-01 -9.67957895e-01 4.77392147e-03 9.27367550e+02] [ 9.67765661e-01 -2.51112454e-01 -1.92914886e-02 1.56989528e+02] [ 1.98721398e-02 -2.23422195e-04 9.99802505e-01 9.46938407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3692541539998 meters Centerline goodness [0,1] 0.9999114848417792 Centerline is valid? [True, True] Translation: X:927.36, Y:157.02, Z:9.47 [[-2.53188421e-01 -9.67404072e-01 4.99851052e-03 9.27362272e+02] [ 9.67193730e-01 -2.53237610e-01 -2.01742777e-02 1.57016834e+02] [ 2.07824892e-02 -2.73365490e-04 9.99783983e-01 9.46968801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3992541539999 meters Centerline goodness [0,1] 0.9999556157209116 Centerline is valid? [True, True] Translation: X:927.36, Y:157.04, Z:9.47 [[-2.56622443e-01 -9.66499565e-01 4.84901356e-03 9.27356674e+02] [ 9.66301926e-01 -2.56668038e-01 -1.95475460e-02 1.57044832e+02] [ 2.01372815e-02 -3.30727857e-04 9.99797170e-01 9.47090828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4292541539999 meters Centerline goodness [0,1] 0.9998001509970245 Centerline is valid? [True, True] Translation: X:927.35, Y:157.07, Z:9.47 [[-2.57770889e-01 -9.66192052e-01 5.20448585e-03 9.27350189e+02] [ 9.65964862e-01 -2.57823152e-01 -2.09548876e-02 1.57072693e+02] [ 2.15882828e-02 -3.74209549e-04 9.99766876e-01 9.47103432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4592541539998 meters Centerline goodness [0,1] 0.9998227735932654 Centerline is valid? [True, True] Translation: X:927.34, Y:157.10, Z:9.47 [[-2.59046138e-01 -9.65849255e-01 5.50587949e-03 9.27343097e+02] [ 9.65595510e-01 -2.59104304e-01 -2.21420594e-02 1.57100056e+02] [ 2.28124886e-02 -4.19362438e-04 9.99739673e-01 9.47139898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4892541539998 meters Centerline goodness [0,1] 0.9999777827149522 Centerline is valid? [True, True] Translation: X:927.34, Y:157.13, Z:9.47 [[-2.59660128e-01 -9.65684906e-01 5.41121529e-03 9.27335876e+02] [ 9.65440359e-01 -2.59716167e-01 -2.17353502e-02 1.57127366e+02] [ 2.23948797e-02 -4.19598190e-04 9.99749115e-01 9.47192676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5192541539999 meters Centerline goodness [0,1] 0.9998445584349255 Centerline is valid? [True, True] Translation: X:927.33, Y:157.15, Z:9.47 [[-2.59809563e-01 -9.65642775e-01 5.74645744e-03 9.27329338e+02] [ 9.65367621e-01 -2.59872728e-01 -2.30547376e-02 1.57153818e+02] [ 2.37559884e-02 -4.42397347e-04 9.99717689e-01 9.47122371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5492541539999 meters Centerline goodness [0,1] 0.9999556413156786 Centerline is valid? [True, True] Translation: X:927.32, Y:157.18, Z:9.47 [[-2.59514955e-01 -9.65721169e-01 5.88315612e-03 9.27321850e+02] [ 9.65433458e-01 -2.59581262e-01 -2.35755735e-02 1.57180852e+02] [ 2.42945875e-02 -4.38418146e-04 9.99704747e-01 9.47122017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5792541539998 meters Centerline goodness [0,1] 0.999800607040787 Centerline is valid? [True, True] Translation: X:927.31, Y:157.21, Z:9.47 [[-2.58944895e-01 -9.65873337e-01 6.01983006e-03 9.27313925e+02] [ 9.65572874e-01 -2.59014508e-01 -2.40937746e-02 1.57207358e+02] [ 2.48307578e-02 -4.26375338e-04 9.99691578e-01 9.47171433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6092541539998 meters Centerline goodness [0,1] 0.9998898751183842 Centerline is valid? [True, True] Translation: X:927.31, Y:157.23, Z:9.47 [[-2.56524258e-01 -9.66519485e-01 5.94898749e-03 9.27305103e+02] [ 9.66226923e-01 -2.56592987e-01 -2.37817501e-02 1.57233195e+02] [ 2.45119933e-02 -3.52523913e-04 9.99699474e-01 9.47141439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6392541539999 meters Centerline goodness [0,1] 0.9998680332556196 Centerline is valid? [True, True] Translation: X:927.30, Y:157.26, Z:9.47 [[-2.54449743e-01 -9.67068208e-01 5.86595843e-03 9.27295127e+02] [ 9.66784575e-01 -2.54517186e-01 -2.34219518e-02 1.57260041e+02] [ 2.41436122e-02 -2.88591492e-04 9.99708459e-01 9.47245934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6692541539999 meters Centerline goodness [0,1] 0.9997795900374697 Centerline is valid? [True, True] Translation: X:927.29, Y:157.28, Z:9.47 [[-2.51749043e-01 -9.67774727e-01 5.87344791e-03 9.27285845e+02] [ 9.67491312e-01 -2.51817458e-01 -2.34206913e-02 1.57284616e+02] [ 2.41449898e-02 -2.13626778e-04 9.99708444e-01 9.47229207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6992541539998 meters Centerline goodness [0,1] 0.9998679926075861 Centerline is valid? [True, True] Translation: X:927.27, Y:157.31, Z:9.47 [[-2.48142358e-01 -9.68706511e-01 5.75030326e-03 9.27274771e+02] [ 9.68435790e-01 -2.48208950e-01 -2.29005917e-02 1.57311078e+02] [ 2.36112291e-02 -1.13807337e-04 9.99721210e-01 9.47337759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7292541539998 meters Centerline goodness [0,1] 0.9998468438901652 Centerline is valid? [True, True] Translation: X:927.26, Y:157.34, Z:9.47 [[-2.40398452e-01 -9.70657713e-01 5.67355535e-03 9.27259540e+02] [ 9.70395367e-01 -2.40465379e-01 -2.25662066e-02 1.57335470e+02] [ 2.32683562e-02 8.07106745e-05 9.99729252e-01 9.47396073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.24, Y:157.36, Z:9.47 [[-2.32669173e-01 -9.72540678e-01 5.44855697e-03 9.27244801e+02] [ 9.72299824e-01 -2.32732813e-01 -2.16446286e-02 1.57360604e+02] [ 2.23183398e-02 2.61593154e-04 9.99750881e-01 9.47499461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7892541539999 meters Centerline goodness [0,1] 0.9998693351336049 Centerline is valid? [True, True] Translation: X:927.23, Y:157.39, Z:9.47 [[-2.29609545e-01 -9.73267256e-01 5.50497185e-03 9.27234694e+02] [ 9.73022171e-01 -2.29675274e-01 -2.18431654e-02 1.57387154e+02] [ 2.25235936e-02 3.41060399e-04 9.99746254e-01 9.47490207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.22, Y:157.41, Z:9.48 [[-2.26383682e-01 -9.74022749e-01 5.48757303e-03 9.27224568e+02] [ 9.73779985e-01 -2.26449792e-01 -2.17493328e-02 1.57413740e+02] [ 2.24270047e-02 4.19994747e-04 9.99748395e-01 9.47557464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8492541539998 meters Centerline goodness [0,1] 0.9999782343722793 Centerline is valid? [True, True] Translation: X:927.21, Y:157.44, Z:9.48 [[-2.23995607e-01 -9.74574591e-01 5.50765850e-03 9.27214929e+02] [ 9.74330661e-01 -2.24062792e-01 -2.18088924e-02 1.57440169e+02] [ 2.24884537e-02 4.81184458e-04 9.99746987e-01 9.47578200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.20, Y:157.47, Z:9.48 [[-2.20009468e-01 -9.75483012e-01 5.35971481e-03 9.27202370e+02] [ 9.75252725e-01 -2.20074025e-01 -2.12025124e-02 1.57466485e+02] [ 2.18622247e-02 5.62322986e-04 9.99760835e-01 9.47541279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9092541539999 meters Centerline goodness [0,1] 0.9998487173391541 Centerline is valid? [True, True] Translation: X:927.19, Y:157.49, Z:9.47 [[-2.19207889e-01 -9.75663941e-01 5.27018869e-03 9.27191738e+02] [ 9.75441829e-01 -2.19270477e-01 -2.08253696e-02 1.57492141e+02] [ 2.14741589e-02 5.75677205e-04 9.99769238e-01 9.47379147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.18, Y:157.52, Z:9.48 [[-2.17442929e-01 -9.76059959e-01 5.05258246e-03 9.27182715e+02] [ 9.75856382e-01 -2.17500811e-01 -1.99429119e-02 1.57518820e+02] [ 2.05644185e-02 5.94149667e-04 9.99788353e-01 9.47611324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.17, Y:157.55, Z:9.48 [[-2.17639266e-01 -9.76016476e-01 4.99891404e-03 9.27174613e+02] [ 9.75817668e-01 -2.17695872e-01 -1.97075083e-02 1.57546028e+02] [ 2.03230957e-02 5.88901002e-04 9.99793291e-01 9.47675987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9992541539998 meters Centerline goodness [0,1] 0.9998701270590272 Centerline is valid? [True, True] Translation: X:927.17, Y:157.57, Z:9.48 [[-2.18336340e-01 -9.75861298e-01 4.89600766e-03 9.27166441e+02] [ 9.75670977e-01 -2.18390490e-01 -1.92805410e-02 1.57571201e+02] [ 1.98843753e-02 5.67249822e-04 9.99802125e-01 9.47565444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0292541539999 meters Centerline goodness [0,1] 0.9998488741121354 Centerline is valid? [True, True] Translation: X:927.16, Y:157.60, Z:9.48 [[-2.20812547e-01 -9.75305156e-01 4.65537591e-03 9.27159261e+02] [ 9.75133337e-01 -2.20861059e-01 -1.83130580e-02 1.57598058e+02] [ 1.88890112e-02 4.95859264e-04 9.99821464e-01 9.47540278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.15, Y:157.62, Z:9.48 [[-2.22385200e-01 -9.74947392e-01 4.73342177e-03 9.27153418e+02] [ 9.74770135e-01 -2.22435055e-01 -1.85965246e-02 1.57624239e+02] [ 1.91835121e-02 4.78406352e-04 9.99815865e-01 9.47683485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.15, Y:157.65, Z:9.48 [[-2.24812184e-01 -9.74390650e-01 4.72693272e-03 9.27146835e+02] [ 9.74214193e-01 -2.24861452e-01 -1.85481407e-02 1.57650132e+02] [ 1.91360398e-02 4.35196912e-04 9.99816795e-01 9.47638927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.14, Y:157.68, Z:9.48 [[-2.29837289e-01 -9.73218072e-01 4.62651789e-03 9.27143014e+02] [ 9.73049185e-01 -2.29883606e-01 -1.81331734e-02 1.57677983e+02] [ 1.87110927e-02 3.34150049e-04 9.99824876e-01 9.47657398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.14, Y:157.71, Z:9.48 [[-2.32707017e-01 -9.72536189e-01 4.56129014e-03 9.27137697e+02] [ 9.72372282e-01 -2.32751548e-01 -1.78566967e-02 1.57705974e+02] [ 1.84279311e-02 2.79893480e-04 9.99830152e-01 9.47692793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1792541539999 meters Centerline goodness [0,1] 0.9998706534158277 Centerline is valid? [True, True] Translation: X:927.13, Y:157.73, Z:9.48 [[-2.37404168e-01 -9.71401183e-01 4.35918363e-03 9.27133838e+02] [ 9.71251625e-01 -2.37444113e-01 -1.70462325e-02 1.57734192e+02] [ 1.75937929e-02 1.87017539e-04 9.99845200e-01 9.47735827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.13, Y:157.76, Z:9.48 [[-2.38834201e-01 -9.71050627e-01 4.34779976e-03 9.27128248e+02] [ 9.70902078e-01 -2.38873716e-01 -1.69853608e-02 1.57762221e+02] [ 1.75322203e-02 1.64602752e-04 9.99846285e-01 9.47985177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.12, Y:157.79, Z:9.48 [[-2.41201906e-01 -9.70465551e-01 4.27248169e-03 9.27122494e+02] [ 9.70322284e-01 -2.41239711e-01 -1.66753481e-02 1.57789947e+02] [ 1.72135431e-02 1.23558449e-04 9.99851828e-01 9.48022412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2692541539999 meters Centerline goodness [0,1] 0.9999353308902781 Centerline is valid? [True, True] Translation: X:927.12, Y:157.82, Z:9.48 [[-2.42120176e-01 -9.70236572e-01 4.33767420e-03 9.27115746e+02] [ 9.70089218e-01 -2.42159002e-01 -1.69093774e-02 1.57817611e+02] [ 1.74565033e-02 1.13829526e-04 9.99847617e-01 9.48042024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.11, Y:157.84, Z:9.48 [[-2.42634049e-01 -9.70107916e-01 4.39891956e-03 9.27108799e+02] [ 9.69956715e-01 -2.42673896e-01 -1.71275149e-02 1.57844644e+02] [ 1.76830407e-02 1.11043280e-04 9.99843637e-01 9.48052307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3292541539998 meters Centerline goodness [0,1] 0.9998914600790171 Centerline is valid? [True, True] Translation: X:927.10, Y:157.87, Z:9.48 [[-2.42778249e-01 -9.70071932e-01 4.37811532e-03 9.27101343e+02] [ 9.69922508e-01 -2.42817696e-01 -1.70262883e-02 1.57871970e+02] [ 1.75798082e-02 1.12820141e-04 9.99845457e-01 9.47854910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.09, Y:157.90, Z:9.48 [[-2.42059252e-01 -9.70250272e-01 4.66129463e-03 9.27093442e+02] [ 9.70081351e-01 -2.42104089e-01 -1.81047559e-02 1.57898116e+02] [ 1.86946628e-02 1.39411331e-04 9.99825230e-01 9.47914391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3892541539999 meters Centerline goodness [0,1] 0.9999565651739565 Centerline is valid? [True, True] Translation: X:927.09, Y:157.92, Z:9.48 [[-2.41130215e-01 -9.70482530e-01 4.45859979e-03 9.27085460e+02] [ 9.70328409e-01 -2.41171382e-01 -1.72957793e-02 1.57924215e+02] [ 1.78605384e-02 1.55771039e-04 9.99840476e-01 9.47916711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4192541539999 meters Centerline goodness [0,1] 0.9999783587257618 Centerline is valid? [True, True] Translation: X:927.08, Y:157.95, Z:9.48 [[-2.40315051e-01 -9.70684619e-01 4.47736519e-03 9.27077331e+02] [ 9.70529622e-01 -2.40356692e-01 -1.73468417e-02 1.57951478e+02] [ 1.79144771e-02 1.76708399e-04 9.99839507e-01 9.48000521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4492541539998 meters Centerline goodness [0,1] 0.9998919526320339 Centerline is valid? [True, True] Translation: X:927.07, Y:157.98, Z:9.48 [[-2.40049905e-01 -9.70750936e-01 4.32019088e-03 9.27069667e+02] [ 9.70607002e-01 -2.40088709e-01 -1.67170152e-02 1.57976438e+02] [ 1.72652872e-02 1.80289614e-04 9.99850928e-01 9.47917972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.06, Y:158.00, Z:9.48 [[-2.38679843e-01 -9.71087950e-01 4.48607303e-03 9.27061786e+02] [ 9.70933215e-01 -2.38721899e-01 -1.73362947e-02 1.58003511e+02] [ 1.79059908e-02 2.17853194e-04 9.99839651e-01 9.48099609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5092541539999 meters Centerline goodness [0,1] 0.9999351281219592 Centerline is valid? [True, True] Translation: X:927.05, Y:158.03, Z:9.48 [[-2.37647623e-01 -9.71341302e-01 4.43650494e-03 9.27053488e+02] [ 9.71190380e-01 -2.37688910e-01 -1.71238970e-02 1.58029198e+02] [ 1.76876564e-02 2.39237509e-04 9.99843533e-01 9.48026257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.05, Y:158.05, Z:9.48 [[-2.36679203e-01 -9.71576991e-01 4.59405453e-03 9.27045437e+02] [ 9.71415618e-01 -2.36723629e-01 -1.77093317e-02 1.58054658e+02] [ 1.82935005e-02 2.71305815e-04 9.99832623e-01 9.48078974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5692541539999 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:927.04, Y:158.08, Z:9.48 [[-2.36095573e-01 -9.71719846e-01 4.40689773e-03 9.27038073e+02] [ 9.71571742e-01 -2.36136538e-01 -1.69672150e-02 1.58080714e+02] [ 1.75280091e-02 2.75732956e-04 9.99846335e-01 9.48069123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.03, Y:158.11, Z:9.48 [[-2.35868727e-01 -9.71775111e-01 4.36767136e-03 9.27030965e+02] [ 9.71630012e-01 -2.35908993e-01 -1.67948463e-02 1.58106790e+02] [ 1.73511866e-02 2.82381556e-04 9.99849417e-01 9.48213093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6292541539999 meters Centerline goodness [0,1] 0.9999568565696658 Centerline is valid? [True, True] Translation: X:927.02, Y:158.13, Z:9.48 [[-2.36486603e-01 -9.71625629e-01 4.21004589e-03 9.27024855e+02] [ 9.71491131e-01 -2.36523924e-01 -1.61683772e-02 1.58133021e+02] [ 1.67053862e-02 2.66417648e-04 9.99860420e-01 9.48287238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6592541539999 meters Centerline goodness [0,1] 0.9999783226030218 Centerline is valid? [True, True] Translation: X:927.02, Y:158.16, Z:9.48 [[-2.37401684e-01 -9.71403809e-01 3.88335542e-03 9.27017548e+02] [ 9.71289634e-01 -2.37433326e-01 -1.48950193e-02 1.58158274e+02] [ 1.53911165e-02 2.35760198e-04 9.99881522e-01 9.48423087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.01, Y:158.18, Z:9.49 [[-2.37762232e-01 -9.71315877e-01 3.81957897e-03 9.27011494e+02] [ 9.71205698e-01 -2.37792798e-01 -1.46313932e-02 1.58184449e+02] [ 1.51199729e-02 2.30804162e-04 9.99885660e-01 9.48562931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7192541539998 meters Centerline goodness [0,1] 0.9998700623700624 Centerline is valid? [True, True] Translation: X:927.01, Y:158.21, Z:9.48 [[-2.39789218e-01 -9.70817729e-01 3.75067502e-03 9.27005450e+02] [ 9.70711669e-01 -2.39818467e-01 -1.43512660e-02 1.58210415e+02] [ 1.48319446e-02 1.99545141e-04 9.99889981e-01 9.48460925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7492541539998 meters Centerline goodness [0,1] 0.9999347982004303 Centerline is valid? [True, True] Translation: X:927.00, Y:158.24, Z:9.49 [[-2.40426778e-01 -9.70660355e-01 3.66612484e-03 9.27001198e+02] [ 9.70559220e-01 -2.40454653e-01 -1.40128291e-02 1.58236994e+02] [ 1.44832345e-02 1.89131911e-04 9.99895095e-01 9.48648038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:927.00, Y:158.26, Z:9.49 [[-2.40825427e-01 -9.70561311e-01 3.72227943e-03 9.26995034e+02] [ 9.70457315e-01 -2.40854116e-01 -1.42089518e-02 1.58263545e+02] [ 1.46871852e-02 1.90436424e-04 9.99892119e-01 9.48721733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.99, Y:158.29, Z:9.49 [[-2.41979143e-01 -9.70273288e-01 3.97995338e-03 9.26989290e+02] [ 9.70154674e-01 -2.42011797e-01 -1.51722737e-02 1.58289701e+02] [ 1.56844475e-02 1.89796593e-04 9.99876973e-01 9.48707875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8392541539998 meters Centerline goodness [0,1] 0.9998697351280937 Centerline is valid? [True, True] Translation: X:926.98, Y:158.32, Z:9.49 [[-2.43247445e-01 -9.69955169e-01 4.20125610e-03 9.26983533e+02] [ 9.69823285e-01 -2.43283654e-01 -1.59955975e-02 1.58317076e+02] [ 1.65371094e-02 1.83587771e-04 9.99863236e-01 9.48615076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8692541539998 meters Centerline goodness [0,1] 0.9998910081743869 Centerline is valid? [True, True] Translation: X:926.98, Y:158.34, Z:9.49 [[-2.43546296e-01 -9.69879560e-01 4.34063803e-03 9.26976626e+02] [ 9.69739110e-01 -2.43584900e-01 -1.65061923e-02 1.58342833e+02] [ 1.70663325e-02 1.89264457e-04 9.99854342e-01 9.48579757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8992541539999 meters Centerline goodness [0,1] 0.9999564857926113 Centerline is valid? [True, True] Translation: X:926.97, Y:158.37, Z:9.49 [[-2.43788296e-01 -9.69818527e-01 4.39212876e-03 9.26969987e+02] [ 9.69675062e-01 -2.43827782e-01 -1.66819241e-02 1.58370055e+02] [ 1.72493621e-02 1.92079878e-04 9.99851200e-01 9.48613017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9292541539999 meters Centerline goodness [0,1] 0.9999564801114109 Centerline is valid? [True, True] Translation: X:926.96, Y:158.40, Z:9.48 [[-2.43712724e-01 -9.69836167e-01 4.68171328e-03 9.26962971e+02] [ 9.69673584e-01 -2.43757596e-01 -1.77588301e-02 1.58395126e+02] [ 1.83643589e-02 2.11680829e-04 9.99831339e-01 9.48453789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9592541539998 meters Centerline goodness [0,1] 0.9999564801114109 Centerline is valid? [True, True] Translation: X:926.96, Y:158.42, Z:9.48 [[-2.44006194e-01 -9.69762345e-01 4.68737884e-03 9.26956016e+02] [ 9.69599777e-01 -2.44051121e-01 -1.77573351e-02 1.58420967e+02] [ 1.83643550e-02 2.11981723e-04 9.99831339e-01 9.48478737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9892541539998 meters Centerline goodness [0,1] 0.9999782712615706 Centerline is valid? [True, True] Translation: X:926.95, Y:158.45, Z:9.49 [[-2.43979353e-01 -9.69769394e-01 4.62582641e-03 9.26950358e+02] [ 9.69611445e-01 -2.44023107e-01 -1.75034003e-02 1.58448706e+02] [ 1.81030704e-02 2.14785955e-04 9.99836103e-01 9.48586992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.94, Y:158.48, Z:9.49 [[-2.43178972e-01 -9.69970663e-01 4.57162046e-03 9.26943267e+02] [ 9.69816795e-01 -2.43221830e-01 -1.72778871e-02 1.58475206e+02] [ 1.78709615e-02 2.32015478e-04 9.99840275e-01 9.48559193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.94, Y:158.50, Z:9.49 [[-2.43027667e-01 -9.70008754e-01 4.53541461e-03 9.26936731e+02] [ 9.69857696e-01 -2.43069867e-01 -1.71198395e-02 1.58501901e+02] [ 1.77088169e-02 2.38112102e-04 9.99843158e-01 9.48608210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.93, Y:158.53, Z:9.49 [[-2.41998387e-01 -9.70266959e-01 4.33702541e-03 9.26930291e+02] [ 9.70129214e-01 -2.42037118e-01 -1.63506119e-02 1.58528563e+02] [ 1.69141796e-02 2.50653333e-04 9.99856914e-01 9.48610172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1092541539998 meters Centerline goodness [0,1] 0.9999781873704875 Centerline is valid? [True, True] Translation: X:926.92, Y:158.56, Z:9.49 [[-2.41519440e-01 -9.70386300e-01 4.33464846e-03 9.26923378e+02] [ 9.70249079e-01 -2.41558191e-01 -1.63207228e-02 1.58555037e+02] [ 1.68844756e-02 2.63916846e-04 9.99857412e-01 9.48613483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.92, Y:158.58, Z:9.49 [[-2.40871519e-01 -9.70547561e-01 4.28300119e-03 9.26916395e+02] [ 9.70413942e-01 -2.40909436e-01 -1.61066602e-02 1.58582668e+02] [ 1.66640952e-02 2.76648361e-04 9.99861106e-01 9.48677913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.91, Y:158.61, Z:9.49 [[-2.40034354e-01 -9.70755582e-01 4.13621392e-03 9.26909309e+02] [ 9.70631280e-01 -2.40069819e-01 -1.55370946e-02 1.58609520e+02] [ 1.60757014e-02 2.85302159e-04 9.99870737e-01 9.48682977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1992541539998 meters Centerline goodness [0,1] 0.9999346348265644 Centerline is valid? [True, True] Translation: X:926.90, Y:158.64, Z:9.49 [[-2.38019067e-01 -9.71250759e-01 4.34591914e-03 9.26901687e+02] [ 9.71113947e-01 -2.38058497e-01 -1.63050412e-02 1.58636146e+02] [ 1.68708666e-02 3.39471996e-04 9.99857619e-01 9.48586469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.89, Y:158.66, Z:9.49 [[-2.36698189e-01 -9.71574895e-01 4.02381069e-03 9.26893669e+02] [ 9.71457924e-01 -2.36732145e-01 -1.50795512e-02 1.58663417e+02] [ 1.56034787e-02 3.39660316e-04 9.99878201e-01 9.48588115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.89, Y:158.69, Z:9.49 [[-2.35056231e-01 -9.71974038e-01 3.87773731e-03 9.26887951e+02] [ 9.71865699e-01 -2.35087945e-01 -1.45162440e-02 1.58691174e+02] [ 1.50210216e-02 3.56506277e-04 9.99887115e-01 9.48568043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.88, Y:158.72, Z:9.49 [[-2.34636139e-01 -9.72075626e-01 3.85478210e-03 9.26881335e+02] [ 9.71968821e-01 -2.34667518e-01 -1.44141388e-02 1.58718500e+02] [ 1.49162251e-02 3.64650144e-04 9.99888680e-01 9.48567332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.87, Y:158.75, Z:9.49 [[-2.34512132e-01 -9.72106020e-01 3.73444833e-03 9.26874795e+02] [ 9.72006014e-01 -2.34541590e-01 -1.39481893e-02 1.58746215e+02] [ 1.44350022e-02 3.58886624e-04 9.99895746e-01 9.48543708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.87, Y:158.77, Z:9.49 [[-2.34566111e-01 -9.72093268e-01 3.66296153e-03 9.26869498e+02] [ 9.71997256e-01 -2.34594441e-01 -1.36668709e-02 1.58772591e+02] [ 1.41447837e-02 3.54603794e-04 9.99899895e-01 9.48514830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3792541539999 meters Centerline goodness [0,1] 0.9999122113949609 Centerline is valid? [True, True] Translation: X:926.86, Y:158.80, Z:9.48 [[-2.34823505e-01 -9.72030155e-01 3.91137409e-03 9.26863477e+02] [ 9.71920905e-01 -2.34855774e-01 -1.45780396e-02 1.58798681e+02] [ 1.50889029e-02 3.78279883e-04 9.99886084e-01 9.48495345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.86, Y:158.83, Z:9.49 [[-2.34822230e-01 -9.72031612e-01 3.61458488e-03 9.26858183e+02] [ 9.71938542e-01 -2.34849781e-01 -1.34554925e-02 1.58826698e+02] [ 1.39280485e-02 3.53505613e-04 9.99902938e-01 9.48567669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.85, Y:158.85, Z:9.49 [[-2.34739248e-01 -9.72052346e-01 3.42382957e-03 9.26852158e+02] [ 9.71969030e-01 -2.34763971e-01 -1.27311930e-02 1.58853740e+02] [ 1.31791778e-02 3.39345636e-04 9.99913093e-01 9.48530226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.85, Y:158.88, Z:9.49 [[-2.34975691e-01 -9.71995640e-01 3.30167481e-03 9.26845195e+02] [ 9.71918320e-01 -2.34998659e-01 -1.22641876e-02 1.58879744e+02] [ 1.26966261e-02 3.27172264e-04 9.99919341e-01 9.48509062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.84, Y:158.91, Z:9.48 [[-2.36150716e-01 -9.71711174e-01 3.19914791e-03 9.26841477e+02] [ 9.71638686e-01 -2.36172188e-01 -1.18726914e-02 1.58907721e+02] [ 1.22923767e-02 3.04671286e-04 9.99924399e-01 9.48492285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5292541539999 meters Centerline goodness [0,1] 0.9998678355874708 Centerline is valid? [True, True] Translation: X:926.84, Y:158.93, Z:9.48 [[-2.37639517e-01 -9.71346676e-01 3.61870654e-03 9.26835557e+02] [ 9.71254120e-01 -2.37666843e-01 -1.34129456e-02 1.58934690e+02] [ 1.38886667e-02 3.27237709e-04 9.99903494e-01 9.48398812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5592541539999 meters Centerline goodness [0,1] 0.9998234658075336 Centerline is valid? [True, True] Translation: X:926.83, Y:158.96, Z:9.48 [[-2.40702736e-01 -9.70591729e-01 3.72688198e-03 9.26830474e+02] [ 9.70493691e-01 -2.40731404e-01 -1.37980568e-02 1.58961023e+02] [ 1.42894573e-02 2.95685447e-04 9.99897857e-01 9.48271943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5892541539998 meters Centerline goodness [0,1] 0.9998459540943201 Centerline is valid? [True, True] Translation: X:926.83, Y:158.99, Z:9.48 [[-2.42337622e-01 -9.70184743e-01 3.74709996e-03 9.26825315e+02] [ 9.70085820e-01 -2.42366432e-01 -1.38569082e-02 1.58987525e+02] [ 1.43519321e-02 2.76958365e-04 9.99896967e-01 9.48304375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.82, Y:159.01, Z:9.48 [[-2.43430830e-01 -9.69913070e-01 3.17293630e-03 9.26818592e+02] [ 9.69842276e-01 -2.43451405e-01 -1.17206399e-02 1.59013879e+02] [ 1.21404576e-02 2.24082664e-04 9.99926277e-01 9.48353686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.81, Y:159.04, Z:9.48 [[-2.44014356e-01 -9.69766702e-01 3.08842507e-03 9.26811651e+02] [ 9.69699779e-01 -2.44033805e-01 -1.13947773e-02 1.59040713e+02] [ 1.18039557e-02 2.14355871e-04 9.99930308e-01 9.48373198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6792541539999 meters Centerline goodness [0,1] 0.9999779619181947 Centerline is valid? [True, True] Translation: X:926.80, Y:159.07, Z:9.48 [[-2.44025029e-01 -9.69763626e-01 3.20861520e-03 9.26802114e+02] [ 9.69691556e-01 -2.44046018e-01 -1.18248616e-02 1.59065245e+02] [ 1.22503704e-02 2.25804886e-04 9.99924936e-01 9.48253302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7092541539998 meters Centerline goodness [0,1] 0.9999559160641862 Centerline is valid? [True, True] Translation: X:926.80, Y:159.09, Z:9.48 [[-2.44259572e-01 -9.69703761e-01 3.44635258e-03 9.26795418e+02] [ 9.69620789e-01 -2.44283763e-01 -1.26873198e-02 1.59092320e+02] [ 1.31448297e-02 2.42655804e-04 9.99913574e-01 9.48213488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.79, Y:159.12, Z:9.48 [[-2.44484912e-01 -9.69647255e-01 3.36592821e-03 9.26785796e+02] [ 9.69568285e-01 -2.44507965e-01 -1.23771944e-02 1.59117342e+02] [ 1.28245089e-02 2.37459960e-04 9.99917734e-01 9.48117479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.78, Y:159.14, Z:9.48 [[-2.44891757e-01 -9.69544398e-01 3.41870838e-03 9.26778801e+02] [ 9.69463117e-01 -2.44915502e-01 -1.25563278e-02 1.59144985e+02] [ 1.30112119e-02 2.39370512e-04 9.99915322e-01 9.48126542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7992541539999 meters Centerline goodness [0,1] 0.9998454268427328 Centerline is valid? [True, True] Translation: X:926.77, Y:159.17, Z:9.48 [[-2.45802842e-01 -9.69311811e-01 3.94666398e-03 9.26771556e+02] [ 9.69203740e-01 -2.45834379e-01 -1.44765040e-02 1.59170093e+02] [ 1.50024720e-02 2.66755671e-04 9.99887421e-01 9.48070279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.77, Y:159.20, Z:9.48 [[-2.48637610e-01 -9.68590847e-01 3.33324147e-03 9.26765406e+02] [ 9.68513865e-01 -2.48659878e-01 -1.22130356e-02 1.59197974e+02] [ 1.26582779e-02 1.91670608e-04 9.99919862e-01 9.48160755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8592541539998 meters Centerline goodness [0,1] 0.9999559897896312 Centerline is valid? [True, True] Translation: X:926.76, Y:159.22, Z:9.48 [[-2.50719365e-01 -9.68054051e-01 3.33982564e-03 9.26758685e+02] [ 9.67976888e-01 -2.50741552e-01 -1.22236879e-02 1.59224620e+02] [ 1.26706237e-02 1.68158766e-04 9.99919710e-01 9.48159892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8892541539999 meters Centerline goodness [0,1] 0.999933996303793 Centerline is valid? [True, True] Translation: X:926.75, Y:159.25, Z:9.48 [[-2.52959992e-01 -9.67471073e-01 3.31158624e-03 9.26752479e+02] [ 9.67395346e-01 -2.52981628e-01 -1.21053635e-02 1.59250764e+02] [ 1.25493594e-02 1.41440477e-04 9.99921244e-01 9.48174167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9192541539999 meters Centerline goodness [0,1] 0.999846184271243 Centerline is valid? [True, True] Translation: X:926.75, Y:159.28, Z:9.48 [[-2.57793307e-01 -9.66194331e-01 3.33547147e-03 9.26747946e+02] [ 9.66117586e-01 -2.57814870e-01 -1.21779510e-02 1.59278390e+02] [ 1.26262014e-02 8.30633905e-05 9.99920283e-01 9.48175091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.74, Y:159.31, Z:9.48 [[-2.60550800e-01 -9.65455628e-01 2.95141856e-03 9.26742071e+02] [ 9.65395613e-01 -2.60567511e-01 -1.07648500e-02 1.59305122e+02] [ 1.11620288e-02 4.44962559e-05 9.99937702e-01 9.48230999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9792541539998 meters Centerline goodness [0,1] 0.9999780137633841 Centerline is valid? [True, True] Translation: X:926.74, Y:159.33, Z:9.48 [[-2.64966378e-01 -9.64253579e-01 2.80241181e-03 9.26737659e+02] [ 9.64199529e-01 -2.64981198e-01 -1.02094741e-02 1.59333042e+02] [ 1.05871084e-02 -3.08323117e-06 9.99943955e-01 9.48261947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.73, Y:159.36, Z:9.48 [[-2.67120997e-01 -9.63659490e-01 2.60016281e-03 9.26731518e+02] [ 9.63613027e-01 -2.67133651e-01 -9.46286523e-03 1.59360129e+02] [ 9.81357086e-03 -2.21792426e-05 9.99951846e-01 9.48307416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0392541539999 meters Centerline goodness [0,1] 0.9998015698033337 Centerline is valid? [True, True] Translation: X:926.73, Y:159.39, Z:9.48 [[-2.69127491e-01 -9.63100113e-01 2.92685296e-03 9.26725690e+02] [ 9.63041350e-01 -2.69143402e-01 -1.06390053e-02 1.59385993e+02] [ 1.10341703e-02 -4.45683730e-05 9.99939121e-01 9.48322209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.72, Y:159.41, Z:9.48 [[-2.70714147e-01 -9.62656568e-01 2.48666807e-03 9.26718956e+02] [ 9.62614201e-01 -2.70725563e-01 -9.03157626e-03 1.59411994e+02] [ 9.36751081e-03 -5.12734666e-05 9.99956123e-01 9.48368158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.71, Y:159.44, Z:9.48 [[-2.72924376e-01 -9.62032667e-01 2.33067653e-03 9.26712719e+02] [ 9.61995512e-01 -2.72934319e-01 -8.45527801e-03 1.59437768e+02] [ 8.77037527e-03 -6.55511085e-05 9.99961537e-01 9.48359308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1292541539999 meters Centerline goodness [0,1] 0.999801727176595 Centerline is valid? [True, True] Translation: X:926.71, Y:159.46, Z:9.48 [[-2.73929749e-01 -9.61745907e-01 2.70259811e-03 9.26705132e+02] [ 9.61696079e-01 -2.73943068e-01 -9.79011758e-03 1.59464548e+02] [ 1.01559635e-02 -8.27264419e-05 9.99948423e-01 9.48343140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.70, Y:159.49, Z:9.48 [[-2.73574123e-01 -9.61847835e-01 2.43750312e-03 9.26697863e+02] [ 9.61807388e-01 -2.73584973e-01 -8.82100177e-03 1.59491020e+02] [ 9.15132568e-03 -6.87893187e-05 9.99958123e-01 9.48377595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.69, Y:159.52, Z:9.48 [[-2.73268047e-01 -9.61934660e-01 2.50669022e-03 9.26689522e+02] [ 9.61891991e-01 -2.73279537e-01 -9.06046940e-03 1.59517482e+02] [ 9.40060669e-03 -6.47715382e-05 9.99955811e-01 9.48390037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2192541539998 meters Centerline goodness [0,1] 0.9998240985048373 Centerline is valid? [True, True] Translation: X:926.68, Y:159.54, Z:9.48 [[-2.72785125e-01 -9.62070959e-01 2.78319056e-03 9.26681004e+02] [ 9.62018506e-01 -2.72799315e-01 -1.00463093e-02 1.59543903e+02] [ 1.04245149e-02 -6.30029050e-05 9.99945661e-01 9.48373232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2492541539998 meters Centerline goodness [0,1] 0.9998459134033326 Centerline is valid? [True, True] Translation: X:926.67, Y:159.57, Z:9.48 [[-2.69626796e-01 -9.62961066e-01 2.71598534e-03 9.26670594e+02] [ 9.62911280e-01 -2.69640474e-01 -9.79191165e-03 1.59568009e+02] [ 1.01615692e-02 -2.49088443e-05 9.99948370e-01 9.48373592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2792541539999 meters Centerline goodness [0,1] 0.9998905141455724 Centerline is valid? [True, True] Translation: X:926.66, Y:159.59, Z:9.48 [[-2.65135117e-01 -9.64207781e-01 2.59310622e-03 9.26658280e+02] [ 9.64162568e-01 -2.65147796e-01 -9.33750360e-03 1.59592883e+02] [ 9.69085003e-03 2.44758433e-05 9.99953042e-01 9.48368781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3092541539999 meters Centerline goodness [0,1] 0.9998901002285915 Centerline is valid? [True, True] Translation: X:926.65, Y:159.62, Z:9.48 [[-2.62751889e-01 -9.64859737e-01 2.67081204e-03 9.26648437e+02] [ 9.64811922e-01 -2.62765457e-01 -9.60570167e-03 1.59617222e+02] [ 9.96995193e-03 5.29150408e-05 9.99950297e-01 9.48379880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.64, Y:159.64, Z:9.48 [[-2.60213042e-01 -9.65547693e-01 2.61252024e-03 9.26638242e+02] [ 9.65502060e-01 -2.60226144e-01 -9.38753232e-03 1.59643598e+02] [ 9.74395625e-03 7.96353408e-05 9.99952523e-01 9.48436259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.63, Y:159.67, Z:9.48 [[-2.58043904e-01 -9.66129840e-01 2.54473927e-03 9.26628383e+02] [ 9.66086663e-01 -2.58056431e-01 -9.13444438e-03 1.59669564e+02] [ 9.48174562e-03 1.01350986e-04 9.99955042e-01 9.48444898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.62, Y:159.70, Z:9.49 [[-2.54585333e-01 -9.67046534e-01 2.70359987e-03 9.26617798e+02] [ 9.66997959e-01 -2.54599646e-01 -9.69365034e-03 1.59695237e+02] [ 1.00625465e-02 1.46514355e-04 9.99949361e-01 9.48502646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4292541539999 meters Centerline goodness [0,1] 0.9998682303333772 Centerline is valid? [True, True] Translation: X:926.61, Y:159.72, Z:9.49 [[-2.53613005e-01 -9.67301730e-01 2.79425884e-03 9.26609305e+02] [ 9.67249982e-01 -2.53628344e-01 -1.00067970e-02 1.59721892e+02] [ 1.03882952e-02 1.64892970e-04 9.99946027e-01 9.48506708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4592541539998 meters Centerline goodness [0,1] 0.9999339904946313 Centerline is valid? [True, True] Translation: X:926.60, Y:159.75, Z:9.49 [[-2.51417618e-01 -9.67874685e-01 2.78850451e-03 9.26597129e+02] [ 9.67823296e-01 -2.51433009e-01 -9.97544815e-03 1.59746595e+02] [ 1.03561058e-02 1.90776209e-04 9.99946356e-01 9.48528973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.59, Y:159.77, Z:9.49 [[-2.50662225e-01 -9.68070420e-01 2.84792671e-03 9.26590084e+02] [ 9.68016922e-01 -2.50678319e-01 -1.01793048e-02 1.59773650e+02] [ 1.05681974e-02 2.05274045e-04 9.99944134e-01 9.48543291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5192541539999 meters Centerline goodness [0,1] 0.9999561297681459 Centerline is valid? [True, True] Translation: X:926.58, Y:159.80, Z:9.48 [[-2.49952884e-01 -9.68252167e-01 3.36096183e-03 9.26580713e+02] [ 9.68177865e-01 -2.49975349e-01 -1.19977373e-02 1.59799283e+02] [ 1.24569928e-02 2.55139802e-04 9.99922376e-01 9.48424178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.57, Y:159.82, Z:9.48 [[-2.50018860e-01 -9.68234405e-01 3.56454780e-03 9.26572490e+02] [ 9.68151038e-01 -2.50044119e-01 -1.27085076e-02 1.59824475e+02] [ 1.31961085e-02 2.73654080e-04 9.99912890e-01 9.48369340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5792541539998 meters Centerline goodness [0,1] 0.9999561979851073 Centerline is valid? [True, True] Translation: X:926.57, Y:159.85, Z:9.48 [[-2.50708120e-01 -9.68055114e-01 3.83851727e-03 9.26565084e+02] [ 9.67958669e-01 -2.50737337e-01 -1.36675916e-02 1.59851549e+02] [ 1.41934415e-02 2.88949870e-04 9.99899226e-01 9.48326796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.56, Y:159.88, Z:9.48 [[-2.52503950e-01 -9.67587329e-01 4.06398432e-03 9.26558209e+02] [ 9.67479422e-01 -2.52536494e-01 -1.44529130e-02 1.59876665e+02] [ 1.50107598e-02 2.82403601e-04 9.99887292e-01 9.48244272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.55, Y:159.90, Z:9.48 [[-2.54263938e-01 -9.67125638e-01 4.22508041e-03 9.26551595e+02] [ 9.67009244e-01 -2.54298896e-01 -1.50064691e-02 1.59903281e+02] [ 1.55875743e-02 2.70087877e-04 9.99878470e-01 9.48211018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.54, Y:159.93, Z:9.48 [[-2.56313701e-01 -9.66583944e-01 4.33197933e-03 9.26544689e+02] [ 9.66461816e-01 -2.56350186e-01 -1.53668736e-02 1.59928842e+02] [ 1.59638770e-02 2.47952352e-04 9.99872538e-01 9.48156564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.54, Y:159.96, Z:9.48 [[-2.61235453e-01 -9.65264576e-01 4.50966028e-03 9.26542614e+02] [ 9.65132345e-01 -2.61274314e-01 -1.59777654e-02 1.59957634e+02] [ 1.66010293e-02 1.78460230e-04 9.99862178e-01 9.48229097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7292541539998 meters Centerline goodness [0,1] 0.9999340688321392 Centerline is valid? [True, True] Translation: X:926.54, Y:159.98, Z:9.48 [[-2.64117137e-01 -9.64479694e-01 4.58891965e-03 9.26536892e+02] [ 9.64342961e-01 -2.64156964e-01 -1.62404234e-02 1.59984013e+02] [ 1.68757536e-02 1.35918241e-04 9.99857585e-01 9.48192521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.53, Y:160.01, Z:9.48 [[-2.69554783e-01 -9.62974596e-01 4.48849899e-03 9.26534144e+02] [ 9.62843857e-01 -2.69592147e-01 -1.58676191e-02 1.60012578e+02] [ 1.64901782e-02 4.45310432e-05 9.99864027e-01 9.48374773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7892541539999 meters Centerline goodness [0,1] 0.9997582523845105 Centerline is valid? [True, True] Translation: X:926.53, Y:160.04, Z:9.48 [[-2.72990038e-01 -9.62005691e-01 4.63574652e-03 9.26528935e+02] [ 9.61866397e-01 -2.73029395e-01 -1.63702035e-02 1.60040742e+02] [ 1.70139240e-02 -9.93367452e-06 9.99855253e-01 9.48361588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8192541539999 meters Centerline goodness [0,1] 0.9998682013882787 Centerline is valid? [True, True] Translation: X:926.52, Y:160.07, Z:9.48 [[-2.75666832e-01 -9.61242591e-01 4.52536563e-03 9.26523405e+02] [ 9.61110033e-01 -2.75703969e-01 -1.59632516e-02 1.60068860e+02] [ 1.65922186e-02 -5.11646927e-05 9.99862338e-01 9.48488918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8492541539998 meters Centerline goodness [0,1] 0.9998898823943972 Centerline is valid? [True, True] Translation: X:926.52, Y:160.10, Z:9.49 [[-2.80526570e-01 -9.59835577e-01 4.52861939e-03 9.26518991e+02] [ 9.59702930e-01 -2.80563091e-01 -1.59574057e-02 1.60097079e+02] [ 1.65870491e-02 -1.30346986e-04 9.99862417e-01 9.48569004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8792541539999 meters Centerline goodness [0,1] 0.9998898823943972 Centerline is valid? [True, True] Translation: X:926.51, Y:160.12, Z:9.49 [[-2.80799842e-01 -9.59755645e-01 4.53316660e-03 9.26511380e+02] [ 9.59623008e-01 -2.80836401e-01 -1.59561141e-02 1.60123603e+02] [ 1.65870488e-02 -1.30343352e-04 9.99862417e-01 9.48594744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9092541539999 meters Centerline goodness [0,1] 0.9999341455383602 Centerline is valid? [True, True] Translation: X:926.50, Y:160.15, Z:9.49 [[-2.82854755e-01 -9.59152853e-01 4.35813749e-03 9.26504747e+02] [ 9.59030447e-01 -2.82888285e-01 -1.53238403e-02 1.60151282e+02] [ 1.59307712e-02 -1.54834545e-04 9.99873085e-01 9.48641737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9392541539999 meters Centerline goodness [0,1] 0.9998244420549057 Centerline is valid? [True, True] Translation: X:926.50, Y:160.18, Z:9.49 [[-2.85517861e-01 -9.58362559e-01 4.55602383e-03 9.26498704e+02] [ 9.58228967e-01 -2.85554136e-01 -1.60025730e-02 1.60178632e+02] [ 1.66372583e-02 -2.03306413e-04 9.99861571e-01 9.48629315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.49, Y:160.21, Z:9.49 [[-2.86245634e-01 -9.58145615e-01 4.51863489e-03 9.26491835e+02] [ 9.58014448e-01 -2.86281220e-01 -1.58550164e-02 1.60205735e+02] [ 1.64850147e-02 -2.09511695e-04 9.99864091e-01 9.48767270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9992541539998 meters Centerline goodness [0,1] 0.9998682216511827 Centerline is valid? [True, True] Translation: X:926.48, Y:160.23, Z:9.49 [[-2.87162260e-01 -9.57871289e-01 4.52008173e-03 9.26484865e+02] [ 9.57740287e-01 -2.87197747e-01 -1.58428981e-02 1.60232963e+02] [ 1.64736145e-02 -2.20418045e-04 9.99864277e-01 9.48758933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.48, Y:160.26, Z:9.49 [[-2.86889507e-01 -9.57952171e-01 4.69571962e-03 9.26477803e+02] [ 9.57811075e-01 -2.86927849e-01 -1.64424407e-02 1.60259438e+02] [ 1.70984045e-02 -2.19551459e-04 9.99853788e-01 9.48814948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0592541539999 meters Centerline goodness [0,1] 0.9999560468540536 Centerline is valid? [True, True] Translation: X:926.47, Y:160.29, Z:9.49 [[-2.86880114e-01 -9.57954170e-01 4.85889069e-03 9.26470256e+02] [ 9.57803397e-01 -2.86921172e-01 -1.69968958e-02 1.60285156e+02] [ 1.76763658e-02 -2.22209385e-04 9.99843736e-01 9.48781528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0892541539998 meters Centerline goodness [0,1] 0.99995594131383 Centerline is valid? [True, True] Translation: X:926.46, Y:160.31, Z:9.49 [[-2.85319711e-01 -9.58418721e-01 5.12040753e-03 9.26461379e+02] [ 9.58251760e-01 -2.85365584e-01 -1.78898744e-02 1.60310967e+02] [ 1.86071786e-02 -1.97694253e-04 9.99826852e-01 9.48756356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.45, Y:160.34, Z:9.49 [[-2.84295232e-01 -9.58722629e-01 5.20987039e-03 9.26452519e+02] [ 9.58550245e-01 -2.84342911e-01 -1.81806464e-02 1.60337185e+02] [ 1.89115868e-02 -1.74748543e-04 9.99821145e-01 9.48785889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.44, Y:160.36, Z:9.49 [[-2.83197561e-01 -9.59046556e-01 5.37069279e-03 9.26443828e+02] [ 9.58863863e-01 -2.83248442e-01 -1.87192805e-02 1.60363195e+02] [ 1.94739018e-02 -1.51491343e-04 9.99810354e-01 9.48781096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1792541539999 meters Centerline goodness [0,1] 0.9999339657942814 Centerline is valid? [True, True] Translation: X:926.43, Y:160.39, Z:9.49 [[-2.80905683e-01 -9.59719286e-01 5.55780179e-03 9.26433620e+02] [ 9.59524239e-01 -2.80960641e-01 -1.93482324e-02 1.60388944e+02] [ 2.01303953e-02 -1.02182908e-04 9.99797358e-01 9.48689168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.42, Y:160.41, Z:9.49 [[-2.79476237e-01 -9.60136937e-01 5.48584503e-03 9.26424468e+02] [ 9.59947434e-01 -2.79530066e-01 -1.90752925e-02 1.60414892e+02] [ 1.98483515e-02 -6.49681165e-05 9.99803000e-01 9.48798176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2392541539998 meters Centerline goodness [0,1] 0.9998468472410624 Centerline is valid? [True, True] Translation: X:926.41, Y:160.44, Z:9.49 [[-2.77363704e-01 -9.60749574e-01 5.44345438e-03 9.26414412e+02] [ 9.60563558e-01 -2.77417115e-01 -1.89049185e-02 1.60439583e+02] [ 1.96729998e-02 -1.47543214e-05 9.99806468e-01 9.48754510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.41, Y:160.47, Z:9.49 [[-2.75402554e-01 -9.61314201e-01 5.33287623e-03 9.26405287e+02] [ 9.61136199e-01 -2.75454180e-01 -1.84987104e-02 1.60465067e+02] [ 1.92520360e-02 3.10282972e-05 9.99814662e-01 9.48901528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2992541539999 meters Centerline goodness [0,1] 0.9997809707376906 Centerline is valid? [True, True] Translation: X:926.40, Y:160.49, Z:9.49 [[-2.74600309e-01 -9.61543610e-01 5.34380355e-03 9.26396479e+02] [ 9.61365345e-01 -2.74652295e-01 -1.85146265e-02 1.60490584e+02] [ 1.92703087e-02 5.32253909e-05 9.99814309e-01 9.48860875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.38, Y:160.52, Z:9.49 [[-2.70306417e-01 -9.62760189e-01 5.22099325e-03 9.26384169e+02] [ 9.62590577e-01 -2.70356797e-01 -1.80716233e-02 1.60515612e+02] [ 1.88101705e-02 1.40803164e-04 9.99823063e-01 9.48899980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.37, Y:160.54, Z:9.49 [[-2.68505325e-01 -9.63264297e-01 5.17545870e-03 9.26374680e+02] [ 9.63098029e-01 -2.68555140e-01 -1.78975884e-02 1.60541593e+02] [ 1.86300040e-02 1.78876270e-04 9.99826430e-01 9.48957880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.36, Y:160.57, Z:9.49 [[-2.64602055e-01 -9.64343943e-01 5.14897785e-03 9.26364008e+02] [ 9.64179925e-01 -2.64652022e-01 -1.77870615e-02 1.60568011e+02] [ 1.85155325e-02 2.58048038e-04 9.99828540e-01 9.49082120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4192541539999 meters Centerline goodness [0,1] 0.9999563147088375 Centerline is valid? [True, True] Translation: X:926.35, Y:160.59, Z:9.49 [[-2.62925008e-01 -9.64802207e-01 5.20982547e-03 9.26352017e+02] [ 9.64634748e-01 -2.62976449e-01 -1.79775039e-02 1.60592848e+02] [ 1.87147968e-02 2.98843340e-04 9.99824818e-01 9.48926018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4492541539998 meters Centerline goodness [0,1] 0.9999344204957811 Centerline is valid? [True, True] Translation: X:926.35, Y:160.62, Z:9.49 [[-2.61417650e-01 -9.65211370e-01 5.27490874e-03 9.26345383e+02] [ 9.65040161e-01 -2.61470645e-01 -1.81821023e-02 1.60619786e+02] [ 1.89288056e-02 3.37376337e-04 9.99820777e-01 9.49088651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.33, Y:160.64, Z:9.49 [[-2.57974905e-01 -9.66137472e-01 5.22826207e-03 9.26330600e+02] [ 9.65969792e-01 -2.58027559e-01 -1.80038596e-02 1.60643163e+02] [ 1.87432391e-02 4.05799274e-04 9.99824248e-01 9.48971808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.33, Y:160.67, Z:9.49 [[-2.57211665e-01 -9.66339835e-01 5.42985352e-03 9.26326022e+02] [ 9.66159390e-01 -2.57268593e-01 -1.86789598e-02 1.60670604e+02] [ 1.94471537e-02 4.41657602e-04 9.99810789e-01 9.49169794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.32, Y:160.70, Z:9.49 [[-2.56792489e-01 -9.66450898e-01 5.50271893e-03 9.26315415e+02] [ 9.66266020e-01 -2.56851025e-01 -1.89084302e-02 1.60696066e+02] [ 1.96874483e-02 4.61547467e-04 9.99806077e-01 9.49074388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.31, Y:160.72, Z:9.49 [[-2.56520847e-01 -9.66521450e-01 5.77424316e-03 9.26308921e+02] [ 9.66318358e-01 -2.56585348e-01 -1.98189108e-02 1.60722941e+02] [ 2.06369886e-02 4.95793383e-04 9.99786912e-01 9.49110203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.30, Y:160.75, Z:9.49 [[-2.56808213e-01 -9.66443867e-01 5.98273201e-03 9.26301842e+02] [ 9.66226307e-01 -2.56877379e-01 -2.05118223e-02 1.60749778e+02] [ 2.13603534e-02 5.13068624e-04 9.99771710e-01 9.49102070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6292541539999 meters Centerline goodness [0,1] 0.9999125625724091 Centerline is valid? [True, True] Translation: X:926.29, Y:160.78, Z:9.49 [[-2.58480536e-01 -9.65995096e-01 6.42545312e-03 9.26294418e+02] [ 9.65744570e-01 -2.58559870e-01 -2.20049704e-02 1.60775365e+02] [ 2.29180578e-02 5.17489910e-04 9.99737213e-01 9.48878885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.29, Y:160.80, Z:9.49 [[-2.59227852e-01 -9.65795125e-01 6.37938736e-03 9.26287325e+02] [ 9.65548682e-01 -2.59305849e-01 -2.18224459e-02 1.60801560e+02] [ 2.27302244e-02 5.02623278e-04 9.99741509e-01 9.48975476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6892541539999 meters Centerline goodness [0,1] 0.9999123978887892 Centerline is valid? [True, True] Translation: X:926.28, Y:160.83, Z:9.49 [[-2.61255039e-01 -9.65246797e-01 6.66525999e-03 9.26281077e+02] [ 9.64978227e-01 -2.61339604e-01 -2.27735316e-02 1.60827775e+02] [ 2.37239748e-02 4.82130897e-04 9.99718431e-01 9.48890309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.28, Y:160.85, Z:9.49 [[-2.63927877e-01 -9.64520356e-01 6.52365017e-03 9.26275835e+02] [ 9.64263396e-01 -2.64008165e-01 -2.22663756e-02 1.60854185e+02] [ 2.31986694e-02 4.13799837e-04 9.99730789e-01 9.49012373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.27, Y:160.88, Z:9.49 [[-2.65902490e-01 -9.63979372e-01 6.29566765e-03 9.26271305e+02] [ 9.63740396e-01 -2.65976767e-01 -2.14664788e-02 1.60882448e+02] [ 2.23677441e-02 3.59399074e-04 9.99749746e-01 9.49220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7792541539999 meters Centerline goodness [0,1] 0.9999120569870724 Centerline is valid? [True, True] Translation: X:926.27, Y:160.91, Z:9.49 [[-2.70321083e-01 -9.62749455e-01 6.32452079e-03 9.26266237e+02] [ 9.62508440e-01 -2.70394929e-01 -2.15426170e-02 1.60909566e+02] [ 2.24502611e-02 2.63981090e-04 9.99747926e-01 9.49160691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.26, Y:160.94, Z:9.49 [[-2.71657984e-01 -9.62374857e-01 6.04765343e-03 9.26260217e+02] [ 9.62154861e-01 -2.71725195e-01 -2.05776937e-02 1.60936288e+02] [ 2.14467548e-02 2.28684380e-04 9.99769966e-01 9.49320163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.25, Y:160.96, Z:9.49 [[-2.73382612e-01 -9.61886758e-01 5.98437868e-03 9.26254878e+02] [ 9.61671692e-01 -2.73448035e-01 -2.03403445e-02 1.60964178e+02] [ 2.12015246e-02 1.94311054e-04 9.99775204e-01 9.49467889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8692541539998 meters Centerline goodness [0,1] 0.9998685219677879 Centerline is valid? [True, True] Translation: X:926.25, Y:160.99, Z:9.49 [[-2.76432221e-01 -9.61012157e-01 6.39221616e-03 9.26249512e+02] [ 9.60767070e-01 -2.76506082e-01 -2.17031070e-02 1.60992173e+02] [ 2.26244364e-02 1.41992699e-04 9.99744025e-01 9.49385483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8992541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.24, Y:161.02, Z:9.49 [[-2.76988374e-01 -9.60854255e-01 6.04493186e-03 9.26242678e+02] [ 9.60635534e-01 -2.77054298e-01 -2.05008997e-02 1.61017925e+02] [ 2.13731510e-02 1.28465476e-04 9.99771560e-01 9.49482572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.24, Y:161.05, Z:9.50 [[-2.77637247e-01 -9.60666579e-01 6.10599003e-03 9.26235634e+02] [ 9.60443877e-01 -2.77704355e-01 -2.06845426e-02 1.61045373e+02] [ 2.15666088e-02 1.21661296e-04 9.99767406e-01 9.49538939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9592541539998 meters Centerline goodness [0,1] 0.9998900784839625 Centerline is valid? [True, True] Translation: X:926.23, Y:161.07, Z:9.49 [[-2.79180765e-01 -9.60216692e-01 6.48111108e-03 9.26229380e+02] [ 9.59966254e-01 -2.79255966e-01 -2.19293536e-02 1.61070537e+02] [ 2.28668203e-02 9.93942012e-05 9.99738515e-01 9.49403726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9892541539998 meters Centerline goodness [0,1] 0.9999121168845435 Centerline is valid? [True, True] Translation: X:926.22, Y:161.10, Z:9.49 [[-2.79543820e-01 -9.60111203e-01 6.45996804e-03 9.26222190e+02] [ 9.59862959e-01 -2.79618434e-01 -2.18318953e-02 1.61096392e+02] [ 2.27673734e-02 9.77126256e-05 9.99740785e-01 9.49464280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.22, Y:161.12, Z:9.50 [[-2.79566144e-01 -9.60105629e-01 6.32077705e-03 9.26215613e+02] [ 9.59868440e-01 -2.79637571e-01 -2.13402844e-02 1.61121816e+02] [ 2.22564539e-02 1.01093360e-04 9.99752289e-01 9.49539075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0492541539999 meters Centerline goodness [0,1] 0.999955770804308 Centerline is valid? [True, True] Translation: X:926.21, Y:161.15, Z:9.50 [[-2.79860298e-01 -9.60019872e-01 6.32917340e-03 9.26208067e+02] [ 9.59782522e-01 -2.79931840e-01 -2.13465445e-02 1.61148195e+02] [ 2.22648441e-02 1.00579690e-04 9.99752103e-01 9.49531169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0792541539998 meters Centerline goodness [0,1] 0.9998679112363509 Centerline is valid? [True, True] Translation: X:926.20, Y:161.17, Z:9.50 [[-2.79995053e-01 -9.59980317e-01 6.36874757e-03 9.26200248e+02] [ 9.59740525e-01 -2.80067456e-01 -2.14556373e-02 1.61174815e+02] [ 2.23806684e-02 1.04872827e-04 9.99749516e-01 9.49548329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.19, Y:161.20, Z:9.50 [[-2.78533618e-01 -9.60408622e-01 5.85676237e-03 9.26191940e+02] [ 9.60206386e-01 -2.78595155e-01 -1.97087900e-02 1.61200133e+02] [ 2.05601575e-02 1.34140029e-04 9.99788609e-01 9.49708583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.18, Y:161.23, Z:9.50 [[-2.78317732e-01 -9.60471410e-01 5.82321114e-03 9.26183588e+02] [ 9.60271955e-01 -2.78378608e-01 -1.95735455e-02 1.61226501e+02] [ 2.04208883e-02 1.44201547e-04 9.99791462e-01 9.49720680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.17, Y:161.25, Z:9.50 [[-2.76942623e-01 -9.60868330e-01 5.90221168e-03 9.26174553e+02] [ 9.60663958e-01 -2.77005450e-01 -1.98176837e-02 1.61251717e+02] [ 2.06771295e-02 1.81680720e-04 9.99786189e-01 9.49645957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1992541539998 meters Centerline goodness [0,1] 0.9999779005524861 Centerline is valid? [True, True] Translation: X:926.17, Y:161.28, Z:9.50 [[-2.76714134e-01 -9.60933064e-01 6.07730577e-03 9.26166241e+02] [ 9.60716872e-01 -2.76780791e-01 -2.03834739e-02 1.61277434e+02] [ 2.12692355e-02 1.98174868e-04 9.99773765e-01 9.49635456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2292541539998 meters Centerline goodness [0,1] 0.9999115709422116 Centerline is valid? [True, True] Translation: X:926.16, Y:161.30, Z:9.50 [[-2.76274118e-01 -9.61058295e-01 6.29013212e-03 9.26158652e+02] [ 9.60827249e-01 -2.76345625e-01 -2.10735086e-02 1.61303194e+02] [ 2.19911207e-02 2.21665354e-04 9.99758141e-01 9.49632997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.15, Y:161.33, Z:9.50 [[-2.75763420e-01 -9.61207193e-01 5.93869484e-03 9.26150317e+02] [ 9.61001675e-01 -2.75827267e-01 -1.98770919e-02 1.61327919e+02] [ 2.07440577e-02 2.25720839e-04 9.99784793e-01 9.49677260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.14, Y:161.36, Z:9.50 [[-2.74627136e-01 -9.61534434e-01 5.60976310e-03 9.26143243e+02] [ 9.61351466e-01 -2.74684319e-01 -1.87585590e-02 1.61355099e+02] [ 1.95779143e-02 2.41344650e-04 9.99808305e-01 9.49911542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.13, Y:161.38, Z:9.50 [[-2.73966802e-01 -9.61723719e-01 5.44784186e-03 9.26133742e+02] [ 9.61551566e-01 -2.74020845e-01 -1.81978814e-02 1.61380239e+02] [ 1.89941564e-02 2.52765497e-04 9.99819563e-01 9.49873718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.12, Y:161.41, Z:9.50 [[-2.73050990e-01 -9.61985403e-01 5.21939524e-03 9.26124145e+02] [ 9.61827776e-01 -2.73100741e-01 -1.74159338e-02 1.61405905e+02] [ 1.81792948e-02 2.64721349e-04 9.99834708e-01 9.49936047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.12, Y:161.43, Z:9.50 [[-2.72894595e-01 -9.62029975e-01 5.18339789e-03 9.26116973e+02] [ 9.61874861e-01 -2.72943683e-01 -1.72771019e-02 1.61433218e+02] [ 1.80358657e-02 2.70952388e-04 9.99837304e-01 9.50073379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.11, Y:161.46, Z:9.50 [[-2.73007769e-01 -9.61998658e-01 5.03392555e-03 9.26107603e+02] [ 9.61852669e-01 -2.73054045e-01 -1.67609956e-02 1.61458189e+02] [ 1.74985890e-02 2.66012723e-04 9.99846853e-01 9.50016541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4392541539999 meters Centerline goodness [0,1] 0.9999340992465348 Centerline is valid? [True, True] Translation: X:926.10, Y:161.48, Z:9.50 [[-2.73581961e-01 -9.61835214e-01 5.09238972e-03 9.26099127e+02] [ 9.61686127e-01 -2.73629224e-01 -1.69364030e-02 1.61484033e+02] [ 1.76834554e-02 2.63786211e-04 9.99843601e-01 9.49952920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.09, Y:161.51, Z:9.50 [[-2.74356803e-01 -9.61614122e-01 5.15990073e-03 9.26091885e+02] [ 9.61461357e-01 -2.74405199e-01 -1.71419396e-02 1.61511013e+02] [ 1.78998348e-02 2.58037418e-04 9.99839752e-01 9.49990040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4992541539998 meters Centerline goodness [0,1] 0.9999338536843497 Centerline is valid? [True, True] Translation: X:926.08, Y:161.54, Z:9.50 [[-2.75371235e-01 -9.61322574e-01 5.43978057e-03 9.26084295e+02] [ 9.61153095e-01 -2.75424839e-01 -1.80523289e-02 1.61538214e+02] [ 1.88523620e-02 2.57369818e-04 9.99822245e-01 9.49977305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.08, Y:161.56, Z:9.50 [[-2.76865632e-01 -9.60894783e-01 5.16122134e-03 9.26077107e+02] [ 9.60742458e-01 -2.76913646e-01 -1.71103191e-02 1.61563909e+02] [ 1.78704290e-02 2.21345168e-04 9.99840287e-01 9.50029186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5592541539999 meters Centerline goodness [0,1] 0.9998681869109602 Centerline is valid? [True, True] Translation: X:926.07, Y:161.59, Z:9.50 [[-2.78262171e-01 -9.60488896e-01 5.58982099e-03 9.26069102e+02] [ 9.60310526e-01 -2.78318225e-01 -1.85110808e-02 1.61591063e+02] [ 1.93354366e-02 2.17030410e-04 9.99813029e-01 9.49972108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.06, Y:161.62, Z:9.50 [[-2.79560251e-01 -9.60113781e-01 5.25289647e-03 9.26060788e+02] [ 9.59956515e-01 -2.79609536e-01 -1.73780436e-02 1.61617989e+02] [ 1.81536591e-02 1.84341970e-04 9.99835192e-01 9.50051559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6192541539998 meters Centerline goodness [0,1] 0.9999779073877695 Centerline is valid? [True, True] Translation: X:926.05, Y:161.64, Z:9.50 [[-2.80338003e-01 -9.59886087e-01 5.41338207e-03 9.26052417e+02] [ 9.59719369e-01 -2.80390208e-01 -1.78903396e-02 1.61644775e+02] [ 1.86905473e-02 1.79985552e-04 9.99825300e-01 9.49995542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6492541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:926.04, Y:161.67, Z:9.50 [[-2.80927989e-01 -9.59713251e-01 5.47185260e-03 9.26044162e+02] [ 9.59543252e-01 -2.80981218e-01 -1.80638479e-02 1.61671171e+02] [ 1.88736020e-02 1.75838795e-04 9.99821862e-01 9.49971434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6792541539999 meters Centerline goodness [0,1] 0.9999779215331287 Centerline is valid? [True, True] Translation: X:926.04, Y:161.70, Z:9.50 [[-2.82180498e-01 -9.59343595e-01 5.83380509e-03 9.26036108e+02] [ 9.59150738e-01 -2.82240746e-01 -1.92360103e-02 1.61697605e+02] [ 2.01004808e-02 1.67471484e-04 9.99797951e-01 9.49900600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7092541539998 meters Centerline goodness [0,1] 0.9999779725979118 Centerline is valid? [True, True] Translation: X:926.03, Y:161.72, Z:9.50 [[-2.82574850e-01 -9.59225510e-01 6.15420666e-03 9.26028196e+02] [ 9.59011359e-01 -2.82641805e-01 -2.02687811e-02 1.61723767e+02] [ 2.11817680e-02 1.74506304e-04 9.99775626e-01 9.49873187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7392541539998 meters Centerline goodness [0,1] 0.9998900059396792 Centerline is valid? [True, True] Translation: X:926.02, Y:161.75, Z:9.50 [[-2.83554005e-01 -9.58933546e-01 6.60154618e-03 9.26020378e+02] [ 9.58687642e-01 -2.83630789e-01 -2.17159196e-02 1.61748847e+02] [ 2.26965255e-02 1.71184781e-04 9.99742386e-01 9.49752862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7692541539999 meters Centerline goodness [0,1] 0.9998900059396792 Centerline is valid? [True, True] Translation: X:926.01, Y:161.77, Z:9.50 [[-2.83854415e-01 -9.58844616e-01 6.60851563e-03 9.26012474e+02] [ 9.58598737e-01 -2.83931281e-01 -2.17137991e-02 1.61774424e+02] [ 2.26965237e-02 1.71356968e-04 9.99742386e-01 9.49777815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7992541539999 meters Centerline goodness [0,1] 0.9999339396208135 Centerline is valid? [True, True] Translation: X:926.00, Y:161.80, Z:9.50 [[-2.84479523e-01 -9.58659464e-01 6.59036956e-03 9.26004332e+02] [ 9.58415435e-01 -2.84555804e-01 -2.16298051e-02 1.61800253e+02] [ 2.26109452e-02 1.63075283e-04 9.99744327e-01 9.49843515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8292541539998 meters Centerline goodness [0,1] 0.9998457912012866 Centerline is valid? [True, True] Translation: X:926.00, Y:161.83, Z:9.50 [[-2.85067117e-01 -9.58482982e-01 6.86387104e-03 9.25996193e+02] [ 9.58218833e-01 -2.85149693e-01 -2.25015652e-02 1.61826555e+02] [ 2.35245980e-02 1.62634197e-04 9.99723245e-01 9.49846743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8592541539998 meters Centerline goodness [0,1] 0.9998014691284495 Centerline is valid? [True, True] Translation: X:925.99, Y:161.85, Z:9.50 [[-2.86144391e-01 -9.58161902e-01 6.86711584e-03 9.25987894e+02] [ 9.57897977e-01 -2.86226744e-01 -2.24881315e-02 1.61853544e+02] [ 2.35128231e-02 1.43143674e-04 9.99723525e-01 9.49975975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.98, Y:161.88, Z:9.50 [[-2.86556341e-01 -9.58042218e-01 6.36960399e-03 9.25979476e+02] [ 9.57815576e-01 -2.86627095e-01 -2.08382061e-02 1.61880314e+02] [ 2.17895823e-02 1.29585837e-04 9.99762570e-01 9.50108724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.97, Y:161.91, Z:9.50 [[-2.87606513e-01 -9.57728504e-01 6.21349155e-03 9.25971752e+02] [ 9.57513201e-01 -2.87673603e-01 -2.03068672e-02 1.61907644e+02] [ 2.12359230e-02 1.09112916e-04 9.99774486e-01 9.50202271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.97, Y:161.94, Z:9.50 [[-2.89735959e-01 -9.57087017e-01 6.12507391e-03 9.25965275e+02] [ 9.56878082e-01 -2.89800687e-01 -1.99974706e-02 1.61935446e+02] [ 2.09143701e-02 6.69626523e-05 9.99781268e-01 9.50322390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9792541539998 meters Centerline goodness [0,1] 0.9998673505482844 Centerline is valid? [True, True] Translation: X:925.96, Y:161.96, Z:9.50 [[-2.91057169e-01 -9.56683796e-01 6.46825759e-03 9.25958340e+02] [ 9.56451195e-01 -2.91129030e-01 -2.10950344e-02 1.61961412e+02] [ 2.20643752e-02 4.67116833e-05 9.99756551e-01 9.50269693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0092541539998 meters Centerline goodness [0,1] 0.9998677248677249 Centerline is valid? [True, True] Translation: X:925.95, Y:161.99, Z:9.50 [[-2.92559849e-01 -9.56224909e-01 6.53127862e-03 9.25951222e+02] [ 9.55988135e-01 -2.92632743e-01 -2.12782153e-02 1.61988389e+02] [ 2.22580255e-02 1.86734128e-05 9.99752259e-01 9.50372696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.94, Y:162.02, Z:9.50 [[-2.92895815e-01 -9.56124051e-01 6.23216221e-03 9.25942836e+02] [ 9.55908876e-01 -2.92962111e-01 -2.02835570e-02 1.62015276e+02] [ 2.12193841e-02 1.64101995e-05 9.99774843e-01 9.50455716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.069254154 meters Centerline goodness [0,1] 0.9998237303073703 Centerline is valid? [True, True] Translation: X:925.93, Y:162.04, Z:9.50 [[-2.93218912e-01 -9.56022861e-01 6.55428719e-03 9.25934047e+02] [ 9.55785334e-01 -2.93292156e-01 -2.13097857e-02 1.62041788e+02] [ 2.22949633e-02 1.60594034e-05 9.99751436e-01 9.50454705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.099254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.92, Y:162.07, Z:9.50 [[-2.92514529e-01 -9.56241573e-01 6.10771741e-03 9.25923917e+02] [ 9.56035768e-01 -2.92578285e-01 -1.98382858e-02 1.62067904e+02] [ 2.07571791e-02 3.62094747e-05 9.99784546e-01 9.50473837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.129254154 meters Centerline goodness [0,1] 0.9998023151097151 Centerline is valid? [True, True] Translation: X:925.91, Y:162.09, Z:9.50 [[-2.92048557e-01 -9.56379105e-01 6.82995813e-03 9.25914701e+02] [ 9.56122343e-01 -2.92128404e-01 -2.21598878e-02 1.62093867e+02] [ 2.31884784e-02 5.85123259e-05 9.99731109e-01 9.50395368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1592541539999 meters Centerline goodness [0,1] 0.9999780716180953 Centerline is valid? [True, True] Translation: X:925.91, Y:162.12, Z:9.50 [[-2.91216335e-01 -9.56636080e-01 6.36055101e-03 9.25905331e+02] [ 9.56413935e-01 -2.91285777e-01 -2.06150836e-02 1.62119074e+02] [ 2.15738708e-02 7.98705388e-05 9.99767254e-01 9.50471848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1892541539999 meters Centerline goodness [0,1] 0.9999562094937817 Centerline is valid? [True, True] Translation: X:925.90, Y:162.14, Z:9.50 [[-2.89684254e-01 -9.57098956e-01 6.67995043e-03 9.25895173e+02] [ 9.56854592e-01 -2.89761234e-01 -2.16267558e-02 1.62144048e+02] [ 2.26345361e-02 1.26810628e-04 9.99743798e-01 9.50487587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2192541539998 meters Centerline goodness [0,1] 0.9998682708351629 Centerline is valid? [True, True] Translation: X:925.89, Y:162.17, Z:9.51 [[-2.88895059e-01 -9.57333905e-01 7.17216332e-03 9.25886571e+02] [ 9.57052886e-01 -2.88984028e-01 -2.31949359e-02 1.62170253e+02] [ 2.42779392e-02 1.63237201e-04 9.99705234e-01 9.50616607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2492541539998 meters Centerline goodness [0,1] 0.999759315581034 Centerline is valid? [True, True] Translation: X:925.88, Y:162.20, Z:9.51 [[-2.88817073e-01 -9.57355247e-01 7.45846726e-03 9.25877839e+02] [ 9.57052013e-01 -2.88913306e-01 -2.40945274e-02 1.62195544e+02] [ 2.52218726e-02 1.79230224e-04 9.99681862e-01 9.50553168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.87, Y:162.22, Z:9.51 [[-2.88864553e-01 -9.57345056e-01 6.90750359e-03 9.25868540e+02] [ 9.57085491e-01 -2.88947079e-01 -2.22923351e-02 1.62222478e+02] [ 2.33373598e-02 1.71606045e-04 9.99727632e-01 9.50621590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.3092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.86, Y:162.25, Z:9.51 [[-2.89146193e-01 -9.57259335e-01 7.00317089e-03 9.25859898e+02] [ 9.56993047e-01 -2.89230937e-01 -2.25781478e-02 1.62249162e+02] [ 2.36386764e-02 1.73600381e-04 9.99720552e-01 9.50661930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.85, Y:162.28, Z:9.51 [[-2.90141354e-01 -9.56959466e-01 6.82454792e-03 9.25851160e+02] [ 9.56707026e-01 -2.90221565e-01 -2.19797564e-02 1.62275181e+02] [ 2.30143669e-02 1.51856665e-04 9.99735123e-01 9.50635534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.84, Y:162.30, Z:9.51 [[-2.91143144e-01 -9.56656238e-01 6.67172903e-03 9.25843516e+02] [ 9.56415387e-01 -2.91219548e-01 -2.14658307e-02 1.62302019e+02] [ 2.24783588e-02 1.31314852e-04 9.99747321e-01 9.50755192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.399254154 meters Centerline goodness [0,1] 0.9999120434505354 Centerline is valid? [True, True] Translation: X:925.84, Y:162.33, Z:9.51 [[-2.93725965e-01 -9.55866808e-01 6.61081549e-03 9.25837418e+02] [ 9.55630571e-01 -2.93800340e-01 -2.12502125e-02 1.62327975e+02] [ 2.22546326e-02 7.57582220e-05 9.99752332e-01 9.50825847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.83, Y:162.35, Z:9.51 [[-2.94849468e-01 -9.55524711e-01 6.02643259e-03 9.25829846e+02] [ 9.55328682e-01 -2.94911045e-01 -1.93542085e-02 1.62354767e+02] [ 2.02706860e-02 5.06458260e-05 9.99794527e-01 9.50984046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4592541539998 meters Centerline goodness [0,1] 0.9998464811281444 Centerline is valid? [True, True] Translation: X:925.82, Y:162.38, Z:9.51 [[-2.96743632e-01 -9.54937283e-01 6.16468383e-03 9.25822606e+02] [ 9.54732468e-01 -2.96807659e-01 -1.97769577e-02 1.62381523e+02] [ 2.07154796e-02 1.69375588e-05 9.99785411e-01 9.50995540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.82, Y:162.41, Z:9.51 [[-2.98668799e-01 -9.54340342e-01 5.60892385e-03 9.25815429e+02] [ 9.54171059e-01 -2.98721461e-01 -1.79743759e-02 1.62407042e+02] [ 1.88291780e-02 -1.65124515e-05 9.99822715e-01 9.51092956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5192541539998 meters Centerline goodness [0,1] 0.9998239978879746 Centerline is valid? [True, True] Translation: X:925.81, Y:162.43, Z:9.51 [[-3.01205778e-01 -9.53541072e-01 5.87401146e-03 9.25808097e+02] [ 9.53355686e-01 -3.01263043e-01 -1.88019779e-02 1.62433705e+02] [ 1.96980807e-02 -6.32421481e-05 9.99805972e-01 9.51000252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5492541539998 meters Centerline goodness [0,1] 0.9999561970257781 Centerline is valid? [True, True] Translation: X:925.80, Y:162.46, Z:9.51 [[-3.02202848e-01 -9.53226452e-01 5.72445771e-03 9.25799942e+02] [ 9.53050715e-01 -3.02257051e-01 -1.83032668e-02 1.62460015e+02] [ 1.91774158e-02 -7.56008431e-05 9.99816094e-01 9.51045220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.79, Y:162.49, Z:9.51 [[-3.03916388e-01 -9.52682241e-01 5.60149828e-03 9.25792694e+02] [ 9.52514255e-01 -3.03967987e-01 -1.78901382e-02 1.62485116e+02] [ 1.87462931e-02 -1.01599210e-04 9.99824268e-01 9.51033700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.609254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.78, Y:162.51, Z:9.51 [[-3.04980551e-01 -9.52341774e-01 5.65763430e-03 9.25783812e+02] [ 9.52170714e-01 -3.05033001e-01 -1.80499033e-02 1.62511740e+02] [ 1.89154421e-02 -1.17835754e-04 9.99821080e-01 9.51117331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.78, Y:162.54, Z:9.51 [[-3.05331164e-01 -9.52229177e-01 5.69862723e-03 9.25775491e+02] [ 9.52055966e-01 -3.05384315e-01 -1.81619851e-02 1.62537510e+02] [ 1.90346435e-02 -1.20008014e-04 9.99818818e-01 9.51085342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.77, Y:162.56, Z:9.51 [[-3.05059210e-01 -9.52316366e-01 5.69364838e-03 9.25766406e+02] [ 9.52143825e-01 -3.05112319e-01 -1.81275784e-02 1.62564166e+02] [ 1.90003919e-02 -1.08812601e-04 9.99819470e-01 9.51115763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.76, Y:162.59, Z:9.51 [[-3.05329893e-01 -9.52229584e-01 5.69880299e-03 9.25758061e+02] [ 9.52057058e-01 -3.05383051e-01 -1.81259582e-02 1.62590467e+02] [ 1.90003915e-02 -1.08811276e-04 9.99819470e-01 9.51141502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.75, Y:162.61, Z:9.51 [[-3.04439145e-01 -9.52513414e-01 5.91626191e-03 9.25748321e+02] [ 9.52327932e-01 -3.04496613e-01 -1.87968681e-02 1.62614686e+02] [ 1.97057507e-02 -8.82809861e-05 9.99805819e-01 9.51079071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.74, Y:162.64, Z:9.51 [[-3.03869814e-01 -9.52695115e-01 5.92909406e-03 9.25738757e+02] [ 9.52509283e-01 -3.03927645e-01 -1.88162991e-02 1.62640405e+02] [ 1.97282118e-02 -7.01881758e-05 9.99805377e-01 9.51105163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7892541539998 meters Centerline goodness [0,1] 0.9999563194793282 Centerline is valid? [True, True] Translation: X:925.73, Y:162.67, Z:9.51 [[-3.02218074e-01 -9.53219735e-01 6.03098884e-03 9.25728164e+02] [ 9.53027988e-01 -3.02278243e-01 -1.91185213e-02 1.62665722e+02] [ 2.00471885e-02 -3.02615090e-05 9.99799034e-01 9.51100377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.819254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.72, Y:162.69, Z:9.51 [[-3.01201110e-01 -9.53542770e-01 5.83764695e-03 9.25718379e+02] [ 9.53363566e-01 -3.01257675e-01 -1.84857959e-02 1.62690810e+02] [ 1.93856330e-02 -2.54234270e-06 9.99812081e-01 9.51135830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.849254154 meters Centerline goodness [0,1] 0.9999126675691018 Centerline is valid? [True, True] Translation: X:925.71, Y:162.72, Z:9.51 [[-3.00353523e-01 -9.53809434e-01 5.94340216e-03 9.25709087e+02] [ 9.53624088e-01 -3.00412321e-01 -1.88025639e-02 1.62715512e+02] [ 1.97195340e-02 2.03551675e-05 9.99805551e-01 9.51026693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.879254154 meters Centerline goodness [0,1] 0.9998906745380999 Centerline is valid? [True, True] Translation: X:925.70, Y:162.74, Z:9.51 [[-2.98450566e-01 -9.54408389e-01 5.64691466e-03 9.25698023e+02] [ 9.54241497e-01 -2.98503977e-01 -1.78477402e-02 1.62740414e+02] [ 1.87196594e-02 6.18521472e-05 9.99824770e-01 9.51170851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.69, Y:162.77, Z:9.51 [[-2.97691726e-01 -9.54645177e-01 5.67653221e-03 9.25688400e+02] [ 9.54476942e-01 -2.97745831e-01 -1.79217035e-02 1.62766180e+02] [ 1.87990316e-02 8.29762674e-05 9.99823279e-01 9.51203843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9392541539999 meters Centerline goodness [0,1] 0.9999345392655306 Centerline is valid? [True, True] Translation: X:925.68, Y:162.79, Z:9.51 [[-2.96038100e-01 -9.55160689e-01 5.43159498e-03 9.25677390e+02] [ 9.55007083e-01 -2.96087902e-01 -1.71296662e-02 1.62790287e+02] [ 1.79698133e-02 1.16177856e-04 9.99838523e-01 9.51144374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9692541539998 meters Centerline goodness [0,1] 0.9999781568773072 Centerline is valid? [True, True] Translation: X:925.67, Y:162.82, Z:9.51 [[-2.94812648e-01 -9.55540997e-01 5.18710293e-03 9.25668200e+02] [ 9.55401266e-01 -2.94858244e-01 -1.63412924e-02 1.62816944e+02] [ 1.71442349e-02 1.38145022e-04 9.99853017e-01 9.51359564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9992541539998 meters Centerline goodness [0,1] 0.9998691499105857 Centerline is valid? [True, True] Translation: X:925.66, Y:162.84, Z:9.51 [[-2.93984180e-01 -9.55796265e-01 5.17701482e-03 9.25658492e+02] [ 9.55657407e-01 -2.94029717e-01 -1.62925162e-02 1.62842035e+02] [ 1.70945223e-02 1.57710548e-04 9.99853866e-01 9.51301069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.0292541539998 meters Centerline goodness [0,1] 0.9999128141415462 Centerline is valid? [True, True] Translation: X:925.65, Y:162.87, Z:9.51 [[-2.91250228e-01 -9.56634302e-01 4.91084401e-03 9.25646913e+02] [ 9.56509726e-01 -2.91291557e-01 -1.54393240e-02 1.62868010e+02] [ 1.62002743e-02 2.00563424e-04 9.99868747e-01 9.51339645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.64, Y:162.89, Z:9.51 [[-2.89720493e-01 -9.57099854e-01 4.68033482e-03 9.25637100e+02] [ 9.56986983e-01 -2.89758211e-01 -1.47001404e-02 1.62893854e+02] [ 1.54256677e-02 2.20087565e-04 9.99880993e-01 9.51396552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.089254154 meters Centerline goodness [0,1] 0.9998911979109999 Centerline is valid? [True, True] Translation: X:925.63, Y:162.92, Z:9.51 [[-2.87628234e-01 -9.57730193e-01 4.78305713e-03 9.25626495e+02] [ 9.57612640e-01 -2.87667879e-01 -1.50074516e-02 1.62919931e+02] [ 1.57490214e-02 2.63749180e-04 9.99875942e-01 9.51396576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.62, Y:162.95, Z:9.51 [[-2.86094730e-01 -9.58190409e-01 4.57666423e-03 9.25616133e+02] [ 9.58083040e-01 -2.86131197e-01 -1.43466530e-02 1.62946468e+02] [ 1.50563517e-02 2.80322566e-04 9.99886607e-01 9.51461173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.149254154 meters Centerline goodness [0,1] 0.9998043350653304 Centerline is valid? [True, True] Translation: X:925.61, Y:162.97, Z:9.51 [[-2.85743755e-01 -9.58293925e-01 4.82292643e-03 9.25605899e+02] [ 9.58174944e-01 -2.85784291e-01 -1.51035000e-02 1.62973172e+02] [ 1.58519089e-02 3.05476453e-04 9.99874304e-01 9.51381683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1792541539999 meters Centerline goodness [0,1] 0.9998485929963447 Centerline is valid? [True, True] Translation: X:925.59, Y:163.00, Z:9.51 [[-2.83540456e-01 -9.58948027e-01 4.84670231e-03 9.25594058e+02] [ 9.58828206e-01 -2.83581663e-01 -1.51628272e-02 1.62999248e+02] [ 1.59147991e-02 3.47879951e-04 9.99873291e-01 9.51348547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2092541539998 meters Centerline goodness [0,1] 0.9999133261105092 Centerline is valid? [True, True] Translation: X:925.59, Y:163.03, Z:9.51 [[-2.82823323e-01 -9.59159645e-01 4.87267054e-03 9.25585476e+02] [ 9.59038807e-01 -2.82865058e-01 -1.52291020e-02 1.63026182e+02] [ 1.59854483e-02 3.65934899e-04 9.99872158e-01 9.51409012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2392541539998 meters Centerline goodness [0,1] 0.999848133122166 Centerline is valid? [True, True] Translation: X:925.58, Y:163.05, Z:9.51 [[-2.82015249e-01 -9.59395555e-01 5.25051875e-03 9.25575948e+02] [ 9.59255572e-01 -2.82063819e-01 -1.63936042e-02 1.63053258e+02] [ 1.72089324e-02 4.13342992e-04 9.99851830e-01 9.51298318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2692541539998 meters Centerline goodness [0,1] 0.9999132132783685 Centerline is valid? [True, True] Translation: X:925.57, Y:163.08, Z:9.51 [[-2.81916076e-01 -9.59424298e-01 5.32386828e-03 9.25566711e+02] [ 9.59280631e-01 -2.81966021e-01 -1.66082894e-02 1.63078234e+02] [ 1.74355463e-02 4.24939948e-04 9.99847899e-01 9.51264684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.56, Y:163.11, Z:9.51 [[-2.82312529e-01 -9.59306709e-01 5.50212573e-03 9.25558556e+02] [ 9.59153510e-01 -2.82365804e-01 -1.71492790e-02 1.63105396e+02] [ 1.80050305e-02 4.35926878e-04 9.99837801e-01 9.51288826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.329254154 meters Centerline goodness [0,1] 0.9998479913137893 Centerline is valid? [True, True] Translation: X:925.55, Y:163.13, Z:9.51 [[-2.83470113e-01 -9.58963918e-01 5.73583574e-03 9.25550324e+02] [ 9.58797700e-01 -2.83527801e-01 -1.78593441e-02 1.63132548e+02] [ 1.87527354e-02 4.36915833e-04 9.99824057e-01 9.51206323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.54, Y:163.16, Z:9.51 [[-2.83778622e-01 -9.58873726e-01 5.55612888e-03 9.25540074e+02] [ 9.58718055e-01 -2.83832695e-01 -1.72827299e-02 1.63158217e+02] [ 1.81489666e-02 4.22291805e-04 9.99835205e-01 9.51226247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.389254154 meters Centerline goodness [0,1] 0.999804894968458 Centerline is valid? [True, True] Translation: X:925.53, Y:163.19, Z:9.51 [[-2.85536336e-01 -9.58349902e-01 5.87074860e-03 9.25533214e+02] [ 9.58176346e-01 -2.85596379e-01 -1.82427448e-02 1.63185279e+02] [ 1.91595972e-02 4.16245924e-04 9.99816351e-01 9.51177484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4192541539999 meters Centerline goodness [0,1] 0.9998699835312473 Centerline is valid? [True, True] Translation: X:925.52, Y:163.21, Z:9.51 [[-2.86309508e-01 -9.58119972e-01 5.74323996e-03 9.25524476e+02] [ 9.57954110e-01 -2.86366832e-01 -1.78314854e-02 1.63211226e+02] [ 1.87293757e-02 3.96436510e-04 9.99824511e-01 9.51185753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4492541539998 meters Centerline goodness [0,1] 0.9999132490403175 Centerline is valid? [True, True] Translation: X:925.52, Y:163.24, Z:9.51 [[-2.88374319e-01 -9.57502710e-01 5.36767640e-03 9.25519121e+02] [ 9.57357960e-01 -2.88424074e-01 -1.66520116e-02 1.63239037e+02] [ 1.74925133e-02 3.36775217e-04 9.99846938e-01 9.51365574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4792541539998 meters Centerline goodness [0,1] 0.9998476472380621 Centerline is valid? [True, True] Translation: X:925.51, Y:163.27, Z:9.51 [[-2.90136527e-01 -9.56970180e-01 5.37308519e-03 9.25511380e+02] [ 9.56825332e-01 -2.90186110e-01 -1.66525030e-02 1.63266421e+02] [ 1.74951435e-02 3.09604643e-04 9.99846900e-01 9.51403349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5092541539998 meters Centerline goodness [0,1] 0.9998257687951912 Centerline is valid? [True, True] Translation: X:925.50, Y:163.29, Z:9.51 [[-2.91836071e-01 -9.56453387e-01 5.35041180e-03 9.25503760e+02] [ 9.56309961e-01 -2.91884977e-01 -1.65656114e-02 1.63292027e+02] [ 1.74059400e-02 2.82209147e-04 9.99848465e-01 9.51412956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5392541539998 meters Centerline goodness [0,1] 0.9998042925174506 Centerline is valid? [True, True] Translation: X:925.50, Y:163.32, Z:9.51 [[-2.95110421e-01 -9.55447945e-01 5.39114447e-03 9.25496860e+02] [ 9.55302449e-01 -2.95159572e-01 -1.66751039e-02 1.63318017e+02] [ 1.75234416e-02 2.29176583e-04 9.99846426e-01 9.51443499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.569254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.49, Y:163.34, Z:9.52 [[-2.96378491e-01 -9.55056117e-01 5.25400975e-03 9.25489413e+02] [ 9.54918135e-01 -2.96424986e-01 -1.62352320e-02 1.63344706e+02] [ 1.70629774e-02 2.05375638e-04 9.99854396e-01 9.51552273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.599254154 meters Centerline goodness [0,1] 0.9999563785469694 Centerline is valid? [True, True] Translation: X:925.48, Y:163.37, Z:9.51 [[-2.99586920e-01 -9.54052869e-01 5.54987678e-03 9.25482598e+02] [ 9.53899055e-01 -2.99638278e-01 -1.71317283e-02 1.63371307e+02] [ 1.80075300e-02 1.61580512e-04 9.99837838e-01 9.51419354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.47, Y:163.40, Z:9.51 [[-3.00836915e-01 -9.53658729e-01 5.67268934e-03 9.25474756e+02] [ 9.53498263e-01 -3.00890358e-01 -1.74944413e-02 1.63396279e+02] [ 1.83905842e-02 1.45925689e-04 9.99830868e-01 9.51361962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.47, Y:163.42, Z:9.51 [[-3.02244705e-01 -9.53213732e-01 5.63201073e-03 9.25467862e+02] [ 9.53055780e-01 -3.02297149e-01 -1.73526552e-02 1.63421291e+02] [ 1.82433300e-02 1.22872207e-04 9.99833569e-01 9.51389549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.46, Y:163.45, Z:9.51 [[-3.02557236e-01 -9.53114545e-01 5.63756412e-03 9.25459684e+02] [ 9.52956610e-01 -3.02609729e-01 -1.73508513e-02 1.63445902e+02] [ 1.82433305e-02 1.22728365e-04 9.99833569e-01 9.51413730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7192541539998 meters Centerline goodness [0,1] 0.9999781945050152 Centerline is valid? [True, True] Translation: X:925.45, Y:163.47, Z:9.52 [[-3.04118785e-01 -9.52617330e-01 5.65571468e-03 9.25452879e+02] [ 9.52458622e-01 -3.04171354e-01 -1.73885468e-02 1.63473705e+02] [ 1.82849374e-02 9.86504998e-05 9.99832812e-01 9.51586364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.44, Y:163.50, Z:9.52 [[-3.06013807e-01 -9.52010777e-01 5.57049030e-03 9.25444896e+02] [ 9.51857036e-01 -3.06064496e-01 -1.71087030e-02 1.63498545e+02] [ 1.79925990e-02 6.68110319e-05 9.99838118e-01 9.51526781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7792541539998 meters Centerline goodness [0,1] 0.9999348901814393 Centerline is valid? [True, True] Translation: X:925.44, Y:163.52, Z:9.52 [[-3.07034720e-01 -9.51681792e-01 5.60789712e-03 9.25436980e+02] [ 9.51526269e-01 -3.07085924e-01 -1.72044820e-02 1.63524907e+02] [ 1.80952985e-02 5.36881367e-05 9.99836265e-01 9.51628437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.8092541539997 meters Centerline goodness [0,1] 0.9998479549946784 Centerline is valid? [True, True] Translation: X:925.43, Y:163.55, Z:9.52 [[-3.07570506e-01 -9.51507072e-01 5.88868454e-03 9.25428643e+02] [ 9.51335911e-01 -3.07626869e-01 -1.80469994e-02 1.63551402e+02] [ 1.89833652e-02 5.13923191e-05 9.99819798e-01 9.51681605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.42, Y:163.58, Z:9.52 [[-3.06768848e-01 -9.51766632e-01 5.75771699e-03 9.25419433e+02] [ 9.51603362e-01 -3.06822868e-01 -1.76286369e-02 1.63578118e+02] [ 1.85449476e-02 7.11462065e-05 9.99828025e-01 9.51785898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.41, Y:163.60, Z:9.52 [[-3.06491452e-01 -9.51854162e-01 6.05341493e-03 9.25410078e+02] [ 9.51674078e-01 -3.06551214e-01 -1.85149492e-02 1.63603587e+02] [ 1.94792132e-02 8.62044035e-05 9.99810258e-01 9.51654461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.899254154 meters Centerline goodness [0,1] 0.9998263625116662 Centerline is valid? [True, True] Translation: X:925.40, Y:163.63, Z:9.52 [[-3.06416512e-01 -9.51874425e-01 6.63324681e-03 9.25401522e+02] [ 9.51658632e-01 -3.06488284e-01 -2.02676977e-02 1.63630411e+02] [ 2.13253156e-02 1.02229345e-04 9.99772584e-01 9.51675156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9292541539999 meters Centerline goodness [0,1] 0.9998255446278649 Centerline is valid? [True, True] Translation: X:925.39, Y:163.66, Z:9.52 [[-3.04630300e-01 -9.52445036e-01 6.98815173e-03 9.25391425e+02] [ 9.52206124e-01 -3.04710403e-01 -2.13323172e-02 1.63656460e+02] [ 2.24472222e-02 1.55690665e-04 9.99748017e-01 9.51570878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9592541539998 meters Centerline goodness [0,1] 0.9999133016884496 Centerline is valid? [True, True] Translation: X:925.38, Y:163.68, Z:9.51 [[-3.03526748e-01 -9.52796954e-01 7.03407495e-03 9.25380886e+02] [ 9.52555457e-01 -3.03608184e-01 -2.14516304e-02 1.63681080e+02] [ 2.25746508e-02 1.89202869e-04 9.99745142e-01 9.51402406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9892541539998 meters Centerline goodness [0,1] 0.9998915377773921 Centerline is valid? [True, True] Translation: X:925.37, Y:163.71, Z:9.52 [[-3.01775457e-01 -9.53352729e-01 7.08155062e-03 9.25371275e+02] [ 9.53108598e-01 -3.01858440e-01 -2.15750625e-02 1.63707707e+02] [ 2.27062705e-02 2.38662441e-04 9.99742151e-01 9.51610203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0192541539998 meters Centerline goodness [0,1] 0.9999349663993063 Centerline is valid? [True, True] Translation: X:925.36, Y:163.73, Z:9.52 [[-3.00931349e-01 -9.53621172e-01 6.85454663e-03 9.25362033e+02] [ 9.53392947e-01 -3.01009295e-01 -2.08636819e-02 1.63734518e+02] [ 2.19593311e-02 2.56540475e-04 9.99758832e-01 9.51734687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.35, Y:163.76, Z:9.52 [[-3.00132948e-01 -9.53874921e-01 6.54583983e-03 9.25352678e+02] [ 9.53667247e-01 -3.00204201e-01 -1.99052771e-02 1.63760941e+02] [ 2.09522332e-02 2.68323561e-04 9.99780442e-01 9.51876213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.079254154 meters Centerline goodness [0,1] 0.9999349565292804 Centerline is valid? [True, True] Translation: X:925.34, Y:163.79, Z:9.52 [[-2.99666178e-01 -9.54021716e-01 6.53810815e-03 9.25343509e+02] [ 9.53815004e-01 -2.99737359e-01 -1.98608548e-02 1.63785200e+02] [ 2.09074021e-02 2.84519177e-04 9.99781376e-01 9.51966653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.109254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.33, Y:163.81, Z:9.52 [[-2.99395322e-01 -9.54110126e-01 6.02559888e-03 9.25334615e+02] [ 9.53934942e-01 -2.99455827e-01 -1.82847931e-02 1.63811087e+02] [ 1.92501069e-02 2.73647790e-04 9.99814662e-01 9.52097038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.139254154 meters Centerline goodness [0,1] 0.9997173237078432 Centerline is valid? [True, True] Translation: X:925.33, Y:163.84, Z:9.52 [[-2.99972412e-01 -9.53925634e-01 6.51438711e-03 9.25325654e+02] [ 9.53721292e-01 -3.00042999e-01 -1.97458000e-02 1.63835513e+02] [ 2.07906210e-02 2.89714436e-04 9.99783810e-01 9.51987155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.32, Y:163.86, Z:9.52 [[-2.99648254e-01 -9.54032669e-01 5.70884945e-03 9.25317220e+02] [ 9.53876067e-01 -2.99702514e-01 -1.72873545e-02 1.63862175e+02] [ 1.82036574e-02 2.65409271e-04 9.99834264e-01 9.52238505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1992541539998 meters Centerline goodness [0,1] 0.9999133392551509 Centerline is valid? [True, True] Translation: X:925.31, Y:163.89, Z:9.52 [[-3.00222144e-01 -9.53849830e-01 6.09648223e-03 9.25308665e+02] [ 9.53671568e-01 -3.00283909e-01 -1.84422069e-02 1.63887583e+02] [ 1.94217714e-02 2.77282866e-04 9.99811341e-01 9.52188603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2292541539998 meters Centerline goodness [0,1] 0.9998915965657792 Centerline is valid? [True, True] Translation: X:925.30, Y:163.91, Z:9.52 [[-3.00797684e-01 -9.53668150e-01 6.14919192e-03 9.25299683e+02] [ 9.53487115e-01 -3.00860407e-01 -1.85832551e-02 1.63913722e+02] [ 1.95723069e-02 2.73375170e-04 9.99808407e-01 9.52178065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2592541539998 meters Centerline goodness [0,1] 0.9999346931667283 Centerline is valid? [True, True] Translation: X:925.29, Y:163.94, Z:9.52 [[-3.01460839e-01 -9.53458909e-01 6.12134180e-03 9.25292077e+02] [ 9.53279815e-01 -3.01522866e-01 -1.84812247e-02 1.63940585e+02] [ 1.94668129e-02 2.63986057e-04 9.99810469e-01 9.52260589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2892541539998 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:925.28, Y:163.97, Z:9.52 [[-3.02043331e-01 -9.53272112e-01 6.48896518e-03 9.25283409e+02] [ 9.53071223e-01 -3.02112902e-01 -1.95713700e-02 1.63967658e+02] [ 2.06172414e-02 2.73044182e-04 9.99787405e-01 9.52242145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.319254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.27, Y:163.99, Z:9.52 [[-3.02981080e-01 -9.52975908e-01 6.27565789e-03 9.25273714e+02] [ 9.52788318e-01 -3.03045964e-01 -1.89094087e-02 1.63993373e+02] [ 1.99220237e-02 2.50180450e-04 9.99801506e-01 9.52134519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.349254154 meters Centerline goodness [0,1] 0.9999350593124946 Centerline is valid? [True, True] Translation: X:925.27, Y:164.02, Z:9.52 [[-3.04234663e-01 -9.52574511e-01 6.56292911e-03 9.25266335e+02] [ 9.52369695e-01 -3.04305347e-01 -1.97540008e-02 1.64019162e+02] [ 2.08142921e-02 2.40483014e-04 9.99783330e-01 9.52099173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.26, Y:164.04, Z:9.52 [[-3.05106670e-01 -9.52296193e-01 6.47157492e-03 9.25257935e+02] [ 9.52097398e-01 -3.05175213e-01 -1.94585045e-02 1.64044898e+02] [ 2.05052240e-02 2.24650136e-04 9.99789721e-01 9.52085380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4092541539999 meters Centerline goodness [0,1] 0.9998912830771238 Centerline is valid? [True, True] Translation: X:925.25, Y:164.07, Z:9.52 [[-3.07672035e-01 -9.51464763e-01 7.26107677e-03 9.25251012e+02] [ 9.51214793e-01 -3.07757641e-01 -2.18094393e-02 1.64072714e+02] [ 2.29855648e-02 1.96689081e-04 9.99735778e-01 9.51993655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4392541539999 meters Centerline goodness [0,1] 0.9999126389586563 Centerline is valid? [True, True] Translation: X:925.24, Y:164.10, Z:9.52 [[-3.08914318e-01 -9.51061310e-01 7.37086249e-03 9.25243051e+02] [ 9.50804101e-01 -3.09002192e-01 -2.21180249e-02 1.64099446e+02] [ 2.33132104e-02 1.75671683e-04 9.99728195e-01 9.51954756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4692541539998 meters Centerline goodness [0,1] 0.9998693408244594 Centerline is valid? [True, True] Translation: X:925.24, Y:164.13, Z:9.52 [[-3.10508452e-01 -9.50540862e-01 7.52140656e-03 9.25235458e+02] [ 9.50273398e-01 -3.10599499e-01 -2.25481761e-02 1.64126821e+02] [ 2.37691079e-02 1.45993305e-04 9.99717464e-01 9.51952449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4992541539998 meters Centerline goodness [0,1] 0.9999347357887179 Centerline is valid? [True, True] Translation: X:925.23, Y:164.15, Z:9.52 [[-3.13403562e-01 -9.49591297e-01 7.38763239e-03 9.25229266e+02] [ 9.49333484e-01 -3.13490611e-01 -2.21262834e-02 1.64153971e+02] [ 2.33268796e-02 7.88707735e-05 9.99727888e-01 9.51995228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.5292541539998 meters Centerline goodness [0,1] 0.9999128160418483 Centerline is valid? [True, True] Translation: X:925.22, Y:164.18, Z:9.52 [[-3.15098353e-01 -9.49029456e-01 7.49135900e-03 9.25221873e+02] [ 9.48764733e-01 -3.15187389e-01 -2.24140751e-02 1.64180270e+02] [ 2.36327993e-02 4.48990890e-05 9.99720705e-01 9.51997608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.5592541539997 meters Centerline goodness [0,1] 0.9999345920725592 Centerline is valid? [True, True] Translation: X:925.22, Y:164.21, Z:9.52 [[-3.17790822e-01 -9.48133607e-01 7.18729298e-03 9.25215255e+02] [ 9.47890190e-01 -3.17872087e-01 -2.14831184e-02 1.64207353e+02] [ 2.26535064e-02 -1.43733695e-05 9.99743376e-01 9.52147624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.21, Y:164.23, Z:9.52 [[-3.18615963e-01 -9.47858467e-01 6.94219847e-03 9.25207324e+02] [ 9.47631748e-01 -3.18691583e-01 -2.07302680e-02 1.64233610e+02] [ 2.18617803e-02 -2.63466227e-05 9.99761002e-01 9.52208209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.619254154 meters Centerline goodness [0,1] 0.9998910912655194 Centerline is valid? [True, True] Translation: X:925.20, Y:164.26, Z:9.52 [[-3.19549844e-01 -9.47542670e-01 7.12647289e-03 9.25200074e+02] [ 9.47304159e-01 -3.19629297e-01 -2.12589437e-02 1.64259568e+02] [ 2.24215858e-02 -4.23547401e-05 9.99748604e-01 9.52199081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.19, Y:164.29, Z:9.52 [[-3.19127914e-01 -9.47687180e-01 6.81053201e-03 9.25191980e+02] [ 9.47469822e-01 -3.19200577e-01 -2.02959972e-02 1.64285120e+02] [ 2.14081821e-02 -2.42456994e-05 9.99770818e-01 9.52323321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6792541539999 meters Centerline goodness [0,1] 0.9999128217422575 Centerline is valid? [True, True] Translation: X:925.18, Y:164.31, Z:9.52 [[-3.19077779e-01 -9.47701850e-01 7.11159018e-03 9.25182958e+02] [ 9.47465330e-01 -3.19157020e-01 -2.11717849e-02 1.64311361e+02] [ 2.23342536e-02 -1.74609434e-05 9.99750559e-01 9.52331223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7092541539998 meters Centerline goodness [0,1] 0.9999781334732791 Centerline is valid? [True, True] Translation: X:925.17, Y:164.34, Z:9.52 [[-3.17852599e-01 -9.48115022e-01 6.90156244e-03 9.25173378e+02] [ 9.47892780e-01 -3.17927516e-01 -2.05273576e-02 1.64337342e+02] [ 2.16564927e-02 1.72672409e-05 9.99765471e-01 9.52358027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.16, Y:164.36, Z:9.52 [[-3.14771455e-01 -9.49144504e-01 6.60619423e-03 9.25161998e+02] [ 9.48941481e-01 -3.14840758e-01 -1.96306837e-02 1.64363562e+02] [ 2.07122547e-02 8.97128705e-05 9.99785474e-01 9.52422116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7692541539998 meters Centerline goodness [0,1] 0.9999346405228758 Centerline is valid? [True, True] Translation: X:925.15, Y:164.39, Z:9.52 [[-3.13466919e-01 -9.49575758e-01 6.66109337e-03 9.25152083e+02] [ 9.49369833e-01 -3.13537660e-01 -1.97751394e-02 1.64389735e+02] [ 2.08664966e-02 1.24989076e-04 9.99782263e-01 9.52407844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7992541539998 meters Centerline goodness [0,1] 0.9999344319622329 Centerline is valid? [True, True] Translation: X:925.14, Y:164.42, Z:9.53 [[-3.10319843e-01 -9.50607511e-01 6.85233644e-03 9.25142219e+02] [ 9.50390245e-01 -3.10395421e-01 -2.03240016e-02 1.64416409e+02] [ 2.14470824e-02 2.05452721e-04 9.99769964e-01 9.52518993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.829254154 meters Centerline goodness [0,1] 0.9999561114768488 Centerline is valid? [True, True] Translation: X:925.13, Y:164.44, Z:9.53 [[-3.09176677e-01 -9.50979643e-01 6.89214510e-03 9.25132813e+02] [ 9.50760347e-01 -3.09253395e-01 -2.04230095e-02 1.64442486e+02] [ 2.15532855e-02 2.38460070e-04 9.99767673e-01 9.52527196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.859254154 meters Centerline goodness [0,1] 0.9998908606727348 Centerline is valid? [True, True] Translation: X:925.12, Y:164.47, Z:9.52 [[-3.08092009e-01 -9.51330095e-01 7.09683336e-03 9.25123536e+02] [ 9.51098136e-01 -3.08173610e-01 -2.10086220e-02 1.64467787e+02] [ 2.21731911e-02 2.77196438e-04 9.99754106e-01 9.52427792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.11, Y:164.49, Z:9.52 [[-3.05605660e-01 -9.52132107e-01 7.04500566e-03 9.25114385e+02] [ 9.51904190e-01 -3.05686664e-01 -2.08344855e-02 1.64493907e+02] [ 2.19907469e-02 3.39033713e-04 9.99758117e-01 9.52433081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.11, Y:164.52, Z:9.52 [[-3.04700120e-01 -9.52421908e-01 7.09556358e-03 9.25105247e+02] [ 9.52191230e-01 -3.04782503e-01 -2.09639411e-02 1.64520403e+02] [ 2.21291204e-02 3.68618071e-04 9.99755053e-01 9.52433611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.10, Y:164.55, Z:9.52 [[-3.04004288e-01 -9.52643647e-01 7.17454111e-03 9.25096208e+02] [ 9.52408308e-01 -3.04088680e-01 -2.11776002e-02 1.64546765e+02] [ 2.23564031e-02 3.95011273e-04 9.99749986e-01 9.52403801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.09, Y:164.57, Z:9.52 [[-3.03345918e-01 -9.52852293e-01 7.33225626e-03 9.25087025e+02] [ 9.52606939e-01 -3.03434223e-01 -2.16261860e-02 1.64572305e+02] [ 2.28314184e-02 4.24542953e-04 9.99739239e-01 9.52370438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.08, Y:164.60, Z:9.52 [[-3.02853463e-01 -9.53007112e-01 7.56473068e-03 9.25078659e+02] [ 9.52746431e-01 -3.02947582e-01 -2.22935265e-02 1.64599570e+02] [ 2.35376062e-02 4.55598449e-04 9.99722848e-01 9.52298432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0392541539998 meters Centerline goodness [0,1] 0.9999341614361585 Centerline is valid? [True, True] Translation: X:925.07, Y:164.63, Z:9.52 [[-3.03460252e-01 -9.52812670e-01 7.73900843e-03 9.25072066e+02] [ 9.52540323e-01 -3.03558573e-01 -2.27843439e-02 1.64625670e+02] [ 2.40584539e-02 4.57574846e-04 9.99710449e-01 9.52401598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.069254154 meters Centerline goodness [0,1] 0.9999123249238323 Centerline is valid? [True, True] Translation: X:925.06, Y:164.65, Z:9.52 [[-3.03989563e-01 -9.52643825e-01 7.75171086e-03 9.25064359e+02] [ 9.52371118e-01 -3.04088045e-01 -2.27972388e-02 1.64651249e+02] [ 2.40748514e-02 4.52382870e-04 9.99710056e-01 9.52396393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.099254154 meters Centerline goodness [0,1] 0.9998463733128498 Centerline is valid? [True, True] Translation: X:925.06, Y:164.68, Z:9.53 [[-3.05489235e-01 -9.52165367e-01 7.57905226e-03 9.25058555e+02] [ 9.51905045e-01 -3.05582959e-01 -2.22674812e-02 1.64679083e+02] [ 2.35183536e-02 4.12062277e-04 9.99723320e-01 9.52575809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.129254154 meters Centerline goodness [0,1] 0.9998901798853478 Centerline is valid? [True, True] Translation: X:925.05, Y:164.71, Z:9.53 [[-3.06619641e-01 -9.51804700e-01 7.22549770e-03 9.25051509e+02] [ 9.51568443e-01 -3.06704538e-01 -2.12090931e-02 1.64706414e+02] [ 2.24030075e-02 3.72431069e-04 9.99748952e-01 9.52753588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1592541539999 meters Centerline goodness [0,1] 0.999845987987063 Centerline is valid? [True, True] Translation: X:925.04, Y:164.73, Z:9.53 [[-3.07823914e-01 -9.51417535e-01 7.00794692e-03 9.25043562e+02] [ 9.51195608e-01 -3.07903488e-01 -2.05513454e-02 1.64733827e+02] [ 2.17106817e-02 3.39732748e-04 9.99764238e-01 9.52843279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.04, Y:164.76, Z:9.53 [[-3.10363801e-01 -9.50595503e-01 6.51920362e-03 9.25036657e+02] [ 9.50403622e-01 -3.10432146e-01 -1.91007305e-02 1.64761481e+02] [ 2.01808389e-02 2.67699423e-04 9.99796310e-01 9.53021625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.03, Y:164.79, Z:9.53 [[-3.11961165e-01 -9.50073106e-01 6.42847124e-03 9.25028612e+02] [ 9.49886764e-01 -3.12027304e-01 -1.88174625e-02 1.64788734e+02] [ 1.98838236e-02 2.36002232e-04 9.99802269e-01 9.53035667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2492541539998 meters Centerline goodness [0,1] 0.9998240907691631 Centerline is valid? [True, True] Translation: X:925.02, Y:164.81, Z:9.53 [[-3.15191610e-01 -9.49002154e-01 7.01149735e-03 9.25022691e+02] [ 9.48780679e-01 -3.15269529e-01 -2.05023876e-02 1.64814859e+02] [ 2.16673214e-02 1.90192663e-04 9.99765218e-01 9.52961696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.01, Y:164.84, Z:9.53 [[-3.16389669e-01 -9.48605515e-01 6.71972215e-03 9.25014383e+02] [ 9.48402324e-01 -3.16460979e-01 -1.96336473e-02 1.64842183e+02] [ 2.07511159e-02 1.61116961e-04 9.99784659e-01 9.53043703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.3092541539997 meters Centerline goodness [0,1] 0.999977989082585 Centerline is valid? [True, True] Translation: X:925.01, Y:164.87, Z:9.53 [[-3.18064630e-01 -9.48042744e-01 7.06020960e-03 9.25006567e+02] [ 9.47818670e-01 -3.18142951e-01 -2.06114541e-02 1.64867643e+02] [ 2.17866955e-02 1.36023935e-04 9.99762633e-01 9.52949650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:925.00, Y:164.89, Z:9.53 [[-3.19259258e-01 -9.47639738e-01 7.24246158e-03 9.24998659e+02] [ 9.47404257e-01 -3.19341375e-01 -2.11248575e-02 1.64892946e+02] [ 2.23315721e-02 1.17232584e-04 9.99750612e-01 9.52899711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.99, Y:164.92, Z:9.53 [[-3.21115528e-01 -9.47010164e-01 7.52105502e-03 9.24990815e+02] [ 9.46756523e-01 -3.21203583e-01 -2.19167636e-02 1.64919500e+02] [ 2.31711877e-02 8.27947896e-05 9.99731509e-01 9.52904856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.399254154 meters Centerline goodness [0,1] 0.9998456075343524 Centerline is valid? [True, True] Translation: X:924.98, Y:164.95, Z:9.53 [[-3.22389581e-01 -9.46571807e-01 8.17147141e-03 9.24981863e+02] [ 9.46272845e-01 -3.22493117e-01 -2.37885065e-02 1.64946394e+02] [ 2.51527729e-02 6.32748530e-05 9.99683617e-01 9.52907442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.97, Y:164.97, Z:9.53 [[-3.22603657e-01 -9.46503485e-01 7.61793925e-03 9.24972531e+02] [ 9.46244155e-01 -3.22693583e-01 -2.21551284e-02 1.64970989e+02] [ 2.34281663e-02 6.11050622e-05 9.99725521e-01 9.52871512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4592541539998 meters Centerline goodness [0,1] 0.9999118126901538 Centerline is valid? [True, True] Translation: X:924.96, Y:165.00, Z:9.53 [[-3.22869660e-01 -9.46409949e-01 7.96182351e-03 9.24962696e+02] [ 9.46127245e-01 -3.22967806e-01 -2.31307701e-02 1.64996680e+02] [ 2.44626036e-02 6.46742737e-05 9.99700744e-01 9.53039442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4892541539998 meters Centerline goodness [0,1] 0.9997801231310466 Centerline is valid? [True, True] Translation: X:924.95, Y:165.02, Z:9.53 [[-3.22734327e-01 -9.46455415e-01 8.04368268e-03 9.24953193e+02] [ 9.46167485e-01 -3.22834541e-01 -2.33441660e-02 1.65021551e+02] [ 2.46909909e-02 7.67072911e-05 9.99695128e-01 9.53058581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5192541539998 meters Centerline goodness [0,1] 0.9998679054202809 Centerline is valid? [True, True] Translation: X:924.94, Y:165.05, Z:9.53 [[-3.21053172e-01 -9.47027851e-01 7.94422181e-03 9.24942030e+02] [ 9.46747747e-01 -3.21151419e-01 -2.30319485e-02 1.65046933e+02] [ 2.43631948e-02 1.26693974e-04 9.99703165e-01 9.53247664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.93, Y:165.07, Z:9.53 [[-3.19632728e-01 -9.47512681e-01 7.39184125e-03 9.24931254e+02] [ 9.47270797e-01 -3.19718149e-01 -2.14089263e-02 1.65071144e+02] [ 2.26485349e-02 1.59081862e-04 9.99743476e-01 9.53282710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.92, Y:165.10, Z:9.53 [[-3.19921341e-01 -9.47415219e-01 7.39854745e-03 9.24922393e+02] [ 9.47173363e-01 -3.20006840e-01 -2.14066092e-02 1.65096403e+02] [ 2.26485331e-02 1.59275966e-04 9.99743476e-01 9.53307662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.609254154 meters Centerline goodness [0,1] 0.9999560970255735 Centerline is valid? [True, True] Translation: X:924.91, Y:165.12, Z:9.53 [[-3.18838133e-01 -9.47778505e-01 7.62565711e-03 9.24911784e+02] [ 9.47522081e-01 -3.18929251e-01 -2.20462821e-02 1.65121277e+02] [ 2.33270374e-02 1.96283058e-04 9.99727868e-01 9.53320391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.639254154 meters Centerline goodness [0,1] 0.9998676227247656 Centerline is valid? [True, True] Translation: X:924.90, Y:165.15, Z:9.54 [[-3.15918486e-01 -9.48752277e-01 8.03910588e-03 9.24899917e+02] [ 9.48468077e-01 -3.16020622e-01 -2.32222402e-02 1.65146892e+02] [ 2.45726765e-02 2.88500336e-04 9.99698005e-01 9.53505438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6692541539999 meters Centerline goodness [0,1] 0.9999121130226528 Centerline is valid? [True, True] Translation: X:924.89, Y:165.17, Z:9.54 [[-3.14328135e-01 -9.49284127e-01 7.58087015e-03 9.24888389e+02] [ 9.49032025e-01 -3.14419378e-01 -2.18785226e-02 1.65173083e+02] [ 2.31525067e-02 3.17453356e-04 9.99731894e-01 9.53535862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.88, Y:165.20, Z:9.54 [[-3.13113004e-01 -9.49684292e-01 7.74552608e-03 9.24876958e+02] [ 9.49421757e-01 -3.13208582e-01 -2.23318723e-02 1.65198072e+02] [ 2.36341936e-02 3.61371357e-04 9.99720608e-01 9.53511075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7292541539998 meters Centerline goodness [0,1] 0.9998676781933663 Centerline is valid? [True, True] Translation: X:924.87, Y:165.22, Z:9.54 [[-3.12361683e-01 -9.49926180e-01 8.39231886e-03 9.24866403e+02] [ 9.49618652e-01 -3.12474121e-01 -2.41731088e-02 1.65224085e+02] [ 2.55850514e-02 4.18749595e-04 9.99672561e-01 9.53509819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7592541539998 meters Centerline goodness [0,1] 0.9999561345791113 Centerline is valid? [True, True] Translation: X:924.86, Y:165.25, Z:9.54 [[-3.10749415e-01 -9.50457930e-01 8.03278810e-03 9.24855372e+02] [ 9.50176888e-01 -3.10852895e-01 -2.31162104e-02 1.65249730e+02] [ 2.44680010e-02 4.49220737e-04 9.99700513e-01 9.53687915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7892541539998 meters Centerline goodness [0,1] 0.9998247266831716 Centerline is valid? [True, True] Translation: X:924.85, Y:165.28, Z:9.54 [[-3.10906512e-01 -9.50403187e-01 8.42152921e-03 9.24845099e+02] [ 9.50094818e-01 -3.11020188e-01 -2.42132190e-02 1.65275326e+02] [ 2.56315861e-02 4.73203805e-04 9.99671345e-01 9.53676745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.819254154 meters Centerline goodness [0,1] 0.999802479973664 Centerline is valid? [True, True] Translation: X:924.83, Y:165.30, Z:9.54 [[-3.11132492e-01 -9.50327871e-01 8.57378413e-03 9.24834718e+02] [ 9.50008799e-01 -3.11250229e-01 -2.46287728e-02 1.65301719e+02] [ 2.60740015e-02 4.82358918e-04 9.99659899e-01 9.53735583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.849254154 meters Centerline goodness [0,1] 0.999868099980215 Centerline is valid? [True, True] Translation: X:924.83, Y:165.33, Z:9.54 [[-3.11966764e-01 -9.50056860e-01 8.28856040e-03 9.24825138e+02] [ 9.49759123e-01 -3.12076526e-01 -2.37875877e-02 1.65328496e+02] [ 2.51862260e-02 4.51199112e-04 9.99682675e-01 9.53813535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.879254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.82, Y:165.35, Z:9.54 [[-3.12536452e-01 -9.49875784e-01 7.54727552e-03 9.24815365e+02] [ 9.49629247e-01 -3.12627308e-01 -2.16439454e-02 1.65353290e+02] [ 2.29185441e-02 4.02591648e-04 9.99737255e-01 9.53800843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.81, Y:165.38, Z:9.54 [[-3.15168797e-01 -9.49007387e-01 7.32180990e-03 9.24805751e+02] [ 9.48775505e-01 -3.15253656e-01 -2.09803255e-02 1.65379877e+02] [ 2.22187112e-02 3.34409926e-04 9.99753078e-01 9.53822189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.80, Y:165.41, Z:9.54 [[-3.16768908e-01 -9.48474277e-01 7.34882250e-03 9.24796790e+02] [ 9.48240902e-01 -3.16853995e-01 -2.10413127e-02 1.65405378e+02] [ 2.22856476e-02 3.03220433e-04 9.99751598e-01 9.53790301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9692541539998 meters Centerline goodness [0,1] 0.9999345678204541 Centerline is valid? [True, True] Translation: X:924.79, Y:165.43, Z:9.54 [[-3.18827873e-01 -9.47782274e-01 7.58604429e-03 9.24788195e+02] [ 9.47533834e-01 -3.18917996e-01 -2.17012603e-02 1.65431500e+02] [ 2.29873959e-02 2.69066972e-04 9.99735719e-01 9.53833356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.78, Y:165.46, Z:9.54 [[-3.22221994e-01 -9.46636980e-01 7.17036269e-03 9.24779929e+02] [ 9.46415150e-01 -3.22301713e-01 -2.04931624e-02 1.65457850e+02] [ 2.17106055e-02 1.82792238e-04 9.99764280e-01 9.53819794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.0292541539998 meters Centerline goodness [0,1] 0.9999345364086674 Centerline is valid? [True, True] Translation: X:924.77, Y:165.48, Z:9.54 [[-3.24561626e-01 -9.45833658e-01 7.64475943e-03 9.24771851e+02] [ 9.45581772e-01 -3.24651614e-01 -2.18275477e-02 1.65484009e+02] [ 2.31271128e-02 1.44360779e-04 9.99732522e-01 9.53862143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.76, Y:165.51, Z:9.54 [[-3.28325464e-01 -9.44535228e-01 7.45608501e-03 9.24764080e+02] [ 9.44295744e-01 -3.28410110e-01 -2.12684615e-02 1.65510654e+02] [ 2.25374648e-02 5.77718441e-05 9.99745997e-01 9.53818312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.089254154 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:924.76, Y:165.54, Z:9.54 [[-3.30047358e-01 -9.43932694e-01 7.73378634e-03 9.24755173e+02] [ 9.43675356e-01 -3.30137955e-01 -2.20398024e-02 1.65537494e+02] [ 2.33573065e-02 2.40050355e-05 9.99727181e-01 9.53894040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.75, Y:165.56, Z:9.54 [[-3.32630375e-01 -9.43021813e-01 8.17892804e-03 9.24746084e+02] [ 9.42734275e-01 -3.32730912e-01 -2.32857873e-02 1.65563407e+02] [ 2.46803876e-02 -3.50043770e-05 9.99695392e-01 9.53700858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.149254154 meters Centerline goodness [0,1] 0.9999348024514279 Centerline is valid? [True, True] Translation: X:924.74, Y:165.59, Z:9.54 [[-3.33803796e-01 -9.42602282e-01 8.71576905e-03 9.24736872e+02] [ 9.42276225e-01 -3.33917557e-01 -2.47907578e-02 1.65589809e+02] [ 2.62781732e-02 -6.25871146e-05 9.99654667e-01 9.53750737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.73, Y:165.61, Z:9.54 [[-3.34825631e-01 -9.42240838e-01 8.60232063e-03 9.24727976e+02] [ 9.41923727e-01 -3.34936108e-01 -2.44437233e-02 1.65614245e+02] [ 2.59131022e-02 -8.16551853e-05 9.99664196e-01 9.53545083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2092541539998 meters Centerline goodness [0,1] 0.9999781978328646 Centerline is valid? [True, True] Translation: X:924.72, Y:165.64, Z:9.54 [[-3.35839307e-01 -9.41877480e-01 8.87545863e-03 9.24718176e+02] [ 9.41540439e-01 -3.35956549e-01 -2.51952166e-02 1.65640214e+02] [ 2.67125756e-02 -1.04940863e-04 9.99643150e-01 9.53799120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2392541539998 meters Centerline goodness [0,1] 0.9999127570939388 Centerline is valid? [True, True] Translation: X:924.71, Y:165.67, Z:9.54 [[-3.38118942e-01 -9.41056899e-01 9.35384186e-03 9.24709576e+02] [ 9.40682944e-01 -3.38248258e-01 -2.65276242e-02 1.65666058e+02] [ 2.81279245e-02 -1.70492741e-04 9.99604317e-01 9.53819785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.70, Y:165.69, Z:9.54 [[-3.39025360e-01 -9.40735945e-01 8.81402153e-03 9.24700543e+02] [ 9.40404451e-01 -3.39139868e-01 -2.49723715e-02 1.65692163e+02] [ 2.64815936e-02 -1.77522138e-04 9.99649285e-01 9.53825762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.69, Y:165.72, Z:9.54 [[-3.40609696e-01 -9.40165691e-01 8.57372783e-03 9.24691951e+02] [ 9.39852468e-01 -3.40717524e-01 -2.42674281e-02 1.65718357e+02] [ 2.57366226e-02 -2.07682049e-04 9.99668737e-01 9.53888797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.329254154 meters Centerline goodness [0,1] 0.9998691242229251 Centerline is valid? [True, True] Translation: X:924.68, Y:165.75, Z:9.54 [[-3.43884751e-01 -9.38970660e-01 8.79648738e-03 9.24684140e+02] [ 9.38641166e-01 -3.43997110e-01 -2.48746855e-02 1.65745746e+02] [ 2.63825661e-02 -2.97279849e-04 9.99651875e-01 9.54089856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.68, Y:165.77, Z:9.54 [[-3.45164225e-01 -9.38507597e-01 8.07148661e-03 9.24675052e+02] [ 9.38230570e-01 -3.45258457e-01 -2.28034195e-02 1.65771782e+02] [ 2.41879314e-02 -2.98009135e-04 9.99707385e-01 9.54125534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.67, Y:165.80, Z:9.54 [[-3.47834046e-01 -9.37525431e-01 7.58573159e-03 9.24665616e+02] [ 9.37280961e-01 -3.47916589e-01 -2.14113617e-02 1.65798204e+02] [ 2.27128980e-02 -3.37638776e-04 9.99741972e-01 9.54335638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4192541539999 meters Centerline goodness [0,1] 0.999825643484515 Centerline is valid? [True, True] Translation: X:924.66, Y:165.82, Z:9.54 [[-3.49539108e-01 -9.36885070e-01 8.29319470e-03 9.24656766e+02] [ 9.36593250e-01 -3.49637240e-01 -2.33855626e-02 1.65824070e+02] [ 2.48091942e-02 -4.06818510e-04 9.99692122e-01 9.54439007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.65, Y:165.85, Z:9.54 [[-3.49552536e-01 -9.36886010e-01 7.59133839e-03 9.24645704e+02] [ 9.36641927e-01 -3.49634766e-01 -2.13876453e-02 1.65850519e+02] [ 2.26919815e-02 -3.65739822e-04 9.99742437e-01 9.54456948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4792541539998 meters Centerline goodness [0,1] 0.9998475277717273 Centerline is valid? [True, True] Translation: X:924.64, Y:165.88, Z:9.54 [[-3.49947458e-01 -9.36739201e-01 7.51311160e-03 9.24635712e+02] [ 9.36500512e-01 -3.50027909e-01 -2.11483783e-02 1.65876704e+02] [ 2.24403137e-02 -3.64788355e-04 9.99748118e-01 9.54483492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5092541539998 meters Centerline goodness [0,1] 0.9998265018434179 Centerline is valid? [True, True] Translation: X:924.62, Y:165.90, Z:9.55 [[-3.50166476e-01 -9.36652813e-01 8.05893755e-03 9.24623916e+02] [ 9.36378650e-01 -3.50258983e-01 -2.26642714e-02 1.65902512e+02] [ 2.40512688e-02 -3.90050981e-04 9.99710650e-01 9.54561456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5392541539998 meters Centerline goodness [0,1] 0.9999350494706531 Centerline is valid? [True, True] Translation: X:924.61, Y:165.93, Z:9.54 [[-3.49374696e-01 -9.36951260e-01 7.72389829e-03 9.24612662e+02] [ 9.36699930e-01 -3.49459892e-01 -2.17031339e-02 1.65928770e+02] [ 2.30339713e-02 -3.47550833e-04 9.99734622e-01 9.54479049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.569254154 meters Centerline goodness [0,1] 0.9999565887434612 Centerline is valid? [True, True] Translation: X:924.60, Y:165.95, Z:9.55 [[-3.49189941e-01 -9.37019075e-01 7.85103688e-03 9.24601185e+02] [ 9.36759892e-01 -3.49278022e-01 -2.20401562e-02 1.65954199e+02] [ 2.33942414e-02 -3.41664385e-04 9.99726259e-01 9.54531863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.599254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.59, Y:165.98, Z:9.54 [[-3.48333473e-01 -9.37335958e-01 8.06807769e-03 9.24589344e+02] [ 9.37062752e-01 -3.48426746e-01 -2.26318705e-02 1.65978424e+02] [ 2.40248001e-02 -3.23142966e-04 9.99711311e-01 9.54435262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.629254154 meters Centerline goodness [0,1] 0.9998267198059262 Centerline is valid? [True, True] Translation: X:924.58, Y:166.00, Z:9.54 [[-3.48883380e-01 -9.37128254e-01 8.42743793e-03 9.24577894e+02] [ 9.36830589e-01 -3.48984979e-01 -2.36205959e-02 1.66004040e+02] [ 2.50765771e-02 -3.45751725e-04 9.99685473e-01 9.54499471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.56, Y:166.03, Z:9.55 [[-3.47144115e-01 -9.37778615e-01 7.88880324e-03 9.24563980e+02] [ 9.37518399e-01 -3.47233632e-01 -2.20920189e-02 1.66029483e+02] [ 2.34566806e-02 -2.73216143e-04 9.99724817e-01 9.54622861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.55, Y:166.05, Z:9.55 [[-3.46730313e-01 -9.37934717e-01 7.52046486e-03 9.24552695e+02] [ 9.37698684e-01 -3.46811776e-01 -2.10420818e-02 1.66054826e+02] [ 2.23442848e-02 -2.43997589e-04 9.99750306e-01 9.54716488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.54, Y:166.08, Z:9.55 [[-3.45107501e-01 -9.38536912e-01 7.01985173e-03 9.24539181e+02] [ 9.38331744e-01 -3.45178840e-01 -1.96241546e-02 1.66079210e+02] [ 2.08410977e-02 -1.85493252e-04 9.99782784e-01 9.54716493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.53, Y:166.10, Z:9.55 [[-3.44306746e-01 -9.38832792e-01 6.77157037e-03 9.24525966e+02] [ 9.38642279e-01 -3.44373294e-01 -1.89131479e-02 1.66104202e+02] [ 2.00882314e-02 -1.55842167e-04 9.99798199e-01 9.54857847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7792541539998 meters Centerline goodness [0,1] 0.9998927337867118 Centerline is valid? [True, True] Translation: X:924.51, Y:166.13, Z:9.55 [[-3.44012187e-01 -9.38942033e-01 6.59340586e-03 9.24513870e+02] [ 9.38761769e-01 -3.44075338e-01 -1.83984330e-02 1.66128838e+02] [ 1.95436904e-02 -1.39647810e-04 9.99808994e-01 9.54834852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.8092541539997 meters Centerline goodness [0,1] 0.999827738420792 Centerline is valid? [True, True] Translation: X:924.50, Y:166.15, Z:9.55 [[-3.43060815e-01 -9.39291760e-01 6.34561918e-03 9.24501203e+02] [ 9.39125160e-01 -3.43119480e-01 -1.76905523e-02 1.66154061e+02] [ 1.87938956e-02 -1.09604672e-04 9.99823373e-01 9.54885052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.839254154 meters Centerline goodness [0,1] 0.9999786196869922 Centerline is valid? [True, True] Translation: X:924.49, Y:166.18, Z:9.55 [[-3.39945255e-01 -9.40426558e-01 5.92564120e-03 9.24486639e+02] [ 9.40281713e-01 -3.39996894e-01 -1.65049163e-02 1.66178148e+02] [ 1.75363612e-02 -3.89959163e-05 9.99846225e-01 9.54875419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.47, Y:166.20, Z:9.55 [[-3.38284861e-01 -9.41025863e-01 5.80323141e-03 9.24474686e+02] [ 9.40887288e-01 -3.38334634e-01 -1.61489222e-02 1.66203092e+02] [ 1.71599876e-02 -2.74922431e-06 9.99852757e-01 9.54905189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.46, Y:166.23, Z:9.55 [[-3.35623119e-01 -9.41978692e-01 5.76760340e-03 9.24459485e+02] [ 9.41842206e-01 -3.35672669e-01 -1.60349038e-02 1.66227931e+02] [ 1.70405645e-02 5.04878981e-05 9.99854798e-01 9.54857884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9292541539999 meters Centerline goodness [0,1] 0.9999786639356504 Centerline is valid? [True, True] Translation: X:924.45, Y:166.25, Z:9.55 [[-3.34337300e-01 -9.42435882e-01 5.76008384e-03 9.24447094e+02] [ 9.42300064e-01 -3.34386905e-01 -1.59995758e-02 1.66253485e+02] [ 1.70046709e-02 7.84724091e-05 9.99855407e-01 9.54807067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.43, Y:166.28, Z:9.55 [[-3.33241618e-01 -9.42822322e-01 6.00772060e-03 9.24434472e+02] [ 9.42674913e-01 -3.33295750e-01 -1.66719012e-02 1.66279078e+02] [ 1.77209883e-02 1.07556167e-04 9.99842965e-01 9.54756816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.42, Y:166.30, Z:9.55 [[-3.31326722e-01 -9.43495716e-01 6.19977487e-03 9.24420478e+02] [ 9.43339145e-01 -3.31384687e-01 -1.71885730e-02 1.66303185e+02] [ 1.82718554e-02 1.53456782e-04 9.99833044e-01 9.54567955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0192541539998 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:924.41, Y:166.33, Z:9.55 [[-3.31111424e-01 -9.43571775e-01 6.12624927e-03 9.24409511e+02] [ 9.43419199e-01 -3.31168054e-01 -1.69686760e-02 1.66328383e+02] [ 1.80399817e-02 1.61098723e-04 9.99837253e-01 9.54521872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0492541539998 meters Centerline goodness [0,1] 0.9999146721276505 Centerline is valid? [True, True] Translation: X:924.40, Y:166.35, Z:9.55 [[-3.30637085e-01 -9.43738628e-01 6.04322485e-03 9.24398818e+02] [ 9.43590473e-01 -3.30692263e-01 -1.67226352e-02 1.66353268e+02] [ 1.77802445e-02 1.73206035e-04 9.99841904e-01 9.54519968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.39, Y:166.38, Z:9.55 [[-3.29257045e-01 -9.44224488e-01 5.46935383e-03 9.24387556e+02] [ 9.44103424e-01 -3.29302416e-01 -1.51209450e-02 1.66378807e+02] [ 1.60786380e-02 1.84958002e-04 9.99870713e-01 9.54645166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.109254154 meters Centerline goodness [0,1] 0.9998726790450928 Centerline is valid? [True, True] Translation: X:924.38, Y:166.40, Z:9.55 [[-3.29550129e-01 -9.44123139e-01 5.31130012e-03 9.24375900e+02] [ 9.44009169e-01 -3.29592878e-01 -1.46705189e-02 1.66403225e+02] [ 1.56013430e-02 1.79244620e-04 9.99878276e-01 9.54503716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.139254154 meters Centerline goodness [0,1] 0.9999573724370178 Centerline is valid? [True, True] Translation: X:924.37, Y:166.43, Z:9.55 [[-3.29259057e-01 -9.44226824e-01 4.91706527e-03 9.24365877e+02] [ 9.44129339e-01 -3.29295724e-01 -1.35689918e-02 1.66428805e+02] [ 1.44313746e-02 1.74632156e-04 9.99895847e-01 9.54599496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.36, Y:166.45, Z:9.55 [[-3.29041990e-01 -9.44301983e-01 5.01336014e-03 9.24355745e+02] [ 9.44200848e-01 -3.29080128e-01 -1.38212689e-02 1.66454845e+02] [ 1.47012488e-02 1.85841063e-04 9.99891914e-01 9.54632288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1992541539998 meters Centerline goodness [0,1] 0.9998937977909941 Centerline is valid? [True, True] Translation: X:924.35, Y:166.48, Z:9.55 [[-3.29071610e-01 -9.44292549e-01 4.84339172e-03 9.24346066e+02] [ 9.44198321e-01 -3.29107200e-01 -1.33409593e-02 1.66480706e+02] [ 1.41917635e-02 1.82991381e-04 9.99899275e-01 9.54602737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2292541539998 meters Centerline goodness [0,1] 0.9998727735368956 Centerline is valid? [True, True] Translation: X:924.33, Y:166.51, Z:9.55 [[-3.28454935e-01 -9.44507354e-01 4.81819177e-03 9.24334706e+02] [ 9.44414280e-01 -3.28490215e-01 -1.32607254e-02 1.66505060e+02] [ 1.41075815e-02 1.94818415e-04 9.99900464e-01 9.54543914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2592541539998 meters Centerline goodness [0,1] 0.9999148465108357 Centerline is valid? [True, True] Translation: X:924.33, Y:166.53, Z:9.55 [[-3.27153122e-01 -9.44959154e-01 4.79925209e-03 9.24325167e+02] [ 9.44866995e-01 -3.27188250e-01 -1.31988965e-02 1.66531603e+02] [ 1.40426769e-02 2.16594711e-04 9.99901373e-01 9.54630652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2892541539998 meters Centerline goodness [0,1] 0.9999786912143876 Centerline is valid? [True, True] Translation: X:924.31, Y:166.56, Z:9.55 [[-3.26808056e-01 -9.45078485e-01 4.81156649e-03 9.24314612e+02] [ 9.44986036e-01 -3.26843396e-01 -1.32206797e-02 1.66556820e+02] [ 1.40672086e-02 2.26238530e-04 9.99901026e-01 9.54685258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.319254154 meters Centerline goodness [0,1] 0.9998937436246175 Centerline is valid? [True, True] Translation: X:924.30, Y:166.58, Z:9.55 [[-3.25749271e-01 -9.45444186e-01 4.76476553e-03 9.24303873e+02] [ 9.45353733e-01 -3.25784025e-01 -1.30801033e-02 1.66583060e+02] [ 1.39187921e-02 2.43554756e-04 9.99903099e-01 9.54634983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.349254154 meters Centerline goodness [0,1] 0.999808126892082 Centerline is valid? [True, True] Translation: X:924.29, Y:166.61, Z:9.55 [[-3.25436750e-01 -9.45552068e-01 4.71267471e-03 9.24293883e+02] [ 9.45463753e-01 -3.25470775e-01 -1.29254237e-02 1.66608585e+02] [ 1.37554990e-02 2.49255224e-04 9.99905358e-01 9.54597304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.379254154 meters Centerline goodness [0,1] 0.9999362840880129 Centerline is valid? [True, True] Translation: X:924.28, Y:166.63, Z:9.55 [[-3.24790717e-01 -9.45773086e-01 4.92552455e-03 9.24283972e+02] [ 9.45676826e-01 -3.24827947e-01 -1.34961106e-02 1.66634595e+02] [ 1.43642062e-02 2.74542976e-04 9.99896792e-01 9.54651216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.27, Y:166.66, Z:9.55 [[-3.24162526e-01 -9.45987447e-01 5.13877638e-03 9.24274213e+02] [ 9.45882891e-01 -3.24203115e-01 -1.40675991e-02 1.66660192e+02] [ 1.49737795e-02 3.00492195e-04 9.99887842e-01 9.54598712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4392541539999 meters Centerline goodness [0,1] 0.999829344255301 Centerline is valid? [True, True] Translation: X:924.27, Y:166.69, Z:9.55 [[-3.24842599e-01 -9.45754524e-01 5.06610110e-03 9.24267445e+02] [ 9.45653061e-01 -3.24881972e-01 -1.38561540e-02 1.66687489e+02] [ 1.47504052e-02 2.89704941e-04 9.99891165e-01 9.54515124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4692541539998 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:924.26, Y:166.71, Z:9.55 [[-3.25350238e-01 -9.45579368e-01 5.18471357e-03 9.24258802e+02] [ 9.45473274e-01 -3.25391415e-01 -1.41674200e-02 1.66713076e+02] [ 1.50834813e-02 2.92634643e-04 9.99886195e-01 9.54621101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4992541539998 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:924.25, Y:166.74, Z:9.55 [[-3.25619956e-01 -9.45486499e-01 5.18892945e-03 9.24249245e+02] [ 9.45380417e-01 -3.25661166e-01 -1.41658760e-02 1.66738942e+02] [ 1.50834773e-02 2.92820367e-04 9.99886195e-01 9.54646838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.5292541539998 meters Centerline goodness [0,1] 0.999935864545921 Centerline is valid? [True, True] Translation: X:924.24, Y:166.77, Z:9.55 [[-3.27484819e-01 -9.44842463e-01 5.13952034e-03 9.24243720e+02] [ 9.44738496e-01 -3.27525039e-01 -1.40186658e-02 1.66767178e+02] [ 1.49287523e-02 2.64602484e-04 9.99888525e-01 9.54722317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.5592541539997 meters Centerline goodness [0,1] 0.9999359480752397 Centerline is valid? [True, True] Translation: X:924.24, Y:166.79, Z:9.55 [[-3.29201253e-01 -9.44246419e-01 5.02345984e-03 9.24236790e+02] [ 9.44147212e-01 -3.29239493e-01 -1.36893689e-02 1.66792136e+02] [ 1.45800590e-02 2.36328194e-04 9.99893677e-01 9.54720898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.23, Y:166.82, Z:9.55 [[-3.32008205e-01 -9.43264661e-01 4.72555346e-03 9.24232504e+02] [ 9.43176940e-01 -3.32041781e-01 -1.28653067e-02 1.66820800e+02] [ 1.37044703e-02 1.85645675e-04 9.99906072e-01 9.54882006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.619254154 meters Centerline goodness [0,1] 0.9999572530831213 Centerline is valid? [True, True] Translation: X:924.23, Y:166.85, Z:9.55 [[-3.33895028e-01 -9.42599270e-01 4.55276876e-03 9.24225492e+02] [ 9.42517924e-01 -3.33926029e-01 -1.23842360e-02 1.66848279e+02] [ 1.31936598e-02 1.56031342e-04 9.99912948e-01 9.54931388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.22, Y:166.87, Z:9.55 [[-3.35516686e-01 -9.42024223e-01 4.34926252e-03 9.24218519e+02] [ 9.41950072e-01 -3.35544849e-01 -1.18201316e-02 1.66873573e+02] [ 1.25942230e-02 1.30936739e-04 9.99920681e-01 9.55014548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6792541539999 meters Centerline goodness [0,1] 0.9997650927883486 Centerline is valid? [True, True] Translation: X:924.21, Y:166.90, Z:9.55 [[-3.37856305e-01 -9.41188417e-01 4.18100773e-03 9.24211966e+02] [ 9.41119958e-01 -3.37882159e-01 -1.13521684e-02 1.66898961e+02] [ 1.20972174e-02 9.94281394e-05 9.99926821e-01 9.54907963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.21, Y:166.93, Z:9.55 [[-3.40306549e-01 -9.40305047e-01 4.22757102e-03 9.24208257e+02] [ 9.40235096e-01 -3.40332799e-01 -1.14694896e-02 1.66927138e+02] [ 1.22236000e-02 7.17682177e-05 9.99925286e-01 9.55087468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7392541539998 meters Centerline goodness [0,1] 0.9999143285500107 Centerline is valid? [True, True] Translation: X:924.20, Y:166.96, Z:9.55 [[-3.42070995e-01 -9.39664087e-01 4.34021337e-03 9.24201268e+02] [ 9.39590441e-01 -3.42098524e-01 -1.17645057e-02 1.66955010e+02] [ 1.25394641e-02 5.37268180e-05 9.99921376e-01 9.55035271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.20, Y:166.98, Z:9.55 [[-3.44459441e-01 -9.38789205e-01 4.74571636e-03 9.24195642e+02] [ 9.38701216e-01 -3.44492130e-01 -1.28529841e-02 1.66981763e+02] [ 1.37011046e-02 2.74780025e-05 9.99906135e-01 9.55028015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7992541539998 meters Centerline goodness [0,1] 0.9999355988236052 Centerline is valid? [True, True] Translation: X:924.19, Y:167.01, Z:9.55 [[-3.45895806e-01 -9.38260390e-01 4.85093433e-03 9.24187829e+02] [ 9.38168539e-01 -3.45929820e-01 -1.31282761e-02 1.67009155e+02] [ 1.39958243e-02 9.97832549e-06 9.99902054e-01 9.54974534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.829254154 meters Centerline goodness [0,1] 0.9999784371226497 Centerline is valid? [True, True] Translation: X:924.18, Y:167.04, Z:9.55 [[-3.48037878e-01 -9.37467357e-01 4.95881201e-03 9.24182278e+02] [ 9.37371466e-01 -3.48073202e-01 -1.34082543e-02 1.67036980e+02] [ 1.42958303e-02 -1.83315148e-05 9.99897809e-01 9.55031391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.17, Y:167.06, Z:9.55 [[-3.49028579e-01 -9.37098057e-01 5.12670959e-03 9.24174582e+02] [ 9.36995708e-01 -3.49066228e-01 -1.38495990e-02 1.67062734e+02] [ 1.47679935e-02 -3.02009887e-05 9.99890947e-01 9.55086943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.889254154 meters Centerline goodness [0,1] 0.9999567847882455 Centerline is valid? [True, True] Translation: X:924.17, Y:167.09, Z:9.55 [[-3.49936792e-01 -9.36759077e-01 5.16457530e-03 9.24166665e+02] [ 9.36655364e-01 -3.49974899e-01 -1.39391386e-02 1.67089268e+02] [ 1.48650864e-02 -4.03903025e-05 9.99889508e-01 9.55115549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.16, Y:167.12, Z:9.55 [[-3.50992578e-01 -9.36363327e-01 5.28488479e-03 9.24160168e+02] [ 9.36254880e-01 -3.51032358e-01 -1.42507326e-02 1.67115674e+02] [ 1.51990289e-02 -5.39021844e-05 9.99884487e-01 9.55147593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9492541539998 meters Centerline goodness [0,1] 0.9998270457247865 Centerline is valid? [True, True] Translation: X:924.15, Y:167.14, Z:9.55 [[-3.51424462e-01 -9.36201739e-01 5.21065759e-03 9.24152188e+02] [ 9.36096490e-01 -3.51463085e-01 -1.40378400e-02 1.67142523e+02] [ 1.49736040e-02 -5.55620947e-05 9.99887888e-01 9.55045586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9792541539998 meters Centerline goodness [0,1] 0.9999351519605724 Centerline is valid? [True, True] Translation: X:924.14, Y:167.17, Z:9.55 [[-3.51340235e-01 -9.36232836e-01 5.30240901e-03 9.24143505e+02] [ 9.36124048e-01 -3.51380241e-01 -1.42720770e-02 1.67168535e+02] [ 1.52251489e-02 -5.06422985e-05 9.99884089e-01 9.55125422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0092541539998 meters Centerline goodness [0,1] 0.9998486355576699 Centerline is valid? [True, True] Translation: X:924.14, Y:167.20, Z:9.55 [[-3.51498223e-01 -9.36173534e-01 5.30227906e-03 9.24136086e+02] [ 9.36064941e-01 -3.51538209e-01 -1.42588492e-02 1.67196088e+02] [ 1.52127109e-02 -4.86826251e-05 9.99884279e-01 9.55107672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.13, Y:167.22, Z:9.55 [[-3.51388299e-01 -9.36215733e-01 5.13468630e-03 9.24127650e+02] [ 9.36114081e-01 -3.51425810e-01 -1.37958940e-02 1.67222161e+02] [ 1.47203943e-02 -4.10635957e-05 9.99891648e-01 9.55275444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.069254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.12, Y:167.25, Z:9.55 [[-3.51019411e-01 -9.36352599e-01 5.40222879e-03 9.24120600e+02] [ 9.36240310e-01 -3.51060978e-01 -1.45007708e-02 1.67249838e+02] [ 1.54743461e-02 -3.22676745e-05 9.99880265e-01 9.55337137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.099254154 meters Centerline goodness [0,1] 0.9998915824623791 Centerline is valid? [True, True] Translation: X:924.11, Y:167.28, Z:9.55 [[-3.51154785e-01 -9.36301979e-01 5.37782099e-03 9.24112775e+02] [ 9.36190897e-01 -3.51195962e-01 -1.44222573e-02 1.67275778e+02] [ 1.53922571e-02 -2.97776306e-05 9.99881532e-01 9.55238510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.129254154 meters Centerline goodness [0,1] 0.9999128160418483 Centerline is valid? [True, True] Translation: X:924.10, Y:167.30, Z:9.55 [[-3.50531283e-01 -9.36533431e-01 5.74048103e-03 9.24104162e+02] [ 9.36407134e-01 -3.50578284e-01 -1.53800348e-02 1.67302141e+02] [ 1.64164047e-02 -1.57559356e-05 9.99865242e-01 9.55279328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1592541539999 meters Centerline goodness [0,1] 0.9998264303226226 Centerline is valid? [True, True] Translation: X:924.10, Y:167.33, Z:9.55 [[-3.49853631e-01 -9.36785296e-01 5.97885158e-03 9.24095596e+02] [ 9.36648579e-01 -3.49904715e-01 -1.60040404e-02 1.67328031e+02] [ 1.70843780e-02 1.01121318e-06 9.99854051e-01 9.55190086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.09, Y:167.35, Z:9.55 [[-3.46911702e-01 -9.37877766e-01 6.12918262e-03 9.24086945e+02] [ 9.37734518e-01 -3.46965837e-01 -1.63915137e-02 1.67354312e+02] [ 1.74998532e-02 6.11382169e-05 9.99846864e-01 9.55372467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2192541539998 meters Centerline goodness [0,1] 0.9998691185131863 Centerline is valid? [True, True] Translation: X:924.08, Y:167.38, Z:9.55 [[-3.46059511e-01 -9.38191691e-01 6.25822505e-03 9.24078196e+02] [ 9.38042669e-01 -3.46116084e-01 -1.67214864e-02 1.67379873e+02] [ 1.78540320e-02 8.38527052e-05 9.99840601e-01 9.55194384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2492541539998 meters Centerline goodness [0,1] 0.9999343587948275 Centerline is valid? [True, True] Translation: X:924.07, Y:167.41, Z:9.55 [[-3.42912176e-01 -9.39348039e-01 6.04158257e-03 9.24069472e+02] [ 9.39209579e-01 -3.42965363e-01 -1.61284517e-02 1.67407086e+02] [ 1.72222830e-02 1.43669761e-04 9.99851675e-01 9.55347686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2792541539998 meters Centerline goodness [0,1] 0.9999562659902473 Centerline is valid? [True, True] Translation: X:924.06, Y:167.43, Z:9.55 [[-3.41532894e-01 -9.39850843e-01 5.97290493e-03 9.24060208e+02] [ 9.39715824e-01 -3.41585076e-01 -1.59312797e-02 1.67433571e+02] [ 1.70132818e-02 1.71777226e-04 9.99855249e-01 9.55442956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.3092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.05, Y:167.46, Z:9.56 [[-3.38268780e-01 -9.41031105e-01 5.89000275e-03 9.24051276e+02] [ 9.40900210e-01 -3.38319975e-01 -1.56967783e-02 1.67460607e+02] [ 1.67638622e-02 2.32174775e-04 9.99859450e-01 9.55593507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.339254154 meters Centerline goodness [0,1] 0.9999124956247812 Centerline is valid? [True, True] Translation: X:924.04, Y:167.49, Z:9.55 [[-3.37423880e-01 -9.41334585e-01 5.85870784e-03 9.24041943e+02] [ 9.41205318e-01 -3.37474646e-01 -1.56016967e-02 1.67486522e+02] [ 1.66635821e-02 2.49861928e-04 9.99861122e-01 9.55469001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.03, Y:167.51, Z:9.56 [[-3.35613864e-01 -9.41980595e-01 5.99110909e-03 9.24032996e+02] [ 9.41845687e-01 -3.35667207e-01 -1.59445402e-02 1.67512971e+02] [ 1.70304663e-02 2.91491517e-04 9.99854929e-01 9.55655618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.399254154 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:924.02, Y:167.54, Z:9.56 [[-3.34577147e-01 -9.42348127e-01 6.17583468e-03 9.24023518e+02] [ 9.42205026e-01 -3.34633985e-01 -1.64251436e-02 1.67538870e+02] [ 1.75448474e-02 3.23424799e-04 9.99846025e-01 9.55649258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.02, Y:167.57, Z:9.56 [[-3.32193983e-01 -9.43188364e-01 6.54731888e-03 9.24015480e+02] [ 9.43027959e-01 -3.32258264e-01 -1.73987041e-02 1.67566548e+02] [ 1.85856561e-02 3.94559928e-04 9.99827194e-01 9.55664772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4592541539998 meters Centerline goodness [0,1] 0.9998235864867249 Centerline is valid? [True, True] Translation: X:924.01, Y:167.59, Z:9.56 [[-3.31913026e-01 -9.43285491e-01 6.79897198e-03 9.24006270e+02] [ 9.43112838e-01 -3.31982388e-01 -1.80518335e-02 1.67593321e+02] [ 1.92851716e-02 4.20559084e-04 9.99813935e-01 9.55621611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:924.00, Y:167.62, Z:9.56 [[-3.29955579e-01 -9.43971777e-01 6.82647784e-03 9.23998261e+02] [ 9.43798169e-01 -3.30025857e-01 -1.81093623e-02 1.67620183e+02] [ 1.93476411e-02 4.67532171e-04 9.99812708e-01 9.55736059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5192541539998 meters Centerline goodness [0,1] 0.9998018014050079 Centerline is valid? [True, True] Translation: X:923.99, Y:167.65, Z:9.56 [[-3.30416490e-01 -9.43808040e-01 7.16434757e-03 9.23988961e+02] [ 9.43617121e-01 -3.30493794e-01 -1.89889904e-02 1.67646215e+02] [ 2.02897342e-02 4.86125489e-04 9.99794024e-01 9.55529365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5492541539998 meters Centerline goodness [0,1] 0.9999117387466901 Centerline is valid? [True, True] Translation: X:923.98, Y:167.67, Z:9.56 [[-3.29775540e-01 -9.44032057e-01 7.18107638e-03 9.23979025e+02] [ 9.43840638e-01 -3.29853328e-01 -1.90166448e-02 1.67672220e+02] [ 2.03210243e-02 5.06567387e-04 9.99793378e-01 9.55577697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.579254154 meters Centerline goodness [0,1] 0.999889351155174 Centerline is valid? [True, True] Translation: X:923.97, Y:167.70, Z:9.55 [[-3.30017312e-01 -9.43944567e-01 7.56488663e-03 9.23968636e+02] [ 9.43732508e-01 -3.30103573e-01 -2.00146145e-02 1.67697491e+02] [ 2.13898828e-02 5.34060126e-04 9.99771068e-01 9.55395643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.609254154 meters Centerline goodness [0,1] 0.9998897293959377 Centerline is valid? [True, True] Translation: X:923.96, Y:167.72, Z:9.55 [[-3.30402328e-01 -9.43807650e-01 7.83720383e-03 9.23959649e+02] [ 9.43580450e-01 -3.30494806e-01 -2.07151471e-02 1.67723431e+02] [ 2.21412695e-02 5.50699489e-04 9.99754700e-01 9.55398033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.639254154 meters Centerline goodness [0,1] 0.9999337177702657 Centerline is valid? [True, True] Translation: X:923.95, Y:167.75, Z:9.55 [[-3.31098158e-01 -9.43561511e-01 8.10463366e-03 9.23949434e+02] [ 9.43318919e-01 -3.31196864e-01 -2.14022152e-02 1.67750110e+02] [ 2.28785358e-02 5.59020236e-04 9.99738096e-01 9.55436145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6692541539999 meters Centerline goodness [0,1] 0.9998897099371347 Centerline is valid? [True, True] Translation: X:923.94, Y:167.78, Z:9.55 [[-3.31907422e-01 -9.43273897e-01 8.47461632e-03 9.23939050e+02] [ 9.43009026e-01 -3.32015106e-01 -2.23594640e-02 1.67776460e+02] [ 2.39047994e-02 5.70367622e-04 9.99714077e-01 9.55377759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.93, Y:167.80, Z:9.56 [[-3.32577593e-01 -9.43038014e-01 8.45274280e-03 9.23929554e+02] [ 9.42774897e-01 -3.32684524e-01 -2.22823225e-02 1.67802599e+02] [ 2.38251739e-02 5.58432531e-04 9.99715984e-01 9.55538803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.92, Y:167.83, Z:9.56 [[-3.35398072e-01 -9.42038465e-01 8.46540975e-03 9.23919576e+02] [ 9.41774695e-01 -3.35504524e-01 -2.22965995e-02 1.67828005e+02] [ 2.38444376e-02 4.94272215e-04 9.99715559e-01 9.55554133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.91, Y:167.85, Z:9.56 [[-3.36904224e-01 -9.41501509e-01 8.39358109e-03 9.23910441e+02] [ 9.41242503e-01 -3.37008454e-01 -2.20874027e-02 1.67853743e+02] [ 2.36240308e-02 4.59055995e-04 9.99720808e-01 9.55644105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7892541539998 meters Centerline goodness [0,1] 0.9999559014839151 Centerline is valid? [True, True] Translation: X:923.90, Y:167.88, Z:9.56 [[-3.38804532e-01 -9.40820964e-01 8.20995839e-03 9.23902428e+02] [ 9.40573412e-01 -3.38903743e-01 -2.15849251e-02 1.67880578e+02] [ 2.30899357e-02 4.08998109e-04 9.99733308e-01 9.55719811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.819254154 meters Centerline goodness [0,1] 0.9998896709989188 Centerline is valid? [True, True] Translation: X:923.89, Y:167.91, Z:9.56 [[-3.42475428e-01 -9.39493131e-01 7.95227231e-03 9.23893836e+02] [ 9.39260905e-01 -3.42567596e-01 -2.08900719e-02 1.67906047e+02] [ 2.23502699e-02 3.14922184e-04 9.99750152e-01 9.55616586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.89, Y:167.93, Z:9.56 [[-3.44197560e-01 -9.38865335e-01 7.74091818e-03 9.23885889e+02] [ 9.38645500e-01 -3.44284487e-01 -2.03179120e-02 1.67933521e+02] [ 2.17408613e-02 2.72602279e-04 9.99763602e-01 9.55880904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.879254154 meters Centerline goodness [0,1] 0.9999336576735958 Centerline is valid? [True, True] Translation: X:923.88, Y:167.96, Z:9.56 [[-3.49423223e-01 -9.36934625e-01 7.54454792e-03 9.23879623e+02] [ 9.36725702e-01 -3.49504628e-01 -1.97856958e-02 1.67960904e+02] [ 2.11747579e-02 1.53590358e-04 9.99775778e-01 9.55874646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9092541539999 meters Centerline goodness [0,1] 0.9998676519245616 Centerline is valid? [True, True] Translation: X:923.87, Y:167.99, Z:9.56 [[-3.52298778e-01 -9.35855909e-01 7.69995945e-03 9.23871422e+02] [ 9.35638407e-01 -3.52382901e-01 -2.01757944e-02 1.67987442e+02] [ 2.15949705e-02 9.64700690e-05 9.99766797e-01 9.55837132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9392541539999 meters Centerline goodness [0,1] 0.9998010478148418 Centerline is valid? [True, True] Translation: X:923.86, Y:168.01, Z:9.56 [[-3.54982589e-01 -9.34842542e-01 7.53544404e-03 9.23863283e+02] [ 9.34634368e-01 -3.55062558e-01 -1.97275875e-02 1.68013276e+02] [ 2.11177421e-02 3.99348979e-05 9.99776995e-01 9.55835085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.86, Y:168.04, Z:9.56 [[-3.57825155e-01 -9.33761037e-01 7.17527420e-03 9.23855105e+02] [ 9.33572393e-01 -3.57897088e-01 -1.87686527e-02 1.68040221e+02] [ 2.00934464e-02 -1.72581580e-05 9.99798106e-01 9.56265171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9992541539998 meters Centerline goodness [0,1] 0.9998012235793008 Centerline is valid? [True, True] Translation: X:923.85, Y:168.07, Z:9.56 [[-3.59631504e-01 -9.33065611e-01 7.33120675e-03 9.23845398e+02] [ 9.32868873e-01 -3.59706217e-01 -1.91599608e-02 1.68067038e+02] [ 2.05145812e-02 -5.14709478e-05 9.99789553e-01 9.56099778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.0292541539998 meters Centerline goodness [0,1] 0.999845512127298 Centerline is valid? [True, True] Translation: X:923.84, Y:168.09, Z:9.56 [[-3.60287405e-01 -9.32814083e-01 7.13247509e-03 9.23835760e+02] [ 9.32628161e-01 -3.60357993e-01 -1.86233639e-02 1.68091304e+02] [ 1.99423806e-02 -5.78163315e-05 9.99801129e-01 9.56166918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.0592541539997 meters Centerline goodness [0,1] 0.9999557786278108 Centerline is valid? [True, True] Translation: X:923.82, Y:168.12, Z:9.56 [[-3.59983242e-01 -9.32931066e-01 7.18965806e-03 9.23823784e+02] [ 9.32742525e-01 -3.60055029e-01 -1.87552337e-02 1.68117005e+02] [ 2.00860127e-02 -4.54700331e-05 9.99798255e-01 9.56326677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.089254154 meters Centerline goodness [0,1] 0.9998236914600551 Centerline is valid? [True, True] Translation: X:923.81, Y:168.14, Z:9.56 [[-3.60215431e-01 -9.32836923e-01 7.75365280e-03 9.23813402e+02] [ 9.32618014e-01 -3.60298867e-01 -2.02080602e-02 1.68141996e+02] [ 2.16444571e-02 -4.80588539e-05 9.99765730e-01 9.56091532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.119254154 meters Centerline goodness [0,1] 0.9998899236069833 Centerline is valid? [True, True] Translation: X:923.80, Y:168.17, Z:9.56 [[-3.59371280e-01 -9.33159765e-01 8.07067981e-03 9.23801975e+02] [ 9.32923115e-01 -3.59461893e-01 -2.10145105e-02 1.68166689e+02] [ 2.25109975e-02 -2.26877882e-05 9.99746595e-01 9.56082536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.149254154 meters Centerline goodness [0,1] 0.9998901340364755 Centerline is valid? [True, True] Translation: X:923.79, Y:168.19, Z:9.56 [[-3.59020654e-01 -9.33293445e-01 8.21681405e-03 9.23791500e+02] [ 9.33048584e-01 -3.59114670e-01 -2.13774119e-02 1.68191122e+02] [ 2.29021769e-02 -8.24569118e-06 9.99737711e-01 9.55897893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1792541539999 meters Centerline goodness [0,1] 0.9998678617834255 Centerline is valid? [True, True] Translation: X:923.78, Y:168.22, Z:9.56 [[-3.58811382e-01 -9.33373798e-01 8.23074045e-03 9.23780358e+02] [ 9.33128521e-01 -3.58905772e-01 -2.13965176e-02 1.68217413e+02] [ 2.29250092e-02 3.02461262e-06 9.99737187e-01 9.56160573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2092541539998 meters Centerline goodness [0,1] 0.9997580237136761 Centerline is valid? [True, True] Translation: X:923.77, Y:168.24, Z:9.56 [[-3.58279997e-01 -9.33578371e-01 8.17731952e-03 9.23768493e+02] [ 9.33336732e-01 -3.58373303e-01 -2.12395787e-02 1.68242682e+02] [ 2.27593443e-02 2.24764984e-05 9.99740972e-01 9.56278352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.76, Y:168.27, Z:9.57 [[-3.57721435e-01 -9.33797600e-01 7.57748875e-03 9.23757280e+02] [ 9.33590512e-01 -3.57801679e-01 -1.96650636e-02 1.68266980e+02] [ 2.10744273e-02 3.96568563e-05 9.99777909e-01 9.56546642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.75, Y:168.29, Z:9.57 [[-3.57911253e-01 -9.33724408e-01 7.63318550e-03 9.23746536e+02] [ 9.33514633e-01 -3.57992638e-01 -1.97914341e-02 1.68292426e+02] [ 2.12123693e-02 4.21133740e-05 9.99774992e-01 9.56664771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2992541539998 meters Centerline goodness [0,1] 0.9998460421844415 Centerline is valid? [True, True] Translation: X:923.74, Y:168.32, Z:9.57 [[-3.59222279e-01 -9.33217757e-01 7.99824147e-03 9.23735975e+02] [ 9.32987753e-01 -3.59311310e-01 -2.07179902e-02 1.68317363e+02] [ 2.22082550e-02 1.98976739e-05 9.99753366e-01 9.56532060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.329254154 meters Centerline goodness [0,1] 0.9999120685865025 Centerline is valid? [True, True] Translation: X:923.73, Y:168.34, Z:9.57 [[-3.59612500e-01 -9.33068435e-01 7.88318596e-03 9.23725516e+02] [ 9.32845365e-01 -3.59698894e-01 -2.04017197e-02 1.68343157e+02] [ 2.18717740e-02 1.70800418e-05 9.99760784e-01 9.56708912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.359254154 meters Centerline goodness [0,1] 0.9998464508203914 Centerline is valid? [True, True] Translation: X:923.72, Y:168.37, Z:9.57 [[-3.60564746e-01 -9.32700141e-01 7.96937525e-03 9.23715029e+02] [ 9.32472484e-01 -3.60652807e-01 -2.06062915e-02 1.68368667e+02] [ 2.20936685e-02 1.32088285e-06 9.99755905e-01 9.56590269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.389254154 meters Centerline goodness [0,1] 0.9998464508203914 Centerline is valid? [True, True] Translation: X:923.71, Y:168.39, Z:9.57 [[-3.60858189e-01 -9.32586594e-01 7.97579300e-03 9.23705262e+02] [ 9.32358964e-01 -3.60946320e-01 -2.06038078e-02 1.68393593e+02] [ 2.20936681e-02 1.24933484e-06 9.99755905e-01 9.56615230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4192541539999 meters Centerline goodness [0,1] 0.9998904661759551 Centerline is valid? [True, True] Translation: X:923.69, Y:168.42, Z:9.57 [[-3.61158799e-01 -9.32471388e-01 7.83794274e-03 9.23694644e+02] [ 9.32251919e-01 -3.61243840e-01 -2.02298772e-02 1.68419529e+02] [ 2.16951902e-02 7.38990582e-07 9.99764632e-01 9.56760202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4492541539998 meters Centerline goodness [0,1] 0.9998026575450598 Centerline is valid? [True, True] Translation: X:923.68, Y:168.44, Z:9.57 [[-3.61434286e-01 -9.32363684e-01 7.95098860e-03 9.23684285e+02] [ 9.32138139e-01 -3.61521730e-01 -2.05067842e-02 1.68444075e+02] [ 2.19942360e-02 -4.35167365e-07 9.99758098e-01 9.56693735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4792541539998 meters Centerline goodness [0,1] 0.9998903292316466 Centerline is valid? [True, True] Translation: X:923.67, Y:168.47, Z:9.57 [[-3.61544291e-01 -9.32321599e-01 7.88432535e-03 9.23673500e+02] [ 9.32100140e-01 -3.61630248e-01 -2.03197420e-02 1.68469554e+02] [ 2.17957449e-02 2.49406312e-06 9.99762445e-01 9.56806345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.66, Y:168.49, Z:9.57 [[-3.60961278e-01 -9.32551045e-01 7.45013036e-03 9.23661467e+02] [ 9.32353682e-01 -3.61038154e-01 -1.91849500e-02 1.68494628e+02] [ 2.05807265e-02 2.11324102e-05 9.99788194e-01 9.56986794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5392541539998 meters Centerline goodness [0,1] 0.9998906793187136 Centerline is valid? [True, True] Translation: X:923.65, Y:168.52, Z:9.57 [[-3.60998459e-01 -9.32532445e-01 7.95938089e-03 9.23650579e+02] [ 9.32307563e-01 -3.61086192e-01 -2.04785319e-02 1.68520745e+02] [ 2.19709180e-02 2.78725358e-05 9.99758610e-01 9.56908515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.569254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.64, Y:168.55, Z:9.57 [[-3.59487203e-01 -9.33116715e-01 7.88336181e-03 9.23638200e+02] [ 9.32896620e-01 -3.59573625e-01 -2.02658371e-02 1.68546176e+02] [ 2.17450403e-02 6.90524894e-05 9.99763546e-01 9.57000580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.599254154 meters Centerline goodness [0,1] 0.9998465450719046 Centerline is valid? [True, True] Translation: X:923.63, Y:168.57, Z:9.57 [[-3.59025131e-01 -9.33285320e-01 8.91442958e-03 9.23627248e+02] [ 9.33004449e-01 -3.59135772e-01 -2.28953155e-02 1.68571431e+02] [ 2.45693524e-02 9.72088010e-05 9.99698123e-01 9.56755945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.62, Y:168.60, Z:9.57 [[-3.57674483e-01 -9.33805845e-01 8.69534544e-03 9.23615951e+02] [ 9.33539227e-01 -3.57780137e-01 -2.23133621e-02 1.68597104e+02] [ 2.39473698e-02 1.36525819e-04 9.99713211e-01 9.56959066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6592541539999 meters Centerline goodness [0,1] 0.9999562755514746 Centerline is valid? [True, True] Translation: X:923.60, Y:168.62, Z:9.57 [[-3.55439639e-01 -9.34651896e-01 9.40722022e-03 9.23603241e+02] [ 9.34340692e-01 -3.55564039e-01 -2.41181461e-02 1.68621147e+02] [ 2.58869402e-02 2.17003529e-04 9.99664853e-01 9.56783657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6892541539999 meters Centerline goodness [0,1] 0.999956401368997 Centerline is valid? [True, True] Translation: X:923.59, Y:168.65, Z:9.57 [[-3.54461305e-01 -9.35023894e-01 9.35415443e-03 9.23591700e+02] [ 9.34716890e-01 -3.54584622e-01 -2.39599893e-02 1.68645947e+02] [ 2.57200019e-02 2.50597051e-04 9.99669155e-01 9.56778568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.58, Y:168.67, Z:9.57 [[-3.53557271e-01 -9.35367434e-01 9.22062189e-03 9.23580334e+02] [ 9.35069808e-01 -3.53677375e-01 -2.35959482e-02 1.68670978e+02] [ 2.53320069e-02 2.79406067e-04 9.99679054e-01 9.56847737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.57, Y:168.70, Z:9.57 [[-3.51980474e-01 -9.35965580e-01 8.84192088e-03 9.23568776e+02] [ 9.35692566e-01 -3.52091371e-01 -2.26072818e-02 1.68696877e+02] [ 2.42728017e-02 3.15997874e-04 9.99705322e-01 9.57032946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7792541539998 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:923.56, Y:168.72, Z:9.57 [[-3.51932404e-01 -9.35979409e-01 9.28054640e-03 9.23558753e+02] [ 9.35679147e-01 -3.52054584e-01 -2.37087156e-02 1.68723119e+02] [ 2.54581286e-02 3.39748455e-04 9.99675832e-01 9.57072866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.55, Y:168.75, Z:9.57 [[-3.50334904e-01 -9.36586153e-01 8.47543809e-03 9.23546978e+02] [ 9.36336253e-01 -3.50437229e-01 -2.16372269e-02 1.68747406e+02] [ 2.32352361e-02 3.55584154e-04 9.99729962e-01 9.57236433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.54, Y:168.77, Z:9.57 [[-3.50168984e-01 -9.36648363e-01 8.45735376e-03 9.23536124e+02] [ 9.36399927e-01 -3.50270911e-01 -2.15746783e-02 1.68773201e+02] [ 2.31702522e-02 3.64682246e-04 9.99731467e-01 9.57282616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.53, Y:168.80, Z:9.57 [[-3.49728141e-01 -9.36812600e-01 8.50767581e-03 9.23525200e+02] [ 9.36561689e-01 -3.49831396e-01 -2.16840369e-02 1.68797722e+02] [ 2.32901310e-02 3.84445311e-04 9.99728674e-01 9.57245017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.51, Y:168.82, Z:9.57 [[-3.49376742e-01 -9.36942623e-01 8.62637051e-03 9.23514568e+02] [ 9.36685152e-01 -3.49482986e-01 -2.19674505e-02 1.68824094e+02] [ 2.35970104e-02 4.05276892e-04 9.99721470e-01 9.57294411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9292541539999 meters Centerline goodness [0,1] 0.9999563089828731 Centerline is valid? [True, True] Translation: X:923.50, Y:168.85, Z:9.57 [[-3.48394957e-01 -9.37301397e-01 9.32985481e-03 9.23503122e+02] [ 9.37000886e-01 -3.48519539e-01 -2.37375375e-02 1.68849003e+02] [ 2.55008638e-02 4.72043856e-04 9.99674689e-01 9.57162526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9592541539998 meters Centerline goodness [0,1] 0.9999564165704199 Centerline is valid? [True, True] Translation: X:923.49, Y:168.88, Z:9.57 [[-3.48169536e-01 -9.37383599e-01 9.48482749e-03 9.23493260e+02] [ 9.37073598e-01 -3.48298355e-01 -2.41107390e-02 1.68875137e+02] [ 2.59045612e-02 4.93356596e-04 9.99664299e-01 9.57243451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9892541539998 meters Centerline goodness [0,1] 0.999956490525812 Centerline is valid? [True, True] Translation: X:923.48, Y:168.90, Z:9.57 [[-3.48107342e-01 -9.37405320e-01 9.61998211e-03 9.23482801e+02] [ 9.37086999e-01 -3.48239868e-01 -2.44325896e-02 1.68900455e+02] [ 2.62533008e-02 5.09596339e-04 9.99655193e-01 9.57237166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0192541539998 meters Centerline goodness [0,1] 0.9999346803692737 Centerline is valid? [True, True] Translation: X:923.47, Y:168.93, Z:9.57 [[-3.48792131e-01 -9.37149281e-01 9.76091153e-03 9.23473172e+02] [ 9.36822054e-01 -3.48928317e-01 -2.47683001e-02 1.68925475e+02] [ 2.66174530e-02 5.05249031e-04 9.99645565e-01 9.57200448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.47, Y:168.95, Z:9.57 [[-3.50614511e-01 -9.36472109e-01 9.45795792e-03 9.23465325e+02] [ 9.36165162e-01 -3.50741769e-01 -2.39791909e-02 1.68952673e+02] [ 2.57731443e-02 4.46758432e-04 9.99667718e-01 9.57379953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.079254154 meters Centerline goodness [0,1] 0.9999126904439691 Centerline is valid? [True, True] Translation: X:923.46, Y:168.98, Z:9.57 [[-3.52631689e-01 -9.35710350e-01 9.85055032e-03 9.23456890e+02] [ 9.35377659e-01 -3.52769003e-01 -2.49532578e-02 1.68979776e+02] [ 2.68239904e-02 4.14675260e-04 9.99640086e-01 9.57369829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.109254154 meters Centerline goodness [0,1] 0.9999562717274854 Centerline is valid? [True, True] Translation: X:923.45, Y:169.01, Z:9.57 [[-3.54486148e-01 -9.35012546e-01 9.54509072e-03 9.23448505e+02] [ 9.34700419e-01 -3.54614453e-01 -2.41602391e-02 1.69007189e+02] [ 2.59749538e-02 3.57330179e-04 9.99662530e-01 9.57494491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.139254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.44, Y:169.03, Z:9.57 [[-3.58537236e-01 -9.33470600e-01 9.14823408e-03 9.23441520e+02] [ 9.33183835e-01 -3.58653846e-01 -2.31376228e-02 1.69033412e+02] [ 2.48793400e-02 2.41284842e-04 9.99690432e-01 9.57442478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1692541539999 meters Centerline goodness [0,1] 0.999912654219893 Centerline is valid? [True, True] Translation: X:923.43, Y:169.06, Z:9.58 [[-3.61256959e-01 -9.32419321e-01 9.36052985e-03 9.23434506e+02] [ 9.32119232e-01 -3.61378164e-01 -2.36549975e-02 1.69061325e+02] [ 2.54390678e-02 1.79597442e-04 9.99676358e-01 9.57632443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.43, Y:169.09, Z:9.58 [[-3.65442923e-01 -9.30789670e-01 9.05873599e-03 9.23428391e+02] [ 9.30508579e-01 -3.65555175e-01 -2.28735307e-02 1.69089123e+02] [ 2.46019139e-02 7.02616423e-05 9.99697325e-01 9.57788855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.42, Y:169.11, Z:9.58 [[-3.67512550e-01 -9.29974700e-01 9.03234070e-03 9.23420356e+02] [ 9.29695424e-01 -3.67623526e-01 -2.27894898e-02 1.69114681e+02] [ 2.45141499e-02 2.19023036e-05 9.99699483e-01 9.57740842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2592541539998 meters Centerline goodness [0,1] 0.9998464541885104 Centerline is valid? [True, True] Translation: X:923.41, Y:169.14, Z:9.58 [[-3.69357543e-01 -9.29234652e-01 9.89779804e-03 9.23411910e+02] [ 9.28899557e-01 -3.69490136e-01 -2.49530018e-02 1.69141337e+02] [ 2.68443327e-02 -2.25192119e-05 9.99639626e-01 9.57696033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2892541539998 meters Centerline goodness [0,1] 0.9999118709791134 Centerline is valid? [True, True] Translation: X:923.40, Y:169.17, Z:9.58 [[-3.71362993e-01 -9.28432285e-01 1.01498312e-02 9.23404530e+02] [ 9.28080227e-01 -3.71501663e-01 -2.55657388e-02 1.69167290e+02] [ 2.75067364e-02 -7.43116226e-05 9.99621615e-01 9.57698610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.319254154 meters Centerline goodness [0,1] 0.9999117835167501 Centerline is valid? [True, True] Translation: X:923.39, Y:169.19, Z:9.58 [[-3.72088251e-01 -9.28144011e-01 9.95125830e-03 9.23394498e+02] [ 9.27806069e-01 -3.72221288e-01 -2.50441878e-02 1.69193711e+02] [ 2.69486831e-02 -8.58101805e-05 9.99636815e-01 9.57809231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.349254154 meters Centerline goodness [0,1] 0.9998456313677061 Centerline is valid? [True, True] Translation: X:923.39, Y:169.22, Z:9.58 [[-3.72605706e-01 -9.27925268e-01 1.09400464e-02 9.23385069e+02] [ 9.27517445e-01 -3.72766263e-01 -2.75082155e-02 1.69218957e+02] [ 2.96036484e-02 -1.02634158e-04 9.99561711e-01 9.57724290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.37, Y:169.25, Z:9.58 [[-3.72209650e-01 -9.28094691e-01 1.00110898e-02 9.23374106e+02] [ 9.27753680e-01 -3.72344249e-01 -2.51568997e-02 1.69245226e+02] [ 2.70755567e-02 -7.58154160e-05 9.99633387e-01 9.57839255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.36, Y:169.27, Z:9.58 [[-3.71788969e-01 -9.28262020e-01 1.01284616e-02 9.23363273e+02] [ 9.27913537e-01 -3.71926901e-01 -2.54332208e-02 1.69270910e+02] [ 2.73757403e-02 -5.74542856e-05 9.99625213e-01 9.57905885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4392541539999 meters Centerline goodness [0,1] 0.999801451609345 Centerline is valid? [True, True] Translation: X:923.35, Y:169.30, Z:9.58 [[-3.70172284e-01 -9.28900090e-01 1.08214492e-02 9.23352194e+02] [ 9.28503256e-01 -3.70330425e-01 -2.71492145e-02 1.69296056e+02] [ 2.92264196e-02 -2.13592159e-06 9.99572817e-01 9.57835224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.34, Y:169.32, Z:9.58 [[-3.68872192e-01 -9.29425806e-01 1.00487692e-02 9.23340835e+02] [ 9.29084385e-01 -3.69009038e-01 -2.51899762e-02 1.69321332e+02] [ 2.71203006e-02 4.42728218e-05 9.99632176e-01 9.57914696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.33, Y:169.35, Z:9.58 [[-3.67691609e-01 -9.29893838e-01 1.00165708e-02 9.23329736e+02] [ 9.29555333e-01 -3.67828008e-01 -2.50886406e-02 1.69346986e+02] [ 2.70141476e-02 8.60741183e-05 9.99635048e-01 9.57941507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.5292541539998 meters Centerline goodness [0,1] 0.999735286331951 Centerline is valid? [True, True] Translation: X:923.32, Y:169.37, Z:9.58 [[-3.65390558e-01 -9.30789091e-01 1.10185375e-02 9.23318015e+02] [ 9.30380435e-01 -3.65556614e-01 -2.75791159e-02 1.69371101e+02] [ 2.96982395e-02 1.74283148e-04 9.99558895e-01 9.57822411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.5592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.31, Y:169.40, Z:9.58 [[-3.63613686e-01 -9.31496375e-01 9.97952188e-03 9.23306725e+02] [ 9.31161915e-01 -3.63750542e-01 -2.49605925e-02 1.69397332e+02] [ 2.68807579e-02 2.16537643e-04 9.99638624e-01 9.58043643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.589254154 meters Centerline goodness [0,1] 0.9998463867980425 Centerline is valid? [True, True] Translation: X:923.30, Y:169.42, Z:9.58 [[-3.63071802e-01 -9.31702225e-01 1.04800577e-02 9.23295969e+02] [ 9.31334098e-01 -3.63222936e-01 -2.61896161e-02 1.69421815e+02] [ 2.82075209e-02 2.51724022e-04 9.99602057e-01 9.57982189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.619254154 meters Centerline goodness [0,1] 0.9999119543923752 Centerline is valid? [True, True] Translation: X:923.29, Y:169.45, Z:9.58 [[-3.62161275e-01 -9.32061650e-01 1.00145785e-02 9.23285224e+02] [ 9.31726209e-01 -3.62299607e-01 -2.50053435e-02 1.69447828e+02] [ 2.69347996e-02 2.74878206e-04 9.99637155e-01 9.58094259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.27, Y:169.47, Z:9.58 [[-3.60281811e-01 -9.32801154e-01 8.88948814e-03 9.23274104e+02] [ 9.32537508e-01 -3.60391338e-01 -2.21783471e-02 1.69473389e+02] [ 2.38916823e-02 2.99326062e-04 9.99714508e-01 9.58231065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6792541539999 meters Centerline goodness [0,1] 0.999868212967844 Centerline is valid? [True, True] Translation: X:923.26, Y:169.50, Z:9.58 [[-3.60167239e-01 -9.32840386e-01 9.40078847e-03 9.23263538e+02] [ 9.32546038e-01 -3.60289756e-01 -2.34345766e-02 1.69499367e+02] [ 2.52477273e-02 3.26301286e-04 9.99681172e-01 9.58287816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.25, Y:169.52, Z:9.58 [[-3.58270283e-01 -9.33584211e-01 7.93258608e-03 9.23252360e+02] [ 9.33375084e-01 -3.58357945e-01 -1.97620002e-02 1.69523679e+02] [ 2.12921966e-02 3.23940791e-04 9.99773243e-01 9.58353140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7392541539998 meters Centerline goodness [0,1] 0.9998465551634188 Centerline is valid? [True, True] Translation: X:923.24, Y:169.55, Z:9.58 [[-3.58367224e-01 -9.33539940e-01 8.72427600e-03 9.23241441e+02] [ 9.33287356e-01 -3.58473223e-01 -2.17177309e-02 1.69549715e+02] [ 2.34017886e-02 3.59333531e-04 9.99726076e-01 9.58367271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7692541539998 meters Centerline goodness [0,1] 0.9998025189801203 Centerline is valid? [True, True] Translation: X:923.23, Y:169.58, Z:9.58 [[-3.57876699e-01 -9.33728602e-01 8.66983221e-03 9.23230746e+02] [ 9.33479628e-01 -3.57981503e-01 -2.15644896e-02 1.69575386e+02] [ 2.32390203e-02 3.75683398e-04 9.99729867e-01 9.58388902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7992541539998 meters Centerline goodness [0,1] 0.9999781243847483 Centerline is valid? [True, True] Translation: X:923.22, Y:169.60, Z:9.58 [[-3.56717381e-01 -9.34178651e-01 7.93467283e-03 9.23219469e+02] [ 9.33970592e-01 -3.56805419e-01 -1.97186702e-02 1.69599275e+02] [ 2.12518950e-02 3.76758710e-04 9.99774082e-01 9.58327134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.829254154 meters Centerline goodness [0,1] 0.999846656005608 Centerline is valid? [True, True] Translation: X:923.21, Y:169.63, Z:9.58 [[-3.57120534e-01 -9.34018649e-01 8.60745927e-03 9.23208772e+02] [ 9.33774208e-01 -3.57224019e-01 -2.13712192e-02 1.69625238e+02] [ 2.30359085e-02 4.05322258e-04 9.99734556e-01 9.58278410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.20, Y:169.65, Z:9.58 [[-3.56406469e-01 -9.34296191e-01 8.06572012e-03 9.23198635e+02] [ 9.34081971e-01 -3.56497497e-01 -2.00101623e-02 1.69651743e+02] [ 2.15708275e-02 4.02292447e-04 9.99767242e-01 9.58251994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.19, Y:169.68, Z:9.58 [[-3.56587069e-01 -9.34226018e-01 8.21035955e-03 9.23188502e+02] [ 9.34004402e-01 -3.56681340e-01 -2.03518581e-02 1.69678066e+02] [ 2.19417174e-02 4.11302530e-04 9.99759167e-01 9.58273291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.18, Y:169.70, Z:9.58 [[-3.57325898e-01 -9.33944801e-01 8.08157797e-03 9.23177835e+02] [ 9.33730380e-01 -3.57417059e-01 -2.00155609e-02 1.69703218e+02] [ 2.15819229e-02 3.93936589e-04 9.99767006e-01 9.58192674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9492541539998 meters Centerline goodness [0,1] 0.9998683864174783 Centerline is valid? [True, True] Translation: X:923.17, Y:169.73, Z:9.58 [[-3.58341983e-01 -9.33551087e-01 8.56683817e-03 9.23167705e+02] [ 9.33310473e-01 -3.58444149e-01 -2.11979637e-02 1.69728914e+02] [ 2.28601151e-02 3.99399419e-04 9.99738594e-01 9.58157964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.16, Y:169.75, Z:9.58 [[-3.58413144e-01 -9.33528197e-01 8.06993377e-03 9.23156958e+02] [ 9.33315074e-01 -3.58503780e-01 -1.99502240e-02 1.69752409e+02] [ 2.15171984e-02 3.81368315e-04 9.99768406e-01 9.58075831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0092541539998 meters Centerline goodness [0,1] 0.9999558372159781 Centerline is valid? [True, True] Translation: X:923.15, Y:169.78, Z:9.58 [[-3.59021993e-01 -9.33291034e-01 8.42933049e-03 9.23148483e+02] [ 9.33058858e-01 -3.59120722e-01 -2.08200653e-02 1.69779534e+02] [ 2.24583276e-02 3.90200122e-04 9.99747704e-01 9.58174598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0392541539998 meters Centerline goodness [0,1] 0.999956013020146 Centerline is valid? [True, True] Translation: X:923.14, Y:169.81, Z:9.58 [[-3.59925031e-01 -9.32939299e-01 8.84511764e-03 9.23138877e+02] [ 9.32683977e-01 -3.60033484e-01 -2.18286300e-02 1.69806298e+02] [ 2.35493253e-02 3.93029165e-04 9.99722599e-01 9.58130672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.069254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.13, Y:169.83, Z:9.58 [[-3.60159607e-01 -9.32849117e-01 8.80809558e-03 9.23128686e+02] [ 9.32596336e-01 -3.60267084e-01 -2.17187084e-02 1.69831818e+02] [ 2.34335449e-02 3.92196163e-04 9.99725320e-01 9.58096322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.099254154 meters Centerline goodness [0,1] 0.9998671272920542 Centerline is valid? [True, True] Translation: X:923.12, Y:169.86, Z:9.58 [[-3.61924355e-01 -9.32160869e-01 9.32065678e-03 9.23119885e+02] [ 9.31878071e-01 -3.62044159e-01 -2.29627351e-02 1.69859006e+02] [ 2.47794524e-02 3.74942580e-04 9.99692872e-01 9.58147299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.129254154 meters Centerline goodness [0,1] 0.9998456619997795 Centerline is valid? [True, True] Translation: X:923.11, Y:169.89, Z:9.58 [[-3.62622114e-01 -9.31889219e-01 9.36402562e-03 9.23110072e+02] [ 9.31604165e-01 -3.62742815e-01 -2.30506111e-02 1.69885286e+02] [ 2.48773490e-02 3.64903944e-04 9.99690444e-01 9.58179990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1592541539999 meters Centerline goodness [0,1] 0.9998240056318198 Centerline is valid? [True, True] Translation: X:923.10, Y:169.91, Z:9.58 [[-3.63449137e-01 -9.31567036e-01 9.35858677e-03 9.23100259e+02] [ 9.31282725e-01 -3.63569437e-01 -2.30163250e-02 1.69909590e+02] [ 2.48437458e-02 3.50226729e-04 9.99691285e-01 9.58183144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.09, Y:169.93, Z:9.58 [[-3.64672577e-01 -9.31100429e-01 8.11805188e-03 9.23089736e+02] [ 9.30886730e-01 -3.64762816e-01 -1.99495534e-02 1.69934535e+02] [ 2.15362012e-02 2.81931729e-04 9.99768029e-01 9.58207806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.08, Y:169.96, Z:9.58 [[-3.65572299e-01 -9.30748900e-01 7.96114175e-03 9.23081957e+02] [ 9.30543645e-01 -3.65658880e-01 -1.95475764e-02 1.69960815e+02] [ 2.11049475e-02 2.62137400e-04 9.99777231e-01 9.58466359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.07, Y:169.99, Z:9.59 [[-3.67482228e-01 -9.29997278e-01 7.86609788e-03 9.23073414e+02] [ 9.29797087e-01 -3.67566340e-01 -1.92967053e-02 1.69986356e+02] [ 2.08371962e-02 2.22678639e-04 9.99782857e-01 9.58546187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2792541539998 meters Centerline goodness [0,1] 0.9998894758946927 Centerline is valid? [True, True] Translation: X:923.06, Y:170.01, Z:9.59 [[-3.68860431e-01 -9.29449454e-01 8.10526817e-03 9.23064111e+02] [ 9.29237144e-01 -3.68949415e-01 -1.98660137e-02 1.70012390e+02] [ 2.14548895e-02 2.03929881e-04 9.99769797e-01 9.58611301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.3092541539997 meters Centerline goodness [0,1] 0.9998894758946927 Centerline is valid? [True, True] Translation: X:923.05, Y:170.04, Z:9.59 [[-3.69128806e-01 -9.29342852e-01 8.11100840e-03 9.23053613e+02] [ 9.29130568e-01 -3.69217852e-01 -1.98636703e-02 1.70037914e+02] [ 2.14548891e-02 2.03932929e-04 9.99769797e-01 9.58637042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.339254154 meters Centerline goodness [0,1] 0.999867409175285 Centerline is valid? [True, True] Translation: X:923.04, Y:170.06, Z:9.58 [[-3.70015164e-01 -9.28989743e-01 8.17530041e-03 9.23041549e+02] [ 9.28774297e-01 -3.70105419e-01 -2.00070822e-02 1.70062437e+02] [ 2.16120972e-02 1.90085083e-04 9.99766413e-01 9.58332944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.369254154 meters Centerline goodness [0,1] 0.9999558868939962 Centerline is valid? [True, True] Translation: X:923.03, Y:170.09, Z:9.59 [[-3.71397296e-01 -9.28437933e-01 8.18859714e-03 9.23033732e+02] [ 9.28221987e-01 -3.71487520e-01 -2.00241356e-02 1.70089105e+02] [ 2.16331287e-02 1.63926099e-04 9.99765963e-01 9.58650723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.399254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.02, Y:170.11, Z:9.59 [[-3.72342517e-01 -9.28058635e-01 8.25960095e-03 9.23023641e+02] [ 9.27839233e-01 -3.72434086e-01 -2.01794412e-02 1.70114029e+02] [ 2.18038616e-02 1.49917880e-04 9.99762256e-01 9.58701917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:923.01, Y:170.14, Z:9.59 [[-3.72889452e-01 -9.27838956e-01 8.26603293e-03 9.23012857e+02] [ 9.27619533e-01 -3.72981032e-01 -2.01779813e-02 1.70140115e+02] [ 2.18049906e-02 1.43577210e-04 9.99762233e-01 9.58724718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4592541539998 meters Centerline goodness [0,1] 0.9999556541019956 Centerline is valid? [True, True] Translation: X:923.00, Y:170.17, Z:9.59 [[-3.73433836e-01 -9.27616885e-01 8.60728763e-03 9.23002516e+02] [ 9.27379328e-01 -3.73532990e-01 -2.09925689e-02 1.70165187e+02] [ 2.26881672e-02 1.42885081e-04 9.99742580e-01 9.58740282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4892541539998 meters Centerline goodness [0,1] 0.9998449303294122 Centerline is valid? [True, True] Translation: X:922.99, Y:170.19, Z:9.59 [[-3.74777822e-01 -9.27067518e-01 9.34891505e-03 9.22992751e+02] [ 9.26787585e-01 -3.74894388e-01 -2.27809071e-02 1.70190234e+02] [ 2.46242948e-02 1.26679671e-04 9.99696768e-01 9.58761087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.98, Y:170.22, Z:9.59 [[-3.75052997e-01 -9.26963240e-01 8.62564126e-03 9.22982119e+02] [ 9.26725327e-01 -3.75152154e-01 -2.10007171e-02 1.70215769e+02] [ 2.27028206e-02 1.17218345e-04 9.99742251e-01 9.58799773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5492541539998 meters Centerline goodness [0,1] 0.999977886869223 Centerline is valid? [True, True] Translation: X:922.97, Y:170.24, Z:9.59 [[-3.75972908e-01 -9.26588403e-01 8.84894062e-03 9.22972225e+02] [ 9.26338372e-01 -3.76077014e-01 -2.15244191e-02 1.70240463e+02] [ 2.32721603e-02 1.04514806e-04 9.99729161e-01 9.58832348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.96, Y:170.27, Z:9.59 [[-3.77509578e-01 -9.25961969e-01 8.99722403e-03 9.22961771e+02] [ 9.25703777e-01 -3.77616771e-01 -2.18653102e-02 1.70265391e+02] [ 2.36439484e-02 7.44002288e-05 9.99720440e-01 9.58811109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.609254154 meters Centerline goodness [0,1] 0.9999116412635299 Centerline is valid? [True, True] Translation: X:922.95, Y:170.29, Z:9.59 [[-3.78166406e-01 -9.25690233e-01 9.36809466e-03 9.22951406e+02] [ 9.25410725e-01 -3.78282418e-01 -2.27464898e-02 1.70290146e+02] [ 2.45999890e-02 6.73769564e-05 9.99697372e-01 9.58796416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.639254154 meters Centerline goodness [0,1] 0.9999779366340129 Centerline is valid? [True, True] Translation: X:922.94, Y:170.32, Z:9.59 [[-3.78711186e-01 -9.25468962e-01 9.22157631e-03 9.22940601e+02] [ 9.25198530e-01 -3.78823437e-01 -2.23714946e-02 1.70315124e+02] [ 2.41974731e-02 5.94535977e-05 9.99707197e-01 9.58759447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6692541539999 meters Centerline goodness [0,1] 0.9997790982791755 Centerline is valid? [True, True] Translation: X:922.93, Y:170.34, Z:9.59 [[-3.80033971e-01 -9.24914609e-01 1.03511900e-02 9.22930472e+02] [ 9.24574238e-01 -3.80174913e-01 -2.50901243e-02 1.70340924e+02] [ 2.71414852e-02 3.53440245e-05 9.99631601e-01 9.58952298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6992541539998 meters Centerline goodness [0,1] 0.9998897537097877 Centerline is valid? [True, True] Translation: X:922.92, Y:170.37, Z:9.59 [[-3.80785881e-01 -9.24607964e-01 1.01106583e-02 9.22919991e+02] [ 9.24283662e-01 -3.80920086e-01 -2.44867282e-02 1.70365982e+02] [ 2.64919767e-02 2.09159395e-05 9.99649026e-01 9.58957662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7292541539998 meters Centerline goodness [0,1] 0.9998670625249257 Centerline is valid? [True, True] Translation: X:922.91, Y:170.39, Z:9.59 [[-3.81850000e-01 -9.24167142e-01 1.02797014e-02 9.22909383e+02] [ 9.23832296e-01 -3.81988344e-01 -2.48755639e-02 1.70392096e+02] [ 2.69159049e-02 -2.01392992e-06 9.99637701e-01 9.59026251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7592541539998 meters Centerline goodness [0,1] 0.9998015698033337 Centerline is valid? [True, True] Translation: X:922.90, Y:170.42, Z:9.59 [[-3.84067982e-01 -9.23247958e-01 1.02466358e-02 9.22899171e+02] [ 9.22915471e-01 -3.84204640e-01 -2.47755570e-02 1.70418515e+02] [ 2.68107875e-02 -5.87194919e-05 9.99640525e-01 9.59179689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7892541539998 meters Centerline goodness [0,1] 0.9998454097745191 Centerline is valid? [True, True] Translation: X:922.89, Y:170.44, Z:9.59 [[-3.85801529e-01 -9.22526921e-01 1.00628548e-02 9.22888689e+02] [ 9.22206530e-01 -3.85932728e-01 -2.43114152e-02 1.70444658e+02] [ 2.63115200e-02 -9.93506959e-05 9.99653787e-01 9.59333984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.819254154 meters Centerline goodness [0,1] 0.9998675116479343 Centerline is valid? [True, True] Translation: X:922.88, Y:170.47, Z:9.59 [[-3.88912989e-01 -9.21224154e-01 9.63044534e-03 9.22878918e+02] [ 9.20930781e-01 -3.89032169e-01 -2.32479681e-02 1.70470895e+02] [ 2.51631427e-02 -1.72463199e-04 9.99683343e-01 9.59491583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.849254154 meters Centerline goodness [0,1] 0.9999559374311522 Centerline is valid? [True, True] Translation: X:922.87, Y:170.50, Z:9.59 [[-3.90541609e-01 -9.20538302e-01 9.29979310e-03 9.22869236e+02] [ 9.20264991e-01 -3.90652267e-01 -2.24310675e-02 1.70496585e+02] [ 2.42816421e-02 -2.01991175e-04 9.99705137e-01 9.59441086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.879254154 meters Centerline goodness [0,1] 0.9998015873015873 Centerline is valid? [True, True] Translation: X:922.86, Y:170.52, Z:9.60 [[-3.92642410e-01 -9.19638392e-01 9.85727100e-03 9.22858294e+02] [ 9.19331543e-01 -3.92766034e-01 -2.37561926e-02 1.70522924e+02] [ 2.57187080e-02 -2.65588533e-04 9.99669184e-01 9.59627180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.85, Y:170.55, Z:9.60 [[-3.95692839e-01 -9.18335755e-01 9.30687871e-03 9.22848696e+02] [ 9.18062299e-01 -3.95802142e-01 -2.24116062e-02 1.70548644e+02] [ 2.42650619e-02 -3.23817629e-04 9.99705508e-01 9.59569964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9392541539999 meters Centerline goodness [0,1] 0.999889522294401 Centerline is valid? [True, True] Translation: X:922.84, Y:170.57, Z:9.60 [[-3.97457804e-01 -9.17567654e-01 9.84355161e-03 9.22839089e+02] [ 9.17261937e-01 -3.97579492e-01 -2.36872532e-02 1.70573793e+02] [ 2.56482516e-02 -3.85568403e-04 9.99670955e-01 9.59588622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.83, Y:170.60, Z:9.60 [[-3.99427773e-01 -9.16715336e-01 9.51035420e-03 9.22828244e+02] [ 9.16430164e-01 -3.99540758e-01 -2.28678250e-02 1.70598633e+02] [ 2.47630600e-02 -4.18468931e-04 9.99693261e-01 9.59549669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9992541539998 meters Centerline goodness [0,1] 0.999867873422739 Centerline is valid? [True, True] Translation: X:922.82, Y:170.62, Z:9.60 [[-4.00423474e-01 -9.16271512e-01 1.03710503e-02 9.22817408e+02] [ 9.15932802e-01 -4.00557472e-01 -2.49161257e-02 1.70624335e+02] [ 2.69841378e-02 -4.77816448e-04 9.99635748e-01 9.59587870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.0292541539998 meters Centerline goodness [0,1] 0.9999779171451285 Centerline is valid? [True, True] Translation: X:922.81, Y:170.65, Z:9.60 [[-4.00797471e-01 -9.16112602e-01 9.95426635e-03 9.22806095e+02] [ 9.15801043e-01 -4.00920800e-01 -2.38948312e-02 1.70649119e+02] [ 2.58812285e-02 -4.60860427e-04 9.99664919e-01 9.59538245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.79, Y:170.67, Z:9.60 [[-3.99911575e-01 -9.16497058e-01 1.01919486e-02 9.22793069e+02] [ 9.16171141e-01 -4.00041188e-01 -2.44435808e-02 1.70673740e+02] [ 2.64796691e-02 -4.37701727e-04 9.99649256e-01 9.59612284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.78, Y:170.70, Z:9.60 [[-3.99367968e-01 -9.16734599e-01 1.01440416e-02 9.22780120e+02] [ 9.16412349e-01 -3.99496566e-01 -2.43084362e-02 1.70698725e+02] [ 2.63368943e-02 -4.11885839e-04 9.99653039e-01 9.59722755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.119254154 meters Centerline goodness [0,1] 0.9999341571011566 Centerline is valid? [True, True] Translation: X:922.77, Y:170.72, Z:9.60 [[-3.96898648e-01 -9.17797875e-01 1.08869024e-02 9.22766743e+02] [ 9.17427716e-01 -3.97047772e-01 -2.60663190e-02 1.70722082e+02] [ 2.82462325e-02 -3.57740737e-04 9.99600932e-01 9.59739463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.149254154 meters Centerline goodness [0,1] 0.9999780893952673 Centerline is valid? [True, True] Translation: X:922.75, Y:170.75, Z:9.60 [[-3.95335879e-01 -9.18475276e-01 1.06164728e-02 9.22753438e+02] [ 9.18124091e-01 -3.95478293e-01 -2.53983046e-02 1.70747169e+02] [ 2.75262994e-02 -2.93621656e-04 9.99621037e-01 9.59716513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1792541539999 meters Centerline goodness [0,1] 0.9999122287319246 Centerline is valid? [True, True] Translation: X:922.74, Y:170.77, Z:9.60 [[-3.93792285e-01 -9.19128535e-01 1.14180873e-02 9.22740979e+02] [ 9.18723259e-01 -3.93957701e-01 -2.72929094e-02 1.70771270e+02] [ 2.95839352e-02 -2.57674772e-04 9.99562266e-01 9.59734709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2092541539998 meters Centerline goodness [0,1] 0.9998687721447006 Centerline is valid? [True, True] Translation: X:922.73, Y:170.79, Z:9.60 [[-3.89875442e-01 -9.20793822e-01 1.16566146e-02 9.22725021e+02] [ 9.20372856e-01 -3.90049639e-01 -2.78403635e-02 1.70794910e+02] [ 3.01818930e-02 -1.25842375e-04 9.99544415e-01 9.59731824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2392541539998 meters Centerline goodness [0,1] 0.9999782490483958 Centerline is valid? [True, True] Translation: X:922.71, Y:170.82, Z:9.60 [[-3.87590539e-01 -9.21766030e-01 1.09982062e-02 9.22711301e+02] [ 9.21392250e-01 -3.87746548e-01 -2.62476069e-02 1.70819683e+02] [ 2.84586689e-02 -3.96621967e-05 9.99594969e-01 9.59790506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2692541539998 meters Centerline goodness [0,1] 0.999869397705753 Centerline is valid? [True, True] Translation: X:922.70, Y:170.84, Z:9.60 [[-3.83987309e-01 -9.23270382e-01 1.12048630e-02 9.22696543e+02] [ 9.22883677e-01 -3.84150746e-01 -2.67193499e-02 1.70843742e+02] [ 2.89735409e-02 8.08938654e-05 9.99580176e-01 9.59925569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2992541539998 meters Centerline goodness [0,1] 0.9999781916517643 Centerline is valid? [True, True] Translation: X:922.68, Y:170.87, Z:9.60 [[-3.82359729e-01 -9.23953910e-01 1.04980624e-02 9.22683946e+02] [ 9.23615258e-01 -3.82503797e-01 -2.50140255e-02 1.70868895e+02] [ 2.71273554e-02 1.31814572e-04 9.99631977e-01 9.59997954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.329254154 meters Centerline goodness [0,1] 0.9999347400478573 Centerline is valid? [True, True] Translation: X:922.67, Y:170.89, Z:9.60 [[-3.79267875e-01 -9.25233274e-01 9.96328861e-03 9.22669596e+02] [ 9.24929177e-01 -3.79398656e-01 -2.37208437e-02 1.70893118e+02] [ 2.57273722e-02 2.18782342e-04 9.99668972e-01 9.60148036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.66, Y:170.92, Z:9.60 [[-3.77787108e-01 -9.25843750e-01 9.50010345e-03 9.22656313e+02] [ 9.25567907e-01 -3.77906452e-01 -2.26000688e-02 1.70918523e+02] [ 2.45142828e-02 2.54976238e-04 9.99699447e-01 9.60134721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.389254154 meters Centerline goodness [0,1] 0.9996952812119102 Centerline is valid? [True, True] Translation: X:922.64, Y:170.94, Z:9.60 [[-3.76295260e-01 -9.26443211e-01 1.02397758e-02 9.22644280e+02] [ 9.26123399e-01 -3.76434419e-01 -2.43429143e-02 1.70942525e+02] [ 2.64069318e-02 3.23172643e-04 9.99651224e-01 9.60279016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4192541539999 meters Centerline goodness [0,1] 0.9998696672169607 Centerline is valid? [True, True] Translation: X:922.63, Y:170.97, Z:9.60 [[-3.72413196e-01 -9.28016241e-01 9.70921717e-03 9.22629326e+02] [ 9.27729640e-01 -3.72539505e-01 -2.30658058e-02 1.70966745e+02] [ 2.50225093e-02 4.17518111e-04 9.99686801e-01 9.60281626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4492541539998 meters Centerline goodness [0,1] 0.9999132076290494 Centerline is valid? [True, True] Translation: X:922.62, Y:170.99, Z:9.60 [[-3.70538169e-01 -9.28768612e-01 9.50424032e-03 9.22616073e+02] [ 9.28494666e-01 -3.70659749e-01 -2.25611702e-02 1.70991466e+02] [ 2.44769461e-02 4.64861720e-04 9.99700287e-01 9.60216635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.60, Y:171.02, Z:9.60 [[-3.68755511e-01 -9.29483359e-01 8.94757429e-03 9.22603136e+02] [ 9.29241097e-01 -3.68863727e-01 -2.12257982e-02 1.71015368e+02] [ 2.30294618e-02 4.87323685e-04 9.99734668e-01 9.60086065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5092541539998 meters Centerline goodness [0,1] 0.9999349861303745 Centerline is valid? [True, True] Translation: X:922.59, Y:171.04, Z:9.60 [[-3.66391033e-01 -9.30410863e-01 9.65596292e-03 9.22589443e+02] [ 9.30129377e-01 -3.66517768e-01 -2.28925329e-02 1.71039079e+02] [ 2.48385433e-02 5.93675998e-04 9.99691300e-01 9.60015123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.58, Y:171.06, Z:9.60 [[-3.65330322e-01 -9.30832931e-01 9.15478019e-03 9.22578178e+02] [ 9.30580427e-01 -3.65444523e-01 -2.16880069e-02 1.71063470e+02] [ 2.35334753e-02 5.95972698e-04 9.99722872e-01 9.60007216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.569254154 meters Centerline goodness [0,1] 0.999956611346133 Centerline is valid? [True, True] Translation: X:922.57, Y:171.09, Z:9.60 [[-3.64810976e-01 -9.31031073e-01 9.70018483e-03 9.22567426e+02] [ 9.30748136e-01 -3.64939332e-01 -2.29606364e-02 1.71089192e+02] [ 2.49170449e-02 6.52136802e-04 9.99689310e-01 9.60013111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.599254154 meters Centerline goodness [0,1] 0.9998701101898556 Centerline is valid? [True, True] Translation: X:922.56, Y:171.11, Z:9.60 [[-3.65128021e-01 -9.30901847e-01 1.01626766e-02 9.22556861e+02] [ 9.30591755e-01 -3.65268788e-01 -2.40353450e-02 1.71113927e+02] [ 2.60866556e-02 6.81325093e-04 9.99659453e-01 9.59995068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.629254154 meters Centerline goodness [0,1] 0.999848225320353 Centerline is valid? [True, True] Translation: X:922.55, Y:171.14, Z:9.60 [[-3.65699338e-01 -9.30676469e-01 1.02617943e-02 9.22546922e+02] [ 9.30360766e-01 -3.65842656e-01 -2.42486457e-02 1.71139624e+02] [ 2.63218460e-02 6.79457112e-04 9.99653289e-01 9.60046161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6592541539999 meters Centerline goodness [0,1] 0.9997825188664883 Centerline is valid? [True, True] Translation: X:922.54, Y:171.17, Z:9.60 [[-3.67941867e-01 -9.29789386e-01 1.05109154e-02 9.22538382e+02] [ 9.29458354e-01 -3.68091415e-01 -2.48169133e-02 1.71167166e+02] [ 2.69434803e-02 6.38276714e-04 9.99636755e-01 9.60132010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.53, Y:171.19, Z:9.60 [[-3.70402148e-01 -9.28823583e-01 9.43399573e-03 9.22528883e+02] [ 9.28557018e-01 -3.70521909e-01 -2.22571005e-02 1.71192803e+02] [ 2.41684219e-02 5.15925130e-04 9.99707768e-01 9.60043156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7192541539998 meters Centerline goodness [0,1] 0.9998692012556679 Centerline is valid? [True, True] Translation: X:922.52, Y:171.22, Z:9.60 [[-3.72512915e-01 -9.27973167e-01 9.99649573e-03 9.22520409e+02] [ 9.27674084e-01 -3.72646690e-01 -2.35634877e-02 1.71218435e+02] [ 2.55914453e-02 4.95786553e-04 9.99672362e-01 9.60155844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7492541539998 meters Centerline goodness [0,1] 0.999825342764824 Centerline is valid? [True, True] Translation: X:922.51, Y:171.24, Z:9.60 [[-3.74644461e-01 -9.27115554e-01 9.91350872e-03 9.22511094e+02] [ 9.26821598e-01 -3.74775341e-01 -2.33488639e-02 1.71244074e+02] [ 2.53624335e-02 4.40531455e-04 9.99678225e-01 9.60162845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7792541539998 meters Centerline goodness [0,1] 0.9998913539471112 Centerline is valid? [True, True] Translation: X:922.50, Y:171.27, Z:9.60 [[-3.76935903e-01 -9.26188578e-01 9.69752727e-03 9.22502155e+02] [ 9.25907408e-01 -3.77060441e-01 -2.28231269e-02 1.71271353e+02] [ 2.47950734e-02 3.76156375e-04 9.99692484e-01 9.60194573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.49, Y:171.30, Z:9.60 [[-3.81376792e-01 -9.24374453e-01 9.14399249e-03 9.22494403e+02] [ 9.24124309e-01 -3.81486315e-01 -2.15047101e-02 1.71299063e+02] [ 2.33667127e-02 2.48788374e-04 9.99726930e-01 9.60148684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.839254154 meters Centerline goodness [0,1] 0.999847294938918 Centerline is valid? [True, True] Translation: X:922.49, Y:171.33, Z:9.60 [[-3.84375367e-01 -9.23126478e-01 9.64795454e-03 9.22486174e+02] [ 9.22848046e-01 -3.84496385e-01 -2.26718713e-02 1.71325634e+02] [ 2.46386083e-02 1.89087158e-04 9.99696406e-01 9.60183336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.869254154 meters Centerline goodness [0,1] 0.9998691613240874 Centerline is valid? [True, True] Translation: X:922.48, Y:171.35, Z:9.60 [[-3.89947381e-01 -9.20787113e-01 9.59855868e-03 9.22480111e+02] [ 9.20511250e-01 -3.90065495e-01 -2.25377152e-02 1.71352487e+02] [ 2.44965042e-02 4.70582425e-05 9.99699915e-01 9.60131893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.899254154 meters Centerline goodness [0,1] 0.9998036392197932 Centerline is valid? [True, True] Translation: X:922.47, Y:171.38, Z:9.60 [[-3.93158311e-01 -9.19418015e-01 9.85172520e-03 9.22472264e+02] [ 9.19127473e-01 -3.93281722e-01 -2.31122561e-02 1.71378850e+02] [ 2.51243281e-02 -3.17843003e-05 9.99684334e-01 9.60174830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9292541539999 meters Centerline goodness [0,1] 0.9998689441265126 Centerline is valid? [True, True] Translation: X:922.46, Y:171.40, Z:9.60 [[-3.96111386e-01 -9.18153033e-01 9.52774002e-03 9.22464177e+02] [ 9.17881392e-01 -3.96225943e-01 -2.23327724e-02 1.71404534e+02] [ 2.42800405e-02 -1.00930156e-04 9.99705191e-01 9.60233431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9592541539998 meters Centerline goodness [0,1] 0.9997144237950881 Centerline is valid? [True, True] Translation: X:922.46, Y:171.43, Z:9.60 [[-4.01905253e-01 -9.15632776e-01 9.42265008e-03 9.22457453e+02] [ 9.15366827e-01 -4.02015621e-01 -2.20683886e-02 1.71432086e+02] [ 2.39945925e-02 -2.44220029e-04 9.99712058e-01 9.60289799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9892541539998 meters Centerline goodness [0,1] 0.999802908199019 Centerline is valid? [True, True] Translation: X:922.45, Y:171.46, Z:9.60 [[-4.04863831e-01 -9.14331286e-01 9.14211881e-03 9.22448520e+02] [ 9.14080989e-01 -4.04966920e-01 -2.13948486e-02 1.71458528e+02] [ 2.32642351e-02 -3.05363367e-04 9.99729304e-01 9.60288809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.44, Y:171.49, Z:9.60 [[-4.11200497e-01 -9.11505460e-01 8.48225830e-03 9.22442555e+02] [ 9.11289718e-01 -4.11287753e-01 -1.98351781e-02 1.71485351e+02] [ 2.15685220e-02 -4.26440294e-04 9.99767281e-01 9.60276218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0492541539998 meters Centerline goodness [0,1] 0.9999118321283724 Centerline is valid? [True, True] Translation: X:922.43, Y:171.51, Z:9.60 [[-4.15475472e-01 -9.09563960e-01 8.57526841e-03 9.22434728e+02] [ 9.09343402e-01 -4.15563624e-01 -2.00362783e-02 1.71512181e+02] [ 2.17878462e-02 -5.26718423e-04 9.99762478e-01 9.60319932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.43, Y:171.54, Z:9.60 [[-4.19273491e-01 -9.07821219e-01 8.38888530e-03 9.22425669e+02] [ 9.07610119e-01 -4.19356980e-01 -1.95856022e-02 1.71539129e+02] [ 2.12981629e-02 -5.97886625e-04 9.99772990e-01 9.60362865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.109254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.42, Y:171.57, Z:9.60 [[-4.27717465e-01 -9.03878526e-01 7.83460621e-03 9.22422333e+02] [ 9.03694019e-01 -4.27788578e-01 -1.82770857e-02 1.71566269e+02] [ 1.98718203e-02 -7.37341980e-04 9.99802264e-01 9.60396392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.139254154 meters Centerline goodness [0,1] 0.9998229853520378 Centerline is valid? [True, True] Translation: X:922.41, Y:171.59, Z:9.61 [[-4.32367183e-01 -9.01661146e-01 8.11161142e-03 9.22414454e+02] [ 9.01463300e-01 -4.32442406e-01 -1.89072371e-02 1.71593051e+02] [ 2.05557258e-02 -8.62548815e-04 9.99788337e-01 9.60507215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1692541539999 meters Centerline goodness [0,1] 0.9997345602548221 Centerline is valid? [True, True] Translation: X:922.41, Y:171.62, Z:9.61 [[-4.39663252e-01 -8.98130328e-01 7.62485824e-03 9.22409895e+02] [ 8.97955216e-01 -4.39728312e-01 -1.77606782e-02 1.71619991e+02] [ 1.93042698e-02 -9.61936309e-04 9.99813192e-01 9.60587765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1992541539998 meters Centerline goodness [0,1] 0.9997345602548221 Centerline is valid? [True, True] Translation: X:922.40, Y:171.64, Z:9.61 [[-4.39931231e-01 -8.97999056e-01 7.62942757e-03 9.22399202e+02] [ 8.97823958e-01 -4.39996329e-01 -1.77587155e-02 1.71644571e+02] [ 1.93042299e-02 -9.62730713e-04 9.99813192e-01 9.60612786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2292541539998 meters Centerline goodness [0,1] 0.9996682149966821 Centerline is valid? [True, True] Translation: X:922.39, Y:171.67, Z:9.61 [[-4.42691829e-01 -8.96642846e-01 7.45332643e-03 9.22390083e+02] [ 8.96475808e-01 -4.42753456e-01 -1.73350377e-02 1.71670565e+02] [ 1.88433236e-02 -9.92352715e-04 9.99821956e-01 9.60647347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2592541539998 meters Centerline goodness [0,1] 0.9999778427723123 Centerline is valid? [True, True] Translation: X:922.38, Y:171.70, Z:9.61 [[-4.44183355e-01 -8.95907767e-01 7.10074386e-03 9.22379441e+02] [ 8.95756285e-01 -4.44239049e-01 -1.65028503e-02 1.71696578e+02] [ 1.79394595e-02 -9.69755482e-04 9.99838605e-01 9.60659990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.37, Y:171.72, Z:9.61 [[-4.45477045e-01 -8.95266581e-01 6.92474064e-03 9.22365815e+02] [ 8.95122642e-01 -4.45529816e-01 -1.60822674e-02 1.71721694e+02] [ 1.74830950e-02 -9.65788828e-04 9.99846693e-01 9.60700854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.319254154 meters Centerline goodness [0,1] 0.9997358631771257 Centerline is valid? [True, True] Translation: X:922.35, Y:171.75, Z:9.61 [[-4.45447358e-01 -8.95278337e-01 7.30414088e-03 9.22351923e+02] [ 8.95118445e-01 -4.45506088e-01 -1.69498086e-02 1.71745854e+02] [ 1.84288357e-02 -1.01217624e-03 9.99829662e-01 9.60755403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.33, Y:171.77, Z:9.61 [[-4.40979401e-01 -8.97487520e-01 7.30200236e-03 9.22329726e+02] [ 8.97328273e-01 -4.41038906e-01 -1.69308761e-02 1.71766501e+02] [ 1.84157172e-02 -9.13874445e-04 9.99829999e-01 9.60763248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.379254154 meters Centerline goodness [0,1] 0.9998027008067345 Centerline is valid? [True, True] Translation: X:922.32, Y:171.79, Z:9.61 [[-4.38893296e-01 -8.98506382e-01 7.67834090e-03 9.22319814e+02] [ 8.98330697e-01 -4.38959512e-01 -1.77906027e-02 1.71791320e+02] [ 1.93554508e-02 -9.10486918e-04 9.99812251e-01 9.60687319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4092541539999 meters Centerline goodness [0,1] 0.9998681898066784 Centerline is valid? [True, True] Translation: X:922.30, Y:171.81, Z:9.61 [[-4.35582148e-01 -9.00115683e-01 7.74271886e-03 9.22300077e+02] [ 8.99937487e-01 -4.35650145e-01 -1.79295904e-02 1.71813163e+02] [ 1.95118221e-02 -8.41846548e-04 9.99809272e-01 9.60789104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4392541539999 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:922.28, Y:171.84, Z:9.61 [[-4.28091392e-01 -9.03700840e-01 7.90894845e-03 9.22282979e+02] [ 9.03515759e-01 -4.28163890e-01 -1.83018159e-02 1.71835624e+02] [ 1.99256925e-02 -6.88990267e-04 9.99801226e-01 9.60695884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4692541539998 meters Centerline goodness [0,1] 0.9998260075251746 Centerline is valid? [True, True] Translation: X:922.27, Y:171.86, Z:9.61 [[-4.23878136e-01 -9.05686186e-01 7.73679304e-03 9.22266325e+02] [ 9.05509685e-01 -4.23948345e-01 -1.78888252e-02 1.71858752e+02] [ 1.94816624e-02 -5.76940844e-04 9.99810048e-01 9.60710979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4992541539998 meters Centerline goodness [0,1] 0.9999132170441726 Centerline is valid? [True, True] Translation: X:922.25, Y:171.88, Z:9.61 [[-4.14421514e-01 -9.10054664e-01 7.43755462e-03 9.22245327e+02] [ 9.09892498e-01 -4.14488098e-01 -1.71831127e-02 1.71879955e+02] [ 1.87203497e-02 -3.53676418e-04 9.99824696e-01 9.60782580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.23, Y:171.90, Z:9.61 [[-4.09328046e-01 -9.12360224e-01 7.02650591e-03 9.22228779e+02] [ 9.12216041e-01 -4.09388286e-01 -1.62211556e-02 1.71903795e+02] [ 1.76761064e-02 -2.30082530e-04 9.99843739e-01 9.60859115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.5592541539997 meters Centerline goodness [0,1] 0.9998709316583131 Centerline is valid? [True, True] Translation: X:922.21, Y:171.93, Z:9.61 [[-4.05566581e-01 -9.14039094e-01 6.94858944e-03 9.22214011e+02] [ 9.13898514e-01 -4.05626074e-01 -1.60310490e-02 1.71927072e+02] [ 1.74715346e-02 -1.51352193e-04 9.99847350e-01 9.60874828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.589254154 meters Centerline goodness [0,1] 0.9999140339565872 Centerline is valid? [True, True] Translation: X:922.19, Y:171.95, Z:9.61 [[-3.96660142e-01 -9.17943689e-01 6.33377241e-03 9.22192778e+02] [ 9.17827514e-01 -3.96710706e-01 -1.46038088e-02 1.71948328e+02] [ 1.59181494e-02 2.05617280e-05 9.99873298e-01 9.61002003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.18, Y:171.97, Z:9.61 [[-3.92310166e-01 -9.19813693e-01 5.95854378e-03 9.22176688e+02] [ 9.19711244e-01 -3.92355403e-01 -1.37282588e-02 1.71971828e+02] [ 1.49653072e-02 9.44042384e-05 9.99888009e-01 9.61045210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.649254154 meters Centerline goodness [0,1] 0.9999356982102668 Centerline is valid? [True, True] Translation: X:922.16, Y:171.99, Z:9.61 [[-3.86295513e-01 -9.22357677e-01 5.66497667e-03 9.22157766e+02] [ 9.22265473e-01 -3.86337004e-01 -1.30428744e-02 1.71993225e+02] [ 1.42187854e-02 1.86208553e-04 9.99898891e-01 9.61077778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6792541539999 meters Centerline goodness [0,1] 0.9997864251847423 Centerline is valid? [True, True] Translation: X:922.14, Y:172.02, Z:9.61 [[-3.84216853e-01 -9.23225727e-01 5.62740071e-03 9.22143415e+02] [ 9.23134951e-01 -3.84257999e-01 -1.29481159e-02 1.72017291e+02] [ 1.41164074e-02 2.19965936e-04 9.99900334e-01 9.61080531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.13, Y:172.04, Z:9.61 [[-3.81516491e-01 -9.24346207e-01 5.40900313e-03 9.22129368e+02] [ 9.24262579e-01 -3.81554748e-01 -1.24362431e-02 1.72041785e+02] [ 1.35592250e-02 2.54707334e-04 9.99908037e-01 9.61148735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7392541539998 meters Centerline goodness [0,1] 0.9997871434653044 Centerline is valid? [True, True] Translation: X:922.11, Y:172.06, Z:9.61 [[-3.79016623e-01 -9.25373403e-01 5.51953337e-03 9.22113951e+02] [ 9.25286561e-01 -3.79056692e-01 -1.26808486e-02 1.72064066e+02] [ 1.38267361e-02 3.00897615e-04 9.99904361e-01 9.61048488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7692541539998 meters Centerline goodness [0,1] 0.9998084046493805 Centerline is valid? [True, True] Translation: X:922.10, Y:172.09, Z:9.61 [[-3.78447014e-01 -9.25604143e-01 5.90159706e-03 9.22101072e+02] [ 9.25505034e-01 -3.78492879e-01 -1.35488941e-02 1.72089388e+02] [ 1.47746250e-02 3.34419269e-04 9.99890793e-01 9.61006387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7992541539998 meters Centerline goodness [0,1] 0.9998295406119492 Centerline is valid? [True, True] Translation: X:922.09, Y:172.11, Z:9.61 [[-3.78379576e-01 -9.25630224e-01 6.13072458e-03 9.22088590e+02] [ 9.25523454e-01 -3.78429075e-01 -1.40631607e-02 1.72113575e+02] [ 1.53373310e-02 3.52916607e-04 9.99882314e-01 9.60953141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.829254154 meters Centerline goodness [0,1] 0.9997435184987283 Centerline is valid? [True, True] Translation: X:922.08, Y:172.14, Z:9.61 [[-3.78936742e-01 -9.25399053e-01 6.59833410e-03 9.22076940e+02] [ 9.25275559e-01 -3.78994000e-01 -1.51224652e-02 1.72139135e+02] [ 1.64950440e-02 3.74819599e-04 9.99863877e-01 9.60842205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.859254154 meters Centerline goodness [0,1] 0.9998724815098189 Centerline is valid? [True, True] Translation: X:922.06, Y:172.16, Z:9.61 [[-3.79493409e-01 -9.25168800e-01 6.88792559e-03 9.22063984e+02] [ 9.25034418e-01 -3.79555717e-01 -1.57728539e-02 1.72163131e+02] [ 1.72069039e-02 3.85874127e-04 9.99851876e-01 9.60777169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.889254154 meters Centerline goodness [0,1] 0.9998512094545764 Centerline is valid? [True, True] Translation: X:922.05, Y:172.19, Z:9.61 [[-3.81406913e-01 -9.24378464e-01 7.29539044e-03 9.22053608e+02] [ 9.24227833e-01 -3.81476492e-01 -1.66912504e-02 1.72187885e+02] [ 1.82120523e-02 3.76444628e-04 9.99834076e-01 9.60708672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9192541539999 meters Centerline goodness [0,1] 0.9998298162014976 Centerline is valid? [True, True] Translation: X:922.04, Y:172.21, Z:9.61 [[-3.83005749e-01 -9.23715283e-01 7.52814384e-03 9.22043463e+02] [ 9.23555042e-01 -3.83079556e-01 -1.72086752e-02 1.72213631e+02] [ 1.87797943e-02 3.61633645e-04 9.99823579e-01 9.60684370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9492541539998 meters Centerline goodness [0,1] 0.9998508988668314 Centerline is valid? [True, True] Translation: X:922.03, Y:172.24, Z:9.61 [[-3.84759113e-01 -9.22985168e-01 7.66840214e-03 9.22033469e+02] [ 9.22819049e-01 -3.84835375e-01 -1.75139105e-02 1.72238933e+02] [ 1.91161521e-02 3.37910880e-04 9.99817213e-01 9.60652150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:922.03, Y:172.27, Z:9.61 [[-3.88158992e-01 -9.21558236e-01 7.93814878e-03 9.22025711e+02] [ 9.21380219e-01 -3.88240051e-01 -1.81150450e-02 1.72266328e+02] [ 1.97759762e-02 2.82535657e-04 9.99804396e-01 9.60806741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0092541539998 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:922.02, Y:172.29, Z:9.61 [[-3.91083626e-01 -9.20321833e-01 7.83073125e-03 9.22016271e+02] [ 9.20148618e-01 -3.91161953e-01 -1.78562702e-02 1.72292330e+02] [ 1.94965994e-02 2.22141654e-04 9.99809899e-01 9.60699726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0392541539998 meters Centerline goodness [0,1] 0.9998282229665894 Centerline is valid? [True, True] Translation: X:922.01, Y:172.32, Z:9.61 [[-3.96173966e-01 -9.18143913e-01 7.61215342e-03 9.22010596e+02] [ 9.17980077e-01 -3.96247072e-01 -1.73446114e-02 1.72320590e+02] [ 1.89411429e-02 1.16321691e-04 9.99820594e-01 9.60911467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.069254154 meters Centerline goodness [0,1] 0.9999570142068046 Centerline is valid? [True, True] Translation: X:922.00, Y:172.35, Z:9.61 [[-3.98473298e-01 -9.17149251e-01 7.50221932e-03 9.22001537e+02] [ 9.16990150e-01 -3.98543909e-01 -1.70826695e-02 1.72346411e+02] [ 1.86573213e-02 7.24735876e-05 9.99825934e-01 9.61036822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.099254154 meters Centerline goodness [0,1] 0.9998505167848296 Centerline is valid? [True, True] Translation: X:921.99, Y:172.37, Z:9.61 [[-4.01174970e-01 -9.15972815e-01 7.24194681e-03 9.21993034e+02] [ 9.15824580e-01 -4.01240330e-01 -1.64783903e-02 1.72371867e+02] [ 1.79995187e-02 2.16351635e-05 9.99837995e-01 9.61068663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.129254154 meters Centerline goodness [0,1] 0.9999786123706048 Centerline is valid? [True, True] Translation: X:921.98, Y:172.40, Z:9.61 [[-4.04724440e-01 -9.14416581e-01 6.35954730e-03 9.21984932e+02] [ 9.14302253e-01 -4.04774400e-01 -1.44594775e-02 1.72398930e+02] [ 1.57961679e-02 -3.75555102e-05 9.99875232e-01 9.61403709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1592541539999 meters Centerline goodness [0,1] 0.9998073423953762 Centerline is valid? [True, True] Translation: X:921.98, Y:172.42, Z:9.61 [[-4.06744065e-01 -9.13523016e-01 5.91314885e-03 9.21975752e+02] [ 9.13424230e-01 -4.06787040e-01 -1.34342505e-02 1.72424391e+02] [ 1.46778893e-02 -6.30882263e-05 9.99892272e-01 9.61364022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1892541539999 meters Centerline goodness [0,1] 0.9997865027007409 Centerline is valid? [True, True] Translation: X:921.97, Y:172.45, Z:9.61 [[-4.08822750e-01 -9.12596397e-01 5.63692978e-03 9.21967219e+02] [ 9.12506681e-01 -4.08861600e-01 -1.27964929e-02 1.72449789e+02] [ 1.39827574e-02 -8.77613088e-05 9.99902233e-01 9.61417288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2192541539998 meters Centerline goodness [0,1] 0.9998500428449014 Centerline is valid? [True, True] Translation: X:921.96, Y:172.48, Z:9.61 [[-4.09880420e-01 -9.12122161e-01 5.58614592e-03 9.21956745e+02] [ 9.12034149e-01 -4.09918472e-01 -1.26711238e-02 1.72475374e+02] [ 1.38474773e-02 -9.88897205e-05 9.99904114e-01 9.61469627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2492541539998 meters Centerline goodness [0,1] 0.9997863749973297 Centerline is valid? [True, True] Translation: X:921.95, Y:172.50, Z:9.61 [[-4.10860840e-01 -9.11681679e-01 5.46676562e-03 9.21946854e+02] [ 9.11597481e-01 -4.10897194e-01 -1.23906418e-02 1.72500519e+02] [ 1.35425998e-02 -1.07339729e-04 9.99908289e-01 9.61445062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2792541539998 meters Centerline goodness [0,1] 0.9998078811424668 Centerline is valid? [True, True] Translation: X:921.94, Y:172.53, Z:9.61 [[-4.12276467e-01 -9.11043133e-01 5.34092676e-03 9.21938256e+02] [ 9.10962838e-01 -4.12311043e-01 -1.20959367e-02 1.72525101e+02] [ 1.32220432e-02 -1.21484260e-04 9.99912578e-01 9.61449723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.3092541539997 meters Centerline goodness [0,1] 0.999893235394602 Centerline is valid? [True, True] Translation: X:921.93, Y:172.55, Z:9.62 [[-4.12847517e-01 -9.10784438e-01 5.35124593e-03 9.21926999e+02] [ 9.10703922e-01 -4.12882177e-01 -1.21109228e-02 1.72550837e+02] [ 1.32398741e-02 -1.26563754e-04 9.99912341e-01 9.61559776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.339254154 meters Centerline goodness [0,1] 0.9998932308349349 Centerline is valid? [True, True] Translation: X:921.92, Y:172.58, Z:9.62 [[-4.14018844e-01 -9.10252824e-01 5.30969707e-03 9.21918280e+02] [ 9.10173636e-01 -4.14052868e-01 -1.20072572e-02 1.72575993e+02] [ 1.31281351e-02 -1.38484473e-04 9.99913813e-01 9.61590300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.369254154 meters Centerline goodness [0,1] 0.9998503985809237 Centerline is valid? [True, True] Translation: X:921.91, Y:172.60, Z:9.62 [[-4.14865592e-01 -9.09866633e-01 5.40846001e-03 9.21908685e+02] [ 9.09784587e-01 -4.14900817e-01 -1.22195337e-02 1.72600421e+02] [ 1.33621205e-02 -1.48930530e-04 9.99910712e-01 9.61517756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.399254154 meters Centerline goodness [0,1] 0.9998505231689088 Centerline is valid? [True, True] Translation: X:921.90, Y:172.63, Z:9.62 [[-4.15289472e-01 -9.09672804e-01 5.48131552e-03 9.21896578e+02] [ 9.09588658e-01 -4.15325615e-01 -1.23736161e-02 1.72625319e+02] [ 1.35324728e-02 -1.52890075e-04 9.99908420e-01 9.61512205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4292541539999 meters Centerline goodness [0,1] 0.9998932786920236 Centerline is valid? [True, True] Translation: X:921.89, Y:172.65, Z:9.61 [[-4.14880699e-01 -9.09856931e-01 5.86269874e-03 9.21886576e+02] [ 9.09760845e-01 -4.14922092e-01 -1.32235708e-02 1.72650220e+02] [ 1.44641208e-02 -1.52550536e-04 9.99895378e-01 9.61480700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4592541539998 meters Centerline goodness [0,1] 0.9998931646759684 Centerline is valid? [True, True] Translation: X:921.87, Y:172.68, Z:9.61 [[-4.14554307e-01 -9.10006570e-01 5.72448748e-03 9.21874578e+02] [ 9.09915120e-01 -4.14593806e-01 -1.29015794e-02 1.72675355e+02] [ 1.41138591e-02 -1.39607608e-04 9.99900385e-01 9.61493083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4892541539998 meters Centerline goodness [0,1] 0.9999786602932076 Centerline is valid? [True, True] Translation: X:921.86, Y:172.70, Z:9.62 [[-4.12992563e-01 -9.10717382e-01 5.56708361e-03 9.21862703e+02] [ 9.10631090e-01 -4.13030069e-01 -1.25371658e-02 1.72699977e+02] [ 1.37171877e-02 -1.08196817e-04 9.99905909e-01 9.61596362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5192541539998 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:921.85, Y:172.73, Z:9.62 [[-4.12910443e-01 -9.10756490e-01 5.25194403e-03 9.21850771e+02] [ 9.10679810e-01 -4.12943831e-01 -1.18184864e-02 1.72725605e+02] [ 1.29325211e-02 -9.71370739e-05 9.99916367e-01 9.61508423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5492541539998 meters Centerline goodness [0,1] 0.9998505614619358 Centerline is valid? [True, True] Translation: X:921.84, Y:172.75, Z:9.62 [[-4.12567203e-01 -9.10911841e-01 5.28395315e-03 9.21839111e+02] [ 9.10834357e-01 -4.12601030e-01 -1.18812891e-02 1.72751498e+02] [ 1.30029714e-02 -8.90241445e-05 9.99915454e-01 9.61560974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.579254154 meters Centerline goodness [0,1] 0.9998930984349611 Centerline is valid? [True, True] Translation: X:921.83, Y:172.78, Z:9.62 [[-4.11315605e-01 -9.11479177e-01 5.01818297e-03 9.21826770e+02] [ 9.11409438e-01 -4.11346211e-01 -1.12752541e-02 1.72776804e+02] [ 1.23413699e-02 -6.40686392e-05 9.99923840e-01 9.61644684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.609254154 meters Centerline goodness [0,1] 0.999828833069451 Centerline is valid? [True, True] Translation: X:921.81, Y:172.80, Z:9.62 [[-4.10738194e-01 -9.11739491e-01 5.02352174e-03 9.21814769e+02] [ 9.11669731e-01 -4.10768910e-01 -1.12785140e-02 1.72802002e+02] [ 1.23465731e-02 -5.27237386e-05 9.99923777e-01 9.61616891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.639254154 meters Centerline goodness [0,1] 0.9999573442532045 Centerline is valid? [True, True] Translation: X:921.80, Y:172.83, Z:9.62 [[-4.08368200e-01 -9.12803517e-01 5.01519992e-03 9.21802162e+02] [ 9.12734167e-01 -4.08398995e-01 -1.12517384e-02 1.72825590e+02] [ 1.23188290e-02 -1.73078402e-05 9.99924120e-01 9.61696733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.79, Y:172.85, Z:9.62 [[-4.07035210e-01 -9.13397266e-01 5.26988502e-03 9.21789403e+02] [ 9.13320841e-01 -4.07069323e-01 -1.18155602e-02 1.72851111e+02] [ 1.29375089e-02 3.74678261e-06 9.99916307e-01 9.61761361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6992541539998 meters Centerline goodness [0,1] 0.9997863841240681 Centerline is valid? [True, True] Translation: X:921.78, Y:172.88, Z:9.62 [[-4.06436721e-01 -9.13664981e-01 5.04912820e-03 9.21777021e+02] [ 9.13594943e-01 -4.06468082e-01 -1.13127319e-02 1.72875786e+02] [ 1.23883565e-02 1.49483112e-05 9.99923261e-01 9.61506671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7292541539998 meters Centerline goodness [0,1] 0.9999785375485588 Centerline is valid? [True, True] Translation: X:921.76, Y:172.90, Z:9.62 [[-4.03165586e-01 -9.15112166e-01 5.21869561e-03 9.21763600e+02] [ 9.15037559e-01 -4.03199355e-01 -1.16852431e-02 1.72901038e+02] [ 1.27974828e-02 6.42146244e-05 9.99918107e-01 9.61686608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.75, Y:172.93, Z:9.62 [[-4.01363549e-01 -9.15904013e-01 5.20962006e-03 9.21751384e+02] [ 9.15829849e-01 -4.01397347e-01 -1.16558121e-02 1.72926601e+02] [ 1.27667327e-02 9.29074583e-05 9.99918498e-01 9.61769248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7892541539998 meters Centerline goodness [0,1] 0.9997008674842955 Centerline is valid? [True, True] Translation: X:921.74, Y:172.95, Z:9.61 [[-3.98427767e-01 -9.17185818e-01 5.04878238e-03 9.21737513e+02] [ 9.17116362e-01 -3.98459732e-01 -1.12880620e-02 1.72950044e+02] [ 1.23649869e-02 1.32843569e-04 9.99923542e-01 9.61437061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.819254154 meters Centerline goodness [0,1] 0.9997209761541929 Centerline is valid? [True, True] Translation: X:921.73, Y:172.98, Z:9.61 [[-3.96896599e-01 -9.17849691e-01 5.00347053e-03 9.21725382e+02] [ 9.17781604e-01 -3.96928106e-01 -1.11806076e-02 1.72975874e+02] [ 1.22481353e-02 1.54548066e-04 9.99924977e-01 9.61455144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.849254154 meters Centerline goodness [0,1] 0.999828524885326 Centerline is valid? [True, True] Translation: X:921.71, Y:173.00, Z:9.62 [[-3.95019997e-01 -9.18658860e-01 5.01004051e-03 9.21712888e+02] [ 9.18590757e-01 -3.95051725e-01 -1.11873209e-02 1.72999860e+02] [ 1.22565566e-02 1.82961436e-04 9.99924869e-01 9.61521111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.879254154 meters Centerline goodness [0,1] 0.9998928096728551 Centerline is valid? [True, True] Translation: X:921.70, Y:173.03, Z:9.62 [[-3.91900155e-01 -9.19992742e-01 5.25573731e-03 9.21700373e+02] [ 9.19918009e-01 -3.91935324e-01 -1.17285351e-02 1.73025249e+02] [ 1.28500763e-02 2.38432661e-04 9.99917406e-01 9.61552865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9092541539999 meters Centerline goodness [0,1] 0.9998283445982191 Centerline is valid? [True, True] Translation: X:921.69, Y:173.05, Z:9.61 [[-3.90969441e-01 -9.20387735e-01 5.41414973e-03 9.21686229e+02] [ 9.20308590e-01 -3.91006839e-01 -1.20727385e-02 1.73048902e+02] [ 1.32285700e-02 2.62616684e-04 9.99912464e-01 9.61410039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.68, Y:173.08, Z:9.62 [[-3.88696864e-01 -9.21348069e-01 5.69950849e-03 9.21677999e+02] [ 9.21260609e-01 -3.88738520e-01 -1.26985683e-02 1.73076307e+02] [ 1.39154199e-02 3.14838983e-04 9.99903126e-01 9.61700793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.67, Y:173.10, Z:9.62 [[-3.88065385e-01 -9.21613498e-01 5.81528765e-03 9.21665306e+02] [ 9.21522592e-01 -3.88108810e-01 -1.29484797e-02 1.73100101e+02] [ 1.41904580e-02 3.34062201e-04 9.99899255e-01 9.61679051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9992541539998 meters Centerline goodness [0,1] 0.9998718386876282 Centerline is valid? [True, True] Translation: X:921.65, Y:173.13, Z:9.61 [[-3.88162372e-01 -9.21573533e-01 5.67420663e-03 9.21653955e+02] [ 9.21487064e-01 -3.88203706e-01 -1.26282648e-02 1.73125927e+02] [ 1.38406226e-02 3.26890787e-04 9.99904161e-01 9.61474389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.0292541539998 meters Centerline goodness [0,1] 0.9997856101535031 Centerline is valid? [True, True] Translation: X:921.64, Y:173.15, Z:9.61 [[-3.87571180e-01 -9.21821327e-01 5.83290849e-03 9.21643602e+02] [ 9.21730125e-01 -3.87614912e-01 -1.29714027e-02 1.73152194e+02] [ 1.42182379e-02 3.49025634e-04 9.99898855e-01 9.61420345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.63, Y:173.18, Z:9.62 [[-3.87092851e-01 -9.22021323e-01 5.98368451e-03 9.21632988e+02] [ 9.21925515e-01 -3.87138920e-01 -1.32966600e-02 1.73178239e+02] [ 1.45763212e-02 3.69469395e-04 9.99893692e-01 9.61708770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.089254154 meters Centerline goodness [0,1] 0.999785375485588 Centerline is valid? [True, True] Translation: X:921.62, Y:173.21, Z:9.61 [[-3.88480507e-01 -9.21435886e-01 6.22926727e-03 9.21623277e+02] [ 9.21332135e-01 -3.88530274e-01 -1.38319272e-02 1.73205249e+02] [ 1.51654930e-02 3.65790018e-04 9.99884930e-01 9.61393381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.119254154 meters Centerline goodness [0,1] 0.999785375485588 Centerline is valid? [True, True] Translation: X:921.61, Y:173.23, Z:9.61 [[-3.88747804e-01 -9.21323121e-01 6.23312302e-03 9.21611875e+02] [ 9.21219384e-01 -3.88797599e-01 -1.38301897e-02 1.73230371e+02] [ 1.51654968e-02 3.65617866e-04 9.99884930e-01 9.61419132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.149254154 meters Centerline goodness [0,1] 0.999957040060144 Centerline is valid? [True, True] Translation: X:921.60, Y:173.26, Z:9.62 [[-3.89346569e-01 -9.21067751e-01 6.59147924e-03 9.21601725e+02] [ 9.20951893e-01 -3.89402174e-01 -1.46136137e-02 1.73257109e+02] [ 1.60268647e-02 3.80674911e-04 9.99871489e-01 9.61603572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1792541539999 meters Centerline goodness [0,1] 0.9998486322845713 Centerline is valid? [True, True] Translation: X:921.59, Y:173.28, Z:9.61 [[-3.91437567e-01 -9.20178777e-01 6.90280142e-03 9.21593857e+02] [ 9.20051781e-01 -3.91498256e-01 -1.52917004e-02 1.73283960e+02] [ 1.67735329e-02 3.65188727e-04 9.99859248e-01 9.61404043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2092541539998 meters Centerline goodness [0,1] 0.9998271242112542 Centerline is valid? [True, True] Translation: X:921.59, Y:173.31, Z:9.61 [[-3.93863294e-01 -9.19143083e-01 6.90644928e-03 9.21586946e+02] [ 9.19015987e-01 -3.93923708e-01 -1.52881958e-02 1.73312128e+02] [ 1.67726535e-02 3.25678126e-04 9.99859276e-01 9.61427988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2392541539998 meters Centerline goodness [0,1] 0.9998271242112542 Centerline is valid? [True, True] Translation: X:921.58, Y:173.34, Z:9.61 [[-3.94131100e-01 -9.19028246e-01 6.91079613e-03 9.21575515e+02] [ 9.18901167e-01 -3.94191549e-01 -1.52862310e-02 1.73337239e+02] [ 1.67726555e-02 3.25559606e-04 9.99859276e-01 9.61453735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.57, Y:173.36, Z:9.62 [[-3.96623213e-01 -9.17956189e-01 6.81634121e-03 9.21568270e+02] [ 9.17832591e-01 -3.96681682e-01 -1.50657881e-02 1.73363637e+02] [ 1.65336511e-02 2.80818840e-04 9.99863270e-01 9.61808773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2992541539998 meters Centerline goodness [0,1] 0.9999565680036483 Centerline is valid? [True, True] Translation: X:921.56, Y:173.39, Z:9.62 [[-3.98533779e-01 -9.17130077e-01 6.57643093e-03 9.21560335e+02] [ 9.17015087e-01 -3.98587962e-01 -1.45246844e-02 1.73391203e+02] [ 1.59423111e-02 2.42109031e-04 9.99872884e-01 9.61833496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.329254154 meters Centerline goodness [0,1] 0.9998692041069911 Centerline is valid? [True, True] Translation: X:921.55, Y:173.42, Z:9.62 [[-4.00658925e-01 -9.16206091e-01 6.23086434e-03 9.21550911e+02] [ 9.16102913e-01 -4.00707323e-01 -1.37511723e-02 1.73416846e+02] [ 1.50956608e-02 1.98583046e-04 9.99886034e-01 9.61724934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.359254154 meters Centerline goodness [0,1] 0.9998264755005097 Centerline is valid? [True, True] Translation: X:921.54, Y:173.44, Z:9.62 [[-4.04857181e-01 -9.14362253e-01 5.68625051e-03 9.21544706e+02] [ 9.14276266e-01 -4.04897092e-01 -1.25400824e-02 1.73443908e+02] [ 1.37685243e-02 1.21861472e-04 9.99905202e-01 9.61751769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.54, Y:173.47, Z:9.62 [[-4.06708973e-01 -9.13539078e-01 5.84498487e-03 9.21537074e+02] [ 9.13448277e-01 -4.06750959e-01 -1.28803233e-02 1.73470736e+02] [ 1.41441319e-02 1.00548297e-04 9.99899962e-01 9.62113533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4192541539999 meters Centerline goodness [0,1] 0.9998688065771636 Centerline is valid? [True, True] Translation: X:921.53, Y:173.50, Z:9.62 [[-4.11207478e-01 -9.11523684e-01 5.74316359e-03 9.21531403e+02] [ 9.11435951e-01 -4.11247581e-01 -1.26465184e-02 1.73498920e+02] [ 1.38894632e-02 3.41828121e-05 9.99903536e-01 9.61905706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4492541539998 meters Centerline goodness [0,1] 0.9998468840912571 Centerline is valid? [True, True] Translation: X:921.52, Y:173.53, Z:9.62 [[-4.12848549e-01 -9.10781045e-01 5.82779591e-03 9.21522496e+02] [ 9.10690771e-01 -4.12889679e-01 -1.28230913e-02 1.73525317e+02] [ 1.40852653e-02 1.33253063e-05 9.99900798e-01 9.61922717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4792541539998 meters Centerline goodness [0,1] 0.9999343932468782 Centerline is valid? [True, True] Translation: X:921.51, Y:173.55, Z:9.62 [[-4.14320642e-01 -9.10113126e-01 5.70113862e-03 9.21512966e+02] [ 9.10026799e-01 -4.14359865e-01 -1.25350259e-02 1.73552034e+02] [ 1.37706147e-02 -5.33106189e-06 9.99905181e-01 9.62050209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5092541539998 meters Centerline goodness [0,1] 0.9997156978524253 Centerline is valid? [True, True] Translation: X:921.51, Y:173.58, Z:9.62 [[-4.16489500e-01 -9.09122730e-01 5.68841452e-03 9.21505508e+02] [ 9.09036828e-01 -4.16528343e-01 -1.24973856e-02 1.73578597e+02] [ 1.37310432e-02 -3.40515860e-05 9.99905724e-01 9.61840710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.50, Y:173.60, Z:9.62 [[-4.16765212e-01 -9.08996588e-01 5.65347208e-03 9.21496280e+02] [ 9.08911866e-01 -4.16803554e-01 -1.24103727e-02 1.73603110e+02] [ 1.36373737e-02 -3.37037500e-05 9.99907006e-01 9.62217014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.569254154 meters Centerline goodness [0,1] 0.9998027570185628 Centerline is valid? [True, True] Translation: X:921.49, Y:173.63, Z:9.62 [[-4.17543407e-01 -9.08639922e-01 5.56746402e-03 9.21487185e+02] [ 9.08557868e-01 -4.17580521e-01 -1.22110575e-02 1.73629463e+02] [ 1.34203189e-02 -4.02833276e-05 9.99909943e-01 9.61926296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.599254154 meters Centerline goodness [0,1] 0.9998459201866566 Centerline is valid? [True, True] Translation: X:921.48, Y:173.66, Z:9.62 [[-4.17443189e-01 -9.08685790e-01 5.59641806e-03 9.21476188e+02] [ 9.08603019e-01 -4.17480699e-01 -1.22645477e-02 1.73655472e+02] [ 1.34810167e-02 -3.48295389e-05 9.99909126e-01 9.62013457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.629254154 meters Centerline goodness [0,1] 0.9998464205006692 Centerline is valid? [True, True] Translation: X:921.47, Y:173.68, Z:9.62 [[-4.17051943e-01 -9.08865101e-01 5.64841693e-03 9.21465609e+02] [ 9.08780934e-01 -4.17090191e-01 -1.23687591e-02 1.73680417e+02] [ 1.35974328e-02 -2.52414177e-05 9.99907550e-01 9.62000064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.45, Y:173.71, Z:9.62 [[-4.15308280e-01 -9.09659782e-01 6.17368886e-03 9.21454254e+02] [ 9.09559488e-01 -4.15354164e-01 -1.35076476e-02 1.73705969e+02] [ 1.48516311e-02 5.49939934e-06 9.99889708e-01 9.62235831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6892541539999 meters Centerline goodness [0,1] 0.9997584753205692 Centerline is valid? [True, True] Translation: X:921.44, Y:173.73, Z:9.62 [[-4.15198099e-01 -9.09709024e-01 6.32698498e-03 9.21442390e+02] [ 9.09603855e-01 -4.15246303e-01 -1.38324046e-02 1.73731661e+02] [ 1.52107204e-02 1.18618430e-05 9.99884310e-01 9.61830666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7192541539998 meters Centerline goodness [0,1] 0.9999120782503572 Centerline is valid? [True, True] Translation: X:921.43, Y:173.76, Z:9.62 [[-4.13504995e-01 -9.10478312e-01 6.54699958e-03 9.21430841e+02] [ 9.10365971e-01 -4.13556818e-01 -1.43023562e-02 1.73757694e+02] [ 1.57295415e-02 4.60698955e-05 9.99876282e-01 9.61977455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7492541539998 meters Centerline goodness [0,1] 0.99982397465235 Centerline is valid? [True, True] Translation: X:921.42, Y:173.78, Z:9.62 [[-4.13227608e-01 -9.10602722e-01 6.75468283e-03 9.21419562e+02] [ 9.10483346e-01 -4.13282807e-01 -1.47444090e-02 1.73782891e+02] [ 1.62178933e-02 5.72293584e-05 9.99868480e-01 9.61905864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7792541539998 meters Centerline goodness [0,1] 0.9999559481068699 Centerline is valid? [True, True] Translation: X:921.41, Y:173.81, Z:9.62 [[-4.12792649e-01 -9.10801540e-01 6.54087901e-03 9.21408371e+02] [ 9.10689799e-01 -4.12844462e-01 -1.42667616e-02 1.73808328e+02] [ 1.56945541e-02 6.74974937e-05 9.99876831e-01 9.62086806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.8092541539997 meters Centerline goodness [0,1] 0.9999115044247787 Centerline is valid? [True, True] Translation: X:921.40, Y:173.83, Z:9.62 [[-4.12541358e-01 -9.10916185e-01 6.42901237e-03 9.21397810e+02] [ 9.10808408e-01 -4.12591443e-01 -1.40123085e-02 1.73834390e+02] [ 1.54165941e-02 7.49417240e-05 9.99881154e-01 9.62073773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.839254154 meters Centerline goodness [0,1] 0.9999118690373896 Centerline is valid? [True, True] Translation: X:921.39, Y:173.86, Z:9.62 [[-4.12744885e-01 -9.10824766e-01 6.31706189e-03 9.21387094e+02] [ 9.10720866e-01 -4.12793217e-01 -1.37573739e-02 1.73858530e+02] [ 1.51381971e-02 7.47943783e-05 9.99885408e-01 9.62147998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.38, Y:173.88, Z:9.62 [[-4.12770892e-01 -9.10818071e-01 5.53467207e-03 9.21375568e+02] [ 9.10738437e-01 -4.12807990e-01 -1.20442186e-02 1.73883825e+02] [ 1.32548488e-02 6.91357262e-05 9.99912148e-01 9.62438653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.899254154 meters Centerline goodness [0,1] 0.9999337952950523 Centerline is valid? [True, True] Translation: X:921.36, Y:173.91, Z:9.62 [[-4.12821396e-01 -9.10797107e-01 5.20818138e-03 9.21363838e+02] [ 9.10726688e-01 -4.12854242e-01 -1.13258700e-02 1.73906868e+02] [ 1.24657894e-02 6.76683020e-05 9.99922297e-01 9.62387535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9292541539999 meters Centerline goodness [0,1] 0.999889974474078 Centerline is valid? [True, True] Translation: X:921.35, Y:173.93, Z:9.62 [[-4.13037652e-01 -9.10699086e-01 5.20314200e-03 9.21352613e+02] [ 9.10628894e-01 -4.13070417e-01 -1.13069819e-02 1.73930095e+02] [ 1.24465222e-02 6.79221724e-05 9.99922537e-01 9.62232820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9592541539998 meters Centerline goodness [0,1] 0.999845869297164 Centerline is valid? [True, True] Translation: X:921.34, Y:173.96, Z:9.62 [[-4.13187492e-01 -9.10629644e-01 5.45413546e-03 9.21341637e+02] [ 9.10552642e-01 -4.13223481e-01 -1.18423344e-02 1.73955868e+02] [ 1.30377577e-02 7.31729911e-05 9.99915002e-01 9.62207851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.33, Y:173.98, Z:9.63 [[-4.13174577e-01 -9.10636325e-01 5.31529752e-03 9.21330259e+02] [ 9.10563304e-01 -4.13208759e-01 -1.15321859e-02 1.73980286e+02] [ 1.26979549e-02 7.51088239e-05 9.99919375e-01 9.62512927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0192541539998 meters Centerline goodness [0,1] 0.9999779968315438 Centerline is valid? [True, True] Translation: X:921.32, Y:174.01, Z:9.62 [[-4.13251653e-01 -9.10598879e-01 5.72308525e-03 9.21318191e+02] [ 9.10514362e-01 -4.13291272e-01 -1.24064998e-02 1.74005118e+02] [ 1.36626459e-02 8.39447829e-05 9.99906658e-01 9.62428661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.31, Y:174.03, Z:9.63 [[-4.13190926e-01 -9.10625764e-01 5.82897082e-03 9.21306377e+02] [ 9.10538241e-01 -4.13232029e-01 -1.26254600e-02 1.74028715e+02] [ 1.39057866e-02 9.07753343e-05 9.99903306e-01 9.62501811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.079254154 meters Centerline goodness [0,1] 0.9999557971975424 Centerline is valid? [True, True] Translation: X:921.29, Y:174.05, Z:9.62 [[-4.13084976e-01 -9.10672263e-01 6.06900842e-03 9.21293598e+02] [ 9.10577551e-01 -4.13129544e-01 -1.31340802e-02 1.74053840e+02] [ 1.44681292e-02 1.00811639e-04 9.99895326e-01 9.62383088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.109254154 meters Centerline goodness [0,1] 0.9999559539278084 Centerline is valid? [True, True] Translation: X:921.28, Y:174.08, Z:9.62 [[-4.12062317e-01 -9.11133957e-01 6.28963615e-03 9.21279353e+02] [ 9.11032449e-01 -4.12110297e-01 -1.36006981e-02 1.74077090e+02] [ 1.49840817e-02 1.25727457e-04 9.99887724e-01 9.62334371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.139254154 meters Centerline goodness [0,1] 0.9999558645040274 Centerline is valid? [True, True] Translation: X:921.27, Y:174.10, Z:9.62 [[-4.11415121e-01 -9.11424668e-01 6.53243193e-03 9.21266414e+02] [ 9.11315390e-01 -4.11466953e-01 -1.41140508e-02 1.74102424e+02] [ 1.55517740e-02 1.46371816e-04 9.99879053e-01 9.62333649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1692541539999 meters Centerline goodness [0,1] 0.9997147997016366 Centerline is valid? [True, True] Translation: X:921.25, Y:174.13, Z:9.62 [[-4.11045423e-01 -9.11588464e-01 6.93780817e-03 9.21253103e+02] [ 9.11465424e-01 -4.11103935e-01 -1.49778336e-02 1.74126595e+02] [ 1.65057805e-02 1.67002341e-04 9.99863756e-01 9.62107359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.24, Y:174.15, Z:9.62 [[-4.09320620e-01 -9.12362635e-01 7.14506209e-03 9.21238903e+02] [ 9.12232463e-01 -4.09382924e-01 -1.54128147e-02 1.74150293e+02] [ 1.69871427e-02 2.09174703e-04 9.99855686e-01 9.62391380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2292541539998 meters Centerline goodness [0,1] 0.9999560594076808 Centerline is valid? [True, True] Translation: X:921.23, Y:174.17, Z:9.62 [[-4.09136114e-01 -9.12443885e-01 7.33468994e-03 9.21226589e+02] [ 9.12306950e-01 -4.09201793e-01 -1.58088872e-02 1.74174577e+02] [ 1.74260908e-02 2.23501918e-04 9.99848129e-01 9.62284455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2592541539998 meters Centerline goodness [0,1] 0.9998244574638492 Centerline is valid? [True, True] Translation: X:921.21, Y:174.20, Z:9.62 [[-4.08842508e-01 -9.12571557e-01 7.80750480e-03 9.21212395e+02] [ 9.12416661e-01 -4.08916974e-01 -1.68150228e-02 1.74196842e+02] [ 1.85375328e-02 2.49001357e-04 9.99828134e-01 9.61944144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.20, Y:174.22, Z:9.62 [[-4.08493967e-01 -9.12730043e-01 7.51976160e-03 9.21200773e+02] [ 9.12586589e-01 -4.08563098e-01 -1.61837072e-02 1.74220971e+02] [ 1.78436529e-02 2.51486837e-04 9.99840758e-01 9.62414991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.319254154 meters Centerline goodness [0,1] 0.9999120357135003 Centerline is valid? [True, True] Translation: X:921.19, Y:174.24, Z:9.62 [[-4.08919447e-01 -9.12538035e-01 7.69544233e-03 9.21188624e+02] [ 9.12388017e-01 -4.08991772e-01 -1.65480569e-02 1.74244987e+02] [ 1.82481039e-02 2.54407098e-04 9.99833457e-01 9.62198339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.349254154 meters Centerline goodness [0,1] 0.9998240366003871 Centerline is valid? [True, True] Translation: X:921.18, Y:174.27, Z:9.62 [[-4.09520131e-01 -9.12267517e-01 7.82564477e-03 9.21177062e+02] [ 9.12112586e-01 -4.09594818e-01 -1.68141446e-02 1.74269592e+02] [ 1.85443415e-02 2.52138391e-04 9.99828007e-01 9.62210793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.17, Y:174.29, Z:9.63 [[-4.10276919e-01 -9.11931402e-01 7.34624075e-03 9.21165590e+02] [ 9.11795037e-01 -4.10342620e-01 -1.57716497e-02 1.74294663e+02] [ 1.73971383e-02 2.27521992e-04 9.99848632e-01 9.62622423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.16, Y:174.32, Z:9.63 [[-4.12268992e-01 -9.11033506e-01 7.22698113e-03 9.21155626e+02] [ 9.10901600e-01 -4.12332287e-01 -1.55035398e-02 1.74321448e+02] [ 1.71041619e-02 1.91439943e-04 9.99853695e-01 9.62784540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.14, Y:174.35, Z:9.63 [[-4.13787568e-01 -9.10344675e-01 7.24027051e-03 9.21144724e+02] [ 9.10212382e-01 -4.13850872e-01 -1.55201767e-02 1.74345888e+02] [ 1.71251025e-02 1.68127692e-04 9.99853341e-01 9.62785668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4692541539998 meters Centerline goodness [0,1] 0.999978004091239 Centerline is valid? [True, True] Translation: X:921.13, Y:174.37, Z:9.63 [[-4.15560940e-01 -9.09536760e-01 7.21018417e-03 9.21133554e+02] [ 9.09405637e-01 -4.15623462e-01 -1.54442667e-02 1.74372242e+02] [ 1.70438500e-02 1.38948124e-04 9.99854733e-01 9.62792367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4992541539998 meters Centerline goodness [0,1] 0.9998236953455572 Centerline is valid? [True, True] Translation: X:921.12, Y:174.40, Z:9.63 [[-4.18987554e-01 -9.07960729e-01 7.53294267e-03 9.21123819e+02] [ 9.07817557e-01 -4.19055257e-01 -1.61237225e-02 1.74398611e+02] [ 1.77964261e-02 8.28985626e-05 9.99841628e-01 9.62614885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.5292541539998 meters Centerline goodness [0,1] 0.9998902690602642 Centerline is valid? [True, True] Translation: X:921.11, Y:174.42, Z:9.63 [[-4.20397786e-01 -9.07310397e-01 7.31750462e-03 9.21112679e+02] [ 9.07175398e-01 -4.20461462e-01 -1.56510760e-02 1.74424079e+02] [ 1.72771127e-02 5.85824611e-05 9.99850738e-01 9.62734483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.5592541539997 meters Centerline goodness [0,1] 0.9999120086231549 Centerline is valid? [True, True] Translation: X:921.10, Y:174.45, Z:9.63 [[-4.22255137e-01 -9.06447439e-01 7.32393834e-03 9.21101884e+02] [ 9.06312285e-01 -4.22318647e-01 -1.56525502e-02 1.74449448e+02] [ 1.72812498e-02 2.84055572e-05 9.99850668e-01 9.62866444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.589254154 meters Centerline goodness [0,1] 0.9998244805721933 Centerline is valid? [True, True] Translation: X:921.09, Y:174.47, Z:9.63 [[-4.22888478e-01 -9.06150085e-01 7.57356312e-03 9.21090282e+02] [ 9.06005745e-01 -4.22956290e-01 -1.61730215e-02 1.74474830e+02] [ 1.78584709e-02 2.23072586e-05 9.99840525e-01 9.62762589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.619254154 meters Centerline goodness [0,1] 0.9998896612600684 Centerline is valid? [True, True] Translation: X:921.08, Y:174.50, Z:9.63 [[-4.23194520e-01 -9.06006610e-01 7.64337675e-03 9.21078611e+02] [ 9.05859793e-01 -4.23263538e-01 -1.63098851e-02 1.74500064e+02] [ 1.80120264e-02 2.15737106e-05 9.99837770e-01 9.62914328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.649254154 meters Centerline goodness [0,1] 0.9998239281626904 Centerline is valid? [True, True] Translation: X:921.07, Y:174.52, Z:9.63 [[-4.22733184e-01 -9.06215606e-01 8.36242580e-03 9.21066432e+02] [ 9.06040187e-01 -4.22815886e-01 -1.78299285e-02 1.74524650e+02] [ 1.96935259e-02 3.93913960e-05 9.99806063e-01 9.62800463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6792541539999 meters Centerline goodness [0,1] 0.9998680071276151 Centerline is valid? [True, True] Translation: X:921.05, Y:174.55, Z:9.63 [[-4.22421302e-01 -9.06362571e-01 8.19350126e-03 9.21054357e+02] [ 9.06194464e-01 -4.22500754e-01 -1.74558198e-02 1.74549020e+02] [ 1.92830622e-02 5.11953419e-05 9.99814063e-01 9.62908933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.04, Y:174.57, Z:9.63 [[-4.21865542e-01 -9.06626361e-01 7.62274773e-03 9.21042247e+02] [ 9.06481134e-01 -4.21934399e-01 -1.62270404e-02 1.74573259e+02] [ 1.79281621e-02 6.42478156e-05 9.99839276e-01 9.63251606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7392541539998 meters Centerline goodness [0,1] 0.9998680506685432 Centerline is valid? [True, True] Translation: X:921.03, Y:174.60, Z:9.63 [[-4.20389837e-01 -9.07307160e-01 8.13034927e-03 9.21029082e+02] [ 9.07142343e-01 -4.20468437e-01 -1.72934669e-02 1.74596858e+02] [ 1.91090416e-02 1.05386375e-04 9.99817400e-01 9.63050180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:921.02, Y:174.62, Z:9.63 [[-4.19435666e-01 -9.07754830e-01 7.40883751e-03 9.21016191e+02] [ 9.07618245e-01 -4.19501078e-01 -1.57469600e-02 1.74621280e+02] [ 1.74023943e-02 1.19559439e-04 9.99848560e-01 9.63386784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7992541539998 meters Centerline goodness [0,1] 0.9998901461056795 Centerline is valid? [True, True] Translation: X:921.00, Y:174.65, Z:9.63 [[-4.17467084e-01 -9.08657835e-01 7.88496401e-03 9.21002123e+02] [ 9.08503540e-01 -4.17541506e-01 -1.67454297e-02 1.74645755e+02] [ 1.85081657e-02 1.72852012e-04 9.99828694e-01 9.63175674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.829254154 meters Centerline goodness [0,1] 0.9999118515580238 Centerline is valid? [True, True] Translation: X:920.99, Y:174.67, Z:9.63 [[-4.16435536e-01 -9.09129400e-01 8.07332465e-03 9.20989110e+02] [ 9.08967977e-01 -4.16513736e-01 -1.71325524e-02 1.74670720e+02] [ 1.89383577e-02 2.03789930e-04 9.99820632e-01 9.63210053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.859254154 meters Centerline goodness [0,1] 0.9998899647887324 Centerline is valid? [True, True] Translation: X:920.98, Y:174.70, Z:9.63 [[-4.15703012e-01 -9.09463073e-01 8.24160703e-03 9.20976005e+02] [ 9.09295168e-01 -4.15784639e-01 -1.74765844e-02 1.74695503e+02] [ 1.93210418e-02 2.28984664e-04 9.99813305e-01 9.63167424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.96, Y:174.72, Z:9.63 [[-4.13464875e-01 -9.10485079e-01 7.98234186e-03 9.20962142e+02] [ 9.10327992e-01 -4.13541831e-01 -1.69145115e-02 1.74719848e+02] [ 1.87014426e-02 2.72992842e-04 9.99825075e-01 9.63386708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9192541539999 meters Centerline goodness [0,1] 0.9999560429899558 Centerline is valid? [True, True] Translation: X:920.95, Y:174.75, Z:9.63 [[-4.12860772e-01 -9.10757111e-01 8.21388658e-03 9.20949645e+02] [ 9.10591083e-01 -4.12942364e-01 -1.73920620e-02 1.74745073e+02] [ 1.92318059e-02 2.98991731e-04 9.99815007e-01 9.63297825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.94, Y:174.77, Z:9.63 [[-4.11712412e-01 -9.11278355e-01 8.04047902e-03 9.20936813e+02] [ 9.11119567e-01 -4.11790792e-01 -1.70140474e-02 1.74768462e+02] [ 1.88155284e-02 3.20943281e-04 9.99822921e-01 9.63386357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.93, Y:174.79, Z:9.63 [[-4.11557826e-01 -9.11344497e-01 8.44772149e-03 9.20925370e+02] [ 9.11169462e-01 -4.11644372e-01 -1.78640332e-02 1.74793744e+02] [ 1.97577453e-02 3.45223199e-04 9.99804737e-01 9.63419654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.91, Y:174.82, Z:9.63 [[-4.11817049e-01 -9.11227342e-01 8.45280234e-03 9.20913497e+02] [ 9.11052331e-01 -4.11903644e-01 -1.78616292e-02 1.74818654e+02] [ 1.97577450e-02 3.45221867e-04 9.99804737e-01 9.63445397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0392541539998 meters Centerline goodness [0,1] 0.9998461538461538 Centerline is valid? [True, True] Translation: X:920.90, Y:174.84, Z:9.63 [[-4.11824416e-01 -9.11218564e-01 9.02105117e-03 9.20901100e+02] [ 9.11019510e-01 -4.11923038e-01 -1.90489845e-02 1.74841669e+02] [ 2.10737671e-02 3.73516709e-04 9.99777854e-01 9.63070315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.069254154 meters Centerline goodness [0,1] 0.9999559131489033 Centerline is valid? [True, True] Translation: X:920.89, Y:174.87, Z:9.63 [[-4.11745576e-01 -9.11256878e-01 8.74545825e-03 9.20890495e+02] [ 9.11070085e-01 -4.11838276e-01 -1.84535561e-02 1.74866548e+02] [ 2.04176443e-02 3.69555316e-04 9.99791470e-01 9.63351982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.099254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.88, Y:174.89, Z:9.63 [[-4.11492464e-01 -9.11378040e-01 8.00131409e-03 9.20878925e+02] [ 9.11221963e-01 -4.11570100e-01 -1.68697169e-02 1.74889941e+02] [ 1.86677911e-02 3.49211763e-04 9.99825681e-01 9.63478248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.129254154 meters Centerline goodness [0,1] 0.9998679228669543 Centerline is valid? [True, True] Translation: X:920.87, Y:174.92, Z:9.63 [[-4.11571912e-01 -9.11335322e-01 8.74602322e-03 9.20866746e+02] [ 9.11149136e-01 -4.11664649e-01 -1.84247032e-02 1.74915587e+02] [ 2.03915114e-02 3.85841155e-04 9.99791997e-01 9.63212463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.86, Y:174.94, Z:9.64 [[-4.11434983e-01 -9.11406389e-01 7.72330438e-03 9.20856469e+02] [ 9.11261418e-01 -4.11507318e-01 -1.62590161e-02 1.74941308e+02] [ 1.79967674e-02 3.48421297e-04 9.99837984e-01 9.63612780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1892541539999 meters Centerline goodness [0,1] 0.9999118010231082 Centerline is valid? [True, True] Translation: X:920.85, Y:174.97, Z:9.63 [[-4.11643587e-01 -9.11310494e-01 7.92088515e-03 9.20845214e+02] [ 9.11158227e-01 -4.11719632e-01 -1.66622322e-02 1.74966668e+02] [ 1.84456509e-02 3.58278658e-04 9.99829800e-01 9.63467263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.83, Y:174.99, Z:9.64 [[-4.11567363e-01 -9.11349342e-01 7.39481453e-03 9.20833155e+02] [ 9.11216838e-01 -4.11633649e-01 -1.55439003e-02 1.74990712e+02] [ 1.72098778e-02 3.40917459e-04 9.99851841e-01 9.63680989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.82, Y:175.02, Z:9.64 [[-4.11249234e-01 -9.11493633e-01 7.30922765e-03 9.20821285e+02] [ 9.11364403e-01 -4.11314036e-01 -1.53521586e-02 1.75015793e+02] [ 1.69997827e-02 3.47806441e-04 9.99855433e-01 9.63708833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.81, Y:175.04, Z:9.64 [[-4.11045700e-01 -9.11586007e-01 7.23767520e-03 9.20808685e+02] [ 9.11459503e-01 -4.11109264e-01 -1.51903530e-02 1.75039308e+02] [ 1.68227886e-02 3.52918541e-04 9.99858425e-01 9.63707784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.3092541539997 meters Centerline goodness [0,1] 0.9999118690373896 Centerline is valid? [True, True] Translation: X:920.80, Y:175.06, Z:9.63 [[-4.10203170e-01 -9.11960877e-01 7.79220058e-03 9.20795883e+02] [ 9.11814547e-01 -4.10276977e-01 -1.63411833e-02 1.75064489e+02] [ 1.80994804e-02 4.01836638e-04 9.99836110e-01 9.63489322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.78, Y:175.09, Z:9.64 [[-4.09532721e-01 -9.12262432e-01 7.75923111e-03 9.20782977e+02] [ 9.12117581e-01 -4.09606006e-01 -1.62615756e-02 1.75088004e+02] [ 1.80130522e-02 4.17683820e-04 9.99837665e-01 9.63623719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.369254154 meters Centerline goodness [0,1] 0.9999121342588525 Centerline is valid? [True, True] Translation: X:920.77, Y:175.11, Z:9.63 [[-4.09014177e-01 -9.12490816e-01 8.24094199e-03 9.20769427e+02] [ 9.12327681e-01 -4.09096932e-01 -1.72598660e-02 1.75112521e+02] [ 1.91208133e-02 4.58909594e-04 9.99817075e-01 9.63401141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.399254154 meters Centerline goodness [0,1] 0.9998025016458196 Centerline is valid? [True, True] Translation: X:920.75, Y:175.14, Z:9.63 [[-4.07587450e-01 -9.13122164e-01 8.96567840e-03 9.20754598e+02] [ 9.12929476e-01 -4.07685694e-01 -1.87655741e-02 1.75136076e+02] [ 2.07904404e-02 5.36419600e-04 9.99783712e-01 9.63150538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4292541539999 meters Centerline goodness [0,1] 0.999802054237139 Centerline is valid? [True, True] Translation: X:920.74, Y:175.16, Z:9.63 [[-4.07122654e-01 -9.13329449e-01 8.97008288e-03 9.20742314e+02] [ 9.13136872e-01 -4.07221086e-01 -1.87627208e-02 1.75161035e+02] [ 2.07893523e-02 5.52184723e-04 9.99783726e-01 9.63185438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4592541539998 meters Centerline goodness [0,1] 0.9999125128496752 Centerline is valid? [True, True] Translation: X:920.73, Y:175.18, Z:9.63 [[-4.06133940e-01 -9.13772574e-01 8.65480826e-03 9.20728204e+02] [ 9.13593668e-01 -4.06225762e-01 -1.80898051e-02 1.75184437e+02] [ 2.00457739e-02 5.60094195e-04 9.99798906e-01 9.63347659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.72, Y:175.21, Z:9.64 [[-4.06170708e-01 -9.13762287e-01 7.98990288e-03 9.20715337e+02] [ 9.13610050e-01 -4.06248952e-01 -1.66873244e-02 1.75208063e+02] [ 1.84941374e-02 5.21753173e-04 9.99828833e-01 9.63576811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5192541539998 meters Centerline goodness [0,1] 0.9999561864703821 Centerline is valid? [True, True] Translation: X:920.70, Y:175.23, Z:9.63 [[-4.06359084e-01 -9.13676575e-01 8.21038597e-03 9.20702667e+02] [ 9.13516076e-01 -4.06441664e-01 -1.71333814e-02 1.75231159e+02] [ 1.89914122e-02 5.38014398e-04 9.99819502e-01 9.63496979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.69, Y:175.26, Z:9.64 [[-4.07127568e-01 -9.13339972e-01 7.56565552e-03 9.20690756e+02] [ 9.13203852e-01 -4.07197568e-01 -1.57754730e-02 1.75255414e+02] [ 1.74890866e-02 4.86355803e-04 9.99846936e-01 9.63697575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.579254154 meters Centerline goodness [0,1] 0.9997814446508578 Centerline is valid? [True, True] Translation: X:920.68, Y:175.28, Z:9.63 [[-4.08043326e-01 -9.12924083e-01 8.38227652e-03 9.20679295e+02] [ 9.12757188e-01 -4.08129076e-01 -1.74634895e-02 1.75280163e+02] [ 1.93638909e-02 5.25122816e-04 9.99812364e-01 9.63465891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.609254154 meters Centerline goodness [0,1] 0.9999343286195875 Centerline is valid? [True, True] Translation: X:920.67, Y:175.31, Z:9.64 [[-4.08959453e-01 -9.12520519e-01 7.64647913e-03 9.20667921e+02] [ 9.12381774e-01 -4.09030665e-01 -1.59189742e-02 1.75305504e+02] [ 1.76540350e-02 4.66293226e-04 9.99844047e-01 9.63777639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.66, Y:175.33, Z:9.64 [[-4.11066400e-01 -9.11577671e-01 7.11091795e-03 9.20658413e+02] [ 9.11457710e-01 -4.11127706e-01 -1.47936821e-02 1.75332002e+02] [ 1.64090856e-02 4.00115358e-04 9.99865282e-01 9.64035998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.65, Y:175.36, Z:9.64 [[-4.12684771e-01 -9.10844968e-01 7.26115354e-03 9.20646926e+02] [ 9.10719960e-01 -4.12748467e-01 -1.50949478e-02 1.75357861e+02] [ 1.67461872e-02 3.83422397e-04 9.99859699e-01 9.64041461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6992541539998 meters Centerline goodness [0,1] 0.9999121496969164 Centerline is valid? [True, True] Translation: X:920.63, Y:175.38, Z:9.64 [[-4.13989210e-01 -9.10247148e-01 7.94126850e-03 9.20634796e+02] [ 9.10097747e-01 -4.14065178e-01 -1.64960459e-02 1.75383343e+02] [ 1.83036815e-02 3.98145561e-04 9.99832394e-01 9.63800125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7292541539998 meters Centerline goodness [0,1] 0.9999560931702927 Centerline is valid? [True, True] Translation: X:920.62, Y:175.41, Z:9.64 [[-4.16597174e-01 -9.09053263e-01 8.30419478e-03 9.20621982e+02] [ 9.08889870e-01 -4.16679771e-01 -1.72387084e-02 1.75407451e+02] [ 1.91310941e-02 3.66001304e-04 9.99816917e-01 9.63646693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.61, Y:175.43, Z:9.64 [[-4.17936683e-01 -9.08438466e-01 8.27543531e-03 9.20613572e+02] [ 9.08276292e-01 -4.18018465e-01 -1.71680132e-02 1.75434396e+02] [ 1.90553684e-02 3.41239193e-04 9.99818372e-01 9.63867347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7892541539998 meters Centerline goodness [0,1] 0.9998465114239354 Centerline is valid? [True, True] Translation: X:920.60, Y:175.46, Z:9.64 [[-4.19723840e-01 -9.07605187e-01 9.20456231e-03 9.20602689e+02] [ 9.07404670e-01 -4.19824615e-01 -1.90802944e-02 1.75458937e+02] [ 2.11816760e-02 3.43808394e-04 9.99775584e-01 9.63566103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.819254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.59, Y:175.49, Z:9.64 [[-4.22315596e-01 -9.06403678e-01 9.05040110e-03 9.20592738e+02] [ 9.06209828e-01 -4.22412466e-01 -1.87471605e-02 1.75485762e+02] [ 2.08154974e-02 2.84344192e-04 9.99783294e-01 9.63841058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.58, Y:175.51, Z:9.64 [[-4.23876669e-01 -9.05674063e-01 9.11376887e-03 9.20582304e+02] [ 9.05477605e-01 -4.23974558e-01 -1.88648118e-02 1.75511695e+02] [ 2.09493769e-02 2.55960012e-04 9.99780505e-01 9.63897054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.879254154 meters Centerline goodness [0,1] 0.9999779337128735 Centerline is valid? [True, True] Translation: X:920.57, Y:175.54, Z:9.64 [[-4.26516027e-01 -9.04435128e-01 9.00988470e-03 9.20572575e+02] [ 9.04243133e-01 -4.26611134e-01 -1.86359137e-02 1.75536677e+02] [ 2.06986921e-02 1.98610512e-04 9.99785739e-01 9.63854202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9092541539999 meters Centerline goodness [0,1] 0.9998675672096411 Centerline is valid? [True, True] Translation: X:920.56, Y:175.56, Z:9.64 [[-4.27504250e-01 -9.03961926e-01 9.64113851e-03 9.20561485e+02] [ 9.03742319e-01 -4.27612906e-01 -1.99254449e-02 1.75561162e+02] [ 2.21345188e-02 1.94892489e-04 9.99754983e-01 9.63657604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.55, Y:175.58, Z:9.64 [[-4.27807072e-01 -9.03827388e-01 8.78419905e-03 9.20550682e+02] [ 9.03645354e-01 -4.27897209e-01 -1.81398177e-02 1.75584634e+02] [ 2.01539983e-02 1.77458387e-04 9.99796872e-01 9.63930195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9692541539998 meters Centerline goodness [0,1] 0.9999779288425885 Centerline is valid? [True, True] Translation: X:920.54, Y:175.61, Z:9.64 [[-4.27511908e-01 -9.03969276e-01 8.55080548e-03 9.20539098e+02] [ 9.03797088e-01 -4.27597373e-01 -1.76439813e-02 1.75610347e+02] [ 1.96059190e-02 1.85180975e-04 9.99807768e-01 9.64058392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.53, Y:175.63, Z:9.64 [[-4.27400573e-01 -9.04023244e-01 8.40976936e-03 9.20526882e+02] [ 9.03856953e-01 -4.27483260e-01 -1.73398391e-02 1.75634061e+02] [ 1.92706532e-02 1.90171351e-04 9.99814286e-01 9.64102826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.0292541539998 meters Centerline goodness [0,1] 0.9999340470903775 Centerline is valid? [True, True] Translation: X:920.51, Y:175.66, Z:9.64 [[-4.27142030e-01 -9.04145133e-01 8.44184840e-03 9.20514800e+02] [ 9.03977871e-01 -4.27225395e-01 -1.73917121e-02 1.75656985e+02] [ 1.93312039e-02 2.02512929e-04 9.99813114e-01 9.63985717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.0592541539997 meters Centerline goodness [0,1] 0.9999119505161901 Centerline is valid? [True, True] Translation: X:920.50, Y:175.68, Z:9.64 [[-4.26229068e-01 -9.04575382e-01 8.49466860e-03 9.20502258e+02] [ 9.04406387e-01 -4.26313647e-01 -1.74860574e-02 1.75680942e+02] [ 1.94388502e-02 2.29566593e-04 9.99811021e-01 9.63965411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.089254154 meters Centerline goodness [0,1] 0.9999560275267683 Centerline is valid? [True, True] Translation: X:920.49, Y:175.71, Z:9.64 [[-4.25685117e-01 -9.04833913e-01 8.23228995e-03 9.20489908e+02] [ 9.04675498e-01 -4.25764644e-01 -1.69325670e-02 1.75705727e+02] [ 1.88261789e-02 2.39609238e-04 9.99822743e-01 9.64064960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.119254154 meters Centerline goodness [0,1] 0.9999120898441792 Centerline is valid? [True, True] Translation: X:920.48, Y:175.73, Z:9.64 [[-4.24948035e-01 -9.05182116e-01 8.03141510e-03 9.20477427e+02] [ 9.05031647e-01 -4.25023848e-01 -1.65059366e-02 1.75728646e+02] [ 1.83544216e-02 2.54519510e-04 9.99831511e-01 9.64068025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.149254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.47, Y:175.75, Z:9.64 [[-4.24211160e-01 -9.05529153e-01 7.86410210e-03 9.20465342e+02] [ 9.05385175e-01 -4.24283961e-01 -1.61494720e-02 1.75754099e+02] [ 1.79604301e-02 2.69255204e-04 9.99838662e-01 9.64327052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.45, Y:175.78, Z:9.64 [[-4.23760088e-01 -9.05741062e-01 7.77927796e-03 9.20452121e+02] [ 9.05600413e-01 -4.23831394e-01 -1.59637363e-02 1.75778743e+02] [ 1.77561137e-02 2.80123033e-04 9.99842309e-01 9.64354856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.44, Y:175.80, Z:9.64 [[-4.23321723e-01 -9.05946619e-01 7.70982533e-03 9.20438876e+02] [ 9.05808722e-01 -4.23391826e-01 -1.58088736e-02 1.75801131e+02] [ 1.75862727e-02 2.91387401e-04 9.99845307e-01 9.64347030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2392541539998 meters Centerline goodness [0,1] 0.9999780793090598 Centerline is valid? [True, True] Translation: X:920.43, Y:175.83, Z:9.64 [[-4.22476839e-01 -9.06342101e-01 7.57073325e-03 9.20426653e+02] [ 9.06209409e-01 -4.22544555e-01 -1.55114549e-02 1.75826052e+02] [ 1.72576567e-02 3.07439282e-04 9.99851028e-01 9.64455183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.41, Y:175.85, Z:9.64 [[-4.22155978e-01 -9.06491031e-01 7.63812477e-03 9.20413764e+02] [ 9.06356206e-01 -4.22224948e-01 -1.56371555e-02 1.75848790e+02] [ 1.73999481e-02 3.21543105e-04 9.99848558e-01 9.64435212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2992541539998 meters Centerline goodness [0,1] 0.9999780663274259 Centerline is valid? [True, True] Translation: X:920.40, Y:175.87, Z:9.64 [[-4.22133100e-01 -9.06500416e-01 7.78728293e-03 9.20400673e+02] [ 9.06360511e-01 -4.22204789e-01 -1.59291910e-02 1.75872660e+02] [ 1.77276465e-02 3.33846950e-04 9.99842797e-01 9.64353364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.329254154 meters Centerline goodness [0,1] 0.9999780610342028 Centerline is valid? [True, True] Translation: X:920.39, Y:175.90, Z:9.64 [[-4.22513139e-01 -9.06323069e-01 7.81941434e-03 9.20389709e+02] [ 9.06182196e-01 -4.22585358e-01 -1.59826062e-02 1.75898341e+02] [ 1.77897747e-02 3.32952936e-04 9.99841694e-01 9.64417209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.359254154 meters Centerline goodness [0,1] 0.9999559548978154 Centerline is valid? [True, True] Translation: X:920.38, Y:175.92, Z:9.64 [[-4.23208971e-01 -9.05998689e-01 7.78094151e-03 9.20378095e+02] [ 9.05859353e-01 -4.23280370e-01 -1.58921776e-02 1.75923594e+02] [ 1.76918119e-02 3.22726510e-04 9.99843436e-01 9.64389694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.37, Y:175.95, Z:9.64 [[-4.24521462e-01 -9.05381376e-01 8.12969070e-03 9.20366536e+02] [ 9.05229396e-01 -4.24599180e-01 -1.65914913e-02 1.75948499e+02] [ 1.84734872e-02 3.15790859e-04 9.99829301e-01 9.64435897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4192541539999 meters Centerline goodness [0,1] 0.9999117153703541 Centerline is valid? [True, True] Translation: X:920.35, Y:175.97, Z:9.64 [[-4.25875552e-01 -9.04741873e-01 8.49454783e-03 9.20354654e+02] [ 9.04576073e-01 -4.25960150e-01 -1.73227635e-02 1.75973855e+02] [ 1.92909684e-02 3.06623226e-04 9.99813865e-01 9.64228833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.34, Y:176.00, Z:9.64 [[-4.27442306e-01 -9.04002024e-01 8.56833921e-03 9.20344667e+02] [ 9.03833453e-01 -4.27528084e-01 -1.74593062e-02 1.75997740e+02] [ 1.94464538e-02 2.81505497e-04 9.99810860e-01 9.64396629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4792541539998 meters Centerline goodness [0,1] 0.9998901798853478 Centerline is valid? [True, True] Translation: X:920.33, Y:176.02, Z:9.64 [[-4.28872790e-01 -9.03320669e-01 8.93856569e-03 9.20333243e+02] [ 9.03137381e-01 -4.28965845e-01 -1.81982120e-02 1.76022616e+02] [ 2.02731604e-02 2.68034855e-04 9.99794442e-01 9.64198252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.32, Y:176.05, Z:9.64 [[-4.29386419e-01 -9.03077446e-01 8.85607168e-03 9.20321609e+02] [ 9.02897749e-01 -4.29477659e-01 -1.80165597e-02 1.76048439e+02] [ 2.00738336e-02 2.60061147e-04 9.99798466e-01 9.64460659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.31, Y:176.07, Z:9.65 [[-4.30637635e-01 -9.02481731e-01 8.82914100e-03 9.20310220e+02] [ 9.02303259e-01 -4.30728070e-01 -1.79488012e-02 1.76074084e+02] [ 2.00014240e-02 2.37133402e-04 9.99799923e-01 9.64530485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.569254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.30, Y:176.10, Z:9.65 [[-4.31368534e-01 -9.02131455e-01 8.94576906e-03 9.20298208e+02] [ 9.01948430e-01 -4.31461222e-01 -1.81726108e-02 1.76098988e+02] [ 2.02538363e-02 2.29529879e-04 9.99794844e-01 9.64591250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.599254154 meters Centerline goodness [0,1] 0.9999779759938333 Centerline is valid? [True, True] Translation: X:920.29, Y:176.12, Z:9.65 [[-4.32106525e-01 -9.01779817e-01 8.78136274e-03 9.20286245e+02] [ 9.01603648e-01 -4.32195691e-01 -1.78254592e-02 1.76123568e+02] [ 1.98699065e-02 2.14811431e-04 9.99802551e-01 9.64539948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.629254154 meters Centerline goodness [0,1] 0.9998241023724193 Centerline is valid? [True, True] Translation: X:920.27, Y:176.15, Z:9.64 [[-4.33085059e-01 -9.01308995e-01 8.91217321e-03 9.20273812e+02] [ 9.01127710e-01 -4.33176701e-01 -1.80774948e-02 1.76148960e+02] [ 2.01539545e-02 2.01913333e-04 9.99796868e-01 9.64325205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6592541539999 meters Centerline goodness [0,1] 0.9999559150924681 Centerline is valid? [True, True] Translation: X:920.26, Y:176.17, Z:9.65 [[-4.33067832e-01 -9.01318556e-01 8.78144046e-03 9.20261313e+02] [ 9.01142806e-01 -4.33156806e-01 -1.77995645e-02 1.76174370e+02] [ 1.98468185e-02 2.04913083e-04 9.99803012e-01 9.64552629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6892541539999 meters Centerline goodness [0,1] 0.9999119233733348 Centerline is valid? [True, True] Translation: X:920.25, Y:176.20, Z:9.65 [[-4.33226954e-01 -9.01241570e-01 8.83398002e-03 9.20249303e+02] [ 9.01063952e-01 -4.33316962e-01 -1.78931398e-02 1.76199256e+02] [ 1.99539548e-02 2.08190479e-04 9.99800878e-01 9.64548990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.24, Y:176.22, Z:9.65 [[-4.32525847e-01 -9.01578581e-01 8.80080169e-03 9.20236523e+02] [ 9.01402602e-01 -4.32615314e-01 -1.78140012e-02 1.76222358e+02] [ 1.98680835e-02 2.28049571e-04 9.99802584e-01 9.64738518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.22, Y:176.25, Z:9.65 [[-4.32172371e-01 -9.01748025e-01 8.80570718e-03 9.20224235e+02] [ 9.01572139e-01 -4.32262005e-01 -1.78111571e-02 1.76247129e+02] [ 1.98675484e-02 2.41490263e-04 9.99802592e-01 9.64847223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.21, Y:176.27, Z:9.65 [[-4.30711532e-01 -9.02447152e-01 8.75864257e-03 9.20210074e+02] [ 9.02273554e-01 -4.30800488e-01 -1.77023587e-02 1.76270632e+02] [ 1.97486707e-02 2.78081515e-04 9.99804937e-01 9.64849720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.20, Y:176.30, Z:9.65 [[-4.29970766e-01 -9.02799045e-01 8.88960443e-03 9.20197322e+02] [ 9.02620565e-01 -4.30062544e-01 -1.79533976e-02 1.76295095e+02] [ 2.00313961e-02 3.04503641e-04 9.99799305e-01 9.64927917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.839254154 meters Centerline goodness [0,1] 0.9999561095505618 Centerline is valid? [True, True] Translation: X:920.18, Y:176.32, Z:9.65 [[-4.29398350e-01 -9.03070958e-01 8.93872117e-03 9.20184602e+02] [ 9.02890810e-01 -4.29491256e-01 -1.80401422e-02 1.76317785e+02] [ 2.01306311e-02 3.24281905e-04 9.99797306e-01 9.64827841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.869254154 meters Centerline goodness [0,1] 0.9999780113461454 Centerline is valid? [True, True] Translation: X:920.17, Y:176.34, Z:9.65 [[-4.27563878e-01 -9.03939665e-01 9.06708291e-03 9.20171008e+02] [ 9.03754746e-01 -4.27659843e-01 -1.82870806e-02 1.76342394e+02] [ 2.04080448e-02 3.75524113e-04 9.99791664e-01 9.64977129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.16, Y:176.37, Z:9.65 [[-4.26785420e-01 -9.04308376e-01 8.97582309e-03 9.20156918e+02] [ 9.04127510e-01 -4.26879614e-01 -1.80898037e-02 1.76365867e+02] [ 2.01903569e-02 3.94824115e-04 9.99796076e-01 9.64997356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.14, Y:176.39, Z:9.65 [[-4.27072161e-01 -9.04172938e-01 8.98148019e-03 9.20144910e+02] [ 9.03992101e-01 -4.27166410e-01 -1.80869951e-02 1.76389797e+02] [ 2.01903582e-02 3.94735045e-04 9.99796076e-01 9.65022321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9592541539998 meters Centerline goodness [0,1] 0.9999118126901538 Centerline is valid? [True, True] Translation: X:920.13, Y:176.41, Z:9.65 [[-4.27022634e-01 -9.04195306e-01 9.08402856e-03 9.20132035e+02] [ 9.04010618e-01 -4.27119051e-01 -1.82789325e-02 1.76413453e+02] [ 2.04076866e-02 4.06540367e-04 9.99791659e-01 9.64834493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.12, Y:176.44, Z:9.65 [[-4.26086219e-01 -9.04641525e-01 8.61661618e-03 9.20119470e+02] [ 9.04475692e-01 -4.26173137e-01 -1.73256941e-02 1.76438645e+02] [ 1.93457127e-02 4.11280378e-04 9.99812770e-01 9.65201581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.11, Y:176.46, Z:9.65 [[-4.26115306e-01 -9.04628616e-01 8.53311825e-03 9.20107301e+02] [ 9.04466215e-01 -4.26200538e-01 -1.71454862e-02 1.76464010e+02] [ 1.91471170e-02 4.11963077e-04 9.99816592e-01 9.65299581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0492541539998 meters Centerline goodness [0,1] 0.9997587825095391 Centerline is valid? [True, True] Translation: X:920.09, Y:176.49, Z:9.65 [[-4.27051192e-01 -9.04186080e-01 8.64936598e-03 9.20093167e+02] [ 9.04019345e-01 -4.27138585e-01 -1.73681467e-02 1.76487227e+02] [ 1.93985145e-02 4.02106406e-04 9.99811750e-01 9.64832388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.079254154 meters Centerline goodness [0,1] 0.9999341802145725 Centerline is valid? [True, True] Translation: X:920.08, Y:176.51, Z:9.65 [[-4.27048235e-01 -9.04189036e-01 8.48477186e-03 9.20082770e+02] [ 9.04028802e-01 -4.27132330e-01 -1.70263858e-02 1.76512428e+02] [ 1.90191918e-02 3.99390121e-04 9.99819039e-01 9.65222798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.109254154 meters Centerline goodness [0,1] 0.9999559985039491 Centerline is valid? [True, True] Translation: X:920.07, Y:176.54, Z:9.65 [[-4.27385191e-01 -9.04029613e-01 8.50635390e-03 9.20070379e+02] [ 9.03868790e-01 -4.27469648e-01 -1.70560829e-02 1.76536481e+02] [ 1.90554121e-02 3.99110581e-04 9.99818350e-01 9.65314054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.139254154 meters Centerline goodness [0,1] 0.9999343271819794 Centerline is valid? [True, True] Translation: X:920.06, Y:176.56, Z:9.65 [[-4.27712550e-01 -9.03873207e-01 8.67174048e-03 9.20057968e+02] [ 9.03706277e-01 -4.27800258e-01 -1.73753726e-02 1.76559329e+02] [ 1.94149066e-02 4.05041381e-04 9.99811431e-01 9.65229614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1692541539999 meters Centerline goodness [0,1] 0.9999561653443212 Centerline is valid? [True, True] Translation: X:920.05, Y:176.58, Z:9.65 [[-4.27722321e-01 -9.03867429e-01 8.79126786e-03 9.20045880e+02] [ 9.03696110e-01 -4.27812456e-01 -1.76023459e-02 1.76584231e+02] [ 1.96712010e-02 4.15718323e-04 9.99806417e-01 9.65321559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1992541539998 meters Centerline goodness [0,1] 0.9999561374651841 Centerline is valid? [True, True] Translation: X:920.03, Y:176.61, Z:9.65 [[-4.27930143e-01 -9.03764092e-01 9.28756525e-03 9.20033488e+02] [ 9.03573155e-01 -4.28030691e-01 -1.85817286e-02 1.76609746e+02] [ 2.07688620e-02 4.40312873e-04 9.99784207e-01 9.65373605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2292541539998 meters Centerline goodness [0,1] 0.9998687147170802 Centerline is valid? [True, True] Translation: X:920.02, Y:176.63, Z:9.65 [[-4.28406182e-01 -9.03533354e-01 9.77857047e-03 9.20019988e+02] [ 9.03321978e-01 -4.28517523e-01 -1.95483031e-02 1.76632266e+02] [ 2.18528327e-02 4.58583699e-04 9.99761093e-01 9.64999512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:920.01, Y:176.66, Z:9.65 [[-4.28621206e-01 -9.03433113e-01 9.61627783e-03 9.20007895e+02] [ 9.03229007e-01 -4.28728826e-01 -1.92081937e-02 1.76655729e+02] [ 2.14760937e-02 4.52661926e-04 9.99769260e-01 9.65237214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2892541539998 meters Centerline goodness [0,1] 0.9998461437017825 Centerline is valid? [True, True] Translation: X:920.00, Y:176.68, Z:9.65 [[-4.29840360e-01 -9.02853511e-01 9.63340794e-03 9.19998091e+02] [ 9.02648833e-01 -4.29948081e-01 -1.92284306e-02 1.76682828e+02] [ 2.15023213e-02 4.30428923e-04 9.99768706e-01 9.65167413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.319254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.99, Y:176.71, Z:9.66 [[-4.30753854e-01 -9.02425065e-01 8.95099070e-03 9.19986366e+02] [ 9.02248530e-01 -4.30846671e-01 -1.78531754e-02 1.76706185e+02] [ 1.99676575e-02 3.85694091e-04 9.99800552e-01 9.65512114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.97, Y:176.73, Z:9.66 [[-4.31742686e-01 -9.01955672e-01 8.61508454e-03 9.19974690e+02] [ 9.01792296e-01 -4.31828484e-01 -1.71701654e-02 1.76731678e+02] [ 1.92069670e-02 3.55923525e-04 9.99815466e-01 9.65625653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.379254154 meters Centerline goodness [0,1] 0.9999122075413722 Centerline is valid? [True, True] Translation: X:919.96, Y:176.76, Z:9.66 [[-4.34074639e-01 -9.00836605e-01 8.52170452e-03 9.19963838e+02] [ 9.00676733e-01 -4.34158171e-01 -1.69736660e-02 1.76756877e+02] [ 1.89902673e-02 3.07463045e-04 9.99819621e-01 9.65530203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.95, Y:176.78, Z:9.66 [[-4.35472996e-01 -9.00163017e-01 8.35543389e-03 9.19952026e+02] [ 9.00009400e-01 -4.35553058e-01 -1.66316872e-02 1.76781240e+02] [ 1.86104645e-02 2.77318370e-04 9.99826772e-01 9.65730028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.94, Y:176.81, Z:9.66 [[-4.37982941e-01 -8.98942729e-01 8.53894065e-03 9.19941186e+02] [ 8.98782314e-01 -4.38066108e-01 -1.69834719e-02 1.76805720e+02] [ 1.90077891e-02 2.36177840e-04 9.99819308e-01 9.65729276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.93, Y:176.83, Z:9.66 [[-4.39300172e-01 -8.98299099e-01 8.60739111e-03 9.19929994e+02] [ 8.98136223e-01 -4.39384435e-01 -1.71067886e-02 1.76831624e+02] [ 1.91489665e-02 2.15594557e-04 9.99816618e-01 9.65829563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.92, Y:176.86, Z:9.66 [[-4.40681318e-01 -8.97621765e-01 8.66848358e-03 9.19918592e+02] [ 8.97456697e-01 -4.40766525e-01 -1.72147765e-02 1.76855450e+02] [ 1.92731354e-02 1.93358257e-04 9.99814237e-01 9.65795988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.91, Y:176.88, Z:9.66 [[-4.43599781e-01 -8.96180626e-01 8.91740017e-03 9.19907235e+02] [ 8.96005945e-01 -4.43689380e-01 -1.76941156e-02 1.76879485e+02] [ 1.98136793e-02 1.40937771e-04 9.99803680e-01 9.65698670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.5592541539997 meters Centerline goodness [0,1] 0.9998684412480541 Centerline is valid? [True, True] Translation: X:919.90, Y:176.90, Z:9.66 [[-4.45490162e-01 -8.95235376e-01 9.59886829e-03 9.19896265e+02] [ 8.95033090e-01 -4.45593547e-01 -1.90304786e-02 1.76904206e+02] [ 2.13139515e-02 1.13413734e-04 9.99772826e-01 9.65531388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.589254154 meters Centerline goodness [0,1] 0.9999780567014833 Centerline is valid? [True, True] Translation: X:919.89, Y:176.93, Z:9.66 [[-4.48603827e-01 -8.93681807e-01 9.35068824e-03 9.19885450e+02] [ 8.93489802e-01 -4.48701267e-01 -1.85242111e-02 1.76928933e+02] [ 2.07504161e-02 4.47125876e-05 9.99784686e-01 9.65773142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.619254154 meters Centerline goodness [0,1] 0.9998905141455724 Centerline is valid? [True, True] Translation: X:919.87, Y:176.95, Z:9.65 [[-4.50753974e-01 -8.92594929e-01 9.75442882e-03 9.19874560e+02] [ 8.92386066e-01 -4.50859506e-01 -1.93084193e-02 1.76953132e+02] [ 2.16324741e-02 1.36964823e-06 9.99765991e-01 9.65444946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.649254154 meters Centerline goodness [0,1] 0.9999780687325921 Centerline is valid? [True, True] Translation: X:919.86, Y:176.98, Z:9.66 [[-4.52292061e-01 -8.91821295e-01 9.30960691e-03 9.19863239e+02] [ 8.91631178e-01 -4.52387861e-01 -1.84137394e-02 1.76977468e+02] [ 2.06333181e-02 -2.76523700e-05 9.99787110e-01 9.65790071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6792541539999 meters Centerline goodness [0,1] 0.9997802246104481 Centerline is valid? [True, True] Translation: X:919.85, Y:177.00, Z:9.66 [[-4.54180372e-01 -8.90854059e-01 9.96166428e-03 9.19851917e+02] [ 8.90636463e-01 -4.54289600e-01 -1.96888548e-02 1.77002785e+02] [ 2.20653767e-02 -7.00699596e-05 9.99756527e-01 9.65616269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7092541539998 meters Centerline goodness [0,1] 0.999934200425504 Centerline is valid? [True, True] Translation: X:919.84, Y:177.03, Z:9.66 [[-4.56351148e-01 -8.89754438e-01 8.98167480e-03 9.19839631e+02] [ 8.89577575e-01 -4.56439514e-01 -1.77400257e-02 1.77028254e+02] [ 1.98838578e-02 -1.05784592e-04 9.99802291e-01 9.66045592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.83, Y:177.05, Z:9.66 [[-4.56825783e-01 -8.89515854e-01 8.47047499e-03 9.19827182e+02] [ 8.89358730e-01 -4.56904294e-01 -1.67186872e-02 1.77052848e+02] [ 1.87417337e-02 -1.04236485e-04 9.99824353e-01 9.66193382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7692541539998 meters Centerline goodness [0,1] 0.9998463463353601 Centerline is valid? [True, True] Translation: X:919.81, Y:177.08, Z:9.66 [[-4.57713872e-01 -8.89054562e-01 8.94413322e-03 9.19814384e+02] [ 8.88879541e-01 -4.57801235e-01 -1.76405858e-02 1.77077355e+02] [ 1.97780785e-02 -1.24083818e-04 9.99804387e-01 9.66065466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7992541539998 meters Centerline goodness [0,1] 0.9998246114046434 Centerline is valid? [True, True] Translation: X:919.80, Y:177.10, Z:9.66 [[-4.57646105e-01 -8.89091427e-01 8.74518143e-03 9.19801430e+02] [ 8.88924357e-01 -4.57729639e-01 -1.72355738e-02 1.77100697e+02] [ 1.93269296e-02 -1.13988430e-04 9.99813211e-01 9.66004314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.829254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.79, Y:177.12, Z:9.66 [[-4.56771983e-01 -8.89546415e-01 8.15669185e-03 9.19787685e+02] [ 8.89401362e-01 -4.56844798e-01 -1.60638614e-02 1.77124540e+02] [ 1.80158926e-02 -8.29490034e-05 9.99837697e-01 9.66328362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.77, Y:177.15, Z:9.66 [[-4.54965019e-01 -8.90468117e-01 8.56525236e-03 9.19773546e+02] [ 8.90308583e-01 -4.55045636e-01 -1.68551475e-02 1.77147439e+02] [ 1.89065522e-02 -4.27848132e-05 9.99821254e-01 9.66316825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.76, Y:177.17, Z:9.66 [[-4.53932438e-01 -8.90992732e-01 8.79168337e-03 9.19759548e+02] [ 8.90825012e-01 -4.54017568e-01 -1.72871701e-02 1.77171289e+02] [ 1.93943216e-02 -1.53558115e-05 9.99811912e-01 9.66350728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9192541539999 meters Centerline goodness [0,1] 0.9998903869341226 Centerline is valid? [True, True] Translation: X:919.75, Y:177.20, Z:9.66 [[-4.52689054e-01 -8.91617616e-01 9.52087927e-03 9.19745243e+02] [ 8.91421358e-01 -4.52789164e-01 -1.87065678e-02 1.77195929e+02] [ 2.09900564e-02 1.88566224e-05 9.99779684e-01 9.66161179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.73, Y:177.22, Z:9.66 [[-4.48628194e-01 -8.93668677e-01 9.43608815e-03 9.19727817e+02] [ 8.93476630e-01 -4.48727403e-01 -1.85264394e-02 1.77217913e+02] [ 2.07907299e-02 1.19441193e-04 9.99783842e-01 9.66222130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.71, Y:177.24, Z:9.66 [[-4.46318794e-01 -8.94822056e-01 9.64477094e-03 9.19712804e+02] [ 8.94621982e-01 -4.46422954e-01 -1.89223326e-02 1.77241856e+02] [ 2.12377677e-02 1.83031430e-04 9.99774436e-01 9.66295595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.69, Y:177.26, Z:9.66 [[-4.41632256e-01 -8.97144374e-01 9.63962147e-03 9.19694826e+02] [ 8.96945345e-01 -4.41737345e-01 -1.88988675e-02 1.77264669e+02] [ 2.12131934e-02 2.99864123e-04 9.99774930e-01 9.66307902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0392541539998 meters Centerline goodness [0,1] 0.9999126675691018 Centerline is valid? [True, True] Translation: X:919.68, Y:177.29, Z:9.66 [[-4.39997326e-01 -8.97943907e-01 9.95453363e-03 9.19679818e+02] [ 8.97732172e-01 -4.40109774e-01 -1.95021816e-02 1.77288701e+02] [ 2.18929527e-02 3.55597357e-04 9.99760257e-01 9.66184903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.069254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.66, Y:177.31, Z:9.66 [[-4.37802313e-01 -8.99023354e-01 9.28137498e-03 9.19664806e+02] [ 8.98839796e-01 -4.37900513e-01 -1.81703865e-02 1.77312053e+02] [ 2.03999207e-02 3.87431942e-04 9.99791825e-01 9.66445371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.099254154 meters Centerline goodness [0,1] 0.9999783207232207 Centerline is valid? [True, True] Translation: X:919.65, Y:177.33, Z:9.66 [[-4.35759016e-01 -9.00020209e-01 8.81493972e-03 9.19648355e+02] [ 8.99855087e-01 -4.35847965e-01 -1.72445409e-02 1.77334446e+02] [ 1.93624089e-02 4.17704174e-04 9.99812444e-01 9.66484931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.129254154 meters Centerline goodness [0,1] 0.9998700623700624 Centerline is valid? [True, True] Translation: X:919.63, Y:177.36, Z:9.66 [[-4.35645007e-01 -9.00074061e-01 8.95057628e-03 9.19634345e+02] [ 8.99904094e-01 -4.35736730e-01 -1.74963706e-02 1.77357966e+02] [ 1.96481241e-02 4.32453760e-04 9.99806863e-01 9.66338609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1592541539999 meters Centerline goodness [0,1] 0.9999350311850311 Centerline is valid? [True, True] Translation: X:919.62, Y:177.38, Z:9.67 [[-4.35352033e-01 -9.00221158e-01 8.39485896e-03 9.19620552e+02] [ 9.00071888e-01 -4.35432764e-01 -1.63982889e-02 1.77382360e+02] [ 1.84174833e-02 4.16948153e-04 9.99830297e-01 9.66536984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1892541539999 meters Centerline goodness [0,1] 0.9998055441522805 Centerline is valid? [True, True] Translation: X:919.61, Y:177.40, Z:9.66 [[-4.35805626e-01 -8.99997523e-01 8.82700686e-03 9.19606783e+02] [ 8.99832666e-01 -4.35894794e-01 -1.72308255e-02 1.77404626e+02] [ 1.93553466e-02 4.33538440e-04 9.99812574e-01 9.66418508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.59, Y:177.43, Z:9.67 [[-4.35594836e-01 -9.00106279e-01 8.11324180e-03 9.19591222e+02] [ 8.99967204e-01 -4.35670196e-01 -1.58275604e-02 1.77428639e+02] [ 1.77811842e-02 4.07247945e-04 9.99841819e-01 9.66792868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.58, Y:177.45, Z:9.67 [[-4.35863628e-01 -8.99974479e-01 8.29666635e-03 9.19577281e+02] [ 8.99829247e-01 -4.35942386e-01 -1.61729055e-02 1.77450518e+02] [ 1.81720707e-02 4.16401752e-04 9.99834788e-01 9.66721042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2792541539998 meters Centerline goodness [0,1] 0.9998920948701902 Centerline is valid? [True, True] Translation: X:919.56, Y:177.48, Z:9.66 [[-4.36517461e-01 -8.99648494e-01 9.22460996e-03 9.19564228e+02] [ 8.99469173e-01 -4.36614683e-01 -1.79673353e-02 1.77475267e+02] [ 2.01918863e-02 4.54196714e-04 9.99796020e-01 9.66474247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.3092541539997 meters Centerline goodness [0,1] 0.9998711063372717 Centerline is valid? [True, True] Translation: X:919.55, Y:177.50, Z:9.66 [[-4.36852592e-01 -8.99477681e-01 9.98566611e-03 9.19549968e+02] [ 8.99267814e-01 -4.36966431e-01 -1.94354626e-02 1.77499447e+02] [ 2.18451657e-02 4.89355915e-04 9.99761246e-01 9.66369700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.54, Y:177.52, Z:9.67 [[-4.36905122e-01 -8.99452817e-01 9.92692239e-03 9.19536337e+02] [ 8.99245712e-01 -4.37017606e-01 -1.93070109e-02 1.77522839e+02] [ 2.17039852e-02 4.91410438e-04 9.99764320e-01 9.66566021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.52, Y:177.55, Z:9.67 [[-4.38650642e-01 -8.98598854e-01 1.02816979e-02 9.19524260e+02] [ 8.98376778e-01 -4.38770871e-01 -1.99822065e-02 1.77547783e+02] [ 2.24672974e-02 4.71630920e-04 9.99747467e-01 9.66622698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.399254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.51, Y:177.57, Z:9.67 [[-4.40066547e-01 -8.97904811e-01 1.04108275e-02 9.19511878e+02] [ 8.97677256e-01 -4.40189448e-01 -2.02186439e-02 1.77572556e+02] [ 2.27371540e-02 4.48014243e-04 9.99741377e-01 9.66666187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.50, Y:177.60, Z:9.67 [[-4.42020798e-01 -8.96945253e-01 1.03357287e-02 9.19499422e+02] [ 8.96721022e-01 -4.42141438e-01 -2.00588602e-02 1.77597972e+02] [ 2.25615534e-02 4.01831844e-04 9.99745375e-01 9.66716611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4592541539998 meters Centerline goodness [0,1] 0.9998271279469283 Centerline is valid? [True, True] Translation: X:919.49, Y:177.62, Z:9.67 [[-4.44006463e-01 -8.95966193e-01 1.01410835e-02 9.19487843e+02] [ 8.95750372e-01 -4.44122120e-01 -1.96675541e-02 1.77623741e+02] [ 2.21253431e-02 3.51358187e-04 9.99755143e-01 9.66833550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4892541539998 meters Centerline goodness [0,1] 0.9998062182413229 Centerline is valid? [True, True] Translation: X:919.48, Y:177.65, Z:9.67 [[-4.49097332e-01 -8.93423071e-01 1.03345215e-02 9.19476929e+02] [ 8.93198513e-01 -4.49216163e-01 -2.00313545e-02 1.77649269e+02] [ 2.25389083e-02 2.34751355e-04 9.99745939e-01 9.66605312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5192541539998 meters Centerline goodness [0,1] 0.9999568258354201 Centerline is valid? [True, True] Translation: X:919.47, Y:177.67, Z:9.67 [[-4.51250556e-01 -8.92346153e-01 9.55401793e-03 9.19465085e+02] [ 8.92154218e-01 -4.51351652e-01 -1.85077601e-02 1.77674005e+02] [ 2.08275503e-02 1.72020358e-04 9.99783068e-01 9.66837113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.45, Y:177.70, Z:9.67 [[-4.55383104e-01 -8.90248355e-01 9.17038703e-03 9.19454770e+02] [ 8.90071340e-01 -4.55475423e-01 -1.77524156e-02 1.77700146e+02] [ 1.99809447e-02 7.81485625e-05 9.99800358e-01 9.67077800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.44, Y:177.73, Z:9.67 [[-4.57141861e-01 -8.89347199e-01 9.10373802e-03 9.19442677e+02] [ 8.89172813e-01 -4.57232498e-01 -1.76111319e-02 1.77725319e+02] [ 1.98249357e-02 4.40107307e-05 9.99803466e-01 9.67161782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.609254154 meters Centerline goodness [0,1] 0.9999354074712025 Centerline is valid? [True, True] Translation: X:919.43, Y:177.75, Z:9.67 [[-4.59320534e-01 -8.88221832e-01 9.30718701e-03 9.19430296e+02] [ 8.88039591e-01 -4.59414820e-01 -1.79918848e-02 1.77750159e+02] [ 2.02566446e-02 1.10838254e-06 9.99794813e-01 9.67061655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.639254154 meters Centerline goodness [0,1] 0.9998284292699665 Centerline is valid? [True, True] Translation: X:919.42, Y:177.77, Z:9.67 [[-4.61472397e-01 -8.87101505e-01 9.70288322e-03 9.19418014e+02] [ 8.86903482e-01 -4.61574390e-01 -1.87429176e-02 1.77774220e+02] [ 2.11054728e-02 -4.38181877e-05 9.99777254e-01 9.66935218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.40, Y:177.80, Z:9.67 [[-4.61185245e-01 -8.87255036e-01 9.30974445e-03 9.19404360e+02] [ 8.87073024e-01 -4.61279200e-01 -1.79708243e-02 1.77798455e+02] [ 2.02390959e-02 -2.94558549e-05 9.99795168e-01 9.67273600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.39, Y:177.82, Z:9.67 [[-4.61274871e-01 -8.87209054e-01 9.25133995e-03 9.19390257e+02] [ 8.87029558e-01 -4.61367634e-01 -1.78457165e-02 1.77822844e+02] [ 2.01011501e-02 -2.55686011e-05 9.99797951e-01 9.67314218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.37, Y:177.85, Z:9.67 [[-4.60416520e-01 -8.87653803e-01 9.34633722e-03 9.19374835e+02] [ 8.87470949e-01 -4.60511374e-01 -1.80163515e-02 1.77846285e+02] [ 2.02963776e-02 -4.23111867e-07 9.99794007e-01 9.67386247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.36, Y:177.87, Z:9.67 [[-4.59777348e-01 -8.87986351e-01 9.22124928e-03 9.19360225e+02] [ 8.87808673e-01 -4.59869808e-01 -1.77628680e-02 1.77870394e+02] [ 2.00137585e-02 1.97407563e-05 9.99799704e-01 9.67405087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7892541539998 meters Centerline goodness [0,1] 0.9998932467920661 Centerline is valid? [True, True] Translation: X:919.34, Y:177.89, Z:9.67 [[-4.59047723e-01 -8.88358646e-01 9.70078927e-03 9.19344050e+02] [ 8.88162378e-01 -4.59150210e-01 -1.86728350e-02 1.77892832e+02] [ 2.10422938e-02 4.41536975e-05 9.99778585e-01 9.67142736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.8192541539997 meters Centerline goodness [0,1] 0.9998932467920661 Centerline is valid? [True, True] Translation: X:919.33, Y:177.92, Z:9.67 [[-4.59299031e-01 -8.88228681e-01 9.70622918e-03 9.19331260e+02] [ 8.88032444e-01 -4.59401577e-01 -1.86700074e-02 1.77917270e+02] [ 2.10422931e-02 4.43301141e-05 9.99778585e-01 9.67168469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.849254154 meters Centerline goodness [0,1] 0.9998499785683669 Centerline is valid? [True, True] Translation: X:919.32, Y:177.94, Z:9.67 [[-4.59009857e-01 -8.88373227e-01 1.01469586e-02 9.19316745e+02] [ 8.88159103e-01 -4.59121995e-01 -1.95038676e-02 1.77941182e+02] [ 2.19854057e-02 5.96461695e-05 9.99758290e-01 9.67150495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.879254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.30, Y:177.96, Z:9.67 [[-4.57528919e-01 -8.89139758e-01 9.88828215e-03 9.19302214e+02] [ 8.88936875e-01 -4.57635750e-01 -1.89934866e-02 1.77964811e+02] [ 2.14130955e-02 9.99892552e-05 9.99770708e-01 9.67420370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.29, Y:177.99, Z:9.67 [[-4.56239054e-01 -8.89800761e-01 1.00265084e-02 9.19286071e+02] [ 8.89592622e-01 -4.56349193e-01 -1.92452709e-02 1.77988381e+02] [ 2.17000457e-02 1.39063698e-04 9.99764517e-01 9.67472015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9392541539999 meters Centerline goodness [0,1] 0.9998720927753736 Centerline is valid? [True, True] Translation: X:919.27, Y:178.01, Z:9.67 [[-4.56486159e-01 -8.89668158e-01 1.05335157e-02 9.19271542e+02] [ 8.89438746e-01 -4.56607651e-01 -2.02032240e-02 1.78011818e+02] [ 2.27838489e-02 1.46424824e-04 9.99740404e-01 9.67196395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9692541539998 meters Centerline goodness [0,1] 0.9999358357394931 Centerline is valid? [True, True] Translation: X:919.26, Y:178.04, Z:9.67 [[-4.55210668e-01 -8.90326253e-01 1.01198118e-02 9.19256995e+02] [ 8.90114977e-01 -4.55323106e-01 -1.93957872e-02 1.78036349e+02] [ 2.18763627e-02 1.78626837e-04 9.99760668e-01 9.67460928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9992541539998 meters Centerline goodness [0,1] 0.9998934447191202 Centerline is valid? [True, True] Translation: X:919.24, Y:178.06, Z:9.67 [[-4.54343026e-01 -8.90762094e-01 1.07380830e-02 9.19241198e+02] [ 8.90524606e-01 -4.54469850e-01 -2.05689605e-02 1.78059602e+02] [ 2.32021853e-02 2.17163356e-04 9.99730769e-01 9.67252562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.23, Y:178.08, Z:9.67 [[-4.51881905e-01 -8.92015995e-01 1.04980535e-02 9.19225180e+02] [ 8.91789606e-01 -4.52003746e-01 -2.00975795e-02 1.78083040e+02] [ 2.26725219e-02 2.80322506e-04 9.99742906e-01 9.67461801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.0592541539997 meters Centerline goodness [0,1] 0.9998301558320242 Centerline is valid? [True, True] Translation: X:919.21, Y:178.11, Z:9.67 [[-4.52131402e-01 -8.91883245e-01 1.10214873e-02 9.19210870e+02] [ 8.91633972e-01 -4.52265621e-01 -2.10871485e-02 1.78106586e+02] [ 2.37919142e-02 2.92970533e-04 9.99716889e-01 9.67128971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.089254154 meters Centerline goodness [0,1] 0.999893592117304 Centerline is valid? [True, True] Translation: X:919.20, Y:178.13, Z:9.67 [[-4.51406084e-01 -8.92252601e-01 1.08555802e-02 9.19196949e+02] [ 8.92011189e-01 -4.51536486e-01 -2.07567095e-02 1.78131248e+02] [ 2.34219186e-02 3.13594035e-04 9.99725620e-01 9.67290900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.18, Y:178.16, Z:9.68 [[-4.50348850e-01 -8.92792450e-01 1.03708164e-02 9.19182820e+02] [ 8.92572569e-01 -4.50468124e-01 -1.98161488e-02 1.78155354e+02] [ 2.23634302e-02 3.32526378e-04 9.99749852e-01 9.67571419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.149254154 meters Centerline goodness [0,1] 0.9999359781472076 Centerline is valid? [True, True] Translation: X:919.17, Y:178.18, Z:9.67 [[-4.50002704e-01 -8.92969138e-01 1.01825397e-02 9.19168120e+02] [ 8.92757520e-01 -4.50117764e-01 -1.94424618e-02 1.78177920e+02] [ 2.19448603e-02 3.41378499e-04 9.99759124e-01 9.67489999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.15, Y:178.20, Z:9.68 [[-4.49171619e-01 -8.93389835e-01 9.97291595e-03 9.19154078e+02] [ 8.93187234e-01 -4.49282175e-01 -1.90287309e-02 1.78202239e+02] [ 2.14807281e-02 3.60515360e-04 9.99769198e-01 9.67732481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2092541539998 meters Centerline goodness [0,1] 0.9998937232979787 Centerline is valid? [True, True] Translation: X:919.14, Y:178.23, Z:9.68 [[-4.48682735e-01 -8.93631992e-01 1.02794278e-02 9.19139388e+02] [ 8.93417108e-01 -4.48800302e-01 -1.95999820e-02 1.78226160e+02] [ 2.21285813e-02 3.89643120e-04 9.99755057e-01 9.67586093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2392541539998 meters Centerline goodness [0,1] 0.9999147648575508 Centerline is valid? [True, True] Translation: X:919.13, Y:178.25, Z:9.68 [[-4.47887758e-01 -8.94031874e-01 1.01766444e-02 9.19125415e+02] [ 8.93821664e-01 -4.48003168e-01 -1.93905671e-02 1.78250217e+02] [ 2.18949540e-02 4.11307652e-04 9.99760192e-01 9.67647737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2692541539998 meters Centerline goodness [0,1] 0.9998305766746437 Centerline is valid? [True, True] Translation: X:919.11, Y:178.27, Z:9.67 [[-4.47599546e-01 -8.94173324e-01 1.04265493e-02 9.19110533e+02] [ 8.93953000e-01 -4.47720759e-01 -1.98533860e-02 1.78273447e+02] [ 2.24205507e-02 4.34478442e-04 9.99748533e-01 9.67455860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2992541539998 meters Centerline goodness [0,1] 0.9998295660325103 Centerline is valid? [True, True] Translation: X:919.10, Y:178.30, Z:9.68 [[-4.45649971e-01 -8.95143978e-01 1.06471871e-02 9.19095860e+02] [ 8.94914818e-01 -4.45776861e-01 -2.02597781e-02 1.78297769e+02] [ 2.28816880e-02 4.99555998e-04 9.99738055e-01 9.67545120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.08, Y:178.32, Z:9.68 [[-4.43088150e-01 -8.96418651e-01 1.03195683e-02 9.19080066e+02] [ 8.96204032e-01 -4.43207960e-01 -1.96223926e-02 1.78320169e+02] [ 2.21635935e-02 5.53989067e-04 9.99754204e-01 9.67768092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.359254154 meters Centerline goodness [0,1] 0.9999361607047859 Centerline is valid? [True, True] Translation: X:919.07, Y:178.34, Z:9.68 [[-4.42642610e-01 -8.96633360e-01 1.07767313e-02 9.19067612e+02] [ 8.96399708e-01 -4.42773376e-01 -2.04768258e-02 1.78344870e+02] [ 2.31318548e-02 5.96343123e-04 9.99732245e-01 9.67674796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.389254154 meters Centerline goodness [0,1] 0.9997034023982034 Centerline is valid? [True, True] Translation: X:919.05, Y:178.37, Z:9.67 [[-4.42809921e-01 -8.96540239e-01 1.16178570e-02 9.19054245e+02] [ 8.96269048e-01 -4.42961833e-01 -2.20592167e-02 1.78369414e+02] [ 2.49232426e-02 6.44685690e-04 9.99689160e-01 9.67447958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4192541539999 meters Centerline goodness [0,1] 0.9998939712025786 Centerline is valid? [True, True] Translation: X:919.04, Y:178.39, Z:9.67 [[-4.42393275e-01 -8.96748624e-01 1.14059319e-02 9.19038709e+02] [ 8.96487687e-01 -4.42539807e-01 -2.16413152e-02 1.78391801e+02] [ 2.44543985e-02 6.51305214e-04 9.99700734e-01 9.67446119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4492541539998 meters Centerline goodness [0,1] 0.999808278124534 Centerline is valid? [True, True] Translation: X:919.03, Y:178.42, Z:9.68 [[-4.43193414e-01 -8.96350397e-01 1.16431605e-02 9.19029939e+02] [ 8.96078750e-01 -4.43345851e-01 -2.20755537e-02 1.78419200e+02] [ 2.49493782e-02 6.49448687e-04 9.99688505e-01 9.67588852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4792541539998 meters Centerline goodness [0,1] 0.9998294315807428 Centerline is valid? [True, True] Translation: X:919.02, Y:178.44, Z:9.68 [[-4.43929190e-01 -8.95987300e-01 1.15599481e-02 9.19018015e+02] [ 8.95719779e-01 -4.44079226e-01 -2.19024728e-02 1.78444772e+02] [ 2.47578702e-02 6.31327194e-04 9.99693278e-01 9.67677627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:919.01, Y:178.47, Z:9.68 [[-4.45733518e-01 -8.95100568e-01 1.07983039e-02 9.19007334e+02] [ 8.94867203e-01 -4.45863959e-01 -2.04454993e-02 1.78471162e+02] [ 2.31153526e-02 5.49803683e-04 9.99732653e-01 9.68015488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.99, Y:178.50, Z:9.68 [[-4.47512601e-01 -8.94210158e-01 1.09848045e-02 9.18994572e+02] [ 8.93968733e-01 -4.47647098e-01 -2.07841279e-02 1.78495589e+02] [ 2.35026942e-02 5.18912643e-04 9.99723639e-01 9.67922007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.99, Y:178.52, Z:9.68 [[-4.51234534e-01 -8.92336850e-01 1.10608183e-02 9.18987462e+02] [ 8.92091833e-01 -4.51369872e-01 -2.09141017e-02 1.78524401e+02] [ 2.36549438e-02 4.30100768e-04 9.99720090e-01 9.68099806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.599254154 meters Centerline goodness [0,1] 0.9999359699485625 Centerline is valid? [True, True] Translation: X:918.98, Y:178.55, Z:9.68 [[-4.53947689e-01 -8.90956230e-01 1.13353856e-02 9.18976844e+02] [ 8.90698761e-01 -4.54089041e-01 -2.14210398e-02 1.78549413e+02] [ 2.42324832e-02 3.72382408e-04 9.99706281e-01 9.67949223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.629254154 meters Centerline goodness [0,1] 0.999850209706411 Centerline is valid? [True, True] Translation: X:918.97, Y:178.58, Z:9.68 [[-4.56806300e-01 -8.89493394e-01 1.13801050e-02 9.18967458e+02] [ 8.89233758e-01 -4.56947930e-01 -2.14921688e-02 1.78576439e+02] [ 2.43172576e-02 3.01815394e-04 9.99704246e-01 9.68031966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6592541539999 meters Centerline goodness [0,1] 0.9998499464094319 Centerline is valid? [True, True] Translation: X:918.96, Y:178.60, Z:9.68 [[-4.61929372e-01 -8.86845562e-01 1.12340618e-02 9.18959307e+02] [ 8.86592105e-01 -4.62065928e-01 -2.12018448e-02 1.78604213e+02] [ 2.39936391e-02 1.66275677e-04 9.99712097e-01 9.68187303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.95, Y:178.63, Z:9.68 [[-4.63966582e-01 -8.85791462e-01 1.04161918e-02 9.18948109e+02] [ 8.85573590e-01 -4.64083478e-01 -1.96454185e-02 1.78630527e+02] [ 2.22357265e-02 1.09486691e-04 9.99752750e-01 9.68470838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7192541539998 meters Centerline goodness [0,1] 0.9997430021630651 Centerline is valid? [True, True] Translation: X:918.94, Y:178.66, Z:9.68 [[-4.67226200e-01 -8.84065951e-01 1.12726512e-02 9.18937604e+02] [ 8.83810645e-01 -4.67362165e-01 -2.12450066e-02 1.78655800e+02] [ 2.40503977e-02 3.66654481e-05 9.99710747e-01 9.68111837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7492541539998 meters Centerline goodness [0,1] 0.9997209881312643 Centerline is valid? [True, True] Translation: X:918.93, Y:178.68, Z:9.68 [[-4.72484680e-01 -8.81270441e-01 1.09834817e-02 9.18929406e+02] [ 8.81027649e-01 -4.72612315e-01 -2.06852855e-02 1.78683626e+02] [ 2.34202594e-02 -9.67294375e-05 9.99725703e-01 9.68236824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7792541539998 meters Centerline goodness [0,1] 0.9998930984349611 Centerline is valid? [True, True] Translation: X:918.92, Y:178.71, Z:9.69 [[-4.74633906e-01 -8.80119990e-01 1.05573658e-02 9.18918926e+02] [ 8.79895697e-01 -4.74751286e-01 -1.98690567e-02 1.78709692e+02] [ 2.24992770e-02 -1.41147276e-04 9.99746849e-01 9.68563965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.8092541539997 meters Centerline goodness [0,1] 0.9999571477545424 Centerline is valid? [True, True] Translation: X:918.91, Y:178.74, Z:9.68 [[-4.77557174e-01 -8.78534144e-01 1.08121913e-02 9.18908188e+02] [ 8.78298804e-01 -4.77679507e-01 -2.03346646e-02 1.78736210e+02] [ 2.30294594e-02 -2.14630285e-04 9.99734764e-01 9.68483680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.839254154 meters Centerline goodness [0,1] 0.9999354561101549 Centerline is valid? [True, True] Translation: X:918.90, Y:178.76, Z:9.68 [[-4.83108301e-01 -8.75491073e-01 1.10341075e-02 9.18900513e+02] [ 8.75245427e-01 -4.83234157e-01 -2.07410785e-02 1.78763038e+02] [ 2.34906867e-02 -3.62635065e-04 9.99723990e-01 9.68401363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.89, Y:178.79, Z:9.69 [[-4.85785307e-01 -8.74012096e-01 1.07467617e-02 9.18889150e+02] [ 8.73778972e-01 -4.85903985e-01 -2.01897200e-02 1.78789195e+02] [ 2.28679539e-02 -4.17574902e-04 9.99738407e-01 9.68559024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.899254154 meters Centerline goodness [0,1] 0.9999569522169608 Centerline is valid? [True, True] Translation: X:918.88, Y:178.82, Z:9.68 [[-4.91949023e-01 -8.70556827e-01 1.08152791e-02 9.18882636e+02] [ 8.70320208e-01 -4.92067556e-01 -2.03040785e-02 1.78816305e+02] [ 2.29977021e-02 -5.75815607e-04 9.99735352e-01 9.68475974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9292541539999 meters Centerline goodness [0,1] 0.9999569855471439 Centerline is valid? [True, True] Translation: X:918.87, Y:178.84, Z:9.69 [[-4.94923111e-01 -8.68868055e-01 1.09277803e-02 9.18871829e+02] [ 8.68626413e-01 -4.95043306e-01 -2.05007432e-02 1.78842065e+02] [ 2.32221654e-02 -6.54133039e-04 9.99730115e-01 9.68536415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.86, Y:178.87, Z:9.69 [[-4.97425088e-01 -8.67440797e-01 1.07119380e-02 9.18861173e+02] [ 8.67208585e-01 -4.97539921e-01 -2.00822587e-02 1.78868212e+02] [ 2.27497873e-02 -6.99934727e-04 9.99740945e-01 9.68673214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9892541539998 meters Centerline goodness [0,1] 0.9998486257379495 Centerline is valid? [True, True] Translation: X:918.85, Y:178.89, Z:9.69 [[-5.01838620e-01 -8.64896438e-01 1.05901746e-02 9.18850137e+02] [ 8.64669205e-01 -5.01949711e-01 -1.98407090e-02 1.78894460e+02] [ 2.24758936e-02 -7.99836172e-04 9.99747065e-01 9.68806126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0192541539998 meters Centerline goodness [0,1] 0.9998054054054054 Centerline is valid? [True, True] Translation: X:918.84, Y:178.92, Z:9.69 [[-5.04095738e-01 -8.63579416e-01 1.08664174e-02 9.18838284e+02] [ 8.63340177e-01 -5.04212086e-01 -2.03448038e-02 1.78920186e+02] [ 2.30483328e-02 -8.74314201e-04 9.99733970e-01 9.68624730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0492541539998 meters Centerline goodness [0,1] 0.9998271204754187 Centerline is valid? [True, True] Translation: X:918.83, Y:178.94, Z:9.69 [[-5.05820210e-01 -8.62580383e-01 1.00497551e-02 9.18827639e+02] [ 8.62375830e-01 -5.05919331e-01 -1.88031737e-02 1.78944927e+02] [ 2.13036142e-02 -8.44359417e-04 9.99772696e-01 9.68741354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.81, Y:178.97, Z:9.69 [[-5.05023125e-01 -8.63054542e-01 9.40752979e-03 9.18814704e+02] [ 8.62875619e-01 -5.05110158e-01 -1.75895931e-02 1.78970240e+02] [ 1.99326171e-02 -7.65623196e-04 9.99801033e-01 9.68984648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.109254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.80, Y:179.00, Z:9.69 [[-5.04402342e-01 -8.63421193e-01 9.06202016e-03 9.18800843e+02] [ 8.63255441e-01 -5.04483228e-01 -1.69326690e-02 1.78995300e+02] [ 1.91916625e-02 -7.18039715e-04 9.99815565e-01 9.69066306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.139254154 meters Centerline goodness [0,1] 0.999870214146658 Centerline is valid? [True, True] Translation: X:918.79, Y:179.02, Z:9.69 [[-5.02457586e-01 -8.64555240e-01 8.97835787e-03 9.18787008e+02] [ 8.64392914e-01 -5.02537359e-01 -1.67658212e-02 1.79018353e+02] [ 1.90069389e-02 -6.63285146e-04 9.99819132e-01 9.68870654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.77, Y:179.04, Z:9.69 [[-4.99792697e-01 -8.66104628e-01 8.36859867e-03 9.18772012e+02] [ 8.65963963e-01 -4.99862441e-01 -1.56190278e-02 1.79042026e+02] [ 1.77108604e-02 -5.59371143e-04 9.99842994e-01 9.69085961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1992541539998 meters Centerline goodness [0,1] 0.9998705976233097 Centerline is valid? [True, True] Translation: X:918.76, Y:179.07, Z:9.69 [[-4.98237631e-01 -8.66997570e-01 8.62999651e-03 9.18755914e+02] [ 8.66848272e-01 -4.98312073e-01 -1.60981535e-02 1.79065910e+02] [ 1.82574914e-02 -5.39808294e-04 9.99833172e-01 9.68885833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2292541539998 meters Centerline goodness [0,1] 0.9998061472849851 Centerline is valid? [True, True] Translation: X:918.74, Y:179.09, Z:9.69 [[-4.92480461e-01 -8.70282980e-01 8.39823745e-03 9.18736635e+02] [ 8.70142248e-01 -4.92551899e-01 -1.56555508e-02 1.79086634e+02] [ 1.77613272e-02 -4.02391658e-04 9.99842174e-01 9.68812166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2592541539998 meters Centerline goodness [0,1] 0.9998702534382838 Centerline is valid? [True, True] Translation: X:918.72, Y:179.11, Z:9.69 [[-4.88845186e-01 -8.72331950e-01 8.20687571e-03 9.18719461e+02] [ 8.72198024e-01 -4.88913969e-01 -1.52884751e-02 1.79109636e+02] [ 1.73490815e-02 -3.15676698e-04 9.99849444e-01 9.68889333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2892541539998 meters Centerline goodness [0,1] 0.9999353504008275 Centerline is valid? [True, True] Translation: X:918.70, Y:179.13, Z:9.69 [[-4.80375016e-01 -8.77025689e-01 8.11080790e-03 9.18699781e+02] [ 8.76895703e-01 -4.80443463e-01 -1.50998483e-02 1.79129225e+02] [ 1.71397395e-02 -1.41257279e-04 9.99853094e-01 9.68873076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.3192541539997 meters Centerline goodness [0,1] 0.9999569206909921 Centerline is valid? [True, True] Translation: X:918.68, Y:179.15, Z:9.69 [[-4.76319115e-01 -8.79236546e-01 7.94958605e-03 9.18682530e+02] [ 8.79112151e-01 -4.76385445e-01 -1.47896154e-02 1.79151069e+02] [ 1.67906374e-02 -5.59988129e-05 9.99859026e-01 9.68878323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.349254154 meters Centerline goodness [0,1] 0.9998715175913832 Centerline is valid? [True, True] Translation: X:918.67, Y:179.17, Z:9.69 [[-4.72706795e-01 -8.81181452e-01 8.21795575e-03 9.18665821e+02] [ 8.81049016e-01 -4.72778223e-01 -1.52768696e-02 1.79171913e+02] [ 1.73469646e-02 1.89417841e-05 9.99849530e-01 9.68625793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.379254154 meters Centerline goodness [0,1] 0.9999569929468433 Centerline is valid? [True, True] Translation: X:918.64, Y:179.19, Z:9.69 [[-4.64534605e-01 -8.85521888e-01 7.65423490e-03 9.18644946e+02] [ 8.85407743e-01 -4.64597629e-01 -1.42187345e-02 1.79192754e+02] [ 1.61471400e-02 1.72024620e-04 9.99869612e-01 9.68778744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4092541539999 meters Centerline goodness [0,1] 0.9998929771613262 Centerline is valid? [True, True] Translation: X:918.63, Y:179.21, Z:9.69 [[-4.61537366e-01 -8.87085315e-01 7.93123807e-03 9.18628556e+02] [ 8.86963164e-01 -4.61605445e-01 -1.47227122e-02 1.79214373e+02] [ 1.67214044e-02 2.39634221e-04 9.99860159e-01 9.68664835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4392541539999 meters Centerline goodness [0,1] 0.9998498917075891 Centerline is valid? [True, True] Translation: X:918.61, Y:179.24, Z:9.69 [[-4.55956130e-01 -8.89969188e-01 7.67148465e-03 9.18610700e+02] [ 8.89855469e-01 -4.56020537e-01 -1.42307752e-02 1.79236861e+02] [ 1.61633060e-02 3.37903401e-04 9.99869308e-01 9.68674251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4692541539998 meters Centerline goodness [0,1] 0.999914564599842 Centerline is valid? [True, True] Translation: X:918.60, Y:179.26, Z:9.69 [[-4.53657868e-01 -8.91145280e-01 7.39116170e-03 9.18595044e+02] [ 8.91040013e-01 -4.53717923e-01 -1.37018678e-02 1.79259884e+02] [ 1.55638574e-02 3.69860680e-04 9.99878807e-01 9.68792872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.58, Y:179.28, Z:9.69 [[-4.51272061e-01 -8.92359384e-01 6.94673151e-03 9.18579853e+02] [ 8.92266665e-01 -4.51325356e-01 -1.28694249e-02 1.79282471e+02] [ 1.46193881e-02 3.90725052e-04 9.99893055e-01 9.69011712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.56, Y:179.31, Z:9.69 [[-4.48539300e-01 -8.93737024e-01 6.82847084e-03 9.18563582e+02] [ 8.93647721e-01 -4.48591066e-01 -1.26414290e-02 1.79305592e+02] [ 1.43613041e-02 4.32069693e-04 9.99896778e-01 9.69063443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.5592541539997 meters Centerline goodness [0,1] 0.9998296640122641 Centerline is valid? [True, True] Translation: X:918.55, Y:179.33, Z:9.69 [[-4.47699693e-01 -8.94153236e-01 7.41453422e-03 9.18548050e+02] [ 8.94048155e-01 -4.47760820e-01 -1.37165735e-02 1.79329399e+02] [ 1.55846565e-02 4.88044906e-04 9.99878433e-01 9.68699980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.589254154 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:918.53, Y:179.35, Z:9.69 [[-4.46713313e-01 -8.94647211e-01 7.32006906e-03 9.18534600e+02] [ 8.94544998e-01 -4.46773001e-01 -1.35326489e-02 1.79354239e+02] [ 1.53773558e-02 5.02916760e-04 9.99881635e-01 9.68991385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.619254154 meters Centerline goodness [0,1] 0.9998932855252487 Centerline is valid? [True, True] Translation: X:918.52, Y:179.38, Z:9.69 [[-4.47111888e-01 -8.94444340e-01 7.76416116e-03 9.18520769e+02] [ 8.94329491e-01 -4.47178980e-01 -1.43429966e-02 1.79378136e+02] [ 1.63009818e-02 5.30794037e-04 9.99866989e-01 9.68776389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.649254154 meters Centerline goodness [0,1] 0.9998081146195339 Centerline is valid? [True, True] Translation: X:918.51, Y:179.40, Z:9.69 [[-4.47477945e-01 -8.94255776e-01 8.37232551e-03 9.18506097e+02] [ 8.94122416e-01 -4.47555898e-01 -1.54539051e-02 1.79400063e+02] [ 1.75668276e-02 5.70602198e-04 9.99845529e-01 9.68553860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6792541539999 meters Centerline goodness [0,1] 0.9999571743645747 Centerline is valid? [True, True] Translation: X:918.50, Y:179.43, Z:9.69 [[-4.48173697e-01 -8.93905875e-01 8.52200548e-03 9.18497811e+02] [ 8.93767855e-01 -4.48254347e-01 -1.57182060e-02 1.79427767e+02] [ 1.78706227e-02 5.72208076e-04 9.99840144e-01 9.68826598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.49, Y:179.45, Z:9.69 [[-4.49038854e-01 -8.93468491e-01 8.84094616e-03 9.18485160e+02] [ 8.93320078e-01 -4.49125503e-01 -1.62948128e-02 1.79452745e+02] [ 1.85295962e-02 5.80790628e-04 9.99828144e-01 9.68921411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.47, Y:179.48, Z:9.69 [[-4.49301059e-01 -8.93336617e-01 8.84572534e-03 9.18471934e+02] [ 8.93188229e-01 -4.49387752e-01 -1.62922185e-02 1.79476961e+02] [ 1.85295960e-02 5.80786729e-04 9.99828144e-01 9.68947162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.46, Y:179.50, Z:9.69 [[-4.52912291e-01 -8.91507265e-01 9.23324664e-03 9.18461703e+02] [ 8.91345445e-01 -4.53006083e-01 -1.69937137e-02 1.79503466e+02] [ 1.93327362e-02 5.33350514e-04 9.99812963e-01 9.68909821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7992541539998 meters Centerline goodness [0,1] 0.9999571853659581 Centerline is valid? [True, True] Translation: X:918.45, Y:179.53, Z:9.69 [[-4.55737181e-01 -8.90066620e-01 9.22135449e-03 9.18450622e+02] [ 8.89905148e-01 -4.55830214e-01 -1.69600712e-02 1.79529605e+02] [ 1.92989652e-02 4.76795818e-04 9.99813644e-01 9.68843944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.829254154 meters Centerline goodness [0,1] 0.999892844131073 Centerline is valid? [True, True] Translation: X:918.44, Y:179.56, Z:9.69 [[-4.59287617e-01 -8.88241517e-01 9.04949040e-03 9.18440530e+02] [ 8.88085859e-01 -4.59376589e-01 -1.66329984e-02 1.79556630e+02] [ 1.89312438e-02 3.97394262e-04 9.99820709e-01 9.68814964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.859254154 meters Centerline goodness [0,1] 0.9998925863069024 Centerline is valid? [True, True] Translation: X:918.43, Y:179.58, Z:9.69 [[-4.66250878e-01 -8.84612258e-01 8.44223966e-03 9.18434290e+02] [ 8.84476326e-01 -4.66327242e-01 -1.55090871e-02 1.79584040e+02] [ 1.76563749e-02 2.35835654e-04 9.99844086e-01 9.68964465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.42, Y:179.61, Z:9.69 [[-4.69209915e-01 -8.83049667e-01 8.08344935e-03 9.18424587e+02] [ 8.82924935e-01 -4.69279508e-01 -1.48426037e-02 1.79611148e+02] [ 1.69001534e-02 1.72782151e-04 9.99857167e-01 9.69296393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9192541539999 meters Centerline goodness [0,1] 0.9999572521694524 Centerline is valid? [True, True] Translation: X:918.42, Y:179.64, Z:9.69 [[-4.76113313e-01 -8.79352478e-01 7.43855345e-03 9.18418465e+02] [ 8.79246519e-01 -4.76171416e-01 -1.36507208e-02 1.79638755e+02] [ 1.55458217e-02 4.10322999e-05 9.99879156e-01 9.69328194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9492541539998 meters Centerline goodness [0,1] 0.9998926624017861 Centerline is valid? [True, True] Translation: X:918.41, Y:179.66, Z:9.69 [[-4.79505325e-01 -8.77508983e-01 7.25451775e-03 9.18407898e+02] [ 8.77408103e-01 -4.79560199e-01 -1.33054906e-02 1.79664958e+02] [ 1.51546655e-02 -1.48809192e-05 9.99885161e-01 9.69298960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9792541539998 meters Centerline goodness [0,1] 0.9998278977712761 Centerline is valid? [True, True] Translation: X:918.40, Y:179.69, Z:9.69 [[-4.82158422e-01 -8.76056507e-01 6.94641107e-03 9.18396990e+02] [ 8.75963985e-01 -4.82208455e-01 -1.27319867e-02 1.79690915e+02] [ 1.45035579e-02 -5.40286715e-05 9.99894816e-01 9.69269107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0092541539998 meters Centerline goodness [0,1] 0.9998489588952422 Centerline is valid? [True, True] Translation: X:918.39, Y:179.72, Z:9.69 [[-4.84856454e-01 -8.74568029e-01 6.70691780e-03 9.18388248e+02] [ 8.74481754e-01 -4.84902830e-01 -1.22844362e-02 1.79716452e+02] [ 1.39957786e-02 -9.11109411e-05 9.99902050e-01 9.69408104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.38, Y:179.74, Z:9.70 [[-4.85042773e-01 -8.74465173e-01 6.64600257e-03 9.18376626e+02] [ 8.74380579e-01 -4.85088294e-01 -1.21634341e-02 1.79741119e+02] [ 1.38603976e-02 -8.86502447e-05 9.99903936e-01 9.69594307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0692541539997 meters Centerline goodness [0,1] 0.9999568099855314 Centerline is valid? [True, True] Translation: X:918.37, Y:179.77, Z:9.69 [[-4.84816785e-01 -8.74585667e-01 7.25225904e-03 9.18365385e+02] [ 8.74485111e-01 -4.84871017e-01 -1.32623017e-02 1.79765407e+02] [ 1.51154292e-02 -8.77939044e-05 9.99885752e-01 9.69493433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.099254154 meters Centerline goodness [0,1] 0.9998921670117322 Centerline is valid? [True, True] Translation: X:918.35, Y:179.79, Z:9.69 [[-4.84449733e-01 -8.74784156e-01 7.81898472e-03 9.18352190e+02] [ 8.74667480e-01 -4.84512821e-01 -1.42872745e-02 1.79789154e+02] [ 1.62866797e-02 -8.24546284e-05 9.99867360e-01 9.69241759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.129254154 meters Centerline goodness [0,1] 0.999826772335542 Centerline is valid? [True, True] Translation: X:918.34, Y:179.81, Z:9.69 [[-4.83573735e-01 -8.75266266e-01 8.08748633e-03 9.18338802e+02] [ 8.75141691e-01 -4.83641355e-01 -1.47668826e-02 1.79813002e+02] [ 1.68363970e-02 -6.31800982e-05 9.99858256e-01 9.69170150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1592541539999 meters Centerline goodness [0,1] 0.9998918965666349 Centerline is valid? [True, True] Translation: X:918.32, Y:179.84, Z:9.69 [[-4.79818774e-01 -8.77329026e-01 8.22945712e-03 9.18324895e+02] [ 8.77200534e-01 -4.79889341e-01 -1.50147869e-02 1.79835806e+02] [ 1.71221371e-02 1.45075658e-05 9.99853405e-01 9.69177685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1892541539999 meters Centerline goodness [0,1] 0.9998698820263706 Centerline is valid? [True, True] Translation: X:918.31, Y:179.86, Z:9.69 [[-4.77798539e-01 -8.78429653e-01 8.36069364e-03 9.18311172e+02] [ 8.78297393e-01 -4.77871679e-01 -1.52429608e-02 1.79859774e+02] [ 1.73852075e-02 6.01110261e-05 9.99848864e-01 9.69278214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2192541539998 meters Centerline goodness [0,1] 0.9999350565008442 Centerline is valid? [True, True] Translation: X:918.30, Y:179.88, Z:9.69 [[-4.73148159e-01 -8.80944612e-01 8.21032315e-03 9.18296964e+02] [ 8.80817610e-01 -4.73219364e-01 -1.49590018e-02 1.79883102e+02] [ 1.70633359e-02 1.53973045e-04 9.99854399e-01 9.69354947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2492541539998 meters Centerline goodness [0,1] 0.9999133223541649 Centerline is valid? [True, True] Translation: X:918.28, Y:179.91, Z:9.69 [[-4.70975589e-01 -8.82109318e-01 8.07129449e-03 9.18283096e+02] [ 8.81986906e-01 -4.71044703e-01 -1.46964296e-02 1.79907521e+02] [ 1.67657980e-02 1.97116444e-04 9.99859425e-01 9.69378824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.27, Y:179.93, Z:9.70 [[-4.65970190e-01 -8.84768531e-01 7.51188016e-03 9.18268803e+02] [ 8.84662978e-01 -4.66030653e-01 -1.36691210e-02 1.79931809e+02] [ 1.55947746e-02 2.76079351e-04 9.99878356e-01 9.69637499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.3092541539997 meters Centerline goodness [0,1] 0.9998483305527268 Centerline is valid? [True, True] Translation: X:918.25, Y:179.96, Z:9.69 [[-4.64367809e-01 -8.85608122e-01 7.79693437e-03 9.18254300e+02] [ 8.85494688e-01 -4.64433151e-01 -1.41776903e-02 1.79955364e+02] [ 1.61770325e-02 3.20480966e-04 9.99869092e-01 9.69402199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.339254154 meters Centerline goodness [0,1] 0.9999564677970528 Centerline is valid? [True, True] Translation: X:918.24, Y:179.98, Z:9.70 [[-4.61558340e-01 -8.87079299e-01 7.36321432e-03 9.18240536e+02] [ 8.86978459e-01 -4.61616932e-01 -1.33799075e-02 1.79979469e+02] [ 1.52680234e-02 3.55404578e-04 9.99883374e-01 9.69647590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.23, Y:180.00, Z:9.70 [[-4.55760664e-01 -8.90073025e-01 7.22691802e-03 9.18226025e+02] [ 8.89976369e-01 -4.55817736e-01 -1.31245419e-02 1.80003608e+02] [ 1.49759581e-02 4.50136351e-04 9.99887753e-01 9.69852511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.399254154 meters Centerline goodness [0,1] 0.9999783122600794 Centerline is valid? [True, True] Translation: X:918.21, Y:180.03, Z:9.70 [[-4.53714148e-01 -8.91120246e-01 6.94120271e-03 9.18210094e+02] [ 8.91031301e-01 -4.53766998e-01 -1.25989104e-02 1.80026135e+02] [ 1.43768328e-02 4.68525002e-04 9.99896538e-01 9.69773129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4292541539999 meters Centerline goodness [0,1] 0.999825977246525 Centerline is valid? [True, True] Translation: X:918.20, Y:180.05, Z:9.70 [[-4.50219350e-01 -8.92889232e-01 7.16626997e-03 9.18196139e+02] [ 8.92794791e-01 -4.50276049e-01 -1.29977452e-02 1.80049964e+02] [ 1.48323465e-02 5.46172093e-04 9.99889846e-01 9.69533689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.18, Y:180.08, Z:9.70 [[-4.48282734e-01 -8.93865773e-01 6.82420310e-03 9.18184182e+02] [ 8.93780364e-01 -4.48334331e-01 -1.23689015e-02 1.80075945e+02] [ 1.41156623e-02 5.54573724e-04 9.99900215e-01 9.69938529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4892541539998 meters Centerline goodness [0,1] 0.9998913822692417 Centerline is valid? [True, True] Translation: X:918.17, Y:180.10, Z:9.70 [[-4.48047162e-01 -8.93983550e-01 6.86684798e-03 9.18167218e+02] [ 8.93897203e-01 -4.48099423e-01 -1.24377728e-02 1.80097945e+02] [ 1.41961949e-02 5.65547415e-04 9.99899069e-01 9.69675634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.16, Y:180.13, Z:9.70 [[-4.47762402e-01 -8.94127847e-01 6.65021941e-03 9.18160943e+02] [ 8.94046993e-01 -4.47811439e-01 -1.20370129e-02 1.80126960e+02] [ 1.37406728e-02 5.55886854e-04 9.99905438e-01 9.69985347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5492541539998 meters Centerline goodness [0,1] 0.9999562669465583 Centerline is valid? [True, True] Translation: X:918.14, Y:180.15, Z:9.70 [[-4.48951631e-01 -8.93531527e-01 6.62137314e-03 9.18144853e+02] [ 8.93451409e-01 -4.49000133e-01 -1.19774819e-02 1.80149588e+02] [ 1.36752551e-02 5.38565130e-04 9.99906344e-01 9.69823119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.579254154 meters Centerline goodness [0,1] 0.9999123671815094 Centerline is valid? [True, True] Translation: X:918.13, Y:180.17, Z:9.70 [[-4.51893878e-01 -8.92045542e-01 6.83183702e-03 9.18133114e+02] [ 8.91960171e-01 -4.51945228e-01 -1.23517461e-02 1.80173959e+02] [ 1.41059362e-02 5.12048069e-04 9.99900375e-01 9.69653562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.609254154 meters Centerline goodness [0,1] 0.9998903749177812 Centerline is valid? [True, True] Translation: X:918.13, Y:180.20, Z:9.70 [[-4.54146684e-01 -8.90898398e-01 7.12976709e-03 9.18126696e+02] [ 8.90805394e-01 -4.54202370e-01 -1.28823897e-02 1.80202846e+02] [ 1.47152574e-02 5.00740440e-04 9.99891599e-01 9.69696867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.12, Y:180.23, Z:9.70 [[-4.58892606e-01 -8.88460597e-01 7.43939874e-03 9.18120325e+02] [ 8.88359159e-01 -4.58952689e-01 -1.34326085e-02 1.80231156e+02] [ 1.53486755e-02 4.44733263e-04 9.99882103e-01 9.69919582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6692541539999 meters Centerline goodness [0,1] 0.9997793566038569 Centerline is valid? [True, True] Translation: X:918.11, Y:180.26, Z:9.70 [[-4.61804020e-01 -8.86946921e-01 7.88707126e-03 9.18109173e+02] [ 8.86832854e-01 -4.61871172e-01 -1.42305716e-02 1.80256677e+02] [ 1.62645725e-02 4.22778769e-04 9.99867634e-01 9.69544632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6992541539998 meters Centerline goodness [0,1] 0.9999117270600697 Centerline is valid? [True, True] Translation: X:918.10, Y:180.28, Z:9.70 [[-4.63525789e-01 -8.86047703e-01 7.95682014e-03 9.18096941e+02] [ 8.85931639e-01 -4.63593905e-01 -1.43465189e-02 1.80281385e+02] [ 1.64004335e-02 3.99217188e-04 9.99865424e-01 9.69728857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7292541539998 meters Centerline goodness [0,1] 0.9998675672096411 Centerline is valid? [True, True] Translation: X:918.09, Y:180.31, Z:9.70 [[-4.65937493e-01 -8.84777197e-01 8.45952766e-03 9.18085531e+02] [ 8.84645980e-01 -4.66014126e-01 -1.52422172e-02 1.80307563e+02] [ 1.74282256e-02 3.81766655e-04 9.99848044e-01 9.69694329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7592541539998 meters Centerline goodness [0,1] 0.9998892899054536 Centerline is valid? [True, True] Translation: X:918.07, Y:180.33, Z:9.70 [[-4.66678950e-01 -8.84386134e-01 8.48083850e-03 9.18072734e+02] [ 8.84254359e-01 -4.66755855e-01 -1.52709066e-02 1.80330618e+02] [ 1.74638591e-02 3.72607756e-04 9.99847426e-01 9.69695938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.06, Y:180.36, Z:9.70 [[-4.67406958e-01 -8.83997014e-01 8.94505941e-03 9.18059728e+02] [ 8.83850549e-01 -4.67492387e-01 -1.60958236e-02 1.80355052e+02] [ 1.84104072e-02 3.82795729e-04 9.99830441e-01 9.69865696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.8192541539997 meters Centerline goodness [0,1] 0.999801451609345 Centerline is valid? [True, True] Translation: X:918.05, Y:180.38, Z:9.70 [[-4.68908185e-01 -8.83198396e-01 9.25785278e-03 9.18046583e+02] [ 8.83041581e-01 -4.68999422e-01 -1.66466091e-02 1.80379516e+02] [ 1.90441860e-02 3.69337701e-04 9.99818575e-01 9.69506969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:918.03, Y:180.40, Z:9.70 [[-4.69412618e-01 -8.82932059e-01 9.09803516e-03 9.18033820e+02] [ 8.82780785e-01 -4.69500641e-01 -1.63472678e-02 1.80402566e+02] [ 1.87050602e-02 3.57956823e-04 9.99824981e-01 9.69836881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.879254154 meters Centerline goodness [0,1] 0.9999340891115213 Centerline is valid? [True, True] Translation: X:918.02, Y:180.43, Z:9.70 [[-4.71055982e-01 -8.82056024e-01 9.13411600e-03 9.18020394e+02] [ 8.81903622e-01 -4.71144417e-01 -1.63994034e-02 1.80425877e+02] [ 1.87686803e-02 3.30372882e-04 9.99823798e-01 9.69717687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9092541539999 meters Centerline goodness [0,1] 0.9998455973178049 Centerline is valid? [True, True] Translation: X:918.01, Y:180.45, Z:9.70 [[-4.72254260e-01 -8.81414384e-01 9.19771655e-03 9.18007255e+02] [ 8.81259952e-01 -4.72343717e-01 -1.65018078e-02 1.80450974e+02] [ 1.88894144e-02 3.12530214e-04 9.99821530e-01 9.69657197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9392541539999 meters Centerline goodness [0,1] 0.999779044588802 Centerline is valid? [True, True] Translation: X:918.00, Y:180.48, Z:9.70 [[-4.75033850e-01 -8.79921015e-01 9.04699915e-03 9.17995741e+02] [ 8.79771533e-01 -4.75119924e-01 -1.62206117e-02 1.80476555e+02] [ 1.85712667e-02 2.53952677e-04 9.99827507e-01 9.69822750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.98, Y:180.50, Z:9.70 [[-4.76507353e-01 -8.79126689e-01 8.77533412e-03 9.17983279e+02] [ 8.78986106e-01 -4.76588098e-01 -1.57229418e-02 1.80500799e+02] [ 1.80046776e-02 2.21299379e-04 9.99837878e-01 9.70093025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9992541539998 meters Centerline goodness [0,1] 0.9998235514678312 Centerline is valid? [True, True] Translation: X:917.97, Y:180.53, Z:9.70 [[-4.80511096e-01 -8.76946979e-01 8.54883543e-03 9.17971737e+02] [ 8.76813395e-01 -4.80587116e-01 -1.53066480e-02 1.80526806e+02] [ 1.75315789e-02 1.40719232e-04 9.99846300e-01 9.69925954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.96, Y:180.55, Z:9.70 [[-4.82300174e-01 -8.75967247e-01 8.24162235e-03 9.17959452e+02] [ 8.75843115e-01 -4.82370574e-01 -1.47467779e-02 1.80551695e+02] [ 1.68932106e-02 1.05994640e-04 9.99857294e-01 9.70283835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.0592541539997 meters Centerline goodness [0,1] 0.9997798956705478 Centerline is valid? [True, True] Translation: X:917.95, Y:180.58, Z:9.70 [[-4.84391923e-01 -8.74811161e-01 8.36046217e-03 9.17946062e+02] [ 8.74683429e-01 -4.84464061e-01 -1.49489988e-02 1.80575200e+02] [ 1.71278945e-02 7.15834444e-05 9.99853304e-01 9.69944097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.089254154 meters Centerline goodness [0,1] 0.999889993839655 Centerline is valid? [True, True] Translation: X:917.93, Y:180.60, Z:9.70 [[-4.87391947e-01 -8.73147669e-01 7.88909605e-03 9.17933763e+02] [ 8.73033876e-01 -4.87455791e-01 -1.40962553e-02 1.80599321e+02] [ 1.61536980e-02 1.70467911e-05 9.99869520e-01 9.70187087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.92, Y:180.62, Z:9.70 [[-4.89053614e-01 -8.72222692e-01 7.35787783e-03 9.17920440e+02] [ 8.72123740e-01 -4.89108961e-01 -1.31379878e-02 1.80624118e+02] [ 1.50580551e-02 -8.20048735e-06 9.99886621e-01 9.70480739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.149254154 meters Centerline goodness [0,1] 0.9999560574768204 Centerline is valid? [True, True] Translation: X:917.91, Y:180.65, Z:9.70 [[-4.91937256e-01 -8.70602502e-01 7.00149240e-03 9.17907221e+02] [ 8.70512859e-01 -4.91987075e-01 -1.24932598e-02 1.80647796e+02] [ 1.43213070e-02 -5.10107761e-05 9.99897444e-01 9.70475364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1792541539999 meters Centerline goodness [0,1] 0.9999558810553252 Centerline is valid? [True, True] Translation: X:917.89, Y:180.67, Z:9.71 [[-4.93774558e-01 -8.69562643e-01 6.89170344e-03 9.17893731e+02] [ 8.69475809e-01 -4.93822645e-01 -1.22887820e-02 1.80672345e+02] [ 1.40891450e-02 -7.57185085e-05 9.99900740e-01 9.70567552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2092541539998 meters Centerline goodness [0,1] 0.9998458591152313 Centerline is valid? [True, True] Translation: X:917.88, Y:180.70, Z:9.70 [[-4.95770682e-01 -8.68426230e-01 6.87848891e-03 9.17880881e+02] [ 8.68339738e-01 -4.95818386e-01 -1.22567074e-02 1.80696434e+02] [ 1.40545275e-02 -1.03650916e-04 9.99901225e-01 9.70432756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.87, Y:180.72, Z:9.71 [[-4.99641162e-01 -8.66206786e-01 6.67187952e-03 9.17867957e+02] [ 8.66125324e-01 -4.99685681e-01 -1.18803795e-02 1.80721871e+02] [ 1.36247080e-02 -1.57242802e-04 9.99907167e-01 9.70771321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.85, Y:180.75, Z:9.71 [[-5.01621522e-01 -8.65060612e-01 6.78123856e-03 9.17854679e+02] [ 8.64976465e-01 -5.01667322e-01 -1.20670058e-02 1.80746476e+02] [ 1.38406172e-02 -1.87458057e-04 9.99904197e-01 9.70746955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2992541539998 meters Centerline goodness [0,1] 0.9998676898650437 Centerline is valid? [True, True] Translation: X:917.84, Y:180.77, Z:9.71 [[-5.05177412e-01 -8.62984017e-01 7.37359957e-03 9.17840907e+02] [ 8.62884440e-01 -5.05231154e-01 -1.31119771e-02 1.80770833e+02] [ 1.50407989e-02 -2.61310319e-04 9.99886847e-01 9.70523933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.83, Y:180.79, Z:9.71 [[-5.06627659e-01 -8.62134744e-01 7.21791533e-03 9.17827262e+02] [ 8.62039365e-01 -5.06678997e-01 -1.28268254e-02 1.80794932e+02] [ 1.47156180e-02 -2.76297400e-04 9.99891681e-01 9.70754569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.81, Y:180.82, Z:9.71 [[-5.08105853e-01 -8.61265203e-01 7.11991532e-03 9.17813061e+02] [ 8.61172429e-01 -5.08155650e-01 -1.26444878e-02 1.80818818e+02] [ 1.45082825e-02 -2.93263462e-04 9.99894706e-01 9.70781816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.389254154 meters Centerline goodness [0,1] 0.999956136503202 Centerline is valid? [True, True] Translation: X:917.80, Y:180.84, Z:9.71 [[-5.09979658e-01 -8.60154829e-01 7.37696841e-03 9.17796203e+02] [ 8.60055250e-01 -5.10032901e-01 -1.30922462e-02 1.80841348e+02] [ 1.50238554e-02 -3.32178838e-04 9.99887080e-01 9.70683574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.78, Y:180.86, Z:9.71 [[-5.10483202e-01 -8.59855152e-01 7.48449893e-03 9.17782323e+02] [ 8.59752761e-01 -5.10537952e-01 -1.32736429e-02 1.80864152e+02] [ 1.52345310e-02 -3.41153080e-04 9.99883890e-01 9.70799667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.76, Y:180.89, Z:9.71 [[-5.10208026e-01 -8.60015960e-01 7.76655589e-03 9.17764436e+02] [ 8.59905887e-01 -5.10267019e-01 -1.37635456e-02 1.80886488e+02] [ 1.57998862e-02 -3.43764306e-04 9.99875115e-01 9.70873424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4792541539998 meters Centerline goodness [0,1] 0.9998908892525914 Centerline is valid? [True, True] Translation: X:917.75, Y:180.91, Z:9.71 [[-5.10208069e-01 -8.60012913e-01 8.09420547e-03 9.17747874e+02] [ 8.59893517e-01 -5.10272148e-01 -1.43343504e-02 1.80909590e+02] [ 1.64579741e-02 -3.53346445e-04 9.99864496e-01 9.70726918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5092541539998 meters Centerline goodness [0,1] 0.9998046111762408 Centerline is valid? [True, True] Translation: X:917.73, Y:180.93, Z:9.71 [[-5.09873420e-01 -8.60210781e-01 8.15525940e-03 9.17732954e+02] [ 8.60089768e-01 -5.09938520e-01 -1.44325202e-02 1.80932107e+02] [ 1.65736904e-02 -3.44503268e-04 9.99862588e-01 9.70758164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.71, Y:180.95, Z:9.71 [[-5.07806582e-01 -8.61431814e-01 8.22832194e-03 9.17714376e+02] [ 8.61308950e-01 -5.07873152e-01 -1.45518050e-02 1.80953864e+02] [ 1.67143315e-02 -3.02375003e-04 9.99860260e-01 9.70929944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5692541539997 meters Centerline goodness [0,1] 0.9998271764960035 Centerline is valid? [True, True] Translation: X:917.69, Y:180.97, Z:9.71 [[-5.04809449e-01 -8.63186208e-01 8.77444352e-03 9.17694340e+02] [ 8.63046944e-01 -5.04885636e-01 -1.55070029e-02 1.80974752e+02] [ 1.78155215e-02 -2.55324918e-04 9.99841258e-01 9.70767976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.599254154 meters Centerline goodness [0,1] 0.9998274374460742 Centerline is valid? [True, True] Translation: X:917.68, Y:181.00, Z:9.71 [[-5.03056812e-01 -8.64208346e-01 8.81925190e-03 9.17678210e+02] [ 8.64068013e-01 -5.03134067e-01 -1.55749994e-02 1.80995790e+02] [ 1.78973105e-02 -2.14676079e-04 9.99839807e-01 9.70637424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.629254154 meters Centerline goodness [0,1] 0.9998274374460742 Centerline is valid? [True, True] Translation: X:917.66, Y:181.02, Z:9.71 [[-5.03328283e-01 -8.64050213e-01 8.82430543e-03 9.17664918e+02] [ 8.63909906e-01 -5.03405585e-01 -1.55721362e-02 1.81019024e+02] [ 1.78973123e-02 -2.14491717e-04 9.99839807e-01 9.70662375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.65, Y:181.04, Z:9.71 [[-5.01066357e-01 -8.65369845e-01 8.21815257e-03 9.17647711e+02] [ 8.65248493e-01 -5.01133724e-01 -1.44926564e-02 1.81041830e+02] [ 1.66599012e-02 -1.51038397e-04 9.99861203e-01 9.71038313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6892541539999 meters Centerline goodness [0,1] 0.9998492224184724 Centerline is valid? [True, True] Translation: X:917.63, Y:181.06, Z:9.71 [[-4.96392065e-01 -8.68059775e-01 8.19423700e-03 9.17627642e+02] [ 8.67939651e-01 -4.96459691e-01 -1.44408178e-02 1.81061121e+02] [ 1.66036014e-02 -5.62041726e-05 9.99862149e-01 9.70844137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.61, Y:181.08, Z:9.71 [[-4.93632333e-01 -8.69638017e-01 7.53918825e-03 9.17610847e+02] [ 8.69536644e-01 -4.93689903e-01 -1.32779859e-02 1.81083541e+02] [ 1.52690624e-02 1.15730243e-06 9.99883421e-01 9.71155695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7492541539998 meters Centerline goodness [0,1] 0.9998492191707055 Centerline is valid? [True, True] Translation: X:917.59, Y:181.10, Z:9.71 [[-4.87933407e-01 -8.72844683e-01 7.94663082e-03 9.17589030e+02] [ 8.72732629e-01 -4.87998101e-01 -1.39861613e-02 1.81104189e+02] [ 1.60856873e-02 1.10968644e-04 9.99870611e-01 9.70945327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7792541539998 meters Centerline goodness [0,1] 0.9999143908911908 Centerline is valid? [True, True] Translation: X:917.57, Y:181.13, Z:9.71 [[-4.84874906e-01 -8.74551602e-01 7.47132248e-03 9.17572051e+02] [ 8.74452862e-01 -4.84932438e-01 -1.31423712e-02 1.81125102e+02] [ 1.51167684e-02 1.60913327e-04 9.99885722e-01 9.71050867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.8092541539997 meters Centerline goodness [0,1] 0.9998934220062241 Centerline is valid? [True, True] Translation: X:917.55, Y:181.15, Z:9.71 [[-4.81813183e-01 -8.76242092e-01 7.47351301e-03 9.17554406e+02] [ 8.76143607e-01 -4.81871092e-01 -1.31388796e-02 1.81146448e+02] [ 1.51141092e-02 2.17385260e-04 9.99885752e-01 9.71063955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.53, Y:181.17, Z:9.71 [[-4.75915346e-01 -8.79463214e-01 7.00277250e-03 9.17534326e+02] [ 8.79377206e-01 -4.75966768e-01 -1.23030510e-02 1.81166479e+02] [ 1.41531678e-02 3.02867722e-04 9.99899793e-01 9.71318773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.869254154 meters Centerline goodness [0,1] 0.9998504177618224 Centerline is valid? [True, True] Translation: X:917.52, Y:181.19, Z:9.71 [[-4.73949274e-01 -8.80519310e-01 7.60456218e-03 9.17517899e+02] [ 8.80418172e-01 -4.74010136e-01 -1.33504156e-02 1.81188858e+02] [ 1.53599383e-02 3.67774927e-04 9.99881962e-01 9.71025911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.899254154 meters Centerline goodness [0,1] 0.9998720109217347 Centerline is valid? [True, True] Translation: X:917.50, Y:181.21, Z:9.71 [[-4.70990479e-01 -8.82103836e-01 7.79693606e-03 9.17499266e+02] [ 8.81997881e-01 -4.71054811e-01 -1.36785529e-02 1.81210856e+02] [ 1.57386883e-02 4.34412886e-04 9.99876045e-01 9.70999834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.48, Y:181.23, Z:9.71 [[-4.70499181e-01 -8.82368665e-01 7.48728437e-03 9.17484105e+02] [ 8.82271122e-01 -4.70558555e-01 -1.31268283e-02 1.81234316e+02] [ 1.51059077e-02 4.29652800e-04 9.99885807e-01 9.71282423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9592541539998 meters Centerline goodness [0,1] 0.9997653483510389 Centerline is valid? [True, True] Translation: X:917.47, Y:181.26, Z:9.71 [[-4.70842650e-01 -8.82179190e-01 8.18994771e-03 9.17469058e+02] [ 8.82062623e-01 -4.70913641e-01 -1.43482388e-02 1.81257679e+02] [ 1.65144758e-02 4.68283978e-04 9.99863517e-01 9.70873432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.46, Y:181.28, Z:9.71 [[-4.72064813e-01 -8.81528674e-01 7.87456059e-03 9.17456257e+02] [ 8.81420973e-01 -4.72130288e-01 -1.37861813e-02 1.81282921e+02] [ 1.58707327e-02 4.32831764e-04 9.99873958e-01 9.71254689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0192541539998 meters Centerline goodness [0,1] 0.9998080204778157 Centerline is valid? [True, True] Translation: X:917.44, Y:181.31, Z:9.71 [[-4.73413000e-01 -8.80797560e-01 8.70576968e-03 9.17442633e+02] [ 8.80665979e-01 -4.73492820e-01 -1.52309623e-02 1.81308101e+02] [ 1.75375139e-02 4.56339607e-04 9.99846102e-01 9.70914960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0492541539998 meters Centerline goodness [0,1] 0.9999573642584578 Centerline is valid? [True, True] Translation: X:917.43, Y:181.33, Z:9.71 [[-4.76232636e-01 -8.79275906e-01 8.73834436e-03 9.17430944e+02] [ 8.79143229e-01 -4.76312626e-01 -1.52795989e-02 1.81333108e+02] [ 1.75971669e-02 4.05612607e-04 9.99845076e-01 9.71089050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.079254154 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:917.42, Y:181.36, Z:9.71 [[-4.77920182e-01 -8.78356775e-01 9.03743479e-03 9.17417728e+02] [ 8.78214856e-01 -4.78005465e-01 -1.57937723e-02 1.81357305e+02] [ 1.81925102e-02 3.88646948e-04 9.99834427e-01 9.71119762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.109254154 meters Centerline goodness [0,1] 0.9998720709579753 Centerline is valid? [True, True] Translation: X:917.41, Y:181.38, Z:9.71 [[-4.81798586e-01 -8.76232376e-01 9.32446629e-03 9.17406359e+02] [ 8.76081098e-01 -4.81888700e-01 -1.62846670e-02 1.81381724e+02] [ 1.87625074e-02 3.23059114e-04 9.99823916e-01 9.70905591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.139254154 meters Centerline goodness [0,1] 0.9998717921323105 Centerline is valid? [True, True] Translation: X:917.40, Y:181.41, Z:9.71 [[-4.83785332e-01 -8.75137921e-01 9.23971543e-03 9.17396019e+02] [ 8.74989373e-01 -4.83873475e-01 -1.61263115e-02 1.81407733e+02] [ 1.85835999e-02 2.82979831e-04 9.99827270e-01 9.71093666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1692541539999 meters Centerline goodness [0,1] 0.999871789392709 Centerline is valid? [True, True] Translation: X:917.38, Y:181.43, Z:9.71 [[-4.85956544e-01 -8.73938021e-01 8.86413513e-03 9.17384536e+02] [ 8.73801283e-01 -4.86037325e-01 -1.54607822e-02 1.81432175e+02] [ 1.78200659e-02 2.32224365e-04 9.99841183e-01 9.71166844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1992541539998 meters Centerline goodness [0,1] 0.999828432949452 Centerline is valid? [True, True] Translation: X:917.38, Y:181.46, Z:9.71 [[-4.90717662e-01 -8.71273817e-01 8.83811640e-03 9.17375815e+02] [ 8.71137624e-01 -4.90797225e-01 -1.54053240e-02 1.81460017e+02] [ 1.77599784e-02 1.39551168e-04 9.99842269e-01 9.71292236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.36, Y:181.48, Z:9.72 [[-4.93052880e-01 -8.69962553e-01 8.00084198e-03 9.17364880e+02] [ 8.69850911e-01 -4.93117783e-01 -1.39371482e-02 1.81484785e+02] [ 1.60701545e-02 8.77886440e-05 9.99870863e-01 9.71587489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2592541539998 meters Centerline goodness [0,1] 0.9999356167911408 Centerline is valid? [True, True] Translation: X:917.36, Y:181.51, Z:9.71 [[-4.98090403e-01 -8.67082438e-01 8.60214163e-03 9.17355814e+02] [ 8.66953131e-01 -4.98164678e-01 -1.49740487e-02 1.81511502e+02] [ 1.72690178e-02 -7.76344644e-07 9.99850879e-01 9.71419343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2892541539998 meters Centerline goodness [0,1] 0.9998928096728551 Centerline is valid? [True, True] Translation: X:917.34, Y:181.54, Z:9.71 [[-5.00901399e-01 -8.65459462e-01 8.81525443e-03 9.17344821e+02] [ 8.65323603e-01 -5.00978959e-01 -1.53344341e-02 1.81536070e+02] [ 1.76875880e-02 -5.29917471e-05 9.99843561e-01 9.71362241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.3192541539997 meters Centerline goodness [0,1] 0.9999139322216245 Centerline is valid? [True, True] Translation: X:917.34, Y:181.56, Z:9.71 [[-5.06433816e-01 -8.62232514e-01 8.93766512e-03 9.17335507e+02] [ 8.62092538e-01 -5.06512650e-01 -1.55367477e-02 1.81563351e+02] [ 1.79233295e-02 -1.63239989e-04 9.99839351e-01 9.71421423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.349254154 meters Centerline goodness [0,1] 0.9998278162799707 Centerline is valid? [True, True] Translation: X:917.32, Y:181.59, Z:9.71 [[-5.09406528e-01 -8.60476745e-01 9.20658086e-03 9.17323639e+02] [ 8.60328125e-01 -5.09489667e-01 -1.59936259e-02 1.81589126e+02] [ 1.84528009e-02 -2.26576969e-04 9.99829707e-01 9.71345544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.31, Y:181.61, Z:9.72 [[-5.12232073e-01 -8.58803985e-01 8.60339302e-03 9.17311235e+02] [ 8.58674126e-01 -5.12304251e-01 -1.49365388e-02 1.81614661e+02] [ 1.72351139e-02 -2.63463256e-04 9.99851430e-01 9.71699655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4092541539999 meters Centerline goodness [0,1] 0.9997842921547057 Centerline is valid? [True, True] Translation: X:917.30, Y:181.64, Z:9.71 [[-5.15084885e-01 -8.57087620e-01 9.40066154e-03 9.17299865e+02] [ 8.56932478e-01 -5.15170546e-01 -1.63106453e-02 1.81638724e+02] [ 1.88225961e-02 -3.45634676e-04 9.99822780e-01 9.71413719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.29, Y:181.66, Z:9.72 [[-5.19663701e-01 -8.54323046e-01 9.04271660e-03 9.17291717e+02] [ 8.54179215e-01 -5.19742198e-01 -1.56817282e-02 1.81664911e+02] [ 1.80971432e-02 -4.25124332e-04 9.99836143e-01 9.71653252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4692541539998 meters Centerline goodness [0,1] 0.9999352653043609 Centerline is valid? [True, True] Translation: X:917.28, Y:181.69, Z:9.71 [[-5.23260586e-01 -8.52120003e-01 9.47941125e-03 9.17280211e+02] [ 8.51961764e-01 -5.23346184e-01 -1.64293729e-02 1.81690095e+02] [ 1.89608110e-02 -5.20747359e-04 9.99820092e-01 9.71496014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4992541539998 meters Centerline goodness [0,1] 0.9998491931835319 Centerline is valid? [True, True] Translation: X:917.27, Y:181.72, Z:9.71 [[-5.24598672e-01 -8.51292775e-01 9.84093361e-03 9.17272671e+02] [ 8.51122317e-01 -5.24690662e-01 -1.70443851e-02 1.81717341e+02] [ 1.96732079e-02 -5.65623598e-04 9.99806304e-01 9.71154245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.5292541539998 meters Centerline goodness [0,1] 0.9999139044339217 Centerline is valid? [True, True] Translation: X:917.25, Y:181.74, Z:9.71 [[-5.25146647e-01 -8.50957608e-01 9.59943359e-03 9.17253783e+02] [ 8.50795572e-01 -5.25234079e-01 -1.66149540e-02 1.81737865e+02] [ 1.91805711e-02 -5.58131771e-04 9.99815880e-01 9.71484330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.5592541539997 meters Centerline goodness [0,1] 0.9998282266549289 Centerline is valid? [True, True] Translation: X:917.24, Y:181.76, Z:9.72 [[-5.24736940e-01 -8.51207624e-01 9.83483061e-03 9.17236668e+02] [ 8.51037827e-01 -5.24828802e-01 -1.70101613e-02 1.81759850e+02] [ 1.96407813e-02 -5.56047120e-04 9.99806947e-01 9.71513354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.589254154 meters Centerline goodness [0,1] 0.9999137075549036 Centerline is valid? [True, True] Translation: X:917.22, Y:181.78, Z:9.72 [[-5.23513674e-01 -8.51960507e-01 9.83498773e-03 9.17219696e+02] [ 8.51791064e-01 -5.23605789e-01 -1.69988815e-02 1.81782401e+02] [ 1.96320322e-02 -5.21792242e-04 9.99807137e-01 9.71708667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.619254154 meters Centerline goodness [0,1] 0.9998708899982786 Centerline is valid? [True, True] Translation: X:917.20, Y:181.80, Z:9.72 [[-5.19766701e-01 -8.54251069e-01 9.88372658e-03 9.17200968e+02] [ 8.54080575e-01 -5.19860486e-01 -1.70718017e-02 1.81804329e+02] [ 1.97217638e-02 -4.31855185e-04 9.99805414e-01 9.71676611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.19, Y:181.83, Z:9.72 [[-5.16940225e-01 -8.55968208e-01 9.55147691e-03 9.17185533e+02] [ 8.55809442e-01 -5.17028341e-01 -1.64891965e-02 1.81827111e+02] [ 1.90526122e-02 -3.49684810e-04 9.99818421e-01 9.71858915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6792541539999 meters Centerline goodness [0,1] 0.999871418468594 Centerline is valid? [True, True] Translation: X:917.17, Y:181.85, Z:9.72 [[-5.14327583e-01 -8.57535158e-01 1.00295301e-02 9.17168937e+02] [ 8.57360548e-01 -5.14425274e-01 -1.73068858e-02 1.81848671e+02] [ 2.00007068e-02 -3.02485271e-04 9.99799920e-01 9.71602693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.15, Y:181.87, Z:9.72 [[-5.07723517e-01 -8.61470209e-01 9.26873533e-03 9.17149032e+02] [ 8.61321896e-01 -5.07808095e-01 -1.59853012e-02 1.81869644e+02] [ 1.84775996e-02 -1.32748675e-04 9.99829266e-01 9.71789970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7392541539998 meters Centerline goodness [0,1] 0.9999144385026738 Centerline is valid? [True, True] Translation: X:917.13, Y:181.89, Z:9.72 [[-5.04966082e-01 -8.63085391e-01 9.63657629e-03 9.17132469e+02] [ 8.62925589e-01 -5.05058019e-01 -1.66080189e-02 1.81891123e+02] [ 1.92011686e-02 -7.08379472e-05 9.99815638e-01 9.71634435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7692541539998 meters Centerline goodness [0,1] 0.9997429305912596 Centerline is valid? [True, True] Translation: X:917.11, Y:181.91, Z:9.72 [[-4.99371940e-01 -8.66331225e-01 9.89315862e-03 9.17112916e+02] [ 8.66163659e-01 -4.99469924e-01 -1.70385032e-02 1.81912422e+02] [ 1.97023226e-02 6.05440535e-05 9.99805889e-01 9.71558496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.10, Y:181.94, Z:9.72 [[-4.96426627e-01 -8.68035709e-01 8.63783786e-03 9.17096551e+02] [ 8.67908386e-01 -4.96501757e-01 -1.48673523e-02 1.81935513e+02] [ 1.71940943e-02 1.16302365e-04 9.99852164e-01 9.71933947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.829254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:917.08, Y:181.96, Z:9.72 [[-4.94020646e-01 -8.69410110e-01 8.34642421e-03 9.17080110e+02] [ 8.69291566e-01 -4.94091120e-01 -1.43575546e-02 1.81957116e+02] [ 1.66064972e-02 1.62547771e-04 9.99862089e-01 9.71953036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.859254154 meters Centerline goodness [0,1] 0.9998503761969905 Centerline is valid? [True, True] Translation: X:917.06, Y:181.98, Z:9.72 [[-4.89989441e-01 -8.71688229e-01 8.36536025e-03 9.17061401e+02] [ 8.71569610e-01 -4.90060784e-01 -1.43820545e-02 1.81978377e+02] [ 1.66362026e-02 2.43938938e-04 9.99861579e-01 9.71775797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.889254154 meters Centerline goodness [0,1] 0.999914942479852 Centerline is valid? [True, True] Translation: X:917.04, Y:182.00, Z:9.72 [[-4.88340492e-01 -8.72618056e-01 7.82892768e-03 9.17044676e+02] [ 8.72514418e-01 -4.88403173e-01 -1.34510795e-02 1.82000225e+02] [ 1.55613280e-02 2.62145505e-04 9.99878881e-01 9.71861481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9192541539999 meters Centerline goodness [0,1] 0.9998937977909941 Centerline is valid? [True, True] Translation: X:917.03, Y:182.02, Z:9.72 [[-4.85977538e-01 -8.73938959e-01 7.51849615e-03 9.17027082e+02] [ 8.73843661e-01 -4.86035603e-01 -1.29092372e-02 1.82022923e+02] [ 1.49361421e-02 2.96390894e-04 9.99888406e-01 9.71845371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9492541539998 meters Centerline goodness [0,1] 0.999893549073877 Centerline is valid? [True, True] Translation: X:917.01, Y:182.05, Z:9.72 [[-4.85360922e-01 -8.74281564e-01 7.51808010e-03 9.17013455e+02] [ 8.74186441e-01 -4.85419045e-01 -1.29002448e-02 1.82048021e+02] [ 1.49278654e-02 3.10929003e-04 9.99888525e-01 9.71925284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9792541539998 meters Centerline goodness [0,1] 0.9997883373902 Centerline is valid? [True, True] Translation: X:917.00, Y:182.07, Z:9.72 [[-4.85115846e-01 -8.74415458e-01 7.76035022e-03 9.16997102e+02] [ 8.74314262e-01 -4.85177801e-01 -1.33068501e-02 1.82069701e+02] [ 1.54008651e-02 3.29621026e-04 9.99881345e-01 9.71718151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0092541539998 meters Centerline goodness [0,1] 0.9999362556573104 Centerline is valid? [True, True] Translation: X:916.98, Y:182.09, Z:9.72 [[-4.84391256e-01 -8.74820231e-01 7.39420191e-03 9.16984249e+02] [ 8.74728532e-01 -4.84447576e-01 -1.26704904e-02 1.82094476e+02] [ 1.46665045e-02 3.30444637e-04 9.99892386e-01 9.71903102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0392541539998 meters Centerline goodness [0,1] 0.9998721009549796 Centerline is valid? [True, True] Translation: X:916.97, Y:182.12, Z:9.72 [[-4.83855302e-01 -8.75109490e-01 8.21138941e-03 9.16970438e+02] [ 8.74996604e-01 -4.83924823e-01 -1.40609222e-02 1.82118502e+02] [ 1.62785416e-02 3.81486085e-04 9.99867423e-01 9.71702802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0692541539997 meters Centerline goodness [0,1] 0.9997443109179238 Centerline is valid? [True, True] Translation: X:916.96, Y:182.14, Z:9.72 [[-4.83991544e-01 -8.75025115e-01 9.12327486e-03 9.16956149e+02] [ 8.74885943e-01 -4.84077336e-01 -1.56115373e-02 1.82142578e+02] [ 1.80768578e-02 4.25972898e-04 9.99836510e-01 9.71500804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.099254154 meters Centerline goodness [0,1] 0.9998289318935101 Centerline is valid? [True, True] Translation: X:916.94, Y:182.17, Z:9.72 [[-4.83942915e-01 -8.75051098e-01 9.21037281e-03 9.16942828e+02] [ 8.74909451e-01 -4.84030357e-01 -1.57501261e-02 1.82167836e+02] [ 1.82402651e-02 4.36080294e-04 9.99833537e-01 9.71558645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.129254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.93, Y:182.19, Z:9.72 [[-4.83798663e-01 -8.75130844e-01 9.21195169e-03 9.16930869e+02] [ 8.74989359e-01 -4.83886153e-01 -1.57420845e-02 1.82192431e+02] [ 1.82339196e-02 4.44360257e-04 9.99833650e-01 9.71730610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1592541539999 meters Centerline goodness [0,1] 0.9999357257632565 Centerline is valid? [True, True] Translation: X:916.92, Y:182.22, Z:9.72 [[-4.84216870e-01 -8.74896295e-01 9.51288531e-03 9.16918617e+02] [ 8.74745583e-01 -4.84310092e-01 -1.62450062e-02 1.82218180e+02] [ 1.88198821e-02 4.55248342e-04 9.99822787e-01 9.71646494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1892541539999 meters Centerline goodness [0,1] 0.9998926877427939 Centerline is valid? [True, True] Translation: X:916.91, Y:182.24, Z:9.72 [[-4.85199745e-01 -8.74350181e-01 9.64204818e-03 9.16908692e+02] [ 8.74195453e-01 -4.85295336e-01 -1.64543702e-02 1.82244638e+02] [ 1.90661226e-02 4.45378444e-04 9.99818126e-01 9.71651328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.90, Y:182.27, Z:9.72 [[-4.86099433e-01 -8.73853352e-01 9.36270865e-03 9.16896083e+02] [ 8.73707569e-01 -4.86189411e-01 -1.59668414e-02 1.82269031e+02] [ 1.85047276e-02 4.18796896e-04 9.99828685e-01 9.71863256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.88, Y:182.29, Z:9.72 [[-4.87733328e-01 -8.72945033e-01 9.11976527e-03 9.16884286e+02] [ 8.72806747e-01 -4.87818435e-01 -1.55420955e-02 1.82294739e+02] [ 1.80161847e-02 3.79394703e-04 9.99837623e-01 9.71934700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2792541539998 meters Centerline goodness [0,1] 0.9998713716074261 Centerline is valid? [True, True] Translation: X:916.88, Y:182.32, Z:9.72 [[-4.92095195e-01 -8.70495331e-01 8.95536075e-03 9.16875630e+02] [ 8.70361756e-01 -4.92176590e-01 -1.52518236e-02 1.82322583e+02] [ 1.76842601e-02 2.89054404e-04 9.99843579e-01 9.71847691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.3092541539997 meters Centerline goodness [0,1] 0.9998275490407416 Centerline is valid? [True, True] Translation: X:916.86, Y:182.35, Z:9.72 [[-4.95032987e-01 -8.68833657e-01 8.39158791e-03 9.16864081e+02] [ 8.68716282e-01 -4.95104059e-01 -1.42825671e-02 1.82348823e+02] [ 1.65638842e-02 2.19567186e-04 9.99862785e-01 9.71905022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.86, Y:182.38, Z:9.72 [[-4.99630447e-01 -8.66207996e-01 7.28864474e-03 9.16856253e+02] [ 8.66119273e-01 -4.99683594e-01 -1.23980053e-02 1.82376783e+02] [ 1.43812675e-02 1.18414749e-04 9.99896577e-01 9.72394276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.84, Y:182.40, Z:9.72 [[-5.02253540e-01 -8.64692066e-01 7.00087148e-03 9.16844897e+02] [ 8.64610170e-01 -5.02302324e-01 -1.19008033e-02 1.82401594e+02] [ 1.38070842e-02 7.58040774e-05 9.99904675e-01 9.72440640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.399254154 meters Centerline goodness [0,1] 0.9997627213701762 Centerline is valid? [True, True] Translation: X:916.83, Y:182.43, Z:9.72 [[-5.05007569e-01 -8.63083025e-01 7.41937325e-03 9.16833024e+02] [ 8.62991001e-01 -5.05062066e-01 -1.26032115e-02 1.82427320e+02] [ 1.46248619e-02 3.81351414e-05 9.99893050e-01 9.72184633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.82, Y:182.45, Z:9.73 [[-5.07874435e-01 -8.61401380e-01 7.15691041e-03 9.16822365e+02] [ 8.61315697e-01 -5.07924859e-01 -1.21493549e-02 1.82453703e+02] [ 1.41006438e-02 -5.98745361e-06 9.99900581e-01 9.72507526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4592541539998 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:916.81, Y:182.48, Z:9.72 [[-5.09183722e-01 -8.60627014e-01 7.28555518e-03 9.16809589e+02] [ 8.60538268e-01 -5.09235841e-01 -1.23591077e-02 1.82477923e+02] [ 1.43466477e-02 -2.35574112e-05 9.99897081e-01 9.72406461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4892541539998 meters Centerline goodness [0,1] 0.999827482101268 Centerline is valid? [True, True] Translation: X:916.80, Y:182.50, Z:9.72 [[-5.10586294e-01 -8.59793210e-01 7.56780779e-03 9.16796536e+02] [ 8.59697499e-01 -5.10642374e-01 -1.28287659e-02 1.82502870e+02] [ 1.48945291e-02 -4.41665955e-05 9.99889069e-01 9.72204894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5192541539998 meters Centerline goodness [0,1] 0.9998273592438335 Centerline is valid? [True, True] Translation: X:916.78, Y:182.53, Z:9.72 [[-5.10808798e-01 -8.59660962e-01 7.57646734e-03 9.16782409e+02] [ 8.59565143e-01 -5.10864982e-01 -1.28349075e-02 1.82527466e+02] [ 1.49042207e-02 -4.37164206e-05 9.99888925e-01 9.72199198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5492541539998 meters Centerline goodness [0,1] 0.9998273592438335 Centerline is valid? [True, True] Translation: X:916.77, Y:182.55, Z:9.72 [[-5.11058578e-01 -8.59512461e-01 7.58019535e-03 9.16768320e+02] [ 8.59416659e-01 -5.11114789e-01 -1.28327056e-02 1.82551187e+02] [ 1.49042203e-02 -4.37181203e-05 9.99888925e-01 9.72224936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.75, Y:182.58, Z:9.72 [[-5.10689699e-01 -8.59732814e-01 7.45122333e-03 9.16754583e+02] [ 8.59640389e-01 -5.10744053e-01 -1.26060622e-02 1.82575250e+02] [ 1.46435133e-02 -3.24135877e-05 9.99892777e-01 9.72499074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.609254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.74, Y:182.60, Z:9.72 [[-5.10437588e-01 -8.59882324e-01 7.47384169e-03 9.16740352e+02] [ 8.59789478e-01 -5.10492301e-01 -1.26358485e-02 1.82599847e+02] [ 1.46806814e-02 -2.38815743e-05 9.99892233e-01 9.72462715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.639254154 meters Centerline goodness [0,1] 0.9997184562740936 Centerline is valid? [True, True] Translation: X:916.73, Y:182.62, Z:9.72 [[-5.10735734e-01 -8.59702488e-01 7.78728391e-03 9.16726454e+02] [ 8.59601794e-01 -5.10795097e-01 -1.31576700e-02 1.82623156e+02] [ 1.52893881e-02 -2.61290134e-05 9.99883110e-01 9.72128248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6692541539999 meters Centerline goodness [0,1] 0.9999783718314733 Centerline is valid? [True, True] Translation: X:916.71, Y:182.65, Z:9.72 [[-5.09769553e-01 -8.60278028e-01 7.53117371e-03 9.16712360e+02] [ 8.60184012e-01 -5.09825181e-01 -1.27181128e-02 1.82647497e+02] [ 1.47806950e-02 -5.11143752e-06 9.99890760e-01 9.72368821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.70, Y:182.67, Z:9.72 [[-5.09317367e-01 -8.60545435e-01 7.57458602e-03 9.16698478e+02] [ 8.60450491e-01 -5.09373688e-01 -1.27827240e-02 1.82670846e+02] [ 1.48584096e-02 7.09295718e-06 9.99889608e-01 9.72438943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.68, Y:182.69, Z:9.72 [[-5.07707813e-01 -8.61496527e-01 7.51733117e-03 9.16683957e+02] [ 8.61403252e-01 -5.07763461e-01 -1.26769260e-02 1.82693823e+02] [ 1.47381538e-02 3.92791586e-05 9.99891387e-01 9.72435992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.67, Y:182.72, Z:9.72 [[-5.06777156e-01 -8.62045708e-01 7.35604798e-03 9.16669188e+02] [ 8.61956579e-01 -5.06830537e-01 -1.23960825e-02 1.82716914e+02] [ 1.44142594e-02 5.85425375e-05 9.99896107e-01 9.72465546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7892541539998 meters Centerline goodness [0,1] 0.9998485602405729 Centerline is valid? [True, True] Translation: X:916.65, Y:182.74, Z:9.72 [[-5.05991598e-01 -8.62506399e-01 7.43065231e-03 9.16654277e+02] [ 8.62415635e-01 -5.06046150e-01 -1.25126811e-02 1.82739499e+02] [ 1.45525206e-02 7.69992041e-05 9.99894104e-01 9.72246128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.8192541539997 meters Centerline goodness [0,1] 0.9999567333693888 Centerline is valid? [True, True] Translation: X:916.64, Y:182.76, Z:9.72 [[-5.02836198e-01 -8.64356831e-01 6.55939929e-03 9.16638457e+02] [ 8.64286353e-01 -5.02878966e-01 -1.10383669e-02 1.82761806e+02] [ 1.28396717e-02 1.18708861e-04 9.99917561e-01 9.72490771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.62, Y:182.79, Z:9.73 [[-5.01082154e-01 -8.65376404e-01 6.35255815e-03 9.16623069e+02] [ 8.65310469e-01 -5.01122400e-01 -1.06833067e-02 1.82785030e+02] [ 1.24284907e-02 1.43720734e-04 9.99922753e-01 9.72639961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.879254154 meters Centerline goodness [0,1] 0.9999352541275494 Centerline is valid? [True, True] Translation: X:916.61, Y:182.81, Z:9.73 [[-4.97740707e-01 -8.67303389e-01 6.24651390e-03 9.16606360e+02] [ 8.67239869e-01 -4.97779865e-01 -1.04983922e-02 1.82807806e+02] [ 1.22146800e-02 1.91748719e-04 9.99925380e-01 9.72537461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9092541539999 meters Centerline goodness [0,1] 0.9999351575671119 Centerline is valid? [True, True] Translation: X:916.59, Y:182.83, Z:9.73 [[-4.96164517e-01 -8.68205836e-01 6.27684809e-03 9.16590953e+02] [ 8.68141851e-01 -4.96204171e-01 -1.05426570e-02 1.82830881e+02] [ 1.22677945e-02 2.18302213e-04 9.99924724e-01 9.72587348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.58, Y:182.85, Z:9.73 [[-4.94362897e-01 -8.69234624e-01 6.04110113e-03 9.16575784e+02] [ 8.69175505e-01 -4.94399750e-01 -1.01404775e-02 1.82854315e+02] [ 1.18011730e-02 2.37701284e-04 9.99930335e-01 9.72762762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.56, Y:182.88, Z:9.73 [[-4.91333947e-01 -8.70949584e-01 6.14613504e-03 9.16559515e+02] [ 8.70888599e-01 -4.91372303e-01 -1.03105760e-02 1.82876424e+02] [ 1.20000324e-02 2.86662917e-04 9.99927956e-01 9.72742605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9992541539998 meters Centerline goodness [0,1] 0.9998488153603594 Centerline is valid? [True, True] Translation: X:916.54, Y:182.90, Z:9.72 [[-4.89307120e-01 -8.72088132e-01 6.38999025e-03 9.16543727e+02] [ 8.72022373e-01 -4.89348731e-01 -1.07144525e-02 1.82897966e+02] [ 1.24708805e-02 3.29556587e-04 9.99922181e-01 9.72466268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.0292541539998 meters Centerline goodness [0,1] 0.9998486060946861 Centerline is valid? [True, True] Translation: X:916.53, Y:182.92, Z:9.72 [[-4.88717487e-01 -8.72418177e-01 6.46088459e-03 9.16528740e+02] [ 8.72351053e-01 -4.88760070e-01 -1.08274687e-02 1.82921610e+02] [ 1.26039029e-02 3.44586175e-04 9.99920508e-01 9.72485005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.0592541539997 meters Centerline goodness [0,1] 0.9998051188774847 Centerline is valid? [True, True] Translation: X:916.51, Y:182.94, Z:9.72 [[-4.88599779e-01 -8.72482163e-01 6.71803085e-03 9.16514729e+02] [ 8.72409691e-01 -4.88645827e-01 -1.12511237e-02 1.82944576e+02] [ 1.30991425e-02 3.63578636e-04 9.99914136e-01 9.72427504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.089254154 meters Centerline goodness [0,1] 0.9998264717365841 Centerline is valid? [True, True] Translation: X:916.50, Y:182.97, Z:9.72 [[-4.88672871e-01 -8.72441301e-01 6.70838822e-03 9.16501393e+02] [ 8.72369133e-01 -4.88718777e-01 -1.12273224e-02 1.82967956e+02] [ 1.30736950e-02 3.65702971e-04 9.99914469e-01 9.72466397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.49, Y:182.99, Z:9.73 [[-4.89297873e-01 -8.72092492e-01 6.50203701e-03 9.16490171e+02] [ 8.72024758e-01 -4.89340948e-01 -1.08746312e-02 1.82991592e+02] [ 1.26653972e-02 3.49003335e-04 9.99919730e-01 9.72712725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.149254154 meters Centerline goodness [0,1] 0.9998259393833903 Centerline is valid? [True, True] Translation: X:916.48, Y:183.02, Z:9.72 [[-4.90460459e-01 -8.71434102e-01 7.15151735e-03 9.16477466e+02] [ 8.71352218e-01 -4.90512456e-01 -1.19516841e-02 1.83015228e+02] [ 1.39230134e-02 3.69662032e-04 9.99903002e-01 9.72437094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.47, Y:183.04, Z:9.73 [[-4.92506181e-01 -8.70280608e-01 7.02317219e-03 9.16466993e+02] [ 8.70201633e-01 -4.92556140e-01 -1.17288979e-02 1.83040614e+02] [ 1.36667390e-02 3.35021191e-04 9.99906550e-01 9.72609299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2092541539998 meters Centerline goodness [0,1] 0.999868946989057 Centerline is valid? [True, True] Translation: X:916.46, Y:183.06, Z:9.72 [[-4.94444066e-01 -8.69177305e-01 7.47520436e-03 9.16455048e+02] [ 8.69087837e-01 -4.94500460e-01 -1.24750533e-02 1.83063720e+02] [ 1.45395252e-02 3.28393092e-04 9.99894242e-01 9.72320127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2392541539998 meters Centerline goodness [0,1] 0.9998904565769872 Centerline is valid? [True, True] Translation: X:916.44, Y:183.09, Z:9.72 [[-4.96212162e-01 -8.68169936e-01 7.37922505e-03 9.16443721e+02] [ 8.68082759e-01 -4.96266937e-01 -1.23065025e-02 1.83088608e+02] [ 1.43462009e-02 2.99141862e-04 9.99897043e-01 9.72396811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.44, Y:183.12, Z:9.73 [[-4.99710012e-01 -8.66165525e-01 6.86933303e-03 9.16437159e+02] [ 8.66089875e-01 -4.99757173e-01 -1.14497433e-02 1.83117918e+02] [ 1.33503714e-02 2.27908410e-04 9.99910854e-01 9.72662189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2992541539998 meters Centerline goodness [0,1] 0.999934116613594 Centerline is valid? [True, True] Translation: X:916.43, Y:183.14, Z:9.73 [[-5.02243187e-01 -8.64698127e-01 6.99508925e-03 9.16425270e+02] [ 8.64619615e-01 -5.02291859e-01 -1.16537438e-02 1.83142933e+02] [ 1.35905468e-02 1.95077958e-04 9.99907625e-01 9.72561762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.329254154 meters Centerline goodness [0,1] 0.9999120666534766 Centerline is valid? [True, True] Translation: X:916.42, Y:183.17, Z:9.73 [[-5.07681218e-01 -8.61516341e-01 7.02678203e-03 9.16417143e+02] [ 8.61436908e-01 -5.07729831e-01 -1.16992163e-02 1.83169390e+02] [ 1.36467729e-02 1.13657012e-04 9.99906872e-01 9.72506636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.359254154 meters Centerline goodness [0,1] 0.9999118690373896 Centerline is valid? [True, True] Translation: X:916.41, Y:183.20, Z:9.73 [[-5.10826006e-01 -8.59657610e-01 6.75171295e-03 9.16406038e+02] [ 8.59584199e-01 -5.10870620e-01 -1.12344998e-02 1.83195838e+02] [ 1.31070750e-02 6.47911286e-05 9.99914097e-01 9.72573862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.389254154 meters Centerline goodness [0,1] 0.9999118360149879 Centerline is valid? [True, True] Translation: X:916.39, Y:183.22, Z:9.73 [[-5.14263617e-01 -8.57604072e-01 6.94178109e-03 9.16394968e+02] [ 8.57526378e-01 -5.14310466e-01 -1.15436000e-02 1.83220760e+02] [ 1.34700690e-02 1.63069256e-05 9.99909274e-01 9.72546819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4192541539999 meters Centerline goodness [0,1] 0.9998232942371833 Centerline is valid? [True, True] Translation: X:916.39, Y:183.25, Z:9.73 [[-5.21137789e-01 -8.53446159e-01 6.71266790e-03 9.16385525e+02] [ 8.53373235e-01 -5.21181012e-01 -1.11568240e-02 1.83248384e+02] [ 1.30202636e-02 -8.58314496e-05 9.99915229e-01 9.72525347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4492541539998 meters Centerline goodness [0,1] 0.9997789957567186 Centerline is valid? [True, True] Translation: X:916.37, Y:183.27, Z:9.73 [[-5.23743281e-01 -8.51850971e-01 6.54974346e-03 9.16371830e+02] [ 8.51781507e-01 -5.23784221e-01 -1.08790860e-02 1.83272451e+02] [ 1.26980123e-02 -1.18897858e-04 9.99919370e-01 9.72510911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4792541539998 meters Centerline goodness [0,1] 0.9998678443206097 Centerline is valid? [True, True] Translation: X:916.36, Y:183.30, Z:9.73 [[-5.27661332e-01 -8.49431634e-01 6.27835141e-03 9.16359444e+02] [ 8.49367717e-01 -5.27698656e-01 -1.04216024e-02 1.83296327e+02] [ 1.21655164e-02 -1.66447623e-04 9.99925984e-01 9.72569481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5092541539998 meters Centerline goodness [0,1] 0.9996241100252068 Centerline is valid? [True, True] Translation: X:916.35, Y:183.32, Z:9.72 [[-5.29609765e-01 -8.48216359e-01 6.51965540e-03 9.16349581e+02] [ 8.48147438e-01 -5.29649856e-01 -1.08145249e-02 1.83322422e+02] [ 1.26261915e-02 -1.97848950e-04 9.99920267e-01 9.72449224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5392541539998 meters Centerline goodness [0,1] 0.9998675555163128 Centerline is valid? [True, True] Translation: X:916.33, Y:183.34, Z:9.72 [[-5.31360161e-01 -8.47116599e-01 7.06024900e-03 9.16331076e+02] [ 8.47035789e-01 -5.31407011e-01 -1.17030327e-02 1.83343957e+02] [ 1.36656991e-02 -2.38241779e-04 9.99906592e-01 9.72440215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5692541539997 meters Centerline goodness [0,1] 0.999734783185254 Centerline is valid? [True, True] Translation: X:916.32, Y:183.37, Z:9.72 [[-5.34319316e-01 -8.45247338e-01 7.73351330e-03 9.16317211e+02] [ 8.45150315e-01 -5.34375189e-01 -1.28102220e-02 1.83368376e+02] [ 1.49604036e-02 -3.08767820e-04 9.99888039e-01 9.72303383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.599254154 meters Centerline goodness [0,1] 0.999890049477735 Centerline is valid? [True, True] Translation: X:916.30, Y:183.39, Z:9.72 [[-5.34902837e-01 -8.44879455e-01 7.59353170e-03 9.16301331e+02] [ 8.44785994e-01 -5.34956645e-01 -1.25702951e-02 1.83392102e+02] [ 1.46825943e-02 -3.08977296e-04 9.99892157e-01 9.72358406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.28, Y:183.41, Z:9.72 [[-5.35196067e-01 -8.44694396e-01 7.51976638e-03 9.16283943e+02] [ 8.44602841e-01 -5.35248805e-01 -1.24401948e-02 1.83414218e+02] [ 1.45331088e-02 -3.06727300e-04 9.99894342e-01 9.72479614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6592541539999 meters Centerline goodness [0,1] 0.9999341628810323 Centerline is valid? [True, True] Translation: X:916.27, Y:183.44, Z:9.72 [[-5.35604869e-01 -8.44432556e-01 7.81561349e-03 9.16268651e+02] [ 8.44333742e-01 -5.35661792e-01 -1.29219308e-02 1.83436495e+02] [ 1.50982246e-02 -3.22062851e-04 9.99885963e-01 9.72359578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6892541539999 meters Centerline goodness [0,1] 0.9998463429625076 Centerline is valid? [True, True] Translation: X:916.25, Y:183.46, Z:9.72 [[-5.35869683e-01 -8.44264778e-01 7.78891952e-03 9.16253865e+02] [ 8.44166732e-01 -5.35926190e-01 -1.28703934e-02 1.83458327e+02] [ 1.50403057e-02 -3.21706871e-04 9.99886836e-01 9.72264017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7192541539998 meters Centerline goodness [0,1] 0.999890418164285 Centerline is valid? [True, True] Translation: X:916.23, Y:183.48, Z:9.72 [[-5.34638998e-01 -8.45050939e-01 7.07471416e-03 9.16234590e+02] [ 8.44970224e-01 -5.34685738e-01 -1.16825503e-02 1.83479902e+02] [ 1.36550988e-02 -2.68024155e-04 9.99906729e-01 9.72467921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.22, Y:183.50, Z:9.73 [[-5.33771050e-01 -8.45602777e-01 6.66408657e-03 9.16217596e+02] [ 8.45531287e-01 -5.33812597e-01 -1.09979496e-02 1.83502335e+02] [ 1.28572701e-02 -2.35693423e-04 9.99917314e-01 9.72696825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7792541539998 meters Centerline goodness [0,1] 0.9999347301090007 Centerline is valid? [True, True] Translation: X:916.20, Y:183.52, Z:9.73 [[-5.31197805e-01 -8.47223700e-01 6.39485518e-03 9.16198794e+02] [ 8.47158067e-01 -5.31236264e-01 -1.05470982e-02 1.83522503e+02] [ 1.23329305e-02 -1.85142251e-04 9.99923929e-01 9.72610311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.8092541539997 meters Centerline goodness [0,1] 0.9997829625610418 Centerline is valid? [True, True] Translation: X:916.18, Y:183.54, Z:9.72 [[-5.29752446e-01 -8.48126637e-01 6.59959400e-03 9.16181885e+02] [ 8.48056895e-01 -5.29793527e-01 -1.08775728e-02 1.83543756e+02] [ 1.27219815e-02 -1.65589619e-04 9.99919059e-01 9.72444702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.16, Y:183.57, Z:9.73 [[-5.27445830e-01 -8.49568207e-01 5.89553498e-03 9.16164392e+02] [ 8.49512713e-01 -5.27478766e-01 -9.71090698e-03 1.83566041e+02] [ 1.13598473e-02 -1.13645474e-04 9.99935468e-01 9.72770095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.869254154 meters Centerline goodness [0,1] 0.9999132640891645 Centerline is valid? [True, True] Translation: X:916.14, Y:183.59, Z:9.73 [[-5.22196811e-01 -8.52800973e-01 6.40238173e-03 9.16144104e+02] [ 8.52735851e-01 -5.22236056e-01 -1.05390121e-02 1.83585502e+02] [ 1.23312344e-02 -4.38980985e-05 9.99923966e-01 9.72558076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.899254154 meters Centerline goodness [0,1] 0.9998706255255838 Centerline is valid? [True, True] Translation: X:916.13, Y:183.61, Z:9.73 [[-5.19408522e-01 -8.54500637e-01 6.59150635e-03 9.16126050e+02] [ 8.54431819e-01 -5.19450345e-01 -1.08446159e-02 1.83606999e+02] [ 1.26906915e-02 -7.93169488e-07 9.99919470e-01 9.72545221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.10, Y:183.63, Z:9.73 [[-5.11905554e-01 -8.59017113e-01 6.50414034e-03 9.16104196e+02] [ 8.58950553e-01 -5.11946860e-01 -1.06939607e-02 1.83626831e+02] [ 1.25160695e-02 1.12437077e-04 9.99921665e-01 9.72709303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9592541539998 meters Centerline goodness [0,1] 0.9999784124516978 Centerline is valid? [True, True] Translation: X:916.09, Y:183.65, Z:9.73 [[-5.08842019e-01 -8.60833154e-01 6.78832053e-03 9.16085556e+02] [ 8.60760907e-01 -5.08887270e-01 -1.11538357e-02 1.83649230e+02] [ 1.30560815e-02 1.67580661e-04 9.99914752e-01 9.72654555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.07, Y:183.67, Z:9.73 [[-5.05417207e-01 -8.62848438e-01 6.78381840e-03 9.16067448e+02] [ 8.62776556e-01 -5.05462683e-01 -1.11396098e-02 1.83671589e+02] [ 1.30407620e-02 2.22768977e-04 9.99914941e-01 9.72692074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0192541539998 meters Centerline goodness [0,1] 0.9998063308299799 Centerline is valid? [True, True] Translation: X:916.05, Y:183.69, Z:9.72 [[-5.00683753e-01 -8.65598776e-01 7.38508669e-03 9.16047310e+02] [ 8.65513994e-01 -5.00738110e-01 -1.21190384e-02 1.83690283e+02] [ 1.41882192e-02 3.24090248e-04 9.99899290e-01 9.72342701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:916.03, Y:183.71, Z:9.73 [[-4.97967370e-01 -8.67168375e-01 6.89258284e-03 9.16030273e+02] [ 8.67094766e-01 -4.98014948e-01 -1.13039273e-02 1.83711862e+02] [ 1.32350176e-02 3.47535549e-04 9.99912353e-01 9.72632817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.079254154 meters Centerline goodness [0,1] 0.999870984389111 Centerline is valid? [True, True] Translation: X:916.01, Y:183.73, Z:9.72 [[-4.95612637e-01 -8.68512090e-01 7.40695393e-03 9.16012174e+02] [ 8.68427357e-01 -4.95667808e-01 -1.21388004e-02 1.83732455e+02] [ 1.42140836e-02 4.16258517e-04 9.99898888e-01 9.72364973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.109254154 meters Centerline goodness [0,1] 0.9999571293835205 Centerline is valid? [True, True] Translation: X:916.00, Y:183.76, Z:9.72 [[-4.94667479e-01 -8.69052233e-01 7.23197234e-03 9.15996629e+02] [ 8.68971620e-01 -4.94720158e-01 -1.18443270e-02 1.83755574e+02] [ 1.38711414e-02 4.25375329e-04 9.99903701e-01 9.72483187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.139254154 meters Centerline goodness [0,1] 0.9998499399759904 Centerline is valid? [True, True] Translation: X:915.98, Y:183.78, Z:9.72 [[-4.94703753e-01 -8.69029357e-01 7.49490972e-03 9.15982282e+02] [ 8.68942890e-01 -4.94760326e-01 -1.22667775e-02 1.83779143e+02] [ 1.43683738e-02 4.44227618e-04 9.99896671e-01 9.72306989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.97, Y:183.80, Z:9.73 [[-4.94195552e-01 -8.69322277e-01 7.03816892e-03 9.15966460e+02] [ 8.69246149e-01 -4.94245482e-01 -1.15124331e-02 1.83801135e+02] [ 1.34865978e-02 4.28507989e-04 9.99908960e-01 9.72570183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1992541539998 meters Centerline goodness [0,1] 0.9998493068113321 Centerline is valid? [True, True] Translation: X:915.95, Y:183.82, Z:9.72 [[-4.95242019e-01 -8.68721548e-01 7.62985193e-03 9.15952090e+02] [ 8.68632119e-01 -4.95300585e-01 -1.24728859e-02 1.83823643e+02] [ 1.46145349e-02 4.50437244e-04 9.99893101e-01 9.72246244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2292541539998 meters Centerline goodness [0,1] 0.9998710758718494 Centerline is valid? [True, True] Translation: X:915.94, Y:183.85, Z:9.72 [[-4.95993731e-01 -8.68289568e-01 7.96522240e-03 9.15940236e+02] [ 8.68192191e-01 -4.96057469e-01 -1.30117607e-02 1.83849622e+02] [ 1.52491841e-02 4.61592165e-04 9.99883618e-01 9.72271868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2592541539998 meters Centerline goodness [0,1] 0.999849326273193 Centerline is valid? [True, True] Translation: X:915.93, Y:183.87, Z:9.72 [[-4.96756559e-01 -8.67849359e-01 8.39107951e-03 9.15926114e+02] [ 8.67741375e-01 -4.96827196e-01 -1.36983409e-02 1.83874017e+02] [ 1.60570129e-02 4.76546150e-04 9.99870964e-01 9.72193338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.91, Y:183.90, Z:9.72 [[-4.96778000e-01 -8.67835693e-01 8.53394913e-03 9.15912649e+02] [ 8.67724152e-01 -4.96851055e-01 -1.39220867e-02 1.83897311e+02] [ 1.63221854e-02 4.88927399e-04 9.99866665e-01 9.72443897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.3192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.90, Y:183.92, Z:9.72 [[-4.98465003e-01 -8.66862360e-01 9.07134887e-03 9.15900170e+02] [ 8.66736348e-01 -4.98547297e-01 -1.47883784e-02 1.83921605e+02] [ 1.73419851e-02 4.90978691e-04 9.99849496e-01 9.72378911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.349254154 meters Centerline goodness [0,1] 0.9999351561655679 Centerline is valid? [True, True] Translation: X:915.89, Y:183.95, Z:9.72 [[-5.00173292e-01 -8.65875555e-01 9.28446628e-03 9.15886280e+02] [ 8.65743553e-01 -5.00259233e-01 -1.51261544e-02 1.83946298e+02] [ 1.77420073e-02 4.72268363e-04 9.99842487e-01 9.72217247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.379254154 meters Centerline goodness [0,1] 0.9998272996135829 Centerline is valid? [True, True] Translation: X:915.88, Y:183.97, Z:9.72 [[-5.03871232e-01 -8.63725759e-01 9.57051684e-03 9.15875233e+02] [ 8.63585258e-01 -5.03961946e-01 -1.55839059e-02 1.83973060e+02] [ 1.82833972e-02 4.12675394e-04 9.99832760e-01 9.72057081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4092541539999 meters Centerline goodness [0,1] 0.9999136535348084 Centerline is valid? [True, True] Translation: X:915.86, Y:184.00, Z:9.72 [[-5.06224463e-01 -8.62352154e-01 9.24969515e-03 9.15862816e+02] [ 8.62220818e-01 -5.06308836e-01 -1.50539953e-02 1.83997268e+02] [ 1.76650477e-02 3.54579031e-04 9.99843898e-01 9.72207277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4392541539999 meters Centerline goodness [0,1] 0.9999136535348084 Centerline is valid? [True, True] Translation: X:915.85, Y:184.02, Z:9.72 [[-5.06497026e-01 -8.62192046e-01 9.25411804e-03 9.15848700e+02] [ 8.62060734e-01 -5.06581436e-01 -1.50512764e-02 1.84020007e+02] [ 1.76650552e-02 3.54185056e-04 9.99843898e-01 9.72232252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.84, Y:184.05, Z:9.73 [[-5.08875883e-01 -8.60795869e-01 8.70677831e-03 9.15837850e+02] [ 8.60679581e-01 -5.08950280e-01 -1.41517364e-02 1.84045981e+02] [ 1.66130735e-02 2.92268929e-04 9.99861951e-01 9.72560746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4992541539998 meters Centerline goodness [0,1] 0.9998475543359903 Centerline is valid? [True, True] Translation: X:915.83, Y:184.07, Z:9.72 [[-5.16084101e-01 -8.56494173e-01 8.65632206e-03 9.15828917e+02] [ 8.56378764e-01 -5.16156669e-01 -1.40607862e-02 1.84073914e+02] [ 1.65109998e-02 1.56542158e-04 9.99863672e-01 9.72426523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.5292541539998 meters Centerline goodness [0,1] 0.9998268660592551 Centerline is valid? [True, True] Translation: X:915.82, Y:184.10, Z:9.72 [[-5.19631109e-01 -8.54350636e-01 8.27652102e-03 9.15817259e+02] [ 8.54244975e-01 -5.19697011e-01 -1.34365311e-02 1.84098452e+02] [ 1.57807921e-02 8.81369109e-05 9.99875472e-01 9.72438886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.5592541539997 meters Centerline goodness [0,1] 0.9998695708882223 Centerline is valid? [True, True] Translation: X:915.81, Y:184.13, Z:9.73 [[-5.26721773e-01 -8.50000832e-01 7.92210709e-03 9.15809174e+02] [ 8.49903630e-01 -5.26781344e-01 -1.28544114e-02 1.84126499e+02] [ 1.50994786e-02 -3.76707960e-05 9.99885996e-01 9.72735970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.589254154 meters Centerline goodness [0,1] 0.9998261927522377 Centerline is valid? [True, True] Translation: X:915.80, Y:184.15, Z:9.73 [[-5.30124441e-01 -8.47883535e-01 7.84779923e-03 9.15798388e+02] [ 8.47788039e-01 -5.30182518e-01 -1.27255180e-02 1.84151246e+02] [ 1.49505232e-02 -9.28378090e-05 9.99888230e-01 9.72632906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.619254154 meters Centerline goodness [0,1] 0.9999563890100305 Centerline is valid? [True, True] Translation: X:915.79, Y:184.18, Z:9.73 [[-5.32886905e-01 -8.46154263e-01 7.38308060e-03 9.15786358e+02] [ 8.46069680e-01 -5.32938033e-01 -1.19645027e-02 1.84176906e+02] [ 1.40585394e-02 -1.29126153e-04 9.99901166e-01 9.72874169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.649254154 meters Centerline goodness [0,1] 0.9998691384950927 Centerline is valid? [True, True] Translation: X:915.78, Y:184.20, Z:9.73 [[-5.37885908e-01 -8.42986124e-01 7.29004348e-03 9.15777053e+02] [ 8.42903464e-01 -5.37935268e-01 -1.18066875e-02 1.84202973e+02] [ 1.38744452e-02 -2.05847933e-04 9.99903724e-01 9.72819901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6792541539999 meters Centerline goodness [0,1] 0.9999344362611186 Centerline is valid? [True, True] Translation: X:915.76, Y:184.23, Z:9.73 [[-5.39735446e-01 -8.41806787e-01 6.85431877e-03 9.15761633e+02] [ 8.41733705e-01 -5.39778923e-01 -1.10943489e-02 1.84226561e+02] [ 1.30391150e-02 -2.18502203e-04 9.99914963e-01 9.73058887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.75, Y:184.25, Z:9.73 [[-5.41956749e-01 -8.40375661e-01 7.18545188e-03 9.15748756e+02] [ 8.40295325e-01 -5.42004317e-01 -1.16226811e-02 1.84251737e+02] [ 1.36619643e-02 -2.61088850e-04 9.99906637e-01 9.73122591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.73, Y:184.28, Z:9.73 [[-5.42791133e-01 -8.39835671e-01 7.33703927e-03 9.15734165e+02] [ 8.39751966e-01 -5.42840649e-01 -1.18602274e-02 1.84276308e+02] [ 1.39434852e-02 -2.76333130e-04 9.99902747e-01 9.73084753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7692541539998 meters Centerline goodness [0,1] 0.9999561220684057 Centerline is valid? [True, True] Translation: X:915.72, Y:184.30, Z:9.73 [[-5.43361600e-01 -8.39460762e-01 7.98747662e-03 9.15720060e+02] [ 8.39361655e-01 -5.43420219e-01 -1.29026391e-02 1.84299421e+02] [ 1.51718156e-02 -3.06417060e-04 9.99884854e-01 9.72940527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7992541539998 meters Centerline goodness [0,1] 0.9998474712919182 Centerline is valid? [True, True] Translation: X:915.71, Y:184.32, Z:9.73 [[-5.42660042e-01 -8.39903936e-01 9.02536841e-03 9.15706570e+02] [ 8.39777647e-01 -5.42734992e-01 -1.45681837e-02 1.84322578e+02] [ 1.71342581e-02 -3.26268524e-04 9.99853145e-01 9.72586114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.829254154 meters Centerline goodness [0,1] 0.9999343674112319 Centerline is valid? [True, True] Translation: X:915.69, Y:184.35, Z:9.73 [[-5.42036674e-01 -8.40305999e-01 9.05940585e-03 9.15689161e+02] [ 8.40178980e-01 -5.42112288e-01 -1.46132863e-02 1.84345008e+02] [ 1.71908473e-02 -3.09414711e-04 9.99852179e-01 9.72782353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.67, Y:184.37, Z:9.73 [[-5.40233370e-01 -8.41468512e-01 8.86841355e-03 9.15674989e+02] [ 8.41347099e-01 -5.40306093e-01 -1.42963017e-02 1.84367913e+02] [ 1.68215456e-02 -2.61925230e-04 9.99858473e-01 9.72916652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.889254154 meters Centerline goodness [0,1] 0.9999123691013452 Centerline is valid? [True, True] Translation: X:915.66, Y:184.39, Z:9.73 [[-5.40135143e-01 -8.41529420e-01 9.06988086e-03 9.15658711e+02] [ 8.41402596e-01 -5.40211225e-01 -1.46117478e-02 1.84390387e+02] [ 1.71958671e-02 -2.60897187e-04 9.99852106e-01 9.72848387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.64, Y:184.41, Z:9.73 [[-5.39576741e-01 -8.41893407e-01 8.51064908e-03 9.15642605e+02] [ 8.41781924e-01 -5.39643807e-01 -1.37023552e-02 1.84413754e+02] [ 1.61286416e-02 -2.29361622e-04 9.99869899e-01 9.73159370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9492541539998 meters Centerline goodness [0,1] 0.9998474646444837 Centerline is valid? [True, True] Translation: X:915.63, Y:184.44, Z:9.73 [[-5.40155499e-01 -8.41521243e-01 8.60434392e-03 9.15628059e+02] [ 8.41407394e-01 -5.40223973e-01 -1.38440240e-02 1.84436743e+02] [ 1.62983132e-02 -2.38167114e-04 9.99867145e-01 9.72968631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9792541539998 meters Centerline goodness [0,1] 0.9999344133272119 Centerline is valid? [True, True] Translation: X:915.61, Y:184.46, Z:9.73 [[-5.40251543e-01 -8.41463420e-01 8.22086229e-03 9.15612638e+02] [ 8.41359620e-01 -5.40314040e-01 -1.32184740e-02 1.84459798e+02] [ 1.55647097e-02 -2.24599408e-04 9.99878837e-01 9.73185164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0092541539998 meters Centerline goodness [0,1] 0.9999347443064407 Centerline is valid? [True, True] Translation: X:915.60, Y:184.48, Z:9.73 [[-5.40349993e-01 -8.41406915e-01 7.50253340e-03 9.15597474e+02] [ 8.41320563e-01 -5.40402037e-01 -1.20560398e-02 1.84481710e+02] [ 1.41984196e-02 -2.02445375e-04 9.99899177e-01 9.73231544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0392541539998 meters Centerline goodness [0,1] 0.9998260945176297 Centerline is valid? [True, True] Translation: X:915.58, Y:184.50, Z:9.73 [[-5.40548025e-01 -8.41279121e-01 7.56790064e-03 9.15581458e+02] [ 8.41191362e-01 -5.40600961e-01 -1.21529598e-02 1.84504595e+02] [ 1.43152457e-02 -2.03205793e-04 9.99897511e-01 9.73148612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.57, Y:184.53, Z:9.73 [[-5.39664609e-01 -8.41851313e-01 6.96250594e-03 9.15566179e+02] [ 8.41777163e-01 -5.39709494e-01 -1.11745011e-02 1.84526875e+02] [ 1.31649990e-02 -1.69604287e-04 9.99913323e-01 9.73442134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.099254154 meters Centerline goodness [0,1] 0.9997825188664883 Centerline is valid? [True, True] Translation: X:915.55, Y:184.55, Z:9.73 [[-5.39892895e-01 -8.41701883e-01 7.32133749e-03 9.15549973e+02] [ 8.41619968e-01 -5.39942504e-01 -1.17440312e-02 1.84549333e+02] [ 1.38380745e-02 -1.78735174e-04 9.99904233e-01 9.73142567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.129254154 meters Centerline goodness [0,1] 0.9999131039277025 Centerline is valid? [True, True] Translation: X:915.53, Y:184.57, Z:9.73 [[-5.39386758e-01 -8.42027173e-01 7.22260359e-03 9.15533614e+02] [ 8.41947581e-01 -5.39435088e-01 -1.15783310e-02 1.84572162e+02] [ 1.36453951e-02 -1.64144787e-04 9.99906884e-01 9.73273789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1592541539999 meters Centerline goodness [0,1] 0.9999783296493737 Centerline is valid? [True, True] Translation: X:915.52, Y:184.59, Z:9.73 [[-5.38079555e-01 -8.42862705e-01 7.27002402e-03 9.15516847e+02] [ 8.42782245e-01 -5.38128647e-01 -1.16467571e-02 1.84593623e+02] [ 1.37288254e-02 -1.39834688e-04 9.99905745e-01 9.73360793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1892541539999 meters Centerline goodness [0,1] 0.9999134929388611 Centerline is valid? [True, True] Translation: X:915.50, Y:184.62, Z:9.73 [[-5.37459885e-01 -8.43254429e-01 7.67070680e-03 9.15499956e+02] [ 8.43165015e-01 -5.37514605e-01 -1.22803392e-02 1.84616605e+02] [ 1.44785674e-02 -1.32518091e-04 9.99895171e-01 9.73184622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2192541539998 meters Centerline goodness [0,1] 0.9998060344827586 Centerline is valid? [True, True] Translation: X:915.48, Y:184.64, Z:9.73 [[-5.35349554e-01 -8.44587314e-01 8.55131111e-03 9.15482562e+02] [ 8.44476513e-01 -5.35417836e-01 -1.36806353e-02 1.84638073e+02] [ 1.61330155e-02 -1.02540587e-04 9.99869849e-01 9.72939512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.47, Y:184.66, Z:9.73 [[-5.34068178e-01 -8.45396881e-01 8.67726767e-03 9.15466213e+02] [ 8.45283048e-01 -5.34138660e-01 -1.38730299e-02 1.84660817e+02] [ 1.63630803e-02 -7.43965191e-05 9.99866113e-01 9.73197120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2792541539998 meters Centerline goodness [0,1] 0.9998278162799707 Centerline is valid? [True, True] Translation: X:915.45, Y:184.68, Z:9.73 [[-5.33251041e-01 -8.45905753e-01 9.31577792e-03 9.15449609e+02] [ 8.45774799e-01 -5.33332404e-01 -1.48840626e-02 1.84683775e+02] [ 1.75589204e-02 -5.78916565e-05 9.99845829e-01 9.72858542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.3092541539997 meters Centerline goodness [0,1] 0.9998269671670199 Centerline is valid? [True, True] Translation: X:915.43, Y:184.70, Z:9.73 [[-5.30911364e-01 -8.47363773e-01 1.03807614e-02 9.15432669e+02] [ 8.47201665e-01 -5.31012840e-01 -1.65741624e-02 1.84704910e+02] [ 1.95566624e-02 -4.81278174e-06 9.99808750e-01 9.72709268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.339254154 meters Centerline goodness [0,1] 0.9998491379310345 Centerline is valid? [True, True] Translation: X:915.42, Y:184.73, Z:9.73 [[-5.30275204e-01 -8.47757208e-01 1.07668016e-02 9.15417740e+02] [ 8.47583151e-01 -5.30384498e-01 -1.71780918e-02 1.84726348e+02] [ 2.02733958e-02 1.66435015e-05 9.99794473e-01 9.72660696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.369254154 meters Centerline goodness [0,1] 0.9998275044201992 Centerline is valid? [True, True] Translation: X:915.40, Y:184.75, Z:9.73 [[-5.28651960e-01 -8.48765855e-01 1.11188934e-02 9.15401742e+02] [ 8.48580719e-01 -5.28768872e-01 -1.77269043e-02 1.84748044e+02] [ 2.09253158e-02 6.39158368e-05 9.99781040e-01 9.72622521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.399254154 meters Centerline goodness [0,1] 0.9998278273969654 Centerline is valid? [True, True] Translation: X:915.39, Y:184.77, Z:9.73 [[-5.28111533e-01 -8.49102287e-01 1.11137488e-02 9.15386810e+02] [ 8.48917657e-01 -5.28228454e-01 -1.77062791e-02 1.84770431e+02] [ 2.09050404e-02 8.37673936e-05 9.99781462e-01 9.72666555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4292541539999 meters Centerline goodness [0,1] 0.9998705529546288 Centerline is valid? [True, True] Translation: X:915.37, Y:184.79, Z:9.73 [[-5.26241109e-01 -8.50261697e-01 1.11956102e-02 9.15371319e+02] [ 8.50074850e-01 -5.26360169e-01 -1.78247638e-02 1.84793697e+02] [ 2.10486372e-02 1.36983250e-04 9.99778444e-01 9.72821245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4592541539998 meters Centerline goodness [0,1] 0.9999567333693888 Centerline is valid? [True, True] Translation: X:915.36, Y:184.82, Z:9.73 [[-5.25071480e-01 -8.50989609e-01 1.07994143e-02 9.15356351e+02] [ 8.50816126e-01 -5.25182500e-01 -1.71831641e-02 1.84817066e+02] [ 2.02943574e-02 1.65926431e-04 9.99794035e-01 9.73047255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4892541539998 meters Centerline goodness [0,1] 0.9999133674088192 Centerline is valid? [True, True] Translation: X:915.34, Y:184.84, Z:9.73 [[-5.23957297e-01 -8.51675099e-01 1.08754722e-02 9.15340845e+02] [ 8.51499538e-01 -5.24070115e-01 -1.72930776e-02 1.84840192e+02] [ 2.04275935e-02 1.99625366e-04 9.99791315e-01 9.73006755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5192541539998 meters Centerline goodness [0,1] 0.9998272511336644 Centerline is valid? [True, True] Translation: X:915.32, Y:184.86, Z:9.73 [[-5.20389695e-01 -8.53860457e-01 1.08113628e-02 9.15324834e+02] [ 8.53687644e-01 -5.20501909e-01 -1.71804980e-02 1.84863457e+02] [ 2.02970829e-02 2.88972715e-04 9.99793951e-01 9.73045557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5492541539998 meters Centerline goodness [0,1] 0.999848727146994 Centerline is valid? [True, True] Translation: X:915.31, Y:184.89, Z:9.73 [[-5.18580202e-01 -8.54964479e-01 1.05030128e-02 9.15309185e+02] [ 8.54801803e-01 -5.18686448e-01 -1.66807179e-02 1.84886632e+02] [ 1.97091918e-02 3.27704240e-04 9.99805701e-01 9.73149376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.579254154 meters Centerline goodness [0,1] 0.999956870525317 Centerline is valid? [True, True] Translation: X:915.29, Y:184.91, Z:9.73 [[-5.16609408e-01 -8.56162200e-01 1.00502205e-02 9.15293430e+02] [ 8.56013661e-01 -5.16707031e-01 -1.59517119e-02 1.84908890e+02] [ 1.88502724e-02 3.62321557e-04 9.99822252e-01 9.73379898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.609254154 meters Centerline goodness [0,1] 0.9997833716043499 Centerline is valid? [True, True] Translation: X:915.28, Y:184.93, Z:9.73 [[-5.13118514e-01 -8.58254675e-01 1.04068815e-02 9.15277116e+02] [ 8.58096054e-01 -5.13223831e-01 -1.65064007e-02 1.84931235e+02] [ 1.95077552e-02 4.60364184e-04 9.99809600e-01 9.73189147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.639254154 meters Centerline goodness [0,1] 0.9998270382461678 Centerline is valid? [True, True] Translation: X:915.26, Y:184.95, Z:9.73 [[-5.11576319e-01 -8.59174220e-01 1.04560853e-02 9.15261747e+02] [ 8.59014506e-01 -5.11682915e-01 -1.65732353e-02 1.84953497e+02] [ 1.95894967e-02 5.03454242e-04 9.99807981e-01 9.73238874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6692541539999 meters Centerline goodness [0,1] 0.999934926901219 Centerline is valid? [True, True] Translation: X:915.25, Y:184.98, Z:9.74 [[-5.09160210e-01 -8.60613868e-01 9.98252152e-03 9.15248023e+02] [ 8.60468754e-01 -5.09257774e-01 -1.58127456e-02 1.84978274e+02] [ 1.86923448e-02 5.38427001e-04 9.99825138e-01 9.73552041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6992541539998 meters Centerline goodness [0,1] 0.9999132189269521 Centerline is valid? [True, True] Translation: X:915.23, Y:185.00, Z:9.73 [[-5.08508410e-01 -8.60997025e-01 1.01645828e-02 9.15232392e+02] [ 8.60846830e-01 -5.08609674e-01 -1.60914491e-02 1.85000403e+02] [ 1.90244949e-02 5.67511685e-04 9.99818857e-01 9.73462386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7292541539998 meters Centerline goodness [0,1] 0.999784068579819 Centerline is valid? [True, True] Translation: X:915.22, Y:185.03, Z:9.73 [[-5.08152789e-01 -8.61201071e-01 1.06516824e-02 9.15217961e+02] [ 8.61036385e-01 -5.08264051e-01 -1.68522527e-02 1.85025354e+02] [ 1.99270453e-02 6.07966863e-04 9.99801252e-01 9.73323958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7592541539998 meters Centerline goodness [0,1] 0.9999131454379642 Centerline is valid? [True, True] Translation: X:915.20, Y:185.05, Z:9.73 [[-5.07790682e-01 -8.61408204e-01 1.11592906e-02 9.15204793e+02] [ 8.61227726e-01 -5.07912869e-01 -1.76443132e-02 1.85050363e+02] [ 2.08669035e-02 6.51072637e-04 9.99782050e-01 9.73413162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7892541539998 meters Centerline goodness [0,1] 0.9998695822284049 Centerline is valid? [True, True] Translation: X:915.19, Y:185.07, Z:9.73 [[-5.08396078e-01 -8.61043662e-01 1.17150004e-02 9.15190261e+02] [ 8.60844933e-01 -5.08530588e-01 -1.85106072e-02 1.85073734e+02] [ 2.18958770e-02 6.74078613e-04 9.99760029e-01 9.73246662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.8192541539997 meters Centerline goodness [0,1] 0.9998482319016543 Centerline is valid? [True, True] Translation: X:915.18, Y:185.10, Z:9.73 [[-5.11180630e-01 -8.59389686e-01 1.19887946e-02 9.15179369e+02] [ 8.59181377e-01 -5.11320818e-01 -1.89309925e-02 1.85100601e+02] [ 2.23992200e-02 6.23392393e-04 9.99748912e-01 9.73171122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.849254154 meters Centerline goodness [0,1] 0.9998910532967272 Centerline is valid? [True, True] Translation: X:915.17, Y:185.13, Z:9.73 [[-5.13672117e-01 -8.57902694e-01 1.19967889e-02 9.15166911e+02] [ 8.57693956e-01 -5.13811880e-01 -1.89322227e-02 1.85126427e+02] [ 2.24060975e-02 5.64618443e-04 9.99748792e-01 9.73250623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.879254154 meters Centerline goodness [0,1] 0.9998687348224639 Centerline is valid? [True, True] Translation: X:915.16, Y:185.15, Z:9.73 [[-5.16661958e-01 -8.56106074e-01 1.19503654e-02 9.15155658e+02] [ 8.55898729e-01 -5.16799912e-01 -1.88472189e-02 1.85152591e+02] [ 2.23111664e-02 4.90661605e-04 9.99750955e-01 9.73309354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9092541539999 meters Centerline goodness [0,1] 0.9999562831974469 Centerline is valid? [True, True] Translation: X:915.15, Y:185.18, Z:9.74 [[-5.24323503e-01 -8.51448645e-01 1.09575867e-02 9.15149737e+02] [ 8.51273522e-01 -5.24437918e-01 -1.72701972e-02 1.85180546e+02] [ 2.04512600e-02 2.72733180e-04 9.99790814e-01 9.73640271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.14, Y:185.21, Z:9.74 [[-5.28909816e-01 -8.48615024e-01 1.03415422e-02 9.15139627e+02] [ 8.48458697e-01 -5.29010885e-01 -1.62887404e-02 1.85206749e+02] [ 1.92936582e-02 1.59096757e-04 9.99813847e-01 9.73846551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.13, Y:185.24, Z:9.74 [[-5.38632266e-01 -8.42485850e-01 9.63714479e-03 9.15134859e+02] [ 8.42349262e-01 -5.38718469e-01 -1.51701180e-02 1.85237360e+02] [ 1.79723177e-02 -5.32732422e-05 9.99838483e-01 9.74070019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9992541539998 meters Centerline goodness [0,1] 0.9998679519345042 Centerline is valid? [True, True] Translation: X:915.12, Y:185.26, Z:9.74 [[-5.43738979e-01 -8.39197363e-01 9.78308907e-03 9.15124805e+02] [ 8.39056245e-01 -5.43826958e-01 -1.53901443e-02 1.85264216e+02] [ 1.82356761e-02 -1.59659364e-04 9.99833703e-01 9.73916810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.0292541539998 meters Centerline goodness [0,1] 0.9998899696316184 Centerline is valid? [True, True] Translation: X:915.11, Y:185.29, Z:9.74 [[-5.48175321e-01 -8.36309015e-01 9.54197798e-03 9.15114358e+02] [ 8.36174496e-01 -5.48258308e-01 -1.50013264e-02 1.85289932e+02] [ 1.77772132e-02 -2.44598269e-04 9.99841943e-01 9.74020409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.10, Y:185.31, Z:9.74 [[-5.51789173e-01 -8.33943994e-01 8.13156984e-03 9.15100383e+02] [ 8.33846161e-01 -5.51849021e-01 -1.27764894e-02 1.85314237e+02] [ 1.51422755e-02 -2.69450233e-04 9.99885313e-01 9.74366696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.09, Y:185.34, Z:9.74 [[-5.53348703e-01 -8.32907540e-01 8.38112023e-03 9.15085300e+02] [ 8.32803620e-01 -5.53412088e-01 -1.31602121e-02 1.85338168e+02] [ 1.55994532e-02 -3.02359058e-04 9.99878275e-01 9.74398868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.119254154 meters Centerline goodness [0,1] 0.9999338711810607 Centerline is valid? [True, True] Translation: X:915.07, Y:185.36, Z:9.74 [[-5.55404603e-01 -8.31532237e-01 8.93680867e-03 9.15068629e+02] [ 8.31414050e-01 -5.55476382e-01 -1.40237861e-02 1.85361860e+02] [ 1.66254164e-02 -3.58687066e-04 9.99861724e-01 9.74232858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.149254154 meters Centerline goodness [0,1] 0.9998897853017679 Centerline is valid? [True, True] Translation: X:915.06, Y:185.39, Z:9.74 [[-5.56792572e-01 -8.30597769e-01 9.45397458e-03 9.15055484e+02] [ 8.30465542e-01 -5.56872682e-01 -1.48256345e-02 1.85385705e+02] [ 1.75787991e-02 -4.03603036e-04 9.99845400e-01 9.74098756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1792541539999 meters Centerline goodness [0,1] 0.9997348945101071 Centerline is valid? [True, True] Translation: X:915.04, Y:185.41, Z:9.74 [[-5.58263113e-01 -8.29602267e-01 1.01180541e-02 9.15040023e+02] [ 8.29450849e-01 -5.58354607e-01 -1.58562647e-02 1.85408991e+02] [ 1.88038553e-02 -4.59539114e-04 9.99823086e-01 9.74025706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.03, Y:185.43, Z:9.74 [[-5.59789232e-01 -8.28577223e-01 9.78775172e-03 9.15025223e+02] [ 8.28435554e-01 -5.59874595e-01 -1.53287880e-02 1.85431603e+02] [ 1.81809981e-02 -4.72368940e-04 9.99834600e-01 9.74220181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:915.01, Y:185.45, Z:9.74 [[-5.60661379e-01 -8.27987486e-01 9.77455534e-03 9.15005356e+02] [ 8.27846289e-01 -5.60746367e-01 -1.52981360e-02 1.85452184e+02] [ 1.81477115e-02 -4.85244639e-04 9.99835199e-01 9.74199386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2692541539998 meters Centerline goodness [0,1] 0.9998025623025623 Centerline is valid? [True, True] Translation: X:914.99, Y:185.47, Z:9.74 [[-5.61061036e-01 -8.27719341e-01 9.55023124e-03 9.14988706e+02] [ 8.27584683e-01 -5.61142108e-01 -1.49374498e-02 1.85474192e+02] [ 1.77230530e-02 -4.77195976e-04 9.99842820e-01 9.74121128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.97, Y:185.49, Z:9.74 [[-5.60563267e-01 -8.28062038e-01 9.06011929e-03 9.14972490e+02] [ 8.27941054e-01 -5.60636309e-01 -1.41612375e-02 1.85494882e+02] [ 1.68058150e-02 -4.37024819e-04 9.99858677e-01 9.74266137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.96, Y:185.52, Z:9.74 [[-5.59835841e-01 -8.28557274e-01 8.75639083e-03 9.14955522e+02] [ 8.28444477e-01 -5.59904171e-01 -1.36772722e-02 1.85516628e+02] [ 1.62351431e-02 -4.02843572e-04 9.99868120e-01 9.74310250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.94, Y:185.54, Z:9.74 [[-5.60095564e-01 -8.28381684e-01 8.76043198e-03 9.14940986e+02] [ 8.28268906e-01 -5.60163925e-01 -1.36746837e-02 1.85539118e+02] [ 1.62351355e-02 -4.03136251e-04 9.99868120e-01 9.74335225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.389254154 meters Centerline goodness [0,1] 0.9998253236970239 Centerline is valid? [True, True] Translation: X:914.92, Y:185.56, Z:9.74 [[-5.58190709e-01 -8.29671220e-01 8.29454381e-03 9.14920387e+02] [ 8.29570388e-01 -5.58252228e-01 -1.29391438e-02 1.85559680e+02] [ 1.53656828e-02 -3.41601943e-04 9.99881883e-01 9.74257177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4192541539999 meters Centerline goodness [0,1] 0.9998695169954114 Centerline is valid? [True, True] Translation: X:914.90, Y:185.58, Z:9.74 [[-5.56666397e-01 -8.30700689e-01 7.67382593e-03 9.14902372e+02] [ 8.30614583e-01 -5.56719214e-01 -1.19637374e-02 1.85581441e+02] [ 1.42104512e-02 -2.85818859e-04 9.99898986e-01 9.74409942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4492541539998 meters Centerline goodness [0,1] 0.999870034224321 Centerline is valid? [True, True] Translation: X:914.88, Y:185.60, Z:9.74 [[-5.52985073e-01 -8.33161485e-01 7.03202254e-03 9.14879990e+02] [ 8.33089460e-01 -5.53029747e-01 -1.09567828e-02 1.85601028e+02] [ 1.30176871e-02 -2.00633503e-04 9.99915246e-01 9.74377460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4792541539998 meters Centerline goodness [0,1] 0.9999782825869782 Centerline is valid? [True, True] Translation: X:914.86, Y:185.62, Z:9.75 [[-5.50856016e-01 -8.34574935e-01 6.50589432e-03 9.14860923e+02] [ 8.34513453e-01 -5.50894413e-01 -1.01312639e-02 1.85621828e+02] [ 1.20393598e-02 -1.51611341e-04 9.99927513e-01 9.74547005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5092541539998 meters Centerline goodness [0,1] 0.9999138283892371 Centerline is valid? [True, True] Translation: X:914.84, Y:185.64, Z:9.74 [[-5.46977515e-01 -8.37119361e-01 6.83910032e-03 9.14837929e+02] [ 8.37051704e-01 -5.47020261e-01 -1.06432684e-02 1.85640528e+02] [ 1.26508125e-02 -9.69479504e-05 9.99919971e-01 9.74362935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.82, Y:185.66, Z:9.74 [[-5.44953459e-01 -8.38439146e-01 6.74729297e-03 9.14818950e+02] [ 8.38373474e-01 -5.44995225e-01 -1.04939604e-02 1.85662062e+02] [ 1.24757896e-02 -6.19685743e-05 9.99922172e-01 9.74464964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5692541539997 meters Centerline goodness [0,1] 0.9999353963434331 Centerline is valid? [True, True] Translation: X:914.80, Y:185.68, Z:9.74 [[-5.41742094e-01 -8.40515747e-01 6.98447436e-03 9.14797601e+02] [ 8.40445639e-01 -5.41787116e-01 -1.08557847e-02 1.85681653e+02] [ 1.29085562e-02 -1.09645311e-05 9.99916681e-01 9.74470139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.599254154 meters Centerline goodness [0,1] 0.9998280900807976 Centerline is valid? [True, True] Translation: X:914.78, Y:185.70, Z:9.74 [[-5.40783255e-01 -8.41127256e-01 7.64261528e-03 9.14779899e+02] [ 8.41043487e-01 -5.40837257e-01 -1.18707199e-02 1.85703577e+02] [ 1.41181972e-02 8.28525185e-06 9.99900333e-01 9.74196587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.629254154 meters Centerline goodness [0,1] 0.9999138135355843 Centerline is valid? [True, True] Translation: X:914.76, Y:185.72, Z:9.74 [[-5.39605587e-01 -8.41885210e-01 7.42320744e-03 9.14762701e+02] [ 8.41806341e-01 -5.39656643e-01 -1.15235497e-02 1.85724077e+02] [ 1.37074893e-02 3.07312774e-05 9.99906047e-01 9.74289526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.74, Y:185.74, Z:9.74 [[-5.37655647e-01 -8.43136610e-01 6.86023134e-03 9.14742057e+02] [ 8.43069412e-01 -5.37699408e-01 -1.06448765e-02 1.85743865e+02] [ 1.26638274e-02 6.03732604e-05 9.99919809e-01 9.74473120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6892541539999 meters Centerline goodness [0,1] 0.999935745036304 Centerline is valid? [True, True] Translation: X:914.72, Y:185.77, Z:9.74 [[-5.37705292e-01 -8.43101883e-01 7.22731245e-03 9.14725000e+02] [ 8.43027395e-01 -5.37753857e-01 -1.12071639e-02 1.85765992e+02] [ 1.33352961e-02 6.66710718e-05 9.99911079e-01 9.74311428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7192541539998 meters Centerline goodness [0,1] 0.9998282745889323 Centerline is valid? [True, True] Translation: X:914.71, Y:185.79, Z:9.74 [[-5.37782609e-01 -8.43050066e-01 7.51350247e-03 9.14708528e+02] [ 8.42969661e-01 -5.37835088e-01 -1.16433952e-02 1.85788229e+02] [ 1.38569903e-02 7.20392042e-05 9.99903985e-01 9.74150063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7492541539998 meters Centerline goodness [0,1] 0.9997864525497565 Centerline is valid? [True, True] Translation: X:914.69, Y:185.81, Z:9.74 [[-5.37421337e-01 -8.43277046e-01 7.88234159e-03 9.14690940e+02] [ 8.43188696e-01 -5.37479132e-01 -1.22068283e-02 1.85809121e+02] [ 1.45303322e-02 8.60913451e-05 9.99894425e-01 9.74037666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7792541539998 meters Centerline goodness [0,1] 0.9999359412367612 Centerline is valid? [True, True] Translation: X:914.67, Y:185.83, Z:9.74 [[-5.36970339e-01 -8.43564023e-01 7.91167318e-03 9.14674728e+02] [ 8.43475163e-01 -5.37028612e-01 -1.22441651e-02 1.85832033e+02] [ 1.45775320e-02 9.85463506e-05 9.99893737e-01 9.74214805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.8092541539997 meters Centerline goodness [0,1] 0.9997646605763676 Centerline is valid? [True, True] Translation: X:914.66, Y:185.85, Z:9.74 [[-5.36631471e-01 -8.43768406e-01 9.03003354e-03 9.14657421e+02] [ 8.43652830e-01 -5.36707426e-01 -1.39657196e-02 1.85853981e+02] [ 1.66303190e-02 1.23768719e-04 9.99861699e-01 9.73904400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.839254154 meters Centerline goodness [0,1] 0.9997862562787219 Centerline is valid? [True, True] Translation: X:914.64, Y:185.88, Z:9.74 [[-5.36131980e-01 -8.44082108e-01 9.37519033e-03 9.14640807e+02] [ 8.43957728e-01 -5.36213926e-01 -1.44906680e-02 1.85876459e+02] [ 1.72584212e-02 1.43353781e-04 9.99851052e-01 9.73935353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.869254154 meters Centerline goodness [0,1] 0.999828524885326 Centerline is valid? [True, True] Translation: X:914.62, Y:185.90, Z:9.74 [[-5.35221137e-01 -8.44649710e-01 1.02568096e-02 9.14623350e+02] [ 8.44501132e-01 -5.35319376e-01 -1.58430700e-02 1.85898642e+02] [ 1.88725134e-02 1.82341382e-04 9.99821882e-01 9.73793009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.899254154 meters Centerline goodness [0,1] 0.9998718030895456 Centerline is valid? [True, True] Translation: X:914.61, Y:185.92, Z:9.74 [[-5.35179697e-01 -8.44672915e-01 1.05051330e-02 9.14606996e+02] [ 8.44517262e-01 -5.35282756e-01 -1.62161937e-02 1.85920825e+02] [ 1.93205961e-02 1.93188474e-04 9.99813321e-01 9.73727097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9292541539999 meters Centerline goodness [0,1] 0.9998716385341121 Centerline is valid? [True, True] Translation: X:914.59, Y:185.94, Z:9.74 [[-5.35270058e-01 -8.44611871e-01 1.08051536e-02 9.14592593e+02] [ 8.44447405e-01 -5.35379067e-01 -1.66683427e-02 1.85944377e+02] [ 1.98631332e-02 2.02319109e-04 9.99802688e-01 9.73861575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9592541539998 meters Centerline goodness [0,1] 0.9999145828439642 Centerline is valid? [True, True] Translation: X:914.58, Y:185.97, Z:9.74 [[-5.36350678e-01 -8.43935088e-01 1.00755908e-02 9.14577999e+02] [ 8.43792141e-01 -5.36445280e-01 -1.55333215e-02 1.85967906e+02] [ 1.85141182e-02 1.70396805e-04 9.99828585e-01 9.74064618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9892541539998 meters Centerline goodness [0,1] 0.9998721282127786 Centerline is valid? [True, True] Translation: X:914.56, Y:185.99, Z:9.74 [[-5.37602621e-01 -8.43135693e-01 1.02774143e-02 9.14563512e+02] [ 8.42986984e-01 -5.37700829e-01 -1.58355462e-02 1.85990651e+02] [ 1.88776884e-02 1.50495366e-04 9.99821789e-01 9.73930274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.55, Y:186.02, Z:9.74 [[-5.41377129e-01 -8.40728568e-01 9.28866630e-03 9.14551355e+02] [ 8.40606867e-01 -5.41456805e-01 -1.43046702e-02 1.86016068e+02] [ 1.70557565e-02 6.38953629e-05 9.99854538e-01 9.74331346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0492541539998 meters Centerline goodness [0,1] 0.9999357243861678 Centerline is valid? [True, True] Translation: X:914.54, Y:186.04, Z:9.74 [[-5.44778358e-01 -8.38526538e-01 9.47552278e-03 9.14538514e+02] [ 8.38399718e-01 -5.44860758e-01 -1.45831418e-02 1.86040638e+02] [ 1.73911919e-02 -3.04401114e-07 9.99848762e-01 9.74239417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.53, Y:186.06, Z:9.74 [[-5.47807812e-01 -8.36556606e-01 8.92443784e-03 9.14526063e+02] [ 8.36443987e-01 -5.47880500e-01 -1.37264393e-02 1.86064562e+02] [ 1.63724690e-02 -5.46583276e-05 9.99865961e-01 9.74433668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.109254154 meters Centerline goodness [0,1] 0.9998506889637814 Centerline is valid? [True, True] Translation: X:914.52, Y:186.09, Z:9.75 [[-5.54736012e-01 -8.31982552e-01 8.54345293e-03 9.14517215e+02] [ 8.31878927e-01 -5.54801768e-01 -1.31319949e-02 1.86091093e+02] [ 1.56655134e-02 -1.77672033e-04 9.99877273e-01 9.74559751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.139254154 meters Centerline goodness [0,1] 0.9999146083726491 Centerline is valid? [True, True] Translation: X:914.50, Y:186.12, Z:9.75 [[-5.58260095e-01 -8.29619961e-01 8.73987965e-03 9.14504500e+02] [ 8.29511366e-01 -5.58328451e-01 -1.34251522e-02 1.86116531e+02] [ 1.60174978e-02 -2.44897262e-04 9.99871682e-01 9.74513852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.49, Y:186.14, Z:9.75 [[-5.63271394e-01 -8.26231372e-01 8.18877628e-03 9.14492780e+02] [ 8.26135793e-01 -5.63330826e-01 -1.25710796e-02 1.86142481e+02] [ 1.49996104e-02 -3.15888323e-04 9.99887450e-01 9.74767784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1992541539998 meters Centerline goodness [0,1] 0.9998716302952503 Centerline is valid? [True, True] Translation: X:914.48, Y:186.17, Z:9.75 [[-5.65509029e-01 -8.24695224e-01 8.79351024e-03 9.14479639e+02] [ 8.24584963e-01 -5.65577267e-01 -1.34905157e-02 1.86166469e+02] [ 1.60989734e-02 -3.78012120e-04 9.99870332e-01 9.74522704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2292541539998 meters Centerline goodness [0,1] 0.9998500813843914 Centerline is valid? [True, True] Translation: X:914.47, Y:186.19, Z:9.75 [[-5.67341793e-01 -8.23430684e-01 9.23029912e-03 9.14465399e+02] [ 8.23309186e-01 -5.67416711e-01 -1.41513565e-02 1.86190501e+02] [ 1.68900871e-02 -4.29265895e-04 9.99857260e-01 9.74501309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2592541539998 meters Centerline goodness [0,1] 0.9999355199243434 Centerline is valid? [True, True] Translation: X:914.45, Y:186.21, Z:9.75 [[-5.67420030e-01 -8.23376061e-01 9.29368318e-03 9.14451368e+02] [ 8.23253021e-01 -5.67495972e-01 -1.42402779e-02 1.86212928e+02] [ 1.69992317e-02 -4.29166144e-04 9.99855411e-01 9.74619714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2892541539998 meters Centerline goodness [0,1] 0.9999785361665593 Centerline is valid? [True, True] Translation: X:914.44, Y:186.23, Z:9.75 [[-5.66969928e-01 -8.23687022e-01 9.20815628e-03 9.14435597e+02] [ 8.23566420e-01 -5.67044549e-01 -1.41007721e-02 1.86234972e+02] [ 1.68360578e-02 -4.11185451e-04 9.99858179e-01 9.74755591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.3192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.42, Y:186.26, Z:9.75 [[-5.65162704e-01 -8.24925045e-01 9.47571953e-03 9.14420021e+02] [ 8.24797671e-01 -5.65242007e-01 -1.45008899e-02 1.86257772e+02] [ 1.73182219e-02 -3.79810724e-04 9.99849956e-01 9.74725192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.349254154 meters Centerline goodness [0,1] 0.9998289611528018 Centerline is valid? [True, True] Translation: X:914.40, Y:186.28, Z:9.74 [[-5.64614553e-01 -8.25291055e-01 1.02509329e-02 9.14403639e+02] [ 8.25142237e-01 -5.64707464e-01 -1.56770287e-02 1.86280237e+02] [ 1.87268899e-02 -3.93000854e-04 9.99824559e-01 9.74482184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.379254154 meters Centerline goodness [0,1] 0.9998293406148004 Centerline is valid? [True, True] Translation: X:914.38, Y:186.30, Z:9.75 [[-5.61262934e-01 -8.27576536e-01 1.00496772e-02 9.14384741e+02] [ 8.27434013e-01 -5.61352815e-01 -1.53613492e-02 1.86302022e+02] [ 1.83541068e-02 -3.06311147e-04 9.99831502e-01 9.74541506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4092541539999 meters Centerline goodness [0,1] 0.9998287927750551 Centerline is valid? [True, True] Translation: X:914.37, Y:186.32, Z:9.75 [[-5.59510579e-01 -8.28762971e-01 9.99251524e-03 9.14368294e+02] [ 8.28622393e-01 -5.59599741e-01 -1.52662788e-02 1.86324334e+02] [ 1.82439355e-02 -2.61622598e-04 9.99833531e-01 9.74565524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4392541539999 meters Centerline goodness [0,1] 0.999957282299921 Centerline is valid? [True, True] Translation: X:914.35, Y:186.35, Z:9.75 [[-5.57347172e-01 -8.30225352e-01 9.48661004e-03 9.14351208e+02] [ 8.30099008e-01 -5.57427866e-01 -1.44848595e-02 1.86347347e+02] [ 1.73137984e-02 -1.98269895e-04 9.99850085e-01 9.74814340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4692541539998 meters Centerline goodness [0,1] 0.9998929931943672 Centerline is valid? [True, True] Translation: X:914.33, Y:186.37, Z:9.75 [[-5.53080849e-01 -8.33070295e-01 9.77024405e-03 9.14332548e+02] [ 8.32936883e-01 -5.53167128e-01 -1.49089463e-02 1.86369133e+02] [ 1.78247781e-02 -1.07856048e-04 9.99841120e-01 9.74716981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4992541539998 meters Centerline goodness [0,1] 0.9998932695796956 Centerline is valid? [True, True] Translation: X:914.32, Y:186.39, Z:9.75 [[-5.50667996e-01 -8.34667836e-01 9.71395997e-03 9.14315866e+02] [ 8.34536369e-01 -5.50753666e-01 -1.48137785e-02 1.86390699e+02] [ 1.77145835e-02 -5.08208529e-05 9.99843083e-01 9.74687766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.5292541539998 meters Centerline goodness [0,1] 0.999893166958677 Centerline is valid? [True, True] Translation: X:914.30, Y:186.41, Z:9.75 [[-5.45118476e-01 -8.38300433e-01 9.91114107e-03 9.14296373e+02] [ 8.38164348e-01 -5.45208564e-01 -1.51045599e-02 1.86411644e+02] [ 1.80657981e-02 7.33904185e-05 9.99836797e-01 9.74732412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.5592541539997 meters Centerline goodness [0,1] 0.9998718030895456 Centerline is valid? [True, True] Translation: X:914.28, Y:186.43, Z:9.75 [[-5.41838785e-01 -8.40424318e-01 9.88418716e-03 9.14279101e+02] [ 8.40289488e-01 -5.41928910e-01 -1.50542982e-02 1.86432770e+02] [ 1.80085251e-02 1.48575907e-04 9.99837822e-01 9.74701688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.26, Y:186.45, Z:9.75 [[-5.38197149e-01 -8.42768650e-01 9.21036434e-03 9.14261279e+02] [ 8.42652050e-01 -5.38275910e-01 -1.40202380e-02 1.86454222e+02] [ 1.67735343e-02 2.15480266e-04 9.99859291e-01 9.74944746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.24, Y:186.47, Z:9.75 [[-5.31884335e-01 -8.46770407e-01 8.88433814e-03 9.14241753e+02] [ 8.46662594e-01 -5.31958426e-01 -1.35161018e-02 1.86473222e+02] [ 1.61711335e-02 3.33033986e-04 9.99869183e-01 9.74924221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.649254154 meters Centerline goodness [0,1] 0.9999787523372429 Centerline is valid? [True, True] Translation: X:914.22, Y:186.50, Z:9.75 [[-5.29444548e-01 -8.48297231e-01 8.95981372e-03 9.14224782e+02] [ 8.48187932e-01 -5.29520214e-01 -1.36225557e-02 1.86495782e+02] [ 1.63003788e-02 3.87218044e-04 9.99867065e-01 9.74905152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.21, Y:186.52, Z:9.75 [[-5.25894751e-01 -8.50505948e-01 8.62225871e-03 9.14206989e+02] [ 8.50405138e-01 -5.25965243e-01 -1.31020879e-02 1.86515904e+02] [ 1.56784121e-02 4.42093877e-04 9.99876988e-01 9.74963704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.19, Y:186.54, Z:9.75 [[-5.25248198e-01 -8.50906232e-01 8.53902288e-03 9.14192934e+02] [ 8.50807521e-01 -5.25317407e-01 -1.29685933e-02 1.86540696e+02] [ 1.55207542e-02 4.53334643e-04 9.99879443e-01 9.75047177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7392541539998 meters Centerline goodness [0,1] 0.9998725140234574 Centerline is valid? [True, True] Translation: X:914.18, Y:186.57, Z:9.75 [[-5.25825011e-01 -8.50544880e-01 9.02586141e-03 9.14180756e+02] [ 8.50434681e-01 -5.25902258e-01 -1.36992140e-02 1.86566522e+02] [ 1.63985172e-02 4.72516233e-04 9.99865424e-01 9.74878557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7692541539998 meters Centerline goodness [0,1] 0.9998294170327093 Centerline is valid? [True, True] Translation: X:914.17, Y:186.59, Z:9.75 [[-5.26701669e-01 -8.50004248e-01 8.83919716e-03 9.14166263e+02] [ 8.49898618e-01 -5.26775641e-01 -1.34075568e-02 1.86591059e+02] [ 1.60527539e-02 4.50638937e-04 9.99871045e-01 9.74873432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.15, Y:186.62, Z:9.75 [[-5.27472812e-01 -8.49534621e-01 7.95993900e-03 9.14151868e+02] [ 8.49449011e-01 -5.27532720e-01 -1.20667892e-02 1.86615534e+02] [ 1.44502834e-02 3.96659093e-04 9.99895511e-01 9.75177046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.829254154 meters Centerline goodness [0,1] 0.9999362041467305 Centerline is valid? [True, True] Translation: X:914.14, Y:186.64, Z:9.75 [[-5.29119583e-01 -8.48503490e-01 8.61946450e-03 9.14139707e+02] [ 8.48403104e-01 -5.29189631e-01 -1.30578541e-02 1.86640786e+02] [ 1.56409660e-02 4.03614103e-04 9.99877591e-01 9.74950430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.859254154 meters Centerline goodness [0,1] 0.9999142440614013 Centerline is valid? [True, True] Translation: X:914.13, Y:186.66, Z:9.75 [[-5.29746691e-01 -8.48108334e-01 8.98310083e-03 9.14125864e+02] [ 8.47999396e-01 -5.29822689e-01 -1.35993643e-02 1.86664410e+02] [ 1.62931849e-02 4.13445813e-04 9.99867172e-01 9.74862295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.11, Y:186.69, Z:9.75 [[-5.29986404e-01 -8.47952960e-01 9.49684801e-03 9.14113429e+02] [ 8.47831359e-01 -5.30071303e-01 -1.43666104e-02 1.86688259e+02] [ 1.72162164e-02 4.37617361e-04 9.99851694e-01 9.74877436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9192541539999 meters Centerline goodness [0,1] 0.9999143083613616 Centerline is valid? [True, True] Translation: X:914.10, Y:186.71, Z:9.75 [[-5.30070463e-01 -8.47885420e-01 1.07526307e-02 9.14099417e+02] [ 8.47729744e-01 -5.30179277e-01 -1.62547139e-02 1.86712722e+02] [ 1.94829569e-02 4.99181140e-04 9.99810065e-01 9.74582037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.09, Y:186.74, Z:9.75 [[-5.29823778e-01 -8.48037419e-01 1.09224872e-02 9.14087969e+02] [ 8.47877032e-01 -5.29936098e-01 -1.65006605e-02 1.86737353e+02] [ 1.97813978e-02 5.18483723e-04 9.99804195e-01 9.74676385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9792541539998 meters Centerline goodness [0,1] 0.999849121672594 Centerline is valid? [True, True] Translation: X:914.08, Y:186.76, Z:9.74 [[-5.30451333e-01 -8.47631161e-01 1.19498428e-02 9.14075306e+02] [ 8.47439363e-01 -5.30585624e-01 -1.80394631e-02 1.86760649e+02] [ 2.16312258e-02 5.57709888e-04 9.99765862e-01 9.74367762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.06, Y:186.78, Z:9.75 [[-5.30449550e-01 -8.47640380e-01 1.13604963e-02 9.14062036e+02] [ 8.47467249e-01 -5.30570918e-01 -1.71395362e-02 1.86783612e+02] [ 2.05557119e-02 5.35989246e-04 9.99788565e-01 9.74636703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:914.05, Y:186.81, Z:9.75 [[-5.30625327e-01 -8.47531186e-01 1.12982597e-02 9.14050534e+02] [ 8.47360124e-01 -5.30745328e-01 -1.70357678e-02 1.86809993e+02] [ 2.04348430e-02 5.34084886e-04 9.99791044e-01 9.74783856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0692541539997 meters Centerline goodness [0,1] 0.9998046154180145 Centerline is valid? [True, True] Translation: X:914.04, Y:186.84, Z:9.75 [[-5.31543488e-01 -8.46948082e-01 1.18519145e-02 9.14038884e+02] [ 8.46759941e-01 -5.31675326e-01 -1.78591954e-02 1.86835967e+02] [ 2.14271818e-02 5.42787369e-04 9.99770264e-01 9.74529501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.099254154 meters Centerline goodness [0,1] 0.9998479285698768 Centerline is valid? [True, True] Translation: X:914.03, Y:186.86, Z:9.75 [[-5.31600118e-01 -8.46920316e-01 1.12824441e-02 9.14027544e+02] [ 8.46750011e-01 -5.31719576e-01 -1.69915008e-02 1.86860403e+02] [ 2.03895436e-02 5.20725828e-04 9.99791976e-01 9.74614099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.129254154 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:914.01, Y:186.88, Z:9.75 [[-5.31893692e-01 -8.46747550e-01 1.03772495e-02 9.14014271e+02] [ 8.46603618e-01 -5.31994698e-01 -1.56190649e-02 1.86884458e+02] [ 1.87460467e-02 4.77734890e-04 9.99824163e-01 9.74839805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1592541539999 meters Centerline goodness [0,1] 0.9999131906766787 Centerline is valid? [True, True] Translation: X:914.00, Y:186.91, Z:9.75 [[-5.32491936e-01 -8.46370208e-01 1.04789956e-02 9.14001638e+02] [ 8.46223573e-01 -5.32594823e-01 -1.57613404e-02 1.86909155e+02] [ 1.89209878e-02 4.74786437e-04 9.99820869e-01 9.74841732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1892541539999 meters Centerline goodness [0,1] 0.999912677101753 Centerline is valid? [True, True] Translation: X:913.99, Y:186.94, Z:9.75 [[-5.33433591e-01 -8.45780323e-01 1.02102315e-02 9.13991157e+02] [ 8.45641190e-01 -5.33531109e-01 -1.53470901e-02 1.86936302e+02] [ 1.84277430e-02 4.47538985e-04 9.99830095e-01 9.74879540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.98, Y:186.96, Z:9.75 [[-5.33989324e-01 -8.45430373e-01 1.01432827e-02 9.13977531e+02] [ 8.45293175e-01 -5.34085473e-01 -1.52366552e-02 1.86959617e+02] [ 1.82989111e-02 4.37836400e-04 9.99832465e-01 9.75040747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.96, Y:186.98, Z:9.75 [[-5.34258414e-01 -8.45260294e-01 1.01480300e-02 9.13962595e+02] [ 8.45123125e-01 -5.34354605e-01 -1.52334933e-02 1.86981836e+02] [ 1.82989136e-02 4.37712814e-04 9.99832465e-01 9.75065715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.95, Y:187.01, Z:9.75 [[-5.34017010e-01 -8.45417255e-01 9.77235233e-03 9.13948947e+02] [ 8.45290256e-01 -5.34106243e-01 -1.46596064e-02 1.87006009e+02] [ 1.76129586e-02 4.31995011e-04 9.99844787e-01 9.75182857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.3092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.93, Y:187.03, Z:9.75 [[-5.33851934e-01 -8.45522644e-01 9.67321558e-03 9.13932222e+02] [ 8.45398405e-01 -5.33939386e-01 -1.45006610e-02 1.87026770e+02] [ 1.74255480e-02 4.36515101e-04 9.99848068e-01 9.75172160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.339254154 meters Centerline goodness [0,1] 0.999912457322945 Centerline is valid? [True, True] Translation: X:913.92, Y:187.05, Z:9.75 [[-5.33721061e-01 -8.45593933e-01 1.06173949e-02 9.13916027e+02] [ 8.45444486e-01 -5.33826434e-01 -1.59046754e-02 1.87048395e+02] [ 1.91167431e-02 4.87757760e-04 9.99817139e-01 9.74920567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.90, Y:187.07, Z:9.75 [[-5.33461560e-01 -8.45761013e-01 1.03476405e-02 9.13900828e+02] [ 8.45619284e-01 -5.33561686e-01 -1.54904502e-02 1.87071532e+02] [ 1.86223234e-02 4.86604634e-04 9.99826471e-01 9.75148336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.399254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.88, Y:187.09, Z:9.75 [[-5.34227049e-01 -8.45272816e-01 1.07390150e-02 9.13883521e+02] [ 8.45120282e-01 -5.34334748e-01 -1.60650325e-02 1.87092997e+02] [ 1.93175641e-02 4.93384444e-04 9.99813277e-01 9.75067972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.87, Y:187.12, Z:9.75 [[-5.35314544e-01 -8.44584932e-01 1.07066327e-02 9.13868656e+02] [ 8.44433393e-01 -5.35421394e-01 -1.60055029e-02 1.87115623e+02] [ 1.92505668e-02 4.73059703e-04 9.99814579e-01 9.75116887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.85, Y:187.14, Z:9.75 [[-5.35970360e-01 -8.44170239e-01 1.06009781e-02 9.13853824e+02] [ 8.44021793e-01 -5.36074992e-01 -1.58371569e-02 1.87140030e+02] [ 1.90521758e-02 4.59209844e-04 9.99818385e-01 9.75211416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.84, Y:187.16, Z:9.75 [[-5.36524274e-01 -8.43819410e-01 1.05122304e-02 9.13838953e+02] [ 8.43673557e-01 -5.36627062e-01 -1.56947798e-02 1.87163306e+02] [ 1.88847071e-02 4.48260484e-04 9.99821568e-01 9.75265148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.82, Y:187.19, Z:9.75 [[-5.37295776e-01 -8.43330872e-01 1.03097040e-02 9.13823059e+02] [ 8.43190675e-01 -5.37394509e-01 -1.53826919e-02 1.87185555e+02] [ 1.85130773e-02 4.27990935e-04 9.99828527e-01 9.75232070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5492541539998 meters Centerline goodness [0,1] 0.9999344820808491 Centerline is valid? [True, True] Translation: X:913.81, Y:187.21, Z:9.75 [[-5.39185706e-01 -8.42116962e-01 1.08534138e-02 9.13809146e+02] [ 8.41961508e-01 -5.39294774e-01 -1.61853777e-02 1.87210556e+02] [ 1.94831704e-02 4.11232384e-04 9.99810100e-01 9.75085544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.79, Y:187.23, Z:9.75 [[-5.40054609e-01 -8.41565056e-01 1.04535329e-02 9.13793445e+02] [ 8.41420888e-01 -5.40155636e-01 -1.55813114e-02 1.87234175e+02] [ 1.87592220e-02 3.81061903e-04 9.99823958e-01 9.75220309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.609254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.78, Y:187.26, Z:9.75 [[-5.42075497e-01 -8.40266779e-01 1.02905459e-02 9.13778857e+02] [ 8.40127011e-01 -5.42173060e-01 -1.53290256e-02 1.87256752e+02] [ 1.84597277e-02 3.35876417e-04 9.99829548e-01 9.75172741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.639254154 meters Centerline goodness [0,1] 0.9998906745380999 Centerline is valid? [True, True] Translation: X:913.76, Y:187.28, Z:9.75 [[-5.43447916e-01 -8.39372724e-01 1.08532363e-02 9.13764604e+02] [ 8.39217282e-01 -5.43556181e-01 -1.61564440e-02 1.87280563e+02] [ 1.94606221e-02 3.28037622e-04 9.99810570e-01 9.75018518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.75, Y:187.30, Z:9.75 [[-5.44396196e-01 -8.38769094e-01 9.95932492e-03 9.13750576e+02] [ 8.38638279e-01 -5.44487212e-01 -1.48159560e-02 1.87303835e+02] [ 1.78498911e-02 2.86521027e-04 9.99840637e-01 9.75356807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6992541539998 meters Centerline goodness [0,1] 0.9999562822418466 Centerline is valid? [True, True] Translation: X:913.74, Y:187.33, Z:9.75 [[-5.44429604e-01 -8.38750587e-01 9.68808445e-03 9.13735512e+02] [ 8.38626972e-01 -5.44515723e-01 -1.44024169e-02 1.87325503e+02] [ 1.73553499e-02 2.83586797e-04 9.99849344e-01 9.75407553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.72, Y:187.35, Z:9.75 [[-5.44383185e-01 -8.38780571e-01 9.70062053e-03 9.13719938e+02] [ 8.38656821e-01 -5.44469531e-01 -1.44106595e-02 1.87346772e+02] [ 1.73690735e-02 2.90570846e-04 9.99849104e-01 9.75418588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.70, Y:187.37, Z:9.75 [[-5.43636410e-01 -8.39259797e-01 1.01216367e-02 9.13704246e+02] [ 8.39125340e-01 -5.43730529e-01 -1.50258144e-02 1.87369884e+02] [ 1.81140049e-02 3.24742071e-04 9.99835875e-01 9.75422059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7892541539998 meters Centerline goodness [0,1] 0.9998685997109193 Centerline is valid? [True, True] Translation: X:913.69, Y:187.39, Z:9.75 [[-5.43519520e-01 -8.39337158e-01 9.98337642e-03 9.13688272e+02] [ 8.39206534e-01 -5.43611100e-01 -1.48109843e-02 1.87391863e+02] [ 1.78584837e-02 3.28055650e-04 9.99840471e-01 9.75396995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.8192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.67, Y:187.41, Z:9.75 [[-5.43004414e-01 -8.39666304e-01 1.03297972e-02 9.13671970e+02] [ 8.39526709e-01 -5.43102542e-01 -1.53144951e-02 1.87413715e+02] [ 1.84692046e-02 3.56302251e-04 9.99829366e-01 9.75361291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.66, Y:187.44, Z:9.75 [[-5.42975736e-01 -8.39684639e-01 1.03468502e-02 9.13657051e+02] [ 8.39544753e-01 -5.43074190e-01 -1.53307505e-02 1.87435012e+02] [ 1.84921030e-02 3.62418259e-04 9.99828941e-01 9.75372690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.879254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.64, Y:187.46, Z:9.75 [[-5.43118559e-01 -8.39589766e-01 1.05478166e-02 9.13641662e+02] [ 8.39444553e-01 -5.43220846e-01 -1.56190566e-02 1.87457327e+02] [ 1.88433940e-02 3.71307680e-04 9.99822379e-01 9.75353880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.63, Y:187.48, Z:9.75 [[-5.43212507e-01 -8.39526605e-01 1.07355421e-02 9.13625871e+02] [ 8.39376371e-01 -5.43318447e-01 -1.58862755e-02 1.87479880e+02] [ 1.91697690e-02 3.81536833e-04 9.99816170e-01 9.75361378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.61, Y:187.50, Z:9.75 [[-5.43511944e-01 -8.39326659e-01 1.12038662e-02 9.13610639e+02] [ 8.39163220e-01 -5.43627264e-01 -1.65676662e-02 1.87501219e+02] [ 1.99964111e-02 3.97148004e-04 9.99799973e-01 9.75328225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.60, Y:187.52, Z:9.75 [[-5.43773298e-01 -8.39156753e-01 1.12491587e-02 9.13595271e+02] [ 8.38992188e-01 -5.43889496e-01 -1.66230017e-02 1.87523055e+02] [ 2.00676034e-02 3.98811799e-04 9.99798546e-01 9.75326713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.58, Y:187.55, Z:9.75 [[-5.44611412e-01 -8.38614127e-01 1.11694205e-02 9.13579689e+02] [ 8.38451993e-01 -5.44725803e-01 -1.64941139e-02 1.87545813e+02] [ 1.99164685e-02 3.82140245e-04 9.99801574e-01 9.75334315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.56, Y:187.57, Z:9.75 [[-5.45501461e-01 -8.38031821e-01 1.14377992e-02 9.13564860e+02] [ 8.37861900e-01 -5.45621229e-01 -1.68793025e-02 1.87568412e+02] [ 2.03860987e-02 3.75612031e-04 9.99792111e-01 9.75325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.55, Y:187.59, Z:9.75 [[-5.46316682e-01 -8.37494480e-01 1.18776593e-02 9.13550198e+02] [ 8.37311355e-01 -5.46445656e-01 -1.75168658e-02 1.87591426e+02] [ 2.11607737e-02 3.75542962e-04 9.99776015e-01 9.75310209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.54, Y:187.61, Z:9.75 [[-5.48230865e-01 -8.36235641e-01 1.23641093e-02 9.13536674e+02] [ 8.36037157e-01 -5.48370160e-01 -1.82219713e-02 1.87614413e+02] [ 2.20179705e-02 3.47007690e-04 9.99757515e-01 9.75257872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.52, Y:187.64, Z:9.75 [[-5.49470144e-01 -8.35420423e-01 1.24610408e-02 9.13522234e+02] [ 8.35218871e-01 -5.49611328e-01 -1.83527968e-02 1.87638060e+02] [ 2.21810305e-02 3.23382545e-04 9.99753918e-01 9.75261726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.149254154 meters Centerline goodness [0,1] 0.9999779449063761 Centerline is valid? [True, True] Translation: X:913.51, Y:187.66, Z:9.76 [[-5.52354078e-01 -8.33511111e-01 1.28140696e-02 9.13510679e+02] [ 8.33297729e-01 -5.52502634e-01 -1.88609416e-02 1.87664843e+02] [ 2.28006116e-02 2.60017058e-04 9.99739998e-01 9.75551820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1792541539999 meters Centerline goodness [0,1] 0.9999119505161901 Centerline is valid? [True, True] Translation: X:913.50, Y:187.69, Z:9.75 [[-5.54186149e-01 -8.32292718e-01 1.29052332e-02 9.13495859e+02] [ 8.32076232e-01 -5.54336346e-01 -1.89831344e-02 1.87687736e+02] [ 2.29533643e-02 2.17947674e-04 9.99736513e-01 9.75443164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2092541539998 meters Centerline goodness [0,1] 0.9999780826721606 Centerline is valid? [True, True] Translation: X:913.48, Y:187.71, Z:9.75 [[-5.55556084e-01 -8.31387146e-01 1.23632983e-02 9.13479789e+02] [ 8.31188499e-01 -5.55693604e-01 -1.81740852e-02 1.87709229e+02] [ 2.19799066e-02 1.79507720e-04 9.99758397e-01 9.75392333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2392541539998 meters Centerline goodness [0,1] 0.9998025926169639 Centerline is valid? [True, True] Translation: X:913.47, Y:187.73, Z:9.76 [[-5.58892890e-01 -8.29147522e-01 1.23742941e-02 9.13466713e+02] [ 8.28948227e-01 -5.59029853e-01 -1.81785517e-02 1.87734690e+02] [ 2.19903009e-02 9.77859106e-05 9.99758179e-01 9.75716477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2692541539998 meters Centerline goodness [0,1] 0.9999123671815094 Centerline is valid? [True, True] Translation: X:913.45, Y:187.76, Z:9.75 [[-5.60314030e-01 -8.28185324e-01 1.25402285e-02 9.13451315e+02] [ 8.27980668e-01 -5.60454338e-01 -1.84105513e-02 1.87757252e+02] [ 2.22755738e-02 6.73766276e-05 9.99751866e-01 9.75380507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2992541539998 meters Centerline goodness [0,1] 0.9997591891241052 Centerline is valid? [True, True] Translation: X:913.44, Y:187.78, Z:9.75 [[-5.62297181e-01 -8.26828261e-01 1.33006472e-02 9.13437923e+02] [ 8.26597971e-01 -5.62454466e-01 -1.95132742e-02 1.87779332e+02] [ 2.36151350e-02 2.20289473e-05 9.99721124e-01 9.75177074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.42, Y:187.80, Z:9.76 [[-5.61935738e-01 -8.27086046e-01 1.25259102e-02 9.13422038e+02] [ 8.26882142e-01 -5.62075325e-01 -1.83644173e-02 1.87800804e+02] [ 2.22294584e-02 3.78290285e-05 9.99752894e-01 9.75559441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.41, Y:187.82, Z:9.76 [[-5.62163071e-01 -8.26922644e-01 1.31004737e-02 9.13406414e+02] [ 8.26699850e-01 -5.62315694e-01 -1.91942284e-02 1.87822618e+02] [ 2.32387441e-02 3.98732562e-05 9.99729943e-01 9.75642068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.389254154 meters Centerline goodness [0,1] 0.9999343889423498 Centerline is valid? [True, True] Translation: X:913.39, Y:187.84, Z:9.76 [[-5.62192395e-01 -8.26898815e-01 1.33439376e-02 9.13389581e+02] [ 8.26667962e-01 -5.62350734e-01 -1.95379890e-02 1.87843577e+02] [ 2.36599131e-02 4.68968440e-05 9.99720064e-01 9.75754738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.37, Y:187.86, Z:9.76 [[-5.61483996e-01 -8.27387178e-01 1.28910662e-02 9.13372862e+02] [ 8.27172149e-01 -5.61631954e-01 -1.88622442e-02 1.87864800e+02] [ 2.28464137e-02 7.22826774e-05 9.99738984e-01 9.75931675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4492541539998 meters Centerline goodness [0,1] 0.9998691927009528 Centerline is valid? [True, True] Translation: X:913.36, Y:187.89, Z:9.76 [[-5.61241346e-01 -8.27544289e-01 1.33642083e-02 9.13356088e+02] [ 8.27313504e-01 -5.61400430e-01 -1.95428813e-02 1.87885007e+02] [ 2.36752721e-02 8.81170116e-05 9.99719698e-01 9.75751079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.34, Y:187.91, Z:9.76 [[-5.60112475e-01 -8.28318947e-01 1.27176105e-02 9.13339262e+02] [ 8.28110408e-01 -5.60256823e-01 -1.85861582e-02 1.87906108e+02] [ 2.25203950e-02 1.21246534e-04 9.99746376e-01 9.76040921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5092541539998 meters Centerline goodness [0,1] 0.9998471815919312 Centerline is valid? [True, True] Translation: X:913.32, Y:187.93, Z:9.76 [[-5.59376911e-01 -8.28802434e-01 1.35645261e-02 9.13321242e+02] [ 8.28565639e-01 -5.59541330e-01 -1.98111340e-02 1.87928143e+02] [ 2.40094291e-02 1.57209282e-04 9.99711720e-01 9.75807366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5392541539998 meters Centerline goodness [0,1] 0.9998684499013374 Centerline is valid? [True, True] Translation: X:913.30, Y:187.95, Z:9.76 [[-5.58564214e-01 -8.29351955e-01 1.34667399e-02 9.13304708e+02] [ 8.29119009e-01 -5.58726498e-01 -1.96562664e-02 1.87950989e+02] [ 2.38261874e-02 1.86243050e-04 9.99716099e-01 9.76004321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.29, Y:187.97, Z:9.76 [[-5.56935730e-01 -8.30456139e-01 1.28528227e-02 9.13287015e+02] [ 8.30244505e-01 -5.57083970e-01 -1.87486711e-02 1.87973229e+02] [ 2.27300505e-02 2.29180554e-04 9.99741613e-01 9.76212822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.599254154 meters Centerline goodness [0,1] 0.9998468706932383 Centerline is valid? [True, True] Translation: X:913.27, Y:187.99, Z:9.76 [[-5.55432276e-01 -8.31449159e-01 1.36851494e-02 9.13269192e+02] [ 8.31209843e-01 -5.55600765e-01 -1.99496014e-02 1.87993827e+02] [ 2.41905588e-02 2.94578360e-04 9.99707322e-01 9.75890470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.629254154 meters Centerline goodness [0,1] 0.9998688295221022 Centerline is valid? [True, True] Translation: X:913.25, Y:188.01, Z:9.76 [[-5.54457579e-01 -8.32104286e-01 1.33884411e-02 9.13251936e+02] [ 8.31875747e-01 -5.54619106e-01 -1.95035665e-02 1.88013488e+02] [ 2.36544865e-02 3.23619129e-04 9.99720141e-01 9.75774816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6592541539999 meters Centerline goodness [0,1] 0.9999563051647296 Centerline is valid? [True, True] Translation: X:913.24, Y:188.04, Z:9.76 [[-5.51627325e-01 -8.33997160e-01 1.24913000e-02 9.13235022e+02] [ 8.33798963e-01 -5.51768602e-01 -1.81851070e-02 1.88036040e+02] [ 2.20586348e-02 3.83831062e-04 9.99756605e-01 9.76238296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6892541539999 meters Centerline goodness [0,1] 0.9999782324771441 Centerline is valid? [True, True] Translation: X:913.22, Y:188.06, Z:9.76 [[-5.51042460e-01 -8.34389421e-01 1.21038081e-02 9.13219287e+02] [ 8.34203634e-01 -5.51175236e-01 -1.76112516e-02 1.88057039e+02] [ 2.13659613e-02 3.92493272e-04 9.99771645e-01 9.76281254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.20, Y:188.08, Z:9.76 [[-5.50494792e-01 -8.34749907e-01 1.21686633e-02 9.13203908e+02] [ 8.34562433e-01 -5.50629113e-01 -1.76953630e-02 1.88080258e+02] [ 2.14716229e-02 4.14304082e-04 9.99769372e-01 9.76418302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7492541539998 meters Centerline goodness [0,1] 0.9999782410026546 Centerline is valid? [True, True] Translation: X:913.19, Y:188.10, Z:9.76 [[-5.49659233e-01 -8.35308727e-01 1.15783555e-02 9.13187177e+02] [ 8.35139333e-01 -5.49781005e-01 -1.68268119e-02 1.88102394e+02] [ 2.04211427e-02 4.20527579e-04 9.99791378e-01 9.76480104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7792541539998 meters Centerline goodness [0,1] 0.9999128255421161 Centerline is valid? [True, True] Translation: X:913.17, Y:188.13, Z:9.76 [[-5.50204743e-01 -8.34946893e-01 1.17654768e-02 9.13171601e+02] [ 8.34772117e-01 -5.50330364e-01 -1.70881046e-02 1.88125533e+02] [ 2.07425590e-02 4.19535800e-04 9.99784762e-01 9.76339547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.8092541539997 meters Centerline goodness [0,1] 0.9998476306567119 Centerline is valid? [True, True] Translation: X:913.16, Y:188.15, Z:9.76 [[-5.49984722e-01 -8.35095415e-01 1.15088664e-02 9.13155031e+02] [ 8.34928421e-01 -5.50104963e-01 -1.67051582e-02 1.88148392e+02] [ 2.02814856e-02 4.21497830e-04 9.99794221e-01 9.76237648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.14, Y:188.17, Z:9.77 [[-5.48844111e-01 -8.35851525e-01 1.10620842e-02 9.13138518e+02] [ 8.35697584e-01 -5.48955405e-01 -1.60471377e-02 1.88171901e+02] [ 1.94856154e-02 4.37180038e-04 9.99810042e-01 9.76598268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.869254154 meters Centerline goodness [0,1] 0.9998691413491527 Centerline is valid? [True, True] Translation: X:913.12, Y:188.19, Z:9.76 [[-5.49593854e-01 -8.35349977e-01 1.17051947e-02 9.13122572e+02] [ 8.35177720e-01 -5.49718304e-01 -1.69694797e-02 1.88194709e+02] [ 2.06100142e-02 4.49596091e-04 9.99787490e-01 9.76318981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.11, Y:188.22, Z:9.76 [[-5.47978040e-01 -8.36413050e-01 1.15445995e-02 9.13105378e+02] [ 8.36245924e-01 -5.48099418e-01 -1.67267035e-02 1.88216855e+02] [ 2.03180214e-02 4.88258075e-04 9.99793448e-01 9.76496346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.09, Y:188.24, Z:9.76 [[-5.47349661e-01 -8.36816434e-01 1.21080243e-02 9.13088496e+02] [ 8.36632932e-01 -5.47483306e-01 -1.75318788e-02 1.88238473e+02] [ 2.12999055e-02 5.33904005e-04 9.99772989e-01 9.76382681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9592541539998 meters Centerline goodness [0,1] 0.9999128711145963 Centerline is valid? [True, True] Translation: X:913.07, Y:188.26, Z:9.76 [[-5.47466403e-01 -8.36729261e-01 1.28328125e-02 9.13071601e+02] [ 8.36523385e-01 -5.47616490e-01 -1.85689827e-02 1.88260007e+02] [ 2.25646709e-02 5.69053592e-04 9.99745223e-01 9.76064903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.06, Y:188.28, Z:9.76 [[-5.44870935e-01 -8.38411895e-01 1.34594953e-02 9.13056232e+02] [ 8.38186224e-01 -5.45036729e-01 -1.94632193e-02 1.88283374e+02] [ 2.36541139e-02 6.76621057e-04 9.99719973e-01 9.76259829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0192541539998 meters Centerline goodness [0,1] 0.9998262116307866 Centerline is valid? [True, True] Translation: X:913.04, Y:188.30, Z:9.76 [[-5.45217989e-01 -8.38170542e-01 1.44044293e-02 9.13039303e+02] [ 8.37912333e-01 -5.45407759e-01 -2.08158362e-02 1.88304188e+02] [ 2.53035082e-02 7.20480556e-04 9.99679555e-01 9.75798114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.02, Y:188.33, Z:9.76 [[-5.42755567e-01 -8.39763157e-01 1.46367238e-02 9.13024211e+02] [ 8.39497487e-01 -5.42952277e-01 -2.11375180e-02 1.88327142e+02] [ 2.56975513e-02 8.14987227e-04 9.99669431e-01 9.76167732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:913.01, Y:188.35, Z:9.76 [[-5.42519430e-01 -8.39915842e-01 1.46303431e-02 9.13008315e+02] [ 8.39650814e-01 -5.42716031e-01 -2.11144458e-02 1.88349670e+02] [ 2.56744793e-02 8.29382418e-04 9.99670012e-01 9.76191588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.109254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.99, Y:188.37, Z:9.76 [[-5.42599538e-01 -8.39863285e-01 1.46766615e-02 9.12992642e+02] [ 8.39596913e-01 -5.42797349e-01 -2.11674638e-02 1.88372059e+02] [ 2.57442287e-02 8.37023596e-04 9.99668212e-01 9.76217993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.139254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.98, Y:188.40, Z:9.76 [[-5.43885949e-01 -8.39042716e-01 1.39783449e-02 9.12978191e+02] [ 8.38801125e-01 -5.44065007e-01 -2.01479790e-02 1.88396308e+02] [ 2.45101434e-02 7.66848729e-04 9.99699287e-01 9.76303349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.96, Y:188.42, Z:9.76 [[-5.44154349e-01 -8.38868570e-01 1.39845179e-02 9.12962830e+02] [ 8.38627031e-01 -5.44333478e-01 -2.01436944e-02 1.88418241e+02] [ 2.45101534e-02 7.66515794e-04 9.99699287e-01 9.76328332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1992541539998 meters Centerline goodness [0,1] 0.999912711402073 Centerline is valid? [True, True] Translation: X:912.95, Y:188.44, Z:9.76 [[-5.45775109e-01 -8.37814126e-01 1.40363985e-02 9.12949487e+02] [ 8.37570756e-01 -5.45955089e-01 -2.02056826e-02 1.88443553e+02] [ 2.45918495e-02 7.28718224e-04 9.99697309e-01 9.76354046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.93, Y:188.47, Z:9.77 [[-5.46315970e-01 -8.37476513e-01 1.31130264e-02 9.12934451e+02] [ 8.37264273e-01 -5.46472907e-01 -1.88652943e-02 1.88466662e+02] [ 2.29651545e-02 6.72656924e-04 9.99736040e-01 9.76601171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2592541539998 meters Centerline goodness [0,1] 0.9998023064250412 Centerline is valid? [True, True] Translation: X:912.92, Y:188.49, Z:9.77 [[-5.48986565e-01 -8.35743279e-01 1.21211655e-02 9.12922015e+02] [ 8.35561728e-01 -5.49120076e-01 -1.74281463e-02 1.88492727e+02] [ 2.12214314e-02 5.60163867e-04 9.99774643e-01 9.76795453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.91, Y:188.51, Z:9.77 [[-5.50247998e-01 -8.34914697e-01 1.20245585e-02 9.12906556e+02] [ 8.34736052e-01 -5.50379114e-01 -1.72787160e-02 1.88514752e+02] [ 2.10443197e-02 5.29753584e-04 9.99778403e-01 9.76797604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.3192541539997 meters Centerline goodness [0,1] 0.9999560246262094 Centerline is valid? [True, True] Translation: X:912.89, Y:188.54, Z:9.77 [[-5.52888223e-01 -8.33176580e-01 1.14630004e-02 9.12894586e+02] [ 8.33014052e-01 -5.53006860e-01 -1.64621113e-02 1.88541226e+02] [ 2.00549634e-02 4.47132933e-04 9.99798779e-01 9.76922696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.88, Y:188.56, Z:9.77 [[-5.53187464e-01 -8.32979735e-01 1.13309361e-02 9.12879469e+02] [ 8.32821083e-01 -5.53303322e-01 -1.62627499e-02 1.88564728e+02] [ 1.98159857e-02 4.40293111e-04 9.99803547e-01 9.77063621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.86, Y:188.59, Z:9.77 [[-5.53833512e-01 -8.32550889e-01 1.12896973e-02 9.12864209e+02] [ 8.32393502e-01 -5.53948402e-01 -1.61933797e-02 1.88587446e+02] [ 1.97357224e-02 4.29034342e-04 9.99805140e-01 9.77069625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4092541539999 meters Centerline goodness [0,1] 0.9998681144766343 Centerline is valid? [True, True] Translation: X:912.85, Y:188.61, Z:9.77 [[-5.54542576e-01 -8.32067644e-01 1.20817189e-02 9.12848864e+02] [ 8.31887518e-01 -5.54673991e-01 -1.73182232e-02 1.88611556e+02] [ 2.11113485e-02 4.46939031e-04 9.99777031e-01 9.76814639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.83, Y:188.63, Z:9.77 [[-5.53287866e-01 -8.32905048e-01 1.19045348e-02 9.12832007e+02] [ 8.32730576e-01 -5.53415714e-01 -1.70538964e-02 1.88633819e+02] [ 2.07924330e-02 4.77556214e-04 9.99783700e-01 9.76995916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.82, Y:188.66, Z:9.77 [[-5.51828436e-01 -8.33864236e-01 1.24825458e-02 9.12815349e+02] [ 8.33672902e-01 -5.51969328e-01 -1.78704644e-02 1.88655792e+02] [ 2.17915235e-02 5.44929760e-04 9.99762388e-01 9.76942595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.80, Y:188.68, Z:9.77 [[-5.51380566e-01 -8.34155230e-01 1.28266869e-02 9.12799499e+02] [ 8.33953538e-01 -5.51529435e-01 -1.83515197e-02 1.88678764e+02] [ 2.23823115e-02 5.78189559e-04 9.99749318e-01 9.76959548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.78, Y:188.70, Z:9.77 [[-5.50407419e-01 -8.34791074e-01 1.32489774e-02 9.12783467e+02] [ 8.34576331e-01 -5.50566495e-01 -1.89442196e-02 1.88702412e+02] [ 2.31089084e-02 6.30243915e-04 9.99732755e-01 9.76954810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.5592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.77, Y:188.72, Z:9.77 [[-5.50520779e-01 -8.34717505e-01 1.31741685e-02 9.12766635e+02] [ 8.34505431e-01 -5.50678027e-01 -1.88254083e-02 1.88723481e+02] [ 2.29686230e-02 6.30136690e-04 9.99735988e-01 9.76882708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.589254154 meters Centerline goodness [0,1] 0.9999779997359969 Centerline is valid? [True, True] Translation: X:912.75, Y:188.75, Z:9.77 [[-5.51102125e-01 -8.34334476e-01 1.31312563e-02 9.12751269e+02] [ 8.34123970e-01 -5.51258196e-01 -1.87511376e-02 1.88745338e+02] [ 2.28834332e-02 6.19303895e-04 9.99737948e-01 9.76823651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.74, Y:188.77, Z:9.77 [[-5.51582486e-01 -8.34022832e-01 1.27544738e-02 9.12738072e+02] [ 8.33824414e-01 -5.51729608e-01 -1.82012695e-02 1.88770130e+02] [ 2.22172952e-02 5.95490216e-04 9.99752988e-01 9.77121121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.72, Y:188.79, Z:9.77 [[-5.52212129e-01 -8.33610291e-01 1.24758786e-02 9.12722446e+02] [ 8.33420578e-01 -5.52352746e-01 -1.77927944e-02 1.88793736e+02] [ 2.17233423e-02 5.72257045e-04 9.99763857e-01 9.77222529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6792541539999 meters Centerline goodness [0,1] 0.9998681173755358 Centerline is valid? [True, True] Translation: X:912.71, Y:188.82, Z:9.77 [[-5.53578248e-01 -8.32701015e-01 1.26547669e-02 9.12706934e+02] [ 8.32505833e-01 -5.53722599e-01 -1.80366446e-02 1.88815959e+02] [ 2.20263627e-02 5.50473196e-04 9.99757239e-01 9.77026804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.69, Y:188.84, Z:9.78 [[-5.52990026e-01 -8.33112525e-01 1.12050164e-02 9.12691437e+02] [ 8.32959772e-01 -5.53103303e-01 -1.59610352e-02 1.88839834e+02] [ 1.94948699e-02 5.07034657e-04 9.99809828e-01 9.77502409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.68, Y:188.86, Z:9.78 [[-5.52886342e-01 -8.33185293e-01 1.09068979e-02 9.12675857e+02] [ 8.33040769e-01 -5.52993685e-01 -1.55261667e-02 1.88860671e+02] [ 1.89676194e-02 5.01685061e-04 9.99819973e-01 9.77582809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.66, Y:188.88, Z:9.78 [[-5.52877269e-01 -8.33191538e-01 1.08897444e-02 9.12659819e+02] [ 8.33047679e-01 -5.52984271e-01 -1.54906673e-02 1.88881499e+02] [ 1.89285503e-02 5.07238494e-04 9.99820710e-01 9.77601514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.64, Y:188.90, Z:9.78 [[-5.52694214e-01 -8.33309546e-01 1.11492770e-02 9.12643606e+02] [ 8.33158976e-01 -5.52806404e-01 -1.58492790e-02 1.88904836e+02] [ 1.93707472e-02 5.29315422e-04 9.99812229e-01 9.77644710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.829254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.63, Y:188.93, Z:9.78 [[-5.52592830e-01 -8.33376086e-01 1.12010196e-02 9.12627239e+02] [ 8.33224319e-01 -5.52706077e-01 -1.59131063e-02 1.88927153e+02] [ 1.94524739e-02 5.39493486e-04 9.99810637e-01 9.77656642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.61, Y:188.95, Z:9.78 [[-5.51560912e-01 -8.34054252e-01 1.15786431e-02 9.12608445e+02] [ 8.33892407e-01 -5.51682118e-01 -1.64406395e-02 1.88946412e+02] [ 2.01001156e-02 5.87328446e-04 9.99797800e-01 9.77550452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.889254154 meters Centerline goodness [0,1] 0.9999121901960354 Centerline is valid? [True, True] Translation: X:912.59, Y:188.97, Z:9.77 [[-5.50723696e-01 -8.34600394e-01 1.20662001e-02 9.12591435e+02] [ 8.34424957e-01 -5.50855494e-01 -1.71235223e-02 1.88968393e+02] [ 2.09380311e-02 6.38009036e-04 9.99780572e-01 9.77392060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.57, Y:188.99, Z:9.78 [[-5.49183440e-01 -8.35618295e-01 1.18158747e-02 9.12574655e+02] [ 8.35450479e-01 -5.49310131e-01 -1.67593963e-02 1.88989020e+02] [ 2.04950378e-02 6.67595267e-04 9.99789732e-01 9.77598792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.56, Y:189.01, Z:9.78 [[-5.48659522e-01 -8.35961200e-01 1.18996184e-02 9.12559697e+02] [ 8.35791271e-01 -5.48788115e-01 -1.68688149e-02 1.89012550e+02] [ 2.06320439e-02 6.90361207e-04 9.99786898e-01 9.77719755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.54, Y:189.03, Z:9.78 [[-5.48204286e-01 -8.36258247e-01 1.20085343e-02 9.12542336e+02] [ 8.36085480e-01 -5.48335330e-01 -1.70127973e-02 1.89034922e+02] [ 2.08117957e-02 7.13672763e-04 9.99783156e-01 9.77729057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.53, Y:189.06, Z:9.78 [[-5.47251780e-01 -8.36881930e-01 1.20052084e-02 9.12525296e+02] [ 8.36709623e-01 -5.47382940e-01 -1.69977406e-02 1.89056853e+02] [ 2.07965482e-02 7.42829561e-04 9.99783452e-01 9.77771186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.51, Y:189.08, Z:9.78 [[-5.46871995e-01 -8.37127080e-01 1.22177609e-02 9.12508826e+02] [ 8.36948910e-01 -5.47007913e-01 -1.72877090e-02 1.89079021e+02] [ 2.11552213e-02 7.71477783e-04 9.99775906e-01 9.77835432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.49, Y:189.10, Z:9.78 [[-5.47341362e-01 -8.36819964e-01 1.22384956e-02 9.12492174e+02] [ 8.36641364e-01 -5.47477633e-01 -1.73051786e-02 1.89099872e+02] [ 2.11816216e-02 7.67391589e-04 9.99775350e-01 9.77812690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.099254154 meters Centerline goodness [0,1] 0.9999123268455199 Centerline is valid? [True, True] Translation: X:912.48, Y:189.12, Z:9.78 [[-5.48796287e-01 -8.35859608e-01 1.27024318e-02 9.12475598e+02] [ 8.35667203e-01 -5.48942740e-01 -1.79497589e-02 1.89123204e+02] [ 2.19763862e-02 7.64244608e-04 9.99758198e-01 9.77631623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.129254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.46, Y:189.15, Z:9.78 [[-5.48877890e-01 -8.35811038e-01 1.23681323e-02 9.12461229e+02] [ 8.35628833e-01 -5.49016712e-01 -1.74671918e-02 1.89147035e+02] [ 2.13895830e-02 7.47812575e-04 9.99770937e-01 9.77887012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1592541539999 meters Centerline goodness [0,1] 0.999956118217522 Centerline is valid? [True, True] Translation: X:912.45, Y:189.17, Z:9.78 [[-5.51534729e-01 -8.34057650e-01 1.25411258e-02 9.12445804e+02] [ 8.33870096e-01 -5.51676856e-01 -1.77005375e-02 1.89169663e+02] [ 2.16819176e-02 6.95208674e-04 9.99764678e-01 9.77802473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1892541539999 meters Centerline goodness [0,1] 0.9998906888786865 Centerline is valid? [True, True] Translation: X:912.43, Y:189.19, Z:9.78 [[-5.53162561e-01 -8.32977510e-01 1.26352412e-02 9.12430098e+02] [ 8.32787085e-01 -5.53306450e-01 -1.78225480e-02 1.89192389e+02] [ 2.18369421e-02 6.63699383e-04 9.99761325e-01 9.77713310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2192541539998 meters Centerline goodness [0,1] 0.9998249261407156 Centerline is valid? [True, True] Translation: X:912.41, Y:189.21, Z:9.78 [[-5.55847008e-01 -8.31186929e-01 1.27433690e-02 9.12414303e+02] [ 8.30992987e-01 -5.55992738e-01 -1.79647130e-02 1.89214267e+02] [ 2.20172552e-02 6.04018293e-04 9.99757408e-01 9.77580340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2492541539998 meters Centerline goodness [0,1] 0.9999125969627445 Centerline is valid? [True, True] Translation: X:912.40, Y:189.24, Z:9.78 [[-5.56854260e-01 -8.30515564e-01 1.25392190e-02 9.12399638e+02] [ 8.30327851e-01 -5.56995124e-01 -1.76661226e-02 1.89237288e+02] [ 2.16562736e-02 5.74207135e-04 9.99765311e-01 9.77755409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.38, Y:189.26, Z:9.78 [[-5.57483469e-01 -8.30099319e-01 1.21367773e-02 9.12383820e+02] [ 8.29923596e-01 -5.57615299e-01 -1.70880991e-02 1.89259854e+02] [ 2.09524721e-02 5.46265114e-04 9.99780324e-01 9.77955671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.3092541539997 meters Centerline goodness [0,1] 0.9998905357181952 Centerline is valid? [True, True] Translation: X:912.37, Y:189.28, Z:9.78 [[-5.60921581e-01 -8.27769169e-01 1.28523461e-02 9.12368464e+02] [ 8.27571750e-01 -5.61068588e-01 -1.80842052e-02 1.89283659e+02] [ 2.21805952e-02 4.92417543e-04 9.99753859e-01 9.77723917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.35, Y:189.31, Z:9.78 [[-5.61387055e-01 -8.27457166e-01 1.26179865e-02 9.12354559e+02] [ 8.27267048e-01 -5.61528638e-01 -1.77431829e-02 1.89307576e+02] [ 2.17670846e-02 4.77651195e-04 9.99762955e-01 9.78101253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.34, Y:189.33, Z:9.78 [[-5.64007679e-01 -8.25675232e-01 1.24799871e-02 9.12339257e+02] [ 8.25489054e-01 -5.64145587e-01 -1.75378991e-02 1.89331394e+02] [ 2.15211386e-02 4.10582971e-04 9.99768309e-01 9.78171647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.399254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.32, Y:189.35, Z:9.78 [[-5.65359735e-01 -8.24753671e-01 1.22372804e-02 9.12322995e+02] [ 8.24574671e-01 -5.65492035e-01 -1.71863287e-02 1.89354365e+02] [ 2.10945723e-02 3.74093215e-04 9.99777415e-01 9.78239304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4292541539999 meters Centerline goodness [0,1] 0.9998251442559888 Centerline is valid? [True, True] Translation: X:912.31, Y:189.38, Z:9.78 [[-5.67775734e-01 -8.23081834e-01 1.29232228e-02 9.12306865e+02] [ 8.22882024e-01 -5.67922690e-01 -1.81381871e-02 1.89377399e+02] [ 2.22686038e-02 3.35865228e-04 9.99751967e-01 9.78016788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.29, Y:189.40, Z:9.78 [[-5.69068338e-01 -8.22207393e-01 1.16717414e-02 9.12289952e+02] [ 8.22044387e-01 -5.69187953e-01 -1.63737814e-02 1.89398863e+02] [ 2.01060587e-02 2.76888944e-04 9.99797814e-01 9.78160475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4892541539998 meters Centerline goodness [0,1] 0.9998258711882115 Centerline is valid? [True, True] Translation: X:912.28, Y:189.42, Z:9.78 [[-5.71219087e-01 -8.20704792e-01 1.23450461e-02 9.12275317e+02] [ 8.20522292e-01 -5.71352419e-01 -1.73084532e-02 1.89421992e+02] [ 2.12585024e-02 2.42466664e-04 9.99773983e-01 9.78033849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.26, Y:189.45, Z:9.78 [[-5.71497418e-01 -8.20519784e-01 1.17467650e-02 9.12259613e+02] [ 8.20354715e-01 -5.71618082e-01 -1.64593614e-02 1.89445514e+02] [ 2.02198949e-02 2.30031523e-04 9.99795531e-01 9.78318128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.24, Y:189.47, Z:9.78 [[-5.73102001e-01 -8.19399438e-01 1.17753137e-02 9.12243956e+02] [ 8.19233535e-01 -5.73222926e-01 -1.64891386e-02 1.89468047e+02] [ 2.02610707e-02 1.96773582e-04 9.99794704e-01 9.78277852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.23, Y:189.49, Z:9.78 [[-5.74361865e-01 -8.18515635e-01 1.18576242e-02 9.12227776e+02] [ 8.18347438e-01 -5.74484225e-01 -1.65935465e-02 1.89490142e+02] [ 2.03940953e-02 1.72956050e-04 9.99792004e-01 9.78321218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.609254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.21, Y:189.51, Z:9.78 [[-5.74789422e-01 -8.18214677e-01 1.19106612e-02 9.12211218e+02] [ 8.18045124e-01 -5.74912789e-01 -1.66571576e-02 1.89512482e+02] [ 2.04767223e-02 1.69100266e-04 9.99790316e-01 9.78381350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.639254154 meters Centerline goodness [0,1] 0.9999127628020588 Centerline is valid? [True, True] Translation: X:912.19, Y:189.53, Z:9.78 [[-5.75649035e-01 -8.17609385e-01 1.19616678e-02 9.12194815e+02] [ 8.17438440e-01 -5.75773280e-01 -1.67190697e-02 1.89533013e+02] [ 2.05568770e-02 1.53610679e-04 9.99788673e-01 9.78269161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6692541539999 meters Centerline goodness [0,1] 0.9998693095186234 Centerline is valid? [True, True] Translation: X:912.18, Y:189.55, Z:9.78 [[-5.75934570e-01 -8.17408642e-01 1.19366532e-02 9.12178262e+02] [ 8.17238575e-01 -5.76058234e-01 -1.66739895e-02 1.89554728e+02] [ 2.05056705e-02 1.51966544e-04 9.99789725e-01 9.78317426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.16, Y:189.58, Z:9.79 [[-5.75941574e-01 -8.17422968e-01 1.05354197e-02 9.12160861e+02] [ 8.17290633e-01 -5.76037909e-01 -1.47087880e-02 1.89576301e+02] [ 1.80921023e-02 1.39097351e-04 9.99836315e-01 9.78685773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7292541539998 meters Centerline goodness [0,1] 0.9999346504890322 Centerline is valid? [True, True] Translation: X:912.14, Y:189.60, Z:9.79 [[-5.76824661e-01 -8.16803255e-01 1.02836776e-02 9.12144503e+02] [ 8.16677216e-01 -5.76916310e-01 -1.43490987e-02 1.89596989e+02] [ 1.76532119e-02 1.21531204e-04 9.99844163e-01 9.78628679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7592541539998 meters Centerline goodness [0,1] 0.9998913610290283 Centerline is valid? [True, True] Translation: X:912.13, Y:189.62, Z:9.79 [[-5.78013788e-01 -8.15967130e-01 9.88447381e-03 9.12126401e+02] [ 8.15850692e-01 -5.78098290e-01 -1.37845934e-02 1.89619118e+02] [ 1.69619725e-02 9.65697365e-05 9.99856131e-01 9.78674152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.11, Y:189.64, Z:9.79 [[-5.78071070e-01 -8.15932955e-01 9.34079953e-03 9.12109323e+02] [ 8.15829066e-01 -5.78146525e-01 -1.30204095e-02 1.89641233e+02] [ 1.60241320e-02 9.37737182e-05 9.99871601e-01 9.78894220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.8192541539997 meters Centerline goodness [0,1] 0.9999350565008442 Centerline is valid? [True, True] Translation: X:912.09, Y:189.66, Z:9.79 [[-5.79139057e-01 -8.15172998e-01 9.53608714e-03 9.12091666e+02] [ 8.15064749e-01 -5.79217557e-01 -1.32845003e-02 1.89663504e+02] [ 1.63526350e-02 7.89554991e-05 9.99866284e-01 9.78806374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.07, Y:189.68, Z:9.79 [[-5.79754732e-01 -8.14732744e-01 9.74712149e-03 9.12073962e+02] [ 8.14619738e-01 -5.79836658e-01 -1.35695588e-02 1.89683524e+02] [ 1.67073022e-02 7.31816510e-05 9.99860421e-01 9.78902046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.879254154 meters Centerline goodness [0,1] 0.9999351477550315 Centerline is valid? [True, True] Translation: X:912.06, Y:189.71, Z:9.79 [[-5.80532033e-01 -8.14172241e-01 1.03015031e-02 9.12056392e+02] [ 8.14046098e-01 -5.80623422e-01 -1.43315337e-02 1.89705058e+02] [ 1.76496309e-02 6.59840031e-05 9.99844231e-01 9.78756551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9092541539999 meters Centerline goodness [0,1] 0.9999353406470246 Centerline is valid? [True, True] Translation: X:912.04, Y:189.73, Z:9.79 [[-5.80512808e-01 -8.14171986e-01 1.13515330e-02 9.12037349e+02] [ 8.14018985e-01 -5.80623778e-01 -1.57835893e-02 1.89725272e+02] [ 1.94415262e-02 7.77876639e-05 9.99810993e-01 9.78638534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.02, Y:189.75, Z:9.79 [[-5.80547562e-01 -8.14148751e-01 1.12401022e-02 9.12019602e+02] [ 8.13998892e-01 -5.80656357e-01 -1.56204748e-02 1.89747045e+02] [ 1.92440268e-02 8.10022032e-05 9.99814813e-01 9.78737537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:912.00, Y:189.77, Z:9.79 [[-5.80779084e-01 -8.13981901e-01 1.13631605e-02 9.12002305e+02] [ 8.13828907e-01 -5.80890230e-01 -1.57813596e-02 1.89768081e+02] [ 1.94464900e-02 8.21848978e-05 9.99810896e-01 9.78745043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.98, Y:189.79, Z:9.79 [[-5.81077868e-01 -8.13768332e-01 1.13847451e-02 9.11983340e+02] [ 8.13614913e-01 -5.81189380e-01 -1.58012066e-02 1.89789371e+02] [ 1.94752145e-02 8.10669690e-05 9.99810337e-01 9.78836266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.97, Y:189.81, Z:9.79 [[-5.81728556e-01 -8.13301638e-01 1.15035614e-02 9.11966363e+02] [ 8.13145101e-01 -5.81842281e-01 -1.59563273e-02 1.89811231e+02] [ 1.96705655e-02 7.18133479e-05 9.99806513e-01 9.78896858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.95, Y:189.83, Z:9.79 [[-5.81963923e-01 -8.13133172e-01 1.15081809e-02 9.11950170e+02] [ 8.12976667e-01 -5.82077693e-01 -1.59529955e-02 1.89833563e+02] [ 1.96705652e-02 7.18147179e-05 9.99806513e-01 9.78922597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.089254154 meters Centerline goodness [0,1] 0.9998709899372151 Centerline is valid? [True, True] Translation: X:911.93, Y:189.85, Z:9.79 [[-5.83648124e-01 -8.11919737e-01 1.18831012e-02 9.11932960e+02] [ 8.11752829e-01 -5.83769081e-01 -1.64622340e-02 1.89854188e+02] [ 2.03029998e-02 3.79889880e-05 9.99793872e-01 9.78783495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.92, Y:189.88, Z:9.79 [[-5.84259946e-01 -8.11484941e-01 1.15111497e-02 9.11916255e+02] [ 8.11328428e-01 -5.84373331e-01 -1.59371498e-02 1.89876479e+02] [ 1.96595659e-02 2.78847045e-05 9.99806732e-01 9.79077270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.149254154 meters Centerline goodness [0,1] 0.9998071194359315 Centerline is valid? [True, True] Translation: X:911.90, Y:189.90, Z:9.79 [[-5.85562350e-01 -8.10541959e-01 1.17672196e-02 9.11898657e+02] [ 8.10378413e-01 -5.85680572e-01 -1.62817142e-02 1.89898645e+02] [ 2.00888445e-02 1.94189812e-06 9.99798199e-01 9.78821119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1792541539999 meters Centerline goodness [0,1] 0.999871937163835 Centerline is valid? [True, True] Translation: X:911.88, Y:189.92, Z:9.79 [[-5.86948178e-01 -8.09544198e-01 1.14030246e-02 9.11880309e+02] [ 8.09390613e-01 -5.87058934e-01 -1.57684291e-02 1.89920577e+02] [ 1.94594878e-02 -2.57497032e-05 9.99810646e-01 9.78964561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2092541539998 meters Centerline goodness [0,1] 0.9998930527036276 Centerline is valid? [True, True] Translation: X:911.86, Y:189.94, Z:9.79 [[-5.87768423e-01 -8.08949709e-01 1.13424156e-02 9.11862317e+02] [ 8.08797830e-01 -5.87877851e-01 -1.56749366e-02 1.89940573e+02] [ 1.93481903e-02 -3.95115868e-05 9.99812805e-01 9.78984703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.84, Y:189.96, Z:9.79 [[-5.87650819e-01 -8.09036910e-01 1.12157597e-02 9.11844685e+02] [ 8.08888612e-01 -5.87757839e-01 -1.54898961e-02 1.89961652e+02] [ 1.91240484e-02 -3.03497839e-05 9.99817118e-01 9.79125291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.83, Y:189.98, Z:9.79 [[-5.87445331e-01 -8.09177938e-01 1.17918383e-02 9.11826633e+02] [ 8.09014263e-01 -5.87563668e-01 -1.62744654e-02 1.89982461e+02] [ 2.00973941e-02 -2.05933374e-05 9.99798027e-01 9.79115658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2992541539998 meters Centerline goodness [0,1] 0.999785747953893 Centerline is valid? [True, True] Translation: X:911.81, Y:190.00, Z:9.79 [[-5.87361763e-01 -8.09225320e-01 1.26704771e-02 9.11807864e+02] [ 8.09036601e-01 -5.87498410e-01 -1.74756267e-02 1.90003389e+02] [ 2.15856048e-02 -1.36351644e-05 9.99767004e-01 9.78929336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.79, Y:190.02, Z:9.79 [[-5.84762281e-01 -8.11109950e-01 1.23985333e-02 9.11787847e+02] [ 8.10929894e-01 -5.84893704e-01 -1.70898081e-02 1.90022110e+02] [ 2.11135374e-02 6.08661670e-05 9.99777083e-01 9.79196727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.359254154 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:911.77, Y:190.04, Z:9.79 [[-5.83905252e-01 -8.11724791e-01 1.25506798e-02 9.11768620e+02] [ 8.11540665e-01 -5.84040114e-01 -1.72885784e-02 1.90042946e+02] [ 2.13636681e-02 9.04952893e-05 9.99771767e-01 9.79098373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.389254154 meters Centerline goodness [0,1] 0.999807568954458 Centerline is valid? [True, True] Translation: X:911.75, Y:190.06, Z:9.79 [[-5.81795750e-01 -8.13217411e-01 1.38256364e-02 9.11746460e+02] [ 8.12994666e-01 -5.81959977e-01 -1.90330726e-02 1.90062365e+02] [ 2.35239930e-02 1.66807903e-04 9.99723259e-01 9.78821059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4192541539999 meters Centerline goodness [0,1] 0.9999146575634734 Centerline is valid? [True, True] Translation: X:911.73, Y:190.08, Z:9.79 [[-5.80737364e-01 -8.13977057e-01 1.36185398e-02 9.11728407e+02] [ 8.13761361e-01 -5.80896988e-01 -1.87386353e-02 1.90082279e+02] [ 2.31637879e-02 2.00015853e-04 9.99731663e-01 9.78854087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4492541539998 meters Centerline goodness [0,1] 0.9998086246491452 Centerline is valid? [True, True] Translation: X:911.71, Y:190.10, Z:9.79 [[-5.79400062e-01 -8.14934982e-01 1.32869766e-02 9.11709313e+02] [ 8.14730136e-01 -5.79552343e-01 -1.82725982e-02 1.90102984e+02] [ 2.25914779e-02 2.38155721e-04 9.99744752e-01 9.78953086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4792541539998 meters Centerline goodness [0,1] 0.9999575299413913 Centerline is valid? [True, True] Translation: X:911.69, Y:190.12, Z:9.79 [[-5.79080441e-01 -8.15170026e-01 1.27934384e-02 9.11692338e+02] [ 8.14980409e-01 -5.79221693e-01 -1.75830351e-02 1.90123613e+02] [ 2.17434002e-02 2.44409901e-04 9.99763554e-01 9.79089157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.68, Y:190.15, Z:9.79 [[-5.78893896e-01 -8.15304456e-01 1.26688816e-02 9.11675210e+02] [ 8.15118779e-01 -5.79032451e-01 -1.74010642e-02 1.90146390e+02] [ 2.15228587e-02 2.53273458e-04 9.99768324e-01 9.79222828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5392541539998 meters Centerline goodness [0,1] 0.9998938586621946 Centerline is valid? [True, True] Translation: X:911.66, Y:190.17, Z:9.79 [[-5.79462339e-01 -8.14901497e-01 1.26074675e-02 9.11657509e+02] [ 8.14717752e-01 -5.79599423e-01 -1.73058909e-02 1.90167430e+02] [ 2.14098773e-02 2.43415557e-04 9.99770753e-01 9.79064172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5692541539997 meters Centerline goodness [0,1] 0.9998936713167744 Centerline is valid? [True, True] Translation: X:911.64, Y:190.19, Z:9.79 [[-5.79719437e-01 -8.14723292e-01 1.23017091e-02 9.11640970e+02] [ 8.14548530e-01 -5.79849895e-01 -1.68757660e-02 1.90189851e+02] [ 2.08822244e-02 2.37129548e-04 9.99781914e-01 9.79183586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.599254154 meters Centerline goodness [0,1] 0.9998089131404064 Centerline is valid? [True, True] Translation: X:911.62, Y:190.21, Z:9.79 [[-5.79482834e-01 -8.14895863e-01 1.20157305e-02 9.11623476e+02] [ 8.14729379e-01 -5.79607344e-01 -1.64731945e-02 1.90210629e+02] [ 2.03883436e-02 2.43635211e-04 9.99792106e-01 9.79153763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.629254154 meters Centerline goodness [0,1] 0.9998726817468064 Centerline is valid? [True, True] Translation: X:911.61, Y:190.23, Z:9.79 [[-5.79105532e-01 -8.15167286e-01 1.17931334e-02 9.11607370e+02] [ 8.15007172e-01 -5.79225544e-01 -1.61579161e-02 1.90230735e+02] [ 2.00022888e-02 2.54349724e-04 9.99799902e-01 9.79275450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.59, Y:190.25, Z:9.79 [[-5.78262417e-01 -8.15773074e-01 1.12636020e-02 9.11590647e+02] [ 8.15627323e-01 -5.78372043e-01 -1.54224266e-02 1.90251337e+02] [ 1.90957528e-02 2.68691914e-04 9.99817623e-01 9.79392076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.57, Y:190.27, Z:9.79 [[-5.76501904e-01 -8.17012337e-01 1.16788537e-02 9.11572630e+02] [ 8.16856073e-01 -5.76620095e-01 -1.59818973e-02 1.90272312e+02] [ 1.97916690e-02 3.26348393e-04 9.99804072e-01 9.79357464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.56, Y:190.30, Z:9.79 [[-5.75377567e-01 -8.17799974e-01 1.19941049e-02 9.11556076e+02] [ 8.17635502e-01 -5.75502448e-01 -1.64048359e-02 1.90295490e+02] [ 2.03185111e-02 3.67831467e-04 9.99793490e-01 9.79439201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7492541539998 meters Centerline goodness [0,1] 0.999978811314758 Centerline is valid? [True, True] Translation: X:911.54, Y:190.32, Z:9.79 [[-5.73208427e-01 -8.19316954e-01 1.23218795e-02 9.11536731e+02] [ 8.19143926e-01 -5.73340681e-01 -1.68431780e-02 1.90315804e+02] [ 2.08645361e-02 4.38741179e-04 9.99782216e-01 9.79265488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7792541539998 meters Centerline goodness [0,1] 0.9998298777246145 Centerline is valid? [True, True] Translation: X:911.52, Y:190.34, Z:9.79 [[-5.72454572e-01 -8.19828984e-01 1.32740552e-02 9.11519745e+02] [ 8.19628574e-01 -5.72608232e-01 -1.81331838e-02 1.90337634e+02] [ 2.24669429e-02 4.99371013e-04 9.99747462e-01 9.79093652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.50, Y:190.36, Z:9.79 [[-5.71486916e-01 -8.20518762e-01 1.23152726e-02 9.11503737e+02] [ 8.20346632e-01 -5.71619381e-01 -1.68132821e-02 1.90360338e+02] [ 2.08352619e-02 4.94221680e-04 9.99782800e-01 9.79410256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.49, Y:190.38, Z:9.79 [[-5.69723760e-01 -8.21746812e-01 1.21249702e-02 9.11485907e+02] [ 8.21580450e-01 -5.69852516e-01 -1.65431233e-02 1.90380929e+02] [ 2.05037036e-02 5.36628069e-04 9.99789633e-01 9.79421554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.869254154 meters Centerline goodness [0,1] 0.9997459779847587 Centerline is valid? [True, True] Translation: X:911.47, Y:190.40, Z:9.79 [[-5.69179048e-01 -8.22108559e-01 1.31426133e-02 9.11468365e+02] [ 8.21913456e-01 -5.69330443e-01 -1.79197381e-02 1.90402188e+02] [ 2.22144599e-02 6.02551265e-04 9.99753047e-01 9.79133078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.45, Y:190.42, Z:9.80 [[-5.67207620e-01 -8.23489390e-01 1.18633695e-02 9.11452251e+02] [ 8.23330920e-01 -5.67331355e-01 -1.61657239e-02 1.90424430e+02] [ 2.00427636e-02 5.98157119e-04 9.99798945e-01 9.79554613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9292541539999 meters Centerline goodness [0,1] 0.9999154369794089 Centerline is valid? [True, True] Translation: X:911.43, Y:190.45, Z:9.79 [[-5.66563863e-01 -8.23928131e-01 1.21582635e-02 9.11434935e+02] [ 8.23761995e-01 -5.66693949e-01 -1.65572979e-02 1.90446472e+02] [ 2.05320379e-02 6.34748698e-04 9.99788994e-01 9.79404405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9592541539998 meters Centerline goodness [0,1] 0.9999150580790385 Centerline is valid? [True, True] Translation: X:911.42, Y:190.47, Z:9.79 [[-5.65902188e-01 -8.24380878e-01 1.22834028e-02 9.11418452e+02] [ 8.24211618e-01 -5.66035094e-01 -1.67177127e-02 1.90469678e+02] [ 2.07345997e-02 6.63533159e-04 9.99784795e-01 9.79418003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.41, Y:190.49, Z:9.80 [[-5.64872830e-01 -8.25088465e-01 1.21536351e-02 9.11405170e+02] [ 8.24923123e-01 -5.65003143e-01 -1.65314412e-02 1.90494935e+02] [ 2.05067435e-02 6.87652603e-04 9.99789478e-01 9.79650076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.39, Y:190.52, Z:9.80 [[-5.64924448e-01 -8.25052958e-01 1.21649083e-02 9.11389086e+02] [ 8.24887505e-01 -5.65054986e-01 -1.65368682e-02 1.90518499e+02] [ 2.05176341e-02 6.92599743e-04 9.99789251e-01 9.79682082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0492541539998 meters Centerline goodness [0,1] 0.9999576342992713 Centerline is valid? [True, True] Translation: X:911.37, Y:190.54, Z:9.80 [[-5.65054072e-01 -8.24969118e-01 1.18258250e-02 9.11373831e+02] [ 8.24812942e-01 -5.65177404e-01 -1.60658821e-02 1.90541042e+02] [ 1.99375456e-02 6.76001423e-04 9.99800999e-01 9.79674849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.36, Y:190.57, Z:9.80 [[-5.65424423e-01 -8.24722022e-01 1.13493809e-02 9.11359062e+02] [ 8.24578310e-01 -5.65537947e-01 -1.54090869e-02 1.90565408e+02] [ 1.91267189e-02 6.45779236e-04 9.99816859e-01 9.79871644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.109254154 meters Centerline goodness [0,1] 0.9997662210698574 Centerline is valid? [True, True] Translation: X:911.34, Y:190.59, Z:9.80 [[-5.66402581e-01 -8.24048699e-01 1.14829619e-02 9.11344159e+02] [ 8.23901634e-01 -5.66518612e-01 -1.55807485e-02 1.90588209e+02] [ 1.93446072e-02 6.35854896e-04 9.99812673e-01 9.79697094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.139254154 meters Centerline goodness [0,1] 0.9998085228602429 Centerline is valid? [True, True] Translation: X:911.33, Y:190.61, Z:9.80 [[-5.67422929e-01 -8.23344305e-01 1.16351012e-02 9.11330033e+02] [ 8.23193361e-01 -5.67541862e-01 -1.57773870e-02 1.90612586e+02] [ 1.95936287e-02 6.25486907e-04 9.99807831e-01 9.79697694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1692541539999 meters Centerline goodness [0,1] 0.9998718988855203 Centerline is valid? [True, True] Translation: X:911.31, Y:190.63, Z:9.80 [[-5.68800618e-01 -8.22396567e-01 1.13905212e-02 9.11314621e+02] [ 8.22251890e-01 -5.68914355e-01 -1.54365008e-02 1.90634742e+02] [ 1.91751563e-02 5.85586388e-04 9.99815968e-01 9.79728209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1992541539998 meters Centerline goodness [0,1] 0.9997440709776488 Centerline is valid? [True, True] Translation: X:911.30, Y:190.66, Z:9.80 [[-5.72851084e-01 -8.19570180e-01 1.20977281e-02 9.11303606e+02] [ 8.19406539e-01 -5.72978571e-01 -1.63853850e-02 1.90659770e+02] [ 2.03607119e-02 5.26571957e-04 9.99792561e-01 9.79569845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2292541539998 meters Centerline goodness [0,1] 0.9999360613810742 Centerline is valid? [True, True] Translation: X:911.29, Y:190.68, Z:9.80 [[-5.75610056e-01 -8.17641011e-01 1.16722589e-02 9.11289927e+02] [ 8.17488453e-01 -5.75728215e-01 -1.58003429e-02 1.90684662e+02] [ 1.96390571e-02 4.47100617e-04 9.99807035e-01 9.79782071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2592541539998 meters Centerline goodness [0,1] 0.9998717455431576 Centerline is valid? [True, True] Translation: X:911.28, Y:190.71, Z:9.80 [[-5.82037001e-01 -8.13072563e-01 1.20804255e-02 9.11280697e+02] [ 8.12908325e-01 -5.82162274e-01 -1.63444868e-02 1.90712681e+02] [ 2.03220217e-02 3.07182385e-04 9.99793439e-01 9.79714792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2892541539998 meters Centerline goodness [0,1] 0.9998714515265131 Centerline is valid? [True, True] Translation: X:911.27, Y:190.74, Z:9.80 [[-5.85666855e-01 -8.10458444e-01 1.23063333e-02 9.11268058e+02] [ 8.10287606e-01 -5.85796091e-01 -1.66413609e-02 1.90738008e+02] [ 2.06961334e-02 2.25375859e-04 9.99785787e-01 9.79764685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.3192541539997 meters Centerline goodness [0,1] 0.9999569160509252 Centerline is valid? [True, True] Translation: X:911.26, Y:190.76, Z:9.80 [[-5.89195461e-01 -8.07900778e-01 1.20433580e-02 9.11255247e+02] [ 8.07736821e-01 -5.89318517e-01 -1.62761781e-02 1.90763511e+02] [ 2.02469108e-02 1.38013477e-04 9.99795001e-01 9.79928421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.349254154 meters Centerline goodness [0,1] 0.9999785232593101 Centerline is valid? [True, True] Translation: X:911.25, Y:190.79, Z:9.80 [[-5.95697869e-01 -8.03114959e-01 1.22642163e-02 9.11245741e+02] [ 8.02944118e-01 -5.95824103e-01 -1.65644961e-02 1.90790620e+02] [ 2.06105103e-02 -1.99547325e-05 9.99787581e-01 9.79949931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.23, Y:190.82, Z:9.80 [[-5.98695984e-01 -8.00880364e-01 1.24000579e-02 9.11232221e+02] [ 8.00705448e-01 -5.98824376e-01 -1.67377242e-02 1.90815464e+02] [ 2.08303716e-02 -9.20143169e-05 9.99783020e-01 9.80011903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4092541539999 meters Centerline goodness [0,1] 0.9998271204754187 Centerline is valid? [True, True] Translation: X:911.22, Y:190.84, Z:9.80 [[-6.03866984e-01 -7.96977089e-01 1.31219335e-02 9.11220660e+02] [ 7.96780486e-01 -6.04009490e-01 -1.77029070e-02 1.90841246e+02] [ 2.20345837e-02 -2.34900463e-04 9.99757182e-01 9.79816319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4392541539999 meters Centerline goodness [0,1] 0.9998483009708737 Centerline is valid? [True, True] Translation: X:911.21, Y:190.87, Z:9.80 [[-6.05920741e-01 -7.95415834e-01 1.31797634e-02 9.11205812e+02] [ 7.95217327e-01 -6.06063997e-01 -1.77717378e-02 1.90865358e+02] [ 2.21237017e-02 -2.87488316e-04 9.99755200e-01 9.79865139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4692541539998 meters Centerline goodness [0,1] 0.9998915024737436 Centerline is valid? [True, True] Translation: X:911.19, Y:190.89, Z:9.80 [[-6.07404250e-01 -7.94280531e-01 1.33609713e-02 9.11191539e+02] [ 7.94076453e-01 -6.07551093e-01 -1.80071120e-02 1.90888926e+02] [ 2.24201712e-02 -3.27963707e-04 9.99748583e-01 9.79902374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4992541539998 meters Centerline goodness [0,1] 0.9998486257379495 Centerline is valid? [True, True] Translation: X:911.18, Y:190.91, Z:9.80 [[-6.08814323e-01 -7.93197870e-01 1.35003342e-02 9.11177352e+02] [ 7.92989437e-01 -6.08963878e-01 -1.81864891e-02 1.90911545e+02] [ 2.26467003e-02 -3.66572619e-04 9.99743463e-01 9.79841136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:911.16, Y:190.94, Z:9.80 [[-6.09918149e-01 -7.92356877e-01 1.30548822e-02 9.11162117e+02] [ 7.92161991e-01 -6.10057731e-01 -1.75768011e-02 1.90935117e+02] [ 2.18913311e-02 -3.78828519e-04 9.99760284e-01 9.80192743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.5592541539997 meters Centerline goodness [0,1] 0.9999782873024144 Centerline is valid? [True, True] Translation: X:911.15, Y:190.96, Z:9.80 [[-6.09644210e-01 -7.92564272e-01 1.32594065e-02 9.11147361e+02] [ 7.92363531e-01 -6.09788273e-01 -1.78408926e-02 1.90958346e+02] [ 2.22254847e-02 -3.70326759e-04 9.99752915e-01 9.80180299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.589254154 meters Centerline goodness [0,1] 0.9999347996174911 Centerline is valid? [True, True] Translation: X:911.13, Y:190.98, Z:9.80 [[-6.09238385e-01 -7.92868739e-01 1.37022869e-02 9.11130888e+02] [ 7.92654703e-01 -6.09392345e-01 -1.84252894e-02 1.90981089e+02] [ 2.29589047e-02 -3.64211468e-04 9.99736343e-01 9.80106812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.619254154 meters Centerline goodness [0,1] 0.9999350396258282 Centerline is valid? [True, True] Translation: X:911.12, Y:191.00, Z:9.80 [[-6.08455937e-01 -7.93471465e-01 1.35796880e-02 9.11115124e+02] [ 7.93261643e-01 -6.08607365e-01 -1.82494071e-02 1.91002905e+02] [ 2.27450819e-02 -3.31714497e-04 9.99741242e-01 9.80079272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.649254154 meters Centerline goodness [0,1] 0.9999132697311361 Centerline is valid? [True, True] Translation: X:911.10, Y:191.02, Z:9.80 [[-6.06356989e-01 -7.95076058e-01 1.36111431e-02 9.11097623e+02] [ 7.94865914e-01 -6.06509679e-01 -1.82807917e-02 1.91024582e+02] [ 2.27899098e-02 -2.65652115e-04 9.99740241e-01 9.80047212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6792541539999 meters Centerline goodness [0,1] 0.9997168249542563 Centerline is valid? [True, True] Translation: X:911.08, Y:191.05, Z:9.80 [[-6.05231724e-01 -7.95926265e-01 1.39979159e-02 9.11080383e+02] [ 7.95704513e-01 -6.05393530e-01 -1.87883161e-02 1.91045676e+02] [ 2.34283620e-02 -2.33080068e-04 9.99725491e-01 9.79938026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7092541539998 meters Centerline goodness [0,1] 0.9999350016249594 Centerline is valid? [True, True] Translation: X:911.06, Y:191.07, Z:9.80 [[-6.01625663e-01 -7.98671685e-01 1.30422908e-02 9.11061807e+02] [ 7.98480050e-01 -6.01767005e-01 -1.74952137e-02 1.91066608e+02] [ 2.18213520e-02 -1.11560583e-04 9.99761880e-01 9.80190113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7392541539998 meters Centerline goodness [0,1] 0.9997827550998241 Centerline is valid? [True, True] Translation: X:911.04, Y:191.09, Z:9.80 [[-5.99716995e-01 -8.00103234e-01 1.32038159e-02 9.11043530e+02] [ 7.99907402e-01 -5.99862328e-01 -1.77012757e-02 1.91088007e+02] [ 2.20833197e-02 -5.39257591e-05 9.99756132e-01 9.80166570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7692541539998 meters Centerline goodness [0,1] 0.9999131322344561 Centerline is valid? [True, True] Translation: X:911.03, Y:191.11, Z:9.80 [[-5.97535718e-01 -8.01744465e-01 1.25251362e-02 9.11025177e+02] [ 8.01568817e-01 -5.97666975e-01 -1.67815097e-02 1.91109839e+02] [ 2.09403428e-02 1.22071395e-05 9.99780727e-01 9.80311242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7992541539998 meters Centerline goodness [0,1] 0.9998913940657718 Centerline is valid? [True, True] Translation: X:911.01, Y:191.13, Z:9.80 [[-5.92686801e-01 -8.05343480e-01 1.20098043e-02 9.11005884e+02] [ 8.05182886e-01 -5.92808452e-01 -1.60829254e-02 1.91129616e+02] [ 2.00717926e-02 1.37951326e-04 9.99798532e-01 9.80318074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.829254154 meters Centerline goodness [0,1] 0.9999350424389399 Centerline is valid? [True, True] Translation: X:910.99, Y:191.15, Z:9.80 [[-5.90380756e-01 -8.07038274e-01 1.18231385e-02 9.10987954e+02] [ 8.06883140e-01 -5.90499098e-01 -1.58244477e-02 1.91150030e+02] [ 1.97524876e-02 1.97441741e-04 9.99804881e-01 9.80343429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.97, Y:191.17, Z:9.81 [[-5.85586749e-01 -8.10529965e-01 1.13725952e-02 9.10968758e+02] [ 8.10387257e-01 -5.85697090e-01 -1.52122466e-02 1.91171206e+02] [ 1.89908776e-02 3.08116229e-04 9.99819610e-01 9.80535435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.95, Y:191.19, Z:9.81 [[-5.83767409e-01 -8.11845751e-01 1.10493428e-02 9.10951146e+02] [ 8.11711435e-01 -5.83871866e-01 -1.47712818e-02 1.91194015e+02] [ 1.84434028e-02 3.45884953e-04 9.99829846e-01 9.80579033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9192541539999 meters Centerline goodness [0,1] 0.9998916998787039 Centerline is valid? [True, True] Translation: X:910.93, Y:191.22, Z:9.80 [[-5.82370471e-01 -8.12845826e-01 1.12382005e-02 9.10933035e+02] [ 8.12707199e-01 -5.82478766e-01 -1.50165143e-02 1.91215266e+02] [ 1.87521241e-02 3.88191896e-04 9.99824088e-01 9.80347645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9492541539998 meters Centerline goodness [0,1] 0.9999783122600794 Centerline is valid? [True, True] Translation: X:910.92, Y:191.24, Z:9.81 [[-5.79833559e-01 -8.14658255e-01 1.11790533e-02 9.10916509e+02] [ 8.14521555e-01 -5.79941141e-01 -1.49301710e-02 1.91237803e+02] [ 1.86461800e-02 4.48565664e-04 9.99826044e-01 9.80547463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9792541539998 meters Centerline goodness [0,1] 0.9999783122600794 Centerline is valid? [True, True] Translation: X:910.90, Y:191.26, Z:9.81 [[-5.80069978e-01 -8.14489873e-01 1.11833847e-02 9.10899907e+02] [ 8.14353204e-01 -5.80177599e-01 -1.49269264e-02 1.91259844e+02] [ 1.86461796e-02 4.48563268e-04 9.99826044e-01 9.80573209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0092541539998 meters Centerline goodness [0,1] 0.9999567090196757 Centerline is valid? [True, True] Translation: X:910.88, Y:191.28, Z:9.81 [[-5.79624664e-01 -8.14809356e-01 1.09982732e-02 9.10883539e+02] [ 8.14677394e-01 -5.79728820e-01 -1.46710099e-02 1.91282513e+02] [ 1.83300921e-02 4.56365328e-04 9.99831886e-01 9.80579674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0392541539998 meters Centerline goodness [0,1] 0.9999347896967721 Centerline is valid? [True, True] Translation: X:910.87, Y:191.31, Z:9.81 [[-5.78860106e-01 -8.15354703e-01 1.08483342e-02 9.10867462e+02] [ 8.15226565e-01 -5.78961558e-01 -1.44624383e-02 1.91306190e+02] [ 1.80727855e-02 4.72121635e-04 9.99836562e-01 9.80527410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.85, Y:191.33, Z:9.81 [[-5.78235764e-01 -8.15795642e-01 1.09941573e-02 9.10848842e+02] [ 8.15664246e-01 -5.78340059e-01 -1.46497010e-02 1.91327061e+02] [ 1.83095238e-02 4.96559936e-04 9.99832243e-01 9.80572834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.099254154 meters Centerline goodness [0,1] 0.9998911884398598 Centerline is valid? [True, True] Translation: X:910.83, Y:191.35, Z:9.80 [[-5.78545307e-01 -8.15573126e-01 1.12162753e-02 9.10834417e+02] [ 8.15436472e-01 -5.78653802e-01 -1.49377871e-02 1.91349728e+02] [ 1.86731980e-02 5.03973345e-04 9.99825514e-01 9.80396422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.129254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.82, Y:191.37, Z:9.80 [[-5.77845684e-01 -8.16063127e-01 1.16334983e-02 9.10818002e+02] [ 8.15916390e-01 -5.77962522e-01 -1.54844295e-02 1.91370587e+02] [ 1.93599980e-02 5.44351156e-04 9.99812430e-01 9.80420825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.80, Y:191.39, Z:9.80 [[-5.78173663e-01 -8.15826315e-01 1.19431660e-02 9.10803719e+02] [ 8.15671794e-01 -5.78296736e-01 -1.58874017e-02 1.91393683e+02] [ 1.98680543e-02 5.56026382e-04 9.99802456e-01 9.80418510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.79, Y:191.42, Z:9.80 [[-5.78563070e-01 -8.15538084e-01 1.27439041e-02 9.10790511e+02] [ 8.15362309e-01 -5.78703107e-01 -1.69416340e-02 1.91419443e+02] [ 2.11914846e-02 5.89095230e-04 9.99775262e-01 9.80417055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2192541539998 meters Centerline goodness [0,1] 0.9998908892525914 Centerline is valid? [True, True] Translation: X:910.77, Y:191.44, Z:9.80 [[-5.79342157e-01 -8.14980104e-01 1.30420811e-02 9.10774996e+02] [ 8.14796099e-01 -5.79488641e-01 -1.73272344e-02 1.91441885e+02] [ 2.16790892e-02 5.88239435e-04 9.99764808e-01 9.80199912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2492541539998 meters Centerline goodness [0,1] 0.9999344204957811 Centerline is valid? [True, True] Translation: X:910.76, Y:191.47, Z:9.80 [[-5.80128276e-01 -8.14418204e-01 1.31974526e-02 9.10760629e+02] [ 8.14229879e-01 -5.80278082e-01 -1.75228799e-02 1.91465684e+02] [ 2.19291449e-02 5.80242106e-04 9.99759359e-01 9.80296448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2792541539998 meters Centerline goodness [0,1] 0.9998899454129249 Centerline is valid? [True, True] Translation: X:910.75, Y:191.49, Z:9.80 [[-5.81996771e-01 -8.13088067e-01 1.29442502e-02 9.10747711e+02] [ 8.12906791e-01 -5.82140463e-01 -1.71764782e-02 1.91490935e+02] [ 2.15013613e-02 5.25814033e-04 9.99768681e-01 9.80309380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.3092541539997 meters Centerline goodness [0,1] 0.9998678908778651 Centerline is valid? [True, True] Translation: X:910.73, Y:191.52, Z:9.81 [[-5.82981372e-01 -8.12389384e-01 1.24983579e-02 9.10732858e+02] [ 8.12220419e-01 -5.83115126e-01 -1.65753126e-02 1.91515511e+02] [ 2.07535896e-02 4.88323036e-04 9.99784502e-01 9.80508723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.72, Y:191.54, Z:9.81 [[-5.84685536e-01 -8.11173628e-01 1.18392895e-02 9.10719569e+02] [ 8.11021939e-01 -5.84805235e-01 -1.56924139e-02 1.91539846e+02] [ 1.96529508e-02 4.26796103e-04 9.99806771e-01 9.80685402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.70, Y:191.56, Z:9.81 [[-5.85856624e-01 -8.10333848e-01 1.14485888e-02 9.10704768e+02] [ 8.10192012e-01 -5.85968345e-01 -1.51658023e-02 1.91563968e+02] [ 1.89978736e-02 3.90569486e-04 9.99819448e-01 9.80756466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.399254154 meters Centerline goodness [0,1] 0.9999557051736357 Centerline is valid? [True, True] Translation: X:910.69, Y:191.59, Z:9.81 [[-5.88268321e-01 -8.08584855e-01 1.14418034e-02 9.10692229e+02] [ 8.08443018e-01 -5.88379485e-01 -1.51482445e-02 1.91590268e+02] [ 1.89807634e-02 3.38813745e-04 9.99819792e-01 9.80710413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4292541539999 meters Centerline goodness [0,1] 0.9999555999555999 Centerline is valid? [True, True] Translation: X:910.68, Y:191.61, Z:9.81 [[-5.89536933e-01 -8.07657482e-01 1.16445851e-02 9.10678042e+02] [ 8.07510572e-01 -5.89651837e-01 -1.54073795e-02 1.91613269e+02] [ 1.93101363e-02 3.19906308e-04 9.99813491e-01 9.80731493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.66, Y:191.64, Z:9.81 [[-5.90414003e-01 -8.07011156e-01 1.20124777e-02 9.10663997e+02] [ 8.06854892e-01 -5.90536108e-01 -1.58835641e-02 1.91636396e+02] [ 1.99120153e-02 3.14447794e-04 9.99801687e-01 9.80905498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4892541539998 meters Centerline goodness [0,1] 0.9999777876499334 Centerline is valid? [True, True] Translation: X:910.65, Y:191.66, Z:9.81 [[-5.91157278e-01 -8.06469875e-01 1.18073202e-02 9.10649147e+02] [ 8.06318985e-01 -5.91275107e-01 -1.56026066e-02 1.91659983e+02] [ 1.95644067e-02 2.96872007e-04 9.99808555e-01 9.80980893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5192541539998 meters Centerline goodness [0,1] 0.9999556943798321 Centerline is valid? [True, True] Translation: X:910.63, Y:191.68, Z:9.81 [[-5.91352344e-01 -8.06326102e-01 1.18584728e-02 9.10632336e+02] [ 8.06174057e-01 -5.91471156e-01 -1.56608312e-02 1.91682552e+02] [ 1.96416816e-02 2.98923891e-04 9.99807039e-01 9.80957811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.61, Y:191.70, Z:9.81 [[-5.90971999e-01 -8.06607197e-01 1.17015378e-02 9.10614613e+02] [ 8.06459383e-01 -5.91087755e-01 -1.54444039e-02 1.91703898e+02] [ 1.93742030e-02 3.09604706e-04 9.99812255e-01 9.81141639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.60, Y:191.73, Z:9.81 [[-5.91310472e-01 -8.06362087e-01 1.14938930e-02 9.10597070e+02] [ 8.06219598e-01 -5.91422094e-01 -1.51613710e-02 1.91725805e+02] [ 1.90232970e-02 3.01524357e-04 9.99818995e-01 9.81220113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.609254154 meters Centerline goodness [0,1] 0.9999779424739721 Centerline is valid? [True, True] Translation: X:910.58, Y:191.75, Z:9.81 [[-5.92044256e-01 -8.05829686e-01 1.10506378e-02 9.10579558e+02] [ 8.05698052e-01 -5.92147312e-01 -1.45674135e-02 1.91746033e+02] [ 1.82824597e-02 2.78923865e-04 9.99832823e-01 9.81214899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.56, Y:191.77, Z:9.81 [[-5.92474539e-01 -8.05515411e-01 1.09015743e-02 9.10563172e+02] [ 8.05387426e-01 -5.92574763e-01 -1.43612115e-02 1.91767220e+02] [ 1.80281750e-02 2.71338715e-04 9.99837442e-01 9.81370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.55, Y:191.79, Z:9.81 [[-5.93148508e-01 -8.05020445e-01 1.08134562e-02 9.10546332e+02] [ 8.04894598e-01 -5.93247011e-01 -1.42362319e-02 1.91789859e+02] [ 1.78755083e-02 2.59492757e-04 9.99840187e-01 9.81421714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.53, Y:191.81, Z:9.81 [[-5.94369975e-01 -8.04113823e-01 1.11934213e-02 9.10530219e+02] [ 8.03978969e-01 -5.94475314e-01 -1.47281185e-02 1.91810863e+02] [ 1.84972963e-02 2.45323892e-04 9.99828880e-01 9.81405272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7292541539998 meters Centerline goodness [0,1] 0.9998893952130248 Centerline is valid? [True, True] Translation: X:910.51, Y:191.83, Z:9.81 [[-5.95916096e-01 -8.02964379e-01 1.14983800e-02 9.10513933e+02] [ 8.02822027e-01 -5.96026978e-01 -1.51207085e-02 1.91834301e+02] [ 1.89947350e-02 2.20479178e-04 9.99819559e-01 9.81218253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.50, Y:191.86, Z:9.81 [[-5.97824808e-01 -8.01537905e-01 1.19367232e-02 9.10497612e+02] [ 8.01384404e-01 -5.97943937e-01 -1.56871434e-02 1.91855642e+02] [ 1.97113313e-02 1.87740291e-04 9.99805695e-01 9.81371185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7892541539998 meters Centerline goodness [0,1] 0.9998675993556502 Centerline is valid? [True, True] Translation: X:910.48, Y:191.88, Z:9.81 [[-5.99505377e-01 -8.00274249e-01 1.24269925e-02 9.10481539e+02] [ 8.00107834e-01 -5.99634140e-01 -1.63203122e-02 1.91877067e+02] [ 2.05123745e-02 1.58819186e-04 9.99789587e-01 9.81057264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.8192541539997 meters Centerline goodness [0,1] 0.9999557041925982 Centerline is valid? [True, True] Translation: X:910.47, Y:191.90, Z:9.81 [[-6.00848311e-01 -7.99264208e-01 1.25710941e-02 9.10465738e+02] [ 7.99093913e-01 -6.00979790e-01 -1.64988185e-02 1.91899839e+02] [ 2.07418886e-02 1.32197581e-04 9.99784855e-01 9.81405111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.849254154 meters Centerline goodness [0,1] 0.9999117757339157 Centerline is valid? [True, True] Translation: X:910.45, Y:191.92, Z:9.81 [[-6.04197290e-01 -7.96735400e-01 1.25832064e-02 9.10450849e+02] [ 7.96564436e-01 -6.04328305e-01 -1.65045485e-02 1.91922447e+02] [ 2.07541459e-02 5.13312517e-05 9.99784608e-01 9.81306325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.879254154 meters Centerline goodness [0,1] 0.9999116432153033 Centerline is valid? [True, True] Translation: X:910.43, Y:191.95, Z:9.81 [[-6.06009691e-01 -7.95357845e-01 1.25758558e-02 9.10434605e+02] [ 7.95186991e-01 -6.06140164e-01 -1.64848681e-02 1.91945597e+02] [ 2.07341004e-02 1.01670783e-05 9.99785025e-01 9.81347802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.42, Y:191.97, Z:9.82 [[-6.09335556e-01 -7.92815080e-01 1.24269386e-02 9.10420504e+02] [ 7.92647934e-01 -6.09462258e-01 -1.62790726e-02 1.91968206e+02] [ 2.04800443e-02 -6.92305262e-05 9.99790260e-01 9.81609954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9392541539999 meters Centerline goodness [0,1] 0.9999557825385245 Centerline is valid? [True, True] Translation: X:910.40, Y:191.99, Z:9.82 [[-6.11430210e-01 -7.91204261e-01 1.22030544e-02 9.10404157e+02] [ 7.91042968e-01 -6.11551963e-01 -1.59755661e-02 1.91991369e+02] [ 2.01027379e-02 -1.14803361e-04 9.99797913e-01 9.81582606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.39, Y:192.01, Z:9.82 [[-6.13147630e-01 -7.89870323e-01 1.24441471e-02 9.10387660e+02] [ 7.89702518e-01 -6.13273877e-01 -1.62814138e-02 1.92014628e+02] [ 2.04918759e-02 -1.55736015e-04 9.99790007e-01 9.81749719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9992541539998 meters Centerline goodness [0,1] 0.9999778324577154 Centerline is valid? [True, True] Translation: X:910.37, Y:192.04, Z:9.82 [[-6.16715288e-01 -7.87095492e-01 1.19557844e-02 9.10372742e+02] [ 7.86940260e-01 -6.16831122e-01 -1.56330888e-02 1.92037176e+02] [ 1.96794336e-02 -2.32676792e-04 9.99806314e-01 9.81696777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.36, Y:192.06, Z:9.82 [[-6.18301479e-01 -7.85851702e-01 1.18483861e-02 9.10356419e+02] [ 7.85699199e-01 -6.18414936e-01 -1.54833825e-02 1.92060251e+02] [ 1.94948614e-02 -2.64130900e-04 9.99809922e-01 9.81857447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.0592541539997 meters Centerline goodness [0,1] 0.9999112550751004 Centerline is valid? [True, True] Translation: X:910.35, Y:192.09, Z:9.82 [[-6.21836034e-01 -7.83068041e-01 1.11530216e-02 9.10345053e+02] [ 7.82932619e-01 -6.21935959e-01 -1.45662760e-02 1.92085472e+02] [ 1.83428504e-02 -3.25770959e-04 9.99831703e-01 9.81622557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.33, Y:192.10, Z:9.82 [[-6.22723187e-01 -7.82366805e-01 1.08634414e-02 9.10325655e+02] [ 7.82238375e-01 -6.22817848e-01 -1.41793155e-02 1.92104416e+02] [ 1.78593710e-02 -3.31987816e-04 9.99840454e-01 9.82152493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.119254154 meters Centerline goodness [0,1] 0.9999116002563593 Centerline is valid? [True, True] Translation: X:910.31, Y:192.13, Z:9.82 [[-6.24079578e-01 -7.81286277e-01 1.07904484e-02 9.10308942e+02] [ 7.81159561e-01 -6.24172754e-01 -1.40752845e-02 1.92126355e+02] [ 1.77319305e-02 -3.55035656e-04 9.99842714e-01 9.81995414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.149254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.29, Y:192.15, Z:9.82 [[-6.24374312e-01 -7.81046599e-01 1.10873038e-02 9.10292712e+02] [ 7.80912946e-01 -6.24472638e-01 -1.44531988e-02 1.92146521e+02] [ 1.82123396e-02 -3.65986938e-04 9.99834075e-01 9.82167751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.28, Y:192.17, Z:9.82 [[-6.24124628e-01 -7.81241626e-01 1.14004554e-02 9.10275143e+02] [ 7.81100532e-01 -6.24228635e-01 -1.48516115e-02 1.92166897e+02] [ 1.87191878e-02 -3.64354737e-04 9.99824714e-01 9.82138963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2092541539998 meters Centerline goodness [0,1] 0.9999339221603049 Centerline is valid? [True, True] Translation: X:910.25, Y:192.19, Z:9.82 [[-6.22457724e-01 -7.82555182e-01 1.24003349e-02 9.10254178e+02] [ 7.82388729e-01 -6.22581133e-01 -1.61434163e-02 1.92185672e+02] [ 2.03533286e-02 -3.46711915e-04 9.99792789e-01 9.81881454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2392541539998 meters Centerline goodness [0,1] 0.9999119388855866 Centerline is valid? [True, True] Translation: X:910.23, Y:192.21, Z:9.82 [[-6.21411735e-01 -7.83379291e-01 1.28195961e-02 9.10234294e+02] [ 7.83201785e-01 -6.21543870e-01 -1.66787748e-02 1.92206146e+02] [ 2.10337482e-02 -3.24055834e-04 9.99778714e-01 9.81821502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2692541539998 meters Centerline goodness [0,1] 0.999977918607989 Centerline is valid? [True, True] Translation: X:910.22, Y:192.23, Z:9.82 [[-6.20030723e-01 -7.84469401e-01 1.30254103e-02 9.10216669e+02] [ 7.84286620e-01 -6.20167459e-01 -1.69357847e-02 1.92226401e+02] [ 2.13635405e-02 -2.85051827e-04 9.99771733e-01 9.81924821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2992541539998 meters Centerline goodness [0,1] 0.9998238583821393 Centerline is valid? [True, True] Translation: X:910.20, Y:192.25, Z:9.82 [[-6.17767053e-01 -7.86239870e-01 1.38107330e-02 9.10195484e+02] [ 7.86035080e-01 -6.17921366e-01 -1.79454190e-02 1.92245790e+02] [ 2.26433509e-02 -2.30368003e-04 9.99743580e-01 9.81694204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.329254154 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:910.18, Y:192.27, Z:9.82 [[-6.16153648e-01 -7.87512507e-01 1.33691079e-02 9.10177707e+02] [ 7.87321130e-01 -6.16298646e-01 -1.73613591e-02 1.92265794e+02] [ 2.19116506e-02 -1.71483606e-04 9.99759896e-01 9.81910746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.359254154 meters Centerline goodness [0,1] 0.9998248801523543 Centerline is valid? [True, True] Translation: X:910.16, Y:192.28, Z:9.82 [[-6.13097350e-01 -7.89897485e-01 1.31758040e-02 9.10158863e+02] [ 7.89712390e-01 -6.13238907e-01 -1.70992392e-02 1.92284471e+02] [ 2.15865617e-02 -7.84025225e-05 9.99766980e-01 9.81788761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.14, Y:192.30, Z:9.82 [[-6.11158861e-01 -7.91415151e-01 1.21204461e-02 9.10139977e+02] [ 7.91259022e-01 -6.11279035e-01 -1.57194589e-02 1.92304718e+02] [ 1.98495926e-02 -1.66742877e-05 9.99802977e-01 9.82329213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.12, Y:192.32, Z:9.82 [[-6.09588208e-01 -7.92633672e-01 1.15792464e-02 9.10121704e+02] [ 7.92491577e-01 -6.09698172e-01 -1.50079624e-02 1.92324597e+02] [ 1.89556617e-02 2.77783279e-05 9.99820325e-01 9.82442993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.10, Y:192.34, Z:9.83 [[-6.06513116e-01 -7.94996373e-01 1.10728282e-02 9.10100884e+02] [ 7.94866986e-01 -6.06614175e-01 -1.43428568e-02 1.92344396e+02] [ 1.81194537e-02 1.02294791e-04 9.99835824e-01 9.82560146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4792541539998 meters Centerline goodness [0,1] 0.9999345021068489 Centerline is valid? [True, True] Translation: X:910.08, Y:192.37, Z:9.82 [[-6.05465608e-01 -7.95793013e-01 1.11749377e-02 9.10081973e+02] [ 7.95661521e-01 -6.05568711e-01 -1.44665393e-02 1.92365024e+02] [ 1.82795635e-02 1.32475900e-04 9.99832906e-01 9.82385802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.06, Y:192.39, Z:9.83 [[-6.02558343e-01 -7.97995029e-01 1.12861346e-02 9.10062266e+02] [ 7.97861452e-01 -6.02663995e-01 -1.46017859e-02 1.92385038e+02] [ 1.84538995e-02 2.06343877e-04 9.99829691e-01 9.82589596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5392541539998 meters Centerline goodness [0,1] 0.9998909725250763 Centerline is valid? [True, True] Translation: X:910.04, Y:192.41, Z:9.82 [[-6.01759278e-01 -7.98591987e-01 1.16880556e-02 9.10043732e+02] [ 7.98449014e-01 -6.01872729e-01 -1.51125867e-02 1.92406095e+02] [ 1.91035126e-02 2.38177193e-04 9.99817483e-01 9.82322495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:910.03, Y:192.43, Z:9.83 [[-6.00439575e-01 -7.99582876e-01 1.18127931e-02 9.10025084e+02] [ 7.99437208e-01 -6.00555699e-01 -1.52644311e-02 1.92426084e+02] [ 1.92994180e-02 2.78217828e-04 9.99813710e-01 9.82521919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.599254154 meters Centerline goodness [0,1] 0.9999344591789919 Centerline is valid? [True, True] Translation: X:910.01, Y:192.45, Z:9.82 [[-5.98937870e-01 -8.00699322e-01 1.24106170e-02 9.10005489e+02] [ 8.00538978e-01 -5.99066343e-01 -1.60269242e-02 1.92446500e+02] [ 2.02675303e-02 3.36050775e-04 9.99794536e-01 9.82315662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.629254154 meters Centerline goodness [0,1] 0.9998909606367898 Centerline is valid? [True, True] Translation: X:909.99, Y:192.47, Z:9.82 [[-5.98475307e-01 -8.01043367e-01 1.25232482e-02 9.09987520e+02] [ 8.00880372e-01 -5.98606212e-01 -1.61626681e-02 1.92468582e+02] [ 2.04434923e-02 3.56665881e-04 9.99790946e-01 9.82258290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6592541539999 meters Centerline goodness [0,1] 0.9998912523380747 Centerline is valid? [True, True] Translation: X:909.97, Y:192.49, Z:9.82 [[-5.98103720e-01 -8.01317874e-01 1.27123501e-02 9.09969726e+02] [ 8.01150194e-01 -5.98238683e-01 -1.63964782e-02 1.92488960e+02] [ 2.07438106e-02 3.77707099e-04 9.99784753e-01 9.82251441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6892541539999 meters Centerline goodness [0,1] 0.9998476306567119 Centerline is valid? [True, True] Translation: X:909.95, Y:192.51, Z:9.82 [[-5.98354439e-01 -8.01131924e-01 1.26335134e-02 9.09951792e+02] [ 8.00966481e-01 -5.98487677e-01 -1.62848474e-02 1.92510755e+02] [ 2.06073132e-02 3.74910045e-04 9.99787576e-01 9.82261760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7192541539998 meters Centerline goodness [0,1] 0.9998911671237648 Centerline is valid? [True, True] Translation: X:909.93, Y:192.53, Z:9.82 [[-5.98841826e-01 -8.00768552e-01 1.25774866e-02 9.09934602e+02] [ 8.00604690e-01 -5.98973782e-01 -1.62030461e-02 1.92533247e+02] [ 2.05084745e-02 3.66533073e-04 9.99789612e-01 9.82380851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7492541539998 meters Centerline goodness [0,1] 0.9999130831576889 Centerline is valid? [True, True] Translation: X:909.92, Y:192.56, Z:9.83 [[-6.00548646e-01 -7.99494566e-01 1.22377567e-02 9.09918670e+02] [ 7.99339357e-01 -6.00673236e-01 -1.57561300e-02 1.92556469e+02] [ 1.99478333e-02 3.19797986e-04 9.99800971e-01 9.82544228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7792541539998 meters Centerline goodness [0,1] 0.9998256510842323 Centerline is valid? [True, True] Translation: X:909.90, Y:192.58, Z:9.82 [[-6.01718088e-01 -7.98613221e-01 1.23395990e-02 9.09902105e+02] [ 7.98455427e-01 -6.01844527e-01 -1.58775385e-02 1.92578405e+02] [ 2.01065323e-02 2.98817638e-04 9.99797799e-01 9.82448801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.8092541539997 meters Centerline goodness [0,1] 0.9998697294715359 Centerline is valid? [True, True] Translation: X:909.89, Y:192.60, Z:9.83 [[-6.03301770e-01 -7.97420370e-01 1.21543365e-02 9.09885700e+02] [ 7.97267224e-01 -6.03424134e-01 -1.56297101e-02 1.92600861e+02] [ 1.97976692e-02 2.60822416e-04 9.99803973e-01 9.82524590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.839254154 meters Centerline goodness [0,1] 0.9997820496055098 Centerline is valid? [True, True] Translation: X:909.87, Y:192.62, Z:9.82 [[-6.04409579e-01 -7.96573466e-01 1.26401553e-02 9.09868595e+02] [ 7.96407850e-01 -6.04541687e-01 -1.62445697e-02 1.92622526e+02] [ 2.05814940e-02 2.48345391e-04 9.99788148e-01 9.82372344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.869254154 meters Centerline goodness [0,1] 0.9997820496055098 Centerline is valid? [True, True] Translation: X:909.85, Y:192.64, Z:9.82 [[-6.04664408e-01 -7.96379969e-01 1.26451173e-02 9.09852066e+02] [ 7.96214390e-01 -6.04796564e-01 -1.62407069e-02 1.92643581e+02] [ 2.05814971e-02 2.48046997e-04 9.99788148e-01 9.82397313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.899254154 meters Centerline goodness [0,1] 0.9997816403179317 Centerline is valid? [True, True] Translation: X:909.84, Y:192.66, Z:9.82 [[-6.05427607e-01 -7.95795587e-01 1.29149820e-02 9.09835533e+02] [ 7.95622935e-01 -6.05565295e-01 -1.65776387e-02 1.92664088e+02] [ 2.10132766e-02 2.38895792e-04 9.99779168e-01 9.82300247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.82, Y:192.69, Z:9.83 [[-6.06137539e-01 -7.95261480e-01 1.25085313e-02 9.09819348e+02] [ 7.95099597e-01 -6.06266551e-01 -1.60468224e-02 1.92686121e+02] [ 2.03449239e-02 2.18946720e-04 9.99792997e-01 9.82710855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9592541539998 meters Centerline goodness [0,1] 0.999847191599904 Centerline is valid? [True, True] Translation: X:909.81, Y:192.71, Z:9.83 [[-6.09166748e-01 -7.92933308e-01 1.31393588e-02 9.09805110e+02] [ 7.92754363e-01 -6.09308416e-01 -1.68455935e-02 1.92710565e+02] [ 2.13633541e-02 1.54508620e-04 9.99771766e-01 9.82500114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:909.79, Y:192.73, Z:9.83 [[-6.10403025e-01 -7.91986157e-01 1.28870078e-02 9.09789807e+02] [ 7.91814017e-01 -6.10539034e-01 -1.65121244e-02 1.92732597e+02] [ 2.09453952e-02 1.25062729e-04 9.99780613e-01 9.82842584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0192541539998 meters Centerline goodness [0,1] 0.9998908892525914 Centerline is valid? [True, True] Translation: X:909.78, Y:192.76, Z:9.83 [[-6.14296829e-01 -7.88970679e-01 1.28325671e-02 9.09775339e+02] [ 7.88799534e-01 -6.14430849e-01 -1.64325016e-02 1.92757425e+02] [ 2.08494870e-02 2.78892987e-05 9.99782625e-01 9.82695592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0492541539998 meters Centerline goodness [0,1] 0.9998474679682733 Centerline is valid? [True, True] Translation: X:909.76, Y:192.78, Z:9.83 [[-6.16325943e-01 -7.87388888e-01 1.26913883e-02 9.09759184e+02] [ 7.87221349e-01 -6.16456599e-01 -1.62421952e-02 1.92781039e+02] [ 2.06126141e-02 -1.95544239e-05 9.99787537e-01 9.82701587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.079254154 meters Centerline goodness [0,1] 0.9996738563228388 Centerline is valid? [True, True] Translation: X:909.74, Y:192.80, Z:9.83 [[-6.18690834e-01 -7.85525513e-01 1.30889374e-02 9.09744188e+02] [ 7.85347128e-01 -6.18829267e-01 -1.67399836e-02 1.92802863e+02] [ 2.12495017e-02 -7.75150099e-05 9.99774201e-01 9.82597218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.109254154 meters Centerline goodness [0,1] 0.999956389960969 Centerline is valid? [True, True] Translation: X:909.73, Y:192.83, Z:9.83 [[-6.22587797e-01 -7.82452657e-01 1.23399429e-02 9.09731229e+02] [ 7.82293709e-01 -6.22710055e-01 -1.57714934e-02 1.92825617e+02] [ 2.00246534e-02 -1.65679625e-04 9.99799473e-01 9.82959532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.139254154 meters Centerline goodness [0,1] 0.9999126217833894 Centerline is valid? [True, True] Translation: X:909.71, Y:192.85, Z:9.83 [[-6.25188256e-01 -7.80377409e-01 1.22777744e-02 9.09714697e+02] [ 7.80219857e-01 -6.25308763e-01 -1.56820390e-02 1.92848808e+02] [ 1.99153088e-02 -2.24863255e-04 9.99801645e-01 9.83016744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1692541539999 meters Centerline goodness [0,1] 0.9998691584708986 Centerline is valid? [True, True] Translation: X:909.70, Y:192.87, Z:9.83 [[-6.28017653e-01 -7.78102788e-01 1.22424785e-02 9.09699869e+02] [ 7.77945897e-01 -6.28136901e-01 -1.56273534e-02 1.92872160e+02] [ 1.98496398e-02 -2.90267892e-04 9.99802934e-01 9.82944731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1992541539998 meters Centerline goodness [0,1] 0.999759841058446 Centerline is valid? [True, True] Translation: X:909.69, Y:192.90, Z:9.83 [[-6.33743845e-01 -7.73450440e-01 1.19647930e-02 9.09685605e+02] [ 7.73299928e-01 -6.33856640e-01 -1.52637145e-02 1.92896731e+02] [ 1.93896902e-02 -4.20911581e-04 9.99811914e-01 9.82932992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2292541539998 meters Centerline goodness [0,1] 0.9999345364086674 Centerline is valid? [True, True] Translation: X:909.67, Y:192.92, Z:9.83 [[-6.36194218e-01 -7.71443588e-01 1.14763899e-02 9.09671837e+02] [ 7.71304922e-01 -6.36297557e-01 -1.46334263e-02 1.92920474e+02] [ 1.85912618e-02 -4.57905178e-04 9.99827063e-01 9.83206871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2592541539998 meters Centerline goodness [0,1] 0.9997813538569179 Centerline is valid? [True, True] Translation: X:909.65, Y:192.94, Z:9.83 [[-6.41679114e-01 -7.66880635e-01 1.19166402e-02 9.09654591e+02] [ 7.66730480e-01 -6.41789469e-01 -1.51871380e-02 1.92943003e+02] [ 1.92946962e-02 -6.08418015e-04 9.99813655e-01 9.83165650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2892541539998 meters Centerline goodness [0,1] 0.9997365358860079 Centerline is valid? [True, True] Translation: X:909.64, Y:192.97, Z:9.83 [[-6.44032388e-01 -7.64906699e-01 1.18332139e-02 9.09637190e+02] [ 7.64758468e-01 -6.44140753e-01 -1.50724004e-02 1.92965616e+02] [ 1.91512353e-02 -6.57563485e-04 9.99816382e-01 9.83195157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.3192541539997 meters Centerline goodness [0,1] 0.9997593682322315 Centerline is valid? [True, True] Translation: X:909.62, Y:192.99, Z:9.83 [[-6.46025649e-01 -7.63220895e-01 1.20302227e-02 9.09622541e+02] [ 7.63067572e-01 -6.46137258e-01 -1.53141883e-02 1.92988331e+02] [ 1.94612836e-02 -7.13485612e-04 9.99810357e-01 9.83211310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.349254154 meters Centerline goodness [0,1] 0.9998244420549057 Centerline is valid? [True, True] Translation: X:909.60, Y:193.01, Z:9.84 [[-6.48629478e-01 -7.61013814e-01 1.17377689e-02 9.09604233e+02] [ 7.60867665e-01 -6.48735234e-01 -1.49329164e-02 1.93009869e+02] [ 1.89788599e-02 -7.55040934e-04 9.99819600e-01 9.83622636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.379254154 meters Centerline goodness [0,1] 0.9995844360359573 Centerline is valid? [True, True] Translation: X:909.59, Y:193.03, Z:9.83 [[-6.49808300e-01 -7.59998058e-01 1.23339341e-02 9.09585853e+02] [ 7.59836690e-01 -6.49924828e-01 -1.56818901e-02 1.93031065e+02] [ 1.99343360e-02 -8.18446615e-04 9.99800956e-01 9.83342411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4092541539999 meters Centerline goodness [0,1] 0.9994548863983254 Centerline is valid? [True, True] Translation: X:909.57, Y:193.05, Z:9.83 [[-6.50018020e-01 -7.59814383e-01 1.25967025e-02 9.09568140e+02] [ 7.59646231e-01 -6.50139528e-01 -1.60061960e-02 1.93051297e+02] [ 2.03513522e-02 -8.35278265e-04 9.99792541e-01 9.83336874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4392541539999 meters Centerline goodness [0,1] 0.9991303402543755 Centerline is valid? [True, True] Translation: X:909.55, Y:193.07, Z:9.83 [[-6.50047822e-01 -7.59780390e-01 1.30991668e-02 9.09546766e+02] [ 7.59598764e-01 -6.50179217e-01 -1.66344252e-02 1.93070529e+02] [ 2.11553161e-02 -8.63060924e-04 9.99775829e-01 9.83328411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4692541539998 meters Centerline goodness [0,1] 0.9993251480320445 Centerline is valid? [True, True] Translation: X:909.53, Y:193.09, Z:9.83 [[-6.49642864e-01 -7.60123719e-01 1.32695803e-02 9.09527843e+02] [ 7.59937620e-01 -6.49777807e-01 -1.68408530e-02 1.93091008e+02] [ 2.14234106e-02 -8.56486637e-04 9.99770126e-01 9.83444725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4992541539998 meters Centerline goodness [0,1] 0.9979565661616052 Centerline is valid? [True, True] Translation: X:909.51, Y:193.11, Z:9.83 [[-6.48436270e-01 -7.61142465e-01 1.38763136e-02 9.09509270e+02] [ 7.60939389e-01 -6.48584164e-01 -1.76019563e-02 1.93111124e+02] [ 2.23975536e-02 -8.54713258e-04 9.99748778e-01 9.83242145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.5292541539998 meters Centerline goodness [0,1] 0.9976867365690195 Centerline is valid? [True, True] Translation: X:909.49, Y:193.13, Z:9.83 [[-6.47899730e-01 -7.61601902e-01 1.37288931e-02 9.09486398e+02] [ 7.61403421e-01 -6.48044647e-01 -1.74059122e-02 1.93129012e+02] [ 2.21533115e-02 -8.24059708e-04 9.99754246e-01 9.83383652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.5592541539997 meters Centerline goodness [0,1] 0.9977469670710571 Centerline is valid? [True, True] Translation: X:909.47, Y:193.15, Z:9.84 [[-6.47334878e-01 -7.62082912e-01 1.36817552e-02 9.09466920e+02] [ 7.61886123e-01 -6.47478956e-01 -1.73360040e-02 1.93149075e+02] [ 2.20701210e-02 -7.98260634e-04 9.99756107e-01 9.83505216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.589254154 meters Centerline goodness [0,1] 0.9971428571428571 Centerline is valid? [True, True] Translation: X:909.45, Y:193.17, Z:9.84 [[-6.45405675e-01 -7.63728735e-01 1.30358568e-02 9.09445773e+02] [ 7.63550608e-01 -6.45536930e-01 -1.65088274e-02 1.93166228e+02] [ 2.10233928e-02 -7.01354489e-04 9.99778738e-01 9.83501065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.619254154 meters Centerline goodness [0,1] 0.9966118520436791 Centerline is valid? [True, True] Translation: X:909.42, Y:193.19, Z:9.84 [[-6.44377460e-01 -7.64607921e-01 1.23457019e-02 9.09423981e+02] [ 7.64448448e-01 -6.44495405e-01 -1.56282729e-02 1.93185398e+02] [ 1.99062494e-02 -6.32854094e-04 9.99801651e-01 9.83714524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.649254154 meters Centerline goodness [0,1] 0.9971210037813681 Centerline is valid? [True, True] Translation: X:909.40, Y:193.20, Z:9.84 [[-6.43145635e-01 -7.65641452e-01 1.25243103e-02 9.09401357e+02] [ 7.65477673e-01 -6.43267285e-01 -1.58471558e-02 1.93204302e+02] [ 2.01897185e-02 -6.04949140e-04 9.99795984e-01 9.83705528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6792541539999 meters Centerline goodness [0,1] 0.9968758024480013 Centerline is valid? [True, True] Translation: X:909.38, Y:193.22, Z:9.84 [[-6.40659592e-01 -7.67729063e-01 1.21396924e-02 9.09378671e+02] [ 7.67575719e-01 -6.40774389e-01 -1.53524560e-02 1.93220801e+02] [ 1.95653307e-02 -5.17565045e-04 9.99808447e-01 9.83697974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7092541539998 meters Centerline goodness [0,1] 0.9969135802469136 Centerline is valid? [True, True] Translation: X:909.36, Y:193.24, Z:9.84 [[-6.39602702e-01 -7.68613398e-01 1.19091684e-02 9.09358585e+02] [ 7.68466112e-01 -6.39713387e-01 -1.50538199e-02 1.93239719e+02] [ 1.91890221e-02 -4.76671584e-04 9.99815760e-01 9.83762410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7392541539998 meters Centerline goodness [0,1] 0.9970606402692284 Centerline is valid? [True, True] Translation: X:909.33, Y:193.26, Z:9.84 [[-6.37386745e-01 -7.70447061e-01 1.22255247e-02 9.09333754e+02] [ 7.70292332e-01 -6.37503838e-01 -1.54460322e-02 1.93256348e+02] [ 1.96941690e-02 -4.27868217e-04 9.99805960e-01 9.83654101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7692541539998 meters Centerline goodness [0,1] 0.996891169644188 Centerline is valid? [True, True] Translation: X:909.31, Y:193.28, Z:9.84 [[-6.36592090e-01 -7.71095863e-01 1.27153993e-02 9.09314488e+02] [ 7.70928808e-01 -6.36718930e-01 -1.60554671e-02 1.93275432e+02] [ 2.04764397e-02 -4.18115705e-04 9.99790248e-01 9.83575804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7992541539998 meters Centerline goodness [0,1] 0.9970303750212116 Centerline is valid? [True, True] Translation: X:909.29, Y:193.29, Z:9.84 [[-6.35206284e-01 -7.72232601e-01 1.30302448e-02 9.09291499e+02] [ 7.72057614e-01 -6.35339800e-01 -1.64431989e-02 1.93292146e+02] [ 2.09766074e-02 -3.84723588e-04 9.99779893e-01 9.83536451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.829254154 meters Centerline goodness [0,1] 0.9968867804650768 Centerline is valid? [True, True] Translation: X:909.27, Y:193.31, Z:9.84 [[-6.34394300e-01 -7.72895845e-01 1.32621863e-02 9.09271578e+02] [ 7.72714938e-01 -6.34532806e-01 -1.67255215e-02 1.93311007e+02] [ 2.13423784e-02 -3.62686108e-04 9.99772160e-01 9.83538507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.859254154 meters Centerline goodness [0,1] 0.9972115425239765 Centerline is valid? [True, True] Translation: X:909.25, Y:193.33, Z:9.84 [[-6.33822850e-01 -7.73358286e-01 1.36219308e-02 9.09251695e+02] [ 7.73167782e-01 -6.33969116e-01 -1.71680251e-02 1.93330270e+02] [ 2.19129179e-02 -3.49448578e-04 9.99759822e-01 9.83524658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.889254154 meters Centerline goodness [0,1] 0.9973278909274533 Centerline is valid? [True, True] Translation: X:909.23, Y:193.35, Z:9.84 [[-6.33143634e-01 -7.73908710e-01 1.39444518e-02 9.09231529e+02] [ 7.73709468e-01 -6.33297087e-01 -1.75630036e-02 1.93348959e+02] [ 2.24231421e-02 -3.30949561e-04 9.99748515e-01 9.83546753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9192541539999 meters Centerline goodness [0,1] 0.9976915489706407 Centerline is valid? [True, True] Translation: X:909.21, Y:193.37, Z:9.84 [[-6.31330413e-01 -7.75407409e-01 1.28553362e-02 9.09208323e+02] [ 7.75238585e-01 -6.31461232e-01 -1.61817690e-02 1.93366127e+02] [ 2.06651100e-02 -2.50090235e-04 9.99786423e-01 9.83816976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9492541539998 meters Centerline goodness [0,1] 0.9974215998658393 Centerline is valid? [True, True] Translation: X:909.19, Y:193.39, Z:9.84 [[-6.30499727e-01 -7.76062985e-01 1.40120176e-02 9.09188526e+02] [ 7.75862824e-01 -6.30655361e-01 -1.76265326e-02 1.93385704e+02] [ 2.25160535e-02 -2.42120449e-04 9.99746452e-01 9.83541825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9792541539998 meters Centerline goodness [0,1] 0.9973827470686767 Centerline is valid? [True, True] Translation: X:909.17, Y:193.40, Z:9.83 [[-6.28816609e-01 -7.77414934e-01 1.46864872e-02 9.09165744e+02] [ 7.77195673e-01 -6.28988062e-01 -1.84635882e-02 1.93403225e+02] [ 2.35914944e-02 -1.95936591e-04 9.99721663e-01 9.83475128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0092541539998 meters Centerline goodness [0,1] 0.9977903110400269 Centerline is valid? [True, True] Translation: X:909.15, Y:193.42, Z:9.84 [[-6.28064119e-01 -7.78029014e-01 1.43636728e-02 9.09146272e+02] [ 7.77819704e-01 -6.28228324e-01 -1.80466547e-02 1.93422865e+02] [ 2.30644871e-02 -1.62108533e-04 9.99733966e-01 9.83602966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0392541539998 meters Centerline goodness [0,1] 0.9976264991913294 Centerline is valid? [True, True] Translation: X:909.13, Y:193.44, Z:9.84 [[-6.27416810e-01 -7.78536921e-01 1.51132163e-02 9.09126449e+02] [ 7.78305629e-01 -6.27598791e-01 -1.89764188e-02 1.93442943e+02] [ 2.42588789e-02 -1.43422818e-04 9.99705700e-01 9.83555544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0692541539997 meters Centerline goodness [0,1] 0.9977322358474718 Centerline is valid? [True, True] Translation: X:909.11, Y:193.46, Z:9.84 [[-6.26015727e-01 -7.79686708e-01 1.38905494e-02 9.09106745e+02] [ 7.79491801e-01 -6.26169810e-01 -1.74327598e-02 1.93461314e+02] [ 2.22899338e-02 -8.56124270e-05 9.99751545e-01 9.83609433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.099254154 meters Centerline goodness [0,1] 0.9980752735412874 Centerline is valid? [True, True] Translation: X:909.09, Y:193.48, Z:9.84 [[-6.25484444e-01 -7.80112695e-01 1.39066254e-02 9.09086723e+02] [ 7.79917648e-01 -6.25639017e-01 -1.74436998e-02 1.93481787e+02] [ 2.23085791e-02 -6.47403115e-05 9.99751131e-01 9.83942390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.129254154 meters Centerline goodness [0,1] 0.9979936884783381 Centerline is valid? [True, True] Translation: X:909.07, Y:193.50, Z:9.83 [[-6.24970981e-01 -7.80510047e-01 1.46744390e-02 9.09068782e+02] [ 7.80293246e-01 -6.25143235e-01 -1.83952554e-02 1.93501701e+02] [ 2.35313079e-02 -4.61351773e-05 9.99723099e-01 9.83459565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1592541539999 meters Centerline goodness [0,1] 0.9980232630724735 Centerline is valid? [True, True] Translation: X:909.05, Y:193.52, Z:9.84 [[-6.23005039e-01 -7.82104316e-01 1.33252158e-02 9.09047657e+02] [ 7.81926135e-01 -6.23147526e-01 -1.66937061e-02 1.93519464e+02] [ 2.13597948e-02 1.90714744e-05 9.99771853e-01 9.83887294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1892541539999 meters Centerline goodness [0,1] 0.9980836926409632 Centerline is valid? [True, True] Translation: X:909.03, Y:193.54, Z:9.84 [[-6.21898219e-01 -7.82988745e-01 1.30855007e-02 9.09027811e+02] [ 7.82817322e-01 -6.22035869e-01 -1.63834548e-02 1.93539963e+02] [ 2.09677115e-02 5.47152263e-05 9.99780152e-01 9.84019348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2192541539998 meters Centerline goodness [0,1] 0.9984135267717358 Centerline is valid? [True, True] Translation: X:909.01, Y:193.56, Z:9.84 [[-6.19051196e-01 -7.85246883e-01 1.27651652e-02 9.09007442e+02] [ 7.85084437e-01 -6.19182779e-01 -1.59722489e-02 1.93556870e+02] [ 2.04461291e-02 1.34092718e-04 9.99790947e-01 9.84077737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2492541539998 meters Centerline goodness [0,1] 0.9984738888656605 Centerline is valid? [True, True] Translation: X:908.99, Y:193.58, Z:9.84 [[-6.17874607e-01 -7.86172168e-01 1.28176695e-02 9.08988439e+02] [ 7.86008801e-01 -6.18007519e-01 -1.60272130e-02 1.93576977e+02] [ 2.05215649e-02 1.71993118e-04 9.99789396e-01 9.84032648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2792541539998 meters Centerline goodness [0,1] 0.9984968684759916 Centerline is valid? [True, True] Translation: X:908.97, Y:193.60, Z:9.84 [[-6.16834768e-01 -7.87006961e-01 1.16151845e-02 9.08969357e+02] [ 7.86873126e-01 -6.16944089e-01 -1.45146399e-02 1.93596582e+02] [ 1.85890421e-02 1.86541943e-04 9.99827191e-01 9.84321936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.3092541539997 meters Centerline goodness [0,1] 0.9986456640413385 Centerline is valid? [True, True] Translation: X:908.95, Y:193.62, Z:9.84 [[-6.15555747e-01 -7.88001755e-01 1.20148658e-02 9.08950715e+02] [ 7.87858923e-01 -6.15672950e-01 -1.50045083e-02 1.93616383e+02] [ 1.92208067e-02 2.29907886e-04 9.99815237e-01 9.84150698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.339254154 meters Centerline goodness [0,1] 0.9986691066378306 Centerline is valid? [True, True] Translation: X:908.93, Y:193.64, Z:9.84 [[-6.15385714e-01 -7.88131947e-01 1.21843137e-02 9.08932938e+02] [ 7.87985270e-01 -6.15506276e-01 -1.52065453e-02 1.93637428e+02] [ 1.94842857e-02 2.43169014e-04 9.99810134e-01 9.84092125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.369254154 meters Centerline goodness [0,1] 0.9985839233652645 Centerline is valid? [True, True] Translation: X:908.92, Y:193.66, Z:9.84 [[-6.15998073e-01 -7.87653972e-01 1.21488532e-02 9.08915942e+02] [ 7.87508229e-01 -6.16117819e-01 -1.51533342e-02 1.93660384e+02] [ 1.94207088e-02 2.32897205e-04 9.99811373e-01 9.84151983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.399254154 meters Centerline goodness [0,1] 0.9987285044293903 Centerline is valid? [True, True] Translation: X:908.90, Y:193.68, Z:9.84 [[-6.16714953e-01 -7.87083669e-01 1.27265409e-02 9.08899378e+02] [ 7.86923812e-01 -6.16846208e-01 -1.58641150e-02 1.93682637e+02] [ 2.03367043e-02 2.31181134e-04 9.99793161e-01 9.84184563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4292541539999 meters Centerline goodness [0,1] 0.998559889800263 Centerline is valid? [True, True] Translation: X:908.88, Y:193.71, Z:9.84 [[-6.18485568e-01 -7.85706721e-01 1.18554648e-02 9.08883782e+02] [ 7.85567911e-01 -6.18599157e-01 -1.47695771e-02 1.93706386e+02] [ 1.89383365e-02 1.78502480e-04 9.99820638e-01 9.84492646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4592541539998 meters Centerline goodness [0,1] 0.9984798317402803 Centerline is valid? [True, True] Translation: X:908.87, Y:193.73, Z:9.84 [[-6.19611761e-01 -7.84808939e-01 1.24977833e-02 9.08867783e+02] [ 7.84654687e-01 -6.19737769e-01 -1.55602410e-02 1.93727850e+02] [ 1.99571645e-02 1.65135872e-04 9.99800822e-01 9.84219247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4892541539998 meters Centerline goodness [0,1] 0.9984134936539746 Centerline is valid? [True, True] Translation: X:908.85, Y:193.75, Z:9.84 [[-6.20897854e-01 -7.83794129e-01 1.23539183e-02 9.08852508e+02] [ 7.83643388e-01 -6.21020729e-01 -1.53718983e-02 1.93750961e+02] [ 1.97204429e-02 1.36687724e-04 9.99805524e-01 9.84382366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5192541539998 meters Centerline goodness [0,1] 0.9984456393883381 Centerline is valid? [True, True] Translation: X:908.84, Y:193.78, Z:9.85 [[-6.23709508e-01 -7.81560107e-01 1.22576057e-02 9.08837740e+02] [ 7.81411450e-01 -6.23829940e-01 -1.52430964e-02 1.93775536e+02] [ 1.95600575e-02 7.09692695e-05 9.99808681e-01 9.84520857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5492541539998 meters Centerline goodness [0,1] 0.9983302024629513 Centerline is valid? [True, True] Translation: X:908.82, Y:193.80, Z:9.85 [[-6.25319086e-01 -7.80272879e-01 1.22586435e-02 9.08822414e+02] [ 7.80124101e-01 -6.25439232e-01 -1.52366117e-02 1.93797332e+02] [ 1.95557514e-02 3.55191371e-05 9.99808767e-01 9.84565429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.579254154 meters Centerline goodness [0,1] 0.9983689515285852 Centerline is valid? [True, True] Translation: X:908.81, Y:193.82, Z:9.85 [[-6.29052488e-01 -7.77262374e-01 1.24967470e-02 9.08809376e+02] [ 7.77107331e-01 -6.29176604e-01 -1.55240799e-02 1.93821777e+02] [ 1.99289440e-02 -5.41473542e-05 9.99801397e-01 9.84518800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.609254154 meters Centerline goodness [0,1] 0.9980444930400774 Centerline is valid? [True, True] Translation: X:908.79, Y:193.84, Z:9.85 [[-6.31184865e-01 -7.75524467e-01 1.29409280e-02 9.08793931e+02] [ 7.75358044e-01 -6.31317503e-01 -1.60659555e-02 1.93844780e+02] [ 2.06293759e-02 -1.06735348e-04 9.99787186e-01 9.84523945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.639254154 meters Centerline goodness [0,1] 0.9981736118400336 Centerline is valid? [True, True] Translation: X:908.78, Y:193.87, Z:9.84 [[-6.33014829e-01 -7.74028380e-01 1.31260531e-02 9.08779609e+02] [ 7.73857056e-01 -6.33150886e-01 -1.62853544e-02 1.93866642e+02] [ 2.09160986e-02 -1.51182050e-04 9.99781223e-01 9.84474870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6692541539999 meters Centerline goodness [0,1] 0.9981413415754741 Centerline is valid? [True, True] Translation: X:908.76, Y:193.89, Z:9.85 [[-6.35819685e-01 -7.71728934e-01 1.29529855e-02 9.08764444e+02] [ 7.71561826e-01 -6.35951574e-01 -1.60606302e-02 1.93890700e+02] [ 2.06319246e-02 -2.17635715e-04 9.99787116e-01 9.84641435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6992541539998 meters Centerline goodness [0,1] 0.9982651226955395 Centerline is valid? [True, True] Translation: X:908.75, Y:193.91, Z:9.85 [[-6.36771883e-01 -7.70944613e-01 1.28830317e-02 9.08749769e+02] [ 7.70779321e-01 -6.36902149e-01 -1.59653162e-02 1.93912175e+02] [ 2.05136051e-02 -2.36290049e-04 9.99789546e-01 9.84615029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7292541539998 meters Centerline goodness [0,1] 0.9982032800584979 Centerline is valid? [True, True] Translation: X:908.73, Y:193.93, Z:9.85 [[-6.37546206e-01 -7.70313866e-01 1.23037520e-02 9.08734668e+02] [ 7.70163159e-01 -6.37664873e-01 -1.52386866e-02 1.93933791e+02] [ 1.95842420e-02 -2.39470311e-04 9.99808182e-01 9.84753526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7592541539998 meters Centerline goodness [0,1] 0.9985183639398998 Centerline is valid? [True, True] Translation: X:908.72, Y:193.96, Z:9.85 [[-6.37674763e-01 -7.70207818e-01 1.22806222e-02 9.08717834e+02] [ 7.70057847e-01 -6.37792961e-01 -1.52003465e-02 1.93955191e+02] [ 1.95399201e-02 -2.36087834e-04 9.99809050e-01 9.84765004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7892541539998 meters Centerline goodness [0,1] 0.9985183639398998 Centerline is valid? [True, True] Translation: X:908.70, Y:193.98, Z:9.85 [[-6.37907326e-01 -7.70015140e-01 1.22852132e-02 9.08700927e+02] [ 7.69865205e-01 -6.38025570e-01 -1.51966357e-02 1.93975908e+02] [ 1.95399197e-02 -2.36087114e-04 9.99809050e-01 9.84789962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.8192541539997 meters Centerline goodness [0,1] 0.99845084575448 Centerline is valid? [True, True] Translation: X:908.68, Y:194.00, Z:9.85 [[-6.37677432e-01 -7.70212973e-01 1.18097084e-02 9.08682435e+02] [ 7.70074616e-01 -6.37786743e-01 -1.45998431e-02 1.93996741e+02] [ 1.87770640e-02 -2.15633736e-04 9.99823672e-01 9.85035856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.849254154 meters Centerline goodness [0,1] 0.9983233432535524 Centerline is valid? [True, True] Translation: X:908.66, Y:194.02, Z:9.85 [[-6.36770724e-01 -7.70956058e-01 1.22393704e-02 9.08664316e+02] [ 7.70807762e-01 -6.36888310e-01 -1.51219826e-02 1.94018813e+02] [ 1.94534960e-02 -1.95034143e-04 9.99810744e-01 9.84952505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.879254154 meters Centerline goodness [0,1] 0.9987243297503032 Centerline is valid? [True, True] Translation: X:908.65, Y:194.04, Z:9.85 [[-6.35440634e-01 -7.72071648e-01 1.09805002e-02 9.08646974e+02] [ 7.71952590e-01 -6.35535484e-01 -1.35590658e-02 1.94039333e+02] [ 1.74470678e-02 -1.39555850e-04 9.99847779e-01 9.85340980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9092541539999 meters Centerline goodness [0,1] 0.9987644496565589 Centerline is valid? [True, True] Translation: X:908.63, Y:194.06, Z:9.85 [[-6.33004207e-01 -7.74067723e-01 1.11729663e-02 9.08628091e+02] [ 7.73944883e-01 -6.33102799e-01 -1.37900037e-02 1.94060784e+02] [ 1.77480330e-02 -8.18702599e-05 9.99842488e-01 9.85243241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9392541539999 meters Centerline goodness [0,1] 0.9988467183895995 Centerline is valid? [True, True] Translation: X:908.61, Y:194.08, Z:9.85 [[-6.31417798e-01 -7.75350879e-01 1.19406114e-02 9.08609412e+02] [ 7.75210943e-01 -6.31530690e-01 -1.47302891e-02 1.94082173e+02] [ 1.89620051e-02 -4.44740888e-05 9.99820204e-01 9.85026252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9692541539998 meters Centerline goodness [0,1] 0.9987786388140162 Centerline is valid? [True, True] Translation: X:908.59, Y:194.10, Z:9.85 [[-6.29401067e-01 -7.76985391e-01 1.21654926e-02 9.08591141e+02] [ 7.76840614e-01 -6.29518627e-01 -1.49986255e-02 1.94101835e+02] [ 1.93121171e-02 1.04978591e-05 9.99813504e-01 9.84994108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9992541539998 meters Centerline goodness [0,1] 0.9989520016767973 Centerline is valid? [True, True] Translation: X:908.57, Y:194.12, Z:9.85 [[-6.26839973e-01 -7.79062520e-01 1.15428821e-02 9.08572617e+02] [ 7.78932699e-01 -6.26946237e-01 -1.42220514e-02 1.94120415e+02] [ 1.83166337e-02 7.61780023e-05 9.99832234e-01 9.85065227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.0292541539998 meters Centerline goodness [0,1] 0.9991574690369871 Centerline is valid? [True, True] Translation: X:908.55, Y:194.14, Z:9.85 [[-6.22531404e-01 -7.82492202e-01 1.26730102e-02 9.08553357e+02] [ 7.82336623e-01 -6.22660352e-01 -1.56043134e-02 1.94141386e+02] [ 2.01012345e-02 2.00384922e-04 9.99797930e-01 9.84965123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.0592541539997 meters Centerline goodness [0,1] 0.9993097967037564 Centerline is valid? [True, True] Translation: X:908.54, Y:194.16, Z:9.85 [[-6.20402575e-01 -7.84171291e-01 1.32676989e-02 9.08535431e+02] [ 7.84001323e-01 -6.20544368e-01 -1.63282977e-02 1.94161117e+02] [ 2.10373781e-02 2.71775606e-04 9.99778653e-01 9.84921699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.089254154 meters Centerline goodness [0,1] 0.9992865985438217 Centerline is valid? [True, True] Translation: X:908.52, Y:194.18, Z:9.85 [[-6.18624291e-01 -7.85577306e-01 1.31256892e-02 9.08516707e+02] [ 7.85411441e-01 -6.18763439e-01 -1.61454289e-02 1.94182038e+02] [ 2.08051791e-02 3.21111980e-04 9.99783497e-01 9.84944863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.119254154 meters Centerline goodness [0,1] 0.9994098927269278 Centerline is valid? [True, True] Translation: X:908.50, Y:194.20, Z:9.85 [[-6.15755677e-01 -7.87827485e-01 1.31453451e-02 9.08498479e+02] [ 7.87661828e-01 -6.15895844e-01 -1.61602327e-02 1.94202018e+02] [ 2.08276389e-02 4.03331530e-04 9.99783000e-01 9.84967297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.149254154 meters Centerline goodness [0,1] 0.9996624899801713 Centerline is valid? [True, True] Translation: X:908.48, Y:194.22, Z:9.85 [[-6.14441998e-01 -7.88872510e-01 1.18825673e-02 9.08480830e+02] [ 7.88737500e-01 -6.14556753e-01 -1.45997790e-02 1.94223795e+02] [ 1.88198763e-02 4.01509015e-04 9.99822810e-01 9.85372335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1792541539999 meters Centerline goodness [0,1] 0.9994742929239827 Centerline is valid? [True, True] Translation: X:908.46, Y:194.25, Z:9.85 [[-6.14069896e-01 -7.89141513e-01 1.31846835e-02 9.08464730e+02] [ 7.88975553e-01 -6.14211251e-01 -1.61899913e-02 1.94247427e+02] [ 2.08743752e-02 4.60606666e-04 9.99782000e-01 9.85053426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2092541539998 meters Centerline goodness [0,1] 0.9996195548792087 Centerline is valid? [True, True] Translation: X:908.45, Y:194.27, Z:9.86 [[-6.13639695e-01 -7.89496029e-01 1.19308102e-02 9.08449175e+02] [ 7.89360358e-01 -6.13755515e-01 -1.46421486e-02 1.94271029e+02] [ 1.88825187e-02 4.32704967e-04 9.99821616e-01 9.85527084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2392541539998 meters Centerline goodness [0,1] 0.9995566533662676 Centerline is valid? [True, True] Translation: X:908.43, Y:194.29, Z:9.85 [[-6.14139577e-01 -7.89087643e-01 1.31632497e-02 9.08432240e+02] [ 7.88922614e-01 -6.14280450e-01 -1.61442778e-02 1.94292140e+02] [ 2.08251771e-02 4.69945426e-04 9.99783022e-01 9.85086264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2692541539998 meters Centerline goodness [0,1] 0.999492246175979 Centerline is valid? [True, True] Translation: X:908.42, Y:194.32, Z:9.85 [[-6.14152670e-01 -7.89070318e-01 1.35842361e-02 9.08418101e+02] [ 7.88894781e-01 -6.14302689e-01 -1.66502789e-02 1.94316735e+02] [ 2.14830736e-02 4.90719728e-04 9.99769092e-01 9.85239212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2992541539998 meters Centerline goodness [0,1] 0.9994903484742308 Centerline is valid? [True, True] Translation: X:908.40, Y:194.34, Z:9.85 [[-6.14107303e-01 -7.89088860e-01 1.45255410e-02 9.08402914e+02] [ 7.88888399e-01 -6.14278835e-01 -1.77934508e-02 1.94340668e+02] [ 2.29633462e-02 5.31942762e-04 9.99736166e-01 9.85184358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.329254154 meters Centerline goodness [0,1] 0.9996381592950492 Centerline is valid? [True, True] Translation: X:908.39, Y:194.36, Z:9.85 [[-6.13982630e-01 -7.89184209e-01 1.46155445e-02 9.08386385e+02] [ 7.88981523e-01 -6.14156321e-01 -1.78932655e-02 1.94363247e+02] [ 2.30973117e-02 5.45240364e-04 9.99733073e-01 9.85304421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.359254154 meters Centerline goodness [0,1] 0.9997455740485529 Centerline is valid? [True, True] Translation: X:908.37, Y:194.39, Z:9.85 [[-6.13602107e-01 -7.89481650e-01 1.45320076e-02 9.08370395e+02] [ 7.89281561e-01 -6.13773910e-01 -1.77821695e-02 1.94385033e+02] [ 2.29580636e-02 5.58668980e-04 9.99736273e-01 9.85369185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.389254154 meters Centerline goodness [0,1] 0.9995518183370327 Centerline is valid? [True, True] Translation: X:908.36, Y:194.41, Z:9.85 [[-6.14707800e-01 -7.88576935e-01 1.67552538e-02 9.08357670e+02] [ 7.88310893e-01 -6.14935804e-01 -2.04912953e-02 1.94410440e+02] [ 2.64623683e-02 6.12190027e-04 9.99649623e-01 9.85027465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4192541539999 meters Centerline goodness [0,1] 0.9995319845980386 Centerline is valid? [True, True] Translation: X:908.34, Y:194.43, Z:9.85 [[-6.15211544e-01 -7.88182867e-01 1.68084499e-02 9.08342151e+02] [ 7.87915329e-01 -6.15440819e-01 -2.05434123e-02 1.94432294e+02] [ 2.65365717e-02 6.05090924e-04 9.99647660e-01 9.85037126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4492541539998 meters Centerline goodness [0,1] 0.9996573508941 Centerline is valid? [True, True] Translation: X:908.33, Y:194.46, Z:9.85 [[-6.16417881e-01 -7.87256441e-01 1.60091554e-02 9.08329046e+02] [ 7.87013726e-01 -6.16625494e-01 -1.95549469e-02 1.94457829e+02] [ 2.52664112e-02 5.45406120e-04 9.99680605e-01 9.85244652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4792541539998 meters Centerline goodness [0,1] 0.9992490720676265 Centerline is valid? [True, True] Translation: X:908.31, Y:194.48, Z:9.85 [[-6.18137597e-01 -7.85889433e-01 1.68436827e-02 9.08314958e+02] [ 7.85620566e-01 -6.18366821e-01 -2.05620958e-02 1.94482842e+02] [ 2.65751083e-02 5.22539090e-04 9.99646683e-01 9.85168233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5092541539998 meters Centerline goodness [0,1] 0.9993987158288058 Centerline is valid? [True, True] Translation: X:908.30, Y:194.51, Z:9.85 [[-6.19452491e-01 -7.84870480e-01 1.60293844e-02 9.08300069e+02] [ 7.84626928e-01 -6.19659678e-01 -1.95567761e-02 1.94506208e+02] [ 2.52822994e-02 4.62592966e-04 9.99680245e-01 9.85325241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5392541539998 meters Centerline goodness [0,1] 0.9995711467535809 Centerline is valid? [True, True] Translation: X:908.29, Y:194.53, Z:9.85 [[-6.21702355e-01 -7.83119032e-01 1.45176999e-02 9.08287941e+02] [ 7.82918997e-01 -6.21871733e-01 -1.77028913e-02 1.94531282e+02] [ 2.28916183e-02 3.60253881e-04 9.99737888e-01 9.85453412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5692541539997 meters Centerline goodness [0,1] 0.9995910196525819 Centerline is valid? [True, True] Translation: X:908.27, Y:194.56, Z:9.86 [[-6.22448865e-01 -7.82551074e-01 1.30853908e-02 9.08274151e+02] [ 7.82388618e-01 -6.22586315e-01 -1.59477521e-02 1.94555990e+02] [ 2.06267157e-02 3.11200649e-04 9.99787198e-01 9.85869964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.599254154 meters Centerline goodness [0,1] 0.9994168214609702 Centerline is valid? [True, True] Translation: X:908.26, Y:194.58, Z:9.86 [[-6.23631829e-01 -7.81601626e-01 1.34996267e-02 9.08260433e+02] [ 7.81428706e-01 -6.23777854e-01 -1.64428110e-02 1.94580904e+02] [ 2.12724960e-02 2.94735512e-04 9.99773671e-01 9.85761397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.629254154 meters Centerline goodness [0,1] 0.999697859116022 Centerline is valid? [True, True] Translation: X:908.24, Y:194.60, Z:9.86 [[-6.22882322e-01 -7.82212934e-01 1.26704225e-02 9.08243124e+02] [ 7.82060916e-01 -6.23011103e-01 -1.54236362e-02 1.94602035e+02] [ 1.99583816e-02 3.01931902e-04 9.99800766e-01 9.85847684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6592541539999 meters Centerline goodness [0,1] 0.9995262908574135 Centerline is valid? [True, True] Translation: X:908.23, Y:194.63, Z:9.86 [[-6.22931781e-01 -7.82161956e-01 1.33668188e-02 9.08227299e+02] [ 7.81992968e-01 -6.23075093e-01 -1.62612347e-02 1.94625954e+02] [ 2.10474510e-02 3.23118420e-04 9.99778426e-01 9.85791671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6892541539999 meters Centerline goodness [0,1] 0.9995462696886546 Centerline is valid? [True, True] Translation: X:908.21, Y:194.65, Z:9.86 [[-6.21505250e-01 -7.83280909e-01 1.42211824e-02 9.08211074e+02] [ 7.83090145e-01 -6.21667809e-01 -1.72904634e-02 1.94649786e+02] [ 2.23841412e-02 3.90354003e-04 9.99749368e-01 9.85690785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7192541539998 meters Centerline goodness [0,1] 0.9996114660680366 Centerline is valid? [True, True] Translation: X:908.19, Y:194.67, Z:9.86 [[-6.20785240e-01 -7.83847953e-01 1.44246953e-02 9.08194279e+02] [ 7.83652081e-01 -6.20952661e-01 -1.75273789e-02 1.94670641e+02] [ 2.26958530e-02 4.23204377e-04 9.99742326e-01 9.85614969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7492541539998 meters Centerline goodness [0,1] 0.9995679785717372 Centerline is valid? [True, True] Translation: X:908.18, Y:194.69, Z:9.86 [[-6.19393788e-01 -7.84941218e-01 1.47858292e-02 9.08178699e+02] [ 7.84735978e-01 -6.19570055e-01 -1.79552562e-02 1.94694634e+02] [ 2.32546777e-02 4.81597946e-04 9.99729457e-01 9.85569596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7792541539998 meters Centerline goodness [0,1] 0.9996098914197785 Centerline is valid? [True, True] Translation: X:908.16, Y:194.72, Z:9.86 [[-6.18781520e-01 -7.85425538e-01 1.47022213e-02 9.08161963e+02] [ 7.85222992e-01 -6.18955952e-01 -1.78432831e-02 1.94716719e+02] [ 2.31145977e-02 5.03428358e-04 9.99732695e-01 9.85585025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.8092541539997 meters Centerline goodness [0,1] 0.9996747473871374 Centerline is valid? [True, True] Translation: X:908.15, Y:194.74, Z:9.86 [[-6.18347104e-01 -7.85773508e-01 1.43824115e-02 9.08146242e+02] [ 7.85580026e-01 -6.18514133e-01 -1.74439430e-02 1.94737620e+02] [ 2.26027131e-02 5.12123537e-04 9.99744395e-01 9.85640638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.839254154 meters Centerline goodness [0,1] 0.9997391077484998 Centerline is valid? [True, True] Translation: X:908.13, Y:194.76, Z:9.86 [[-6.18638001e-01 -7.85548722e-01 1.41502588e-02 9.08132156e+02] [ 7.85361630e-01 -6.18799607e-01 -1.71509895e-02 1.94761530e+02] [ 2.22291125e-02 5.02816452e-04 9.99752776e-01 9.85678869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.869254154 meters Centerline goodness [0,1] 0.999564668495059 Centerline is valid? [True, True] Translation: X:908.12, Y:194.79, Z:9.86 [[-6.20140252e-01 -7.84357220e-01 1.44851170e-02 9.08118401e+02] [ 7.84161038e-01 -6.20309217e-01 -1.75482756e-02 1.94787149e+02] [ 2.27493683e-02 4.76272376e-04 9.99741086e-01 9.85587129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.899254154 meters Centerline goodness [0,1] 0.9996298312465978 Centerline is valid? [True, True] Translation: X:908.10, Y:194.81, Z:9.86 [[-6.20735249e-01 -7.83901004e-01 1.36735737e-02 9.08102778e+02] [ 7.83726272e-01 -6.20885676e-01 -1.65561999e-02 1.94808472e+02] [ 2.14681478e-02 4.39322099e-04 9.99769436e-01 9.85694450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9292541539999 meters Centerline goodness [0,1] 0.9995412342981977 Centerline is valid? [True, True] Translation: X:908.09, Y:194.83, Z:9.86 [[-6.22191756e-01 -7.82740884e-01 1.39329453e-02 9.08088072e+02] [ 7.82559409e-01 -6.22347601e-01 -1.68592439e-02 1.94832375e+02] [ 2.18675546e-02 4.13674881e-04 9.99760791e-01 9.85659299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9592541539998 meters Centerline goodness [0,1] 0.9995624398354773 Centerline is valid? [True, True] Translation: X:908.07, Y:194.85, Z:9.86 [[-6.22976045e-01 -7.82133397e-01 1.29690687e-02 9.08072951e+02] [ 7.81976229e-01 -6.23110915e-01 -1.56832637e-02 1.94854789e+02] [ 2.03475725e-02 3.71205837e-04 9.99792898e-01 9.85836777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9892541539998 meters Centerline goodness [0,1] 0.9995843087492069 Centerline is valid? [True, True] Translation: X:908.06, Y:194.88, Z:9.86 [[-6.25026412e-01 -7.80513756e-01 1.18431508e-02 9.08059244e+02] [ 7.80382560e-01 -6.25138536e-01 -1.43133275e-02 1.94879748e+02] [ 1.85753589e-02 2.95980631e-04 9.99827419e-01 9.85969936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0192541539998 meters Centerline goodness [0,1] 0.9996493688639552 Centerline is valid? [True, True] Translation: X:908.04, Y:194.90, Z:9.86 [[-6.26304278e-01 -7.79496825e-01 1.12982511e-02 9.08044202e+02] [ 7.79377403e-01 -6.26406124e-01 -1.36466426e-02 1.94902402e+02] [ 1.77148082e-02 2.58650975e-04 9.99843047e-01 9.86109340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0492541539998 meters Centerline goodness [0,1] 0.9995818569950923 Centerline is valid? [True, True] Translation: X:908.03, Y:194.93, Z:9.86 [[-6.29516400e-01 -7.76910745e-01 1.08994090e-02 9.08031562e+02] [ 7.76799350e-01 -6.29610722e-01 -1.31570730e-02 1.94926899e+02] [ 1.70842561e-02 1.84060569e-04 9.99854037e-01 9.86134328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.079254154 meters Centerline goodness [0,1] 0.9997143108298172 Centerline is valid? [True, True] Translation: X:908.02, Y:194.95, Z:9.86 [[-6.30584488e-01 -7.76048375e-01 1.05888653e-02 9.08016285e+02] [ 7.75943240e-01 -6.30673366e-01 -1.27747647e-02 1.94948990e+02] [ 1.65919507e-02 1.60789981e-04 9.99862331e-01 9.86289854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.109254154 meters Centerline goodness [0,1] 0.9996477012506606 Centerline is valid? [True, True] Translation: X:908.00, Y:194.97, Z:9.86 [[-6.32585817e-01 -7.74414723e-01 1.08176418e-02 9.08000972e+02] [ 7.74304897e-01 -6.32678292e-01 -1.30424130e-02 1.94971828e+02] [ 1.69443238e-02 1.25707556e-04 9.99856427e-01 9.86191671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.139254154 meters Centerline goodness [0,1] 0.9997361245492128 Centerline is valid? [True, True] Translation: X:907.99, Y:195.00, Z:9.86 [[-6.35237022e-01 -7.72237670e-01 1.10863378e-02 9.07987195e+02] [ 7.72122131e-01 -6.35333751e-01 -1.33581243e-02 1.94996703e+02] [ 1.73591714e-02 7.44317049e-05 9.99849315e-01 9.86272881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1692541539999 meters Centerline goodness [0,1] 0.9997137068357999 Centerline is valid? [True, True] Translation: X:907.97, Y:195.02, Z:9.86 [[-6.37175291e-01 -7.70630892e-01 1.16480405e-02 9.07972282e+02] [ 7.70503244e-01 -6.37281748e-01 -1.40258241e-02 1.95018027e+02] [ 1.82318169e-02 3.79444479e-05 9.99833786e-01 9.86070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1992541539998 meters Centerline goodness [0,1] 0.9996692757138133 Centerline is valid? [True, True] Translation: X:907.96, Y:195.04, Z:9.86 [[-6.38831162e-01 -7.69248465e-01 1.23104055e-02 9.07957107e+02] [ 7.69105827e-01 -6.38949763e-01 -1.48131194e-02 1.95039276e+02] [ 1.92607000e-02 4.92227651e-06 9.99814496e-01 9.85860670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2292541539998 meters Centerline goodness [0,1] 0.9996020604425973 Centerline is valid? [True, True] Translation: X:907.94, Y:195.06, Z:9.86 [[-6.40465065e-01 -7.67879426e-01 1.28720055e-02 9.07941465e+02] [ 7.67723400e-01 -6.40594401e-01 -1.54788239e-02 1.95061837e+02] [ 2.01316051e-02 -3.15060877e-05 9.99797338e-01 9.85822344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2592541539998 meters Centerline goodness [0,1] 0.9998678821508786 Centerline is valid? [True, True] Translation: X:907.92, Y:195.08, Z:9.86 [[-6.40018646e-01 -7.68255069e-01 1.26602541e-02 9.07923882e+02] [ 7.68104396e-01 -6.40143851e-01 -1.52146927e-02 1.95081493e+02] [ 1.97931486e-02 -1.32901971e-05 9.99804096e-01 9.85997853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2892541539998 meters Centerline goodness [0,1] 0.9998234891776802 Centerline is valid? [True, True] Translation: X:907.91, Y:195.10, Z:9.86 [[-6.40299031e-01 -7.68027041e-01 1.23131742e-02 9.07905715e+02] [ 7.67884655e-01 -6.40417414e-01 -1.47882764e-02 1.95102065e+02] [ 1.92433674e-02 -1.38215340e-05 9.99814829e-01 9.86162241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.3192541539997 meters Centerline goodness [0,1] 0.9997792445749354 Centerline is valid? [True, True] Translation: X:907.89, Y:195.12, Z:9.86 [[-6.41130087e-01 -7.67332055e-01 1.23987421e-02 9.07888418e+02] [ 7.67187736e-01 -6.41249964e-01 -1.48815896e-02 1.95123057e+02] [ 1.93698136e-02 -2.88719533e-05 9.99812387e-01 9.86074316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.349254154 meters Centerline goodness [0,1] 0.9996679358894891 Centerline is valid? [True, True] Translation: X:907.87, Y:195.14, Z:9.86 [[-6.41404819e-01 -7.67106629e-01 1.21357867e-02 9.07871705e+02] [ 7.66968480e-01 -6.41519617e-01 -1.45579170e-02 1.95143194e+02] [ 1.89528199e-02 -2.97522016e-05 9.99820379e-01 9.86122532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.379254154 meters Centerline goodness [0,1] 0.9997575116284196 Centerline is valid? [True, True] Translation: X:907.86, Y:195.16, Z:9.86 [[-6.41635116e-01 -7.66921987e-01 1.16208243e-02 9.07855294e+02] [ 7.66795425e-01 -6.41740341e-01 -1.39323777e-02 1.95163482e+02] [ 1.81425986e-02 -2.87078758e-05 9.99835409e-01 9.86222101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4092541539999 meters Centerline goodness [0,1] 0.9997563946406821 Centerline is valid? [True, True] Translation: X:907.84, Y:195.18, Z:9.86 [[-6.41375498e-01 -7.67141321e-01 1.14745210e-02 9.07837286e+02] [ 7.67018117e-01 -6.41478132e-01 -1.37482577e-02 1.95184258e+02] [ 1.79075108e-02 -1.66301299e-05 9.99839648e-01 9.86285906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4392541539999 meters Centerline goodness [0,1] 0.9998894147830318 Centerline is valid? [True, True] Translation: X:907.82, Y:195.20, Z:9.86 [[-6.40237956e-01 -7.68084176e-01 1.19188094e-02 9.07818263e+02] [ 7.67951580e-01 -6.40348888e-01 -1.42713954e-02 1.95202466e+02] [ 1.85938293e-02 1.59795343e-05 9.99827120e-01 9.86225758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4692541539998 meters Centerline goodness [0,1] 0.999845644983462 Centerline is valid? [True, True] Translation: X:907.80, Y:195.22, Z:9.86 [[-6.39705515e-01 -7.68523144e-01 1.22078123e-02 9.07799397e+02] [ 7.68384296e-01 -6.39821987e-01 -1.46081398e-02 1.95222333e+02] [ 1.90375203e-02 3.53836580e-05 9.99818769e-01 9.86168784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4992541539998 meters Centerline goodness [0,1] 0.9997799586322229 Centerline is valid? [True, True] Translation: X:907.78, Y:195.24, Z:9.86 [[-6.39358277e-01 -7.68799244e-01 1.29890513e-02 9.07780567e+02] [ 7.68642310e-01 -6.39490203e-01 -1.55332013e-02 1.95242142e+02] [ 2.02482845e-02 5.26535524e-05 9.99794981e-01 9.85972851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.5292541539998 meters Centerline goodness [0,1] 0.9999559422843926 Centerline is valid? [True, True] Translation: X:907.76, Y:195.26, Z:9.86 [[-6.36992095e-01 -7.70758190e-01 1.31485075e-02 9.07760752e+02] [ 7.70597968e-01 -6.37127772e-01 -1.57154123e-02 1.95260375e+02] [ 2.04900620e-02 1.21619756e-04 9.99790049e-01 9.86125765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.5592541539997 meters Centerline goodness [0,1] 0.9998462720983858 Centerline is valid? [True, True] Translation: X:907.74, Y:195.28, Z:9.86 [[-6.37092628e-01 -7.70665398e-01 1.37050382e-02 9.07742257e+02] [ 7.70491496e-01 -6.37240008e-01 -1.63715512e-02 1.95280848e+02] [ 2.13503867e-02 1.29420801e-04 9.99772046e-01 9.85915794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.72, Y:195.30, Z:9.86 [[-6.36254938e-01 -7.71368141e-01 1.30707323e-02 9.07723466e+02] [ 7.71210300e-01 -6.36389164e-01 -1.56046586e-02 1.95301259e+02] [ 2.03550089e-02 1.51742278e-04 9.99792804e-01 9.86221177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.619254154 meters Centerline goodness [0,1] 0.9998242105957064 Centerline is valid? [True, True] Translation: X:907.71, Y:195.32, Z:9.86 [[-6.36927509e-01 -7.70808714e-01 1.33145014e-02 9.07705856e+02] [ 7.70645006e-01 -6.37066642e-01 -1.58860717e-02 1.95322068e+02] [ 2.07273472e-02 1.42477944e-04 9.99785155e-01 9.86057446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.649254154 meters Centerline goodness [0,1] 0.9998026315789473 Centerline is valid? [True, True] Translation: X:907.69, Y:195.34, Z:9.86 [[-6.37427131e-01 -7.70401791e-01 1.29512043e-02 9.07688744e+02] [ 7.70247001e-01 -6.37558675e-01 -1.54432444e-02 1.95341871e+02] [ 2.01546558e-02 1.31683272e-04 9.99796866e-01 9.86083945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6792541539999 meters Centerline goodness [0,1] 0.9998026315789473 Centerline is valid? [True, True] Translation: X:907.67, Y:195.36, Z:9.86 [[-6.37673823e-01 -7.70197531e-01 1.29560673e-02 9.07671931e+02] [ 7.70042782e-01 -6.37805414e-01 -1.54391642e-02 1.95361624e+02] [ 2.01546560e-02 1.31575221e-04 9.99796866e-01 9.86108125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7092541539998 meters Centerline goodness [0,1] 0.9999341657705897 Centerline is valid? [True, True] Translation: X:907.66, Y:195.38, Z:9.86 [[-6.38465154e-01 -7.69560466e-01 1.17870949e-02 9.07655416e+02] [ 7.69432436e-01 -6.38573940e-01 -1.40374168e-02 1.95381754e+02] [ 1.83295726e-02 1.06971641e-04 9.99831994e-01 9.86374898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.64, Y:195.40, Z:9.87 [[-6.39742142e-01 -7.68519311e-01 1.03952267e-02 9.07639996e+02] [ 7.68419721e-01 -6.39826588e-01 -1.23721337e-02 1.95401977e+02] [ 1.61593661e-02 7.29218512e-05 9.99869426e-01 9.86622262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7692541539998 meters Centerline goodness [0,1] 0.9999780557384244 Centerline is valid? [True, True] Translation: X:907.62, Y:195.42, Z:9.87 [[-6.40996648e-01 -7.67473668e-01 1.03666451e-02 9.07623671e+02] [ 7.67374619e-01 -6.41080469e-01 -1.23299115e-02 1.95422980e+02] [ 1.61087361e-02 5.16684060e-05 9.99870245e-01 9.86624053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.61, Y:195.45, Z:9.87 [[-6.42822441e-01 -7.65951230e-01 9.90064014e-03 9.07608093e+02] [ 7.65860819e-01 -6.42898680e-01 -1.17682939e-02 1.95445142e+02] [ 1.53790477e-02 1.75889346e-05 9.99881735e-01 9.86816039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.829254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.59, Y:195.47, Z:9.87 [[-6.43641041e-01 -7.65258490e-01 1.02788262e-02 9.07591327e+02] [ 7.65161079e-01 -6.43723111e-01 -1.22098087e-02 1.95466394e+02] [ 1.59603777e-02 6.22379718e-06 9.99872625e-01 9.86828454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.859254154 meters Centerline goodness [0,1] 0.9997576291726341 Centerline is valid? [True, True] Translation: X:907.58, Y:195.49, Z:9.87 [[-6.44614062e-01 -7.64427490e-01 1.11050917e-02 9.07575228e+02] [ 7.64313802e-01 -6.44709711e-01 -1.31833316e-02 1.95486813e+02] [ 1.72372615e-02 -1.03861000e-05 9.99851427e-01 9.86521213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.56, Y:195.51, Z:9.87 [[-6.44127004e-01 -7.64841049e-01 1.08890639e-02 9.07557457e+02] [ 7.64731921e-01 -6.44219039e-01 -1.29197433e-02 1.95507232e+02] [ 1.68964923e-02 5.25925875e-06 9.99857244e-01 9.86766655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.54, Y:195.53, Z:9.87 [[-6.44042322e-01 -7.64903423e-01 1.14996257e-02 9.07539074e+02] [ 7.64781882e-01 -6.44144979e-01 -1.36352262e-02 1.95528026e+02] [ 1.78370573e-02 1.30426016e-05 9.99840907e-01 9.86700612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9492541539998 meters Centerline goodness [0,1] 0.9998234852830855 Centerline is valid? [True, True] Translation: X:907.52, Y:195.55, Z:9.86 [[-6.44308736e-01 -7.64656623e-01 1.29035794e-02 9.07520690e+02] [ 7.64503736e-01 -6.44437933e-01 -1.52901198e-02 1.95549564e+02] [ 2.00072473e-02 1.32769009e-05 9.99799835e-01 9.86358051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9792541539998 meters Centerline goodness [0,1] 0.9998452833524887 Centerline is valid? [True, True] Translation: X:907.50, Y:195.57, Z:9.86 [[-6.44352644e-01 -7.64590794e-01 1.45116174e-02 9.07503089e+02] [ 7.64397603e-01 -6.44516033e-01 -1.71868214e-02 1.95569675e+02] [ 2.24938555e-02 1.82716931e-05 9.99746981e-01 9.86132349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0092541539998 meters Centerline goodness [0,1] 0.9998453243768782 Centerline is valid? [True, True] Translation: X:907.49, Y:195.59, Z:9.86 [[-6.44849603e-01 -7.64163122e-01 1.49570261e-02 9.07485574e+02] [ 7.63957999e-01 -6.45023041e-01 -1.77045806e-02 1.95591102e+02] [ 2.31768141e-02 9.74798571e-06 9.99731382e-01 9.86096415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0392541539998 meters Centerline goodness [0,1] 0.9998894978783592 Centerline is valid? [True, True] Translation: X:907.47, Y:195.61, Z:9.86 [[-6.45921753e-01 -7.63262063e-01 1.47007774e-02 9.07468220e+02] [ 7.63063912e-01 -6.46089022e-01 -1.73908548e-02 1.95612793e+02] [ 2.27717906e-02 -1.54987072e-05 9.99740689e-01 9.86279903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.45, Y:195.63, Z:9.87 [[-6.46201572e-01 -7.63043744e-01 1.37030627e-02 9.07451732e+02] [ 7.62871710e-01 -6.46346846e-01 -1.62021137e-02 1.95632961e+02] [ 2.12198528e-02 -1.61524476e-05 9.99774833e-01 9.86534122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.099254154 meters Centerline goodness [0,1] 0.9998013157313789 Centerline is valid? [True, True] Translation: X:907.44, Y:195.65, Z:9.86 [[-6.47231230e-01 -7.62165304e-01 1.39922902e-02 9.07435061e+02] [ 7.61985944e-01 -6.47382459e-01 -1.65340041e-02 1.95653954e+02] [ 2.16600075e-02 -3.93953152e-05 9.99765394e-01 9.86393584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.129254154 meters Centerline goodness [0,1] 0.9998453072860268 Centerline is valid? [True, True] Translation: X:907.42, Y:195.67, Z:9.87 [[-6.47508128e-01 -7.61961252e-01 1.21767676e-02 9.07417339e+02] [ 7.61825552e-01 -6.47622613e-01 -1.43798335e-02 1.95674450e+02] [ 1.88428260e-02 -3.44864341e-05 9.99822458e-01 9.86665101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.40, Y:195.69, Z:9.87 [[-6.47077555e-01 -7.62344729e-01 1.10069244e-02 9.07398962e+02] [ 7.62234041e-01 -6.47171163e-01 -1.29904668e-02 1.95694866e+02] [ 1.70265780e-02 -1.59870885e-05 9.99855037e-01 9.86993747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.38, Y:195.71, Z:9.87 [[-6.46630135e-01 -7.62736456e-01 1.01275899e-02 9.07380791e+02] [ 7.62642911e-01 -6.46709439e-01 -1.19453509e-02 1.95714810e+02] [ 1.56607627e-02 -4.89219031e-07 9.99877363e-01 9.87131842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.36, Y:195.73, Z:9.87 [[-6.46028718e-01 -7.63246830e-01 1.00584057e-02 9.07362960e+02] [ 7.63154729e-01 -6.46107016e-01 -1.18567927e-02 1.95734280e+02] [ 1.55484659e-02 1.62913129e-05 9.99879115e-01 9.87126601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2492541539998 meters Centerline goodness [0,1] 0.9998009642177894 Centerline is valid? [True, True] Translation: X:907.34, Y:195.75, Z:9.87 [[-6.45766003e-01 -7.63464218e-01 1.04239014e-02 9.07344945e+02] [ 7.63365443e-01 -6.45850128e-01 -1.22806060e-02 1.95754504e+02] [ 1.61080814e-02 2.68482361e-05 9.99870256e-01 9.86976787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.33, Y:195.77, Z:9.87 [[-6.42999503e-01 -7.65794511e-01 1.05074359e-02 9.07325061e+02] [ 7.65694581e-01 -6.43085343e-01 -1.23713295e-02 1.95773923e+02] [ 1.62310742e-02 9.07280513e-05 9.99868263e-01 9.87204673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.3092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.31, Y:195.79, Z:9.87 [[-6.41662258e-01 -7.66910232e-01 1.08739846e-02 9.07305313e+02] [ 7.66803501e-01 -6.41754377e-01 -1.27949512e-02 1.95793347e+02] [ 1.67910062e-02 1.28172211e-04 9.99859013e-01 9.87183308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.29, Y:195.81, Z:9.87 [[-6.40048178e-01 -7.68250583e-01 1.13741637e-02 9.07285140e+02] [ 7.68134164e-01 -6.40149210e-01 -1.33751474e-02 1.95813631e+02] [ 1.75566267e-02 1.76145034e-04 9.99845855e-01 9.87170609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.26, Y:195.83, Z:9.87 [[-6.36583156e-01 -7.71111454e-01 1.22070082e-02 9.07262398e+02] [ 7.70978050e-01 -6.36700124e-01 -1.43456951e-02 1.95830386e+02] [ 1.88343335e-02 2.79107472e-04 9.99822579e-01 9.86971158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.399254154 meters Centerline goodness [0,1] 0.9998681057791651 Centerline is valid? [True, True] Translation: X:907.24, Y:195.85, Z:9.87 [[-6.35729069e-01 -7.71806342e-01 1.27875457e-02 9.07242839e+02] [ 7.71660269e-01 -6.35857585e-01 -1.50187064e-02 1.95851063e+02] [ 1.97225907e-02 3.19812713e-04 9.99805440e-01 9.86783602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4292541539999 meters Centerline goodness [0,1] 0.9999558732680258 Centerline is valid? [True, True] Translation: X:907.22, Y:195.87, Z:9.87 [[-6.34137046e-01 -7.73112467e-01 1.29352543e-02 9.07222961e+02] [ 7.72963447e-01 -6.34268852e-01 -1.51833183e-02 1.95870728e+02] [ 1.99428416e-02 3.70174124e-04 9.99801053e-01 9.86867035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4592541539998 meters Centerline goodness [0,1] 0.9999118049124663 Centerline is valid? [True, True] Translation: X:907.21, Y:195.89, Z:9.87 [[-6.34460504e-01 -7.72838231e-01 1.34512927e-02 9.07205534e+02] [ 7.72677234e-01 -6.34602964e-01 -1.57787900e-02 1.95890234e+02] [ 2.07306824e-02 3.82488577e-04 9.99785023e-01 9.86812505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4892541539998 meters Centerline goodness [0,1] 0.9998678908778651 Centerline is valid? [True, True] Translation: X:907.19, Y:195.91, Z:9.87 [[-6.35362710e-01 -7.72094559e-01 1.35727191e-02 9.07188439e+02] [ 7.71930694e-01 -6.35507558e-01 -1.59106038e-02 1.95911547e+02] [ 2.09100561e-02 3.68194127e-04 9.99781293e-01 9.86787356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.17, Y:195.93, Z:9.87 [[-6.37625291e-01 -7.70250566e-01 1.21676989e-02 9.07171712e+02] [ 7.70118692e-01 -6.37741316e-01 -1.42553315e-02 1.95934375e+02] [ 1.87400215e-02 2.81012426e-04 9.99824351e-01 9.87130404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5492541539998 meters Centerline goodness [0,1] 0.9999119350080359 Centerline is valid? [True, True] Translation: X:907.16, Y:195.95, Z:9.87 [[-6.39449563e-01 -7.68741415e-01 1.18698750e-02 9.07155954e+02] [ 7.68615792e-01 -6.39559678e-01 -1.38990335e-02 1.95954979e+02] [ 1.82762561e-02 2.35642477e-04 9.99832948e-01 9.87075767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.579254154 meters Centerline goodness [0,1] 0.99995594131383 Centerline is valid? [True, True] Translation: X:907.14, Y:195.98, Z:9.87 [[-6.42821126e-01 -7.65944739e-01 1.04716727e-02 9.07140384e+02] [ 7.65846692e-01 -6.42906398e-01 -1.22559108e-02 1.95979328e+02] [ 1.61196557e-02 1.41337489e-04 9.99870060e-01 9.87337130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.609254154 meters Centerline goodness [0,1] 0.9999339788732394 Centerline is valid? [True, True] Translation: X:907.12, Y:196.00, Z:9.87 [[-6.44717572e-01 -7.64354982e-01 1.00356268e-02 9.07124040e+02] [ 7.64264841e-01 -6.44795666e-01 -1.17389331e-02 1.96001402e+02] [ 1.54436406e-02 1.01580270e-04 9.99880735e-01 9.87376198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.11, Y:196.02, Z:9.88 [[-6.46300567e-01 -7.63029527e-01 9.02879818e-03 9.07107209e+02] [ 7.62956524e-01 -6.46363626e-01 -1.05548826e-02 1.96023187e+02] [ 1.38895738e-02 6.69538485e-05 9.99903533e-01 9.87567858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6692541539999 meters Centerline goodness [0,1] 0.9998234190486701 Centerline is valid? [True, True] Translation: X:907.09, Y:196.05, Z:9.87 [[-6.50116551e-01 -7.59775651e-01 9.45680529e-03 9.07091678e+02] [ 7.59695320e-01 -6.50185328e-01 -1.10481228e-02 1.96046950e+02] [ 1.45427707e-02 1.72323617e-06 9.99894248e-01 9.87359883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6992541539998 meters Centerline goodness [0,1] 0.9998900736506541 Centerline is valid? [True, True] Translation: X:907.08, Y:196.07, Z:9.87 [[-6.51573500e-01 -7.58528832e-01 9.27280626e-03 9.07075339e+02] [ 7.58451564e-01 -6.51639479e-01 -1.08265575e-02 1.96067727e+02] [ 1.42547827e-02 -2.13235785e-05 9.99898395e-01 9.87342975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7292541539998 meters Centerline goodness [0,1] 0.9999558147755391 Centerline is valid? [True, True] Translation: X:907.06, Y:196.09, Z:9.87 [[-6.53352475e-01 -7.56989332e-01 9.88402258e-03 9.07059484e+02] [ 7.56901488e-01 -6.53427233e-01 -1.15320685e-02 1.96089289e+02] [ 1.51881423e-02 -5.32740685e-05 9.99884652e-01 9.87283116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.04, Y:196.11, Z:9.87 [[-6.53746467e-01 -7.56640730e-01 1.05053804e-02 9.07041335e+02] [ 7.56541577e-01 -6.53830867e-01 -1.22490665e-02 1.96110310e+02] [ 1.61368846e-02 -6.00268713e-05 9.99869790e-01 9.87302019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7892541539998 meters Centerline goodness [0,1] 0.999911651021535 Centerline is valid? [True, True] Translation: X:907.02, Y:196.13, Z:9.87 [[-6.53494189e-01 -7.56835549e-01 1.20539303e-02 9.07023110e+02] [ 7.56705183e-01 -6.53605347e-01 -1.40469604e-02 1.96129710e+02] [ 1.85097523e-02 -5.83353980e-05 9.99828678e-01 9.86985791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.8192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:907.00, Y:196.15, Z:9.87 [[-6.52763761e-01 -7.57464786e-01 1.21066326e-02 9.07003404e+02] [ 7.57333519e-01 -6.52876020e-01 -1.41012191e-02 1.96150091e+02] [ 1.85853070e-02 -3.60061351e-05 9.99827278e-01 9.87134318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.98, Y:196.17, Z:9.87 [[-6.52210206e-01 -7.57935762e-01 1.24590372e-02 9.06984745e+02] [ 7.57796997e-01 -6.52329196e-01 -1.45028275e-02 1.96169955e+02] [ 1.91196054e-02 -1.74711162e-05 9.99817203e-01 9.87078335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.879254154 meters Centerline goodness [0,1] 0.9998678850600022 Centerline is valid? [True, True] Translation: X:906.97, Y:196.19, Z:9.87 [[-6.51533589e-01 -7.58499401e-01 1.35144895e-02 9.06965554e+02] [ 7.58336454e-01 -6.51673737e-01 -1.57214131e-02 1.96189258e+02] [ 2.07317203e-02 5.50138450e-06 9.99785075e-01 9.86803603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9092541539999 meters Centerline goodness [0,1] 0.99991171926727 Centerline is valid? [True, True] Translation: X:906.95, Y:196.21, Z:9.87 [[-6.51141931e-01 -7.58842404e-01 1.31298048e-02 9.06946208e+02] [ 7.58688854e-01 -6.51274294e-01 -1.52649303e-02 1.96210182e+02] [ 2.01347807e-02 2.18003391e-05 9.99797275e-01 9.86964656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9392541539999 meters Centerline goodness [0,1] 0.9998897950187349 Centerline is valid? [True, True] Translation: X:906.93, Y:196.23, Z:9.87 [[-6.49896426e-01 -7.59920749e-01 1.24535231e-02 9.06927523e+02] [ 7.59782971e-01 -6.50015732e-01 -1.44701829e-02 1.96229327e+02] [ 1.90911782e-02 5.78545951e-05 9.99817745e-01 9.87077504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.91, Y:196.25, Z:9.87 [[-6.48962505e-01 -7.60733832e-01 1.14762829e-02 9.06908905e+02] [ 7.60617082e-01 -6.49063965e-01 -1.33275293e-02 1.96248189e+02] [ 1.75875441e-02 7.99900144e-05 9.99845324e-01 9.87308517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.89, Y:196.27, Z:9.87 [[-6.47628392e-01 -7.61885762e-01 1.03707294e-02 9.06888982e+02] [ 7.61790674e-01 -6.47711413e-01 -1.20372398e-02 1.96266765e+02] [ 1.58882415e-02 1.04666689e-04 9.99873768e-01 9.87388574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.87, Y:196.29, Z:9.87 [[-6.47028619e-01 -7.62396654e-01 1.02619977e-02 9.06869955e+02] [ 7.62303733e-01 -6.47109981e-01 -1.19034281e-02 1.96286280e+02] [ 1.57157749e-02 1.20900506e-04 9.99876492e-01 9.87418702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.0592541539997 meters Centerline goodness [0,1] 0.9998240636889446 Centerline is valid? [True, True] Translation: X:906.85, Y:196.31, Z:9.87 [[-6.45700332e-01 -7.63508405e-01 1.12248347e-02 9.06850015e+02] [ 7.63397539e-01 -6.45797869e-01 -1.30119270e-02 1.96306308e+02] [ 1.71836900e-02 1.67205624e-04 9.99852336e-01 9.87155275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.089254154 meters Centerline goodness [0,1] 0.9999780619967971 Centerline is valid? [True, True] Translation: X:906.83, Y:196.33, Z:9.87 [[-6.44853909e-01 -7.64231138e-01 1.06866632e-02 9.06831170e+02] [ 7.64130861e-01 -6.44942428e-01 -1.23811327e-02 1.96327078e+02] [ 1.63543296e-02 1.81987346e-04 9.99866242e-01 9.87403409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.119254154 meters Centerline goodness [0,1] 0.9999341455383602 Centerline is valid? [True, True] Translation: X:906.81, Y:196.35, Z:9.87 [[-6.44071884e-01 -7.64893330e-01 1.04691196e-02 9.06812592e+02] [ 7.64797295e-01 -6.44156933e-01 -1.21220545e-02 1.96347543e+02] [ 1.60158346e-02 1.99279856e-04 9.99871718e-01 9.87440002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.149254154 meters Centerline goodness [0,1] 0.9999121226767432 Centerline is valid? [True, True] Translation: X:906.79, Y:196.37, Z:9.87 [[-6.43099212e-01 -7.65697651e-01 1.14241644e-02 9.06793530e+02] [ 7.65583566e-01 -6.43200628e-01 -1.32195383e-02 1.96366447e+02] [ 1.74701992e-02 2.44677867e-04 9.99847354e-01 9.87244172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1792541539999 meters Centerline goodness [0,1] 0.9999780069937759 Centerline is valid? [True, True] Translation: X:906.78, Y:196.39, Z:9.87 [[-6.42304527e-01 -7.66375983e-01 1.06182150e-02 9.06775677e+02] [ 7.66277637e-01 -6.42392240e-01 -1.22797987e-02 1.96388279e+02] [ 1.62320018e-02 2.49130407e-04 9.99868221e-01 9.87456227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2092541539998 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:906.76, Y:196.41, Z:9.87 [[-6.42361493e-01 -7.66326715e-01 1.07274692e-02 9.06757538e+02] [ 7.66226450e-01 -6.42451011e-01 -1.23986651e-02 1.96408510e+02] [ 1.63933017e-02 2.55245595e-04 9.99865588e-01 9.87458268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2392541539998 meters Centerline goodness [0,1] 0.9999560787069571 Centerline is valid? [True, True] Translation: X:906.74, Y:196.43, Z:9.87 [[-6.42817602e-01 -7.65946288e-01 1.05741985e-02 9.06739961e+02] [ 7.65848935e-01 -6.42904521e-01 -1.22142166e-02 1.96430522e+02] [ 1.61536339e-02 2.46725260e-04 9.99869491e-01 9.87480660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2692541539998 meters Centerline goodness [0,1] 0.9999121477674552 Centerline is valid? [True, True] Translation: X:906.72, Y:196.45, Z:9.87 [[-6.43444149e-01 -7.65419249e-01 1.06301936e-02 9.06722922e+02] [ 7.65320911e-01 -6.43531908e-01 -1.22713878e-02 1.96451173e+02] [ 1.62336252e-02 2.39556765e-04 9.99868197e-01 9.87459762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.71, Y:196.47, Z:9.88 [[-6.44294276e-01 -7.64711034e-01 1.00955022e-02 9.06705986e+02] [ 7.64622369e-01 -6.44373329e-01 -1.16466872e-02 1.96471777e+02] [ 1.54116226e-02 2.15352961e-04 9.99881211e-01 9.87606056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.69, Y:196.49, Z:9.88 [[-6.44739832e-01 -7.64329553e-01 1.05301087e-02 9.06689224e+02] [ 7.64233172e-01 -6.44825780e-01 -1.21397100e-02 1.96491739e+02] [ 1.60688247e-02 2.20503753e-04 9.99870864e-01 9.87515084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.359254154 meters Centerline goodness [0,1] 0.9999119059155178 Centerline is valid? [True, True] Translation: X:906.67, Y:196.52, Z:9.87 [[-6.45045356e-01 -7.64059532e-01 1.13806780e-02 9.06672670e+02] [ 7.63947059e-01 -6.45145701e-01 -1.31116728e-02 1.96515222e+02] [ 1.73602940e-02 2.36611807e-04 9.99849271e-01 9.87487056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.389254154 meters Centerline goodness [0,1] 0.9998233839632639 Centerline is valid? [True, True] Translation: X:906.65, Y:196.54, Z:9.87 [[-6.45123978e-01 -7.63984271e-01 1.19618970e-02 9.06654486e+02] [ 7.63860158e-01 -6.45234818e-01 -1.37727839e-02 1.96535748e+02] [ 1.82404227e-02 2.52063393e-04 9.99833598e-01 9.87351915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4192541539999 meters Centerline goodness [0,1] 0.9998893952130248 Centerline is valid? [True, True] Translation: X:906.64, Y:196.56, Z:9.87 [[-6.44793162e-01 -7.64264466e-01 1.18997767e-02 9.06636153e+02] [ 7.64141835e-01 -6.44902905e-01 -1.36930351e-02 1.96556780e+02] [ 1.81393007e-02 2.63941850e-04 9.99835435e-01 9.87429479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.62, Y:196.58, Z:9.88 [[-6.44026609e-01 -7.64911073e-01 1.18649791e-02 9.06616744e+02] [ 7.64789416e-01 -6.44135831e-01 -1.36448024e-02 1.96576281e+02] [ 1.80797186e-02 2.86594625e-04 9.99836507e-01 9.87542025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4792541539998 meters Centerline goodness [0,1] 0.9999558810553252 Centerline is valid? [True, True] Translation: X:906.60, Y:196.60, Z:9.87 [[-6.43632053e-01 -7.65224275e-01 1.30226845e-02 9.06597675e+02] [ 7.65077941e-01 -6.43763700e-01 -1.49680520e-02 1.96595398e+02] [ 1.98374483e-02 3.29450604e-04 9.99803164e-01 9.87326094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5092541539998 meters Centerline goodness [0,1] 0.9999779283554417 Centerline is valid? [True, True] Translation: X:906.58, Y:196.62, Z:9.87 [[-6.43559690e-01 -7.65285175e-01 1.30202071e-02 9.06579133e+02] [ 7.65139071e-01 -6.43691298e-01 -1.49570829e-02 1.96615719e+02] [ 1.98274278e-02 3.36493513e-04 9.99803361e-01 9.87348817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.56, Y:196.63, Z:9.87 [[-6.43355136e-01 -7.65451953e-01 1.33220122e-02 9.06560329e+02] [ 7.65299242e-01 -6.43492953e-01 -1.52934632e-02 1.96634157e+02] [ 2.02790323e-02 3.56197692e-04 9.99794296e-01 9.87325579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5692541539997 meters Centerline goodness [0,1] 0.9999559286926246 Centerline is valid? [True, True] Translation: X:906.54, Y:196.66, Z:9.87 [[-6.42913998e-01 -7.65816942e-01 1.36382568e-02 9.06542316e+02] [ 7.65657180e-01 -6.43058524e-01 -1.56466356e-02 1.96655256e+02] [ 2.07526559e-02 3.82788177e-04 9.99784567e-01 9.87321417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.599254154 meters Centerline goodness [0,1] 0.9999559286926246 Centerline is valid? [True, True] Translation: X:906.52, Y:196.68, Z:9.87 [[-6.43159455e-01 -7.65610726e-01 1.36430238e-02 9.06524636e+02] [ 7.65451006e-01 -6.43304026e-01 -1.56424785e-02 1.96675363e+02] [ 2.07526615e-02 3.82458334e-04 9.99784567e-01 9.87346391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.51, Y:196.70, Z:9.87 [[-6.42817326e-01 -7.65905859e-01 1.31946991e-02 9.06506237e+02] [ 7.65756721e-01 -6.42952616e-01 -1.51188044e-02 1.96695539e+02] [ 2.00631472e-02 3.85300099e-04 9.99798641e-01 9.87478804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6592541539999 meters Centerline goodness [0,1] 0.9997353505502503 Centerline is valid? [True, True] Translation: X:906.49, Y:196.72, Z:9.87 [[-6.42986593e-01 -7.65751825e-01 1.38702439e-02 9.06488639e+02] [ 7.65587216e-01 -6.43136049e-01 -1.58819991e-02 1.96715777e+02] [ 2.10821236e-02 4.06968867e-04 9.99777665e-01 9.87283005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6892541539999 meters Centerline goodness [0,1] 0.9998680564718301 Centerline is valid? [True, True] Translation: X:906.47, Y:196.74, Z:9.87 [[-6.42849296e-01 -7.65874510e-01 1.34542532e-02 9.06469695e+02] [ 7.65719850e-01 -6.42989946e-01 -1.53961164e-02 1.96737125e+02] [ 2.04424427e-02 4.04806143e-04 9.99790949e-01 9.87466494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7192541539998 meters Centerline goodness [0,1] 0.9998679170519086 Centerline is valid? [True, True] Translation: X:906.45, Y:196.76, Z:9.87 [[-6.42855417e-01 -7.65875101e-01 1.31241326e-02 9.06451346e+02] [ 7.65728098e-01 -6.42989246e-01 -1.50103018e-02 1.96755540e+02] [ 1.99346925e-02 4.00063289e-04 9.99801204e-01 9.87431380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.43, Y:196.78, Z:9.88 [[-6.42735773e-01 -7.65987706e-01 1.23919591e-02 9.06433462e+02] [ 7.65856812e-01 -6.42855104e-01 -1.41653726e-02 1.96777505e+02] [ 1.88167354e-02 3.85874567e-04 9.99822875e-01 9.87721445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.42, Y:196.80, Z:9.88 [[-6.43326286e-01 -7.65487984e-01 1.26267859e-02 9.06415100e+02] [ 7.65352148e-01 -6.43450075e-01 -1.44253420e-02 1.96798505e+02] [ 1.91671323e-02 3.83736014e-04 9.99816220e-01 9.87718148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.8092541539997 meters Centerline goodness [0,1] 0.9998895052043049 Centerline is valid? [True, True] Translation: X:906.40, Y:196.82, Z:9.87 [[-6.45060515e-01 -7.63999992e-01 1.41755049e-02 9.06398595e+02] [ 7.63828659e-01 -6.45216136e-01 -1.61838474e-02 1.96819141e+02] [ 2.15107238e-02 3.88096001e-04 9.99768542e-01 9.87477813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.839254154 meters Centerline goodness [0,1] 0.999911758217516 Centerline is valid? [True, True] Translation: X:906.38, Y:196.84, Z:9.88 [[-6.45550081e-01 -7.63580557e-01 1.44853746e-02 9.06380761e+02] [ 7.63401788e-01 -6.45712460e-01 -1.65265980e-02 1.96839693e+02] [ 2.19727758e-02 3.89414165e-04 9.99758494e-01 9.87513811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.869254154 meters Centerline goodness [0,1] 0.9999559578075796 Centerline is valid? [True, True] Translation: X:906.36, Y:196.86, Z:9.88 [[-6.45757279e-01 -7.63413403e-01 1.40539435e-02 9.06362346e+02] [ 7.63245292e-01 -6.45910082e-01 -1.60247095e-02 1.96861072e+02] [ 2.13110617e-02 3.78533396e-04 9.99772822e-01 9.87663429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.899254154 meters Centerline goodness [0,1] 0.9999338624338624 Centerline is valid? [True, True] Translation: X:906.34, Y:196.88, Z:9.88 [[-6.45684471e-01 -7.63468040e-01 1.44262657e-02 9.06343027e+02] [ 7.63291129e-01 -6.45845489e-01 -1.64395005e-02 1.96881331e+02] [ 2.18681718e-02 3.96710460e-04 9.99760784e-01 9.87668220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9292541539999 meters Centerline goodness [0,1] 0.9998900470598584 Centerline is valid? [True, True] Translation: X:906.32, Y:196.90, Z:9.88 [[-6.45914104e-01 -7.63267579e-01 1.47503802e-02 9.06324262e+02] [ 7.63082799e-01 -6.46082378e-01 -1.67988942e-02 1.96902392e+02] [ 2.23520120e-02 4.05118725e-04 9.99750081e-01 9.87632655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9592541539998 meters Centerline goodness [0,1] 0.9998457300275482 Centerline is valid? [True, True] Translation: X:906.31, Y:196.92, Z:9.88 [[-6.46201069e-01 -7.63025145e-01 1.47243679e-02 9.06305362e+02] [ 7.62841180e-01 -6.46368677e-01 -1.67591250e-02 1.96921882e+02] [ 2.23050040e-02 4.02589733e-04 9.99751131e-01 9.87577874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9892541539998 meters Centerline goodness [0,1] 0.9998458794777516 Centerline is valid? [True, True] Translation: X:906.29, Y:196.94, Z:9.88 [[-6.46655869e-01 -7.62639464e-01 1.47389108e-02 9.06288087e+02] [ 7.62455273e-01 -6.46823694e-01 -1.67649967e-02 1.96942798e+02] [ 2.23191248e-02 3.96576723e-04 9.99750819e-01 9.87653876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.27, Y:196.96, Z:9.88 [[-6.47753005e-01 -7.61733557e-01 1.33428912e-02 9.06269586e+02] [ 7.61582595e-01 -6.47890326e-01 -1.51682807e-02 1.96963252e+02] [ 2.01989185e-02 3.36414360e-04 9.99795924e-01 9.87857350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0492541539998 meters Centerline goodness [0,1] 0.9998020106914227 Centerline is valid? [True, True] Translation: X:906.25, Y:196.99, Z:9.88 [[-6.49105183e-01 -7.60564561e-01 1.42832113e-02 9.06254274e+02] [ 7.60391494e-01 -6.49262229e-01 -1.62275656e-02 1.96986959e+02] [ 2.16156609e-02 3.27435427e-04 9.99766301e-01 9.87864800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.24, Y:197.01, Z:9.88 [[-6.49553324e-01 -7.60208661e-01 1.27777965e-02 9.06236156e+02] [ 7.60070220e-01 -6.49678928e-01 -1.45103579e-02 1.97007087e+02] [ 1.93323649e-02 2.86771405e-04 9.99813071e-01 9.88104434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.109254154 meters Centerline goodness [0,1] 0.9999557482963094 Centerline is valid? [True, True] Translation: X:906.22, Y:197.03, Z:9.88 [[-6.50503013e-01 -7.59380781e-01 1.36623596e-02 9.06219041e+02] [ 7.59222494e-01 -6.50646408e-01 -1.55066684e-02 1.97029665e+02] [ 2.06648311e-02 2.85636244e-04 9.99786419e-01 9.88091161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.139254154 meters Centerline goodness [0,1] 0.9998459845984599 Centerline is valid? [True, True] Translation: X:906.20, Y:197.05, Z:9.88 [[-6.50887882e-01 -7.59038002e-01 1.43623748e-02 9.06200924e+02] [ 7.58863174e-01 -6.51046255e-01 -1.62928559e-02 1.97050199e+02] [ 2.17174671e-02 2.94254861e-04 9.99764105e-01 9.87973843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1692541539999 meters Centerline goodness [0,1] 0.9998683459867468 Centerline is valid? [True, True] Translation: X:906.18, Y:197.07, Z:9.88 [[-6.51224153e-01 -7.58746895e-01 1.45000607e-02 9.06182140e+02] [ 7.58568821e-01 -6.51385495e-01 -1.64402174e-02 1.97069514e+02] [ 2.19190931e-02 2.93027282e-04 9.99759705e-01 9.87881027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1992541539998 meters Centerline goodness [0,1] 0.9999121593429519 Centerline is valid? [True, True] Translation: X:906.16, Y:197.09, Z:9.88 [[-6.51527018e-01 -7.58492674e-01 1.41918560e-02 9.06164050e+02] [ 7.58322233e-01 -6.51681504e-01 -1.60813188e-02 1.97090835e+02] [ 2.14461326e-02 2.84586240e-04 9.99769965e-01 9.88022696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2292541539998 meters Centerline goodness [0,1] 0.9998236253803078 Centerline is valid? [True, True] Translation: X:906.15, Y:197.11, Z:9.88 [[-6.52955920e-01 -7.57270758e-01 1.37682794e-02 9.06146505e+02] [ 7.57110265e-01 -6.53101019e-01 -1.55918717e-02 1.97111442e+02] [ 2.07993458e-02 2.43300681e-04 9.99783641e-01 9.88067287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.13, Y:197.13, Z:9.88 [[-6.53433153e-01 -7.56881746e-01 1.24553827e-02 9.06128587e+02] [ 7.56750501e-01 -6.53551816e-01 -1.40961895e-02 1.97131219e+02] [ 1.88093865e-02 2.14699500e-04 9.99823065e-01 9.88316496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.11, Y:197.15, Z:9.88 [[-6.55270620e-01 -7.55307508e-01 1.14447404e-02 9.06111618e+02] [ 7.55196592e-01 -6.55370538e-01 -1.29446764e-02 1.97152514e+02] [ 1.72777570e-02 1.60762842e-04 9.99850716e-01 9.88427069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.3192541539997 meters Centerline goodness [0,1] 0.9998680796798733 Centerline is valid? [True, True] Translation: X:906.09, Y:197.17, Z:9.88 [[-6.56650293e-01 -7.54103620e-01 1.17525554e-02 9.06094891e+02] [ 7.53986608e-01 -6.56755443e-01 -1.32847334e-02 1.97173504e+02] [ 1.77366203e-02 1.37845327e-04 9.99842684e-01 9.88353155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.349254154 meters Centerline goodness [0,1] 0.9998897682929517 Centerline is valid? [True, True] Translation: X:906.08, Y:197.20, Z:9.88 [[-6.57790924e-01 -7.53115286e-01 1.13342550e-02 9.06076732e+02] [ 7.53006440e-01 -6.57888557e-01 -1.28042338e-02 1.97195004e+02] [ 1.70997409e-02 1.12258232e-04 9.99853782e-01 9.88442251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:906.06, Y:197.22, Z:9.89 [[-6.59025645e-01 -7.52052107e-01 1.01403991e-02 9.06058395e+02] [ 7.51964953e-01 -6.59103650e-01 -1.14493543e-02 1.97216537e+02] [ 1.52940851e-02 7.98066490e-05 9.99883035e-01 9.88596161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4092541539999 meters Centerline goodness [0,1] 0.9998896490840874 Centerline is valid? [True, True] Translation: X:906.04, Y:197.24, Z:9.88 [[-6.60725126e-01 -7.50558888e-01 1.01815374e-02 9.06040152e+02] [ 7.50470954e-01 -6.60803567e-01 -1.14888429e-02 1.97237344e+02] [ 1.53510494e-02 4.99808970e-05 9.99882164e-01 9.88472841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4392541539999 meters Centerline goodness [0,1] 0.9998899720529014 Centerline is valid? [True, True] Translation: X:906.02, Y:197.26, Z:9.88 [[-6.61285404e-01 -7.50067084e-01 1.00491222e-02 9.06022556e+02] [ 7.49981466e-01 -6.61361753e-01 -1.13327922e-02 1.97256544e+02] [ 1.51464595e-02 4.24453619e-05 9.99885285e-01 9.88462093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4692541539998 meters Centerline goodness [0,1] 0.9998241062398311 Centerline is valid? [True, True] Translation: X:906.00, Y:197.28, Z:9.88 [[-6.61822010e-01 -7.49585722e-01 1.06241019e-02 9.06004673e+02] [ 7.49490074e-01 -6.61907277e-01 -1.19743374e-02 1.97276576e+02] [ 1.60079627e-02 3.77788747e-05 9.99871864e-01 9.88387077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.98, Y:197.30, Z:9.88 [[-6.61535926e-01 -7.49843163e-01 1.02688052e-02 9.05984520e+02] [ 7.49753945e-01 -6.61615620e-01 -1.15669059e-02 1.97296654e+02] [ 1.54673673e-02 4.71534033e-05 9.99880372e-01 9.88447741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.5292541539998 meters Centerline goodness [0,1] 0.9999338332598148 Centerline is valid? [True, True] Translation: X:905.97, Y:197.32, Z:9.88 [[-6.61696134e-01 -7.49687613e-01 1.12565012e-02 9.05966066e+02] [ 7.49580518e-01 -6.61791870e-01 -1.26715488e-02 1.97316411e+02] [ 1.69491641e-02 5.29391303e-05 9.99856351e-01 9.88284555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.5592541539997 meters Centerline goodness [0,1] 0.9998464541885104 Centerline is valid? [True, True] Translation: X:905.95, Y:197.34, Z:9.88 [[-6.61225169e-01 -7.50085615e-01 1.23630870e-02 9.05946192e+02] [ 7.49956665e-01 -6.61340732e-01 -1.39081609e-02 1.97335301e+02] [ 1.86085244e-02 7.53534628e-05 9.99826844e-01 9.88068341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.589254154 meters Centerline goodness [0,1] 0.9998903917399216 Centerline is valid? [True, True] Translation: X:905.93, Y:197.35, Z:9.88 [[-6.60962160e-01 -7.50314228e-01 1.25531864e-02 9.05927529e+02] [ 7.50181497e-01 -6.61081350e-01 -1.41127777e-02 1.97353682e+02] [ 1.88876953e-02 8.91561707e-05 9.99821608e-01 9.88020367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.619254154 meters Centerline goodness [0,1] 0.9998684239380715 Centerline is valid? [True, True] Translation: X:905.91, Y:197.37, Z:9.88 [[-6.60492073e-01 -7.50729132e-01 1.24896681e-02 9.05908050e+02] [ 7.50597979e-01 -6.60610141e-01 -1.40326419e-02 1.97374375e+02] [ 1.87855144e-02 1.06270902e-04 9.99823531e-01 9.88072977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.649254154 meters Centerline goodness [0,1] 0.9998906362781338 Centerline is valid? [True, True] Translation: X:905.89, Y:197.39, Z:9.88 [[-6.59590683e-01 -7.51529327e-01 1.19917303e-02 9.05888354e+02] [ 7.51408698e-01 -6.59699669e-01 -1.34653088e-02 1.97392824e+02] [ 1.80305150e-02 1.29098247e-04 9.99837429e-01 9.88057406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.87, Y:197.41, Z:9.88 [[-6.58815030e-01 -7.52218582e-01 1.14000828e-02 9.05869191e+02] [ 7.52109800e-01 -6.58913640e-01 -1.27931636e-02 1.97412339e+02] [ 1.71349254e-02 1.45785551e-04 9.99853176e-01 9.88224537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7092541539998 meters Centerline goodness [0,1] 0.9999120821153044 Centerline is valid? [True, True] Translation: X:905.85, Y:197.43, Z:9.88 [[-6.58392143e-01 -7.52593318e-01 1.10943208e-02 9.05850188e+02] [ 7.52490472e-01 -6.58485591e-01 -1.24424795e-02 1.97432484e+02] [ 1.66695773e-02 1.56340002e-04 9.99861041e-01 9.88226837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7392541539998 meters Centerline goodness [0,1] 0.9999342595433229 Centerline is valid? [True, True] Translation: X:905.83, Y:197.45, Z:9.88 [[-6.57826794e-01 -7.53100325e-01 1.01886894e-02 9.05830826e+02] [ 7.53013733e-01 -6.57905673e-01 -1.14211322e-02 1.97451820e+02] [ 1.53044549e-02 1.59096325e-04 9.99882867e-01 9.88373243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7692541539998 meters Centerline goodness [0,1] 0.9998685421322466 Centerline is valid? [True, True] Translation: X:905.81, Y:197.47, Z:9.88 [[-6.58126968e-01 -7.52832121e-01 1.06156930e-02 9.05811779e+02] [ 7.52738178e-01 -6.58212558e-01 -1.18938252e-02 1.97472970e+02] [ 1.59414361e-02 1.63190275e-04 9.99872914e-01 9.88277088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.79, Y:197.49, Z:9.88 [[-6.57230667e-01 -7.53632307e-01 9.28418384e-03 9.05792138e+02] [ 7.53560607e-01 -6.57296219e-01 -1.03967474e-02 1.97490388e+02] [ 1.39377836e-02 1.63134014e-04 9.99902851e-01 9.88427932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.829254154 meters Centerline goodness [0,1] 0.9999560999165898 Centerline is valid? [True, True] Translation: X:905.77, Y:197.51, Z:9.88 [[-6.56990703e-01 -7.53843383e-01 9.13070654e-03 9.05773422e+02] [ 7.53774130e-01 -6.57054127e-01 -1.02193497e-02 1.97510442e+02] [ 1.37031575e-02 1.68472652e-04 9.99906093e-01 9.88439547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.859254154 meters Centerline goodness [0,1] 0.9999341874341874 Centerline is valid? [True, True] Translation: X:905.75, Y:197.53, Z:9.88 [[-6.56203042e-01 -7.54529854e-01 9.07015002e-03 9.05754055e+02] [ 7.54461668e-01 -6.56265697e-01 -1.01452286e-02 1.97529171e+02] [ 1.36073062e-02 1.85750619e-04 9.99907399e-01 9.88332240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.889254154 meters Centerline goodness [0,1] 0.9998686486131483 Centerline is valid? [True, True] Translation: X:905.74, Y:197.55, Z:9.88 [[-6.55798716e-01 -7.54875639e-01 9.52966341e-03 9.05735667e+02] [ 7.54800495e-01 -6.55867919e-01 -1.06529954e-02 1.97548604e+02] [ 1.42918872e-02 2.06773945e-04 9.99897844e-01 9.88251872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.72, Y:197.57, Z:9.88 [[-6.55152988e-01 -7.55441804e-01 9.06876115e-03 9.05716659e+02] [ 7.55373879e-01 -6.55215717e-01 -1.01324747e-02 1.97568759e+02] [ 1.35964898e-02 2.11984187e-04 9.99907541e-01 9.88433080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9492541539998 meters Centerline goodness [0,1] 0.99986882378662 Centerline is valid? [True, True] Translation: X:905.70, Y:197.59, Z:9.88 [[-6.55329796e-01 -7.55272964e-01 1.02765737e-02 9.05698929e+02] [ 7.55185844e-01 -6.55410323e-01 -1.14738780e-02 1.97587638e+02] [ 1.54012823e-02 2.41548851e-04 9.99881364e-01 9.88157554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.68, Y:197.61, Z:9.88 [[-6.55234918e-01 -7.55356526e-01 1.01843562e-02 9.05680125e+02] [ 7.55271086e-01 -6.55314015e-01 -1.13634730e-02 1.97607982e+02] [ 1.52574249e-02 2.46205482e-04 9.99883568e-01 9.88275275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.66, Y:197.63, Z:9.88 [[-6.56447403e-01 -7.54289199e-01 1.11629324e-02 9.05663713e+02] [ 7.54186531e-01 -6.56542263e-01 -1.24472434e-02 1.97630396e+02] [ 1.67177582e-02 2.47972708e-04 9.99860218e-01 9.88201219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.65, Y:197.65, Z:9.88 [[-6.57684285e-01 -7.53209261e-01 1.12778816e-02 9.05645779e+02] [ 7.53104435e-01 -6.57780934e-01 -1.25678966e-02 1.97650852e+02] [ 1.68846316e-02 2.27714575e-04 9.99857419e-01 9.88119976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.63, Y:197.67, Z:9.88 [[-6.59950461e-01 -7.51224391e-01 1.12829200e-02 9.05630483e+02] [ 7.51119306e-01 -6.60046879e-01 -1.25660855e-02 1.97674353e+02] [ 1.68872060e-02 1.81825091e-04 9.99857384e-01 9.88182933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.099254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.61, Y:197.70, Z:9.88 [[-6.61023492e-01 -7.50284749e-01 1.09881232e-02 9.05612340e+02] [ 7.50185068e-01 -6.61114793e-01 -1.22308222e-02 1.97696175e+02] [ 1.64410102e-02 1.58265182e-04 9.99864825e-01 9.88261348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.129254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.59, Y:197.72, Z:9.88 [[-6.61756084e-01 -7.49642003e-01 1.07588410e-02 9.05593802e+02] [ 7.49546464e-01 -6.61843521e-01 -1.19687576e-02 1.97717482e+02] [ 1.60929526e-02 1.43853133e-04 9.99870490e-01 9.88311038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1592541539999 meters Centerline goodness [0,1] 0.9998680506685432 Centerline is valid? [True, True] Translation: X:905.58, Y:197.74, Z:9.88 [[-6.62988735e-01 -7.48550786e-01 1.08470065e-02 9.05575263e+02] [ 7.48453643e-01 -6.63077450e-01 -1.20598369e-02 1.97738771e+02] [ 1.62198058e-02 1.22945517e-04 9.99868443e-01 9.88289316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1892541539999 meters Centerline goodness [0,1] 0.9999561624619161 Centerline is valid? [True, True] Translation: X:905.56, Y:197.76, Z:9.88 [[-6.63066502e-01 -7.48477301e-01 1.11599661e-02 9.05556879e+02] [ 7.48374590e-01 -6.63160398e-01 -1.23999649e-02 1.97757919e+02] [ 1.66819398e-02 1.29833667e-04 9.99860838e-01 9.88238917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.54, Y:197.78, Z:9.88 [[-6.63497559e-01 -7.48079012e-01 1.21975737e-02 9.05538969e+02] [ 7.47956410e-01 -6.63609654e-01 -1.35438387e-02 1.97779500e+02] [ 1.82262891e-02 1.36949476e-04 9.99833878e-01 9.88209299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2492541539998 meters Centerline goodness [0,1] 0.9998901243792028 Centerline is valid? [True, True] Translation: X:905.52, Y:197.80, Z:9.88 [[-6.63960200e-01 -7.47653729e-01 1.30673047e-02 9.05520718e+02] [ 7.47513107e-01 -6.64088761e-01 -1.45007958e-02 1.97800698e+02] [ 1.95194243e-02 1.40030213e-04 9.99809468e-01 9.88054329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2792541539998 meters Centerline goodness [0,1] 0.9999121110915803 Centerline is valid? [True, True] Translation: X:905.50, Y:197.82, Z:9.88 [[-6.63723659e-01 -7.47856314e-01 1.34847676e-02 9.05501267e+02] [ 7.47706782e-01 -6.63860610e-01 -1.49552125e-02 1.97821331e+02] [ 2.01363562e-02 1.56523869e-04 9.99797231e-01 9.88107758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.3092541539997 meters Centerline goodness [0,1] 0.9998687060986017 Centerline is valid? [True, True] Translation: X:905.48, Y:197.84, Z:9.88 [[-6.63842522e-01 -7.47744713e-01 1.38184841e-02 9.05482364e+02] [ 7.47587855e-01 -6.63986309e-01 -1.53160447e-02 1.97841104e+02] [ 2.06277757e-02 1.63089193e-04 9.99787212e-01 9.88094187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.46, Y:197.86, Z:9.88 [[-6.63503644e-01 -7.48055801e-01 1.32450976e-02 9.05462598e+02] [ 7.47911923e-01 -6.63635810e-01 -1.46719444e-02 1.97861349e+02] [ 1.97653542e-02 1.71277848e-04 9.99804632e-01 9.88348717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.369254154 meters Centerline goodness [0,1] 0.9999561816707929 Centerline is valid? [True, True] Translation: X:905.44, Y:197.88, Z:9.88 [[-6.64028544e-01 -7.47594278e-01 1.29957251e-02 9.05443664e+02] [ 7.47455844e-01 -6.64155682e-01 -1.43872007e-02 1.97880630e+02] [ 1.93869736e-02 1.60218752e-04 9.99812042e-01 9.88345917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.399254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.43, Y:197.90, Z:9.88 [[-6.64043812e-01 -7.47586819e-01 1.26397686e-02 9.05425318e+02] [ 7.47456032e-01 -6.64164078e-01 -1.39842323e-02 1.97899688e+02] [ 1.88493080e-02 1.61528336e-04 9.99822323e-01 9.88449750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.41, Y:197.92, Z:9.89 [[-6.64758418e-01 -7.46952844e-01 1.25576743e-02 9.05407344e+02] [ 7.46823808e-01 -6.64877002e-01 -1.38842728e-02 1.97920123e+02] [ 1.87202059e-02 1.48682908e-04 9.99824751e-01 9.88579502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4592541539998 meters Centerline goodness [0,1] 0.9999562209964101 Centerline is valid? [True, True] Translation: X:905.39, Y:197.94, Z:9.89 [[-6.65780670e-01 -7.46043309e-01 1.24691792e-02 9.05389128e+02] [ 7.45916089e-01 -6.65897413e-01 -1.37776445e-02 1.97940385e+02] [ 1.85819136e-02 1.28071988e-04 9.99827333e-01 9.88545844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4892541539998 meters Centerline goodness [0,1] 0.9999562209964101 Centerline is valid? [True, True] Translation: X:905.37, Y:197.96, Z:9.89 [[-6.66017026e-01 -7.45832241e-01 1.24735463e-02 9.05371077e+02] [ 7.45705058e-01 -6.66133809e-01 -1.37736902e-02 1.97960152e+02] [ 1.85819131e-02 1.28074406e-04 9.99827333e-01 9.88570801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.35, Y:197.98, Z:9.89 [[-6.66910345e-01 -7.45038940e-01 1.21478566e-02 9.05352925e+02] [ 7.44918334e-01 -6.67020964e-01 -1.34055854e-02 1.97980216e+02] [ 1.80905582e-02 1.08837510e-04 9.99836347e-01 9.88706874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.33, Y:198.00, Z:9.89 [[-6.67888459e-01 -7.44162533e-01 1.21297757e-02 9.05334108e+02] [ 7.44042288e-01 -6.67998590e-01 -1.33774807e-02 1.98001635e+02] [ 1.80576930e-02 9.04010761e-05 9.99836942e-01 9.88748747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.32, Y:198.02, Z:9.89 [[-6.68567369e-01 -7.43554934e-01 1.19888721e-02 9.05316719e+02] [ 7.43437515e-01 -6.68674849e-01 -1.32139099e-02 1.98021023e+02] [ 1.78419251e-02 7.85883140e-05 9.99840817e-01 9.88797250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.609254154 meters Centerline goodness [0,1] 0.9997593419095125 Centerline is valid? [True, True] Translation: X:905.30, Y:198.04, Z:9.89 [[-6.70368862e-01 -7.41929097e-01 1.21162337e-02 9.05299385e+02] [ 7.41809062e-01 -6.70478346e-01 -1.33454983e-02 1.98041481e+02] [ 1.80250858e-02 4.15254398e-05 9.99837534e-01 9.88620846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.639254154 meters Centerline goodness [0,1] 0.9998683257620646 Centerline is valid? [True, True] Translation: X:905.28, Y:198.06, Z:9.89 [[-6.70944882e-01 -7.41415823e-01 1.16423073e-02 9.05280438e+02] [ 7.41305049e-01 -6.71045883e-01 -1.28158949e-02 1.98062515e+02] [ 1.73144297e-02 3.17420633e-05 9.99850094e-01 9.88830028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6692541539999 meters Centerline goodness [0,1] 0.9998687864937564 Centerline is valid? [True, True] Translation: X:905.26, Y:198.08, Z:9.89 [[-6.71533624e-01 -7.40885395e-01 1.14640016e-02 9.05262280e+02] [ 7.40778041e-01 -6.71631470e-01 -1.26120267e-02 1.98082679e+02] [ 1.70436507e-02 2.28806712e-05 9.99854746e-01 9.88880431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6992541539998 meters Centerline goodness [0,1] 0.9998468539424171 Centerline is valid? [True, True] Translation: X:905.24, Y:198.10, Z:9.89 [[-6.72509781e-01 -7.40002109e-01 1.12904187e-02 9.05243498e+02] [ 7.39897984e-01 -6.72604549e-01 -1.24134986e-02 1.98103787e+02] [ 1.67800021e-02 5.55881640e-06 9.99859206e-01 9.88953334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7292541539998 meters Centerline goodness [0,1] 0.9998688094457199 Centerline is valid? [True, True] Translation: X:905.23, Y:198.12, Z:9.89 [[-6.73131309e-01 -7.39438426e-01 1.11828203e-02 9.05225906e+02] [ 7.39336324e-01 -6.73224194e-01 -1.22875990e-02 1.98123250e+02] [ 1.66144680e-02 -3.30236651e-06 9.99861970e-01 9.89008999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.21, Y:198.14, Z:9.89 [[-6.73517671e-01 -7.39087219e-01 1.11368603e-02 9.05207613e+02] [ 7.38986041e-01 -6.73609741e-01 -1.22290195e-02 1.98143358e+02] [ 1.65402096e-02 -6.47639178e-06 9.99863201e-01 9.89183521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7892541539998 meters Centerline goodness [0,1] 0.9998262493755837 Centerline is valid? [True, True] Translation: X:905.19, Y:198.16, Z:9.89 [[-6.74517026e-01 -7.38171827e-01 1.13637599e-02 9.05189759e+02] [ 7.38066490e-01 -6.74612743e-01 -1.24701130e-02 1.98163399e+02] [ 1.68712233e-02 -2.40931664e-05 9.99857671e-01 9.88951888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.8192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.17, Y:198.18, Z:9.89 [[-6.74078576e-01 -7.38573808e-01 1.12607182e-02 9.05171488e+02] [ 7.38470562e-01 -6.74172627e-01 -1.23490472e-02 1.98182707e+02] [ 1.67123508e-02 -8.51930858e-06 9.99860339e-01 9.89138080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.849254154 meters Centerline goodness [0,1] 0.9999127780200611 Centerline is valid? [True, True] Translation: X:905.15, Y:198.20, Z:9.89 [[-6.74381343e-01 -7.38291461e-01 1.16414385e-02 9.05152787e+02] [ 7.38181219e-01 -6.74481815e-01 -1.27581090e-02 1.98203062e+02] [ 1.72711415e-02 -1.03394276e-05 9.99850843e-01 9.89001606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.879254154 meters Centerline goodness [0,1] 0.9998910936376904 Centerline is valid? [True, True] Translation: X:905.13, Y:198.22, Z:9.89 [[-6.74105153e-01 -7.38539931e-01 1.18748886e-02 9.05133900e+02] [ 7.38425409e-01 -6.74209737e-01 -1.30055860e-02 1.98222904e+02] [ 1.76113101e-02 1.58693296e-06 9.99844909e-01 9.89007560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.11, Y:198.24, Z:9.89 [[-6.72192159e-01 -7.40268781e-01 1.26424905e-02 9.05114842e+02] [ 7.40139455e-01 -6.72311036e-01 -1.38368828e-02 1.98240787e+02] [ 1.87426982e-02 5.61618681e-05 9.99824339e-01 9.89094915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9392541539999 meters Centerline goodness [0,1] 0.9998696247365333 Centerline is valid? [True, True] Translation: X:905.10, Y:198.26, Z:9.89 [[-6.72022098e-01 -7.40411259e-01 1.33217239e-02 9.05095931e+02] [ 7.40267882e-01 -6.72154122e-01 -1.45705041e-02 1.98261075e+02] [ 1.97424169e-02 6.99436368e-05 9.99805097e-01 9.88871283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9692541539998 meters Centerline goodness [0,1] 0.999912808440143 Centerline is valid? [True, True] Translation: X:905.08, Y:198.28, Z:9.89 [[-6.70397304e-01 -7.41866814e-01 1.41804205e-02 9.05076143e+02] [ 7.41704884e-01 -6.70547250e-01 -1.55000547e-02 1.98281141e+02] [ 2.10076182e-02 1.26492299e-04 9.99779308e-01 9.89009215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9992541539998 meters Centerline goodness [0,1] 0.9998037719393873 Centerline is valid? [True, True] Translation: X:905.06, Y:198.30, Z:9.89 [[-6.70285660e-01 -7.41956067e-01 1.47759317e-02 9.05056671e+02] [ 7.41780478e-01 -6.70448488e-01 -1.61415103e-02 1.98302012e+02] [ 2.18827926e-02 1.41074768e-04 9.99760533e-01 9.88784762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.04, Y:198.32, Z:9.89 [[-6.68545076e-01 -7.43531837e-01 1.44183094e-02 9.05036997e+02] [ 7.43365216e-01 -6.68700508e-01 -1.57412607e-02 1.98320799e+02] [ 2.13456593e-02 1.94327365e-04 9.99772137e-01 9.89071462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.02, Y:198.34, Z:9.89 [[-6.68135322e-01 -7.43899600e-01 1.44421870e-02 9.05017950e+02] [ 7.43732728e-01 -6.68291358e-01 -1.57572039e-02 1.98340389e+02] [ 2.13733665e-02 2.13182696e-04 9.99771541e-01 9.89073097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:905.00, Y:198.36, Z:9.89 [[-6.67898654e-01 -7.44111052e-01 1.44958635e-02 9.04998997e+02] [ 7.43943204e-01 -6.68055904e-01 -1.58056397e-02 1.98360232e+02] [ 2.14451983e-02 2.27533656e-04 9.99769999e-01 9.89066447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.119254154 meters Centerline goodness [0,1] 0.9998244882736228 Centerline is valid? [True, True] Translation: X:904.98, Y:198.38, Z:9.89 [[-6.68541422e-01 -7.43525171e-01 1.49227002e-02 9.04981980e+02] [ 7.43347384e-01 -6.68707911e-01 -1.62602423e-02 1.98379989e+02] [ 2.20688271e-02 2.22104600e-04 9.99756429e-01 9.88760330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.149254154 meters Centerline goodness [0,1] 0.999956176870152 Centerline is valid? [True, True] Translation: X:904.96, Y:198.40, Z:9.89 [[-6.68887071e-01 -7.43223795e-01 1.44387392e-02 9.04964588e+02] [ 7.43057499e-01 -6.69042858e-01 -1.57228376e-02 1.98400403e+02] [ 2.13457224e-02 2.12010664e-04 9.99772132e-01 9.89064867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.95, Y:198.42, Z:9.89 [[-6.70351101e-01 -7.41921734e-01 1.34737332e-02 9.04948081e+02] [ 7.41776832e-01 -6.70486475e-01 -1.46635120e-02 1.98422896e+02] [ 1.99131341e-02 1.64801727e-04 9.99801700e-01 9.89332501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.93, Y:198.45, Z:9.90 [[-6.71623234e-01 -7.40773644e-01 1.32906093e-02 9.04930496e+02] [ 7.40632591e-01 -6.71754710e-01 -1.44559551e-02 1.98445164e+02] [ 1.96366199e-02 1.34503092e-04 9.99807174e-01 9.89515081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.91, Y:198.47, Z:9.90 [[-6.73114567e-01 -7.39430845e-01 1.26017720e-02 9.04912964e+02] [ 7.39303944e-01 -6.73232513e-01 -1.36989729e-02 1.98467055e+02] [ 1.86133657e-02 9.55615217e-05 9.99826752e-01 9.89630601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.90, Y:198.49, Z:9.90 [[-6.74539266e-01 -7.38139785e-01 1.21010848e-02 9.04896069e+02] [ 7.38022696e-01 -6.74647800e-01 -1.31470899e-02 1.98487878e+02] [ 1.78683604e-02 6.26468306e-05 9.99840346e-01 9.89738414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.88, Y:198.51, Z:9.90 [[-6.77108468e-01 -7.35799540e-01 1.10977438e-02 9.04879234e+02] [ 7.35700865e-01 -6.77199407e-01 -1.20499077e-02 1.98509585e+02] [ 1.63817021e-02 5.52516837e-06 9.99865811e-01 9.89863501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.86, Y:198.53, Z:9.90 [[-6.78515611e-01 -7.34504881e-01 1.09153966e-02 9.04861842e+02] [ 7.34409375e-01 -6.78603404e-01 -1.18444071e-02 1.98530122e+02] [ 1.61070001e-02 -2.02455130e-05 9.99870274e-01 9.89875364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.359254154 meters Centerline goodness [0,1] 0.9999780504400887 Centerline is valid? [True, True] Translation: X:904.85, Y:198.55, Z:9.90 [[-6.81745034e-01 -7.31506804e-01 1.10229204e-02 9.04845378e+02] [ 7.31409139e-01 -6.81834136e-01 -1.19533885e-02 1.98551843e+02] [ 1.62597885e-02 -8.68985566e-05 9.99867797e-01 9.89815435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.389254154 meters Centerline goodness [0,1] 0.999934065934066 Centerline is valid? [True, True] Translation: X:904.83, Y:198.57, Z:9.90 [[-6.83591055e-01 -7.29777529e-01 1.13149353e-02 9.04827525e+02] [ 7.29674513e-01 -6.83684681e-01 -1.22622409e-02 1.98572931e+02] [ 1.66845558e-02 -1.26138288e-04 9.99860795e-01 9.89744188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4192541539999 meters Centerline goodness [0,1] 0.99995594131383 Centerline is valid? [True, True] Translation: X:904.81, Y:198.59, Z:9.90 [[-6.85291219e-01 -7.28178693e-01 1.14777032e-02 9.04810312e+02] [ 7.28072576e-01 -6.85387310e-01 -1.24321943e-02 1.98593236e+02] [ 1.69195312e-02 -1.63072648e-04 9.99856841e-01 9.89849612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.79, Y:198.62, Z:9.90 [[-6.88741201e-01 -7.24913406e-01 1.16666822e-02 9.04794494e+02] [ 7.24803402e-01 -6.88839963e-01 -1.26306892e-02 1.98615468e+02] [ 1.71926329e-02 -2.43225111e-04 9.99852166e-01 9.89855937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4792541539998 meters Centerline goodness [0,1] 0.9998680158380995 Centerline is valid? [True, True] Translation: X:904.78, Y:198.64, Z:9.90 [[-6.90666711e-01 -7.23070460e-01 1.21903113e-02 9.04775988e+02] [ 7.22950212e-01 -6.90774219e-01 -1.31897198e-02 1.98637022e+02] [ 1.79578495e-02 -2.96712187e-04 9.99838701e-01 9.89684339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5092541539998 meters Centerline goodness [0,1] 0.9999117406941594 Centerline is valid? [True, True] Translation: X:904.76, Y:198.66, Z:9.90 [[-6.93202782e-01 -7.20638731e-01 1.22361281e-02 9.04757734e+02] [ 7.20517333e-01 -6.93310676e-01 -1.32317513e-02 1.98657966e+02] [ 1.80187507e-02 -3.55944439e-04 9.99837586e-01 9.89805879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5392541539998 meters Centerline goodness [0,1] 0.9998452901913981 Centerline is valid? [True, True] Translation: X:904.74, Y:198.68, Z:9.90 [[-6.94442422e-01 -7.19432412e-01 1.29122748e-02 9.04738880e+02] [ 7.19297173e-01 -6.94562339e-01 -1.39547245e-02 1.98679125e+02] [ 1.90078609e-02 -4.02989947e-04 9.99819253e-01 9.89725235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.72, Y:198.70, Z:9.90 [[-6.94686156e-01 -7.19205404e-01 1.24390956e-02 9.04720220e+02] [ 7.19080006e-01 -6.94797406e-01 -1.34353678e-02 1.98698526e+02] [ 1.83054405e-02 -3.88659030e-04 9.99832366e-01 9.89982101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.599254154 meters Centerline goodness [0,1] 0.9999338726387021 Centerline is valid? [True, True] Translation: X:904.70, Y:198.72, Z:9.90 [[-6.94977860e-01 -7.18916086e-01 1.28621599e-02 9.04699676e+02] [ 7.18782125e-01 -6.95096755e-01 -1.38837702e-02 1.98717819e+02] [ 1.89217114e-02 -4.03822259e-04 9.99820887e-01 9.89940775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.68, Y:198.74, Z:9.90 [[-6.95017912e-01 -7.18875112e-01 1.29875239e-02 9.04680768e+02] [ 7.18738686e-01 -6.95139131e-01 -1.40103364e-02 1.98736749e+02] [ 1.90998182e-02 -4.02798905e-04 9.99817501e-01 9.89878035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6592541539999 meters Centerline goodness [0,1] 0.9998685017971422 Centerline is valid? [True, True] Translation: X:904.66, Y:198.75, Z:9.90 [[-6.94582255e-01 -7.19273523e-01 1.41805873e-02 9.04660287e+02] [ 7.19111179e-01 -6.94726868e-01 -1.52869492e-02 1.98754795e+02] [ 2.08471328e-02 -4.20624819e-04 9.99782586e-01 9.89589892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6892541539999 meters Centerline goodness [0,1] 0.9998901098901098 Centerline is valid? [True, True] Translation: X:904.64, Y:198.77, Z:9.90 [[-6.94278640e-01 -7.19566253e-01 1.41977861e-02 9.04640581e+02] [ 7.19403780e-01 -6.94423677e-01 -1.52957092e-02 1.98773401e+02] [ 2.08655550e-02 -4.05543157e-04 9.99782208e-01 9.89716380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7192541539998 meters Centerline goodness [0,1] 0.9999341267401519 Centerline is valid? [True, True] Translation: X:904.62, Y:198.79, Z:9.90 [[-6.93983217e-01 -7.19851675e-01 1.41725374e-02 9.04622415e+02] [ 7.19690047e-01 -6.94127809e-01 -1.52584919e-02 1.98792205e+02] [ 2.08214032e-02 -3.89303179e-04 9.99783135e-01 9.89694995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7492541539998 meters Centerline goodness [0,1] 0.9999124189875634 Centerline is valid? [True, True] Translation: X:904.60, Y:198.81, Z:9.90 [[-6.92322958e-01 -7.21440535e-01 1.45765677e-02 9.04600044e+02] [ 7.21270120e-01 -6.92476307e-01 -1.56836542e-02 1.98809406e+02] [ 2.14087516e-02 -3.44511177e-04 9.99770747e-01 9.89825622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7792541539998 meters Centerline goodness [0,1] 0.9998249874209709 Centerline is valid? [True, True] Translation: X:904.58, Y:198.83, Z:9.90 [[-6.91330552e-01 -7.22386854e-01 1.48087991e-02 9.04580661e+02] [ 7.22211388e-01 -6.91489070e-01 -1.59241121e-02 1.98828531e+02] [ 2.17434919e-02 -3.13741885e-04 9.99763533e-01 9.89698202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.56, Y:198.84, Z:9.90 [[-6.87347777e-01 -7.26203465e-01 1.34744358e-02 9.04555556e+02] [ 7.26059083e-01 -6.87479816e-01 -1.44813831e-02 1.98843909e+02] [ 1.97798332e-02 -1.70510023e-04 9.99804345e-01 9.90127024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.54, Y:198.86, Z:9.90 [[-6.85108324e-01 -7.28314482e-01 1.35867554e-02 9.04535229e+02] [ 7.28168275e-01 -6.85243026e-01 -1.45931000e-02 1.98860741e+02] [ 1.99385955e-02 -1.04410069e-04 9.99801201e-01 9.90124462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.869254154 meters Centerline goodness [0,1] 0.9998698707382667 Centerline is valid? [True, True] Translation: X:904.52, Y:198.88, Z:9.90 [[-6.83247698e-01 -7.30046335e-01 1.43154363e-02 9.04515529e+02] [ 7.29884592e-01 -6.83397649e-01 -1.53667263e-02 1.98877626e+02] [ 2.10015577e-02 -5.06639632e-05 9.99779442e-01 9.89764549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.49, Y:198.89, Z:9.90 [[-6.78015643e-01 -7.34926534e-01 1.33333348e-02 9.04490099e+02] [ 7.34787305e-01 -6.78146725e-01 -1.43051140e-02 1.98892917e+02] [ 1.95551651e-02 9.80740998e-05 9.99808775e-01 9.90202674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.47, Y:198.91, Z:9.90 [[-6.76065768e-01 -7.36716948e-01 1.35356994e-02 9.04468341e+02] [ 7.36573982e-01 -6.76201237e-01 -1.45139824e-02 1.98911809e+02] [ 1.98455536e-02 1.57637325e-04 9.99803045e-01 9.90245608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9592541539998 meters Centerline goodness [0,1] 0.9998916505948382 Centerline is valid? [True, True] Translation: X:904.45, Y:198.93, Z:9.90 [[-6.73591122e-01 -7.38967301e-01 1.42241931e-02 9.04445948e+02] [ 7.38810111e-01 -6.73741248e-01 -1.52430730e-02 1.98928473e+02] [ 2.08475582e-02 2.41379037e-04 9.99782637e-01 9.90090675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9892541539998 meters Centerline goodness [0,1] 0.9999782504676149 Centerline is valid? [True, True] Translation: X:904.43, Y:198.95, Z:9.90 [[-6.72580861e-01 -7.39900528e-01 1.34979372e-02 9.04425224e+02] [ 7.39759335e-01 -6.72716241e-01 -1.44563522e-02 1.98947549e+02] [ 1.97765442e-02 2.62159189e-04 9.99804391e-01 9.90327814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.40, Y:198.97, Z:9.90 [[-6.71832711e-01 -7.40586335e-01 1.31411066e-02 9.04404098e+02] [ 7.40452796e-01 -6.71961161e-01 -1.40660827e-02 1.98966714e+02] [ 1.92474619e-02 2.80314627e-04 9.99814711e-01 9.90382979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0492541539998 meters Centerline goodness [0,1] 0.9998054727013358 Centerline is valid? [True, True] Translation: X:904.38, Y:198.99, Z:9.90 [[-6.71744895e-01 -7.40632096e-01 1.49296355e-02 9.04383831e+02] [ 7.40459964e-01 -6.71910702e-01 -1.59703186e-02 1.98985553e+02] [ 2.18595124e-02 3.26817386e-04 9.99760999e-01 9.90106722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.36, Y:199.01, Z:9.90 [[-6.71315505e-01 -7.41041920e-01 1.38695696e-02 9.04363849e+02] [ 7.40893628e-01 -6.71458688e-01 -1.48277791e-02 1.99005052e+02] [ 2.03008489e-02 3.21757698e-04 9.99793865e-01 9.90384796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.109254154 meters Centerline goodness [0,1] 0.9999783849213211 Centerline is valid? [True, True] Translation: X:904.34, Y:199.02, Z:9.90 [[-6.71505616e-01 -7.40845567e-01 1.51014284e-02 9.04343680e+02] [ 7.40669932e-01 -6.71675311e-01 -1.61347135e-02 1.99022957e+02] [ 2.20965876e-02 3.50623266e-04 9.99755779e-01 9.90211802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.139254154 meters Centerline goodness [0,1] 0.9998269185002489 Centerline is valid? [True, True] Translation: X:904.33, Y:199.04, Z:9.90 [[-6.71998749e-01 -7.40361353e-01 1.68151363e-02 9.04325364e+02] [ 7.40143705e-01 -6.72208988e-01 -1.79547567e-02 1.99044610e+02] [ 2.45962937e-02 3.80043207e-04 9.99697393e-01 9.90126245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1692541539999 meters Centerline goodness [0,1] 0.9999784334023465 Centerline is valid? [True, True] Translation: X:904.30, Y:199.06, Z:9.90 [[-6.71744096e-01 -7.40602503e-01 1.63646334e-02 9.04304917e+02] [ 7.40396634e-01 -6.71943290e-01 -1.74653765e-02 1.99063166e+02] [ 2.39310072e-02 3.84055962e-04 9.99713539e-01 9.90218648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1992541539998 meters Centerline goodness [0,1] 0.999935283458452 Centerline is valid? [True, True] Translation: X:904.29, Y:199.08, Z:9.90 [[-6.72073603e-01 -7.40272122e-01 1.77272935e-02 9.04285449e+02] [ 7.40030684e-01 -6.72307234e-01 -1.89095014e-02 1.99083837e+02] [ 2.59163644e-02 4.10164449e-04 9.99664030e-01 9.90083961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.27, Y:199.10, Z:9.90 [[-6.72170956e-01 -7.40178771e-01 1.79330381e-02 9.04266287e+02] [ 7.39931956e-01 -6.72410003e-01 -1.91177615e-02 1.99103931e+02] [ 2.62089154e-02 4.18823900e-04 9.99656400e-01 9.90198251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.25, Y:199.12, Z:9.90 [[-6.72649896e-01 -7.39733549e-01 1.83410477e-02 9.04248223e+02] [ 7.39475464e-01 -6.72899771e-01 -1.95431977e-02 1.99123706e+02] [ 2.67984458e-02 4.17024911e-04 9.99640770e-01 9.90158809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.23, Y:199.14, Z:9.90 [[-6.73462258e-01 -7.39001171e-01 1.80515225e-02 9.04230160e+02] [ 7.38751204e-01 -6.73704029e-01 -1.92234493e-02 1.99142569e+02] [ 2.63675350e-02 3.89316393e-04 9.99652240e-01 9.90094531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.3192541539997 meters Centerline goodness [0,1] 0.9999567005845421 Centerline is valid? [True, True] Translation: X:904.21, Y:199.16, Z:9.90 [[-6.74213234e-01 -7.38323652e-01 1.77397802e-02 9.04213051e+02] [ 7.38082328e-01 -6.74446478e-01 -1.88792555e-02 1.99163937e+02] [ 2.59035332e-02 3.64774312e-04 9.99664381e-01 9.90319312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.349254154 meters Centerline goodness [0,1] 0.9999133242323778 Centerline is valid? [True, True] Translation: X:904.20, Y:199.18, Z:9.90 [[-6.75748759e-01 -7.36915632e-01 1.78596307e-02 9.04196401e+02] [ 7.36670869e-01 -6.75984651e-01 -1.89942993e-02 1.99183722e+02] [ 2.60700323e-02 3.21295480e-04 9.99660067e-01 9.90278008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.18, Y:199.21, Z:9.91 [[-6.76310645e-01 -7.36432086e-01 1.64831517e-02 9.04178207e+02] [ 7.36223708e-01 -6.76511419e-01 -1.75200349e-02 1.99205346e+02] [ 2.40533562e-02 2.86300938e-04 9.99710635e-01 9.90701998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.16, Y:199.23, Z:9.91 [[-6.76529290e-01 -7.36231116e-01 1.64882789e-02 9.04159252e+02] [ 7.36022796e-01 -6.76730125e-01 -1.75152093e-02 1.99225395e+02] [ 2.40533571e-02 2.86197004e-04 9.99710635e-01 9.90727742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4392541539999 meters Centerline goodness [0,1] 0.999913614374568 Centerline is valid? [True, True] Translation: X:904.14, Y:199.25, Z:9.91 [[-6.77584723e-01 -7.35243841e-01 1.71882841e-02 9.04140962e+02] [ 7.35017413e-01 -6.77802642e-01 -1.82477858e-02 1.99246772e+02] [ 2.50668365e-02 2.69267220e-04 9.99685741e-01 9.90674566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4692541539998 meters Centerline goodness [0,1] 0.9998267348176384 Centerline is valid? [True, True] Translation: X:904.12, Y:199.27, Z:9.91 [[-6.79334181e-01 -7.33618722e-01 1.75681764e-02 9.04123224e+02] [ 7.33381913e-01 -6.79561271e-01 -1.86399486e-02 1.99268574e+02] [ 2.56132675e-02 2.21428586e-04 9.99671902e-01 9.90664909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4992541539998 meters Centerline goodness [0,1] 0.9997840918904914 Centerline is valid? [True, True] Translation: X:904.10, Y:199.29, Z:9.91 [[-6.80425473e-01 -7.32596401e-01 1.79913670e-02 9.04104965e+02] [ 7.32347934e-01 -6.80663261e-01 -1.90795213e-02 1.99289210e+02] [ 2.62236512e-02 1.93748116e-04 9.99656082e-01 9.90606164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.5292541539998 meters Centerline goodness [0,1] 0.9998704411478915 Centerline is valid? [True, True] Translation: X:904.09, Y:199.31, Z:9.91 [[-6.82888159e-01 -7.30308609e-01 1.76945441e-02 9.04088024e+02] [ 7.30067759e-01 -6.83117357e-01 -1.87548446e-02 1.99311761e+02] [ 2.57842747e-02 1.10754822e-04 9.99667524e-01 9.90735472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.5592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:904.07, Y:199.33, Z:9.91 [[-6.84320487e-01 -7.28995877e-01 1.64463349e-02 9.04070394e+02] [ 7.28787672e-01 -6.84518084e-01 -1.74218808e-02 1.99332417e+02] [ 2.39582929e-02 6.37361889e-05 9.99712957e-01 9.90917944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.589254154 meters Centerline goodness [0,1] 0.9998483404107809 Centerline is valid? [True, True] Translation: X:904.05, Y:199.35, Z:9.91 [[-6.86677529e-01 -7.26745486e-01 1.77474068e-02 9.04053249e+02] [ 7.26502519e-01 -6.86906834e-01 -1.87907008e-02 1.99354111e+02] [ 2.58468720e-02 -9.61626285e-06 9.99665914e-01 9.90756311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.619254154 meters Centerline goodness [0,1] 0.9998484225114225 Centerline is valid? [True, True] Translation: X:904.04, Y:199.38, Z:9.91 [[-6.90937083e-01 -7.22716620e-01 1.69302799e-02 9.04038173e+02] [ 7.22494534e-01 -6.91144461e-01 -1.79159828e-02 1.99377518e+02] [ 2.46494477e-02 -1.46782255e-04 9.99696145e-01 9.90791370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.649254154 meters Centerline goodness [0,1] 0.9998271503575827 Centerline is valid? [True, True] Translation: X:904.02, Y:199.40, Z:9.91 [[-6.93195431e-01 -7.20550542e-01 1.69413978e-02 9.04020896e+02] [ 7.20327776e-01 -6.93402386e-01 -1.79171874e-02 1.99399523e+02] [ 2.46574447e-02 -2.16753038e-04 9.99695936e-01 9.90853608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6792541539999 meters Centerline goodness [0,1] 0.9999567071454857 Centerline is valid? [True, True] Translation: X:904.01, Y:199.42, Z:9.91 [[-6.96736615e-01 -7.17152560e-01 1.58207209e-02 9.04006404e+02] [ 7.16957605e-01 -6.96916143e-01 -1.67237001e-02 1.99422348e+02] [ 2.30191601e-02 -3.09227957e-04 9.99734976e-01 9.91040174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.99, Y:199.44, Z:9.91 [[-6.98099533e-01 -7.15841604e-01 1.50943961e-02 9.03988415e+02] [ 7.15664017e-01 -6.98262622e-01 -1.59476099e-02 1.99443626e+02] [ 2.19558152e-02 -3.30502907e-04 9.99758887e-01 9.91190793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7392541539998 meters Centerline goodness [0,1] 0.9999782476289916 Centerline is valid? [True, True] Translation: X:903.97, Y:199.47, Z:9.91 [[-6.99232273e-01 -7.14726455e-01 1.55023634e-02 9.03971437e+02] [ 7.14539086e-01 -6.99404003e-01 -1.63687460e-02 1.99465390e+02] [ 2.25415908e-02 -3.68510947e-04 9.99745838e-01 9.91086279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7692541539998 meters Centerline goodness [0,1] 0.9998045984498144 Centerline is valid? [True, True] Translation: X:903.95, Y:199.49, Z:9.91 [[-6.99935708e-01 -7.14023912e-01 1.61200926e-02 9.03953170e+02] [ 7.13821361e-01 -7.00121199e-01 -1.70109370e-02 1.99486685e+02] [ 2.34322343e-02 -3.99695819e-04 9.99725348e-01 9.90952715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7992541539998 meters Centerline goodness [0,1] 0.999869511319893 Centerline is valid? [True, True] Translation: X:903.93, Y:199.51, Z:9.91 [[-6.99518586e-01 -7.14423265e-01 1.65271307e-02 9.03934938e+02] [ 7.14210729e-01 -6.99713689e-01 -1.74295048e-02 1.99505756e+02] [ 2.40163033e-02 -3.88408474e-04 9.99711492e-01 9.90893621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.829254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.91, Y:199.52, Z:9.91 [[-6.96557920e-01 -7.17327713e-01 1.57485231e-02 9.03914560e+02] [ 7.17135696e-01 -6.96735875e-01 -1.65986163e-02 1.99524642e+02] [ 2.28792085e-02 -2.68069583e-04 9.99738201e-01 9.90969630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.859254154 meters Centerline goodness [0,1] 0.9999346661439958 Centerline is valid? [True, True] Translation: X:903.89, Y:199.54, Z:9.91 [[-6.94979240e-01 -7.18844213e-01 1.63356341e-02 9.03894267e+02] [ 7.18638263e-01 -6.95171165e-01 -1.72075121e-02 1.99543699e+02] [ 2.37255823e-02 -2.19451914e-04 9.99718485e-01 9.90973905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.889254154 meters Centerline goodness [0,1] 0.9998911149825784 Centerline is valid? [True, True] Translation: X:903.87, Y:199.56, Z:9.91 [[-6.93267619e-01 -7.20478541e-01 1.70493626e-02 9.03874564e+02] [ 7.20254958e-01 -6.93477214e-01 -1.79485248e-02 1.99563037e+02] [ 2.47548714e-02 -1.63243144e-04 9.99693538e-01 9.90848994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9192541539999 meters Centerline goodness [0,1] 0.9998258749782344 Centerline is valid? [True, True] Translation: X:903.85, Y:199.58, Z:9.91 [[-6.88905658e-01 -7.24640673e-01 1.74611001e-02 9.03853768e+02] [ 7.24407789e-01 -6.89126908e-01 -1.83700888e-02 1.99579652e+02] [ 2.53446275e-02 -6.30114870e-06 9.99678773e-01 9.90748899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.83, Y:199.60, Z:9.91 [[-6.86049207e-01 -7.27383616e-01 1.57974983e-02 9.03833207e+02] [ 7.27193961e-01 -6.86231059e-01 -1.66095461e-02 1.99597840e+02] [ 2.29222457e-02 9.28793918e-05 9.99737247e-01 9.91045486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9792541539998 meters Centerline goodness [0,1] 0.9999563452219845 Centerline is valid? [True, True] Translation: X:903.81, Y:199.62, Z:9.91 [[-6.81979568e-01 -7.31197488e-01 1.59405892e-02 9.03811104e+02] [ 7.31005647e-01 -6.82165802e-01 -1.67499898e-02 1.99615401e+02] [ 2.31216753e-02 2.29509886e-04 9.99732632e-01 9.91025967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.79, Y:199.64, Z:9.91 [[-6.79910988e-01 -7.33137026e-01 1.52035846e-02 9.03790402e+02] [ 7.32963198e-01 -6.80080891e-01 -1.59666083e-02 1.99635006e+02] [ 2.20453791e-02 2.87795502e-04 9.99756930e-01 9.91167703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.77, Y:199.65, Z:9.91 [[-6.78107506e-01 -7.34807612e-01 1.50991127e-02 9.03770291e+02] [ 7.34636783e-01 -6.78275500e-01 -1.58475004e-02 1.99653326e+02] [ 2.18862222e-02 3.46054614e-04 9.99760408e-01 9.91195503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0692541539997 meters Centerline goodness [0,1] 0.9998691327865992 Centerline is valid? [True, True] Translation: X:903.75, Y:199.67, Z:9.91 [[-6.75954716e-01 -7.36793605e-01 1.48460940e-02 9.03749783e+02] [ 7.36629126e-01 -6.76117605e-01 -1.55728660e-02 1.99672736e+02] [ 2.15116936e-02 4.09513019e-04 9.99768513e-01 9.91154251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.099254154 meters Centerline goodness [0,1] 0.9997609371264643 Centerline is valid? [True, True] Translation: X:903.73, Y:199.69, Z:9.91 [[-6.75181802e-01 -7.37505785e-01 1.46544236e-02 9.03729796e+02] [ 7.37345879e-01 -6.75340677e-01 -1.53630959e-02 1.99692561e+02] [ 2.12271005e-02 4.32496081e-04 9.99774586e-01 9.91139721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.129254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.71, Y:199.71, Z:9.92 [[-6.72996330e-01 -7.39539081e-01 1.25653281e-02 9.03709682e+02] [ 7.39422001e-01 -6.73113484e-01 -1.31659761e-02 1.99712625e+02] [ 1.81946456e-02 4.30426459e-04 9.99834371e-01 9.91516829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.69, Y:199.73, Z:9.91 [[-6.72824887e-01 -7.39697820e-01 1.24019096e-02 9.03690763e+02] [ 7.39583937e-01 -6.72939037e-01 -1.29866674e-02 1.99730241e+02] [ 1.79519387e-02 4.34500072e-04 9.99838757e-01 9.91462605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1892541539999 meters Centerline goodness [0,1] 0.9998912807131985 Centerline is valid? [True, True] Translation: X:903.67, Y:199.75, Z:9.91 [[-6.73352913e-01 -7.39198988e-01 1.34428770e-02 9.03673321e+02] [ 7.39065264e-01 -6.73486928e-01 -1.40674925e-02 1.99751853e+02] [ 1.94522782e-02 4.62776416e-04 9.99810679e-01 9.91371594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.66, Y:199.77, Z:9.91 [[-6.72897398e-01 -7.39615648e-01 1.33336065e-02 9.03655057e+02] [ 7.39484330e-01 -6.73029321e-01 -1.39448543e-02 1.99772015e+02] [ 1.92877406e-02 4.76536891e-04 9.99813861e-01 9.91442374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.64, Y:199.79, Z:9.91 [[-6.73432330e-01 -7.39122624e-01 1.36617644e-02 9.03636763e+02] [ 7.38984831e-01 -6.73570721e-01 -1.42794895e-02 1.99793163e+02] [ 1.97564583e-02 4.79566770e-04 9.99804707e-01 9.91417985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2792541539998 meters Centerline goodness [0,1] 0.9999342162968161 Centerline is valid? [True, True] Translation: X:903.62, Y:199.82, Z:9.91 [[-6.74836807e-01 -7.37813170e-01 1.50668651e-02 9.03619208e+02] [ 7.37645450e-01 -6.75004802e-01 -1.57386949e-02 1.99815093e+02] [ 2.17824227e-02 4.92953854e-04 9.99762613e-01 9.91241153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.3092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.60, Y:199.83, Z:9.91 [[-6.75364346e-01 -7.37336539e-01 1.47589768e-02 9.03601982e+02] [ 7.37175697e-01 -6.75525427e-01 -1.54074487e-02 1.99834405e+02] [ 2.13305390e-02 4.74317472e-04 9.99772366e-01 9.91293599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.339254154 meters Centerline goodness [0,1] 0.999934223508518 Centerline is valid? [True, True] Translation: X:903.58, Y:199.85, Z:9.91 [[-6.76729412e-01 -7.36064440e-01 1.56985089e-02 9.03584644e+02] [ 7.35882378e-01 -6.76911309e-01 -1.63769894e-02 1.99854068e+02] [ 2.26810177e-02 4.69465688e-04 9.99742642e-01 9.91120073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.57, Y:199.88, Z:9.91 [[-6.78545649e-01 -7.34391014e-01 1.56729150e-02 9.03568914e+02] [ 7.34209319e-01 -6.78726501e-01 -1.63405533e-02 1.99875995e+02] [ 2.26379783e-02 4.19388864e-04 9.99743640e-01 9.91125564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.399254154 meters Centerline goodness [0,1] 0.9999778971332581 Centerline is valid? [True, True] Translation: X:903.55, Y:199.90, Z:9.91 [[-6.80240602e-01 -7.32816786e-01 1.58833665e-02 9.03553190e+02] [ 7.32629979e-01 -6.80425907e-01 -1.65499318e-02 1.99898479e+02] [ 2.29355219e-02 3.78694849e-04 9.99736875e-01 9.91206180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.54, Y:199.92, Z:9.91 [[-6.82910947e-01 -7.30327207e-01 1.59627123e-02 9.03537269e+02] [ 7.30138076e-01 -6.83097415e-01 -1.66226391e-02 1.99922057e+02] [ 2.30440531e-02 3.03201850e-04 9.99734405e-01 9.91250624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4592541539998 meters Centerline goodness [0,1] 0.9998457198272062 Centerline is valid? [True, True] Translation: X:903.52, Y:199.94, Z:9.91 [[-6.84892822e-01 -7.28454609e-01 1.66043826e-02 9.03519079e+02] [ 7.28249668e-01 -6.85094021e-01 -1.72801741e-02 1.99942861e+02] [ 2.39633857e-02 2.57068875e-04 9.99712804e-01 9.91081175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4892541539998 meters Centerline goodness [0,1] 0.9999339745141624 Centerline is valid? [True, True] Translation: X:903.50, Y:199.96, Z:9.91 [[-6.85485759e-01 -7.27913194e-01 1.58637095e-02 9.03500577e+02] [ 7.27726228e-01 -6.85669255e-01 -1.64987999e-02 1.99961771e+02] [ 2.28869520e-02 2.34745156e-04 9.99738032e-01 9.91183662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.48, Y:199.98, Z:9.91 [[-6.86033351e-01 -7.27416764e-01 1.49362805e-02 9.03482045e+02] [ 7.27251115e-01 -6.86195895e-01 -1.55245079e-02 1.99981636e+02] [ 2.15420017e-02 2.12096446e-04 9.99767922e-01 9.91386113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.46, Y:200.00, Z:9.91 [[-6.86318703e-01 -7.27145991e-01 1.50115346e-02 9.03462922e+02] [ 7.26978817e-01 -6.86482821e-01 -1.55928333e-02 2.00000849e+02] [ 2.16434268e-02 2.11414586e-04 9.99765731e-01 9.91477404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.579254154 meters Centerline goodness [0,1] 0.9998903003576208 Centerline is valid? [True, True] Translation: X:903.44, Y:200.02, Z:9.91 [[-6.86423963e-01 -7.27034228e-01 1.56004594e-02 9.03442916e+02] [ 7.26853891e-01 -6.86601181e-01 -1.61938012e-02 2.00018430e+02] [ 2.24847416e-02 2.23441471e-04 9.99747161e-01 9.91312763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.609254154 meters Centerline goodness [0,1] 0.9998022977396042 Centerline is valid? [True, True] Translation: X:903.42, Y:200.04, Z:9.91 [[-6.86527820e-01 -7.26917583e-01 1.64432357e-02 9.03423833e+02] [ 7.26717467e-01 -6.86724668e-01 -1.70573355e-02 2.00037477e+02] [ 2.36912526e-02 2.39251235e-04 9.99719294e-01 9.91281140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.40, Y:200.06, Z:9.92 [[-6.84229430e-01 -7.29092334e-01 1.59516548e-02 9.03402071e+02] [ 7.28904817e-01 -6.84415277e-01 -1.65377145e-02 2.00056092e+02] [ 2.29750771e-02 3.11647109e-04 9.99735990e-01 9.91504801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.38, Y:200.07, Z:9.92 [[-6.82283365e-01 -7.30919805e-01 1.56731602e-02 9.03379818e+02] [ 7.30739468e-01 -6.82463259e-01 -1.62398041e-02 2.00073767e+02] [ 2.25663504e-02 3.72848532e-04 9.99745278e-01 9.91505422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.36, Y:200.09, Z:9.92 [[-6.81468181e-01 -7.31682408e-01 1.55554379e-02 9.03359783e+02] [ 7.31505176e-01 -6.81645577e-01 -1.61085427e-02 2.00093042e+02] [ 2.23896327e-02 4.01424055e-04 9.99749240e-01 9.91589355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.34, Y:200.11, Z:9.92 [[-6.80840493e-01 -7.32267982e-01 1.54862757e-02 9.03339449e+02] [ 7.32092688e-01 -6.81016462e-01 -1.60273328e-02 2.00111694e+02] [ 2.22827113e-02 4.25331989e-04 9.99751619e-01 9.91581574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7592541539998 meters Centerline goodness [0,1] 0.999956167265714 Centerline is valid? [True, True] Translation: X:903.32, Y:200.13, Z:9.92 [[-6.80126987e-01 -7.32925736e-01 1.57209005e-02 9.03318229e+02] [ 7.32745483e-01 -6.80308499e-01 -1.62605048e-02 2.00129836e+02] [ 2.26128047e-02 4.60210691e-04 9.99744192e-01 9.91557905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7892541539998 meters Centerline goodness [0,1] 0.9998905021571075 Centerline is valid? [True, True] Translation: X:903.30, Y:200.15, Z:9.91 [[-6.80555658e-01 -7.32522256e-01 1.59731278e-02 9.03298174e+02] [ 7.32336295e-01 -6.80742926e-01 -1.65111874e-02 2.00148870e+02] [ 2.29684060e-02 4.60919250e-04 9.99736085e-01 9.91474171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.8192541539997 meters Centerline goodness [0,1] 0.9999342624244018 Centerline is valid? [True, True] Translation: X:903.28, Y:200.17, Z:9.92 [[-6.81208831e-01 -7.31922005e-01 1.56431069e-02 9.03279311e+02] [ 7.31743710e-01 -6.81388279e-01 -1.61603655e-02 2.00169865e+02] [ 2.24871568e-02 4.38161426e-04 9.99747036e-01 9.91568739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.849254154 meters Centerline goodness [0,1] 0.9999780879549488 Centerline is valid? [True, True] Translation: X:903.26, Y:200.19, Z:9.92 [[-6.82159994e-01 -7.31045424e-01 1.51766418e-02 9.03260640e+02] [ 7.30877582e-01 -6.82328678e-01 -1.56695573e-02 2.00190619e+02] [ 2.18106161e-02 4.03122142e-04 9.99762039e-01 9.91684870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.879254154 meters Centerline goodness [0,1] 0.9999124554069729 Centerline is valid? [True, True] Translation: X:903.24, Y:200.21, Z:9.92 [[-6.83922930e-01 -7.29398323e-01 1.50835284e-02 9.03241732e+02] [ 7.29232319e-01 -6.84089147e-01 -1.55648171e-02 2.00212132e+02] [ 2.16714296e-02 3.54261112e-04 9.99765084e-01 9.91664871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9092541539999 meters Centerline goodness [0,1] 0.9998468974869316 Centerline is valid? [True, True] Translation: X:903.22, Y:200.24, Z:9.92 [[-6.87090180e-01 -7.26435661e-01 1.40824348e-02 9.03224835e+02] [ 7.26290499e-01 -6.87234435e-01 -1.45238730e-02 2.00235141e+02] [ 2.02285934e-02 2.48728135e-04 9.99795350e-01 9.91801999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.21, Y:200.26, Z:9.92 [[-6.88292236e-01 -7.25316213e-01 1.30456278e-02 9.03207367e+02] [ 7.25191581e-01 -6.88415826e-01 -1.34470364e-02 2.00255637e+02] [ 1.87341702e-02 2.05088667e-04 9.99824479e-01 9.92071158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9692541539998 meters Centerline goodness [0,1] 0.9998688008396747 Centerline is valid? [True, True] Translation: X:903.19, Y:200.28, Z:9.92 [[-6.92732248e-01 -7.21079565e-01 1.28955068e-02 9.03190488e+02] [ 7.20957186e-01 -6.92852259e-01 -1.32846984e-02 2.00278562e+02] [ 1.85140055e-02 9.43692859e-05 9.99828597e-01 9.91982589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:903.17, Y:200.30, Z:9.92 [[-6.94160551e-01 -7.19712514e-01 1.24510046e-02 9.03172083e+02] [ 7.19598336e-01 -6.94272204e-01 -1.28195695e-02 2.00300153e+02] [ 1.78707910e-02 6.08827626e-05 9.99840303e-01 9.92187038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.0292541539998 meters Centerline goodness [0,1] 0.9999341368635974 Centerline is valid? [True, True] Translation: X:903.16, Y:200.32, Z:9.92 [[-6.98778543e-01 -7.15219838e-01 1.30050519e-02 9.03155847e+02] [ 7.15094635e-01 -6.98899550e-01 -1.33821451e-02 2.00322981e+02] [ 1.86604006e-02 -5.13130547e-05 9.99825878e-01 9.92082648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.0592541539997 meters Centerline goodness [0,1] 0.9998901750609528 Centerline is valid? [True, True] Translation: X:903.14, Y:200.34, Z:9.92 [[-7.01231666e-01 -7.12814755e-01 1.30105913e-02 9.03138552e+02] [ 7.12689181e-01 -7.01352346e-01 -1.33797354e-02 2.00344098e+02] [ 1.86622816e-02 -1.09786508e-04 9.99825838e-01 9.92065544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.089254154 meters Centerline goodness [0,1] 0.999824553708496 Centerline is valid? [True, True] Translation: X:903.12, Y:200.37, Z:9.92 [[-7.03536928e-01 -7.10535963e-01 1.32074486e-02 9.03120658e+02] [ 7.10406314e-01 -7.03660868e-01 -1.35739323e-02 2.00365558e+02] [ 1.89383318e-02 -1.67107713e-04 9.99820640e-01 9.92041611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.119254154 meters Centerline goodness [0,1] 0.9998019104635295 Centerline is valid? [True, True] Translation: X:903.10, Y:200.39, Z:9.92 [[-7.07470974e-01 -7.06619915e-01 1.31573761e-02 9.03103548e+02] [ 7.06490712e-01 -7.07593262e-01 -1.35147768e-02 2.00387790e+02] [ 1.88598811e-02 -2.65748289e-04 9.99822101e-01 9.92049210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.149254154 meters Centerline goodness [0,1] 0.9998246114046434 Centerline is valid? [True, True] Translation: X:903.08, Y:200.41, Z:9.92 [[-7.09244821e-01 -7.04843721e-01 1.29272117e-02 9.03084689e+02] [ 7.04718843e-01 -7.09362557e-01 -1.32708305e-02 2.00408521e+02] [ 1.85239415e-02 -3.02218184e-04 9.99828371e-01 9.92113973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1792541539999 meters Centerline goodness [0,1] 0.9999119059155178 Centerline is valid? [True, True] Translation: X:903.07, Y:200.43, Z:9.92 [[-7.10283562e-01 -7.03796030e-01 1.29772900e-02 9.03066483e+02] [ 7.03670130e-01 -7.10402028e-01 -1.33156481e-02 2.00428864e+02] [ 1.85905934e-02 -3.26154575e-04 9.99827127e-01 9.92180490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2092541539998 meters Centerline goodness [0,1] 0.9999119175548313 Centerline is valid? [True, True] Translation: X:903.05, Y:200.45, Z:9.92 [[-7.12511771e-01 -7.01535436e-01 1.32290687e-02 9.03046725e+02] [ 7.01404340e-01 -7.12634466e-01 -1.35672339e-02 2.00448935e+02] [ 1.89453856e-02 -3.87887676e-04 9.99820445e-01 9.92170889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2392541539998 meters Centerline goodness [0,1] 0.999868094180755 Centerline is valid? [True, True] Translation: X:903.03, Y:200.47, Z:9.92 [[-7.13376084e-01 -7.00654794e-01 1.33199843e-02 9.03028345e+02] [ 7.00521890e-01 -7.13500310e-01 -1.36524418e-02 2.00468766e+02] [ 1.90694617e-02 -4.08384915e-04 9.99818078e-01 9.92087081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2692541539998 meters Centerline goodness [0,1] 0.9998242955349103 Centerline is valid? [True, True] Translation: X:903.01, Y:200.49, Z:9.92 [[-7.14138730e-01 -6.99873981e-01 1.35013295e-02 9.03010575e+02] [ 6.99737454e-01 -7.14266216e-01 -1.38299985e-02 2.00489512e+02] [ 1.93227997e-02 -4.29151631e-04 9.99813205e-01 9.92033541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2992541539998 meters Centerline goodness [0,1] 0.9998242955349103 Centerline is valid? [True, True] Translation: X:902.99, Y:200.51, Z:9.92 [[-7.14351081e-01 -6.99657155e-01 1.35054803e-02 9.02991778e+02] [ 6.99520666e-01 -7.14478608e-01 -1.38259445e-02 2.00508582e+02] [ 1.93227978e-02 -4.29215826e-04 9.99813205e-01 9.92058505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.329254154 meters Centerline goodness [0,1] 0.9998898775438287 Centerline is valid? [True, True] Translation: X:902.97, Y:200.53, Z:9.92 [[-7.14140983e-01 -6.99879602e-01 1.30843064e-02 9.02970183e+02] [ 6.99751677e-01 -7.14260722e-01 -1.33870128e-02 2.00526277e+02] [ 1.87149033e-02 -4.04449120e-04 9.99824779e-01 9.92420351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.359254154 meters Centerline goodness [0,1] 0.9998464306085736 Centerline is valid? [True, True] Translation: X:902.95, Y:200.55, Z:9.92 [[-7.14735073e-01 -6.99261635e-01 1.36726284e-02 9.02951752e+02] [ 6.99121997e-01 -7.14865706e-01 -1.39805521e-02 2.00545680e+02] [ 1.95501569e-02 -4.33555636e-04 9.99808783e-01 9.92202508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.389254154 meters Centerline goodness [0,1] 0.9998245190725833 Centerline is valid? [True, True] Translation: X:902.93, Y:200.56, Z:9.92 [[-7.14199899e-01 -6.99807823e-01 1.36936016e-02 9.02930888e+02] [ 6.99668026e-01 -7.14331044e-01 -1.39933301e-02 2.00563035e+02] [ 1.95744066e-02 -4.13059757e-04 9.99808318e-01 9.92184988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4192541539999 meters Centerline goodness [0,1] 0.9998904829701019 Centerline is valid? [True, True] Translation: X:902.91, Y:200.58, Z:9.92 [[-7.13636759e-01 -7.00383557e-01 1.36180027e-02 9.02911089e+02] [ 7.00245579e-01 -7.13766574e-01 -1.39070733e-02 2.00580895e+02] [ 1.94603606e-02 -3.88652482e-04 9.99810554e-01 9.92232809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4492541539998 meters Centerline goodness [0,1] 0.9998244112289019 Centerline is valid? [True, True] Translation: X:902.89, Y:200.60, Z:9.92 [[-7.11833614e-01 -7.02218572e-01 1.34900979e-02 9.02888325e+02] [ 7.02083664e-01 -7.11961354e-01 -1.37680615e-02 2.00597371e+02] [ 1.92726168e-02 -3.29391597e-04 9.99814212e-01 9.92273175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4792541539998 meters Centerline goodness [0,1] 0.9998027354024198 Centerline is valid? [True, True] Translation: X:902.87, Y:200.61, Z:9.92 [[-7.11145208e-01 -7.02913634e-01 1.35983630e-02 9.02868842e+02] [ 7.02776846e-01 -7.11275143e-01 -1.38699726e-02 2.00614601e+02] [ 1.94215704e-02 -3.06949920e-04 9.99811336e-01 9.92166919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.85, Y:200.63, Z:9.92 [[-7.08271921e-01 -7.05819645e-01 1.30197653e-02 9.02846008e+02] [ 7.05694889e-01 -7.08391547e-01 -1.32718113e-02 2.00631511e+02] [ 1.85905968e-02 -2.12069405e-04 9.99827157e-01 9.92481223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5392541539998 meters Centerline goodness [0,1] 0.9999781773743017 Centerline is valid? [True, True] Translation: X:902.83, Y:200.65, Z:9.92 [[-7.07164482e-01 -7.06927857e-01 1.30919739e-02 9.02826214e+02] [ 7.06802035e-01 -7.07285637e-01 -1.33383033e-02 2.00649053e+02] [ 1.86889833e-02 -1.78940549e-04 9.99825330e-01 9.92418597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5692541539997 meters Centerline goodness [0,1] 0.9999348194498762 Centerline is valid? [True, True] Translation: X:902.80, Y:200.66, Z:9.92 [[-7.04519761e-01 -7.09565502e-01 1.29886234e-02 9.02803925e+02] [ 7.09442243e-01 -7.04639474e-01 -1.32256106e-02 2.00664904e+02] [ 1.85367338e-02 -1.03025922e-04 9.99828175e-01 9.92411657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.599254154 meters Centerline goodness [0,1] 0.9998261738695869 Centerline is valid? [True, True] Translation: X:902.78, Y:200.68, Z:9.92 [[-7.03246790e-01 -7.10828483e-01 1.29159072e-02 9.02782803e+02] [ 7.10706964e-01 -7.03365384e-01 -1.31433268e-02 2.00682638e+02] [ 1.84272531e-02 -6.35771947e-05 9.99830202e-01 9.92310072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.76, Y:200.70, Z:9.93 [[-6.99821495e-01 -7.14221911e-01 1.17019723e-02 9.02760263e+02] [ 7.14122754e-01 -6.99919324e-01 -1.19009102e-02 2.00698324e+02] [ 1.66903274e-02 2.81318880e-05 9.99860706e-01 9.92680654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6592541539999 meters Centerline goodness [0,1] 0.9998913869881612 Centerline is valid? [True, True] Translation: X:902.74, Y:200.72, Z:9.93 [[-6.99013364e-01 -7.15014860e-01 1.15787192e-02 9.02739172e+02] [ 7.14918007e-01 -6.99109253e-01 -1.17684133e-02 2.00717072e+02] [ 1.65093801e-02 5.15566773e-05 9.99863710e-01 9.92635473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6892541539999 meters Centerline goodness [0,1] 0.9999133092043953 Centerline is valid? [True, True] Translation: X:902.72, Y:200.73, Z:9.93 [[-6.97948260e-01 -7.16056070e-01 1.14861654e-02 9.02718968e+02] [ 7.15960998e-01 -6.98042763e-01 -1.16683690e-02 2.00734700e+02] [ 1.63730410e-02 7.97285696e-05 9.99865950e-01 9.92681473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.70, Y:200.75, Z:9.93 [[-6.96960760e-01 -7.17022415e-01 1.11604974e-02 9.02697838e+02] [ 7.16932868e-01 -6.97050103e-01 -1.13321078e-02 2.00753394e+02] [ 1.59048012e-02 1.03292924e-04 9.99873505e-01 9.92859663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.68, Y:200.77, Z:9.93 [[-6.96029317e-01 -7.17927033e-01 1.11339323e-02 9.02675988e+02] [ 7.17838131e-01 -6.96118351e-01 -1.12986198e-02 2.00771619e+02] [ 1.58621192e-02 1.28190559e-04 9.99874180e-01 9.92928856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7792541539998 meters Centerline goodness [0,1] 0.9998273182524607 Centerline is valid? [True, True] Translation: X:902.66, Y:200.79, Z:9.93 [[-6.96043204e-01 -7.17908917e-01 1.14300316e-02 9.02655316e+02] [ 7.17815334e-01 -6.96137033e-01 -1.15920978e-02 2.00788919e+02] [ 1.62789387e-02 1.36051075e-04 9.99867480e-01 9.92669595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.64, Y:200.81, Z:9.93 [[-6.95408327e-01 -7.18528099e-01 1.11637598e-02 9.02635203e+02] [ 7.18439006e-01 -6.95497914e-01 -1.13157595e-02 2.00806050e+02] [ 1.58950628e-02 1.51407074e-04 9.99873654e-01 9.92893298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.839254154 meters Centerline goodness [0,1] 0.9998920179682101 Centerline is valid? [True, True] Translation: X:902.62, Y:200.83, Z:9.93 [[-6.95439926e-01 -7.18488559e-01 1.17260371e-02 9.02615748e+02] [ 7.18390368e-01 -6.95538758e-01 -1.18791676e-02 2.00826979e+02] [ 1.66909593e-02 1.62624670e-04 9.99860683e-01 9.92916551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.59, Y:200.84, Z:9.93 [[-6.94977447e-01 -7.18926551e-01 1.22866845e-02 9.02594816e+02] [ 7.18818948e-01 -6.95086023e-01 -1.24394510e-02 2.00844967e+02] [ 1.74833543e-02 1.86763723e-04 9.99847137e-01 9.92886757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.899254154 meters Centerline goodness [0,1] 0.9999354394421968 Centerline is valid? [True, True] Translation: X:902.57, Y:200.86, Z:9.93 [[-6.95054455e-01 -7.18837438e-01 1.31165012e-02 9.02574335e+02] [ 7.18714946e-01 -6.95178176e-01 -1.32713667e-02 2.00864719e+02] [ 1.86582606e-02 2.02702911e-04 9.99825899e-01 9.92740428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9292541539999 meters Centerline goodness [0,1] 0.9998061681598898 Centerline is valid? [True, True] Translation: X:902.55, Y:200.88, Z:9.92 [[-6.95428339e-01 -7.18452307e-01 1.43425397e-02 9.02554772e+02] [ 7.18305944e-01 -6.95576190e-01 -1.45029060e-02 2.00883390e+02] [ 2.03959754e-02 2.16599669e-04 9.99791957e-01 9.92467620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9592541539998 meters Centerline goodness [0,1] 0.9999784259578874 Centerline is valid? [True, True] Translation: X:902.54, Y:200.90, Z:9.93 [[-6.95490617e-01 -7.18398127e-01 1.40332551e-02 9.02535004e+02] [ 7.18258164e-01 -6.95632147e-01 -1.41818697e-02 2.00903700e+02] [ 1.99502120e-02 2.16142713e-04 9.99800951e-01 9.92751808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9892541539998 meters Centerline goodness [0,1] 0.9998925285873957 Centerline is valid? [True, True] Translation: X:902.52, Y:200.92, Z:9.93 [[-6.96002613e-01 -7.17893057e-01 1.44886705e-02 9.02515174e+02] [ 7.17743927e-01 -6.96153369e-01 -1.46335949e-02 2.00924261e+02] [ 2.05916929e-02 2.14134923e-04 9.99787946e-01 9.92626225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0192541539998 meters Centerline goodness [0,1] 0.9998279643886284 Centerline is valid? [True, True] Translation: X:902.50, Y:200.95, Z:9.93 [[-6.97125671e-01 -7.16808897e-01 1.41705231e-02 9.02496243e+02] [ 7.16666185e-01 -6.97269655e-01 -1.43041240e-02 2.00945411e+02] [ 2.01339991e-02 1.83762707e-04 9.99797274e-01 9.92682874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0492541539998 meters Centerline goodness [0,1] 0.9998279606890175 Centerline is valid? [True, True] Translation: X:902.48, Y:200.97, Z:9.93 [[-6.97745038e-01 -7.16212414e-01 1.38434118e-02 9.02477084e+02] [ 7.16076255e-01 -6.97882332e-01 -1.39659289e-02 2.00966018e+02] [ 1.96636441e-02 1.68280882e-04 9.99806638e-01 9.92820153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.46, Y:200.99, Z:9.93 [[-6.99486246e-01 -7.14526334e-01 1.30809051e-02 9.02458803e+02] [ 7.14404606e-01 -6.99608537e-01 -1.31892008e-02 2.00987646e+02] [ 1.85755441e-02 1.19394271e-04 9.99827453e-01 9.93121318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.109254154 meters Centerline goodness [0,1] 0.9998487042600558 Centerline is valid? [True, True] Translation: X:902.44, Y:201.01, Z:9.93 [[-7.02648227e-01 -7.11408766e-01 1.35291426e-02 9.02442478e+02] [ 7.11278130e-01 -7.02778462e-01 -1.36328629e-02 2.01009000e+02] [ 1.92065282e-02 4.38762926e-05 9.99815537e-01 9.92856039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.139254154 meters Centerline goodness [0,1] 0.9998271540921269 Centerline is valid? [True, True] Translation: X:902.42, Y:201.03, Z:9.93 [[-7.04228004e-01 -7.09838754e-01 1.38513819e-02 9.02424098e+02] [ 7.09701682e-01 -7.04364212e-01 -1.39491804e-02 2.01030666e+02] [ 1.96580866e-02 6.94554662e-06 9.99806761e-01 9.92878318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1692541539999 meters Centerline goodness [0,1] 0.9998269821359055 Centerline is valid? [True, True] Translation: X:902.41, Y:201.05, Z:9.93 [[-7.06891639e-01 -7.07183370e-01 1.39961405e-02 9.02407325e+02] [ 7.07043062e-01 -7.07030182e-01 -1.40865163e-02 2.01052815e+02] [ 1.98574438e-02 -6.17665061e-05 9.99802820e-01 9.92895922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1992541539998 meters Centerline goodness [0,1] 0.9997836808860431 Centerline is valid? [True, True] Translation: X:902.39, Y:201.07, Z:9.93 [[-7.07922947e-01 -7.06150582e-01 1.40163040e-02 9.02388158e+02] [ 7.06009834e-01 -7.08061684e-01 -1.40984251e-02 2.01073463e+02] [ 1.98800189e-02 -8.49502332e-05 9.99802369e-01 9.92939506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2292541539998 meters Centerline goodness [0,1] 0.9999350902245878 Centerline is valid? [True, True] Translation: X:902.37, Y:201.09, Z:9.93 [[-7.08761628e-01 -7.05309243e-01 1.39937913e-02 9.02369392e+02] [ 7.05168945e-01 -7.08899754e-01 -1.40676530e-02 2.01094045e+02] [ 1.98422409e-02 -1.02625576e-04 9.99803118e-01 9.93194550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2592541539998 meters Centerline goodness [0,1] 0.9998480276155532 Centerline is valid? [True, True] Translation: X:902.35, Y:201.11, Z:9.93 [[-7.09118222e-01 -7.04950017e-01 1.40292922e-02 9.02349537e+02] [ 7.04809099e-01 -7.09256979e-01 -1.40951280e-02 2.01113525e+02] [ 1.98867341e-02 -1.07139338e-04 9.99802234e-01 9.93135083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2892541539998 meters Centerline goodness [0,1] 0.9998918568184276 Centerline is valid? [True, True] Translation: X:902.33, Y:201.13, Z:9.93 [[-7.09088942e-01 -7.04978777e-01 1.40640082e-02 9.02330350e+02] [ 7.04837336e-01 -7.09228394e-01 -1.41214781e-02 2.01131977e+02] [ 1.99299364e-02 -1.00545886e-04 9.99801374e-01 9.93206437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.3192541539997 meters Centerline goodness [0,1] 0.9999349903569029 Centerline is valid? [True, True] Translation: X:902.31, Y:201.15, Z:9.93 [[-7.08617910e-01 -7.05459454e-01 1.36973556e-02 9.02309771e+02] [ 7.05325539e-01 -7.08750276e-01 -1.37451966e-02 2.01151299e+02] [ 1.94046834e-02 -7.89976855e-05 9.99811708e-01 9.93280952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.29, Y:201.17, Z:9.94 [[-7.07530093e-01 -7.06552177e-01 1.36083653e-02 9.02288906e+02] [ 7.06420352e-01 -7.07660949e-01 -1.36479986e-02 2.01170267e+02] [ 1.92731318e-02 -4.31435822e-05 9.99814255e-01 9.93517343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.379254154 meters Centerline goodness [0,1] 0.9999352345588394 Centerline is valid? [True, True] Translation: X:902.27, Y:201.19, Z:9.93 [[-7.06443530e-01 -7.07642991e-01 1.33767027e-02 9.02267760e+02] [ 7.07515957e-01 -7.06570165e-01 -1.34079546e-02 2.01188692e+02] [ 1.89396241e-02 -7.73213261e-06 9.99820629e-01 9.93452346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4092541539999 meters Centerline goodness [0,1] 0.9999783765082385 Centerline is valid? [True, True] Translation: X:902.25, Y:201.21, Z:9.94 [[-7.05664635e-01 -7.08416820e-01 1.35289057e-02 9.02247346e+02] [ 7.08287172e-01 -7.05794310e-01 -1.35526301e-02 2.01207460e+02] [ 1.91495358e-02 1.87386281e-05 9.99816631e-01 9.93545778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4392541539999 meters Centerline goodness [0,1] 0.9999568630834268 Centerline is valid? [True, True] Translation: X:902.23, Y:201.23, Z:9.93 [[-7.04832237e-01 -7.09240639e-01 1.37561862e-02 9.02227004e+02] [ 7.09106889e-01 -7.04966463e-01 -1.37734167e-02 2.01225648e+02] [ 1.94663168e-02 4.66582326e-05 9.99810512e-01 9.93457510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:902.20, Y:201.24, Z:9.94 [[-7.03117803e-01 -7.10946948e-01 1.34086395e-02 9.02204917e+02] [ 7.10820306e-01 -7.03245638e-01 -1.34188359e-02 2.01243703e+02] [ 1.89696477e-02 9.61107962e-05 9.99820055e-01 9.93594232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4992541539998 meters Centerline goodness [0,1] 0.9998707787732598 Centerline is valid? [True, True] Translation: X:902.19, Y:201.26, Z:9.93 [[-7.02658574e-01 -7.11384882e-01 1.42295113e-02 9.02185175e+02] [ 7.11242504e-01 -7.02802629e-01 -1.42325379e-02 2.01261634e+02] [ 2.01253503e-02 1.20018507e-04 9.99797457e-01 9.93338120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.5292541539998 meters Centerline goodness [0,1] 0.999849209426565 Centerline is valid? [True, True] Translation: X:901.70, Y:200.77, Z:10.90 [[-7.60354881e-01 6.49506656e-01 1.24821146e-03 9.01700688e+02] [ 6.49506953e-01 7.60355624e-01 -2.05477875e-04 2.00770504e+02] [-1.08254385e-03 6.54485919e-04 -9.99999200e-01 1.08950408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.5592541539997 meters Centerline goodness [0,1] 0.9999352065830112 Centerline is valid? [True, True] Translation: X:902.15, Y:201.29, Z:9.94 [[-7.03641822e-01 -7.10413625e-01 1.41657120e-02 9.02147809e+02] [ 7.10286191e-01 -7.03784157e-01 -1.34680459e-02 2.01292689e+02] [ 1.95374870e-02 5.85029233e-04 9.99808954e-01 9.93615415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.67, Y:200.79, Z:10.89 [[-7.63442800e-01 6.45875250e-01 5.03468647e-04 9.01671687e+02] [ 6.45875438e-01 7.63442681e-01 4.38447822e-04 2.00794929e+02] [-1.01186857e-04 6.59907865e-04 -9.99999777e-01 1.08921178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.619254154 meters Centerline goodness [0,1] 0.9998493035671998 Centerline is valid? [True, True] Translation: X:901.69, Y:200.82, Z:10.90 [[-8.07433606e-01 5.89957808e-01 8.70655294e-04 9.01691411e+02] [ 5.89958144e-01 8.07433811e-01 1.72778980e-04 2.00815317e+02] [-6.01064213e-04 6.53157736e-04 -9.99999606e-01 1.08951966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.71, Y:200.84, Z:10.89 [[-8.47494209e-01 5.30804495e-01 3.92630450e-04 9.01706793e+02] [ 5.30804637e-01 8.47494045e-01 5.29457728e-04 2.00838307e+02] [-5.17134263e-05 6.57122422e-04 -9.99999783e-01 1.08930979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6792541539999 meters Centerline goodness [0,1] 0.9999569577755778 Centerline is valid? [True, True] Translation: X:901.72, Y:200.86, Z:10.89 [[-8.82973178e-01 4.69422908e-01 7.07312651e-04 9.01723919e+02] [ 4.69423221e-01 8.82973221e-01 3.61897744e-04 2.00859906e+02] [-4.54655038e-04 6.51574984e-04 -9.99999684e-01 1.08941057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7092541539998 meters Centerline goodness [0,1] 0.9998486453761163 Centerline is valid? [True, True] Translation: X:901.74, Y:200.88, Z:10.90 [[-9.13946010e-01 4.05833772e-01 1.28102120e-03 9.01736688e+02] [ 4.05834259e-01 9.13946681e-01 1.35052397e-04 2.00883239e+02] [-1.11597625e-03 6.43312889e-04 -9.99999170e-01 1.08953964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7392541539998 meters Centerline goodness [0,1] 0.9998705361959219 Centerline is valid? [True, True] Translation: X:901.75, Y:200.91, Z:10.89 [[-9.40317820e-01 3.40295388e-01 1.20283074e-03 9.01746950e+02] [ 3.40295905e-01 9.40318369e-01 2.48955173e-04 2.00907418e+02] [-1.04632555e-03 6.43415361e-04 -9.99999246e-01 1.08949990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7692541539998 meters Centerline goodness [0,1] 0.9999568565696658 Centerline is valid? [True, True] Translation: X:901.98, Y:201.55, Z:9.94 [[-9.07390075e-01 -4.19894170e-01 1.82246401e-02 9.01984378e+02] [ 4.19824677e-01 -9.07572812e-01 -7.67019397e-03 2.01550855e+02] [ 1.97608576e-02 6.91295749e-04 9.99804496e-01 9.93815165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.71, Y:200.92, Z:10.89 [[-9.41493379e-01 3.37028427e-01 1.43424163e-03 9.01705967e+02] [ 3.37028994e-01 9.41494254e-01 1.66358593e-04 2.00921738e+02] [-1.29426267e-03 6.40006526e-04 -9.99998958e-01 1.08934155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.829254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.72, Y:200.95, Z:10.89 [[-9.62728035e-01 2.70464540e-01 1.91417129e-03 9.01716965e+02] [ 2.70465256e-01 9.62729729e-01 1.20704295e-04 2.00946042e+02] [-1.81018338e-03 6.33922238e-04 -9.99998161e-01 1.08942758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.859254154 meters Centerline goodness [0,1] 0.9998488969477184 Centerline is valid? [True, True] Translation: X:901.72, Y:200.97, Z:10.90 [[-9.79409323e-01 2.01866021e-01 2.73652005e-03 9.01723042e+02] [ 2.01866981e-01 9.79412945e-01 7.65296759e-05 2.00971882e+02] [-2.66473442e-03 6.27366919e-04 -9.99996253e-01 1.08977734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.889254154 meters Centerline goodness [0,1] 0.999935406080441 Centerline is valid? [True, True] Translation: X:901.86, Y:201.65, Z:9.94 [[-9.59099079e-01 -2.82316436e-01 2.06491540e-02 9.01861062e+02] [ 2.82266656e-01 -9.59321083e-01 -5.34741511e-03 2.01647346e+02] [ 2.13188319e-02 6.99866735e-04 9.99772483e-01 9.93727738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9192541539999 meters Centerline goodness [0,1] 0.9998704495400959 Centerline is valid? [True, True] Translation: X:901.67, Y:200.98, Z:10.90 [[-9.80158558e-01 1.98178495e-01 3.80603441e-03 9.01674135e+02] [ 1.98179416e-01 9.80165752e-01 -1.37353965e-04 2.00981047e+02] [-3.75776518e-03 6.19649012e-04 -9.99992748e-01 1.08988844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9492541539998 meters Centerline goodness [0,1] 0.9998709261051952 Centerline is valid? [True, True] Translation: X:901.68, Y:201.01, Z:10.90 [[-9.91757107e-01 1.28066924e-01 4.08696031e-03 9.01679892e+02] [ 1.28068357e-01 9.91765339e-01 8.98075683e-05 2.01007123e+02] [-4.04180420e-03 6.12477585e-04 -9.99991644e-01 1.08991101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9792541539998 meters Centerline goodness [0,1] 0.9998485110803325 Centerline is valid? [True, True] Translation: X:901.76, Y:201.69, Z:9.94 [[-9.77567633e-01 -2.09459533e-01 2.20958655e-02 9.01764684e+02] [ 2.09422299e-01 -9.77817062e-01 -4.01176118e-03 2.01694832e+02] [ 2.24460159e-02 7.05599088e-04 9.99747807e-01 9.93673757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0092541539998 meters Centerline goodness [0,1] 0.9998918591573666 Centerline is valid? [True, True] Translation: X:901.63, Y:201.01, Z:10.90 [[-9.92198910e-01 1.24594074e-01 4.20005404e-03 9.01625747e+02] [ 1.24595573e-01 9.92207606e-01 9.60067757e-05 2.01010904e+02] [-4.15536369e-03 6.18565958e-04 -9.99991175e-01 1.08985179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0392541539998 meters Centerline goodness [0,1] 0.9999783666846944 Centerline is valid? [True, True] Translation: X:901.71, Y:201.70, Z:9.94 [[-9.78674225e-01 -2.04346808e-01 2.09557590e-02 9.01709169e+02] [ 2.04312913e-01 -9.78898376e-01 -3.76875705e-03 2.01704692e+02] [ 2.12836919e-02 5.93146770e-04 9.99773301e-01 9.94019788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0692541539997 meters Centerline goodness [0,1] 0.9998701748312273 Centerline is valid? [True, True] Translation: X:901.57, Y:201.02, Z:10.90 [[-9.92591869e-01 1.21460730e-01 2.94483064e-03 9.01570184e+02] [ 1.21462048e-01 9.92596039e-01 2.72106091e-04 2.01015610e+02] [-2.88997703e-03 6.27775455e-04 -9.99995627e-01 1.08988129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.099254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:901.57, Y:201.04, Z:10.89 [[-9.98651906e-01 5.18944724e-02 1.15493228e-03 9.01572356e+02] [ 5.18951592e-02 9.98652374e-01 5.72863869e-04 2.01040248e+02] [-1.12364739e-03 6.32026989e-04 -9.99999169e-01 1.08939763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.129254154 meters Centerline goodness [0,1] 0.9999783676206546 Centerline is valid? [True, True] Translation: X:901.61, Y:201.75, Z:9.94 [[-9.91756261e-01 -1.26847656e-01 1.81435988e-02 9.01608320e+02] [ 1.26836328e-01 -9.91922065e-01 -1.77835591e-03 2.01747397e+02] [ 1.82226162e-02 5.37571838e-04 9.99833810e-01 9.94393834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1592541539999 meters Centerline goodness [0,1] 0.999869997616623 Centerline is valid? [True, True] Translation: X:901.51, Y:201.04, Z:10.90 [[-9.98712894e-01 5.07203560e-02 4.35041693e-05 9.01509814e+02] [ 5.07203735e-02 9.98712687e-01 6.42789684e-04 2.01039700e+02] [-1.08456437e-05 6.44168893e-04 -9.99999792e-01 1.08962226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1892541539999 meters Centerline goodness [0,1] 0.9998260718323333 Centerline is valid? [True, True] Translation: X:901.51, Y:201.07, Z:10.90 [[-9.99817661e-01 -1.90955602e-02 6.70425615e-05 9.01507786e+02] [-1.90955138e-02 9.99817462e-01 6.35803375e-04 2.01065558e+02] [-7.91713448e-05 6.34407231e-04 -9.99999796e-01 1.08973254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2192541539998 meters Centerline goodness [0,1] 0.9998260718323333 Centerline is valid? [True, True] Translation: X:901.49, Y:201.78, Z:9.94 [[-9.98699439e-01 -4.77529079e-02 1.78630948e-02 9.01489856e+02] [ 4.77548280e-02 -9.98859036e-01 -3.19296960e-04 2.01782731e+02] [ 1.78579610e-02 5.34167324e-04 9.99840391e-01 9.94240560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2492541539998 meters Centerline goodness [0,1] 0.9998485274706251 Centerline is valid? [True, True] Translation: X:901.42, Y:201.06, Z:10.90 [[-9.99752792e-01 -2.22044057e-02 1.14867003e-03 9.01420425e+02] [-2.22036332e-02 9.99753237e-01 6.80977079e-04 2.01061302e+02] [-1.16350727e-03 6.55304088e-04 -9.99999108e-01 1.08986994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2792541539998 meters Centerline goodness [0,1] 0.9997169482668524 Centerline is valid? [True, True] Translation: X:901.42, Y:201.09, Z:10.90 [[-9.95839066e-01 -9.11071666e-02 2.00969056e-03 9.01417386e+02] [-9.11056604e-02 9.95840887e-01 8.28867254e-04 2.01086756e+02] [-2.07684777e-03 6.42324207e-04 -9.99997637e-01 1.09007679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.3092541539997 meters Centerline goodness [0,1] 0.9998694800957146 Centerline is valid? [True, True] Translation: X:901.41, Y:201.11, Z:10.90 [[-9.87346072e-01 -1.58565055e-01 2.20377938e-03 9.01406446e+02] [-1.58563152e-01 9.87348317e-01 1.01404705e-03 2.01109237e+02] [-2.33669028e-03 6.51777167e-04 -9.99997058e-01 1.09001609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.339254154 meters Centerline goodness [0,1] 0.999803536345776 Centerline is valid? [True, True] Translation: X:901.39, Y:201.13, Z:10.90 [[-9.73814250e-01 -2.27327160e-01 2.85797990e-03 9.01385405e+02] [-2.27324114e-01 9.73818215e-01 1.35337505e-03 2.01131183e+02] [-3.09081179e-03 6.68248159e-04 -9.99995000e-01 1.09016190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.369254154 meters Centerline goodness [0,1] 0.999869397705753 Centerline is valid? [True, True] Translation: X:901.34, Y:201.15, Z:10.90 [[-9.55487742e-01 -2.95018758e-01 2.66601751e-03 9.01344547e+02] [-2.95015547e-01 9.55491219e-01 1.53552437e-03 2.01145005e+02] [-3.00036482e-03 6.80658101e-04 -9.99995267e-01 1.09012736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.399254154 meters Centerline goodness [0,1] 0.9999125300677892 Centerline is valid? [True, True] Translation: X:901.28, Y:201.15, Z:10.90 [[-9.31596190e-01 -3.63487903e-01 2.25458442e-03 9.01282238e+02] [-3.63484962e-01 9.31598667e-01 1.61463555e-03 2.01151691e+02] [-2.68726833e-03 6.84680793e-04 -9.99996155e-01 1.09002193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4292541539999 meters Centerline goodness [0,1] 0.9998467500054732 Centerline is valid? [True, True] Translation: X:901.22, Y:201.15, Z:10.90 [[-9.02472443e-01 -4.30741399e-01 2.31017494e-03 9.01215650e+02] [-4.30737886e-01 9.02475131e-01 1.87380563e-03 2.01150175e+02] [-2.89200109e-03 6.95978074e-04 -9.99995576e-01 1.09020328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4592541539998 meters Centerline goodness [0,1] 0.999912524329171 Centerline is valid? [True, True] Translation: X:901.14, Y:201.14, Z:10.90 [[-8.67818230e-01 -4.96880486e-01 1.14140655e-03 9.01138465e+02] [-4.96878875e-01 8.67818715e-01 1.43558724e-03 2.01138884e+02] [-1.70384925e-03 6.78687976e-04 -9.99998318e-01 1.08999329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4892541539998 meters Centerline goodness [0,1] 0.9999344892343975 Centerline is valid? [True, True] Translation: X:901.06, Y:201.12, Z:10.90 [[-8.28053310e-01 -5.60649163e-01 4.81793853e-04 9.01057608e+02] [-5.60648413e-01 8.28053179e-01 1.13597277e-03 2.01118899e+02] [-1.03583311e-03 6.70529055e-04 -9.99999239e-01 1.09011353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5192541539998 meters Centerline goodness [0,1] 0.9998253198829643 Centerline is valid? [True, True] Translation: X:900.97, Y:201.09, Z:10.90 [[-7.82835999e-01 -6.22228072e-01 -1.60994231e-04 9.00970522e+02] [-6.22228011e-01 7.82835738e-01 7.14321021e-04 2.01088110e+02] [-3.18438554e-04 6.59371330e-04 -9.99999732e-01 1.09022260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5492541539998 meters Centerline goodness [0,1] 0.9998688381243852 Centerline is valid? [True, True] Translation: X:900.88, Y:201.05, Z:10.90 [[-7.32998679e-01 -6.80229977e-01 -3.40455342e-04 9.00882226e+02] [-6.80230046e-01 7.32998463e-01 5.81216689e-04 2.01049267e+02] [-1.45807772e-04 6.57619018e-04 -9.99999773e-01 1.09023328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.579254154 meters Centerline goodness [0,1] 0.999869055673163 Centerline is valid? [True, True] Translation: X:900.79, Y:201.00, Z:10.90 [[-6.77475439e-01 -7.35545377e-01 -1.67177791e-04 9.00791027e+02] [-7.35545246e-01 6.77475138e-01 7.93257008e-04 2.00996389e+02] [-4.70217728e-04 6.60378969e-04 -9.99999671e-01 1.09043371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.609254154 meters Centerline goodness [0,1] 0.9999345621114626 Centerline is valid? [True, True] Translation: X:900.71, Y:200.94, Z:10.90 [[-6.18015575e-01 -7.86165791e-01 -3.12834955e-04 9.00706163e+02] [-7.86165783e-01 6.18015302e-01 6.69297829e-04 2.00939535e+02] [-3.32842267e-04 6.59576620e-04 -9.99999727e-01 1.09046761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.639254154 meters Centerline goodness [0,1] 0.9999781109773449 Centerline is valid? [True, True] Translation: X:900.62, Y:200.87, Z:10.90 [[-5.54754195e-01 -8.32014290e-01 5.90688276e-05 9.00621803e+02] [-8.32013560e-01 5.54753800e-01 1.28733344e-03 2.00871834e+02] [-1.10384847e-03 6.65007560e-04 -9.99999170e-01 1.09043979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6692541539999 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:900.54, Y:200.80, Z:10.91 [[-4.87288714e-01 -8.73240841e-01 3.77756387e-04 9.00542854e+02] [-8.73238708e-01 4.87288407e-01 2.04155701e-03 2.00796922e+02] [-1.96684727e-03 6.64956190e-04 -9.99997845e-01 1.09076033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.47, Y:200.71, Z:10.91 [[-4.17230831e-01 -9.08800489e-01 3.22890252e-04 9.00466479e+02] [-9.08797841e-01 4.17230429e-01 2.29200876e-03 2.00711704e+02] [-2.21769832e-03 6.62854755e-04 -9.99997321e-01 1.09086998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7292541539998 meters Centerline goodness [0,1] 0.9998479384802538 Centerline is valid? [True, True] Translation: X:900.40, Y:200.62, Z:10.91 [[-3.46011534e-01 -9.38230250e-01 1.27277550e-04 9.00399396e+02] [-9.38227764e-01 3.46010923e-01 2.25911146e-03 2.00621554e+02] [-2.16360613e-03 6.62263290e-04 -9.99997440e-01 1.09133174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7592541539998 meters Centerline goodness [0,1] 0.9998480012159903 Centerline is valid? [True, True] Translation: X:900.34, Y:200.52, Z:10.91 [[-2.72611032e-01 -9.62124325e-01 -9.02052707e-05 9.00338288e+02] [-9.62122254e-01 2.72610248e-01 2.10269660e-03 2.00524347e+02] [-1.99846466e-03 6.60006788e-04 -9.99997785e-01 1.09139042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.61, Y:200.61, Z:9.96 [[-3.29626843e-01 9.44094726e-01 5.59404665e-03 8.99611573e+02] [-9.43939232e-01 -3.29674102e-01 1.71380656e-02 2.00610302e+02] [ 1.80241696e-02 3.68726369e-04 9.99837483e-01 9.96275345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.8192541539997 meters Centerline goodness [0,1] 0.9999129507518879 Centerline is valid? [True, True] Translation: X:900.26, Y:200.26, Z:10.91 [[-2.63006763e-01 -9.64793913e-01 -3.85405902e-04 9.00260113e+02] [-9.64793518e-01 2.63006218e-01 1.09407188e-03 2.00256940e+02] [-9.54189738e-04 6.59585419e-04 -9.99999327e-01 1.09130367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.849254154 meters Centerline goodness [0,1] 0.9998262456018417 Centerline is valid? [True, True] Translation: X:900.21, Y:200.15, Z:10.91 [[-1.88080522e-01 -9.82153497e-01 -4.75425286e-04 9.00208008e+02] [-9.82153223e-01 1.88079995e-01 9.80496268e-04 2.00153326e+02] [-8.73579852e-04 6.51352727e-04 -9.99999406e-01 1.09147692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.879254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.16, Y:200.04, Z:10.91 [[-1.11012759e-01 -9.93818785e-01 -6.24883588e-04 9.00163304e+02] [-9.93818968e-01 1.11012634e-01 2.31392274e-04 2.00042981e+02] [-1.60592015e-04 6.46708657e-04 -9.99999778e-01 1.09126130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9092541539999 meters Centerline goodness [0,1] 0.9999134142909712 Centerline is valid? [True, True] Translation: X:900.13, Y:199.93, Z:10.92 [[-3.37666400e-02 -9.99429552e-01 -6.20740510e-04 9.00127171e+02] [-9.99429455e-01 3.37661515e-02 7.81418050e-04 1.99930254e+02] [-7.60012272e-04 6.46772212e-04 -9.99999502e-01 1.09153816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9392541539999 meters Centerline goodness [0,1] 0.9998045305475316 Centerline is valid? [True, True] Translation: X:900.10, Y:199.82, Z:10.92 [[ 4.56039842e-02 -9.98959315e-01 -7.50656497e-04 9.00098091e+02] [-9.98956861e-01 -4.56056052e-02 2.30629804e-03 1.99815559e+02] [-2.33813205e-03 6.44697078e-04 -9.99997059e-01 1.09187393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9692541539998 meters Centerline goodness [0,1] 0.9999350128891104 Centerline is valid? [True, True] Translation: X:900.08, Y:199.70, Z:10.92 [[ 1.24712732e-01 -9.92192453e-01 -9.33279255e-04 9.00079226e+02] [-9.92189948e-01 -1.24714599e-01 2.31877707e-03 1.99695748e+02] [-2.41706666e-03 6.36809271e-04 -9.99996876e-01 1.09180894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9992541539998 meters Centerline goodness [0,1] 0.9998482319016543 Centerline is valid? [True, True] Translation: X:900.07, Y:199.57, Z:10.92 [[ 2.05000370e-01 -9.78760668e-01 -1.55044646e-03 9.00068540e+02] [-9.78750887e-01 -2.05005320e-01 4.41822286e-03 1.99573210e+02] [-4.64223253e-03 6.11763523e-04 -9.99989038e-01 1.09224906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.0292541539998 meters Centerline goodness [0,1] 0.999956601931214 Centerline is valid? [True, True] Translation: X:900.07, Y:199.46, Z:10.92 [[ 2.82742180e-01 -9.59193816e-01 -2.02081891e-03 9.00065916e+02] [-9.59182170e-01 -2.82748783e-01 4.76356011e-03 1.99459785e+02] [-5.14056149e-03 5.91474099e-04 -9.99986612e-01 1.09223157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.0592541539997 meters Centerline goodness [0,1] 0.9999346917450366 Centerline is valid? [True, True] Translation: X:900.07, Y:199.34, Z:10.92 [[ 3.60737505e-01 -9.32663838e-01 -2.57260592e-03 9.00073511e+02] [-9.32649955e-01 -3.60746255e-01 5.11876314e-03 1.99336645e+02] [-5.70214323e-03 5.52810952e-04 -9.99983590e-01 1.09224640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.09, Y:199.22, Z:10.92 [[ 4.33521826e-01 -9.01138196e-01 -2.96287019e-03 9.00088293e+02] [-9.01124929e-01 -4.33531617e-01 4.91922698e-03 1.99224990e+02] [-5.71740123e-03 5.37323932e-04 -9.99983511e-01 1.09235846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.11, Y:199.11, Z:10.92 [[ 5.04386119e-01 -8.63473616e-01 -2.82088628e-03 9.00110584e+02] [-8.63465561e-01 -5.04393723e-01 3.76784445e-03 1.99113844e+02] [-4.67627161e-03 5.35289716e-04 -9.99988923e-01 1.09245188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.149254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.15, Y:199.00, Z:10.92 [[ 5.69774265e-01 -8.21796067e-01 -2.91726395e-03 9.00147505e+02] [-8.21789743e-01 -5.69781482e-01 3.26817599e-03 1.99001659e+02] [-4.34797715e-03 5.35255013e-04 -9.99990404e-01 1.09246921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1792541539999 meters Centerline goodness [0,1] 0.9998266672444425 Centerline is valid? [True, True] Translation: X:900.18, Y:198.91, Z:10.93 [[ 6.31184978e-01 -7.75626457e-01 -3.02041955e-03 9.00184535e+02] [-7.75621367e-01 -6.31191976e-01 2.86076845e-03 1.98906914e+02] [-4.12535228e-03 5.37027869e-04 -9.99991347e-01 1.09273811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2092541539998 meters Centerline goodness [0,1] 0.9999133354999459 Centerline is valid? [True, True] Translation: X:900.23, Y:198.81, Z:10.93 [[ 6.88533663e-01 -7.25199898e-01 -2.55004370e-03 9.00229534e+02] [-7.25197674e-01 -6.88538162e-01 1.87976714e-03 1.98812840e+02] [-3.11900933e-03 5.55002805e-04 -9.99994982e-01 1.09262140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2392541539998 meters Centerline goodness [0,1] 0.999891683455731 Centerline is valid? [True, True] Translation: X:900.28, Y:198.72, Z:10.93 [[ 7.41383945e-01 -6.71078403e-01 -1.90357080e-03 9.00283039e+02] [-6.71077981e-01 -7.41386166e-01 9.47200939e-04 1.98719879e+02] [-2.04692715e-03 5.75204882e-04 -9.99997740e-01 1.09274318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2692541539998 meters Centerline goodness [0,1] 0.9999566855806298 Centerline is valid? [True, True] Translation: X:900.28, Y:198.71, Z:10.93 [[ 7.91532927e-01 -6.11123833e-01 -1.81269631e-03 9.00281325e+02] [-6.11123777e-01 -7.91534780e-01 6.49172748e-04 1.98712371e+02] [-1.83153711e-03 5.93940210e-04 -9.99998146e-01 1.09258136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2992541539998 meters Centerline goodness [0,1] 0.9999132509217089 Centerline is valid? [True, True] Translation: X:900.28, Y:198.71, Z:10.93 [[ 8.36514025e-01 -5.47941039e-01 -2.21445857e-03 9.00279269e+02] [-5.47940836e-01 -8.36516752e-01 7.51453269e-04 1.98705653e+02] [-2.26418377e-03 5.84791079e-04 -9.99997266e-01 1.09278399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.329254154 meters Centerline goodness [0,1] 0.9998268398268398 Centerline is valid? [True, True] Translation: X:900.28, Y:198.70, Z:10.93 [[ 8.76643744e-01 -4.81133519e-01 -2.50639021e-03 9.00278640e+02] [-4.81133334e-01 -8.76647137e-01 7.15876337e-04 1.98699145e+02] [-2.54165190e-03 5.78339366e-04 -9.99996603e-01 1.09288987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.28, Y:198.69, Z:10.93 [[ 9.11500905e-01 -4.11285884e-01 -3.16577228e-03 9.00279862e+02] [-4.11285473e-01 -9.11506228e-01 8.09903245e-04 1.98693834e+02] [-3.21872292e-03 5.63808608e-04 -9.99994661e-01 1.09266943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.389254154 meters Centerline goodness [0,1] 0.9998480902777778 Centerline is valid? [True, True] Translation: X:900.28, Y:198.69, Z:10.93 [[ 9.40455217e-01 -3.39895377e-01 -3.88817291e-03 9.00281229e+02] [-3.39894843e-01 -9.40463092e-01 8.17576880e-04 1.98687641e+02] [-3.93457372e-03 5.52675479e-04 -9.99992107e-01 1.09302294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.28, Y:198.68, Z:10.93 [[ 9.64055749e-01 -2.65676666e-01 -3.52443194e-03 9.00281490e+02] [-2.65676968e-01 -9.64062029e-01 3.90634494e-04 1.98681298e+02] [-3.50155348e-03 5.59766963e-04 -9.99993713e-01 1.09283969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4492541539998 meters Centerline goodness [0,1] 0.9999565179580833 Centerline is valid? [True, True] Translation: X:900.28, Y:198.68, Z:10.93 [[ 9.81474293e-01 -1.91554124e-01 -3.90254568e-03 9.00284315e+02] [-1.91554845e-01 -9.81481892e-01 1.91591459e-04 1.98678323e+02] [-3.86697806e-03 5.59509444e-04 -9.99992367e-01 1.09286964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.28, Y:198.67, Z:10.93 [[ 9.93378010e-01 -1.14813000e-01 -4.25490427e-03 9.00283232e+02] [-1.14814326e-01 -9.93386967e-01 -6.79066852e-05 1.98674030e+02] [-4.21896987e-03 5.55980972e-04 -9.99990946e-01 1.09279797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5092541539998 meters Centerline goodness [0,1] 0.9999782447896272 Centerline is valid? [True, True] Translation: X:900.28, Y:198.67, Z:10.93 [[ 9.99234369e-01 -3.87783131e-02 -5.18837142e-03 9.00280646e+02] [-3.87806473e-02 -9.99247687e-01 -3.50015598e-04 1.98672202e+02] [-5.17089512e-03 5.50956017e-04 -9.99986479e-01 1.09302745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5392541539998 meters Centerline goodness [0,1] 0.999934639098891 Centerline is valid? [True, True] Translation: X:900.28, Y:198.67, Z:10.93 [[ 9.99286748e-01 3.72304013e-02 -6.31607236e-03 9.00279078e+02] [ 3.72261812e-02 -9.99306558e-01 -7.84454857e-04 1.98672539e+02] [-6.34089809e-03 5.48772089e-04 -9.99979746e-01 1.09324315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.28, Y:198.67, Z:10.93 [[ 9.93396321e-01 1.14565147e-01 -6.21103504e-03 9.00277328e+02] [ 1.14559417e-01 -9.93415584e-01 -1.27180198e-03 1.98670831e+02] [-6.31584318e-03 5.51870857e-04 -9.99979903e-01 1.09310959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.599254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.28, Y:198.67, Z:10.93 [[ 9.81526182e-01 1.91235422e-01 -5.94703102e-03 9.00275934e+02] [ 1.91228449e-01 -9.81544041e-01 -1.72511714e-03 1.98668029e+02] [-6.16717636e-03 5.56006120e-04 -9.99980828e-01 1.09310634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.629254154 meters Centerline goodness [0,1] 0.9999781968821542 Centerline is valid? [True, True] Translation: X:900.27, Y:198.67, Z:10.93 [[ 9.63774100e-01 2.66660490e-01 -5.62734989e-03 9.00274735e+02] [ 2.66652502e-01 -9.63790366e-01 -2.13873795e-03 1.98665799e+02] [-5.99390252e-03 5.60713316e-04 -9.99981879e-01 1.09316419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.27, Y:198.66, Z:10.93 [[ 9.40349031e-01 3.40184075e-01 -4.30061665e-03 9.00273276e+02] [ 3.40177658e-01 -9.40358690e-01 -2.16697672e-03 1.98664764e+02] [-4.78129320e-03 5.74740761e-04 -9.99988404e-01 1.09302306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6892541539999 meters Centerline goodness [0,1] 0.9998032958866985 Centerline is valid? [True, True] Translation: X:900.27, Y:198.66, Z:10.93 [[ 9.11021727e-01 4.12338808e-01 -4.01496391e-03 9.00270779e+02] [ 4.12331938e-01 -9.11030393e-01 -2.44879737e-03 1.98663464e+02] [-4.66748833e-03 5.75409760e-04 -9.99988942e-01 1.09333552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.27, Y:198.66, Z:10.93 [[ 8.75633407e-01 4.82971937e-01 -2.06023418e-03 9.00268949e+02] [ 4.82968922e-01 -8.75635636e-01 -1.80393864e-03 1.98661661e+02] [-2.67526621e-03 5.84559859e-04 -9.99996251e-01 1.09292422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7492541539998 meters Centerline goodness [0,1] 0.9999781420765027 Centerline is valid? [True, True] Translation: X:900.27, Y:198.66, Z:10.93 [[ 8.34887733e-01 5.50418050e-01 -1.56343446e-03 9.00269510e+02] [ 5.50415639e-01 -8.34888992e-01 -1.73082705e-03 1.98656265e+02] [-2.25797267e-03 5.84507493e-04 -9.99997280e-01 1.09279708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7792541539998 meters Centerline goodness [0,1] 0.9998901726485964 Centerline is valid? [True, True] Translation: X:900.27, Y:198.65, Z:10.93 [[ 7.88590605e-01 6.14917150e-01 -1.32528456e-03 9.00270114e+02] [ 6.14914874e-01 -7.88591504e-01 -1.77114520e-03 1.98649094e+02] [-2.13421571e-03 5.81771277e-04 -9.99997553e-01 1.09316974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.8092541539997 meters Centerline goodness [0,1] 0.9999121342588525 Centerline is valid? [True, True] Translation: X:900.27, Y:198.64, Z:10.93 [[ 7.36995890e-01 6.75894899e-01 -1.77327543e-03 9.00271215e+02] [ 6.75890884e-01 -7.36997804e-01 -2.39793365e-03 1.98643150e+02] [-2.92765122e-03 5.68726546e-04 -9.99995553e-01 1.09310996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.27, Y:198.64, Z:10.93 [[ 6.80842759e-01 7.32428645e-01 -1.19111672e-03 9.00273827e+02] [ 7.32425804e-01 -6.80843562e-01 -2.11787869e-03 1.98635617e+02] [-2.36215917e-03 5.69537746e-04 -9.99997048e-01 1.09310618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.27, Y:198.63, Z:10.93 [[ 6.20732204e-01 7.84021388e-01 -1.41191402e-03 9.00274798e+02] [ 7.84016998e-01 -6.20733559e-01 -2.68245084e-03 1.98630741e+02] [-2.97952125e-03 5.58119033e-04 -9.99995405e-01 1.09303255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.899254154 meters Centerline goodness [0,1] 0.9998024929775281 Centerline is valid? [True, True] Translation: X:900.28, Y:198.63, Z:10.94 [[ 5.57291669e-01 8.30314688e-01 -1.87461217e-03 9.00275940e+02] [ 8.30306331e-01 -5.57294559e-01 -3.76452428e-03 1.98625304e+02] [-4.17045097e-03 5.41435667e-04 -9.99991157e-01 1.09351019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9292541539999 meters Centerline goodness [0,1] 0.9998901557591335 Centerline is valid? [True, True] Translation: X:900.28, Y:198.62, Z:10.93 [[ 4.90294861e-01 8.71555505e-01 -1.39666542e-03 9.00275576e+02] [ 8.71548280e-01 -4.90296550e-01 -3.59007354e-03 1.98620449e+02] [-3.81372860e-03 5.42933262e-04 -9.99992580e-01 1.09343614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9592541539998 meters Centerline goodness [0,1] 0.9998235047543407 Centerline is valid? [True, True] Translation: X:900.28, Y:198.62, Z:10.94 [[ 4.20942976e-01 9.07086369e-01 -1.15350062e-03 9.00275205e+02] [ 9.07078684e-01 -4.20944208e-01 -3.77279065e-03 1.98616903e+02] [-3.90780638e-03 5.41813896e-04 -9.99992218e-01 1.09353893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9892541539998 meters Centerline goodness [0,1] 0.9999779468519131 Centerline is valid? [True, True] Translation: X:900.27, Y:198.61, Z:10.93 [[ 3.48559990e-01 9.37286265e-01 -6.25788488e-04 9.00274932e+02] [ 9.37280781e-01 -3.48560122e-01 -3.25236361e-03 1.98612764e+02] [-3.26652065e-03 5.47104304e-04 -9.99994515e-01 1.09329460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.27, Y:198.61, Z:10.93 [[ 2.75062253e-01 9.61426365e-01 -3.18112001e-04 9.00272251e+02] [ 9.61421479e-01 -2.75061886e-01 -3.11442829e-03 1.98608343e+02] [-3.08179396e-03 5.50821953e-04 -9.99995100e-01 1.09331057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.27, Y:198.60, Z:10.93 [[ 1.99452322e-01 9.79907528e-01 -9.00158704e-05 9.00270736e+02] [ 9.79902450e-01 -1.99451583e-01 -3.20235584e-03 1.98604717e+02] [-3.15596640e-03 5.50510537e-04 -9.99994868e-01 1.09332132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.079254154 meters Centerline goodness [0,1] 0.9998677306997046 Centerline is valid? [True, True] Translation: X:900.27, Y:198.60, Z:10.94 [[ 1.23637584e-01 9.92327437e-01 7.94252234e-05 9.00270658e+02] [ 9.92320331e-01 -1.23636394e-01 -3.79518836e-03 1.98599737e+02] [-3.75624969e-03 5.48043183e-04 -9.99992795e-01 1.09358924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.109254154 meters Centerline goodness [0,1] 0.9998677306997046 Centerline is valid? [True, True] Translation: X:900.27, Y:198.59, Z:10.94 [[ 4.54796305e-02 9.98965196e-01 3.73945360e-04 9.00273600e+02] [ 9.98958118e-01 -4.54778858e-02 -3.79994574e-03 1.98594202e+02] [-3.77900730e-03 5.46375881e-04 -9.99992710e-01 1.09360856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.139254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.28, Y:198.59, Z:10.93 [[-3.34633477e-02 9.99439728e-01 6.58529820e-04 9.00275932e+02] [ 9.99434238e-01 3.34653761e-02 -3.35754988e-03 1.98588275e+02] [-3.37770669e-03 5.45802390e-04 -9.99994147e-01 1.09338469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1692541539999 meters Centerline goodness [0,1] 0.999889778012918 Centerline is valid? [True, True] Translation: X:900.28, Y:198.58, Z:10.93 [[-1.11861237e-01 9.93723438e-01 8.90333355e-04 9.00278058e+02] [ 9.93718975e-01 1.11863448e-01 -3.02772993e-03 1.98583326e+02] [-3.10832195e-03 5.46055533e-04 -9.99995020e-01 1.09340356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.28, Y:198.58, Z:10.93 [[-1.91112684e-01 9.81567453e-01 1.13051706e-03 9.00281713e+02] [ 9.81563050e-01 1.91115270e-01 -2.98869707e-03 1.98577602e+02] [-3.14966684e-03 5.38495853e-04 -9.99994895e-01 1.09345633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.29, Y:198.57, Z:10.93 [[-2.69727446e-01 9.62935697e-01 1.39625895e-03 9.00288942e+02] [ 9.62931070e-01 2.69730545e-01 -3.03108024e-03 1.98574774e+02] [-3.29534905e-03 5.26935590e-04 -9.99994432e-01 1.09332031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2592541539998 meters Centerline goodness [0,1] 0.9998672125705433 Centerline is valid? [True, True] Translation: X:900.30, Y:198.57, Z:10.94 [[-3.45050022e-01 9.38582767e-01 1.69454972e-03 9.00297649e+02] [ 9.38577779e-01 3.45053792e-01 -3.10392141e-03 1.98571676e+02] [-3.49799795e-03 5.19458559e-04 -9.99993747e-01 1.09365682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.30, Y:198.57, Z:10.93 [[-4.18975187e-01 9.07995945e-01 1.77671036e-03 9.00304765e+02] [ 9.07992335e-01 4.18978633e-01 -2.61262000e-03 1.98570090e+02] [-3.11665204e-03 5.18616433e-04 -9.99995009e-01 1.09335687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.3192541539997 meters Centerline goodness [0,1] 0.9998901388644753 Centerline is valid? [True, True] Translation: X:900.31, Y:198.57, Z:10.94 [[-4.90148101e-01 8.71635640e-01 2.47991828e-03 9.00314064e+02] [ 8.71629132e-01 4.90154127e-01 -3.40431131e-03 1.98568769e+02] [-4.18286124e-03 4.92952290e-04 -9.99991130e-01 1.09371041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.32, Y:198.57, Z:10.94 [[-5.58240230e-01 8.29674645e-01 2.79798495e-03 9.00321498e+02] [ 8.29668250e-01 5.58247033e-01 -3.29307814e-03 1.98566971e+02] [-4.29415024e-03 4.83070579e-04 -9.99990663e-01 1.09359008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.33, Y:198.57, Z:10.94 [[-6.21712841e-01 7.83238432e-01 3.27139878e-03 9.00327064e+02] [ 7.83231360e-01 6.21721269e-01 -3.36168333e-03 1.98565623e+02] [-4.66689777e-03 4.72260419e-04 -9.99988998e-01 1.09367894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.33, Y:198.56, Z:10.94 [[-6.80940236e-01 7.32329498e-01 3.72846940e-03 9.00331543e+02] [ 7.32322098e-01 6.80950284e-01 -3.32512624e-03 1.98563691e+02] [-4.97399033e-03 4.66228282e-04 -9.99987521e-01 1.09374454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4392541539999 meters Centerline goodness [0,1] 0.99986778899123 Centerline is valid? [True, True] Translation: X:900.34, Y:198.56, Z:10.94 [[-7.35182598e-01 6.77855676e-01 4.26976484e-03 9.00336142e+02] [ 6.77847784e-01 7.35194849e-01 -3.30396217e-03 1.98560750e+02] [-5.37871862e-03 4.65235144e-04 -9.99985426e-01 1.09407070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4692541539998 meters Centerline goodness [0,1] 0.9998450470392917 Centerline is valid? [True, True] Translation: X:900.85, Y:199.10, Z:9.99 [[-6.62219068e-01 -7.49190788e-01 1.33816739e-02 9.00853625e+02] [ 7.49055785e-01 -6.62353989e-01 -1.42345967e-02 1.99097813e+02] [ 1.95278338e-02 5.97198921e-04 9.99809135e-01 9.98605091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.84, Y:199.12, Z:9.99 [[-6.63747423e-01 -7.47867092e-01 1.15832284e-02 9.00835837e+02] [ 7.47759961e-01 -6.63848436e-01 -1.26607730e-02 1.99118725e+02] [ 1.71580836e-02 2.57918951e-04 9.99852756e-01 9.99053504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.82, Y:199.14, Z:9.99 [[-6.64731461e-01 -7.46996532e-01 1.13254455e-02 9.00818270e+02] [ 7.46894108e-01 -6.64827892e-01 -1.23719787e-02 1.99138987e+02] [ 1.67712973e-02 2.34865032e-04 9.99859324e-01 9.99182368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.5592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.80, Y:199.16, Z:9.99 [[-6.66623114e-01 -7.45317736e-01 1.07282776e-02 9.00800498e+02] [ 7.45225716e-01 -6.66709410e-01 -1.17130058e-02 1.99160306e+02] [ 1.58825546e-02 1.86827980e-04 9.99873847e-01 9.99250052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.78, Y:199.18, Z:9.99 [[-6.67475412e-01 -7.44552203e-01 1.08899679e-02 9.00783037e+02] [ 7.44457384e-01 -6.67564219e-01 -1.18834829e-02 1.99179550e+02] [ 1.61176263e-02 1.75184380e-04 9.99870087e-01 9.99239526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.619254154 meters Centerline goodness [0,1] 0.9998235709244884 Centerline is valid? [True, True] Translation: X:900.76, Y:199.20, Z:9.99 [[-6.69279780e-01 -7.42912571e-01 1.20618530e-02 9.00764877e+02] [ 7.42796109e-01 -6.69388443e-01 -1.31549670e-02 1.99200083e+02] [ 1.78470553e-02 1.55144082e-04 9.99840717e-01 9.98737572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.649254154 meters Centerline goodness [0,1] 0.9999559907580592 Centerline is valid? [True, True] Translation: X:900.75, Y:199.22, Z:9.99 [[-6.69744968e-01 -7.42491725e-01 1.21538475e-02 9.00746813e+02] [ 7.42373559e-01 -6.69855220e-01 -1.32470036e-02 1.99219530e+02] [ 1.79771087e-02 1.50581017e-04 9.99838387e-01 9.98926777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.73, Y:199.24, Z:9.99 [[-6.70494225e-01 -7.41806123e-01 1.26952827e-02 9.00728924e+02] [ 7.41677234e-01 -6.70614387e-01 -1.38284241e-02 1.99239760e+02] [ 1.87716489e-02 1.43923621e-04 9.99823787e-01 9.98953478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7092541539998 meters Centerline goodness [0,1] 0.9999558059882886 Centerline is valid? [True, True] Translation: X:900.71, Y:199.26, Z:9.99 [[-6.71225137e-01 -7.41130863e-01 1.34855480e-02 9.00711455e+02] [ 7.40985477e-01 -6.71360577e-01 -1.46798293e-02 1.99260457e+02] [ 1.99333399e-02 1.39124781e-04 9.99801302e-01 9.98970642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7392541539998 meters Centerline goodness [0,1] 0.9998678035560843 Centerline is valid? [True, True] Translation: X:900.69, Y:199.28, Z:9.99 [[-6.72147457e-01 -7.40285351e-01 1.39783950e-02 9.00692975e+02] [ 7.40129134e-01 -6.72292781e-01 -1.52079187e-02 1.99279571e+02] [ 2.06557734e-02 1.23853531e-04 9.99786639e-01 9.98558095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7692541539998 meters Centerline goodness [0,1] 0.9998453722111774 Centerline is valid? [True, True] Translation: X:900.68, Y:199.30, Z:9.98 [[-6.73253048e-01 -7.39279169e-01 1.40229850e-02 9.00675908e+02] [ 7.39121919e-01 -6.73399065e-01 -1.52475742e-02 1.99299656e+02] [ 2.07152790e-02 9.92197809e-05 9.99785411e-01 9.98440895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7992541539998 meters Centerline goodness [0,1] 0.999867873422739 Centerline is valid? [True, True] Translation: X:900.66, Y:199.32, Z:9.99 [[-6.73681050e-01 -7.38895122e-01 1.37054933e-02 9.00658497e+02] [ 7.38745020e-01 -6.73820443e-01 -1.48931294e-02 1.99319196e+02] [ 2.02395022e-02 9.16458804e-05 9.99795156e-01 9.98544381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.829254154 meters Centerline goodness [0,1] 0.9998898969435391 Centerline is valid? [True, True] Translation: X:900.64, Y:199.34, Z:9.99 [[-6.74129260e-01 -7.38493928e-01 1.32838320e-02 9.00641616e+02] [ 7.38353022e-01 -6.74260122e-01 -1.44257836e-02 1.99337849e+02] [ 1.96101117e-02 8.33146940e-05 9.99807700e-01 9.98654837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.62, Y:199.36, Z:9.99 [[-6.74295887e-01 -7.38363395e-01 1.20230046e-02 9.00624540e+02] [ 7.38248093e-01 -6.74403062e-01 -1.30484944e-02 1.99357615e+02] [ 1.77428818e-02 7.74141116e-05 9.99842580e-01 9.99202456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.889254154 meters Centerline goodness [0,1] 0.999823539791777 Centerline is valid? [True, True] Translation: X:900.61, Y:199.38, Z:9.99 [[-6.75055335e-01 -7.37671993e-01 1.18459504e-02 9.00607197e+02] [ 7.37560097e-01 -6.75159261e-01 -1.28482093e-02 1.99378763e+02] [ 1.74756673e-02 6.38481082e-05 9.99847287e-01 9.99163362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9192541539999 meters Centerline goodness [0,1] 0.999800818855815 Centerline is valid? [True, True] Translation: X:900.59, Y:199.40, Z:9.99 [[-6.75432366e-01 -7.37331816e-01 1.15288086e-02 9.00588574e+02] [ 7.37225919e-01 -6.75530747e-01 -1.24961707e-02 1.99397745e+02] [ 1.70018889e-02 5.90184068e-05 9.99855456e-01 9.98930744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.57, Y:199.42, Z:10.00 [[-6.75197053e-01 -7.37564224e-01 1.03901638e-02 9.00570884e+02] [ 7.37478348e-01 -6.75276989e-01 -1.12549640e-02 1.99418353e+02] [ 1.53174973e-02 6.32023178e-05 9.99882678e-01 9.99661168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9792541539998 meters Centerline goodness [0,1] 0.9999118224103344 Centerline is valid? [True, True] Translation: X:900.55, Y:199.44, Z:10.00 [[-6.75671651e-01 -7.37132905e-01 1.01440088e-02 9.00552384e+02] [ 7.37051106e-01 -6.75747791e-01 -1.09813356e-02 1.99438231e+02] [ 1.49494954e-02 5.68757086e-05 9.99888248e-01 9.99501495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0092541539998 meters Centerline goodness [0,1] 0.9999337514353855 Centerline is valid? [True, True] Translation: X:900.53, Y:199.46, Z:10.00 [[-6.75661646e-01 -7.37147488e-01 9.74276981e-03 9.00533422e+02] [ 7.37072129e-01 -6.75731883e-01 -1.05403260e-02 1.99458276e+02] [ 1.43532750e-02 5.94300788e-05 9.99896985e-01 9.99615012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.51, Y:199.48, Z:10.00 [[-6.74917988e-01 -7.37828762e-01 9.71733336e-03 9.00514260e+02] [ 7.37753959e-01 -6.74987934e-01 -1.05063969e-02 1.99478183e+02] [ 1.43110046e-02 7.80448871e-05 9.99897589e-01 9.99683456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0692541539997 meters Centerline goodness [0,1] 0.9999116119765772 Centerline is valid? [True, True] Translation: X:900.50, Y:199.50, Z:9.99 [[-6.74723503e-01 -7.37995269e-01 1.05440713e-02 9.00495909e+02] [ 7.37907332e-01 -6.74805879e-01 -1.13928017e-02 1.99497182e+02] [ 1.55230350e-02 9.35564578e-05 9.99879506e-01 9.99414093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.099254154 meters Centerline goodness [0,1] 0.9999339046905638 Centerline is valid? [True, True] Translation: X:900.48, Y:199.52, Z:9.99 [[-6.73715006e-01 -7.38899563e-01 1.16415856e-02 9.00476438e+02] [ 7.38792639e-01 -6.73815567e-01 -1.25705069e-02 1.99517050e+02] [ 1.71326236e-02 1.31778653e-04 9.99853217e-01 9.99372963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.129254154 meters Centerline goodness [0,1] 0.9998018101341085 Centerline is valid? [True, True] Translation: X:900.46, Y:199.54, Z:9.99 [[-6.73613331e-01 -7.38974875e-01 1.26970367e-02 9.00456938e+02] [ 7.38847848e-01 -6.73732967e-01 -1.37020601e-02 1.99537479e+02] [ 1.86798904e-02 1.51287941e-04 9.99825504e-01 9.99068428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1592541539999 meters Centerline goodness [0,1] 0.9998894978783592 Centerline is valid? [True, True] Translation: X:900.44, Y:199.56, Z:9.99 [[-6.73384813e-01 -7.39179670e-01 1.28960977e-02 9.00437599e+02] [ 7.39048829e-01 -6.73508269e-01 -1.39082804e-02 1.99557222e+02] [ 1.89663465e-02 1.65221135e-04 9.99820109e-01 9.99173112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1892541539999 meters Centerline goodness [0,1] 0.9998013595832965 Centerline is valid? [True, True] Translation: X:900.42, Y:199.58, Z:9.99 [[-6.73652969e-01 -7.38931260e-01 1.31252103e-02 9.00419278e+02] [ 7.38795857e-01 -6.73780799e-01 -1.41462265e-02 1.99576851e+02] [ 1.92966037e-02 1.67203514e-04 9.99813789e-01 9.99042891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2192541539998 meters Centerline goodness [0,1] 0.9999559907580592 Centerline is valid? [True, True] Translation: X:900.40, Y:199.60, Z:9.99 [[-6.74599922e-01 -7.38079650e-01 1.23845024e-02 9.00401761e+02] [ 7.37959114e-01 -6.74713577e-01 -1.33392565e-02 1.99596757e+02] [ 1.82014256e-02 1.40595031e-04 9.99834330e-01 9.99362588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2492541539998 meters Centerline goodness [0,1] 0.9999118146343614 Centerline is valid? [True, True] Translation: X:900.38, Y:199.62, Z:9.99 [[-6.75862593e-01 -7.36926289e-01 1.22229167e-02 9.00384179e+02] [ 7.36808843e-01 -6.75973100e-01 -1.31566594e-02 1.99617299e+02] [ 1.79578511e-02 1.13859181e-04 9.99838738e-01 9.99375828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2792541539998 meters Centerline goodness [0,1] 0.9998234697029877 Centerline is valid? [True, True] Translation: X:900.37, Y:199.64, Z:9.99 [[-6.78436422e-01 -7.34573265e-01 1.12312248e-02 9.00367976e+02] [ 7.34473907e-01 -6.78529377e-01 -1.20815381e-02 1.99638442e+02] [ 1.64954908e-02 5.24860839e-05 9.99863939e-01 9.99376800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.3092541539997 meters Centerline goodness [0,1] 0.9998231848823075 Centerline is valid? [True, True] Translation: X:900.35, Y:199.66, Z:10.00 [[-6.80788593e-01 -7.32407194e-01 1.03244367e-02 9.00351117e+02] [ 7.32323089e-01 -6.80866875e-01 -1.10991739e-02 1.99659920e+02] [ 1.51586818e-02 4.63241971e-06 9.99885101e-01 9.99536989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.339254154 meters Centerline goodness [0,1] 0.999778721897681 Centerline is valid? [True, True] Translation: X:900.33, Y:199.68, Z:10.00 [[-6.82073154e-01 -7.31215108e-01 1.00339342e-02 9.00333250e+02] [ 7.31135639e-01 -6.82146954e-01 -1.07801285e-02 1.99680263e+02] [ 1.47272104e-02 -1.66693719e-05 9.99891549e-01 9.99576189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.369254154 meters Centerline goodness [0,1] 0.9999116334555738 Centerline is valid? [True, True] Translation: X:900.31, Y:199.70, Z:10.00 [[-6.83807876e-01 -7.29608509e-01 8.84376186e-03 9.00314710e+02] [ 7.29546711e-01 -6.83865061e-01 -9.49604818e-03 1.99700995e+02] [ 1.29763373e-02 -4.15351594e-05 9.99915803e-01 9.99846892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.399254154 meters Centerline goodness [0,1] 0.9998671596519583 Centerline is valid? [True, True] Translation: X:900.30, Y:199.72, Z:10.00 [[-6.84675359e-01 -7.28792690e-01 8.99267940e-03 9.00296647e+02] [ 7.28728792e-01 -6.84734410e-01 -9.65067066e-03 1.99720286e+02] [ 1.31909352e-02 -5.43519995e-05 9.99912994e-01 9.99749317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4292541539999 meters Centerline goodness [0,1] 0.999822981435178 Centerline is valid? [True, True] Translation: X:900.28, Y:199.74, Z:10.00 [[-6.85455306e-01 -7.28057887e-01 9.09603603e-03 9.00279081e+02] [ 7.27992523e-01 -6.85515652e-01 -9.75587938e-03 1.99739254e+02] [ 1.33383200e-02 -6.53730689e-05 9.99911039e-01 9.99658139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4592541539998 meters Centerline goodness [0,1] 0.9998012411386674 Centerline is valid? [True, True] Translation: X:900.26, Y:199.76, Z:10.00 [[-6.86321744e-01 -7.27232870e-01 9.73731955e-03 9.00260853e+02] [ 7.27157985e-01 -6.86390811e-01 -1.04364420e-02 1.99758795e+02] [ 1.42733303e-02 -8.21873938e-05 9.99898127e-01 9.99554029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4892541539998 meters Centerline goodness [0,1] 0.9998455700670668 Centerline is valid? [True, True] Translation: X:900.24, Y:199.78, Z:10.00 [[-6.86551701e-01 -7.27013864e-01 9.87948130e-03 9.00241475e+02] [ 7.26936854e-01 -6.86622775e-01 -1.05818438e-02 1.99778205e+02] [ 1.44766240e-02 -8.32238125e-05 9.99895205e-01 9.99733876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5192541539998 meters Centerline goodness [0,1] 0.9996692465436264 Centerline is valid? [True, True] Translation: X:900.22, Y:199.80, Z:10.00 [[-6.86985371e-01 -7.26600643e-01 1.01293841e-02 9.00221426e+02] [ 7.26519742e-01 -6.87060039e-01 -1.08428350e-02 1.99797343e+02] [ 1.48379059e-02 -8.96714722e-05 9.99889908e-01 9.99610638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.20, Y:199.82, Z:10.00 [[-6.86921303e-01 -7.26672441e-01 9.28910900e-03 9.00203216e+02] [ 7.26604482e-01 -6.86984103e-01 -9.93825990e-03 1.99815642e+02] [ 1.36033298e-02 -7.72942022e-05 9.99907467e-01 9.99990469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.18, Y:199.83, Z:10.00 [[-6.86944445e-01 -7.26653090e-01 9.08937952e-03 9.00183477e+02] [ 7.26588093e-01 -6.87004572e-01 -9.71914564e-03 1.99834290e+02] [ 1.33068925e-02 -7.22781711e-05 9.99911457e-01 1.00003879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.609254154 meters Centerline goodness [0,1] 0.9999338842975206 Centerline is valid? [True, True] Translation: X:900.16, Y:199.85, Z:10.00 [[-6.87134230e-01 -7.26476983e-01 8.81727591e-03 9.00163951e+02] [ 7.26415881e-01 -6.87190795e-01 -9.42227755e-03 1.99853447e+02] [ 1.29042186e-02 -6.93601815e-05 9.99916735e-01 1.00004958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.639254154 meters Centerline goodness [0,1] 0.9998457538231017 Centerline is valid? [True, True] Translation: X:900.14, Y:199.87, Z:10.00 [[-6.86872011e-01 -7.26718811e-01 9.30649576e-03 9.00144524e+02] [ 7.26650842e-01 -6.86935052e-01 -9.93922691e-03 1.99871285e+02] [ 1.36159813e-02 -6.44037917e-05 9.99907296e-01 9.99755323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6692541539999 meters Centerline goodness [0,1] 0.9998898508580618 Centerline is valid? [True, True] Translation: X:900.13, Y:199.89, Z:10.00 [[-6.86218547e-01 -7.27338680e-01 9.08573623e-03 9.00125319e+02] [ 7.27274024e-01 -6.86278692e-01 -9.69798250e-03 1.99888648e+02] [ 1.32890650e-02 -4.71155104e-05 9.99911695e-01 9.99829653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.11, Y:199.91, Z:10.00 [[-6.85901176e-01 -7.27646202e-01 8.40127155e-03 9.00105963e+02] [ 7.27591012e-01 -6.85952625e-01 -8.96187910e-03 1.99907580e+02] [ 1.22839516e-02 -3.42737468e-05 9.99924549e-01 1.00006015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7292541539998 meters Centerline goodness [0,1] 0.9998904565769872 Centerline is valid? [True, True] Translation: X:900.09, Y:199.93, Z:10.00 [[-6.85457897e-01 -7.28052862e-01 9.30060950e-03 9.00086741e+02] [ 7.27985351e-01 -6.85520991e-01 -9.91458749e-03 1.99925298e+02] [ 1.35941068e-02 -2.53248130e-05 9.99907596e-01 9.99741113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:900.07, Y:199.94, Z:10.00 [[-6.85089451e-01 -7.28407482e-01 8.65934466e-03 9.00067345e+02] [ 7.28349061e-01 -6.85144174e-01 -9.22525921e-03 1.99943902e+02] [ 1.26526474e-02 -1.31022167e-05 9.99919952e-01 1.00005968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7892541539998 meters Centerline goodness [0,1] 0.999955985915493 Centerline is valid? [True, True] Translation: X:900.05, Y:199.96, Z:10.00 [[-6.84770326e-01 -7.28705260e-01 8.84561256e-03 9.00048964e+02] [ 7.28644394e-01 -6.84827456e-01 -9.41820405e-03 1.99962211e+02] [ 1.29208132e-02 -4.00064909e-06 9.99916523e-01 9.99937186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.8192541539997 meters Centerline goodness [0,1] 0.9998681231729565 Centerline is valid? [True, True] Translation: X:900.03, Y:199.98, Z:10.00 [[-6.83916067e-01 -7.29502215e-01 9.23753392e-03 9.00028550e+02] [ 7.29435982e-01 -6.83978448e-01 -9.83010422e-03 1.99981596e+02] [ 1.34893569e-02 1.52234095e-05 9.99909014e-01 9.99826018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.849254154 meters Centerline goodness [0,1] 0.9998464474521245 Centerline is valid? [True, True] Translation: X:900.01, Y:200.00, Z:10.00 [[-6.83454674e-01 -7.29934273e-01 9.25561883e-03 9.00008934e+02] [ 7.29867887e-01 -6.83517342e-01 -9.84434093e-03 2.00000343e+02] [ 1.35120978e-02 2.72181427e-05 9.99908707e-01 9.99723857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.879254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.99, Y:200.02, Z:10.00 [[-6.81600920e-01 -7.31672508e-01 8.69065414e-03 8.99988251e+02] [ 7.31614180e-01 -6.81656320e-01 -9.23870589e-03 2.00017315e+02] [ 1.26837464e-02 6.10953648e-05 9.99919556e-01 9.99941075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9092541539999 meters Centerline goodness [0,1] 0.999934370282864 Centerline is valid? [True, True] Translation: X:899.97, Y:200.04, Z:10.00 [[-6.80747155e-01 -7.32465086e-01 8.84361456e-03 8.99968018e+02] [ 7.32404830e-01 -6.80804591e-01 -9.39540813e-03 2.00037100e+02] [ 1.29025818e-02 8.12086699e-05 9.99916755e-01 9.99961849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9392541539999 meters Centerline goodness [0,1] 0.9998904253687186 Centerline is valid? [True, True] Translation: X:899.95, Y:200.06, Z:10.00 [[-6.78620231e-01 -7.34431786e-01 9.19418866e-03 8.99946592e+02] [ 7.34366915e-01 -6.78682500e-01 -9.76211519e-03 2.00055341e+02] [ 1.34095426e-02 1.27139100e-04 9.99910080e-01 9.99723047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9692541539998 meters Centerline goodness [0,1] 0.9998244420549057 Centerline is valid? [True, True] Translation: X:899.93, Y:200.07, Z:10.00 [[-6.77783515e-01 -7.35204342e-01 9.16958739e-03 8.99926452e+02] [ 7.35139964e-01 -6.77845524e-01 -9.73036540e-03 2.00074938e+02] [ 1.33693707e-02 1.45848876e-04 9.99910615e-01 9.99701238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9992541539998 meters Centerline goodness [0,1] 0.9999561749496012 Centerline is valid? [True, True] Translation: X:899.91, Y:200.09, Z:10.00 [[-6.76113115e-01 -7.36751856e-01 8.23155069e-03 8.99905880e+02] [ 7.36700147e-01 -6.76163203e-01 -8.73018910e-03 2.00093982e+02] [ 1.19978547e-02 1.61589255e-04 9.99928010e-01 9.99967035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.0292541539998 meters Centerline goodness [0,1] 0.9999561749496012 Centerline is valid? [True, True] Translation: X:899.89, Y:200.11, Z:10.00 [[-6.76326585e-01 -7.36555870e-01 8.23407886e-03 8.99886893e+02] [ 7.36504176e-01 -6.76376688e-01 -8.72780423e-03 2.00114006e+02] [ 1.19978544e-02 1.61587440e-04 9.99928010e-01 9.99986638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.0592541539997 meters Centerline goodness [0,1] 0.9999123556607288 Centerline is valid? [True, True] Translation: X:899.87, Y:200.13, Z:10.00 [[-6.76129012e-01 -7.36735083e-01 8.42475118e-03 8.99867023e+02] [ 7.36681045e-01 -6.76181475e-01 -8.92466801e-03 2.00133761e+02] [ 1.22717767e-02 1.72127543e-04 9.99924684e-01 9.99925823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.089254154 meters Centerline goodness [0,1] 0.9997813442952727 Centerline is valid? [True, True] Translation: X:899.85, Y:200.15, Z:10.00 [[-6.75747346e-01 -7.37084329e-01 8.49799127e-03 8.99846449e+02] [ 7.37029442e-01 -6.75800753e-01 -8.99691165e-03 2.00152176e+02] [ 1.23744315e-02 1.83630591e-04 9.99923417e-01 9.99687226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.119254154 meters Centerline goodness [0,1] 0.9999561201430484 Centerline is valid? [True, True] Translation: X:899.83, Y:200.17, Z:10.00 [[-6.75309775e-01 -7.37489277e-01 8.14094423e-03 8.99827599e+02] [ 7.37438996e-01 -6.75358817e-01 -8.61368198e-03 2.00172110e+02] [ 1.18505566e-02 1.86546101e-04 9.99929762e-01 9.99960983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.149254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.81, Y:200.19, Z:10.00 [[-6.74991816e-01 -7.37772030e-01 8.85892146e-03 8.99808354e+02] [ 7.37712592e-01 -6.75049914e-01 -9.36722483e-03 2.00190819e+02] [ 1.28910906e-02 2.12537816e-04 9.99916884e-01 9.99969521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1792541539999 meters Centerline goodness [0,1] 0.9997814494273976 Centerline is valid? [True, True] Translation: X:899.79, Y:200.21, Z:10.00 [[-6.75833204e-01 -7.36988921e-01 9.83922020e-03 8.99789294e+02] [ 7.36915613e-01 -6.75904786e-01 -1.03970481e-02 2.00211028e+02] [ 1.43128853e-02 2.24004630e-04 9.99897540e-01 9.99605039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.77, Y:200.23, Z:10.00 [[-6.76464275e-01 -7.36408354e-01 9.94088900e-03 8.99771723e+02] [ 7.36333556e-01 -6.76537278e-01 -1.04978818e-02 2.00231294e+02] [ 1.44561098e-02 2.18368161e-04 9.99895481e-01 9.99814569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2392541539998 meters Centerline goodness [0,1] 0.9998680100312376 Centerline is valid? [True, True] Translation: X:899.75, Y:200.25, Z:10.00 [[-6.78248980e-01 -7.34750474e-01 1.09573064e-02 8.99754426e+02] [ 7.34659497e-01 -6.78337452e-01 -1.15639469e-02 2.00253446e+02] [ 1.59293668e-02 2.06654015e-04 9.99873098e-01 9.99567463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2692541539998 meters Centerline goodness [0,1] 0.999890288322289 Centerline is valid? [True, True] Translation: X:899.74, Y:200.28, Z:10.00 [[-6.81515178e-01 -7.31716127e-01 1.13389789e-02 8.99738155e+02] [ 7.31618396e-01 -6.81609484e-01 -1.19596753e-02 2.00275356e+02] [ 1.64798429e-02 1.45105321e-04 9.99864188e-01 9.99560638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.72, Y:200.30, Z:10.00 [[-6.83232243e-01 -7.30120964e-01 1.08203037e-02 8.99721541e+02] [ 7.30031882e-01 -6.83317910e-01 -1.14055133e-02 2.00296319e+02] [ 1.57211117e-02 1.06552233e-04 9.99876410e-01 9.99814468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.329254154 meters Centerline goodness [0,1] 0.9999342177392829 Centerline is valid? [True, True] Translation: X:899.71, Y:200.32, Z:10.00 [[-6.88221084e-01 -7.25424735e-01 1.05210818e-02 8.99707343e+02] [ 7.25340071e-01 -6.88301499e-01 -1.10827513e-02 2.00319281e+02] [ 1.52813783e-02 3.97912715e-06 9.99883233e-01 9.99751998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.359254154 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:899.69, Y:200.34, Z:10.00 [[-6.90570304e-01 -7.23197785e-01 9.88020294e-03 8.99690435e+02] [ 7.23122987e-01 -6.90640979e-01 -1.04011268e-02 2.00341096e+02] [ 1.43457449e-02 -3.81074528e-05 9.99897094e-01 9.99942369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.389254154 meters Centerline goodness [0,1] 0.9999340340384362 Centerline is valid? [True, True] Translation: X:899.67, Y:200.36, Z:10.00 [[-6.95850176e-01 -7.18123185e-01 9.57201767e-03 8.99674669e+02] [ 7.18052580e-01 -6.95915996e-01 -1.00707366e-02 2.00364951e+02] [ 1.38933496e-02 -1.34511832e-04 9.99903474e-01 9.99948593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4192541539999 meters Centerline goodness [0,1] 0.9999340470903775 Centerline is valid? [True, True] Translation: X:899.66, Y:200.39, Z:10.00 [[-6.98390922e-01 -7.15651006e-01 9.68282727e-03 8.99657763e+02] [ 7.15578603e-01 -6.98458019e-01 -1.01813059e-02 2.00386611e+02] [ 1.40493102e-02 -1.81707594e-04 9.99901287e-01 9.99936113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4492541539998 meters Centerline goodness [0,1] 0.9998230401698814 Centerline is valid? [True, True] Translation: X:899.64, Y:200.41, Z:10.00 [[-7.03088298e-01 -7.11025722e-01 1.04531330e-02 8.99641516e+02] [ 7.10940926e-01 -7.03165939e-01 -1.09846167e-02 2.00409749e+02] [ 1.51606321e-02 -2.91595390e-04 9.99885029e-01 9.99715150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.62, Y:200.43, Z:10.00 [[-7.04542030e-01 -7.09588882e-01 1.02052429e-02 8.99623201e+02] [ 7.09507998e-01 -7.04615869e-01 -1.07181503e-02 2.00431335e+02] [ 1.47962564e-02 -3.10685852e-04 9.99890481e-01 9.99986240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5092541539998 meters Centerline goodness [0,1] 0.9999779132432194 Centerline is valid? [True, True] Translation: X:899.61, Y:200.45, Z:10.00 [[-7.07721938e-01 -7.06406138e-01 1.09556809e-02 8.99606984e+02] [ 7.06312633e-01 -7.07806618e-01 -1.15002957e-02 2.00452878e+02] [ 1.58783829e-02 -4.00875719e-04 9.99873850e-01 9.99900484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5392541539998 meters Centerline goodness [0,1] 0.9999779531725385 Centerline is valid? [True, True] Translation: X:899.59, Y:200.47, Z:10.00 [[-7.08862284e-01 -7.05257460e-01 1.12328908e-02 8.99588076e+02] [ 7.05159118e-01 -7.08951146e-01 -1.17852042e-02 2.00474023e+02] [ 1.62751739e-02 -4.33111393e-04 9.99867457e-01 9.99924365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.57, Y:200.49, Z:10.00 [[-7.10146746e-01 -7.03953914e-01 1.18526758e-02 8.99568638e+02] [ 7.03844358e-01 -7.10245488e-01 -1.24284490e-02 2.00494626e+02] [ 1.71673648e-02 -4.83583628e-04 9.99852513e-01 9.99922190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.599254154 meters Centerline goodness [0,1] 0.9999557100781717 Centerline is valid? [True, True] Translation: X:899.55, Y:200.51, Z:10.00 [[-7.10740357e-01 -7.03346570e-01 1.23185357e-02 8.99546999e+02] [ 7.03228273e-01 -7.10846917e-01 -1.29095398e-02 2.00513380e+02] [ 1.78364737e-02 -5.12588400e-04 9.99840786e-01 9.99947243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.629254154 meters Centerline goodness [0,1] 0.9999119156151594 Centerline is valid? [True, True] Translation: X:899.53, Y:200.53, Z:10.00 [[-7.10502298e-01 -7.03584767e-01 1.24483155e-02 8.99529680e+02] [ 7.03464139e-01 -7.10611159e-01 -1.30378794e-02 2.00533821e+02] [ 1.80191653e-02 -5.06499716e-04 9.99837513e-01 9.99781723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.51, Y:200.55, Z:10.00 [[-7.09734800e-01 -7.04370879e-01 1.17549727e-02 8.99507153e+02] [ 7.04263541e-01 -7.09831993e-01 -1.23047387e-02 2.00550997e+02] [ 1.70111554e-02 -4.54502580e-04 9.99855197e-01 1.00013509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6892541539999 meters Centerline goodness [0,1] 0.9998682332271879 Centerline is valid? [True, True] Translation: X:899.49, Y:200.57, Z:10.00 [[-7.08167282e-01 -7.05945963e-01 1.18066745e-02 8.99485186e+02] [ 7.05838017e-01 -7.08265576e-01 -1.23517919e-02 2.00568658e+02] [ 1.70819588e-02 -4.13535187e-04 9.99854007e-01 1.00002805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7192541539998 meters Centerline goodness [0,1] 0.9999120221704131 Centerline is valid? [True, True] Translation: X:899.46, Y:200.59, Z:10.00 [[-7.06710713e-01 -7.07411391e-01 1.13618406e-02 8.99464234e+02] [ 7.07311726e-01 -7.06801949e-01 -1.18797183e-02 2.00586998e+02] [ 1.64344191e-02 -3.59161101e-04 9.99864881e-01 1.00014863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7492541539998 meters Centerline goodness [0,1] 0.9998461267915237 Centerline is valid? [True, True] Translation: X:899.44, Y:200.61, Z:10.00 [[-7.05212897e-01 -7.08908201e-01 1.11325281e-02 8.99442659e+02] [ 7.08812811e-01 -7.05300691e-01 -1.16332971e-02 2.00605102e+02] [ 1.60987194e-02 -3.13072595e-04 9.99870358e-01 1.00024941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7792541539998 meters Centerline goodness [0,1] 0.9999123402949749 Centerline is valid? [True, True] Translation: X:899.42, Y:200.62, Z:10.00 [[-7.01400764e-01 -7.12685368e-01 1.07951076e-02 8.99420181e+02] [ 7.12596215e-01 -7.01483798e-01 -1.12745619e-02 2.00620531e+02] [ 1.56078084e-02 -2.15433485e-04 9.99878168e-01 1.00027006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.8092541539997 meters Centerline goodness [0,1] 0.9999564004185559 Centerline is valid? [True, True] Translation: X:899.40, Y:200.64, Z:10.00 [[-6.97170420e-01 -7.16825520e-01 1.07042039e-02 8.99396706e+02] [ 7.16738441e-01 -6.97252580e-01 -1.11734955e-02 2.00636448e+02] [ 1.54729805e-02 -1.17716156e-04 9.99880279e-01 1.00036783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.839254154 meters Centerline goodness [0,1] 0.9998261209763307 Centerline is valid? [True, True] Translation: X:899.38, Y:200.65, Z:10.00 [[-6.95681650e-01 -7.18260892e-01 1.13284186e-02 8.99376235e+02] [ 7.18163674e-01 -6.95773875e-01 -1.18175088e-02 2.00653889e+02] [ 1.63700721e-02 -8.55653023e-05 9.99865998e-01 1.00021024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.869254154 meters Centerline goodness [0,1] 0.9999128900890699 Centerline is valid? [True, True] Translation: X:899.35, Y:200.67, Z:10.01 [[-6.91760505e-01 -7.22044356e-01 1.09248428e-02 8.99353220e+02] [ 7.21954526e-01 -6.91846767e-01 -1.13891951e-02 2.00669516e+02] [ 1.57818212e-02 8.64437577e-06 9.99875459e-01 1.00053151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.33, Y:200.69, Z:10.01 [[-6.89961005e-01 -7.23763921e-01 1.09360861e-02 8.99331933e+02] [ 7.23674230e-01 -6.90047668e-01 -1.13940601e-02 2.00687361e+02] [ 1.57930303e-02 5.27065447e-05 9.99875281e-01 1.00052741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9292541539999 meters Centerline goodness [0,1] 0.9999347925315712 Centerline is valid? [True, True] Translation: X:899.31, Y:200.70, Z:10.00 [[-6.86807043e-01 -7.26737112e-01 1.22170251e-02 8.99309161e+02] [ 7.26625785e-01 -6.86915679e-01 -1.27207956e-02 2.00702580e+02] [ 1.76367403e-02 1.40473467e-04 9.99844451e-01 1.00028772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.29, Y:200.72, Z:10.00 [[-6.84988682e-01 -7.28462166e-01 1.15488997e-02 8.99288066e+02] [ 7.28363043e-01 -6.85086009e-01 -1.20182397e-02 2.00721515e+02] [ 1.66668225e-02 1.79433559e-04 9.99861083e-01 1.00047422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9892541539998 meters Centerline goodness [0,1] 0.999869701181376 Centerline is valid? [True, True] Translation: X:899.27, Y:200.74, Z:10.00 [[-6.83912036e-01 -7.29449552e-01 1.29490677e-02 8.99266914e+02] [ 7.29325262e-01 -6.84034573e-01 -1.34672070e-02 2.00740282e+02] [ 1.86812581e-02 2.33697190e-04 9.99825463e-01 1.00026024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.24, Y:200.76, Z:10.01 [[-6.80699200e-01 -7.32469755e-01 1.16900295e-02 8.99244498e+02] [ 7.32369017e-01 -6.80799510e-01 -1.21510936e-02 2.00757906e+02] [ 1.68588749e-02 2.90175703e-04 9.99857837e-01 1.00056361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.22, Y:200.78, Z:10.01 [[-6.78940551e-01 -7.34097446e-01 1.18603724e-02 8.99223691e+02] [ 7.33994120e-01 -6.79044052e-01 -1.23209878e-02 2.00776429e+02] [ 1.70985210e-02 3.40225374e-04 9.99853752e-01 1.00064627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.20, Y:200.80, Z:10.01 [[-6.78641872e-01 -7.34367671e-01 1.22201904e-02 8.99203718e+02] [ 7.34258155e-01 -6.78751790e-01 -1.26873443e-02 2.00796021e+02] [ 1.76116516e-02 3.62611422e-04 9.99844837e-01 1.00064414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.109254154 meters Centerline goodness [0,1] 0.9999133730373578 Centerline is valid? [True, True] Translation: X:899.18, Y:200.81, Z:10.00 [[-6.78490781e-01 -7.34474455e-01 1.40547403e-02 8.99184221e+02] [ 7.34329758e-01 -6.78636202e-01 -1.45846467e-02 2.00814648e+02] [ 2.02501060e-02 4.25265774e-04 9.99794855e-01 1.00039279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.139254154 meters Centerline goodness [0,1] 0.99991305103904 Centerline is valid? [True, True] Translation: X:899.17, Y:200.83, Z:10.00 [[-6.78491489e-01 -7.34466331e-01 1.44398054e-02 8.99165316e+02] [ 7.34313766e-01 -6.78644983e-01 -1.49759871e-02 2.00834719e+02] [ 2.07988598e-02 4.42268053e-04 9.99783583e-01 1.00042296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1692541539999 meters Centerline goodness [0,1] 0.9998913893474672 Centerline is valid? [True, True] Translation: X:899.15, Y:200.85, Z:10.00 [[-6.78665431e-01 -7.34277983e-01 1.57821453e-02 8.99146165e+02] [ 7.34095913e-01 -6.78848738e-01 -1.63579185e-02 2.00854381e+02] [ 2.27249489e-02 4.84054532e-04 9.99741638e-01 1.00029868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.13, Y:200.87, Z:10.00 [[-6.78580713e-01 -7.34366969e-01 1.52764596e-02 8.99127423e+02] [ 7.34196627e-01 -6.78752478e-01 -1.58236120e-02 2.00873168e+02] [ 2.19892728e-02 4.78327200e-04 9.99758092e-01 1.00038985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.11, Y:200.89, Z:10.00 [[-6.79090142e-01 -7.33871325e-01 1.64151673e-02 8.99109800e+02] [ 7.33674744e-01 -6.79288322e-01 -1.69924944e-02 2.00894938e+02] [ 2.36209358e-02 5.03958302e-04 9.99720860e-01 1.00046845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.09, Y:200.92, Z:10.00 [[-6.80142699e-01 -7.32892509e-01 1.65673890e-02 8.99091649e+02] [ 7.32692219e-01 -6.80344279e-01 -1.71398462e-02 2.00915200e+02] [ 2.38331933e-02 4.81255721e-04 9.99715833e-01 1.00042094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2892541539998 meters Centerline goodness [0,1] 0.9999346817914607 Centerline is valid? [True, True] Translation: X:899.07, Y:200.94, Z:10.01 [[-6.81243450e-01 -7.31853343e-01 1.72640085e-02 8.99074095e+02] [ 7.31635781e-01 -6.81462004e-01 -1.78499588e-02 2.00937203e+02] [ 2.48283179e-02 4.70798836e-04 9.99691619e-01 1.00050657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.3192541539997 meters Centerline goodness [0,1] 0.9998253618284616 Centerline is valid? [True, True] Translation: X:899.06, Y:200.96, Z:10.00 [[-6.83791617e-01 -7.29449657e-01 1.82269575e-02 8.99058330e+02] [ 7.29206522e-01 -6.84034377e-01 -1.88366477e-02 2.00959011e+02] [ 2.62082518e-02 4.10874495e-04 9.99656420e-01 1.00044015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.349254154 meters Centerline goodness [0,1] 0.9998693265963934 Centerline is valid? [True, True] Translation: X:899.04, Y:200.98, Z:10.01 [[-6.85596149e-01 -7.27769496e-01 1.75920463e-02 8.99040661e+02] [ 7.27542682e-01 -6.85821729e-01 -1.81714598e-02 2.00981682e+02] [ 2.52896417e-02 3.40681648e-04 9.99680108e-01 1.00062651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.03, Y:201.01, Z:10.01 [[-6.89624281e-01 -7.23992594e-01 1.59083721e-02 8.99025662e+02] [ 7.23806308e-01 -6.89807719e-01 -1.64237371e-02 2.01006622e+02] [ 2.28643819e-02 1.88372139e-04 9.99738558e-01 1.00091407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.01, Y:201.03, Z:10.01 [[-6.92319989e-01 -7.21416171e-01 1.58663376e-02 8.99009464e+02] [ 7.21230418e-01 -6.92501766e-01 -1.63703580e-02 2.01028375e+02] [ 2.27973078e-02 1.09759213e-04 9.99740102e-01 1.00100617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:899.00, Y:201.05, Z:10.01 [[-6.97649656e-01 -7.16267843e-01 1.56631819e-02 8.98995514e+02] [ 7.16085724e-01 -6.97825461e-01 -1.61512085e-02 2.01053543e+02] [ 2.24987584e-02 -5.17040839e-05 9.99746870e-01 1.00113254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4692541539998 meters Centerline goodness [0,1] 0.9998249299719888 Centerline is valid? [True, True] Translation: X:898.98, Y:201.08, Z:10.01 [[-7.00711175e-01 -7.13238756e-01 1.71559178e-02 8.98979692e+02] [ 7.13019561e-01 -7.00921145e-01 -1.76820337e-02 2.01075972e+02] [ 2.46364572e-02 -1.57493637e-04 9.99696464e-01 1.00098179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4992541539998 meters Centerline goodness [0,1] 0.9999342033117666 Centerline is valid? [True, True] Translation: X:898.96, Y:201.10, Z:10.01 [[-7.03542235e-01 -7.10455067e-01 1.67904948e-02 8.98962910e+02] [ 7.10244489e-01 -7.03742522e-01 -1.72982376e-02 2.01098122e+02] [ 2.41058057e-02 -2.44684366e-04 9.99709383e-01 1.00113907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.95, Y:201.12, Z:10.01 [[-7.08603994e-01 -7.05397091e-01 1.71849632e-02 8.98948776e+02] [ 7.05175245e-01 -7.08812223e-01 -1.76948164e-02 2.01122747e+02] [ 2.46627840e-02 -4.20206961e-04 9.99695739e-01 1.00119309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.5592541539997 meters Centerline goodness [0,1] 0.9997570671378092 Centerline is valid? [True, True] Translation: X:898.93, Y:201.15, Z:10.01 [[-7.13274170e-01 -7.00622615e-01 1.91809889e-02 8.98933192e+02] [ 7.00344825e-01 -7.13531734e-01 -1.97380508e-02 2.01146438e+02] [ 2.75151690e-02 -6.45335432e-04 9.99621178e-01 1.00120180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.589254154 meters Centerline goodness [0,1] 0.9999115904871364 Centerline is valid? [True, True] Translation: X:898.92, Y:201.17, Z:10.01 [[-7.15044055e-01 -6.98817073e-01 1.91493470e-02 8.98915941e+02] [ 6.98539873e-01 -7.15300077e-01 -1.96937686e-02 2.01168046e+02] [ 2.74598711e-02 -7.05329698e-04 9.99622658e-01 1.00121358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.619254154 meters Centerline goodness [0,1] 0.9999336855368156 Centerline is valid? [True, True] Translation: X:898.90, Y:201.19, Z:10.01 [[-7.16653169e-01 -6.97173742e-01 1.88946761e-02 8.98898819e+02] [ 6.96903609e-01 -7.16901814e-01 -1.94203219e-02 2.01189174e+02] [ 2.70849661e-02 -7.49867244e-04 9.99632854e-01 1.00121432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.88, Y:201.21, Z:10.01 [[-7.18786173e-01 -6.94953625e-01 1.96442467e-02 8.98880949e+02] [ 6.94661141e-01 -7.19054047e-01 -2.01786052e-02 2.01210379e+02] [ 2.81484700e-02 -8.58007567e-04 9.99603385e-01 1.00133292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6792541539999 meters Centerline goodness [0,1] 0.9999114887590724 Centerline is valid? [True, True] Translation: X:898.86, Y:201.23, Z:10.01 [[-7.19836840e-01 -6.93860502e-01 1.98123020e-02 8.98862968e+02] [ 6.93562840e-01 -7.20108874e-01 -2.03419733e-02 2.01231208e+02] [ 2.83815062e-02 -9.01825328e-04 9.99596757e-01 1.00132359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7092541539998 meters Centerline goodness [0,1] 0.9998670625249257 Centerline is valid? [True, True] Translation: X:898.84, Y:201.25, Z:10.01 [[-7.20038044e-01 -6.93596527e-01 2.16580809e-02 8.98842457e+02] [ 6.93241053e-01 -7.20363020e-01 -2.22252575e-02 2.01250781e+02] [ 3.10170420e-02 -9.88760162e-04 9.99518367e-01 1.00141635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.82, Y:201.27, Z:10.02 [[-7.19702475e-01 -6.93990813e-01 2.01270917e-02 8.98822001e+02] [ 6.93684298e-01 -7.19983299e-01 -2.06432494e-02 2.01270481e+02] [ 2.88173953e-02 -8.95150228e-04 9.99584292e-01 1.00156120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.80, Y:201.29, Z:10.02 [[-7.18119446e-01 -6.95629768e-01 2.00919771e-02 8.98800779e+02] [ 6.95325276e-01 -7.18399996e-01 -2.05963050e-02 2.01289710e+02] [ 2.87614791e-02 -8.20147642e-04 9.99585967e-01 1.00168029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.78, Y:201.31, Z:10.02 [[-7.15537999e-01 -6.98284131e-01 2.01157812e-02 8.98778251e+02] [ 6.97980200e-01 -7.15820348e-01 -2.06123616e-02 2.01307593e+02] [ 2.87925705e-02 -7.08511050e-04 9.99585157e-01 1.00178431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.829254154 meters Centerline goodness [0,1] 0.9998892433102959 Centerline is valid? [True, True] Translation: X:898.76, Y:201.33, Z:10.02 [[-7.14432345e-01 -6.99369608e-01 2.16466149e-02 8.98757527e+02] [ 6.99018541e-01 -7.14759856e-01 -2.21681590e-02 2.01325461e+02] [ 3.09758681e-02 -7.06264647e-04 9.99519883e-01 1.00185729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.859254154 meters Centerline goodness [0,1] 0.9999557678697806 Centerline is valid? [True, True] Translation: X:898.73, Y:201.34, Z:10.02 [[-7.11027767e-01 -7.02882872e-01 1.98792191e-02 8.98734587e+02] [ 7.02588498e-01 -7.11305433e-01 -2.03465900e-02 2.01342211e+02] [ 2.84414662e-02 -5.00079765e-04 9.99595335e-01 1.00205772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.71, Y:201.36, Z:10.02 [[-7.09404831e-01 -7.04521335e-01 1.98613765e-02 8.98713891e+02] [ 7.04228457e-01 -7.09682681e-01 -2.03168108e-02 2.01360571e+02] [ 2.84089016e-02 -4.25897196e-04 9.99596295e-01 1.00205970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.70, Y:201.38, Z:10.02 [[-7.09629180e-01 -7.04295181e-01 1.98676704e-02 8.98695089e+02] [ 7.04002387e-01 -7.09907118e-01 -2.03106556e-02 2.01379648e+02] [ 2.84088975e-02 -4.26146467e-04 9.99596295e-01 1.00207872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9492541539998 meters Centerline goodness [0,1] 0.99982343463771 Centerline is valid? [True, True] Translation: X:898.67, Y:201.40, Z:10.02 [[-7.08323056e-01 -7.05551331e-01 2.18121204e-02 8.98673665e+02] [ 7.05199418e-01 -7.08658703e-01 -2.22850707e-02 2.01397432e+02] [ 3.11806103e-02 -4.03134773e-04 9.99513685e-01 1.00213954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9792541539998 meters Centerline goodness [0,1] 0.9998901461056795 Centerline is valid? [True, True] Translation: X:898.65, Y:201.41, Z:10.02 [[-7.05052061e-01 -7.08840471e-01 2.11371390e-02 8.98651637e+02] [ 7.08511831e-01 -7.05368789e-01 -2.15837068e-02 2.01413659e+02] [ 3.02088831e-02 -2.41723922e-04 9.99543578e-01 1.00206256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0092541539998 meters Centerline goodness [0,1] 0.9998250333530171 Centerline is valid? [True, True] Translation: X:898.63, Y:201.43, Z:10.02 [[-7.02408578e-01 -7.11456918e-01 2.12424884e-02 8.98629983e+02] [ 7.11126599e-01 -7.02729706e-01 -2.16776641e-02 2.01429454e+02] [ 3.03504518e-02 -1.20478686e-04 9.99539312e-01 1.00197597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.61, Y:201.45, Z:10.02 [[-7.01331712e-01 -7.12562408e-01 1.97140744e-02 8.98609129e+02] [ 7.12278683e-01 -7.01608731e-01 -2.01063708e-02 2.01448067e+02] [ 2.81586107e-02 -5.93204519e-05 9.99603466e-01 1.00229689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0692541539997 meters Centerline goodness [0,1] 0.9999780889151821 Centerline is valid? [True, True] Translation: X:898.59, Y:201.47, Z:10.02 [[-6.99529987e-01 -7.14321745e-01 2.00559705e-02 8.98586976e+02] [ 7.14029178e-01 -6.99817436e-01 -2.04423378e-02 2.01465124e+02] [ 2.86379243e-02 2.05198360e-05 9.99589850e-01 1.00231933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.099254154 meters Centerline goodness [0,1] 0.9999344032885819 Centerline is valid? [True, True] Translation: X:898.57, Y:201.48, Z:10.02 [[-6.98823786e-01 -7.14990359e-01 2.08351499e-02 8.98566159e+02] [ 7.14675281e-01 -6.99134310e-01 -2.12240196e-02 2.01483906e+02] [ 2.97415375e-02 5.85168824e-05 9.99557621e-01 1.00229442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.129254154 meters Centerline goodness [0,1] 0.9999122056144509 Centerline is valid? [True, True] Translation: X:898.54, Y:201.50, Z:10.02 [[-6.97626819e-01 -7.16138237e-01 2.15138691e-02 8.98544575e+02] [ 7.15803214e-01 -6.97958460e-01 -2.19031512e-02 2.01503117e+02] [ 3.07014710e-02 1.19470972e-04 9.99528592e-01 1.00239646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1592541539999 meters Centerline goodness [0,1] 0.9999562411114757 Centerline is valid? [True, True] Translation: X:898.52, Y:201.52, Z:10.02 [[-6.97004426e-01 -7.16756004e-01 2.11106684e-02 8.98524386e+02] [ 7.16434080e-01 -6.97324033e-01 -2.14802753e-02 2.01522159e+02] [ 3.01170927e-02 1.52555301e-04 9.99546366e-01 1.00245267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1892541539999 meters Centerline goodness [0,1] 0.9998687491796824 Centerline is valid? [True, True] Translation: X:898.50, Y:201.54, Z:10.02 [[-6.95421177e-01 -7.18250839e-01 2.24748647e-02 8.98502812e+02] [ 7.17887153e-01 -6.95784215e-01 -2.28552206e-02 2.01539285e+02] [ 3.20534374e-02 2.40412209e-04 9.99486128e-01 1.00225198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.48, Y:201.56, Z:10.02 [[-6.94632861e-01 -7.19039801e-01 2.16090804e-02 8.98482840e+02] [ 7.18704377e-01 -6.94968840e-01 -2.19620104e-02 2.01557823e+02] [ 3.08091971e-02 2.75006536e-04 9.99525246e-01 1.00210874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.46, Y:201.58, Z:10.02 [[-6.93450397e-01 -7.20153383e-01 2.24866928e-02 8.98462721e+02] [ 7.19791164e-01 -6.93814806e-01 -2.28406675e-02 2.01577107e+02] [ 3.20503844e-02 3.46852852e-04 9.99486194e-01 1.00214246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2792541539998 meters Centerline goodness [0,1] 0.999912101434944 Centerline is valid? [True, True] Translation: X:898.44, Y:201.60, Z:10.02 [[-6.93068603e-01 -7.20481183e-01 2.37229057e-02 8.98442811e+02] [ 7.20078699e-01 -6.93474377e-01 -2.40822678e-02 2.01597266e+02] [ 3.38020481e-02 3.91695364e-04 9.99428471e-01 1.00216127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.3092541539997 meters Centerline goodness [0,1] 0.9999780485127867 Centerline is valid? [True, True] Translation: X:898.42, Y:201.62, Z:10.02 [[-6.93382977e-01 -7.20198022e-01 2.31269365e-02 8.98423964e+02] [ 7.19815808e-01 -6.93768453e-01 -2.34635297e-02 2.01617157e+02] [ 3.29431266e-02 3.77922427e-04 9.99457156e-01 1.00212713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.41, Y:201.64, Z:10.02 [[-6.93857645e-01 -7.19741703e-01 2.30965124e-02 8.98405615e+02] [ 7.19360727e-01 -6.94241850e-01 -2.34179122e-02 2.01637246e+02] [ 3.28894135e-02 3.66026537e-04 9.99458930e-01 1.00216704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.369254154 meters Centerline goodness [0,1] 0.9998456381758842 Centerline is valid? [True, True] Translation: X:898.39, Y:201.66, Z:10.02 [[-6.95699818e-01 -7.17952112e-01 2.33779321e-02 8.98388854e+02] [ 7.17561306e-01 -6.96092435e-01 -2.36874490e-02 2.01657702e+02] [ 3.32796558e-02 2.95745513e-04 9.99446035e-01 1.00220406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.399254154 meters Centerline goodness [0,1] 0.9999780036074084 Centerline is valid? [True, True] Translation: X:898.37, Y:201.68, Z:10.02 [[-6.97719649e-01 -7.16048794e-01 2.14806218e-02 8.98372927e+02] [ 7.15718322e-01 -6.98050203e-01 -2.17530802e-02 2.01679464e+02] [ 3.05708193e-02 1.96523157e-04 9.99532584e-01 1.00233463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4292541539999 meters Centerline goodness [0,1] 0.9999340412901524 Centerline is valid? [True, True] Translation: X:898.36, Y:201.70, Z:10.02 [[-6.98838237e-01 -7.14952487e-01 2.16346735e-02 8.98355415e+02] [ 7.14617139e-01 -6.99173023e-01 -2.18958552e-02 2.01699837e+02] [ 3.07808762e-02 1.58847646e-04 9.99526144e-01 1.00244009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4592541539998 meters Centerline goodness [0,1] 0.9998902305159165 Centerline is valid? [True, True] Translation: X:898.34, Y:201.72, Z:10.03 [[-7.00465299e-01 -7.13369159e-01 2.12793039e-02 8.98338136e+02] [ 7.13044388e-01 -7.00788438e-01 -2.15236267e-02 2.01722656e+02] [ 3.02665816e-02 9.65345978e-05 9.99541857e-01 1.00271350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.32, Y:201.74, Z:10.03 [[-7.01286122e-01 -7.12583398e-01 2.05590849e-02 8.98319253e+02] [ 7.12280237e-01 -7.01587411e-01 -2.07838635e-02 2.01744195e+02] [ 2.92342312e-02 6.83947889e-05 9.99572586e-01 1.00276539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.30, Y:201.77, Z:10.03 [[-7.02232956e-01 -7.11654745e-01 2.04058595e-02 8.98301313e+02] [ 7.11356030e-01 -7.02529375e-01 -2.06173796e-02 2.01765717e+02] [ 2.90081717e-02 3.76277313e-05 9.99579174e-01 1.00280679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5492541539998 meters Centerline goodness [0,1] 0.9998895662160968 Centerline is valid? [True, True] Translation: X:898.28, Y:201.79, Z:10.03 [[-7.02586430e-01 -7.11286095e-01 2.10808083e-02 8.98282617e+02] [ 7.10967504e-01 -7.02902618e-01 -2.12865730e-02 2.01785783e+02] [ 2.99585988e-02 3.21123104e-05 9.99551140e-01 1.00276838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.579254154 meters Centerline goodness [0,1] 0.9999556619668352 Centerline is valid? [True, True] Translation: X:898.26, Y:201.81, Z:10.03 [[-7.02984841e-01 -7.10903420e-01 2.07036529e-02 8.98264567e+02] [ 7.10596345e-01 -7.03289647e-01 -2.08927608e-02 2.01806539e+02] [ 2.94133998e-02 2.46459452e-05 9.99567332e-01 1.00273819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.609254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.25, Y:201.83, Z:10.03 [[-7.03068620e-01 -7.10819618e-01 2.07361077e-02 8.98245081e+02] [ 7.10511905e-01 -7.03374345e-01 -2.09132190e-02 2.01826951e+02] [ 2.94507725e-02 2.98234042e-05 9.99566231e-01 1.00286013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.639254154 meters Centerline goodness [0,1] 0.9999778506246124 Centerline is valid? [True, True] Translation: X:898.23, Y:201.85, Z:10.03 [[-7.02203199e-01 -7.11666503e-01 2.10108543e-02 8.98226806e+02] [ 7.11351371e-01 -7.02517461e-01 -2.11764731e-02 2.01846317e+02] [ 2.98310786e-02 7.59129071e-05 9.99554951e-01 1.00278340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.21, Y:201.87, Z:10.03 [[-7.01716238e-01 -7.12142532e-01 2.11502910e-02 8.98207608e+02] [ 7.11823835e-01 -7.02034901e-01 -2.13031663e-02 2.01866151e+02] [ 3.00191333e-02 1.06503505e-04 9.99549319e-01 1.00285225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.19, Y:201.89, Z:10.03 [[-7.00673137e-01 -7.13160328e-01 2.14359836e-02 8.98188146e+02] [ 7.12833826e-01 -7.01000942e-01 -2.15781281e-02 2.01886234e+02] [ 3.04153096e-02 1.61079488e-04 9.99537334e-01 1.00293509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.17, Y:201.91, Z:10.03 [[-7.00284720e-01 -7.13533085e-01 2.17220722e-02 8.98167874e+02] [ 7.13198376e-01 -7.00621511e-01 -2.18534918e-02 2.01906274e+02] [ 3.08121404e-02 1.88480281e-04 9.99525176e-01 1.00294339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.15, Y:201.92, Z:10.03 [[-6.99162732e-01 -7.14644802e-01 2.13138535e-02 8.98148431e+02] [ 7.14323408e-01 -6.99487490e-01 -2.14317612e-02 2.01923695e+02] [ 3.02248706e-02 2.40695770e-04 9.99543095e-01 1.00288330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.13, Y:201.94, Z:10.03 [[-6.99028315e-01 -7.14801415e-01 2.04536655e-02 8.98128462e+02] [ 7.14505844e-01 -6.99327446e-01 -2.05553341e-02 2.01943404e+02] [ 2.89967916e-02 2.45503017e-04 9.99579474e-01 1.00315125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.8192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.11, Y:201.96, Z:10.03 [[-6.99796030e-01 -7.14061708e-01 2.00348115e-02 8.98108806e+02] [ 7.13778157e-01 -7.00082731e-01 -2.01224369e-02 2.01961488e+02] [ 2.83946872e-02 2.18809367e-04 9.99596766e-01 1.00294492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.849254154 meters Centerline goodness [0,1] 0.9999778516057586 Centerline is valid? [True, True] Translation: X:898.09, Y:201.98, Z:10.03 [[-7.01631854e-01 -7.12285469e-01 1.90303082e-02 8.98089759e+02] [ 7.12029279e-01 -7.01889870e-01 -1.91028152e-02 2.01982053e+02] [ 2.69638383e-02 1.46992937e-04 9.99636399e-01 1.00323103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.879254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.07, Y:202.00, Z:10.03 [[-7.03076327e-01 -7.10881479e-01 1.81989485e-02 8.98070377e+02] [ 7.10646980e-01 -7.03311819e-01 -1.82580381e-02 2.02002807e+02] [ 2.57788367e-02 9.62333754e-05 9.99667666e-01 1.00343757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.05, Y:202.02, Z:10.04 [[-7.05525685e-01 -7.08490360e-01 1.65806430e-02 8.98052381e+02] [ 7.08295268e-01 -7.05720490e-01 -1.66253586e-02 2.02022532e+02] [ 2.34802058e-02 1.43734128e-05 9.99724302e-01 1.00363057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9392541539999 meters Centerline goodness [0,1] 0.9998223327707204 Centerline is valid? [True, True] Translation: X:898.03, Y:202.04, Z:10.04 [[-7.06114217e-01 -7.07901873e-01 1.66628596e-02 8.98033954e+02] [ 7.07704928e-01 -7.06310795e-01 -1.66971767e-02 2.02041390e+02] [ 2.35891202e-02 2.27396940e-06 9.99721738e-01 1.00366916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:898.01, Y:202.06, Z:10.04 [[-7.07173834e-01 -7.06868639e-01 1.55529896e-02 8.98014668e+02] [ 7.06697027e-01 -7.07344842e-01 -1.55751494e-02 2.02060396e+02] [ 2.20109116e-02 -2.30865848e-05 9.99757730e-01 1.00374189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.99, Y:202.08, Z:10.04 [[-7.07342781e-01 -7.06697752e-01 1.56357926e-02 8.97994901e+02] [ 7.06524488e-01 -7.07515574e-01 -1.56480126e-02 2.02079334e+02] [ 2.21209821e-02 -2.14383523e-05 9.99755301e-01 1.00373559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.98, Y:202.10, Z:10.04 [[-7.07584961e-01 -7.06448819e-01 1.59244447e-02 8.97975076e+02] [ 7.06269275e-01 -7.07764131e-01 -1.59262695e-02 2.02097357e+02] [ 2.25218450e-02 -2.22427487e-05 9.99746351e-01 1.00352095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.0592541539997 meters Centerline goodness [0,1] 0.9999334841027006 Centerline is valid? [True, True] Translation: X:897.44, Y:201.55, Z:10.95 [[-7.54884157e-01 6.55818201e-01 7.23854858e-03 8.97440860e+02] [ 6.55794388e-01 7.54918689e-01 -5.61195400e-03 2.01550793e+02] [-9.14493717e-03 5.10624367e-04 -9.99958054e-01 1.09494023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.94, Y:202.12, Z:10.04 [[-7.10877877e-01 -7.03119519e-01 1.66008026e-02 8.97942722e+02] [ 7.02936869e-01 -7.11071632e-01 -1.60278682e-02 2.02123614e+02] [ 2.30738668e-02 2.75459322e-04 9.99733725e-01 1.00354890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.42, Y:201.57, Z:10.95 [[-7.54850400e-01 6.55864767e-01 6.50237216e-03 8.97415445e+02] [ 6.55846374e-01 7.54878216e-01 -4.94085397e-03 2.01571159e+02] [-8.14903113e-03 5.34951610e-04 -9.99966653e-01 1.09496255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.149254154 meters Centerline goodness [0,1] 0.9998891696590859 Centerline is valid? [True, True] Translation: X:897.43, Y:201.59, Z:10.95 [[-7.98723877e-01 6.01659665e-01 6.76872503e-03 8.97434872e+02] [ 6.01643692e-01 7.98752372e-01 -4.41778049e-03 2.01589359e+02] [-8.06453550e-03 5.43773959e-04 -9.99967333e-01 1.09509178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.46, Y:201.61, Z:10.95 [[-8.37909101e-01 5.45774369e-01 6.21899040e-03 8.97456453e+02] [ 5.45764136e-01 8.37931996e-01 -3.38802645e-03 2.01606685e+02] [-7.06018904e-03 5.55243729e-04 -9.99974922e-01 1.09492993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2092541539998 meters Centerline goodness [0,1] 0.9999115102979891 Centerline is valid? [True, True] Translation: X:897.47, Y:201.63, Z:10.95 [[-8.74055720e-01 4.85781719e-01 6.53613994e-03 8.97470459e+02] [ 4.85772833e-01 8.74079978e-01 -2.99118357e-03 2.01629240e+02] [-7.16617135e-03 5.60618105e-04 -9.99974166e-01 1.09494321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.84, Y:202.30, Z:10.04 [[-8.49154585e-01 -5.27861620e-01 1.72800737e-02 8.97842644e+02] [ 5.27754771e-01 -8.49330383e-01 -1.06208234e-02 2.02301079e+02] [ 2.02828167e-02 1.00920412e-04 9.99794277e-01 1.00372424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.84, Y:202.27, Z:10.04 [[-8.13164643e-01 -5.81790964e-01 1.68088379e-02 8.97835164e+02] [ 5.81671349e-01 -8.13338331e-01 -1.17983738e-02 2.02272185e+02] [ 2.05354595e-02 1.83199001e-04 9.99789108e-01 1.00367089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.83, Y:202.24, Z:10.04 [[-7.73287329e-01 -6.33828471e-01 1.69757395e-02 8.97825192e+02] [ 6.33679735e-01 -7.73473626e-01 -1.37311120e-02 2.02243732e+02] [ 2.18334565e-02 1.39087154e-04 9.99761612e-01 1.00354234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.329254154 meters Centerline goodness [0,1] 0.9999778697412973 Centerline is valid? [True, True] Translation: X:897.81, Y:202.21, Z:10.04 [[-7.28701702e-01 -6.84640245e-01 1.61729722e-02 8.97812466e+02] [ 6.84471682e-01 -7.28881153e-01 -1.51914708e-02 2.02214686e+02] [ 2.21888669e-02 -1.09147376e-07 9.99753797e-01 1.00356461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.359254154 meters Centerline goodness [0,1] 0.9997339364108022 Centerline is valid? [True, True] Translation: X:897.80, Y:202.19, Z:10.04 [[-6.80538731e-01 -7.32549404e-01 1.54403949e-02 8.97795496e+02] [ 7.32362585e-01 -6.80713866e-01 -1.65431839e-02 2.02189006e+02] [ 2.26291904e-02 4.96901896e-05 9.99743926e-01 1.00351171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.389254154 meters Centerline goodness [0,1] 0.999867420894467 Centerline is valid? [True, True] Translation: X:897.78, Y:202.21, Z:10.04 [[-6.80786898e-01 -7.32330003e-01 1.48985634e-02 8.97777667e+02] [ 7.32144948e-01 -6.80949834e-01 -1.64650469e-02 2.02208013e+02] [ 2.22030221e-02 -3.01280231e-04 9.99753437e-01 1.00353435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.76, Y:202.23, Z:10.04 [[-6.81437946e-01 -7.31736213e-01 1.42982314e-02 8.97759542e+02] [ 7.31565854e-01 -6.81587869e-01 -1.57916910e-02 2.02227967e+02] [ 2.13008532e-02 -3.00959585e-04 9.99773066e-01 1.00355555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.74, Y:202.25, Z:10.04 [[-6.81968143e-01 -7.31248677e-01 1.39579856e-02 8.97740138e+02] [ 7.31086416e-01 -6.82110901e-01 -1.54068251e-02 2.02247807e+02] [ 2.07871146e-02 -3.02470170e-04 9.99783879e-01 1.00374041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4792541539998 meters Centerline goodness [0,1] 0.9999115533443892 Centerline is valid? [True, True] Translation: X:897.72, Y:202.27, Z:10.04 [[-6.83034380e-01 -7.30261619e-01 1.34908997e-02 8.97723054e+02] [ 7.30110022e-01 -6.83167526e-01 -1.48824216e-02 2.02268678e+02] [ 2.00846059e-02 -3.15364552e-04 9.99798234e-01 1.00373143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5092541539998 meters Centerline goodness [0,1] 0.9998449406344143 Centerline is valid? [True, True] Translation: X:897.70, Y:202.29, Z:10.04 [[-6.83590148e-01 -7.29747475e-01 1.31579554e-02 8.97703014e+02] [ 7.29603339e-01 -6.83716698e-01 -1.45067154e-02 2.02288119e+02] [ 1.95825527e-02 -3.16559554e-04 9.99808193e-01 1.00387692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.68, Y:202.31, Z:10.04 [[-6.84219277e-01 -7.29176834e-01 1.20468088e-02 8.97682606e+02] [ 7.29056059e-01 -6.84325255e-01 -1.32743107e-02 2.02308014e+02] [ 1.79232554e-02 -2.99740363e-04 9.99839321e-01 1.00387123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.66, Y:202.33, Z:10.04 [[-6.83912408e-01 -7.29469035e-01 1.17790475e-02 8.97662884e+02] [ 7.29353751e-01 -6.84013779e-01 -1.29713585e-02 2.02327357e+02] [ 1.75192351e-02 -2.80180601e-04 9.99846487e-01 1.00384690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.599254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.64, Y:202.35, Z:10.04 [[-6.83569921e-01 -7.29787502e-01 1.19317095e-02 8.97642462e+02] [ 7.29669401e-01 -6.83673993e-01 -1.31315003e-02 2.02347178e+02] [ 1.77406043e-02 -2.70095252e-04 9.99842587e-01 1.00386304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.629254154 meters Centerline goodness [0,1] 0.999889697771895 Centerline is valid? [True, True] Translation: X:897.62, Y:202.37, Z:10.04 [[-6.81547568e-01 -7.31662613e-01 1.27566927e-02 8.97622891e+02] [ 7.31528073e-01 -6.81666904e-01 -1.40324826e-02 2.02366079e+02] [ 1.89628581e-02 -2.31925611e-04 9.99820162e-01 1.00366241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6592541539999 meters Centerline goodness [0,1] 0.9999779044588802 Centerline is valid? [True, True] Translation: X:897.60, Y:202.39, Z:10.04 [[-6.80587358e-01 -7.32555565e-01 1.27747181e-02 8.97602882e+02] [ 7.32420947e-01 -6.80707209e-01 -1.40446495e-02 2.02385227e+02] [ 1.89843289e-02 -2.02139739e-04 9.99819761e-01 1.00354647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6892541539999 meters Centerline goodness [0,1] 0.9999779871444924 Centerline is valid? [True, True] Translation: X:897.58, Y:202.40, Z:10.03 [[-6.77944730e-01 -7.34980336e-01 1.39587953e-02 8.97581149e+02] [ 7.34820320e-01 -6.78088406e-01 -1.53366202e-02 2.02402580e+02] [ 2.07374115e-02 -1.40174445e-04 9.99784947e-01 1.00334539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.56, Y:202.42, Z:10.03 [[-6.74875767e-01 -7.37783967e-01 1.47484860e-02 8.97559157e+02] [ 7.37606223e-01 -6.75036900e-01 -1.61939440e-02 2.02419365e+02] [ 2.19034045e-02 -5.03253093e-05 9.99760090e-01 1.00315079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.54, Y:202.44, Z:10.03 [[-6.72164836e-01 -7.40262631e-01 1.43411811e-02 8.97537807e+02] [ 7.40095344e-01 -6.72317808e-01 -1.57368135e-02 2.02437310e+02] [ 2.12912064e-02 3.61087214e-05 9.99773316e-01 1.00314697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.52, Y:202.46, Z:10.03 [[-6.70861983e-01 -7.41452459e-01 1.38726298e-02 8.97518520e+02] [ 7.41296376e-01 -6.71005398e-01 -1.52130821e-02 2.02455972e+02] [ 2.05883866e-02 7.78517513e-05 9.99788034e-01 1.00315528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.8092541539997 meters Centerline goodness [0,1] 0.9998906601937502 Centerline is valid? [True, True] Translation: X:897.50, Y:202.47, Z:10.03 [[-6.69446453e-01 -7.42752274e-01 1.26690905e-02 8.97498493e+02] [ 7.42622495e-01 -6.69566312e-01 -1.38846746e-02 2.02474929e+02] [ 1.87956698e-02 1.13305410e-04 9.99823339e-01 1.00320686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.839254154 meters Centerline goodness [0,1] 0.9998906601937502 Centerline is valid? [True, True] Translation: X:897.48, Y:202.49, Z:10.03 [[-6.69682970e-01 -7.42538957e-01 1.26735115e-02 8.97480365e+02] [ 7.42409215e-01 -6.69802870e-01 -1.38806389e-02 2.02494627e+02] [ 1.87956695e-02 1.13304222e-04 9.99823339e-01 1.00322549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.869254154 meters Centerline goodness [0,1] 0.9999341108255914 Centerline is valid? [True, True] Translation: X:897.46, Y:202.51, Z:10.03 [[-6.69205440e-01 -7.42977004e-01 1.22167923e-02 8.97461316e+02] [ 7.42856664e-01 -6.69316932e-01 -1.33724117e-02 2.02514947e+02] [ 1.81123003e-02 1.26434954e-04 9.99835951e-01 1.00339056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.899254154 meters Centerline goodness [0,1] 0.9999781167253868 Centerline is valid? [True, True] Translation: X:897.44, Y:202.54, Z:10.03 [[-6.68984088e-01 -7.43191989e-01 1.12230729e-02 8.97441808e+02] [ 7.43090577e-01 -6.69078210e-01 -1.22777539e-02 2.02535485e+02] [ 1.66338419e-02 1.26137679e-04 9.99861640e-01 1.00339481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9292541539999 meters Centerline goodness [0,1] 0.9999780927552742 Centerline is valid? [True, True] Translation: X:897.42, Y:202.55, Z:10.03 [[-6.68027185e-01 -7.44075668e-01 9.54363310e-03 8.97422859e+02] [ 7.44002495e-01 -6.68095340e-01 -1.04356800e-02 2.02554698e+02] [ 1.41409924e-02 1.29168921e-04 9.99900003e-01 1.00332905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.40, Y:202.57, Z:10.03 [[-6.67685440e-01 -7.44387070e-01 9.16747245e-03 8.97403681e+02] [ 7.44319653e-01 -6.67748359e-01 -1.00191228e-02 2.02574721e+02] [ 1.35796702e-02 1.33907504e-04 9.99907783e-01 1.00331899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9892541539998 meters Centerline goodness [0,1] 0.999934177326283 Centerline is valid? [True, True] Translation: X:897.38, Y:202.59, Z:10.03 [[-6.66248222e-01 -7.45665967e-01 9.77611738e-03 8.97383439e+02] [ 7.45589534e-01 -6.66319919e-01 -1.06776392e-02 2.02594840e+02] [ 1.44759739e-02 1.75012684e-04 9.99895202e-01 1.00327118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.36, Y:202.61, Z:10.03 [[-6.63628662e-01 -7.48004780e-01 9.26545494e-03 8.97363120e+02] [ 7.47936429e-01 -6.63693304e-01 -1.01141964e-02 2.02614519e+02] [ 1.37148876e-02 2.17900677e-04 9.99905923e-01 1.00308363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.34, Y:202.63, Z:10.03 [[-6.62399145e-01 -7.49091017e-01 9.48798017e-03 8.97343188e+02] [ 7.49019543e-01 -6.62467045e-01 -1.03507913e-02 2.02632746e+02] [ 1.40391589e-02 2.50327284e-04 9.99901415e-01 1.00296351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.32, Y:202.65, Z:10.03 [[-6.61006978e-01 -7.50316965e-01 9.70712132e-03 8.97322915e+02] [ 7.50242365e-01 -6.61078188e-01 -1.05840781e-02 2.02650218e+02] [ 1.43585795e-02 2.86544171e-04 9.99896869e-01 1.00282306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.109254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.30, Y:202.67, Z:10.03 [[-6.58099526e-01 -7.52861236e-01 1.02456318e-02 8.97302187e+02] [ 7.52778527e-01 -6.58179175e-01 -1.11652589e-02 2.02669421e+02] [ 1.51493521e-02 3.64840070e-04 9.99885175e-01 1.00264730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.139254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.28, Y:202.69, Z:10.03 [[-6.57175316e-01 -7.53665323e-01 1.04491748e-02 8.97281898e+02] [ 7.53579501e-01 -6.57258264e-01 -1.13802856e-02 2.02687780e+02] [ 1.54447331e-02 3.95441192e-04 9.99880645e-01 1.00250994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1692541539999 meters Centerline goodness [0,1] 0.9999562927511528 Centerline is valid? [True, True] Translation: X:897.26, Y:202.71, Z:10.03 [[-6.56125775e-01 -7.54566343e-01 1.13402864e-02 8.97263804e+02] [ 7.54465518e-01 -6.56223610e-01 -1.23432975e-02 2.02709214e+02] [ 1.67556005e-02 4.57099394e-04 9.99859511e-01 1.00250970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.25, Y:202.73, Z:10.02 [[-6.56133004e-01 -7.54575807e-01 1.02388278e-02 8.97245614e+02] [ 7.54493720e-01 -6.56212754e-01 -1.11377083e-02 2.02728152e+02] [ 1.51230946e-02 4.17313280e-04 9.99885552e-01 1.00247985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.23, Y:202.75, Z:10.03 [[-6.56728860e-01 -7.54069849e-01 9.26646757e-03 8.97228879e+02] [ 7.54002650e-01 -6.56794127e-01 -1.00736729e-02 2.02749463e+02] [ 1.36824144e-02 3.71269419e-04 9.99906322e-01 1.00260952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.21, Y:202.77, Z:10.03 [[-6.57830064e-01 -7.53121111e-01 8.25828015e-03 8.97211372e+02] [ 7.53067727e-01 -6.57881822e-01 -8.97251210e-03 2.02771353e+02] [ 1.21903607e-02 3.16656061e-04 9.99925645e-01 1.00269491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.19, Y:202.79, Z:10.03 [[-6.59676070e-01 -7.51522547e-01 6.42995352e-03 8.97194813e+02] [ 7.51490138e-01 -6.59707367e-01 -6.98297696e-03 2.02792768e+02] [ 9.48975234e-03 2.25543860e-04 9.99954946e-01 1.00278516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.3192541539997 meters Centerline goodness [0,1] 0.9999340499901075 Centerline is valid? [True, True] Translation: X:897.18, Y:202.81, Z:10.03 [[-6.61046195e-01 -7.50318376e-01 6.34537439e-03 8.97177061e+02] [ 7.50286787e-01 -6.61076616e-01 -6.88799074e-03 2.02814841e+02] [ 9.36296465e-03 2.07570500e-04 9.99956145e-01 1.00285144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.16, Y:202.84, Z:10.03 [[-6.62692111e-01 -7.48874809e-01 5.06818760e-03 8.97161212e+02] [ 7.48854634e-01 -6.62711474e-01 -5.49905252e-03 2.02836657e+02] [ 7.47684798e-03 1.51157049e-04 9.99972037e-01 1.00284621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.379254154 meters Centerline goodness [0,1] 0.9999780605528741 Centerline is valid? [True, True] Translation: X:897.14, Y:202.86, Z:10.03 [[-6.63388499e-01 -7.48258255e-01 5.02834116e-03 8.97143545e+02] [ 7.48238401e-01 -6.63407539e-01 -5.45276021e-03 2.02857874e+02] [ 7.41591227e-03 1.45099537e-04 9.99972491e-01 1.00286683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4092541539999 meters Centerline goodness [0,1] 0.9997577199242325 Centerline is valid? [True, True] Translation: X:897.13, Y:202.88, Z:10.03 [[-6.63884336e-01 -7.47815759e-01 5.40182074e-03 8.97126552e+02] [ 7.47792862e-01 -6.63906295e-01 -5.85386082e-03 2.02880897e+02] [ 7.96391216e-03 1.53156481e-04 9.99968276e-01 1.00289836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.11, Y:202.90, Z:10.03 [[-6.63877831e-01 -7.47829155e-01 4.21663676e-03 8.97107201e+02] [ 7.47815216e-01 -6.63891211e-01 -4.56750175e-03 2.02901852e+02] [ 6.21509906e-03 1.21001971e-04 9.99980679e-01 1.00273341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4692541539998 meters Centerline goodness [0,1] 0.9998900905653741 Centerline is valid? [True, True] Translation: X:897.09, Y:202.92, Z:10.03 [[-6.64129539e-01 -7.47604533e-01 4.40656605e-03 8.97088634e+02] [ 7.47589324e-01 -6.64144146e-01 -4.77032854e-03 2.02922591e+02] [ 6.49291429e-03 1.26185640e-04 9.99978913e-01 1.00279335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.07, Y:202.94, Z:10.03 [[-6.64173219e-01 -7.47568404e-01 3.92640524e-03 8.97070297e+02] [ 7.47556341e-01 -6.64184815e-01 -4.24841574e-03 2.02943267e+02] [ 5.78384012e-03 1.13525178e-04 9.99983267e-01 1.00275822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.05, Y:202.96, Z:10.03 [[-6.64314956e-01 -7.47445457e-01 3.30562445e-03 8.97052314e+02] [ 7.47436913e-01 -6.64323174e-01 -3.57514790e-03 2.02963128e+02] [ 4.86823099e-03 9.57215124e-05 9.99988146e-01 1.00282658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.5592541539997 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:897.03, Y:202.99, Z:10.03 [[-6.64535926e-01 -7.47249910e-01 3.09448750e-03 8.97034449e+02] [ 7.47242429e-01 -6.64543124e-01 -3.34486729e-03 2.02985049e+02] [ 4.55587217e-03 8.95478785e-05 9.99989618e-01 1.00288892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:897.02, Y:203.00, Z:10.03 [[-6.64631080e-01 -7.47167190e-01 2.59199532e-03 8.97015468e+02] [ 7.47161945e-01 -6.64636130e-01 -2.80064038e-03 2.03004728e+02] [ 3.81528034e-03 7.52476264e-05 9.99992719e-01 1.00291027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.619254154 meters Centerline goodness [0,1] 0.9999558917583751 Centerline is valid? [True, True] Translation: X:897.00, Y:203.03, Z:10.03 [[-6.65004553e-01 -7.46835768e-01 2.29785529e-03 8.96997161e+02] [ 7.46831648e-01 -6.65008519e-01 -2.48155015e-03 2.03026093e+02] [ 3.38140376e-03 6.58689062e-05 9.99994281e-01 1.00291789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.649254154 meters Centerline goodness [0,1] 0.9999780002199978 Centerline is valid? [True, True] Translation: X:896.98, Y:203.05, Z:10.03 [[-6.65879752e-01 -7.46057057e-01 1.73879018e-03 8.96978574e+02] [ 7.46054696e-01 -6.65882021e-01 -1.87765575e-03 2.03046530e+02] [ 2.55866745e-03 4.69396321e-05 9.99996726e-01 1.00284999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.96, Y:203.07, Z:10.03 [[-6.66539506e-01 -7.45468435e-01 1.37826782e-03 8.96959897e+02] [ 7.45466951e-01 -6.66540930e-01 -1.48781331e-03 2.03067217e+02] [ 2.02778977e-03 3.57667666e-05 9.99997943e-01 1.00287149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.94, Y:203.09, Z:10.03 [[-6.67876345e-01 -7.44272065e-01 5.29140982e-04 8.96941981e+02] [ 7.44271845e-01 -6.67876555e-01 -5.72741258e-04 2.03088785e+02] [ 7.79676174e-04 1.13043967e-05 9.99999696e-01 1.00290093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7392541539998 meters Centerline goodness [0,1] 0.9998899260302924 Centerline is valid? [True, True] Translation: X:896.92, Y:203.11, Z:10.03 [[-6.68775610e-01 -7.43464205e-01 3.99624041e-04 8.96923693e+02] [ 7.43464079e-01 -6.68775730e-01 -4.33016116e-04 2.03109732e+02] [ 5.89190841e-04 7.51550195e-06 9.99999826e-01 1.00295568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7692541539998 meters Centerline goodness [0,1] 0.9999118185225193 Centerline is valid? [True, True] Translation: X:896.91, Y:203.13, Z:10.03 [[-6.69964908e-01 -7.42392768e-01 -4.80149429e-06 8.96905045e+02] [ 7.42392768e-01 -6.69964908e-01 2.06868894e-06 2.03129302e+02] [-4.75261290e-06 -2.17864559e-06 1.00000000e+00 1.00297298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.89, Y:203.15, Z:10.03 [[-6.70225051e-01 -7.42157883e-01 2.42484872e-04 8.96886032e+02] [ 7.42157836e-01 -6.70225095e-01 -2.64062499e-04 2.03147743e+02] [ 3.58495511e-04 2.98074632e-06 9.99999936e-01 1.00297154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.829254154 meters Centerline goodness [0,1] 0.9999120531199156 Centerline is valid? [True, True] Translation: X:896.87, Y:203.17, Z:10.03 [[-6.70658282e-01 -7.41766451e-01 -2.25582333e-05 8.96867834e+02] [ 7.41766451e-01 -6.70658283e-01 2.12391530e-05 2.03168522e+02] [-3.08833577e-05 -2.48872678e-06 1.00000000e+00 1.00293122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.859254154 meters Centerline goodness [0,1] 0.9999559694427933 Centerline is valid? [True, True] Translation: X:896.85, Y:203.19, Z:10.03 [[-6.71149844e-01 -7.41321715e-01 5.03958877e-05 8.96848286e+02] [ 7.41321713e-01 -6.71149845e-01 -5.72455738e-05 2.03186865e+02] [ 7.62605787e-05 -1.06079204e-06 9.99999997e-01 1.00283478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.889254154 meters Centerline goodness [0,1] 0.9999560922063666 Centerline is valid? [True, True] Translation: X:896.83, Y:203.21, Z:10.03 [[-6.71688903e-01 -7.40833230e-01 3.79146255e-04 8.96828712e+02] [ 7.40833116e-01 -6.71689010e-01 -4.09697921e-04 2.03207594e+02] [ 5.58186207e-04 5.69455450e-06 9.99999844e-01 1.00277460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9192541539999 meters Centerline goodness [0,1] 0.9999340137251451 Centerline is valid? [True, True] Translation: X:896.81, Y:203.23, Z:10.03 [[-6.73688946e-01 -7.39014562e-01 8.25720316e-04 8.96809978e+02] [ 7.39014028e-01 -6.73689451e-01 -8.88281138e-04 2.03228865e+02] [ 1.21273176e-03 1.17937142e-05 9.99999265e-01 1.00268574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9492541539998 meters Centerline goodness [0,1] 0.9999779861753181 Centerline is valid? [True, True] Translation: X:896.79, Y:203.25, Z:10.03 [[-6.76495467e-01 -7.36446228e-01 9.14418969e-04 8.96792287e+02] [ 7.36445572e-01 -6.76496085e-01 -9.82783131e-04 2.03250147e+02] [ 1.34236778e-03 8.57146743e-06 9.99999099e-01 1.00267609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.77, Y:203.27, Z:10.03 [[-6.78168322e-01 -7.34905756e-01 1.12112583e-03 8.96773663e+02] [ 7.34904770e-01 -6.78169249e-01 -1.20358055e-03 2.03271751e+02] [ 1.64483133e-03 7.69052058e-06 9.99998647e-01 1.00268130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0092541539998 meters Centerline goodness [0,1] 0.9997366457446342 Centerline is valid? [True, True] Translation: X:896.76, Y:203.29, Z:10.03 [[-6.81387690e-01 -7.31922339e-01 7.11522007e-04 8.96758862e+02] [ 7.31921939e-01 -6.81388061e-01 -7.64928515e-04 2.03293361e+02] [ 1.04469087e-03 -4.34306755e-07 9.99999454e-01 1.00277634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0392541539998 meters Centerline goodness [0,1] 0.9999119757052947 Centerline is valid? [True, True] Translation: X:896.74, Y:203.31, Z:10.03 [[-6.83030066e-01 -7.30390092e-01 4.93103421e-04 8.96740777e+02] [ 7.30389899e-01 -6.83030244e-01 -5.30366151e-04 2.03314502e+02] [ 7.24178731e-04 -2.09826891e-06 9.99999738e-01 1.00281556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0692541539997 meters Centerline goodness [0,1] 0.9999780060263488 Centerline is valid? [True, True] Translation: X:896.72, Y:203.34, Z:10.03 [[-6.85798084e-01 -7.27791462e-01 7.59175177e-04 8.96724229e+02] [ 7.27791006e-01 -6.85798504e-01 -8.14615215e-04 2.03335824e+02] [ 1.11351120e-03 -6.14068775e-06 9.99999380e-01 1.00286368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.099254154 meters Centerline goodness [0,1] 0.9998897755830871 Centerline is valid? [True, True] Translation: X:896.71, Y:203.36, Z:10.03 [[-6.87201807e-01 -7.26466403e-01 4.90554900e-04 8.96706331e+02] [ 7.26466212e-01 -6.87201982e-01 -5.27292229e-04 2.03356755e+02] [ 7.20170388e-04 -5.98461280e-06 9.99999741e-01 1.00283765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.129254154 meters Centerline goodness [0,1] 0.9998677773370356 Centerline is valid? [True, True] Translation: X:896.69, Y:203.38, Z:10.03 [[-6.88270510e-01 -7.25453993e-01 4.57614878e-04 8.96687122e+02] [ 7.25453827e-01 -6.88270662e-01 -4.91535068e-04 2.03377591e+02] [ 6.71548972e-04 -6.33062744e-06 9.99999775e-01 1.00279690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1592541539999 meters Centerline goodness [0,1] 0.999977989082585 Centerline is valid? [True, True] Translation: X:896.67, Y:203.40, Z:10.03 [[-6.88108553e-01 -7.25606887e-01 1.12486472e-03 8.96668612e+02] [ 7.25605889e-01 -6.88109472e-01 -1.20332813e-03 2.03397334e+02] [ 1.64717325e-03 -1.18119074e-05 9.99998643e-01 1.00283861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.65, Y:203.42, Z:10.03 [[-6.87789631e-01 -7.25908832e-01 1.33821061e-03 8.96649699e+02] [ 7.25907424e-01 -6.87790933e-01 -1.43019924e-03 2.03417196e+02] [ 1.95860339e-03 -1.22591894e-05 9.99998082e-01 1.00286139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2192541539998 meters Centerline goodness [0,1] 0.9999119291910696 Centerline is valid? [True, True] Translation: X:896.63, Y:203.44, Z:10.03 [[-6.86658378e-01 -7.26977149e-01 2.12037372e-03 8.96630430e+02] [ 7.26973628e-01 -6.86661652e-01 -2.26286798e-03 2.03435483e+02] [ 3.10103263e-03 -1.23614817e-05 9.99995192e-01 1.00281450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2492541539998 meters Centerline goodness [0,1] 0.999801679116811 Centerline is valid? [True, True] Translation: X:896.61, Y:203.46, Z:10.03 [[-6.86516307e-01 -7.27112115e-01 1.82529426e-03 8.96611147e+02] [ 7.27109508e-01 -6.86518734e-01 -1.94703675e-03 2.03455353e+02] [ 2.66881271e-03 -9.48366872e-06 9.99996439e-01 1.00272458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.59, Y:203.47, Z:10.03 [[-6.84527373e-01 -7.28977840e-01 3.68576558e-03 8.96590209e+02] [ 7.28967269e-01 -6.84537296e-01 -3.92578596e-03 2.03472833e+02] [ 5.38485497e-03 -5.05485710e-07 9.99985502e-01 1.00266857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.3092541539997 meters Centerline goodness [0,1] 0.9998903556861541 Centerline is valid? [True, True] Translation: X:896.57, Y:203.49, Z:10.02 [[-6.83706658e-01 -7.29744541e-01 4.25559090e-03 8.96570459e+02] [ 7.29730485e-01 -6.83719902e-01 -4.52933229e-03 2.03489941e+02] [ 6.21488771e-03 8.69977240e-06 9.99980687e-01 1.00246055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.339254154 meters Centerline goodness [0,1] 0.9999561749496012 Centerline is valid? [True, True] Translation: X:896.55, Y:203.51, Z:10.02 [[-6.83013497e-01 -7.30390962e-01 4.64812874e-03 8.96549911e+02] [ 7.30374233e-01 -6.83029313e-01 -4.94348415e-03 2.03509583e+02] [ 6.78548433e-03 1.84070603e-05 9.99976978e-01 1.00247408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.369254154 meters Centerline goodness [0,1] 0.99989034606781 Centerline is valid? [True, True] Translation: X:896.53, Y:203.53, Z:10.03 [[-6.82903567e-01 -7.30494388e-01 4.54618131e-03 8.96530127e+02] [ 7.30478405e-01 -6.82918698e-01 -4.83235280e-03 2.03529838e+02] [ 6.63467882e-03 2.08563069e-05 9.99977990e-01 1.00250797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.399254154 meters Centerline goodness [0,1] 0.9999781902248588 Centerline is valid? [True, True] Translation: X:896.51, Y:203.55, Z:10.03 [[-6.81552719e-01 -7.31754308e-01 4.63939662e-03 8.96509595e+02] [ 7.31737712e-01 -6.81568508e-01 -4.92848227e-03 2.03548001e+02] [ 6.76850477e-03 3.58009756e-05 9.99977093e-01 1.00271417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4292541539999 meters Centerline goodness [0,1] 0.9998904733740772 Centerline is valid? [True, True] Translation: X:896.49, Y:203.57, Z:10.03 [[-6.82001445e-01 -7.31339404e-01 4.08725765e-03 8.96490455e+02] [ 7.31326529e-01 -6.82013692e-01 -4.33964335e-03 2.03567369e+02] [ 5.96131785e-03 2.94769149e-05 9.99982231e-01 1.00272141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4592541539998 meters Centerline goodness [0,1] 0.9998249989062432 Centerline is valid? [True, True] Translation: X:896.47, Y:203.59, Z:10.03 [[-6.81506625e-01 -7.31803207e-01 3.57580038e-03 8.96469434e+02] [ 7.31793370e-01 -6.81516006e-01 -3.79451670e-03 2.03586799e+02] [ 5.21380468e-03 3.07587355e-05 9.99986408e-01 1.00280259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4892541539998 meters Centerline goodness [0,1] 0.9998694630580455 Centerline is valid? [True, True] Translation: X:896.45, Y:203.61, Z:10.03 [[-6.81256397e-01 -7.32036556e-01 3.49316305e-03 8.96449571e+02] [ 7.32027182e-01 -6.81265352e-01 -3.70477016e-03 2.03606115e+02] [ 5.09179814e-03 3.31919354e-05 9.99987036e-01 1.00283128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5192541539998 meters Centerline goodness [0,1] 0.9998039941633817 Centerline is valid? [True, True] Translation: X:896.43, Y:203.63, Z:10.03 [[-6.81069428e-01 -7.32210518e-01 3.49166942e-03 8.96429522e+02] [ 7.32201164e-01 -6.81078378e-01 -3.70107801e-03 2.03625181e+02] [ 5.08806879e-03 3.59133321e-05 9.99987055e-01 1.00282854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5492541539998 meters Centerline goodness [0,1] 0.9999781649853705 Centerline is valid? [True, True] Translation: X:896.41, Y:203.64, Z:10.03 [[-6.80493813e-01 -7.32740010e-01 4.49970438e-03 8.96409221e+02] [ 7.32724513e-01 -6.80508688e-01 -4.76594965e-03 2.03643645e+02] [ 6.55428991e-03 5.38444487e-05 9.99978519e-01 1.00292840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.39, Y:203.66, Z:10.03 [[-6.79649136e-01 -7.33515667e-01 5.64085248e-03 8.96388919e+02] [ 7.33491375e-01 -6.79672539e-01 -5.97014247e-03 2.03662223e+02] [ 8.21312556e-03 7.99144758e-05 9.99966269e-01 1.00283190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.609254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.37, Y:203.68, Z:10.03 [[-6.78690287e-01 -7.34385432e-01 7.58495946e-03 8.96367635e+02] [ 7.34341631e-01 -6.78732658e-01 -8.02168437e-03 2.03681245e+02] [ 1.10391678e-02 1.25712240e-04 9.99939059e-01 1.00264823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.639254154 meters Centerline goodness [0,1] 0.9998467332282361 Centerline is valid? [True, True] Translation: X:896.35, Y:203.70, Z:10.02 [[-6.79253218e-01 -7.33860317e-01 8.00630435e-03 8.96348680e+02] [ 7.33811540e-01 -6.79300389e-01 -8.46203017e-03 2.03700510e+02] [ 1.16486338e-02 1.27257299e-04 9.99932144e-01 1.00245552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6692541539999 meters Centerline goodness [0,1] 0.9998257650005444 Centerline is valid? [True, True] Translation: X:896.33, Y:203.72, Z:10.02 [[-6.79107497e-01 -7.33988980e-01 8.55481782e-03 8.96329217e+02] [ 7.33933372e-01 -6.79161363e-01 -9.03595997e-03 2.03720440e+02] [ 1.24423968e-02 1.42278132e-04 9.99922580e-01 1.00243768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.31, Y:203.74, Z:10.03 [[-6.78371453e-01 -7.34658077e-01 9.47004311e-03 8.96308468e+02] [ 7.34590085e-01 -6.78437528e-01 -9.99634820e-03 2.03738222e+02] [ 1.37687306e-02 1.75362514e-04 9.99905191e-01 1.00256451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.29, Y:203.76, Z:10.03 [[-6.78603280e-01 -7.34443904e-01 9.47315318e-03 8.96289971e+02] [ 7.34375933e-01 -6.78669375e-01 -9.99340050e-03 2.03757570e+02] [ 1.37687310e-02 1.75301354e-04 9.99905191e-01 1.00258315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.27, Y:203.78, Z:10.03 [[-6.79299369e-01 -7.33800118e-01 9.47380270e-03 8.96271099e+02] [ 7.33732162e-01 -6.79365409e-01 -9.98778648e-03 2.03777428e+02] [ 1.37652127e-02 1.66536683e-04 9.99905241e-01 1.00262119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7892541539998 meters Centerline goodness [0,1] 0.999978293900586 Centerline is valid? [True, True] Translation: X:896.25, Y:203.80, Z:10.03 [[-6.81510696e-01 -7.31753648e-01 8.93141114e-03 8.96253093e+02] [ 7.31693146e-01 -6.81569207e-01 -9.41040471e-03 2.03798591e+02] [ 1.29734728e-02 1.21760850e-04 9.99915834e-01 1.00274203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.8192541539997 meters Centerline goodness [0,1] 0.9998912948952082 Centerline is valid? [True, True] Translation: X:896.24, Y:203.82, Z:10.03 [[-6.83546475e-01 -7.29857561e-01 8.49447943e-03 8.96235630e+02] [ 7.29802753e-01 -6.83599249e-01 -8.94474710e-03 2.03819717e+02] [ 1.23352111e-02 8.51441234e-05 9.99923915e-01 1.00274909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.22, Y:203.84, Z:10.03 [[-6.85730441e-01 -7.27815325e-01 7.65602870e-03 8.96217879e+02] [ 7.27770729e-01 -6.85773177e-01 -8.05705027e-03 2.03840392e+02] [ 1.11143438e-02 4.68689491e-05 9.99938233e-01 1.00310959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.879254154 meters Centerline goodness [0,1] 0.9998911386893098 Centerline is valid? [True, True] Translation: X:896.20, Y:203.86, Z:10.03 [[-6.89219396e-01 -7.24523835e-01 6.46813318e-03 8.96200536e+02] [ 7.24491895e-01 -6.89249746e-01 -6.80308881e-03 2.03861759e+02] [ 9.38715914e-03 -2.71069892e-06 9.99955940e-01 1.00309891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.18, Y:203.88, Z:10.03 [[-6.89662851e-01 -7.24104756e-01 6.11999410e-03 8.96182585e+02] [ 7.24076178e-01 -6.89690005e-01 -6.43319382e-03 2.03880660e+02] [ 8.87920500e-03 -5.39284958e-06 9.99960579e-01 1.00332124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9392541539999 meters Centerline goodness [0,1] 0.9998043563323333 Centerline is valid? [True, True] Translation: X:896.16, Y:203.90, Z:10.03 [[-6.92331145e-01 -7.21552797e-01 6.25671920e-03 8.96164517e+02] [ 7.21522854e-01 -6.92359415e-01 -6.57350964e-03 2.03902012e+02] [ 9.07503271e-03 -3.66795558e-05 9.99958820e-01 1.00313143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9692541539998 meters Centerline goodness [0,1] 0.9999347386282059 Centerline is valid? [True, True] Translation: X:896.14, Y:203.92, Z:10.03 [[-6.92257489e-01 -7.21619589e-01 6.68861871e-03 8.96144510e+02] [ 7.21585414e-01 -6.92289800e-01 -7.02307427e-03 2.03921959e+02] [ 9.69845048e-03 -3.53660589e-05 9.99952968e-01 1.00320792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9992541539998 meters Centerline goodness [0,1] 0.9998697492673396 Centerline is valid? [True, True] Translation: X:896.13, Y:203.94, Z:10.03 [[-6.92549593e-01 -7.21334207e-01 7.21269750e-03 8.96126197e+02] [ 7.21294501e-01 -6.92587150e-01 -7.56856550e-03 2.03940544e+02] [ 1.04548868e-02 -3.91279191e-05 9.99945345e-01 1.00305384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.0292541539998 meters Centerline goodness [0,1] 0.9998694062336758 Centerline is valid? [True, True] Translation: X:896.11, Y:203.96, Z:10.03 [[-6.91333551e-01 -7.22480695e-01 8.91997652e-03 8.96105449e+02] [ 7.22420151e-01 -6.91391094e-01 -9.35315261e-03 2.03958566e+02] [ 1.29246645e-02 -2.21774344e-05 9.99916473e-01 1.00286300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.0592541539997 meters Centerline goodness [0,1] 0.9997829013069341 Centerline is valid? [True, True] Translation: X:896.08, Y:203.98, Z:10.03 [[-6.89686261e-01 -7.24036041e-01 1.02310114e-02 8.96084459e+02] [ 7.23956669e-01 -6.89762141e-01 -1.07205609e-02 2.03976042e+02] [ 1.48190369e-02 1.29853621e-05 9.99890192e-01 1.00266252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.06, Y:204.00, Z:10.03 [[-6.88296701e-01 -7.25348352e-01 1.08360262e-02 8.96063694e+02] [ 7.25259587e-01 -6.88381991e-01 -1.13475075e-02 2.03995279e+02] [ 1.56902211e-02 4.84799088e-05 9.99876900e-01 1.00289080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:896.04, Y:204.01, Z:10.03 [[-6.87922636e-01 -7.25696031e-01 1.13012009e-02 8.96044774e+02] [ 7.25599652e-01 -6.88015455e-01 -1.18270577e-02 2.04013733e+02] [ 1.63582497e-02 6.40467136e-05 9.99866193e-01 1.00279682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.149254154 meters Centerline goodness [0,1] 0.9999131341209173 Centerline is valid? [True, True] Translation: X:896.03, Y:204.03, Z:10.03 [[-6.88253419e-01 -7.25369720e-01 1.20831025e-02 8.96026143e+02] [ 7.25259639e-01 -6.88359474e-01 -1.26368816e-02 2.04033830e+02] [ 1.74839294e-02 6.60096356e-05 9.99847142e-01 1.00266800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1792541539999 meters Centerline goodness [0,1] 0.9999349861303745 Centerline is valid? [True, True] Translation: X:896.01, Y:204.05, Z:10.03 [[-6.88523367e-01 -7.25118328e-01 1.17891255e-02 8.96006700e+02] [ 7.25013627e-01 -6.88624285e-01 -1.23221223e-02 2.04054645e+02] [ 1.70532748e-02 6.32075224e-05 9.99854580e-01 1.00277402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2092541539998 meters Centerline goodness [0,1] 0.99982673857016 Centerline is valid? [True, True] Translation: X:895.99, Y:204.07, Z:10.03 [[-6.90150733e-01 -7.23575297e-01 1.14348169e-02 8.95989433e+02] [ 7.23476707e-01 -6.90245455e-01 -1.19443139e-02 2.04074920e+02] [ 1.65354409e-02 2.94467001e-05 9.99863280e-01 1.00272932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2392541539998 meters Centerline goodness [0,1] 0.9999782769257506 Centerline is valid? [True, True] Translation: X:895.97, Y:204.10, Z:10.03 [[-6.90626251e-01 -7.23128876e-01 1.09549302e-02 8.95970666e+02] [ 7.23038441e-01 -6.90713130e-01 -1.14361295e-02 2.04095706e+02] [ 1.58365096e-02 2.27443780e-05 9.99874594e-01 1.00303084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2692541539998 meters Centerline goodness [0,1] 0.9999349325467402 Centerline is valid? [True, True] Translation: X:895.95, Y:204.12, Z:10.03 [[-6.92633763e-01 -7.21221261e-01 9.91781488e-03 8.95953709e+02] [ 7.21147029e-01 -6.92704766e-01 -1.03474687e-02 2.04116653e+02] [ 1.43329321e-02 -1.48034790e-05 9.99897278e-01 1.00310002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2992541539998 meters Centerline goodness [0,1] 0.9998482121560379 Centerline is valid? [True, True] Translation: X:895.94, Y:204.14, Z:10.03 [[-6.94428608e-01 -7.19508739e-01 8.72255692e-03 8.95935966e+02] [ 7.19451251e-01 -6.94483385e-01 -9.09528137e-03 2.04138319e+02] [ 1.26018053e-02 -4.05690894e-05 9.99920593e-01 1.00315293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.329254154 meters Centerline goodness [0,1] 0.9998264265567368 Centerline is valid? [True, True] Translation: X:895.92, Y:204.16, Z:10.03 [[-6.95059541e-01 -7.18902633e-01 8.44029345e-03 8.95916730e+02] [ 7.18848821e-01 -6.95110784e-01 -8.79602171e-03 2.04159373e+02] [ 1.21904222e-02 -4.64638163e-05 9.99925693e-01 1.00318150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.359254154 meters Centerline goodness [0,1] 0.9998484093812937 Centerline is valid? [True, True] Translation: X:895.90, Y:204.18, Z:10.03 [[-6.95204857e-01 -7.18757973e-01 8.78543325e-03 8.95898505e+02] [ 7.18699732e-01 -6.95260364e-01 -9.14994578e-03 2.04178911e+02] [ 1.26847600e-02 -4.69982219e-05 9.99919544e-01 1.00323321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.88, Y:204.20, Z:10.03 [[-6.93868257e-01 -7.20042459e-01 9.25734458e-03 8.95878691e+02] [ 7.19977994e-01 -6.93930008e-01 -9.63493246e-03 2.04197855e+02] [ 1.33615097e-02 -2.02894129e-05 9.99910731e-01 1.00343843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4192541539999 meters Centerline goodness [0,1] 0.9998051019966218 Centerline is valid? [True, True] Translation: X:895.86, Y:204.22, Z:10.03 [[-6.93385255e-01 -7.20489264e-01 1.05881314e-02 8.95859806e+02] [ 7.20405100e-01 -6.93466092e-01 -1.10123283e-02 2.04215699e+02] [ 1.52767745e-02 -8.04220426e-06 9.99883303e-01 1.00298968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4492541539998 meters Centerline goodness [0,1] 0.999804449852251 Centerline is valid? [True, True] Translation: X:895.84, Y:204.23, Z:10.03 [[-6.92354791e-01 -7.21476276e-01 1.08086607e-02 8.95839827e+02] [ 7.21388804e-01 -6.92439155e-01 -1.12343547e-02 2.04234394e+02] [ 1.55896603e-02 1.90875256e-05 9.99878474e-01 1.00321485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.82, Y:204.25, Z:10.03 [[-6.90335348e-01 -7.23397127e-01 1.15630490e-02 8.95819027e+02] [ 7.23297412e-01 -6.90432177e-01 -1.20109460e-02 2.04252130e+02] [ 1.66721849e-02 7.19428684e-05 9.99861007e-01 1.00317419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5092541539998 meters Centerline goodness [0,1] 0.9997187608168917 Centerline is valid? [True, True] Translation: X:895.80, Y:204.27, Z:10.03 [[-6.90269635e-01 -7.23449558e-01 1.21888619e-02 8.95799110e+02] [ 7.23338902e-01 -6.90377238e-01 -1.26531658e-02 2.04271506e+02] [ 1.75688400e-02 8.25818019e-05 9.99845653e-01 1.00272217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5392541539998 meters Centerline goodness [0,1] 0.9998047849380735 Centerline is valid? [True, True] Translation: X:895.78, Y:204.29, Z:10.03 [[-6.89766459e-01 -7.23923663e-01 1.25205187e-02 8.95779009e+02] [ 7.23807127e-01 -6.89880077e-01 -1.29893497e-02 2.04290616e+02] [ 1.80409540e-02 1.02822958e-04 9.99837243e-01 1.00275490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5692541539997 meters Centerline goodness [0,1] 0.9999347244282948 Centerline is valid? [True, True] Translation: X:895.76, Y:204.31, Z:10.03 [[-6.88486225e-01 -7.25134720e-01 1.28979049e-02 8.95759099e+02] [ 7.25011410e-01 -6.88607013e-01 -1.33730430e-02 2.04310009e+02] [ 1.85788456e-02 1.43972295e-04 9.99827388e-01 1.00293757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.599254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.74, Y:204.33, Z:10.03 [[-6.88004603e-01 -7.25591885e-01 1.28873522e-02 8.95740112e+02] [ 7.25469009e-01 -6.88125273e-01 -1.33538823e-02 2.04327927e+02] [ 1.85575814e-02 1.61842147e-04 9.99827780e-01 1.00299390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.629254154 meters Centerline goodness [0,1] 0.9997826134214474 Centerline is valid? [True, True] Translation: X:895.72, Y:204.35, Z:10.03 [[-6.88908836e-01 -7.24728328e-01 1.31706703e-02 8.95722845e+02] [ 7.24599999e-01 -6.89034708e-01 -1.36386309e-02 2.04349195e+02] [ 1.89593511e-02 1.47694365e-04 9.99820244e-01 1.00283784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6592541539999 meters Centerline goodness [0,1] 0.9998032313780363 Centerline is valid? [True, True] Translation: X:895.71, Y:204.37, Z:10.03 [[-6.89504613e-01 -7.24166748e-01 1.28805993e-02 8.95705703e+02] [ 7.24044072e-01 -6.89624900e-01 -1.33296079e-02 2.04369394e+02] [ 1.85356408e-02 1.35295427e-04 9.99828191e-01 1.00289194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6892541539999 meters Centerline goodness [0,1] 0.9999781463755764 Centerline is valid? [True, True] Translation: X:895.69, Y:204.39, Z:10.03 [[-6.89426930e-01 -7.24252993e-01 1.21700964e-02 8.95687128e+02] [ 7.24143630e-01 -6.89534324e-01 -1.25864383e-02 2.04389261e+02] [ 1.75074648e-02 1.35468232e-04 9.99846723e-01 1.00330631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7192541539998 meters Centerline goodness [0,1] 0.9998035320570193 Centerline is valid? [True, True] Translation: X:895.67, Y:204.41, Z:10.03 [[-6.90947823e-01 -7.22812321e-01 1.15522628e-02 8.95670336e+02] [ 7.22713705e-01 -6.91044382e-01 -1.19399441e-02 2.04409815e+02] [ 1.66134650e-02 9.91002610e-05 9.99861982e-01 1.00309535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7492541539998 meters Centerline goodness [0,1] 0.9998689870515536 Centerline is valid? [True, True] Translation: X:895.65, Y:204.43, Z:10.03 [[-6.91258124e-01 -7.22525546e-01 1.09106512e-02 8.95652146e+02] [ 7.22437654e-01 -6.91344218e-01 -1.12698435e-02 2.04429535e+02] [ 1.56857654e-02 9.18944306e-05 9.99876967e-01 1.00323394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7792541539998 meters Centerline goodness [0,1] 0.9999781119355615 Centerline is valid? [True, True] Translation: X:895.63, Y:204.45, Z:10.03 [[-6.91290561e-01 -7.22501483e-01 1.04387199e-02 8.95633484e+02] [ 7.22421125e-01 -6.91369365e-01 -1.07758887e-02 2.04449065e+02] [ 1.50026067e-02 9.18816646e-05 9.99887450e-01 1.00348134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.62, Y:204.47, Z:10.04 [[-6.91346954e-01 -7.22456614e-01 9.78930235e-03 8.95615395e+02] [ 7.22386023e-01 -6.91416252e-01 -1.00995121e-02 2.04468779e+02] [ 1.40649421e-02 8.93882513e-05 9.99901080e-01 1.00356866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.839254154 meters Centerline goodness [0,1] 0.9999562956164503 Centerline is valid? [True, True] Translation: X:895.60, Y:204.49, Z:10.03 [[-6.92028581e-01 -7.21793639e-01 1.05064853e-02 8.95597809e+02] [ 7.21712352e-01 -6.92108326e-01 -1.08326138e-02 2.04489200e+02] [ 1.50905377e-02 8.61818792e-05 9.99886128e-01 1.00340814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.869254154 meters Centerline goodness [0,1] 0.9998906267089577 Centerline is valid? [True, True] Translation: X:895.58, Y:204.51, Z:10.03 [[-6.92485423e-01 -7.21348375e-01 1.09754777e-02 8.95579459e+02] [ 7.21259723e-01 -6.92572390e-01 -1.13091444e-02 2.04509271e+02] [ 1.57591457e-02 8.47523579e-05 9.99875813e-01 1.00328396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.899254154 meters Centerline goodness [0,1] 0.9998688782534584 Centerline is valid? [True, True] Translation: X:895.56, Y:204.53, Z:10.03 [[-6.92743108e-01 -7.21095655e-01 1.13156408e-02 8.95561543e+02] [ 7.21001509e-01 -6.92835514e-01 -1.16522613e-02 2.04530155e+02] [ 1.62422728e-02 8.65703911e-05 9.99868082e-01 1.00326882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9292541539999 meters Centerline goodness [0,1] 0.9998687864937564 Centerline is valid? [True, True] Translation: X:895.54, Y:204.55, Z:10.03 [[-6.92841781e-01 -7.20994948e-01 1.16855211e-02 8.95543548e+02] [ 7.20894666e-01 -6.92940312e-01 -1.20251627e-02 2.04549032e+02] [ 1.67674502e-02 9.24946689e-05 9.99859412e-01 1.00323484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.52, Y:204.57, Z:10.04 [[-6.91771207e-01 -7.22032678e-01 1.10185615e-02 8.95524508e+02] [ 7.21943756e-01 -6.91858944e-01 -1.13319939e-02 2.04569819e+02] [ 1.58053602e-02 1.15634586e-04 9.99875081e-01 1.00355894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9892541539998 meters Centerline goodness [0,1] 0.9999341079312086 Centerline is valid? [True, True] Translation: X:895.51, Y:204.59, Z:10.03 [[-6.91685527e-01 -7.22105106e-01 1.16338755e-02 8.95505079e+02] [ 7.22006104e-01 -6.91783347e-01 -1.19577184e-02 2.04590194e+02] [ 1.66828508e-02 1.28748373e-04 9.99860823e-01 1.00340819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0192541539998 meters Centerline goodness [0,1] 0.99997806344053 Centerline is valid? [True, True] Translation: X:895.49, Y:204.61, Z:10.03 [[-6.90248092e-01 -7.23472791e-01 1.20287962e-02 8.95485605e+02] [ 7.23367289e-01 -6.90352874e-01 -1.23561550e-02 2.04608614e+02] [ 1.72434559e-02 1.72425308e-04 9.99851306e-01 1.00329033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0492541539998 meters Centerline goodness [0,1] 0.9999559218935955 Centerline is valid? [True, True] Translation: X:895.47, Y:204.63, Z:10.03 [[-6.89473092e-01 -7.24209895e-01 1.21195521e-02 8.95467433e+02] [ 7.24103045e-01 -6.89579574e-01 -1.24415228e-02 2.04629324e+02] [ 1.73676695e-02 1.97709424e-04 9.99849151e-01 1.00331844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.079254154 meters Centerline goodness [0,1] 0.9998678006433702 Centerline is valid? [True, True] Translation: X:895.45, Y:204.65, Z:10.03 [[-6.89637455e-01 -7.24047375e-01 1.24731834e-02 8.95447975e+02] [ 7.23934311e-01 -6.89750214e-01 -1.27967192e-02 2.04650168e+02] [ 1.78688118e-02 2.04668543e-04 9.99840319e-01 1.00320509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.109254154 meters Centerline goodness [0,1] 0.9998680129347324 Centerline is valid? [True, True] Translation: X:895.43, Y:204.67, Z:10.03 [[-6.89248663e-01 -7.24423962e-01 1.20914748e-02 8.95428931e+02] [ 7.24317893e-01 -6.89354683e-01 -1.23980392e-02 2.04670654e+02] [ 1.73167515e-02 2.12739628e-04 9.99850031e-01 1.00326980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.139254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.41, Y:204.69, Z:10.04 [[-6.88868474e-01 -7.24799187e-01 1.12412091e-02 8.95409049e+02] [ 7.24707662e-01 -6.88960155e-01 -1.15199834e-02 2.04691168e+02] [ 1.60944198e-02 2.10836928e-04 9.99870454e-01 1.00357843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.39, Y:204.71, Z:10.04 [[-6.88863204e-01 -7.24809649e-01 1.08838995e-02 8.95388949e+02] [ 7.24723948e-01 -6.88949149e-01 -1.11476225e-02 2.04711226e+02] [ 1.55783576e-02 2.08635694e-04 9.99878628e-01 1.00362640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.37, Y:204.73, Z:10.04 [[-6.88981417e-01 -7.24709553e-01 1.00334871e-02 8.95369078e+02] [ 7.24636794e-01 -6.89054443e-01 -1.02708847e-02 2.04731323e+02] [ 1.43570271e-02 1.94185198e-04 9.99896914e-01 1.00368999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2292541539998 meters Centerline goodness [0,1] 0.9999559238363893 Centerline is valid? [True, True] Translation: X:895.35, Y:204.75, Z:10.04 [[-6.90439995e-01 -7.23320393e-01 1.00110881e-02 8.95350731e+02] [ 7.23247898e-01 -6.90512549e-01 -1.02419943e-02 2.04752112e+02] [ 1.43210253e-02 1.69015970e-04 9.99897435e-01 1.00359491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2592541539998 meters Centerline goodness [0,1] 0.9998236253803078 Centerline is valid? [True, True] Translation: X:895.33, Y:204.77, Z:10.03 [[-6.91879865e-01 -7.21935603e-01 1.05469007e-02 8.95331960e+02] [ 7.21855075e-01 -6.91960232e-01 -1.07837325e-02 2.04772526e+02] [ 1.50831963e-02 1.52286360e-04 9.99886231e-01 1.00337546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.31, Y:204.79, Z:10.04 [[-6.92523912e-01 -7.21328086e-01 9.81955801e-03 8.95312801e+02] [ 7.21258301e-01 -6.92593514e-01 -1.00343286e-02 2.04792270e+02] [ 1.40390053e-02 1.33425199e-04 9.99901439e-01 1.00370030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.3192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.30, Y:204.81, Z:10.04 [[-6.95045592e-01 -7.18902026e-01 9.56569977e-03 8.95295482e+02] [ 7.18835655e-01 -6.95111408e-01 -9.76892408e-03 2.04813416e+02] [ 1.36721264e-02 8.63184433e-05 9.99906528e-01 1.00377282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.28, Y:204.83, Z:10.04 [[-6.96325302e-01 -7.17666238e-01 9.28675534e-03 8.95276535e+02] [ 7.17603651e-01 -6.96387225e-01 -9.47806149e-03 2.04833684e+02] [ 1.32692625e-02 6.43955067e-05 9.99911957e-01 1.00381394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.379254154 meters Centerline goodness [0,1] 0.9999778858911986 Centerline is valid? [True, True] Translation: X:895.26, Y:204.85, Z:10.04 [[-6.98330836e-01 -7.15717676e-01 9.06925735e-03 8.95256565e+02] [ 7.15657894e-01 -6.98389724e-01 -9.25051911e-03 2.04854120e+02] [ 1.29546362e-02 3.05628707e-05 9.99916085e-01 1.00377311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4092541539999 meters Centerline goodness [0,1] 0.9998011577040343 Centerline is valid? [True, True] Translation: X:895.24, Y:204.87, Z:10.03 [[-6.99706747e-01 -7.14362777e-01 9.81275756e-03 8.95237190e+02] [ 7.14292740e-01 -6.99775551e-01 -1.00029325e-02 2.04874059e+02] [ 1.40124505e-02 1.00621423e-05 9.99901821e-01 1.00343021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4392541539999 meters Centerline goodness [0,1] 0.9999338245025808 Centerline is valid? [True, True] Translation: X:895.22, Y:204.89, Z:10.04 [[-7.00633763e-01 -7.13461406e-01 9.22781433e-03 8.95218171e+02] [ 7.13399464e-01 -7.00694529e-01 -9.40114579e-03 2.04892977e+02] [ 1.31732337e-02 -3.64235216e-06 9.99913229e-01 1.00360660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4692541539998 meters Centerline goodness [0,1] 0.9998680535702504 Centerline is valid? [True, True] Translation: X:895.20, Y:204.91, Z:10.04 [[-7.01394017e-01 -7.12715270e-01 9.13114257e-03 8.95198418e+02] [ 7.12654633e-01 -7.01453451e-01 -9.29675285e-03 2.04912402e+02] [ 1.30310092e-02 -1.33357657e-05 9.99915093e-01 1.00352814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4992541539998 meters Centerline goodness [0,1] 0.9997797987360447 Centerline is valid? [True, True] Translation: X:895.18, Y:204.93, Z:10.03 [[-7.02137258e-01 -7.11976577e-01 9.62415709e-03 8.95178042e+02] [ 7.11909230e-01 -7.02203213e-01 -9.79259236e-03 2.04931691e+02] [ 1.37302104e-02 -2.42176842e-05 9.99905736e-01 1.00349977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.5292541539998 meters Centerline goodness [0,1] 0.9998462822258334 Centerline is valid? [True, True] Translation: X:895.16, Y:204.95, Z:10.04 [[-7.02538256e-01 -7.11579754e-01 9.70835002e-03 8.95157898e+02] [ 7.11511265e-01 -7.02605332e-01 -9.87255987e-03 2.04951275e+02] [ 1.38462522e-02 -2.82505871e-05 9.99904136e-01 1.00354597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.5592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.14, Y:204.97, Z:10.04 [[-7.02426355e-01 -7.11685368e-01 1.00574599e-02 8.95136625e+02] [ 7.11611960e-01 -7.02498354e-01 -1.02216247e-02 2.04970369e+02] [ 1.43399298e-02 -2.29298516e-05 9.99897178e-01 1.00371770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.589254154 meters Centerline goodness [0,1] 0.9998018755778629 Centerline is valid? [True, True] Translation: X:895.12, Y:204.99, Z:10.03 [[-7.03765031e-01 -7.10341515e-01 1.13892025e-02 8.95116193e+02] [ 7.10247315e-01 -7.03857180e-01 -1.15681235e-02 2.04990037e+02] [ 1.62336903e-02 -5.20902913e-05 9.99868224e-01 1.00334990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.619254154 meters Centerline goodness [0,1] 0.999934200425504 Centerline is valid? [True, True] Translation: X:895.10, Y:205.01, Z:10.04 [[-7.04357264e-01 -7.09756409e-01 1.12554270e-02 8.95097562e+02] [ 7.09664449e-01 -7.04447185e-01 -1.14251203e-02 2.05008710e+02] [ 1.60379062e-02 -5.97900397e-05 9.99871383e-01 1.00350185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.649254154 meters Centerline goodness [0,1] 0.999934200425504 Centerline is valid? [True, True] Translation: X:895.08, Y:205.03, Z:10.04 [[-7.04580563e-01 -7.09534680e-01 1.12591222e-02 8.95078691e+02] [ 7.09442750e-01 -7.04670515e-01 -1.14214783e-02 2.05027698e+02] [ 1.60379064e-02 -5.96489785e-05 9.99871383e-01 1.00352048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.06, Y:205.05, Z:10.04 [[-7.06454169e-01 -7.07679156e-01 1.06169223e-02 8.95058906e+02] [ 7.07597299e-01 -7.06533937e-01 -1.07637381e-02 2.05047433e+02] [ 1.51184890e-02 -9.15820904e-05 9.99885705e-01 1.00375278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7092541539998 meters Centerline goodness [0,1] 0.99995629752644 Centerline is valid? [True, True] Translation: X:895.04, Y:205.07, Z:10.04 [[-7.08368315e-01 -7.05760811e-01 1.07706549e-02 8.95040607e+02] [ 7.05676427e-01 -7.08450182e-01 -1.09142075e-02 2.05067343e+02] [ 1.53332923e-02 -1.30681484e-04 9.99882430e-01 1.00363793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7392541539998 meters Centerline goodness [0,1] 0.9999123383738768 Centerline is valid? [True, True] Translation: X:895.02, Y:205.09, Z:10.04 [[-7.12300568e-01 -7.01792937e-01 1.07038966e-02 8.95023417e+02] [ 7.01709230e-01 -7.12380958e-01 -1.08410574e-02 2.05088923e+02] [ 1.52334296e-02 -2.11068280e-04 9.99883942e-01 1.00363474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:895.00, Y:205.11, Z:10.04 [[-7.14095152e-01 -6.99973597e-01 1.02507496e-02 8.95003169e+02] [ 6.99896725e-01 -7.14168683e-01 -1.03762258e-02 2.05109005e+02] [ 1.45838484e-02 -2.35146495e-04 9.99893622e-01 1.00396668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.98, Y:205.13, Z:10.04 [[-7.16160460e-01 -6.97865346e-01 9.90723475e-03 8.94983711e+02] [ 6.97793416e-01 -7.16228936e-01 -1.00229913e-02 2.05129373e+02] [ 1.40905465e-02 -2.64866911e-04 9.99900688e-01 1.00407168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.829254154 meters Centerline goodness [0,1] 0.9998901557591335 Centerline is valid? [True, True] Translation: X:894.97, Y:205.15, Z:10.04 [[-7.20176009e-01 -6.93724015e-01 9.66995365e-03 8.94966671e+02] [ 6.93655191e-01 -7.20240849e-01 -9.77730954e-03 2.05150249e+02] [ 1.37474501e-02 -3.33770218e-04 9.99905444e-01 1.00393109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.859254154 meters Centerline goodness [0,1] 0.9999121767004786 Centerline is valid? [True, True] Translation: X:894.95, Y:205.17, Z:10.04 [[-7.22130068e-01 -6.91697141e-01 9.12308468e-03 8.94946737e+02] [ 6.91635789e-01 -7.22187610e-01 -9.21906031e-03 2.05169739e+02] [ 1.29653764e-02 -3.47508778e-04 9.99915886e-01 1.00408596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.93, Y:205.19, Z:10.04 [[-7.22398881e-01 -6.91416938e-01 9.08153466e-03 8.94925886e+02] [ 6.91356189e-01 -7.22455879e-01 -9.17188526e-03 2.05189154e+02] [ 1.29026049e-02 -3.47184457e-04 9.99916698e-01 1.00429104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.90, Y:205.21, Z:10.04 [[-7.21900617e-01 -6.91927426e-01 9.79473180e-03 8.94903481e+02] [ 6.91856888e-01 -7.21966971e-01 -9.88633465e-03 2.05206839e+02] [ 1.39120989e-02 -3.60398423e-04 9.99903157e-01 1.00426513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9492541539998 meters Centerline goodness [0,1] 0.9998037762176776 Centerline is valid? [True, True] Translation: X:894.88, Y:205.23, Z:10.04 [[-7.21517384e-01 -6.92309828e-01 1.09437862e-02 8.94882387e+02] [ 6.92221915e-01 -7.21600270e-01 -1.10395035e-02 2.05225454e+02] [ 1.55397958e-02 -3.89665028e-04 9.99879174e-01 1.00392868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.86, Y:205.24, Z:10.04 [[-7.19599759e-01 -6.94308928e-01 1.05498560e-02 8.94861206e+02] [ 6.94227531e-01 -7.19677014e-01 -1.06363274e-02 2.05242808e+02] [ 1.49773859e-02 -3.29898139e-04 9.99887778e-01 1.00422303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.84, Y:205.26, Z:10.04 [[-7.15109168e-01 -6.98924527e-01 1.11078444e-02 8.94836477e+02] [ 6.98834947e-01 -7.15195391e-01 -1.11923872e-02 2.05257591e+02] [ 1.57669130e-02 -2.41228912e-04 9.99875665e-01 1.00420064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0392541539998 meters Centerline goodness [0,1] 0.999956457371767 Centerline is valid? [True, True] Translation: X:894.81, Y:205.27, Z:10.04 [[-7.09938655e-01 -7.04158279e-01 1.21747628e-02 8.94810569e+02] [ 7.04051549e-01 -7.10043028e-01 -1.22603185e-02 2.05272266e+02] [ 1.72778102e-02 -1.32413445e-04 9.99850719e-01 1.00404106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0692541539997 meters Centerline goodness [0,1] 0.9998264114915593 Centerline is valid? [True, True] Translation: X:894.79, Y:205.29, Z:10.04 [[-7.07572981e-01 -7.06514854e-01 1.33130895e-02 8.94788342e+02] [ 7.06387803e-01 -7.07698210e-01 -1.33983704e-02 2.05289000e+02] [ 1.88877973e-02 -7.61208860e-05 9.99821607e-01 1.00377930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.099254154 meters Centerline goodness [0,1] 0.9999133805409385 Centerline is valid? [True, True] Translation: X:894.76, Y:205.30, Z:10.04 [[-7.02507332e-01 -7.11544161e-01 1.37242704e-02 8.94763662e+02] [ 7.11410266e-01 -7.02641376e-01 -1.38032906e-02 2.05303165e+02] [ 1.94648910e-02 6.66739890e-05 9.99810539e-01 1.00385158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.129254154 meters Centerline goodness [0,1] 0.9998700145150459 Centerline is valid? [True, True] Translation: X:894.74, Y:205.32, Z:10.04 [[-7.00980012e-01 -7.13038989e-01 1.42275823e-02 8.94741985e+02] [ 7.12895574e-01 -7.01124373e-01 -1.43008415e-02 2.05321140e+02] [ 2.01723622e-02 1.18176403e-04 9.99796510e-01 1.00383890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.72, Y:205.34, Z:10.04 [[-6.98040298e-01 -7.15927134e-01 1.37142399e-02 8.94719845e+02] [ 7.15794596e-01 -6.98174977e-01 -1.37767327e-02 2.05336897e+02] [ 1.94380759e-02 1.99864161e-04 9.99811043e-01 1.00407068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1892541539999 meters Centerline goodness [0,1] 0.9999783891254079 Centerline is valid? [True, True] Translation: X:894.70, Y:205.35, Z:10.04 [[-6.97604434e-01 -7.16353176e-01 1.36448005e-02 8.94699922e+02] [ 7.16222230e-01 -6.97737830e-01 -1.36980783e-02 2.05354315e+02] [ 1.93331554e-02 2.16869257e-04 9.99813074e-01 1.00410093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.68, Y:205.37, Z:10.04 [[-6.97438263e-01 -7.16522356e-01 1.32507450e-02 8.94679971e+02] [ 7.16399046e-01 -6.97564094e-01 -1.32944193e-02 2.05373752e+02] [ 1.87689925e-02 2.20784389e-04 9.99823823e-01 1.00426273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2492541539998 meters Centerline goodness [0,1] 0.9999783699602007 Centerline is valid? [True, True] Translation: X:894.66, Y:205.39, Z:10.05 [[-6.98624561e-01 -7.15396484e-01 1.14714761e-02 8.94659408e+02] [ 7.15304018e-01 -6.98718715e-01 -1.15030139e-02 2.05393201e+02] [ 1.62445507e-02 1.69304950e-04 9.99868034e-01 1.00451130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2792541539998 meters Centerline goodness [0,1] 0.9998925262773252 Centerline is valid? [True, True] Translation: X:894.64, Y:205.41, Z:10.04 [[-7.00037209e-01 -7.14012156e-01 1.15994364e-02 8.94640492e+02] [ 7.13917519e-01 -7.00133288e-01 -1.16256047e-02 2.05412521e+02] [ 1.64219746e-02 1.42684998e-04 9.99865140e-01 1.00436236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.3092541539997 meters Centerline goodness [0,1] 0.9999141446662374 Centerline is valid? [True, True] Translation: X:894.62, Y:205.43, Z:10.04 [[-7.03050882e-01 -7.11049225e-01 1.13339083e-02 8.94622578e+02] [ 7.10958584e-01 -7.03142229e-01 -1.13533452e-02 2.05432772e+02] [ 1.60421368e-02 7.59600423e-05 9.99871314e-01 1.00444372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.60, Y:205.45, Z:10.05 [[-7.04563883e-01 -7.09559835e-01 1.07040318e-02 8.94603625e+02] [ 7.09478917e-01 -7.04645187e-01 -1.07157241e-02 2.05452799e+02] [ 1.51459919e-02 4.43727305e-05 9.99885292e-01 1.00462237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.369254154 meters Centerline goodness [0,1] 0.9999568881895196 Centerline is valid? [True, True] Translation: X:894.59, Y:205.47, Z:10.05 [[-7.08676736e-01 -7.05439469e-01 1.15082126e-02 8.94586420e+02] [ 7.05345513e-01 -7.08770170e-01 -1.15132064e-02 2.05473758e+02] [ 1.62785480e-02 -4.18753838e-05 9.99867495e-01 1.00452422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.399254154 meters Centerline goodness [0,1] 0.9999353740763879 Centerline is valid? [True, True] Translation: X:894.57, Y:205.49, Z:10.04 [[-7.11117049e-01 -7.02967281e-01 1.22288243e-02 8.94568302e+02] [ 7.02860951e-01 -7.11222182e-01 -1.22266981e-02 2.05494828e+02] [ 1.72923798e-02 -9.94503665e-05 9.99850471e-01 1.00434780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.09, Y:205.00, Z:11.01 [[-7.48278840e-01 6.63377294e-01 3.05657265e-03 8.94092459e+02] [ 6.63374510e-01 7.48284892e-01 -1.99491443e-03 2.05003945e+02] [-3.61056807e-03 5.34900126e-04 -9.99993339e-01 1.10080098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4592541539998 meters Centerline goodness [0,1] 0.9999568695952211 Centerline is valid? [True, True] Translation: X:894.54, Y:205.52, Z:10.04 [[-7.19661806e-01 -6.94190484e-01 1.36548867e-02 8.94542305e+02] [ 6.94069468e-01 -7.19791323e-01 -1.29623986e-02 2.05521579e+02] [ 1.88270427e-02 1.48896819e-04 9.99822744e-01 1.00437147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4892541539998 meters Centerline goodness [0,1] 0.9999566141698122 Centerline is valid? [True, True] Translation: X:894.53, Y:205.50, Z:10.04 [[-6.75970652e-01 -7.36802288e-01 1.36406172e-02 8.94530627e+02] [ 7.36650522e-01 -6.76108265e-01 -1.49540317e-02 2.05495976e+02] [ 2.02406988e-02 -6.01187585e-05 9.99795134e-01 1.00432919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.52, Y:205.52, Z:10.04 [[-6.78161074e-01 -7.34793025e-01 1.32954084e-02 8.94515232e+02] [ 7.34638047e-01 -6.78291227e-01 -1.50980909e-02 2.05518609e+02] [ 2.01121307e-02 -4.71624648e-04 9.99797619e-01 1.00431766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5492541539998 meters Centerline goodness [0,1] 0.9999135975807323 Centerline is valid? [True, True] Translation: X:894.50, Y:205.54, Z:10.04 [[-6.81172659e-01 -7.31979894e-01 1.44652715e-02 8.94499590e+02] [ 7.31796021e-01 -6.81325971e-01 -1.64166162e-02 2.05540624e+02] [ 2.18721981e-02 -5.96921982e-04 9.99760597e-01 1.00412496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.579254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.49, Y:205.56, Z:10.04 [[-6.84814537e-01 -7.28574459e-01 1.44328574e-02 8.94485374e+02] [ 7.28390859e-01 -6.84966255e-01 -1.63702605e-02 2.05563101e+02] [ 2.18129740e-02 -6.97830984e-04 9.99761825e-01 1.00422542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.609254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.47, Y:205.59, Z:10.04 [[-6.86775291e-01 -7.26729829e-01 1.42637973e-02 8.94468190e+02] [ 7.26550303e-01 -6.86922999e-01 -1.61694718e-02 2.05585611e+02] [ 2.15489679e-02 -7.41427426e-04 9.99767519e-01 1.00426958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.639254154 meters Centerline goodness [0,1] 0.9998261889760358 Centerline is valid? [True, True] Translation: X:894.45, Y:205.61, Z:10.04 [[-6.89630132e-01 -7.24002872e-01 1.51697980e-02 8.94449114e+02] [ 7.23799383e-01 -6.89796405e-01 -1.71864230e-02 2.05605880e+02] [ 2.29070917e-02 -8.72384765e-04 9.99737218e-01 1.00425228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6692541539999 meters Centerline goodness [0,1] 0.9998698057936422 Centerline is valid? [True, True] Translation: X:894.43, Y:205.63, Z:10.04 [[-6.89633979e-01 -7.24008515e-01 1.47188790e-02 8.94431468e+02] [ 7.23817119e-01 -6.89790521e-01 -1.66677857e-02 2.05626333e+02] [ 2.22205620e-02 -8.40894837e-04 9.99752739e-01 1.00433573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6992541539998 meters Centerline goodness [0,1] 0.9997832072322067 Centerline is valid? [True, True] Translation: X:894.41, Y:205.65, Z:10.04 [[-6.88011139e-01 -7.25556752e-01 1.44247308e-02 8.94410704e+02] [ 7.25373448e-01 -6.88161905e-01 -1.63264804e-02 2.05646107e+02] [ 2.17723383e-02 -7.69483691e-04 9.99762658e-01 1.00444841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7292541539998 meters Centerline goodness [0,1] 0.9999134573777585 Centerline is valid? [True, True] Translation: X:894.39, Y:205.67, Z:10.05 [[-6.85880696e-01 -7.27596371e-01 1.30840040e-02 8.94390108e+02] [ 7.27446058e-01 -6.86005188e-01 -1.48025259e-02 2.05665444e+02] [ 1.97459587e-02 -6.34859617e-04 9.99804828e-01 1.00466503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.37, Y:205.68, Z:10.05 [[-6.83001351e-01 -7.30317416e-01 1.20675525e-02 8.94368855e+02] [ 7.30190101e-01 -6.83107761e-01 -1.36456163e-02 2.05683610e+02] [ 1.82090700e-02 -5.08366997e-04 9.99834072e-01 1.00486257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7892541539998 meters Centerline goodness [0,1] 0.9998496595863491 Centerline is valid? [True, True] Translation: X:894.35, Y:205.70, Z:10.05 [[-6.77266980e-01 -7.35634166e-01 1.23211914e-02 8.94346234e+02] [ 7.35502455e-01 -6.77378947e-01 -1.39248065e-02 2.05698626e+02] [ 1.85896791e-02 -3.68545147e-04 9.99827129e-01 1.00464014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.8192541539997 meters Centerline goodness [0,1] 0.9998927360878705 Centerline is valid? [True, True] Translation: X:894.32, Y:205.71, Z:10.05 [[-6.69766201e-01 -7.42469047e-01 1.23672930e-02 8.94321465e+02] [ 7.42337654e-01 -6.69880350e-01 -1.39686695e-02 2.05713299e+02] [ 1.86559113e-02 -1.75035418e-04 9.99825948e-01 1.00465072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.849254154 meters Centerline goodness [0,1] 0.9998283188119662 Centerline is valid? [True, True] Translation: X:894.30, Y:205.73, Z:10.05 [[-6.66361342e-01 -7.45524486e-01 1.24820672e-02 8.94300769e+02] [ 7.45391351e-01 -6.66478232e-01 -1.40890165e-02 2.05729886e+02] [ 1.88227329e-02 -8.43510195e-05 9.99822833e-01 1.00451097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.879254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.28, Y:205.74, Z:10.05 [[-6.58505930e-01 -7.52496209e-01 1.09268348e-02 8.94276237e+02] [ 7.52395260e-01 -6.58596572e-01 -1.23259512e-02 2.05744327e+02] [ 1.64716075e-02 1.04586777e-04 9.99864328e-01 1.00482510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.25, Y:205.76, Z:10.05 [[-6.55395301e-01 -7.55212517e-01 1.05382492e-02 8.94254677e+02] [ 7.55119080e-01 -6.55479996e-01 -1.18806165e-02 2.05763011e+02] [ 1.58800018e-02 1.71132871e-04 9.99873890e-01 1.00484163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.23, Y:205.78, Z:10.05 [[-6.50960209e-01 -7.59039694e-01 1.04665685e-02 8.94232834e+02] [ 7.58948124e-01 -6.51044293e-01 -1.17929412e-02 2.05779620e+02] [ 1.57655101e-02 2.66847028e-04 9.99875681e-01 1.00483647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9692541539998 meters Centerline goodness [0,1] 0.9998926255207662 Centerline is valid? [True, True] Translation: X:894.21, Y:205.80, Z:10.05 [[-6.50285690e-01 -7.59607909e-01 1.11510241e-02 8.94214097e+02] [ 7.59504181e-01 -6.50381221e-01 -1.25565756e-02 2.05800124e+02] [ 1.67904908e-02 3.03888037e-04 9.99858984e-01 1.00468808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9992541539998 meters Centerline goodness [0,1] 0.9998285689795569 Centerline is valid? [True, True] Translation: X:894.19, Y:205.82, Z:10.04 [[-6.48456578e-01 -7.61172040e-01 1.10087416e-02 8.94193035e+02] [ 7.61071288e-01 -6.48549926e-01 -1.23890162e-02 2.05817831e+02] [ 1.65698913e-02 3.44698099e-04 9.99862651e-01 1.00447533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.0292541539998 meters Centerline goodness [0,1] 0.9999572329733776 Centerline is valid? [True, True] Translation: X:894.18, Y:205.84, Z:10.05 [[-6.47740679e-01 -7.61794491e-01 1.00581117e-02 8.94175697e+02] [ 7.61710568e-01 -6.47818680e-01 -1.13123592e-02 2.05839241e+02] [ 1.51335256e-02 3.33894698e-04 9.99885426e-01 1.00471295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.0592541539997 meters Centerline goodness [0,1] 0.999828329864166 Centerline is valid? [True, True] Translation: X:894.16, Y:205.86, Z:10.05 [[-6.48159071e-01 -7.61426717e-01 1.09166770e-02 8.94158796e+02] [ 7.61327929e-01 -6.48250898e-01 -1.22701961e-02 2.05861356e+02] [ 1.64196007e-02 3.58132198e-04 9.99865125e-01 1.00451688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.089254154 meters Centerline goodness [0,1] 0.9999785467573423 Centerline is valid? [True, True] Translation: X:894.14, Y:205.88, Z:10.05 [[-6.47553635e-01 -7.61954149e-01 1.00082202e-02 8.94141013e+02] [ 7.61871279e-01 -6.47630880e-01 -1.12427086e-02 2.05883053e+02] [ 1.50480609e-02 3.44718653e-04 9.99886712e-01 1.00479784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.119254154 meters Centerline goodness [0,1] 0.9997642267709784 Centerline is valid? [True, True] Translation: X:894.12, Y:205.90, Z:10.04 [[-6.49282893e-01 -7.60464626e-01 1.11927332e-02 8.94124208e+02] [ 7.60360868e-01 -6.49379265e-01 -1.25666749e-02 2.05904204e+02] [ 1.68248406e-02 3.51189302e-04 9.99858391e-01 1.00436968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.149254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.11, Y:205.93, Z:10.05 [[-6.48752244e-01 -7.60933029e-01 1.00723481e-02 8.94107052e+02] [ 7.60849146e-01 -6.48830345e-01 -1.13030990e-02 2.05927045e+02] [ 1.51361465e-02 3.30626636e-04 9.99885387e-01 1.00474284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1792541539999 meters Centerline goodness [0,1] 0.9997854629709088 Centerline is valid? [True, True] Translation: X:894.09, Y:205.95, Z:10.04 [[-6.50148615e-01 -7.59722337e-01 1.13467726e-02 8.94089768e+02] [ 7.59615837e-01 -6.50247531e-01 -1.27251264e-02 2.05948572e+02] [ 1.70457736e-02 3.45964827e-04 9.99854650e-01 1.00433718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2092541539998 meters Centerline goodness [0,1] 0.9998283261802575 Centerline is valid? [True, True] Translation: X:894.07, Y:205.97, Z:10.04 [[-6.50184146e-01 -7.59689285e-01 1.15224453e-02 8.94073855e+02] [ 7.59579603e-01 -6.50286140e-01 -1.29136604e-02 2.05969125e+02] [ 1.73032559e-02 3.55957182e-04 9.99850224e-01 1.00430610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.06, Y:205.99, Z:10.05 [[-6.49245737e-01 -7.60499380e-01 1.09848121e-02 8.94057709e+02] [ 7.60399935e-01 -6.49338556e-01 -1.23036016e-02 2.05991793e+02] [ 1.64897434e-02 3.64789503e-04 9.99863968e-01 1.00465236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.04, Y:206.01, Z:10.05 [[-6.48540117e-01 -7.61102009e-01 1.09292619e-02 8.94040724e+02] [ 7.61003751e-01 -6.48632089e-01 -1.22353632e-02 2.06012781e+02] [ 1.64014295e-02 3.82085455e-04 9.99865415e-01 1.00462379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2992541539998 meters Centerline goodness [0,1] 0.9998917373982331 Centerline is valid? [True, True] Translation: X:894.02, Y:206.04, Z:10.05 [[-6.49041111e-01 -7.60664560e-01 1.16216673e-02 8.94024059e+02] [ 7.60553509e-01 -6.49145028e-01 -1.30035148e-02 2.06035355e+02] [ 1.74354604e-02 3.99084142e-04 9.99847911e-01 1.00451137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:894.01, Y:206.06, Z:10.05 [[-6.47792363e-01 -7.61732825e-01 1.13206372e-02 8.94006517e+02] [ 7.61627738e-01 -6.47891137e-01 -1.26595302e-02 2.06057491e+02] [ 1.69777202e-02 4.21364268e-04 9.99855779e-01 1.00464046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.99, Y:206.08, Z:10.05 [[-6.47373478e-01 -7.62087338e-01 1.14223234e-02 8.93988293e+02] [ 7.61980531e-01 -6.47474090e-01 -1.27660943e-02 2.06079029e+02] [ 1.71245372e-02 4.39157141e-04 9.99853268e-01 1.00464029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.97, Y:206.10, Z:10.05 [[-6.46731422e-01 -7.62634181e-01 1.12948573e-02 8.93969977e+02] [ 7.62529955e-01 -6.46829885e-01 -1.26161661e-02 2.06099417e+02] [ 1.69273707e-02 4.53396021e-04 9.99856619e-01 1.00459407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.95, Y:206.12, Z:10.04 [[-6.45339017e-01 -7.63809267e-01 1.15306823e-02 8.93950083e+02] [ 7.63700966e-01 -6.45441829e-01 -1.28716457e-02 2.06118331e+02] [ 1.72738669e-02 4.99418004e-04 9.99850671e-01 1.00449609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.94, Y:206.14, Z:10.05 [[-6.44112288e-01 -7.64838742e-01 1.18768875e-02 8.93936235e+02] [ 7.64724156e-01 -6.44221545e-01 -1.32501412e-02 2.06143530e+02] [ 1.77855681e-02 5.47964046e-04 9.99841674e-01 1.00465385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4792541539998 meters Centerline goodness [0,1] 0.9999130869347935 Centerline is valid? [True, True] Translation: X:893.92, Y:206.16, Z:10.04 [[-6.44184367e-01 -7.64768291e-01 1.24884808e-02 8.93916075e+02] [ 7.64641747e-01 -6.44305149e-01 -1.39238330e-02 2.06161264e+02] [ 1.86948985e-02 5.79698212e-04 9.99825067e-01 1.00431630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5092541539998 meters Centerline goodness [0,1] 0.9997814589798505 Centerline is valid? [True, True] Translation: X:893.90, Y:206.19, Z:10.04 [[-6.43598195e-01 -7.65250949e-01 1.31281747e-02 8.93900906e+02] [ 7.65111383e-01 -6.43731768e-01 -1.46281528e-02 2.06185905e+02] [ 1.96452309e-02 6.29863135e-04 9.99806815e-01 1.00424472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5392541539998 meters Centerline goodness [0,1] 0.9997814589798505 Centerline is valid? [True, True] Translation: X:893.88, Y:206.21, Z:10.04 [[-6.43820320e-01 -7.65064008e-01 1.31324222e-02 8.93882411e+02] [ 7.64924481e-01 -6.43953933e-01 -1.46243394e-02 2.06206394e+02] [ 1.96452306e-02 6.29864388e-04 9.99806815e-01 1.00426384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5692541539997 meters Centerline goodness [0,1] 0.9999344448571991 Centerline is valid? [True, True] Translation: X:893.86, Y:206.23, Z:10.04 [[-6.43367255e-01 -7.65452941e-01 1.26637691e-02 8.93864650e+02] [ 7.65323430e-01 -6.43491574e-01 -1.40940378e-02 2.06226262e+02] [ 1.89373514e-02 6.24236845e-04 9.99820477e-01 1.00443551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.599254154 meters Centerline goodness [0,1] 0.9998903123903123 Centerline is valid? [True, True] Translation: X:893.85, Y:206.25, Z:10.05 [[-6.43834070e-01 -7.65070520e-01 1.20329102e-02 8.93850486e+02] [ 7.64953668e-01 -6.43946236e-01 -1.33840043e-02 2.06250799e+02] [ 1.79882543e-02 5.87540798e-04 9.99838026e-01 1.00453307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.629254154 meters Centerline goodness [0,1] 0.999758999189361 Centerline is valid? [True, True] Translation: X:893.83, Y:206.27, Z:10.04 [[-6.44643805e-01 -7.64388221e-01 1.20421220e-02 8.93831502e+02] [ 7.64271216e-01 -6.44756015e-01 -1.33861551e-02 2.06270727e+02] [ 1.79964499e-02 5.74145310e-04 9.99837886e-01 1.00433802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6592541539999 meters Centerline goodness [0,1] 0.9999561278434641 Centerline is valid? [True, True] Translation: X:893.82, Y:206.30, Z:10.05 [[-6.46455532e-01 -7.62877400e-01 1.06450695e-02 8.93817919e+02] [ 7.62785873e-01 -6.46542997e-01 -1.18264531e-02 2.06295664e+02] [ 1.59046290e-02 4.74632644e-04 9.99873401e-01 1.00475910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6892541539999 meters Centerline goodness [0,1] 0.999934106483922 Centerline is valid? [True, True] Translation: X:893.80, Y:206.32, Z:10.05 [[-6.48717801e-01 -7.60954585e-01 1.06458525e-02 8.93801811e+02] [ 7.60862892e-01 -6.48805004e-01 -1.18205888e-02 2.06317433e+02] [ 1.59020136e-02 4.31807781e-04 9.99873462e-01 1.00473112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7192541539998 meters Centerline goodness [0,1] 0.9998896807360501 Centerline is valid? [True, True] Translation: X:893.79, Y:206.34, Z:10.05 [[-6.52489572e-01 -7.57726539e-01 1.03851427e-02 8.93787289e+02] [ 7.57638973e-01 -6.52572120e-01 -1.15245309e-02 2.06341761e+02] [ 1.55094975e-02 3.48552645e-04 9.99879660e-01 1.00466935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.77, Y:206.36, Z:10.05 [[-6.53485033e-01 -7.56869361e-01 1.02996295e-02 8.93770848e+02] [ 7.56783234e-01 -6.53566111e-01 -1.14225568e-02 2.06363137e+02] [ 1.53768721e-02 3.30117060e-04 9.99881714e-01 1.00486165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.75, Y:206.39, Z:10.05 [[-6.55014622e-01 -7.55540397e-01 1.07030044e-02 8.93754621e+02] [ 7.55447331e-01 -6.55101984e-01 -1.18625754e-02 2.06386448e+02] [ 1.59742143e-02 3.15395775e-04 9.99872354e-01 1.00484439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.8092541539997 meters Centerline goodness [0,1] 0.999846218062787 Centerline is valid? [True, True] Translation: X:893.74, Y:206.40, Z:10.05 [[-6.55439657e-01 -7.55162400e-01 1.13404245e-02 8.93735077e+02] [ 7.55057992e-01 -6.55537673e-01 -1.25613567e-02 2.06404974e+02] [ 1.69199397e-02 3.29466810e-04 9.99856793e-01 1.00450333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.72, Y:206.43, Z:10.05 [[-6.54304256e-01 -7.56151291e-01 1.10075939e-02 8.93716726e+02] [ 7.56053179e-01 -6.54396748e-01 -1.21855306e-02 2.06426031e+02] [ 1.64174383e-02 3.49281813e-04 9.99865164e-01 1.00482610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.869254154 meters Centerline goodness [0,1] 0.9998678792416269 Centerline is valid? [True, True] Translation: X:893.70, Y:206.44, Z:10.04 [[-6.53267355e-01 -7.57033609e-01 1.19112451e-02 8.93695362e+02] [ 7.56919018e-01 -6.53375810e-01 -1.31776979e-02 2.06443436e+02] [ 1.77584797e-02 4.07288089e-04 9.99842223e-01 1.00448447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.67, Y:206.46, Z:10.05 [[-6.51221358e-01 -7.58803045e-01 1.13437888e-02 8.93672977e+02] [ 7.58699503e-01 -6.51320003e-01 -1.25426546e-02 2.06460943e+02] [ 1.69058410e-02 4.38482350e-04 9.99856990e-01 1.00467570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9292541539999 meters Centerline goodness [0,1] 0.9999119000947074 Centerline is valid? [True, True] Translation: X:893.65, Y:206.48, Z:10.05 [[-6.51321502e-01 -7.58718385e-01 1.12566750e-02 8.93653724e+02] [ 7.58616542e-01 -6.51418622e-01 -1.24386922e-02 2.06479788e+02] [ 1.67702721e-02 4.37912155e-04 9.99859273e-01 1.00451699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.63, Y:206.50, Z:10.05 [[-6.49715827e-01 -7.60100954e-01 1.07649667e-02 8.93633318e+02] [ 7.60008120e-01 -6.49804840e-01 -1.18880864e-02 2.06497445e+02] [ 1.60312733e-02 4.57584224e-04 9.99871386e-01 1.00473043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.61, Y:206.52, Z:10.05 [[-6.49015772e-01 -7.60700230e-01 1.06624362e-02 8.93613026e+02] [ 7.60609346e-01 -6.49103179e-01 -1.17679984e-02 2.06517511e+02] [ 1.58729403e-02 4.72332074e-04 9.99873905e-01 1.00477834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.59, Y:206.54, Z:10.05 [[-6.47889322e-01 -7.61662989e-01 1.04363405e-02 8.93591953e+02] [ 7.61576148e-01 -6.47973187e-01 -1.15117583e-02 2.06535352e+02] [ 1.55305491e-02 4.89722660e-04 9.99879274e-01 1.00480656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0492541539998 meters Centerline goodness [0,1] 0.9998907581385187 Centerline is valid? [True, True] Translation: X:893.57, Y:206.55, Z:10.05 [[-6.47818900e-01 -7.61721427e-01 1.05423289e-02 8.93573145e+02] [ 7.61632919e-01 -6.47904482e-01 -1.16223392e-02 2.06554443e+02] [ 1.56834070e-02 5.00213765e-04 9.99876883e-01 1.00460929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.55, Y:206.57, Z:10.05 [[-6.46526092e-01 -7.62816448e-01 1.07275115e-02 8.93551902e+02] [ 7.62725058e-01 -6.46614859e-01 -1.18199391e-02 2.06571657e+02] [ 1.59530122e-02 5.40242802e-04 9.99872597e-01 1.00470114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.109254154 meters Centerline goodness [0,1] 0.9999124975389933 Centerline is valid? [True, True] Translation: X:893.53, Y:206.59, Z:10.05 [[-6.46588488e-01 -7.62758183e-01 1.11032182e-02 8.93531841e+02] [ 7.62660396e-01 -6.46683569e-01 -1.22263293e-02 2.06590898e+02] [ 1.65060015e-02 5.62581007e-04 9.99863608e-01 1.00451233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.139254154 meters Centerline goodness [0,1] 0.9998257536156124 Centerline is valid? [True, True] Translation: X:893.51, Y:206.61, Z:10.04 [[-6.46078409e-01 -7.63178778e-01 1.18677052e-02 8.93513068e+02] [ 7.63067250e-01 -6.46187103e-01 -1.30613962e-02 2.06611051e+02] [ 1.76369385e-02 6.17171110e-04 9.99844267e-01 1.00442168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1692541539999 meters Centerline goodness [0,1] 0.9999344376939552 Centerline is valid? [True, True] Translation: X:893.49, Y:206.63, Z:10.05 [[-6.45585210e-01 -7.63591694e-01 1.21433773e-02 8.93493044e+02] [ 7.63475121e-01 -6.45699083e-01 -1.33579015e-02 2.06631251e+02] [ 1.80409502e-02 6.47502789e-04 9.99837039e-01 1.00460457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.47, Y:206.65, Z:10.05 [[-6.45638219e-01 -7.63533718e-01 1.29441308e-02 8.93474769e+02] [ 7.63401413e-01 -6.45767589e-01 -1.42303447e-02 2.06652191e+02] [ 1.92242481e-02 6.93913365e-04 9.99814956e-01 1.00462544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2292541539998 meters Centerline goodness [0,1] 0.9999564308121297 Centerline is valid? [True, True] Translation: X:893.46, Y:206.67, Z:10.04 [[-6.46514300e-01 -7.62785088e-01 1.33480166e-02 8.93455510e+02] [ 7.62644410e-01 -6.46651701e-01 -1.46656461e-02 2.06670963e+02] [ 1.98182538e-02 6.98240289e-04 9.99803355e-01 1.00445573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2592541539998 meters Centerline goodness [0,1] 0.9999127437720867 Centerline is valid? [True, True] Translation: X:893.44, Y:206.69, Z:10.04 [[-6.47832715e-01 -7.61668828e-01 1.31669981e-02 8.93437539e+02] [ 7.61531873e-01 -6.47966172e-01 -1.44584216e-02 2.06692862e+02] [ 1.95442984e-02 6.60450178e-04 9.99808774e-01 1.00446336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.42, Y:206.71, Z:10.05 [[-6.48163211e-01 -7.61394151e-01 1.27827731e-02 8.93418991e+02] [ 7.61265183e-01 -6.48288932e-01 -1.40279273e-02 2.06713448e+02] [ 1.89677121e-02 6.38693686e-04 9.99819893e-01 1.00470598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.3192541539997 meters Centerline goodness [0,1] 0.9998479054406396 Centerline is valid? [True, True] Translation: X:893.40, Y:206.73, Z:10.05 [[-6.50204665e-01 -7.59657313e-01 1.24362340e-02 8.93400418e+02] [ 7.59535070e-01 -6.50323330e-01 -1.36397813e-02 2.06734909e+02] [ 1.84491328e-02 5.77106440e-04 9.99829634e-01 1.00460334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.38, Y:206.76, Z:10.05 [[-6.50466340e-01 -7.59444246e-01 1.17463820e-02 8.93382136e+02] [ 7.59335279e-01 -6.50572165e-01 -1.28760696e-02 2.06756123e+02] [ 1.74205262e-02 5.43992378e-04 9.99848103e-01 1.00497150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.379254154 meters Centerline goodness [0,1] 0.9999345806620437 Centerline is valid? [True, True] Translation: X:893.36, Y:206.78, Z:10.05 [[-6.52034657e-01 -7.58113845e-01 1.06866340e-02 8.93364074e+02] [ 7.58023578e-01 -6.52122059e-01 -1.17079067e-02 2.06777628e+02] [ 1.58449159e-02 4.66759571e-04 9.99874353e-01 1.00515664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.35, Y:206.80, Z:10.05 [[-6.52659643e-01 -7.57583139e-01 1.01576592e-02 8.93346006e+02] [ 7.57501627e-01 -6.52738537e-01 -1.11214766e-02 2.06797074e+02] [ 1.50557387e-02 4.35904415e-04 9.99886561e-01 1.00523649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.33, Y:206.82, Z:10.05 [[-6.53477806e-01 -7.56884511e-01 9.62259438e-03 8.93328009e+02] [ 7.56811381e-01 -6.53548526e-01 -1.05288622e-02 2.06817028e+02] [ 1.42579651e-02 4.02111204e-04 9.99898269e-01 1.00531237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.31, Y:206.84, Z:10.05 [[-6.53863393e-01 -7.56550709e-01 9.67924924e-03 8.93309221e+02] [ 7.56476777e-01 -6.53934908e-01 -1.05840512e-02 2.06836420e+02] [ 1.43369704e-02 4.01603670e-04 9.99897140e-01 1.00529500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.29, Y:206.86, Z:10.05 [[-6.53928644e-01 -7.56485698e-01 1.03303852e-02 8.93290104e+02] [ 7.56401591e-01 -6.54010093e-01 -1.12885903e-02 2.06855977e+02] [ 1.52958334e-02 4.31987232e-04 9.99882919e-01 1.00525732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.5292541539998 meters Centerline goodness [0,1] 0.9998048399687745 Centerline is valid? [True, True] Translation: X:893.27, Y:206.88, Z:10.05 [[-6.54730072e-01 -7.55783983e-01 1.09134534e-02 8.93271010e+02] [ 7.55690135e-01 -6.54820872e-01 -1.19183109e-02 2.06876532e+02] [ 1.61540256e-02 4.43912507e-04 9.99869417e-01 1.00492249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.5592541539997 meters Centerline goodness [0,1] 0.9998699609882965 Centerline is valid? [True, True] Translation: X:893.25, Y:206.89, Z:10.05 [[-6.54023229e-01 -7.56392232e-01 1.11538405e-02 8.93251122e+02] [ 7.56294396e-01 -6.54118161e-01 -1.21744891e-02 2.06894359e+02] [ 1.65046186e-02 4.73188415e-04 9.99863678e-01 1.00498092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.23, Y:206.91, Z:10.05 [[-6.52953080e-01 -7.57312495e-01 1.14044548e-02 8.93231570e+02] [ 7.57210465e-01 -6.53052466e-01 -1.24413865e-02 2.06914626e+02] [ 1.68697248e-02 5.11930879e-04 9.99857565e-01 1.00527380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.21, Y:206.93, Z:10.05 [[-6.52416260e-01 -7.57767771e-01 1.18755700e-02 8.93210552e+02] [ 7.57657345e-01 -6.52524102e-01 -1.29477685e-02 2.06934055e+02] [ 1.75604973e-02 5.50278108e-04 9.99845651e-01 1.00525947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.649254154 meters Centerline goodness [0,1] 0.9999566780747736 Centerline is valid? [True, True] Translation: X:893.19, Y:206.95, Z:10.05 [[-6.52748314e-01 -7.57478756e-01 1.20653962e-02 8.93191604e+02] [ 7.57364860e-01 -6.52859575e-01 -1.31470272e-02 2.06954502e+02] [ 1.78356033e-02 5.56207252e-04 9.99840778e-01 1.00519317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6792541539999 meters Centerline goodness [0,1] 0.9999783160222911 Centerline is valid? [True, True] Translation: X:893.17, Y:206.98, Z:10.05 [[-6.54328147e-01 -7.56113610e-01 1.21196242e-02 8.93172801e+02] [ 7.55998590e-01 -6.54440167e-01 -1.31984878e-02 2.06975221e+02] [ 1.79111251e-02 5.26276721e-04 9.99839444e-01 1.00528577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.15, Y:206.99, Z:10.05 [[-6.56061818e-01 -7.54617855e-01 1.16096075e-02 8.93153383e+02] [ 7.54512175e-01 -6.56164364e-01 -1.26374326e-02 2.06994040e+02] [ 1.71542430e-02 4.68653201e-04 9.99852745e-01 1.00532749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7392541539998 meters Centerline goodness [0,1] 0.9997625728469675 Centerline is valid? [True, True] Translation: X:893.14, Y:207.02, Z:10.05 [[-6.61112275e-01 -7.50198045e-01 1.15521921e-02 8.93137563e+02] [ 7.50092840e-01 -6.61213102e-01 -1.25684291e-02 2.07017169e+02] [ 1.70672717e-02 3.56073857e-04 9.99854280e-01 1.00515668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7692541539998 meters Centerline goodness [0,1] 0.9998482022813029 Centerline is valid? [True, True] Translation: X:893.12, Y:207.04, Z:10.05 [[-6.63968485e-01 -7.47676882e-01 1.11861975e-02 8.93120216e+02] [ 7.47577995e-01 -6.64062646e-01 -1.21632533e-02 2.07037982e+02] [ 1.65225192e-02 2.86538240e-04 9.99863453e-01 1.00527814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7992541539998 meters Centerline goodness [0,1] 0.9999567090196757 Centerline is valid? [True, True] Translation: X:893.10, Y:207.06, Z:10.06 [[-6.69793949e-01 -7.42465613e-01 1.09945270e-02 8.93104937e+02] [ 7.42369488e-01 -6.69884161e-01 -1.19479821e-02 2.07061631e+02] [ 1.62360253e-02 1.59315252e-04 9.99868174e-01 1.00558866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.829254154 meters Centerline goodness [0,1] 0.9999350396258282 Centerline is valid? [True, True] Translation: X:893.09, Y:207.08, Z:10.06 [[-6.72926040e-01 -7.39627739e-01 1.10159766e-02 8.93087487e+02] [ 7.39530971e-01 -6.73016194e-01 -1.19642966e-02 2.07083153e+02] [ 1.62630563e-02 9.55691564e-05 9.99867743e-01 1.00556034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.859254154 meters Centerline goodness [0,1] 0.9999132358682921 Centerline is valid? [True, True] Translation: X:893.07, Y:207.11, Z:10.06 [[-6.78872202e-01 -7.34170031e-01 1.12649847e-02 8.93070894e+02] [ 7.34068199e-01 -6.78965658e-01 -1.22276190e-02 2.07105431e+02] [ 1.66256892e-02 -3.17236473e-05 9.99861783e-01 1.00553237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.889254154 meters Centerline goodness [0,1] 0.999804894968458 Centerline is valid? [True, True] Translation: X:893.05, Y:207.13, Z:10.05 [[-6.82124222e-01 -7.31144225e-01 1.16046709e-02 8.93053409e+02] [ 7.31035848e-01 -6.82222920e-01 -1.25887563e-02 2.07126783e+02] [ 1.71211689e-02 -1.03665179e-04 9.99853417e-01 1.00537313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9192541539999 meters Centerline goodness [0,1] 0.9999133185974949 Centerline is valid? [True, True] Translation: X:893.04, Y:207.15, Z:10.06 [[-6.87169766e-01 -7.26403000e-01 1.16788271e-02 8.93037507e+02] [ 7.26292676e-01 -6.87268968e-01 -1.26615696e-02 2.07148905e+02] [ 1.72238976e-02 -2.18401275e-04 9.99851634e-01 1.00555292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9492541539998 meters Centerline goodness [0,1] 0.9998481693562381 Centerline is valid? [True, True] Translation: X:893.02, Y:207.17, Z:10.06 [[-6.89635807e-01 -7.24059155e-01 1.18656261e-02 8.93018846e+02] [ 7.23945057e-01 -6.89737822e-01 -1.28565273e-02 2.07170309e+02] [ 1.74930574e-02 -2.76260258e-04 9.99846947e-01 1.00555999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:893.00, Y:207.19, Z:10.06 [[-6.91470862e-01 -7.22314710e-01 1.13801029e-02 8.93000357e+02] [ 7.22209637e-01 -6.91564435e-01 -1.23236820e-02 2.07191561e+02] [ 1.67716512e-02 -3.02647090e-04 9.99859300e-01 1.00596258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.98, Y:207.21, Z:10.06 [[-6.94987575e-01 -7.18938394e-01 1.09479448e-02 8.92982761e+02] [ 7.18840839e-01 -6.95073703e-01 -1.18488505e-02 2.07212866e+02] [ 1.61282221e-02 -3.64974030e-04 9.99869865e-01 1.00615837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0392541539998 meters Centerline goodness [0,1] 0.9998480935743582 Centerline is valid? [True, True] Translation: X:892.96, Y:207.23, Z:10.06 [[-6.97098689e-01 -7.16888542e-01 1.11460945e-02 8.92964830e+02] [ 7.16787267e-01 -6.97187669e-01 -1.20568648e-02 2.07232575e+02] [ 1.64143478e-02 -4.15446026e-04 9.99865189e-01 1.00593015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0692541539997 meters Centerline goodness [0,1] 0.9998490663676743 Centerline is valid? [True, True] Translation: X:892.95, Y:207.25, Z:10.06 [[-6.99796797e-01 -7.14267023e-01 1.03471306e-02 8.92946915e+02] [ 7.14179550e-01 -6.99873151e-01 -1.11867260e-02 2.07252673e+02] [ 1.52319884e-02 -4.38726006e-04 9.99883890e-01 1.00600905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.099254154 meters Centerline goodness [0,1] 0.9998491834360322 Centerline is valid? [True, True] Translation: X:892.93, Y:207.27, Z:10.06 [[-7.00951732e-01 -7.13133166e-01 1.03805732e-02 8.92926756e+02] [ 7.13045102e-01 -7.01028441e-01 -1.12163475e-02 2.07272175e+02] [ 1.52758265e-02 -4.60301329e-04 9.99883212e-01 1.00610092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.129254154 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:892.91, Y:207.29, Z:10.06 [[-7.01362105e-01 -7.12728979e-01 1.04210913e-02 8.92906961e+02] [ 7.12640286e-01 -7.01439366e-01 -1.12533320e-02 2.07291442e+02] [ 1.53303396e-02 -4.66171135e-04 9.99882375e-01 1.00615933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1592541539999 meters Centerline goodness [0,1] 0.9997849970974608 Centerline is valid? [True, True] Translation: X:892.89, Y:207.31, Z:10.06 [[-7.01024417e-01 -7.13049387e-01 1.11954799e-02 8.92887264e+02] [ 7.12947197e-01 -7.01113639e-01 -1.20814253e-02 2.07308369e+02] [ 1.64639565e-02 -4.87588164e-04 9.99864341e-01 1.00600992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1892541539999 meters Centerline goodness [0,1] 0.9998063724962888 Centerline is valid? [True, True] Translation: X:892.87, Y:207.33, Z:10.06 [[-7.00188731e-01 -7.13867840e-01 1.13334929e-02 8.92867187e+02] [ 7.13763344e-01 -7.00280292e-01 -1.22229696e-02 2.07326713e+02] [ 1.66622067e-02 -4.68953784e-04 9.99861066e-01 1.00603582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2192541539998 meters Centerline goodness [0,1] 0.9998710232158211 Centerline is valid? [True, True] Translation: X:892.84, Y:207.34, Z:10.06 [[-6.98997564e-01 -7.15031947e-01 1.14769107e-02 8.92844073e+02] [ 7.14925063e-01 -6.99091639e-01 -1.23707364e-02 2.07343558e+02] [ 1.68688841e-02 -4.41983542e-04 9.99857613e-01 1.00616166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2492541539998 meters Centerline goodness [0,1] 0.9999358439725412 Centerline is valid? [True, True] Translation: X:892.82, Y:207.36, Z:10.06 [[-6.95824879e-01 -7.18118505e-01 1.15564326e-02 8.92819878e+02] [ 7.18010653e-01 -6.95920742e-01 -1.24508504e-02 2.07359810e+02] [ 1.69835472e-02 -3.65969823e-04 9.99855702e-01 1.00626558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.80, Y:207.38, Z:10.06 [[-6.93883393e-01 -7.19996792e-01 1.14217533e-02 8.92799765e+02] [ 7.19891792e-01 -6.93977321e-01 -1.22998723e-02 2.07378129e+02] [ 1.67823064e-02 -3.12250673e-04 9.99859118e-01 1.00643927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.3092541539997 meters Centerline goodness [0,1] 0.9998935875880562 Centerline is valid? [True, True] Translation: X:892.77, Y:207.39, Z:10.06 [[-6.90615425e-01 -7.23123005e-01 1.19772422e-02 8.92774406e+02] [ 7.23008138e-01 -6.90719235e-01 -1.28907674e-02 2.07392854e+02] [ 1.75945220e-02 -2.42919216e-04 9.99845175e-01 1.00633440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.339254154 meters Centerline goodness [0,1] 0.9999359740481475 Centerline is valid? [True, True] Translation: X:892.75, Y:207.41, Z:10.06 [[-6.88803149e-01 -7.24852847e-01 1.17717146e-02 8.92752137e+02] [ 7.24742262e-01 -6.88903705e-01 -1.26625303e-02 2.07411286e+02] [ 1.72880489e-02 -1.90531646e-04 9.99850532e-01 1.00644184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.369254154 meters Centerline goodness [0,1] 0.9998721963064733 Centerline is valid? [True, True] Translation: X:892.73, Y:207.43, Z:10.06 [[-6.85456468e-01 -7.28013655e-01 1.20643423e-02 8.92727363e+02] [ 7.27898118e-01 -6.85562620e-01 -1.29701070e-02 2.07427257e+02] [ 1.77132771e-02 -1.08831674e-04 9.99843102e-01 1.00633085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.399254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.71, Y:207.44, Z:10.07 [[-6.83781478e-01 -7.29596281e-01 1.14959677e-02 8.92706588e+02] [ 7.29491714e-01 -6.83878106e-01 -1.23521227e-02 2.07444739e+02] [ 1.68739034e-02 -5.99395446e-05 9.99857624e-01 1.00660294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4292541539999 meters Centerline goodness [0,1] 0.999978826568422 Centerline is valid? [True, True] Translation: X:892.68, Y:207.46, Z:10.07 [[-6.81316356e-01 -7.31909390e-01 1.08012522e-02 8.92682778e+02] [ 7.31817475e-01 -6.81401970e-01 -1.15991014e-02 2.07461057e+02] [ 1.58494858e-02 1.88760728e-06 9.99874389e-01 1.00663244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4592541539998 meters Centerline goodness [0,1] 0.999978826568422 Centerline is valid? [True, True] Translation: X:892.66, Y:207.48, Z:10.07 [[-6.81525750e-01 -7.31714366e-01 1.08045683e-02 8.92663928e+02] [ 7.31622475e-01 -6.81611390e-01 -1.15960121e-02 2.07481184e+02] [ 1.58494855e-02 1.88413845e-06 9.99874389e-01 1.00665155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.64, Y:207.50, Z:10.07 [[-6.80523988e-01 -7.32651320e-01 1.04472279e-02 8.92643462e+02] [ 7.32565615e-01 -6.80604175e-01 -1.12061394e-02 2.07499857e+02] [ 1.53206198e-02 2.72332599e-05 9.99882632e-01 1.00682499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.62, Y:207.52, Z:10.07 [[-6.78868295e-01 -7.34190791e-01 1.00857040e-02 8.92621735e+02] [ 7.34111178e-01 -6.78943207e-01 -1.08120326e-02 2.07517214e+02] [ 1.47857150e-02 6.40819251e-05 9.99890683e-01 1.00693655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5492541539998 meters Centerline goodness [0,1] 0.9998302783435167 Centerline is valid? [True, True] Translation: X:892.60, Y:207.54, Z:10.07 [[-6.77668527e-01 -7.35294371e-01 1.03709295e-02 8.92600007e+02] [ 7.35210423e-01 -6.77747873e-01 -1.11110447e-02 2.07535010e+02] [ 1.51987641e-02 9.52101182e-05 9.99884488e-01 1.00668601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.579254154 meters Centerline goodness [0,1] 0.9998940790170533 Centerline is valid? [True, True] Translation: X:892.58, Y:207.55, Z:10.07 [[-6.76966391e-01 -7.35942196e-01 1.02757433e-02 8.92579674e+02] [ 7.35859956e-01 -6.77044365e-01 -1.10023842e-02 2.07552649e+02] [ 1.50542529e-02 1.13263702e-04 9.99886672e-01 1.00674393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.609254154 meters Centerline goodness [0,1] 0.9998940139053756 Centerline is valid? [True, True] Translation: X:892.56, Y:207.57, Z:10.07 [[-6.76376658e-01 -7.36482681e-01 1.03864359e-02 8.92559103e+02] [ 7.36398826e-01 -6.76456387e-01 -1.11142048e-02 2.07571897e+02] [ 1.52113902e-02 1.31170539e-04 9.99884292e-01 1.00676057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.54, Y:207.59, Z:10.07 [[-6.75094707e-01 -7.37663089e-01 1.00151578e-02 8.92537990e+02] [ 7.37585342e-01 -6.75168974e-01 -1.07107465e-02 2.07590849e+02] [ 1.46628462e-02 1.56265354e-04 9.99892482e-01 1.00707585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.52, Y:207.61, Z:10.07 [[-6.74950844e-01 -7.37791863e-01 1.02237469e-02 8.92518499e+02] [ 7.37710960e-01 -6.75028250e-01 -1.09271109e-02 2.07610005e+02] [ 1.49632515e-02 1.66907429e-04 9.99888030e-01 1.00706065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6992541539998 meters Centerline goodness [0,1] 0.9998098457637862 Centerline is valid? [True, True] Translation: X:892.50, Y:207.63, Z:10.07 [[-6.75195916e-01 -7.37555449e-01 1.10649860e-02 8.92498948e+02] [ 7.37460753e-01 -6.75286552e-01 -1.18199261e-02 2.07628237e+02] [ 1.61898871e-02 1.79227110e-04 9.99868919e-01 1.00663256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7292541539998 meters Centerline goodness [0,1] 0.9999154334038055 Centerline is valid? [True, True] Translation: X:892.48, Y:207.65, Z:10.07 [[-6.75002308e-01 -7.37738540e-01 1.06644106e-02 8.92478885e+02] [ 7.37650690e-01 -6.75086523e-01 -1.13862439e-02 2.07648053e+02] [ 1.55994708e-02 1.80868925e-04 9.99878305e-01 1.00679693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7592541539998 meters Centerline goodness [0,1] 0.9999154637867996 Centerline is valid? [True, True] Translation: X:892.46, Y:207.67, Z:10.07 [[-6.75198661e-01 -7.37549760e-01 1.12747662e-02 8.92459552e+02] [ 7.37451657e-01 -6.75292763e-01 -1.20306989e-02 2.07668412e+02] [ 1.64870071e-02 1.91483254e-04 9.99864062e-01 1.00681029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7892541539998 meters Centerline goodness [0,1] 0.9998730722853335 Centerline is valid? [True, True] Translation: X:892.44, Y:207.69, Z:10.07 [[-6.75524204e-01 -7.37240439e-01 1.19826779e-02 8.92440582e+02] [ 7.37129720e-01 -6.75630443e-01 -1.27781556e-02 2.07688058e+02] [ 1.75164350e-02 2.00834568e-04 9.99846555e-01 1.00667751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.8192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.42, Y:207.71, Z:10.07 [[-6.75935284e-01 -7.36873083e-01 1.13820387e-02 8.92422179e+02] [ 7.36773253e-01 -6.76031082e-01 -1.21305255e-02 2.07709676e+02] [ 1.66332697e-02 1.86531462e-04 9.99861640e-01 1.00712350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.849254154 meters Centerline goodness [0,1] 0.9999576567230538 Centerline is valid? [True, True] Translation: X:892.40, Y:207.73, Z:10.07 [[-6.77186466e-01 -7.35723023e-01 1.14071749e-02 8.92404100e+02] [ 7.35622706e-01 -6.77282516e-01 -1.21502029e-02 2.07730953e+02] [ 1.66650641e-02 1.63423956e-04 9.99861115e-01 1.00704491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.879254154 meters Centerline goodness [0,1] 0.9998093179940253 Centerline is valid? [True, True] Translation: X:892.39, Y:207.75, Z:10.07 [[-6.78110299e-01 -7.34863605e-01 1.19123656e-02 8.92385237e+02] [ 7.34754203e-01 -6.78214906e-01 -1.26807944e-02 2.07751740e+02] [ 1.73977982e-02 1.53683395e-04 9.99848635e-01 1.00679384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9092541539999 meters Centerline goodness [0,1] 0.9999788175983393 Centerline is valid? [True, True] Translation: X:892.37, Y:207.77, Z:10.07 [[-6.79101552e-01 -7.33962915e-01 1.09326029e-02 8.92367695e+02] [ 7.33870759e-01 -6.79189535e-01 -1.16312333e-02 2.07773537e+02] [ 1.59622033e-02 1.24329007e-04 9.99872588e-01 1.00725354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9392541539999 meters Centerline goodness [0,1] 0.9999788453808889 Centerline is valid? [True, True] Translation: X:892.35, Y:207.79, Z:10.07 [[-6.79756482e-01 -7.33355110e-01 1.10185680e-02 8.92349793e+02] [ 7.33261513e-01 -6.79845769e-01 -1.17167806e-02 2.07793448e+02] [ 1.60834877e-02 1.14934324e-04 9.99870646e-01 1.00722530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9692541539998 meters Centerline goodness [0,1] 0.999894372148048 Centerline is valid? [True, True] Translation: X:892.33, Y:207.82, Z:10.07 [[-6.80689335e-01 -7.32490015e-01 1.09729684e-02 8.92331723e+02] [ 7.32397177e-01 -6.80777767e-01 -1.16621937e-02 2.07815255e+02] [ 1.60125934e-02 9.82401777e-05 9.99871785e-01 1.00712219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9992541539998 meters Centerline goodness [0,1] 0.9997664444350078 Centerline is valid? [True, True] Translation: X:892.31, Y:207.84, Z:10.07 [[-6.82031406e-01 -7.31236447e-01 1.12436590e-02 8.92314961e+02] [ 7.31138900e-01 -6.82124075e-01 -1.19438306e-02 2.07836575e+02] [ 1.64033347e-02 7.46089092e-05 9.99865453e-01 1.00698237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.0292541539998 meters Centerline goodness [0,1] 0.9997042357663463 Centerline is valid? [True, True] Translation: X:892.30, Y:207.86, Z:10.07 [[-6.82401322e-01 -7.30892655e-01 1.11517775e-02 8.92296765e+02] [ 7.30796749e-01 -6.82492434e-01 -1.18401454e-02 2.07857901e+02] [ 1.62648791e-02 6.99518652e-05 9.99867716e-01 1.00716335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.0592541539997 meters Centerline goodness [0,1] 0.9998301594378277 Centerline is valid? [True, True] Translation: X:892.28, Y:207.88, Z:10.07 [[-6.82932215e-01 -7.30400055e-01 1.09247476e-02 8.92279429e+02] [ 7.30308060e-01 -6.83019587e-01 -1.15922701e-02 2.07878275e+02] [ 1.59288113e-02 6.16964716e-05 9.99873127e-01 1.00712165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.089254154 meters Centerline goodness [0,1] 0.9998511588347863 Centerline is valid? [True, True] Translation: X:892.26, Y:207.90, Z:10.07 [[-6.82576010e-01 -7.30729620e-01 1.11451173e-02 8.92261790e+02] [ 7.30634041e-01 -6.82666989e-01 -1.18186546e-02 2.07898585e+02] [ 1.62446447e-02 7.58719365e-05 9.99868044e-01 1.00722966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.119254154 meters Centerline goodness [0,1] 0.9999362922064132 Centerline is valid? [True, True] Translation: X:892.24, Y:207.92, Z:10.08 [[-6.82155245e-01 -7.31137801e-01 1.00865247e-02 8.92243379e+02] [ 7.31059653e-01 -6.82229807e-01 -1.06898621e-02 2.07920389e+02] [ 1.46970901e-02 8.17057911e-05 9.99891989e-01 1.00756890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.149254154 meters Centerline goodness [0,1] 0.9999151625697258 Centerline is valid? [True, True] Translation: X:892.22, Y:207.94, Z:10.08 [[-6.82286361e-01 -7.31018535e-01 9.86021188e-03 8.92224963e+02] [ 7.30943930e-01 -6.82357601e-01 -1.04439416e-02 2.07941281e+02] [ 1.43629054e-02 8.15031419e-05 9.99896845e-01 1.00757303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1792541539999 meters Centerline goodness [0,1] 0.9998296458763655 Centerline is valid? [True, True] Translation: X:892.21, Y:207.96, Z:10.08 [[-6.82480489e-01 -7.30834610e-01 1.00575819e-02 8.92206333e+02] [ 7.30757062e-01 -6.82554588e-01 -1.06466416e-02 2.07962555e+02] [ 1.46457829e-02 8.35238480e-05 9.99892741e-01 1.00754579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2092541539998 meters Centerline goodness [0,1] 0.9999575821845175 Centerline is valid? [True, True] Translation: X:892.19, Y:207.98, Z:10.08 [[-6.82430131e-01 -7.30892470e-01 9.23650905e-03 8.92187871e+02] [ 7.30827149e-01 -6.82492630e-01 -9.77176854e-03 2.07982758e+02] [ 1.34459614e-02 8.17422923e-05 9.99909596e-01 1.00780364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2392541539998 meters Centerline goodness [0,1] 0.9998934969220611 Centerline is valid? [True, True] Translation: X:892.17, Y:208.00, Z:10.08 [[-6.82319989e-01 -7.30991148e-01 9.55893764e-03 8.92169052e+02] [ 7.30921283e-01 -6.82386938e-01 -1.01066870e-02 2.08003915e+02] [ 1.39107929e-02 9.08363834e-05 9.99903236e-01 1.00767672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2692541539998 meters Centerline goodness [0,1] 0.9999360532037345 Centerline is valid? [True, True] Translation: X:892.15, Y:208.02, Z:10.08 [[-6.81319170e-01 -7.31928749e-01 9.19208854e-03 8.92150078e+02] [ 7.31864303e-01 -6.81381166e-01 -9.71329540e-03 2.08024833e+02] [ 1.33727562e-02 1.09507109e-04 9.99910575e-01 1.00778897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.13, Y:208.05, Z:10.08 [[-6.80808384e-01 -7.32405489e-01 9.06335667e-03 8.92131333e+02] [ 7.32342950e-01 -6.80868699e-01 -9.57174272e-03 2.08045223e+02] [ 1.31813528e-02 1.20962668e-04 9.99913115e-01 1.00798028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:892.11, Y:208.07, Z:10.08 [[-6.79912521e-01 -7.33235234e-01 9.22248393e-03 8.92113349e+02] [ 7.33170635e-01 -6.79975051e-01 -9.73395222e-03 2.08065440e+02] [ 1.34083357e-02 1.43418399e-04 9.99910094e-01 1.00796459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.359254154 meters Centerline goodness [0,1] 0.999808844144259 Centerline is valid? [True, True] Translation: X:892.09, Y:208.09, Z:10.08 [[-6.80029983e-01 -7.33113244e-01 1.02075662e-02 8.92094100e+02] [ 7.33034191e-01 -6.80106570e-01 -1.07669847e-02 2.08086565e+02] [ 1.48356519e-02 1.60622571e-04 9.99889933e-01 1.00759298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.389254154 meters Centerline goodness [0,1] 0.9998936667942665 Centerline is valid? [True, True] Translation: X:892.08, Y:208.11, Z:10.08 [[-6.78995238e-01 -7.34079764e-01 9.61079928e-03 8.92075908e+02] [ 7.34009862e-01 -6.79063229e-01 -1.01318051e-02 2.08108624e+02] [ 1.39638935e-02 1.74974023e-04 9.99902485e-01 1.00778454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4192541539999 meters Centerline goodness [0,1] 0.9999150887322747 Centerline is valid? [True, True] Translation: X:892.06, Y:208.13, Z:10.08 [[-6.78501886e-01 -7.34538462e-01 9.40418241e-03 8.92056856e+02] [ 7.34471656e-01 -6.78567030e-01 -9.90820691e-03 2.08129784e+02] [ 1.36593272e-02 1.84368358e-04 9.99906690e-01 1.00783505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4492541539998 meters Centerline goodness [0,1] 0.9999147085163547 Centerline is valid? [True, True] Translation: X:892.04, Y:208.15, Z:10.08 [[-6.78175903e-01 -7.34838591e-01 9.47047132e-03 8.92038576e+02] [ 7.34770951e-01 -6.78241997e-01 -9.97210405e-03 2.08150762e+02] [ 1.37511583e-02 1.95786555e-04 9.99905429e-01 1.00785369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4792541539998 meters Centerline goodness [0,1] 0.9998084331963986 Centerline is valid? [True, True] Translation: X:892.02, Y:208.17, Z:10.08 [[-6.77636554e-01 -7.35329581e-01 9.95528937e-03 8.92021236e+02] [ 7.35254971e-01 -6.77709642e-01 -1.04770806e-02 2.08171623e+02] [ 1.44509029e-02 2.20023202e-04 9.99895556e-01 1.00771874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5092541539998 meters Centerline goodness [0,1] 0.999871696176546 Centerline is valid? [True, True] Translation: X:892.00, Y:208.19, Z:10.08 [[-6.77275240e-01 -7.35673131e-01 9.12659788e-03 8.92003586e+02] [ 7.35610518e-01 -6.77336696e-01 -9.60028628e-03 2.08194219e+02] [ 1.32444523e-02 2.11585205e-04 9.99912266e-01 1.00784881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5392541539998 meters Centerline goodness [0,1] 0.999807774455361 Centerline is valid? [True, True] Translation: X:891.99, Y:208.22, Z:10.08 [[-6.77145620e-01 -7.35790775e-01 9.25983492e-03 8.91985055e+02] [ 7.35726408e-01 -6.77208895e-01 -9.73472628e-03 2.08215377e+02] [ 1.34335644e-02 2.20877823e-04 9.99909741e-01 1.00779451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5692541539997 meters Centerline goodness [0,1] 0.999957216505872 Centerline is valid? [True, True] Translation: X:891.97, Y:208.24, Z:10.08 [[-6.76580078e-01 -7.36322637e-01 8.26877977e-03 8.91968321e+02] [ 7.36271409e-01 -6.76630572e-01 -8.68799823e-03 2.08236237e+02] [ 1.19920789e-02 2.09939606e-04 9.99928070e-01 1.00799609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.599254154 meters Centerline goodness [0,1] 0.9998289318935101 Centerline is valid? [True, True] Translation: X:891.95, Y:208.26, Z:10.08 [[-6.76451433e-01 -7.36430287e-01 9.15919551e-03 8.91949852e+02] [ 7.36367523e-01 -6.76513396e-01 -9.61751372e-03 2.08257377e+02] [ 1.32789468e-02 2.38753165e-04 9.99911802e-01 1.00775422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.629254154 meters Centerline goodness [0,1] 0.9999141170155663 Centerline is valid? [True, True] Translation: X:891.93, Y:208.28, Z:10.08 [[-6.75028051e-01 -7.37729303e-01 9.62322079e-03 8.91932934e+02] [ 7.37660221e-01 -6.75096583e-01 -1.00996092e-02 2.08278089e+02] [ 1.39473811e-02 2.81147682e-04 9.99902691e-01 1.00779562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6592541539999 meters Centerline goodness [0,1] 0.9998495917490331 Centerline is valid? [True, True] Translation: X:891.92, Y:208.30, Z:10.08 [[-6.73716862e-01 -7.38911416e-01 1.07475377e-02 8.91915954e+02] [ 7.38825487e-01 -6.73802494e-01 -1.12738271e-02 2.08301033e+02] [ 1.55720772e-02 3.45187360e-04 9.99878688e-01 1.00767378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.90, Y:208.32, Z:10.08 [[-6.72855146e-01 -7.39702241e-01 1.03222031e-02 8.91897144e+02] [ 7.39623165e-01 -6.72934224e-01 -1.08214610e-02 2.08320044e+02] [ 1.49508227e-02 3.53264757e-04 9.99888168e-01 1.00794122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.88, Y:208.34, Z:10.08 [[-6.72420511e-01 -7.40093172e-01 1.06185080e-02 8.91879112e+02] [ 7.40009643e-01 -6.72504241e-01 -1.11253776e-02 2.08341923e+02] [ 1.53748077e-02 3.76866213e-04 9.99881730e-01 1.00796835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.86, Y:208.36, Z:10.08 [[-6.71346864e-01 -7.41060974e-01 1.10463643e-02 8.91861739e+02] [ 7.40970820e-01 -6.71437605e-01 -1.15666297e-02 2.08362957e+02] [ 1.59885222e-02 4.19813010e-04 9.99872087e-01 1.00793118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7792541539998 meters Centerline goodness [0,1] 0.9998708788843935 Centerline is valid? [True, True] Translation: X:891.84, Y:208.38, Z:10.08 [[-6.71239506e-01 -7.41148210e-01 1.16985966e-02 8.91843764e+02] [ 7.41047237e-01 -6.71341289e-01 -1.22419719e-02 2.08383207e+02] [ 1.69268664e-02 4.51917529e-04 9.99856628e-01 1.00761815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.83, Y:208.41, Z:10.08 [[-6.70314879e-01 -7.41989343e-01 1.13920442e-02 8.91826821e+02] [ 7.41893831e-01 -6.70411514e-01 -1.19141009e-02 2.08405072e+02] [ 1.64774935e-02 4.65488178e-04 9.99864129e-01 1.00792415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.839254154 meters Centerline goodness [0,1] 0.9998064973877148 Centerline is valid? [True, True] Translation: X:891.81, Y:208.43, Z:10.07 [[-6.70463275e-01 -7.41836444e-01 1.25573199e-02 8.91808134e+02] [ 7.41720512e-01 -6.70580663e-01 -1.31246500e-02 2.08425260e+02] [ 1.81570396e-02 5.14425906e-04 9.99835015e-01 1.00747114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.79, Y:208.45, Z:10.08 [[-6.70342817e-01 -7.41954040e-01 1.20295485e-02 8.91793689e+02] [ 7.41847794e-01 -6.70450558e-01 -1.25657777e-02 2.08450174e+02] [ 1.73884471e-02 5.00715170e-04 9.99848684e-01 1.00796191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.899254154 meters Centerline goodness [0,1] 0.9997831790290757 Centerline is valid? [True, True] Translation: X:891.77, Y:208.47, Z:10.07 [[-6.70893413e-01 -7.41441830e-01 1.28856850e-02 8.91774384e+02] [ 7.41319982e-01 -6.71016941e-01 -1.34517608e-02 2.08469544e+02] [ 1.86202111e-02 5.27718066e-04 9.99826490e-01 1.00748663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9292541539999 meters Centerline goodness [0,1] 0.9998479582971329 Centerline is valid? [True, True] Translation: X:891.76, Y:208.49, Z:10.08 [[-6.71604573e-01 -7.40807114e-01 1.23335864e-02 8.91760170e+02] [ 7.40695511e-01 -6.71717632e-01 -1.28679138e-02 2.08494755e+02] [ 1.78173295e-02 4.93282352e-04 9.99841137e-01 1.00775281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.74, Y:208.52, Z:10.08 [[-6.71822666e-01 -7.40623814e-01 1.14311826e-02 8.91742414e+02] [ 7.40528032e-01 -6.71919755e-01 -1.19195627e-02 2.08515294e+02] [ 1.65087494e-02 4.57278814e-04 9.99863617e-01 1.00812687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9892541539998 meters Centerline goodness [0,1] 0.9999562650338946 Centerline is valid? [True, True] Translation: X:891.73, Y:208.54, Z:10.08 [[-6.72231436e-01 -7.40260284e-01 1.09365658e-02 8.91727436e+02] [ 7.40172670e-01 -6.72320254e-01 -1.13971406e-02 2.08539601e+02] [ 1.57897252e-02 4.33430888e-04 9.99875241e-01 1.00819457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0192541539998 meters Centerline goodness [0,1] 0.9999781047468909 Centerline is valid? [True, True] Translation: X:891.71, Y:208.56, Z:10.08 [[-6.72304722e-01 -7.40203353e-01 1.02643297e-02 8.91706136e+02] [ 7.40126250e-01 -6.72382948e-01 -1.06913514e-02 2.08556463e+02] [ 1.48153344e-02 4.09053845e-04 9.99890163e-01 1.00814638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0492541539998 meters Centerline goodness [0,1] 0.9998244574638492 Centerline is valid? [True, True] Translation: X:891.69, Y:208.58, Z:10.08 [[-6.73234251e-01 -7.39344431e-01 1.12006813e-02 8.91692086e+02] [ 7.39252607e-01 -6.73327281e-01 -1.16600392e-02 2.08580535e+02] [ 1.61625094e-02 4.30195090e-04 9.99869286e-01 1.00800119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.079254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.68, Y:208.61, Z:10.08 [[-6.75995368e-01 -7.36828568e-01 1.06735329e-02 8.91676724e+02] [ 7.36744968e-01 -6.76079533e-01 -1.11048350e-02 2.08605176e+02] [ 1.53985168e-02 3.56854649e-04 9.99881372e-01 1.00834301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.109254154 meters Centerline goodness [0,1] 0.9999116588263876 Centerline is valid? [True, True] Translation: X:891.66, Y:208.63, Z:10.08 [[-6.78492239e-01 -7.34523824e-01 1.10920787e-02 8.91659147e+02] [ 7.34433337e-01 -6.78582824e-01 -1.15336222e-02 2.08627465e+02] [ 1.59986144e-02 3.20919263e-04 9.99871962e-01 1.00813289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.139254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.64, Y:208.65, Z:10.08 [[-6.81043883e-01 -7.32160244e-01 1.09821030e-02 8.91642706e+02] [ 7.32071337e-01 -6.81132370e-01 -1.14128272e-02 2.08649308e+02] [ 1.58362842e-02 2.67046619e-04 9.99874563e-01 1.00836318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1692541539999 meters Centerline goodness [0,1] 0.9999115063826022 Centerline is valid? [True, True] Translation: X:891.63, Y:208.67, Z:10.08 [[-6.86726045e-01 -7.26836201e-01 1.07923709e-02 8.91629407e+02] [ 7.26749769e-01 -6.86810829e-01 -1.12097237e-02 2.08673711e+02] [ 1.55599501e-02 1.45343838e-04 9.99878926e-01 1.00821952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1992541539998 meters Centerline goodness [0,1] 0.9999115592111082 Centerline is valid? [True, True] Translation: X:891.61, Y:208.70, Z:10.08 [[-6.89387398e-01 -7.24315906e-01 1.05585572e-02 8.91612967e+02] [ 7.24232978e-01 -6.89468244e-01 -1.09605650e-02 2.08696240e+02] [ 1.52187014e-02 9.07799363e-05 9.99884185e-01 1.00827377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.60, Y:208.72, Z:10.09 [[-6.92949329e-01 -7.20922226e-01 9.61104252e-03 8.91598882e+02] [ 7.20853272e-01 -6.93015977e-01 -9.97077624e-03 2.08718745e+02] [ 1.38487602e-02 1.89087418e-05 9.99904101e-01 1.00867347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.58, Y:208.74, Z:10.09 [[-6.93480459e-01 -7.20420672e-01 8.88301407e-03 8.91579352e+02] [ 7.20361800e-01 -6.93537350e-01 -9.20990941e-03 2.08738482e+02] [ 1.27957112e-02 1.20917943e-05 9.99918131e-01 1.00876202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.56, Y:208.76, Z:10.09 [[-6.93616214e-01 -7.20293133e-01 8.62272876e-03 8.91560150e+02] [ 7.20237718e-01 -6.93669809e-01 -8.93452729e-03 2.08756412e+02] [ 1.24168053e-02 1.32814959e-05 9.99922908e-01 1.00874092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.3192541539997 meters Centerline goodness [0,1] 0.9998891893089845 Centerline is valid? [True, True] Translation: X:891.54, Y:208.78, Z:10.08 [[-6.93516255e-01 -7.20380686e-01 9.32054661e-03 8.91539952e+02] [ 7.20316035e-01 -6.93578883e-01 -9.65102268e-03 2.08775232e+02] [ 1.34169446e-02 2.05980793e-05 9.99909989e-01 1.00847048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.349254154 meters Centerline goodness [0,1] 0.9998891893089845 Centerline is valid? [True, True] Translation: X:891.52, Y:208.79, Z:10.08 [[-6.93745416e-01 -7.20159960e-01 9.32361459e-03 8.91521268e+02] [ 7.20095330e-01 -6.93808065e-01 -9.64805831e-03 2.08794411e+02] [ 1.34169443e-02 2.05950955e-05 9.99909989e-01 1.00848901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.50, Y:208.81, Z:10.09 [[-6.93559433e-01 -7.20337756e-01 9.42496166e-03 8.91502183e+02] [ 7.20271814e-01 -6.93623469e-01 -9.74670664e-03 2.08813265e+02] [ 1.35582954e-02 2.86139017e-05 9.99908082e-01 1.00869196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.48, Y:208.83, Z:10.09 [[-6.93594766e-01 -7.20297780e-01 9.86957671e-03 8.91482671e+02] [ 7.20225554e-01 -6.93664982e-01 -1.02002071e-02 2.08832947e+02] [ 1.41933663e-02 3.35110636e-05 9.99899269e-01 1.00868481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.46, Y:208.85, Z:10.09 [[-6.93104000e-01 -7.20762229e-01 1.04237334e-02 8.91463518e+02] [ 7.20681821e-01 -6.93182376e-01 -1.07660185e-02 2.08851156e+02] [ 1.49852878e-02 5.02246793e-05 9.99887713e-01 1.00856081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4692541539998 meters Centerline goodness [0,1] 0.9997789029162706 Centerline is valid? [True, True] Translation: X:891.44, Y:208.87, Z:10.08 [[-6.92694028e-01 -7.21136980e-01 1.16807642e-02 8.91442259e+02] [ 7.21036194e-01 -6.92792502e-01 -1.20563502e-02 2.08869050e+02] [ 1.67866259e-02 7.08919411e-05 9.99859092e-01 1.00814592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4992541539998 meters Centerline goodness [0,1] 0.9999779088519231 Centerline is valid? [True, True] Translation: X:891.42, Y:208.89, Z:10.09 [[-6.92432944e-01 -7.21398745e-01 1.09758181e-02 8.91422005e+02] [ 7.21309894e-01 -6.92519924e-01 -1.13221989e-02 2.08889049e+02] [ 1.57687928e-02 7.71026074e-05 9.99875662e-01 1.00852546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.40, Y:208.91, Z:10.09 [[-6.92486692e-01 -7.21352169e-01 1.06409682e-02 8.91401994e+02] [ 7.21268752e-01 -6.92568439e-01 -1.09701907e-02 2.08907093e+02] [ 1.52829695e-02 7.82867901e-05 9.99883206e-01 1.00854824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.5592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.38, Y:208.93, Z:10.09 [[-6.92669252e-01 -7.21178582e-01 1.05242558e-02 8.91382124e+02] [ 7.21097063e-01 -6.92749194e-01 -1.08434375e-02 2.08926515e+02] [ 1.51107246e-02 7.80941682e-05 9.99885823e-01 1.00862037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.589254154 meters Centerline goodness [0,1] 0.9997801134614539 Centerline is valid? [True, True] Translation: X:891.36, Y:208.95, Z:10.08 [[-6.93115746e-01 -7.20746052e-01 1.07560256e-02 8.91362759e+02] [ 7.20660955e-01 -6.93199195e-01 -1.10754127e-02 2.08945158e+02] [ 1.54386282e-02 7.49047749e-05 9.99880814e-01 1.00843836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.34, Y:208.96, Z:10.09 [[-6.93622205e-01 -7.20273493e-01 9.71246148e-03 8.91342762e+02] [ 7.20204147e-01 -6.93690198e-01 -9.99475619e-03 2.08964121e+02] [ 1.39363973e-02 6.23702156e-05 9.99902882e-01 1.00877422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.649254154 meters Centerline goodness [0,1] 0.9998461403200282 Centerline is valid? [True, True] Translation: X:891.32, Y:208.98, Z:10.09 [[-6.94465098e-01 -7.19461987e-01 9.62693119e-03 8.91323121e+02] [ 7.19393861e-01 -6.94531819e-01 -9.90074671e-03 2.08983601e+02] [ 1.38094209e-02 4.98321676e-05 9.99904644e-01 1.00853343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.30, Y:209.00, Z:10.09 [[-6.95194615e-01 -7.18776763e-01 8.02569707e-03 8.91302761e+02] [ 7.18729420e-01 -6.95240939e-01 -8.24970366e-03 2.09002997e+02] [ 1.15094885e-02 3.31550402e-05 9.99933763e-01 1.00889160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.28, Y:209.02, Z:10.09 [[-6.96096829e-01 -7.17906540e-01 7.70744438e-03 8.91282937e+02] [ 7.17862873e-01 -6.96139497e-01 -7.91802467e-03 2.09021778e+02] [ 1.10498582e-02 2.11763018e-05 9.99938948e-01 1.00887513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.26, Y:209.04, Z:10.09 [[-6.96510075e-01 -7.17504290e-01 7.83003908e-03 8.91263589e+02] [ 7.17459254e-01 -6.96554085e-01 -8.03897343e-03 2.09041078e+02] [ 1.12220436e-02 1.85080181e-05 9.99937031e-01 1.00886486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7692541539998 meters Centerline goodness [0,1] 0.9998904157625967 Centerline is valid? [True, True] Translation: X:891.24, Y:209.06, Z:10.09 [[-6.97089900e-01 -7.16925239e-01 9.15819369e-03 8.91244634e+02] [ 7.16863665e-01 -6.97150056e-01 -9.39600831e-03 2.09059983e+02] [ 1.31208708e-02 1.53137964e-05 9.99913918e-01 1.00861334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7992541539998 meters Centerline goodness [0,1] 0.9998469577384727 Centerline is valid? [True, True] Translation: X:891.23, Y:209.08, Z:10.08 [[-6.97121046e-01 -7.16882574e-01 1.00807754e-02 8.91225162e+02] [ 7.16808064e-01 -6.97193929e-01 -1.03356299e-02 2.09079214e+02] [ 1.44376884e-02 2.07960001e-05 9.99895771e-01 1.00845668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.829254154 meters Centerline goodness [0,1] 0.9999780287384101 Centerline is valid? [True, True] Translation: X:891.21, Y:209.10, Z:10.09 [[-6.96813013e-01 -7.17181132e-01 1.01414737e-02 8.91205110e+02] [ 7.17105843e-01 -6.96886808e-01 -1.03916649e-02 2.09098512e+02] [ 1.45201652e-02 3.14627108e-05 9.99894576e-01 1.00872683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.859254154 meters Centerline goodness [0,1] 0.9998248801523543 Centerline is valid? [True, True] Translation: X:891.19, Y:209.12, Z:10.08 [[-6.96007363e-01 -7.17948964e-01 1.10921594e-02 8.91185223e+02] [ 7.17859112e-01 -6.96095742e-01 -1.13583866e-02 2.09115282e+02] [ 1.58759468e-02 5.70870220e-05 9.99873968e-01 1.00835811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.889254154 meters Centerline goodness [0,1] 0.9998905644684716 Centerline is valid? [True, True] Translation: X:891.16, Y:209.13, Z:10.08 [[-6.95065310e-01 -7.18874882e-01 1.01547068e-02 8.91164793e+02] [ 7.18799771e-01 -6.95139481e-01 -1.03919122e-02 2.09132770e+02] [ 1.45294222e-02 7.61432544e-05 9.99894439e-01 1.00844869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9192541539999 meters Centerline goodness [0,1] 0.9997592207507935 Centerline is valid? [True, True] Translation: X:891.14, Y:209.15, Z:10.08 [[-6.94980071e-01 -7.18953110e-01 1.04463532e-02 8.91144492e+02] [ 7.18873728e-01 -6.95058572e-01 -1.06838287e-02 2.09152800e+02] [ 1.49419992e-02 8.45607987e-05 9.99888359e-01 1.00835714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9492541539998 meters Centerline goodness [0,1] 0.9999561124399289 Centerline is valid? [True, True] Translation: X:891.13, Y:209.17, Z:10.09 [[-6.94867143e-01 -7.19075655e-01 9.47924868e-03 8.91125797e+02] [ 7.19010382e-01 -6.94931792e-01 -9.68894925e-03 2.09170981e+02] [ 1.35545188e-02 8.31457298e-05 9.99908130e-01 1.00864503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9792541539998 meters Centerline goodness [0,1] 0.9998027872732054 Centerline is valid? [True, True] Translation: X:891.11, Y:209.19, Z:10.08 [[-6.94727944e-01 -7.19207008e-01 9.71414135e-03 8.91107366e+02] [ 7.19138564e-01 -6.94795849e-01 -9.92242451e-03 2.09190502e+02] [ 1.38856223e-02 9.24280859e-05 9.99903586e-01 1.00839630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0092541539998 meters Centerline goodness [0,1] 0.9999342912213072 Centerline is valid? [True, True] Translation: X:891.09, Y:209.21, Z:10.09 [[-6.93867881e-01 -7.20039745e-01 9.49363909e-03 8.91089407e+02] [ 7.19974524e-01 -6.93932817e-01 -9.69176468e-03 2.09209048e+02] [ 1.35664035e-02 1.10374057e-04 9.99907966e-01 1.00861011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.07, Y:209.23, Z:10.09 [[-6.93336816e-01 -7.20554208e-01 9.25711426e-03 8.91070316e+02] [ 7.20492312e-01 -6.93398601e-01 -9.44506162e-03 2.09227983e+02] [ 1.32245490e-02 1.21070702e-04 9.99912545e-01 1.00882100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0692541539997 meters Centerline goodness [0,1] 0.9999780441751197 Centerline is valid? [True, True] Translation: X:891.05, Y:209.25, Z:10.09 [[-6.91862252e-01 -7.21965248e-01 9.63355016e-03 8.91049642e+02] [ 7.21898437e-01 -6.91929300e-01 -9.82294807e-03 2.09246107e+02] [ 1.37575628e-02 1.58317826e-04 9.99905348e-01 1.00861540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.099254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.03, Y:209.27, Z:10.09 [[-6.90762834e-01 -7.23015133e-01 9.78900546e-03 8.91029465e+02] [ 7.22946336e-01 -6.90832167e-01 -9.97559460e-03 2.09265785e+02] [ 1.39750657e-02 1.86155640e-04 9.99902327e-01 1.00867728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.129254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:891.01, Y:209.29, Z:10.09 [[-6.89870963e-01 -7.23860500e-01 1.01995494e-02 8.91008884e+02] [ 7.23785992e-01 -6.89946324e-01 -1.03878915e-02 2.09285584e+02] [ 1.45565259e-02 2.15986263e-04 9.99894025e-01 1.00866729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1592541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.99, Y:209.30, Z:10.09 [[-6.87712875e-01 -7.25908693e-01 1.03717005e-02 8.90988779e+02] [ 7.25831958e-01 -6.87791028e-01 -1.05579639e-02 2.09303471e+02] [ 1.47976803e-02 2.67264031e-04 9.99890473e-01 1.00860247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1892541539999 meters Centerline goodness [0,1] 0.9999123575810692 Centerline is valid? [True, True] Translation: X:890.97, Y:209.32, Z:10.08 [[-6.87209480e-01 -7.26381156e-01 1.06558009e-02 8.90968640e+02] [ 7.26300300e-01 -6.87292028e-01 -1.08416611e-02 2.09323295e+02] [ 1.51988254e-02 2.88819082e-04 9.99884449e-01 1.00840960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2192541539998 meters Centerline goodness [0,1] 0.999802748372674 Centerline is valid? [True, True] Translation: X:890.95, Y:209.34, Z:10.08 [[-6.86056068e-01 -7.27467603e-01 1.08608333e-02 8.90948343e+02] [ 7.27383840e-01 -6.86141954e-01 -1.10438870e-02 2.09342322e+02] [ 1.54861434e-02 3.23268957e-04 9.99880030e-01 1.00824858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2492541539998 meters Centerline goodness [0,1] 0.9997368940340722 Centerline is valid? [True, True] Translation: X:890.93, Y:209.36, Z:10.08 [[-6.85758956e-01 -7.27743362e-01 1.11468801e-02 8.90929209e+02] [ 7.27655262e-01 -6.85849460e-01 -1.13286647e-02 2.09360905e+02] [ 1.58894423e-02 3.42352680e-04 9.99873696e-01 1.00815820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.91, Y:209.38, Z:10.09 [[-6.86050826e-01 -7.27480282e-01 1.03297427e-02 8.90911767e+02] [ 7.27404677e-01 -6.86128516e-01 -1.04926358e-02 2.09383311e+02] [ 1.47207167e-02 3.15421711e-04 9.99891595e-01 1.00867548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.3092541539997 meters Centerline goodness [0,1] 0.9999340369393139 Centerline is valid? [True, True] Translation: X:890.89, Y:209.40, Z:10.09 [[-6.86982487e-01 -7.26597661e-01 1.05309778e-02 8.90893342e+02] [ 7.26519075e-01 -6.87063131e-01 -1.06905445e-02 2.09403362e+02] [ 1.50031712e-02 3.06739427e-04 9.99887399e-01 1.00852752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.339254154 meters Centerline goodness [0,1] 0.9999119660188833 Centerline is valid? [True, True] Translation: X:890.87, Y:209.42, Z:10.09 [[-6.87490965e-01 -7.26121398e-01 1.01925350e-02 8.90874213e+02] [ 7.26047819e-01 -6.87566455e-01 -1.03409016e-02 2.09424024e+02] [ 1.45167951e-02 2.90991384e-04 9.99894583e-01 1.00877770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.369254154 meters Centerline goodness [0,1] 0.9998676314860572 Centerline is valid? [True, True] Translation: X:890.86, Y:209.44, Z:10.09 [[-6.88643424e-01 -7.25033512e-01 9.83060528e-03 8.90856202e+02] [ 7.24965024e-01 -6.88713538e-01 -9.96878227e-03 2.09444022e+02] [ 1.39981722e-02 2.61908641e-04 9.99901987e-01 1.00871069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.399254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.84, Y:209.46, Z:10.09 [[-6.89071054e-01 -7.24627032e-01 9.83604863e-03 8.90837402e+02] [ 7.24558496e-01 -6.89141204e-01 -9.96929717e-03 2.09464251e+02] [ 1.40024486e-02 2.57238498e-04 9.99901928e-01 1.00887346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4292541539999 meters Centerline goodness [0,1] 0.9999561480442027 Centerline is valid? [True, True] Translation: X:890.82, Y:209.48, Z:10.09 [[-6.90042380e-01 -7.23694567e-01 1.03772822e-02 8.90819197e+02] [ 7.23618276e-01 -6.90120358e-01 -1.05110782e-02 2.09483543e+02] [ 1.47683838e-02 2.56101625e-04 9.99890909e-01 1.00866649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4592541539998 meters Centerline goodness [0,1] 0.9998238777711732 Centerline is valid? [True, True] Translation: X:890.80, Y:209.50, Z:10.08 [[-6.90918973e-01 -7.22847106e-01 1.10920675e-02 8.90800065e+02] [ 7.22759953e-01 -6.91007955e-01 -1.12274709e-02 2.09503639e+02] [ 1.57804517e-02 2.59629481e-04 9.99875447e-01 1.00836401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.78, Y:209.52, Z:10.09 [[-6.91586284e-01 -7.22208439e-01 1.11078027e-02 8.90782339e+02] [ 7.22121069e-01 -6.91675436e-01 -1.12362321e-02 2.09523942e+02] [ 1.57978959e-02 2.50354330e-04 9.99875174e-01 1.00868278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5192541539998 meters Centerline goodness [0,1] 0.9999559994719937 Centerline is valid? [True, True] Translation: X:890.76, Y:209.54, Z:10.09 [[-6.91914064e-01 -7.21893219e-01 1.11852147e-02 8.90763701e+02] [ 7.21804695e-01 -6.92004421e-01 -1.13077292e-02 2.09544703e+02] [ 1.59031911e-02 2.49563626e-04 9.99873505e-01 1.00879347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5492541539998 meters Centerline goodness [0,1] 0.9999559607169596 Centerline is valid? [True, True] Translation: X:890.74, Y:209.56, Z:10.09 [[-6.92096660e-01 -7.21719242e-01 1.11152930e-02 8.90744692e+02] [ 7.21631910e-01 -6.92185867e-01 -1.12299771e-02 2.09562408e+02] [ 1.57987393e-02 2.48920457e-04 9.99875161e-01 1.00872135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.579254154 meters Centerline goodness [0,1] 0.9998017533812062 Centerline is valid? [True, True] Translation: X:890.72, Y:209.58, Z:10.09 [[-6.92522592e-01 -7.21306134e-01 1.13982908e-02 8.90724930e+02] [ 7.21214364e-01 -6.92616343e-01 -1.15083541e-02 2.09581765e+02] [ 1.61956889e-02 2.50815844e-04 9.99868810e-01 1.00853980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.609254154 meters Centerline goodness [0,1] 0.9999560642340898 Centerline is valid? [True, True] Translation: X:890.71, Y:209.60, Z:10.09 [[-6.92475084e-01 -7.21371051e-01 1.01027143e-02 8.90705347e+02] [ 7.21299053e-01 -6.92548739e-01 -1.01941509e-02 2.09600891e+02] [ 1.43503873e-02 2.27882752e-04 9.99897002e-01 1.00891974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.639254154 meters Centerline goodness [0,1] 0.9999559228650138 Centerline is valid? [True, True] Translation: X:890.69, Y:209.62, Z:10.09 [[-6.93673794e-01 -7.20225061e-01 9.61920013e-03 8.90686172e+02] [ 7.20159763e-01 -6.93740457e-01 -9.70018762e-03 2.09619856e+02] [ 1.36595465e-02 1.98594941e-04 9.99906684e-01 1.00895259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6692541539999 meters Centerline goodness [0,1] 0.9999560642340898 Centerline is valid? [True, True] Translation: X:890.67, Y:209.64, Z:10.09 [[-6.94692943e-01 -7.19242487e-01 9.58956194e-03 8.90667211e+02] [ 7.19177582e-01 -6.94759103e-01 -9.66409742e-03 2.09639573e+02] [ 1.36132649e-02 1.83017686e-04 9.99907318e-01 1.00893170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6992541539998 meters Centerline goodness [0,1] 0.9998680506685432 Centerline is valid? [True, True] Translation: X:890.65, Y:209.66, Z:10.09 [[-6.97492294e-01 -7.16517292e-01 1.03667527e-02 8.90649038e+02] [ 7.16441234e-01 -6.97569315e-01 -1.04407304e-02 2.09660190e+02] [ 1.47124924e-02 1.44840041e-04 9.99891755e-01 1.00871491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7292541539998 meters Centerline goodness [0,1] 0.9999340949033392 Centerline is valid? [True, True] Translation: X:890.63, Y:209.68, Z:10.09 [[-7.00859483e-01 -7.13222852e-01 1.04473961e-02 8.90632406e+02] [ 7.13145336e-01 -7.00937342e-01 -1.05153836e-02 2.09680521e+02] [ 1.48227819e-02 8.07054852e-05 9.99890133e-01 1.00884212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7592541539998 meters Centerline goodness [0,1] 0.9998456654025928 Centerline is valid? [True, True] Translation: X:890.61, Y:209.70, Z:10.09 [[-7.04516304e-01 -7.09605546e-01 1.08049388e-02 8.90614821e+02] [ 7.09522316e-01 -7.04599155e-01 -1.08680647e-02 2.09701446e+02] [ 1.53251898e-02 9.61645126e-06 9.99882562e-01 1.00870960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7892541539998 meters Centerline goodness [0,1] 0.9999780287384101 Centerline is valid? [True, True] Translation: X:890.60, Y:209.72, Z:10.09 [[-7.07445610e-01 -7.06687719e-01 1.06384542e-02 8.90596783e+02] [ 7.06606805e-01 -7.07525594e-01 -1.06938353e-02 2.09722055e+02] [ 1.50841807e-02 -4.81027281e-05 9.99886226e-01 1.00897547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.8192541539997 meters Centerline goodness [0,1] 0.9998679867986798 Centerline is valid? [True, True] Translation: X:890.58, Y:209.74, Z:10.09 [[-7.09400774e-01 -7.04718396e-01 1.10690917e-02 8.90578322e+02] [ 7.04630671e-01 -7.09487121e-01 -1.11194783e-02 2.09741570e+02] [ 1.56894789e-02 -8.85449985e-05 9.99876909e-01 1.00879827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.849254154 meters Centerline goodness [0,1] 0.9997581141701117 Centerline is valid? [True, True] Translation: X:890.56, Y:209.76, Z:10.09 [[-7.11000085e-01 -7.03101488e-01 1.12772750e-02 8.90558934e+02] [ 7.03010339e-01 -7.11089504e-01 -1.13216846e-02 2.09761484e+02] [ 1.59794452e-02 -1.21677755e-04 9.99872313e-01 1.00874389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.879254154 meters Centerline goodness [0,1] 0.9998244690187819 Centerline is valid? [True, True] Translation: X:890.54, Y:209.78, Z:10.09 [[-7.13247679e-01 -7.00826627e-01 1.09447304e-02 8.90541835e+02] [ 7.00740589e-01 -7.13331628e-01 -1.09825117e-02 2.09782153e+02] [ 1.55040590e-02 -1.63834134e-04 9.99879791e-01 1.00873847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.52, Y:209.80, Z:10.09 [[-7.14098150e-01 -6.99967612e-01 1.04486410e-02 8.90520959e+02] [ 6.99889182e-01 -7.14174567e-01 -1.04795152e-02 2.09801633e+02] [ 1.47974749e-02 -1.70511660e-04 9.99890497e-01 1.00923765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.50, Y:209.82, Z:10.09 [[-7.14934464e-01 -6.99111303e-01 1.05876568e-02 8.90502995e+02] [ 6.99030773e-01 -7.15012833e-01 -1.06125879e-02 2.09822220e+02] [ 1.49896906e-02 -1.86206950e-04 9.99887631e-01 1.00913871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9692541539998 meters Centerline goodness [0,1] 0.9999780893952673 Centerline is valid? [True, True] Translation: X:890.48, Y:209.84, Z:10.09 [[-7.15951369e-01 -6.98065289e-01 1.08852703e-02 8.90482549e+02] [ 6.97980153e-01 -7.16034083e-01 -1.09040389e-02 2.09840561e+02] [ 1.54059556e-02 -2.09058958e-04 9.99881299e-01 1.00913474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9992541539998 meters Centerline goodness [0,1] 0.9998899042166685 Centerline is valid? [True, True] Translation: X:890.46, Y:209.86, Z:10.09 [[-7.15829087e-01 -6.98180881e-01 1.14967709e-02 8.90461777e+02] [ 6.98086046e-01 -7.15921373e-01 -1.15091398e-02 2.09858681e+02] [ 1.62662453e-02 -2.12841690e-04 9.99867673e-01 1.00894307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.0292541539998 meters Centerline goodness [0,1] 0.9998679548405555 Centerline is valid? [True, True] Translation: X:890.44, Y:209.88, Z:10.09 [[-7.15264239e-01 -6.98750459e-01 1.20359810e-02 8.90441537e+02] [ 6.98646731e-01 -7.15365470e-01 -1.20411694e-02 2.09877047e+02] [ 1.70238978e-02 -2.03719085e-04 9.99855062e-01 1.00889219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.42, Y:209.90, Z:10.09 [[-7.14294870e-01 -6.99746498e-01 1.17336035e-02 8.90421034e+02] [ 6.99648173e-01 -7.14391216e-01 -1.17313622e-02 2.09895579e+02] [ 1.65913629e-02 -1.70257564e-04 9.99862339e-01 1.00915618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.089254154 meters Centerline goodness [0,1] 0.9998465013266671 Centerline is valid? [True, True] Translation: X:889.89, Y:209.36, Z:11.05 [[-7.50910963e-01 6.60391430e-01 3.98558477e-03 8.89891190e+02] [ 6.60385686e-01 7.50921355e-01 -2.80424324e-03 2.09361889e+02] [-4.84475892e-03 5.26286146e-04 -9.99988126e-01 1.10494820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.119254154 meters Centerline goodness [0,1] 0.9999780142467681 Centerline is valid? [True, True] Translation: X:890.38, Y:209.92, Z:10.09 [[-7.12654440e-01 -7.01392659e-01 1.31143925e-02 8.90381812e+02] [ 7.01279079e-01 -7.12775068e-01 -1.26236502e-02 2.09920586e+02] [ 1.82017476e-02 2.00548749e-04 9.99834314e-01 1.00900306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.149254154 meters Centerline goodness [0,1] 0.9999345249787206 Centerline is valid? [True, True] Translation: X:889.87, Y:209.40, Z:11.05 [[-7.60466019e-01 6.49366507e-01 3.81766438e-03 8.89867398e+02] [ 6.49361316e-01 7.60475455e-01 -2.63898392e-03 2.09395798e+02] [-4.61690782e-03 4.72185969e-04 -9.99989231e-01 1.10482415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1792541539999 meters Centerline goodness [0,1] 0.9998476240231612 Centerline is valid? [True, True] Translation: X:890.34, Y:209.94, Z:10.09 [[-7.07319137e-01 -7.06766488e-01 1.34450824e-02 8.90337703e+02] [ 7.06650579e-01 -7.07446773e-01 -1.28071698e-02 2.09943130e+02] [ 1.85633586e-02 4.42218988e-04 9.99827588e-01 1.00894057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.32, Y:209.92, Z:10.09 [[-6.55469132e-01 -7.55128411e-01 1.18869389e-02 8.90318552e+02] [ 7.55019397e-01 -6.55576672e-01 -1.28427986e-02 2.09916901e+02] [ 1.74907619e-02 5.56811364e-04 9.99846870e-01 1.00933748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2392541539998 meters Centerline goodness [0,1] 0.9999131171398162 Centerline is valid? [True, True] Translation: X:890.30, Y:209.93, Z:10.09 [[-6.51928904e-01 -7.58201569e-01 1.09126191e-02 8.90296334e+02] [ 7.58101752e-01 -6.52020182e-01 -1.23050941e-02 2.09934234e+02] [ 1.64449896e-02 2.50829127e-04 9.99864741e-01 1.00930334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2692541539998 meters Centerline goodness [0,1] 0.9999131171398162 Centerline is valid? [True, True] Translation: X:890.28, Y:209.95, Z:10.09 [[-6.52171731e-01 -7.57992656e-01 1.09163746e-02 8.90278486e+02] [ 7.57892865e-01 -6.52263038e-01 -1.23017622e-02 2.09954187e+02] [ 1.64449930e-02 2.50580853e-04 9.99864741e-01 1.00932174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.26, Y:209.97, Z:10.10 [[-6.50325843e-01 -7.59589432e-01 1.00096337e-02 8.90258427e+02] [ 7.59505822e-01 -6.50402815e-01 -1.12731965e-02 2.09972800e+02] [ 1.50732948e-02 2.71124042e-04 9.99886355e-01 1.00961331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.24, Y:209.99, Z:10.10 [[-6.47135363e-01 -7.62314160e-01 9.64073197e-03 8.90236553e+02] [ 7.62236990e-01 -6.47207089e-01 -1.08514972e-02 2.09990871e+02] [ 1.45118001e-02 3.26134917e-04 9.99894645e-01 1.00975486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.359254154 meters Centerline goodness [0,1] 0.999870034224321 Centerline is valid? [True, True] Translation: X:890.22, Y:210.01, Z:10.09 [[-6.46050073e-01 -7.63227081e-01 1.01845686e-02 8.90215917e+02] [ 7.63141174e-01 -6.46130239e-01 -1.14569944e-02 2.10009955e+02] [ 1.53248461e-02 3.70471542e-04 9.99882499e-01 1.00946756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.389254154 meters Centerline goodness [0,1] 0.9999137243060199 Centerline is valid? [True, True] Translation: X:890.19, Y:210.03, Z:10.10 [[-6.43159798e-01 -7.65665982e-01 1.00537862e-02 8.90193381e+02] [ 7.65582662e-01 -6.43238231e-01 -1.13033253e-02 2.10026234e+02] [ 1.51215513e-02 4.27159959e-04 9.99885572e-01 1.00951563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4192541539999 meters Centerline goodness [0,1] 0.9999354741574 Centerline is valid? [True, True] Translation: X:890.17, Y:210.04, Z:10.10 [[-6.40308392e-01 -7.68049896e-01 1.02235595e-02 8.90171633e+02] [ 7.67964148e-01 -6.40389812e-01 -1.14872125e-02 2.10043545e+02] [ 1.53698157e-02 4.95968588e-04 9.99881754e-01 1.00954022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4492541539998 meters Centerline goodness [0,1] 0.9999138933138159 Centerline is valid? [True, True] Translation: X:890.15, Y:210.06, Z:10.09 [[-6.39232196e-01 -7.68939131e-01 1.07150529e-02 8.90151258e+02] [ 7.68845180e-01 -6.39321761e-01 -1.20322490e-02 2.10063326e+02] [ 1.61024336e-02 5.46815776e-04 9.99870198e-01 1.00945423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4792541539998 meters Centerline goodness [0,1] 0.9998279717873731 Centerline is valid? [True, True] Translation: X:890.13, Y:210.08, Z:10.09 [[-6.38359899e-01 -7.69644600e-01 1.19929050e-02 8.90130453e+02] [ 7.69527171e-01 -6.38472227e-01 -1.34591377e-02 2.10082570e+02] [ 1.80158894e-02 6.37092518e-04 9.99837498e-01 1.00926632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5092541539998 meters Centerline goodness [0,1] 0.9998924361070476 Centerline is valid? [True, True] Translation: X:890.11, Y:210.10, Z:10.09 [[-6.38429597e-01 -7.69588492e-01 1.18828631e-02 8.90112160e+02] [ 7.69473346e-01 -6.38539858e-01 -1.33274191e-02 2.10102494e+02] [ 1.78443100e-02 6.34927629e-04 9.99840576e-01 1.00935408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5392541539998 meters Centerline goodness [0,1] 0.9997631913198854 Centerline is valid? [True, True] Translation: X:890.10, Y:210.12, Z:10.09 [[-6.40104047e-01 -7.68186979e-01 1.24729447e-02 8.90095275e+02] [ 7.68060006e-01 -6.40225247e-01 -1.39807079e-02 2.10124909e+02] [ 1.87252919e-02 6.30862280e-04 9.99824467e-01 1.00929713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5692541539997 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:890.08, Y:210.14, Z:10.10 [[-6.41289402e-01 -7.67209201e-01 1.17450086e-02 8.90075909e+02] [ 7.67096555e-01 -6.41396692e-01 -1.31590239e-02 2.10144166e+02] [ 1.76289339e-02 5.70813084e-04 9.99844435e-01 1.00956550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.599254154 meters Centerline goodness [0,1] 0.999849043583274 Centerline is valid? [True, True] Translation: X:890.06, Y:210.17, Z:10.10 [[-6.44811658e-01 -7.64245508e-01 1.21132148e-02 8.90060956e+02] [ 7.64125284e-01 -6.44925224e-01 -1.35648696e-02 2.10168912e+02] [ 1.81790084e-02 5.09227683e-04 9.99834619e-01 1.00951954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.629254154 meters Centerline goodness [0,1] 0.999956738048886 Centerline is valid? [True, True] Translation: X:890.04, Y:210.19, Z:10.10 [[-6.46472404e-01 -7.62847499e-01 1.17100195e-02 8.90043086e+02] [ 7.62735017e-01 -6.46578289e-01 -1.31076423e-02 2.10189722e+02] [ 1.75705765e-02 4.57912900e-04 9.99845521e-01 1.00973394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6592541539999 meters Centerline goodness [0,1] 0.9998490793842438 Centerline is valid? [True, True] Translation: X:890.03, Y:210.21, Z:10.09 [[-6.49103795e-01 -7.60589139e-01 1.29779040e-02 8.90025251e+02] [ 7.60450673e-01 -6.49233367e-01 -1.45192774e-02 2.10211682e+02] [ 1.94688930e-02 4.44537757e-04 9.99810364e-01 1.00949598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:890.01, Y:210.23, Z:10.10 [[-6.50018548e-01 -7.59812056e-01 1.27093184e-02 8.90007053e+02] [ 7.59679267e-01 -6.50142649e-01 -1.42107907e-02 2.10233671e+02] [ 1.90604001e-02 4.17728113e-04 9.99818247e-01 1.00985998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7192541539998 meters Centerline goodness [0,1] 0.9998050048748781 Centerline is valid? [True, True] Translation: X:889.99, Y:210.25, Z:10.09 [[-6.52248202e-01 -7.57855667e-01 1.50688977e-02 8.89988747e+02] [ 7.57668707e-01 -6.52422102e-01 -1.68383807e-02 2.10253654e+02] [ 2.25923442e-02 4.34428719e-04 9.99744666e-01 1.00932990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7492541539998 meters Centerline goodness [0,1] 0.9998269372214771 Centerline is valid? [True, True] Translation: X:889.97, Y:210.28, Z:10.09 [[-6.53360156e-01 -7.56882657e-01 1.57844746e-02 8.89970256e+02] [ 7.56677489e-01 -6.53550657e-01 -1.76271724e-02 2.10275038e+02] [ 2.36576548e-02 4.26864554e-04 9.99720027e-01 1.00935078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.95, Y:210.30, Z:10.10 [[-6.55288784e-01 -7.55207248e-01 1.60817505e-02 8.89951711e+02] [ 7.54994029e-01 -6.55485979e-01 -1.79484698e-02 2.10295846e+02] [ 2.40961765e-02 3.80194661e-04 9.99709573e-01 1.00965537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.8092541539997 meters Centerline goodness [0,1] 0.999827879257299 Centerline is valid? [True, True] Translation: X:889.93, Y:210.32, Z:10.09 [[-6.56800216e-01 -7.53869140e-01 1.71696434e-02 8.89933659e+02] [ 7.53625943e-01 -6.57024497e-01 -1.91506701e-02 2.10315496e+02] [ 2.57179755e-02 3.61324513e-04 9.99669173e-01 1.00927995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.839254154 meters Centerline goodness [0,1] 0.999914164932083 Centerline is valid? [True, True] Translation: X:889.92, Y:210.34, Z:10.10 [[-6.59433894e-01 -7.51586357e-01 1.62753944e-02 8.89916362e+02] [ 7.51367388e-01 -6.59634655e-01 -1.81430532e-02 2.10336053e+02] [ 2.43718854e-02 2.64656368e-04 9.99702926e-01 1.00957932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.869254154 meters Centerline goodness [0,1] 0.9998703739710934 Centerline is valid? [True, True] Translation: X:889.90, Y:210.36, Z:10.10 [[-6.60805824e-01 -7.50381108e-01 1.62436363e-02 8.89897967e+02] [ 7.50162879e-01 -6.61005402e-01 -1.80973150e-02 2.10357802e+02] [ 2.43170146e-02 2.26561845e-04 9.99704272e-01 1.00970435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.899254154 meters Centerline goodness [0,1] 0.9999353002070394 Centerline is valid? [True, True] Translation: X:889.88, Y:210.38, Z:10.10 [[-6.62740212e-01 -7.48689496e-01 1.54741974e-02 8.89879525e+02] [ 7.48491221e-01 -6.62920819e-01 -1.72302164e-02 2.10379077e+02] [ 2.31582496e-02 1.63143654e-04 9.99731798e-01 1.01003716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.86, Y:210.40, Z:10.10 [[-6.63667189e-01 -7.47881786e-01 1.47883687e-02 8.89861138e+02] [ 7.47700710e-01 -6.63831918e-01 -1.64569951e-02 2.10399027e+02] [ 2.21248781e-02 1.35306049e-04 9.99755206e-01 1.01025704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9592541539998 meters Centerline goodness [0,1] 0.9996986006458558 Centerline is valid? [True, True] Translation: X:889.84, Y:210.42, Z:10.10 [[-6.64340832e-01 -7.47264261e-01 1.57284403e-02 8.89841006e+02] [ 7.47059501e-01 -6.64526980e-01 -1.74927038e-02 2.10418930e+02] [ 2.35236453e-02 1.28963353e-04 9.99723272e-01 1.01005026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9892541539998 meters Centerline goodness [0,1] 0.999785711224446 Centerline is valid? [True, True] Translation: X:889.82, Y:210.44, Z:10.10 [[-6.64094939e-01 -7.47499367e-01 1.49200240e-02 8.89821639e+02] [ 7.47315394e-01 -6.64262506e-01 -1.65838770e-02 2.10437890e+02] [ 2.23072501e-02 1.36694846e-04 9.99751153e-01 1.01017395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0192541539998 meters Centerline goodness [0,1] 0.9997219667643348 Centerline is valid? [True, True] Translation: X:889.80, Y:210.46, Z:10.10 [[-6.62790757e-01 -7.48666949e-01 1.43600524e-02 8.89799764e+02] [ 7.48497000e-01 -6.62946279e-01 -1.59522217e-02 2.10456624e+02] [ 2.14628445e-02 1.75471064e-04 9.99769631e-01 1.01033153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0492541539998 meters Centerline goodness [0,1] 0.9998493781469209 Centerline is valid? [True, True] Translation: X:889.78, Y:210.48, Z:10.11 [[-6.61902881e-01 -7.49474458e-01 1.31382053e-02 8.89779264e+02] [ 7.49332522e-01 -6.62033232e-01 -1.45866909e-02 2.10476233e+02] [ 1.96302808e-02 1.89911749e-04 9.99807289e-01 1.01073095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.079254154 meters Centerline goodness [0,1] 0.9998076429853808 Centerline is valid? [True, True] Translation: X:889.76, Y:210.49, Z:10.10 [[-6.59857297e-01 -7.51258819e-01 1.40902359e-02 8.89757835e+02] [ 7.51096131e-01 -6.60007664e-01 -1.56360421e-02 2.10493285e+02] [ 2.10463782e-02 2.65565124e-04 9.99778465e-01 1.01048999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.109254154 meters Centerline goodness [0,1] 0.9998927337867118 Centerline is valid? [True, True] Translation: X:889.74, Y:210.51, Z:10.11 [[-6.58923246e-01 -7.52088560e-01 1.35260103e-02 8.89737301e+02] [ 7.51938973e-01 -6.59061997e-01 -1.50021633e-02 2.10512693e+02] [ 2.01974348e-02 2.85460166e-04 9.99795970e-01 1.01063907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.139254154 meters Centerline goodness [0,1] 0.9998068172061475 Centerline is valid? [True, True] Translation: X:889.72, Y:210.53, Z:10.11 [[-6.57381665e-01 -7.53445946e-01 1.29827763e-02 8.89715738e+02] [ 7.53308563e-01 -6.57509775e-01 -1.43911191e-02 2.10530435e+02] [ 1.93792326e-02 3.19578753e-04 9.99812154e-01 1.01068935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.70, Y:210.55, Z:10.11 [[-6.56792046e-01 -7.53990705e-01 1.10555367e-02 8.89695515e+02] [ 7.53891275e-01 -6.56885022e-01 -1.22479886e-02 2.10550229e+02] [ 1.64970860e-02 2.90291124e-04 9.99863872e-01 1.01114362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1992541539998 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:889.68, Y:210.57, Z:10.11 [[-6.56279592e-01 -7.54452604e-01 9.91796542e-03 8.89675146e+02] [ 7.54372727e-01 -6.56354472e-01 -1.09815777e-02 2.10569043e+02] [ 1.47947809e-02 2.74857280e-04 9.99890513e-01 1.01120395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2292541539998 meters Centerline goodness [0,1] 0.9998933151257815 Centerline is valid? [True, True] Translation: X:889.66, Y:210.59, Z:10.11 [[-6.56578411e-01 -7.54188803e-01 1.02000090e-02 8.89655861e+02] [ 7.54104393e-01 -6.56657575e-01 -1.12869038e-02 2.10587763e+02] [ 1.52103696e-02 2.81134204e-04 9.99884276e-01 1.01104180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2592541539998 meters Centerline goodness [0,1] 0.9998724571137045 Centerline is valid? [True, True] Translation: X:889.64, Y:210.61, Z:10.11 [[-6.57411338e-01 -7.53471801e-01 9.51719217e-03 8.89636088e+02] [ 7.53398327e-01 -6.57480176e-01 -1.05251741e-02 2.10608028e+02] [ 1.41877871e-02 2.50867849e-04 9.99899317e-01 1.01106339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2892541539998 meters Centerline goodness [0,1] 0.9999145353930303 Centerline is valid? [True, True] Translation: X:889.62, Y:210.63, Z:10.11 [[-6.58259967e-01 -7.52735569e-01 9.10925223e-03 8.89616849e+02] [ 7.52668267e-01 -6.58322953e-01 -1.00682631e-02 2.10628428e+02] [ 1.35755696e-02 2.28710558e-04 9.99907822e-01 1.01111959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.3192541539997 meters Centerline goodness [0,1] 0.9996367366126757 Centerline is valid? [True, True] Translation: X:889.60, Y:210.65, Z:10.11 [[-6.60120550e-01 -7.51092189e-01 1.00689598e-02 8.89597806e+02] [ 7.51009868e-01 -6.60197301e-01 -1.11221257e-02 2.10648163e+02] [ 1.50012418e-02 2.19944403e-04 9.99887451e-01 1.01080227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.349254154 meters Centerline goodness [0,1] 0.9998076717598035 Centerline is valid? [True, True] Translation: X:889.58, Y:210.67, Z:10.11 [[-6.61206404e-01 -7.50127419e-01 1.07213366e-02 8.89578746e+02] [ 7.50034072e-01 -6.61293285e-01 -1.18356359e-02 2.10668767e+02] [ 1.59681829e-02 2.15569505e-04 9.99872477e-01 1.01075176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.379254154 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:889.56, Y:210.69, Z:10.11 [[-6.63398635e-01 -7.48167332e-01 1.21611778e-02 8.89560729e+02] [ 7.48047045e-01 -6.63510063e-01 -1.34169600e-02 2.10689759e+02] [ 1.81071950e-02 1.96340205e-04 9.99836032e-01 1.01062724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4092541539999 meters Centerline goodness [0,1] 0.9998502257312194 Centerline is valid? [True, True] Translation: X:889.54, Y:210.71, Z:10.11 [[-6.64678258e-01 -7.47014898e-01 1.30979665e-02 8.89541978e+02] [ 7.46875306e-01 -6.64807272e-01 -1.44418689e-02 2.10710450e+02] [ 1.94959146e-02 1.83351508e-04 9.99809920e-01 1.01054276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4392541539999 meters Centerline goodness [0,1] 0.999743961764957 Centerline is valid? [True, True] Translation: X:889.52, Y:210.73, Z:10.10 [[-6.66859822e-01 -7.45036903e-01 1.47645293e-02 8.89523365e+02] [ 7.44859254e-01 -6.67023232e-01 -1.62696126e-02 2.10731414e+02] [ 2.19697459e-02 1.47945303e-04 9.99758625e-01 1.01031218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.51, Y:210.75, Z:10.11 [[-6.67857544e-01 -7.44167592e-01 1.34497790e-02 8.89505190e+02] [ 7.44020136e-01 -6.67992951e-01 -1.48140209e-02 2.10751098e+02] [ 2.00084718e-02 1.13250795e-04 9.99799804e-01 1.01062861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4992541539998 meters Centerline goodness [0,1] 0.9998502513637822 Centerline is valid? [True, True] Translation: X:889.49, Y:210.77, Z:10.10 [[-6.70083371e-01 -7.42144301e-01 1.44952764e-02 8.89486275e+02] [ 7.41972738e-01 -6.70240131e-01 -1.59569205e-02 2.10772173e+02] [ 2.15576536e-02 6.26328496e-05 9.99767605e-01 1.01039765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.5292541539998 meters Centerline goodness [0,1] 0.9997875278869648 Centerline is valid? [True, True] Translation: X:889.47, Y:210.79, Z:10.10 [[-6.71269932e-01 -7.41070516e-01 1.45316837e-02 8.89467636e+02] [ 7.40898040e-01 -6.71427204e-01 -1.59876284e-02 2.10792730e+02] [ 2.16049278e-02 3.44817277e-05 9.99766586e-01 1.01043562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.5592541539997 meters Centerline goodness [0,1] 0.9998292714157668 Centerline is valid? [True, True] Translation: X:889.45, Y:210.81, Z:10.11 [[-6.72295587e-01 -7.40141409e-01 1.44685234e-02 8.89448955e+02] [ 7.39970416e-01 -6.72451258e-01 -1.59087845e-02 2.10813511e+02] [ 2.15041269e-02 1.08736376e-05 9.99768759e-01 1.01050060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.589254154 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:889.43, Y:210.83, Z:10.11 [[-6.73820900e-01 -7.38772369e-01 1.34454937e-02 8.89429982e+02] [ 7.38624601e-01 -6.73955033e-01 -1.47754148e-02 2.10834315e+02] [ 1.99773263e-02 -2.48108655e-05 9.99800433e-01 1.01079396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.619254154 meters Centerline goodness [0,1] 0.9997657531037714 Centerline is valid? [True, True] Translation: X:889.41, Y:210.86, Z:10.11 [[-6.74564997e-01 -7.38065098e-01 1.48988381e-02 8.89410567e+02] [ 7.37883694e-01 -6.74729508e-01 -1.63629131e-02 2.10855303e+02] [ 2.21295807e-02 -4.42386816e-05 9.99755110e-01 1.01052283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.649254154 meters Centerline goodness [0,1] 0.9997247803535514 Centerline is valid? [True, True] Translation: X:889.39, Y:210.87, Z:10.10 [[-6.75095243e-01 -7.37579425e-01 1.49333235e-02 8.89391292e+02] [ 7.37397280e-01 -6.75260386e-01 -1.63909359e-02 2.10874986e+02] [ 2.21734988e-02 -5.36507350e-05 9.99754136e-01 1.01049126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6792541539999 meters Centerline goodness [0,1] 0.9998518016682898 Centerline is valid? [True, True] Translation: X:889.37, Y:210.90, Z:10.11 [[-6.75175818e-01 -7.37509378e-01 1.47489954e-02 8.89371194e+02] [ 7.37331896e-01 -6.75336890e-01 -1.61790092e-02 2.10895290e+02] [ 2.18927117e-02 -4.87709899e-05 9.99760325e-01 1.01066122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7092541539998 meters Centerline goodness [0,1] 0.9999363665287941 Centerline is valid? [True, True] Translation: X:889.35, Y:210.91, Z:10.11 [[-6.74707055e-01 -7.37959744e-01 1.36310565e-02 8.89350888e+02] [ 7.37808383e-01 -6.74844734e-01 -1.49457195e-02 2.10913273e+02] [ 2.02281860e-02 -2.68746933e-05 9.99795389e-01 1.01086550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7392541539998 meters Centerline goodness [0,1] 0.9999364460638929 Centerline is valid? [True, True] Translation: X:889.33, Y:210.93, Z:10.11 [[-6.73752170e-01 -7.38840838e-01 1.31236701e-02 8.89329774e+02] [ 7.38700848e-01 -6.73879972e-01 -1.43819249e-02 2.10931769e+02] [ 1.94697319e-02 4.61313787e-06 9.99810447e-01 1.01096744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7692541539998 meters Centerline goodness [0,1] 0.9998096164829818 Centerline is valid? [True, True] Translation: X:889.31, Y:210.95, Z:10.11 [[-6.73249028e-01 -7.39298261e-01 1.31843929e-02 8.89309910e+02] [ 7.39157227e-01 -6.73378112e-01 -1.44399532e-02 2.10951420e+02] [ 1.95535139e-02 2.36548722e-05 9.99808812e-01 1.01100169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7992541539998 meters Centerline goodness [0,1] 0.9997462465637555 Centerline is valid? [True, True] Translation: X:889.29, Y:210.97, Z:10.11 [[-6.72215773e-01 -7.40237179e-01 1.32239832e-02 8.89289395e+02] [ 7.40095653e-01 -6.72345831e-01 -1.44744104e-02 2.10969415e+02] [ 1.96055867e-02 5.70855567e-05 9.99807790e-01 1.01094299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.829254154 meters Centerline goodness [0,1] 0.9998523424810682 Centerline is valid? [True, True] Translation: X:889.27, Y:210.99, Z:10.11 [[-6.71852629e-01 -7.40574825e-01 1.27660881e-02 8.89269210e+02] [ 7.40443149e-01 -6.71973901e-01 -1.39649555e-02 2.10989181e+02] [ 1.89205725e-02 7.01704251e-05 9.99820987e-01 1.01105699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.859254154 meters Centerline goodness [0,1] 0.9998315221969506 Centerline is valid? [True, True] Translation: X:889.25, Y:211.01, Z:10.11 [[-6.71390147e-01 -7.40996727e-01 1.26143313e-02 8.89249304e+02] [ 7.40868392e-01 -6.71508633e-01 -1.37906458e-02 2.11008232e+02] [ 1.86894557e-02 8.66556500e-05 9.99825333e-01 1.01104109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.889254154 meters Centerline goodness [0,1] 0.999810614031396 Centerline is valid? [True, True] Translation: X:889.23, Y:211.03, Z:10.11 [[-6.69913689e-01 -7.42338951e-01 1.21873563e-02 8.89227934e+02] [ 7.42219519e-01 -6.70024527e-01 -1.33161320e-02 2.11026275e+02] [ 1.80509111e-02 1.25034650e-04 9.99837061e-01 1.01103422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9192541539999 meters Centerline goodness [0,1] 0.9997896198430564 Centerline is valid? [True, True] Translation: X:889.21, Y:211.04, Z:10.11 [[-6.68173687e-01 -7.43911739e-01 1.18004012e-02 8.89207275e+02] [ 7.43800156e-01 -6.68277859e-01 -1.28852852e-02 2.11043143e+02] [ 1.74714618e-02 1.67531728e-04 9.99847348e-01 1.01105172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9492541539998 meters Centerline goodness [0,1] 0.9997896198430564 Centerline is valid? [True, True] Translation: X:889.19, Y:211.06, Z:10.11 [[-6.68407853e-01 -7.43701280e-01 1.18045589e-02 8.89189122e+02] [ 7.43589732e-01 -6.68512063e-01 -1.28814759e-02 2.11062786e+02] [ 1.74714601e-02 1.67669160e-04 9.99847348e-01 1.01107010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.17, Y:211.08, Z:10.11 [[-6.65640686e-01 -7.46197094e-01 1.06007039e-02 8.89167304e+02] [ 7.46107556e-01 -6.65725057e-01 -1.15613189e-02 2.11081887e+02] [ 1.56841767e-02 2.13581019e-04 9.99876973e-01 1.01146718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.15, Y:211.10, Z:10.11 [[-6.64318588e-01 -7.47370685e-01 1.08569360e-02 8.89146468e+02] [ 7.47277025e-01 -6.64407252e-01 -1.18343247e-02 2.11100522e+02] [ 1.60580544e-02 2.51376912e-04 9.99871030e-01 1.01140823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0392541539998 meters Centerline goodness [0,1] 0.9998944501910452 Centerline is valid? [True, True] Translation: X:889.12, Y:211.12, Z:10.11 [[-6.61748813e-01 -7.49629035e-01 1.20340381e-02 8.89124888e+02] [ 7.49514476e-01 -6.61858135e-01 -1.31095420e-02 2.11117338e+02] [ 1.77921194e-02 3.44461901e-04 9.99841648e-01 1.01110669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0692541539997 meters Centerline goodness [0,1] 0.9998526408858388 Centerline is valid? [True, True] Translation: X:889.10, Y:211.14, Z:10.11 [[-6.59573544e-01 -7.51533621e-01 1.26473657e-02 8.89104003e+02] [ 7.51407563e-01 -6.59694656e-01 -1.37707857e-02 2.11135749e+02] [ 1.86926080e-02 4.20480305e-04 9.99825190e-01 1.01104106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.099254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.08, Y:211.15, Z:10.11 [[-6.59053332e-01 -7.51992537e-01 1.24871504e-02 8.89084707e+02] [ 7.51869840e-01 -6.59171478e-01 -1.35906823e-02 2.11154111e+02] [ 1.84512651e-02 4.31727313e-04 9.99829668e-01 1.01110848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.129254154 meters Centerline goodness [0,1] 0.9997471661539759 Centerline is valid? [True, True] Translation: X:889.07, Y:211.17, Z:10.11 [[-6.59106799e-01 -7.51921584e-01 1.38621968e-02 8.89066257e+02] [ 7.51770528e-01 -6.59252379e-01 -1.50789183e-02 2.11174611e+02] [ 2.04768503e-02 4.82573397e-04 9.99790211e-01 1.01075253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1592541539999 meters Centerline goodness [0,1] 0.9997471661539759 Centerline is valid? [True, True] Translation: X:889.05, Y:211.19, Z:10.11 [[-6.59343669e-01 -7.51713799e-01 1.38668591e-02 8.89048064e+02] [ 7.51562788e-01 -6.59489296e-01 -1.50746304e-02 2.11194221e+02] [ 2.04768528e-02 4.82453148e-04 9.99790211e-01 1.01077093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:889.03, Y:211.21, Z:10.11 [[-6.59289306e-01 -7.51791466e-01 1.21327072e-02 8.89029686e+02] [ 7.51676026e-01 -6.59400794e-01 -1.31812583e-02 2.11213413e+02] [ 1.79098743e-02 4.29602465e-04 9.99839513e-01 1.01125205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2192541539998 meters Centerline goodness [0,1] 0.9998528020187152 Centerline is valid? [True, True] Translation: X:889.01, Y:211.23, Z:10.11 [[-6.60102207e-01 -7.51074852e-01 1.23143015e-02 8.89010959e+02] [ 7.50955962e-01 -6.60216925e-01 -1.33699510e-02 2.11233714e+02] [ 1.81719442e-02 4.21963951e-04 9.99834788e-01 1.01104089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2492541539998 meters Centerline goodness [0,1] 0.9999369456471479 Centerline is valid? [True, True] Translation: X:888.99, Y:211.26, Z:10.11 [[-6.60097244e-01 -7.51092581e-01 1.14701363e-02 8.88993651e+02] [ 7.50989558e-01 -6.60196771e-01 -1.24461736e-02 2.11255435e+02] [ 1.69207756e-02 3.98267667e-04 9.99856754e-01 1.01129311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.97, Y:211.28, Z:10.11 [[-6.60077219e-01 -7.51117868e-01 1.09550699e-02 8.88974791e+02] [ 7.51024007e-01 -6.60168009e-01 -1.18802759e-02 2.11275037e+02] [ 1.61556742e-02 3.85620990e-04 9.99869414e-01 1.01146299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.3092541539997 meters Centerline goodness [0,1] 0.9998733268589284 Centerline is valid? [True, True] Translation: X:888.96, Y:211.29, Z:10.11 [[-6.60738589e-01 -7.50524144e-01 1.17484856e-02 8.88957429e+02] [ 7.50416247e-01 -6.60842906e-01 -1.27322432e-02 2.11294552e+02] [ 1.73197594e-02 4.03570076e-04 9.99849920e-01 1.01113360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.339254154 meters Centerline goodness [0,1] 0.9998738859929376 Centerline is valid? [True, True] Translation: X:888.94, Y:211.31, Z:10.11 [[-6.60844826e-01 -7.50434091e-01 1.15235152e-02 8.88939291e+02] [ 7.50330408e-01 -6.60945169e-01 -1.24804593e-02 2.11314492e+02] [ 1.69821739e-02 3.98796898e-04 9.99855713e-01 1.01116598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.369254154 meters Centerline goodness [0,1] 0.9998318585930768 Centerline is valid? [True, True] Translation: X:888.92, Y:211.34, Z:10.11 [[-6.60912264e-01 -7.50363631e-01 1.22229157e-02 8.88921632e+02] [ 7.50247121e-01 -6.61025142e-01 -1.32294447e-02 2.11335324e+02] [ 1.80065487e-02 4.26705089e-04 9.99837778e-01 1.01109004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.399254154 meters Centerline goodness [0,1] 0.9998318585930768 Centerline is valid? [True, True] Translation: X:888.90, Y:211.35, Z:10.11 [[-6.61147022e-01 -7.50156727e-01 1.22270529e-02 8.88903387e+02] [ 7.50040252e-01 -6.61259937e-01 -1.32256206e-02 2.11354885e+02] [ 1.80065485e-02 4.26702217e-04 9.99837778e-01 1.01110844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4292541539999 meters Centerline goodness [0,1] 0.999852653293199 Centerline is valid? [True, True] Translation: X:888.89, Y:211.38, Z:10.11 [[-6.61096015e-01 -7.50205055e-01 1.20180592e-02 8.88887475e+02] [ 7.50092675e-01 -6.61205107e-01 -1.29917496e-02 2.11378103e+02] [ 1.76928784e-02 4.25864260e-04 9.99843378e-01 1.01126395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4592541539998 meters Centerline goodness [0,1] 0.9997888825553656 Centerline is valid? [True, True] Translation: X:888.87, Y:211.40, Z:10.11 [[-6.61738667e-01 -7.49633892e-01 1.22867720e-02 8.88870004e+02] [ 7.49516474e-01 -6.61852588e-01 -1.32743438e-02 2.11400046e+02] [ 1.80829298e-02 4.24991436e-04 9.99836400e-01 1.01119773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4892541539998 meters Centerline goodness [0,1] 0.9998313979219794 Centerline is valid? [True, True] Translation: X:888.85, Y:211.42, Z:10.11 [[-6.62213118e-01 -7.49226612e-01 1.15442753e-02 8.88851055e+02] [ 7.49122997e-01 -6.62313619e-01 -1.24661872e-02 2.11419913e+02] [ 1.69859299e-02 3.92809413e-04 9.99855652e-01 1.01133719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5192541539998 meters Centerline goodness [0,1] 0.9998734417515661 Centerline is valid? [True, True] Translation: X:888.83, Y:211.44, Z:10.11 [[-6.63791531e-01 -7.47821442e-01 1.19955736e-02 8.88834105e+02] [ 7.47709456e-01 -6.63899804e-01 -1.29467706e-02 2.11442965e+02] [ 1.76457316e-02 3.75247097e-04 9.99844232e-01 1.01118068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5492541539998 meters Centerline goodness [0,1] 0.9999152865432674 Centerline is valid? [True, True] Translation: X:888.82, Y:211.46, Z:10.11 [[-6.65164951e-01 -7.46600739e-01 1.19551009e-02 8.88816310e+02] [ 7.46489439e-01 -6.65272288e-01 -1.28957793e-02 2.11464821e+02] [ 1.75813957e-02 3.46536123e-04 9.99845375e-01 1.01124507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.579254154 meters Centerline goodness [0,1] 0.9997456279809221 Centerline is valid? [True, True] Translation: X:888.80, Y:211.49, Z:10.11 [[-6.66790609e-01 -7.45127338e-01 1.32489197e-02 8.88799671e+02] [ 7.44990516e-01 -6.66922132e-01 -1.42828665e-02 2.11487735e+02] [ 1.94785521e-02 3.46638304e-04 9.99810215e-01 1.01107060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.609254154 meters Centerline goodness [0,1] 0.9999364904629845 Centerline is valid? [True, True] Translation: X:888.78, Y:211.51, Z:10.11 [[-6.70116733e-01 -7.42149853e-01 1.25363446e-02 8.88784067e+02] [ 7.42026973e-01 -6.70233939e-01 -1.35069712e-02 2.11511599e+02] [ 1.84264803e-02 2.51058387e-04 9.99830186e-01 1.01127855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.639254154 meters Centerline goodness [0,1] 0.9998518393091479 Centerline is valid? [True, True] Translation: X:888.77, Y:211.53, Z:10.11 [[-6.72095267e-01 -7.40348372e-01 1.31240338e-02 8.88767269e+02] [ 7.40213517e-01 -6.72223356e-01 -1.41318035e-02 2.11533699e+02] [ 1.92847397e-02 2.16668980e-04 9.99814009e-01 1.01121296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6692541539999 meters Centerline goodness [0,1] 0.9998727411555103 Centerline is valid? [True, True] Translation: X:888.75, Y:211.56, Z:10.11 [[-6.75340067e-01 -7.37392111e-01 1.29872689e-02 8.88751626e+02] [ 7.37259657e-01 -6.75464919e-01 -1.39764748e-02 2.11557346e+02] [ 1.90785868e-02 1.36115975e-04 9.99817978e-01 1.01128085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6992541539998 meters Centerline goodness [0,1] 0.9999362027900647 Centerline is valid? [True, True] Translation: X:888.73, Y:211.58, Z:10.12 [[-6.77533531e-01 -7.35381656e-01 1.27332224e-02 8.88734966e+02] [ 7.35254120e-01 -6.77653166e-01 -1.36954716e-02 2.11580841e+02] [ 1.87001071e-02 8.30129670e-05 9.99825134e-01 1.01150427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7292541539998 meters Centerline goodness [0,1] 0.9998515817148673 Centerline is valid? [True, True] Translation: X:888.72, Y:211.60, Z:10.11 [[-6.78689903e-01 -7.34301656e-01 1.34570844e-02 8.88717120e+02] [ 7.34159160e-01 -6.78823301e-01 -1.44656112e-02 2.11602498e+02] [ 1.97571047e-02 6.19774741e-05 9.99804807e-01 1.01138952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7592541539998 meters Centerline goodness [0,1] 0.9998941216330679 Centerline is valid? [True, True] Translation: X:888.70, Y:211.62, Z:10.11 [[-6.79775982e-01 -7.33292900e-01 1.36431712e-02 8.88699949e+02] [ 7.33146410e-01 -6.79912877e-01 -1.46567529e-02 2.11624031e+02] [ 2.00238606e-02 3.91333630e-05 9.99799502e-01 1.01130236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7892541539998 meters Centerline goodness [0,1] 0.9997876947900302 Centerline is valid? [True, True] Translation: X:888.68, Y:211.65, Z:10.11 [[-6.80266694e-01 -7.32838837e-01 1.35817444e-02 8.88681614e+02] [ 7.32693744e-01 -6.80402262e-01 -1.45821944e-02 2.11645301e+02] [ 1.99274480e-02 3.14779752e-05 9.99801428e-01 1.01137865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.8192541539997 meters Centerline goodness [0,1] 0.9997870346707556 Centerline is valid? [True, True] Translation: X:888.66, Y:211.67, Z:10.11 [[-6.80846620e-01 -7.32287226e-01 1.42583216e-02 8.88663945e+02] [ 7.32127387e-01 -6.80995902e-01 -1.52993568e-02 2.11666314e+02] [ 2.09133821e-02 2.23924067e-05 9.99781291e-01 1.01126490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.64, Y:211.69, Z:10.12 [[-6.80352059e-01 -7.32764241e-01 1.33282721e-02 8.88644718e+02] [ 7.32624829e-01 -6.80482597e-01 -1.42931823e-02 2.11687307e+02] [ 1.95431901e-02 4.02270982e-05 9.99809013e-01 1.01174548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.879254154 meters Centerline goodness [0,1] 0.9998725004781233 Centerline is valid? [True, True] Translation: X:888.63, Y:211.71, Z:10.11 [[-6.80700279e-01 -7.32424795e-01 1.41791878e-02 8.88625772e+02] [ 7.32267124e-01 -6.80847940e-01 -1.51967335e-02 2.11708555e+02] [ 2.07843352e-02 3.85323701e-05 9.99783982e-01 1.01147357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9092541539999 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:888.61, Y:211.73, Z:10.12 [[-6.79815532e-01 -7.33253109e-01 1.38101675e-02 8.88607417e+02] [ 7.33103881e-01 -6.79955788e-01 -1.47927632e-02 2.11729169e+02] [ 2.02371430e-02 6.79372190e-05 9.99795206e-01 1.01170277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9392541539999 meters Centerline goodness [0,1] 0.9997662161013346 Centerline is valid? [True, True] Translation: X:888.59, Y:211.75, Z:10.11 [[-6.79771670e-01 -7.33275781e-01 1.47344857e-02 8.88589064e+02] [ 7.33106120e-01 -6.79931337e-01 -1.57731933e-02 2.11748853e+02] [ 2.15845392e-02 7.97716508e-05 9.99767024e-01 1.01137932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9692541539998 meters Centerline goodness [0,1] 0.9998931441272012 Centerline is valid? [True, True] Translation: X:888.57, Y:211.77, Z:10.12 [[-6.77752177e-01 -7.35163291e-01 1.36719547e-02 8.88569562e+02] [ 7.35017770e-01 -6.77890048e-01 -1.46273829e-02 2.11768893e+02] [ 2.00215969e-02 1.35389087e-04 9.99799539e-01 1.01173890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.55, Y:211.79, Z:10.12 [[-6.76406571e-01 -7.36417266e-01 1.27969187e-02 8.88549799e+02] [ 7.36290147e-01 -6.76527592e-01 -1.36834334e-02 2.11788372e+02] [ 1.87341852e-02 1.66680864e-04 9.99824486e-01 1.01202870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.53, Y:211.81, Z:10.12 [[-6.73632806e-01 -7.38964012e-01 1.22894632e-02 8.88529565e+02] [ 7.38847311e-01 -6.73744859e-01 -1.31345581e-02 2.11806591e+02] [ 1.79859284e-02 2.32167607e-04 9.99838213e-01 1.01208297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.51, Y:211.83, Z:10.12 [[-6.72219701e-01 -7.40255075e-01 1.19623282e-02 8.88510200e+02] [ 7.40144823e-01 -6.72326077e-01 -1.27783840e-02 2.11826476e+02] [ 1.75018488e-02 2.63973867e-04 9.99846796e-01 1.01216206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.089254154 meters Centerline goodness [0,1] 0.9999359097609434 Centerline is valid? [True, True] Translation: X:888.49, Y:211.85, Z:10.12 [[-6.69377835e-01 -7.42823506e-01 1.21058955e-02 8.88489374e+02] [ 7.42711142e-01 -6.69487209e-01 -1.29242696e-02 2.11845380e+02] [ 1.77051934e-02 3.39963860e-04 9.99843193e-01 1.01205034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.47, Y:211.87, Z:10.12 [[-6.67583465e-01 -7.44441743e-01 1.17817515e-02 8.88469125e+02] [ 7.44335686e-01 -6.67687314e-01 -1.25712724e-02 2.11865331e+02] [ 1.72251060e-02 3.77204544e-04 9.99851566e-01 1.01221330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.149254154 meters Centerline goodness [0,1] 0.9999360081909515 Centerline is valid? [True, True] Translation: X:888.45, Y:211.88, Z:10.12 [[-6.64427602e-01 -7.47249152e-01 1.24364904e-02 8.88448595e+02] [ 7.47131603e-01 -6.64543810e-01 -1.32624698e-02 2.11882607e+02] [ 1.81749620e-02 4.79744023e-04 9.99834707e-01 1.01200060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1792541539999 meters Centerline goodness [0,1] 0.9997654934231565 Centerline is valid? [True, True] Translation: X:888.43, Y:211.90, Z:10.12 [[-6.63145907e-01 -7.48364375e-01 1.37211142e-02 8.88429119e+02] [ 7.48221689e-01 -6.63287599e-01 -1.46241315e-02 2.11903144e+02] [ 2.00452240e-02 5.68502262e-04 9.99798913e-01 1.01180579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.41, Y:211.92, Z:10.12 [[-6.59462464e-01 -7.51623353e-01 1.30993769e-02 8.88407702e+02] [ 7.51494097e-01 -6.59592240e-01 -1.39534919e-02 2.11919573e+02] [ 1.91280177e-02 6.42300275e-04 9.99816836e-01 1.01205223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.39, Y:211.94, Z:10.12 [[-6.58304381e-01 -7.52632336e-01 1.34130063e-02 8.88388761e+02] [ 7.52497190e-01 -6.58440647e-01 -1.42791363e-02 2.11940028e+02] [ 1.95786083e-02 6.93231605e-04 9.99808080e-01 1.01207500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2692541539998 meters Centerline goodness [0,1] 0.9998502961996621 Centerline is valid? [True, True] Translation: X:888.37, Y:211.96, Z:10.12 [[-6.57443049e-01 -7.53359783e-01 1.47538342e-02 8.88370914e+02] [ 7.53196650e-01 -6.57608097e-01 -1.56970444e-02 2.11961780e+02] [ 2.15277628e-02 7.92625771e-04 9.99767937e-01 1.01181124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2992541539998 meters Centerline goodness [0,1] 0.9997442509750432 Centerline is valid? [True, True] Translation: X:888.35, Y:211.98, Z:10.12 [[-6.57410741e-01 -7.53391157e-01 1.45904557e-02 8.88350343e+02] [ 7.53231828e-01 -6.57572154e-01 -1.55137263e-02 2.11979270e+02] [ 2.12821816e-02 7.91105350e-04 9.99773196e-01 1.01168859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.33, Y:212.00, Z:10.12 [[-6.57535751e-01 -7.53297242e-01 1.37840690e-02 8.88333483e+02] [ 7.53155201e-01 -6.57679787e-01 -1.46472320e-02 2.12000146e+02] [ 2.00992231e-02 7.50464576e-04 9.99797709e-01 1.01200721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.359254154 meters Centerline goodness [0,1] 0.9998510638297873 Centerline is valid? [True, True] Translation: X:888.31, Y:212.02, Z:10.12 [[-6.58633100e-01 -7.52324056e-01 1.45242795e-02 8.88314686e+02] [ 7.52166330e-01 -6.58792781e-01 -1.54235101e-02 2.12018616e+02] [ 2.11719682e-02 7.66239781e-04 9.99775555e-01 1.01164649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.30, Y:212.04, Z:10.12 [[-6.59207390e-01 -7.51841046e-01 1.34408917e-02 8.88300711e+02] [ 7.51706041e-01 -6.59344031e-01 -1.42645706e-02 2.12044330e+02] [ 1.95868614e-02 7.00289100e-04 9.99807914e-01 1.01215600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.28, Y:212.06, Z:10.12 [[-6.59435556e-01 -7.51639586e-01 1.35158893e-02 8.88281674e+02] [ 7.51503198e-01 -6.59573678e-01 -1.43354951e-02 2.12063821e+02] [ 1.96898505e-02 7.03898817e-04 9.99805888e-01 1.01211602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4492541539998 meters Centerline goodness [0,1] 0.9999572219964494 Centerline is valid? [True, True] Translation: X:888.26, Y:212.08, Z:10.12 [[-6.59084443e-01 -7.51936250e-01 1.41270276e-02 8.88263661e+02] [ 7.51787467e-01 -6.59235401e-01 -1.49763534e-02 2.12084550e+02] [ 2.05742997e-02 7.49840711e-04 9.99788046e-01 1.01201204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4792541539998 meters Centerline goodness [0,1] 0.99982874879589 Centerline is valid? [True, True] Translation: X:888.25, Y:212.11, Z:10.12 [[-6.58762414e-01 -7.52198506e-01 1.51489014e-02 8.88246502e+02] [ 7.52027677e-01 -6.58936064e-01 -1.60510279e-02 2.12107092e+02] [ 2.20557167e-02 8.18579233e-04 9.99756408e-01 1.01194512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5092541539998 meters Centerline goodness [0,1] 0.9998926554885249 Centerline is valid? [True, True] Translation: X:888.23, Y:212.13, Z:10.12 [[-6.56947329e-01 -7.53792856e-01 1.47152089e-02 8.88227666e+02] [ 7.53632260e-01 -6.57111561e-01 -1.55825028e-02 2.12127642e+02] [ 2.14155132e-02 8.52972577e-04 9.99770298e-01 1.01208500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5392541539998 meters Centerline goodness [0,1] 0.999957015130674 Centerline is valid? [True, True] Translation: X:888.21, Y:212.14, Z:10.12 [[-6.55066741e-01 -7.55441744e-01 1.39762829e-02 8.88206659e+02] [ 7.55297396e-01 -6.55215248e-01 -1.47926370e-02 2.12144562e+02] [ 2.03324492e-02 8.66085627e-04 9.99792899e-01 1.01214114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5692541539997 meters Centerline goodness [0,1] 0.9999785949740999 Centerline is valid? [True, True] Translation: X:888.19, Y:212.17, Z:10.12 [[-6.54391120e-01 -7.56037868e-01 1.33792321e-02 8.88189313e+02] [ 7.55905862e-01 -6.54527323e-01 -1.41531465e-02 2.12166309e+02] [ 1.94573877e-02 8.51746629e-04 9.99810324e-01 1.01237820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.599254154 meters Centerline goodness [0,1] 0.9998926808327967 Centerline is valid? [True, True] Translation: X:888.17, Y:212.19, Z:10.12 [[-6.53345728e-01 -7.56952555e-01 1.27353384e-02 8.88170071e+02] [ 7.56833265e-01 -6.53469296e-01 -1.34643290e-02 2.12186945e+02] [ 1.85140108e-02 8.41665893e-04 9.99828247e-01 1.01231323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.15, Y:212.20, Z:10.13 [[-6.52528419e-01 -7.57674675e-01 1.16511513e-02 8.88149976e+02] [ 7.57575044e-01 -6.52631948e-01 -1.23123303e-02 2.12204594e+02] [ 1.69326544e-02 7.92476049e-04 9.99856318e-01 1.01254799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6592541539999 meters Centerline goodness [0,1] 0.9998715615969175 Centerline is valid? [True, True] Translation: X:888.13, Y:212.23, Z:10.13 [[-6.51981682e-01 -7.58154522e-01 1.10275449e-02 8.88131803e+02] [ 7.58065434e-01 -6.52074485e-01 -1.16474823e-02 2.12226400e+02] [ 1.60213720e-02 7.65655555e-04 9.99871356e-01 1.01266653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:888.11, Y:212.25, Z:10.13 [[-6.51474547e-01 -7.58595591e-01 1.06603804e-02 8.88112970e+02] [ 7.58512498e-01 -6.51561324e-01 -1.12530336e-02 2.12246580e+02] [ 1.54823932e-02 7.54966841e-04 9.99879856e-01 1.01270654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7192541539998 meters Centerline goodness [0,1] 0.9997632881428878 Centerline is valid? [True, True] Translation: X:888.09, Y:212.27, Z:10.12 [[-6.50743125e-01 -7.59204844e-01 1.18908028e-02 8.88093364e+02] [ 7.59101696e-01 -6.50851181e-01 -1.25441007e-02 2.12266528e+02] [ 1.72626851e-02 8.63341302e-04 9.99850616e-01 1.01237631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7492541539998 meters Centerline goodness [0,1] 0.9998275713423571 Centerline is valid? [True, True] Translation: X:888.07, Y:212.29, Z:10.12 [[-6.50196290e-01 -7.59673502e-01 1.18724779e-02 8.88073781e+02] [ 7.59570874e-01 -6.50304081e-01 -1.25175673e-02 2.12286804e+02] [ 1.72299850e-02 8.79112553e-04 9.99851166e-01 1.01238224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7792541539998 meters Centerline goodness [0,1] 0.9998922831660132 Centerline is valid? [True, True] Translation: X:888.05, Y:212.31, Z:10.13 [[-6.48437078e-01 -7.61184827e-01 1.12700976e-02 8.88052924e+02] [ 7.61092686e-01 -6.48534418e-01 -1.18757337e-02 2.12305422e+02] [ 1.63486745e-02 8.76922743e-04 9.99865967e-01 1.01257388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.8092541539997 meters Centerline goodness [0,1] 0.9999785126453082 Centerline is valid? [True, True] Translation: X:888.03, Y:212.32, Z:10.13 [[-6.48170765e-01 -7.61408645e-01 1.14688199e-02 8.88033579e+02] [ 7.61313359e-01 -6.48271595e-01 -1.20792341e-02 2.12324151e+02] [ 1.66321435e-02 9.01959423e-04 9.99861270e-01 1.01250698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.839254154 meters Centerline goodness [0,1] 0.9998496498990507 Centerline is valid? [True, True] Translation: X:888.02, Y:212.34, Z:10.12 [[-6.48109911e-01 -7.61451074e-01 1.20749601e-02 8.88015283e+02] [ 7.61345552e-01 -6.48221684e-01 -1.27122051e-02 2.12344795e+02] [ 1.75069732e-02 9.54310987e-04 9.99846286e-01 1.01233690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.869254154 meters Centerline goodness [0,1] 0.9997847657174834 Centerline is valid? [True, True] Translation: X:888.00, Y:212.36, Z:10.12 [[-6.48382061e-01 -7.61213367e-01 1.24464047e-02 8.87995843e+02] [ 7.61101346e-01 -6.48500767e-01 -1.30956421e-02 2.12362834e+02] [ 1.80400808e-02 9.81995959e-04 9.99836782e-01 1.01221144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.899254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.98, Y:212.38, Z:10.13 [[-6.48221451e-01 -7.61366357e-01 1.14114501e-02 8.87978035e+02] [ 7.61272341e-01 -6.48321251e-01 -1.19991392e-02 2.12383837e+02] [ 1.65340265e-02 9.09121887e-04 9.99862890e-01 1.01257565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.96, Y:212.40, Z:10.13 [[-6.49038695e-01 -7.60672263e-01 1.12463448e-02 8.87959517e+02] [ 7.60580958e-01 -6.49135524e-01 -1.18185745e-02 2.12404089e+02] [ 1.62904637e-02 8.83043561e-04 9.99866912e-01 1.01255233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.94, Y:212.42, Z:10.13 [[-6.49527890e-01 -7.60253080e-01 1.13478461e-02 8.87940955e+02] [ 7.60160174e-01 -6.49626408e-01 -1.19180553e-02 2.12423865e+02] [ 1.64325988e-02 8.85071306e-04 9.99864584e-01 1.01257768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9892541539998 meters Centerline goodness [0,1] 0.9998277755053713 Centerline is valid? [True, True] Translation: X:887.92, Y:212.44, Z:10.12 [[-6.50728560e-01 -7.59222016e-01 1.15876009e-02 8.87921668e+02] [ 7.59125082e-01 -6.50831126e-01 -1.21636860e-02 2.12443336e+02] [ 1.67765095e-02 8.81180633e-04 9.99858876e-01 1.01233908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0192541539998 meters Centerline goodness [0,1] 0.9998490468386095 Centerline is valid? [True, True] Translation: X:887.91, Y:212.47, Z:10.12 [[-6.51193592e-01 -7.58823119e-01 1.15922271e-02 8.87906263e+02] [ 7.58726158e-01 -6.51296175e-01 -1.21618613e-02 2.12465998e+02] [ 1.67786747e-02 8.75599808e-04 9.99858845e-01 1.01247490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0492541539998 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:887.89, Y:212.49, Z:10.13 [[-6.50561570e-01 -7.59377097e-01 1.07734851e-02 8.87886112e+02] [ 7.59293527e-01 -6.50650239e-01 -1.12963073e-02 2.12485802e+02] [ 1.55879277e-02 8.31294072e-04 9.99878155e-01 1.01270242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.079254154 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:887.87, Y:212.51, Z:10.13 [[-6.50804120e-01 -7.59169188e-01 1.07769164e-02 8.87867531e+02] [ 7.59085644e-01 -6.50892812e-01 -1.12930333e-02 2.12505105e+02] [ 1.55879404e-02 8.31049927e-04 9.99878155e-01 1.01272085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.109254154 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:887.85, Y:212.52, Z:10.13 [[-6.50031499e-01 -7.59829421e-01 1.08766620e-02 8.87847498e+02] [ 7.59744522e-01 -6.50121922e-01 -1.13906724e-02 2.12524882e+02] [ 1.57261244e-02 8.59188531e-04 9.99875968e-01 1.01277209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.139254154 meters Centerline goodness [0,1] 0.9998921460773529 Centerline is valid? [True, True] Translation: X:887.83, Y:212.54, Z:10.13 [[-6.50194620e-01 -7.59678177e-01 1.16629309e-02 8.87828522e+02] [ 7.59580665e-01 -6.50298560e-01 -1.22064023e-02 2.12543879e+02] [ 1.68573246e-02 9.22399699e-04 9.99857480e-01 1.01251456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.80, Y:212.56, Z:10.13 [[-6.49160613e-01 -7.60566829e-01 1.13400901e-02 8.87804504e+02] [ 7.60474882e-01 -6.49258998e-01 -1.18620472e-02 2.12557842e+02] [ 1.63845351e-02 9.23479866e-04 9.99865338e-01 1.01261571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1992541539998 meters Centerline goodness [0,1] 0.999870870547724 Centerline is valid? [True, True] Translation: X:887.79, Y:212.58, Z:10.13 [[-6.49116105e-01 -7.60589207e-01 1.23426088e-02 8.87789224e+02] [ 7.60480415e-01 -6.49232653e-01 -1.29035235e-02 2.12582031e+02] [ 1.78275054e-02 1.01042730e-03 9.99840567e-01 1.01252770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2292541539998 meters Centerline goodness [0,1] 0.9998925655350236 Centerline is valid? [True, True] Translation: X:887.77, Y:212.60, Z:10.13 [[-6.49305114e-01 -7.60434981e-01 1.18957096e-02 8.87768289e+02] [ 7.60334011e-01 -6.49413344e-01 -1.24298573e-02 2.12598083e+02] [ 1.71773309e-02 9.73942680e-04 9.99851984e-01 1.01251558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2592541539998 meters Centerline goodness [0,1] 0.9998067425381146 Centerline is valid? [True, True] Translation: X:887.75, Y:212.62, Z:10.13 [[-6.50707450e-01 -7.59224463e-01 1.25710113e-02 8.87753826e+02] [ 7.59111612e-01 -6.50828099e-01 -1.31280574e-02 2.12622694e+02] [ 1.81487097e-02 1.00027593e-03 9.99834798e-01 1.01253404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2892541539998 meters Centerline goodness [0,1] 0.9998067425381146 Centerline is valid? [True, True] Translation: X:887.73, Y:212.64, Z:10.13 [[-6.50929566e-01 -7.59033973e-01 1.25748619e-02 8.87734663e+02] [ 7.58921158e-01 -6.51050249e-01 -1.31243686e-02 2.12642589e+02] [ 1.81487087e-02 1.00028920e-03 9.99834798e-01 1.01255303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.3192541539997 meters Centerline goodness [0,1] 0.9998927038626609 Centerline is valid? [True, True] Translation: X:887.72, Y:212.66, Z:10.13 [[-6.52819869e-01 -7.57413533e-01 1.22865624e-02 8.87716017e+02] [ 7.57305679e-01 -6.52934806e-01 -1.28159064e-02 2.12663260e+02] [ 1.77292652e-02 9.38205110e-04 9.99842384e-01 1.01268845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.349254154 meters Centerline goodness [0,1] 0.9999784983228692 Centerline is valid? [True, True] Translation: X:887.70, Y:212.68, Z:10.13 [[-6.53915314e-01 -7.56478992e-01 1.15887014e-02 8.87696007e+02] [ 7.56383013e-01 -6.54017421e-01 -1.20810430e-02 2.12682309e+02] [ 1.67182678e-02 8.65517857e-04 9.99859865e-01 1.01286475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.379254154 meters Centerline goodness [0,1] 0.9999139747946149 Centerline is valid? [True, True] Translation: X:887.68, Y:212.71, Z:10.13 [[-6.57698056e-01 -7.53167372e-01 1.31216578e-02 8.87679787e+02] [ 7.53043820e-01 -6.57828335e-01 -1.36706607e-02 2.12705367e+02] [ 1.89280938e-02 8.90016354e-04 9.99820451e-01 1.01269036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4092541539999 meters Centerline goodness [0,1] 0.9998708927764508 Centerline is valid? [True, True] Translation: X:887.66, Y:212.73, Z:10.13 [[-6.59985558e-01 -7.51157617e-01 1.34647070e-02 8.87661332e+02] [ 7.51027262e-01 -6.60122334e-01 -1.40198314e-02 2.12726864e+02] [ 1.94194569e-02 8.59475756e-04 9.99811055e-01 1.01262620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4392541539999 meters Centerline goodness [0,1] 0.9999568323584641 Centerline is valid? [True, True] Translation: X:887.65, Y:212.75, Z:10.13 [[-6.65356506e-01 -7.46404230e-01 1.34701961e-02 8.87646202e+02] [ 7.46272952e-01 -6.65492448e-01 -1.40171886e-02 2.12750783e+02] [ 1.94268026e-02 7.26015334e-04 9.99811018e-01 1.01278484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4692541539998 meters Centerline goodness [0,1] 0.9998494947323157 Centerline is valid? [True, True] Translation: X:887.63, Y:212.77, Z:10.13 [[-6.68837802e-01 -7.43273799e-01 1.41440812e-02 8.87628166e+02] [ 7.43128512e-01 -6.68987002e-01 -1.47107172e-02 2.12770361e+02] [ 2.03962971e-02 6.71786222e-04 9.99791748e-01 1.01252932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4992541539998 meters Centerline goodness [0,1] 0.9998486715524136 Centerline is valid? [True, True] Translation: X:887.62, Y:212.80, Z:10.13 [[-6.75809581e-01 -7.36937210e-01 1.43163720e-02 8.87615025e+02] [ 7.36787100e-01 -6.75961025e-01 -1.48816106e-02 2.12796073e+02] [ 2.06441221e-02 4.90983176e-04 9.99786767e-01 1.01279072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.5292541539998 meters Centerline goodness [0,1] 0.9998487206085753 Centerline is valid? [True, True] Translation: X:887.60, Y:212.82, Z:10.13 [[-6.79440744e-01 -7.33584430e-01 1.46341925e-02 8.87597818e+02] [ 7.33426992e-01 -6.79598205e-01 -1.52028703e-02 2.12817711e+02] [ 2.10979599e-02 4.03662267e-04 9.99777332e-01 1.01279743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.5592541539997 meters Centerline goodness [0,1] 0.9999132377502549 Centerline is valid? [True, True] Translation: X:887.58, Y:212.84, Z:10.13 [[-6.86564533e-01 -7.26919008e-01 1.47613650e-02 8.87582809e+02] [ 7.26757453e-01 -6.86723171e-01 -1.53261749e-02 2.12842653e+02] [ 2.12778592e-02 2.05523886e-04 9.99773580e-01 1.01294413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.589254154 meters Centerline goodness [0,1] 0.9999783638763279 Centerline is valid? [True, True] Translation: X:887.57, Y:212.87, Z:10.13 [[-6.92948535e-01 -7.20839721e-01 1.45748191e-02 8.87567827e+02] [ 7.20681045e-01 -6.93101794e-01 -1.51239846e-02 2.12865718e+02] [ 2.10038021e-02 2.36528752e-05 9.99779396e-01 1.01316409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.55, Y:212.89, Z:10.13 [[-6.95828004e-01 -7.18062457e-01 1.44808981e-02 8.87550878e+02] [ 7.17905379e-01 -6.95978667e-01 -1.50187355e-02 2.12886125e+02] [ 2.08627863e-02 -5.45420882e-05 9.99782347e-01 1.01323892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.53, Y:212.91, Z:10.13 [[-7.01055034e-01 -7.12962674e-01 1.43549769e-02 8.87534953e+02] [ 7.12807411e-01 -7.01201958e-01 -1.48797822e-02 2.12908338e+02] [ 2.06744672e-02 -1.99212315e-04 9.99786241e-01 1.01334267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.52, Y:212.93, Z:10.13 [[-7.03174823e-01 -7.10874815e-01 1.42185042e-02 8.87516478e+02] [ 7.10722234e-01 -7.03318516e-01 -1.47299794e-02 2.12929418e+02] [ 2.04713087e-02 -2.52343581e-04 9.99790409e-01 1.01341172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7092541539998 meters Centerline goodness [0,1] 0.9999783418522048 Centerline is valid? [True, True] Translation: X:887.50, Y:212.95, Z:10.14 [[-7.04965763e-01 -7.09102336e-01 1.40409918e-02 8.87496788e+02] [ 7.08953355e-01 -7.05105517e-01 -1.45378722e-02 2.12949864e+02] [ 2.02092199e-02 -2.94293965e-04 9.99795730e-01 1.01355280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7392541539998 meters Centerline goodness [0,1] 0.999913845093478 Centerline is valid? [True, True] Translation: X:887.48, Y:212.97, Z:10.14 [[-7.07290934e-01 -7.06782675e-01 1.40635888e-02 8.87477717e+02] [ 7.06632930e-01 -7.07430650e-01 -1.45526112e-02 2.12969946e+02] [ 2.02345473e-02 -3.55134987e-04 9.99795198e-01 1.01358680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7692541539998 meters Centerline goodness [0,1] 0.999956961480525 Centerline is valid? [True, True] Translation: X:887.46, Y:212.99, Z:10.14 [[-7.07834601e-01 -7.06253331e-01 1.32819597e-02 8.87458225e+02] [ 7.06119813e-01 -7.07959119e-01 -1.37366309e-02 2.12987417e+02] [ 1.91046258e-02 -3.44607763e-04 9.99817431e-01 1.01375231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7992541539998 meters Centerline goodness [0,1] 0.9998062432723358 Centerline is valid? [True, True] Translation: X:887.44, Y:213.01, Z:10.14 [[-7.07873842e-01 -7.06200683e-01 1.39720958e-02 8.87438940e+02] [ 7.06053096e-01 -7.08011629e-01 -1.44415511e-02 2.13005909e+02] [ 2.00910395e-02 -3.57754757e-04 9.99798091e-01 1.01353227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.829254154 meters Centerline goodness [0,1] 0.9999569873973074 Centerline is valid? [True, True] Translation: X:887.42, Y:213.02, Z:10.14 [[-7.06780671e-01 -7.07311300e-01 1.31075592e-02 8.87416375e+02] [ 7.07181755e-01 -7.06902140e-01 -1.35399449e-02 2.13022697e+02] [ 1.88427177e-02 -3.00344691e-04 9.99822415e-01 1.01391269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.859254154 meters Centerline goodness [0,1] 0.9999571706961903 Centerline is valid? [True, True] Translation: X:887.39, Y:213.04, Z:10.14 [[-7.03747825e-01 -7.10317789e-01 1.36980861e-02 8.87393898e+02] [ 7.10177010e-01 -7.03881089e-01 -1.41430799e-02 2.13038192e+02] [ 1.96879050e-02 -2.25095867e-04 9.99806149e-01 1.01383248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.889254154 meters Centerline goodness [0,1] 0.9998504752750187 Centerline is valid? [True, True] Translation: X:887.37, Y:213.05, Z:10.14 [[-6.99809043e-01 -7.14179086e-01 1.46811391e-02 8.87368839e+02] [ 7.14018389e-01 -6.99963012e-01 -1.51499775e-02 2.13052712e+02] [ 2.10960514e-02 -1.19487985e-04 9.99777446e-01 1.01370076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.35, Y:213.07, Z:10.14 [[-6.97564349e-01 -7.16383901e-01 1.40743296e-02 8.87346084e+02] [ 7.16236827e-01 -6.97706317e-01 -1.45155991e-02 2.13070223e+02] [ 2.02184902e-02 -4.50112950e-05 9.99795584e-01 1.01393794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9492541539998 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:887.32, Y:213.09, Z:10.14 [[-6.95832940e-01 -7.18069378e-01 1.38884023e-02 8.87324011e+02] [ 7.17926664e-01 -6.95971528e-01 -1.43156283e-02 2.13087485e+02] [ 1.99455469e-02 9.56865205e-06 9.99801068e-01 1.01398212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9792541539998 meters Centerline goodness [0,1] 0.9998934492605379 Centerline is valid? [True, True] Translation: X:887.30, Y:213.10, Z:10.14 [[-6.92858460e-01 -7.20946571e-01 1.35350306e-02 8.87299894e+02] [ 7.20811729e-01 -6.92990644e-01 -1.39434011e-02 2.13103052e+02] [ 1.94320967e-02 9.54053947e-05 9.99811174e-01 1.01387130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0092541539998 meters Centerline goodness [0,1] 0.9998929473729286 Centerline is valid? [True, True] Translation: X:887.28, Y:213.12, Z:10.14 [[-6.91608139e-01 -7.22152368e-01 1.31962091e-02 8.87278395e+02] [ 7.22024560e-01 -6.91734010e-01 -1.35865506e-02 2.13121331e+02] [ 1.89398263e-02 1.31418106e-04 9.99820617e-01 1.01395245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0392541539998 meters Centerline goodness [0,1] 0.9999787247622492 Centerline is valid? [True, True] Translation: X:887.26, Y:213.14, Z:10.14 [[-6.89404880e-01 -7.24275385e-01 1.20863171e-02 8.87256249e+02] [ 7.24168624e-01 -6.89510794e-01 -1.24366029e-02 2.13136983e+02] [ 1.73411714e-02 1.78676922e-04 9.99849615e-01 1.01417123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0692541539997 meters Centerline goodness [0,1] 0.9998934288211097 Centerline is valid? [True, True] Translation: X:887.23, Y:213.15, Z:10.14 [[-6.88687322e-01 -7.24950679e-01 1.25014047e-02 8.87233761e+02] [ 7.24836707e-01 -6.88800748e-01 -1.28560653e-02 2.13154733e+02] [ 1.79309902e-02 2.07667807e-04 9.99839205e-01 1.01403816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.099254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.21, Y:213.17, Z:10.14 [[-6.88215352e-01 -7.25413683e-01 1.16025087e-02 8.87213418e+02] [ 7.25315697e-01 -6.88313115e-01 -1.19245889e-02 2.13172450e+02] [ 1.66364188e-02 2.08796511e-04 9.99861583e-01 1.01426973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.129254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.19, Y:213.19, Z:10.14 [[-6.88173708e-01 -7.25454631e-01 1.15119919e-02 8.87193242e+02] [ 7.25358293e-01 -6.88269956e-01 -1.18243242e-02 2.13192436e+02] [ 1.65013689e-02 2.13129720e-04 9.99863820e-01 1.01436996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1592541539999 meters Centerline goodness [0,1] 0.9999151427722857 Centerline is valid? [True, True] Translation: X:887.17, Y:213.21, Z:10.14 [[-6.88633423e-01 -7.25014537e-01 1.17443822e-02 8.87171621e+02] [ 7.24914331e-01 -6.88733531e-01 -1.20555437e-02 2.13209713e+02] [ 1.68291943e-02 2.11820667e-04 9.99858357e-01 1.01408796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1892541539999 meters Centerline goodness [0,1] 0.9999363273622549 Centerline is valid? [True, True] Translation: X:887.15, Y:213.23, Z:10.14 [[-6.89075565e-01 -7.24594965e-01 1.17047995e-02 8.87152236e+02] [ 7.24495500e-01 -6.89174938e-01 -1.20073020e-02 2.13228964e+02] [ 1.67670850e-02 2.06136217e-04 9.99859401e-01 1.01412116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2192541539998 meters Centerline goodness [0,1] 0.9999149044802791 Centerline is valid? [True, True] Translation: X:887.13, Y:213.25, Z:10.14 [[-6.90549820e-01 -7.23170582e-01 1.28551662e-02 8.87132755e+02] [ 7.23050507e-01 -6.90669438e-01 -1.31792410e-02 2.13248766e+02] [ 1.84095098e-02 1.94011902e-04 9.99830512e-01 1.01400309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.11, Y:213.27, Z:10.14 [[-6.91260175e-01 -7.22488114e-01 1.30496919e-02 8.87113267e+02] [ 7.22364401e-01 -6.91383317e-01 -1.33709133e-02 2.13269014e+02] [ 1.86826652e-02 1.83853020e-04 9.99825447e-01 1.01417828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.09, Y:213.29, Z:10.14 [[-6.93008683e-01 -7.20789628e-01 1.41872165e-02 8.87093473e+02] [ 7.20643224e-01 -6.93153870e-01 -1.45277634e-02 2.13289223e+02] [ 2.03053851e-02 1.56055263e-04 9.99793812e-01 1.01406156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.3092541539997 meters Centerline goodness [0,1] 0.9998942045238146 Centerline is valid? [True, True] Translation: X:887.07, Y:213.31, Z:10.14 [[-6.94521265e-01 -7.19305801e-01 1.54718167e-02 8.87073606e+02] [ 7.19131521e-01 -6.94693564e-01 -1.58337726e-02 2.13309677e+02] [ 2.21374960e-02 1.29379262e-04 9.99754927e-01 1.01377884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.05, Y:213.33, Z:10.14 [[-6.94936446e-01 -7.18906243e-01 1.53996841e-02 8.87054628e+02] [ 7.18733693e-01 -6.95107042e-01 -1.57505181e-02 2.13328574e+02] [ 2.20275747e-02 1.22662734e-04 9.99757356e-01 1.01394152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.04, Y:213.35, Z:10.14 [[-6.95511452e-01 -7.18344903e-01 1.56339562e-02 8.87035067e+02] [ 7.18167130e-01 -6.95687134e-01 -1.59807967e-02 2.13348541e+02] [ 2.23560660e-02 1.12966324e-04 9.99750066e-01 1.01393863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.399254154 meters Centerline goodness [0,1] 0.9998306914139383 Centerline is valid? [True, True] Translation: X:887.02, Y:213.37, Z:10.14 [[-6.96501288e-01 -7.17355142e-01 1.69574558e-02 8.87015880e+02] [ 7.17145942e-01 -6.96707680e-01 -1.73235924e-02 2.13369435e+02] [ 2.42415578e-02 9.50661820e-05 9.99706126e-01 1.01374768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:887.00, Y:213.39, Z:10.14 [[-6.96833486e-01 -7.17063650e-01 1.55825231e-02 8.86995857e+02] [ 7.16887120e-01 -6.97007686e-01 -1.59104644e-02 2.13389793e+02] [ 2.22699541e-02 8.39657298e-05 9.99751990e-01 1.01420721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4592541539998 meters Centerline goodness [0,1] 0.9999575812848629 Centerline is valid? [True, True] Translation: X:886.98, Y:213.41, Z:10.14 [[-6.97323312e-01 -7.16576987e-01 1.60505801e-02 8.86976552e+02] [ 7.16389776e-01 -6.97508005e-01 -1.63790423e-02 2.13409789e+02] [ 2.29322529e-02 7.69834189e-05 9.99737018e-01 1.01421571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.96, Y:213.43, Z:10.14 [[-6.97293861e-01 -7.16610861e-01 1.58159698e-02 8.86956657e+02] [ 7.16429300e-01 -6.97473202e-01 -1.61304426e-02 2.13429320e+02] [ 2.25904655e-02 8.33655846e-05 9.99744799e-01 1.01435254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5192541539998 meters Centerline goodness [0,1] 0.9999367528935551 Centerline is valid? [True, True] Translation: X:886.94, Y:213.45, Z:10.14 [[-6.97424848e-01 -7.16468968e-01 1.64559952e-02 8.86937023e+02] [ 7.16272600e-01 -6.97618958e-01 -1.67735414e-02 2.13449102e+02] [ 2.34977361e-02 8.86938838e-05 9.99723886e-01 1.01423382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5492541539998 meters Centerline goodness [0,1] 0.9998733241845245 Centerline is valid? [True, True] Translation: X:886.92, Y:213.47, Z:10.14 [[-6.96786819e-01 -7.17062968e-01 1.75735322e-02 8.86916561e+02] [ 7.16839470e-01 -6.97008383e-01 -1.79022116e-02 2.13468586e+02] [ 2.50859123e-02 1.23376474e-04 9.99685291e-01 1.01423996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.579254154 meters Centerline goodness [0,1] 0.9998943632214992 Centerline is valid? [True, True] Translation: X:886.90, Y:213.49, Z:10.14 [[-6.96531681e-01 -7.17311479e-01 1.75459272e-02 8.86896379e+02] [ 7.17089019e-01 -6.96752626e-01 -1.78638433e-02 2.13488109e+02] [ 2.50391107e-02 1.39258976e-04 9.99686463e-01 1.01429657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.609254154 meters Centerline goodness [0,1] 0.9998939577103348 Centerline is valid? [True, True] Translation: X:886.88, Y:213.51, Z:10.15 [[-6.95516160e-01 -7.18303255e-01 1.72541325e-02 8.86876146e+02] [ 7.18088691e-01 -6.95730121e-01 -1.75564863e-02 2.13507155e+02] [ 2.46151009e-02 1.79177517e-04 9.99696986e-01 1.01450991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.86, Y:213.53, Z:10.15 [[-6.94933817e-01 -7.18891774e-01 1.61742736e-02 8.86856538e+02] [ 7.18703615e-01 -6.95121989e-01 -1.64479079e-02 2.13525462e+02] [ 2.30673590e-02 1.94301499e-04 9.99733894e-01 1.01469962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6692541539999 meters Centerline goodness [0,1] 0.999809350308217 Centerline is valid? [True, True] Translation: X:886.84, Y:213.55, Z:10.14 [[-6.95164072e-01 -7.18643433e-01 1.72779995e-02 8.86836550e+02] [ 7.18428890e-01 -6.95378727e-01 -1.75600776e-02 2.13545539e+02] [ 2.46341877e-02 2.05878957e-04 9.99696511e-01 1.01448184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6992541539998 meters Centerline goodness [0,1] 0.999788717515318 Centerline is valid? [True, True] Translation: X:886.82, Y:213.57, Z:10.15 [[-6.94445388e-01 -7.19355366e-01 1.65366503e-02 8.86816881e+02] [ 7.19159268e-01 -6.94642214e-01 -1.67970677e-02 2.13565007e+02] [ 2.35701162e-02 2.27839159e-04 9.99722160e-01 1.01459284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7292541539998 meters Centerline goodness [0,1] 0.9998520897603854 Centerline is valid? [True, True] Translation: X:886.80, Y:213.58, Z:10.15 [[-6.94145737e-01 -7.19657867e-01 1.59452576e-02 8.86797576e+02] [ 7.19475846e-01 -6.94328812e-01 -1.61866448e-02 2.13584215e+02] [ 2.27200980e-02 2.36337243e-04 9.99741837e-01 1.01466452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7592541539998 meters Centerline goodness [0,1] 0.999957753321645 Centerline is valid? [True, True] Translation: X:886.78, Y:213.60, Z:10.15 [[-6.93255693e-01 -7.20537735e-01 1.48968547e-02 8.86777851e+02] [ 7.20379255e-01 -6.93415682e-01 -1.51136090e-02 2.13603768e+02] [ 2.12196383e-02 2.53789664e-04 9.99774806e-01 1.01487999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7892541539998 meters Centerline goodness [0,1] 0.9998737001641897 Centerline is valid? [True, True] Translation: X:886.76, Y:213.62, Z:10.15 [[-6.92969978e-01 -7.20807354e-01 1.51448945e-02 8.86758460e+02] [ 7.20643774e-01 -6.93135402e-01 -1.53579231e-02 2.13622552e+02] [ 2.15675665e-02 2.71494329e-04 9.99767356e-01 1.01473455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.8192541539997 meters Centerline goodness [0,1] 0.9998309990071191 Centerline is valid? [True, True] Translation: X:886.74, Y:213.64, Z:10.15 [[-6.91392081e-01 -7.22317986e-01 1.52878271e-02 8.86738533e+02] [ 7.22151845e-01 -6.91561003e-01 -1.54949128e-02 2.13642369e+02] [ 2.17647192e-02 3.27072534e-04 9.99763067e-01 1.01480534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.849254154 meters Centerline goodness [0,1] 0.9998732894069944 Centerline is valid? [True, True] Translation: X:886.72, Y:213.66, Z:10.15 [[-6.89460297e-01 -7.24161982e-01 1.52945153e-02 8.86718075e+02] [ 7.23996333e-01 -6.89629807e-01 -1.54932256e-02 2.13660933e+02] [ 2.17671586e-02 3.91209092e-04 9.99762991e-01 1.01480741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.879254154 meters Centerline goodness [0,1] 0.9998302387267904 Centerline is valid? [True, True] Translation: X:886.70, Y:213.68, Z:10.15 [[-6.87644849e-01 -7.25876051e-01 1.57645443e-02 8.86698377e+02] [ 7.25700713e-01 -6.87825372e-01 -1.59603526e-02 2.13680760e+02] [ 2.24284912e-02 4.65286819e-04 9.99748341e-01 1.01476226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.68, Y:213.70, Z:10.15 [[-6.86502956e-01 -7.26981671e-01 1.45375919e-02 8.86678631e+02] [ 7.26832986e-01 -6.86656706e-01 -1.47098345e-02 2.13700082e+02] [ 2.06761151e-02 4.68056442e-04 9.99786117e-01 1.01504323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9392541539999 meters Centerline goodness [0,1] 0.9998939262150752 Centerline is valid? [True, True] Translation: X:886.66, Y:213.72, Z:10.15 [[-6.86266463e-01 -7.27178482e-01 1.58049452e-02 8.86657355e+02] [ 7.27002996e-01 -6.86448237e-01 -1.59831625e-02 2.13717712e+02] [ 2.24718887e-02 5.21534121e-04 9.99747339e-01 1.01463909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9692541539998 meters Centerline goodness [0,1] 0.9998939262150752 Centerline is valid? [True, True] Translation: X:886.64, Y:213.74, Z:10.15 [[-6.86489739e-01 -7.26967601e-01 1.58096542e-02 8.86638449e+02] [ 7.26792166e-01 -6.86671563e-01 -1.59785043e-02 2.13736643e+02] [ 2.24718949e-02 5.21253587e-04 9.99747339e-01 1.01465750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9992541539998 meters Centerline goodness [0,1] 0.9999363516781941 Centerline is valid? [True, True] Translation: X:886.62, Y:213.76, Z:10.15 [[-6.86089146e-01 -7.27345801e-01 1.58040819e-02 8.86620382e+02] [ 7.27170801e-01 -6.86270933e-01 -1.59634629e-02 2.13758542e+02] [ 2.24568397e-02 5.39908264e-04 9.99747668e-01 1.01488822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.0292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.60, Y:213.78, Z:10.15 [[-6.85163975e-01 -7.28228558e-01 1.52805110e-02 8.86601766e+02] [ 7.28065380e-01 -6.85334121e-01 -1.54254589e-02 2.13777610e+02] [ 2.17055153e-02 5.56242249e-04 9.99764253e-01 1.01501519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.58, Y:213.80, Z:10.15 [[-6.85429799e-01 -7.27983477e-01 1.50348606e-02 8.86583461e+02] [ 7.27825648e-01 -6.85594456e-01 -1.51679714e-02 2.13798076e+02] [ 2.13498496e-02 5.46177590e-04 9.99771917e-01 1.01508832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.089254154 meters Centerline goodness [0,1] 0.9998305659098611 Centerline is valid? [True, True] Translation: X:886.57, Y:213.82, Z:10.15 [[-6.86203916e-01 -7.27227261e-01 1.62694920e-02 8.86565139e+02] [ 7.27042480e-01 -6.86396520e-01 -1.64027651e-02 2.13818796e+02] [ 2.30958607e-02 5.72970198e-04 9.99733091e-01 1.01488907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.119254154 meters Centerline goodness [0,1] 0.9999363084370091 Centerline is valid? [True, True] Translation: X:886.55, Y:213.84, Z:10.15 [[-6.86505230e-01 -7.26966325e-01 1.51832919e-02 8.86546811e+02] [ 7.26805538e-01 -6.86672905e-01 -1.52980821e-02 2.13838467e+02] [ 2.15471457e-02 5.33087292e-04 9.99767691e-01 1.01506041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.149254154 meters Centerline goodness [0,1] 0.9999787243096039 Centerline is valid? [True, True] Translation: X:886.53, Y:213.86, Z:10.15 [[-6.87024751e-01 -7.26484057e-01 1.47616245e-02 8.86529566e+02] [ 7.26332171e-01 -6.87183130e-01 -1.48635036e-02 2.13857811e+02] [ 2.09420377e-02 5.10247880e-04 9.99780561e-01 1.01513355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1792541539999 meters Centerline goodness [0,1] 0.9998725952350618 Centerline is valid? [True, True] Translation: X:886.51, Y:213.88, Z:10.15 [[-6.87887182e-01 -7.25641252e-01 1.59999399e-02 8.86511700e+02] [ 7.25462809e-01 -6.88073027e-01 -1.61003901e-02 2.13879025e+02] [ 2.26922343e-02 5.32109315e-04 9.99742357e-01 1.01501709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2092541539998 meters Centerline goodness [0,1] 0.9998087303948655 Centerline is valid? [True, True] Translation: X:886.49, Y:213.90, Z:10.15 [[-6.89006207e-01 -7.24565514e-01 1.65910660e-02 8.86493865e+02] [ 7.24373584e-01 -6.89205734e-01 -1.66843624e-02 2.13898976e+02] [ 2.35235714e-02 5.22500653e-04 9.99723146e-01 1.01485576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.48, Y:213.92, Z:10.15 [[-6.89188657e-01 -7.24413608e-01 1.56179295e-02 8.86476011e+02] [ 7.24243719e-01 -6.89365419e-01 -1.56957150e-02 2.13920262e+02] [ 2.21366500e-02 4.93878624e-04 9.99754832e-01 1.01524058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.46, Y:213.94, Z:10.15 [[-6.90435598e-01 -7.23230422e-01 1.53766886e-02 8.86458419e+02] [ 7.23065645e-01 -6.90606654e-01 -1.54441692e-02 2.13942227e+02] [ 2.17889364e-02 4.55151093e-04 9.99762489e-01 1.01531181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2992541539998 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:886.44, Y:213.96, Z:10.15 [[-6.91213149e-01 -7.22485034e-01 1.54841665e-02 8.86439499e+02] [ 7.22317955e-01 -6.91386420e-01 -1.55431860e-02 2.13963317e+02] [ 2.19352617e-02 4.40836990e-04 9.99759296e-01 1.01533656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.329254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.42, Y:213.98, Z:10.15 [[-6.91621359e-01 -7.22102976e-01 1.50727416e-02 8.86421523e+02] [ 7.21944753e-01 -6.91785453e-01 -1.51215180e-02 2.13984470e+02] [ 2.13463965e-02 4.23321899e-04 9.99772050e-01 1.01545728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.359254154 meters Centerline goodness [0,1] 0.9998932011876028 Centerline is valid? [True, True] Translation: X:886.40, Y:214.00, Z:10.15 [[-6.92365772e-01 -7.21367615e-01 1.60749098e-02 8.86402526e+02] [ 7.21187677e-01 -6.92552219e-01 -1.61170237e-02 2.14004092e+02] [ 2.27590134e-02 4.34151345e-04 9.99740886e-01 1.01526761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.389254154 meters Centerline goodness [0,1] 0.9999142072752231 Centerline is valid? [True, True] Translation: X:886.38, Y:214.03, Z:10.15 [[-6.92625931e-01 -7.21111562e-01 1.63534323e-02 8.86383788e+02] [ 7.20925487e-01 -6.92818823e-01 -1.63865982e-02 2.14025727e+02] [ 2.31465311e-02 4.39823343e-04 9.99731986e-01 1.01532652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.37, Y:214.05, Z:10.16 [[-6.93056681e-01 -7.20707537e-01 1.59085501e-02 8.86365428e+02] [ 7.20531551e-01 -6.93239113e-01 -1.59315744e-02 2.14047408e+02] [ 2.25104349e-02 4.21128170e-04 9.99746519e-01 1.01552725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4492541539998 meters Centerline goodness [0,1] 0.999828204522516 Centerline is valid? [True, True] Translation: X:886.35, Y:214.07, Z:10.15 [[-6.94373404e-01 -7.19397395e-01 1.76907926e-02 8.86346986e+02] [ 7.19179605e-01 -6.94598593e-01 -1.77056474e-02 2.14068333e+02] [ 2.50253963e-02 4.28526535e-04 9.99686724e-01 1.01531415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.33, Y:214.09, Z:10.16 [[-6.95512805e-01 -7.18331256e-01 1.61908850e-02 8.86327880e+02] [ 7.18148743e-01 -6.95701139e-01 -1.61959242e-02 2.14090027e+02] [ 2.28980557e-02 3.62990999e-04 9.99737739e-01 1.01556990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.31, Y:214.11, Z:10.16 [[-6.96299391e-01 -7.17569200e-01 1.61741009e-02 8.86308995e+02] [ 7.17387075e-01 -6.96487132e-01 -1.61696920e-02 2.14109996e+02] [ 2.28679261e-02 3.44144261e-04 9.99738436e-01 1.01558158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5392541539998 meters Centerline goodness [0,1] 0.9998071979434447 Centerline is valid? [True, True] Translation: X:886.30, Y:214.09, Z:10.16 [[-6.48453751e-01 -7.61074951e-01 1.65121645e-02 8.86297170e+02] [ 7.60854563e-01 -6.48663593e-01 -1.83269415e-02 2.14085915e+02] [ 2.46590160e-02 6.79181755e-04 9.99695690e-01 1.01550152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.28, Y:214.11, Z:10.16 [[-6.48755436e-01 -7.60853219e-01 1.47906320e-02 8.86279372e+02] [ 7.60665234e-01 -6.48923957e-01 -1.69144829e-02 2.14106785e+02] [ 2.24674342e-02 2.77356809e-04 9.99747537e-01 1.01574577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.599254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.26, Y:214.13, Z:10.16 [[-6.49532705e-01 -7.60192724e-01 1.46385705e-02 8.86262258e+02] [ 7.60008633e-01 -6.49697588e-01 -1.67308678e-02 2.14128524e+02] [ 2.22293279e-02 2.58194089e-04 9.99752865e-01 1.01581524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.629254154 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:886.24, Y:214.15, Z:10.16 [[-6.50094357e-01 -7.59699751e-01 1.52844589e-02 8.86244458e+02] [ 7.59499159e-01 -6.50273959e-01 -1.74587019e-02 2.14150408e+02] [ 2.32024571e-02 2.58730143e-04 9.99730753e-01 1.01582043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6592541539999 meters Centerline goodness [0,1] 0.9999140191737242 Centerline is valid? [True, True] Translation: X:886.23, Y:214.17, Z:10.16 [[-6.50488926e-01 -7.59348498e-01 1.59378817e-02 8.86226956e+02] [ 7.59130544e-01 -6.50684093e-01 -1.81941715e-02 2.14172441e+02] [ 2.41862429e-02 2.63825747e-04 9.99707435e-01 1.01579749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6892541539999 meters Centerline goodness [0,1] 0.9998929702885521 Centerline is valid? [True, True] Translation: X:886.21, Y:214.19, Z:10.16 [[-6.50463597e-01 -7.59364670e-01 1.61990164e-02 8.86209380e+02] [ 7.59139752e-01 -6.50665216e-01 -1.84827945e-02 2.14192375e+02] [ 2.45753177e-02 2.74932272e-04 9.99697943e-01 1.01572893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7192541539998 meters Centerline goodness [0,1] 0.9998713605763047 Centerline is valid? [True, True] Translation: X:886.19, Y:214.21, Z:10.16 [[-6.50150836e-01 -7.59627275e-01 1.64406003e-02 8.86191311e+02] [ 7.59395941e-01 -6.50358605e-01 -1.87480551e-02 2.14213622e+02] [ 2.49338199e-02 2.95861436e-04 9.99689060e-01 1.01576497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7492541539998 meters Centerline goodness [0,1] 0.9999139488856381 Centerline is valid? [True, True] Translation: X:886.17, Y:214.24, Z:10.16 [[-6.50014979e-01 -7.59753475e-01 1.59745093e-02 8.86172949e+02] [ 7.59535366e-01 -6.50211172e-01 -1.82060359e-02 2.14235001e+02] [ 2.42189035e-02 2.99008743e-04 9.99706635e-01 1.01588050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.15, Y:214.26, Z:10.16 [[-6.49072790e-01 -7.60575397e-01 1.51518435e-02 8.86154664e+02] [ 7.60379585e-01 -6.49249539e-01 -1.72604478e-02 2.14255216e+02] [ 2.29651994e-02 3.17865463e-04 9.99736215e-01 1.01603892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.14, Y:214.28, Z:10.16 [[-6.48532500e-01 -7.61045250e-01 1.46875423e-02 8.86136872e+02] [ 7.60861577e-01 -6.48698711e-01 -1.67225046e-02 2.14276573e+02] [ 2.22543725e-02 3.30098879e-04 9.99752286e-01 1.01622955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.839254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.12, Y:214.30, Z:10.16 [[-6.48274760e-01 -7.61272996e-01 1.42569761e-02 8.86118489e+02] [ 7.61100205e-01 -6.48431426e-01 -1.62223363e-02 2.14296380e+02] [ 2.15942979e-02 3.34456237e-04 9.99766760e-01 1.01622246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.869254154 meters Centerline goodness [0,1] 0.9998497563907193 Centerline is valid? [True, True] Translation: X:886.10, Y:214.32, Z:10.16 [[-6.48932987e-01 -7.60696114e-01 1.50797822e-02 8.86100423e+02] [ 7.60502888e-01 -6.49108085e-01 -1.71479197e-02 2.14318415e+02] [ 2.28327644e-02 3.40367125e-04 9.99739241e-01 1.01612791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.899254154 meters Centerline goodness [0,1] 0.9999357312710212 Centerline is valid? [True, True] Translation: X:886.08, Y:214.34, Z:10.16 [[-6.48626876e-01 -7.60970530e-01 1.43885027e-02 8.86081858e+02] [ 7.60794854e-01 -6.48786358e-01 -1.63539584e-02 2.14337598e+02] [ 2.17799447e-02 3.39081902e-04 9.99762731e-01 1.01615084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.06, Y:214.36, Z:10.16 [[-6.48676870e-01 -7.60943134e-01 1.35597037e-02 8.86064342e+02] [ 7.60787297e-01 -6.48818497e-01 -1.54028285e-02 2.14356890e+02] [ 2.05184632e-02 3.24591743e-04 9.99789421e-01 1.01624878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.05, Y:214.38, Z:10.16 [[-6.49468963e-01 -7.60267789e-01 1.35260739e-02 8.86047796e+02] [ 7.60112775e-01 -6.49609724e-01 -1.53549993e-02 2.14379590e+02] [ 2.04605805e-02 3.08746094e-04 9.99790613e-01 1.01643964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.03, Y:214.40, Z:10.16 [[-6.50056802e-01 -7.59766726e-01 1.34415910e-02 8.86029625e+02] [ 7.59613720e-01 -6.50195689e-01 -1.52500135e-02 2.14400625e+02] [ 2.03261174e-02 2.97041921e-04 9.99793359e-01 1.01644519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:886.01, Y:214.42, Z:10.16 [[-6.50758214e-01 -7.59160267e-01 1.37635757e-02 8.86011270e+02] [ 7.58999908e-01 -6.50903683e-01 -1.56056168e-02 2.14420147e+02] [ 2.08059263e-02 2.91069358e-04 9.99783491e-01 1.01634570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.99, Y:214.44, Z:10.16 [[-6.51587272e-01 -7.58440970e-01 1.41888183e-02 8.85994169e+02] [ 7.58270588e-01 -6.51741678e-01 -1.60779177e-02 2.14442908e+02] [ 2.14415958e-02 2.82797025e-04 9.99770063e-01 1.01641034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.079254154 meters Centerline goodness [0,1] 0.9997857249994643 Centerline is valid? [True, True] Translation: X:885.98, Y:214.46, Z:10.16 [[-6.52695921e-01 -7.57446297e-01 1.62216144e-02 8.85976168e+02] [ 7.57223489e-01 -6.52897405e-01 -1.83729704e-02 2.14464213e+02] [ 2.45075883e-02 2.91424667e-04 9.99699601e-01 1.01609318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.109254154 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:885.96, Y:214.48, Z:10.16 [[-6.51898609e-01 -7.58154478e-01 1.51654766e-02 8.85956947e+02] [ 7.57960143e-01 -6.52074916e-01 -1.71676010e-02 2.14483839e+02] [ 2.29047205e-02 3.03291565e-04 9.99737606e-01 1.01619756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.139254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.94, Y:214.50, Z:10.16 [[-6.50732786e-01 -7.59148280e-01 1.55154734e-02 8.85937760e+02] [ 7.58945396e-01 -6.50917633e-01 -1.75533844e-02 2.14504930e+02] [ 2.34249168e-02 3.52834339e-04 9.99725537e-01 1.01625784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.92, Y:214.53, Z:10.16 [[-6.50022629e-01 -7.59755545e-01 1.55593458e-02 8.85918603e+02] [ 7.59551925e-01 -6.50208709e-01 -1.75928342e-02 2.14525126e+02] [ 2.34830755e-02 3.82390671e-04 9.99724161e-01 1.01623818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1992541539998 meters Centerline goodness [0,1] 0.9999785439955372 Centerline is valid? [True, True] Translation: X:885.90, Y:214.55, Z:10.16 [[-6.48513103e-01 -7.61037361e-01 1.59025217e-02 8.85898742e+02] [ 7.60825293e-01 -6.48707898e-01 -1.79704066e-02 2.14545176e+02] [ 2.39922423e-02 4.44996601e-04 9.99712046e-01 1.01620397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.88, Y:214.56, Z:10.16 [[-6.46473873e-01 -7.62771881e-01 1.58299909e-02 8.85879366e+02] [ 7.62562517e-01 -6.46667452e-01 -1.78777487e-02 2.14564650e+02] [ 2.38733839e-02 5.13860262e-04 9.99714858e-01 1.01621771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2592541539998 meters Centerline goodness [0,1] 0.9998499882133596 Centerline is valid? [True, True] Translation: X:885.86, Y:214.59, Z:10.16 [[-6.46342362e-01 -7.62866086e-01 1.66398658e-02 8.85860596e+02] [ 7.62635056e-01 -6.46556286e-01 -1.87813906e-02 2.14585528e+02] [ 2.50862958e-02 5.50936599e-04 9.99685138e-01 1.01610751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.84, Y:214.61, Z:10.17 [[-6.43740256e-01 -7.65088179e-01 1.54454226e-02 8.85842133e+02] [ 7.64889996e-01 -6.43925244e-01 -1.74233529e-02 2.14606734e+02] [ 2.32760989e-02 5.97935596e-04 9.99728896e-01 1.01656169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.3192541539997 meters Centerline goodness [0,1] 0.9999137708027939 Centerline is valid? [True, True] Translation: X:885.82, Y:214.63, Z:10.17 [[-6.43513171e-01 -7.65274601e-01 1.56710932e-02 8.85823180e+02] [ 7.65070878e-01 -6.43703659e-01 -1.76677846e-02 2.14628389e+02] [ 2.36082468e-02 6.20044935e-04 9.99721094e-01 1.01655207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.80, Y:214.65, Z:10.17 [[-6.42270845e-01 -7.66323581e-01 1.53730527e-02 8.85804060e+02] [ 7.66128076e-01 -6.42454468e-01 -1.73213031e-02 2.14647607e+02] [ 2.31502094e-02 6.52759253e-04 9.99731785e-01 1.01671618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.78, Y:214.67, Z:10.17 [[-6.40701281e-01 -7.67648378e-01 1.47592804e-02 8.85783474e+02] [ 7.67468750e-01 -6.40870897e-01 -1.66196100e-02 2.14665575e+02] [ 2.22168099e-02 6.79081095e-04 9.99752946e-01 1.01673712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.77, Y:214.69, Z:10.17 [[-6.39889123e-01 -7.68334220e-01 1.42980897e-02 8.85765613e+02] [ 7.68166018e-01 -6.40048478e-01 -1.60908495e-02 2.14687024e+02] [ 2.15146209e-02 6.86947068e-04 9.99768298e-01 1.01688565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.74, Y:214.70, Z:10.17 [[-6.38574332e-01 -7.69438074e-01 1.37066952e-02 8.85744008e+02] [ 7.69283907e-01 -6.38721037e-01 -1.54177912e-02 2.14703300e+02] [ 2.06177902e-02 6.98934311e-04 9.99787186e-01 1.01680912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4692541539998 meters Centerline goodness [0,1] 0.9999785679075848 Centerline is valid? [True, True] Translation: X:885.73, Y:214.73, Z:10.17 [[-6.38500167e-01 -7.69499371e-01 1.37206455e-02 8.85727903e+02] [ 7.69345088e-01 -6.38647179e-01 -1.54245735e-02 2.14726013e+02] [ 2.06318511e-02 7.07318446e-04 9.99786891e-01 1.01694505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4992541539998 meters Centerline goodness [0,1] 0.9999569670367502 Centerline is valid? [True, True] Translation: X:885.71, Y:214.75, Z:10.17 [[-6.38431486e-01 -7.69550441e-01 1.40483708e-02 8.85711335e+02] [ 7.69388915e-01 -6.38585612e-01 -1.57833467e-02 2.14748506e+02] [ 2.11171688e-02 7.32075255e-04 9.99776740e-01 1.01702089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.5292541539998 meters Centerline goodness [0,1] 0.9998492386552088 Centerline is valid? [True, True] Translation: X:885.69, Y:214.77, Z:10.17 [[-6.38815686e-01 -7.69223083e-01 1.45040800e-02 8.85690602e+02] [ 7.69051042e-01 -6.38979878e-01 -1.62852709e-02 2.14766730e+02] [ 2.17948216e-02 7.51091349e-04 9.99762183e-01 1.01677579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.5592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.67, Y:214.79, Z:10.17 [[-6.37761932e-01 -7.70103569e-01 1.41496106e-02 8.85671987e+02] [ 7.69940252e-01 -6.37918415e-01 -1.58778321e-02 2.14786878e+02] [ 2.12538723e-02 7.68077840e-04 9.99773816e-01 1.01702600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.66, Y:214.81, Z:10.17 [[-6.37238712e-01 -7.70539616e-01 1.39829940e-02 8.85655858e+02] [ 7.70380419e-01 -6.37391632e-01 -1.56817768e-02 2.14810069e+02] [ 2.09960736e-02 7.79189490e-04 9.99779255e-01 1.01722625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.64, Y:214.83, Z:10.17 [[-6.37071573e-01 -7.70672562e-01 1.42692652e-02 8.85637719e+02] [ 7.70507014e-01 -6.37230847e-01 -1.59934223e-02 2.14832040e+02] [ 2.14185077e-02 8.05614232e-04 9.99770273e-01 1.01728864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.649254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.62, Y:214.85, Z:10.17 [[-6.37118358e-01 -7.70638707e-01 1.40064550e-02 8.85618225e+02] [ 7.70479393e-01 -6.37271802e-01 -1.56893686e-02 2.14850583e+02] [ 2.10167535e-02 7.95700163e-04 9.99778807e-01 1.01721369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6792541539999 meters Centerline goodness [0,1] 0.9998495076751086 Centerline is valid? [True, True] Translation: X:885.60, Y:214.87, Z:10.17 [[-6.37953461e-01 -7.69942117e-01 1.43009691e-02 8.85598537e+02] [ 7.69776082e-01 -6.38113237e-01 -1.60087651e-02 2.14868525e+02] [ 2.14514602e-02 7.95696862e-04 9.99769574e-01 1.01695638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.58, Y:214.89, Z:10.17 [[-6.37564970e-01 -7.70284858e-01 1.31204798e-02 8.85584015e+02] [ 7.70145359e-01 -6.37699523e-01 -1.46780294e-02 2.14891750e+02] [ 1.96731875e-02 7.46479266e-04 9.99806185e-01 1.01739650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7392541539998 meters Centerline goodness [0,1] 0.9998279569892473 Centerline is valid? [True, True] Translation: X:885.57, Y:214.91, Z:10.17 [[-6.38870185e-01 -7.69210315e-01 1.26640543e-02 8.85566499e+02] [ 7.69080302e-01 -6.38995313e-01 -1.41590645e-02 2.14913715e+02] [ 1.89835698e-02 6.93870582e-04 9.99819555e-01 1.01741328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.55, Y:214.94, Z:10.18 [[-6.38397244e-01 -7.69616273e-01 1.18216160e-02 8.85547878e+02] [ 7.69503184e-01 -6.38506344e-01 -1.32097969e-02 2.14935014e+02] [ 1.77146515e-02 6.63673165e-04 9.99842863e-01 1.01768945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.53, Y:214.96, Z:10.18 [[-6.38720368e-01 -7.69361096e-01 1.09451128e-02 8.85529673e+02] [ 7.69264237e-01 -6.38813845e-01 -1.22231041e-02 2.14955291e+02] [ 1.63958703e-02 6.12538266e-04 9.99865391e-01 1.01776040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.829254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.51, Y:214.98, Z:10.18 [[-6.37999493e-01 -7.69957252e-01 1.10669209e-02 8.85512786e+02] [ 7.69858437e-01 -6.38095150e-01 -1.23517829e-02 2.14978295e+02] [ 1.65720934e-02 6.39531191e-04 9.99862469e-01 1.01784467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.49, Y:215.00, Z:10.18 [[-6.37773281e-01 -7.70138126e-01 1.15112706e-02 8.85493279e+02] [ 7.70031371e-01 -6.37876800e-01 -1.28404332e-02 2.14998693e+02] [ 1.72316796e-02 6.74754255e-04 9.99851296e-01 1.01780402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.47, Y:215.02, Z:10.18 [[-6.37999168e-01 -7.69950952e-01 1.15149569e-02 8.85474793e+02] [ 7.69844225e-01 -6.38102717e-01 -1.28371272e-02 2.15019199e+02] [ 1.72316836e-02 6.74646631e-04 9.99851296e-01 1.01782298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9192541539999 meters Centerline goodness [0,1] 0.9999353587588882 Centerline is valid? [True, True] Translation: X:885.45, Y:215.04, Z:10.18 [[-6.37972230e-01 -7.69967721e-01 1.18803812e-02 8.85454314e+02] [ 7.69854261e-01 -6.38082453e-01 -1.32363424e-02 2.15037339e+02] [ 1.77722192e-02 7.01743206e-04 9.99841815e-01 1.01757422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.44, Y:215.06, Z:10.18 [[-6.36472788e-01 -7.71194765e-01 1.26895650e-02 8.85436232e+02] [ 7.71065729e-01 -6.36598781e-01 -1.41291951e-02 2.15058616e+02] [ 1.89745229e-02 7.91640502e-04 9.99819654e-01 1.01757920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.42, Y:215.08, Z:10.18 [[-6.35964774e-01 -7.71601999e-01 1.33851397e-02 8.85417374e+02] [ 7.71458701e-01 -6.36105044e-01 -1.48944667e-02 2.15078749e+02] [ 2.00069551e-02 8.53726346e-04 9.99799476e-01 1.01751298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0092541539998 meters Centerline goodness [0,1] 0.9999351575671119 Centerline is valid? [True, True] Translation: X:885.40, Y:215.10, Z:10.17 [[-6.35536547e-01 -7.71932841e-01 1.45940311e-02 8.85398585e+02] [ 7.71762799e-01 -6.35703381e-01 -1.62293855e-02 2.15099121e+02] [ 2.18054705e-02 9.48762656e-04 9.99761782e-01 1.01724464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0392541539998 meters Centerline goodness [0,1] 0.9998922158270279 Centerline is valid? [True, True] Translation: X:885.38, Y:215.12, Z:10.17 [[-6.35423847e-01 -7.72005268e-01 1.56333258e-02 8.85380385e+02] [ 7.71810408e-01 -6.35615304e-01 -1.73746627e-02 2.15120824e+02] [ 2.33501123e-02 1.02568852e-03 9.99726823e-01 1.01714137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.36, Y:215.14, Z:10.17 [[-6.35277363e-01 -7.72128420e-01 1.55040210e-02 8.85361897e+02] [ 7.71937038e-01 -6.35465692e-01 -1.72210013e-02 2.15142210e+02] [ 2.31490979e-02 1.02801574e-03 9.99731495e-01 1.01728987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.099254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.34, Y:215.16, Z:10.17 [[-6.35936638e-01 -7.71579171e-01 1.58169286e-02 8.85344298e+02] [ 7.71380059e-01 -6.36132464e-01 -1.75582935e-02 2.15164455e+02] [ 2.36092753e-02 1.03490117e-03 9.99720727e-01 1.01735421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.129254154 meters Centerline goodness [0,1] 0.9999134086677923 Centerline is valid? [True, True] Translation: X:885.33, Y:215.19, Z:10.17 [[-6.38302795e-01 -7.69628595e-01 1.55359846e-02 8.85328144e+02] [ 7.69436157e-01 -6.38491127e-01 -1.72360623e-02 2.15186924e+02] [ 2.31849547e-02 9.52121578e-04 9.99730739e-01 1.01729416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1592541539999 meters Centerline goodness [0,1] 0.9999567801188547 Centerline is valid? [True, True] Translation: X:885.31, Y:215.21, Z:10.18 [[-6.40487853e-01 -7.67834641e-01 1.43274405e-02 8.85312509e+02] [ 7.67670735e-01 -6.40647552e-01 -1.58857392e-02 2.15209901e+02] [ 2.13764605e-02 8.24133796e-04 9.99771158e-01 1.01759513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.29, Y:215.23, Z:10.18 [[-6.41562129e-01 -7.66953348e-01 1.34386320e-02 8.85294406e+02] [ 7.66809121e-01 -6.41702422e-01 -1.48920633e-02 2.15231958e+02] [ 2.00451205e-02 7.50681785e-04 9.99798795e-01 1.01778885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2192541539998 meters Centerline goodness [0,1] 0.9998918217221981 Centerline is valid? [True, True] Translation: X:885.28, Y:215.26, Z:10.18 [[-6.44869047e-01 -7.64190387e-01 1.25285654e-02 8.85279436e+02] [ 7.64064624e-01 -6.44990437e-01 -1.38775662e-02 2.15256556e+02] [ 1.86859075e-02 6.23420682e-04 9.99825209e-01 1.01786130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.26, Y:215.28, Z:10.18 [[-6.46422661e-01 -7.62890504e-01 1.16542444e-02 8.85262894e+02] [ 7.62781580e-01 -6.46527476e-01 -1.29028887e-02 2.15278082e+02] [ 1.73782804e-02 5.48923325e-04 9.99848836e-01 1.01812706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2792541539998 meters Centerline goodness [0,1] 0.999869633234834 Centerline is valid? [True, True] Translation: X:885.25, Y:215.30, Z:10.18 [[-6.48083673e-01 -7.61477139e-01 1.18372174e-02 8.85245940e+02] [ 7.61364663e-01 -6.48191555e-01 -1.30980366e-02 2.15300456e+02] [ 1.76466397e-02 5.23815385e-04 9.99844149e-01 1.01801454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.3092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.23, Y:215.32, Z:10.18 [[-6.48139158e-01 -7.61433738e-01 1.15885764e-02 8.85227047e+02] [ 7.61326062e-01 -6.48242544e-01 -1.28152620e-02 2.15320067e+02] [ 1.72701811e-02 5.16612138e-04 9.99850726e-01 1.01812970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.21, Y:215.34, Z:10.18 [[-6.48512830e-01 -7.61111061e-01 1.18769670e-02 8.85208866e+02] [ 7.60998055e-01 -6.48621366e-01 -1.31257167e-02 2.15340420e+02] [ 1.76937827e-02 5.26153083e-04 9.99843314e-01 1.01811358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.369254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.19, Y:215.36, Z:10.18 [[-6.49173129e-01 -7.60528058e-01 1.30890287e-02 8.85191281e+02] [ 7.60390884e-01 -6.49304821e-01 -1.44552152e-02 2.15359693e+02] [ 1.94923662e-02 5.68840846e-04 9.99809844e-01 1.01797252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.399254154 meters Centerline goodness [0,1] 0.9999782995529708 Centerline is valid? [True, True] Translation: X:885.17, Y:215.38, Z:10.18 [[-6.50558535e-01 -7.59337226e-01 1.34376653e-02 8.85174870e+02] [ 7.59192578e-01 -6.50697066e-01 -1.48309778e-02 2.15382901e+02] [ 2.00055629e-02 5.53356587e-04 9.99799716e-01 1.01798839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4292541539999 meters Centerline goodness [0,1] 0.999978246209402 Centerline is valid? [True, True] Translation: X:885.16, Y:215.40, Z:10.18 [[-6.51775513e-01 -7.58290921e-01 1.35484298e-02 8.85156595e+02] [ 7.58143830e-01 -6.51916097e-01 -1.49444471e-02 2.15404740e+02] [ 2.01646780e-02 5.31233775e-04 9.99796531e-01 1.01796173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4592541539998 meters Centerline goodness [0,1] 0.9999565255195201 Centerline is valid? [True, True] Translation: X:885.14, Y:215.43, Z:10.18 [[-6.53791237e-01 -7.56559627e-01 1.32116830e-02 8.85140341e+02] [ 7.56419541e-01 -6.53924544e-01 -1.45660264e-02 2.15426168e+02] [ 1.96595113e-02 4.70434799e-04 9.99806622e-01 1.01806720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4892541539998 meters Centerline goodness [0,1] 0.9999781664155805 Centerline is valid? [True, True] Translation: X:885.12, Y:215.45, Z:10.18 [[-6.55517177e-01 -7.55067587e-01 1.30449263e-02 8.85123703e+02] [ 7.54930862e-01 -6.55646825e-01 -1.43747834e-02 2.15448808e+02] [ 1.94067975e-02 4.25100035e-04 9.99811580e-01 1.01815389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.11, Y:215.47, Z:10.18 [[-6.58428026e-01 -7.52540245e-01 1.24785132e-02 8.85107987e+02] [ 7.52414803e-01 -6.58546174e-01 -1.37441071e-02 2.15471227e+02] [ 1.85606708e-02 3.39512779e-04 9.99827678e-01 1.01825179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5492541539998 meters Centerline goodness [0,1] 0.9998686514886165 Centerline is valid? [True, True] Translation: X:885.09, Y:215.49, Z:10.18 [[-6.60600350e-01 -7.50629988e-01 1.27200525e-02 8.85090323e+02] [ 7.50499428e-01 -6.60722736e-01 -1.40026762e-02 2.15493393e+02] [ 1.89152566e-02 2.96219341e-04 9.99821047e-01 1.01812029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5792541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.07, Y:215.51, Z:10.18 [[-6.61638800e-01 -7.49730772e-01 1.17417125e-02 8.85073426e+02] [ 7.49619511e-01 -6.61742930e-01 -1.29183477e-02 2.15514980e+02] [ 1.74552780e-02 2.54536703e-04 9.99847613e-01 1.01837296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.609254154 meters Centerline goodness [0,1] 0.999890996293874 Centerline is valid? [True, True] Translation: X:885.06, Y:215.53, Z:10.18 [[-6.62314033e-01 -7.49129134e-01 1.20690626e-02 8.85056072e+02] [ 7.49011638e-01 -6.62423941e-01 -1.32698675e-02 2.15534185e+02] [ 1.79356804e-02 2.51048843e-04 9.99839111e-01 1.01828040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.04, Y:215.55, Z:10.18 [[-6.60995182e-01 -7.50289792e-01 1.22717887e-02 8.85037236e+02] [ 7.50168671e-01 -6.61109024e-01 -1.34841961e-02 2.15553415e+02] [ 1.82300449e-02 2.92922753e-04 9.99833776e-01 1.01839241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6692541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:885.02, Y:215.57, Z:10.18 [[-6.59859684e-01 -7.51274557e-01 1.31048713e-02 8.85017876e+02] [ 7.51136793e-01 -6.59989711e-01 -1.43909303e-02 2.15573626e+02] [ 1.94606200e-02 3.47556295e-04 9.99810564e-01 1.01831058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6992541539998 meters Centerline goodness [0,1] 0.99989068648885 Centerline is valid? [True, True] Translation: X:885.00, Y:215.59, Z:10.18 [[-6.59722359e-01 -7.51381535e-01 1.38635546e-02 8.84998550e+02] [ 7.51227564e-01 -6.59867901e-01 -1.52151146e-02 2.15593807e+02] [ 2.05804709e-02 3.76933074e-04 9.99788129e-01 1.01810544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7292541539998 meters Centerline goodness [0,1] 0.9999561047341045 Centerline is valid? [True, True] Translation: X:884.98, Y:215.61, Z:10.18 [[-6.58720810e-01 -7.52257182e-01 1.40009721e-02 8.84979660e+02] [ 7.52100526e-01 -6.58869457e-01 -1.53570353e-02 2.15614817e+02] [ 2.07772530e-02 4.14139720e-04 9.99784044e-01 1.01813952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7592541539998 meters Centerline goodness [0,1] 0.9999780845934693 Centerline is valid? [True, True] Translation: X:884.96, Y:215.63, Z:10.18 [[-6.58623369e-01 -7.52339022e-01 1.41863735e-02 8.84961834e+02] [ 7.52178421e-01 -6.58775995e-01 -1.55502966e-02 2.15634368e+02] [ 2.10447373e-02 4.28895271e-04 9.99778443e-01 1.01819846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.94, Y:215.66, Z:10.18 [[-6.58704727e-01 -7.52275599e-01 1.37660896e-02 8.84943548e+02] [ 7.52124547e-01 -6.58848424e-01 -1.50804385e-02 2.15656065e+02] [ 2.04144124e-02 4.20257781e-04 9.99791516e-01 1.01830517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.8192541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.93, Y:215.68, Z:10.18 [[-6.59473012e-01 -7.51609514e-01 1.33598501e-02 8.84926287e+02] [ 7.51467276e-01 -6.59608205e-01 -1.46269998e-02 2.15677916e+02] [ 1.98060590e-02 3.93378569e-04 9.99803763e-01 1.01840466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.91, Y:215.70, Z:10.19 [[-6.60261148e-01 -7.50931363e-01 1.25420987e-02 8.84909108e+02] [ 7.50806029e-01 -6.60380165e-01 -1.37239003e-02 2.15700072e+02] [ 1.85882603e-02 3.55325172e-04 9.99827160e-01 1.01854314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.879254154 meters Centerline goodness [0,1] 0.9998905333216569 Centerline is valid? [True, True] Translation: X:884.89, Y:215.72, Z:10.18 [[-6.60836333e-01 -7.50427496e-01 1.24062299e-02 8.84890810e+02] [ 7.50304922e-01 -6.60952688e-01 -1.35671695e-02 2.15720340e+02] [ 1.83811080e-02 3.42776819e-04 9.99830994e-01 1.01845598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9092541539999 meters Centerline goodness [0,1] 0.9998680477667085 Centerline is valid? [True, True] Translation: X:884.87, Y:215.74, Z:10.19 [[-6.60515509e-01 -7.50719254e-01 1.18264389e-02 8.84872623e+02] [ 7.50608047e-01 -6.60621289e-01 -1.29256485e-02 2.15741895e+02] [ 1.75163305e-02 3.39428897e-04 9.99846520e-01 1.01855605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9392541539999 meters Centerline goodness [0,1] 0.9998900663998944 Centerline is valid? [True, True] Translation: X:884.85, Y:215.76, Z:10.19 [[-6.59832924e-01 -7.51329165e-01 1.11802808e-02 8.84853715e+02] [ 7.51229980e-01 -6.59927549e-01 -1.22125469e-02 2.15762154e+02] [ 1.65538179e-02 3.40721601e-04 9.99862918e-01 1.01865743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.83, Y:215.78, Z:10.19 [[-6.58106841e-01 -7.52846608e-01 1.08337801e-02 8.84834790e+02] [ 7.52753791e-01 -6.58195903e-01 -1.18272500e-02 2.15783194e+02] [ 1.60348547e-02 3.71574952e-04 9.99871364e-01 1.01871941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9992541539998 meters Centerline goodness [0,1] 0.9999121361889072 Centerline is valid? [True, True] Translation: X:884.82, Y:215.80, Z:10.19 [[-6.57717844e-01 -7.53179671e-01 1.12969551e-02 8.84815132e+02] [ 7.53078900e-01 -6.57814734e-01 -1.23266770e-02 2.15801884e+02] [ 1.67155061e-02 4.00023103e-04 9.99860206e-01 1.01853683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.0292541539998 meters Centerline goodness [0,1] 0.9998458047888626 Centerline is valid? [True, True] Translation: X:884.80, Y:215.82, Z:10.18 [[-6.56548160e-01 -7.54192721e-01 1.17410824e-02 8.84796746e+02] [ 7.54084154e-01 -6.56652983e-01 -1.28042901e-02 2.15822627e+02] [ 1.73667192e-02 4.47131037e-04 9.99849087e-01 1.01847241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.0592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.78, Y:215.84, Z:10.19 [[-6.55621604e-01 -7.55010589e-01 1.09235087e-02 8.84778375e+02] [ 7.54916840e-01 -6.55712450e-01 -1.19058091e-02 2.15843659e+02] [ 1.61516926e-02 4.40634948e-04 9.99869456e-01 1.01867423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.76, Y:215.86, Z:10.19 [[-6.55307546e-01 -7.55284129e-01 1.08583759e-02 8.84760744e+02] [ 7.55191647e-01 -6.55397347e-01 -1.18276702e-02 2.15864942e+02] [ 1.60498023e-02 4.49393246e-04 9.99871093e-01 1.01869484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.74, Y:215.88, Z:10.19 [[-6.55462316e-01 -7.55150886e-01 1.07838802e-02 8.84742345e+02] [ 7.55059766e-01 -6.55550867e-01 -1.17392704e-02 2.15884991e+02] [ 1.59343024e-02 4.47824692e-04 9.99872941e-01 1.01870600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.149254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.73, Y:215.91, Z:10.19 [[-6.56341927e-01 -7.54393539e-01 1.02792434e-02 8.84726035e+02] [ 7.54310756e-01 -6.56422285e-01 -1.11833594e-02 2.15907926e+02] [ 1.51841786e-02 4.13636199e-04 9.99884628e-01 1.01878015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1792541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.71, Y:215.93, Z:10.19 [[-6.56663804e-01 -7.54116434e-01 1.00524421e-02 8.84707778e+02] [ 7.54037328e-01 -6.56740620e-01 -1.09300784e-02 2.15927607e+02] [ 1.48443988e-02 4.02529741e-04 9.99889735e-01 1.01882802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2092541539998 meters Centerline goodness [0,1] 0.9999335106382978 Centerline is valid? [True, True] Translation: X:884.69, Y:215.95, Z:10.19 [[-6.56646908e-01 -7.54135165e-01 9.74628536e-03 8.84690001e+02] [ 7.54060901e-01 -6.56719115e-01 -1.05905998e-02 2.15948249e+02] [ 1.43873156e-02 3.95008127e-04 9.99896419e-01 1.01884473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.67, Y:215.97, Z:10.19 [[-6.56147411e-01 -7.54576528e-01 9.21084115e-03 8.84671907e+02] [ 7.54510324e-01 -6.56211943e-01 -1.00028138e-02 2.15969760e+02] [ 1.35921525e-02 3.86354366e-04 9.99907548e-01 1.01895733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2692541539998 meters Centerline goodness [0,1] 0.9998008408940031 Centerline is valid? [True, True] Translation: X:884.65, Y:215.99, Z:10.19 [[-6.55580531e-01 -7.55062344e-01 9.74803714e-03 8.84653444e+02] [ 7.54988335e-01 -6.55652864e-01 -1.05800010e-02 2.15991469e+02] [ 1.43798888e-02 4.23611687e-04 9.99896514e-01 1.01881498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2992541539998 meters Centerline goodness [0,1] 0.9998889456500011 Centerline is valid? [True, True] Translation: X:884.63, Y:216.01, Z:10.19 [[-6.55241519e-01 -7.55363629e-01 9.18365873e-03 8.84634801e+02] [ 7.55298050e-01 -6.55305746e-01 -9.96173773e-03 2.16010726e+02] [ 1.35428387e-02 4.09055367e-04 9.99908208e-01 1.01885402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.3292541539997 meters Centerline goodness [0,1] 0.9998446894899159 Centerline is valid? [True, True] Translation: X:884.62, Y:216.03, Z:10.19 [[-6.55484572e-01 -7.55144785e-01 9.81476439e-03 8.84616346e+02] [ 7.55069953e-01 -6.55557902e-01 -1.06396919e-02 2.16031383e+02] [ 1.44686542e-02 4.36679797e-04 9.99895228e-01 1.01873026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.359254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.60, Y:216.05, Z:10.19 [[-6.56075407e-01 -7.54640798e-01 9.07338136e-03 8.84597872e+02] [ 7.54576870e-01 -6.56138025e-01 -9.83050172e-03 2.16053061e+02] [ 1.33718882e-02 3.97013288e-04 9.99910514e-01 1.01887773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.58, Y:216.07, Z:10.19 [[-6.56761016e-01 -7.54046144e-01 8.90960479e-03 8.84579254e+02] [ 7.53984521e-01 -6.56821336e-01 -9.64751867e-03 2.16073660e+02] [ 1.31266928e-02 3.81589941e-04 9.99913768e-01 1.01888887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.56, Y:216.09, Z:10.19 [[-6.58200755e-01 -7.52794964e-01 8.45629508e-03 8.84561328e+02] [ 7.52739413e-01 -6.58254985e-01 -9.15156983e-03 2.16094091e+02] [ 1.24556541e-02 3.41816423e-04 9.99922367e-01 1.01891478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4492541539998 meters Centerline goodness [0,1] 0.9998226124747777 Centerline is valid? [True, True] Translation: X:884.54, Y:216.11, Z:10.19 [[-6.59173577e-01 -7.51944375e-01 8.35777837e-03 8.84543289e+02] [ 7.51890110e-01 -6.59226480e-01 -9.03943501e-03 2.16113090e+02] [ 1.23068211e-02 3.25574185e-04 9.99924215e-01 1.01881145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.53, Y:216.13, Z:10.19 [[-6.59112510e-01 -7.52007623e-01 7.43194604e-03 8.84525450e+02] [ 7.51964771e-01 -6.59154343e-01 -8.03333875e-03 2.16134369e+02] [ 1.09399315e-02 2.93687534e-04 9.99940114e-01 1.01902425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5092541539998 meters Centerline goodness [0,1] 0.9999333747890201 Centerline is valid? [True, True] Translation: X:884.51, Y:216.15, Z:10.19 [[-6.59755524e-01 -7.51438511e-01 7.92545887e-03 8.84506559e+02] [ 7.51389802e-01 -6.59803054e-01 -8.56128768e-03 2.16153178e+02] [ 1.16625232e-02 3.06752143e-04 9.99931943e-01 1.01889584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5392541539998 meters Centerline goodness [0,1] 0.9998448925326834 Centerline is valid? [True, True] Translation: X:884.49, Y:216.17, Z:10.19 [[-6.60359369e-01 -7.50902821e-01 8.39384918e-03 8.84488201e+02] [ 7.50848218e-01 -6.60412637e-01 -9.06101730e-03 2.16173338e+02] [ 1.23473475e-02 3.18979029e-04 9.99923718e-01 1.01876811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5692541539997 meters Centerline goodness [0,1] 0.9998218659541305 Centerline is valid? [True, True] Translation: X:884.47, Y:216.19, Z:10.19 [[-6.61383102e-01 -7.50000869e-01 8.43140521e-03 8.84469653e+02] [ 7.49945776e-01 -6.61436771e-01 -9.09564618e-03 2.16193830e+02] [ 1.23985840e-02 3.07390041e-04 9.99923087e-01 1.01867259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.599254154 meters Centerline goodness [0,1] 0.9998222064183483 Centerline is valid? [True, True] Translation: X:884.45, Y:216.21, Z:10.19 [[-6.62643119e-01 -7.48891407e-01 8.10905974e-03 8.84451148e+02] [ 7.48840426e-01 -6.62692675e-01 -8.74264799e-03 2.16214469e+02] [ 1.19211085e-02 2.79136224e-04 9.99928902e-01 1.01872683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.43, Y:216.24, Z:10.19 [[-6.63223227e-01 -7.48385393e-01 7.36578488e-03 8.84433044e+02] [ 7.48343345e-01 -6.63264081e-01 -7.93698839e-03 2.16236224e+02] [ 1.08253867e-02 2.48141048e-04 9.99941373e-01 1.01894613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6592541539999 meters Centerline goodness [0,1] 0.9998886439054809 Centerline is valid? [True, True] Translation: X:884.41, Y:216.26, Z:10.19 [[-6.64223943e-01 -7.47495586e-01 7.54339376e-03 8.84414264e+02] [ 7.47451482e-01 -6.64266731e-01 -8.12355525e-03 2.16256403e+02] [ 1.10831472e-02 2.42460941e-04 9.99938551e-01 1.01883690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6892541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.40, Y:216.28, Z:10.19 [[-6.64966244e-01 -7.46839033e-01 7.16611143e-03 8.84396996e+02] [ 7.46799240e-01 -6.65004819e-01 -7.71273840e-03 2.16277196e+02] [ 1.05256727e-02 2.22935876e-04 9.99944579e-01 1.01902757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7192541539998 meters Centerline goodness [0,1] 0.9999554257950923 Centerline is valid? [True, True] Translation: X:884.38, Y:216.30, Z:10.19 [[-6.65707150e-01 -7.46180052e-01 7.02285469e-03 8.84378759e+02] [ 7.46141847e-01 -6.65744159e-01 -7.55372118e-03 2.16297480e+02] [ 1.03118605e-02 2.11479572e-04 9.99946809e-01 1.01899044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.36, Y:216.32, Z:10.19 [[-6.66464462e-01 -7.45505305e-01 6.85285683e-03 8.84360905e+02] [ 7.45468939e-01 -6.66499663e-01 -7.36617871e-03 2.16318469e+02] [ 1.00589521e-02 1.99295578e-04 9.99949388e-01 1.01906502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.34, Y:216.34, Z:10.19 [[-6.66705074e-01 -7.45290111e-01 6.85523724e-03 8.84342576e+02] [ 7.45253757e-01 -6.66740287e-01 -7.36396297e-03 2.16338003e+02] [ 1.00589516e-02 1.99299826e-04 9.99949388e-01 1.01908338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.32, Y:216.36, Z:10.19 [[-6.67223956e-01 -7.44828246e-01 6.56327997e-03 8.84323991e+02] [ 7.44794941e-01 -6.67256209e-01 -7.04605044e-03 2.16358807e+02] [ 9.62748670e-03 1.87004070e-04 9.99953637e-01 1.01910683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.839254154 meters Centerline goodness [0,1] 0.9998662744049212 Centerline is valid? [True, True] Translation: X:884.31, Y:216.38, Z:10.19 [[-6.67361765e-01 -7.44700030e-01 7.08097755e-03 8.84305069e+02] [ 7.44661305e-01 -6.67399299e-01 -7.59710059e-03 2.16377887e+02] [ 1.03834005e-02 2.02915523e-04 9.99946070e-01 1.01891228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.869254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.29, Y:216.40, Z:10.19 [[-6.66926855e-01 -7.45090521e-01 6.97752735e-03 8.84285946e+02] [ 7.45052988e-01 -6.66963321e-01 -7.48157691e-03 2.16396846e+02] [ 1.02282069e-02 2.08963044e-04 9.99947669e-01 1.01897049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.899254154 meters Centerline goodness [0,1] 0.9998439311513422 Centerline is valid? [True, True] Translation: X:884.27, Y:216.42, Z:10.19 [[-6.67467388e-01 -7.44596192e-01 7.98729789e-03 8.84267093e+02] [ 7.44547038e-01 -6.67515135e-01 -8.55872957e-03 2.16418191e+02] [ 1.17044397e-02 2.34246118e-04 9.99931473e-01 1.01876409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.25, Y:216.44, Z:10.19 [[-6.67495765e-01 -7.44572500e-01 7.82279735e-03 8.84248553e+02] [ 7.44525406e-01 -6.67541563e-01 -8.37742491e-03 2.16437896e+02] [ 1.14596426e-02 2.32375721e-04 9.99934309e-01 1.01889265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9592541539998 meters Centerline goodness [0,1] 0.9998439520263944 Centerline is valid? [True, True] Translation: X:884.23, Y:216.46, Z:10.19 [[-6.67918825e-01 -7.44185663e-01 8.49364474e-03 8.84230059e+02] [ 7.44130193e-01 -6.67972781e-01 -9.08953720e-03 2.16456265e+02] [ 1.24378268e-02 2.49304488e-04 9.99922616e-01 1.01864188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.21, Y:216.48, Z:10.19 [[-6.68027186e-01 -7.44094878e-01 7.90513033e-03 8.84212542e+02] [ 7.44046884e-01 -6.68073916e-01 -8.45435535e-03 2.16476831e+02] [ 1.15720539e-02 2.34048371e-04 9.99933014e-01 1.01889140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.19, Y:216.50, Z:10.19 [[-6.68551577e-01 -7.43626640e-01 7.62950357e-03 8.84194729e+02] [ 7.43581962e-01 -6.68595073e-01 -8.15444452e-03 2.16497523e+02] [ 1.11649107e-02 2.21494484e-04 9.99937646e-01 1.01902692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.18, Y:216.52, Z:10.19 [[-6.69133829e-01 -7.43107862e-01 7.11508612e-03 8.84176191e+02] [ 7.43069025e-01 -6.69171625e-01 -7.59994961e-03 2.16517598e+02] [ 1.04087961e-02 2.01616732e-04 9.99945807e-01 1.01911574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0792541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.16, Y:216.54, Z:10.19 [[-6.69622790e-01 -7.42671583e-01 6.65123633e-03 8.84157305e+02] [ 7.42637666e-01 -6.69655796e-01 -7.10012966e-03 2.16537714e+02] [ 9.72710349e-03 1.85049995e-04 9.99952674e-01 1.01921401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.109254154 meters Centerline goodness [0,1] 0.9999777664139449 Centerline is valid? [True, True] Translation: X:884.14, Y:216.56, Z:10.19 [[-6.70527831e-01 -7.41863357e-01 5.58465464e-03 8.84139405e+02] [ 7.41839443e-01 -6.70551071e-01 -5.95839266e-03 2.16556513e+02] [ 8.16510933e-03 1.47648978e-04 9.99966654e-01 1.01929435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.139254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.12, Y:216.58, Z:10.19 [[-6.70814457e-01 -7.41604908e-01 5.48856796e-03 8.84121111e+02] [ 7.41581826e-01 -6.70836895e-01 -5.85289385e-03 2.16576396e+02] [ 8.02246869e-03 1.44016436e-04 9.99967809e-01 1.01936102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1692541539999 meters Centerline goodness [0,1] 0.999822281461735 Centerline is valid? [True, True] Translation: X:884.10, Y:216.59, Z:10.19 [[-6.71485656e-01 -7.40991876e-01 6.16870881e-03 8.84101270e+02] [ 7.40962734e-01 -6.71513972e-01 -6.57356597e-03 2.16594511e+02] [ 9.01333314e-03 1.56728079e-04 9.99959367e-01 1.01914491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1992541539998 meters Centerline goodness [0,1] 0.9998666429587483 Centerline is valid? [True, True] Translation: X:884.08, Y:216.62, Z:10.19 [[-6.71563093e-01 -7.40915060e-01 6.91996248e-03 8.84082633e+02] [ 7.40878433e-01 -6.71598721e-01 -7.36917346e-03 2.16615920e+02] [ 1.01073695e-02 1.77986036e-04 9.99948903e-01 1.01908386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.06, Y:216.63, Z:10.19 [[-6.70773407e-01 -7.41621167e-01 7.81548828e-03 8.84062363e+02] [ 7.41574555e-01 -6.70818901e-01 -8.31753227e-03 2.16634444e+02] [ 1.14112352e-02 2.16587783e-04 9.99934866e-01 1.01908240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:884.04, Y:216.65, Z:10.19 [[-6.70532512e-01 -7.41833123e-01 8.35278788e-03 8.84042581e+02] [ 7.41779967e-01 -6.70584492e-01 -8.88362810e-03 2.16653527e+02] [ 1.21914196e-02 2.39169261e-04 9.99925653e-01 1.01902365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2892541539998 meters Centerline goodness [0,1] 0.9999332621462894 Centerline is valid? [True, True] Translation: X:884.02, Y:216.67, Z:10.19 [[-6.70144507e-01 -7.42176328e-01 8.97986260e-03 8.84021775e+02] [ 7.42115002e-01 -6.70204615e-01 -9.54456632e-03 2.16672771e+02] [ 1.31020965e-02 2.67852058e-04 9.99914128e-01 1.01888022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.3192541539997 meters Centerline goodness [0,1] 0.9998890048171909 Centerline is valid? [True, True] Translation: X:884.00, Y:216.69, Z:10.19 [[-6.69936544e-01 -7.42360101e-01 9.30094147e-03 8.84002371e+02] [ 7.42294400e-01 -6.70001045e-01 -9.88048063e-03 2.16691249e+02] [ 1.35665151e-02 2.84741717e-04 9.99907930e-01 1.01881576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.98, Y:216.71, Z:10.19 [[-6.69422828e-01 -7.42833159e-01 8.48387308e-03 8.83981892e+02] [ 7.42778593e-01 -6.69476530e-01 -9.00758911e-03 2.16707811e+02] [ 1.23708898e-02 2.71753533e-04 9.99923441e-01 1.01895907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.96, Y:216.73, Z:10.19 [[-6.69841330e-01 -7.42461273e-01 7.99061611e-03 8.83964350e+02] [ 7.42412902e-01 -6.69888941e-01 -8.47873549e-03 2.16729289e+02] [ 1.16479581e-02 2.52929036e-04 9.99932128e-01 1.01910640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.95, Y:216.75, Z:10.19 [[-6.70168432e-01 -7.42166644e-01 7.93375441e-03 8.83945211e+02] [ 7.42118995e-01 -6.70215346e-01 -8.41350911e-03 2.16749668e+02] [ 1.15615498e-02 2.49321646e-04 9.99933132e-01 1.01916615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4392541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.92, Y:216.77, Z:10.19 [[-6.70364917e-01 -7.41993387e-01 7.52944739e-03 8.83924654e+02] [ 7.41950509e-01 -6.70407158e-01 -7.98022064e-03 2.16769129e+02] [ 1.09690664e-02 2.36817378e-04 9.99939810e-01 1.01923138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.91, Y:216.79, Z:10.19 [[-6.70561256e-01 -7.41815367e-01 7.58706942e-03 8.83905239e+02] [ 7.41771872e-01 -6.70604134e-01 -8.03648400e-03 2.16787771e+02] [ 1.10495074e-02 2.38919881e-04 9.99938924e-01 1.01923982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.88, Y:216.81, Z:10.19 [[-6.69924970e-01 -7.42382383e-01 8.30252448e-03 8.83883664e+02] [ 7.42330409e-01 -6.69976359e-01 -8.78875953e-03 2.16806527e+02] [ 1.20871154e-02 2.75406933e-04 9.99926910e-01 1.01917102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.5292541539998 meters Centerline goodness [0,1] 0.9998236603698724 Centerline is valid? [True, True] Translation: X:883.86, Y:216.82, Z:10.19 [[-6.69948674e-01 -7.42349748e-01 9.25349535e-03 8.83864116e+02] [ 7.42285264e-01 -6.70012504e-01 -9.78931414e-03 2.16823525e+02] [ 1.34670525e-02 3.10395216e-04 9.99909267e-01 1.01887652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.5592541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.84, Y:216.84, Z:10.19 [[-6.69000715e-01 -7.43194769e-01 9.97890643e-03 8.83842699e+02] [ 7.43119966e-01 -6.69075038e-01 -1.05503217e-02 2.16842390e+02] [ 1.45175811e-02 3.57351836e-04 9.99894551e-01 1.01900128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.589254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.82, Y:216.86, Z:10.19 [[-6.69054218e-01 -7.43137920e-01 1.06058974e-02 8.83823249e+02] [ 7.43053524e-01 -6.69138166e-01 -1.12060258e-02 2.16860768e+02] [ 1.54244334e-02 3.83310597e-04 9.99880963e-01 1.01893101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.80, Y:216.88, Z:10.19 [[-6.69427813e-01 -7.42792123e-01 1.12367923e-02 8.83803251e+02] [ 7.42697468e-01 -6.69521994e-01 -1.18646965e-02 2.16879950e+02] [ 1.63362826e-02 4.02979357e-04 9.99866473e-01 1.01888693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.649254154 meters Centerline goodness [0,1] 0.9998901678235655 Centerline is valid? [True, True] Translation: X:883.78, Y:216.90, Z:10.19 [[-6.70454529e-01 -7.41865226e-01 1.12566069e-02 8.83784470e+02] [ 7.41770224e-01 -6.70548908e-01 -1.18784644e-02 2.16900894e+02] [ 1.63603251e-02 3.85845565e-04 9.99866086e-01 1.01876782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6792541539999 meters Centerline goodness [0,1] 0.9998677306997046 Centerline is valid? [True, True] Translation: X:883.76, Y:216.92, Z:10.19 [[-6.72558363e-01 -7.39969320e-01 1.05192475e-02 8.83764595e+02] [ 7.39886215e-01 -6.72640545e-01 -1.10944084e-02 2.16921383e+02] [ 1.52851942e-02 3.21409042e-04 9.99883123e-01 1.01887885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7092541539998 meters Centerline goodness [0,1] 0.9998681637406341 Centerline is valid? [True, True] Translation: X:883.75, Y:216.94, Z:10.19 [[-6.75186245e-01 -7.37585733e-01 9.53002027e-03 8.83747025e+02] [ 7.37517358e-01 -6.75253453e-01 -1.00459354e-02 2.16941467e+02] [ 1.38449177e-02 2.45677978e-04 9.99904124e-01 1.01897312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7392541539998 meters Centerline goodness [0,1] 0.9998235787059498 Centerline is valid? [True, True] Translation: X:883.73, Y:216.96, Z:10.19 [[-6.77873140e-01 -7.35123429e-01 9.03049767e-03 8.83728973e+02] [ 7.35061880e-01 -6.77933263e-01 -9.51438256e-03 2.16963788e+02] [ 1.31163203e-02 1.88430207e-04 9.99913960e-01 1.01913234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.71, Y:216.98, Z:10.19 [[-6.78645893e-01 -7.34410490e-01 8.99914581e-03 8.83710867e+02] [ 7.34349377e-01 -6.78705534e-01 -9.47578785e-03 2.16983538e+02] [ 1.30668881e-02 1.77812616e-04 9.99914609e-01 1.01942334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7992541539998 meters Centerline goodness [0,1] 0.9998464306085736 Centerline is valid? [True, True] Translation: X:883.69, Y:217.00, Z:10.19 [[-6.79990945e-01 -7.33163418e-01 9.14968319e-03 8.83691238e+02] [ 7.33100214e-01 -6.80052481e-01 -9.62804208e-03 2.17003137e+02] [ 1.32811930e-02 1.60653273e-04 9.99911788e-01 1.01918548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.8292541539997 meters Centerline goodness [0,1] 0.9999339265262972 Centerline is valid? [True, True] Translation: X:883.67, Y:217.02, Z:10.19 [[-6.80586014e-01 -7.32610662e-01 9.18121738e-03 8.83671339e+02] [ 7.32547050e-01 -6.80647922e-01 -9.65531198e-03 2.17023379e+02] [ 1.33227610e-02 1.54403413e-04 9.99911236e-01 1.01930445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.859254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.65, Y:217.04, Z:10.19 [[-6.81391212e-01 -7.31853944e-01 9.78885580e-03 8.83651700e+02] [ 7.31781636e-01 -6.81461504e-01 -1.02886027e-02 2.17040451e+02] [ 1.42004828e-02 1.52741469e-04 9.99899156e-01 1.01930818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.63, Y:217.06, Z:10.19 [[-6.81459510e-01 -7.31787775e-01 9.97945675e-03 8.83631393e+02] [ 7.31712699e-01 -6.81532558e-01 -1.04832308e-02 2.17060077e+02] [ 1.44728248e-02 1.58197927e-04 9.99895251e-01 1.01932748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9192541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.61, Y:217.08, Z:10.19 [[-6.81021146e-01 -7.32193429e-01 1.01479743e-02 8.83611058e+02] [ 7.32115925e-01 -6.81096728e-01 -1.06545187e-02 2.17076370e+02] [ 1.47129206e-02 1.73541079e-04 9.99891744e-01 1.01932513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.59, Y:217.10, Z:10.19 [[-6.80986923e-01 -7.32222168e-01 1.03686112e-02 8.83590785e+02] [ 7.32141350e-01 -6.81065829e-01 -1.08802474e-02 2.17095591e+02] [ 1.50284651e-02 1.81982840e-04 9.99887050e-01 1.01938890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9792541539998 meters Centerline goodness [0,1] 0.9997387328543436 Centerline is valid? [True, True] Translation: X:883.57, Y:217.11, Z:10.19 [[-6.81414514e-01 -7.31819178e-01 1.07215128e-02 8.83569601e+02] [ 7.31732827e-01 -6.81498831e-01 -1.12433676e-02 2.17111942e+02] [ 1.55348105e-02 1.83888975e-04 9.99879311e-01 1.01908675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.55, Y:217.13, Z:10.19 [[-6.81072099e-01 -7.32142707e-01 1.03852590e-02 8.83549505e+02] [ 7.32061829e-01 -6.81151247e-01 -1.08838048e-02 2.17130727e+02] [ 1.50424304e-02 1.89995913e-04 9.99886838e-01 1.01940859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0392541539998 meters Centerline goodness [0,1] 0.9998255826629167 Centerline is valid? [True, True] Translation: X:883.53, Y:217.15, Z:10.19 [[-6.81588677e-01 -7.31661505e-01 1.04076147e-02 8.83529421e+02] [ 7.31580325e-01 -6.81668108e-01 -1.09004460e-02 2.17149409e+02] [ 1.50699757e-02 1.84385587e-04 9.99886424e-01 1.01919459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0692541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.51, Y:217.17, Z:10.20 [[-6.81413952e-01 -7.31830877e-01 9.92938122e-03 8.83509467e+02] [ 7.31757098e-01 -6.81486268e-01 -1.03930929e-02 2.17166491e+02] [ 1.43727233e-02 1.83896655e-04 9.99896690e-01 1.01953202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.099254154 meters Centerline goodness [0,1] 0.9996955595181142 Centerline is valid? [True, True] Translation: X:883.49, Y:217.19, Z:10.19 [[-6.81725286e-01 -7.31533639e-01 1.04484017e-02 8.83489687e+02] [ 7.31452013e-01 -6.81805323e-01 -1.09295124e-02 2.17186920e+02] [ 1.51190819e-02 1.91579462e-04 9.99885682e-01 1.01943215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.129254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.47, Y:217.20, Z:10.20 [[-6.80991480e-01 -7.32223356e-01 9.97801690e-03 8.83468682e+02] [ 7.32149079e-01 -6.81064547e-01 -1.04312143e-02 2.17204132e+02] [ 1.44336523e-02 2.01827822e-04 9.99895809e-01 1.01971085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1592541539999 meters Centerline goodness [0,1] 0.9999350691513538 Centerline is valid? [True, True] Translation: X:883.45, Y:217.22, Z:10.20 [[-6.80849221e-01 -7.32352787e-01 1.01849455e-02 8.83447977e+02] [ 7.32275508e-01 -6.80925363e-01 -1.06409875e-02 2.17222892e+02] [ 1.47281445e-02 2.13278086e-04 9.99891512e-01 1.01965273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1892541539999 meters Centerline goodness [0,1] 0.9999133580262959 Centerline is valid? [True, True] Translation: X:883.43, Y:217.24, Z:10.20 [[-6.80515241e-01 -7.32660312e-01 1.03861968e-02 8.83426540e+02] [ 7.32580066e-01 -6.80594457e-01 -1.08458285e-02 2.17239839e+02] [ 1.50150960e-02 2.27969141e-04 9.99887241e-01 1.01962585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2192541539998 meters Centerline goodness [0,1] 0.9998273555181493 Centerline is valid? [True, True] Translation: X:883.41, Y:217.26, Z:10.20 [[-6.80822010e-01 -7.32370389e-01 1.07240102e-02 8.83406145e+02] [ 7.32284890e-01 -6.80906425e-01 -1.11928429e-02 2.17259130e+02] [ 1.54993541e-02 2.32696858e-04 9.99879851e-01 1.01952672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2492541539998 meters Centerline goodness [0,1] 0.9998273406138041 Centerline is valid? [True, True] Translation: X:883.39, Y:217.28, Z:10.20 [[-6.81733428e-01 -7.31518034e-01 1.09954490e-02 8.83385706e+02] [ 7.31428148e-01 -6.81822057e-01 -1.14694448e-02 2.17278820e+02] [ 1.58870453e-02 2.23277002e-04 9.99873768e-01 1.01952169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2792541539998 meters Centerline goodness [0,1] 0.9998051863717045 Centerline is valid? [True, True] Translation: X:883.37, Y:217.30, Z:10.20 [[-6.82588597e-01 -7.30718247e-01 1.11198289e-02 8.83366308e+02] [ 7.30626318e-01 -6.82679133e-01 -1.15924286e-02 2.17299045e+02] [ 1.60620743e-02 2.11580080e-04 9.99870974e-01 1.01957928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.3092541539997 meters Centerline goodness [0,1] 0.9999137205841117 Centerline is valid? [True, True] Translation: X:883.35, Y:217.32, Z:10.20 [[-6.84893860e-01 -7.28572383e-01 1.01332592e-02 8.83347188e+02] [ 7.28495895e-01 -6.84968802e-01 -1.05580489e-02 2.17319568e+02] [ 1.46332692e-02 1.50894849e-04 9.99892917e-01 1.01979009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.339254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.33, Y:217.34, Z:10.20 [[-6.85980010e-01 -7.27556527e-01 9.63975816e-03 8.83327615e+02] [ 7.27487287e-01 -6.86047727e-01 -1.00381511e-02 2.17340185e+02] [ 1.39166565e-02 1.26830511e-04 9.99903151e-01 1.01996889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.369254154 meters Centerline goodness [0,1] 0.999849711230865 Centerline is valid? [True, True] Translation: X:883.31, Y:217.36, Z:10.20 [[-6.88573111e-01 -7.25096372e-01 1.01154567e-02 8.83308570e+02] [ 7.25019955e-01 -6.88647402e-01 -1.05271348e-02 2.17359332e+02] [ 1.45991702e-02 8.52059921e-05 9.99893423e-01 1.01972108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.399254154 meters Centerline goodness [0,1] 0.9998055609566401 Centerline is valid? [True, True] Translation: X:883.29, Y:217.38, Z:10.20 [[-6.89950613e-01 -7.23783861e-01 1.02505948e-02 8.83289160e+02] [ 7.23705336e-01 -6.90026753e-01 -1.06614875e-02 2.17379961e+02] [ 1.47897972e-02 6.25103314e-05 9.99890623e-01 1.01968432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.27, Y:217.40, Z:10.20 [[-6.90539504e-01 -7.23227958e-01 9.82416246e-03 8.83269583e+02] [ 7.23155857e-01 -6.90609381e-01 -1.02122064e-02 2.17400371e+02] [ 1.41704119e-02 5.24686817e-05 9.99899593e-01 1.01991274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4592541539998 meters Centerline goodness [0,1] 0.9998060720980845 Centerline is valid? [True, True] Translation: X:883.25, Y:217.42, Z:10.20 [[-6.91988178e-01 -7.21818744e-01 1.14045253e-02 8.83249309e+02] [ 7.21721506e-01 -6.92082149e-01 -1.18477004e-02 2.17420076e+02] [ 1.64447606e-02 3.24226039e-05 9.99864775e-01 1.01956379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4892541539998 meters Centerline goodness [0,1] 0.9998712584486643 Centerline is valid? [True, True] Translation: X:883.23, Y:217.44, Z:10.20 [[-6.92330348e-01 -7.21482874e-01 1.18807310e-02 8.83228686e+02] [ 7.21377420e-01 -6.92432280e-01 -1.23351545e-02 2.17438912e+02] [ 1.71262043e-02 3.04892366e-05 9.99853335e-01 1.01958952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.21, Y:217.46, Z:10.20 [[-6.92191808e-01 -7.21618680e-01 1.17038827e-02 8.83208662e+02] [ 7.21516480e-01 -6.92290748e-01 -1.21445681e-02 2.17458547e+02] [ 1.68662369e-02 3.81737243e-05 9.99857754e-01 1.01969681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.19, Y:217.48, Z:10.20 [[-6.91943555e-01 -7.21857056e-01 1.16836794e-02 8.83188700e+02] [ 7.21755363e-01 -6.92042187e-01 -1.21164038e-02 2.17476995e+02] [ 1.68319106e-02 4.88907841e-05 9.99858332e-01 1.01971236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5792541539997 meters Centerline goodness [0,1] 0.9998925955362705 Centerline is valid? [True, True] Translation: X:883.17, Y:217.50, Z:10.20 [[-6.92194955e-01 -7.21612986e-01 1.18677044e-02 8.83168858e+02] [ 7.21508154e-01 -6.92296682e-01 -1.22999420e-02 2.17496695e+02] [ 1.70917702e-02 4.86877026e-05 9.99853924e-01 1.01965334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.609254154 meters Centerline goodness [0,1] 0.9999571550985433 Centerline is valid? [True, True] Translation: X:883.15, Y:217.52, Z:10.20 [[-6.91610292e-01 -7.22188241e-01 1.09246681e-02 8.83148341e+02] [ 7.22099579e-01 -6.91696567e-01 -1.13162788e-02 2.17516339e+02] [ 1.57290389e-02 6.22432858e-05 9.99876289e-01 1.01986993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.639254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.13, Y:217.53, Z:10.20 [[-6.90763386e-01 -7.23009510e-01 1.01583862e-02 8.83128743e+02] [ 7.22933032e-01 -6.90838072e-01 -1.05161395e-02 2.17533670e+02] [ 1.46210688e-02 7.96688489e-05 9.99893103e-01 1.01999552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6692541539999 meters Centerline goodness [0,1] 0.999806750837413 Centerline is valid? [True, True] Translation: X:883.11, Y:217.55, Z:10.20 [[-6.90666534e-01 -7.23086810e-01 1.11894534e-02 8.83109098e+02] [ 7.22994156e-01 -6.90757161e-01 -1.15756092e-02 2.17552475e+02] [ 1.60993654e-02 9.50235247e-05 9.99870392e-01 1.01975104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6992541539998 meters Centerline goodness [0,1] 0.999806750837413 Centerline is valid? [True, True] Translation: X:883.09, Y:217.57, Z:10.20 [[-6.90896986e-01 -7.22866563e-01 1.11931445e-02 8.83090414e+02] [ 7.22773938e-01 -6.90987643e-01 -1.15720396e-02 2.17571639e+02] [ 1.60993650e-02 9.50258672e-05 9.99870392e-01 1.01976940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7292541539998 meters Centerline goodness [0,1] 0.9998071607636434 Centerline is valid? [True, True] Translation: X:883.07, Y:217.59, Z:10.20 [[-6.90501333e-01 -7.23244966e-01 1.11637614e-02 8.83070831e+02] [ 7.23152997e-01 -6.90591564e-01 -1.15341118e-02 2.17589786e+02] [ 1.60515878e-02 1.08787929e-04 9.99871159e-01 1.01976660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7592541539998 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:883.05, Y:217.61, Z:10.20 [[-6.89158044e-01 -7.24531911e-01 1.07098079e-02 8.83050235e+02] [ 7.24447533e-01 -6.89241243e-01 -1.10580855e-02 2.17607931e+02] [ 1.53935771e-02 1.37925376e-04 9.99881502e-01 1.01999620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:883.03, Y:217.63, Z:10.20 [[-6.88684194e-01 -7.24988478e-01 1.02853041e-02 8.83030408e+02] [ 7.24910800e-01 -6.88760979e-01 -1.06134956e-02 2.17627899e+02] [ 1.47787781e-02 1.46581393e-04 9.99890777e-01 1.02014141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.8192541539997 meters Centerline goodness [0,1] 0.9999786091681105 Centerline is valid? [True, True] Translation: X:883.01, Y:217.65, Z:10.20 [[-6.87538773e-01 -7.26069979e-01 1.06217442e-02 8.83009383e+02] [ 7.25987366e-01 -6.87620792e-01 -1.09540224e-02 2.17645730e+02] [ 1.52571190e-02 1.79937015e-04 9.99883587e-01 1.02008820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.849254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.99, Y:217.66, Z:10.20 [[-6.85901609e-01 -7.27619377e-01 1.04415008e-02 8.82988443e+02] [ 7.27539819e-01 -6.85981046e-01 -1.07618082e-02 2.17664565e+02] [ 1.49931718e-02 2.15066050e-04 9.99887573e-01 1.02018986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.879254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.97, Y:217.68, Z:10.20 [[-6.85252880e-01 -7.28227828e-01 1.06170329e-02 8.82968421e+02] [ 7.28145741e-01 -6.85335082e-01 -1.09363782e-02 2.17683673e+02] [ 1.52404001e-02 2.36562696e-04 9.99883830e-01 1.02025126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.95, Y:217.70, Z:10.20 [[-6.84414703e-01 -7.29017174e-01 1.05106809e-02 8.82948206e+02] [ 7.28936913e-01 -6.84495358e-01 -1.08204482e-02 2.17702355e+02] [ 1.50828048e-02 2.55949423e-04 9.99886215e-01 1.02026412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9392541539999 meters Centerline goodness [0,1] 0.9998930344001369 Centerline is valid? [True, True] Translation: X:882.93, Y:217.72, Z:10.20 [[-6.82943594e-01 -7.30387462e-01 1.10545650e-02 8.82926392e+02] [ 7.30298969e-01 -6.83032988e-01 -1.13733481e-02 2.17719452e+02] [ 1.58575834e-02 3.05782224e-04 9.99874214e-01 1.02002740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9692541539998 meters Centerline goodness [0,1] 0.9998715808398613 Centerline is valid? [True, True] Translation: X:882.91, Y:217.74, Z:10.20 [[-6.82333752e-01 -7.30955935e-01 1.11387574e-02 8.82907652e+02] [ 7.30866273e-01 -6.82424585e-01 -1.14532675e-02 2.17740592e+02] [ 1.59731957e-02 3.25991093e-04 9.99872367e-01 1.02011165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.89, Y:217.76, Z:10.20 [[-6.80935209e-01 -7.32274845e-01 1.00395595e-02 8.82887767e+02] [ 7.32202229e-01 -6.81009138e-01 -1.03174534e-02 2.17760013e+02] [ 1.43922434e-02 3.25470553e-04 9.99896373e-01 1.02034357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.0292541539998 meters Centerline goodness [0,1] 0.9999145755472504 Centerline is valid? [True, True] Translation: X:882.87, Y:217.78, Z:10.20 [[-6.81003217e-01 -7.32201688e-01 1.07381365e-02 8.82868913e+02] [ 7.32118711e-01 -6.81087781e-01 -1.10285085e-02 2.17779480e+02] [ 1.53887061e-02 3.51140874e-04 9.99881525e-01 1.02021141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.0592541539997 meters Centerline goodness [0,1] 0.9998712031769883 Centerline is valid? [True, True] Translation: X:882.85, Y:217.80, Z:10.20 [[-6.80746673e-01 -7.32439342e-01 1.07970936e-02 8.82850745e+02] [ 7.32355591e-01 -6.80832195e-01 -1.10819777e-02 2.17800229e+02] [ 1.54678854e-02 3.63292410e-04 9.99880299e-01 1.02018184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.089254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.83, Y:217.82, Z:10.20 [[-6.80494816e-01 -7.32680162e-01 1.03240605e-02 8.82832239e+02] [ 7.32603714e-01 -6.80573033e-01 -1.05898560e-02 2.17819776e+02] [ 1.47852546e-02 3.57102972e-04 9.99890628e-01 1.02036148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.119254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.81, Y:217.84, Z:10.20 [[-6.81029147e-01 -7.32176470e-01 1.08128784e-02 8.82814559e+02] [ 7.32092662e-01 -6.81114882e-01 -1.10838819e-02 2.17839232e+02] [ 1.54801699e-02 3.67582319e-04 9.99880107e-01 1.02028138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.149254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.80, Y:217.86, Z:10.20 [[-6.81513808e-01 -7.31714987e-01 1.14937815e-02 8.82796235e+02] [ 7.31620352e-01 -6.81610614e-01 -1.17741506e-02 2.17859377e+02] [ 1.64496059e-02 3.84838254e-04 9.99864622e-01 1.02020122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1792541539999 meters Centerline goodness [0,1] 0.9999141096390458 Centerline is valid? [True, True] Translation: X:882.78, Y:217.88, Z:10.20 [[-6.83531624e-01 -7.29798955e-01 1.33417953e-02 8.82780175e+02] [ 7.29671243e-01 -6.83661704e-01 -1.36583926e-02 2.17881054e+02] [ 1.90891551e-02 3.99181068e-04 9.99817706e-01 1.01995984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2092541539998 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:882.76, Y:217.90, Z:10.20 [[-6.84616729e-01 -7.28779388e-01 1.34364031e-02 8.82764368e+02] [ 7.28649829e-01 -6.84748464e-01 -1.37465560e-02 2.17903117e+02] [ 1.92187631e-02 3.79310617e-04 9.99815231e-01 1.02010906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.75, Y:217.92, Z:10.20 [[-6.87626953e-01 -7.25943999e-01 1.32092821e-02 8.82747926e+02] [ 7.25818404e-01 -6.87753750e-01 -1.35064496e-02 2.17924848e+02] [ 1.88896594e-02 3.00141240e-04 9.99821529e-01 1.02002826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2692541539998 meters Centerline goodness [0,1] 0.9998704355524844 Centerline is valid? [True, True] Translation: X:882.73, Y:217.95, Z:10.20 [[-6.89867401e-01 -7.23794615e-01 1.42941835e-02 8.82730738e+02] [ 7.23647248e-01 -6.90015423e-01 -1.46073877e-02 2.17946820e+02] [ 2.04359556e-02 2.66785938e-04 9.99791128e-01 1.01990541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2992541539998 meters Centerline goodness [0,1] 0.9997841943976865 Centerline is valid? [True, True] Translation: X:882.71, Y:217.97, Z:10.20 [[-6.91936447e-01 -7.21813092e-01 1.44849815e-02 8.82714704e+02] [ 7.21661505e-01 -6.92088010e-01 -1.47938938e-02 2.17970066e+02] [ 2.07033082e-02 2.16819216e-04 9.99785640e-01 1.02005658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.3292541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.70, Y:217.99, Z:10.20 [[-6.94705148e-01 -7.19175797e-01 1.30740735e-02 8.82699028e+02] [ 7.19051973e-01 -6.94828149e-01 -1.33455591e-02 2.17994190e+02] [ 1.86820373e-02 1.29709714e-04 9.99825467e-01 1.02037620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.359254154 meters Centerline goodness [0,1] 0.9998911742300577 Centerline is valid? [True, True] Translation: X:882.68, Y:218.02, Z:10.20 [[-6.96665417e-01 -7.17263759e-01 1.37839599e-02 8.82682648e+02] [ 7.17125910e-01 -6.96801760e-01 -1.40618619e-02 2.18017465e+02] [ 1.96907514e-02 8.84219131e-05 9.99806114e-01 1.02049623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.389254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.66, Y:218.04, Z:10.21 [[-6.96802411e-01 -7.17145389e-01 1.29958499e-02 8.82664721e+02] [ 7.17022979e-01 -6.96923586e-01 -1.32500556e-02 2.18037194e+02] [ 1.85593306e-02 8.56523288e-05 9.99827757e-01 1.02057915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4192541539999 meters Centerline goodness [0,1] 0.9998700145150459 Centerline is valid? [True, True] Translation: X:882.64, Y:218.06, Z:10.20 [[-6.96002383e-01 -7.17899776e-01 1.41631445e-02 8.82644501e+02] [ 7.17754725e-01 -6.96146462e-01 -1.44311309e-02 2.18055988e+02] [ 2.02197286e-02 1.21562350e-04 9.99795553e-01 1.02020695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4492541539998 meters Centerline goodness [0,1] 0.9998480408118963 Centerline is valid? [True, True] Translation: X:882.63, Y:218.08, Z:10.21 [[-6.95232248e-01 -7.18635854e-01 1.46502794e-02 8.82625947e+02] [ 7.18481014e-01 -6.95386573e-01 -1.49179833e-02 2.18076102e+02] [ 2.09082052e-02 1.54484540e-04 9.99781388e-01 1.02052228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.61, Y:218.09, Z:10.21 [[-6.92764291e-01 -7.21034144e-01 1.36894204e-02 8.82606385e+02] [ 7.20899562e-01 -6.92899499e-01 -1.39321586e-02 2.18093891e+02] [ 1.95309546e-02 2.16995195e-04 9.99809229e-01 1.02067854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5092541539998 meters Centerline goodness [0,1] 0.9999347755190782 Centerline is valid? [True, True] Translation: X:882.59, Y:218.11, Z:10.21 [[-6.91929689e-01 -7.21819538e-01 1.44865698e-02 8.82586300e+02] [ 7.21669166e-01 -6.92081273e-01 -1.47352046e-02 2.18114128e+02] [ 2.06620423e-02 2.58785224e-04 9.99786484e-01 1.02071187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5392541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.57, Y:218.13, Z:10.21 [[-6.89979826e-01 -7.23709851e-01 1.31107172e-02 8.82566020e+02] [ 7.23587167e-01 -6.90104316e-01 -1.33283431e-02 2.18133437e+02] [ 1.86936158e-02 2.90458826e-04 9.99825217e-01 1.02091233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5692541539997 meters Centerline goodness [0,1] 0.999913130347913 Centerline is valid? [True, True] Translation: X:882.55, Y:218.15, Z:10.21 [[-6.89699016e-01 -7.23969506e-01 1.35433138e-02 8.82546831e+02] [ 7.23838808e-01 -6.89831904e-01 -1.37595151e-02 2.18152366e+02] [ 1.93040793e-02 3.13252071e-04 9.99813610e-01 1.02091937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.599254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.53, Y:218.17, Z:10.21 [[-6.88839471e-01 -7.24830806e-01 1.09766162e-02 8.82527710e+02] [ 7.24745170e-01 -6.88926865e-01 -1.11450811e-02 2.18170854e+02] [ 1.56403839e-02 2.78077816e-04 9.99877643e-01 1.02117761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.629254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.51, Y:218.19, Z:10.21 [[-6.88677706e-01 -7.24994242e-01 1.03134139e-02 8.82508629e+02] [ 7.24918758e-01 -6.88754874e-01 -1.04650635e-02 2.18189853e+02] [ 1.46905249e-02 2.69331210e-04 9.99892052e-01 1.02130728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6592541539999 meters Centerline goodness [0,1] 0.9998480869810543 Centerline is valid? [True, True] Translation: X:882.49, Y:218.21, Z:10.21 [[-6.87837099e-01 -7.25786426e-01 1.06858833e-02 8.82489377e+02] [ 7.25705591e-01 -6.87920034e-01 -1.08361730e-02 2.18209678e+02] [ 1.52157805e-02 3.01283435e-04 9.99884188e-01 1.02143301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6892541539999 meters Centerline goodness [0,1] 0.9999565189034068 Centerline is valid? [True, True] Translation: X:882.47, Y:218.23, Z:10.22 [[-6.87070428e-01 -7.26529622e-01 9.43056654e-03 8.82469744e+02] [ 7.26466808e-01 -6.87135087e-01 -9.55769684e-03 2.18229055e+02] [ 1.34240230e-02 2.84182705e-04 9.99909853e-01 1.02157567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.45, Y:218.25, Z:10.22 [[-6.84978406e-01 -7.28509517e-01 8.85810847e-03 8.82448922e+02] [ 7.28454330e-01 -6.85035611e-01 -8.97219043e-03 2.18246173e+02] [ 1.26044459e-02 3.06970765e-04 9.99920514e-01 1.02154128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7492541539998 meters Centerline goodness [0,1] 0.9999132095122375 Centerline is valid? [True, True] Translation: X:882.43, Y:218.27, Z:10.21 [[-6.84111676e-01 -7.29302418e-01 1.04497745e-02 8.82428578e+02] [ 7.29225808e-01 -6.84191374e-01 -1.05775534e-02 2.18265353e+02] [ 1.48638808e-02 3.84017481e-04 9.99889453e-01 1.02144004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7792541539998 meters Centerline goodness [0,1] 0.9998914600790171 Centerline is valid? [True, True] Translation: X:882.41, Y:218.28, Z:10.21 [[-6.81731504e-01 -7.31510955e-01 1.15706267e-02 8.82405946e+02] [ 7.31417449e-01 -6.81829516e-01 -1.17058118e-02 2.18280588e+02] [ 1.64521244e-02 4.82737565e-04 9.99864538e-01 1.02112078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.8092541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.39, Y:218.30, Z:10.21 [[-6.80697578e-01 -7.32484036e-01 1.08601865e-02 8.82385922e+02] [ 7.32401871e-01 -6.80784039e-01 -1.09814629e-02 2.18299036e+02] [ 1.54371879e-02 4.78965705e-04 9.99880725e-01 1.02109692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.839254154 meters Centerline goodness [0,1] 0.9998256928708384 Centerline is valid? [True, True] Translation: X:882.37, Y:218.32, Z:10.21 [[-6.79676501e-01 -7.33390569e-01 1.33464278e-02 8.82368987e+02] [ 7.33266804e-01 -6.79807245e-01 -1.34871968e-02 2.18322010e+02] [ 1.89643812e-02 6.19561689e-04 9.99819968e-01 1.02102890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.869254154 meters Centerline goodness [0,1] 0.9999127152115566 Centerline is valid? [True, True] Translation: X:882.35, Y:218.34, Z:10.21 [[-6.79673700e-01 -7.33402648e-01 1.28147784e-02 8.82352191e+02] [ 7.33288698e-01 -6.79794230e-01 -1.29418154e-02 2.18343059e+02] [ 1.82029741e-02 6.00720597e-04 9.99834132e-01 1.02104523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.899254154 meters Centerline goodness [0,1] 0.9998470145991782 Centerline is valid? [True, True] Translation: X:882.33, Y:218.36, Z:10.21 [[-6.80305863e-01 -7.32802222e-01 1.35954192e-02 8.82334209e+02] [ 7.32674023e-01 -6.80441409e-01 -1.37210026e-02 2.18363161e+02] [ 1.93056674e-02 6.26531919e-04 9.99813432e-01 1.02101143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9292541539999 meters Centerline goodness [0,1] 0.9998686744878305 Centerline is valid? [True, True] Translation: X:882.32, Y:218.39, Z:10.21 [[-6.82019648e-01 -7.31227523e-01 1.24703861e-02 8.82317528e+02] [ 7.31119529e-01 -6.82133433e-01 -1.25782951e-02 2.18385344e+02] [ 1.77040628e-02 5.38698443e-04 9.99843126e-01 1.02106088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9592541539998 meters Centerline goodness [0,1] 0.99986856516977 Centerline is valid? [True, True] Translation: X:882.30, Y:218.41, Z:10.21 [[-6.83270093e-01 -7.30070333e-01 1.18021063e-02 8.82301138e+02] [ 7.29973546e-01 -6.83371841e-01 -1.18974603e-02 2.18408675e+02] [ 1.67512099e-02 4.86046581e-04 9.99859571e-01 1.02119497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9892541539998 meters Centerline goodness [0,1] 0.9998900929813378 Centerline is valid? [True, True] Translation: X:882.29, Y:218.43, Z:10.21 [[-6.85874823e-01 -7.27649342e-01 1.01075500e-02 8.82285151e+02] [ 7.27578169e-01 -6.85949196e-01 -1.01837631e-02 2.18432611e+02] [ 1.43434743e-02 3.69246001e-04 9.99897059e-01 1.02134338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.27, Y:218.45, Z:10.21 [[-6.87153694e-01 -7.26466612e-01 8.12786950e-03 8.82267240e+02] [ 7.26420555e-01 -6.87201705e-01 -8.18501092e-03 2.18453968e+02] [ 1.15316229e-02 2.79890979e-04 9.99933469e-01 1.02144216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.25, Y:218.48, Z:10.21 [[-6.89991328e-01 -7.23783523e-01 7.02705222e-03 8.82251618e+02] [ 7.23748991e-01 -6.90027079e-01 -7.07303207e-03 2.18476317e+02] [ 9.96820039e-03 2.05491164e-04 9.99950295e-01 1.02145753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0792541539997 meters Centerline goodness [0,1] 0.9998452765129747 Centerline is valid? [True, True] Translation: X:882.23, Y:218.50, Z:10.21 [[-6.91932607e-01 -7.21908642e-01 8.78523987e-03 8.82233610e+02] [ 7.21854578e-01 -6.91988339e-01 -8.83777375e-03 2.18498530e+02] [ 1.24593488e-02 2.26521792e-04 9.99922354e-01 1.02140682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.109254154 meters Centerline goodness [0,1] 0.9998673886617305 Centerline is valid? [True, True] Translation: X:882.22, Y:218.52, Z:10.21 [[-6.94928405e-01 -7.19027990e-01 8.55932446e-03 8.82217331e+02] [ 7.18976504e-01 -6.94981093e-01 -8.60618057e-03 2.18520961e+02] [ 1.21366534e-02 1.73273846e-04 9.99926333e-01 1.02130398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.139254154 meters Centerline goodness [0,1] 0.999955770804308 Centerline is valid? [True, True] Translation: X:882.20, Y:218.54, Z:10.21 [[-6.96092379e-01 -7.17909288e-01 7.85200575e-03 8.82199312e+02] [ 7.17865933e-01 -6.96136649e-01 -7.89106735e-03 2.18540720e+02] [ 1.11311395e-02 1.43775583e-04 9.99938037e-01 1.02127231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1692541539999 meters Centerline goodness [0,1] 0.9997561516293505 Centerline is valid? [True, True] Translation: X:882.18, Y:218.56, Z:10.21 [[-6.98360954e-01 -7.15677961e-01 9.85059257e-03 8.82183377e+02] [ 7.15609606e-01 -6.98430409e-01 -9.89216634e-03 2.18562259e+02] [ 1.39595588e-02 1.40875952e-04 9.99902551e-01 1.02111749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.16, Y:218.58, Z:10.21 [[-6.99123377e-01 -7.14955283e-01 8.08992109e-03 8.82164770e+02] [ 7.14909184e-01 -6.99170173e-01 -8.11954604e-03 2.18583322e+02] [ 1.14613439e-02 1.06994442e-04 9.99934311e-01 1.02112864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.15, Y:218.60, Z:10.21 [[-7.00907885e-01 -7.13198152e-01 8.74831893e-03 8.82146851e+02] [ 7.13144173e-01 -7.00962473e-01 -8.77495874e-03 2.18603727e+02] [ 1.23905276e-02 8.83748994e-05 9.99923231e-01 1.02094240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2592541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.13, Y:218.62, Z:10.21 [[-7.01728186e-01 -7.12389119e-01 8.90482485e-03 8.82127849e+02] [ 7.12333196e-01 -7.01784680e-01 -8.92638036e-03 2.18623041e+02] [ 1.26083259e-02 7.93096506e-05 9.99920509e-01 1.02088714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2892541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.11, Y:218.64, Z:10.21 [[-7.02867653e-01 -7.11268534e-01 8.61013328e-03 8.82108750e+02] [ 7.11216233e-01 -7.02920386e-01 -8.62559687e-03 2.18641878e+02] [ 1.21873538e-02 6.10135377e-05 9.99925730e-01 1.02081247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.3192541539997 meters Centerline goodness [0,1] 0.9999554635134834 Centerline is valid? [True, True] Translation: X:882.09, Y:218.66, Z:10.21 [[-7.03547337e-01 -7.10592948e-01 8.87729487e-03 8.82089589e+02] [ 7.10537370e-01 -7.03603339e-01 -8.88747124e-03 2.18660951e+02] [ 1.25614687e-02 5.48930314e-05 9.99921100e-01 1.02083806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.349254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.07, Y:218.68, Z:10.21 [[-7.03677090e-01 -7.10474287e-01 8.05238379e-03 8.82069008e+02] [ 7.10428606e-01 -7.03723159e-01 -8.05672996e-03 2.18679575e+02] [ 1.13907484e-02 5.13075019e-05 9.99935122e-01 1.02088632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.379254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:882.05, Y:218.70, Z:10.21 [[-7.03594343e-01 -7.10557436e-01 7.94546908e-03 8.82047528e+02] [ 7.10513023e-01 -7.03639202e-01 -7.94470624e-03 2.18697174e+02] [ 1.12359136e-02 5.55088822e-05 9.99936874e-01 1.02086168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4092541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.50, Y:218.13, Z:11.10 [[-7.60098230e-01 6.49807469e-01 -9.67137740e-04 8.81496816e+02] [ 6.49805966e-01 7.60098681e-01 1.48425481e-03 2.18131792e+02] [ 1.69959998e-03 4.99727583e-04 -9.99998431e-01 1.10974875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4392541539999 meters Centerline goodness [0,1] 0.9999557022303927 Centerline is valid? [True, True] Translation: X:881.52, Y:218.15, Z:11.10 [[-8.04787307e-01 5.93563298e-01 3.06789048e-05 8.81520091e+02] [ 5.93563212e-01 8.04787159e-01 5.84661002e-04 2.18150003e+02] [ 3.22343325e-04 4.88737623e-04 -9.99999829e-01 1.10991367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4692541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.54, Y:218.17, Z:11.10 [[-8.46563859e-01 5.32285996e-01 1.11818470e-03 8.81543441e+02] [ 5.32286188e-01 8.46564465e-01 -1.43563614e-04 2.18171367e+02] [-1.02303234e-03 4.73658506e-04 -9.99999365e-01 1.11015014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.56, Y:218.20, Z:11.10 [[-8.82754161e-01 4.69831981e-01 1.73240945e-03 8.81557244e+02] [ 4.69832040e-01 8.82755740e-01 -3.98287691e-04 2.18197477e+02] [-1.71642268e-03 4.62351349e-04 -9.99998420e-01 1.11031678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.5292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.58, Y:218.22, Z:11.11 [[-9.14844759e-01 4.03792619e-01 3.25397687e-03 8.81578568e+02] [ 4.03791696e-01 9.14850444e-01 -9.65001562e-04 2.18220747e+02] [-3.36656269e-03 4.31102218e-04 -9.99994240e-01 1.11054098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.5592541539997 meters Centerline goodness [0,1] 0.9999557737384459 Centerline is valid? [True, True] Translation: X:881.59, Y:218.25, Z:11.11 [[-9.41414651e-01 3.37221864e-01 4.45745475e-03 8.81592759e+02] [ 3.37220106e-01 9.41425115e-01 -1.16306762e-03 2.18246592e+02] [-4.58857168e-03 4.08214460e-04 -9.99989389e-01 1.11075138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.589254154 meters Centerline goodness [0,1] 0.9999557737384459 Centerline is valid? [True, True] Translation: X:881.86, Y:218.95, Z:10.20 [[-9.03092563e-01 -4.29122654e-01 1.66604636e-02 8.81860808e+02] [ 4.29062690e-01 -9.03245998e-01 -7.20245745e-03 2.18953678e+02] [ 1.81392347e-02 6.43897574e-04 9.99835263e-01 1.01987801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.619254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.55, Y:218.26, Z:11.11 [[-9.42916018e-01 3.33002360e-01 4.33712557e-03 8.81553437e+02] [ 3.33000790e-01 9.42925905e-01 -1.10030337e-03 2.18261984e+02] [-4.45599168e-03 4.06772569e-04 -9.99989989e-01 1.11080723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.649254154 meters Centerline goodness [0,1] 0.9999335577604536 Centerline is valid? [True, True] Translation: X:881.81, Y:218.97, Z:10.20 [[-9.04712475e-01 -4.25676601e-01 1.71688247e-02 8.81814158e+02] [ 4.25614394e-01 -9.04875102e-01 -7.31010896e-03 2.18969668e+02] [ 1.86473843e-02 6.93752147e-04 9.99825882e-01 1.01985087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6792541539999 meters Centerline goodness [0,1] 0.9998450779036827 Centerline is valid? [True, True] Translation: X:881.51, Y:218.28, Z:11.11 [[-9.43360670e-01 3.31720145e-01 5.69131113e-03 8.81507813e+02] [ 3.31716601e-01 9.43377756e-01 -1.58322609e-03 2.18276691e+02] [-5.89424430e-03 3.94349157e-04 -9.99982551e-01 1.11099133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7092541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.52, Y:218.30, Z:11.11 [[-9.64408688e-01 2.64378450e-01 4.46299780e-03 8.81519458e+02] [ 2.64377579e-01 9.64418926e-01 -7.94693543e-04 2.18300679e+02] [-4.51429939e-03 4.13507194e-04 -9.99989725e-01 1.11090447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7392541539998 meters Centerline goodness [0,1] 0.9998448512788688 Centerline is valid? [True, True] Translation: X:881.53, Y:218.32, Z:11.11 [[-9.80109551e-01 1.98420685e-01 3.80779699e-03 8.81530233e+02] [ 1.98420891e-01 9.80116852e-01 -3.27302772e-04 2.18322960e+02] [-3.79702963e-03 4.34753897e-04 -9.99992697e-01 1.11092642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7692541539998 meters Centerline goodness [0,1] 0.999778990872323 Centerline is valid? [True, True] Translation: X:881.54, Y:218.35, Z:11.11 [[-9.91537851e-01 1.29791959e-01 2.59579925e-03 8.81542453e+02] [ 1.29792691e-01 9.91541146e-01 1.15016371e-04 2.18347265e+02] [-2.55891357e-03 4.50958856e-04 -9.99996624e-01 1.11091262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.55, Y:218.37, Z:11.11 [[-9.98202470e-01 5.99054606e-02 -1.77898194e-03 8.81546314e+02] [ 5.99044829e-02 9.98203935e-01 5.97926567e-04 2.18372841e+02] [ 1.81160584e-03 4.90282783e-04 -9.99998239e-01 1.11054785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.8292541539997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.55, Y:218.40, Z:11.10 [[-9.99937357e-01 -1.05884296e-02 -3.62878272e-03 8.81546271e+02] [-1.05901837e-02 9.99943815e-01 4.64513294e-04 2.18399142e+02] [ 3.62366037e-03 5.02913671e-04 -9.99993308e-01 1.11044670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.859254154 meters Centerline goodness [0,1] 0.9998672478261832 Centerline is valid? [True, True] Translation: X:881.55, Y:218.43, Z:11.10 [[-9.96780085e-01 -7.98644791e-02 -7.15032219e-03 8.81551031e+02] [-7.98661399e-02 9.96805596e-01 -5.34156485e-05 2.18426173e+02] [ 7.13174719e-03 5.17824978e-04 -9.99974435e-01 1.11041439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.889254154 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.49, Y:219.19, Z:10.21 [[-9.99985303e-01 -1.06858610e-03 5.31519069e-03 8.81494710e+02] [ 1.07070594e-03 -9.99999348e-01 3.95996472e-04 2.19191934e+02] [ 5.31476407e-03 4.01681658e-04 9.99985796e-01 1.02061782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9192541539999 meters Centerline goodness [0,1] 0.9998234735982701 Centerline is valid? [True, True] Translation: X:881.45, Y:218.42, Z:11.11 [[-9.96288190e-01 -8.56458819e-02 -8.63864207e-03 8.81454340e+02] [-8.56473273e-02 9.96325496e-01 -2.03164815e-04 2.18420979e+02] [ 8.62429958e-03 5.37465899e-04 -9.99962666e-01 1.11079193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9492541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.45, Y:218.45, Z:11.11 [[-9.87722792e-01 -1.56007225e-01 -8.08898580e-03 8.81449740e+02] [-1.56006237e-01 9.87755780e-01 -7.56815553e-04 2.18448723e+02] [ 8.10801117e-03 5.14408266e-04 -9.99966997e-01 1.11099054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9792541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:881.43, Y:218.47, Z:11.11 [[-9.74387580e-01 -2.24733689e-01 -7.97580463e-03 8.81431619e+02] [-2.24730345e-01 9.74420093e-01 -1.32456278e-03 2.18472245e+02] [ 8.06945817e-03 5.01767810e-04 -9.99967316e-01 1.11116924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0092541539998 meters Centerline goodness [0,1] 0.9998667347800013 Centerline is valid? [True, True] Translation: X:881.40, Y:218.49, Z:11.12 [[-9.57173441e-01 -2.89347538e-01 -9.84915647e-03 8.81398013e+02] [-2.89337090e-01 9.57224004e-01 -2.50078312e-03 2.18488592e+02] [ 1.01514444e-02 4.56043087e-04 -9.99948369e-01 1.11150524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0392541539998 meters Centerline goodness [0,1] 0.9998892236795462 Centerline is valid? [True, True] Translation: X:881.34, Y:218.50, Z:11.12 [[-9.34351551e-01 -3.56182664e-01 -1.10040505e-02 8.81343513e+02] [-3.56163255e-01 9.34416252e-01 -3.74234482e-03 2.18496777e+02] [ 1.16153220e-02 4.22572762e-04 -9.99932451e-01 1.11154321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0692541539997 meters Centerline goodness [0,1] 0.9999557482963094 Centerline is valid? [True, True] Translation: X:881.28, Y:218.50, Z:11.11 [[-9.06586165e-01 -4.21853063e-01 -1.18961818e-02 8.81283115e+02] [-4.21822211e-01 9.06664133e-01 -5.11598201e-03 2.18498613e+02] [ 1.29440340e-02 3.79995183e-04 -9.99916150e-01 1.11147202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.099254154 meters Centerline goodness [0,1] 0.9999114456497675 Centerline is valid? [True, True] Translation: X:881.21, Y:218.49, Z:11.11 [[-8.75779411e-01 -4.82463771e-01 -1.54639362e-02 8.81209975e+02] [-4.82393110e-01 8.75915897e-01 -8.26003942e-03 2.18486523e+02] [ 1.75302773e-02 2.25723806e-04 -9.99846307e-01 1.11144013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.129254154 meters Centerline goodness [0,1] 0.999867139061116 Centerline is valid? [True, True] Translation: X:881.13, Y:218.47, Z:11.12 [[-8.38588587e-01 -5.44516581e-01 -1.64582603e-02 8.81134534e+02] [-5.44415057e-01 8.38750066e-01 -1.05153867e-02 2.18471748e+02] [ 1.95301693e-02 1.42041440e-04 -9.99809258e-01 1.11161493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1592541539999 meters Centerline goodness [0,1] 0.999822372219015 Centerline is valid? [True, True] Translation: X:881.05, Y:218.44, Z:11.12 [[-7.97727672e-01 -6.02735872e-01 -1.84398987e-02 8.81052426e+02] [-6.02574182e-01 7.97940768e-01 -1.39601853e-02 2.18440812e+02] [ 2.31282514e-02 -2.50192019e-05 -9.99732506e-01 1.11155667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1892541539999 meters Centerline goodness [0,1] 0.9999115455208863 Centerline is valid? [True, True] Translation: X:880.97, Y:218.41, Z:11.12 [[-7.50380649e-01 -6.60765414e-01 -1.78311662e-02 8.80966532e+02] [-6.60576886e-01 7.50592475e-01 -1.57833428e-02 2.18405249e+02] [ 2.38130262e-02 -6.46587472e-05 -9.99716428e-01 1.11172258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2192541539998 meters Centerline goodness [0,1] 0.9999557306653681 Centerline is valid? [True, True] Translation: X:880.88, Y:218.35, Z:11.12 [[-6.98887603e-01 -7.15017540e-01 -1.74938838e-02 8.80876060e+02] [-7.14788974e-01 6.99106502e-01 -1.80782307e-02 2.18354877e+02] [ 2.51563399e-02 -1.30216046e-04 -9.99683521e-01 1.11181465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2492541539998 meters Centerline goodness [0,1] 0.9998448615943796 Centerline is valid? [True, True] Translation: X:880.79, Y:218.30, Z:11.12 [[-6.43040191e-01 -7.65646015e-01 -1.68965620e-02 8.80790422e+02] [-7.65374074e-01 6.43262112e-01 -2.04054484e-02 2.18301169e+02] [ 2.64922684e-02 -1.89332897e-04 -9.99649000e-01 1.11218316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2792541539998 meters Centerline goodness [0,1] 0.9999335400974745 Centerline is valid? [True, True] Translation: X:880.71, Y:218.24, Z:11.12 [[-5.82664404e-01 -8.12567126e-01 -1.53901665e-02 8.80705158e+02] [-8.12274919e-01 5.82867590e-01 -2.17905879e-02 2.18236675e+02] [ 2.66767446e-02 -1.95553690e-04 -9.99644093e-01 1.11236889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.3092541539997 meters Centerline goodness [0,1] 0.9998893291130835 Centerline is valid? [True, True] Translation: X:880.62, Y:218.16, Z:11.13 [[-5.19059722e-01 -8.54629131e-01 -1.36401018e-02 8.80624256e+02] [-8.54323688e-01 5.19238871e-01 -2.28479864e-02 2.18161177e+02] [ 2.66090259e-02 -2.06407384e-04 -9.99645896e-01 1.11261562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.339254154 meters Centerline goodness [0,1] 0.9998895735329844 Centerline is valid? [True, True] Translation: X:880.55, Y:218.08, Z:11.13 [[-4.53659225e-01 -8.91102407e-01 -1.13933110e-02 8.80547182e+02] [-8.90808661e-01 4.53802211e-01 -2.28797464e-02 2.18077347e+02] [ 2.55585069e-02 -2.30347869e-04 -9.99673301e-01 1.11292094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.369254154 meters Centerline goodness [0,1] 0.9999339657942814 Centerline is valid? [True, True] Translation: X:880.48, Y:217.99, Z:11.13 [[-3.87847580e-01 -9.21677235e-01 -9.23738219e-03 8.80477495e+02] [-9.21396429e-01 3.87957442e-01 -2.27517894e-02 2.17986782e+02] [ 2.45535175e-02 -3.12935515e-04 -9.99698468e-01 1.11319138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.399254154 meters Centerline goodness [0,1] 0.999934116613594 Centerline is valid? [True, True] Translation: X:880.42, Y:217.89, Z:11.13 [[-3.18807937e-01 -9.47791443e-01 -7.27190552e-03 8.80416289e+02] [-9.47517686e-01 3.18890644e-01 -2.27814051e-02 2.17889894e+02] [ 2.39109634e-02 -3.72633670e-04 -9.99714023e-01 1.11318092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4292541539999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.36, Y:217.79, Z:11.13 [[-2.52523992e-01 -9.67572311e-01 -5.95459721e-03 8.80364037e+02] [-9.67238088e-01 2.52593314e-01 -2.54381531e-02 2.17789714e+02] [ 2.61173440e-02 -6.64230731e-04 -9.99658663e-01 1.11317599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4592541539998 meters Centerline goodness [0,1] 0.9999120801828733 Centerline is valid? [True, True] Translation: X:880.32, Y:217.68, Z:11.13 [[-1.81104599e-01 -9.83454503e-01 -4.28530121e-03 8.80316672e+02] [-9.83051583e-01 1.81153117e-01 -2.81626297e-02 2.17680326e+02] [ 2.84729607e-02 -8.87709640e-04 -9.99594169e-01 1.11337876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4892541539998 meters Centerline goodness [0,1] 0.9996930161166538 Centerline is valid? [True, True] Translation: X:880.28, Y:217.56, Z:11.13 [[-1.07598281e-01 -9.94192146e-01 -2.14194790e-03 8.80278057e+02] [-9.93762606e-01 1.07614788e-01 -2.92393519e-02 2.17560505e+02] [ 2.93000393e-02 -1.01751626e-03 -9.99570144e-01 1.11346758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5192541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.24, Y:217.45, Z:11.13 [[-3.23179686e-02 -9.99477630e-01 1.29603578e-04 8.80243403e+02] [-9.99042141e-01 3.23000590e-02 -2.95212832e-02 2.17448431e+02] [ 2.95016760e-02 -1.08354734e-03 -9.99564144e-01 1.11348488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5492541539998 meters Centerline goodness [0,1] 0.9998686716133692 Centerline is valid? [True, True] Translation: X:880.22, Y:217.33, Z:11.14 [[ 4.48290988e-02 -9.98991518e-01 2.50959439e-03 8.80219912e+02] [-9.98529035e-01 -4.48847537e-02 -3.04158600e-02 2.17328276e+02] [ 3.04978287e-02 -1.14238728e-03 -9.99534180e-01 1.11371392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5792541539997 meters Centerline goodness [0,1] 0.9998041264037608 Centerline is valid? [True, True] Translation: X:880.20, Y:217.20, Z:11.14 [[ 1.26477906e-01 -9.91956828e-01 4.99910356e-03 8.80200894e+02] [-9.91473231e-01 -1.26572415e-01 -3.09880020e-02 2.17203310e+02] [ 3.13715087e-02 -1.03717974e-03 -9.99507255e-01 1.11385541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.609254154 meters Centerline goodness [0,1] 0.9998693635829214 Centerline is valid? [True, True] Translation: X:880.19, Y:217.08, Z:11.14 [[ 2.07058880e-01 -9.78301889e-01 7.21354574e-03 8.80191134e+02] [-9.77845708e-01 -2.07182686e-01 -2.98848758e-02 2.17081893e+02] [ 3.07309522e-02 -8.65805834e-04 -9.99527318e-01 1.11398960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.639254154 meters Centerline goodness [0,1] 0.9996750010833297 Centerline is valid? [True, True] Translation: X:880.19, Y:216.95, Z:11.14 [[ 2.91281985e-01 -9.56593527e-01 9.14488027e-03 8.80189974e+02] [-9.56177473e-01 -2.91425028e-01 -2.82151213e-02 2.16948347e+02] [ 2.96554495e-02 -5.25571964e-04 -9.99560042e-01 1.11415447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6692541539999 meters Centerline goodness [0,1] 0.9999568342218289 Centerline is valid? [True, True] Translation: X:880.20, Y:216.83, Z:11.14 [[ 3.68755617e-01 -9.29462243e-01 1.09193929e-02 8.80197891e+02] [-9.29082496e-01 -3.68917087e-01 -2.65687591e-02 2.16830956e+02] [ 2.87230091e-02 -3.47637655e-04 -9.99587349e-01 1.11423614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6992541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.21, Y:216.71, Z:11.14 [[ 4.47181576e-01 -8.94349272e-01 1.29621785e-02 8.80212789e+02] [-8.93979497e-01 -4.47369391e-01 -2.57155015e-02 2.16707829e+02] [ 2.87975220e-02 -8.84233210e-05 -9.99585261e-01 1.11434825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7292541539998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:880.24, Y:216.59, Z:11.14 [[ 5.17558413e-01 -8.55508075e-01 1.54668424e-02 8.80241866e+02] [-8.55126372e-01 -5.17789469e-01 -2.55529407e-02 2.16592761e+02] [ 2.98693152e-02 -9.65370318e-07 -9.99553812e-01 1.11439295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7592541539998 meters Centerline goodness [0,1] 0.9999358494600663 Centerline is valid? [True, True] Translation: X:880.28, Y:216.48, Z:11.15 [[ 5.86948448e-01 -8.09416301e-01 1.83513084e-02 8.80275133e+02] [-8.09011042e-01 -5.87235231e-01 -2.56108918e-02 2.16481791e+02] [ 3.15064081e-02 1.85862015e-04 -9.99503533e-01 1.11452192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7892541539998 meters Centerline goodness [0,1] 0.9992769957045039 Centerline is valid? [True, True] Translation: X:880.32, Y:216.38, Z:11.15 [[ 6.52050853e-01 -7.57895671e-01 2.05873065e-02 8.80317318e+02] [-7.57498988e-01 -6.52375656e-01 -2.45211455e-02 2.16375386e+02] [ 3.20151276e-02 3.94169986e-04 -9.99487307e-01 1.11471311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.8192541539997 meters Centerline goodness [0,1] 0.9993435124203215 Centerline is valid? [True, True] Translation: X:880.37, Y:216.27, Z:11.15 [[ 7.11357080e-01 -7.02491445e-01 2.18374754e-02 8.80373926e+02] [-7.02136781e-01 -7.11691976e-01 -2.23265004e-02 2.16269585e+02] [ 3.12257315e-02 5.49219426e-04 -9.99512207e-01 1.11478760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.849254154 meters Centerline goodness [0,1] 0.9990852231630004 Centerline is valid? [True, True] Translation: X:880.37, Y:216.26, Z:11.15 [[ 7.65870450e-01 -6.42582922e-01 2.30139580e-02 8.80371505e+02] [-6.42267564e-01 -7.66215880e-01 -2.01395588e-02 2.16258587e+02] [ 3.05749966e-02 6.43174236e-04 -9.99532269e-01 1.11504147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.879254154 meters Centerline goodness [0,1] 0.9989787016745038 Centerline is valid? [True, True] Translation: X:880.37, Y:216.24, Z:11.15 [[ 8.17089030e-01 -5.76062003e-01 2.27614912e-02 8.80368357e+02] [-5.75811411e-01 -8.17405617e-01 -1.70081044e-02 2.16244666e+02] [ 2.84030935e-02 7.90809203e-04 -9.99596238e-01 1.11540535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9092541539999 meters Centerline goodness [0,1] 0.9969856499957545 Centerline is valid? [True, True] Translation: X:880.37, Y:216.23, Z:11.16 [[ 8.59559242e-01 -5.10256796e-01 2.82119162e-02 8.80368613e+02] [-5.09949458e-01 -8.60021673e-01 -1.77277361e-02 2.16234050e+02] [ 3.33085571e-02 8.51388041e-04 -9.99444753e-01 1.11604175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9392541539999 meters Centerline goodness [0,1] 0.9961905977994849 Centerline is valid? [True, True] Translation: X:880.37, Y:216.22, Z:11.16 [[ 8.96851451e-01 -4.41372914e-01 2.91105885e-02 8.80368230e+02] [-4.41109721e-01 -8.97323370e-01 -1.52637781e-02 2.16223873e+02] [ 3.28586296e-02 8.48377990e-04 -9.99459649e-01 1.11610575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9692541539998 meters Centerline goodness [0,1] 0.9955341003338791 Centerline is valid? [True, True] Translation: X:880.37, Y:216.22, Z:11.16 [[ 9.28276283e-01 -3.70679832e-01 2.99933986e-02 8.80370448e+02] [-3.70457977e-01 -9.28760355e-01 -1.28487844e-02 2.16215004e+02] [ 3.26194648e-02 8.15928037e-04 -9.99467511e-01 1.11623276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9992541539998 meters Centerline goodness [0,1] 0.9944148369217651 Centerline is valid? [True, True] Translation: X:880.37, Y:216.21, Z:11.16 [[ 9.53399330e-01 -3.00219331e-01 2.99678456e-02 8.80374460e+02] [-3.00048173e-01 -9.53869945e-01 -1.01598637e-02 2.16211473e+02] [ 3.16356147e-02 6.94609909e-04 -9.99499227e-01 1.11634699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.0292541539998 meters Centerline goodness [0,1] 0.9941674144340469 Centerline is valid? [True, True] Translation: X:880.38, Y:216.21, Z:11.16 [[ 9.73294487e-01 -2.27444938e-01 3.10908763e-02 8.80377928e+02] [-2.27309070e-01 -9.73790754e-01 -7.88379221e-03 2.16205470e+02] [ 3.20691365e-02 6.06013327e-04 -9.99485469e-01 1.11639126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.0592541539997 meters Centerline goodness [0,1] 0.9933011272141707 Centerline is valid? [True, True] Translation: X:880.38, Y:216.21, Z:11.16 [[ 9.87058967e-01 -1.56999602e-01 3.26453879e-02 8.80381125e+02] [-1.56900517e-01 -9.87598586e-01 -5.59108876e-03 2.16207690e+02] [ 3.31183376e-02 3.96656060e-04 -9.99451359e-01 1.11628191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.089254154 meters Centerline goodness [0,1] 0.9926794186470879 Centerline is valid? [True, True] Translation: X:880.38, Y:216.21, Z:11.16 [[ 9.96039749e-01 -8.26705213e-02 3.27170194e-02 8.80380761e+02] [-8.26166774e-02 -9.96576894e-01 -2.99650767e-03 2.16206102e+02] [ 3.28527485e-02 2.81669303e-04 -9.99460163e-01 1.11638130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.119254154 meters Centerline goodness [0,1] 0.9921375180406264 Centerline is valid? [True, True] Translation: X:880.38, Y:216.21, Z:11.16 [[ 9.99400240e-01 -1.03833071e-02 3.30355340e-02 8.80379745e+02] [-1.03749839e-02 -9.99946089e-01 -4.23357279e-04 2.16208913e+02] [ 3.30381489e-02 8.03602319e-05 -9.99454088e-01 1.11646413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.149254154 meters Centerline goodness [0,1] 0.9908663939571023 Centerline is valid? [True, True] Translation: X:880.38, Y:216.21, Z:11.17 [[ 9.97532703e-01 6.22761572e-02 3.24065769e-02 8.80377159e+02] [ 6.22401091e-02 -9.98058951e-01 2.12092106e-03 2.16212126e+02] [ 3.24757570e-02 -9.86992371e-05 -9.99472519e-01 1.11667066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1792541539999 meters Centerline goodness [0,1] 0.9902075733889178 Centerline is valid? [True, True] Translation: X:880.37, Y:216.21, Z:11.17 [[ 9.89969322e-01 1.37792439e-01 3.12087385e-02 8.80374251e+02] [ 1.37718879e-01 -9.90461114e-01 4.50474758e-03 2.16211099e+02] [ 3.15317621e-02 -1.61529437e-04 -9.99502737e-01 1.11668164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2092541539998 meters Centerline goodness [0,1] 0.9898068085291748 Centerline is valid? [True, True] Translation: X:880.37, Y:216.21, Z:11.17 [[ 9.76723643e-01 2.12262895e-01 3.09093700e-02 8.80371564e+02] [ 2.12148542e-01 -9.77212567e-01 6.97107320e-03 2.16209955e+02] [ 3.16847250e-02 -2.51434224e-04 -9.99497881e-01 1.11677568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2392541539998 meters Centerline goodness [0,1] 0.9885427620049071 Centerline is valid? [True, True] Translation: X:880.37, Y:216.22, Z:11.17 [[ 9.58654130e-01 2.82877270e-01 3.10275475e-02 8.80366038e+02] [ 2.82714122e-01 -9.59156009e-01 9.61640411e-03 2.16215236e+02] [ 3.24805208e-02 -4.46879686e-04 -9.99472269e-01 1.11669790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2692541539998 meters Centerline goodness [0,1] 0.9880704370518191 Centerline is valid? [True, True] Translation: X:880.36, Y:216.22, Z:11.17 [[ 9.34368505e-01 3.54987714e-01 3.06466836e-02 8.80361643e+02] [ 3.54778048e-01 -9.34870812e-01 1.22107209e-02 2.16216038e+02] [ 3.29853459e-02 -5.36542422e-04 -9.99455691e-01 1.11665069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2992541539998 meters Centerline goodness [0,1] 0.9874749609280415 Centerline is valid? [True, True] Translation: X:880.35, Y:216.22, Z:11.16 [[ 9.04139798e-01 4.26111956e-01 3.09810653e-02 8.80353147e+02] [ 4.25838343e-01 -9.04670223e-01 1.52804652e-02 2.16220000e+02] [ 3.45388361e-02 -6.22751182e-04 -9.99403162e-01 1.11645726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.3292541539997 meters Centerline goodness [0,1] 0.9867280010564775 Centerline is valid? [True, True] Translation: X:880.35, Y:216.22, Z:11.16 [[ 8.67612566e-01 4.96333459e-01 3.00255402e-02 8.80346930e+02] [ 4.96012174e-01 -8.68131746e-01 1.78660224e-02 2.16220193e+02] [ 3.49336293e-02 -6.07752040e-04 -9.99389450e-01 1.11640202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.359254154 meters Centerline goodness [0,1] 0.9852740779814497 Centerline is valid? [True, True] Translation: X:880.34, Y:216.21, Z:11.16 [[ 8.21619911e-01 5.69175001e-01 3.13135811e-02 8.80342488e+02] [ 5.68742712e-01 -8.22216301e-01 2.21829278e-02 2.16214274e+02] [ 3.83725048e-02 -4.16564086e-04 -9.99263417e-01 1.11627718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.389254154 meters Centerline goodness [0,1] 0.9845670191483281 Centerline is valid? [True, True] Translation: X:880.34, Y:216.21, Z:11.16 [[ 7.71475239e-01 6.35539300e-01 3.02614365e-02 8.80339391e+02] [ 6.35038132e-01 -7.72068478e-01 2.52356054e-02 2.16209703e+02] [ 3.94021202e-02 -2.51478600e-04 -9.99223403e-01 1.11610038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4192541539999 meters Centerline goodness [0,1] 0.9843382756727073 Centerline is valid? [True, True] Translation: X:880.34, Y:216.20, Z:11.16 [[ 7.13901149e-01 6.99688563e-01 2.79475490e-02 8.80339821e+02] [ 6.99156287e-01 -7.14447977e-01 2.72869058e-02 2.16201770e+02] [ 3.90594058e-02 5.95511936e-05 -9.99236888e-01 1.11643586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4492541539998 meters Centerline goodness [0,1] 0.984061029767401 Centerline is valid? [True, True] Translation: X:880.34, Y:216.20, Z:11.17 [[ 6.55071317e-01 7.55149367e-01 2.51197840e-02 8.80339135e+02] [ 7.54604289e-01 -6.55552749e-01 2.86872631e-02 2.16195952e+02] [ 3.81305121e-02 1.63293546e-04 -9.99272754e-01 1.11661178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4792541539998 meters Centerline goodness [0,1] 0.9839547475458907 Centerline is valid? [True, True] Translation: X:880.33, Y:216.19, Z:11.17 [[ 5.93351738e-01 8.04634621e-01 2.22899244e-02 8.80334967e+02] [ 8.04079976e-01 -5.93770231e-01 2.98714824e-02 2.16190852e+02] [ 3.72707225e-02 1.98585833e-04 -9.99305186e-01 1.11661158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5092541539998 meters Centerline goodness [0,1] 0.9839547475458907 Centerline is valid? [True, True] Translation: X:880.33, Y:216.19, Z:11.17 [[ 5.28573524e-01 8.48654885e-01 1.98724861e-02 8.80332469e+02] [ 8.48069701e-01 -5.28946923e-01 3.15108759e-02 2.16185089e+02] [ 3.72533492e-02 1.97438630e-04 -9.99305834e-01 1.11662672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5392541539998 meters Centerline goodness [0,1] 0.9840281597184029 Centerline is valid? [True, True] Translation: X:880.33, Y:216.18, Z:11.17 [[ 4.61353077e-01 8.87056591e-01 1.68506220e-02 8.80329186e+02] [ 8.86478850e-01 -4.61660672e-01 3.20104962e-02 2.16180462e+02] [ 3.61743911e-02 1.69579053e-04 -9.99345478e-01 1.11663606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5692541539997 meters Centerline goodness [0,1] 0.9836069176170699 Centerline is valid? [True, True] Translation: X:880.33, Y:216.18, Z:11.17 [[ 3.92557412e-01 9.19606808e-01 1.48995441e-02 8.80326027e+02] [ 9.18952068e-01 -3.92840061e-01 3.46955718e-02 2.16175016e+02] [ 3.77594218e-02 7.19629477e-05 -9.99286856e-01 1.11653617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.599254154 meters Centerline goodness [0,1] 0.9836252438676867 Centerline is valid? [True, True] Translation: X:880.32, Y:216.17, Z:11.16 [[ 3.20699723e-01 9.47099708e-01 1.24028662e-02 8.80321802e+02] [ 9.46393222e-01 -3.20939469e-01 3.65749308e-02 2.16169822e+02] [ 3.86206756e-02 8.41834086e-06 -9.99253943e-01 1.11648832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.629254154 meters Centerline goodness [0,1] 0.9835000877654906 Centerline is valid? [True, True] Translation: X:880.31, Y:216.16, Z:11.16 [[ 2.46866890e-01 9.69001805e-01 9.60421388e-03 8.80314403e+02] [ 9.68261203e-01 -2.47053637e-01 3.78779930e-02 2.16163833e+02] [ 3.90765995e-02 -5.14346200e-05 -9.99236217e-01 1.11618114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6592541539999 meters Centerline goodness [0,1] 0.9838299179428671 Centerline is valid? [True, True] Translation: X:880.31, Y:216.16, Z:11.16 [[ 1.71586890e-01 9.85145935e-01 6.73990129e-03 8.80309108e+02] [ 9.84359391e-01 -1.71719169e-01 3.93588157e-02 2.16158249e+02] [ 3.99315475e-02 -1.18971646e-04 -9.99202411e-01 1.11615293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6892541539999 meters Centerline goodness [0,1] 0.9837002957607625 Centerline is valid? [True, True] Translation: X:880.30, Y:216.15, Z:11.16 [[ 9.34855177e-02 9.95613933e-01 3.65434916e-03 8.80301813e+02] [ 9.94808743e-01 -9.35568533e-02 4.00335002e-02 2.16151039e+02] [ 4.01998000e-02 -1.07174001e-04 -9.99191656e-01 1.11598247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7192541539998 meters Centerline goodness [0,1] 0.9840870288491004 Centerline is valid? [True, True] Translation: X:880.30, Y:216.14, Z:11.16 [[ 1.44840636e-02 9.99894973e-01 5.05785398e-04 8.80296369e+02] [ 9.99050174e-01 -1.44926131e-02 4.10939598e-02 2.16144525e+02] [ 4.10969739e-02 -8.99025349e-05 -9.99155158e-01 1.11581064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7492541539998 meters Centerline goodness [0,1] 0.9847189733948364 Centerline is valid? [True, True] Translation: X:880.29, Y:216.14, Z:11.16 [[-6.53482567e-02 9.97858715e-01 -2.75492717e-03 8.80294591e+02] [ 9.96995448e-01 6.54062923e-02 4.14981187e-02 2.16138161e+02] [ 4.15894490e-02 -3.48201343e-05 -9.99134784e-01 1.11571571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7792541539998 meters Centerline goodness [0,1] 0.9846870983902939 Centerline is valid? [True, True] Translation: X:880.29, Y:216.13, Z:11.16 [[-1.44984512e-01 9.89414934e-01 -6.13030463e-03 8.80291122e+02] [ 9.88523322e-01 1.45114054e-01 4.19946938e-02 2.16131592e+02] [ 4.24397705e-02 2.86310919e-05 -9.99099027e-01 1.11561397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.8092541539997 meters Centerline goodness [0,1] 0.985121054577886 Centerline is valid? [True, True] Translation: X:880.29, Y:216.13, Z:11.16 [[-2.24162993e-01 9.74505445e-01 -9.49158089e-03 8.80291974e+02] [ 9.73610573e-01 2.24363819e-01 4.17532001e-02 2.16125495e+02] [ 4.28182882e-02 1.18418774e-04 -9.99082870e-01 1.11575397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.839254154 meters Centerline goodness [0,1] 0.9852530370947833 Centerline is valid? [True, True] Translation: X:880.30, Y:216.12, Z:11.16 [[-3.03764524e-01 9.52663297e-01 -1.26394826e-02 8.80299567e+02] [ 9.51798795e-01 3.04027228e-01 4.05770774e-02 2.16121615e+02] [ 4.24990392e-02 2.95632342e-04 -9.99096464e-01 1.11579520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.869254154 meters Centerline goodness [0,1] 0.9857734985536031 Centerline is valid? [True, True] Translation: X:880.30, Y:216.12, Z:11.16 [[-3.79445367e-01 9.25081032e-01 -1.56938655e-02 8.80303115e+02] [ 9.24248109e-01 3.79769579e-01 3.92491917e-02 2.16117198e+02] [ 4.22687355e-02 3.87898396e-04 -9.99106202e-01 1.11623964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.899254154 meters Centerline goodness [0,1] 0.9856371885011503 Centerline is valid? [True, True] Translation: X:880.32, Y:216.12, Z:11.17 [[-4.55197522e-01 8.90208428e-01 -1.80047654e-02 8.80324890e+02] [ 8.89460545e-01 4.55553073e-01 3.64874842e-02 2.16123436e+02] [ 4.06835921e-02 5.94483888e-04 -9.99171903e-01 1.11658402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9292541539999 meters Centerline goodness [0,1] 0.9859121708551334 Centerline is valid? [True, True] Translation: X:880.34, Y:216.13, Z:11.17 [[-5.25742822e-01 8.50408949e-01 -1.99776042e-02 8.80339193e+02] [ 8.49745187e-01 5.26121796e-01 3.36002021e-02 2.16127246e+02] [ 3.90845656e-02 6.89192114e-04 -9.99235669e-01 1.11658675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9592541539998 meters Centerline goodness [0,1] 0.9861045891141942 Centerline is valid? [True, True] Translation: X:880.36, Y:216.14, Z:11.17 [[-5.93742548e-01 8.04367016e-01 -2.15288315e-02 8.80356013e+02] [ 8.03788278e-01 5.94132173e-01 3.05182809e-02 2.16135985e+02] [ 3.73388700e-02 8.15379514e-04 -9.99302329e-01 1.11675418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9892541539998 meters Centerline goodness [0,1] 0.9857797676153928 Centerline is valid? [True, True] Translation: X:880.37, Y:216.14, Z:11.17 [[-6.56266160e-01 7.54155342e-01 -2.37581175e-02 8.80367473e+02] [ 7.53612422e-01 6.56695473e-01 2.86246982e-02 2.16142826e+02] [ 3.71893173e-02 8.81008267e-04 -9.99307850e-01 1.11670533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.0192541539998 meters Centerline goodness [0,1] 0.9854903622113959 Centerline is valid? [True, True] Translation: X:880.38, Y:216.15, Z:11.17 [[-7.15610301e-01 6.98041203e-01 -2.53056688e-02 8.80379267e+02] [ 6.97555698e-01 7.16056912e-01 2.60489331e-02 2.16152953e+02] [ 3.63035276e-02 9.88771410e-04 -9.99340321e-01 1.11683110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 15727.76 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%| | 0/37001 [00:00